1090 files changed, 178174 insertions, 143654 deletions

diff --git a/thirdparty/README.md b/thirdparty/README.md
index 9c8884fe84..4fb4786d67 100644
--- a/thirdparty/README.md
+++ b/thirdparty/README.md
@@ -19,7 +19,7 @@ comments.
 ## bullet
 
 - Upstream: https://github.com/bulletphysics/bullet3
-- Version: git (d05ad4b, 2017)
+- Version: 2.88
 - License: zlib
 
 Files extracted from upstream source:
@@ -31,7 +31,7 @@ Files extracted from upstream source:
 ## certs
 
 - Upstream: Mozilla, via https://apps.fedoraproject.org/packages/ca-certificates
-- Version: 2018.2.22
+- Version: 2018.2.26
 - License: MPL 2.0
 
 File extracted from a recent Fedora install:
@@ -128,7 +128,7 @@ Files extracted from upstream source:
 ## glad
 
 - Upstream: https://github.com/Dav1dde/glad
-- Version: 0.1.25
+- Version: 0.1.29
 - License: MIT
 
 The files we package are automatically generated.
@@ -202,6 +202,9 @@ Files extracted from upstream source:
 - all .h files in include/theora/ as theora/
 - COPYING and LICENSE
 
+Upstream patches included in the `patches` directory have been applied
+on top of the 1.1.1 source (not included in any stable release yet).
+
 
 ## libvorbis
 
@@ -229,11 +232,14 @@ TODO.
 Important: File `libvpx/vpx_dsp/x86/vpx_subpixel_8t_intrin_avx2.c` has
 Godot-made change marked with `// -- GODOT --` comments.
 
+The files `libvpx/third_party/android/cpu-features.{c,h}` were copied
+from the Android NDK r18.
+
 
 ## libwebp
 
 - Upstream: https://chromium.googlesource.com/webm/libwebp/
-- Version: 1.0.0
+- Version: 1.0.2
 - License: BSD-3-Clause
 
 Files extracted from upstream source:
@@ -249,23 +255,25 @@ changes are marked with `// -- GODOT --` comments.
 ## libwebsockets
 
 - Upstream: https://github.com/warmcat/libwebsockets
-- Version: 3.0.0
+- Version: 3.1.0
 - License: LGPLv2.1 + static linking exception
 
 File extracted from upstream source:
-- From `lib/` into `thirdparty/libwebsockets`:
+- From `lib/` into `thirdparty/libwebsockets/lib`:
   - Everything from `core`
-  - From `event-libs` only the `poll` subfolder
-  - From `misc` only `base64-decode.c`, `getifaddrs.c`, `getifaddrs.h`, `lejp.c`, and `sha-1.c`
-  - From `plat` only `lws-plat-unix.c` and `lws-plat-win.c`
+  - From `event-libs` only the `poll` subfolder and the `private.h` header
+  - From `misc` only `base64-decode.c`, `getifaddrs.c`, `getifaddrs.h`, `lejp.c`, and `sha-1.c` (and the `private.h` header)
+  - From `plat` everything from `unix` and `windows` (and the `private.h` header)
   - From `roles` only `private.h`, `h1`, `http`, `listen`, `pipe`, `raw`, `ws`
-    - From `roles/http` exclude `minilex.c`
+    - From `roles/http` exclude `minilex.c` and the `compression` subfolder
     - From `roles/http/server` exclude `access-log.c`, `lws-spa.c`, `ranges.c`, and `rewrite.c`
     - From `roles/ws` exclude `ext` folder.
   - From `tls` exclude `openssl` folder.
 - Also copy `win32helpers/` from `win32port/` inside `thirdparty/libwebsockets`
-- A small fix has been added in `libwebsockets/libwebsockets.h` to `#include <sys/socket.h>` for the BSD family.
-  This change has been PRed upstream, and should be merged before the next update. Remember to check and remove this line.
+- A fix has been added to allow building for 32-bits UWP, replacing `GetFileSize[Ex]` and `CreateFileW` with supported functions.
+  There is a diff for this change in `thirdparty/libwebsockets/uwp_fixes.diff`
+- A fix to disable V6ONLY flag from IPv6 sockets (on by default on some systems) has been also applied.
+  The diff for this change can be found in `thirdparty/libwebsockets/ipv6_fixes.diff`
 
 Important: `lws_config.h` and `lws_config_private.h` contains custom
 Godot build configurations, check them out when updating.
@@ -274,22 +282,23 @@ Godot build configurations, check them out when updating.
 ## mbedtls
 
 - Upstream: https://tls.mbed.org/
-- Version: 2.12.0
+- Version: 2.16.0
 - License: Apache 2.0
 
-File extracted from upstream release tarball `mbedtls-2.12.0-apache.tgz`:
+File extracted from upstream release tarball `mbedtls-2.16.0-apache.tgz`:
 - All `*.h` from `include/mbedtls/` to `thirdparty/mbedtls/include/mbedtls/`
 - All `*.c` from `library/` to `thirdparty/mbedtls/library/`
 - Applied the patch in `thirdparty/mbedtls/1453.diff` (PR 1453). Soon to be merged upstream. Check it out at next update.
-
+- Applied the patch in `thirdparty/mbedtls/padlock.diff`. This disables VIA padlock support which defines a symbol `unsupported` which clashses with a symbol in libwebsockets.
 
 ## miniupnpc
 
 - Upstream: https://github.com/miniupnp/miniupnp/tree/master/miniupnpc
-- Version: 2.1 (git 25615e0, 2018-05-08) with modifications
+- Version: git (25615e0, 2018)
 - License: BSD-3-Clause
 
-The only modified file is miniupnpcstrings.h, which was created for Godot (is usually autogenerated by cmake).
+The only modified file is miniupnpcstrings.h, which was created for Godot
+(it is usually autogenerated by cmake).
 
 
 ## minizip
@@ -337,6 +346,10 @@ Collection of single-file libraries used in Godot components.
   * Upstream: http://www.efgh.com/software/md5.htm
   * Version: TBD, might not be latest from above URL
   * License: RSA Message-Digest License
+- `open-simplex-noise.{c,h}`
+  * Upstream: https://github.com/smcameron/open-simplex-noise-in-c
+  * Version: git (0d555e7, 2015)
+  * License: Unlicense
 - `pcg.{cpp,h}`
   * Upstream: http://www.pcg-random.org
   * Version: minimal C implementation, http://www.pcg-random.org/download.html
@@ -366,26 +379,37 @@ Collection of single-file libraries used in Godot components.
   * Version: ?
   * License: BSD
 
+### platform
+
+- `ifaddrs-android.{cc,h}`
+  * Upstream: https://chromium.googlesource.com/external/webrtc/stable/talk/+/master/base/ifaddrs-android.h
+  * Version: git (5976650, 2013)
+  * License: BSD-3-Clause
+
 ### scene
 
+- `easing_equations.cpp`
+  * Upstream: http://robertpenner.com/easing/ via https://github.com/jesusgollonet/ofpennereasing (modified to fit Godot types)
+  * Version: git (af72c14, 2008) + Godot types and style changes
+  * License: BSD-3-Clause
 - `mikktspace.{c,h}`
   * Upstream: https://wiki.blender.org/index.php/Dev:Shading/Tangent_Space_Normal_Maps
   * Version: 1.0
   * License: zlib
 - `stb_truetype.h`
   * Upstream: https://github.com/nothings/stb
-  * Version: 1.19
+  * Version: 1.21
   * License: Public Domain (Unlicense) or MIT
 - `stb_vorbis.c`
   * Upstream: https://github.com/nothings/stb
-  * Version: 1.14
+  * Version: 1.15
   * License: Public Domain (Unlicense) or MIT
 
 
 ## nanosvg
 
 - Upstream: https://github.com/memononen/nanosvg
-- Version: 9a74da4 (git)
+- Version: git (c1f6e20, 2018)
 - License: zlib
 
 Files extracted from the upstream source:
@@ -402,9 +426,11 @@ Files extracted from the upstream source:
 
 Files extracted from upstream source:
 
-- all .c and .h files in src/ (both opus and opusfile),
-  except `opus_demo.c`
+- all .c and .h files in src/ (both opus and opusfile)
 - all .h files in include/ (both opus and opusfile) as opus/
+- remove unused `opus_demo.c`,
+- remove `http.c`, `wincerts.c` and `winerrno.h` (part of
+  unused libopusurl)
 - celt/ and silk/ subfolders
 - COPYING
 
@@ -412,16 +438,16 @@ Files extracted from upstream source:
 ## pcre2
 
 - Upstream: http://www.pcre.org/
-- Version: 10.31
+- Version: 10.32
 - License: BSD-3-Clause
 
 Files extracted from upstream source:
 
 - Files listed in the file NON-AUTOTOOLS-BUILD steps 1-4
-- All .h files in src/
+- All .h files in src/ apart from pcre2posix.h
+- src/pcre2_jit_compile.c
 - src/pcre2_jit_match.c
 - src/pcre2_jit_misc.c
-- src/pcre2_jit_maketables.c
 - src/sljit/*
 - AUTHORS and LICENCE
 
@@ -450,17 +476,6 @@ Files extracted from upstream source:
 - License.txt
 
 
-## rtaudio
-
-- Upstream: http://www.music.mcgill.ca/~gary/rtaudio/
-- Version: 4.1.2
-- License: MIT-like
-
-Files extracted from upstream source:
-
-- `RtAudio.{cpp,h}`
-
-
 ## squish
 
 - Upstream: https://sourceforge.net/projects/libsquish
@@ -494,7 +509,7 @@ changes are marked with `// -- GODOT --` comments.
 ## tinyexr
 
 - Upstream: https://github.com/syoyo/tinyexr
-- Version: git (2d5375f, 2018)
+- Version: git (65f9859, 2018)
 - License: BSD-3-Clause
 
 Files extracted from upstream source:
@@ -516,7 +531,7 @@ Files extracted from upstream source:
 ## zstd
 
 - Upstream: https://github.com/facebook/zstd
-- Version: 1.3.4
+- Version: 1.3.8
 - License: BSD-3-Clause
 
 Files extracted from upstream source:
diff --git a/thirdparty/b2d_convexdecomp/b2Glue.h b/thirdparty/b2d_convexdecomp/b2Glue.h
index 10c2f62361..175f75be75 100644
--- a/thirdparty/b2d_convexdecomp/b2Glue.h
+++ b/thirdparty/b2d_convexdecomp/b2Glue.h
@@ -19,7 +19,8 @@
 #ifndef B2GLUE_H
 #define B2GLUE_H
 
-#include "vector2.h"
+#include "core/math/vector2.h"
+
 #include <limits.h>
 
 namespace b2ConvexDecomp {
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h
index 1bc56cf80a..bec0800a6f 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3BroadphaseCallback.h
@@ -19,22 +19,20 @@ subject to the following restrictions:
 #include "Bullet3Common/b3Vector3.h"
 struct b3BroadphaseProxy;
 
-
-struct	b3BroadphaseAabbCallback
+struct b3BroadphaseAabbCallback
 {
 	virtual ~b3BroadphaseAabbCallback() {}
-	virtual bool	process(const b3BroadphaseProxy* proxy) = 0;
+	virtual bool process(const b3BroadphaseProxy* proxy) = 0;
 };
 
-
-struct	b3BroadphaseRayCallback : public b3BroadphaseAabbCallback
+struct b3BroadphaseRayCallback : public b3BroadphaseAabbCallback
 {
 	///added some cached data to accelerate ray-AABB tests
-	b3Vector3		m_rayDirectionInverse;
-	unsigned int	m_signs[3];
-	b3Scalar		m_lambda_max;
+	b3Vector3 m_rayDirectionInverse;
+	unsigned int m_signs[3];
+	b3Scalar m_lambda_max;
 
 	virtual ~b3BroadphaseRayCallback() {}
 };
 
-#endif //B3_BROADPHASE_CALLBACK_H
+#endif  //B3_BROADPHASE_CALLBACK_H
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp
index 0f04efe331..a0dc1da95d 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.cpp
@@ -17,209 +17,224 @@ subject to the following restrictions:
 #include "b3DynamicBvh.h"
 
 //
-typedef b3AlignedObjectArray<b3DbvtNode*>			b3NodeArray;
-typedef b3AlignedObjectArray<const b3DbvtNode*>	b3ConstNodeArray;
+typedef b3AlignedObjectArray<b3DbvtNode*> b3NodeArray;
+typedef b3AlignedObjectArray<const b3DbvtNode*> b3ConstNodeArray;
 
 //
 struct b3DbvtNodeEnumerator : b3DynamicBvh::ICollide
 {
-	b3ConstNodeArray	nodes;
+	b3ConstNodeArray nodes;
 	void Process(const b3DbvtNode* n) { nodes.push_back(n); }
 };
 
 //
-static B3_DBVT_INLINE int			b3IndexOf(const b3DbvtNode* node)
+static B3_DBVT_INLINE int b3IndexOf(const b3DbvtNode* node)
 {
-	return(node->parent->childs[1]==node);
+	return (node->parent->childs[1] == node);
 }
 
 //
-static B3_DBVT_INLINE b3DbvtVolume	b3Merge(	const b3DbvtVolume& a,
-									  const b3DbvtVolume& b)
+static B3_DBVT_INLINE b3DbvtVolume b3Merge(const b3DbvtVolume& a,
+										   const b3DbvtVolume& b)
 {
-#if (B3_DBVT_MERGE_IMPL==B3_DBVT_IMPL_SSE)
+#if (B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE)
 	B3_ATTRIBUTE_ALIGNED16(char locals[sizeof(b3DbvtAabbMm)]);
-	b3DbvtVolume&	res=*(b3DbvtVolume*)locals;
+	b3DbvtVolume& res = *(b3DbvtVolume*)locals;
 #else
-		b3DbvtVolume	res;
+	b3DbvtVolume res;
 #endif
-	b3Merge(a,b,res);
-	return(res);
+	b3Merge(a, b, res);
+	return (res);
 }
 
 // volume+edge lengths
-static B3_DBVT_INLINE b3Scalar		b3Size(const b3DbvtVolume& a)
+static B3_DBVT_INLINE b3Scalar b3Size(const b3DbvtVolume& a)
 {
-	const b3Vector3	edges=a.Lengths();
-	return(	edges.x*edges.y*edges.z+
-		edges.x+edges.y+edges.z);
+	const b3Vector3 edges = a.Lengths();
+	return (edges.x * edges.y * edges.z +
+			edges.x + edges.y + edges.z);
 }
 
 //
-static void						b3GetMaxDepth(const b3DbvtNode* node,int depth,int& maxdepth)
+static void b3GetMaxDepth(const b3DbvtNode* node, int depth, int& maxdepth)
 {
-	if(node->isinternal())
+	if (node->isinternal())
 	{
-		b3GetMaxDepth(node->childs[0],depth+1,maxdepth);
-		b3GetMaxDepth(node->childs[1],depth+1,maxdepth);
-	} else maxdepth=b3Max(maxdepth,depth);
+		b3GetMaxDepth(node->childs[0], depth + 1, maxdepth);
+		b3GetMaxDepth(node->childs[1], depth + 1, maxdepth);
+	}
+	else
+		maxdepth = b3Max(maxdepth, depth);
 }
 
 //
-static B3_DBVT_INLINE void			b3DeleteNode(	b3DynamicBvh* pdbvt,
-										   b3DbvtNode* node)
+static B3_DBVT_INLINE void b3DeleteNode(b3DynamicBvh* pdbvt,
+										b3DbvtNode* node)
 {
 	b3AlignedFree(pdbvt->m_free);
-	pdbvt->m_free=node;
+	pdbvt->m_free = node;
 }
 
 //
-static void						b3RecurseDeleteNode(	b3DynamicBvh* pdbvt,
-												  b3DbvtNode* node)
+static void b3RecurseDeleteNode(b3DynamicBvh* pdbvt,
+								b3DbvtNode* node)
 {
-	if(!node->isleaf())
+	if (!node->isleaf())
 	{
-		b3RecurseDeleteNode(pdbvt,node->childs[0]);
-		b3RecurseDeleteNode(pdbvt,node->childs[1]);
+		b3RecurseDeleteNode(pdbvt, node->childs[0]);
+		b3RecurseDeleteNode(pdbvt, node->childs[1]);
 	}
-	if(node==pdbvt->m_root) pdbvt->m_root=0;
-	b3DeleteNode(pdbvt,node);
+	if (node == pdbvt->m_root) pdbvt->m_root = 0;
+	b3DeleteNode(pdbvt, node);
 }
 
 //
-static B3_DBVT_INLINE b3DbvtNode*	b3CreateNode(	b3DynamicBvh* pdbvt,
-										   b3DbvtNode* parent,
-										   void* data)
+static B3_DBVT_INLINE b3DbvtNode* b3CreateNode(b3DynamicBvh* pdbvt,
+											   b3DbvtNode* parent,
+											   void* data)
 {
-	b3DbvtNode*	node;
-	if(pdbvt->m_free)
-	{ node=pdbvt->m_free;pdbvt->m_free=0; }
+	b3DbvtNode* node;
+	if (pdbvt->m_free)
+	{
+		node = pdbvt->m_free;
+		pdbvt->m_free = 0;
+	}
 	else
-	{ node=new(b3AlignedAlloc(sizeof(b3DbvtNode),16)) b3DbvtNode(); }
-	node->parent	=	parent;
-	node->data		=	data;
-	node->childs[1]	=	0;
-	return(node);
+	{
+		node = new (b3AlignedAlloc(sizeof(b3DbvtNode), 16)) b3DbvtNode();
+	}
+	node->parent = parent;
+	node->data = data;
+	node->childs[1] = 0;
+	return (node);
 }
 
 //
-static B3_DBVT_INLINE b3DbvtNode*	b3CreateNode(	b3DynamicBvh* pdbvt,
-										   b3DbvtNode* parent,
-										   const b3DbvtVolume& volume,
-										   void* data)
+static B3_DBVT_INLINE b3DbvtNode* b3CreateNode(b3DynamicBvh* pdbvt,
+											   b3DbvtNode* parent,
+											   const b3DbvtVolume& volume,
+											   void* data)
 {
-	b3DbvtNode*	node=b3CreateNode(pdbvt,parent,data);
-	node->volume=volume;
-	return(node);
+	b3DbvtNode* node = b3CreateNode(pdbvt, parent, data);
+	node->volume = volume;
+	return (node);
 }
 
 //
-static B3_DBVT_INLINE b3DbvtNode*	b3CreateNode(	b3DynamicBvh* pdbvt,
-										   b3DbvtNode* parent,
-										   const b3DbvtVolume& volume0,
-										   const b3DbvtVolume& volume1,
-										   void* data)
+static B3_DBVT_INLINE b3DbvtNode* b3CreateNode(b3DynamicBvh* pdbvt,
+											   b3DbvtNode* parent,
+											   const b3DbvtVolume& volume0,
+											   const b3DbvtVolume& volume1,
+											   void* data)
 {
-	b3DbvtNode*	node=b3CreateNode(pdbvt,parent,data);
-	b3Merge(volume0,volume1,node->volume);
-	return(node);
+	b3DbvtNode* node = b3CreateNode(pdbvt, parent, data);
+	b3Merge(volume0, volume1, node->volume);
+	return (node);
 }
 
 //
-static void						b3InsertLeaf(	b3DynamicBvh* pdbvt,
-										   b3DbvtNode* root,
-										   b3DbvtNode* leaf)
+static void b3InsertLeaf(b3DynamicBvh* pdbvt,
+						 b3DbvtNode* root,
+						 b3DbvtNode* leaf)
 {
-	if(!pdbvt->m_root)
+	if (!pdbvt->m_root)
 	{
-		pdbvt->m_root	=	leaf;
-		leaf->parent	=	0;
+		pdbvt->m_root = leaf;
+		leaf->parent = 0;
 	}
 	else
 	{
-		if(!root->isleaf())
+		if (!root->isleaf())
 		{
-			do	{
-				root=root->childs[b3Select(	leaf->volume,
-					root->childs[0]->volume,
-					root->childs[1]->volume)];
-			} while(!root->isleaf());
+			do
+			{
+				root = root->childs[b3Select(leaf->volume,
+											 root->childs[0]->volume,
+											 root->childs[1]->volume)];
+			} while (!root->isleaf());
 		}
-		b3DbvtNode*	prev=root->parent;
-		b3DbvtNode*	node=b3CreateNode(pdbvt,prev,leaf->volume,root->volume,0);
-		if(prev)
+		b3DbvtNode* prev = root->parent;
+		b3DbvtNode* node = b3CreateNode(pdbvt, prev, leaf->volume, root->volume, 0);
+		if (prev)
 		{
-			prev->childs[b3IndexOf(root)]	=	node;
-			node->childs[0]				=	root;root->parent=node;
-			node->childs[1]				=	leaf;leaf->parent=node;
-			do	{
-				if(!prev->volume.Contain(node->volume))
-					b3Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+			prev->childs[b3IndexOf(root)] = node;
+			node->childs[0] = root;
+			root->parent = node;
+			node->childs[1] = leaf;
+			leaf->parent = node;
+			do
+			{
+				if (!prev->volume.Contain(node->volume))
+					b3Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
 				else
 					break;
-				node=prev;
-			} while(0!=(prev=node->parent));
+				node = prev;
+			} while (0 != (prev = node->parent));
 		}
 		else
 		{
-			node->childs[0]	=	root;root->parent=node;
-			node->childs[1]	=	leaf;leaf->parent=node;
-			pdbvt->m_root	=	node;
+			node->childs[0] = root;
+			root->parent = node;
+			node->childs[1] = leaf;
+			leaf->parent = node;
+			pdbvt->m_root = node;
 		}
 	}
 }
 
 //
-static b3DbvtNode*				b3RemoveLeaf(	b3DynamicBvh* pdbvt,
-										   b3DbvtNode* leaf)
+static b3DbvtNode* b3RemoveLeaf(b3DynamicBvh* pdbvt,
+								b3DbvtNode* leaf)
 {
-	if(leaf==pdbvt->m_root)
+	if (leaf == pdbvt->m_root)
 	{
-		pdbvt->m_root=0;
-		return(0);
+		pdbvt->m_root = 0;
+		return (0);
 	}
 	else
 	{
-		b3DbvtNode*	parent=leaf->parent;
-		b3DbvtNode*	prev=parent->parent;
-		b3DbvtNode*	sibling=parent->childs[1-b3IndexOf(leaf)];			
-		if(prev)
+		b3DbvtNode* parent = leaf->parent;
+		b3DbvtNode* prev = parent->parent;
+		b3DbvtNode* sibling = parent->childs[1 - b3IndexOf(leaf)];
+		if (prev)
 		{
-			prev->childs[b3IndexOf(parent)]=sibling;
-			sibling->parent=prev;
-			b3DeleteNode(pdbvt,parent);
-			while(prev)
+			prev->childs[b3IndexOf(parent)] = sibling;
+			sibling->parent = prev;
+			b3DeleteNode(pdbvt, parent);
+			while (prev)
 			{
-				const b3DbvtVolume	pb=prev->volume;
-				b3Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
-				if(b3NotEqual(pb,prev->volume))
+				const b3DbvtVolume pb = prev->volume;
+				b3Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
+				if (b3NotEqual(pb, prev->volume))
 				{
-					prev=prev->parent;
-				} else break;
+					prev = prev->parent;
+				}
+				else
+					break;
 			}
-			return(prev?prev:pdbvt->m_root);
+			return (prev ? prev : pdbvt->m_root);
 		}
 		else
-		{								
-			pdbvt->m_root=sibling;
-			sibling->parent=0;
-			b3DeleteNode(pdbvt,parent);
-			return(pdbvt->m_root);
-		}			
+		{
+			pdbvt->m_root = sibling;
+			sibling->parent = 0;
+			b3DeleteNode(pdbvt, parent);
+			return (pdbvt->m_root);
+		}
 	}
 }
 
 //
-static void						b3FetchLeaves(b3DynamicBvh* pdbvt,
-											b3DbvtNode* root,
-											b3NodeArray& leaves,
-											int depth=-1)
+static void b3FetchLeaves(b3DynamicBvh* pdbvt,
+						  b3DbvtNode* root,
+						  b3NodeArray& leaves,
+						  int depth = -1)
 {
-	if(root->isinternal()&&depth)
+	if (root->isinternal() && depth)
 	{
-		b3FetchLeaves(pdbvt,root->childs[0],leaves,depth-1);
-		b3FetchLeaves(pdbvt,root->childs[1],leaves,depth-1);
-		b3DeleteNode(pdbvt,root);
+		b3FetchLeaves(pdbvt, root->childs[0], leaves, depth - 1);
+		b3FetchLeaves(pdbvt, root->childs[1], leaves, depth - 1);
+		b3DeleteNode(pdbvt, root);
 	}
 	else
 	{
@@ -227,50 +242,50 @@ static void						b3FetchLeaves(b3DynamicBvh* pdbvt,
 	}
 }
 
-static bool						b3LeftOfAxis(	const b3DbvtNode* node,
-										   const b3Vector3& org,
-										   const b3Vector3& axis)
+static bool b3LeftOfAxis(const b3DbvtNode* node,
+						 const b3Vector3& org,
+						 const b3Vector3& axis)
 {
-	return b3Dot(axis,node->volume.Center()-org) <= 0;
+	return b3Dot(axis, node->volume.Center() - org) <= 0;
 }
 
 // Partitions leaves such that leaves[0, n) are on the
 // left of axis, and leaves[n, count) are on the right
 // of axis. returns N.
-static int						b3Split(	b3DbvtNode** leaves,
-									  int count,
-									  const b3Vector3& org,
-									  const b3Vector3& axis)
+static int b3Split(b3DbvtNode** leaves,
+				   int count,
+				   const b3Vector3& org,
+				   const b3Vector3& axis)
 {
-	int begin=0;
-	int end=count;
-	for(;;)
+	int begin = 0;
+	int end = count;
+	for (;;)
 	{
-		while(begin!=end && b3LeftOfAxis(leaves[begin],org,axis))
+		while (begin != end && b3LeftOfAxis(leaves[begin], org, axis))
 		{
 			++begin;
 		}
 
-		if(begin==end)
+		if (begin == end)
 		{
 			break;
 		}
 
-		while(begin!=end && !b3LeftOfAxis(leaves[end-1],org,axis))
+		while (begin != end && !b3LeftOfAxis(leaves[end - 1], org, axis))
 		{
 			--end;
 		}
 
-		if(begin==end)
+		if (begin == end)
 		{
 			break;
 		}
 
 		// swap out of place nodes
 		--end;
-		b3DbvtNode* temp=leaves[begin];
-		leaves[begin]=leaves[end];
-		leaves[end]=temp;
+		b3DbvtNode* temp = leaves[begin];
+		leaves[begin] = leaves[end];
+		leaves[end] = temp;
 		++begin;
 	}
 
@@ -278,149 +293,152 @@ static int						b3Split(	b3DbvtNode** leaves,
 }
 
 //
-static b3DbvtVolume				b3Bounds(	b3DbvtNode** leaves,
-										 int count)
+static b3DbvtVolume b3Bounds(b3DbvtNode** leaves,
+							 int count)
 {
-#if B3_DBVT_MERGE_IMPL==B3_DBVT_IMPL_SSE
-	B3_ATTRIBUTE_ALIGNED16(char	locals[sizeof(b3DbvtVolume)]);
-	b3DbvtVolume&	volume=*(b3DbvtVolume*)locals;
-	volume=leaves[0]->volume;
+#if B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE
+	B3_ATTRIBUTE_ALIGNED16(char locals[sizeof(b3DbvtVolume)]);
+	b3DbvtVolume& volume = *(b3DbvtVolume*)locals;
+	volume = leaves[0]->volume;
 #else
-	b3DbvtVolume volume=leaves[0]->volume;
+	b3DbvtVolume volume = leaves[0]->volume;
 #endif
-	for(int i=1,ni=count;i<ni;++i)
+	for (int i = 1, ni = count; i < ni; ++i)
 	{
-		b3Merge(volume,leaves[i]->volume,volume);
+		b3Merge(volume, leaves[i]->volume, volume);
 	}
-	return(volume);
+	return (volume);
 }
 
 //
-static void						b3BottomUp(	b3DynamicBvh* pdbvt,
-										 b3DbvtNode** leaves,
-										 int count)
+static void b3BottomUp(b3DynamicBvh* pdbvt,
+					   b3DbvtNode** leaves,
+					   int count)
 {
-	while(count>1)
+	while (count > 1)
 	{
-		b3Scalar	minsize=B3_INFINITY;
-		int			minidx[2]={-1,-1};
-		for(int i=0;i<count;++i)
+		b3Scalar minsize = B3_INFINITY;
+		int minidx[2] = {-1, -1};
+		for (int i = 0; i < count; ++i)
 		{
-			for(int j=i+1;j<count;++j)
+			for (int j = i + 1; j < count; ++j)
 			{
-				const b3Scalar	sz=b3Size(b3Merge(leaves[i]->volume,leaves[j]->volume));
-				if(sz<minsize)
+				const b3Scalar sz = b3Size(b3Merge(leaves[i]->volume, leaves[j]->volume));
+				if (sz < minsize)
 				{
-					minsize		=	sz;
-					minidx[0]	=	i;
-					minidx[1]	=	j;
+					minsize = sz;
+					minidx[0] = i;
+					minidx[1] = j;
 				}
 			}
 		}
-		b3DbvtNode*	n[]	=	{leaves[minidx[0]],leaves[minidx[1]]};
-		b3DbvtNode*	p	=	b3CreateNode(pdbvt,0,n[0]->volume,n[1]->volume,0);
-		p->childs[0]		=	n[0];
-		p->childs[1]		=	n[1];
-		n[0]->parent		=	p;
-		n[1]->parent		=	p;
-		leaves[minidx[0]]	=	p;
-		leaves[minidx[1]]	=	leaves[count-1];
+		b3DbvtNode* n[] = {leaves[minidx[0]], leaves[minidx[1]]};
+		b3DbvtNode* p = b3CreateNode(pdbvt, 0, n[0]->volume, n[1]->volume, 0);
+		p->childs[0] = n[0];
+		p->childs[1] = n[1];
+		n[0]->parent = p;
+		n[1]->parent = p;
+		leaves[minidx[0]] = p;
+		leaves[minidx[1]] = leaves[count - 1];
 		--count;
 	}
 }
 
 //
-static b3DbvtNode*			b3TopDown(b3DynamicBvh* pdbvt,
-									b3DbvtNode** leaves,
-									int count,
-									int bu_treshold)
+static b3DbvtNode* b3TopDown(b3DynamicBvh* pdbvt,
+							 b3DbvtNode** leaves,
+							 int count,
+							 int bu_treshold)
 {
-	static const b3Vector3	axis[]={b3MakeVector3(1,0,0),
-		b3MakeVector3(0,1,0),
-		b3MakeVector3(0,0,1)};
-	b3Assert(bu_treshold>1);
-	if(count>1)
+	static const b3Vector3 axis[] = {b3MakeVector3(1, 0, 0),
+									 b3MakeVector3(0, 1, 0),
+									 b3MakeVector3(0, 0, 1)};
+	b3Assert(bu_treshold > 1);
+	if (count > 1)
 	{
-		if(count>bu_treshold)
+		if (count > bu_treshold)
 		{
-			const b3DbvtVolume	vol=b3Bounds(leaves,count);
-			const b3Vector3			org=vol.Center();
-			int						partition;
-			int						bestaxis=-1;
-			int						bestmidp=count;
-			int						splitcount[3][2]={{0,0},{0,0},{0,0}};
+			const b3DbvtVolume vol = b3Bounds(leaves, count);
+			const b3Vector3 org = vol.Center();
+			int partition;
+			int bestaxis = -1;
+			int bestmidp = count;
+			int splitcount[3][2] = {{0, 0}, {0, 0}, {0, 0}};
 			int i;
-			for( i=0;i<count;++i)
+			for (i = 0; i < count; ++i)
 			{
-				const b3Vector3	x=leaves[i]->volume.Center()-org;
-				for(int j=0;j<3;++j)
+				const b3Vector3 x = leaves[i]->volume.Center() - org;
+				for (int j = 0; j < 3; ++j)
 				{
-					++splitcount[j][b3Dot(x,axis[j])>0?1:0];
+					++splitcount[j][b3Dot(x, axis[j]) > 0 ? 1 : 0];
 				}
 			}
-			for( i=0;i<3;++i)
+			for (i = 0; i < 3; ++i)
 			{
-				if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
+				if ((splitcount[i][0] > 0) && (splitcount[i][1] > 0))
 				{
-					const int	midp=(int)b3Fabs(b3Scalar(splitcount[i][0]-splitcount[i][1]));
-					if(midp<bestmidp)
+					const int midp = (int)b3Fabs(b3Scalar(splitcount[i][0] - splitcount[i][1]));
+					if (midp < bestmidp)
 					{
-						bestaxis=i;
-						bestmidp=midp;
+						bestaxis = i;
+						bestmidp = midp;
 					}
 				}
 			}
-			if(bestaxis>=0)
+			if (bestaxis >= 0)
 			{
-				partition=b3Split(leaves,count,org,axis[bestaxis]);
-				b3Assert(partition!=0 && partition!=count);
+				partition = b3Split(leaves, count, org, axis[bestaxis]);
+				b3Assert(partition != 0 && partition != count);
 			}
 			else
 			{
-				partition=count/2+1;
+				partition = count / 2 + 1;
 			}
-			b3DbvtNode*	node=b3CreateNode(pdbvt,0,vol,0);
-			node->childs[0]=b3TopDown(pdbvt,&leaves[0],partition,bu_treshold);
-			node->childs[1]=b3TopDown(pdbvt,&leaves[partition],count-partition,bu_treshold);
-			node->childs[0]->parent=node;
-			node->childs[1]->parent=node;
-			return(node);
+			b3DbvtNode* node = b3CreateNode(pdbvt, 0, vol, 0);
+			node->childs[0] = b3TopDown(pdbvt, &leaves[0], partition, bu_treshold);
+			node->childs[1] = b3TopDown(pdbvt, &leaves[partition], count - partition, bu_treshold);
+			node->childs[0]->parent = node;
+			node->childs[1]->parent = node;
+			return (node);
 		}
 		else
 		{
-			b3BottomUp(pdbvt,leaves,count);
-			return(leaves[0]);
+			b3BottomUp(pdbvt, leaves, count);
+			return (leaves[0]);
 		}
 	}
-	return(leaves[0]);
+	return (leaves[0]);
 }
 
 //
-static B3_DBVT_INLINE b3DbvtNode*	b3Sort(b3DbvtNode* n,b3DbvtNode*& r)
+static B3_DBVT_INLINE b3DbvtNode* b3Sort(b3DbvtNode* n, b3DbvtNode*& r)
 {
-	b3DbvtNode*	p=n->parent;
+	b3DbvtNode* p = n->parent;
 	b3Assert(n->isinternal());
-	if(p>n)
+	if (p > n)
 	{
-		const int		i=b3IndexOf(n);
-		const int		j=1-i;
-		b3DbvtNode*	s=p->childs[j];
-		b3DbvtNode*	q=p->parent;
-		b3Assert(n==p->childs[i]);
-		if(q) q->childs[b3IndexOf(p)]=n; else r=n;
-		s->parent=n;
-		p->parent=n;
-		n->parent=q;
-		p->childs[0]=n->childs[0];
-		p->childs[1]=n->childs[1];
-		n->childs[0]->parent=p;
-		n->childs[1]->parent=p;
-		n->childs[i]=p;
-		n->childs[j]=s;
-		b3Swap(p->volume,n->volume);
-		return(p);
+		const int i = b3IndexOf(n);
+		const int j = 1 - i;
+		b3DbvtNode* s = p->childs[j];
+		b3DbvtNode* q = p->parent;
+		b3Assert(n == p->childs[i]);
+		if (q)
+			q->childs[b3IndexOf(p)] = n;
+		else
+			r = n;
+		s->parent = n;
+		p->parent = n;
+		n->parent = q;
+		p->childs[0] = n->childs[0];
+		p->childs[1] = n->childs[1];
+		n->childs[0]->parent = p;
+		n->childs[1]->parent = p;
+		n->childs[i] = p;
+		n->childs[j] = s;
+		b3Swap(p->volume, n->volume);
+		return (p);
 	}
-	return(n);
+	return (n);
 }
 
 #if 0
@@ -438,11 +456,11 @@ static B3_DBVT_INLINE b3DbvtNode*	walkup(b3DbvtNode* n,int count)
 //
 b3DynamicBvh::b3DynamicBvh()
 {
-	m_root		=	0;
-	m_free		=	0;
-	m_lkhd		=	-1;
-	m_leaves	=	0;
-	m_opath		=	0;
+	m_root = 0;
+	m_free = 0;
+	m_lkhd = -1;
+	m_leaves = 0;
+	m_opath = 0;
 }
 
 //
@@ -452,228 +470,233 @@ b3DynamicBvh::~b3DynamicBvh()
 }
 
 //
-void			b3DynamicBvh::clear()
+void b3DynamicBvh::clear()
 {
-	if(m_root)	
-		b3RecurseDeleteNode(this,m_root);
+	if (m_root)
+		b3RecurseDeleteNode(this, m_root);
 	b3AlignedFree(m_free);
-	m_free=0;
-	m_lkhd		=	-1;
+	m_free = 0;
+	m_lkhd = -1;
 	m_stkStack.clear();
-	m_opath		=	0;
-	
+	m_opath = 0;
 }
 
 //
-void			b3DynamicBvh::optimizeBottomUp()
+void b3DynamicBvh::optimizeBottomUp()
 {
-	if(m_root)
+	if (m_root)
 	{
 		b3NodeArray leaves;
 		leaves.reserve(m_leaves);
-		b3FetchLeaves(this,m_root,leaves);
-		b3BottomUp(this,&leaves[0],leaves.size());
-		m_root=leaves[0];
+		b3FetchLeaves(this, m_root, leaves);
+		b3BottomUp(this, &leaves[0], leaves.size());
+		m_root = leaves[0];
 	}
 }
 
 //
-void			b3DynamicBvh::optimizeTopDown(int bu_treshold)
+void b3DynamicBvh::optimizeTopDown(int bu_treshold)
 {
-	if(m_root)
+	if (m_root)
 	{
-		b3NodeArray	leaves;
+		b3NodeArray leaves;
 		leaves.reserve(m_leaves);
-		b3FetchLeaves(this,m_root,leaves);
-		m_root=b3TopDown(this,&leaves[0],leaves.size(),bu_treshold);
+		b3FetchLeaves(this, m_root, leaves);
+		m_root = b3TopDown(this, &leaves[0], leaves.size(), bu_treshold);
 	}
 }
 
 //
-void			b3DynamicBvh::optimizeIncremental(int passes)
+void b3DynamicBvh::optimizeIncremental(int passes)
 {
-	if(passes<0) passes=m_leaves;
-	if(m_root&&(passes>0))
+	if (passes < 0) passes = m_leaves;
+	if (m_root && (passes > 0))
 	{
-		do	{
-			b3DbvtNode*		node=m_root;
-			unsigned	bit=0;
-			while(node->isinternal())
+		do
+		{
+			b3DbvtNode* node = m_root;
+			unsigned bit = 0;
+			while (node->isinternal())
 			{
-				node=b3Sort(node,m_root)->childs[(m_opath>>bit)&1];
-				bit=(bit+1)&(sizeof(unsigned)*8-1);
+				node = b3Sort(node, m_root)->childs[(m_opath >> bit) & 1];
+				bit = (bit + 1) & (sizeof(unsigned) * 8 - 1);
 			}
 			update(node);
 			++m_opath;
-		} while(--passes);
+		} while (--passes);
 	}
 }
 
 //
-b3DbvtNode*	b3DynamicBvh::insert(const b3DbvtVolume& volume,void* data)
+b3DbvtNode* b3DynamicBvh::insert(const b3DbvtVolume& volume, void* data)
 {
-	b3DbvtNode*	leaf=b3CreateNode(this,0,volume,data);
-	b3InsertLeaf(this,m_root,leaf);
+	b3DbvtNode* leaf = b3CreateNode(this, 0, volume, data);
+	b3InsertLeaf(this, m_root, leaf);
 	++m_leaves;
-	return(leaf);
+	return (leaf);
 }
 
 //
-void			b3DynamicBvh::update(b3DbvtNode* leaf,int lookahead)
+void b3DynamicBvh::update(b3DbvtNode* leaf, int lookahead)
 {
-	b3DbvtNode*	root=b3RemoveLeaf(this,leaf);
-	if(root)
+	b3DbvtNode* root = b3RemoveLeaf(this, leaf);
+	if (root)
 	{
-		if(lookahead>=0)
+		if (lookahead >= 0)
 		{
-			for(int i=0;(i<lookahead)&&root->parent;++i)
+			for (int i = 0; (i < lookahead) && root->parent; ++i)
 			{
-				root=root->parent;
+				root = root->parent;
 			}
-		} else root=m_root;
+		}
+		else
+			root = m_root;
 	}
-	b3InsertLeaf(this,root,leaf);
+	b3InsertLeaf(this, root, leaf);
 }
 
 //
-void			b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume)
+void b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume)
 {
-	b3DbvtNode*	root=b3RemoveLeaf(this,leaf);
-	if(root)
+	b3DbvtNode* root = b3RemoveLeaf(this, leaf);
+	if (root)
 	{
-		if(m_lkhd>=0)
+		if (m_lkhd >= 0)
 		{
-			for(int i=0;(i<m_lkhd)&&root->parent;++i)
+			for (int i = 0; (i < m_lkhd) && root->parent; ++i)
 			{
-				root=root->parent;
+				root = root->parent;
 			}
-		} else root=m_root;
+		}
+		else
+			root = m_root;
 	}
-	leaf->volume=volume;
-	b3InsertLeaf(this,root,leaf);
+	leaf->volume = volume;
+	b3InsertLeaf(this, root, leaf);
 }
 
 //
-bool			b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume,const b3Vector3& velocity,b3Scalar margin)
+bool b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity, b3Scalar margin)
 {
-	if(leaf->volume.Contain(volume)) return(false);
-	volume.Expand(b3MakeVector3(margin,margin,margin));
+	if (leaf->volume.Contain(volume)) return (false);
+	volume.Expand(b3MakeVector3(margin, margin, margin));
 	volume.SignedExpand(velocity);
-	update(leaf,volume);
-	return(true);
+	update(leaf, volume);
+	return (true);
 }
 
 //
-bool			b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume,const b3Vector3& velocity)
+bool b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity)
 {
-	if(leaf->volume.Contain(volume)) return(false);
+	if (leaf->volume.Contain(volume)) return (false);
 	volume.SignedExpand(velocity);
-	update(leaf,volume);
-	return(true);
+	update(leaf, volume);
+	return (true);
 }
 
 //
-bool			b3DynamicBvh::update(b3DbvtNode* leaf,b3DbvtVolume& volume,b3Scalar margin)
+bool b3DynamicBvh::update(b3DbvtNode* leaf, b3DbvtVolume& volume, b3Scalar margin)
 {
-	if(leaf->volume.Contain(volume)) return(false);
-	volume.Expand(b3MakeVector3(margin,margin,margin));
-	update(leaf,volume);
-	return(true);
+	if (leaf->volume.Contain(volume)) return (false);
+	volume.Expand(b3MakeVector3(margin, margin, margin));
+	update(leaf, volume);
+	return (true);
 }
 
 //
-void			b3DynamicBvh::remove(b3DbvtNode* leaf)
+void b3DynamicBvh::remove(b3DbvtNode* leaf)
 {
-	b3RemoveLeaf(this,leaf);
-	b3DeleteNode(this,leaf);
+	b3RemoveLeaf(this, leaf);
+	b3DeleteNode(this, leaf);
 	--m_leaves;
 }
 
 //
-void			b3DynamicBvh::write(IWriter* iwriter) const
+void b3DynamicBvh::write(IWriter* iwriter) const
 {
-	b3DbvtNodeEnumerator	nodes;
-	nodes.nodes.reserve(m_leaves*2);
-	enumNodes(m_root,nodes);
-	iwriter->Prepare(m_root,nodes.nodes.size());
-	for(int i=0;i<nodes.nodes.size();++i)
+	b3DbvtNodeEnumerator nodes;
+	nodes.nodes.reserve(m_leaves * 2);
+	enumNodes(m_root, nodes);
+	iwriter->Prepare(m_root, nodes.nodes.size());
+	for (int i = 0; i < nodes.nodes.size(); ++i)
 	{
-		const b3DbvtNode* n=nodes.nodes[i];
-		int			p=-1;
-		if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
-		if(n->isinternal())
+		const b3DbvtNode* n = nodes.nodes[i];
+		int p = -1;
+		if (n->parent) p = nodes.nodes.findLinearSearch(n->parent);
+		if (n->isinternal())
 		{
-			const int	c0=nodes.nodes.findLinearSearch(n->childs[0]);
-			const int	c1=nodes.nodes.findLinearSearch(n->childs[1]);
-			iwriter->WriteNode(n,i,p,c0,c1);
+			const int c0 = nodes.nodes.findLinearSearch(n->childs[0]);
+			const int c1 = nodes.nodes.findLinearSearch(n->childs[1]);
+			iwriter->WriteNode(n, i, p, c0, c1);
 		}
 		else
 		{
-			iwriter->WriteLeaf(n,i,p);
-		}	
+			iwriter->WriteLeaf(n, i, p);
+		}
 	}
 }
 
 //
-void			b3DynamicBvh::clone(b3DynamicBvh& dest,IClone* iclone) const
+void b3DynamicBvh::clone(b3DynamicBvh& dest, IClone* iclone) const
 {
 	dest.clear();
-	if(m_root!=0)
-	{	
-		b3AlignedObjectArray<sStkCLN>	stack;
+	if (m_root != 0)
+	{
+		b3AlignedObjectArray<sStkCLN> stack;
 		stack.reserve(m_leaves);
-		stack.push_back(sStkCLN(m_root,0));
-		do	{
-			const int		i=stack.size()-1;
-			const sStkCLN	e=stack[i];
-			b3DbvtNode*			n=b3CreateNode(&dest,e.parent,e.node->volume,e.node->data);
+		stack.push_back(sStkCLN(m_root, 0));
+		do
+		{
+			const int i = stack.size() - 1;
+			const sStkCLN e = stack[i];
+			b3DbvtNode* n = b3CreateNode(&dest, e.parent, e.node->volume, e.node->data);
 			stack.pop_back();
-			if(e.parent!=0)
-				e.parent->childs[i&1]=n;
+			if (e.parent != 0)
+				e.parent->childs[i & 1] = n;
 			else
-				dest.m_root=n;
-			if(e.node->isinternal())
+				dest.m_root = n;
+			if (e.node->isinternal())
 			{
-				stack.push_back(sStkCLN(e.node->childs[0],n));
-				stack.push_back(sStkCLN(e.node->childs[1],n));
+				stack.push_back(sStkCLN(e.node->childs[0], n));
+				stack.push_back(sStkCLN(e.node->childs[1], n));
 			}
 			else
 			{
 				iclone->CloneLeaf(n);
 			}
-		} while(stack.size()>0);
+		} while (stack.size() > 0);
 	}
 }
 
 //
-int				b3DynamicBvh::maxdepth(const b3DbvtNode* node)
+int b3DynamicBvh::maxdepth(const b3DbvtNode* node)
 {
-	int	depth=0;
-	if(node) b3GetMaxDepth(node,1,depth);
-	return(depth);
+	int depth = 0;
+	if (node) b3GetMaxDepth(node, 1, depth);
+	return (depth);
 }
 
 //
-int				b3DynamicBvh::countLeaves(const b3DbvtNode* node)
+int b3DynamicBvh::countLeaves(const b3DbvtNode* node)
 {
-	if(node->isinternal())
-		return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
+	if (node->isinternal())
+		return (countLeaves(node->childs[0]) + countLeaves(node->childs[1]));
 	else
-		return(1);
+		return (1);
 }
 
 //
-void			b3DynamicBvh::extractLeaves(const b3DbvtNode* node,b3AlignedObjectArray<const b3DbvtNode*>& leaves)
+void b3DynamicBvh::extractLeaves(const b3DbvtNode* node, b3AlignedObjectArray<const b3DbvtNode*>& leaves)
 {
-	if(node->isinternal())
+	if (node->isinternal())
 	{
-		extractLeaves(node->childs[0],leaves);
-		extractLeaves(node->childs[1],leaves);
+		extractLeaves(node->childs[0], leaves);
+		extractLeaves(node->childs[1], leaves);
 	}
 	else
 	{
 		leaves.push_back(node);
-	}	
+	}
 }
 
 //
@@ -682,7 +705,6 @@ void			b3DynamicBvh::extractLeaves(const b3DbvtNode* node,b3AlignedObjectArray<c
 #include <stdio.h>
 #include <stdlib.h>
 
-
 /*
 q6600,2.4ghz
 
@@ -722,603 +744,608 @@ struct b3DbvtBenchmark
 {
 	struct NilPolicy : b3DynamicBvh::ICollide
 	{
-		NilPolicy() : m_pcount(0),m_depth(-B3_INFINITY),m_checksort(true)		{}
-		void	Process(const b3DbvtNode*,const b3DbvtNode*)				{ ++m_pcount; }
-		void	Process(const b3DbvtNode*)									{ ++m_pcount; }
-		void	Process(const b3DbvtNode*,b3Scalar depth)
+		NilPolicy() : m_pcount(0), m_depth(-B3_INFINITY), m_checksort(true) {}
+		void Process(const b3DbvtNode*, const b3DbvtNode*) { ++m_pcount; }
+		void Process(const b3DbvtNode*) { ++m_pcount; }
+		void Process(const b3DbvtNode*, b3Scalar depth)
 		{
 			++m_pcount;
-			if(m_checksort)
-			{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
+			if (m_checksort)
+			{
+				if (depth >= m_depth)
+					m_depth = depth;
+				else
+					printf("wrong depth: %f (should be >= %f)\r\n", depth, m_depth);
+			}
 		}
-		int			m_pcount;
-		b3Scalar	m_depth;
-		bool		m_checksort;
+		int m_pcount;
+		b3Scalar m_depth;
+		bool m_checksort;
 	};
 	struct P14 : b3DynamicBvh::ICollide
 	{
 		struct Node
 		{
-			const b3DbvtNode*	leaf;
-			b3Scalar			depth;
+			const b3DbvtNode* leaf;
+			b3Scalar depth;
 		};
-		void Process(const b3DbvtNode* leaf,b3Scalar depth)
+		void Process(const b3DbvtNode* leaf, b3Scalar depth)
 		{
-			Node	n;
-			n.leaf	=	leaf;
-			n.depth	=	depth;
+			Node n;
+			n.leaf = leaf;
+			n.depth = depth;
 		}
-		static int sortfnc(const Node& a,const Node& b)
+		static int sortfnc(const Node& a, const Node& b)
 		{
-			if(a.depth<b.depth) return(+1);
-			if(a.depth>b.depth) return(-1);
-			return(0);
+			if (a.depth < b.depth) return (+1);
+			if (a.depth > b.depth) return (-1);
+			return (0);
 		}
-		b3AlignedObjectArray<Node>		m_nodes;
+		b3AlignedObjectArray<Node> m_nodes;
 	};
 	struct P15 : b3DynamicBvh::ICollide
 	{
 		struct Node
 		{
-			const b3DbvtNode*	leaf;
-			b3Scalar			depth;
+			const b3DbvtNode* leaf;
+			b3Scalar depth;
 		};
 		void Process(const b3DbvtNode* leaf)
 		{
-			Node	n;
-			n.leaf	=	leaf;
-			n.depth	=	dot(leaf->volume.Center(),m_axis);
+			Node n;
+			n.leaf = leaf;
+			n.depth = dot(leaf->volume.Center(), m_axis);
 		}
-		static int sortfnc(const Node& a,const Node& b)
+		static int sortfnc(const Node& a, const Node& b)
 		{
-			if(a.depth<b.depth) return(+1);
-			if(a.depth>b.depth) return(-1);
-			return(0);
+			if (a.depth < b.depth) return (+1);
+			if (a.depth > b.depth) return (-1);
+			return (0);
 		}
-		b3AlignedObjectArray<Node>		m_nodes;
-		b3Vector3						m_axis;
+		b3AlignedObjectArray<Node> m_nodes;
+		b3Vector3 m_axis;
 	};
-	static b3Scalar			RandUnit()
+	static b3Scalar RandUnit()
 	{
-		return(rand()/(b3Scalar)RAND_MAX);
+		return (rand() / (b3Scalar)RAND_MAX);
 	}
-	static b3Vector3		RandVector3()
+	static b3Vector3 RandVector3()
 	{
-		return(b3Vector3(RandUnit(),RandUnit(),RandUnit()));
+		return (b3Vector3(RandUnit(), RandUnit(), RandUnit()));
 	}
-	static b3Vector3		RandVector3(b3Scalar cs)
+	static b3Vector3 RandVector3(b3Scalar cs)
 	{
-		return(RandVector3()*cs-b3Vector3(cs,cs,cs)/2);
+		return (RandVector3() * cs - b3Vector3(cs, cs, cs) / 2);
 	}
-	static b3DbvtVolume	RandVolume(b3Scalar cs,b3Scalar eb,b3Scalar es)
+	static b3DbvtVolume RandVolume(b3Scalar cs, b3Scalar eb, b3Scalar es)
 	{
-		return(b3DbvtVolume::FromCE(RandVector3(cs),b3Vector3(eb,eb,eb)+RandVector3()*es));
+		return (b3DbvtVolume::FromCE(RandVector3(cs), b3Vector3(eb, eb, eb) + RandVector3() * es));
 	}
-	static b3Transform		RandTransform(b3Scalar cs)
+	static b3Transform RandTransform(b3Scalar cs)
 	{
-		b3Transform	t;
+		b3Transform t;
 		t.setOrigin(RandVector3(cs));
-		t.setRotation(b3Quaternion(RandUnit()*B3_PI*2,RandUnit()*B3_PI*2,RandUnit()*B3_PI*2).normalized());
-		return(t);
+		t.setRotation(b3Quaternion(RandUnit() * B3_PI * 2, RandUnit() * B3_PI * 2, RandUnit() * B3_PI * 2).normalized());
+		return (t);
 	}
-	static void				RandTree(b3Scalar cs,b3Scalar eb,b3Scalar es,int leaves,b3DynamicBvh& dbvt)
+	static void RandTree(b3Scalar cs, b3Scalar eb, b3Scalar es, int leaves, b3DynamicBvh& dbvt)
 	{
 		dbvt.clear();
-		for(int i=0;i<leaves;++i)
+		for (int i = 0; i < leaves; ++i)
 		{
-			dbvt.insert(RandVolume(cs,eb,es),0);
+			dbvt.insert(RandVolume(cs, eb, es), 0);
 		}
 	}
 };
 
-void			b3DynamicBvh::benchmark()
+void b3DynamicBvh::benchmark()
 {
-	static const b3Scalar	cfgVolumeCenterScale		=	100;
-	static const b3Scalar	cfgVolumeExentsBase			=	1;
-	static const b3Scalar	cfgVolumeExentsScale		=	4;
-	static const int		cfgLeaves					=	8192;
-	static const bool		cfgEnable					=	true;
+	static const b3Scalar cfgVolumeCenterScale = 100;
+	static const b3Scalar cfgVolumeExentsBase = 1;
+	static const b3Scalar cfgVolumeExentsScale = 4;
+	static const int cfgLeaves = 8192;
+	static const bool cfgEnable = true;
 
 	//[1] b3DbvtVolume intersections
-	bool					cfgBenchmark1_Enable		=	cfgEnable;
-	static const int		cfgBenchmark1_Iterations	=	8;
-	static const int		cfgBenchmark1_Reference		=	3499;
+	bool cfgBenchmark1_Enable = cfgEnable;
+	static const int cfgBenchmark1_Iterations = 8;
+	static const int cfgBenchmark1_Reference = 3499;
 	//[2] b3DbvtVolume merges
-	bool					cfgBenchmark2_Enable		=	cfgEnable;
-	static const int		cfgBenchmark2_Iterations	=	4;
-	static const int		cfgBenchmark2_Reference		=	1945;
+	bool cfgBenchmark2_Enable = cfgEnable;
+	static const int cfgBenchmark2_Iterations = 4;
+	static const int cfgBenchmark2_Reference = 1945;
 	//[3] b3DynamicBvh::collideTT
-	bool					cfgBenchmark3_Enable		=	cfgEnable;
-	static const int		cfgBenchmark3_Iterations	=	512;
-	static const int		cfgBenchmark3_Reference		=	5485;
+	bool cfgBenchmark3_Enable = cfgEnable;
+	static const int cfgBenchmark3_Iterations = 512;
+	static const int cfgBenchmark3_Reference = 5485;
 	//[4] b3DynamicBvh::collideTT self
-	bool					cfgBenchmark4_Enable		=	cfgEnable;
-	static const int		cfgBenchmark4_Iterations	=	512;
-	static const int		cfgBenchmark4_Reference		=	2814;
+	bool cfgBenchmark4_Enable = cfgEnable;
+	static const int cfgBenchmark4_Iterations = 512;
+	static const int cfgBenchmark4_Reference = 2814;
 	//[5] b3DynamicBvh::collideTT xform
-	bool					cfgBenchmark5_Enable		=	cfgEnable;
-	static const int		cfgBenchmark5_Iterations	=	512;
-	static const b3Scalar	cfgBenchmark5_OffsetScale	=	2;
-	static const int		cfgBenchmark5_Reference		=	7379;
+	bool cfgBenchmark5_Enable = cfgEnable;
+	static const int cfgBenchmark5_Iterations = 512;
+	static const b3Scalar cfgBenchmark5_OffsetScale = 2;
+	static const int cfgBenchmark5_Reference = 7379;
 	//[6] b3DynamicBvh::collideTT xform,self
-	bool					cfgBenchmark6_Enable		=	cfgEnable;
-	static const int		cfgBenchmark6_Iterations	=	512;
-	static const b3Scalar	cfgBenchmark6_OffsetScale	=	2;
-	static const int		cfgBenchmark6_Reference		=	7270;
+	bool cfgBenchmark6_Enable = cfgEnable;
+	static const int cfgBenchmark6_Iterations = 512;
+	static const b3Scalar cfgBenchmark6_OffsetScale = 2;
+	static const int cfgBenchmark6_Reference = 7270;
 	//[7] b3DynamicBvh::rayTest
-	bool					cfgBenchmark7_Enable		=	cfgEnable;
-	static const int		cfgBenchmark7_Passes		=	32;
-	static const int		cfgBenchmark7_Iterations	=	65536;
-	static const int		cfgBenchmark7_Reference		=	6307;
+	bool cfgBenchmark7_Enable = cfgEnable;
+	static const int cfgBenchmark7_Passes = 32;
+	static const int cfgBenchmark7_Iterations = 65536;
+	static const int cfgBenchmark7_Reference = 6307;
 	//[8] insert/remove
-	bool					cfgBenchmark8_Enable		=	cfgEnable;
-	static const int		cfgBenchmark8_Passes		=	32;
-	static const int		cfgBenchmark8_Iterations	=	65536;
-	static const int		cfgBenchmark8_Reference		=	2105;
+	bool cfgBenchmark8_Enable = cfgEnable;
+	static const int cfgBenchmark8_Passes = 32;
+	static const int cfgBenchmark8_Iterations = 65536;
+	static const int cfgBenchmark8_Reference = 2105;
 	//[9] updates (teleport)
-	bool					cfgBenchmark9_Enable		=	cfgEnable;
-	static const int		cfgBenchmark9_Passes		=	32;
-	static const int		cfgBenchmark9_Iterations	=	65536;
-	static const int		cfgBenchmark9_Reference		=	1879;
+	bool cfgBenchmark9_Enable = cfgEnable;
+	static const int cfgBenchmark9_Passes = 32;
+	static const int cfgBenchmark9_Iterations = 65536;
+	static const int cfgBenchmark9_Reference = 1879;
 	//[10] updates (jitter)
-	bool					cfgBenchmark10_Enable		=	cfgEnable;
-	static const b3Scalar	cfgBenchmark10_Scale		=	cfgVolumeCenterScale/10000;
-	static const int		cfgBenchmark10_Passes		=	32;
-	static const int		cfgBenchmark10_Iterations	=	65536;
-	static const int		cfgBenchmark10_Reference	=	1244;
+	bool cfgBenchmark10_Enable = cfgEnable;
+	static const b3Scalar cfgBenchmark10_Scale = cfgVolumeCenterScale / 10000;
+	static const int cfgBenchmark10_Passes = 32;
+	static const int cfgBenchmark10_Iterations = 65536;
+	static const int cfgBenchmark10_Reference = 1244;
 	//[11] optimize (incremental)
-	bool					cfgBenchmark11_Enable		=	cfgEnable;
-	static const int		cfgBenchmark11_Passes		=	64;
-	static const int		cfgBenchmark11_Iterations	=	65536;
-	static const int		cfgBenchmark11_Reference	=	2510;
+	bool cfgBenchmark11_Enable = cfgEnable;
+	static const int cfgBenchmark11_Passes = 64;
+	static const int cfgBenchmark11_Iterations = 65536;
+	static const int cfgBenchmark11_Reference = 2510;
 	//[12] b3DbvtVolume notequal
-	bool					cfgBenchmark12_Enable		=	cfgEnable;
-	static const int		cfgBenchmark12_Iterations	=	32;
-	static const int		cfgBenchmark12_Reference	=	3677;
+	bool cfgBenchmark12_Enable = cfgEnable;
+	static const int cfgBenchmark12_Iterations = 32;
+	static const int cfgBenchmark12_Reference = 3677;
 	//[13] culling(OCL+fullsort)
-	bool					cfgBenchmark13_Enable		=	cfgEnable;
-	static const int		cfgBenchmark13_Iterations	=	1024;
-	static const int		cfgBenchmark13_Reference	=	2231;
+	bool cfgBenchmark13_Enable = cfgEnable;
+	static const int cfgBenchmark13_Iterations = 1024;
+	static const int cfgBenchmark13_Reference = 2231;
 	//[14] culling(OCL+qsort)
-	bool					cfgBenchmark14_Enable		=	cfgEnable;
-	static const int		cfgBenchmark14_Iterations	=	8192;
-	static const int		cfgBenchmark14_Reference	=	3500;
+	bool cfgBenchmark14_Enable = cfgEnable;
+	static const int cfgBenchmark14_Iterations = 8192;
+	static const int cfgBenchmark14_Reference = 3500;
 	//[15] culling(KDOP+qsort)
-	bool					cfgBenchmark15_Enable		=	cfgEnable;
-	static const int		cfgBenchmark15_Iterations	=	8192;
-	static const int		cfgBenchmark15_Reference	=	1151;
+	bool cfgBenchmark15_Enable = cfgEnable;
+	static const int cfgBenchmark15_Iterations = 8192;
+	static const int cfgBenchmark15_Reference = 1151;
 	//[16] insert/remove batch
-	bool					cfgBenchmark16_Enable		=	cfgEnable;
-	static const int		cfgBenchmark16_BatchCount	=	256;
-	static const int		cfgBenchmark16_Passes		=	16384;
-	static const int		cfgBenchmark16_Reference	=	5138;
+	bool cfgBenchmark16_Enable = cfgEnable;
+	static const int cfgBenchmark16_BatchCount = 256;
+	static const int cfgBenchmark16_Passes = 16384;
+	static const int cfgBenchmark16_Reference = 5138;
 	//[17] select
-	bool					cfgBenchmark17_Enable		=	cfgEnable;
-	static const int		cfgBenchmark17_Iterations	=	4;
-	static const int		cfgBenchmark17_Reference	=	3390;
+	bool cfgBenchmark17_Enable = cfgEnable;
+	static const int cfgBenchmark17_Iterations = 4;
+	static const int cfgBenchmark17_Reference = 3390;
 
-	b3Clock					wallclock;
+	b3Clock wallclock;
 	printf("Benchmarking dbvt...\r\n");
-	printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
-	printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
-	printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
-	printf("\tLeaves: %u\r\n",cfgLeaves);
-	printf("\tsizeof(b3DbvtVolume): %u bytes\r\n",sizeof(b3DbvtVolume));
-	printf("\tsizeof(b3DbvtNode):   %u bytes\r\n",sizeof(b3DbvtNode));
-	if(cfgBenchmark1_Enable)
-	{// Benchmark 1	
+	printf("\tWorld scale: %f\r\n", cfgVolumeCenterScale);
+	printf("\tExtents base: %f\r\n", cfgVolumeExentsBase);
+	printf("\tExtents range: %f\r\n", cfgVolumeExentsScale);
+	printf("\tLeaves: %u\r\n", cfgLeaves);
+	printf("\tsizeof(b3DbvtVolume): %u bytes\r\n", sizeof(b3DbvtVolume));
+	printf("\tsizeof(b3DbvtNode):   %u bytes\r\n", sizeof(b3DbvtNode));
+	if (cfgBenchmark1_Enable)
+	{  // Benchmark 1
 		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume>	volumes;
-		b3AlignedObjectArray<bool>			results;
+		b3AlignedObjectArray<b3DbvtVolume> volumes;
+		b3AlignedObjectArray<bool> results;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			volumes[i]=b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
 		printf("[1] b3DbvtVolume intersections: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark1_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark1_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					results[k]=Intersect(volumes[j],volumes[k]);
+					results[k] = Intersect(volumes[j], volumes[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark1_Reference) * 100 / time);
 	}
-	if(cfgBenchmark2_Enable)
-	{// Benchmark 2	
+	if (cfgBenchmark2_Enable)
+	{  // Benchmark 2
 		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume>	volumes;
-		b3AlignedObjectArray<b3DbvtVolume>	results;
+		b3AlignedObjectArray<b3DbvtVolume> volumes;
+		b3AlignedObjectArray<b3DbvtVolume> results;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			volumes[i]=b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
 		printf("[2] b3DbvtVolume merges: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark2_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark2_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					Merge(volumes[j],volumes[k],results[k]);
+					Merge(volumes[j], volumes[k], results[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark2_Reference) * 100 / time);
 	}
-	if(cfgBenchmark3_Enable)
-	{// Benchmark 3	
+	if (cfgBenchmark3_Enable)
+	{  // Benchmark 3
 		srand(380843);
-		b3DynamicBvh						dbvt[2];
-		b3DbvtBenchmark::NilPolicy	policy;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		b3DynamicBvh dbvt[2];
+		b3DbvtBenchmark::NilPolicy policy;
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
 		dbvt[0].optimizeTopDown();
 		dbvt[1].optimizeTopDown();
 		printf("[3] b3DynamicBvh::collideTT: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark3_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark3_Iterations; ++i)
 		{
-			b3DynamicBvh::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
+			b3DynamicBvh::collideTT(dbvt[0].m_root, dbvt[1].m_root, policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark3_Reference) * 100 / time);
 	}
-	if(cfgBenchmark4_Enable)
-	{// Benchmark 4
+	if (cfgBenchmark4_Enable)
+	{  // Benchmark 4
 		srand(380843);
-		b3DynamicBvh						dbvt;
-		b3DbvtBenchmark::NilPolicy	policy;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DynamicBvh dbvt;
+		b3DbvtBenchmark::NilPolicy policy;
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[4] b3DynamicBvh::collideTT self: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark4_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark4_Iterations; ++i)
 		{
-			b3DynamicBvh::collideTT(dbvt.m_root,dbvt.m_root,policy);
+			b3DynamicBvh::collideTT(dbvt.m_root, dbvt.m_root, policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark4_Reference) * 100 / time);
 	}
-	if(cfgBenchmark5_Enable)
-	{// Benchmark 5	
+	if (cfgBenchmark5_Enable)
+	{  // Benchmark 5
 		srand(380843);
-		b3DynamicBvh								dbvt[2];
-		b3AlignedObjectArray<b3Transform>	transforms;
-		b3DbvtBenchmark::NilPolicy			policy;
+		b3DynamicBvh dbvt[2];
+		b3AlignedObjectArray<b3Transform> transforms;
+		b3DbvtBenchmark::NilPolicy policy;
 		transforms.resize(cfgBenchmark5_Iterations);
-		for(int i=0;i<transforms.size();++i)
+		for (int i = 0; i < transforms.size(); ++i)
 		{
-			transforms[i]=b3DbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
+			transforms[i] = b3DbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark5_OffsetScale);
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
 		dbvt[0].optimizeTopDown();
 		dbvt[1].optimizeTopDown();
 		printf("[5] b3DynamicBvh::collideTT xform: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark5_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark5_Iterations; ++i)
 		{
-			b3DynamicBvh::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
+			b3DynamicBvh::collideTT(dbvt[0].m_root, dbvt[1].m_root, transforms[i], policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark5_Reference) * 100 / time);
 	}
-	if(cfgBenchmark6_Enable)
-	{// Benchmark 6	
+	if (cfgBenchmark6_Enable)
+	{  // Benchmark 6
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3AlignedObjectArray<b3Transform>	transforms;
-		b3DbvtBenchmark::NilPolicy			policy;
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<b3Transform> transforms;
+		b3DbvtBenchmark::NilPolicy policy;
 		transforms.resize(cfgBenchmark6_Iterations);
-		for(int i=0;i<transforms.size();++i)
+		for (int i = 0; i < transforms.size(); ++i)
 		{
-			transforms[i]=b3DbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
+			transforms[i] = b3DbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark6_OffsetScale);
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[6] b3DynamicBvh::collideTT xform,self: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark6_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark6_Iterations; ++i)
 		{
-			b3DynamicBvh::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);		
+			b3DynamicBvh::collideTT(dbvt.m_root, dbvt.m_root, transforms[i], policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark6_Reference) * 100 / time);
 	}
-	if(cfgBenchmark7_Enable)
-	{// Benchmark 7	
+	if (cfgBenchmark7_Enable)
+	{  // Benchmark 7
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3AlignedObjectArray<b3Vector3>		rayorg;
-		b3AlignedObjectArray<b3Vector3>		raydir;
-		b3DbvtBenchmark::NilPolicy			policy;
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<b3Vector3> rayorg;
+		b3AlignedObjectArray<b3Vector3> raydir;
+		b3DbvtBenchmark::NilPolicy policy;
 		rayorg.resize(cfgBenchmark7_Iterations);
 		raydir.resize(cfgBenchmark7_Iterations);
-		for(int i=0;i<rayorg.size();++i)
+		for (int i = 0; i < rayorg.size(); ++i)
 		{
-			rayorg[i]=b3DbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
-			raydir[i]=b3DbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+			rayorg[i] = b3DbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
+			raydir[i] = b3DbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[7] b3DynamicBvh::rayTest: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark7_Passes;++i)
+		for (int i = 0; i < cfgBenchmark7_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark7_Iterations;++j)
+			for (int j = 0; j < cfgBenchmark7_Iterations; ++j)
 			{
-				b3DynamicBvh::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
+				b3DynamicBvh::rayTest(dbvt.m_root, rayorg[j], rayorg[j] + raydir[j], policy);
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		unsigned	rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
-		printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		unsigned rays = cfgBenchmark7_Passes * cfgBenchmark7_Iterations;
+		printf("%u ms (%i%%),(%u r/s)\r\n", time, (time - cfgBenchmark7_Reference) * 100 / time, (rays * 1000) / time);
 	}
-	if(cfgBenchmark8_Enable)
-	{// Benchmark 8	
+	if (cfgBenchmark8_Enable)
+	{  // Benchmark 8
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DynamicBvh dbvt;
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[8] insert/remove: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark8_Passes;++i)
+		for (int i = 0; i < cfgBenchmark8_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark8_Iterations;++j)
+			for (int j = 0; j < cfgBenchmark8_Iterations; ++j)
 			{
-				dbvt.remove(dbvt.insert(b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+				dbvt.remove(dbvt.insert(b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
-		printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int ir = cfgBenchmark8_Passes * cfgBenchmark8_Iterations;
+		printf("%u ms (%i%%),(%u ir/s)\r\n", time, (time - cfgBenchmark8_Reference) * 100 / time, ir * 1000 / time);
 	}
-	if(cfgBenchmark9_Enable)
-	{// Benchmark 9	
+	if (cfgBenchmark9_Enable)
+	{  // Benchmark 9
 		srand(380843);
-		b3DynamicBvh										dbvt;
-		b3AlignedObjectArray<const b3DbvtNode*>	leaves;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<const b3DbvtNode*> leaves;
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root,leaves);
+		dbvt.extractLeaves(dbvt.m_root, leaves);
 		printf("[9] updates (teleport): ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark9_Passes;++i)
+		for (int i = 0; i < cfgBenchmark9_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark9_Iterations;++j)
+			for (int j = 0; j < cfgBenchmark9_Iterations; ++j)
 			{
-				dbvt.update(const_cast<b3DbvtNode*>(leaves[rand()%cfgLeaves]),
-					b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
+				dbvt.update(const_cast<b3DbvtNode*>(leaves[rand() % cfgLeaves]),
+							b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale));
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int up = cfgBenchmark9_Passes * cfgBenchmark9_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark9_Reference) * 100 / time, up * 1000 / time);
 	}
-	if(cfgBenchmark10_Enable)
-	{// Benchmark 10	
+	if (cfgBenchmark10_Enable)
+	{  // Benchmark 10
 		srand(380843);
-		b3DynamicBvh										dbvt;
-		b3AlignedObjectArray<const b3DbvtNode*>	leaves;
-		b3AlignedObjectArray<b3Vector3>				vectors;
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<const b3DbvtNode*> leaves;
+		b3AlignedObjectArray<b3Vector3> vectors;
 		vectors.resize(cfgBenchmark10_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(b3DbvtBenchmark::RandVector3()*2-b3Vector3(1,1,1))*cfgBenchmark10_Scale;
+			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)) * cfgBenchmark10_Scale;
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root,leaves);
+		dbvt.extractLeaves(dbvt.m_root, leaves);
 		printf("[10] updates (jitter): ");
 		wallclock.reset();
 
-		for(int i=0;i<cfgBenchmark10_Passes;++i)
+		for (int i = 0; i < cfgBenchmark10_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark10_Iterations;++j)
-			{			
-				const b3Vector3&	d=vectors[j];
-				b3DbvtNode*		l=const_cast<b3DbvtNode*>(leaves[rand()%cfgLeaves]);
-				b3DbvtVolume		v=b3DbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
-				dbvt.update(l,v);
+			for (int j = 0; j < cfgBenchmark10_Iterations; ++j)
+			{
+				const b3Vector3& d = vectors[j];
+				b3DbvtNode* l = const_cast<b3DbvtNode*>(leaves[rand() % cfgLeaves]);
+				b3DbvtVolume v = b3DbvtVolume::FromMM(l->volume.Mins() + d, l->volume.Maxs() + d);
+				dbvt.update(l, v);
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int up = cfgBenchmark10_Passes * cfgBenchmark10_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark10_Reference) * 100 / time, up * 1000 / time);
 	}
-	if(cfgBenchmark11_Enable)
-	{// Benchmark 11	
+	if (cfgBenchmark11_Enable)
+	{  // Benchmark 11
 		srand(380843);
-		b3DynamicBvh										dbvt;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DynamicBvh dbvt;
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[11] optimize (incremental): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark11_Passes;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark11_Passes; ++i)
 		{
 			dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
-		printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int op = cfgBenchmark11_Passes * cfgBenchmark11_Iterations;
+		printf("%u ms (%i%%),(%u o/s)\r\n", time, (time - cfgBenchmark11_Reference) * 100 / time, op / time * 1000);
 	}
-	if(cfgBenchmark12_Enable)
-	{// Benchmark 12	
+	if (cfgBenchmark12_Enable)
+	{  // Benchmark 12
 		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume>	volumes;
-		b3AlignedObjectArray<bool>				results;
+		b3AlignedObjectArray<b3DbvtVolume> volumes;
+		b3AlignedObjectArray<bool> results;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			volumes[i]=b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
 		printf("[12] b3DbvtVolume notequal: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark12_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark12_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					results[k]=NotEqual(volumes[j],volumes[k]);
+					results[k] = NotEqual(volumes[j], volumes[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark12_Reference) * 100 / time);
 	}
-	if(cfgBenchmark13_Enable)
-	{// Benchmark 13	
+	if (cfgBenchmark13_Enable)
+	{  // Benchmark 13
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3AlignedObjectArray<b3Vector3>		vectors;
-		b3DbvtBenchmark::NilPolicy			policy;
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<b3Vector3> vectors;
+		b3DbvtBenchmark::NilPolicy policy;
 		vectors.resize(cfgBenchmark13_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(b3DbvtBenchmark::RandVector3()*2-b3Vector3(1,1,1)).normalized();
+			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)).normalized();
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[13] culling(OCL+fullsort): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark13_Iterations;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark13_Iterations; ++i)
 		{
-			static const b3Scalar	offset=0;
-			policy.m_depth=-B3_INFINITY;
-			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
+			static const b3Scalar offset = 0;
+			policy.m_depth = -B3_INFINITY;
+			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	t=cfgBenchmark13_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int t = cfgBenchmark13_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark13_Reference) * 100 / time, (t * 1000) / time);
 	}
-	if(cfgBenchmark14_Enable)
-	{// Benchmark 14	
+	if (cfgBenchmark14_Enable)
+	{  // Benchmark 14
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3AlignedObjectArray<b3Vector3>		vectors;
-		b3DbvtBenchmark::P14				policy;
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<b3Vector3> vectors;
+		b3DbvtBenchmark::P14 policy;
 		vectors.resize(cfgBenchmark14_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(b3DbvtBenchmark::RandVector3()*2-b3Vector3(1,1,1)).normalized();
+			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)).normalized();
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		policy.m_nodes.reserve(cfgLeaves);
 		printf("[14] culling(OCL+qsort): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark14_Iterations;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark14_Iterations; ++i)
 		{
-			static const b3Scalar	offset=0;
+			static const b3Scalar offset = 0;
 			policy.m_nodes.resize(0);
-			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
+			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy, false);
 			policy.m_nodes.quickSort(b3DbvtBenchmark::P14::sortfnc);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	t=cfgBenchmark14_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int t = cfgBenchmark14_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark14_Reference) * 100 / time, (t * 1000) / time);
 	}
-	if(cfgBenchmark15_Enable)
-	{// Benchmark 15	
+	if (cfgBenchmark15_Enable)
+	{  // Benchmark 15
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3AlignedObjectArray<b3Vector3>		vectors;
-		b3DbvtBenchmark::P15				policy;
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<b3Vector3> vectors;
+		b3DbvtBenchmark::P15 policy;
 		vectors.resize(cfgBenchmark15_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(b3DbvtBenchmark::RandVector3()*2-b3Vector3(1,1,1)).normalized();
+			vectors[i] = (b3DbvtBenchmark::RandVector3() * 2 - b3Vector3(1, 1, 1)).normalized();
 		}
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		policy.m_nodes.reserve(cfgLeaves);
 		printf("[15] culling(KDOP+qsort): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark15_Iterations;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark15_Iterations; ++i)
 		{
-			static const b3Scalar	offset=0;
+			static const b3Scalar offset = 0;
 			policy.m_nodes.resize(0);
-			policy.m_axis=vectors[i];
-			dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
+			policy.m_axis = vectors[i];
+			dbvt.collideKDOP(dbvt.m_root, &vectors[i], &offset, 1, policy);
 			policy.m_nodes.quickSort(b3DbvtBenchmark::P15::sortfnc);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	t=cfgBenchmark15_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int t = cfgBenchmark15_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark15_Reference) * 100 / time, (t * 1000) / time);
 	}
-	if(cfgBenchmark16_Enable)
-	{// Benchmark 16	
+	if (cfgBenchmark16_Enable)
+	{  // Benchmark 16
 		srand(380843);
-		b3DynamicBvh								dbvt;
-		b3AlignedObjectArray<b3DbvtNode*>	batch;
-		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		b3DynamicBvh dbvt;
+		b3AlignedObjectArray<b3DbvtNode*> batch;
+		b3DbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		batch.reserve(cfgBenchmark16_BatchCount);
-		printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
+		printf("[16] insert/remove batch(%u): ", cfgBenchmark16_BatchCount);
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark16_Passes;++i)
+		for (int i = 0; i < cfgBenchmark16_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
 			{
-				batch.push_back(dbvt.insert(b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+				batch.push_back(dbvt.insert(b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
 			}
-			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
 			{
 				dbvt.remove(batch[j]);
 			}
 			batch.resize(0);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
-		printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int ir = cfgBenchmark16_Passes * cfgBenchmark16_BatchCount;
+		printf("%u ms (%i%%),(%u bir/s)\r\n", time, (time - cfgBenchmark16_Reference) * 100 / time, int(ir * 1000.0 / time));
 	}
-	if(cfgBenchmark17_Enable)
-	{// Benchmark 17
+	if (cfgBenchmark17_Enable)
+	{  // Benchmark 17
 		srand(380843);
-		b3AlignedObjectArray<b3DbvtVolume>	volumes;
-		b3AlignedObjectArray<int>			results;
-		b3AlignedObjectArray<int>			indices;
+		b3AlignedObjectArray<b3DbvtVolume> volumes;
+		b3AlignedObjectArray<int> results;
+		b3AlignedObjectArray<int> indices;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
 		indices.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			indices[i]=i;
-			volumes[i]=b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			indices[i] = i;
+			volumes[i] = b3DbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			b3Swap(indices[i],indices[rand()%cfgLeaves]);
+			b3Swap(indices[i], indices[rand() % cfgLeaves]);
 		}
 		printf("[17] b3DbvtVolume select: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark17_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark17_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					const int idx=indices[k];
-					results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
+					const int idx = indices[k];
+					results[idx] = Select(volumes[idx], volumes[j], volumes[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark17_Reference) * 100 / time);
 	}
 	printf("\r\n\r\n");
 }
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
index c004b9130f..f44e3377fe 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
@@ -26,50 +26,49 @@ subject to the following restrictions:
 // Compile time configuration
 //
 
-
 // Implementation profiles
-#define B3_DBVT_IMPL_GENERIC		0	// Generic implementation	
-#define B3_DBVT_IMPL_SSE			1	// SSE
+#define B3_DBVT_IMPL_GENERIC 0  // Generic implementation
+#define B3_DBVT_IMPL_SSE 1      // SSE
 
 // Template implementation of ICollide
 #ifdef _WIN32
-#if (defined (_MSC_VER) && _MSC_VER >= 1400)
-#define	B3_DBVT_USE_TEMPLATE		1
+#if (defined(_MSC_VER) && _MSC_VER >= 1400)
+#define B3_DBVT_USE_TEMPLATE 1
 #else
-#define	B3_DBVT_USE_TEMPLATE		0
+#define B3_DBVT_USE_TEMPLATE 0
 #endif
 #else
-#define	B3_DBVT_USE_TEMPLATE		0
+#define B3_DBVT_USE_TEMPLATE 0
 #endif
 
 // Use only intrinsics instead of inline asm
-#define B3_DBVT_USE_INTRINSIC_SSE	1
+#define B3_DBVT_USE_INTRINSIC_SSE 1
 
 // Using memmov for collideOCL
-#define B3_DBVT_USE_MEMMOVE		1
+#define B3_DBVT_USE_MEMMOVE 1
 
 // Enable benchmarking code
-#define	B3_DBVT_ENABLE_BENCHMARK	0
+#define B3_DBVT_ENABLE_BENCHMARK 0
 
 // Inlining
-#define B3_DBVT_INLINE				B3_FORCE_INLINE
+#define B3_DBVT_INLINE B3_FORCE_INLINE
 
 // Specific methods implementation
 
 //SSE gives errors on a MSVC 7.1
-#if defined (B3_USE_SSE) //&& defined (_WIN32)
-#define B3_DBVT_SELECT_IMPL		B3_DBVT_IMPL_SSE
-#define B3_DBVT_MERGE_IMPL			B3_DBVT_IMPL_SSE
-#define B3_DBVT_INT0_IMPL			B3_DBVT_IMPL_SSE
+#if defined(B3_USE_SSE)  //&& defined (_WIN32)
+#define B3_DBVT_SELECT_IMPL B3_DBVT_IMPL_SSE
+#define B3_DBVT_MERGE_IMPL B3_DBVT_IMPL_SSE
+#define B3_DBVT_INT0_IMPL B3_DBVT_IMPL_SSE
 #else
-#define B3_DBVT_SELECT_IMPL		B3_DBVT_IMPL_GENERIC
-#define B3_DBVT_MERGE_IMPL			B3_DBVT_IMPL_GENERIC
-#define B3_DBVT_INT0_IMPL			B3_DBVT_IMPL_GENERIC
+#define B3_DBVT_SELECT_IMPL B3_DBVT_IMPL_GENERIC
+#define B3_DBVT_MERGE_IMPL B3_DBVT_IMPL_GENERIC
+#define B3_DBVT_INT0_IMPL B3_DBVT_IMPL_GENERIC
 #endif
 
-#if	(B3_DBVT_SELECT_IMPL==B3_DBVT_IMPL_SSE)||	\
-	(B3_DBVT_MERGE_IMPL==B3_DBVT_IMPL_SSE)||	\
-	(B3_DBVT_INT0_IMPL==B3_DBVT_IMPL_SSE)
+#if (B3_DBVT_SELECT_IMPL == B3_DBVT_IMPL_SSE) || \
+	(B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE) ||  \
+	(B3_DBVT_INT0_IMPL == B3_DBVT_IMPL_SSE)
 #include <emmintrin.h>
 #endif
 
@@ -78,21 +77,24 @@ subject to the following restrictions:
 //
 
 #if B3_DBVT_USE_TEMPLATE
-#define	B3_DBVT_VIRTUAL
+#define B3_DBVT_VIRTUAL
 #define B3_DBVT_VIRTUAL_DTOR(a)
-#define B3_DBVT_PREFIX					template <typename T>
-#define B3_DBVT_IPOLICY				T& policy
-#define B3_DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)1;(void)typechecker;
+#define B3_DBVT_PREFIX template <typename T>
+#define B3_DBVT_IPOLICY T& policy
+#define B3_DBVT_CHECKTYPE                        \
+	static const ICollide& typechecker = *(T*)1; \
+	(void)typechecker;
 #else
-#define	B3_DBVT_VIRTUAL_DTOR(a)		virtual ~a() {}
-#define B3_DBVT_VIRTUAL				virtual
+#define B3_DBVT_VIRTUAL_DTOR(a) \
+	virtual ~a() {}
+#define B3_DBVT_VIRTUAL virtual
 #define B3_DBVT_PREFIX
-#define B3_DBVT_IPOLICY				ICollide& policy
+#define B3_DBVT_IPOLICY ICollide& policy
 #define B3_DBVT_CHECKTYPE
 #endif
 
 #if B3_DBVT_USE_MEMMOVE
-#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
 #include <memory.h>
 #endif
 #include <string.h>
@@ -126,187 +128,188 @@ subject to the following restrictions:
 // Defaults volumes
 //
 
-/* b3DbvtAabbMm			*/ 
-struct	b3DbvtAabbMm
+/* b3DbvtAabbMm			*/
+struct b3DbvtAabbMm
 {
-	B3_DBVT_INLINE b3Vector3			Center() const	{ return((mi+mx)/2); }
-	B3_DBVT_INLINE b3Vector3			Lengths() const	{ return(mx-mi); }
-	B3_DBVT_INLINE b3Vector3			Extents() const	{ return((mx-mi)/2); }
-	B3_DBVT_INLINE const b3Vector3&	Mins() const	{ return(mi); }
-	B3_DBVT_INLINE const b3Vector3&	Maxs() const	{ return(mx); }
-	static inline b3DbvtAabbMm		FromCE(const b3Vector3& c,const b3Vector3& e);
-	static inline b3DbvtAabbMm		FromCR(const b3Vector3& c,b3Scalar r);
-	static inline b3DbvtAabbMm		FromMM(const b3Vector3& mi,const b3Vector3& mx);
-	static inline b3DbvtAabbMm		FromPoints(const b3Vector3* pts,int n);
-	static inline b3DbvtAabbMm		FromPoints(const b3Vector3** ppts,int n);
-	B3_DBVT_INLINE void				Expand(const b3Vector3& e);
-	B3_DBVT_INLINE void				SignedExpand(const b3Vector3& e);
-	B3_DBVT_INLINE bool				Contain(const b3DbvtAabbMm& a) const;
-	B3_DBVT_INLINE int					Classify(const b3Vector3& n,b3Scalar o,int s) const;
-	B3_DBVT_INLINE b3Scalar			ProjectMinimum(const b3Vector3& v,unsigned signs) const;
-	B3_DBVT_INLINE friend bool			b3Intersect(	const b3DbvtAabbMm& a,
-		const b3DbvtAabbMm& b);
-	
-	B3_DBVT_INLINE friend bool			b3Intersect(	const b3DbvtAabbMm& a,
-		const b3Vector3& b);
-
-	B3_DBVT_INLINE friend b3Scalar		b3Proximity(	const b3DbvtAabbMm& a,
-		const b3DbvtAabbMm& b);
-	B3_DBVT_INLINE friend int			b3Select(		const b3DbvtAabbMm& o,
-		const b3DbvtAabbMm& a,
-		const b3DbvtAabbMm& b);
-	B3_DBVT_INLINE friend void			b3Merge(		const b3DbvtAabbMm& a,
-		const b3DbvtAabbMm& b,
-		b3DbvtAabbMm& r);
-	B3_DBVT_INLINE friend bool			b3NotEqual(	const b3DbvtAabbMm& a,
-		const b3DbvtAabbMm& b);
-    
-    B3_DBVT_INLINE b3Vector3&	tMins()	{ return(mi); }
-	B3_DBVT_INLINE b3Vector3&	tMaxs()	{ return(mx); }
-    
+	B3_DBVT_INLINE b3Vector3 Center() const { return ((mi + mx) / 2); }
+	B3_DBVT_INLINE b3Vector3 Lengths() const { return (mx - mi); }
+	B3_DBVT_INLINE b3Vector3 Extents() const { return ((mx - mi) / 2); }
+	B3_DBVT_INLINE const b3Vector3& Mins() const { return (mi); }
+	B3_DBVT_INLINE const b3Vector3& Maxs() const { return (mx); }
+	static inline b3DbvtAabbMm FromCE(const b3Vector3& c, const b3Vector3& e);
+	static inline b3DbvtAabbMm FromCR(const b3Vector3& c, b3Scalar r);
+	static inline b3DbvtAabbMm FromMM(const b3Vector3& mi, const b3Vector3& mx);
+	static inline b3DbvtAabbMm FromPoints(const b3Vector3* pts, int n);
+	static inline b3DbvtAabbMm FromPoints(const b3Vector3** ppts, int n);
+	B3_DBVT_INLINE void Expand(const b3Vector3& e);
+	B3_DBVT_INLINE void SignedExpand(const b3Vector3& e);
+	B3_DBVT_INLINE bool Contain(const b3DbvtAabbMm& a) const;
+	B3_DBVT_INLINE int Classify(const b3Vector3& n, b3Scalar o, int s) const;
+	B3_DBVT_INLINE b3Scalar ProjectMinimum(const b3Vector3& v, unsigned signs) const;
+	B3_DBVT_INLINE friend bool b3Intersect(const b3DbvtAabbMm& a,
+										   const b3DbvtAabbMm& b);
+
+	B3_DBVT_INLINE friend bool b3Intersect(const b3DbvtAabbMm& a,
+										   const b3Vector3& b);
+
+	B3_DBVT_INLINE friend b3Scalar b3Proximity(const b3DbvtAabbMm& a,
+											   const b3DbvtAabbMm& b);
+	B3_DBVT_INLINE friend int b3Select(const b3DbvtAabbMm& o,
+									   const b3DbvtAabbMm& a,
+									   const b3DbvtAabbMm& b);
+	B3_DBVT_INLINE friend void b3Merge(const b3DbvtAabbMm& a,
+									   const b3DbvtAabbMm& b,
+									   b3DbvtAabbMm& r);
+	B3_DBVT_INLINE friend bool b3NotEqual(const b3DbvtAabbMm& a,
+										  const b3DbvtAabbMm& b);
+
+	B3_DBVT_INLINE b3Vector3& tMins() { return (mi); }
+	B3_DBVT_INLINE b3Vector3& tMaxs() { return (mx); }
+
 private:
-	B3_DBVT_INLINE void				AddSpan(const b3Vector3& d,b3Scalar& smi,b3Scalar& smx) const;
+	B3_DBVT_INLINE void AddSpan(const b3Vector3& d, b3Scalar& smi, b3Scalar& smx) const;
+
 private:
-	b3Vector3	mi,mx;
+	b3Vector3 mi, mx;
 };
 
-// Types	
-typedef	b3DbvtAabbMm	b3DbvtVolume;
+// Types
+typedef b3DbvtAabbMm b3DbvtVolume;
 
-/* b3DbvtNode				*/ 
-struct	b3DbvtNode
+/* b3DbvtNode				*/
+struct b3DbvtNode
 {
-	b3DbvtVolume	volume;
-	b3DbvtNode*		parent;
-	B3_DBVT_INLINE bool	isleaf() const		{ return(childs[1]==0); }
-	B3_DBVT_INLINE bool	isinternal() const	{ return(!isleaf()); }
-	union
-	{
-		b3DbvtNode*	childs[2];
-		void*	data;
-		int		dataAsInt;
+	b3DbvtVolume volume;
+	b3DbvtNode* parent;
+	B3_DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
+	B3_DBVT_INLINE bool isinternal() const { return (!isleaf()); }
+	union {
+		b3DbvtNode* childs[2];
+		void* data;
+		int dataAsInt;
 	};
 };
 
 ///The b3DynamicBvh class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
 ///This b3DynamicBvh is used for soft body collision detection and for the b3DynamicBvhBroadphase. It has a fast insert, remove and update of nodes.
 ///Unlike the b3QuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
-struct	b3DynamicBvh
+struct b3DynamicBvh
 {
-	/* Stack element	*/ 
-	struct	sStkNN
+	/* Stack element	*/
+	struct sStkNN
 	{
-		const b3DbvtNode*	a;
-		const b3DbvtNode*	b;
+		const b3DbvtNode* a;
+		const b3DbvtNode* b;
 		sStkNN() {}
-		sStkNN(const b3DbvtNode* na,const b3DbvtNode* nb) : a(na),b(nb) {}
+		sStkNN(const b3DbvtNode* na, const b3DbvtNode* nb) : a(na), b(nb) {}
 	};
-	struct	sStkNP
+	struct sStkNP
 	{
-		const b3DbvtNode*	node;
-		int			mask;
-		sStkNP(const b3DbvtNode* n,unsigned m) : node(n),mask(m) {}
+		const b3DbvtNode* node;
+		int mask;
+		sStkNP(const b3DbvtNode* n, unsigned m) : node(n), mask(m) {}
 	};
-	struct	sStkNPS
+	struct sStkNPS
 	{
-		const b3DbvtNode*	node;
-		int			mask;
-		b3Scalar	value;
+		const b3DbvtNode* node;
+		int mask;
+		b3Scalar value;
 		sStkNPS() {}
-		sStkNPS(const b3DbvtNode* n,unsigned m,b3Scalar v) : node(n),mask(m),value(v) {}
+		sStkNPS(const b3DbvtNode* n, unsigned m, b3Scalar v) : node(n), mask(m), value(v) {}
 	};
-	struct	sStkCLN
+	struct sStkCLN
 	{
-		const b3DbvtNode*	node;
-		b3DbvtNode*		parent;
-		sStkCLN(const b3DbvtNode* n,b3DbvtNode* p) : node(n),parent(p) {}
+		const b3DbvtNode* node;
+		b3DbvtNode* parent;
+		sStkCLN(const b3DbvtNode* n, b3DbvtNode* p) : node(n), parent(p) {}
 	};
 	// Policies/Interfaces
 
-	/* ICollide	*/ 
-	struct	ICollide
-	{		
+	/* ICollide	*/
+	struct ICollide
+	{
 		B3_DBVT_VIRTUAL_DTOR(ICollide)
-			B3_DBVT_VIRTUAL void	Process(const b3DbvtNode*,const b3DbvtNode*)		{}
-		B3_DBVT_VIRTUAL void	Process(const b3DbvtNode*)					{}
-		B3_DBVT_VIRTUAL void	Process(const b3DbvtNode* n,b3Scalar)			{ Process(n); }
-		B3_DBVT_VIRTUAL bool	Descent(const b3DbvtNode*)					{ return(true); }
-		B3_DBVT_VIRTUAL bool	AllLeaves(const b3DbvtNode*)					{ return(true); }
+		B3_DBVT_VIRTUAL void Process(const b3DbvtNode*, const b3DbvtNode*) {}
+		B3_DBVT_VIRTUAL void Process(const b3DbvtNode*) {}
+		B3_DBVT_VIRTUAL void Process(const b3DbvtNode* n, b3Scalar) { Process(n); }
+		B3_DBVT_VIRTUAL bool Descent(const b3DbvtNode*) { return (true); }
+		B3_DBVT_VIRTUAL bool AllLeaves(const b3DbvtNode*) { return (true); }
 	};
-	/* IWriter	*/ 
-	struct	IWriter
+	/* IWriter	*/
+	struct IWriter
 	{
 		virtual ~IWriter() {}
-		virtual void		Prepare(const b3DbvtNode* root,int numnodes)=0;
-		virtual void		WriteNode(const b3DbvtNode*,int index,int parent,int child0,int child1)=0;
-		virtual void		WriteLeaf(const b3DbvtNode*,int index,int parent)=0;
+		virtual void Prepare(const b3DbvtNode* root, int numnodes) = 0;
+		virtual void WriteNode(const b3DbvtNode*, int index, int parent, int child0, int child1) = 0;
+		virtual void WriteLeaf(const b3DbvtNode*, int index, int parent) = 0;
 	};
-	/* IClone	*/ 
-	struct	IClone
+	/* IClone	*/
+	struct IClone
 	{
-		virtual ~IClone()	{}
-		virtual void		CloneLeaf(b3DbvtNode*) {}
+		virtual ~IClone() {}
+		virtual void CloneLeaf(b3DbvtNode*) {}
 	};
 
 	// Constants
-	enum	{
-		B3_SIMPLE_STACKSIZE	=	64,
-		B3_DOUBLE_STACKSIZE	=	B3_SIMPLE_STACKSIZE*2
+	enum
+	{
+		B3_SIMPLE_STACKSIZE = 64,
+		B3_DOUBLE_STACKSIZE = B3_SIMPLE_STACKSIZE * 2
 	};
 
 	// Fields
-	b3DbvtNode*		m_root;
-	b3DbvtNode*		m_free;
-	int				m_lkhd;
-	int				m_leaves;
-	unsigned		m_opath;
-
-	
-	b3AlignedObjectArray<sStkNN>	m_stkStack;
-	mutable b3AlignedObjectArray<const b3DbvtNode*>	m_rayTestStack;
+	b3DbvtNode* m_root;
+	b3DbvtNode* m_free;
+	int m_lkhd;
+	int m_leaves;
+	unsigned m_opath;
 
+	b3AlignedObjectArray<sStkNN> m_stkStack;
+	mutable b3AlignedObjectArray<const b3DbvtNode*> m_rayTestStack;
 
 	// Methods
 	b3DynamicBvh();
 	~b3DynamicBvh();
-	void			clear();
-	bool			empty() const { return(0==m_root); }
-	void			optimizeBottomUp();
-	void			optimizeTopDown(int bu_treshold=128);
-	void			optimizeIncremental(int passes);
-	b3DbvtNode*		insert(const b3DbvtVolume& box,void* data);
-	void			update(b3DbvtNode* leaf,int lookahead=-1);
-	void			update(b3DbvtNode* leaf,b3DbvtVolume& volume);
-	bool			update(b3DbvtNode* leaf,b3DbvtVolume& volume,const b3Vector3& velocity,b3Scalar margin);
-	bool			update(b3DbvtNode* leaf,b3DbvtVolume& volume,const b3Vector3& velocity);
-	bool			update(b3DbvtNode* leaf,b3DbvtVolume& volume,b3Scalar margin);	
-	void			remove(b3DbvtNode* leaf);
-	void			write(IWriter* iwriter) const;
-	void			clone(b3DynamicBvh& dest,IClone* iclone=0) const;
-	static int		maxdepth(const b3DbvtNode* node);
-	static int		countLeaves(const b3DbvtNode* node);
-	static void		extractLeaves(const b3DbvtNode* node,b3AlignedObjectArray<const b3DbvtNode*>& leaves);
+	void clear();
+	bool empty() const { return (0 == m_root); }
+	void optimizeBottomUp();
+	void optimizeTopDown(int bu_treshold = 128);
+	void optimizeIncremental(int passes);
+	b3DbvtNode* insert(const b3DbvtVolume& box, void* data);
+	void update(b3DbvtNode* leaf, int lookahead = -1);
+	void update(b3DbvtNode* leaf, b3DbvtVolume& volume);
+	bool update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity, b3Scalar margin);
+	bool update(b3DbvtNode* leaf, b3DbvtVolume& volume, const b3Vector3& velocity);
+	bool update(b3DbvtNode* leaf, b3DbvtVolume& volume, b3Scalar margin);
+	void remove(b3DbvtNode* leaf);
+	void write(IWriter* iwriter) const;
+	void clone(b3DynamicBvh& dest, IClone* iclone = 0) const;
+	static int maxdepth(const b3DbvtNode* node);
+	static int countLeaves(const b3DbvtNode* node);
+	static void extractLeaves(const b3DbvtNode* node, b3AlignedObjectArray<const b3DbvtNode*>& leaves);
 #if B3_DBVT_ENABLE_BENCHMARK
-	static void		benchmark();
+	static void benchmark();
 #else
-	static void		benchmark(){}
+	static void benchmark()
+	{
+	}
 #endif
 	// B3_DBVT_IPOLICY must support ICollide policy/interface
 	B3_DBVT_PREFIX
-		static void		enumNodes(	const b3DbvtNode* root,
-		B3_DBVT_IPOLICY);
+	static void enumNodes(const b3DbvtNode* root,
+						  B3_DBVT_IPOLICY);
 	B3_DBVT_PREFIX
-		static void		enumLeaves(	const b3DbvtNode* root,
-		B3_DBVT_IPOLICY);
+	static void enumLeaves(const b3DbvtNode* root,
+						   B3_DBVT_IPOLICY);
 	B3_DBVT_PREFIX
-		void		collideTT(	const b3DbvtNode* root0,
-		const b3DbvtNode* root1,
-		B3_DBVT_IPOLICY);
+	void collideTT(const b3DbvtNode* root0,
+				   const b3DbvtNode* root1,
+				   B3_DBVT_IPOLICY);
 
 	B3_DBVT_PREFIX
-		void		collideTTpersistentStack(	const b3DbvtNode* root0,
-		  const b3DbvtNode* root1,
-		  B3_DBVT_IPOLICY);
+	void collideTTpersistentStack(const b3DbvtNode* root0,
+								  const b3DbvtNode* root1,
+								  B3_DBVT_IPOLICY);
 #if 0
 	B3_DBVT_PREFIX
 		void		collideTT(	const b3DbvtNode* root0,
@@ -322,71 +325,81 @@ struct	b3DynamicBvh
 #endif
 
 	B3_DBVT_PREFIX
-		void		collideTV(	const b3DbvtNode* root,
-		const b3DbvtVolume& volume,
-		B3_DBVT_IPOLICY) const;
+	void collideTV(const b3DbvtNode* root,
+				   const b3DbvtVolume& volume,
+				   B3_DBVT_IPOLICY) const;
 	///rayTest is a re-entrant ray test, and can be called in parallel as long as the b3AlignedAlloc is thread-safe (uses locking etc)
 	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
 	B3_DBVT_PREFIX
-		static void		rayTest(	const b3DbvtNode* root,
-		const b3Vector3& rayFrom,
-		const b3Vector3& rayTo,
-		B3_DBVT_IPOLICY);
+	static void rayTest(const b3DbvtNode* root,
+						const b3Vector3& rayFrom,
+						const b3Vector3& rayTo,
+						B3_DBVT_IPOLICY);
 	///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
 	///rayTestInternal is used by b3DynamicBvhBroadphase to accelerate world ray casts
 	B3_DBVT_PREFIX
-		void		rayTestInternal(	const b3DbvtNode* root,
-								const b3Vector3& rayFrom,
-								const b3Vector3& rayTo,
-								const b3Vector3& rayDirectionInverse,
-								unsigned int signs[3],
-								b3Scalar lambda_max,
-								const b3Vector3& aabbMin,
-								const b3Vector3& aabbMax,
-								B3_DBVT_IPOLICY) const;
+	void rayTestInternal(const b3DbvtNode* root,
+						 const b3Vector3& rayFrom,
+						 const b3Vector3& rayTo,
+						 const b3Vector3& rayDirectionInverse,
+						 unsigned int signs[3],
+						 b3Scalar lambda_max,
+						 const b3Vector3& aabbMin,
+						 const b3Vector3& aabbMax,
+						 B3_DBVT_IPOLICY) const;
 
 	B3_DBVT_PREFIX
-		static void		collideKDOP(const b3DbvtNode* root,
-		const b3Vector3* normals,
-		const b3Scalar* offsets,
-		int count,
-		B3_DBVT_IPOLICY);
+	static void collideKDOP(const b3DbvtNode* root,
+							const b3Vector3* normals,
+							const b3Scalar* offsets,
+							int count,
+							B3_DBVT_IPOLICY);
 	B3_DBVT_PREFIX
-		static void		collideOCL(	const b3DbvtNode* root,
-		const b3Vector3* normals,
-		const b3Scalar* offsets,
-		const b3Vector3& sortaxis,
-		int count,								
-		B3_DBVT_IPOLICY,
-		bool fullsort=true);
+	static void collideOCL(const b3DbvtNode* root,
+						   const b3Vector3* normals,
+						   const b3Scalar* offsets,
+						   const b3Vector3& sortaxis,
+						   int count,
+						   B3_DBVT_IPOLICY,
+						   bool fullsort = true);
 	B3_DBVT_PREFIX
-		static void		collideTU(	const b3DbvtNode* root,
-		B3_DBVT_IPOLICY);
-	// Helpers	
-	static B3_DBVT_INLINE int	nearest(const int* i,const b3DynamicBvh::sStkNPS* a,b3Scalar v,int l,int h)
+	static void collideTU(const b3DbvtNode* root,
+						  B3_DBVT_IPOLICY);
+	// Helpers
+	static B3_DBVT_INLINE int nearest(const int* i, const b3DynamicBvh::sStkNPS* a, b3Scalar v, int l, int h)
 	{
-		int	m=0;
-		while(l<h)
+		int m = 0;
+		while (l < h)
 		{
-			m=(l+h)>>1;
-			if(a[i[m]].value>=v) l=m+1; else h=m;
+			m = (l + h) >> 1;
+			if (a[i[m]].value >= v)
+				l = m + 1;
+			else
+				h = m;
 		}
-		return(h);
+		return (h);
 	}
-	static B3_DBVT_INLINE int	allocate(	b3AlignedObjectArray<int>& ifree,
-		b3AlignedObjectArray<sStkNPS>& stock,
-		const sStkNPS& value)
+	static B3_DBVT_INLINE int allocate(b3AlignedObjectArray<int>& ifree,
+									   b3AlignedObjectArray<sStkNPS>& stock,
+									   const sStkNPS& value)
 	{
-		int	i;
-		if(ifree.size()>0)
-		{ i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; }
+		int i;
+		if (ifree.size() > 0)
+		{
+			i = ifree[ifree.size() - 1];
+			ifree.pop_back();
+			stock[i] = value;
+		}
 		else
-		{ i=stock.size();stock.push_back(value); }
-		return(i); 
+		{
+			i = stock.size();
+			stock.push_back(value);
+		}
+		return (i);
 	}
 	//
 private:
-	b3DynamicBvh(const b3DynamicBvh&)	{}	
+	b3DynamicBvh(const b3DynamicBvh&) {}
 };
 
 //
@@ -394,227 +407,252 @@ private:
 //
 
 //
-inline b3DbvtAabbMm			b3DbvtAabbMm::FromCE(const b3Vector3& c,const b3Vector3& e)
+inline b3DbvtAabbMm b3DbvtAabbMm::FromCE(const b3Vector3& c, const b3Vector3& e)
 {
 	b3DbvtAabbMm box;
-	box.mi=c-e;box.mx=c+e;
-	return(box);
+	box.mi = c - e;
+	box.mx = c + e;
+	return (box);
 }
 
 //
-inline b3DbvtAabbMm			b3DbvtAabbMm::FromCR(const b3Vector3& c,b3Scalar r)
+inline b3DbvtAabbMm b3DbvtAabbMm::FromCR(const b3Vector3& c, b3Scalar r)
 {
-	return(FromCE(c,b3MakeVector3(r,r,r)));
+	return (FromCE(c, b3MakeVector3(r, r, r)));
 }
 
 //
-inline b3DbvtAabbMm			b3DbvtAabbMm::FromMM(const b3Vector3& mi,const b3Vector3& mx)
+inline b3DbvtAabbMm b3DbvtAabbMm::FromMM(const b3Vector3& mi, const b3Vector3& mx)
 {
 	b3DbvtAabbMm box;
-	box.mi=mi;box.mx=mx;
-	return(box);
+	box.mi = mi;
+	box.mx = mx;
+	return (box);
 }
 
 //
-inline b3DbvtAabbMm			b3DbvtAabbMm::FromPoints(const b3Vector3* pts,int n)
+inline b3DbvtAabbMm b3DbvtAabbMm::FromPoints(const b3Vector3* pts, int n)
 {
 	b3DbvtAabbMm box;
-	box.mi=box.mx=pts[0];
-	for(int i=1;i<n;++i)
+	box.mi = box.mx = pts[0];
+	for (int i = 1; i < n; ++i)
 	{
 		box.mi.setMin(pts[i]);
 		box.mx.setMax(pts[i]);
 	}
-	return(box);
+	return (box);
 }
 
 //
-inline b3DbvtAabbMm			b3DbvtAabbMm::FromPoints(const b3Vector3** ppts,int n)
+inline b3DbvtAabbMm b3DbvtAabbMm::FromPoints(const b3Vector3** ppts, int n)
 {
 	b3DbvtAabbMm box;
-	box.mi=box.mx=*ppts[0];
-	for(int i=1;i<n;++i)
+	box.mi = box.mx = *ppts[0];
+	for (int i = 1; i < n; ++i)
 	{
 		box.mi.setMin(*ppts[i]);
 		box.mx.setMax(*ppts[i]);
 	}
-	return(box);
+	return (box);
 }
 
 //
-B3_DBVT_INLINE void		b3DbvtAabbMm::Expand(const b3Vector3& e)
+B3_DBVT_INLINE void b3DbvtAabbMm::Expand(const b3Vector3& e)
 {
-	mi-=e;mx+=e;
+	mi -= e;
+	mx += e;
 }
 
 //
-B3_DBVT_INLINE void		b3DbvtAabbMm::SignedExpand(const b3Vector3& e)
+B3_DBVT_INLINE void b3DbvtAabbMm::SignedExpand(const b3Vector3& e)
 {
-	if(e.x>0) mx.setX(mx.x+e[0]); else mi.setX(mi.x+e[0]);
-	if(e.y>0) mx.setY(mx.y+e[1]); else mi.setY(mi.y+e[1]);
-	if(e.z>0) mx.setZ(mx.z+e[2]); else mi.setZ(mi.z+e[2]);
+	if (e.x > 0)
+		mx.setX(mx.x + e[0]);
+	else
+		mi.setX(mi.x + e[0]);
+	if (e.y > 0)
+		mx.setY(mx.y + e[1]);
+	else
+		mi.setY(mi.y + e[1]);
+	if (e.z > 0)
+		mx.setZ(mx.z + e[2]);
+	else
+		mi.setZ(mi.z + e[2]);
 }
 
 //
-B3_DBVT_INLINE bool		b3DbvtAabbMm::Contain(const b3DbvtAabbMm& a) const
+B3_DBVT_INLINE bool b3DbvtAabbMm::Contain(const b3DbvtAabbMm& a) const
 {
-	return(	(mi.x<=a.mi.x)&&
-		(mi.y<=a.mi.y)&&
-		(mi.z<=a.mi.z)&&
-		(mx.x>=a.mx.x)&&
-		(mx.y>=a.mx.y)&&
-		(mx.z>=a.mx.z));
+	return ((mi.x <= a.mi.x) &&
+			(mi.y <= a.mi.y) &&
+			(mi.z <= a.mi.z) &&
+			(mx.x >= a.mx.x) &&
+			(mx.y >= a.mx.y) &&
+			(mx.z >= a.mx.z));
 }
 
 //
-B3_DBVT_INLINE int		b3DbvtAabbMm::Classify(const b3Vector3& n,b3Scalar o,int s) const
+B3_DBVT_INLINE int b3DbvtAabbMm::Classify(const b3Vector3& n, b3Scalar o, int s) const
 {
-	b3Vector3			pi,px;
-	switch(s)
+	b3Vector3 pi, px;
+	switch (s)
 	{
-	case	(0+0+0):	px=b3MakeVector3(mi.x,mi.y,mi.z);
-		pi=b3MakeVector3(mx.x,mx.y,mx.z);break;
-	case	(1+0+0):	px=b3MakeVector3(mx.x,mi.y,mi.z);
-		pi=b3MakeVector3(mi.x,mx.y,mx.z);break;
-	case	(0+2+0):	px=b3MakeVector3(mi.x,mx.y,mi.z);
-		pi=b3MakeVector3(mx.x,mi.y,mx.z);break;
-	case	(1+2+0):	px=b3MakeVector3(mx.x,mx.y,mi.z);
-		pi=b3MakeVector3(mi.x,mi.y,mx.z);break;
-	case	(0+0+4):	px=b3MakeVector3(mi.x,mi.y,mx.z);
-		pi=b3MakeVector3(mx.x,mx.y,mi.z);break;
-	case	(1+0+4):	px=b3MakeVector3(mx.x,mi.y,mx.z);
-		pi=b3MakeVector3(mi.x,mx.y,mi.z);break;
-	case	(0+2+4):	px=b3MakeVector3(mi.x,mx.y,mx.z);
-		pi=b3MakeVector3(mx.x,mi.y,mi.z);break;
-	case	(1+2+4):	px=b3MakeVector3(mx.x,mx.y,mx.z);
-		pi=b3MakeVector3(mi.x,mi.y,mi.z);break;
+		case (0 + 0 + 0):
+			px = b3MakeVector3(mi.x, mi.y, mi.z);
+			pi = b3MakeVector3(mx.x, mx.y, mx.z);
+			break;
+		case (1 + 0 + 0):
+			px = b3MakeVector3(mx.x, mi.y, mi.z);
+			pi = b3MakeVector3(mi.x, mx.y, mx.z);
+			break;
+		case (0 + 2 + 0):
+			px = b3MakeVector3(mi.x, mx.y, mi.z);
+			pi = b3MakeVector3(mx.x, mi.y, mx.z);
+			break;
+		case (1 + 2 + 0):
+			px = b3MakeVector3(mx.x, mx.y, mi.z);
+			pi = b3MakeVector3(mi.x, mi.y, mx.z);
+			break;
+		case (0 + 0 + 4):
+			px = b3MakeVector3(mi.x, mi.y, mx.z);
+			pi = b3MakeVector3(mx.x, mx.y, mi.z);
+			break;
+		case (1 + 0 + 4):
+			px = b3MakeVector3(mx.x, mi.y, mx.z);
+			pi = b3MakeVector3(mi.x, mx.y, mi.z);
+			break;
+		case (0 + 2 + 4):
+			px = b3MakeVector3(mi.x, mx.y, mx.z);
+			pi = b3MakeVector3(mx.x, mi.y, mi.z);
+			break;
+		case (1 + 2 + 4):
+			px = b3MakeVector3(mx.x, mx.y, mx.z);
+			pi = b3MakeVector3(mi.x, mi.y, mi.z);
+			break;
 	}
-	if((b3Dot(n,px)+o)<0)		return(-1);
-	if((b3Dot(n,pi)+o)>=0)	return(+1);
-	return(0);
+	if ((b3Dot(n, px) + o) < 0) return (-1);
+	if ((b3Dot(n, pi) + o) >= 0) return (+1);
+	return (0);
 }
 
 //
-B3_DBVT_INLINE b3Scalar	b3DbvtAabbMm::ProjectMinimum(const b3Vector3& v,unsigned signs) const
+B3_DBVT_INLINE b3Scalar b3DbvtAabbMm::ProjectMinimum(const b3Vector3& v, unsigned signs) const
 {
-	const b3Vector3*	b[]={&mx,&mi};
-	const b3Vector3		p = b3MakeVector3(	b[(signs>>0)&1]->x,
-		b[(signs>>1)&1]->y,
-		b[(signs>>2)&1]->z);
-	return(b3Dot(p,v));
+	const b3Vector3* b[] = {&mx, &mi};
+	const b3Vector3 p = b3MakeVector3(b[(signs >> 0) & 1]->x,
+									  b[(signs >> 1) & 1]->y,
+									  b[(signs >> 2) & 1]->z);
+	return (b3Dot(p, v));
 }
 
 //
-B3_DBVT_INLINE void		b3DbvtAabbMm::AddSpan(const b3Vector3& d,b3Scalar& smi,b3Scalar& smx) const
+B3_DBVT_INLINE void b3DbvtAabbMm::AddSpan(const b3Vector3& d, b3Scalar& smi, b3Scalar& smx) const
 {
-	for(int i=0;i<3;++i)
+	for (int i = 0; i < 3; ++i)
 	{
-		if(d[i]<0)
-		{ smi+=mx[i]*d[i];smx+=mi[i]*d[i]; }
+		if (d[i] < 0)
+		{
+			smi += mx[i] * d[i];
+			smx += mi[i] * d[i];
+		}
 		else
-		{ smi+=mi[i]*d[i];smx+=mx[i]*d[i]; }
+		{
+			smi += mi[i] * d[i];
+			smx += mx[i] * d[i];
+		}
 	}
 }
 
 //
-B3_DBVT_INLINE bool		b3Intersect(	const b3DbvtAabbMm& a,
-								  const b3DbvtAabbMm& b)
+B3_DBVT_INLINE bool b3Intersect(const b3DbvtAabbMm& a,
+								const b3DbvtAabbMm& b)
 {
-#if	B3_DBVT_INT0_IMPL == B3_DBVT_IMPL_SSE
-	const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
-		_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
-#if defined (_WIN32)
-	const __int32*	pu((const __int32*)&rt);
+#if B3_DBVT_INT0_IMPL == B3_DBVT_IMPL_SSE
+	const __m128 rt(_mm_or_ps(_mm_cmplt_ps(_mm_load_ps(b.mx), _mm_load_ps(a.mi)),
+							  _mm_cmplt_ps(_mm_load_ps(a.mx), _mm_load_ps(b.mi))));
+#if defined(_WIN32)
+	const __int32* pu((const __int32*)&rt);
 #else
-    const int*	pu((const int*)&rt);
+	const int* pu((const int*)&rt);
 #endif
-	return((pu[0]|pu[1]|pu[2])==0);
+	return ((pu[0] | pu[1] | pu[2]) == 0);
 #else
-	return(	(a.mi.x<=b.mx.x)&&
-		(a.mx.x>=b.mi.x)&&
-		(a.mi.y<=b.mx.y)&&
-		(a.mx.y>=b.mi.y)&&
-		(a.mi.z<=b.mx.z)&&		
-		(a.mx.z>=b.mi.z));
+	return ((a.mi.x <= b.mx.x) &&
+			(a.mx.x >= b.mi.x) &&
+			(a.mi.y <= b.mx.y) &&
+			(a.mx.y >= b.mi.y) &&
+			(a.mi.z <= b.mx.z) &&
+			(a.mx.z >= b.mi.z));
 #endif
 }
 
-
-
 //
-B3_DBVT_INLINE bool		b3Intersect(	const b3DbvtAabbMm& a,
-								  const b3Vector3& b)
+B3_DBVT_INLINE bool b3Intersect(const b3DbvtAabbMm& a,
+								const b3Vector3& b)
 {
-	return(	(b.x>=a.mi.x)&&
-		(b.y>=a.mi.y)&&
-		(b.z>=a.mi.z)&&
-		(b.x<=a.mx.x)&&
-		(b.y<=a.mx.y)&&
-		(b.z<=a.mx.z));
+	return ((b.x >= a.mi.x) &&
+			(b.y >= a.mi.y) &&
+			(b.z >= a.mi.z) &&
+			(b.x <= a.mx.x) &&
+			(b.y <= a.mx.y) &&
+			(b.z <= a.mx.z));
 }
 
-
-
-
-
 //////////////////////////////////////
 
-
 //
-B3_DBVT_INLINE b3Scalar	b3Proximity(	const b3DbvtAabbMm& a,
-								  const b3DbvtAabbMm& b)
+B3_DBVT_INLINE b3Scalar b3Proximity(const b3DbvtAabbMm& a,
+									const b3DbvtAabbMm& b)
 {
-	const b3Vector3	d=(a.mi+a.mx)-(b.mi+b.mx);
-	return(b3Fabs(d.x)+b3Fabs(d.y)+b3Fabs(d.z));
+	const b3Vector3 d = (a.mi + a.mx) - (b.mi + b.mx);
+	return (b3Fabs(d.x) + b3Fabs(d.y) + b3Fabs(d.z));
 }
 
-
-
 //
-B3_DBVT_INLINE int			b3Select(	const b3DbvtAabbMm& o,
-							   const b3DbvtAabbMm& a,
-							   const b3DbvtAabbMm& b)
+B3_DBVT_INLINE int b3Select(const b3DbvtAabbMm& o,
+							const b3DbvtAabbMm& a,
+							const b3DbvtAabbMm& b)
 {
-#if	B3_DBVT_SELECT_IMPL == B3_DBVT_IMPL_SSE
-    
-#if defined (_WIN32)
-	static B3_ATTRIBUTE_ALIGNED16(const unsigned __int32)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+#if B3_DBVT_SELECT_IMPL == B3_DBVT_IMPL_SSE
+
+#if defined(_WIN32)
+	static B3_ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
 #else
-    static B3_ATTRIBUTE_ALIGNED16(const unsigned int)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/};
+	static B3_ATTRIBUTE_ALIGNED16(const unsigned int) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x00000000 /*0x7fffffff*/};
 #endif
 	///@todo: the intrinsic version is 11% slower
 #if B3_DBVT_USE_INTRINSIC_SSE
 
-	union b3SSEUnion ///NOTE: if we use more intrinsics, move b3SSEUnion into the LinearMath directory
+	union b3SSEUnion  ///NOTE: if we use more intrinsics, move b3SSEUnion into the LinearMath directory
 	{
-	   __m128		ssereg;
-	   float		floats[4];
-	   int			ints[4];
+		__m128 ssereg;
+		float floats[4];
+		int ints[4];
 	};
 
-	__m128	omi(_mm_load_ps(o.mi));
-	omi=_mm_add_ps(omi,_mm_load_ps(o.mx));
-	__m128	ami(_mm_load_ps(a.mi));
-	ami=_mm_add_ps(ami,_mm_load_ps(a.mx));
-	ami=_mm_sub_ps(ami,omi);
-	ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask));
-	__m128	bmi(_mm_load_ps(b.mi));
-	bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx));
-	bmi=_mm_sub_ps(bmi,omi);
-	bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask));
-	__m128	t0(_mm_movehl_ps(ami,ami));
-	ami=_mm_add_ps(ami,t0);
-	ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1));
-	__m128 t1(_mm_movehl_ps(bmi,bmi));
-	bmi=_mm_add_ps(bmi,t1);
-	bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1));
-	
+	__m128 omi(_mm_load_ps(o.mi));
+	omi = _mm_add_ps(omi, _mm_load_ps(o.mx));
+	__m128 ami(_mm_load_ps(a.mi));
+	ami = _mm_add_ps(ami, _mm_load_ps(a.mx));
+	ami = _mm_sub_ps(ami, omi);
+	ami = _mm_and_ps(ami, _mm_load_ps((const float*)mask));
+	__m128 bmi(_mm_load_ps(b.mi));
+	bmi = _mm_add_ps(bmi, _mm_load_ps(b.mx));
+	bmi = _mm_sub_ps(bmi, omi);
+	bmi = _mm_and_ps(bmi, _mm_load_ps((const float*)mask));
+	__m128 t0(_mm_movehl_ps(ami, ami));
+	ami = _mm_add_ps(ami, t0);
+	ami = _mm_add_ss(ami, _mm_shuffle_ps(ami, ami, 1));
+	__m128 t1(_mm_movehl_ps(bmi, bmi));
+	bmi = _mm_add_ps(bmi, t1);
+	bmi = _mm_add_ss(bmi, _mm_shuffle_ps(bmi, bmi, 1));
+
 	b3SSEUnion tmp;
-	tmp.ssereg = _mm_cmple_ss(bmi,ami);
-	return tmp.ints[0]&1;
+	tmp.ssereg = _mm_cmple_ss(bmi, ami);
+	return tmp.ints[0] & 1;
 
 #else
-	B3_ATTRIBUTE_ALIGNED16(__int32	r[1]);
+	B3_ATTRIBUTE_ALIGNED16(__int32 r[1]);
 	__asm
 	{
 		mov		eax,o
@@ -642,46 +680,52 @@ B3_DBVT_INLINE int			b3Select(	const b3DbvtAabbMm& o,
 			cmpless	xmm2,xmm1
 			movss	r,xmm2
 	}
-	return(r[0]&1);
+	return (r[0] & 1);
 #endif
 #else
-	return(b3Proximity(o,a)<b3Proximity(o,b)?0:1);
+	return (b3Proximity(o, a) < b3Proximity(o, b) ? 0 : 1);
 #endif
 }
 
 //
-B3_DBVT_INLINE void		b3Merge(	const b3DbvtAabbMm& a,
-							  const b3DbvtAabbMm& b,
-							  b3DbvtAabbMm& r)
+B3_DBVT_INLINE void b3Merge(const b3DbvtAabbMm& a,
+							const b3DbvtAabbMm& b,
+							b3DbvtAabbMm& r)
 {
-#if B3_DBVT_MERGE_IMPL==B3_DBVT_IMPL_SSE
-	__m128	ami(_mm_load_ps(a.mi));
-	__m128	amx(_mm_load_ps(a.mx));
-	__m128	bmi(_mm_load_ps(b.mi));
-	__m128	bmx(_mm_load_ps(b.mx));
-	ami=_mm_min_ps(ami,bmi);
-	amx=_mm_max_ps(amx,bmx);
-	_mm_store_ps(r.mi,ami);
-	_mm_store_ps(r.mx,amx);
+#if B3_DBVT_MERGE_IMPL == B3_DBVT_IMPL_SSE
+	__m128 ami(_mm_load_ps(a.mi));
+	__m128 amx(_mm_load_ps(a.mx));
+	__m128 bmi(_mm_load_ps(b.mi));
+	__m128 bmx(_mm_load_ps(b.mx));
+	ami = _mm_min_ps(ami, bmi);
+	amx = _mm_max_ps(amx, bmx);
+	_mm_store_ps(r.mi, ami);
+	_mm_store_ps(r.mx, amx);
 #else
-	for(int i=0;i<3;++i)
+	for (int i = 0; i < 3; ++i)
 	{
-		if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
-		if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
+		if (a.mi[i] < b.mi[i])
+			r.mi[i] = a.mi[i];
+		else
+			r.mi[i] = b.mi[i];
+		if (a.mx[i] > b.mx[i])
+			r.mx[i] = a.mx[i];
+		else
+			r.mx[i] = b.mx[i];
 	}
 #endif
 }
 
 //
-B3_DBVT_INLINE bool		b3NotEqual(	const b3DbvtAabbMm& a,
-								 const b3DbvtAabbMm& b)
+B3_DBVT_INLINE bool b3NotEqual(const b3DbvtAabbMm& a,
+							   const b3DbvtAabbMm& b)
 {
-	return(	(a.mi.x!=b.mi.x)||
-		(a.mi.y!=b.mi.y)||
-		(a.mi.z!=b.mi.z)||
-		(a.mx.x!=b.mx.x)||
-		(a.mx.y!=b.mx.y)||
-		(a.mx.z!=b.mx.z));
+	return ((a.mi.x != b.mi.x) ||
+			(a.mi.y != b.mi.y) ||
+			(a.mi.z != b.mi.z) ||
+			(a.mx.x != b.mx.x) ||
+			(a.mx.y != b.mx.y) ||
+			(a.mx.z != b.mx.z));
 }
 
 //
@@ -690,162 +734,162 @@ B3_DBVT_INLINE bool		b3NotEqual(	const b3DbvtAabbMm& a,
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::enumNodes(	const b3DbvtNode* root,
-								  B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::enumNodes(const b3DbvtNode* root,
+									B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		policy.Process(root);
-	if(root->isinternal())
+	policy.Process(root);
+	if (root->isinternal())
 	{
-		enumNodes(root->childs[0],policy);
-		enumNodes(root->childs[1],policy);
+		enumNodes(root->childs[0], policy);
+		enumNodes(root->childs[1], policy);
 	}
 }
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::enumLeaves(	const b3DbvtNode* root,
-								   B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::enumLeaves(const b3DbvtNode* root,
+									 B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		if(root->isinternal())
-		{
-			enumLeaves(root->childs[0],policy);
-			enumLeaves(root->childs[1],policy);
-		}
-		else
-		{
-			policy.Process(root);
-		}
+	if (root->isinternal())
+	{
+		enumLeaves(root->childs[0], policy);
+		enumLeaves(root->childs[1], policy);
+	}
+	else
+	{
+		policy.Process(root);
+	}
 }
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideTT(	const b3DbvtNode* root0,
-								  const b3DbvtNode* root1,
-								  B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::collideTT(const b3DbvtNode* root0,
+									const b3DbvtNode* root1,
+									B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		if(root0&&root1)
+	if (root0 && root1)
+	{
+		int depth = 1;
+		int treshold = B3_DOUBLE_STACKSIZE - 4;
+		b3AlignedObjectArray<sStkNN> stkStack;
+		stkStack.resize(B3_DOUBLE_STACKSIZE);
+		stkStack[0] = sStkNN(root0, root1);
+		do
 		{
-			int								depth=1;
-			int								treshold=B3_DOUBLE_STACKSIZE-4;
-			b3AlignedObjectArray<sStkNN>	stkStack;
-			stkStack.resize(B3_DOUBLE_STACKSIZE);
-			stkStack[0]=sStkNN(root0,root1);
-			do	{		
-				sStkNN	p=stkStack[--depth];
-				if(depth>treshold)
+			sStkNN p = stkStack[--depth];
+			if (depth > treshold)
+			{
+				stkStack.resize(stkStack.size() * 2);
+				treshold = stkStack.size() - 4;
+			}
+			if (p.a == p.b)
+			{
+				if (p.a->isinternal())
 				{
-					stkStack.resize(stkStack.size()*2);
-					treshold=stkStack.size()-4;
+					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
+					stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
+					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
 				}
-				if(p.a==p.b)
+			}
+			else if (b3Intersect(p.a->volume, p.b->volume))
+			{
+				if (p.a->isinternal())
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
 					{
-						stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
-						stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
-						stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
+						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
+						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
+						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
+					}
+					else
+					{
+						stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
+						stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
 					}
 				}
-				else if(b3Intersect(p.a->volume,p.b->volume))
+				else
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
 					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
-						}
+						stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
+						stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
 					}
 					else
 					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							policy.Process(p.a,p.b);
-						}
+						policy.Process(p.a, p.b);
 					}
 				}
-			} while(depth);
-		}
+			}
+		} while (depth);
+	}
 }
 
-
-
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideTTpersistentStack(	const b3DbvtNode* root0,
-								  const b3DbvtNode* root1,
-								  B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::collideTTpersistentStack(const b3DbvtNode* root0,
+												   const b3DbvtNode* root1,
+												   B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		if(root0&&root1)
+	if (root0 && root1)
+	{
+		int depth = 1;
+		int treshold = B3_DOUBLE_STACKSIZE - 4;
+
+		m_stkStack.resize(B3_DOUBLE_STACKSIZE);
+		m_stkStack[0] = sStkNN(root0, root1);
+		do
 		{
-			int								depth=1;
-			int								treshold=B3_DOUBLE_STACKSIZE-4;
-			
-			m_stkStack.resize(B3_DOUBLE_STACKSIZE);
-			m_stkStack[0]=sStkNN(root0,root1);
-			do	{		
-				sStkNN	p=m_stkStack[--depth];
-				if(depth>treshold)
+			sStkNN p = m_stkStack[--depth];
+			if (depth > treshold)
+			{
+				m_stkStack.resize(m_stkStack.size() * 2);
+				treshold = m_stkStack.size() - 4;
+			}
+			if (p.a == p.b)
+			{
+				if (p.a->isinternal())
 				{
-					m_stkStack.resize(m_stkStack.size()*2);
-					treshold=m_stkStack.size()-4;
+					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
+					m_stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
+					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
 				}
-				if(p.a==p.b)
+			}
+			else if (b3Intersect(p.a->volume, p.b->volume))
+			{
+				if (p.a->isinternal())
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
+					{
+						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
+					}
+					else
 					{
-						m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
-						m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
-						m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
+						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
 					}
 				}
-				else if(b3Intersect(p.a->volume,p.b->volume))
+				else
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
 					{
-						if(p.b->isinternal())
-						{
-							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
-							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
-						}
+						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
+						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
 					}
 					else
 					{
-						if(p.b->isinternal())
-						{
-							m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
-							m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							policy.Process(p.a,p.b);
-						}
+						policy.Process(p.a, p.b);
 					}
 				}
-			} while(depth);
-		}
+			}
+		} while (depth);
+	}
 }
 
 #if 0
@@ -915,337 +959,356 @@ inline void		b3DynamicBvh::collideTT(	const b3DbvtNode* root0,
 	const b3Transform	xform=xform0.inverse()*xform1;
 	collideTT(root0,root1,xform,policy);
 }
-#endif 
+#endif
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideTV(	const b3DbvtNode* root,
-								  const b3DbvtVolume& vol,
-								  B3_DBVT_IPOLICY) const
+inline void b3DynamicBvh::collideTV(const b3DbvtNode* root,
+									const b3DbvtVolume& vol,
+									B3_DBVT_IPOLICY) const
 {
 	B3_DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
+		volume(vol);
+		b3AlignedObjectArray<const b3DbvtNode*> stack;
+		stack.resize(0);
+		stack.reserve(B3_SIMPLE_STACKSIZE);
+		stack.push_back(root);
+		do
 		{
-			B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)		volume(vol);
-			b3AlignedObjectArray<const b3DbvtNode*>	stack;
-			stack.resize(0);
-			stack.reserve(B3_SIMPLE_STACKSIZE);
-			stack.push_back(root);
-			do	{
-				const b3DbvtNode*	n=stack[stack.size()-1];
-				stack.pop_back();
-				if(b3Intersect(n->volume,volume))
+			const b3DbvtNode* n = stack[stack.size() - 1];
+			stack.pop_back();
+			if (b3Intersect(n->volume, volume))
+			{
+				if (n->isinternal())
 				{
-					if(n->isinternal())
-					{
-						stack.push_back(n->childs[0]);
-						stack.push_back(n->childs[1]);
-					}
-					else
-					{
-						policy.Process(n);
-					}
+					stack.push_back(n->childs[0]);
+					stack.push_back(n->childs[1]);
 				}
-			} while(stack.size()>0);
-		}
+				else
+				{
+					policy.Process(n);
+				}
+			}
+		} while (stack.size() > 0);
+	}
 }
 
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::rayTestInternal(	const b3DbvtNode* root,
-								const b3Vector3& rayFrom,
-								const b3Vector3& rayTo,
-								const b3Vector3& rayDirectionInverse,
-								unsigned int signs[3],
-								b3Scalar lambda_max,
-								const b3Vector3& aabbMin,
-								const b3Vector3& aabbMax,
-								B3_DBVT_IPOLICY) const
+inline void b3DynamicBvh::rayTestInternal(const b3DbvtNode* root,
+										  const b3Vector3& rayFrom,
+										  const b3Vector3& rayTo,
+										  const b3Vector3& rayDirectionInverse,
+										  unsigned int signs[3],
+										  b3Scalar lambda_max,
+										  const b3Vector3& aabbMin,
+										  const b3Vector3& aabbMax,
+										  B3_DBVT_IPOLICY) const
 {
-        (void) rayTo;
+	(void)rayTo;
 	B3_DBVT_CHECKTYPE
-	if(root)
+	if (root)
 	{
-		int								depth=1;
-		int								treshold=B3_DOUBLE_STACKSIZE-2;
-		b3AlignedObjectArray<const b3DbvtNode*>&	stack = m_rayTestStack;
+		int depth = 1;
+		int treshold = B3_DOUBLE_STACKSIZE - 2;
+		b3AlignedObjectArray<const b3DbvtNode*>& stack = m_rayTestStack;
 		stack.resize(B3_DOUBLE_STACKSIZE);
-		stack[0]=root;
+		stack[0] = root;
 		b3Vector3 bounds[2];
-		do	
+		do
 		{
-			const b3DbvtNode*	node=stack[--depth];
-			bounds[0] = node->volume.Mins()-aabbMax;
-			bounds[1] = node->volume.Maxs()-aabbMin;
-			b3Scalar tmin=1.f,lambda_min=0.f;
-			unsigned int result1=false;
-			result1 = b3RayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
-			if(result1)
+			const b3DbvtNode* node = stack[--depth];
+			bounds[0] = node->volume.Mins() - aabbMax;
+			bounds[1] = node->volume.Maxs() - aabbMin;
+			b3Scalar tmin = 1.f, lambda_min = 0.f;
+			unsigned int result1 = false;
+			result1 = b3RayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
+			if (result1)
 			{
-				if(node->isinternal())
+				if (node->isinternal())
 				{
-					if(depth>treshold)
+					if (depth > treshold)
 					{
-						stack.resize(stack.size()*2);
-						treshold=stack.size()-2;
+						stack.resize(stack.size() * 2);
+						treshold = stack.size() - 2;
 					}
-					stack[depth++]=node->childs[0];
-					stack[depth++]=node->childs[1];
+					stack[depth++] = node->childs[0];
+					stack[depth++] = node->childs[1];
 				}
 				else
 				{
 					policy.Process(node);
 				}
 			}
-		} while(depth);
+		} while (depth);
 	}
 }
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::rayTest(	const b3DbvtNode* root,
-								const b3Vector3& rayFrom,
-								const b3Vector3& rayTo,
-								B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::rayTest(const b3DbvtNode* root,
+								  const b3Vector3& rayFrom,
+								  const b3Vector3& rayTo,
+								  B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		if(root)
-		{
-			b3Vector3 rayDir = (rayTo-rayFrom);
-			rayDir.normalize ();
+	if (root)
+	{
+		b3Vector3 rayDir = (rayTo - rayFrom);
+		rayDir.normalize();
 
-			///what about division by zero? --> just set rayDirection[i] to INF/B3_LARGE_FLOAT
-			b3Vector3 rayDirectionInverse;
-			rayDirectionInverse[0] = rayDir[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[0];
-			rayDirectionInverse[1] = rayDir[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[1];
-			rayDirectionInverse[2] = rayDir[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[2];
-			unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+		///what about division by zero? --> just set rayDirection[i] to INF/B3_LARGE_FLOAT
+		b3Vector3 rayDirectionInverse;
+		rayDirectionInverse[0] = rayDir[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[0];
+		rayDirectionInverse[1] = rayDir[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[1];
+		rayDirectionInverse[2] = rayDir[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[2];
+		unsigned int signs[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
 
-			b3Scalar lambda_max = rayDir.dot(rayTo-rayFrom);
+		b3Scalar lambda_max = rayDir.dot(rayTo - rayFrom);
 #ifdef COMPARE_BTRAY_AABB2
-			b3Vector3 resultNormal;
-#endif//COMPARE_BTRAY_AABB2
-			
-			b3AlignedObjectArray<const b3DbvtNode*>	stack;
+		b3Vector3 resultNormal;
+#endif  //COMPARE_BTRAY_AABB2
 
-			int								depth=1;
-			int								treshold=B3_DOUBLE_STACKSIZE-2;
+		b3AlignedObjectArray<const b3DbvtNode*> stack;
 
-			stack.resize(B3_DOUBLE_STACKSIZE);
-			stack[0]=root;
-			b3Vector3 bounds[2];
-			do	{
-				const b3DbvtNode*	node=stack[--depth];
+		int depth = 1;
+		int treshold = B3_DOUBLE_STACKSIZE - 2;
 
-				bounds[0] = node->volume.Mins();
-				bounds[1] = node->volume.Maxs();
-				
-				b3Scalar tmin=1.f,lambda_min=0.f;
-				unsigned int result1 = b3RayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
+		stack.resize(B3_DOUBLE_STACKSIZE);
+		stack[0] = root;
+		b3Vector3 bounds[2];
+		do
+		{
+			const b3DbvtNode* node = stack[--depth];
+
+			bounds[0] = node->volume.Mins();
+			bounds[1] = node->volume.Maxs();
+
+			b3Scalar tmin = 1.f, lambda_min = 0.f;
+			unsigned int result1 = b3RayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
 
 #ifdef COMPARE_BTRAY_AABB2
-				b3Scalar param=1.f;
-				bool result2 = b3RayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal);
-				b3Assert(result1 == result2);
-#endif //TEST_BTRAY_AABB2
+			b3Scalar param = 1.f;
+			bool result2 = b3RayAabb(rayFrom, rayTo, node->volume.Mins(), node->volume.Maxs(), param, resultNormal);
+			b3Assert(result1 == result2);
+#endif  //TEST_BTRAY_AABB2
 
-				if(result1)
+			if (result1)
+			{
+				if (node->isinternal())
 				{
-					if(node->isinternal())
-					{
-						if(depth>treshold)
-						{
-							stack.resize(stack.size()*2);
-							treshold=stack.size()-2;
-						}
-						stack[depth++]=node->childs[0];
-						stack[depth++]=node->childs[1];
-					}
-					else
+					if (depth > treshold)
 					{
-						policy.Process(node);
+						stack.resize(stack.size() * 2);
+						treshold = stack.size() - 2;
 					}
+					stack[depth++] = node->childs[0];
+					stack[depth++] = node->childs[1];
 				}
-			} while(depth);
-
-		}
+				else
+				{
+					policy.Process(node);
+				}
+			}
+		} while (depth);
+	}
 }
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideKDOP(const b3DbvtNode* root,
-									const b3Vector3* normals,
-									const b3Scalar* offsets,
-									int count,
-									B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::collideKDOP(const b3DbvtNode* root,
+									  const b3Vector3* normals,
+									  const b3Scalar* offsets,
+									  int count,
+									  B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		const int inside = (1 << count) - 1;
+		b3AlignedObjectArray<sStkNP> stack;
+		int signs[sizeof(unsigned) * 8];
+		b3Assert(count < int(sizeof(signs) / sizeof(signs[0])));
+		for (int i = 0; i < count; ++i)
 		{
-			const int						inside=(1<<count)-1;
-			b3AlignedObjectArray<sStkNP>	stack;
-			int								signs[sizeof(unsigned)*8];
-			b3Assert(count<int (sizeof(signs)/sizeof(signs[0])));
-			for(int i=0;i<count;++i)
+			signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
+					   ((normals[i].y >= 0) ? 2 : 0) +
+					   ((normals[i].z >= 0) ? 4 : 0);
+		}
+		stack.reserve(B3_SIMPLE_STACKSIZE);
+		stack.push_back(sStkNP(root, 0));
+		do
+		{
+			sStkNP se = stack[stack.size() - 1];
+			bool out = false;
+			stack.pop_back();
+			for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
 			{
-				signs[i]=	((normals[i].x>=0)?1:0)+
-					((normals[i].y>=0)?2:0)+
-					((normals[i].z>=0)?4:0);
-			}
-			stack.reserve(B3_SIMPLE_STACKSIZE);
-			stack.push_back(sStkNP(root,0));
-			do	{
-				sStkNP	se=stack[stack.size()-1];
-				bool	out=false;
-				stack.pop_back();
-				for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+				if (0 == (se.mask & j))
 				{
-					if(0==(se.mask&j))
+					const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
+					switch (side)
 					{
-						const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
-						switch(side)
-						{
-						case	-1:	out=true;break;
-						case	+1:	se.mask|=j;break;
-						}
+						case -1:
+							out = true;
+							break;
+						case +1:
+							se.mask |= j;
+							break;
 					}
 				}
-				if(!out)
+			}
+			if (!out)
+			{
+				if ((se.mask != inside) && (se.node->isinternal()))
 				{
-					if((se.mask!=inside)&&(se.node->isinternal()))
-					{
-						stack.push_back(sStkNP(se.node->childs[0],se.mask));
-						stack.push_back(sStkNP(se.node->childs[1],se.mask));
-					}
-					else
-					{
-						if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy);
-					}
+					stack.push_back(sStkNP(se.node->childs[0], se.mask));
+					stack.push_back(sStkNP(se.node->childs[1], se.mask));
 				}
-			} while(stack.size());
-		}
+				else
+				{
+					if (policy.AllLeaves(se.node)) enumLeaves(se.node, policy);
+				}
+			}
+		} while (stack.size());
+	}
 }
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideOCL(	const b3DbvtNode* root,
-								   const b3Vector3* normals,
-								   const b3Scalar* offsets,
-								   const b3Vector3& sortaxis,
-								   int count,
-								   B3_DBVT_IPOLICY,
-								   bool fsort)
+inline void b3DynamicBvh::collideOCL(const b3DbvtNode* root,
+									 const b3Vector3* normals,
+									 const b3Scalar* offsets,
+									 const b3Vector3& sortaxis,
+									 int count,
+									 B3_DBVT_IPOLICY,
+									 bool fsort)
 {
 	B3_DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		const unsigned srtsgns = (sortaxis[0] >= 0 ? 1 : 0) +
+								 (sortaxis[1] >= 0 ? 2 : 0) +
+								 (sortaxis[2] >= 0 ? 4 : 0);
+		const int inside = (1 << count) - 1;
+		b3AlignedObjectArray<sStkNPS> stock;
+		b3AlignedObjectArray<int> ifree;
+		b3AlignedObjectArray<int> stack;
+		int signs[sizeof(unsigned) * 8];
+		b3Assert(count < int(sizeof(signs) / sizeof(signs[0])));
+		for (int i = 0; i < count; ++i)
 		{
-			const unsigned					srtsgns=(sortaxis[0]>=0?1:0)+
-				(sortaxis[1]>=0?2:0)+
-				(sortaxis[2]>=0?4:0);
-			const int						inside=(1<<count)-1;
-			b3AlignedObjectArray<sStkNPS>	stock;
-			b3AlignedObjectArray<int>		ifree;
-			b3AlignedObjectArray<int>		stack;
-			int								signs[sizeof(unsigned)*8];
-			b3Assert(count<int (sizeof(signs)/sizeof(signs[0])));
-			for(int i=0;i<count;++i)
+			signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
+					   ((normals[i].y >= 0) ? 2 : 0) +
+					   ((normals[i].z >= 0) ? 4 : 0);
+		}
+		stock.reserve(B3_SIMPLE_STACKSIZE);
+		stack.reserve(B3_SIMPLE_STACKSIZE);
+		ifree.reserve(B3_SIMPLE_STACKSIZE);
+		stack.push_back(allocate(ifree, stock, sStkNPS(root, 0, root->volume.ProjectMinimum(sortaxis, srtsgns))));
+		do
+		{
+			const int id = stack[stack.size() - 1];
+			sStkNPS se = stock[id];
+			stack.pop_back();
+			ifree.push_back(id);
+			if (se.mask != inside)
 			{
-				signs[i]=	((normals[i].x>=0)?1:0)+
-					((normals[i].y>=0)?2:0)+
-					((normals[i].z>=0)?4:0);
-			}
-			stock.reserve(B3_SIMPLE_STACKSIZE);
-			stack.reserve(B3_SIMPLE_STACKSIZE);
-			ifree.reserve(B3_SIMPLE_STACKSIZE);
-			stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns))));
-			do	{
-				const int	id=stack[stack.size()-1];
-				sStkNPS		se=stock[id];
-				stack.pop_back();ifree.push_back(id);
-				if(se.mask!=inside)
+				bool out = false;
+				for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
 				{
-					bool	out=false;
-					for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+					if (0 == (se.mask & j))
 					{
-						if(0==(se.mask&j))
+						const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
+						switch (side)
 						{
-							const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
-							switch(side)
-							{
-							case	-1:	out=true;break;
-							case	+1:	se.mask|=j;break;
-							}
+							case -1:
+								out = true;
+								break;
+							case +1:
+								se.mask |= j;
+								break;
 						}
 					}
-					if(out) continue;
 				}
-				if(policy.Descent(se.node))
+				if (out) continue;
+			}
+			if (policy.Descent(se.node))
+			{
+				if (se.node->isinternal())
 				{
-					if(se.node->isinternal())
+					const b3DbvtNode* pns[] = {se.node->childs[0], se.node->childs[1]};
+					sStkNPS nes[] = {sStkNPS(pns[0], se.mask, pns[0]->volume.ProjectMinimum(sortaxis, srtsgns)),
+									 sStkNPS(pns[1], se.mask, pns[1]->volume.ProjectMinimum(sortaxis, srtsgns))};
+					const int q = nes[0].value < nes[1].value ? 1 : 0;
+					int j = stack.size();
+					if (fsort && (j > 0))
 					{
-						const b3DbvtNode* pns[]={	se.node->childs[0],se.node->childs[1]};
-						sStkNPS		nes[]={	sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)),
-							sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))};
-						const int	q=nes[0].value<nes[1].value?1:0;				
-						int			j=stack.size();
-						if(fsort&&(j>0))
-						{
-							/* Insert 0	*/ 
-							j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
-							stack.push_back(0);
+						/* Insert 0	*/
+						j = nearest(&stack[0], &stock[0], nes[q].value, 0, stack.size());
+						stack.push_back(0);
 #if B3_DBVT_USE_MEMMOVE
-							memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
+						memmove(&stack[j + 1], &stack[j], sizeof(int) * (stack.size() - j - 1));
 #else
-							for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+						for (int k = stack.size() - 1; k > j; --k) stack[k] = stack[k - 1];
 #endif
-							stack[j]=allocate(ifree,stock,nes[q]);
-							/* Insert 1	*/ 
-							j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
-							stack.push_back(0);
+						stack[j] = allocate(ifree, stock, nes[q]);
+						/* Insert 1	*/
+						j = nearest(&stack[0], &stock[0], nes[1 - q].value, j, stack.size());
+						stack.push_back(0);
 #if B3_DBVT_USE_MEMMOVE
-							memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
+						memmove(&stack[j + 1], &stack[j], sizeof(int) * (stack.size() - j - 1));
 #else
-							for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+						for (int k = stack.size() - 1; k > j; --k) stack[k] = stack[k - 1];
 #endif
-							stack[j]=allocate(ifree,stock,nes[1-q]);
-						}
-						else
-						{
-							stack.push_back(allocate(ifree,stock,nes[q]));
-							stack.push_back(allocate(ifree,stock,nes[1-q]));
-						}
+						stack[j] = allocate(ifree, stock, nes[1 - q]);
 					}
 					else
 					{
-						policy.Process(se.node,se.value);
+						stack.push_back(allocate(ifree, stock, nes[q]));
+						stack.push_back(allocate(ifree, stock, nes[1 - q]));
 					}
 				}
-			} while(stack.size());
-		}
+				else
+				{
+					policy.Process(se.node, se.value);
+				}
+			}
+		} while (stack.size());
+	}
 }
 
 //
 B3_DBVT_PREFIX
-inline void		b3DynamicBvh::collideTU(	const b3DbvtNode* root,
-								  B3_DBVT_IPOLICY)
+inline void b3DynamicBvh::collideTU(const b3DbvtNode* root,
+									B3_DBVT_IPOLICY)
 {
 	B3_DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		b3AlignedObjectArray<const b3DbvtNode*> stack;
+		stack.reserve(B3_SIMPLE_STACKSIZE);
+		stack.push_back(root);
+		do
 		{
-			b3AlignedObjectArray<const b3DbvtNode*>	stack;
-			stack.reserve(B3_SIMPLE_STACKSIZE);
-			stack.push_back(root);
-			do	{
-				const b3DbvtNode*	n=stack[stack.size()-1];
-				stack.pop_back();
-				if(policy.Descent(n))
+			const b3DbvtNode* n = stack[stack.size() - 1];
+			stack.pop_back();
+			if (policy.Descent(n))
+			{
+				if (n->isinternal())
 				{
-					if(n->isinternal())
-					{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
-					else
-					{ policy.Process(n); }
+					stack.push_back(n->childs[0]);
+					stack.push_back(n->childs[1]);
 				}
-			} while(stack.size()>0);
-		}
+				else
+				{
+					policy.Process(n);
+				}
+			}
+		} while (stack.size() > 0);
+	}
 }
 
 //
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
index bc150955b8..dea2ddb0f2 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
@@ -22,28 +22,27 @@ subject to the following restrictions:
 // Profiling
 //
 
-#if B3_DBVT_BP_PROFILE||B3_DBVT_BP_ENABLE_BENCHMARK
+#if B3_DBVT_BP_PROFILE || B3_DBVT_BP_ENABLE_BENCHMARK
 #include <stdio.h>
 #endif
 
 #if B3_DBVT_BP_PROFILE
-struct	b3ProfileScope
+struct b3ProfileScope
 {
-	__forceinline b3ProfileScope(b3Clock& clock,unsigned long& value) :
-	m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
+	__forceinline b3ProfileScope(b3Clock& clock, unsigned long& value) : m_clock(&clock), m_value(&value), m_base(clock.getTimeMicroseconds())
 	{
 	}
 	__forceinline ~b3ProfileScope()
 	{
-		(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
+		(*m_value) += m_clock->getTimeMicroseconds() - m_base;
 	}
-	b3Clock*		m_clock;
-	unsigned long*	m_value;
-	unsigned long	m_base;
+	b3Clock* m_clock;
+	unsigned long* m_value;
+	unsigned long m_base;
 };
-#define	b3SPC(_value_)	b3ProfileScope	spc_scope(m_clock,_value_)
+#define b3SPC(_value_) b3ProfileScope spc_scope(m_clock, _value_)
 #else
-#define	b3SPC(_value_)
+#define b3SPC(_value_)
 #endif
 
 //
@@ -52,66 +51,75 @@ struct	b3ProfileScope
 
 //
 template <typename T>
-static inline void	b3ListAppend(T* item,T*& list)
+static inline void b3ListAppend(T* item, T*& list)
 {
-	item->links[0]=0;
-	item->links[1]=list;
-	if(list) list->links[0]=item;
-	list=item;
+	item->links[0] = 0;
+	item->links[1] = list;
+	if (list) list->links[0] = item;
+	list = item;
 }
 
 //
 template <typename T>
-static inline void	b3ListRemove(T* item,T*& list)
+static inline void b3ListRemove(T* item, T*& list)
 {
-	if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
-	if(item->links[1]) item->links[1]->links[0]=item->links[0];
+	if (item->links[0])
+		item->links[0]->links[1] = item->links[1];
+	else
+		list = item->links[1];
+	if (item->links[1]) item->links[1]->links[0] = item->links[0];
 }
 
 //
 template <typename T>
-static inline int	b3ListCount(T* root)
+static inline int b3ListCount(T* root)
 {
-	int	n=0;
-	while(root) { ++n;root=root->links[1]; }
-	return(n);
+	int n = 0;
+	while (root)
+	{
+		++n;
+		root = root->links[1];
+	}
+	return (n);
 }
 
 //
 template <typename T>
-static inline void	b3Clear(T& value)
+static inline void b3Clear(T& value)
 {
-	static const struct ZeroDummy : T {} zerodummy;
-	value=zerodummy;
+	static const struct ZeroDummy : T
+	{
+	} zerodummy;
+	value = zerodummy;
 }
 
 //
 // Colliders
 //
 
-/* Tree collider	*/ 
-struct	b3DbvtTreeCollider : b3DynamicBvh::ICollide
+/* Tree collider	*/
+struct b3DbvtTreeCollider : b3DynamicBvh::ICollide
 {
-	b3DynamicBvhBroadphase*	pbp;
-	b3DbvtProxy*		proxy;
+	b3DynamicBvhBroadphase* pbp;
+	b3DbvtProxy* proxy;
 	b3DbvtTreeCollider(b3DynamicBvhBroadphase* p) : pbp(p) {}
-	void	Process(const b3DbvtNode* na,const b3DbvtNode* nb)
+	void Process(const b3DbvtNode* na, const b3DbvtNode* nb)
 	{
-		if(na!=nb)
+		if (na != nb)
 		{
-			b3DbvtProxy*	pa=(b3DbvtProxy*)na->data;
-			b3DbvtProxy*	pb=(b3DbvtProxy*)nb->data;
+			b3DbvtProxy* pa = (b3DbvtProxy*)na->data;
+			b3DbvtProxy* pb = (b3DbvtProxy*)nb->data;
 #if B3_DBVT_BP_SORTPAIRS
-			if(pa->m_uniqueId>pb->m_uniqueId) 
-				b3Swap(pa,pb);
+			if (pa->m_uniqueId > pb->m_uniqueId)
+				b3Swap(pa, pb);
 #endif
-			pbp->m_paircache->addOverlappingPair(pa->getUid(),pb->getUid());
+			pbp->m_paircache->addOverlappingPair(pa->getUid(), pb->getUid());
 			++pbp->m_newpairs;
 		}
 	}
-	void	Process(const b3DbvtNode* n)
+	void Process(const b3DbvtNode* n)
 	{
-		Process(n,proxy->leaf);
+		Process(n, proxy->leaf);
 	}
 };
 
@@ -122,26 +130,26 @@ struct	b3DbvtTreeCollider : b3DynamicBvh::ICollide
 //
 b3DynamicBvhBroadphase::b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache)
 {
-	m_deferedcollide	=	false;
-	m_needcleanup		=	true;
-	m_releasepaircache	=	(paircache!=0)?false:true;
-	m_prediction		=	0;
-	m_stageCurrent		=	0;
-	m_fixedleft			=	0;
-	m_fupdates			=	1;
-	m_dupdates			=	0;
-	m_cupdates			=	10;
-	m_newpairs			=	1;
-	m_updates_call		=	0;
-	m_updates_done		=	0;
-	m_updates_ratio		=	0;
-	m_paircache			=	paircache? paircache	: new(b3AlignedAlloc(sizeof(b3HashedOverlappingPairCache),16)) b3HashedOverlappingPairCache();
-	
-	m_pid				=	0;
-	m_cid				=	0;
-	for(int i=0;i<=STAGECOUNT;++i)
+	m_deferedcollide = false;
+	m_needcleanup = true;
+	m_releasepaircache = (paircache != 0) ? false : true;
+	m_prediction = 0;
+	m_stageCurrent = 0;
+	m_fixedleft = 0;
+	m_fupdates = 1;
+	m_dupdates = 0;
+	m_cupdates = 10;
+	m_newpairs = 1;
+	m_updates_call = 0;
+	m_updates_done = 0;
+	m_updates_ratio = 0;
+	m_paircache = paircache ? paircache : new (b3AlignedAlloc(sizeof(b3HashedOverlappingPairCache), 16)) b3HashedOverlappingPairCache();
+
+	m_pid = 0;
+	m_cid = 0;
+	for (int i = 0; i <= STAGECOUNT; ++i)
 	{
-		m_stageRoots[i]=0;
+		m_stageRoots[i] = 0;
 	}
 #if B3_DBVT_BP_PROFILE
 	b3Clear(m_profiling);
@@ -152,7 +160,7 @@ b3DynamicBvhBroadphase::b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingP
 //
 b3DynamicBvhBroadphase::~b3DynamicBvhBroadphase()
 {
-	if(m_releasepaircache) 
+	if (m_releasepaircache)
 	{
 		m_paircache->~b3OverlappingPairCache();
 		b3AlignedFree(m_paircache);
@@ -160,53 +168,53 @@ b3DynamicBvhBroadphase::~b3DynamicBvhBroadphase()
 }
 
 //
-b3BroadphaseProxy*				b3DynamicBvhBroadphase::createProxy(	const b3Vector3& aabbMin,
-															  const b3Vector3& aabbMax,
-															  int objectId,
-															  void* userPtr,
-															   int collisionFilterGroup,
-																int collisionFilterMask)
+b3BroadphaseProxy* b3DynamicBvhBroadphase::createProxy(const b3Vector3& aabbMin,
+													   const b3Vector3& aabbMax,
+													   int objectId,
+													   void* userPtr,
+													   int collisionFilterGroup,
+													   int collisionFilterMask)
 {
 	b3DbvtProxy* mem = &m_proxies[objectId];
-	b3DbvtProxy*		proxy=new(mem) b3DbvtProxy(	aabbMin,aabbMax,userPtr,
-		collisionFilterGroup,
-		collisionFilterMask);
+	b3DbvtProxy* proxy = new (mem) b3DbvtProxy(aabbMin, aabbMax, userPtr,
+											   collisionFilterGroup,
+											   collisionFilterMask);
 
-	b3DbvtAabbMm aabb = b3DbvtVolume::FromMM(aabbMin,aabbMax);
+	b3DbvtAabbMm aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
 
 	//bproxy->aabb			=	b3DbvtVolume::FromMM(aabbMin,aabbMax);
-	proxy->stage		=	m_stageCurrent;
-	proxy->m_uniqueId	=	objectId;
-	proxy->leaf			=	m_sets[0].insert(aabb,proxy);
-	b3ListAppend(proxy,m_stageRoots[m_stageCurrent]);
-	if(!m_deferedcollide)
+	proxy->stage = m_stageCurrent;
+	proxy->m_uniqueId = objectId;
+	proxy->leaf = m_sets[0].insert(aabb, proxy);
+	b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
+	if (!m_deferedcollide)
 	{
-		b3DbvtTreeCollider	collider(this);
-		collider.proxy=proxy;
-		m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
-		m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
+		b3DbvtTreeCollider collider(this);
+		collider.proxy = proxy;
+		m_sets[0].collideTV(m_sets[0].m_root, aabb, collider);
+		m_sets[1].collideTV(m_sets[1].m_root, aabb, collider);
 	}
-	return(proxy);
+	return (proxy);
 }
 
 //
-void							b3DynamicBvhBroadphase::destroyProxy(	b3BroadphaseProxy* absproxy,
-															   b3Dispatcher* dispatcher)
+void b3DynamicBvhBroadphase::destroyProxy(b3BroadphaseProxy* absproxy,
+										  b3Dispatcher* dispatcher)
 {
-	b3DbvtProxy*	proxy=(b3DbvtProxy*)absproxy;
-	if(proxy->stage==STAGECOUNT)
+	b3DbvtProxy* proxy = (b3DbvtProxy*)absproxy;
+	if (proxy->stage == STAGECOUNT)
 		m_sets[1].remove(proxy->leaf);
 	else
 		m_sets[0].remove(proxy->leaf);
-	b3ListRemove(proxy,m_stageRoots[proxy->stage]);
-	m_paircache->removeOverlappingPairsContainingProxy(proxy->getUid(),dispatcher);
-	
-	m_needcleanup=true;
+	b3ListRemove(proxy, m_stageRoots[proxy->stage]);
+	m_paircache->removeOverlappingPairsContainingProxy(proxy->getUid(), dispatcher);
+
+	m_needcleanup = true;
 }
 
-void	b3DynamicBvhBroadphase::getAabb(int objectId,b3Vector3& aabbMin, b3Vector3& aabbMax ) const
+void b3DynamicBvhBroadphase::getAabb(int objectId, b3Vector3& aabbMin, b3Vector3& aabbMax) const
 {
-	const b3DbvtProxy*						proxy=&m_proxies[objectId];
+	const b3DbvtProxy* proxy = &m_proxies[objectId];
 	aabbMin = proxy->m_aabbMin;
 	aabbMax = proxy->m_aabbMax;
 }
@@ -219,235 +227,223 @@ void	b3DynamicBvhBroadphase::getAabb(b3BroadphaseProxy* absproxy,b3Vector3& aabb
 }
 */
 
-
-struct	BroadphaseRayTester : b3DynamicBvh::ICollide
+struct BroadphaseRayTester : b3DynamicBvh::ICollide
 {
 	b3BroadphaseRayCallback& m_rayCallback;
 	BroadphaseRayTester(b3BroadphaseRayCallback& orgCallback)
-		:m_rayCallback(orgCallback)
+		: m_rayCallback(orgCallback)
 	{
 	}
-	void					Process(const b3DbvtNode* leaf)
+	void Process(const b3DbvtNode* leaf)
 	{
-		b3DbvtProxy*	proxy=(b3DbvtProxy*)leaf->data;
+		b3DbvtProxy* proxy = (b3DbvtProxy*)leaf->data;
 		m_rayCallback.process(proxy);
 	}
-};	
+};
 
-void	b3DynamicBvhBroadphase::rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
+void b3DynamicBvhBroadphase::rayTest(const b3Vector3& rayFrom, const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
 {
 	BroadphaseRayTester callback(rayCallback);
 
-	m_sets[0].rayTestInternal(	m_sets[0].m_root,
-		rayFrom,
-		rayTo,
-		rayCallback.m_rayDirectionInverse,
-		rayCallback.m_signs,
-		rayCallback.m_lambda_max,
-		aabbMin,
-		aabbMax,
-		callback);
-
-	m_sets[1].rayTestInternal(	m_sets[1].m_root,
-		rayFrom,
-		rayTo,
-		rayCallback.m_rayDirectionInverse,
-		rayCallback.m_signs,
-		rayCallback.m_lambda_max,
-		aabbMin,
-		aabbMax,
-		callback);
-
+	m_sets[0].rayTestInternal(m_sets[0].m_root,
+							  rayFrom,
+							  rayTo,
+							  rayCallback.m_rayDirectionInverse,
+							  rayCallback.m_signs,
+							  rayCallback.m_lambda_max,
+							  aabbMin,
+							  aabbMax,
+							  callback);
+
+	m_sets[1].rayTestInternal(m_sets[1].m_root,
+							  rayFrom,
+							  rayTo,
+							  rayCallback.m_rayDirectionInverse,
+							  rayCallback.m_signs,
+							  rayCallback.m_lambda_max,
+							  aabbMin,
+							  aabbMax,
+							  callback);
 }
 
-
-struct	BroadphaseAabbTester : b3DynamicBvh::ICollide
+struct BroadphaseAabbTester : b3DynamicBvh::ICollide
 {
 	b3BroadphaseAabbCallback& m_aabbCallback;
 	BroadphaseAabbTester(b3BroadphaseAabbCallback& orgCallback)
-		:m_aabbCallback(orgCallback)
+		: m_aabbCallback(orgCallback)
 	{
 	}
-	void					Process(const b3DbvtNode* leaf)
+	void Process(const b3DbvtNode* leaf)
 	{
-		b3DbvtProxy*	proxy=(b3DbvtProxy*)leaf->data;
+		b3DbvtProxy* proxy = (b3DbvtProxy*)leaf->data;
 		m_aabbCallback.process(proxy);
 	}
-};	
+};
 
-void	b3DynamicBvhBroadphase::aabbTest(const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3BroadphaseAabbCallback& aabbCallback)
+void b3DynamicBvhBroadphase::aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& aabbCallback)
 {
 	BroadphaseAabbTester callback(aabbCallback);
 
-	const B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)	bounds=b3DbvtVolume::FromMM(aabbMin,aabbMax);
-		//process all children, that overlap with  the given AABB bounds
-	m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
-	m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
-
+	const B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume) bounds = b3DbvtVolume::FromMM(aabbMin, aabbMax);
+	//process all children, that overlap with  the given AABB bounds
+	m_sets[0].collideTV(m_sets[0].m_root, bounds, callback);
+	m_sets[1].collideTV(m_sets[1].m_root, bounds, callback);
 }
 
-
-
 //
-void							b3DynamicBvhBroadphase::setAabb(int objectId,
-														  const b3Vector3& aabbMin,
-														  const b3Vector3& aabbMax,
-														  b3Dispatcher* /*dispatcher*/)
+void b3DynamicBvhBroadphase::setAabb(int objectId,
+									 const b3Vector3& aabbMin,
+									 const b3Vector3& aabbMax,
+									 b3Dispatcher* /*dispatcher*/)
 {
-	b3DbvtProxy*						proxy=&m_proxies[objectId];
-//	b3DbvtProxy*						proxy=(b3DbvtProxy*)absproxy;
-	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)	aabb=b3DbvtVolume::FromMM(aabbMin,aabbMax);
+	b3DbvtProxy* proxy = &m_proxies[objectId];
+	//	b3DbvtProxy*						proxy=(b3DbvtProxy*)absproxy;
+	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
+	aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
 #if B3_DBVT_BP_PREVENTFALSEUPDATE
-	if(b3NotEqual(aabb,proxy->leaf->volume))
+	if (b3NotEqual(aabb, proxy->leaf->volume))
 #endif
 	{
-		bool	docollide=false;
-		if(proxy->stage==STAGECOUNT)
-		{/* fixed -> dynamic set	*/ 
+		bool docollide = false;
+		if (proxy->stage == STAGECOUNT)
+		{ /* fixed -> dynamic set	*/
 			m_sets[1].remove(proxy->leaf);
-			proxy->leaf=m_sets[0].insert(aabb,proxy);
-			docollide=true;
+			proxy->leaf = m_sets[0].insert(aabb, proxy);
+			docollide = true;
 		}
 		else
-		{/* dynamic set				*/ 
+		{ /* dynamic set				*/
 			++m_updates_call;
-			if(b3Intersect(proxy->leaf->volume,aabb))
-			{/* Moving				*/ 
-
-				const b3Vector3	delta=aabbMin-proxy->m_aabbMin;
-				b3Vector3		velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
-				if(delta[0]<0) velocity[0]=-velocity[0];
-				if(delta[1]<0) velocity[1]=-velocity[1];
-				if(delta[2]<0) velocity[2]=-velocity[2];
-				if	(
-#ifdef B3_DBVT_BP_MARGIN				
-					m_sets[0].update(proxy->leaf,aabb,velocity,B3_DBVT_BP_MARGIN)
+			if (b3Intersect(proxy->leaf->volume, aabb))
+			{ /* Moving				*/
+
+				const b3Vector3 delta = aabbMin - proxy->m_aabbMin;
+				b3Vector3 velocity(((proxy->m_aabbMax - proxy->m_aabbMin) / 2) * m_prediction);
+				if (delta[0] < 0) velocity[0] = -velocity[0];
+				if (delta[1] < 0) velocity[1] = -velocity[1];
+				if (delta[2] < 0) velocity[2] = -velocity[2];
+				if (
+#ifdef B3_DBVT_BP_MARGIN
+					m_sets[0].update(proxy->leaf, aabb, velocity, B3_DBVT_BP_MARGIN)
 #else
-					m_sets[0].update(proxy->leaf,aabb,velocity)
+					m_sets[0].update(proxy->leaf, aabb, velocity)
 #endif
-					)
+				)
 				{
 					++m_updates_done;
-					docollide=true;
+					docollide = true;
 				}
 			}
 			else
-			{/* Teleporting			*/ 
-				m_sets[0].update(proxy->leaf,aabb);
+			{ /* Teleporting			*/
+				m_sets[0].update(proxy->leaf, aabb);
 				++m_updates_done;
-				docollide=true;
-			}	
+				docollide = true;
+			}
 		}
-		b3ListRemove(proxy,m_stageRoots[proxy->stage]);
+		b3ListRemove(proxy, m_stageRoots[proxy->stage]);
 		proxy->m_aabbMin = aabbMin;
 		proxy->m_aabbMax = aabbMax;
-		proxy->stage	=	m_stageCurrent;
-		b3ListAppend(proxy,m_stageRoots[m_stageCurrent]);
-		if(docollide)
+		proxy->stage = m_stageCurrent;
+		b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
+		if (docollide)
 		{
-			m_needcleanup=true;
-			if(!m_deferedcollide)
+			m_needcleanup = true;
+			if (!m_deferedcollide)
 			{
-				b3DbvtTreeCollider	collider(this);
-				m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
-				m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+				b3DbvtTreeCollider collider(this);
+				m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
+				m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
 			}
-		}	
+		}
 	}
 }
 
-
 //
-void							b3DynamicBvhBroadphase::setAabbForceUpdate(		b3BroadphaseProxy* absproxy,
-														  const b3Vector3& aabbMin,
-														  const b3Vector3& aabbMax,
-														  b3Dispatcher* /*dispatcher*/)
+void b3DynamicBvhBroadphase::setAabbForceUpdate(b3BroadphaseProxy* absproxy,
+												const b3Vector3& aabbMin,
+												const b3Vector3& aabbMax,
+												b3Dispatcher* /*dispatcher*/)
 {
-	b3DbvtProxy*						proxy=(b3DbvtProxy*)absproxy;
-	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)	aabb=b3DbvtVolume::FromMM(aabbMin,aabbMax);
-	bool	docollide=false;
-	if(proxy->stage==STAGECOUNT)
-	{/* fixed -> dynamic set	*/ 
+	b3DbvtProxy* proxy = (b3DbvtProxy*)absproxy;
+	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
+	aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
+	bool docollide = false;
+	if (proxy->stage == STAGECOUNT)
+	{ /* fixed -> dynamic set	*/
 		m_sets[1].remove(proxy->leaf);
-		proxy->leaf=m_sets[0].insert(aabb,proxy);
-		docollide=true;
+		proxy->leaf = m_sets[0].insert(aabb, proxy);
+		docollide = true;
 	}
 	else
-	{/* dynamic set				*/ 
+	{ /* dynamic set				*/
 		++m_updates_call;
-		/* Teleporting			*/ 
-		m_sets[0].update(proxy->leaf,aabb);
+		/* Teleporting			*/
+		m_sets[0].update(proxy->leaf, aabb);
 		++m_updates_done;
-		docollide=true;
+		docollide = true;
 	}
-	b3ListRemove(proxy,m_stageRoots[proxy->stage]);
+	b3ListRemove(proxy, m_stageRoots[proxy->stage]);
 	proxy->m_aabbMin = aabbMin;
 	proxy->m_aabbMax = aabbMax;
-	proxy->stage	=	m_stageCurrent;
-	b3ListAppend(proxy,m_stageRoots[m_stageCurrent]);
-	if(docollide)
+	proxy->stage = m_stageCurrent;
+	b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
+	if (docollide)
 	{
-		m_needcleanup=true;
-		if(!m_deferedcollide)
+		m_needcleanup = true;
+		if (!m_deferedcollide)
 		{
-			b3DbvtTreeCollider	collider(this);
-			m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+			b3DbvtTreeCollider collider(this);
+			m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
 		}
-	}	
+	}
 }
 
 //
-void							b3DynamicBvhBroadphase::calculateOverlappingPairs(b3Dispatcher* dispatcher)
+void b3DynamicBvhBroadphase::calculateOverlappingPairs(b3Dispatcher* dispatcher)
 {
 	collide(dispatcher);
 #if B3_DBVT_BP_PROFILE
-	if(0==(m_pid%B3_DBVT_BP_PROFILING_RATE))
-	{	
-		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
-		unsigned int	total=m_profiling.m_total;
-		if(total<=0) total=1;
-		printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/B3_DBVT_BP_PROFILING_RATE);
-		printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/B3_DBVT_BP_PROFILING_RATE);
-		printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/B3_DBVT_BP_PROFILING_RATE);
-		printf("total:     %uus\r\n",total/B3_DBVT_BP_PROFILING_RATE);
-		const unsigned long	sum=m_profiling.m_ddcollide+
-			m_profiling.m_fdcollide+
-			m_profiling.m_cleanup;
-		printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/B3_DBVT_BP_PROFILING_RATE);
-		printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*B3_DBVT_BP_PROFILING_RATE));
+	if (0 == (m_pid % B3_DBVT_BP_PROFILING_RATE))
+	{
+		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n", m_sets[1].m_leaves, m_sets[0].m_leaves, m_paircache->getNumOverlappingPairs());
+		unsigned int total = m_profiling.m_total;
+		if (total <= 0) total = 1;
+		printf("ddcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_ddcollide * 100) / total, m_profiling.m_ddcollide / B3_DBVT_BP_PROFILING_RATE);
+		printf("fdcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_fdcollide * 100) / total, m_profiling.m_fdcollide / B3_DBVT_BP_PROFILING_RATE);
+		printf("cleanup:   %u%% (%uus)\r\n", (50 + m_profiling.m_cleanup * 100) / total, m_profiling.m_cleanup / B3_DBVT_BP_PROFILING_RATE);
+		printf("total:     %uus\r\n", total / B3_DBVT_BP_PROFILING_RATE);
+		const unsigned long sum = m_profiling.m_ddcollide +
+								  m_profiling.m_fdcollide +
+								  m_profiling.m_cleanup;
+		printf("leaked: %u%% (%uus)\r\n", 100 - ((50 + sum * 100) / total), (total - sum) / B3_DBVT_BP_PROFILING_RATE);
+		printf("job counts: %u%%\r\n", (m_profiling.m_jobcount * 100) / ((m_sets[0].m_leaves + m_sets[1].m_leaves) * B3_DBVT_BP_PROFILING_RATE));
 		b3Clear(m_profiling);
 		m_clock.reset();
 	}
 #endif
 
 	performDeferredRemoval(dispatcher);
-
 }
 
 void b3DynamicBvhBroadphase::performDeferredRemoval(b3Dispatcher* dispatcher)
 {
-
 	if (m_paircache->hasDeferredRemoval())
 	{
-
-		b3BroadphasePairArray&	overlappingPairArray = m_paircache->getOverlappingPairArray();
+		b3BroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
 
 		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
 		overlappingPairArray.quickSort(b3BroadphasePairSortPredicate());
 
 		int invalidPair = 0;
 
-		
 		int i;
 
-		b3BroadphasePair previousPair = b3MakeBroadphasePair(-1,-1);
-		
-		
-		
-		for (i=0;i<overlappingPairArray.size();i++)
+		b3BroadphasePair previousPair = b3MakeBroadphasePair(-1, -1);
+
+		for (i = 0; i < overlappingPairArray.size(); i++)
 		{
-		
 			b3BroadphasePair& pair = overlappingPairArray[i];
 
 			bool isDuplicate = (pair == previousPair);
@@ -459,33 +455,34 @@ void b3DynamicBvhBroadphase::performDeferredRemoval(b3Dispatcher* dispatcher)
 			if (!isDuplicate)
 			{
 				//important to perform AABB check that is consistent with the broadphase
-				b3DbvtProxy*		pa=&m_proxies[pair.x];
-				b3DbvtProxy*		pb=&m_proxies[pair.y];
-				bool hasOverlap = b3Intersect(pa->leaf->volume,pb->leaf->volume);
+				b3DbvtProxy* pa = &m_proxies[pair.x];
+				b3DbvtProxy* pb = &m_proxies[pair.y];
+				bool hasOverlap = b3Intersect(pa->leaf->volume, pb->leaf->volume);
 
 				if (hasOverlap)
 				{
 					needsRemoval = false;
-				} else
+				}
+				else
 				{
 					needsRemoval = true;
 				}
-			} else
+			}
+			else
 			{
 				//remove duplicate
 				needsRemoval = true;
 				//should have no algorithm
 			}
-			
+
 			if (needsRemoval)
 			{
-				m_paircache->cleanOverlappingPair(pair,dispatcher);
+				m_paircache->cleanOverlappingPair(pair, dispatcher);
 
 				pair.x = -1;
 				pair.y = -1;
 				invalidPair++;
-			} 
-			
+			}
 		}
 
 		//perform a sort, to sort 'invalid' pairs to the end
@@ -495,7 +492,7 @@ void b3DynamicBvhBroadphase::performDeferredRemoval(b3Dispatcher* dispatcher)
 }
 
 //
-void							b3DynamicBvhBroadphase::collide(b3Dispatcher* dispatcher)
+void b3DynamicBvhBroadphase::collide(b3Dispatcher* dispatcher)
 {
 	/*printf("---------------------------------------------------------\n");
 	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
@@ -512,285 +509,293 @@ void							b3DynamicBvhBroadphase::collide(b3Dispatcher* dispatcher)
 	}
 */
 
-
-
 	b3SPC(m_profiling.m_total);
-	/* optimize				*/ 
-	m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
-	if(m_fixedleft)
+	/* optimize				*/
+	m_sets[0].optimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
+	if (m_fixedleft)
 	{
-		const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
-		m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
-		m_fixedleft=b3Max<int>(0,m_fixedleft-count);
+		const int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
+		m_sets[1].optimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
+		m_fixedleft = b3Max<int>(0, m_fixedleft - count);
 	}
-	/* dynamic -> fixed set	*/ 
-	m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
-	b3DbvtProxy*	current=m_stageRoots[m_stageCurrent];
-	if(current)
+	/* dynamic -> fixed set	*/
+	m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
+	b3DbvtProxy* current = m_stageRoots[m_stageCurrent];
+	if (current)
 	{
-		b3DbvtTreeCollider	collider(this);
-		do	{
-			b3DbvtProxy*	next=current->links[1];
-			b3ListRemove(current,m_stageRoots[current->stage]);
-			b3ListAppend(current,m_stageRoots[STAGECOUNT]);
+		b3DbvtTreeCollider collider(this);
+		do
+		{
+			b3DbvtProxy* next = current->links[1];
+			b3ListRemove(current, m_stageRoots[current->stage]);
+			b3ListAppend(current, m_stageRoots[STAGECOUNT]);
 #if B3_DBVT_BP_ACCURATESLEEPING
-			m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
-			collider.proxy=current;
-			b3DynamicBvh::collideTV(m_sets[0].m_root,current->aabb,collider);
-			b3DynamicBvh::collideTV(m_sets[1].m_root,current->aabb,collider);
+			m_paircache->removeOverlappingPairsContainingProxy(current, dispatcher);
+			collider.proxy = current;
+			b3DynamicBvh::collideTV(m_sets[0].m_root, current->aabb, collider);
+			b3DynamicBvh::collideTV(m_sets[1].m_root, current->aabb, collider);
 #endif
 			m_sets[0].remove(current->leaf);
-			B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)	curAabb=b3DbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
-			current->leaf	=	m_sets[1].insert(curAabb,current);
-			current->stage	=	STAGECOUNT;	
-			current			=	next;
-		} while(current);
-		m_fixedleft=m_sets[1].m_leaves;
-		m_needcleanup=true;
+			B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
+			curAabb = b3DbvtVolume::FromMM(current->m_aabbMin, current->m_aabbMax);
+			current->leaf = m_sets[1].insert(curAabb, current);
+			current->stage = STAGECOUNT;
+			current = next;
+		} while (current);
+		m_fixedleft = m_sets[1].m_leaves;
+		m_needcleanup = true;
 	}
-	/* collide dynamics		*/ 
+	/* collide dynamics		*/
 	{
-		b3DbvtTreeCollider	collider(this);
-		if(m_deferedcollide)
+		b3DbvtTreeCollider collider(this);
+		if (m_deferedcollide)
 		{
 			b3SPC(m_profiling.m_fdcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
 		}
-		if(m_deferedcollide)
+		if (m_deferedcollide)
 		{
 			b3SPC(m_profiling.m_ddcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
 		}
 	}
-	/* clean up				*/ 
-	if(m_needcleanup)
+	/* clean up				*/
+	if (m_needcleanup)
 	{
 		b3SPC(m_profiling.m_cleanup);
-		b3BroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
-		if(pairs.size()>0)
+		b3BroadphasePairArray& pairs = m_paircache->getOverlappingPairArray();
+		if (pairs.size() > 0)
 		{
-
-			int			ni=b3Min(pairs.size(),b3Max<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
-			for(int i=0;i<ni;++i)
+			int ni = b3Min(pairs.size(), b3Max<int>(m_newpairs, (pairs.size() * m_cupdates) / 100));
+			for (int i = 0; i < ni; ++i)
 			{
-				b3BroadphasePair&	p=pairs[(m_cid+i)%pairs.size()];
-				b3DbvtProxy*		pa=&m_proxies[p.x];
-				b3DbvtProxy*		pb=&m_proxies[p.y];
-				if(!b3Intersect(pa->leaf->volume,pb->leaf->volume))
+				b3BroadphasePair& p = pairs[(m_cid + i) % pairs.size()];
+				b3DbvtProxy* pa = &m_proxies[p.x];
+				b3DbvtProxy* pb = &m_proxies[p.y];
+				if (!b3Intersect(pa->leaf->volume, pb->leaf->volume))
 				{
 #if B3_DBVT_BP_SORTPAIRS
-					if(pa->m_uniqueId>pb->m_uniqueId) 
-						b3Swap(pa,pb);
+					if (pa->m_uniqueId > pb->m_uniqueId)
+						b3Swap(pa, pb);
 #endif
-					m_paircache->removeOverlappingPair(pa->getUid(),pb->getUid(),dispatcher);
-					--ni;--i;
+					m_paircache->removeOverlappingPair(pa->getUid(), pb->getUid(), dispatcher);
+					--ni;
+					--i;
 				}
 			}
-			if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
+			if (pairs.size() > 0)
+				m_cid = (m_cid + ni) % pairs.size();
+			else
+				m_cid = 0;
 		}
 	}
 	++m_pid;
-	m_newpairs=1;
-	m_needcleanup=false;
-	if(m_updates_call>0)
-	{ m_updates_ratio=m_updates_done/(b3Scalar)m_updates_call; }
+	m_newpairs = 1;
+	m_needcleanup = false;
+	if (m_updates_call > 0)
+	{
+		m_updates_ratio = m_updates_done / (b3Scalar)m_updates_call;
+	}
 	else
-	{ m_updates_ratio=0; }
-	m_updates_done/=2;
-	m_updates_call/=2;
+	{
+		m_updates_ratio = 0;
+	}
+	m_updates_done /= 2;
+	m_updates_call /= 2;
 }
 
 //
-void							b3DynamicBvhBroadphase::optimize()
+void b3DynamicBvhBroadphase::optimize()
 {
 	m_sets[0].optimizeTopDown();
 	m_sets[1].optimizeTopDown();
 }
 
 //
-b3OverlappingPairCache*			b3DynamicBvhBroadphase::getOverlappingPairCache()
+b3OverlappingPairCache* b3DynamicBvhBroadphase::getOverlappingPairCache()
 {
-	return(m_paircache);
+	return (m_paircache);
 }
 
 //
-const b3OverlappingPairCache*	b3DynamicBvhBroadphase::getOverlappingPairCache() const
+const b3OverlappingPairCache* b3DynamicBvhBroadphase::getOverlappingPairCache() const
 {
-	return(m_paircache);
+	return (m_paircache);
 }
 
 //
-void							b3DynamicBvhBroadphase::getBroadphaseAabb(b3Vector3& aabbMin,b3Vector3& aabbMax) const
+void b3DynamicBvhBroadphase::getBroadphaseAabb(b3Vector3& aabbMin, b3Vector3& aabbMax) const
 {
+	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
+	bounds;
 
-	B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)	bounds;
-
-	if(!m_sets[0].empty())
-		if(!m_sets[1].empty())	b3Merge(	m_sets[0].m_root->volume,
-			m_sets[1].m_root->volume,bounds);
+	if (!m_sets[0].empty())
+		if (!m_sets[1].empty())
+			b3Merge(m_sets[0].m_root->volume,
+					m_sets[1].m_root->volume, bounds);
 		else
-			bounds=m_sets[0].m_root->volume;
-	else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
+			bounds = m_sets[0].m_root->volume;
+	else if (!m_sets[1].empty())
+		bounds = m_sets[1].m_root->volume;
 	else
-		bounds=b3DbvtVolume::FromCR(b3MakeVector3(0,0,0),0);
-	aabbMin=bounds.Mins();
-	aabbMax=bounds.Maxs();
+		bounds = b3DbvtVolume::FromCR(b3MakeVector3(0, 0, 0), 0);
+	aabbMin = bounds.Mins();
+	aabbMax = bounds.Maxs();
 }
 
 void b3DynamicBvhBroadphase::resetPool(b3Dispatcher* dispatcher)
 {
-	
 	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
 	if (!totalObjects)
 	{
 		//reset internal dynamic tree data structures
 		m_sets[0].clear();
 		m_sets[1].clear();
-		
-		m_deferedcollide	=	false;
-		m_needcleanup		=	true;
-		m_stageCurrent		=	0;
-		m_fixedleft			=	0;
-		m_fupdates			=	1;
-		m_dupdates			=	0;
-		m_cupdates			=	10;
-		m_newpairs			=	1;
-		m_updates_call		=	0;
-		m_updates_done		=	0;
-		m_updates_ratio		=	0;
-		
-		m_pid				=	0;
-		m_cid				=	0;
-		for(int i=0;i<=STAGECOUNT;++i)
+
+		m_deferedcollide = false;
+		m_needcleanup = true;
+		m_stageCurrent = 0;
+		m_fixedleft = 0;
+		m_fupdates = 1;
+		m_dupdates = 0;
+		m_cupdates = 10;
+		m_newpairs = 1;
+		m_updates_call = 0;
+		m_updates_done = 0;
+		m_updates_ratio = 0;
+
+		m_pid = 0;
+		m_cid = 0;
+		for (int i = 0; i <= STAGECOUNT; ++i)
 		{
-			m_stageRoots[i]=0;
+			m_stageRoots[i] = 0;
 		}
 	}
 }
 
 //
-void							b3DynamicBvhBroadphase::printStats()
-{}
+void b3DynamicBvhBroadphase::printStats()
+{
+}
 
 //
 #if B3_DBVT_BP_ENABLE_BENCHMARK
 
-struct	b3BroadphaseBenchmark
+struct b3BroadphaseBenchmark
 {
-	struct	Experiment
+	struct Experiment
 	{
-		const char*			name;
-		int					object_count;
-		int					update_count;
-		int					spawn_count;
-		int					iterations;
-		b3Scalar			speed;
-		b3Scalar			amplitude;
+		const char* name;
+		int object_count;
+		int update_count;
+		int spawn_count;
+		int iterations;
+		b3Scalar speed;
+		b3Scalar amplitude;
 	};
-	struct	Object
+	struct Object
 	{
-		b3Vector3			center;
-		b3Vector3			extents;
-		b3BroadphaseProxy*	proxy;
-		b3Scalar			time;
-		void				update(b3Scalar speed,b3Scalar amplitude,b3BroadphaseInterface* pbi)
+		b3Vector3 center;
+		b3Vector3 extents;
+		b3BroadphaseProxy* proxy;
+		b3Scalar time;
+		void update(b3Scalar speed, b3Scalar amplitude, b3BroadphaseInterface* pbi)
 		{
-			time		+=	speed;
-			center[0]	=	b3Cos(time*(b3Scalar)2.17)*amplitude+
-				b3Sin(time)*amplitude/2;
-			center[1]	=	b3Cos(time*(b3Scalar)1.38)*amplitude+
-				b3Sin(time)*amplitude;
-			center[2]	=	b3Sin(time*(b3Scalar)0.777)*amplitude;
-			pbi->setAabb(proxy,center-extents,center+extents,0);
+			time += speed;
+			center[0] = b3Cos(time * (b3Scalar)2.17) * amplitude +
+						b3Sin(time) * amplitude / 2;
+			center[1] = b3Cos(time * (b3Scalar)1.38) * amplitude +
+						b3Sin(time) * amplitude;
+			center[2] = b3Sin(time * (b3Scalar)0.777) * amplitude;
+			pbi->setAabb(proxy, center - extents, center + extents, 0);
 		}
 	};
-	static int		UnsignedRand(int range=RAND_MAX-1)	{ return(rand()%(range+1)); }
-	static b3Scalar	UnitRand()							{ return(UnsignedRand(16384)/(b3Scalar)16384); }
-	static void		OutputTime(const char* name,b3Clock& c,unsigned count=0)
+	static int UnsignedRand(int range = RAND_MAX - 1) { return (rand() % (range + 1)); }
+	static b3Scalar UnitRand() { return (UnsignedRand(16384) / (b3Scalar)16384); }
+	static void OutputTime(const char* name, b3Clock& c, unsigned count = 0)
 	{
-		const unsigned long	us=c.getTimeMicroseconds();
-		const unsigned long	ms=(us+500)/1000;
-		const b3Scalar		sec=us/(b3Scalar)(1000*1000);
-		if(count>0)
-			printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
+		const unsigned long us = c.getTimeMicroseconds();
+		const unsigned long ms = (us + 500) / 1000;
+		const b3Scalar sec = us / (b3Scalar)(1000 * 1000);
+		if (count > 0)
+			printf("%s : %u us (%u ms), %.2f/s\r\n", name, us, ms, count / sec);
 		else
-			printf("%s : %u us (%u ms)\r\n",name,us,ms);
+			printf("%s : %u us (%u ms)\r\n", name, us, ms);
 	}
 };
 
-void							b3DynamicBvhBroadphase::benchmark(b3BroadphaseInterface* pbi)
+void b3DynamicBvhBroadphase::benchmark(b3BroadphaseInterface* pbi)
 {
-	static const b3BroadphaseBenchmark::Experiment		experiments[]=
-	{
-		{"1024o.10%",1024,10,0,8192,(b3Scalar)0.005,(b3Scalar)100},
-		/*{"4096o.10%",4096,10,0,8192,(b3Scalar)0.005,(b3Scalar)100},
+	static const b3BroadphaseBenchmark::Experiment experiments[] =
+		{
+			{"1024o.10%", 1024, 10, 0, 8192, (b3Scalar)0.005, (b3Scalar)100},
+			/*{"4096o.10%",4096,10,0,8192,(b3Scalar)0.005,(b3Scalar)100},
 		{"8192o.10%",8192,10,0,8192,(b3Scalar)0.005,(b3Scalar)100},*/
-	};
-	static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
-	b3AlignedObjectArray<b3BroadphaseBenchmark::Object*>	objects;
-	b3Clock													wallclock;
-	/* Begin			*/ 
-	for(int iexp=0;iexp<nexperiments;++iexp)
+		};
+	static const int nexperiments = sizeof(experiments) / sizeof(experiments[0]);
+	b3AlignedObjectArray<b3BroadphaseBenchmark::Object*> objects;
+	b3Clock wallclock;
+	/* Begin			*/
+	for (int iexp = 0; iexp < nexperiments; ++iexp)
 	{
-		const b3BroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
-		const int									object_count=experiment.object_count;
-		const int									update_count=(object_count*experiment.update_count)/100;
-		const int									spawn_count=(object_count*experiment.spawn_count)/100;
-		const b3Scalar								speed=experiment.speed;	
-		const b3Scalar								amplitude=experiment.amplitude;
-		printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
-		printf("\tObjects: %u\r\n",object_count);
-		printf("\tUpdate: %u\r\n",update_count);
-		printf("\tSpawn: %u\r\n",spawn_count);
-		printf("\tSpeed: %f\r\n",speed);
-		printf("\tAmplitude: %f\r\n",amplitude);
+		const b3BroadphaseBenchmark::Experiment& experiment = experiments[iexp];
+		const int object_count = experiment.object_count;
+		const int update_count = (object_count * experiment.update_count) / 100;
+		const int spawn_count = (object_count * experiment.spawn_count) / 100;
+		const b3Scalar speed = experiment.speed;
+		const b3Scalar amplitude = experiment.amplitude;
+		printf("Experiment #%u '%s':\r\n", iexp, experiment.name);
+		printf("\tObjects: %u\r\n", object_count);
+		printf("\tUpdate: %u\r\n", update_count);
+		printf("\tSpawn: %u\r\n", spawn_count);
+		printf("\tSpeed: %f\r\n", speed);
+		printf("\tAmplitude: %f\r\n", amplitude);
 		srand(180673);
-		/* Create objects	*/ 
+		/* Create objects	*/
 		wallclock.reset();
 		objects.reserve(object_count);
-		for(int i=0;i<object_count;++i)
+		for (int i = 0; i < object_count; ++i)
 		{
-			b3BroadphaseBenchmark::Object*	po=new b3BroadphaseBenchmark::Object();
-			po->center[0]=b3BroadphaseBenchmark::UnitRand()*50;
-			po->center[1]=b3BroadphaseBenchmark::UnitRand()*50;
-			po->center[2]=b3BroadphaseBenchmark::UnitRand()*50;
-			po->extents[0]=b3BroadphaseBenchmark::UnitRand()*2+2;
-			po->extents[1]=b3BroadphaseBenchmark::UnitRand()*2+2;
-			po->extents[2]=b3BroadphaseBenchmark::UnitRand()*2+2;
-			po->time=b3BroadphaseBenchmark::UnitRand()*2000;
-			po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
+			b3BroadphaseBenchmark::Object* po = new b3BroadphaseBenchmark::Object();
+			po->center[0] = b3BroadphaseBenchmark::UnitRand() * 50;
+			po->center[1] = b3BroadphaseBenchmark::UnitRand() * 50;
+			po->center[2] = b3BroadphaseBenchmark::UnitRand() * 50;
+			po->extents[0] = b3BroadphaseBenchmark::UnitRand() * 2 + 2;
+			po->extents[1] = b3BroadphaseBenchmark::UnitRand() * 2 + 2;
+			po->extents[2] = b3BroadphaseBenchmark::UnitRand() * 2 + 2;
+			po->time = b3BroadphaseBenchmark::UnitRand() * 2000;
+			po->proxy = pbi->createProxy(po->center - po->extents, po->center + po->extents, 0, po, 1, 1, 0, 0);
 			objects.push_back(po);
 		}
-		b3BroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
-		/* First update		*/ 
+		b3BroadphaseBenchmark::OutputTime("\tInitialization", wallclock);
+		/* First update		*/
 		wallclock.reset();
-		for(int i=0;i<objects.size();++i)
+		for (int i = 0; i < objects.size(); ++i)
 		{
-			objects[i]->update(speed,amplitude,pbi);
+			objects[i]->update(speed, amplitude, pbi);
 		}
-		b3BroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
-		/* Updates			*/ 
+		b3BroadphaseBenchmark::OutputTime("\tFirst update", wallclock);
+		/* Updates			*/
 		wallclock.reset();
-		for(int i=0;i<experiment.iterations;++i)
+		for (int i = 0; i < experiment.iterations; ++i)
 		{
-			for(int j=0;j<update_count;++j)
-			{				
-				objects[j]->update(speed,amplitude,pbi);
+			for (int j = 0; j < update_count; ++j)
+			{
+				objects[j]->update(speed, amplitude, pbi);
 			}
 			pbi->calculateOverlappingPairs(0);
 		}
-		b3BroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
-		/* Clean up			*/ 
+		b3BroadphaseBenchmark::OutputTime("\tUpdate", wallclock, experiment.iterations);
+		/* Clean up			*/
 		wallclock.reset();
-		for(int i=0;i<objects.size();++i)
+		for (int i = 0; i < objects.size(); ++i)
 		{
-			pbi->destroyProxy(objects[i]->proxy,0);
+			pbi->destroyProxy(objects[i]->proxy, 0);
 			delete objects[i];
 		}
 		objects.resize(0);
-		b3BroadphaseBenchmark::OutputTime("\tRelease",wallclock);
+		b3BroadphaseBenchmark::OutputTime("\tRelease", wallclock);
 	}
-
 }
 #else
 /*void							b3DynamicBvhBroadphase::benchmark(b3BroadphaseInterface*)
@@ -799,6 +804,5 @@ void							b3DynamicBvhBroadphase::benchmark(b3BroadphaseInterface* pbi)
 #endif
 
 #if B3_DBVT_BP_PROFILE
-#undef	b3SPC
+#undef b3SPC
 #endif
-
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
index 7ac085d90c..c235e40148 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
@@ -27,46 +27,43 @@ subject to the following restrictions:
 // Compile time config
 //
 
-#define	B3_DBVT_BP_PROFILE					0
+#define B3_DBVT_BP_PROFILE 0
 //#define B3_DBVT_BP_SORTPAIRS				1
-#define B3_DBVT_BP_PREVENTFALSEUPDATE		0
-#define B3_DBVT_BP_ACCURATESLEEPING		0
-#define B3_DBVT_BP_ENABLE_BENCHMARK		0
-#define B3_DBVT_BP_MARGIN					(b3Scalar)0.05
+#define B3_DBVT_BP_PREVENTFALSEUPDATE 0
+#define B3_DBVT_BP_ACCURATESLEEPING 0
+#define B3_DBVT_BP_ENABLE_BENCHMARK 0
+#define B3_DBVT_BP_MARGIN (b3Scalar)0.05
 
 #if B3_DBVT_BP_PROFILE
-#define	B3_DBVT_BP_PROFILING_RATE	256
+#define B3_DBVT_BP_PROFILING_RATE 256
 
 #endif
 
-
-
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3BroadphaseProxy
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3BroadphaseProxy
 {
+	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-B3_DECLARE_ALIGNED_ALLOCATOR();
-	
 	///optional filtering to cull potential collisions
 	enum CollisionFilterGroups
 	{
-	        DefaultFilter = 1,
-	        StaticFilter = 2,
-	        KinematicFilter = 4,
-	        DebrisFilter = 8,
-			SensorTrigger = 16,
-			CharacterFilter = 32,
-	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
+		DefaultFilter = 1,
+		StaticFilter = 2,
+		KinematicFilter = 4,
+		DebrisFilter = 8,
+		SensorTrigger = 16,
+		CharacterFilter = 32,
+		AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 
 	//Usually the client b3CollisionObject or Rigidbody class
-	void*	m_clientObject;
+	void* m_clientObject;
 	int m_collisionFilterGroup;
 	int m_collisionFilterMask;
-	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
+	int m_uniqueId;  //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 
-	b3Vector3	m_aabbMin;
-	b3Vector3	m_aabbMax;
+	b3Vector3 m_aabbMin;
+	b3Vector3 m_aabbMax;
 
 	B3_FORCE_INLINE int getUid() const
 	{
@@ -74,116 +71,112 @@ B3_DECLARE_ALIGNED_ALLOCATOR();
 	}
 
 	//used for memory pools
-	b3BroadphaseProxy() :m_clientObject(0)
+	b3BroadphaseProxy() : m_clientObject(0)
 	{
 	}
 
-	b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask)
-		:m_clientObject(userPtr),
-		m_collisionFilterGroup(collisionFilterGroup),
-		m_collisionFilterMask(collisionFilterMask),
-		m_aabbMin(aabbMin),
-		m_aabbMax(aabbMax)
+	b3BroadphaseProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
+		: m_clientObject(userPtr),
+		  m_collisionFilterGroup(collisionFilterGroup),
+		  m_collisionFilterMask(collisionFilterMask),
+		  m_aabbMin(aabbMin),
+		  m_aabbMax(aabbMax)
 	{
 	}
 };
 
-
-
-
-
 //
 // b3DbvtProxy
 //
 struct b3DbvtProxy : b3BroadphaseProxy
 {
-	/* Fields		*/ 
+	/* Fields		*/
 	//b3DbvtAabbMm	aabb;
-	b3DbvtNode*		leaf;
-	b3DbvtProxy*	links[2];
-	int				stage;
-	/* ctor			*/ 
+	b3DbvtNode* leaf;
+	b3DbvtProxy* links[2];
+	int stage;
+	/* ctor			*/
 
 	explicit b3DbvtProxy() {}
-	b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask) :
-	b3BroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
+	b3DbvtProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : b3BroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
 	{
-		links[0]=links[1]=0;
+		links[0] = links[1] = 0;
 	}
 };
 
-typedef b3AlignedObjectArray<b3DbvtProxy*>	b3DbvtProxyArray;
+typedef b3AlignedObjectArray<b3DbvtProxy*> b3DbvtProxyArray;
 
 ///The b3DynamicBvhBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see b3DynamicBvh).
 ///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases b3AxisSweep3 and b332BitAxisSweep3.
-struct	b3DynamicBvhBroadphase 
+struct b3DynamicBvhBroadphase
 {
-	/* Config		*/ 
-	enum	{
-		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
-		FIXED_SET			=	1,	/* Fixed set index		*/ 
-		STAGECOUNT			=	2	/* Number of stages		*/ 
+	/* Config		*/
+	enum
+	{
+		DYNAMIC_SET = 0, /* Dynamic set index	*/
+		FIXED_SET = 1,   /* Fixed set index		*/
+		STAGECOUNT = 2   /* Number of stages		*/
 	};
-	/* Fields		*/ 
-	b3DynamicBvh					m_sets[2];					// Dbvt sets
-	b3DbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
-
-	b3AlignedObjectArray<b3DbvtProxy>	m_proxies;
-	b3OverlappingPairCache*	m_paircache;				// Pair cache
-	b3Scalar				m_prediction;				// Velocity prediction
-	int						m_stageCurrent;				// Current stage
-	int						m_fupdates;					// % of fixed updates per frame
-	int						m_dupdates;					// % of dynamic updates per frame
-	int						m_cupdates;					// % of cleanup updates per frame
-	int						m_newpairs;					// Number of pairs created
-	int						m_fixedleft;				// Fixed optimization left
-	unsigned				m_updates_call;				// Number of updates call
-	unsigned				m_updates_done;				// Number of updates done
-	b3Scalar				m_updates_ratio;			// m_updates_done/m_updates_call
-	int						m_pid;						// Parse id
-	int						m_cid;						// Cleanup index
-	bool					m_releasepaircache;			// Release pair cache on delete
-	bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
-	bool					m_needcleanup;				// Need to run cleanup?
+	/* Fields		*/
+	b3DynamicBvh m_sets[2];                     // Dbvt sets
+	b3DbvtProxy* m_stageRoots[STAGECOUNT + 1];  // Stages list
+
+	b3AlignedObjectArray<b3DbvtProxy> m_proxies;
+	b3OverlappingPairCache* m_paircache;  // Pair cache
+	b3Scalar m_prediction;                // Velocity prediction
+	int m_stageCurrent;                   // Current stage
+	int m_fupdates;                       // % of fixed updates per frame
+	int m_dupdates;                       // % of dynamic updates per frame
+	int m_cupdates;                       // % of cleanup updates per frame
+	int m_newpairs;                       // Number of pairs created
+	int m_fixedleft;                      // Fixed optimization left
+	unsigned m_updates_call;              // Number of updates call
+	unsigned m_updates_done;              // Number of updates done
+	b3Scalar m_updates_ratio;             // m_updates_done/m_updates_call
+	int m_pid;                            // Parse id
+	int m_cid;                            // Cleanup index
+	bool m_releasepaircache;              // Release pair cache on delete
+	bool m_deferedcollide;                // Defere dynamic/static collision to collide call
+	bool m_needcleanup;                   // Need to run cleanup?
 #if B3_DBVT_BP_PROFILE
-	b3Clock					m_clock;
-	struct	{
-		unsigned long		m_total;
-		unsigned long		m_ddcollide;
-		unsigned long		m_fdcollide;
-		unsigned long		m_cleanup;
-		unsigned long		m_jobcount;
-	}				m_profiling;
+	b3Clock m_clock;
+	struct
+	{
+		unsigned long m_total;
+		unsigned long m_ddcollide;
+		unsigned long m_fdcollide;
+		unsigned long m_cleanup;
+		unsigned long m_jobcount;
+	} m_profiling;
 #endif
-	/* Methods		*/ 
-	b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache=0);
+	/* Methods		*/
+	b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache = 0);
 	virtual ~b3DynamicBvhBroadphase();
-	void							collide(b3Dispatcher* dispatcher);
-	void							optimize();
-	
+	void collide(b3Dispatcher* dispatcher);
+	void optimize();
+
 	/* b3BroadphaseInterface Implementation	*/
-	b3BroadphaseProxy*				createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr, int collisionFilterGroup, int collisionFilterMask);
-	virtual void					destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
-	virtual void					setAabb(int objectId,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
-	virtual void					rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));
-	virtual void					aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);
+	b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int objectIndex, void* userPtr, int collisionFilterGroup, int collisionFilterMask);
+	virtual void destroyProxy(b3BroadphaseProxy* proxy, b3Dispatcher* dispatcher);
+	virtual void setAabb(int objectId, const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3Dispatcher* dispatcher);
+	virtual void rayTest(const b3Vector3& rayFrom, const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin = b3MakeVector3(0, 0, 0), const b3Vector3& aabbMax = b3MakeVector3(0, 0, 0));
+	virtual void aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);
 
 	//virtual void					getAabb(b3BroadphaseProxy* proxy,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
-	virtual void					getAabb(int objectId,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
-	virtual	void					calculateOverlappingPairs(b3Dispatcher* dispatcher=0);
-	virtual	b3OverlappingPairCache*	getOverlappingPairCache();
-	virtual	const b3OverlappingPairCache*	getOverlappingPairCache() const;
-	virtual	void					getBroadphaseAabb(b3Vector3& aabbMin,b3Vector3& aabbMax) const;
-	virtual	void					printStats();
-
+	virtual void getAabb(int objectId, b3Vector3& aabbMin, b3Vector3& aabbMax) const;
+	virtual void calculateOverlappingPairs(b3Dispatcher* dispatcher = 0);
+	virtual b3OverlappingPairCache* getOverlappingPairCache();
+	virtual const b3OverlappingPairCache* getOverlappingPairCache() const;
+	virtual void getBroadphaseAabb(b3Vector3& aabbMin, b3Vector3& aabbMax) const;
+	virtual void printStats();
 
 	///reset broadphase internal structures, to ensure determinism/reproducability
 	virtual void resetPool(b3Dispatcher* dispatcher);
 
-	void	performDeferredRemoval(b3Dispatcher* dispatcher);
-	
-	void	setVelocityPrediction(b3Scalar prediction)
+	void performDeferredRemoval(b3Dispatcher* dispatcher);
+
+	void setVelocityPrediction(b3Scalar prediction)
 	{
 		m_prediction = prediction;
 	}
@@ -192,15 +185,13 @@ struct	b3DynamicBvhBroadphase
 		return m_prediction;
 	}
 
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 
+	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
 	///it is not part of the b3BroadphaseInterface but specific to b3DynamicBvhBroadphase.
 	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
 	///http://code.google.com/p/bullet/issues/detail?id=223
-	void							setAabbForceUpdate(		b3BroadphaseProxy* absproxy,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* /*dispatcher*/);
+	void setAabbForceUpdate(b3BroadphaseProxy* absproxy, const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3Dispatcher* /*dispatcher*/);
 
 	//static void						benchmark(b3BroadphaseInterface*);
-
-
 };
 
 #endif
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
index 39bf27de3e..4ff9ebae81 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
@@ -23,20 +23,20 @@ subject to the following restrictions:
 
 typedef b3Int4 b3BroadphasePair;
 
-inline b3Int4 b3MakeBroadphasePair(int xx,int yy)
+inline b3Int4 b3MakeBroadphasePair(int xx, int yy)
 {
 	b3Int4 pair;
 
 	if (xx < yy)
-    { 
-        pair.x = xx; 
-        pair.y = yy;
-    }
-    else 
-    { 
+	{
+		pair.x = xx;
+		pair.y = yy;
+	}
+	else
+	{
 		pair.x = yy;
-        pair.y = xx;
-    }
+		pair.y = xx;
+	}
 	pair.z = B3_NEW_PAIR_MARKER;
 	pair.w = B3_NEW_PAIR_MARKER;
 	return pair;
@@ -51,22 +51,20 @@ inline b3Int4 b3MakeBroadphasePair(int xx,int yy)
 
 class b3BroadphasePairSortPredicate
 {
-	public:
-
-		bool operator() ( const b3BroadphasePair& a, const b3BroadphasePair& b ) const
-		{
-			const int uidA0 = a.x;
-			const int uidB0 = b.x;
-			const int uidA1 = a.y;
-			const int uidB1 = b.y;
-			return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1); 
-		}
+public:
+	bool operator()(const b3BroadphasePair& a, const b3BroadphasePair& b) const
+	{
+		const int uidA0 = a.x;
+		const int uidB0 = b.x;
+		const int uidA1 = a.y;
+		const int uidB1 = b.y;
+		return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1);
+	}
 };
 
-B3_FORCE_INLINE bool operator==(const b3BroadphasePair& a, const b3BroadphasePair& b) 
+B3_FORCE_INLINE bool operator==(const b3BroadphasePair& a, const b3BroadphasePair& b)
 {
-	 return (a.x == b.x ) && (a.y == b.y );
+	return (a.x == b.x) && (a.y == b.y);
 }
 
-#endif //B3_OVERLAPPING_PAIR_H
-
+#endif  //B3_OVERLAPPING_PAIR_H
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
index e4bda61624..19773244be 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "b3OverlappingPairCache.h"
 
 //#include "b3Dispatcher.h"
@@ -23,35 +21,26 @@ subject to the following restrictions:
 
 #include <stdio.h>
 
-int	b3g_overlappingPairs = 0;
-int b3g_removePairs =0;
-int b3g_addedPairs =0;
-int b3g_findPairs =0;
-
-
-
+int b3g_overlappingPairs = 0;
+int b3g_removePairs = 0;
+int b3g_addedPairs = 0;
+int b3g_findPairs = 0;
 
-b3HashedOverlappingPairCache::b3HashedOverlappingPairCache():
-	m_overlapFilterCallback(0)
+b3HashedOverlappingPairCache::b3HashedOverlappingPairCache() : m_overlapFilterCallback(0)
 //,	m_blockedForChanges(false)
 {
-	int initialAllocatedSize= 2;
+	int initialAllocatedSize = 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 	growTables();
 }
 
-
-
-
 b3HashedOverlappingPairCache::~b3HashedOverlappingPairCache()
 {
 }
 
-
-
-void	b3HashedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher)
+void b3HashedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher)
 {
-/*	if (pair.m_algorithm)
+	/*	if (pair.m_algorithm)
 	{
 		{
 			pair.m_algorithm->~b3CollisionAlgorithm();
@@ -60,91 +49,74 @@ void	b3HashedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair,b
 		}
 	}
 	*/
-
 }
 
-
-
-
-void	b3HashedOverlappingPairCache::cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher)
+void b3HashedOverlappingPairCache::cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher)
 {
-
-	class	CleanPairCallback : public b3OverlapCallback
+	class CleanPairCallback : public b3OverlapCallback
 	{
 		int m_cleanProxy;
-		b3OverlappingPairCache*	m_pairCache;
+		b3OverlappingPairCache* m_pairCache;
 		b3Dispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(int cleanProxy,b3OverlappingPairCache* pairCache,b3Dispatcher* dispatcher)
-			:m_cleanProxy(cleanProxy),
-			m_pairCache(pairCache),
-			m_dispatcher(dispatcher)
+		CleanPairCallback(int cleanProxy, b3OverlappingPairCache* pairCache, b3Dispatcher* dispatcher)
+			: m_cleanProxy(cleanProxy),
+			  m_pairCache(pairCache),
+			  m_dispatcher(dispatcher)
 		{
 		}
-		virtual	bool	processOverlap(b3BroadphasePair& pair)
+		virtual bool processOverlap(b3BroadphasePair& pair)
 		{
 			if ((pair.x == m_cleanProxy) ||
 				(pair.y == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
 			}
 			return false;
 		}
-		
 	};
 
-	CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs,dispatcher);
+	CleanPairCallback cleanPairs(proxy, this, dispatcher);
 
+	processAllOverlappingPairs(&cleanPairs, dispatcher);
 }
 
-
-
-
-void	b3HashedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher)
+void b3HashedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher)
 {
-
-	class	RemovePairCallback : public b3OverlapCallback
+	class RemovePairCallback : public b3OverlapCallback
 	{
 		int m_obsoleteProxy;
 
 	public:
 		RemovePairCallback(int obsoleteProxy)
-			:m_obsoleteProxy(obsoleteProxy)
+			: m_obsoleteProxy(obsoleteProxy)
 		{
 		}
-		virtual	bool	processOverlap(b3BroadphasePair& pair)
+		virtual bool processOverlap(b3BroadphasePair& pair)
 		{
 			return ((pair.x == m_obsoleteProxy) ||
-				(pair.y == m_obsoleteProxy));
+					(pair.y == m_obsoleteProxy));
 		}
-		
 	};
 
-
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback,dispatcher);
+	processAllOverlappingPairs(&removeCallback, dispatcher);
 }
 
-
-
-
-
 b3BroadphasePair* b3HashedOverlappingPairCache::findPair(int proxy0, int proxy1)
 {
 	b3g_findPairs++;
-	if(proxy0 >proxy1) 
-		b3Swap(proxy0,proxy1);
+	if (proxy0 > proxy1)
+		b3Swap(proxy0, proxy1);
 	int proxyId1 = proxy0;
 	int proxyId2 = proxy1;
 
 	/*if (proxyId1 > proxyId2) 
 		b3Swap(proxyId1, proxyId2);*/
 
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
 
 	if (hash >= m_hashTable.size())
 	{
@@ -169,9 +141,8 @@ b3BroadphasePair* b3HashedOverlappingPairCache::findPair(int proxy0, int proxy1)
 
 //#include <stdio.h>
 
-void	b3HashedOverlappingPairCache::growTables()
+void b3HashedOverlappingPairCache::growTables()
 {
-
 	int newCapacity = m_overlappingPairArray.capacity();
 
 	if (m_hashTable.size() < newCapacity)
@@ -182,10 +153,9 @@ void	b3HashedOverlappingPairCache::growTables()
 		m_hashTable.resize(newCapacity);
 		m_next.resize(newCapacity);
 
-
 		int i;
 
-		for (i= 0; i < newCapacity; ++i)
+		for (i = 0; i < newCapacity; ++i)
 		{
 			m_hashTable[i] = B3_NULL_PAIR;
 		}
@@ -194,35 +164,31 @@ void	b3HashedOverlappingPairCache::growTables()
 			m_next[i] = B3_NULL_PAIR;
 		}
 
-		for(i=0;i<curHashtableSize;i++)
+		for (i = 0; i < curHashtableSize; i++)
 		{
-	
 			const b3BroadphasePair& pair = m_overlappingPairArray[i];
 			int proxyId1 = pair.x;
 			int proxyId2 = pair.y;
 			/*if (proxyId1 > proxyId2) 
 				b3Swap(proxyId1, proxyId2);*/
-			int	hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
 			m_next[i] = m_hashTable[hashValue];
 			m_hashTable[hashValue] = i;
 		}
-
-
 	}
 }
 
 b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int proxy1)
 {
-	if(proxy0>proxy1) 
-		b3Swap(proxy0,proxy1);
+	if (proxy0 > proxy1)
+		b3Swap(proxy0, proxy1);
 	int proxyId1 = proxy0;
 	int proxyId2 = proxy1;
 
 	/*if (proxyId1 > proxyId2) 
 		b3Swap(proxyId1, proxyId2);*/
 
-	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
-
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
 
 	b3BroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
 	if (pair != NULL)
@@ -243,8 +209,8 @@ b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int
 	pair = &m_overlappingPairArray.expandNonInitializing();
 
 	//this is where we add an actual pair, so also call the 'ghost'
-//	if (m_ghostPairCallback)
-//		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
+	//	if (m_ghostPairCallback)
+	//		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
 
 	int newCapacity = m_overlappingPairArray.capacity();
 
@@ -252,16 +218,15 @@ b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int
 	{
 		growTables();
 		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
 	}
-	
-	*pair = b3MakeBroadphasePair(proxy0,proxy1);
-	
-//	pair->m_pProxy0 = proxy0;
-//	pair->m_pProxy1 = proxy1;
+
+	*pair = b3MakeBroadphasePair(proxy0, proxy1);
+
+	//	pair->m_pProxy0 = proxy0;
+	//	pair->m_pProxy1 = proxy1;
 	//pair->m_algorithm = 0;
 	//pair->m_internalTmpValue = 0;
-	
 
 	m_next[count] = m_hashTable[hash];
 	m_hashTable[hash] = count;
@@ -269,20 +234,18 @@ b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int
 	return pair;
 }
 
-
-
-void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1,b3Dispatcher* dispatcher)
+void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher)
 {
 	b3g_removePairs++;
-	if(proxy0>proxy1) 
-		b3Swap(proxy0,proxy1);
+	if (proxy0 > proxy1)
+		b3Swap(proxy0, proxy1);
 	int proxyId1 = proxy0;
 	int proxyId2 = proxy1;
 
 	/*if (proxyId1 > proxyId2) 
 		b3Swap(proxyId1, proxyId2);*/
 
-	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
 
 	b3BroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
 	if (pair == NULL)
@@ -290,9 +253,7 @@ void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1
 		return 0;
 	}
 
-	cleanOverlappingPair(*pair,dispatcher);
-
-	
+	cleanOverlappingPair(*pair, dispatcher);
 
 	int pairIndex = int(pair - &m_overlappingPairArray[0]);
 	b3Assert(pairIndex < m_overlappingPairArray.size());
@@ -336,8 +297,8 @@ void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1
 
 	// Remove the last pair from the hash table.
 	const b3BroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
-		/* missing swap here too, Nat. */ 
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->x), static_cast<unsigned int>(last->y)) & (m_overlappingPairArray.capacity()-1));
+	/* missing swap here too, Nat. */
+	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->x), static_cast<unsigned int>(last->y)) & (m_overlappingPairArray.capacity() - 1));
 
 	index = m_hashTable[lastHash];
 	b3Assert(index != B3_NULL_PAIR);
@@ -372,47 +333,42 @@ void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1
 }
 //#include <stdio.h>
 
-void	b3HashedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback,b3Dispatcher* dispatcher)
+void b3HashedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback, b3Dispatcher* dispatcher)
 {
-
 	int i;
 
-//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
-	for (i=0;i<m_overlappingPairArray.size();)
+	//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
+	for (i = 0; i < m_overlappingPairArray.size();)
 	{
-	
 		b3BroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
-			removeOverlappingPair(pair->x,pair->y,dispatcher);
+			removeOverlappingPair(pair->x, pair->y, dispatcher);
 
 			b3g_overlappingPairs--;
-		} else
+		}
+		else
 		{
 			i++;
 		}
 	}
 }
 
-
-
-
-
-void	b3HashedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
+void b3HashedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
 {
 	///need to keep hashmap in sync with pair address, so rebuild all
 	b3BroadphasePairArray tmpPairs;
 	int i;
-	for (i=0;i<m_overlappingPairArray.size();i++)
+	for (i = 0; i < m_overlappingPairArray.size(); i++)
 	{
 		tmpPairs.push_back(m_overlappingPairArray[i]);
 	}
 
-	for (i=0;i<tmpPairs.size();i++)
+	for (i = 0; i < tmpPairs.size(); i++)
 	{
-		removeOverlappingPair(tmpPairs[i].x,tmpPairs[i].y,dispatcher);
+		removeOverlappingPair(tmpPairs[i].x, tmpPairs[i].y, dispatcher);
 	}
-	
+
 	for (i = 0; i < m_next.size(); i++)
 	{
 		m_next[i] = B3_NULL_PAIR;
@@ -420,33 +376,29 @@ void	b3HashedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher
 
 	tmpPairs.quickSort(b3BroadphasePairSortPredicate());
 
-	for (i=0;i<tmpPairs.size();i++)
+	for (i = 0; i < tmpPairs.size(); i++)
 	{
-		addOverlappingPair(tmpPairs[i].x ,tmpPairs[i].y);
+		addOverlappingPair(tmpPairs[i].x, tmpPairs[i].y);
 	}
-
-	
 }
 
-
-void*	b3SortedOverlappingPairCache::removeOverlappingPair(int proxy0,int proxy1, b3Dispatcher* dispatcher )
+void* b3SortedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher)
 {
 	if (!hasDeferredRemoval())
 	{
-		b3BroadphasePair findPair = b3MakeBroadphasePair(proxy0,proxy1);
-		
+		b3BroadphasePair findPair = b3MakeBroadphasePair(proxy0, proxy1);
 
 		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
 		if (findIndex < m_overlappingPairArray.size())
 		{
 			b3g_overlappingPairs--;
 			b3BroadphasePair& pair = m_overlappingPairArray[findIndex];
-			
-			cleanOverlappingPair(pair,dispatcher);
+
+			cleanOverlappingPair(pair, dispatcher);
 			//if (m_ghostPairCallback)
 			//	m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-			
-			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
+
+			m_overlappingPairArray.swap(findIndex, m_overlappingPairArray.capacity() - 1);
 			m_overlappingPairArray.pop_back();
 			return 0;
 		}
@@ -455,100 +407,77 @@ void*	b3SortedOverlappingPairCache::removeOverlappingPair(int proxy0,int proxy1,
 	return 0;
 }
 
-
-
-
-
-
-
-
-b3BroadphasePair*	b3SortedOverlappingPairCache::addOverlappingPair(int proxy0,int proxy1)
+b3BroadphasePair* b3SortedOverlappingPairCache::addOverlappingPair(int proxy0, int proxy1)
 {
 	//don't add overlap with own
 	b3Assert(proxy0 != proxy1);
 
-	if (!needsBroadphaseCollision(proxy0,proxy1))
+	if (!needsBroadphaseCollision(proxy0, proxy1))
 		return 0;
-	
+
 	b3BroadphasePair* pair = &m_overlappingPairArray.expandNonInitializing();
-	*pair = b3MakeBroadphasePair(proxy0,proxy1);
-	
-	
+	*pair = b3MakeBroadphasePair(proxy0, proxy1);
+
 	b3g_overlappingPairs++;
 	b3g_addedPairs++;
-	
-//	if (m_ghostPairCallback)
-//		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
+
+	//	if (m_ghostPairCallback)
+	//		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 	return pair;
-	
 }
 
 ///this findPair becomes really slow. Either sort the list to speedup the query, or
 ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
 ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
 ///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
- b3BroadphasePair*	b3SortedOverlappingPairCache::findPair(int proxy0,int proxy1)
+b3BroadphasePair* b3SortedOverlappingPairCache::findPair(int proxy0, int proxy1)
 {
-	if (!needsBroadphaseCollision(proxy0,proxy1))
+	if (!needsBroadphaseCollision(proxy0, proxy1))
 		return 0;
 
-	b3BroadphasePair tmpPair = b3MakeBroadphasePair(proxy0,proxy1);
+	b3BroadphasePair tmpPair = b3MakeBroadphasePair(proxy0, proxy1);
 	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
 
 	if (findIndex < m_overlappingPairArray.size())
 	{
 		//b3Assert(it != m_overlappingPairSet.end());
-		 b3BroadphasePair* pair = &m_overlappingPairArray[findIndex];
+		b3BroadphasePair* pair = &m_overlappingPairArray[findIndex];
 		return pair;
 	}
 	return 0;
 }
 
-
-
-
-
-
-
-
-
-
 //#include <stdio.h>
 
-void	b3SortedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback,b3Dispatcher* dispatcher)
+void b3SortedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback, b3Dispatcher* dispatcher)
 {
-
 	int i;
 
-	for (i=0;i<m_overlappingPairArray.size();)
+	for (i = 0; i < m_overlappingPairArray.size();)
 	{
-	
 		b3BroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
-			cleanOverlappingPair(*pair,dispatcher);
+			cleanOverlappingPair(*pair, dispatcher);
 			pair->x = -1;
 			pair->y = -1;
-			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+			m_overlappingPairArray.swap(i, m_overlappingPairArray.size() - 1);
 			m_overlappingPairArray.pop_back();
 			b3g_overlappingPairs--;
-		} else
+		}
+		else
 		{
 			i++;
 		}
 	}
 }
 
-
-
-
-b3SortedOverlappingPairCache::b3SortedOverlappingPairCache():
-	m_blockedForChanges(false),
-	m_hasDeferredRemoval(true),
-	m_overlapFilterCallback(0)
+b3SortedOverlappingPairCache::b3SortedOverlappingPairCache() : m_blockedForChanges(false),
+															   m_hasDeferredRemoval(true),
+															   m_overlapFilterCallback(0)
 
 {
-	int initialAllocatedSize= 2;
+	int initialAllocatedSize = 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 }
 
@@ -556,9 +485,9 @@ b3SortedOverlappingPairCache::~b3SortedOverlappingPairCache()
 {
 }
 
-void	b3SortedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher)
+void b3SortedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher)
 {
-/*	if (pair.m_algorithm)
+	/*	if (pair.m_algorithm)
 	{
 		{
 			pair.m_algorithm->~b3CollisionAlgorithm();
@@ -570,69 +499,61 @@ void	b3SortedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair,b
 	*/
 }
 
-
-void	b3SortedOverlappingPairCache::cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher)
+void b3SortedOverlappingPairCache::cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher)
 {
-
-	class	CleanPairCallback : public b3OverlapCallback
+	class CleanPairCallback : public b3OverlapCallback
 	{
 		int m_cleanProxy;
-		b3OverlappingPairCache*	m_pairCache;
+		b3OverlappingPairCache* m_pairCache;
 		b3Dispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(int cleanProxy,b3OverlappingPairCache* pairCache,b3Dispatcher* dispatcher)
-			:m_cleanProxy(cleanProxy),
-			m_pairCache(pairCache),
-			m_dispatcher(dispatcher)
+		CleanPairCallback(int cleanProxy, b3OverlappingPairCache* pairCache, b3Dispatcher* dispatcher)
+			: m_cleanProxy(cleanProxy),
+			  m_pairCache(pairCache),
+			  m_dispatcher(dispatcher)
 		{
 		}
-		virtual	bool	processOverlap(b3BroadphasePair& pair)
+		virtual bool processOverlap(b3BroadphasePair& pair)
 		{
 			if ((pair.x == m_cleanProxy) ||
 				(pair.y == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
 			}
 			return false;
 		}
-		
 	};
 
-	CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs,dispatcher);
+	CleanPairCallback cleanPairs(proxy, this, dispatcher);
 
+	processAllOverlappingPairs(&cleanPairs, dispatcher);
 }
 
-
-void	b3SortedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher)
+void b3SortedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher)
 {
-
-	class	RemovePairCallback : public b3OverlapCallback
+	class RemovePairCallback : public b3OverlapCallback
 	{
 		int m_obsoleteProxy;
 
 	public:
 		RemovePairCallback(int obsoleteProxy)
-			:m_obsoleteProxy(obsoleteProxy)
+			: m_obsoleteProxy(obsoleteProxy)
 		{
 		}
-		virtual	bool	processOverlap(b3BroadphasePair& pair)
+		virtual bool processOverlap(b3BroadphasePair& pair)
 		{
 			return ((pair.x == m_obsoleteProxy) ||
-				(pair.y == m_obsoleteProxy));
+					(pair.y == m_obsoleteProxy));
 		}
-		
 	};
 
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback,dispatcher);
+	processAllOverlappingPairs(&removeCallback, dispatcher);
 }
 
-void	b3SortedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
+void b3SortedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
 {
 	//should already be sorted
 }
-
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
index f67eb676f1..f1de1d94eb 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
@@ -22,152 +22,136 @@ subject to the following restrictions:
 class b3Dispatcher;
 #include "b3OverlappingPair.h"
 
+typedef b3AlignedObjectArray<b3BroadphasePair> b3BroadphasePairArray;
 
-
-typedef b3AlignedObjectArray<b3BroadphasePair>	b3BroadphasePairArray;
-
-struct	b3OverlapCallback
+struct b3OverlapCallback
 {
 	virtual ~b3OverlapCallback()
-	{}
+	{
+	}
 	//return true for deletion of the pair
-	virtual bool	processOverlap(b3BroadphasePair& pair) = 0;
-
+	virtual bool processOverlap(b3BroadphasePair& pair) = 0;
 };
 
 struct b3OverlapFilterCallback
 {
 	virtual ~b3OverlapFilterCallback()
-	{}
+	{
+	}
 	// return true when pairs need collision
-	virtual bool	needBroadphaseCollision(int proxy0,int proxy1) const = 0;
+	virtual bool needBroadphaseCollision(int proxy0, int proxy1) const = 0;
 };
 
-
-
-
-
-
-
 extern int b3g_removePairs;
 extern int b3g_addedPairs;
 extern int b3g_findPairs;
 
-const int B3_NULL_PAIR=0xffffffff;
+const int B3_NULL_PAIR = 0xffffffff;
 
 ///The b3OverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the b3BroadphaseInterface broadphases.
 ///The b3HashedOverlappingPairCache and b3SortedOverlappingPairCache classes are two implementations.
-class b3OverlappingPairCache 
+class b3OverlappingPairCache
 {
 public:
-	virtual ~b3OverlappingPairCache() {} // this is needed so we can get to the derived class destructor
+	virtual ~b3OverlappingPairCache() {}  // this is needed so we can get to the derived class destructor
 
-	virtual b3BroadphasePair*	getOverlappingPairArrayPtr() = 0;
-	
-	virtual const b3BroadphasePair*	getOverlappingPairArrayPtr() const = 0;
+	virtual b3BroadphasePair* getOverlappingPairArrayPtr() = 0;
 
-	virtual b3BroadphasePairArray&	getOverlappingPairArray() = 0;
+	virtual const b3BroadphasePair* getOverlappingPairArrayPtr() const = 0;
 
-	virtual	void	cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher) = 0;
+	virtual b3BroadphasePairArray& getOverlappingPairArray() = 0;
+
+	virtual void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher) = 0;
 
 	virtual int getNumOverlappingPairs() const = 0;
 
-	virtual void	cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher) = 0;
+	virtual void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher) = 0;
 
-	virtual	void setOverlapFilterCallback(b3OverlapFilterCallback* callback) = 0;
+	virtual void setOverlapFilterCallback(b3OverlapFilterCallback* callback) = 0;
 
-	virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* dispatcher) = 0;
+	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher) = 0;
 
 	virtual b3BroadphasePair* findPair(int proxy0, int proxy1) = 0;
 
-	virtual bool	hasDeferredRemoval() = 0;
+	virtual bool hasDeferredRemoval() = 0;
 
 	//virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)=0;
 
-	virtual b3BroadphasePair* 	addOverlappingPair(int proxy0,int proxy1)=0;
-	virtual void*	removeOverlappingPair(int proxy0,int proxy1,b3Dispatcher* dispatcher)=0;
-	virtual void	removeOverlappingPairsContainingProxy(int /*proxy0*/,b3Dispatcher* /*dispatcher*/)=0;
-
-	virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher) = 0;
-
+	virtual b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1) = 0;
+	virtual void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher) = 0;
+	virtual void removeOverlappingPairsContainingProxy(int /*proxy0*/, b3Dispatcher* /*dispatcher*/) = 0;
 
+	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher) = 0;
 };
 
 /// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
 class b3HashedOverlappingPairCache : public b3OverlappingPairCache
 {
-	b3BroadphasePairArray	m_overlappingPairArray;
+	b3BroadphasePairArray m_overlappingPairArray;
 	b3OverlapFilterCallback* m_overlapFilterCallback;
-//	bool		m_blockedForChanges;
-
+	//	bool		m_blockedForChanges;
 
 public:
 	b3HashedOverlappingPairCache();
 	virtual ~b3HashedOverlappingPairCache();
 
-	
-	virtual void	removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher);
+	virtual void removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher);
 
-	virtual void*	removeOverlappingPair(int proxy0,int proxy1,b3Dispatcher* dispatcher);
-	
-	B3_FORCE_INLINE bool needsBroadphaseCollision(int proxy0,int proxy1) const
+	virtual void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher);
+
+	B3_FORCE_INLINE bool needsBroadphaseCollision(int proxy0, int proxy1) const
 	{
 		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
 
-		bool collides = true;//(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+		bool collides = true;  //(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
 		//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-		
+
 		return collides;
 	}
 
 	// Add a pair and return the new pair. If the pair already exists,
 	// no new pair is created and the old one is returned.
-	virtual b3BroadphasePair* 	addOverlappingPair(int proxy0,int proxy1)
+	virtual b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1)
 	{
 		b3g_addedPairs++;
 
-		if (!needsBroadphaseCollision(proxy0,proxy1))
+		if (!needsBroadphaseCollision(proxy0, proxy1))
 			return 0;
 
-		return internalAddPair(proxy0,proxy1);
+		return internalAddPair(proxy0, proxy1);
 	}
 
-	
-
-	void	cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher);
+	void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher);
 
-	
-	virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* dispatcher);
+	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher);
 
-	virtual b3BroadphasePair*	getOverlappingPairArrayPtr()
+	virtual b3BroadphasePair* getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	const b3BroadphasePair*	getOverlappingPairArrayPtr() const
+	const b3BroadphasePair* getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	b3BroadphasePairArray&	getOverlappingPairArray()
+	b3BroadphasePairArray& getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
 
-	const b3BroadphasePairArray&	getOverlappingPairArray() const
+	const b3BroadphasePairArray& getOverlappingPairArray() const
 	{
 		return m_overlappingPairArray;
 	}
 
-	void	cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher);
-
-
+	void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher);
 
 	b3BroadphasePair* findPair(int proxy0, int proxy1);
 
 	int GetCount() const { return m_overlappingPairArray.size(); }
-//	b3BroadphasePair* GetPairs() { return m_pairs; }
+	//	b3BroadphasePair* GetPairs() { return m_pairs; }
 
 	b3OverlapFilterCallback* getOverlapFilterCallback()
 	{
@@ -179,19 +163,19 @@ public:
 		m_overlapFilterCallback = callback;
 	}
 
-	int	getNumOverlappingPairs() const
+	int getNumOverlappingPairs() const
 	{
 		return m_overlappingPairArray.size();
 	}
+
 private:
-	
-	b3BroadphasePair* 	internalAddPair(int proxy0,int proxy1);
+	b3BroadphasePair* internalAddPair(int proxy0, int proxy1);
 
-	void	growTables();
+	void growTables();
 
 	B3_FORCE_INLINE bool equalsPair(const b3BroadphasePair& pair, int proxyId1, int proxyId2)
-	{	
-		return pair.x == proxyId1 && pair.y  == proxyId2;
+	{
+		return pair.x == proxyId1 && pair.y == proxyId2;
 	}
 
 	/*
@@ -210,43 +194,37 @@ private:
 	}
 	*/
 
-
-	
-	B3_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+	B3_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
 	{
-		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
+		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) << 16));
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
-		key ^=  (key >> 10);
-		key +=  (key << 3);
-		key ^=  (key >> 6);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
 		key += ~(key << 11);
-		key ^=  (key >> 16);
+		key ^= (key >> 16);
 		return static_cast<unsigned int>(key);
 	}
-	
-
-
-
 
 	B3_FORCE_INLINE b3BroadphasePair* internalFindPair(int proxy0, int proxy1, int hash)
 	{
 		int proxyId1 = proxy0;
 		int proxyId2 = proxy1;
-		#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
+#if 0  // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
 		if (proxyId1 > proxyId2) 
 			b3Swap(proxyId1, proxyId2);
-		#endif
+#endif
 
 		int index = m_hashTable[hash];
-		
-		while( index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+
+		while (index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
 		{
 			index = m_next[index];
 		}
 
-		if ( index == B3_NULL_PAIR )
+		if (index == B3_NULL_PAIR)
 		{
 			return NULL;
 		}
@@ -256,161 +234,142 @@ private:
 		return &m_overlappingPairArray[index];
 	}
 
-	virtual bool	hasDeferredRemoval()
+	virtual bool hasDeferredRemoval()
 	{
 		return false;
 	}
 
-/*	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
+	/*	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
 	{
 		m_ghostPairCallback = ghostPairCallback;
 	}
 	*/
 
-	virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher);
-	
+	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher);
 
 protected:
-	
-	b3AlignedObjectArray<int>	m_hashTable;
-	b3AlignedObjectArray<int>	m_next;
-//	b3OverlappingPairCallback*	m_ghostPairCallback;
-	
+	b3AlignedObjectArray<int> m_hashTable;
+	b3AlignedObjectArray<int> m_next;
+	//	b3OverlappingPairCallback*	m_ghostPairCallback;
 };
 
-
-
-
 ///b3SortedOverlappingPairCache maintains the objects with overlapping AABB
 ///Typically managed by the Broadphase, Axis3Sweep or b3SimpleBroadphase
-class	b3SortedOverlappingPairCache : public b3OverlappingPairCache
+class b3SortedOverlappingPairCache : public b3OverlappingPairCache
 {
-	protected:
-		//avoid brute-force finding all the time
-		b3BroadphasePairArray	m_overlappingPairArray;
+protected:
+	//avoid brute-force finding all the time
+	b3BroadphasePairArray m_overlappingPairArray;
 
-		//during the dispatch, check that user doesn't destroy/create proxy
-		bool		m_blockedForChanges;
+	//during the dispatch, check that user doesn't destroy/create proxy
+	bool m_blockedForChanges;
 
-		///by default, do the removal during the pair traversal
-		bool		m_hasDeferredRemoval;
-		
-		//if set, use the callback instead of the built in filter in needBroadphaseCollision
-		b3OverlapFilterCallback* m_overlapFilterCallback;
+	///by default, do the removal during the pair traversal
+	bool m_hasDeferredRemoval;
 
-//		b3OverlappingPairCallback*	m_ghostPairCallback;
+	//if set, use the callback instead of the built in filter in needBroadphaseCollision
+	b3OverlapFilterCallback* m_overlapFilterCallback;
 
-	public:
-			
-		b3SortedOverlappingPairCache();	
-		virtual ~b3SortedOverlappingPairCache();
+	//		b3OverlappingPairCallback*	m_ghostPairCallback;
 
-		virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* dispatcher);
+public:
+	b3SortedOverlappingPairCache();
+	virtual ~b3SortedOverlappingPairCache();
 
-		void*	removeOverlappingPair(int proxy0,int proxy1,b3Dispatcher* dispatcher);
+	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher);
 
-		void	cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher);
-		
-		b3BroadphasePair*	addOverlappingPair(int proxy0,int proxy1);
+	void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher);
 
-		b3BroadphasePair*	findPair(int proxy0,int proxy1);
-			
-		
-		void	cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher);
+	void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher);
 
-		virtual void	removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher);
+	b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1);
 
+	b3BroadphasePair* findPair(int proxy0, int proxy1);
 
-		inline bool needsBroadphaseCollision(int proxy0,int proxy1) const
-		{
-			if (m_overlapFilterCallback)
-				return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+	void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher);
 
-			bool collides = true;//(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-			//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-			
-			return collides;
-		}
-		
-		b3BroadphasePairArray&	getOverlappingPairArray()
-		{
-			return m_overlappingPairArray;
-		}
+	virtual void removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher);
 
-		const b3BroadphasePairArray&	getOverlappingPairArray() const
-		{
-			return m_overlappingPairArray;
-		}
+	inline bool needsBroadphaseCollision(int proxy0, int proxy1) const
+	{
+		if (m_overlapFilterCallback)
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
 
-		
+		bool collides = true;  //(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+		//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
 
+		return collides;
+	}
 
-		b3BroadphasePair*	getOverlappingPairArrayPtr()
-		{
-			return &m_overlappingPairArray[0];
-		}
+	b3BroadphasePairArray& getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
 
-		const b3BroadphasePair*	getOverlappingPairArrayPtr() const
-		{
-			return &m_overlappingPairArray[0];
-		}
+	const b3BroadphasePairArray& getOverlappingPairArray() const
+	{
+		return m_overlappingPairArray;
+	}
 
-		int	getNumOverlappingPairs() const
-		{
-			return m_overlappingPairArray.size();
-		}
-		
-		b3OverlapFilterCallback* getOverlapFilterCallback()
-		{
-			return m_overlapFilterCallback;
-		}
+	b3BroadphasePair* getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
 
-		void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
-		{
-			m_overlapFilterCallback = callback;
-		}
+	const b3BroadphasePair* getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
 
-		virtual bool	hasDeferredRemoval()
-		{
-			return m_hasDeferredRemoval;
-		}
+	int getNumOverlappingPairs() const
+	{
+		return m_overlappingPairArray.size();
+	}
+
+	b3OverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return m_overlapFilterCallback;
+	}
 
-/*		virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
+	void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
+	{
+		m_overlapFilterCallback = callback;
+	}
+
+	virtual bool hasDeferredRemoval()
+	{
+		return m_hasDeferredRemoval;
+	}
+
+	/*		virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
 		{
 			m_ghostPairCallback = ghostPairCallback;
 		}
 		*/
-		virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher);
-		
-
+	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher);
 };
 
-
-
 ///b3NullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
 class b3NullPairCache : public b3OverlappingPairCache
 {
-
-	b3BroadphasePairArray	m_overlappingPairArray;
+	b3BroadphasePairArray m_overlappingPairArray;
 
 public:
-
-	virtual b3BroadphasePair*	getOverlappingPairArrayPtr()
+	virtual b3BroadphasePair* getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
-	const b3BroadphasePair*	getOverlappingPairArrayPtr() const
+	const b3BroadphasePair* getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
-	b3BroadphasePairArray&	getOverlappingPairArray()
+	b3BroadphasePairArray& getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
-	
-	virtual	void	cleanOverlappingPair(b3BroadphasePair& /*pair*/,b3Dispatcher* /*dispatcher*/)
-	{
 
+	virtual void cleanOverlappingPair(b3BroadphasePair& /*pair*/, b3Dispatcher* /*dispatcher*/)
+	{
 	}
 
 	virtual int getNumOverlappingPairs() const
@@ -418,16 +377,15 @@ public:
 		return 0;
 	}
 
-	virtual void	cleanProxyFromPairs(int /*proxy*/,b3Dispatcher* /*dispatcher*/)
+	virtual void cleanProxyFromPairs(int /*proxy*/, b3Dispatcher* /*dispatcher*/)
 	{
-
 	}
 
-	virtual	void setOverlapFilterCallback(b3OverlapFilterCallback* /*callback*/)
+	virtual void setOverlapFilterCallback(b3OverlapFilterCallback* /*callback*/)
 	{
 	}
 
-	virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* /*dispatcher*/)
+	virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* /*dispatcher*/)
 	{
 	}
 
@@ -436,39 +394,34 @@ public:
 		return 0;
 	}
 
-	virtual bool	hasDeferredRemoval()
+	virtual bool hasDeferredRemoval()
 	{
 		return true;
 	}
 
-//	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* /* ghostPairCallback */)
-//	{
-//
-//	}
+	//	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* /* ghostPairCallback */)
+	//	{
+	//
+	//	}
 
-	virtual b3BroadphasePair*	addOverlappingPair(int /*proxy0*/,int /*proxy1*/)
+	virtual b3BroadphasePair* addOverlappingPair(int /*proxy0*/, int /*proxy1*/)
 	{
 		return 0;
 	}
 
-	virtual void*	removeOverlappingPair(int /*proxy0*/,int /*proxy1*/,b3Dispatcher* /*dispatcher*/)
+	virtual void* removeOverlappingPair(int /*proxy0*/, int /*proxy1*/, b3Dispatcher* /*dispatcher*/)
 	{
 		return 0;
 	}
 
-	virtual void	removeOverlappingPairsContainingProxy(int /*proxy0*/,b3Dispatcher* /*dispatcher*/)
+	virtual void removeOverlappingPairsContainingProxy(int /*proxy0*/, b3Dispatcher* /*dispatcher*/)
 	{
 	}
-	
-	virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher)
+
+	virtual void sortOverlappingPairs(b3Dispatcher* dispatcher)
 	{
-        (void) dispatcher;
+		(void)dispatcher;
 	}
-
-
 };
 
-
-#endif //B3_OVERLAPPING_PAIR_CACHE_H
-
-
+#endif  //B3_OVERLAPPING_PAIR_CACHE_H
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
index 7f9bf990bf..343a2c0e21 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
@@ -2,7 +2,6 @@
 #ifndef B3_AABB_H
 #define B3_AABB_H
 
-
 #include "Bullet3Common/shared/b3Float4.h"
 #include "Bullet3Common/shared/b3Mat3x3.h"
 
@@ -10,44 +9,42 @@ typedef struct b3Aabb b3Aabb_t;
 
 struct b3Aabb
 {
-	union
-	{
+	union {
 		float m_min[4];
 		b3Float4 m_minVec;
 		int m_minIndices[4];
 	};
-	union
-	{
-		float	m_max[4];
+	union {
+		float m_max[4];
 		b3Float4 m_maxVec;
 		int m_signedMaxIndices[4];
 	};
 };
 
-inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,
-						b3Float4ConstArg pos,
-						b3QuatConstArg orn,
-						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)
+inline void b3TransformAabb2(b3Float4ConstArg localAabbMin, b3Float4ConstArg localAabbMax, float margin,
+							 b3Float4ConstArg pos,
+							 b3QuatConstArg orn,
+							 b3Float4* aabbMinOut, b3Float4* aabbMaxOut)
 {
-		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);
-		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);
-		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);
-		b3Mat3x3 m;
-		m = b3QuatGetRotationMatrix(orn);
-		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
-		b3Float4 center = b3TransformPoint(localCenter,pos,orn);
-		
-		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),
-										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),
-										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),
-										 0.f);
-		*aabbMinOut = center-extent;
-		*aabbMaxOut = center+extent;
+	b3Float4 localHalfExtents = 0.5f * (localAabbMax - localAabbMin);
+	localHalfExtents += b3MakeFloat4(margin, margin, margin, 0.f);
+	b3Float4 localCenter = 0.5f * (localAabbMax + localAabbMin);
+	b3Mat3x3 m;
+	m = b3QuatGetRotationMatrix(orn);
+	b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
+	b3Float4 center = b3TransformPoint(localCenter, pos, orn);
+
+	b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 0)),
+								   b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 1)),
+								   b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 2)),
+								   0.f);
+	*aabbMinOut = center - extent;
+	*aabbMaxOut = center + extent;
 }
 
 /// conservative test for overlap between two aabbs
-inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,
-								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
+inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1, b3Float4ConstArg aabbMax1,
+								  b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
 {
 	bool overlap = true;
 	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;
@@ -56,4 +53,4 @@ inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aab
 	return overlap;
 }
 
-#endif //B3_AABB_H
+#endif  //B3_AABB_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h
index 65d4a21613..518da89c54 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Config.h
@@ -1,41 +1,39 @@
 #ifndef B3_CONFIG_H
 #define B3_CONFIG_H
 
-struct	b3Config
+struct b3Config
 {
-	int	m_maxConvexBodies;
-	int	m_maxConvexShapes;
-	int	m_maxBroadphasePairs;
+	int m_maxConvexBodies;
+	int m_maxConvexShapes;
+	int m_maxBroadphasePairs;
 	int m_maxContactCapacity;
 	int m_compoundPairCapacity;
 
 	int m_maxVerticesPerFace;
 	int m_maxFacesPerShape;
-	int	m_maxConvexVertices;
+	int m_maxConvexVertices;
 	int m_maxConvexIndices;
 	int m_maxConvexUniqueEdges;
-	
-	int	m_maxCompoundChildShapes;
-	
+
+	int m_maxCompoundChildShapes;
+
 	int m_maxTriConvexPairCapacity;
 
 	b3Config()
-		:m_maxConvexBodies(128*1024),
-		m_maxVerticesPerFace(64),
-		m_maxFacesPerShape(12),
-		m_maxConvexVertices(8192),
-		m_maxConvexIndices(81920),
-		m_maxConvexUniqueEdges(8192),
-		m_maxCompoundChildShapes(8192),
-		m_maxTriConvexPairCapacity(256*1024)
+		: m_maxConvexBodies(128 * 1024),
+		  m_maxVerticesPerFace(64),
+		  m_maxFacesPerShape(12),
+		  m_maxConvexVertices(8192),
+		  m_maxConvexIndices(81920),
+		  m_maxConvexUniqueEdges(8192),
+		  m_maxCompoundChildShapes(8192),
+		  m_maxTriConvexPairCapacity(256 * 1024)
 	{
 		m_maxConvexShapes = m_maxConvexBodies;
-		m_maxBroadphasePairs = 16*m_maxConvexBodies;
+		m_maxBroadphasePairs = 16 * m_maxConvexBodies;
 		m_maxContactCapacity = m_maxBroadphasePairs;
-		m_compoundPairCapacity = 1024*1024;
+		m_compoundPairCapacity = 1024 * 1024;
 	}
 };
 
-
-#endif//B3_CONFIG_H
-
+#endif  //B3_CONFIG_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
index fb25165673..c2cd3c729b 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
@@ -19,28 +19,37 @@ subject to the following restrictions:
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
 
-B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3Contact4 : public b3Contact4Data
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
-	int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
-	bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}
-	bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;}
+	int getBodyA() const { return abs(m_bodyAPtrAndSignBit); }
+	int getBodyB() const { return abs(m_bodyBPtrAndSignBit); }
+	bool isBodyAFixed() const { return m_bodyAPtrAndSignBit < 0; }
+	bool isBodyBFixed() const { return m_bodyBPtrAndSignBit < 0; }
 	//	todo. make it safer
 	int& getBatchIdx() { return m_batchIdx; }
 	const int& getBatchIdx() const { return m_batchIdx; }
-	float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); }
-	void setRestituitionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); }
-	float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); }
-	void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
+	float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp / (float)0xffff); }
+	void setRestituitionCoeff(float c)
+	{
+		b3Assert(c >= 0.f && c <= 1.f);
+		m_restituitionCoeffCmp = (unsigned short)(c * 0xffff);
+	}
+	float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp / (float)0xffff); }
+	void setFrictionCoeff(float c)
+	{
+		b3Assert(c >= 0.f && c <= 1.f);
+		m_frictionCoeffCmp = (unsigned short)(c * 0xffff);
+	}
 
 	//float& getNPoints() { return m_worldNormal[3]; }
-	int getNPoints() const { return (int) m_worldNormalOnB.w; }
+	int getNPoints() const { return (int)m_worldNormalOnB.w; }
 
 	float getPenetration(int idx) const { return m_worldPosB[idx].w; }
 
-	bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
+	bool isInvalid() const { return (getBodyA() == 0 || getBodyB() == 0); }
 };
 
-#endif //B3_CONTACT4_H
+#endif  //B3_CONTACT4_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
index 55706fa631..a5dab74a34 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
@@ -13,52 +13,42 @@ subject to the following restrictions:
 */
 //Originally written by Erwin Coumans
 
-
 #include "b3ConvexUtility.h"
 #include "Bullet3Geometry/b3ConvexHullComputer.h"
 #include "Bullet3Geometry/b3GrahamScan2dConvexHull.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3HashMap.h"
 
-
-
-
-
 b3ConvexUtility::~b3ConvexUtility()
 {
 }
 
-bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
+bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
 {
-	
-	
-
 	b3ConvexHullComputer conv;
-	conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3),numPoints,0.f,0.f);
+	conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3), numPoints, 0.f, 0.f);
 
 	b3AlignedObjectArray<b3Vector3> faceNormals;
 	int numFaces = conv.faces.size();
 	faceNormals.resize(numFaces);
 	b3ConvexHullComputer* convexUtil = &conv;
 
-	
-	b3AlignedObjectArray<b3MyFace>	tmpFaces;
+	b3AlignedObjectArray<b3MyFace> tmpFaces;
 	tmpFaces.resize(numFaces);
 
 	int numVertices = convexUtil->vertices.size();
 	m_vertices.resize(numVertices);
-	for (int p=0;p<numVertices;p++)
+	for (int p = 0; p < numVertices; p++)
 	{
 		m_vertices[p] = convexUtil->vertices[p];
 	}
 
-
-	for (int i=0;i<numFaces;i++)
+	for (int i = 0; i < numFaces; i++)
 	{
 		int face = convexUtil->faces[i];
 		//printf("face=%d\n",face);
-		const b3ConvexHullComputer::Edge*  firstEdge = &convexUtil->edges[face];
-		const b3ConvexHullComputer::Edge*  edge = firstEdge;
+		const b3ConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
+		const b3ConvexHullComputer::Edge* edge = firstEdge;
 
 		b3Vector3 edges[3];
 		int numEdges = 0;
@@ -66,25 +56,23 @@ bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
 
 		do
 		{
-			
 			int src = edge->getSourceVertex();
 			tmpFaces[i].m_indices.push_back(src);
 			int targ = edge->getTargetVertex();
 			b3Vector3 wa = convexUtil->vertices[src];
 
 			b3Vector3 wb = convexUtil->vertices[targ];
-			b3Vector3 newEdge = wb-wa;
+			b3Vector3 newEdge = wb - wa;
 			newEdge.normalize();
-			if (numEdges<2)
+			if (numEdges < 2)
 				edges[numEdges++] = newEdge;
 
 			edge = edge->getNextEdgeOfFace();
-		} while (edge!=firstEdge);
+		} while (edge != firstEdge);
 
 		b3Scalar planeEq = 1e30f;
 
-		
-		if (numEdges==2)
+		if (numEdges == 2)
 		{
 			faceNormals[i] = edges[0].cross(edges[1]);
 			faceNormals[i].normalize();
@@ -92,20 +80,19 @@ bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
 			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
 			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
 			tmpFaces[i].m_plane[3] = planeEq;
-
 		}
 		else
 		{
-			b3Assert(0);//degenerate?
+			b3Assert(0);  //degenerate?
 			faceNormals[i].setZero();
 		}
 
-		for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+		for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
 		{
 			b3Scalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
-			if (planeEq>eq)
+			if (planeEq > eq)
 			{
-				planeEq=eq;
+				planeEq = eq;
 			}
 		}
 		tmpFaces[i].m_plane[3] = -planeEq;
@@ -113,89 +100,86 @@ bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
 
 	//merge coplanar faces and copy them to m_polyhedron
 
-	b3Scalar faceWeldThreshold= 0.999f;
+	b3Scalar faceWeldThreshold = 0.999f;
 	b3AlignedObjectArray<int> todoFaces;
-	for (int i=0;i<tmpFaces.size();i++)
+	for (int i = 0; i < tmpFaces.size(); i++)
 		todoFaces.push_back(i);
 
 	while (todoFaces.size())
 	{
 		b3AlignedObjectArray<int> coplanarFaceGroup;
-		int refFace = todoFaces[todoFaces.size()-1];
+		int refFace = todoFaces[todoFaces.size() - 1];
 
 		coplanarFaceGroup.push_back(refFace);
 		b3MyFace& faceA = tmpFaces[refFace];
 		todoFaces.pop_back();
 
-		b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
-		for (int j=todoFaces.size()-1;j>=0;j--)
+		b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
+		for (int j = todoFaces.size() - 1; j >= 0; j--)
 		{
 			int i = todoFaces[j];
 			b3MyFace& faceB = tmpFaces[i];
-			b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
-			if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+			b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
+			if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
 			{
 				coplanarFaceGroup.push_back(i);
 				todoFaces.remove(i);
 			}
 		}
 
-
 		bool did_merge = false;
-		if (coplanarFaceGroup.size()>1)
+		if (coplanarFaceGroup.size() > 1)
 		{
 			//do the merge: use Graham Scan 2d convex hull
 
 			b3AlignedObjectArray<b3GrahamVector3> orgpoints;
-			b3Vector3 averageFaceNormal = b3MakeVector3(0,0,0);
+			b3Vector3 averageFaceNormal = b3MakeVector3(0, 0, 0);
 
-			for (int i=0;i<coplanarFaceGroup.size();i++)
+			for (int i = 0; i < coplanarFaceGroup.size(); i++)
 			{
-//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+				//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
 
 				b3MyFace& face = tmpFaces[coplanarFaceGroup[i]];
-				b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
-				averageFaceNormal+=faceNormal;
-				for (int f=0;f<face.m_indices.size();f++)
+				b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
+				averageFaceNormal += faceNormal;
+				for (int f = 0; f < face.m_indices.size(); f++)
 				{
 					int orgIndex = face.m_indices[f];
 					b3Vector3 pt = m_vertices[orgIndex];
-					
+
 					bool found = false;
 
-					for (int i=0;i<orgpoints.size();i++)
+					for (int i = 0; i < orgpoints.size(); i++)
 					{
 						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
 						if (orgpoints[i].m_orgIndex == orgIndex)
 						{
-							found=true;
+							found = true;
 							break;
 						}
 					}
 					if (!found)
-						orgpoints.push_back(b3GrahamVector3(pt,orgIndex));
+						orgpoints.push_back(b3GrahamVector3(pt, orgIndex));
 				}
 			}
 
-			
-
 			b3MyFace combinedFace;
-			for (int i=0;i<4;i++)
+			for (int i = 0; i < 4; i++)
 				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
 
 			b3AlignedObjectArray<b3GrahamVector3> hull;
 
 			averageFaceNormal.normalize();
-			b3GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
+			b3GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);
 
-			for (int i=0;i<hull.size();i++)
+			for (int i = 0; i < hull.size(); i++)
 			{
 				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
-				for(int k = 0; k < orgpoints.size(); k++) 
+				for (int k = 0; k < orgpoints.size(); k++)
 				{
-					if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) 
+					if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
 					{
-						orgpoints[k].m_orgIndex = -1; // invalidate...
+						orgpoints[k].m_orgIndex = -1;  // invalidate...
 						break;
 					}
 				}
@@ -203,38 +187,41 @@ bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
 
 			// are there rejected vertices?
 			bool reject_merge = false;
-			
-
 
-			for(int i = 0; i < orgpoints.size(); i++) {
-				if(orgpoints[i].m_orgIndex == -1)
-					continue; // this is in the hull...
+			for (int i = 0; i < orgpoints.size(); i++)
+			{
+				if (orgpoints[i].m_orgIndex == -1)
+					continue;  // this is in the hull...
 				// this vertex is rejected -- is anybody else using this vertex?
-				for(int j = 0; j < tmpFaces.size(); j++) {
-					
+				for (int j = 0; j < tmpFaces.size(); j++)
+				{
 					b3MyFace& face = tmpFaces[j];
 					// is this a face of the current coplanar group?
 					bool is_in_current_group = false;
-					for(int k = 0; k < coplanarFaceGroup.size(); k++) {
-						if(coplanarFaceGroup[k] == j) {
+					for (int k = 0; k < coplanarFaceGroup.size(); k++)
+					{
+						if (coplanarFaceGroup[k] == j)
+						{
 							is_in_current_group = true;
 							break;
 						}
 					}
-					if(is_in_current_group) // ignore this face...
+					if (is_in_current_group)  // ignore this face...
 						continue;
 					// does this face use this rejected vertex?
-					for(int v = 0; v < face.m_indices.size(); v++) {
-						if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+					for (int v = 0; v < face.m_indices.size(); v++)
+					{
+						if (face.m_indices[v] == orgpoints[i].m_orgIndex)
+						{
 							// this rejected vertex is used in another face -- reject merge
 							reject_merge = true;
 							break;
 						}
 					}
-					if(reject_merge)
+					if (reject_merge)
 						break;
 				}
-				if(reject_merge)
+				if (reject_merge)
 					break;
 			}
 
@@ -245,18 +232,14 @@ bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
 				m_faces.push_back(combinedFace);
 			}
 		}
-		if(!did_merge)
+		if (!did_merge)
 		{
-			for (int i=0;i<coplanarFaceGroup.size();i++)
+			for (int i = 0; i < coplanarFaceGroup.size(); i++)
 			{
 				b3MyFace face = tmpFaces[coplanarFaceGroup[i]];
 				m_faces.push_back(face);
 			}
-
-		} 
-
-
-
+		}
 	}
 
 	initialize();
@@ -264,43 +247,38 @@ bool	b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices,
 	return true;
 }
 
-
-
-
-
-
 inline bool IsAlmostZero(const b3Vector3& v)
 {
-	if(fabsf(v.getX())>1e-6 || fabsf(v.getY())>1e-6 || fabsf(v.getZ())>1e-6)	return false;
+	if (fabsf(v.getX()) > 1e-6 || fabsf(v.getY()) > 1e-6 || fabsf(v.getZ()) > 1e-6) return false;
 	return true;
 }
 
 struct b3InternalVertexPair
 {
-	b3InternalVertexPair(short int v0,short int v1)
-		:m_v0(v0),
-		m_v1(v1)
+	b3InternalVertexPair(short int v0, short int v1)
+		: m_v0(v0),
+		  m_v1(v1)
 	{
-		if (m_v1>m_v0)
-			b3Swap(m_v0,m_v1);
+		if (m_v1 > m_v0)
+			b3Swap(m_v0, m_v1);
 	}
 	short int m_v0;
 	short int m_v1;
 	int getHash() const
 	{
-		return m_v0+(m_v1<<16);
+		return m_v0 + (m_v1 << 16);
 	}
 	bool equals(const b3InternalVertexPair& other) const
 	{
-		return m_v0==other.m_v0 && m_v1==other.m_v1;
+		return m_v0 == other.m_v0 && m_v1 == other.m_v1;
 	}
 };
 
 struct b3InternalEdge
 {
 	b3InternalEdge()
-		:m_face0(-1),
-		m_face1(-1)
+		: m_face0(-1),
+		  m_face1(-1)
 	{
 	}
 	short int m_face0;
@@ -312,23 +290,31 @@ struct b3InternalEdge
 #ifdef TEST_INTERNAL_OBJECTS
 bool b3ConvexUtility::testContainment() const
 {
-	for(int p=0;p<8;p++)
+	for (int p = 0; p < 8; p++)
 	{
 		b3Vector3 LocalPt;
-		if(p==0)		LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]);
-		else if(p==1)	LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]);
-		else if(p==2)	LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]);
-		else if(p==3)	LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]);
-		else if(p==4)	LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]);
-		else if(p==5)	LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]);
-		else if(p==6)	LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]);
-		else if(p==7)	LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]);
-
-		for(int i=0;i<m_faces.size();i++)
+		if (p == 0)
+			LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]);
+		else if (p == 1)
+			LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]);
+		else if (p == 2)
+			LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]);
+		else if (p == 3)
+			LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]);
+		else if (p == 4)
+			LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]);
+		else if (p == 5)
+			LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]);
+		else if (p == 6)
+			LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]);
+		else if (p == 7)
+			LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]);
+
+		for (int i = 0; i < m_faces.size(); i++)
 		{
 			const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
 			const b3Scalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
-			if(d>0.0f)
+			if (d > 0.0f)
 				return false;
 		}
 	}
@@ -336,39 +322,38 @@ bool b3ConvexUtility::testContainment() const
 }
 #endif
 
-void	b3ConvexUtility::initialize()
+void b3ConvexUtility::initialize()
 {
-
-	b3HashMap<b3InternalVertexPair,b3InternalEdge> edges;
+	b3HashMap<b3InternalVertexPair, b3InternalEdge> edges;
 
 	b3Scalar TotalArea = 0.0f;
-	
+
 	m_localCenter.setValue(0, 0, 0);
-	for(int i=0;i<m_faces.size();i++)
+	for (int i = 0; i < m_faces.size(); i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
 		int NbTris = numVertices;
-		for(int j=0;j<NbTris;j++)
+		for (int j = 0; j < NbTris; j++)
 		{
-			int k = (j+1)%numVertices;
-			b3InternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			int k = (j + 1) % numVertices;
+			b3InternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
 			b3InternalEdge* edptr = edges.find(vp);
-			b3Vector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
+			b3Vector3 edge = m_vertices[vp.m_v1] - m_vertices[vp.m_v0];
 			edge.normalize();
 
 			bool found = false;
-			b3Vector3 diff,diff2;
+			b3Vector3 diff, diff2;
 
-			for (int p=0;p<m_uniqueEdges.size();p++)
+			for (int p = 0; p < m_uniqueEdges.size(); p++)
 			{
-				diff = m_uniqueEdges[p]-edge;
-				diff2 = m_uniqueEdges[p]+edge;
+				diff = m_uniqueEdges[p] - edge;
+				diff2 = m_uniqueEdges[p] + edge;
 
-			//	if ((diff.length2()==0.f) || 
+				//	if ((diff.length2()==0.f) ||
 				//	(diff2.length2()==0.f))
 
-				if (IsAlmostZero(diff) || 
-				IsAlmostZero(diff2))
+				if (IsAlmostZero(diff) ||
+					IsAlmostZero(diff2))
 				{
 					found = true;
 					break;
@@ -382,106 +367,101 @@ void	b3ConvexUtility::initialize()
 
 			if (edptr)
 			{
-					//TBD: figure out why I added this assert
-//				b3Assert(edptr->m_face0>=0);
-	//			b3Assert(edptr->m_face1<0);
+				//TBD: figure out why I added this assert
+				//				b3Assert(edptr->m_face0>=0);
+				//			b3Assert(edptr->m_face1<0);
 				edptr->m_face1 = i;
-			} else
+			}
+			else
 			{
 				b3InternalEdge ed;
 				ed.m_face0 = i;
-				edges.insert(vp,ed);
+				edges.insert(vp, ed);
 			}
 		}
 	}
 
 #ifdef USE_CONNECTED_FACES
-	for(int i=0;i<m_faces.size();i++)
+	for (int i = 0; i < m_faces.size(); i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
 		m_faces[i].m_connectedFaces.resize(numVertices);
 
-		for(int j=0;j<numVertices;j++)
+		for (int j = 0; j < numVertices; j++)
 		{
-			int k = (j+1)%numVertices;
-			b3InternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			int k = (j + 1) % numVertices;
+			b3InternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
 			b3InternalEdge* edptr = edges.find(vp);
 			b3Assert(edptr);
-			b3Assert(edptr->m_face0>=0);
-			b3Assert(edptr->m_face1>=0);
+			b3Assert(edptr->m_face0 >= 0);
+			b3Assert(edptr->m_face1 >= 0);
 
-			int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
+			int connectedFace = (edptr->m_face0 == i) ? edptr->m_face1 : edptr->m_face0;
 			m_faces[i].m_connectedFaces[j] = connectedFace;
 		}
 	}
-#endif//USE_CONNECTED_FACES
+#endif  //USE_CONNECTED_FACES
 
-	for(int i=0;i<m_faces.size();i++)
+	for (int i = 0; i < m_faces.size(); i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices-2;
-		
+		int NbTris = numVertices - 2;
+
 		const b3Vector3& p0 = m_vertices[m_faces[i].m_indices[0]];
-		for(int j=1;j<=NbTris;j++)
+		for (int j = 1; j <= NbTris; j++)
 		{
-			int k = (j+1)%numVertices;
+			int k = (j + 1) % numVertices;
 			const b3Vector3& p1 = m_vertices[m_faces[i].m_indices[j]];
 			const b3Vector3& p2 = m_vertices[m_faces[i].m_indices[k]];
 			b3Scalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
-			b3Vector3 Center = (p0+p1+p2)/3.0f;
+			b3Vector3 Center = (p0 + p1 + p2) / 3.0f;
 			m_localCenter += Area * Center;
 			TotalArea += Area;
 		}
 	}
 	m_localCenter /= TotalArea;
 
-
-
-
 #ifdef TEST_INTERNAL_OBJECTS
-	if(1)
+	if (1)
 	{
 		m_radius = FLT_MAX;
-		for(int i=0;i<m_faces.size();i++)
+		for (int i = 0; i < m_faces.size(); i++)
 		{
 			const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
 			const b3Scalar dist = b3Fabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
-			if(dist<m_radius)
+			if (dist < m_radius)
 				m_radius = dist;
 		}
 
-	
 		b3Scalar MinX = FLT_MAX;
 		b3Scalar MinY = FLT_MAX;
 		b3Scalar MinZ = FLT_MAX;
 		b3Scalar MaxX = -FLT_MAX;
 		b3Scalar MaxY = -FLT_MAX;
 		b3Scalar MaxZ = -FLT_MAX;
-		for(int i=0; i<m_vertices.size(); i++)
+		for (int i = 0; i < m_vertices.size(); i++)
 		{
 			const b3Vector3& pt = m_vertices[i];
-			if(pt.getX()<MinX)	MinX = pt.getX();
-			if(pt.getX()>MaxX)	MaxX = pt.getX();
-			if(pt.getY()<MinY)	MinY = pt.getY();
-			if(pt.getY()>MaxY)	MaxY = pt.getY();
-			if(pt.getZ()<MinZ)	MinZ = pt.getZ();
-			if(pt.getZ()>MaxZ)	MaxZ = pt.getZ();
+			if (pt.getX() < MinX) MinX = pt.getX();
+			if (pt.getX() > MaxX) MaxX = pt.getX();
+			if (pt.getY() < MinY) MinY = pt.getY();
+			if (pt.getY() > MaxY) MaxY = pt.getY();
+			if (pt.getZ() < MinZ) MinZ = pt.getZ();
+			if (pt.getZ() > MaxZ) MaxZ = pt.getZ();
 		}
-		mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
-		mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
-
-
+		mC.setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
+		mE.setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
 
-//		const b3Scalar r = m_radius / sqrtf(2.0f);
+		//		const b3Scalar r = m_radius / sqrtf(2.0f);
 		const b3Scalar r = m_radius / sqrtf(3.0f);
 		const int LargestExtent = mE.maxAxis();
-		const b3Scalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
+		const b3Scalar Step = (mE[LargestExtent] * 0.5f - r) / 1024.0f;
 		m_extents[0] = m_extents[1] = m_extents[2] = r;
-		m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
+		m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
 		bool FoundBox = false;
-		for(int j=0;j<1024;j++)
+		for (int j = 0; j < 1024; j++)
 		{
-			if(testContainment())
+			if (testContainment())
 			{
 				FoundBox = true;
 				break;
@@ -489,25 +469,25 @@ void	b3ConvexUtility::initialize()
 
 			m_extents[LargestExtent] -= Step;
 		}
-		if(!FoundBox)
+		if (!FoundBox)
 		{
 			m_extents[0] = m_extents[1] = m_extents[2] = r;
 		}
 		else
 		{
 			// Refine the box
-			const b3Scalar Step = (m_radius - r)/1024.0f;
-			const int e0 = (1<<LargestExtent) & 3;
-			const int e1 = (1<<e0) & 3;
+			const b3Scalar Step = (m_radius - r) / 1024.0f;
+			const int e0 = (1 << LargestExtent) & 3;
+			const int e1 = (1 << e0) & 3;
 
-			for(int j=0;j<1024;j++)
+			for (int j = 0; j < 1024; j++)
 			{
 				const b3Scalar Saved0 = m_extents[e0];
 				const b3Scalar Saved1 = m_extents[e1];
 				m_extents[e0] += Step;
 				m_extents[e1] += Step;
 
-				if(!testContainment())
+				if (!testContainment())
 				{
 					m_extents[e0] = Saved0;
 					m_extents[e1] = Saved1;
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h
index 86c4151f8c..4c8a88cbda 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h
@@ -20,43 +20,36 @@ subject to the following restrictions:
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3Transform.h"
 
-
-
-
 struct b3MyFace
 {
-	b3AlignedObjectArray<int>	m_indices;
-	b3Scalar	m_plane[4];
+	b3AlignedObjectArray<int> m_indices;
+	b3Scalar m_plane[4];
 };
 
-B3_ATTRIBUTE_ALIGNED16(class) b3ConvexUtility
+B3_ATTRIBUTE_ALIGNED16(class)
+b3ConvexUtility
 {
-	public:
+public:
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	b3Vector3		m_localCenter;
-	b3Vector3		m_extents;
-	b3Vector3		mC;
-	b3Vector3		mE;
-	b3Scalar		m_radius;
-	
-	b3AlignedObjectArray<b3Vector3>	m_vertices;
-	b3AlignedObjectArray<b3MyFace>	m_faces;
+	b3Vector3 m_localCenter;
+	b3Vector3 m_extents;
+	b3Vector3 mC;
+	b3Vector3 mE;
+	b3Scalar m_radius;
+
+	b3AlignedObjectArray<b3Vector3> m_vertices;
+	b3AlignedObjectArray<b3MyFace> m_faces;
 	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
 
-		
 	b3ConvexUtility()
 	{
 	}
 	virtual ~b3ConvexUtility();
 
-	bool	initializePolyhedralFeatures(const b3Vector3* orgVertices, int numVertices, bool mergeCoplanarTriangles=true);
-		
-	void	initialize();
-	bool testContainment() const;
-
-
+	bool initializePolyhedralFeatures(const b3Vector3* orgVertices, int numVertices, bool mergeCoplanarTriangles = true);
 
+	void initialize();
+	bool testContainment() const;
 };
 #endif
-	
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
index c3134b2c65..e0b2161100 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.cpp
@@ -5,15 +5,13 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h"
 
-
 struct b3CpuNarrowPhaseInternalData
 {
 	b3AlignedObjectArray<b3Aabb> m_localShapeAABBCPU;
-	b3AlignedObjectArray<b3Collidable>	m_collidablesCPU;
+	b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
 	b3AlignedObjectArray<b3ConvexUtility*> m_convexData;
 	b3Config m_config;
 
-
 	b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
 	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
 	b3AlignedObjectArray<b3Vector3> m_convexVertices;
@@ -22,10 +20,9 @@ struct b3CpuNarrowPhaseInternalData
 
 	b3AlignedObjectArray<b3Contact4Data> m_contacts;
 
-	int	m_numAcceleratedShapes;
+	int m_numAcceleratedShapes;
 };
 
-
 const b3AlignedObjectArray<b3Contact4Data>& b3CpuNarrowPhase::getContacts() const
 {
 	return m_data->m_contacts;
@@ -41,7 +38,6 @@ const b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex) cons
 	return m_data->m_collidablesCPU[collidableIndex];
 }
 
-
 b3CpuNarrowPhase::b3CpuNarrowPhase(const struct b3Config& config)
 {
 	m_data = new b3CpuNarrowPhaseInternalData;
@@ -61,7 +57,7 @@ void b3CpuNarrowPhase::computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3Al
 	int maxContactCapacity = m_data->m_config.m_maxContactCapacity;
 	m_data->m_contacts.resize(maxContactCapacity);
 
-	for (int i=0;i<nPairs;i++)
+	for (int i = 0; i < nPairs; i++)
 	{
 		int bodyIndexA = pairs[i].x;
 		int bodyIndexB = pairs[i].y;
@@ -71,64 +67,57 @@ void b3CpuNarrowPhase::computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3Al
 		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
 		{
-//			computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
-//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//			computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
+			//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
 		}
 
 		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_SPHERE)
 		{
-//			computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//			computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+			//				&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
 			//printf("convex-sphere\n");
-			
 		}
 
 		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE)
 		{
-//			computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("convex-plane\n");
-			
+			//			computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//			printf("convex-plane\n");
 		}
 
 		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
 		{
-//			computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
-//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("plane-convex\n");
-			
+			//			computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
+			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//			printf("plane-convex\n");
 		}
 
-			if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 		{
-//			computeContactCompoundCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], hostAabbsWorldSpace,hostAabbsLocalSpace,hostVertices,hostUniqueEdges,hostIndices,hostFaces,&hostContacts[0],
-//			nContacts,maxContactCapacity,treeNodesCPU,subTreesCPU,bvhInfoCPU);	
-//			printf("convex-plane\n");
-			
+			//			computeContactCompoundCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], hostAabbsWorldSpace,hostAabbsLocalSpace,hostVertices,hostUniqueEdges,hostIndices,hostFaces,&hostContacts[0],
+			//			nContacts,maxContactCapacity,treeNodesCPU,subTreesCPU,bvhInfoCPU);
+			//			printf("convex-plane\n");
 		}
 
-
-				if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
+		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_PLANE)
 		{
-//			computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
-//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("convex-plane\n");
-			
+			//			computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&bodies[0],
+			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//			printf("convex-plane\n");
 		}
 
 		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_PLANE &&
 			m_data->m_collidablesCPU[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 		{
-//			computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
-//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("plane-convex\n");
-			
+			//			computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&bodies[0],
+			//			&m_data->m_collidablesCPU[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			//			printf("plane-convex\n");
 		}
 
 		if (m_data->m_collidablesCPU[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
@@ -137,54 +126,48 @@ void b3CpuNarrowPhase::computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3Al
 			//printf("pairs[i].z=%d\n",pairs[i].z);
 			//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies,
 			//		m_data->m_collidablesCPU,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
-			int contactIndex = b3ContactConvexConvexSAT(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,bodies,
-				m_data->m_collidablesCPU,m_data->m_convexPolyhedra,m_data->m_convexVertices,m_data->m_uniqueEdges,m_data->m_convexIndices,m_data->m_convexFaces,m_data->m_contacts,numContacts,maxContactCapacity);
-
+			int contactIndex = b3ContactConvexConvexSAT(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, bodies,
+														m_data->m_collidablesCPU, m_data->m_convexPolyhedra, m_data->m_convexVertices, m_data->m_uniqueEdges, m_data->m_convexIndices, m_data->m_convexFaces, m_data->m_contacts, numContacts, maxContactCapacity);
 
-			if (contactIndex>=0)
+			if (contactIndex >= 0)
 			{
 				pairs[i].z = contactIndex;
 			}
-//			printf("plane-convex\n");
-			
+			//			printf("plane-convex\n");
 		}
-
-
 	}
 
 	m_data->m_contacts.resize(numContacts);
 }
 
-int	b3CpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
+int b3CpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
 {
 	int collidableIndex = allocateCollidable();
-	if (collidableIndex<0)
+	if (collidableIndex < 0)
 		return collidableIndex;
 
-	
 	b3Collidable& col = m_data->m_collidablesCPU[collidableIndex];
 	col.m_shapeType = SHAPE_CONVEX_HULL;
 	col.m_shapeIndex = -1;
-	
-	
+
 	{
-		b3Vector3 localCenter=b3MakeVector3(0,0,0);
-		for (int i=0;i<utilPtr->m_vertices.size();i++)
-			localCenter+=utilPtr->m_vertices[i];
-		localCenter*= (1.f/utilPtr->m_vertices.size());
+		b3Vector3 localCenter = b3MakeVector3(0, 0, 0);
+		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
+			localCenter += utilPtr->m_vertices[i];
+		localCenter *= (1.f / utilPtr->m_vertices.size());
 		utilPtr->m_localCenter = localCenter;
 
-		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr,col);
+		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr, col);
 	}
 
-	if (col.m_shapeIndex>=0)
+	if (col.m_shapeIndex >= 0)
 	{
 		b3Aabb aabb;
-		
-		b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
-		b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
 
-		for (int i=0;i<utilPtr->m_vertices.size();i++)
+		b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
+		b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
+
+		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
 		{
 			myAabbMin.setMin(utilPtr->m_vertices[i]);
 			myAabbMax.setMax(utilPtr->m_vertices[i]);
@@ -200,44 +183,42 @@ int	b3CpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
 		aabb.m_signedMaxIndices[3] = 0;
 
 		m_data->m_localShapeAABBCPU.push_back(aabb);
-
 	}
-	
+
 	return collidableIndex;
 }
 
-int	b3CpuNarrowPhase::allocateCollidable()
+int b3CpuNarrowPhase::allocateCollidable()
 {
 	int curSize = m_data->m_collidablesCPU.size();
-	if (curSize<m_data->m_config.m_maxConvexShapes)
+	if (curSize < m_data->m_config.m_maxConvexShapes)
 	{
 		m_data->m_collidablesCPU.expand();
 		return curSize;
 	}
 	else
 	{
-		b3Error("allocateCollidable out-of-range %d\n",m_data->m_config.m_maxConvexShapes);
+		b3Error("allocateCollidable out-of-range %d\n", m_data->m_config.m_maxConvexShapes);
 	}
 	return -1;
-
 }
 
-int	b3CpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
+int b3CpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
 {
 	b3AlignedObjectArray<b3Vector3> verts;
 
-	unsigned char* vts = (unsigned char*) vertices;
-	for (int i=0;i<numVertices;i++)
+	unsigned char* vts = (unsigned char*)vertices;
+	for (int i = 0; i < numVertices; i++)
 	{
-		float* vertex = (float*) &vts[i*strideInBytes];
-		verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
+		float* vertex = (float*)&vts[i * strideInBytes];
+		verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2]));
 	}
 
 	b3ConvexUtility* utilPtr = new b3ConvexUtility();
 	bool merge = true;
 	if (numVertices)
 	{
-		utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
+		utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge);
 	}
 
 	int collidableIndex = registerConvexHullShape(utilPtr);
@@ -246,74 +227,67 @@ int	b3CpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideI
 	return collidableIndex;
 }
 
-
-int b3CpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr,b3Collidable& col)
+int b3CpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr, b3Collidable& col)
 {
+	m_data->m_convexData.resize(m_data->m_numAcceleratedShapes + 1);
+	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1);
 
-	m_data->m_convexData.resize(m_data->m_numAcceleratedShapes+1);
-	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
-	
-    
-	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
+	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1);
 	convex.mC = convexPtr->mC;
 	convex.mE = convexPtr->mE;
-	convex.m_extents= convexPtr->m_extents;
+	convex.m_extents = convexPtr->m_extents;
 	convex.m_localCenter = convexPtr->m_localCenter;
 	convex.m_radius = convexPtr->m_radius;
-	
+
 	convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
 	int edgeOffset = m_data->m_uniqueEdges.size();
 	convex.m_uniqueEdgesOffset = edgeOffset;
-	
-	m_data->m_uniqueEdges.resize(edgeOffset+convex.m_numUniqueEdges);
-    
+
+	m_data->m_uniqueEdges.resize(edgeOffset + convex.m_numUniqueEdges);
+
 	//convex data here
 	int i;
-	for ( i=0;i<convexPtr->m_uniqueEdges.size();i++)
+	for (i = 0; i < convexPtr->m_uniqueEdges.size(); i++)
 	{
-		m_data->m_uniqueEdges[edgeOffset+i] = convexPtr->m_uniqueEdges[i];
+		m_data->m_uniqueEdges[edgeOffset + i] = convexPtr->m_uniqueEdges[i];
 	}
-    
+
 	int faceOffset = m_data->m_convexFaces.size();
 	convex.m_faceOffset = faceOffset;
 	convex.m_numFaces = convexPtr->m_faces.size();
 
-	m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
-	
+	m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces);
 
-	for (i=0;i<convexPtr->m_faces.size();i++)
+	for (i = 0; i < convexPtr->m_faces.size(); i++)
 	{
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
-																			convexPtr->m_faces[i].m_plane[1],
-																			convexPtr->m_faces[i].m_plane[2],
-																			convexPtr->m_faces[i].m_plane[3]);
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
+																			   convexPtr->m_faces[i].m_plane[1],
+																			   convexPtr->m_faces[i].m_plane[2],
+																			   convexPtr->m_faces[i].m_plane[3]);
 
-		
 		int indexOffset = m_data->m_convexIndices.size();
 		int numIndices = convexPtr->m_faces[i].m_indices.size();
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
-		m_data->m_convexIndices.resize(indexOffset+numIndices);
-		for (int p=0;p<numIndices;p++)
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices;
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset;
+		m_data->m_convexIndices.resize(indexOffset + numIndices);
+		for (int p = 0; p < numIndices; p++)
 		{
-			m_data->m_convexIndices[indexOffset+p] = convexPtr->m_faces[i].m_indices[p];
+			m_data->m_convexIndices[indexOffset + p] = convexPtr->m_faces[i].m_indices[p];
 		}
 	}
-    
+
 	convex.m_numVertices = convexPtr->m_vertices.size();
 	int vertexOffset = m_data->m_convexVertices.size();
-	convex.m_vertexOffset =vertexOffset;
-	
-	m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
-	for (int i=0;i<convexPtr->m_vertices.size();i++)
+	convex.m_vertexOffset = vertexOffset;
+
+	m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices);
+	for (int i = 0; i < convexPtr->m_vertices.size(); i++)
 	{
-		m_data->m_convexVertices[vertexOffset+i] = convexPtr->m_vertices[i];
+		m_data->m_convexVertices[vertexOffset + i] = convexPtr->m_vertices[i];
 	}
 
 	(m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
-	
-    
-    
+
 	return m_data->m_numAcceleratedShapes++;
 }
 
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h
index 528be3346d..f02353c265 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h
@@ -12,66 +12,55 @@
 class b3CpuNarrowPhase
 {
 protected:
-
-	struct b3CpuNarrowPhaseInternalData*	m_data;
+	struct b3CpuNarrowPhaseInternalData* m_data;
 	int m_acceleratedCompanionShapeIndex;
 	int m_planeBodyIndex;
-	int	m_static0Index;
+	int m_static0Index;
 
-	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr,b3Collidable& col);
+	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
 	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
 
 public:
-
-	
-
-
 	b3CpuNarrowPhase(const struct b3Config& config);
 
 	virtual ~b3CpuNarrowPhase(void);
 
-	int		registerSphereShape(float radius);
-	int		registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
+	int registerSphereShape(float radius);
+	int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
 
 	int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
 	int registerFace(const b3Vector3& faceNormal, float faceConstant);
-	
-	int	registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling);
-	
+
+	int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
+
 	//do they need to be merged?
-	
-	int	registerConvexHullShape(b3ConvexUtility* utilPtr);
-	int	registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
+
+	int registerConvexHullShape(b3ConvexUtility* utilPtr);
+	int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
 
 	//int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
-	void setObjectTransform(const float* position, const float* orientation , int bodyIndex);
+	void setObjectTransform(const float* position, const float* orientation, int bodyIndex);
 
-	void	writeAllBodiesToGpu();
-	void  reset();
-	void	readbackAllBodiesToCpu();
-	bool	getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
+	void writeAllBodiesToGpu();
+	void reset();
+	void readbackAllBodiesToCpu();
+	bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;
 
-	void setObjectTransformCpu(float* position, float* orientation , int bodyIndex);
+	void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
 	void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
 
-	
 	//virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
 	virtual void computeContacts(b3AlignedObjectArray<b3Int4>& pairs, b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace, b3AlignedObjectArray<b3RigidBodyData>& bodies);
 
-
-	
 	const struct b3RigidBodyData* getBodiesCpu() const;
 	//struct b3RigidBodyData* getBodiesCpu();
 
-	int	getNumBodiesGpu() const;
+	int getNumBodiesGpu() const;
 
-	
-	int	getNumBodyInertiasGpu() const;
+	int getNumBodyInertiasGpu() const;
 
-	
 	const struct b3Collidable* getCollidablesCpu() const;
-	int		getNumCollidablesGpu() const;
-
+	int getNumCollidablesGpu() const;
 
 	/*const struct b3Contact4* getContactsCPU() const;
 
@@ -80,8 +69,7 @@ public:
 	*/
 
 	const b3AlignedObjectArray<b3Contact4Data>& getContacts() const;
-	
-	
+
 	int getNumRigidBodies() const;
 
 	int allocateCollidable();
@@ -93,13 +81,12 @@ public:
 	b3Collidable& getCollidableCpu(int collidableIndex);
 	const b3Collidable& getCollidableCpu(int collidableIndex) const;
 
-	const b3CpuNarrowPhaseInternalData*	getInternalData() const
+	const b3CpuNarrowPhaseInternalData* getInternalData() const
 	{
-			return m_data;
+		return m_data;
 	}
 
 	const struct b3Aabb& getLocalSpaceAabb(int collidableIndex) const;
 };
 
-#endif //B3_CPU_NARROWPHASE_H
-
+#endif  //B3_CPU_NARROWPHASE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h
index fba8bd07a4..b50c0eca4f 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h
@@ -4,21 +4,22 @@
 
 #include "Bullet3Common/b3Vector3.h"
 
-B3_ATTRIBUTE_ALIGNED16(struct) b3RayInfo
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3RayInfo
 {
 	b3Vector3 m_from;
 	b3Vector3 m_to;
 };
 
-B3_ATTRIBUTE_ALIGNED16(struct) b3RayHit
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3RayHit
 {
-		b3Scalar	m_hitFraction;
-		int	m_hitBody;
-		int	m_hitResult1;
-		int	m_hitResult2;
-		b3Vector3 m_hitPoint;
-		b3Vector3 m_hitNormal;
+	b3Scalar m_hitFraction;
+	int m_hitBody;
+	int m_hitResult1;
+	int m_hitResult2;
+	b3Vector3 m_hitPoint;
+	b3Vector3 m_hitNormal;
 };
 
-#endif //B3_RAYCAST_INFO_H
-
+#endif  //B3_RAYCAST_INFO_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h
index d58f71802f..be1be57f05 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h
@@ -20,11 +20,9 @@ subject to the following restrictions:
 #include "Bullet3Common/b3Matrix3x3.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 
-
-inline float	b3GetInvMass(const b3RigidBodyData& body)
+inline float b3GetInvMass(const b3RigidBodyData& body)
 {
-		return body.m_invMass;
+	return body.m_invMass;
 }
 
-
-#endif//B3_RIGID_BODY_CL
+#endif  //B3_RIGID_BODY_CL
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
index 8788ccbb47..d6beb662b5 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
@@ -7,14 +7,13 @@ typedef struct b3BvhSubtreeInfoData b3BvhSubtreeInfoData_t;
 struct b3BvhSubtreeInfoData
 {
 	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
+	unsigned short int m_quantizedAabbMin[3];
+	unsigned short int m_quantizedAabbMax[3];
 	//4 bytes, points to the root of the subtree
-	int			m_rootNodeIndex;
+	int m_rootNodeIndex;
 	//4 bytes
-	int			m_subtreeSize;
-	int			m_padding[3];
+	int m_subtreeSize;
+	int m_padding[3];
 };
 
-#endif //B3_BVH_SUBTREE_INFO_DATA_H
-
+#endif  //B3_BVH_SUBTREE_INFO_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
index 2618da24bc..7c2507cc98 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
@@ -7,69 +7,64 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
 
-
-
 // work-in-progress
-void   b3BvhTraversal( __global const b3Int4* pairs, 
-									__global const b3RigidBodyData* rigidBodies, 
-									__global const b3Collidable* collidables,
-									__global b3Aabb* aabbs,
-									__global b3Int4* concavePairsOut,
-									__global volatile int* numConcavePairsOut,
-									__global const b3BvhSubtreeInfo* subtreeHeadersRoot,
-									__global const b3QuantizedBvhNode* quantizedNodesRoot,
-									__global const b3BvhInfo* bvhInfos,
-									int numPairs,
-									int maxNumConcavePairsCapacity,
-									int id)
+void b3BvhTraversal(__global const b3Int4* pairs,
+					__global const b3RigidBodyData* rigidBodies,
+					__global const b3Collidable* collidables,
+					__global b3Aabb* aabbs,
+					__global b3Int4* concavePairsOut,
+					__global volatile int* numConcavePairsOut,
+					__global const b3BvhSubtreeInfo* subtreeHeadersRoot,
+					__global const b3QuantizedBvhNode* quantizedNodesRoot,
+					__global const b3BvhInfo* bvhInfos,
+					int numPairs,
+					int maxNumConcavePairsCapacity,
+					int id)
 {
-	
 	int bodyIndexA = pairs[id].x;
 	int bodyIndexB = pairs[id].y;
 	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
 	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-	
+
 	//once the broadphase avoids static-static pairs, we can remove this test
-	if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
+	if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
 	{
 		return;
 	}
-		
-	if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)
+
+	if (collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH)
 		return;
 
 	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-		
-	if (shapeTypeB!=SHAPE_CONVEX_HULL &&
-		shapeTypeB!=SHAPE_SPHERE	&&
-		shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS
-		)
+
+	if (shapeTypeB != SHAPE_CONVEX_HULL &&
+		shapeTypeB != SHAPE_SPHERE &&
+		shapeTypeB != SHAPE_COMPOUND_OF_CONVEX_HULLS)
 		return;
 
 	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
 
-	b3Float4	bvhAabbMin = bvhInfo.m_aabbMin;
-	b3Float4	bvhAabbMax = bvhInfo.m_aabbMax;
-	b3Float4	bvhQuantization = bvhInfo.m_quantization;
+	b3Float4 bvhAabbMin = bvhInfo.m_aabbMin;
+	b3Float4 bvhAabbMax = bvhInfo.m_aabbMax;
+	b3Float4 bvhQuantization = bvhInfo.m_quantization;
 	int numSubtreeHeaders = bvhInfo.m_numSubTrees;
 	__global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
 	__global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
-	
 
 	unsigned short int quantizedQueryAabbMin[3];
 	unsigned short int quantizedQueryAabbMax[3];
-	b3QuantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_minVec,false,bvhAabbMin, bvhAabbMax,bvhQuantization);
-	b3QuantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_maxVec,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);
-	
-	for (int i=0;i<numSubtreeHeaders;i++)
+	b3QuantizeWithClamp(quantizedQueryAabbMin, aabbs[bodyIndexB].m_minVec, false, bvhAabbMin, bvhAabbMax, bvhQuantization);
+	b3QuantizeWithClamp(quantizedQueryAabbMax, aabbs[bodyIndexB].m_maxVec, true, bvhAabbMin, bvhAabbMax, bvhQuantization);
+
+	for (int i = 0; i < numSubtreeHeaders; i++)
 	{
 		b3BvhSubtreeInfoData subtree = subtreeHeaders[i];
-				
-		int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+
+		int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
 		if (overlap != 0)
 		{
 			int startNodeIndex = subtree.m_rootNodeIndex;
-			int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;
+			int endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize;
 			int curIndex = startNodeIndex;
 			int escapeIndex;
 			int isLeafNode;
@@ -77,43 +72,46 @@ void   b3BvhTraversal( __global const b3Int4* pairs,
 			while (curIndex < endNodeIndex)
 			{
 				b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex];
-				aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);
+				aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode.m_quantizedAabbMin, rootNode.m_quantizedAabbMax);
 				isLeafNode = b3IsLeaf(&rootNode);
 				if (aabbOverlap)
 				{
 					if (isLeafNode)
 					{
 						int triangleIndex = b3GetTriangleIndex(&rootNode);
-						if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+						if (shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 						{
-								int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-								int pairIdx = b3AtomicAdd (numConcavePairsOut,numChildrenB);
-								for (int b=0;b<numChildrenB;b++)
+							int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
+							int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB);
+							for (int b = 0; b < numChildrenB; b++)
+							{
+								if ((pairIdx + b) < maxNumConcavePairsCapacity)
 								{
-									if ((pairIdx+b)<maxNumConcavePairsCapacity)
-									{
-										int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
-										b3Int4 newPair = b3MakeInt4(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);
-										concavePairsOut[pairIdx+b] = newPair;
-									}
+									int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
+									b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB);
+									concavePairsOut[pairIdx + b] = newPair;
 								}
-						} else
+							}
+						}
+						else
 						{
 							int pairIdx = b3AtomicInc(numConcavePairsOut);
-							if (pairIdx<maxNumConcavePairsCapacity)
+							if (pairIdx < maxNumConcavePairsCapacity)
 							{
-								b3Int4 newPair = b3MakeInt4(bodyIndexA,bodyIndexB,triangleIndex,0);
+								b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0);
 								concavePairsOut[pairIdx] = newPair;
 							}
 						}
-					} 
+					}
 					curIndex++;
-				} else
+				}
+				else
 				{
 					if (isLeafNode)
 					{
 						curIndex++;
-					} else
+					}
+					else
 					{
 						escapeIndex = b3GetEscapeIndex(&rootNode);
 						curIndex += escapeIndex;
@@ -122,5 +120,4 @@ void   b3BvhTraversal( __global const b3Int4* pairs,
 			}
 		}
 	}
-
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
index 8009e7d6e0..0d9b13f1d6 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
@@ -1,7 +1,6 @@
 #ifndef B3_CLIP_FACES_H
 #define B3_CLIP_FACES_H
 
-
 #include "Bullet3Common/shared/b3Int4.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
@@ -10,38 +9,36 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 
-
-inline b3Float4 b3Lerp3(b3Float4ConstArg a,b3Float4ConstArg b, float  t)
+inline b3Float4 b3Lerp3(b3Float4ConstArg a, b3Float4ConstArg b, float t)
 {
-	return b3MakeFloat4(	a.x + (b.x - a.x) * t,
+	return b3MakeFloat4(a.x + (b.x - a.x) * t,
 						a.y + (b.y - a.y) * t,
 						a.z + (b.z - a.z) * t,
 						0.f);
 }
 
 // Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4ConstArg planeNormalWS,float planeEqWS, __global b3Float4* ppVtxOut)
+int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4ConstArg planeNormalWS, float planeEqWS, __global b3Float4* ppVtxOut)
 {
-	
 	int ve;
 	float ds, de;
 	int numVertsOut = 0;
-    //double-check next test
-    //	if (numVertsIn < 2)
-    //		return 0;
-    
-	b3Float4 firstVertex=pVtxIn[numVertsIn-1];
+	//double-check next test
+	//	if (numVertsIn < 2)
+	//		return 0;
+
+	b3Float4 firstVertex = pVtxIn[numVertsIn - 1];
 	b3Float4 endVertex = pVtxIn[0];
-	
-	ds = b3Dot(planeNormalWS,firstVertex)+planeEqWS;
-    
+
+	ds = b3Dot(planeNormalWS, firstVertex) + planeEqWS;
+
 	for (ve = 0; ve < numVertsIn; ve++)
 	{
-		endVertex=pVtxIn[ve];
-		de = b3Dot(planeNormalWS,endVertex)+planeEqWS;
-		if (ds<0)
+		endVertex = pVtxIn[ve];
+		de = b3Dot(planeNormalWS, endVertex) + planeEqWS;
+		if (ds < 0)
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start < 0, end < 0, so output endVertex
 				ppVtxOut[numVertsOut++] = endVertex;
@@ -49,15 +46,15 @@ int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4Cons
 			else
 			{
 				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
+				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
 			}
 		}
 		else
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
+				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
 				ppVtxOut[numVertsOut++] = endVertex;
 			}
 		}
@@ -67,90 +64,81 @@ int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4Cons
 	return numVertsOut;
 }
 
-
-__kernel void   clipFacesAndFindContactsKernel(    __global const b3Float4* separatingNormals,
-                                                   __global const int* hasSeparatingAxis,
-                                                   __global b3Int4* clippingFacesOut,
-                                                   __global b3Float4* worldVertsA1,
-                                                   __global b3Float4* worldNormalsA1,
-                                                   __global b3Float4* worldVertsB1,
-                                                   __global b3Float4* worldVertsB2,
-                                                    int vertexFaceCapacity,
-															int pairIndex
-                                                   )
+__kernel void clipFacesAndFindContactsKernel(__global const b3Float4* separatingNormals,
+											 __global const int* hasSeparatingAxis,
+											 __global b3Int4* clippingFacesOut,
+											 __global b3Float4* worldVertsA1,
+											 __global b3Float4* worldNormalsA1,
+											 __global b3Float4* worldVertsB1,
+											 __global b3Float4* worldVertsB2,
+											 int vertexFaceCapacity,
+											 int pairIndex)
 {
-//    int i = get_global_id(0);
+	//    int i = get_global_id(0);
 	//int pairIndex = i;
 	int i = pairIndex;
-    
+
 	float minDist = -1e30f;
 	float maxDist = 0.02f;
-    
-//	if (i<numPairs)
+
+	//	if (i<numPairs)
 	{
-        
 		if (hasSeparatingAxis[i])
 		{
-            
-//			int bodyIndexA = pairs[i].x;
-	//		int bodyIndexB = pairs[i].y;
-		    
-            int numLocalContactsOut = 0;
-
-            int capacityWorldVertsB2 = vertexFaceCapacity;
-            
-            __global b3Float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];
-            __global b3Float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];
-            
-
-            {
-                __global b3Int4* clippingFaces = clippingFacesOut;
-            
-                
-                int closestFaceA = clippingFaces[pairIndex].x;
-               // int closestFaceB = clippingFaces[pairIndex].y;
-                int numVertsInA = clippingFaces[pairIndex].z;
-                int numVertsInB = clippingFaces[pairIndex].w;
-                
-                int numVertsOut = 0;
-                
-                if (closestFaceA>=0)
-                {
-                    
-                    
-                    
-                    // clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-                    
-                    for(int e0=0;e0<numVertsInA;e0++)
-                    {
-                        const b3Float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];
-                        const b3Float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];
-                        const b3Float4 WorldEdge0 = aw - bw;
-                        b3Float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
-                        b3Float4 planeNormalWS1 = -b3Cross(WorldEdge0,worldPlaneAnormal1);
-                        b3Float4 worldA1 = aw;
-                        float planeEqWS1 = -b3Dot(worldA1,planeNormalWS1);
-                        b3Float4 planeNormalWS = planeNormalWS1;
-                        float planeEqWS=planeEqWS1;
-                        numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);
-                        __global b3Float4* tmp = pVtxOut;
-                        pVtxOut = pVtxIn;
-                        pVtxIn = tmp;
-                        numVertsInB = numVertsOut;
-                        numVertsOut = 0;
-                    }
-                    
-                    b3Float4 planeNormalWS = worldNormalsA1[pairIndex];
-                    float planeEqWS=-b3Dot(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);
-                    
-                    for (int i=0;i<numVertsInB;i++)
-                    {
-                        float depth = b3Dot(planeNormalWS,pVtxIn[i])+planeEqWS;
-                        if (depth <=minDist)
-                        {
-                            depth = minDist;
-                        }
-/*
+			//			int bodyIndexA = pairs[i].x;
+			//		int bodyIndexB = pairs[i].y;
+
+			int numLocalContactsOut = 0;
+
+			int capacityWorldVertsB2 = vertexFaceCapacity;
+
+			__global b3Float4* pVtxIn = &worldVertsB1[pairIndex * capacityWorldVertsB2];
+			__global b3Float4* pVtxOut = &worldVertsB2[pairIndex * capacityWorldVertsB2];
+
+			{
+				__global b3Int4* clippingFaces = clippingFacesOut;
+
+				int closestFaceA = clippingFaces[pairIndex].x;
+				// int closestFaceB = clippingFaces[pairIndex].y;
+				int numVertsInA = clippingFaces[pairIndex].z;
+				int numVertsInB = clippingFaces[pairIndex].w;
+
+				int numVertsOut = 0;
+
+				if (closestFaceA >= 0)
+				{
+					// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
+
+					for (int e0 = 0; e0 < numVertsInA; e0++)
+					{
+						const b3Float4 aw = worldVertsA1[pairIndex * capacityWorldVertsB2 + e0];
+						const b3Float4 bw = worldVertsA1[pairIndex * capacityWorldVertsB2 + ((e0 + 1) % numVertsInA)];
+						const b3Float4 WorldEdge0 = aw - bw;
+						b3Float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
+						b3Float4 planeNormalWS1 = -b3Cross(WorldEdge0, worldPlaneAnormal1);
+						b3Float4 worldA1 = aw;
+						float planeEqWS1 = -b3Dot(worldA1, planeNormalWS1);
+						b3Float4 planeNormalWS = planeNormalWS1;
+						float planeEqWS = planeEqWS1;
+						numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS, planeEqWS, pVtxOut);
+						__global b3Float4* tmp = pVtxOut;
+						pVtxOut = pVtxIn;
+						pVtxIn = tmp;
+						numVertsInB = numVertsOut;
+						numVertsOut = 0;
+					}
+
+					b3Float4 planeNormalWS = worldNormalsA1[pairIndex];
+					float planeEqWS = -b3Dot(planeNormalWS, worldVertsA1[pairIndex * capacityWorldVertsB2]);
+
+					for (int i = 0; i < numVertsInB; i++)
+					{
+						float depth = b3Dot(planeNormalWS, pVtxIn[i]) + planeEqWS;
+						if (depth <= minDist)
+						{
+							depth = minDist;
+						}
+						/*
 						static float maxDepth = 0.f;
 						if (depth < maxDepth)
 						{
@@ -163,26 +151,21 @@ __kernel void   clipFacesAndFindContactsKernel(    __global const b3Float4* sepa
 
 						}
 */
-                        if (depth <=maxDist)
-                        {
-                            b3Float4 pointInWorld = pVtxIn[i];
-                            pVtxOut[numLocalContactsOut++] = b3MakeFloat4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
-                        }
-                    }
-                    
-                }
-                clippingFaces[pairIndex].w =numLocalContactsOut;
-                
-
-            }
-            
-            for (int i=0;i<numLocalContactsOut;i++)
-                pVtxIn[i] = pVtxOut[i];
-                
-		}//		if (hasSeparatingAxis[i])
-	}//	if (i<numPairs)
-    
-}
+						if (depth <= maxDist)
+						{
+							b3Float4 pointInWorld = pVtxIn[i];
+							pVtxOut[numLocalContactsOut++] = b3MakeFloat4(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
+						}
+					}
+				}
+				clippingFaces[pairIndex].w = numLocalContactsOut;
+			}
+
+			for (int i = 0; i < numLocalContactsOut; i++)
+				pVtxIn[i] = pVtxOut[i];
 
-#endif //B3_CLIP_FACES_H
+		}  //		if (hasSeparatingAxis[i])
+	}      //	if (i<numPairs)
+}
 
+#endif  //B3_CLIP_FACES_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
index 77cdc7b7a9..9a8c668af2 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
@@ -2,40 +2,36 @@
 #ifndef B3_COLLIDABLE_H
 #define B3_COLLIDABLE_H
 
-
 #include "Bullet3Common/shared/b3Float4.h"
 #include "Bullet3Common/shared/b3Quat.h"
 
 enum b3ShapeTypes
 {
-	SHAPE_HEIGHT_FIELD=1,
+	SHAPE_HEIGHT_FIELD = 1,
 
-	SHAPE_CONVEX_HULL=3,
-	SHAPE_PLANE=4,
-	SHAPE_CONCAVE_TRIMESH=5,
-	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,
-	SHAPE_SPHERE=7,
+	SHAPE_CONVEX_HULL = 3,
+	SHAPE_PLANE = 4,
+	SHAPE_CONCAVE_TRIMESH = 5,
+	SHAPE_COMPOUND_OF_CONVEX_HULLS = 6,
+	SHAPE_SPHERE = 7,
 	MAX_NUM_SHAPE_TYPES,
 };
 
 typedef struct b3Collidable b3Collidable_t;
 
-
 struct b3Collidable
 {
 	union {
 		int m_numChildShapes;
 		int m_bvhIndex;
 	};
-	union
-	{
+	union {
 		float m_radius;
-		int	m_compoundBvhIndex;
+		int m_compoundBvhIndex;
 	};
 
 	int m_shapeType;
-	union
-	{
+	union {
 		int m_shapeIndex;
 		float m_height;
 	};
@@ -44,33 +40,30 @@ struct b3Collidable
 typedef struct b3GpuChildShape b3GpuChildShape_t;
 struct b3GpuChildShape
 {
-	b3Float4	m_childPosition;
-	b3Quat		m_childOrientation;
-	union
-	{
-		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS
-		int			m_capsuleAxis;
+	b3Float4 m_childPosition;
+	b3Quat m_childOrientation;
+	union {
+		int m_shapeIndex;  //used for SHAPE_COMPOUND_OF_CONVEX_HULLS
+		int m_capsuleAxis;
 	};
-	union 
-	{
-		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES
-		int			m_numChildShapes;//used for compound shape
+	union {
+		float m_radius;        //used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES
+		int m_numChildShapes;  //used for compound shape
 	};
-	union 
-	{
-		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES
-		int	m_collidableShapeIndex;
+	union {
+		float m_height;  //used for childshape of SHAPE_COMPOUND_OF_CAPSULES
+		int m_collidableShapeIndex;
 	};
-	int			m_shapeType;
+	int m_shapeType;
 };
 
 struct b3CompoundOverlappingPair
 {
 	int m_bodyIndexA;
 	int m_bodyIndexB;
-//	int	m_pairType;
+	//	int	m_pairType;
 	int m_childShapeIndexA;
 	int m_childShapeIndexB;
 };
 
-#endif //B3_COLLIDABLE_H
+#endif  //B3_COLLIDABLE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
index dfd45cc566..d5f6daa993 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
@@ -3,26 +3,24 @@
 
 #include "Bullet3Common/shared/b3Float4.h"
 
-typedef  struct b3Contact4Data b3Contact4Data_t;
+typedef struct b3Contact4Data b3Contact4Data_t;
 
 struct b3Contact4Data
 {
-	b3Float4	m_worldPosB[4];
-//	b3Float4	m_localPosA[4];
-//	b3Float4	m_localPosB[4];
-	b3Float4	m_worldNormalOnB;	//	w: m_nPoints
-	unsigned short  m_restituitionCoeffCmp;
-	unsigned short  m_frictionCoeffCmp;
+	b3Float4 m_worldPosB[4];
+	//	b3Float4	m_localPosA[4];
+	//	b3Float4	m_localPosB[4];
+	b3Float4 m_worldNormalOnB;  //	w: m_nPoints
+	unsigned short m_restituitionCoeffCmp;
+	unsigned short m_frictionCoeffCmp;
 	int m_batchIdx;
-	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr
+	int m_bodyAPtrAndSignBit;  //x:m_bodyAPtr, y:m_bodyBPtr
 	int m_bodyBPtrAndSignBit;
 
-	int	m_childIndexA;
-	int	m_childIndexB;
+	int m_childIndexA;
+	int m_childIndexB;
 	int m_unused1;
 	int m_unused2;
-
-
 };
 
 inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)
@@ -35,6 +33,4 @@ inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numP
 	contact->m_worldNormalOnB.w = (float)numPoints;
 };
 
-
-
-#endif //B3_CONTACT4DATA_H
\ No newline at end of file
+#endif  //B3_CONTACT4DATA_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
index f295f01a6c..ca68f4bc4e 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
@@ -2,48 +2,43 @@
 #ifndef B3_CONTACT_CONVEX_CONVEX_SAT_H
 #define B3_CONTACT_CONVEX_CONVEX_SAT_H
 
-
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h"
 
 #define B3_MAX_VERTS 1024
 
-
-
-inline b3Float4 b3Lerp3(const b3Float4& a,const b3Float4& b, float  t)
+inline b3Float4 b3Lerp3(const b3Float4& a, const b3Float4& b, float t)
 {
-	return b3MakeVector3(	a.x + (b.x - a.x) * t,
-						a.y + (b.y - a.y) * t,
-						a.z + (b.z - a.z) * t,
-						0.f);
+	return b3MakeVector3(a.x + (b.x - a.x) * t,
+						 a.y + (b.y - a.y) * t,
+						 a.z + (b.z - a.z) * t,
+						 0.f);
 }
 
-
 // Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS,float planeEqWS, b3Float4* ppVtxOut)
+inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS, float planeEqWS, b3Float4* ppVtxOut)
 {
-	
 	int ve;
 	float ds, de;
 	int numVertsOut = 0;
 	if (numVertsIn < 2)
 		return 0;
 
-	b3Float4 firstVertex=pVtxIn[numVertsIn-1];
+	b3Float4 firstVertex = pVtxIn[numVertsIn - 1];
 	b3Float4 endVertex = pVtxIn[0];
-	
-	ds = b3Dot3F4(planeNormalWS,firstVertex)+planeEqWS;
+
+	ds = b3Dot3F4(planeNormalWS, firstVertex) + planeEqWS;
 
 	for (ve = 0; ve < numVertsIn; ve++)
 	{
-		endVertex=pVtxIn[ve];
+		endVertex = pVtxIn[ve];
 
-		de = b3Dot3F4(planeNormalWS,endVertex)+planeEqWS;
+		de = b3Dot3F4(planeNormalWS, endVertex) + planeEqWS;
 
-		if (ds<0)
+		if (ds < 0)
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start < 0, end < 0, so output endVertex
 				ppVtxOut[numVertsOut++] = endVertex;
@@ -51,15 +46,15 @@ inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNor
 			else
 			{
 				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
+				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
 			}
 		}
 		else
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
+				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
 				ppVtxOut[numVertsOut++] = endVertex;
 			}
 		}
@@ -69,36 +64,35 @@ inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNor
 	return numVertsOut;
 }
 
-
-inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA,  
-	const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1,
-	b3Float4* worldVertsB2, int capacityWorldVertsB2,
-	const float minDist, float maxDist,
-	const b3AlignedObjectArray<b3Float4>& verticesA,	const b3AlignedObjectArray<b3GpuFace>& facesA,	const b3AlignedObjectArray<int>& indicesA,
-	//const b3Float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
-	b3Float4* contactsOut,
-	int contactCapacity)
+inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA,
+								 const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1,
+								 b3Float4* worldVertsB2, int capacityWorldVertsB2,
+								 const float minDist, float maxDist,
+								 const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
+								 //const b3Float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
+								 b3Float4* contactsOut,
+								 int contactCapacity)
 {
 	int numContactsOut = 0;
 
 	b3Float4* pVtxIn = worldVertsB1;
 	b3Float4* pVtxOut = worldVertsB2;
-	
+
 	int numVertsIn = numWorldVertsB1;
 	int numVertsOut = 0;
 
-	int closestFaceA=-1;
+	int closestFaceA = -1;
 	{
 		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
+		for (int face = 0; face < hullA->m_numFaces; face++)
 		{
 			const b3Float4 Normal = b3MakeVector3(
-				facesA[hullA->m_faceOffset+face].m_plane.x, 
-				facesA[hullA->m_faceOffset+face].m_plane.y, 
-				facesA[hullA->m_faceOffset+face].m_plane.z,0.f);
-			const b3Float4 faceANormalWS = b3QuatRotate(ornA,Normal);
-		
-			float d = b3Dot3F4(faceANormalWS,separatingNormal);
+				facesA[hullA->m_faceOffset + face].m_plane.x,
+				facesA[hullA->m_faceOffset + face].m_plane.y,
+				facesA[hullA->m_faceOffset + face].m_plane.z, 0.f);
+			const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
+
+			float d = b3Dot3F4(faceANormalWS, separatingNormal);
 			if (d < dmin)
 			{
 				dmin = d;
@@ -106,33 +100,33 @@ inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3Conve
 			}
 		}
 	}
-	if (closestFaceA<0)
+	if (closestFaceA < 0)
 		return numContactsOut;
 
-	b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
+	b3GpuFace polyA = facesA[hullA->m_faceOffset + closestFaceA];
 
 	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
 	//int numContacts = numWorldVertsB1;
 	int numVerticesA = polyA.m_numIndices;
-	for(int e0=0;e0<numVerticesA;e0++)
+	for (int e0 = 0; e0 < numVerticesA; e0++)
 	{
-		const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];
-		const b3Float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
+		const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + e0]];
+		const b3Float4 b = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + ((e0 + 1) % numVerticesA)]];
 		const b3Float4 edge0 = a - b;
-		const b3Float4 WorldEdge0 = b3QuatRotate(ornA,edge0);
-		b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
-		b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA,planeNormalA);
-
-		b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0,worldPlaneAnormal1);
-		b3Float4 worldA1 = b3TransformPoint(a,posA,ornA);
-		float planeEqWS1 = -b3Dot3F4(worldA1,planeNormalWS1);
-		
+		const b3Float4 WorldEdge0 = b3QuatRotate(ornA, edge0);
+		b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
+		b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA, planeNormalA);
+
+		b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0, worldPlaneAnormal1);
+		b3Float4 worldA1 = b3TransformPoint(a, posA, ornA);
+		float planeEqWS1 = -b3Dot3F4(worldA1, planeNormalWS1);
+
 		b3Float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS=planeEqWS1;
-		
+		float planeEqWS = planeEqWS1;
+
 		//clip face
 		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
+		numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS, planeEqWS, pVtxOut);
 
 		//btSwap(pVtxIn,pVtxOut);
 		b3Float4* tmp = pVtxOut;
@@ -142,32 +136,32 @@ inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3Conve
 		numVertsOut = 0;
 	}
 
-	
 	// only keep points that are behind the witness face
 	{
-		b3Float4 localPlaneNormal  = b3MakeFloat4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
+		b3Float4 localPlaneNormal = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
 		float localPlaneEq = polyA.m_plane.w;
-		b3Float4 planeNormalWS = b3QuatRotate(ornA,localPlaneNormal);
-		float planeEqWS=localPlaneEq-b3Dot3F4(planeNormalWS,posA);
-		for (int i=0;i<numVertsIn;i++)
+		b3Float4 planeNormalWS = b3QuatRotate(ornA, localPlaneNormal);
+		float planeEqWS = localPlaneEq - b3Dot3F4(planeNormalWS, posA);
+		for (int i = 0; i < numVertsIn; i++)
 		{
-			float depth = b3Dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
-			if (depth <=minDist)
+			float depth = b3Dot3F4(planeNormalWS, pVtxIn[i]) + planeEqWS;
+			if (depth <= minDist)
 			{
 				depth = minDist;
 			}
-			if (numContactsOut<contactCapacity)
+			if (numContactsOut < contactCapacity)
 			{
-				if (depth <=maxDist)
+				if (depth <= maxDist)
 				{
 					b3Float4 pointInWorld = pVtxIn[i];
 					//resultOut.addContactPoint(separatingNormal,point,depth);
-					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
+					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
 					//printf("depth=%f\n",depth);
 				}
-			} else
+			}
+			else
 			{
-				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut,contactCapacity);
+				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut, contactCapacity);
 			}
 		}
 	}
@@ -175,62 +169,60 @@ inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3Conve
 	return numContactsOut;
 }
 
+inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal,
+								 const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+								 const b3Float4& posA, const b3Quaternion& ornA, const b3Float4& posB, const b3Quaternion& ornB,
+								 b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts,
+								 const float minDist, float maxDist,
+								 const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
+								 const b3AlignedObjectArray<b3Float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB,
 
-
-inline int	b3ClipHullAgainstHull(const b3Float4& separatingNormal, 
-	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const b3Float4& posA, const b3Quaternion& ornA,const b3Float4& posB, const b3Quaternion& ornB, 
-	b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts,
-	const float minDist, float maxDist,
-	const b3AlignedObjectArray<b3Float4>& verticesA,	const b3AlignedObjectArray<b3GpuFace>& facesA,	const b3AlignedObjectArray<int>& indicesA,
-	const b3AlignedObjectArray<b3Float4>& verticesB,	const b3AlignedObjectArray<b3GpuFace>& facesB,	const b3AlignedObjectArray<int>& indicesB,
-
-	b3Float4*	contactsOut,
-	int contactCapacity)
+								 b3Float4* contactsOut,
+								 int contactCapacity)
 {
 	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-	
+	int numWorldVertsB1 = 0;
+
 	B3_PROFILE("clipHullAgainstHull");
 
 	//float curMaxDist=maxDist;
-	int closestFaceB=-1;
+	int closestFaceB = -1;
 	float dmax = -FLT_MAX;
 
 	{
 		//B3_PROFILE("closestFaceB");
-		if (hullB.m_numFaces!=1)
+		if (hullB.m_numFaces != 1)
 		{
 			//printf("wtf\n");
 		}
 		static bool once = true;
 		//printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z);
-		
-		for(int face=0;face<hullB.m_numFaces;face++)
+
+		for (int face = 0; face < hullB.m_numFaces; face++)
 		{
 #ifdef BT_DEBUG_SAT_FACE
 			if (once)
-				printf("face %d\n",face);
-			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset+face];
+				printf("face %d\n", face);
+			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset + face];
 			if (once)
 			{
-				for (int i=0;i<faceB->m_numIndices;i++)
+				for (int i = 0; i < faceB->m_numIndices; i++)
 				{
-					b3Float4 vert = verticesB[hullB.m_vertexOffset+indicesB[faceB->m_indexOffset+i]];
-					printf("vert[%d] = %f,%f,%f\n",i,vert.x,vert.y,vert.z);
+					b3Float4 vert = verticesB[hullB.m_vertexOffset + indicesB[faceB->m_indexOffset + i]];
+					printf("vert[%d] = %f,%f,%f\n", i, vert.x, vert.y, vert.z);
 				}
 			}
-#endif //BT_DEBUG_SAT_FACE
-			//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
+#endif  //BT_DEBUG_SAT_FACE \
+	//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
 			{
-				const b3Float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset+face].m_plane.x, 
-					facesB[hullB.m_faceOffset+face].m_plane.y, facesB[hullB.m_faceOffset+face].m_plane.z,0.f);
+				const b3Float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset + face].m_plane.x,
+													  facesB[hullB.m_faceOffset + face].m_plane.y, facesB[hullB.m_faceOffset + face].m_plane.z, 0.f);
 				const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
 #ifdef BT_DEBUG_SAT_FACE
 				if (once)
-					printf("faceNormal = %f,%f,%f\n",Normal.x,Normal.y,Normal.z);
+					printf("faceNormal = %f,%f,%f\n", Normal.x, Normal.y, Normal.z);
 #endif
-				float d = b3Dot3F4(WorldNormal,separatingNormal);
+				float d = b3Dot3F4(WorldNormal, separatingNormal);
 				if (d > dmax)
 				{
 					dmax = d;
@@ -241,79 +233,73 @@ inline int	b3ClipHullAgainstHull(const b3Float4& separatingNormal,
 		once = false;
 	}
 
-	
-	b3Assert(closestFaceB>=0);
+	b3Assert(closestFaceB >= 0);
 	{
 		//B3_PROFILE("worldVertsB1");
-		const b3GpuFace& polyB = facesB[hullB.m_faceOffset+closestFaceB];
+		const b3GpuFace& polyB = facesB[hullB.m_faceOffset + closestFaceB];
 		const int numVertices = polyB.m_numIndices;
-		for(int e0=0;e0<numVertices;e0++)
+		for (int e0 = 0; e0 < numVertices; e0++)
 		{
-			const b3Float4& b = verticesB[hullB.m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
-			worldVertsB1[numWorldVertsB1++] = b3TransformPoint(b,posB,ornB);
+			const b3Float4& b = verticesB[hullB.m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
+			worldVertsB1[numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
 		}
 	}
 
-	if (closestFaceB>=0)
+	if (closestFaceB >= 0)
 	{
 		//B3_PROFILE("clipFaceAgainstHull");
-		numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA, 
-				posA,ornA,
-				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,
-				verticesA,				facesA,				indicesA,
-				contactsOut,contactCapacity);
+		numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA,
+											   posA, ornA,
+											   worldVertsB1, numWorldVertsB1, worldVertsB2, capacityWorldVerts, minDist, maxDist,
+											   verticesA, facesA, indicesA,
+											   contactsOut, contactCapacity);
 	}
 
 	return numContactsOut;
 }
 
-
-
-
 inline int b3ClipHullHullSingle(
-			int bodyIndexA, int bodyIndexB,
-										 const b3Float4& posA,
-										 const b3Quaternion& ornA,
-										 const b3Float4& posB,
-										 const b3Quaternion& ornB,
-
-			int collidableIndexA, int collidableIndexB,
-
-			const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf, 
-			b3AlignedObjectArray<b3Contact4Data>* globalContactOut, 
-			int& nContacts,
-			
-			const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
-			const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
-	
-			const b3AlignedObjectArray<b3Vector3>& verticesA, 
-			const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, 
-			const b3AlignedObjectArray<b3GpuFace>& facesA,
-			const b3AlignedObjectArray<int>& indicesA,
-	
-			const b3AlignedObjectArray<b3Vector3>& verticesB,
-			const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-			const b3AlignedObjectArray<b3GpuFace>& facesB,
-			const b3AlignedObjectArray<int>& indicesB,
-
-			const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
-			const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
-			const b3Vector3& sepNormalWorldSpace,
-			int maxContactCapacity			)
+	int bodyIndexA, int bodyIndexB,
+	const b3Float4& posA,
+	const b3Quaternion& ornA,
+	const b3Float4& posB,
+	const b3Quaternion& ornB,
+
+	int collidableIndexA, int collidableIndexB,
+
+	const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf,
+	b3AlignedObjectArray<b3Contact4Data>* globalContactOut,
+	int& nContacts,
+
+	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
+	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
+
+	const b3AlignedObjectArray<b3Vector3>& verticesA,
+	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
+	const b3AlignedObjectArray<b3GpuFace>& facesA,
+	const b3AlignedObjectArray<int>& indicesA,
+
+	const b3AlignedObjectArray<b3Vector3>& verticesB,
+	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
+	const b3AlignedObjectArray<b3GpuFace>& facesB,
+	const b3AlignedObjectArray<int>& indicesB,
+
+	const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
+	const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
+	const b3Vector3& sepNormalWorldSpace,
+	int maxContactCapacity)
 {
 	int contactIndex = -1;
 	b3ConvexPolyhedronData hullA, hullB;
-    
-    b3Collidable colA = hostCollidablesA[collidableIndexA];
-    hullA = hostConvexDataA[colA.m_shapeIndex];
-    //printf("numvertsA = %d\n",hullA.m_numVertices);
-    
-    
-    b3Collidable colB = hostCollidablesB[collidableIndexB];
-    hullB = hostConvexDataB[colB.m_shapeIndex];
-    //printf("numvertsB = %d\n",hullB.m_numVertices);
-    
-	
+
+	b3Collidable colA = hostCollidablesA[collidableIndexA];
+	hullA = hostConvexDataA[colA.m_shapeIndex];
+	//printf("numvertsA = %d\n",hullA.m_numVertices);
+
+	b3Collidable colB = hostCollidablesB[collidableIndexB];
+	hullB = hostConvexDataB[colB.m_shapeIndex];
+	//printf("numvertsB = %d\n",hullB.m_numVertices);
+
 	b3Float4 contactsOut[B3_MAX_VERTS];
 	int localContactCapacity = B3_MAX_VERTS;
 
@@ -321,187 +307,168 @@ inline int b3ClipHullHullSingle(
 	b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x));
 	b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x));
 #endif
-	
-	
+
 	{
-		
 		b3Float4 worldVertsB1[B3_MAX_VERTS];
 		b3Float4 worldVertsB2[B3_MAX_VERTS];
 		int capacityWorldVerts = B3_MAX_VERTS;
 
-		b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z,0.f);
+		b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x, sepNormalWorldSpace.y, sepNormalWorldSpace.z, 0.f);
 		int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
 		int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
 
 		b3Scalar minDist = -1;
 		b3Scalar maxDist = 0.;
 
-		        
-
-		b3Transform trA,trB;
+		b3Transform trA, trB;
 		{
-		//B3_PROFILE("b3TransformPoint computation");
-		//trA.setIdentity();
-		trA.setOrigin(b3MakeVector3(posA.x,posA.y,posA.z));
-		trA.setRotation(b3Quaternion(ornA.x,ornA.y,ornA.z,ornA.w));
-				
-		//trB.setIdentity();
-		trB.setOrigin(b3MakeVector3(posB.x,posB.y,posB.z));
-		trB.setRotation(b3Quaternion(ornB.x,ornB.y,ornB.z,ornB.w));
+			//B3_PROFILE("b3TransformPoint computation");
+			//trA.setIdentity();
+			trA.setOrigin(b3MakeVector3(posA.x, posA.y, posA.z));
+			trA.setRotation(b3Quaternion(ornA.x, ornA.y, ornA.z, ornA.w));
+
+			//trB.setIdentity();
+			trB.setOrigin(b3MakeVector3(posB.x, posB.y, posB.z));
+			trB.setRotation(b3Quaternion(ornB.x, ornB.y, ornB.z, ornB.w));
 		}
 
 		b3Quaternion trAorn = trA.getRotation();
-        b3Quaternion trBorn = trB.getRotation();
-        
-		int numContactsOut = b3ClipHullAgainstHull(hostNormal, 
-						hostConvexDataA.at(shapeA), 
-						hostConvexDataB.at(shapeB),
-								(b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
-								(b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
-								worldVertsB1,worldVertsB2,capacityWorldVerts,
-								minDist, maxDist,
-								verticesA,	facesA,indicesA,
-								verticesB,	facesB,indicesB,
-								
-								contactsOut,localContactCapacity);
-
-		if (numContactsOut>0)
+		b3Quaternion trBorn = trB.getRotation();
+
+		int numContactsOut = b3ClipHullAgainstHull(hostNormal,
+												   hostConvexDataA.at(shapeA),
+												   hostConvexDataB.at(shapeB),
+												   (b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
+												   (b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
+												   worldVertsB1, worldVertsB2, capacityWorldVerts,
+												   minDist, maxDist,
+												   verticesA, facesA, indicesA,
+												   verticesB, facesB, indicesB,
+
+												   contactsOut, localContactCapacity);
+
+		if (numContactsOut > 0)
 		{
 			B3_PROFILE("overlap");
 
 			b3Float4 normalOnSurfaceB = (b3Float4&)hostNormal;
-//			b3Float4 centerOut;
-			
+			//			b3Float4 centerOut;
+
 			b3Int4 contactIdx;
 			contactIdx.x = 0;
 			contactIdx.y = 1;
 			contactIdx.z = 2;
 			contactIdx.w = 3;
-			
+
 			int numPoints = 0;
-					
+
 			{
 				B3_PROFILE("extractManifold");
-				numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB,  &contactIdx);
+				numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
 			}
-					
+
 			b3Assert(numPoints);
-					
-			if (nContacts<maxContactCapacity)
+
+			if (nContacts < maxContactCapacity)
 			{
 				contactIndex = nContacts;
 				globalContactOut->expand();
 				b3Contact4Data& contact = globalContactOut->at(nContacts);
-				contact.m_batchIdx = 0;//i;
-				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
-				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
+				contact.m_batchIdx = 0;  //i;
+				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
+				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
 
 				contact.m_frictionCoeffCmp = 45874;
 				contact.m_restituitionCoeffCmp = 0;
-					
-			//	float distance = 0.f;
-				for (int p=0;p<numPoints;p++)
+
+				//	float distance = 0.f;
+				for (int p = 0; p < numPoints; p++)
 				{
-					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
-					contact.m_worldNormalOnB = normalOnSurfaceB; 
+					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];  //check if it is actually on B
+					contact.m_worldNormalOnB = normalOnSurfaceB;
 				}
 				//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
 				contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
 				nContacts++;
-			} else
+			}
+			else
 			{
-				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts,maxContactCapacity);
+				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
 			}
 		}
 	}
 	return contactIndex;
 }
 
-	
-
-
-
 inline int b3ContactConvexConvexSAT(
-																int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies, 
-																const b3AlignedObjectArray<b3Collidable>& collidables,
-																const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
-																const b3AlignedObjectArray<b3Float4>& convexVertices,
-																const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-																const b3AlignedObjectArray<int>& convexIndices,
-																const b3AlignedObjectArray<b3GpuFace>& faces,
-																b3AlignedObjectArray<b3Contact4Data>& globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity)
+	int pairIndex,
+	int bodyIndexA, int bodyIndexB,
+	int collidableIndexA, int collidableIndexB,
+	const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies,
+	const b3AlignedObjectArray<b3Collidable>& collidables,
+	const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
+	const b3AlignedObjectArray<b3Float4>& convexVertices,
+	const b3AlignedObjectArray<b3Float4>& uniqueEdges,
+	const b3AlignedObjectArray<int>& convexIndices,
+	const b3AlignedObjectArray<b3GpuFace>& faces,
+	b3AlignedObjectArray<b3Contact4Data>& globalContactsOut,
+	int& nGlobalContactsOut,
+	int maxContactCapacity)
 {
 	int contactIndex = -1;
 
-
 	b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
 	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
 	b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
 	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-	
 
 	b3ConvexPolyhedronData hullA, hullB;
-    
-	b3Float4 sepNormalWorldSpace;
 
-	
+	b3Float4 sepNormalWorldSpace;
 
-    b3Collidable colA = collidables[collidableIndexA];
-    hullA = convexShapes[colA.m_shapeIndex];
-    //printf("numvertsA = %d\n",hullA.m_numVertices);
-    
-    
-    b3Collidable colB = collidables[collidableIndexB];
-    hullB = convexShapes[colB.m_shapeIndex];
-    //printf("numvertsB = %d\n",hullB.m_numVertices);
-    
-	
+	b3Collidable colA = collidables[collidableIndexA];
+	hullA = convexShapes[colA.m_shapeIndex];
+	//printf("numvertsA = %d\n",hullA.m_numVertices);
 
+	b3Collidable colB = collidables[collidableIndexB];
+	hullB = convexShapes[colB.m_shapeIndex];
+	//printf("numvertsB = %d\n",hullB.m_numVertices);
 
 #ifdef _WIN32
 	b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x));
 	b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x));
 #endif
-	
-		bool foundSepAxis = b3FindSeparatingAxis(hullA,hullB,
-							posA,
-							ornA,
-							posB,
-							ornB,
-
-							convexVertices,uniqueEdges,faces,convexIndices,
-							convexVertices,uniqueEdges,faces,convexIndices,
-							
-							sepNormalWorldSpace
-							);
-
-	
+
+	bool foundSepAxis = b3FindSeparatingAxis(hullA, hullB,
+											 posA,
+											 ornA,
+											 posB,
+											 ornB,
+
+											 convexVertices, uniqueEdges, faces, convexIndices,
+											 convexVertices, uniqueEdges, faces, convexIndices,
+
+											 sepNormalWorldSpace);
+
 	if (foundSepAxis)
 	{
-		
-		
 		contactIndex = b3ClipHullHullSingle(
 			bodyIndexA, bodyIndexB,
-						   posA,ornA,
-						   posB,ornB,
+			posA, ornA,
+			posB, ornB,
 			collidableIndexA, collidableIndexB,
-			&rigidBodies, 
+			&rigidBodies,
 			&globalContactsOut,
 			nGlobalContactsOut,
-			
+
 			convexShapes,
 			convexShapes,
-	
-			convexVertices, 
-			uniqueEdges, 
+
+			convexVertices,
+			uniqueEdges,
 			faces,
 			convexIndices,
-	
+
 			convexVertices,
 			uniqueEdges,
 			faces,
@@ -511,10 +478,9 @@ inline int b3ContactConvexConvexSAT(
 			collidables,
 			sepNormalWorldSpace,
 			maxContactCapacity);
-			
 	}
 
 	return contactIndex;
 }
 
-#endif //B3_CONTACT_CONVEX_CONVEX_SAT_H
+#endif  //B3_CONTACT_CONVEX_CONVEX_SAT_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h
index a3fa82287b..acf7c1b180 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h
@@ -2,32 +2,24 @@
 #ifndef B3_CONTACT_SPHERE_SPHERE_H
 #define B3_CONTACT_SPHERE_SPHERE_H
 
-
-
-
-
-void	computeContactSphereConvex(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3RigidBodyData* rigidBodies, 
-																const b3Collidable* collidables,
-																const b3ConvexPolyhedronData* convexShapes,
-																const b3Vector3* convexVertices,
-																const int* convexIndices,
-																const b3GpuFace* faces,
-																b3Contact4* globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity)
+void computeContactSphereConvex(int pairIndex,
+								int bodyIndexA, int bodyIndexB,
+								int collidableIndexA, int collidableIndexB,
+								const b3RigidBodyData* rigidBodies,
+								const b3Collidable* collidables,
+								const b3ConvexPolyhedronData* convexShapes,
+								const b3Vector3* convexVertices,
+								const int* convexIndices,
+								const b3GpuFace* faces,
+								b3Contact4* globalContactsOut,
+								int& nGlobalContactsOut,
+								int maxContactCapacity)
 {
-
 	float radius = collidables[collidableIndexA].m_radius;
 	float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
 	b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
 
-
-
 	float4 pos = rigidBodies[bodyIndexB].m_pos;
-	
 
 	b3Quaternion quat = rigidBodies[bodyIndexB].m_quat;
 
@@ -44,63 +36,64 @@ void	computeContactSphereConvex(int pairIndex,
 	int numFaces = convexShapes[shapeIndex].m_numFaces;
 	float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
 	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
-	float minDist = -1000000.f; // TODO: What is the largest/smallest float?
+	float minDist = -1000000.f;  // TODO: What is the largest/smallest float?
 	bool bCollide = true;
 	int region = -1;
 	float4 localHitNormal;
-	for ( int f = 0; f < numFaces; f++ )
+	for (int f = 0; f < numFaces; f++)
 	{
-		b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
+		b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f];
 		float4 planeEqn;
-		float4 localPlaneNormal = b3MakeVector3(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-		float4 n1 = localPlaneNormal;//quatRotate(quat,localPlaneNormal);
+		float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
+		float4 n1 = localPlaneNormal;  //quatRotate(quat,localPlaneNormal);
 		planeEqn = n1;
 		planeEqn[3] = face.m_plane.w;
 
 		float4 pntReturn;
 		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
 
-		if ( dist > radius)
+		if (dist > radius)
 		{
 			bCollide = false;
 			break;
 		}
 
-		if ( dist > 0 )
+		if (dist > 0)
 		{
 			//might hit an edge or vertex
 			b3Vector3 out;
 
 			bool isInPoly = IsPointInPolygon(spherePos,
-					&face,
-					&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
-					convexIndices,
-                    &out);
+											 &face,
+											 &convexVertices[convexShapes[shapeIndex].m_vertexOffset],
+											 convexIndices,
+											 &out);
 			if (isInPoly)
 			{
-				if (dist>minDist)
+				if (dist > minDist)
 				{
 					minDist = dist;
 					closestPnt = pntReturn;
 					localHitNormal = planeEqn;
-					region=1;
+					region = 1;
 				}
-			} else
+			}
+			else
 			{
-				b3Vector3 tmp = spherePos-out;
+				b3Vector3 tmp = spherePos - out;
 				b3Scalar l2 = tmp.length2();
-				if (l2<radius*radius)
+				if (l2 < radius * radius)
 				{
-					dist  = b3Sqrt(l2);
-					if (dist>minDist)
+					dist = b3Sqrt(l2);
+					if (dist > minDist)
 					{
 						minDist = dist;
 						closestPnt = out;
-						localHitNormal = tmp/dist;
-						region=2;
+						localHitNormal = tmp / dist;
+						region = 2;
 					}
-					
-				} else
+				}
+				else
 				{
 					bCollide = false;
 					break;
@@ -109,12 +102,12 @@ void	computeContactSphereConvex(int pairIndex,
 		}
 		else
 		{
-			if ( dist > minDist )
+			if (dist > minDist)
 			{
 				minDist = dist;
 				closestPnt = pntReturn;
 				localHitNormal = planeEqn;
-				region=3;
+				region = 3;
 			}
 		}
 	}
@@ -123,40 +116,38 @@ void	computeContactSphereConvex(int pairIndex,
 
 	if (bCollide && minDist > -10000)
 	{
-		
-		float4 normalOnSurfaceB1 = tr.getBasis()*localHitNormal;//-hitNormalWorld;
+		float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal;  //-hitNormalWorld;
 		float4 pOnB1 = tr(closestPnt);
 		//printf("dist ,%f,",minDist);
-		float actualDepth = minDist-radius;
-		if (actualDepth<0)
-		{
-		//printf("actualDepth = ,%f,", actualDepth);
-		//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
-		//printf("region=,%d,\n", region);
-		pOnB1[3] = actualDepth;
-
-		int dstIdx;
-//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-		
-		if (nGlobalContactsOut < maxContactCapacity)
+		float actualDepth = minDist - radius;
+		if (actualDepth < 0)
 		{
-			dstIdx=nGlobalContactsOut;
-			nGlobalContactsOut++;
-
-			b3Contact4* c = &globalContactsOut[dstIdx];
-			c->m_worldNormalOnB = normalOnSurfaceB1;
-			c->setFrictionCoeff(0.7);
-			c->setRestituitionCoeff(0.f);
-
-			c->m_batchIdx = pairIndex;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-			c->m_worldPosB[0] = pOnB1;
-			int numPoints = 1;
-			c->m_worldNormalOnB.w = (b3Scalar)numPoints;
-		}//if (dstIdx < numPairs)
+			//printf("actualDepth = ,%f,", actualDepth);
+			//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
+			//printf("region=,%d,\n", region);
+			pOnB1[3] = actualDepth;
+
+			int dstIdx;
+			//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
+
+			if (nGlobalContactsOut < maxContactCapacity)
+			{
+				dstIdx = nGlobalContactsOut;
+				nGlobalContactsOut++;
+
+				b3Contact4* c = &globalContactsOut[dstIdx];
+				c->m_worldNormalOnB = normalOnSurfaceB1;
+				c->setFrictionCoeff(0.7);
+				c->setRestituitionCoeff(0.f);
+
+				c->m_batchIdx = pairIndex;
+				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
+				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
+				c->m_worldPosB[0] = pOnB1;
+				int numPoints = 1;
+				c->m_worldNormalOnB.w = (b3Scalar)numPoints;
+			}  //if (dstIdx < numPairs)
 		}
-	}//if (hasCollision)
-	
+	}  //if (hasCollision)
 }
-#endif //B3_CONTACT_SPHERE_SPHERE_H
+#endif  //B3_CONTACT_SPHERE_SPHERE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
index 5c5f4e297f..d5a73bd4f5 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
@@ -2,8 +2,6 @@
 #ifndef B3_CONVEX_POLYHEDRON_DATA_H
 #define B3_CONVEX_POLYHEDRON_DATA_H
 
-
-
 #include "Bullet3Common/shared/b3Float4.h"
 #include "Bullet3Common/shared/b3Quat.h"
 
@@ -21,20 +19,20 @@ typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;
 
 struct b3ConvexPolyhedronData
 {
-	b3Float4		m_localCenter;
-	b3Float4		m_extents;
-	b3Float4		mC;
-	b3Float4		mE;
+	b3Float4 m_localCenter;
+	b3Float4 m_extents;
+	b3Float4 mC;
+	b3Float4 mE;
 
-	float			m_radius;
-	int	m_faceOffset;
+	float m_radius;
+	int m_faceOffset;
 	int m_numFaces;
-	int	m_numVertices;
+	int m_numVertices;
 
 	int m_vertexOffset;
-	int	m_uniqueEdgesOffset;
-	int	m_numUniqueEdges;
+	int m_uniqueEdgesOffset;
+	int m_numUniqueEdges;
 	int m_unused;
 };
 
-#endif //B3_CONVEX_POLYHEDRON_DATA_H
+#endif  //B3_CONVEX_POLYHEDRON_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
index 89993f3565..983554eb2e 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
@@ -3,7 +3,6 @@
 
 #define B3_TRIANGLE_NUM_CONVEX_FACES 5
 
-
 #include "Bullet3Common/shared/b3Int4.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
@@ -12,25 +11,24 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 
-
-inline void b3Project(__global const b3ConvexPolyhedronData* hull,  b3Float4ConstArg pos, b3QuatConstArg orn, 
-const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
+inline void b3Project(__global const b3ConvexPolyhedronData* hull, b3Float4ConstArg pos, b3QuatConstArg orn,
+					  const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
 {
 	min[0] = FLT_MAX;
 	max[0] = -FLT_MAX;
 	int numVerts = hull->m_numVertices;
 
-	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),*dir);
-	float offset = b3Dot(pos,*dir);
-	for(int i=0;i<numVerts;i++)
+	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), *dir);
+	float offset = b3Dot(pos, *dir);
+	for (int i = 0; i < numVerts; i++)
 	{
-		float dp = b3Dot(vertices[hull->m_vertexOffset+i],localDir);
-		if(dp < min[0])	
+		float dp = b3Dot(vertices[hull->m_vertexOffset + i], localDir);
+		if (dp < min[0])
 			min[0] = dp;
-		if(dp > max[0])	
+		if (dp > max[0])
 			max[0] = dp;
 	}
-	if(min[0]>max[0])
+	if (min[0] > max[0])
 	{
 		float tmp = min[0];
 		min[0] = max[0];
@@ -40,53 +38,49 @@ const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
 	max[0] += offset;
 }
 
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
-	b3Float4ConstArg posA,b3QuatConstArg ornA,
-	b3Float4ConstArg posB,b3QuatConstArg ornB,
-	b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB,float* depth)
+inline bool b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
+						  b3Float4ConstArg posA, b3QuatConstArg ornA,
+						  b3Float4ConstArg posB, b3QuatConstArg ornB,
+						  b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB, float* depth)
 {
-	float Min0,Max0;
-	float Min1,Max1;
-	b3Project(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);
-	b3Project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);
+	float Min0, Max0;
+	float Min1, Max1;
+	b3Project(hullA, posA, ornA, sep_axis, verticesA, &Min0, &Max0);
+	b3Project(hullB, posB, ornB, sep_axis, verticesB, &Min1, &Max1);
 
-	if(Max0<Min1 || Max1<Min0)
+	if (Max0 < Min1 || Max1 < Min0)
 		return false;
 
 	float d0 = Max0 - Min1;
 	float d1 = Max1 - Min0;
-	*depth = d0<d1 ? d0:d1;
+	*depth = d0 < d1 ? d0 : d1;
 	return true;
 }
 
-
-bool b3FindSeparatingAxis(	const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
-	b3Float4ConstArg posA1,
-	b3QuatConstArg ornA,
-	b3Float4ConstArg posB1,
-	b3QuatConstArg ornB,
-	b3Float4ConstArg DeltaC2,
-	
-	const b3Float4* verticesA, 
-	const b3Float4* uniqueEdgesA, 
-	const b3GpuFace* facesA,
-	const int*  indicesA,
-
-	__global const b3Float4* verticesB, 
-	__global const b3Float4* uniqueEdgesB, 
-	__global const b3GpuFace* facesB,
-	__global const int*  indicesB,
-	b3Float4* sep,
-	float* dmin)
+bool b3FindSeparatingAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
+						  b3Float4ConstArg posA1,
+						  b3QuatConstArg ornA,
+						  b3Float4ConstArg posB1,
+						  b3QuatConstArg ornB,
+						  b3Float4ConstArg DeltaC2,
+
+						  const b3Float4* verticesA,
+						  const b3Float4* uniqueEdgesA,
+						  const b3GpuFace* facesA,
+						  const int* indicesA,
+
+						  __global const b3Float4* verticesB,
+						  __global const b3Float4* uniqueEdgesB,
+						  __global const b3GpuFace* facesB,
+						  __global const int* indicesB,
+						  b3Float4* sep,
+						  float* dmin)
 {
-	
-
 	b3Float4 posA = posA1;
 	posA.w = 0.f;
 	b3Float4 posB = posB1;
 	posB.w = 0.f;
-/*
+	/*
 	static int maxFaceVertex = 0;
 
 	int curFaceVertexAB = hullA->m_numFaces*hullB->m_numVertices;
@@ -102,300 +96,289 @@ bool b3FindSeparatingAxis(	const b3ConvexPolyhedronData* hullA, __global const b
 	}
 */
 
-	int curPlaneTests=0;
+	int curPlaneTests = 0;
 	{
 		int numFacesA = hullA->m_numFaces;
 		// Test normals from hullA
-		for(int i=0;i<numFacesA;i++)
+		for (int i = 0; i < numFacesA; i++)
 		{
-			const b3Float4 normal = facesA[hullA->m_faceOffset+i].m_plane;
-			b3Float4 faceANormalWS = b3QuatRotate(ornA,normal);
-			if (b3Dot(DeltaC2,faceANormalWS)<0)
-				faceANormalWS*=-1.f;
+			const b3Float4 normal = facesA[hullA->m_faceOffset + i].m_plane;
+			b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
+			if (b3Dot(DeltaC2, faceANormalWS) < 0)
+				faceANormalWS *= -1.f;
 			curPlaneTests++;
 			float d;
-			if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))
+			if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, &faceANormalWS, verticesA, verticesB, &d))
 				return false;
-			if(d<*dmin)
+			if (d < *dmin)
 			{
 				*dmin = d;
 				*sep = faceANormalWS;
 			}
 		}
 	}
-	if((b3Dot(-DeltaC2,*sep))>0.0f)
+	if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
 	{
 		*sep = -(*sep);
 	}
 	return true;
 }
 
-
-b3Vector3 unitSphere162[]=
-{
-	b3MakeVector3(0.000000,-1.000000,0.000000),
-b3MakeVector3(0.203181,-0.967950,0.147618),
-b3MakeVector3(-0.077607,-0.967950,0.238853),
-b3MakeVector3(0.723607,-0.447220,0.525725),
-b3MakeVector3(0.609547,-0.657519,0.442856),
-b3MakeVector3(0.812729,-0.502301,0.295238),
-b3MakeVector3(-0.251147,-0.967949,0.000000),
-b3MakeVector3(-0.077607,-0.967950,-0.238853),
-b3MakeVector3(0.203181,-0.967950,-0.147618),
-b3MakeVector3(0.860698,-0.251151,0.442858),
-b3MakeVector3(-0.276388,-0.447220,0.850649),
-b3MakeVector3(-0.029639,-0.502302,0.864184),
-b3MakeVector3(-0.155215,-0.251152,0.955422),
-b3MakeVector3(-0.894426,-0.447216,0.000000),
-b3MakeVector3(-0.831051,-0.502299,0.238853),
-b3MakeVector3(-0.956626,-0.251149,0.147618),
-b3MakeVector3(-0.276388,-0.447220,-0.850649),
-b3MakeVector3(-0.483971,-0.502302,-0.716565),
-b3MakeVector3(-0.436007,-0.251152,-0.864188),
-b3MakeVector3(0.723607,-0.447220,-0.525725),
-b3MakeVector3(0.531941,-0.502302,-0.681712),
-b3MakeVector3(0.687159,-0.251152,-0.681715),
-b3MakeVector3(0.687159,-0.251152,0.681715),
-b3MakeVector3(-0.436007,-0.251152,0.864188),
-b3MakeVector3(-0.956626,-0.251149,-0.147618),
-b3MakeVector3(-0.155215,-0.251152,-0.955422),
-b3MakeVector3(0.860698,-0.251151,-0.442858),
-b3MakeVector3(0.276388,0.447220,0.850649),
-b3MakeVector3(0.483971,0.502302,0.716565),
-b3MakeVector3(0.232822,0.657519,0.716563),
-b3MakeVector3(-0.723607,0.447220,0.525725),
-b3MakeVector3(-0.531941,0.502302,0.681712),
-b3MakeVector3(-0.609547,0.657519,0.442856),
-b3MakeVector3(-0.723607,0.447220,-0.525725),
-b3MakeVector3(-0.812729,0.502301,-0.295238),
-b3MakeVector3(-0.609547,0.657519,-0.442856),
-b3MakeVector3(0.276388,0.447220,-0.850649),
-b3MakeVector3(0.029639,0.502302,-0.864184),
-b3MakeVector3(0.232822,0.657519,-0.716563),
-b3MakeVector3(0.894426,0.447216,0.000000),
-b3MakeVector3(0.831051,0.502299,-0.238853),
-b3MakeVector3(0.753442,0.657515,0.000000),
-b3MakeVector3(-0.232822,-0.657519,0.716563),
-b3MakeVector3(-0.162456,-0.850654,0.499995),
-b3MakeVector3(0.052790,-0.723612,0.688185),
-b3MakeVector3(0.138199,-0.894429,0.425321),
-b3MakeVector3(0.262869,-0.525738,0.809012),
-b3MakeVector3(0.361805,-0.723611,0.587779),
-b3MakeVector3(0.531941,-0.502302,0.681712),
-b3MakeVector3(0.425323,-0.850654,0.309011),
-b3MakeVector3(0.812729,-0.502301,-0.295238),
-b3MakeVector3(0.609547,-0.657519,-0.442856),
-b3MakeVector3(0.850648,-0.525736,0.000000),
-b3MakeVector3(0.670817,-0.723611,-0.162457),
-b3MakeVector3(0.670817,-0.723610,0.162458),
-b3MakeVector3(0.425323,-0.850654,-0.309011),
-b3MakeVector3(0.447211,-0.894428,0.000001),
-b3MakeVector3(-0.753442,-0.657515,0.000000),
-b3MakeVector3(-0.525730,-0.850652,0.000000),
-b3MakeVector3(-0.638195,-0.723609,0.262864),
-b3MakeVector3(-0.361801,-0.894428,0.262864),
-b3MakeVector3(-0.688189,-0.525736,0.499997),
-b3MakeVector3(-0.447211,-0.723610,0.525729),
-b3MakeVector3(-0.483971,-0.502302,0.716565),
-b3MakeVector3(-0.232822,-0.657519,-0.716563),
-b3MakeVector3(-0.162456,-0.850654,-0.499995),
-b3MakeVector3(-0.447211,-0.723611,-0.525727),
-b3MakeVector3(-0.361801,-0.894429,-0.262863),
-b3MakeVector3(-0.688189,-0.525736,-0.499997),
-b3MakeVector3(-0.638195,-0.723609,-0.262863),
-b3MakeVector3(-0.831051,-0.502299,-0.238853),
-b3MakeVector3(0.361804,-0.723612,-0.587779),
-b3MakeVector3(0.138197,-0.894429,-0.425321),
-b3MakeVector3(0.262869,-0.525738,-0.809012),
-b3MakeVector3(0.052789,-0.723611,-0.688186),
-b3MakeVector3(-0.029639,-0.502302,-0.864184),
-b3MakeVector3(0.956626,0.251149,0.147618),
-b3MakeVector3(0.956626,0.251149,-0.147618),
-b3MakeVector3(0.951058,-0.000000,0.309013),
-b3MakeVector3(1.000000,0.000000,0.000000),
-b3MakeVector3(0.947213,-0.276396,0.162458),
-b3MakeVector3(0.951058,0.000000,-0.309013),
-b3MakeVector3(0.947213,-0.276396,-0.162458),
-b3MakeVector3(0.155215,0.251152,0.955422),
-b3MakeVector3(0.436007,0.251152,0.864188),
-b3MakeVector3(-0.000000,-0.000000,1.000000),
-b3MakeVector3(0.309017,0.000000,0.951056),
-b3MakeVector3(0.138199,-0.276398,0.951055),
-b3MakeVector3(0.587786,0.000000,0.809017),
-b3MakeVector3(0.447216,-0.276398,0.850648),
-b3MakeVector3(-0.860698,0.251151,0.442858),
-b3MakeVector3(-0.687159,0.251152,0.681715),
-b3MakeVector3(-0.951058,-0.000000,0.309013),
-b3MakeVector3(-0.809018,0.000000,0.587783),
-b3MakeVector3(-0.861803,-0.276396,0.425324),
-b3MakeVector3(-0.587786,0.000000,0.809017),
-b3MakeVector3(-0.670819,-0.276397,0.688191),
-b3MakeVector3(-0.687159,0.251152,-0.681715),
-b3MakeVector3(-0.860698,0.251151,-0.442858),
-b3MakeVector3(-0.587786,-0.000000,-0.809017),
-b3MakeVector3(-0.809018,-0.000000,-0.587783),
-b3MakeVector3(-0.670819,-0.276397,-0.688191),
-b3MakeVector3(-0.951058,0.000000,-0.309013),
-b3MakeVector3(-0.861803,-0.276396,-0.425324),
-b3MakeVector3(0.436007,0.251152,-0.864188),
-b3MakeVector3(0.155215,0.251152,-0.955422),
-b3MakeVector3(0.587786,-0.000000,-0.809017),
-b3MakeVector3(0.309017,-0.000000,-0.951056),
-b3MakeVector3(0.447216,-0.276398,-0.850648),
-b3MakeVector3(0.000000,0.000000,-1.000000),
-b3MakeVector3(0.138199,-0.276398,-0.951055),
-b3MakeVector3(0.670820,0.276396,0.688190),
-b3MakeVector3(0.809019,-0.000002,0.587783),
-b3MakeVector3(0.688189,0.525736,0.499997),
-b3MakeVector3(0.861804,0.276394,0.425323),
-b3MakeVector3(0.831051,0.502299,0.238853),
-b3MakeVector3(-0.447216,0.276397,0.850649),
-b3MakeVector3(-0.309017,-0.000001,0.951056),
-b3MakeVector3(-0.262869,0.525738,0.809012),
-b3MakeVector3(-0.138199,0.276397,0.951055),
-b3MakeVector3(0.029639,0.502302,0.864184),
-b3MakeVector3(-0.947213,0.276396,-0.162458),
-b3MakeVector3(-1.000000,0.000001,0.000000),
-b3MakeVector3(-0.850648,0.525736,-0.000000),
-b3MakeVector3(-0.947213,0.276397,0.162458),
-b3MakeVector3(-0.812729,0.502301,0.295238),
-b3MakeVector3(-0.138199,0.276397,-0.951055),
-b3MakeVector3(-0.309016,-0.000000,-0.951057),
-b3MakeVector3(-0.262869,0.525738,-0.809012),
-b3MakeVector3(-0.447215,0.276397,-0.850649),
-b3MakeVector3(-0.531941,0.502302,-0.681712),
-b3MakeVector3(0.861804,0.276396,-0.425322),
-b3MakeVector3(0.809019,0.000000,-0.587782),
-b3MakeVector3(0.688189,0.525736,-0.499997),
-b3MakeVector3(0.670821,0.276397,-0.688189),
-b3MakeVector3(0.483971,0.502302,-0.716565),
-b3MakeVector3(0.077607,0.967950,0.238853),
-b3MakeVector3(0.251147,0.967949,0.000000),
-b3MakeVector3(0.000000,1.000000,0.000000),
-b3MakeVector3(0.162456,0.850654,0.499995),
-b3MakeVector3(0.361800,0.894429,0.262863),
-b3MakeVector3(0.447209,0.723612,0.525728),
-b3MakeVector3(0.525730,0.850652,0.000000),
-b3MakeVector3(0.638194,0.723610,0.262864),
-b3MakeVector3(-0.203181,0.967950,0.147618),
-b3MakeVector3(-0.425323,0.850654,0.309011),
-b3MakeVector3(-0.138197,0.894430,0.425320),
-b3MakeVector3(-0.361804,0.723612,0.587778),
-b3MakeVector3(-0.052790,0.723612,0.688185),
-b3MakeVector3(-0.203181,0.967950,-0.147618),
-b3MakeVector3(-0.425323,0.850654,-0.309011),
-b3MakeVector3(-0.447210,0.894429,0.000000),
-b3MakeVector3(-0.670817,0.723611,-0.162457),
-b3MakeVector3(-0.670817,0.723611,0.162457),
-b3MakeVector3(0.077607,0.967950,-0.238853),
-b3MakeVector3(0.162456,0.850654,-0.499995),
-b3MakeVector3(-0.138197,0.894430,-0.425320),
-b3MakeVector3(-0.052790,0.723612,-0.688185),
-b3MakeVector3(-0.361804,0.723612,-0.587778),
-b3MakeVector3(0.361800,0.894429,-0.262863),
-b3MakeVector3(0.638194,0.723610,-0.262864),
-b3MakeVector3(0.447209,0.723612,-0.525728)
-};
-
-
-bool b3FindSeparatingAxisEdgeEdge(	const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
-	b3Float4ConstArg posA1,
-	b3QuatConstArg ornA,
-	b3Float4ConstArg posB1,
-	b3QuatConstArg ornB,
-	b3Float4ConstArg DeltaC2,
-	const b3Float4* verticesA, 
-	const b3Float4* uniqueEdgesA, 
-	const b3GpuFace* facesA,
-	const int*  indicesA,
-	__global const b3Float4* verticesB, 
-	__global const b3Float4* uniqueEdgesB, 
-	__global const b3GpuFace* facesB,
-	__global const int*  indicesB,
-		b3Float4* sep,
-	float* dmin,
-	bool searchAllEdgeEdge)
+b3Vector3 unitSphere162[] =
+	{
+		b3MakeVector3(0.000000, -1.000000, 0.000000),
+		b3MakeVector3(0.203181, -0.967950, 0.147618),
+		b3MakeVector3(-0.077607, -0.967950, 0.238853),
+		b3MakeVector3(0.723607, -0.447220, 0.525725),
+		b3MakeVector3(0.609547, -0.657519, 0.442856),
+		b3MakeVector3(0.812729, -0.502301, 0.295238),
+		b3MakeVector3(-0.251147, -0.967949, 0.000000),
+		b3MakeVector3(-0.077607, -0.967950, -0.238853),
+		b3MakeVector3(0.203181, -0.967950, -0.147618),
+		b3MakeVector3(0.860698, -0.251151, 0.442858),
+		b3MakeVector3(-0.276388, -0.447220, 0.850649),
+		b3MakeVector3(-0.029639, -0.502302, 0.864184),
+		b3MakeVector3(-0.155215, -0.251152, 0.955422),
+		b3MakeVector3(-0.894426, -0.447216, 0.000000),
+		b3MakeVector3(-0.831051, -0.502299, 0.238853),
+		b3MakeVector3(-0.956626, -0.251149, 0.147618),
+		b3MakeVector3(-0.276388, -0.447220, -0.850649),
+		b3MakeVector3(-0.483971, -0.502302, -0.716565),
+		b3MakeVector3(-0.436007, -0.251152, -0.864188),
+		b3MakeVector3(0.723607, -0.447220, -0.525725),
+		b3MakeVector3(0.531941, -0.502302, -0.681712),
+		b3MakeVector3(0.687159, -0.251152, -0.681715),
+		b3MakeVector3(0.687159, -0.251152, 0.681715),
+		b3MakeVector3(-0.436007, -0.251152, 0.864188),
+		b3MakeVector3(-0.956626, -0.251149, -0.147618),
+		b3MakeVector3(-0.155215, -0.251152, -0.955422),
+		b3MakeVector3(0.860698, -0.251151, -0.442858),
+		b3MakeVector3(0.276388, 0.447220, 0.850649),
+		b3MakeVector3(0.483971, 0.502302, 0.716565),
+		b3MakeVector3(0.232822, 0.657519, 0.716563),
+		b3MakeVector3(-0.723607, 0.447220, 0.525725),
+		b3MakeVector3(-0.531941, 0.502302, 0.681712),
+		b3MakeVector3(-0.609547, 0.657519, 0.442856),
+		b3MakeVector3(-0.723607, 0.447220, -0.525725),
+		b3MakeVector3(-0.812729, 0.502301, -0.295238),
+		b3MakeVector3(-0.609547, 0.657519, -0.442856),
+		b3MakeVector3(0.276388, 0.447220, -0.850649),
+		b3MakeVector3(0.029639, 0.502302, -0.864184),
+		b3MakeVector3(0.232822, 0.657519, -0.716563),
+		b3MakeVector3(0.894426, 0.447216, 0.000000),
+		b3MakeVector3(0.831051, 0.502299, -0.238853),
+		b3MakeVector3(0.753442, 0.657515, 0.000000),
+		b3MakeVector3(-0.232822, -0.657519, 0.716563),
+		b3MakeVector3(-0.162456, -0.850654, 0.499995),
+		b3MakeVector3(0.052790, -0.723612, 0.688185),
+		b3MakeVector3(0.138199, -0.894429, 0.425321),
+		b3MakeVector3(0.262869, -0.525738, 0.809012),
+		b3MakeVector3(0.361805, -0.723611, 0.587779),
+		b3MakeVector3(0.531941, -0.502302, 0.681712),
+		b3MakeVector3(0.425323, -0.850654, 0.309011),
+		b3MakeVector3(0.812729, -0.502301, -0.295238),
+		b3MakeVector3(0.609547, -0.657519, -0.442856),
+		b3MakeVector3(0.850648, -0.525736, 0.000000),
+		b3MakeVector3(0.670817, -0.723611, -0.162457),
+		b3MakeVector3(0.670817, -0.723610, 0.162458),
+		b3MakeVector3(0.425323, -0.850654, -0.309011),
+		b3MakeVector3(0.447211, -0.894428, 0.000001),
+		b3MakeVector3(-0.753442, -0.657515, 0.000000),
+		b3MakeVector3(-0.525730, -0.850652, 0.000000),
+		b3MakeVector3(-0.638195, -0.723609, 0.262864),
+		b3MakeVector3(-0.361801, -0.894428, 0.262864),
+		b3MakeVector3(-0.688189, -0.525736, 0.499997),
+		b3MakeVector3(-0.447211, -0.723610, 0.525729),
+		b3MakeVector3(-0.483971, -0.502302, 0.716565),
+		b3MakeVector3(-0.232822, -0.657519, -0.716563),
+		b3MakeVector3(-0.162456, -0.850654, -0.499995),
+		b3MakeVector3(-0.447211, -0.723611, -0.525727),
+		b3MakeVector3(-0.361801, -0.894429, -0.262863),
+		b3MakeVector3(-0.688189, -0.525736, -0.499997),
+		b3MakeVector3(-0.638195, -0.723609, -0.262863),
+		b3MakeVector3(-0.831051, -0.502299, -0.238853),
+		b3MakeVector3(0.361804, -0.723612, -0.587779),
+		b3MakeVector3(0.138197, -0.894429, -0.425321),
+		b3MakeVector3(0.262869, -0.525738, -0.809012),
+		b3MakeVector3(0.052789, -0.723611, -0.688186),
+		b3MakeVector3(-0.029639, -0.502302, -0.864184),
+		b3MakeVector3(0.956626, 0.251149, 0.147618),
+		b3MakeVector3(0.956626, 0.251149, -0.147618),
+		b3MakeVector3(0.951058, -0.000000, 0.309013),
+		b3MakeVector3(1.000000, 0.000000, 0.000000),
+		b3MakeVector3(0.947213, -0.276396, 0.162458),
+		b3MakeVector3(0.951058, 0.000000, -0.309013),
+		b3MakeVector3(0.947213, -0.276396, -0.162458),
+		b3MakeVector3(0.155215, 0.251152, 0.955422),
+		b3MakeVector3(0.436007, 0.251152, 0.864188),
+		b3MakeVector3(-0.000000, -0.000000, 1.000000),
+		b3MakeVector3(0.309017, 0.000000, 0.951056),
+		b3MakeVector3(0.138199, -0.276398, 0.951055),
+		b3MakeVector3(0.587786, 0.000000, 0.809017),
+		b3MakeVector3(0.447216, -0.276398, 0.850648),
+		b3MakeVector3(-0.860698, 0.251151, 0.442858),
+		b3MakeVector3(-0.687159, 0.251152, 0.681715),
+		b3MakeVector3(-0.951058, -0.000000, 0.309013),
+		b3MakeVector3(-0.809018, 0.000000, 0.587783),
+		b3MakeVector3(-0.861803, -0.276396, 0.425324),
+		b3MakeVector3(-0.587786, 0.000000, 0.809017),
+		b3MakeVector3(-0.670819, -0.276397, 0.688191),
+		b3MakeVector3(-0.687159, 0.251152, -0.681715),
+		b3MakeVector3(-0.860698, 0.251151, -0.442858),
+		b3MakeVector3(-0.587786, -0.000000, -0.809017),
+		b3MakeVector3(-0.809018, -0.000000, -0.587783),
+		b3MakeVector3(-0.670819, -0.276397, -0.688191),
+		b3MakeVector3(-0.951058, 0.000000, -0.309013),
+		b3MakeVector3(-0.861803, -0.276396, -0.425324),
+		b3MakeVector3(0.436007, 0.251152, -0.864188),
+		b3MakeVector3(0.155215, 0.251152, -0.955422),
+		b3MakeVector3(0.587786, -0.000000, -0.809017),
+		b3MakeVector3(0.309017, -0.000000, -0.951056),
+		b3MakeVector3(0.447216, -0.276398, -0.850648),
+		b3MakeVector3(0.000000, 0.000000, -1.000000),
+		b3MakeVector3(0.138199, -0.276398, -0.951055),
+		b3MakeVector3(0.670820, 0.276396, 0.688190),
+		b3MakeVector3(0.809019, -0.000002, 0.587783),
+		b3MakeVector3(0.688189, 0.525736, 0.499997),
+		b3MakeVector3(0.861804, 0.276394, 0.425323),
+		b3MakeVector3(0.831051, 0.502299, 0.238853),
+		b3MakeVector3(-0.447216, 0.276397, 0.850649),
+		b3MakeVector3(-0.309017, -0.000001, 0.951056),
+		b3MakeVector3(-0.262869, 0.525738, 0.809012),
+		b3MakeVector3(-0.138199, 0.276397, 0.951055),
+		b3MakeVector3(0.029639, 0.502302, 0.864184),
+		b3MakeVector3(-0.947213, 0.276396, -0.162458),
+		b3MakeVector3(-1.000000, 0.000001, 0.000000),
+		b3MakeVector3(-0.850648, 0.525736, -0.000000),
+		b3MakeVector3(-0.947213, 0.276397, 0.162458),
+		b3MakeVector3(-0.812729, 0.502301, 0.295238),
+		b3MakeVector3(-0.138199, 0.276397, -0.951055),
+		b3MakeVector3(-0.309016, -0.000000, -0.951057),
+		b3MakeVector3(-0.262869, 0.525738, -0.809012),
+		b3MakeVector3(-0.447215, 0.276397, -0.850649),
+		b3MakeVector3(-0.531941, 0.502302, -0.681712),
+		b3MakeVector3(0.861804, 0.276396, -0.425322),
+		b3MakeVector3(0.809019, 0.000000, -0.587782),
+		b3MakeVector3(0.688189, 0.525736, -0.499997),
+		b3MakeVector3(0.670821, 0.276397, -0.688189),
+		b3MakeVector3(0.483971, 0.502302, -0.716565),
+		b3MakeVector3(0.077607, 0.967950, 0.238853),
+		b3MakeVector3(0.251147, 0.967949, 0.000000),
+		b3MakeVector3(0.000000, 1.000000, 0.000000),
+		b3MakeVector3(0.162456, 0.850654, 0.499995),
+		b3MakeVector3(0.361800, 0.894429, 0.262863),
+		b3MakeVector3(0.447209, 0.723612, 0.525728),
+		b3MakeVector3(0.525730, 0.850652, 0.000000),
+		b3MakeVector3(0.638194, 0.723610, 0.262864),
+		b3MakeVector3(-0.203181, 0.967950, 0.147618),
+		b3MakeVector3(-0.425323, 0.850654, 0.309011),
+		b3MakeVector3(-0.138197, 0.894430, 0.425320),
+		b3MakeVector3(-0.361804, 0.723612, 0.587778),
+		b3MakeVector3(-0.052790, 0.723612, 0.688185),
+		b3MakeVector3(-0.203181, 0.967950, -0.147618),
+		b3MakeVector3(-0.425323, 0.850654, -0.309011),
+		b3MakeVector3(-0.447210, 0.894429, 0.000000),
+		b3MakeVector3(-0.670817, 0.723611, -0.162457),
+		b3MakeVector3(-0.670817, 0.723611, 0.162457),
+		b3MakeVector3(0.077607, 0.967950, -0.238853),
+		b3MakeVector3(0.162456, 0.850654, -0.499995),
+		b3MakeVector3(-0.138197, 0.894430, -0.425320),
+		b3MakeVector3(-0.052790, 0.723612, -0.688185),
+		b3MakeVector3(-0.361804, 0.723612, -0.587778),
+		b3MakeVector3(0.361800, 0.894429, -0.262863),
+		b3MakeVector3(0.638194, 0.723610, -0.262864),
+		b3MakeVector3(0.447209, 0.723612, -0.525728)};
+
+bool b3FindSeparatingAxisEdgeEdge(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
+								  b3Float4ConstArg posA1,
+								  b3QuatConstArg ornA,
+								  b3Float4ConstArg posB1,
+								  b3QuatConstArg ornB,
+								  b3Float4ConstArg DeltaC2,
+								  const b3Float4* verticesA,
+								  const b3Float4* uniqueEdgesA,
+								  const b3GpuFace* facesA,
+								  const int* indicesA,
+								  __global const b3Float4* verticesB,
+								  __global const b3Float4* uniqueEdgesB,
+								  __global const b3GpuFace* facesB,
+								  __global const int* indicesB,
+								  b3Float4* sep,
+								  float* dmin,
+								  bool searchAllEdgeEdge)
 {
-
-
 	b3Float4 posA = posA1;
 	posA.w = 0.f;
 	b3Float4 posB = posB1;
 	posB.w = 0.f;
 
-//	int curPlaneTests=0;
+	//	int curPlaneTests=0;
 
 	int curEdgeEdge = 0;
 	// Test edges
 	static int maxEdgeTests = 0;
 	int curEdgeTests = hullA->m_numUniqueEdges * hullB->m_numUniqueEdges;
-	if (curEdgeTests >maxEdgeTests )
+	if (curEdgeTests > maxEdgeTests)
 	{
-		maxEdgeTests  = curEdgeTests ;
-		printf("maxEdgeTests = %d\n",maxEdgeTests );
-		printf("hullA->m_numUniqueEdges = %d\n",hullA->m_numUniqueEdges);
-		printf("hullB->m_numUniqueEdges = %d\n",hullB->m_numUniqueEdges);
-
+		maxEdgeTests = curEdgeTests;
+		printf("maxEdgeTests = %d\n", maxEdgeTests);
+		printf("hullA->m_numUniqueEdges = %d\n", hullA->m_numUniqueEdges);
+		printf("hullB->m_numUniqueEdges = %d\n", hullB->m_numUniqueEdges);
 	}
 
-	
 	if (searchAllEdgeEdge)
 	{
-		for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
+		for (int e0 = 0; e0 < hullA->m_numUniqueEdges; e0++)
 		{
-			const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];
-			b3Float4 edge0World = b3QuatRotate(ornA,edge0);
+			const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset + e0];
+			b3Float4 edge0World = b3QuatRotate(ornA, edge0);
 
-			for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
+			for (int e1 = 0; e1 < hullB->m_numUniqueEdges; e1++)
 			{
-				const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];
-				b3Float4 edge1World = b3QuatRotate(ornB,edge1);
-
+				const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset + e1];
+				b3Float4 edge1World = b3QuatRotate(ornB, edge1);
 
-				b3Float4 crossje = b3Cross(edge0World,edge1World);
+				b3Float4 crossje = b3Cross(edge0World, edge1World);
 
 				curEdgeEdge++;
-				if(!b3IsAlmostZero(crossje))
+				if (!b3IsAlmostZero(crossje))
 				{
 					crossje = b3Normalized(crossje);
-					if (b3Dot(DeltaC2,crossje)<0)
+					if (b3Dot(DeltaC2, crossje) < 0)
 						crossje *= -1.f;
 
 					float dist;
 					bool result = true;
 					{
-						float Min0,Max0;
-						float Min1,Max1;
-						b3Project(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
-						b3Project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
-				
-						if(Max0<Min1 || Max1<Min0)
+						float Min0, Max0;
+						float Min1, Max1;
+						b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
+						b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
+
+						if (Max0 < Min1 || Max1 < Min0)
 							return false;
-                    
+
 						float d0 = Max0 - Min1;
 						float d1 = Max1 - Min0;
-						dist = d0<d1 ? d0:d1;
+						dist = d0 < d1 ? d0 : d1;
 						result = true;
-
 					}
-				
 
-					if(dist<*dmin)
+					if (dist < *dmin)
 					{
 						*dmin = dist;
 						*sep = crossje;
 					}
 				}
 			}
-
 		}
-	} else
+	}
+	else
 	{
-		int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
+		int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
 		//printf("numDirections =%d\n",numDirections );
 
-
-		for(int i=0;i<numDirections;i++)
+		for (int i = 0; i < numDirections; i++)
 		{
 			b3Float4 crossje = unitSphere162[i];
 			{
@@ -404,23 +387,21 @@ bool b3FindSeparatingAxisEdgeEdge(	const b3ConvexPolyhedronData* hullA, __global
 					float dist;
 					bool result = true;
 					{
-						float Min0,Max0;
-						float Min1,Max1;
-						b3Project(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);
-						b3Project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);
-				
-						if(Max0<Min1 || Max1<Min0)
+						float Min0, Max0;
+						float Min1, Max1;
+						b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
+						b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
+
+						if (Max0 < Min1 || Max1 < Min0)
 							return false;
-                    
+
 						float d0 = Max0 - Min1;
 						float d1 = Max1 - Min0;
-						dist = d0<d1 ? d0:d1;
+						dist = d0 < d1 ? d0 : d1;
 						result = true;
-
 					}
-				
 
-					if(dist<*dmin)
+					if (dist < *dmin)
 					{
 						*dmin = dist;
 						*sep = crossje;
@@ -428,50 +409,45 @@ bool b3FindSeparatingAxisEdgeEdge(	const b3ConvexPolyhedronData* hullA, __global
 				}
 			}
 		}
-
 	}
 
-	
-	if((b3Dot(-DeltaC2,*sep))>0.0f)
+	if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
 	{
 		*sep = -(*sep);
 	}
 	return true;
 }
 
-
-
-inline int	b3FindClippingFaces(b3Float4ConstArg separatingNormal,
-                      __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
-                      b3Float4ConstArg posA, b3QuatConstArg ornA,b3Float4ConstArg posB, b3QuatConstArg ornB,
-                       __global b3Float4* worldVertsA1,
-                      __global b3Float4* worldNormalsA1,
-                      __global b3Float4* worldVertsB1,
-                      int capacityWorldVerts,
-                      const float minDist, float maxDist,
-                      __global const b3Float4* verticesA,
-                      __global const b3GpuFace_t* facesA,
-                      __global const int* indicesA,
-						__global const b3Float4* verticesB,
-                      __global const b3GpuFace_t* facesB,
-                      __global const int* indicesB,
-
-                      __global b3Int4* clippingFaces, int pairIndex)
+inline int b3FindClippingFaces(b3Float4ConstArg separatingNormal,
+							   __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
+							   b3Float4ConstArg posA, b3QuatConstArg ornA, b3Float4ConstArg posB, b3QuatConstArg ornB,
+							   __global b3Float4* worldVertsA1,
+							   __global b3Float4* worldNormalsA1,
+							   __global b3Float4* worldVertsB1,
+							   int capacityWorldVerts,
+							   const float minDist, float maxDist,
+							   __global const b3Float4* verticesA,
+							   __global const b3GpuFace_t* facesA,
+							   __global const int* indicesA,
+							   __global const b3Float4* verticesB,
+							   __global const b3GpuFace_t* facesB,
+							   __global const int* indicesB,
+
+							   __global b3Int4* clippingFaces, int pairIndex)
 {
 	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-    
-    
-	int closestFaceB=-1;
+	int numWorldVertsB1 = 0;
+
+	int closestFaceB = -1;
 	float dmax = -FLT_MAX;
-    
+
 	{
-		for(int face=0;face<hullB->m_numFaces;face++)
+		for (int face = 0; face < hullB->m_numFaces; face++)
 		{
-			const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset+face].m_plane.x,
-                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);
+			const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset + face].m_plane.x,
+												 facesB[hullB->m_faceOffset + face].m_plane.y, facesB[hullB->m_faceOffset + face].m_plane.z, 0.f);
 			const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
-			float d = b3Dot(WorldNormal,separatingNormal);
+			float d = b3Dot(WorldNormal, separatingNormal);
 			if (d > dmax)
 			{
 				dmax = d;
@@ -479,81 +455,76 @@ inline int	b3FindClippingFaces(b3Float4ConstArg separatingNormal,
 			}
 		}
 	}
-    
+
 	{
-		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];
+		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset + closestFaceB];
 		const int numVertices = polyB.m_numIndices;
-		for(int e0=0;e0<numVertices;e0++)
+		for (int e0 = 0; e0 < numVertices; e0++)
 		{
-			const b3Float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
-			worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = b3TransformPoint(b,posB,ornB);
+			const b3Float4 b = verticesB[hullB->m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
+			worldVertsB1[pairIndex * capacityWorldVerts + numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
 		}
 	}
-    
-    int closestFaceA=-1;
+
+	int closestFaceA = -1;
 	{
 		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
+		for (int face = 0; face < hullA->m_numFaces; face++)
 		{
 			const b3Float4 Normal = b3MakeFloat4(
-                                              facesA[hullA->m_faceOffset+face].m_plane.x,
-                                              facesA[hullA->m_faceOffset+face].m_plane.y,
-                                              facesA[hullA->m_faceOffset+face].m_plane.z,
-                                              0.f);
-			const b3Float4 faceANormalWS = b3QuatRotate(ornA,Normal);
-            
-			float d = b3Dot(faceANormalWS,separatingNormal);
+				facesA[hullA->m_faceOffset + face].m_plane.x,
+				facesA[hullA->m_faceOffset + face].m_plane.y,
+				facesA[hullA->m_faceOffset + face].m_plane.z,
+				0.f);
+			const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
+
+			float d = b3Dot(faceANormalWS, separatingNormal);
 			if (d < dmin)
 			{
 				dmin = d;
 				closestFaceA = face;
-                worldNormalsA1[pairIndex] = faceANormalWS;
+				worldNormalsA1[pairIndex] = faceANormalWS;
 			}
 		}
 	}
-    
-    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;
-	for(int e0=0;e0<numVerticesA;e0++)
+
+	int numVerticesA = facesA[hullA->m_faceOffset + closestFaceA].m_numIndices;
+	for (int e0 = 0; e0 < numVerticesA; e0++)
 	{
-        const b3Float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];
-        worldVertsA1[pairIndex*capacityWorldVerts+e0] = b3TransformPoint(a, posA,ornA);
-    }
-    
-    clippingFaces[pairIndex].x = closestFaceA;
-    clippingFaces[pairIndex].y = closestFaceB;
-    clippingFaces[pairIndex].z = numVerticesA;
-    clippingFaces[pairIndex].w = numWorldVertsB1;
-    
-    
+		const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[facesA[hullA->m_faceOffset + closestFaceA].m_indexOffset + e0]];
+		worldVertsA1[pairIndex * capacityWorldVerts + e0] = b3TransformPoint(a, posA, ornA);
+	}
+
+	clippingFaces[pairIndex].x = closestFaceA;
+	clippingFaces[pairIndex].y = closestFaceB;
+	clippingFaces[pairIndex].z = numVerticesA;
+	clippingFaces[pairIndex].w = numWorldVertsB1;
+
 	return numContactsOut;
 }
 
-
-        
-
-__kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs,
-																					__global const b3RigidBodyData* rigidBodies,
-																					__global const b3Collidable* collidables,
-																					__global const b3ConvexPolyhedronData* convexShapes, 
-																					__global const b3Float4* vertices,
-																					__global const b3Float4* uniqueEdges,
-																					__global const b3GpuFace* faces,
-																					__global const int* indices,
-																					__global const b3GpuChildShape* gpuChildShapes,
-																					__global b3Aabb* aabbs,
-																					__global b3Float4* concaveSeparatingNormalsOut,
-																					__global b3Int4* clippingFacesOut,
-																					__global b3Vector3* worldVertsA1Out,
-																					__global b3Vector3* worldNormalsA1Out,
-																					__global b3Vector3* worldVertsB1Out,
-																					__global int* hasSeparatingNormals,
-																					int vertexFaceCapacity,
-																					int numConcavePairs,
-																					int pairIdx
-																					)
+__kernel void b3FindConcaveSeparatingAxisKernel(__global b3Int4* concavePairs,
+												__global const b3RigidBodyData* rigidBodies,
+												__global const b3Collidable* collidables,
+												__global const b3ConvexPolyhedronData* convexShapes,
+												__global const b3Float4* vertices,
+												__global const b3Float4* uniqueEdges,
+												__global const b3GpuFace* faces,
+												__global const int* indices,
+												__global const b3GpuChildShape* gpuChildShapes,
+												__global b3Aabb* aabbs,
+												__global b3Float4* concaveSeparatingNormalsOut,
+												__global b3Int4* clippingFacesOut,
+												__global b3Vector3* worldVertsA1Out,
+												__global b3Vector3* worldNormalsA1Out,
+												__global b3Vector3* worldVertsB1Out,
+												__global int* hasSeparatingNormals,
+												int vertexFaceCapacity,
+												int numConcavePairs,
+												int pairIdx)
 {
 	int i = pairIdx;
-/*	int i = get_global_id(0);
+	/*	int i = get_global_id(0);
 	if (i>=numConcavePairs)
 		return;
 	int pairIdx = i;
@@ -568,8 +539,8 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
 	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
 
-	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&
-		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)
+	if (collidables[collidableIndexB].m_shapeType != SHAPE_CONVEX_HULL &&
+		collidables[collidableIndexB].m_shapeType != SHAPE_COMPOUND_OF_CONVEX_HULLS)
 	{
 		concavePairs[pairIdx].w = -1;
 		return;
@@ -577,121 +548,119 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 
 	hasSeparatingNormals[i] = 0;
 
-//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+	//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
 	int numActualConcaveConvexTests = 0;
-	
+
 	int f = concavePairs[i].z;
-	
+
 	bool overlap = false;
-	
+
 	b3ConvexPolyhedronData convexPolyhedronA;
 
 	//add 3 vertices of the triangle
 	convexPolyhedronA.m_numVertices = 3;
 	convexPolyhedronA.m_vertexOffset = 0;
-	b3Float4	localCenter = b3MakeFloat4(0.f,0.f,0.f,0.f);
+	b3Float4 localCenter = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
 
-	b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];
+	b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset + f];
 	b3Aabb triAabb;
-	triAabb.m_minVec = b3MakeFloat4(1e30f,1e30f,1e30f,0.f);
-	triAabb.m_maxVec = b3MakeFloat4(-1e30f,-1e30f,-1e30f,0.f);
-	
+	triAabb.m_minVec = b3MakeFloat4(1e30f, 1e30f, 1e30f, 0.f);
+	triAabb.m_maxVec = b3MakeFloat4(-1e30f, -1e30f, -1e30f, 0.f);
+
 	b3Float4 verticesA[3];
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 	{
-		int index = indices[face.m_indexOffset+i];
-		b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];
+		int index = indices[face.m_indexOffset + i];
+		b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset + index];
 		verticesA[i] = vert;
 		localCenter += vert;
-			
-		triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec,vert);		
-		triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec,vert);		
 
+		triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec, vert);
+		triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec, vert);
 	}
 
 	overlap = true;
 	overlap = (triAabb.m_minVec.x > aabbs[bodyIndexB].m_maxVec.x || triAabb.m_maxVec.x < aabbs[bodyIndexB].m_minVec.x) ? false : overlap;
 	overlap = (triAabb.m_minVec.z > aabbs[bodyIndexB].m_maxVec.z || triAabb.m_maxVec.z < aabbs[bodyIndexB].m_minVec.z) ? false : overlap;
 	overlap = (triAabb.m_minVec.y > aabbs[bodyIndexB].m_maxVec.y || triAabb.m_maxVec.y < aabbs[bodyIndexB].m_minVec.y) ? false : overlap;
-		
+
 	if (overlap)
 	{
 		float dmin = FLT_MAX;
-		int hasSeparatingAxis=5;
-		b3Float4 sepAxis=b3MakeFloat4(1,2,3,4);
+		int hasSeparatingAxis = 5;
+		b3Float4 sepAxis = b3MakeFloat4(1, 2, 3, 4);
 
-	//	int localCC=0;
+		//	int localCC=0;
 		numActualConcaveConvexTests++;
 
 		//a triangle has 3 unique edges
 		convexPolyhedronA.m_numUniqueEdges = 3;
 		convexPolyhedronA.m_uniqueEdgesOffset = 0;
 		b3Float4 uniqueEdgesA[3];
-		
-		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);
 
+		uniqueEdgesA[0] = (verticesA[1] - verticesA[0]);
+		uniqueEdgesA[1] = (verticesA[2] - verticesA[1]);
+		uniqueEdgesA[2] = (verticesA[0] - verticesA[2]);
 
 		convexPolyhedronA.m_faceOffset = 0;
-                                  
-		b3Float4 normal = b3MakeFloat4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-                             
+
+		b3Float4 normal = b3MakeFloat4(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
+
 		b3GpuFace facesA[B3_TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3+3+2+2+2];
-		int curUsedIndices=0;
-		int fidx=0;
+		int indicesA[3 + 3 + 2 + 2 + 2];
+		int curUsedIndices = 0;
+		int fidx = 0;
 
 		//front size of triangle
 		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
+			facesA[fidx].m_indexOffset = curUsedIndices;
 			indicesA[0] = 0;
 			indicesA[1] = 1;
 			indicesA[2] = 2;
-			curUsedIndices+=3;
+			curUsedIndices += 3;
 			float c = face.m_plane.w;
 			facesA[fidx].m_plane.x = normal.x;
 			facesA[fidx].m_plane.y = normal.y;
 			facesA[fidx].m_plane.z = normal.z;
 			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
+			facesA[fidx].m_numIndices = 3;
 		}
 		fidx++;
 		//back size of triangle
 		{
-			facesA[fidx].m_indexOffset=curUsedIndices;
-			indicesA[3]=2;
-			indicesA[4]=1;
-			indicesA[5]=0;
-			curUsedIndices+=3;
-			float c = b3Dot(normal,verticesA[0]);
-		//	float c1 = -face.m_plane.w;
+			facesA[fidx].m_indexOffset = curUsedIndices;
+			indicesA[3] = 2;
+			indicesA[4] = 1;
+			indicesA[5] = 0;
+			curUsedIndices += 3;
+			float c = b3Dot(normal, verticesA[0]);
+			//	float c1 = -face.m_plane.w;
 			facesA[fidx].m_plane.x = -normal.x;
 			facesA[fidx].m_plane.y = -normal.y;
 			facesA[fidx].m_plane.z = -normal.z;
 			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices=3;
+			facesA[fidx].m_numIndices = 3;
 		}
 		fidx++;
 
 		bool addEdgePlanes = true;
 		if (addEdgePlanes)
 		{
-			int numVertices=3;
-			int prevVertex = numVertices-1;
-			for (int i=0;i<numVertices;i++)
+			int numVertices = 3;
+			int prevVertex = numVertices - 1;
+			for (int i = 0; i < numVertices; i++)
 			{
 				b3Float4 v0 = verticesA[i];
 				b3Float4 v1 = verticesA[prevVertex];
-                                            
-				b3Float4 edgeNormal = b3Normalized(b3Cross(normal,v1-v0));
-				float c = -b3Dot(edgeNormal,v0);
+
+				b3Float4 edgeNormal = b3Normalized(b3Cross(normal, v1 - v0));
+				float c = -b3Dot(edgeNormal, v0);
 
 				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset=curUsedIndices;
-				indicesA[curUsedIndices++]=i;
-				indicesA[curUsedIndices++]=prevVertex;
-                                            
+				facesA[fidx].m_indexOffset = curUsedIndices;
+				indicesA[curUsedIndices++] = i;
+				indicesA[curUsedIndices++] = prevVertex;
+
 				facesA[fidx].m_plane.x = edgeNormal.x;
 				facesA[fidx].m_plane.y = edgeNormal.y;
 				facesA[fidx].m_plane.z = edgeNormal.z;
@@ -701,8 +670,7 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 			}
 		}
 		convexPolyhedronA.m_numFaces = B3_TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);
-
+		convexPolyhedronA.m_localCenter = localCenter * (1.f / 3.f);
 
 		b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
 		posA.w = 0.f;
@@ -710,23 +678,20 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 		posB.w = 0.f;
 
 		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-		b3Quaternion ornB =rigidBodies[bodyIndexB].m_quat;
-
-		
-
+		b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
 
 		///////////////////
 		///compound shape support
 
-		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+		if (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 		{
 			int compoundChild = concavePairs[pairIdx].w;
-			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;
+			int childShapeIndexB = compoundChild;  //collidables[collidableIndexB].m_shapeIndex+compoundChild;
 			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
 			b3Float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
 			b3Quaternion childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			b3Float4 newPosB = b3TransformPoint(childPosB,posB,ornB);
-			b3Quaternion newOrnB = b3QuatMul(ornB,childOrnB);
+			b3Float4 newPosB = b3TransformPoint(childPosB, posB, ornB);
+			b3Quaternion newOrnB = b3QuatMul(ornB, childOrnB);
 			posB = newPosB;
 			ornB = newOrnB;
 			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
@@ -736,59 +701,61 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 		b3Float4 c0local = convexPolyhedronA.m_localCenter;
 		b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
 		b3Float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		b3Float4 c1 = b3TransformPoint(c1local,posB,ornB);
+		b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
 		const b3Float4 DeltaC2 = c0 - c1;
 
-
-		bool sepA = b3FindSeparatingAxis(	&convexPolyhedronA, &convexShapes[shapeIndexB],
-												posA,ornA,
-												posB,ornB,
-												DeltaC2,
-												verticesA,uniqueEdgesA,facesA,indicesA,
-												vertices,uniqueEdges,faces,indices,
-												&sepAxis,&dmin);
+		bool sepA = b3FindSeparatingAxis(&convexPolyhedronA, &convexShapes[shapeIndexB],
+										 posA, ornA,
+										 posB, ornB,
+										 DeltaC2,
+										 verticesA, uniqueEdgesA, facesA, indicesA,
+										 vertices, uniqueEdges, faces, indices,
+										 &sepAxis, &dmin);
 		hasSeparatingAxis = 4;
 		if (!sepA)
 		{
 			hasSeparatingAxis = 0;
-		} else
+		}
+		else
 		{
-			bool sepB = b3FindSeparatingAxis(	&convexShapes[shapeIndexB],&convexPolyhedronA,
-												posB,ornB,
-												posA,ornA,
-												DeltaC2,
-												vertices,uniqueEdges,faces,indices,
-												verticesA,uniqueEdgesA,facesA,indicesA,
-												&sepAxis,&dmin);
+			bool sepB = b3FindSeparatingAxis(&convexShapes[shapeIndexB], &convexPolyhedronA,
+											 posB, ornB,
+											 posA, ornA,
+											 DeltaC2,
+											 vertices, uniqueEdges, faces, indices,
+											 verticesA, uniqueEdgesA, facesA, indicesA,
+											 &sepAxis, &dmin);
 
 			if (!sepB)
 			{
 				hasSeparatingAxis = 0;
-			} else
+			}
+			else
 			{
-				bool sepEE = b3FindSeparatingAxisEdgeEdge(	&convexPolyhedronA, &convexShapes[shapeIndexB],
-															posA,ornA,
-															posB,ornB,
-															DeltaC2,
-															verticesA,uniqueEdgesA,facesA,indicesA,
-															vertices,uniqueEdges,faces,indices,
-															&sepAxis,&dmin,true);
-	
+				bool sepEE = b3FindSeparatingAxisEdgeEdge(&convexPolyhedronA, &convexShapes[shapeIndexB],
+														  posA, ornA,
+														  posB, ornB,
+														  DeltaC2,
+														  verticesA, uniqueEdgesA, facesA, indicesA,
+														  vertices, uniqueEdges, faces, indices,
+														  &sepAxis, &dmin, true);
+
 				if (!sepEE)
 				{
 					hasSeparatingAxis = 0;
-				} else
+				}
+				else
 				{
 					hasSeparatingAxis = 1;
 				}
 			}
-		}	
-		
+		}
+
 		if (hasSeparatingAxis)
 		{
-			hasSeparatingNormals[i]=1;
+			hasSeparatingNormals[i] = 1;
 			sepAxis.w = dmin;
-			concaveSeparatingNormalsOut[pairIdx]=sepAxis;
+			concaveSeparatingNormalsOut[pairIdx] = sepAxis;
 
 			//now compute clipping faces A and B, and world-space clipping vertices A and B...
 
@@ -796,37 +763,35 @@ __kernel void   b3FindConcaveSeparatingAxisKernel( __global b3Int4* concavePairs
 			float maxDist = 0.02f;
 
 			b3FindClippingFaces(sepAxis,
-                     &convexPolyhedronA,
-					 &convexShapes[shapeIndexB],
-					 posA,ornA,
-					 posB,ornB,
-                       worldVertsA1Out,
-                      worldNormalsA1Out,
-                      worldVertsB1Out,
-					  vertexFaceCapacity,
-                      minDist, maxDist,
-                      verticesA,
-                      facesA,
-                      indicesA,
- 
-					  vertices,
-                      faces,
-                      indices,
-                      clippingFacesOut, pairIdx);
-
-		} else
-		{	
+								&convexPolyhedronA,
+								&convexShapes[shapeIndexB],
+								posA, ornA,
+								posB, ornB,
+								worldVertsA1Out,
+								worldNormalsA1Out,
+								worldVertsB1Out,
+								vertexFaceCapacity,
+								minDist, maxDist,
+								verticesA,
+								facesA,
+								indicesA,
+
+								vertices,
+								faces,
+								indices,
+								clippingFacesOut, pairIdx);
+		}
+		else
+		{
 			//mark this pair as in-active
 			concavePairs[pairIdx].w = -1;
 		}
 	}
 	else
-	{	
+	{
 		//mark this pair as in-active
 		concavePairs[pairIdx].w = -1;
 	}
 }
 
-
-#endif //B3_FIND_CONCAVE_SEPARATING_AXIS_H
-
+#endif  //B3_FIND_CONCAVE_SEPARATING_AXIS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
index 332dbc278c..b4981ae654 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
@@ -1,28 +1,27 @@
 #ifndef B3_FIND_SEPARATING_AXIS_H
 #define B3_FIND_SEPARATING_AXIS_H
 
-
-inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull,  const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
+inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
 {
 	min = FLT_MAX;
 	max = -FLT_MAX;
 	int numVerts = hull.m_numVertices;
 
-	const b3Float4 localDir = b3QuatRotate(orn.inverse(),dir);
+	const b3Float4 localDir = b3QuatRotate(orn.inverse(), dir);
 
-	b3Scalar offset = b3Dot3F4(pos,dir);
+	b3Scalar offset = b3Dot3F4(pos, dir);
 
-	for(int i=0;i<numVerts;i++)
+	for (int i = 0; i < numVerts; i++)
 	{
 		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
 		//b3Scalar dp = pt.dot(dir);
 		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
-		b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset+i],localDir);
+		b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset + i], localDir);
 		//b3Assert(dp==dpL);
-		if(dp < min)	min = dp;
-		if(dp > max)	max = dp;
+		if (dp < min) min = dp;
+		if (dp > max) max = dp;
 	}
-	if(min>max)
+	if (min > max)
 	{
 		b3Scalar tmp = min;
 		min = max;
@@ -32,44 +31,42 @@ inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull,  const b3Float4& p
 	max += offset;
 }
 
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const b3Float4& posA,const b3Quaternion& ornA,
-	const b3Float4& posB,const b3Quaternion& ornB,
-	const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB,b3Scalar& depth)
+inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+						  const b3Float4& posA, const b3Quaternion& ornA,
+						  const b3Float4& posB, const b3Quaternion& ornB,
+						  const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth)
 {
-	b3Scalar Min0,Max0;
-	b3Scalar Min1,Max1;
-	b3ProjectAxis(hullA,posA,ornA,sep_axis,verticesA, Min0, Max0);
-	b3ProjectAxis(hullB,posB,ornB, sep_axis,verticesB, Min1, Max1);
+	b3Scalar Min0, Max0;
+	b3Scalar Min1, Max1;
+	b3ProjectAxis(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0);
+	b3ProjectAxis(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1);
 
-	if(Max0<Min1 || Max1<Min0)
+	if (Max0 < Min1 || Max1 < Min0)
 		return false;
 
 	b3Scalar d0 = Max0 - Min1;
-	b3Assert(d0>=0.0f);
+	b3Assert(d0 >= 0.0f);
 	b3Scalar d1 = Max1 - Min0;
-	b3Assert(d1>=0.0f);
-	depth = d0<d1 ? d0:d1;
+	b3Assert(d1 >= 0.0f);
+	depth = d0 < d1 ? d0 : d1;
 	return true;
 }
 
-
-inline bool b3FindSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const b3Float4& posA1,
-	const b3Quaternion& ornA,
-	const b3Float4& posB1,
-	const b3Quaternion& ornB,
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, 
-	const b3AlignedObjectArray<b3GpuFace>& facesA,
-	const b3AlignedObjectArray<int>& indicesA,
-	const b3AlignedObjectArray<b3Vector3>& verticesB, 
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB, 
-	const b3AlignedObjectArray<b3GpuFace>& facesB,
-	const b3AlignedObjectArray<int>& indicesB,
-
-	b3Vector3& sep)
+inline bool b3FindSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+								 const b3Float4& posA1,
+								 const b3Quaternion& ornA,
+								 const b3Float4& posB1,
+								 const b3Quaternion& ornB,
+								 const b3AlignedObjectArray<b3Vector3>& verticesA,
+								 const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
+								 const b3AlignedObjectArray<b3GpuFace>& facesA,
+								 const b3AlignedObjectArray<int>& indicesA,
+								 const b3AlignedObjectArray<b3Vector3>& verticesB,
+								 const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
+								 const b3AlignedObjectArray<b3GpuFace>& facesB,
+								 const b3AlignedObjectArray<int>& indicesB,
+
+								 b3Vector3& sep)
 {
 	B3_PROFILE("findSeparatingAxis");
 
@@ -77,42 +74,41 @@ inline bool b3FindSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3C
 	posA.w = 0.f;
 	b3Float4 posB = posB1;
 	posB.w = 0.f;
-//#ifdef TEST_INTERNAL_OBJECTS
+	//#ifdef TEST_INTERNAL_OBJECTS
 	b3Float4 c0local = (b3Float4&)hullA.m_localCenter;
 
 	b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
 	b3Float4 c1local = (b3Float4&)hullB.m_localCenter;
-	b3Float4 c1 = b3TransformPoint(c1local,posB,ornB);
+	b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
 	const b3Float4 deltaC2 = c0 - c1;
-//#endif
+	//#endif
 
 	b3Scalar dmin = FLT_MAX;
-	int curPlaneTests=0;
+	int curPlaneTests = 0;
 
 	int numFacesA = hullA.m_numFaces;
 	// Test normals from hullA
-	for(int i=0;i<numFacesA;i++)
+	for (int i = 0; i < numFacesA; i++)
 	{
-		const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset+i].m_plane;
-		b3Float4 faceANormalWS = b3QuatRotate(ornA,normal);
+		const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset + i].m_plane;
+		b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
 
-		if (b3Dot3F4(deltaC2,faceANormalWS)<0)
-			faceANormalWS*=-1.f;
+		if (b3Dot3F4(deltaC2, faceANormalWS) < 0)
+			faceANormalWS *= -1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
 		gExpectedNbTests++;
-		if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
+		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
 			continue;
 		gActualNbTests++;
 #endif
 
-		
 		b3Scalar d;
-		if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,faceANormalWS, verticesA, verticesB,d))
+		if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d))
 			return false;
 
-		if(d<dmin)
+		if (d < dmin)
 		{
 			dmin = d;
 			sep = (b3Vector3&)faceANormalWS;
@@ -121,86 +117,81 @@ inline bool b3FindSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3C
 
 	int numFacesB = hullB.m_numFaces;
 	// Test normals from hullB
-	for(int i=0;i<numFacesB;i++)
+	for (int i = 0; i < numFacesB; i++)
 	{
-		b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset+i].m_plane;
+		b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset + i].m_plane;
 		b3Float4 WorldNormal = b3QuatRotate(ornB, normal);
 
-		if (b3Dot3F4(deltaC2,WorldNormal)<0)
+		if (b3Dot3F4(deltaC2, WorldNormal) < 0)
 		{
-			WorldNormal*=-1.f;
+			WorldNormal *= -1.f;
 		}
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
 		gExpectedNbTests++;
-		if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
+		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
 			continue;
 		gActualNbTests++;
 #endif
 
 		b3Scalar d;
-		if(!b3TestSepAxis(hullA, hullB,posA,ornA,posB,ornB,WorldNormal,verticesA,verticesB,d))
+		if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d))
 			return false;
 
-		if(d<dmin)
+		if (d < dmin)
 		{
 			dmin = d;
 			sep = (b3Vector3&)WorldNormal;
 		}
 	}
 
-//	b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
+	//	b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
 
 	int curEdgeEdge = 0;
 	// Test edges
-	for(int e0=0;e0<hullA.m_numUniqueEdges;e0++)
+	for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++)
 	{
-		const b3Float4& edge0 = (b3Float4&) uniqueEdgesA[hullA.m_uniqueEdgesOffset+e0];
-		b3Float4 edge0World = b3QuatRotate(ornA,(b3Float4&)edge0);
+		const b3Float4& edge0 = (b3Float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0];
+		b3Float4 edge0World = b3QuatRotate(ornA, (b3Float4&)edge0);
 
-		for(int e1=0;e1<hullB.m_numUniqueEdges;e1++)
+		for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++)
 		{
-			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset+e1];
-			b3Float4 edge1World = b3QuatRotate(ornB,(b3Float4&)edge1);
-
+			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1];
+			b3Float4 edge1World = b3QuatRotate(ornB, (b3Float4&)edge1);
 
-			b3Float4 crossje = b3Cross3(edge0World,edge1World);
+			b3Float4 crossje = b3Cross3(edge0World, edge1World);
 
 			curEdgeEdge++;
-			if(!b3IsAlmostZero((b3Vector3&)crossje))
+			if (!b3IsAlmostZero((b3Vector3&)crossje))
 			{
 				crossje = b3FastNormalized3(crossje);
-				if (b3Dot3F4(deltaC2,crossje)<0)
-					crossje*=-1.f;
-
+				if (b3Dot3F4(deltaC2, crossje) < 0)
+					crossje *= -1.f;
 
 #ifdef TEST_INTERNAL_OBJECTS
 				gExpectedNbTests++;
-				if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
+				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
 					continue;
 				gActualNbTests++;
 #endif
 
 				b3Scalar dist;
-				if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,crossje, verticesA,verticesB,dist))
+				if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist))
 					return false;
 
-				if(dist<dmin)
+				if (dist < dmin)
 				{
 					dmin = dist;
 					sep = (b3Vector3&)crossje;
 				}
 			}
 		}
-
 	}
 
-	
-	if((b3Dot3F4(-deltaC2,(b3Float4&)sep))>0.0f)
+	if ((b3Dot3F4(-deltaC2, (b3Float4&)sep)) > 0.0f)
 		sep = -sep;
 
 	return true;
 }
 
-#endif //B3_FIND_SEPARATING_AXIS_H
-
+#endif  //B3_FIND_SEPARATING_AXIS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
index 6c3ad7c9dd..a3bfbf2995 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
@@ -15,9 +15,6 @@
  *  See the License for more information.
  */
 
-
-
-
 #ifndef B3_MPR_PENETRATION_H
 #define B3_MPR_PENETRATION_H
 
@@ -27,9 +24,6 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 
-
-
-
 #ifdef __cplusplus
 #define B3_MPR_SQRT sqrtf
 #else
@@ -41,196 +35,171 @@
 #define B3_MPR_TOLERANCE 1E-6f
 #define B3_MPR_MAX_ITERATIONS 1000
 
-struct _b3MprSupport_t 
+struct _b3MprSupport_t
 {
-    b3Float4 v;  //!< Support point in minkowski sum
-    b3Float4 v1; //!< Support point in obj1
-    b3Float4 v2; //!< Support point in obj2
+	b3Float4 v;   //!< Support point in minkowski sum
+	b3Float4 v1;  //!< Support point in obj1
+	b3Float4 v2;  //!< Support point in obj2
 };
 typedef struct _b3MprSupport_t b3MprSupport_t;
 
-struct _b3MprSimplex_t 
+struct _b3MprSimplex_t
 {
-    b3MprSupport_t ps[4];
-    int last; //!< index of last added point
+	b3MprSupport_t ps[4];
+	int last;  //!< index of last added point
 };
 typedef struct _b3MprSimplex_t b3MprSimplex_t;
 
-inline b3MprSupport_t* b3MprSimplexPointW(b3MprSimplex_t *s, int idx)
+inline b3MprSupport_t *b3MprSimplexPointW(b3MprSimplex_t *s, int idx)
 {
-    return &s->ps[idx];
+	return &s->ps[idx];
 }
 
 inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)
 {
-    s->last = size - 1;
+	s->last = size - 1;
 }
 
-
 inline int b3MprSimplexSize(const b3MprSimplex_t *s)
 {
-    return s->last + 1;
+	return s->last + 1;
 }
 
-
-inline const b3MprSupport_t* b3MprSimplexPoint(const b3MprSimplex_t* s, int idx)
+inline const b3MprSupport_t *b3MprSimplexPoint(const b3MprSimplex_t *s, int idx)
 {
-    // here is no check on boundaries
-    return &s->ps[idx];
+	// here is no check on boundaries
+	return &s->ps[idx];
 }
 
 inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)
 {
-    *d = *s;
+	*d = *s;
 }
 
 inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)
 {
-    b3MprSupportCopy(s->ps + pos, a);
+	b3MprSupportCopy(s->ps + pos, a);
 }
 
-
 inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)
 {
-    b3MprSupport_t supp;
+	b3MprSupport_t supp;
 
-    b3MprSupportCopy(&supp, &s->ps[pos1]);
-    b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
-    b3MprSupportCopy(&s->ps[pos2], &supp);
+	b3MprSupportCopy(&supp, &s->ps[pos1]);
+	b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
+	b3MprSupportCopy(&s->ps[pos2], &supp);
 }
 
-
 inline int b3MprIsZero(float val)
 {
-    return B3_MPR_FABS(val) < FLT_EPSILON;
+	return B3_MPR_FABS(val) < FLT_EPSILON;
 }
 
-
-
 inline int b3MprEq(float _a, float _b)
 {
-    float ab;
-    float a, b;
+	float ab;
+	float a, b;
 
-    ab = B3_MPR_FABS(_a - _b);
-    if (B3_MPR_FABS(ab) < FLT_EPSILON)
-        return 1;
+	ab = B3_MPR_FABS(_a - _b);
+	if (B3_MPR_FABS(ab) < FLT_EPSILON)
+		return 1;
 
-    a = B3_MPR_FABS(_a);
-    b = B3_MPR_FABS(_b);
-    if (b > a){
-        return ab < FLT_EPSILON * b;
-    }else{
-        return ab < FLT_EPSILON * a;
-    }
+	a = B3_MPR_FABS(_a);
+	b = B3_MPR_FABS(_b);
+	if (b > a)
+	{
+		return ab < FLT_EPSILON * b;
+	}
+	else
+	{
+		return ab < FLT_EPSILON * a;
+	}
 }
 
-
-inline int b3MprVec3Eq(const b3Float4* a, const b3Float4 *b)
+inline int b3MprVec3Eq(const b3Float4 *a, const b3Float4 *b)
 {
-    return b3MprEq((*a).x, (*b).x)
-            && b3MprEq((*a).y, (*b).y)
-            && b3MprEq((*a).z, (*b).z);
+	return b3MprEq((*a).x, (*b).x) && b3MprEq((*a).y, (*b).y) && b3MprEq((*a).z, (*b).z);
 }
 
-
-
-inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global const b3ConvexPolyhedronData_t* hull, 	b3ConstArray(b3Float4) verticesA)
+inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec, __global const b3ConvexPolyhedronData_t *hull, b3ConstArray(b3Float4) verticesA)
 {
-	b3Float4 supVec = b3MakeFloat4(0,0,0,0);
+	b3Float4 supVec = b3MakeFloat4(0, 0, 0, 0);
 	float maxDot = -B3_LARGE_FLOAT;
 
-    if( 0 < hull->m_numVertices )
-    {
-        const b3Float4 scaled = supportVec;
+	if (0 < hull->m_numVertices)
+	{
+		const b3Float4 scaled = supportVec;
 		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
-        return verticesA[hull->m_vertexOffset+index];
-    }
-
-    return supVec;
+		return verticesA[hull->m_vertexOffset + index];
+	}
 
+	return supVec;
 }
 
-
-B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, 
-													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, 
-													b3ConstArray(b3Collidable_t)				cpuCollidables,
-													b3ConstArray(b3Float4)					cpuVertices,
-													__global b3Float4* sepAxis,
-														const b3Float4* _dir, b3Float4* outp, int logme)
+B3_STATIC void b3MprConvexSupport(int pairIndex, int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
+								  b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
+								  b3ConstArray(b3Collidable_t) cpuCollidables,
+								  b3ConstArray(b3Float4) cpuVertices,
+								  __global b3Float4 *sepAxis,
+								  const b3Float4 *_dir, b3Float4 *outp, int logme)
 {
 	//dir is in worldspace, move to local space
-	
+
 	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;
 	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;
-	
-	b3Float4 dir = b3MakeFloat4((*_dir).x,(*_dir).y,(*_dir).z,0.f);
-	
-	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),dir);
-	
+
+	b3Float4 dir = b3MakeFloat4((*_dir).x, (*_dir).y, (*_dir).z, 0.f);
+
+	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), dir);
 
 	//find local support vertex
 	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;
-	
-	b3Assert(cpuCollidables[colIndex].m_shapeType==SHAPE_CONVEX_HULL);
-	__global const b3ConvexPolyhedronData_t* hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];
-	
+
+	b3Assert(cpuCollidables[colIndex].m_shapeType == SHAPE_CONVEX_HULL);
+	__global const b3ConvexPolyhedronData_t *hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];
+
 	b3Float4 pInA;
 	if (logme)
 	{
-
-
-	//	b3Float4 supVec = b3MakeFloat4(0,0,0,0);
+		//	b3Float4 supVec = b3MakeFloat4(0,0,0,0);
 		float maxDot = -B3_LARGE_FLOAT;
 
-		if( 0 < hull->m_numVertices )
+		if (0 < hull->m_numVertices)
 		{
 			const b3Float4 scaled = localDir;
 			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
-			pInA = cpuVertices[hull->m_vertexOffset+index];
-			
+			pInA = cpuVertices[hull->m_vertexOffset + index];
 		}
-
-
-	} else
+	}
+	else
 	{
-		pInA = b3LocalGetSupportVertex(localDir,hull,cpuVertices);
+		pInA = b3LocalGetSupportVertex(localDir, hull, cpuVertices);
 	}
 
 	//move vertex to world space
-	*outp = b3TransformPoint(pInA,pos,orn);
-	
+	*outp = b3TransformPoint(pInA, pos, orn);
 }
 
-inline void b3MprSupport(int pairIndex,int bodyIndexA, int bodyIndexB,   b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, 
-													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, 
-													b3ConstArray(b3Collidable_t)				cpuCollidables,
-													b3ConstArray(b3Float4)					cpuVertices,
-													__global b3Float4* sepAxis,
-													const b3Float4* _dir, b3MprSupport_t *supp)
+inline void b3MprSupport(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
+						 b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
+						 b3ConstArray(b3Collidable_t) cpuCollidables,
+						 b3ConstArray(b3Float4) cpuVertices,
+						 __global b3Float4 *sepAxis,
+						 const b3Float4 *_dir, b3MprSupport_t *supp)
 {
-    b3Float4 dir;
+	b3Float4 dir;
 	dir = *_dir;
-	b3MprConvexSupport(pairIndex,bodyIndexA,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v1,0);
-    dir = *_dir*-1.f;
-	b3MprConvexSupport(pairIndex,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v2,0);
-    supp->v = supp->v1 - supp->v2;
+	b3MprConvexSupport(pairIndex, bodyIndexA, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v1, 0);
+	dir = *_dir * -1.f;
+	b3MprConvexSupport(pairIndex, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v2, 0);
+	supp->v = supp->v1 - supp->v2;
 }
 
-
-
-
-
-
-
-
-
 inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)
 {
-
-    center->v1 = cpuBodyBuf[bodyIndexA].m_pos;
+	center->v1 = cpuBodyBuf[bodyIndexA].m_pos;
 	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;
-    center->v = center->v1 - center->v2;
+	center->v = center->v1 - center->v2;
 }
 
 inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)
@@ -243,48 +212,45 @@ inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)
 
 inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)
 {
-    (*v).x += (*w).x;
-    (*v).y += (*w).y;
-    (*v).z += (*w).z;
+	(*v).x += (*w).x;
+	(*v).y += (*w).y;
+	(*v).z += (*w).z;
 }
 
 inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)
 {
-    *v = *w;
+	*v = *w;
 }
 
 inline void b3MprVec3Scale(b3Float4 *d, float k)
 {
-    *d *= k;
+	*d *= k;
 }
 
 inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)
 {
-    float dot;
+	float dot;
 
-	dot = b3Dot3F4(*a,*b);
-    return dot;
+	dot = b3Dot3F4(*a, *b);
+	return dot;
 }
 
-
 inline float b3MprVec3Len2(const b3Float4 *v)
 {
-    return b3MprVec3Dot(v, v);
+	return b3MprVec3Dot(v, v);
 }
 
 inline void b3MprVec3Normalize(b3Float4 *d)
 {
-    float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));
-    b3MprVec3Scale(d, k);
+	float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));
+	b3MprVec3Scale(d, k);
 }
 
 inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)
 {
-	*d = b3Cross3(*a,*b);
-	
+	*d = b3Cross3(*a, *b);
 }
 
-
 inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)
 {
 	*d = *v - *w;
@@ -292,629 +258,631 @@ inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)
 
 inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)
 {
-    b3Float4 v2v1, v3v1;
+	b3Float4 v2v1, v3v1;
 
-    b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,
-                       &b3MprSimplexPoint(portal, 1)->v);
-    b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,
-                       &b3MprSimplexPoint(portal, 1)->v);
-    b3MprVec3Cross(dir, &v2v1, &v3v1);
-    b3MprVec3Normalize(dir);
+	b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,
+				  &b3MprSimplexPoint(portal, 1)->v);
+	b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,
+				  &b3MprSimplexPoint(portal, 1)->v);
+	b3MprVec3Cross(dir, &v2v1, &v3v1);
+	b3MprVec3Normalize(dir);
 }
 
-
 inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,
-                                       const b3Float4 *dir)
+								  const b3Float4 *dir)
 {
-    float dot;
-    dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);
-    return b3MprIsZero(dot) || dot > 0.f;
+	float dot;
+	dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);
+	return b3MprIsZero(dot) || dot > 0.f;
 }
 
 inline int portalReachTolerance(const b3MprSimplex_t *portal,
-                                     const b3MprSupport_t *v4,
-                                     const b3Float4 *dir)
+								const b3MprSupport_t *v4,
+								const b3Float4 *dir)
 {
-    float dv1, dv2, dv3, dv4;
-    float dot1, dot2, dot3;
+	float dv1, dv2, dv3, dv4;
+	float dot1, dot2, dot3;
 
-    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
+	// find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
 
-    dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);
-    dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);
-    dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);
-    dv4 = b3MprVec3Dot(&v4->v, dir);
+	dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);
+	dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);
+	dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);
+	dv4 = b3MprVec3Dot(&v4->v, dir);
 
-    dot1 = dv4 - dv1;
-    dot2 = dv4 - dv2;
-    dot3 = dv4 - dv3;
+	dot1 = dv4 - dv1;
+	dot2 = dv4 - dv2;
+	dot3 = dv4 - dv3;
 
-    dot1 = B3_MPR_FMIN(dot1, dot2);
-    dot1 = B3_MPR_FMIN(dot1, dot3);
+	dot1 = B3_MPR_FMIN(dot1, dot2);
+	dot1 = B3_MPR_FMIN(dot1, dot3);
 
-    return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;
+	return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;
 }
 
-inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,   
-                                         const b3MprSupport_t *v4,
-                                         const b3Float4 *dir)
+inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,
+									const b3MprSupport_t *v4,
+									const b3Float4 *dir)
 {
-    float dot;
-    dot = b3MprVec3Dot(&v4->v, dir);
-    return b3MprIsZero(dot) || dot > 0.f;
+	float dot;
+	dot = b3MprVec3Dot(&v4->v, dir);
+	return b3MprIsZero(dot) || dot > 0.f;
 }
 
 inline void b3ExpandPortal(b3MprSimplex_t *portal,
-                              const b3MprSupport_t *v4)
-{
-    float dot;
-    b3Float4 v4v0;
-
-    b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);
-    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);
-    if (dot > 0.f){
-        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);
-        if (dot > 0.f){
-            b3MprSimplexSet(portal, 1, v4);
-        }else{
-            b3MprSimplexSet(portal, 3, v4);
-        }
-    }else{
-        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);
-        if (dot > 0.f){
-            b3MprSimplexSet(portal, 2, v4);
-        }else{
-            b3MprSimplexSet(portal, 1, v4);
-        }
-    }
-}
-
-
-
-B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, 
-													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, 
-													b3ConstArray(b3Collidable_t)				cpuCollidables,
-													b3ConstArray(b3Float4)					cpuVertices,
-													__global b3Float4* sepAxis,
-													__global int*	hasSepAxis,
-													b3MprSimplex_t *portal)
-{
-    b3Float4 dir, va, vb;
-    float dot;
-    int cont;
-	
-	
-
-    // vertex 0 is center of portal
-    b3FindOrigin(bodyIndexA,bodyIndexB,cpuBodyBuf, b3MprSimplexPointW(portal, 0));
-    // vertex 0 is center of portal
-    b3MprSimplexSetSize(portal, 1);
-	
-
-
-	b3Float4 zero = b3MakeFloat4(0,0,0,0);
-	b3Float4* b3mpr_vec3_origin = &zero;
-
-    if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin)){
-        // Portal's center lies on origin (0,0,0) => we know that objects
-        // intersect but we would need to know penetration info.
-        // So move center little bit...
-        b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
-        b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);
-    }
-
-
-    // vertex 1 = support in direction of origin
-    b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);
-    b3MprVec3Scale(&dir, -1.f);
-    b3MprVec3Normalize(&dir);
-
-
-    b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 1));
-
-    b3MprSimplexSetSize(portal, 2);
-
-    // test if origin isn't outside of v1
-    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);
-	
-
-    if (b3MprIsZero(dot) || dot < 0.f)
-        return -1;
-
-
-    // vertex 2
-    b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,
-                       &b3MprSimplexPoint(portal, 1)->v);
-    if (b3MprIsZero(b3MprVec3Len2(&dir))){
-        if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin)){
-            // origin lies on v1
-            return 1;
-        }else{
-            // origin lies on v0-v1 segment
-            return 2;
-        }
-    }
-
-    b3MprVec3Normalize(&dir);
-	 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 2));
-    
-    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);
-    if (b3MprIsZero(dot) || dot < 0.f)
-        return -1;
-
-    b3MprSimplexSetSize(portal, 3);
-
-    // vertex 3 direction
-    b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
-                     &b3MprSimplexPoint(portal, 0)->v);
-    b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
-                     &b3MprSimplexPoint(portal, 0)->v);
-    b3MprVec3Cross(&dir, &va, &vb);
-    b3MprVec3Normalize(&dir);
-
-    // it is better to form portal faces to be oriented "outside" origin
-    dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);
-    if (dot > 0.f){
-        b3MprSimplexSwap(portal, 1, 2);
-        b3MprVec3Scale(&dir, -1.f);
-    }
-
-    while (b3MprSimplexSize(portal) < 4){
-		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 3));
-        
-        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);
-        if (b3MprIsZero(dot) || dot < 0.f)
-            return -1;
-
-        cont = 0;
-
-        // test if origin is outside (v1, v0, v3) - set v2 as v3 and
-        // continue
-        b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,
-                          &b3MprSimplexPoint(portal, 3)->v);
-        dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
-        if (dot < 0.f && !b3MprIsZero(dot)){
-            b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));
-            cont = 1;
-        }
-
-        if (!cont){
-            // test if origin is outside (v3, v0, v2) - set v1 as v3 and
-            // continue
-            b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,
-                              &b3MprSimplexPoint(portal, 2)->v);
-            dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
-            if (dot < 0.f && !b3MprIsZero(dot)){
-                b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));
-                cont = 1;
-            }
-        }
-
-        if (cont){
-            b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
-                             &b3MprSimplexPoint(portal, 0)->v);
-            b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
-                             &b3MprSimplexPoint(portal, 0)->v);
-            b3MprVec3Cross(&dir, &va, &vb);
-            b3MprVec3Normalize(&dir);
-        }else{
-            b3MprSimplexSetSize(portal, 4);
-        }
-    }
-
-    return 0;
-}
-
-
-B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, 
-													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, 
-													b3ConstArray(b3Collidable_t)				cpuCollidables,
-													b3ConstArray(b3Float4)					cpuVertices,
-													__global b3Float4* sepAxis,
-													b3MprSimplex_t *portal)
-{
-    b3Float4 dir;
-    b3MprSupport_t v4;
-
-	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)
-    //while (1)
+						   const b3MprSupport_t *v4)
+{
+	float dot;
+	b3Float4 v4v0;
+
+	b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);
+	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);
+	if (dot > 0.f)
 	{
-        // compute direction outside the portal (from v0 throught v1,v2,v3
-        // face)
-        b3PortalDir(portal, &dir);
+		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);
+		if (dot > 0.f)
+		{
+			b3MprSimplexSet(portal, 1, v4);
+		}
+		else
+		{
+			b3MprSimplexSet(portal, 3, v4);
+		}
+	}
+	else
+	{
+		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);
+		if (dot > 0.f)
+		{
+			b3MprSimplexSet(portal, 2, v4);
+		}
+		else
+		{
+			b3MprSimplexSet(portal, 1, v4);
+		}
+	}
+}
 
-        // test if origin is inside the portal
-        if (portalEncapsulesOrigin(portal, &dir))
-            return 0;
+B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
+							   b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
+							   b3ConstArray(b3Collidable_t) cpuCollidables,
+							   b3ConstArray(b3Float4) cpuVertices,
+							   __global b3Float4 *sepAxis,
+							   __global int *hasSepAxis,
+							   b3MprSimplex_t *portal)
+{
+	b3Float4 dir, va, vb;
+	float dot;
+	int cont;
 
-        // get next support point
-        
-		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);
+	// vertex 0 is center of portal
+	b3FindOrigin(bodyIndexA, bodyIndexB, cpuBodyBuf, b3MprSimplexPointW(portal, 0));
+	// vertex 0 is center of portal
+	b3MprSimplexSetSize(portal, 1);
 
+	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
+	b3Float4 *b3mpr_vec3_origin = &zero;
 
-        // test if v4 can expand portal to contain origin and if portal
-        // expanding doesn't reach given tolerance
-        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)
-                || portalReachTolerance(portal, &v4, &dir))
+	if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin))
+	{
+		// Portal's center lies on origin (0,0,0) => we know that objects
+		// intersect but we would need to know penetration info.
+		// So move center little bit...
+		b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
+		b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);
+	}
+
+	// vertex 1 = support in direction of origin
+	b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);
+	b3MprVec3Scale(&dir, -1.f);
+	b3MprVec3Normalize(&dir);
+
+	b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 1));
+
+	b3MprSimplexSetSize(portal, 2);
+
+	// test if origin isn't outside of v1
+	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);
+
+	if (b3MprIsZero(dot) || dot < 0.f)
+		return -1;
+
+	// vertex 2
+	b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,
+				   &b3MprSimplexPoint(portal, 1)->v);
+	if (b3MprIsZero(b3MprVec3Len2(&dir)))
+	{
+		if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin))
 		{
-            return -1;
-        }
+			// origin lies on v1
+			return 1;
+		}
+		else
+		{
+			// origin lies on v0-v1 segment
+			return 2;
+		}
+	}
+
+	b3MprVec3Normalize(&dir);
+	b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 2));
+
+	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);
+	if (b3MprIsZero(dot) || dot < 0.f)
+		return -1;
+
+	b3MprSimplexSetSize(portal, 3);
+
+	// vertex 3 direction
+	b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
+				  &b3MprSimplexPoint(portal, 0)->v);
+	b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
+				  &b3MprSimplexPoint(portal, 0)->v);
+	b3MprVec3Cross(&dir, &va, &vb);
+	b3MprVec3Normalize(&dir);
+
+	// it is better to form portal faces to be oriented "outside" origin
+	dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);
+	if (dot > 0.f)
+	{
+		b3MprSimplexSwap(portal, 1, 2);
+		b3MprVec3Scale(&dir, -1.f);
+	}
+
+	while (b3MprSimplexSize(portal) < 4)
+	{
+		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 3));
 
-        // v1-v2-v3 triangle must be rearranged to face outside Minkowski
-        // difference (direction from v0).
-        b3ExpandPortal(portal, &v4);
-    }
+		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);
+		if (b3MprIsZero(dot) || dot < 0.f)
+			return -1;
 
-    return -1;
+		cont = 0;
+
+		// test if origin is outside (v1, v0, v3) - set v2 as v3 and
+		// continue
+		b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,
+					   &b3MprSimplexPoint(portal, 3)->v);
+		dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
+		if (dot < 0.f && !b3MprIsZero(dot))
+		{
+			b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));
+			cont = 1;
+		}
+
+		if (!cont)
+		{
+			// test if origin is outside (v3, v0, v2) - set v1 as v3 and
+			// continue
+			b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,
+						   &b3MprSimplexPoint(portal, 2)->v);
+			dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
+			if (dot < 0.f && !b3MprIsZero(dot))
+			{
+				b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));
+				cont = 1;
+			}
+		}
+
+		if (cont)
+		{
+			b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
+						  &b3MprSimplexPoint(portal, 0)->v);
+			b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
+						  &b3MprSimplexPoint(portal, 0)->v);
+			b3MprVec3Cross(&dir, &va, &vb);
+			b3MprVec3Normalize(&dir);
+		}
+		else
+		{
+			b3MprSimplexSetSize(portal, 4);
+		}
+	}
+
+	return 0;
 }
 
-B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)
+B3_STATIC int b3RefinePortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
+							 b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
+							 b3ConstArray(b3Collidable_t) cpuCollidables,
+							 b3ConstArray(b3Float4) cpuVertices,
+							 __global b3Float4 *sepAxis,
+							 b3MprSimplex_t *portal)
 {
+	b3Float4 dir;
+	b3MprSupport_t v4;
 
-	b3Float4 zero = b3MakeFloat4(0,0,0,0);
-	b3Float4* b3mpr_vec3_origin = &zero;
+	for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
+	//while (1)
+	{
+		// compute direction outside the portal (from v0 throught v1,v2,v3
+		// face)
+		b3PortalDir(portal, &dir);
 
-    b3Float4 dir;
-    size_t i;
-    float b[4], sum, inv;
-    b3Float4 vec, p1, p2;
+		// test if origin is inside the portal
+		if (portalEncapsulesOrigin(portal, &dir))
+			return 0;
 
-    b3PortalDir(portal, &dir);
+		// get next support point
 
-    // use barycentric coordinates of tetrahedron to find origin
-    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
-                       &b3MprSimplexPoint(portal, 2)->v);
-    b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
+		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
 
-    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
-                       &b3MprSimplexPoint(portal, 2)->v);
-    b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
+		// test if v4 can expand portal to contain origin and if portal
+		// expanding doesn't reach given tolerance
+		if (!portalCanEncapsuleOrigin(portal, &v4, &dir) || portalReachTolerance(portal, &v4, &dir))
+		{
+			return -1;
+		}
 
-    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,
-                       &b3MprSimplexPoint(portal, 1)->v);
-    b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
+		// v1-v2-v3 triangle must be rearranged to face outside Minkowski
+		// difference (direction from v0).
+		b3ExpandPortal(portal, &v4);
+	}
 
-    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
-                       &b3MprSimplexPoint(portal, 1)->v);
-    b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
+	return -1;
+}
+
+B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)
+{
+	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
+	b3Float4 *b3mpr_vec3_origin = &zero;
+
+	b3Float4 dir;
+	size_t i;
+	float b[4], sum, inv;
+	b3Float4 vec, p1, p2;
+
+	b3PortalDir(portal, &dir);
+
+	// use barycentric coordinates of tetrahedron to find origin
+	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
+				   &b3MprSimplexPoint(portal, 2)->v);
+	b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
+
+	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
+				   &b3MprSimplexPoint(portal, 2)->v);
+	b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
+
+	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,
+				   &b3MprSimplexPoint(portal, 1)->v);
+	b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
+
+	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
+				   &b3MprSimplexPoint(portal, 1)->v);
+	b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
 
 	sum = b[0] + b[1] + b[2] + b[3];
 
-    if (b3MprIsZero(sum) || sum < 0.f){
+	if (b3MprIsZero(sum) || sum < 0.f)
+	{
 		b[0] = 0.f;
 
-        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
-                           &b3MprSimplexPoint(portal, 3)->v);
-        b[1] = b3MprVec3Dot(&vec, &dir);
-        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
-                           &b3MprSimplexPoint(portal, 1)->v);
-        b[2] = b3MprVec3Dot(&vec, &dir);
-        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
-                           &b3MprSimplexPoint(portal, 2)->v);
-        b[3] = b3MprVec3Dot(&vec, &dir);
+		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
+					   &b3MprSimplexPoint(portal, 3)->v);
+		b[1] = b3MprVec3Dot(&vec, &dir);
+		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
+					   &b3MprSimplexPoint(portal, 1)->v);
+		b[2] = b3MprVec3Dot(&vec, &dir);
+		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
+					   &b3MprSimplexPoint(portal, 2)->v);
+		b[3] = b3MprVec3Dot(&vec, &dir);
 
 		sum = b[1] + b[2] + b[3];
 	}
 
 	inv = 1.f / sum;
 
-    b3MprVec3Copy(&p1, b3mpr_vec3_origin);
-    b3MprVec3Copy(&p2, b3mpr_vec3_origin);
-    for (i = 0; i < 4; i++){
-        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);
-        b3MprVec3Scale(&vec, b[i]);
-        b3MprVec3Add(&p1, &vec);
+	b3MprVec3Copy(&p1, b3mpr_vec3_origin);
+	b3MprVec3Copy(&p2, b3mpr_vec3_origin);
+	for (i = 0; i < 4; i++)
+	{
+		b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);
+		b3MprVec3Scale(&vec, b[i]);
+		b3MprVec3Add(&p1, &vec);
 
-        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);
-        b3MprVec3Scale(&vec, b[i]);
-        b3MprVec3Add(&p2, &vec);
-    }
-    b3MprVec3Scale(&p1, inv);
-    b3MprVec3Scale(&p2, inv);
+		b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);
+		b3MprVec3Scale(&vec, b[i]);
+		b3MprVec3Add(&p2, &vec);
+	}
+	b3MprVec3Scale(&p1, inv);
+	b3MprVec3Scale(&p2, inv);
 
-    b3MprVec3Copy(pos, &p1);
-    b3MprVec3Add(pos, &p2);
-    b3MprVec3Scale(pos, 0.5);
+	b3MprVec3Copy(pos, &p1);
+	b3MprVec3Add(pos, &p2);
+	b3MprVec3Scale(pos, 0.5);
 }
 
 inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)
 {
-    b3Float4 ab;
-    b3MprVec3Sub2(&ab, a, b);
-    return b3MprVec3Len2(&ab);
+	b3Float4 ab;
+	b3MprVec3Sub2(&ab, a, b);
+	return b3MprVec3Len2(&ab);
 }
 
 inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,
-                                                  const b3Float4 *x0,
-                                                  const b3Float4 *b,
-                                                  b3Float4 *witness)
-{
-    // The computation comes from solving equation of segment:
-    //      S(t) = x0 + t.d
-    //          where - x0 is initial point of segment
-    //                - d is direction of segment from x0 (|d| > 0)
-    //                - t belongs to <0, 1> interval
-    // 
-    // Than, distance from a segment to some point P can be expressed:
-    //      D(t) = |x0 + t.d - P|^2
-    //          which is distance from any point on segment. Minimization
-    //          of this function brings distance from P to segment.
-    // Minimization of D(t) leads to simple quadratic equation that's
-    // solving is straightforward.
-    //
-    // Bonus of this method is witness point for free.
-
-    float dist, t;
-    b3Float4 d, a;
-
-    // direction of segment
-    b3MprVec3Sub2(&d, b, x0);
-
-    // precompute vector from P to x0
-    b3MprVec3Sub2(&a, x0, P);
-
-    t  = -1.f * b3MprVec3Dot(&a, &d);
-    t /= b3MprVec3Len2(&d);
-
-    if (t < 0.f || b3MprIsZero(t)){
-        dist = b3MprVec3Dist2(x0, P);
-        if (witness)
-            b3MprVec3Copy(witness, x0);
-    }else if (t > 1.f || b3MprEq(t, 1.f)){
-        dist = b3MprVec3Dist2(b, P);
-        if (witness)
-            b3MprVec3Copy(witness, b);
-    }else{
-        if (witness){
-            b3MprVec3Copy(witness, &d);
-            b3MprVec3Scale(witness, t);
-            b3MprVec3Add(witness, x0);
-            dist = b3MprVec3Dist2(witness, P);
-        }else{
-            // recycling variables
-            b3MprVec3Scale(&d, t);
-            b3MprVec3Add(&d, &a);
-            dist = b3MprVec3Len2(&d);
-        }
-    }
-
-    return dist;
-}
+										 const b3Float4 *x0,
+										 const b3Float4 *b,
+										 b3Float4 *witness)
+{
+	// The computation comes from solving equation of segment:
+	//      S(t) = x0 + t.d
+	//          where - x0 is initial point of segment
+	//                - d is direction of segment from x0 (|d| > 0)
+	//                - t belongs to <0, 1> interval
+	//
+	// Than, distance from a segment to some point P can be expressed:
+	//      D(t) = |x0 + t.d - P|^2
+	//          which is distance from any point on segment. Minimization
+	//          of this function brings distance from P to segment.
+	// Minimization of D(t) leads to simple quadratic equation that's
+	// solving is straightforward.
+	//
+	// Bonus of this method is witness point for free.
+
+	float dist, t;
+	b3Float4 d, a;
+
+	// direction of segment
+	b3MprVec3Sub2(&d, b, x0);
+
+	// precompute vector from P to x0
+	b3MprVec3Sub2(&a, x0, P);
+
+	t = -1.f * b3MprVec3Dot(&a, &d);
+	t /= b3MprVec3Len2(&d);
+
+	if (t < 0.f || b3MprIsZero(t))
+	{
+		dist = b3MprVec3Dist2(x0, P);
+		if (witness)
+			b3MprVec3Copy(witness, x0);
+	}
+	else if (t > 1.f || b3MprEq(t, 1.f))
+	{
+		dist = b3MprVec3Dist2(b, P);
+		if (witness)
+			b3MprVec3Copy(witness, b);
+	}
+	else
+	{
+		if (witness)
+		{
+			b3MprVec3Copy(witness, &d);
+			b3MprVec3Scale(witness, t);
+			b3MprVec3Add(witness, x0);
+			dist = b3MprVec3Dist2(witness, P);
+		}
+		else
+		{
+			// recycling variables
+			b3MprVec3Scale(&d, t);
+			b3MprVec3Add(&d, &a);
+			dist = b3MprVec3Len2(&d);
+		}
+	}
 
+	return dist;
+}
 
 inline float b3MprVec3PointTriDist2(const b3Float4 *P,
-                                const b3Float4 *x0, const b3Float4 *B,
-                                const b3Float4 *C,
-                                b3Float4 *witness)
-{
-    // Computation comes from analytic expression for triangle (x0, B, C)
-    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
-    // Then equation for distance is:
-    //      D(s, t) = | T(s, t) - P |^2
-    // This leads to minimization of quadratic function of two variables.
-    // The solution from is taken only if s is between 0 and 1, t is
-    // between 0 and 1 and t + s < 1, otherwise distance from segment is
-    // computed.
-
-    b3Float4 d1, d2, a;
-    float u, v, w, p, q, r;
-    float s, t, dist, dist2;
-    b3Float4 witness2;
-
-    b3MprVec3Sub2(&d1, B, x0);
-    b3MprVec3Sub2(&d2, C, x0);
-    b3MprVec3Sub2(&a, x0, P);
-
-    u = b3MprVec3Dot(&a, &a);
-    v = b3MprVec3Dot(&d1, &d1);
-    w = b3MprVec3Dot(&d2, &d2);
-    p = b3MprVec3Dot(&a, &d1);
-    q = b3MprVec3Dot(&a, &d2);
-    r = b3MprVec3Dot(&d1, &d2);
-
-    s = (q * r - w * p) / (w * v - r * r);
-    t = (-s * r - q) / w;
-
-    if ((b3MprIsZero(s) || s > 0.f)
-            && (b3MprEq(s, 1.f) || s < 1.f)
-            && (b3MprIsZero(t) || t > 0.f)
-            && (b3MprEq(t, 1.f) || t < 1.f)
-            && (b3MprEq(t + s, 1.f) || t + s < 1.f)){
-
-        if (witness){
-            b3MprVec3Scale(&d1, s);
-            b3MprVec3Scale(&d2, t);
-            b3MprVec3Copy(witness, x0);
-            b3MprVec3Add(witness, &d1);
-            b3MprVec3Add(witness, &d2);
-
-            dist = b3MprVec3Dist2(witness, P);
-        }else{
-            dist  = s * s * v;
-            dist += t * t * w;
-            dist += 2.f * s * t * r;
-            dist += 2.f * s * p;
-            dist += 2.f * t * q;
-            dist += u;
-        }
-    }else{
-        dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);
-
-        dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);
-        if (dist2 < dist){
-            dist = dist2;
-            if (witness)
-                b3MprVec3Copy(witness, &witness2);
-        }
-
-        dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);
-        if (dist2 < dist){
-            dist = dist2;
-            if (witness)
-                b3MprVec3Copy(witness, &witness2);
-        }
-    }
-
-    return dist;
-}
-
-
-B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, 
-													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, 
-													b3ConstArray(b3Collidable_t)				cpuCollidables,
-													b3ConstArray(b3Float4)					cpuVertices,
-													__global b3Float4* sepAxis,
-                       b3MprSimplex_t *portal,
-                       float *depth, b3Float4 *pdir, b3Float4 *pos)
-{
-    b3Float4 dir;
-    b3MprSupport_t v4;
-    unsigned long iterations;
-
-	b3Float4 zero = b3MakeFloat4(0,0,0,0);
-	b3Float4* b3mpr_vec3_origin = &zero;
-
-
-    iterations = 1UL;
-	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)
-    //while (1)
+									const b3Float4 *x0, const b3Float4 *B,
+									const b3Float4 *C,
+									b3Float4 *witness)
+{
+	// Computation comes from analytic expression for triangle (x0, B, C)
+	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
+	// Then equation for distance is:
+	//      D(s, t) = | T(s, t) - P |^2
+	// This leads to minimization of quadratic function of two variables.
+	// The solution from is taken only if s is between 0 and 1, t is
+	// between 0 and 1 and t + s < 1, otherwise distance from segment is
+	// computed.
+
+	b3Float4 d1, d2, a;
+	float u, v, w, p, q, r;
+	float s, t, dist, dist2;
+	b3Float4 witness2;
+
+	b3MprVec3Sub2(&d1, B, x0);
+	b3MprVec3Sub2(&d2, C, x0);
+	b3MprVec3Sub2(&a, x0, P);
+
+	u = b3MprVec3Dot(&a, &a);
+	v = b3MprVec3Dot(&d1, &d1);
+	w = b3MprVec3Dot(&d2, &d2);
+	p = b3MprVec3Dot(&a, &d1);
+	q = b3MprVec3Dot(&a, &d2);
+	r = b3MprVec3Dot(&d1, &d2);
+
+	s = (q * r - w * p) / (w * v - r * r);
+	t = (-s * r - q) / w;
+
+	if ((b3MprIsZero(s) || s > 0.f) && (b3MprEq(s, 1.f) || s < 1.f) && (b3MprIsZero(t) || t > 0.f) && (b3MprEq(t, 1.f) || t < 1.f) && (b3MprEq(t + s, 1.f) || t + s < 1.f))
+	{
+		if (witness)
+		{
+			b3MprVec3Scale(&d1, s);
+			b3MprVec3Scale(&d2, t);
+			b3MprVec3Copy(witness, x0);
+			b3MprVec3Add(witness, &d1);
+			b3MprVec3Add(witness, &d2);
+
+			dist = b3MprVec3Dist2(witness, P);
+		}
+		else
+		{
+			dist = s * s * v;
+			dist += t * t * w;
+			dist += 2.f * s * t * r;
+			dist += 2.f * s * p;
+			dist += 2.f * t * q;
+			dist += u;
+		}
+	}
+	else
+	{
+		dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);
+
+		dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);
+		if (dist2 < dist)
+		{
+			dist = dist2;
+			if (witness)
+				b3MprVec3Copy(witness, &witness2);
+		}
+
+		dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);
+		if (dist2 < dist)
+		{
+			dist = dist2;
+			if (witness)
+				b3MprVec3Copy(witness, &witness2);
+		}
+	}
+
+	return dist;
+}
+
+B3_STATIC void b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
+							b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
+							b3ConstArray(b3Collidable_t) cpuCollidables,
+							b3ConstArray(b3Float4) cpuVertices,
+							__global b3Float4 *sepAxis,
+							b3MprSimplex_t *portal,
+							float *depth, b3Float4 *pdir, b3Float4 *pos)
+{
+	b3Float4 dir;
+	b3MprSupport_t v4;
+	unsigned long iterations;
+
+	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
+	b3Float4 *b3mpr_vec3_origin = &zero;
+
+	iterations = 1UL;
+	for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
+	//while (1)
 	{
-        // compute portal direction and obtain next support point
-        b3PortalDir(portal, &dir);
-        
-		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);
+		// compute portal direction and obtain next support point
+		b3PortalDir(portal, &dir);
 
+		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
 
-        // reached tolerance -> find penetration info
-        if (portalReachTolerance(portal, &v4, &dir)
-                || iterations ==B3_MPR_MAX_ITERATIONS)
+		// reached tolerance -> find penetration info
+		if (portalReachTolerance(portal, &v4, &dir) || iterations == B3_MPR_MAX_ITERATIONS)
 		{
-            *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin,&b3MprSimplexPoint(portal, 1)->v,&b3MprSimplexPoint(portal, 2)->v,&b3MprSimplexPoint(portal, 3)->v,pdir);
-            *depth = B3_MPR_SQRT(*depth);
-			
+			*depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin, &b3MprSimplexPoint(portal, 1)->v, &b3MprSimplexPoint(portal, 2)->v, &b3MprSimplexPoint(portal, 3)->v, pdir);
+			*depth = B3_MPR_SQRT(*depth);
+
 			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))
 			{
-				
 				*pdir = dir;
-			} 
+			}
 			b3MprVec3Normalize(pdir);
-			
-            // barycentric coordinates:
-            b3FindPos(portal, pos);
 
+			// barycentric coordinates:
+			b3FindPos(portal, pos);
 
-            return;
-        }
+			return;
+		}
 
-        b3ExpandPortal(portal, &v4);
+		b3ExpandPortal(portal, &v4);
 
-        iterations++;
-    }
+		iterations++;
+	}
 }
 
-B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)
+B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal, float *depth, b3Float4 *dir, b3Float4 *pos)
 {
-    // Touching contact on portal's v1 - so depth is zero and direction
-    // is unimportant and pos can be guessed
-    *depth = 0.f;
-    b3Float4 zero = b3MakeFloat4(0,0,0,0);
-	b3Float4* b3mpr_vec3_origin = &zero;
-
+	// Touching contact on portal's v1 - so depth is zero and direction
+	// is unimportant and pos can be guessed
+	*depth = 0.f;
+	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
+	b3Float4 *b3mpr_vec3_origin = &zero;
 
 	b3MprVec3Copy(dir, b3mpr_vec3_origin);
 
-    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
-    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
-    b3MprVec3Scale(pos, 0.5);
+	b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
+	b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
+	b3MprVec3Scale(pos, 0.5);
 }
 
 B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,
-                              float *depth, b3Float4 *dir, b3Float4 *pos)
+								   float *depth, b3Float4 *dir, b3Float4 *pos)
 {
-    
-    // Origin lies on v0-v1 segment.
-    // Depth is distance to v1, direction also and position must be
-    // computed
+	// Origin lies on v0-v1 segment.
+	// Depth is distance to v1, direction also and position must be
+	// computed
 
-    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
-    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
-    b3MprVec3Scale(pos, 0.5f);
+	b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
+	b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
+	b3MprVec3Scale(pos, 0.5f);
 
-    
-    b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);
-    *depth = B3_MPR_SQRT(b3MprVec3Len2(dir));
-    b3MprVec3Normalize(dir);
+	b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);
+	*depth = B3_MPR_SQRT(b3MprVec3Len2(dir));
+	b3MprVec3Normalize(dir);
 }
 
-
-
 inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,
-					b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-					b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, 
-					b3ConstArray(b3Collidable_t)	cpuCollidables,
-					b3ConstArray(b3Float4)	cpuVertices,
-					__global b3Float4* sepAxis,
-					__global int*	hasSepAxis,
-					float *depthOut, b3Float4* dirOut, b3Float4* posOut)
-{
-	
-	 b3MprSimplex_t portal;
-
-	 
-//	if (!hasSepAxis[pairIndex])
+							b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
+							b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
+							b3ConstArray(b3Collidable_t) cpuCollidables,
+							b3ConstArray(b3Float4) cpuVertices,
+							__global b3Float4 *sepAxis,
+							__global int *hasSepAxis,
+							float *depthOut, b3Float4 *dirOut, b3Float4 *posOut)
+{
+	b3MprSimplex_t portal;
+
+	//	if (!hasSepAxis[pairIndex])
 	//	return -1;
-	
+
 	hasSepAxis[pairIndex] = 0;
-	 int res;
+	int res;
+
+	// Phase 1: Portal discovery
+	res = b3DiscoverPortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, hasSepAxis, &portal);
 
-    // Phase 1: Portal discovery
-    res = b3DiscoverPortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,hasSepAxis, &portal);
-	
-	  
 	//sepAxis[pairIndex] = *pdir;//or -dir?
 
 	switch (res)
 	{
-	case 0:
+		case 0:
 		{
 			// Phase 2: Portal refinement
-		
-			res = b3RefinePortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal);
+
+			res = b3RefinePortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal);
 			if (res < 0)
 				return -1;
 
 			// Phase 3. Penetration info
-			b3FindPenetr(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal, depthOut, dirOut, posOut);
+			b3FindPenetr(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal, depthOut, dirOut, posOut);
 			hasSepAxis[pairIndex] = 1;
 			sepAxis[pairIndex] = -*dirOut;
 			break;
 		}
-	case 1:
+		case 1:
 		{
-			 // Touching contact on portal's v1.
+			// Touching contact on portal's v1.
 			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);
 			break;
 		}
-	case 2:
+		case 2:
 		{
-			
-			b3FindPenetrSegment( &portal, depthOut, dirOut, posOut);
+			b3FindPenetrSegment(&portal, depthOut, dirOut, posOut);
 			break;
 		}
-	default:
+		default:
 		{
-			hasSepAxis[pairIndex]=0;
+			hasSepAxis[pairIndex] = 0;
 			//if (res < 0)
 			//{
-				// Origin isn't inside portal - no collision.
-				return -1;
+			// Origin isn't inside portal - no collision.
+			return -1;
 			//}
 		}
 	};
-	
+
 	return 0;
 };
 
-
-
-#endif //B3_MPR_PENETRATION_H
+#endif  //B3_MPR_PENETRATION_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
index 718222ebca..6e991e14b0 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
@@ -8,189 +8,168 @@
 
 #define GET_NPOINTS(x) (x).m_worldNormalOnB.w
 
-
 int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx)
 {
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	b3Float4 center = b3MakeFloat4(0,0,0,0);
+	if (nPoints == 0)
+		return 0;
+
+	if (nPoints <= 4)
+		return nPoints;
+
+	if (nPoints > 64)
+		nPoints = 64;
+
+	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
 	{
-		
-		for (int i=0;i<nPoints;i++)
+		for (int i = 0; i < nPoints; i++)
 			center += p[i];
 		center /= (float)nPoints;
 	}
-    
-	
-    
+
 	//	sample 4 directions
-    
-    b3Float4 aVector = p[0] - center;
-    b3Float4 u = b3Cross( nearNormal, aVector );
-    b3Float4 v = b3Cross( nearNormal, u );
-    u = b3Normalized( u );
-    v = b3Normalized( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    b3Float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        b3Float4 r = p[ie]-center;
-        f = b3Dot( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = b3Dot( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = b3Dot( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = b3Dot( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
+
+	b3Float4 aVector = p[0] - center;
+	b3Float4 u = b3Cross(nearNormal, aVector);
+	b3Float4 v = b3Cross(nearNormal, u);
+	u = b3Normalized(u);
+	v = b3Normalized(v);
+
+	//keep point with deepest penetration
+	float minW = FLT_MAX;
+
+	int minIndex = -1;
+
+	b3Float4 maxDots;
+	maxDots.x = FLT_MIN;
+	maxDots.y = FLT_MIN;
+	maxDots.z = FLT_MIN;
+	maxDots.w = FLT_MIN;
+
+	//	idx, distance
+	for (int ie = 0; ie < nPoints; ie++)
+	{
+		if (p[ie].w < minW)
+		{
+			minW = p[ie].w;
+			minIndex = ie;
+		}
+		float f;
+		b3Float4 r = p[ie] - center;
+		f = b3Dot(u, r);
+		if (f < maxDots.x)
+		{
+			maxDots.x = f;
+			contactIdx[0].x = ie;
+		}
+
+		f = b3Dot(-u, r);
+		if (f < maxDots.y)
+		{
+			maxDots.y = f;
+			contactIdx[0].y = ie;
+		}
+
+		f = b3Dot(v, r);
+		if (f < maxDots.z)
+		{
+			maxDots.z = f;
+			contactIdx[0].z = ie;
+		}
+
+		f = b3Dot(-v, r);
+		if (f < maxDots.w)
+		{
+			maxDots.w = f;
+			contactIdx[0].w = ie;
+		}
+	}
+
+	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
+	{
+		//replace the first contact with minimum (todo: replace contact with least penetration)
+		contactIdx[0].x = minIndex;
+	}
+
+	return 4;
 }
 
-__kernel void   b3NewContactReductionKernel( __global b3Int4* pairs,
-                                                   __global const b3RigidBodyData_t* rigidBodies,
-                                                   __global const b3Float4* separatingNormals,
-                                                   __global const int* hasSeparatingAxis,
-                                                   __global struct b3Contact4Data* globalContactsOut,
-                                                   __global b3Int4* clippingFaces,
-                                                   __global b3Float4* worldVertsB2,
-                                                   volatile __global int* nGlobalContactsOut,
-                                                   int vertexFaceCapacity,
-												   int contactCapacity,
-                                                   int numPairs,
-												   int pairIndex
-                                                   )
+__kernel void b3NewContactReductionKernel(__global b3Int4* pairs,
+										  __global const b3RigidBodyData_t* rigidBodies,
+										  __global const b3Float4* separatingNormals,
+										  __global const int* hasSeparatingAxis,
+										  __global struct b3Contact4Data* globalContactsOut,
+										  __global b3Int4* clippingFaces,
+										  __global b3Float4* worldVertsB2,
+										  volatile __global int* nGlobalContactsOut,
+										  int vertexFaceCapacity,
+										  int contactCapacity,
+										  int numPairs,
+										  int pairIndex)
 {
-//    int i = get_global_id(0);
+	//    int i = get_global_id(0);
 	//int pairIndex = i;
 	int i = pairIndex;
 
-    b3Int4 contactIdx;
-    contactIdx=b3MakeInt4(0,1,2,3);
-    
-	if (i<numPairs)
+	b3Int4 contactIdx;
+	contactIdx = b3MakeInt4(0, 1, 2, 3);
+
+	if (i < numPairs)
 	{
-        
 		if (hasSeparatingAxis[i])
 		{
-            
-			
-            
-            
 			int nPoints = clippingFaces[pairIndex].w;
-           
-            if (nPoints>0)
-            {
-
-                 __global b3Float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];
-                b3Float4 normal = -separatingNormals[i];
-                
-                int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-            
-                int dstIdx;
-                dstIdx = b3AtomicInc( nGlobalContactsOut);
-				
-//#if 0
-                b3Assert(dstIdx < contactCapacity);
+
+			if (nPoints > 0)
+			{
+				__global b3Float4* pointsIn = &worldVertsB2[pairIndex * vertexFaceCapacity];
+				b3Float4 normal = -separatingNormals[i];
+
+				int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
+
+				int dstIdx;
+				dstIdx = b3AtomicInc(nGlobalContactsOut);
+
+				//#if 0
+				b3Assert(dstIdx < contactCapacity);
 				if (dstIdx < contactCapacity)
 				{
-
 					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
 					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+					c->m_restituitionCoeffCmp = (0.f * 0xffff);
+					c->m_frictionCoeffCmp = (0.7f * 0xffff);
 					c->m_batchIdx = pairIndex;
 					int bodyA = pairs[pairIndex].x;
 					int bodyB = pairs[pairIndex].y;
 
 					pairs[pairIndex].w = dstIdx;
 
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
-                    c->m_childIndexA =-1;
-					c->m_childIndexB =-1;
-
-                    switch (nReducedContacts)
-                    {
-                        case 4:
-                            c->m_worldPosB[3] = pointsIn[contactIdx.w];
-                        case 3:
-                            c->m_worldPosB[2] = pointsIn[contactIdx.z];
-                        case 2:
-                            c->m_worldPosB[1] = pointsIn[contactIdx.y];
-                        case 1:
-                            c->m_worldPosB[0] = pointsIn[contactIdx.x];
-                        default:
-                        {
-                        }
-                    };
-                    
+					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA;
+					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB;
+					c->m_childIndexA = -1;
+					c->m_childIndexB = -1;
+
+					switch (nReducedContacts)
+					{
+						case 4:
+							c->m_worldPosB[3] = pointsIn[contactIdx.w];
+						case 3:
+							c->m_worldPosB[2] = pointsIn[contactIdx.z];
+						case 2:
+							c->m_worldPosB[1] = pointsIn[contactIdx.y];
+						case 1:
+							c->m_worldPosB[0] = pointsIn[contactIdx.x];
+						default:
+						{
+						}
+					};
+
 					GET_NPOINTS(*c) = nReducedContacts;
-                    
-                 }
-                 
-                
-//#endif
-				
-			}//		if (numContactsOut>0)
-		}//		if (hasSeparatingAxis[i])
-	}//	if (i<numPairs)
-
-    
-    
+				}
+
+				//#endif
+
+			}  //		if (numContactsOut>0)
+		}      //		if (hasSeparatingAxis[i])
+	}          //	if (i<numPairs)
 }
 #endif
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
index 3661e43cf1..ba796eac72 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
@@ -14,57 +14,56 @@ typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t;
 struct b3QuantizedBvhNodeData
 {
 	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
+	unsigned short int m_quantizedAabbMin[3];
+	unsigned short int m_quantizedAabbMax[3];
 	//4 bytes
-	int	m_escapeIndexOrTriangleIndex;
+	int m_escapeIndexOrTriangleIndex;
 };
 
-inline int	b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode)
+inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode)
 {
-	unsigned int x=0;
-	unsigned int y = (~(x&0))<<(31-B3_MAX_NUM_PARTS_IN_BITS);
+	unsigned int x = 0;
+	unsigned int y = (~(x & 0)) << (31 - B3_MAX_NUM_PARTS_IN_BITS);
 	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
+	return (rootNode->m_escapeIndexOrTriangleIndex & ~(y));
 }
 
 inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode)
 {
 	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
+	return (rootNode->m_escapeIndexOrTriangleIndex >= 0) ? 1 : 0;
 }
-	
+
 inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode)
 {
 	return -rootNode->m_escapeIndexOrTriangleIndex;
 }
 
-inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2,int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization)
+inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2, int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization)
 {
-	b3Float4 clampedPoint = b3MaxFloat4(point2,bvhAabbMin);
-	clampedPoint = b3MinFloat4 (clampedPoint, bvhAabbMax);
+	b3Float4 clampedPoint = b3MaxFloat4(point2, bvhAabbMin);
+	clampedPoint = b3MinFloat4(clampedPoint, bvhAabbMax);
 
 	b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
 	if (isMax)
 	{
-		out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));
-		out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));
-		out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));
-	} else
+		out[0] = (unsigned short)(((unsigned short)(v.x + 1.f) | 1));
+		out[1] = (unsigned short)(((unsigned short)(v.y + 1.f) | 1));
+		out[2] = (unsigned short)(((unsigned short)(v.z + 1.f) | 1));
+	}
+	else
 	{
-		out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));
-		out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));
-		out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));
+		out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe));
+		out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe));
+		out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe));
 	}
-
 }
 
-
 inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow(
-								const unsigned short int* aabbMin1,
-								const unsigned short int* aabbMax1,
-								const unsigned short int* aabbMin2,
-								const unsigned short int* aabbMax2)
+	const unsigned short int* aabbMin1,
+	const unsigned short int* aabbMax1,
+	const unsigned short int* aabbMin2,
+	const unsigned short int* aabbMax2)
 {
 	//int overlap = 1;
 	if (aabbMin1[0] > aabbMax2[0])
@@ -86,5 +85,4 @@ inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow(
 	//return overlap;
 }
 
-
-#endif //B3_QUANTIZED_BVH_NODE_H
+#endif  //B3_QUANTIZED_BVH_NODE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
index 35b5197006..c108255b9f 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
@@ -3,95 +3,87 @@
 
 inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx)
 {
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	b3Float4 center = b3MakeFloat4(0,0,0,0);
+	if (nPoints == 0)
+		return 0;
+
+	if (nPoints <= 4)
+		return nPoints;
+
+	if (nPoints > 64)
+		nPoints = 64;
+
+	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
 	{
-		
-		for (int i=0;i<nPoints;i++)
+		for (int i = 0; i < nPoints; i++)
 			center += p[i];
 		center /= (float)nPoints;
 	}
-    
-	
-    
+
 	//	sample 4 directions
-    
-    b3Float4 aVector = p[0] - center;
-    b3Float4 u = b3Cross3( nearNormal, aVector );
-    b3Float4 v = b3Cross3( nearNormal, u );
-    u = b3FastNormalized3( u );
-    v = b3FastNormalized3( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    b3Float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        b3Float4 r = p[ie]-center;
-        f = b3Dot3F4( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = b3Dot3F4( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = b3Dot3F4( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = b3Dot3F4( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
+
+	b3Float4 aVector = p[0] - center;
+	b3Float4 u = b3Cross3(nearNormal, aVector);
+	b3Float4 v = b3Cross3(nearNormal, u);
+	u = b3FastNormalized3(u);
+	v = b3FastNormalized3(v);
+
+	//keep point with deepest penetration
+	float minW = FLT_MAX;
+
+	int minIndex = -1;
+
+	b3Float4 maxDots;
+	maxDots.x = FLT_MIN;
+	maxDots.y = FLT_MIN;
+	maxDots.z = FLT_MIN;
+	maxDots.w = FLT_MIN;
+
+	//	idx, distance
+	for (int ie = 0; ie < nPoints; ie++)
+	{
+		if (p[ie].w < minW)
+		{
+			minW = p[ie].w;
+			minIndex = ie;
+		}
+		float f;
+		b3Float4 r = p[ie] - center;
+		f = b3Dot3F4(u, r);
+		if (f < maxDots.x)
+		{
+			maxDots.x = f;
+			contactIdx[0].x = ie;
+		}
+
+		f = b3Dot3F4(-u, r);
+		if (f < maxDots.y)
+		{
+			maxDots.y = f;
+			contactIdx[0].y = ie;
+		}
+
+		f = b3Dot3F4(v, r);
+		if (f < maxDots.z)
+		{
+			maxDots.z = f;
+			contactIdx[0].z = ie;
+		}
+
+		f = b3Dot3F4(-v, r);
+		if (f < maxDots.w)
+		{
+			maxDots.w = f;
+			contactIdx[0].w = ie;
+		}
+	}
+
+	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
+	{
+		//replace the first contact with minimum (todo: replace contact with least penetration)
+		contactIdx[0].x = minIndex;
+	}
+
+	return 4;
 }
 
-#endif //B3_REDUCE_CONTACTS_H
+#endif  //B3_REDUCE_CONTACTS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
index 50632c871f..663e946fc1 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
@@ -7,18 +7,17 @@
 
 typedef struct b3RigidBodyData b3RigidBodyData_t;
 
-
 struct b3RigidBodyData
 {
-	b3Float4				m_pos;
-	b3Quat					m_quat;
-	b3Float4				m_linVel;
-	b3Float4				m_angVel;
-
-	int 					m_collidableIdx;
-	float 				m_invMass;
-	float 				m_restituitionCoeff;
-	float 				m_frictionCoeff;
+	b3Float4 m_pos;
+	b3Quat m_quat;
+	b3Float4 m_linVel;
+	b3Float4 m_angVel;
+
+	int m_collidableIdx;
+	float m_invMass;
+	float m_restituitionCoeff;
+	float m_frictionCoeff;
 };
 
 typedef struct b3InertiaData b3InertiaData_t;
@@ -29,6 +28,4 @@ struct b3InertiaData
 	b3Mat3x3 m_initInvInertia;
 };
 
-
-#endif //B3_RIGIDBODY_DATA_H
-	
\ No newline at end of file
+#endif  //B3_RIGIDBODY_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
index 8d40d19a03..e0c3a5cf97 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
@@ -1,40 +1,35 @@
 #ifndef B3_UPDATE_AABBS_H
 #define B3_UPDATE_AABBS_H
 
-
-
 #include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 
-
-
-void b3ComputeWorldAabb(  int bodyId, __global const b3RigidBodyData_t* bodies, __global const  b3Collidable_t* collidables, __global const  b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
+void b3ComputeWorldAabb(int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
 {
 	__global const b3RigidBodyData_t* body = &bodies[bodyId];
 
 	b3Float4 position = body->m_pos;
-	b3Quat	orientation = body->m_quat;
-	
+	b3Quat orientation = body->m_quat;
+
 	int collidableIndex = body->m_collidableIdx;
 	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
-		
-	if (shapeIndex>=0)
+
+	if (shapeIndex >= 0)
 	{
-				
 		b3Aabb_t localAabb = localShapeAABB[collidableIndex];
 		b3Aabb_t worldAabb;
-		
-		b3Float4 aabbAMinOut,aabbAMaxOut;	
+
+		b3Float4 aabbAMinOut, aabbAMaxOut;
 		float margin = 0.f;
-		b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);
-		
-		worldAabb.m_minVec =aabbAMinOut;
+		b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &aabbAMinOut, &aabbAMaxOut);
+
+		worldAabb.m_minVec = aabbAMinOut;
 		worldAabb.m_minIndices[3] = bodyId;
 		worldAabb.m_maxVec = aabbAMaxOut;
-		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;
+		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass == 0.f ? 0 : 1;
 		worldAabbs[bodyId] = worldAabb;
 	}
 }
 
-#endif //B3_UPDATE_AABBS_H
+#endif  //B3_UPDATE_AABBS_H
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp
index b98e2b4d33..d546d5e066 100644
--- a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp
+++ b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.cpp
@@ -15,9 +15,11 @@ subject to the following restrictions:
 
 #include "b3AlignedAllocator.h"
 
+#ifdef B3_ALLOCATOR_STATISTICS
 int b3g_numAlignedAllocs = 0;
 int b3g_numAlignedFree = 0;
-int b3g_totalBytesAlignedAllocs = 0;//detect memory leaks
+int b3g_totalBytesAlignedAllocs = 0;  //detect memory leaks
+#endif
 
 static void *b3AllocDefault(size_t size)
 {
@@ -29,12 +31,10 @@ static void b3FreeDefault(void *ptr)
 	free(ptr);
 }
 
-static b3AllocFunc* b3s_allocFunc = b3AllocDefault;
-static b3FreeFunc* b3s_freeFunc = b3FreeDefault;
-
-
+static b3AllocFunc *b3s_allocFunc = b3AllocDefault;
+static b3FreeFunc *b3s_freeFunc = b3FreeDefault;
 
-#if defined (B3_HAS_ALIGNED_ALLOCATOR)
+#if defined(B3_HAS_ALIGNED_ALLOCATOR)
 #include <malloc.h>
 static void *b3AlignedAllocDefault(size_t size, int alignment)
 {
@@ -59,123 +59,128 @@ static inline void b3AlignedFreeDefault(void *ptr)
 }
 #else
 
-
-
-
-
 static inline void *b3AlignedAllocDefault(size_t size, int alignment)
 {
-  void *ret;
-  char *real;
-  real = (char *)b3s_allocFunc(size + sizeof(void *) + (alignment-1));
-  if (real) {
-	ret = b3AlignPointer(real + sizeof(void *),alignment);
-    *((void **)(ret)-1) = (void *)(real);
-  } else {
-    ret = (void *)(real);
-  }
-  return (ret);
+	void *ret;
+	char *real;
+	real = (char *)b3s_allocFunc(size + sizeof(void *) + (alignment - 1));
+	if (real)
+	{
+		ret = b3AlignPointer(real + sizeof(void *), alignment);
+		*((void **)(ret)-1) = (void *)(real);
+	}
+	else
+	{
+		ret = (void *)(real);
+	}
+	return (ret);
 }
 
 static inline void b3AlignedFreeDefault(void *ptr)
 {
-  void* real;
+	void *real;
 
-  if (ptr) {
-    real = *((void **)(ptr)-1);
-    b3s_freeFunc(real);
-  }
+	if (ptr)
+	{
+		real = *((void **)(ptr)-1);
+		b3s_freeFunc(real);
+	}
 }
 #endif
 
-
-static b3AlignedAllocFunc* b3s_alignedAllocFunc = b3AlignedAllocDefault;
-static b3AlignedFreeFunc* b3s_alignedFreeFunc = b3AlignedFreeDefault;
+static b3AlignedAllocFunc *b3s_alignedAllocFunc = b3AlignedAllocDefault;
+static b3AlignedFreeFunc *b3s_alignedFreeFunc = b3AlignedFreeDefault;
 
 void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc *allocFunc, b3AlignedFreeFunc *freeFunc)
 {
-  b3s_alignedAllocFunc = allocFunc ? allocFunc : b3AlignedAllocDefault;
-  b3s_alignedFreeFunc = freeFunc ? freeFunc : b3AlignedFreeDefault;
+	b3s_alignedAllocFunc = allocFunc ? allocFunc : b3AlignedAllocDefault;
+	b3s_alignedFreeFunc = freeFunc ? freeFunc : b3AlignedFreeDefault;
 }
 
 void b3AlignedAllocSetCustom(b3AllocFunc *allocFunc, b3FreeFunc *freeFunc)
 {
-  b3s_allocFunc = allocFunc ? allocFunc : b3AllocDefault;
-  b3s_freeFunc = freeFunc ? freeFunc : b3FreeDefault;
+	b3s_allocFunc = allocFunc ? allocFunc : b3AllocDefault;
+	b3s_freeFunc = freeFunc ? freeFunc : b3FreeDefault;
 }
 
 #ifdef B3_DEBUG_MEMORY_ALLOCATIONS
 //this generic allocator provides the total allocated number of bytes
 #include <stdio.h>
 
-void*   b3AlignedAllocInternal  (size_t size, int alignment,int line,char* filename)
+void *b3AlignedAllocInternal(size_t size, int alignment, int line, char *filename)
 {
- void *ret;
- char *real;
-
- b3g_totalBytesAlignedAllocs += size;
- b3g_numAlignedAllocs++;
-
- 
- real = (char *)b3s_allocFunc(size + 2*sizeof(void *) + (alignment-1));
- if (real) {
-   ret = (void*) b3AlignPointer(real + 2*sizeof(void *), alignment);
-   *((void **)(ret)-1) = (void *)(real);
-       *((int*)(ret)-2) = size;
-
- } else {
-   ret = (void *)(real);//??
- }
+	void *ret;
+	char *real;
+#ifdef B3_ALLOCATOR_STATISTICS
+	b3g_totalBytesAlignedAllocs += size;
+	b3g_numAlignedAllocs++;
+#endif
+	real = (char *)b3s_allocFunc(size + 2 * sizeof(void *) + (alignment - 1));
+	if (real)
+	{
+		ret = (void *)b3AlignPointer(real + 2 * sizeof(void *), alignment);
+		*((void **)(ret)-1) = (void *)(real);
+		*((int *)(ret)-2) = size;
+	}
+	else
+	{
+		ret = (void *)(real);  //??
+	}
 
- b3Printf("allocation#%d at address %x, from %s,line %d, size %d\n",b3g_numAlignedAllocs,real, filename,line,size);
+	b3Printf("allocation#%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedAllocs, real, filename, line, size);
 
- int* ptr = (int*)ret;
- *ptr = 12;
- return (ret);
+	int *ptr = (int *)ret;
+	*ptr = 12;
+	return (ret);
 }
 
-void    b3AlignedFreeInternal   (void* ptr,int line,char* filename)
+void b3AlignedFreeInternal(void *ptr, int line, char *filename)
 {
+	void *real;
+#ifdef B3_ALLOCATOR_STATISTICS
+	b3g_numAlignedFree++;
+#endif
+	if (ptr)
+	{
+		real = *((void **)(ptr)-1);
+		int size = *((int *)(ptr)-2);
+#ifdef B3_ALLOCATOR_STATISTICS
+		b3g_totalBytesAlignedAllocs -= size;
+#endif
+		b3Printf("free #%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedFree, real, filename, line, size);
 
- void* real;
- b3g_numAlignedFree++;
-
- if (ptr) {
-   real = *((void **)(ptr)-1);
-       int size = *((int*)(ptr)-2);
-       b3g_totalBytesAlignedAllocs -= size;
-
-	   b3Printf("free #%d at address %x, from %s,line %d, size %d\n",b3g_numAlignedFree,real, filename,line,size);
-
-   b3s_freeFunc(real);
- } else
- {
-	 b3Printf("NULL ptr\n");
- }
+		b3s_freeFunc(real);
+	}
+	else
+	{
+		b3Printf("NULL ptr\n");
+	}
 }
 
-#else //B3_DEBUG_MEMORY_ALLOCATIONS
+#else  //B3_DEBUG_MEMORY_ALLOCATIONS
 
-void*	b3AlignedAllocInternal	(size_t size, int alignment)
+void *b3AlignedAllocInternal(size_t size, int alignment)
 {
+#ifdef B3_ALLOCATOR_STATISTICS
 	b3g_numAlignedAllocs++;
-	void* ptr;
+#endif
+	void *ptr;
 	ptr = b3s_alignedAllocFunc(size, alignment);
-//	b3Printf("b3AlignedAllocInternal %d, %x\n",size,ptr);
+	//	b3Printf("b3AlignedAllocInternal %d, %x\n",size,ptr);
 	return ptr;
 }
 
-void	b3AlignedFreeInternal	(void* ptr)
+void b3AlignedFreeInternal(void *ptr)
 {
 	if (!ptr)
 	{
 		return;
 	}
-
+#ifdef B3_ALLOCATOR_STATISTICS
 	b3g_numAlignedFree++;
-//	b3Printf("b3AlignedFreeInternal %x\n",ptr);
+#endif
+	//	b3Printf("b3AlignedFreeInternal %x\n",ptr);
 	b3s_alignedFreeFunc(ptr);
 }
 
-#endif //B3_DEBUG_MEMORY_ALLOCATIONS
-
+#endif  //B3_DEBUG_MEMORY_ALLOCATIONS
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h
index be418bd55f..bcff9f128e 100644
--- a/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h
+++ b/thirdparty/bullet/Bullet3Common/b3AlignedAllocator.h
@@ -24,84 +24,87 @@ subject to the following restrictions:
 //#define B3_DEBUG_MEMORY_ALLOCATIONS 1
 #ifdef B3_DEBUG_MEMORY_ALLOCATIONS
 
-#define b3AlignedAlloc(a,b) \
-		b3AlignedAllocInternal(a,b,__LINE__,__FILE__)
+#define b3AlignedAlloc(a, b) \
+	b3AlignedAllocInternal(a, b, __LINE__, __FILE__)
 
 #define b3AlignedFree(ptr) \
-		b3AlignedFreeInternal(ptr,__LINE__,__FILE__)
+	b3AlignedFreeInternal(ptr, __LINE__, __FILE__)
 
-void*	b3AlignedAllocInternal	(size_t size, int alignment,int line,char* filename);
+void* b3AlignedAllocInternal(size_t size, int alignment, int line, char* filename);
 
-void	b3AlignedFreeInternal	(void* ptr,int line,char* filename);
+void b3AlignedFreeInternal(void* ptr, int line, char* filename);
 
 #else
-	void*	b3AlignedAllocInternal	(size_t size, int alignment);
-	void	b3AlignedFreeInternal	(void* ptr);
+void* b3AlignedAllocInternal(size_t size, int alignment);
+void b3AlignedFreeInternal(void* ptr);
 
-	#define b3AlignedAlloc(size,alignment) b3AlignedAllocInternal(size,alignment)
-	#define b3AlignedFree(ptr) b3AlignedFreeInternal(ptr)
+#define b3AlignedAlloc(size, alignment) b3AlignedAllocInternal(size, alignment)
+#define b3AlignedFree(ptr) b3AlignedFreeInternal(ptr)
 
 #endif
-typedef int	btSizeType;
+typedef int btSizeType;
 
-typedef void *(b3AlignedAllocFunc)(size_t size, int alignment);
-typedef void (b3AlignedFreeFunc)(void *memblock);
-typedef void *(b3AllocFunc)(size_t size);
-typedef void (b3FreeFunc)(void *memblock);
+typedef void*(b3AlignedAllocFunc)(size_t size, int alignment);
+typedef void(b3AlignedFreeFunc)(void* memblock);
+typedef void*(b3AllocFunc)(size_t size);
+typedef void(b3FreeFunc)(void* memblock);
 
 ///The developer can let all Bullet memory allocations go through a custom memory allocator, using b3AlignedAllocSetCustom
-void b3AlignedAllocSetCustom(b3AllocFunc *allocFunc, b3FreeFunc *freeFunc);
+void b3AlignedAllocSetCustom(b3AllocFunc* allocFunc, b3FreeFunc* freeFunc);
 ///If the developer has already an custom aligned allocator, then b3AlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
-void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc *allocFunc, b3AlignedFreeFunc *freeFunc);
-
+void b3AlignedAllocSetCustomAligned(b3AlignedAllocFunc* allocFunc, b3AlignedFreeFunc* freeFunc);
 
 ///The b3AlignedAllocator is a portable class for aligned memory allocations.
 ///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using b3AlignedAllocSetCustom and b3AlignedAllocSetCustomAligned.
-template < typename T , unsigned Alignment >
-class b3AlignedAllocator {
-	
-	typedef b3AlignedAllocator< T , Alignment > self_type;
-	
-public:
+template <typename T, unsigned Alignment>
+class b3AlignedAllocator
+{
+	typedef b3AlignedAllocator<T, Alignment> self_type;
 
+public:
 	//just going down a list:
 	b3AlignedAllocator() {}
 	/*
 	b3AlignedAllocator( const self_type & ) {}
 	*/
 
-	template < typename Other >
-	b3AlignedAllocator( const b3AlignedAllocator< Other , Alignment > & ) {}
+	template <typename Other>
+	b3AlignedAllocator(const b3AlignedAllocator<Other, Alignment>&)
+	{
+	}
 
-	typedef const T*         const_pointer;
-	typedef const T&         const_reference;
-	typedef T*               pointer;
-	typedef T&               reference;
-	typedef T                value_type;
+	typedef const T* const_pointer;
+	typedef const T& const_reference;
+	typedef T* pointer;
+	typedef T& reference;
+	typedef T value_type;
 
-	pointer       address   ( reference        ref ) const                           { return &ref; }
-	const_pointer address   ( const_reference  ref ) const                           { return &ref; }
-	pointer       allocate  ( btSizeType        n   , const_pointer *      hint = 0 ) {
+	pointer address(reference ref) const { return &ref; }
+	const_pointer address(const_reference ref) const { return &ref; }
+	pointer allocate(btSizeType n, const_pointer* hint = 0)
+	{
 		(void)hint;
-		return reinterpret_cast< pointer >(b3AlignedAlloc( sizeof(value_type) * n , Alignment ));
+		return reinterpret_cast<pointer>(b3AlignedAlloc(sizeof(value_type) * n, Alignment));
 	}
-	void          construct ( pointer          ptr , const value_type &   value    ) { new (ptr) value_type( value ); }
-	void          deallocate( pointer          ptr ) {
-		b3AlignedFree( reinterpret_cast< void * >( ptr ) );
+	void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); }
+	void deallocate(pointer ptr)
+	{
+		b3AlignedFree(reinterpret_cast<void*>(ptr));
 	}
-	void          destroy   ( pointer          ptr )                                 { ptr->~value_type(); }
-	
+	void destroy(pointer ptr) { ptr->~value_type(); }
 
-	template < typename O > struct rebind {
-		typedef b3AlignedAllocator< O , Alignment > other;
+	template <typename O>
+	struct rebind
+	{
+		typedef b3AlignedAllocator<O, Alignment> other;
 	};
-	template < typename O >
-	self_type & operator=( const b3AlignedAllocator< O , Alignment > & ) { return *this; }
+	template <typename O>
+	self_type& operator=(const b3AlignedAllocator<O, Alignment>&)
+	{
+		return *this;
+	}
 
-	friend bool operator==( const self_type & , const self_type & ) { return true; }
+	friend bool operator==(const self_type&, const self_type&) { return true; }
 };
 
-
-
-#endif //B3_ALIGNED_ALLOCATOR
-
+#endif  //B3_ALIGNED_ALLOCATOR
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
index 947362d08e..249e381bf1 100644
--- a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
+++ b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
@@ -13,11 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_OBJECT_ARRAY__
 #define B3_OBJECT_ARRAY__
 
-#include "b3Scalar.h" // has definitions like B3_FORCE_INLINE
+#include "b3Scalar.h"  // has definitions like B3_FORCE_INLINE
 #include "b3AlignedAllocator.h"
 
 ///If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW
@@ -28,402 +27,386 @@ subject to the following restrictions:
 
 #define B3_USE_PLACEMENT_NEW 1
 //#define B3_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise...
-#define B3_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful
+#define B3_ALLOW_ARRAY_COPY_OPERATOR  // enabling this can accidently perform deep copies of data if you are not careful
 
 #ifdef B3_USE_MEMCPY
 #include <memory.h>
 #include <string.h>
-#endif //B3_USE_MEMCPY
+#endif  //B3_USE_MEMCPY
 
 #ifdef B3_USE_PLACEMENT_NEW
-#include <new> //for placement new
-#endif //B3_USE_PLACEMENT_NEW
-
+#include <new>  //for placement new
+#endif          //B3_USE_PLACEMENT_NEW
 
 ///The b3AlignedObjectArray template class uses a subset of the stl::vector interface for its methods
 ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
-template <typename T> 
-//template <class T> 
+template <typename T>
+//template <class T>
 class b3AlignedObjectArray
 {
-	b3AlignedAllocator<T , 16>	m_allocator;
+	b3AlignedAllocator<T, 16> m_allocator;
 
-	int					m_size;
-	int					m_capacity;
-	T*					m_data;
+	int m_size;
+	int m_capacity;
+	T* m_data;
 	//PCK: added this line
-	bool				m_ownsMemory;
+	bool m_ownsMemory;
 
 #ifdef B3_ALLOW_ARRAY_COPY_OPERATOR
 public:
-	B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T> &other)
+	B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T>& other)
 	{
 		copyFromArray(other);
 		return *this;
 	}
-#else//B3_ALLOW_ARRAY_COPY_OPERATOR
+#else   //B3_ALLOW_ARRAY_COPY_OPERATOR
 private:
-		B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T> &other);
-#endif//B3_ALLOW_ARRAY_COPY_OPERATOR
+	B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T>& other);
+#endif  //B3_ALLOW_ARRAY_COPY_OPERATOR
 
 protected:
-		B3_FORCE_INLINE	int	allocSize(int size)
-		{
-			return (size ? size*2 : 1);
-		}
-		B3_FORCE_INLINE	void	copy(int start,int end, T* dest) const
-		{
-			int i;
-			for (i=start;i<end;++i)
+	B3_FORCE_INLINE int allocSize(int size)
+	{
+		return (size ? size * 2 : 1);
+	}
+	B3_FORCE_INLINE void copy(int start, int end, T* dest) const
+	{
+		int i;
+		for (i = start; i < end; ++i)
 #ifdef B3_USE_PLACEMENT_NEW
-				new (&dest[i]) T(m_data[i]);
+			new (&dest[i]) T(m_data[i]);
 #else
-				dest[i] = m_data[i];
-#endif //B3_USE_PLACEMENT_NEW
-		}
+			dest[i] = m_data[i];
+#endif  //B3_USE_PLACEMENT_NEW
+	}
 
-		B3_FORCE_INLINE	void	init()
+	B3_FORCE_INLINE void init()
+	{
+		//PCK: added this line
+		m_ownsMemory = true;
+		m_data = 0;
+		m_size = 0;
+		m_capacity = 0;
+	}
+	B3_FORCE_INLINE void destroy(int first, int last)
+	{
+		int i;
+		for (i = first; i < last; i++)
 		{
-			//PCK: added this line
-			m_ownsMemory = true;
-			m_data = 0;
-			m_size = 0;
-			m_capacity = 0;
+			m_data[i].~T();
 		}
-		B3_FORCE_INLINE	void	destroy(int first,int last)
+	}
+
+	B3_FORCE_INLINE void* allocate(int size)
+	{
+		if (size)
+			return m_allocator.allocate(size);
+		return 0;
+	}
+
+	B3_FORCE_INLINE void deallocate()
+	{
+		if (m_data)
 		{
-			int i;
-			for (i=first; i<last;i++)
+			//PCK: enclosed the deallocation in this block
+			if (m_ownsMemory)
 			{
-				m_data[i].~T();
+				m_allocator.deallocate(m_data);
 			}
+			m_data = 0;
 		}
+	}
 
-		B3_FORCE_INLINE	void* allocate(int size)
-		{
-			if (size)
-				return m_allocator.allocate(size);
-			return 0;
-		}
+public:
+	b3AlignedObjectArray()
+	{
+		init();
+	}
 
-		B3_FORCE_INLINE	void	deallocate()
-		{
-			if(m_data)	{
-				//PCK: enclosed the deallocation in this block
-				if (m_ownsMemory)
-				{
-					m_allocator.deallocate(m_data);
-				}
-				m_data = 0;
-			}
-		}
+	~b3AlignedObjectArray()
+	{
+		clear();
+	}
 
-	
+	///Generally it is best to avoid using the copy constructor of an b3AlignedObjectArray, and use a (const) reference to the array instead.
+	b3AlignedObjectArray(const b3AlignedObjectArray& otherArray)
+	{
+		init();
 
+		int otherSize = otherArray.size();
+		resize(otherSize);
+		otherArray.copy(0, otherSize, m_data);
+	}
 
-	public:
-		
-		b3AlignedObjectArray()
-		{
-			init();
-		}
+	/// return the number of elements in the array
+	B3_FORCE_INLINE int size() const
+	{
+		return m_size;
+	}
 
-		~b3AlignedObjectArray()
-		{
-			clear();
-		}
+	B3_FORCE_INLINE const T& at(int n) const
+	{
+		b3Assert(n >= 0);
+		b3Assert(n < size());
+		return m_data[n];
+	}
 
-		///Generally it is best to avoid using the copy constructor of an b3AlignedObjectArray, and use a (const) reference to the array instead.
-		b3AlignedObjectArray(const b3AlignedObjectArray& otherArray)
-		{
-			init();
+	B3_FORCE_INLINE T& at(int n)
+	{
+		b3Assert(n >= 0);
+		b3Assert(n < size());
+		return m_data[n];
+	}
 
-			int otherSize = otherArray.size();
-			resize (otherSize);
-			otherArray.copy(0, otherSize, m_data);
-		}
+	B3_FORCE_INLINE const T& operator[](int n) const
+	{
+		b3Assert(n >= 0);
+		b3Assert(n < size());
+		return m_data[n];
+	}
 
-		
-		
-		/// return the number of elements in the array
-		B3_FORCE_INLINE	int size() const
-		{	
-			return m_size;
-		}
-		
-		B3_FORCE_INLINE const T& at(int n) const
-		{
-			b3Assert(n>=0);
-			b3Assert(n<size());
-			return m_data[n];
-		}
+	B3_FORCE_INLINE T& operator[](int n)
+	{
+		b3Assert(n >= 0);
+		b3Assert(n < size());
+		return m_data[n];
+	}
 
-		B3_FORCE_INLINE T& at(int n)
-		{
-			b3Assert(n>=0);
-			b3Assert(n<size());
-			return m_data[n];
-		}
+	///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
+	B3_FORCE_INLINE void clear()
+	{
+		destroy(0, size());
 
-		B3_FORCE_INLINE const T& operator[](int n) const
-		{
-			b3Assert(n>=0);
-			b3Assert(n<size());
-			return m_data[n];
-		}
+		deallocate();
 
-		B3_FORCE_INLINE T& operator[](int n)
-		{
-			b3Assert(n>=0);
-			b3Assert(n<size());
-			return m_data[n];
-		}
-		
+		init();
+	}
 
-		///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
-		B3_FORCE_INLINE	void	clear()
+	B3_FORCE_INLINE void pop_back()
+	{
+		b3Assert(m_size > 0);
+		m_size--;
+		m_data[m_size].~T();
+	}
+
+	///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
+	///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
+	B3_FORCE_INLINE void resizeNoInitialize(int newsize)
+	{
+		int curSize = size();
+
+		if (newsize < curSize)
 		{
-			destroy(0,size());
-			
-			deallocate();
-			
-			init();
 		}
-
-		B3_FORCE_INLINE	void	pop_back()
+		else
 		{
-			b3Assert(m_size>0);
-			m_size--;
-			m_data[m_size].~T();
+			if (newsize > size())
+			{
+				reserve(newsize);
+			}
+			//leave this uninitialized
 		}
+		m_size = newsize;
+	}
 
+	B3_FORCE_INLINE void resize(int newsize, const T& fillData = T())
+	{
+		int curSize = size();
 
-		///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
-		///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
-		B3_FORCE_INLINE	void	resizeNoInitialize(int newsize)
+		if (newsize < curSize)
 		{
-			int curSize = size();
-
-			if (newsize < curSize)
-			{
-			} else
+			for (int i = newsize; i < curSize; i++)
 			{
-				if (newsize > size())
-				{
-					reserve(newsize);
-				}
-				//leave this uninitialized
+				m_data[i].~T();
 			}
-			m_size = newsize;
 		}
-	
-		B3_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
+		else
 		{
-			int curSize = size();
-
-			if (newsize < curSize)
-			{
-				for(int i = newsize; i < curSize; i++)
-				{
-					m_data[i].~T();
-				}
-			} else
+			if (newsize > size())
 			{
-				if (newsize > size())
-				{
-					reserve(newsize);
-				}
-#ifdef B3_USE_PLACEMENT_NEW
-				for (int i=curSize;i<newsize;i++)
-				{
-					new ( &m_data[i]) T(fillData);
-				}
-#endif //B3_USE_PLACEMENT_NEW
-
+				reserve(newsize);
 			}
-
-			m_size = newsize;
-		}
-		B3_FORCE_INLINE	T&  expandNonInitializing( )
-		{	
-			int sz = size();
-			if( sz == capacity() )
+#ifdef B3_USE_PLACEMENT_NEW
+			for (int i = curSize; i < newsize; i++)
 			{
-				reserve( allocSize(size()) );
+				new (&m_data[i]) T(fillData);
 			}
-			m_size++;
+#endif  //B3_USE_PLACEMENT_NEW
+		}
 
-			return m_data[sz];		
+		m_size = newsize;
+	}
+	B3_FORCE_INLINE T& expandNonInitializing()
+	{
+		int sz = size();
+		if (sz == capacity())
+		{
+			reserve(allocSize(size()));
 		}
+		m_size++;
 
+		return m_data[sz];
+	}
 
-		B3_FORCE_INLINE	T&  expand( const T& fillValue=T())
-		{	
-			int sz = size();
-			if( sz == capacity() )
-			{
-				reserve( allocSize(size()) );
-			}
-			m_size++;
+	B3_FORCE_INLINE T& expand(const T& fillValue = T())
+	{
+		int sz = size();
+		if (sz == capacity())
+		{
+			reserve(allocSize(size()));
+		}
+		m_size++;
 #ifdef B3_USE_PLACEMENT_NEW
-			new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory)
+		new (&m_data[sz]) T(fillValue);  //use the in-place new (not really allocating heap memory)
 #endif
 
-			return m_data[sz];		
-		}
+		return m_data[sz];
+	}
 
+	B3_FORCE_INLINE void push_back(const T& _Val)
+	{
+		int sz = size();
+		if (sz == capacity())
+		{
+			reserve(allocSize(size()));
+		}
 
-		B3_FORCE_INLINE	void push_back(const T& _Val)
-		{	
-			int sz = size();
-			if( sz == capacity() )
-			{
-				reserve( allocSize(size()) );
-			}
-			
 #ifdef B3_USE_PLACEMENT_NEW
-			new ( &m_data[m_size] ) T(_Val);
+		new (&m_data[m_size]) T(_Val);
 #else
-			m_data[size()] = _Val;			
-#endif //B3_USE_PLACEMENT_NEW
+		m_data[size()] = _Val;
+#endif  //B3_USE_PLACEMENT_NEW
 
-			m_size++;
-		}
+		m_size++;
+	}
 
-	
-		/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
-		B3_FORCE_INLINE	int capacity() const
-		{	
-			return m_capacity;
-		}
-		
-		B3_FORCE_INLINE	void reserve(int _Count)
-		{	// determine new minimum length of allocated storage
-			if (capacity() < _Count)
-			{	// not enough room, reallocate
-				T*	s = (T*)allocate(_Count);
-				b3Assert(s);
-				if (s==0)
-				{
-					b3Error("b3AlignedObjectArray reserve out-of-memory\n");
-					_Count=0;
-					m_size=0;
-				}
-				copy(0, size(), s);
-
-				destroy(0,size());
-
-				deallocate();
-				
-				//PCK: added this line
-				m_ownsMemory = true;
-
-				m_data = s;
-				
-				m_capacity = _Count;
+	/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
+	B3_FORCE_INLINE int capacity() const
+	{
+		return m_capacity;
+	}
 
+	B3_FORCE_INLINE void reserve(int _Count)
+	{  // determine new minimum length of allocated storage
+		if (capacity() < _Count)
+		{  // not enough room, reallocate
+			T* s = (T*)allocate(_Count);
+			b3Assert(s);
+			if (s == 0)
+			{
+				b3Error("b3AlignedObjectArray reserve out-of-memory\n");
+				_Count = 0;
+				m_size = 0;
 			}
-		}
+			copy(0, size(), s);
 
+			destroy(0, size());
 
-		class less
-		{
-			public:
+			deallocate();
+
+			//PCK: added this line
+			m_ownsMemory = true;
+
+			m_data = s;
 
-				bool operator() ( const T& a, const T& b )
-				{
-					return ( a < b );
-				}
-		};
-	
+			m_capacity = _Count;
+		}
+	}
 
-		template <typename L>
-		void quickSortInternal(const L& CompareFunc,int lo, int hi)
+	class less
+	{
+	public:
+		bool operator()(const T& a, const T& b)
 		{
-		//  lo is the lower index, hi is the upper index
-		//  of the region of array a that is to be sorted
-			int i=lo, j=hi;
-			T x=m_data[(lo+hi)/2];
-
-			//  partition
-			do
-			{    
-				while (CompareFunc(m_data[i],x)) 
-					i++; 
-				while (CompareFunc(x,m_data[j])) 
-					j--;
-				if (i<=j)
-				{
-					swap(i,j);
-					i++; j--;
-				}
-			} while (i<=j);
-
-			//  recursion
-			if (lo<j) 
-				quickSortInternal( CompareFunc, lo, j);
-			if (i<hi) 
-				quickSortInternal( CompareFunc, i, hi);
+			return (a < b);
 		}
+	};
 
+	template <typename L>
+	void quickSortInternal(const L& CompareFunc, int lo, int hi)
+	{
+		//  lo is the lower index, hi is the upper index
+		//  of the region of array a that is to be sorted
+		int i = lo, j = hi;
+		T x = m_data[(lo + hi) / 2];
 
-		template <typename L>
-		void quickSort(const L& CompareFunc)
+		//  partition
+		do
 		{
-			//don't sort 0 or 1 elements
-			if (size()>1)
+			while (CompareFunc(m_data[i], x))
+				i++;
+			while (CompareFunc(x, m_data[j]))
+				j--;
+			if (i <= j)
 			{
-				quickSortInternal(CompareFunc,0,size()-1);
+				swap(i, j);
+				i++;
+				j--;
 			}
+		} while (i <= j);
+
+		//  recursion
+		if (lo < j)
+			quickSortInternal(CompareFunc, lo, j);
+		if (i < hi)
+			quickSortInternal(CompareFunc, i, hi);
+	}
+
+	template <typename L>
+	void quickSort(const L& CompareFunc)
+	{
+		//don't sort 0 or 1 elements
+		if (size() > 1)
+		{
+			quickSortInternal(CompareFunc, 0, size() - 1);
 		}
+	}
 
+	///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
+	template <typename L>
+	void downHeap(T* pArr, int k, int n, const L& CompareFunc)
+	{
+		/*  PRE: a[k+1..N] is a heap */
+		/* POST:  a[k..N]  is a heap */
 
-		///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
-		template <typename L>
-		void downHeap(T *pArr, int k, int n, const L& CompareFunc)
+		T temp = pArr[k - 1];
+		/* k has child(s) */
+		while (k <= n / 2)
 		{
-			/*  PRE: a[k+1..N] is a heap */
-			/* POST:  a[k..N]  is a heap */
-			
-			T temp = pArr[k - 1];
-			/* k has child(s) */
-			while (k <= n/2) 
+			int child = 2 * k;
+
+			if ((child < n) && CompareFunc(pArr[child - 1], pArr[child]))
+			{
+				child++;
+			}
+			/* pick larger child */
+			if (CompareFunc(temp, pArr[child - 1]))
 			{
-				int child = 2*k;
-				
-				if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child]))
-				{
-					child++;
-				}
-				/* pick larger child */
-				if (CompareFunc(temp , pArr[child - 1]))
-				{
-					/* move child up */
-					pArr[k - 1] = pArr[child - 1];
-					k = child;
-				}
-				else
-				{
-					break;
-				}
+				/* move child up */
+				pArr[k - 1] = pArr[child - 1];
+				k = child;
 			}
-			pArr[k - 1] = temp;
-		} /*downHeap*/
+			else
+			{
+				break;
+			}
+		}
+		pArr[k - 1] = temp;
+	} /*downHeap*/
 
-		void	swap(int index0,int index1)
-		{
+	void swap(int index0, int index1)
+	{
 #ifdef B3_USE_MEMCPY
-			char	temp[sizeof(T)];
-			memcpy(temp,&m_data[index0],sizeof(T));
-			memcpy(&m_data[index0],&m_data[index1],sizeof(T));
-			memcpy(&m_data[index1],temp,sizeof(T));
+		char temp[sizeof(T)];
+		memcpy(temp, &m_data[index0], sizeof(T));
+		memcpy(&m_data[index0], &m_data[index1], sizeof(T));
+		memcpy(&m_data[index1], temp, sizeof(T));
 #else
-			T temp = m_data[index0];
-			m_data[index0] = m_data[index1];
-			m_data[index1] = temp;
-#endif //B3_USE_PLACEMENT_NEW
-
-		}
+		T temp = m_data[index0];
+		m_data[index0] = m_data[index1];
+		m_data[index1] = temp;
+#endif  //B3_USE_PLACEMENT_NEW
+	}
 
 	template <typename L>
 	void heapSort(const L& CompareFunc)
@@ -431,49 +414,48 @@ protected:
 		/* sort a[0..N-1],  N.B. 0 to N-1 */
 		int k;
 		int n = m_size;
-		for (k = n/2; k > 0; k--) 
+		for (k = n / 2; k > 0; k--)
 		{
 			downHeap(m_data, k, n, CompareFunc);
 		}
 
 		/* a[1..N] is now a heap */
-		while ( n>=1 ) 
+		while (n >= 1)
 		{
-			swap(0,n-1); /* largest of a[0..n-1] */
-
+			swap(0, n - 1); /* largest of a[0..n-1] */
 
 			n = n - 1;
 			/* restore a[1..i-1] heap */
 			downHeap(m_data, 1, n, CompareFunc);
-		} 
+		}
 	}
 
 	///non-recursive binary search, assumes sorted array
-	int	findBinarySearch(const T& key) const
+	int findBinarySearch(const T& key) const
 	{
 		int first = 0;
-		int last = size()-1;
+		int last = size() - 1;
 
 		//assume sorted array
-		while (first <= last) {
+		while (first <= last)
+		{
 			int mid = (first + last) / 2;  // compute mid point.
-			if (key > m_data[mid]) 
+			if (key > m_data[mid])
 				first = mid + 1;  // repeat search in top half.
-			else if (key < m_data[mid]) 
-				last = mid - 1; // repeat search in bottom half.
+			else if (key < m_data[mid])
+				last = mid - 1;  // repeat search in bottom half.
 			else
-				return mid;     // found it. return position /////
+				return mid;  // found it. return position /////
 		}
-		return size();    // failed to find key
+		return size();  // failed to find key
 	}
 
-
-	int	findLinearSearch(const T& key) const
+	int findLinearSearch(const T& key) const
 	{
-		int index=size();
+		int index = size();
 		int i;
 
-		for (i=0;i<size();i++)
+		for (i = 0; i < size(); i++)
 		{
 			if (m_data[i] == key)
 			{
@@ -483,36 +465,35 @@ protected:
 		}
 		return index;
 	}
-    
-    int	findLinearSearch2(const T& key) const
-    {
-        int index=-1;
-        int i;
-        
-        for (i=0;i<size();i++)
-        {
-            if (m_data[i] == key)
-            {
-                index = i;
-                break;
-            }
-        }
-        return index;
-    }
-
-	void	remove(const T& key)
+
+	int findLinearSearch2(const T& key) const
 	{
+		int index = -1;
+		int i;
 
+		for (i = 0; i < size(); i++)
+		{
+			if (m_data[i] == key)
+			{
+				index = i;
+				break;
+			}
+		}
+		return index;
+	}
+
+	void remove(const T& key)
+	{
 		int findIndex = findLinearSearch(key);
-		if (findIndex<size())
+		if (findIndex < size())
 		{
-			swap( findIndex,size()-1);
+			swap(findIndex, size() - 1);
 			pop_back();
 		}
 	}
 
 	//PCK: whole function
-	void initializeFromBuffer(void *buffer, int size, int capacity)
+	void initializeFromBuffer(void* buffer, int size, int capacity)
 	{
 		clear();
 		m_ownsMemory = false;
@@ -524,10 +505,18 @@ protected:
 	void copyFromArray(const b3AlignedObjectArray& otherArray)
 	{
 		int otherSize = otherArray.size();
-		resize (otherSize);
+		resize(otherSize);
 		otherArray.copy(0, otherSize, m_data);
 	}
 
+	void removeAtIndex(int index)
+	{
+		if (index < size())
+		{
+			swap(index, size() - 1);
+			pop_back();
+		}
+	}
 };
 
-#endif //B3_OBJECT_ARRAY__
+#endif  //B3_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h b/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h
index 38df8e2600..5fe4f25f8d 100644
--- a/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h
+++ b/thirdparty/bullet/Bullet3Common/b3CommandLineArgs.h
@@ -12,51 +12,54 @@
 class b3CommandLineArgs
 {
 protected:
-
 	std::map<std::string, std::string> pairs;
 
 public:
-
 	// Constructor
 	b3CommandLineArgs(int argc, char **argv)
 	{
-		addArgs(argc,argv);
+		addArgs(argc, argv);
 	}
 
-	void addArgs(int argc, char**argv)
+	void addArgs(int argc, char **argv)
 	{
-	    for (int i = 1; i < argc; i++)
-	    {
-	        std::string arg = argv[i];
+		for (int i = 1; i < argc; i++)
+		{
+			std::string arg = argv[i];
+
+			if ((arg.length() < 2) || (arg[0] != '-') || (arg[1] != '-'))
+			{
+				continue;
+			}
 
-			if ((arg.length() < 2) || (arg[0] != '-') || (arg[1] != '-')) {
-	        	continue;
-	        }
+			std::string::size_type pos;
+			std::string key, val;
+			if ((pos = arg.find('=')) == std::string::npos)
+			{
+				key = std::string(arg, 2, arg.length() - 2);
+				val = "";
+			}
+			else
+			{
+				key = std::string(arg, 2, pos - 2);
+				val = std::string(arg, pos + 1, arg.length() - 1);
+			}
 
-        	std::string::size_type pos;
-		    std::string key, val;
-	        if ((pos = arg.find( '=')) == std::string::npos) {
-	        	key = std::string(arg, 2, arg.length() - 2);
-	        	val = "";
-	        } else {
-	        	key = std::string(arg, 2, pos - 2);
-	        	val = std::string(arg, pos + 1, arg.length() - 1);
-	        }
-			
 			//only add new keys, don't replace existing
-			if(pairs.find(key) == pairs.end())
+			if (pairs.find(key) == pairs.end())
 			{
-        		pairs[key] = val;
+				pairs[key] = val;
 			}
-	    }
+		}
 	}
 
-	bool CheckCmdLineFlag(const char* arg_name)
+	bool CheckCmdLineFlag(const char *arg_name)
 	{
 		std::map<std::string, std::string>::iterator itr;
-		if ((itr = pairs.find(arg_name)) != pairs.end()) {
+		if ((itr = pairs.find(arg_name)) != pairs.end())
+		{
 			return true;
-	    }
+		}
 		return false;
 	}
 
@@ -73,29 +76,31 @@ template <typename T>
 inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
 {
 	std::map<std::string, std::string>::iterator itr;
-	if ((itr = pairs.find(arg_name)) != pairs.end()) {
+	if ((itr = pairs.find(arg_name)) != pairs.end())
+	{
 		std::istringstream strstream(itr->second);
 		strstream >> val;
 		return true;
-    }
+	}
 	return false;
 }
 
 template <>
-inline bool b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, char* &val)
+inline bool b3CommandLineArgs::GetCmdLineArgument<char *>(const char *arg_name, char *&val)
 {
 	std::map<std::string, std::string>::iterator itr;
-	if ((itr = pairs.find(arg_name)) != pairs.end()) {
-
+	if ((itr = pairs.find(arg_name)) != pairs.end())
+	{
 		std::string s = itr->second;
-		val = (char*) malloc(sizeof(char) * (s.length() + 1));
+		val = (char *)malloc(sizeof(char) * (s.length() + 1));
 		std::strcpy(val, s.c_str());
 		return true;
-	} else {
-    	val = NULL;
+	}
+	else
+	{
+		val = NULL;
 	}
 	return false;
 }
 
-
-#endif //COMMAND_LINE_ARGS_H
+#endif  //COMMAND_LINE_ARGS_H
diff --git a/thirdparty/bullet/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/Bullet3Common/b3FileUtils.h
index 1a331029ea..9ded17eaaf 100644
--- a/thirdparty/bullet/Bullet3Common/b3FileUtils.h
+++ b/thirdparty/bullet/Bullet3Common/b3FileUtils.h
@@ -3,7 +3,7 @@
 
 #include <stdio.h>
 #include "b3Scalar.h"
-#include <stddef.h>//ptrdiff_h
+#include <stddef.h>  //ptrdiff_h
 #include <string.h>
 
 struct b3FileUtils
@@ -17,42 +17,42 @@ struct b3FileUtils
 
 	static bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
 	{
-		FILE* f=0;
-		f = fopen(orgFileName,"rb");
-                if (f)
-                {
+		FILE* f = 0;
+		f = fopen(orgFileName, "rb");
+		if (f)
+		{
 			//printf("original file found: [%s]\n", orgFileName);
-			sprintf(relativeFileName,"%s", orgFileName);
+			sprintf(relativeFileName, "%s", orgFileName);
 			fclose(f);
 			return true;
 		}
 
-		//printf("Trying various directories, relative to current working directory\n");	
-			const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
-			int numPrefixes = sizeof(prefix)/sizeof(const char*);
-	
-			f=0;
-			bool fileFound = false;
+		//printf("Trying various directories, relative to current working directory\n");
+		const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
+		int numPrefixes = sizeof(prefix) / sizeof(const char*);
 
-			for (int i=0;!f && i<numPrefixes;i++)
-			{
-#ifdef _WIN32
-				sprintf_s(relativeFileName,maxRelativeFileNameMaxLen,"%s%s",prefix[i],orgFileName);
+		f = 0;
+		bool fileFound = false;
+
+		for (int i = 0; !f && i < numPrefixes; i++)
+		{
+#ifdef _MSC_VER
+			sprintf_s(relativeFileName, maxRelativeFileNameMaxLen, "%s%s", prefix[i], orgFileName);
 #else
-				sprintf(relativeFileName,"%s%s",prefix[i],orgFileName);
+			sprintf(relativeFileName, "%s%s", prefix[i], orgFileName);
 #endif
-				f = fopen(relativeFileName,"rb");
-				if (f)
-				{
-					fileFound = true;
-					break;
-				}
-			}
+			f = fopen(relativeFileName, "rb");
 			if (f)
 			{
-				fclose(f);
+				fileFound = true;
+				break;
 			}
-	
+		}
+		if (f)
+		{
+			fclose(f);
+		}
+
 		return fileFound;
 	}
 
@@ -60,8 +60,8 @@ struct b3FileUtils
 	{
 		size_t const patlen = strlen(pattern);
 		size_t patcnt = 0;
-		const char * oriptr;
-		const char * patloc;
+		const char* oriptr;
+		const char* patloc;
 		// find how many times the pattern occurs in the original string
 		for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
 		{
@@ -70,29 +70,27 @@ struct b3FileUtils
 		return oriptr;
 	}
 
-	
-
 	static int extractPath(const char* fileName, char* path, int maxPathLength)
 	{
 		const char* stripped = strip2(fileName, "/");
 		stripped = strip2(stripped, "\\");
 
-		ptrdiff_t len = stripped-fileName;
-		b3Assert((len+1)<maxPathLength);
+		ptrdiff_t len = stripped - fileName;
+		b3Assert((len + 1) < maxPathLength);
 
-		if (len && ((len+1)<maxPathLength))
+		if (len && ((len + 1) < maxPathLength))
 		{
-
-			for (int i=0;i<len;i++)
+			for (int i = 0; i < len; i++)
 			{
 				path[i] = fileName[i];
 			}
-			path[len]=0;
-		} else
+			path[len] = 0;
+		}
+		else
 		{
 			len = 0;
-			b3Assert(maxPathLength>0);
-			if (maxPathLength>0)
+			b3Assert(maxPathLength > 0);
+			if (maxPathLength > 0)
 			{
 				path[len] = 0;
 			}
@@ -102,23 +100,21 @@ struct b3FileUtils
 
 	static char toLowerChar(const char t)
 	{
-		if (t>=(char)'A' && t<=(char)'Z')
+		if (t >= (char)'A' && t <= (char)'Z')
 			return t + ((char)'a' - (char)'A');
 		else
 			return t;
 	}
 
-
 	static void toLower(char* str)
 	{
-		int len=strlen(str);
-		for (int i=0;i<len;i++)
+		int len = strlen(str);
+		for (int i = 0; i < len; i++)
 		{
 			str[i] = toLowerChar(str[i]);
 		}
 	}
 
-
 	/*static const char* strip2(const char* name, const char* pattern)
 	{
 		size_t const patlen = strlen(pattern);
@@ -133,6 +129,5 @@ struct b3FileUtils
 		return oriptr;
 	}
 	*/
-
 };
-#endif //B3_FILE_UTILS_H
+#endif  //B3_FILE_UTILS_H
diff --git a/thirdparty/bullet/Bullet3Common/b3HashMap.h b/thirdparty/bullet/Bullet3Common/b3HashMap.h
index 24a59d9baa..3009e2cf2f 100644
--- a/thirdparty/bullet/Bullet3Common/b3HashMap.h
+++ b/thirdparty/bullet/Bullet3Common/b3HashMap.h
@@ -13,86 +13,80 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_HASH_MAP_H
 #define B3_HASH_MAP_H
 
 #include "b3AlignedObjectArray.h"
 
-
 #include <string>
 
 ///very basic hashable string implementation, compatible with b3HashMap
 struct b3HashString
 {
 	std::string m_string;
-	unsigned int	m_hash;
+	unsigned int m_hash;
 
-	B3_FORCE_INLINE	unsigned int getHash()const
+	B3_FORCE_INLINE unsigned int getHash() const
 	{
 		return m_hash;
 	}
 
-
 	b3HashString(const char* name)
-		:m_string(name)
+		: m_string(name)
 	{
-
 		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int InitialFNV = 2166136261u;
 		static const unsigned int FNVMultiple = 16777619u;
 
 		/* Fowler / Noll / Vo (FNV) Hash */
 		unsigned int hash = InitialFNV;
 		int len = m_string.length();
-		for(int i = 0; i<len; i++)
+		for (int i = 0; i < len; i++)
 		{
-			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;  /* multiply by the magic number */
+			hash = hash ^ (m_string[i]); /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;   /* multiply by the magic number */
 		}
 		m_hash = hash;
 	}
 
-	int portableStringCompare(const char* src,	const char* dst) const
+	int portableStringCompare(const char* src, const char* dst) const
 	{
-			int ret = 0 ;
+		int ret = 0;
 
-			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
-					++src, ++dst;
+		while (!(ret = *(unsigned char*)src - *(unsigned char*)dst) && *dst)
+			++src, ++dst;
 
-			if ( ret < 0 )
-					ret = -1 ;
-			else if ( ret > 0 )
-					ret = 1 ;
+		if (ret < 0)
+			ret = -1;
+		else if (ret > 0)
+			ret = 1;
 
-			return( ret );
+		return (ret);
 	}
 
 	bool equals(const b3HashString& other) const
 	{
 		return (m_string == other.m_string);
 	}
-
 };
 
-
-const int B3_HASH_NULL=0xffffffff;
-
+const int B3_HASH_NULL = 0xffffffff;
 
 class b3HashInt
 {
-	int	m_uid;
+	int m_uid;
+
 public:
-	b3HashInt(int uid)	:m_uid(uid)
+	b3HashInt(int uid) : m_uid(uid)
 	{
 	}
 
-	int	getUid1() const
+	int getUid1() const
 	{
 		return m_uid;
 	}
 
-	void	setUid1(int uid)
+	void setUid1(int uid)
 	{
 		m_uid = uid;
 	}
@@ -102,34 +96,34 @@ public:
 		return getUid1() == other.getUid1();
 	}
 	//to our success
-	B3_FORCE_INLINE	unsigned int getHash()const
+	B3_FORCE_INLINE unsigned int getHash() const
 	{
 		int key = m_uid;
 		// Thomas Wang's hash
-		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
 		return key;
 	}
 };
 
-
-
 class b3HashPtr
 {
-
-	union
-	{
-		const void*	m_pointer;
-		int	m_hashValues[2];
+	union {
+		const void* m_pointer;
+		int m_hashValues[2];
 	};
 
 public:
-
 	b3HashPtr(const void* ptr)
-		:m_pointer(ptr)
+		: m_pointer(ptr)
 	{
 	}
 
-	const void*	getPointer() const
+	const void* getPointer() const
 	{
 		return m_pointer;
 	}
@@ -140,65 +134,69 @@ public:
 	}
 
 	//to our success
-	B3_FORCE_INLINE	unsigned int getHash()const
+	B3_FORCE_INLINE unsigned int getHash() const
 	{
-		const bool VOID_IS_8 = ((sizeof(void*)==8));
-		
-		int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
-	
+		const bool VOID_IS_8 = ((sizeof(void*) == 8));
+
+		int key = VOID_IS_8 ? m_hashValues[0] + m_hashValues[1] : m_hashValues[0];
+
 		// Thomas Wang's hash
-		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
 		return key;
 	}
-
-	
 };
 
-
 template <class Value>
 class b3HashKeyPtr
 {
-        int     m_uid;
+	int m_uid;
+
 public:
+	b3HashKeyPtr(int uid) : m_uid(uid)
+	{
+	}
 
-        b3HashKeyPtr(int uid)    :m_uid(uid)
-        {
-        }
-
-        int     getUid1() const
-        {
-                return m_uid;
-        }
-
-        bool equals(const b3HashKeyPtr<Value>& other) const
-        {
-                return getUid1() == other.getUid1();
-        }
-
-        //to our success
-        B3_FORCE_INLINE       unsigned int getHash()const
-        {
-                int key = m_uid;
-                // Thomas Wang's hash
-                key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
-                return key;
-        }
-
-        
-};
+	int getUid1() const
+	{
+		return m_uid;
+	}
 
+	bool equals(const b3HashKeyPtr<Value>& other) const
+	{
+		return getUid1() == other.getUid1();
+	}
+
+	//to our success
+	B3_FORCE_INLINE unsigned int getHash() const
+	{
+		int key = m_uid;
+		// Thomas Wang's hash
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
+		return key;
+	}
+};
 
 template <class Value>
 class b3HashKey
 {
-	int	m_uid;
-public:
+	int m_uid;
 
-	b3HashKey(int uid)	:m_uid(uid)
+public:
+	b3HashKey(int uid) : m_uid(uid)
 	{
 	}
 
-	int	getUid1() const
+	int getUid1() const
 	{
 		return m_uid;
 	}
@@ -208,30 +206,33 @@ public:
 		return getUid1() == other.getUid1();
 	}
 	//to our success
-	B3_FORCE_INLINE	unsigned int getHash()const
+	B3_FORCE_INLINE unsigned int getHash() const
 	{
 		int key = m_uid;
 		// Thomas Wang's hash
-		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
 		return key;
 	}
 };
 
-
 ///The b3HashMap template class implements a generic and lightweight hashmap.
 ///A basic sample of how to use b3HashMap is located in Demos\BasicDemo\main.cpp
 template <class Key, class Value>
 class b3HashMap
 {
-
 protected:
-	b3AlignedObjectArray<int>		m_hashTable;
-	b3AlignedObjectArray<int>		m_next;
-	
-	b3AlignedObjectArray<Value>		m_valueArray;
-	b3AlignedObjectArray<Key>		m_keyArray;
+	b3AlignedObjectArray<int> m_hashTable;
+	b3AlignedObjectArray<int> m_next;
+
+	b3AlignedObjectArray<Value> m_valueArray;
+	b3AlignedObjectArray<Key> m_keyArray;
 
-	void	growTables(const Key& /*key*/)
+	void growTables(const Key& /*key*/)
 	{
 		int newCapacity = m_valueArray.capacity();
 
@@ -245,7 +246,7 @@ protected:
 
 			int i;
 
-			for (i= 0; i < newCapacity; ++i)
+			for (i = 0; i < newCapacity; ++i)
 			{
 				m_hashTable[i] = B3_HASH_NULL;
 			}
@@ -254,30 +255,28 @@ protected:
 				m_next[i] = B3_HASH_NULL;
 			}
 
-			for(i=0;i<curHashtableSize;i++)
+			for (i = 0; i < curHashtableSize; i++)
 			{
 				//const Value& value = m_valueArray[i];
 				//const Key& key = m_keyArray[i];
 
-				int	hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity()-1);	// New hash value with new mask
+				int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity() - 1);  // New hash value with new mask
 				m_next[i] = m_hashTable[hashValue];
 				m_hashTable[hashValue] = i;
 			}
-
-
 		}
 	}
 
-	public:
-
-	void insert(const Key& key, const Value& value) {
-		int hash = key.getHash() & (m_valueArray.capacity()-1);
+public:
+	void insert(const Key& key, const Value& value)
+	{
+		int hash = key.getHash() & (m_valueArray.capacity() - 1);
 
 		//replace value if the key is already there
 		int index = findIndex(key);
 		if (index != B3_HASH_NULL)
 		{
-			m_valueArray[index]=value;
+			m_valueArray[index] = value;
 			return;
 		}
 
@@ -291,19 +290,19 @@ protected:
 		{
 			growTables(key);
 			//hash with new capacity
-			hash = key.getHash() & (m_valueArray.capacity()-1);
+			hash = key.getHash() & (m_valueArray.capacity() - 1);
 		}
 		m_next[count] = m_hashTable[hash];
 		m_hashTable[hash] = count;
 	}
 
-	void remove(const Key& key) {
-
-		int hash = key.getHash() & (m_valueArray.capacity()-1);
+	void remove(const Key& key)
+	{
+		int hash = key.getHash() & (m_valueArray.capacity() - 1);
 
 		int pairIndex = findIndex(key);
-		
-		if (pairIndex ==B3_HASH_NULL)
+
+		if (pairIndex == B3_HASH_NULL)
 		{
 			return;
 		}
@@ -344,7 +343,7 @@ protected:
 		}
 
 		// Remove the last pair from the hash table.
-		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity()-1);
+		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity() - 1);
 
 		index = m_hashTable[lastHash];
 		b3Assert(index != B3_HASH_NULL);
@@ -376,10 +375,8 @@ protected:
 
 		m_valueArray.pop_back();
 		m_keyArray.pop_back();
-
 	}
 
-
 	int size() const
 	{
 		return m_valueArray.size();
@@ -399,23 +396,24 @@ protected:
 		return &m_valueArray[index];
 	}
 
-	 Key getKeyAtIndex(int index)
-    {
-        b3Assert(index < m_keyArray.size());
-        return m_keyArray[index];
-    }
-    
-    const Key getKeyAtIndex(int index) const
-    {
-        b3Assert(index < m_keyArray.size());
-        return m_keyArray[index];
-    }
+	Key getKeyAtIndex(int index)
+	{
+		b3Assert(index < m_keyArray.size());
+		return m_keyArray[index];
+	}
+
+	const Key getKeyAtIndex(int index) const
+	{
+		b3Assert(index < m_keyArray.size());
+		return m_keyArray[index];
+	}
 
-	Value* operator[](const Key& key) {
+	Value* operator[](const Key& key)
+	{
 		return find(key);
 	}
 
-	const Value*	find(const Key& key) const
+	const Value* find(const Key& key) const
 	{
 		int index = findIndex(key);
 		if (index == B3_HASH_NULL)
@@ -425,7 +423,7 @@ protected:
 		return &m_valueArray[index];
 	}
 
-	Value*	find(const Key& key)
+	Value* find(const Key& key)
 	{
 		int index = findIndex(key);
 		if (index == B3_HASH_NULL)
@@ -435,10 +433,9 @@ protected:
 		return &m_valueArray[index];
 	}
 
-
-	int	findIndex(const Key& key) const
+	int findIndex(const Key& key) const
 	{
-		unsigned int hash = key.getHash() & (m_valueArray.capacity()-1);
+		unsigned int hash = key.getHash() & (m_valueArray.capacity() - 1);
 
 		if (hash >= (unsigned int)m_hashTable.size())
 		{
@@ -453,14 +450,13 @@ protected:
 		return index;
 	}
 
-	void	clear()
+	void clear()
 	{
 		m_hashTable.clear();
 		m_next.clear();
 		m_valueArray.clear();
 		m_keyArray.clear();
 	}
-
 };
 
-#endif //B3_HASH_MAP_H
+#endif  //B3_HASH_MAP_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.cpp b/thirdparty/bullet/Bullet3Common/b3Logging.cpp
index a8e9507155..9c9f7c09ea 100644
--- a/thirdparty/bullet/Bullet3Common/b3Logging.cpp
+++ b/thirdparty/bullet/Bullet3Common/b3Logging.cpp
@@ -20,17 +20,16 @@ subject to the following restrictions:
 
 #ifdef _WIN32
 #include <windows.h>
-#endif //_WIN32
-
+#endif  //_WIN32
 
 void b3PrintfFuncDefault(const char* msg)
 {
 #ifdef _WIN32
 	OutputDebugStringA(msg);
 #endif
-	printf("%s",msg);
-    //is this portable?
-    fflush(stdout);
+	printf("%s", msg);
+	//is this portable?
+	fflush(stdout);
 }
 
 void b3WarningMessageFuncDefault(const char* msg)
@@ -38,32 +37,26 @@ void b3WarningMessageFuncDefault(const char* msg)
 #ifdef _WIN32
 	OutputDebugStringA(msg);
 #endif
-	printf("%s",msg);
-    //is this portable?
-    fflush(stdout);
-
+	printf("%s", msg);
+	//is this portable?
+	fflush(stdout);
 }
 
-
 void b3ErrorMessageFuncDefault(const char* msg)
 {
 #ifdef _WIN32
 	OutputDebugStringA(msg);
 #endif
-	printf("%s",msg);
+	printf("%s", msg);
 
-    //is this portable?
-    fflush(stdout);
-    
+	//is this portable?
+	fflush(stdout);
 }
 
-
-
 static b3PrintfFunc* b3s_printfFunc = b3PrintfFuncDefault;
 static b3WarningMessageFunc* b3s_warningMessageFunc = b3WarningMessageFuncDefault;
 static b3ErrorMessageFunc* b3s_errorMessageFunc = b3ErrorMessageFuncDefault;
 
-
 ///The developer can route b3Printf output using their own implementation
 void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc)
 {
@@ -81,54 +74,50 @@ void b3SetCustomErrorMessageFunc(b3PrintfFunc* errorMessageFunc)
 //#define B3_MAX_DEBUG_STRING_LENGTH 2048
 #define B3_MAX_DEBUG_STRING_LENGTH 32768
 
-
-void b3OutputPrintfVarArgsInternal(const char *str, ...)
+void b3OutputPrintfVarArgsInternal(const char* str, ...)
 {
-    char strDebug[B3_MAX_DEBUG_STRING_LENGTH]={0};
-    va_list argList;
-    va_start(argList, str);
+	char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0};
+	va_list argList;
+	va_start(argList, str);
 #ifdef _MSC_VER
-    vsprintf_s(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+	vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
 #else
-    vsnprintf(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+	vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
 #endif
-        (b3s_printfFunc)(strDebug);
-    va_end(argList);    
+	(b3s_printfFunc)(strDebug);
+	va_end(argList);
 }
-void b3OutputWarningMessageVarArgsInternal(const char *str, ...)
+void b3OutputWarningMessageVarArgsInternal(const char* str, ...)
 {
-    char strDebug[B3_MAX_DEBUG_STRING_LENGTH]={0};
-    va_list argList;
-    va_start(argList, str);
+	char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0};
+	va_list argList;
+	va_start(argList, str);
 #ifdef _MSC_VER
-    vsprintf_s(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+	vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
 #else
-    vsnprintf(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+	vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
 #endif
-        (b3s_warningMessageFunc)(strDebug);
-    va_end(argList);    
+	(b3s_warningMessageFunc)(strDebug);
+	va_end(argList);
 }
-void b3OutputErrorMessageVarArgsInternal(const char *str, ...)
+void b3OutputErrorMessageVarArgsInternal(const char* str, ...)
 {
-	
-    char strDebug[B3_MAX_DEBUG_STRING_LENGTH]={0};
-    va_list argList;
-    va_start(argList, str);
+	char strDebug[B3_MAX_DEBUG_STRING_LENGTH] = {0};
+	va_list argList;
+	va_start(argList, str);
 #ifdef _MSC_VER
-    vsprintf_s(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+	vsprintf_s(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
 #else
-    vsnprintf(strDebug,B3_MAX_DEBUG_STRING_LENGTH,str,argList);
+	vsnprintf(strDebug, B3_MAX_DEBUG_STRING_LENGTH, str, argList);
 #endif
-        (b3s_errorMessageFunc)(strDebug);
-    va_end(argList);    
-
+	(b3s_errorMessageFunc)(strDebug);
+	va_end(argList);
 }
 
-
-void	b3EnterProfileZoneDefault(const char* name)
+void b3EnterProfileZoneDefault(const char* name)
 {
 }
-void	b3LeaveProfileZoneDefault()
+void b3LeaveProfileZoneDefault()
 {
 }
 static b3EnterProfileZoneFunc* b3s_enterFunc = b3EnterProfileZoneDefault;
@@ -151,10 +140,6 @@ void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc)
 	b3s_leaveFunc = leaveFunc;
 }
 
-
-
-
 #ifndef _MSC_VER
 #undef vsprintf_s
 #endif
-
diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.h b/thirdparty/bullet/Bullet3Common/b3Logging.h
index b302effe43..9c92b12ebb 100644
--- a/thirdparty/bullet/Bullet3Common/b3Logging.h
+++ b/thirdparty/bullet/Bullet3Common/b3Logging.h
@@ -3,75 +3,84 @@
 #define B3_LOGGING_H
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
-    
+
 ///We add the do/while so that the statement "if (condition) b3Printf("test"); else {...}" would fail
 ///You can also customize the message by uncommenting out a different line below
 #define b3Printf(...) b3OutputPrintfVarArgsInternal(__VA_ARGS__)
-//#define b3Printf(...) do {b3OutputPrintfVarArgsInternal("b3Printf[%s,%d]:",__FILE__,__LINE__);b3OutputPrintfVarArgsInternal(__VA_ARGS__); } while(0)
-//#define b3Printf b3OutputPrintfVarArgsInternal
-//#define b3Printf(...) printf(__VA_ARGS__)
-//#define b3Printf(...)
-
-#define b3Warning(...) do {b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n",__FILE__,__LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); }while(0)
-#define b3Error(...) do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n",__FILE__,__LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); } while(0)
-
+	//#define b3Printf(...) do {b3OutputPrintfVarArgsInternal("b3Printf[%s,%d]:",__FILE__,__LINE__);b3OutputPrintfVarArgsInternal(__VA_ARGS__); } while(0)
+	//#define b3Printf b3OutputPrintfVarArgsInternal
+	//#define b3Printf(...) printf(__VA_ARGS__)
+	//#define b3Printf(...)
+
+#define b3Warning(...)                                                                    \
+	do                                                                                    \
+	{                                                                                     \
+		b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \
+		b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);                               \
+	} while (0)
+#define b3Error(...)                                                                  \
+	do                                                                                \
+	{                                                                                 \
+		b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \
+		b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);                             \
+	} while (0)
 
 #ifndef B3_NO_PROFILE
 
-void b3EnterProfileZone(const char* name);
-void b3LeaveProfileZone();
+	void b3EnterProfileZone(const char* name);
+	void b3LeaveProfileZone();
 #ifdef __cplusplus
 
-class	b3ProfileZone
-{
-public:
-	b3ProfileZone(const char* name)
-	{ 
-		b3EnterProfileZone( name ); 
-	}
-
-	~b3ProfileZone()
-	{ 
-		b3LeaveProfileZone(); 
-	}
-};
-
-#define	B3_PROFILE( name )			b3ProfileZone __profile( name )
+	class b3ProfileZone
+	{
+	public:
+		b3ProfileZone(const char* name)
+		{
+			b3EnterProfileZone(name);
+		}
+
+		~b3ProfileZone()
+		{
+			b3LeaveProfileZone();
+		}
+	};
+
+#define B3_PROFILE(name) b3ProfileZone __profile(name)
 #endif
 
-#else //B3_NO_PROFILE
+#else  //B3_NO_PROFILE
 
-#define	B3_PROFILE( name )
+#define B3_PROFILE(name)
 #define b3StartProfile(a)
 #define b3StopProfile
 
-#endif //#ifndef B3_NO_PROFILE
-
+#endif  //#ifndef B3_NO_PROFILE
 
-typedef void (b3PrintfFunc)(const char* msg);
-typedef void (b3WarningMessageFunc)(const char* msg);
-typedef void (b3ErrorMessageFunc)(const char* msg);
-typedef void (b3EnterProfileZoneFunc)(const char* msg);
-typedef void (b3LeaveProfileZoneFunc)();
+	typedef void(b3PrintfFunc)(const char* msg);
+	typedef void(b3WarningMessageFunc)(const char* msg);
+	typedef void(b3ErrorMessageFunc)(const char* msg);
+	typedef void(b3EnterProfileZoneFunc)(const char* msg);
+	typedef void(b3LeaveProfileZoneFunc)();
 
-///The developer can route b3Printf output using their own implementation
-void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc);
-void b3SetCustomWarningMessageFunc(b3WarningMessageFunc* warningMsgFunc);
-void b3SetCustomErrorMessageFunc(b3ErrorMessageFunc* errorMsgFunc);
+	///The developer can route b3Printf output using their own implementation
+	void b3SetCustomPrintfFunc(b3PrintfFunc* printfFunc);
+	void b3SetCustomWarningMessageFunc(b3WarningMessageFunc* warningMsgFunc);
+	void b3SetCustomErrorMessageFunc(b3ErrorMessageFunc* errorMsgFunc);
 
-///Set custom profile zone functions (zones can be nested)
-void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc);
-void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc);
+	///Set custom profile zone functions (zones can be nested)
+	void b3SetCustomEnterProfileZoneFunc(b3EnterProfileZoneFunc* enterFunc);
+	void b3SetCustomLeaveProfileZoneFunc(b3LeaveProfileZoneFunc* leaveFunc);
 
-///Don't use those internal functions directly, use the b3Printf or b3SetCustomPrintfFunc instead (or warning/error version)
-void b3OutputPrintfVarArgsInternal(const char *str, ...);
-void b3OutputWarningMessageVarArgsInternal(const char *str, ...);
-void b3OutputErrorMessageVarArgsInternal(const char *str, ...);
+	///Don't use those internal functions directly, use the b3Printf or b3SetCustomPrintfFunc instead (or warning/error version)
+	void b3OutputPrintfVarArgsInternal(const char* str, ...);
+	void b3OutputWarningMessageVarArgsInternal(const char* str, ...);
+	void b3OutputErrorMessageVarArgsInternal(const char* str, ...);
 
 #ifdef __cplusplus
-    }
+}
 #endif
 
-#endif//B3_LOGGING_H
\ No newline at end of file
+#endif  //B3_LOGGING_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h b/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h
index 89b57cf59a..6c46536a81 100644
--- a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h
+++ b/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h
@@ -12,8 +12,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-#ifndef	B3_MATRIX3x3_H
+#ifndef B3_MATRIX3x3_H
 #define B3_MATRIX3x3_H
 
 #include "b3Vector3.h"
@@ -32,22 +31,22 @@ const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
 #endif
 
 #ifdef B3_USE_DOUBLE_PRECISION
-#define b3Matrix3x3Data	b3Matrix3x3DoubleData 
+#define b3Matrix3x3Data b3Matrix3x3DoubleData
 #else
-#define b3Matrix3x3Data	b3Matrix3x3FloatData
-#endif //B3_USE_DOUBLE_PRECISION
-
+#define b3Matrix3x3Data b3Matrix3x3FloatData
+#endif  //B3_USE_DOUBLE_PRECISION
 
 /**@brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3.
 * Make sure to only include a pure orthogonal matrix without scaling. */
-B3_ATTRIBUTE_ALIGNED16(class) b3Matrix3x3 {
-
+B3_ATTRIBUTE_ALIGNED16(class)
+b3Matrix3x3
+{
 	///Data storage for the matrix, each vector is a row of the matrix
 	b3Vector3 m_el[3];
 
 public:
 	/** @brief No initializaion constructor */
-	b3Matrix3x3 () {}
+	b3Matrix3x3() {}
 
 	//		explicit b3Matrix3x3(const b3Scalar *m) { setFromOpenGLSubMatrix(m); }
 
@@ -62,27 +61,27 @@ public:
 	*/
 	/** @brief Constructor with row major formatting */
 	b3Matrix3x3(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz,
-		const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz,
-		const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
-	{ 
-		setValue(xx, xy, xz, 
-			yx, yy, yz, 
-			zx, zy, zz);
+				const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz,
+				const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
+	{
+		setValue(xx, xy, xz,
+				 yx, yy, yz,
+				 zx, zy, zz);
 	}
 
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
-	B3_FORCE_INLINE b3Matrix3x3 (const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2 ) 
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+	B3_FORCE_INLINE b3Matrix3x3(const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2)
 	{
-        m_el[0].mVec128 = v0;
-        m_el[1].mVec128 = v1;
-        m_el[2].mVec128 = v2;
+		m_el[0].mVec128 = v0;
+		m_el[1].mVec128 = v1;
+		m_el[2].mVec128 = v2;
 	}
 
-	B3_FORCE_INLINE b3Matrix3x3 (const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2 ) 
+	B3_FORCE_INLINE b3Matrix3x3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2)
 	{
-        m_el[0] = v0;
-        m_el[1] = v1;
-        m_el[2] = v2;
+		m_el[0] = v0;
+		m_el[1] = v1;
+		m_el[2] = v2;
 	}
 
 	// Copy constructor
@@ -94,25 +93,25 @@ public:
 	}
 
 	// Assignment Operator
-	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m) 
+	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m)
 	{
 		m_el[0].mVec128 = m.m_el[0].mVec128;
 		m_el[1].mVec128 = m.m_el[1].mVec128;
 		m_el[2].mVec128 = m.m_el[2].mVec128;
-		
+
 		return *this;
 	}
 
 #else
 
 	/** @brief Copy constructor */
-	B3_FORCE_INLINE b3Matrix3x3 (const b3Matrix3x3& other)
+	B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& other)
 	{
 		m_el[0] = other.m_el[0];
 		m_el[1] = other.m_el[1];
 		m_el[2] = other.m_el[2];
 	}
-    
+
 	/** @brief Assignment Operator */
 	B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other)
 	{
@@ -128,10 +127,9 @@ public:
 	*  @param i Column number 0 indexed */
 	B3_FORCE_INLINE b3Vector3 getColumn(int i) const
 	{
-		return b3MakeVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
+		return b3MakeVector3(m_el[0][i], m_el[1][i], m_el[2][i]);
 	}
 
-
 	/** @brief Get a row of the matrix as a vector 
 	*  @param i Row number 0 indexed */
 	B3_FORCE_INLINE const b3Vector3& getRow(int i) const
@@ -142,10 +140,10 @@ public:
 
 	/** @brief Get a mutable reference to a row of the matrix as a vector 
 	*  @param i Row number 0 indexed */
-	B3_FORCE_INLINE b3Vector3&  operator[](int i)
-	{ 
+	B3_FORCE_INLINE b3Vector3& operator[](int i)
+	{
 		b3FullAssert(0 <= i && i < 3);
-		return m_el[i]; 
+		return m_el[i];
 	}
 
 	/** @brief Get a const reference to a row of the matrix as a vector 
@@ -153,32 +151,31 @@ public:
 	B3_FORCE_INLINE const b3Vector3& operator[](int i) const
 	{
 		b3FullAssert(0 <= i && i < 3);
-		return m_el[i]; 
+		return m_el[i];
 	}
 
 	/** @brief Multiply by the target matrix on the right
 	*  @param m Rotation matrix to be applied 
 	* Equivilant to this = this * m */
-	b3Matrix3x3& operator*=(const b3Matrix3x3& m); 
+	b3Matrix3x3& operator*=(const b3Matrix3x3& m);
 
 	/** @brief Adds by the target matrix on the right
 	*  @param m matrix to be applied 
 	* Equivilant to this = this + m */
-	b3Matrix3x3& operator+=(const b3Matrix3x3& m); 
+	b3Matrix3x3& operator+=(const b3Matrix3x3& m);
 
 	/** @brief Substractss by the target matrix on the right
 	*  @param m matrix to be applied 
 	* Equivilant to this = this - m */
-	b3Matrix3x3& operator-=(const b3Matrix3x3& m); 
+	b3Matrix3x3& operator-=(const b3Matrix3x3& m);
 
 	/** @brief Set from the rotational part of a 4x4 OpenGL matrix
 	*  @param m A pointer to the beginning of the array of scalars*/
-	void setFromOpenGLSubMatrix(const b3Scalar *m)
+	void setFromOpenGLSubMatrix(const b3Scalar* m)
 	{
-		m_el[0].setValue(m[0],m[4],m[8]);
-		m_el[1].setValue(m[1],m[5],m[9]);
-		m_el[2].setValue(m[2],m[6],m[10]);
-
+		m_el[0].setValue(m[0], m[4], m[8]);
+		m_el[1].setValue(m[1], m[5], m[9]);
+		m_el[2].setValue(m[2], m[6], m[10]);
 	}
 	/** @brief Set the values of the matrix explicitly (row major)
 	*  @param xx Top left
@@ -190,93 +187,92 @@ public:
 	*  @param zx Bottom Left
 	*  @param zy Bottom Middle
 	*  @param zz Bottom Right*/
-	void setValue(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz, 
-		const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz, 
-		const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
+	void setValue(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz,
+				  const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz,
+				  const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz)
 	{
-		m_el[0].setValue(xx,xy,xz);
-		m_el[1].setValue(yx,yy,yz);
-		m_el[2].setValue(zx,zy,zz);
+		m_el[0].setValue(xx, xy, xz);
+		m_el[1].setValue(yx, yy, yz);
+		m_el[2].setValue(zx, zy, zz);
 	}
 
 	/** @brief Set the matrix from a quaternion
-	*  @param q The Quaternion to match */  
-	void setRotation(const b3Quaternion& q) 
+	*  @param q The Quaternion to match */
+	void setRotation(const b3Quaternion& q)
 	{
 		b3Scalar d = q.length2();
 		b3FullAssert(d != b3Scalar(0.0));
 		b3Scalar s = b3Scalar(2.0) / d;
-    
-    #if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-        __m128	vs, Q = q.get128();
+
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vs, Q = q.get128();
 		__m128i Qi = b3CastfTo128i(Q);
-        __m128	Y, Z;
-        __m128	V1, V2, V3;
-        __m128	V11, V21, V31;
-        __m128	NQ = _mm_xor_ps(Q, b3vMzeroMask);
+		__m128 Y, Z;
+		__m128 V1, V2, V3;
+		__m128 V11, V21, V31;
+		__m128 NQ = _mm_xor_ps(Q, b3vMzeroMask);
 		__m128i NQi = b3CastfTo128i(NQ);
-        
-        V1 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,0,2,3)));	// Y X Z W
-		V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0,0,1,3));     // -X -X  Y  W
-        V3 = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(2,1,0,3)));	// Z Y X W
-        V1 = _mm_xor_ps(V1, b3vMPPP);	//	change the sign of the first element
-			
-        V11	= b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,1,0,3)));	// Y Y X W
-		V21 = _mm_unpackhi_ps(Q, Q);                    //  Z  Z  W  W
-		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(0,2,0,3));	//  X  Z -X -W
-
-		V2 = V2 * V1;	//
-		V1 = V1 * V11;	//
-		V3 = V3 * V31;	//
-
-        V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2,3,1,3));	//	-Z -W  Y  W
-		V11 = V11 * V21;	//
-        V21 = _mm_xor_ps(V21, b3vMPPP);	//	change the sign of the first element
-		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3,3,1,3));	//	 W  W -Y -W
-        V31 = _mm_xor_ps(V31, b3vMPPP);	//	change the sign of the first element
-		Y = b3CastiTo128f(_mm_shuffle_epi32 (NQi, B3_SHUFFLE(3,2,0,3)));	// -W -Z -X -W
-		Z = b3CastiTo128f(_mm_shuffle_epi32 (Qi, B3_SHUFFLE(1,0,1,3)));	//  Y  X  Y  W
+
+		V1 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 2, 3)));  // Y X Z W
+		V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0, 0, 1, 3));                 // -X -X  Y  W
+		V3 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(2, 1, 0, 3)));  // Z Y X W
+		V1 = _mm_xor_ps(V1, b3vMPPP);                                       //	change the sign of the first element
+
+		V11 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 1, 0, 3)));  // Y Y X W
+		V21 = _mm_unpackhi_ps(Q, Q);                                         //  Z  Z  W  W
+		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(0, 2, 0, 3));                 //  X  Z -X -W
+
+		V2 = V2 * V1;   //
+		V1 = V1 * V11;  //
+		V3 = V3 * V31;  //
+
+		V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2, 3, 1, 3));                //	-Z -W  Y  W
+		V11 = V11 * V21;                                                    //
+		V21 = _mm_xor_ps(V21, b3vMPPP);                                     //	change the sign of the first element
+		V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3, 3, 1, 3));                //	 W  W -Y -W
+		V31 = _mm_xor_ps(V31, b3vMPPP);                                     //	change the sign of the first element
+		Y = b3CastiTo128f(_mm_shuffle_epi32(NQi, B3_SHUFFLE(3, 2, 0, 3)));  // -W -Z -X -W
+		Z = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 1, 3)));   //  Y  X  Y  W
 
 		vs = _mm_load_ss(&s);
 		V21 = V21 * Y;
 		V31 = V31 * Z;
 
 		V1 = V1 + V11;
-        V2 = V2 + V21;
-        V3 = V3 + V31;
-
-        vs = b3_splat3_ps(vs, 0);
-            //	s ready
-        V1 = V1 * vs;
-        V2 = V2 * vs;
-        V3 = V3 * vs;
-        
-        V1 = V1 + b3v1000;
-        V2 = V2 + b3v0100;
-        V3 = V3 + b3v0010;
-        
-        m_el[0] = b3MakeVector3(V1); 
-        m_el[1] = b3MakeVector3(V2);
-        m_el[2] = b3MakeVector3(V3);
-    #else    
-		b3Scalar xs = q.getX() * s,   ys = q.getY() * s,   zs = q.getZ() * s;
-		b3Scalar wx = q.getW() * xs,  wy = q.getW() * ys,  wz = q.getW() * zs;
-		b3Scalar xx = q.getX() * xs,  xy = q.getX() * ys,  xz = q.getX() * zs;
-		b3Scalar yy = q.getY() * ys,  yz = q.getY() * zs,  zz = q.getZ() * zs;
+		V2 = V2 + V21;
+		V3 = V3 + V31;
+
+		vs = b3_splat3_ps(vs, 0);
+		//	s ready
+		V1 = V1 * vs;
+		V2 = V2 * vs;
+		V3 = V3 * vs;
+
+		V1 = V1 + b3v1000;
+		V2 = V2 + b3v0100;
+		V3 = V3 + b3v0010;
+
+		m_el[0] = b3MakeVector3(V1);
+		m_el[1] = b3MakeVector3(V2);
+		m_el[2] = b3MakeVector3(V3);
+#else
+		b3Scalar xs = q.getX() * s, ys = q.getY() * s, zs = q.getZ() * s;
+		b3Scalar wx = q.getW() * xs, wy = q.getW() * ys, wz = q.getW() * zs;
+		b3Scalar xx = q.getX() * xs, xy = q.getX() * ys, xz = q.getX() * zs;
+		b3Scalar yy = q.getY() * ys, yz = q.getY() * zs, zz = q.getZ() * zs;
 		setValue(
-            b3Scalar(1.0) - (yy + zz), xy - wz, xz + wy,
+			b3Scalar(1.0) - (yy + zz), xy - wz, xz + wy,
 			xy + wz, b3Scalar(1.0) - (xx + zz), yz - wx,
 			xz - wy, yz + wx, b3Scalar(1.0) - (xx + yy));
-	#endif
-    }
-
+#endif
+	}
 
 	/** @brief Set the matrix from euler angles using YPR around YXZ respectively
 	*  @param yaw Yaw about Y axis
 	*  @param pitch Pitch about X axis
 	*  @param roll Roll about Z axis 
 	*/
-	void setEulerYPR(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) 
+	void setEulerYPR(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
 	{
 		setEulerZYX(roll, pitch, yaw);
 	}
@@ -290,182 +286,197 @@ public:
 	* angles are applied in ZYX order. I.e a vector is first rotated 
 	* about X then Y and then Z
 	**/
-	void setEulerZYX(b3Scalar eulerX,b3Scalar eulerY,b3Scalar eulerZ) { 
+	void setEulerZYX(b3Scalar eulerX, b3Scalar eulerY, b3Scalar eulerZ)
+	{
 		///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
-		b3Scalar ci ( b3Cos(eulerX)); 
-		b3Scalar cj ( b3Cos(eulerY)); 
-		b3Scalar ch ( b3Cos(eulerZ)); 
-		b3Scalar si ( b3Sin(eulerX)); 
-		b3Scalar sj ( b3Sin(eulerY)); 
-		b3Scalar sh ( b3Sin(eulerZ)); 
-		b3Scalar cc = ci * ch; 
-		b3Scalar cs = ci * sh; 
-		b3Scalar sc = si * ch; 
+		b3Scalar ci(b3Cos(eulerX));
+		b3Scalar cj(b3Cos(eulerY));
+		b3Scalar ch(b3Cos(eulerZ));
+		b3Scalar si(b3Sin(eulerX));
+		b3Scalar sj(b3Sin(eulerY));
+		b3Scalar sh(b3Sin(eulerZ));
+		b3Scalar cc = ci * ch;
+		b3Scalar cs = ci * sh;
+		b3Scalar sc = si * ch;
 		b3Scalar ss = si * sh;
 
 		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
-			cj * sh, sj * ss + cc, sj * cs - sc, 
-			-sj,      cj * si,      cj * ci);
+				 cj * sh, sj * ss + cc, sj * cs - sc,
+				 -sj, cj * si, cj * ci);
 	}
 
 	/**@brief Set the matrix to the identity */
 	void setIdentity()
-	{ 
-#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined(B3_USE_NEON)
-			m_el[0] = b3MakeVector3(b3v1000); 
-			m_el[1] = b3MakeVector3(b3v0100);
-			m_el[2] = b3MakeVector3(b3v0010);
+	{
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+		m_el[0] = b3MakeVector3(b3v1000);
+		m_el[1] = b3MakeVector3(b3v0100);
+		m_el[2] = b3MakeVector3(b3v0010);
 #else
-		setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), 
-			b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), 
-			b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0)); 
+		setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0),
+				 b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0),
+				 b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0));
 #endif
 	}
 
-	static const b3Matrix3x3&	getIdentity()
+	static const b3Matrix3x3& getIdentity()
 	{
-#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE)) || defined(B3_USE_NEON)
-        static const b3Matrix3x3 
-        identityMatrix(b3v1000, b3v0100, b3v0010);
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+		static const b3Matrix3x3
+			identityMatrix(b3v1000, b3v0100, b3v0010);
 #else
-		static const b3Matrix3x3 
-        identityMatrix(
-            b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), 
-			b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), 
-			b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0));
+		static const b3Matrix3x3
+			identityMatrix(
+				b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0),
+				b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0),
+				b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0));
 #endif
 		return identityMatrix;
 	}
 
 	/**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
 	* @param m The array to be filled */
-	void getOpenGLSubMatrix(b3Scalar *m) const 
+	void getOpenGLSubMatrix(b3Scalar * m) const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-        __m128 v0 = m_el[0].mVec128;
-        __m128 v1 = m_el[1].mVec128;
-        __m128 v2 = m_el[2].mVec128;    //  x2 y2 z2 w2
-        __m128 *vm = (__m128 *)m;
-        __m128 vT;
-        
-        v2 = _mm_and_ps(v2, b3vFFF0fMask);  //  x2 y2 z2 0
-        
-        vT = _mm_unpackhi_ps(v0, v1);	//	z0 z1 * *
-        v0 = _mm_unpacklo_ps(v0, v1);	//	x0 x1 y0 y1
-
-        v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
-        v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
-        v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));	// z0 z1 z2 0
-
-        vm[0] = v0;
-        vm[1] = v1;
-        vm[2] = v2;
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 v0 = m_el[0].mVec128;
+		__m128 v1 = m_el[1].mVec128;
+		__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
+		__m128* vm = (__m128*)m;
+		__m128 vT;
+
+		v2 = _mm_and_ps(v2, b3vFFF0fMask);  //  x2 y2 z2 0
+
+		vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
+		v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
+
+		v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
+		v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
+		v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));  // z0 z1 z2 0
+
+		vm[0] = v0;
+		vm[1] = v1;
+		vm[2] = v2;
 #elif defined(B3_USE_NEON)
-        // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-        static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 };
-        float32x4_t *vm = (float32x4_t *)m;
-        float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 );  // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-        float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) );       // {x2  0 }, {y2 0}
-        float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] );
-        float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] );
-        float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask );
-        float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q );       // z0 z1 z2  0
-
-        vm[0] = v0;
-        vm[1] = v1;
-        vm[2] = v2;
+		// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
+		static const uint32x2_t zMask = (const uint32x2_t){-1, 0};
+		float32x4_t* vm = (float32x4_t*)m;
+		float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
+		float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
+		float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
+		float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
+		float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
+		float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
+
+		vm[0] = v0;
+		vm[1] = v1;
+		vm[2] = v2;
 #else
-		m[0]  = b3Scalar(m_el[0].getX()); 
-		m[1]  = b3Scalar(m_el[1].getX());
-		m[2]  = b3Scalar(m_el[2].getX());
-		m[3]  = b3Scalar(0.0); 
-		m[4]  = b3Scalar(m_el[0].getY());
-		m[5]  = b3Scalar(m_el[1].getY());
-		m[6]  = b3Scalar(m_el[2].getY());
-		m[7]  = b3Scalar(0.0); 
-		m[8]  = b3Scalar(m_el[0].getZ()); 
-		m[9]  = b3Scalar(m_el[1].getZ());
+		m[0] = b3Scalar(m_el[0].getX());
+		m[1] = b3Scalar(m_el[1].getX());
+		m[2] = b3Scalar(m_el[2].getX());
+		m[3] = b3Scalar(0.0);
+		m[4] = b3Scalar(m_el[0].getY());
+		m[5] = b3Scalar(m_el[1].getY());
+		m[6] = b3Scalar(m_el[2].getY());
+		m[7] = b3Scalar(0.0);
+		m[8] = b3Scalar(m_el[0].getZ());
+		m[9] = b3Scalar(m_el[1].getZ());
 		m[10] = b3Scalar(m_el[2].getZ());
-		m[11] = b3Scalar(0.0); 
+		m[11] = b3Scalar(0.0);
 #endif
 	}
 
 	/**@brief Get the matrix represented as a quaternion 
 	* @param q The quaternion which will be set */
-	void getRotation(b3Quaternion& q) const
+	void getRotation(b3Quaternion & q) const
 	{
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
-        b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
-        b3Scalar s, x;
-        
-        union {
-            b3SimdFloat4 vec;
-            b3Scalar f[4];
-        } temp;
-        
-        if (trace > b3Scalar(0.0)) 
-        {
-            x = trace + b3Scalar(1.0);
-
-            temp.f[0]=m_el[2].getY() - m_el[1].getZ();
-            temp.f[1]=m_el[0].getZ() - m_el[2].getX();
-            temp.f[2]=m_el[1].getX() - m_el[0].getY();
-            temp.f[3]=x;
-            //temp.f[3]= s * b3Scalar(0.5);
-        } 
-        else 
-        {
-            int i, j, k;
-            if(m_el[0].getX() < m_el[1].getY()) 
-            { 
-                if( m_el[1].getY() < m_el[2].getZ() )
-                    { i = 2; j = 0; k = 1; }
-                else
-                    { i = 1; j = 2; k = 0; }
-            }
-            else
-            {
-                if( m_el[0].getX() < m_el[2].getZ())
-                    { i = 2; j = 0; k = 1; }
-                else
-                    { i = 0; j = 1; k = 2; }
-            }
-
-            x = m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0);
-
-            temp.f[3] = (m_el[k][j] - m_el[j][k]);
-            temp.f[j] = (m_el[j][i] + m_el[i][j]);
-            temp.f[k] = (m_el[k][i] + m_el[i][k]);
-            temp.f[i] = x;
-            //temp.f[i] = s * b3Scalar(0.5);
-        }
-
-        s = b3Sqrt(x);
-        q.set128(temp.vec);
-        s = b3Scalar(0.5) / s;
-
-        q *= s;
-#else    
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+		b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
+		b3Scalar s, x;
+
+		union {
+			b3SimdFloat4 vec;
+			b3Scalar f[4];
+		} temp;
+
+		if (trace > b3Scalar(0.0))
+		{
+			x = trace + b3Scalar(1.0);
+
+			temp.f[0] = m_el[2].getY() - m_el[1].getZ();
+			temp.f[1] = m_el[0].getZ() - m_el[2].getX();
+			temp.f[2] = m_el[1].getX() - m_el[0].getY();
+			temp.f[3] = x;
+			//temp.f[3]= s * b3Scalar(0.5);
+		}
+		else
+		{
+			int i, j, k;
+			if (m_el[0].getX() < m_el[1].getY())
+			{
+				if (m_el[1].getY() < m_el[2].getZ())
+				{
+					i = 2;
+					j = 0;
+					k = 1;
+				}
+				else
+				{
+					i = 1;
+					j = 2;
+					k = 0;
+				}
+			}
+			else
+			{
+				if (m_el[0].getX() < m_el[2].getZ())
+				{
+					i = 2;
+					j = 0;
+					k = 1;
+				}
+				else
+				{
+					i = 0;
+					j = 1;
+					k = 2;
+				}
+			}
+
+			x = m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0);
+
+			temp.f[3] = (m_el[k][j] - m_el[j][k]);
+			temp.f[j] = (m_el[j][i] + m_el[i][j]);
+			temp.f[k] = (m_el[k][i] + m_el[i][k]);
+			temp.f[i] = x;
+			//temp.f[i] = s * b3Scalar(0.5);
+		}
+
+		s = b3Sqrt(x);
+		q.set128(temp.vec);
+		s = b3Scalar(0.5) / s;
+
+		q *= s;
+#else
 		b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
 
 		b3Scalar temp[4];
 
-		if (trace > b3Scalar(0.0)) 
+		if (trace > b3Scalar(0.0))
 		{
 			b3Scalar s = b3Sqrt(trace + b3Scalar(1.0));
-			temp[3]=(s * b3Scalar(0.5));
+			temp[3] = (s * b3Scalar(0.5));
 			s = b3Scalar(0.5) / s;
 
-			temp[0]=((m_el[2].getY() - m_el[1].getZ()) * s);
-			temp[1]=((m_el[0].getZ() - m_el[2].getX()) * s);
-			temp[2]=((m_el[1].getX() - m_el[0].getY()) * s);
-		} 
-		else 
+			temp[0] = ((m_el[2].getY() - m_el[1].getZ()) * s);
+			temp[1] = ((m_el[0].getZ() - m_el[2].getX()) * s);
+			temp[2] = ((m_el[1].getX() - m_el[0].getY()) * s);
+		}
+		else
 		{
-			int i = m_el[0].getX() < m_el[1].getY() ? 
-				(m_el[1].getY() < m_el[2].getZ() ? 2 : 1) :
-				(m_el[0].getX() < m_el[2].getZ() ? 2 : 0); 
-			int j = (i + 1) % 3;  
+			int i = m_el[0].getX() < m_el[1].getY() ? (m_el[1].getY() < m_el[2].getZ() ? 2 : 1) : (m_el[0].getX() < m_el[2].getZ() ? 2 : 0);
+			int j = (i + 1) % 3;
 			int k = (i + 2) % 3;
 
 			b3Scalar s = b3Sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0));
@@ -476,44 +487,42 @@ public:
 			temp[j] = (m_el[j][i] + m_el[i][j]) * s;
 			temp[k] = (m_el[k][i] + m_el[i][k]) * s;
 		}
-		q.setValue(temp[0],temp[1],temp[2],temp[3]);
+		q.setValue(temp[0], temp[1], temp[2], temp[3]);
 #endif
 	}
 
 	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
 	* @param yaw Yaw around Y axis
 	* @param pitch Pitch around X axis
-	* @param roll around Z axis */	
-	void getEulerYPR(b3Scalar& yaw, b3Scalar& pitch, b3Scalar& roll) const
+	* @param roll around Z axis */
+	void getEulerYPR(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll) const
 	{
-
 		// first use the normal calculus
 		yaw = b3Scalar(b3Atan2(m_el[1].getX(), m_el[0].getX()));
 		pitch = b3Scalar(b3Asin(-m_el[2].getX()));
 		roll = b3Scalar(b3Atan2(m_el[2].getY(), m_el[2].getZ()));
 
 		// on pitch = +/-HalfPI
-		if (b3Fabs(pitch)==B3_HALF_PI)
+		if (b3Fabs(pitch) == B3_HALF_PI)
 		{
-			if (yaw>0)
-				yaw-=B3_PI;
+			if (yaw > 0)
+				yaw -= B3_PI;
 			else
-				yaw+=B3_PI;
+				yaw += B3_PI;
 
-			if (roll>0)
-				roll-=B3_PI;
+			if (roll > 0)
+				roll -= B3_PI;
 			else
-				roll+=B3_PI;
+				roll += B3_PI;
 		}
 	};
 
-
 	/**@brief Get the matrix represented as euler angles around ZYX
 	* @param yaw Yaw around X axis
 	* @param pitch Pitch around Y axis
 	* @param roll around X axis 
-	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/	
-	void getEulerZYX(b3Scalar& yaw, b3Scalar& pitch, b3Scalar& roll, unsigned int solution_number = 1) const
+	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
+	void getEulerZYX(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll, unsigned int solution_number = 1) const
 	{
 		struct Euler
 		{
@@ -523,7 +532,7 @@ public:
 		};
 
 		Euler euler_out;
-		Euler euler_out2; //second solution
+		Euler euler_out2;  //second solution
 		//get the pointer to the raw data
 
 		// Check that pitch is not at a singularity
@@ -533,7 +542,7 @@ public:
 			euler_out2.yaw = 0;
 
 			// From difference of angles formula
-			b3Scalar delta = b3Atan2(m_el[0].getX(),m_el[0].getZ());
+			b3Scalar delta = b3Atan2(m_el[0].getX(), m_el[0].getZ());
 			if (m_el[2].getX() > 0)  //gimbal locked up
 			{
 				euler_out.pitch = B3_PI / b3Scalar(2.0);
@@ -541,7 +550,7 @@ public:
 				euler_out.roll = euler_out.pitch + delta;
 				euler_out2.roll = euler_out.pitch + delta;
 			}
-			else // gimbal locked down
+			else  // gimbal locked down
 			{
 				euler_out.pitch = -B3_PI / b3Scalar(2.0);
 				euler_out2.pitch = -B3_PI / b3Scalar(2.0);
@@ -551,29 +560,29 @@ public:
 		}
 		else
 		{
-			euler_out.pitch = - b3Asin(m_el[2].getX());
+			euler_out.pitch = -b3Asin(m_el[2].getX());
 			euler_out2.pitch = B3_PI - euler_out.pitch;
 
-			euler_out.roll = b3Atan2(m_el[2].getY()/b3Cos(euler_out.pitch), 
-				m_el[2].getZ()/b3Cos(euler_out.pitch));
-			euler_out2.roll = b3Atan2(m_el[2].getY()/b3Cos(euler_out2.pitch), 
-				m_el[2].getZ()/b3Cos(euler_out2.pitch));
+			euler_out.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out.pitch),
+									 m_el[2].getZ() / b3Cos(euler_out.pitch));
+			euler_out2.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out2.pitch),
+									  m_el[2].getZ() / b3Cos(euler_out2.pitch));
 
-			euler_out.yaw = b3Atan2(m_el[1].getX()/b3Cos(euler_out.pitch), 
-				m_el[0].getX()/b3Cos(euler_out.pitch));
-			euler_out2.yaw = b3Atan2(m_el[1].getX()/b3Cos(euler_out2.pitch), 
-				m_el[0].getX()/b3Cos(euler_out2.pitch));
+			euler_out.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out.pitch),
+									m_el[0].getX() / b3Cos(euler_out.pitch));
+			euler_out2.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out2.pitch),
+									 m_el[0].getX() / b3Cos(euler_out2.pitch));
 		}
 
 		if (solution_number == 1)
-		{ 
-			yaw = euler_out.yaw; 
+		{
+			yaw = euler_out.yaw;
 			pitch = euler_out.pitch;
 			roll = euler_out.roll;
 		}
 		else
-		{ 
-			yaw = euler_out2.yaw; 
+		{
+			yaw = euler_out2.yaw;
 			pitch = euler_out2.pitch;
 			roll = euler_out2.roll;
 		}
@@ -584,18 +593,18 @@ public:
 
 	b3Matrix3x3 scaled(const b3Vector3& s) const
 	{
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
 		return b3Matrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
-#else		
+#else
 		return b3Matrix3x3(
-            m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(),
+			m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(),
 			m_el[1].getX() * s.getX(), m_el[1].getY() * s.getY(), m_el[1].getZ() * s.getZ(),
 			m_el[2].getX() * s.getX(), m_el[2].getY() * s.getY(), m_el[2].getZ() * s.getZ());
 #endif
 	}
 
 	/**@brief Return the determinant of the matrix */
-	b3Scalar            determinant() const;
+	b3Scalar determinant() const;
 	/**@brief Return the adjoint of the matrix */
 	b3Matrix3x3 adjoint() const;
 	/**@brief Return the matrix with all values non negative */
@@ -603,25 +612,24 @@ public:
 	/**@brief Return the transpose of the matrix */
 	b3Matrix3x3 transpose() const;
 	/**@brief Return the inverse of the matrix */
-	b3Matrix3x3 inverse() const; 
+	b3Matrix3x3 inverse() const;
 
 	b3Matrix3x3 transposeTimes(const b3Matrix3x3& m) const;
 	b3Matrix3x3 timesTranspose(const b3Matrix3x3& m) const;
 
-	B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const 
+	B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const
 	{
 		return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ();
 	}
-	B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const 
+	B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const
 	{
 		return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ();
 	}
-	B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const 
+	B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const
 	{
 		return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ();
 	}
 
-
 	/**@brief diagonalizes this matrix by the Jacobi method.
 	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
 	* coordinate system, i.e., old_this = rot * new_this * rot^T. 
@@ -631,7 +639,7 @@ public:
 	* 
 	* Note that this matrix is assumed to be symmetric. 
 	*/
-	void diagonalize(b3Matrix3x3& rot, b3Scalar threshold, int maxSteps)
+	void diagonalize(b3Matrix3x3 & rot, b3Scalar threshold, int maxSteps)
 	{
 		rot.setIdentity();
 		for (int step = maxSteps; step > 0; step--)
@@ -667,7 +675,7 @@ public:
 				step = 1;
 			}
 
-			// compute Jacobi rotation J which leads to a zero for element [p][q] 
+			// compute Jacobi rotation J which leads to a zero for element [p][q]
 			b3Scalar mpq = m_el[p][q];
 			b3Scalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
 			b3Scalar theta2 = theta * theta;
@@ -676,7 +684,7 @@ public:
 			if (theta2 * theta2 < b3Scalar(10 / B3_EPSILON))
 			{
 				t = (theta >= 0) ? 1 / (theta + b3Sqrt(1 + theta2))
-					: 1 / (theta - b3Sqrt(1 + theta2));
+								 : 1 / (theta - b3Sqrt(1 + theta2));
 				cos = 1 / b3Sqrt(1 + t * t);
 				sin = cos * t;
 			}
@@ -709,9 +717,6 @@ public:
 		}
 	}
 
-
-
-
 	/**@brief Calculate the matrix cofactor 
 	* @param r1 The first row to use for calculating the cofactor
 	* @param c1 The first column to use for calculating the cofactor
@@ -719,304 +724,298 @@ public:
 	* @param c1 The second column to use for calculating the cofactor
 	* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
 	*/
-	b3Scalar cofac(int r1, int c1, int r2, int c2) const 
+	b3Scalar cofac(int r1, int c1, int r2, int c2) const
 	{
 		return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
 	}
 
-	void	serialize(struct	b3Matrix3x3Data& dataOut) const;
+	void serialize(struct b3Matrix3x3Data & dataOut) const;
 
-	void	serializeFloat(struct	b3Matrix3x3FloatData& dataOut) const;
+	void serializeFloat(struct b3Matrix3x3FloatData & dataOut) const;
 
-	void	deSerialize(const struct	b3Matrix3x3Data& dataIn);
+	void deSerialize(const struct b3Matrix3x3Data& dataIn);
 
-	void	deSerializeFloat(const struct	b3Matrix3x3FloatData& dataIn);
-
-	void	deSerializeDouble(const struct	b3Matrix3x3DoubleData& dataIn);
+	void deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn);
 
+	void deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn);
 };
 
-
-B3_FORCE_INLINE b3Matrix3x3& 
+B3_FORCE_INLINE b3Matrix3x3&
 b3Matrix3x3::operator*=(const b3Matrix3x3& m)
 {
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-    __m128 rv00, rv01, rv02;
-    __m128 rv10, rv11, rv12;
-    __m128 rv20, rv21, rv22;
-    __m128 mv0, mv1, mv2;
-
-    rv02 = m_el[0].mVec128;
-    rv12 = m_el[1].mVec128;
-    rv22 = m_el[2].mVec128;
-
-    mv0 = _mm_and_ps(m[0].mVec128, b3vFFF0fMask); 
-    mv1 = _mm_and_ps(m[1].mVec128, b3vFFF0fMask); 
-    mv2 = _mm_and_ps(m[2].mVec128, b3vFFF0fMask); 
-    
-    // rv0
-    rv00 = b3_splat_ps(rv02, 0);
-    rv01 = b3_splat_ps(rv02, 1);
-    rv02 = b3_splat_ps(rv02, 2);
-    
-    rv00 = _mm_mul_ps(rv00, mv0);
-    rv01 = _mm_mul_ps(rv01, mv1);
-    rv02 = _mm_mul_ps(rv02, mv2);
-    
-    // rv1
-    rv10 = b3_splat_ps(rv12, 0);
-    rv11 = b3_splat_ps(rv12, 1);
-    rv12 = b3_splat_ps(rv12, 2);
-    
-    rv10 = _mm_mul_ps(rv10, mv0);
-    rv11 = _mm_mul_ps(rv11, mv1);
-    rv12 = _mm_mul_ps(rv12, mv2);
-    
-    // rv2
-    rv20 = b3_splat_ps(rv22, 0);
-    rv21 = b3_splat_ps(rv22, 1);
-    rv22 = b3_splat_ps(rv22, 2);
-    
-    rv20 = _mm_mul_ps(rv20, mv0);
-    rv21 = _mm_mul_ps(rv21, mv1);
-    rv22 = _mm_mul_ps(rv22, mv2);
-
-    rv00 = _mm_add_ps(rv00, rv01);
-    rv10 = _mm_add_ps(rv10, rv11);
-    rv20 = _mm_add_ps(rv20, rv21);
-
-    m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
-    m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
-    m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+	__m128 rv00, rv01, rv02;
+	__m128 rv10, rv11, rv12;
+	__m128 rv20, rv21, rv22;
+	__m128 mv0, mv1, mv2;
+
+	rv02 = m_el[0].mVec128;
+	rv12 = m_el[1].mVec128;
+	rv22 = m_el[2].mVec128;
+
+	mv0 = _mm_and_ps(m[0].mVec128, b3vFFF0fMask);
+	mv1 = _mm_and_ps(m[1].mVec128, b3vFFF0fMask);
+	mv2 = _mm_and_ps(m[2].mVec128, b3vFFF0fMask);
+
+	// rv0
+	rv00 = b3_splat_ps(rv02, 0);
+	rv01 = b3_splat_ps(rv02, 1);
+	rv02 = b3_splat_ps(rv02, 2);
+
+	rv00 = _mm_mul_ps(rv00, mv0);
+	rv01 = _mm_mul_ps(rv01, mv1);
+	rv02 = _mm_mul_ps(rv02, mv2);
+
+	// rv1
+	rv10 = b3_splat_ps(rv12, 0);
+	rv11 = b3_splat_ps(rv12, 1);
+	rv12 = b3_splat_ps(rv12, 2);
+
+	rv10 = _mm_mul_ps(rv10, mv0);
+	rv11 = _mm_mul_ps(rv11, mv1);
+	rv12 = _mm_mul_ps(rv12, mv2);
+
+	// rv2
+	rv20 = b3_splat_ps(rv22, 0);
+	rv21 = b3_splat_ps(rv22, 1);
+	rv22 = b3_splat_ps(rv22, 2);
+
+	rv20 = _mm_mul_ps(rv20, mv0);
+	rv21 = _mm_mul_ps(rv21, mv1);
+	rv22 = _mm_mul_ps(rv22, mv2);
+
+	rv00 = _mm_add_ps(rv00, rv01);
+	rv10 = _mm_add_ps(rv10, rv11);
+	rv20 = _mm_add_ps(rv20, rv21);
+
+	m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
+	m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
+	m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
 
 #elif defined(B3_USE_NEON)
 
-    float32x4_t rv0, rv1, rv2;
-    float32x4_t v0, v1, v2;
-    float32x4_t mv0, mv1, mv2;
-
-    v0 = m_el[0].mVec128;
-    v1 = m_el[1].mVec128;
-    v2 = m_el[2].mVec128;
-
-    mv0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask); 
-    mv1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask); 
-    mv2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask); 
-    
-    rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-    rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-    rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-    rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-    rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-    rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-    rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-    m_el[0].mVec128 = rv0;
-    m_el[1].mVec128 = rv1;
-    m_el[2].mVec128 = rv2;
-#else    
+	float32x4_t rv0, rv1, rv2;
+	float32x4_t v0, v1, v2;
+	float32x4_t mv0, mv1, mv2;
+
+	v0 = m_el[0].mVec128;
+	v1 = m_el[1].mVec128;
+	v2 = m_el[2].mVec128;
+
+	mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask);
+	mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask);
+	mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask);
+
+	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
+	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
+	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
+
+	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
+	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
+	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
+
+	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
+	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
+	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
+
+	m_el[0].mVec128 = rv0;
+	m_el[1].mVec128 = rv1;
+	m_el[2].mVec128 = rv2;
+#else
 	setValue(
-        m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
+		m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
 		m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
 		m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
 #endif
 	return *this;
 }
 
-B3_FORCE_INLINE b3Matrix3x3& 
+B3_FORCE_INLINE b3Matrix3x3&
 b3Matrix3x3::operator+=(const b3Matrix3x3& m)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
-    m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
-    m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
-    m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+	m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
+	m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
+	m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
 #else
 	setValue(
-		m_el[0][0]+m.m_el[0][0], 
-		m_el[0][1]+m.m_el[0][1],
-		m_el[0][2]+m.m_el[0][2],
-		m_el[1][0]+m.m_el[1][0], 
-		m_el[1][1]+m.m_el[1][1],
-		m_el[1][2]+m.m_el[1][2],
-		m_el[2][0]+m.m_el[2][0], 
-		m_el[2][1]+m.m_el[2][1],
-		m_el[2][2]+m.m_el[2][2]);
+		m_el[0][0] + m.m_el[0][0],
+		m_el[0][1] + m.m_el[0][1],
+		m_el[0][2] + m.m_el[0][2],
+		m_el[1][0] + m.m_el[1][0],
+		m_el[1][1] + m.m_el[1][1],
+		m_el[1][2] + m.m_el[1][2],
+		m_el[2][0] + m.m_el[2][0],
+		m_el[2][1] + m.m_el[2][1],
+		m_el[2][2] + m.m_el[2][2]);
 #endif
 	return *this;
 }
 
 B3_FORCE_INLINE b3Matrix3x3
-operator*(const b3Matrix3x3& m, const b3Scalar & k)
+operator*(const b3Matrix3x3& m, const b3Scalar& k)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-    __m128 vk = b3_splat_ps(_mm_load_ss((float *)&k), 0x80);
-    return b3Matrix3x3(
-                _mm_mul_ps(m[0].mVec128, vk), 
-                _mm_mul_ps(m[1].mVec128, vk), 
-                _mm_mul_ps(m[2].mVec128, vk)); 
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+	__m128 vk = b3_splat_ps(_mm_load_ss((float*)&k), 0x80);
+	return b3Matrix3x3(
+		_mm_mul_ps(m[0].mVec128, vk),
+		_mm_mul_ps(m[1].mVec128, vk),
+		_mm_mul_ps(m[2].mVec128, vk));
 #elif defined(B3_USE_NEON)
-    return b3Matrix3x3(
-                vmulq_n_f32(m[0].mVec128, k),
-                vmulq_n_f32(m[1].mVec128, k),
-                vmulq_n_f32(m[2].mVec128, k)); 
+	return b3Matrix3x3(
+		vmulq_n_f32(m[0].mVec128, k),
+		vmulq_n_f32(m[1].mVec128, k),
+		vmulq_n_f32(m[2].mVec128, k));
 #else
 	return b3Matrix3x3(
-		m[0].getX()*k,m[0].getY()*k,m[0].getZ()*k,
-		m[1].getX()*k,m[1].getY()*k,m[1].getZ()*k,
-		m[2].getX()*k,m[2].getY()*k,m[2].getZ()*k);
+		m[0].getX() * k, m[0].getY() * k, m[0].getZ() * k,
+		m[1].getX() * k, m[1].getY() * k, m[1].getZ() * k,
+		m[2].getX() * k, m[2].getY() * k, m[2].getZ() * k);
 #endif
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
 	return b3Matrix3x3(
-        m1[0].mVec128 + m2[0].mVec128,
-        m1[1].mVec128 + m2[1].mVec128,
-        m1[2].mVec128 + m2[2].mVec128);
+		m1[0].mVec128 + m2[0].mVec128,
+		m1[1].mVec128 + m2[1].mVec128,
+		m1[2].mVec128 + m2[2].mVec128);
 #else
 	return b3Matrix3x3(
-        m1[0][0]+m2[0][0], 
-        m1[0][1]+m2[0][1],
-        m1[0][2]+m2[0][2],
-        
-        m1[1][0]+m2[1][0], 
-        m1[1][1]+m2[1][1],
-        m1[1][2]+m2[1][2],
-        
-        m1[2][0]+m2[2][0], 
-        m1[2][1]+m2[2][1],
-        m1[2][2]+m2[2][2]);
-#endif    
+		m1[0][0] + m2[0][0],
+		m1[0][1] + m2[0][1],
+		m1[0][2] + m2[0][2],
+
+		m1[1][0] + m2[1][0],
+		m1[1][1] + m2[1][1],
+		m1[1][2] + m2[1][2],
+
+		m1[2][0] + m2[2][0],
+		m1[2][1] + m2[2][1],
+		m1[2][2] + m2[2][2]);
+#endif
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
 	return b3Matrix3x3(
-        m1[0].mVec128 - m2[0].mVec128,
-        m1[1].mVec128 - m2[1].mVec128,
-        m1[2].mVec128 - m2[2].mVec128);
+		m1[0].mVec128 - m2[0].mVec128,
+		m1[1].mVec128 - m2[1].mVec128,
+		m1[2].mVec128 - m2[2].mVec128);
 #else
 	return b3Matrix3x3(
-        m1[0][0]-m2[0][0], 
-        m1[0][1]-m2[0][1],
-        m1[0][2]-m2[0][2],
-        
-        m1[1][0]-m2[1][0], 
-        m1[1][1]-m2[1][1],
-        m1[1][2]-m2[1][2],
-        
-        m1[2][0]-m2[2][0], 
-        m1[2][1]-m2[2][1],
-        m1[2][2]-m2[2][2]);
+		m1[0][0] - m2[0][0],
+		m1[0][1] - m2[0][1],
+		m1[0][2] - m2[0][2],
+
+		m1[1][0] - m2[1][0],
+		m1[1][1] - m2[1][1],
+		m1[1][2] - m2[1][2],
+
+		m1[2][0] - m2[2][0],
+		m1[2][1] - m2[2][1],
+		m1[2][2] - m2[2][2]);
 #endif
 }
 
-
-B3_FORCE_INLINE b3Matrix3x3& 
+B3_FORCE_INLINE b3Matrix3x3&
 b3Matrix3x3::operator-=(const b3Matrix3x3& m)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
-    m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
-    m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
-    m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+	m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
+	m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
+	m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
 #else
 	setValue(
-	m_el[0][0]-m.m_el[0][0], 
-	m_el[0][1]-m.m_el[0][1],
-	m_el[0][2]-m.m_el[0][2],
-	m_el[1][0]-m.m_el[1][0], 
-	m_el[1][1]-m.m_el[1][1],
-	m_el[1][2]-m.m_el[1][2],
-	m_el[2][0]-m.m_el[2][0], 
-	m_el[2][1]-m.m_el[2][1],
-	m_el[2][2]-m.m_el[2][2]);
+		m_el[0][0] - m.m_el[0][0],
+		m_el[0][1] - m.m_el[0][1],
+		m_el[0][2] - m.m_el[0][2],
+		m_el[1][0] - m.m_el[1][0],
+		m_el[1][1] - m.m_el[1][1],
+		m_el[1][2] - m.m_el[1][2],
+		m_el[2][0] - m.m_el[2][0],
+		m_el[2][1] - m.m_el[2][1],
+		m_el[2][2] - m.m_el[2][2]);
 #endif
 	return *this;
 }
 
-
-B3_FORCE_INLINE b3Scalar 
+B3_FORCE_INLINE b3Scalar
 b3Matrix3x3::determinant() const
-{ 
+{
 	return b3Triple((*this)[0], (*this)[1], (*this)[2]);
 }
 
-
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 b3Matrix3x3::absolute() const
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-    return b3Matrix3x3(
-            _mm_and_ps(m_el[0].mVec128, b3vAbsfMask),
-            _mm_and_ps(m_el[1].mVec128, b3vAbsfMask),
-            _mm_and_ps(m_el[2].mVec128, b3vAbsfMask));
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+	return b3Matrix3x3(
+		_mm_and_ps(m_el[0].mVec128, b3vAbsfMask),
+		_mm_and_ps(m_el[1].mVec128, b3vAbsfMask),
+		_mm_and_ps(m_el[2].mVec128, b3vAbsfMask));
 #elif defined(B3_USE_NEON)
-    return b3Matrix3x3(
-            (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, b3v3AbsMask),
-            (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, b3v3AbsMask),
-            (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, b3v3AbsMask));
-#else	
 	return b3Matrix3x3(
-            b3Fabs(m_el[0].getX()), b3Fabs(m_el[0].getY()), b3Fabs(m_el[0].getZ()),
-            b3Fabs(m_el[1].getX()), b3Fabs(m_el[1].getY()), b3Fabs(m_el[1].getZ()),
-            b3Fabs(m_el[2].getX()), b3Fabs(m_el[2].getY()), b3Fabs(m_el[2].getZ()));
+		(float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, b3v3AbsMask),
+		(float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, b3v3AbsMask),
+		(float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, b3v3AbsMask));
+#else
+	return b3Matrix3x3(
+		b3Fabs(m_el[0].getX()), b3Fabs(m_el[0].getY()), b3Fabs(m_el[0].getZ()),
+		b3Fabs(m_el[1].getX()), b3Fabs(m_el[1].getY()), b3Fabs(m_el[1].getZ()),
+		b3Fabs(m_el[2].getX()), b3Fabs(m_el[2].getY()), b3Fabs(m_el[2].getZ()));
 #endif
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
-b3Matrix3x3::transpose() const 
+B3_FORCE_INLINE b3Matrix3x3
+b3Matrix3x3::transpose() const
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-    __m128 v0 = m_el[0].mVec128;
-    __m128 v1 = m_el[1].mVec128;
-    __m128 v2 = m_el[2].mVec128;    //  x2 y2 z2 w2
-    __m128 vT;
-    
-    v2 = _mm_and_ps(v2, b3vFFF0fMask);  //  x2 y2 z2 0
-    
-    vT = _mm_unpackhi_ps(v0, v1);	//	z0 z1 * *
-    v0 = _mm_unpacklo_ps(v0, v1);	//	x0 x1 y0 y1
-
-    v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
-    v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
-    v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));	// z0 z1 z2 0
-
-
-    return b3Matrix3x3( v0, v1, v2 );
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+	__m128 v0 = m_el[0].mVec128;
+	__m128 v1 = m_el[1].mVec128;
+	__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
+	__m128 vT;
+
+	v2 = _mm_and_ps(v2, b3vFFF0fMask);  //  x2 y2 z2 0
+
+	vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
+	v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
+
+	v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
+	v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
+	v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT)));  // z0 z1 z2 0
+
+	return b3Matrix3x3(v0, v1, v2);
 #elif defined(B3_USE_NEON)
-    // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-    static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 };
-    float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 );  // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-    float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) );       // {x2  0 }, {y2 0}
-    float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] );
-    float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] );
-    float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask );
-    float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q );       // z0 z1 z2  0
-    return b3Matrix3x3( v0, v1, v2 ); 
+	// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
+	static const uint32x2_t zMask = (const uint32x2_t){-1, 0};
+	float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
+	float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
+	float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
+	float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
+	float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
+	float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
+	return b3Matrix3x3(v0, v1, v2);
 #else
-	return b3Matrix3x3( m_el[0].getX(), m_el[1].getX(), m_el[2].getX(),
-                        m_el[0].getY(), m_el[1].getY(), m_el[2].getY(),
-                        m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ());
+	return b3Matrix3x3(m_el[0].getX(), m_el[1].getX(), m_el[2].getX(),
+					   m_el[0].getY(), m_el[1].getY(), m_el[2].getY(),
+					   m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ());
 #endif
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
-b3Matrix3x3::adjoint() const 
+B3_FORCE_INLINE b3Matrix3x3
+b3Matrix3x3::adjoint() const
 {
 	return b3Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
-		cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
-		cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
+					   cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
+					   cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 b3Matrix3x3::inverse() const
 {
 	b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
@@ -1024,54 +1023,54 @@ b3Matrix3x3::inverse() const
 	b3FullAssert(det != b3Scalar(0.0));
 	b3Scalar s = b3Scalar(1.0) / det;
 	return b3Matrix3x3(co.getX() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
-		co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
-		co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
+					   co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
+					   co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-    // zeros w
-//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
-    __m128 row = m_el[0].mVec128;
-    __m128 m0 = _mm_and_ps( m.getRow(0).mVec128, b3vFFF0fMask );
-    __m128 m1 = _mm_and_ps( m.getRow(1).mVec128, b3vFFF0fMask);
-    __m128 m2 = _mm_and_ps( m.getRow(2).mVec128, b3vFFF0fMask );
-    __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
-    __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
-    __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
-    row = m_el[1].mVec128;
-    r0 = _mm_add_ps( r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
-    r1 = _mm_add_ps( r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
-    r2 = _mm_add_ps( r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
-    row = m_el[2].mVec128;
-    r0 = _mm_add_ps( r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
-    r1 = _mm_add_ps( r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
-    r2 = _mm_add_ps( r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
-    return b3Matrix3x3( r0, r1, r2 );
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+	// zeros w
+	//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
+	__m128 row = m_el[0].mVec128;
+	__m128 m0 = _mm_and_ps(m.getRow(0).mVec128, b3vFFF0fMask);
+	__m128 m1 = _mm_and_ps(m.getRow(1).mVec128, b3vFFF0fMask);
+	__m128 m2 = _mm_and_ps(m.getRow(2).mVec128, b3vFFF0fMask);
+	__m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
+	__m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
+	__m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
+	row = m_el[1].mVec128;
+	r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
+	row = m_el[2].mVec128;
+	r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
+	return b3Matrix3x3(r0, r1, r2);
 
 #elif defined B3_USE_NEON
-    // zeros w
-    static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 };
-    float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask );
-    float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask );
-    float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask );
-    float32x4_t row = m_el[0].mVec128;
-    float32x4_t r0 = vmulq_lane_f32( m0, vget_low_f32(row), 0);
-    float32x4_t r1 = vmulq_lane_f32( m0, vget_low_f32(row), 1);
-    float32x4_t r2 = vmulq_lane_f32( m0, vget_high_f32(row), 0);
-    row = m_el[1].mVec128;
-    r0 = vmlaq_lane_f32( r0, m1, vget_low_f32(row), 0);
-    r1 = vmlaq_lane_f32( r1, m1, vget_low_f32(row), 1);
-    r2 = vmlaq_lane_f32( r2, m1, vget_high_f32(row), 0);
-    row = m_el[2].mVec128;
-    r0 = vmlaq_lane_f32( r0, m2, vget_low_f32(row), 0);
-    r1 = vmlaq_lane_f32( r1, m2, vget_low_f32(row), 1);
-    r2 = vmlaq_lane_f32( r2, m2, vget_high_f32(row), 0);
-    return b3Matrix3x3( r0, r1, r2 );
+	// zeros w
+	static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0};
+	float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask);
+	float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask);
+	float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask);
+	float32x4_t row = m_el[0].mVec128;
+	float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0);
+	float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1);
+	float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0);
+	row = m_el[1].mVec128;
+	r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0);
+	r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1);
+	r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0);
+	row = m_el[2].mVec128;
+	r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0);
+	r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1);
+	r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0);
+	return b3Matrix3x3(r0, r1, r2);
 #else
-    return b3Matrix3x3(
+	return b3Matrix3x3(
 		m_el[0].getX() * m[0].getX() + m_el[1].getX() * m[1].getX() + m_el[2].getX() * m[2].getX(),
 		m_el[0].getX() * m[0].getY() + m_el[1].getX() * m[1].getY() + m_el[2].getX() * m[2].getY(),
 		m_el[0].getX() * m[0].getZ() + m_el[1].getX() * m[1].getZ() + m_el[2].getX() * m[2].getZ(),
@@ -1084,51 +1083,51 @@ b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const
 #endif
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-    __m128 a0 = m_el[0].mVec128;
-    __m128 a1 = m_el[1].mVec128;
-    __m128 a2 = m_el[2].mVec128;
-    
-    b3Matrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here
-    __m128 mx = mT[0].mVec128;
-    __m128 my = mT[1].mVec128;
-    __m128 mz = mT[2].mVec128;
-    
-    __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
-    __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
-    __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
-    r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
-    r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
-    r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
-    r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
-    r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
-    r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
-    return b3Matrix3x3( r0, r1, r2);
-            
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+	__m128 a0 = m_el[0].mVec128;
+	__m128 a1 = m_el[1].mVec128;
+	__m128 a2 = m_el[2].mVec128;
+
+	b3Matrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
+	__m128 mx = mT[0].mVec128;
+	__m128 my = mT[1].mVec128;
+	__m128 mz = mT[2].mVec128;
+
+	__m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
+	__m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
+	__m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
+	r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
+	r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
+	return b3Matrix3x3(r0, r1, r2);
+
 #elif defined B3_USE_NEON
-    float32x4_t a0 = m_el[0].mVec128;
-    float32x4_t a1 = m_el[1].mVec128;
-    float32x4_t a2 = m_el[2].mVec128;
-    
-    b3Matrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here
-    float32x4_t mx = mT[0].mVec128;
-    float32x4_t my = mT[1].mVec128;
-    float32x4_t mz = mT[2].mVec128;
-    
-    float32x4_t r0 = vmulq_lane_f32( mx, vget_low_f32(a0), 0);
-    float32x4_t r1 = vmulq_lane_f32( mx, vget_low_f32(a1), 0);
-    float32x4_t r2 = vmulq_lane_f32( mx, vget_low_f32(a2), 0);
-    r0 = vmlaq_lane_f32( r0, my, vget_low_f32(a0), 1);
-    r1 = vmlaq_lane_f32( r1, my, vget_low_f32(a1), 1);
-    r2 = vmlaq_lane_f32( r2, my, vget_low_f32(a2), 1);
-    r0 = vmlaq_lane_f32( r0, mz, vget_high_f32(a0), 0);
-    r1 = vmlaq_lane_f32( r1, mz, vget_high_f32(a1), 0);
-    r2 = vmlaq_lane_f32( r2, mz, vget_high_f32(a2), 0);
-    return b3Matrix3x3( r0, r1, r2 );
-    
+	float32x4_t a0 = m_el[0].mVec128;
+	float32x4_t a1 = m_el[1].mVec128;
+	float32x4_t a2 = m_el[2].mVec128;
+
+	b3Matrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
+	float32x4_t mx = mT[0].mVec128;
+	float32x4_t my = mT[1].mVec128;
+	float32x4_t mz = mT[2].mVec128;
+
+	float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0);
+	float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0);
+	float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0);
+	r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1);
+	r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1);
+	r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1);
+	r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0);
+	r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0);
+	r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0);
+	return b3Matrix3x3(r0, r1, r2);
+
 #else
 	return b3Matrix3x3(
 		m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
@@ -1137,139 +1136,138 @@ b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const
 #endif
 }
 
-B3_FORCE_INLINE b3Vector3 
-operator*(const b3Matrix3x3& m, const b3Vector3& v) 
+B3_FORCE_INLINE b3Vector3
+operator*(const b3Matrix3x3& m, const b3Vector3& v)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
-    return v.dot3(m[0], m[1], m[2]);
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+	return v.dot3(m[0], m[1], m[2]);
 #else
 	return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
 #endif
 }
 
-
 B3_FORCE_INLINE b3Vector3
 operator*(const b3Vector3& v, const b3Matrix3x3& m)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
 
-    const __m128 vv = v.mVec128;
+	const __m128 vv = v.mVec128;
 
-    __m128 c0 = b3_splat_ps( vv, 0);
-    __m128 c1 = b3_splat_ps( vv, 1);
-    __m128 c2 = b3_splat_ps( vv, 2);
+	__m128 c0 = b3_splat_ps(vv, 0);
+	__m128 c1 = b3_splat_ps(vv, 1);
+	__m128 c2 = b3_splat_ps(vv, 2);
 
-    c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, b3vFFF0fMask) );
-    c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, b3vFFF0fMask) );
-    c0 = _mm_add_ps(c0, c1);
-    c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, b3vFFF0fMask) );
-    
-    return b3MakeVector3(_mm_add_ps(c0, c2));
+	c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, b3vFFF0fMask));
+	c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, b3vFFF0fMask));
+	c0 = _mm_add_ps(c0, c1);
+	c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, b3vFFF0fMask));
+
+	return b3MakeVector3(_mm_add_ps(c0, c2));
 #elif defined(B3_USE_NEON)
-    const float32x4_t vv = v.mVec128;
-    const float32x2_t vlo = vget_low_f32(vv);
-    const float32x2_t vhi = vget_high_f32(vv);
-
-    float32x4_t c0, c1, c2;
-
-    c0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask);
-    c1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask);
-    c2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask);
-
-    c0 = vmulq_lane_f32(c0, vlo, 0);
-    c1 = vmulq_lane_f32(c1, vlo, 1);
-    c2 = vmulq_lane_f32(c2, vhi, 0);
-    c0 = vaddq_f32(c0, c1);
-    c0 = vaddq_f32(c0, c2);
-    
-    return b3MakeVector3(c0);
+	const float32x4_t vv = v.mVec128;
+	const float32x2_t vlo = vget_low_f32(vv);
+	const float32x2_t vhi = vget_high_f32(vv);
+
+	float32x4_t c0, c1, c2;
+
+	c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask);
+	c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask);
+	c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask);
+
+	c0 = vmulq_lane_f32(c0, vlo, 0);
+	c1 = vmulq_lane_f32(c1, vlo, 1);
+	c2 = vmulq_lane_f32(c2, vhi, 0);
+	c0 = vaddq_f32(c0, c1);
+	c0 = vaddq_f32(c0, c2);
+
+	return b3MakeVector3(c0);
 #else
 	return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
 #endif
 }
 
-B3_FORCE_INLINE b3Matrix3x3 
+B3_FORCE_INLINE b3Matrix3x3
 operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-
-    __m128 m10 = m1[0].mVec128;  
-    __m128 m11 = m1[1].mVec128;
-    __m128 m12 = m1[2].mVec128;
-    
-    __m128 m2v = _mm_and_ps(m2[0].mVec128, b3vFFF0fMask);
-    
-    __m128 c0 = b3_splat_ps( m10, 0);
-    __m128 c1 = b3_splat_ps( m11, 0);
-    __m128 c2 = b3_splat_ps( m12, 0);
-    
-    c0 = _mm_mul_ps(c0, m2v);
-    c1 = _mm_mul_ps(c1, m2v);
-    c2 = _mm_mul_ps(c2, m2v);
-    
-    m2v = _mm_and_ps(m2[1].mVec128, b3vFFF0fMask);
-    
-    __m128 c0_1 = b3_splat_ps( m10, 1);
-    __m128 c1_1 = b3_splat_ps( m11, 1);
-    __m128 c2_1 = b3_splat_ps( m12, 1);
-    
-    c0_1 = _mm_mul_ps(c0_1, m2v);
-    c1_1 = _mm_mul_ps(c1_1, m2v);
-    c2_1 = _mm_mul_ps(c2_1, m2v);
-    
-    m2v = _mm_and_ps(m2[2].mVec128, b3vFFF0fMask);
-    
-    c0 = _mm_add_ps(c0, c0_1);
-    c1 = _mm_add_ps(c1, c1_1);
-    c2 = _mm_add_ps(c2, c2_1);
-    
-    m10 = b3_splat_ps( m10, 2);
-    m11 = b3_splat_ps( m11, 2);
-    m12 = b3_splat_ps( m12, 2);
-    
-    m10 = _mm_mul_ps(m10, m2v);
-    m11 = _mm_mul_ps(m11, m2v);
-    m12 = _mm_mul_ps(m12, m2v);
-    
-    c0 = _mm_add_ps(c0, m10);
-    c1 = _mm_add_ps(c1, m11);
-    c2 = _mm_add_ps(c2, m12);
-    
-    return b3Matrix3x3(c0, c1, c2);
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+
+	__m128 m10 = m1[0].mVec128;
+	__m128 m11 = m1[1].mVec128;
+	__m128 m12 = m1[2].mVec128;
+
+	__m128 m2v = _mm_and_ps(m2[0].mVec128, b3vFFF0fMask);
+
+	__m128 c0 = b3_splat_ps(m10, 0);
+	__m128 c1 = b3_splat_ps(m11, 0);
+	__m128 c2 = b3_splat_ps(m12, 0);
+
+	c0 = _mm_mul_ps(c0, m2v);
+	c1 = _mm_mul_ps(c1, m2v);
+	c2 = _mm_mul_ps(c2, m2v);
+
+	m2v = _mm_and_ps(m2[1].mVec128, b3vFFF0fMask);
+
+	__m128 c0_1 = b3_splat_ps(m10, 1);
+	__m128 c1_1 = b3_splat_ps(m11, 1);
+	__m128 c2_1 = b3_splat_ps(m12, 1);
+
+	c0_1 = _mm_mul_ps(c0_1, m2v);
+	c1_1 = _mm_mul_ps(c1_1, m2v);
+	c2_1 = _mm_mul_ps(c2_1, m2v);
+
+	m2v = _mm_and_ps(m2[2].mVec128, b3vFFF0fMask);
+
+	c0 = _mm_add_ps(c0, c0_1);
+	c1 = _mm_add_ps(c1, c1_1);
+	c2 = _mm_add_ps(c2, c2_1);
+
+	m10 = b3_splat_ps(m10, 2);
+	m11 = b3_splat_ps(m11, 2);
+	m12 = b3_splat_ps(m12, 2);
+
+	m10 = _mm_mul_ps(m10, m2v);
+	m11 = _mm_mul_ps(m11, m2v);
+	m12 = _mm_mul_ps(m12, m2v);
+
+	c0 = _mm_add_ps(c0, m10);
+	c1 = _mm_add_ps(c1, m11);
+	c2 = _mm_add_ps(c2, m12);
+
+	return b3Matrix3x3(c0, c1, c2);
 
 #elif defined(B3_USE_NEON)
 
-    float32x4_t rv0, rv1, rv2;
-    float32x4_t v0, v1, v2;
-    float32x4_t mv0, mv1, mv2;
-
-    v0 = m1[0].mVec128;
-    v1 = m1[1].mVec128;
-    v2 = m1[2].mVec128;
-
-    mv0 = (float32x4_t) vandq_s32((int32x4_t)m2[0].mVec128, b3vFFF0Mask); 
-    mv1 = (float32x4_t) vandq_s32((int32x4_t)m2[1].mVec128, b3vFFF0Mask); 
-    mv2 = (float32x4_t) vandq_s32((int32x4_t)m2[2].mVec128, b3vFFF0Mask); 
-    
-    rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-    rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-    rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-    rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-    rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-    rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-    rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
+	float32x4_t rv0, rv1, rv2;
+	float32x4_t v0, v1, v2;
+	float32x4_t mv0, mv1, mv2;
+
+	v0 = m1[0].mVec128;
+	v1 = m1[1].mVec128;
+	v2 = m1[2].mVec128;
+
+	mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, b3vFFF0Mask);
+	mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, b3vFFF0Mask);
+	mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, b3vFFF0Mask);
+
+	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
+	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
+	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
+
+	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
+	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
+	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
+
+	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
+	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
+	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
 
 	return b3Matrix3x3(rv0, rv1, rv2);
-        
-#else	
+
+#else
 	return b3Matrix3x3(
-		m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
-		m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
-		m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
+		m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),
+		m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),
+		m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]));
 #endif
 }
 
@@ -1292,71 +1290,65 @@ m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
 * It will test all elements are equal.  */
 B3_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
 {
-#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
-
-    __m128 c0, c1, c2;
-
-    c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
-    c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
-    c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
-    
-    c0 = _mm_and_ps(c0, c1);
-    c0 = _mm_and_ps(c0, c2);
-
-    return (0x7 == _mm_movemask_ps((__m128)c0));
-#else 
-	return 
-    (   m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
-		m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
-		m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
+
+	__m128 c0, c1, c2;
+
+	c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
+	c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
+	c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
+
+	c0 = _mm_and_ps(c0, c1);
+	c0 = _mm_and_ps(c0, c2);
+
+	return (0x7 == _mm_movemask_ps((__m128)c0));
+#else
+	return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
+			m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
+			m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]);
 #endif
 }
 
 ///for serialization
-struct	b3Matrix3x3FloatData
+struct b3Matrix3x3FloatData
 {
 	b3Vector3FloatData m_el[3];
 };
 
 ///for serialization
-struct	b3Matrix3x3DoubleData
+struct b3Matrix3x3DoubleData
 {
 	b3Vector3DoubleData m_el[3];
 };
 
-
-	
-
-B3_FORCE_INLINE	void	b3Matrix3x3::serialize(struct	b3Matrix3x3Data& dataOut) const
+B3_FORCE_INLINE void b3Matrix3x3::serialize(struct b3Matrix3x3Data& dataOut) const
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].serialize(dataOut.m_el[i]);
 }
 
-B3_FORCE_INLINE	void	b3Matrix3x3::serializeFloat(struct	b3Matrix3x3FloatData& dataOut) const
+B3_FORCE_INLINE void b3Matrix3x3::serializeFloat(struct b3Matrix3x3FloatData& dataOut) const
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].serializeFloat(dataOut.m_el[i]);
 }
 
-
-B3_FORCE_INLINE	void	b3Matrix3x3::deSerialize(const struct	b3Matrix3x3Data& dataIn)
+B3_FORCE_INLINE void b3Matrix3x3::deSerialize(const struct b3Matrix3x3Data& dataIn)
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].deSerialize(dataIn.m_el[i]);
 }
 
-B3_FORCE_INLINE	void	b3Matrix3x3::deSerializeFloat(const struct	b3Matrix3x3FloatData& dataIn)
+B3_FORCE_INLINE void b3Matrix3x3::deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn)
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].deSerializeFloat(dataIn.m_el[i]);
 }
 
-B3_FORCE_INLINE	void	b3Matrix3x3::deSerializeDouble(const struct	b3Matrix3x3DoubleData& dataIn)
+B3_FORCE_INLINE void b3Matrix3x3::deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn)
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].deSerializeDouble(dataIn.m_el[i]);
 }
 
-#endif //B3_MATRIX3x3_H
-
+#endif  //B3_MATRIX3x3_H
diff --git a/thirdparty/bullet/Bullet3Common/b3MinMax.h b/thirdparty/bullet/Bullet3Common/b3MinMax.h
index 73af23a4f9..c09c3db3f5 100644
--- a/thirdparty/bullet/Bullet3Common/b3MinMax.h
+++ b/thirdparty/bullet/Bullet3Common/b3MinMax.h
@@ -12,60 +12,58 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_GEN_MINMAX_H
 #define B3_GEN_MINMAX_H
 
 #include "b3Scalar.h"
 
 template <class T>
-B3_FORCE_INLINE const T& b3Min(const T& a, const T& b) 
+B3_FORCE_INLINE const T& b3Min(const T& a, const T& b)
 {
-  return a < b ? a : b ;
+	return a < b ? a : b;
 }
 
 template <class T>
-B3_FORCE_INLINE const T& b3Max(const T& a, const T& b) 
+B3_FORCE_INLINE const T& b3Max(const T& a, const T& b)
 {
-  return  a > b ? a : b;
+	return a > b ? a : b;
 }
 
 template <class T>
-B3_FORCE_INLINE const T& b3Clamped(const T& a, const T& lb, const T& ub) 
+B3_FORCE_INLINE const T& b3Clamped(const T& a, const T& lb, const T& ub)
 {
-	return a < lb ? lb : (ub < a ? ub : a); 
+	return a < lb ? lb : (ub < a ? ub : a);
 }
 
 template <class T>
-B3_FORCE_INLINE void b3SetMin(T& a, const T& b) 
+B3_FORCE_INLINE void b3SetMin(T& a, const T& b)
 {
-    if (b < a) 
+	if (b < a)
 	{
 		a = b;
 	}
 }
 
 template <class T>
-B3_FORCE_INLINE void b3SetMax(T& a, const T& b) 
+B3_FORCE_INLINE void b3SetMax(T& a, const T& b)
 {
-    if (a < b) 
+	if (a < b)
 	{
 		a = b;
 	}
 }
 
 template <class T>
-B3_FORCE_INLINE void b3Clamp(T& a, const T& lb, const T& ub) 
+B3_FORCE_INLINE void b3Clamp(T& a, const T& lb, const T& ub)
 {
-	if (a < lb) 
+	if (a < lb)
 	{
-		a = lb; 
+		a = lb;
 	}
-	else if (ub < a) 
+	else if (ub < a)
 	{
 		a = ub;
 	}
 }
 
-#endif //B3_GEN_MINMAX_H
+#endif  //B3_GEN_MINMAX_H
diff --git a/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h b/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h
index 2fcdcf5b24..ed56bc627d 100644
--- a/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h
+++ b/thirdparty/bullet/Bullet3Common/b3PoolAllocator.h
@@ -12,7 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef _BT_POOL_ALLOCATOR_H
 #define _BT_POOL_ALLOCATOR_H
 
@@ -22,37 +21,37 @@ subject to the following restrictions:
 ///The b3PoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately.
 class b3PoolAllocator
 {
-	int				m_elemSize;
-	int				m_maxElements;
-	int				m_freeCount;
-	void*			m_firstFree;
-	unsigned char*	m_pool;
+	int m_elemSize;
+	int m_maxElements;
+	int m_freeCount;
+	void* m_firstFree;
+	unsigned char* m_pool;
 
 public:
-
 	b3PoolAllocator(int elemSize, int maxElements)
-		:m_elemSize(elemSize),
-		m_maxElements(maxElements)
+		: m_elemSize(elemSize),
+		  m_maxElements(maxElements)
 	{
-		m_pool = (unsigned char*) b3AlignedAlloc( static_cast<unsigned int>(m_elemSize*m_maxElements),16);
+		m_pool = (unsigned char*)b3AlignedAlloc(static_cast<unsigned int>(m_elemSize * m_maxElements), 16);
 
 		unsigned char* p = m_pool;
-        m_firstFree = p;
-        m_freeCount = m_maxElements;
-        int count = m_maxElements;
-        while (--count) {
-            *(void**)p = (p + m_elemSize);
-            p += m_elemSize;
-        }
-        *(void**)p = 0;
-    }
+		m_firstFree = p;
+		m_freeCount = m_maxElements;
+		int count = m_maxElements;
+		while (--count)
+		{
+			*(void**)p = (p + m_elemSize);
+			p += m_elemSize;
+		}
+		*(void**)p = 0;
+	}
 
 	~b3PoolAllocator()
 	{
-		b3AlignedFree( m_pool);
+		b3AlignedFree(m_pool);
 	}
 
-	int	getFreeCount() const
+	int getFreeCount() const
 	{
 		return m_freeCount;
 	}
@@ -67,21 +66,22 @@ public:
 		return m_maxElements;
 	}
 
-	void*	allocate(int size)
+	void* allocate(int size)
 	{
 		// release mode fix
 		(void)size;
-		b3Assert(!size || size<=m_elemSize);
-		b3Assert(m_freeCount>0);
-        void* result = m_firstFree;
-        m_firstFree = *(void**)m_firstFree;
-        --m_freeCount;
-        return result;
+		b3Assert(!size || size <= m_elemSize);
+		b3Assert(m_freeCount > 0);
+		void* result = m_firstFree;
+		m_firstFree = *(void**)m_firstFree;
+		--m_freeCount;
+		return result;
 	}
 
 	bool validPtr(void* ptr)
 	{
-		if (ptr) {
+		if (ptr)
+		{
 			if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize))
 			{
 				return true;
@@ -90,32 +90,32 @@ public:
 		return false;
 	}
 
-	void	freeMemory(void* ptr)
+	void freeMemory(void* ptr)
 	{
-		 if (ptr) {
-            b3Assert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
+		if (ptr)
+		{
+			b3Assert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
 
-            *(void**)ptr = m_firstFree;
-            m_firstFree = ptr;
-            ++m_freeCount;
-        }
+			*(void**)ptr = m_firstFree;
+			m_firstFree = ptr;
+			++m_freeCount;
+		}
 	}
 
-	int	getElementSize() const
+	int getElementSize() const
 	{
 		return m_elemSize;
 	}
 
-	unsigned char*	getPoolAddress()
+	unsigned char* getPoolAddress()
 	{
 		return m_pool;
 	}
 
-	const unsigned char*	getPoolAddress() const
+	const unsigned char* getPoolAddress() const
 	{
 		return m_pool;
 	}
-
 };
 
-#endif //_BT_POOL_ALLOCATOR_H
+#endif  //_BT_POOL_ALLOCATOR_H
diff --git a/thirdparty/bullet/Bullet3Common/b3QuadWord.h b/thirdparty/bullet/Bullet3Common/b3QuadWord.h
index 65c9581977..0def305fac 100644
--- a/thirdparty/bullet/Bullet3Common/b3QuadWord.h
+++ b/thirdparty/bullet/Bullet3Common/b3QuadWord.h
@@ -12,18 +12,13 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_SIMD_QUADWORD_H
 #define B3_SIMD_QUADWORD_H
 
 #include "b3Scalar.h"
 #include "b3MinMax.h"
 
-
-
-
-
-#if defined (__CELLOS_LV2) && defined (__SPU__)
+#if defined(__CELLOS_LV2) && defined(__SPU__)
 #include <altivec.h>
 #endif
 
@@ -31,58 +26,64 @@ subject to the following restrictions:
  * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
  */
 #ifndef USE_LIBSPE2
-B3_ATTRIBUTE_ALIGNED16(class) b3QuadWord
+B3_ATTRIBUTE_ALIGNED16(class)
+b3QuadWord
 #else
 class b3QuadWord
 #endif
 {
 protected:
-
-#if defined (__SPU__) && defined (__CELLOS_LV2__)
+#if defined(__SPU__) && defined(__CELLOS_LV2__)
 	union {
 		vec_float4 mVec128;
-		b3Scalar	m_floats[4];
+		b3Scalar m_floats[4];
 	};
+
 public:
-	vec_float4	get128() const
+	vec_float4 get128() const
 	{
 		return mVec128;
 	}
 
-#else //__CELLOS_LV2__ __SPU__
+#else  //__CELLOS_LV2__ __SPU__
 
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON) 
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
 public:
 	union {
 		b3SimdFloat4 mVec128;
-		b3Scalar	m_floats[4];
-		struct {b3Scalar x,y,z,w;};
+		b3Scalar m_floats[4];
+		struct
+		{
+			b3Scalar x, y, z, w;
+		};
 	};
+
 public:
-	B3_FORCE_INLINE	b3SimdFloat4	get128() const
+	B3_FORCE_INLINE b3SimdFloat4 get128() const
 	{
 		return mVec128;
 	}
-	B3_FORCE_INLINE	void	set128(b3SimdFloat4 v128)
+	B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
 	{
 		mVec128 = v128;
 	}
 #else
 public:
-	union
-	{
-		b3Scalar	m_floats[4];
-		struct {b3Scalar x,y,z,w;};
+	union {
+		b3Scalar m_floats[4];
+		struct
+		{
+			b3Scalar x, y, z, w;
+		};
 	};
-#endif // B3_USE_SSE
+#endif  // B3_USE_SSE
 
-#endif //__CELLOS_LV2__ __SPU__
+#endif  //__CELLOS_LV2__ __SPU__
 
-	public:
-  
+public:
 #if defined(B3_USE_SSE) || defined(B3_USE_NEON)
 
-	// Set Vector 
+	// Set Vector
 	B3_FORCE_INLINE b3QuadWord(const b3SimdFloat4 vec)
 	{
 		mVec128 = vec;
@@ -95,151 +96,147 @@ public:
 	}
 
 	// Assignment Operator
-	B3_FORCE_INLINE b3QuadWord& 
-	operator=(const b3QuadWord& v) 
+	B3_FORCE_INLINE b3QuadWord&
+	operator=(const b3QuadWord& v)
 	{
 		mVec128 = v.mVec128;
-		
+
 		return *this;
 	}
-	
+
 #endif
 
-  /**@brief Return the x value */
-		B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
-  /**@brief Set the x value */
-		B3_FORCE_INLINE void	setX(b3Scalar _x) { m_floats[0] = _x;};
-  /**@brief Set the y value */
-		B3_FORCE_INLINE void	setY(b3Scalar _y) { m_floats[1] = _y;};
-  /**@brief Set the z value */
-		B3_FORCE_INLINE void	setZ(b3Scalar _z) { m_floats[2] = _z;};
-  /**@brief Set the w value */
-		B3_FORCE_INLINE void	setW(b3Scalar _w) { m_floats[3] = _w;};
-  /**@brief Return the x value */
-
-
-	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	/**@brief Return the x value */
+	B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
+	/**@brief Set the x value */
+	B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; };
+	/**@brief Set the y value */
+	B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; };
+	/**@brief Set the z value */
+	B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; };
+	/**@brief Set the w value */
+	B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; };
+	/**@brief Return the x value */
+
+	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}
 	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
 	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	B3_FORCE_INLINE	operator       b3Scalar *()       { return &m_floats[0]; }
-	B3_FORCE_INLINE	operator const b3Scalar *() const { return &m_floats[0]; }
+	B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; }
+	B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; }
 
-	B3_FORCE_INLINE	bool	operator==(const b3QuadWord& other) const
+	B3_FORCE_INLINE bool operator==(const b3QuadWord& other) const
 	{
 #ifdef B3_USE_SSE
-        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else 
-		return ((m_floats[3]==other.m_floats[3]) && 
-                (m_floats[2]==other.m_floats[2]) && 
-                (m_floats[1]==other.m_floats[1]) && 
-                (m_floats[0]==other.m_floats[0]));
+		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else
+		return ((m_floats[3] == other.m_floats[3]) &&
+				(m_floats[2] == other.m_floats[2]) &&
+				(m_floats[1] == other.m_floats[1]) &&
+				(m_floats[0] == other.m_floats[0]));
 #endif
 	}
 
-	B3_FORCE_INLINE	bool	operator!=(const b3QuadWord& other) const
+	B3_FORCE_INLINE bool operator!=(const b3QuadWord& other) const
 	{
 		return !(*this == other);
 	}
 
-  /**@brief Set x,y,z and zero w 
+	/**@brief Set x,y,z and zero w 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		B3_FORCE_INLINE void 	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3] = 0.f;
-		}
+	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = 0.f;
+	}
 
-/*		void getValue(b3Scalar *m) const 
+	/*		void getValue(b3Scalar *m) const 
 		{
 			m[0] = m_floats[0];
 			m[1] = m_floats[1];
 			m[2] = m_floats[2];
 		}
 */
-/**@brief Set the values 
+	/**@brief Set the values 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		B3_FORCE_INLINE void	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3]=_w;
-		}
-  /**@brief No initialization constructor */
-		B3_FORCE_INLINE b3QuadWord()
-		//	:m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.))
-		{
-		}
- 
-  /**@brief Three argument constructor (zeros w)
+	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = _w;
+	}
+	/**@brief No initialization constructor */
+	B3_FORCE_INLINE b3QuadWord()
+	//	:m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.))
+	{
+	}
+
+	/**@brief Three argument constructor (zeros w)
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)		
-		{
-			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
-		}
+	B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+	{
+		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
+	}
 
-/**@brief Initializing constructor
+	/**@brief Initializing constructor
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w) 
-		{
-			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
-		}
+	B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
+	{
+		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
+	}
 
-  /**@brief Set each element to the max of the current values and the values of another b3QuadWord
+	/**@brief Set each element to the max of the current values and the values of another b3QuadWord
    * @param other The other b3QuadWord to compare with 
    */
-		B3_FORCE_INLINE void	setMax(const b3QuadWord& other)
-		{
-        #ifdef B3_USE_SSE
-            mVec128 = _mm_max_ps(mVec128, other.mVec128);
-        #elif defined(B3_USE_NEON)
-            mVec128 = vmaxq_f32(mVec128, other.mVec128);
-        #else
-        	b3SetMax(m_floats[0], other.m_floats[0]);
-			b3SetMax(m_floats[1], other.m_floats[1]);
-			b3SetMax(m_floats[2], other.m_floats[2]);
-			b3SetMax(m_floats[3], other.m_floats[3]);
-		#endif
-        }
-  /**@brief Set each element to the min of the current values and the values of another b3QuadWord
+	B3_FORCE_INLINE void setMax(const b3QuadWord& other)
+	{
+#ifdef B3_USE_SSE
+		mVec128 = _mm_max_ps(mVec128, other.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vmaxq_f32(mVec128, other.mVec128);
+#else
+		b3SetMax(m_floats[0], other.m_floats[0]);
+		b3SetMax(m_floats[1], other.m_floats[1]);
+		b3SetMax(m_floats[2], other.m_floats[2]);
+		b3SetMax(m_floats[3], other.m_floats[3]);
+#endif
+	}
+	/**@brief Set each element to the min of the current values and the values of another b3QuadWord
    * @param other The other b3QuadWord to compare with 
    */
-		B3_FORCE_INLINE void	setMin(const b3QuadWord& other)
-		{
-        #ifdef B3_USE_SSE
-            mVec128 = _mm_min_ps(mVec128, other.mVec128);
-        #elif defined(B3_USE_NEON)
-            mVec128 = vminq_f32(mVec128, other.mVec128);
-        #else
-        	b3SetMin(m_floats[0], other.m_floats[0]);
-			b3SetMin(m_floats[1], other.m_floats[1]);
-			b3SetMin(m_floats[2], other.m_floats[2]);
-			b3SetMin(m_floats[3], other.m_floats[3]);
-		#endif
-        }
-
-
-
+	B3_FORCE_INLINE void setMin(const b3QuadWord& other)
+	{
+#ifdef B3_USE_SSE
+		mVec128 = _mm_min_ps(mVec128, other.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vminq_f32(mVec128, other.mVec128);
+#else
+		b3SetMin(m_floats[0], other.m_floats[0]);
+		b3SetMin(m_floats[1], other.m_floats[1]);
+		b3SetMin(m_floats[2], other.m_floats[2]);
+		b3SetMin(m_floats[3], other.m_floats[3]);
+#endif
+	}
 };
 
-#endif //B3_SIMD_QUADWORD_H
+#endif  //B3_SIMD_QUADWORD_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Quaternion.h b/thirdparty/bullet/Bullet3Common/b3Quaternion.h
index ad20543348..9bd5ff7d90 100644
--- a/thirdparty/bullet/Bullet3Common/b3Quaternion.h
+++ b/thirdparty/bullet/Bullet3Common/b3Quaternion.h
@@ -12,19 +12,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_SIMD__QUATERNION_H_
 #define B3_SIMD__QUATERNION_H_
 
-
 #include "b3Vector3.h"
 #include "b3QuadWord.h"
 
-
-
-
-
 #ifdef B3_USE_SSE
 
 const __m128 B3_ATTRIBUTE_ALIGNED16(b3vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
@@ -39,13 +32,14 @@ const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f
 #endif
 
 /**@brief The b3Quaternion implements quaternion to perform linear algebra rotations in combination with b3Matrix3x3, b3Vector3 and b3Transform. */
-class b3Quaternion : public b3QuadWord {
+class b3Quaternion : public b3QuadWord
+{
 public:
-  /**@brief No initialization constructor */
+	/**@brief No initialization constructor */
 	b3Quaternion() {}
 
-#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))|| defined(B3_USE_NEON) 
-	// Set Vector 
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON)
+	// Set Vector
 	B3_FORCE_INLINE b3Quaternion(const b3SimdFloat4 vec)
 	{
 		mVec128 = vec;
@@ -58,63 +52,70 @@ public:
 	}
 
 	// Assignment Operator
-	B3_FORCE_INLINE b3Quaternion& 
-	operator=(const b3Quaternion& v) 
+	B3_FORCE_INLINE b3Quaternion&
+	operator=(const b3Quaternion& v)
 	{
 		mVec128 = v.mVec128;
-		
+
 		return *this;
 	}
-	
+
 #endif
 
 	//		template <typename b3Scalar>
 	//		explicit Quaternion(const b3Scalar *v) : Tuple4<b3Scalar>(v) {}
-  /**@brief Constructor from scalars */
-	b3Quaternion(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w) 
-		: b3QuadWord(_x, _y, _z, _w) 
+	/**@brief Constructor from scalars */
+	b3Quaternion(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
+		: b3QuadWord(_x, _y, _z, _w)
 	{
 		//b3Assert(!((_x==1.f) && (_y==0.f) && (_z==0.f) && (_w==0.f)));
 	}
-  /**@brief Axis angle Constructor
+	/**@brief Axis angle Constructor
    * @param axis The axis which the rotation is around
    * @param angle The magnitude of the rotation around the angle (Radians) */
-	b3Quaternion(const b3Vector3& _axis, const b3Scalar& _angle) 
-	{ 
-		setRotation(_axis, _angle); 
+	b3Quaternion(const b3Vector3& _axis, const b3Scalar& _angle)
+	{
+		setRotation(_axis, _angle);
 	}
-  /**@brief Constructor from Euler angles
+	/**@brief Constructor from Euler angles
    * @param yaw Angle around Y unless B3_EULER_DEFAULT_ZYX defined then Z
    * @param pitch Angle around X unless B3_EULER_DEFAULT_ZYX defined then Y
    * @param roll Angle around Z unless B3_EULER_DEFAULT_ZYX defined then X */
 	b3Quaternion(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
-	{ 
+	{
 #ifndef B3_EULER_DEFAULT_ZYX
-		setEuler(yaw, pitch, roll); 
+		setEuler(yaw, pitch, roll);
 #else
-		setEulerZYX(yaw, pitch, roll); 
-#endif 
+		setEulerZYX(yaw, pitch, roll);
+#endif
 	}
-  /**@brief Set the rotation using axis angle notation 
+	/**@brief Set the rotation using axis angle notation 
    * @param axis The axis around which to rotate
    * @param angle The magnitude of the rotation in Radians */
 	void setRotation(const b3Vector3& axis, const b3Scalar& _angle)
 	{
 		b3Scalar d = axis.length();
 		b3Assert(d != b3Scalar(0.0));
-		b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d;
-		setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s, 
-			b3Cos(_angle * b3Scalar(0.5)));
+		if (d < B3_EPSILON)
+		{
+			setValue(0, 0, 0, 1);
+		}
+		else
+		{
+			b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d;
+			setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s,
+				b3Cos(_angle * b3Scalar(0.5)));
+		}
 	}
-  /**@brief Set the quaternion using Euler angles
+	/**@brief Set the quaternion using Euler angles
    * @param yaw Angle around Y
    * @param pitch Angle around X
    * @param roll Angle around Z */
 	void setEuler(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll)
 	{
-		b3Scalar halfYaw = b3Scalar(yaw) * b3Scalar(0.5);  
-		b3Scalar halfPitch = b3Scalar(pitch) * b3Scalar(0.5);  
-		b3Scalar halfRoll = b3Scalar(roll) * b3Scalar(0.5);  
+		b3Scalar halfYaw = b3Scalar(yaw) * b3Scalar(0.5);
+		b3Scalar halfPitch = b3Scalar(pitch) * b3Scalar(0.5);
+		b3Scalar halfRoll = b3Scalar(roll) * b3Scalar(0.5);
 		b3Scalar cosYaw = b3Cos(halfYaw);
 		b3Scalar sinYaw = b3Sin(halfYaw);
 		b3Scalar cosPitch = b3Cos(halfPitch);
@@ -122,34 +123,34 @@ public:
 		b3Scalar cosRoll = b3Cos(halfRoll);
 		b3Scalar sinRoll = b3Sin(halfRoll);
 		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
-			cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
-			sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
-			cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
+				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
+				 sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
+				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
 	}
- 
+
 	/**@brief Set the quaternion using euler angles 
    * @param yaw Angle around Z
    * @param pitch Angle around Y
    * @param roll Angle around X */
 	void setEulerZYX(const b3Scalar& yawZ, const b3Scalar& pitchY, const b3Scalar& rollX)
 	{
-		b3Scalar halfYaw = b3Scalar(yawZ) * b3Scalar(0.5);  
-		b3Scalar halfPitch = b3Scalar(pitchY) * b3Scalar(0.5);  
-		b3Scalar halfRoll = b3Scalar(rollX) * b3Scalar(0.5);  
+		b3Scalar halfYaw = b3Scalar(yawZ) * b3Scalar(0.5);
+		b3Scalar halfPitch = b3Scalar(pitchY) * b3Scalar(0.5);
+		b3Scalar halfRoll = b3Scalar(rollX) * b3Scalar(0.5);
 		b3Scalar cosYaw = b3Cos(halfYaw);
 		b3Scalar sinYaw = b3Sin(halfYaw);
 		b3Scalar cosPitch = b3Cos(halfPitch);
 		b3Scalar sinPitch = b3Sin(halfPitch);
 		b3Scalar cosRoll = b3Cos(halfRoll);
 		b3Scalar sinRoll = b3Sin(halfRoll);
-		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x
-                         cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y
-                         cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z
-                         cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx
+		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,   //x
+				 cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,   //y
+				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,   //z
+				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);  //formerly yzx
 		normalize();
 	}
 
-	  /**@brief Get the euler angles from this quaternion
+	/**@brief Get the euler angles from this quaternion
 	   * @param yaw Angle around Z
 	   * @param pitch Angle around Y
 	   * @param roll Angle around X */
@@ -166,221 +167,221 @@ public:
 		squ = m_floats[3] * m_floats[3];
 		rollX = b3Atan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
 		sarg = b3Scalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
-		pitchY = sarg <= b3Scalar(-1.0) ? b3Scalar(-0.5) * B3_PI: (sarg >= b3Scalar(1.0) ? b3Scalar(0.5) * B3_PI : b3Asin(sarg));
+		pitchY = sarg <= b3Scalar(-1.0) ? b3Scalar(-0.5) * B3_PI : (sarg >= b3Scalar(1.0) ? b3Scalar(0.5) * B3_PI : b3Asin(sarg));
 		yawZ = b3Atan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
 	}
 
-  /**@brief Add two quaternions
+	/**@brief Add two quaternions
    * @param q The quaternion to add to this one */
-	B3_FORCE_INLINE	b3Quaternion& operator+=(const b3Quaternion& q)
+	B3_FORCE_INLINE b3Quaternion& operator+=(const b3Quaternion& q)
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_add_ps(mVec128, q.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vaddq_f32(mVec128, q.mVec128);
-#else	
-		m_floats[0] += q.getX(); 
-        m_floats[1] += q.getY(); 
-        m_floats[2] += q.getZ(); 
-        m_floats[3] += q.m_floats[3];
+#else
+		m_floats[0] += q.getX();
+		m_floats[1] += q.getY();
+		m_floats[2] += q.getZ();
+		m_floats[3] += q.m_floats[3];
 #endif
 		return *this;
 	}
 
-  /**@brief Subtract out a quaternion
+	/**@brief Subtract out a quaternion
    * @param q The quaternion to subtract from this one */
-	b3Quaternion& operator-=(const b3Quaternion& q) 
+	b3Quaternion& operator-=(const b3Quaternion& q)
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vsubq_f32(mVec128, q.mVec128);
-#else	
-		m_floats[0] -= q.getX(); 
-        m_floats[1] -= q.getY(); 
-        m_floats[2] -= q.getZ(); 
-        m_floats[3] -= q.m_floats[3];
+#else
+		m_floats[0] -= q.getX();
+		m_floats[1] -= q.getY();
+		m_floats[2] -= q.getZ();
+		m_floats[3] -= q.m_floats[3];
 #endif
-        return *this;
+		return *this;
 	}
 
-  /**@brief Scale this quaternion
+	/**@brief Scale this quaternion
    * @param s The scalar to scale by */
 	b3Quaternion& operator*=(const b3Scalar& s)
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0);	//	(S S S S)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0);     //	(S S S S)
 		mVec128 = _mm_mul_ps(mVec128, vs);
 #elif defined(B3_USE_NEON)
 		mVec128 = vmulq_n_f32(mVec128, s);
 #else
-		m_floats[0] *= s; 
-        m_floats[1] *= s; 
-        m_floats[2] *= s; 
-        m_floats[3] *= s;
+		m_floats[0] *= s;
+		m_floats[1] *= s;
+		m_floats[2] *= s;
+		m_floats[3] *= s;
 #endif
 		return *this;
 	}
 
-  /**@brief Multiply this quaternion by q on the right
+	/**@brief Multiply this quaternion by q on the right
    * @param q The other quaternion 
    * Equivilant to this = this * q */
 	b3Quaternion& operator*=(const b3Quaternion& q)
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		__m128 vQ2 = q.get128();
-		
-		__m128 A1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(0,1,2,0));
-		__m128 B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3,3,3,0));
-		
+
+		__m128 A1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(0, 1, 2, 0));
+		__m128 B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0));
+
 		A1 = A1 * B1;
-		
-		__m128 A2 = b3_pshufd_ps(mVec128, B3_SHUFFLE(1,2,0,1));
-		__m128 B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1));
-		
+
+		__m128 A2 = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 1));
+		__m128 B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));
+
 		A2 = A2 * B2;
-		
-		B1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(2,0,1,2));
-		B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2));
-		
-		B1 = B1 * B2;	//	A3 *= B3
-		
-		mVec128 = b3_splat_ps(mVec128, 3);	//	A0
-		mVec128 = mVec128 * vQ2;	//	A0 * B0
-		
-		A1 = A1 + A2;	//	AB12
-		mVec128 = mVec128 - B1;	//	AB03 = AB0 - AB3 
-		A1 = _mm_xor_ps(A1, b3vPPPM);	//	change sign of the last element
-		mVec128 = mVec128+ A1;	//	AB03 + AB12
-
-#elif defined(B3_USE_NEON)     
-
-        float32x4_t vQ1 = mVec128;
-        float32x4_t vQ2 = q.get128();
-        float32x4_t A0, A1, B1, A2, B2, A3, B3;
-        float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-        
-        {
-        float32x2x2_t tmp;
-        tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-        vQ1zx = tmp.val[0];
-
-        tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-        vQ2zx = tmp.val[0];
-        }
-        vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
-
-        vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-        vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-        vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-        A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
-        B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
-
-        A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-        B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-        A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-        B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
-
-        A1 = vmulq_f32(A1, B1);
-        A2 = vmulq_f32(A2, B2);
-        A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-        A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
-
-        A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-        A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
-        
-        //	change the sign of the last element
-        A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
-        A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
-        
-        mVec128 = A0;
+
+		B1 = b3_pshufd_ps(mVec128, B3_SHUFFLE(2, 0, 1, 2));
+		B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));
+
+		B1 = B1 * B2;  //	A3 *= B3
+
+		mVec128 = b3_splat_ps(mVec128, 3);  //	A0
+		mVec128 = mVec128 * vQ2;            //	A0 * B0
+
+		A1 = A1 + A2;                  //	AB12
+		mVec128 = mVec128 - B1;        //	AB03 = AB0 - AB3
+		A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
+		mVec128 = mVec128 + A1;        //	AB03 + AB12
+
+#elif defined(B3_USE_NEON)
+
+		float32x4_t vQ1 = mVec128;
+		float32x4_t vQ2 = q.get128();
+		float32x4_t A0, A1, B1, A2, B2, A3, B3;
+		float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+
+		{
+			float32x2x2_t tmp;
+			tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+			vQ1zx = tmp.val[0];
+
+			tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+			vQ2zx = tmp.val[0];
+		}
+		vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
+
+		vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+		vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+		vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+		A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
+		B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
+
+		A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+		B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+		A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+		B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
+
+		A1 = vmulq_f32(A1, B1);
+		A2 = vmulq_f32(A2, B2);
+		A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
+		A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
+
+		A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+		A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
+
+		//	change the sign of the last element
+		A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
+		A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
+
+		mVec128 = A0;
 #else
 		setValue(
-            m_floats[3] * q.getX() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.getZ() - m_floats[2] * q.getY(),
+			m_floats[3] * q.getX() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.getZ() - m_floats[2] * q.getY(),
 			m_floats[3] * q.getY() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.getX() - m_floats[0] * q.getZ(),
 			m_floats[3] * q.getZ() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.getY() - m_floats[1] * q.getX(),
 			m_floats[3] * q.m_floats[3] - m_floats[0] * q.getX() - m_floats[1] * q.getY() - m_floats[2] * q.getZ());
 #endif
 		return *this;
 	}
-  /**@brief Return the dot product between this quaternion and another
+	/**@brief Return the dot product between this quaternion and another
    * @param q The other quaternion */
 	b3Scalar dot(const b3Quaternion& q) const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vd;
-		
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vd;
+
 		vd = _mm_mul_ps(mVec128, q.mVec128);
-		
-        __m128 t = _mm_movehl_ps(vd, vd);
+
+		__m128 t = _mm_movehl_ps(vd, vd);
 		vd = _mm_add_ps(vd, t);
 		t = _mm_shuffle_ps(vd, vd, 0x55);
 		vd = _mm_add_ss(vd, t);
-		
-        return _mm_cvtss_f32(vd);
+
+		return _mm_cvtss_f32(vd);
 #elif defined(B3_USE_NEON)
 		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));  
+		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));
 		x = vpadd_f32(x, x);
 		return vget_lane_f32(x, 0);
-#else    
-		return  m_floats[0] * q.getX() + 
-                m_floats[1] * q.getY() + 
-                m_floats[2] * q.getZ() + 
-                m_floats[3] * q.m_floats[3];
+#else
+		return m_floats[0] * q.getX() +
+			   m_floats[1] * q.getY() +
+			   m_floats[2] * q.getZ() +
+			   m_floats[3] * q.m_floats[3];
 #endif
 	}
 
-  /**@brief Return the length squared of the quaternion */
+	/**@brief Return the length squared of the quaternion */
 	b3Scalar length2() const
 	{
 		return dot(*this);
 	}
 
-  /**@brief Return the length of the quaternion */
+	/**@brief Return the length of the quaternion */
 	b3Scalar length() const
 	{
 		return b3Sqrt(length2());
 	}
 
-  /**@brief Normalize the quaternion 
+	/**@brief Normalize the quaternion 
    * Such that x^2 + y^2 + z^2 +w^2 = 1 */
-	b3Quaternion& normalize() 
+	b3Quaternion& normalize()
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vd;
-		
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vd;
+
 		vd = _mm_mul_ps(mVec128, mVec128);
-		
-        __m128 t = _mm_movehl_ps(vd, vd);
+
+		__m128 t = _mm_movehl_ps(vd, vd);
 		vd = _mm_add_ps(vd, t);
 		t = _mm_shuffle_ps(vd, vd, 0x55);
 		vd = _mm_add_ss(vd, t);
 
 		vd = _mm_sqrt_ss(vd);
 		vd = _mm_div_ss(b3vOnes, vd);
-        vd = b3_pshufd_ps(vd, 0); // splat
+		vd = b3_pshufd_ps(vd, 0);  // splat
 		mVec128 = _mm_mul_ps(mVec128, vd);
-    
+
 		return *this;
-#else    
+#else
 		return *this /= length();
 #endif
 	}
 
-  /**@brief Return a scaled version of this quaternion
+	/**@brief Return a scaled version of this quaternion
    * @param s The scale factor */
 	B3_FORCE_INLINE b3Quaternion
 	operator*(const b3Scalar& s) const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0x00);	//	(S S S S)
-		
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0x00);  //	(S S S S)
+
 		return b3Quaternion(_mm_mul_ps(mVec128, vs));
 #elif defined(B3_USE_NEON)
 		return b3Quaternion(vmulq_n_f32(mVec128, s));
@@ -389,7 +390,7 @@ public:
 #endif
 	}
 
-  /**@brief Return an inversely scaled versionof this quaternion
+	/**@brief Return an inversely scaled versionof this quaternion
    * @param s The inverse scale factor */
 	b3Quaternion operator/(const b3Scalar& s) const
 	{
@@ -397,29 +398,29 @@ public:
 		return *this * (b3Scalar(1.0) / s);
 	}
 
-  /**@brief Inversely scale this quaternion
+	/**@brief Inversely scale this quaternion
    * @param s The scale factor */
-	b3Quaternion& operator/=(const b3Scalar& s) 
+	b3Quaternion& operator/=(const b3Scalar& s)
 	{
 		b3Assert(s != b3Scalar(0.0));
 		return *this *= b3Scalar(1.0) / s;
 	}
 
-  /**@brief Return a normalized version of this quaternion */
-	b3Quaternion normalized() const 
+	/**@brief Return a normalized version of this quaternion */
+	b3Quaternion normalized() const
 	{
 		return *this / length();
-	} 
-  /**@brief Return the angle between this quaternion and the other 
+	}
+	/**@brief Return the angle between this quaternion and the other 
    * @param q The other quaternion */
-	b3Scalar angle(const b3Quaternion& q) const 
+	b3Scalar angle(const b3Quaternion& q) const
 	{
 		b3Scalar s = b3Sqrt(length2() * q.length2());
 		b3Assert(s != b3Scalar(0.0));
 		return b3Acos(dot(q) / s);
 	}
-  /**@brief Return the angle of rotation represented by this quaternion */
-	b3Scalar getAngle() const 
+	/**@brief Return the angle of rotation represented by this quaternion */
+	b3Scalar getAngle() const
 	{
 		b3Scalar s = b3Scalar(2.) * b3Acos(m_floats[3]);
 		return s;
@@ -428,117 +429,116 @@ public:
 	/**@brief Return the axis of the rotation represented by this quaternion */
 	b3Vector3 getAxis() const
 	{
-		b3Scalar s_squared = 1.f-m_floats[3]*m_floats[3];
-		
-		if (s_squared < b3Scalar(10.) * B3_EPSILON) //Check for divide by zero
-			return b3MakeVector3(1.0, 0.0, 0.0);  // Arbitrary
-		b3Scalar s = 1.f/b3Sqrt(s_squared);
+		b3Scalar s_squared = 1.f - m_floats[3] * m_floats[3];
+
+		if (s_squared < b3Scalar(10.) * B3_EPSILON)  //Check for divide by zero
+			return b3MakeVector3(1.0, 0.0, 0.0);     // Arbitrary
+		b3Scalar s = 1.f / b3Sqrt(s_squared);
 		return b3MakeVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
 	}
 
 	/**@brief Return the inverse of this quaternion */
 	b3Quaternion inverse() const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		return b3Quaternion(_mm_xor_ps(mVec128, b3vQInv));
 #elif defined(B3_USE_NEON)
-        return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vQInv));
-#else	
+		return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vQInv));
+#else
 		return b3Quaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
 #endif
 	}
 
-  /**@brief Return the sum of this quaternion and the other 
+	/**@brief Return the sum of this quaternion and the other 
    * @param q2 The other quaternion */
 	B3_FORCE_INLINE b3Quaternion
 	operator+(const b3Quaternion& q2) const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		return b3Quaternion(_mm_add_ps(mVec128, q2.mVec128));
 #elif defined(B3_USE_NEON)
-        return b3Quaternion(vaddq_f32(mVec128, q2.mVec128));
-#else	
+		return b3Quaternion(vaddq_f32(mVec128, q2.mVec128));
+#else
 		const b3Quaternion& q1 = *this;
 		return b3Quaternion(q1.getX() + q2.getX(), q1.getY() + q2.getY(), q1.getZ() + q2.getZ(), q1.m_floats[3] + q2.m_floats[3]);
 #endif
 	}
 
-  /**@brief Return the difference between this quaternion and the other 
+	/**@brief Return the difference between this quaternion and the other 
    * @param q2 The other quaternion */
 	B3_FORCE_INLINE b3Quaternion
 	operator-(const b3Quaternion& q2) const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		return b3Quaternion(_mm_sub_ps(mVec128, q2.mVec128));
 #elif defined(B3_USE_NEON)
-        return b3Quaternion(vsubq_f32(mVec128, q2.mVec128));
-#else	
+		return b3Quaternion(vsubq_f32(mVec128, q2.mVec128));
+#else
 		const b3Quaternion& q1 = *this;
 		return b3Quaternion(q1.getX() - q2.getX(), q1.getY() - q2.getY(), q1.getZ() - q2.getZ(), q1.m_floats[3] - q2.m_floats[3]);
 #endif
 	}
 
-  /**@brief Return the negative of this quaternion 
+	/**@brief Return the negative of this quaternion 
    * This simply negates each element */
 	B3_FORCE_INLINE b3Quaternion operator-() const
 	{
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		return b3Quaternion(_mm_xor_ps(mVec128, b3vMzeroMask));
 #elif defined(B3_USE_NEON)
-		return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vMzeroMask) );
-#else	
+		return b3Quaternion((b3SimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)b3vMzeroMask));
+#else
 		const b3Quaternion& q2 = *this;
-		return b3Quaternion( - q2.getX(), - q2.getY(),  - q2.getZ(),  - q2.m_floats[3]);
+		return b3Quaternion(-q2.getX(), -q2.getY(), -q2.getZ(), -q2.m_floats[3]);
 #endif
 	}
-  /**@todo document this and it's use */
-	B3_FORCE_INLINE b3Quaternion farthest( const b3Quaternion& qd) const 
+	/**@todo document this and it's use */
+	B3_FORCE_INLINE b3Quaternion farthest(const b3Quaternion& qd) const
 	{
-		b3Quaternion diff,sum;
+		b3Quaternion diff, sum;
 		diff = *this - qd;
 		sum = *this + qd;
-		if( diff.dot(diff) > sum.dot(sum) )
+		if (diff.dot(diff) > sum.dot(sum))
 			return qd;
 		return (-qd);
 	}
 
 	/**@todo document this and it's use */
-	B3_FORCE_INLINE b3Quaternion nearest( const b3Quaternion& qd) const 
+	B3_FORCE_INLINE b3Quaternion nearest(const b3Quaternion& qd) const
 	{
-		b3Quaternion diff,sum;
+		b3Quaternion diff, sum;
 		diff = *this - qd;
 		sum = *this + qd;
-		if( diff.dot(diff) < sum.dot(sum) )
+		if (diff.dot(diff) < sum.dot(sum))
 			return qd;
 		return (-qd);
 	}
 
-
-  /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
+	/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
    * @param q The other quaternion to interpolate with 
    * @param t The ratio between this and q to interpolate.  If t = 0 the result is this, if t=1 the result is q.
    * Slerp interpolates assuming constant velocity.  */
 	b3Quaternion slerp(const b3Quaternion& q, const b3Scalar& t) const
 	{
-	  b3Scalar magnitude = b3Sqrt(length2() * q.length2()); 
-	  b3Assert(magnitude > b3Scalar(0));
+		b3Scalar magnitude = b3Sqrt(length2() * q.length2());
+		b3Assert(magnitude > b3Scalar(0));
 
-    b3Scalar product = dot(q) / magnitude;
-    if (b3Fabs(product) < b3Scalar(1))
+		b3Scalar product = dot(q) / magnitude;
+		if (b3Fabs(product) < b3Scalar(1))
 		{
-      // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-      const b3Scalar sign = (product < 0) ? b3Scalar(-1) : b3Scalar(1);
-
-      const b3Scalar theta = b3Acos(sign * product);
-      const b3Scalar s1 = b3Sin(sign * t * theta);   
-      const b3Scalar d = b3Scalar(1.0) / b3Sin(theta);
-      const b3Scalar s0 = b3Sin((b3Scalar(1.0) - t) * theta);
-
-      return b3Quaternion(
-          (m_floats[0] * s0 + q.getX() * s1) * d,
-          (m_floats[1] * s0 + q.getY() * s1) * d,
-          (m_floats[2] * s0 + q.getZ() * s1) * d,
-          (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+			// Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+			const b3Scalar sign = (product < 0) ? b3Scalar(-1) : b3Scalar(1);
+
+			const b3Scalar theta = b3Acos(sign * product);
+			const b3Scalar s1 = b3Sin(sign * t * theta);
+			const b3Scalar d = b3Scalar(1.0) / b3Sin(theta);
+			const b3Scalar s0 = b3Sin((b3Scalar(1.0) - t) * theta);
+
+			return b3Quaternion(
+				(m_floats[0] * s0 + q.getX() * s1) * d,
+				(m_floats[1] * s0 + q.getY() * s1) * d,
+				(m_floats[2] * s0 + q.getZ() * s1) * d,
+				(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
 		}
 		else
 		{
@@ -546,301 +546,294 @@ public:
 		}
 	}
 
-	static const b3Quaternion&	getIdentity()
+	static const b3Quaternion& getIdentity()
 	{
-		static const b3Quaternion identityQuat(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.),b3Scalar(1.));
+		static const b3Quaternion identityQuat(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.), b3Scalar(1.));
 		return identityQuat;
 	}
 
 	B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
-
-	
 };
 
-
-
-
-
 /**@brief Return the product of two quaternions */
 B3_FORCE_INLINE b3Quaternion
-operator*(const b3Quaternion& q1, const b3Quaternion& q2) 
+operator*(const b3Quaternion& q1, const b3Quaternion& q2)
 {
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	__m128 vQ1 = q1.get128();
 	__m128 vQ2 = q2.get128();
 	__m128 A0, A1, B1, A2, B2;
-    
-	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0,1,2,0)); // X Y  z x     //      vtrn
-	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3,3,3,0)); // W W  W X     // vdup vext
+
+	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0, 1, 2, 0));  // X Y  z x     //      vtrn
+	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0));  // W W  W X     // vdup vext
 
 	A1 = A1 * B1;
-	
-	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1,2,0,1)); // Y Z  X Y     // vext 
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1)); // z x  Y Y     // vtrn vdup
+
+	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1));  // Y Z  X Y     // vext
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));  // z x  Y Y     // vtrn vdup
 
 	A2 = A2 * B2;
 
-	B1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2,0,1,2)); // z x Y Z      // vtrn vext
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2)); // Y Z x z      // vext vtrn
-	
-	B1 = B1 * B2;	//	A3 *= B3
+	B1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2));  // z x Y Z      // vtrn vext
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));  // Y Z x z      // vext vtrn
+
+	B1 = B1 * B2;  //	A3 *= B3
 
-	A0 = b3_splat_ps(vQ1, 3);	//	A0
-	A0 = A0 * vQ2;	//	A0 * B0
+	A0 = b3_splat_ps(vQ1, 3);  //	A0
+	A0 = A0 * vQ2;             //	A0 * B0
+
+	A1 = A1 + A2;  //	AB12
+	A0 = A0 - B1;  //	AB03 = AB0 - AB3
+
+	A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
+	A0 = A0 + A1;                  //	AB03 + AB12
 
-	A1 = A1 + A2;	//	AB12
-	A0 =  A0 - B1;	//	AB03 = AB0 - AB3 
-	
-    A1 = _mm_xor_ps(A1, b3vPPPM);	//	change sign of the last element
-	A0 = A0 + A1;	//	AB03 + AB12
-	
 	return b3Quaternion(A0);
 
-#elif defined(B3_USE_NEON)     
+#elif defined(B3_USE_NEON)
 
 	float32x4_t vQ1 = q1.get128();
 	float32x4_t vQ2 = q2.get128();
 	float32x4_t A0, A1, B1, A2, B2, A3, B3;
-    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-    
-    {
-    float32x2x2_t tmp;
-    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-    vQ1zx = tmp.val[0];
+	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+
+	{
+		float32x2x2_t tmp;
+		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+		vQ1zx = tmp.val[0];
 
-    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-    vQ2zx = tmp.val[0];
-    }
-    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+		vQ2zx = tmp.val[0];
+	}
+	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
 
-    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
 
-    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
 
-    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
-    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
+	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
 
 	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
 
-    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
 
 	A1 = vmulq_f32(A1, B1);
 	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
-
-	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-	A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
-	
-    //	change the sign of the last element
-    A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
-	A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
-	
+	A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
+	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
+
+	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+	A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
+
+	//	change the sign of the last element
+	A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
+	A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
+
 	return b3Quaternion(A0);
 
 #else
 	return b3Quaternion(
-        q1.getW() * q2.getX() + q1.getX() * q2.getW() + q1.getY() * q2.getZ() - q1.getZ() * q2.getY(),
+		q1.getW() * q2.getX() + q1.getX() * q2.getW() + q1.getY() * q2.getZ() - q1.getZ() * q2.getY(),
 		q1.getW() * q2.getY() + q1.getY() * q2.getW() + q1.getZ() * q2.getX() - q1.getX() * q2.getZ(),
 		q1.getW() * q2.getZ() + q1.getZ() * q2.getW() + q1.getX() * q2.getY() - q1.getY() * q2.getX(),
-		q1.getW() * q2.getW() - q1.getX() * q2.getX() - q1.getY() * q2.getY() - q1.getZ() * q2.getZ()); 
+		q1.getW() * q2.getW() - q1.getX() * q2.getX() - q1.getY() * q2.getY() - q1.getZ() * q2.getZ());
 #endif
 }
 
 B3_FORCE_INLINE b3Quaternion
 operator*(const b3Quaternion& q, const b3Vector3& w)
 {
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	__m128 vQ1 = q.get128();
 	__m128 vQ2 = w.get128();
 	__m128 A1, B1, A2, B2, A3, B3;
-	
-	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(3,3,3,0));
-	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(0,1,2,0));
+
+	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(3, 3, 3, 0));
+	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(0, 1, 2, 0));
 
 	A1 = A1 * B1;
-	
-	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1,2,0,1));
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1));
+
+	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1));
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));
 
 	A2 = A2 * B2;
 
-	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2,0,1,2));
-	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2));
-	
-	A3 = A3 * B3;	//	A3 *= B3
+	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2));
+	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));
+
+	A3 = A3 * B3;  //	A3 *= B3
+
+	A1 = A1 + A2;                  //	AB12
+	A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
+	A1 = A1 - A3;                  //	AB123 = AB12 - AB3
 
-	A1 = A1 + A2;	//	AB12
-	A1 = _mm_xor_ps(A1, b3vPPPM);	//	change sign of the last element
-    A1 = A1 - A3;	//	AB123 = AB12 - AB3 
-	
 	return b3Quaternion(A1);
-    
-#elif defined(B3_USE_NEON)     
+
+#elif defined(B3_USE_NEON)
 
 	float32x4_t vQ1 = q.get128();
 	float32x4_t vQ2 = w.get128();
 	float32x4_t A1, B1, A2, B2, A3, B3;
-    float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
-    
-    vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); 
-    {
-    float32x2x2_t tmp;
+	float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
 
-    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-    vQ2zx = tmp.val[0];
+	vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1);
+	{
+		float32x2x2_t tmp;
 
-    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-    vQ1zx = tmp.val[0];
-    }
+		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+		vQ2zx = tmp.val[0];
 
-    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+		vQ1zx = tmp.val[0];
+	}
+
+	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
 
-    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
 
-    A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W  W X 
-    B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                    // X Y  z x 
+	A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx);  // W W  W X
+	B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                     // X Y  z x
 
 	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
 
-    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
 
 	A1 = vmulq_f32(A1, B1);
 	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-	
-    //	change the sign of the last element
-    A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
-	
-    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
-	
+	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+
+	//	change the sign of the last element
+	A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
+
+	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
+
 	return b3Quaternion(A1);
-    
+
 #else
-	return b3Quaternion( 
-         q.getW() * w.getX() + q.getY() * w.getZ() - q.getZ() * w.getY(),
-		 q.getW() * w.getY() + q.getZ() * w.getX() - q.getX() * w.getZ(),
-		 q.getW() * w.getZ() + q.getX() * w.getY() - q.getY() * w.getX(),
-		-q.getX() * w.getX() - q.getY() * w.getY() - q.getZ() * w.getZ()); 
+	return b3Quaternion(
+		q.getW() * w.getX() + q.getY() * w.getZ() - q.getZ() * w.getY(),
+		q.getW() * w.getY() + q.getZ() * w.getX() - q.getX() * w.getZ(),
+		q.getW() * w.getZ() + q.getX() * w.getY() - q.getY() * w.getX(),
+		-q.getX() * w.getX() - q.getY() * w.getY() - q.getZ() * w.getZ());
 #endif
 }
 
 B3_FORCE_INLINE b3Quaternion
 operator*(const b3Vector3& w, const b3Quaternion& q)
 {
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	__m128 vQ1 = w.get128();
 	__m128 vQ2 = q.get128();
 	__m128 A1, B1, A2, B2, A3, B3;
-	
-	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0,1,2,0));  // X Y  z x
-	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3,3,3,0));  // W W  W X 
+
+	A1 = b3_pshufd_ps(vQ1, B3_SHUFFLE(0, 1, 2, 0));  // X Y  z x
+	B1 = b3_pshufd_ps(vQ2, B3_SHUFFLE(3, 3, 3, 0));  // W W  W X
 
 	A1 = A1 * B1;
-	
-	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1,2,0,1));
-	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2,0,1,1));
 
-	A2 = A2 *B2;
+	A2 = b3_pshufd_ps(vQ1, B3_SHUFFLE(1, 2, 0, 1));
+	B2 = b3_pshufd_ps(vQ2, B3_SHUFFLE(2, 0, 1, 1));
+
+	A2 = A2 * B2;
+
+	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2, 0, 1, 2));
+	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1, 2, 0, 2));
+
+	A3 = A3 * B3;  //	A3 *= B3
 
-	A3 = b3_pshufd_ps(vQ1, B3_SHUFFLE(2,0,1,2));
-	B3 = b3_pshufd_ps(vQ2, B3_SHUFFLE(1,2,0,2));
-	
-	A3 = A3 * B3;	//	A3 *= B3
+	A1 = A1 + A2;                  //	AB12
+	A1 = _mm_xor_ps(A1, b3vPPPM);  //	change sign of the last element
+	A1 = A1 - A3;                  //	AB123 = AB12 - AB3
 
-	A1 = A1 + A2;	//	AB12
-	A1 = _mm_xor_ps(A1, b3vPPPM);	//	change sign of the last element
-	A1 = A1 - A3;	//	AB123 = AB12 - AB3 
-	
 	return b3Quaternion(A1);
 
-#elif defined(B3_USE_NEON)     
+#elif defined(B3_USE_NEON)
 
 	float32x4_t vQ1 = w.get128();
 	float32x4_t vQ2 = q.get128();
-	float32x4_t  A1, B1, A2, B2, A3, B3;
-    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-    
-    {
-    float32x2x2_t tmp;
-   
-    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-    vQ1zx = tmp.val[0];
+	float32x4_t A1, B1, A2, B2, A3, B3;
+	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
 
-    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-    vQ2zx = tmp.val[0];
-    }
-    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+	{
+		float32x2x2_t tmp;
+
+		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+		vQ1zx = tmp.val[0];
+
+		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+		vQ2zx = tmp.val[0];
+	}
+	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
 
-    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
 
-    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
 
-    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
-    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
+	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
 
 	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
 
-    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
 
 	A1 = vmulq_f32(A1, B1);
 	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-	
-    //	change the sign of the last element
-    A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);	
-	
-    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
-	
+	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+
+	//	change the sign of the last element
+	A1 = (b3SimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)b3vPPPM);
+
+	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
+
 	return b3Quaternion(A1);
-    
+
 #else
-	return b3Quaternion( 
-        +w.getX() * q.getW() + w.getY() * q.getZ() - w.getZ() * q.getY(),
+	return b3Quaternion(
+		+w.getX() * q.getW() + w.getY() * q.getZ() - w.getZ() * q.getY(),
 		+w.getY() * q.getW() + w.getZ() * q.getX() - w.getX() * q.getZ(),
 		+w.getZ() * q.getW() + w.getX() * q.getY() - w.getY() * q.getX(),
-		-w.getX() * q.getX() - w.getY() * q.getY() - w.getZ() * q.getZ()); 
+		-w.getX() * q.getX() - w.getY() * q.getY() - w.getZ() * q.getZ());
 #endif
 }
 
 /**@brief Calculate the dot product between two quaternions */
-B3_FORCE_INLINE b3Scalar 
-b3Dot(const b3Quaternion& q1, const b3Quaternion& q2) 
-{ 
-	return q1.dot(q2); 
+B3_FORCE_INLINE b3Scalar
+b3Dot(const b3Quaternion& q1, const b3Quaternion& q2)
+{
+	return q1.dot(q2);
 }
 
-
 /**@brief Return the length of a quaternion */
 B3_FORCE_INLINE b3Scalar
-b3Length(const b3Quaternion& q) 
-{ 
-	return q.length(); 
+b3Length(const b3Quaternion& q)
+{
+	return q.length();
 }
 
 /**@brief Return the angle between two quaternions*/
 B3_FORCE_INLINE b3Scalar
-b3Angle(const b3Quaternion& q1, const b3Quaternion& q2) 
-{ 
-	return q1.angle(q2); 
+b3Angle(const b3Quaternion& q1, const b3Quaternion& q2)
+{
+	return q1.angle(q2);
 }
 
 /**@brief Return the inverse of a quaternion*/
 B3_FORCE_INLINE b3Quaternion
-b3Inverse(const b3Quaternion& q) 
+b3Inverse(const b3Quaternion& q)
 {
 	return q.inverse();
 }
@@ -851,7 +844,7 @@ b3Inverse(const b3Quaternion& q)
  * @param t The ration between q1 and q2.  t = 0 return q1, t=1 returns q2 
  * Slerp assumes constant velocity between positions. */
 B3_FORCE_INLINE b3Quaternion
-b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t) 
+b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t)
 {
 	return q1.slerp(q2, t);
 }
@@ -859,7 +852,7 @@ b3Slerp(const b3Quaternion& q1, const b3Quaternion& q2, const b3Scalar& t)
 B3_FORCE_INLINE b3Quaternion
 b3QuatMul(const b3Quaternion& rot0, const b3Quaternion& rot1)
 {
-	return rot0*rot1;
+	return rot0 * rot1;
 }
 
 B3_FORCE_INLINE b3Quaternion
@@ -868,51 +861,45 @@ b3QuatNormalized(const b3Quaternion& orn)
 	return orn.normalized();
 }
 
-
-
-B3_FORCE_INLINE b3Vector3 
-b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v) 
+B3_FORCE_INLINE b3Vector3
+b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
 {
 	b3Quaternion q = rotation * v;
 	q *= rotation.inverse();
-#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	return b3MakeVector3(_mm_and_ps(q.get128(), b3vFFF0fMask));
 #elif defined(B3_USE_NEON)
-    return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask));
-#else	
-	return b3MakeVector3(q.getX(),q.getY(),q.getZ());
+	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask));
+#else
+	return b3MakeVector3(q.getX(), q.getY(), q.getZ());
 #endif
 }
 
-B3_FORCE_INLINE b3Quaternion 
-b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
+B3_FORCE_INLINE b3Quaternion
+b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1)  // Game Programming Gems 2.10. make sure v0,v1 are normalized
 {
 	b3Vector3 c = v0.cross(v1);
-	b3Scalar  d = v0.dot(v1);
+	b3Scalar d = v0.dot(v1);
 
 	if (d < -1.0 + B3_EPSILON)
 	{
-		b3Vector3 n,unused;
-		b3PlaneSpace1(v0,n,unused);
-		return b3Quaternion(n.getX(),n.getY(),n.getZ(),0.0f); // just pick any vector that is orthogonal to v0
+		b3Vector3 n, unused;
+		b3PlaneSpace1(v0, n, unused);
+		return b3Quaternion(n.getX(), n.getY(), n.getZ(), 0.0f);  // just pick any vector that is orthogonal to v0
 	}
 
-	b3Scalar  s = b3Sqrt((1.0f + d) * 2.0f);
+	b3Scalar s = b3Sqrt((1.0f + d) * 2.0f);
 	b3Scalar rs = 1.0f / s;
 
-	return b3Quaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
-	
+	return b3Quaternion(c.getX() * rs, c.getY() * rs, c.getZ() * rs, s * 0.5f);
 }
 
-B3_FORCE_INLINE b3Quaternion 
-b3ShortestArcQuatNormalize2(b3Vector3& v0,b3Vector3& v1)
+B3_FORCE_INLINE b3Quaternion
+b3ShortestArcQuatNormalize2(b3Vector3& v0, b3Vector3& v1)
 {
 	v0.normalize();
 	v1.normalize();
-	return b3ShortestArcQuat(v0,v1);
+	return b3ShortestArcQuat(v0, v1);
 }
 
-#endif //B3_SIMD__QUATERNION_H_
-
-
-
+#endif  //B3_SIMD__QUATERNION_H_
diff --git a/thirdparty/bullet/Bullet3Common/b3Random.h b/thirdparty/bullet/Bullet3Common/b3Random.h
index dc040f1562..c2e21496c7 100644
--- a/thirdparty/bullet/Bullet3Common/b3Random.h
+++ b/thirdparty/bullet/Bullet3Common/b3Random.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_GEN_RANDOM_H
 #define B3_GEN_RANDOM_H
 
@@ -26,8 +24,8 @@ subject to the following restrictions:
 
 #define B3_RAND_MAX UINT_MAX
 
-B3_FORCE_INLINE void         b3Srand(unsigned int seed) { init_genrand(seed); }
-B3_FORCE_INLINE unsigned int b3rand()                   { return genrand_int32(); }
+B3_FORCE_INLINE void b3Srand(unsigned int seed) { init_genrand(seed); }
+B3_FORCE_INLINE unsigned int b3rand() { return genrand_int32(); }
 
 #else
 
@@ -35,8 +33,8 @@ B3_FORCE_INLINE unsigned int b3rand()                   { return genrand_int32()
 
 #define B3_RAND_MAX RAND_MAX
 
-B3_FORCE_INLINE void         b3Srand(unsigned int seed) { srand(seed); } 
-B3_FORCE_INLINE unsigned int b3rand()                   { return rand(); }
+B3_FORCE_INLINE void b3Srand(unsigned int seed) { srand(seed); }
+B3_FORCE_INLINE unsigned int b3rand() { return rand(); }
 
 #endif
 
@@ -45,6 +43,4 @@ inline b3Scalar b3RandRange(b3Scalar minRange, b3Scalar maxRange)
 	return (b3rand() / (b3Scalar(B3_RAND_MAX) + b3Scalar(1.0))) * (maxRange - minRange) + minRange;
 }
 
-
-#endif //B3_GEN_RANDOM_H
-
+#endif  //B3_GEN_RANDOM_H
diff --git a/thirdparty/bullet/Bullet3Common/b3ResizablePool.h b/thirdparty/bullet/Bullet3Common/b3ResizablePool.h
index 06ad8a778d..cafe3ff396 100644
--- a/thirdparty/bullet/Bullet3Common/b3ResizablePool.h
+++ b/thirdparty/bullet/Bullet3Common/b3ResizablePool.h
@@ -4,10 +4,10 @@
 
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
-enum 
+enum
 {
-	B3_POOL_HANDLE_TERMINAL_FREE=-1,
-	B3_POOL_HANDLE_TERMINAL_USED =-2
+	B3_POOL_HANDLE_TERMINAL_FREE = -1,
+	B3_POOL_HANDLE_TERMINAL_USED = -2
 };
 
 template <typename U>
@@ -20,25 +20,23 @@ struct b3PoolBodyHandle : public U
 	{
 		m_nextFreeHandle = next;
 	}
-	int	getNextFree() const
+	int getNextFree() const
 	{
 		return m_nextFreeHandle;
 	}
 };
 
-template <typename T> 
+template <typename T>
 class b3ResizablePool
 {
-
 protected:
-	b3AlignedObjectArray<T>	m_bodyHandles;
-	int m_numUsedHandles;						// number of active handles
-	int	m_firstFreeHandle;		// free handles list
+	b3AlignedObjectArray<T> m_bodyHandles;
+	int m_numUsedHandles;   // number of active handles
+	int m_firstFreeHandle;  // free handles list
 
 	T* getHandleInternal(int handle)
 	{
 		return &m_bodyHandles[handle];
-
 	}
 	const T* getHandleInternal(int handle) const
 	{
@@ -46,17 +44,16 @@ protected:
 	}
 
 public:
-	
 	b3ResizablePool()
 	{
 		initHandles();
 	}
-	
+
 	virtual ~b3ResizablePool()
 	{
 		exitHandles();
 	}
-///handle management
+	///handle management
 
 	int getNumHandles() const
 	{
@@ -65,44 +62,40 @@ public:
 
 	void getUsedHandles(b3AlignedObjectArray<int>& usedHandles) const
 	{
-
-		for (int i=0;i<m_bodyHandles.size();i++)
+		for (int i = 0; i < m_bodyHandles.size(); i++)
 		{
-			if (m_bodyHandles[i].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+			if (m_bodyHandles[i].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
 			{
 				usedHandles.push_back(i);
 			}
 		}
 	}
 
-	
-
 	T* getHandle(int handle)
 	{
-		b3Assert(handle>=0);
-		b3Assert(handle<m_bodyHandles.size());
-		if ((handle<0) || (handle>=m_bodyHandles.size()))
+		b3Assert(handle >= 0);
+		b3Assert(handle < m_bodyHandles.size());
+		if ((handle < 0) || (handle >= m_bodyHandles.size()))
 		{
 			return 0;
 		}
 
-		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
 		{
 			return &m_bodyHandles[handle];
 		}
 		return 0;
-
 	}
 	const T* getHandle(int handle) const
 	{
-		b3Assert(handle>=0);
-		b3Assert(handle<m_bodyHandles.size());
-		if ((handle<0) || (handle>=m_bodyHandles.size()))
+		b3Assert(handle >= 0);
+		b3Assert(handle < m_bodyHandles.size());
+		if ((handle < 0) || (handle >= m_bodyHandles.size()))
 		{
 			return 0;
 		}
 
-		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
 		{
 			return &m_bodyHandles[handle];
 		}
@@ -120,7 +113,6 @@ public:
 			for (int i = curCapacity; i < newCapacity; i++)
 				m_bodyHandles[i].setNextFree(i + 1);
 
-
 			m_bodyHandles[newCapacity - 1].setNextFree(-1);
 		}
 		m_firstFreeHandle = curCapacity;
@@ -142,19 +134,18 @@ public:
 
 	int allocHandle()
 	{
-		b3Assert(m_firstFreeHandle>=0);
+		b3Assert(m_firstFreeHandle >= 0);
 
 		int handle = m_firstFreeHandle;
 		m_firstFreeHandle = getHandleInternal(handle)->getNextFree();
 		m_numUsedHandles++;
 
-		if (m_firstFreeHandle<0)
+		if (m_firstFreeHandle < 0)
 		{
 			//int curCapacity = m_bodyHandles.size();
-			int additionalCapacity= m_bodyHandles.size();
+			int additionalCapacity = m_bodyHandles.size();
 			increaseHandleCapacity(additionalCapacity);
 
-
 			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
 		}
 		getHandleInternal(handle)->setNextFree(B3_POOL_HANDLE_TERMINAL_USED);
@@ -162,12 +153,11 @@ public:
 		return handle;
 	}
 
-
 	void freeHandle(int handle)
 	{
 		b3Assert(handle >= 0);
 
-		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		if (m_bodyHandles[handle].getNextFree() == B3_POOL_HANDLE_TERMINAL_USED)
 		{
 			getHandleInternal(handle)->clear();
 			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
@@ -176,7 +166,6 @@ public:
 		}
 	}
 };
-	///end handle management
-	
-	#endif //B3_RESIZABLE_POOL_H
-	
\ No newline at end of file
+///end handle management
+
+#endif  //B3_RESIZABLE_POOL_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h
index dbc7fea397..0db5eb6f4f 100644
--- a/thirdparty/bullet/Bullet3Common/b3Scalar.h
+++ b/thirdparty/bullet/Bullet3Common/b3Scalar.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_SCALAR_H
 #define B3_SCALAR_H
 
@@ -22,238 +20,252 @@ subject to the following restrictions:
 #pragma unmanaged
 #endif
 
-
-
 #include <math.h>
-#include <stdlib.h>//size_t for MSVC 6.0
+#include <stdlib.h>  //size_t for MSVC 6.0
 #include <float.h>
 
 //Original repository is at http://github.com/erwincoumans/bullet3
 #define B3_BULLET_VERSION 300
 
-inline int	b3GetVersion()
+inline int b3GetVersion()
 {
 	return B3_BULLET_VERSION;
 }
 
-#if defined(DEBUG) || defined (_DEBUG)
+#if defined(DEBUG) || defined(_DEBUG)
 #define B3_DEBUG
 #endif
 
-#include "b3Logging.h"//for b3Error
-
+#include "b3Logging.h"  //for b3Error
 
 #ifdef _WIN32
 
-		#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
+#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300)
 
-			#define B3_FORCE_INLINE inline
-			#define B3_ATTRIBUTE_ALIGNED16(a) a
-			#define B3_ATTRIBUTE_ALIGNED64(a) a
-			#define B3_ATTRIBUTE_ALIGNED128(a) a
-		#else
-			//#define B3_HAS_ALIGNED_ALLOCATOR
-			#pragma warning(disable : 4324) // disable padding warning
+#define B3_FORCE_INLINE inline
+#define B3_ATTRIBUTE_ALIGNED16(a) a
+#define B3_ATTRIBUTE_ALIGNED64(a) a
+#define B3_ATTRIBUTE_ALIGNED128(a) a
+#else
+//#define B3_HAS_ALIGNED_ALLOCATOR
+#pragma warning(disable : 4324)  // disable padding warning
 //			#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
-			#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
+#pragma warning(disable : 4996)  //Turn off warnings about deprecated C routines
 //			#pragma warning(disable:4786) // Disable the "debug name too long" warning
 
-			#define B3_FORCE_INLINE __forceinline
-			#define B3_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
-			#define B3_ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
-			#define B3_ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
-		#ifdef _XBOX
-			#define B3_USE_VMX128
-
-			#include <ppcintrinsics.h>
- 			#define B3_HAVE_NATIVE_FSEL
- 			#define b3Fsel(a,b,c) __fsel((a),(b),(c))
-		#else
-
-#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (B3_USE_DOUBLE_PRECISION))
-	#if (defined (_M_IX86) || defined (_M_X64))
-			#define B3_USE_SSE
-			#ifdef B3_USE_SSE
-			//B3_USE_SSE_IN_API is disabled under Windows by default, because 
-			//it makes it harder to integrate Bullet into your application under Windows 
-			//(structured embedding Bullet structs/classes need to be 16-byte aligned)
-			//with relatively little performance gain
-			//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
-			//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
-			//#define B3_USE_SSE_IN_API
-			#endif //B3_USE_SSE
-			#include <emmintrin.h>
-	#endif
+#define B3_FORCE_INLINE __forceinline
+#define B3_ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+#define B3_ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
+#define B3_ATTRIBUTE_ALIGNED128(a) __declspec(align(128)) a
+#ifdef _XBOX
+#define B3_USE_VMX128
+
+#include <ppcintrinsics.h>
+#define B3_HAVE_NATIVE_FSEL
+#define b3Fsel(a, b, c) __fsel((a), (b), (c))
+#else
+
+#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
+#if (defined(_M_IX86) || defined(_M_X64))
+#define B3_USE_SSE
+#ifdef B3_USE_SSE
+//B3_USE_SSE_IN_API is disabled under Windows by default, because
+//it makes it harder to integrate Bullet into your application under Windows
+//(structured embedding Bullet structs/classes need to be 16-byte aligned)
+//with relatively little performance gain
+//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
+//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
+//#define B3_USE_SSE_IN_API
+#endif  //B3_USE_SSE
+#include <emmintrin.h>
+#endif
 #endif
 
-		#endif//_XBOX
+#endif  //_XBOX
 
-		#endif //__MINGW32__
+#endif  //__MINGW32__
 
 #ifdef B3_DEBUG
-	#ifdef _MSC_VER
-		#include <stdio.h>
-		#define b3Assert(x) { if(!(x)){b3Error("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
-	#else//_MSC_VER
-		#include <assert.h>
-		#define b3Assert assert
-	#endif//_MSC_VER
+#ifdef _MSC_VER
+#include <stdio.h>
+#define b3Assert(x)               \
+	{                             \
+		if (!(x))                 \
+		{                         \
+			b3Error(              \
+				"Assert "__FILE__ \
+				":%u (" #x ")\n", \
+				__LINE__);        \
+			__debugbreak();       \
+		}                         \
+	}
+#else  //_MSC_VER
+#include <assert.h>
+#define b3Assert assert
+#endif  //_MSC_VER
 #else
-		#define b3Assert(x)
+#define b3Assert(x)
 #endif
-		//b3FullAssert is optional, slows down a lot
-		#define b3FullAssert(x)
+//b3FullAssert is optional, slows down a lot
+#define b3FullAssert(x)
 
-		#define b3Likely(_c)  _c
-		#define b3Unlikely(_c) _c
+#define b3Likely(_c) _c
+#define b3Unlikely(_c) _c
 
 #else
-	
-#if defined	(__CELLOS_LV2__)
-		#define B3_FORCE_INLINE inline __attribute__((always_inline))
-		#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-		#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-		#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-		#ifndef assert
-		#include <assert.h>
-		#endif
+
+#if defined(__CELLOS_LV2__)
+#define B3_FORCE_INLINE inline __attribute__((always_inline))
+#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
+#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
+#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
+#ifndef assert
+#include <assert.h>
+#endif
 #ifdef B3_DEBUG
 #ifdef __SPU__
 #include <spu_printf.h>
 #define printf spu_printf
-	#define b3Assert(x) {if(!(x)){b3Error("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
+#define b3Assert(x)               \
+	{                             \
+		if (!(x))                 \
+		{                         \
+			b3Error(              \
+				"Assert "__FILE__ \
+				":%u (" #x ")\n", \
+				__LINE__);        \
+			spu_hcmpeq(0, 0);     \
+		}                         \
+	}
 #else
-	#define b3Assert assert
+#define b3Assert assert
 #endif
-	
+
 #else
-		#define b3Assert(x)
+#define b3Assert(x)
 #endif
-		//b3FullAssert is optional, slows down a lot
-		#define b3FullAssert(x)
+//b3FullAssert is optional, slows down a lot
+#define b3FullAssert(x)
 
-		#define b3Likely(_c)  _c
-		#define b3Unlikely(_c) _c
+#define b3Likely(_c) _c
+#define b3Unlikely(_c) _c
 
 #else
 
 #ifdef USE_LIBSPE2
 
-		#define B3_FORCE_INLINE __inline
-		#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-		#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-		#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-		#ifndef assert
-		#include <assert.h>
-		#endif
+#define B3_FORCE_INLINE __inline
+#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
+#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
+#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
+#ifndef assert
+#include <assert.h>
+#endif
 #ifdef B3_DEBUG
-		#define b3Assert assert
+#define b3Assert assert
 #else
-		#define b3Assert(x)
+#define b3Assert(x)
 #endif
-		//b3FullAssert is optional, slows down a lot
-		#define b3FullAssert(x)
+//b3FullAssert is optional, slows down a lot
+#define b3FullAssert(x)
 
+#define b3Likely(_c) __builtin_expect((_c), 1)
+#define b3Unlikely(_c) __builtin_expect((_c), 0)
 
-		#define b3Likely(_c)   __builtin_expect((_c), 1)
-		#define b3Unlikely(_c) __builtin_expect((_c), 0)
-		
-
 #else
-	//non-windows systems
-
-#if (defined (__APPLE__) && (!defined (B3_USE_DOUBLE_PRECISION)))
-    #if defined (__i386__) || defined (__x86_64__)
-        #define B3_USE_SSE
-		//B3_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
-		//if apps run into issues, we will disable the next line
-		#define B3_USE_SSE_IN_API
-        #ifdef B3_USE_SSE
-            // include appropriate SSE level
-            #if defined (__SSE4_1__)
-                #include <smmintrin.h>
-            #elif defined (__SSSE3__)
-                #include <tmmintrin.h>
-            #elif defined (__SSE3__)
-                #include <pmmintrin.h>
-            #else
-                #include <emmintrin.h>
-            #endif
-        #endif //B3_USE_SSE
-    #elif defined( __armv7__ )
-        #ifdef __clang__
-            #define B3_USE_NEON 1
-
-            #if defined B3_USE_NEON && defined (__clang__)
-                #include <arm_neon.h>
-            #endif//B3_USE_NEON
-       #endif //__clang__
-    #endif//__arm__
-
-	#define B3_FORCE_INLINE inline __attribute__ ((always_inline))
+//non-windows systems
+
+#if (defined(__APPLE__) && (!defined(B3_USE_DOUBLE_PRECISION)))
+#if defined(__i386__) || defined(__x86_64__)
+#define B3_USE_SSE
+//B3_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
+//if apps run into issues, we will disable the next line
+#define B3_USE_SSE_IN_API
+#ifdef B3_USE_SSE
+// include appropriate SSE level
+#if defined(__SSE4_1__)
+#include <smmintrin.h>
+#elif defined(__SSSE3__)
+#include <tmmintrin.h>
+#elif defined(__SSE3__)
+#include <pmmintrin.h>
+#else
+#include <emmintrin.h>
+#endif
+#endif  //B3_USE_SSE
+#elif defined(__armv7__)
+#ifdef __clang__
+#define B3_USE_NEON 1
+
+#if defined B3_USE_NEON && defined(__clang__)
+#include <arm_neon.h>
+#endif  //B3_USE_NEON
+#endif  //__clang__
+#endif  //__arm__
+
+#define B3_FORCE_INLINE inline __attribute__((always_inline))
 ///@todo: check out alignment methods for other platforms/compilers
-	#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-	#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-	#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-	#ifndef assert
-	#include <assert.h>
-	#endif
-
-	#if defined(DEBUG) || defined (_DEBUG)
-	 #if defined (__i386__) || defined (__x86_64__)
-	#include <stdio.h>
-	 #define b3Assert(x)\
-	{\
-	if(!(x))\
-	{\
-		b3Error("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
-		asm volatile ("int3");\
-	}\
+#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
+#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
+#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
+#ifndef assert
+#include <assert.h>
+#endif
+
+#if defined(DEBUG) || defined(_DEBUG)
+#if defined(__i386__) || defined(__x86_64__)
+#include <stdio.h>
+#define b3Assert(x)                                                             \
+	{                                                                           \
+		if (!(x))                                                               \
+		{                                                                       \
+			b3Error("Assert %s in line %d, file %s\n", #x, __LINE__, __FILE__); \
+			asm volatile("int3");                                               \
+		}                                                                       \
 	}
-	#else//defined (__i386__) || defined (__x86_64__)
-		#define b3Assert assert
-	#endif//defined (__i386__) || defined (__x86_64__)
-	#else//defined(DEBUG) || defined (_DEBUG)
-		#define b3Assert(x)
-	#endif//defined(DEBUG) || defined (_DEBUG)
-
-	//b3FullAssert is optional, slows down a lot
-	#define b3FullAssert(x)
-	#define b3Likely(_c)  _c
-	#define b3Unlikely(_c) _c
+#else  //defined (__i386__) || defined (__x86_64__)
+#define b3Assert assert
+#endif  //defined (__i386__) || defined (__x86_64__)
+#else   //defined(DEBUG) || defined (_DEBUG)
+#define b3Assert(x)
+#endif  //defined(DEBUG) || defined (_DEBUG)
+
+//b3FullAssert is optional, slows down a lot
+#define b3FullAssert(x)
+#define b3Likely(_c) _c
+#define b3Unlikely(_c) _c
 
 #else
 
-		#define B3_FORCE_INLINE inline
-		///@todo: check out alignment methods for other platforms/compilers
-		#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
-		#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
-		#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
-		///#define B3_ATTRIBUTE_ALIGNED16(a) a
-		///#define B3_ATTRIBUTE_ALIGNED64(a) a
-		///#define B3_ATTRIBUTE_ALIGNED128(a) a
-		#ifndef assert
-		#include <assert.h>
-		#endif
-
-#if defined(DEBUG) || defined (_DEBUG)
-		#define b3Assert assert
+#define B3_FORCE_INLINE inline
+///@todo: check out alignment methods for other platforms/compilers
+#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16)))
+#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64)))
+#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128)))
+///#define B3_ATTRIBUTE_ALIGNED16(a) a
+///#define B3_ATTRIBUTE_ALIGNED64(a) a
+///#define B3_ATTRIBUTE_ALIGNED128(a) a
+#ifndef assert
+#include <assert.h>
+#endif
+
+#if defined(DEBUG) || defined(_DEBUG)
+#define b3Assert assert
 #else
-		#define b3Assert(x)
+#define b3Assert(x)
 #endif
 
-		//b3FullAssert is optional, slows down a lot
-		#define b3FullAssert(x)
-		#define b3Likely(_c)  _c
-		#define b3Unlikely(_c) _c
-#endif //__APPLE__ 
+//b3FullAssert is optional, slows down a lot
+#define b3FullAssert(x)
+#define b3Likely(_c) _c
+#define b3Unlikely(_c) _c
+#endif  //__APPLE__
 
-#endif // LIBSPE2
+#endif  // LIBSPE2
 
-#endif	//__CELLOS_LV2__
+#endif  //__CELLOS_LV2__
 #endif
 
-
 ///The b3Scalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
 #if defined(B3_USE_DOUBLE_PRECISION)
 typedef double b3Scalar;
@@ -267,34 +279,34 @@ typedef float b3Scalar;
 
 #ifdef B3_USE_SSE
 typedef __m128 b3SimdFloat4;
-#endif//B3_USE_SSE
+#endif  //B3_USE_SSE
 
-#if defined B3_USE_SSE_IN_API && defined (B3_USE_SSE)
+#if defined B3_USE_SSE_IN_API && defined(B3_USE_SSE)
 #ifdef _WIN32
 
 #ifndef B3_NAN
 static int b3NanMask = 0x7F800001;
-#define B3_NAN (*(float*)&b3NanMask)
+#define B3_NAN (*(float *)&b3NanMask)
 #endif
 
 #ifndef B3_INFINITY_MASK
-static  int b3InfinityMask = 0x7F800000;
-#define B3_INFINITY_MASK (*(float*)&b3InfinityMask)
+static int b3InfinityMask = 0x7F800000;
+#define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
 #endif
 
-inline __m128 operator + (const __m128 A, const __m128 B)
+inline __m128 operator+(const __m128 A, const __m128 B)
 {
-    return _mm_add_ps(A, B);
+	return _mm_add_ps(A, B);
 }
 
-inline __m128 operator - (const __m128 A, const __m128 B)
+inline __m128 operator-(const __m128 A, const __m128 B)
 {
-    return _mm_sub_ps(A, B);
+	return _mm_sub_ps(A, B);
 }
 
-inline __m128 operator * (const __m128 A, const __m128 B)
+inline __m128 operator*(const __m128 A, const __m128 B)
 {
-    return _mm_mul_ps(A, B);
+	return _mm_mul_ps(A, B);
 }
 
 #define b3CastfTo128i(a) (_mm_castps_si128(a))
@@ -302,18 +314,19 @@ inline __m128 operator * (const __m128 A, const __m128 B)
 #define b3CastiTo128f(a) (_mm_castsi128_ps(a))
 #define b3CastdTo128f(a) (_mm_castpd_ps(a))
 #define b3CastdTo128i(a) (_mm_castpd_si128(a))
-#define b3Assign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3)
+#define b3Assign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3)
 
-#else//_WIN32
+#else  //_WIN32
 
 #define b3CastfTo128i(a) ((__m128i)(a))
 #define b3CastfTo128d(a) ((__m128d)(a))
-#define b3CastiTo128f(a)  ((__m128) (a))
-#define b3CastdTo128f(a) ((__m128) (a))
+#define b3CastiTo128f(a) ((__m128)(a))
+#define b3CastdTo128f(a) ((__m128)(a))
 #define b3CastdTo128i(a) ((__m128i)(a))
-#define b3Assign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3}
-#endif//_WIN32
-#endif //B3_USE_SSE_IN_API
+#define b3Assign128(r0, r1, r2, r3) \
+	(__m128) { r0, r1, r2, r3 }
+#endif  //_WIN32
+#endif  //B3_USE_SSE_IN_API
 
 #ifdef B3_USE_NEON
 #include <arm_neon.h>
@@ -321,142 +334,160 @@ inline __m128 operator * (const __m128 A, const __m128 B)
 typedef float32x4_t b3SimdFloat4;
 #define B3_INFINITY INFINITY
 #define B3_NAN NAN
-#define b3Assign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3}
+#define b3Assign128(r0, r1, r2, r3) \
+	(float32x4_t) { r0, r1, r2, r3 }
 #endif
 
-
-
-
-
-#define B3_DECLARE_ALIGNED_ALLOCATOR() \
-   B3_FORCE_INLINE void* operator new(size_t sizeInBytes)   { return b3AlignedAlloc(sizeInBytes,16); }   \
-   B3_FORCE_INLINE void  operator delete(void* ptr)         { b3AlignedFree(ptr); }   \
-   B3_FORCE_INLINE void* operator new(size_t, void* ptr)   { return ptr; }   \
-   B3_FORCE_INLINE void  operator delete(void*, void*)      { }   \
-   B3_FORCE_INLINE void* operator new[](size_t sizeInBytes)   { return b3AlignedAlloc(sizeInBytes,16); }   \
-   B3_FORCE_INLINE void  operator delete[](void* ptr)         { b3AlignedFree(ptr); }   \
-   B3_FORCE_INLINE void* operator new[](size_t, void* ptr)   { return ptr; }   \
-   B3_FORCE_INLINE void  operator delete[](void*, void*)      { }   \
-
-
+#define B3_DECLARE_ALIGNED_ALLOCATOR()                                                                   \
+	B3_FORCE_INLINE void *operator new(size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); }   \
+	B3_FORCE_INLINE void operator delete(void *ptr) { b3AlignedFree(ptr); }                              \
+	B3_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; }                                \
+	B3_FORCE_INLINE void operator delete(void *, void *) {}                                              \
+	B3_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return b3AlignedAlloc(sizeInBytes, 16); } \
+	B3_FORCE_INLINE void operator delete[](void *ptr) { b3AlignedFree(ptr); }                            \
+	B3_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; }                              \
+	B3_FORCE_INLINE void operator delete[](void *, void *) {}
 
 #if defined(B3_USE_DOUBLE_PRECISION) || defined(B3_FORCE_DOUBLE_FUNCTIONS)
-		
-B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x) { return sqrt(x); }
+
+B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar x)
+{
+	return sqrt(x);
+}
 B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabs(x); }
 B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cos(x); }
 B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sin(x); }
 B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tan(x); }
-B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) { if (x<b3Scalar(-1))	x=b3Scalar(-1); if (x>b3Scalar(1))	x=b3Scalar(1); return acos(x); }
-B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) { if (x<b3Scalar(-1))	x=b3Scalar(-1); if (x>b3Scalar(1))	x=b3Scalar(1); return asin(x); }
+B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x)
+{
+	if (x < b3Scalar(-1)) x = b3Scalar(-1);
+	if (x > b3Scalar(1)) x = b3Scalar(1);
+	return acos(x);
+}
+B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x)
+{
+	if (x < b3Scalar(-1)) x = b3Scalar(-1);
+	if (x > b3Scalar(1)) x = b3Scalar(1);
+	return asin(x);
+}
 B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atan(x); }
 B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2(x, y); }
 B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return exp(x); }
 B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return log(x); }
-B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x,b3Scalar y) { return pow(x,y); }
-B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x,b3Scalar y) { return fmod(x,y); }
+B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return pow(x, y); }
+B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmod(x, y); }
 
 #else
-		
-B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y) 
-{ 
+
+B3_FORCE_INLINE b3Scalar b3Sqrt(b3Scalar y)
+{
 #ifdef USE_APPROXIMATION
-    double x, z, tempf;
-    unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
+	double x, z, tempf;
+	unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
 
 	tempf = y;
-	*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
-	x =  tempf;
-	z =  y*b3Scalar(0.5);
-	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);         /* iteration formula     */
-	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
-	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
-	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
-	x = (b3Scalar(1.5)*x)-(x*x)*(x*z);
-	return x*y;
+	*tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */
+	x = tempf;
+	z = y * b3Scalar(0.5);
+	x = (b3Scalar(1.5) * x) - (x * x) * (x * z); /* iteration formula     */
+	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
+	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
+	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
+	x = (b3Scalar(1.5) * x) - (x * x) * (x * z);
+	return x * y;
 #else
-	return sqrtf(y); 
+	return sqrtf(y);
 #endif
 }
 B3_FORCE_INLINE b3Scalar b3Fabs(b3Scalar x) { return fabsf(x); }
 B3_FORCE_INLINE b3Scalar b3Cos(b3Scalar x) { return cosf(x); }
 B3_FORCE_INLINE b3Scalar b3Sin(b3Scalar x) { return sinf(x); }
 B3_FORCE_INLINE b3Scalar b3Tan(b3Scalar x) { return tanf(x); }
-B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x) { 
-	if (x<b3Scalar(-1))	
-		x=b3Scalar(-1); 
-	if (x>b3Scalar(1))	
-		x=b3Scalar(1);
-	return acosf(x); 
+B3_FORCE_INLINE b3Scalar b3Acos(b3Scalar x)
+{
+	if (x < b3Scalar(-1))
+		x = b3Scalar(-1);
+	if (x > b3Scalar(1))
+		x = b3Scalar(1);
+	return acosf(x);
 }
-B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x) { 
-	if (x<b3Scalar(-1))	
-		x=b3Scalar(-1); 
-	if (x>b3Scalar(1))	
-		x=b3Scalar(1);
-	return asinf(x); 
+B3_FORCE_INLINE b3Scalar b3Asin(b3Scalar x)
+{
+	if (x < b3Scalar(-1))
+		x = b3Scalar(-1);
+	if (x > b3Scalar(1))
+		x = b3Scalar(1);
+	return asinf(x);
 }
 B3_FORCE_INLINE b3Scalar b3Atan(b3Scalar x) { return atanf(x); }
 B3_FORCE_INLINE b3Scalar b3Atan2(b3Scalar x, b3Scalar y) { return atan2f(x, y); }
 B3_FORCE_INLINE b3Scalar b3Exp(b3Scalar x) { return expf(x); }
 B3_FORCE_INLINE b3Scalar b3Log(b3Scalar x) { return logf(x); }
-B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x,b3Scalar y) { return powf(x,y); }
-B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x,b3Scalar y) { return fmodf(x,y); }
-	
+B3_FORCE_INLINE b3Scalar b3Pow(b3Scalar x, b3Scalar y) { return powf(x, y); }
+B3_FORCE_INLINE b3Scalar b3Fmod(b3Scalar x, b3Scalar y) { return fmodf(x, y); }
+
 #endif
 
-#define B3_2_PI         b3Scalar(6.283185307179586232)
-#define B3_PI           (B3_2_PI * b3Scalar(0.5))
-#define B3_HALF_PI      (B3_2_PI * b3Scalar(0.25))
+#define B3_2_PI b3Scalar(6.283185307179586232)
+#define B3_PI (B3_2_PI * b3Scalar(0.5))
+#define B3_HALF_PI (B3_2_PI * b3Scalar(0.25))
 #define B3_RADS_PER_DEG (B3_2_PI / b3Scalar(360.0))
-#define B3_DEGS_PER_RAD  (b3Scalar(360.0) / B3_2_PI)
+#define B3_DEGS_PER_RAD (b3Scalar(360.0) / B3_2_PI)
 #define B3_SQRT12 b3Scalar(0.7071067811865475244008443621048490)
 
-#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0)/b3Sqrt(b3Scalar(x))))		/* reciprocal square root */
-
+#define b3RecipSqrt(x) ((b3Scalar)(b3Scalar(1.0) / b3Sqrt(b3Scalar(x)))) /* reciprocal square root */
 
 #ifdef B3_USE_DOUBLE_PRECISION
-#define B3_EPSILON      DBL_EPSILON
-#define B3_INFINITY     DBL_MAX
+#define B3_EPSILON DBL_EPSILON
+#define B3_INFINITY DBL_MAX
 #else
-#define B3_EPSILON      FLT_EPSILON
-#define B3_INFINITY     FLT_MAX
+#define B3_EPSILON FLT_EPSILON
+#define B3_INFINITY FLT_MAX
 #endif
 
-B3_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x) 
+B3_FORCE_INLINE b3Scalar b3Atan2Fast(b3Scalar y, b3Scalar x)
 {
 	b3Scalar coeff_1 = B3_PI / 4.0f;
 	b3Scalar coeff_2 = 3.0f * coeff_1;
 	b3Scalar abs_y = b3Fabs(y);
 	b3Scalar angle;
-	if (x >= 0.0f) {
+	if (x >= 0.0f)
+	{
 		b3Scalar r = (x - abs_y) / (x + abs_y);
 		angle = coeff_1 - coeff_1 * r;
-	} else {
+	}
+	else
+	{
 		b3Scalar r = (x + abs_y) / (abs_y - x);
 		angle = coeff_2 - coeff_1 * r;
 	}
 	return (y < 0.0f) ? -angle : angle;
 }
 
-B3_FORCE_INLINE bool      b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < B3_EPSILON; }
+B3_FORCE_INLINE bool b3FuzzyZero(b3Scalar x) { return b3Fabs(x) < B3_EPSILON; }
 
-B3_FORCE_INLINE bool	b3Equal(b3Scalar a, b3Scalar eps) {
+B3_FORCE_INLINE bool b3Equal(b3Scalar a, b3Scalar eps)
+{
 	return (((a) <= eps) && !((a) < -eps));
 }
-B3_FORCE_INLINE bool	b3GreaterEqual (b3Scalar a, b3Scalar eps) {
+B3_FORCE_INLINE bool b3GreaterEqual(b3Scalar a, b3Scalar eps)
+{
 	return (!((a) <= eps));
 }
 
-
-B3_FORCE_INLINE int       b3IsNegative(b3Scalar x) {
-    return x < b3Scalar(0.0) ? 1 : 0;
+B3_FORCE_INLINE int b3IsNegative(b3Scalar x)
+{
+	return x < b3Scalar(0.0) ? 1 : 0;
 }
 
 B3_FORCE_INLINE b3Scalar b3Radians(b3Scalar x) { return x * B3_RADS_PER_DEG; }
 B3_FORCE_INLINE b3Scalar b3Degrees(b3Scalar x) { return x * B3_DEGS_PER_RAD; }
 
-#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+#define B3_DECLARE_HANDLE(name) \
+	typedef struct name##__     \
+	{                           \
+		int unused;             \
+	} * name
 
 #ifndef b3Fsel
 B3_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c)
@@ -464,60 +495,57 @@ B3_FORCE_INLINE b3Scalar b3Fsel(b3Scalar a, b3Scalar b, b3Scalar c)
 	return a >= 0 ? b : c;
 }
 #endif
-#define b3Fsels(a,b,c) (b3Scalar)b3Fsel(a,b,c)
-
+#define b3Fsels(a, b, c) (b3Scalar) b3Fsel(a, b, c)
 
 B3_FORCE_INLINE bool b3MachineIsLittleEndian()
 {
-   long int i = 1;
-   const char *p = (const char *) &i;
-   if (p[0] == 1)  // Lowest address contains the least significant byte
-	   return true;
-   else
-	   return false;
+	long int i = 1;
+	const char *p = (const char *)&i;
+	if (p[0] == 1)  // Lowest address contains the least significant byte
+		return true;
+	else
+		return false;
 }
 
-
-
 ///b3Select avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360
 ///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html
-B3_FORCE_INLINE unsigned b3Select(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) 
+B3_FORCE_INLINE unsigned b3Select(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
 {
-    // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
-    // Rely on positive value or'ed with its negative having sign bit on
-    // and zero value or'ed with its negative (which is still zero) having sign bit off 
-    // Use arithmetic shift right, shifting the sign bit through all 32 bits
-    unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-    unsigned testEqz = ~testNz;
-    return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); 
+	// Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero
+	// Rely on positive value or'ed with its negative having sign bit on
+	// and zero value or'ed with its negative (which is still zero) having sign bit off
+	// Use arithmetic shift right, shifting the sign bit through all 32 bits
+	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
+	unsigned testEqz = ~testNz;
+	return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
 }
 B3_FORCE_INLINE int b3Select(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero)
 {
-    unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
-    unsigned testEqz = ~testNz; 
-    return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
+	unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31);
+	unsigned testEqz = ~testNz;
+	return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz));
 }
 B3_FORCE_INLINE float b3Select(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero)
 {
 #ifdef B3_HAVE_NATIVE_FSEL
-    return (float)b3Fsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
+	return (float)b3Fsel((b3Scalar)condition - b3Scalar(1.0f), valueIfConditionNonZero, valueIfConditionZero);
 #else
-    return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; 
+	return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero;
 #endif
 }
 
-template<typename T> B3_FORCE_INLINE void b3Swap(T& a, T& b)
+template <typename T>
+B3_FORCE_INLINE void b3Swap(T &a, T &b)
 {
 	T tmp = a;
 	a = b;
 	b = tmp;
 }
 
-
 //PCK: endian swapping functions
 B3_FORCE_INLINE unsigned b3SwapEndian(unsigned val)
 {
-	return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8)  | ((val & 0x000000ff) << 24));
+	return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24));
 }
 
 B3_FORCE_INLINE unsigned short b3SwapEndian(unsigned short val)
@@ -532,87 +560,85 @@ B3_FORCE_INLINE unsigned b3SwapEndian(int val)
 
 B3_FORCE_INLINE unsigned short b3SwapEndian(short val)
 {
-	return b3SwapEndian((unsigned short) val);
+	return b3SwapEndian((unsigned short)val);
 }
 
 ///b3SwapFloat uses using char pointers to swap the endianness
 ////b3SwapFloat/b3SwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values
-///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. 
-///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. 
-///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. 
+///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754.
+///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception.
+///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you.
 ///so instead of returning a float/double, we return integer/long long integer
-B3_FORCE_INLINE unsigned int  b3SwapEndianFloat(float d)
+B3_FORCE_INLINE unsigned int b3SwapEndianFloat(float d)
 {
-    unsigned int a = 0;
-    unsigned char *dst = (unsigned char *)&a;
-    unsigned char *src = (unsigned char *)&d;
-
-    dst[0] = src[3];
-    dst[1] = src[2];
-    dst[2] = src[1];
-    dst[3] = src[0];
-    return a;
+	unsigned int a = 0;
+	unsigned char *dst = (unsigned char *)&a;
+	unsigned char *src = (unsigned char *)&d;
+
+	dst[0] = src[3];
+	dst[1] = src[2];
+	dst[2] = src[1];
+	dst[3] = src[0];
+	return a;
 }
 
 // unswap using char pointers
-B3_FORCE_INLINE float b3UnswapEndianFloat(unsigned int a) 
+B3_FORCE_INLINE float b3UnswapEndianFloat(unsigned int a)
 {
-    float d = 0.0f;
-    unsigned char *src = (unsigned char *)&a;
-    unsigned char *dst = (unsigned char *)&d;
+	float d = 0.0f;
+	unsigned char *src = (unsigned char *)&a;
+	unsigned char *dst = (unsigned char *)&d;
 
-    dst[0] = src[3];
-    dst[1] = src[2];
-    dst[2] = src[1];
-    dst[3] = src[0];
+	dst[0] = src[3];
+	dst[1] = src[2];
+	dst[2] = src[1];
+	dst[3] = src[0];
 
-    return d;
+	return d;
 }
 
-
 // swap using char pointers
-B3_FORCE_INLINE void  b3SwapEndianDouble(double d, unsigned char* dst)
+B3_FORCE_INLINE void b3SwapEndianDouble(double d, unsigned char *dst)
 {
-    unsigned char *src = (unsigned char *)&d;
-
-    dst[0] = src[7];
-    dst[1] = src[6];
-    dst[2] = src[5];
-    dst[3] = src[4];
-    dst[4] = src[3];
-    dst[5] = src[2];
-    dst[6] = src[1];
-    dst[7] = src[0];
-
+	unsigned char *src = (unsigned char *)&d;
+
+	dst[0] = src[7];
+	dst[1] = src[6];
+	dst[2] = src[5];
+	dst[3] = src[4];
+	dst[4] = src[3];
+	dst[5] = src[2];
+	dst[6] = src[1];
+	dst[7] = src[0];
 }
 
 // unswap using char pointers
-B3_FORCE_INLINE double b3UnswapEndianDouble(const unsigned char *src) 
+B3_FORCE_INLINE double b3UnswapEndianDouble(const unsigned char *src)
 {
-    double d = 0.0;
-    unsigned char *dst = (unsigned char *)&d;
-
-    dst[0] = src[7];
-    dst[1] = src[6];
-    dst[2] = src[5];
-    dst[3] = src[4];
-    dst[4] = src[3];
-    dst[5] = src[2];
-    dst[6] = src[1];
-    dst[7] = src[0];
+	double d = 0.0;
+	unsigned char *dst = (unsigned char *)&d;
+
+	dst[0] = src[7];
+	dst[1] = src[6];
+	dst[2] = src[5];
+	dst[3] = src[4];
+	dst[4] = src[3];
+	dst[5] = src[2];
+	dst[6] = src[1];
+	dst[7] = src[0];
 
 	return d;
 }
 
 // returns normalized value in range [-B3_PI, B3_PI]
-B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians) 
+B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians)
 {
 	angleInRadians = b3Fmod(angleInRadians, B3_2_PI);
-	if(angleInRadians < -B3_PI)
+	if (angleInRadians < -B3_PI)
 	{
 		return angleInRadians + B3_2_PI;
 	}
-	else if(angleInRadians > B3_PI)
+	else if (angleInRadians > B3_PI)
 	{
 		return angleInRadians - B3_2_PI;
 	}
@@ -626,38 +652,34 @@ B3_FORCE_INLINE b3Scalar b3NormalizeAngle(b3Scalar angleInRadians)
 struct b3TypedObject
 {
 	b3TypedObject(int objectType)
-		:m_objectType(objectType)
+		: m_objectType(objectType)
 	{
 	}
-	int	m_objectType;
+	int m_objectType;
 	inline int getObjectType() const
 	{
 		return m_objectType;
 	}
 };
 
-
-  
 ///align a pointer to the provided alignment, upwards
-template <typename T>T* b3AlignPointer(T* unalignedPtr, size_t alignment)
+template <typename T>
+T *b3AlignPointer(T *unalignedPtr, size_t alignment)
 {
-		
 	struct b3ConvertPointerSizeT
 	{
-		union 
-		{
-				T* ptr;
-				size_t integer;
+		union {
+			T *ptr;
+			size_t integer;
 		};
 	};
-    b3ConvertPointerSizeT converter;
-    
-    
+	b3ConvertPointerSizeT converter;
+
 	const size_t bit_mask = ~(alignment - 1);
-    converter.ptr = unalignedPtr;
-	converter.integer += alignment-1;
+	converter.ptr = unalignedPtr;
+	converter.integer += alignment - 1;
 	converter.integer &= bit_mask;
 	return converter.ptr;
 }
 
-#endif //B3_SCALAR_H
+#endif  //B3_SCALAR_H
diff --git a/thirdparty/bullet/Bullet3Common/b3StackAlloc.h b/thirdparty/bullet/Bullet3Common/b3StackAlloc.h
index de7de056b5..4972236ac7 100644
--- a/thirdparty/bullet/Bullet3Common/b3StackAlloc.h
+++ b/thirdparty/bullet/Bullet3Common/b3StackAlloc.h
@@ -20,97 +20,99 @@ Nov.2006
 #ifndef B3_STACK_ALLOC
 #define B3_STACK_ALLOC
 
-#include "b3Scalar.h" //for b3Assert
+#include "b3Scalar.h"  //for b3Assert
 #include "b3AlignedAllocator.h"
 
 ///The b3Block class is an internal structure for the b3StackAlloc memory allocator.
 struct b3Block
 {
-	b3Block*			previous;
-	unsigned char*		address;
+	b3Block* previous;
+	unsigned char* address;
 };
 
 ///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
 class b3StackAlloc
 {
 public:
+	b3StackAlloc(unsigned int size)
+	{
+		ctor();
+		create(size);
+	}
+	~b3StackAlloc() { destroy(); }
 
-	b3StackAlloc(unsigned int size)	{ ctor();create(size); }
-	~b3StackAlloc()		{ destroy(); }
-	
-	inline void		create(unsigned int size)
+	inline void create(unsigned int size)
 	{
 		destroy();
-		data		=  (unsigned char*) b3AlignedAlloc(size,16);
-		totalsize	=	size;
+		data = (unsigned char*)b3AlignedAlloc(size, 16);
+		totalsize = size;
 	}
-	inline void		destroy()
+	inline void destroy()
 	{
-		b3Assert(usedsize==0);
+		b3Assert(usedsize == 0);
 		//Raise(L"StackAlloc is still in use");
 
-		if(usedsize==0)
+		if (usedsize == 0)
 		{
-			if(!ischild && data)		
+			if (!ischild && data)
 				b3AlignedFree(data);
 
-			data				=	0;
-			usedsize			=	0;
+			data = 0;
+			usedsize = 0;
 		}
-		
 	}
 
-	int	getAvailableMemory() const
+	int getAvailableMemory() const
 	{
 		return static_cast<int>(totalsize - usedsize);
 	}
 
-	unsigned char*			allocate(unsigned int size)
+	unsigned char* allocate(unsigned int size)
 	{
-		const unsigned int	nus(usedsize+size);
-		if(nus<totalsize)
+		const unsigned int nus(usedsize + size);
+		if (nus < totalsize)
 		{
-			usedsize=nus;
-			return(data+(usedsize-size));
+			usedsize = nus;
+			return (data + (usedsize - size));
 		}
 		b3Assert(0);
 		//&& (L"Not enough memory"));
-		
-		return(0);
+
+		return (0);
 	}
-	B3_FORCE_INLINE b3Block*		beginBlock()
+	B3_FORCE_INLINE b3Block* beginBlock()
 	{
-		b3Block*	pb = (b3Block*)allocate(sizeof(b3Block));
-		pb->previous	=	current;
-		pb->address		=	data+usedsize;
-		current			=	pb;
-		return(pb);
+		b3Block* pb = (b3Block*)allocate(sizeof(b3Block));
+		pb->previous = current;
+		pb->address = data + usedsize;
+		current = pb;
+		return (pb);
 	}
-	B3_FORCE_INLINE void		endBlock(b3Block* block)
+	B3_FORCE_INLINE void endBlock(b3Block* block)
 	{
-		b3Assert(block==current);
+		b3Assert(block == current);
 		//Raise(L"Unmatched blocks");
-		if(block==current)
+		if (block == current)
 		{
-			current		=	block->previous;
-			usedsize	=	(unsigned int)((block->address-data)-sizeof(b3Block));
+			current = block->previous;
+			usedsize = (unsigned int)((block->address - data) - sizeof(b3Block));
 		}
 	}
 
 private:
-	void		ctor()
+	void ctor()
 	{
-		data		=	0;
-		totalsize	=	0;
-		usedsize	=	0;
-		current		=	0;
-		ischild		=	false;
+		data = 0;
+		totalsize = 0;
+		usedsize = 0;
+		current = 0;
+		ischild = false;
 	}
-	unsigned char*		data;
-	unsigned int		totalsize;
-	unsigned int		usedsize;
-	b3Block*	current;
-	bool		ischild;
+	unsigned char* data;
+	unsigned int totalsize;
+	unsigned int usedsize;
+	b3Block* current;
+	bool ischild;
 };
 
-#endif //B3_STACK_ALLOC
+#endif  //B3_STACK_ALLOC
diff --git a/thirdparty/bullet/Bullet3Common/b3Transform.h b/thirdparty/bullet/Bullet3Common/b3Transform.h
index fa480759be..149da9d148 100644
--- a/thirdparty/bullet/Bullet3Common/b3Transform.h
+++ b/thirdparty/bullet/Bullet3Common/b3Transform.h
@@ -12,11 +12,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_TRANSFORM_H
 #define B3_TRANSFORM_H
 
-
 #include "b3Matrix3x3.h"
 
 #ifdef B3_USE_DOUBLE_PRECISION
@@ -25,46 +23,45 @@ subject to the following restrictions:
 #define b3TransformData b3TransformFloatData
 #endif
 
-
-
-
 /**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear.
  *It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */
-B3_ATTRIBUTE_ALIGNED16(class) b3Transform {
-	
-  ///Storage for the rotation
+B3_ATTRIBUTE_ALIGNED16(class)
+b3Transform
+{
+	///Storage for the rotation
 	b3Matrix3x3 m_basis;
-  ///Storage for the translation
-	b3Vector3   m_origin;
+	///Storage for the translation
+	b3Vector3 m_origin;
 
 public:
-	
-  /**@brief No initialization constructor */
+	/**@brief No initialization constructor */
 	b3Transform() {}
-  /**@brief Constructor from b3Quaternion (optional b3Vector3 )
+	/**@brief Constructor from b3Quaternion (optional b3Vector3 )
    * @param q Rotation from quaternion 
    * @param c Translation from Vector (default 0,0,0) */
-	explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q, 
-		const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0))) 
+	explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q,
+										 const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
 		: m_basis(q),
-		m_origin(c)
-	{}
+		  m_origin(c)
+	{
+	}
 
-  /**@brief Constructor from b3Matrix3x3 (optional b3Vector3)
+	/**@brief Constructor from b3Matrix3x3 (optional b3Vector3)
    * @param b Rotation from Matrix 
    * @param c Translation from Vector default (0,0,0)*/
-	explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b, 
-		const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
+	explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b,
+										 const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
 		: m_basis(b),
-		m_origin(c)
-	{}
-  /**@brief Copy constructor */
-	B3_FORCE_INLINE b3Transform (const b3Transform& other)
+		  m_origin(c)
+	{
+	}
+	/**@brief Copy constructor */
+	B3_FORCE_INLINE b3Transform(const b3Transform& other)
 		: m_basis(other.m_basis),
-		m_origin(other.m_origin)
+		  m_origin(other.m_origin)
 	{
 	}
-  /**@brief Assignment Operator */
+	/**@brief Assignment Operator */
 	B3_FORCE_INLINE b3Transform& operator=(const b3Transform& other)
 	{
 		m_basis = other.m_basis;
@@ -72,70 +69,70 @@ public:
 		return *this;
 	}
 
-
-  /**@brief Set the current transform as the value of the product of two transforms
+	/**@brief Set the current transform as the value of the product of two transforms
    * @param t1 Transform 1
    * @param t2 Transform 2
    * This = Transform1 * Transform2 */
-		B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2) {
-			m_basis = t1.m_basis * t2.m_basis;
-			m_origin = t1(t2.m_origin);
-		}
+	B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2)
+	{
+		m_basis = t1.m_basis * t2.m_basis;
+		m_origin = t1(t2.m_origin);
+	}
 
-/*		void multInverseLeft(const b3Transform& t1, const b3Transform& t2) {
+	/*		void multInverseLeft(const b3Transform& t1, const b3Transform& t2) {
 			b3Vector3 v = t2.m_origin - t1.m_origin;
 			m_basis = b3MultTransposeLeft(t1.m_basis, t2.m_basis);
 			m_origin = v * t1.m_basis;
 		}
 		*/
 
-/**@brief Return the transform of the vector */
+	/**@brief Return the transform of the vector */
 	B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const
 	{
-        return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
+		return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
 	}
 
-  /**@brief Return the transform of the vector */
+	/**@brief Return the transform of the vector */
 	B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const
 	{
 		return (*this)(x);
 	}
 
-  /**@brief Return the transform of the b3Quaternion */
+	/**@brief Return the transform of the b3Quaternion */
 	B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const
 	{
 		return getRotation() * q;
 	}
 
-  /**@brief Return the basis matrix for the rotation */
-	B3_FORCE_INLINE b3Matrix3x3&       getBasis()          { return m_basis; }
-  /**@brief Return the basis matrix for the rotation */
-	B3_FORCE_INLINE const b3Matrix3x3& getBasis()    const { return m_basis; }
+	/**@brief Return the basis matrix for the rotation */
+	B3_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; }
+	/**@brief Return the basis matrix for the rotation */
+	B3_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; }
 
-  /**@brief Return the origin vector translation */
-	B3_FORCE_INLINE b3Vector3&         getOrigin()         { return m_origin; }
-  /**@brief Return the origin vector translation */
-	B3_FORCE_INLINE const b3Vector3&   getOrigin()   const { return m_origin; }
+	/**@brief Return the origin vector translation */
+	B3_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; }
+	/**@brief Return the origin vector translation */
+	B3_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; }
 
-  /**@brief Return a quaternion representing the rotation */
-	b3Quaternion getRotation() const { 
+	/**@brief Return a quaternion representing the rotation */
+	b3Quaternion getRotation() const
+	{
 		b3Quaternion q;
 		m_basis.getRotation(q);
 		return q;
 	}
-	
-	
-  /**@brief Set from an array 
+
+	/**@brief Set from an array 
    * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void setFromOpenGLMatrix(const b3Scalar *m)
+	void setFromOpenGLMatrix(const b3Scalar* m)
 	{
 		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin.setValue(m[12],m[13],m[14]);
+		m_origin.setValue(m[12], m[13], m[14]);
 	}
 
-  /**@brief Fill an array representation
+	/**@brief Fill an array representation
    * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void getOpenGLMatrix(b3Scalar *m) const 
+	void getOpenGLMatrix(b3Scalar * m) const
 	{
 		m_basis.getOpenGLSubMatrix(m);
 		m[12] = m_origin.getX();
@@ -144,80 +141,76 @@ public:
 		m[15] = b3Scalar(1.0);
 	}
 
-  /**@brief Set the translational element
+	/**@brief Set the translational element
    * @param origin The vector to set the translation to */
-	B3_FORCE_INLINE void setOrigin(const b3Vector3& origin) 
-	{ 
+	B3_FORCE_INLINE void setOrigin(const b3Vector3& origin)
+	{
 		m_origin = origin;
 	}
 
 	B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const;
 
-
-  /**@brief Set the rotational element by b3Matrix3x3 */
+	/**@brief Set the rotational element by b3Matrix3x3 */
 	B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis)
-	{ 
+	{
 		m_basis = basis;
 	}
 
-  /**@brief Set the rotational element by b3Quaternion */
+	/**@brief Set the rotational element by b3Quaternion */
 	B3_FORCE_INLINE void setRotation(const b3Quaternion& q)
 	{
 		m_basis.setRotation(q);
 	}
 
-
-  /**@brief Set this transformation to the identity */
+	/**@brief Set this transformation to the identity */
 	void setIdentity()
 	{
 		m_basis.setIdentity();
 		m_origin.setValue(b3Scalar(0.0), b3Scalar(0.0), b3Scalar(0.0));
 	}
 
-  /**@brief Multiply this Transform by another(this = this * another) 
+	/**@brief Multiply this Transform by another(this = this * another) 
    * @param t The other transform */
-	b3Transform& operator*=(const b3Transform& t) 
+	b3Transform& operator*=(const b3Transform& t)
 	{
 		m_origin += m_basis * t.m_origin;
 		m_basis *= t.m_basis;
 		return *this;
 	}
 
-  /**@brief Return the inverse of this transform */
+	/**@brief Return the inverse of this transform */
 	b3Transform inverse() const
-	{ 
+	{
 		b3Matrix3x3 inv = m_basis.transpose();
 		return b3Transform(inv, inv * -m_origin);
 	}
 
-  /**@brief Return the inverse of this transform times the other transform
+	/**@brief Return the inverse of this transform times the other transform
    * @param t The other transform 
    * return this.inverse() * the other */
-	b3Transform inverseTimes(const b3Transform& t) const;  
+	b3Transform inverseTimes(const b3Transform& t) const;
 
-  /**@brief Return the product of this transform and the other */
+	/**@brief Return the product of this transform and the other */
 	b3Transform operator*(const b3Transform& t) const;
 
-  /**@brief Return an identity transform */
-	static const b3Transform&	getIdentity()
+	/**@brief Return an identity transform */
+	static const b3Transform& getIdentity()
 	{
 		static const b3Transform identityTransform(b3Matrix3x3::getIdentity());
 		return identityTransform;
 	}
 
-	void	serialize(struct	b3TransformData& dataOut) const;
-
-	void	serializeFloat(struct	b3TransformFloatData& dataOut) const;
+	void serialize(struct b3TransformData & dataOut) const;
 
-	void	deSerialize(const struct	b3TransformData& dataIn);
+	void serializeFloat(struct b3TransformFloatData & dataOut) const;
 
-	void	deSerializeDouble(const struct	b3TransformDoubleData& dataIn);
+	void deSerialize(const struct b3TransformData& dataIn);
 
-	void	deSerializeFloat(const struct	b3TransformFloatData& dataIn);
+	void deSerializeDouble(const struct b3TransformDoubleData& dataIn);
 
+	void deSerializeFloat(const struct b3TransformFloatData& dataIn);
 };
 
-
 B3_FORCE_INLINE b3Vector3
 b3Transform::invXform(const b3Vector3& inVec) const
 {
@@ -225,80 +218,69 @@ b3Transform::invXform(const b3Vector3& inVec) const
 	return (m_basis.transpose() * v);
 }
 
-B3_FORCE_INLINE b3Transform 
-b3Transform::inverseTimes(const b3Transform& t) const  
+B3_FORCE_INLINE b3Transform
+b3Transform::inverseTimes(const b3Transform& t) const
 {
 	b3Vector3 v = t.getOrigin() - m_origin;
-		return b3Transform(m_basis.transposeTimes(t.m_basis),
-			v * m_basis);
+	return b3Transform(m_basis.transposeTimes(t.m_basis),
+					   v * m_basis);
 }
 
-B3_FORCE_INLINE b3Transform 
-b3Transform::operator*(const b3Transform& t) const
+B3_FORCE_INLINE b3Transform
+	b3Transform::operator*(const b3Transform& t) const
 {
-	return b3Transform(m_basis * t.m_basis, 
-		(*this)(t.m_origin));
+	return b3Transform(m_basis * t.m_basis,
+					   (*this)(t.m_origin));
 }
 
 /**@brief Test if two transforms have all elements equal */
 B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2)
 {
-   return ( t1.getBasis()  == t2.getBasis() &&
-            t1.getOrigin() == t2.getOrigin() );
+	return (t1.getBasis() == t2.getBasis() &&
+			t1.getOrigin() == t2.getOrigin());
 }
 
-
 ///for serialization
-struct	b3TransformFloatData
+struct b3TransformFloatData
 {
-	b3Matrix3x3FloatData	m_basis;
-	b3Vector3FloatData	m_origin;
+	b3Matrix3x3FloatData m_basis;
+	b3Vector3FloatData m_origin;
 };
 
-struct	b3TransformDoubleData
+struct b3TransformDoubleData
 {
-	b3Matrix3x3DoubleData	m_basis;
-	b3Vector3DoubleData	m_origin;
+	b3Matrix3x3DoubleData m_basis;
+	b3Vector3DoubleData m_origin;
 };
 
-
-
-B3_FORCE_INLINE	void	b3Transform::serialize(b3TransformData& dataOut) const
+B3_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const
 {
 	m_basis.serialize(dataOut.m_basis);
 	m_origin.serialize(dataOut.m_origin);
 }
 
-B3_FORCE_INLINE	void	b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
+B3_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
 {
 	m_basis.serializeFloat(dataOut.m_basis);
 	m_origin.serializeFloat(dataOut.m_origin);
 }
 
-
-B3_FORCE_INLINE	void	b3Transform::deSerialize(const b3TransformData& dataIn)
+B3_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn)
 {
 	m_basis.deSerialize(dataIn.m_basis);
 	m_origin.deSerialize(dataIn.m_origin);
 }
 
-B3_FORCE_INLINE	void	b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
+B3_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
 {
 	m_basis.deSerializeFloat(dataIn.m_basis);
 	m_origin.deSerializeFloat(dataIn.m_origin);
 }
 
-B3_FORCE_INLINE	void	b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
+B3_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
 {
 	m_basis.deSerializeDouble(dataIn.m_basis);
 	m_origin.deSerializeDouble(dataIn.m_origin);
 }
 
-
-#endif //B3_TRANSFORM_H
-
-
-
-
-
-
+#endif  //B3_TRANSFORM_H
diff --git a/thirdparty/bullet/Bullet3Common/b3TransformUtil.h b/thirdparty/bullet/Bullet3Common/b3TransformUtil.h
index 6ce580c132..1850a9be5f 100644
--- a/thirdparty/bullet/Bullet3Common/b3TransformUtil.h
+++ b/thirdparty/bullet/Bullet3Common/b3TransformUtil.h
@@ -12,204 +12,189 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_TRANSFORM_UTIL_H
 #define B3_TRANSFORM_UTIL_H
 
 #include "b3Transform.h"
-#define B3_ANGULAR_MOTION_THRESHOLD b3Scalar(0.5)*B3_HALF_PI
-
-
-
+#define B3_ANGULAR_MOTION_THRESHOLD b3Scalar(0.5) * B3_HALF_PI
 
-B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents,const b3Vector3& supportDir)
+B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents, const b3Vector3& supportDir)
 {
 	return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
-      supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
-      supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ()); 
+						 supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
+						 supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ());
 }
 
-
-
-
-
-
 /// Utils related to temporal transforms
 class b3TransformUtil
 {
-
 public:
-
-	static void integrateTransform(const b3Transform& curTrans,const b3Vector3& linvel,const b3Vector3& angvel,b3Scalar timeStep,b3Transform& predictedTransform)
+	static void integrateTransform(const b3Transform& curTrans, const b3Vector3& linvel, const b3Vector3& angvel, b3Scalar timeStep, b3Transform& predictedTransform)
 	{
 		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-//	#define QUATERNION_DERIVATIVE
-	#ifdef QUATERNION_DERIVATIVE
+		//	#define QUATERNION_DERIVATIVE
+#ifdef QUATERNION_DERIVATIVE
 		b3Quaternion predictedOrn = curTrans.getRotation();
 		predictedOrn += (angvel * predictedOrn) * (timeStep * b3Scalar(0.5));
 		predictedOrn.normalize();
-	#else
+#else
 		//Exponential map
 		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
 
 		b3Vector3 axis;
-		b3Scalar	fAngle = angvel.length(); 
+		b3Scalar fAngle = angvel.length();
 		//limit the angular motion
-		if (fAngle*timeStep > B3_ANGULAR_MOTION_THRESHOLD)
+		if (fAngle * timeStep > B3_ANGULAR_MOTION_THRESHOLD)
 		{
 			fAngle = B3_ANGULAR_MOTION_THRESHOLD / timeStep;
 		}
 
-		if ( fAngle < b3Scalar(0.001) )
+		if (fAngle < b3Scalar(0.001))
 		{
 			// use Taylor's expansions of sync function
-			axis   = angvel*( b3Scalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(b3Scalar(0.020833333333))*fAngle*fAngle );
+			axis = angvel * (b3Scalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (b3Scalar(0.020833333333)) * fAngle * fAngle);
 		}
 		else
 		{
 			// sync(fAngle) = sin(c*fAngle)/t
-			axis   = angvel*( b3Sin(b3Scalar(0.5)*fAngle*timeStep)/fAngle );
+			axis = angvel * (b3Sin(b3Scalar(0.5) * fAngle * timeStep) / fAngle);
 		}
-		b3Quaternion dorn (axis.getX(),axis.getY(),axis.getZ(),b3Cos( fAngle*timeStep*b3Scalar(0.5) ));
+		b3Quaternion dorn(axis.getX(), axis.getY(), axis.getZ(), b3Cos(fAngle * timeStep * b3Scalar(0.5)));
 		b3Quaternion orn0 = curTrans.getRotation();
 
 		b3Quaternion predictedOrn = dorn * orn0;
 		predictedOrn.normalize();
-	#endif
+#endif
 		predictedTransform.setRotation(predictedOrn);
 	}
 
-	static void	calculateVelocityQuaternion(const b3Vector3& pos0,const b3Vector3& pos1,const b3Quaternion& orn0,const b3Quaternion& orn1,b3Scalar timeStep,b3Vector3& linVel,b3Vector3& angVel)
+	static void calculateVelocityQuaternion(const b3Vector3& pos0, const b3Vector3& pos1, const b3Quaternion& orn0, const b3Quaternion& orn1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel)
 	{
 		linVel = (pos1 - pos0) / timeStep;
 		b3Vector3 axis;
-		b3Scalar  angle;
+		b3Scalar angle;
 		if (orn0 != orn1)
 		{
-			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
 			angVel = axis * angle / timeStep;
-		} else
+		}
+		else
 		{
-			angVel.setValue(0,0,0);
+			angVel.setValue(0, 0, 0);
 		}
 	}
 
-	static void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0,const b3Quaternion& orn1a,b3Vector3& axis,b3Scalar& angle)
+	static void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0, const b3Quaternion& orn1a, b3Vector3& axis, b3Scalar& angle)
 	{
 		b3Quaternion orn1 = orn0.nearest(orn1a);
 		b3Quaternion dorn = orn1 * orn0.inverse();
 		angle = dorn.getAngle();
-		axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
+		axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ());
 		axis[3] = b3Scalar(0.);
 		//check for axis length
 		b3Scalar len = axis.length2();
-		if (len < B3_EPSILON*B3_EPSILON)
-			axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
+		if (len < B3_EPSILON * B3_EPSILON)
+			axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.));
 		else
 			axis /= b3Sqrt(len);
 	}
 
-	static void	calculateVelocity(const b3Transform& transform0,const b3Transform& transform1,b3Scalar timeStep,b3Vector3& linVel,b3Vector3& angVel)
+	static void calculateVelocity(const b3Transform& transform0, const b3Transform& transform1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel)
 	{
 		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
 		b3Vector3 axis;
-		b3Scalar  angle;
-		calculateDiffAxisAngle(transform0,transform1,axis,angle);
+		b3Scalar angle;
+		calculateDiffAxisAngle(transform0, transform1, axis, angle);
 		angVel = axis * angle / timeStep;
 	}
 
-	static void calculateDiffAxisAngle(const b3Transform& transform0,const b3Transform& transform1,b3Vector3& axis,b3Scalar& angle)
+	static void calculateDiffAxisAngle(const b3Transform& transform0, const b3Transform& transform1, b3Vector3& axis, b3Scalar& angle)
 	{
 		b3Matrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
 		b3Quaternion dorn;
 		dmat.getRotation(dorn);
 
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
+		///floating point inaccuracy can lead to w component > 1..., which breaks
 		dorn.normalize();
-		
+
 		angle = dorn.getAngle();
-		axis = b3MakeVector3(dorn.getX(),dorn.getY(),dorn.getZ());
+		axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ());
 		axis[3] = b3Scalar(0.);
 		//check for axis length
 		b3Scalar len = axis.length2();
-		if (len < B3_EPSILON*B3_EPSILON)
-			axis = b3MakeVector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
+		if (len < B3_EPSILON * B3_EPSILON)
+			axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.));
 		else
 			axis /= b3Sqrt(len);
 	}
-
 };
 
-
-///The b3ConvexSeparatingDistanceUtil can help speed up convex collision detection 
+///The b3ConvexSeparatingDistanceUtil can help speed up convex collision detection
 ///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class	b3ConvexSeparatingDistanceUtil
+class b3ConvexSeparatingDistanceUtil
 {
-	b3Quaternion	m_ornA;
-	b3Quaternion	m_ornB;
-	b3Vector3	m_posA;
-	b3Vector3	m_posB;
-	
-	b3Vector3	m_separatingNormal;
+	b3Quaternion m_ornA;
+	b3Quaternion m_ornB;
+	b3Vector3 m_posA;
+	b3Vector3 m_posB;
 
-	b3Scalar	m_boundingRadiusA;
-	b3Scalar	m_boundingRadiusB;
-	b3Scalar	m_separatingDistance;
+	b3Vector3 m_separatingNormal;
 
-public:
+	b3Scalar m_boundingRadiusA;
+	b3Scalar m_boundingRadiusB;
+	b3Scalar m_separatingDistance;
 
-	b3ConvexSeparatingDistanceUtil(b3Scalar	boundingRadiusA,b3Scalar	boundingRadiusB)
-		:m_boundingRadiusA(boundingRadiusA),
-		m_boundingRadiusB(boundingRadiusB),
-		m_separatingDistance(0.f)
+public:
+	b3ConvexSeparatingDistanceUtil(b3Scalar boundingRadiusA, b3Scalar boundingRadiusB)
+		: m_boundingRadiusA(boundingRadiusA),
+		  m_boundingRadiusB(boundingRadiusB),
+		  m_separatingDistance(0.f)
 	{
 	}
 
-	b3Scalar	getConservativeSeparatingDistance()
+	b3Scalar getConservativeSeparatingDistance()
 	{
 		return m_separatingDistance;
 	}
 
-	void	updateSeparatingDistance(const b3Transform& transA,const b3Transform& transB)
+	void updateSeparatingDistance(const b3Transform& transA, const b3Transform& transB)
 	{
 		const b3Vector3& toPosA = transA.getOrigin();
 		const b3Vector3& toPosB = transB.getOrigin();
 		b3Quaternion toOrnA = transA.getRotation();
 		b3Quaternion toOrnB = transB.getRotation();
 
-		if (m_separatingDistance>0.f)
+		if (m_separatingDistance > 0.f)
 		{
-			
-
-			b3Vector3 linVelA,angVelA,linVelB,angVelB;
-			b3TransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,b3Scalar(1.),linVelA,angVelA);
-			b3TransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,b3Scalar(1.),linVelB,angVelB);
+			b3Vector3 linVelA, angVelA, linVelB, angVelB;
+			b3TransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, b3Scalar(1.), linVelA, angVelA);
+			b3TransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, b3Scalar(1.), linVelB, angVelB);
 			b3Scalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			b3Vector3 relLinVel = (linVelB-linVelA);
+			b3Vector3 relLinVel = (linVelB - linVelA);
 			b3Scalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength<0.f)
+			if (relLinVelocLength < 0.f)
 			{
 				relLinVelocLength = 0.f;
 			}
-	
-			b3Scalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+
+			b3Scalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
 			m_separatingDistance -= projectedMotion;
 		}
-	
+
 		m_posA = toPosA;
 		m_posB = toPosB;
 		m_ornA = toOrnA;
 		m_ornB = toOrnB;
 	}
 
-	void	initSeparatingDistance(const b3Vector3& separatingVector,b3Scalar separatingDistance,const b3Transform& transA,const b3Transform& transB)
+	void initSeparatingDistance(const b3Vector3& separatingVector, b3Scalar separatingDistance, const b3Transform& transA, const b3Transform& transB)
 	{
 		m_separatingDistance = separatingDistance;
 
-		if (m_separatingDistance>0.f)
+		if (m_separatingDistance > 0.f)
 		{
 			m_separatingNormal = separatingVector;
-			
+
 			const b3Vector3& toPosA = transA.getOrigin();
 			const b3Vector3& toPosB = transB.getOrigin();
 			b3Quaternion toOrnA = transA.getRotation();
@@ -220,9 +205,6 @@ public:
 			m_ornB = toOrnB;
 		}
 	}
-
 };
 
-
-#endif //B3_TRANSFORM_UTIL_H
-
+#endif  //B3_TRANSFORM_UTIL_H
diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.cpp b/thirdparty/bullet/Bullet3Common/b3Vector3.cpp
index 5f5ac4ac04..100fb774c1 100644
--- a/thirdparty/bullet/Bullet3Common/b3Vector3.cpp
+++ b/thirdparty/bullet/Bullet3Common/b3Vector3.cpp
@@ -14,274 +14,281 @@
  This source version has been altered.
  */
 
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
 #define B3_USE_SSE_IN_API
 #endif
 
 #include "b3Vector3.h"
 
-#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
 
 #ifdef __APPLE__
 #include <stdint.h>
-typedef  float float4 __attribute__ ((vector_size(16)));
+typedef float float4 __attribute__((vector_size(16)));
 #else
 #define float4 __m128
 #endif
 //typedef  uint32_t uint4 __attribute__ ((vector_size(16)));
 
-
 #if defined B3_USE_SSE || defined _WIN32
 
-#define LOG2_ARRAY_SIZE     6
-#define STACK_ARRAY_COUNT   (1UL << LOG2_ARRAY_SIZE)
+#define LOG2_ARRAY_SIZE 6
+#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE)
 
 #include <emmintrin.h>
 
-long b3_maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
-long b3_maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long b3_maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
+long b3_maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    const float4 *vertices = (const float4*) vv;
-    static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 };
-    float4 dotMax = b3Assign128( -B3_INFINITY,  -B3_INFINITY,  -B3_INFINITY,  -B3_INFINITY );
-    float4 vvec = _mm_loadu_ps( vec );
-    float4 vHi = b3CastiTo128f(_mm_shuffle_epi32( b3CastfTo128i( vvec), 0xaa ));          /// zzzz
-    float4 vLo = _mm_movelh_ps( vvec, vvec );                               /// xyxy
+	const float4 *vertices = (const float4 *)vv;
+	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
+	float4 dotMax = b3Assign128(-B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY);
+	float4 vvec = _mm_loadu_ps(vec);
+	float4 vHi = b3CastiTo128f(_mm_shuffle_epi32(b3CastfTo128i(vvec), 0xaa));  /// zzzz
+	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
 
-    long maxIndex = -1L;
+	long maxIndex = -1L;
 
-    size_t segment = 0;
-    float4 stack_array[ STACK_ARRAY_COUNT ];
+	size_t segment = 0;
+	float4 stack_array[STACK_ARRAY_COUNT];
 
 #if DEBUG
-    // memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
+	// memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
 #endif
 
-    size_t index;
-    float4 max;
-    // Faster loop without cleanup code for full tiles
-    for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 )
-    {
-        max = dotMax;
-
-        for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 )
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            // It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-        }
-
-        // If we found a new max
-        if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax)))
-        {
-            // copy the new max across all lanes of our max accumulator
-            max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e));
-            max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1));
-
-            dotMax = max;
-
-            // find first occurrence of that max
-            size_t test;
-            for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ )   // local_count must be a multiple of 4
-            {}
-            // record where it is.
-            maxIndex = 4*index + segment + indexTable[test];
-        }
-    }
-
-    // account for work we've already done
-    count -= segment;
-
-    // Deal with the last < STACK_ARRAY_COUNT vectors
-    max = dotMax;
-    index = 0;
-
-
-    if( b3Unlikely( count > 16) )
-    {
-        for( ; index + 4 <= count / 4; index+=4 )
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-
-            // It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-        }
-    }
-
-    size_t localCount = (count & -4L) - 4*index;
-    if( localCount )
-    {
+	size_t index;
+	float4 max;
+	// Faster loop without cleanup code for full tiles
+	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
+	{
+		max = dotMax;
+
+		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
+		}
+
+		// If we found a new max
+		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
+		{
+			// copy the new max across all lanes of our max accumulator
+			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
+			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
+
+			dotMax = max;
+
+			// find first occurrence of that max
+			size_t test;
+			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
+			{
+			}
+			// record where it is.
+			maxIndex = 4 * index + segment + indexTable[test];
+		}
+	}
+
+	// account for work we've already done
+	count -= segment;
+
+	// Deal with the last < STACK_ARRAY_COUNT vectors
+	max = dotMax;
+	index = 0;
+
+	if (b3Unlikely(count > 16))
+	{
+		for (; index + 4 <= count / 4; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
+		}
+	}
+
+	size_t localCount = (count & -4L) - 4 * index;
+	if (localCount)
+	{
 #ifdef __APPLE__
-        float4 t0, t1, t2, t3, t4;
-        float4 * sap = &stack_array[index + localCount / 4];
-          vertices += localCount;      // counter the offset
-         size_t byteIndex = -(localCount) * sizeof(float);
-        //AT&T Code style assembly
-        asm volatile
-        (   ".align 4                                                                   \n\
+		float4 t0, t1, t2, t3, t4;
+		float4 *sap = &stack_array[index + localCount / 4];
+		vertices += localCount;  // counter the offset
+		size_t byteIndex = -(localCount) * sizeof(float);
+		//AT&T Code style assembly
+		asm volatile(
+			".align 4                                                                   \n\
              0: movaps  %[max], %[t2]                            // move max out of the way to avoid propagating NaNs in max \n\
           movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
           movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
@@ -307,369 +314,375 @@ long b3_maxdot_large( const float *vv, const float *vec, unsigned long count, fl
          add     $16, %[byteIndex]                           // advance loop counter\n\
          jnz     0b                                          \n\
      "
-         : [max] "+x" (max), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex)
-         : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap)
-         : "memory", "cc"
-         );
-        index += localCount/4;
+			: [max] "+x"(max), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
+			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
+			: "memory", "cc");
+		index += localCount / 4;
 #else
-        {
-            for( unsigned int i=0; i<localCount/4; i++,index++)
-            { // do four dot products at a time. Carefully avoid touching the w element.
-                float4 v0 = vertices[0];
-                float4 v1 = vertices[1];
-                float4 v2 = vertices[2];
-                float4 v3 = vertices[3];
-                vertices += 4;
-
-                float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-                float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-                float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-                float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-                lo0 = lo0*vLo;
-                lo1 = lo1*vLo;
-                float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-                float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-                z = z*vHi;
-                x = x+y;
-                x = x+z;
-                stack_array[index] = x;
-                max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            }
-        }
-#endif //__APPLE__
-    }
-
-    // process the last few points
-    if( count & 3 )
-    {
-        float4 v0, v1, v2, x, y, z;
-        switch( count & 3 )
-        {
-            case 3:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                v2 = vertices[2];
-
-                // Calculate 3 dot products, transpose, duplicate v2
-                float4 lo0 = _mm_movelh_ps( v0, v1);        // xyxy.lo
-                float4 hi0 = _mm_movehl_ps( v1, v0);        // z?z?.lo
-                lo0 = lo0*vLo;
-                z = _mm_shuffle_ps(hi0, v2,  0xa8 );           // z0z1z2z2
-                z = z*vHi;
-                float4 lo1 = _mm_movelh_ps(v2, v2);          // xyxy
-                lo1 = lo1*vLo;
-                x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            }
-                break;
-            case 2:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                float4 xy = _mm_movelh_ps(v0, v1);
-                z = _mm_movehl_ps(v1, v0);
-                xy = xy*vLo;
-                z = _mm_shuffle_ps( z, z,  0xa8);
-                x = _mm_shuffle_ps( xy, xy, 0xa8);
-                y = _mm_shuffle_ps( xy, xy, 0xfd);
-                z = z*vHi;
-            }
-                break;
-            case 1:
-            {
-                float4 xy = vertices[0];
-                z =  _mm_shuffle_ps( xy, xy, 0xaa);
-                xy = xy*vLo;
-                z = z*vHi;
-                x = _mm_shuffle_ps(xy, xy, 0);
-                y = _mm_shuffle_ps(xy, xy, 0x55);
-            }
-                break;
-        }
-        x = x+y;
-        x = x+z;
-        stack_array[index] = x;
-        max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-        index++;
-    }
-
-    // if we found a new max.
-    if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax)))
-    { // we found a new max. Search for it
-      // find max across the max vector, place in all elements of max -- big latency hit here
-        max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e));
-        max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1));
-
-        // It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-        // this where it actually makes a difference is handled in the early out at the top of the function,
-        // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-        // complexity, and removed it.
-
-        dotMax = max;
-
-        // scan for the first occurence of max in the array
-        size_t test;
-        for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ )   // local_count must be a multiple of 4
-        {}
-        maxIndex = 4*index + segment + indexTable[test];
-    }
-
-    _mm_store_ss( dotResult, dotMax);
-    return maxIndex;
+		{
+			for (unsigned int i = 0; i < localCount / 4; i++, index++)
+			{  // do four dot products at a time. Carefully avoid touching the w element.
+				float4 v0 = vertices[0];
+				float4 v1 = vertices[1];
+				float4 v2 = vertices[2];
+				float4 v3 = vertices[3];
+				vertices += 4;
+
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+				lo0 = lo0 * vLo;
+				lo1 = lo1 * vLo;
+				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+				z = z * vHi;
+				x = x + y;
+				x = x + z;
+				stack_array[index] = x;
+				max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+			}
+		}
+#endif  //__APPLE__
+	}
+
+	// process the last few points
+	if (count & 3)
+	{
+		float4 v0, v1, v2, x, y, z;
+		switch (count & 3)
+		{
+			case 3:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				v2 = vertices[2];
+
+				// Calculate 3 dot products, transpose, duplicate v2
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
+				lo0 = lo0 * vLo;
+				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
+				z = z * vHi;
+				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
+				lo1 = lo1 * vLo;
+				x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			}
+			break;
+			case 2:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				float4 xy = _mm_movelh_ps(v0, v1);
+				z = _mm_movehl_ps(v1, v0);
+				xy = xy * vLo;
+				z = _mm_shuffle_ps(z, z, 0xa8);
+				x = _mm_shuffle_ps(xy, xy, 0xa8);
+				y = _mm_shuffle_ps(xy, xy, 0xfd);
+				z = z * vHi;
+			}
+			break;
+			case 1:
+			{
+				float4 xy = vertices[0];
+				z = _mm_shuffle_ps(xy, xy, 0xaa);
+				xy = xy * vLo;
+				z = z * vHi;
+				x = _mm_shuffle_ps(xy, xy, 0);
+				y = _mm_shuffle_ps(xy, xy, 0x55);
+			}
+			break;
+		}
+		x = x + y;
+		x = x + z;
+		stack_array[index] = x;
+		max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+		index++;
+	}
+
+	// if we found a new max.
+	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
+	{  // we found a new max. Search for it
+		// find max across the max vector, place in all elements of max -- big latency hit here
+		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
+		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
+
+		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
+		// this where it actually makes a difference is handled in the early out at the top of the function,
+		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
+		// complexity, and removed it.
+
+		dotMax = max;
+
+		// scan for the first occurence of max in the array
+		size_t test;
+		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
+		{
+		}
+		maxIndex = 4 * index + segment + indexTable[test];
+	}
+
+	_mm_store_ss(dotResult, dotMax);
+	return maxIndex;
 }
 
-long b3_mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
+long b3_mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
 
-long b3_mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long b3_mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    const float4 *vertices = (const float4*) vv;
-    static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 };
+	const float4 *vertices = (const float4 *)vv;
+	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
 
-    float4 dotmin = b3Assign128( B3_INFINITY,  B3_INFINITY,  B3_INFINITY,  B3_INFINITY );
-    float4 vvec = _mm_loadu_ps( vec );
-    float4 vHi = b3CastiTo128f(_mm_shuffle_epi32( b3CastfTo128i( vvec), 0xaa ));          /// zzzz
-    float4 vLo = _mm_movelh_ps( vvec, vvec );                               /// xyxy
+	float4 dotmin = b3Assign128(B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY);
+	float4 vvec = _mm_loadu_ps(vec);
+	float4 vHi = b3CastiTo128f(_mm_shuffle_epi32(b3CastfTo128i(vvec), 0xaa));  /// zzzz
+	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
 
-    long minIndex = -1L;
+	long minIndex = -1L;
 
-    size_t segment = 0;
-    float4 stack_array[ STACK_ARRAY_COUNT ];
+	size_t segment = 0;
+	float4 stack_array[STACK_ARRAY_COUNT];
 
 #if DEBUG
-    // memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
+	// memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
 #endif
 
-    size_t index;
-    float4 min;
-    // Faster loop without cleanup code for full tiles
-    for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 )
-    {
-        min = dotmin;
-
-        for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 )
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            // It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-        }
-
-        // If we found a new min
-        if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin)))
-        {
-            // copy the new min across all lanes of our min accumulator
-            min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e));
-            min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1));
-
-            dotmin = min;
-
-            // find first occurrence of that min
-            size_t test;
-            for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ )   // local_count must be a multiple of 4
-            {}
-            // record where it is.
-            minIndex = 4*index + segment + indexTable[test];
-        }
-    }
-
-    // account for work we've already done
-    count -= segment;
-
-    // Deal with the last < STACK_ARRAY_COUNT vectors
-    min = dotmin;
-    index = 0;
-
-
-    if(b3Unlikely( count > 16) )
-    {
-        for( ; index + 4 <= count / 4; index+=4 )
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-
-            // It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-        }
-    }
-
-    size_t localCount = (count & -4L) - 4*index;
-    if( localCount )
-    {
-
-
+	size_t index;
+	float4 min;
+	// Faster loop without cleanup code for full tiles
+	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
+	{
+		min = dotmin;
+
+		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
+		}
+
+		// If we found a new min
+		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
+		{
+			// copy the new min across all lanes of our min accumulator
+			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
+			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
+
+			dotmin = min;
+
+			// find first occurrence of that min
+			size_t test;
+			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
+			{
+			}
+			// record where it is.
+			minIndex = 4 * index + segment + indexTable[test];
+		}
+	}
+
+	// account for work we've already done
+	count -= segment;
+
+	// Deal with the last < STACK_ARRAY_COUNT vectors
+	min = dotmin;
+	index = 0;
+
+	if (b3Unlikely(count > 16))
+	{
+		for (; index + 4 <= count / 4; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
+		}
+	}
+
+	size_t localCount = (count & -4L) - 4 * index;
+	if (localCount)
+	{
 #ifdef __APPLE__
-        vertices += localCount;      // counter the offset
-        float4 t0, t1, t2, t3, t4;
-        size_t byteIndex = -(localCount) * sizeof(float);
-        float4 * sap = &stack_array[index + localCount / 4];
+		vertices += localCount;  // counter the offset
+		float4 t0, t1, t2, t3, t4;
+		size_t byteIndex = -(localCount) * sizeof(float);
+		float4 *sap = &stack_array[index + localCount / 4];
 
-        asm volatile
-        (   ".align 4                                                                   \n\
+		asm volatile(
+			".align 4                                                                   \n\
              0: movaps  %[min], %[t2]                            // move min out of the way to avoid propagating NaNs in min \n\
              movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
              movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
@@ -695,937 +708,930 @@ long b3_mindot_large( const float *vv, const float *vec, unsigned long count, fl
              add     $16, %[byteIndex]                           // advance loop counter\n\
              jnz     0b                                          \n\
              "
-         : [min] "+x" (min), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex)
-         : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap)
-         : "memory", "cc"
-         );
-        index += localCount/4;
+			: [min] "+x"(min), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
+			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
+			: "memory", "cc");
+		index += localCount / 4;
 #else
-        {
-            for( unsigned int i=0; i<localCount/4; i++,index++)
-            { // do four dot products at a time. Carefully avoid touching the w element.
-                float4 v0 = vertices[0];
-                float4 v1 = vertices[1];
-                float4 v2 = vertices[2];
-                float4 v3 = vertices[3];
-                vertices += 4;
-
-                float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-                float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-                float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-                float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-
-                lo0 = lo0*vLo;
-                lo1 = lo1*vLo;
-                float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-                float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-                z = z*vHi;
-                x = x+y;
-                x = x+z;
-                stack_array[index] = x;
-                min = _mm_min_ps( x, min );         // control the order here so that max is never NaN even if x is nan
-            }
-        }
+		{
+			for (unsigned int i = 0; i < localCount / 4; i++, index++)
+			{  // do four dot products at a time. Carefully avoid touching the w element.
+				float4 v0 = vertices[0];
+				float4 v1 = vertices[1];
+				float4 v2 = vertices[2];
+				float4 v3 = vertices[3];
+				vertices += 4;
+
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+				lo0 = lo0 * vLo;
+				lo1 = lo1 * vLo;
+				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+				z = z * vHi;
+				x = x + y;
+				x = x + z;
+				stack_array[index] = x;
+				min = _mm_min_ps(x, min);  // control the order here so that max is never NaN even if x is nan
+			}
+		}
 
 #endif
-    }
-
-    // process the last few points
-    if( count & 3 )
-    {
-        float4 v0, v1, v2, x, y, z;
-        switch( count & 3 )
-        {
-            case 3:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                v2 = vertices[2];
-
-                // Calculate 3 dot products, transpose, duplicate v2
-                float4 lo0 = _mm_movelh_ps( v0, v1);        // xyxy.lo
-                float4 hi0 = _mm_movehl_ps( v1, v0);        // z?z?.lo
-                lo0 = lo0*vLo;
-                z = _mm_shuffle_ps(hi0, v2,  0xa8 );           // z0z1z2z2
-                z = z*vHi;
-                float4 lo1 = _mm_movelh_ps(v2, v2);          // xyxy
-                lo1 = lo1*vLo;
-                x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            }
-                break;
-            case 2:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                float4 xy = _mm_movelh_ps(v0, v1);
-                z = _mm_movehl_ps(v1, v0);
-                xy = xy*vLo;
-                z = _mm_shuffle_ps( z, z,  0xa8);
-                x = _mm_shuffle_ps( xy, xy, 0xa8);
-                y = _mm_shuffle_ps( xy, xy, 0xfd);
-                z = z*vHi;
-            }
-                break;
-            case 1:
-            {
-                float4 xy = vertices[0];
-                z =  _mm_shuffle_ps( xy, xy, 0xaa);
-                xy = xy*vLo;
-                z = z*vHi;
-                x = _mm_shuffle_ps(xy, xy, 0);
-                y = _mm_shuffle_ps(xy, xy, 0x55);
-            }
-                break;
-        }
-        x = x+y;
-        x = x+z;
-        stack_array[index] = x;
-        min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-        index++;
-    }
-
-    // if we found a new min.
-    if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin)))
-    { // we found a new min. Search for it
-      // find min across the min vector, place in all elements of min -- big latency hit here
-        min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e));
-        min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1));
-
-        // It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-        // this where it actually makes a difference is handled in the early out at the top of the function,
-        // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
-        // complexity, and removed it.
-
-        dotmin = min;
-
-        // scan for the first occurence of min in the array
-        size_t test;
-        for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ )   // local_count must be a multiple of 4
-        {}
-        minIndex = 4*index + segment + indexTable[test];
-    }
-
-    _mm_store_ss( dotResult, dotmin);
-    return minIndex;
+	}
+
+	// process the last few points
+	if (count & 3)
+	{
+		float4 v0, v1, v2, x, y, z;
+		switch (count & 3)
+		{
+			case 3:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				v2 = vertices[2];
+
+				// Calculate 3 dot products, transpose, duplicate v2
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
+				lo0 = lo0 * vLo;
+				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
+				z = z * vHi;
+				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
+				lo1 = lo1 * vLo;
+				x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			}
+			break;
+			case 2:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				float4 xy = _mm_movelh_ps(v0, v1);
+				z = _mm_movehl_ps(v1, v0);
+				xy = xy * vLo;
+				z = _mm_shuffle_ps(z, z, 0xa8);
+				x = _mm_shuffle_ps(xy, xy, 0xa8);
+				y = _mm_shuffle_ps(xy, xy, 0xfd);
+				z = z * vHi;
+			}
+			break;
+			case 1:
+			{
+				float4 xy = vertices[0];
+				z = _mm_shuffle_ps(xy, xy, 0xaa);
+				xy = xy * vLo;
+				z = z * vHi;
+				x = _mm_shuffle_ps(xy, xy, 0);
+				y = _mm_shuffle_ps(xy, xy, 0x55);
+			}
+			break;
+		}
+		x = x + y;
+		x = x + z;
+		stack_array[index] = x;
+		min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+		index++;
+	}
+
+	// if we found a new min.
+	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
+	{  // we found a new min. Search for it
+		// find min across the min vector, place in all elements of min -- big latency hit here
+		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
+		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
+
+		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
+		// this where it actually makes a difference is handled in the early out at the top of the function,
+		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
+		// complexity, and removed it.
+
+		dotmin = min;
+
+		// scan for the first occurence of min in the array
+		size_t test;
+		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
+		{
+		}
+		minIndex = 4 * index + segment + indexTable[test];
+	}
+
+	_mm_store_ss(dotResult, dotmin);
+	return minIndex;
 }
 
-
 #elif defined B3_USE_NEON
-#define ARM_NEON_GCC_COMPATIBILITY  1
+#define ARM_NEON_GCC_COMPATIBILITY 1
 #include <arm_neon.h>
 
+static long b3_maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long b3_maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long b3_maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long b3_mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long b3_mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long b3_mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
 
-static long b3_maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long b3_maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long b3_maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long b3_mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long b3_mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long b3_mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
+long (*b3_maxdot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = b3_maxdot_large_sel;
+long (*b3_mindot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = b3_mindot_large_sel;
 
-long (*b3_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = b3_maxdot_large_sel;
-long (*b3_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = b3_mindot_large_sel;
-
-extern "C" {int  _get_cpu_capabilities( void );}
-
-static long b3_maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+extern "C"
 {
-    if( _get_cpu_capabilities() & 0x2000 )
-        b3_maxdot_large = _maxdot_large_v1;
-    else
-        b3_maxdot_large = _maxdot_large_v0;
-
-    return b3_maxdot_large(vv, vec, count, dotResult);
+	int _get_cpu_capabilities(void);
 }
 
-static long b3_mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+static long b3_maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    if( _get_cpu_capabilities() & 0x2000 )
-        b3_mindot_large = _mindot_large_v1;
-    else
-        b3_mindot_large = _mindot_large_v0;
+	if (_get_cpu_capabilities() & 0x2000)
+		b3_maxdot_large = _maxdot_large_v1;
+	else
+		b3_maxdot_large = _maxdot_large_v0;
 
-    return b3_mindot_large(vv, vec, count, dotResult);
+	return b3_maxdot_large(vv, vec, count, dotResult);
 }
 
+static long b3_mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
+{
+	if (_get_cpu_capabilities() & 0x2000)
+		b3_mindot_large = _mindot_large_v1;
+	else
+		b3_mindot_large = _mindot_large_v0;
 
+	return b3_mindot_large(vv, vec, count, dotResult);
+}
 
-#define vld1q_f32_aligned_postincrement( _ptr ) ({ float32x4_t _r; asm( "vld1.f32  {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
-
+#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r; asm( "vld1.f32  {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
 
-long b3_maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long b3_maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    unsigned long i = 0;
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x2_t vLo = vget_low_f32(vvec);
-    float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-    float32x2_t dotMaxLo = (float32x2_t) { -B3_INFINITY, -B3_INFINITY };
-    float32x2_t dotMaxHi = (float32x2_t) { -B3_INFINITY, -B3_INFINITY };
-    uint32x2_t indexLo = (uint32x2_t) {0, 1};
-    uint32x2_t indexHi = (uint32x2_t) {2, 3};
-    uint32x2_t iLo = (uint32x2_t) {-1, -1};
-    uint32x2_t iHi = (uint32x2_t) {-1, -1};
-    const uint32x2_t four = (uint32x2_t) {4,4};
-
-    for( ; i+8 <= count; i+= 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-
-        uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-        uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
-        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-
-        xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        xy3 = vmul_f32( vget_low_f32(v3), vLo);
-
-        z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        zLo = vmul_f32( z0.val[0], vHi);
-        zHi = vmul_f32( z1.val[0], vHi);
-
-        rLo = vpadd_f32( xy0, xy1);
-        rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-
-        maskLo = vcgt_f32( rLo, dotMaxLo );
-        maskHi = vcgt_f32( rHi, dotMaxHi );
-        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-
-    for( ; i+4 <= count; i+= 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-
-        uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-        uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
-        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-
-    switch( count & 3 )
-    {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-            float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-            float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            float32x2_t rHi = vpadd_f32( xy2, xy2);
-            rLo = vadd_f32(rLo, zLo);
-            rHi = vadd_f32(rHi, zHi);
-
-            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-            uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
-            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-            dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-            iHi = vbsl_u32(maskHi, indexHi, iHi);
-        }
-            break;
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            rLo = vadd_f32(rLo, zLo);
-
-            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-            float32x2_t zLo = vmul_f32( z0, vHi);
-            float32x2_t rLo = vpadd_f32( xy0, xy0);
-            rLo = vadd_f32(rLo, zLo);
-            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-
-        default:
-            break;
-    }
-
-    // select best answer between hi and lo results
-    uint32x2_t mask = vcgt_f32( dotMaxHi, dotMaxLo );
-    dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-
-    // select best answer between even and odd results
-    dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
-    iHi = vdup_lane_u32(iLo, 1);
-    mask = vcgt_f32( dotMaxHi, dotMaxLo );
-    dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-
-    *dotResult = vget_lane_f32( dotMaxLo, 0);
-    return vget_lane_u32(iLo, 0);
+	unsigned long i = 0;
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x2_t vLo = vget_low_f32(vvec);
+	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
+	float32x2_t dotMaxLo = (float32x2_t){-B3_INFINITY, -B3_INFINITY};
+	float32x2_t dotMaxHi = (float32x2_t){-B3_INFINITY, -B3_INFINITY};
+	uint32x2_t indexLo = (uint32x2_t){0, 1};
+	uint32x2_t indexHi = (uint32x2_t){2, 3};
+	uint32x2_t iLo = (uint32x2_t){-1, -1};
+	uint32x2_t iHi = (uint32x2_t){-1, -1};
+	const uint32x2_t four = (uint32x2_t){4, 4};
+
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
+		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		zLo = vmul_f32(z0.val[0], vHi);
+		zHi = vmul_f32(z1.val[0], vHi);
+
+		rLo = vpadd_f32(xy0, xy1);
+		rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		maskLo = vcgt_f32(rLo, dotMaxLo);
+		maskHi = vcgt_f32(rHi, dotMaxHi);
+		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
+		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			float32x2_t rHi = vpadd_f32(xy2, xy2);
+			rLo = vadd_f32(rLo, zLo);
+			rHi = vadd_f32(rHi, zHi);
+
+			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+			uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
+			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+			dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+			iHi = vbsl_u32(maskHi, indexHi, iHi);
+		}
+		break;
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			rLo = vadd_f32(rLo, zLo);
+
+			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
+			float32x2_t zLo = vmul_f32(z0, vHi);
+			float32x2_t rLo = vpadd_f32(xy0, xy0);
+			rLo = vadd_f32(rLo, zLo);
+			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vcgt_f32(dotMaxHi, dotMaxLo);
+	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	// select best answer between even and odd results
+	dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
+	iHi = vdup_lane_u32(iLo, 1);
+	mask = vcgt_f32(dotMaxHi, dotMaxLo);
+	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	*dotResult = vget_lane_f32(dotMaxLo, 0);
+	return vget_lane_u32(iLo, 0);
 }
 
-
-long b3_maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long b3_maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-    float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-    const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 };
-    uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3};
-    uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 };
-    float32x4_t maxDot = (float32x4_t) { -B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY };
-
-    unsigned long i = 0;
-    for( ; i + 8 <= count; i += 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-
-        uint32x4_t mask = vcgtq_f32(x, maxDot);
-        maxDot = vbslq_f32( mask, x, maxDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-
-        zb = vuzpq_f32( z0, z1);
-        z = vmulq_f32( zb.val[0], vHi);
-        xy = vuzpq_f32( xy0, xy1);
-        x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-
-        mask = vcgtq_f32(x, maxDot);
-        maxDot = vbslq_f32( mask, x, maxDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-
-    for( ; i + 4 <= count; i += 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-
-        uint32x4_t mask = vcgtq_f32(x, maxDot);
-        maxDot = vbslq_f32( mask, x, maxDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-
-    switch (count & 3) {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2));
-
-            xy0 = vmulq_f32(xy0, vLo);
-            xy1 = vmulq_f32(xy1, vLo);
-
-            float32x4x2_t zb = vuzpq_f32( z0, z1);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-
-            uint32x4_t mask = vcgtq_f32(x, maxDot);
-            maxDot = vbslq_f32( mask, x, maxDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-
-            xy0 = vmulq_f32(xy0, vLo);
-
-            float32x4x2_t zb = vuzpq_f32( z0, z0);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-
-            uint32x4_t mask = vcgtq_f32(x, maxDot);
-            maxDot = vbslq_f32( mask, x, maxDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-            xy0 = vmulq_f32(xy0, vLo);
-
-            z = vmulq_f32( z, vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-
-            uint32x4_t mask = vcgtq_f32(x, maxDot);
-            maxDot = vbslq_f32( mask, x, maxDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        default:
-            break;
-    }
-
-
-    // select best answer between hi and lo results
-    uint32x2_t mask = vcgt_f32( vget_high_f32(maxDot), vget_low_f32(maxDot));
-    float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
-    uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-    // select best answer between even and odd results
-    float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
-    uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-    mask = vcgt_f32( maxDotO, maxDot2 );
-    maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
-    index2 = vbsl_u32(mask, indexHi, index2);
-
-    *dotResult = vget_lane_f32( maxDot2, 0);
-    return vget_lane_u32(index2, 0);
-
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
+	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
+	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
+	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
+	uint32x4_t index = (uint32x4_t){-1, -1, -1, -1};
+	float32x4_t maxDot = (float32x4_t){-B3_INFINITY, -B3_INFINITY, -B3_INFINITY, -B3_INFINITY};
+
+	unsigned long i = 0;
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcgtq_f32(x, maxDot);
+		maxDot = vbslq_f32(mask, x, maxDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		zb = vuzpq_f32(z0, z1);
+		z = vmulq_f32(zb.val[0], vHi);
+		xy = vuzpq_f32(xy0, xy1);
+		x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		mask = vcgtq_f32(x, maxDot);
+		maxDot = vbslq_f32(mask, x, maxDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcgtq_f32(x, maxDot);
+		maxDot = vbslq_f32(mask, x, maxDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
+
+			xy0 = vmulq_f32(xy0, vLo);
+			xy1 = vmulq_f32(xy1, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z1);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcgtq_f32(x, maxDot);
+			maxDot = vbslq_f32(mask, x, maxDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z0);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcgtq_f32(x, maxDot);
+			maxDot = vbslq_f32(mask, x, maxDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			z = vmulq_f32(z, vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcgtq_f32(x, maxDot);
+			maxDot = vbslq_f32(mask, x, maxDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vcgt_f32(vget_high_f32(maxDot), vget_low_f32(maxDot));
+	float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
+	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
+
+	// select best answer between even and odd results
+	float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
+	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
+	mask = vcgt_f32(maxDotO, maxDot2);
+	maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
+	index2 = vbsl_u32(mask, indexHi, index2);
+
+	*dotResult = vget_lane_f32(maxDot2, 0);
+	return vget_lane_u32(index2, 0);
 }
 
-long b3_mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long b3_mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    unsigned long i = 0;
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x2_t vLo = vget_low_f32(vvec);
-    float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-    float32x2_t dotMinLo = (float32x2_t) { B3_INFINITY, B3_INFINITY };
-    float32x2_t dotMinHi = (float32x2_t) { B3_INFINITY, B3_INFINITY };
-    uint32x2_t indexLo = (uint32x2_t) {0, 1};
-    uint32x2_t indexHi = (uint32x2_t) {2, 3};
-    uint32x2_t iLo = (uint32x2_t) {-1, -1};
-    uint32x2_t iHi = (uint32x2_t) {-1, -1};
-    const uint32x2_t four = (uint32x2_t) {4,4};
-
-    for( ; i+8 <= count; i+= 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-
-        uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-        uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
-        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-
-        xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        xy3 = vmul_f32( vget_low_f32(v3), vLo);
-
-        z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        zLo = vmul_f32( z0.val[0], vHi);
-        zHi = vmul_f32( z1.val[0], vHi);
-
-        rLo = vpadd_f32( xy0, xy1);
-        rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-
-        maskLo = vclt_f32( rLo, dotMinLo );
-        maskHi = vclt_f32( rHi, dotMinHi );
-        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-
-    for( ; i+4 <= count; i+= 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-
-        uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-        uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
-        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-    switch( count & 3 )
-    {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-            float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-            float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            float32x2_t rHi = vpadd_f32( xy2, xy2);
-            rLo = vadd_f32(rLo, zLo);
-            rHi = vadd_f32(rHi, zHi);
-
-            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-            uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
-            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-            dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-            iHi = vbsl_u32(maskHi, indexHi, iHi);
-        }
-            break;
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            rLo = vadd_f32(rLo, zLo);
-
-            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-            float32x2_t zLo = vmul_f32( z0, vHi);
-            float32x2_t rLo = vpadd_f32( xy0, xy0);
-            rLo = vadd_f32(rLo, zLo);
-            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-
-        default:
-            break;
-    }
-
-    // select best answer between hi and lo results
-    uint32x2_t mask = vclt_f32( dotMinHi, dotMinLo );
-    dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-
-    // select best answer between even and odd results
-    dotMinHi = vdup_lane_f32(dotMinLo, 1);
-    iHi = vdup_lane_u32(iLo, 1);
-    mask = vclt_f32( dotMinHi, dotMinLo );
-    dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-
-    *dotResult = vget_lane_f32( dotMinLo, 0);
-    return vget_lane_u32(iLo, 0);
+	unsigned long i = 0;
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x2_t vLo = vget_low_f32(vvec);
+	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
+	float32x2_t dotMinLo = (float32x2_t){B3_INFINITY, B3_INFINITY};
+	float32x2_t dotMinHi = (float32x2_t){B3_INFINITY, B3_INFINITY};
+	uint32x2_t indexLo = (uint32x2_t){0, 1};
+	uint32x2_t indexHi = (uint32x2_t){2, 3};
+	uint32x2_t iLo = (uint32x2_t){-1, -1};
+	uint32x2_t iHi = (uint32x2_t){-1, -1};
+	const uint32x2_t four = (uint32x2_t){4, 4};
+
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
+		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		zLo = vmul_f32(z0.val[0], vHi);
+		zHi = vmul_f32(z1.val[0], vHi);
+
+		rLo = vpadd_f32(xy0, xy1);
+		rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		maskLo = vclt_f32(rLo, dotMinLo);
+		maskHi = vclt_f32(rHi, dotMinHi);
+		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
+		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			float32x2_t rHi = vpadd_f32(xy2, xy2);
+			rLo = vadd_f32(rLo, zLo);
+			rHi = vadd_f32(rHi, zHi);
+
+			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+			uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
+			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+			dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+			iHi = vbsl_u32(maskHi, indexHi, iHi);
+		}
+		break;
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			rLo = vadd_f32(rLo, zLo);
+
+			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
+			float32x2_t zLo = vmul_f32(z0, vHi);
+			float32x2_t rLo = vpadd_f32(xy0, xy0);
+			rLo = vadd_f32(rLo, zLo);
+			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vclt_f32(dotMinHi, dotMinLo);
+	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	// select best answer between even and odd results
+	dotMinHi = vdup_lane_f32(dotMinLo, 1);
+	iHi = vdup_lane_u32(iLo, 1);
+	mask = vclt_f32(dotMinHi, dotMinLo);
+	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	*dotResult = vget_lane_f32(dotMinLo, 0);
+	return vget_lane_u32(iLo, 0);
 }
 
-long b3_mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long b3_mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-    float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-    const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 };
-    uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3};
-    uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 };
-    float32x4_t minDot = (float32x4_t) { B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY };
-
-    unsigned long i = 0;
-    for( ; i + 8 <= count; i += 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-
-        uint32x4_t mask = vcltq_f32(x, minDot);
-        minDot = vbslq_f32( mask, x, minDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-
-        zb = vuzpq_f32( z0, z1);
-        z = vmulq_f32( zb.val[0], vHi);
-        xy = vuzpq_f32( xy0, xy1);
-        x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-
-        mask = vcltq_f32(x, minDot);
-        minDot = vbslq_f32( mask, x, minDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-
-    for( ; i + 4 <= count; i += 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-
-        uint32x4_t mask = vcltq_f32(x, minDot);
-        minDot = vbslq_f32( mask, x, minDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-
-    switch (count & 3) {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2));
-
-            xy0 = vmulq_f32(xy0, vLo);
-            xy1 = vmulq_f32(xy1, vLo);
-
-            float32x4x2_t zb = vuzpq_f32( z0, z1);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-
-            uint32x4_t mask = vcltq_f32(x, minDot);
-            minDot = vbslq_f32( mask, x, minDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-
-            xy0 = vmulq_f32(xy0, vLo);
-
-            float32x4x2_t zb = vuzpq_f32( z0, z0);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-
-            uint32x4_t mask = vcltq_f32(x, minDot);
-            minDot = vbslq_f32( mask, x, minDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
-
-            xy0 = vmulq_f32(xy0, vLo);
-
-            z = vmulq_f32( z, vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-
-            uint32x4_t mask = vcltq_f32(x, minDot);
-            minDot = vbslq_f32( mask, x, minDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        default:
-            break;
-    }
-
-
-    // select best answer between hi and lo results
-    uint32x2_t mask = vclt_f32( vget_high_f32(minDot), vget_low_f32(minDot));
-    float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
-    uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-
-    // select best answer between even and odd results
-    float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
-    uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-    mask = vclt_f32( minDotO, minDot2 );
-    minDot2 = vbsl_f32(mask, minDotO, minDot2);
-    index2 = vbsl_u32(mask, indexHi, index2);
-
-    *dotResult = vget_lane_f32( minDot2, 0);
-    return vget_lane_u32(index2, 0);
-
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
+	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
+	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
+	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
+	uint32x4_t index = (uint32x4_t){-1, -1, -1, -1};
+	float32x4_t minDot = (float32x4_t){B3_INFINITY, B3_INFINITY, B3_INFINITY, B3_INFINITY};
+
+	unsigned long i = 0;
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcltq_f32(x, minDot);
+		minDot = vbslq_f32(mask, x, minDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		zb = vuzpq_f32(z0, z1);
+		z = vmulq_f32(zb.val[0], vHi);
+		xy = vuzpq_f32(xy0, xy1);
+		x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		mask = vcltq_f32(x, minDot);
+		minDot = vbslq_f32(mask, x, minDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcltq_f32(x, minDot);
+		minDot = vbslq_f32(mask, x, minDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
+
+			xy0 = vmulq_f32(xy0, vLo);
+			xy1 = vmulq_f32(xy1, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z1);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcltq_f32(x, minDot);
+			minDot = vbslq_f32(mask, x, minDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z0);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcltq_f32(x, minDot);
+			minDot = vbslq_f32(mask, x, minDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			z = vmulq_f32(z, vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcltq_f32(x, minDot);
+			minDot = vbslq_f32(mask, x, minDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vclt_f32(vget_high_f32(minDot), vget_low_f32(minDot));
+	float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
+	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
+
+	// select best answer between even and odd results
+	float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
+	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
+	mask = vclt_f32(minDotO, minDot2);
+	minDot2 = vbsl_f32(mask, minDotO, minDot2);
+	index2 = vbsl_u32(mask, indexHi, index2);
+
+	*dotResult = vget_lane_f32(minDot2, 0);
+	return vget_lane_u32(index2, 0);
 }
 
 #else
-    #error Unhandled __APPLE__ arch
+#error Unhandled __APPLE__ arch
 #endif
 
-#endif  /* __APPLE__ */
-
-
+#endif /* __APPLE__ */
diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.h b/thirdparty/bullet/Bullet3Common/b3Vector3.h
index 16ec02b0ed..56e6c13311 100644
--- a/thirdparty/bullet/Bullet3Common/b3Vector3.h
+++ b/thirdparty/bullet/Bullet3Common/b3Vector3.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_VECTOR3_H
 #define B3_VECTOR3_H
 
@@ -28,37 +26,34 @@ subject to the following restrictions:
 #else
 #define b3Vector3Data b3Vector3FloatData
 #define b3Vector3DataName "b3Vector3FloatData"
-#endif //B3_USE_DOUBLE_PRECISION
+#endif  //B3_USE_DOUBLE_PRECISION
 
 #if defined B3_USE_SSE
 
 //typedef  uint32_t __m128i __attribute__ ((vector_size(16)));
 
 #ifdef _MSC_VER
-#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
+#pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
 #endif
 
-
-#define B3_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
+#define B3_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
 //#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
-#define b3_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
-#define b3_splat3_ps( _a, _i ) b3_pshufd_ps((_a), B3_SHUFFLE(_i,_i,_i, 3) )
-#define b3_splat_ps( _a, _i )  b3_pshufd_ps((_a), B3_SHUFFLE(_i,_i,_i,_i) )
+#define b3_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
+#define b3_splat3_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, 3))
+#define b3_splat_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, _i))
 
 #define b3v3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define b3vAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
+#define b3vAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
 #define b3vFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
 #define b3v3AbsfMask b3CastiTo128f(b3v3AbsiMask)
 #define b3vFFF0fMask b3CastiTo128f(b3vFFF0Mask)
 #define b3vxyzMaskf b3vFFF0fMask
 #define b3vAbsfMask b3CastiTo128f(b3vAbsMask)
 
-
-
 const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
 const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
 const __m128 B3_ATTRIBUTE_ALIGNED16(b3vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
-const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};
+const __m128 B3_ATTRIBUTE_ALIGNED16(b3v1_5) = {1.5f, 1.5f, 1.5f, 1.5f};
 
 #endif
 
@@ -74,70 +69,69 @@ const int32x4_t B3_ATTRIBUTE_ALIGNED16(b3v3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x
 class b3Vector3;
 class b3Vector4;
 
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 //#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
-inline b3Vector3 b3MakeVector3( b3SimdFloat4 v);
-inline b3Vector4 b3MakeVector4( b3SimdFloat4 vec);
+inline b3Vector3 b3MakeVector3(b3SimdFloat4 v);
+inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec);
 #endif
 
-inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z);
-inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z, b3Scalar w);
-inline b3Vector4 b3MakeVector4(b3Scalar x,b3Scalar y,b3Scalar z,b3Scalar w);
-
+inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z);
+inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w);
+inline b3Vector4 b3MakeVector4(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w);
 
 /**@brief b3Vector3 can be used to represent 3D points and vectors.
  * It has an un-used w component to suit 16-byte alignment when b3Vector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
  * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
  */
-B3_ATTRIBUTE_ALIGNED16(class) b3Vector3
+B3_ATTRIBUTE_ALIGNED16(class)
+b3Vector3
 {
 public:
-#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
-        union {
-            b3SimdFloat4      mVec128;
-            float	m_floats[4];
-			struct {float x,y,z,w;};
-
-        };
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)  // _WIN32 || ARM
+	union {
+		b3SimdFloat4 mVec128;
+		float m_floats[4];
+		struct
+		{
+			float x, y, z, w;
+		};
+	};
 #else
-	union
-	{
-        	float	m_floats[4];
-			struct {float	x,y,z,w;};
+	union {
+		float m_floats[4];
+		struct
+		{
+			float x, y, z, w;
+		};
 	};
 #endif
 
-
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-#if defined (B3_USE_SSE) || defined(B3_USE_NEON) // _WIN32 || ARM
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)  // _WIN32 || ARM
 
 	/*B3_FORCE_INLINE		b3Vector3()
 	{
 	}
 	*/
 
-    B3_FORCE_INLINE	b3SimdFloat4	get128() const
-    {
-        return mVec128;
-    }
-    B3_FORCE_INLINE	void	set128(b3SimdFloat4 v128)
-    {
-        mVec128 = v128;
-    }
+	B3_FORCE_INLINE b3SimdFloat4 get128() const
+	{
+		return mVec128;
+	}
+	B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
+	{
+		mVec128 = v128;
+	}
 #endif
 
-	public:
-
-
-
-/**@brief Add a vector to this one
+public:
+	/**@brief Add a vector to this one
  * @param The vector to add to this one */
 	B3_FORCE_INLINE b3Vector3& operator+=(const b3Vector3& v)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_add_ps(mVec128, v.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vaddq_f32(mVec128, v.mVec128);
@@ -149,12 +143,11 @@ public:
 		return *this;
 	}
 
-
-  /**@brief Subtract a vector from this one
+	/**@brief Subtract a vector from this one
    * @param The vector to subtract */
 	B3_FORCE_INLINE b3Vector3& operator-=(const b3Vector3& v)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vsubq_f32(mVec128, v.mVec128);
@@ -166,13 +159,13 @@ public:
 		return *this;
 	}
 
-  /**@brief Scale the vector
+	/**@brief Scale the vector
    * @param s Scale factor */
 	B3_FORCE_INLINE b3Vector3& operator*=(const b3Scalar& s)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
 		mVec128 = _mm_mul_ps(mVec128, vs);
 #elif defined(B3_USE_NEON)
 		mVec128 = vmulq_n_f32(mVec128, s);
@@ -184,13 +177,13 @@ public:
 		return *this;
 	}
 
-  /**@brief Inversely scale the vector
+	/**@brief Inversely scale the vector
    * @param s Scale factor to divide by */
 	B3_FORCE_INLINE b3Vector3& operator/=(const b3Scalar& s)
 	{
 		b3FullAssert(s != b3Scalar(0.0));
 
-#if 0 //defined(B3_USE_SSE_IN_API)
+#if 0  //defined(B3_USE_SSE_IN_API)
 // this code is not faster !
 		__m128 vs = _mm_load_ss(&s);
 		vs = _mm_div_ss(b3v1110, vs);
@@ -204,11 +197,11 @@ public:
 #endif
 	}
 
-  /**@brief Return the dot product
+	/**@brief Return the dot product
    * @param v The other vector in the dot product */
 	B3_FORCE_INLINE b3Scalar dot(const b3Vector3& v) const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
 		__m128 z = _mm_movehl_ps(vd, vd);
 		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
@@ -221,29 +214,29 @@ public:
 		x = vadd_f32(x, vget_high_f32(vd));
 		return vget_lane_f32(x, 0);
 #else
-		return	m_floats[0] * v.m_floats[0] +
-				m_floats[1] * v.m_floats[1] +
-				m_floats[2] * v.m_floats[2];
+		return m_floats[0] * v.m_floats[0] +
+			   m_floats[1] * v.m_floats[1] +
+			   m_floats[2] * v.m_floats[2];
 #endif
 	}
 
-  /**@brief Return the length of the vector squared */
+	/**@brief Return the length of the vector squared */
 	B3_FORCE_INLINE b3Scalar length2() const
 	{
 		return dot(*this);
 	}
 
-  /**@brief Return the length of the vector */
+	/**@brief Return the length of the vector */
 	B3_FORCE_INLINE b3Scalar length() const
 	{
 		return b3Sqrt(length2());
 	}
 
-  /**@brief Return the distance squared between the ends of this and another vector
+	/**@brief Return the distance squared between the ends of this and another vector
    * This is symantically treating the vector like a point */
 	B3_FORCE_INLINE b3Scalar distance2(const b3Vector3& v) const;
 
-  /**@brief Return the distance between the ends of this and another vector
+	/**@brief Return the distance between the ends of this and another vector
    * This is symantically treating the vector like a point */
 	B3_FORCE_INLINE b3Scalar distance(const b3Vector3& v) const;
 
@@ -251,7 +244,7 @@ public:
 	{
 		b3Scalar l2 = length2();
 		//triNormal.normalize();
-		if (l2 >= B3_EPSILON*B3_EPSILON)
+		if (l2 >= B3_EPSILON * B3_EPSILON)
 		{
 			(*this) /= b3Sqrt(l2);
 		}
@@ -262,43 +255,42 @@ public:
 		return *this;
 	}
 
-  /**@brief Normalize this vector
+	/**@brief Normalize this vector
    * x^2 + y^2 + z^2 = 1 */
 	B3_FORCE_INLINE b3Vector3& normalize()
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-        // dot product first
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		// dot product first
 		__m128 vd = _mm_mul_ps(mVec128, mVec128);
 		__m128 z = _mm_movehl_ps(vd, vd);
 		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
 		vd = _mm_add_ss(vd, y);
 		vd = _mm_add_ss(vd, z);
 
-        #if 0
+#if 0
         vd = _mm_sqrt_ss(vd);
 		vd = _mm_div_ss(b3v1110, vd);
 		vd = b3_splat_ps(vd, 0x80);
 		mVec128 = _mm_mul_ps(mVec128, vd);
-        #else
+#else
 
-        // NR step 1/sqrt(x) - vd is x, y is output
-        y = _mm_rsqrt_ss(vd); // estimate
+		// NR step 1/sqrt(x) - vd is x, y is output
+		y = _mm_rsqrt_ss(vd);  // estimate
 
-        //  one step NR
-        z = b3v1_5;
-        vd = _mm_mul_ss(vd, b3vHalf); // vd * 0.5
-        //x2 = vd;
-        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0
-        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0
-        z = _mm_sub_ss(z, vd);  // 1.5 - vd * 0.5 * y0 * y0
+		//  one step NR
+		z = b3v1_5;
+		vd = _mm_mul_ss(vd, b3vHalf);  // vd * 0.5
+		//x2 = vd;
+		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0
+		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0 * y0
+		z = _mm_sub_ss(z, vd);   // 1.5 - vd * 0.5 * y0 * y0
 
-        y = _mm_mul_ss(y, z);   // y0 * (1.5 - vd * 0.5 * y0 * y0)
+		y = _mm_mul_ss(y, z);  // y0 * (1.5 - vd * 0.5 * y0 * y0)
 
 		y = b3_splat_ps(y, 0x80);
 		mVec128 = _mm_mul_ps(mVec128, y);
 
-        #endif
-
+#endif
 
 		return *this;
 #else
@@ -306,15 +298,15 @@ public:
 #endif
 	}
 
-  /**@brief Return a normalized version of this vector */
+	/**@brief Return a normalized version of this vector */
 	B3_FORCE_INLINE b3Vector3 normalized() const;
 
-  /**@brief Return a rotated version of this vector
+	/**@brief Return a rotated version of this vector
    * @param wAxis The axis to rotate about
    * @param angle The angle to rotate by */
-	B3_FORCE_INLINE b3Vector3 rotate( const b3Vector3& wAxis, const b3Scalar angle ) const;
+	B3_FORCE_INLINE b3Vector3 rotate(const b3Vector3& wAxis, const b3Scalar angle) const;
 
-  /**@brief Return the angle between this and another vector
+	/**@brief Return the angle between this and another vector
    * @param v The other vector */
 	B3_FORCE_INLINE b3Scalar angle(const b3Vector3& v) const
 	{
@@ -323,10 +315,10 @@ public:
 		return b3Acos(dot(v) / s);
 	}
 
-  /**@brief Return a vector will the absolute values of each element */
+	/**@brief Return a vector will the absolute values of each element */
 	B3_FORCE_INLINE b3Vector3 absolute() const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		return b3MakeVector3(_mm_and_ps(mVec128, b3v3AbsfMask));
 #elif defined(B3_USE_NEON)
 		return b3Vector3(vabsq_f32(mVec128));
@@ -338,15 +330,15 @@ public:
 #endif
 	}
 
-  /**@brief Return the cross product between this and another vector
+	/**@brief Return the cross product between this and another vector
    * @param v The other vector */
 	B3_FORCE_INLINE b3Vector3 cross(const b3Vector3& v) const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	T, V;
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 T, V;
 
-		T = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
-		V = b3_pshufd_ps(v.mVec128, B3_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		T = b3_pshufd_ps(mVec128, B3_SHUFFLE(1, 2, 0, 3));    //	(Y Z X 0)
+		V = b3_pshufd_ps(v.mVec128, B3_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
 
 		V = _mm_mul_ps(V, mVec128);
 		T = _mm_mul_ps(T, v.mVec128);
@@ -381,10 +373,10 @@ public:
 
 	B3_FORCE_INLINE b3Scalar triple(const b3Vector3& v1, const b3Vector3& v2) const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		// cross:
-		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, B3_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
-		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, B3_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, B3_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
+		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, B3_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
 
 		V = _mm_mul_ps(V, v1.mVec128);
 		T = _mm_mul_ps(T, v2.mVec128);
@@ -422,25 +414,24 @@ public:
 		x = vadd_f32(x, vget_high_f32(V));
 		return vget_lane_f32(x, 0);
 #else
-		return
-			m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
-			m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
-			m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
+		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
+			   m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
+			   m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
 #endif
 	}
 
-  /**@brief Return the axis with the smallest value
+	/**@brief Return the axis with the smallest value
    * Note return values are 0,1,2 for x, y, or z */
 	B3_FORCE_INLINE int minAxis() const
 	{
-		return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);
+		return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
 	}
 
-  /**@brief Return the axis with the largest value
+	/**@brief Return the axis with the largest value
    * Note return values are 0,1,2 for x, y, or z */
 	B3_FORCE_INLINE int maxAxis() const
 	{
-		return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);
+		return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
 	}
 
 	B3_FORCE_INLINE int furthestAxis() const
@@ -453,18 +444,17 @@ public:
 		return absolute().maxAxis();
 	}
 
-
 	B3_FORCE_INLINE void setInterpolate3(const b3Vector3& v0, const b3Vector3& v1, b3Scalar rt)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vrt = _mm_load_ss(&rt);	//	(rt 0 0 0)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vrt = _mm_load_ss(&rt);  //	(rt 0 0 0)
 		b3Scalar s = b3Scalar(1.0) - rt;
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = b3_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = b3_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
 		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
-		vrt = b3_pshufd_ps(vrt, 0x80);	//	(rt rt rt 0.0)
+		vrt = b3_pshufd_ps(vrt, 0x80);  //	(rt rt rt 0.0)
 		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
-		__m128 tmp3 = _mm_add_ps(r0,r1);
+		__m128 tmp3 = _mm_add_ps(r0, r1);
 		mVec128 = tmp3;
 #elif defined(B3_USE_NEON)
 		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
@@ -480,14 +470,14 @@ public:
 #endif
 	}
 
-  /**@brief Return the linear interpolation between this and another vector
+	/**@brief Return the linear interpolation between this and another vector
    * @param v The other vector
    * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
 	B3_FORCE_INLINE b3Vector3 lerp(const b3Vector3& v, const b3Scalar& t) const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-		__m128	vt = _mm_load_ss(&t);	//	(t 0 0 0)
-		vt = b3_pshufd_ps(vt, 0x80);	//	(rt rt rt 0.0)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		__m128 vt = _mm_load_ss(&t);  //	(t 0 0 0)
+		vt = b3_pshufd_ps(vt, 0x80);  //	(rt rt rt 0.0)
 		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
 		vl = _mm_mul_ps(vl, vt);
 		vl = _mm_add_ps(vl, mVec128);
@@ -500,18 +490,17 @@ public:
 
 		return b3Vector3(vl);
 #else
-		return
-			b3MakeVector3(	m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
-						m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
-						m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
+		return b3MakeVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
+							 m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
+							 m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
 #endif
 	}
 
-  /**@brief Elementwise multiply this vector by the other
+	/**@brief Elementwise multiply this vector by the other
    * @param v The other vector */
 	B3_FORCE_INLINE b3Vector3& operator*=(const b3Vector3& v)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vmulq_f32(mVec128, v.mVec128);
@@ -523,53 +512,53 @@ public:
 		return *this;
 	}
 
-	 /**@brief Return the x value */
-		B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
-/**@brief Return the w value */
-		B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
-
-  /**@brief Set the x value */
-		B3_FORCE_INLINE void	setX(b3Scalar _x) { m_floats[0] = _x;};
-  /**@brief Set the y value */
-		B3_FORCE_INLINE void	setY(b3Scalar _y) { m_floats[1] = _y;};
-  /**@brief Set the z value */
-		B3_FORCE_INLINE void	setZ(b3Scalar _z) { m_floats[2] = _z;};
-  /**@brief Set the w value */
-		B3_FORCE_INLINE void	setW(b3Scalar _w) { m_floats[3] = _w;};
+	/**@brief Return the x value */
+	B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
+	/**@brief Return the w value */
+	B3_FORCE_INLINE const b3Scalar& getW() const { return m_floats[3]; }
+
+	/**@brief Set the x value */
+	B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; };
+	/**@brief Set the y value */
+	B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; };
+	/**@brief Set the z value */
+	B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; };
+	/**@brief Set the w value */
+	B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; };
 
 	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}
 	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
 	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	B3_FORCE_INLINE	operator       b3Scalar *()       { return &m_floats[0]; }
-	B3_FORCE_INLINE	operator const b3Scalar *() const { return &m_floats[0]; }
+	B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; }
+	B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; }
 
-	B3_FORCE_INLINE	bool	operator==(const b3Vector3& other) const
+	B3_FORCE_INLINE bool operator==(const b3Vector3& other) const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
 #else
-		return ((m_floats[3]==other.m_floats[3]) &&
-                (m_floats[2]==other.m_floats[2]) &&
-                (m_floats[1]==other.m_floats[1]) &&
-                (m_floats[0]==other.m_floats[0]));
+		return ((m_floats[3] == other.m_floats[3]) &&
+				(m_floats[2] == other.m_floats[2]) &&
+				(m_floats[1] == other.m_floats[1]) &&
+				(m_floats[0] == other.m_floats[0]));
 #endif
 	}
 
-	B3_FORCE_INLINE	bool	operator!=(const b3Vector3& other) const
+	B3_FORCE_INLINE bool operator!=(const b3Vector3& other) const
 	{
 		return !(*this == other);
 	}
 
-  /**@brief Set each element to the max of the current values and the values of another b3Vector3
+	/**@brief Set each element to the max of the current values and the values of another b3Vector3
    * @param other The other b3Vector3 to compare with
    */
-	B3_FORCE_INLINE void	setMax(const b3Vector3& other)
+	B3_FORCE_INLINE void setMax(const b3Vector3& other)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_max_ps(mVec128, other.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vmaxq_f32(mVec128, other.mVec128);
@@ -581,12 +570,12 @@ public:
 #endif
 	}
 
-  /**@brief Set each element to the min of the current values and the values of another b3Vector3
+	/**@brief Set each element to the min of the current values and the values of another b3Vector3
    * @param other The other b3Vector3 to compare with
    */
-	B3_FORCE_INLINE void	setMin(const b3Vector3& other)
+	B3_FORCE_INLINE void setMin(const b3Vector3& other)
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = _mm_min_ps(mVec128, other.mVec128);
 #elif defined(B3_USE_NEON)
 		mVec128 = vminq_f32(mVec128, other.mVec128);
@@ -598,46 +587,46 @@ public:
 #endif
 	}
 
-	B3_FORCE_INLINE void 	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
 	{
-		m_floats[0]=_x;
-		m_floats[1]=_y;
-		m_floats[2]=_z;
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
 		m_floats[3] = b3Scalar(0.f);
 	}
 
-	void	getSkewSymmetricMatrix(b3Vector3* v0,b3Vector3* v1,b3Vector3* v2) const
+	void getSkewSymmetricMatrix(b3Vector3 * v0, b3Vector3 * v1, b3Vector3 * v2) const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 
-		__m128 V  = _mm_and_ps(mVec128, b3vFFF0fMask);
+		__m128 V = _mm_and_ps(mVec128, b3vFFF0fMask);
 		__m128 V0 = _mm_xor_ps(b3vMzeroMask, V);
 		__m128 V2 = _mm_movelh_ps(V0, V);
 
 		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
 
-        V0 = _mm_shuffle_ps(V0, V, 0xDB);
+		V0 = _mm_shuffle_ps(V0, V, 0xDB);
 		V2 = _mm_shuffle_ps(V2, V, 0xF9);
 
 		v0->mVec128 = V0;
 		v1->mVec128 = V1;
 		v2->mVec128 = V2;
 #else
-		v0->setValue(0.		,-getZ()		,getY());
-		v1->setValue(getZ()	,0.			,-getX());
-		v2->setValue(-getY()	,getX()	,0.);
+		v0->setValue(0., -getZ(), getY());
+		v1->setValue(getZ(), 0., -getX());
+		v2->setValue(-getY(), getX(), 0.);
 #endif
 	}
 
 	void setZero()
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
 #elif defined(B3_USE_NEON)
 		int32x4_t vi = vdupq_n_s32(0);
 		mVec128 = vreinterpretq_f32_s32(vi);
 #else
-		setValue(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
+		setValue(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 #endif
 	}
 
@@ -651,76 +640,76 @@ public:
 		return length2() < B3_EPSILON;
 	}
 
-	B3_FORCE_INLINE	void	serialize(struct	b3Vector3Data& dataOut) const;
+	B3_FORCE_INLINE void serialize(struct b3Vector3Data & dataOut) const;
 
-	B3_FORCE_INLINE	void	deSerialize(const struct	b3Vector3Data& dataIn);
+	B3_FORCE_INLINE void deSerialize(const struct b3Vector3Data& dataIn);
 
-	B3_FORCE_INLINE	void	serializeFloat(struct	b3Vector3FloatData& dataOut) const;
+	B3_FORCE_INLINE void serializeFloat(struct b3Vector3FloatData & dataOut) const;
 
-	B3_FORCE_INLINE	void	deSerializeFloat(const struct	b3Vector3FloatData& dataIn);
+	B3_FORCE_INLINE void deSerializeFloat(const struct b3Vector3FloatData& dataIn);
 
-	B3_FORCE_INLINE	void	serializeDouble(struct	b3Vector3DoubleData& dataOut) const;
+	B3_FORCE_INLINE void serializeDouble(struct b3Vector3DoubleData & dataOut) const;
 
-	B3_FORCE_INLINE	void	deSerializeDouble(const struct	b3Vector3DoubleData& dataIn);
+	B3_FORCE_INLINE void deSerializeDouble(const struct b3Vector3DoubleData& dataIn);
 
-        /**@brief returns index of maximum dot product between this and vectors in array[]
+	/**@brief returns index of maximum dot product between this and vectors in array[]
          * @param array The other vectors
          * @param array_count The number of other vectors
          * @param dotOut The maximum dot product */
-        B3_FORCE_INLINE   long    maxDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const;
+	B3_FORCE_INLINE long maxDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const;
 
-        /**@brief returns index of minimum dot product between this and vectors in array[]
+	/**@brief returns index of minimum dot product between this and vectors in array[]
          * @param array The other vectors
          * @param array_count The number of other vectors
          * @param dotOut The minimum dot product */
-        B3_FORCE_INLINE   long    minDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const;
-
-    /* create a vector as  b3Vector3( this->dot( b3Vector3 v0 ), this->dot( b3Vector3 v1), this->dot( b3Vector3 v2 ))  */
-    B3_FORCE_INLINE b3Vector3  dot3( const b3Vector3 &v0, const b3Vector3 &v1, const b3Vector3 &v2 ) const
-    {
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-
-        __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 );
-        __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 );
-        __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 );
-        __m128 b0 = _mm_unpacklo_ps( a0, a1 );
-        __m128 b1 = _mm_unpackhi_ps( a0, a1 );
-        __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() );
-        __m128 r = _mm_movelh_ps( b0, b2 );
-        r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 ));
-        a2 = _mm_and_ps( a2, b3vxyzMaskf);
-        r = _mm_add_ps( r, b3CastdTo128f (_mm_move_sd( b3CastfTo128d(a2), b3CastfTo128d(b1) )));
-        return b3MakeVector3(r);
+	B3_FORCE_INLINE long minDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const;
+
+	/* create a vector as  b3Vector3( this->dot( b3Vector3 v0 ), this->dot( b3Vector3 v1), this->dot( b3Vector3 v2 ))  */
+	B3_FORCE_INLINE b3Vector3 dot3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2) const
+	{
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+
+		__m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128);
+		__m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128);
+		__m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128);
+		__m128 b0 = _mm_unpacklo_ps(a0, a1);
+		__m128 b1 = _mm_unpackhi_ps(a0, a1);
+		__m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps());
+		__m128 r = _mm_movelh_ps(b0, b2);
+		r = _mm_add_ps(r, _mm_movehl_ps(b2, b0));
+		a2 = _mm_and_ps(a2, b3vxyzMaskf);
+		r = _mm_add_ps(r, b3CastdTo128f(_mm_move_sd(b3CastfTo128d(a2), b3CastfTo128d(b1))));
+		return b3MakeVector3(r);
 
 #elif defined(B3_USE_NEON)
-        static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 };
-        float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128);
-        float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128);
-        float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128);
-        float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1));
-        a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask );
-        float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] );
-        float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
-        return b3Vector3( vcombine_f32(b0, b1) );
+		static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0};
+		float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128);
+		float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128);
+		float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128);
+		float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1));
+		a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask);
+		float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]);
+		float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
+		return b3Vector3(vcombine_f32(b0, b1));
 #else
-		return b3MakeVector3( dot(v0), dot(v1), dot(v2));
+		return b3MakeVector3(dot(v0), dot(v1), dot(v2));
 #endif
-    }
+	}
 };
 
 /**@brief Return the sum of two vectors (Point symantics)*/
 B3_FORCE_INLINE b3Vector3
 operator+(const b3Vector3& v1, const b3Vector3& v2)
 {
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	return b3MakeVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
 #elif defined(B3_USE_NEON)
 	return b3MakeVector3(vaddq_f32(v1.mVec128, v2.mVec128));
 #else
 	return b3MakeVector3(
-			v1.m_floats[0] + v2.m_floats[0],
-			v1.m_floats[1] + v2.m_floats[1],
-			v1.m_floats[2] + v2.m_floats[2]);
+		v1.m_floats[0] + v2.m_floats[0],
+		v1.m_floats[1] + v2.m_floats[1],
+		v1.m_floats[2] + v2.m_floats[2]);
 #endif
 }
 
@@ -728,15 +717,15 @@ operator+(const b3Vector3& v1, const b3Vector3& v2)
 B3_FORCE_INLINE b3Vector3
 operator*(const b3Vector3& v1, const b3Vector3& v2)
 {
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	return b3MakeVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
 #elif defined(B3_USE_NEON)
 	return b3MakeVector3(vmulq_f32(v1.mVec128, v2.mVec128));
 #else
 	return b3MakeVector3(
-			v1.m_floats[0] * v2.m_floats[0],
-			v1.m_floats[1] * v2.m_floats[1],
-			v1.m_floats[2] * v2.m_floats[2]);
+		v1.m_floats[0] * v2.m_floats[0],
+		v1.m_floats[1] * v2.m_floats[1],
+		v1.m_floats[2] * v2.m_floats[2]);
 #endif
 }
 
@@ -744,7 +733,7 @@ operator*(const b3Vector3& v1, const b3Vector3& v2)
 B3_FORCE_INLINE b3Vector3
 operator-(const b3Vector3& v1, const b3Vector3& v2)
 {
-#if (defined(B3_USE_SSE_IN_API)  && defined(B3_USE_SSE))
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
 
 	//	without _mm_and_ps this code causes slowdown in Concave moving
 	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
@@ -754,9 +743,9 @@ operator-(const b3Vector3& v1, const b3Vector3& v2)
 	return b3MakeVector3((float32x4_t)vandq_s32((int32x4_t)r, b3vFFF0Mask));
 #else
 	return b3MakeVector3(
-			v1.m_floats[0] - v2.m_floats[0],
-			v1.m_floats[1] - v2.m_floats[1],
-			v1.m_floats[2] - v2.m_floats[2]);
+		v1.m_floats[0] - v2.m_floats[0],
+		v1.m_floats[1] - v2.m_floats[1],
+		v1.m_floats[2] - v2.m_floats[2]);
 #endif
 }
 
@@ -764,7 +753,7 @@ operator-(const b3Vector3& v1, const b3Vector3& v2)
 B3_FORCE_INLINE b3Vector3
 operator-(const b3Vector3& v)
 {
-#if (defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
 	__m128 r = _mm_xor_ps(v.mVec128, b3vMzeroMask);
 	return b3MakeVector3(_mm_and_ps(r, b3vFFF0fMask));
 #elif defined(B3_USE_NEON)
@@ -778,9 +767,9 @@ operator-(const b3Vector3& v)
 B3_FORCE_INLINE b3Vector3
 operator*(const b3Vector3& v, const b3Scalar& s)
 {
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
-	__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-	vs = b3_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
+	__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+	vs = b3_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
 	return b3MakeVector3(_mm_mul_ps(v.mVec128, vs));
 #elif defined(B3_USE_NEON)
 	float32x4_t r = vmulq_n_f32(v.mVec128, s);
@@ -802,7 +791,7 @@ B3_FORCE_INLINE b3Vector3
 operator/(const b3Vector3& v, const b3Scalar& s)
 {
 	b3FullAssert(s != b3Scalar(0.0));
-#if 0 //defined(B3_USE_SSE_IN_API)
+#if 0  //defined(B3_USE_SSE_IN_API)
 // this code is not faster !
 	__m128 vs = _mm_load_ss(&s);
     vs = _mm_div_ss(b3v1110, vs);
@@ -818,7 +807,7 @@ operator/(const b3Vector3& v, const b3Scalar& s)
 B3_FORCE_INLINE b3Vector3
 operator/(const b3Vector3& v1, const b3Vector3& v2)
 {
-#if (defined(B3_USE_SSE_IN_API)&& defined (B3_USE_SSE))
+#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE))
 	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
 	vec = _mm_and_ps(vec, b3vFFF0fMask);
 	return b3MakeVector3(vec);
@@ -828,19 +817,19 @@ operator/(const b3Vector3& v1, const b3Vector3& v2)
 	x = v1.mVec128;
 	y = v2.mVec128;
 
-	v = vrecpeq_f32(y);			// v ~ 1/y
-	m = vrecpsq_f32(y, v);		// m = (2-v*y)
-	v = vmulq_f32(v, m);		// vv = v*m ~~ 1/y
-	m = vrecpsq_f32(y, v);		// mm = (2-vv*y)
-	v = vmulq_f32(v, x);		// x*vv
-	v = vmulq_f32(v, m);		// (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
+	v = vrecpeq_f32(y);     // v ~ 1/y
+	m = vrecpsq_f32(y, v);  // m = (2-v*y)
+	v = vmulq_f32(v, m);    // vv = v*m ~~ 1/y
+	m = vrecpsq_f32(y, v);  // mm = (2-vv*y)
+	v = vmulq_f32(v, x);    // x*vv
+	v = vmulq_f32(v, m);    // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
 
 	return b3Vector3(v);
 #else
 	return b3MakeVector3(
-			v1.m_floats[0] / v2.m_floats[0],
-			v1.m_floats[1] / v2.m_floats[1],
-			v1.m_floats[2] / v2.m_floats[2]);
+		v1.m_floats[0] / v2.m_floats[0],
+		v1.m_floats[1] / v2.m_floats[1],
+		v1.m_floats[2] / v2.m_floats[2]);
 #endif
 }
 
@@ -851,7 +840,6 @@ b3Dot(const b3Vector3& v1, const b3Vector3& v2)
 	return v1.dot(v2);
 }
 
-
 /**@brief Return the distance squared between two vectors */
 B3_FORCE_INLINE b3Scalar
 b3Distance2(const b3Vector3& v1, const b3Vector3& v2)
@@ -859,7 +847,6 @@ b3Distance2(const b3Vector3& v1, const b3Vector3& v2)
 	return v1.distance2(v2);
 }
 
-
 /**@brief Return the distance between two vectors */
 B3_FORCE_INLINE b3Scalar
 b3Distance(const b3Vector3& v1, const b3Vector3& v2)
@@ -897,8 +884,6 @@ b3Lerp(const b3Vector3& v1, const b3Vector3& v2, const b3Scalar& t)
 	return v1.lerp(v2, t);
 }
 
-
-
 B3_FORCE_INLINE b3Scalar b3Vector3::distance2(const b3Vector3& v) const
 {
 	return (v - *this).length2();
@@ -911,7 +896,7 @@ B3_FORCE_INLINE b3Scalar b3Vector3::distance(const b3Vector3& v) const
 
 B3_FORCE_INLINE b3Vector3 b3Vector3::normalized() const
 {
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 	b3Vector3 norm = *this;
 
 	return norm.normalize();
@@ -920,143 +905,136 @@ B3_FORCE_INLINE b3Vector3 b3Vector3::normalized() const
 #endif
 }
 
-B3_FORCE_INLINE b3Vector3 b3Vector3::rotate( const b3Vector3& wAxis, const b3Scalar _angle ) const
+B3_FORCE_INLINE b3Vector3 b3Vector3::rotate(const b3Vector3& wAxis, const b3Scalar _angle) const
 {
 	// wAxis must be a unit lenght vector
 
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 
-    __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
-	b3Scalar ssin = b3Sin( _angle );
-    __m128 C = wAxis.cross( b3MakeVector3(mVec128) ).mVec128;
+	__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
+	b3Scalar ssin = b3Sin(_angle);
+	__m128 C = wAxis.cross(b3MakeVector3(mVec128)).mVec128;
 	O = _mm_and_ps(O, b3vFFF0fMask);
-    b3Scalar scos = b3Cos( _angle );
+	b3Scalar scos = b3Cos(_angle);
 
-	__m128 vsin = _mm_load_ss(&ssin);	//	(S 0 0 0)
-    __m128 vcos = _mm_load_ss(&scos);	//	(S 0 0 0)
+	__m128 vsin = _mm_load_ss(&ssin);  //	(S 0 0 0)
+	__m128 vcos = _mm_load_ss(&scos);  //	(S 0 0 0)
 
-	__m128 Y = b3_pshufd_ps(O, 0xC9);	//	(Y Z X 0)
-	__m128 Z = b3_pshufd_ps(O, 0xD2);	//	(Z X Y 0)
+	__m128 Y = b3_pshufd_ps(O, 0xC9);  //	(Y Z X 0)
+	__m128 Z = b3_pshufd_ps(O, 0xD2);  //	(Z X Y 0)
 	O = _mm_add_ps(O, Y);
-	vsin = b3_pshufd_ps(vsin, 0x80);	//	(S S S 0)
+	vsin = b3_pshufd_ps(vsin, 0x80);  //	(S S S 0)
 	O = _mm_add_ps(O, Z);
-    vcos = b3_pshufd_ps(vcos, 0x80);	//	(S S S 0)
+	vcos = b3_pshufd_ps(vcos, 0x80);  //	(S S S 0)
 
-    vsin = vsin * C;
+	vsin = vsin * C;
 	O = O * wAxis.mVec128;
 	__m128 X = mVec128 - O;
 
-    O = O + vsin;
+	O = O + vsin;
 	vcos = vcos * X;
 	O = O + vcos;
 
 	return b3MakeVector3(O);
 #else
-	b3Vector3 o = wAxis * wAxis.dot( *this );
+	b3Vector3 o = wAxis * wAxis.dot(*this);
 	b3Vector3 _x = *this - o;
 	b3Vector3 _y;
 
-	_y = wAxis.cross( *this );
+	_y = wAxis.cross(*this);
 
-	return ( o + _x * b3Cos( _angle ) + _y * b3Sin( _angle ) );
+	return (o + _x * b3Cos(_angle) + _y * b3Sin(_angle));
 #endif
 }
 
-B3_FORCE_INLINE   long    b3Vector3::maxDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const
+B3_FORCE_INLINE long b3Vector3::maxDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const
 {
-#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
-    #if defined _WIN32 || defined (B3_USE_SSE)
-        const long scalar_cutoff = 10;
-        long b3_maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #elif defined B3_USE_NEON
-        const long scalar_cutoff = 4;
-        extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #endif
-    if( array_count < scalar_cutoff )
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+#if defined _WIN32 || defined(B3_USE_SSE)
+	const long scalar_cutoff = 10;
+	long b3_maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#elif defined B3_USE_NEON
+	const long scalar_cutoff = 4;
+	extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#endif
+	if (array_count < scalar_cutoff)
 #else
 
-#endif//B3_USE_SSE || B3_USE_NEON
-    {
-        b3Scalar maxDot = -B3_INFINITY;
-        int i = 0;
-        int ptIndex = -1;
-        for( i = 0; i < array_count; i++ )
-        {
-            b3Scalar dot = array[i].dot(*this);
-
-            if( dot > maxDot )
-            {
-                maxDot = dot;
-                ptIndex = i;
-            }
-        }
-
-		b3Assert(ptIndex>=0);
-        if (ptIndex<0)
+#endif  //B3_USE_SSE || B3_USE_NEON
+	{
+		b3Scalar maxDot = -B3_INFINITY;
+		int i = 0;
+		int ptIndex = -1;
+		for (i = 0; i < array_count; i++)
+		{
+			b3Scalar dot = array[i].dot(*this);
+
+			if (dot > maxDot)
+			{
+				maxDot = dot;
+				ptIndex = i;
+			}
+		}
+
+		b3Assert(ptIndex >= 0);
+		if (ptIndex < 0)
 		{
 			ptIndex = 0;
 		}
-        dotOut = maxDot;
-        return ptIndex;
-    }
-#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
-    return b3_maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+		dotOut = maxDot;
+		return ptIndex;
+	}
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+	return b3_maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
 #endif
 }
 
-B3_FORCE_INLINE   long    b3Vector3::minDot( const b3Vector3 *array, long array_count, b3Scalar &dotOut ) const
+B3_FORCE_INLINE long b3Vector3::minDot(const b3Vector3* array, long array_count, b3Scalar& dotOut) const
 {
-#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
-    #if defined B3_USE_SSE
-        const long scalar_cutoff = 10;
-        long b3_mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #elif defined B3_USE_NEON
-        const long scalar_cutoff = 4;
-        extern long (*b3_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #else
-        #error unhandled arch!
-    #endif
-
-    if( array_count < scalar_cutoff )
-#endif//B3_USE_SSE || B3_USE_NEON
-    {
-        b3Scalar  minDot = B3_INFINITY;
-        int i = 0;
-        int ptIndex = -1;
-
-        for( i = 0; i < array_count; i++ )
-        {
-            b3Scalar dot = array[i].dot(*this);
-
-            if( dot < minDot )
-            {
-                minDot = dot;
-                ptIndex = i;
-            }
-        }
-
-        dotOut = minDot;
-
-        return ptIndex;
-    }
-#if defined (B3_USE_SSE) || defined (B3_USE_NEON)
-    return b3_mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+#if defined B3_USE_SSE
+	const long scalar_cutoff = 10;
+	long b3_mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#elif defined B3_USE_NEON
+	const long scalar_cutoff = 4;
+	extern long (*b3_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#else
+#error unhandled arch!
 #endif
-}
-
-
-class b3Vector4 : public b3Vector3
-{
-public:
 
+	if (array_count < scalar_cutoff)
+#endif  //B3_USE_SSE || B3_USE_NEON
+	{
+		b3Scalar minDot = B3_INFINITY;
+		int i = 0;
+		int ptIndex = -1;
 
+		for (i = 0; i < array_count; i++)
+		{
+			b3Scalar dot = array[i].dot(*this);
 
+			if (dot < minDot)
+			{
+				minDot = dot;
+				ptIndex = i;
+			}
+		}
 
+		dotOut = minDot;
 
+		return ptIndex;
+	}
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
+	return b3_mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
+#endif
+}
 
+class b3Vector4 : public b3Vector3
+{
+public:
 	B3_FORCE_INLINE b3Vector4 absolute4() const
 	{
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 		return b3MakeVector4(_mm_and_ps(mVec128, b3vAbsfMask));
 #elif defined(B3_USE_NEON)
 		return b3Vector4(vabsq_f32(mVec128));
@@ -1069,11 +1047,9 @@ public:
 #endif
 	}
 
+	b3Scalar getW() const { return m_floats[3]; }
 
-	b3Scalar	getW() const { return m_floats[3];}
-
-
-		B3_FORCE_INLINE int maxAxis4() const
+	B3_FORCE_INLINE int maxAxis4() const
 	{
 		int maxIndex = -1;
 		b3Scalar maxVal = b3Scalar(-B3_LARGE_FLOAT);
@@ -1090,7 +1066,7 @@ public:
 		if (m_floats[2] > maxVal)
 		{
 			maxIndex = 2;
-			maxVal =m_floats[2];
+			maxVal = m_floats[2];
 		}
 		if (m_floats[3] > maxVal)
 		{
@@ -1100,7 +1076,6 @@ public:
 		return maxIndex;
 	}
 
-
 	B3_FORCE_INLINE int minAxis4() const
 	{
 		int minIndex = -1;
@@ -1118,7 +1093,7 @@ public:
 		if (m_floats[2] < minVal)
 		{
 			minIndex = 2;
-			minVal =m_floats[2];
+			minVal = m_floats[2];
 		}
 		if (m_floats[3] < minVal)
 		{
@@ -1129,216 +1104,200 @@ public:
 		return minIndex;
 	}
 
-
 	B3_FORCE_INLINE int closestAxis4() const
 	{
 		return absolute4().maxAxis4();
 	}
 
-
-
-
-  /**@brief Set x,y,z and zero w
+	/**@brief Set x,y,z and zero w
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
 
-
-/*		void getValue(b3Scalar *m) const
+	/*		void getValue(b3Scalar *m) const
 		{
 			m[0] = m_floats[0];
 			m[1] = m_floats[1];
 			m[2] =m_floats[2];
 		}
 */
-/**@brief Set the values
+	/**@brief Set the values
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		B3_FORCE_INLINE void	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3]=_w;
-		}
-
-
+	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = _w;
+	}
 };
 
-
 ///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-B3_FORCE_INLINE void	b3SwapScalarEndian(const b3Scalar& sourceVal, b3Scalar& destVal)
+B3_FORCE_INLINE void b3SwapScalarEndian(const b3Scalar& sourceVal, b3Scalar& destVal)
 {
-	#ifdef B3_USE_DOUBLE_PRECISION
-	unsigned char* dest = (unsigned char*) &destVal;
-	unsigned char* src  = (unsigned char*) &sourceVal;
+#ifdef B3_USE_DOUBLE_PRECISION
+	unsigned char* dest = (unsigned char*)&destVal;
+	unsigned char* src = (unsigned char*)&sourceVal;
 	dest[0] = src[7];
-    dest[1] = src[6];
-    dest[2] = src[5];
-    dest[3] = src[4];
-    dest[4] = src[3];
-    dest[5] = src[2];
-    dest[6] = src[1];
-    dest[7] = src[0];
+	dest[1] = src[6];
+	dest[2] = src[5];
+	dest[3] = src[4];
+	dest[4] = src[3];
+	dest[5] = src[2];
+	dest[6] = src[1];
+	dest[7] = src[0];
 #else
-	unsigned char* dest = (unsigned char*) &destVal;
-	unsigned char* src  = (unsigned char*) &sourceVal;
+	unsigned char* dest = (unsigned char*)&destVal;
+	unsigned char* src = (unsigned char*)&sourceVal;
 	dest[0] = src[3];
-    dest[1] = src[2];
-    dest[2] = src[1];
-    dest[3] = src[0];
-#endif //B3_USE_DOUBLE_PRECISION
+	dest[1] = src[2];
+	dest[2] = src[1];
+	dest[3] = src[0];
+#endif  //B3_USE_DOUBLE_PRECISION
 }
 ///b3SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-B3_FORCE_INLINE void	b3SwapVector3Endian(const b3Vector3& sourceVec, b3Vector3& destVec)
+B3_FORCE_INLINE void b3SwapVector3Endian(const b3Vector3& sourceVec, b3Vector3& destVec)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 	{
-		b3SwapScalarEndian(sourceVec[i],destVec[i]);
+		b3SwapScalarEndian(sourceVec[i], destVec[i]);
 	}
-
 }
 
 ///b3UnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-B3_FORCE_INLINE void	b3UnSwapVector3Endian(b3Vector3& vector)
+B3_FORCE_INLINE void b3UnSwapVector3Endian(b3Vector3& vector)
 {
-
-	b3Vector3	swappedVec;
-	for (int i=0;i<4;i++)
+	b3Vector3 swappedVec;
+	for (int i = 0; i < 4; i++)
 	{
-		b3SwapScalarEndian(vector[i],swappedVec[i]);
+		b3SwapScalarEndian(vector[i], swappedVec[i]);
 	}
 	vector = swappedVec;
 }
 
 template <class T>
-B3_FORCE_INLINE void b3PlaneSpace1 (const T& n, T& p, T& q)
+B3_FORCE_INLINE void b3PlaneSpace1(const T& n, T& p, T& q)
 {
-  if (b3Fabs(n[2]) > B3_SQRT12) {
-    // choose p in y-z plane
-    b3Scalar a = n[1]*n[1] + n[2]*n[2];
-    b3Scalar k = b3RecipSqrt (a);
-    p[0] = 0;
-	p[1] = -n[2]*k;
-	p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-	q[1] = -n[0]*p[2];
-	q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    b3Scalar a = n[0]*n[0] + n[1]*n[1];
-    b3Scalar k = b3RecipSqrt (a);
-    p[0] = -n[1]*k;
-	p[1] = n[0]*k;
-	p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-	q[1] = n[2]*p[0];
-	q[2] = a*k;
-  }
+	if (b3Fabs(n[2]) > B3_SQRT12)
+	{
+		// choose p in y-z plane
+		b3Scalar a = n[1] * n[1] + n[2] * n[2];
+		b3Scalar k = b3RecipSqrt(a);
+		p[0] = 0;
+		p[1] = -n[2] * k;
+		p[2] = n[1] * k;
+		// set q = n x p
+		q[0] = a * k;
+		q[1] = -n[0] * p[2];
+		q[2] = n[0] * p[1];
+	}
+	else
+	{
+		// choose p in x-y plane
+		b3Scalar a = n[0] * n[0] + n[1] * n[1];
+		b3Scalar k = b3RecipSqrt(a);
+		p[0] = -n[1] * k;
+		p[1] = n[0] * k;
+		p[2] = 0;
+		// set q = n x p
+		q[0] = -n[2] * p[1];
+		q[1] = n[2] * p[0];
+		q[2] = a * k;
+	}
 }
 
-
-struct	b3Vector3FloatData
+struct b3Vector3FloatData
 {
-	float	m_floats[4];
+	float m_floats[4];
 };
 
-struct	b3Vector3DoubleData
+struct b3Vector3DoubleData
 {
-	double	m_floats[4];
-
+	double m_floats[4];
 };
 
-B3_FORCE_INLINE	void	b3Vector3::serializeFloat(struct	b3Vector3FloatData& dataOut) const
+B3_FORCE_INLINE void b3Vector3::serializeFloat(struct b3Vector3FloatData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = float(m_floats[i]);
 }
 
-B3_FORCE_INLINE void	b3Vector3::deSerializeFloat(const struct	b3Vector3FloatData& dataIn)
+B3_FORCE_INLINE void b3Vector3::deSerializeFloat(const struct b3Vector3FloatData& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = b3Scalar(dataIn.m_floats[i]);
 }
 
-
-B3_FORCE_INLINE	void	b3Vector3::serializeDouble(struct	b3Vector3DoubleData& dataOut) const
+B3_FORCE_INLINE void b3Vector3::serializeDouble(struct b3Vector3DoubleData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = double(m_floats[i]);
 }
 
-B3_FORCE_INLINE void	b3Vector3::deSerializeDouble(const struct	b3Vector3DoubleData& dataIn)
+B3_FORCE_INLINE void b3Vector3::deSerializeDouble(const struct b3Vector3DoubleData& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = b3Scalar(dataIn.m_floats[i]);
 }
 
-
-B3_FORCE_INLINE	void	b3Vector3::serialize(struct	b3Vector3Data& dataOut) const
+B3_FORCE_INLINE void b3Vector3::serialize(struct b3Vector3Data& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = m_floats[i];
 }
 
-B3_FORCE_INLINE void	b3Vector3::deSerialize(const struct	b3Vector3Data& dataIn)
+B3_FORCE_INLINE void b3Vector3::deSerialize(const struct b3Vector3Data& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = dataIn.m_floats[i];
 }
 
-
-
-
-inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z)
+inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z)
 {
-	b3Vector3	tmp;
-	tmp.setValue(x,y,z);
+	b3Vector3 tmp;
+	tmp.setValue(x, y, z);
 	return tmp;
 }
 
-inline b3Vector3 b3MakeVector3(b3Scalar x,b3Scalar y,b3Scalar z, b3Scalar w)
+inline b3Vector3 b3MakeVector3(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w)
 {
-	b3Vector3	tmp;
-	tmp.setValue(x,y,z);
+	b3Vector3 tmp;
+	tmp.setValue(x, y, z);
 	tmp.w = w;
 	return tmp;
 }
 
-inline b3Vector4 b3MakeVector4(b3Scalar x,b3Scalar y,b3Scalar z,b3Scalar w)
+inline b3Vector4 b3MakeVector4(b3Scalar x, b3Scalar y, b3Scalar z, b3Scalar w)
 {
-	b3Vector4	tmp;
-	tmp.setValue(x,y,z,w);
+	b3Vector4 tmp;
+	tmp.setValue(x, y, z, w);
 	return tmp;
 }
 
-#if defined(B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
+#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)
 
-inline b3Vector3 b3MakeVector3( b3SimdFloat4 v)
+inline b3Vector3 b3MakeVector3(b3SimdFloat4 v)
 {
-        b3Vector3 tmp;
-        tmp.set128(v);
-        return tmp;
+	b3Vector3 tmp;
+	tmp.set128(v);
+	return tmp;
 }
 
 inline b3Vector4 b3MakeVector4(b3SimdFloat4 vec)
 {
-	b3Vector4	tmp;
+	b3Vector4 tmp;
 	tmp.set128(vec);
 	return tmp;
 }
 
 #endif
 
-
-#endif //B3_VECTOR3_H
+#endif  //B3_VECTOR3_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h b/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
index 5e4b95bcee..d8a9f47411 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
@@ -4,94 +4,87 @@
 #include "Bullet3Common/shared/b3PlatformDefinitions.h"
 
 #ifdef __cplusplus
-	#include "Bullet3Common/b3Vector3.h"
-	#define b3Float4 b3Vector3
-	#define b3Float4ConstArg const b3Vector3&
-	#define b3Dot3F4 b3Dot
-	#define b3Cross3 b3Cross
-	#define	b3MakeFloat4  b3MakeVector3
-	inline b3Vector3 b3Normalized(const b3Vector3& vec)
-	{
-		return vec.normalized();
-	}
-
-	inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
-	{
-		return v.normalized();
-	}
-
-	inline b3Float4 b3MaxFloat4 (const b3Float4& a, const b3Float4& b)
-	{
-		b3Float4 tmp = a;
-		tmp.setMax(b);
-		return tmp;
-	}
-	inline b3Float4 b3MinFloat4 (const b3Float4& a, const b3Float4& b)
-	{
-		b3Float4 tmp = a;
-		tmp.setMin(b);
-		return tmp;
-	}
+#include "Bullet3Common/b3Vector3.h"
+#define b3Float4 b3Vector3
+#define b3Float4ConstArg const b3Vector3&
+#define b3Dot3F4 b3Dot
+#define b3Cross3 b3Cross
+#define b3MakeFloat4 b3MakeVector3
+inline b3Vector3 b3Normalized(const b3Vector3& vec)
+{
+	return vec.normalized();
+}
 
+inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
+{
+	return v.normalized();
+}
 
+inline b3Float4 b3MaxFloat4(const b3Float4& a, const b3Float4& b)
+{
+	b3Float4 tmp = a;
+	tmp.setMax(b);
+	return tmp;
+}
+inline b3Float4 b3MinFloat4(const b3Float4& a, const b3Float4& b)
+{
+	b3Float4 tmp = a;
+	tmp.setMin(b);
+	return tmp;
+}
 
 #else
-	typedef float4	b3Float4;
-	#define b3Float4ConstArg const b3Float4
-	#define b3MakeFloat4 (float4)
-	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)
-	{
-		float4 a1 = b3MakeFloat4(v0.xyz,0.f);
-		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
-		return dot(a1, b1);
-	}
-	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)
-	{
-		float4 a1 = b3MakeFloat4(v0.xyz,0.f);
-		float4 b1 = b3MakeFloat4(v1.xyz,0.f);
-		return cross(a1, b1);
-	}
-	#define b3MinFloat4 min
-	#define b3MaxFloat4 max
-
-	#define b3Normalized(a) normalize(a)
+typedef float4 b3Float4;
+#define b3Float4ConstArg const b3Float4
+#define b3MakeFloat4 (float4)
+float b3Dot3F4(b3Float4ConstArg v0, b3Float4ConstArg v1)
+{
+	float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
+	float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
+	return dot(a1, b1);
+}
+b3Float4 b3Cross3(b3Float4ConstArg v0, b3Float4ConstArg v1)
+{
+	float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
+	float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
+	return cross(a1, b1);
+}
+#define b3MinFloat4 min
+#define b3MaxFloat4 max
 
-#endif 
+#define b3Normalized(a) normalize(a)
 
+#endif
 
-		
 inline bool b3IsAlmostZero(b3Float4ConstArg v)
 {
-	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	
+	if (b3Fabs(v.x) > 1e-6 || b3Fabs(v.y) > 1e-6 || b3Fabs(v.z) > 1e-6)
 		return false;
 	return true;
 }
 
-
-inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )
+inline int b3MaxDot(b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut)
 {
-    float maxDot = -B3_INFINITY;
-    int i = 0;
-    int ptIndex = -1;
-    for( i = 0; i < vecLen; i++ )
-    {
-        float dot = b3Dot3F4(vecArray[i],vec);
-            
-        if( dot > maxDot )
-        {
-            maxDot = dot;
-            ptIndex = i;
-        }
-    }
-	b3Assert(ptIndex>=0);
-    if (ptIndex<0)
+	float maxDot = -B3_INFINITY;
+	int i = 0;
+	int ptIndex = -1;
+	for (i = 0; i < vecLen; i++)
+	{
+		float dot = b3Dot3F4(vecArray[i], vec);
+
+		if (dot > maxDot)
+		{
+			maxDot = dot;
+			ptIndex = i;
+		}
+	}
+	b3Assert(ptIndex >= 0);
+	if (ptIndex < 0)
 	{
 		ptIndex = 0;
 	}
-    *dotOut = maxDot;
-    return ptIndex;
+	*dotOut = maxDot;
+	return ptIndex;
 }
 
-
-
-#endif //B3_FLOAT4_H
+#endif  //B3_FLOAT4_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h b/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
index f1d01f81a5..7b84de4436 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
@@ -20,11 +20,10 @@ subject to the following restrictions:
 
 struct b3UnsignedInt2
 {
-	union
-	{
+	union {
 		struct
 		{
-			unsigned int x,y;
+			unsigned int x, y;
 		};
 		struct
 		{
@@ -35,11 +34,10 @@ struct b3UnsignedInt2
 
 struct b3Int2
 {
-	union
-	{
+	union {
 		struct
 		{
-			int x,y;
+			int x, y;
 		};
 		struct
 		{
@@ -51,7 +49,8 @@ struct b3Int2
 inline b3Int2 b3MakeInt2(int x, int y)
 {
 	b3Int2 v;
-	v.s[0] = x; v.s[1] = y;
+	v.s[0] = x;
+	v.s[1] = y;
 	return v;
 }
 #else
@@ -60,5 +59,5 @@ inline b3Int2 b3MakeInt2(int x, int y)
 #define b3Int2 int2
 #define b3MakeInt2 (int2)
 
-#endif //__cplusplus
+#endif  //__cplusplus
 #endif
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h b/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
index aa02d6beef..f6a1754245 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
@@ -5,16 +5,15 @@
 
 #include "Bullet3Common/b3Scalar.h"
 
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3UnsignedInt4
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3UnsignedInt4
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	union
-	{
+	union {
 		struct
 		{
-			unsigned int x,y,z,w;
+			unsigned int x, y, z, w;
 		};
 		struct
 		{
@@ -23,15 +22,15 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3UnsignedInt4
 	};
 };
 
-B3_ATTRIBUTE_ALIGNED16(struct) b3Int4
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3Int4
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	union
-	{
+	union {
 		struct
 		{
-			int x,y,z,w;
+			int x, y, z, w;
 		};
 		struct
 		{
@@ -43,26 +42,30 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3Int4
 B3_FORCE_INLINE b3Int4 b3MakeInt4(int x, int y, int z, int w = 0)
 {
 	b3Int4 v;
-	v.s[0] = x; v.s[1] = y; v.s[2] = z; v.s[3] = w;
+	v.s[0] = x;
+	v.s[1] = y;
+	v.s[2] = z;
+	v.s[3] = w;
 	return v;
 }
 
 B3_FORCE_INLINE b3UnsignedInt4 b3MakeUnsignedInt4(unsigned int x, unsigned int y, unsigned int z, unsigned int w = 0)
 {
 	b3UnsignedInt4 v;
-	v.s[0] = x; v.s[1] = y; v.s[2] = z; v.s[3] = w;
+	v.s[0] = x;
+	v.s[1] = y;
+	v.s[2] = z;
+	v.s[3] = w;
 	return v;
 }
 
 #else
 
-
 #define b3UnsignedInt4 uint4
 #define b3Int4 int4
 #define b3MakeInt4 (int4)
 #define b3MakeUnsignedInt4 (uint4)
 
+#endif  //__cplusplus
 
-#endif //__cplusplus
-
-#endif //B3_INT4_H
+#endif  //B3_INT4_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h b/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h
index 7b1fef32f8..ce6482b5a6 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h
@@ -4,7 +4,6 @@
 
 #include "Bullet3Common/shared/b3Quat.h"
 
-
 #ifdef __cplusplus
 
 #include "Bullet3Common/b3Matrix3x3.h"
@@ -22,43 +21,41 @@ inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
 	return mat.absolute();
 }
 
-#define b3GetRow(m,row) m.getRow(row)
+#define b3GetRow(m, row) m.getRow(row)
 
-__inline
-b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
+__inline b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
 {
-	return b*a;
+	return b * a;
 }
 
-
 #else
 
 typedef struct
 {
 	b3Float4 m_row[3];
-}b3Mat3x3;
+} b3Mat3x3;
 
 #define b3Mat3x3ConstArg const b3Mat3x3
-#define b3GetRow(m,row) (m.m_row[row])
+#define b3GetRow(m, row) (m.m_row[row])
 
 inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
 {
-	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
+	b3Float4 quat2 = (b3Float4)(quat.x * quat.x, quat.y * quat.y, quat.z * quat.z, 0.f);
 	b3Mat3x3 out;
 
-	out.m_row[0].x=1-2*quat2.y-2*quat2.z;
-	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
-	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
+	out.m_row[0].x = 1 - 2 * quat2.y - 2 * quat2.z;
+	out.m_row[0].y = 2 * quat.x * quat.y - 2 * quat.w * quat.z;
+	out.m_row[0].z = 2 * quat.x * quat.z + 2 * quat.w * quat.y;
 	out.m_row[0].w = 0.f;
 
-	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
-	out.m_row[1].y=1-2*quat2.x-2*quat2.z;
-	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
+	out.m_row[1].x = 2 * quat.x * quat.y + 2 * quat.w * quat.z;
+	out.m_row[1].y = 1 - 2 * quat2.x - 2 * quat2.z;
+	out.m_row[1].z = 2 * quat.y * quat.z - 2 * quat.w * quat.x;
 	out.m_row[1].w = 0.f;
 
-	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
-	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
-	out.m_row[2].z=1-2*quat2.x-2*quat2.y;
+	out.m_row[2].x = 2 * quat.x * quat.z - 2 * quat.w * quat.y;
+	out.m_row[2].y = 2 * quat.y * quat.z + 2 * quat.w * quat.x;
+	out.m_row[2].z = 1 - 2 * quat2.x - 2 * quat2.y;
 	out.m_row[2].w = 0.f;
 
 	return out;
@@ -73,27 +70,19 @@ inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
 	return out;
 }
 
+__inline b3Mat3x3 mtZero();
 
-__inline
-b3Mat3x3 mtZero();
-
-__inline
-b3Mat3x3 mtIdentity();
+__inline b3Mat3x3 mtIdentity();
 
-__inline
-b3Mat3x3 mtTranspose(b3Mat3x3 m);
+__inline b3Mat3x3 mtTranspose(b3Mat3x3 m);
 
-__inline
-b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
+__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
 
-__inline
-b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
+__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
 
-__inline
-b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
+__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
 
-__inline
-b3Mat3x3 mtZero()
+__inline b3Mat3x3 mtZero()
 {
 	b3Mat3x3 m;
 	m.m_row[0] = (b3Float4)(0.f);
@@ -102,18 +91,16 @@ b3Mat3x3 mtZero()
 	return m;
 }
 
-__inline
-b3Mat3x3 mtIdentity()
+__inline b3Mat3x3 mtIdentity()
 {
 	b3Mat3x3 m;
-	m.m_row[0] = (b3Float4)(1,0,0,0);
-	m.m_row[1] = (b3Float4)(0,1,0,0);
-	m.m_row[2] = (b3Float4)(0,0,1,0);
+	m.m_row[0] = (b3Float4)(1, 0, 0, 0);
+	m.m_row[1] = (b3Float4)(0, 1, 0, 0);
+	m.m_row[2] = (b3Float4)(0, 0, 1, 0);
 	return m;
 }
 
-__inline
-b3Mat3x3 mtTranspose(b3Mat3x3 m)
+__inline b3Mat3x3 mtTranspose(b3Mat3x3 m)
 {
 	b3Mat3x3 out;
 	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
@@ -122,58 +109,49 @@ b3Mat3x3 mtTranspose(b3Mat3x3 m)
 	return out;
 }
 
-__inline
-b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
+__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
 {
 	b3Mat3x3 transB;
-	transB = mtTranspose( b );
+	transB = mtTranspose(b);
 	b3Mat3x3 ans;
 	//	why this doesn't run when 0ing in the for{}
 	a.m_row[0].w = 0.f;
 	a.m_row[1].w = 0.f;
 	a.m_row[2].w = 0.f;
-	for(int i=0; i<3; i++)
+	for (int i = 0; i < 3; i++)
 	{
-//	a.m_row[i].w = 0.f;
-		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);
-		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);
-		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);
+		//	a.m_row[i].w = 0.f;
+		ans.m_row[i].x = b3Dot3F4(a.m_row[i], transB.m_row[0]);
+		ans.m_row[i].y = b3Dot3F4(a.m_row[i], transB.m_row[1]);
+		ans.m_row[i].z = b3Dot3F4(a.m_row[i], transB.m_row[2]);
 		ans.m_row[i].w = 0.f;
 	}
 	return ans;
 }
 
-__inline
-b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
+__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
 {
 	b3Float4 ans;
-	ans.x = b3Dot3F4( a.m_row[0], b );
-	ans.y = b3Dot3F4( a.m_row[1], b );
-	ans.z = b3Dot3F4( a.m_row[2], b );
+	ans.x = b3Dot3F4(a.m_row[0], b);
+	ans.y = b3Dot3F4(a.m_row[1], b);
+	ans.z = b3Dot3F4(a.m_row[2], b);
 	ans.w = 0.f;
 	return ans;
 }
 
-__inline
-b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
+__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
 {
 	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
 	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
 	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
 
 	b3Float4 ans;
-	ans.x = b3Dot3F4( a, colx );
-	ans.y = b3Dot3F4( a, coly );
-	ans.z = b3Dot3F4( a, colz );
+	ans.x = b3Dot3F4(a, colx);
+	ans.y = b3Dot3F4(a, coly);
+	ans.z = b3Dot3F4(a, colz);
 	return ans;
 }
 
-
 #endif
 
-
-
-
-
-
-#endif //B3_MAT3x3_H
+#endif  //B3_MAT3x3_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h b/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
index 1c133fb088..b72bee9310 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
@@ -8,18 +8,18 @@ struct MyTest
 
 #ifdef __cplusplus
 //#define b3ConstArray(a) const b3AlignedObjectArray<a>&
-#define b3ConstArray(a) const a*
+#define b3ConstArray(a) const a *
 #define b3AtomicInc(a) ((*a)++)
 
-inline int b3AtomicAdd (volatile int *p, int val)
+inline int b3AtomicAdd(volatile int *p, int val)
 {
 	int oldValue = *p;
-	int newValue = oldValue+val;
+	int newValue = oldValue + val;
 	*p = newValue;
 	return oldValue;
 }
 
-#define __global 
+#define __global
 
 #define B3_STATIC static
 #else
@@ -27,7 +27,7 @@ inline int b3AtomicAdd (volatile int *p, int val)
 #define B3_LARGE_FLOAT 1e18f
 #define B3_INFINITY 1e18f
 #define b3Assert(a)
-#define b3ConstArray(a) __global const a*
+#define b3ConstArray(a) __global const a *
 #define b3AtomicInc atomic_inc
 #define b3AtomicAdd atomic_add
 #define b3Fabs fabs
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h b/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
index f262d5e08f..940610c77b 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
@@ -5,35 +5,34 @@
 #include "Bullet3Common/shared/b3Float4.h"
 
 #ifdef __cplusplus
-	#include "Bullet3Common/b3Quaternion.h"
-	#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
 
-	#define b3Quat b3Quaternion
-	#define b3QuatConstArg const b3Quaternion&
-	inline b3Quat b3QuatInverse(b3QuatConstArg orn)
-	{
-		return orn.inverse();
-	}
+#define b3Quat b3Quaternion
+#define b3QuatConstArg const b3Quaternion&
+inline b3Quat b3QuatInverse(b3QuatConstArg orn)
+{
+	return orn.inverse();
+}
 
-	inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)
-	{
-		b3Transform tr;
-		tr.setOrigin(translation);
-		tr.setRotation(orientation);
-		return tr(point);
-	}
+inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
+{
+	b3Transform tr;
+	tr.setOrigin(translation);
+	tr.setRotation(orientation);
+	return tr(point);
+}
 
 #else
-	typedef float4	b3Quat;
-	#define b3QuatConstArg const b3Quat
-	
-	
+typedef float4 b3Quat;
+#define b3QuatConstArg const b3Quat
+
 inline float4 b3FastNormalize4(float4 v)
 {
-	v = (float4)(v.xyz,0.f);
+	v = (float4)(v.xyz, 0.f);
 	return fast_normalize(v);
 }
-	
+
 inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
 inline b3Quat b3QuatNormalized(b3QuatConstArg in);
 inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
@@ -43,20 +42,20 @@ inline b3Quat b3QuatInverse(b3QuatConstArg q);
 inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
 {
 	b3Quat ans;
-	ans = b3Cross3( a, b );
-	ans += a.w*b+b.w*a;
-//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
-	ans.w = a.w*b.w - b3Dot3F4(a, b);
+	ans = b3Cross3(a, b);
+	ans += a.w * b + b.w * a;
+	//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
+	ans.w = a.w * b.w - b3Dot3F4(a, b);
 	return ans;
 }
 
 inline b3Quat b3QuatNormalized(b3QuatConstArg in)
 {
 	b3Quat q;
-	q=in;
+	q = in;
 	//return b3FastNormalize4(in);
 	float len = native_sqrt(dot(q, q));
-	if(len > 0.f)
+	if (len > 0.f)
 	{
 		q *= 1.f / len;
 	}
@@ -69,15 +68,13 @@ inline b3Quat b3QuatNormalized(b3QuatConstArg in)
 }
 inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
 {
-	b3Quat qInv = b3QuatInvert( q );
+	b3Quat qInv = b3QuatInvert(q);
 	float4 vcpy = vec;
 	vcpy.w = 0.f;
-	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);
+	float4 out = b3QuatMul(b3QuatMul(q, vcpy), qInv);
 	return out;
 }
 
-
-
 inline b3Quat b3QuatInverse(b3QuatConstArg q)
 {
 	return (b3Quat)(-q.xyz, q.w);
@@ -90,14 +87,14 @@ inline b3Quat b3QuatInvert(b3QuatConstArg q)
 
 inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)
 {
-	return b3QuatRotate( b3QuatInvert( q ), vec );
+	return b3QuatRotate(b3QuatInvert(q), vec);
 }
 
-inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)
+inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
 {
-	return b3QuatRotate( orientation, point ) + (translation);
+	return b3QuatRotate(orientation, point) + (translation);
 }
-	
-#endif 
 
-#endif //B3_QUAT_H
+#endif
+
+#endif  //B3_QUAT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
index 7a12257b33..049c9116fd 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 #include "Bullet3Common/b3Scalar.h"
 
-enum	b3SolverMode
+enum b3SolverMode
 {
 	B3_SOLVER_RANDMIZE_ORDER = 1,
 	B3_SOLVER_FRICTION_SEPARATE = 2,
@@ -34,45 +34,38 @@ enum	b3SolverMode
 
 struct b3ContactSolverInfoData
 {
-	
-
-	b3Scalar	m_tau;
-	b3Scalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	b3Scalar	m_friction;
-	b3Scalar	m_timeStep;
-	b3Scalar	m_restitution;
-	int		m_numIterations;
-	b3Scalar	m_maxErrorReduction;
-	b3Scalar	m_sor;
-	b3Scalar	m_erp;//used as Baumgarte factor
-	b3Scalar	m_erp2;//used in Split Impulse
-	b3Scalar	m_globalCfm;//constraint force mixing
-	int			m_splitImpulse;
-	b3Scalar	m_splitImpulsePenetrationThreshold;
-	b3Scalar	m_splitImpulseTurnErp;
-	b3Scalar	m_linearSlop;
-	b3Scalar	m_warmstartingFactor;
-
-	int			m_solverMode;
-	int	m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	b3Scalar	m_maxGyroscopicForce;
-	b3Scalar	m_singleAxisRollingFrictionThreshold;
-
-
+	b3Scalar m_tau;
+	b3Scalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	b3Scalar m_friction;
+	b3Scalar m_timeStep;
+	b3Scalar m_restitution;
+	int m_numIterations;
+	b3Scalar m_maxErrorReduction;
+	b3Scalar m_sor;
+	b3Scalar m_erp;        //used as Baumgarte factor
+	b3Scalar m_erp2;       //used in Split Impulse
+	b3Scalar m_globalCfm;  //constraint force mixing
+	int m_splitImpulse;
+	b3Scalar m_splitImpulsePenetrationThreshold;
+	b3Scalar m_splitImpulseTurnErp;
+	b3Scalar m_linearSlop;
+	b3Scalar m_warmstartingFactor;
+
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	b3Scalar m_maxGyroscopicForce;
+	b3Scalar m_singleAxisRollingFrictionThreshold;
 };
 
 struct b3ContactSolverInfo : public b3ContactSolverInfoData
 {
-
-	
-
 	inline b3ContactSolverInfo()
 	{
 		m_tau = b3Scalar(0.6);
 		m_damping = b3Scalar(1.0);
 		m_friction = b3Scalar(0.3);
-		m_timeStep = b3Scalar(1.f/60.f);
+		m_timeStep = b3Scalar(1.f / 60.f);
 		m_restitution = b3Scalar(0.);
 		m_maxErrorReduction = b3Scalar(20.);
 		m_numIterations = 10;
@@ -84,76 +77,73 @@ struct b3ContactSolverInfo : public b3ContactSolverInfoData
 		m_splitImpulsePenetrationThreshold = -.04f;
 		m_splitImpulseTurnErp = 0.1f;
 		m_linearSlop = b3Scalar(0.0);
-		m_warmstartingFactor=b3Scalar(0.85);
+		m_warmstartingFactor = b3Scalar(0.85);
 		//m_solverMode =  B3_SOLVER_USE_WARMSTARTING |  B3_SOLVER_SIMD | B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | B3_SOLVER_RANDMIZE_ORDER;
-		m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD;// | B3_SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
-		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag)
-		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
+		m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD;  // | B3_SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;                    //unused as of 2.81
+		m_minimumSolverBatchSize = 128;                              //try to combine islands until the amount of constraints reaches this limit
+		m_maxGyroscopicForce = 100.f;                                ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag)
+		m_singleAxisRollingFrictionThreshold = 1e30f;                ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
 	}
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct b3ContactSolverInfoDoubleData
 {
-	double		m_tau;
-	double		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double		m_friction;
-	double		m_timeStep;
-	double		m_restitution;
-	double		m_maxErrorReduction;
-	double		m_sor;
-	double		m_erp;//used as Baumgarte factor
-	double		m_erp2;//used in Split Impulse
-	double		m_globalCfm;//constraint force mixing
-	double		m_splitImpulsePenetrationThreshold;
-	double		m_splitImpulseTurnErp;
-	double		m_linearSlop;
-	double		m_warmstartingFactor;
-	double		m_maxGyroscopicForce;
-	double		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	int			m_splitImpulse;
-	char		m_padding[4];
-
+	double m_tau;
+	double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	double m_friction;
+	double m_timeStep;
+	double m_restitution;
+	double m_maxErrorReduction;
+	double m_sor;
+	double m_erp;        //used as Baumgarte factor
+	double m_erp2;       //used in Split Impulse
+	double m_globalCfm;  //constraint force mixing
+	double m_splitImpulsePenetrationThreshold;
+	double m_splitImpulseTurnErp;
+	double m_linearSlop;
+	double m_warmstartingFactor;
+	double m_maxGyroscopicForce;
+	double m_singleAxisRollingFrictionThreshold;
+
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	int m_splitImpulse;
+	char m_padding[4];
 };
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct b3ContactSolverInfoFloatData
 {
-	float		m_tau;
-	float		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float		m_friction;
-	float		m_timeStep;
-
-	float		m_restitution;
-	float		m_maxErrorReduction;
-	float		m_sor;
-	float		m_erp;//used as Baumgarte factor
-
-	float		m_erp2;//used in Split Impulse
-	float		m_globalCfm;//constraint force mixing
-	float		m_splitImpulsePenetrationThreshold;
-	float		m_splitImpulseTurnErp;
-
-	float		m_linearSlop;
-	float		m_warmstartingFactor;
-	float		m_maxGyroscopicForce;
-	float		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-
-	int			m_splitImpulse;
-	char		m_padding[4];
+	float m_tau;
+	float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	float m_friction;
+	float m_timeStep;
+
+	float m_restitution;
+	float m_maxErrorReduction;
+	float m_sor;
+	float m_erp;  //used as Baumgarte factor
+
+	float m_erp2;       //used in Split Impulse
+	float m_globalCfm;  //constraint force mixing
+	float m_splitImpulsePenetrationThreshold;
+	float m_splitImpulseTurnErp;
+
+	float m_linearSlop;
+	float m_warmstartingFactor;
+	float m_maxGyroscopicForce;
+	float m_singleAxisRollingFrictionThreshold;
+
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+
+	int m_splitImpulse;
+	char m_padding[4];
 };
 
-
-
-#endif //B3_CONTACT_SOLVER_INFO
+#endif  //B3_CONTACT_SOLVER_INFO
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
index 5e11e74935..ace4b18388 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
@@ -4,105 +4,100 @@
 #include "Bullet3Common/b3TransformUtil.h"
 #include <new>
 
-
-b3FixedConstraint::b3FixedConstraint(int rbA,int rbB, const b3Transform& frameInA,const b3Transform& frameInB)
-:b3TypedConstraint(B3_FIXED_CONSTRAINT_TYPE,rbA,rbB)
+b3FixedConstraint::b3FixedConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB)
+	: b3TypedConstraint(B3_FIXED_CONSTRAINT_TYPE, rbA, rbB)
 {
 	m_pivotInA = frameInA.getOrigin();
 	m_pivotInB = frameInB.getOrigin();
-	m_relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
-
+	m_relTargetAB = frameInA.getRotation() * frameInB.getRotation().inverse();
 }
 
-b3FixedConstraint::~b3FixedConstraint ()
+b3FixedConstraint::~b3FixedConstraint()
 {
 }
 
-	
-void b3FixedConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+void b3FixedConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
 {
 	info->m_numConstraintRows = 6;
 	info->nub = 6;
 }
 
-void b3FixedConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
+void b3FixedConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
 {
 	//fix the 3 linear degrees of freedom
 
 	const b3Vector3& worldPosA = bodies[m_rbA].m_pos;
 	const b3Quaternion& worldOrnA = bodies[m_rbA].m_quat;
-	const b3Vector3& worldPosB= bodies[m_rbB].m_pos;
+	const b3Vector3& worldPosB = bodies[m_rbB].m_pos;
 	const b3Quaternion& worldOrnB = bodies[m_rbB].m_quat;
 
 	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
+	info->m_J1linearAxis[info->rowskip + 1] = 1;
+	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
 
-	b3Vector3 a1 = b3QuatRotate(worldOrnA,m_pivotInA);
+	b3Vector3 a1 = b3QuatRotate(worldOrnA, m_pivotInA);
 	{
 		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip);
+		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
+		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
 		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
+
 	if (info->m_J2linearAxis)
 	{
 		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip+1] = -1;
-		info->m_J2linearAxis[2*info->rowskip+2] = -1;
+		info->m_J2linearAxis[info->rowskip + 1] = -1;
+		info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
 	}
-	
-	b3Vector3 a2 = b3QuatRotate(worldOrnB,m_pivotInB);
-   
+
+	b3Vector3 a2 = b3QuatRotate(worldOrnB, m_pivotInB);
+
 	{
-	//	b3Vector3 a2n = -a2;
+		//	b3Vector3 a2n = -a2;
 		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
+		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
 
-    // set right hand side for the linear dofs
+	// set right hand side for the linear dofs
 	b3Scalar k = info->fps * info->erp;
-	b3Vector3 linearError = k*(a2+worldPosB-a1-worldPosA);
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = linearError[j];
+	b3Vector3 linearError = k * (a2 + worldPosB - a1 - worldPosA);
+	int j;
+	for (j = 0; j < 3; j++)
+	{
+		info->m_constraintError[j * info->rowskip] = linearError[j];
 		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
+	}
 
-		//fix the 3 angular degrees of freedom
+	//fix the 3 angular degrees of freedom
 
 	int start_row = 3;
 	int s = info->rowskip;
-    int start_index = start_row * s;
+	int start_index = start_row * s;
 
-    // 3 rows to make body rotations equal
+	// 3 rows to make body rotations equal
 	info->m_J1angularAxis[start_index] = 1;
-    info->m_J1angularAxis[start_index + s + 1] = 1;
-    info->m_J1angularAxis[start_index + s*2+2] = 1;
-    if ( info->m_J2angularAxis)
-    {
-        info->m_J2angularAxis[start_index] = -1;
-        info->m_J2angularAxis[start_index + s+1] = -1;
-        info->m_J2angularAxis[start_index + s*2+2] = -1;
-    }
-
+	info->m_J1angularAxis[start_index + s + 1] = 1;
+	info->m_J1angularAxis[start_index + s * 2 + 2] = 1;
+	if (info->m_J2angularAxis)
+	{
+		info->m_J2angularAxis[start_index] = -1;
+		info->m_J2angularAxis[start_index + s + 1] = -1;
+		info->m_J2angularAxis[start_index + s * 2 + 2] = -1;
+	}
 
-    // set right hand side for the angular dofs
+	// set right hand side for the angular dofs
 
 	b3Vector3 diff;
 	b3Scalar angle;
-	b3Quaternion qrelCur = worldOrnA *worldOrnB.inverse();
-
-	b3TransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB,qrelCur,diff,angle);
-	diff*=-angle;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[(3+j)*info->rowskip] = k * diff[j];
-    }
+	b3Quaternion qrelCur = worldOrnA * worldOrnB.inverse();
 
+	b3TransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB, qrelCur, diff, angle);
+	diff *= -angle;
+	for (j = 0; j < 3; j++)
+	{
+		info->m_constraintError[(3 + j) * info->rowskip] = k * diff[j];
+	}
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h
index e884a82912..64809666e4 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h
@@ -4,32 +4,31 @@
 
 #include "b3TypedConstraint.h"
 
-B3_ATTRIBUTE_ALIGNED16(class) b3FixedConstraint : public b3TypedConstraint
+B3_ATTRIBUTE_ALIGNED16(class)
+b3FixedConstraint : public b3TypedConstraint
 {
 	b3Vector3 m_pivotInA;
 	b3Vector3 m_pivotInB;
 	b3Quaternion m_relTargetAB;
 
 public:
-	b3FixedConstraint(int  rbA,int rbB, const b3Transform& frameInA,const b3Transform& frameInB);
-	
+	b3FixedConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB);
+
 	virtual ~b3FixedConstraint();
 
-	
-	virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
+	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
 
-	virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies);
+	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
 
-	virtual	void	setParam(int num, b3Scalar value, int axis = -1)
+	virtual void setParam(int num, b3Scalar value, int axis = -1)
 	{
 		b3Assert(0);
 	}
-	virtual	b3Scalar getParam(int num, int axis = -1) const
+	virtual b3Scalar getParam(int num, int axis = -1) const
 	{
 		b3Assert(0);
 		return 0.f;
 	}
-
 };
 
-#endif //B3_FIXED_CONSTRAINT_H
+#endif  //B3_FIXED_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
index 168a773d56..0d5bb2014b 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
@@ -26,69 +26,48 @@ http://gimpact.sf.net
 #include "Bullet3Common/b3TransformUtil.h"
 #include <new>
 
-
-
 #define D6_USE_OBSOLETE_METHOD false
 #define D6_USE_FRAME_OFFSET true
 
-
-
-
-
-
-b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int  rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
-: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB)
-, m_frameInA(frameInA)
-, m_frameInB(frameInB),
-m_useLinearReferenceFrameA(useLinearReferenceFrameA),
-m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
-m_flags(0)
+b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
+	: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_useLinearReferenceFrameA(useLinearReferenceFrameA), m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), m_flags(0)
 {
 	calculateTransforms(bodies);
 }
 
-
-
-
-
-
 #define GENERIC_D6_DISABLE_WARMSTARTING 1
 
-
-
 b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index);
 b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index)
 {
-	int i = index%3;
-	int j = index/3;
+	int i = index % 3;
+	int j = index / 3;
 	return mat[i][j];
 }
 
-
-
 ///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
-bool	matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& xyz);
-bool	matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& xyz)
+bool matrixToEulerXYZ(const b3Matrix3x3& mat, b3Vector3& xyz);
+bool matrixToEulerXYZ(const b3Matrix3x3& mat, b3Vector3& xyz)
 {
 	//	// rot =  cy*cz          -cy*sz           sy
 	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
 	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
 	//
 
-	b3Scalar fi = btGetMatrixElem(mat,2);
+	b3Scalar fi = btGetMatrixElem(mat, 2);
 	if (fi < b3Scalar(1.0f))
 	{
 		if (fi > b3Scalar(-1.0f))
 		{
-			xyz[0] = b3Atan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
-			xyz[1] = b3Asin(btGetMatrixElem(mat,2));
-			xyz[2] = b3Atan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			xyz[0] = b3Atan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
+			xyz[1] = b3Asin(btGetMatrixElem(mat, 2));
+			xyz[2] = b3Atan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
 			return true;
 		}
 		else
 		{
 			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -b3Atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[0] = -b3Atan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 			xyz[1] = -B3_HALF_PI;
 			xyz[2] = b3Scalar(0.0);
 			return false;
@@ -97,7 +76,7 @@ bool	matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& xyz)
 	else
 	{
 		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = b3Atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+		xyz[0] = b3Atan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 		xyz[1] = B3_HALF_PI;
 		xyz[2] = 0.0;
 	}
@@ -108,85 +87,75 @@ bool	matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& xyz)
 
 int b3RotationalLimitMotor::testLimitValue(b3Scalar test_value)
 {
-	if(m_loLimit>m_hiLimit)
+	if (m_loLimit > m_hiLimit)
 	{
-		m_currentLimit = 0;//Free from violation
+		m_currentLimit = 0;  //Free from violation
 		return 0;
 	}
 	if (test_value < m_loLimit)
 	{
-		m_currentLimit = 1;//low limit violation
-		m_currentLimitError =  test_value - m_loLimit;
-		if(m_currentLimitError>B3_PI) 
-			m_currentLimitError-=B3_2_PI;
-		else if(m_currentLimitError<-B3_PI) 
-			m_currentLimitError+=B3_2_PI;
+		m_currentLimit = 1;  //low limit violation
+		m_currentLimitError = test_value - m_loLimit;
+		if (m_currentLimitError > B3_PI)
+			m_currentLimitError -= B3_2_PI;
+		else if (m_currentLimitError < -B3_PI)
+			m_currentLimitError += B3_2_PI;
 		return 1;
 	}
-	else if (test_value> m_hiLimit)
+	else if (test_value > m_hiLimit)
 	{
-		m_currentLimit = 2;//High limit violation
+		m_currentLimit = 2;  //High limit violation
 		m_currentLimitError = test_value - m_hiLimit;
-		if(m_currentLimitError>B3_PI) 
-			m_currentLimitError-=B3_2_PI;
-		else if(m_currentLimitError<-B3_PI) 
-			m_currentLimitError+=B3_2_PI;
+		if (m_currentLimitError > B3_PI)
+			m_currentLimitError -= B3_2_PI;
+		else if (m_currentLimitError < -B3_PI)
+			m_currentLimitError += B3_2_PI;
 		return 2;
 	};
 
-	m_currentLimit = 0;//Free from violation
+	m_currentLimit = 0;  //Free from violation
 	return 0;
-
 }
 
-
-
-
 //////////////////////////// End b3RotationalLimitMotor ////////////////////////////////////
 
-
-
-
 //////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
 
-
 int b3TranslationalLimitMotor::testLimitValue(int limitIndex, b3Scalar test_value)
 {
 	b3Scalar loLimit = m_lowerLimit[limitIndex];
 	b3Scalar hiLimit = m_upperLimit[limitIndex];
-	if(loLimit > hiLimit)
+	if (loLimit > hiLimit)
 	{
-		m_currentLimit[limitIndex] = 0;//Free from violation
+		m_currentLimit[limitIndex] = 0;  //Free from violation
 		m_currentLimitError[limitIndex] = b3Scalar(0.f);
 		return 0;
 	}
 
 	if (test_value < loLimit)
 	{
-		m_currentLimit[limitIndex] = 2;//low limit violation
-		m_currentLimitError[limitIndex] =  test_value - loLimit;
+		m_currentLimit[limitIndex] = 2;  //low limit violation
+		m_currentLimitError[limitIndex] = test_value - loLimit;
 		return 2;
 	}
-	else if (test_value> hiLimit)
+	else if (test_value > hiLimit)
 	{
-		m_currentLimit[limitIndex] = 1;//High limit violation
+		m_currentLimit[limitIndex] = 1;  //High limit violation
 		m_currentLimitError[limitIndex] = test_value - hiLimit;
 		return 1;
 	};
 
-	m_currentLimit[limitIndex] = 0;//Free from violation
+	m_currentLimit[limitIndex] = 0;  //Free from violation
 	m_currentLimitError[limitIndex] = b3Scalar(0.f);
 	return 0;
 }
 
-
-
 //////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
 
 void b3Generic6DofConstraint::calculateAngleInfo()
 {
-	b3Matrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
-	matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
+	b3Matrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
+	matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
 	// in euler angle mode we do not actually constrain the angular velocity
 	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
 	//
@@ -211,12 +180,11 @@ void b3Generic6DofConstraint::calculateAngleInfo()
 	m_calculatedAxis[0].normalize();
 	m_calculatedAxis[1].normalize();
 	m_calculatedAxis[2].normalize();
-
 }
 
 static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
 {
-	b3Transform tr(body.m_quat,body.m_pos);
+	b3Transform tr(body.m_quat, body.m_pos);
 	return tr;
 }
 
@@ -226,26 +194,26 @@ void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
 	b3Transform transB;
 	transA = getCenterOfMassTransform(bodies[m_rbA]);
 	transB = getCenterOfMassTransform(bodies[m_rbB]);
-	calculateTransforms(transA,transB,bodies);
+	calculateTransforms(transA, transB, bodies);
 }
 
-void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA, const b3Transform& transB, const b3RigidBodyData* bodies)
 {
 	m_calculatedTransformA = transA * m_frameInA;
 	m_calculatedTransformB = transB * m_frameInB;
 	calculateLinearInfo();
 	calculateAngleInfo();
-	if(m_useOffsetForConstraintFrame)
-	{	//  get weight factors depending on masses
+	if (m_useOffsetForConstraintFrame)
+	{  //  get weight factors depending on masses
 		b3Scalar miA = bodies[m_rbA].m_invMass;
 		b3Scalar miB = bodies[m_rbB].m_invMass;
 		m_hasStaticBody = (miA < B3_EPSILON) || (miB < B3_EPSILON);
 		b3Scalar miS = miA + miB;
-		if(miS > b3Scalar(0.f))
+		if (miS > b3Scalar(0.f))
 		{
 			m_factA = miB / miS;
 		}
-		else 
+		else
 		{
 			m_factA = b3Scalar(0.5f);
 		}
@@ -253,12 +221,6 @@ void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,cons
 	}
 }
 
-
-
-
-
-
-
 bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
 {
 	b3Scalar angle = m_calculatedAxisAngleDiff[axis_index];
@@ -269,48 +231,43 @@ bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
 	return m_angularLimits[axis_index].needApplyTorques();
 }
 
-
-
-
-void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
 {
 	//prepare constraint
-	calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
+	calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]), getCenterOfMassTransform(bodies[m_rbB]), bodies);
 	info->m_numConstraintRows = 0;
 	info->nub = 6;
 	int i;
 	//test linear limits
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
-		if(m_linearLimits.needApplyForce(i))
+		if (m_linearLimits.needApplyForce(i))
 		{
 			info->m_numConstraintRows++;
 			info->nub--;
 		}
 	}
 	//test angular limits
-	for (i=0;i<3 ;i++ )
+	for (i = 0; i < 3; i++)
 	{
-		if(testAngularLimitMotor(i))
+		if (testAngularLimitMotor(i))
 		{
 			info->m_numConstraintRows++;
 			info->nub--;
 		}
 	}
-//	printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
+	//	printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
 }
 
-void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::getInfo1NonVirtual(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
 {
 	//pre-allocate all 6
 	info->m_numConstraintRows = 6;
 	info->nub = 0;
 }
 
-
-void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
 {
-
 	b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
 	b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
 	const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
@@ -318,136 +275,124 @@ void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBod
 	const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
 	const b3Vector3& angVelB = bodies[m_rbB].m_angVel;
 
-	if(m_useOffsetForConstraintFrame)
-	{ // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	if (m_useOffsetForConstraintFrame)
+	{  // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
 	else
-	{ // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	{  // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
-
 }
 
-
-void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::getInfo2NonVirtual(b3ConstraintInfo2* info, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB, const b3RigidBodyData* bodies)
 {
-	
 	//prepare constraint
-	calculateTransforms(transA,transB,bodies);
+	calculateTransforms(transA, transB, bodies);
 
 	int i;
-	for (i=0;i<3 ;i++ )
+	for (i = 0; i < 3; i++)
 	{
 		testAngularLimitMotor(i);
 	}
 
-	if(m_useOffsetForConstraintFrame)
-	{ // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	if (m_useOffsetForConstraintFrame)
+	{  // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
 	else
-	{ // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	{  // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
 }
 
-
-
-int b3Generic6DofConstraint::setLinearLimits(b3ConstraintInfo2* info, int row, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB)
+int b3Generic6DofConstraint::setLinearLimits(b3ConstraintInfo2* info, int row, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB)
 {
-//	int row = 0;
+	//	int row = 0;
 	//solve linear limits
 	b3RotationalLimitMotor limot;
-	for (int i=0;i<3 ;i++ )
+	for (int i = 0; i < 3; i++)
 	{
-		if(m_linearLimits.needApplyForce(i))
-		{ // re-use rotational motor code
+		if (m_linearLimits.needApplyForce(i))
+		{  // re-use rotational motor code
 			limot.m_bounce = b3Scalar(0.f);
 			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
 			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
-			limot.m_damping  = m_linearLimits.m_damping;
-			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
-			limot.m_hiLimit  = m_linearLimits.m_upperLimit[i];
-			limot.m_limitSoftness  = m_linearLimits.m_limitSoftness;
-			limot.m_loLimit  = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxLimitForce  = b3Scalar(0.f);
-			limot.m_maxMotorForce  = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity  = m_linearLimits.m_targetVelocity[i];
+			limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
+			limot.m_damping = m_linearLimits.m_damping;
+			limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
+			limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
+			limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
+			limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
+			limot.m_maxLimitForce = b3Scalar(0.f);
+			limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
+			limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
 			b3Vector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
 			int flags = m_flags >> (i * B3_6DOF_FLAGS_AXIS_SHIFT);
-			limot.m_normalCFM	= (flags & B3_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
-			limot.m_stopCFM		= (flags & B3_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP		= (flags & B3_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
-			if(m_useOffsetForConstraintFrame)
+			limot.m_normalCFM = (flags & B3_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
+			limot.m_stopCFM = (flags & B3_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
+			limot.m_stopERP = (flags & B3_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
+			if (m_useOffsetForConstraintFrame)
 			{
 				int indx1 = (i + 1) % 3;
 				int indx2 = (i + 2) % 3;
-				int rotAllowed = 1; // rotations around orthos to current axis
-				if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
+				int rotAllowed = 1;  // rotations around orthos to current axis
+				if (m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
 				{
 					rotAllowed = 0;
 				}
-				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
+				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
 			}
 			else
 			{
-				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
+				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0);
 			}
 		}
 	}
 	return row;
 }
 
-
-
-int b3Generic6DofConstraint::setAngularLimits(b3ConstraintInfo2 *info, int row_offset, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB)
+int b3Generic6DofConstraint::setAngularLimits(b3ConstraintInfo2* info, int row_offset, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB)
 {
-	b3Generic6DofConstraint * d6constraint = this;
+	b3Generic6DofConstraint* d6constraint = this;
 	int row = row_offset;
 	//solve angular limits
-	for (int i=0;i<3 ;i++ )
+	for (int i = 0; i < 3; i++)
 	{
-		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
+		if (d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
 		{
 			b3Vector3 axis = d6constraint->getAxis(i);
 			int flags = m_flags >> ((i + 3) * B3_6DOF_FLAGS_AXIS_SHIFT);
-			if(!(flags & B3_6DOF_FLAGS_CFM_NORM))
+			if (!(flags & B3_6DOF_FLAGS_CFM_NORM))
 			{
 				m_angularLimits[i].m_normalCFM = info->cfm[0];
 			}
-			if(!(flags & B3_6DOF_FLAGS_CFM_STOP))
+			if (!(flags & B3_6DOF_FLAGS_CFM_STOP))
 			{
 				m_angularLimits[i].m_stopCFM = info->cfm[0];
 			}
-			if(!(flags & B3_6DOF_FLAGS_ERP_STOP))
+			if (!(flags & B3_6DOF_FLAGS_ERP_STOP))
 			{
 				m_angularLimits[i].m_stopERP = info->erp;
 			}
 			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
-												transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
+										 transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
 		}
 	}
 
 	return row;
 }
 
-
-
-
-void	b3Generic6DofConstraint::updateRHS(b3Scalar	timeStep)
+void b3Generic6DofConstraint::updateRHS(b3Scalar timeStep)
 {
 	(void)timeStep;
-
 }
 
-
-void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB, const b3RigidBodyData* bodies)
 {
 	m_frameInA = frameA;
 	m_frameInB = frameB;
@@ -455,33 +400,27 @@ void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Trans
 	calculateTransforms(bodies);
 }
 
-
-
 b3Vector3 b3Generic6DofConstraint::getAxis(int axis_index) const
 {
 	return m_calculatedAxis[axis_index];
 }
 
-
-b3Scalar	b3Generic6DofConstraint::getRelativePivotPosition(int axisIndex) const
+b3Scalar b3Generic6DofConstraint::getRelativePivotPosition(int axisIndex) const
 {
 	return m_calculatedLinearDiff[axisIndex];
 }
 
-
 b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
 {
 	return m_calculatedAxisAngleDiff[axisIndex];
 }
 
-
-
 void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
 {
 	b3Scalar imA = bodies[m_rbA].m_invMass;
 	b3Scalar imB = bodies[m_rbB].m_invMass;
 	b3Scalar weight;
-	if(imB == b3Scalar(0.0))
+	if (imB == b3Scalar(0.0))
 	{
 		weight = b3Scalar(1.0);
 	}
@@ -495,47 +434,43 @@ void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
 	return;
 }
 
-
-
 void b3Generic6DofConstraint::calculateLinearInfo()
 {
 	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
 	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for(int i = 0; i < 3; i++)
+	for (int i = 0; i < 3; i++)
 	{
 		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
 		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
 	}
 }
 
-
-
 int b3Generic6DofConstraint::get_limit_motor_info2(
-	b3RotationalLimitMotor * limot,
-	const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,
-	b3ConstraintInfo2 *info, int row, b3Vector3& ax1, int rotational,int rotAllowed)
+	b3RotationalLimitMotor* limot,
+	const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB,
+	b3ConstraintInfo2* info, int row, b3Vector3& ax1, int rotational, int rotAllowed)
 {
-    int srow = row * info->rowskip;
-    bool powered = limot->m_enableMotor;
-    int limit = limot->m_currentLimit;
-    if (powered || limit)
-    {   // if the joint is powered, or has joint limits, add in the extra row
-        b3Scalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-        b3Scalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
+	int srow = row * info->rowskip;
+	bool powered = limot->m_enableMotor;
+	int limit = limot->m_currentLimit;
+	if (powered || limit)
+	{  // if the joint is powered, or has joint limits, add in the extra row
+		b3Scalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
+		b3Scalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
 		if (J1)
 		{
-			J1[srow+0] = ax1[0];
-			J1[srow+1] = ax1[1];
-			J1[srow+2] = ax1[2];
+			J1[srow + 0] = ax1[0];
+			J1[srow + 1] = ax1[1];
+			J1[srow + 2] = ax1[2];
 		}
 		if (J2)
 		{
-			J2[srow+0] = -ax1[0];
-			J2[srow+1] = -ax1[1];
-			J2[srow+2] = -ax1[2];
+			J2[srow + 0] = -ax1[0];
+			J2[srow + 1] = -ax1[1];
+			J2[srow + 2] = -ax1[2];
 		}
-		if((!rotational))
-        {
+		if ((!rotational))
+		{
 			if (m_useOffsetForConstraintFrame)
 			{
 				b3Vector3 tmpA, tmpB, relA, relB;
@@ -558,55 +493,56 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
 				relB = orthoB - totalDist * m_factB;
 				tmpA = relA.cross(ax1);
 				tmpB = relB.cross(ax1);
-				if(m_hasStaticBody && (!rotAllowed))
+				if (m_hasStaticBody && (!rotAllowed))
 				{
 					tmpA *= m_factA;
 					tmpB *= m_factB;
 				}
 				int i;
-				for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
-				for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
-			} else
+				for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
+				for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
+			}
+			else
 			{
-				b3Vector3 ltd;	// Linear Torque Decoupling vector
+				b3Vector3 ltd;  // Linear Torque Decoupling vector
 				b3Vector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
 				ltd = c.cross(ax1);
-				info->m_J1angularAxis[srow+0] = ltd[0];
-				info->m_J1angularAxis[srow+1] = ltd[1];
-				info->m_J1angularAxis[srow+2] = ltd[2];
+				info->m_J1angularAxis[srow + 0] = ltd[0];
+				info->m_J1angularAxis[srow + 1] = ltd[1];
+				info->m_J1angularAxis[srow + 2] = ltd[2];
 
 				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
 				ltd = -c.cross(ax1);
-				info->m_J2angularAxis[srow+0] = ltd[0];
-				info->m_J2angularAxis[srow+1] = ltd[1];
-				info->m_J2angularAxis[srow+2] = ltd[2];
+				info->m_J2angularAxis[srow + 0] = ltd[0];
+				info->m_J2angularAxis[srow + 1] = ltd[1];
+				info->m_J2angularAxis[srow + 2] = ltd[2];
 			}
-        }
-        // if we're limited low and high simultaneously, the joint motor is
-        // ineffective
-        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
-        info->m_constraintError[srow] = b3Scalar(0.f);
-        if (powered)
-        {
+		}
+		// if we're limited low and high simultaneously, the joint motor is
+		// ineffective
+		if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
+		info->m_constraintError[srow] = b3Scalar(0.f);
+		if (powered)
+		{
 			info->cfm[srow] = limot->m_normalCFM;
-            if(!limit)
-            {
+			if (!limit)
+			{
 				b3Scalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
 
-				b3Scalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
-													limot->m_loLimit,
-													limot->m_hiLimit, 
-													tag_vel, 
-													info->fps * limot->m_stopERP);
+				b3Scalar mot_fact = getMotorFactor(limot->m_currentPosition,
+												   limot->m_loLimit,
+												   limot->m_hiLimit,
+												   tag_vel,
+												   info->fps * limot->m_stopERP);
 				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
-                info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
-                info->m_upperLimit[srow] = limot->m_maxMotorForce;
-            }
-        }
-        if(limit)
-        {
-            b3Scalar k = info->fps * limot->m_stopERP;
-			if(!rotational)
+				info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+				info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
+			}
+		}
+		if (limit)
+		{
+			b3Scalar k = info->fps * limot->m_stopERP;
+			if (!rotational)
 			{
 				info->m_constraintError[srow] += k * limot->m_currentLimitError;
 			}
@@ -615,116 +551,112 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
 				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
 			}
 			info->cfm[srow] = limot->m_stopCFM;
-            if (limot->m_loLimit == limot->m_hiLimit)
-            {   // limited low and high simultaneously
-                info->m_lowerLimit[srow] = -B3_INFINITY;
-                info->m_upperLimit[srow] = B3_INFINITY;
-            }
-            else
-            {
-                if (limit == 1)
-                {
-                    info->m_lowerLimit[srow] = 0;
-                    info->m_upperLimit[srow] = B3_INFINITY;
-                }
-                else
-                {
-                    info->m_lowerLimit[srow] = -B3_INFINITY;
-                    info->m_upperLimit[srow] = 0;
-                }
-                // deal with bounce
-                if (limot->m_bounce > 0)
-                {
-                    // calculate joint velocity
-                    b3Scalar vel;
-                    if (rotational)
-                    {
-                        vel = angVelA.dot(ax1);
-//make sure that if no body -> angVelB == zero vec
-//                        if (body1)
-                            vel -= angVelB.dot(ax1);
-                    }
-                    else
-                    {
-                        vel = linVelA.dot(ax1);
-//make sure that if no body -> angVelB == zero vec
-//                        if (body1)
-                            vel -= linVelB.dot(ax1);
-                    }
-                    // only apply bounce if the velocity is incoming, and if the
-                    // resulting c[] exceeds what we already have.
-                    if (limit == 1)
-                    {
-                        if (vel < 0)
-                        {
-                            b3Scalar newc = -limot->m_bounce* vel;
-                            if (newc > info->m_constraintError[srow]) 
+			if (limot->m_loLimit == limot->m_hiLimit)
+			{  // limited low and high simultaneously
+				info->m_lowerLimit[srow] = -B3_INFINITY;
+				info->m_upperLimit[srow] = B3_INFINITY;
+			}
+			else
+			{
+				if (limit == 1)
+				{
+					info->m_lowerLimit[srow] = 0;
+					info->m_upperLimit[srow] = B3_INFINITY;
+				}
+				else
+				{
+					info->m_lowerLimit[srow] = -B3_INFINITY;
+					info->m_upperLimit[srow] = 0;
+				}
+				// deal with bounce
+				if (limot->m_bounce > 0)
+				{
+					// calculate joint velocity
+					b3Scalar vel;
+					if (rotational)
+					{
+						vel = angVelA.dot(ax1);
+						//make sure that if no body -> angVelB == zero vec
+						//                        if (body1)
+						vel -= angVelB.dot(ax1);
+					}
+					else
+					{
+						vel = linVelA.dot(ax1);
+						//make sure that if no body -> angVelB == zero vec
+						//                        if (body1)
+						vel -= linVelB.dot(ax1);
+					}
+					// only apply bounce if the velocity is incoming, and if the
+					// resulting c[] exceeds what we already have.
+					if (limit == 1)
+					{
+						if (vel < 0)
+						{
+							b3Scalar newc = -limot->m_bounce * vel;
+							if (newc > info->m_constraintError[srow])
 								info->m_constraintError[srow] = newc;
-                        }
-                    }
-                    else
-                    {
-                        if (vel > 0)
-                        {
-                            b3Scalar newc = -limot->m_bounce * vel;
-                            if (newc < info->m_constraintError[srow]) 
+						}
+					}
+					else
+					{
+						if (vel > 0)
+						{
+							b3Scalar newc = -limot->m_bounce * vel;
+							if (newc < info->m_constraintError[srow])
 								info->m_constraintError[srow] = newc;
-                        }
-                    }
-                }
-            }
-        }
-        return 1;
-    }
-    else return 0;
+						}
+					}
+				}
+			}
+		}
+		return 1;
+	}
+	else
+		return 0;
 }
 
-
-
-
-
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+///If no axis is provided, it uses the default axis for this constraint.
 void b3Generic6DofConstraint::setParam(int num, b3Scalar value, int axis)
 {
-	if((axis >= 0) && (axis < 3))
+	if ((axis >= 0) && (axis < 3))
 	{
-		switch(num)
+		switch (num)
 		{
-			case B3_CONSTRAINT_STOP_ERP : 
+			case B3_CONSTRAINT_STOP_ERP:
 				m_linearLimits.m_stopERP[axis] = value;
 				m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case B3_CONSTRAINT_STOP_CFM : 
+			case B3_CONSTRAINT_STOP_CFM:
 				m_linearLimits.m_stopCFM[axis] = value;
 				m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case B3_CONSTRAINT_CFM : 
+			case B3_CONSTRAINT_CFM:
 				m_linearLimits.m_normalCFM[axis] = value;
 				m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			default : 
+			default:
 				b3AssertConstrParams(0);
 		}
 	}
-	else if((axis >=3) && (axis < 6))
+	else if ((axis >= 3) && (axis < 6))
 	{
-		switch(num)
+		switch (num)
 		{
-			case B3_CONSTRAINT_STOP_ERP : 
+			case B3_CONSTRAINT_STOP_ERP:
 				m_angularLimits[axis - 3].m_stopERP = value;
 				m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case B3_CONSTRAINT_STOP_CFM : 
+			case B3_CONSTRAINT_STOP_CFM:
 				m_angularLimits[axis - 3].m_stopCFM = value;
 				m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case B3_CONSTRAINT_CFM : 
+			case B3_CONSTRAINT_CFM:
 				m_angularLimits[axis - 3].m_normalCFM = value;
 				m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			default : 
+			default:
 				b3AssertConstrParams(0);
 		}
 	}
@@ -734,47 +666,47 @@ void b3Generic6DofConstraint::setParam(int num, b3Scalar value, int axis)
 	}
 }
 
-	///return the local value of parameter
-b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const 
+///return the local value of parameter
+b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
 {
 	b3Scalar retVal = 0;
-	if((axis >= 0) && (axis < 3))
+	if ((axis >= 0) && (axis < 3))
 	{
-		switch(num)
+		switch (num)
 		{
-			case B3_CONSTRAINT_STOP_ERP : 
+			case B3_CONSTRAINT_STOP_ERP:
 				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_linearLimits.m_stopERP[axis];
 				break;
-			case B3_CONSTRAINT_STOP_CFM : 
+			case B3_CONSTRAINT_STOP_CFM:
 				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_linearLimits.m_stopCFM[axis];
 				break;
-			case B3_CONSTRAINT_CFM : 
+			case B3_CONSTRAINT_CFM:
 				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_linearLimits.m_normalCFM[axis];
 				break;
-			default : 
+			default:
 				b3AssertConstrParams(0);
 		}
 	}
-	else if((axis >=3) && (axis < 6))
+	else if ((axis >= 3) && (axis < 6))
 	{
-		switch(num)
+		switch (num)
 		{
-			case B3_CONSTRAINT_STOP_ERP : 
+			case B3_CONSTRAINT_STOP_ERP:
 				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_angularLimits[axis - 3].m_stopERP;
 				break;
-			case B3_CONSTRAINT_STOP_CFM : 
+			case B3_CONSTRAINT_STOP_CFM:
 				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_angularLimits[axis - 3].m_stopCFM;
 				break;
-			case B3_CONSTRAINT_CFM : 
+			case B3_CONSTRAINT_CFM:
 				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_angularLimits[axis - 3].m_normalCFM;
 				break;
-			default : 
+			default:
 				b3AssertConstrParams(0);
 		}
 	}
@@ -785,23 +717,21 @@ b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
 	return retVal;
 }
 
- 
-
-void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyData* bodies)
+void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1, const b3Vector3& axis2, const b3RigidBodyData* bodies)
 {
 	b3Vector3 zAxis = axis1.normalized();
 	b3Vector3 yAxis = axis2.normalized();
-	b3Vector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
-	
+	b3Vector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
+
 	b3Transform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-	                                xAxis[1], yAxis[1], zAxis[1],
-	                               xAxis[2], yAxis[2], zAxis[2]);
-	
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
+
 	// now get constraint frame in local coordinate systems
 	m_frameInA = getCenterOfMassTransform(bodies[m_rbA]).inverse() * frameInW;
 	m_frameInB = getCenterOfMassTransform(bodies[m_rbB]).inverse() * frameInW;
-	
+
 	calculateTransforms(bodies);
 }
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
index 084d36055c..1597809db3 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
@@ -23,7 +23,6 @@ email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
-
 #ifndef B3_GENERIC_6DOF_CONSTRAINT_H
 #define B3_GENERIC_6DOF_CONSTRAINT_H
 
@@ -33,88 +32,83 @@ http://gimpact.sf.net
 
 struct b3RigidBodyData;
 
-
-
-
 //! Rotation Limit structure for generic joints
 class b3RotationalLimitMotor
 {
 public:
-    //! limit_parameters
-    //!@{
-    b3Scalar m_loLimit;//!< joint limit
-    b3Scalar m_hiLimit;//!< joint limit
-    b3Scalar m_targetVelocity;//!< target motor velocity
-    b3Scalar m_maxMotorForce;//!< max force on motor
-    b3Scalar m_maxLimitForce;//!< max force on limit
-    b3Scalar m_damping;//!< Damping.
-    b3Scalar m_limitSoftness;//! Relaxation factor
-    b3Scalar m_normalCFM;//!< Constraint force mixing factor
-    b3Scalar m_stopERP;//!< Error tolerance factor when joint is at limit
-    b3Scalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    b3Scalar m_bounce;//!< restitution factor
-    bool m_enableMotor;
-
-    //!@}
-
-    //! temp_variables
-    //!@{
-    b3Scalar m_currentLimitError;//!  How much is violated this limit
-    b3Scalar m_currentPosition;     //!  current value of angle 
-    int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
-    b3Scalar m_accumulatedImpulse;
-    //!@}
-
-    b3RotationalLimitMotor()
-    {
-    	m_accumulatedImpulse = 0.f;
-        m_targetVelocity = 0;
-        m_maxMotorForce = 0.1f;
-        m_maxLimitForce = 300.0f;
-        m_loLimit = 1.0f;
-        m_hiLimit = -1.0f;
+	//! limit_parameters
+	//!@{
+	b3Scalar m_loLimit;         //!< joint limit
+	b3Scalar m_hiLimit;         //!< joint limit
+	b3Scalar m_targetVelocity;  //!< target motor velocity
+	b3Scalar m_maxMotorForce;   //!< max force on motor
+	b3Scalar m_maxLimitForce;   //!< max force on limit
+	b3Scalar m_damping;         //!< Damping.
+	b3Scalar m_limitSoftness;   //! Relaxation factor
+	b3Scalar m_normalCFM;       //!< Constraint force mixing factor
+	b3Scalar m_stopERP;         //!< Error tolerance factor when joint is at limit
+	b3Scalar m_stopCFM;         //!< Constraint force mixing factor when joint is at limit
+	b3Scalar m_bounce;          //!< restitution factor
+	bool m_enableMotor;
+
+	//!@}
+
+	//! temp_variables
+	//!@{
+	b3Scalar m_currentLimitError;  //!  How much is violated this limit
+	b3Scalar m_currentPosition;    //!  current value of angle
+	int m_currentLimit;            //!< 0=free, 1=at lo limit, 2=at hi limit
+	b3Scalar m_accumulatedImpulse;
+	//!@}
+
+	b3RotationalLimitMotor()
+	{
+		m_accumulatedImpulse = 0.f;
+		m_targetVelocity = 0;
+		m_maxMotorForce = 6.0f;
+		m_maxLimitForce = 300.0f;
+		m_loLimit = 1.0f;
+		m_hiLimit = -1.0f;
 		m_normalCFM = 0.f;
 		m_stopERP = 0.2f;
 		m_stopCFM = 0.f;
-        m_bounce = 0.0f;
-        m_damping = 1.0f;
-        m_limitSoftness = 0.5f;
-        m_currentLimit = 0;
-        m_currentLimitError = 0;
-        m_enableMotor = false;
-    }
-
-    b3RotationalLimitMotor(const b3RotationalLimitMotor & limot)
-    {
-        m_targetVelocity = limot.m_targetVelocity;
-        m_maxMotorForce = limot.m_maxMotorForce;
-        m_limitSoftness = limot.m_limitSoftness;
-        m_loLimit = limot.m_loLimit;
-        m_hiLimit = limot.m_hiLimit;
+		m_bounce = 0.0f;
+		m_damping = 1.0f;
+		m_limitSoftness = 0.5f;
+		m_currentLimit = 0;
+		m_currentLimitError = 0;
+		m_enableMotor = false;
+	}
+
+	b3RotationalLimitMotor(const b3RotationalLimitMotor& limot)
+	{
+		m_targetVelocity = limot.m_targetVelocity;
+		m_maxMotorForce = limot.m_maxMotorForce;
+		m_limitSoftness = limot.m_limitSoftness;
+		m_loLimit = limot.m_loLimit;
+		m_hiLimit = limot.m_hiLimit;
 		m_normalCFM = limot.m_normalCFM;
 		m_stopERP = limot.m_stopERP;
-		m_stopCFM =	limot.m_stopCFM;
-        m_bounce = limot.m_bounce;
-        m_currentLimit = limot.m_currentLimit;
-        m_currentLimitError = limot.m_currentLimitError;
-        m_enableMotor = limot.m_enableMotor;
-    }
-
-
+		m_stopCFM = limot.m_stopCFM;
+		m_bounce = limot.m_bounce;
+		m_currentLimit = limot.m_currentLimit;
+		m_currentLimitError = limot.m_currentLimitError;
+		m_enableMotor = limot.m_enableMotor;
+	}
 
 	//! Is limited
-    bool isLimited()
-    {
-    	if(m_loLimit > m_hiLimit) return false;
-    	return true;
-    }
+	bool isLimited()
+	{
+		if (m_loLimit > m_hiLimit) return false;
+		return true;
+	}
 
 	//! Need apply correction
-    bool needApplyTorques()
-    {
-    	if(m_currentLimit == 0 && m_enableMotor == false) return false;
-    	return true;
-    }
+	bool needApplyTorques()
+	{
+		if (m_currentLimit == 0 && m_enableMotor == false) return false;
+		return true;
+	}
 
 	//! calculates  error
 	/*!
@@ -123,104 +117,98 @@ public:
 	int testLimitValue(b3Scalar test_value);
 
 	//! apply the correction impulses for two bodies
-    b3Scalar solveAngularLimits(b3Scalar timeStep,b3Vector3& axis, b3Scalar jacDiagABInv,b3RigidBodyData * body0, b3RigidBodyData * body1);
-
+	b3Scalar solveAngularLimits(b3Scalar timeStep, b3Vector3& axis, b3Scalar jacDiagABInv, b3RigidBodyData* body0, b3RigidBodyData* body1);
 };
 
-
-
 class b3TranslationalLimitMotor
 {
 public:
-	b3Vector3 m_lowerLimit;//!< the constraint lower limits
-    b3Vector3 m_upperLimit;//!< the constraint upper limits
-    b3Vector3 m_accumulatedImpulse;
-    //! Linear_Limit_parameters
-    //!@{
-	b3Vector3	m_normalCFM;//!< Constraint force mixing factor
-    b3Vector3	m_stopERP;//!< Error tolerance factor when joint is at limit
-	b3Vector3	m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    b3Vector3	m_targetVelocity;//!< target motor velocity
-    b3Vector3	m_maxMotorForce;//!< max force on motor
-    b3Vector3	m_currentLimitError;//!  How much is violated this limit
-    b3Vector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
-	b3Scalar	m_limitSoftness;//!< Softness for linear limit
-    b3Scalar	m_damping;//!< Damping for linear limit
-    b3Scalar	m_restitution;//! Bounce parameter for linear limit
+	b3Vector3 m_lowerLimit;  //!< the constraint lower limits
+	b3Vector3 m_upperLimit;  //!< the constraint upper limits
+	b3Vector3 m_accumulatedImpulse;
+	//! Linear_Limit_parameters
+	//!@{
+	b3Vector3 m_normalCFM;          //!< Constraint force mixing factor
+	b3Vector3 m_stopERP;            //!< Error tolerance factor when joint is at limit
+	b3Vector3 m_stopCFM;            //!< Constraint force mixing factor when joint is at limit
+	b3Vector3 m_targetVelocity;     //!< target motor velocity
+	b3Vector3 m_maxMotorForce;      //!< max force on motor
+	b3Vector3 m_currentLimitError;  //!  How much is violated this limit
+	b3Vector3 m_currentLinearDiff;  //!  Current relative offset of constraint frames
+	b3Scalar m_limitSoftness;       //!< Softness for linear limit
+	b3Scalar m_damping;             //!< Damping for linear limit
+	b3Scalar m_restitution;         //! Bounce parameter for linear limit
 	//!@}
-	bool		m_enableMotor[3];
-	int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
-
-    b3TranslationalLimitMotor()
-    {
-    	m_lowerLimit.setValue(0.f,0.f,0.f);
-    	m_upperLimit.setValue(0.f,0.f,0.f);
-    	m_accumulatedImpulse.setValue(0.f,0.f,0.f);
+	bool m_enableMotor[3];
+	int m_currentLimit[3];  //!< 0=free, 1=at lower limit, 2=at upper limit
+
+	b3TranslationalLimitMotor()
+	{
+		m_lowerLimit.setValue(0.f, 0.f, 0.f);
+		m_upperLimit.setValue(0.f, 0.f, 0.f);
+		m_accumulatedImpulse.setValue(0.f, 0.f, 0.f);
 		m_normalCFM.setValue(0.f, 0.f, 0.f);
 		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
 		m_stopCFM.setValue(0.f, 0.f, 0.f);
 
-    	m_limitSoftness = 0.7f;
-    	m_damping = b3Scalar(1.0f);
-    	m_restitution = b3Scalar(0.5f);
-		for(int i=0; i < 3; i++) 
+		m_limitSoftness = 0.7f;
+		m_damping = b3Scalar(1.0f);
+		m_restitution = b3Scalar(0.5f);
+		for (int i = 0; i < 3; i++)
 		{
 			m_enableMotor[i] = false;
 			m_targetVelocity[i] = b3Scalar(0.f);
 			m_maxMotorForce[i] = b3Scalar(0.f);
 		}
-    }
+	}
 
-    b3TranslationalLimitMotor(const b3TranslationalLimitMotor & other )
-    {
-    	m_lowerLimit = other.m_lowerLimit;
-    	m_upperLimit = other.m_upperLimit;
-    	m_accumulatedImpulse = other.m_accumulatedImpulse;
+	b3TranslationalLimitMotor(const b3TranslationalLimitMotor& other)
+	{
+		m_lowerLimit = other.m_lowerLimit;
+		m_upperLimit = other.m_upperLimit;
+		m_accumulatedImpulse = other.m_accumulatedImpulse;
 
-    	m_limitSoftness = other.m_limitSoftness ;
-    	m_damping = other.m_damping;
-    	m_restitution = other.m_restitution;
+		m_limitSoftness = other.m_limitSoftness;
+		m_damping = other.m_damping;
+		m_restitution = other.m_restitution;
 		m_normalCFM = other.m_normalCFM;
 		m_stopERP = other.m_stopERP;
 		m_stopCFM = other.m_stopCFM;
 
-		for(int i=0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 		{
 			m_enableMotor[i] = other.m_enableMotor[i];
 			m_targetVelocity[i] = other.m_targetVelocity[i];
 			m_maxMotorForce[i] = other.m_maxMotorForce[i];
 		}
-    }
+	}
 
-    //! Test limit
+	//! Test limit
 	/*!
     - free means upper < lower,
     - locked means upper == lower
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    inline bool	isLimited(int limitIndex)
-    {
-       return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-    }
-    inline bool needApplyForce(int limitIndex)
-    {
-    	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
-    	return true;
-    }
+	inline bool isLimited(int limitIndex)
+	{
+		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
+	}
+	inline bool needApplyForce(int limitIndex)
+	{
+		if (m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
+		return true;
+	}
 	int testLimitValue(int limitIndex, b3Scalar test_value);
 
-
-    b3Scalar solveLinearAxis(
-    	b3Scalar timeStep,
-        b3Scalar jacDiagABInv,
-        b3RigidBodyData& body1,const b3Vector3 &pointInA,
-        b3RigidBodyData& body2,const b3Vector3 &pointInB,
-        int limit_index,
-        const b3Vector3 & axis_normal_on_a,
-		const b3Vector3 & anchorPos);
-
-
+	b3Scalar solveLinearAxis(
+		b3Scalar timeStep,
+		b3Scalar jacDiagABInv,
+		b3RigidBodyData& body1, const b3Vector3& pointInA,
+		b3RigidBodyData& body2, const b3Vector3& pointInB,
+		int limit_index,
+		const b3Vector3& axis_normal_on_a,
+		const b3Vector3& anchorPos);
 };
 
 enum b36DofFlags
@@ -229,8 +217,7 @@ enum b36DofFlags
 	B3_6DOF_FLAGS_CFM_STOP = 2,
 	B3_6DOF_FLAGS_ERP_STOP = 4
 };
-#define B3_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
-
+#define B3_6DOF_FLAGS_AXIS_SHIFT 3  // bits per axis
 
 /// b3Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
 /*!
@@ -268,240 +255,229 @@ This brings support for limit parameters and motors. </li>
 </ul>
 
 */
-B3_ATTRIBUTE_ALIGNED16(class) b3Generic6DofConstraint : public b3TypedConstraint
+B3_ATTRIBUTE_ALIGNED16(class)
+b3Generic6DofConstraint : public b3TypedConstraint
 {
 protected:
-
 	//! relative_frames
-    //!@{
-	b3Transform	m_frameInA;//!< the constraint space w.r.t body A
-    b3Transform	m_frameInB;//!< the constraint space w.r.t body B
-    //!@}
+	//!@{
+	b3Transform m_frameInA;  //!< the constraint space w.r.t body A
+	b3Transform m_frameInB;  //!< the constraint space w.r.t body B
+	//!@}
 
-    //! Jacobians
-    //!@{
-//    b3JacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
-//    b3JacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
-    //!@}
+	//! Jacobians
+	//!@{
+	//    b3JacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
+	//    b3JacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
+	//!@}
 
 	//! Linear_Limit_parameters
-    //!@{
-    b3TranslationalLimitMotor m_linearLimits;
-    //!@}
-
-
-    //! hinge_parameters
-    //!@{
-    b3RotationalLimitMotor m_angularLimits[3];
+	//!@{
+	b3TranslationalLimitMotor m_linearLimits;
 	//!@}
 
+	//! hinge_parameters
+	//!@{
+	b3RotationalLimitMotor m_angularLimits[3];
+	//!@}
 
 protected:
-    //! temporal variables
-    //!@{
-    b3Transform m_calculatedTransformA;
-    b3Transform m_calculatedTransformB;
-    b3Vector3 m_calculatedAxisAngleDiff;
-    b3Vector3 m_calculatedAxis[3];
-    b3Vector3 m_calculatedLinearDiff;
-    b3Scalar m_timeStep;
-	b3Scalar	m_factA;
-	b3Scalar	m_factB;
-	bool		m_hasStaticBody;
-    
-	b3Vector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
+	//! temporal variables
+	//!@{
+	b3Transform m_calculatedTransformA;
+	b3Transform m_calculatedTransformB;
+	b3Vector3 m_calculatedAxisAngleDiff;
+	b3Vector3 m_calculatedAxis[3];
+	b3Vector3 m_calculatedLinearDiff;
+	b3Scalar m_timeStep;
+	b3Scalar m_factA;
+	b3Scalar m_factB;
+	bool m_hasStaticBody;
 
-    bool	m_useLinearReferenceFrameA;
-	bool	m_useOffsetForConstraintFrame;
-    
-	int		m_flags;
+	b3Vector3 m_AnchorPos;  // point betwen pivots of bodies A and B to solve linear axes
 
-    //!@}
+	bool m_useLinearReferenceFrameA;
+	bool m_useOffsetForConstraintFrame;
 
-    b3Generic6DofConstraint&	operator=(b3Generic6DofConstraint&	other)
-    {
-        b3Assert(0);
-        (void) other;
-        return *this;
-    }
+	int m_flags;
 
+	//!@}
 
-	int setAngularLimits(b3ConstraintInfo2 *info, int row_offset,const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB);
+	b3Generic6DofConstraint& operator=(b3Generic6DofConstraint& other)
+	{
+		b3Assert(0);
+		(void)other;
+		return *this;
+	}
 
-	int setLinearLimits(b3ConstraintInfo2 *info, int row, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB);
+	int setAngularLimits(b3ConstraintInfo2 * info, int row_offset, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB);
 
+	int setLinearLimits(b3ConstraintInfo2 * info, int row, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB);
 
 	// tests linear limits
 	void calculateLinearInfo();
 
 	//! calcs the euler angles between the two bodies.
-    void calculateAngleInfo();
-
-
+	void calculateAngleInfo();
 
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
-	
-    b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB ,bool useLinearReferenceFrameA,const b3RigidBodyData* bodies);
-    
+
+	b3Generic6DofConstraint(int rbA, int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies);
+
 	//! Calcs global transform of the offsets
 	/*!
 	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
 	\sa b3Generic6DofConstraint.getCalculatedTransformA , b3Generic6DofConstraint.getCalculatedTransformB, b3Generic6DofConstraint.calculateAngleInfo
 	*/
-    void calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies);
+	void calculateTransforms(const b3Transform& transA, const b3Transform& transB, const b3RigidBodyData* bodies);
 
 	void calculateTransforms(const b3RigidBodyData* bodies);
 
 	//! Gets the global transform of the offset for body A
-    /*!
+	/*!
     \sa b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.
     */
-    const b3Transform & getCalculatedTransformA() const
-    {
-    	return m_calculatedTransformA;
-    }
+	const b3Transform& getCalculatedTransformA() const
+	{
+		return m_calculatedTransformA;
+	}
 
-    //! Gets the global transform of the offset for body B
-    /*!
+	//! Gets the global transform of the offset for body B
+	/*!
     \sa b3Generic6DofConstraint.getFrameOffsetA, b3Generic6DofConstraint.getFrameOffsetB, b3Generic6DofConstraint.calculateAngleInfo.
     */
-    const b3Transform & getCalculatedTransformB() const
-    {
-    	return m_calculatedTransformB;
-    }
-
-    const b3Transform & getFrameOffsetA() const
-    {
-    	return m_frameInA;
-    }
-
-    const b3Transform & getFrameOffsetB() const
-    {
-    	return m_frameInB;
-    }
-
-
-    b3Transform & getFrameOffsetA()
-    {
-    	return m_frameInA;
-    }
+	const b3Transform& getCalculatedTransformB() const
+	{
+		return m_calculatedTransformB;
+	}
 
-    b3Transform & getFrameOffsetB()
-    {
-    	return m_frameInB;
-    }
+	const b3Transform& getFrameOffsetA() const
+	{
+		return m_frameInA;
+	}
 
+	const b3Transform& getFrameOffsetB() const
+	{
+		return m_frameInB;
+	}
 
+	b3Transform& getFrameOffsetA()
+	{
+		return m_frameInA;
+	}
 
-	virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
+	b3Transform& getFrameOffsetB()
+	{
+		return m_frameInB;
+	}
 
-	void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
+	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
 
-	virtual void getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies);
+	void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
 
-	void getInfo2NonVirtual (b3ConstraintInfo2* info,const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies);
+	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
 
+	void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB, const b3RigidBodyData* bodies);
 
-    void	updateRHS(b3Scalar	timeStep);
+	void updateRHS(b3Scalar timeStep);
 
 	//! Get the rotation axis in global coordinates
-    b3Vector3 getAxis(int axis_index) const;
+	b3Vector3 getAxis(int axis_index) const;
 
-    //! Get the relative Euler angle
-    /*!
+	//! Get the relative Euler angle
+	/*!
 	\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
 	*/
-    b3Scalar getAngle(int axis_index) const;
+	b3Scalar getAngle(int axis_index) const;
 
 	//! Get the relative position of the constraint pivot
-    /*!
+	/*!
 	\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
 	*/
 	b3Scalar getRelativePivotPosition(int axis_index) const;
 
-	void setFrames(const b3Transform & frameA, const b3Transform & frameB, const b3RigidBodyData* bodies);
+	void setFrames(const b3Transform& frameA, const b3Transform& frameB, const b3RigidBodyData* bodies);
 
 	//! Test angular limit.
 	/*!
 	Calculates angular correction and returns true if limit needs to be corrected.
 	\pre b3Generic6DofConstraint::calculateTransforms() must be called previously.
 	*/
-    bool testAngularLimitMotor(int axis_index);
+	bool testAngularLimitMotor(int axis_index);
 
-    void	setLinearLowerLimit(const b3Vector3& linearLower)
-    {
-    	m_linearLimits.m_lowerLimit = linearLower;
-    }
+	void setLinearLowerLimit(const b3Vector3& linearLower)
+	{
+		m_linearLimits.m_lowerLimit = linearLower;
+	}
 
-	void	getLinearLowerLimit(b3Vector3& linearLower)
+	void getLinearLowerLimit(b3Vector3 & linearLower)
 	{
 		linearLower = m_linearLimits.m_lowerLimit;
 	}
 
-	void	setLinearUpperLimit(const b3Vector3& linearUpper)
+	void setLinearUpperLimit(const b3Vector3& linearUpper)
 	{
 		m_linearLimits.m_upperLimit = linearUpper;
 	}
 
-	void	getLinearUpperLimit(b3Vector3& linearUpper)
+	void getLinearUpperLimit(b3Vector3 & linearUpper)
 	{
 		linearUpper = m_linearLimits.m_upperLimit;
 	}
 
-    void	setAngularLowerLimit(const b3Vector3& angularLower)
-    {
-		for(int i = 0; i < 3; i++) 
+	void setAngularLowerLimit(const b3Vector3& angularLower)
+	{
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_loLimit = b3NormalizeAngle(angularLower[i]);
-    }
+	}
 
-	void	getAngularLowerLimit(b3Vector3& angularLower)
+	void getAngularLowerLimit(b3Vector3 & angularLower)
 	{
-		for(int i = 0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 			angularLower[i] = m_angularLimits[i].m_loLimit;
 	}
 
-    void	setAngularUpperLimit(const b3Vector3& angularUpper)
-    {
-		for(int i = 0; i < 3; i++)
+	void setAngularUpperLimit(const b3Vector3& angularUpper)
+	{
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_hiLimit = b3NormalizeAngle(angularUpper[i]);
-    }
+	}
 
-	void	getAngularUpperLimit(b3Vector3& angularUpper)
+	void getAngularUpperLimit(b3Vector3 & angularUpper)
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			angularUpper[i] = m_angularLimits[i].m_hiLimit;
 	}
 
 	//! Retrieves the angular limit informacion
-    b3RotationalLimitMotor * getRotationalLimitMotor(int index)
-    {
-    	return &m_angularLimits[index];
-    }
-
-    //! Retrieves the  limit informacion
-    b3TranslationalLimitMotor * getTranslationalLimitMotor()
-    {
-    	return &m_linearLimits;
-    }
-
-    //first 3 are linear, next 3 are angular
-    void setLimit(int axis, b3Scalar lo, b3Scalar hi)
-    {
-    	if(axis<3)
-    	{
-    		m_linearLimits.m_lowerLimit[axis] = lo;
-    		m_linearLimits.m_upperLimit[axis] = hi;
-    	}
-    	else
-    	{
+	b3RotationalLimitMotor* getRotationalLimitMotor(int index)
+	{
+		return &m_angularLimits[index];
+	}
+
+	//! Retrieves the  limit informacion
+	b3TranslationalLimitMotor* getTranslationalLimitMotor()
+	{
+		return &m_linearLimits;
+	}
+
+	//first 3 are linear, next 3 are angular
+	void setLimit(int axis, b3Scalar lo, b3Scalar hi)
+	{
+		if (axis < 3)
+		{
+			m_linearLimits.m_lowerLimit[axis] = lo;
+			m_linearLimits.m_upperLimit[axis] = hi;
+		}
+		else
+		{
 			lo = b3NormalizeAngle(lo);
 			hi = b3NormalizeAngle(hi);
-    		m_angularLimits[axis-3].m_loLimit = lo;
-    		m_angularLimits[axis-3].m_hiLimit = hi;
-    	}
-    }
+			m_angularLimits[axis - 3].m_loLimit = lo;
+			m_angularLimits[axis - 3].m_hiLimit = hi;
+		}
+	}
 
 	//! Test limit
 	/*!
@@ -510,41 +486,32 @@ public:
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    bool	isLimited(int limitIndex)
-    {
-    	if(limitIndex<3)
-    	{
+	bool isLimited(int limitIndex)
+	{
+		if (limitIndex < 3)
+		{
 			return m_linearLimits.isLimited(limitIndex);
+		}
+		return m_angularLimits[limitIndex - 3].isLimited();
+	}
 
-    	}
-        return m_angularLimits[limitIndex-3].isLimited();
-    }
-
-	virtual void calcAnchorPos(const b3RigidBodyData* bodies); // overridable
+	virtual void calcAnchorPos(const b3RigidBodyData* bodies);  // overridable
 
-	int get_limit_motor_info2(	b3RotationalLimitMotor * limot,
-								const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,
-								b3ConstraintInfo2 *info, int row, b3Vector3& ax1, int rotational, int rotAllowed = false);
+	int get_limit_motor_info2(b3RotationalLimitMotor * limot,
+							  const b3Transform& transA, const b3Transform& transB, const b3Vector3& linVelA, const b3Vector3& linVelB, const b3Vector3& angVelA, const b3Vector3& angVelB,
+							  b3ConstraintInfo2* info, int row, b3Vector3& ax1, int rotational, int rotAllowed = false);
 
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void setParam(int num, b3Scalar value, int axis = -1);
+	virtual void setParam(int num, b3Scalar value, int axis = -1);
 	///return the local value of parameter
-	virtual	b3Scalar getParam(int num, int axis = -1) const;
-
-	void setAxis( const b3Vector3& axis1, const b3Vector3& axis2,const b3RigidBodyData* bodies);
+	virtual b3Scalar getParam(int num, int axis = -1) const;
 
-
-
-	
+	void setAxis(const b3Vector3& axis1, const b3Vector3& axis2, const b3RigidBodyData* bodies);
 };
 
-
-
-
-
-#endif //B3_GENERIC_6DOF_CONSTRAINT_H
+#endif  //B3_GENERIC_6DOF_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
index a55168eb38..13269debf6 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 #include "Bullet3Common/b3Matrix3x3.h"
 
-
 //notes:
 // Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
 // which makes the b3JacobianEntry memory layout 16 bytes
@@ -27,25 +26,26 @@ subject to the following restrictions:
 /// Jacobian entry is an abstraction that allows to describe constraints
 /// it can be used in combination with a constraint solver
 /// Can be used to relate the effect of an impulse to the constraint error
-B3_ATTRIBUTE_ALIGNED16(class) b3JacobianEntry
+B3_ATTRIBUTE_ALIGNED16(class)
+b3JacobianEntry
 {
 public:
-	b3JacobianEntry() {};
+	b3JacobianEntry(){};
 	//constraint between two different rigidbodies
 	b3JacobianEntry(
 		const b3Matrix3x3& world2A,
 		const b3Matrix3x3& world2B,
-		const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
+		const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
 		const b3Vector3& jointAxis,
-		const b3Vector3& inertiaInvA, 
+		const b3Vector3& inertiaInvA,
 		const b3Scalar massInvA,
 		const b3Vector3& inertiaInvB,
 		const b3Scalar massInvB)
-		:m_linearJointAxis(jointAxis)
+		: m_linearJointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_aJ = world2A * (rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B * (rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 
@@ -54,33 +54,31 @@ public:
 
 	//angular constraint between two different rigidbodies
 	b3JacobianEntry(const b3Vector3& jointAxis,
-		const b3Matrix3x3& world2A,
-		const b3Matrix3x3& world2B,
-		const b3Vector3& inertiaInvA,
-		const b3Vector3& inertiaInvB)
-		:m_linearJointAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
+					const b3Matrix3x3& world2A,
+					const b3Matrix3x3& world2B,
+					const b3Vector3& inertiaInvA,
+					const b3Vector3& inertiaInvB)
+		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.)))
 	{
-		m_aJ= world2A*jointAxis;
-		m_bJ = world2B*-jointAxis;
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_aJ = world2A * jointAxis;
+		m_bJ = world2B * -jointAxis;
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
 		b3Assert(m_Adiag > b3Scalar(0.0));
 	}
 
 	//angular constraint between two different rigidbodies
 	b3JacobianEntry(const b3Vector3& axisInA,
-		const b3Vector3& axisInB,
-		const b3Vector3& inertiaInvA,
-		const b3Vector3& inertiaInvB)
-		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)))
-		, m_aJ(axisInA)
-		, m_bJ(-axisInB)
+					const b3Vector3& axisInB,
+					const b3Vector3& inertiaInvA,
+					const b3Vector3& inertiaInvB)
+		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.))), m_aJ(axisInA), m_bJ(-axisInB)
 	{
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
 		b3Assert(m_Adiag > b3Scalar(0.0));
 	}
@@ -88,25 +86,25 @@ public:
 	//constraint on one rigidbody
 	b3JacobianEntry(
 		const b3Matrix3x3& world2A,
-		const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
+		const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
 		const b3Vector3& jointAxis,
-		const b3Vector3& inertiaInvA, 
+		const b3Vector3& inertiaInvA,
 		const b3Scalar massInvA)
-		:m_linearJointAxis(jointAxis)
+		: m_linearJointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(jointAxis));
-		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
+		m_aJ = world2A * (rel_pos1.cross(jointAxis));
+		m_bJ = world2A * (rel_pos2.cross(-jointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 
 		b3Assert(m_Adiag > b3Scalar(0.0));
 	}
 
-	b3Scalar	getDiagonal() const { return m_Adiag; }
+	b3Scalar getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
-	b3Scalar	getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA) const
+	b3Scalar getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA) const
 	{
 		const b3JacobianEntry& jacA = *this;
 		b3Scalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
@@ -114,42 +112,39 @@ public:
 		return lin + ang;
 	}
 
-	
-
 	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	b3Scalar	getNonDiagonal(const b3JacobianEntry& jacB,const b3Scalar massInvA,const b3Scalar massInvB) const
+	b3Scalar getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA, const b3Scalar massInvB) const
 	{
 		const b3JacobianEntry& jacA = *this;
 		b3Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
 		b3Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
 		b3Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		b3Vector3 lin0 = massInvA * lin ;
+		b3Vector3 lin0 = massInvA * lin;
 		b3Vector3 lin1 = massInvB * lin;
-		b3Vector3 sum = ang0+ang1+lin0+lin1;
-		return sum[0]+sum[1]+sum[2];
+		b3Vector3 sum = ang0 + ang1 + lin0 + lin1;
+		return sum[0] + sum[1] + sum[2];
 	}
 
-	b3Scalar getRelativeVelocity(const b3Vector3& linvelA,const b3Vector3& angvelA,const b3Vector3& linvelB,const b3Vector3& angvelB)
+	b3Scalar getRelativeVelocity(const b3Vector3& linvelA, const b3Vector3& angvelA, const b3Vector3& linvelB, const b3Vector3& angvelB)
 	{
 		b3Vector3 linrel = linvelA - linvelB;
-		b3Vector3 angvela  = angvelA * m_aJ;
-		b3Vector3 angvelb  = angvelB * m_bJ;
+		b3Vector3 angvela = angvelA * m_aJ;
+		b3Vector3 angvelb = angvelB * m_bJ;
 		linrel *= m_linearJointAxis;
 		angvela += angvelb;
 		angvela += linrel;
-		b3Scalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		b3Scalar rel_vel2 = angvela[0] + angvela[1] + angvela[2];
 		return rel_vel2 + B3_EPSILON;
 	}
-//private:
+	//private:
 
-	b3Vector3	m_linearJointAxis;
-	b3Vector3	m_aJ;
-	b3Vector3	m_bJ;
-	b3Vector3	m_0MinvJt;
-	b3Vector3	m_1MinvJt;
+	b3Vector3 m_linearJointAxis;
+	b3Vector3 m_aJ;
+	b3Vector3 m_bJ;
+	b3Vector3 m_0MinvJt;
+	b3Vector3 m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	b3Scalar	m_Adiag;
-
+	b3Scalar m_Adiag;
 };
 
-#endif //B3_JACOBIAN_ENTRY_H
+#endif  //B3_JACOBIAN_ENTRY_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
index de729d4556..b7050b1070 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
@@ -29,14 +29,13 @@ subject to the following restrictions:
 //#include "b3SolverBody.h"
 //#include "b3SolverConstraint.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
-#include <string.h> //for memset
+#include <string.h>  //for memset
 //#include "../../dynamics/basic_demo/Stubs/AdlContact4.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
 
-
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 
-static b3Transform	getWorldTransform(b3RigidBodyData* rb)
+static b3Transform getWorldTransform(b3RigidBodyData* rb)
 {
 	b3Transform newTrans;
 	newTrans.setOrigin(rb->m_pos);
@@ -44,19 +43,17 @@ static b3Transform	getWorldTransform(b3RigidBodyData* rb)
 	return newTrans;
 }
 
-static const b3Matrix3x3&	getInvInertiaTensorWorld(b3InertiaData* inertia)
+static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaData* inertia)
 {
 	return inertia->m_invInertiaWorld;
 }
 
-
-
-static const b3Vector3&	getLinearVelocity(b3RigidBodyData* rb)
+static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
 {
 	return rb->m_linVel;
 }
 
-static const b3Vector3&	getAngularVelocity(b3RigidBodyData* rb)
+static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
 {
 	return rb->m_angVel;
 }
@@ -65,47 +62,46 @@ static b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& r
 {
 	//we also calculate lin/ang velocity for kinematic objects
 	return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
-	
 }
 
-struct	b3ContactPoint
+struct b3ContactPoint
 {
-	b3Vector3	m_positionWorldOnA;
-	b3Vector3	m_positionWorldOnB;
-	b3Vector3	m_normalWorldOnB;
-	b3Scalar	m_appliedImpulse;
-	b3Scalar	m_distance;
-	b3Scalar	m_combinedRestitution;
+	b3Vector3 m_positionWorldOnA;
+	b3Vector3 m_positionWorldOnB;
+	b3Vector3 m_normalWorldOnB;
+	b3Scalar m_appliedImpulse;
+	b3Scalar m_distance;
+	b3Scalar m_combinedRestitution;
 
 	///information related to friction
-	b3Scalar	m_combinedFriction;
-	b3Vector3	m_lateralFrictionDir1;
-	b3Vector3	m_lateralFrictionDir2;
-	b3Scalar	m_appliedImpulseLateral1;
-	b3Scalar	m_appliedImpulseLateral2;	
-	b3Scalar	m_combinedRollingFriction;
-	b3Scalar	m_contactMotion1;
-	b3Scalar	m_contactMotion2;
-	b3Scalar	m_contactCFM1;
-	b3Scalar	m_contactCFM2;
-	
-	bool		m_lateralFrictionInitialized;
-
-	b3Vector3	getPositionWorldOnA()
+	b3Scalar m_combinedFriction;
+	b3Vector3 m_lateralFrictionDir1;
+	b3Vector3 m_lateralFrictionDir2;
+	b3Scalar m_appliedImpulseLateral1;
+	b3Scalar m_appliedImpulseLateral2;
+	b3Scalar m_combinedRollingFriction;
+	b3Scalar m_contactMotion1;
+	b3Scalar m_contactMotion2;
+	b3Scalar m_contactCFM1;
+	b3Scalar m_contactCFM2;
+
+	bool m_lateralFrictionInitialized;
+
+	b3Vector3 getPositionWorldOnA()
 	{
 		return m_positionWorldOnA;
 	}
-	b3Vector3	getPositionWorldOnB()
+	b3Vector3 getPositionWorldOnB()
 	{
 		return m_positionWorldOnB;
 	}
-	b3Scalar	getDistance()
+	b3Scalar getDistance()
 	{
 		return m_distance;
 	}
 };
 
-void	getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& pointOut)
+void getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& pointOut)
 {
 	pointOut.m_appliedImpulse = 0.f;
 	pointOut.m_appliedImpulseLateral1 = 0.f;
@@ -117,160 +113,145 @@ void	getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& poin
 	pointOut.m_contactCFM2 = 0.f;
 	pointOut.m_contactMotion1 = 0.f;
 	pointOut.m_contactMotion2 = 0.f;
-	pointOut.m_distance = contact->getPenetration(contactIndex);//??0.01f
+	pointOut.m_distance = contact->getPenetration(contactIndex);  //??0.01f
 	b3Vector3 normalOnB = contact->m_worldNormalOnB;
-	normalOnB.normalize();//is this needed?
+	normalOnB.normalize();  //is this needed?
 
-	b3Vector3 l1,l2;
-	b3PlaneSpace1(normalOnB,l1,l2);
+	b3Vector3 l1, l2;
+	b3PlaneSpace1(normalOnB, l1, l2);
 
 	pointOut.m_normalWorldOnB = normalOnB;
 	//printf("normalOnB = %f,%f,%f\n",normalOnB.getX(),normalOnB.getY(),normalOnB.getZ());
 	pointOut.m_lateralFrictionDir1 = l1;
 	pointOut.m_lateralFrictionDir2 = l2;
 	pointOut.m_lateralFrictionInitialized = true;
-	
-	
+
 	b3Vector3 worldPosB = contact->m_worldPosB[contactIndex];
 	pointOut.m_positionWorldOnB = worldPosB;
-	pointOut.m_positionWorldOnA = worldPosB+normalOnB*pointOut.m_distance;
+	pointOut.m_positionWorldOnA = worldPosB + normalOnB * pointOut.m_distance;
 }
 
-int	getNumContacts(b3Contact4* contact)
+int getNumContacts(b3Contact4* contact)
 {
 	return contact->getNPoints();
 }
 
 b3PgsJacobiSolver::b3PgsJacobiSolver(bool usePgs)
-:m_usePgs(usePgs),
-m_numSplitImpulseRecoveries(0),
-m_btSeed2(0)
+	: m_usePgs(usePgs),
+	  m_numSplitImpulseRecoveries(0),
+	  m_btSeed2(0)
 {
-
 }
 
 b3PgsJacobiSolver::~b3PgsJacobiSolver()
 {
 }
 
-void	b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints)
+void b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints)
 {
 	b3ContactSolverInfo infoGlobal;
 	infoGlobal.m_splitImpulse = false;
-	infoGlobal.m_timeStep = 1.f/60.f;
-	infoGlobal.m_numIterations = 4;//4;
-//	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
+	infoGlobal.m_timeStep = 1.f / 60.f;
+	infoGlobal.m_numIterations = 4;  //4;
+									 //	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
 	//infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
-	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
+	infoGlobal.m_solverMode |= B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
 
 	//if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 	//if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-				
 
-	solveGroup(bodies,inertias,numBodies,contacts,numContacts,constraints,numConstraints,infoGlobal);
+	solveGroup(bodies, inertias, numBodies, contacts, numContacts, constraints, numConstraints, infoGlobal);
 
 	if (!numContacts)
 		return;
 }
 
-
-
-
 /// b3PgsJacobiSolver Sequentially applies impulses
 b3Scalar b3PgsJacobiSolver::solveGroup(b3RigidBodyData* bodies,
-										b3InertiaData* inertias, 
-										int numBodies,
-										b3Contact4* manifoldPtr, 
-										int numManifolds,
-										b3TypedConstraint** constraints,
-										int numConstraints,
-										const b3ContactSolverInfo& infoGlobal)
+									   b3InertiaData* inertias,
+									   int numBodies,
+									   b3Contact4* manifoldPtr,
+									   int numManifolds,
+									   b3TypedConstraint** constraints,
+									   int numConstraints,
+									   const b3ContactSolverInfo& infoGlobal)
 {
-
 	B3_PROFILE("solveGroup");
 	//you need to provide at least some bodies
-	
-	solveGroupCacheFriendlySetup( bodies, inertias,numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal);
-
-	solveGroupCacheFriendlyIterations(constraints, numConstraints,infoGlobal);
-
-	solveGroupCacheFriendlyFinish(bodies, inertias,numBodies, infoGlobal);
-	
-	return 0.f;
-}
-
-
-
-
 
+	solveGroupCacheFriendlySetup(bodies, inertias, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal);
 
+	solveGroupCacheFriendlyIterations(constraints, numConstraints, infoGlobal);
 
+	solveGroupCacheFriendlyFinish(bodies, inertias, numBodies, infoGlobal);
 
+	return 0.f;
+}
 
 #ifdef USE_SIMD
 #include <emmintrin.h>
-#define b3VecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e))
-static inline __m128 b3SimdDot3( __m128 vec0, __m128 vec1 )
+#define b3VecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e, e, e, e))
+static inline __m128 b3SimdDot3(__m128 vec0, __m128 vec1)
 {
-	__m128 result = _mm_mul_ps( vec0, vec1);
-	return _mm_add_ps( b3VecSplat( result, 0 ), _mm_add_ps( b3VecSplat( result, 1 ), b3VecSplat( result, 2 ) ) );
+	__m128 result = _mm_mul_ps(vec0, vec1);
+	return _mm_add_ps(b3VecSplat(result, 0), _mm_add_ps(b3VecSplat(result, 1), b3VecSplat(result, 2)));
 }
-#endif//USE_SIMD
+#endif  //USE_SIMD
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
-void b3PgsJacobiSolver::resolveSingleConstraintRowGenericSIMD(b3SolverBody& body1,b3SolverBody& body2,const b3SolverConstraint& c)
+void b3PgsJacobiSolver::resolveSingleConstraintRowGenericSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
 {
 #ifdef USE_SIMD
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),b3SimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	b3SimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	b3SimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
+	__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetDeltaLinearVelocity().mVec128));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
+	b3SimdScalar resultLowerLess, resultUpperLess;
+	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
+	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
+	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
+	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
+	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
+	__m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp);
+	deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied));
+	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1));
+	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
+	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
 #else
-	resolveSingleConstraintRowGeneric(body1,body2,c);
+	resolveSingleConstraintRowGeneric(body1, body2, c);
 #endif
 }
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
- void b3PgsJacobiSolver::resolveSingleConstraintRowGeneric(b3SolverBody& body1,b3SolverBody& body2,const b3SolverConstraint& c)
+void b3PgsJacobiSolver::resolveSingleConstraintRowGeneric(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
 {
-	b3Scalar deltaImpulse = c.m_rhs-b3Scalar(c.m_appliedImpulse)*c.m_cfm;
-	const b3Scalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const b3Scalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+	b3Scalar deltaImpulse = c.m_rhs - b3Scalar(c.m_appliedImpulse) * c.m_cfm;
+	const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
+	const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
 
-//	const b3Scalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
-	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
+	//	const b3Scalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
+	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
 
 	const b3Scalar sum = b3Scalar(c.m_appliedImpulse) + deltaImpulse;
 	if (sum < c.m_lowerLimit)
 	{
-		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
 		c.m_appliedImpulse = c.m_lowerLimit;
 	}
-	else if (sum > c.m_upperLimit) 
+	else if (sum > c.m_upperLimit)
 	{
-		deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
+		deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
 		c.m_appliedImpulse = c.m_upperLimit;
 	}
 	else
@@ -278,94 +259,93 @@ void b3PgsJacobiSolver::resolveSingleConstraintRowGenericSIMD(b3SolverBody& body
 		c.m_appliedImpulse = sum;
 	}
 
-	body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-	body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+	body1.internalApplyImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+	body2.internalApplyImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 }
 
- void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& body1,b3SolverBody& body2,const b3SolverConstraint& c)
+void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
 {
 #ifdef USE_SIMD
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),b3SimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	b3SimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	b3SimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
+	__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetDeltaLinearVelocity().mVec128));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
+	b3SimdScalar resultLowerLess, resultUpperLess;
+	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
+	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
+	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
+	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
+	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
+	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
+	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
 #else
-	resolveSingleConstraintRowLowerLimit(body1,body2,c);
+	resolveSingleConstraintRowLowerLimit(body1, body2, c);
 #endif
 }
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
- void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimit(b3SolverBody& body1,b3SolverBody& body2,const b3SolverConstraint& c)
+void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimit(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
 {
-	b3Scalar deltaImpulse = c.m_rhs-b3Scalar(c.m_appliedImpulse)*c.m_cfm;
-	const b3Scalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const b3Scalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+	b3Scalar deltaImpulse = c.m_rhs - b3Scalar(c.m_appliedImpulse) * c.m_cfm;
+	const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
+	const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
 
-	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
 	const b3Scalar sum = b3Scalar(c.m_appliedImpulse) + deltaImpulse;
 	if (sum < c.m_lowerLimit)
 	{
-		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
 		c.m_appliedImpulse = c.m_lowerLimit;
 	}
 	else
 	{
 		c.m_appliedImpulse = sum;
 	}
-	body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-	body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+	body1.internalApplyImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+	body2.internalApplyImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 }
 
-
-void	b3PgsJacobiSolver::resolveSplitPenetrationImpulseCacheFriendly(
-        b3SolverBody& body1,
-        b3SolverBody& body2,
-        const b3SolverConstraint& c)
+void b3PgsJacobiSolver::resolveSplitPenetrationImpulseCacheFriendly(
+	b3SolverBody& body1,
+	b3SolverBody& body2,
+	const b3SolverConstraint& c)
 {
-		if (c.m_rhsPenetration)
-        {
-			m_numSplitImpulseRecoveries++;
-			b3Scalar deltaImpulse = c.m_rhsPenetration-b3Scalar(c.m_appliedPushImpulse)*c.m_cfm;
-			const b3Scalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetPushVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
-			const b3Scalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
-
-			deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-			deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
-			const b3Scalar sum = b3Scalar(c.m_appliedPushImpulse) + deltaImpulse;
-			if (sum < c.m_lowerLimit)
-			{
-				deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse;
-				c.m_appliedPushImpulse = c.m_lowerLimit;
-			}
-			else
-			{
-				c.m_appliedPushImpulse = sum;
-			}
-			body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-			body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
-        }
+	if (c.m_rhsPenetration)
+	{
+		m_numSplitImpulseRecoveries++;
+		b3Scalar deltaImpulse = c.m_rhsPenetration - b3Scalar(c.m_appliedPushImpulse) * c.m_cfm;
+		const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
+		const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
+
+		deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
+		deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
+		const b3Scalar sum = b3Scalar(c.m_appliedPushImpulse) + deltaImpulse;
+		if (sum < c.m_lowerLimit)
+		{
+			deltaImpulse = c.m_lowerLimit - c.m_appliedPushImpulse;
+			c.m_appliedPushImpulse = c.m_lowerLimit;
+		}
+		else
+		{
+			c.m_appliedPushImpulse = sum;
+		}
+		body1.internalApplyPushImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+		body2.internalApplyPushImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+	}
 }
 
- void b3PgsJacobiSolver::resolveSplitPenetrationSIMD(b3SolverBody& body1,b3SolverBody& body2,const b3SolverConstraint& c)
+void b3PgsJacobiSolver::resolveSplitPenetrationSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
 {
 #ifdef USE_SIMD
 	if (!c.m_rhsPenetration)
@@ -374,44 +354,40 @@ void	b3PgsJacobiSolver::resolveSplitPenetrationImpulseCacheFriendly(
 	m_numSplitImpulseRecoveries++;
 
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),b3SimdDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	b3SimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	b3SimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse), _mm_set1_ps(c.m_cfm)));
+	__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetPushVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetTurnVelocity().mVec128));
+	__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetTurnVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetPushVelocity().mVec128));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
+	b3SimdScalar resultLowerLess, resultUpperLess;
+	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
+	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
+	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
+	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
+	c.m_appliedPushImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
+	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
+	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+	body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+	body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+	body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
 #else
-	resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
+	resolveSplitPenetrationImpulseCacheFriendly(body1, body2, c);
 #endif
 }
 
-
-
 unsigned long b3PgsJacobiSolver::b3Rand2()
 {
-	m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
+	m_btSeed2 = (1664525L * m_btSeed2 + 1013904223L) & 0xffffffff;
 	return m_btSeed2;
 }
 
-
-
 //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
-int b3PgsJacobiSolver::b3RandInt2 (int n)
+int b3PgsJacobiSolver::b3RandInt2(int n)
 {
 	// seems good; xor-fold and modulus
 	const unsigned long un = static_cast<unsigned long>(n);
@@ -419,15 +395,20 @@ int b3PgsJacobiSolver::b3RandInt2 (int n)
 
 	// note: probably more aggressive than it needs to be -- might be
 	//       able to get away without one or two of the innermost branches.
-	if (un <= 0x00010000UL) {
+	if (un <= 0x00010000UL)
+	{
 		r ^= (r >> 16);
-		if (un <= 0x00000100UL) {
+		if (un <= 0x00000100UL)
+		{
 			r ^= (r >> 8);
-			if (un <= 0x00000010UL) {
+			if (un <= 0x00000010UL)
+			{
 				r ^= (r >> 4);
-				if (un <= 0x00000004UL) {
+				if (un <= 0x00000004UL)
+				{
 					r ^= (r >> 2);
-					if (un <= 0x00000002UL) {
+					if (un <= 0x00000002UL)
+					{
 						r ^= (r >> 1);
 					}
 				}
@@ -435,62 +416,46 @@ int b3PgsJacobiSolver::b3RandInt2 (int n)
 		}
 	}
 
-	return (int) (r % un);
+	return (int)(r % un);
 }
 
-
-
-void	b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* rb)
+void b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* rb)
 {
-
-	solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
-	solverBody->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
+	solverBody->m_deltaLinearVelocity.setValue(0.f, 0.f, 0.f);
+	solverBody->m_deltaAngularVelocity.setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
 
 	if (rb)
 	{
 		solverBody->m_worldTransform = getWorldTransform(rb);
-		solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass,rb->m_invMass,rb->m_invMass));
+		solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass, rb->m_invMass, rb->m_invMass));
 		solverBody->m_originalBodyIndex = bodyIndex;
-		solverBody->m_angularFactor = b3MakeVector3(1,1,1);
-		solverBody->m_linearFactor = b3MakeVector3(1,1,1);
+		solverBody->m_angularFactor = b3MakeVector3(1, 1, 1);
+		solverBody->m_linearFactor = b3MakeVector3(1, 1, 1);
 		solverBody->m_linearVelocity = getLinearVelocity(rb);
 		solverBody->m_angularVelocity = getAngularVelocity(rb);
-	} else
+	}
+	else
 	{
 		solverBody->m_worldTransform.setIdentity();
-		solverBody->internalSetInvMass(b3MakeVector3(0,0,0));
+		solverBody->internalSetInvMass(b3MakeVector3(0, 0, 0));
 		solverBody->m_originalBodyIndex = bodyIndex;
-		solverBody->m_angularFactor.setValue(1,1,1);
-		solverBody->m_linearFactor.setValue(1,1,1);
-		solverBody->m_linearVelocity.setValue(0,0,0);
-		solverBody->m_angularVelocity.setValue(0,0,0);
+		solverBody->m_angularFactor.setValue(1, 1, 1);
+		solverBody->m_linearFactor.setValue(1, 1, 1);
+		solverBody->m_linearVelocity.setValue(0, 0, 0);
+		solverBody->m_angularVelocity.setValue(0, 0, 0);
 	}
-
-
 }
 
-
-
-
-
-
 b3Scalar b3PgsJacobiSolver::restitutionCurve(b3Scalar rel_vel, b3Scalar restitution)
 {
 	b3Scalar rest = restitution * -rel_vel;
 	return rest;
 }
 
-
-
-
-
-
-void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int  solverBodyIdA,int solverBodyIdB,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
+void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
 {
-
-	
 	solverConstraint.m_contactNormal = normalAxis;
 	b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
 	b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
@@ -498,7 +463,6 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies,b3Inerti
 	b3RigidBodyData* body0 = &bodies[solverBodyA.m_originalBodyIndex];
 	b3RigidBodyData* body1 = &bodies[solverBodyB.m_originalBodyIndex];
 
-
 	solverConstraint.m_solverBodyIdA = solverBodyIdA;
 	solverConstraint.m_solverBodyIdB = solverBodyIdB;
 
@@ -511,12 +475,12 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies,b3Inerti
 	{
 		b3Vector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
+		solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
 	}
 	{
 		b3Vector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
+		solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
 	}
 
 	b3Scalar scaledDenom;
@@ -527,72 +491,66 @@ void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies,b3Inerti
 		b3Scalar denom1 = 0.f;
 		if (body0)
 		{
-			vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
 			denom0 = body0->m_invMass + normalAxis.dot(vec);
 		}
 		if (body1)
 		{
-			vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
+			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
 			denom1 = body1->m_invMass + normalAxis.dot(vec);
 		}
 
 		b3Scalar denom;
 		if (m_usePgs)
 		{
-			scaledDenom = denom = relaxation/(denom0+denom1);
-		} else
+			scaledDenom = denom = relaxation / (denom0 + denom1);
+		}
+		else
 		{
-			denom = relaxation/(denom0+denom1);
-			b3Scalar countA = body0->m_invMass ? b3Scalar(m_bodyCount[solverBodyA.m_originalBodyIndex]): 1.f;
-			b3Scalar countB = body1->m_invMass ? b3Scalar(m_bodyCount[solverBodyB.m_originalBodyIndex]): 1.f;
+			denom = relaxation / (denom0 + denom1);
+			b3Scalar countA = body0->m_invMass ? b3Scalar(m_bodyCount[solverBodyA.m_originalBodyIndex]) : 1.f;
+			b3Scalar countB = body1->m_invMass ? b3Scalar(m_bodyCount[solverBodyB.m_originalBodyIndex]) : 1.f;
 
-			scaledDenom = relaxation/(denom0*countA+denom1*countB);
+			scaledDenom = relaxation / (denom0 * countA + denom1 * countB);
 		}
 
 		solverConstraint.m_jacDiagABInv = denom;
 	}
 
 	{
-		
-
 		b3Scalar rel_vel;
-		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3MakeVector3(0,0,0)) 
-			+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3MakeVector3(0,0,0));
-		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3MakeVector3(0,0,0)) 
-			+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3MakeVector3(0,0,0));
+		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0 ? solverBodyA.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : b3MakeVector3(0, 0, 0));
+		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1 ? solverBodyB.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(body1 ? solverBodyB.m_angularVelocity : b3MakeVector3(0, 0, 0));
 
-		rel_vel = vel1Dotn+vel2Dotn;
+		rel_vel = vel1Dotn + vel2Dotn;
 
-//		b3Scalar positionalError = 0.f;
+		//		b3Scalar positionalError = 0.f;
 
-		b3SimdScalar velocityError =  desiredVelocity - rel_vel;
-		b3SimdScalar	velocityImpulse = velocityError * b3SimdScalar(scaledDenom);//solverConstraint.m_jacDiagABInv);
+		b3SimdScalar velocityError = desiredVelocity - rel_vel;
+		b3SimdScalar velocityImpulse = velocityError * b3SimdScalar(scaledDenom);  //solverConstraint.m_jacDiagABInv);
 		solverConstraint.m_rhs = velocityImpulse;
 		solverConstraint.m_cfm = cfmSlip;
 		solverConstraint.m_lowerLimit = 0;
 		solverConstraint.m_upperLimit = 1e10f;
-		
 	}
 }
 
-b3SolverConstraint&	b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
+b3SolverConstraint& b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
 {
 	b3SolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
 	solverConstraint.m_frictionIndex = frictionIndex;
-	setupFrictionConstraint(bodies,inertias,solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, 
+	setupFrictionConstraint(bodies, inertias, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
 							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
 	return solverConstraint;
 }
 
-
-void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,	b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis1,int solverBodyIdA,int  solverBodyIdB,
-									b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
-									b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, 
-									b3Scalar desiredVelocity, b3Scalar cfmSlip)
+void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
+													   b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
+													   b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
+													   b3Scalar desiredVelocity, b3Scalar cfmSlip)
 
 {
-	b3Vector3 normalAxis=b3MakeVector3(0,0,0);
-
+	b3Vector3 normalAxis = b3MakeVector3(0, 0, 0);
 
 	solverConstraint.m_contactNormal = normalAxis;
 	b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
@@ -613,283 +571,256 @@ void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyData* bodies,b
 	{
 		b3Vector3 ftorqueAxis1 = -normalAxis1;
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
+		solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
 	}
 	{
 		b3Vector3 ftorqueAxis1 = normalAxis1;
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*ftorqueAxis1 : b3MakeVector3(0,0,0);
+		solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
 	}
 
-
 	{
-		b3Vector3 iMJaA = body0?getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex])*solverConstraint.m_relpos1CrossNormal:b3MakeVector3(0,0,0);
-		b3Vector3 iMJaB = body1?getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex])*solverConstraint.m_relpos2CrossNormal:b3MakeVector3(0,0,0);
+		b3Vector3 iMJaA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * solverConstraint.m_relpos1CrossNormal : b3MakeVector3(0, 0, 0);
+		b3Vector3 iMJaB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * solverConstraint.m_relpos2CrossNormal : b3MakeVector3(0, 0, 0);
 		b3Scalar sum = 0;
 		sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
 		sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-		solverConstraint.m_jacDiagABInv = b3Scalar(1.)/sum;
+		solverConstraint.m_jacDiagABInv = b3Scalar(1.) / sum;
 	}
 
 	{
-		
-
 		b3Scalar rel_vel;
-		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:b3MakeVector3(0,0,0)) 
-			+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:b3MakeVector3(0,0,0));
-		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:b3MakeVector3(0,0,0)) 
-			+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:b3MakeVector3(0,0,0));
+		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0 ? solverBodyA.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : b3MakeVector3(0, 0, 0));
+		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1 ? solverBodyB.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(body1 ? solverBodyB.m_angularVelocity : b3MakeVector3(0, 0, 0));
 
-		rel_vel = vel1Dotn+vel2Dotn;
+		rel_vel = vel1Dotn + vel2Dotn;
 
-//		b3Scalar positionalError = 0.f;
+		//		b3Scalar positionalError = 0.f;
 
-		b3SimdScalar velocityError =  desiredVelocity - rel_vel;
-		b3SimdScalar	velocityImpulse = velocityError * b3SimdScalar(solverConstraint.m_jacDiagABInv);
+		b3SimdScalar velocityError = desiredVelocity - rel_vel;
+		b3SimdScalar velocityImpulse = velocityError * b3SimdScalar(solverConstraint.m_jacDiagABInv);
 		solverConstraint.m_rhs = velocityImpulse;
 		solverConstraint.m_cfm = cfmSlip;
 		solverConstraint.m_lowerLimit = 0;
 		solverConstraint.m_upperLimit = 1e10f;
-		
 	}
 }
 
-
-
-
-
-
-
-
-b3SolverConstraint&	b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
+b3SolverConstraint& b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
 {
 	b3SolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
 	solverConstraint.m_frictionIndex = frictionIndex;
-	setupRollingFrictionConstraint(bodies,inertias,solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, 
-							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
+	setupRollingFrictionConstraint(bodies, inertias, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
+								   colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
 	return solverConstraint;
 }
 
-
-int	b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias)
+int b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies, b3InertiaData* inertias)
 {
 	//b3Assert(bodyIndex< m_tmpSolverBodyPool.size());
 
 	b3RigidBodyData& body = bodies[bodyIndex];
 	int curIndex = -1;
-	if (m_usePgs || body.m_invMass==0.f)
+	if (m_usePgs || body.m_invMass == 0.f)
 	{
-		if (m_bodyCount[bodyIndex]<0)
+		if (m_bodyCount[bodyIndex] < 0)
 		{
 			curIndex = m_tmpSolverBodyPool.size();
 			b3SolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(bodyIndex,&solverBody,&body);
+			initSolverBody(bodyIndex, &solverBody, &body);
 			solverBody.m_originalBodyIndex = bodyIndex;
 			m_bodyCount[bodyIndex] = curIndex;
-		} else
+		}
+		else
 		{
 			curIndex = m_bodyCount[bodyIndex];
 		}
-	} else
+	}
+	else
 	{
-		b3Assert(m_bodyCount[bodyIndex]>0);
+		b3Assert(m_bodyCount[bodyIndex] > 0);
 		m_bodyCountCheck[bodyIndex]++;
 		curIndex = m_tmpSolverBodyPool.size();
 		b3SolverBody& solverBody = m_tmpSolverBodyPool.expand();
-		initSolverBody(bodyIndex,&solverBody,&body);
+		initSolverBody(bodyIndex, &solverBody, &body);
 		solverBody.m_originalBodyIndex = bodyIndex;
 	}
 
-	b3Assert(curIndex>=0);
+	b3Assert(curIndex >= 0);
 	return curIndex;
-
 }
 #include <stdio.h>
 
-
-void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint, 
-																 int solverBodyIdA, int solverBodyIdB,
-																 b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal,
-																 b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
-																 b3Vector3& rel_pos1, b3Vector3& rel_pos2)
+void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint,
+											   int solverBodyIdA, int solverBodyIdB,
+											   b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal,
+											   b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
+											   b3Vector3& rel_pos1, b3Vector3& rel_pos2)
 {
-			
-			const b3Vector3& pos1 = cp.getPositionWorldOnA();
-			const b3Vector3& pos2 = cp.getPositionWorldOnB();
+	const b3Vector3& pos1 = cp.getPositionWorldOnA();
+	const b3Vector3& pos2 = cp.getPositionWorldOnB();
 
-			b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-			b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
+	b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+	b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
 
-			b3RigidBodyData* rb0 = &bodies[bodyA->m_originalBodyIndex];
-			b3RigidBodyData* rb1 = &bodies[bodyB->m_originalBodyIndex];
+	b3RigidBodyData* rb0 = &bodies[bodyA->m_originalBodyIndex];
+	b3RigidBodyData* rb1 = &bodies[bodyB->m_originalBodyIndex];
 
-//			b3Vector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
-//			b3Vector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-			rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); 
-			rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
+	//			b3Vector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
+	//			b3Vector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
+	rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
+	rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
 
-			relaxation = 1.f;
+	relaxation = 1.f;
 
-			b3Vector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-			solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex])*torqueAxis0 : b3MakeVector3(0,0,0);
-			b3Vector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
-			solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex])*-torqueAxis1 : b3MakeVector3(0,0,0);
+	b3Vector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
+	solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex]) * torqueAxis0 : b3MakeVector3(0, 0, 0);
+	b3Vector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
+	solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex]) * -torqueAxis1 : b3MakeVector3(0, 0, 0);
 
-			b3Scalar scaledDenom;
-				{
+	b3Scalar scaledDenom;
+	{
 #ifdef COMPUTE_IMPULSE_DENOM
-					b3Scalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
-					b3Scalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
-#else							
-					b3Vector3 vec;
-					b3Scalar denom0 = 0.f;
-					b3Scalar denom1 = 0.f;
-					if (rb0)
-					{
-						vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-						denom0 = rb0->m_invMass + cp.m_normalWorldOnB.dot(vec);
-					}
-					if (rb1)
-					{
-						vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-						denom1 = rb1->m_invMass + cp.m_normalWorldOnB.dot(vec);
-					}
-#endif //COMPUTE_IMPULSE_DENOM		
-
-					
-					b3Scalar denom;
-					if (m_usePgs)
-					{
-						scaledDenom = denom = relaxation/(denom0+denom1);
-					} else
-					{
-						denom = relaxation/(denom0+denom1);
-
-						b3Scalar countA = rb0->m_invMass? b3Scalar(m_bodyCount[bodyA->m_originalBodyIndex]) : 1.f;
-						b3Scalar countB = rb1->m_invMass? b3Scalar(m_bodyCount[bodyB->m_originalBodyIndex]) : 1.f;
-						scaledDenom = relaxation/(denom0*countA+denom1*countB);
-					}
-					solverConstraint.m_jacDiagABInv = denom;
-				}
-
-				solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
-				solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-				solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-
-				b3Scalar restitution = 0.f;
-				b3Scalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
-
-				{
-					b3Vector3 vel1,vel2;
+		b3Scalar denom0 = rb0->computeImpulseDenominator(pos1, cp.m_normalWorldOnB);
+		b3Scalar denom1 = rb1->computeImpulseDenominator(pos2, cp.m_normalWorldOnB);
+#else
+		b3Vector3 vec;
+		b3Scalar denom0 = 0.f;
+		b3Scalar denom1 = 0.f;
+		if (rb0)
+		{
+			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
+			denom0 = rb0->m_invMass + cp.m_normalWorldOnB.dot(vec);
+		}
+		if (rb1)
+		{
+			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
+			denom1 = rb1->m_invMass + cp.m_normalWorldOnB.dot(vec);
+		}
+#endif  //COMPUTE_IMPULSE_DENOM
 
-					vel1 = rb0? getVelocityInLocalPoint(rb0,rel_pos1) : b3MakeVector3(0,0,0);
-					vel2 = rb1? getVelocityInLocalPoint(rb1, rel_pos2) : b3MakeVector3(0,0,0);
+		b3Scalar denom;
+		if (m_usePgs)
+		{
+			scaledDenom = denom = relaxation / (denom0 + denom1);
+		}
+		else
+		{
+			denom = relaxation / (denom0 + denom1);
 
-	//			b3Vector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : b3Vector3(0,0,0);
-					vel  = vel1 - vel2;
-					rel_vel = cp.m_normalWorldOnB.dot(vel);
+			b3Scalar countA = rb0->m_invMass ? b3Scalar(m_bodyCount[bodyA->m_originalBodyIndex]) : 1.f;
+			b3Scalar countB = rb1->m_invMass ? b3Scalar(m_bodyCount[bodyB->m_originalBodyIndex]) : 1.f;
+			scaledDenom = relaxation / (denom0 * countA + denom1 * countB);
+		}
+		solverConstraint.m_jacDiagABInv = denom;
+	}
 
-					
+	solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
+	solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+	solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
 
-					solverConstraint.m_friction = cp.m_combinedFriction;
+	b3Scalar restitution = 0.f;
+	b3Scalar penetration = cp.getDistance() + infoGlobal.m_linearSlop;
 
-				
-					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
-					if (restitution <= b3Scalar(0.))
-					{
-						restitution = 0.f;
-					};
-				}
+	{
+		b3Vector3 vel1, vel2;
 
+		vel1 = rb0 ? getVelocityInLocalPoint(rb0, rel_pos1) : b3MakeVector3(0, 0, 0);
+		vel2 = rb1 ? getVelocityInLocalPoint(rb1, rel_pos2) : b3MakeVector3(0, 0, 0);
 
-				///warm starting (or zero if disabled)
-				if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
-				{
-					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-					if (rb0)
-						bodyA->internalApplyImpulse(solverConstraint.m_contactNormal*bodyA->internalGetInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-					if (rb1)
-						bodyB->internalApplyImpulse(solverConstraint.m_contactNormal*bodyB->internalGetInvMass(),-solverConstraint.m_angularComponentB,-(b3Scalar)solverConstraint.m_appliedImpulse);
-				} else
-				{
-					solverConstraint.m_appliedImpulse = 0.f;
-				}
+		//			b3Vector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : b3Vector3(0,0,0);
+		vel = vel1 - vel2;
+		rel_vel = cp.m_normalWorldOnB.dot(vel);
 
-				solverConstraint.m_appliedPushImpulse = 0.f;
+		solverConstraint.m_friction = cp.m_combinedFriction;
 
-				{
-					b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:b3MakeVector3(0,0,0)) 
-						+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:b3MakeVector3(0,0,0));
-					b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:b3MakeVector3(0,0,0)) 
-						+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:b3MakeVector3(0,0,0));
-					b3Scalar rel_vel = vel1Dotn+vel2Dotn;
-
-					b3Scalar positionalError = 0.f;
-					b3Scalar	velocityError = restitution - rel_vel;// * damping;
-					
-
-					b3Scalar erp = infoGlobal.m_erp2;
-					if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-					{
-						erp = infoGlobal.m_erp;
-					}
+		restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
+		if (restitution <= b3Scalar(0.))
+		{
+			restitution = 0.f;
+		};
+	}
 
-					if (penetration>0)
-					{
-						positionalError = 0;
+	///warm starting (or zero if disabled)
+	if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
+	{
+		solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
+		if (rb0)
+			bodyA->internalApplyImpulse(solverConstraint.m_contactNormal * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
+		if (rb1)
+			bodyB->internalApplyImpulse(solverConstraint.m_contactNormal * bodyB->internalGetInvMass(), -solverConstraint.m_angularComponentB, -(b3Scalar)solverConstraint.m_appliedImpulse);
+	}
+	else
+	{
+		solverConstraint.m_appliedImpulse = 0.f;
+	}
 
-						velocityError -= penetration / infoGlobal.m_timeStep;
-					} else
-					{
-						positionalError = -penetration * erp/infoGlobal.m_timeStep;
-					}
+	solverConstraint.m_appliedPushImpulse = 0.f;
 
-					b3Scalar  penetrationImpulse = positionalError*scaledDenom;//solverConstraint.m_jacDiagABInv;
-					b3Scalar velocityImpulse = velocityError *scaledDenom;//solverConstraint.m_jacDiagABInv;
+	{
+		b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0 ? bodyA->m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(rb0 ? bodyA->m_angularVelocity : b3MakeVector3(0, 0, 0));
+		b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1 ? bodyB->m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(rb1 ? bodyB->m_angularVelocity : b3MakeVector3(0, 0, 0));
+		b3Scalar rel_vel = vel1Dotn + vel2Dotn;
 
-					if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-					{
-						//combine position and velocity into rhs
-						solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
-						solverConstraint.m_rhsPenetration = 0.f;
+		b3Scalar positionalError = 0.f;
+		b3Scalar velocityError = restitution - rel_vel;  // * damping;
 
-					} else
-					{
-						//split position and velocity into rhs and m_rhsPenetration
-						solverConstraint.m_rhs = velocityImpulse;
-						solverConstraint.m_rhsPenetration = penetrationImpulse;
-					}
-					solverConstraint.m_cfm = 0.f;
-					solverConstraint.m_lowerLimit = 0;
-					solverConstraint.m_upperLimit = 1e10f;
-				}
+		b3Scalar erp = infoGlobal.m_erp2;
+		if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+		{
+			erp = infoGlobal.m_erp;
+		}
 
+		if (penetration > 0)
+		{
+			positionalError = 0;
 
+			velocityError -= penetration / infoGlobal.m_timeStep;
+		}
+		else
+		{
+			positionalError = -penetration * erp / infoGlobal.m_timeStep;
+		}
 
+		b3Scalar penetrationImpulse = positionalError * scaledDenom;  //solverConstraint.m_jacDiagABInv;
+		b3Scalar velocityImpulse = velocityError * scaledDenom;       //solverConstraint.m_jacDiagABInv;
 
+		if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+		{
+			//combine position and velocity into rhs
+			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
+			solverConstraint.m_rhsPenetration = 0.f;
+		}
+		else
+		{
+			//split position and velocity into rhs and m_rhsPenetration
+			solverConstraint.m_rhs = velocityImpulse;
+			solverConstraint.m_rhsPenetration = penetrationImpulse;
+		}
+		solverConstraint.m_cfm = 0.f;
+		solverConstraint.m_lowerLimit = 0;
+		solverConstraint.m_upperLimit = 1e10f;
+	}
 }
 
-
-
-void b3PgsJacobiSolver::setFrictionConstraintImpulse( b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint, 
-																		int solverBodyIdA, int solverBodyIdB,
-																 b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal)
+void b3PgsJacobiSolver::setFrictionConstraintImpulse(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint,
+													 int solverBodyIdA, int solverBodyIdB,
+													 b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal)
 {
-
 	b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
 	b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
 
-
 	{
 		b3SolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
 		if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
 		{
 			frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
 			if (bodies[bodyA->m_originalBodyIndex].m_invMass)
-				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal*bodies[bodyA->m_originalBodyIndex].m_invMass,frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
+				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal * bodies[bodyA->m_originalBodyIndex].m_invMass, frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
 			if (bodies[bodyB->m_originalBodyIndex].m_invMass)
-				bodyB->internalApplyImpulse(frictionConstraint1.m_contactNormal*bodies[bodyB->m_originalBodyIndex].m_invMass,-frictionConstraint1.m_angularComponentB,-(b3Scalar)frictionConstraint1.m_appliedImpulse);
-		} else
+				bodyB->internalApplyImpulse(frictionConstraint1.m_contactNormal * bodies[bodyB->m_originalBodyIndex].m_invMass, -frictionConstraint1.m_angularComponentB, -(b3Scalar)frictionConstraint1.m_appliedImpulse);
+		}
+		else
 		{
 			frictionConstraint1.m_appliedImpulse = 0.f;
 		}
@@ -897,51 +828,45 @@ void b3PgsJacobiSolver::setFrictionConstraintImpulse( b3RigidBodyData* bodies, b
 
 	if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
 	{
-		b3SolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
+		b3SolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
 		if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
 		{
-			frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2  * infoGlobal.m_warmstartingFactor;
+			frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
 			if (bodies[bodyA->m_originalBodyIndex].m_invMass)
-				bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal*bodies[bodyA->m_originalBodyIndex].m_invMass,frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
+				bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal * bodies[bodyA->m_originalBodyIndex].m_invMass, frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse);
 			if (bodies[bodyB->m_originalBodyIndex].m_invMass)
-				bodyB->internalApplyImpulse(frictionConstraint2.m_contactNormal*bodies[bodyB->m_originalBodyIndex].m_invMass,-frictionConstraint2.m_angularComponentB,-(b3Scalar)frictionConstraint2.m_appliedImpulse);
-		} else
+				bodyB->internalApplyImpulse(frictionConstraint2.m_contactNormal * bodies[bodyB->m_originalBodyIndex].m_invMass, -frictionConstraint2.m_angularComponentB, -(b3Scalar)frictionConstraint2.m_appliedImpulse);
+		}
+		else
 		{
 			frictionConstraint2.m_appliedImpulse = 0.f;
 		}
 	}
 }
 
-
-
-
-void	b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal)
+void b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias, b3Contact4* manifold, const b3ContactSolverInfo& infoGlobal)
 {
-	b3RigidBodyData* colObj0=0,*colObj1=0;
+	b3RigidBodyData *colObj0 = 0, *colObj1 = 0;
 
-	
-	int solverBodyIdA = getOrInitSolverBody(manifold->getBodyA(),bodies,inertias);
-	int solverBodyIdB = getOrInitSolverBody(manifold->getBodyB(),bodies,inertias);
+	int solverBodyIdA = getOrInitSolverBody(manifold->getBodyA(), bodies, inertias);
+	int solverBodyIdB = getOrInitSolverBody(manifold->getBodyB(), bodies, inertias);
 
-//	b3RigidBody* bodyA = b3RigidBody::upcast(colObj0);
-//	b3RigidBody* bodyB = b3RigidBody::upcast(colObj1);
+	//	b3RigidBody* bodyA = b3RigidBody::upcast(colObj0);
+	//	b3RigidBody* bodyB = b3RigidBody::upcast(colObj1);
 
 	b3SolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
 	b3SolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
 
-
-
 	///avoid collision response between two static objects
 	if (solverBodyA->m_invMass.isZero() && solverBodyB->m_invMass.isZero())
 		return;
 
-	int rollingFriction=1;
+	int rollingFriction = 1;
 	int numContacts = getNumContacts(manifold);
-	for (int j=0;j<numContacts;j++)
+	for (int j = 0; j < numContacts; j++)
 	{
-
 		b3ContactPoint cp;
-		getContactPoint(manifold,j,cp);
+		getContactPoint(manifold, j, cp);
 
 		if (cp.getDistance() <= getContactProcessingThreshold(manifold))
 		{
@@ -953,61 +878,60 @@ void	b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* i
 
 			int frictionIndex = m_tmpSolverContactConstraintPool.size();
 			b3SolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
-//			b3RigidBody* rb0 = b3RigidBody::upcast(colObj0);
-//			b3RigidBody* rb1 = b3RigidBody::upcast(colObj1);
+			//			b3RigidBody* rb0 = b3RigidBody::upcast(colObj0);
+			//			b3RigidBody* rb1 = b3RigidBody::upcast(colObj1);
 			solverConstraint.m_solverBodyIdA = solverBodyIdA;
 			solverConstraint.m_solverBodyIdB = solverBodyIdB;
 
 			solverConstraint.m_originalContactPoint = &cp;
 
-			setupContactConstraint(bodies,inertias,solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
+			setupContactConstraint(bodies, inertias, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
 
-//			const b3Vector3& pos1 = cp.getPositionWorldOnA();
-//			const b3Vector3& pos2 = cp.getPositionWorldOnB();
+			//			const b3Vector3& pos1 = cp.getPositionWorldOnA();
+			//			const b3Vector3& pos2 = cp.getPositionWorldOnB();
 
 			/////setup the friction constraints
 
 			solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
 
-			b3Vector3 angVelA,angVelB;
+			b3Vector3 angVelA, angVelB;
 			solverBodyA->getAngularVelocity(angVelA);
-			solverBodyB->getAngularVelocity(angVelB);			
-			b3Vector3 relAngVel = angVelB-angVelA;
+			solverBodyB->getAngularVelocity(angVelB);
+			b3Vector3 relAngVel = angVelB - angVelA;
 
-			if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
+			if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0))
 			{
 				//only a single rollingFriction per manifold
 				rollingFriction--;
-				if (relAngVel.length()>infoGlobal.m_singleAxisRollingFrictionThreshold)
+				if (relAngVel.length() > infoGlobal.m_singleAxisRollingFrictionThreshold)
 				{
 					relAngVel.normalize();
-					if (relAngVel.length()>0.001)
-						addRollingFrictionConstraint(bodies,inertias,relAngVel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-
-				} else
+					if (relAngVel.length() > 0.001)
+						addRollingFrictionConstraint(bodies, inertias, relAngVel, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
+				}
+				else
 				{
-					addRollingFrictionConstraint(bodies,inertias,cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					b3Vector3 axis0,axis1;
-					b3PlaneSpace1(cp.m_normalWorldOnB,axis0,axis1);
-					if (axis0.length()>0.001)
-						addRollingFrictionConstraint(bodies,inertias,axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					if (axis1.length()>0.001)
-						addRollingFrictionConstraint(bodies,inertias,axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-		
+					addRollingFrictionConstraint(bodies, inertias, cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
+					b3Vector3 axis0, axis1;
+					b3PlaneSpace1(cp.m_normalWorldOnB, axis0, axis1);
+					if (axis0.length() > 0.001)
+						addRollingFrictionConstraint(bodies, inertias, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
+					if (axis1.length() > 0.001)
+						addRollingFrictionConstraint(bodies, inertias, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
 				}
 			}
 
 			///Bullet has several options to set the friction directions
-			///By default, each contact has only a single friction direction that is recomputed automatically very frame 
+			///By default, each contact has only a single friction direction that is recomputed automatically very frame
 			///based on the relative linear velocity.
 			///If the relative velocity it zero, it will automatically compute a friction direction.
-			
+
 			///You can also enable two friction directions, using the B3_SOLVER_USE_2_FRICTION_DIRECTIONS.
 			///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
 			///
 			///If you choose B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
 			///
-			///The user can manually override the friction directions for certain contacts using a contact callback, 
+			///The user can manually override the friction directions for certain contacts using a contact callback,
 			///and set the cp.m_lateralFrictionInitialized to true
 			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
 			///this will give a conveyor belt effect
@@ -1018,99 +942,91 @@ void	b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* i
 				b3Scalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
 				if (!(infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > B3_EPSILON)
 				{
-					cp.m_lateralFrictionDir1 *= 1.f/b3Sqrt(lat_rel_vel);
-					if((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
+					cp.m_lateralFrictionDir1 *= 1.f / b3Sqrt(lat_rel_vel);
+					if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
 						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-						cp.m_lateralFrictionDir2.normalize();//??
-						addFrictionConstraint(bodies,inertias,cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-
+						cp.m_lateralFrictionDir2.normalize();  //??
+						addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
 					}
 
-					addFrictionConstraint(bodies,inertias,cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-
-				} else
+					addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
+				}
+				else
 				{
-					b3PlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+					b3PlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
 
 					if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
-						addFrictionConstraint(bodies,inertias,cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+						addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
 					}
 
-					addFrictionConstraint(bodies,inertias,cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+					addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
 
 					if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
 					{
 						cp.m_lateralFrictionInitialized = true;
 					}
 				}
-
-			} else
+			}
+			else
 			{
-				addFrictionConstraint(bodies,inertias,cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1);
+				addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, cp.m_contactMotion1, cp.m_contactCFM1);
 
 				if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addFrictionConstraint(bodies,inertias,cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
+					addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
 
-				setFrictionConstraintImpulse( bodies,inertias,solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
+				setFrictionConstraintImpulse(bodies, inertias, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
 			}
-		
-
-			
-
 		}
 	}
 }
 
-b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
 	B3_PROFILE("solveGroupCacheFriendlySetup");
 
-
 	m_maxOverrideNumSolverIterations = 0;
 
-
-
 	m_tmpSolverBodyPool.resize(0);
-	
-	
+
 	m_bodyCount.resize(0);
-	m_bodyCount.resize(numBodies,0);
+	m_bodyCount.resize(numBodies, 0);
 	m_bodyCountCheck.resize(0);
-	m_bodyCountCheck.resize(numBodies,0);
-	
+	m_bodyCountCheck.resize(numBodies, 0);
+
 	m_deltaLinearVelocities.resize(0);
-	m_deltaLinearVelocities.resize(numBodies,b3MakeVector3(0,0,0));
+	m_deltaLinearVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
 	m_deltaAngularVelocities.resize(0);
-	m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
-	
+	m_deltaAngularVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
+
 	//int totalBodies = 0;
 
-	for (int i=0;i<numConstraints;i++)
+	for (int i = 0; i < numConstraints; i++)
 	{
 		int bodyIndexA = constraints[i]->getRigidBodyA();
 		int bodyIndexB = constraints[i]->getRigidBodyB();
 		if (m_usePgs)
 		{
-			m_bodyCount[bodyIndexA]=-1;
-			m_bodyCount[bodyIndexB]=-1;
-		} else
+			m_bodyCount[bodyIndexA] = -1;
+			m_bodyCount[bodyIndexB] = -1;
+		}
+		else
 		{
 			//didn't implement joints with Jacobi version yet
 			b3Assert(0);
 		}
-
 	}
-	for (int i=0;i<numManifolds;i++)
+	for (int i = 0; i < numManifolds; i++)
 	{
 		int bodyIndexA = manifoldPtr[i].getBodyA();
 		int bodyIndexB = manifoldPtr[i].getBodyB();
 		if (m_usePgs)
 		{
-			m_bodyCount[bodyIndexA]=-1;
-			m_bodyCount[bodyIndexB]=-1;
-		} else
+			m_bodyCount[bodyIndexA] = -1;
+			m_bodyCount[bodyIndexB] = -1;
+		}
+		else
 		{
 			if (bodies[bodyIndexA].m_invMass)
 			{
@@ -1118,26 +1034,23 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 				m_bodyCount[bodyIndexA]++;
 			}
 			else
-				m_bodyCount[bodyIndexA]=-1;
+				m_bodyCount[bodyIndexA] = -1;
 
 			if (bodies[bodyIndexB].m_invMass)
-			//	m_bodyCount[bodyIndexB]+=manifoldPtr[i].getNPoints();
+				//	m_bodyCount[bodyIndexB]+=manifoldPtr[i].getNPoints();
 				m_bodyCount[bodyIndexB]++;
 			else
-				m_bodyCount[bodyIndexB]=-1;
+				m_bodyCount[bodyIndexB] = -1;
 		}
-
 	}
 
-
-	
 	if (1)
 	{
 		int j;
-		for (j=0;j<numConstraints;j++)
+		for (j = 0; j < numConstraints; j++)
 		{
 			b3TypedConstraint* constraint = constraints[j];
-			
+
 			constraint->internalSetAppliedImpulse(0.0f);
 		}
 	}
@@ -1146,13 +1059,12 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 	//if (1)
 	{
 		{
-
 			int totalNumRows = 0;
 			int i;
-			
+
 			m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
 			//calculate the total number of contraint rows
-			for (i=0;i<numConstraints;i++)
+			for (i = 0; i < numConstraints; i++)
 			{
 				b3TypedConstraint::b3ConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
 				b3JointFeedback* fb = constraints[i]->getJointFeedback();
@@ -1169,8 +1081,9 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 				}
 				if (constraints[i]->isEnabled())
 				{
-					constraints[i]->getInfo1(&info1,bodies);
-				} else
+					constraints[i]->getInfo1(&info1, bodies);
+				}
+				else
 				{
 					info1.m_numConstraintRows = 0;
 					info1.nub = 0;
@@ -1179,45 +1092,40 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 			}
 			m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
 
-			
 #ifndef DISABLE_JOINTS
 			///setup the b3SolverConstraints
 			int currentRow = 0;
 
-			for (i=0;i<numConstraints;i++)
+			for (i = 0; i < numConstraints; i++)
 			{
 				const b3TypedConstraint::b3ConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-				
+
 				if (info1.m_numConstraintRows)
 				{
-					b3Assert(currentRow<totalNumRows);
+					b3Assert(currentRow < totalNumRows);
 
 					b3SolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
 					b3TypedConstraint* constraint = constraints[i];
 
-					b3RigidBodyData& rbA = bodies[ constraint->getRigidBodyA()];
+					b3RigidBodyData& rbA = bodies[constraint->getRigidBodyA()];
 					//b3RigidBody& rbA = constraint->getRigidBodyA();
-	//				b3RigidBody& rbB = constraint->getRigidBodyB();
-					b3RigidBodyData& rbB = bodies[ constraint->getRigidBodyB()];
-
-                    int solverBodyIdA = getOrInitSolverBody(constraint->getRigidBodyA(),bodies,inertias);
-                    int solverBodyIdB = getOrInitSolverBody(constraint->getRigidBodyB(),bodies,inertias);
-
-                    b3SolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
-                    b3SolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
-
+					//				b3RigidBody& rbB = constraint->getRigidBodyB();
+					b3RigidBodyData& rbB = bodies[constraint->getRigidBodyB()];
 
+					int solverBodyIdA = getOrInitSolverBody(constraint->getRigidBodyA(), bodies, inertias);
+					int solverBodyIdB = getOrInitSolverBody(constraint->getRigidBodyB(), bodies, inertias);
 
+					b3SolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
+					b3SolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
 
 					int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-					if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
+					if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
 						m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
 
-
 					int j;
-					for ( j=0;j<info1.m_numConstraintRows;j++)
+					for (j = 0; j < info1.m_numConstraintRows; j++)
 					{
-						memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));
+						memset(&currentConstraintRow[j], 0, sizeof(b3SolverConstraint));
 						currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
 						currentConstraintRow[j].m_upperLimit = B3_INFINITY;
 						currentConstraintRow[j].m_appliedImpulse = 0.f;
@@ -1227,26 +1135,25 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 						currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
 					}
 
-					bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-					bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-					bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-
+					bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
+					bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
+					bodyAPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+					bodyAPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
+					bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
+					bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
+					bodyBPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+					bodyBPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
 
 					b3TypedConstraint::b3ConstraintInfo2 info2;
-					info2.fps = 1.f/infoGlobal.m_timeStep;
+					info2.fps = 1.f / infoGlobal.m_timeStep;
 					info2.erp = infoGlobal.m_erp;
 					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
 					info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
 					info2.m_J2linearAxis = 0;
 					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-					info2.rowskip = sizeof(b3SolverConstraint)/sizeof(b3Scalar);//check this
-					///the size of b3SolverConstraint needs be a multiple of b3Scalar
-		            b3Assert(info2.rowskip*sizeof(b3Scalar)== sizeof(b3SolverConstraint));
+					info2.rowskip = sizeof(b3SolverConstraint) / sizeof(b3Scalar);  //check this
+																					///the size of b3SolverConstraint needs be a multiple of b3Scalar
+					b3Assert(info2.rowskip * sizeof(b3Scalar) == sizeof(b3SolverConstraint));
 					info2.m_constraintError = &currentConstraintRow->m_rhs;
 					currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
 					info2.m_damping = infoGlobal.m_damping;
@@ -1254,47 +1161,45 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
 					info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
 					info2.m_numIterations = infoGlobal.m_numIterations;
-					constraints[i]->getInfo2(&info2,bodies);
+					constraints[i]->getInfo2(&info2, bodies);
 
 					///finalize the constraint setup
-					for ( j=0;j<info1.m_numConstraintRows;j++)
+					for (j = 0; j < info1.m_numConstraintRows; j++)
 					{
 						b3SolverConstraint& solverConstraint = currentConstraintRow[j];
 
-						if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold())
+						if (solverConstraint.m_upperLimit >= constraints[i]->getBreakingImpulseThreshold())
 						{
 							solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
 						}
 
-						if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold())
+						if (solverConstraint.m_lowerLimit <= -constraints[i]->getBreakingImpulseThreshold())
 						{
 							solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
 						}
 
 						solverConstraint.m_originalContactPoint = constraint;
-							
-						b3Matrix3x3& invInertiaWorldA= inertias[constraint->getRigidBodyA()].m_invInertiaWorld;
-						{
 
+						b3Matrix3x3& invInertiaWorldA = inertias[constraint->getRigidBodyA()].m_invInertiaWorld;
+						{
 							//b3Vector3 angularFactorA(1,1,1);
 							const b3Vector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-							solverConstraint.m_angularComponentA = invInertiaWorldA*ftorqueAxis1;//*angularFactorA;
+							solverConstraint.m_angularComponentA = invInertiaWorldA * ftorqueAxis1;  //*angularFactorA;
 						}
-						
-						b3Matrix3x3& invInertiaWorldB= inertias[constraint->getRigidBodyB()].m_invInertiaWorld;
-						{
 
+						b3Matrix3x3& invInertiaWorldB = inertias[constraint->getRigidBodyB()].m_invInertiaWorld;
+						{
 							const b3Vector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-							solverConstraint.m_angularComponentB = invInertiaWorldB*ftorqueAxis2;//*constraint->getRigidBodyB().getAngularFactor();
+							solverConstraint.m_angularComponentB = invInertiaWorldB * ftorqueAxis2;  //*constraint->getRigidBodyB().getAngularFactor();
 						}
 
 						{
 							//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
 							//because it gets multiplied iMJlB
-							b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.m_invMass;
-							b3Vector3 iMJaA = invInertiaWorldA*solverConstraint.m_relpos1CrossNormal;
-							b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.m_invMass;//sign of normal?
-							b3Vector3 iMJaB = invInertiaWorldB*solverConstraint.m_relpos2CrossNormal;
+							b3Vector3 iMJlA = solverConstraint.m_contactNormal * rbA.m_invMass;
+							b3Vector3 iMJaA = invInertiaWorldA * solverConstraint.m_relpos1CrossNormal;
+							b3Vector3 iMJlB = solverConstraint.m_contactNormal * rbB.m_invMass;  //sign of normal?
+							b3Vector3 iMJaB = invInertiaWorldB * solverConstraint.m_relpos2CrossNormal;
 
 							b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
 							sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
@@ -1302,10 +1207,9 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 							sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
 							b3Scalar fsum = b3Fabs(sum);
 							b3Assert(fsum > B3_EPSILON);
-							solverConstraint.m_jacDiagABInv = fsum>B3_EPSILON?b3Scalar(1.)/sum : 0.f;
+							solverConstraint.m_jacDiagABInv = fsum > B3_EPSILON ? b3Scalar(1.) / sum : 0.f;
 						}
 
-
 						///fix rhs
 						///todo: add force/torque accelerators
 						{
@@ -1313,38 +1217,35 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 							b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.m_linVel) + solverConstraint.m_relpos1CrossNormal.dot(rbA.m_angVel);
 							b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.m_linVel) + solverConstraint.m_relpos2CrossNormal.dot(rbB.m_angVel);
 
-							rel_vel = vel1Dotn+vel2Dotn;
+							rel_vel = vel1Dotn + vel2Dotn;
 
 							b3Scalar restitution = 0.f;
-							b3Scalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
-							b3Scalar	velocityError = restitution - rel_vel * info2.m_damping;
-							b3Scalar	penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-							b3Scalar	velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
-							solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+							b3Scalar positionalError = solverConstraint.m_rhs;  //already filled in by getConstraintInfo2
+							b3Scalar velocityError = restitution - rel_vel * info2.m_damping;
+							b3Scalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+							b3Scalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
+							solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
 							solverConstraint.m_appliedImpulse = 0.f;
-
 						}
 					}
 				}
-				currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
+				currentRow += m_tmpConstraintSizesPool[i].m_numConstraintRows;
 			}
-#endif //DISABLE_JOINTS
+#endif  //DISABLE_JOINTS
 		}
 
-
 		{
 			int i;
 
-			for (i=0;i<numManifolds;i++)
+			for (i = 0; i < numManifolds; i++)
 			{
 				b3Contact4& manifold = manifoldPtr[i];
-				convertContact(bodies,inertias,&manifold,infoGlobal);
+				convertContact(bodies, inertias, &manifold, infoGlobal);
 			}
 		}
 	}
 
-//	b3ContactSolverInfo info = infoGlobal;
-
+	//	b3ContactSolverInfo info = infoGlobal;
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
@@ -1353,64 +1254,63 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies
 	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
 	m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
 	if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
-		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool*2);
+		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
 	else
 		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
 
 	m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
 	{
 		int i;
-		for (i=0;i<numNonContactPool;i++)
+		for (i = 0; i < numNonContactPool; i++)
 		{
 			m_orderNonContactConstraintPool[i] = i;
 		}
-		for (i=0;i<numConstraintPool;i++)
+		for (i = 0; i < numConstraintPool; i++)
 		{
 			m_orderTmpConstraintPool[i] = i;
 		}
-		for (i=0;i<numFrictionPool;i++)
+		for (i = 0; i < numFrictionPool; i++)
 		{
 			m_orderFrictionConstraintPool[i] = i;
 		}
 	}
 
 	return 0.f;
-
 }
 
-
-b3Scalar b3PgsJacobiSolver::solveSingleIteration(int iteration,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3PgsJacobiSolver::solveSingleIteration(int iteration, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
-
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
 	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-	
+
 	if (infoGlobal.m_solverMode & B3_SOLVER_RANDMIZE_ORDER)
 	{
-		if (1)			// uncomment this for a bit less random ((iteration & 7) == 0)
+		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
 		{
-
-			for (int j=0; j<numNonContactPool; ++j) {
+			for (int j = 0; j < numNonContactPool; ++j)
+			{
 				int tmp = m_orderNonContactConstraintPool[j];
-				int swapi = b3RandInt2(j+1);
+				int swapi = b3RandInt2(j + 1);
 				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
 				m_orderNonContactConstraintPool[swapi] = tmp;
 			}
 
-			//contact/friction constraints are not solved more than 
-			if (iteration< infoGlobal.m_numIterations)
+			//contact/friction constraints are not solved more than
+			if (iteration < infoGlobal.m_numIterations)
 			{
-				for (int j=0; j<numConstraintPool; ++j) {
+				for (int j = 0; j < numConstraintPool; ++j)
+				{
 					int tmp = m_orderTmpConstraintPool[j];
-					int swapi = b3RandInt2(j+1);
+					int swapi = b3RandInt2(j + 1);
 					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
 					m_orderTmpConstraintPool[swapi] = tmp;
 				}
 
-				for (int j=0; j<numFrictionPool; ++j) {
+				for (int j = 0; j < numFrictionPool; ++j)
+				{
 					int tmp = m_orderFrictionConstraintPool[j];
-					int swapi = b3RandInt2(j+1);
+					int swapi = b3RandInt2(j + 1);
 					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
 					m_orderFrictionConstraintPool[swapi] = tmp;
 				}
@@ -1421,173 +1321,163 @@ b3Scalar b3PgsJacobiSolver::solveSingleIteration(int iteration,b3TypedConstraint
 	if (infoGlobal.m_solverMode & B3_SOLVER_SIMD)
 	{
 		///solve all joint constraints, using SIMD, if available
-		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+		for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
 		{
 			b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
 			if (iteration < constraint.m_overrideNumSolverIterations)
-				resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
+				resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
 		}
 
-		if (iteration< infoGlobal.m_numIterations)
+		if (iteration < infoGlobal.m_numIterations)
 		{
-
 			///solve all contact constraints using SIMD, if available
 			if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 			{
 				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int multiplier = (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
+				int multiplier = (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
 
-				for (int c=0;c<numPoolConstraints;c++)
+				for (int c = 0; c < numPoolConstraints; c++)
 				{
-					b3Scalar totalImpulse =0;
+					b3Scalar totalImpulse = 0;
 
 					{
 						const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 						totalImpulse = solveManifold.m_appliedImpulse;
 					}
 					bool applyFriction = true;
 					if (applyFriction)
 					{
 						{
+							b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
 
-							b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
-
-							if (totalImpulse>b3Scalar(0))
+							if (totalImpulse > b3Scalar(0))
 							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 							}
 						}
 
 						if (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS)
 						{
+							b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
 
-							b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
-				
-							if (totalImpulse>b3Scalar(0))
+							if (totalImpulse > b3Scalar(0))
 							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 							}
 						}
 					}
 				}
-
 			}
-			else//B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+			else  //B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
 			{
 				//solve the friction constraints after all contact constraints, don't interleave them
 				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 				int j;
 
-				for (j=0;j<numPoolConstraints;j++)
+				for (j = 0; j < numPoolConstraints; j++)
 				{
 					const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-
+					resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 				}
 
 				if (!m_usePgs)
 					averageVelocities();
-				
 
 				///solve all friction constraints, using SIMD, if available
 
 				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-				for (j=0;j<numFrictionPoolConstraints;j++)
+				for (j = 0; j < numFrictionPoolConstraints; j++)
 				{
 					b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
 					b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 
-					if (totalImpulse>b3Scalar(0))
+					if (totalImpulse > b3Scalar(0))
 					{
-						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+						solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+						solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 					}
 				}
 
-				
 				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (j=0;j<numRollingFrictionPoolConstraints;j++)
+				for (j = 0; j < numRollingFrictionPoolConstraints; j++)
 				{
-
 					b3SolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
 					b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-					if (totalImpulse>b3Scalar(0))
+					if (totalImpulse > b3Scalar(0))
 					{
-						b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-						if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+						b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+						if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
 							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
 
 						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
 						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
 
-						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
 					}
 				}
-				
-
-			}			
+			}
 		}
-	} else
+	}
+	else
 	{
 		//non-SIMD version
 		///solve all joint constraints
-		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+		for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
 		{
 			b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
 			if (iteration < constraint.m_overrideNumSolverIterations)
-				resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
+				resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
 		}
 
-		if (iteration< infoGlobal.m_numIterations)
+		if (iteration < infoGlobal.m_numIterations)
 		{
-
 			///solve all contact constraints
 			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			for (int j=0;j<numPoolConstraints;j++)
+			for (int j = 0; j < numPoolConstraints; j++)
 			{
 				const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+				resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 			}
 			///solve all friction constraints
 			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (int j=0;j<numFrictionPoolConstraints;j++)
+			for (int j = 0; j < numFrictionPoolConstraints; j++)
 			{
 				b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
 				b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 
-				if (totalImpulse>b3Scalar(0))
+				if (totalImpulse > b3Scalar(0))
 				{
-					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+					solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+					solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 				}
 			}
 
 			int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-			for (int j=0;j<numRollingFrictionPoolConstraints;j++)
+			for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
 			{
 				b3SolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
 				b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-				if (totalImpulse>b3Scalar(0))
+				if (totalImpulse > b3Scalar(0))
 				{
-					b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-					if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+					b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+					if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
 						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
 
 					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
 					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
 
-					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
 				}
 			}
 		}
@@ -1595,40 +1485,39 @@ b3Scalar b3PgsJacobiSolver::solveSingleIteration(int iteration,b3TypedConstraint
 	return 0.f;
 }
 
-
-void b3PgsJacobiSolver::solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+void b3PgsJacobiSolver::solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
 	int iteration;
 	if (infoGlobal.m_splitImpulse)
 	{
 		if (infoGlobal.m_solverMode & B3_SOLVER_SIMD)
 		{
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
+			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
 			{
 				{
 					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 					int j;
-					for (j=0;j<numPoolConstraints;j++)
+					for (j = 0; j < numPoolConstraints; j++)
 					{
 						const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
 
-						resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 					}
 				}
 			}
 		}
 		else
 		{
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
+			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
 			{
 				{
 					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 					int j;
-					for (j=0;j<numPoolConstraints;j++)
+					for (j = 0; j < numPoolConstraints; j++)
 					{
 						const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
 
-						resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 					}
 				}
 			}
@@ -1636,100 +1525,95 @@ void b3PgsJacobiSolver::solveGroupCacheFriendlySplitImpulseIterations(b3TypedCon
 	}
 }
 
-b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
 	B3_PROFILE("solveGroupCacheFriendlyIterations");
 
 	{
 		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(constraints,numConstraints,infoGlobal);
+		solveGroupCacheFriendlySplitImpulseIterations(constraints, numConstraints, infoGlobal);
 
-		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
+		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
 
-		for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
+		for (int iteration = 0; iteration < maxIterations; iteration++)
 		//for ( int iteration = maxIterations-1  ; iteration >= 0;iteration--)
-		{			
-			
-			solveSingleIteration(iteration, constraints,numConstraints,infoGlobal);
-
+		{
+			solveSingleIteration(iteration, constraints, numConstraints, infoGlobal);
 
 			if (!m_usePgs)
 			{
 				averageVelocities();
 			}
 		}
-		
 	}
 	return 0.f;
 }
 
-void	b3PgsJacobiSolver::averageVelocities()
+void b3PgsJacobiSolver::averageVelocities()
 {
 	B3_PROFILE("averaging");
 	//average the velocities
 	int numBodies = m_bodyCount.size();
 
 	m_deltaLinearVelocities.resize(0);
-	m_deltaLinearVelocities.resize(numBodies,b3MakeVector3(0,0,0));
+	m_deltaLinearVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
 	m_deltaAngularVelocities.resize(0);
-	m_deltaAngularVelocities.resize(numBodies,b3MakeVector3(0,0,0));
+	m_deltaAngularVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
 
-	for (int i=0;i<m_tmpSolverBodyPool.size();i++)
+	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
 	{
 		if (!m_tmpSolverBodyPool[i].m_invMass.isZero())
 		{
 			int orgBodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
-			m_deltaLinearVelocities[orgBodyIndex]+=m_tmpSolverBodyPool[i].getDeltaLinearVelocity();
-			m_deltaAngularVelocities[orgBodyIndex]+=m_tmpSolverBodyPool[i].getDeltaAngularVelocity();
+			m_deltaLinearVelocities[orgBodyIndex] += m_tmpSolverBodyPool[i].getDeltaLinearVelocity();
+			m_deltaAngularVelocities[orgBodyIndex] += m_tmpSolverBodyPool[i].getDeltaAngularVelocity();
 		}
 	}
-				
-	for (int i=0;i<m_tmpSolverBodyPool.size();i++)
+
+	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
 	{
 		int orgBodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
 
 		if (!m_tmpSolverBodyPool[i].m_invMass.isZero())
 		{
-						
 			b3Assert(m_bodyCount[orgBodyIndex] == m_bodyCountCheck[orgBodyIndex]);
-						
-			b3Scalar factor = 1.f/b3Scalar(m_bodyCount[orgBodyIndex]);
-						
 
-			m_tmpSolverBodyPool[i].m_deltaLinearVelocity = m_deltaLinearVelocities[orgBodyIndex]*factor;
-			m_tmpSolverBodyPool[i].m_deltaAngularVelocity = m_deltaAngularVelocities[orgBodyIndex]*factor;
+			b3Scalar factor = 1.f / b3Scalar(m_bodyCount[orgBodyIndex]);
+
+			m_tmpSolverBodyPool[i].m_deltaLinearVelocity = m_deltaLinearVelocities[orgBodyIndex] * factor;
+			m_tmpSolverBodyPool[i].m_deltaAngularVelocity = m_deltaAngularVelocities[orgBodyIndex] * factor;
 		}
 	}
 }
 
-b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, const b3ContactSolverInfo& infoGlobal)
 {
 	B3_PROFILE("solveGroupCacheFriendlyFinish");
 	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-	int i,j;
+	int i, j;
 
 	if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
 	{
-		for (j=0;j<numPoolConstraints;j++)
+		for (j = 0; j < numPoolConstraints; j++)
 		{
 			const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
-			b3ContactPoint* pt = (b3ContactPoint*) solveManifold.m_originalContactPoint;
+			b3ContactPoint* pt = (b3ContactPoint*)solveManifold.m_originalContactPoint;
 			b3Assert(pt);
 			pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
-		//	float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+			//	float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 			//	printf("pt->m_appliedImpulseLateral1 = %f\n", f);
 			pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
 			if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
 			{
-				pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+				pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse;
 			}
 			//do a callback here?
 		}
 	}
 
 	numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
-	for (j=0;j<numPoolConstraints;j++)
+	for (j = 0; j < numPoolConstraints; j++)
 	{
 		const b3SolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
 		b3TypedConstraint* constr = (b3TypedConstraint*)solverConstr.m_originalContactPoint;
@@ -1739,15 +1623,14 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 			b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverConstr.m_solverBodyIdA];
 			b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverConstr.m_solverBodyIdB];
 
-			fb->m_appliedForceBodyA += solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*bodyA->m_linearFactor/infoGlobal.m_timeStep;
-			fb->m_appliedForceBodyB += -solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*bodyB->m_linearFactor/infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* bodyA->m_angularFactor*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal* bodyB->m_angularFactor*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
-			
+			fb->m_appliedForceBodyA += solverConstr.m_contactNormal * solverConstr.m_appliedImpulse * bodyA->m_linearFactor / infoGlobal.m_timeStep;
+			fb->m_appliedForceBodyB += -solverConstr.m_contactNormal * solverConstr.m_appliedImpulse * bodyB->m_linearFactor / infoGlobal.m_timeStep;
+			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal * bodyA->m_angularFactor * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
+			fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal * bodyB->m_angularFactor * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
 		}
 
 		constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
-		if (b3Fabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
+		if (b3Fabs(solverConstr.m_appliedImpulse) >= constr->getBreakingImpulseThreshold())
 		{
 			constr->setEnabled(false);
 		}
@@ -1755,7 +1638,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 
 	{
 		B3_PROFILE("write back velocities and transforms");
-		for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+		for (i = 0; i < m_tmpSolverBodyPool.size(); i++)
 		{
 			int bodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
 			//b3Assert(i==bodyIndex);
@@ -1772,12 +1655,13 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 				{
 					body->m_linVel = m_tmpSolverBodyPool[i].m_linearVelocity;
 					body->m_angVel = m_tmpSolverBodyPool[i].m_angularVelocity;
-				} else
+				}
+				else
 				{
-					b3Scalar factor = 1.f/b3Scalar(m_bodyCount[bodyIndex]);
+					b3Scalar factor = 1.f / b3Scalar(m_bodyCount[bodyIndex]);
 
-					b3Vector3 deltaLinVel = m_deltaLinearVelocities[bodyIndex]*factor;
-					b3Vector3 deltaAngVel = m_deltaAngularVelocities[bodyIndex]*factor;
+					b3Vector3 deltaLinVel = m_deltaLinearVelocities[bodyIndex] * factor;
+					b3Vector3 deltaAngVel = m_deltaAngularVelocities[bodyIndex] * factor;
 					//printf("body %d\n",bodyIndex);
 					//printf("deltaLinVel = %f,%f,%f\n",deltaLinVel.getX(),deltaLinVel.getY(),deltaLinVel.getZ());
 					//printf("deltaAngVel = %f,%f,%f\n",deltaAngVel.getX(),deltaAngVel.getY(),deltaAngVel.getZ());
@@ -1785,7 +1669,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 					body->m_linVel += deltaLinVel;
 					body->m_angVel += deltaAngVel;
 				}
-			
+
 				if (infoGlobal.m_splitImpulse)
 				{
 					body->m_pos = m_tmpSolverBodyPool[i].m_worldTransform.getOrigin();
@@ -1797,7 +1681,6 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 		}
 	}
 
-
 	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
 	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
 	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
@@ -1807,9 +1690,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodie
 	return 0.f;
 }
 
-
-
-void	b3PgsJacobiSolver::reset()
+void b3PgsJacobiSolver::reset()
 {
 	m_btSeed2 = 0;
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h
index d2ca307fab..5b616541d9 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h
@@ -1,11 +1,9 @@
 #ifndef B3_PGS_JACOBI_SOLVER
 #define B3_PGS_JACOBI_SOLVER
 
-
 struct b3Contact4;
 struct b3ContactPoint;
 
-
 class b3Dispatcher;
 
 #include "b3TypedConstraint.h"
@@ -18,132 +16,118 @@ struct b3InertiaData;
 
 class b3PgsJacobiSolver
 {
-
 protected:
-	b3AlignedObjectArray<b3SolverBody>      m_tmpSolverBodyPool;
-	b3ConstraintArray			m_tmpSolverContactConstraintPool;
-	b3ConstraintArray			m_tmpSolverNonContactConstraintPool;
-	b3ConstraintArray			m_tmpSolverContactFrictionConstraintPool;
-	b3ConstraintArray			m_tmpSolverContactRollingFrictionConstraintPool;
-
-	b3AlignedObjectArray<int>	m_orderTmpConstraintPool;
-	b3AlignedObjectArray<int>	m_orderNonContactConstraintPool;
-	b3AlignedObjectArray<int>	m_orderFrictionConstraintPool;
+	b3AlignedObjectArray<b3SolverBody> m_tmpSolverBodyPool;
+	b3ConstraintArray m_tmpSolverContactConstraintPool;
+	b3ConstraintArray m_tmpSolverNonContactConstraintPool;
+	b3ConstraintArray m_tmpSolverContactFrictionConstraintPool;
+	b3ConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
+
+	b3AlignedObjectArray<int> m_orderTmpConstraintPool;
+	b3AlignedObjectArray<int> m_orderNonContactConstraintPool;
+	b3AlignedObjectArray<int> m_orderFrictionConstraintPool;
 	b3AlignedObjectArray<b3TypedConstraint::b3ConstraintInfo1> m_tmpConstraintSizesPool;
-	
-	b3AlignedObjectArray<int>		m_bodyCount;
-	b3AlignedObjectArray<int>		m_bodyCountCheck;
-	
-	b3AlignedObjectArray<b3Vector3>	m_deltaLinearVelocities;
-	b3AlignedObjectArray<b3Vector3>	m_deltaAngularVelocities;
 
-	bool						m_usePgs;
-	void						averageVelocities();
+	b3AlignedObjectArray<int> m_bodyCount;
+	b3AlignedObjectArray<int> m_bodyCountCheck;
+
+	b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocities;
+	b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocities;
+
+	bool m_usePgs;
+	void averageVelocities();
 
-	int							m_maxOverrideNumSolverIterations;
+	int m_maxOverrideNumSolverIterations;
 
-	int							m_numSplitImpulseRecoveries;
+	int m_numSplitImpulseRecoveries;
 
-	b3Scalar	getContactProcessingThreshold(b3Contact4* contact)
+	b3Scalar getContactProcessingThreshold(b3Contact4* contact)
 	{
 		return 0.02f;
 	}
-	void setupFrictionConstraint(	b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
-									b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
-									b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, 
-									b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
+	void setupFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
+								 b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
+								 b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
+								 b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
 
-	void setupRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,	b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
-									b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,
-									b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, 
-									b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
-
-	b3SolverConstraint&	addFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.);
-	b3SolverConstraint&	addRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0, b3Scalar cfmSlip=0.f);
+	void setupRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
+										b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
+										b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
+										b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
 
+	b3SolverConstraint& addFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
+	b3SolverConstraint& addRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity = 0, b3Scalar cfmSlip = 0.f);
 
 	void setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias,
-								b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp, 
-								const b3ContactSolverInfo& infoGlobal, b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation, 
+								b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp,
+								const b3ContactSolverInfo& infoGlobal, b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
 								b3Vector3& rel_pos1, b3Vector3& rel_pos2);
 
-	void setFrictionConstraintImpulse( b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 
-										 b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal);
+	void setFrictionConstraintImpulse(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB,
+									  b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal);
 
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
-	unsigned long	m_btSeed2;
+	unsigned long m_btSeed2;
 
-	
 	b3Scalar restitutionCurve(b3Scalar rel_vel, b3Scalar restitution);
 
-	void	convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal);
-
+	void convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias, b3Contact4* manifold, const b3ContactSolverInfo& infoGlobal);
 
-	void	resolveSplitPenetrationSIMD(
-     b3SolverBody& bodyA,b3SolverBody& bodyB,
-        const b3SolverConstraint& contactConstraint);
+	void resolveSplitPenetrationSIMD(
+		b3SolverBody& bodyA, b3SolverBody& bodyB,
+		const b3SolverConstraint& contactConstraint);
 
-	void	resolveSplitPenetrationImpulseCacheFriendly(
-       b3SolverBody& bodyA,b3SolverBody& bodyB,
-        const b3SolverConstraint& contactConstraint);
+	void resolveSplitPenetrationImpulseCacheFriendly(
+		b3SolverBody& bodyA, b3SolverBody& bodyB,
+		const b3SolverConstraint& contactConstraint);
 
 	//internal method
-	int		getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias);
-	void	initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* collisionObject);
+	int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies, b3InertiaData* inertias);
+	void initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* collisionObject);
 
-	void	resolveSingleConstraintRowGeneric(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint);
-
-	void	resolveSingleConstraintRowGenericSIMD(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint);
-	
-	void	resolveSingleConstraintRowLowerLimit(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint);
-	
-	void	resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint);
-		
-protected:
+	void resolveSingleConstraintRowGeneric(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
 
-	virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
+	void resolveSingleConstraintRowGenericSIMD(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
 
+	void resolveSingleConstraintRowLowerLimit(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
 
-	virtual b3Scalar solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
-	b3Scalar solveSingleIteration(int iteration, b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
+	void resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
 
+protected:
+	virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
 
-	virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal);
+	virtual b3Scalar solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
+	virtual void solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
+	b3Scalar solveSingleIteration(int iteration, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
 
+	virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, const b3ContactSolverInfo& infoGlobal);
 
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	b3PgsJacobiSolver(bool usePgs);
 	virtual ~b3PgsJacobiSolver();
 
-//	void	solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts);
-	void	solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints);
+	//	void	solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts);
+	void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints);
 
-	b3Scalar solveGroup(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
+	b3Scalar solveGroup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
 
 	///clear internal cached data and reset random seed
-	virtual	void	reset();
-	
+	virtual void reset();
+
 	unsigned long b3Rand2();
 
-	int b3RandInt2 (int n);
+	int b3RandInt2(int n);
 
-	void	setRandSeed(unsigned long seed)
+	void setRandSeed(unsigned long seed)
 	{
 		m_btSeed2 = seed;
 	}
-	unsigned long	getRandSeed() const
+	unsigned long getRandSeed() const
 	{
 		return m_btSeed2;
 	}
-
-
-
-
 };
 
-#endif //B3_PGS_JACOBI_SOLVER
-
+#endif  //B3_PGS_JACOBI_SOLVER
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
index 02c11db320..cfa7c7dd11 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
@@ -13,21 +13,14 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "b3Point2PointConstraint.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 
 #include <new>
 
-
-
-
-
-b3Point2PointConstraint::b3Point2PointConstraint(int rbA,int rbB, const b3Vector3& pivotInA,const b3Vector3& pivotInB)
-:b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
-m_flags(0)
+b3Point2PointConstraint::b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB)
+	: b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0)
 {
-
 }
 
 /*
@@ -40,22 +33,18 @@ m_useSolveConstraintObsolete(false)
 }
 */
 
-
-void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+void b3Point2PointConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
 {
-	getInfo1NonVirtual(info,bodies);
+	getInfo1NonVirtual(info, bodies);
 }
 
-void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+void b3Point2PointConstraint::getInfo1NonVirtual(b3ConstraintInfo1* info, const b3RigidBodyData* bodies)
 {
-		info->m_numConstraintRows = 3;
-		info->nub = 3;
+	info->m_numConstraintRows = 3;
+	info->nub = 3;
 }
 
-
-
-
-void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
+void b3Point2PointConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
 {
 	b3Transform trA;
 	trA.setIdentity();
@@ -67,143 +56,135 @@ void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBo
 	trB.setOrigin(bodies[m_rbB].m_pos);
 	trB.setRotation(bodies[m_rbB].m_quat);
 
-	getInfo2NonVirtual(info, trA,trB);
+	getInfo2NonVirtual(info, trA, trB);
 }
 
-void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans)
+void b3Point2PointConstraint::getInfo2NonVirtual(b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans)
 {
-
-	 //retrieve matrices
+	//retrieve matrices
 
 	// anchor points in global coordinates with respect to body PORs.
-   
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
 
-	b3Vector3 a1 = body0_trans.getBasis()*getPivotInA();
+	// set jacobian
+	info->m_J1linearAxis[0] = 1;
+	info->m_J1linearAxis[info->rowskip + 1] = 1;
+	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
+
+	b3Vector3 a1 = body0_trans.getBasis() * getPivotInA();
 	//b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA());
 
 	{
 		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip);
+		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
+		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
 		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
+
 	if (info->m_J2linearAxis)
 	{
 		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip+1] = -1;
-		info->m_J2linearAxis[2*info->rowskip+2] = -1;
+		info->m_J2linearAxis[info->rowskip + 1] = -1;
+		info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
 	}
-	
-	b3Vector3 a2 = body1_trans.getBasis()*getPivotInB();
-   
+
+	b3Vector3 a2 = body1_trans.getBasis() * getPivotInB();
+
 	{
-	//	b3Vector3 a2n = -a2;
+		//	b3Vector3 a2n = -a2;
 		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
+		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
 
-
-    // set right hand side
+	// set right hand side
 	b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
-    b3Scalar k = info->fps * currERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
+	b3Scalar k = info->fps * currERP;
+	int j;
+	for (j = 0; j < 3; j++)
+	{
+		info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
 		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
-	if(m_flags & B3_P2P_FLAGS_CFM)
+	}
+	if (m_flags & B3_P2P_FLAGS_CFM)
 	{
-		for (j=0; j<3; j++)
+		for (j = 0; j < 3; j++)
 		{
-			info->cfm[j*info->rowskip] = m_cfm;
+			info->cfm[j * info->rowskip] = m_cfm;
 		}
 	}
 
-	b3Scalar impulseClamp = m_setting.m_impulseClamp;//
-	for (j=0; j<3; j++)
-    {
+	b3Scalar impulseClamp = m_setting.m_impulseClamp;  //
+	for (j = 0; j < 3; j++)
+	{
 		if (m_setting.m_impulseClamp > 0)
 		{
-			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j*info->rowskip] = impulseClamp;
+			info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
+			info->m_upperLimit[j * info->rowskip] = impulseClamp;
 		}
 	}
 	info->m_damping = m_setting.m_damping;
-	
 }
 
-
-
-void	b3Point2PointConstraint::updateRHS(b3Scalar	timeStep)
+void b3Point2PointConstraint::updateRHS(b3Scalar timeStep)
 {
 	(void)timeStep;
-
 }
 
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 ///If no axis is provided, it uses the default axis for this constraint.
 void b3Point2PointConstraint::setParam(int num, b3Scalar value, int axis)
 {
-	if(axis != -1)
+	if (axis != -1)
 	{
 		b3AssertConstrParams(0);
 	}
 	else
 	{
-		switch(num)
+		switch (num)
 		{
-			case B3_CONSTRAINT_ERP :
-			case B3_CONSTRAINT_STOP_ERP :
-				m_erp = value; 
+			case B3_CONSTRAINT_ERP:
+			case B3_CONSTRAINT_STOP_ERP:
+				m_erp = value;
 				m_flags |= B3_P2P_FLAGS_ERP;
 				break;
-			case B3_CONSTRAINT_CFM :
-			case B3_CONSTRAINT_STOP_CFM :
-				m_cfm = value; 
+			case B3_CONSTRAINT_CFM:
+			case B3_CONSTRAINT_STOP_CFM:
+				m_cfm = value;
 				m_flags |= B3_P2P_FLAGS_CFM;
 				break;
-			default: 
+			default:
 				b3AssertConstrParams(0);
 		}
 	}
 }
 
 ///return the local value of parameter
-b3Scalar b3Point2PointConstraint::getParam(int num, int axis) const 
+b3Scalar b3Point2PointConstraint::getParam(int num, int axis) const
 {
 	b3Scalar retVal(B3_INFINITY);
-	if(axis != -1)
+	if (axis != -1)
 	{
 		b3AssertConstrParams(0);
 	}
 	else
 	{
-		switch(num)
+		switch (num)
 		{
-			case B3_CONSTRAINT_ERP :
-			case B3_CONSTRAINT_STOP_ERP :
+			case B3_CONSTRAINT_ERP:
+			case B3_CONSTRAINT_STOP_ERP:
 				b3AssertConstrParams(m_flags & B3_P2P_FLAGS_ERP);
-				retVal = m_erp; 
+				retVal = m_erp;
 				break;
-			case B3_CONSTRAINT_CFM :
-			case B3_CONSTRAINT_STOP_CFM :
+			case B3_CONSTRAINT_CFM:
+			case B3_CONSTRAINT_STOP_CFM:
 				b3AssertConstrParams(m_flags & B3_P2P_FLAGS_CFM);
-				retVal = m_cfm; 
+				retVal = m_cfm;
 				break;
-			default: 
+			default:
 				b3AssertConstrParams(0);
 		}
 	}
 	return retVal;
 }
-	
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
index 681b487334..14762a3e35 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
@@ -22,26 +22,24 @@ subject to the following restrictions:
 
 class b3RigidBody;
 
-
 #ifdef B3_USE_DOUBLE_PRECISION
-#define b3Point2PointConstraintData	b3Point2PointConstraintDoubleData
-#define b3Point2PointConstraintDataName	"b3Point2PointConstraintDoubleData"
+#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData
+#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData"
 #else
-#define b3Point2PointConstraintData	b3Point2PointConstraintFloatData
-#define b3Point2PointConstraintDataName	"b3Point2PointConstraintFloatData"
-#endif //B3_USE_DOUBLE_PRECISION
+#define b3Point2PointConstraintData b3Point2PointConstraintFloatData
+#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData"
+#endif  //B3_USE_DOUBLE_PRECISION
 
-struct	b3ConstraintSetting
+struct b3ConstraintSetting
 {
-	b3ConstraintSetting()	:
-		m_tau(b3Scalar(0.3)),
-		m_damping(b3Scalar(1.)),
-		m_impulseClamp(b3Scalar(0.))
+	b3ConstraintSetting() : m_tau(b3Scalar(0.3)),
+							m_damping(b3Scalar(1.)),
+							m_impulseClamp(b3Scalar(0.))
 	{
 	}
-	b3Scalar		m_tau;
-	b3Scalar		m_damping;
-	b3Scalar		m_impulseClamp;
+	b3Scalar m_tau;
+	b3Scalar m_damping;
+	b3Scalar m_impulseClamp;
 };
 
 enum b3Point2PointFlags
@@ -51,47 +49,45 @@ enum b3Point2PointFlags
 };
 
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-B3_ATTRIBUTE_ALIGNED16(class) b3Point2PointConstraint : public b3TypedConstraint
+B3_ATTRIBUTE_ALIGNED16(class)
+b3Point2PointConstraint : public b3TypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
-	
-	b3Vector3	m_pivotInA;
-	b3Vector3	m_pivotInB;
-	
-	int			m_flags;
-	b3Scalar	m_erp;
-	b3Scalar	m_cfm;
-	
-public:
 
-	B3_DECLARE_ALIGNED_ALLOCATOR();
+	b3Vector3 m_pivotInA;
+	b3Vector3 m_pivotInB;
 
-	b3ConstraintSetting	m_setting;
+	int m_flags;
+	b3Scalar m_erp;
+	b3Scalar m_cfm;
 
-	b3Point2PointConstraint(int  rbA,int rbB, const b3Vector3& pivotInA,const b3Vector3& pivotInB);
+public:
+	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	//b3Point2PointConstraint(int  rbA,const b3Vector3& pivotInA);
+	b3ConstraintSetting m_setting;
 
+	b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB);
 
+	//b3Point2PointConstraint(int  rbA,const b3Vector3& pivotInA);
 
-	virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
+	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
 
-	void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies);
+	void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
 
-	virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies);
+	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
 
-	void getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans);
+	void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& body0_trans, const b3Transform& body1_trans);
 
-	void	updateRHS(b3Scalar	timeStep);
+	void updateRHS(b3Scalar timeStep);
 
-	void	setPivotA(const b3Vector3& pivotA)
+	void setPivotA(const b3Vector3& pivotA)
 	{
 		m_pivotInA = pivotA;
 	}
 
-	void	setPivotB(const b3Vector3& pivotB)
+	void setPivotB(const b3Vector3& pivotB)
 	{
 		m_pivotInB = pivotB;
 	}
@@ -106,34 +102,32 @@ public:
 		return m_pivotInB;
 	}
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, b3Scalar value, int axis = -1);
+	virtual void setParam(int num, b3Scalar value, int axis = -1);
 	///return the local value of parameter
-	virtual	b3Scalar getParam(int num, int axis = -1) const;
+	virtual b3Scalar getParam(int num, int axis = -1) const;
 
-//	virtual	int	calculateSerializeBufferSize() const;
+	//	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-//	virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
-
-
+	//	virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	b3Point2PointConstraintFloatData
+struct b3Point2PointConstraintFloatData
 {
-	b3TypedConstraintData	m_typeConstraintData;
-	b3Vector3FloatData	m_pivotInA;
-	b3Vector3FloatData	m_pivotInB;
+	b3TypedConstraintData m_typeConstraintData;
+	b3Vector3FloatData m_pivotInA;
+	b3Vector3FloatData m_pivotInB;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	b3Point2PointConstraintDoubleData
+struct b3Point2PointConstraintDoubleData
 {
-	b3TypedConstraintData	m_typeConstraintData;
-	b3Vector3DoubleData	m_pivotInA;
-	b3Vector3DoubleData	m_pivotInB;
+	b3TypedConstraintData m_typeConstraintData;
+	b3Vector3DoubleData m_pivotInA;
+	b3Vector3DoubleData m_pivotInB;
 };
 
 /*
@@ -156,4 +150,4 @@ B3_FORCE_INLINE	const char*	b3Point2PointConstraint::serialize(void* dataBuffer,
 }
 */
 
-#endif //B3_POINT2POINTCONSTRAINT_H
+#endif  //B3_POINT2POINTCONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
index 0049317d98..196d0e5793 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef B3_SOLVER_BODY_H
 #define B3_SOLVER_BODY_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 
@@ -26,110 +25,104 @@ subject to the following restrictions:
 ///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
 #ifdef B3_USE_SSE
 #define USE_SIMD 1
-#endif //
-
+#endif  //
 
 #ifdef USE_SIMD
 
-struct	b3SimdScalar
+struct b3SimdScalar
 {
-	B3_FORCE_INLINE	b3SimdScalar()
+	B3_FORCE_INLINE b3SimdScalar()
 	{
-
 	}
 
-	B3_FORCE_INLINE	b3SimdScalar(float	fl)
-	:m_vec128 (_mm_set1_ps(fl))
+	B3_FORCE_INLINE b3SimdScalar(float fl)
+		: m_vec128(_mm_set1_ps(fl))
 	{
 	}
 
-	B3_FORCE_INLINE	b3SimdScalar(__m128 v128)
-		:m_vec128(v128)
+	B3_FORCE_INLINE b3SimdScalar(__m128 v128)
+		: m_vec128(v128)
 	{
 	}
-	union
-	{
-		__m128		m_vec128;
-		float		m_floats[4];
-		float		x,y,z,w;
-		int			m_ints[4];
-		b3Scalar	m_unusedPadding;
+	union {
+		__m128 m_vec128;
+		float m_floats[4];
+		float x, y, z, w;
+		int m_ints[4];
+		b3Scalar m_unusedPadding;
 	};
-	B3_FORCE_INLINE	__m128	get128()
+	B3_FORCE_INLINE __m128 get128()
 	{
 		return m_vec128;
 	}
 
-	B3_FORCE_INLINE	const __m128	get128() const
+	B3_FORCE_INLINE const __m128 get128() const
 	{
 		return m_vec128;
 	}
 
-	B3_FORCE_INLINE	void	set128(__m128 v128)
+	B3_FORCE_INLINE void set128(__m128 v128)
 	{
 		m_vec128 = v128;
 	}
 
-	B3_FORCE_INLINE	operator       __m128()       
-	{ 
-		return m_vec128; 
-	}
-	B3_FORCE_INLINE	operator const __m128() const 
-	{ 
-		return m_vec128; 
+	B3_FORCE_INLINE operator __m128()
+	{
+		return m_vec128;
 	}
-	
-	B3_FORCE_INLINE	operator float() const 
-	{ 
-		return m_floats[0]; 
+	B3_FORCE_INLINE operator const __m128() const
+	{
+		return m_vec128;
 	}
 
+	B3_FORCE_INLINE operator float() const
+	{
+		return m_floats[0];
+	}
 };
 
 ///@brief Return the elementwise product of two b3SimdScalar
-B3_FORCE_INLINE b3SimdScalar 
-operator*(const b3SimdScalar& v1, const b3SimdScalar& v2) 
+B3_FORCE_INLINE b3SimdScalar
+operator*(const b3SimdScalar& v1, const b3SimdScalar& v2)
 {
-	return b3SimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
+	return b3SimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
 }
 
 ///@brief Return the elementwise product of two b3SimdScalar
-B3_FORCE_INLINE b3SimdScalar 
-operator+(const b3SimdScalar& v1, const b3SimdScalar& v2) 
+B3_FORCE_INLINE b3SimdScalar
+operator+(const b3SimdScalar& v1, const b3SimdScalar& v2)
 {
-	return b3SimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
+	return b3SimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
 }
 
-
 #else
 #define b3SimdScalar b3Scalar
 #endif
 
 ///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverBody
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3SolverBody
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
-	b3Transform		m_worldTransform;
-	b3Vector3		m_deltaLinearVelocity;
-	b3Vector3		m_deltaAngularVelocity;
-	b3Vector3		m_angularFactor;
-	b3Vector3		m_linearFactor;
-	b3Vector3		m_invMass;
-	b3Vector3		m_pushVelocity;
-	b3Vector3		m_turnVelocity;
-	b3Vector3		m_linearVelocity;
-	b3Vector3		m_angularVelocity;
-
-	union 
-	{
-		void*	m_originalBody;
-		int		m_originalBodyIndex;
+	b3Transform m_worldTransform;
+	b3Vector3 m_deltaLinearVelocity;
+	b3Vector3 m_deltaAngularVelocity;
+	b3Vector3 m_angularFactor;
+	b3Vector3 m_linearFactor;
+	b3Vector3 m_invMass;
+	b3Vector3 m_pushVelocity;
+	b3Vector3 m_turnVelocity;
+	b3Vector3 m_linearVelocity;
+	b3Vector3 m_angularVelocity;
+
+	union {
+		void* m_originalBody;
+		int m_originalBodyIndex;
 	};
 
 	int padding[3];
 
-
-	void	setWorldTransform(const b3Transform& worldTransform)
+	void setWorldTransform(const b3Transform& worldTransform)
 	{
 		m_worldTransform = worldTransform;
 	}
@@ -138,45 +131,42 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverBody
 	{
 		return m_worldTransform;
 	}
-	
-	B3_FORCE_INLINE void	getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity ) const
+
+	B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
 	{
 		if (m_originalBody)
-			velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+			velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
 		else
-			velocity.setValue(0,0,0);
+			velocity.setValue(0, 0, 0);
 	}
 
-	B3_FORCE_INLINE void	getAngularVelocity(b3Vector3& angVel) const
+	B3_FORCE_INLINE void getAngularVelocity(b3Vector3 & angVel) const
 	{
 		if (m_originalBody)
-			angVel =m_angularVelocity+m_deltaAngularVelocity;
+			angVel = m_angularVelocity + m_deltaAngularVelocity;
 		else
-			angVel.setValue(0,0,0);
+			angVel.setValue(0, 0, 0);
 	}
 
-
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude)
+	B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
 
-	B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,b3Scalar impulseMagnitude)
+	B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, b3Scalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_pushVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
 
-
-
 	const b3Vector3& getDeltaLinearVelocity() const
 	{
 		return m_deltaLinearVelocity;
@@ -187,20 +177,19 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverBody
 		return m_deltaAngularVelocity;
 	}
 
-	const b3Vector3& getPushVelocity() const 
+	const b3Vector3& getPushVelocity() const
 	{
 		return m_pushVelocity;
 	}
 
-	const b3Vector3& getTurnVelocity() const 
+	const b3Vector3& getTurnVelocity() const
 	{
 		return m_turnVelocity;
 	}
 
-
 	////////////////////////////////////////////////
 	///some internal methods, don't use them
-		
+
 	b3Vector3& internalGetDeltaLinearVelocity()
 	{
 		return m_deltaLinearVelocity;
@@ -225,7 +214,7 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverBody
 	{
 		m_invMass = invMass;
 	}
-	
+
 	b3Vector3& internalGetPushVelocity()
 	{
 		return m_pushVelocity;
@@ -236,67 +225,57 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverBody
 		return m_turnVelocity;
 	}
 
-	B3_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity ) const
+	B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
 	{
-		velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+		velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
 	}
 
-	B3_FORCE_INLINE void	internalGetAngularVelocity(b3Vector3& angVel) const
+	B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3 & angVel) const
 	{
-		angVel = m_angularVelocity+m_deltaAngularVelocity;
+		angVel = m_angularVelocity + m_deltaAngularVelocity;
 	}
 
-
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude)
+	B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
 	{
 		//if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
-		
-	
-	
 
-	void	writebackVelocity()
+	void writebackVelocity()
 	{
 		//if (m_originalBody>=0)
 		{
-			m_linearVelocity +=m_deltaLinearVelocity;
+			m_linearVelocity += m_deltaLinearVelocity;
 			m_angularVelocity += m_deltaAngularVelocity;
-			
+
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
 
-
-	void	writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
+	void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
 	{
-        (void) timeStep;
+		(void)timeStep;
 		if (m_originalBody)
 		{
 			m_linearVelocity += m_deltaLinearVelocity;
 			m_angularVelocity += m_deltaAngularVelocity;
-			
+
 			//correct the position/orientation based on push/turn recovery
 			b3Transform newTransform;
-			if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
+			if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
 			{
-			//	b3Quaternion orn = m_worldTransform.getRotation();
-				b3TransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
+				//	b3Quaternion orn = m_worldTransform.getRotation();
+				b3TransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
 				m_worldTransform = newTransform;
 			}
 			//m_worldTransform.setRotation(orn);
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
-	
-
-
 };
 
-#endif //B3_SOLVER_BODY_H
-
-
+#endif  //B3_SOLVER_BODY_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
index bce83d4608..4927ae4288 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef B3_SOLVER_CONSTRAINT_H
 #define B3_SOLVER_CONSTRAINT_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 //#include "b3JacobianEntry.h"
@@ -25,56 +24,50 @@ subject to the following restrictions:
 //#define NO_FRICTION_TANGENTIALS 1
 #include "b3SolverBody.h"
 
-
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverConstraint
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3SolverConstraint
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	b3Vector3		m_relpos1CrossNormal;
-	b3Vector3		m_contactNormal;
+	b3Vector3 m_relpos1CrossNormal;
+	b3Vector3 m_contactNormal;
 
-	b3Vector3		m_relpos2CrossNormal;
+	b3Vector3 m_relpos2CrossNormal;
 	//b3Vector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
 
-	b3Vector3		m_angularComponentA;
-	b3Vector3		m_angularComponentB;
-	
-	mutable b3SimdScalar	m_appliedPushImpulse;
-	mutable b3SimdScalar	m_appliedImpulse;
+	b3Vector3 m_angularComponentA;
+	b3Vector3 m_angularComponentB;
+
+	mutable b3SimdScalar m_appliedPushImpulse;
+	mutable b3SimdScalar m_appliedImpulse;
 	int m_padding1;
 	int m_padding2;
-	b3Scalar	m_friction;
-	b3Scalar	m_jacDiagABInv;
-	b3Scalar		m_rhs;
-	b3Scalar		m_cfm;
-	
-    b3Scalar		m_lowerLimit;
-	b3Scalar		m_upperLimit;
-	b3Scalar		m_rhsPenetration;
-    union
-	{
-		void*		m_originalContactPoint;
-		b3Scalar	m_unusedPadding4;
+	b3Scalar m_friction;
+	b3Scalar m_jacDiagABInv;
+	b3Scalar m_rhs;
+	b3Scalar m_cfm;
+
+	b3Scalar m_lowerLimit;
+	b3Scalar m_upperLimit;
+	b3Scalar m_rhsPenetration;
+	union {
+		void* m_originalContactPoint;
+		b3Scalar m_unusedPadding4;
 	};
 
-	int	m_overrideNumSolverIterations;
-    int			m_frictionIndex;
+	int m_overrideNumSolverIterations;
+	int m_frictionIndex;
 	int m_solverBodyIdA;
 	int m_solverBodyIdB;
 
-    
-	enum		b3SolverConstraintType
+	enum b3SolverConstraintType
 	{
 		B3_SOLVER_CONTACT_1D = 0,
 		B3_SOLVER_FRICTION_1D
 	};
 };
 
-typedef b3AlignedObjectArray<b3SolverConstraint>	b3ConstraintArray;
-
-
-#endif //B3_SOLVER_CONSTRAINT_H
-
-
+typedef b3AlignedObjectArray<b3SolverConstraint> b3ConstraintArray;
 
+#endif  //B3_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
index 699c481d64..885e277d8c 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
@@ -13,53 +13,46 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "b3TypedConstraint.h"
 //#include "Bullet3Common/b3Serializer.h"
 
-
 #define B3_DEFAULT_DEBUGDRAW_SIZE b3Scalar(0.3f)
 
-
-
-b3TypedConstraint::b3TypedConstraint(b3TypedConstraintType type, int rbA,int rbB)
-:b3TypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintPtr((void*)-1),
-m_breakingImpulseThreshold(B3_INFINITY),
-m_isEnabled(true),
-m_needsFeedback(false),
-m_overrideNumSolverIterations(-1),
-m_rbA(rbA),
-m_rbB(rbB),
-m_appliedImpulse(b3Scalar(0.)),
-m_dbgDrawSize(B3_DEFAULT_DEBUGDRAW_SIZE),
-m_jointFeedback(0)
+b3TypedConstraint::b3TypedConstraint(b3TypedConstraintType type, int rbA, int rbB)
+	: b3TypedObject(type),
+	  m_userConstraintType(-1),
+	  m_userConstraintPtr((void*)-1),
+	  m_breakingImpulseThreshold(B3_INFINITY),
+	  m_isEnabled(true),
+	  m_needsFeedback(false),
+	  m_overrideNumSolverIterations(-1),
+	  m_rbA(rbA),
+	  m_rbB(rbB),
+	  m_appliedImpulse(b3Scalar(0.)),
+	  m_dbgDrawSize(B3_DEFAULT_DEBUGDRAW_SIZE),
+	  m_jointFeedback(0)
 {
 }
 
-
-
-
 b3Scalar b3TypedConstraint::getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scalar uppLim, b3Scalar vel, b3Scalar timeFact)
 {
-	if(lowLim > uppLim)
+	if (lowLim > uppLim)
 	{
 		return b3Scalar(1.0f);
 	}
-	else if(lowLim == uppLim)
+	else if (lowLim == uppLim)
 	{
 		return b3Scalar(0.0f);
 	}
 	b3Scalar lim_fact = b3Scalar(1.0f);
 	b3Scalar delta_max = vel / timeFact;
-	if(delta_max < b3Scalar(0.0f))
+	if (delta_max < b3Scalar(0.0f))
 	{
-		if((pos >= lowLim) && (pos < (lowLim - delta_max)))
+		if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
 		{
 			lim_fact = (lowLim - pos) / delta_max;
 		}
-		else if(pos  < lowLim)
+		else if (pos < lowLim)
 		{
 			lim_fact = b3Scalar(0.0f);
 		}
@@ -68,13 +61,13 @@ b3Scalar b3TypedConstraint::getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scal
 			lim_fact = b3Scalar(1.0f);
 		}
 	}
-	else if(delta_max > b3Scalar(0.0f))
+	else if (delta_max > b3Scalar(0.0f))
 	{
-		if((pos <= uppLim) && (pos > (uppLim - delta_max)))
+		if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
 		{
 			lim_fact = (uppLim - pos) / delta_max;
 		}
-		else if(pos  > uppLim)
+		else if (pos > uppLim)
 		{
 			lim_fact = b3Scalar(0.0f);
 		}
@@ -85,18 +78,16 @@ b3Scalar b3TypedConstraint::getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scal
 	}
 	else
 	{
-			lim_fact = b3Scalar(0.0f);
+		lim_fact = b3Scalar(0.0f);
 	}
 	return lim_fact;
 }
 
-
-
 void b3AngularLimit::set(b3Scalar low, b3Scalar high, b3Scalar _softness, b3Scalar _biasFactor, b3Scalar _relaxationFactor)
 {
 	m_halfRange = (high - low) / 2.0f;
 	m_center = b3NormalizeAngle(low + m_halfRange);
-	m_softness =  _softness;
+	m_softness = _softness;
 	m_biasFactor = _biasFactor;
 	m_relaxationFactor = _relaxationFactor;
 }
@@ -113,7 +104,7 @@ void b3AngularLimit::test(const b3Scalar angle)
 		if (deviation < -m_halfRange)
 		{
 			m_solveLimit = true;
-			m_correction = - (deviation + m_halfRange);
+			m_correction = -(deviation + m_halfRange);
 			m_sign = +1.0f;
 		}
 		else if (deviation > m_halfRange)
@@ -125,7 +116,6 @@ void b3AngularLimit::test(const b3Scalar angle)
 	}
 }
 
-
 b3Scalar b3AngularLimit::getError() const
 {
 	return m_correction * m_sign;
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
index cf9cec0d5e..f74aec4d3c 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef B3_TYPED_CONSTRAINT_H
 #define B3_TYPED_CONSTRAINT_H
 
-
 #include "Bullet3Common/b3Scalar.h"
 #include "b3SolverConstraint.h"
 
@@ -25,7 +24,7 @@ class b3Serializer;
 //Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
 enum b3TypedConstraintType
 {
-	B3_POINT2POINT_CONSTRAINT_TYPE=3,
+	B3_POINT2POINT_CONSTRAINT_TYPE = 3,
 	B3_HINGE_CONSTRAINT_TYPE,
 	B3_CONETWIST_CONSTRAINT_TYPE,
 	B3_D6_CONSTRAINT_TYPE,
@@ -37,92 +36,86 @@ enum b3TypedConstraintType
 	B3_MAX_CONSTRAINT_TYPE
 };
 
-
 enum b3ConstraintParams
 {
-	B3_CONSTRAINT_ERP=1,
+	B3_CONSTRAINT_ERP = 1,
 	B3_CONSTRAINT_STOP_ERP,
 	B3_CONSTRAINT_CFM,
 	B3_CONSTRAINT_STOP_CFM
 };
 
 #if 1
-	#define b3AssertConstrParams(_par) b3Assert(_par) 
+#define b3AssertConstrParams(_par) b3Assert(_par)
 #else
-	#define b3AssertConstrParams(_par)
+#define b3AssertConstrParams(_par)
 #endif
 
-
-B3_ATTRIBUTE_ALIGNED16(struct)	b3JointFeedback
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3JointFeedback
 {
-	b3Vector3	m_appliedForceBodyA;
-	b3Vector3	m_appliedTorqueBodyA;
-	b3Vector3	m_appliedForceBodyB;
-	b3Vector3	m_appliedTorqueBodyB;
+	b3Vector3 m_appliedForceBodyA;
+	b3Vector3 m_appliedTorqueBodyA;
+	b3Vector3 m_appliedForceBodyB;
+	b3Vector3 m_appliedTorqueBodyB;
 };
 
-
 struct b3RigidBodyData;
 
-
 ///TypedConstraint is the baseclass for Bullet constraints and vehicles
-B3_ATTRIBUTE_ALIGNED16(class) b3TypedConstraint : public b3TypedObject
+B3_ATTRIBUTE_ALIGNED16(class)
+b3TypedConstraint : public b3TypedObject
 {
-	int	m_userConstraintType;
+	int m_userConstraintType;
 
-	union
-	{
-		int	m_userConstraintId;
+	union {
+		int m_userConstraintId;
 		void* m_userConstraintPtr;
 	};
 
-	b3Scalar	m_breakingImpulseThreshold;
-	bool		m_isEnabled;
-	bool		m_needsFeedback;
-	int			m_overrideNumSolverIterations;
+	b3Scalar m_breakingImpulseThreshold;
+	bool m_isEnabled;
+	bool m_needsFeedback;
+	int m_overrideNumSolverIterations;
 
-
-	b3TypedConstraint&	operator=(b3TypedConstraint&	other)
+	b3TypedConstraint& operator=(b3TypedConstraint& other)
 	{
 		b3Assert(0);
-		(void) other;
+		(void)other;
 		return *this;
 	}
 
 protected:
-	int				m_rbA;
-	int				m_rbB;
-	b3Scalar	m_appliedImpulse;
-	b3Scalar	m_dbgDrawSize;
-	b3JointFeedback*	m_jointFeedback;
+	int m_rbA;
+	int m_rbB;
+	b3Scalar m_appliedImpulse;
+	b3Scalar m_dbgDrawSize;
+	b3JointFeedback* m_jointFeedback;
 
 	///internal method used by the constraint solver, don't use them directly
 	b3Scalar getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scalar uppLim, b3Scalar vel, b3Scalar timeFact);
-	
 
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	virtual ~b3TypedConstraint() {};
-	b3TypedConstraint(b3TypedConstraintType type, int bodyA,int bodyB);
+	virtual ~b3TypedConstraint(){};
+	b3TypedConstraint(b3TypedConstraintType type, int bodyA, int bodyB);
 
-	struct b3ConstraintInfo1 {
-		int m_numConstraintRows,nub;
+	struct b3ConstraintInfo1
+	{
+		int m_numConstraintRows, nub;
 	};
 
-	
-
-	struct b3ConstraintInfo2 {
+	struct b3ConstraintInfo2
+	{
 		// integrator parameters: frames per second (1/stepsize), default error
 		// reduction parameter (0..1).
-		b3Scalar fps,erp;
+		b3Scalar fps, erp;
 
 		// for the first and second body, pointers to two (linear and angular)
 		// n*3 jacobian sub matrices, stored by rows. these matrices will have
 		// been initialized to 0 on entry. if the second body is zero then the
 		// J2xx pointers may be 0.
-		b3Scalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+		b3Scalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
 
 		// elements to jump from one row to the next in J's
 		int rowskip;
@@ -130,24 +123,24 @@ public:
 		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
 		// "constraint force mixing" vector. c is set to zero on entry, cfm is
 		// set to a constant value (typically very small or zero) value on entry.
-		b3Scalar *m_constraintError,*cfm;
+		b3Scalar *m_constraintError, *cfm;
 
 		// lo and hi limits for variables (set to -/+ infinity on entry).
-		b3Scalar *m_lowerLimit,*m_upperLimit;
+		b3Scalar *m_lowerLimit, *m_upperLimit;
 
 		// findex vector for variables. see the LCP solver interface for a
 		// description of what this does. this is set to -1 on entry.
 		// note that the returned indexes are relative to the first index of
 		// the constraint.
-		int *findex;
+		int* findex;
 		// number of solver iterations
 		int m_numIterations;
 
 		//damping of the velocity
-		b3Scalar	m_damping;
+		b3Scalar m_damping;
 	};
 
-	int	getOverrideNumSolverIterations() const
+	int getOverrideNumSolverIterations() const
 	{
 		return m_overrideNumSolverIterations;
 	}
@@ -159,59 +152,55 @@ public:
 		m_overrideNumSolverIterations = overideNumIterations;
 	}
 
-
 	///internal method used by the constraint solver, don't use them directly
-	virtual	void	setupSolverConstraint(b3ConstraintArray& ca, int solverBodyA,int solverBodyB, b3Scalar timeStep)
+	virtual void setupSolverConstraint(b3ConstraintArray & ca, int solverBodyA, int solverBodyB, b3Scalar timeStep)
 	{
-        (void)ca;
-        (void)solverBodyA;
-        (void)solverBodyB;
-        (void)timeStep;
+		(void)ca;
+		(void)solverBodyA;
+		(void)solverBodyB;
+		(void)timeStep;
 	}
-	
+
 	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)=0;
+	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies) = 0;
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (b3ConstraintInfo2* info,  const b3RigidBodyData* bodies)=0;
+	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies) = 0;
 
 	///internal method used by the constraint solver, don't use them directly
-	void	internalSetAppliedImpulse(b3Scalar appliedImpulse)
+	void internalSetAppliedImpulse(b3Scalar appliedImpulse)
 	{
 		m_appliedImpulse = appliedImpulse;
 	}
 	///internal method used by the constraint solver, don't use them directly
-	b3Scalar	internalGetAppliedImpulse()
+	b3Scalar internalGetAppliedImpulse()
 	{
 		return m_appliedImpulse;
 	}
 
-
-	b3Scalar	getBreakingImpulseThreshold() const
+	b3Scalar getBreakingImpulseThreshold() const
 	{
-		return 	m_breakingImpulseThreshold;
+		return m_breakingImpulseThreshold;
 	}
 
-	void	setBreakingImpulseThreshold(b3Scalar threshold)
+	void setBreakingImpulseThreshold(b3Scalar threshold)
 	{
 		m_breakingImpulseThreshold = threshold;
 	}
 
-	bool	isEnabled() const
+	bool isEnabled() const
 	{
 		return m_isEnabled;
 	}
 
-	void	setEnabled(bool enabled)
+	void setEnabled(bool enabled)
 	{
-		m_isEnabled=enabled;
+		m_isEnabled = enabled;
 	}
 
-
 	///internal method used by the constraint solver, don't use them directly
-	virtual	void	solveConstraintObsolete(b3SolverBody& /*bodyA*/,b3SolverBody& /*bodyB*/,b3Scalar	/*timeStep*/) {};
+	virtual void solveConstraintObsolete(b3SolverBody& /*bodyA*/, b3SolverBody& /*bodyB*/, b3Scalar /*timeStep*/){};
 
-	
 	int getRigidBodyA() const
 	{
 		return m_rbA;
@@ -221,8 +210,7 @@ public:
 		return m_rbB;
 	}
 
-
-	int getRigidBodyA() 
+	int getRigidBodyA()
 	{
 		return m_rbA;
 	}
@@ -233,15 +221,15 @@ public:
 
 	int getUserConstraintType() const
 	{
-		return m_userConstraintType ;
+		return m_userConstraintType;
 	}
 
-	void	setUserConstraintType(int userConstraintType)
+	void setUserConstraintType(int userConstraintType)
 	{
 		m_userConstraintType = userConstraintType;
 	};
 
-	void	setUserConstraintId(int uid)
+	void setUserConstraintId(int uid)
 	{
 		m_userConstraintId = uid;
 	}
@@ -251,17 +239,17 @@ public:
 		return m_userConstraintId;
 	}
 
-	void	setUserConstraintPtr(void* ptr)
+	void setUserConstraintPtr(void* ptr)
 	{
 		m_userConstraintPtr = ptr;
 	}
 
-	void*	getUserConstraintPtr()
+	void* getUserConstraintPtr()
 	{
 		return m_userConstraintPtr;
 	}
 
-	void	setJointFeedback(b3JointFeedback* jointFeedback)
+	void setJointFeedback(b3JointFeedback * jointFeedback)
 	{
 		m_jointFeedback = jointFeedback;
 	}
@@ -276,37 +264,36 @@ public:
 		return m_jointFeedback;
 	}
 
-
 	int getUid() const
 	{
-		return m_userConstraintId;   
-	} 
+		return m_userConstraintId;
+	}
 
-	bool	needsFeedback() const
+	bool needsFeedback() const
 	{
 		return m_needsFeedback;
 	}
 
 	///enableFeedback will allow to read the applied linear and angular impulse
 	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
-	void	enableFeedback(bool needsFeedback)
+	void enableFeedback(bool needsFeedback)
 	{
 		m_needsFeedback = needsFeedback;
 	}
 
-	///getAppliedImpulse is an estimated total applied impulse. 
+	///getAppliedImpulse is an estimated total applied impulse.
 	///This feedback could be used to determine breaking constraints or playing sounds.
-	b3Scalar	getAppliedImpulse() const
+	b3Scalar getAppliedImpulse() const
 	{
 		b3Assert(m_needsFeedback);
 		return m_appliedImpulse;
 	}
 
-	b3TypedConstraintType getConstraintType () const
+	b3TypedConstraintType getConstraintType() const
 	{
 		return b3TypedConstraintType(m_objectType);
 	}
-	
+
 	void setDbgDrawSize(b3Scalar dbgDrawSize)
 	{
 		m_dbgDrawSize = dbgDrawSize;
@@ -316,35 +303,34 @@ public:
 		return m_dbgDrawSize;
 	}
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, b3Scalar value, int axis = -1) = 0;
+	virtual void setParam(int num, b3Scalar value, int axis = -1) = 0;
 
 	///return the local value of parameter
-	virtual	b3Scalar getParam(int num, int axis = -1) const = 0;
-	
-//	virtual	int	calculateSerializeBufferSize() const;
+	virtual b3Scalar getParam(int num, int axis = -1) const = 0;
+
+	//	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
 	//virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
-
 };
 
-// returns angle in range [-B3_2_PI, B3_2_PI], closest to one of the limits 
+// returns angle in range [-B3_2_PI, B3_2_PI], closest to one of the limits
 // all arguments should be normalized angles (i.e. in range [-B3_PI, B3_PI])
 B3_FORCE_INLINE b3Scalar b3AdjustAngleToLimits(b3Scalar angleInRadians, b3Scalar angleLowerLimitInRadians, b3Scalar angleUpperLimitInRadians)
 {
-	if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
+	if (angleLowerLimitInRadians >= angleUpperLimitInRadians)
 	{
 		return angleInRadians;
 	}
-	else if(angleInRadians < angleLowerLimitInRadians)
+	else if (angleInRadians < angleLowerLimitInRadians)
 	{
 		b3Scalar diffLo = b3Fabs(b3NormalizeAngle(angleLowerLimitInRadians - angleInRadians));
 		b3Scalar diffHi = b3Fabs(b3NormalizeAngle(angleUpperLimitInRadians - angleInRadians));
 		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + B3_2_PI);
 	}
-	else if(angleInRadians > angleUpperLimitInRadians)
+	else if (angleInRadians > angleUpperLimitInRadians)
 	{
 		b3Scalar diffHi = b3Fabs(b3NormalizeAngle(angleInRadians - angleUpperLimitInRadians));
 		b3Scalar diffLo = b3Fabs(b3NormalizeAngle(angleInRadians - angleLowerLimitInRadians));
@@ -356,6 +342,7 @@ B3_FORCE_INLINE b3Scalar b3AdjustAngleToLimits(b3Scalar angleInRadians, b3Scalar
 	}
 }
 
+// clang-format off
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	b3TypedConstraintData
 {
@@ -379,17 +366,18 @@ struct	b3TypedConstraintData
 	
 };
 
+// clang-format on
+
 /*B3_FORCE_INLINE	int	b3TypedConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(b3TypedConstraintData);
 }
 */
 
-
 class b3AngularLimit
 {
 private:
-	b3Scalar 
+	b3Scalar
 		m_center,
 		m_halfRange,
 		m_softness,
@@ -404,15 +392,16 @@ private:
 public:
 	/// Default constructor initializes limit as inactive, allowing free constraint movement
 	b3AngularLimit()
-		:m_center(0.0f),
-		m_halfRange(-1.0f),
-		m_softness(0.9f),
-		m_biasFactor(0.3f),
-		m_relaxationFactor(1.0f),
-		m_correction(0.0f),
-		m_sign(0.0f),
-		m_solveLimit(false)
-	{}
+		: m_center(0.0f),
+		  m_halfRange(-1.0f),
+		  m_softness(0.9f),
+		  m_biasFactor(0.3f),
+		  m_relaxationFactor(1.0f),
+		  m_correction(0.0f),
+		  m_sign(0.0f),
+		  m_solveLimit(false)
+	{
+	}
 
 	/// Sets all limit's parameters.
 	/// When low > high limit becomes inactive.
@@ -441,13 +430,13 @@ public:
 		return m_relaxationFactor;
 	}
 
-	/// Returns correction value evaluated when test() was invoked 
+	/// Returns correction value evaluated when test() was invoked
 	inline b3Scalar getCorrection() const
 	{
 		return m_correction;
 	}
 
-	/// Returns sign value evaluated when test() was invoked 
+	/// Returns sign value evaluated when test() was invoked
 	inline b3Scalar getSign() const
 	{
 		return m_sign;
@@ -475,9 +464,6 @@ public:
 	b3Scalar getLow() const;
 
 	b3Scalar getHigh() const;
-
 };
 
-
-
-#endif //B3_TYPED_CONSTRAINT_H
+#endif  //B3_TYPED_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp b/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
index fbc84cc28d..f1080d9d5e 100644
--- a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp
@@ -11,7 +11,6 @@
 #include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
 #include "Bullet3Dynamics/shared/b3Inertia.h"
 
-
 struct b3CpuRigidBodyPipelineInternalData
 {
 	b3AlignedObjectArray<b3RigidBodyData> m_rigidBodies;
@@ -22,7 +21,6 @@ struct b3CpuRigidBodyPipelineInternalData
 	b3CpuNarrowPhase* m_np;
 	b3Config m_config;
 };
-	
 
 b3CpuRigidBodyPipeline::b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
 {
@@ -39,49 +37,43 @@ b3CpuRigidBodyPipeline::~b3CpuRigidBodyPipeline()
 
 void b3CpuRigidBodyPipeline::updateAabbWorldSpace()
 {
-
-	for (int i=0;i<this->getNumBodies();i++)
+	for (int i = 0; i < this->getNumBodies(); i++)
 	{
 		b3RigidBodyData* body = &m_data->m_rigidBodies[i];
 		b3Float4 position = body->m_pos;
-		b3Quat	orientation = body->m_quat;
+		b3Quat orientation = body->m_quat;
 
 		int collidableIndex = body->m_collidableIdx;
 		b3Collidable& collidable = m_data->m_np->getCollidableCpu(collidableIndex);
 		int shapeIndex = collidable.m_shapeIndex;
-		
-		if (shapeIndex>=0)
-		{
-			
 
+		if (shapeIndex >= 0)
+		{
 			b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(shapeIndex);
 			b3Aabb& worldAabb = m_data->m_aabbWorldSpace[i];
-			float margin=0.f;
-			b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&worldAabb.m_minVec,&worldAabb.m_maxVec);
-			m_data->m_bp->setAabb(i,worldAabb.m_minVec,worldAabb.m_maxVec,0);
+			float margin = 0.f;
+			b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &worldAabb.m_minVec, &worldAabb.m_maxVec);
+			m_data->m_bp->setAabb(i, worldAabb.m_minVec, worldAabb.m_maxVec, 0);
 		}
 	}
 }
 
-void	b3CpuRigidBodyPipeline::computeOverlappingPairs()
+void b3CpuRigidBodyPipeline::computeOverlappingPairs()
 {
 	int numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
 	m_data->m_bp->calculateOverlappingPairs();
 	numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
-	printf("numPairs=%d\n",numPairs);
+	printf("numPairs=%d\n", numPairs);
 }
 
 void b3CpuRigidBodyPipeline::computeContactPoints()
 {
-	
 	b3AlignedObjectArray<b3Int4>& pairs = m_data->m_bp->getOverlappingPairCache()->getOverlappingPairArray();
-	
-	m_data->m_np->computeContacts(pairs,m_data->m_aabbWorldSpace, m_data->m_rigidBodies);
 
+	m_data->m_np->computeContacts(pairs, m_data->m_aabbWorldSpace, m_data->m_rigidBodies);
 }
-void	b3CpuRigidBodyPipeline::stepSimulation(float deltaTime)
+void b3CpuRigidBodyPipeline::stepSimulation(float deltaTime)
 {
-	
 	//update world space aabb's
 	updateAabbWorldSpace();
 
@@ -92,73 +84,71 @@ void	b3CpuRigidBodyPipeline::stepSimulation(float deltaTime)
 	computeContactPoints();
 
 	//solve contacts
-	
+
 	//update transforms
 	integrate(deltaTime);
-	
-	
 }
 
-
-static	inline	float b3CalcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1, 
-					 const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
+static inline float b3CalcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
+								 const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
 {
 	return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
 }
 
-
-static	inline	void b3SetLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
-							 b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
+static inline void b3SetLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
+										 b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
 {
 	linear = -n;
 	angular0 = -b3Cross(r0, n);
 	angular1 = b3Cross(r1, n);
 }
 
-
-
-static inline void b3SolveContact(b3ContactConstraint4& cs, 
-	const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-	const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, 
-	float maxRambdaDt[4], float minRambdaDt[4])
+static inline void b3SolveContact(b3ContactConstraint4& cs,
+								  const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+								  const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+								  float maxRambdaDt[4], float minRambdaDt[4])
 {
-
-	b3Vector3 dLinVelA; dLinVelA.setZero();
-	b3Vector3 dAngVelA; dAngVelA.setZero();
-	b3Vector3 dLinVelB; dLinVelB.setZero();
-	b3Vector3 dAngVelB; dAngVelB.setZero();
-
-	for(int ic=0; ic<4; ic++)
+	b3Vector3 dLinVelA;
+	dLinVelA.setZero();
+	b3Vector3 dAngVelA;
+	dAngVelA.setZero();
+	b3Vector3 dLinVelB;
+	dLinVelB.setZero();
+	b3Vector3 dAngVelB;
+	dAngVelB.setZero();
+
+	for (int ic = 0; ic < 4; ic++)
 	{
 		//	dont necessary because this makes change to 0
-		if( cs.m_jacCoeffInv[ic] == 0.f ) continue;
+		if (cs.m_jacCoeffInv[ic] == 0.f) continue;
 
 		{
 			b3Vector3 angular0, angular1, linear;
 			b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
 			b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
-			b3SetLinearAndAngular( (const b3Vector3 &)-cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, linear, angular0, angular1 );
+			b3SetLinearAndAngular((const b3Vector3&)-cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, linear, angular0, angular1);
 
-			float rambdaDt = b3CalcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB ) + cs.m_b[ic];
+			float rambdaDt = b3CalcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
+										  linVelA, angVelA, linVelB, angVelB) +
+							 cs.m_b[ic];
 			rambdaDt *= cs.m_jacCoeffInv[ic];
 
 			{
 				float prevSum = cs.m_appliedRambdaDt[ic];
 				float updated = prevSum;
 				updated += rambdaDt;
-				updated = b3Max( updated, minRambdaDt[ic] );
-				updated = b3Min( updated, maxRambdaDt[ic] );
+				updated = b3Max(updated, minRambdaDt[ic]);
+				updated = b3Min(updated, maxRambdaDt[ic]);
 				rambdaDt = updated - prevSum;
 				cs.m_appliedRambdaDt[ic] = updated;
 			}
 
-			b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-			b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+			b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+			b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+			b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+			b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 #ifdef _WIN32
-            b3Assert(_finite(linImp0.getX()));
+			b3Assert(_finite(linImp0.getX()));
 			b3Assert(_finite(linImp1.getX()));
 #endif
 			{
@@ -169,53 +159,46 @@ static inline void b3SolveContact(b3ContactConstraint4& cs,
 			}
 		}
 	}
-
-
 }
 
-
-
-
-
-static inline void b3SolveFriction(b3ContactConstraint4& cs, 
-		const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-		const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, 
-		float maxRambdaDt[4], float minRambdaDt[4])
+static inline void b3SolveFriction(b3ContactConstraint4& cs,
+								   const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+								   const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+								   float maxRambdaDt[4], float minRambdaDt[4])
 {
-
-	if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
+	if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
 	const b3Vector3& center = (const b3Vector3&)cs.m_center;
 
 	b3Vector3 n = -(const b3Vector3&)cs.m_linear;
 
 	b3Vector3 tangent[2];
 
-	b3PlaneSpace1 (n, tangent[0],tangent[1]);
+	b3PlaneSpace1(n, tangent[0], tangent[1]);
 
 	b3Vector3 angular0, angular1, linear;
 	b3Vector3 r0 = center - posA;
 	b3Vector3 r1 = center - posB;
-	for(int i=0; i<2; i++)
+	for (int i = 0; i < 2; i++)
 	{
-		b3SetLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 );
+		b3SetLinearAndAngular(tangent[i], r0, r1, linear, angular0, angular1);
 		float rambdaDt = b3CalcRelVel(linear, -linear, angular0, angular1,
-			linVelA, angVelA, linVelB, angVelB );
+									  linVelA, angVelA, linVelB, angVelB);
 		rambdaDt *= cs.m_fJacCoeffInv[i];
 
-			{
-				float prevSum = cs.m_fAppliedRambdaDt[i];
-				float updated = prevSum;
-				updated += rambdaDt;
-				updated = b3Max( updated, minRambdaDt[i] );
-				updated = b3Min( updated, maxRambdaDt[i] );
-				rambdaDt = updated - prevSum;
-				cs.m_fAppliedRambdaDt[i] = updated;
-			}
+		{
+			float prevSum = cs.m_fAppliedRambdaDt[i];
+			float updated = prevSum;
+			updated += rambdaDt;
+			updated = b3Max(updated, minRambdaDt[i]);
+			updated = b3Min(updated, maxRambdaDt[i]);
+			rambdaDt = updated - prevSum;
+			cs.m_fAppliedRambdaDt[i] = updated;
+		}
 
-		b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-		b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 #ifdef _WIN32
 		b3Assert(_finite(linImp0.getX()));
 		b3Assert(_finite(linImp1.getX()));
@@ -226,57 +209,45 @@ static inline void b3SolveFriction(b3ContactConstraint4& cs,
 		angVelB += angImp1;
 	}
 
-	{	//	angular damping for point constraint
-		b3Vector3 ab = ( posB - posA ).normalized();
-		b3Vector3 ac = ( center - posA ).normalized();
-		if( b3Dot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
+	{  //	angular damping for point constraint
+		b3Vector3 ab = (posB - posA).normalized();
+		b3Vector3 ac = (center - posA).normalized();
+		if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
 		{
-			float angNA = b3Dot( n, angVelA );
-			float angNB = b3Dot( n, angVelB );
+			float angNA = b3Dot(n, angVelA);
+			float angNB = b3Dot(n, angVelB);
 
-			angVelA -= (angNA*0.1f)*n;
-			angVelB -= (angNB*0.1f)*n;
+			angVelA -= (angNA * 0.1f) * n;
+			angVelB -= (angNB * 0.1f) * n;
 		}
 	}
-
 }
 
-
-
-
-
-struct b3SolveTask// : public ThreadPool::Task
+struct b3SolveTask  // : public ThreadPool::Task
 {
-	b3SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies,  
-				b3AlignedObjectArray<b3Inertia>& shapes, 
+	b3SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies,
+				b3AlignedObjectArray<b3Inertia>& shapes,
 				b3AlignedObjectArray<b3ContactConstraint4>& constraints,
 				int start, int nConstraints,
 				int maxNumBatches,
-				b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx
-				)
-		: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), 
-		m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx),
-m_start( start ), 
-	m_nConstraints( nConstraints ),
-	m_solveFriction( true ),
-	m_maxNumBatches(maxNumBatches)
-	{}
-
-	unsigned short int getType(){ return 0; }
+				b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx)
+		: m_bodies(bodies), m_shapes(shapes), m_constraints(constraints), m_wgUsedBodies(wgUsedBodies), m_curWgidx(curWgidx), m_start(start), m_nConstraints(nConstraints), m_solveFriction(true), m_maxNumBatches(maxNumBatches)
+	{
+	}
+
+	unsigned short int getType() { return 0; }
 
 	void run(int tIdx)
 	{
 		b3AlignedObjectArray<int> usedBodies;
 		//printf("run..............\n");
 
-		
-		for (int bb=0;bb<m_maxNumBatches;bb++)
+		for (int bb = 0; bb < m_maxNumBatches; bb++)
 		{
 			usedBodies.resize(0);
-			for(int ic=m_nConstraints-1; ic>=0; ic--)
+			for (int ic = m_nConstraints - 1; ic >= 0; ic--)
 			//for(int ic=0; ic<m_nConstraints; ic++)
 			{
-				
 				int i = m_start + ic;
 				if (m_constraints[i].m_batchIdx != bb)
 					continue;
@@ -298,87 +269,80 @@ m_start( start ),
 					//printf("ic(b)=%d, localBatch=%d\n",ic,localBatch);
 				}
 #endif
-				if (aIdx==10)
+				if (aIdx == 10)
 				{
 					//printf("ic(a)=%d, localBatch=%d\n",ic,localBatch);
 				}
-				if (usedBodies.size()<(aIdx+1))
+				if (usedBodies.size() < (aIdx + 1))
 				{
-					usedBodies.resize(aIdx+1,0);
+					usedBodies.resize(aIdx + 1, 0);
 				}
-		
-				if (usedBodies.size()<(bIdx+1))
+
+				if (usedBodies.size() < (bIdx + 1))
 				{
-					usedBodies.resize(bIdx+1,0);
+					usedBodies.resize(bIdx + 1, 0);
 				}
 
 				if (bodyA.m_invMass)
 				{
-					b3Assert(usedBodies[aIdx]==0);
+					b3Assert(usedBodies[aIdx] == 0);
 					usedBodies[aIdx]++;
 				}
-				
+
 				if (bodyB.m_invMass)
 				{
-					b3Assert(usedBodies[bIdx]==0);
+					b3Assert(usedBodies[bIdx] == 0);
 					usedBodies[bIdx]++;
 				}
-				
 
-				if( !m_solveFriction )
+				if (!m_solveFriction)
 				{
-					float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-					float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-					b3SolveContact( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3 &)m_shapes[aIdx].m_invInertiaWorld, 
-							(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3 &)m_shapes[bIdx].m_invInertiaWorld,
-						maxRambdaDt, minRambdaDt );
+					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
+					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
 
+					b3SolveContact(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
+								   (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
+								   maxRambdaDt, minRambdaDt);
 				}
 				else
 				{
-					float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-					float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
+					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
+					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
 
 					float sum = 0;
-					for(int j=0; j<4; j++)
+					for (int j = 0; j < 4; j++)
 					{
-						sum +=m_constraints[i].m_appliedRambdaDt[j];
+						sum += m_constraints[i].m_appliedRambdaDt[j];
 					}
 					frictionCoeff = 0.7f;
-					for(int j=0; j<4; j++)
+					for (int j = 0; j < 4; j++)
 					{
-						maxRambdaDt[j] = frictionCoeff*sum;
+						maxRambdaDt[j] = frictionCoeff * sum;
 						minRambdaDt[j] = -maxRambdaDt[j];
 					}
 
-				b3SolveFriction( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,(const b3Matrix3x3 &) m_shapes[aIdx].m_invInertiaWorld, 
-						(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass,(const b3Matrix3x3 &) m_shapes[bIdx].m_invInertiaWorld,
-						maxRambdaDt, minRambdaDt );
-			
+					b3SolveFriction(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
+									(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
+									maxRambdaDt, minRambdaDt);
 				}
 			}
 
 			if (m_wgUsedBodies)
 			{
-				if (m_wgUsedBodies[m_curWgidx].size()<usedBodies.size())
+				if (m_wgUsedBodies[m_curWgidx].size() < usedBodies.size())
 				{
 					m_wgUsedBodies[m_curWgidx].resize(usedBodies.size());
 				}
-				for (int i=0;i<usedBodies.size();i++)
+				for (int i = 0; i < usedBodies.size(); i++)
 				{
 					if (usedBodies[i])
 					{
 						//printf("cell %d uses body %d\n", m_curWgidx,i);
-						m_wgUsedBodies[m_curWgidx][i]=1;
+						m_wgUsedBodies[m_curWgidx][i] = 1;
 					}
 				}
 			}
-
 		}
-
-
-		
 	}
 
 	b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
@@ -397,24 +361,22 @@ void b3CpuRigidBodyPipeline::solveContactConstraints()
 	int m_nIterations = 4;
 
 	b3AlignedObjectArray<b3ContactConstraint4> contactConstraints;
-//	const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
+	//	const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
 	int n = contactConstraints.size();
 	//convert contacts...
 
-
-	
 	int maxNumBatches = 250;
 
-	for(int iter=0; iter<m_nIterations; iter++)
+	for (int iter = 0; iter < m_nIterations; iter++)
 	{
-		b3SolveTask task( m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n ,maxNumBatches,0,0);
+		b3SolveTask task(m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n, maxNumBatches, 0, 0);
 		task.m_solveFriction = false;
 		task.run(0);
 	}
 
-	for(int iter=0; iter<m_nIterations; iter++)
+	for (int iter = 0; iter < m_nIterations; iter++)
 	{
-		b3SolveTask task( m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n ,maxNumBatches,0,0);
+		b3SolveTask task(m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n, maxNumBatches, 0, 0);
 		task.m_solveFriction = true;
 		task.run(0);
 	}
@@ -422,53 +384,51 @@ void b3CpuRigidBodyPipeline::solveContactConstraints()
 
 void b3CpuRigidBodyPipeline::integrate(float deltaTime)
 {
-	float angDamping=0.f;
-	b3Vector3 gravityAcceleration=b3MakeVector3(0,-9,0);
+	float angDamping = 0.f;
+	b3Vector3 gravityAcceleration = b3MakeVector3(0, -9, 0);
 
 	//integrate transforms (external forces/gravity should be moved into constraint solver)
-	for (int i=0;i<m_data->m_rigidBodies.size();i++)
+	for (int i = 0; i < m_data->m_rigidBodies.size(); i++)
 	{
-		b3IntegrateTransform(&m_data->m_rigidBodies[i],deltaTime,angDamping,gravityAcceleration);
+		b3IntegrateTransform(&m_data->m_rigidBodies[i], deltaTime, angDamping, gravityAcceleration);
 	}
-
 }
 
-int		b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userData)
+int b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userData)
 {
 	b3RigidBodyData body;
 	int bodyIndex = m_data->m_rigidBodies.size();
-	body.m_invMass = mass ? 1.f/mass : 0.f;
-	body.m_angVel.setValue(0,0,0);
+	body.m_invMass = mass ? 1.f / mass : 0.f;
+	body.m_angVel.setValue(0, 0, 0);
 	body.m_collidableIdx = collidableIndex;
 	body.m_frictionCoeff = 0.3f;
-	body.m_linVel.setValue(0,0,0);
-	body.m_pos.setValue(position[0],position[1],position[2]);
-	body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
+	body.m_linVel.setValue(0, 0, 0);
+	body.m_pos.setValue(position[0], position[1], position[2]);
+	body.m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]);
 	body.m_restituitionCoeff = 0.f;
 
 	m_data->m_rigidBodies.push_back(body);
 
-	
-	if (collidableIndex>=0)
+	if (collidableIndex >= 0)
 	{
 		b3Aabb& worldAabb = m_data->m_aabbWorldSpace.expand();
 
 		b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(collidableIndex);
-		b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
-		b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
-		
+		b3Vector3 localAabbMin = b3MakeVector3(localAabb.m_min[0], localAabb.m_min[1], localAabb.m_min[2]);
+		b3Vector3 localAabbMax = b3MakeVector3(localAabb.m_max[0], localAabb.m_max[1], localAabb.m_max[2]);
+
 		b3Scalar margin = 0.01f;
 		b3Transform t;
 		t.setIdentity();
-		t.setOrigin(b3MakeVector3(position[0],position[1],position[2]));
-		t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
-		b3TransformAabb(localAabbMin,localAabbMax, margin,t,worldAabb.m_minVec,worldAabb.m_maxVec);
-
-		m_data->m_bp->createProxy(worldAabb.m_minVec,worldAabb.m_maxVec,bodyIndex,0,1,1);
-//		b3Vector3 aabbMin,aabbMax;
-	//	m_data->m_bp->getAabb(bodyIndex,aabbMin,aabbMax);
+		t.setOrigin(b3MakeVector3(position[0], position[1], position[2]));
+		t.setRotation(b3Quaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
+		b3TransformAabb(localAabbMin, localAabbMax, margin, t, worldAabb.m_minVec, worldAabb.m_maxVec);
 
-	} else
+		m_data->m_bp->createProxy(worldAabb.m_minVec, worldAabb.m_maxVec, bodyIndex, 0, 1, 1);
+		//		b3Vector3 aabbMin,aabbMax;
+		//	m_data->m_bp->getAabb(bodyIndex,aabbMin,aabbMax);
+	}
+	else
 	{
 		b3Error("registerPhysicsInstance using invalid collidableIndex\n");
 	}
@@ -476,13 +436,12 @@ int		b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
 	return bodyIndex;
 }
 
-
 const struct b3RigidBodyData* b3CpuRigidBodyPipeline::getBodyBuffer() const
 {
 	return m_data->m_rigidBodies.size() ? &m_data->m_rigidBodies[0] : 0;
 }
 
-int	b3CpuRigidBodyPipeline::getNumBodies() const
+int b3CpuRigidBodyPipeline::getNumBodies() const
 {
 	return m_data->m_rigidBodies.size();
 }
diff --git a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h b/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h
index 2f3c2ae77e..9c65419f26 100644
--- a/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h
+++ b/thirdparty/bullet/Bullet3Dynamics/b3CpuRigidBodyPipeline.h
@@ -16,52 +16,47 @@ subject to the following restrictions:
 #ifndef B3_CPU_RIGIDBODY_PIPELINE_H
 #define B3_CPU_RIGIDBODY_PIPELINE_H
 
-
-
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
 
 class b3CpuRigidBodyPipeline
 {
 protected:
-	struct b3CpuRigidBodyPipelineInternalData*	m_data;
+	struct b3CpuRigidBodyPipelineInternalData* m_data;
 
 	int allocateCollidable();
 
 public:
-
-
 	b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const struct b3Config& config);
 	virtual ~b3CpuRigidBodyPipeline();
 
-	virtual void	stepSimulation(float deltaTime);
-	virtual void	integrate(float timeStep);
-	virtual void	updateAabbWorldSpace();
-	virtual void	computeOverlappingPairs();
-	virtual void	computeContactPoints();
-	virtual void	solveContactConstraints();
-
-	int		registerConvexPolyhedron(class b3ConvexUtility* convex);
-
-	int		registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData);
-	void	writeAllInstancesToGpu();
-	void	copyConstraintsToHost();
-	void	setGravity(const float* grav);
-	void	reset();
-	
-	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold);
+	virtual void stepSimulation(float deltaTime);
+	virtual void integrate(float timeStep);
+	virtual void updateAabbWorldSpace();
+	virtual void computeOverlappingPairs();
+	virtual void computeContactPoints();
+	virtual void solveContactConstraints();
+
+	int registerConvexPolyhedron(class b3ConvexUtility* convex);
+
+	int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData);
+	void writeAllInstancesToGpu();
+	void copyConstraintsToHost();
+	void setGravity(const float* grav);
+	void reset();
+
+	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold);
 	int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
 	void removeConstraintByUid(int uid);
 
-	void	addConstraint(class b3TypedConstraint* constraint);
-	void	removeConstraint(b3TypedConstraint* constraint);
+	void addConstraint(class b3TypedConstraint* constraint);
+	void removeConstraint(b3TypedConstraint* constraint);
 
-	void	castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults);
+	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults);
 
 	const struct b3RigidBodyData* getBodyBuffer() const;
 
-	int	getNumBodies() const;
-
+	int getNumBodies() const;
 };
 
-#endif //B3_CPU_RIGIDBODY_PIPELINE_H
\ No newline at end of file
+#endif  //B3_CPU_RIGIDBODY_PIPELINE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
index 68cf65e312..cf2eed0e7c 100644
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
+++ b/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
@@ -5,30 +5,27 @@
 
 typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
 
-
 struct b3ContactConstraint4
 {
-
-	b3Float4 m_linear;//normal?
+	b3Float4 m_linear;  //normal?
 	b3Float4 m_worldPos[4];
-	b3Float4 m_center;	//	friction
+	b3Float4 m_center;  //	friction
 	float m_jacCoeffInv[4];
 	float m_b[4];
 	float m_appliedRambdaDt[4];
-	float m_fJacCoeffInv[2];	//	friction
-	float m_fAppliedRambdaDt[2];	//	friction
+	float m_fJacCoeffInv[2];      //	friction
+	float m_fAppliedRambdaDt[2];  //	friction
 
 	unsigned int m_bodyA;
 	unsigned int m_bodyB;
-	int			m_batchIdx;
+	int m_batchIdx;
 	unsigned int m_paddings;
-
 };
 
 //inline	void setFrictionCoeff(float value) { m_linear[3] = value; }
-inline	float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) 
+inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
 {
-	return constraint->m_linear.w; 
+	return constraint->m_linear.w;
 }
 
-#endif //B3_CONTACT_CONSTRAINT5_H
+#endif  //B3_CONTACT_CONSTRAINT5_H
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h
index 805a2bd3ea..3e72f1c3f2 100644
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h
+++ b/thirdparty/bullet/Bullet3Dynamics/shared/b3ConvertConstraint4.h
@@ -4,89 +4,84 @@
 #include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 
-
-void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);
- void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)
+void b3PlaneSpace1(b3Float4ConstArg n, b3Float4* p, b3Float4* q);
+void b3PlaneSpace1(b3Float4ConstArg n, b3Float4* p, b3Float4* q)
 {
-  if (b3Fabs(n.z) > 0.70710678f) {
-    // choose p in y-z plane
-    float a = n.y*n.y + n.z*n.z;
-    float k = 1.f/sqrt(a);
-    p[0].x = 0;
-	p[0].y = -n.z*k;
-	p[0].z = n.y*k;
-    // set q = n x p
-    q[0].x = a*k;
-	q[0].y = -n.x*p[0].z;
-	q[0].z = n.x*p[0].y;
-  }
-  else {
-    // choose p in x-y plane
-    float a = n.x*n.x + n.y*n.y;
-    float k = 1.f/sqrt(a);
-    p[0].x = -n.y*k;
-	p[0].y = n.x*k;
-	p[0].z = 0;
-    // set q = n x p
-    q[0].x = -n.z*p[0].y;
-	q[0].y = n.z*p[0].x;
-	q[0].z = a*k;
-  }
+	if (b3Fabs(n.z) > 0.70710678f)
+	{
+		// choose p in y-z plane
+		float a = n.y * n.y + n.z * n.z;
+		float k = 1.f / sqrt(a);
+		p[0].x = 0;
+		p[0].y = -n.z * k;
+		p[0].z = n.y * k;
+		// set q = n x p
+		q[0].x = a * k;
+		q[0].y = -n.x * p[0].z;
+		q[0].z = n.x * p[0].y;
+	}
+	else
+	{
+		// choose p in x-y plane
+		float a = n.x * n.x + n.y * n.y;
+		float k = 1.f / sqrt(a);
+		p[0].x = -n.y * k;
+		p[0].y = n.x * k;
+		p[0].z = 0;
+		// set q = n x p
+		q[0].x = -n.z * p[0].y;
+		q[0].y = n.z * p[0].x;
+		q[0].z = a * k;
+	}
 }
 
-
- 
-void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
+void setLinearAndAngular(b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
 {
-	*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);
+	*linear = b3MakeFloat4(n.x, n.y, n.z, 0.f);
 	*angular0 = b3Cross3(r0, n);
 	*angular1 = -b3Cross3(r1, n);
 }
 
-
-float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
-	b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )
+float calcRelVel(b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
+				 b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1)
 {
 	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);
 }
 
-
 float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,
-					float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
+				   float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
 {
 	//	linear0,1 are normlized
-	float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/(jmj0+jmj1+jmj2+jmj3);
+	float jmj0 = invMass0;  //b3Dot3F4(linear0, linear0)*invMass0;
+	float jmj1 = b3Dot3F4(mtMul3(angular0, *invInertia0), angular0);
+	float jmj2 = invMass1;  //b3Dot3F4(linear1, linear1)*invMass1;
+	float jmj3 = b3Dot3F4(mtMul3(angular1, *invInertia1), angular1);
+	return -1.f / (jmj0 + jmj1 + jmj2 + jmj3);
 }
 
-
-void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
-	b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, 
-	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
-	b3ContactConstraint4_t* dstC )
+void setConstraint4(b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
+					b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB,
+					__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
+					b3ContactConstraint4_t* dstC)
 {
 	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
 	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
 
-	float dtInv = 1.f/dt;
-	for(int ic=0; ic<4; ic++)
+	float dtInv = 1.f / dt;
+	for (int ic = 0; ic < 4; ic++)
 	{
 		dstC->m_appliedRambdaDt[ic] = 0.f;
 	}
 	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
 
-
 	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
-	for(int ic=0; ic<4; ic++)
+	dstC->m_linear.w = 0.7f;  //src->getFrictionCoeff() );
+	for (int ic = 0; ic < 4; ic++)
 	{
 		b3Float4 r0 = src->m_worldPosB[ic] - posA;
 		b3Float4 r1 = src->m_worldPosB[ic] - posB;
 
-		if( ic >= src->m_worldNormalOnB.w )//npoints
+		if (ic >= src->m_worldNormalOnB.w)  //npoints
 		{
 			dstC->m_jacCoeffInv[ic] = 0.f;
 			continue;
@@ -98,56 +93,56 @@ void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4Co
 			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
 
 			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB );
+												   invMassA, &invInertiaA, invMassB, &invInertiaB);
 
 			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB);
+								 linVelA, angVelA, linVelB, angVelB);
 
-			float e = 0.f;//src->getRestituitionCoeff();
-			if( relVelN*relVelN < 0.004f ) e = 0.f;
+			float e = 0.f;  //src->getRestituitionCoeff();
+			if (relVelN * relVelN < 0.004f) e = 0.f;
 
-			dstC->m_b[ic] = e*relVelN;
+			dstC->m_b[ic] = e * relVelN;
 			//float penetration = src->m_worldPosB[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
+			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift) * positionConstraintCoeff * dtInv;
 			dstC->m_appliedRambdaDt[ic] = 0.f;
 		}
 	}
 
-	if( src->m_worldNormalOnB.w > 0 )//npoints
-	{	//	prepare friction
-		b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);
-		for(int i=0; i<src->m_worldNormalOnB.w; i++) 
+	if (src->m_worldNormalOnB.w > 0)  //npoints
+	{                                 //	prepare friction
+		b3Float4 center = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
+		for (int i = 0; i < src->m_worldNormalOnB.w; i++)
 			center += src->m_worldPosB[i];
 		center /= (float)src->m_worldNormalOnB.w;
 
 		b3Float4 tangent[2];
-		b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);
-		
+		b3PlaneSpace1(src->m_worldNormalOnB, &tangent[0], &tangent[1]);
+
 		b3Float4 r[2];
 		r[0] = center - posA;
 		r[1] = center - posB;
 
-		for(int i=0; i<2; i++)
+		for (int i = 0; i < 2; i++)
 		{
 			b3Float4 linear, angular0, angular1;
 			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
 
 			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB );
+												   invMassA, &invInertiaA, invMassB, &invInertiaB);
 			dstC->m_fAppliedRambdaDt[i] = 0.f;
 		}
 		dstC->m_center = center;
 	}
 
-	for(int i=0; i<4; i++)
+	for (int i = 0; i < 4; i++)
 	{
-		if( i<src->m_worldNormalOnB.w )
+		if (i < src->m_worldNormalOnB.w)
 		{
 			dstC->m_worldPos[i] = src->m_worldPosB[i];
 		}
 		else
 		{
-			dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);
+			dstC->m_worldPos[i] = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
 		}
 	}
 }
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h
index 96fe9f8b39..602a1335aa 100644
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h
+++ b/thirdparty/bullet/Bullet3Dynamics/shared/b3Inertia.h
@@ -11,5 +11,4 @@ struct b3Inertia
 	b3Mat3x3 m_initInvInertia;
 };
 
-
-#endif //B3_INERTIA_H
\ No newline at end of file
+#endif  //B3_INERTIA_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h
index e96f90d3f3..56d9118f95 100644
--- a/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h
+++ b/thirdparty/bullet/Bullet3Dynamics/shared/b3IntegrateTransforms.h
@@ -2,11 +2,8 @@
 
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 
-
-
-inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
+inline void integrateSingleTransform(__global b3RigidBodyData_t* bodies, int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
 {
-	
 	if (bodies[nodeID].m_invMass != 0.f)
 	{
 		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
@@ -18,27 +15,27 @@ inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nod
 			bodies[nodeID].m_angVel.x *= angularDamping;
 			bodies[nodeID].m_angVel.y *= angularDamping;
 			bodies[nodeID].m_angVel.z *= angularDamping;
-			
+
 			b3Float4 angvel = bodies[nodeID].m_angVel;
 
 			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
-			
+
 			//limit the angular motion
-			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
+			if (fAngle * timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
 			{
 				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
 			}
-			if(fAngle < 0.001f)
+			if (fAngle < 0.001f)
 			{
 				// use Taylor's expansions of sync function
-				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);
+				axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * 0.020833333333f * fAngle * fAngle);
 			}
 			else
 			{
 				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);
+				axis = angvel * (b3Sin(0.5f * fAngle * timeStep) / fAngle);
 			}
-			
+
 			b3Quat dorn;
 			dorn.x = axis.x;
 			dorn.y = axis.y;
@@ -47,23 +44,21 @@ inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nod
 			b3Quat orn0 = bodies[nodeID].m_quat;
 			b3Quat predictedOrn = b3QuatMul(dorn, orn0);
 			predictedOrn = b3QuatNormalized(predictedOrn);
-			bodies[nodeID].m_quat=predictedOrn;
+			bodies[nodeID].m_quat = predictedOrn;
 		}
-		//linear velocity		
-		bodies[nodeID].m_pos +=  bodies[nodeID].m_linVel * timeStep;
-		
+		//linear velocity
+		bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;
+
 		//apply gravity
 		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;
-		
 	}
-	
 }
 
-inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
+inline void b3IntegrateTransform(__global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
 {
 	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
-	
-	if( (body->m_invMass != 0.f))
+
+	if ((body->m_invMass != 0.f))
 	{
 		//angular velocity
 		{
@@ -72,23 +67,23 @@ inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeSt
 			body->m_angVel.x *= angularDamping;
 			body->m_angVel.y *= angularDamping;
 			body->m_angVel.z *= angularDamping;
-			
+
 			b3Float4 angvel = body->m_angVel;
 			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
 			//limit the angular motion
-			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
+			if (fAngle * timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
 			{
 				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
 			}
-			if(fAngle < 0.001f)
+			if (fAngle < 0.001f)
 			{
 				// use Taylor's expansions of sync function
-				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);
+				axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * 0.020833333333f * fAngle * fAngle);
 			}
 			else
 			{
 				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);
+				axis = angvel * (b3Sin(0.5f * fAngle * timeStep) / fAngle);
 			}
 			b3Quat dorn;
 			dorn.x = axis.x;
@@ -99,15 +94,13 @@ inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeSt
 
 			b3Quat predictedOrn = b3QuatMul(dorn, orn0);
 			predictedOrn = b3QuatNormalized(predictedOrn);
-			body->m_quat=predictedOrn;
+			body->m_quat = predictedOrn;
 		}
 
 		//apply gravity
 		body->m_linVel += gravityAcceleration * timeStep;
 
-		//linear velocity		
-		body->m_pos +=  body->m_linVel * timeStep;
-		
+		//linear velocity
+		body->m_pos += body->m_linVel * timeStep;
 	}
-	
 }
diff --git a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h b/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
index 4c72d5bbfc..396a401450 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
+++ b/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_AABB_UTIL2
 #define B3_AABB_UTIL2
 
@@ -21,20 +19,18 @@ subject to the following restrictions:
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3MinMax.h"
 
-
-
-B3_FORCE_INLINE void b3AabbExpand (b3Vector3& aabbMin,
-								   b3Vector3& aabbMax,
-								   const b3Vector3& expansionMin,
-								   const b3Vector3& expansionMax)
+B3_FORCE_INLINE void b3AabbExpand(b3Vector3& aabbMin,
+								  b3Vector3& aabbMax,
+								  const b3Vector3& expansionMin,
+								  const b3Vector3& expansionMax)
 {
 	aabbMin = aabbMin + expansionMin;
 	aabbMax = aabbMax + expansionMax;
 }
 
 /// conservative test for overlap between two aabbs
-B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
-								const b3Vector3 &point)
+B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
+											 const b3Vector3& point)
 {
 	bool overlap = true;
 	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
@@ -43,10 +39,9 @@ B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3 &aabbMin1, const b3
 	return overlap;
 }
 
-
 /// conservative test for overlap between two aabbs
-B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
-								const b3Vector3 &aabbMin2, const b3Vector3 &aabbMax2)
+B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
+											const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
 {
 	bool overlap = true;
 	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
@@ -56,52 +51,49 @@ B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3V
 }
 
 /// conservative test for overlap between triangle and aabb
-B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3 *vertices,
-									const b3Vector3 &aabbMin, const b3Vector3 &aabbMax)
+B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3* vertices,
+												const b3Vector3& aabbMin, const b3Vector3& aabbMax)
 {
-	const b3Vector3 &p1 = vertices[0];
-	const b3Vector3 &p2 = vertices[1];
-	const b3Vector3 &p3 = vertices[2];
+	const b3Vector3& p1 = vertices[0];
+	const b3Vector3& p2 = vertices[1];
+	const b3Vector3& p3 = vertices[2];
 
 	if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
 	if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
 
 	if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
 	if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-  
+
 	if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
 	if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
 	return true;
 }
 
-
-B3_FORCE_INLINE int	b3Outcode(const b3Vector3& p,const b3Vector3& halfExtent) 
+B3_FORCE_INLINE int b3Outcode(const b3Vector3& p, const b3Vector3& halfExtent)
 {
-	return (p.getX()  < -halfExtent.getX() ? 0x01 : 0x0) |    
-		   (p.getX() >  halfExtent.getX() ? 0x08 : 0x0) |
-		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |    
-		   (p.getY() >  halfExtent.getY() ? 0x10 : 0x0) |
-		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |    
-		   (p.getZ() >  halfExtent.getZ() ? 0x20 : 0x0);
+	return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
+		   (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
+		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
+		   (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
+		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
+		   (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
 }
 
-
-
 B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
-								  const b3Vector3& rayInvDirection,
-								  const unsigned int raySign[3],
-								  const b3Vector3 bounds[2],
-								  b3Scalar& tmin,
-								  b3Scalar lambda_min,
-								  b3Scalar lambda_max)
+								const b3Vector3& rayInvDirection,
+								const unsigned int raySign[3],
+								const b3Vector3 bounds[2],
+								b3Scalar& tmin,
+								b3Scalar lambda_min,
+								b3Scalar lambda_max)
 {
 	b3Scalar tmax, tymin, tymax, tzmin, tzmax;
 	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
+	tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
 	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-	tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
+	tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
 
-	if ( (tmin > tymax) || (tymin > tmax) )
+	if ((tmin > tymax) || (tymin > tmax))
 		return false;
 
 	if (tymin > tmin)
@@ -111,59 +103,59 @@ B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
 		tmax = tymax;
 
 	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-	tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
+	tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
 
-	if ( (tmin > tzmax) || (tzmin > tmax) )
+	if ((tmin > tzmax) || (tzmin > tmax))
 		return false;
 	if (tzmin > tmin)
 		tmin = tzmin;
 	if (tzmax < tmax)
 		tmax = tzmax;
-	return ( (tmin < lambda_max) && (tmax > lambda_min) );
+	return ((tmin < lambda_max) && (tmax > lambda_min));
 }
 
-B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom, 
-								 const b3Vector3& rayTo, 
-								 const b3Vector3& aabbMin, 
-								 const b3Vector3& aabbMax,
-					  b3Scalar& param, b3Vector3& normal) 
+B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
+							   const b3Vector3& rayTo,
+							   const b3Vector3& aabbMin,
+							   const b3Vector3& aabbMax,
+							   b3Scalar& param, b3Vector3& normal)
 {
-	b3Vector3 aabbHalfExtent = (aabbMax-aabbMin)* b3Scalar(0.5);
-	b3Vector3 aabbCenter = (aabbMax+aabbMin)* b3Scalar(0.5);
-	b3Vector3	source = rayFrom - aabbCenter;
-	b3Vector3	target = rayTo - aabbCenter;
-	int	sourceOutcode = b3Outcode(source,aabbHalfExtent);
-	int targetOutcode = b3Outcode(target,aabbHalfExtent);
+	b3Vector3 aabbHalfExtent = (aabbMax - aabbMin) * b3Scalar(0.5);
+	b3Vector3 aabbCenter = (aabbMax + aabbMin) * b3Scalar(0.5);
+	b3Vector3 source = rayFrom - aabbCenter;
+	b3Vector3 target = rayTo - aabbCenter;
+	int sourceOutcode = b3Outcode(source, aabbHalfExtent);
+	int targetOutcode = b3Outcode(target, aabbHalfExtent);
 	if ((sourceOutcode & targetOutcode) == 0x0)
 	{
 		b3Scalar lambda_enter = b3Scalar(0.0);
-		b3Scalar lambda_exit  = param;
+		b3Scalar lambda_exit = param;
 		b3Vector3 r = target - source;
 		int i;
-		b3Scalar	normSign = 1;
-		b3Vector3	hitNormal = b3MakeVector3(0,0,0);
-		int bit=1;
+		b3Scalar normSign = 1;
+		b3Vector3 hitNormal = b3MakeVector3(0, 0, 0);
+		int bit = 1;
 
-		for (int j=0;j<2;j++)
+		for (int j = 0; j < 2; j++)
 		{
 			for (i = 0; i != 3; ++i)
 			{
 				if (sourceOutcode & bit)
 				{
-					b3Scalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+					b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
 					if (lambda_enter <= lambda)
 					{
 						lambda_enter = lambda;
-						hitNormal.setValue(0,0,0);
+						hitNormal.setValue(0, 0, 0);
 						hitNormal[i] = normSign;
 					}
 				}
-				else if (targetOutcode & bit) 
+				else if (targetOutcode & bit)
 				{
-					b3Scalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+					b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
 					b3SetMin(lambda_exit, lambda);
 				}
-				bit<<=1;
+				bit <<= 1;
 			}
 			normSign = b3Scalar(-1.);
 		}
@@ -177,56 +169,49 @@ B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
 	return false;
 }
 
-
-
-B3_FORCE_INLINE	void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin,const b3Transform& t,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
+B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin, const b3Transform& t, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
 {
-	b3Vector3 halfExtentsWithMargin = halfExtents+b3MakeVector3(margin,margin,margin);
-	b3Matrix3x3 abs_b = t.getBasis().absolute();  
+	b3Vector3 halfExtentsWithMargin = halfExtents + b3MakeVector3(margin, margin, margin);
+	b3Matrix3x3 abs_b = t.getBasis().absolute();
 	b3Vector3 center = t.getOrigin();
-    b3Vector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
+	b3Vector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMinOut = center - extent;
 	aabbMaxOut = center + extent;
 }
 
-
-B3_FORCE_INLINE	void b3TransformAabb(const b3Vector3& localAabbMin,const b3Vector3& localAabbMax, b3Scalar margin,const b3Transform& trans,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
+B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin, const b3Vector3& localAabbMax, b3Scalar margin, const b3Transform& trans, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
 {
-		//b3Assert(localAabbMin.getX() <= localAabbMax.getX());
-		//b3Assert(localAabbMin.getY() <= localAabbMax.getY());
-		//b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
-		b3Vector3 localHalfExtents = b3Scalar(0.5)*(localAabbMax-localAabbMin);
-		localHalfExtents+=b3MakeVector3(margin,margin,margin);
-
-		b3Vector3 localCenter = b3Scalar(0.5)*(localAabbMax+localAabbMin);
-		b3Matrix3x3 abs_b = trans.getBasis().absolute();  
-		b3Vector3 center = trans(localCenter);
-        b3Vector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
-		aabbMinOut = center-extent;
-		aabbMaxOut = center+extent;
+	//b3Assert(localAabbMin.getX() <= localAabbMax.getX());
+	//b3Assert(localAabbMin.getY() <= localAabbMax.getY());
+	//b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
+	b3Vector3 localHalfExtents = b3Scalar(0.5) * (localAabbMax - localAabbMin);
+	localHalfExtents += b3MakeVector3(margin, margin, margin);
+
+	b3Vector3 localCenter = b3Scalar(0.5) * (localAabbMax + localAabbMin);
+	b3Matrix3x3 abs_b = trans.getBasis().absolute();
+	b3Vector3 center = trans(localCenter);
+	b3Vector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	aabbMinOut = center - extent;
+	aabbMaxOut = center + extent;
 }
 
 #define B3_USE_BANCHLESS 1
 #ifdef B3_USE_BANCHLESS
-	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-	B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
-	{		
-		return static_cast<unsigned int>(b3Select((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
-			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
-			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-			1, 0));
-	}
+//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
+B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
+{
+	return static_cast<unsigned int>(b3Select((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+											  1, 0));
+}
 #else
-	B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
-	{
-		bool overlap = true;
-		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-		return overlap;
-	}
-#endif //B3_USE_BANCHLESS
-
-#endif //B3_AABB_UTIL2
-
+B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
+{
+	bool overlap = true;
+	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+	return overlap;
+}
+#endif  //B3_USE_BANCHLESS
 
+#endif  //B3_AABB_UTIL2
diff --git a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp
index 18835c38d5..b37652456e 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp
+++ b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp
@@ -20,850 +20,851 @@ subject to the following restrictions:
 #include "Bullet3Common/b3Vector3.h"
 
 #ifdef __GNUC__
-	#include <stdint.h>
-	typedef int32_t btInt32_t;
-	typedef int64_t btInt64_t;
-	typedef uint32_t btUint32_t;
-	typedef uint64_t btUint64_t;
+#include <stdint.h>
+typedef int32_t btInt32_t;
+typedef int64_t btInt64_t;
+typedef uint32_t btUint32_t;
+typedef uint64_t btUint64_t;
 #elif defined(_MSC_VER)
-	typedef __int32 btInt32_t;
-	typedef __int64 btInt64_t;
-	typedef unsigned __int32 btUint32_t;
-	typedef unsigned __int64 btUint64_t;
+typedef __int32 btInt32_t;
+typedef __int64 btInt64_t;
+typedef unsigned __int32 btUint32_t;
+typedef unsigned __int64 btUint64_t;
 #else
-	typedef int btInt32_t;
-	typedef long long int btInt64_t;
-	typedef unsigned int btUint32_t;
-	typedef unsigned long long int btUint64_t;
+typedef int btInt32_t;
+typedef long long int btInt64_t;
+typedef unsigned int btUint32_t;
+typedef unsigned long long int btUint64_t;
 #endif
 
-
 //The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines
 //#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL))  // || (defined(__ICL) && defined(_M_X64))   bug in Intel compiler, disable inline assembly
 //	#define USE_X86_64_ASM
 //#endif
 
-
 //#define DEBUG_CONVEX_HULL
 //#define SHOW_ITERATIONS
 
 #if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS)
-	#include <stdio.h>
+#include <stdio.h>
 #endif
 
 // Convex hull implementation based on Preparata and Hong
 // Ole Kniemeyer, MAXON Computer GmbH
 class b3ConvexHullInternal
 {
+public:
+	class Point64
+	{
 	public:
-		
-		class Point64
-		{
-			public:
-				btInt64_t x;
-				btInt64_t y;
-				btInt64_t z;
-				
-				Point64(btInt64_t x, btInt64_t y, btInt64_t z): x(x), y(y), z(z)
-				{
-				}
+		btInt64_t x;
+		btInt64_t y;
+		btInt64_t z;
 
-				bool isZero()
-				{
-					return (x == 0) && (y == 0) && (z == 0);
-				}
+		Point64(btInt64_t x, btInt64_t y, btInt64_t z) : x(x), y(y), z(z)
+		{
+		}
 
-				btInt64_t dot(const Point64& b) const
-				{
-					return x * b.x + y * b.y + z * b.z;
-				}
-		};
-		
-		class Point32
-		{
-			public:
-				btInt32_t x;
-				btInt32_t y;
-				btInt32_t z;
-				int index;
-				
-				Point32()
-				{
-				}
-				
-				Point32(btInt32_t x, btInt32_t y, btInt32_t z): x(x), y(y), z(z), index(-1)
-				{
-				}
-				
-				bool operator==(const Point32& b) const
-				{
-					return (x == b.x) && (y == b.y) && (z == b.z);
-				}
+		bool isZero()
+		{
+			return (x == 0) && (y == 0) && (z == 0);
+		}
 
-				bool operator!=(const Point32& b) const
-				{
-					return (x != b.x) || (y != b.y) || (z != b.z);
-				}
+		btInt64_t dot(const Point64& b) const
+		{
+			return x * b.x + y * b.y + z * b.z;
+		}
+	};
 
-				bool isZero()
-				{
-					return (x == 0) && (y == 0) && (z == 0);
-				}
+	class Point32
+	{
+	public:
+		btInt32_t x;
+		btInt32_t y;
+		btInt32_t z;
+		int index;
 
-				Point64 cross(const Point32& b) const
-				{
-					return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-				}
+		Point32()
+		{
+		}
 
-				Point64 cross(const Point64& b) const
-				{
-					return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-				}
+		Point32(btInt32_t x, btInt32_t y, btInt32_t z) : x(x), y(y), z(z), index(-1)
+		{
+		}
 
-				btInt64_t dot(const Point32& b) const
-				{
-					return x * b.x + y * b.y + z * b.z;
-				}
+		bool operator==(const Point32& b) const
+		{
+			return (x == b.x) && (y == b.y) && (z == b.z);
+		}
 
-				btInt64_t dot(const Point64& b) const
-				{
-					return x * b.x + y * b.y + z * b.z;
-				}
+		bool operator!=(const Point32& b) const
+		{
+			return (x != b.x) || (y != b.y) || (z != b.z);
+		}
 
-				Point32 operator+(const Point32& b) const
-				{
-					return Point32(x + b.x, y + b.y, z + b.z);
-				}
+		bool isZero()
+		{
+			return (x == 0) && (y == 0) && (z == 0);
+		}
 
-				Point32 operator-(const Point32& b) const
-				{
-					return Point32(x - b.x, y - b.y, z - b.z);
-				}
-		};
+		Point64 cross(const Point32& b) const
+		{
+			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
+		}
 
-		class Int128
+		Point64 cross(const Point64& b) const
 		{
-			public:
-				btUint64_t low;
-				btUint64_t high;
+			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
+		}
 
-				Int128()
-				{
-				}
+		btInt64_t dot(const Point32& b) const
+		{
+			return x * b.x + y * b.y + z * b.z;
+		}
 
-				Int128(btUint64_t low, btUint64_t high): low(low), high(high)
-				{
-				}
+		btInt64_t dot(const Point64& b) const
+		{
+			return x * b.x + y * b.y + z * b.z;
+		}
 
-				Int128(btUint64_t low): low(low), high(0)
-				{
-				}
+		Point32 operator+(const Point32& b) const
+		{
+			return Point32(x + b.x, y + b.y, z + b.z);
+		}
 
-				Int128(btInt64_t value): low(value), high((value >= 0) ? 0 : (btUint64_t) -1LL)
-				{
-				}
+		Point32 operator-(const Point32& b) const
+		{
+			return Point32(x - b.x, y - b.y, z - b.z);
+		}
+	};
 
-				static Int128 mul(btInt64_t a, btInt64_t b);
+	class Int128
+	{
+	public:
+		btUint64_t low;
+		btUint64_t high;
 
-				static Int128 mul(btUint64_t a, btUint64_t b);
+		Int128()
+		{
+		}
 
-				Int128 operator-() const
-				{
-					return Int128((btUint64_t) -(btInt64_t)low, ~high + (low == 0));
-				}
+		Int128(btUint64_t low, btUint64_t high) : low(low), high(high)
+		{
+		}
 
-				Int128 operator+(const Int128& b) const
-				{
+		Int128(btUint64_t low) : low(low), high(0)
+		{
+		}
+
+		Int128(btInt64_t value) : low(value), high((value >= 0) ? 0 : (btUint64_t)-1LL)
+		{
+		}
+
+		static Int128 mul(btInt64_t a, btInt64_t b);
+
+		static Int128 mul(btUint64_t a, btUint64_t b);
+
+		Int128 operator-() const
+		{
+			return Int128((btUint64_t) - (btInt64_t)low, ~high + (low == 0));
+		}
+
+		Int128 operator+(const Int128& b) const
+		{
 #ifdef USE_X86_64_ASM
-					Int128 result;
-					__asm__ ("addq %[bl], %[rl]\n\t"
-									 "adcq %[bh], %[rh]\n\t"
-									 : [rl] "=r" (result.low), [rh] "=r" (result.high)
-									 : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-									 : "cc" );
-					return result;
+			Int128 result;
+			__asm__(
+				"addq %[bl], %[rl]\n\t"
+				"adcq %[bh], %[rh]\n\t"
+				: [rl] "=r"(result.low), [rh] "=r"(result.high)
+				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
+				: "cc");
+			return result;
 #else
-					btUint64_t lo = low + b.low;
-					return Int128(lo, high + b.high + (lo < low));
+			btUint64_t lo = low + b.low;
+			return Int128(lo, high + b.high + (lo < low));
 #endif
-				}
+		}
 
-				Int128 operator-(const Int128& b) const
-				{
+		Int128 operator-(const Int128& b) const
+		{
 #ifdef USE_X86_64_ASM
-					Int128 result;
-					__asm__ ("subq %[bl], %[rl]\n\t"
-									 "sbbq %[bh], %[rh]\n\t"
-									 : [rl] "=r" (result.low), [rh] "=r" (result.high)
-									 : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-									 : "cc" );
-					return result;
+			Int128 result;
+			__asm__(
+				"subq %[bl], %[rl]\n\t"
+				"sbbq %[bh], %[rh]\n\t"
+				: [rl] "=r"(result.low), [rh] "=r"(result.high)
+				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
+				: "cc");
+			return result;
 #else
-					return *this + -b;
+			return *this + -b;
 #endif
-				}
+		}
 
-				Int128& operator+=(const Int128& b)
-				{
+		Int128& operator+=(const Int128& b)
+		{
 #ifdef USE_X86_64_ASM
-					__asm__ ("addq %[bl], %[rl]\n\t"
-									 "adcq %[bh], %[rh]\n\t"
-									 : [rl] "=r" (low), [rh] "=r" (high)
-									 : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-									 : "cc" );
+			__asm__(
+				"addq %[bl], %[rl]\n\t"
+				"adcq %[bh], %[rh]\n\t"
+				: [rl] "=r"(low), [rh] "=r"(high)
+				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
+				: "cc");
 #else
-					btUint64_t lo = low + b.low;
-					if (lo < low)
-					{
-						++high;
-					}
-					low = lo;
-					high += b.high;
+			btUint64_t lo = low + b.low;
+			if (lo < low)
+			{
+				++high;
+			}
+			low = lo;
+			high += b.high;
 #endif
-					return *this;
-				}
+			return *this;
+		}
 
-				Int128& operator++()
-				{
-					if (++low == 0)
-					{
-						++high;
-					}
-					return *this;
-				}
+		Int128& operator++()
+		{
+			if (++low == 0)
+			{
+				++high;
+			}
+			return *this;
+		}
 
-				Int128 operator*(btInt64_t b) const;
+		Int128 operator*(btInt64_t b) const;
 
-				b3Scalar toScalar() const
-				{
-					return ((btInt64_t) high >= 0) ? b3Scalar(high) * (b3Scalar(0x100000000LL) * b3Scalar(0x100000000LL)) + b3Scalar(low)
-						: -(-*this).toScalar();
-				}
+		b3Scalar toScalar() const
+		{
+			return ((btInt64_t)high >= 0) ? b3Scalar(high) * (b3Scalar(0x100000000LL) * b3Scalar(0x100000000LL)) + b3Scalar(low)
+										  : -(-*this).toScalar();
+		}
 
-				int getSign() const
-				{
-					return ((btInt64_t) high < 0) ? -1 : (high || low) ? 1 : 0;
-				}
+		int getSign() const
+		{
+			return ((btInt64_t)high < 0) ? -1 : (high || low) ? 1 : 0;
+		}
 
-				bool operator<(const Int128& b) const
-				{
-					return (high < b.high) || ((high == b.high) && (low < b.low));
-				}
+		bool operator<(const Int128& b) const
+		{
+			return (high < b.high) || ((high == b.high) && (low < b.low));
+		}
 
-				int ucmp(const Int128&b) const
-				{
-					if (high < b.high)
-					{
-						return -1;
-					}
-					if (high > b.high)
-					{
-						return 1;
-					}
-					if (low < b.low)
-					{
-						return -1;
-					}
-					if (low > b.low)
-					{
-						return 1;
-					}
-					return 0;
-				}
-		};
+		int ucmp(const Int128& b) const
+		{
+			if (high < b.high)
+			{
+				return -1;
+			}
+			if (high > b.high)
+			{
+				return 1;
+			}
+			if (low < b.low)
+			{
+				return -1;
+			}
+			if (low > b.low)
+			{
+				return 1;
+			}
+			return 0;
+		}
+	};
 
+	class Rational64
+	{
+	private:
+		btUint64_t m_numerator;
+		btUint64_t m_denominator;
+		int sign;
 
-		class Rational64
+	public:
+		Rational64(btInt64_t numerator, btInt64_t denominator)
 		{
-			private:
-				btUint64_t m_numerator;
-				btUint64_t m_denominator;
-				int sign;
-				
-			public:
-				Rational64(btInt64_t numerator, btInt64_t denominator)
-				{
-					if (numerator > 0)
-					{
-						sign = 1;
-						m_numerator = (btUint64_t) numerator;
-					}
-					else if (numerator < 0)
-					{
-						sign = -1;
-						m_numerator = (btUint64_t) -numerator;
-					}
-					else
-					{
-						sign = 0;
-						m_numerator = 0;
-					}
-					if (denominator > 0)
-					{
-						m_denominator = (btUint64_t) denominator;
-					}
-					else if (denominator < 0)
-					{
-						sign = -sign;
-						m_denominator = (btUint64_t) -denominator;
-					}
-					else
-					{
-						m_denominator = 0;
-					}
-				}
-				
-				bool isNegativeInfinity() const
-				{
-					return (sign < 0) && (m_denominator == 0);
-				}
-				
-				bool isNaN() const
-				{
-					return (sign == 0) && (m_denominator == 0);
-				}
-				
-				int compare(const Rational64& b) const;
-				
-				b3Scalar toScalar() const
-				{
-					return sign * ((m_denominator == 0) ? B3_INFINITY : (b3Scalar) m_numerator / m_denominator);
-				}
-		};
-
+			if (numerator > 0)
+			{
+				sign = 1;
+				m_numerator = (btUint64_t)numerator;
+			}
+			else if (numerator < 0)
+			{
+				sign = -1;
+				m_numerator = (btUint64_t)-numerator;
+			}
+			else
+			{
+				sign = 0;
+				m_numerator = 0;
+			}
+			if (denominator > 0)
+			{
+				m_denominator = (btUint64_t)denominator;
+			}
+			else if (denominator < 0)
+			{
+				sign = -sign;
+				m_denominator = (btUint64_t)-denominator;
+			}
+			else
+			{
+				m_denominator = 0;
+			}
+		}
 
-		class Rational128
+		bool isNegativeInfinity() const
 		{
-			private:
-				Int128 numerator;
-				Int128 denominator;
-				int sign;
-				bool isInt64;
+			return (sign < 0) && (m_denominator == 0);
+		}
 
-			public:
-				Rational128(btInt64_t value)
-				{
-					if (value > 0)
-					{
-						sign = 1;
-						this->numerator = value;
-					}
-					else if (value < 0)
-					{
-						sign = -1;
-						this->numerator = -value;
-					}
-					else
-					{
-						sign = 0;
-						this->numerator = (btUint64_t) 0;
-					}
-					this->denominator = (btUint64_t) 1;
-					isInt64 = true;
-				}
+		bool isNaN() const
+		{
+			return (sign == 0) && (m_denominator == 0);
+		}
 
-				Rational128(const Int128& numerator, const Int128& denominator)
-				{
-					sign = numerator.getSign();
-					if (sign >= 0)
-					{
-						this->numerator = numerator;
-					}
-					else
-					{
-						this->numerator = -numerator;
-					}
-					int dsign = denominator.getSign();
-					if (dsign >= 0)
-					{
-						this->denominator = denominator;
-					}
-					else
-					{
-						sign = -sign;
-						this->denominator = -denominator;
-					}
-					isInt64 = false;
-				}
+		int compare(const Rational64& b) const;
 
-				int compare(const Rational128& b) const;
+		b3Scalar toScalar() const
+		{
+			return sign * ((m_denominator == 0) ? B3_INFINITY : (b3Scalar)m_numerator / m_denominator);
+		}
+	};
 
-				int compare(btInt64_t b) const;
+	class Rational128
+	{
+	private:
+		Int128 numerator;
+		Int128 denominator;
+		int sign;
+		bool isInt64;
 
-				b3Scalar toScalar() const
-				{
-					return sign * ((denominator.getSign() == 0) ? B3_INFINITY : numerator.toScalar() / denominator.toScalar());
-				}
-		};
+	public:
+		Rational128(btInt64_t value)
+		{
+			if (value > 0)
+			{
+				sign = 1;
+				this->numerator = value;
+			}
+			else if (value < 0)
+			{
+				sign = -1;
+				this->numerator = -value;
+			}
+			else
+			{
+				sign = 0;
+				this->numerator = (btUint64_t)0;
+			}
+			this->denominator = (btUint64_t)1;
+			isInt64 = true;
+		}
 
-		class PointR128
+		Rational128(const Int128& numerator, const Int128& denominator)
 		{
-			public:
-				Int128 x;
-				Int128 y;
-				Int128 z;
-				Int128 denominator;
+			sign = numerator.getSign();
+			if (sign >= 0)
+			{
+				this->numerator = numerator;
+			}
+			else
+			{
+				this->numerator = -numerator;
+			}
+			int dsign = denominator.getSign();
+			if (dsign >= 0)
+			{
+				this->denominator = denominator;
+			}
+			else
+			{
+				sign = -sign;
+				this->denominator = -denominator;
+			}
+			isInt64 = false;
+		}
 
-				PointR128()
-				{
-				}
+		int compare(const Rational128& b) const;
 
-				PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator): x(x), y(y), z(z), denominator(denominator)
-				{
-				}
+		int compare(btInt64_t b) const;
 
-				b3Scalar xvalue() const
-				{
-					return x.toScalar() / denominator.toScalar();
-				}
+		b3Scalar toScalar() const
+		{
+			return sign * ((denominator.getSign() == 0) ? B3_INFINITY : numerator.toScalar() / denominator.toScalar());
+		}
+	};
 
-				b3Scalar yvalue() const
-				{
-					return y.toScalar() / denominator.toScalar();
-				}
+	class PointR128
+	{
+	public:
+		Int128 x;
+		Int128 y;
+		Int128 z;
+		Int128 denominator;
 
-				b3Scalar zvalue() const
-				{
-					return z.toScalar() / denominator.toScalar();
-				}
-		};
+		PointR128()
+		{
+		}
 
+		PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) : x(x), y(y), z(z), denominator(denominator)
+		{
+		}
 
-		class Edge;
-		class Face;
+		b3Scalar xvalue() const
+		{
+			return x.toScalar() / denominator.toScalar();
+		}
 
-		class Vertex
+		b3Scalar yvalue() const
 		{
-			public:
-				Vertex* next;
-				Vertex* prev;
-				Edge* edges;
-				Face* firstNearbyFace;
-				Face* lastNearbyFace;
-				PointR128 point128;
-				Point32 point;
-				int copy;
-				
-				Vertex(): next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
-				{
-				}
+			return y.toScalar() / denominator.toScalar();
+		}
 
-#ifdef DEBUG_CONVEX_HULL
-				void print()
-				{
-					b3Printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
-				}
+		b3Scalar zvalue() const
+		{
+			return z.toScalar() / denominator.toScalar();
+		}
+	};
 
-				void printGraph();
-#endif
+	class Edge;
+	class Face;
 
-				Point32 operator-(const Vertex& b) const
-				{
-					return point - b.point;
-				}
+	class Vertex
+	{
+	public:
+		Vertex* next;
+		Vertex* prev;
+		Edge* edges;
+		Face* firstNearbyFace;
+		Face* lastNearbyFace;
+		PointR128 point128;
+		Point32 point;
+		int copy;
 
-				Rational128 dot(const Point64& b) const
-				{
-					return (point.index >= 0) ? Rational128(point.dot(b))
-						: Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
-				}
+		Vertex() : next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
+		{
+		}
 
-				b3Scalar xvalue() const
-				{
-					return (point.index >= 0) ? b3Scalar(point.x) : point128.xvalue();
-				}
+#ifdef DEBUG_CONVEX_HULL
+		void print()
+		{
+			b3Printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
+		}
 
-				b3Scalar yvalue() const
-				{
-					return (point.index >= 0) ? b3Scalar(point.y) : point128.yvalue();
-				}
+		void printGraph();
+#endif
 
-				b3Scalar zvalue() const
-				{
-					return (point.index >= 0) ? b3Scalar(point.z) : point128.zvalue();
-				}
+		Point32 operator-(const Vertex& b) const
+		{
+			return point - b.point;
+		}
 
-				void receiveNearbyFaces(Vertex* src)
-				{
-					if (lastNearbyFace)
-					{
-						lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
-					}
-					else
-					{
-						firstNearbyFace = src->firstNearbyFace;
-					}
-					if (src->lastNearbyFace)
-					{
-						lastNearbyFace = src->lastNearbyFace;
-					}
-					for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
-					{
-						b3Assert(f->nearbyVertex == src);
-						f->nearbyVertex = this;
-					}
-					src->firstNearbyFace = NULL;
-					src->lastNearbyFace = NULL;
-				}
-		};
+		Rational128 dot(const Point64& b) const
+		{
+			return (point.index >= 0) ? Rational128(point.dot(b))
+									  : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
+		}
 
+		b3Scalar xvalue() const
+		{
+			return (point.index >= 0) ? b3Scalar(point.x) : point128.xvalue();
+		}
 
-		class Edge
+		b3Scalar yvalue() const
 		{
-			public:
-				Edge* next;
-				Edge* prev;
-				Edge* reverse;
-				Vertex* target;
-				Face* face;
-				int copy;
+			return (point.index >= 0) ? b3Scalar(point.y) : point128.yvalue();
+		}
 
-				~Edge()
-				{
-					next = NULL;
-					prev = NULL;
-					reverse = NULL;
-					target = NULL;
-					face = NULL;
-				}
+		b3Scalar zvalue() const
+		{
+			return (point.index >= 0) ? b3Scalar(point.z) : point128.zvalue();
+		}
 
-				void link(Edge* n)
-				{
-					b3Assert(reverse->target == n->reverse->target);
-					next = n;
-					n->prev = this;
-				}
+		void receiveNearbyFaces(Vertex* src)
+		{
+			if (lastNearbyFace)
+			{
+				lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
+			}
+			else
+			{
+				firstNearbyFace = src->firstNearbyFace;
+			}
+			if (src->lastNearbyFace)
+			{
+				lastNearbyFace = src->lastNearbyFace;
+			}
+			for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
+			{
+				b3Assert(f->nearbyVertex == src);
+				f->nearbyVertex = this;
+			}
+			src->firstNearbyFace = NULL;
+			src->lastNearbyFace = NULL;
+		}
+	};
 
-#ifdef DEBUG_CONVEX_HULL
-				void print()
-				{
-					b3Printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
-								 reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
-				}
-#endif
-		};
+	class Edge
+	{
+	public:
+		Edge* next;
+		Edge* prev;
+		Edge* reverse;
+		Vertex* target;
+		Face* face;
+		int copy;
+
+		~Edge()
+		{
+			next = NULL;
+			prev = NULL;
+			reverse = NULL;
+			target = NULL;
+			face = NULL;
+		}
 
-		class Face
+		void link(Edge* n)
 		{
-			public:
-				Face* next;
-				Vertex* nearbyVertex;
-				Face* nextWithSameNearbyVertex;
-				Point32 origin;
-				Point32 dir0;
-				Point32 dir1;
+			b3Assert(reverse->target == n->reverse->target);
+			next = n;
+			n->prev = this;
+		}
 
-				Face(): next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
-				{
-				}
+#ifdef DEBUG_CONVEX_HULL
+		void print()
+		{
+			b3Printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
+					 reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
+		}
+#endif
+	};
 
-				void init(Vertex* a, Vertex* b, Vertex* c)
-				{
-					nearbyVertex = a;
-					origin = a->point;
-					dir0 = *b - *a;
-					dir1 = *c - *a;
-					if (a->lastNearbyFace)
-					{
-						a->lastNearbyFace->nextWithSameNearbyVertex = this;
-					}
-					else
-					{
-						a->firstNearbyFace = this;
-					}
-					a->lastNearbyFace = this;
-				}
+	class Face
+	{
+	public:
+		Face* next;
+		Vertex* nearbyVertex;
+		Face* nextWithSameNearbyVertex;
+		Point32 origin;
+		Point32 dir0;
+		Point32 dir1;
 
-				Point64 getNormal()
-				{
-					return dir0.cross(dir1);
-				}
-		};
+		Face() : next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
+		{
+		}
 
-		template<typename UWord, typename UHWord> class DMul
+		void init(Vertex* a, Vertex* b, Vertex* c)
 		{
-			private:
-				static btUint32_t high(btUint64_t value)
-				{
-					return (btUint32_t) (value >> 32);
-				}
-				
-				static btUint32_t low(btUint64_t value)
-				{
-					return (btUint32_t) value;
-				}
-				
-				static btUint64_t mul(btUint32_t a, btUint32_t b)
-				{
-					return (btUint64_t) a * (btUint64_t) b;
-				}
-				
-				static void shlHalf(btUint64_t& value)
-				{
-					value <<= 32;
-				}
-				
-				static btUint64_t high(Int128 value)
-				{
-					return value.high;
-				}
-				
-				static btUint64_t low(Int128 value)
-				{
-					return value.low;
-				}
-				
-				static Int128 mul(btUint64_t a, btUint64_t b)
-				{
-					return Int128::mul(a, b);
-				}
-				
-				static void shlHalf(Int128& value)
-				{
-					value.high = value.low;
-					value.low = 0;
-				}
-				
-			public:
-				
-				static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
-				{
-					UWord p00 = mul(low(a), low(b));
-					UWord p01 = mul(low(a), high(b));
-					UWord p10 = mul(high(a), low(b));
-					UWord p11 = mul(high(a), high(b));
-					UWord p0110 = UWord(low(p01)) + UWord(low(p10));
-					p11 += high(p01);
-					p11 += high(p10);
-					p11 += high(p0110);
-					shlHalf(p0110);
-					p00 += p0110;
-					if (p00 < p0110)
-					{
-						++p11;
-					}
-					resLow = p00;
-					resHigh = p11;
-				}
-		};
-	
-	private:
+			nearbyVertex = a;
+			origin = a->point;
+			dir0 = *b - *a;
+			dir1 = *c - *a;
+			if (a->lastNearbyFace)
+			{
+				a->lastNearbyFace->nextWithSameNearbyVertex = this;
+			}
+			else
+			{
+				a->firstNearbyFace = this;
+			}
+			a->lastNearbyFace = this;
+		}
 
-		class IntermediateHull
+		Point64 getNormal()
 		{
-			public:
-				Vertex* minXy;
-				Vertex* maxXy;
-				Vertex* minYx;
-				Vertex* maxYx;
-				
-				IntermediateHull(): minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
-				{
-				}
-				
-				void print();
-		};
-	
-		enum Orientation {NONE, CLOCKWISE, COUNTER_CLOCKWISE};
+			return dir0.cross(dir1);
+		}
+	};
 
-		template <typename T> class PoolArray
+	template <typename UWord, typename UHWord>
+	class DMul
+	{
+	private:
+		static btUint32_t high(btUint64_t value)
 		{
-			private:
-				T* array;
-				int size;
+			return (btUint32_t)(value >> 32);
+		}
 
-			public:
-				PoolArray<T>* next;
+		static btUint32_t low(btUint64_t value)
+		{
+			return (btUint32_t)value;
+		}
 
-				PoolArray(int size): size(size), next(NULL)
-				{
-					array = (T*) b3AlignedAlloc(sizeof(T) * size, 16);
-				}
+		static btUint64_t mul(btUint32_t a, btUint32_t b)
+		{
+			return (btUint64_t)a * (btUint64_t)b;
+		}
 
-				~PoolArray()
-				{
-					b3AlignedFree(array);
-				}
+		static void shlHalf(btUint64_t& value)
+		{
+			value <<= 32;
+		}
 
-				T* init()
-				{
-					T* o = array;
-					for (int i = 0; i < size; i++, o++)
-					{
-						o->next = (i+1 < size) ? o + 1 : NULL;
-					}
-					return array;
-				}
-		};
+		static btUint64_t high(Int128 value)
+		{
+			return value.high;
+		}
 
-		template <typename T> class Pool
+		static btUint64_t low(Int128 value)
 		{
-			private:
-				PoolArray<T>* arrays;
-				PoolArray<T>* nextArray;
-				T* freeObjects;
-				int arraySize;
+			return value.low;
+		}
 
-			public:
-				Pool(): arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
-				{
-				}
+		static Int128 mul(btUint64_t a, btUint64_t b)
+		{
+			return Int128::mul(a, b);
+		}
 
-				~Pool()
-				{
-					while (arrays)
-					{
-						PoolArray<T>* p = arrays;
-						arrays = p->next;
-						p->~PoolArray<T>();
-						b3AlignedFree(p);
-					}
-				}
+		static void shlHalf(Int128& value)
+		{
+			value.high = value.low;
+			value.low = 0;
+		}
 
-				void reset()
-				{
-					nextArray = arrays;
-					freeObjects = NULL;
-				}
+	public:
+		static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
+		{
+			UWord p00 = mul(low(a), low(b));
+			UWord p01 = mul(low(a), high(b));
+			UWord p10 = mul(high(a), low(b));
+			UWord p11 = mul(high(a), high(b));
+			UWord p0110 = UWord(low(p01)) + UWord(low(p10));
+			p11 += high(p01);
+			p11 += high(p10);
+			p11 += high(p0110);
+			shlHalf(p0110);
+			p00 += p0110;
+			if (p00 < p0110)
+			{
+				++p11;
+			}
+			resLow = p00;
+			resHigh = p11;
+		}
+	};
 
-				void setArraySize(int arraySize)
-				{
-					this->arraySize = arraySize;
-				}
+private:
+	class IntermediateHull
+	{
+	public:
+		Vertex* minXy;
+		Vertex* maxXy;
+		Vertex* minYx;
+		Vertex* maxYx;
 
-				T* newObject()
-				{
-					T* o = freeObjects;
-					if (!o)
-					{
-						PoolArray<T>* p = nextArray;
-						if (p)
-						{
-							nextArray = p->next;
-						}
-						else
-						{
-							p = new(b3AlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
-							p->next = arrays;
-							arrays = p;
-						}
-						o = p->init();
-					}
-					freeObjects = o->next;
-					return new(o) T();
-				};
+		IntermediateHull() : minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
+		{
+		}
 
-				void freeObject(T* object)
-				{
-					object->~T();
-					object->next = freeObjects;
-					freeObjects = object;
-				}
-		};
+		void print();
+	};
 
-		b3Vector3 scaling;
-		b3Vector3 center;
-		Pool<Vertex> vertexPool;
-		Pool<Edge> edgePool;
-		Pool<Face> facePool;
-		b3AlignedObjectArray<Vertex*> originalVertices;
-		int mergeStamp;
-		int minAxis;
-		int medAxis;
-		int maxAxis;
-		int usedEdgePairs;
-		int maxUsedEdgePairs;
+	enum Orientation
+	{
+		NONE,
+		CLOCKWISE,
+		COUNTER_CLOCKWISE
+	};
 
-		static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
-		Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
-		void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
+	template <typename T>
+	class PoolArray
+	{
+	private:
+		T* array;
+		int size;
 
-		Edge* newEdgePair(Vertex* from, Vertex* to);
+	public:
+		PoolArray<T>* next;
 
-		void removeEdgePair(Edge* edge)
+		PoolArray(int size) : size(size), next(NULL)
 		{
-			Edge* n = edge->next;
-			Edge* r = edge->reverse;
+			array = (T*)b3AlignedAlloc(sizeof(T) * size, 16);
+		}
 
-			b3Assert(edge->target && r->target);
+		~PoolArray()
+		{
+			b3AlignedFree(array);
+		}
 
-			if (n != edge)
-			{
-				n->prev = edge->prev;
-				edge->prev->next = n;
-				r->target->edges = n;
-			}
-			else
+		T* init()
+		{
+			T* o = array;
+			for (int i = 0; i < size; i++, o++)
 			{
-				r->target->edges = NULL;
+				o->next = (i + 1 < size) ? o + 1 : NULL;
 			}
-			
-			n = r->next;
-			
-			if (n != r)
+			return array;
+		}
+	};
+
+	template <typename T>
+	class Pool
+	{
+	private:
+		PoolArray<T>* arrays;
+		PoolArray<T>* nextArray;
+		T* freeObjects;
+		int arraySize;
+
+	public:
+		Pool() : arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
+		{
+		}
+
+		~Pool()
+		{
+			while (arrays)
 			{
-				n->prev = r->prev;
-				r->prev->next = n;
-				edge->target->edges = n;
+				PoolArray<T>* p = arrays;
+				arrays = p->next;
+				p->~PoolArray<T>();
+				b3AlignedFree(p);
 			}
-			else
+		}
+
+		void reset()
+		{
+			nextArray = arrays;
+			freeObjects = NULL;
+		}
+
+		void setArraySize(int arraySize)
+		{
+			this->arraySize = arraySize;
+		}
+
+		T* newObject()
+		{
+			T* o = freeObjects;
+			if (!o)
 			{
-				edge->target->edges = NULL;
+				PoolArray<T>* p = nextArray;
+				if (p)
+				{
+					nextArray = p->next;
+				}
+				else
+				{
+					p = new (b3AlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
+					p->next = arrays;
+					arrays = p;
+				}
+				o = p->init();
 			}
+			freeObjects = o->next;
+			return new (o) T();
+		};
 
-			edgePool.freeObject(edge);
-			edgePool.freeObject(r);
-			usedEdgePairs--;
+		void freeObject(T* object)
+		{
+			object->~T();
+			object->next = freeObjects;
+			freeObjects = object;
 		}
-		
-		void computeInternal(int start, int end, IntermediateHull& result);
-		
-		bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
-		
-		void merge(IntermediateHull& h0, IntermediateHull& h1);
+	};
 
-		b3Vector3 toBtVector(const Point32& v);
+	b3Vector3 scaling;
+	b3Vector3 center;
+	Pool<Vertex> vertexPool;
+	Pool<Edge> edgePool;
+	Pool<Face> facePool;
+	b3AlignedObjectArray<Vertex*> originalVertices;
+	int mergeStamp;
+	int minAxis;
+	int medAxis;
+	int maxAxis;
+	int usedEdgePairs;
+	int maxUsedEdgePairs;
 
-		b3Vector3 getBtNormal(Face* face);
+	static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
+	Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
+	void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
 
-		bool shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack);
+	Edge* newEdgePair(Vertex* from, Vertex* to);
 
-	public:
-		Vertex* vertexList;
+	void removeEdgePair(Edge* edge)
+	{
+		Edge* n = edge->next;
+		Edge* r = edge->reverse;
 
-		void compute(const void* coords, bool doubleCoords, int stride, int count);
+		b3Assert(edge->target && r->target);
 
-		b3Vector3 getCoordinates(const Vertex* v);
+		if (n != edge)
+		{
+			n->prev = edge->prev;
+			edge->prev->next = n;
+			r->target->edges = n;
+		}
+		else
+		{
+			r->target->edges = NULL;
+		}
 
-		b3Scalar shrink(b3Scalar amount, b3Scalar clampAmount);
-};
+		n = r->next;
+
+		if (n != r)
+		{
+			n->prev = r->prev;
+			r->prev->next = n;
+			edge->target->edges = n;
+		}
+		else
+		{
+			edge->target->edges = NULL;
+		}
+
+		edgePool.freeObject(edge);
+		edgePool.freeObject(r);
+		usedEdgePairs--;
+	}
+
+	void computeInternal(int start, int end, IntermediateHull& result);
+
+	bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
+
+	void merge(IntermediateHull& h0, IntermediateHull& h1);
 
+	b3Vector3 toBtVector(const Point32& v);
+
+	b3Vector3 getBtNormal(Face* face);
+
+	bool shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack);
+
+public:
+	Vertex* vertexList;
+
+	void compute(const void* coords, bool doubleCoords, int stride, int count);
+
+	b3Vector3 getCoordinates(const Vertex* v);
+
+	b3Scalar shrink(b3Scalar amount, b3Scalar clampAmount);
+};
 
 b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::operator*(btInt64_t b) const
 {
-	bool negative = (btInt64_t) high < 0;
+	bool negative = (btInt64_t)high < 0;
 	Int128 a = negative ? -*this : *this;
 	if (b < 0)
 	{
 		negative = !negative;
 		b = -b;
 	}
-	Int128 result = mul(a.low, (btUint64_t) b);
-	result.high += a.high * (btUint64_t) b;
+	Int128 result = mul(a.low, (btUint64_t)b);
+	result.high += a.high * (btUint64_t)b;
 	return negative ? -result : result;
 }
 
 b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btInt64_t a, btInt64_t b)
 {
 	Int128 result;
-	
+
 #ifdef USE_X86_64_ASM
-	__asm__ ("imulq %[b]"
-					 : "=a" (result.low), "=d" (result.high)
-					 : "0"(a), [b] "r"(b)
-					 : "cc" );
+	__asm__("imulq %[b]"
+			: "=a"(result.low), "=d"(result.high)
+			: "0"(a), [b] "r"(b)
+			: "cc");
 	return result;
-	
+
 #else
 	bool negative = a < 0;
 	if (negative)
@@ -875,7 +876,7 @@ b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btInt64_t a, btIn
 		negative = !negative;
 		b = -b;
 	}
-	DMul<btUint64_t, btUint32_t>::mul((btUint64_t) a, (btUint64_t) b, result.low, result.high);
+	DMul<btUint64_t, btUint32_t>::mul((btUint64_t)a, (btUint64_t)b, result.low, result.high);
 	return negative ? -result : result;
 #endif
 }
@@ -885,10 +886,10 @@ b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btUint64_t a, btU
 	Int128 result;
 
 #ifdef USE_X86_64_ASM
-	__asm__ ("mulq %[b]"
-					 : "=a" (result.low), "=d" (result.high)
-					 : "0"(a), [b] "r"(b)
-					 : "cc" );
+	__asm__("mulq %[b]"
+			: "=a"(result.low), "=d"(result.high)
+			: "0"(a), [b] "r"(b)
+			: "cc");
 
 #else
 	DMul<btUint64_t, btUint32_t>::mul(a, b, result.low, result.high);
@@ -915,24 +916,25 @@ int b3ConvexHullInternal::Rational64::compare(const Rational64& b) const
 	int result;
 	btInt64_t tmp;
 	btInt64_t dummy;
-	__asm__ ("mulq %[bn]\n\t"
-					 "movq %%rax, %[tmp]\n\t"
-					 "movq %%rdx, %%rbx\n\t"
-					 "movq %[tn], %%rax\n\t"
-					 "mulq %[bd]\n\t"
-					 "subq %[tmp], %%rax\n\t"
-					 "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
-					 "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise
-					 "orq %%rdx, %%rax\n\t"
-					 "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero
-					 "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
-					 "shll $16, %%ebx\n\t" // ebx has same sign as difference
-					 : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
-					 : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator)
-					 : "%rdx", "cc" );
-	return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
-																// if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
-								: 0;
+	__asm__(
+		"mulq %[bn]\n\t"
+		"movq %%rax, %[tmp]\n\t"
+		"movq %%rdx, %%rbx\n\t"
+		"movq %[tn], %%rax\n\t"
+		"mulq %[bd]\n\t"
+		"subq %[tmp], %%rax\n\t"
+		"sbbq %%rbx, %%rdx\n\t"  // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
+		"setnsb %%bh\n\t"        // bh=1 if difference is non-negative, bh=0 otherwise
+		"orq %%rdx, %%rax\n\t"
+		"setnzb %%bl\n\t"      // bl=1 if difference if non-zero, bl=0 if it is zero
+		"decb %%bh\n\t"        // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
+		"shll $16, %%ebx\n\t"  // ebx has same sign as difference
+		: "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
+		: "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator)
+		: "%rdx", "cc");
+	return result ? result ^ sign  // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
+								   // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
+				  : 0;
 
 #else
 
@@ -953,7 +955,7 @@ int b3ConvexHullInternal::Rational128::compare(const Rational128& b) const
 	}
 	if (isInt64)
 	{
-		return -b.compare(sign * (btInt64_t) numerator.low);
+		return -b.compare(sign * (btInt64_t)numerator.low);
 	}
 
 	Int128 nbdLow, nbdHigh, dbnLow, dbnHigh;
@@ -972,7 +974,7 @@ int b3ConvexHullInternal::Rational128::compare(btInt64_t b) const
 {
 	if (isInt64)
 	{
-		btInt64_t a = sign * (btInt64_t) numerator.low;
+		btInt64_t a = sign * (btInt64_t)numerator.low;
 		return (a > b) ? 1 : (a < b) ? -1 : 0;
 	}
 	if (b > 0)
@@ -998,7 +1000,6 @@ int b3ConvexHullInternal::Rational128::compare(btInt64_t b) const
 	return numerator.ucmp(denominator * b) * sign;
 }
 
-
 b3ConvexHullInternal::Edge* b3ConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
 {
 	b3Assert(from && to);
@@ -1066,7 +1067,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 			}
 		}
 	}
-	
+
 	v0 = h0.maxXy;
 	v1 = h1.maxXy;
 	Vertex* v00 = NULL;
@@ -1074,7 +1075,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 	btInt32_t sign = 1;
 
 	for (int side = 0; side <= 1; side++)
-	{		
+	{
 		btInt32_t dx = (v1->point.x - v0->point.x) * sign;
 		if (dx > 0)
 		{
@@ -1117,7 +1118,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 			while (true)
 			{
 				btInt32_t dy = v1->point.y - v0->point.y;
-				
+
 				Vertex* w1 = side ? v1->prev : v1->next;
 				if (w1 != v1)
 				{
@@ -1130,7 +1131,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 						continue;
 					}
 				}
-				
+
 				Vertex* w0 = side ? v0->prev : v0->next;
 				if (w0 != v0)
 				{
@@ -1144,7 +1145,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 						continue;
 					}
 				}
-				
+
 				break;
 			}
 		}
@@ -1170,7 +1171,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 			}
 			v1 = w1;
 		}
-		
+
 		if (side == 0)
 		{
 			v00 = v0;
@@ -1196,7 +1197,7 @@ bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 	{
 		h0.maxXy = h1.maxXy;
 	}
-	
+
 	h0.maxYx = h1.maxYx;
 
 	c0 = v00;
@@ -1300,7 +1301,7 @@ void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 	}
 
 	int split0 = start + n / 2;
-	Point32 p = originalVertices[split0-1]->point;
+	Point32 p = originalVertices[split0 - 1]->point;
 	int split1 = split0;
 	while ((split1 < end) && (originalVertices[split1]->point == p))
 	{
@@ -1325,7 +1326,7 @@ void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 void b3ConvexHullInternal::IntermediateHull::print()
 {
 	b3Printf("    Hull\n");
-	for (Vertex* v = minXy; v; )
+	for (Vertex* v = minXy; v;)
 	{
 		b3Printf("      ");
 		v->print();
@@ -1353,7 +1354,7 @@ void b3ConvexHullInternal::IntermediateHull::print()
 		}
 	}
 	if (minXy)
-	{		
+	{
 		minXy->copy = (minXy->copy == -1) ? -2 : -1;
 		minXy->printGraph();
 	}
@@ -1429,7 +1430,7 @@ b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const V
 				Point32 t = *e->target - *start;
 				Rational64 cot(t.dot(sxrxs), t.dot(rxs));
 #ifdef DEBUG_CONVEX_HULL
-				b3Printf("      Angle is %f (%d) for ", (float) b3Atan(cot.toScalar()), (int) cot.isNaN());
+				b3Printf("      Angle is %f (%d) for ", (float)b3Atan(cot.toScalar()), (int)cot.isNaN());
 				e->print();
 #endif
 				if (cot.isNaN())
@@ -1476,7 +1477,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 	b3Assert(!start1 || (start1->target->point.dot(normal) == dist));
 	Point64 perp = s.cross(normal);
 	b3Assert(!perp.isZero());
-	
+
 #ifdef DEBUG_CONVEX_HULL
 	b3Printf("   Advancing %d %d  (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
 #endif
@@ -1506,7 +1507,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 			et0 = e->target->point;
 		}
 	}
-	
+
 	btInt64_t maxDot1 = et1.dot(perp);
 	if (e1)
 	{
@@ -1543,7 +1544,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 		while (true)
 		{
 			btInt64_t dy = (et1 - et0).dot(s);
-			
+
 			if (e0 && (e0->target != stop0))
 			{
 				Edge* f0 = e0->next->reverse;
@@ -1560,7 +1561,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 					}
 				}
 			}
-			
+
 			if (e1 && (e1->target != stop1))
 			{
 				Edge* f1 = e1->reverse->next;
@@ -1595,7 +1596,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 		while (true)
 		{
 			btInt64_t dy = (et1 - et0).dot(s);
-			
+
 			if (e1 && (e1->target != stop1))
 			{
 				Edge* f1 = e1->prev->reverse;
@@ -1612,7 +1613,7 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 					}
 				}
 			}
-			
+
 			if (e0 && (e0->target != stop0))
 			{
 				Edge* f0 = e0->reverse->prev;
@@ -1647,7 +1648,6 @@ void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 #endif
 }
 
-
 void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 {
 	if (!h1.maxXy)
@@ -1659,7 +1659,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 		h0 = h1;
 		return;
 	}
-	
+
 	mergeStamp--;
 
 	Vertex* c0 = NULL;
@@ -1699,7 +1699,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 				e = e->next;
 			} while (e != c0->edges);
 		}
-		
+
 		e = c1->edges;
 		Edge* start1 = NULL;
 		if (e)
@@ -1751,7 +1751,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 		Point32 r = prevPoint - c0->point;
 		Point64 rxs = r.cross(s);
 		Point64 sxrxs = s.cross(rxs);
-		
+
 #ifdef DEBUG_CONVEX_HULL
 		b3Printf("\n  Checking %d %d\n", c0->point.index, c1->point.index);
 #endif
@@ -1802,7 +1802,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 				e->prev = pendingTail1;
 				pendingTail1 = e;
 			}
-			
+
 			Edge* e0 = min0;
 			Edge* e1 = min1;
 
@@ -1819,7 +1819,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			{
 				if (toPrev1)
 				{
-					for (Edge* e = toPrev1->next, *n = NULL; e != min1; e = n)
+					for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n)
 					{
 						n = e->next;
 						removeEdgePair(e);
@@ -1855,7 +1855,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			{
 				if (toPrev0)
 				{
-					for (Edge* e = toPrev0->prev, *n = NULL; e != min0; e = n)
+					for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n)
 					{
 						n = e->prev;
 						removeEdgePair(e);
@@ -1897,7 +1897,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			}
 			else
 			{
-				for (Edge* e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
+				for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
 				{
 					n = e->prev;
 					removeEdgePair(e);
@@ -1916,7 +1916,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			}
 			else
 			{
-				for (Edge* e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
+				for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
 				{
 					n = e->next;
 					removeEdgePair(e);
@@ -1927,7 +1927,7 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 					pendingTail1->link(firstNew1);
 				}
 			}
-			
+
 			return;
 		}
 
@@ -1935,7 +1935,6 @@ void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 	}
 }
 
-
 static bool b3PointCmp(const b3ConvexHullInternal::Point32& p, const b3ConvexHullInternal::Point32& q)
 {
 	return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
@@ -1943,14 +1942,14 @@ static bool b3PointCmp(const b3ConvexHullInternal::Point32& p, const b3ConvexHul
 
 void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
 {
-	b3Vector3 min = b3MakeVector3(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)),  max = b3MakeVector3(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30));
-	const char* ptr = (const char*) coords;
+	b3Vector3 min = b3MakeVector3(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)), max = b3MakeVector3(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30));
+	const char* ptr = (const char*)coords;
 	if (doubleCoords)
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const double* v = (const double*) ptr;
-			b3Vector3 p = b3MakeVector3((b3Scalar) v[0], (b3Scalar) v[1], (b3Scalar) v[2]);
+			const double* v = (const double*)ptr;
+			b3Vector3 p = b3MakeVector3((b3Scalar)v[0], (b3Scalar)v[1], (b3Scalar)v[2]);
 			ptr += stride;
 			min.setMin(p);
 			max.setMax(p);
@@ -1960,7 +1959,7 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const float* v = (const float*) ptr;
+			const float* v = (const float*)ptr;
 			b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]);
 			ptr += stride;
 			min.setMin(p);
@@ -2001,18 +2000,18 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 
 	b3AlignedObjectArray<Point32> points;
 	points.resize(count);
-	ptr = (const char*) coords;
+	ptr = (const char*)coords;
 	if (doubleCoords)
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const double* v = (const double*) ptr;
-			b3Vector3 p = b3MakeVector3((b3Scalar) v[0], (b3Scalar) v[1], (b3Scalar) v[2]);
+			const double* v = (const double*)ptr;
+			b3Vector3 p = b3MakeVector3((b3Scalar)v[0], (b3Scalar)v[1], (b3Scalar)v[2]);
 			ptr += stride;
 			p = (p - center) * s;
-			points[i].x = (btInt32_t) p[medAxis];
-			points[i].y = (btInt32_t) p[maxAxis];
-			points[i].z = (btInt32_t) p[minAxis];
+			points[i].x = (btInt32_t)p[medAxis];
+			points[i].y = (btInt32_t)p[maxAxis];
+			points[i].z = (btInt32_t)p[minAxis];
 			points[i].index = i;
 		}
 	}
@@ -2020,13 +2019,13 @@ void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const float* v = (const float*) ptr;
+			const float* v = (const float*)ptr;
 			b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]);
 			ptr += stride;
 			p = (p - center) * s;
-			points[i].x = (btInt32_t) p[medAxis];
-			points[i].y = (btInt32_t) p[maxAxis];
-			points[i].z = (btInt32_t) p[minAxis];
+			points[i].x = (btInt32_t)p[medAxis];
+			points[i].y = (btInt32_t)p[maxAxis];
+			points[i].z = (btInt32_t)p[minAxis];
 			points[i].index = i;
 		}
 	}
@@ -2180,7 +2179,7 @@ b3Scalar b3ConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
 				minDist = dist;
 			}
 		}
-		
+
 		if (minDist <= 0)
 		{
 			return 0;
@@ -2221,7 +2220,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 	{
 		origShift[2] /= scaling[2];
 	}
-	Point32 shift((btInt32_t) origShift[medAxis], (btInt32_t) origShift[maxAxis], (btInt32_t) origShift[minAxis]);
+	Point32 shift((btInt32_t)origShift[medAxis], (btInt32_t)origShift[maxAxis], (btInt32_t)origShift[minAxis]);
 	if (shift.isZero())
 	{
 		return true;
@@ -2229,7 +2228,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 	Point64 normal = face->getNormal();
 #ifdef DEBUG_CONVEX_HULL
 	b3Printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
-				 face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
+			 face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
 #endif
 	btInt64_t origDot = face->origin.dot(normal);
 	Point32 shiftedOrigin = face->origin + shift;
@@ -2266,7 +2265,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 #ifdef DEBUG_CONVEX_HULL
 			b3Printf("Moving downwards, edge is ");
 			e->print();
-			b3Printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
+			b3Printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
 #endif
 			if (dot.compare(optDot) < 0)
 			{
@@ -2302,7 +2301,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 #ifdef DEBUG_CONVEX_HULL
 			b3Printf("Moving upwards, edge is ");
 			e->print();
-			b3Printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
+			b3Printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
 #endif
 			if (dot.compare(optDot) > 0)
 			{
@@ -2318,7 +2317,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 			}
 			e = e->prev;
 		} while (e != startEdge);
-		
+
 		if (!intersection)
 		{
 			return true;
@@ -2355,7 +2354,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 		b3Printf("Needed %d iterations to check for complete containment\n", n);
 #endif
 	}
-	
+
 	Edge* firstIntersection = NULL;
 	Edge* faceEdge = NULL;
 	Edge* firstFaceEdge = NULL;
@@ -2464,7 +2463,7 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 #ifdef DEBUG_CONVEX_HULL
 			b3Printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
 #endif
-			
+
 			Point64 n0 = intersection->face->getNormal();
 			Point64 n1 = intersection->reverse->face->getNormal();
 			btInt64_t m00 = face->dir0.dot(n0);
@@ -2478,16 +2477,13 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 			Vertex* v = vertexPool.newObject();
 			v->point.index = -1;
 			v->copy = -1;
-			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01)
-															+ Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
-															Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01)
-															+ Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
-															Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01)
-															+ Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
-															det);
-			v->point.x = (btInt32_t) v->point128.xvalue();
-			v->point.y = (btInt32_t) v->point128.yvalue();
-			v->point.z = (btInt32_t) v->point128.zvalue();
+			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
+									Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
+									Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
+									det);
+			v->point.x = (btInt32_t)v->point128.xvalue();
+			v->point.y = (btInt32_t)v->point128.yvalue();
+			v->point.z = (btInt32_t)v->point128.zvalue();
 			intersection->target = v;
 			v->edges = e;
 
@@ -2626,7 +2622,6 @@ bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
 	return true;
 }
 
-
 static int getVertexCopy(b3ConvexHullInternal::Vertex* vertex, b3AlignedObjectArray<b3ConvexHullInternal::Vertex*>& vertices)
 {
 	int index = vertex->copy;
@@ -2748,8 +2743,3 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 
 	return shift;
 }
-
-
-
-
-
diff --git a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h
index 6dcc931a78..8852c5a524 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h
+++ b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h
@@ -23,58 +23,56 @@ subject to the following restrictions:
 /// Ole Kniemeyer, MAXON Computer GmbH
 class b3ConvexHullComputer
 {
+private:
+	b3Scalar compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp);
+
+public:
+	class Edge
+	{
 	private:
-		b3Scalar compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp);
+		int next;
+		int reverse;
+		int targetVertex;
 
-	public:
+		friend class b3ConvexHullComputer;
 
-		class Edge
+	public:
+		int getSourceVertex() const
 		{
-			private:
-				int next;
-				int reverse;
-				int targetVertex;
-
-				friend class b3ConvexHullComputer;
-
-			public:
-				int getSourceVertex() const
-				{
-					return (this + reverse)->targetVertex;
-				}
-
-				int getTargetVertex() const
-				{
-					return targetVertex;
-				}
+			return (this + reverse)->targetVertex;
+		}
 
-				const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex
-				{
-					return this + next;
-				}
+		int getTargetVertex() const
+		{
+			return targetVertex;
+		}
 
-				const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face
-				{
-					return (this + reverse)->getNextEdgeOfVertex();
-				}
+		const Edge* getNextEdgeOfVertex() const  // clockwise list of all edges of a vertex
+		{
+			return this + next;
+		}
 
-				const Edge* getReverseEdge() const
-				{
-					return this + reverse;
-				}
-		};
+		const Edge* getNextEdgeOfFace() const  // counter-clockwise list of all edges of a face
+		{
+			return (this + reverse)->getNextEdgeOfVertex();
+		}
 
+		const Edge* getReverseEdge() const
+		{
+			return this + reverse;
+		}
+	};
 
-		// Vertices of the output hull
-		b3AlignedObjectArray<b3Vector3> vertices;
+	// Vertices of the output hull
+	b3AlignedObjectArray<b3Vector3> vertices;
 
-		// Edges of the output hull
-		b3AlignedObjectArray<Edge> edges;
+	// Edges of the output hull
+	b3AlignedObjectArray<Edge> edges;
 
-		// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
-		b3AlignedObjectArray<int> faces;
+	// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
+	b3AlignedObjectArray<int> faces;
 
-		/*
+	/*
 		Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
 		between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
 		by that amount (each face is moved by "shrink" length units towards the center along its normal).
@@ -86,18 +84,16 @@ class b3ConvexHullComputer
 
 		The output convex hull can be found in the member variables "vertices", "edges", "faces".
 		*/
-		b3Scalar compute(const float* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
-		{
-			return compute(coords, false, stride, count, shrink, shrinkClamp);
-		}
-
-		// same as above, but double precision
-		b3Scalar compute(const double* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
-		{
-			return compute(coords, true, stride, count, shrink, shrinkClamp);
-		}
+	b3Scalar compute(const float* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
+	{
+		return compute(coords, false, stride, count, shrink, shrinkClamp);
+	}
+
+	// same as above, but double precision
+	b3Scalar compute(const double* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
+	{
+		return compute(coords, true, stride, count, shrink, shrinkClamp);
+	}
 };
 
-
-#endif //B3_CONVEX_HULL_COMPUTER_H
-
+#endif  //B3_CONVEX_HULL_COMPUTER_H
diff --git a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp
index dd80fed6bd..c4041003ca 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp
+++ b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp
@@ -12,49 +12,43 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "b3GeometryUtil.h"
 
-
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
   library is actually installed.
 */
 extern "C"
-{	
-	void b3BulletMathProbe ();
+{
+	void b3BulletMathProbe();
 
-	void b3BulletMathProbe () {}
+	void b3BulletMathProbe() {}
 }
 
-
-bool	b3GeometryUtil::isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar	margin)
+bool b3GeometryUtil::isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin)
 {
 	int numbrushes = planeEquations.size();
-	for (int i=0;i<numbrushes;i++)
+	for (int i = 0; i < numbrushes; i++)
 	{
 		const b3Vector3& N1 = planeEquations[i];
-		b3Scalar dist = b3Scalar(N1.dot(point))+b3Scalar(N1[3])-margin;
-		if (dist>b3Scalar(0.))
+		b3Scalar dist = b3Scalar(N1.dot(point)) + b3Scalar(N1[3]) - margin;
+		if (dist > b3Scalar(0.))
 		{
 			return false;
 		}
 	}
 	return true;
-		
 }
 
-
-bool	b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar	margin)
+bool b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin)
 {
 	int numvertices = vertices.size();
-	for (int i=0;i<numvertices;i++)
+	for (int i = 0; i < numvertices; i++)
 	{
 		const b3Vector3& N1 = vertices[i];
-		b3Scalar dist = b3Scalar(planeNormal.dot(N1))+b3Scalar(planeNormal[3])-margin;
-		if (dist>b3Scalar(0.))
+		b3Scalar dist = b3Scalar(planeNormal.dot(N1)) + b3Scalar(planeNormal[3]) - margin;
+		if (dist > b3Scalar(0.))
 		{
 			return false;
 		}
@@ -62,102 +56,98 @@ bool	b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const
 	return true;
 }
 
-bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations);
+bool notExist(const b3Vector3& planeEquation, const b3AlignedObjectArray<b3Vector3>& planeEquations);
 
-bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations)
+bool notExist(const b3Vector3& planeEquation, const b3AlignedObjectArray<b3Vector3>& planeEquations)
 {
 	int numbrushes = planeEquations.size();
-	for (int i=0;i<numbrushes;i++)
+	for (int i = 0; i < numbrushes; i++)
 	{
 		const b3Vector3& N1 = planeEquations[i];
 		if (planeEquation.dot(N1) > b3Scalar(0.999))
 		{
 			return false;
-		} 
+		}
 	}
 	return true;
 }
 
-void	b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut )
+void b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut)
 {
-		const int numvertices = vertices.size();
+	const int numvertices = vertices.size();
 	// brute force:
-	for (int i=0;i<numvertices;i++)
+	for (int i = 0; i < numvertices; i++)
 	{
 		const b3Vector3& N1 = vertices[i];
-		
 
-		for (int j=i+1;j<numvertices;j++)
+		for (int j = i + 1; j < numvertices; j++)
 		{
 			const b3Vector3& N2 = vertices[j];
-				
-			for (int k=j+1;k<numvertices;k++)
-			{
 
+			for (int k = j + 1; k < numvertices; k++)
+			{
 				const b3Vector3& N3 = vertices[k];
 
-				b3Vector3 planeEquation,edge0,edge1;
-				edge0 = N2-N1;
-				edge1 = N3-N1;
+				b3Vector3 planeEquation, edge0, edge1;
+				edge0 = N2 - N1;
+				edge1 = N3 - N1;
 				b3Scalar normalSign = b3Scalar(1.);
-				for (int ww=0;ww<2;ww++)
+				for (int ww = 0; ww < 2; ww++)
 				{
 					planeEquation = normalSign * edge0.cross(edge1);
 					if (planeEquation.length2() > b3Scalar(0.0001))
 					{
 						planeEquation.normalize();
-						if (notExist(planeEquation,planeEquationsOut))
+						if (notExist(planeEquation, planeEquationsOut))
 						{
 							planeEquation[3] = -planeEquation.dot(N1);
-							
-								//check if inside, and replace supportingVertexOut if needed
-								if (areVerticesBehindPlane(planeEquation,vertices,b3Scalar(0.01)))
-								{
-									planeEquationsOut.push_back(planeEquation);
-								}
+
+							//check if inside, and replace supportingVertexOut if needed
+							if (areVerticesBehindPlane(planeEquation, vertices, b3Scalar(0.01)))
+							{
+								planeEquationsOut.push_back(planeEquation);
+							}
 						}
 					}
 					normalSign = b3Scalar(-1.);
 				}
-			
 			}
 		}
 	}
-
 }
 
-void	b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut )
+void b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations, b3AlignedObjectArray<b3Vector3>& verticesOut)
 {
 	const int numbrushes = planeEquations.size();
 	// brute force:
-	for (int i=0;i<numbrushes;i++)
+	for (int i = 0; i < numbrushes; i++)
 	{
 		const b3Vector3& N1 = planeEquations[i];
-		
 
-		for (int j=i+1;j<numbrushes;j++)
+		for (int j = i + 1; j < numbrushes; j++)
 		{
 			const b3Vector3& N2 = planeEquations[j];
-				
-			for (int k=j+1;k<numbrushes;k++)
-			{
 
+			for (int k = j + 1; k < numbrushes; k++)
+			{
 				const b3Vector3& N3 = planeEquations[k];
 
-				b3Vector3 n2n3; n2n3 = N2.cross(N3);
-				b3Vector3 n3n1; n3n1 = N3.cross(N1);
-				b3Vector3 n1n2; n1n2 = N1.cross(N2);
-				
-				if ( ( n2n3.length2() > b3Scalar(0.0001) ) &&
-					 ( n3n1.length2() > b3Scalar(0.0001) ) &&
-					 ( n1n2.length2() > b3Scalar(0.0001) ) )
+				b3Vector3 n2n3;
+				n2n3 = N2.cross(N3);
+				b3Vector3 n3n1;
+				n3n1 = N3.cross(N1);
+				b3Vector3 n1n2;
+				n1n2 = N1.cross(N2);
+
+				if ((n2n3.length2() > b3Scalar(0.0001)) &&
+					(n3n1.length2() > b3Scalar(0.0001)) &&
+					(n1n2.length2() > b3Scalar(0.0001)))
 				{
 					//point P out of 3 plane equations:
 
-					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )  
-					//P =  -------------------------------------------------------------------------  
-					//   N1 . ( N2 * N3 )  
-
+					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
+					//P =  -------------------------------------------------------------------------
+					//   N1 . ( N2 * N3 )
 
 					b3Scalar quotient = (N1.dot(n2n3));
 					if (b3Fabs(quotient) > b3Scalar(0.000001))
@@ -172,7 +162,7 @@ void	b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3
 						potentialVertex *= quotient;
 
 						//check if inside, and replace supportingVertexOut if needed
-						if (isPointInsidePlanes(planeEquations,potentialVertex,b3Scalar(0.01)))
+						if (isPointInsidePlanes(planeEquations, potentialVertex, b3Scalar(0.01)))
 						{
 							verticesOut.push_back(potentialVertex);
 						}
@@ -182,4 +172,3 @@ void	b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3
 		}
 	}
 }
-
diff --git a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h
index 8b5fd7ad62..967c8d67e9 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h
+++ b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h
@@ -12,7 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_GEOMETRY_UTIL_H
 #define B3_GEOMETRY_UTIL_H
 
@@ -22,21 +21,16 @@ subject to the following restrictions:
 ///The b3GeometryUtil helper class provides a few methods to convert between plane equations and vertices.
 class b3GeometryUtil
 {
-	public:
-	
-	
-		static void	getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut );
-
-		static void	getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut );
-	
-		static bool	isInside(const b3AlignedObjectArray<b3Vector3>& vertices, const b3Vector3& planeNormal, b3Scalar	margin);
-		
-		static bool	isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar	margin);
+public:
+	static void getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut);
 
-		static bool	areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar	margin);
+	static void getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations, b3AlignedObjectArray<b3Vector3>& verticesOut);
 
-};
+	static bool isInside(const b3AlignedObjectArray<b3Vector3>& vertices, const b3Vector3& planeNormal, b3Scalar margin);
 
+	static bool isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin);
 
-#endif //B3_GEOMETRY_UTIL_H
+	static bool areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin);
+};
 
+#endif  //B3_GEOMETRY_UTIL_H
diff --git a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h b/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
index 1b933c5264..8881c9a638 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
+++ b/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
@@ -13,41 +13,40 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
 #define B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
 struct b3GrahamVector3 : public b3Vector3
 {
 	b3GrahamVector3(const b3Vector3& org, int orgIndex)
-		:b3Vector3(org),
-			m_orgIndex(orgIndex)
+		: b3Vector3(org),
+		  m_orgIndex(orgIndex)
 	{
 	}
-	b3Scalar	m_angle;
+	b3Scalar m_angle;
 	int m_orgIndex;
 };
 
-
-struct b3AngleCompareFunc {
+struct b3AngleCompareFunc
+{
 	b3Vector3 m_anchor;
 	b3AngleCompareFunc(const b3Vector3& anchor)
-	: m_anchor(anchor) 
+		: m_anchor(anchor)
 	{
 	}
-	bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const {
+	bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const
+	{
 		if (a.m_angle != b.m_angle)
 			return a.m_angle < b.m_angle;
 		else
 		{
-			b3Scalar al = (a-m_anchor).length2();
-			b3Scalar bl = (b-m_anchor).length2();
+			b3Scalar al = (a - m_anchor).length2();
+			b3Scalar bl = (b - m_anchor).length2();
 			if (al != bl)
-				return  al < bl;
+				return al < bl;
 			else
 			{
 				return a.m_orgIndex < b.m_orgIndex;
@@ -58,60 +57,60 @@ struct b3AngleCompareFunc {
 
 inline void b3GrahamScanConvexHull2D(b3AlignedObjectArray<b3GrahamVector3>& originalPoints, b3AlignedObjectArray<b3GrahamVector3>& hull, const b3Vector3& normalAxis)
 {
-	b3Vector3 axis0,axis1;
-	b3PlaneSpace1(normalAxis,axis0,axis1);
-	
+	b3Vector3 axis0, axis1;
+	b3PlaneSpace1(normalAxis, axis0, axis1);
 
-	if (originalPoints.size()<=1)
+	if (originalPoints.size() <= 1)
 	{
-		for (int i=0;i<originalPoints.size();i++)
+		for (int i = 0; i < originalPoints.size(); i++)
 			hull.push_back(originalPoints[0]);
 		return;
 	}
 	//step1 : find anchor point with smallest projection on axis0 and move it to first location
-	for (int i=0;i<originalPoints.size();i++)
+	for (int i = 0; i < originalPoints.size(); i++)
 	{
-//		const b3Vector3& left = originalPoints[i];
-//		const b3Vector3& right = originalPoints[0];
+		//		const b3Vector3& left = originalPoints[i];
+		//		const b3Vector3& right = originalPoints[0];
 		b3Scalar projL = originalPoints[i].dot(axis0);
 		b3Scalar projR = originalPoints[0].dot(axis0);
 		if (projL < projR)
 		{
-			originalPoints.swap(0,i);
+			originalPoints.swap(0, i);
 		}
 	}
 
 	//also precompute angles
 	originalPoints[0].m_angle = -1e30f;
-	for (int i=1;i<originalPoints.size();i++)
+	for (int i = 1; i < originalPoints.size(); i++)
 	{
 		b3Vector3 xvec = axis0;
-		b3Vector3 ar = originalPoints[i]-originalPoints[0];
+		b3Vector3 ar = originalPoints[i] - originalPoints[0];
 		originalPoints[i].m_angle = b3Cross(xvec, ar).dot(normalAxis) / ar.length();
 	}
 
 	//step 2: sort all points, based on 'angle' with this anchor
 	b3AngleCompareFunc comp(originalPoints[0]);
-	originalPoints.quickSortInternal(comp,1,originalPoints.size()-1);
+	originalPoints.quickSortInternal(comp, 1, originalPoints.size() - 1);
 
 	int i;
-	for (i = 0; i<2; i++) 
+	for (i = 0; i < 2; i++)
 		hull.push_back(originalPoints[i]);
 
 	//step 3: keep all 'convex' points and discard concave points (using back tracking)
-	for (; i != originalPoints.size(); i++) 
+	for (; i != originalPoints.size(); i++)
 	{
 		bool isConvex = false;
-		while (!isConvex&& hull.size()>1) {
-			b3Vector3& a = hull[hull.size()-2];
-			b3Vector3& b = hull[hull.size()-1];
-			isConvex = b3Cross(a-b,a-originalPoints[i]).dot(normalAxis)> 0;
+		while (!isConvex && hull.size() > 1)
+		{
+			b3Vector3& a = hull[hull.size() - 2];
+			b3Vector3& b = hull[hull.size() - 1];
+			isConvex = b3Cross(a - b, a - originalPoints[i]).dot(normalAxis) > 0;
 			if (!isConvex)
 				hull.pop_back();
-			else 
+			else
 				hull.push_back(originalPoints[i]);
 		}
 	}
 }
 
-#endif //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
+#endif  //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
index 0ed8aa8232..b296992525 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
@@ -12,33 +12,31 @@
 class b3GpuBroadphaseInterface
 {
 public:
-
-	typedef class b3GpuBroadphaseInterface* (CreateFunc)(cl_context ctx,cl_device_id device, cl_command_queue  q);
+	typedef class b3GpuBroadphaseInterface*(CreateFunc)(cl_context ctx, cl_device_id device, cl_command_queue q);
 
 	virtual ~b3GpuBroadphaseInterface()
 	{
 	}
 
-	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
-	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask) = 0;
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask) = 0;
 
-	virtual void  calculateOverlappingPairs(int maxPairs)=0;
-	virtual void  calculateOverlappingPairsHost(int maxPairs)=0;
+	virtual void calculateOverlappingPairs(int maxPairs) = 0;
+	virtual void calculateOverlappingPairsHost(int maxPairs) = 0;
 
 	//call writeAabbsToGpu after done making all changes (createProxy etc)
-	virtual void writeAabbsToGpu()=0;
+	virtual void writeAabbsToGpu() = 0;
+
+	virtual cl_mem getAabbBufferWS() = 0;
+	virtual int getNumOverlap() = 0;
+	virtual cl_mem getOverlappingPairBuffer() = 0;
 
-	virtual cl_mem	getAabbBufferWS()=0;
-	virtual int	getNumOverlap()=0;
-	virtual cl_mem	getOverlappingPairBuffer()=0;
+	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() = 0;
+	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() = 0;
 
-	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()=0;
-	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()=0;
-	
 	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU() = 0;
 	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU() = 0;
 	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU() = 0;
-
 };
 
-#endif //B3_GPU_BROADPHASE_INTERFACE_H
+#endif  //B3_GPU_BROADPHASE_INTERFACE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
index 74d0c8056c..e714fadac3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
@@ -5,12 +5,9 @@
 #include "kernels/sapKernels.h"
 //#include "kernels/gridBroadphase.cl"
 
-
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 
-
-
 #define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
 #define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"
 
@@ -21,31 +18,25 @@ cl_kernel kFindOverlappingPairs;
 cl_kernel m_copyAabbsKernel;
 cl_kernel m_sap2Kernel;
 
-
-
-
-
 //int maxPairsPerBody = 64;
-int maxBodiesPerCell = 256;//??
+int maxBodiesPerCell = 256;  //??
 
-b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q )
-:m_context(ctx),
-m_device(device),
-m_queue(q),
-m_allAabbsGPU1(ctx,q),
-m_smallAabbsMappingGPU(ctx,q),
-m_largeAabbsMappingGPU(ctx,q),
-m_gpuPairs(ctx,q),
+b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q)
+	: m_context(ctx),
+	  m_device(device),
+	  m_queue(q),
+	  m_allAabbsGPU1(ctx, q),
+	  m_smallAabbsMappingGPU(ctx, q),
+	  m_largeAabbsMappingGPU(ctx, q),
+	  m_gpuPairs(ctx, q),
 
-m_hashGpu(ctx,q),
+	  m_hashGpu(ctx, q),
 
-m_cellStartGpu(ctx,q),
-m_paramsGPU(ctx,q)
+	  m_cellStartGpu(ctx, q),
+	  m_paramsGPU(ctx, q)
 {
-
-	
-	b3Vector3 gridSize = b3MakeVector3(3,3,3);
-	b3Vector3 invGridSize = b3MakeVector3(1.f/gridSize[0],1.f/gridSize[1],1.f/gridSize[2]);
+	b3Vector3 gridSize = b3MakeVector3(3, 3, 3);
+	b3Vector3 invGridSize = b3MakeVector3(1.f / gridSize[0], 1.f / gridSize[1], 1.f / gridSize[2]);
 
 	m_paramsCPU.m_gridSize[0] = 128;
 	m_paramsCPU.m_gridSize[1] = 128;
@@ -58,92 +49,79 @@ m_paramsGPU(ctx,q)
 	m_paramsCPU.m_invCellSize[3] = 0.f;
 	m_paramsGPU.push_back(m_paramsCPU);
 
-	cl_int errNum=0;
+	cl_int errNum = 0;
 
 	{
 		const char* sapSrc = sapCL;
-		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-		m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
-		m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
-		b3Assert(errNum==CL_SUCCESS);
+		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH);
+		b3Assert(errNum == CL_SUCCESS);
+		m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
+		m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg);
+		b3Assert(errNum == CL_SUCCESS);
 	}
 
 	{
-		
-		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,gridBroadphaseCL,&errNum,"",B3_GRID_BROADPHASE_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-
-		kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kCalcHashAABB",&errNum,gridProg);
-		b3Assert(errNum==CL_SUCCESS);
-	
-		kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kClearCellStart",&errNum,gridProg);
-		b3Assert(errNum==CL_SUCCESS);
-
-		kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindCellStart",&errNum,gridProg);
-		b3Assert(errNum==CL_SUCCESS);
-
-	
-		kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindOverlappingPairs",&errNum,gridProg);
-		b3Assert(errNum==CL_SUCCESS);
-
-		
-		
-		
-	}
+		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, gridBroadphaseCL, &errNum, "", B3_GRID_BROADPHASE_PATH);
+		b3Assert(errNum == CL_SUCCESS);
 
-	m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);
+		kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kCalcHashAABB", &errNum, gridProg);
+		b3Assert(errNum == CL_SUCCESS);
 
+		kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kClearCellStart", &errNum, gridProg);
+		b3Assert(errNum == CL_SUCCESS);
+
+		kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindCellStart", &errNum, gridProg);
+		b3Assert(errNum == CL_SUCCESS);
+
+		kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindOverlappingPairs", &errNum, gridProg);
+		b3Assert(errNum == CL_SUCCESS);
+	}
+
+	m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
 }
 b3GpuGridBroadphase::~b3GpuGridBroadphase()
 {
-	clReleaseKernel( kCalcHashAABB);
-	clReleaseKernel( kClearCellStart);
-	clReleaseKernel( kFindCellStart);
-	clReleaseKernel( kFindOverlappingPairs);
-	clReleaseKernel( m_sap2Kernel);
-	clReleaseKernel( m_copyAabbsKernel);
-	
-	
-	
+	clReleaseKernel(kCalcHashAABB);
+	clReleaseKernel(kClearCellStart);
+	clReleaseKernel(kFindCellStart);
+	clReleaseKernel(kFindOverlappingPairs);
+	clReleaseKernel(m_sap2Kernel);
+	clReleaseKernel(m_copyAabbsKernel);
+
 	delete m_sorter;
 }
 
-
-
-void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
+void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
 {
 	b3SapAabb aabb;
 	aabb.m_minVec = aabbMin;
 	aabb.m_maxVec = aabbMax;
 	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
+	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();  //NOT userPtr;
 	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
 
 	m_allAabbsCPU1.push_back(aabb);
-
 }
-void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
+void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
 {
 	b3SapAabb aabb;
 	aabb.m_minVec = aabbMin;
 	aabb.m_maxVec = aabbMax;
 	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
+	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();  //NOT userPtr;
 	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
 
 	m_allAabbsCPU1.push_back(aabb);
 }
 
-void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
+void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
 {
 	B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
-	
 
 	if (0)
 	{
 		calculateOverlappingPairsHost(maxPairs);
-	/*
+		/*
 		b3AlignedObjectArray<b3Int4> cpuPairs;
 		m_gpuPairs.copyToHost(cpuPairs);
 		printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
@@ -154,57 +132,50 @@ void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
 		*/
 		return;
 	}
-	
-	
-
 
-	
 	int numSmallAabbs = m_smallAabbsMappingGPU.size();
 
-	b3OpenCLArray<int> pairCount(m_context,m_queue);
+	b3OpenCLArray<int> pairCount(m_context, m_queue);
 	pairCount.push_back(0);
-	m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody);
+	m_gpuPairs.resize(maxPairs);  //numSmallAabbs*maxPairsPerBody);
 
 	{
 		int numLargeAabbs = m_largeAabbsMappingGPU.size();
 		if (numLargeAabbs && numSmallAabbs)
 		{
 			B3_PROFILE("sap2Kernel");
-			b3BufferInfoCL bInfo[] = { 
-				b3BufferInfoCL( m_allAabbsGPU1.getBufferCL() ),
-				b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
-				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ), 
-				b3BufferInfoCL( m_gpuPairs.getBufferCL() ), 
+			b3BufferInfoCL bInfo[] = {
+				b3BufferInfoCL(m_allAabbsGPU1.getBufferCL()),
+				b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
+				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
+				b3BufferInfoCL(m_gpuPairs.getBufferCL()),
 				b3BufferInfoCL(pairCount.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(   numLargeAabbs  );
-			launcher.setConst( numSmallAabbs);
-			launcher.setConst( 0  );//axis is not used
-			launcher.setConst( maxPairs  );
-	//@todo: use actual maximum work item sizes of the device instead of hardcoded values
-			launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
-                
+			b3LauncherCL launcher(m_queue, m_sap2Kernel, "m_sap2Kernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(numLargeAabbs);
+			launcher.setConst(numSmallAabbs);
+			launcher.setConst(0);  //axis is not used
+			launcher.setConst(maxPairs);
+			//@todo: use actual maximum work item sizes of the device instead of hardcoded values
+			launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
+
 			int numPairs = pairCount.at(0);
-			
-			if (numPairs >maxPairs)
+
+			if (numPairs > maxPairs)
 			{
 				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs =maxPairs;
+				numPairs = maxPairs;
 			}
 		}
 	}
 
-
-
-
 	if (numSmallAabbs)
 	{
 		B3_PROFILE("gridKernel");
 		m_hashGpu.resize(numSmallAabbs);
 		{
 			B3_PROFILE("kCalcHashAABB");
-			b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
+			b3LauncherCL launch(m_queue, kCalcHashAABB, "kCalcHashAABB");
 			launch.setConst(numSmallAabbs);
 			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
 			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
@@ -214,117 +185,104 @@ void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
 		}
 
 		m_sorter->execute(m_hashGpu);
-		
-		int numCells = this->m_paramsCPU.m_gridSize[0]*this->m_paramsCPU.m_gridSize[1]*this->m_paramsCPU.m_gridSize[2];
+
+		int numCells = this->m_paramsCPU.m_gridSize[0] * this->m_paramsCPU.m_gridSize[1] * this->m_paramsCPU.m_gridSize[2];
 		m_cellStartGpu.resize(numCells);
 		//b3AlignedObjectArray<int >			cellStartCpu;
-				
-		
+
 		{
 			B3_PROFILE("kClearCellStart");
-			b3LauncherCL launch(m_queue,kClearCellStart,"kClearCellStart");
+			b3LauncherCL launch(m_queue, kClearCellStart, "kClearCellStart");
 			launch.setConst(numCells);
 			launch.setBuffer(m_cellStartGpu.getBufferCL());
 			launch.launch1D(numCells);
 			//m_cellStartGpu.copyToHost(cellStartCpu);
 			//printf("??\n");
-
 		}
 
-
 		{
 			B3_PROFILE("kFindCellStart");
-			b3LauncherCL launch(m_queue,kFindCellStart,"kFindCellStart");
+			b3LauncherCL launch(m_queue, kFindCellStart, "kFindCellStart");
 			launch.setConst(numSmallAabbs);
 			launch.setBuffer(m_hashGpu.getBufferCL());
 			launch.setBuffer(m_cellStartGpu.getBufferCL());
 			launch.launch1D(numSmallAabbs);
 			//m_cellStartGpu.copyToHost(cellStartCpu);
 			//printf("??\n");
-
 		}
-		
+
 		{
 			B3_PROFILE("kFindOverlappingPairs");
-			
-			
-			b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs");
+
+			b3LauncherCL launch(m_queue, kFindOverlappingPairs, "kFindOverlappingPairs");
 			launch.setConst(numSmallAabbs);
 			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
 			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
 			launch.setBuffer(m_hashGpu.getBufferCL());
 			launch.setBuffer(m_cellStartGpu.getBufferCL());
-			
+
 			launch.setBuffer(m_paramsGPU.getBufferCL());
 			//launch.setBuffer(0);
 			launch.setBuffer(pairCount.getBufferCL());
 			launch.setBuffer(m_gpuPairs.getBufferCL());
-			
+
 			launch.setConst(maxPairs);
 			launch.launch1D(numSmallAabbs);
-			
 
 			int numPairs = pairCount.at(0);
-			if (numPairs >maxPairs)
+			if (numPairs > maxPairs)
 			{
 				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs =maxPairs;
+				numPairs = maxPairs;
 			}
-			
+
 			m_gpuPairs.resize(numPairs);
-	
+
 			if (0)
 			{
 				b3AlignedObjectArray<b3Int4> pairsCpu;
 				m_gpuPairs.copyToHost(pairsCpu);
 
 				int sz = m_gpuPairs.size();
-				printf("m_gpuPairs.size()=%d\n",sz);
-				for (int i=0;i<m_gpuPairs.size();i++)
+				printf("m_gpuPairs.size()=%d\n", sz);
+				for (int i = 0; i < m_gpuPairs.size(); i++)
 				{
-					printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y);
+					printf("pair %d = %d,%d\n", i, pairsCpu[i].x, pairsCpu[i].y);
 				}
 
 				printf("?!?\n");
 			}
-			
 		}
-	
-
 	}
 
-	
-
-
-
 	//calculateOverlappingPairsHost(maxPairs);
 }
-void  b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
+void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
 {
-
 	m_hostPairs.resize(0);
 	m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
-	for (int i=0;i<m_allAabbsCPU1.size();i++)
+	for (int i = 0; i < m_allAabbsCPU1.size(); i++)
 	{
-		for (int j=i+1;j<m_allAabbsCPU1.size();j++)
+		for (int j = i + 1; j < m_allAabbsCPU1.size(); j++)
 		{
 			if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
-				m_allAabbsCPU1[j].m_minVec,m_allAabbsCPU1[j].m_maxVec))
+									   m_allAabbsCPU1[j].m_minVec, m_allAabbsCPU1[j].m_maxVec))
 			{
 				b3Int4 pair;
 				int a = m_allAabbsCPU1[j].m_minIndices[3];
 				int b = m_allAabbsCPU1[i].m_minIndices[3];
-				if (a<=b)
+				if (a <= b)
 				{
-					pair.x = a; 
-					pair.y = b;//store the original index in the unsorted aabb array
-				} else
+					pair.x = a;
+					pair.y = b;  //store the original index in the unsorted aabb array
+				}
+				else
 				{
 					pair.x = b;
-					pair.y = a;//store the original index in the unsorted aabb array
+					pair.y = a;  //store the original index in the unsorted aabb array
 				}
-					
-				if (m_hostPairs.size()<maxPairs)
+
+				if (m_hostPairs.size() < maxPairs)
 				{
 					m_hostPairs.push_back(pair);
 				}
@@ -332,40 +290,36 @@ void  b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
 		}
 	}
 
-
 	m_gpuPairs.copyFromHost(m_hostPairs);
-
-
 }
 
-	//call writeAabbsToGpu after done making all changes (createProxy etc)
+//call writeAabbsToGpu after done making all changes (createProxy etc)
 void b3GpuGridBroadphase::writeAabbsToGpu()
 {
 	m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
 	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
 	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
-
 }
 
-cl_mem	b3GpuGridBroadphase::getAabbBufferWS()
+cl_mem b3GpuGridBroadphase::getAabbBufferWS()
 {
 	return this->m_allAabbsGPU1.getBufferCL();
 }
-int	b3GpuGridBroadphase::getNumOverlap()
+int b3GpuGridBroadphase::getNumOverlap()
 {
 	return m_gpuPairs.size();
 }
-cl_mem	b3GpuGridBroadphase::getOverlappingPairBuffer()
+cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
 {
 	return m_gpuPairs.getBufferCL();
 }
 
-b3OpenCLArray<b3SapAabb>&	b3GpuGridBroadphase::getAllAabbsGPU()
+b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
 {
 	return m_allAabbsGPU1;
 }
 
-b3AlignedObjectArray<b3SapAabb>&	b3GpuGridBroadphase::getAllAabbsCPU()
+b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
 {
 	return m_allAabbsCPU1;
 }
@@ -382,4 +336,3 @@ b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
 {
 	return m_largeAabbsMappingGPU;
 }
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
index ec18c9f716..b76cb43b68 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
@@ -6,83 +6,75 @@
 
 struct b3ParamsGridBroadphaseCL
 {
-
 	float m_invCellSize[4];
-	int   m_gridSize[4];
+	int m_gridSize[4];
 
-	int	getMaxBodiesPerCell() const
+	int getMaxBodiesPerCell() const
 	{
 		return m_gridSize[3];
 	}
 
-	void setMaxBodiesPerCell(int maxOverlap) 
+	void setMaxBodiesPerCell(int maxOverlap)
 	{
 		m_gridSize[3] = maxOverlap;
 	}
 };
 
-
 class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
 {
 protected:
-	cl_context				m_context;
-	cl_device_id			m_device;
-	cl_command_queue		m_queue;
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
 
-	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU1;
-	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU1;
+	b3OpenCLArray<b3SapAabb> m_allAabbsGPU1;
+	b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU1;
 
-	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
+	b3OpenCLArray<int> m_smallAabbsMappingGPU;
 	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
 
-	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
+	b3OpenCLArray<int> m_largeAabbsMappingGPU;
 	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
 
 	b3AlignedObjectArray<b3Int4> m_hostPairs;
-	b3OpenCLArray<b3Int4>			m_gpuPairs;
+	b3OpenCLArray<b3Int4> m_gpuPairs;
 
-	b3OpenCLArray<b3SortData>			m_hashGpu;
-	b3OpenCLArray<int>			m_cellStartGpu;
-	
+	b3OpenCLArray<b3SortData> m_hashGpu;
+	b3OpenCLArray<int> m_cellStartGpu;
 
-	b3ParamsGridBroadphaseCL		m_paramsCPU;
-	b3OpenCLArray<b3ParamsGridBroadphaseCL>		m_paramsGPU;
+	b3ParamsGridBroadphaseCL m_paramsCPU;
+	b3OpenCLArray<b3ParamsGridBroadphaseCL> m_paramsGPU;
 
-	class b3RadixSort32CL*			m_sorter;
+	class b3RadixSort32CL* m_sorter;
 
 public:
-
-	b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q);
 	virtual ~b3GpuGridBroadphase();
 
-	static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx, cl_device_id device, cl_command_queue q)
 	{
-		return new b3GpuGridBroadphase(ctx,device,q);
+		return new b3GpuGridBroadphase(ctx, device, q);
 	}
 
-	
-
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
 
-	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
-
-	virtual void  calculateOverlappingPairs(int maxPairs);
-	virtual void  calculateOverlappingPairsHost(int maxPairs);
+	virtual void calculateOverlappingPairs(int maxPairs);
+	virtual void calculateOverlappingPairsHost(int maxPairs);
 
 	//call writeAabbsToGpu after done making all changes (createProxy etc)
 	virtual void writeAabbsToGpu();
 
-	virtual cl_mem	getAabbBufferWS();
-	virtual int	getNumOverlap();
-	virtual cl_mem	getOverlappingPairBuffer();
+	virtual cl_mem getAabbBufferWS();
+	virtual int getNumOverlap();
+	virtual cl_mem getOverlappingPairBuffer();
+
+	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU();
+	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU();
 
-	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU();
-	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU();
-	
 	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
 	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
 	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
-
 };
 
-#endif //B3_GPU_GRID_BROADPHASE_H
\ No newline at end of file
+#endif  //B3_GPU_GRID_BROADPHASE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
index 641df9eb12..0721928684 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
@@ -16,177 +16,174 @@ subject to the following restrictions:
 
 #include "b3GpuParallelLinearBvh.h"
 
-b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
-	m_queue(queue),
-	m_radixSorter(context, device, queue),
-	
-	m_rootNodeIndex(context, queue),
-	m_maxDistanceFromRoot(context, queue),
-	m_temp(context, queue),
-	
-	m_internalNodeAabbs(context, queue),
-	m_internalNodeLeafIndexRanges(context, queue),
-	m_internalNodeChildNodes(context, queue),
-	m_internalNodeParentNodes(context, queue),
-	
-	m_commonPrefixes(context, queue),
-	m_commonPrefixLengths(context, queue),
-	m_distanceFromRoot(context, queue),
-	
-	m_leafNodeParentNodes(context, queue),
-	m_mortonCodesAndAabbIndicies(context, queue),
-	m_mergedAabb(context, queue),
-	m_leafNodeAabbs(context, queue),
-	
-	m_largeAabbs(context, queue)
+b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) : m_queue(queue),
+																												  m_radixSorter(context, device, queue),
+
+																												  m_rootNodeIndex(context, queue),
+																												  m_maxDistanceFromRoot(context, queue),
+																												  m_temp(context, queue),
+
+																												  m_internalNodeAabbs(context, queue),
+																												  m_internalNodeLeafIndexRanges(context, queue),
+																												  m_internalNodeChildNodes(context, queue),
+																												  m_internalNodeParentNodes(context, queue),
+
+																												  m_commonPrefixes(context, queue),
+																												  m_commonPrefixLengths(context, queue),
+																												  m_distanceFromRoot(context, queue),
+
+																												  m_leafNodeParentNodes(context, queue),
+																												  m_mortonCodesAndAabbIndicies(context, queue),
+																												  m_mergedAabb(context, queue),
+																												  m_leafNodeAabbs(context, queue),
+
+																												  m_largeAabbs(context, queue)
 {
 	m_rootNodeIndex.resize(1);
 	m_maxDistanceFromRoot.resize(1);
 	m_temp.resize(1);
-	
+
 	//
 	const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
-	
-	const char* kernelSource = parallelLinearBvhCL;	//parallelLinearBvhCL.h
+
+	const char* kernelSource = parallelLinearBvhCL;  //parallelLinearBvhCL.h
 	cl_int error;
 	char* additionalMacros = 0;
 	m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH);
 	b3Assert(m_parallelLinearBvhProgram);
-	
-	m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_separateAabbsKernel);
-	m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_findAllNodesMergedAabbKernel);
-	m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_assignMortonCodesAndAabbIndiciesKernel);
-	
-	m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_computeAdjacentPairCommonPrefixKernel);
-	m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_buildBinaryRadixTreeLeafNodesKernel);
-	m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_buildBinaryRadixTreeInternalNodesKernel);
-	m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_findDistanceFromRootKernel);
-	m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel);
-	
-	m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_findLeafIndexRangesKernel);
-	
-	m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
+
+	m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhCalculateOverlappingPairsKernel);
-	m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhRayTraverseKernel);
-	m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhLargeAabbAabbTestKernel);
-	m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros );
+	m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros);
 	b3Assert(m_plbvhLargeAabbRayTestKernel);
 }
 
-b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh() 
+b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
 {
 	clReleaseKernel(m_separateAabbsKernel);
 	clReleaseKernel(m_findAllNodesMergedAabbKernel);
 	clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
-	
+
 	clReleaseKernel(m_computeAdjacentPairCommonPrefixKernel);
 	clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel);
 	clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel);
 	clReleaseKernel(m_findDistanceFromRootKernel);
 	clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel);
-	
+
 	clReleaseKernel(m_findLeafIndexRangesKernel);
-	
+
 	clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
 	clReleaseKernel(m_plbvhRayTraverseKernel);
 	clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
 	clReleaseKernel(m_plbvhLargeAabbRayTestKernel);
-	
+
 	clReleaseProgram(m_parallelLinearBvhProgram);
 }
 
-void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices, 
-									const b3OpenCLArray<int>& largeAabbIndices)
+void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
+								   const b3OpenCLArray<int>& largeAabbIndices)
 {
 	B3_PROFILE("b3ParallelLinearBvh::build()");
-	
+
 	int numLargeAabbs = largeAabbIndices.size();
 	int numSmallAabbs = smallAabbIndices.size();
-	
-	//Since all AABBs(both large and small) are input as a contiguous array, 
+
+	//Since all AABBs(both large and small) are input as a contiguous array,
 	//with 2 additional arrays used to indicate the indices of large and small AABBs,
 	//it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH.
 	{
 		B3_PROFILE("Separate large and small AABBs");
-		
+
 		m_largeAabbs.resize(numLargeAabbs);
 		m_leafNodeAabbs.resize(numSmallAabbs);
-		
+
 		//Write large AABBs into m_largeAabbs
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
-				b3BufferInfoCL( largeAabbIndices.getBufferCL() ),
-				
-				b3BufferInfoCL( m_largeAabbs.getBufferCL() )
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
+					b3BufferInfoCL(largeAabbIndices.getBufferCL()),
+
+					b3BufferInfoCL(m_largeAabbs.getBufferCL())};
+
 			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numLargeAabbs);
-			
+
 			launcher.launch1D(numLargeAabbs);
 		}
-		
+
 		//Write small AABBs into m_leafNodeAabbs
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
-				b3BufferInfoCL( smallAabbIndices.getBufferCL() ),
-				
-				b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() )
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(worldSpaceAabbs.getBufferCL()),
+					b3BufferInfoCL(smallAabbIndices.getBufferCL()),
+
+					b3BufferInfoCL(m_leafNodeAabbs.getBufferCL())};
+
 			b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numSmallAabbs);
-			
+
 			launcher.launch1D(numSmallAabbs);
 		}
-		
+
 		clFinish(m_queue);
 	}
-	
+
 	//
-	int numLeaves = numSmallAabbs;	//Number of leaves in the BVH == Number of rigid bodies with small AABBs
+	int numLeaves = numSmallAabbs;  //Number of leaves in the BVH == Number of rigid bodies with small AABBs
 	int numInternalNodes = numLeaves - 1;
-	
-	if(numLeaves < 2)
+
+	if (numLeaves < 2)
 	{
 		//Number of leaf nodes is checked in calculateOverlappingPairs() and testRaysAgainstBvhAabbs(),
 		//so it does not matter if numLeaves == 0 and rootNodeIndex == -1
 		int rootNodeIndex = numLeaves - 1;
 		m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
-		
+
 		//Since the AABBs need to be rearranged(sorted) for the BVH construction algorithm,
 		//m_mortonCodesAndAabbIndicies.m_value is used to map a sorted AABB index to the unsorted AABB index
 		//instead of directly moving the AABBs. It needs to be set for the ray cast traversal kernel to work.
 		//( m_mortonCodesAndAabbIndicies[].m_value == unsorted index == index of m_leafNodeAabbs )
-		if(numLeaves == 1)
+		if (numLeaves == 1)
 		{
 			b3SortData leaf;
-			leaf.m_value = 0;		//1 leaf so index is always 0; leaf.m_key does not need to be set
-			
+			leaf.m_value = 0;  //1 leaf so index is always 0; leaf.m_key does not need to be set
+
 			m_mortonCodesAndAabbIndicies.resize(1);
 			m_mortonCodesAndAabbIndicies.copyFromHostPointer(&leaf, 1);
 		}
-		
+
 		return;
 	}
-	
+
 	//
 	{
 		m_internalNodeAabbs.resize(numInternalNodes);
@@ -197,37 +194,37 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
 		m_commonPrefixes.resize(numInternalNodes);
 		m_commonPrefixLengths.resize(numInternalNodes);
 		m_distanceFromRoot.resize(numInternalNodes);
-	
+
 		m_leafNodeParentNodes.resize(numLeaves);
 		m_mortonCodesAndAabbIndicies.resize(numLeaves);
 		m_mergedAabb.resize(numLeaves);
 	}
-	
-	//Find the merged AABB of all small AABBs; this is used to define the size of 
+
+	//Find the merged AABB of all small AABBs; this is used to define the size of
 	//each cell in the virtual grid for the next kernel(2^10 cells in each dimension).
 	{
 		B3_PROFILE("Find AABB of merged nodes");
-	
-		m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs);	//Need to make a copy since the kernel modifies the array
-			
-		for(int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2; 
-				numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
+
+		m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs);  //Need to make a copy since the kernel modifies the array
+
+		for (int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2;
+			 numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2)
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( m_mergedAabb.getBufferCL() )		//Resulting AABB is stored in m_mergedAabb[0]
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(m_mergedAabb.getBufferCL())  //Resulting AABB is stored in m_mergedAabb[0]
+				};
+
 			b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numAabbsNeedingMerge);
-			
+
 			launcher.launch1D(numAabbsNeedingMerge);
 		}
-		
+
 		clFinish(m_queue);
 	}
-	
+
 	//Insert the center of the AABBs into a virtual grid,
 	//then convert the discrete grid coordinates into a morton code
 	//For each element in m_mortonCodesAndAabbIndicies, set
@@ -235,34 +232,32 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
 	//	m_value == small AABB index
 	{
 		B3_PROFILE("Assign morton codes");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_mergedAabb.getBufferCL() ),
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_mergedAabb.getBufferCL()),
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numLeaves);
-		
+
 		launcher.launch1D(numLeaves);
 		clFinish(m_queue);
 	}
-	
+
 	//
 	{
 		B3_PROFILE("Sort leaves by morton codes");
-	
+
 		m_radixSorter.execute(m_mortonCodesAndAabbIndicies);
 		clFinish(m_queue);
 	}
-	
+
 	//
 	constructBinaryRadixTree();
-	
-	
+
 	//Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices.
 	//The root node contains leaf node indices in the range [0, numLeafNodes - 1].
 	//The child nodes of each node split their parent's index range into 2 contiguous halves.
@@ -273,17 +268,16 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
 	//This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice
 	{
 		B3_PROFILE("m_findLeafIndexRangesKernel");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
@@ -293,285 +287,271 @@ void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& ou
 {
 	int maxPairs = out_overlappingPairs.size();
 	b3OpenCLArray<int>& numPairsGpu = m_temp;
-	
+
 	int reset = 0;
 	numPairsGpu.copyFromHostPointer(&reset, 1);
-	
+
 	//
-	if( m_leafNodeAabbs.size() > 1 )
+	if (m_leafNodeAabbs.size() > 1)
 	{
 		B3_PROFILE("PLBVH small-small AABB test");
-	
+
 		int numQueryAabbs = m_leafNodeAabbs.size();
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-			
-			b3BufferInfoCL( numPairsGpu.getBufferCL() ),
-			b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+
+				b3BufferInfoCL(numPairsGpu.getBufferCL()),
+				b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(maxPairs);
 		launcher.setConst(numQueryAabbs);
-		
+
 		launcher.launch1D(numQueryAabbs);
 		clFinish(m_queue);
 	}
-	
+
 	int numLargeAabbRigids = m_largeAabbs.size();
-	if( numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0 )
+	if (numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0)
 	{
 		B3_PROFILE("PLBVH large-small AABB test");
-	
+
 		int numQueryAabbs = m_leafNodeAabbs.size();
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
-			
-			b3BufferInfoCL( numPairsGpu.getBufferCL() ),
-			b3BufferInfoCL( out_overlappingPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_largeAabbs.getBufferCL()),
+
+				b3BufferInfoCL(numPairsGpu.getBufferCL()),
+				b3BufferInfoCL(out_overlappingPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(maxPairs);
 		launcher.setConst(numLargeAabbRigids);
 		launcher.setConst(numQueryAabbs);
-		
+
 		launcher.launch1D(numQueryAabbs);
 		clFinish(m_queue);
 	}
-	
-	
+
 	//
 	int numPairs = -1;
 	numPairsGpu.copyToHostPointer(&numPairs, 1);
-	if(numPairs > maxPairs)
+	if (numPairs > maxPairs)
 	{
 		b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
 		numPairs = maxPairs;
 		numPairsGpu.copyFromHostPointer(&maxPairs, 1);
 	}
-	
+
 	out_overlappingPairs.resize(numPairs);
 }
 
-
-void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays, 
-							b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
+void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
+													 b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
 {
 	B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
-	
+
 	int numRays = rays.size();
 	int maxRayRigidPairs = out_rayRigidPairs.size();
-	
+
 	int reset = 0;
 	out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
-	
+
 	//
-	if( m_leafNodeAabbs.size() > 0 )
+	if (m_leafNodeAabbs.size() > 0)
 	{
 		B3_PROFILE("PLBVH ray test small AABB");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-			
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-			
-			b3BufferInfoCL( rays.getBufferCL() ),
-			
-			b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
-			b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()),
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+
+				b3BufferInfoCL(rays.getBufferCL()),
+
+				b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
+				b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(maxRayRigidPairs);
 		launcher.setConst(numRays);
-		
+
 		launcher.launch1D(numRays);
 		clFinish(m_queue);
 	}
-	
+
 	int numLargeAabbRigids = m_largeAabbs.size();
-	if(numLargeAabbRigids > 0)
+	if (numLargeAabbRigids > 0)
 	{
 		B3_PROFILE("PLBVH ray test large AABB");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_largeAabbs.getBufferCL() ),
-			b3BufferInfoCL( rays.getBufferCL() ),
-			
-			b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
-			b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_largeAabbs.getBufferCL()),
+				b3BufferInfoCL(rays.getBufferCL()),
+
+				b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()),
+				b3BufferInfoCL(out_rayRigidPairs.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numLargeAabbRigids);
 		launcher.setConst(maxRayRigidPairs);
 		launcher.setConst(numRays);
-		
+
 		launcher.launch1D(numRays);
 		clFinish(m_queue);
 	}
-	
+
 	//
 	int numRayRigidPairs = -1;
 	out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
-	
-	if(numRayRigidPairs > maxRayRigidPairs)
+
+	if (numRayRigidPairs > maxRayRigidPairs)
 		b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
-	
 }
 
 void b3GpuParallelLinearBvh::constructBinaryRadixTree()
 {
 	B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()");
-	
+
 	int numLeaves = m_leafNodeAabbs.size();
 	int numInternalNodes = numLeaves - 1;
-	
+
 	//Each internal node is placed in between 2 leaf nodes.
 	//By using this arrangement and computing the common prefix between
 	//these 2 adjacent leaf nodes, it is possible to quickly construct a binary radix tree.
 	{
 		B3_PROFILE("m_computeAdjacentPairCommonPrefixKernel");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-			b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
-			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+				b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
+				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_computeAdjacentPairCommonPrefixKernel, "m_computeAdjacentPairCommonPrefixKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
-	
-	//For each leaf node, select its parent node by 
+
+	//For each leaf node, select its parent node by
 	//comparing the 2 nearest internal nodes and assign child node indices
 	{
 		B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
-			b3BufferInfoCL( m_leafNodeParentNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
+				b3BufferInfoCL(m_leafNodeParentNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numLeaves);
-		
+
 		launcher.launch1D(numLeaves);
 		clFinish(m_queue);
 	}
-	
+
 	//For each internal node, perform 2 binary searches among the other internal nodes
 	//to its left and right to find its potential parent nodes and assign child node indices
 	{
 		B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel");
-		
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
-			b3BufferInfoCL( m_commonPrefixLengths.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_commonPrefixes.getBufferCL()),
+				b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
-	
+
 	//Find the number of nodes seperating each internal node and the root node
 	//so that the AABBs can be set using the next kernel.
 	//Also determine the maximum number of nodes separating an internal node and the root node.
 	{
 		B3_PROFILE("m_findDistanceFromRootKernel");
-	
-		b3BufferInfoCL bufferInfo[] = 
-		{
-			b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
-			b3BufferInfoCL( m_internalNodeParentNodes.getBufferCL() ),
-			b3BufferInfoCL( m_maxDistanceFromRoot.getBufferCL() ),
-			b3BufferInfoCL( m_distanceFromRoot.getBufferCL() )
-		};
-		
+
+		b3BufferInfoCL bufferInfo[] =
+			{
+				b3BufferInfoCL(m_rootNodeIndex.getBufferCL()),
+				b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()),
+				b3BufferInfoCL(m_maxDistanceFromRoot.getBufferCL()),
+				b3BufferInfoCL(m_distanceFromRoot.getBufferCL())};
+
 		b3LauncherCL launcher(m_queue, m_findDistanceFromRootKernel, "m_findDistanceFromRootKernel");
-		launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(numInternalNodes);
-		
+
 		launcher.launch1D(numInternalNodes);
 		clFinish(m_queue);
 	}
-	
+
 	//Starting from the internal nodes nearest to the leaf nodes, recursively move up
 	//the tree towards the root to set the AABBs of each internal node; each internal node
 	//checks its children and merges their AABBs
 	{
 		B3_PROFILE("m_buildBinaryRadixTreeAabbsRecursiveKernel");
-		
+
 		int maxDistanceFromRoot = -1;
 		{
 			B3_PROFILE("copy maxDistanceFromRoot to CPU");
 			m_maxDistanceFromRoot.copyToHostPointer(&maxDistanceFromRoot, 1);
 			clFinish(m_queue);
 		}
-		
-		for(int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
+
+		for (int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot)
 		{
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( m_distanceFromRoot.getBufferCL() ),
-				b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
-				b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
-				b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
-				b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() )
-			};
-			
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(m_distanceFromRoot.getBufferCL()),
+					b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()),
+					b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()),
+					b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()),
+					b3BufferInfoCL(m_internalNodeAabbs.getBufferCL())};
+
 			b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeAabbsRecursiveKernel, "m_buildBinaryRadixTreeAabbsRecursiveKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(maxDistanceFromRoot);
 			launcher.setConst(distanceFromRoot);
 			launcher.setConst(numInternalNodes);
-			
+
 			//It may seem inefficent to launch a thread for each internal node when a
 			//much smaller number of nodes is actually processed, but this is actually
-			//faster than determining the exact nodes that are ready to merge their child AABBs. 
+			//faster than determining the exact nodes that are ready to merge their child AABBs.
 			launcher.launch1D(numInternalNodes);
 		}
-		
+
 		clFinish(m_queue);
 	}
 }
-
-	
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
index effe617b7b..b390775129 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
@@ -37,10 +37,10 @@ subject to the following restrictions:
 ///"Maximizing Parallelism in the Construction of BVHs, Octrees, and k-d trees" [Karras 2012] \n
 ///@par
 ///The basic algorithm for building the BVH as presented in [Lauterbach et al. 2009] consists of 4 stages:
-/// - [fully parallel] Assign morton codes for each AABB using its center (after quantizing the AABB centers into a virtual grid) 
+/// - [fully parallel] Assign morton codes for each AABB using its center (after quantizing the AABB centers into a virtual grid)
 /// - [fully parallel] Sort morton codes
-/// - [somewhat parallel] Build binary radix tree (assign parent/child pointers for internal nodes of the BVH) 
-/// - [somewhat parallel] Set internal node AABBs 
+/// - [somewhat parallel] Build binary radix tree (assign parent/child pointers for internal nodes of the BVH)
+/// - [somewhat parallel] Set internal node AABBs
 ///@par
 ///[Karras 2012] improves on the algorithm by introducing fully parallel methods for the last 2 stages.
 ///The BVH implementation here shares many concepts with [Karras 2012], but a different method is used for constructing the tree.
@@ -49,75 +49,75 @@ subject to the following restrictions:
 class b3GpuParallelLinearBvh
 {
 	cl_command_queue m_queue;
-	
+
 	cl_program m_parallelLinearBvhProgram;
-	
+
 	cl_kernel m_separateAabbsKernel;
 	cl_kernel m_findAllNodesMergedAabbKernel;
 	cl_kernel m_assignMortonCodesAndAabbIndiciesKernel;
-	
+
 	//Binary radix tree construction kernels
 	cl_kernel m_computeAdjacentPairCommonPrefixKernel;
 	cl_kernel m_buildBinaryRadixTreeLeafNodesKernel;
 	cl_kernel m_buildBinaryRadixTreeInternalNodesKernel;
 	cl_kernel m_findDistanceFromRootKernel;
 	cl_kernel m_buildBinaryRadixTreeAabbsRecursiveKernel;
-	
+
 	cl_kernel m_findLeafIndexRangesKernel;
-	
+
 	//Traversal kernels
 	cl_kernel m_plbvhCalculateOverlappingPairsKernel;
 	cl_kernel m_plbvhRayTraverseKernel;
 	cl_kernel m_plbvhLargeAabbAabbTestKernel;
 	cl_kernel m_plbvhLargeAabbRayTestKernel;
-	
+
 	b3RadixSort32CL m_radixSorter;
-	
+
 	//1 element
-	b3OpenCLArray<int> m_rootNodeIndex;							//Most significant bit(0x80000000) is set to indicate internal node
-	b3OpenCLArray<int> m_maxDistanceFromRoot;					//Max number of internal nodes between an internal node and the root node
-	b3OpenCLArray<int> m_temp;									//Used to hold the number of pairs in calculateOverlappingPairs()
-	
+	b3OpenCLArray<int> m_rootNodeIndex;        //Most significant bit(0x80000000) is set to indicate internal node
+	b3OpenCLArray<int> m_maxDistanceFromRoot;  //Max number of internal nodes between an internal node and the root node
+	b3OpenCLArray<int> m_temp;                 //Used to hold the number of pairs in calculateOverlappingPairs()
+
 	//1 element per internal node (number_of_internal_nodes == number_of_leaves - 1)
 	b3OpenCLArray<b3SapAabb> m_internalNodeAabbs;
-	b3OpenCLArray<b3Int2> m_internalNodeLeafIndexRanges;		//x == min leaf index, y == max leaf index
-	b3OpenCLArray<b3Int2> m_internalNodeChildNodes;				//x == left child, y == right child; msb(0x80000000) is set to indicate internal node
-	b3OpenCLArray<int> m_internalNodeParentNodes;				//For parent node index, msb(0x80000000) is not set since it is always internal
-	
+	b3OpenCLArray<b3Int2> m_internalNodeLeafIndexRanges;  //x == min leaf index, y == max leaf index
+	b3OpenCLArray<b3Int2> m_internalNodeChildNodes;       //x == left child, y == right child; msb(0x80000000) is set to indicate internal node
+	b3OpenCLArray<int> m_internalNodeParentNodes;         //For parent node index, msb(0x80000000) is not set since it is always internal
+
 	//1 element per internal node; for binary radix tree construction
 	b3OpenCLArray<b3Int64> m_commonPrefixes;
 	b3OpenCLArray<int> m_commonPrefixLengths;
-	b3OpenCLArray<int> m_distanceFromRoot;						//Number of internal nodes between this node and the root
-	
+	b3OpenCLArray<int> m_distanceFromRoot;  //Number of internal nodes between this node and the root
+
 	//1 element per leaf node (leaf nodes only include small AABBs)
-	b3OpenCLArray<int> m_leafNodeParentNodes;					//For parent node index, msb(0x80000000) is not set since it is always internal
-	b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies;		//m_key == morton code, m_value == aabb index in m_leafNodeAabbs
-	b3OpenCLArray<b3SapAabb> m_mergedAabb;						//m_mergedAabb[0] contains the merged AABB of all leaf nodes
-	b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;					//Contains only small AABBs
-	
+	b3OpenCLArray<int> m_leafNodeParentNodes;                //For parent node index, msb(0x80000000) is not set since it is always internal
+	b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies;  //m_key == morton code, m_value == aabb index in m_leafNodeAabbs
+	b3OpenCLArray<b3SapAabb> m_mergedAabb;                   //m_mergedAabb[0] contains the merged AABB of all leaf nodes
+	b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;                //Contains only small AABBs
+
 	//1 element per large AABB, which is not stored in the BVH
 	b3OpenCLArray<b3SapAabb> m_largeAabbs;
-	
+
 public:
 	b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue);
 	virtual ~b3GpuParallelLinearBvh();
-	
+
 	///Must be called before any other function
-	void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices, 
-				const b3OpenCLArray<int>& largeAabbIndices);
-	
+	void build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices,
+			   const b3OpenCLArray<int>& largeAabbIndices);
+
 	///calculateOverlappingPairs() uses the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.
 	///@param out_overlappingPairs The size() of this array is used to determine the max number of pairs.
 	///If the number of overlapping pairs is < out_overlappingPairs.size(), out_overlappingPairs is resized.
 	void calculateOverlappingPairs(b3OpenCLArray<b3Int4>& out_overlappingPairs);
-	
+
 	///@param out_numRigidRayPairs Array of length 1; contains the number of detected ray-rigid AABB intersections;
 	///this value may be greater than out_rayRigidPairs.size() if out_rayRigidPairs is not large enough.
 	///@param out_rayRigidPairs Contains an array of rays intersecting rigid AABBs; x == ray index, y == rigid body index.
 	///If the size of this array is insufficient to hold all ray-rigid AABB intersections, additional intersections are discarded.
-	void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays, 
-								b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs);
-								
+	void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
+								 b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs);
+
 private:
 	void constructBinaryRadixTree();
 };
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
index d2618024ac..62ea7a32df 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
@@ -13,45 +13,44 @@ subject to the following restrictions:
 
 #include "b3GpuParallelLinearBvhBroadphase.h"
 
-b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) : 
-	m_plbvh(context, device, queue),
-	
-	m_overlappingPairsGpu(context, queue),
-	
-	m_aabbsGpu(context, queue),
-	m_smallAabbsMappingGpu(context, queue),
-	m_largeAabbsMappingGpu(context, queue)
+b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) : m_plbvh(context, device, queue),
+
+																																	  m_overlappingPairsGpu(context, queue),
+
+																																	  m_aabbsGpu(context, queue),
+																																	  m_smallAabbsMappingGpu(context, queue),
+																																	  m_largeAabbsMappingGpu(context, queue)
 {
 }
 
-void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask)
+void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
 {
 	int newAabbIndex = m_aabbsCpu.size();
 
 	b3SapAabb aabb;
 	aabb.m_minVec = aabbMin;
 	aabb.m_maxVec = aabbMax;
-	
+
 	aabb.m_minIndices[3] = userPtr;
 	aabb.m_signedMaxIndices[3] = newAabbIndex;
-	
+
 	m_smallAabbsMappingCpu.push_back(newAabbIndex);
-	
+
 	m_aabbsCpu.push_back(aabb);
 }
-void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask)
+void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
 {
 	int newAabbIndex = m_aabbsCpu.size();
 
 	b3SapAabb aabb;
 	aabb.m_minVec = aabbMin;
 	aabb.m_maxVec = aabbMax;
-	
+
 	aabb.m_minIndices[3] = userPtr;
 	aabb.m_signedMaxIndices[3] = newAabbIndex;
-	
+
 	m_largeAabbsMappingCpu.push_back(newAabbIndex);
-	
+
 	m_aabbsCpu.push_back(aabb);
 }
 
@@ -59,22 +58,19 @@ void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairs(int maxPairs)
 {
 	//Reconstruct BVH
 	m_plbvh.build(m_aabbsGpu, m_smallAabbsMappingGpu, m_largeAabbsMappingGpu);
-	
+
 	//
 	m_overlappingPairsGpu.resize(maxPairs);
 	m_plbvh.calculateOverlappingPairs(m_overlappingPairsGpu);
 }
 void b3GpuParallelLinearBvhBroadphase::calculateOverlappingPairsHost(int maxPairs)
 {
-	b3Assert(0);	//CPU version not implemented
+	b3Assert(0);  //CPU version not implemented
 }
 
-void b3GpuParallelLinearBvhBroadphase::writeAabbsToGpu() 
-{ 
-	m_aabbsGpu.copyFromHost(m_aabbsCpu); 
+void b3GpuParallelLinearBvhBroadphase::writeAabbsToGpu()
+{
+	m_aabbsGpu.copyFromHost(m_aabbsCpu);
 	m_smallAabbsMappingGpu.copyFromHost(m_smallAabbsMappingCpu);
 	m_largeAabbsMappingGpu.copyFromHost(m_largeAabbsMappingCpu);
 }
-	
-	
-	
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
index e518500637..dda0eea7be 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
@@ -21,42 +21,42 @@ subject to the following restrictions:
 class b3GpuParallelLinearBvhBroadphase : public b3GpuBroadphaseInterface
 {
 	b3GpuParallelLinearBvh m_plbvh;
-	
+
 	b3OpenCLArray<b3Int4> m_overlappingPairsGpu;
-	
+
 	b3OpenCLArray<b3SapAabb> m_aabbsGpu;
 	b3OpenCLArray<int> m_smallAabbsMappingGpu;
 	b3OpenCLArray<int> m_largeAabbsMappingGpu;
-	
+
 	b3AlignedObjectArray<b3SapAabb> m_aabbsCpu;
 	b3AlignedObjectArray<int> m_smallAabbsMappingCpu;
 	b3AlignedObjectArray<int> m_largeAabbsMappingCpu;
-	
+
 public:
 	b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
 	virtual ~b3GpuParallelLinearBvhBroadphase() {}
 
-	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr,  int collisionFilterGroup,  int collisionFilterMask);
-	
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
+
 	virtual void calculateOverlappingPairs(int maxPairs);
 	virtual void calculateOverlappingPairsHost(int maxPairs);
 
 	//call writeAabbsToGpu after done making all changes (createProxy etc)
 	virtual void writeAabbsToGpu();
-	
-	virtual int	getNumOverlap() { return m_overlappingPairsGpu.size(); }
+
+	virtual int getNumOverlap() { return m_overlappingPairsGpu.size(); }
 	virtual cl_mem getOverlappingPairBuffer() { return m_overlappingPairsGpu.getBufferCL(); }
 
 	virtual cl_mem getAabbBufferWS() { return m_aabbsGpu.getBufferCL(); }
 	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() { return m_aabbsGpu; }
-	
+
 	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU() { return m_overlappingPairsGpu; }
 	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU() { return m_smallAabbsMappingGpu; }
 	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU() { return m_largeAabbsMappingGpu; }
-	
+
 	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() { return m_aabbsCpu; }
-	
+
 	static b3GpuBroadphaseInterface* CreateFunc(cl_context context, cl_device_id device, cl_command_queue queue)
 	{
 		return new b3GpuParallelLinearBvhBroadphase(context, device, queue);
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
index c45fbbdcaa..4126d03ed0 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
@@ -6,7 +6,6 @@ bool searchIncremental3dSapOnGpu = true;
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h"
 
-
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "kernels/sapKernels.h"
 
@@ -56,110 +55,105 @@ bool searchIncremental3dSapOnGpu = true;
 	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;
  */
 
-b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q , b3GpuSapKernelType kernelType)
-:m_context(ctx),
-m_device(device),
-m_queue(q),
-
-m_objectMinMaxIndexGPUaxis0(ctx,q),
-m_objectMinMaxIndexGPUaxis1(ctx,q),
-m_objectMinMaxIndexGPUaxis2(ctx,q),
-m_objectMinMaxIndexGPUaxis0prev(ctx,q),
-m_objectMinMaxIndexGPUaxis1prev(ctx,q),
-m_objectMinMaxIndexGPUaxis2prev(ctx,q),
-m_sortedAxisGPU0(ctx,q),
-m_sortedAxisGPU1(ctx,q),
-m_sortedAxisGPU2(ctx,q),
-m_sortedAxisGPU0prev(ctx,q),
-m_sortedAxisGPU1prev(ctx,q),
-m_sortedAxisGPU2prev(ctx,q),
-m_addedHostPairsGPU(ctx,q),
-m_removedHostPairsGPU(ctx,q),
-m_addedCountGPU(ctx,q),
-m_removedCountGPU(ctx,q),
-m_currentBuffer(-1),
-m_pairCount(ctx,q),
-m_allAabbsGPU(ctx,q),
-m_sum(ctx,q),
-m_sum2(ctx,q),
-m_dst(ctx,q),
-m_smallAabbsMappingGPU(ctx,q),
-m_largeAabbsMappingGPU(ctx,q),
-m_overlappingPairs(ctx,q),
-m_gpuSmallSortData(ctx,q),
-m_gpuSmallSortedAabbs(ctx,q)
+b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType)
+	: m_context(ctx),
+	  m_device(device),
+	  m_queue(q),
+
+	  m_objectMinMaxIndexGPUaxis0(ctx, q),
+	  m_objectMinMaxIndexGPUaxis1(ctx, q),
+	  m_objectMinMaxIndexGPUaxis2(ctx, q),
+	  m_objectMinMaxIndexGPUaxis0prev(ctx, q),
+	  m_objectMinMaxIndexGPUaxis1prev(ctx, q),
+	  m_objectMinMaxIndexGPUaxis2prev(ctx, q),
+	  m_sortedAxisGPU0(ctx, q),
+	  m_sortedAxisGPU1(ctx, q),
+	  m_sortedAxisGPU2(ctx, q),
+	  m_sortedAxisGPU0prev(ctx, q),
+	  m_sortedAxisGPU1prev(ctx, q),
+	  m_sortedAxisGPU2prev(ctx, q),
+	  m_addedHostPairsGPU(ctx, q),
+	  m_removedHostPairsGPU(ctx, q),
+	  m_addedCountGPU(ctx, q),
+	  m_removedCountGPU(ctx, q),
+	  m_currentBuffer(-1),
+	  m_pairCount(ctx, q),
+	  m_allAabbsGPU(ctx, q),
+	  m_sum(ctx, q),
+	  m_sum2(ctx, q),
+	  m_dst(ctx, q),
+	  m_smallAabbsMappingGPU(ctx, q),
+	  m_largeAabbsMappingGPU(ctx, q),
+	  m_overlappingPairs(ctx, q),
+	  m_gpuSmallSortData(ctx, q),
+	  m_gpuSmallSortedAabbs(ctx, q)
 {
 	const char* sapSrc = sapCL;
-    
-    
-	cl_int errNum=0;
+
+	cl_int errNum = 0;
 
 	b3Assert(m_context);
 	b3Assert(m_device);
-	cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
-	b3Assert(errNum==CL_SUCCESS);
-
+	cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH);
+	b3Assert(errNum == CL_SUCCESS);
 
-	b3Assert(errNum==CL_SUCCESS);
+	b3Assert(errNum == CL_SUCCESS);
 #ifndef __APPLE__
-	m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context,m_device,m_queue);
+	m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context, m_device, m_queue);
 #else
 	m_prefixScanFloat4 = 0;
 #endif
 	m_sapKernel = 0;
-	
+
 	switch (kernelType)
 	{
 		case B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU:
 		{
-			m_sapKernel=0;
+			m_sapKernel = 0;
 			break;
 		}
-		case 		B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU:
+		case B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU:
 		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBruteForce",&errNum,sapProg );
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBruteForce", &errNum, sapProg);
 			break;
 		}
 
 		case B3_GPU_SAP_KERNEL_ORIGINAL:
 		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelOriginal",&errNum,sapProg );
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelOriginal", &errNum, sapProg);
 			break;
 		}
 		case B3_GPU_SAP_KERNEL_BARRIER:
 		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelBarrier",&errNum,sapProg );
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBarrier", &errNum, sapProg);
 			break;
 		}
 		case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY:
 		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
 			break;
 		}
 
 		default:
 		{
-			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelLocalSharedMemory",&errNum,sapProg );
+			m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
 			b3Error("Unknown 3D GPU SAP provided, fallback to computePairsKernelLocalSharedMemory");
 		}
 	};
-	
-		
-	
-	m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
-	b3Assert(errNum==CL_SUCCESS);
 
-	m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "prepareSumVarianceKernel",&errNum,sapProg );
-	b3Assert(errNum==CL_SUCCESS);
+	m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg);
+	b3Assert(errNum == CL_SUCCESS);
 
-		
-	m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "flipFloatKernel",&errNum,sapProg );
+	m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "prepareSumVarianceKernel", &errNum, sapProg);
+	b3Assert(errNum == CL_SUCCESS);
 
-	m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
+	m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "flipFloatKernel", &errNum, sapProg);
 
-	m_scatterKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "scatterKernel",&errNum,sapProg );
+	m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
 
-	m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);
+	m_scatterKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "scatterKernel", &errNum, sapProg);
+
+	m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
 }
 
 b3GpuSapBroadphase::~b3GpuSapBroadphase()
@@ -173,13 +167,11 @@ b3GpuSapBroadphase::~b3GpuSapBroadphase()
 	clReleaseKernel(m_sapKernel);
 	clReleaseKernel(m_sap2Kernel);
 	clReleaseKernel(m_prepareSumVarianceKernel);
-	
-
 }
 
 /// conservative test for overlap between two aabbs
-static bool TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
-								const b3Vector3 &aabbMin2, const b3Vector3 &aabbMax2)
+static bool TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
+								 const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
 {
 	bool overlap = true;
 	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
@@ -188,8 +180,6 @@ static bool TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aab
 	return overlap;
 }
 
-
-
 //http://stereopsis.com/radix.html
 static unsigned int FloatFlip(float fl)
 {
@@ -198,79 +188,77 @@ static unsigned int FloatFlip(float fl)
 	return f ^ mask;
 };
 
-void  b3GpuSapBroadphase::init3dSap()
+void b3GpuSapBroadphase::init3dSap()
 {
-	if (m_currentBuffer<0)
+	if (m_currentBuffer < 0)
 	{
 		m_allAabbsGPU.copyToHost(m_allAabbsCPU);
 
 		m_currentBuffer = 0;
-		for (int axis=0;axis<3;axis++)
+		for (int axis = 0; axis < 3; axis++)
 		{
-			for (int buf=0;buf<2;buf++)
+			for (int buf = 0; buf < 2; buf++)
 			{
 				int totalNumAabbs = m_allAabbsCPU.size();
-				int numEndPoints = 2*totalNumAabbs;
+				int numEndPoints = 2 * totalNumAabbs;
 				m_sortedAxisCPU[axis][buf].resize(numEndPoints);
 
-				if (buf==m_currentBuffer)
+				if (buf == m_currentBuffer)
 				{
-					for (int i=0;i<totalNumAabbs;i++)
+					for (int i = 0; i < totalNumAabbs; i++)
 					{
-						m_sortedAxisCPU[axis][buf][i*2].m_key = FloatFlip(m_allAabbsCPU[i].m_min[axis])-1;
-						m_sortedAxisCPU[axis][buf][i*2].m_value = i*2;
-						m_sortedAxisCPU[axis][buf][i*2+1].m_key = FloatFlip(m_allAabbsCPU[i].m_max[axis])+1;
-						m_sortedAxisCPU[axis][buf][i*2+1].m_value = i*2+1;
+						m_sortedAxisCPU[axis][buf][i * 2].m_key = FloatFlip(m_allAabbsCPU[i].m_min[axis]) - 1;
+						m_sortedAxisCPU[axis][buf][i * 2].m_value = i * 2;
+						m_sortedAxisCPU[axis][buf][i * 2 + 1].m_key = FloatFlip(m_allAabbsCPU[i].m_max[axis]) + 1;
+						m_sortedAxisCPU[axis][buf][i * 2 + 1].m_value = i * 2 + 1;
 					}
 				}
 			}
 		}
 
-		for (int axis=0;axis<3;axis++)
+		for (int axis = 0; axis < 3; axis++)
 		{
 			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
 		}
 
-		for (int axis=0;axis<3;axis++)
+		for (int axis = 0; axis < 3; axis++)
 		{
 			//int totalNumAabbs = m_allAabbsCPU.size();
 			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
 			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
-			for (int i=0;i<numEndPoints;i++)
+			for (int i = 0; i < numEndPoints; i++)
 			{
 				int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
-				int newDest = destIndex/2;
-				if (destIndex&1)
+				int newDest = destIndex / 2;
+				if (destIndex & 1)
 				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y=i;
-				} else
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i;
+				}
+				else
 				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x=i;
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i;
 				}
 			}
 		}
-
 	}
 }
 
-
 static bool b3PairCmp(const b3Int4& p, const b3Int4& q)
 {
-	return ((p.x<q.x) || ((p.x==q.x) && (p.y<q.y)));
+	return ((p.x < q.x) || ((p.x == q.x) && (p.y < q.y)));
 }
 
-
-static bool operator==(const b3Int4& a,const b3Int4& b)
+static bool operator==(const b3Int4& a, const b3Int4& b)
 {
 	return a.x == b.x && a.y == b.y;
 };
 
-static bool operator<(const b3Int4& a,const b3Int4& b)
+static bool operator<(const b3Int4& a, const b3Int4& b)
 {
 	return a.x < b.x || (a.x == b.x && a.y < b.y);
 };
 
-static bool operator>(const b3Int4& a,const b3Int4& b)
+static bool operator>(const b3Int4& a, const b3Int4& b)
 {
 	return a.x > b.x || (a.x == b.x && a.y > b.y);
 };
@@ -278,31 +266,29 @@ static bool operator>(const b3Int4& a,const b3Int4& b)
 b3AlignedObjectArray<b3Int4> addedHostPairs;
 b3AlignedObjectArray<b3Int4> removedHostPairs;
 
-b3AlignedObjectArray<b3SapAabb>	preAabbs;
+b3AlignedObjectArray<b3SapAabb> preAabbs;
 
-void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
+void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 {
 	//static int framepje = 0;
 	//printf("framepje=%d\n",framepje++);
-	
 
 	B3_PROFILE("calculateOverlappingPairsHostIncremental3Sap");
 
 	addedHostPairs.resize(0);
 	removedHostPairs.resize(0);
 
-	b3Assert(m_currentBuffer>=0);
-	
+	b3Assert(m_currentBuffer >= 0);
+
 	{
 		preAabbs.resize(m_allAabbsCPU.size());
-		for (int i=0;i<preAabbs.size();i++)
+		for (int i = 0; i < preAabbs.size(); i++)
 		{
-			preAabbs[i]=m_allAabbsCPU[i];
+			preAabbs[i] = m_allAabbsCPU[i];
 		}
 	}
-	
 
-	if (m_currentBuffer<0)
+	if (m_currentBuffer < 0)
 		return;
 	{
 		B3_PROFILE("m_allAabbsGPU.copyToHost");
@@ -316,100 +302,87 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 	}
 	if (0)
 	{
-	{
-		printf("ab[40].min=%f,%f,%f,ab[40].max=%f,%f,%f\n",
-		m_allAabbsCPU[40].m_min[0],	m_allAabbsCPU[40].m_min[1],m_allAabbsCPU[40].m_min[2],
-		m_allAabbsCPU[40].m_max[0],	m_allAabbsCPU[40].m_max[1],m_allAabbsCPU[40].m_max[2]);
-	}
-
-	{
-		printf("ab[53].min=%f,%f,%f,ab[53].max=%f,%f,%f\n",
-		m_allAabbsCPU[53].m_min[0],	m_allAabbsCPU[53].m_min[1],m_allAabbsCPU[53].m_min[2],
-		m_allAabbsCPU[53].m_max[0],	m_allAabbsCPU[53].m_max[1],m_allAabbsCPU[53].m_max[2]);
-	}
-	
-
-	{
-	b3Int4 newPair;
-	newPair.x = 40;
-	newPair.y = 53;
-		int index = allPairs.findBinarySearch(newPair);
-		printf("hasPair(40,53)=%d out of %d\n",index, allPairs.size());
-
 		{
-			int overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[40].m_min, (const b3Vector3&)m_allAabbsCPU[40].m_max,(const b3Vector3&)m_allAabbsCPU[53].m_min,(const b3Vector3&)m_allAabbsCPU[53].m_max);
-			printf("overlap=%d\n",overlap);
+			printf("ab[40].min=%f,%f,%f,ab[40].max=%f,%f,%f\n",
+				   m_allAabbsCPU[40].m_min[0], m_allAabbsCPU[40].m_min[1], m_allAabbsCPU[40].m_min[2],
+				   m_allAabbsCPU[40].m_max[0], m_allAabbsCPU[40].m_max[1], m_allAabbsCPU[40].m_max[2]);
 		}
 
-		if (preAabbs.size())
-		{
-			int prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[40].m_min, (const b3Vector3&)preAabbs[40].m_max,(const b3Vector3&)preAabbs[53].m_min,(const b3Vector3&)preAabbs[53].m_max);
-			printf("prevoverlap=%d\n",prevOverlap);
-		} else
 		{
-			printf("unknown prevoverlap\n");
+			printf("ab[53].min=%f,%f,%f,ab[53].max=%f,%f,%f\n",
+				   m_allAabbsCPU[53].m_min[0], m_allAabbsCPU[53].m_min[1], m_allAabbsCPU[53].m_min[2],
+				   m_allAabbsCPU[53].m_max[0], m_allAabbsCPU[53].m_max[1], m_allAabbsCPU[53].m_max[2]);
 		}
 
-	}
-	}
+		{
+			b3Int4 newPair;
+			newPair.x = 40;
+			newPair.y = 53;
+			int index = allPairs.findBinarySearch(newPair);
+			printf("hasPair(40,53)=%d out of %d\n", index, allPairs.size());
 
+			{
+				int overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[40].m_min, (const b3Vector3&)m_allAabbsCPU[40].m_max, (const b3Vector3&)m_allAabbsCPU[53].m_min, (const b3Vector3&)m_allAabbsCPU[53].m_max);
+				printf("overlap=%d\n", overlap);
+			}
+
+			if (preAabbs.size())
+			{
+				int prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[40].m_min, (const b3Vector3&)preAabbs[40].m_max, (const b3Vector3&)preAabbs[53].m_min, (const b3Vector3&)preAabbs[53].m_max);
+				printf("prevoverlap=%d\n", prevOverlap);
+			}
+			else
+			{
+				printf("unknown prevoverlap\n");
+			}
+		}
+	}
 
 	if (0)
 	{
-		for (int i=0;i<m_allAabbsCPU.size();i++)
+		for (int i = 0; i < m_allAabbsCPU.size(); i++)
 		{
 			//printf("aabb[%d] min=%f,%f,%f max=%f,%f,%f\n",i,m_allAabbsCPU[i].m_min[0],m_allAabbsCPU[i].m_min[1],m_allAabbsCPU[i].m_min[2],			m_allAabbsCPU[i].m_max[0],m_allAabbsCPU[i].m_max[1],m_allAabbsCPU[i].m_max[2]);
-
-
 		}
 
-		for (int axis=0;axis<3;axis++)
+		for (int axis = 0; axis < 3; axis++)
 		{
-			for (int buf=0;buf<2;buf++)
+			for (int buf = 0; buf < 2; buf++)
 			{
-				b3Assert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size()*2);
+				b3Assert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size() * 2);
 			}
 		}
 	}
 
-
-
-	m_currentBuffer = 1-m_currentBuffer;
-	
-
+	m_currentBuffer = 1 - m_currentBuffer;
 
 	int totalNumAabbs = m_allAabbsCPU.size();
 
 	{
 		B3_PROFILE("assign m_sortedAxisCPU(FloatFlip)");
-		for (int i=0;i<totalNumAabbs;i++)
+		for (int i = 0; i < totalNumAabbs; i++)
 		{
-		
-
 			unsigned int keyMin[3];
 			unsigned int keyMax[3];
-			for (int axis=0;axis<3;axis++)
+			for (int axis = 0; axis < 3; axis++)
 			{
-				float vmin=m_allAabbsCPU[i].m_min[axis];
+				float vmin = m_allAabbsCPU[i].m_min[axis];
 				float vmax = m_allAabbsCPU[i].m_max[axis];
 				keyMin[axis] = FloatFlip(vmin);
 				keyMax[axis] = FloatFlip(vmax);
-			
-				m_sortedAxisCPU[axis][m_currentBuffer][i*2].m_key = keyMin[axis]-1;
-				m_sortedAxisCPU[axis][m_currentBuffer][i*2].m_value = i*2;
-				m_sortedAxisCPU[axis][m_currentBuffer][i*2+1].m_key = keyMax[axis]+1;
-				m_sortedAxisCPU[axis][m_currentBuffer][i*2+1].m_value = i*2+1;
+
+				m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_key = keyMin[axis] - 1;
+				m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_value = i * 2;
+				m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_key = keyMax[axis] + 1;
+				m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_value = i * 2 + 1;
 			}
 			//printf("aabb[%d] min=%u,%u,%u max %u,%u,%u\n", i,keyMin[0],keyMin[1],keyMin[2],keyMax[0],keyMax[1],keyMax[2]);
-
 		}
 	}
-	
-	
 
 	{
 		B3_PROFILE("sort m_sortedAxisCPU");
-		for (int axis=0;axis<3;axis++)
+		for (int axis = 0; axis < 3; axis++)
 			m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
 	}
 
@@ -432,21 +405,22 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 
 	{
 		B3_PROFILE("assign m_objectMinMaxIndexCPU");
-		for (int axis=0;axis<3;axis++)
+		for (int axis = 0; axis < 3; axis++)
 		{
 			int totalNumAabbs = m_allAabbsCPU.size();
 			int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
 			m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(totalNumAabbs);
-			for (int i=0;i<numEndPoints;i++)
+			for (int i = 0; i < numEndPoints; i++)
 			{
 				int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
-				int newDest = destIndex/2;
-				if (destIndex&1)
+				int newDest = destIndex / 2;
+				if (destIndex & 1)
 				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y=i;
-				} else
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i;
+				}
+				else
 				{
-					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x=i;
+					m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i;
 				}
 			}
 		}
@@ -485,12 +459,11 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 	}
 #endif
 
-
 	int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
 	int b = m_objectMinMaxIndexCPU[1][m_currentBuffer].size();
 	int c = m_objectMinMaxIndexCPU[2][m_currentBuffer].size();
-	b3Assert(a==b);
-	b3Assert(b==c);
+	b3Assert(a == b);
+	b3Assert(b == c);
 	/*
 	if (searchIncremental3dSapOnGpu)
 	{
@@ -574,175 +547,170 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 		int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
 
 		B3_PROFILE("actual search");
-		for (int i=0;i<numObjects;i++)
+		for (int i = 0; i < numObjects; i++)
 		{
 			//int numObjects = m_objectMinMaxIndexCPU[axis][m_currentBuffer].size();
 			//int checkObjects[]={40,53};
 			//int numCheckObjects = sizeof(checkObjects)/sizeof(int);
-			
+
 			//for (int a=0;a<numCheckObjects ;a++)
-			
-			for (int axis=0;axis<3;axis++)
+
+			for (int axis = 0; axis < 3; axis++)
 			{
 				//int i = checkObjects[a];
 
 				unsigned int curMinIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].x;
 				unsigned int curMaxIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].y;
-				unsigned int prevMinIndex = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][i].x;
+				unsigned int prevMinIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].x;
 				int dmin = curMinIndex - prevMinIndex;
-				
-				unsigned int prevMaxIndex = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][i].y;
 
-				
+				unsigned int prevMaxIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].y;
 
 				int dmax = curMaxIndex - prevMaxIndex;
-				if (dmin!=0)
+				if (dmin != 0)
 				{
 					//printf("for object %d, dmin=%d\n",i,dmin);
 				}
-				if (dmax!=0)
+				if (dmax != 0)
 				{
 					//printf("for object %d, dmax=%d\n",i,dmax);
 				}
-				for (int otherbuffer = 0;otherbuffer<2;otherbuffer++)
+				for (int otherbuffer = 0; otherbuffer < 2; otherbuffer++)
 				{
-					if (dmin!=0)
+					if (dmin != 0)
 					{
-						int stepMin = dmin<0 ? -1 : 1;
-						for (int j=prevMinIndex;j!=curMinIndex;j+=stepMin)
+						int stepMin = dmin < 0 ? -1 : 1;
+						for (int j = prevMinIndex; j != curMinIndex; j += stepMin)
 						{
 							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
-							int otherIndex = otherIndex2/2;
-							if (otherIndex!=i)
+							int otherIndex = otherIndex2 / 2;
+							if (otherIndex != i)
 							{
-								bool otherIsMax = ((otherIndex2&1)!=0);
+								bool otherIsMax = ((otherIndex2 & 1) != 0);
 
 								if (otherIsMax)
 								{
 									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
 									//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
-									
+
 									bool overlap = true;
 
-									for (int ax=0;ax<3;ax++)
+									for (int ax = 0; ax < 3; ax++)
 									{
 										if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
 											(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
-											overlap=false;
+											overlap = false;
 									}
 
-								//	b3Assert(overlap2==overlap);
+									//	b3Assert(overlap2==overlap);
 
 									bool prevOverlap = true;
 
-									for (int ax=0;ax<3;ax++)
+									for (int ax = 0; ax < 3; ax++)
 									{
-										if ((m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].y) ||
-											(m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].x))
-											prevOverlap=false;
+										if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) ||
+											(m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x))
+											prevOverlap = false;
 									}
-									
 
 									//b3Assert(overlap==overlap2);
-								
 
-
-									if (dmin<0)
+									if (dmin < 0)
 									{
 										if (overlap && !prevOverlap)
 										{
 											//add a pair
 											b3Int4 newPair;
-											if (i<=otherIndex)
+											if (i <= otherIndex)
 											{
 												newPair.x = i;
 												newPair.y = otherIndex;
-											} else
+											}
+											else
 											{
 												newPair.x = otherIndex;
 												newPair.y = i;
 											}
 											addedHostPairs.push_back(newPair);
 										}
-									} 
+									}
 									else
 									{
 										if (!overlap && prevOverlap)
 										{
-									
 											//remove a pair
 											b3Int4 removedPair;
-											if (i<=otherIndex)
+											if (i <= otherIndex)
 											{
 												removedPair.x = i;
 												removedPair.y = otherIndex;
-											} else
+											}
+											else
 											{
 												removedPair.x = otherIndex;
 												removedPair.y = i;
 											}
 											removedHostPairs.push_back(removedPair);
 										}
-									}//otherisMax
-								}//if (dmin<0)
-							}//if (otherIndex!=i)
-						}//for (int j=
+									}  //otherisMax
+								}      //if (dmin<0)
+							}          //if (otherIndex!=i)
+						}              //for (int j=
 					}
-				
-					if (dmax!=0)
+
+					if (dmax != 0)
 					{
-						int stepMax = dmax<0 ? -1 : 1;
-						for (int j=prevMaxIndex;j!=curMaxIndex;j+=stepMax)
+						int stepMax = dmax < 0 ? -1 : 1;
+						for (int j = prevMaxIndex; j != curMaxIndex; j += stepMax)
 						{
 							int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
-							int otherIndex = otherIndex2/2;
-							if (otherIndex!=i)
+							int otherIndex = otherIndex2 / 2;
+							if (otherIndex != i)
 							{
 								//bool otherIsMin = ((otherIndex2&1)==0);
 								//if (otherIsMin)
 								{
 									//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
 									//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
-									
+
 									bool overlap = true;
 
-									for (int ax=0;ax<3;ax++)
+									for (int ax = 0; ax < 3; ax++)
 									{
 										if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
 											(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
-											overlap=false;
+											overlap = false;
 									}
 									//b3Assert(overlap2==overlap);
 
 									bool prevOverlap = true;
 
-									for (int ax=0;ax<3;ax++)
+									for (int ax = 0; ax < 3; ax++)
 									{
-										if ((m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].y) ||
-											(m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1-m_currentBuffer][otherIndex].x))
-											prevOverlap=false;
+										if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) ||
+											(m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x))
+											prevOverlap = false;
 									}
-									
 
-									if (dmax>0)
+									if (dmax > 0)
 									{
 										if (overlap && !prevOverlap)
 										{
 											//add a pair
 											b3Int4 newPair;
-											if (i<=otherIndex)
+											if (i <= otherIndex)
 											{
 												newPair.x = i;
 												newPair.y = otherIndex;
-											} else
+											}
+											else
 											{
 												newPair.x = otherIndex;
 												newPair.y = i;
 											}
 											addedHostPairs.push_back(newPair);
-							
 										}
-									} 
+									}
 									else
 									{
 										if (!overlap && prevOverlap)
@@ -750,33 +718,31 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 											//if (otherIndex2&1==0) -> min?
 											//remove a pair
 											b3Int4 removedPair;
-											if (i<=otherIndex)
+											if (i <= otherIndex)
 											{
 												removedPair.x = i;
 												removedPair.y = otherIndex;
-											} else
+											}
+											else
 											{
 												removedPair.x = otherIndex;
 												removedPair.y = i;
 											}
 											removedHostPairs.push_back(removedPair);
-								
 										}
 									}
-							
-								}//if (dmin<0)
-							}//if (otherIndex!=i)
-						}//for (int j=
+
+								}  //if (dmin<0)
+							}      //if (otherIndex!=i)
+						}          //for (int j=
 					}
-				}//for (int otherbuffer
-			}//for (int axis=0;
-		}//for (int i=0;i<numObjects
+				}  //for (int otherbuffer
+			}      //for (int axis=0;
+		}          //for (int i=0;i<numObjects
 	}
 
 	//remove duplicates and add/remove then to existing m_overlappingPairs
-	
-	
-	
+
 	{
 		{
 			B3_PROFILE("sort allPairs");
@@ -795,31 +761,28 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 	b3Int4 prevPair;
 	prevPair.x = -1;
 	prevPair.y = -1;
-	
+
 	int uniqueRemovedPairs = 0;
 
 	b3AlignedObjectArray<int> removedPositions;
 
 	{
 		B3_PROFILE("actual removing");
-		for (int i=0;i<removedHostPairs.size();i++)
+		for (int i = 0; i < removedHostPairs.size(); i++)
 		{
 			b3Int4 removedPair = removedHostPairs[i];
 			if ((removedPair.x != prevPair.x) || (removedPair.y != prevPair.y))
 			{
+				int index1 = allPairs.findBinarySearch(removedPair);
 
-			int index1 = allPairs.findBinarySearch(removedPair);
+				//#ifdef _DEBUG
 
-	//#ifdef _DEBUG
-				
-				
-	
 				int index2 = allPairs.findLinearSearch(removedPair);
-				b3Assert(index1==index2);
-	
+				b3Assert(index1 == index2);
+
 				//b3Assert(index1!=allPairs.size());
-				if (index1<allPairs.size())
-	//#endif//_DEBUG
+				if (index1 < allPairs.size())
+				//#endif//_DEBUG
 				{
 					uniqueRemovedPairs++;
 					removedPositions.push_back(index1);
@@ -833,13 +796,13 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 
 		if (uniqueRemovedPairs)
 		{
-			for (int i=0;i<removedPositions.size();i++)
+			for (int i = 0; i < removedPositions.size(); i++)
 			{
-				allPairs[removedPositions[i]].x = INT_MAX ;
-				allPairs[removedPositions[i]].y = INT_MAX ;
+				allPairs[removedPositions[i]].x = INT_MAX;
+				allPairs[removedPositions[i]].y = INT_MAX;
 			}
 			allPairs.quickSort(b3PairCmp);
-			allPairs.resize(allPairs.size()-uniqueRemovedPairs);
+			allPairs.resize(allPairs.size() - uniqueRemovedPairs);
 		}
 	}
 	//if (uniqueRemovedPairs)
@@ -848,33 +811,31 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 
 	prevPair.x = -1;
 	prevPair.y = -1;
-	
-	int uniqueAddedPairs=0;
+
+	int uniqueAddedPairs = 0;
 	b3AlignedObjectArray<b3Int4> actualAddedPairs;
 
 	{
 		B3_PROFILE("actual adding");
-		for (int i=0;i<addedHostPairs.size();i++)
+		for (int i = 0; i < addedHostPairs.size(); i++)
 		{
 			b3Int4 newPair = addedHostPairs[i];
 			if ((newPair.x != prevPair.x) || (newPair.y != prevPair.y))
 			{
-//#ifdef _DEBUG		
+				//#ifdef _DEBUG
 				int index1 = allPairs.findBinarySearch(newPair);
-				
-	
+
 				int index2 = allPairs.findLinearSearch(newPair);
-				b3Assert(index1==index2);
-	
+				b3Assert(index1 == index2);
 
-				b3Assert(index1==allPairs.size());
-				if (index1!=allPairs.size())
+				b3Assert(index1 == allPairs.size());
+				if (index1 != allPairs.size())
 				{
 					printf("??\n");
 				}
 
-				if (index1==allPairs.size())
-//#endif //_DEBUG
+				if (index1 == allPairs.size())
+				//#endif //_DEBUG
 				{
 					uniqueAddedPairs++;
 					actualAddedPairs.push_back(newPair);
@@ -882,94 +843,83 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
 			}
 			prevPair = newPair;
 		}
-		for (int i=0;i<actualAddedPairs.size();i++)
+		for (int i = 0; i < actualAddedPairs.size(); i++)
 		{
 			//printf("framepje (%d), new pair(%d):%d,%d\n",framepje,i,actualAddedPairs[i].x,actualAddedPairs[i].y);
 			allPairs.push_back(actualAddedPairs[i]);
 		}
 	}
-	
+
 	//if (uniqueAddedPairs)
 	//	printf("uniqueAddedPairs=%d\n", uniqueAddedPairs);
 
-
 	{
 		B3_PROFILE("m_overlappingPairs.copyFromHost");
 		m_overlappingPairs.copyFromHost(allPairs);
 	}
-
-	
 }
 
-
-
-
-void  b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
+void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
 {
 	//test
-//	if (m_currentBuffer>=0)
+	//	if (m_currentBuffer>=0)
 	//	return calculateOverlappingPairsHostIncremental3Sap();
 
 	b3Assert(m_allAabbsCPU.size() == m_allAabbsGPU.size());
 	m_allAabbsGPU.copyToHost(m_allAabbsCPU);
 
-
-	
-	int axis=0;
+	int axis = 0;
 	{
 		B3_PROFILE("CPU compute best variance axis");
-		b3Vector3 s=b3MakeVector3(0,0,0),s2=b3MakeVector3(0,0,0);
+		b3Vector3 s = b3MakeVector3(0, 0, 0), s2 = b3MakeVector3(0, 0, 0);
 		int numRigidBodies = m_smallAabbsMappingCPU.size();
 
-		for(int i=0;i<numRigidBodies;i++) 
+		for (int i = 0; i < numRigidBodies; i++)
 		{
 			b3SapAabb aabb = this->m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
 
-			b3Vector3 maxAabb=b3MakeVector3(aabb.m_max[0],aabb.m_max[1],aabb.m_max[2]);
-			b3Vector3 minAabb=b3MakeVector3(aabb.m_min[0],aabb.m_min[1],aabb.m_min[2]);
-			b3Vector3 centerAabb=(maxAabb+minAabb)*0.5f;
-						
+			b3Vector3 maxAabb = b3MakeVector3(aabb.m_max[0], aabb.m_max[1], aabb.m_max[2]);
+			b3Vector3 minAabb = b3MakeVector3(aabb.m_min[0], aabb.m_min[1], aabb.m_min[2]);
+			b3Vector3 centerAabb = (maxAabb + minAabb) * 0.5f;
+
 			s += centerAabb;
-			s2 += centerAabb*centerAabb;
+			s2 += centerAabb * centerAabb;
 		}
-		b3Vector3 v = s2 - (s*s) / (float)numRigidBodies;
-		
-		if(v[1] > v[0]) 
+		b3Vector3 v = s2 - (s * s) / (float)numRigidBodies;
+
+		if (v[1] > v[0])
 			axis = 1;
-		if(v[2] > v[axis]) 
+		if (v[2] > v[axis])
 			axis = 2;
 	}
 
-
-	
-
 	b3AlignedObjectArray<b3Int4> hostPairs;
 
 	{
 		int numSmallAabbs = m_smallAabbsMappingCPU.size();
-		for (int i=0;i<numSmallAabbs;i++)
+		for (int i = 0; i < numSmallAabbs; i++)
 		{
 			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
 			//float reference = smallAabbi.m_max[axis];
 
-			for (int j=i+1;j<numSmallAabbs;j++)
+			for (int j = i + 1; j < numSmallAabbs; j++)
 			{
-
 				b3SapAabb smallAabbj = m_allAabbsCPU[m_smallAabbsMappingCPU[j]];
 
 				if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
-					(b3Vector3&)smallAabbj.m_min,(b3Vector3&)smallAabbj.m_max))
+										 (b3Vector3&)smallAabbj.m_min, (b3Vector3&)smallAabbj.m_max))
 				{
 					b3Int4 pair;
 					int a = smallAabbi.m_minIndices[3];
 					int b = smallAabbj.m_minIndices[3];
-					if (a<=b)
+					if (a <= b)
 					{
-						pair.x = a;//store the original index in the unsorted aabb array
+						pair.x = a;  //store the original index in the unsorted aabb array
 						pair.y = b;
-					} else
+					}
+					else
 					{
-						pair.x = b;//store the original index in the unsorted aabb array
+						pair.x = b;  //store the original index in the unsorted aabb array
 						pair.y = a;
 					}
 					hostPairs.push_back(pair);
@@ -978,35 +928,35 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
 		}
 	}
 
-	
 	{
 		int numSmallAabbs = m_smallAabbsMappingCPU.size();
-		for (int i=0;i<numSmallAabbs;i++)
+		for (int i = 0; i < numSmallAabbs; i++)
 		{
 			b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
 
 			//float reference = smallAabbi.m_max[axis];
 			int numLargeAabbs = m_largeAabbsMappingCPU.size();
 
-			for (int j=0;j<numLargeAabbs;j++)
+			for (int j = 0; j < numLargeAabbs; j++)
 			{
 				b3SapAabb largeAabbj = m_allAabbsCPU[m_largeAabbsMappingCPU[j]];
 				if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
-					(b3Vector3&)largeAabbj.m_min,(b3Vector3&)largeAabbj.m_max))
+										 (b3Vector3&)largeAabbj.m_min, (b3Vector3&)largeAabbj.m_max))
 				{
 					b3Int4 pair;
 					int a = largeAabbj.m_minIndices[3];
 					int b = smallAabbi.m_minIndices[3];
-					if (a<=b)
+					if (a <= b)
 					{
-						pair.x = a; 
-						pair.y = b;//store the original index in the unsorted aabb array
-					} else
+						pair.x = a;
+						pair.y = b;  //store the original index in the unsorted aabb array
+					}
+					else
 					{
 						pair.x = b;
-						pair.y = a;//store the original index in the unsorted aabb array
+						pair.y = a;  //store the original index in the unsorted aabb array
 					}
-					
+
 					hostPairs.push_back(pair);
 				}
 			}
@@ -1021,21 +971,20 @@ void  b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
 	if (hostPairs.size())
 	{
 		m_overlappingPairs.copyFromHost(hostPairs);
-	} else
+	}
+	else
 	{
 		m_overlappingPairs.resize(0);
 	}
 
 	//init3dSap();
-
 }
 
-void  b3GpuSapBroadphase::reset()
+void b3GpuSapBroadphase::reset()
 {
 	m_allAabbsGPU.resize(0);
 	m_allAabbsCPU.resize(0);
 
-
 	m_smallAabbsMappingGPU.resize(0);
 	m_smallAabbsMappingCPU.resize(0);
 
@@ -1043,13 +992,11 @@ void  b3GpuSapBroadphase::reset()
 
 	m_largeAabbsMappingGPU.resize(0);
 	m_largeAabbsMappingCPU.resize(0);
-
 }
 
-
-void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
+void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
 {
-	if (m_sapKernel==0)
+	if (m_sapKernel == 0)
 	{
 		calculateOverlappingPairsHost(maxPairs);
 		return;
@@ -1065,68 +1012,62 @@ void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
 	int axis = 0;
 
 	{
+		//bool syncOnHost = false;
 
-	//bool syncOnHost = false;
-
-	int numSmallAabbs = m_smallAabbsMappingCPU.size();
-	if (m_prefixScanFloat4 && numSmallAabbs)
-	{
-		B3_PROFILE("GPU compute best variance axis");
-		
-		if (m_dst.size()!=(numSmallAabbs+1))
+		int numSmallAabbs = m_smallAabbsMappingCPU.size();
+		if (m_prefixScanFloat4 && numSmallAabbs)
 		{
-			m_dst.resize(numSmallAabbs+128);
-			m_sum.resize(numSmallAabbs+128);
-			m_sum2.resize(numSmallAabbs+128);
-			m_sum.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
-			m_sum2.at(numSmallAabbs)=b3MakeVector3(0,0,0); //slow?
-		}
+			B3_PROFILE("GPU compute best variance axis");
 
-		b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel ,"m_prepareSumVarianceKernel");
-		launcher.setBuffer(m_allAabbsGPU.getBufferCL());
-		
-		launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
-		launcher.setBuffer(m_sum.getBufferCL());
-		launcher.setBuffer(m_sum2.getBufferCL());
-		launcher.setConst( numSmallAabbs  );
-		int num = numSmallAabbs;
-		launcher.launch1D( num);
-		
+			if (m_dst.size() != (numSmallAabbs + 1))
+			{
+				m_dst.resize(numSmallAabbs + 128);
+				m_sum.resize(numSmallAabbs + 128);
+				m_sum2.resize(numSmallAabbs + 128);
+				m_sum.at(numSmallAabbs) = b3MakeVector3(0, 0, 0);   //slow?
+				m_sum2.at(numSmallAabbs) = b3MakeVector3(0, 0, 0);  //slow?
+			}
 
-		b3Vector3 s;
-		b3Vector3 s2;
-		m_prefixScanFloat4->execute(m_sum,m_dst,numSmallAabbs+1,&s);
-		m_prefixScanFloat4->execute(m_sum2,m_dst,numSmallAabbs+1,&s2);
+			b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel, "m_prepareSumVarianceKernel");
+			launcher.setBuffer(m_allAabbsGPU.getBufferCL());
 
-		b3Vector3 v = s2 - (s*s) / (float)numSmallAabbs;
-		
-		if(v[1] > v[0]) 
-			axis = 1;
-		if(v[2] > v[axis]) 
-			axis = 2;
-	}
+			launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
+			launcher.setBuffer(m_sum.getBufferCL());
+			launcher.setBuffer(m_sum2.getBufferCL());
+			launcher.setConst(numSmallAabbs);
+			int num = numSmallAabbs;
+			launcher.launch1D(num);
 
+			b3Vector3 s;
+			b3Vector3 s2;
+			m_prefixScanFloat4->execute(m_sum, m_dst, numSmallAabbs + 1, &s);
+			m_prefixScanFloat4->execute(m_sum2, m_dst, numSmallAabbs + 1, &s2);
+
+			b3Vector3 v = s2 - (s * s) / (float)numSmallAabbs;
+
+			if (v[1] > v[0])
+				axis = 1;
+			if (v[2] > v[axis])
+				axis = 2;
+		}
 
-		
 		m_gpuSmallSortData.resize(numSmallAabbs);
-		
 
 #if 1
 		if (m_smallAabbsMappingGPU.size())
 		{
-			
 			B3_PROFILE("flipFloatKernel");
-			b3BufferInfoCL bInfo[] = { 
-				b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ), 
-				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL(), true),
-				b3BufferInfoCL( m_gpuSmallSortData.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_flipFloatKernel ,"m_flipFloatKernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst( numSmallAabbs  );
-			launcher.setConst( axis  );
-			
+			b3BufferInfoCL bInfo[] = {
+				b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true),
+				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true),
+				b3BufferInfoCL(m_gpuSmallSortData.getBufferCL())};
+			b3LauncherCL launcher(m_queue, m_flipFloatKernel, "m_flipFloatKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(numSmallAabbs);
+			launcher.setConst(axis);
+
 			int num = numSmallAabbs;
-			launcher.launch1D( num);
+			launcher.launch1D(num);
 			clFinish(m_queue);
 		}
 
@@ -1141,69 +1082,66 @@ void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
 		if (numSmallAabbs)
 		{
 			B3_PROFILE("scatterKernel");
-			
-			b3BufferInfoCL bInfo[] = { 
-				b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ),
-				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL(), true),
-				b3BufferInfoCL( m_gpuSmallSortData.getBufferCL(),true),
+
+			b3BufferInfoCL bInfo[] = {
+				b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true),
+				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true),
+				b3BufferInfoCL(m_gpuSmallSortData.getBufferCL(), true),
 				b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_scatterKernel ,"m_scatterKernel ");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst( numSmallAabbs);
+			b3LauncherCL launcher(m_queue, m_scatterKernel, "m_scatterKernel ");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(numSmallAabbs);
 			int num = numSmallAabbs;
-			launcher.launch1D( num);
+			launcher.launch1D(num);
 			clFinish(m_queue);
-			
 		}
-        
 
-			m_overlappingPairs.resize(maxPairs);
+		m_overlappingPairs.resize(maxPairs);
 
-			m_pairCount.resize(0);
-			m_pairCount.push_back(0);
-            int numPairs=0;
+		m_pairCount.resize(0);
+		m_pairCount.push_back(0);
+		int numPairs = 0;
 
+		{
+			int numLargeAabbs = m_largeAabbsMappingGPU.size();
+			if (numLargeAabbs && numSmallAabbs)
 			{
-				int numLargeAabbs = m_largeAabbsMappingGPU.size();
-				if (numLargeAabbs && numSmallAabbs)
+				//@todo
+				B3_PROFILE("sap2Kernel");
+				b3BufferInfoCL bInfo[] = {
+					b3BufferInfoCL(m_allAabbsGPU.getBufferCL()),
+					b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
+					b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
+					b3BufferInfoCL(m_overlappingPairs.getBufferCL()),
+					b3BufferInfoCL(m_pairCount.getBufferCL())};
+				b3LauncherCL launcher(m_queue, m_sap2Kernel, "m_sap2Kernel");
+				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+				launcher.setConst(numLargeAabbs);
+				launcher.setConst(numSmallAabbs);
+				launcher.setConst(axis);
+				launcher.setConst(maxPairs);
+				//@todo: use actual maximum work item sizes of the device instead of hardcoded values
+				launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
+
+				numPairs = m_pairCount.at(0);
+				if (numPairs > maxPairs)
 				{
-					//@todo
-					B3_PROFILE("sap2Kernel");
-					b3BufferInfoCL bInfo[] = { 
-						b3BufferInfoCL( m_allAabbsGPU.getBufferCL() ),
-						b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
-						b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ), 
-						b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), 
-						b3BufferInfoCL(m_pairCount.getBufferCL())};
-					b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
-					launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-					launcher.setConst(   numLargeAabbs  );
-					launcher.setConst( numSmallAabbs);
-					launcher.setConst( axis  );
-					launcher.setConst( maxPairs  );
-//@todo: use actual maximum work item sizes of the device instead of hardcoded values
-					launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
-                
-					numPairs = m_pairCount.at(0);
-					if (numPairs >maxPairs)
-					{
-						b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-						numPairs =maxPairs;
-					}
+					b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+					numPairs = maxPairs;
 				}
 			}
-			if (m_gpuSmallSortedAabbs.size())
-			{
-				B3_PROFILE("sapKernel");
-				b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
-				b3LauncherCL launcher(m_queue, m_sapKernel,"m_sapKernel");
-				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-				launcher.setConst( numSmallAabbs  );
-				launcher.setConst( axis  );
-				launcher.setConst( maxPairs  );
-
-			
-				int num = numSmallAabbs;
+		}
+		if (m_gpuSmallSortedAabbs.size())
+		{
+			B3_PROFILE("sapKernel");
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL()), b3BufferInfoCL(m_overlappingPairs.getBufferCL()), b3BufferInfoCL(m_pairCount.getBufferCL())};
+			b3LauncherCL launcher(m_queue, m_sapKernel, "m_sapKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(numSmallAabbs);
+			launcher.setConst(axis);
+			launcher.setConst(maxPairs);
+
+			int num = numSmallAabbs;
 #if 0                
                 int buffSize = launcher.getSerializationBufferSize();
                 unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
@@ -1225,73 +1163,71 @@ void  b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
                 FILE* f = fopen("m_sapKernelArgs.bin","wb");
                 fwrite(buf,buffSize+sizeof(int),1,f);
                 fclose(f);
-#endif//
+#endif  //
 
-                launcher.launch1D( num);
-				clFinish(m_queue);
-                
-                numPairs = m_pairCount.at(0);
-                if (numPairs>maxPairs)
-				{
-					b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-					numPairs = maxPairs;
-					m_pairCount.resize(0);
-					m_pairCount.push_back(maxPairs);
-				}
+			launcher.launch1D(num);
+			clFinish(m_queue);
+
+			numPairs = m_pairCount.at(0);
+			if (numPairs > maxPairs)
+			{
+				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
+				numPairs = maxPairs;
+				m_pairCount.resize(0);
+				m_pairCount.push_back(maxPairs);
 			}
-			
+		}
+
 #else
-        int numPairs = 0;
-        
-        
-        b3LauncherCL launcher(m_queue, m_sapKernel);
-
-        const char* fileName = "m_sapKernelArgs.bin";
-        FILE* f = fopen(fileName,"rb");
-        if (f)
-        {
-            int sizeInBytes=0;
-            if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET)) 
-            {
-                printf("error, cannot get file size\n");
-                exit(0);
-            }
-            
-            unsigned char* buf = (unsigned char*) malloc(sizeInBytes);
-            fread(buf,sizeInBytes,1,f);
-            int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes,m_context);
-            int num = *(int*)&buf[serializedBytes];
-            launcher.launch1D( num);
-            
-            b3OpenCLArray<int> pairCount(m_context, m_queue);
-            int numElements = launcher.m_arrays[2]->size()/sizeof(int);
-            pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(),numElements);
-            numPairs = pairCount.at(0);
-            //printf("overlapping pairs = %d\n",numPairs);
-            b3AlignedObjectArray<b3Int4>		hostOoverlappingPairs;
-            b3OpenCLArray<b3Int4> tmpGpuPairs(m_context,m_queue);
-            tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(),numPairs );
-   
-            tmpGpuPairs.copyToHost(hostOoverlappingPairs);
-            m_overlappingPairs.copyFromHost(hostOoverlappingPairs);
-            //printf("hello %d\n", m_overlappingPairs.size());
-            free(buf);
-            fclose(f);
-            
-        } else {
-            printf("error: cannot find file %s\n",fileName);
-        }
-        
-        clFinish(m_queue);
-
-        
+		int numPairs = 0;
+
+		b3LauncherCL launcher(m_queue, m_sapKernel);
+
+		const char* fileName = "m_sapKernelArgs.bin";
+		FILE* f = fopen(fileName, "rb");
+		if (f)
+		{
+			int sizeInBytes = 0;
+			if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
+			{
+				printf("error, cannot get file size\n");
+				exit(0);
+			}
+
+			unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
+			fread(buf, sizeInBytes, 1, f);
+			int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
+			int num = *(int*)&buf[serializedBytes];
+			launcher.launch1D(num);
+
+			b3OpenCLArray<int> pairCount(m_context, m_queue);
+			int numElements = launcher.m_arrays[2]->size() / sizeof(int);
+			pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(), numElements);
+			numPairs = pairCount.at(0);
+			//printf("overlapping pairs = %d\n",numPairs);
+			b3AlignedObjectArray<b3Int4> hostOoverlappingPairs;
+			b3OpenCLArray<b3Int4> tmpGpuPairs(m_context, m_queue);
+			tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(), numPairs);
+
+			tmpGpuPairs.copyToHost(hostOoverlappingPairs);
+			m_overlappingPairs.copyFromHost(hostOoverlappingPairs);
+			//printf("hello %d\n", m_overlappingPairs.size());
+			free(buf);
+			fclose(f);
+		}
+		else
+		{
+			printf("error: cannot find file %s\n", fileName);
+		}
+
+		clFinish(m_queue);
+
 #endif
 
-			
-        m_overlappingPairs.resize(numPairs);
-		
-	}//B3_PROFILE("GPU_RADIX SORT");
-	//init3dSap();
+		m_overlappingPairs.resize(numPairs);
+
+	}  //B3_PROFILE("GPU_RADIX SORT");
+	   //init3dSap();
 }
 
 void b3GpuSapBroadphase::writeAabbsToGpu()
@@ -1299,17 +1235,14 @@ void b3GpuSapBroadphase::writeAabbsToGpu()
 	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
 	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
 
-	m_allAabbsGPU.copyFromHost(m_allAabbsCPU);//might not be necessary, the 'setupGpuAabbsFull' already takes care of this
-	
-	
-
+	m_allAabbsGPU.copyFromHost(m_allAabbsCPU);  //might not be necessary, the 'setupGpuAabbsFull' already takes care of this
 }
 
-void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
+void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
 {
 	int index = userPtr;
 	b3SapAabb aabb;
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 	{
 		aabb.m_min[i] = aabbMin[i];
 		aabb.m_max[i] = aabbMax[i];
@@ -1317,15 +1250,15 @@ void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vec
 	aabb.m_minIndices[3] = index;
 	aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
 	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU.size());
-	
+
 	m_allAabbsCPU.push_back(aabb);
 }
 
-void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
+void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
 {
 	int index = userPtr;
 	b3SapAabb aabb;
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 	{
 		aabb.m_min[i] = aabbMin[i];
 		aabb.m_max[i] = aabbMax[i];
@@ -1334,20 +1267,19 @@ void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3&
 	aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
 	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU.size());
 
-
 	m_allAabbsCPU.push_back(aabb);
 }
 
-cl_mem	b3GpuSapBroadphase::getAabbBufferWS()
+cl_mem b3GpuSapBroadphase::getAabbBufferWS()
 {
 	return m_allAabbsGPU.getBufferCL();
 }
 
-int	b3GpuSapBroadphase::getNumOverlap()
+int b3GpuSapBroadphase::getNumOverlap()
 {
 	return m_overlappingPairs.size();
 }
-cl_mem	b3GpuSapBroadphase::getOverlappingPairBuffer()
+cl_mem b3GpuSapBroadphase::getOverlappingPairBuffer()
 {
 	return m_overlappingPairs.getBufferCL();
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
index 8d36ac78f2..d17590b14a 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
@@ -2,7 +2,7 @@
 #define B3_GPU_SAP_BROADPHASE_H
 
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
+#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"  //b3Int2
 class b3Vector3;
 #include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
 
@@ -11,141 +11,133 @@ class b3Vector3;
 
 #include "b3GpuBroadphaseInterface.h"
 
-
 class b3GpuSapBroadphase : public b3GpuBroadphaseInterface
 {
-	
-	cl_context				m_context;
-	cl_device_id			m_device;
-	cl_command_queue		m_queue;
-	cl_kernel				m_flipFloatKernel;
-	cl_kernel				m_scatterKernel ;
-	cl_kernel				m_copyAabbsKernel;
-	cl_kernel				m_sapKernel;
-	cl_kernel				m_sap2Kernel;
-	cl_kernel				m_prepareSumVarianceKernel;
-	
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
+	cl_kernel m_flipFloatKernel;
+	cl_kernel m_scatterKernel;
+	cl_kernel m_copyAabbsKernel;
+	cl_kernel m_sapKernel;
+	cl_kernel m_sap2Kernel;
+	cl_kernel m_prepareSumVarianceKernel;
 
 	class b3RadixSort32CL* m_sorter;
 
 	///test for 3d SAP
-	b3AlignedObjectArray<b3SortData>		m_sortedAxisCPU[3][2];
-	b3AlignedObjectArray<b3UnsignedInt2>	m_objectMinMaxIndexCPU[3][2];
-	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis0;
-	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis1;
-	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis2;
-	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis0prev;
-	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis1prev;
-	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis2prev;
-
-	b3OpenCLArray<b3SortData>				m_sortedAxisGPU0;
-	b3OpenCLArray<b3SortData>				m_sortedAxisGPU1;
-	b3OpenCLArray<b3SortData>				m_sortedAxisGPU2;
-	b3OpenCLArray<b3SortData>				m_sortedAxisGPU0prev;
-	b3OpenCLArray<b3SortData>				m_sortedAxisGPU1prev;
-	b3OpenCLArray<b3SortData>				m_sortedAxisGPU2prev;
-
-
-	b3OpenCLArray<b3Int4>					m_addedHostPairsGPU;
-	b3OpenCLArray<b3Int4>					m_removedHostPairsGPU;
-	b3OpenCLArray<int>						m_addedCountGPU;
-	b3OpenCLArray<int>						m_removedCountGPU;
-	
-	int	m_currentBuffer;
+	b3AlignedObjectArray<b3SortData> m_sortedAxisCPU[3][2];
+	b3AlignedObjectArray<b3UnsignedInt2> m_objectMinMaxIndexCPU[3][2];
+	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0;
+	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1;
+	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2;
+	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0prev;
+	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1prev;
+	b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2prev;
+
+	b3OpenCLArray<b3SortData> m_sortedAxisGPU0;
+	b3OpenCLArray<b3SortData> m_sortedAxisGPU1;
+	b3OpenCLArray<b3SortData> m_sortedAxisGPU2;
+	b3OpenCLArray<b3SortData> m_sortedAxisGPU0prev;
+	b3OpenCLArray<b3SortData> m_sortedAxisGPU1prev;
+	b3OpenCLArray<b3SortData> m_sortedAxisGPU2prev;
+
+	b3OpenCLArray<b3Int4> m_addedHostPairsGPU;
+	b3OpenCLArray<b3Int4> m_removedHostPairsGPU;
+	b3OpenCLArray<int> m_addedCountGPU;
+	b3OpenCLArray<int> m_removedCountGPU;
+
+	int m_currentBuffer;
 
 public:
-
 	b3OpenCLArray<int> m_pairCount;
 
+	b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
+	b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
 
-	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU;
-	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
-
-	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()
+	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()
 	{
 		return m_allAabbsGPU;
 	}
-	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()
+	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
 	{
 		return m_allAabbsCPU;
 	}
 
-	b3OpenCLArray<b3Vector3>	m_sum;
-	b3OpenCLArray<b3Vector3>	m_sum2;
-	b3OpenCLArray<b3Vector3>	m_dst;
+	b3OpenCLArray<b3Vector3> m_sum;
+	b3OpenCLArray<b3Vector3> m_sum2;
+	b3OpenCLArray<b3Vector3> m_dst;
 
-	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
+	b3OpenCLArray<int> m_smallAabbsMappingGPU;
 	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
 
-	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
+	b3OpenCLArray<int> m_largeAabbsMappingGPU;
 	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
 
-	
-	b3OpenCLArray<b3Int4>		m_overlappingPairs;
+	b3OpenCLArray<b3Int4> m_overlappingPairs;
 
 	//temporary gpu work memory
-	b3OpenCLArray<b3SortData>	m_gpuSmallSortData;
-	b3OpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;
+	b3OpenCLArray<b3SortData> m_gpuSmallSortData;
+	b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs;
 
-	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;
+	class b3PrefixScanFloat4CL* m_prefixScanFloat4;
 
 	enum b3GpuSapKernelType
 	{
-		B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU=1,
+		B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU = 1,
 		B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU,
 		B3_GPU_SAP_KERNEL_ORIGINAL,
 		B3_GPU_SAP_KERNEL_BARRIER,
 		B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY
 	};
 
-	b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q , b3GpuSapKernelType kernelType=B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
+	b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType = B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
 	virtual ~b3GpuSapBroadphase();
-	
-	static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx,cl_device_id device, cl_command_queue  q)
+
+	static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx, cl_device_id device, cl_command_queue q)
 	{
-		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU);
+		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU);
 	}
 
-	static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx, cl_device_id device, cl_command_queue q)
 	{
-		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU);
+		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU);
 	}
 
-	static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx, cl_device_id device, cl_command_queue q)
 	{
-		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_ORIGINAL);
+		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_ORIGINAL);
 	}
-	static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx, cl_device_id device, cl_command_queue q)
 	{
-		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BARRIER);
+		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BARRIER);
 	}
-	static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx,cl_device_id device, cl_command_queue  q)
+	static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx, cl_device_id device, cl_command_queue q)
 	{
-		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
+		return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
 	}
-	
 
-	virtual void  calculateOverlappingPairs(int maxPairs);
-	virtual void  calculateOverlappingPairsHost(int maxPairs);
-	
-	void  reset();
+	virtual void calculateOverlappingPairs(int maxPairs);
+	virtual void calculateOverlappingPairsHost(int maxPairs);
+
+	void reset();
 
 	void init3dSap();
 	virtual void calculateOverlappingPairsHostIncremental3Sap();
 
-	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
-	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
 
 	//call writeAabbsToGpu after done making all changes (createProxy etc)
 	virtual void writeAabbsToGpu();
 
-	virtual cl_mem	getAabbBufferWS();
-	virtual int	getNumOverlap();
-	virtual cl_mem	getOverlappingPairBuffer();
-	
+	virtual cl_mem getAabbBufferWS();
+	virtual int getNumOverlap();
+	virtual cl_mem getOverlappingPairBuffer();
+
 	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
 	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
 	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
 };
 
-#endif //B3_GPU_SAP_BROADPHASE_H
\ No newline at end of file
+#endif  //B3_GPU_SAP_BROADPHASE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h
index ea6550fede..60570f2605 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h
@@ -5,10 +5,9 @@
 #include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
 
 ///just make sure that the b3Aabb is 16-byte aligned
-B3_ATTRIBUTE_ALIGNED16(struct) b3SapAabb : public b3Aabb
-{
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3SapAabb : public b3Aabb{
 
-};
+			};
 
-
-#endif //B3_SAP_AABB_H
+#endif  //B3_SAP_AABB_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h
index dad42477c3..0185417786 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h
@@ -1,199 +1,198 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* gridBroadphaseCL= \
-"int getPosHash(int4 gridPos, __global float4* pParams)\n"
-"{\n"
-"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
-"	gridPos.x &= gridDim.x - 1;\n"
-"	gridPos.y &= gridDim.y - 1;\n"
-"	gridPos.z &= gridDim.z - 1;\n"
-"	int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;\n"
-"	return hash;\n"
-"} \n"
-"int4 getGridPos(float4 worldPos, __global float4* pParams)\n"
-"{\n"
-"    int4 gridPos;\n"
-"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
-"    gridPos.x = (int)floor(worldPos.x * pParams[0].x) & (gridDim.x - 1);\n"
-"    gridPos.y = (int)floor(worldPos.y * pParams[0].y) & (gridDim.y - 1);\n"
-"    gridPos.z = (int)floor(worldPos.z * pParams[0].z) & (gridDim.z - 1);\n"
-"    return gridPos;\n"
-"}\n"
-"// calculate grid hash value for each body using its AABB\n"
-"__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )\n"
-"{\n"
-"    int index = get_global_id(0);\n"
-"    if(index >= numObjects)\n"
-"	{\n"
-"		return;\n"
-"	}\n"
-"	float4 bbMin = allpAABB[smallAabbMapping[index]*2];\n"
-"	float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];\n"
-"	float4 pos;\n"
-"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
-"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
-"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
-"	pos.w = 0.f;\n"
-"    // get address in grid\n"
-"    int4 gridPos = getGridPos(pos, pParams);\n"
-"    int gridHash = getPosHash(gridPos, pParams);\n"
-"    // store grid hash and body index\n"
-"    int2 hashVal;\n"
-"    hashVal.x = gridHash;\n"
-"    hashVal.y = index;\n"
-"    pHash[index] = hashVal;\n"
-"}\n"
-"__kernel void kClearCellStart(	int numCells, \n"
-"								__global int* pCellStart )\n"
-"{\n"
-"    int index = get_global_id(0);\n"
-"    if(index >= numCells)\n"
-"	{\n"
-"		return;\n"
-"	}\n"
-"	pCellStart[index] = -1;\n"
-"}\n"
-"__kernel void kFindCellStart(int numObjects, __global int2* pHash, __global int* cellStart )\n"
-"{\n"
-"	__local int sharedHash[513];\n"
-"    int index = get_global_id(0);\n"
-"	int2 sortedData;\n"
-"    if(index < numObjects)\n"
-"	{\n"
-"		sortedData = pHash[index];\n"
-"		// Load hash data into shared memory so that we can look \n"
-"		// at neighboring body's hash value without loading\n"
-"		// two hash values per thread\n"
-"		sharedHash[get_local_id(0) + 1] = sortedData.x;\n"
-"		if((index > 0) && (get_local_id(0) == 0))\n"
-"		{\n"
-"			// first thread in block must load neighbor body hash\n"
-"			sharedHash[0] = pHash[index-1].x;\n"
-"		}\n"
-"	}\n"
-"    barrier(CLK_LOCAL_MEM_FENCE);\n"
-"    if(index < numObjects)\n"
-"	{\n"
-"		if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))\n"
-"		{\n"
-"			cellStart[sortedData.x] = index;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"int testAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)\n"
-"{\n"
-"	return	(min0.x <= max1.x)&& (min1.x <= max0.x) && \n"
-"			(min0.y <= max1.y)&& (min1.y <= max0.y) && \n"
-"			(min0.z <= max1.z)&& (min1.z <= max0.z); \n"
-"}\n"
-"//search for AABB 'index' against other AABBs' in this cell\n"
-"void findPairsInCell(	int numObjects,\n"
-"						int4	gridPos,\n"
-"						int    index,\n"
-"						__global int2*  pHash,\n"
-"						__global int*   pCellStart,\n"
-"						__global float4* allpAABB, \n"
-"						__global const int* smallAabbMapping,\n"
-"						__global float4* pParams,\n"
-"							volatile  __global int* pairCount,\n"
-"						__global int4*   pPairBuff2,\n"
-"						int maxPairs\n"
-"						)\n"
-"{\n"
-"	int4 pGridDim = *((__global int4*)(pParams + 1));\n"
-"	int maxBodiesPerCell = pGridDim.w;\n"
-"    int gridHash = getPosHash(gridPos, pParams);\n"
-"    // get start of bucket for this cell\n"
-"    int bucketStart = pCellStart[gridHash];\n"
-"    if (bucketStart == -1)\n"
-"	{\n"
-"        return;   // cell empty\n"
-"	}\n"
-"	// iterate over bodies in this cell\n"
-"    int2 sortedData = pHash[index];\n"
-"	int unsorted_indx = sortedData.y;\n"
-"    float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0]; \n"
-"	float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
-"	int handleIndex =  as_int(min0.w);\n"
-"	\n"
-"	int bucketEnd = bucketStart + maxBodiesPerCell;\n"
-"	bucketEnd = (bucketEnd > numObjects) ? numObjects : bucketEnd;\n"
-"	for(int index2 = bucketStart; index2 < bucketEnd; index2++) \n"
-"	{\n"
-"        int2 cellData = pHash[index2];\n"
-"        if (cellData.x != gridHash)\n"
-"        {\n"
-"			break;   // no longer in same bucket\n"
-"		}\n"
-"		int unsorted_indx2 = cellData.y;\n"
-"        //if (unsorted_indx2 < unsorted_indx) // check not colliding with self\n"
-"		if (unsorted_indx2 != unsorted_indx) // check not colliding with self\n"
-"        {   \n"
-"			float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];\n"
-"			float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];\n"
-"			if(testAABBOverlap(min0, max0, min1, max1))\n"
-"			{\n"
-"				if (pairCount)\n"
-"				{\n"
-"					int handleIndex2 = as_int(min1.w);\n"
-"					if (handleIndex<handleIndex2)\n"
-"					{\n"
-"						int curPair = atomic_add(pairCount,1);\n"
-"						if (curPair<maxPairs)\n"
-"						{\n"
-"							int4 newpair;\n"
-"							newpair.x = handleIndex;\n"
-"							newpair.y = handleIndex2;\n"
-"							newpair.z = -1;\n"
-"							newpair.w = -1;\n"
-"							pPairBuff2[curPair] = newpair;\n"
-"						}\n"
-"					}\n"
-"				\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void kFindOverlappingPairs(	int numObjects,\n"
-"										__global float4* allpAABB, \n"
-"										__global const int* smallAabbMapping,\n"
-"										__global int2* pHash, \n"
-"										__global int* pCellStart, \n"
-"										__global float4* pParams ,\n"
-"										volatile  __global int* pairCount,\n"
-"										__global int4*   pPairBuff2,\n"
-"										int maxPairs\n"
-"										)\n"
-"{\n"
-"    int index = get_global_id(0);\n"
-"    if(index >= numObjects)\n"
-"	{\n"
-"		return;\n"
-"	}\n"
-"    int2 sortedData = pHash[index];\n"
-"	int unsorted_indx = sortedData.y;\n"
-"	float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];\n"
-"	float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
-"	float4 pos;\n"
-"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
-"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
-"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
-"    // get address in grid\n"
-"    int4 gridPosA = getGridPos(pos, pParams);\n"
-"    int4 gridPosB; \n"
-"    // examine only neighbouring cells\n"
-"    for(int z=-1; z<=1; z++) \n"
-"    {\n"
-"		gridPosB.z = gridPosA.z + z;\n"
-"        for(int y=-1; y<=1; y++) \n"
-"        {\n"
-"			gridPosB.y = gridPosA.y + y;\n"
-"            for(int x=-1; x<=1; x++) \n"
-"            {\n"
-"				gridPosB.x = gridPosA.x + x;\n"
-"                findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);\n"
-"            }\n"
-"        }\n"
-"    }\n"
-"}\n"
-;
+static const char* gridBroadphaseCL =
+	"int getPosHash(int4 gridPos, __global float4* pParams)\n"
+	"{\n"
+	"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
+	"	gridPos.x &= gridDim.x - 1;\n"
+	"	gridPos.y &= gridDim.y - 1;\n"
+	"	gridPos.z &= gridDim.z - 1;\n"
+	"	int hash = gridPos.z * gridDim.y * gridDim.x + gridPos.y * gridDim.x + gridPos.x;\n"
+	"	return hash;\n"
+	"} \n"
+	"int4 getGridPos(float4 worldPos, __global float4* pParams)\n"
+	"{\n"
+	"    int4 gridPos;\n"
+	"	int4 gridDim = *((__global int4*)(pParams + 1));\n"
+	"    gridPos.x = (int)floor(worldPos.x * pParams[0].x) & (gridDim.x - 1);\n"
+	"    gridPos.y = (int)floor(worldPos.y * pParams[0].y) & (gridDim.y - 1);\n"
+	"    gridPos.z = (int)floor(worldPos.z * pParams[0].z) & (gridDim.z - 1);\n"
+	"    return gridPos;\n"
+	"}\n"
+	"// calculate grid hash value for each body using its AABB\n"
+	"__kernel void kCalcHashAABB(int numObjects, __global float4* allpAABB, __global const int* smallAabbMapping, __global int2* pHash, __global float4* pParams )\n"
+	"{\n"
+	"    int index = get_global_id(0);\n"
+	"    if(index >= numObjects)\n"
+	"	{\n"
+	"		return;\n"
+	"	}\n"
+	"	float4 bbMin = allpAABB[smallAabbMapping[index]*2];\n"
+	"	float4 bbMax = allpAABB[smallAabbMapping[index]*2 + 1];\n"
+	"	float4 pos;\n"
+	"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
+	"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
+	"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
+	"	pos.w = 0.f;\n"
+	"    // get address in grid\n"
+	"    int4 gridPos = getGridPos(pos, pParams);\n"
+	"    int gridHash = getPosHash(gridPos, pParams);\n"
+	"    // store grid hash and body index\n"
+	"    int2 hashVal;\n"
+	"    hashVal.x = gridHash;\n"
+	"    hashVal.y = index;\n"
+	"    pHash[index] = hashVal;\n"
+	"}\n"
+	"__kernel void kClearCellStart(	int numCells, \n"
+	"								__global int* pCellStart )\n"
+	"{\n"
+	"    int index = get_global_id(0);\n"
+	"    if(index >= numCells)\n"
+	"	{\n"
+	"		return;\n"
+	"	}\n"
+	"	pCellStart[index] = -1;\n"
+	"}\n"
+	"__kernel void kFindCellStart(int numObjects, __global int2* pHash, __global int* cellStart )\n"
+	"{\n"
+	"	__local int sharedHash[513];\n"
+	"    int index = get_global_id(0);\n"
+	"	int2 sortedData;\n"
+	"    if(index < numObjects)\n"
+	"	{\n"
+	"		sortedData = pHash[index];\n"
+	"		// Load hash data into shared memory so that we can look \n"
+	"		// at neighboring body's hash value without loading\n"
+	"		// two hash values per thread\n"
+	"		sharedHash[get_local_id(0) + 1] = sortedData.x;\n"
+	"		if((index > 0) && (get_local_id(0) == 0))\n"
+	"		{\n"
+	"			// first thread in block must load neighbor body hash\n"
+	"			sharedHash[0] = pHash[index-1].x;\n"
+	"		}\n"
+	"	}\n"
+	"    barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"    if(index < numObjects)\n"
+	"	{\n"
+	"		if((index == 0) || (sortedData.x != sharedHash[get_local_id(0)]))\n"
+	"		{\n"
+	"			cellStart[sortedData.x] = index;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"int testAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)\n"
+	"{\n"
+	"	return	(min0.x <= max1.x)&& (min1.x <= max0.x) && \n"
+	"			(min0.y <= max1.y)&& (min1.y <= max0.y) && \n"
+	"			(min0.z <= max1.z)&& (min1.z <= max0.z); \n"
+	"}\n"
+	"//search for AABB 'index' against other AABBs' in this cell\n"
+	"void findPairsInCell(	int numObjects,\n"
+	"						int4	gridPos,\n"
+	"						int    index,\n"
+	"						__global int2*  pHash,\n"
+	"						__global int*   pCellStart,\n"
+	"						__global float4* allpAABB, \n"
+	"						__global const int* smallAabbMapping,\n"
+	"						__global float4* pParams,\n"
+	"							volatile  __global int* pairCount,\n"
+	"						__global int4*   pPairBuff2,\n"
+	"						int maxPairs\n"
+	"						)\n"
+	"{\n"
+	"	int4 pGridDim = *((__global int4*)(pParams + 1));\n"
+	"	int maxBodiesPerCell = pGridDim.w;\n"
+	"    int gridHash = getPosHash(gridPos, pParams);\n"
+	"    // get start of bucket for this cell\n"
+	"    int bucketStart = pCellStart[gridHash];\n"
+	"    if (bucketStart == -1)\n"
+	"	{\n"
+	"        return;   // cell empty\n"
+	"	}\n"
+	"	// iterate over bodies in this cell\n"
+	"    int2 sortedData = pHash[index];\n"
+	"	int unsorted_indx = sortedData.y;\n"
+	"    float4 min0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0]; \n"
+	"	float4 max0 = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
+	"	int handleIndex =  as_int(min0.w);\n"
+	"	\n"
+	"	int bucketEnd = bucketStart + maxBodiesPerCell;\n"
+	"	bucketEnd = (bucketEnd > numObjects) ? numObjects : bucketEnd;\n"
+	"	for(int index2 = bucketStart; index2 < bucketEnd; index2++) \n"
+	"	{\n"
+	"        int2 cellData = pHash[index2];\n"
+	"        if (cellData.x != gridHash)\n"
+	"        {\n"
+	"			break;   // no longer in same bucket\n"
+	"		}\n"
+	"		int unsorted_indx2 = cellData.y;\n"
+	"        //if (unsorted_indx2 < unsorted_indx) // check not colliding with self\n"
+	"		if (unsorted_indx2 != unsorted_indx) // check not colliding with self\n"
+	"        {   \n"
+	"			float4 min1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 0];\n"
+	"			float4 max1 = allpAABB[smallAabbMapping[unsorted_indx2]*2 + 1];\n"
+	"			if(testAABBOverlap(min0, max0, min1, max1))\n"
+	"			{\n"
+	"				if (pairCount)\n"
+	"				{\n"
+	"					int handleIndex2 = as_int(min1.w);\n"
+	"					if (handleIndex<handleIndex2)\n"
+	"					{\n"
+	"						int curPair = atomic_add(pairCount,1);\n"
+	"						if (curPair<maxPairs)\n"
+	"						{\n"
+	"							int4 newpair;\n"
+	"							newpair.x = handleIndex;\n"
+	"							newpair.y = handleIndex2;\n"
+	"							newpair.z = -1;\n"
+	"							newpair.w = -1;\n"
+	"							pPairBuff2[curPair] = newpair;\n"
+	"						}\n"
+	"					}\n"
+	"				\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void kFindOverlappingPairs(	int numObjects,\n"
+	"										__global float4* allpAABB, \n"
+	"										__global const int* smallAabbMapping,\n"
+	"										__global int2* pHash, \n"
+	"										__global int* pCellStart, \n"
+	"										__global float4* pParams ,\n"
+	"										volatile  __global int* pairCount,\n"
+	"										__global int4*   pPairBuff2,\n"
+	"										int maxPairs\n"
+	"										)\n"
+	"{\n"
+	"    int index = get_global_id(0);\n"
+	"    if(index >= numObjects)\n"
+	"	{\n"
+	"		return;\n"
+	"	}\n"
+	"    int2 sortedData = pHash[index];\n"
+	"	int unsorted_indx = sortedData.y;\n"
+	"	float4 bbMin = allpAABB[smallAabbMapping[unsorted_indx]*2 + 0];\n"
+	"	float4 bbMax = allpAABB[smallAabbMapping[unsorted_indx]*2 + 1];\n"
+	"	float4 pos;\n"
+	"	pos.x = (bbMin.x + bbMax.x) * 0.5f;\n"
+	"	pos.y = (bbMin.y + bbMax.y) * 0.5f;\n"
+	"	pos.z = (bbMin.z + bbMax.z) * 0.5f;\n"
+	"    // get address in grid\n"
+	"    int4 gridPosA = getGridPos(pos, pParams);\n"
+	"    int4 gridPosB; \n"
+	"    // examine only neighbouring cells\n"
+	"    for(int z=-1; z<=1; z++) \n"
+	"    {\n"
+	"		gridPosB.z = gridPosA.z + z;\n"
+	"        for(int y=-1; y<=1; y++) \n"
+	"        {\n"
+	"			gridPosB.y = gridPosA.y + y;\n"
+	"            for(int x=-1; x<=1; x++) \n"
+	"            {\n"
+	"				gridPosB.x = gridPosA.x + x;\n"
+	"                findPairsInCell(numObjects, gridPosB, index, pHash, pCellStart, allpAABB,smallAabbMapping, pParams, pairCount,pPairBuff2, maxPairs);\n"
+	"            }\n"
+	"        }\n"
+	"    }\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
index 5eb8f45b16..c02877dde9 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
@@ -1,729 +1,728 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* parallelLinearBvhCL= \
-"/*\n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose,\n"
-"including commercial applications, and to alter it and redistribute it freely,\n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Initial Author Jackson Lee, 2014\n"
-"typedef float b3Scalar;\n"
-"typedef float4 b3Vector3;\n"
-"#define b3Max max\n"
-"#define b3Min min\n"
-"#define b3Sqrt sqrt\n"
-"typedef struct\n"
-"{\n"
-"	unsigned int m_key;\n"
-"	unsigned int m_value;\n"
-"} SortDataCL;\n"
-"typedef struct \n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float4	m_min;\n"
-"		float   m_minElems[4];\n"
-"		int			m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float4	m_max;\n"
-"		float   m_maxElems[4];\n"
-"		int			m_maxIndices[4];\n"
-"	};\n"
-"} b3AabbCL;\n"
-"unsigned int interleaveBits(unsigned int x)\n"
-"{\n"
-"	//........ ........ ......12 3456789A	//x\n"
-"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x after interleaving bits\n"
-"	\n"
-"	//......12 3456789A ......12 3456789A	//x ^ (x << 16)\n"
-"	//11111111 ........ ........ 11111111	//0x FF 00 00 FF\n"
-"	//......12 ........ ........ 3456789A	//x = (x ^ (x << 16)) & 0xFF0000FF;\n"
-"	\n"
-"	//......12 ........ 3456789A 3456789A	//x ^ (x <<  8)\n"
-"	//......11 ........ 1111.... ....1111	//0x 03 00 F0 0F\n"
-"	//......12 ........ 3456.... ....789A	//x = (x ^ (x <<  8)) & 0x0300F00F;\n"
-"	\n"
-"	//..12..12 ....3456 3456.... 789A789A	//x ^ (x <<  4)\n"
-"	//......11 ....11.. ..11.... 11....11	//0x 03 0C 30 C3\n"
-"	//......12 ....34.. ..56.... 78....9A	//x = (x ^ (x <<  4)) & 0x030C30C3;\n"
-"	\n"
-"	//....1212 ..3434.. 5656..78 78..9A9A	//x ^ (x <<  2)\n"
-"	//....1..1 ..1..1.. 1..1..1. .1..1..1	//0x 09 24 92 49\n"
-"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x = (x ^ (x <<  2)) & 0x09249249;\n"
-"	\n"
-"	//........ ........ ......11 11111111	//0x000003FF\n"
-"	x &= 0x000003FF;		//Clear all bits above bit 10\n"
-"	\n"
-"	x = (x ^ (x << 16)) & 0xFF0000FF;\n"
-"	x = (x ^ (x <<  8)) & 0x0300F00F;\n"
-"	x = (x ^ (x <<  4)) & 0x030C30C3;\n"
-"	x = (x ^ (x <<  2)) & 0x09249249;\n"
-"	\n"
-"	return x;\n"
-"}\n"
-"unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)\n"
-"{\n"
-"	return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n"
-"}\n"
-"__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)\n"
-"{\n"
-"	int separatedAabbIndex = get_global_id(0);\n"
-"	if(separatedAabbIndex >= numAabbsToSeparate) return;\n"
-"	int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];\n"
-"	out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];\n"
-"}\n"
-"//Should replace with an optimized parallel reduction\n"
-"__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)\n"
-"{\n"
-"	//Each time this kernel is added to the command queue, \n"
-"	//the number of AABBs needing to be merged is halved\n"
-"	//\n"
-"	//Example with 159 AABBs:\n"
-"	//	numRemainingAabbs == 159 / 2 + 159 % 2 == 80\n"
-"	//	numMergedAabbs == 159 - 80 == 79\n"
-"	//So, indices [0, 78] are merged with [0 + 80, 78 + 80]\n"
-"	\n"
-"	int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;\n"
-"	int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;\n"
-"	\n"
-"	int aabbIndex = get_global_id(0);\n"
-"	if(aabbIndex >= numMergedAabbs) return;\n"
-"	\n"
-"	int otherAabbIndex = aabbIndex + numRemainingAabbs;\n"
-"	\n"
-"	b3AabbCL aabb = out_mergedAabb[aabbIndex];\n"
-"	b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];\n"
-"		\n"
-"	b3AabbCL mergedAabb;\n"
-"	mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);\n"
-"	mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);\n"
-"	out_mergedAabb[aabbIndex] = mergedAabb;\n"
-"}\n"
-"__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, \n"
-"												__global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)\n"
-"{\n"
-"	int leafNodeIndex = get_global_id(0);	//Leaf node index == AABB index\n"
-"	if(leafNodeIndex >= numAabbs) return;\n"
-"	\n"
-"	b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];\n"
-"	b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;\n"
-"	b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;\n"
-"	\n"
-"	b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];\n"
-"	b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;\n"
-"	b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;\n"
-"	\n"
-"	//Quantize into integer coordinates\n"
-"	//floor() is needed to prevent the center cell, at (0,0,0) from being twice the size\n"
-"	b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;\n"
-"	\n"
-"	int4 discretePosition;\n"
-"	discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );\n"
-"	discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );\n"
-"	discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );\n"
-"	\n"
-"	//Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]\n"
-"	discretePosition = b3Max( -512, b3Min(discretePosition, 511) );\n"
-"	discretePosition += 512;\n"
-"	\n"
-"	//Interleave bits(assign a morton code, also known as a z-curve)\n"
-"	unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);\n"
-"	\n"
-"	//\n"
-"	SortDataCL mortonCodeIndexPair;\n"
-"	mortonCodeIndexPair.m_key = mortonCode;\n"
-"	mortonCodeIndexPair.m_value = leafNodeIndex;\n"
-"	\n"
-"	out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;\n"
-"}\n"
-"#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128\n"
-"//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.\n"
-"//If it is set, then the index is for an internal node; otherwise, it is a leaf node. \n"
-"//In both cases, the bit should be cleared to access the actual node index.\n"
-"int isLeafNode(int index) { return (index >> 31 == 0); }\n"
-"int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }\n"
-"int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }\n"
-"//From sap.cl\n"
-"#define NEW_PAIR_MARKER -1\n"
-"bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"//From sap.cl\n"
-"__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, \n"
-"											__global int* rootNodeIndex, \n"
-"											__global int2* internalNodeChildIndices, \n"
-"											__global b3AabbCL* internalNodeAabbs,\n"
-"											__global int2* internalNodeLeafIndexRanges,\n"
-"											\n"
-"											__global SortDataCL* mortonCodesAndAabbIndices,\n"
-"											__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
-"											int maxPairs, int numQueryAabbs)\n"
-"{\n"
-"	//Using get_group_id()/get_local_id() is Faster than get_global_id(0) since\n"
-"	//mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)\n"
-"	int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
-"	if(queryBvhNodeIndex >= numQueryAabbs) return;\n"
-"	\n"
-"	int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;\n"
-"	b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n"
-"	\n"
-"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
-"	\n"
-"	int stackSize = 1;\n"
-"	stack[0] = *rootNodeIndex;\n"
-"	\n"
-"	while(stackSize)\n"
-"	{\n"
-"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
-"		--stackSize;\n"
-"		\n"
-"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
-"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
-"		\n"
-"		//Optimization - if the BVH is structured as a binary radix tree, then\n"
-"		//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n"
-"		//This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.\n"
-"		{\n"
-"			int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n"
-"			if(highestLeafIndex <= queryBvhNodeIndex) continue;\n"
-"		}\n"
-"		\n"
-"		//bvhRigidIndex is not used if internal node\n"
-"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
-"	\n"
-"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
-"		if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n"
-"		{\n"
-"			if(isLeaf)\n"
-"			{\n"
-"				int4 pair;\n"
-"				pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];\n"
-"				pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
-"				pair.z = NEW_PAIR_MARKER;\n"
-"				pair.w = NEW_PAIR_MARKER;\n"
-"				\n"
-"				int pairIndex = atomic_inc(out_numPairs);\n"
-"				if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
-"			}\n"
-"			\n"
-"			if(!isLeaf)	//Internal node\n"
-"			{\n"
-"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
-"				{\n"
-"					//Error\n"
-"				}\n"
-"				else\n"
-"				{\n"
-"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
-"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"	}\n"
-"}\n"
-"//From rayCastKernels.cl\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_from;\n"
-"	float4 m_to;\n"
-"} b3RayInfo;\n"
-"//From rayCastKernels.cl\n"
-"b3Vector3 b3Vector3_normalize(b3Vector3 v)\n"
-"{\n"
-"	b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};\n"
-"	return normalize(normal);	//OpenCL normalize == vector4 normalize\n"
-"}\n"
-"b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }\n"
-"b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }\n"
-"int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)\n"
-"{\n"
-"	//AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).\n"
-"	//t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.\n"
-"	//\n"
-"	//if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane \n"
-"	//and min.x will be the far plane; otherwise, it is reversed.\n"
-"	//\n"
-"	//In order for there to be a collision, the t_min and t_max of each pair must overlap.\n"
-"	//This can be tested for by selecting the highest t_min and lowest t_max and comparing them.\n"
-"	\n"
-"	int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) );	//isless(x,y) returns (x < y)\n"
-"	\n"
-"	//When using vector types, the select() function checks the most signficant bit, \n"
-"	//but isless() sets the least significant bit.\n"
-"	isNegative <<= 31;\n"
-"	//select(b, a, condition) == condition ? a : b\n"
-"	//When using select() with vector types, (condition[i]) is true if its most significant bit is 1\n"
-"	b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
-"	b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
-"	\n"
-"	b3Scalar t_min_final = 0.0f;\n"
-"	b3Scalar t_max_final = rayLength;\n"
-"	\n"
-"	//Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. \n"
-"	//Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])\n"
-"	//Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.\n"
-"	t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );\n"
-"	t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );\n"
-"	\n"
-"	return (t_min_final <= t_max_final);\n"
-"}\n"
-"__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,\n"
-"								__global int* rootNodeIndex, \n"
-"								__global int2* internalNodeChildIndices, \n"
-"								__global b3AabbCL* internalNodeAabbs,\n"
-"								__global int2* internalNodeLeafIndexRanges,\n"
-"								__global SortDataCL* mortonCodesAndAabbIndices,\n"
-"								\n"
-"								__global b3RayInfo* rays,\n"
-"								\n"
-"								__global int* out_numRayRigidPairs, \n"
-"								__global int2* out_rayRigidPairs,\n"
-"								int maxRayRigidPairs, int numRays)\n"
-"{\n"
-"	int rayIndex = get_global_id(0);\n"
-"	if(rayIndex >= numRays) return;\n"
-"	\n"
-"	//\n"
-"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
-"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
-"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
-"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
-"	\n"
-"	//\n"
-"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
-"	\n"
-"	int stackSize = 1;\n"
-"	stack[0] = *rootNodeIndex;\n"
-"	\n"
-"	while(stackSize)\n"
-"	{\n"
-"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
-"		--stackSize;\n"
-"		\n"
-"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
-"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
-"		\n"
-"		//bvhRigidIndex is not used if internal node\n"
-"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
-"	\n"
-"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
-"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb)  )\n"
-"		{\n"
-"			if(isLeaf)\n"
-"			{\n"
-"				int2 rayRigidPair;\n"
-"				rayRigidPair.x = rayIndex;\n"
-"				rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
-"				\n"
-"				int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
-"				if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
-"			}\n"
-"			\n"
-"			if(!isLeaf)	//Internal node\n"
-"			{\n"
-"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
-"				{\n"
-"					//Error\n"
-"				}\n"
-"				else\n"
-"				{\n"
-"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
-"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, \n"
-"									__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
-"									int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)\n"
-"{\n"
-"	int smallAabbIndex = get_global_id(0);\n"
-"	if(smallAabbIndex >= numSmallAabbRigids) return;\n"
-"	\n"
-"	b3AabbCL smallAabb = smallAabbs[smallAabbIndex];\n"
-"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
-"	{\n"
-"		b3AabbCL largeAabb = largeAabbs[i];\n"
-"		if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n"
-"		{\n"
-"			int4 pair;\n"
-"			pair.x = largeAabb.m_minIndices[3];\n"
-"			pair.y = smallAabb.m_minIndices[3];\n"
-"			pair.z = NEW_PAIR_MARKER;\n"
-"			pair.w = NEW_PAIR_MARKER;\n"
-"			\n"
-"			int pairIndex = atomic_inc(out_numPairs);\n"
-"			if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,\n"
-"									__global int* out_numRayRigidPairs,  __global int2* out_rayRigidPairs,\n"
-"									int numLargeAabbRigids, int maxRayRigidPairs, int numRays)\n"
-"{\n"
-"	int rayIndex = get_global_id(0);\n"
-"	if(rayIndex >= numRays) return;\n"
-"	\n"
-"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
-"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
-"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
-"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
-"	\n"
-"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
-"	{\n"
-"		b3AabbCL rigidAabb = largeRigidAabbs[i];\n"
-"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )\n"
-"		{\n"
-"			int2 rayRigidPair;\n"
-"			rayRigidPair.x = rayIndex;\n"
-"			rayRigidPair.y = rigidAabb.m_minIndices[3];\n"
-"			\n"
-"			int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
-"			if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.\n"
-"//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve.\n"
-"//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.\n"
-"//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve).\n"
-"#define B3_PLBVH_INVALID_COMMON_PREFIX 128\n"
-"#define B3_PLBVH_ROOT_NODE_MARKER -1\n"
-"#define b3Int64 long\n"
-"int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }\n"
-"b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) \n"
-"{\n"
-"	//This function only needs to return (i & j) in order for the algorithm to work,\n"
-"	//but it may help with debugging to mask out the lower bits.\n"
-"	b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);\n"
-"	b3Int64 sharedBits = i & j;\n"
-"	b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength);	//Set all bits after the common prefix to 0\n"
-"	\n"
-"	return sharedBits & bitmask;\n"
-"}\n"
-"//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths\n"
-"int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)\n"
-"{\n"
-"	return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );\n"
-"}\n"
-"__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,\n"
-"											__global b3Int64* out_commonPrefixes,\n"
-"											__global int* out_commonPrefixLengths,\n"
-"											int numInternalNodes)\n"
-"{\n"
-"	int internalNodeIndex = get_global_id(0);\n"
-"	if (internalNodeIndex >= numInternalNodes) return;\n"
-"	\n"
-"	//Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,\n"
-"	//and the number of internal nodes is always numLeafNodes - 1\n"
-"	int leftLeafIndex = internalNodeIndex;\n"
-"	int rightLeafIndex = internalNodeIndex + 1;\n"
-"	\n"
-"	int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;\n"
-"	int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;\n"
-"	\n"
-"	//Binary radix tree construction algorithm does not work if there are duplicate morton codes.\n"
-"	//Append the index of each leaf node to each morton code so that there are no duplicates.\n"
-"	//The algorithm also requires that the morton codes are sorted in ascending order; this requirement\n"
-"	//is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.\n"
-"	//\n"
-"	//upsample(a, b) == ( ((b3Int64)a) << 32) | b\n"
-"	b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);\n"
-"	b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);\n"
-"	\n"
-"	out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
-"	out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
-"}\n"
-"__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,\n"
-"											__global int2* out_childNodes, int numLeafNodes)\n"
-"{\n"
-"	int leafNodeIndex = get_global_id(0);\n"
-"	if (leafNodeIndex >= numLeafNodes) return;\n"
-"	\n"
-"	int numInternalNodes = numLeafNodes - 1;\n"
-"	\n"
-"	int leftSplitIndex = leafNodeIndex - 1;\n"
-"	int rightSplitIndex = leafNodeIndex;\n"
-"	\n"
-"	int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-"	int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-"	\n"
-"	//Parent node is the highest adjacent common prefix that is lower than the node's common prefix\n"
-"	//Leaf nodes are considered as having the highest common prefix\n"
-"	int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);\n"
-"	\n"
-"	//Handle cases for the edge nodes; the first and last node\n"
-"	//For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX\n"
-"	if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;\n"
-"	if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;\n"
-"	\n"
-"	int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;\n"
-"	out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;\n"
-"	\n"
-"	int isRightChild = (isLeftHigherCommonPrefix);	//If the left node is the parent, then this node is its right child and vice versa\n"
-"	\n"
-"	//out_childNodesAsInt[0] == int2.x == left child\n"
-"	//out_childNodesAsInt[1] == int2.y == right child\n"
-"	int isLeaf = 1;\n"
-"	__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
-"	out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);\n"
-"}\n"
-"__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,\n"
-"												__global int2* out_childNodes,\n"
-"												__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,\n"
-"												int numInternalNodes)\n"
-"{\n"
-"	int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
-"	if(internalNodeIndex >= numInternalNodes) return;\n"
-"	\n"
-"	b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];\n"
-"	int nodePrefixLength = commonPrefixLengths[internalNodeIndex];\n"
-"	\n"
-"//#define USE_LINEAR_SEARCH\n"
-"#ifdef USE_LINEAR_SEARCH\n"
-"	int leftIndex = -1;\n"
-"	int rightIndex = -1;\n"
-"	\n"
-"	//Find nearest element to left with a lower common prefix\n"
-"	for(int i = internalNodeIndex - 1; i >= 0; --i)\n"
-"	{\n"
-"		int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
-"		if(nodeLeftSharedPrefixLength < nodePrefixLength)\n"
-"		{\n"
-"			leftIndex = i;\n"
-"			break;\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	//Find nearest element to right with a lower common prefix\n"
-"	for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)\n"
-"	{\n"
-"		int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
-"		if(nodeRightSharedPrefixLength < nodePrefixLength)\n"
-"		{\n"
-"			rightIndex = i;\n"
-"			break;\n"
-"		}\n"
-"	}\n"
-"	\n"
-"#else //Use binary search\n"
-"	//Find nearest element to left with a lower common prefix\n"
-"	int leftIndex = -1;\n"
-"	{\n"
-"		int lower = 0;\n"
-"		int upper = internalNodeIndex - 1;\n"
-"		\n"
-"		while(lower <= upper)\n"
-"		{\n"
-"			int mid = (lower + upper) / 2;\n"
-"			b3Int64 midPrefix = commonPrefixes[mid];\n"
-"			int midPrefixLength = commonPrefixLengths[mid];\n"
-"			\n"
-"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
-"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
-"			{\n"
-"				int right = mid + 1;\n"
-"				if(right < internalNodeIndex)\n"
-"				{\n"
-"					b3Int64 rightPrefix = commonPrefixes[right];\n"
-"					int rightPrefixLength = commonPrefixLengths[right];\n"
-"					\n"
-"					int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);\n"
-"					if(nodeRightSharedPrefixLength < nodePrefixLength) \n"
-"					{\n"
-"						lower = right;\n"
-"						leftIndex = right;\n"
-"					}\n"
-"					else \n"
-"					{\n"
-"						leftIndex = mid;\n"
-"						break;\n"
-"					}\n"
-"				}\n"
-"				else \n"
-"				{\n"
-"					leftIndex = mid;\n"
-"					break;\n"
-"				}\n"
-"			}\n"
-"			else upper = mid - 1;\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	//Find nearest element to right with a lower common prefix\n"
-"	int rightIndex = -1;\n"
-"	{\n"
-"		int lower = internalNodeIndex + 1;\n"
-"		int upper = numInternalNodes - 1;\n"
-"		\n"
-"		while(lower <= upper)\n"
-"		{\n"
-"			int mid = (lower + upper) / 2;\n"
-"			b3Int64 midPrefix = commonPrefixes[mid];\n"
-"			int midPrefixLength = commonPrefixLengths[mid];\n"
-"			\n"
-"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
-"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
-"			{\n"
-"				int left = mid - 1;\n"
-"				if(left > internalNodeIndex)\n"
-"				{\n"
-"					b3Int64 leftPrefix = commonPrefixes[left];\n"
-"					int leftPrefixLength = commonPrefixLengths[left];\n"
-"				\n"
-"					int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);\n"
-"					if(nodeLeftSharedPrefixLength < nodePrefixLength) \n"
-"					{\n"
-"						upper = left;\n"
-"						rightIndex = left;\n"
-"					}\n"
-"					else \n"
-"					{\n"
-"						rightIndex = mid;\n"
-"						break;\n"
-"					}\n"
-"				}\n"
-"				else \n"
-"				{\n"
-"					rightIndex = mid;\n"
-"					break;\n"
-"				}\n"
-"			}\n"
-"			else lower = mid + 1;\n"
-"		}\n"
-"	}\n"
-"#endif\n"
-"	\n"
-"	//Select parent\n"
-"	{\n"
-"		int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-"		int rightPrefixLength =  (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
-"		\n"
-"		int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);\n"
-"		\n"
-"		if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;\n"
-"		else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;\n"
-"		\n"
-"		int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;\n"
-"		\n"
-"		int isRootNode = (leftIndex == -1 && rightIndex == -1);\n"
-"		out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;\n"
-"		\n"
-"		int isLeaf = 0;\n"
-"		if(!isRootNode)\n"
-"		{\n"
-"			int isRightChild = (isLeftHigherPrefixLength);	//If the left node is the parent, then this node is its right child and vice versa\n"
-"			\n"
-"			//out_childNodesAsInt[0] == int2.x == left child\n"
-"			//out_childNodesAsInt[1] == int2.y == right child\n"
-"			__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
-"			out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
-"		}\n"
-"		else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
-"	}\n"
-"}\n"
-"__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,\n"
-"									__global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)\n"
-"{\n"
-"	if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);\n"
-"	int internalNodeIndex = get_global_id(0);\n"
-"	if(internalNodeIndex >= numInternalNodes) return;\n"
-"	\n"
-"	//\n"
-"	int distanceFromRoot = 0;\n"
-"	{\n"
-"		int parentIndex = internalNodeParentNodes[internalNodeIndex];\n"
-"		while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)\n"
-"		{\n"
-"			parentIndex = internalNodeParentNodes[parentIndex];\n"
-"			++distanceFromRoot;\n"
-"		}\n"
-"	}\n"
-"	out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;\n"
-"	\n"
-"	//\n"
-"	__local int localMaxDistanceFromRoot;\n"
-"	if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;\n"
-"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	\n"
-"	atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);\n"
-"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	\n"
-"	if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);\n"
-"}\n"
-"__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,\n"
-"												__global int2* childNodes,\n"
-"												__global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,\n"
-"												int maxDistanceFromRoot, int processedDistance, int numInternalNodes)\n"
-"{\n"
-"	int internalNodeIndex = get_global_id(0);\n"
-"	if(internalNodeIndex >= numInternalNodes) return;\n"
-"	\n"
-"	int distance = distanceFromRoot[internalNodeIndex];\n"
-"	\n"
-"	if(distance == processedDistance)\n"
-"	{\n"
-"		int leftChildIndex = childNodes[internalNodeIndex].x;\n"
-"		int rightChildIndex = childNodes[internalNodeIndex].y;\n"
-"		\n"
-"		int isLeftChildLeaf = isLeafNode(leftChildIndex);\n"
-"		int isRightChildLeaf = isLeafNode(rightChildIndex);\n"
-"		\n"
-"		leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);\n"
-"		rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);\n"
-"		\n"
-"		//leftRigidIndex/rightRigidIndex is not used if internal node\n"
-"		int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;\n"
-"		int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;\n"
-"		\n"
-"		b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];\n"
-"		b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];\n"
-"		\n"
-"		b3AabbCL mergedAabb;\n"
-"		mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);\n"
-"		mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);\n"
-"		internalNodeAabbs[internalNodeIndex] = mergedAabb;\n"
-"	}\n"
-"}\n"
-"__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)\n"
-"{\n"
-"	int internalNodeIndex = get_global_id(0);\n"
-"	if(internalNodeIndex >= numInternalNodes) return;\n"
-"	\n"
-"	int numLeafNodes = numInternalNodes + 1;\n"
-"	\n"
-"	int2 childNodes = internalNodeChildNodes[internalNodeIndex];\n"
-"	\n"
-"	int2 leafIndexRange;	//x == min leaf index, y == max leaf index\n"
-"	\n"
-"	//Find lowest leaf index covered by this internal node\n"
-"	{\n"
-"		int lowestIndex = childNodes.x;		//childNodes.x == Left child\n"
-"		while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;\n"
-"		leafIndexRange.x = lowestIndex;\n"
-"	}\n"
-"	\n"
-"	//Find highest leaf index covered by this internal node\n"
-"	{\n"
-"		int highestIndex = childNodes.y;	//childNodes.y == Right child\n"
-"		while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;\n"
-"		leafIndexRange.y = highestIndex;\n"
-"	}\n"
-"	\n"
-"	//\n"
-"	out_leafIndexRanges[internalNodeIndex] = leafIndexRange;\n"
-"}\n"
-;
+static const char* parallelLinearBvhCL =
+	"/*\n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose,\n"
+	"including commercial applications, and to alter it and redistribute it freely,\n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Initial Author Jackson Lee, 2014\n"
+	"typedef float b3Scalar;\n"
+	"typedef float4 b3Vector3;\n"
+	"#define b3Max max\n"
+	"#define b3Min min\n"
+	"#define b3Sqrt sqrt\n"
+	"typedef struct\n"
+	"{\n"
+	"	unsigned int m_key;\n"
+	"	unsigned int m_value;\n"
+	"} SortDataCL;\n"
+	"typedef struct \n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_min;\n"
+	"		float   m_minElems[4];\n"
+	"		int			m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_max;\n"
+	"		float   m_maxElems[4];\n"
+	"		int			m_maxIndices[4];\n"
+	"	};\n"
+	"} b3AabbCL;\n"
+	"unsigned int interleaveBits(unsigned int x)\n"
+	"{\n"
+	"	//........ ........ ......12 3456789A	//x\n"
+	"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x after interleaving bits\n"
+	"	\n"
+	"	//......12 3456789A ......12 3456789A	//x ^ (x << 16)\n"
+	"	//11111111 ........ ........ 11111111	//0x FF 00 00 FF\n"
+	"	//......12 ........ ........ 3456789A	//x = (x ^ (x << 16)) & 0xFF0000FF;\n"
+	"	\n"
+	"	//......12 ........ 3456789A 3456789A	//x ^ (x <<  8)\n"
+	"	//......11 ........ 1111.... ....1111	//0x 03 00 F0 0F\n"
+	"	//......12 ........ 3456.... ....789A	//x = (x ^ (x <<  8)) & 0x0300F00F;\n"
+	"	\n"
+	"	//..12..12 ....3456 3456.... 789A789A	//x ^ (x <<  4)\n"
+	"	//......11 ....11.. ..11.... 11....11	//0x 03 0C 30 C3\n"
+	"	//......12 ....34.. ..56.... 78....9A	//x = (x ^ (x <<  4)) & 0x030C30C3;\n"
+	"	\n"
+	"	//....1212 ..3434.. 5656..78 78..9A9A	//x ^ (x <<  2)\n"
+	"	//....1..1 ..1..1.. 1..1..1. .1..1..1	//0x 09 24 92 49\n"
+	"	//....1..2 ..3..4.. 5..6..7. .8..9..A	//x = (x ^ (x <<  2)) & 0x09249249;\n"
+	"	\n"
+	"	//........ ........ ......11 11111111	//0x000003FF\n"
+	"	x &= 0x000003FF;		//Clear all bits above bit 10\n"
+	"	\n"
+	"	x = (x ^ (x << 16)) & 0xFF0000FF;\n"
+	"	x = (x ^ (x <<  8)) & 0x0300F00F;\n"
+	"	x = (x ^ (x <<  4)) & 0x030C30C3;\n"
+	"	x = (x ^ (x <<  2)) & 0x09249249;\n"
+	"	\n"
+	"	return x;\n"
+	"}\n"
+	"unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)\n"
+	"{\n"
+	"	return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n"
+	"}\n"
+	"__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)\n"
+	"{\n"
+	"	int separatedAabbIndex = get_global_id(0);\n"
+	"	if(separatedAabbIndex >= numAabbsToSeparate) return;\n"
+	"	int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];\n"
+	"	out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];\n"
+	"}\n"
+	"//Should replace with an optimized parallel reduction\n"
+	"__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)\n"
+	"{\n"
+	"	//Each time this kernel is added to the command queue, \n"
+	"	//the number of AABBs needing to be merged is halved\n"
+	"	//\n"
+	"	//Example with 159 AABBs:\n"
+	"	//	numRemainingAabbs == 159 / 2 + 159 % 2 == 80\n"
+	"	//	numMergedAabbs == 159 - 80 == 79\n"
+	"	//So, indices [0, 78] are merged with [0 + 80, 78 + 80]\n"
+	"	\n"
+	"	int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;\n"
+	"	int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;\n"
+	"	\n"
+	"	int aabbIndex = get_global_id(0);\n"
+	"	if(aabbIndex >= numMergedAabbs) return;\n"
+	"	\n"
+	"	int otherAabbIndex = aabbIndex + numRemainingAabbs;\n"
+	"	\n"
+	"	b3AabbCL aabb = out_mergedAabb[aabbIndex];\n"
+	"	b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];\n"
+	"		\n"
+	"	b3AabbCL mergedAabb;\n"
+	"	mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);\n"
+	"	mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);\n"
+	"	out_mergedAabb[aabbIndex] = mergedAabb;\n"
+	"}\n"
+	"__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, \n"
+	"												__global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)\n"
+	"{\n"
+	"	int leafNodeIndex = get_global_id(0);	//Leaf node index == AABB index\n"
+	"	if(leafNodeIndex >= numAabbs) return;\n"
+	"	\n"
+	"	b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];\n"
+	"	b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;\n"
+	"	b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;\n"
+	"	\n"
+	"	b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];\n"
+	"	b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;\n"
+	"	b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;\n"
+	"	\n"
+	"	//Quantize into integer coordinates\n"
+	"	//floor() is needed to prevent the center cell, at (0,0,0) from being twice the size\n"
+	"	b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;\n"
+	"	\n"
+	"	int4 discretePosition;\n"
+	"	discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );\n"
+	"	discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );\n"
+	"	discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );\n"
+	"	\n"
+	"	//Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]\n"
+	"	discretePosition = b3Max( -512, b3Min(discretePosition, 511) );\n"
+	"	discretePosition += 512;\n"
+	"	\n"
+	"	//Interleave bits(assign a morton code, also known as a z-curve)\n"
+	"	unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);\n"
+	"	\n"
+	"	//\n"
+	"	SortDataCL mortonCodeIndexPair;\n"
+	"	mortonCodeIndexPair.m_key = mortonCode;\n"
+	"	mortonCodeIndexPair.m_value = leafNodeIndex;\n"
+	"	\n"
+	"	out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;\n"
+	"}\n"
+	"#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128\n"
+	"//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.\n"
+	"//If it is set, then the index is for an internal node; otherwise, it is a leaf node. \n"
+	"//In both cases, the bit should be cleared to access the actual node index.\n"
+	"int isLeafNode(int index) { return (index >> 31 == 0); }\n"
+	"int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }\n"
+	"int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }\n"
+	"//From sap.cl\n"
+	"#define NEW_PAIR_MARKER -1\n"
+	"bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"//From sap.cl\n"
+	"__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, \n"
+	"											__global int* rootNodeIndex, \n"
+	"											__global int2* internalNodeChildIndices, \n"
+	"											__global b3AabbCL* internalNodeAabbs,\n"
+	"											__global int2* internalNodeLeafIndexRanges,\n"
+	"											\n"
+	"											__global SortDataCL* mortonCodesAndAabbIndices,\n"
+	"											__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
+	"											int maxPairs, int numQueryAabbs)\n"
+	"{\n"
+	"	//Using get_group_id()/get_local_id() is Faster than get_global_id(0) since\n"
+	"	//mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)\n"
+	"	int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
+	"	if(queryBvhNodeIndex >= numQueryAabbs) return;\n"
+	"	\n"
+	"	int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;\n"
+	"	b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n"
+	"	\n"
+	"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
+	"	\n"
+	"	int stackSize = 1;\n"
+	"	stack[0] = *rootNodeIndex;\n"
+	"	\n"
+	"	while(stackSize)\n"
+	"	{\n"
+	"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
+	"		--stackSize;\n"
+	"		\n"
+	"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
+	"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
+	"		\n"
+	"		//Optimization - if the BVH is structured as a binary radix tree, then\n"
+	"		//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n"
+	"		//This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.\n"
+	"		{\n"
+	"			int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n"
+	"			if(highestLeafIndex <= queryBvhNodeIndex) continue;\n"
+	"		}\n"
+	"		\n"
+	"		//bvhRigidIndex is not used if internal node\n"
+	"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
+	"	\n"
+	"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
+	"		if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n"
+	"		{\n"
+	"			if(isLeaf)\n"
+	"			{\n"
+	"				int4 pair;\n"
+	"				pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];\n"
+	"				pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
+	"				pair.z = NEW_PAIR_MARKER;\n"
+	"				pair.w = NEW_PAIR_MARKER;\n"
+	"				\n"
+	"				int pairIndex = atomic_inc(out_numPairs);\n"
+	"				if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
+	"			}\n"
+	"			\n"
+	"			if(!isLeaf)	//Internal node\n"
+	"			{\n"
+	"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
+	"				{\n"
+	"					//Error\n"
+	"				}\n"
+	"				else\n"
+	"				{\n"
+	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
+	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"	}\n"
+	"}\n"
+	"//From rayCastKernels.cl\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_from;\n"
+	"	float4 m_to;\n"
+	"} b3RayInfo;\n"
+	"//From rayCastKernels.cl\n"
+	"b3Vector3 b3Vector3_normalize(b3Vector3 v)\n"
+	"{\n"
+	"	b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};\n"
+	"	return normalize(normal);	//OpenCL normalize == vector4 normalize\n"
+	"}\n"
+	"b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }\n"
+	"b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }\n"
+	"int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)\n"
+	"{\n"
+	"	//AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).\n"
+	"	//t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.\n"
+	"	//\n"
+	"	//if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane \n"
+	"	//and min.x will be the far plane; otherwise, it is reversed.\n"
+	"	//\n"
+	"	//In order for there to be a collision, the t_min and t_max of each pair must overlap.\n"
+	"	//This can be tested for by selecting the highest t_min and lowest t_max and comparing them.\n"
+	"	\n"
+	"	int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) );	//isless(x,y) returns (x < y)\n"
+	"	\n"
+	"	//When using vector types, the select() function checks the most signficant bit, \n"
+	"	//but isless() sets the least significant bit.\n"
+	"	isNegative <<= 31;\n"
+	"	//select(b, a, condition) == condition ? a : b\n"
+	"	//When using select() with vector types, (condition[i]) is true if its most significant bit is 1\n"
+	"	b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
+	"	b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;\n"
+	"	\n"
+	"	b3Scalar t_min_final = 0.0f;\n"
+	"	b3Scalar t_max_final = rayLength;\n"
+	"	\n"
+	"	//Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. \n"
+	"	//Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])\n"
+	"	//Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.\n"
+	"	t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );\n"
+	"	t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );\n"
+	"	\n"
+	"	return (t_min_final <= t_max_final);\n"
+	"}\n"
+	"__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,\n"
+	"								__global int* rootNodeIndex, \n"
+	"								__global int2* internalNodeChildIndices, \n"
+	"								__global b3AabbCL* internalNodeAabbs,\n"
+	"								__global int2* internalNodeLeafIndexRanges,\n"
+	"								__global SortDataCL* mortonCodesAndAabbIndices,\n"
+	"								\n"
+	"								__global b3RayInfo* rays,\n"
+	"								\n"
+	"								__global int* out_numRayRigidPairs, \n"
+	"								__global int2* out_rayRigidPairs,\n"
+	"								int maxRayRigidPairs, int numRays)\n"
+	"{\n"
+	"	int rayIndex = get_global_id(0);\n"
+	"	if(rayIndex >= numRays) return;\n"
+	"	\n"
+	"	//\n"
+	"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
+	"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
+	"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
+	"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
+	"	\n"
+	"	//\n"
+	"	int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
+	"	\n"
+	"	int stackSize = 1;\n"
+	"	stack[0] = *rootNodeIndex;\n"
+	"	\n"
+	"	while(stackSize)\n"
+	"	{\n"
+	"		int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
+	"		--stackSize;\n"
+	"		\n"
+	"		int isLeaf = isLeafNode(internalOrLeafNodeIndex);	//Internal node if false\n"
+	"		int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
+	"		\n"
+	"		//bvhRigidIndex is not used if internal node\n"
+	"		int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
+	"	\n"
+	"		b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
+	"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb)  )\n"
+	"		{\n"
+	"			if(isLeaf)\n"
+	"			{\n"
+	"				int2 rayRigidPair;\n"
+	"				rayRigidPair.x = rayIndex;\n"
+	"				rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
+	"				\n"
+	"				int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
+	"				if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
+	"			}\n"
+	"			\n"
+	"			if(!isLeaf)	//Internal node\n"
+	"			{\n"
+	"				if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
+	"				{\n"
+	"					//Error\n"
+	"				}\n"
+	"				else\n"
+	"				{\n"
+	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
+	"					stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, \n"
+	"									__global int* out_numPairs, __global int4* out_overlappingPairs, \n"
+	"									int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)\n"
+	"{\n"
+	"	int smallAabbIndex = get_global_id(0);\n"
+	"	if(smallAabbIndex >= numSmallAabbRigids) return;\n"
+	"	\n"
+	"	b3AabbCL smallAabb = smallAabbs[smallAabbIndex];\n"
+	"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
+	"	{\n"
+	"		b3AabbCL largeAabb = largeAabbs[i];\n"
+	"		if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n"
+	"		{\n"
+	"			int4 pair;\n"
+	"			pair.x = largeAabb.m_minIndices[3];\n"
+	"			pair.y = smallAabb.m_minIndices[3];\n"
+	"			pair.z = NEW_PAIR_MARKER;\n"
+	"			pair.w = NEW_PAIR_MARKER;\n"
+	"			\n"
+	"			int pairIndex = atomic_inc(out_numPairs);\n"
+	"			if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,\n"
+	"									__global int* out_numRayRigidPairs,  __global int2* out_rayRigidPairs,\n"
+	"									int numLargeAabbRigids, int maxRayRigidPairs, int numRays)\n"
+	"{\n"
+	"	int rayIndex = get_global_id(0);\n"
+	"	if(rayIndex >= numRays) return;\n"
+	"	\n"
+	"	b3Vector3 rayFrom = rays[rayIndex].m_from;\n"
+	"	b3Vector3 rayTo = rays[rayIndex].m_to;\n"
+	"	b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n"
+	"	b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n"
+	"	\n"
+	"	for(int i = 0; i < numLargeAabbRigids; ++i)\n"
+	"	{\n"
+	"		b3AabbCL rigidAabb = largeRigidAabbs[i];\n"
+	"		if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )\n"
+	"		{\n"
+	"			int2 rayRigidPair;\n"
+	"			rayRigidPair.x = rayIndex;\n"
+	"			rayRigidPair.y = rigidAabb.m_minIndices[3];\n"
+	"			\n"
+	"			int pairIndex = atomic_inc(out_numRayRigidPairs);\n"
+	"			if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.\n"
+	"//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve.\n"
+	"//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.\n"
+	"//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve).\n"
+	"#define B3_PLBVH_INVALID_COMMON_PREFIX 128\n"
+	"#define B3_PLBVH_ROOT_NODE_MARKER -1\n"
+	"#define b3Int64 long\n"
+	"int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }\n"
+	"b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) \n"
+	"{\n"
+	"	//This function only needs to return (i & j) in order for the algorithm to work,\n"
+	"	//but it may help with debugging to mask out the lower bits.\n"
+	"	b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);\n"
+	"	b3Int64 sharedBits = i & j;\n"
+	"	b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength);	//Set all bits after the common prefix to 0\n"
+	"	\n"
+	"	return sharedBits & bitmask;\n"
+	"}\n"
+	"//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths\n"
+	"int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)\n"
+	"{\n"
+	"	return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );\n"
+	"}\n"
+	"__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,\n"
+	"											__global b3Int64* out_commonPrefixes,\n"
+	"											__global int* out_commonPrefixLengths,\n"
+	"											int numInternalNodes)\n"
+	"{\n"
+	"	int internalNodeIndex = get_global_id(0);\n"
+	"	if (internalNodeIndex >= numInternalNodes) return;\n"
+	"	\n"
+	"	//Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,\n"
+	"	//and the number of internal nodes is always numLeafNodes - 1\n"
+	"	int leftLeafIndex = internalNodeIndex;\n"
+	"	int rightLeafIndex = internalNodeIndex + 1;\n"
+	"	\n"
+	"	int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;\n"
+	"	int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;\n"
+	"	\n"
+	"	//Binary radix tree construction algorithm does not work if there are duplicate morton codes.\n"
+	"	//Append the index of each leaf node to each morton code so that there are no duplicates.\n"
+	"	//The algorithm also requires that the morton codes are sorted in ascending order; this requirement\n"
+	"	//is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.\n"
+	"	//\n"
+	"	//upsample(a, b) == ( ((b3Int64)a) << 32) | b\n"
+	"	b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);\n"
+	"	b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);\n"
+	"	\n"
+	"	out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
+	"	out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n"
+	"}\n"
+	"__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,\n"
+	"											__global int2* out_childNodes, int numLeafNodes)\n"
+	"{\n"
+	"	int leafNodeIndex = get_global_id(0);\n"
+	"	if (leafNodeIndex >= numLeafNodes) return;\n"
+	"	\n"
+	"	int numInternalNodes = numLeafNodes - 1;\n"
+	"	\n"
+	"	int leftSplitIndex = leafNodeIndex - 1;\n"
+	"	int rightSplitIndex = leafNodeIndex;\n"
+	"	\n"
+	"	int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+	"	int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+	"	\n"
+	"	//Parent node is the highest adjacent common prefix that is lower than the node's common prefix\n"
+	"	//Leaf nodes are considered as having the highest common prefix\n"
+	"	int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);\n"
+	"	\n"
+	"	//Handle cases for the edge nodes; the first and last node\n"
+	"	//For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX\n"
+	"	if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;\n"
+	"	if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;\n"
+	"	\n"
+	"	int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;\n"
+	"	out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;\n"
+	"	\n"
+	"	int isRightChild = (isLeftHigherCommonPrefix);	//If the left node is the parent, then this node is its right child and vice versa\n"
+	"	\n"
+	"	//out_childNodesAsInt[0] == int2.x == left child\n"
+	"	//out_childNodesAsInt[1] == int2.y == right child\n"
+	"	int isLeaf = 1;\n"
+	"	__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
+	"	out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);\n"
+	"}\n"
+	"__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,\n"
+	"												__global int2* out_childNodes,\n"
+	"												__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,\n"
+	"												int numInternalNodes)\n"
+	"{\n"
+	"	int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
+	"	if(internalNodeIndex >= numInternalNodes) return;\n"
+	"	\n"
+	"	b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];\n"
+	"	int nodePrefixLength = commonPrefixLengths[internalNodeIndex];\n"
+	"	\n"
+	"//#define USE_LINEAR_SEARCH\n"
+	"#ifdef USE_LINEAR_SEARCH\n"
+	"	int leftIndex = -1;\n"
+	"	int rightIndex = -1;\n"
+	"	\n"
+	"	//Find nearest element to left with a lower common prefix\n"
+	"	for(int i = internalNodeIndex - 1; i >= 0; --i)\n"
+	"	{\n"
+	"		int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
+	"		if(nodeLeftSharedPrefixLength < nodePrefixLength)\n"
+	"		{\n"
+	"			leftIndex = i;\n"
+	"			break;\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	//Find nearest element to right with a lower common prefix\n"
+	"	for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)\n"
+	"	{\n"
+	"		int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n"
+	"		if(nodeRightSharedPrefixLength < nodePrefixLength)\n"
+	"		{\n"
+	"			rightIndex = i;\n"
+	"			break;\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"#else //Use binary search\n"
+	"	//Find nearest element to left with a lower common prefix\n"
+	"	int leftIndex = -1;\n"
+	"	{\n"
+	"		int lower = 0;\n"
+	"		int upper = internalNodeIndex - 1;\n"
+	"		\n"
+	"		while(lower <= upper)\n"
+	"		{\n"
+	"			int mid = (lower + upper) / 2;\n"
+	"			b3Int64 midPrefix = commonPrefixes[mid];\n"
+	"			int midPrefixLength = commonPrefixLengths[mid];\n"
+	"			\n"
+	"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
+	"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
+	"			{\n"
+	"				int right = mid + 1;\n"
+	"				if(right < internalNodeIndex)\n"
+	"				{\n"
+	"					b3Int64 rightPrefix = commonPrefixes[right];\n"
+	"					int rightPrefixLength = commonPrefixLengths[right];\n"
+	"					\n"
+	"					int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);\n"
+	"					if(nodeRightSharedPrefixLength < nodePrefixLength) \n"
+	"					{\n"
+	"						lower = right;\n"
+	"						leftIndex = right;\n"
+	"					}\n"
+	"					else \n"
+	"					{\n"
+	"						leftIndex = mid;\n"
+	"						break;\n"
+	"					}\n"
+	"				}\n"
+	"				else \n"
+	"				{\n"
+	"					leftIndex = mid;\n"
+	"					break;\n"
+	"				}\n"
+	"			}\n"
+	"			else upper = mid - 1;\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	//Find nearest element to right with a lower common prefix\n"
+	"	int rightIndex = -1;\n"
+	"	{\n"
+	"		int lower = internalNodeIndex + 1;\n"
+	"		int upper = numInternalNodes - 1;\n"
+	"		\n"
+	"		while(lower <= upper)\n"
+	"		{\n"
+	"			int mid = (lower + upper) / 2;\n"
+	"			b3Int64 midPrefix = commonPrefixes[mid];\n"
+	"			int midPrefixLength = commonPrefixLengths[mid];\n"
+	"			\n"
+	"			int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n"
+	"			if(nodeMidSharedPrefixLength < nodePrefixLength) \n"
+	"			{\n"
+	"				int left = mid - 1;\n"
+	"				if(left > internalNodeIndex)\n"
+	"				{\n"
+	"					b3Int64 leftPrefix = commonPrefixes[left];\n"
+	"					int leftPrefixLength = commonPrefixLengths[left];\n"
+	"				\n"
+	"					int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);\n"
+	"					if(nodeLeftSharedPrefixLength < nodePrefixLength) \n"
+	"					{\n"
+	"						upper = left;\n"
+	"						rightIndex = left;\n"
+	"					}\n"
+	"					else \n"
+	"					{\n"
+	"						rightIndex = mid;\n"
+	"						break;\n"
+	"					}\n"
+	"				}\n"
+	"				else \n"
+	"				{\n"
+	"					rightIndex = mid;\n"
+	"					break;\n"
+	"				}\n"
+	"			}\n"
+	"			else lower = mid + 1;\n"
+	"		}\n"
+	"	}\n"
+	"#endif\n"
+	"	\n"
+	"	//Select parent\n"
+	"	{\n"
+	"		int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+	"		int rightPrefixLength =  (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"
+	"		\n"
+	"		int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);\n"
+	"		\n"
+	"		if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;\n"
+	"		else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;\n"
+	"		\n"
+	"		int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;\n"
+	"		\n"
+	"		int isRootNode = (leftIndex == -1 && rightIndex == -1);\n"
+	"		out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;\n"
+	"		\n"
+	"		int isLeaf = 0;\n"
+	"		if(!isRootNode)\n"
+	"		{\n"
+	"			int isRightChild = (isLeftHigherPrefixLength);	//If the left node is the parent, then this node is its right child and vice versa\n"
+	"			\n"
+	"			//out_childNodesAsInt[0] == int2.x == left child\n"
+	"			//out_childNodesAsInt[1] == int2.y == right child\n"
+	"			__global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n"
+	"			out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
+	"		}\n"
+	"		else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n"
+	"	}\n"
+	"}\n"
+	"__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,\n"
+	"									__global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)\n"
+	"{\n"
+	"	if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);\n"
+	"	int internalNodeIndex = get_global_id(0);\n"
+	"	if(internalNodeIndex >= numInternalNodes) return;\n"
+	"	\n"
+	"	//\n"
+	"	int distanceFromRoot = 0;\n"
+	"	{\n"
+	"		int parentIndex = internalNodeParentNodes[internalNodeIndex];\n"
+	"		while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)\n"
+	"		{\n"
+	"			parentIndex = internalNodeParentNodes[parentIndex];\n"
+	"			++distanceFromRoot;\n"
+	"		}\n"
+	"	}\n"
+	"	out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;\n"
+	"	\n"
+	"	//\n"
+	"	__local int localMaxDistanceFromRoot;\n"
+	"	if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;\n"
+	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	\n"
+	"	atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);\n"
+	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	\n"
+	"	if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);\n"
+	"}\n"
+	"__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,\n"
+	"												__global int2* childNodes,\n"
+	"												__global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,\n"
+	"												int maxDistanceFromRoot, int processedDistance, int numInternalNodes)\n"
+	"{\n"
+	"	int internalNodeIndex = get_global_id(0);\n"
+	"	if(internalNodeIndex >= numInternalNodes) return;\n"
+	"	\n"
+	"	int distance = distanceFromRoot[internalNodeIndex];\n"
+	"	\n"
+	"	if(distance == processedDistance)\n"
+	"	{\n"
+	"		int leftChildIndex = childNodes[internalNodeIndex].x;\n"
+	"		int rightChildIndex = childNodes[internalNodeIndex].y;\n"
+	"		\n"
+	"		int isLeftChildLeaf = isLeafNode(leftChildIndex);\n"
+	"		int isRightChildLeaf = isLeafNode(rightChildIndex);\n"
+	"		\n"
+	"		leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);\n"
+	"		rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);\n"
+	"		\n"
+	"		//leftRigidIndex/rightRigidIndex is not used if internal node\n"
+	"		int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;\n"
+	"		int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;\n"
+	"		\n"
+	"		b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];\n"
+	"		b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];\n"
+	"		\n"
+	"		b3AabbCL mergedAabb;\n"
+	"		mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);\n"
+	"		mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);\n"
+	"		internalNodeAabbs[internalNodeIndex] = mergedAabb;\n"
+	"	}\n"
+	"}\n"
+	"__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)\n"
+	"{\n"
+	"	int internalNodeIndex = get_global_id(0);\n"
+	"	if(internalNodeIndex >= numInternalNodes) return;\n"
+	"	\n"
+	"	int numLeafNodes = numInternalNodes + 1;\n"
+	"	\n"
+	"	int2 childNodes = internalNodeChildNodes[internalNodeIndex];\n"
+	"	\n"
+	"	int2 leafIndexRange;	//x == min leaf index, y == max leaf index\n"
+	"	\n"
+	"	//Find lowest leaf index covered by this internal node\n"
+	"	{\n"
+	"		int lowestIndex = childNodes.x;		//childNodes.x == Left child\n"
+	"		while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;\n"
+	"		leafIndexRange.x = lowestIndex;\n"
+	"	}\n"
+	"	\n"
+	"	//Find highest leaf index covered by this internal node\n"
+	"	{\n"
+	"		int highestIndex = childNodes.y;	//childNodes.y == Right child\n"
+	"		while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;\n"
+	"		leafIndexRange.y = highestIndex;\n"
+	"	}\n"
+	"	\n"
+	"	//\n"
+	"	out_leafIndexRanges[internalNodeIndex] = leafIndexRange;\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
index 04d40fcf26..d6999b94cb 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h
@@ -1,342 +1,341 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* sapCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Erwin Coumans\n"
-"#define NEW_PAIR_MARKER -1\n"
-"typedef struct \n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float4	m_min;\n"
-"		float   m_minElems[4];\n"
-"		int			m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float4	m_max;\n"
-"		float   m_maxElems[4];\n"
-"		int			m_maxIndices[4];\n"
-"	};\n"
-"} btAabbCL;\n"
-"/// conservative test for overlap between two aabbs\n"
-"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);\n"
-"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
-"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
-"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
-"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"__kernel void   computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping,  __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numUnsortedAabbs)\n"
-"		return;\n"
-"	int j = get_global_id(1);\n"
-"	if (j>=numUnSortedAabbs2)\n"
-"		return;\n"
-"	__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];\n"
-"	__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];\n"
-"	if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))\n"
-"	{\n"
-"		int4 myPair;\n"
-"		\n"
-"		int xIndex = unsortedAabbPtr[0].m_minIndices[3];\n"
-"		int yIndex = unsortedAabbPtr2[0].m_minIndices[3];\n"
-"		if (xIndex>yIndex)\n"
-"		{\n"
-"			int tmp = xIndex;\n"
-"			xIndex=yIndex;\n"
-"			yIndex=tmp;\n"
-"		}\n"
-"		\n"
-"		myPair.x = xIndex;\n"
-"		myPair.y = yIndex;\n"
-"		myPair.z = NEW_PAIR_MARKER;\n"
-"		myPair.w = NEW_PAIR_MARKER;\n"
-"		int curPair = atomic_inc (pairCount);\n"
-"		if (curPair<maxPairs)\n"
-"		{\n"
-"				pairsOut[curPair] = myPair; //flush to main memory\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void   computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numObjects)\n"
-"		return;\n"
-"	for (int j=i+1;j<numObjects;j++)\n"
-"	{\n"
-"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
-"		{\n"
-"			int4 myPair;\n"
-"			myPair.x = aabbs[i].m_minIndices[3];\n"
-"			myPair.y = aabbs[j].m_minIndices[3];\n"
-"			myPair.z = NEW_PAIR_MARKER;\n"
-"			myPair.w = NEW_PAIR_MARKER;\n"
-"			int curPair = atomic_inc (pairCount);\n"
-"			if (curPair<maxPairs)\n"
-"			{\n"
-"					pairsOut[curPair] = myPair; //flush to main memory\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void   computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numObjects)\n"
-"		return;\n"
-"	for (int j=i+1;j<numObjects;j++)\n"
-"	{\n"
-"  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
-"		{\n"
-"			break;\n"
-"		}\n"
-"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
-"		{\n"
-"			int4 myPair;\n"
-"			myPair.x = aabbs[i].m_minIndices[3];\n"
-"			myPair.y = aabbs[j].m_minIndices[3];\n"
-"			myPair.z = NEW_PAIR_MARKER;\n"
-"			myPair.w = NEW_PAIR_MARKER;\n"
-"			int curPair = atomic_inc (pairCount);\n"
-"			if (curPair<maxPairs)\n"
-"			{\n"
-"					pairsOut[curPair] = myPair; //flush to main memory\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void   computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int localId = get_local_id(0);\n"
-"	__local int numActiveWgItems[1];\n"
-"	__local int breakRequest[1];\n"
-"	if (localId==0)\n"
-"	{\n"
-"		numActiveWgItems[0] = 0;\n"
-"		breakRequest[0] = 0;\n"
-"	}\n"
-"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	atomic_inc(numActiveWgItems);\n"
-"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	int localBreak = 0;\n"
-"	int j=i+1;\n"
-"	do\n"
-"	{\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	\n"
-"		if (j<numObjects)\n"
-"		{\n"
-"	  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
-"			{\n"
-"				if (!localBreak)\n"
-"				{\n"
-"					atomic_inc(breakRequest);\n"
-"					localBreak = 1;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"		\n"
-"		if (j>=numObjects && !localBreak)\n"
-"		{\n"
-"			atomic_inc(breakRequest);\n"
-"			localBreak = 1;\n"
-"		}\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"		\n"
-"		if (!localBreak)\n"
-"		{\n"
-"			if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
-"			{\n"
-"				int4 myPair;\n"
-"				myPair.x = aabbs[i].m_minIndices[3];\n"
-"				myPair.y = aabbs[j].m_minIndices[3];\n"
-"				myPair.z = NEW_PAIR_MARKER;\n"
-"				myPair.w = NEW_PAIR_MARKER;\n"
-"				int curPair = atomic_inc (pairCount);\n"
-"				if (curPair<maxPairs)\n"
-"				{\n"
-"						pairsOut[curPair] = myPair; //flush to main memory\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		j++;\n"
-"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
-"}\n"
-"__kernel void   computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int localId = get_local_id(0);\n"
-"	__local int numActiveWgItems[1];\n"
-"	__local int breakRequest[1];\n"
-"	__local btAabbCL localAabbs[128];// = aabbs[i];\n"
-"	\n"
-"	btAabbCL myAabb;\n"
-"	\n"
-"	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];\n"
-"	float testValue = 	myAabb.m_maxElems[axis];\n"
-"	\n"
-"	if (localId==0)\n"
-"	{\n"
-"		numActiveWgItems[0] = 0;\n"
-"		breakRequest[0] = 0;\n"
-"	}\n"
-"	int localCount=0;\n"
-"	int block=0;\n"
-"	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];\n"
-"	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];\n"
-"	\n"
-"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	atomic_inc(numActiveWgItems);\n"
-"	barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	int localBreak = 0;\n"
-"	\n"
-"	int j=i+1;\n"
-"	do\n"
-"	{\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"	\n"
-"		if (j<numObjects)\n"
-"		{\n"
-"	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) \n"
-"			{\n"
-"				if (!localBreak)\n"
-"				{\n"
-"					atomic_inc(breakRequest);\n"
-"					localBreak = 1;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"		\n"
-"		if (j>=numObjects && !localBreak)\n"
-"		{\n"
-"			atomic_inc(breakRequest);\n"
-"			localBreak = 1;\n"
-"		}\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"		\n"
-"		if (!localBreak)\n"
-"		{\n"
-"			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))\n"
-"			{\n"
-"				int4 myPair;\n"
-"				myPair.x = myAabb.m_minIndices[3];\n"
-"				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];\n"
-"				myPair.z = NEW_PAIR_MARKER;\n"
-"				myPair.w = NEW_PAIR_MARKER;\n"
-"				int curPair = atomic_inc (pairCount);\n"
-"				if (curPair<maxPairs)\n"
-"				{\n"
-"						pairsOut[curPair] = myPair; //flush to main memory\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		barrier(CLK_LOCAL_MEM_FENCE);\n"
-"		localCount++;\n"
-"		if (localCount==64)\n"
-"		{\n"
-"			localCount = 0;\n"
-"			block+=64;			\n"
-"			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];\n"
-"			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];\n"
-"		}\n"
-"		j++;\n"
-"		\n"
-"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
-"	\n"
-"}\n"
-"//http://stereopsis.com/radix.html\n"
-"unsigned int FloatFlip(float fl);\n"
-"unsigned int FloatFlip(float fl)\n"
-"{\n"
-"	unsigned int f = *(unsigned int*)&fl;\n"
-"	unsigned int mask = -(int)(f >> 31) | 0x80000000;\n"
-"	return f ^ mask;\n"
-"}\n"
-"float IFloatFlip(unsigned int f);\n"
-"float IFloatFlip(unsigned int f)\n"
-"{\n"
-"	unsigned int mask = ((f >> 31) - 1) | 0x80000000;\n"
-"	unsigned int fl = f ^ mask;\n"
-"	return *(float*)&fl;\n"
-"}\n"
-"__kernel void   copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numObjects)\n"
-"		return;\n"
-"	int src = destAabbs[i].m_maxIndices[3];\n"
-"	destAabbs[i] = allAabbs[src];\n"
-"	destAabbs[i].m_maxIndices[3] = src;\n"
-"}\n"
-"__kernel void   flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numObjects)\n"
-"		return;\n"
-"	\n"
-"	\n"
-"	sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);\n"
-"	sortData[i].y = i;\n"
-"		\n"
-"}\n"
-"__kernel void   scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numObjects)\n"
-"		return;\n"
-"	\n"
-"	sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];\n"
-"}\n"
-"__kernel void   prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numAabbs)\n"
-"		return;\n"
-"	\n"
-"	btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];\n"
-"	\n"
-"	float4 s;\n"
-"	s = (smallAabb.m_max+smallAabb.m_min)*0.5f;\n"
-"	sum[i]=s;\n"
-"	sum2[i]=s*s;	\n"
-"}\n"
-;
+static const char* sapCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Erwin Coumans\n"
+	"#define NEW_PAIR_MARKER -1\n"
+	"typedef struct \n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_min;\n"
+	"		float   m_minElems[4];\n"
+	"		int			m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_max;\n"
+	"		float   m_maxElems[4];\n"
+	"		int			m_maxIndices[4];\n"
+	"	};\n"
+	"} btAabbCL;\n"
+	"/// conservative test for overlap between two aabbs\n"
+	"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);\n"
+	"bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
+	"bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);\n"
+	"bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
+	"	overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"__kernel void   computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping,  __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numUnsortedAabbs)\n"
+	"		return;\n"
+	"	int j = get_global_id(1);\n"
+	"	if (j>=numUnSortedAabbs2)\n"
+	"		return;\n"
+	"	__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];\n"
+	"	__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];\n"
+	"	if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))\n"
+	"	{\n"
+	"		int4 myPair;\n"
+	"		\n"
+	"		int xIndex = unsortedAabbPtr[0].m_minIndices[3];\n"
+	"		int yIndex = unsortedAabbPtr2[0].m_minIndices[3];\n"
+	"		if (xIndex>yIndex)\n"
+	"		{\n"
+	"			int tmp = xIndex;\n"
+	"			xIndex=yIndex;\n"
+	"			yIndex=tmp;\n"
+	"		}\n"
+	"		\n"
+	"		myPair.x = xIndex;\n"
+	"		myPair.y = yIndex;\n"
+	"		myPair.z = NEW_PAIR_MARKER;\n"
+	"		myPair.w = NEW_PAIR_MARKER;\n"
+	"		int curPair = atomic_inc (pairCount);\n"
+	"		if (curPair<maxPairs)\n"
+	"		{\n"
+	"				pairsOut[curPair] = myPair; //flush to main memory\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void   computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numObjects)\n"
+	"		return;\n"
+	"	for (int j=i+1;j<numObjects;j++)\n"
+	"	{\n"
+	"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
+	"		{\n"
+	"			int4 myPair;\n"
+	"			myPair.x = aabbs[i].m_minIndices[3];\n"
+	"			myPair.y = aabbs[j].m_minIndices[3];\n"
+	"			myPair.z = NEW_PAIR_MARKER;\n"
+	"			myPair.w = NEW_PAIR_MARKER;\n"
+	"			int curPair = atomic_inc (pairCount);\n"
+	"			if (curPair<maxPairs)\n"
+	"			{\n"
+	"					pairsOut[curPair] = myPair; //flush to main memory\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void   computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numObjects)\n"
+	"		return;\n"
+	"	for (int j=i+1;j<numObjects;j++)\n"
+	"	{\n"
+	"  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
+	"		{\n"
+	"			break;\n"
+	"		}\n"
+	"		if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
+	"		{\n"
+	"			int4 myPair;\n"
+	"			myPair.x = aabbs[i].m_minIndices[3];\n"
+	"			myPair.y = aabbs[j].m_minIndices[3];\n"
+	"			myPair.z = NEW_PAIR_MARKER;\n"
+	"			myPair.w = NEW_PAIR_MARKER;\n"
+	"			int curPair = atomic_inc (pairCount);\n"
+	"			if (curPair<maxPairs)\n"
+	"			{\n"
+	"					pairsOut[curPair] = myPair; //flush to main memory\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void   computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int localId = get_local_id(0);\n"
+	"	__local int numActiveWgItems[1];\n"
+	"	__local int breakRequest[1];\n"
+	"	if (localId==0)\n"
+	"	{\n"
+	"		numActiveWgItems[0] = 0;\n"
+	"		breakRequest[0] = 0;\n"
+	"	}\n"
+	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	atomic_inc(numActiveWgItems);\n"
+	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	int localBreak = 0;\n"
+	"	int j=i+1;\n"
+	"	do\n"
+	"	{\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	\n"
+	"		if (j<numObjects)\n"
+	"		{\n"
+	"	  	if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis])) \n"
+	"			{\n"
+	"				if (!localBreak)\n"
+	"				{\n"
+	"					atomic_inc(breakRequest);\n"
+	"					localBreak = 1;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"		\n"
+	"		if (j>=numObjects && !localBreak)\n"
+	"		{\n"
+	"			atomic_inc(breakRequest);\n"
+	"			localBreak = 1;\n"
+	"		}\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"		\n"
+	"		if (!localBreak)\n"
+	"		{\n"
+	"			if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))\n"
+	"			{\n"
+	"				int4 myPair;\n"
+	"				myPair.x = aabbs[i].m_minIndices[3];\n"
+	"				myPair.y = aabbs[j].m_minIndices[3];\n"
+	"				myPair.z = NEW_PAIR_MARKER;\n"
+	"				myPair.w = NEW_PAIR_MARKER;\n"
+	"				int curPair = atomic_inc (pairCount);\n"
+	"				if (curPair<maxPairs)\n"
+	"				{\n"
+	"						pairsOut[curPair] = myPair; //flush to main memory\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		j++;\n"
+	"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
+	"}\n"
+	"__kernel void   computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile  __global int* pairCount, int numObjects, int axis, int maxPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int localId = get_local_id(0);\n"
+	"	__local int numActiveWgItems[1];\n"
+	"	__local int breakRequest[1];\n"
+	"	__local btAabbCL localAabbs[128];// = aabbs[i];\n"
+	"	\n"
+	"	btAabbCL myAabb;\n"
+	"	\n"
+	"	myAabb = (i<numObjects)? aabbs[i]:aabbs[0];\n"
+	"	float testValue = 	myAabb.m_maxElems[axis];\n"
+	"	\n"
+	"	if (localId==0)\n"
+	"	{\n"
+	"		numActiveWgItems[0] = 0;\n"
+	"		breakRequest[0] = 0;\n"
+	"	}\n"
+	"	int localCount=0;\n"
+	"	int block=0;\n"
+	"	localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];\n"
+	"	localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];\n"
+	"	\n"
+	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	atomic_inc(numActiveWgItems);\n"
+	"	barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	int localBreak = 0;\n"
+	"	\n"
+	"	int j=i+1;\n"
+	"	do\n"
+	"	{\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"	\n"
+	"		if (j<numObjects)\n"
+	"		{\n"
+	"	  	if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis])) \n"
+	"			{\n"
+	"				if (!localBreak)\n"
+	"				{\n"
+	"					atomic_inc(breakRequest);\n"
+	"					localBreak = 1;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"		\n"
+	"		if (j>=numObjects && !localBreak)\n"
+	"		{\n"
+	"			atomic_inc(breakRequest);\n"
+	"			localBreak = 1;\n"
+	"		}\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"		\n"
+	"		if (!localBreak)\n"
+	"		{\n"
+	"			if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))\n"
+	"			{\n"
+	"				int4 myPair;\n"
+	"				myPair.x = myAabb.m_minIndices[3];\n"
+	"				myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];\n"
+	"				myPair.z = NEW_PAIR_MARKER;\n"
+	"				myPair.w = NEW_PAIR_MARKER;\n"
+	"				int curPair = atomic_inc (pairCount);\n"
+	"				if (curPair<maxPairs)\n"
+	"				{\n"
+	"						pairsOut[curPair] = myPair; //flush to main memory\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		barrier(CLK_LOCAL_MEM_FENCE);\n"
+	"		localCount++;\n"
+	"		if (localCount==64)\n"
+	"		{\n"
+	"			localCount = 0;\n"
+	"			block+=64;			\n"
+	"			localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];\n"
+	"			localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];\n"
+	"		}\n"
+	"		j++;\n"
+	"		\n"
+	"	} while (breakRequest[0]<numActiveWgItems[0]);\n"
+	"	\n"
+	"}\n"
+	"//http://stereopsis.com/radix.html\n"
+	"unsigned int FloatFlip(float fl);\n"
+	"unsigned int FloatFlip(float fl)\n"
+	"{\n"
+	"	unsigned int f = *(unsigned int*)&fl;\n"
+	"	unsigned int mask = -(int)(f >> 31) | 0x80000000;\n"
+	"	return f ^ mask;\n"
+	"}\n"
+	"float IFloatFlip(unsigned int f);\n"
+	"float IFloatFlip(unsigned int f)\n"
+	"{\n"
+	"	unsigned int mask = ((f >> 31) - 1) | 0x80000000;\n"
+	"	unsigned int fl = f ^ mask;\n"
+	"	return *(float*)&fl;\n"
+	"}\n"
+	"__kernel void   copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numObjects)\n"
+	"		return;\n"
+	"	int src = destAabbs[i].m_maxIndices[3];\n"
+	"	destAabbs[i] = allAabbs[src];\n"
+	"	destAabbs[i].m_maxIndices[3] = src;\n"
+	"}\n"
+	"__kernel void   flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numObjects)\n"
+	"		return;\n"
+	"	\n"
+	"	\n"
+	"	sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);\n"
+	"	sortData[i].y = i;\n"
+	"		\n"
+	"}\n"
+	"__kernel void   scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numObjects)\n"
+	"		return;\n"
+	"	\n"
+	"	sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];\n"
+	"}\n"
+	"__kernel void   prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numAabbs)\n"
+	"		return;\n"
+	"	\n"
+	"	btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];\n"
+	"	\n"
+	"	float4 s;\n"
+	"	s = (smallAabb.m_max+smallAabb.m_min)*0.5f;\n"
+	"	sum[i]=s;\n"
+	"	sum2[i]=s*s;	\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h
index e79182d7cb..6146538263 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h
+++ b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLInclude.h
@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define B3_OPENCL_INCLUDE_H
 
 #ifdef B3_USE_CLEW
-	#include "clew/clew.h"
+#include "clew/clew.h"
 #else
 
 #ifdef __APPLE__
@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include <MiniCL/cl.h>
 #else
 #include <OpenCL/cl.h>
-#include <OpenCL/cl_ext.h> //clLogMessagesToStderrAPPLE
+#include <OpenCL/cl_ext.h>  //clLogMessagesToStderrAPPLE
 #endif
 #else
 #ifdef USE_MINICL
@@ -34,15 +34,18 @@ subject to the following restrictions:
 #include <CL/cl.h>
 #ifdef _WIN32
 #include "CL/cl_gl.h"
-#endif //_WIN32
+#endif  //_WIN32
 #endif
-#endif //__APPLE__
-#endif //B3_USE_CLEW
+#endif  //__APPLE__
+#endif  //B3_USE_CLEW
 
 #include <assert.h>
 #include <stdio.h>
-#define oclCHECKERROR(a, b) if((a)!=(b)) { printf("OCL Error : %d\n", (a)); assert((a) == (b)); }
-
-
-#endif //B3_OPENCL_INCLUDE_H
-
+#define oclCHECKERROR(a, b)              \
+	if ((a) != (b))                      \
+	{                                    \
+		printf("OCL Error : %d\n", (a)); \
+		assert((a) == (b));              \
+	}
+
+#endif  //B3_OPENCL_INCLUDE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
index dd194fc7ba..fe54ea5ec9 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
@@ -16,7 +16,6 @@ subject to the following restrictions:
 //Original author: Roman Ponomarev
 //Mostly Reimplemented by Erwin Coumans
 
-
 bool gDebugForceLoadingFromSource = false;
 bool gDebugSkipLoadingBinary = false;
 
@@ -25,7 +24,7 @@ bool gDebugSkipLoadingBinary = false;
 #include <string.h>
 
 #ifdef _WIN32
-#pragma warning (disable:4996)
+#pragma warning(disable : 4996)
 #endif
 #include "b3OpenCLUtils.h"
 //#include "b3OpenCLInclude.h"
@@ -33,7 +32,7 @@ bool gDebugSkipLoadingBinary = false;
 #include <stdio.h>
 #include <stdlib.h>
 
-#define B3_MAX_CL_DEVICES 16 //who needs 16 devices?
+#define B3_MAX_CL_DEVICES 16  //who needs 16 devices?
 
 #ifdef _WIN32
 #include <windows.h>
@@ -46,53 +45,49 @@ bool gDebugSkipLoadingBinary = false;
 
 #endif
 
-static const char* sCachedBinaryPath="cache";
-
+static const char* sCachedBinaryPath = "cache";
 
 //Set the preferred platform vendor using the OpenCL SDK
 static const char* spPlatformVendor =
 #if defined(CL_PLATFORM_MINI_CL)
-"MiniCL, SCEA";
+	"MiniCL, SCEA";
 #elif defined(CL_PLATFORM_AMD)
-"Advanced Micro Devices, Inc.";
+	"Advanced Micro Devices, Inc.";
 #elif defined(CL_PLATFORM_NVIDIA)
-"NVIDIA Corporation";
+	"NVIDIA Corporation";
 #elif defined(CL_PLATFORM_INTEL)
-"Intel(R) Corporation";
+	"Intel(R) Corporation";
 #elif defined(B3_USE_CLEW)
-"clew (OpenCL Extension Wrangler library)";
+	"clew (OpenCL Extension Wrangler library)";
 #else
-"Unknown Vendor";
+	"Unknown Vendor";
 #endif
 
 #ifndef CL_PLATFORM_MINI_CL
 #ifdef _WIN32
 #ifndef B3_USE_CLEW
 #include "CL/cl_gl.h"
-#endif //B3_USE_CLEW
-#endif //_WIN32
+#endif  //B3_USE_CLEW
+#endif  //_WIN32
 #endif
 
-
-void MyFatalBreakAPPLE(   const char *  errstr ,
-                       const void *  private_info ,
-                       size_t        cb ,
-                       void *        user_data  )
+void MyFatalBreakAPPLE(const char* errstr,
+					   const void* private_info,
+					   size_t cb,
+					   void* user_data)
 {
-   
-
-    const char* patloc = strstr(errstr, "Warning");
-    //find out if it is a warning or error, exit if error
+	const char* patloc = strstr(errstr, "Warning");
+	//find out if it is a warning or error, exit if error
 
-    if (patloc)
-    {
+	if (patloc)
+	{
 		b3Warning("Warning: %s\n", errstr);
-    } else
-    {
+	}
+	else
+	{
 		b3Error("Error: %s\n", errstr);
-        b3Assert(0);
-    }
-
+		b3Assert(0);
+	}
 }
 
 #ifdef B3_USE_CLEW
@@ -102,30 +97,31 @@ int b3OpenCLUtils_clewInit()
 	int result = -1;
 
 #ifdef _WIN32
-        const char* cl = "OpenCL.dll";
+	const char* cl = "OpenCL.dll";
 #elif defined __APPLE__
-        const char* cl = "/System/Library/Frameworks/OpenCL.framework/Versions/Current/OpenCL";
-#else//presumable Linux?
-        //linux (tested on Ubuntu 12.10 with Catalyst 13.4 beta drivers, not that there is no symbolic link from libOpenCL.so
-        const char* cl = "libOpenCL.so.1";
-        result = clewInit(cl);
-        if (result != CLEW_SUCCESS)
-        {
-                cl = "libOpenCL.so";
-        } else
-        {
-                clewExit();
-        }
+	const char* cl = "/System/Library/Frameworks/OpenCL.framework/Versions/Current/OpenCL";
+#else  //presumable Linux? \
+	   //linux (tested on Ubuntu 12.10 with Catalyst 13.4 beta drivers, not that there is no symbolic link from libOpenCL.so
+	const char* cl = "libOpenCL.so.1";
+	result = clewInit(cl);
+	if (result != CLEW_SUCCESS)
+	{
+		cl = "libOpenCL.so";
+	}
+	else
+	{
+		clewExit();
+	}
 #endif
-        result = clewInit(cl);
-        if (result!=CLEW_SUCCESS)
-		{
-                b3Error("clewInit failed with error code %d\n",result);
-		}
-        else
-        {
-                b3Printf("clewInit succesfull using %s\n",cl);
-        }
+	result = clewInit(cl);
+	if (result != CLEW_SUCCESS)
+	{
+		b3Error("clewInit failed with error code %d\n", result);
+	}
+	else
+	{
+		b3Printf("clewInit succesfull using %s\n", cl);
+	}
 	return result;
 }
 #endif
@@ -136,19 +132,18 @@ int b3OpenCLUtils_getNumPlatforms(cl_int* pErrNum)
 	b3OpenCLUtils_clewInit();
 #endif
 
-	cl_platform_id pPlatforms[10] = { 0 };
+	cl_platform_id pPlatforms[10] = {0};
 
-    cl_uint numPlatforms = 0;
-    cl_int ciErrNum = clGetPlatformIDs(10, pPlatforms, &numPlatforms);
+	cl_uint numPlatforms = 0;
+	cl_int ciErrNum = clGetPlatformIDs(10, pPlatforms, &numPlatforms);
 	//cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
 
-	if(ciErrNum != CL_SUCCESS)
+	if (ciErrNum != CL_SUCCESS)
 	{
-		if(pErrNum != NULL)
+		if (pErrNum != NULL)
 			*pErrNum = ciErrNum;
 	}
 	return numPlatforms;
-
 }
 
 const char* b3OpenCLUtils_getSdkVendorName()
@@ -164,28 +159,28 @@ void b3OpenCLUtils_setCachePath(const char* path)
 cl_platform_id b3OpenCLUtils_getPlatform(int platformIndex0, cl_int* pErrNum)
 {
 #ifdef B3_USE_CLEW
-        b3OpenCLUtils_clewInit();
+	b3OpenCLUtils_clewInit();
 #endif
 
 	cl_platform_id platform = 0;
-	unsigned int platformIndex = (unsigned int )platformIndex0;
+	unsigned int platformIndex = (unsigned int)platformIndex0;
 	cl_uint numPlatforms;
 	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
 
-	if (platformIndex<numPlatforms)
+	if (platformIndex < numPlatforms)
 	{
-		cl_platform_id* platforms = (cl_platform_id*) malloc (sizeof(cl_platform_id)*numPlatforms);
+		cl_platform_id* platforms = (cl_platform_id*)malloc(sizeof(cl_platform_id) * numPlatforms);
 		ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
-		if(ciErrNum != CL_SUCCESS)
+		if (ciErrNum != CL_SUCCESS)
 		{
-			if(pErrNum != NULL)
+			if (pErrNum != NULL)
 				*pErrNum = ciErrNum;
 			return platform;
 		}
 
 		platform = platforms[platformIndex];
 
-		free (platforms);
+		free(platforms);
 	}
 
 	return platform;
@@ -195,30 +190,28 @@ void b3OpenCLUtils::getPlatformInfo(cl_platform_id platform, b3OpenCLPlatformInf
 {
 	b3Assert(platform);
 	cl_int ciErrNum;
-	ciErrNum = clGetPlatformInfo(	platform,CL_PLATFORM_VENDOR,B3_MAX_STRING_LENGTH,platformInfo->m_platformVendor,NULL);
-	oclCHECKERROR(ciErrNum,CL_SUCCESS);
-	ciErrNum = clGetPlatformInfo(	platform,CL_PLATFORM_NAME,B3_MAX_STRING_LENGTH,platformInfo->m_platformName,NULL);
-	oclCHECKERROR(ciErrNum,CL_SUCCESS);
-	ciErrNum = clGetPlatformInfo(	platform,CL_PLATFORM_VERSION,B3_MAX_STRING_LENGTH,platformInfo->m_platformVersion,NULL);
-	oclCHECKERROR(ciErrNum,CL_SUCCESS);
+	ciErrNum = clGetPlatformInfo(platform, CL_PLATFORM_VENDOR, B3_MAX_STRING_LENGTH, platformInfo->m_platformVendor, NULL);
+	oclCHECKERROR(ciErrNum, CL_SUCCESS);
+	ciErrNum = clGetPlatformInfo(platform, CL_PLATFORM_NAME, B3_MAX_STRING_LENGTH, platformInfo->m_platformName, NULL);
+	oclCHECKERROR(ciErrNum, CL_SUCCESS);
+	ciErrNum = clGetPlatformInfo(platform, CL_PLATFORM_VERSION, B3_MAX_STRING_LENGTH, platformInfo->m_platformVersion, NULL);
+	oclCHECKERROR(ciErrNum, CL_SUCCESS);
 }
 
-void b3OpenCLUtils_printPlatformInfo( cl_platform_id platform)
+void b3OpenCLUtils_printPlatformInfo(cl_platform_id platform)
 {
 	b3OpenCLPlatformInfo platformInfo;
-	b3OpenCLUtils::getPlatformInfo (platform, &platformInfo);
+	b3OpenCLUtils::getPlatformInfo(platform, &platformInfo);
 	b3Printf("Platform info:\n");
-	b3Printf("  CL_PLATFORM_VENDOR: \t\t\t%s\n",platformInfo.m_platformVendor);
-	b3Printf("  CL_PLATFORM_NAME: \t\t\t%s\n",platformInfo.m_platformName);
-	b3Printf("  CL_PLATFORM_VERSION: \t\t\t%s\n",platformInfo.m_platformVersion);
+	b3Printf("  CL_PLATFORM_VENDOR: \t\t\t%s\n", platformInfo.m_platformVendor);
+	b3Printf("  CL_PLATFORM_NAME: \t\t\t%s\n", platformInfo.m_platformName);
+	b3Printf("  CL_PLATFORM_VERSION: \t\t\t%s\n", platformInfo.m_platformVersion);
 }
 
-
-
 cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLContext, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex)
 {
 	cl_context retContext = 0;
-	cl_int ciErrNum=0;
+	cl_int ciErrNum = 0;
 	cl_uint num_entries;
 	cl_device_id devices[B3_MAX_CL_DEVICES];
 	cl_uint num_devices;
@@ -228,7 +221,7 @@ cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_d
 	* If we could find our platform, use it. Otherwise pass a NULL and get whatever the
 	* implementation thinks we should be using.
 	*/
-	cl_context_properties cps[7] = {0,0,0,0,0,0,0};
+	cl_context_properties cps[7] = {0, 0, 0, 0, 0, 0, 0};
 	cps[0] = CL_CONTEXT_PLATFORM;
 	cps[1] = (cl_context_properties)platform;
 #ifdef _WIN32
@@ -240,25 +233,24 @@ cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_d
 		cps[4] = CL_WGL_HDC_KHR;
 		cps[5] = (cl_context_properties)pGLDC;
 	}
-#endif //B3_USE_CLEW
-#endif //_WIN32
+#endif  //B3_USE_CLEW
+#endif  //_WIN32
 	num_entries = B3_MAX_CL_DEVICES;
 
-
-	num_devices=-1;
+	num_devices = -1;
 
 	ciErrNum = clGetDeviceIDs(
 		platform,
 		deviceType,
- 		num_entries,
- 		devices,
- 		&num_devices);
-
-    if (ciErrNum<0)
-    {
-        b3Printf("clGetDeviceIDs returned %d\n",ciErrNum);
-        return 0;
-    }
+		num_entries,
+		devices,
+		&num_devices);
+
+	if (ciErrNum < 0)
+	{
+		b3Printf("clGetDeviceIDs returned %d\n", ciErrNum);
+		return 0;
+	}
 	cprops = (NULL == platform) ? NULL : cps;
 
 	if (!num_devices)
@@ -268,32 +260,33 @@ cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_d
 	{
 		//search for the GPU that relates to the OpenCL context
 		unsigned int i;
-		for (i=0;i<num_devices;i++)
+		for (i = 0; i < num_devices; i++)
 		{
-			retContext = clCreateContext(cprops,1,&devices[i],NULL,NULL,&ciErrNum);
-			if (ciErrNum==CL_SUCCESS)
+			retContext = clCreateContext(cprops, 1, &devices[i], NULL, NULL, &ciErrNum);
+			if (ciErrNum == CL_SUCCESS)
 				break;
 		}
 	}
 	else
 	{
-		if (preferredDeviceIndex>=0 && (unsigned int)preferredDeviceIndex<num_devices)
+		if (preferredDeviceIndex >= 0 && (unsigned int)preferredDeviceIndex < num_devices)
 		{
 			//create a context of the preferred device index
-			retContext = clCreateContext(cprops,1,&devices[preferredDeviceIndex],NULL,NULL,&ciErrNum);
-		} else
+			retContext = clCreateContext(cprops, 1, &devices[preferredDeviceIndex], NULL, NULL, &ciErrNum);
+		}
+		else
 		{
 			//create a context of all devices
-#if defined (__APPLE__)
-			retContext = clCreateContext(cprops,num_devices,devices,MyFatalBreakAPPLE,NULL,&ciErrNum);
+#if defined(__APPLE__)
+			retContext = clCreateContext(cprops, num_devices, devices, MyFatalBreakAPPLE, NULL, &ciErrNum);
 #else
-        b3Printf("numDevices=%d\n",num_devices);
+			b3Printf("numDevices=%d\n", num_devices);
 
-			retContext = clCreateContext(cprops,num_devices,devices,NULL,NULL,&ciErrNum);
+			retContext = clCreateContext(cprops, num_devices, devices, NULL, NULL, &ciErrNum);
 #endif
 		}
 	}
-	if(pErrNum != NULL)
+	if (pErrNum != NULL)
 	{
 		*pErrNum = ciErrNum;
 	};
@@ -301,60 +294,58 @@ cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_d
 	return retContext;
 }
 
-cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLContext, void* pGLDC , int preferredDeviceIndex, int preferredPlatformIndex, cl_platform_id* retPlatformId)
+cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLContext, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex, cl_platform_id* retPlatformId)
 {
 #ifdef B3_USE_CLEW
-        b3OpenCLUtils_clewInit();
+	b3OpenCLUtils_clewInit();
 #endif
 
-
 	cl_uint numPlatforms;
 	cl_context retContext = 0;
 	unsigned int i;
 
 	cl_int ciErrNum = clGetPlatformIDs(0, NULL, &numPlatforms);
-	if(ciErrNum != CL_SUCCESS)
+	if (ciErrNum != CL_SUCCESS)
 	{
-		if(pErrNum != NULL) *pErrNum = ciErrNum;
+		if (pErrNum != NULL) *pErrNum = ciErrNum;
 		return NULL;
 	}
-	if(numPlatforms > 0)
+	if (numPlatforms > 0)
 	{
-		cl_platform_id* platforms = (cl_platform_id*) malloc (sizeof(cl_platform_id)*numPlatforms);
+		cl_platform_id* platforms = (cl_platform_id*)malloc(sizeof(cl_platform_id) * numPlatforms);
 		ciErrNum = clGetPlatformIDs(numPlatforms, platforms, NULL);
-		if(ciErrNum != CL_SUCCESS)
+		if (ciErrNum != CL_SUCCESS)
 		{
-			if(pErrNum != NULL)
+			if (pErrNum != NULL)
 				*pErrNum = ciErrNum;
 			free(platforms);
 			return NULL;
 		}
 
-
-
-		for ( i = 0; i < numPlatforms; ++i)
+		for (i = 0; i < numPlatforms; ++i)
 		{
 			char pbuf[128];
-			ciErrNum = clGetPlatformInfo(	platforms[i],
-				CL_PLATFORM_VENDOR,
-				sizeof(pbuf),
-				pbuf,
-				NULL);
-			if(ciErrNum != CL_SUCCESS)
+			ciErrNum = clGetPlatformInfo(platforms[i],
+										 CL_PLATFORM_VENDOR,
+										 sizeof(pbuf),
+										 pbuf,
+										 NULL);
+			if (ciErrNum != CL_SUCCESS)
 			{
-				if(pErrNum != NULL) *pErrNum = ciErrNum;
+				if (pErrNum != NULL) *pErrNum = ciErrNum;
 				return NULL;
 			}
 
-			if (preferredPlatformIndex>=0 && i==preferredPlatformIndex)
+			if (preferredPlatformIndex >= 0 && i == preferredPlatformIndex)
 			{
 				cl_platform_id tmpPlatform = platforms[0];
 				platforms[0] = platforms[i];
 				platforms[i] = tmpPlatform;
 				break;
-			} else
+			}
+			else
 			{
-				if(!strcmp(pbuf, spPlatformVendor))
+				if (!strcmp(pbuf, spPlatformVendor))
 				{
 					cl_platform_id tmpPlatform = platforms[0];
 					platforms[0] = platforms[i];
@@ -368,11 +359,11 @@ cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int
 			cl_platform_id platform = platforms[i];
 			assert(platform);
 
-			retContext = b3OpenCLUtils_createContextFromPlatform(platform,deviceType,pErrNum,pGLContext,pGLDC,preferredDeviceIndex,preferredPlatformIndex);
+			retContext = b3OpenCLUtils_createContextFromPlatform(platform, deviceType, pErrNum, pGLContext, pGLDC, preferredDeviceIndex, preferredPlatformIndex);
 
 			if (retContext)
 			{
-//				printf("OpenCL platform details:\n");
+				//				printf("OpenCL platform details:\n");
 				b3OpenCLPlatformInfo platformInfo;
 
 				b3OpenCLUtils::getPlatformInfo(platform, &platformInfo);
@@ -384,12 +375,11 @@ cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int
 			}
 		}
 
-		free (platforms);
+		free(platforms);
 	}
 	return retContext;
 }
 
-
 //////////////////////////////////////////////////////////////////////////////
 //! Gets the id of the nth device from the context
 //!
@@ -403,16 +393,17 @@ cl_device_id b3OpenCLUtils_getDevice(cl_context cxMainContext, int deviceIndex)
 
 	size_t szParmDataBytes;
 	cl_device_id* cdDevices;
-	cl_device_id device ;
+	cl_device_id device;
 
 	// get the list of devices associated with context
 	clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParmDataBytes);
 
-	if( szParmDataBytes / sizeof(cl_device_id) < (unsigned int)deviceIndex ) {
+	if (szParmDataBytes / sizeof(cl_device_id) < (unsigned int)deviceIndex)
+	{
 		return (cl_device_id)-1;
 	}
 
-	cdDevices = (cl_device_id*) malloc(szParmDataBytes);
+	cdDevices = (cl_device_id*)malloc(szParmDataBytes);
 
 	clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, szParmDataBytes, cdDevices, NULL);
 
@@ -427,12 +418,10 @@ int b3OpenCLUtils_getNumDevices(cl_context cxMainContext)
 	size_t szParamDataBytes;
 	int device_count;
 	clGetContextInfo(cxMainContext, CL_CONTEXT_DEVICES, 0, NULL, &szParamDataBytes);
-	device_count = (int) szParamDataBytes/ sizeof(cl_device_id);
+	device_count = (int)szParamDataBytes / sizeof(cl_device_id);
 	return device_count;
 }
 
-
-
 void b3OpenCLUtils::getDeviceInfo(cl_device_id device, b3OpenCLDeviceInfo* info)
 {
 	// CL_DEVICE_NAME
@@ -514,23 +503,22 @@ void b3OpenCLUtils::getDeviceInfo(cl_device_id device, b3OpenCLDeviceInfo* info)
 	clGetDeviceInfo(device, CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE, sizeof(cl_uint), &info->m_vecWidthDouble, NULL);
 }
 
-
 void b3OpenCLUtils_printDeviceInfo(cl_device_id device)
 {
 	b3OpenCLDeviceInfo info;
-	b3OpenCLUtils::getDeviceInfo(device,&info);
+	b3OpenCLUtils::getDeviceInfo(device, &info);
 	b3Printf("Device Info:\n");
 	b3Printf("  CL_DEVICE_NAME: \t\t\t%s\n", info.m_deviceName);
 	b3Printf("  CL_DEVICE_VENDOR: \t\t\t%s\n", info.m_deviceVendor);
 	b3Printf("  CL_DRIVER_VERSION: \t\t\t%s\n", info.m_driverVersion);
 
-	if( info.m_deviceType & CL_DEVICE_TYPE_CPU )
+	if (info.m_deviceType & CL_DEVICE_TYPE_CPU)
 		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_CPU");
-	if( info.m_deviceType & CL_DEVICE_TYPE_GPU )
+	if (info.m_deviceType & CL_DEVICE_TYPE_GPU)
 		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_GPU");
-	if( info.m_deviceType & CL_DEVICE_TYPE_ACCELERATOR )
+	if (info.m_deviceType & CL_DEVICE_TYPE_ACCELERATOR)
 		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_ACCELERATOR");
-	if( info.m_deviceType & CL_DEVICE_TYPE_DEFAULT )
+	if (info.m_deviceType & CL_DEVICE_TYPE_DEFAULT)
 		b3Printf("  CL_DEVICE_TYPE:\t\t\t%s\n", "CL_DEVICE_TYPE_DEFAULT");
 
 	b3Printf("  CL_DEVICE_MAX_COMPUTE_UNITS:\t\t%u\n", info.m_computeUnits);
@@ -539,15 +527,15 @@ void b3OpenCLUtils_printDeviceInfo(cl_device_id device)
 	b3Printf("  CL_DEVICE_MAX_WORK_GROUP_SIZE:\t%u\n", info.m_workgroupSize);
 	b3Printf("  CL_DEVICE_MAX_CLOCK_FREQUENCY:\t%u MHz\n", info.m_clockFrequency);
 	b3Printf("  CL_DEVICE_ADDRESS_BITS:\t\t%u\n", info.m_addressBits);
-	b3Printf("  CL_DEVICE_MAX_MEM_ALLOC_SIZE:\t\t%u MByte\n", (unsigned int)(info.m_maxMemAllocSize/ (1024 * 1024)));
-	b3Printf("  CL_DEVICE_GLOBAL_MEM_SIZE:\t\t%u MByte\n", (unsigned int)(info.m_globalMemSize/ (1024 * 1024)));
-	b3Printf("  CL_DEVICE_ERROR_CORRECTION_SUPPORT:\t%s\n", info.m_errorCorrectionSupport== CL_TRUE ? "yes" : "no");
+	b3Printf("  CL_DEVICE_MAX_MEM_ALLOC_SIZE:\t\t%u MByte\n", (unsigned int)(info.m_maxMemAllocSize / (1024 * 1024)));
+	b3Printf("  CL_DEVICE_GLOBAL_MEM_SIZE:\t\t%u MByte\n", (unsigned int)(info.m_globalMemSize / (1024 * 1024)));
+	b3Printf("  CL_DEVICE_ERROR_CORRECTION_SUPPORT:\t%s\n", info.m_errorCorrectionSupport == CL_TRUE ? "yes" : "no");
 	b3Printf("  CL_DEVICE_LOCAL_MEM_TYPE:\t\t%s\n", info.m_localMemType == 1 ? "local" : "global");
 	b3Printf("  CL_DEVICE_LOCAL_MEM_SIZE:\t\t%u KByte\n", (unsigned int)(info.m_localMemSize / 1024));
 	b3Printf("  CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE:\t%u KByte\n", (unsigned int)(info.m_constantBufferSize / 1024));
-	if( info.m_queueProperties  & CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE )
+	if (info.m_queueProperties & CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE)
 		b3Printf("  CL_DEVICE_QUEUE_PROPERTIES:\t\t%s\n", "CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE");
-	if( info.m_queueProperties & CL_QUEUE_PROFILING_ENABLE )
+	if (info.m_queueProperties & CL_QUEUE_PROFILING_ENABLE)
 		b3Printf("  CL_DEVICE_QUEUE_PROPERTIES:\t\t%s\n", "CL_QUEUE_PROFILING_ENABLE");
 
 	b3Printf("  CL_DEVICE_IMAGE_SUPPORT:\t\t%u\n", info.m_imageSupport);
@@ -562,7 +550,7 @@ void b3OpenCLUtils_printDeviceInfo(cl_device_id device)
 	b3Printf("\t\t\t\t\t3D_MAX_DEPTH\t %u\n", info.m_image3dMaxDepth);
 	if (*info.m_deviceExtensions != 0)
 	{
-		b3Printf("\n  CL_DEVICE_EXTENSIONS:%s\n",info.m_deviceExtensions);
+		b3Printf("\n  CL_DEVICE_EXTENSIONS:%s\n", info.m_deviceExtensions);
 	}
 	else
 	{
@@ -570,36 +558,33 @@ void b3OpenCLUtils_printDeviceInfo(cl_device_id device)
 	}
 	b3Printf("  CL_DEVICE_PREFERRED_VECTOR_WIDTH_<t>\t");
 	b3Printf("CHAR %u, SHORT %u, INT %u,LONG %u, FLOAT %u, DOUBLE %u\n\n\n",
-		info.m_vecWidthChar, info.m_vecWidthShort, info.m_vecWidthInt, info.m_vecWidthLong,info.m_vecWidthFloat, info.m_vecWidthDouble);
-
-
+			 info.m_vecWidthChar, info.m_vecWidthShort, info.m_vecWidthInt, info.m_vecWidthLong, info.m_vecWidthFloat, info.m_vecWidthDouble);
 }
 
-
 static const char* strip2(const char* name, const char* pattern)
 {
-	  size_t const patlen = strlen(pattern);
-  	size_t patcnt = 0;
-	  const char * oriptr;
-	  const char * patloc;
-		// find how many times the pattern occurs in the original string
-	  for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
-	  {
+	size_t const patlen = strlen(pattern);
+	size_t patcnt = 0;
+	const char* oriptr;
+	const char* patloc;
+	// find how many times the pattern occurs in the original string
+	for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
+	{
 		patcnt++;
-	  }
-	  return oriptr;
+	}
+	return oriptr;
 }
 
-cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSourceOrg, cl_int* pErrNum, const char* additionalMacrosArg , const char* clFileNameForCaching, bool disableBinaryCaching)
+cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSourceOrg, cl_int* pErrNum, const char* additionalMacrosArg, const char* clFileNameForCaching, bool disableBinaryCaching)
 {
-	const char* additionalMacros = additionalMacrosArg?additionalMacrosArg:"";
+	const char* additionalMacros = additionalMacrosArg ? additionalMacrosArg : "";
 
 	if (disableBinaryCaching)
 	{
 		//kernelSourceOrg = 0;
 	}
 
-	cl_program m_cpProgram=0;
+	cl_program m_cpProgram = 0;
 	cl_int status;
 
 	char binaryFileName[B3_MAX_STRING_LENGTH];
@@ -609,67 +594,64 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 	const char* strippedName;
 	int fileUpToDate = 0;
 #ifdef _WIN32
-	int binaryFileValid=0;
-#endif	
+	int binaryFileValid = 0;
+#endif
 	if (!disableBinaryCaching && clFileNameForCaching)
 	{
 		clGetDeviceInfo(device, CL_DEVICE_NAME, 256, &deviceName, NULL);
 		clGetDeviceInfo(device, CL_DRIVER_VERSION, 256, &driverVersion, NULL);
-	
-		strippedName = strip2(clFileNameForCaching,"\\");
-		strippedName = strip2(strippedName,"/");
-	
-#ifdef _MSVC_VER
-		sprintf_s(binaryFileName,B3_MAX_STRING_LENGTH,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion );
+
+		strippedName = strip2(clFileNameForCaching, "\\");
+		strippedName = strip2(strippedName, "/");
+
+#ifdef _MSC_VER
+		sprintf_s(binaryFileName, B3_MAX_STRING_LENGTH, "%s/%s.%s.%s.bin", sCachedBinaryPath, strippedName, deviceName, driverVersion);
 #else
-		sprintf(binaryFileName,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion );
+		sprintf(binaryFileName, "%s/%s.%s.%s.bin", sCachedBinaryPath, strippedName, deviceName, driverVersion);
 #endif
 	}
-	if (clFileNameForCaching && !(disableBinaryCaching || gDebugSkipLoadingBinary||gDebugForceLoadingFromSource) )
+	if (clFileNameForCaching && !(disableBinaryCaching || gDebugSkipLoadingBinary || gDebugForceLoadingFromSource))
 	{
-		
 #ifdef _WIN32
-	char* bla=0;
-
-	
+		char* bla = 0;
 
 		//printf("searching for %s\n", binaryFileName);
 
-
 		FILETIME modtimeBinary;
-		CreateDirectoryA(sCachedBinaryPath,0);
+		CreateDirectoryA(sCachedBinaryPath, 0);
 		{
-
-			HANDLE binaryFileHandle = CreateFileA(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
-			if (binaryFileHandle ==INVALID_HANDLE_VALUE)
+			HANDLE binaryFileHandle = CreateFileA(binaryFileName, GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
+			if (binaryFileHandle == INVALID_HANDLE_VALUE)
 			{
 				DWORD errorCode;
 				errorCode = GetLastError();
 				switch (errorCode)
 				{
-				case ERROR_FILE_NOT_FOUND:
+					case ERROR_FILE_NOT_FOUND:
 					{
 						b3Warning("\nCached file not found %s\n", binaryFileName);
 						break;
 					}
-				case ERROR_PATH_NOT_FOUND:
+					case ERROR_PATH_NOT_FOUND:
 					{
 						b3Warning("\nCached file path not found %s\n", binaryFileName);
 						break;
 					}
-				default:
+					default:
 					{
 						b3Warning("\nFailed reading cached file with errorCode = %d\n", errorCode);
 					}
 				}
-			} else
+			}
+			else
 			{
-				if (GetFileTime(binaryFileHandle, NULL, NULL, &modtimeBinary)==0)
+				if (GetFileTime(binaryFileHandle, NULL, NULL, &modtimeBinary) == 0)
 				{
 					DWORD errorCode;
 					errorCode = GetLastError();
 					b3Warning("\nGetFileTime errorCode = %d\n", errorCode);
-				} else
+				}
+				else
 				{
 					binaryFileValid = 1;
 				}
@@ -678,37 +660,35 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 
 			if (binaryFileValid)
 			{
-				HANDLE srcFileHandle = CreateFileA(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
+				HANDLE srcFileHandle = CreateFileA(clFileNameForCaching, GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
 
-				if (srcFileHandle==INVALID_HANDLE_VALUE)
+				if (srcFileHandle == INVALID_HANDLE_VALUE)
 				{
-					const char* prefix[]={"./","../","../../","../../../","../../../../"};
-					for (int i=0;(srcFileHandle==INVALID_HANDLE_VALUE) && i<5;i++)
+					const char* prefix[] = {"./", "../", "../../", "../../../", "../../../../"};
+					for (int i = 0; (srcFileHandle == INVALID_HANDLE_VALUE) && i < 5; i++)
 					{
 						char relativeFileName[1024];
-						sprintf(relativeFileName,"%s%s",prefix[i],clFileNameForCaching);
-						srcFileHandle = CreateFileA(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
+						sprintf(relativeFileName, "%s%s", prefix[i], clFileNameForCaching);
+						srcFileHandle = CreateFileA(relativeFileName, GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
 					}
-
 				}
 
-
-				if (srcFileHandle!=INVALID_HANDLE_VALUE)
+				if (srcFileHandle != INVALID_HANDLE_VALUE)
 				{
 					FILETIME modtimeSrc;
-					if (GetFileTime(srcFileHandle, NULL, NULL, &modtimeSrc)==0)
+					if (GetFileTime(srcFileHandle, NULL, NULL, &modtimeSrc) == 0)
 					{
 						DWORD errorCode;
 						errorCode = GetLastError();
 						b3Warning("\nGetFileTime errorCode = %d\n", errorCode);
 					}
-					if (  ( modtimeSrc.dwHighDateTime < modtimeBinary.dwHighDateTime)
-						||(( modtimeSrc.dwHighDateTime == modtimeBinary.dwHighDateTime)&&(modtimeSrc.dwLowDateTime <= modtimeBinary.dwLowDateTime)))
+					if ((modtimeSrc.dwHighDateTime < modtimeBinary.dwHighDateTime) || ((modtimeSrc.dwHighDateTime == modtimeBinary.dwHighDateTime) && (modtimeSrc.dwLowDateTime <= modtimeBinary.dwLowDateTime)))
 					{
-						fileUpToDate=1;
-					} else
+						fileUpToDate = 1;
+					}
+					else
 					{
-						b3Warning("\nCached binary file out-of-date (%s)\n",binaryFileName);
+						b3Warning("\nCached binary file out-of-date (%s)\n", binaryFileName);
 					}
 					CloseHandle(srcFileHandle);
 				}
@@ -719,25 +699,25 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 					errorCode = GetLastError();
 					switch (errorCode)
 					{
-					case ERROR_FILE_NOT_FOUND:
+						case ERROR_FILE_NOT_FOUND:
 						{
 							b3Warning("\nSrc file not found %s\n", clFileNameForCaching);
 							break;
 						}
-					case ERROR_PATH_NOT_FOUND:
+						case ERROR_PATH_NOT_FOUND:
 						{
 							b3Warning("\nSrc path not found %s\n", clFileNameForCaching);
 							break;
 						}
-					default:
+						default:
 						{
 							b3Warning("\nnSrc file reading errorCode = %d\n", errorCode);
 						}
 					}
 
 					//we should make sure the src file exists so we can verify the timestamp with binary
-//					assert(0);
-					b3Warning("Warning: cannot find OpenCL kernel %s to verify timestamp of binary cached kernel %s\n",clFileNameForCaching, binaryFileName);
+					//					assert(0);
+					b3Warning("Warning: cannot find OpenCL kernel %s to verify timestamp of binary cached kernel %s\n", clFileNameForCaching, binaryFileName);
 					fileUpToDate = true;
 #else
 					//if we cannot find the source, assume it is OK in release builds
@@ -745,126 +725,109 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 #endif
 				}
 			}
-
-
 		}
 
-	
-
 #else
-	fileUpToDate = true;
-	if (mkdir(sCachedBinaryPath,0777) == -1)
-	{
-	}
-	else
-	{
-		b3Printf("Succesfully created cache directory: %s\n", sCachedBinaryPath);
-	}
-#endif //_WIN32
+		fileUpToDate = true;
+		if (mkdir(sCachedBinaryPath, 0777) == -1)
+		{
+		}
+		else
+		{
+			b3Printf("Succesfully created cache directory: %s\n", sCachedBinaryPath);
+		}
+#endif  //_WIN32
 	}
-	
-	
-	if( fileUpToDate)
+
+	if (fileUpToDate)
 	{
 #ifdef _MSC_VER
 		FILE* file;
-		if (fopen_s(&file,binaryFileName, "rb")!=0)
-			file=0;
+		if (fopen_s(&file, binaryFileName, "rb") != 0)
+			file = 0;
 #else
 		FILE* file = fopen(binaryFileName, "rb");
 #endif
-		
+
 		if (file)
 		{
-			size_t binarySize=0;
-			char* binary =0;
-			
-			fseek( file, 0L, SEEK_END );
-			binarySize = ftell( file );
-			rewind( file );
-			binary = (char*)malloc(sizeof(char)*binarySize);
+			size_t binarySize = 0;
+			char* binary = 0;
+
+			fseek(file, 0L, SEEK_END);
+			binarySize = ftell(file);
+			rewind(file);
+			binary = (char*)malloc(sizeof(char) * binarySize);
 			int bytesRead;
-			bytesRead = fread( binary, sizeof(char), binarySize, file );
-			fclose( file );
-			
-			m_cpProgram = clCreateProgramWithBinary( clContext, 1,&device, &binarySize, (const unsigned char**)&binary, 0, &status );
-			b3Assert( status == CL_SUCCESS );
-			status = clBuildProgram( m_cpProgram, 1, &device, additionalMacros, 0, 0 );
-			b3Assert( status == CL_SUCCESS );
-			
-			if( status != CL_SUCCESS )
+			bytesRead = fread(binary, sizeof(char), binarySize, file);
+			fclose(file);
+
+			m_cpProgram = clCreateProgramWithBinary(clContext, 1, &device, &binarySize, (const unsigned char**)&binary, 0, &status);
+			b3Assert(status == CL_SUCCESS);
+			status = clBuildProgram(m_cpProgram, 1, &device, additionalMacros, 0, 0);
+			b3Assert(status == CL_SUCCESS);
+
+			if (status != CL_SUCCESS)
 			{
-				char *build_log;
+				char* build_log;
 				size_t ret_val_size;
 				clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size);
-				build_log = (char*)malloc(sizeof(char)*(ret_val_size+1));
+				build_log = (char*)malloc(sizeof(char) * (ret_val_size + 1));
 				clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL);
 				build_log[ret_val_size] = '\0';
 				b3Error("%s\n", build_log);
-				free (build_log);
+				free(build_log);
 				b3Assert(0);
 				m_cpProgram = 0;
 
-				b3Warning("clBuildProgram reported failure on cached binary: %s\n",binaryFileName);
-
-			} else
+				b3Warning("clBuildProgram reported failure on cached binary: %s\n", binaryFileName);
+			}
+			else
 			{
-				b3Printf("clBuildProgram successfully compiled cached binary: %s\n",binaryFileName);	
+				b3Printf("clBuildProgram successfully compiled cached binary: %s\n", binaryFileName);
 			}
-			free (binary);
-			
-		} else
+			free(binary);
+		}
+		else
 		{
-			b3Warning("Cannot open cached binary: %s\n",binaryFileName);
+			b3Warning("Cannot open cached binary: %s\n", binaryFileName);
 		}
 	}
-	
-	
-	
-	
-	
-	
-	
-	
-	
+
 	if (!m_cpProgram)
 	{
-
 		cl_int localErrNum;
 		char* compileFlags;
 		int flagsize;
 
-
-
 		const char* kernelSource = kernelSourceOrg;
 
 		if (!kernelSourceOrg || gDebugForceLoadingFromSource)
 		{
 			if (clFileNameForCaching)
 			{
-
 				FILE* file = fopen(clFileNameForCaching, "rb");
 				//in many cases the relative path is a few levels up the directory hierarchy, so try it
 				if (!file)
 				{
-					const char* prefix[]={"../","../../","../../../","../../../../"};
-					for (int i=0;!file && i<3;i++)
+					const char* prefix[] = {"../", "../../", "../../../", "../../../../"};
+					for (int i = 0; !file && i < 3; i++)
 					{
 						char relativeFileName[1024];
-						sprintf(relativeFileName,"%s%s",prefix[i],clFileNameForCaching);
+						sprintf(relativeFileName, "%s%s", prefix[i], clFileNameForCaching);
 						file = fopen(relativeFileName, "rb");
 					}
 				}
 
 				if (file)
 				{
-					char* kernelSrc=0;
-					fseek( file, 0L, SEEK_END );
-					int kernelSize = ftell( file );
-					rewind( file );
-					kernelSrc = (char*)malloc(kernelSize+1);
+					char* kernelSrc = 0;
+					fseek(file, 0L, SEEK_END);
+					int kernelSize = ftell(file);
+					rewind(file);
+					kernelSrc = (char*)malloc(kernelSize + 1);
 					int readBytes;
-					readBytes = fread((void*)kernelSrc,1,kernelSize, file);
+					readBytes = fread((void*)kernelSrc, 1, kernelSize, file);
 					kernelSrc[kernelSize] = 0;
 					fclose(file);
 					kernelSource = kernelSrc;
@@ -873,15 +836,14 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 		}
 
 		size_t program_length = kernelSource ? strlen(kernelSource) : 0;
-#ifdef MAC //or __APPLE__?
+#ifdef MAC  //or __APPLE__?
 		char* flags = "-cl-mad-enable -DMAC ";
 #else
 		const char* flags = "";
 #endif
 
-
 		m_cpProgram = clCreateProgramWithSource(clContext, 1, (const char**)&kernelSource, &program_length, &localErrNum);
-		if (localErrNum!= CL_SUCCESS)
+		if (localErrNum != CL_SUCCESS)
 		{
 			if (pErrNum)
 				*pErrNum = localErrNum;
@@ -890,108 +852,100 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 
 		// Build the program with 'mad' Optimization option
 
-
-
-        		flagsize = sizeof(char)*(strlen(additionalMacros) + strlen(flags) + 5);
-		compileFlags = (char*) malloc(flagsize);
+		flagsize = sizeof(char) * (strlen(additionalMacros) + strlen(flags) + 5);
+		compileFlags = (char*)malloc(flagsize);
 #ifdef _MSC_VER
-		sprintf_s(compileFlags,flagsize, "%s %s", flags, additionalMacros);
+		sprintf_s(compileFlags, flagsize, "%s %s", flags, additionalMacros);
 #else
 		sprintf(compileFlags, "%s %s", flags, additionalMacros);
 #endif
 		localErrNum = clBuildProgram(m_cpProgram, 1, &device, compileFlags, NULL, NULL);
-		if (localErrNum!= CL_SUCCESS)
+		if (localErrNum != CL_SUCCESS)
 		{
-			char *build_log;
+			char* build_log;
 			size_t ret_val_size;
 			clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size);
-			build_log = (char*) malloc(sizeof(char)*(ret_val_size+1));
+			build_log = (char*)malloc(sizeof(char) * (ret_val_size + 1));
 			clGetProgramBuildInfo(m_cpProgram, device, CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL);
 
 			// to be carefully, terminate with \0
 			// there's no information in the reference whether the string is 0 terminated or not
 			build_log[ret_val_size] = '\0';
 
-
 			b3Error("Error in clBuildProgram, Line %u in file %s, Log: \n%s\n !!!\n\n", __LINE__, __FILE__, build_log);
-			free (build_log);
+			free(build_log);
 			if (pErrNum)
 				*pErrNum = localErrNum;
 			return 0;
 		}
 
-
-		if( !disableBinaryCaching && clFileNameForCaching )
-		{	//	write to binary
+		if (!disableBinaryCaching && clFileNameForCaching)
+		{  //	write to binary
 
 			cl_uint numAssociatedDevices;
-			status = clGetProgramInfo( m_cpProgram, CL_PROGRAM_NUM_DEVICES, sizeof(cl_uint), &numAssociatedDevices, 0 );
-			b3Assert( status == CL_SUCCESS );
-			if (numAssociatedDevices==1)
+			status = clGetProgramInfo(m_cpProgram, CL_PROGRAM_NUM_DEVICES, sizeof(cl_uint), &numAssociatedDevices, 0);
+			b3Assert(status == CL_SUCCESS);
+			if (numAssociatedDevices == 1)
 			{
-
 				size_t binarySize;
-				char* binary ;
+				char* binary;
 
-				status = clGetProgramInfo( m_cpProgram, CL_PROGRAM_BINARY_SIZES, sizeof(size_t), &binarySize, 0 );
-				b3Assert( status == CL_SUCCESS );
+				status = clGetProgramInfo(m_cpProgram, CL_PROGRAM_BINARY_SIZES, sizeof(size_t), &binarySize, 0);
+				b3Assert(status == CL_SUCCESS);
 
-				binary = (char*)malloc(sizeof(char)*binarySize);
+				binary = (char*)malloc(sizeof(char) * binarySize);
 
-				status = clGetProgramInfo( m_cpProgram, CL_PROGRAM_BINARIES, sizeof(char*), &binary, 0 );
-				b3Assert( status == CL_SUCCESS );
+				status = clGetProgramInfo(m_cpProgram, CL_PROGRAM_BINARIES, sizeof(char*), &binary, 0);
+				b3Assert(status == CL_SUCCESS);
 
 				{
-					FILE* file=0;
+					FILE* file = 0;
 #ifdef _MSC_VER
-					if (fopen_s(&file,binaryFileName, "wb")!=0)
-						file=0;
+					if (fopen_s(&file, binaryFileName, "wb") != 0)
+						file = 0;
 #else
 					file = fopen(binaryFileName, "wb");
 #endif
 					if (file)
 					{
-						fwrite( binary, sizeof(char), binarySize, file );
-						fclose( file );
-					} else
+						fwrite(binary, sizeof(char), binarySize, file);
+						fclose(file);
+					}
+					else
 					{
 						b3Warning("cannot write file %s\n", binaryFileName);
 					}
 				}
 
-				free (binary);
+				free(binary);
 			}
 		}
 
 		free(compileFlags);
-
 	}
 	return m_cpProgram;
 }
 
-
-cl_kernel b3OpenCLUtils_compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog, const char* additionalMacros )
+cl_kernel b3OpenCLUtils_compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog, const char* additionalMacros)
 {
-
 	cl_kernel kernel;
 	cl_int localErrNum;
 
 	cl_program m_cpProgram = prog;
 
-	b3Printf("compiling kernel %s ",kernelName);
+	b3Printf("compiling kernel %s ", kernelName);
 
 	if (!m_cpProgram)
 	{
-		m_cpProgram = b3OpenCLUtils_compileCLProgramFromString(clContext,device,kernelSource,pErrNum, additionalMacros,0, false);
+		m_cpProgram = b3OpenCLUtils_compileCLProgramFromString(clContext, device, kernelSource, pErrNum, additionalMacros, 0, false);
 	}
 
-
 	// Create the kernel
 	kernel = clCreateKernel(m_cpProgram, kernelName, &localErrNum);
 	if (localErrNum != CL_SUCCESS)
 	{
 		b3Error("Error in clCreateKernel, Line %u in file %s, cannot find kernel function %s !!!\n\n", __LINE__, __FILE__, kernelName);
-        assert(0);
+		assert(0);
 		if (pErrNum)
 			*pErrNum = localErrNum;
 		return 0;
@@ -1003,9 +957,7 @@ cl_kernel b3OpenCLUtils_compileCLKernelFromString(cl_context clContext, cl_devic
 	}
 	b3Printf("ready. \n");
 
-
 	if (pErrNum)
-			*pErrNum = CL_SUCCESS;
+		*pErrNum = CL_SUCCESS;
 	return kernel;
-
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h
index db6466e76b..6c82eed2a6 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h
+++ b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.h
@@ -22,42 +22,41 @@ subject to the following restrictions:
 #include "b3OpenCLInclude.h"
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
+	///C API for OpenCL utilities: convenience functions, see below for C++ API
 
-///C API for OpenCL utilities: convenience functions, see below for C++ API
+	/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
+	/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
+	cl_context b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex, cl_platform_id* platformId);
 
-/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
-/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
-cl_context 	b3OpenCLUtils_createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx , void* pGLDC , int preferredDeviceIndex , int preferredPlatformIndex, cl_platform_id* platformId);
-	
-int b3OpenCLUtils_getNumDevices(cl_context cxMainContext);
+	int b3OpenCLUtils_getNumDevices(cl_context cxMainContext);
 
-cl_device_id b3OpenCLUtils_getDevice(cl_context cxMainContext, int nr);
+	cl_device_id b3OpenCLUtils_getDevice(cl_context cxMainContext, int nr);
 
-void b3OpenCLUtils_printDeviceInfo(cl_device_id device);
+	void b3OpenCLUtils_printDeviceInfo(cl_device_id device);
 
-cl_kernel b3OpenCLUtils_compileCLKernelFromString( cl_context clContext,cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog,const char* additionalMacros);
+	cl_kernel b3OpenCLUtils_compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum, cl_program prog, const char* additionalMacros);
 
-//optional
-cl_program b3OpenCLUtils_compileCLProgramFromString( cl_context clContext,cl_device_id device, const char* kernelSource, cl_int* pErrNum,const char* additionalMacros  , const char* srcFileNameForCaching, bool disableBinaryCaching);
+	//optional
+	cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSource, cl_int* pErrNum, const char* additionalMacros, const char* srcFileNameForCaching, bool disableBinaryCaching);
 
-//the following optional APIs provide access using specific platform information
-int b3OpenCLUtils_getNumPlatforms(cl_int* pErrNum);
+	//the following optional APIs provide access using specific platform information
+	int b3OpenCLUtils_getNumPlatforms(cl_int* pErrNum);
+
+	///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
+	cl_platform_id b3OpenCLUtils_getPlatform(int nr, cl_int* pErrNum);
 
-///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
-cl_platform_id b3OpenCLUtils_getPlatform(int nr, cl_int* pErrNum);
+	void b3OpenCLUtils_printPlatformInfo(cl_platform_id platform);
 
+	const char* b3OpenCLUtils_getSdkVendorName();
 
-void b3OpenCLUtils_printPlatformInfo(cl_platform_id platform);
+	///set the path (directory/folder) where the compiled OpenCL kernel are stored
+	void b3OpenCLUtils_setCachePath(const char* path);
 
-const char* b3OpenCLUtils_getSdkVendorName();
-	
-///set the path (directory/folder) where the compiled OpenCL kernel are stored
-void b3OpenCLUtils_setCachePath(const char* path);
-	
-cl_context 	b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx , void* pGLDC ,int preferredDeviceIndex , int preferredPlatformIndex);
+	cl_context b3OpenCLUtils_createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx, void* pGLDC, int preferredDeviceIndex, int preferredPlatformIndex);
 
 #ifdef __cplusplus
 }
@@ -71,37 +70,35 @@ typedef struct
 	char m_driverVersion[B3_MAX_STRING_LENGTH];
 	char m_deviceExtensions[B3_MAX_STRING_LENGTH];
 
-	cl_device_type		m_deviceType;
-	cl_uint 				m_computeUnits;
-	size_t 					m_workitemDims;
-	size_t 					m_workItemSize[3];
-	size_t 					m_image2dMaxWidth;
-	size_t 					m_image2dMaxHeight;
-	size_t 					m_image3dMaxWidth;
-	size_t 					m_image3dMaxHeight;
-	size_t 					m_image3dMaxDepth;
-	size_t 					m_workgroupSize;
-	cl_uint 				m_clockFrequency;
-	cl_ulong				m_constantBufferSize;
-	cl_ulong				m_localMemSize;
-	cl_ulong				m_globalMemSize;
-    cl_bool					m_errorCorrectionSupport;
+	cl_device_type m_deviceType;
+	cl_uint m_computeUnits;
+	size_t m_workitemDims;
+	size_t m_workItemSize[3];
+	size_t m_image2dMaxWidth;
+	size_t m_image2dMaxHeight;
+	size_t m_image3dMaxWidth;
+	size_t m_image3dMaxHeight;
+	size_t m_image3dMaxDepth;
+	size_t m_workgroupSize;
+	cl_uint m_clockFrequency;
+	cl_ulong m_constantBufferSize;
+	cl_ulong m_localMemSize;
+	cl_ulong m_globalMemSize;
+	cl_bool m_errorCorrectionSupport;
 	cl_device_local_mem_type m_localMemType;
-	cl_uint					m_maxReadImageArgs;
-	cl_uint					m_maxWriteImageArgs;
+	cl_uint m_maxReadImageArgs;
+	cl_uint m_maxWriteImageArgs;
 
-
-
-	cl_uint 				m_addressBits;
-	cl_ulong				m_maxMemAllocSize;
+	cl_uint m_addressBits;
+	cl_ulong m_maxMemAllocSize;
 	cl_command_queue_properties m_queueProperties;
-	cl_bool					m_imageSupport;
-	cl_uint					m_vecWidthChar;
-	cl_uint					m_vecWidthShort;
-	cl_uint					m_vecWidthInt;
-	cl_uint					m_vecWidthLong;
-	cl_uint					m_vecWidthFloat;
-	cl_uint					m_vecWidthDouble;
+	cl_bool m_imageSupport;
+	cl_uint m_vecWidthChar;
+	cl_uint m_vecWidthShort;
+	cl_uint m_vecWidthInt;
+	cl_uint m_vecWidthLong;
+	cl_uint m_vecWidthFloat;
+	cl_uint m_vecWidthDouble;
 
 } b3OpenCLDeviceInfo;
 
@@ -110,33 +107,32 @@ struct b3OpenCLPlatformInfo
 	char m_platformVendor[B3_MAX_STRING_LENGTH];
 	char m_platformName[B3_MAX_STRING_LENGTH];
 	char m_platformVersion[B3_MAX_STRING_LENGTH];
-	
+
 	b3OpenCLPlatformInfo()
 	{
-		m_platformVendor[0]=0;
-		m_platformName[0]=0;
-		m_platformVersion[0]=0;
+		m_platformVendor[0] = 0;
+		m_platformName[0] = 0;
+		m_platformVersion[0] = 0;
 	}
 };
 
-
 ///C++ API for OpenCL utilities: convenience functions
 struct b3OpenCLUtils
 {
 	/// CL Context optionally takes a GL context. This is a generic type because we don't really want this code
 	/// to have to understand GL types. It is a HGLRC in _WIN32 or a GLXContext otherwise.
-	static inline cl_context 	createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0, int preferredDeviceIndex = -1, int preferredPlatformIndex= - 1, cl_platform_id* platformId=0)
+	static inline cl_context createContextFromType(cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0, int preferredDeviceIndex = -1, int preferredPlatformIndex = -1, cl_platform_id* platformId = 0)
 	{
-		return b3OpenCLUtils_createContextFromType(deviceType, pErrNum, pGLCtx , pGLDC , preferredDeviceIndex, preferredPlatformIndex, platformId);
+		return b3OpenCLUtils_createContextFromType(deviceType, pErrNum, pGLCtx, pGLDC, preferredDeviceIndex, preferredPlatformIndex, platformId);
 	}
-	
+
 	static inline int getNumDevices(cl_context cxMainContext)
 	{
 		return b3OpenCLUtils_getNumDevices(cxMainContext);
 	}
 	static inline cl_device_id getDevice(cl_context cxMainContext, int nr)
 	{
-		return b3OpenCLUtils_getDevice(cxMainContext,nr);
+		return b3OpenCLUtils_getDevice(cxMainContext, nr);
 	}
 
 	static void getDeviceInfo(cl_device_id device, b3OpenCLDeviceInfo* info);
@@ -146,28 +142,28 @@ struct b3OpenCLUtils
 		b3OpenCLUtils_printDeviceInfo(device);
 	}
 
-	static inline cl_kernel compileCLKernelFromString( cl_context clContext,cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum=0, cl_program prog=0,const char* additionalMacros = "" )
+	static inline cl_kernel compileCLKernelFromString(cl_context clContext, cl_device_id device, const char* kernelSource, const char* kernelName, cl_int* pErrNum = 0, cl_program prog = 0, const char* additionalMacros = "")
 	{
-		return b3OpenCLUtils_compileCLKernelFromString(clContext,device, kernelSource,  kernelName, pErrNum, prog,additionalMacros);
+		return b3OpenCLUtils_compileCLKernelFromString(clContext, device, kernelSource, kernelName, pErrNum, prog, additionalMacros);
 	}
 
 	//optional
-	static inline cl_program compileCLProgramFromString( cl_context clContext,cl_device_id device, const char* kernelSource, cl_int* pErrNum=0,const char* additionalMacros = "" , const char* srcFileNameForCaching=0, bool disableBinaryCaching=false)
+	static inline cl_program compileCLProgramFromString(cl_context clContext, cl_device_id device, const char* kernelSource, cl_int* pErrNum = 0, const char* additionalMacros = "", const char* srcFileNameForCaching = 0, bool disableBinaryCaching = false)
 	{
-		return b3OpenCLUtils_compileCLProgramFromString(clContext,device, kernelSource, pErrNum,additionalMacros, srcFileNameForCaching, disableBinaryCaching);
+		return b3OpenCLUtils_compileCLProgramFromString(clContext, device, kernelSource, pErrNum, additionalMacros, srcFileNameForCaching, disableBinaryCaching);
 	}
 
 	//the following optional APIs provide access using specific platform information
-	static inline int getNumPlatforms(cl_int* pErrNum=0)
+	static inline int getNumPlatforms(cl_int* pErrNum = 0)
 	{
 		return b3OpenCLUtils_getNumPlatforms(pErrNum);
 	}
 	///get the nr'th platform, where nr is in the range [0..getNumPlatforms)
-	static inline cl_platform_id getPlatform(int nr, cl_int* pErrNum=0)
+	static inline cl_platform_id getPlatform(int nr, cl_int* pErrNum = 0)
 	{
-		return b3OpenCLUtils_getPlatform(nr,pErrNum);
+		return b3OpenCLUtils_getPlatform(nr, pErrNum);
 	}
-	
+
 	static void getPlatformInfo(cl_platform_id platform, b3OpenCLPlatformInfo* platformInfo);
 
 	static inline void printPlatformInfo(cl_platform_id platform)
@@ -179,9 +175,9 @@ struct b3OpenCLUtils
 	{
 		return b3OpenCLUtils_getSdkVendorName();
 	}
-	static inline cl_context 	createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0,int preferredDeviceIndex = -1, int preferredPlatformIndex= -1)
+	static inline cl_context createContextFromPlatform(cl_platform_id platform, cl_device_type deviceType, cl_int* pErrNum, void* pGLCtx = 0, void* pGLDC = 0, int preferredDeviceIndex = -1, int preferredPlatformIndex = -1)
 	{
-		return b3OpenCLUtils_createContextFromPlatform(platform, deviceType, pErrNum, pGLCtx,pGLDC,preferredDeviceIndex, preferredPlatformIndex);
+		return b3OpenCLUtils_createContextFromPlatform(platform, deviceType, pErrNum, pGLCtx, pGLDC, preferredDeviceIndex, preferredPlatformIndex);
 	}
 	static void setCachePath(const char* path)
 	{
@@ -189,6 +185,6 @@ struct b3OpenCLUtils
 	}
 };
 
-#endif //__cplusplus
+#endif  //__cplusplus
 
-#endif // B3_OPENCL_UTILS_H
+#endif  // B3_OPENCL_UTILS_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h
index 872f039506..27835bb747 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3BvhInfo.h
@@ -5,14 +5,13 @@
 
 struct b3BvhInfo
 {
-	b3Vector3	m_aabbMin;
-	b3Vector3	m_aabbMax;
-	b3Vector3	m_quantization;
-	int			m_numNodes;
-	int			m_numSubTrees;
-	int			m_nodeOffset;
-	int			m_subTreeOffset;
-
+	b3Vector3 m_aabbMin;
+	b3Vector3 m_aabbMax;
+	b3Vector3 m_quantization;
+	int m_numNodes;
+	int m_numSubTrees;
+	int m_nodeOffset;
+	int m_subTreeOffset;
 };
 
-#endif //B3_BVH_INFO_H
\ No newline at end of file
+#endif  //B3_BVH_INFO_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
index cb30ee939b..4db717f8c3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
@@ -15,7 +15,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "b3ContactCache.h"
 #include "Bullet3Common/b3Transform.h"
 
@@ -69,7 +68,7 @@ int b3ContactCache::sortCachedPoints(const b3Vector3& pt)
 				maxPenetration = m_pointCache[i].getDistance();
 			}
 		}
-#endif //KEEP_DEEPEST_POINT
+#endif  //KEEP_DEEPEST_POINT
 		
 		b3Scalar res0(b3Scalar(0.)),res1(b3Scalar(0.)),res2(b3Scalar(0.)),res3(b3Scalar(0.));
 
@@ -251,8 +250,4 @@ void b3ContactCache::refreshContactPoints(const b3Transform& trA,const b3Transfo
 
 }
 
-
-
-
-
 #endif
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
index d6c9b0a07e..a15fd0b2a9 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
@@ -17,17 +17,13 @@ subject to the following restrictions:
 #ifndef B3_CONTACT_CACHE_H
 #define B3_CONTACT_CACHE_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Transform.h"
 #include "Bullet3Common/b3AlignedAllocator.h"
 
-
 ///maximum contact breaking and merging threshold
 extern b3Scalar gContactBreakingThreshold;
 
-
-
 #define MANIFOLD_CACHE_SIZE 4
 
 ///b3ContactCache is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
@@ -37,24 +33,16 @@ extern b3Scalar gContactBreakingThreshold;
 ///reduces the cache to 4 points, when more then 4 points are added, using following rules:
 ///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
 ///note that some pairs of objects might have more then one contact manifold.
-B3_ATTRIBUTE_ALIGNED16( class) b3ContactCache
+B3_ATTRIBUTE_ALIGNED16(class)
+b3ContactCache
 {
-
-	
-
-	
 	/// sort cached points so most isolated points come first
-	int	sortCachedPoints(const b3Vector3& pt);
-
-	
+	int sortCachedPoints(const b3Vector3& pt);
 
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	
-	
-	int addManifoldPoint( const b3Vector3& newPoint);
+	int addManifoldPoint(const b3Vector3& newPoint);
 
 	/*void replaceContactPoint(const b3Vector3& newPoint,int insertIndex)
 	{
@@ -63,18 +51,12 @@ public:
 	}
 	*/
 
-
-	
 	static bool validContactDistance(const b3Vector3& pt);
-	
-	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
-	static void	refreshContactPoints(  const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& newContactCache);
 
-	static void removeContactPoint(struct b3Contact4Data& newContactCache,int i);
-	
+	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
+	static void refreshContactPoints(const b3Transform& trA, const b3Transform& trB, struct b3Contact4Data& newContactCache);
 
+	static void removeContactPoint(struct b3Contact4Data & newContactCache, int i);
 };
 
-
-
-#endif //B3_CONTACT_CACHE_H
+#endif  //B3_CONTACT_CACHE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
index fb435aa7fd..54a104c5c8 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
@@ -16,19 +16,18 @@ subject to the following restrictions:
 bool findSeparatingAxisOnGpu = true;
 bool splitSearchSepAxisConcave = false;
 bool splitSearchSepAxisConvex = true;
-bool useMprGpu = true;//use mpr for edge-edge  (+contact point) or sat. Needs testing on main OpenCL platforms, before enabling...
+bool useMprGpu = true;  //use mpr for edge-edge  (+contact point) or sat. Needs testing on main OpenCL platforms, before enabling...
 bool bvhTraversalKernelGPU = true;
 bool findConcaveSeparatingAxisKernelGPU = true;
-bool clipConcaveFacesAndFindContactsCPU = false;//false;//true;
-bool clipConvexFacesAndFindContactsCPU = false;//false;//true;
-bool reduceConcaveContactsOnGPU = true;//false;
-bool reduceConvexContactsOnGPU = true;//false;
+bool clipConcaveFacesAndFindContactsCPU = false;  //false;//true;
+bool clipConvexFacesAndFindContactsCPU = false;   //false;//true;
+bool reduceConcaveContactsOnGPU = true;           //false;
+bool reduceConvexContactsOnGPU = true;            //false;
 bool findConvexClippingFacesGPU = true;
-bool useGjk = false;///option for CPU/host testing, when findSeparatingAxisOnGpu = false
-bool useGjkContacts = false;//////option for CPU/host testing when findSeparatingAxisOnGpu = false
+bool useGjk = false;          ///option for CPU/host testing, when findSeparatingAxisOnGpu = false
+bool useGjkContacts = false;  //////option for CPU/host testing when findSeparatingAxisOnGpu = false
 
-
-static int myframecount=0;///for testing
+static int myframecount = 0;  ///for testing
 
 ///This file was written by Erwin Coumans
 ///Separating axis rest based on work from Pierre Terdiman, see
@@ -42,10 +41,10 @@ static int myframecount=0;///for testing
 //#define PERSISTENT_CONTACTS_HOST
 #endif
 
-int b3g_actualSATPairTests=0;
+int b3g_actualSATPairTests = 0;
 
 #include "b3ConvexHullContact.h"
-#include <string.h>//memcpy
+#include <string.h>  //memcpy
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h"
 
@@ -54,8 +53,7 @@ int b3g_actualSATPairTests=0;
 
 typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
 
-
-#include <float.h> //for FLT_MAX
+#include <float.h>  //for FLT_MAX
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 //#include "AdlQuaternion.h"
@@ -69,7 +67,6 @@ typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
 #include "kernels/bvhTraversal.h"
 #include "kernels/primitiveContacts.h"
 
-
 #include "Bullet3Geometry/b3AabbUtil.h"
 
 #define BT_NARROWPHASE_SAT_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl"
@@ -77,12 +74,10 @@ typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
 
 #define BT_NARROWPHASE_MPR_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl"
 
-
 #define BT_NARROWPHASE_CLIPHULL_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl"
 #define BT_NARROWPHASE_BVH_TRAVERSAL_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl"
 #define BT_NARROWPHASE_PRIMITIVE_CONTACT_PATH "src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl"
 
-
 #ifndef __global
 #define __global
 #endif
@@ -91,204 +86,184 @@ typedef b3AlignedObjectArray<b3Vector3> b3VertexArray;
 #define __kernel
 #endif
 
-
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h"
 
-
-
 #define dot3F4 b3Dot
 
-GpuSatCollision::GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue  q )
-:m_context(ctx),
-m_device(device),
-m_queue(q),
+GpuSatCollision::GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q)
+	: m_context(ctx),
+	  m_device(device),
+	  m_queue(q),
 
-m_findSeparatingAxisKernel(0),
-m_findSeparatingAxisVertexFaceKernel(0),
-m_findSeparatingAxisEdgeEdgeKernel(0),
-m_unitSphereDirections(m_context,m_queue),
+	  m_findSeparatingAxisKernel(0),
+	  m_findSeparatingAxisVertexFaceKernel(0),
+	  m_findSeparatingAxisEdgeEdgeKernel(0),
+	  m_unitSphereDirections(m_context, m_queue),
 
-m_totalContactsOut(m_context, m_queue),
-m_sepNormals(m_context, m_queue),
-m_dmins(m_context,m_queue),
+	  m_totalContactsOut(m_context, m_queue),
+	  m_sepNormals(m_context, m_queue),
+	  m_dmins(m_context, m_queue),
 
-m_hasSeparatingNormals(m_context, m_queue),
-m_concaveSepNormals(m_context, m_queue),
-m_concaveHasSeparatingNormals(m_context,m_queue),
-m_numConcavePairsOut(m_context, m_queue),
+	  m_hasSeparatingNormals(m_context, m_queue),
+	  m_concaveSepNormals(m_context, m_queue),
+	  m_concaveHasSeparatingNormals(m_context, m_queue),
+	  m_numConcavePairsOut(m_context, m_queue),
 
+	  m_gpuCompoundPairs(m_context, m_queue),
 
-m_gpuCompoundPairs(m_context, m_queue),
+	  m_gpuCompoundSepNormals(m_context, m_queue),
+	  m_gpuHasCompoundSepNormals(m_context, m_queue),
 
-
-m_gpuCompoundSepNormals(m_context, m_queue),
-m_gpuHasCompoundSepNormals(m_context, m_queue),
-
-m_numCompoundPairsOut(m_context, m_queue)
+	  m_numCompoundPairsOut(m_context, m_queue)
 {
 	m_totalContactsOut.push_back(0);
-	
-	cl_int errNum=0;
+
+	cl_int errNum = 0;
 
 	if (1)
 	{
 		const char* mprSrc = mprKernelsCL;
-		
+
 		const char* srcConcave = satConcaveKernelsCL;
-		char flags[1024]={0};
-//#ifdef CL_PLATFORM_INTEL
-//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/sat.cl");
-//#endif
-		m_mprPenetrationKernel  = 0;
+		char flags[1024] = {0};
+		//#ifdef CL_PLATFORM_INTEL
+		//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/sat.cl");
+		//#endif
+		m_mprPenetrationKernel = 0;
 		m_findSeparatingAxisUnitSphereKernel = 0;
 
 		if (useMprGpu)
 		{
-			cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,mprSrc,&errNum,flags,BT_NARROWPHASE_MPR_PATH);
-			b3Assert(errNum==CL_SUCCESS);
-		
-			m_mprPenetrationKernel  = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,mprSrc, "mprPenetrationKernel",&errNum,mprProg );
+			cl_program mprProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, mprSrc, &errNum, flags, BT_NARROWPHASE_MPR_PATH);
+			b3Assert(errNum == CL_SUCCESS);
+
+			m_mprPenetrationKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, mprSrc, "mprPenetrationKernel", &errNum, mprProg);
 			b3Assert(m_mprPenetrationKernel);
-			b3Assert(errNum==CL_SUCCESS);
+			b3Assert(errNum == CL_SUCCESS);
 
-			m_findSeparatingAxisUnitSphereKernel =  b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,mprSrc, "findSeparatingAxisUnitSphereKernel",&errNum,mprProg );
+			m_findSeparatingAxisUnitSphereKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, mprSrc, "findSeparatingAxisUnitSphereKernel", &errNum, mprProg);
 			b3Assert(m_findSeparatingAxisUnitSphereKernel);
-            b3Assert(errNum==CL_SUCCESS);
+			b3Assert(errNum == CL_SUCCESS);
 
-
-			int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
+			int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
 			m_unitSphereDirections.resize(numDirections);
-			m_unitSphereDirections.copyFromHostPointer(unitSphere162,numDirections,0,true);
-
-
+			m_unitSphereDirections.copyFromHostPointer(unitSphere162, numDirections, 0, true);
 		}
 
+		cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, satKernelsCL, &errNum, flags, BT_NARROWPHASE_SAT_PATH);
+		b3Assert(errNum == CL_SUCCESS);
 
-		cl_program satProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,satKernelsCL,&errNum,flags,BT_NARROWPHASE_SAT_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-
-		cl_program satConcaveProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,srcConcave,&errNum,flags,BT_NARROWPHASE_SAT_CONCAVE_PATH);
-		b3Assert(errNum==CL_SUCCESS);
+		cl_program satConcaveProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, srcConcave, &errNum, flags, BT_NARROWPHASE_SAT_CONCAVE_PATH);
+		b3Assert(errNum == CL_SUCCESS);
 
-		m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,satKernelsCL, "findSeparatingAxisKernel",&errNum,satProg );
+		m_findSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findSeparatingAxisKernel", &errNum, satProg);
 		b3Assert(m_findSeparatingAxisKernel);
-		b3Assert(errNum==CL_SUCCESS);
+		b3Assert(errNum == CL_SUCCESS);
 
-
-		m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,satKernelsCL, "findSeparatingAxisVertexFaceKernel",&errNum,satProg );
+		m_findSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findSeparatingAxisVertexFaceKernel", &errNum, satProg);
 		b3Assert(m_findSeparatingAxisVertexFaceKernel);
 
-		m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,satKernelsCL, "findSeparatingAxisEdgeEdgeKernel",&errNum,satProg );
+		m_findSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findSeparatingAxisEdgeEdgeKernel", &errNum, satProg);
 		b3Assert(m_findSeparatingAxisVertexFaceKernel);
 
-
-		m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,satKernelsCL, "findConcaveSeparatingAxisKernel",&errNum,satProg );
+		m_findConcaveSeparatingAxisKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findConcaveSeparatingAxisKernel", &errNum, satProg);
 		b3Assert(m_findConcaveSeparatingAxisKernel);
-		b3Assert(errNum==CL_SUCCESS);
-        
-        m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcConcave, "findConcaveSeparatingAxisVertexFaceKernel",&errNum,satConcaveProg );
+		b3Assert(errNum == CL_SUCCESS);
+
+		m_findConcaveSeparatingAxisVertexFaceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcConcave, "findConcaveSeparatingAxisVertexFaceKernel", &errNum, satConcaveProg);
 		b3Assert(m_findConcaveSeparatingAxisVertexFaceKernel);
-		b3Assert(errNum==CL_SUCCESS);
-        
-        m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcConcave, "findConcaveSeparatingAxisEdgeEdgeKernel",&errNum,satConcaveProg );
+		b3Assert(errNum == CL_SUCCESS);
+
+		m_findConcaveSeparatingAxisEdgeEdgeKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcConcave, "findConcaveSeparatingAxisEdgeEdgeKernel", &errNum, satConcaveProg);
 		b3Assert(m_findConcaveSeparatingAxisEdgeEdgeKernel);
-		b3Assert(errNum==CL_SUCCESS);
-        
-     
-        
-		
-		m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,satKernelsCL, "findCompoundPairsKernel",&errNum,satProg );
+		b3Assert(errNum == CL_SUCCESS);
+
+		m_findCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "findCompoundPairsKernel", &errNum, satProg);
 		b3Assert(m_findCompoundPairsKernel);
-		b3Assert(errNum==CL_SUCCESS);
-		m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,satKernelsCL, "processCompoundPairsKernel",&errNum,satProg );
+		b3Assert(errNum == CL_SUCCESS);
+		m_processCompoundPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, satKernelsCL, "processCompoundPairsKernel", &errNum, satProg);
 		b3Assert(m_processCompoundPairsKernel);
-		b3Assert(errNum==CL_SUCCESS);
+		b3Assert(errNum == CL_SUCCESS);
 	}
 
 	if (1)
 	{
 		const char* srcClip = satClipKernelsCL;
 
-		char flags[1024]={0};
-//#ifdef CL_PLATFORM_INTEL
-//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
-//#endif
+		char flags[1024] = {0};
+		//#ifdef CL_PLATFORM_INTEL
+		//		sprintf(flags,"-g -s \"%s\"","C:/develop/bullet3_experiments2/opencl/gpu_narrowphase/kernels/satClipHullContacts.cl");
+		//#endif
 
-		cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,srcClip,&errNum,flags,BT_NARROWPHASE_CLIPHULL_PATH);
-		b3Assert(errNum==CL_SUCCESS);
+		cl_program satClipContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, srcClip, &errNum, flags, BT_NARROWPHASE_CLIPHULL_PATH);
+		b3Assert(errNum == CL_SUCCESS);
 
-		m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullKernel",&errNum,satClipContactsProg);
-		b3Assert(errNum==CL_SUCCESS);
+		m_clipHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipHullHullKernel", &errNum, satClipContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 
-		m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipCompoundsHullHullKernel",&errNum,satClipContactsProg);
-		b3Assert(errNum==CL_SUCCESS);
-		
+		m_clipCompoundsHullHullKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipCompoundsHullHullKernel", &errNum, satClipContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 
-        m_findClippingFacesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "findClippingFacesKernel",&errNum,satClipContactsProg);
-		b3Assert(errNum==CL_SUCCESS);
+		m_findClippingFacesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "findClippingFacesKernel", &errNum, satClipContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 
-        m_clipFacesAndFindContacts = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipFacesAndFindContactsKernel",&errNum,satClipContactsProg);
-		b3Assert(errNum==CL_SUCCESS);        
+		m_clipFacesAndFindContacts = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipFacesAndFindContactsKernel", &errNum, satClipContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 
-		m_clipHullHullConcaveConvexKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "clipHullHullConcaveConvexKernel",&errNum,satClipContactsProg);
-		b3Assert(errNum==CL_SUCCESS);
+		m_clipHullHullConcaveConvexKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip, "clipHullHullConcaveConvexKernel", &errNum, satClipContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 
-//		m_extractManifoldAndAddContactKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
-	//	b3Assert(errNum==CL_SUCCESS);
+		//		m_extractManifoldAndAddContactKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip, "extractManifoldAndAddContactKernel",&errNum,satClipContactsProg);
+		//	b3Assert(errNum==CL_SUCCESS);
 
-        m_newContactReductionKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcClip,
-                            "newContactReductionKernel",&errNum,satClipContactsProg);
-		b3Assert(errNum==CL_SUCCESS);
+		m_newContactReductionKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcClip,
+																			   "newContactReductionKernel", &errNum, satClipContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 	}
-   else
+	else
 	{
-		m_clipHullHullKernel=0;
+		m_clipHullHullKernel = 0;
 		m_clipCompoundsHullHullKernel = 0;
-        m_findClippingFacesKernel = 0;
-        m_newContactReductionKernel=0;
-        m_clipFacesAndFindContacts = 0;
+		m_findClippingFacesKernel = 0;
+		m_newContactReductionKernel = 0;
+		m_clipFacesAndFindContacts = 0;
 		m_clipHullHullConcaveConvexKernel = 0;
-//		m_extractManifoldAndAddContactKernel = 0;
+		//		m_extractManifoldAndAddContactKernel = 0;
 	}
 
-	 if (1)
+	if (1)
 	{
 		const char* srcBvh = bvhTraversalKernelCL;
-		cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,srcBvh,&errNum,"",BT_NARROWPHASE_BVH_TRAVERSAL_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-
-		m_bvhTraversalKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,srcBvh, "bvhTraversalKernel",&errNum,bvhTraversalProg,"");
-		b3Assert(errNum==CL_SUCCESS);
+		cl_program bvhTraversalProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, srcBvh, &errNum, "", BT_NARROWPHASE_BVH_TRAVERSAL_PATH);
+		b3Assert(errNum == CL_SUCCESS);
 
+		m_bvhTraversalKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, srcBvh, "bvhTraversalKernel", &errNum, bvhTraversalProg, "");
+		b3Assert(errNum == CL_SUCCESS);
 	}
-        
-	 {
-		 const char* primitiveContactsSrc = primitiveContactsKernelsCL;
-		cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,primitiveContactsSrc,&errNum,"",BT_NARROWPHASE_PRIMITIVE_CONTACT_PATH);
-		b3Assert(errNum==CL_SUCCESS);
 
-		m_primitiveContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "primitiveContactsKernel",&errNum,primitiveContactsProg,"");
-		b3Assert(errNum==CL_SUCCESS);
+	{
+		const char* primitiveContactsSrc = primitiveContactsKernelsCL;
+		cl_program primitiveContactsProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, primitiveContactsSrc, &errNum, "", BT_NARROWPHASE_PRIMITIVE_CONTACT_PATH);
+		b3Assert(errNum == CL_SUCCESS);
+
+		m_primitiveContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, primitiveContactsSrc, "primitiveContactsKernel", &errNum, primitiveContactsProg, "");
+		b3Assert(errNum == CL_SUCCESS);
 
-		m_findConcaveSphereContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "findConcaveSphereContactsKernel",&errNum,primitiveContactsProg );
-		b3Assert(errNum==CL_SUCCESS);
+		m_findConcaveSphereContactsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, primitiveContactsSrc, "findConcaveSphereContactsKernel", &errNum, primitiveContactsProg);
+		b3Assert(errNum == CL_SUCCESS);
 		b3Assert(m_findConcaveSphereContactsKernel);
 
-		m_processCompoundPairsPrimitivesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,primitiveContactsSrc, "processCompoundPairsPrimitivesKernel",&errNum,primitiveContactsProg,"");
-		b3Assert(errNum==CL_SUCCESS);
+		m_processCompoundPairsPrimitivesKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, primitiveContactsSrc, "processCompoundPairsPrimitivesKernel", &errNum, primitiveContactsProg, "");
+		b3Assert(errNum == CL_SUCCESS);
 		b3Assert(m_processCompoundPairsPrimitivesKernel);
-		 
-	 }
-	
-
+	}
 }
 
 GpuSatCollision::~GpuSatCollision()
 {
-	
 	if (m_findSeparatingAxisVertexFaceKernel)
 		clReleaseKernel(m_findSeparatingAxisVertexFaceKernel);
 
@@ -301,17 +276,15 @@ GpuSatCollision::~GpuSatCollision()
 	if (m_mprPenetrationKernel)
 		clReleaseKernel(m_mprPenetrationKernel);
 
-
 	if (m_findSeparatingAxisKernel)
 		clReleaseKernel(m_findSeparatingAxisKernel);
 
-    if (m_findConcaveSeparatingAxisVertexFaceKernel)
-        clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
+	if (m_findConcaveSeparatingAxisVertexFaceKernel)
+		clReleaseKernel(m_findConcaveSeparatingAxisVertexFaceKernel);
+
+	if (m_findConcaveSeparatingAxisEdgeEdgeKernel)
+		clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
 
-    
-    if (m_findConcaveSeparatingAxisEdgeEdgeKernel)
-        clReleaseKernel(m_findConcaveSeparatingAxisEdgeEdgeKernel);
-    
 	if (m_findConcaveSeparatingAxisKernel)
 		clReleaseKernel(m_findConcaveSeparatingAxisKernel);
 
@@ -320,17 +293,17 @@ GpuSatCollision::~GpuSatCollision()
 
 	if (m_processCompoundPairsKernel)
 		clReleaseKernel(m_processCompoundPairsKernel);
-    
-    if (m_findClippingFacesKernel)
-        clReleaseKernel(m_findClippingFacesKernel);
-   
-    if (m_clipFacesAndFindContacts)
-        clReleaseKernel(m_clipFacesAndFindContacts);
-    if (m_newContactReductionKernel)
-        clReleaseKernel(m_newContactReductionKernel);
+
+	if (m_findClippingFacesKernel)
+		clReleaseKernel(m_findClippingFacesKernel);
+
+	if (m_clipFacesAndFindContacts)
+		clReleaseKernel(m_clipFacesAndFindContacts);
+	if (m_newContactReductionKernel)
+		clReleaseKernel(m_newContactReductionKernel);
 	if (m_primitiveContactsKernel)
 		clReleaseKernel(m_primitiveContactsKernel);
-    
+
 	if (m_findConcaveSphereContactsKernel)
 		clReleaseKernel(m_findConcaveSphereContactsKernel);
 
@@ -344,12 +317,11 @@ GpuSatCollision::~GpuSatCollision()
 
 	if (m_clipHullHullConcaveConvexKernel)
 		clReleaseKernel(m_clipHullHullConcaveConvexKernel);
-//	if (m_extractManifoldAndAddContactKernel)
+	//	if (m_extractManifoldAndAddContactKernel)
 	//	clReleaseKernel(m_extractManifoldAndAddContactKernel);
 
 	if (m_bvhTraversalKernel)
 		clReleaseKernel(m_bvhTraversalKernel);
-
 }
 
 struct MyTriangleCallback : public b3NodeOverlapCallback
@@ -359,14 +331,13 @@ struct MyTriangleCallback : public b3NodeOverlapCallback
 
 	virtual void processNode(int subPart, int triangleIndex)
 	{
-		printf("bodyIndexA %d, bodyIndexB %d\n",m_bodyIndexA,m_bodyIndexB);
+		printf("bodyIndexA %d, bodyIndexB %d\n", m_bodyIndexA, m_bodyIndexB);
 		printf("triangleIndex %d\n", triangleIndex);
 	}
 };
 
-
 #define float4 b3Vector3
-#define make_float4(x,y,z,w) b3MakeVector3(x,y,z,w)
+#define make_float4(x, y, z, w) b3MakeVector3(x, y, z, w)
 
 float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn, float4* closestPointOnFace)
 {
@@ -377,9 +348,7 @@ float signedDistanceFromPointToPlane(const float4& point, const float4& planeEqn
 	return dist;
 }
 
-
-
-#define cross3(a,b) (a.cross(b))
+#define cross3(a, b) (a.cross(b))
 b3Vector3 transform(const b3Vector3* v, const b3Vector3* pos, const b3Quaternion* orn)
 {
 	b3Transform tr;
@@ -390,184 +359,170 @@ b3Vector3 transform(const b3Vector3* v, const b3Vector3* pos, const b3Quaternion
 	return res;
 }
 
-
-inline bool IsPointInPolygon(const float4& p, 
-							const b3GpuFace* face,
+inline bool IsPointInPolygon(const float4& p,
+							 const b3GpuFace* face,
 							 const float4* baseVertex,
-							const  int* convexIndices,
-							float4* out)
+							 const int* convexIndices,
+							 float4* out)
 {
-    float4 a;
-    float4 b;
-    float4 ab;
-    float4 ap;
-    float4 v;
+	float4 a;
+	float4 b;
+	float4 ab;
+	float4 ap;
+	float4 v;
 
-	float4 plane = b3MakeVector3(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);
-	
-	if (face->m_numIndices<2)
+	float4 plane = b3MakeVector3(face->m_plane.x, face->m_plane.y, face->m_plane.z, 0.f);
+
+	if (face->m_numIndices < 2)
 		return false;
 
-	
-	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];
+	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices - 1]];
 	b = v0;
 
-    for(unsigned i=0; i != face->m_numIndices; ++i)
-    {
+	for (unsigned i = 0; i != face->m_numIndices; ++i)
+	{
 		a = b;
 		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];
 		b = vi;
-        ab = b-a;
-        ap = p-a;
-        v = cross3(ab,plane);
-
-        if (b3Dot(ap, v) > 0.f)
-        {
-            float ab_m2 = b3Dot(ab, ab);
-            float rt = ab_m2 != 0.f ? b3Dot(ab, ap) / ab_m2 : 0.f;
-            if (rt <= 0.f)
-            {
-                *out = a;
-            }
-            else if (rt >= 1.f) 
-            {
-                *out = b;
-            }
-            else
-            {
-            	float s = 1.f - rt;
+		ab = b - a;
+		ap = p - a;
+		v = cross3(ab, plane);
+
+		if (b3Dot(ap, v) > 0.f)
+		{
+			float ab_m2 = b3Dot(ab, ab);
+			float rt = ab_m2 != 0.f ? b3Dot(ab, ap) / ab_m2 : 0.f;
+			if (rt <= 0.f)
+			{
+				*out = a;
+			}
+			else if (rt >= 1.f)
+			{
+				*out = b;
+			}
+			else
+			{
+				float s = 1.f - rt;
 				out[0].x = s * a.x + rt * b.x;
 				out[0].y = s * a.y + rt * b.y;
 				out[0].z = s * a.z + rt * b.z;
-            }
-            return false;
-        }
-    }
-    return true;
+			}
+			return false;
+		}
+	}
+	return true;
 }
 
 #define normalize3(a) (a.normalize())
 
-
-int extractManifoldSequentialGlobal( const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
+int extractManifoldSequentialGlobal(const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
 {
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	float4 center = b3MakeVector3(0,0,0,0);
+	if (nPoints == 0)
+		return 0;
+
+	if (nPoints <= 4)
+		return nPoints;
+
+	if (nPoints > 64)
+		nPoints = 64;
+
+	float4 center = b3MakeVector3(0, 0, 0, 0);
 	{
-		
-		for (int i=0;i<nPoints;i++)
+		for (int i = 0; i < nPoints; i++)
 			center += p[i];
 		center /= (float)nPoints;
 	}
-    
-	
-    
+
 	//	sample 4 directions
-    
-    float4 aVector = p[0] - center;
-    float4 u = cross3( nearNormal, aVector );
-    float4 v = cross3( nearNormal, u );
-    u = normalize3( u );
-    v = normalize3( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        float4 r = p[ie]-center;
-        f = dot3F4( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = dot3F4( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = dot3F4( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = dot3F4( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
-}
 
+	float4 aVector = p[0] - center;
+	float4 u = cross3(nearNormal, aVector);
+	float4 v = cross3(nearNormal, u);
+	u = normalize3(u);
+	v = normalize3(v);
 
+	//keep point with deepest penetration
+	float minW = FLT_MAX;
 
-#define MAX_VERTS 1024
+	int minIndex = -1;
+
+	float4 maxDots;
+	maxDots.x = FLT_MIN;
+	maxDots.y = FLT_MIN;
+	maxDots.z = FLT_MIN;
+	maxDots.w = FLT_MIN;
+
+	//	idx, distance
+	for (int ie = 0; ie < nPoints; ie++)
+	{
+		if (p[ie].w < minW)
+		{
+			minW = p[ie].w;
+			minIndex = ie;
+		}
+		float f;
+		float4 r = p[ie] - center;
+		f = dot3F4(u, r);
+		if (f < maxDots.x)
+		{
+			maxDots.x = f;
+			contactIdx[0].x = ie;
+		}
+
+		f = dot3F4(-u, r);
+		if (f < maxDots.y)
+		{
+			maxDots.y = f;
+			contactIdx[0].y = ie;
+		}
+
+		f = dot3F4(v, r);
+		if (f < maxDots.z)
+		{
+			maxDots.z = f;
+			contactIdx[0].z = ie;
+		}
+
+		f = dot3F4(-v, r);
+		if (f < maxDots.w)
+		{
+			maxDots.w = f;
+			contactIdx[0].w = ie;
+		}
+	}
+
+	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
+	{
+		//replace the first contact with minimum (todo: replace contact with least penetration)
+		contactIdx[0].x = minIndex;
+	}
+
+	return 4;
+}
 
+#define MAX_VERTS 1024
 
-inline void project(const b3ConvexPolyhedronData& hull,  const float4& pos, const b3Quaternion& orn, const float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
+inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, const b3Quaternion& orn, const float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
 {
 	min = FLT_MAX;
 	max = -FLT_MAX;
 	int numVerts = hull.m_numVertices;
 
-	const float4 localDir = b3QuatRotate(orn.inverse(),dir);
+	const float4 localDir = b3QuatRotate(orn.inverse(), dir);
 
-	b3Scalar offset = dot3F4(pos,dir);
+	b3Scalar offset = dot3F4(pos, dir);
 
-	for(int i=0;i<numVerts;i++)
+	for (int i = 0; i < numVerts; i++)
 	{
 		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
 		//b3Scalar dp = pt.dot(dir);
 		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
-		b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
+		b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset + i], localDir);
 		//b3Assert(dp==dpL);
-		if(dp < min)	min = dp;
-		if(dp > max)	max = dp;
+		if (dp < min) min = dp;
+		if (dp > max) max = dp;
 	}
-	if(min>max)
+	if (min > max)
 	{
 		b3Scalar tmp = min;
 		min = max;
@@ -577,50 +532,48 @@ inline void project(const b3ConvexPolyhedronData& hull,  const float4& pos, cons
 	max += offset;
 }
 
-
-static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const float4& posA,const b3Quaternion& ornA,
-	const float4& posB,const b3Quaternion& ornB,
-	const float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB,b3Scalar& depth)
+static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+						const float4& posA, const b3Quaternion& ornA,
+						const float4& posB, const b3Quaternion& ornB,
+						const float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth)
 {
-	b3Scalar Min0,Max0;
-	b3Scalar Min1,Max1;
-	project(hullA,posA,ornA,sep_axis,verticesA, Min0, Max0);
-	project(hullB,posB,ornB, sep_axis,verticesB, Min1, Max1);
+	b3Scalar Min0, Max0;
+	b3Scalar Min1, Max1;
+	project(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0);
+	project(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1);
 
-	if(Max0<Min1 || Max1<Min0)
+	if (Max0 < Min1 || Max1 < Min0)
 		return false;
 
 	b3Scalar d0 = Max0 - Min1;
-	assert(d0>=0.0f);
+	assert(d0 >= 0.0f);
 	b3Scalar d1 = Max1 - Min0;
-	assert(d1>=0.0f);
-	depth = d0<d1 ? d0:d1;
+	assert(d1 >= 0.0f);
+	depth = d0 < d1 ? d0 : d1;
 	return true;
 }
 
 inline bool IsAlmostZero(const b3Vector3& v)
 {
-	if(fabsf(v.x)>1e-6 || fabsf(v.y)>1e-6 || fabsf(v.z)>1e-6)	return false;
+	if (fabsf(v.x) > 1e-6 || fabsf(v.y) > 1e-6 || fabsf(v.z) > 1e-6) return false;
 	return true;
 }
 
-
-static bool findSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const float4& posA1,
-	const b3Quaternion& ornA,
-	const float4& posB1,
-	const b3Quaternion& ornB,
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, 
-	const b3AlignedObjectArray<b3GpuFace>& facesA,
-	const b3AlignedObjectArray<int>& indicesA,
-	const b3AlignedObjectArray<b3Vector3>& verticesB, 
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB, 
-	const b3AlignedObjectArray<b3GpuFace>& facesB,
-	const b3AlignedObjectArray<int>& indicesB,
-
-	b3Vector3& sep)
+static bool findSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+							   const float4& posA1,
+							   const b3Quaternion& ornA,
+							   const float4& posB1,
+							   const b3Quaternion& ornB,
+							   const b3AlignedObjectArray<b3Vector3>& verticesA,
+							   const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
+							   const b3AlignedObjectArray<b3GpuFace>& facesA,
+							   const b3AlignedObjectArray<int>& indicesA,
+							   const b3AlignedObjectArray<b3Vector3>& verticesB,
+							   const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
+							   const b3AlignedObjectArray<b3GpuFace>& facesB,
+							   const b3AlignedObjectArray<int>& indicesB,
+
+							   b3Vector3& sep)
 {
 	B3_PROFILE("findSeparatingAxis");
 
@@ -629,41 +582,40 @@ static bool findSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3Con
 	posA.w = 0.f;
 	float4 posB = posB1;
 	posB.w = 0.f;
-//#ifdef TEST_INTERNAL_OBJECTS
+	//#ifdef TEST_INTERNAL_OBJECTS
 	float4 c0local = (float4&)hullA.m_localCenter;
 	float4 c0 = transform(&c0local, &posA, &ornA);
 	float4 c1local = (float4&)hullB.m_localCenter;
-	float4 c1 = transform(&c1local,&posB,&ornB);
+	float4 c1 = transform(&c1local, &posB, &ornB);
 	const float4 deltaC2 = c0 - c1;
-//#endif
+	//#endif
 
 	b3Scalar dmin = FLT_MAX;
-	int curPlaneTests=0;
+	int curPlaneTests = 0;
 
 	int numFacesA = hullA.m_numFaces;
 	// Test normals from hullA
-	for(int i=0;i<numFacesA;i++)
+	for (int i = 0; i < numFacesA; i++)
 	{
-		const float4& normal = (float4&)facesA[hullA.m_faceOffset+i].m_plane;
-		float4 faceANormalWS = b3QuatRotate(ornA,normal);
+		const float4& normal = (float4&)facesA[hullA.m_faceOffset + i].m_plane;
+		float4 faceANormalWS = b3QuatRotate(ornA, normal);
 
-		if (dot3F4(deltaC2,faceANormalWS)<0)
-			faceANormalWS*=-1.f;
+		if (dot3F4(deltaC2, faceANormalWS) < 0)
+			faceANormalWS *= -1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
 		gExpectedNbTests++;
-		if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
+		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
 			continue;
 		gActualNbTests++;
 #endif
 
-		
 		b3Scalar d;
-		if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,faceANormalWS, verticesA, verticesB,d))
+		if (!TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d))
 			return false;
 
-		if(d<dmin)
+		if (d < dmin)
 		{
 			dmin = d;
 			sep = (b3Vector3&)faceANormalWS;
@@ -672,28 +624,28 @@ static bool findSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3Con
 
 	int numFacesB = hullB.m_numFaces;
 	// Test normals from hullB
-	for(int i=0;i<numFacesB;i++)
+	for (int i = 0; i < numFacesB; i++)
 	{
-		float4 normal = (float4&)facesB[hullB.m_faceOffset+i].m_plane;
+		float4 normal = (float4&)facesB[hullB.m_faceOffset + i].m_plane;
 		float4 WorldNormal = b3QuatRotate(ornB, normal);
 
-		if (dot3F4(deltaC2,WorldNormal)<0)
+		if (dot3F4(deltaC2, WorldNormal) < 0)
 		{
-			WorldNormal*=-1.f;
+			WorldNormal *= -1.f;
 		}
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
 		gExpectedNbTests++;
-		if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
+		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
 			continue;
 		gActualNbTests++;
 #endif
 
 		b3Scalar d;
-		if(!TestSepAxis(hullA, hullB,posA,ornA,posB,ornB,WorldNormal,verticesA,verticesB,d))
+		if (!TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d))
 			return false;
 
-		if(d<dmin)
+		if (d < dmin)
 		{
 			dmin = d;
 			sep = (b3Vector3&)WorldNormal;
@@ -702,70 +654,65 @@ static bool findSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3Con
 
 	int curEdgeEdge = 0;
 	// Test edges
-	for(int e0=0;e0<hullA.m_numUniqueEdges;e0++)
+	for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++)
 	{
-		const float4& edge0 = (float4&) uniqueEdgesA[hullA.m_uniqueEdgesOffset+e0];
-		float4 edge0World = b3QuatRotate(ornA,(float4&)edge0);
+		const float4& edge0 = (float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0];
+		float4 edge0World = b3QuatRotate(ornA, (float4&)edge0);
 
-		for(int e1=0;e1<hullB.m_numUniqueEdges;e1++)
+		for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++)
 		{
-			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset+e1];
-			float4 edge1World = b3QuatRotate(ornB,(float4&)edge1);
-
+			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1];
+			float4 edge1World = b3QuatRotate(ornB, (float4&)edge1);
 
-			float4 crossje = cross3(edge0World,edge1World);
+			float4 crossje = cross3(edge0World, edge1World);
 
 			curEdgeEdge++;
-			if(!IsAlmostZero((b3Vector3&)crossje))
+			if (!IsAlmostZero((b3Vector3&)crossje))
 			{
 				crossje = normalize3(crossje);
-				if (dot3F4(deltaC2,crossje)<0)
-					crossje*=-1.f;
-
+				if (dot3F4(deltaC2, crossje) < 0)
+					crossje *= -1.f;
 
 #ifdef TEST_INTERNAL_OBJECTS
 				gExpectedNbTests++;
-				if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
+				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
 					continue;
 				gActualNbTests++;
 #endif
 
 				b3Scalar dist;
-				if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,crossje, verticesA,verticesB,dist))
+				if (!TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist))
 					return false;
 
-				if(dist<dmin)
+				if (dist < dmin)
 				{
 					dmin = dist;
 					sep = (b3Vector3&)crossje;
 				}
 			}
 		}
-
 	}
 
-	
-	if((dot3F4(-deltaC2,(float4&)sep))>0.0f)
+	if ((dot3F4(-deltaC2, (float4&)sep)) > 0.0f)
 		sep = -sep;
 
 	return true;
 }
 
-
-bool findSeparatingAxisEdgeEdge(	__global const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB, 
-	const b3Float4& posA1,
-	const b3Quat& ornA,
-	const b3Float4& posB1,
-	const b3Quat& ornB,
-	const b3Float4& DeltaC2,
-	__global const b3AlignedObjectArray<float4>& vertices, 
-	__global const b3AlignedObjectArray<float4>& uniqueEdges, 
-	__global const b3AlignedObjectArray<b3GpuFace>& faces,
-	__global const b3AlignedObjectArray<int>&  indices,
-	float4* sep,
-	float* dmin)
+bool findSeparatingAxisEdgeEdge(__global const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
+								const b3Float4& posA1,
+								const b3Quat& ornA,
+								const b3Float4& posB1,
+								const b3Quat& ornB,
+								const b3Float4& DeltaC2,
+								__global const b3AlignedObjectArray<float4>& vertices,
+								__global const b3AlignedObjectArray<float4>& uniqueEdges,
+								__global const b3AlignedObjectArray<b3GpuFace>& faces,
+								__global const b3AlignedObjectArray<int>& indices,
+								float4* sep,
+								float* dmin)
 {
-//	int i = get_global_id(0);
+	//	int i = get_global_id(0);
 
 	float4 posA = posA1;
 	posA.w = 0.f;
@@ -776,97 +723,89 @@ bool findSeparatingAxisEdgeEdge(	__global const b3ConvexPolyhedronData* hullA, _
 
 	int curEdgeEdge = 0;
 	// Test edges
-	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)
+	for (int e0 = 0; e0 < hullA->m_numUniqueEdges; e0++)
 	{
-		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];
-		float4 edge0World = b3QuatRotate(ornA,edge0);
+		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset + e0];
+		float4 edge0World = b3QuatRotate(ornA, edge0);
 
-		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)
+		for (int e1 = 0; e1 < hullB->m_numUniqueEdges; e1++)
 		{
-			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];
-			float4 edge1World = b3QuatRotate(ornB,edge1);
+			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset + e1];
+			float4 edge1World = b3QuatRotate(ornB, edge1);
 
-
-			float4 crossje = cross3(edge0World,edge1World);
+			float4 crossje = cross3(edge0World, edge1World);
 
 			curEdgeEdge++;
-			if(!IsAlmostZero(crossje))
+			if (!IsAlmostZero(crossje))
 			{
 				crossje = normalize3(crossje);
-				if (dot3F4(DeltaC2,crossje)<0)
-					crossje*=-1.f;
-					
+				if (dot3F4(DeltaC2, crossje) < 0)
+					crossje *= -1.f;
+
 				float dist;
 				bool result = true;
 				{
-					float Min0,Max0;
-					float Min1,Max1;
-					project(*hullA,posA,ornA,crossje,vertices, Min0, Max0);
-					project(*hullB,posB,ornB,crossje,vertices, Min1, Max1);
-				
-					if(Max0<Min1 || Max1<Min0)
+					float Min0, Max0;
+					float Min1, Max1;
+					project(*hullA, posA, ornA, crossje, vertices, Min0, Max0);
+					project(*hullB, posB, ornB, crossje, vertices, Min1, Max1);
+
+					if (Max0 < Min1 || Max1 < Min0)
 						result = false;
-				
+
 					float d0 = Max0 - Min1;
 					float d1 = Max1 - Min0;
-					dist = d0<d1 ? d0:d1;
+					dist = d0 < d1 ? d0 : d1;
 					result = true;
-
 				}
-				
 
-				if(dist<*dmin)
+				if (dist < *dmin)
 				{
 					*dmin = dist;
 					*sep = crossje;
 				}
 			}
 		}
-
 	}
 
-	
-	if((dot3F4(-DeltaC2,*sep))>0.0f)
+	if ((dot3F4(-DeltaC2, *sep)) > 0.0f)
 	{
 		*sep = -(*sep);
 	}
 	return true;
 }
 
-
-__inline float4 lerp3(const float4& a,const float4& b, float  t)
+__inline float4 lerp3(const float4& a, const float4& b, float t)
 {
-	return b3MakeVector3(	a.x + (b.x - a.x) * t,
-						a.y + (b.y - a.y) * t,
-						a.z + (b.z - a.z) * t,
-						0.f);
+	return b3MakeVector3(a.x + (b.x - a.x) * t,
+						 a.y + (b.y - a.y) * t,
+						 a.z + (b.z - a.z) * t,
+						 0.f);
 }
 
-
 // Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFace(const float4* pVtxIn, int numVertsIn, float4& planeNormalWS,float planeEqWS, float4* ppVtxOut)
+int clipFace(const float4* pVtxIn, int numVertsIn, float4& planeNormalWS, float planeEqWS, float4* ppVtxOut)
 {
-	
 	int ve;
 	float ds, de;
 	int numVertsOut = 0;
 	if (numVertsIn < 2)
 		return 0;
 
-	float4 firstVertex=pVtxIn[numVertsIn-1];
+	float4 firstVertex = pVtxIn[numVertsIn - 1];
 	float4 endVertex = pVtxIn[0];
-	
-	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;
+
+	ds = dot3F4(planeNormalWS, firstVertex) + planeEqWS;
 
 	for (ve = 0; ve < numVertsIn; ve++)
 	{
-		endVertex=pVtxIn[ve];
+		endVertex = pVtxIn[ve];
 
-		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;
+		de = dot3F4(planeNormalWS, endVertex) + planeEqWS;
 
-		if (ds<0)
+		if (ds < 0)
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start < 0, end < 0, so output endVertex
 				ppVtxOut[numVertsOut++] = endVertex;
@@ -874,15 +813,15 @@ int clipFace(const float4* pVtxIn, int numVertsIn, float4& planeNormalWS,float p
 			else
 			{
 				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
+				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
 			}
 		}
 		else
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );
+				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
 				ppVtxOut[numVertsOut++] = endVertex;
 			}
 		}
@@ -892,36 +831,35 @@ int clipFace(const float4* pVtxIn, int numVertsIn, float4& planeNormalWS,float p
 	return numVertsOut;
 }
 
-
-int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedronData* hullA,  
-	const float4& posA, const b3Quaternion& ornA, float4* worldVertsB1, int numWorldVertsB1,
-	float4* worldVertsB2, int capacityWorldVertsB2,
-	const float minDist, float maxDist,
-	const b3AlignedObjectArray<float4>& verticesA,	const b3AlignedObjectArray<b3GpuFace>& facesA,	const b3AlignedObjectArray<int>& indicesA,
-	//const float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
-	float4* contactsOut,
-	int contactCapacity)
+int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedronData* hullA,
+						const float4& posA, const b3Quaternion& ornA, float4* worldVertsB1, int numWorldVertsB1,
+						float4* worldVertsB2, int capacityWorldVertsB2,
+						const float minDist, float maxDist,
+						const b3AlignedObjectArray<float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
+						//const float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
+						float4* contactsOut,
+						int contactCapacity)
 {
 	int numContactsOut = 0;
 
 	float4* pVtxIn = worldVertsB1;
 	float4* pVtxOut = worldVertsB2;
-	
+
 	int numVertsIn = numWorldVertsB1;
 	int numVertsOut = 0;
 
-	int closestFaceA=-1;
+	int closestFaceA = -1;
 	{
 		float dmin = FLT_MAX;
-		for(int face=0;face<hullA->m_numFaces;face++)
+		for (int face = 0; face < hullA->m_numFaces; face++)
 		{
 			const float4 Normal = b3MakeVector3(
-				facesA[hullA->m_faceOffset+face].m_plane.x, 
-				facesA[hullA->m_faceOffset+face].m_plane.y, 
-				facesA[hullA->m_faceOffset+face].m_plane.z,0.f);
-			const float4 faceANormalWS = b3QuatRotate(ornA,Normal);
-		
-			float d = dot3F4(faceANormalWS,separatingNormal);
+				facesA[hullA->m_faceOffset + face].m_plane.x,
+				facesA[hullA->m_faceOffset + face].m_plane.y,
+				facesA[hullA->m_faceOffset + face].m_plane.z, 0.f);
+			const float4 faceANormalWS = b3QuatRotate(ornA, Normal);
+
+			float d = dot3F4(faceANormalWS, separatingNormal);
 			if (d < dmin)
 			{
 				dmin = d;
@@ -929,33 +867,33 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
 			}
 		}
 	}
-	if (closestFaceA<0)
+	if (closestFaceA < 0)
 		return numContactsOut;
 
-	b3GpuFace polyA = facesA[hullA->m_faceOffset+closestFaceA];
+	b3GpuFace polyA = facesA[hullA->m_faceOffset + closestFaceA];
 
 	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-//	int numContacts = numWorldVertsB1;
+	//	int numContacts = numWorldVertsB1;
 	int numVerticesA = polyA.m_numIndices;
-	for(int e0=0;e0<numVerticesA;e0++)
+	for (int e0 = 0; e0 < numVerticesA; e0++)
 	{
-		const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];
-		const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];
+		const float4 a = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + e0]];
+		const float4 b = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + ((e0 + 1) % numVerticesA)]];
 		const float4 edge0 = a - b;
-		const float4 WorldEdge0 = b3QuatRotate(ornA,edge0);
-		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
-		float4 worldPlaneAnormal1 = b3QuatRotate(ornA,planeNormalA);
+		const float4 WorldEdge0 = b3QuatRotate(ornA, edge0);
+		float4 planeNormalA = make_float4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
+		float4 worldPlaneAnormal1 = b3QuatRotate(ornA, planeNormalA);
+
+		float4 planeNormalWS1 = -cross3(WorldEdge0, worldPlaneAnormal1);
+		float4 worldA1 = transform(&a, &posA, &ornA);
+		float planeEqWS1 = -dot3F4(worldA1, planeNormalWS1);
 
-		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);
-		float4 worldA1 = transform(&a,&posA,&ornA);
-		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);
-		
 		float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS=planeEqWS1;
-		
+		float planeEqWS = planeEqWS1;
+
 		//clip face
 		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);
+		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS, planeEqWS, pVtxOut);
 
 		//btSwap(pVtxIn,pVtxOut);
 		float4* tmp = pVtxOut;
@@ -965,32 +903,32 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
 		numVertsOut = 0;
 	}
 
-	
 	// only keep points that are behind the witness face
 	{
-		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);
+		float4 localPlaneNormal = make_float4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
 		float localPlaneEq = polyA.m_plane.w;
-		float4 planeNormalWS = b3QuatRotate(ornA,localPlaneNormal);
-		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);
-		for (int i=0;i<numVertsIn;i++)
+		float4 planeNormalWS = b3QuatRotate(ornA, localPlaneNormal);
+		float planeEqWS = localPlaneEq - dot3F4(planeNormalWS, posA);
+		for (int i = 0; i < numVertsIn; i++)
 		{
-			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;
-			if (depth <=minDist)
+			float depth = dot3F4(planeNormalWS, pVtxIn[i]) + planeEqWS;
+			if (depth <= minDist)
 			{
 				depth = minDist;
 			}
-			if (numContactsOut<contactCapacity)
+			if (numContactsOut < contactCapacity)
 			{
-				if (depth <=maxDist)
+				if (depth <= maxDist)
 				{
 					float4 pointInWorld = pVtxIn[i];
 					//resultOut.addContactPoint(separatingNormal,point,depth);
-					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);
+					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
 					//printf("depth=%f\n",depth);
 				}
-			} else
+			}
+			else
 			{
-				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut,contactCapacity);
+				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut, contactCapacity);
 			}
 		}
 	}
@@ -998,62 +936,60 @@ int clipFaceAgainstHull(const float4& separatingNormal, const b3ConvexPolyhedron
 	return numContactsOut;
 }
 
+static int clipHullAgainstHull(const float4& separatingNormal,
+							   const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+							   const float4& posA, const b3Quaternion& ornA, const float4& posB, const b3Quaternion& ornB,
+							   float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
+							   const float minDist, float maxDist,
+							   const b3AlignedObjectArray<float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
+							   const b3AlignedObjectArray<float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB,
 
-
-static int	clipHullAgainstHull(const float4& separatingNormal, 
-	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const float4& posA, const b3Quaternion& ornA,const float4& posB, const b3Quaternion& ornB, 
-	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,
-	const float minDist, float maxDist,
-	const b3AlignedObjectArray<float4>& verticesA,	const b3AlignedObjectArray<b3GpuFace>& facesA,	const b3AlignedObjectArray<int>& indicesA,
-	const b3AlignedObjectArray<float4>& verticesB,	const b3AlignedObjectArray<b3GpuFace>& facesB,	const b3AlignedObjectArray<int>& indicesB,
-
-	float4*	contactsOut,
-	int contactCapacity)
+							   float4* contactsOut,
+							   int contactCapacity)
 {
 	int numContactsOut = 0;
-	int numWorldVertsB1= 0;
-	
+	int numWorldVertsB1 = 0;
+
 	B3_PROFILE("clipHullAgainstHull");
 
-//	float curMaxDist=maxDist;
-	int closestFaceB=-1;
+	//	float curMaxDist=maxDist;
+	int closestFaceB = -1;
 	float dmax = -FLT_MAX;
 
 	{
 		//B3_PROFILE("closestFaceB");
-		if (hullB.m_numFaces!=1)
+		if (hullB.m_numFaces != 1)
 		{
 			//printf("wtf\n");
 		}
 		static bool once = true;
 		//printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z);
-		
-		for(int face=0;face<hullB.m_numFaces;face++)
+
+		for (int face = 0; face < hullB.m_numFaces; face++)
 		{
 #ifdef BT_DEBUG_SAT_FACE
 			if (once)
-				printf("face %d\n",face);
-			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset+face];
+				printf("face %d\n", face);
+			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset + face];
 			if (once)
 			{
-				for (int i=0;i<faceB->m_numIndices;i++)
+				for (int i = 0; i < faceB->m_numIndices; i++)
 				{
-					float4 vert = verticesB[hullB.m_vertexOffset+indicesB[faceB->m_indexOffset+i]];
-					printf("vert[%d] = %f,%f,%f\n",i,vert.x,vert.y,vert.z);
+					float4 vert = verticesB[hullB.m_vertexOffset + indicesB[faceB->m_indexOffset + i]];
+					printf("vert[%d] = %f,%f,%f\n", i, vert.x, vert.y, vert.z);
 				}
 			}
-#endif //BT_DEBUG_SAT_FACE
-			//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
+#endif  //BT_DEBUG_SAT_FACE \
+	//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
 			{
-				const float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset+face].m_plane.x, 
-					facesB[hullB.m_faceOffset+face].m_plane.y, facesB[hullB.m_faceOffset+face].m_plane.z,0.f);
+				const float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset + face].m_plane.x,
+													facesB[hullB.m_faceOffset + face].m_plane.y, facesB[hullB.m_faceOffset + face].m_plane.z, 0.f);
 				const float4 WorldNormal = b3QuatRotate(ornB, Normal);
 #ifdef BT_DEBUG_SAT_FACE
 				if (once)
-					printf("faceNormal = %f,%f,%f\n",Normal.x,Normal.y,Normal.z);
+					printf("faceNormal = %f,%f,%f\n", Normal.x, Normal.y, Normal.z);
 #endif
-				float d = dot3F4(WorldNormal,separatingNormal);
+				float d = dot3F4(WorldNormal, separatingNormal);
 				if (d > dmax)
 				{
 					dmax = d;
@@ -1064,184 +1000,176 @@ static int	clipHullAgainstHull(const float4& separatingNormal,
 		once = false;
 	}
 
-	
-	b3Assert(closestFaceB>=0);
+	b3Assert(closestFaceB >= 0);
 	{
 		//B3_PROFILE("worldVertsB1");
-		const b3GpuFace& polyB = facesB[hullB.m_faceOffset+closestFaceB];
+		const b3GpuFace& polyB = facesB[hullB.m_faceOffset + closestFaceB];
 		const int numVertices = polyB.m_numIndices;
-		for(int e0=0;e0<numVertices;e0++)
+		for (int e0 = 0; e0 < numVertices; e0++)
 		{
-			const float4& b = verticesB[hullB.m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];
-			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);
+			const float4& b = verticesB[hullB.m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
+			worldVertsB1[numWorldVertsB1++] = transform(&b, &posB, &ornB);
 		}
 	}
 
-	if (closestFaceB>=0)
+	if (closestFaceB >= 0)
 	{
 		//B3_PROFILE("clipFaceAgainstHull");
-		numContactsOut = clipFaceAgainstHull((float4&)separatingNormal, &hullA, 
-				posA,ornA,
-				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,
-				verticesA,				facesA,				indicesA,
-				contactsOut,contactCapacity);
+		numContactsOut = clipFaceAgainstHull((float4&)separatingNormal, &hullA,
+											 posA, ornA,
+											 worldVertsB1, numWorldVertsB1, worldVertsB2, capacityWorldVerts, minDist, maxDist,
+											 verticesA, facesA, indicesA,
+											 contactsOut, contactCapacity);
 	}
 
 	return numContactsOut;
 }
 
+#define PARALLEL_SUM(v, n) \
+	for (int j = 1; j < n; j++) v[0] += v[j];
+#define PARALLEL_DO(execution, n)  \
+	for (int ie = 0; ie < n; ie++) \
+	{                              \
+		execution;                 \
+	}
+#define REDUCE_MAX(v, n)                                                                                     \
+	{                                                                                                        \
+		int i = 0;                                                                                           \
+		for (int offset = 0; offset < n; offset++) v[i] = (v[i].y > v[i + offset].y) ? v[i] : v[i + offset]; \
+	}
+#define REDUCE_MIN(v, n)                                                                                     \
+	{                                                                                                        \
+		int i = 0;                                                                                           \
+		for (int offset = 0; offset < n; offset++) v[i] = (v[i].y < v[i + offset].y) ? v[i] : v[i + offset]; \
+	}
 
+int extractManifold(const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
+{
+	if (nPoints == 0)
+		return 0;
 
+	if (nPoints <= 4)
+		return nPoints;
 
+	if (nPoints > 64)
+		nPoints = 64;
 
-
-#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];
-#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}
-#define REDUCE_MAX(v, n) {int i=0;\
-for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }
-#define REDUCE_MIN(v, n) {int i=0;\
-for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }
-
-int extractManifold(const float4* p, int nPoints, const float4& nearNormal, b3Int4* contactIdx)
-{
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	float4 center = make_float4(0,0,0,0);
+	float4 center = make_float4(0, 0, 0, 0);
 	{
-		
-		for (int i=0;i<nPoints;i++)
+		for (int i = 0; i < nPoints; i++)
 			center += p[i];
 		center /= (float)nPoints;
 	}
-    
-	
-    
+
 	//	sample 4 directions
-    
-    float4 aVector = p[0] - center;
-    float4 u = cross3( nearNormal, aVector );
-    float4 v = cross3( nearNormal, u );
-    u = normalize3( u );
-    v = normalize3( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        float4 r = p[ie]-center;
-        f = dot3F4( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = dot3F4( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = dot3F4( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = dot3F4( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
-}
 
+	float4 aVector = p[0] - center;
+	float4 u = cross3(nearNormal, aVector);
+	float4 v = cross3(nearNormal, u);
+	u = normalize3(u);
+	v = normalize3(v);
+
+	//keep point with deepest penetration
+	float minW = FLT_MAX;
 
+	int minIndex = -1;
 
+	float4 maxDots;
+	maxDots.x = FLT_MIN;
+	maxDots.y = FLT_MIN;
+	maxDots.z = FLT_MIN;
+	maxDots.w = FLT_MIN;
+
+	//	idx, distance
+	for (int ie = 0; ie < nPoints; ie++)
+	{
+		if (p[ie].w < minW)
+		{
+			minW = p[ie].w;
+			minIndex = ie;
+		}
+		float f;
+		float4 r = p[ie] - center;
+		f = dot3F4(u, r);
+		if (f < maxDots.x)
+		{
+			maxDots.x = f;
+			contactIdx[0].x = ie;
+		}
+
+		f = dot3F4(-u, r);
+		if (f < maxDots.y)
+		{
+			maxDots.y = f;
+			contactIdx[0].y = ie;
+		}
+
+		f = dot3F4(v, r);
+		if (f < maxDots.z)
+		{
+			maxDots.z = f;
+			contactIdx[0].z = ie;
+		}
+
+		f = dot3F4(-v, r);
+		if (f < maxDots.w)
+		{
+			maxDots.w = f;
+			contactIdx[0].w = ie;
+		}
+	}
+
+	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
+	{
+		//replace the first contact with minimum (todo: replace contact with least penetration)
+		contactIdx[0].x = minIndex;
+	}
+
+	return 4;
+}
 
 int clipHullHullSingle(
-			int bodyIndexA, int bodyIndexB,
-										 const float4& posA,
-										 const b3Quaternion& ornA,
-										 const float4& posB,
-										 const b3Quaternion& ornB,
+	int bodyIndexA, int bodyIndexB,
+	const float4& posA,
+	const b3Quaternion& ornA,
+	const float4& posB,
+	const b3Quaternion& ornB,
 
-			int collidableIndexA, int collidableIndexB,
+	int collidableIndexA, int collidableIndexB,
 
-			const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf, 
-			b3AlignedObjectArray<b3Contact4>* globalContactOut, 
-			int& nContacts,
-			
-			const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
-			const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
-	
-			const b3AlignedObjectArray<b3Vector3>& verticesA, 
-			const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA, 
-			const b3AlignedObjectArray<b3GpuFace>& facesA,
-			const b3AlignedObjectArray<int>& indicesA,
-	
-			const b3AlignedObjectArray<b3Vector3>& verticesB,
-			const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-			const b3AlignedObjectArray<b3GpuFace>& facesB,
-			const b3AlignedObjectArray<int>& indicesB,
-
-			const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
-			const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
-			const b3Vector3& sepNormalWorldSpace,
-			int maxContactCapacity			)
+	const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf,
+	b3AlignedObjectArray<b3Contact4>* globalContactOut,
+	int& nContacts,
+
+	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
+	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
+
+	const b3AlignedObjectArray<b3Vector3>& verticesA,
+	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
+	const b3AlignedObjectArray<b3GpuFace>& facesA,
+	const b3AlignedObjectArray<int>& indicesA,
+
+	const b3AlignedObjectArray<b3Vector3>& verticesB,
+	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
+	const b3AlignedObjectArray<b3GpuFace>& facesB,
+	const b3AlignedObjectArray<int>& indicesB,
+
+	const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
+	const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
+	const b3Vector3& sepNormalWorldSpace,
+	int maxContactCapacity)
 {
 	int contactIndex = -1;
 	b3ConvexPolyhedronData hullA, hullB;
-    
-    b3Collidable colA = hostCollidablesA[collidableIndexA];
-    hullA = hostConvexDataA[colA.m_shapeIndex];
-    //printf("numvertsA = %d\n",hullA.m_numVertices);
-    
-    
-    b3Collidable colB = hostCollidablesB[collidableIndexB];
-    hullB = hostConvexDataB[colB.m_shapeIndex];
-    //printf("numvertsB = %d\n",hullB.m_numVertices);
-    
-	
+
+	b3Collidable colA = hostCollidablesA[collidableIndexA];
+	hullA = hostConvexDataA[colA.m_shapeIndex];
+	//printf("numvertsA = %d\n",hullA.m_numVertices);
+
+	b3Collidable colB = hostCollidablesB[collidableIndexB];
+	hullB = hostConvexDataB[colB.m_shapeIndex];
+	//printf("numvertsB = %d\n",hullB.m_numVertices);
+
 	float4 contactsOut[MAX_VERTS];
 	int localContactCapacity = MAX_VERTS;
 
@@ -1249,133 +1177,125 @@ int clipHullHullSingle(
 	b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x));
 	b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x));
 #endif
-	
-	
+
 	{
-		
 		float4 worldVertsB1[MAX_VERTS];
 		float4 worldVertsB2[MAX_VERTS];
 		int capacityWorldVerts = MAX_VERTS;
 
-		float4 hostNormal = make_float4(sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z,0.f);
+		float4 hostNormal = make_float4(sepNormalWorldSpace.x, sepNormalWorldSpace.y, sepNormalWorldSpace.z, 0.f);
 		int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
 		int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
 
 		b3Scalar minDist = -1;
 		b3Scalar maxDist = 0.;
 
-		        
-
-		b3Transform trA,trB;
+		b3Transform trA, trB;
 		{
-		//B3_PROFILE("transform computation");
-		//trA.setIdentity();
-		trA.setOrigin(b3MakeVector3(posA.x,posA.y,posA.z));
-		trA.setRotation(b3Quaternion(ornA.x,ornA.y,ornA.z,ornA.w));
-				
-		//trB.setIdentity();
-		trB.setOrigin(b3MakeVector3(posB.x,posB.y,posB.z));
-		trB.setRotation(b3Quaternion(ornB.x,ornB.y,ornB.z,ornB.w));
+			//B3_PROFILE("transform computation");
+			//trA.setIdentity();
+			trA.setOrigin(b3MakeVector3(posA.x, posA.y, posA.z));
+			trA.setRotation(b3Quaternion(ornA.x, ornA.y, ornA.z, ornA.w));
+
+			//trB.setIdentity();
+			trB.setOrigin(b3MakeVector3(posB.x, posB.y, posB.z));
+			trB.setRotation(b3Quaternion(ornB.x, ornB.y, ornB.z, ornB.w));
 		}
 
 		b3Quaternion trAorn = trA.getRotation();
-        b3Quaternion trBorn = trB.getRotation();
-        
-		int numContactsOut = clipHullAgainstHull(hostNormal, 
-						hostConvexDataA.at(shapeA), 
-						hostConvexDataB.at(shapeB),
-								(float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
-								(float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
-								worldVertsB1,worldVertsB2,capacityWorldVerts,
-								minDist, maxDist,
-								verticesA,	facesA,indicesA,
-								verticesB,	facesB,indicesB,
-								
-								contactsOut,localContactCapacity);
-
-		if (numContactsOut>0)
+		b3Quaternion trBorn = trB.getRotation();
+
+		int numContactsOut = clipHullAgainstHull(hostNormal,
+												 hostConvexDataA.at(shapeA),
+												 hostConvexDataB.at(shapeB),
+												 (float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
+												 (float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
+												 worldVertsB1, worldVertsB2, capacityWorldVerts,
+												 minDist, maxDist,
+												 verticesA, facesA, indicesA,
+												 verticesB, facesB, indicesB,
+
+												 contactsOut, localContactCapacity);
+
+		if (numContactsOut > 0)
 		{
 			B3_PROFILE("overlap");
 
 			float4 normalOnSurfaceB = (float4&)hostNormal;
-			
+
 			b3Int4 contactIdx;
 			contactIdx.x = 0;
 			contactIdx.y = 1;
 			contactIdx.z = 2;
 			contactIdx.w = 3;
-			
+
 			int numPoints = 0;
-					
+
 			{
-			//	B3_PROFILE("extractManifold");
-				numPoints = extractManifold(contactsOut, numContactsOut, normalOnSurfaceB,  &contactIdx);
+				//	B3_PROFILE("extractManifold");
+				numPoints = extractManifold(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
 			}
-					
+
 			b3Assert(numPoints);
-					
-			if (nContacts<maxContactCapacity)
+
+			if (nContacts < maxContactCapacity)
 			{
 				contactIndex = nContacts;
 				globalContactOut->expand();
 				b3Contact4& contact = globalContactOut->at(nContacts);
-				contact.m_batchIdx = 0;//i;
-				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
-				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
+				contact.m_batchIdx = 0;  //i;
+				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
+				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
 
 				contact.m_frictionCoeffCmp = 45874;
 				contact.m_restituitionCoeffCmp = 0;
-					
-	//			float distance = 0.f;
-				for (int p=0;p<numPoints;p++)
+
+				//			float distance = 0.f;
+				for (int p = 0; p < numPoints; p++)
 				{
-					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
-					contact.m_worldNormalOnB = normalOnSurfaceB; 
+					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];  //check if it is actually on B
+					contact.m_worldNormalOnB = normalOnSurfaceB;
 				}
 				//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
 				contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
 				nContacts++;
-			} else
+			}
+			else
 			{
-				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts,maxContactCapacity);
+				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
 			}
 		}
 	}
 	return contactIndex;
 }
 
-	
-
-
-
 void computeContactPlaneConvex(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3RigidBodyData* rigidBodies, 
-																const b3Collidable* collidables,
-																const b3ConvexPolyhedronData* convexShapes,
-																const b3Vector3* convexVertices,
-																const int* convexIndices,
-																const b3GpuFace* faces,
-																b3Contact4* globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity)
+							   int bodyIndexA, int bodyIndexB,
+							   int collidableIndexA, int collidableIndexB,
+							   const b3RigidBodyData* rigidBodies,
+							   const b3Collidable* collidables,
+							   const b3ConvexPolyhedronData* convexShapes,
+							   const b3Vector3* convexVertices,
+							   const int* convexIndices,
+							   const b3GpuFace* faces,
+							   b3Contact4* globalContactsOut,
+							   int& nGlobalContactsOut,
+							   int maxContactCapacity)
 {
-
-		int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
+	int shapeIndex = collidables[collidableIndexB].m_shapeIndex;
 	const b3ConvexPolyhedronData* hullB = &convexShapes[shapeIndex];
-	
+
 	b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
 	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
 	b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
 	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
 
-//	int numContactsOut = 0;
-//	int numWorldVertsB1= 0;
+	//	int numContactsOut = 0;
+	//	int numWorldVertsB1= 0;
 
 	b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
-	b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
-	b3Vector3 planeNormalWorld = b3QuatRotate(ornA,planeNormal);
+	b3Vector3 planeNormal = b3MakeVector3(planeEq.x, planeEq.y, planeEq.z);
+	b3Vector3 planeNormalWorld = b3QuatRotate(ornA, planeNormal);
 	float planeConstant = planeEq.w;
 	b3Transform convexWorldTransform;
 	convexWorldTransform.setIdentity();
@@ -1387,13 +1307,13 @@ void computeContactPlaneConvex(int pairIndex,
 	planeTransform.setRotation(ornA);
 
 	b3Transform planeInConvex;
-	planeInConvex= convexWorldTransform.inverse() * planeTransform;
+	planeInConvex = convexWorldTransform.inverse() * planeTransform;
 	b3Transform convexInPlane;
 	convexInPlane = planeTransform.inverse() * convexWorldTransform;
-	
-	b3Vector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
+
+	b3Vector3 planeNormalInConvex = planeInConvex.getBasis() * -planeNormal;
 	float maxDot = -1e30;
-	int hitVertex=-1;
+	int hitVertex = -1;
 	b3Vector3 hitVtx;
 
 #define MAX_PLANE_CONVEX_POINTS 64
@@ -1406,54 +1326,52 @@ void computeContactPlaneConvex(int pairIndex,
 	contactIdx.s[1] = 1;
 	contactIdx.s[2] = 2;
 	contactIdx.s[3] = 3;
-	
-	for (int i=0;i<hullB->m_numVertices;i++)
+
+	for (int i = 0; i < hullB->m_numVertices; i++)
 	{
-		b3Vector3 vtx = convexVertices[hullB->m_vertexOffset+i];
+		b3Vector3 vtx = convexVertices[hullB->m_vertexOffset + i];
 		float curDot = vtx.dot(planeNormalInConvex);
 
-
-		if (curDot>maxDot)
+		if (curDot > maxDot)
 		{
-			hitVertex=i;
-			maxDot=curDot;
+			hitVertex = i;
+			maxDot = curDot;
 			hitVtx = vtx;
 			//make sure the deepest points is always included
-			if (numPoints==MAX_PLANE_CONVEX_POINTS)
+			if (numPoints == MAX_PLANE_CONVEX_POINTS)
 				numPoints--;
 		}
 
-		if (numPoints<MAX_PLANE_CONVEX_POINTS)
+		if (numPoints < MAX_PLANE_CONVEX_POINTS)
 		{
-			b3Vector3 vtxWorld = convexWorldTransform*vtx;
-			b3Vector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
-			float dist = planeNormal.dot(vtxInPlane)-planeConstant;
-			if (dist<0.f)
+			b3Vector3 vtxWorld = convexWorldTransform * vtx;
+			b3Vector3 vtxInPlane = planeTransform.inverse() * vtxWorld;
+			float dist = planeNormal.dot(vtxInPlane) - planeConstant;
+			if (dist < 0.f)
 			{
 				vtxWorld.w = dist;
 				contactPoints[numPoints] = vtxWorld;
 				numPoints++;
 			}
 		}
-
 	}
 
-	int numReducedPoints  = 0;
+	int numReducedPoints = 0;
 
 	numReducedPoints = numPoints;
-	
-	if (numPoints>4)
+
+	if (numPoints > 4)
 	{
-		numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
+		numReducedPoints = extractManifoldSequentialGlobal(contactPoints, numPoints, planeNormalInConvex, &contactIdx);
 	}
 	int dstIdx;
-//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-		
-	if (numReducedPoints>0)
+	//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
+
+	if (numReducedPoints > 0)
 	{
 		if (nGlobalContactsOut < maxContactCapacity)
 		{
-			dstIdx=nGlobalContactsOut;
+			dstIdx = nGlobalContactsOut;
 			nGlobalContactsOut++;
 
 			b3Contact4* c = &globalContactsOut[dstIdx];
@@ -1462,38 +1380,33 @@ void computeContactPlaneConvex(int pairIndex,
 			c->setRestituitionCoeff(0.f);
 
 			c->m_batchIdx = pairIndex;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-			for (int i=0;i<numReducedPoints;i++)
+			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
+			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
+			for (int i = 0; i < numReducedPoints; i++)
 			{
 				b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
 				c->m_worldPosB[i] = pOnB1;
 			}
 			c->m_worldNormalOnB.w = (b3Scalar)numReducedPoints;
-		}//if (dstIdx < numPairs)
-	}	
-		
-
+		}  //if (dstIdx < numPairs)
+	}
 
-//	printf("computeContactPlaneConvex\n");
+	//	printf("computeContactPlaneConvex\n");
 }
 
-
-
-B3_FORCE_INLINE b3Vector3	MyUnQuantize(const unsigned short* vecIn, const b3Vector3& quantization, const b3Vector3& bvhAabbMin)
-	{
-			b3Vector3	vecOut;
-			vecOut.setValue(
-			(b3Scalar)(vecIn[0]) / (quantization.x),
-			(b3Scalar)(vecIn[1]) / (quantization.y),
-			(b3Scalar)(vecIn[2]) / (quantization.z));
-			vecOut += bvhAabbMin;
-			return vecOut;
-	}
+B3_FORCE_INLINE b3Vector3 MyUnQuantize(const unsigned short* vecIn, const b3Vector3& quantization, const b3Vector3& bvhAabbMin)
+{
+	b3Vector3 vecOut;
+	vecOut.setValue(
+		(b3Scalar)(vecIn[0]) / (quantization.x),
+		(b3Scalar)(vecIn[1]) / (quantization.y),
+		(b3Scalar)(vecIn[2]) / (quantization.z));
+	vecOut += bvhAabbMin;
+	return vecOut;
+}
 
 void traverseTreeTree()
 {
-
 }
 
 #include "Bullet3Common/shared/b3Mat3x3.h"
@@ -1503,44 +1416,40 @@ int maxNumAabbChecks = 0;
 int maxDepth = 0;
 
 // work-in-progress
-__kernel void   findCompoundPairsKernel( 
+__kernel void findCompoundPairsKernel(
 	int pairIndex,
 	int bodyIndexA,
 	int bodyIndexB,
 	int collidableIndexA,
 	int collidableIndexB,
-	__global const b3RigidBodyData* rigidBodies, 
+	__global const b3RigidBodyData* rigidBodies,
 	__global const b3Collidable* collidables,
-	__global const b3ConvexPolyhedronData* convexShapes, 
+	__global const b3ConvexPolyhedronData* convexShapes,
 	__global const b3AlignedObjectArray<b3Float4>& vertices,
 	__global const b3AlignedObjectArray<b3Aabb>& aabbsWorldSpace,
 	__global const b3AlignedObjectArray<b3Aabb>& aabbsLocalSpace,
 	__global const b3GpuChildShape* gpuChildShapes,
 	__global b3Int4* gpuCompoundPairsOut,
-	__global  int* numCompoundPairsOut,
+	__global int* numCompoundPairsOut,
 	int maxNumCompoundPairsCapacity,
-	b3AlignedObjectArray<b3QuantizedBvhNode>&	treeNodesCPU,
-	b3AlignedObjectArray<b3BvhSubtreeInfo>&	subTreesCPU,
-	b3AlignedObjectArray<b3BvhInfo>&	bvhInfoCPU
-	)
+	b3AlignedObjectArray<b3QuantizedBvhNode>& treeNodesCPU,
+	b3AlignedObjectArray<b3BvhSubtreeInfo>& subTreesCPU,
+	b3AlignedObjectArray<b3BvhInfo>& bvhInfoCPU)
 {
-	numAabbChecks=0;
-	maxNumAabbChecks=0;
-//	int i = pairIndex;
+	numAabbChecks = 0;
+	maxNumAabbChecks = 0;
+	//	int i = pairIndex;
 	{
-		
-
 		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
 		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
 
-
 		//once the broadphase avoids static-static pairs, we can remove this test
-		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))
+		if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
 		{
 			return;
 		}
 
-		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
+		if ((collidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) && (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS))
 		{
 			int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;
 			int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;
@@ -1548,9 +1457,8 @@ __kernel void   findCompoundPairsKernel(
 			int subTreesOffsetA = bvhInfoCPU[bvhA].m_subTreeOffset;
 			int subTreesOffsetB = bvhInfoCPU[bvhB].m_subTreeOffset;
 
-
 			int numSubTreesB = bvhInfoCPU[bvhB].m_numSubTrees;
-			
+
 			float4 posA = rigidBodies[bodyIndexA].m_pos;
 			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
 
@@ -1567,41 +1475,37 @@ __kernel void   findCompoundPairsKernel(
 			transB.setOrigin(posB);
 			transB.setRotation(ornB);
 
-
-
-			for (int p=0;p<numSubTreesA;p++)
+			for (int p = 0; p < numSubTreesA; p++)
 			{
-				b3BvhSubtreeInfo subtreeA = subTreesCPU[subTreesOffsetA+p];
+				b3BvhSubtreeInfo subtreeA = subTreesCPU[subTreesOffsetA + p];
 				//bvhInfoCPU[bvhA].m_quantization
-				b3Vector3 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfoCPU[bvhA].m_quantization,bvhInfoCPU[bvhA].m_aabbMin);
-				b3Vector3 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfoCPU[bvhA].m_quantization,bvhInfoCPU[bvhA].m_aabbMin);
+				b3Vector3 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
+				b3Vector3 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
 
-				b3Vector3 aabbAMinOut,aabbAMaxOut;
-				float margin=0.f;
-				b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,transA.getOrigin(),transA.getRotation(),&aabbAMinOut,&aabbAMaxOut);
+				b3Vector3 aabbAMinOut, aabbAMaxOut;
+				float margin = 0.f;
+				b3TransformAabb2(treeAminLocal, treeAmaxLocal, margin, transA.getOrigin(), transA.getRotation(), &aabbAMinOut, &aabbAMaxOut);
 
-				for (int q=0;q<numSubTreesB;q++)
+				for (int q = 0; q < numSubTreesB; q++)
 				{
-					b3BvhSubtreeInfo subtreeB = subTreesCPU[subTreesOffsetB+q];
+					b3BvhSubtreeInfo subtreeB = subTreesCPU[subTreesOffsetB + q];
 
-					b3Vector3 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfoCPU[bvhB].m_quantization,bvhInfoCPU[bvhB].m_aabbMin);
-					b3Vector3 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfoCPU[bvhB].m_quantization,bvhInfoCPU[bvhB].m_aabbMin);
+					b3Vector3 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
+					b3Vector3 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
 
-					b3Vector3 aabbBMinOut,aabbBMaxOut;
-					float margin=0.f;
-					b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,transB.getOrigin(),transB.getRotation(),&aabbBMinOut,&aabbBMaxOut);
+					b3Vector3 aabbBMinOut, aabbBMaxOut;
+					float margin = 0.f;
+					b3TransformAabb2(treeBminLocal, treeBmaxLocal, margin, transB.getOrigin(), transB.getRotation(), &aabbBMinOut, &aabbBMaxOut);
 
-					
-					numAabbChecks=0;
-					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
+					numAabbChecks = 0;
+					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut, aabbAMaxOut, aabbBMinOut, aabbBMaxOut);
 					if (aabbOverlap)
 					{
-						
-						int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfoCPU[bvhA].m_nodeOffset;
-		//				int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
+						int startNodeIndexA = subtreeA.m_rootNodeIndex + bvhInfoCPU[bvhA].m_nodeOffset;
+						//				int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;
 
-						int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfoCPU[bvhB].m_nodeOffset;
-		//				int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
+						int startNodeIndexB = subtreeB.m_rootNodeIndex + bvhInfoCPU[bvhB].m_nodeOffset;
+						//				int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;
 
 						b3AlignedObjectArray<b3Int2> nodeStack;
 						b3Int2 node0;
@@ -1610,33 +1514,33 @@ __kernel void   findCompoundPairsKernel(
 
 						int maxStackDepth = 1024;
 						nodeStack.resize(maxStackDepth);
-						int depth=0;
-						nodeStack[depth++]=node0;
+						int depth = 0;
+						nodeStack[depth++] = node0;
 
 						do
 						{
 							if (depth > maxDepth)
 							{
-								maxDepth=depth;
-								printf("maxDepth=%d\n",maxDepth);
+								maxDepth = depth;
+								printf("maxDepth=%d\n", maxDepth);
 							}
 							b3Int2 node = nodeStack[--depth];
-							
-							b3Vector3 aMinLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMin,bvhInfoCPU[bvhA].m_quantization,bvhInfoCPU[bvhA].m_aabbMin);
-							b3Vector3 aMaxLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMax,bvhInfoCPU[bvhA].m_quantization,bvhInfoCPU[bvhA].m_aabbMin);
 
-							b3Vector3 bMinLocal = MyUnQuantize(treeNodesCPU[node.y].m_quantizedAabbMin,bvhInfoCPU[bvhB].m_quantization,bvhInfoCPU[bvhB].m_aabbMin);
-							b3Vector3 bMaxLocal = MyUnQuantize(treeNodesCPU[node.y].m_quantizedAabbMax,bvhInfoCPU[bvhB].m_quantization,bvhInfoCPU[bvhB].m_aabbMin);
+							b3Vector3 aMinLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMin, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
+							b3Vector3 aMaxLocal = MyUnQuantize(treeNodesCPU[node.x].m_quantizedAabbMax, bvhInfoCPU[bvhA].m_quantization, bvhInfoCPU[bvhA].m_aabbMin);
 
-							float margin=0.f;
-							b3Vector3 aabbAMinOut,aabbAMaxOut;
-							b3TransformAabb2(aMinLocal,aMaxLocal, margin,transA.getOrigin(),transA.getRotation(),&aabbAMinOut,&aabbAMaxOut);
+							b3Vector3 bMinLocal = MyUnQuantize(treeNodesCPU[node.y].m_quantizedAabbMin, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
+							b3Vector3 bMaxLocal = MyUnQuantize(treeNodesCPU[node.y].m_quantizedAabbMax, bvhInfoCPU[bvhB].m_quantization, bvhInfoCPU[bvhB].m_aabbMin);
 
-							b3Vector3 aabbBMinOut,aabbBMaxOut;
-							b3TransformAabb2(bMinLocal,bMaxLocal, margin,transB.getOrigin(),transB.getRotation(),&aabbBMinOut,&aabbBMaxOut);
+							float margin = 0.f;
+							b3Vector3 aabbAMinOut, aabbAMaxOut;
+							b3TransformAabb2(aMinLocal, aMaxLocal, margin, transA.getOrigin(), transA.getRotation(), &aabbAMinOut, &aabbAMaxOut);
+
+							b3Vector3 aabbBMinOut, aabbBMaxOut;
+							b3TransformAabb2(bMinLocal, bMaxLocal, margin, transB.getOrigin(), transB.getRotation(), &aabbBMinOut, &aabbBMaxOut);
 
 							numAabbChecks++;
-							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
+							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut, aabbAMaxOut, aabbBMinOut, aabbBMaxOut);
 							if (nodeOverlap)
 							{
 								bool isLeafA = treeNodesCPU[node.x].isLeafNode();
@@ -1645,23 +1549,23 @@ __kernel void   findCompoundPairsKernel(
 								bool isInternalB = !isLeafB;
 
 								//fail, even though it might hit two leaf nodes
-								if (depth+4>maxStackDepth && !(isLeafA && isLeafB))
+								if (depth + 4 > maxStackDepth && !(isLeafA && isLeafB))
 								{
 									b3Error("Error: traversal exceeded maxStackDepth\n");
 									continue;
 								}
 
-								if(isInternalA)
+								if (isInternalA)
 								{
-									int nodeAleftChild = node.x+1;
-									bool isNodeALeftChildLeaf = treeNodesCPU[node.x+1].isLeafNode();
-									int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + treeNodesCPU[node.x+1].getEscapeIndex();
+									int nodeAleftChild = node.x + 1;
+									bool isNodeALeftChildLeaf = treeNodesCPU[node.x + 1].isLeafNode();
+									int nodeArightChild = isNodeALeftChildLeaf ? node.x + 2 : node.x + 1 + treeNodesCPU[node.x + 1].getEscapeIndex();
 
-									if(isInternalB)
-									{					
-										int nodeBleftChild = node.y+1;
-										bool isNodeBLeftChildLeaf = treeNodesCPU[node.y+1].isLeafNode();
-										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + treeNodesCPU[node.y+1].getEscapeIndex();
+									if (isInternalB)
+									{
+										int nodeBleftChild = node.y + 1;
+										bool isNodeBLeftChildLeaf = treeNodesCPU[node.y + 1].isLeafNode();
+										int nodeBrightChild = isNodeBLeftChildLeaf ? node.y + 2 : node.y + 1 + treeNodesCPU[node.y + 1].getEscapeIndex();
 
 										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);
 										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);
@@ -1670,90 +1574,83 @@ __kernel void   findCompoundPairsKernel(
 									}
 									else
 									{
-										nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);
-										nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);
+										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, node.y);
+										nodeStack[depth++] = b3MakeInt2(nodeArightChild, node.y);
 									}
 								}
 								else
 								{
-									if(isInternalB)
+									if (isInternalB)
 									{
-										int nodeBleftChild = node.y+1;
-										bool isNodeBLeftChildLeaf = treeNodesCPU[node.y+1].isLeafNode();
-										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + treeNodesCPU[node.y+1].getEscapeIndex();
-										nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);
-										nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);
+										int nodeBleftChild = node.y + 1;
+										bool isNodeBLeftChildLeaf = treeNodesCPU[node.y + 1].isLeafNode();
+										int nodeBrightChild = isNodeBLeftChildLeaf ? node.y + 2 : node.y + 1 + treeNodesCPU[node.y + 1].getEscapeIndex();
+										nodeStack[depth++] = b3MakeInt2(node.x, nodeBleftChild);
+										nodeStack[depth++] = b3MakeInt2(node.x, nodeBrightChild);
 									}
 									else
 									{
 										int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-										if (compoundPairIdx<maxNumCompoundPairsCapacity)
+										if (compoundPairIdx < maxNumCompoundPairsCapacity)
 										{
 											int childShapeIndexA = treeNodesCPU[node.x].getTriangleIndex();
 											int childShapeIndexB = treeNodesCPU[node.y].getTriangleIndex();
-											gpuCompoundPairsOut[compoundPairIdx]  = b3MakeInt4(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);
+											gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, childShapeIndexA, childShapeIndexB);
 										}
 									}
 								}
 							}
 						} while (depth);
-						maxNumAabbChecks = b3Max(numAabbChecks,maxNumAabbChecks);
+						maxNumAabbChecks = b3Max(numAabbChecks, maxNumAabbChecks);
 					}
 				}
 			}
-			
+
 			return;
 		}
 
-		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
+		if ((collidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS) || (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS))
 		{
-
-			if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) 
+			if (collidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 			{
-
 				int numChildrenA = collidables[collidableIndexA].m_numChildShapes;
-				for (int c=0;c<numChildrenA;c++)
+				for (int c = 0; c < numChildrenA; c++)
 				{
-					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;
+					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex + c;
 					int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
 
 					float4 posA = rigidBodies[bodyIndexA].m_pos;
 					b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
 					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
 					b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-					float4 newPosA = b3QuatRotate(ornA,childPosA)+posA;
-					b3Quat newOrnA = b3QuatMul(ornA,childOrnA);
-					
+					float4 newPosA = b3QuatRotate(ornA, childPosA) + posA;
+					b3Quat newOrnA = b3QuatMul(ornA, childOrnA);
 
-					
 					b3Aabb aabbA = aabbsLocalSpace[childColIndexA];
 
-					
 					b3Transform transA;
 					transA.setIdentity();
 					transA.setOrigin(newPosA);
 					transA.setRotation(newOrnA);
-					b3Scalar margin=0.0f;
+					b3Scalar margin = 0.0f;
 
-					b3Vector3 aabbAMinOut,aabbAMaxOut;
+					b3Vector3 aabbAMinOut, aabbAMaxOut;
 
-					b3TransformAabb2((const b3Float4&)aabbA.m_min,(const b3Float4&)aabbA.m_max, margin,transA.getOrigin(),transA.getRotation(),&aabbAMinOut,&aabbAMaxOut);
+					b3TransformAabb2((const b3Float4&)aabbA.m_min, (const b3Float4&)aabbA.m_max, margin, transA.getOrigin(), transA.getRotation(), &aabbAMinOut, &aabbAMaxOut);
 
-					if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+					if (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 					{
 						int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-						for (int b=0;b<numChildrenB;b++)
+						for (int b = 0; b < numChildrenB; b++)
 						{
-							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
+							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
 							int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
 							b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
 							float4 posB = rigidBodies[bodyIndexB].m_pos;
 							float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
 							b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-							float4 newPosB = transform(&childPosB,&posB,&ornB);
-							b3Quat newOrnB = b3QuatMul(ornB,childOrnB);
-
-							
+							float4 newPosB = transform(&childPosB, &posB, &ornB);
+							b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
 
 							b3Aabb aabbB = aabbsLocalSpace[childColIndexB];
 
@@ -1762,11 +1659,11 @@ __kernel void   findCompoundPairsKernel(
 							transB.setOrigin(newPosB);
 							transB.setRotation(newOrnB);
 
-							b3Vector3 aabbBMinOut,aabbBMaxOut;
-							b3TransformAabb2((const b3Float4&)aabbB.m_min,(const b3Float4&)aabbB.m_max, margin,transB.getOrigin(),transB.getRotation(),&aabbBMinOut,&aabbBMaxOut);
+							b3Vector3 aabbBMinOut, aabbBMaxOut;
+							b3TransformAabb2((const b3Float4&)aabbB.m_min, (const b3Float4&)aabbB.m_max, margin, transB.getOrigin(), transB.getRotation(), &aabbBMinOut, &aabbBMaxOut);
 
 							numAabbChecks++;
-							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);
+							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut, aabbAMaxOut, aabbBMinOut, aabbBMaxOut);
 							if (aabbOverlap)
 							{
 								/*
@@ -1784,22 +1681,22 @@ __kernel void   findCompoundPairsKernel(
 								float4 c1 = transform(&c1local,&posB,&ornB);
 								const float4 DeltaC2 = c0 - c1;
 								*/
-								{//
+								{  //
 									int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-									if (compoundPairIdx<maxNumCompoundPairsCapacity)
+									if (compoundPairIdx < maxNumCompoundPairsCapacity)
 									{
-										gpuCompoundPairsOut[compoundPairIdx]  = b3MakeInt4(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);
+										gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, childShapeIndexA, childShapeIndexB);
 									}
-								}//
-							}//fi(1)
-						} //for (int b=0
-					}//if (collidables[collidableIndexB].
-					else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+								}  //
+							}      //fi(1)
+						}          //for (int b=0
+					}              //if (collidables[collidableIndexB].
+					else           //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
 					{
 						if (1)
 						{
-						//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-						//	float dmin = FLT_MAX;
+							//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+							//	float dmin = FLT_MAX;
 							float4 posA = newPosA;
 							posA.w = 0.f;
 							float4 posB = rigidBodies[bodyIndexB].m_pos;
@@ -1811,45 +1708,43 @@ __kernel void   findCompoundPairsKernel(
 							float4 c1local = convexShapes[shapeIndexB].m_localCenter;
 							b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
 							float4 c1;
-							c1 = transform(&c1local,&posB,&ornB);
-						//	const float4 DeltaC2 = c0 - c1;
+							c1 = transform(&c1local, &posB, &ornB);
+							//	const float4 DeltaC2 = c0 - c1;
 
 							{
 								int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-								if (compoundPairIdx<maxNumCompoundPairsCapacity)
+								if (compoundPairIdx < maxNumCompoundPairsCapacity)
 								{
-									gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA,bodyIndexB,childShapeIndexA,-1);
-								}//if (compoundPairIdx<maxNumCompoundPairsCapacity)
-							}//
-						}//fi (1)
-					}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-				}//for (int b=0;b<numChildrenB;b++)	
+									gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, childShapeIndexA, -1);
+								}  //if (compoundPairIdx<maxNumCompoundPairsCapacity)
+							}      //
+						}          //fi (1)
+					}              //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+				}                  //for (int b=0;b<numChildrenB;b++)
 				return;
-			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
-			if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH) 
-				&& (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
+			}  //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+			if ((collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH) && (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS))
 			{
 				int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-				for (int b=0;b<numChildrenB;b++)
+				for (int b = 0; b < numChildrenB; b++)
 				{
-					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;
+					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
 					int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
 					b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
 					float4 posB = rigidBodies[bodyIndexB].m_pos;
 					float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
 					b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-					float4 newPosB = b3QuatRotate(ornB,childPosB)+posB;
-					b3Quat newOrnB = b3QuatMul(ornB,childOrnB);
+					float4 newPosB = b3QuatRotate(ornB, childPosB) + posB;
+					b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
 
 					int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
 
-
 					//////////////////////////////////////
 
 					if (1)
 					{
-					//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-					//	float dmin = FLT_MAX;
+						//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+						//	float dmin = FLT_MAX;
 						float4 posA = rigidBodies[bodyIndexA].m_pos;
 						posA.w = 0.f;
 						float4 posB = newPosB;
@@ -1859,99 +1754,96 @@ __kernel void   findCompoundPairsKernel(
 						float4 c0;
 						c0 = transform(&c0local, &posA, &ornA);
 						float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-						b3Quat ornB =newOrnB;
+						b3Quat ornB = newOrnB;
 						float4 c1;
-						c1 = transform(&c1local,&posB,&ornB);
-					//	const float4 DeltaC2 = c0 - c1;
-						{//
+						c1 = transform(&c1local, &posB, &ornB);
+						//	const float4 DeltaC2 = c0 - c1;
+						{  //
 							int compoundPairIdx = b3AtomicInc(numCompoundPairsOut);
-							if (compoundPairIdx<maxNumCompoundPairsCapacity)
+							if (compoundPairIdx < maxNumCompoundPairsCapacity)
 							{
-								gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA,bodyIndexB,-1,childShapeIndexB);
-							}//fi (compoundPairIdx<maxNumCompoundPairsCapacity)
-						}//
-					}//fi (1)	
-				}//for (int b=0;b<numChildrenB;b++)
+								gpuCompoundPairsOut[compoundPairIdx] = b3MakeInt4(bodyIndexA, bodyIndexB, -1, childShapeIndexB);
+							}  //fi (compoundPairIdx<maxNumCompoundPairsCapacity)
+						}      //
+					}          //fi (1)
+				}              //for (int b=0;b<numChildrenB;b++)
 				return;
-			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
+			}  //if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)
 			return;
-		}//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
-	}//i<numPairs
+		}  //fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))
+	}      //i<numPairs
 }
 
-
-
-__kernel void   processCompoundPairsKernel( __global const b3Int4* gpuCompoundPairs,
-										__global const b3RigidBodyData* rigidBodies, 
-										__global const b3Collidable* collidables,
-										__global const b3ConvexPolyhedronData* convexShapes, 
-										__global const b3AlignedObjectArray<b3Float4>& vertices,
-										__global const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-										__global const b3AlignedObjectArray<b3GpuFace>& faces,
-										__global const b3AlignedObjectArray<int>& indices,
-										__global b3Aabb* aabbs,
-										__global const b3GpuChildShape* gpuChildShapes,
-										__global b3AlignedObjectArray<b3Float4>& gpuCompoundSepNormalsOut,
-										__global b3AlignedObjectArray<int>& gpuHasCompoundSepNormalsOut,
-										int numCompoundPairs,
-										int i
-										)
+__kernel void processCompoundPairsKernel(__global const b3Int4* gpuCompoundPairs,
+										 __global const b3RigidBodyData* rigidBodies,
+										 __global const b3Collidable* collidables,
+										 __global const b3ConvexPolyhedronData* convexShapes,
+										 __global const b3AlignedObjectArray<b3Float4>& vertices,
+										 __global const b3AlignedObjectArray<b3Float4>& uniqueEdges,
+										 __global const b3AlignedObjectArray<b3GpuFace>& faces,
+										 __global const b3AlignedObjectArray<int>& indices,
+										 __global b3Aabb* aabbs,
+										 __global const b3GpuChildShape* gpuChildShapes,
+										 __global b3AlignedObjectArray<b3Float4>& gpuCompoundSepNormalsOut,
+										 __global b3AlignedObjectArray<int>& gpuHasCompoundSepNormalsOut,
+										 int numCompoundPairs,
+										 int i)
 {
-
-//	int i = get_global_id(0);
-	if (i<numCompoundPairs)
+	//	int i = get_global_id(0);
+	if (i < numCompoundPairs)
 	{
 		int bodyIndexA = gpuCompoundPairs[i].x;
 		int bodyIndexB = gpuCompoundPairs[i].y;
 
 		int childShapeIndexA = gpuCompoundPairs[i].z;
 		int childShapeIndexB = gpuCompoundPairs[i].w;
-		
+
 		int collidableIndexA = -1;
 		int collidableIndexB = -1;
-		
+
 		b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
 		float4 posA = rigidBodies[bodyIndexA].m_pos;
-		
+
 		b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
 		float4 posB = rigidBodies[bodyIndexB].m_pos;
-							
+
 		if (childShapeIndexA >= 0)
 		{
 			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
 			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
-			b3Quat	childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-			float4 newPosA = b3QuatRotate(ornA,childPosA)+posA;
-			b3Quat newOrnA = b3QuatMul(ornA,childOrnA);
+			b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
+			float4 newPosA = b3QuatRotate(ornA, childPosA) + posA;
+			b3Quat newOrnA = b3QuatMul(ornA, childOrnA);
 			posA = newPosA;
 			ornA = newOrnA;
-		} else
+		}
+		else
 		{
 			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
 		}
-		
-		if (childShapeIndexB>=0)
+
+		if (childShapeIndexB >= 0)
 		{
 			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
 			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
 			b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			float4 newPosB = b3QuatRotate(ornB,childPosB)+posB;
-			b3Quat newOrnB = b3QuatMul(ornB,childOrnB);
+			float4 newPosB = b3QuatRotate(ornB, childPosB) + posB;
+			b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
 			posB = newPosB;
 			ornB = newOrnB;
-		} else
+		}
+		else
 		{
-			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	
+			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
 		}
-	
+
 		gpuHasCompoundSepNormalsOut[i] = 0;
-	
+
 		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
 		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-	
+
 		int shapeTypeA = collidables[collidableIndexA].m_shapeType;
 		int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-	
 
 		if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))
 		{
@@ -1959,145 +1851,142 @@ __kernel void   processCompoundPairsKernel( __global const b3Int4* gpuCompoundPa
 		}
 
 		int hasSeparatingAxis = 5;
-							
-	//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
+
+		//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
 		float dmin = FLT_MAX;
 		posA.w = 0.f;
 		posB.w = 0.f;
 		float4 c0local = convexShapes[shapeIndexA].m_localCenter;
 		float4 c0 = transform(&c0local, &posA, &ornA);
 		float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		float4 c1 = transform(&c1local,&posB,&ornB);
+		float4 c1 = transform(&c1local, &posB, &ornB);
 		const float4 DeltaC2 = c0 - c1;
-		float4 sepNormal = make_float4(1,0,0,0);
-//		bool sepA = findSeparatingAxis(	convexShapes[shapeIndexA], convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
-		bool sepA = findSeparatingAxis(	convexShapes[shapeIndexA], convexShapes[shapeIndexB],posA,ornA,posB,ornB,vertices,uniqueEdges,faces,indices,vertices,uniqueEdges,faces,indices,sepNormal);//,&dmin);
-	
+		float4 sepNormal = make_float4(1, 0, 0, 0);
+		//		bool sepA = findSeparatingAxis(	convexShapes[shapeIndexA], convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
+		bool sepA = findSeparatingAxis(convexShapes[shapeIndexA], convexShapes[shapeIndexB], posA, ornA, posB, ornB, vertices, uniqueEdges, faces, indices, vertices, uniqueEdges, faces, indices, sepNormal);  //,&dmin);
+
 		hasSeparatingAxis = 4;
 		if (!sepA)
 		{
 			hasSeparatingAxis = 0;
-		} else
+		}
+		else
 		{
-			bool sepB = findSeparatingAxis(	convexShapes[shapeIndexB],convexShapes[shapeIndexA],posB,ornB,posA,ornA,vertices,uniqueEdges,faces,indices,vertices,uniqueEdges,faces,indices,sepNormal);//,&dmin);
+			bool sepB = findSeparatingAxis(convexShapes[shapeIndexB], convexShapes[shapeIndexA], posB, ornB, posA, ornA, vertices, uniqueEdges, faces, indices, vertices, uniqueEdges, faces, indices, sepNormal);  //,&dmin);
 
 			if (!sepB)
 			{
 				hasSeparatingAxis = 0;
-			} else//(!sepB)
+			}
+			else  //(!sepB)
 			{
-				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);
+				bool sepEE = findSeparatingAxisEdgeEdge(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB], posA, ornA, posB, ornB, DeltaC2, vertices, uniqueEdges, faces, indices, &sepNormal, &dmin);
 				if (sepEE)
 				{
-						gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);
-						gpuHasCompoundSepNormalsOut[i] = 1;
-				}//sepEE
-			}//(!sepB)
-		}//(!sepA)
-		
-		
+					gpuCompoundSepNormalsOut[i] = sepNormal;  //fastNormalize4(sepNormal);
+					gpuHasCompoundSepNormalsOut[i] = 1;
+				}  //sepEE
+			}      //(!sepB)
+		}          //(!sepA)
 	}
-		
 }
 
-
-__kernel void   clipCompoundsHullHullKernel( __global const b3Int4* gpuCompoundPairs, 
-																					__global const b3RigidBodyData* rigidBodies, 
-																					__global const b3Collidable* collidables,
-																					__global const b3ConvexPolyhedronData* convexShapes, 
-																					__global const b3AlignedObjectArray<b3Float4>& vertices,
-																					__global const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-																					__global const b3AlignedObjectArray<b3GpuFace>& faces,
-																					__global const b3AlignedObjectArray<int>& indices,
-																					__global const b3GpuChildShape* gpuChildShapes,
-																					__global const b3AlignedObjectArray<b3Float4>& gpuCompoundSepNormalsOut,
-																					__global const b3AlignedObjectArray<int>& gpuHasCompoundSepNormalsOut,
-																					__global struct b3Contact4Data* globalContactsOut,
-																					int* nGlobalContactsOut,
-																					int numCompoundPairs, int maxContactCapacity, int i)
+__kernel void clipCompoundsHullHullKernel(__global const b3Int4* gpuCompoundPairs,
+										  __global const b3RigidBodyData* rigidBodies,
+										  __global const b3Collidable* collidables,
+										  __global const b3ConvexPolyhedronData* convexShapes,
+										  __global const b3AlignedObjectArray<b3Float4>& vertices,
+										  __global const b3AlignedObjectArray<b3Float4>& uniqueEdges,
+										  __global const b3AlignedObjectArray<b3GpuFace>& faces,
+										  __global const b3AlignedObjectArray<int>& indices,
+										  __global const b3GpuChildShape* gpuChildShapes,
+										  __global const b3AlignedObjectArray<b3Float4>& gpuCompoundSepNormalsOut,
+										  __global const b3AlignedObjectArray<int>& gpuHasCompoundSepNormalsOut,
+										  __global struct b3Contact4Data* globalContactsOut,
+										  int* nGlobalContactsOut,
+										  int numCompoundPairs, int maxContactCapacity, int i)
 {
-
-//	int i = get_global_id(0);
+	//	int i = get_global_id(0);
 	int pairIndex = i;
-	
+
 	float4 worldVertsB1[64];
 	float4 worldVertsB2[64];
-	int capacityWorldVerts = 64;	
+	int capacityWorldVerts = 64;
 
 	float4 localContactsOut[64];
-	int localContactCapacity=64;
-	
+	int localContactCapacity = 64;
+
 	float minDist = -1e30f;
 	float maxDist = 0.0f;
 
-	if (i<numCompoundPairs)
+	if (i < numCompoundPairs)
 	{
-
 		if (gpuHasCompoundSepNormalsOut[i])
 		{
-
 			int bodyIndexA = gpuCompoundPairs[i].x;
 			int bodyIndexB = gpuCompoundPairs[i].y;
-			
+
 			int childShapeIndexA = gpuCompoundPairs[i].z;
 			int childShapeIndexB = gpuCompoundPairs[i].w;
-			
+
 			int collidableIndexA = -1;
 			int collidableIndexB = -1;
-			
+
 			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;
 			float4 posA = rigidBodies[bodyIndexA].m_pos;
-			
+
 			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;
 			float4 posB = rigidBodies[bodyIndexB].m_pos;
-								
+
 			if (childShapeIndexA >= 0)
 			{
 				collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
 				float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;
 				b3Quat childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;
-				float4 newPosA = b3QuatRotate(ornA,childPosA)+posA;
-				b3Quat newOrnA = b3QuatMul(ornA,childOrnA);
+				float4 newPosA = b3QuatRotate(ornA, childPosA) + posA;
+				b3Quat newOrnA = b3QuatMul(ornA, childOrnA);
 				posA = newPosA;
 				ornA = newOrnA;
-			} else
+			}
+			else
 			{
 				collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
 			}
-			
-			if (childShapeIndexB>=0)
+
+			if (childShapeIndexB >= 0)
 			{
 				collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
 				float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-				b3Quat  childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-				float4 newPosB = b3QuatRotate(ornB,childPosB)+posB;
-				b3Quat  newOrnB = b3QuatMul(ornB,childOrnB);
+				b3Quat childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
+				float4 newPosB = b3QuatRotate(ornB, childPosB) + posB;
+				b3Quat newOrnB = b3QuatMul(ornB, childOrnB);
 				posB = newPosB;
 				ornB = newOrnB;
-			} else
+			}
+			else
 			{
-				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	
+				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
 			}
-			
+
 			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
 			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-		
+
 			int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],
-														convexShapes[shapeIndexA], convexShapes[shapeIndexB],
-														posA,ornA,
-													  posB,ornB,
-													  worldVertsB1,worldVertsB2,capacityWorldVerts,
-														minDist, maxDist,
-														vertices,faces,indices,
-														vertices,faces,indices,
-														localContactsOut,localContactCapacity);
-												
-		if (numLocalContactsOut>0)
-		{
+														  convexShapes[shapeIndexA], convexShapes[shapeIndexB],
+														  posA, ornA,
+														  posB, ornB,
+														  worldVertsB1, worldVertsB2, capacityWorldVerts,
+														  minDist, maxDist,
+														  vertices, faces, indices,
+														  vertices, faces, indices,
+														  localContactsOut, localContactCapacity);
+
+			if (numLocalContactsOut > 0)
+			{
 				float4 normal = -gpuCompoundSepNormalsOut[i];
 				int nPoints = numLocalContactsOut;
 				float4* pointsIn = localContactsOut;
-				b3Int4 contactIdx;// = {-1,-1,-1,-1};
+				b3Int4 contactIdx;  // = {-1,-1,-1,-1};
 
 				contactIdx.s[0] = 0;
 				contactIdx.s[1] = 1;
@@ -2105,111 +1994,106 @@ __kernel void   clipCompoundsHullHullKernel( __global const b3Int4* gpuCompoundP
 				contactIdx.s[3] = 3;
 
 				int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-		
+
 				int dstIdx;
-				dstIdx = b3AtomicInc( nGlobalContactsOut);
-				if ((dstIdx+nReducedContacts) < maxContactCapacity)
+				dstIdx = b3AtomicInc(nGlobalContactsOut);
+				if ((dstIdx + nReducedContacts) < maxContactCapacity)
 				{
-					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;
+					__global struct b3Contact4Data* c = globalContactsOut + dstIdx;
 					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);
+					c->m_restituitionCoeffCmp = (0.f * 0xffff);
+					c->m_frictionCoeffCmp = (0.7f * 0xffff);
 					c->m_batchIdx = pairIndex;
 					int bodyA = gpuCompoundPairs[pairIndex].x;
 					int bodyB = gpuCompoundPairs[pairIndex].y;
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;
+					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA;
+					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB;
 					c->m_childIndexA = childShapeIndexA;
 					c->m_childIndexB = childShapeIndexB;
-					for (int i=0;i<nReducedContacts;i++)
+					for (int i = 0; i < nReducedContacts; i++)
 					{
 						c->m_worldPosB[i] = pointsIn[contactIdx.s[i]];
 					}
-					b3Contact4Data_setNumPoints(c,nReducedContacts);
+					b3Contact4Data_setNumPoints(c, nReducedContacts);
 				}
-				
-			}//		if (numContactsOut>0)
-		}//		if (gpuHasCompoundSepNormalsOut[i])
-	}//	if (i<numCompoundPairs)
 
+			}  //		if (numContactsOut>0)
+		}      //		if (gpuHasCompoundSepNormalsOut[i])
+	}          //	if (i<numCompoundPairs)
 }
 
-
 void computeContactCompoundCompound(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3RigidBodyData* rigidBodies, 
-																const b3Collidable* collidables,
-																const b3ConvexPolyhedronData* convexShapes,
-																const b3GpuChildShape* cpuChildShapes,
-																const b3AlignedObjectArray<b3Aabb>& hostAabbsWorldSpace,
-																const b3AlignedObjectArray<b3Aabb>& hostAabbsLocalSpace,
-
-																const b3AlignedObjectArray<b3Vector3>& convexVertices,
-																const b3AlignedObjectArray<b3Vector3>& hostUniqueEdges,
-																const b3AlignedObjectArray<int>& convexIndices,
-																const b3AlignedObjectArray<b3GpuFace>& faces,
-																
-																b3Contact4* globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity,
-																b3AlignedObjectArray<b3QuantizedBvhNode>&	treeNodesCPU,
-																b3AlignedObjectArray<b3BvhSubtreeInfo>&	subTreesCPU,
-																b3AlignedObjectArray<b3BvhInfo>&	bvhInfoCPU
-																)
+									int bodyIndexA, int bodyIndexB,
+									int collidableIndexA, int collidableIndexB,
+									const b3RigidBodyData* rigidBodies,
+									const b3Collidable* collidables,
+									const b3ConvexPolyhedronData* convexShapes,
+									const b3GpuChildShape* cpuChildShapes,
+									const b3AlignedObjectArray<b3Aabb>& hostAabbsWorldSpace,
+									const b3AlignedObjectArray<b3Aabb>& hostAabbsLocalSpace,
+
+									const b3AlignedObjectArray<b3Vector3>& convexVertices,
+									const b3AlignedObjectArray<b3Vector3>& hostUniqueEdges,
+									const b3AlignedObjectArray<int>& convexIndices,
+									const b3AlignedObjectArray<b3GpuFace>& faces,
+
+									b3Contact4* globalContactsOut,
+									int& nGlobalContactsOut,
+									int maxContactCapacity,
+									b3AlignedObjectArray<b3QuantizedBvhNode>& treeNodesCPU,
+									b3AlignedObjectArray<b3BvhSubtreeInfo>& subTreesCPU,
+									b3AlignedObjectArray<b3BvhInfo>& bvhInfoCPU)
 {
-
 	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
 	b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
 
 	b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
-	int numCompoundPairsOut=0;
-	int maxNumCompoundPairsCapacity = 8192;//1024;
+	int numCompoundPairsOut = 0;
+	int maxNumCompoundPairsCapacity = 8192;  //1024;
 	cpuCompoundPairsOut.resize(maxNumCompoundPairsCapacity);
 
 	// work-in-progress
-	findCompoundPairsKernel( 
-							pairIndex,
-							bodyIndexA,bodyIndexB,
-							collidableIndexA,collidableIndexB,
-							rigidBodies, 
-							collidables,
-							convexShapes, 
-							convexVertices,
-							hostAabbsWorldSpace,
-							hostAabbsLocalSpace,
-							cpuChildShapes,
-							&cpuCompoundPairsOut[0],
-							&numCompoundPairsOut,
-							maxNumCompoundPairsCapacity	,
-							treeNodesCPU,
-							subTreesCPU,
-							bvhInfoCPU
-							);
-
-	printf("maxNumAabbChecks=%d\n",maxNumAabbChecks);
-	if (numCompoundPairsOut>maxNumCompoundPairsCapacity)
+	findCompoundPairsKernel(
+		pairIndex,
+		bodyIndexA, bodyIndexB,
+		collidableIndexA, collidableIndexB,
+		rigidBodies,
+		collidables,
+		convexShapes,
+		convexVertices,
+		hostAabbsWorldSpace,
+		hostAabbsLocalSpace,
+		cpuChildShapes,
+		&cpuCompoundPairsOut[0],
+		&numCompoundPairsOut,
+		maxNumCompoundPairsCapacity,
+		treeNodesCPU,
+		subTreesCPU,
+		bvhInfoCPU);
+
+	printf("maxNumAabbChecks=%d\n", maxNumAabbChecks);
+	if (numCompoundPairsOut > maxNumCompoundPairsCapacity)
 	{
-		b3Error("numCompoundPairsOut exceeded maxNumCompoundPairsCapacity (%d)\n",maxNumCompoundPairsCapacity);
-		numCompoundPairsOut=maxNumCompoundPairsCapacity;
+		b3Error("numCompoundPairsOut exceeded maxNumCompoundPairsCapacity (%d)\n", maxNumCompoundPairsCapacity);
+		numCompoundPairsOut = maxNumCompoundPairsCapacity;
 	}
 	b3AlignedObjectArray<b3Float4> cpuCompoundSepNormalsOut;
 	b3AlignedObjectArray<int> cpuHasCompoundSepNormalsOut;
 	cpuCompoundSepNormalsOut.resize(numCompoundPairsOut);
 	cpuHasCompoundSepNormalsOut.resize(numCompoundPairsOut);
 
-	for (int i=0;i<numCompoundPairsOut;i++)
+	for (int i = 0; i < numCompoundPairsOut; i++)
 	{
-
-		processCompoundPairsKernel(&cpuCompoundPairsOut[0],rigidBodies,collidables,convexShapes,convexVertices,hostUniqueEdges,faces,convexIndices,0,cpuChildShapes,
-			cpuCompoundSepNormalsOut,cpuHasCompoundSepNormalsOut,numCompoundPairsOut,i);
+		processCompoundPairsKernel(&cpuCompoundPairsOut[0], rigidBodies, collidables, convexShapes, convexVertices, hostUniqueEdges, faces, convexIndices, 0, cpuChildShapes,
+								   cpuCompoundSepNormalsOut, cpuHasCompoundSepNormalsOut, numCompoundPairsOut, i);
 	}
 
-	for (int i=0;i<numCompoundPairsOut;i++)
+	for (int i = 0; i < numCompoundPairsOut; i++)
 	{
-		clipCompoundsHullHullKernel(&cpuCompoundPairsOut[0],rigidBodies,collidables,convexShapes,convexVertices,hostUniqueEdges,faces,convexIndices,cpuChildShapes,
-			cpuCompoundSepNormalsOut,cpuHasCompoundSepNormalsOut,globalContactsOut,&nGlobalContactsOut,numCompoundPairsOut,maxContactCapacity,i);
+		clipCompoundsHullHullKernel(&cpuCompoundPairsOut[0], rigidBodies, collidables, convexShapes, convexVertices, hostUniqueEdges, faces, convexIndices, cpuChildShapes,
+									cpuCompoundSepNormalsOut, cpuHasCompoundSepNormalsOut, globalContactsOut, &nGlobalContactsOut, numCompoundPairsOut, maxContactCapacity, i);
 	}
-		/*
+	/*
 		int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;
 
 					float4 posA = rigidBodies[bodyIndexA].m_pos;
@@ -2235,7 +2119,6 @@ void computeContactCompoundCompound(int pairIndex,
 							);
 							*/
 
-	
 	/*
 	if (foundSepAxis)
 	{
@@ -2271,8 +2154,8 @@ void computeContactCompoundCompound(int pairIndex,
 	}
 	*/
 
-//	return contactIndex;
-	
+	//	return contactIndex;
+
 	/*
 
 	int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
@@ -2294,56 +2177,52 @@ void computeContactCompoundCompound(int pairIndex,
 
 	}
 	*/
-
 }
 
 void computeContactPlaneCompound(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3RigidBodyData* rigidBodies, 
-																const b3Collidable* collidables,
-																const b3ConvexPolyhedronData* convexShapes,
-																const b3GpuChildShape* cpuChildShapes,
-																const b3Vector3* convexVertices,
-																const int* convexIndices,
-																const b3GpuFace* faces,
-																
-																b3Contact4* globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity)
+								 int bodyIndexA, int bodyIndexB,
+								 int collidableIndexA, int collidableIndexB,
+								 const b3RigidBodyData* rigidBodies,
+								 const b3Collidable* collidables,
+								 const b3ConvexPolyhedronData* convexShapes,
+								 const b3GpuChildShape* cpuChildShapes,
+								 const b3Vector3* convexVertices,
+								 const int* convexIndices,
+								 const b3GpuFace* faces,
+
+								 b3Contact4* globalContactsOut,
+								 int& nGlobalContactsOut,
+								 int maxContactCapacity)
 {
-
 	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
 	b3Assert(shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS);
 
-
 	int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-	for (int c=0;c<numChildrenB;c++)
+	for (int c = 0; c < numChildrenB; c++)
 	{
-		int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+c;
+		int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + c;
 		int childColIndexB = cpuChildShapes[childShapeIndexB].m_shapeIndex;
 
 		float4 rootPosB = rigidBodies[bodyIndexB].m_pos;
 		b3Quaternion rootOrnB = rigidBodies[bodyIndexB].m_quat;
 		b3Vector3 childPosB = cpuChildShapes[childShapeIndexB].m_childPosition;
 		b3Quaternion childOrnB = cpuChildShapes[childShapeIndexB].m_childOrientation;
-		float4  posB = b3QuatRotate(rootOrnB,childPosB)+rootPosB;
-		b3Quaternion ornB = rootOrnB*childOrnB;//b3QuatMul(ornB,childOrnB);
+		float4 posB = b3QuatRotate(rootOrnB, childPosB) + rootPosB;
+		b3Quaternion ornB = rootOrnB * childOrnB;  //b3QuatMul(ornB,childOrnB);
 
 		int shapeIndexB = collidables[childColIndexB].m_shapeIndex;
 
 		const b3ConvexPolyhedronData* hullB = &convexShapes[shapeIndexB];
-	
-		
+
 		b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
 		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
 
-	//	int numContactsOut = 0;
-	//	int numWorldVertsB1= 0;
+		//	int numContactsOut = 0;
+		//	int numWorldVertsB1= 0;
 
 		b3Vector3 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;
-		b3Vector3 planeNormal=b3MakeVector3(planeEq.x,planeEq.y,planeEq.z);
-		b3Vector3 planeNormalWorld = b3QuatRotate(ornA,planeNormal);
+		b3Vector3 planeNormal = b3MakeVector3(planeEq.x, planeEq.y, planeEq.z);
+		b3Vector3 planeNormalWorld = b3QuatRotate(ornA, planeNormal);
 		float planeConstant = planeEq.w;
 		b3Transform convexWorldTransform;
 		convexWorldTransform.setIdentity();
@@ -2355,16 +2234,16 @@ void computeContactPlaneCompound(int pairIndex,
 		planeTransform.setRotation(ornA);
 
 		b3Transform planeInConvex;
-		planeInConvex= convexWorldTransform.inverse() * planeTransform;
+		planeInConvex = convexWorldTransform.inverse() * planeTransform;
 		b3Transform convexInPlane;
 		convexInPlane = planeTransform.inverse() * convexWorldTransform;
-	
-		b3Vector3 planeNormalInConvex = planeInConvex.getBasis()*-planeNormal;
+
+		b3Vector3 planeNormalInConvex = planeInConvex.getBasis() * -planeNormal;
 		float maxDot = -1e30;
-		int hitVertex=-1;
+		int hitVertex = -1;
 		b3Vector3 hitVtx;
 
-	#define MAX_PLANE_CONVEX_POINTS 64
+#define MAX_PLANE_CONVEX_POINTS 64
 
 		b3Vector3 contactPoints[MAX_PLANE_CONVEX_POINTS];
 		int numPoints = 0;
@@ -2374,54 +2253,52 @@ void computeContactPlaneCompound(int pairIndex,
 		contactIdx.s[1] = 1;
 		contactIdx.s[2] = 2;
 		contactIdx.s[3] = 3;
-	
-		for (int i=0;i<hullB->m_numVertices;i++)
+
+		for (int i = 0; i < hullB->m_numVertices; i++)
 		{
-			b3Vector3 vtx = convexVertices[hullB->m_vertexOffset+i];
+			b3Vector3 vtx = convexVertices[hullB->m_vertexOffset + i];
 			float curDot = vtx.dot(planeNormalInConvex);
 
-
-			if (curDot>maxDot)
+			if (curDot > maxDot)
 			{
-				hitVertex=i;
-				maxDot=curDot;
+				hitVertex = i;
+				maxDot = curDot;
 				hitVtx = vtx;
 				//make sure the deepest points is always included
-				if (numPoints==MAX_PLANE_CONVEX_POINTS)
+				if (numPoints == MAX_PLANE_CONVEX_POINTS)
 					numPoints--;
 			}
 
-			if (numPoints<MAX_PLANE_CONVEX_POINTS)
+			if (numPoints < MAX_PLANE_CONVEX_POINTS)
 			{
-				b3Vector3 vtxWorld = convexWorldTransform*vtx;
-				b3Vector3 vtxInPlane = planeTransform.inverse()*vtxWorld;
-				float dist = planeNormal.dot(vtxInPlane)-planeConstant;
-				if (dist<0.f)
+				b3Vector3 vtxWorld = convexWorldTransform * vtx;
+				b3Vector3 vtxInPlane = planeTransform.inverse() * vtxWorld;
+				float dist = planeNormal.dot(vtxInPlane) - planeConstant;
+				if (dist < 0.f)
 				{
 					vtxWorld.w = dist;
 					contactPoints[numPoints] = vtxWorld;
 					numPoints++;
 				}
 			}
-
 		}
 
-		int numReducedPoints  = 0;
+		int numReducedPoints = 0;
 
 		numReducedPoints = numPoints;
-	
-		if (numPoints>4)
+
+		if (numPoints > 4)
 		{
-			numReducedPoints = extractManifoldSequentialGlobal( contactPoints, numPoints, planeNormalInConvex, &contactIdx);
+			numReducedPoints = extractManifoldSequentialGlobal(contactPoints, numPoints, planeNormalInConvex, &contactIdx);
 		}
 		int dstIdx;
-	//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-		
-		if (numReducedPoints>0)
+		//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
+
+		if (numReducedPoints > 0)
 		{
 			if (nGlobalContactsOut < maxContactCapacity)
 			{
-				dstIdx=nGlobalContactsOut;
+				dstIdx = nGlobalContactsOut;
 				nGlobalContactsOut++;
 
 				b3Contact4* c = &globalContactsOut[dstIdx];
@@ -2430,48 +2307,37 @@ void computeContactPlaneCompound(int pairIndex,
 				c->setRestituitionCoeff(0.f);
 
 				c->m_batchIdx = pairIndex;
-				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-				for (int i=0;i<numReducedPoints;i++)
+				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
+				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
+				for (int i = 0; i < numReducedPoints; i++)
 				{
 					b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
 					c->m_worldPosB[i] = pOnB1;
 				}
 				c->m_worldNormalOnB.w = (b3Scalar)numReducedPoints;
-			}//if (dstIdx < numPairs)
-		}	
-		
+			}  //if (dstIdx < numPairs)
+		}
 	}
-
-	
 }
 
-
-
-
-
-void	computeContactSphereConvex(int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3RigidBodyData* rigidBodies, 
-																const b3Collidable* collidables,
-																const b3ConvexPolyhedronData* convexShapes,
-																const b3Vector3* convexVertices,
-																const int* convexIndices,
-																const b3GpuFace* faces,
-																b3Contact4* globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity)
+void computeContactSphereConvex(int pairIndex,
+								int bodyIndexA, int bodyIndexB,
+								int collidableIndexA, int collidableIndexB,
+								const b3RigidBodyData* rigidBodies,
+								const b3Collidable* collidables,
+								const b3ConvexPolyhedronData* convexShapes,
+								const b3Vector3* convexVertices,
+								const int* convexIndices,
+								const b3GpuFace* faces,
+								b3Contact4* globalContactsOut,
+								int& nGlobalContactsOut,
+								int maxContactCapacity)
 {
-
 	float radius = collidables[collidableIndexA].m_radius;
 	float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
 	b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
 
-
-
 	float4 pos = rigidBodies[bodyIndexB].m_pos;
-	
 
 	b3Quaternion quat = rigidBodies[bodyIndexB].m_quat;
 
@@ -2487,64 +2353,65 @@ void	computeContactSphereConvex(int pairIndex,
 	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
 	int numFaces = convexShapes[shapeIndex].m_numFaces;
 	float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
-//	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
-	float minDist = -1000000.f; // TODO: What is the largest/smallest float?
+	//	float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
+	float minDist = -1000000.f;  // TODO: What is the largest/smallest float?
 	bool bCollide = true;
 	int region = -1;
 	float4 localHitNormal;
-	for ( int f = 0; f < numFaces; f++ )
+	for (int f = 0; f < numFaces; f++)
 	{
-		b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];
+		b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f];
 		float4 planeEqn;
-		float4 localPlaneNormal = b3MakeVector3(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);
-		float4 n1 = localPlaneNormal;//quatRotate(quat,localPlaneNormal);
+		float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
+		float4 n1 = localPlaneNormal;  //quatRotate(quat,localPlaneNormal);
 		planeEqn = n1;
 		planeEqn[3] = face.m_plane.w;
 
 		float4 pntReturn;
 		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
 
-		if ( dist > radius)
+		if (dist > radius)
 		{
 			bCollide = false;
 			break;
 		}
 
-		if ( dist > 0 )
+		if (dist > 0)
 		{
 			//might hit an edge or vertex
 			b3Vector3 out;
 
 			bool isInPoly = IsPointInPolygon(spherePos,
-					&face,
-					&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
-					convexIndices,
-                    &out);
+											 &face,
+											 &convexVertices[convexShapes[shapeIndex].m_vertexOffset],
+											 convexIndices,
+											 &out);
 			if (isInPoly)
 			{
-				if (dist>minDist)
+				if (dist > minDist)
 				{
 					minDist = dist;
 					closestPnt = pntReturn;
 					localHitNormal = planeEqn;
-					region=1;
+					region = 1;
 				}
-			} else
+			}
+			else
 			{
-				b3Vector3 tmp = spherePos-out;
+				b3Vector3 tmp = spherePos - out;
 				b3Scalar l2 = tmp.length2();
-				if (l2<radius*radius)
+				if (l2 < radius * radius)
 				{
-					dist  = b3Sqrt(l2);
-					if (dist>minDist)
+					dist = b3Sqrt(l2);
+					if (dist > minDist)
 					{
 						minDist = dist;
 						closestPnt = out;
-						localHitNormal = tmp/dist;
-						region=2;
+						localHitNormal = tmp / dist;
+						region = 2;
 					}
-					
-				} else
+				}
+				else
 				{
 					bCollide = false;
 					break;
@@ -2553,12 +2420,12 @@ void	computeContactSphereConvex(int pairIndex,
 		}
 		else
 		{
-			if ( dist > minDist )
+			if (dist > minDist)
 			{
 				minDist = dist;
 				closestPnt = pntReturn;
 				localHitNormal = planeEqn;
-				region=3;
+				region = 3;
 			}
 		}
 	}
@@ -2567,128 +2434,113 @@ void	computeContactSphereConvex(int pairIndex,
 
 	if (bCollide && minDist > -10000)
 	{
-		
-		float4 normalOnSurfaceB1 = tr.getBasis()*localHitNormal;//-hitNormalWorld;
+		float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal;  //-hitNormalWorld;
 		float4 pOnB1 = tr(closestPnt);
 		//printf("dist ,%f,",minDist);
-		float actualDepth = minDist-radius;
-		if (actualDepth<0)
+		float actualDepth = minDist - radius;
+		if (actualDepth < 0)
 		{
-		//printf("actualDepth = ,%f,", actualDepth);
-		//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
-		//printf("region=,%d,\n", region);
-		pOnB1[3] = actualDepth;
+			//printf("actualDepth = ,%f,", actualDepth);
+			//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
+			//printf("region=,%d,\n", region);
+			pOnB1[3] = actualDepth;
 
-		int dstIdx;
-//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
-		
-		if (nGlobalContactsOut < maxContactCapacity)
-		{
-			dstIdx=nGlobalContactsOut;
-			nGlobalContactsOut++;
+			int dstIdx;
+			//    dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
 
-			b3Contact4* c = &globalContactsOut[dstIdx];
-			c->m_worldNormalOnB = normalOnSurfaceB1;
-			c->setFrictionCoeff(0.7);
-			c->setRestituitionCoeff(0.f);
+			if (nGlobalContactsOut < maxContactCapacity)
+			{
+				dstIdx = nGlobalContactsOut;
+				nGlobalContactsOut++;
 
-			c->m_batchIdx = pairIndex;
-			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
-			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
-			c->m_worldPosB[0] = pOnB1;
-			int numPoints = 1;
-			c->m_worldNormalOnB.w = (b3Scalar)numPoints;
-		}//if (dstIdx < numPairs)
+				b3Contact4* c = &globalContactsOut[dstIdx];
+				c->m_worldNormalOnB = normalOnSurfaceB1;
+				c->setFrictionCoeff(0.7);
+				c->setRestituitionCoeff(0.f);
+
+				c->m_batchIdx = pairIndex;
+				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
+				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
+				c->m_worldPosB[0] = pOnB1;
+				int numPoints = 1;
+				c->m_worldNormalOnB.w = (b3Scalar)numPoints;
+			}  //if (dstIdx < numPairs)
 		}
-	}//if (hasCollision)
-	
+	}  //if (hasCollision)
 }
 
-
-
-
 int computeContactConvexConvex2(
-																int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies, 
-																const b3AlignedObjectArray<b3Collidable>& collidables,
-																const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
-																const b3AlignedObjectArray<b3Vector3>& convexVertices,
-																const b3AlignedObjectArray<b3Vector3>& uniqueEdges,
-																const b3AlignedObjectArray<int>& convexIndices,
-																const b3AlignedObjectArray<b3GpuFace>& faces,
-																b3AlignedObjectArray<b3Contact4>& globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity,
-																const b3AlignedObjectArray<b3Contact4>& oldContacts
-																)
+	int pairIndex,
+	int bodyIndexA, int bodyIndexB,
+	int collidableIndexA, int collidableIndexB,
+	const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies,
+	const b3AlignedObjectArray<b3Collidable>& collidables,
+	const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
+	const b3AlignedObjectArray<b3Vector3>& convexVertices,
+	const b3AlignedObjectArray<b3Vector3>& uniqueEdges,
+	const b3AlignedObjectArray<int>& convexIndices,
+	const b3AlignedObjectArray<b3GpuFace>& faces,
+	b3AlignedObjectArray<b3Contact4>& globalContactsOut,
+	int& nGlobalContactsOut,
+	int maxContactCapacity,
+	const b3AlignedObjectArray<b3Contact4>& oldContacts)
 {
 	int contactIndex = -1;
 	b3Vector3 posA = rigidBodies[bodyIndexA].m_pos;
 	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
 	b3Vector3 posB = rigidBodies[bodyIndexB].m_pos;
 	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-	
 
 	b3ConvexPolyhedronData hullA, hullB;
-    
+
 	b3Vector3 sepNormalWorldSpace;
 
-	
+	b3Collidable colA = collidables[collidableIndexA];
+	hullA = convexShapes[colA.m_shapeIndex];
+	//printf("numvertsA = %d\n",hullA.m_numVertices);
 
-    b3Collidable colA = collidables[collidableIndexA];
-    hullA = convexShapes[colA.m_shapeIndex];
-    //printf("numvertsA = %d\n",hullA.m_numVertices);
-    
-    
-    b3Collidable colB = collidables[collidableIndexB];
-    hullB = convexShapes[colB.m_shapeIndex];
-    //printf("numvertsB = %d\n",hullB.m_numVertices);
+	b3Collidable colB = collidables[collidableIndexB];
+	hullB = convexShapes[colB.m_shapeIndex];
+	//printf("numvertsB = %d\n",hullB.m_numVertices);
 
-//	int contactCapacity = MAX_VERTS;
+	//	int contactCapacity = MAX_VERTS;
 	//int numContactsOut=0;
 
-
 #ifdef _WIN32
 	b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x));
 	b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x));
 #endif
-	
-		bool foundSepAxis = findSeparatingAxis(hullA,hullB,
-							posA,
-							ornA,
-							posB,
-							ornB,
 
-							convexVertices,uniqueEdges,faces,convexIndices,
-							convexVertices,uniqueEdges,faces,convexIndices,
-							
-							sepNormalWorldSpace
-							);
+	bool foundSepAxis = findSeparatingAxis(hullA, hullB,
+										   posA,
+										   ornA,
+										   posB,
+										   ornB,
+
+										   convexVertices, uniqueEdges, faces, convexIndices,
+										   convexVertices, uniqueEdges, faces, convexIndices,
+
+										   sepNormalWorldSpace);
 
-	
 	if (foundSepAxis)
 	{
-		
-		
 		contactIndex = clipHullHullSingle(
 			bodyIndexA, bodyIndexB,
-						   posA,ornA,
-						   posB,ornB,
+			posA, ornA,
+			posB, ornB,
 			collidableIndexA, collidableIndexB,
-			&rigidBodies, 
+			&rigidBodies,
 			&globalContactsOut,
 			nGlobalContactsOut,
-			
+
 			convexShapes,
 			convexShapes,
-	
-			convexVertices, 
-			uniqueEdges, 
+
+			convexVertices,
+			uniqueEdges,
 			faces,
 			convexIndices,
-	
+
 			convexVertices,
 			uniqueEdges,
 			faces,
@@ -2698,50 +2550,42 @@ int computeContactConvexConvex2(
 			collidables,
 			sepNormalWorldSpace,
 			maxContactCapacity);
-			
 	}
 
 	return contactIndex;
 }
 
-
-
-
-
-																
-																
-void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs,
-			const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
-			const b3OpenCLArray<b3Contact4>* oldContacts,
-			int maxContactCapacity,
-			int compoundPairCapacity,
-			const b3OpenCLArray<b3ConvexPolyhedronData>& convexData,
-			const b3OpenCLArray<b3Vector3>& gpuVertices,
-			const b3OpenCLArray<b3Vector3>& gpuUniqueEdges,
-			const b3OpenCLArray<b3GpuFace>& gpuFaces,
-			const b3OpenCLArray<int>& gpuIndices,
-			const b3OpenCLArray<b3Collidable>& gpuCollidables,
-			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
-
-			const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
-			const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
-
-            b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
-            b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
-            b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
-            b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
-            b3OpenCLArray<b3Vector3>& worldVertsB2GPU,    
-			b3AlignedObjectArray<class b3OptimizedBvh*>& bvhDataUnused,
-			b3OpenCLArray<b3QuantizedBvhNode>*	treeNodesGPU,
-			b3OpenCLArray<b3BvhSubtreeInfo>*	subTreesGPU,
-			b3OpenCLArray<b3BvhInfo>*	bvhInfo,
-
-			int numObjects,
-			int maxTriConvexPairCapacity,
-			b3OpenCLArray<b3Int4>& triangleConvexPairsOut,
-			int& numTriConvexPairsOut
-			)
+void GpuSatCollision::computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
+														const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
+														b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
+														const b3OpenCLArray<b3Contact4>* oldContacts,
+														int maxContactCapacity,
+														int compoundPairCapacity,
+														const b3OpenCLArray<b3ConvexPolyhedronData>& convexData,
+														const b3OpenCLArray<b3Vector3>& gpuVertices,
+														const b3OpenCLArray<b3Vector3>& gpuUniqueEdges,
+														const b3OpenCLArray<b3GpuFace>& gpuFaces,
+														const b3OpenCLArray<int>& gpuIndices,
+														const b3OpenCLArray<b3Collidable>& gpuCollidables,
+														const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
+
+														const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
+														const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
+
+														b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
+														b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
+														b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
+														b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
+														b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
+														b3AlignedObjectArray<class b3OptimizedBvh*>& bvhDataUnused,
+														b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
+														b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
+														b3OpenCLArray<b3BvhInfo>* bvhInfo,
+
+														int numObjects,
+														int maxTriConvexPairCapacity,
+														b3OpenCLArray<b3Int4>& triangleConvexPairsOut,
+														int& numTriConvexPairsOut)
 {
 	myframecount++;
 
@@ -2750,14 +2594,13 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 #ifdef CHECK_ON_HOST
 
-
-	b3AlignedObjectArray<b3QuantizedBvhNode>	treeNodesCPU;
+	b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
 	treeNodesGPU->copyToHost(treeNodesCPU);
 
-	b3AlignedObjectArray<b3BvhSubtreeInfo>	subTreesCPU;
+	b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
 	subTreesGPU->copyToHost(subTreesCPU);
 
-	b3AlignedObjectArray<b3BvhInfo>	bvhInfoCPU;
+	b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
 	bvhInfo->copyToHost(bvhInfoCPU);
 
 	b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
@@ -2772,8 +2615,6 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 	b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
 	bodyBuf->copyToHost(hostBodyBuf);
 
-	
-
 	b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
 	convexData.copyToHost(hostConvexData);
 
@@ -2788,10 +2629,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 	gpuIndices.copyToHost(hostIndices);
 	b3AlignedObjectArray<b3Collidable> hostCollidables;
 	gpuCollidables.copyToHost(hostCollidables);
-	
+
 	b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
 	gpuChildShapes.copyToHost(cpuChildShapes);
-	
 
 	b3AlignedObjectArray<b3Int4> hostTriangleConvexPairs;
 
@@ -2802,16 +2642,15 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 	}
 
 	b3AlignedObjectArray<b3Contact4> oldHostContacts;
-	
+
 	if (oldContacts->size())
 	{
 		oldContacts->copyToHost(oldHostContacts);
 	}
 
-
 	hostContacts.resize(maxContactCapacity);
 
-	for (int i=0;i<nPairs;i++)
+	for (int i = 0; i < nPairs; i++)
 	{
 		int bodyIndexA = hostPairs[i].x;
 		int bodyIndexB = hostPairs[i].y;
@@ -2821,84 +2660,73 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
 		{
-			computeContactSphereConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
-				&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			computeContactSphereConvex(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, &hostBodyBuf[0],
+									   &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
 		}
 
 		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)
 		{
-			computeContactSphereConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
-				&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
+			computeContactSphereConvex(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
+									   &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
 			//printf("convex-sphere\n");
-			
 		}
 
 		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
 		{
-			computeContactPlaneConvex(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
-			&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("convex-plane\n");
-			
+			computeContactPlaneConvex(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
+									  &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
+			//			printf("convex-plane\n");
 		}
 
 		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
 		{
-			computeContactPlaneConvex(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
-			&hostCollidables[0],&hostConvexData[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("plane-convex\n");
-			
+			computeContactPlaneConvex(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, &hostBodyBuf[0],
+									  &hostCollidables[0], &hostConvexData[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
+			//			printf("plane-convex\n");
 		}
 
-			if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
+		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 		{
-			computeContactCompoundCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
-			&hostCollidables[0],&hostConvexData[0],&cpuChildShapes[0], hostAabbsWorldSpace,hostAabbsLocalSpace,hostVertices,hostUniqueEdges,hostIndices,hostFaces,&hostContacts[0],
-			nContacts,maxContactCapacity,treeNodesCPU,subTreesCPU,bvhInfoCPU);	
-//			printf("convex-plane\n");
-			
+			computeContactCompoundCompound(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
+										   &hostCollidables[0], &hostConvexData[0], &cpuChildShapes[0], hostAabbsWorldSpace, hostAabbsLocalSpace, hostVertices, hostUniqueEdges, hostIndices, hostFaces, &hostContacts[0],
+										   nContacts, maxContactCapacity, treeNodesCPU, subTreesCPU, bvhInfoCPU);
+			//			printf("convex-plane\n");
 		}
 
-
-				if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
+		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_PLANE)
 		{
-			computeContactPlaneCompound(i,bodyIndexB,bodyIndexA,collidableIndexB,collidableIndexA,&hostBodyBuf[0],
-			&hostCollidables[0],&hostConvexData[0],&cpuChildShapes[0], &hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("convex-plane\n");
-			
+			computeContactPlaneCompound(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, &hostBodyBuf[0],
+										&hostCollidables[0], &hostConvexData[0], &cpuChildShapes[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
+			//			printf("convex-plane\n");
 		}
 
 		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
 		{
-			computeContactPlaneCompound(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,&hostBodyBuf[0],
-			&hostCollidables[0],&hostConvexData[0],&cpuChildShapes[0],&hostVertices[0],&hostIndices[0],&hostFaces[0],&hostContacts[0],nContacts,maxContactCapacity);
-//			printf("plane-convex\n");
-			
+			computeContactPlaneCompound(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, &hostBodyBuf[0],
+										&hostCollidables[0], &hostConvexData[0], &cpuChildShapes[0], &hostVertices[0], &hostIndices[0], &hostFaces[0], &hostContacts[0], nContacts, maxContactCapacity);
+			//			printf("plane-convex\n");
 		}
 
 		if (hostCollidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
 		{
 			//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
-			int contactIndex = computeContactConvexConvex2(           i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
+			int contactIndex = computeContactConvexConvex2(i, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, hostBodyBuf, hostCollidables, hostConvexData, hostVertices, hostUniqueEdges, hostIndices, hostFaces, hostContacts, nContacts, maxContactCapacity, oldHostContacts);
 			//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
 
-
-			if (contactIndex>=0)
+			if (contactIndex >= 0)
 			{
-//				printf("convex convex contactIndex = %d\n",contactIndex);
+				//				printf("convex convex contactIndex = %d\n",contactIndex);
 				hostPairs[i].z = contactIndex;
 			}
-//			printf("plane-convex\n");
-			
+			//			printf("plane-convex\n");
 		}
-
-
 	}
 
 	if (hostPairs.size())
@@ -2908,81 +2736,76 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 	hostContacts.resize(nContacts);
 	if (nContacts)
-		{
-			
-			contactOut->copyFromHost(hostContacts);
-		} else
+	{
+		contactOut->copyFromHost(hostContacts);
+	}
+	else
 	{
 		contactOut->resize(0);
-		}
+	}
 
-		m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
-		//printf("(HOST) nContacts = %d\n",nContacts);
+	m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
+	//printf("(HOST) nContacts = %d\n",nContacts);
 
 #else
 
 	{
 		if (nPairs)
 		{
-			m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
+			m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
 
 			B3_PROFILE("primitiveContactsKernel");
 			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL( pairs->getBufferCL(), true ), 
-				b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-				b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-				b3BufferInfoCL( convexData.getBufferCL(),true),
-				b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-				b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-				b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-				b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-				b3BufferInfoCL( contactOut->getBufferCL()),
-				b3BufferInfoCL( m_totalContactsOut.getBufferCL())	
-			};
-			
-			b3LauncherCL launcher(m_queue, m_primitiveContactsKernel,"m_primitiveContactsKernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst( nPairs  );
+				b3BufferInfoCL(pairs->getBufferCL(), true),
+				b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+				b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+				b3BufferInfoCL(convexData.getBufferCL(), true),
+				b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+				b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+				b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+				b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+				b3BufferInfoCL(contactOut->getBufferCL()),
+				b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+
+			b3LauncherCL launcher(m_queue, m_primitiveContactsKernel, "m_primitiveContactsKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(nPairs);
 			launcher.setConst(maxContactCapacity);
 			int num = nPairs;
-			launcher.launch1D( num);
+			launcher.launch1D(num);
 			clFinish(m_queue);
-		
+
 			nContacts = m_totalContactsOut.at(0);
 			contactOut->resize(nContacts);
 		}
 	}
 
-	
-#endif//CHECK_ON_HOST
-	
+#endif  //CHECK_ON_HOST
+
 	B3_PROFILE("computeConvexConvexContactsGPUSAT");
-   // printf("nContacts = %d\n",nContacts);
-    
-	
+	// printf("nContacts = %d\n",nContacts);
+
 	m_sepNormals.resize(nPairs);
 	m_hasSeparatingNormals.resize(nPairs);
-	
-	int concaveCapacity=maxTriConvexPairCapacity;
+
+	int concaveCapacity = maxTriConvexPairCapacity;
 	m_concaveSepNormals.resize(concaveCapacity);
 	m_concaveHasSeparatingNormals.resize(concaveCapacity);
 	m_numConcavePairsOut.resize(0);
 	m_numConcavePairsOut.push_back(0);
 
-	
 	m_gpuCompoundPairs.resize(compoundPairCapacity);
 
 	m_gpuCompoundSepNormals.resize(compoundPairCapacity);
-	
-	
+
 	m_gpuHasCompoundSepNormals.resize(compoundPairCapacity);
-	
+
 	m_numCompoundPairsOut.resize(0);
 	m_numCompoundPairsOut.push_back(0);
 
 	int numCompoundPairs = 0;
 
-	int numConcavePairs =0;
+	int numConcavePairs = 0;
 
 	{
 		clFinish(m_queue);
@@ -2991,33 +2814,30 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 			m_dmins.resize(nPairs);
 			if (splitSearchSepAxisConvex)
 			{
-					
-
 				if (useMprGpu)
 				{
 					nContacts = m_totalContactsOut.at(0);
 					{
 						B3_PROFILE("mprPenetrationKernel");
-						b3BufferInfoCL bInfo[] = { 
-							b3BufferInfoCL( pairs->getBufferCL(), true ), 
-							b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-							b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-							b3BufferInfoCL( convexData.getBufferCL(),true),
-							b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-							b3BufferInfoCL( m_sepNormals.getBufferCL()),
-							b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL( contactOut->getBufferCL()),
-							b3BufferInfoCL( m_totalContactsOut.getBufferCL())
-						};
-
-						b3LauncherCL launcher(m_queue, m_mprPenetrationKernel,"mprPenetrationKernel");
-						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+						b3BufferInfoCL bInfo[] = {
+							b3BufferInfoCL(pairs->getBufferCL(), true),
+							b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+							b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+							b3BufferInfoCL(convexData.getBufferCL(), true),
+							b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+							b3BufferInfoCL(m_sepNormals.getBufferCL()),
+							b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+							b3BufferInfoCL(contactOut->getBufferCL()),
+							b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+
+						b3LauncherCL launcher(m_queue, m_mprPenetrationKernel, "mprPenetrationKernel");
+						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 
 						launcher.setConst(maxContactCapacity);
-						launcher.setConst( nPairs  );
+						launcher.setConst(nPairs);
 
 						int num = nPairs;
-						launcher.launch1D( num);
+						launcher.launch1D(num);
 						clFinish(m_queue);
 						/*
 						b3AlignedObjectArray<int>hostHasSepAxis;
@@ -3027,173 +2847,160 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 						*/
 						nContacts = m_totalContactsOut.at(0);
 						contactOut->resize(nContacts);
-					//	printf("nContacts (after mprPenetrationKernel) = %d\n",nContacts);
-						if (nContacts>maxContactCapacity)
+						//	printf("nContacts (after mprPenetrationKernel) = %d\n",nContacts);
+						if (nContacts > maxContactCapacity)
 						{
-                
 							b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
 							nContacts = maxContactCapacity;
 						}
-
 					}
 				}
-				
+
 				if (1)
 				{
-
 					if (1)
 					{
-					{
-						B3_PROFILE("findSeparatingAxisVertexFaceKernel");
-						b3BufferInfoCL bInfo[] = { 
-							b3BufferInfoCL( pairs->getBufferCL(), true ), 
-							b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-							b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-							b3BufferInfoCL( convexData.getBufferCL(),true),
-							b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-							b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-							b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-							b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-							b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-							b3BufferInfoCL( m_sepNormals.getBufferCL()),
-							b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL( m_dmins.getBufferCL())
-						};
-
-						b3LauncherCL launcher(m_queue, m_findSeparatingAxisVertexFaceKernel,"findSeparatingAxisVertexFaceKernel");
-						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-						launcher.setConst( nPairs  );
+						{
+							B3_PROFILE("findSeparatingAxisVertexFaceKernel");
+							b3BufferInfoCL bInfo[] = {
+								b3BufferInfoCL(pairs->getBufferCL(), true),
+								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+								b3BufferInfoCL(convexData.getBufferCL(), true),
+								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+								b3BufferInfoCL(m_sepNormals.getBufferCL()),
+								b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+								b3BufferInfoCL(m_dmins.getBufferCL())};
+
+							b3LauncherCL launcher(m_queue, m_findSeparatingAxisVertexFaceKernel, "findSeparatingAxisVertexFaceKernel");
+							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+							launcher.setConst(nPairs);
 
-						int num = nPairs;
-						launcher.launch1D( num);
-						clFinish(m_queue);
-					}
+							int num = nPairs;
+							launcher.launch1D(num);
+							clFinish(m_queue);
+						}
 
+						int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
 
-					int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
-					
-					{
-						B3_PROFILE("findSeparatingAxisEdgeEdgeKernel");
-						b3BufferInfoCL bInfo[] = { 
-							b3BufferInfoCL( pairs->getBufferCL(), true ), 
-							b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-							b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-							b3BufferInfoCL( convexData.getBufferCL(),true),
-							b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-							b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-							b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-							b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-							b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-							b3BufferInfoCL( m_sepNormals.getBufferCL()),
-							b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL( m_dmins.getBufferCL()),
-							b3BufferInfoCL( m_unitSphereDirections.getBufferCL(),true)
-
-						};
-
-						b3LauncherCL launcher(m_queue, m_findSeparatingAxisEdgeEdgeKernel,"findSeparatingAxisEdgeEdgeKernel");
-						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-						launcher.setConst( numDirections);
-						launcher.setConst( nPairs  );
-						int num = nPairs;
-						launcher.launch1D( num);
-						clFinish(m_queue);
+						{
+							B3_PROFILE("findSeparatingAxisEdgeEdgeKernel");
+							b3BufferInfoCL bInfo[] = {
+								b3BufferInfoCL(pairs->getBufferCL(), true),
+								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+								b3BufferInfoCL(convexData.getBufferCL(), true),
+								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+								b3BufferInfoCL(m_sepNormals.getBufferCL()),
+								b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+								b3BufferInfoCL(m_dmins.getBufferCL()),
+								b3BufferInfoCL(m_unitSphereDirections.getBufferCL(), true)
 
-					}
+							};
+
+							b3LauncherCL launcher(m_queue, m_findSeparatingAxisEdgeEdgeKernel, "findSeparatingAxisEdgeEdgeKernel");
+							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+							launcher.setConst(numDirections);
+							launcher.setConst(nPairs);
+							int num = nPairs;
+							launcher.launch1D(num);
+							clFinish(m_queue);
+						}
 					}
 					if (useMprGpu)
 					{
 						B3_PROFILE("findSeparatingAxisUnitSphereKernel");
-						b3BufferInfoCL bInfo[] = { 
-								b3BufferInfoCL( pairs->getBufferCL(), true ), 
-								b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-								b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-								b3BufferInfoCL( convexData.getBufferCL(),true),
-								b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-								b3BufferInfoCL( m_unitSphereDirections.getBufferCL(),true),
-								b3BufferInfoCL( m_sepNormals.getBufferCL()),
-								b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL( m_dmins.getBufferCL())
-						};
-
-						b3LauncherCL launcher(m_queue, m_findSeparatingAxisUnitSphereKernel,"findSeparatingAxisUnitSphereKernel");
-						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-						int numDirections = sizeof(unitSphere162)/sizeof(b3Vector3);
-						launcher.setConst( numDirections);
-
-						launcher.setConst( nPairs  );
-                                                
+						b3BufferInfoCL bInfo[] = {
+							b3BufferInfoCL(pairs->getBufferCL(), true),
+							b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+							b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+							b3BufferInfoCL(convexData.getBufferCL(), true),
+							b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+							b3BufferInfoCL(m_unitSphereDirections.getBufferCL(), true),
+							b3BufferInfoCL(m_sepNormals.getBufferCL()),
+							b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+							b3BufferInfoCL(m_dmins.getBufferCL())};
+
+						b3LauncherCL launcher(m_queue, m_findSeparatingAxisUnitSphereKernel, "findSeparatingAxisUnitSphereKernel");
+						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+						int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
+						launcher.setConst(numDirections);
+
+						launcher.setConst(nPairs);
+
 						int num = nPairs;
-						launcher.launch1D( num);
+						launcher.launch1D(num);
 						clFinish(m_queue);
 					}
+				}
 			}
-				
-
-			} else
+			else
 			{
 				B3_PROFILE("findSeparatingAxisKernel");
-				b3BufferInfoCL bInfo[] = { 
-					b3BufferInfoCL( pairs->getBufferCL(), true ), 
-					b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-					b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-					b3BufferInfoCL( convexData.getBufferCL(),true),
-					b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-					b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-					b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-					b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-					b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-					b3BufferInfoCL( m_sepNormals.getBufferCL()),
-					b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL())
-				};
-
-				b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel,"m_findSeparatingAxisKernel");
-				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-				launcher.setConst( nPairs  );
+				b3BufferInfoCL bInfo[] = {
+					b3BufferInfoCL(pairs->getBufferCL(), true),
+					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+					b3BufferInfoCL(convexData.getBufferCL(), true),
+					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+					b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+					b3BufferInfoCL(m_sepNormals.getBufferCL()),
+					b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL())};
+
+				b3LauncherCL launcher(m_queue, m_findSeparatingAxisKernel, "m_findSeparatingAxisKernel");
+				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+				launcher.setConst(nPairs);
 
 				int num = nPairs;
-				launcher.launch1D( num);
+				launcher.launch1D(num);
 				clFinish(m_queue);
 			}
-			
-			
 		}
-        else
-        {
-            
+		else
+		{
 			B3_PROFILE("findSeparatingAxisKernel CPU");
-           
-            
-            b3AlignedObjectArray<b3Int4> hostPairs;
-            pairs->copyToHost(hostPairs);
-            b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-            bodyBuf->copyToHost(hostBodyBuf);
-
-            b3AlignedObjectArray<b3Collidable> hostCollidables;
-            gpuCollidables.copyToHost(hostCollidables);
-            
-            b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-            gpuChildShapes.copyToHost(cpuChildShapes);
-            
-            b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexShapeData;
-            convexData.copyToHost(hostConvexShapeData);
-            
-            b3AlignedObjectArray<b3Vector3> hostVertices;
-            gpuVertices.copyToHost(hostVertices);
-            
-            b3AlignedObjectArray<int> hostHasSepAxis;
-            hostHasSepAxis.resize(nPairs);
-            b3AlignedObjectArray<b3Vector3> hostSepAxis;
-            hostSepAxis.resize(nPairs);
-            
-            b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
-            gpuUniqueEdges.copyToHost(hostUniqueEdges);
-            b3AlignedObjectArray<b3GpuFace> hostFaces;
-            gpuFaces.copyToHost(hostFaces);
-            
-            b3AlignedObjectArray<int> hostIndices;
-            gpuIndices.copyToHost(hostIndices);
-			
+
+			b3AlignedObjectArray<b3Int4> hostPairs;
+			pairs->copyToHost(hostPairs);
+			b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
+			bodyBuf->copyToHost(hostBodyBuf);
+
+			b3AlignedObjectArray<b3Collidable> hostCollidables;
+			gpuCollidables.copyToHost(hostCollidables);
+
+			b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
+			gpuChildShapes.copyToHost(cpuChildShapes);
+
+			b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexShapeData;
+			convexData.copyToHost(hostConvexShapeData);
+
+			b3AlignedObjectArray<b3Vector3> hostVertices;
+			gpuVertices.copyToHost(hostVertices);
+
+			b3AlignedObjectArray<int> hostHasSepAxis;
+			hostHasSepAxis.resize(nPairs);
+			b3AlignedObjectArray<b3Vector3> hostSepAxis;
+			hostSepAxis.resize(nPairs);
+
+			b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
+			gpuUniqueEdges.copyToHost(hostUniqueEdges);
+			b3AlignedObjectArray<b3GpuFace> hostFaces;
+			gpuFaces.copyToHost(hostFaces);
+
+			b3AlignedObjectArray<int> hostIndices;
+			gpuIndices.copyToHost(hostIndices);
+
 			b3AlignedObjectArray<b3Contact4> hostContacts;
 			if (nContacts)
 			{
@@ -3201,61 +3008,56 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 			}
 			hostContacts.resize(maxContactCapacity);
 			int nGlobalContactsOut = nContacts;
-			
-            
-            for (int i=0;i<nPairs;i++)
-            {
-                
-                int bodyIndexA = hostPairs[i].x;
-                int bodyIndexB = hostPairs[i].y;
-                int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-                int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
-                
-                int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
-                int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
-                
-                hostHasSepAxis[i] = 0;
-                
-                //once the broadphase avoids static-static pairs, we can remove this test
-                if ((hostBodyBuf[bodyIndexA].m_invMass==0) &&(hostBodyBuf[bodyIndexB].m_invMass==0))
-                {
-                    continue;
-                }
-                
-                
-                if ((hostCollidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(hostCollidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))
-                {
-                    continue;
-                }
-                
-                float dmin = FLT_MAX;
-                
-                b3ConvexPolyhedronData* convexShapeA = &hostConvexShapeData[shapeIndexA];
-                b3ConvexPolyhedronData* convexShapeB = &hostConvexShapeData[shapeIndexB];
-                b3Vector3 posA = hostBodyBuf[bodyIndexA].m_pos;
-                b3Vector3 posB = hostBodyBuf[bodyIndexB].m_pos;
-                b3Quaternion ornA =hostBodyBuf[bodyIndexA].m_quat;
-                b3Quaternion ornB =hostBodyBuf[bodyIndexB].m_quat;
-				
-				
-				if (useGjk)
+
+			for (int i = 0; i < nPairs; i++)
+			{
+				int bodyIndexA = hostPairs[i].x;
+				int bodyIndexB = hostPairs[i].y;
+				int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
+				int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
+
+				int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
+				int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
+
+				hostHasSepAxis[i] = 0;
+
+				//once the broadphase avoids static-static pairs, we can remove this test
+				if ((hostBodyBuf[bodyIndexA].m_invMass == 0) && (hostBodyBuf[bodyIndexB].m_invMass == 0))
 				{
+					continue;
+				}
 
+				if ((hostCollidables[collidableIndexA].m_shapeType != SHAPE_CONVEX_HULL) || (hostCollidables[collidableIndexB].m_shapeType != SHAPE_CONVEX_HULL))
+				{
+					continue;
+				}
+
+				float dmin = FLT_MAX;
+
+				b3ConvexPolyhedronData* convexShapeA = &hostConvexShapeData[shapeIndexA];
+				b3ConvexPolyhedronData* convexShapeB = &hostConvexShapeData[shapeIndexB];
+				b3Vector3 posA = hostBodyBuf[bodyIndexA].m_pos;
+				b3Vector3 posB = hostBodyBuf[bodyIndexB].m_pos;
+				b3Quaternion ornA = hostBodyBuf[bodyIndexA].m_quat;
+				b3Quaternion ornB = hostBodyBuf[bodyIndexB].m_quat;
+
+				if (useGjk)
+				{
 					//first approximate the separating axis, to 'fail-proof' GJK+EPA or MPR
 					{
 						b3Vector3 c0local = hostConvexShapeData[shapeIndexA].m_localCenter;
 						b3Vector3 c0 = b3TransformPoint(c0local, posA, ornA);
 						b3Vector3 c1local = hostConvexShapeData[shapeIndexB].m_localCenter;
-						b3Vector3 c1 = b3TransformPoint(c1local,posB,ornB);
+						b3Vector3 c1 = b3TransformPoint(c1local, posB, ornB);
 						b3Vector3 DeltaC2 = c0 - c1;
-                
+
 						b3Vector3 sepAxis;
-                
+
 						bool hasSepAxisA = b3FindSeparatingAxis(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-							&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-							&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-											 &sepAxis, &dmin);
-                
+																&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+																&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+																&sepAxis, &dmin);
+
 						if (hasSepAxisA)
 						{
 							bool hasSepAxisB = b3FindSeparatingAxis(convexShapeB, convexShapeA, posB, ornB, posA, ornA, DeltaC2,
@@ -3264,11 +3066,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 																	&sepAxis, &dmin);
 							if (hasSepAxisB)
 							{
-								bool hasEdgeEdge =b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-															 &hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-															 &hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-															 &sepAxis, &dmin,false);
-													 
+								bool hasEdgeEdge = b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
+																				&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+																				&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+																				&sepAxis, &dmin, false);
+
 								if (hasEdgeEdge)
 								{
 									hostHasSepAxis[i] = 1;
@@ -3282,163 +3084,150 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 					if (hostHasSepAxis[i])
 					{
 						int pairIndex = i;
-				
+
 						bool useMpr = true;
 						if (useMpr)
 						{
-							int res=0;
+							int res = 0;
 							float depth = 0.f;
-							b3Vector3 sepAxis2 = b3MakeVector3(1,0,0);
-							b3Vector3 resultPointOnBWorld = b3MakeVector3(0,0,0);
+							b3Vector3 sepAxis2 = b3MakeVector3(1, 0, 0);
+							b3Vector3 resultPointOnBWorld = b3MakeVector3(0, 0, 0);
 
-						float depthOut;
-						b3Vector3 dirOut;
-						b3Vector3 posOut;
-						
+							float depthOut;
+							b3Vector3 dirOut;
+							b3Vector3 posOut;
 
-						//res = b3MprPenetration(bodyIndexA,bodyIndexB,hostBodyBuf,hostConvexShapeData,hostCollidables,hostVertices,&mprConfig,&depthOut,&dirOut,&posOut);
-						res = b3MprPenetration(pairIndex,bodyIndexA,bodyIndexB,&hostBodyBuf[0],&hostConvexShapeData[0],&hostCollidables[0],&hostVertices[0],&hostSepAxis[0],&hostHasSepAxis[0],&depthOut,&dirOut,&posOut);
-						depth = depthOut;
-						sepAxis2 =  b3MakeVector3(-dirOut.x,-dirOut.y,-dirOut.z);
-						resultPointOnBWorld = posOut;
-						//hostHasSepAxis[i] = 0;
+							//res = b3MprPenetration(bodyIndexA,bodyIndexB,hostBodyBuf,hostConvexShapeData,hostCollidables,hostVertices,&mprConfig,&depthOut,&dirOut,&posOut);
+							res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB, &hostBodyBuf[0], &hostConvexShapeData[0], &hostCollidables[0], &hostVertices[0], &hostSepAxis[0], &hostHasSepAxis[0], &depthOut, &dirOut, &posOut);
+							depth = depthOut;
+							sepAxis2 = b3MakeVector3(-dirOut.x, -dirOut.y, -dirOut.z);
+							resultPointOnBWorld = posOut;
+							//hostHasSepAxis[i] = 0;
 
+							if (res == 0)
+							{
+								//add point?
+								//printf("depth = %f\n",depth);
+								//printf("normal = %f,%f,%f\n",dir.v[0],dir.v[1],dir.v[2]);
+								//qprintf("pos = %f,%f,%f\n",pos.v[0],pos.v[1],pos.v[2]);
 
-						if (res==0)
-						{
-							//add point?
-							//printf("depth = %f\n",depth);
-							//printf("normal = %f,%f,%f\n",dir.v[0],dir.v[1],dir.v[2]);
-							//qprintf("pos = %f,%f,%f\n",pos.v[0],pos.v[1],pos.v[2]);
-						
-							
-
-							float dist=0.f;
+								float dist = 0.f;
 
-							const b3ConvexPolyhedronData& hullA = hostConvexShapeData[hostCollidables[hostBodyBuf[bodyIndexA].m_collidableIdx].m_shapeIndex];
-							const b3ConvexPolyhedronData& hullB = hostConvexShapeData[hostCollidables[hostBodyBuf[bodyIndexB].m_collidableIdx].m_shapeIndex];
+								const b3ConvexPolyhedronData& hullA = hostConvexShapeData[hostCollidables[hostBodyBuf[bodyIndexA].m_collidableIdx].m_shapeIndex];
+								const b3ConvexPolyhedronData& hullB = hostConvexShapeData[hostCollidables[hostBodyBuf[bodyIndexB].m_collidableIdx].m_shapeIndex];
 
-							if(b3TestSepAxis( &hullA, &hullB, posA,ornA,posB,ornB,&sepAxis2, &hostVertices[0], &hostVertices[0],&dist))
-							{
-								if (depth > dist)
+								if (b3TestSepAxis(&hullA, &hullB, posA, ornA, posB, ornB, &sepAxis2, &hostVertices[0], &hostVertices[0], &dist))
 								{
-									float diff = depth - dist;
-									
-									static float maxdiff = 0.f;
-									if (maxdiff < diff)
+									if (depth > dist)
 									{
-										maxdiff = diff;
-										printf("maxdiff = %20.10f\n",maxdiff);
+										float diff = depth - dist;
+
+										static float maxdiff = 0.f;
+										if (maxdiff < diff)
+										{
+											maxdiff = diff;
+											printf("maxdiff = %20.10f\n", maxdiff);
+										}
 									}
 								}
-							}
-							if (depth > dmin)
-							{
-								b3Vector3 oldAxis = hostSepAxis[i];
-								depth = dmin;
-								sepAxis2 = oldAxis;
-							}
-
-							
+								if (depth > dmin)
+								{
+									b3Vector3 oldAxis = hostSepAxis[i];
+									depth = dmin;
+									sepAxis2 = oldAxis;
+								}
 
-							if(b3TestSepAxis( &hullA, &hullB, posA,ornA,posB,ornB,&sepAxis2, &hostVertices[0], &hostVertices[0],&dist))
-							{
-								if (depth > dist)
+								if (b3TestSepAxis(&hullA, &hullB, posA, ornA, posB, ornB, &sepAxis2, &hostVertices[0], &hostVertices[0], &dist))
 								{
-									float diff = depth - dist;
-									//printf("?diff  = %f\n",diff );
-									static float maxdiff = 0.f;
-									if (maxdiff < diff)
+									if (depth > dist)
+									{
+										float diff = depth - dist;
+										//printf("?diff  = %f\n",diff );
+										static float maxdiff = 0.f;
+										if (maxdiff < diff)
+										{
+											maxdiff = diff;
+											printf("maxdiff = %20.10f\n", maxdiff);
+										}
+									}
+									//this is used for SAT
+									//hostHasSepAxis[i] = 1;
+									//hostSepAxis[i] = sepAxis2;
+
+									//add contact point
+
+									//int contactIndex = nGlobalContactsOut;
+									b3Contact4& newContact = hostContacts.at(nGlobalContactsOut);
+									nGlobalContactsOut++;
+									newContact.m_batchIdx = 0;  //i;
+									newContact.m_bodyAPtrAndSignBit = (hostBodyBuf.at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
+									newContact.m_bodyBPtrAndSignBit = (hostBodyBuf.at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
+
+									newContact.m_frictionCoeffCmp = 45874;
+									newContact.m_restituitionCoeffCmp = 0;
+
+									static float maxDepth = 0.f;
+
+									if (depth > maxDepth)
 									{
-										maxdiff = diff;
-										printf("maxdiff = %20.10f\n",maxdiff);
+										maxDepth = depth;
+										printf("MPR maxdepth = %f\n", maxDepth);
 									}
+
+									resultPointOnBWorld.w = -depth;
+									newContact.m_worldPosB[0] = resultPointOnBWorld;
+									//b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
+									newContact.m_worldNormalOnB = sepAxis2;
+									newContact.m_worldNormalOnB.w = (b3Scalar)1;
 								}
-								//this is used for SAT
-								//hostHasSepAxis[i] = 1;
-								//hostSepAxis[i] = sepAxis2;
-
-								//add contact point
-
-								//int contactIndex = nGlobalContactsOut;
-								b3Contact4& newContact = hostContacts.at(nGlobalContactsOut);
-								nGlobalContactsOut++;
-								newContact.m_batchIdx = 0;//i;
-								newContact.m_bodyAPtrAndSignBit = (hostBodyBuf.at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
-								newContact.m_bodyBPtrAndSignBit = (hostBodyBuf.at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
-
-								newContact.m_frictionCoeffCmp = 45874;
-								newContact.m_restituitionCoeffCmp = 0;
-						
-								
-								static float maxDepth = 0.f;
-							
-								if (depth > maxDepth)
+								else
 								{
-									maxDepth  = depth;
-									printf("MPR maxdepth = %f\n",maxDepth );
-							
+									printf("rejected\n");
 								}
-							
-
-								resultPointOnBWorld.w = -depth;
-								newContact.m_worldPosB[0] = resultPointOnBWorld;
-								//b3Vector3 resultPointOnAWorld = resultPointOnBWorld+depth*sepAxis2;
-								newContact.m_worldNormalOnB = sepAxis2;
-								newContact.m_worldNormalOnB.w = (b3Scalar)1;
-							} else
-							{
-								printf("rejected\n");
 							}
-
-			
 						}
-						} else
+						else
 						{
-
-			
-				
-			//int contactIndex = computeContactConvexConvex2(           i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
-							b3AlignedObjectArray<b3Contact4> oldHostContacts;	
+							//int contactIndex = computeContactConvexConvex2(           i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
+							b3AlignedObjectArray<b3Contact4> oldHostContacts;
 							int result;
-							result = computeContactConvexConvex2( //hostPairs,
-													   pairIndex,
-													bodyIndexA, bodyIndexB,
-													   collidableIndexA, collidableIndexB,
-													   hostBodyBuf,
-													   hostCollidables,
-													   hostConvexShapeData,
-													   hostVertices,
-													   hostUniqueEdges,
-													   hostIndices,
-													   hostFaces,
-													   hostContacts,
-													   nGlobalContactsOut,
-														maxContactCapacity,
-														oldHostContacts
-														//hostHasSepAxis,
-														//hostSepAxis
-														
-																);
-						}//mpr
-					}//hostHasSepAxis[i] = 1;
-					
-				} else
+							result = computeContactConvexConvex2(  //hostPairs,
+								pairIndex,
+								bodyIndexA, bodyIndexB,
+								collidableIndexA, collidableIndexB,
+								hostBodyBuf,
+								hostCollidables,
+								hostConvexShapeData,
+								hostVertices,
+								hostUniqueEdges,
+								hostIndices,
+								hostFaces,
+								hostContacts,
+								nGlobalContactsOut,
+								maxContactCapacity,
+								oldHostContacts
+								//hostHasSepAxis,
+								//hostSepAxis
+
+							);
+						}  //mpr
+					}      //hostHasSepAxis[i] = 1;
+				}
+				else
 				{
-				
 					b3Vector3 c0local = hostConvexShapeData[shapeIndexA].m_localCenter;
 					b3Vector3 c0 = b3TransformPoint(c0local, posA, ornA);
 					b3Vector3 c1local = hostConvexShapeData[shapeIndexB].m_localCenter;
-					b3Vector3 c1 = b3TransformPoint(c1local,posB,ornB);
+					b3Vector3 c1 = b3TransformPoint(c1local, posB, ornB);
 					b3Vector3 DeltaC2 = c0 - c1;
-                
+
 					b3Vector3 sepAxis;
-                
+
 					bool hasSepAxisA = b3FindSeparatingAxis(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-						&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-						&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-										 &sepAxis, &dmin);
-                
+															&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+															&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+															&sepAxis, &dmin);
+
 					if (hasSepAxisA)
 					{
 						bool hasSepAxisB = b3FindSeparatingAxis(convexShapeB, convexShapeA, posB, ornB, posA, ornA, DeltaC2,
@@ -3447,11 +3236,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 																&sepAxis, &dmin);
 						if (hasSepAxisB)
 						{
-							bool hasEdgeEdge =b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
-														 &hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-														 &hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
-														 &sepAxis, &dmin,true);
-													 
+							bool hasEdgeEdge = b3FindSeparatingAxisEdgeEdge(convexShapeA, convexShapeB, posA, ornA, posB, ornB, DeltaC2,
+																			&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+																			&hostVertices.at(0), &hostUniqueEdges.at(0), &hostFaces.at(0), &hostIndices.at(0),
+																			&sepAxis, &dmin, true);
+
 							if (hasEdgeEdge)
 							{
 								hostHasSepAxis[i] = 1;
@@ -3460,21 +3249,21 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 						}
 					}
 				}
-            }
-            
-			if (useGjkContacts)//nGlobalContactsOut>0)
+			}
+
+			if (useGjkContacts)  //nGlobalContactsOut>0)
 			{
 				//printf("nGlobalContactsOut=%d\n",nGlobalContactsOut);
 				nContacts = nGlobalContactsOut;
 				contactOut->copyFromHost(hostContacts);
-	
-				m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
+
+				m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
 			}
-            
-            m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
-            m_sepNormals.copyFromHost(hostSepAxis);
-        
-            /*
+
+			m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
+			m_sepNormals.copyFromHost(hostSepAxis);
+
+			/*
              //double-check results from GPU (comment-out the 'else' so both paths are executed
             b3AlignedObjectArray<int> checkHasSepAxis;
             m_hasSeparatingNormals.copyToHost(checkHasSepAxis);
@@ -3491,352 +3280,314 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
             //m_hasSeparatingNormals.copyFromHost(hostHasSepAxis);
             //    m_sepNormals.copyFromHost(hostSepAxis);
             */
-        }
-        
-        
-        numCompoundPairs = m_numCompoundPairsOut.at(0);
-        bool useGpuFindCompoundPairs=true;
-        if (useGpuFindCompoundPairs)
-        {
-            B3_PROFILE("findCompoundPairsKernel");
-            b3BufferInfoCL bInfo[] = 
-            { 
-                b3BufferInfoCL( pairs->getBufferCL(), true ), 
-                b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-                b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-                b3BufferInfoCL( convexData.getBufferCL(),true),
-                b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-                b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-                b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-                b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-                b3BufferInfoCL( clAabbsLocalSpace.getBufferCL(),true),
-                b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-                b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL()),
-                b3BufferInfoCL( m_numCompoundPairsOut.getBufferCL()),
-                b3BufferInfoCL(subTreesGPU->getBufferCL()),
-                b3BufferInfoCL(treeNodesGPU->getBufferCL()),
-                b3BufferInfoCL(bvhInfo->getBufferCL())
-            };
-
-            b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel,"m_findCompoundPairsKernel");
-            launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-            launcher.setConst( nPairs  );
-            launcher.setConst( compoundPairCapacity);
-
-            int num = nPairs;
-            launcher.launch1D( num);
-            clFinish(m_queue);
-
-            numCompoundPairs = m_numCompoundPairsOut.at(0);
-            //printf("numCompoundPairs =%d\n",numCompoundPairs );
-            if (numCompoundPairs)
-            {
-                //printf("numCompoundPairs=%d\n",numCompoundPairs);
-            }
-            
-
-        } else
-        {
-
-
-            b3AlignedObjectArray<b3QuantizedBvhNode>	treeNodesCPU;
-            treeNodesGPU->copyToHost(treeNodesCPU);
-
-            b3AlignedObjectArray<b3BvhSubtreeInfo>	subTreesCPU;
-            subTreesGPU->copyToHost(subTreesCPU);
+		}
 
-            b3AlignedObjectArray<b3BvhInfo>	bvhInfoCPU;
-            bvhInfo->copyToHost(bvhInfoCPU);
+		numCompoundPairs = m_numCompoundPairsOut.at(0);
+		bool useGpuFindCompoundPairs = true;
+		if (useGpuFindCompoundPairs)
+		{
+			B3_PROFILE("findCompoundPairsKernel");
+			b3BufferInfoCL bInfo[] =
+				{
+					b3BufferInfoCL(pairs->getBufferCL(), true),
+					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+					b3BufferInfoCL(convexData.getBufferCL(), true),
+					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+					b3BufferInfoCL(clAabbsLocalSpace.getBufferCL(), true),
+					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL()),
+					b3BufferInfoCL(m_numCompoundPairsOut.getBufferCL()),
+					b3BufferInfoCL(subTreesGPU->getBufferCL()),
+					b3BufferInfoCL(treeNodesGPU->getBufferCL()),
+					b3BufferInfoCL(bvhInfo->getBufferCL())};
+
+			b3LauncherCL launcher(m_queue, m_findCompoundPairsKernel, "m_findCompoundPairsKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(nPairs);
+			launcher.setConst(compoundPairCapacity);
 
-            b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-            clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
+			int num = nPairs;
+			launcher.launch1D(num);
+			clFinish(m_queue);
 
-            b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
-            clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
+			numCompoundPairs = m_numCompoundPairsOut.at(0);
+			//printf("numCompoundPairs =%d\n",numCompoundPairs );
+			if (numCompoundPairs)
+			{
+				//printf("numCompoundPairs=%d\n",numCompoundPairs);
+			}
+		}
+		else
+		{
+			b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
+			treeNodesGPU->copyToHost(treeNodesCPU);
 
-            b3AlignedObjectArray<b3Int4> hostPairs;
-            pairs->copyToHost(hostPairs);
+			b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
+			subTreesGPU->copyToHost(subTreesCPU);
 
-            b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-            bodyBuf->copyToHost(hostBodyBuf);
+			b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
+			bvhInfo->copyToHost(bvhInfoCPU);
 
+			b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
+			clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
 
-            b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
-            cpuCompoundPairsOut.resize(compoundPairCapacity);
+			b3AlignedObjectArray<b3Aabb> hostAabbsLocalSpace;
+			clAabbsLocalSpace.copyToHost(hostAabbsLocalSpace);
 
-            b3AlignedObjectArray<b3Collidable> hostCollidables;
-            gpuCollidables.copyToHost(hostCollidables);
+			b3AlignedObjectArray<b3Int4> hostPairs;
+			pairs->copyToHost(hostPairs);
 
-            b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-            gpuChildShapes.copyToHost(cpuChildShapes);
+			b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
+			bodyBuf->copyToHost(hostBodyBuf);
 
-            b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-            convexData.copyToHost(hostConvexData);
+			b3AlignedObjectArray<b3Int4> cpuCompoundPairsOut;
+			cpuCompoundPairsOut.resize(compoundPairCapacity);
 
-            b3AlignedObjectArray<b3Vector3> hostVertices;
-            gpuVertices.copyToHost(hostVertices);
+			b3AlignedObjectArray<b3Collidable> hostCollidables;
+			gpuCollidables.copyToHost(hostCollidables);
 
+			b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
+			gpuChildShapes.copyToHost(cpuChildShapes);
 
+			b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
+			convexData.copyToHost(hostConvexData);
 
+			b3AlignedObjectArray<b3Vector3> hostVertices;
+			gpuVertices.copyToHost(hostVertices);
 
-            for (int pairIndex=0;pairIndex<nPairs;pairIndex++)
-            {
-                int bodyIndexA = hostPairs[pairIndex].x;
-                int bodyIndexB = hostPairs[pairIndex].y;
-                int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-                int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
+			for (int pairIndex = 0; pairIndex < nPairs; pairIndex++)
+			{
+				int bodyIndexA = hostPairs[pairIndex].x;
+				int bodyIndexB = hostPairs[pairIndex].y;
+				int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
+				int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
 				if (cpuChildShapes.size())
 				{
-                findCompoundPairsKernel( 
-                            pairIndex,
-                            bodyIndexA,
-                            bodyIndexB,
-                            collidableIndexA,
-                            collidableIndexB,
-                            &hostBodyBuf[0],
-                            &hostCollidables[0],
-                            &hostConvexData[0],
-                            hostVertices,
-                            hostAabbsWorldSpace,
-                            hostAabbsLocalSpace,
-                            &cpuChildShapes[0],
-                            &cpuCompoundPairsOut[0],
-                            &numCompoundPairs,
-                            compoundPairCapacity,
-                            treeNodesCPU,
-                            subTreesCPU,
-                            bvhInfoCPU
-                            );
+					findCompoundPairsKernel(
+						pairIndex,
+						bodyIndexA,
+						bodyIndexB,
+						collidableIndexA,
+						collidableIndexB,
+						&hostBodyBuf[0],
+						&hostCollidables[0],
+						&hostConvexData[0],
+						hostVertices,
+						hostAabbsWorldSpace,
+						hostAabbsLocalSpace,
+						&cpuChildShapes[0],
+						&cpuCompoundPairsOut[0],
+						&numCompoundPairs,
+						compoundPairCapacity,
+						treeNodesCPU,
+						subTreesCPU,
+						bvhInfoCPU);
 				}
-            }
-            
+			}
 
-			m_numCompoundPairsOut.copyFromHostPointer(&numCompoundPairs,1,0,true);
+			m_numCompoundPairsOut.copyFromHostPointer(&numCompoundPairs, 1, 0, true);
 			if (numCompoundPairs)
 			{
 				b3CompoundOverlappingPair* ptr = (b3CompoundOverlappingPair*)&cpuCompoundPairsOut[0];
-				m_gpuCompoundPairs.copyFromHostPointer(ptr,numCompoundPairs,0,true);
+				m_gpuCompoundPairs.copyFromHostPointer(ptr, numCompoundPairs, 0, true);
 			}
 			//cpuCompoundPairsOut
-            
-        }
+		}
 		if (numCompoundPairs)
 		{
-			printf("numCompoundPairs=%d\n",numCompoundPairs);
+			printf("numCompoundPairs=%d\n", numCompoundPairs);
 		}
 
-        if (numCompoundPairs > compoundPairCapacity)
-        {
-            b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs,  compoundPairCapacity);
-            numCompoundPairs = compoundPairCapacity;
-        }
-
-        
-
-        m_gpuCompoundPairs.resize(numCompoundPairs);
-        m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
-        m_gpuCompoundSepNormals.resize(numCompoundPairs);
-        
-
-        if (numCompoundPairs)
-        {
-            B3_PROFILE("processCompoundPairsPrimitivesKernel");
-            b3BufferInfoCL bInfo[] = 
-            { 
-                b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ), 
-                b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-                b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-                b3BufferInfoCL( convexData.getBufferCL(),true),
-                b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-                b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-                b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-                b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-                b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-                b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-                b3BufferInfoCL( contactOut->getBufferCL()),
-                b3BufferInfoCL( m_totalContactsOut.getBufferCL())	
-            };
-
-            b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel,"m_processCompoundPairsPrimitivesKernel");
-            launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-            launcher.setConst( numCompoundPairs  );
-            launcher.setConst(maxContactCapacity);
-
-            int num = numCompoundPairs;
-            launcher.launch1D( num);
-            clFinish(m_queue);
-            nContacts = m_totalContactsOut.at(0);
-            //printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
-            if (nContacts>maxContactCapacity)
-            {
-                
-                b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
-                nContacts = maxContactCapacity;
-            }
-        }
-        
-
-        if (numCompoundPairs)
-        {
-            B3_PROFILE("processCompoundPairsKernel");
-            b3BufferInfoCL bInfo[] = 
-            { 
-                b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ), 
-                b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-                b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-                b3BufferInfoCL( convexData.getBufferCL(),true),
-                b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-                b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-                b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-                b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-                b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-                b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-                b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL()),
-                b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL())
-            };
-
-            b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel,"m_processCompoundPairsKernel");
-            launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-            launcher.setConst( numCompoundPairs  );
-
-            int num = numCompoundPairs;
-            launcher.launch1D( num);
-            clFinish(m_queue);
-        
-        }
-
-
-        //printf("numConcave  = %d\n",numConcave);
-
-    
-
-//		printf("hostNormals.size()=%d\n",hostNormals.size());
+		if (numCompoundPairs > compoundPairCapacity)
+		{
+			b3Error("Exceeded compound pair capacity (%d/%d)\n", numCompoundPairs, compoundPairCapacity);
+			numCompoundPairs = compoundPairCapacity;
+		}
+
+		m_gpuCompoundPairs.resize(numCompoundPairs);
+		m_gpuHasCompoundSepNormals.resize(numCompoundPairs);
+		m_gpuCompoundSepNormals.resize(numCompoundPairs);
+
+		if (numCompoundPairs)
+		{
+			B3_PROFILE("processCompoundPairsPrimitivesKernel");
+			b3BufferInfoCL bInfo[] =
+				{
+					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL(), true),
+					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+					b3BufferInfoCL(convexData.getBufferCL(), true),
+					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+					b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+					b3BufferInfoCL(contactOut->getBufferCL()),
+					b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+
+			b3LauncherCL launcher(m_queue, m_processCompoundPairsPrimitivesKernel, "m_processCompoundPairsPrimitivesKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(numCompoundPairs);
+			launcher.setConst(maxContactCapacity);
+
+			int num = numCompoundPairs;
+			launcher.launch1D(num);
+			clFinish(m_queue);
+			nContacts = m_totalContactsOut.at(0);
+			//printf("nContacts (after processCompoundPairsPrimitivesKernel) = %d\n",nContacts);
+			if (nContacts > maxContactCapacity)
+			{
+				b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
+				nContacts = maxContactCapacity;
+			}
+		}
+
+		if (numCompoundPairs)
+		{
+			B3_PROFILE("processCompoundPairsKernel");
+			b3BufferInfoCL bInfo[] =
+				{
+					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL(), true),
+					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+					b3BufferInfoCL(convexData.getBufferCL(), true),
+					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+					b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+					b3BufferInfoCL(m_gpuCompoundSepNormals.getBufferCL()),
+					b3BufferInfoCL(m_gpuHasCompoundSepNormals.getBufferCL())};
+
+			b3LauncherCL launcher(m_queue, m_processCompoundPairsKernel, "m_processCompoundPairsKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(numCompoundPairs);
+
+			int num = numCompoundPairs;
+			launcher.launch1D(num);
+			clFinish(m_queue);
+		}
+
+		//printf("numConcave  = %d\n",numConcave);
+
+		//		printf("hostNormals.size()=%d\n",hostNormals.size());
 		//int numPairs = pairCount.at(0);
-		
-		
-		
 	}
 	int vertexFaceCapacity = 64;
 
-
-		
 	{
 		//now perform the tree query on GPU
-			
-					
-				
-				
+
 		if (treeNodesGPU->size() && treeNodesGPU->size())
 		{
 			if (bvhTraversalKernelGPU)
 			{
-						
 				B3_PROFILE("m_bvhTraversalKernel");
-						
-						
+
 				numConcavePairs = m_numConcavePairsOut.at(0);
-						
-				b3LauncherCL launcher(m_queue, m_bvhTraversalKernel,"m_bvhTraversalKernel");
-				launcher.setBuffer( pairs->getBufferCL());
-				launcher.setBuffer(  bodyBuf->getBufferCL());
-				launcher.setBuffer( gpuCollidables.getBufferCL());
-				launcher.setBuffer( clAabbsWorldSpace.getBufferCL());
-				launcher.setBuffer( triangleConvexPairsOut.getBufferCL());
-				launcher.setBuffer( m_numConcavePairsOut.getBufferCL());
-				launcher.setBuffer( subTreesGPU->getBufferCL());
-				launcher.setBuffer( treeNodesGPU->getBufferCL());
-				launcher.setBuffer( bvhInfo->getBufferCL());
-						
-				launcher.setConst( nPairs  );
-				launcher.setConst( maxTriConvexPairCapacity);
+
+				b3LauncherCL launcher(m_queue, m_bvhTraversalKernel, "m_bvhTraversalKernel");
+				launcher.setBuffer(pairs->getBufferCL());
+				launcher.setBuffer(bodyBuf->getBufferCL());
+				launcher.setBuffer(gpuCollidables.getBufferCL());
+				launcher.setBuffer(clAabbsWorldSpace.getBufferCL());
+				launcher.setBuffer(triangleConvexPairsOut.getBufferCL());
+				launcher.setBuffer(m_numConcavePairsOut.getBufferCL());
+				launcher.setBuffer(subTreesGPU->getBufferCL());
+				launcher.setBuffer(treeNodesGPU->getBufferCL());
+				launcher.setBuffer(bvhInfo->getBufferCL());
+
+				launcher.setConst(nPairs);
+				launcher.setConst(maxTriConvexPairCapacity);
 				int num = nPairs;
-				launcher.launch1D( num);
+				launcher.launch1D(num);
 				clFinish(m_queue);
 				numConcavePairs = m_numConcavePairsOut.at(0);
-			} else
+			}
+			else
 			{
-					b3AlignedObjectArray<b3Int4> hostPairs;
-					pairs->copyToHost(hostPairs);
-					b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-					bodyBuf->copyToHost(hostBodyBuf);
-					b3AlignedObjectArray<b3Collidable> hostCollidables;
-					gpuCollidables.copyToHost(hostCollidables);
-					b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-					clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
+				b3AlignedObjectArray<b3Int4> hostPairs;
+				pairs->copyToHost(hostPairs);
+				b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
+				bodyBuf->copyToHost(hostBodyBuf);
+				b3AlignedObjectArray<b3Collidable> hostCollidables;
+				gpuCollidables.copyToHost(hostCollidables);
+				b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
+				clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
 
-					//int maxTriConvexPairCapacity,
-					b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
-					triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
+				//int maxTriConvexPairCapacity,
+				b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
+				triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
 
-					//int numTriConvexPairsOutHost=0;
-					numConcavePairs = 0;
-					//m_numConcavePairsOut
+				//int numTriConvexPairsOutHost=0;
+				numConcavePairs = 0;
+				//m_numConcavePairsOut
 
-					b3AlignedObjectArray<b3QuantizedBvhNode>	treeNodesCPU;
-					treeNodesGPU->copyToHost(treeNodesCPU);
-					b3AlignedObjectArray<b3BvhSubtreeInfo>	subTreesCPU;
-					subTreesGPU->copyToHost(subTreesCPU);
-					b3AlignedObjectArray<b3BvhInfo>	bvhInfoCPU;
-					bvhInfo->copyToHost(bvhInfoCPU);
-					//compute it...
+				b3AlignedObjectArray<b3QuantizedBvhNode> treeNodesCPU;
+				treeNodesGPU->copyToHost(treeNodesCPU);
+				b3AlignedObjectArray<b3BvhSubtreeInfo> subTreesCPU;
+				subTreesGPU->copyToHost(subTreesCPU);
+				b3AlignedObjectArray<b3BvhInfo> bvhInfoCPU;
+				bvhInfo->copyToHost(bvhInfoCPU);
+				//compute it...
 
-					volatile int hostNumConcavePairsOut=0;
+				volatile int hostNumConcavePairsOut = 0;
 
-					//
-					for (int i=0;i<nPairs;i++)
-					{
-						b3BvhTraversal( &hostPairs.at(0), 
-						&hostBodyBuf.at(0),
-						&hostCollidables.at(0),
-						&hostAabbsWorldSpace.at(0),
-						&triangleConvexPairsOutHost.at(0),
-						&hostNumConcavePairsOut,
-						&subTreesCPU.at(0),
-						&treeNodesCPU.at(0),
-						&bvhInfoCPU.at(0),
-						nPairs,
-						maxTriConvexPairCapacity,
-						i);
-					}
-					numConcavePairs = hostNumConcavePairsOut;
+				//
+				for (int i = 0; i < nPairs; i++)
+				{
+					b3BvhTraversal(&hostPairs.at(0),
+								   &hostBodyBuf.at(0),
+								   &hostCollidables.at(0),
+								   &hostAabbsWorldSpace.at(0),
+								   &triangleConvexPairsOutHost.at(0),
+								   &hostNumConcavePairsOut,
+								   &subTreesCPU.at(0),
+								   &treeNodesCPU.at(0),
+								   &bvhInfoCPU.at(0),
+								   nPairs,
+								   maxTriConvexPairCapacity,
+								   i);
+				}
+				numConcavePairs = hostNumConcavePairsOut;
 
-					if (hostNumConcavePairsOut)
-					{
-						triangleConvexPairsOutHost.resize(hostNumConcavePairsOut);
-						triangleConvexPairsOut.copyFromHost(triangleConvexPairsOutHost);
-					}
-					//
+				if (hostNumConcavePairsOut)
+				{
+					triangleConvexPairsOutHost.resize(hostNumConcavePairsOut);
+					triangleConvexPairsOut.copyFromHost(triangleConvexPairsOutHost);
+				}
+				//
 
-					m_numConcavePairsOut.resize(0);
-					m_numConcavePairsOut.push_back(numConcavePairs);
+				m_numConcavePairsOut.resize(0);
+				m_numConcavePairsOut.push_back(numConcavePairs);
 			}
 
-				//printf("numConcavePairs=%d (max = %d\n",numConcavePairs,maxTriConvexPairCapacity);
-						
+			//printf("numConcavePairs=%d (max = %d\n",numConcavePairs,maxTriConvexPairCapacity);
+
 			if (numConcavePairs > maxTriConvexPairCapacity)
 			{
 				static int exceeded_maxTriConvexPairCapacity_count = 0;
 				b3Error("Exceeded the maxTriConvexPairCapacity (found %d but max is %d, it happened %d times)\n",
-					numConcavePairs,maxTriConvexPairCapacity,exceeded_maxTriConvexPairCapacity_count++);
+						numConcavePairs, maxTriConvexPairCapacity, exceeded_maxTriConvexPairCapacity_count++);
 				numConcavePairs = maxTriConvexPairCapacity;
 			}
 			triangleConvexPairsOut.resize(numConcavePairs);
-	
+
 			if (numConcavePairs)
 			{
-
-				
-						
-	
 				clippingFacesOutGPU.resize(numConcavePairs);
 				worldNormalsAGPU.resize(numConcavePairs);
-				worldVertsA1GPU.resize(vertexFaceCapacity*(numConcavePairs));
-				worldVertsB1GPU.resize(vertexFaceCapacity*(numConcavePairs));
-
+				worldVertsA1GPU.resize(vertexFaceCapacity * (numConcavePairs));
+				worldVertsB1GPU.resize(vertexFaceCapacity * (numConcavePairs));
 
 				if (findConcaveSeparatingAxisKernelGPU)
 				{
-
 					/*
 					m_concaveHasSeparatingNormals.copyFromHost(concaveHasSeparatingNormalsCPU);
 						clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
@@ -3846,236 +3597,213 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 					*/
 
 					//now perform a SAT test for each triangle-convex element (stored in triangleConvexPairsOut)
-                    if (splitSearchSepAxisConcave)
-                    {
-                        //printf("numConcavePairs = %d\n",numConcavePairs);
-                        m_dmins.resize(numConcavePairs);
-                        {
-                            B3_PROFILE("findConcaveSeparatingAxisVertexFaceKernel");
-                            b3BufferInfoCL bInfo[] = {
-                                b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
-                                b3BufferInfoCL( bodyBuf->getBufferCL(),true),
-                                b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
-                                b3BufferInfoCL( convexData.getBufferCL(),true),
-                                b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-                                b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-                                b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-                                b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-                                b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-                                b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-                                b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
-                                b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
-                                b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-                                b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
-                                b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-                                b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
-                                b3BufferInfoCL(m_dmins.getBufferCL())
-                            };
-                            
-                            b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisVertexFaceKernel,"m_findConcaveSeparatingAxisVertexFaceKernel");
-                            launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-                            launcher.setConst(vertexFaceCapacity);
-                            launcher.setConst( numConcavePairs  );
-                            
-                            int num = numConcavePairs;
-                            launcher.launch1D( num);
-                            clFinish(m_queue);
-
-                            
-                        }
-//                        numConcavePairs = 0;
-                        if (1)
-                        {
-                            B3_PROFILE("findConcaveSeparatingAxisEdgeEdgeKernel");
-                            b3BufferInfoCL bInfo[] = {
-                                b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ),
-                                b3BufferInfoCL( bodyBuf->getBufferCL(),true),
-                                b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
-                                b3BufferInfoCL( convexData.getBufferCL(),true),
-                                b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-                                b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-                                b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-                                b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-                                b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-                                b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-                                b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
-                                b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
-                                b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-                                b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
-                                b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-                                b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
-                                b3BufferInfoCL(m_dmins.getBufferCL())
-                            };
-                            
-                            b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisEdgeEdgeKernel,"m_findConcaveSeparatingAxisEdgeEdgeKernel");
-                            launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-                            launcher.setConst(vertexFaceCapacity);
-                            launcher.setConst( numConcavePairs  );
-                            
-                            int num = numConcavePairs;
-                            launcher.launch1D( num);
-                            clFinish(m_queue);
-                        }
-                      
-                        
-                        // numConcavePairs = 0;
-                        
-                        
-                        
-                        
-                        
-                        
-                    } else
-                    {
-                        B3_PROFILE("findConcaveSeparatingAxisKernel");
-                        b3BufferInfoCL bInfo[] = { 
-                            b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ), 
-                            b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-                            b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-                            b3BufferInfoCL( convexData.getBufferCL(),true),
-                            b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-                            b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-                            b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-                            b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-                            b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-                            b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-                            b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
-                            b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
-                            b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-                            b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
-                            b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
-                            b3BufferInfoCL(worldVertsB1GPU.getBufferCL())
-                        };
-
-                        b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel,"m_findConcaveSeparatingAxisKernel");
-                        launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-                        launcher.setConst(vertexFaceCapacity);
-                        launcher.setConst( numConcavePairs  );
-
-                        int num = numConcavePairs;
-                        launcher.launch1D( num);
-                        clFinish(m_queue);
-                    }
-                    
-                    
-				} else
-				{
-
-						b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
-						b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
-						b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-						b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
-						b3AlignedObjectArray<int>concaveHasSeparatingNormalsCPU;
+					if (splitSearchSepAxisConcave)
+					{
+						//printf("numConcavePairs = %d\n",numConcavePairs);
+						m_dmins.resize(numConcavePairs);
+						{
+							B3_PROFILE("findConcaveSeparatingAxisVertexFaceKernel");
+							b3BufferInfoCL bInfo[] = {
+								b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
+								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+								b3BufferInfoCL(convexData.getBufferCL(), true),
+								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+								b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+								b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
+								b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
+								b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+								b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
+								b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
+								b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
+								b3BufferInfoCL(m_dmins.getBufferCL())};
+
+							b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisVertexFaceKernel, "m_findConcaveSeparatingAxisVertexFaceKernel");
+							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+							launcher.setConst(vertexFaceCapacity);
+							launcher.setConst(numConcavePairs);
 
-						b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
-						triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
-						//triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
-						b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-						bodyBuf->copyToHost(hostBodyBuf);
-						b3AlignedObjectArray<b3Collidable> hostCollidables;
-						gpuCollidables.copyToHost(hostCollidables);
-						b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
-						clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
+							int num = numConcavePairs;
+							launcher.launch1D(num);
+							clFinish(m_queue);
+						}
+						//                        numConcavePairs = 0;
+						if (1)
+						{
+							B3_PROFILE("findConcaveSeparatingAxisEdgeEdgeKernel");
+							b3BufferInfoCL bInfo[] = {
+								b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
+								b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+								b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+								b3BufferInfoCL(convexData.getBufferCL(), true),
+								b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+								b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+								b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+								b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+								b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+								b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+								b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
+								b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
+								b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+								b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
+								b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
+								b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
+								b3BufferInfoCL(m_dmins.getBufferCL())};
+
+							b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisEdgeEdgeKernel, "m_findConcaveSeparatingAxisEdgeEdgeKernel");
+							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+							launcher.setConst(vertexFaceCapacity);
+							launcher.setConst(numConcavePairs);
 
-						b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-						convexData.copyToHost(hostConvexData);
+							int num = numConcavePairs;
+							launcher.launch1D(num);
+							clFinish(m_queue);
+						}
 
-						b3AlignedObjectArray<b3Vector3> hostVertices;
-						gpuVertices.copyToHost(hostVertices);
+						// numConcavePairs = 0;
+					}
+					else
+					{
+						B3_PROFILE("findConcaveSeparatingAxisKernel");
+						b3BufferInfoCL bInfo[] = {
+							b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
+							b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+							b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+							b3BufferInfoCL(convexData.getBufferCL(), true),
+							b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+							b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+							b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+							b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+							b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+							b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+							b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
+							b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
+							b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
+							b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsB1GPU.getBufferCL())};
+
+						b3LauncherCL launcher(m_queue, m_findConcaveSeparatingAxisKernel, "m_findConcaveSeparatingAxisKernel");
+						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+						launcher.setConst(vertexFaceCapacity);
+						launcher.setConst(numConcavePairs);
 
-						b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
-						gpuUniqueEdges.copyToHost(hostUniqueEdges);
-						b3AlignedObjectArray<b3GpuFace> hostFaces;
-						gpuFaces.copyToHost(hostFaces);
-						b3AlignedObjectArray<int> hostIndices;
-						gpuIndices.copyToHost(hostIndices);
-						b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
-						gpuChildShapes.copyToHost(cpuChildShapes);
+						int num = numConcavePairs;
+						launcher.launch1D(num);
+						clFinish(m_queue);
+					}
+				}
+				else
+				{
+					b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
+					b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
+					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
+					b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
+					b3AlignedObjectArray<int> concaveHasSeparatingNormalsCPU;
 
+					b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
+					triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
+					//triangleConvexPairsOutHost.resize(maxTriConvexPairCapacity);
+					b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
+					bodyBuf->copyToHost(hostBodyBuf);
+					b3AlignedObjectArray<b3Collidable> hostCollidables;
+					gpuCollidables.copyToHost(hostCollidables);
+					b3AlignedObjectArray<b3Aabb> hostAabbsWorldSpace;
+					clAabbsWorldSpace.copyToHost(hostAabbsWorldSpace);
 
-								
-						b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
-						m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
-						concaveHasSeparatingNormalsCPU.resize(concaveSepNormalsHost.size());
+					b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
+					convexData.copyToHost(hostConvexData);
 
-						b3GpuChildShape* childShapePointerCPU = 0;
-						if (cpuChildShapes.size())
-							childShapePointerCPU  = &cpuChildShapes.at(0);
+					b3AlignedObjectArray<b3Vector3> hostVertices;
+					gpuVertices.copyToHost(hostVertices);
 
-						clippingFacesOutCPU.resize(clippingFacesOutGPU.size());
-						worldVertsA1CPU.resize(worldVertsA1GPU.size());
-    					worldNormalsACPU.resize(worldNormalsAGPU.size());
-						worldVertsB1CPU.resize(worldVertsB1GPU.size());
+					b3AlignedObjectArray<b3Vector3> hostUniqueEdges;
+					gpuUniqueEdges.copyToHost(hostUniqueEdges);
+					b3AlignedObjectArray<b3GpuFace> hostFaces;
+					gpuFaces.copyToHost(hostFaces);
+					b3AlignedObjectArray<int> hostIndices;
+					gpuIndices.copyToHost(hostIndices);
+					b3AlignedObjectArray<b3GpuChildShape> cpuChildShapes;
+					gpuChildShapes.copyToHost(cpuChildShapes);
 
-						for (int i=0;i<numConcavePairs;i++)
-						{
-							b3FindConcaveSeparatingAxisKernel(&triangleConvexPairsOutHost.at(0),
-								&hostBodyBuf.at(0),
-								&hostCollidables.at(0),
-								&hostConvexData.at(0), &hostVertices.at(0),&hostUniqueEdges.at(0),
-								&hostFaces.at(0),&hostIndices.at(0),childShapePointerCPU,
-								&hostAabbsWorldSpace.at(0),
-								&concaveSepNormalsHost.at(0),
-								&clippingFacesOutCPU.at(0),
-								&worldVertsA1CPU.at(0),
-								&worldNormalsACPU.at(0),
-								&worldVertsB1CPU.at(0),
-								&concaveHasSeparatingNormalsCPU.at(0),
-								vertexFaceCapacity,
-								numConcavePairs,i);
-						};
+					b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
+					m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
+					concaveHasSeparatingNormalsCPU.resize(concaveSepNormalsHost.size());
 
-						m_concaveSepNormals.copyFromHost(concaveSepNormalsHost);
-						m_concaveHasSeparatingNormals.copyFromHost(concaveHasSeparatingNormalsCPU);
-						clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
-						worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
-						worldNormalsAGPU.copyFromHost(worldNormalsACPU);
-						worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
+					b3GpuChildShape* childShapePointerCPU = 0;
+					if (cpuChildShapes.size())
+						childShapePointerCPU = &cpuChildShapes.at(0);
 
+					clippingFacesOutCPU.resize(clippingFacesOutGPU.size());
+					worldVertsA1CPU.resize(worldVertsA1GPU.size());
+					worldNormalsACPU.resize(worldNormalsAGPU.size());
+					worldVertsB1CPU.resize(worldVertsB1GPU.size());
 
+					for (int i = 0; i < numConcavePairs; i++)
+					{
+						b3FindConcaveSeparatingAxisKernel(&triangleConvexPairsOutHost.at(0),
+														  &hostBodyBuf.at(0),
+														  &hostCollidables.at(0),
+														  &hostConvexData.at(0), &hostVertices.at(0), &hostUniqueEdges.at(0),
+														  &hostFaces.at(0), &hostIndices.at(0), childShapePointerCPU,
+														  &hostAabbsWorldSpace.at(0),
+														  &concaveSepNormalsHost.at(0),
+														  &clippingFacesOutCPU.at(0),
+														  &worldVertsA1CPU.at(0),
+														  &worldNormalsACPU.at(0),
+														  &worldVertsB1CPU.at(0),
+														  &concaveHasSeparatingNormalsCPU.at(0),
+														  vertexFaceCapacity,
+														  numConcavePairs, i);
+					};
 
+					m_concaveSepNormals.copyFromHost(concaveSepNormalsHost);
+					m_concaveHasSeparatingNormals.copyFromHost(concaveHasSeparatingNormalsCPU);
+					clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
+					worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
+					worldNormalsAGPU.copyFromHost(worldNormalsACPU);
+					worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
 				}
-//							b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
-//						m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
-//					b3AlignedObjectArray<b3Int4> cpuConcavePairs;
-//				triangleConvexPairsOut.copyToHost(cpuConcavePairs);
-
-
+				//							b3AlignedObjectArray<b3Vector3> cpuCompoundSepNormals;
+				//						m_concaveSepNormals.copyToHost(cpuCompoundSepNormals);
+				//					b3AlignedObjectArray<b3Int4> cpuConcavePairs;
+				//				triangleConvexPairsOut.copyToHost(cpuConcavePairs);
 			}
 		}
-		
-		
 	}
 
 	if (numConcavePairs)
 	{
-			if (numConcavePairs)
+		if (numConcavePairs)
 		{
 			B3_PROFILE("findConcaveSphereContactsKernel");
-				nContacts = m_totalContactsOut.at(0);
-//				printf("nContacts1 = %d\n",nContacts);
-			b3BufferInfoCL bInfo[] = { 
-				b3BufferInfoCL( triangleConvexPairsOut.getBufferCL() ), 
-				b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-				b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-				b3BufferInfoCL( convexData.getBufferCL(),true),
-				b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-				b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-				b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-				b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-				b3BufferInfoCL( clAabbsWorldSpace.getBufferCL(),true),
-				b3BufferInfoCL( contactOut->getBufferCL()),
-				b3BufferInfoCL( m_totalContactsOut.getBufferCL())
-			};
-
-			b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel,"m_findConcaveSphereContactsKernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-
-			launcher.setConst( numConcavePairs  );
+			nContacts = m_totalContactsOut.at(0);
+			//				printf("nContacts1 = %d\n",nContacts);
+			b3BufferInfoCL bInfo[] = {
+				b3BufferInfoCL(triangleConvexPairsOut.getBufferCL()),
+				b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+				b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+				b3BufferInfoCL(convexData.getBufferCL(), true),
+				b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+				b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+				b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+				b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+				b3BufferInfoCL(clAabbsWorldSpace.getBufferCL(), true),
+				b3BufferInfoCL(contactOut->getBufferCL()),
+				b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+
+			b3LauncherCL launcher(m_queue, m_findConcaveSphereContactsKernel, "m_findConcaveSphereContactsKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+
+			launcher.setConst(numConcavePairs);
 			launcher.setConst(maxContactCapacity);
 
 			int num = numConcavePairs;
-			launcher.launch1D( num);
+			launcher.launch1D(num);
 			clFinish(m_queue);
 			nContacts = m_totalContactsOut.at(0);
 			//printf("nContacts (after findConcaveSphereContactsKernel) = %d\n",nContacts);
@@ -4088,11 +3816,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 				nContacts = maxContactCapacity;
 			}
 		}
-		
 	}
 
-
-
 #ifdef __APPLE__
 	bool contactClippingOnGpu = true;
 #else
@@ -4101,9 +3826,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 	if (contactClippingOnGpu)
 	{
-		m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
-//		printf("nContacts3 = %d\n",nContacts);
-
+		m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
+		//		printf("nContacts3 = %d\n",nContacts);
 
 		//B3_PROFILE("clipHullHullKernel");
 
@@ -4122,15 +3846,12 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 			if (breakupConcaveConvexKernel)
 			{
-
-				worldVertsB2GPU.resize(vertexFaceCapacity*numConcavePairs);
-
+				worldVertsB2GPU.resize(vertexFaceCapacity * numConcavePairs);
 
 				//clipFacesAndFindContacts
 
 				if (clipConcaveFacesAndFindContactsCPU)
 				{
-
 					b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
 					b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
 					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
@@ -4141,120 +3862,108 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 					worldNormalsAGPU.copyToHost(worldNormalsACPU);
 					worldVertsB1GPU.copyToHost(worldVertsB1CPU);
 
-
-
-					b3AlignedObjectArray<int>concaveHasSeparatingNormalsCPU;
+					b3AlignedObjectArray<int> concaveHasSeparatingNormalsCPU;
 					m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU);
 
 					b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
 					m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
 
-					b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;  
+					b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
 					worldVertsB2CPU.resize(worldVertsB2GPU.size());
 
-
-					for (int i=0;i<numConcavePairs;i++)
+					for (int i = 0; i < numConcavePairs; i++)
 					{
-
-						clipFacesAndFindContactsKernel(   &concaveSepNormalsHost.at(0),
-							&concaveHasSeparatingNormalsCPU.at(0),
-							&clippingFacesOutCPU.at(0),
-							&worldVertsA1CPU.at(0),
-							&worldNormalsACPU.at(0),
-							&worldVertsB1CPU.at(0),
-							&worldVertsB2CPU.at(0),
-							vertexFaceCapacity,
-							i);
+						clipFacesAndFindContactsKernel(&concaveSepNormalsHost.at(0),
+													   &concaveHasSeparatingNormalsCPU.at(0),
+													   &clippingFacesOutCPU.at(0),
+													   &worldVertsA1CPU.at(0),
+													   &worldNormalsACPU.at(0),
+													   &worldVertsB1CPU.at(0),
+													   &worldVertsB2CPU.at(0),
+													   vertexFaceCapacity,
+													   i);
 					}
 
 					clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
 					worldVertsB2GPU.copyFromHost(worldVertsB2CPU);
-
-
-				} else
+				}
+				else
 				{
-
 					if (1)
 					{
-
-
-
 						B3_PROFILE("clipFacesAndFindContacts");
 						//nContacts = m_totalContactsOut.at(0);
 						//int h = m_hasSeparatingNormals.at(0);
 						//int4 p = clippingFacesOutGPU.at(0);
 						b3BufferInfoCL bInfo[] = {
-							b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
-							b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
-							b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-							b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
-							b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
-							b3BufferInfoCL( worldVertsB1GPU.getBufferCL()),
-							b3BufferInfoCL( worldVertsB2GPU.getBufferCL())
-						};
-						b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts,"m_clipFacesAndFindContacts");
-						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+							b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
+							b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
+							b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
+							b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsB2GPU.getBufferCL())};
+						b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts, "m_clipFacesAndFindContacts");
+						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 						launcher.setConst(vertexFaceCapacity);
 
-						launcher.setConst( numConcavePairs  );
+						launcher.setConst(numConcavePairs);
 						int debugMode = 0;
-						launcher.setConst( debugMode);
+						launcher.setConst(debugMode);
 						int num = numConcavePairs;
-						launcher.launch1D( num);
+						launcher.launch1D(num);
 						clFinish(m_queue);
 						//int bla = m_totalContactsOut.at(0);
 					}
 				}
 				//contactReduction
 				{
-					int newContactCapacity=nContacts+numConcavePairs; 
+					int newContactCapacity = nContacts + numConcavePairs;
 					contactOut->reserve(newContactCapacity);
 					if (reduceConcaveContactsOnGPU)
 					{
-//						printf("newReservation = %d\n",newReservation);
+						//						printf("newReservation = %d\n",newReservation);
 						{
 							B3_PROFILE("newContactReductionKernel");
 							b3BufferInfoCL bInfo[] =
-							{
-								b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ),
-								b3BufferInfoCL( bodyBuf->getBufferCL(),true),
-								b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
-								b3BufferInfoCL( m_concaveHasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL( contactOut->getBufferCL()),
-								b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-								b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
-								b3BufferInfoCL( m_totalContactsOut.getBufferCL())
-							};
-
-							b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
-							launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+								{
+									b3BufferInfoCL(triangleConvexPairsOut.getBufferCL(), true),
+									b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+									b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
+									b3BufferInfoCL(m_concaveHasSeparatingNormals.getBufferCL()),
+									b3BufferInfoCL(contactOut->getBufferCL()),
+									b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+									b3BufferInfoCL(worldVertsB2GPU.getBufferCL()),
+									b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+
+							b3LauncherCL launcher(m_queue, m_newContactReductionKernel, "m_newContactReductionKernel");
+							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 							launcher.setConst(vertexFaceCapacity);
 							launcher.setConst(newContactCapacity);
-							launcher.setConst( numConcavePairs  );
+							launcher.setConst(numConcavePairs);
 							int num = numConcavePairs;
 
-							launcher.launch1D( num);
+							launcher.launch1D(num);
 						}
 						nContacts = m_totalContactsOut.at(0);
 						contactOut->resize(nContacts);
 
 						//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
-					}else
+					}
+					else
 					{
-						
 						volatile int nGlobalContactsOut = nContacts;
 						b3AlignedObjectArray<b3Int4> triangleConvexPairsOutHost;
 						triangleConvexPairsOut.copyToHost(triangleConvexPairsOutHost);
 						b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
 						bodyBuf->copyToHost(hostBodyBuf);
 
-						b3AlignedObjectArray<int>concaveHasSeparatingNormalsCPU;
+						b3AlignedObjectArray<int> concaveHasSeparatingNormalsCPU;
 						m_concaveHasSeparatingNormals.copyToHost(concaveHasSeparatingNormalsCPU);
 
 						b3AlignedObjectArray<b3Vector3> concaveSepNormalsHost;
 						m_concaveSepNormals.copyToHost(concaveSepNormalsHost);
 
-
 						b3AlignedObjectArray<b3Contact4> hostContacts;
 						if (nContacts)
 						{
@@ -4268,67 +3977,59 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 						clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
 						worldVertsB2GPU.copyToHost(worldVertsB2CPU);
 
-
-
-						for (int i=0;i<numConcavePairs;i++)
+						for (int i = 0; i < numConcavePairs; i++)
 						{
-							b3NewContactReductionKernel( &triangleConvexPairsOutHost.at(0),
-                                                   &hostBodyBuf.at(0),
-												   &concaveSepNormalsHost.at(0),
-												   &concaveHasSeparatingNormalsCPU.at(0),
-												   &hostContacts.at(0),
-                                                   &clippingFacesOutCPU.at(0),
-                                                   &worldVertsB2CPU.at(0),
-                                                   &nGlobalContactsOut,
-                                                   vertexFaceCapacity,
-												   newContactCapacity,
-                                                   numConcavePairs,
-												   i
-                                                   );
-
+							b3NewContactReductionKernel(&triangleConvexPairsOutHost.at(0),
+														&hostBodyBuf.at(0),
+														&concaveSepNormalsHost.at(0),
+														&concaveHasSeparatingNormalsCPU.at(0),
+														&hostContacts.at(0),
+														&clippingFacesOutCPU.at(0),
+														&worldVertsB2CPU.at(0),
+														&nGlobalContactsOut,
+														vertexFaceCapacity,
+														newContactCapacity,
+														numConcavePairs,
+														i);
 						}
 
-
 						nContacts = nGlobalContactsOut;
-						m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
-//						nContacts = m_totalContactsOut.at(0);
+						m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
+						//						nContacts = m_totalContactsOut.at(0);
 						//contactOut->resize(nContacts);
 						hostContacts.resize(nContacts);
 						//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
 						contactOut->copyFromHost(hostContacts);
 					}
-
 				}
 				//re-use?
-
-
-			} else
+			}
+			else
 			{
 				B3_PROFILE("clipHullHullConcaveConvexKernel");
 				nContacts = m_totalContactsOut.at(0);
 				int newContactCapacity = contactOut->capacity();
 
 				//printf("contactOut5 = %d\n",nContacts);
-				b3BufferInfoCL bInfo[] = { 
-					b3BufferInfoCL( triangleConvexPairsOut.getBufferCL(), true ), 
-					b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-					b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-					b3BufferInfoCL( convexData.getBufferCL(),true),
-					b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-					b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-					b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-					b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-					b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-					b3BufferInfoCL( m_concaveSepNormals.getBufferCL()),
-					b3BufferInfoCL( contactOut->getBufferCL()),
-					b3BufferInfoCL( m_totalContactsOut.getBufferCL())	
-				};
-				b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel,"m_clipHullHullConcaveConvexKernel");
-				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+				b3BufferInfoCL bInfo[] = {
+					b3BufferInfoCL(triangleConvexPairsOut.getBufferCL(), true),
+					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+					b3BufferInfoCL(convexData.getBufferCL(), true),
+					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+					b3BufferInfoCL(m_concaveSepNormals.getBufferCL()),
+					b3BufferInfoCL(contactOut->getBufferCL()),
+					b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+				b3LauncherCL launcher(m_queue, m_clipHullHullConcaveConvexKernel, "m_clipHullHullConcaveConvexKernel");
+				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 				launcher.setConst(newContactCapacity);
-				launcher.setConst( numConcavePairs  );
+				launcher.setConst(numConcavePairs);
 				int num = numConcavePairs;
-				launcher.launch1D( num);
+				launcher.launch1D(num);
 				clFinish(m_queue);
 				nContacts = m_totalContactsOut.at(0);
 				contactOut->resize(nContacts);
@@ -4337,12 +4038,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 				contactOut->copyToHost(cpuContacts);
 			}
 			//			printf("nContacts after = %d\n", nContacts);
-		}//numConcavePairs
-
-
+		}  //numConcavePairs
 
 		//convex-convex contact clipping
-		
+
 		bool breakupKernel = false;
 
 #ifdef __APPLE__
@@ -4350,166 +4049,149 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 #endif
 
 #ifdef CHECK_ON_HOST
-	bool computeConvexConvex = false;
+		bool computeConvexConvex = false;
 #else
-	bool computeConvexConvex = true;
-#endif//CHECK_ON_HOST
+		bool computeConvexConvex = true;
+#endif  //CHECK_ON_HOST
 		if (computeConvexConvex)
 		{
 			B3_PROFILE("clipHullHullKernel");
-		if (breakupKernel)
-		{
-
-
-
-
-			worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
-			clippingFacesOutGPU.resize(nPairs);
-			worldNormalsAGPU.resize(nPairs);
-			worldVertsA1GPU.resize(vertexFaceCapacity*nPairs);
-			worldVertsB2GPU.resize(vertexFaceCapacity*nPairs);
-
-			if (findConvexClippingFacesGPU)
-			{
-				B3_PROFILE("findClippingFacesKernel");
-				b3BufferInfoCL bInfo[] = {
-					b3BufferInfoCL( pairs->getBufferCL(), true ),
-					b3BufferInfoCL( bodyBuf->getBufferCL(),true),
-					b3BufferInfoCL( gpuCollidables.getBufferCL(),true),
-					b3BufferInfoCL( convexData.getBufferCL(),true),
-					b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-					b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-					b3BufferInfoCL( gpuFaces.getBufferCL(),true), 
-					b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-					b3BufferInfoCL( m_sepNormals.getBufferCL()),
-					b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-					b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-					b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
-					b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
-					b3BufferInfoCL( worldVertsB1GPU.getBufferCL())
-				};
-
-				b3LauncherCL launcher(m_queue, m_findClippingFacesKernel,"m_findClippingFacesKernel");
-				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-				launcher.setConst( vertexFaceCapacity);
-				launcher.setConst( nPairs  );
-				int num = nPairs;
-				launcher.launch1D( num);
-				clFinish(m_queue);
-
-			} else
+			if (breakupKernel)
 			{
-				
-				float minDist = -1e30f;
-				float maxDist = 0.02f;
+				worldVertsB1GPU.resize(vertexFaceCapacity * nPairs);
+				clippingFacesOutGPU.resize(nPairs);
+				worldNormalsAGPU.resize(nPairs);
+				worldVertsA1GPU.resize(vertexFaceCapacity * nPairs);
+				worldVertsB2GPU.resize(vertexFaceCapacity * nPairs);
 
-				b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
-				convexData.copyToHost(hostConvexData);
-				b3AlignedObjectArray<b3Collidable> hostCollidables;
-				gpuCollidables.copyToHost(hostCollidables);
+				if (findConvexClippingFacesGPU)
+				{
+					B3_PROFILE("findClippingFacesKernel");
+					b3BufferInfoCL bInfo[] = {
+						b3BufferInfoCL(pairs->getBufferCL(), true),
+						b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+						b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+						b3BufferInfoCL(convexData.getBufferCL(), true),
+						b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+						b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+						b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+						b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+						b3BufferInfoCL(m_sepNormals.getBufferCL()),
+						b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+						b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+						b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
+						b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
+						b3BufferInfoCL(worldVertsB1GPU.getBufferCL())};
+
+					b3LauncherCL launcher(m_queue, m_findClippingFacesKernel, "m_findClippingFacesKernel");
+					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+					launcher.setConst(vertexFaceCapacity);
+					launcher.setConst(nPairs);
+					int num = nPairs;
+					launcher.launch1D(num);
+					clFinish(m_queue);
+				}
+				else
+				{
+					float minDist = -1e30f;
+					float maxDist = 0.02f;
 
-				b3AlignedObjectArray<int> hostHasSepNormals;
-				m_hasSeparatingNormals.copyToHost(hostHasSepNormals);
-				b3AlignedObjectArray<b3Vector3> cpuSepNormals;
-				m_sepNormals.copyToHost(cpuSepNormals);
+					b3AlignedObjectArray<b3ConvexPolyhedronData> hostConvexData;
+					convexData.copyToHost(hostConvexData);
+					b3AlignedObjectArray<b3Collidable> hostCollidables;
+					gpuCollidables.copyToHost(hostCollidables);
 
-				b3AlignedObjectArray<b3Int4> hostPairs;
-				pairs->copyToHost(hostPairs);
-				b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-				bodyBuf->copyToHost(hostBodyBuf);
+					b3AlignedObjectArray<int> hostHasSepNormals;
+					m_hasSeparatingNormals.copyToHost(hostHasSepNormals);
+					b3AlignedObjectArray<b3Vector3> cpuSepNormals;
+					m_sepNormals.copyToHost(cpuSepNormals);
 
+					b3AlignedObjectArray<b3Int4> hostPairs;
+					pairs->copyToHost(hostPairs);
+					b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
+					bodyBuf->copyToHost(hostBodyBuf);
 
-				//worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
-				b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
-				worldVertsB1GPU.copyToHost(worldVertsB1CPU);
+					//worldVertsB1GPU.resize(vertexFaceCapacity*nPairs);
+					b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
+					worldVertsB1GPU.copyToHost(worldVertsB1CPU);
 
-				b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
-				clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
+					b3AlignedObjectArray<b3Int4> clippingFacesOutCPU;
+					clippingFacesOutGPU.copyToHost(clippingFacesOutCPU);
 
-				b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-				worldNormalsACPU.resize(nPairs);
+					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
+					worldNormalsACPU.resize(nPairs);
 
-				b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
-				worldVertsA1CPU.resize(worldVertsA1GPU.size());
-			
-			
-				b3AlignedObjectArray<b3Vector3> hostVertices;
-				gpuVertices.copyToHost(hostVertices);
-				b3AlignedObjectArray<b3GpuFace> hostFaces;
-				gpuFaces.copyToHost(hostFaces);
-				b3AlignedObjectArray<int> hostIndices;
-				gpuIndices.copyToHost(hostIndices);
-				
-
-				for (int i=0;i<nPairs;i++)
-				{
+					b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
+					worldVertsA1CPU.resize(worldVertsA1GPU.size());
 
-					int bodyIndexA = hostPairs[i].x;
-					int bodyIndexB = hostPairs[i].y;
-			
-					int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
-					int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
-			
-					int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
-					int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
-			
+					b3AlignedObjectArray<b3Vector3> hostVertices;
+					gpuVertices.copyToHost(hostVertices);
+					b3AlignedObjectArray<b3GpuFace> hostFaces;
+					gpuFaces.copyToHost(hostFaces);
+					b3AlignedObjectArray<int> hostIndices;
+					gpuIndices.copyToHost(hostIndices);
 
-					if (hostHasSepNormals[i])
+					for (int i = 0; i < nPairs; i++)
 					{
-						b3FindClippingFaces(cpuSepNormals[i],
-							&hostConvexData[shapeIndexA],
-							&hostConvexData[shapeIndexB],
-							hostBodyBuf[bodyIndexA].m_pos,hostBodyBuf[bodyIndexA].m_quat,
-							hostBodyBuf[bodyIndexB].m_pos,hostBodyBuf[bodyIndexB].m_quat,
-							&worldVertsA1CPU.at(0),&worldNormalsACPU.at(0),
-							&worldVertsB1CPU.at(0),
-							vertexFaceCapacity,minDist,maxDist,
-							&hostVertices.at(0),&hostFaces.at(0),
-							&hostIndices.at(0),
-							&hostVertices.at(0),&hostFaces.at(0),
-							&hostIndices.at(0),&clippingFacesOutCPU.at(0),i);
-					}
-				}
-
-				clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
-				worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
-				worldNormalsAGPU.copyFromHost(worldNormalsACPU);
-				worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
-
-			}
+						int bodyIndexA = hostPairs[i].x;
+						int bodyIndexB = hostPairs[i].y;
 
+						int collidableIndexA = hostBodyBuf[bodyIndexA].m_collidableIdx;
+						int collidableIndexB = hostBodyBuf[bodyIndexB].m_collidableIdx;
 
+						int shapeIndexA = hostCollidables[collidableIndexA].m_shapeIndex;
+						int shapeIndexB = hostCollidables[collidableIndexB].m_shapeIndex;
 
+						if (hostHasSepNormals[i])
+						{
+							b3FindClippingFaces(cpuSepNormals[i],
+												&hostConvexData[shapeIndexA],
+												&hostConvexData[shapeIndexB],
+												hostBodyBuf[bodyIndexA].m_pos, hostBodyBuf[bodyIndexA].m_quat,
+												hostBodyBuf[bodyIndexB].m_pos, hostBodyBuf[bodyIndexB].m_quat,
+												&worldVertsA1CPU.at(0), &worldNormalsACPU.at(0),
+												&worldVertsB1CPU.at(0),
+												vertexFaceCapacity, minDist, maxDist,
+												&hostVertices.at(0), &hostFaces.at(0),
+												&hostIndices.at(0),
+												&hostVertices.at(0), &hostFaces.at(0),
+												&hostIndices.at(0), &clippingFacesOutCPU.at(0), i);
+						}
+					}
 
+					clippingFacesOutGPU.copyFromHost(clippingFacesOutCPU);
+					worldVertsA1GPU.copyFromHost(worldVertsA1CPU);
+					worldNormalsAGPU.copyFromHost(worldNormalsACPU);
+					worldVertsB1GPU.copyFromHost(worldVertsB1CPU);
+				}
 
-			///clip face B against face A, reduce contacts and append them to a global contact array
-			if (1)
-			{
-				if (clipConvexFacesAndFindContactsCPU)
+				///clip face B against face A, reduce contacts and append them to a global contact array
+				if (1)
 				{
+					if (clipConvexFacesAndFindContactsCPU)
+					{
+						//b3AlignedObjectArray<b3Int4> hostPairs;
+						//pairs->copyToHost(hostPairs);
 
-					//b3AlignedObjectArray<b3Int4> hostPairs;
-					//pairs->copyToHost(hostPairs);
+						b3AlignedObjectArray<b3Vector3> hostSepNormals;
+						m_sepNormals.copyToHost(hostSepNormals);
+						b3AlignedObjectArray<int> hostHasSepAxis;
+						m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
 
-					b3AlignedObjectArray<b3Vector3> hostSepNormals;
-					m_sepNormals.copyToHost(hostSepNormals);
-					b3AlignedObjectArray<int> hostHasSepAxis;
-					m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
+						b3AlignedObjectArray<b3Int4> hostClippingFaces;
+						clippingFacesOutGPU.copyToHost(hostClippingFaces);
+						b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
+						worldVertsB2CPU.resize(vertexFaceCapacity * nPairs);
 
-					b3AlignedObjectArray<b3Int4> hostClippingFaces;
-					clippingFacesOutGPU.copyToHost(hostClippingFaces);
-					b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
-					worldVertsB2CPU.resize(vertexFaceCapacity*nPairs);
-					
-					b3AlignedObjectArray<b3Vector3>worldVertsA1CPU;
-					worldVertsA1GPU.copyToHost(worldVertsA1CPU);
-					b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
-					worldNormalsAGPU.copyToHost(worldNormalsACPU);
+						b3AlignedObjectArray<b3Vector3> worldVertsA1CPU;
+						worldVertsA1GPU.copyToHost(worldVertsA1CPU);
+						b3AlignedObjectArray<b3Vector3> worldNormalsACPU;
+						worldNormalsAGPU.copyToHost(worldNormalsACPU);
 
-					b3AlignedObjectArray<b3Vector3>  worldVertsB1CPU;
-					worldVertsB1GPU.copyToHost(worldVertsB1CPU);
+						b3AlignedObjectArray<b3Vector3> worldVertsB1CPU;
+						worldVertsB1GPU.copyToHost(worldVertsB1CPU);
 
-					/*
+						/*
 					  __global const b3Float4* separatingNormals,
                                                    __global const int* hasSeparatingAxis,
                                                    __global b3Int4* clippingFacesOut,
@@ -4520,214 +4202,207 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
                                                     int vertexFaceCapacity,
 															int pairIndex
 					*/
-					for (int i=0;i<nPairs;i++)
-					{
-						clipFacesAndFindContactsKernel(
-							&hostSepNormals.at(0),
-							&hostHasSepAxis.at(0),
-							&hostClippingFaces.at(0),
-							&worldVertsA1CPU.at(0),
-							&worldNormalsACPU.at(0),
-							&worldVertsB1CPU.at(0),
-							&worldVertsB2CPU.at(0),
-
-						vertexFaceCapacity,
-							i);
-					}
-					
-					clippingFacesOutGPU.copyFromHost(hostClippingFaces);
-					worldVertsB2GPU.copyFromHost(worldVertsB2CPU);
+						for (int i = 0; i < nPairs; i++)
+						{
+							clipFacesAndFindContactsKernel(
+								&hostSepNormals.at(0),
+								&hostHasSepAxis.at(0),
+								&hostClippingFaces.at(0),
+								&worldVertsA1CPU.at(0),
+								&worldNormalsACPU.at(0),
+								&worldVertsB1CPU.at(0),
+								&worldVertsB2CPU.at(0),
 
-				} else
-				{
-					B3_PROFILE("clipFacesAndFindContacts");
-					//nContacts = m_totalContactsOut.at(0);
-					//int h = m_hasSeparatingNormals.at(0);
-					//int4 p = clippingFacesOutGPU.at(0);
-					b3BufferInfoCL bInfo[] = {
-						b3BufferInfoCL( m_sepNormals.getBufferCL()),
-						b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-						b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-						b3BufferInfoCL( worldVertsA1GPU.getBufferCL()),
-						b3BufferInfoCL( worldNormalsAGPU.getBufferCL()),
-						b3BufferInfoCL( worldVertsB1GPU.getBufferCL()),
-						b3BufferInfoCL( worldVertsB2GPU.getBufferCL())
-					};
+								vertexFaceCapacity,
+								i);
+						}
 
-					b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts,"m_clipFacesAndFindContacts");
-					launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-					launcher.setConst(vertexFaceCapacity);
+						clippingFacesOutGPU.copyFromHost(hostClippingFaces);
+						worldVertsB2GPU.copyFromHost(worldVertsB2CPU);
+					}
+					else
+					{
+						B3_PROFILE("clipFacesAndFindContacts");
+						//nContacts = m_totalContactsOut.at(0);
+						//int h = m_hasSeparatingNormals.at(0);
+						//int4 p = clippingFacesOutGPU.at(0);
+						b3BufferInfoCL bInfo[] = {
+							b3BufferInfoCL(m_sepNormals.getBufferCL()),
+							b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+							b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsA1GPU.getBufferCL()),
+							b3BufferInfoCL(worldNormalsAGPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsB1GPU.getBufferCL()),
+							b3BufferInfoCL(worldVertsB2GPU.getBufferCL())};
+
+						b3LauncherCL launcher(m_queue, m_clipFacesAndFindContacts, "m_clipFacesAndFindContacts");
+						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+						launcher.setConst(vertexFaceCapacity);
 
-					launcher.setConst( nPairs  );
-					int debugMode = 0;
-					launcher.setConst( debugMode);
-					int num = nPairs;
-					launcher.launch1D( num);
-					clFinish(m_queue);
-				} 
+						launcher.setConst(nPairs);
+						int debugMode = 0;
+						launcher.setConst(debugMode);
+						int num = nPairs;
+						launcher.launch1D(num);
+						clFinish(m_queue);
+					}
 
-				{
-					nContacts = m_totalContactsOut.at(0);
-					//printf("nContacts = %d\n",nContacts);
+					{
+						nContacts = m_totalContactsOut.at(0);
+						//printf("nContacts = %d\n",nContacts);
 
-					int newContactCapacity = nContacts+nPairs;
-					contactOut->reserve(newContactCapacity);
+						int newContactCapacity = nContacts + nPairs;
+						contactOut->reserve(newContactCapacity);
 
-					if (reduceConvexContactsOnGPU)
-					{
+						if (reduceConvexContactsOnGPU)
 						{
-							B3_PROFILE("newContactReductionKernel");
-							b3BufferInfoCL bInfo[] =
 							{
-								b3BufferInfoCL( pairs->getBufferCL(), true ),
-								b3BufferInfoCL( bodyBuf->getBufferCL(),true),
-								b3BufferInfoCL( m_sepNormals.getBufferCL()),
-								b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-								b3BufferInfoCL( contactOut->getBufferCL()),
-								b3BufferInfoCL( clippingFacesOutGPU.getBufferCL()),
-								b3BufferInfoCL( worldVertsB2GPU.getBufferCL()),
-								b3BufferInfoCL( m_totalContactsOut.getBufferCL())
-							};
-
-							b3LauncherCL launcher(m_queue, m_newContactReductionKernel,"m_newContactReductionKernel");
-							launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-							launcher.setConst(vertexFaceCapacity);
-							launcher.setConst(newContactCapacity);
-							launcher.setConst( nPairs  );
-							int num = nPairs;
-
-							launcher.launch1D( num);
+								B3_PROFILE("newContactReductionKernel");
+								b3BufferInfoCL bInfo[] =
+									{
+										b3BufferInfoCL(pairs->getBufferCL(), true),
+										b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+										b3BufferInfoCL(m_sepNormals.getBufferCL()),
+										b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+										b3BufferInfoCL(contactOut->getBufferCL()),
+										b3BufferInfoCL(clippingFacesOutGPU.getBufferCL()),
+										b3BufferInfoCL(worldVertsB2GPU.getBufferCL()),
+										b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+
+								b3LauncherCL launcher(m_queue, m_newContactReductionKernel, "m_newContactReductionKernel");
+								launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+								launcher.setConst(vertexFaceCapacity);
+								launcher.setConst(newContactCapacity);
+								launcher.setConst(nPairs);
+								int num = nPairs;
+
+								launcher.launch1D(num);
+							}
+							nContacts = m_totalContactsOut.at(0);
+							contactOut->resize(nContacts);
 						}
-						nContacts = m_totalContactsOut.at(0);
-						contactOut->resize(nContacts);
-					} else
-					{
-
-						volatile int nGlobalContactsOut = nContacts;
-						b3AlignedObjectArray<b3Int4> hostPairs;
-						pairs->copyToHost(hostPairs);
-						b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
-						bodyBuf->copyToHost(hostBodyBuf);
-						b3AlignedObjectArray<b3Vector3> hostSepNormals;
-						m_sepNormals.copyToHost(hostSepNormals);
-						b3AlignedObjectArray<int> hostHasSepAxis;
-						m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
-						b3AlignedObjectArray<b3Contact4> hostContactsOut;
-						contactOut->copyToHost(hostContactsOut);
-						hostContactsOut.resize(newContactCapacity);
-
-						b3AlignedObjectArray<b3Int4> hostClippingFaces;
-						clippingFacesOutGPU.copyToHost(hostClippingFaces);
-						b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
-						worldVertsB2GPU.copyToHost(worldVertsB2CPU);
-
-						for (int i=0;i<nPairs;i++)
+						else
 						{
-							b3NewContactReductionKernel(&hostPairs.at(0),
-								&hostBodyBuf.at(0),
-								&hostSepNormals.at(0),
-								&hostHasSepAxis.at(0),
-								&hostContactsOut.at(0),
-								&hostClippingFaces.at(0),
-								&worldVertsB2CPU.at(0),
-								&nGlobalContactsOut,
-								vertexFaceCapacity,
-								newContactCapacity,
-								nPairs,
-								i);
+							volatile int nGlobalContactsOut = nContacts;
+							b3AlignedObjectArray<b3Int4> hostPairs;
+							pairs->copyToHost(hostPairs);
+							b3AlignedObjectArray<b3RigidBodyData> hostBodyBuf;
+							bodyBuf->copyToHost(hostBodyBuf);
+							b3AlignedObjectArray<b3Vector3> hostSepNormals;
+							m_sepNormals.copyToHost(hostSepNormals);
+							b3AlignedObjectArray<int> hostHasSepAxis;
+							m_hasSeparatingNormals.copyToHost(hostHasSepAxis);
+							b3AlignedObjectArray<b3Contact4> hostContactsOut;
+							contactOut->copyToHost(hostContactsOut);
+							hostContactsOut.resize(newContactCapacity);
+
+							b3AlignedObjectArray<b3Int4> hostClippingFaces;
+							clippingFacesOutGPU.copyToHost(hostClippingFaces);
+							b3AlignedObjectArray<b3Vector3> worldVertsB2CPU;
+							worldVertsB2GPU.copyToHost(worldVertsB2CPU);
+
+							for (int i = 0; i < nPairs; i++)
+							{
+								b3NewContactReductionKernel(&hostPairs.at(0),
+															&hostBodyBuf.at(0),
+															&hostSepNormals.at(0),
+															&hostHasSepAxis.at(0),
+															&hostContactsOut.at(0),
+															&hostClippingFaces.at(0),
+															&worldVertsB2CPU.at(0),
+															&nGlobalContactsOut,
+															vertexFaceCapacity,
+															newContactCapacity,
+															nPairs,
+															i);
+							}
+
+							nContacts = nGlobalContactsOut;
+							m_totalContactsOut.copyFromHostPointer(&nContacts, 1, 0, true);
+							hostContactsOut.resize(nContacts);
+							//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
+							contactOut->copyFromHost(hostContactsOut);
 						}
+						//                    b3Contact4 pt = contactOut->at(0);
+						//                  printf("nContacts = %d\n",nContacts);
+					}
+				}
+			}
+			else  //breakupKernel
+			{
+				if (nPairs)
+				{
+					b3BufferInfoCL bInfo[] = {
+						b3BufferInfoCL(pairs->getBufferCL(), true),
+						b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+						b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+						b3BufferInfoCL(convexData.getBufferCL(), true),
+						b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+						b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+						b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+						b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+						b3BufferInfoCL(m_sepNormals.getBufferCL()),
+						b3BufferInfoCL(m_hasSeparatingNormals.getBufferCL()),
+						b3BufferInfoCL(contactOut->getBufferCL()),
+						b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+					b3LauncherCL launcher(m_queue, m_clipHullHullKernel, "m_clipHullHullKernel");
+					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+					launcher.setConst(nPairs);
+					launcher.setConst(maxContactCapacity);
 
-						nContacts = nGlobalContactsOut;
-						m_totalContactsOut.copyFromHostPointer(&nContacts,1,0,true);
-						hostContactsOut.resize(nContacts);
-						//printf("contactOut4 (after newContactReductionKernel) = %d\n",nContacts);
-						contactOut->copyFromHost(hostContactsOut);
+					int num = nPairs;
+					launcher.launch1D(num);
+					clFinish(m_queue);
+
+					nContacts = m_totalContactsOut.at(0);
+					if (nContacts >= maxContactCapacity)
+					{
+						b3Error("Exceeded contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
+						nContacts = maxContactCapacity;
 					}
-					//                    b3Contact4 pt = contactOut->at(0);
-					//                  printf("nContacts = %d\n",nContacts);
+					contactOut->resize(nContacts);
 				}
 			}
-		}            
-		else//breakupKernel
-		{
 
-			if (nPairs)
+			int nCompoundsPairs = m_gpuCompoundPairs.size();
+
+			if (nCompoundsPairs)
 			{
 				b3BufferInfoCL bInfo[] = {
-					b3BufferInfoCL( pairs->getBufferCL(), true ), 
-					b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-					b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-					b3BufferInfoCL( convexData.getBufferCL(),true),
-					b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-					b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-					b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-					b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-					b3BufferInfoCL( m_sepNormals.getBufferCL()),
-					b3BufferInfoCL( m_hasSeparatingNormals.getBufferCL()),
-					b3BufferInfoCL( contactOut->getBufferCL()),
-					b3BufferInfoCL( m_totalContactsOut.getBufferCL())	
-				};
-				b3LauncherCL launcher(m_queue, m_clipHullHullKernel,"m_clipHullHullKernel");
-				launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-				launcher.setConst( nPairs  );
+					b3BufferInfoCL(m_gpuCompoundPairs.getBufferCL(), true),
+					b3BufferInfoCL(bodyBuf->getBufferCL(), true),
+					b3BufferInfoCL(gpuCollidables.getBufferCL(), true),
+					b3BufferInfoCL(convexData.getBufferCL(), true),
+					b3BufferInfoCL(gpuVertices.getBufferCL(), true),
+					b3BufferInfoCL(gpuUniqueEdges.getBufferCL(), true),
+					b3BufferInfoCL(gpuFaces.getBufferCL(), true),
+					b3BufferInfoCL(gpuIndices.getBufferCL(), true),
+					b3BufferInfoCL(gpuChildShapes.getBufferCL(), true),
+					b3BufferInfoCL(m_gpuCompoundSepNormals.getBufferCL(), true),
+					b3BufferInfoCL(m_gpuHasCompoundSepNormals.getBufferCL(), true),
+					b3BufferInfoCL(contactOut->getBufferCL()),
+					b3BufferInfoCL(m_totalContactsOut.getBufferCL())};
+				b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel, "m_clipCompoundsHullHullKernel");
+				launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+				launcher.setConst(nCompoundsPairs);
 				launcher.setConst(maxContactCapacity);
 
-				int num = nPairs;
-				launcher.launch1D( num);
+				int num = nCompoundsPairs;
+				launcher.launch1D(num);
 				clFinish(m_queue);
 
 				nContacts = m_totalContactsOut.at(0);
-				if (nContacts >= maxContactCapacity)
+				if (nContacts > maxContactCapacity)
 				{
-					b3Error("Exceeded contact capacity (%d/%d)\n",nContacts,maxContactCapacity);
+					b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
 					nContacts = maxContactCapacity;
 				}
 				contactOut->resize(nContacts);
-			}
-		}
-
-
-		int nCompoundsPairs = m_gpuCompoundPairs.size();
-
-		if (nCompoundsPairs)
-		{
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL( m_gpuCompoundPairs.getBufferCL(), true ), 
-				b3BufferInfoCL( bodyBuf->getBufferCL(),true), 
-				b3BufferInfoCL( gpuCollidables.getBufferCL(),true), 
-				b3BufferInfoCL( convexData.getBufferCL(),true),
-				b3BufferInfoCL( gpuVertices.getBufferCL(),true),
-				b3BufferInfoCL( gpuUniqueEdges.getBufferCL(),true),
-				b3BufferInfoCL( gpuFaces.getBufferCL(),true),
-				b3BufferInfoCL( gpuIndices.getBufferCL(),true),
-				b3BufferInfoCL( gpuChildShapes.getBufferCL(),true),
-				b3BufferInfoCL( m_gpuCompoundSepNormals.getBufferCL(),true),
-				b3BufferInfoCL( m_gpuHasCompoundSepNormals.getBufferCL(),true),
-				b3BufferInfoCL( contactOut->getBufferCL()),
-				b3BufferInfoCL( m_totalContactsOut.getBufferCL())	
-			};
-			b3LauncherCL launcher(m_queue, m_clipCompoundsHullHullKernel,"m_clipCompoundsHullHullKernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst( nCompoundsPairs  );
-			launcher.setConst(maxContactCapacity);
-
-			int num = nCompoundsPairs;
-			launcher.launch1D( num);
-			clFinish(m_queue);
-
-			nContacts = m_totalContactsOut.at(0);
-			if (nContacts>maxContactCapacity)
-			{
-
-				b3Error("Error: contacts exceeds capacity (%d/%d)\n", nContacts, maxContactCapacity);
-				nContacts = maxContactCapacity;
-			}
-			contactOut->resize(nContacts);
-		}//if nCompoundsPairs
+			}  //if nCompoundsPairs
 		}
-	}//contactClippingOnGpu
+	}  //contactClippingOnGpu
 
 	//printf("nContacts end = %d\n",nContacts);
-	
+
 	//printf("frameCount = %d\n",frameCount++);
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
index e24c1579c6..53e8c4ed4d 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h
@@ -17,102 +17,90 @@
 
 //#include "../../dynamics/basic_demo/Stubs/ChNarrowPhase.h"
 
-
-
-
 struct GpuSatCollision
 {
-	cl_context				m_context;
-	cl_device_id			m_device;
-	cl_command_queue		m_queue;
-	cl_kernel				m_findSeparatingAxisKernel;
-	cl_kernel				m_mprPenetrationKernel;
-	cl_kernel				m_findSeparatingAxisUnitSphereKernel;
-
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
+	cl_kernel m_findSeparatingAxisKernel;
+	cl_kernel m_mprPenetrationKernel;
+	cl_kernel m_findSeparatingAxisUnitSphereKernel;
 
 	cl_kernel m_findSeparatingAxisVertexFaceKernel;
 	cl_kernel m_findSeparatingAxisEdgeEdgeKernel;
-	
-	cl_kernel				m_findConcaveSeparatingAxisKernel;
-    cl_kernel				m_findConcaveSeparatingAxisVertexFaceKernel;
-    cl_kernel				m_findConcaveSeparatingAxisEdgeEdgeKernel;
- 
-    
-    
-    
-	cl_kernel				m_findCompoundPairsKernel;
-	cl_kernel				m_processCompoundPairsKernel;
-
-	cl_kernel				m_clipHullHullKernel;
-	cl_kernel				m_clipCompoundsHullHullKernel;
-    
-    cl_kernel               m_clipFacesAndFindContacts;
-    cl_kernel               m_findClippingFacesKernel;
-    
-	cl_kernel				m_clipHullHullConcaveConvexKernel;
-//	cl_kernel				m_extractManifoldAndAddContactKernel;
-    cl_kernel               m_newContactReductionKernel;
-
-	cl_kernel				m_bvhTraversalKernel;
-	cl_kernel				m_primitiveContactsKernel;
-	cl_kernel				m_findConcaveSphereContactsKernel;
-
-	cl_kernel				m_processCompoundPairsPrimitivesKernel;
-    
+
+	cl_kernel m_findConcaveSeparatingAxisKernel;
+	cl_kernel m_findConcaveSeparatingAxisVertexFaceKernel;
+	cl_kernel m_findConcaveSeparatingAxisEdgeEdgeKernel;
+
+	cl_kernel m_findCompoundPairsKernel;
+	cl_kernel m_processCompoundPairsKernel;
+
+	cl_kernel m_clipHullHullKernel;
+	cl_kernel m_clipCompoundsHullHullKernel;
+
+	cl_kernel m_clipFacesAndFindContacts;
+	cl_kernel m_findClippingFacesKernel;
+
+	cl_kernel m_clipHullHullConcaveConvexKernel;
+	//	cl_kernel				m_extractManifoldAndAddContactKernel;
+	cl_kernel m_newContactReductionKernel;
+
+	cl_kernel m_bvhTraversalKernel;
+	cl_kernel m_primitiveContactsKernel;
+	cl_kernel m_findConcaveSphereContactsKernel;
+
+	cl_kernel m_processCompoundPairsPrimitivesKernel;
+
 	b3OpenCLArray<b3Vector3> m_unitSphereDirections;
 
-	b3OpenCLArray<int>		m_totalContactsOut;
+	b3OpenCLArray<int> m_totalContactsOut;
 
 	b3OpenCLArray<b3Vector3> m_sepNormals;
 	b3OpenCLArray<float> m_dmins;
 
-	b3OpenCLArray<int>		m_hasSeparatingNormals;
+	b3OpenCLArray<int> m_hasSeparatingNormals;
 	b3OpenCLArray<b3Vector3> m_concaveSepNormals;
-	b3OpenCLArray<int>		m_concaveHasSeparatingNormals;
-	b3OpenCLArray<int>		m_numConcavePairsOut;
+	b3OpenCLArray<int> m_concaveHasSeparatingNormals;
+	b3OpenCLArray<int> m_numConcavePairsOut;
 	b3OpenCLArray<b3CompoundOverlappingPair> m_gpuCompoundPairs;
 	b3OpenCLArray<b3Vector3> m_gpuCompoundSepNormals;
-	b3OpenCLArray<int>		m_gpuHasCompoundSepNormals;
-	b3OpenCLArray<int>		m_numCompoundPairsOut;
-	
+	b3OpenCLArray<int> m_gpuHasCompoundSepNormals;
+	b3OpenCLArray<int> m_numCompoundPairsOut;
 
-	GpuSatCollision(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	GpuSatCollision(cl_context ctx, cl_device_id device, cl_command_queue q);
 	virtual ~GpuSatCollision();
-	
-
-	void computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>* pairs, int nPairs, 
-			const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-			b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
-			const b3OpenCLArray<b3Contact4>* oldContacts,
-			int maxContactCapacity,
-			int compoundPairCapacity,
-			const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
-			const b3OpenCLArray<b3Vector3>& vertices,
-			const b3OpenCLArray<b3Vector3>& uniqueEdges,
-			const b3OpenCLArray<b3GpuFace>& faces,
-			const b3OpenCLArray<int>& indices,
-			const b3OpenCLArray<b3Collidable>& gpuCollidables,
-			const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
-
-			const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
-			const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
-
-           b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
-           b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
-           b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
-           b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
-           b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
-		   b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
-		   b3OpenCLArray<b3QuantizedBvhNode>*	treeNodesGPU,
-			b3OpenCLArray<b3BvhSubtreeInfo>*	subTreesGPU,
-			b3OpenCLArray<b3BvhInfo>*	bvhInfo,
-			int numObjects,
-			int maxTriConvexPairCapacity,
-			b3OpenCLArray<b3Int4>& triangleConvexPairs,
-			int& numTriConvexPairsOut
-			);
-
 
+	void computeConvexConvexContactsGPUSAT(b3OpenCLArray<b3Int4>* pairs, int nPairs,
+										   const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
+										   b3OpenCLArray<b3Contact4>* contactOut, int& nContacts,
+										   const b3OpenCLArray<b3Contact4>* oldContacts,
+										   int maxContactCapacity,
+										   int compoundPairCapacity,
+										   const b3OpenCLArray<b3ConvexPolyhedronData>& hostConvexData,
+										   const b3OpenCLArray<b3Vector3>& vertices,
+										   const b3OpenCLArray<b3Vector3>& uniqueEdges,
+										   const b3OpenCLArray<b3GpuFace>& faces,
+										   const b3OpenCLArray<int>& indices,
+										   const b3OpenCLArray<b3Collidable>& gpuCollidables,
+										   const b3OpenCLArray<b3GpuChildShape>& gpuChildShapes,
+
+										   const b3OpenCLArray<b3Aabb>& clAabbsWorldSpace,
+										   const b3OpenCLArray<b3Aabb>& clAabbsLocalSpace,
+
+										   b3OpenCLArray<b3Vector3>& worldVertsB1GPU,
+										   b3OpenCLArray<b3Int4>& clippingFacesOutGPU,
+										   b3OpenCLArray<b3Vector3>& worldNormalsAGPU,
+										   b3OpenCLArray<b3Vector3>& worldVertsA1GPU,
+										   b3OpenCLArray<b3Vector3>& worldVertsB2GPU,
+										   b3AlignedObjectArray<class b3OptimizedBvh*>& bvhData,
+										   b3OpenCLArray<b3QuantizedBvhNode>* treeNodesGPU,
+										   b3OpenCLArray<b3BvhSubtreeInfo>* subTreesGPU,
+										   b3OpenCLArray<b3BvhInfo>* bvhInfo,
+										   int numObjects,
+										   int maxTriConvexPairCapacity,
+										   b3OpenCLArray<b3Int4>& triangleConvexPairs,
+										   int& numTriConvexPairsOut);
 };
 
-#endif //_CONVEX_HULL_CONTACT_H
+#endif  //_CONVEX_HULL_CONTACT_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h
index 337100fb1a..c4cf700076 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ConvexPolyhedronCL.h
@@ -4,6 +4,4 @@
 #include "Bullet3Common/b3Transform.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 
-
-
-#endif //CONVEX_POLYHEDRON_CL
+#endif  //CONVEX_POLYHEDRON_CL
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
index d636f983c6..974b246f03 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
@@ -29,902 +29,951 @@ GJK-EPA collision solver by Nathanael Presson, 2008
 
 namespace gjkepa2_impl2
 {
+// Config
 
-	// Config
+/* GJK	*/
+#define GJK_MAX_ITERATIONS 128
+#define GJK_ACCURACY ((b3Scalar)0.0001)
+#define GJK_MIN_DISTANCE ((b3Scalar)0.0001)
+#define GJK_DUPLICATED_EPS ((b3Scalar)0.0001)
+#define GJK_SIMPLEX2_EPS ((b3Scalar)0.0)
+#define GJK_SIMPLEX3_EPS ((b3Scalar)0.0)
+#define GJK_SIMPLEX4_EPS ((b3Scalar)0.0)
 
-	/* GJK	*/ 
-#define GJK_MAX_ITERATIONS	128
-#define GJK_ACCURACY		((b3Scalar)0.0001)
-#define GJK_MIN_DISTANCE	((b3Scalar)0.0001)
-#define GJK_DUPLICATED_EPS	((b3Scalar)0.0001)
-#define GJK_SIMPLEX2_EPS	((b3Scalar)0.0)
-#define GJK_SIMPLEX3_EPS	((b3Scalar)0.0)
-#define GJK_SIMPLEX4_EPS	((b3Scalar)0.0)
+/* EPA	*/
+#define EPA_MAX_VERTICES 64
+#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2)
+#define EPA_MAX_ITERATIONS 255
+#define EPA_ACCURACY ((b3Scalar)0.0001)
+#define EPA_FALLBACK (10 * EPA_ACCURACY)
+#define EPA_PLANE_EPS ((b3Scalar)0.00001)
+#define EPA_INSIDE_EPS ((b3Scalar)0.01)
 
-	/* EPA	*/ 
-#define EPA_MAX_VERTICES	64
-#define EPA_MAX_FACES		(EPA_MAX_VERTICES*2)
-#define EPA_MAX_ITERATIONS	255
-#define EPA_ACCURACY		((b3Scalar)0.0001)
-#define EPA_FALLBACK		(10*EPA_ACCURACY)
-#define EPA_PLANE_EPS		((b3Scalar)0.00001)
-#define EPA_INSIDE_EPS		((b3Scalar)0.01)
+// Shorthands
 
+// MinkowskiDiff
+struct b3MinkowskiDiff
+{
+	const b3ConvexPolyhedronData* m_shapes[2];
 
-	// Shorthands
-	
-
-	// MinkowskiDiff
-	struct	b3MinkowskiDiff
-	{
-		
-
-		const b3ConvexPolyhedronData*	m_shapes[2];
-		
-
-		b3Matrix3x3				m_toshape1;
-		b3Transform				m_toshape0;
+	b3Matrix3x3 m_toshape1;
+	b3Transform m_toshape0;
 
-		bool					m_enableMargin;
-		
+	bool m_enableMargin;
 
-			void					EnableMargin(bool enable)
-		{
-			m_enableMargin = enable;
-		}	
-		inline b3Vector3		Support0(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesA) const
+	void EnableMargin(bool enable)
+	{
+		m_enableMargin = enable;
+	}
+	inline b3Vector3 Support0(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesA) const
+	{
+		if (m_enableMargin)
 		{
-			if (m_enableMargin)
-			{
-				return localGetSupportVertexWithMargin(d,m_shapes[0],verticesA,0.f);
-			} else
-			{
-				return localGetSupportVertexWithoutMargin(d,m_shapes[0],verticesA);
-			}
+			return localGetSupportVertexWithMargin(d, m_shapes[0], verticesA, 0.f);
 		}
-		inline b3Vector3		Support1(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesB) const
+		else
 		{
-			if (m_enableMargin)
-			{
-				return m_toshape0*(localGetSupportVertexWithMargin(m_toshape1*d,m_shapes[1],verticesB,0.f));
-			} else
-			{
-				return m_toshape0*(localGetSupportVertexWithoutMargin(m_toshape1*d,m_shapes[1],verticesB));
-			}
+			return localGetSupportVertexWithoutMargin(d, m_shapes[0], verticesA);
 		}
-
-		inline b3Vector3		Support(const b3Vector3& d,  const b3AlignedObjectArray<b3Vector3>& verticesA,  const b3AlignedObjectArray<b3Vector3>& verticesB) const
+	}
+	inline b3Vector3 Support1(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesB) const
+	{
+		if (m_enableMargin)
 		{
-			return(Support0(d,verticesA)-Support1(-d,verticesB));
+			return m_toshape0 * (localGetSupportVertexWithMargin(m_toshape1 * d, m_shapes[1], verticesB, 0.f));
 		}
-		b3Vector3				Support(const b3Vector3& d,unsigned int index,const b3AlignedObjectArray<b3Vector3>& verticesA,  const b3AlignedObjectArray<b3Vector3>& verticesB) const
+		else
 		{
-			if(index)
-				return(Support1(d,verticesA));
-			else
-				return(Support0(d,verticesB));
+			return m_toshape0 * (localGetSupportVertexWithoutMargin(m_toshape1 * d, m_shapes[1], verticesB));
 		}
-	};
+	}
 
-	typedef	b3MinkowskiDiff	tShape;
+	inline b3Vector3 Support(const b3Vector3& d, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB) const
+	{
+		return (Support0(d, verticesA) - Support1(-d, verticesB));
+	}
+	b3Vector3 Support(const b3Vector3& d, unsigned int index, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB) const
+	{
+		if (index)
+			return (Support1(d, verticesA));
+		else
+			return (Support0(d, verticesB));
+	}
+};
 
+typedef b3MinkowskiDiff tShape;
 
-	// GJK
-	struct	b3GJK
+// GJK
+struct b3GJK
+{
+	/* Types		*/
+	struct sSV
 	{
-		/* Types		*/ 
-		struct	sSV
-		{
-			b3Vector3	d,w;
-		};
-		struct	sSimplex
+		b3Vector3 d, w;
+	};
+	struct sSimplex
+	{
+		sSV* c[4];
+		b3Scalar p[4];
+		unsigned int rank;
+	};
+	struct eStatus
+	{
+		enum _
 		{
-			sSV*		c[4];
-			b3Scalar	p[4];
-			unsigned int			rank;
-		};
-		struct	eStatus	{ enum _ {
 			Valid,
 			Inside,
-			Failed		};};
-			/* Fields		*/ 
-			tShape			m_shape;
-			const b3AlignedObjectArray<b3Vector3>& m_verticesA;
-			const b3AlignedObjectArray<b3Vector3>& m_verticesB;
-			b3Vector3		m_ray;
-			b3Scalar		m_distance;
-			sSimplex		m_simplices[2];
-			sSV				m_store[4];
-			sSV*			m_free[4];
-			unsigned int				m_nfree;
-			unsigned int				m_current;
-			sSimplex*		m_simplex;
-			eStatus::_		m_status;
-			/* Methods		*/ 
-			b3GJK(const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB)
-				:m_verticesA(verticesA),m_verticesB(verticesB)
-			{
-				Initialize();
+			Failed
+		};
+	};
+	/* Fields		*/
+	tShape m_shape;
+	const b3AlignedObjectArray<b3Vector3>& m_verticesA;
+	const b3AlignedObjectArray<b3Vector3>& m_verticesB;
+	b3Vector3 m_ray;
+	b3Scalar m_distance;
+	sSimplex m_simplices[2];
+	sSV m_store[4];
+	sSV* m_free[4];
+	unsigned int m_nfree;
+	unsigned int m_current;
+	sSimplex* m_simplex;
+	eStatus::_ m_status;
+	/* Methods		*/
+	b3GJK(const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB)
+		: m_verticesA(verticesA), m_verticesB(verticesB)
+	{
+		Initialize();
+	}
+	void Initialize()
+	{
+		m_ray = b3MakeVector3(0, 0, 0);
+		m_nfree = 0;
+		m_status = eStatus::Failed;
+		m_current = 0;
+		m_distance = 0;
+	}
+	eStatus::_ Evaluate(const tShape& shapearg, const b3Vector3& guess)
+	{
+		unsigned int iterations = 0;
+		b3Scalar sqdist = 0;
+		b3Scalar alpha = 0;
+		b3Vector3 lastw[4];
+		unsigned int clastw = 0;
+		/* Initialize solver		*/
+		m_free[0] = &m_store[0];
+		m_free[1] = &m_store[1];
+		m_free[2] = &m_store[2];
+		m_free[3] = &m_store[3];
+		m_nfree = 4;
+		m_current = 0;
+		m_status = eStatus::Valid;
+		m_shape = shapearg;
+		m_distance = 0;
+		/* Initialize simplex		*/
+		m_simplices[0].rank = 0;
+		m_ray = guess;
+		const b3Scalar sqrl = m_ray.length2();
+		appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : b3MakeVector3(1, 0, 0));
+		m_simplices[0].p[0] = 1;
+		m_ray = m_simplices[0].c[0]->w;
+		sqdist = sqrl;
+		lastw[0] =
+			lastw[1] =
+				lastw[2] =
+					lastw[3] = m_ray;
+		/* Loop						*/
+		do
+		{
+			const unsigned int next = 1 - m_current;
+			sSimplex& cs = m_simplices[m_current];
+			sSimplex& ns = m_simplices[next];
+			/* Check zero							*/
+			const b3Scalar rl = m_ray.length();
+			if (rl < GJK_MIN_DISTANCE)
+			{ /* Touching or inside				*/
+				m_status = eStatus::Inside;
+				break;
 			}
-			void				Initialize()
+			/* Append new vertice in -'v' direction	*/
+			appendvertice(cs, -m_ray);
+			const b3Vector3& w = cs.c[cs.rank - 1]->w;
+			bool found = false;
+			for (unsigned int i = 0; i < 4; ++i)
 			{
-				m_ray		=	b3MakeVector3(0,0,0);
-				m_nfree		=	0;
-				m_status	=	eStatus::Failed;
-				m_current	=	0;
-				m_distance	=	0;
+				if ((w - lastw[i]).length2() < GJK_DUPLICATED_EPS)
+				{
+					found = true;
+					break;
+				}
+			}
+			if (found)
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
 			}
-			eStatus::_			Evaluate(const tShape& shapearg,const b3Vector3& guess)
+			else
+			{ /* Update lastw					*/
+				lastw[clastw = (clastw + 1) & 3] = w;
+			}
+			/* Check for termination				*/
+			const b3Scalar omega = b3Dot(m_ray, w) / rl;
+			alpha = b3Max(omega, alpha);
+			if (((rl - alpha) - (GJK_ACCURACY * rl)) <= 0)
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			/* Reduce simplex						*/
+			b3Scalar weights[4];
+			unsigned int mask = 0;
+			switch (cs.rank)
 			{
-				unsigned int			iterations=0;
-				b3Scalar	sqdist=0;
-				b3Scalar	alpha=0;
-				b3Vector3	lastw[4];
-				unsigned int			clastw=0;
-				/* Initialize solver		*/ 
-				m_free[0]			=	&m_store[0];
-				m_free[1]			=	&m_store[1];
-				m_free[2]			=	&m_store[2];
-				m_free[3]			=	&m_store[3];
-				m_nfree				=	4;
-				m_current			=	0;
-				m_status			=	eStatus::Valid;
-				m_shape				=	shapearg;
-				m_distance			=	0;
-				/* Initialize simplex		*/ 
-				m_simplices[0].rank	=	0;
-				m_ray				=	guess;
-				const b3Scalar	sqrl=	m_ray.length2();
-				appendvertice(m_simplices[0],sqrl>0?-m_ray:b3MakeVector3(1,0,0));
-				m_simplices[0].p[0]	=	1;
-				m_ray				=	m_simplices[0].c[0]->w;	
-				sqdist				=	sqrl;
-				lastw[0]			=
-					lastw[1]			=
-					lastw[2]			=
-					lastw[3]			=	m_ray;
-				/* Loop						*/ 
-				do	{
-					const unsigned int		next=1-m_current;
-					sSimplex&	cs=m_simplices[m_current];
-					sSimplex&	ns=m_simplices[next];
-					/* Check zero							*/ 
-					const b3Scalar	rl=m_ray.length();
-					if(rl<GJK_MIN_DISTANCE)
-					{/* Touching or inside				*/ 
-						m_status=eStatus::Inside;
-						break;
-					}
-					/* Append new vertice in -'v' direction	*/ 
-					appendvertice(cs,-m_ray);
-					const b3Vector3&	w=cs.c[cs.rank-1]->w;
-					bool				found=false;
-					for(unsigned int i=0;i<4;++i)
+				case 2:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   weights, mask);
+					break;
+				case 3:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   cs.c[2]->w,
+										   weights, mask);
+					break;
+				case 4:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   cs.c[2]->w,
+										   cs.c[3]->w,
+										   weights, mask);
+					break;
+			}
+			if (sqdist >= 0)
+			{ /* Valid	*/
+				ns.rank = 0;
+				m_ray = b3MakeVector3(0, 0, 0);
+				m_current = next;
+				for (unsigned int i = 0, ni = cs.rank; i < ni; ++i)
+				{
+					if (mask & (1 << i))
 					{
-						if((w-lastw[i]).length2()<GJK_DUPLICATED_EPS)
-						{ found=true;break; }
-					}
-					if(found)
-					{/* Return old simplex				*/ 
-						removevertice(m_simplices[m_current]);
-						break;
+						ns.c[ns.rank] = cs.c[i];
+						ns.p[ns.rank++] = weights[i];
+						m_ray += cs.c[i]->w * weights[i];
 					}
 					else
-					{/* Update lastw					*/ 
-						lastw[clastw=(clastw+1)&3]=w;
-					}
-					/* Check for termination				*/ 
-					const b3Scalar	omega=b3Dot(m_ray,w)/rl;
-					alpha=b3Max(omega,alpha);
-					if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
-					{/* Return old simplex				*/ 
-						removevertice(m_simplices[m_current]);
-						break;
-					}		
-					/* Reduce simplex						*/ 
-					b3Scalar	weights[4];
-					unsigned int			mask=0;
-					switch(cs.rank)
 					{
-					case	2:	sqdist=projectorigin(	cs.c[0]->w,
-									cs.c[1]->w,
-									weights,mask);break;
-					case	3:	sqdist=projectorigin(	cs.c[0]->w,
-									cs.c[1]->w,
-									cs.c[2]->w,
-									weights,mask);break;
-					case	4:	sqdist=projectorigin(	cs.c[0]->w,
-									cs.c[1]->w,
-									cs.c[2]->w,
-									cs.c[3]->w,
-									weights,mask);break;
-					}
-					if(sqdist>=0)
-					{/* Valid	*/ 
-						ns.rank		=	0;
-						m_ray		=	b3MakeVector3(0,0,0);
-						m_current	=	next;
-						for(unsigned int i=0,ni=cs.rank;i<ni;++i)
-						{
-							if(mask&(1<<i))
-							{
-								ns.c[ns.rank]		=	cs.c[i];
-								ns.p[ns.rank++]		=	weights[i];
-								m_ray				+=	cs.c[i]->w*weights[i];
-							}
-							else
-							{
-								m_free[m_nfree++]	=	cs.c[i];
-							}
-						}
-						if(mask==15) m_status=eStatus::Inside;
+						m_free[m_nfree++] = cs.c[i];
 					}
-					else
-					{/* Return old simplex				*/ 
-						removevertice(m_simplices[m_current]);
-						break;
-					}
-					m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
-				} while(m_status==eStatus::Valid);
-				m_simplex=&m_simplices[m_current];
-				switch(m_status)
+				}
+				if (mask == 15) m_status = eStatus::Inside;
+			}
+			else
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eStatus::Failed;
+		} while (m_status == eStatus::Valid);
+		m_simplex = &m_simplices[m_current];
+		switch (m_status)
+		{
+			case eStatus::Valid:
+				m_distance = m_ray.length();
+				break;
+			case eStatus::Inside:
+				m_distance = 0;
+				break;
+			default:
+			{
+			}
+		}
+		return (m_status);
+	}
+	bool EncloseOrigin()
+	{
+		switch (m_simplex->rank)
+		{
+			case 1:
+			{
+				for (unsigned int i = 0; i < 3; ++i)
 				{
-				case	eStatus::Valid:		m_distance=m_ray.length();break;
-				case	eStatus::Inside:	m_distance=0;break;
-				default:
-					{
-					}
-				}	
-				return(m_status);
+					b3Vector3 axis = b3MakeVector3(0, 0, 0);
+					axis[i] = 1;
+					appendvertice(*m_simplex, axis);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+					appendvertice(*m_simplex, -axis);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+				}
 			}
-			bool					EncloseOrigin()
+			break;
+			case 2:
 			{
-				switch(m_simplex->rank)
+				const b3Vector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w;
+				for (unsigned int i = 0; i < 3; ++i)
 				{
-				case	1:
+					b3Vector3 axis = b3MakeVector3(0, 0, 0);
+					axis[i] = 1;
+					const b3Vector3 p = b3Cross(d, axis);
+					if (p.length2() > 0)
 					{
-						for(unsigned int i=0;i<3;++i)
-						{
-							b3Vector3		axis=b3MakeVector3(0,0,0);
-							axis[i]=1;
-							appendvertice(*m_simplex, axis);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-							appendvertice(*m_simplex,-axis);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-						}
+						appendvertice(*m_simplex, p);
+						if (EncloseOrigin()) return (true);
+						removevertice(*m_simplex);
+						appendvertice(*m_simplex, -p);
+						if (EncloseOrigin()) return (true);
+						removevertice(*m_simplex);
 					}
-					break;
-				case	2:
-					{
-						const b3Vector3	d=m_simplex->c[1]->w-m_simplex->c[0]->w;
-						for(unsigned int i=0;i<3;++i)
-						{
-							b3Vector3		axis=b3MakeVector3(0,0,0);
-							axis[i]=1;
-							const b3Vector3	p=b3Cross(d,axis);
-							if(p.length2()>0)
-							{
-								appendvertice(*m_simplex, p);
-								if(EncloseOrigin())	return(true);
-								removevertice(*m_simplex);
-								appendvertice(*m_simplex,-p);
-								if(EncloseOrigin())	return(true);
-								removevertice(*m_simplex);
-							}
-						}
-					}
-					break;
-				case	3:
-					{
-						const b3Vector3	n=b3Cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
-							m_simplex->c[2]->w-m_simplex->c[0]->w);
-						if(n.length2()>0)
-						{
-							appendvertice(*m_simplex,n);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-							appendvertice(*m_simplex,-n);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-						}
-					}
-					break;
-				case	4:
-					{
-						if(b3Fabs(det(	m_simplex->c[0]->w-m_simplex->c[3]->w,
-							m_simplex->c[1]->w-m_simplex->c[3]->w,
-							m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
-							return(true);
-					}
-					break;
 				}
-				return(false);
 			}
-			/* Internals	*/ 
-			void				getsupport(const b3Vector3& d,sSV& sv) const
+			break;
+			case 3:
 			{
-				sv.d	=	d/d.length();
-				sv.w	=	m_shape.Support(sv.d,m_verticesA,m_verticesB);
+				const b3Vector3 n = b3Cross(m_simplex->c[1]->w - m_simplex->c[0]->w,
+											m_simplex->c[2]->w - m_simplex->c[0]->w);
+				if (n.length2() > 0)
+				{
+					appendvertice(*m_simplex, n);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+					appendvertice(*m_simplex, -n);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+				}
 			}
-			void				removevertice(sSimplex& simplex)
+			break;
+			case 4:
 			{
-				m_free[m_nfree++]=simplex.c[--simplex.rank];
+				if (b3Fabs(det(m_simplex->c[0]->w - m_simplex->c[3]->w,
+							   m_simplex->c[1]->w - m_simplex->c[3]->w,
+							   m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0)
+					return (true);
 			}
-			void				appendvertice(sSimplex& simplex,const b3Vector3& v)
+			break;
+		}
+		return (false);
+	}
+	/* Internals	*/
+	void getsupport(const b3Vector3& d, sSV& sv) const
+	{
+		sv.d = d / d.length();
+		sv.w = m_shape.Support(sv.d, m_verticesA, m_verticesB);
+	}
+	void removevertice(sSimplex& simplex)
+	{
+		m_free[m_nfree++] = simplex.c[--simplex.rank];
+	}
+	void appendvertice(sSimplex& simplex, const b3Vector3& v)
+	{
+		simplex.p[simplex.rank] = 0;
+		simplex.c[simplex.rank] = m_free[--m_nfree];
+		getsupport(v, *simplex.c[simplex.rank++]);
+	}
+	static b3Scalar det(const b3Vector3& a, const b3Vector3& b, const b3Vector3& c)
+	{
+		return (a.y * b.z * c.x + a.z * b.x * c.y -
+				a.x * b.z * c.y - a.y * b.x * c.z +
+				a.x * b.y * c.z - a.z * b.y * c.x);
+	}
+	static b3Scalar projectorigin(const b3Vector3& a,
+								  const b3Vector3& b,
+								  b3Scalar* w, unsigned int& m)
+	{
+		const b3Vector3 d = b - a;
+		const b3Scalar l = d.length2();
+		if (l > GJK_SIMPLEX2_EPS)
+		{
+			const b3Scalar t(l > 0 ? -b3Dot(a, d) / l : 0);
+			if (t >= 1)
 			{
-				simplex.p[simplex.rank]=0;
-				simplex.c[simplex.rank]=m_free[--m_nfree];
-				getsupport(v,*simplex.c[simplex.rank++]);
+				w[0] = 0;
+				w[1] = 1;
+				m = 2;
+				return (b.length2());
 			}
-			static b3Scalar		det(const b3Vector3& a,const b3Vector3& b,const b3Vector3& c)
+			else if (t <= 0)
 			{
-				return(	a.y*b.z*c.x+a.z*b.x*c.y-
-					a.x*b.z*c.y-a.y*b.x*c.z+
-					a.x*b.y*c.z-a.z*b.y*c.x);
+				w[0] = 1;
+				w[1] = 0;
+				m = 1;
+				return (a.length2());
 			}
-			static b3Scalar		projectorigin(	const b3Vector3& a,
-				const b3Vector3& b,
-				b3Scalar* w,unsigned int& m)
+			else
 			{
-				const b3Vector3	d=b-a;
-				const b3Scalar	l=d.length2();
-				if(l>GJK_SIMPLEX2_EPS)
-				{
-					const b3Scalar	t(l>0?-b3Dot(a,d)/l:0);
-					if(t>=1)		{ w[0]=0;w[1]=1;m=2;return(b.length2()); }
-					else if(t<=0)	{ w[0]=1;w[1]=0;m=1;return(a.length2()); }
-					else			{ w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
-				}
-				return(-1);
+				w[0] = 1 - (w[1] = t);
+				m = 3;
+				return ((a + d * t).length2());
 			}
-			static b3Scalar		projectorigin(	const b3Vector3& a,
-				const b3Vector3& b,
-				const b3Vector3& c,
-				b3Scalar* w,unsigned int& m)
+		}
+		return (-1);
+	}
+	static b3Scalar projectorigin(const b3Vector3& a,
+								  const b3Vector3& b,
+								  const b3Vector3& c,
+								  b3Scalar* w, unsigned int& m)
+	{
+		static const unsigned int imd3[] = {1, 2, 0};
+		const b3Vector3* vt[] = {&a, &b, &c};
+		const b3Vector3 dl[] = {a - b, b - c, c - a};
+		const b3Vector3 n = b3Cross(dl[0], dl[1]);
+		const b3Scalar l = n.length2();
+		if (l > GJK_SIMPLEX3_EPS)
+		{
+			b3Scalar mindist = -1;
+			b3Scalar subw[2] = {0.f, 0.f};
+			unsigned int subm(0);
+			for (unsigned int i = 0; i < 3; ++i)
 			{
-				static const unsigned int		imd3[]={1,2,0};
-				const b3Vector3*	vt[]={&a,&b,&c};
-				const b3Vector3		dl[]={a-b,b-c,c-a};
-				const b3Vector3		n=b3Cross(dl[0],dl[1]);
-				const b3Scalar		l=n.length2();
-				if(l>GJK_SIMPLEX3_EPS)
+				if (b3Dot(*vt[i], b3Cross(dl[i], n)) > 0)
 				{
-					b3Scalar	mindist=-1;
-					b3Scalar	subw[2]={0.f,0.f};
-					unsigned int			subm(0);
-					for(unsigned int i=0;i<3;++i)
-					{
-						if(b3Dot(*vt[i],b3Cross(dl[i],n))>0)
-						{
-							const unsigned int			j=imd3[i];
-							const b3Scalar	subd(projectorigin(*vt[i],*vt[j],subw,subm));
-							if((mindist<0)||(subd<mindist))
-							{
-								mindist		=	subd;
-								m			=	static_cast<unsigned int>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
-								w[i]		=	subw[0];
-								w[j]		=	subw[1];
-								w[imd3[j]]	=	0;				
-							}
-						}
-					}
-					if(mindist<0)
+					const unsigned int j = imd3[i];
+					const b3Scalar subd(projectorigin(*vt[i], *vt[j], subw, subm));
+					if ((mindist < 0) || (subd < mindist))
 					{
-						const b3Scalar	d=b3Dot(a,n);	
-						const b3Scalar	s=b3Sqrt(l);
-						const b3Vector3	p=n*(d/l);
-						mindist	=	p.length2();
-						m		=	7;
-						w[0]	=	(b3Cross(dl[1],b-p)).length()/s;
-						w[1]	=	(b3Cross(dl[2],c-p)).length()/s;
-						w[2]	=	1-(w[0]+w[1]);
+						mindist = subd;
+						m = static_cast<unsigned int>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0));
+						w[i] = subw[0];
+						w[j] = subw[1];
+						w[imd3[j]] = 0;
 					}
-					return(mindist);
 				}
-				return(-1);
 			}
-			static b3Scalar		projectorigin(	const b3Vector3& a,
-				const b3Vector3& b,
-				const b3Vector3& c,
-				const b3Vector3& d,
-				b3Scalar* w,unsigned int& m)
+			if (mindist < 0)
+			{
+				const b3Scalar d = b3Dot(a, n);
+				const b3Scalar s = b3Sqrt(l);
+				const b3Vector3 p = n * (d / l);
+				mindist = p.length2();
+				m = 7;
+				w[0] = (b3Cross(dl[1], b - p)).length() / s;
+				w[1] = (b3Cross(dl[2], c - p)).length() / s;
+				w[2] = 1 - (w[0] + w[1]);
+			}
+			return (mindist);
+		}
+		return (-1);
+	}
+	static b3Scalar projectorigin(const b3Vector3& a,
+								  const b3Vector3& b,
+								  const b3Vector3& c,
+								  const b3Vector3& d,
+								  b3Scalar* w, unsigned int& m)
+	{
+		static const unsigned int imd3[] = {1, 2, 0};
+		const b3Vector3* vt[] = {&a, &b, &c, &d};
+		const b3Vector3 dl[] = {a - d, b - d, c - d};
+		const b3Scalar vl = det(dl[0], dl[1], dl[2]);
+		const bool ng = (vl * b3Dot(a, b3Cross(b - c, a - b))) <= 0;
+		if (ng && (b3Fabs(vl) > GJK_SIMPLEX4_EPS))
+		{
+			b3Scalar mindist = -1;
+			b3Scalar subw[3] = {0.f, 0.f, 0.f};
+			unsigned int subm(0);
+			for (unsigned int i = 0; i < 3; ++i)
 			{
-				static const unsigned int		imd3[]={1,2,0};
-				const b3Vector3*	vt[]={&a,&b,&c,&d};
-				const b3Vector3		dl[]={a-d,b-d,c-d};
-				const b3Scalar		vl=det(dl[0],dl[1],dl[2]);
-				const bool			ng=(vl*b3Dot(a,b3Cross(b-c,a-b)))<=0;
-				if(ng&&(b3Fabs(vl)>GJK_SIMPLEX4_EPS))
+				const unsigned int j = imd3[i];
+				const b3Scalar s = vl * b3Dot(d, b3Cross(dl[i], dl[j]));
+				if (s > 0)
 				{
-					b3Scalar	mindist=-1;
-					b3Scalar	subw[3]={0.f,0.f,0.f};
-					unsigned int			subm(0);
-					for(unsigned int i=0;i<3;++i)
+					const b3Scalar subd = projectorigin(*vt[i], *vt[j], d, subw, subm);
+					if ((mindist < 0) || (subd < mindist))
 					{
-						const unsigned int			j=imd3[i];
-						const b3Scalar	s=vl*b3Dot(d,b3Cross(dl[i],dl[j]));
-						if(s>0)
-						{
-							const b3Scalar	subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
-							if((mindist<0)||(subd<mindist))
-							{
-								mindist		=	subd;
-								m			=	static_cast<unsigned int>((subm&1?1<<i:0)+
-									(subm&2?1<<j:0)+
-									(subm&4?8:0));
-								w[i]		=	subw[0];
-								w[j]		=	subw[1];
-								w[imd3[j]]	=	0;
-								w[3]		=	subw[2];
-							}
-						}
+						mindist = subd;
+						m = static_cast<unsigned int>((subm & 1 ? 1 << i : 0) +
+													  (subm & 2 ? 1 << j : 0) +
+													  (subm & 4 ? 8 : 0));
+						w[i] = subw[0];
+						w[j] = subw[1];
+						w[imd3[j]] = 0;
+						w[3] = subw[2];
 					}
-					if(mindist<0)
-					{
-						mindist	=	0;
-						m		=	15;
-						w[0]	=	det(c,b,d)/vl;
-						w[1]	=	det(a,c,d)/vl;
-						w[2]	=	det(b,a,d)/vl;
-						w[3]	=	1-(w[0]+w[1]+w[2]);
-					}
-					return(mindist);
 				}
-				return(-1);
 			}
-	};
+			if (mindist < 0)
+			{
+				mindist = 0;
+				m = 15;
+				w[0] = det(c, b, d) / vl;
+				w[1] = det(a, c, d) / vl;
+				w[2] = det(b, a, d) / vl;
+				w[3] = 1 - (w[0] + w[1] + w[2]);
+			}
+			return (mindist);
+		}
+		return (-1);
+	}
+};
 
-	// EPA
-	struct	b3EPA
+// EPA
+struct b3EPA
+{
+	/* Types		*/
+	typedef b3GJK::sSV sSV;
+	struct sFace
 	{
-		/* Types		*/ 
-		typedef	b3GJK::sSV	sSV;
-		struct	sFace
-		{
-			b3Vector3	n;
-			b3Scalar	d;
-			sSV*		c[3];
-			sFace*		f[3];
-			sFace*		l[2];
-			unsigned char			e[3];
-			unsigned char			pass;
-		};
-		struct	sList
-		{
-			sFace*		root;
-			unsigned int			count;
-			sList() : root(0),count(0)	{}
-		};
-		struct	sHorizon
+		b3Vector3 n;
+		b3Scalar d;
+		sSV* c[3];
+		sFace* f[3];
+		sFace* l[2];
+		unsigned char e[3];
+		unsigned char pass;
+	};
+	struct sList
+	{
+		sFace* root;
+		unsigned int count;
+		sList() : root(0), count(0) {}
+	};
+	struct sHorizon
+	{
+		sFace* cf;
+		sFace* ff;
+		unsigned int nf;
+		sHorizon() : cf(0), ff(0), nf(0) {}
+	};
+	struct eStatus
+	{
+		enum _
 		{
-			sFace*		cf;
-			sFace*		ff;
-			unsigned int			nf;
-			sHorizon() : cf(0),ff(0),nf(0)	{}
-		};
-		struct	eStatus { enum _ {
 			Valid,
 			Touching,
 			Degenerated,
 			NonConvex,
-			InvalidHull,		
+			InvalidHull,
 			OutOfFaces,
 			OutOfVertices,
 			AccuraryReached,
 			FallBack,
-			Failed		};};
-			/* Fields		*/ 
-			eStatus::_		m_status;
-			b3GJK::sSimplex	m_result;
-			b3Vector3		m_normal;
-			b3Scalar		m_depth;
-			sSV				m_sv_store[EPA_MAX_VERTICES];
-			sFace			m_fc_store[EPA_MAX_FACES];
-			unsigned int				m_nextsv;
-			sList			m_hull;
-			sList			m_stock;
-			/* Methods		*/ 
-			b3EPA()
-			{
-				Initialize();	
-			}
+			Failed
+		};
+	};
+	/* Fields		*/
+	eStatus::_ m_status;
+	b3GJK::sSimplex m_result;
+	b3Vector3 m_normal;
+	b3Scalar m_depth;
+	sSV m_sv_store[EPA_MAX_VERTICES];
+	sFace m_fc_store[EPA_MAX_FACES];
+	unsigned int m_nextsv;
+	sList m_hull;
+	sList m_stock;
+	/* Methods		*/
+	b3EPA()
+	{
+		Initialize();
+	}
 
+	static inline void bind(sFace* fa, unsigned int ea, sFace* fb, unsigned int eb)
+	{
+		fa->e[ea] = (unsigned char)eb;
+		fa->f[ea] = fb;
+		fb->e[eb] = (unsigned char)ea;
+		fb->f[eb] = fa;
+	}
+	static inline void append(sList& list, sFace* face)
+	{
+		face->l[0] = 0;
+		face->l[1] = list.root;
+		if (list.root) list.root->l[0] = face;
+		list.root = face;
+		++list.count;
+	}
+	static inline void remove(sList& list, sFace* face)
+	{
+		if (face->l[1]) face->l[1]->l[0] = face->l[0];
+		if (face->l[0]) face->l[0]->l[1] = face->l[1];
+		if (face == list.root) list.root = face->l[1];
+		--list.count;
+	}
 
-			static inline void		bind(sFace* fa,unsigned int ea,sFace* fb,unsigned int eb)
-			{
-				fa->e[ea]=(unsigned char)eb;fa->f[ea]=fb;
-				fb->e[eb]=(unsigned char)ea;fb->f[eb]=fa;
-			}
-			static inline void		append(sList& list,sFace* face)
+	void Initialize()
+	{
+		m_status = eStatus::Failed;
+		m_normal = b3MakeVector3(0, 0, 0);
+		m_depth = 0;
+		m_nextsv = 0;
+		for (unsigned int i = 0; i < EPA_MAX_FACES; ++i)
+		{
+			append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]);
+		}
+	}
+	eStatus::_ Evaluate(b3GJK& gjk, const b3Vector3& guess)
+	{
+		b3GJK::sSimplex& simplex = *gjk.m_simplex;
+		if ((simplex.rank > 1) && gjk.EncloseOrigin())
+		{
+			/* Clean up				*/
+			while (m_hull.root)
 			{
-				face->l[0]	=	0;
-				face->l[1]	=	list.root;
-				if(list.root) list.root->l[0]=face;
-				list.root	=	face;
-				++list.count;
+				sFace* f = m_hull.root;
+				remove(m_hull, f);
+				append(m_stock, f);
 			}
-			static inline void		remove(sList& list,sFace* face)
+			m_status = eStatus::Valid;
+			m_nextsv = 0;
+			/* Orient simplex		*/
+			if (gjk.det(simplex.c[0]->w - simplex.c[3]->w,
+						simplex.c[1]->w - simplex.c[3]->w,
+						simplex.c[2]->w - simplex.c[3]->w) < 0)
 			{
-				if(face->l[1]) face->l[1]->l[0]=face->l[0];
-				if(face->l[0]) face->l[0]->l[1]=face->l[1];
-				if(face==list.root) list.root=face->l[1];
-				--list.count;
+				b3Swap(simplex.c[0], simplex.c[1]);
+				b3Swap(simplex.p[0], simplex.p[1]);
 			}
-
-
-			void				Initialize()
+			/* Build initial hull	*/
+			sFace* tetra[] = {newface(simplex.c[0], simplex.c[1], simplex.c[2], true),
+							  newface(simplex.c[1], simplex.c[0], simplex.c[3], true),
+							  newface(simplex.c[2], simplex.c[1], simplex.c[3], true),
+							  newface(simplex.c[0], simplex.c[2], simplex.c[3], true)};
+			if (m_hull.count == 4)
 			{
-				m_status	=	eStatus::Failed;
-				m_normal	=	b3MakeVector3(0,0,0);
-				m_depth		=	0;
-				m_nextsv	=	0;
-				for(unsigned int i=0;i<EPA_MAX_FACES;++i)
+				sFace* best = findbest();
+				sFace outer = *best;
+				unsigned int pass = 0;
+				unsigned int iterations = 0;
+				bind(tetra[0], 0, tetra[1], 0);
+				bind(tetra[0], 1, tetra[2], 0);
+				bind(tetra[0], 2, tetra[3], 0);
+				bind(tetra[1], 1, tetra[3], 2);
+				bind(tetra[1], 2, tetra[2], 1);
+				bind(tetra[2], 2, tetra[3], 1);
+				m_status = eStatus::Valid;
+				for (; iterations < EPA_MAX_ITERATIONS; ++iterations)
 				{
-					append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
-				}
-			}
-			eStatus::_			Evaluate(b3GJK& gjk,const b3Vector3& guess)
-			{
-				b3GJK::sSimplex&	simplex=*gjk.m_simplex;
-				if((simplex.rank>1)&&gjk.EncloseOrigin())
-				{
-
-					/* Clean up				*/ 
-					while(m_hull.root)
+					if (m_nextsv < EPA_MAX_VERTICES)
 					{
-						sFace*	f = m_hull.root;
-						remove(m_hull,f);
-						append(m_stock,f);
-					}
-					m_status	=	eStatus::Valid;
-					m_nextsv	=	0;
-					/* Orient simplex		*/ 
-					if(gjk.det(	simplex.c[0]->w-simplex.c[3]->w,
-						simplex.c[1]->w-simplex.c[3]->w,
-						simplex.c[2]->w-simplex.c[3]->w)<0)
-					{
-						b3Swap(simplex.c[0],simplex.c[1]);
-						b3Swap(simplex.p[0],simplex.p[1]);
-					}
-					/* Build initial hull	*/ 
-					sFace*	tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
-						newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
-						newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
-						newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
-					if(m_hull.count==4)
-					{
-						sFace*		best=findbest();
-						sFace		outer=*best;
-						unsigned int			pass=0;
-						unsigned int			iterations=0;
-						bind(tetra[0],0,tetra[1],0);
-						bind(tetra[0],1,tetra[2],0);
-						bind(tetra[0],2,tetra[3],0);
-						bind(tetra[1],1,tetra[3],2);
-						bind(tetra[1],2,tetra[2],1);
-						bind(tetra[2],2,tetra[3],1);
-						m_status=eStatus::Valid;
-						for(;iterations<EPA_MAX_ITERATIONS;++iterations)
+						sHorizon horizon;
+						sSV* w = &m_sv_store[m_nextsv++];
+						bool valid = true;
+						best->pass = (unsigned char)(++pass);
+						gjk.getsupport(best->n, *w);
+						const b3Scalar wdist = b3Dot(best->n, w->w) - best->d;
+						if (wdist > EPA_ACCURACY)
 						{
-							if(m_nextsv<EPA_MAX_VERTICES)
-							{	
-								sHorizon		horizon;
-								sSV*			w=&m_sv_store[m_nextsv++];
-								bool			valid=true;					
-								best->pass	=	(unsigned char)(++pass);
-								gjk.getsupport(best->n,*w);
-								const b3Scalar	wdist=b3Dot(best->n,w->w)-best->d;
-								if(wdist>EPA_ACCURACY)
-								{
-									for(unsigned int j=0;(j<3)&&valid;++j)
-									{
-										valid&=expand(	pass,w,
-											best->f[j],best->e[j],
-											horizon);
-									}
-									if(valid&&(horizon.nf>=3))
-									{
-										bind(horizon.cf,1,horizon.ff,2);
-										remove(m_hull,best);
-										append(m_stock,best);
-										best=findbest();
-										outer=*best;
-									} else { 
-										m_status=eStatus::Failed;
-										//m_status=eStatus::InvalidHull;
-									break; }
-								} else { m_status=eStatus::AccuraryReached;break; }
-							} else { m_status=eStatus::OutOfVertices;break; }
+							for (unsigned int j = 0; (j < 3) && valid; ++j)
+							{
+								valid &= expand(pass, w,
+												best->f[j], best->e[j],
+												horizon);
+							}
+							if (valid && (horizon.nf >= 3))
+							{
+								bind(horizon.cf, 1, horizon.ff, 2);
+								remove(m_hull, best);
+								append(m_stock, best);
+								best = findbest();
+								outer = *best;
+							}
+							else
+							{
+								m_status = eStatus::Failed;
+								//m_status=eStatus::InvalidHull;
+								break;
+							}
+						}
+						else
+						{
+							m_status = eStatus::AccuraryReached;
+							break;
 						}
-						const b3Vector3	projection=outer.n*outer.d;
-						m_normal	=	outer.n;
-						m_depth		=	outer.d;
-						m_result.rank	=	3;
-						m_result.c[0]	=	outer.c[0];
-						m_result.c[1]	=	outer.c[1];
-						m_result.c[2]	=	outer.c[2];
-						m_result.p[0]	=	b3Cross(	outer.c[1]->w-projection,
-							outer.c[2]->w-projection).length();
-						m_result.p[1]	=	b3Cross(	outer.c[2]->w-projection,
-							outer.c[0]->w-projection).length();
-						m_result.p[2]	=	b3Cross(	outer.c[0]->w-projection,
-							outer.c[1]->w-projection).length();
-						const b3Scalar	sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
-						m_result.p[0]	/=	sum;
-						m_result.p[1]	/=	sum;
-						m_result.p[2]	/=	sum;
-						return(m_status);
-					}
-				}
-				/* Fallback		*/ 
-				m_status	=	eStatus::FallBack;
-				m_normal	=	-guess;
-				const b3Scalar	nl=m_normal.length();
-				if(nl>0)
-					m_normal	=	m_normal/nl;
-				else
-					m_normal	=	b3MakeVector3(1,0,0);
-				m_depth	=	0;
-				m_result.rank=1;
-				m_result.c[0]=simplex.c[0];
-				m_result.p[0]=1;	
-				return(m_status);
-			}
-			bool getedgedist(sFace* face, sSV* a, sSV* b, b3Scalar& dist)
-			{
-				const b3Vector3 ba = b->w - a->w;
-				const b3Vector3 n_ab = b3Cross(ba, face->n); // Outward facing edge normal direction, on triangle plane
-				const b3Scalar a_dot_nab = b3Dot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required
-
-				if(a_dot_nab < 0)
-				{
-					// Outside of edge a->b
-
-					const b3Scalar ba_l2 = ba.length2();
-					const b3Scalar a_dot_ba = b3Dot(a->w, ba);
-					const b3Scalar b_dot_ba = b3Dot(b->w, ba);
-
-					if(a_dot_ba > 0)
-					{
-						// Pick distance vertex a
-						dist = a->w.length();
-					}
-					else if(b_dot_ba < 0)
-					{
-						// Pick distance vertex b
-						dist = b->w.length();
 					}
 					else
 					{
-						// Pick distance to edge a->b
-						const b3Scalar a_dot_b = b3Dot(a->w, b->w);
-						dist = b3Sqrt(b3Max((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (b3Scalar)0));
+						m_status = eStatus::OutOfVertices;
+						break;
 					}
-
-					return true;
 				}
+				const b3Vector3 projection = outer.n * outer.d;
+				m_normal = outer.n;
+				m_depth = outer.d;
+				m_result.rank = 3;
+				m_result.c[0] = outer.c[0];
+				m_result.c[1] = outer.c[1];
+				m_result.c[2] = outer.c[2];
+				m_result.p[0] = b3Cross(outer.c[1]->w - projection,
+										outer.c[2]->w - projection)
+									.length();
+				m_result.p[1] = b3Cross(outer.c[2]->w - projection,
+										outer.c[0]->w - projection)
+									.length();
+				m_result.p[2] = b3Cross(outer.c[0]->w - projection,
+										outer.c[1]->w - projection)
+									.length();
+				const b3Scalar sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
+				m_result.p[0] /= sum;
+				m_result.p[1] /= sum;
+				m_result.p[2] /= sum;
+				return (m_status);
+			}
+		}
+		/* Fallback		*/
+		m_status = eStatus::FallBack;
+		m_normal = -guess;
+		const b3Scalar nl = m_normal.length();
+		if (nl > 0)
+			m_normal = m_normal / nl;
+		else
+			m_normal = b3MakeVector3(1, 0, 0);
+		m_depth = 0;
+		m_result.rank = 1;
+		m_result.c[0] = simplex.c[0];
+		m_result.p[0] = 1;
+		return (m_status);
+	}
+	bool getedgedist(sFace* face, sSV* a, sSV* b, b3Scalar& dist)
+	{
+		const b3Vector3 ba = b->w - a->w;
+		const b3Vector3 n_ab = b3Cross(ba, face->n);   // Outward facing edge normal direction, on triangle plane
+		const b3Scalar a_dot_nab = b3Dot(a->w, n_ab);  // Only care about the sign to determine inside/outside, so not normalization required
+
+		if (a_dot_nab < 0)
+		{
+			// Outside of edge a->b
+
+			const b3Scalar ba_l2 = ba.length2();
+			const b3Scalar a_dot_ba = b3Dot(a->w, ba);
+			const b3Scalar b_dot_ba = b3Dot(b->w, ba);
 
-				return false;
+			if (a_dot_ba > 0)
+			{
+				// Pick distance vertex a
+				dist = a->w.length();
 			}
-			sFace*				newface(sSV* a,sSV* b,sSV* c,bool forced)
+			else if (b_dot_ba < 0)
 			{
-				if(m_stock.root)
-				{
-					sFace*	face=m_stock.root;
-					remove(m_stock,face);
-					append(m_hull,face);
-					face->pass	=	0;
-					face->c[0]	=	a;
-					face->c[1]	=	b;
-					face->c[2]	=	c;
-					face->n		=	b3Cross(b->w-a->w,c->w-a->w);
-					const b3Scalar	l=face->n.length();
-					const bool		v=l>EPA_ACCURACY;
-
-					if(v)
-					{
-						if(!(getedgedist(face, a, b, face->d) ||
-							 getedgedist(face, b, c, face->d) ||
-							 getedgedist(face, c, a, face->d)))
-						{
-							// Origin projects to the interior of the triangle
-							// Use distance to triangle plane
-							face->d = b3Dot(a->w, face->n) / l;
-						}
+				// Pick distance vertex b
+				dist = b->w.length();
+			}
+			else
+			{
+				// Pick distance to edge a->b
+				const b3Scalar a_dot_b = b3Dot(a->w, b->w);
+				dist = b3Sqrt(b3Max((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (b3Scalar)0));
+			}
 
-						face->n /= l;
-						if(forced || (face->d >= -EPA_PLANE_EPS))
-						{
-							return face;
-						}
-						else
-							m_status=eStatus::NonConvex;
-					}
-					else
-						m_status=eStatus::Degenerated;
+			return true;
+		}
 
-					remove(m_hull, face);
-					append(m_stock, face);
-					return 0;
+		return false;
+	}
+	sFace* newface(sSV* a, sSV* b, sSV* c, bool forced)
+	{
+		if (m_stock.root)
+		{
+			sFace* face = m_stock.root;
+			remove(m_stock, face);
+			append(m_hull, face);
+			face->pass = 0;
+			face->c[0] = a;
+			face->c[1] = b;
+			face->c[2] = c;
+			face->n = b3Cross(b->w - a->w, c->w - a->w);
+			const b3Scalar l = face->n.length();
+			const bool v = l > EPA_ACCURACY;
 
+			if (v)
+			{
+				if (!(getedgedist(face, a, b, face->d) ||
+					  getedgedist(face, b, c, face->d) ||
+					  getedgedist(face, c, a, face->d)))
+				{
+					// Origin projects to the interior of the triangle
+					// Use distance to triangle plane
+					face->d = b3Dot(a->w, face->n) / l;
 				}
-				m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
-				return 0;
+
+				face->n /= l;
+				if (forced || (face->d >= -EPA_PLANE_EPS))
+				{
+					return face;
+				}
+				else
+					m_status = eStatus::NonConvex;
 			}
-			sFace*				findbest()
+			else
+				m_status = eStatus::Degenerated;
+
+			remove(m_hull, face);
+			append(m_stock, face);
+			return 0;
+		}
+		m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
+		return 0;
+	}
+	sFace* findbest()
+	{
+		sFace* minf = m_hull.root;
+		b3Scalar mind = minf->d * minf->d;
+		for (sFace* f = minf->l[1]; f; f = f->l[1])
+		{
+			const b3Scalar sqd = f->d * f->d;
+			if (sqd < mind)
 			{
-				sFace*		minf=m_hull.root;
-				b3Scalar	mind=minf->d*minf->d;
-				for(sFace* f=minf->l[1];f;f=f->l[1])
+				minf = f;
+				mind = sqd;
+			}
+		}
+		return (minf);
+	}
+	bool expand(unsigned int pass, sSV* w, sFace* f, unsigned int e, sHorizon& horizon)
+	{
+		static const unsigned int i1m3[] = {1, 2, 0};
+		static const unsigned int i2m3[] = {2, 0, 1};
+		if (f->pass != pass)
+		{
+			const unsigned int e1 = i1m3[e];
+			if ((b3Dot(f->n, w->w) - f->d) < -EPA_PLANE_EPS)
+			{
+				sFace* nf = newface(f->c[e1], f->c[e], w, false);
+				if (nf)
 				{
-					const b3Scalar	sqd=f->d*f->d;
-					if(sqd<mind)
-					{
-						minf=f;
-						mind=sqd;
-					}
+					bind(nf, 0, f, e);
+					if (horizon.cf)
+						bind(horizon.cf, 1, nf, 2);
+					else
+						horizon.ff = nf;
+					horizon.cf = nf;
+					++horizon.nf;
+					return (true);
 				}
-				return(minf);
 			}
-			bool				expand(unsigned int pass,sSV* w,sFace* f,unsigned int e,sHorizon& horizon)
+			else
 			{
-				static const unsigned int	i1m3[]={1,2,0};
-				static const unsigned int	i2m3[]={2,0,1};
-				if(f->pass!=pass)
+				const unsigned int e2 = i2m3[e];
+				f->pass = (unsigned char)pass;
+				if (expand(pass, w, f->f[e1], f->e[e1], horizon) &&
+					expand(pass, w, f->f[e2], f->e[e2], horizon))
 				{
-					const unsigned int	e1=i1m3[e];
-					if((b3Dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
-					{
-						sFace*	nf=newface(f->c[e1],f->c[e],w,false);
-						if(nf)
-						{
-							bind(nf,0,f,e);
-							if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
-							horizon.cf=nf;
-							++horizon.nf;
-							return(true);
-						}
-					}
-					else
-					{
-						const unsigned int	e2=i2m3[e];
-						f->pass		=	(unsigned char)pass;
-						if(	expand(pass,w,f->f[e1],f->e[e1],horizon)&&
-							expand(pass,w,f->f[e2],f->e[e2],horizon))
-						{
-							remove(m_hull,f);
-							append(m_stock,f);
-							return(true);
-						}
-					}
+					remove(m_hull, f);
+					append(m_stock, f);
+					return (true);
 				}
-				return(false);
 			}
-
-	};
-
-	//
-	static void	Initialize(const b3Transform&	transA, const b3Transform&	transB,
-								const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
-								const b3AlignedObjectArray<b3Vector3>& verticesA,
-								const b3AlignedObjectArray<b3Vector3>& verticesB,
-		b3GjkEpaSolver2::sResults& results,
-		tShape& shape,
-		bool withmargins)
-	{
-		/* Results		*/ 
-		results.witnesses[0]	=
-			results.witnesses[1]	=	b3MakeVector3(0,0,0);
-		results.status			=	b3GjkEpaSolver2::sResults::Separated;
-		/* Shape		*/ 
-		shape.m_shapes[0]		=	hullA;
-		shape.m_shapes[1]		=	hullB;
-		shape.m_toshape1		=	transB.getBasis().transposeTimes(transA.getBasis());
-		shape.m_toshape0		=	transA.inverseTimes(transB);
-		shape.EnableMargin(withmargins);
+		}
+		return (false);
 	}
+};
 
+//
+static void Initialize(const b3Transform& transA, const b3Transform& transB,
+					   const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
+					   const b3AlignedObjectArray<b3Vector3>& verticesA,
+					   const b3AlignedObjectArray<b3Vector3>& verticesB,
+					   b3GjkEpaSolver2::sResults& results,
+					   tShape& shape,
+					   bool withmargins)
+{
+	/* Results		*/
+	results.witnesses[0] =
+		results.witnesses[1] = b3MakeVector3(0, 0, 0);
+	results.status = b3GjkEpaSolver2::sResults::Separated;
+	/* Shape		*/
+	shape.m_shapes[0] = hullA;
+	shape.m_shapes[1] = hullB;
+	shape.m_toshape1 = transB.getBasis().transposeTimes(transA.getBasis());
+	shape.m_toshape0 = transA.inverseTimes(transB);
+	shape.EnableMargin(withmargins);
 }
 
+}  // namespace gjkepa2_impl2
+
 //
 // Api
 //
 
-using namespace	gjkepa2_impl2;
+using namespace gjkepa2_impl2;
 
 //
-int			b3GjkEpaSolver2::StackSizeRequirement()
+int b3GjkEpaSolver2::StackSizeRequirement()
 {
-	return(sizeof(b3GJK)+sizeof(b3EPA));
+	return (sizeof(b3GJK) + sizeof(b3EPA));
 }
 
 //
-bool		b3GjkEpaSolver2::Distance(	const b3Transform&	transA, const b3Transform&	transB,
-										const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
-										const b3AlignedObjectArray<b3Vector3>& verticesA,
-										const b3AlignedObjectArray<b3Vector3>& verticesB,
-									  const b3Vector3&		guess,
-									  sResults&				results)
+bool b3GjkEpaSolver2::Distance(const b3Transform& transA, const b3Transform& transB,
+							   const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
+							   const b3AlignedObjectArray<b3Vector3>& verticesA,
+							   const b3AlignedObjectArray<b3Vector3>& verticesB,
+							   const b3Vector3& guess,
+							   sResults& results)
 {
-	tShape			shape;
-	Initialize(transA,transB,hullA,hullB,verticesA,verticesB,results,shape,false);
-	b3GJK				gjk(verticesA,verticesB);
-	b3GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,guess);
-	if(gjk_status==b3GJK::eStatus::Valid)
+	tShape shape;
+	Initialize(transA, transB, hullA, hullB, verticesA, verticesB, results, shape, false);
+	b3GJK gjk(verticesA, verticesB);
+	b3GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess);
+	if (gjk_status == b3GJK::eStatus::Valid)
 	{
-		b3Vector3	w0=b3MakeVector3(0,0,0);
-		b3Vector3	w1=b3MakeVector3(0,0,0);
-		for(unsigned int i=0;i<gjk.m_simplex->rank;++i)
+		b3Vector3 w0 = b3MakeVector3(0, 0, 0);
+		b3Vector3 w1 = b3MakeVector3(0, 0, 0);
+		for (unsigned int i = 0; i < gjk.m_simplex->rank; ++i)
 		{
-			const b3Scalar	p=gjk.m_simplex->p[i];
-			w0+=shape.Support( gjk.m_simplex->c[i]->d,0,verticesA,verticesB)*p;
-			w1+=shape.Support(-gjk.m_simplex->c[i]->d,1,verticesA,verticesB)*p;
+			const b3Scalar p = gjk.m_simplex->p[i];
+			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0, verticesA, verticesB) * p;
+			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1, verticesA, verticesB) * p;
 		}
-		results.witnesses[0]	=	transA*w0;
-		results.witnesses[1]	=	transA*w1;
-		results.normal			=	w0-w1;
-		results.distance		=	results.normal.length();
-		results.normal			/=	results.distance>GJK_MIN_DISTANCE?results.distance:1;
-		return(true);
+		results.witnesses[0] = transA * w0;
+		results.witnesses[1] = transA * w1;
+		results.normal = w0 - w1;
+		results.distance = results.normal.length();
+		results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
+		return (true);
 	}
 	else
 	{
-		results.status	=	gjk_status==b3GJK::eStatus::Inside?
-			sResults::Penetrating	:
-		sResults::GJK_Failed	;
-		return(false);
+		results.status = gjk_status == b3GJK::eStatus::Inside ? sResults::Penetrating : sResults::GJK_Failed;
+		return (false);
 	}
 }
 
 //
-bool	b3GjkEpaSolver2::Penetration(	const b3Transform&	transA, const b3Transform&	transB,
-										const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
-										const b3AlignedObjectArray<b3Vector3>& verticesA,
-										const b3AlignedObjectArray<b3Vector3>& verticesB,
-									 const b3Vector3&		guess,
-									 sResults&				results,
-									 bool					usemargins)
+bool b3GjkEpaSolver2::Penetration(const b3Transform& transA, const b3Transform& transB,
+								  const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
+								  const b3AlignedObjectArray<b3Vector3>& verticesA,
+								  const b3AlignedObjectArray<b3Vector3>& verticesB,
+								  const b3Vector3& guess,
+								  sResults& results,
+								  bool usemargins)
 {
-
-	tShape			shape;
-	Initialize(transA,transB,hullA,hullB,verticesA,verticesB,results,shape,usemargins);
-	b3GJK				gjk(verticesA,verticesB);
-	b3GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,guess);
-	switch(gjk_status)
+	tShape shape;
+	Initialize(transA, transB, hullA, hullB, verticesA, verticesB, results, shape, usemargins);
+	b3GJK gjk(verticesA, verticesB);
+	b3GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess);
+	switch (gjk_status)
 	{
-	case	b3GJK::eStatus::Inside:
+		case b3GJK::eStatus::Inside:
 		{
-			b3EPA				epa;
-			b3EPA::eStatus::_	epa_status=epa.Evaluate(gjk,-guess);
-			if(epa_status!=b3EPA::eStatus::Failed)
+			b3EPA epa;
+			b3EPA::eStatus::_ epa_status = epa.Evaluate(gjk, -guess);
+			if (epa_status != b3EPA::eStatus::Failed)
 			{
-				b3Vector3	w0=b3MakeVector3(0,0,0);
-				for(unsigned int i=0;i<epa.m_result.rank;++i)
+				b3Vector3 w0 = b3MakeVector3(0, 0, 0);
+				for (unsigned int i = 0; i < epa.m_result.rank; ++i)
 				{
-					w0+=shape.Support(epa.m_result.c[i]->d,0,verticesA,verticesB)*epa.m_result.p[i];
+					w0 += shape.Support(epa.m_result.c[i]->d, 0, verticesA, verticesB) * epa.m_result.p[i];
 				}
-				results.status			=	sResults::Penetrating;
-				results.witnesses[0]	=	transA*w0;
-				results.witnesses[1]	=	transA*(w0-epa.m_normal*epa.m_depth);
-				results.normal			=	-epa.m_normal;
-				results.distance		=	-epa.m_depth;
-				return(true);
-			} else results.status=sResults::EPA_Failed;
+				results.status = sResults::Penetrating;
+				results.witnesses[0] = transA * w0;
+				results.witnesses[1] = transA * (w0 - epa.m_normal * epa.m_depth);
+				results.normal = -epa.m_normal;
+				results.distance = -epa.m_depth;
+				return (true);
+			}
+			else
+				results.status = sResults::EPA_Failed;
 		}
 		break;
-	case	b3GJK::eStatus::Failed:
-		results.status=sResults::GJK_Failed;
-		break;
+		case b3GJK::eStatus::Failed:
+			results.status = sResults::GJK_Failed;
+			break;
 		default:
-					{
-					}
+		{
+		}
 	}
-	return(false);
+	return (false);
 }
 
-
 #if 0
 //
 b3Scalar	b3GjkEpaSolver2::SignedDistance(const b3Vector3& position,
@@ -994,8 +1043,7 @@ bool	b3GjkEpaSolver2::SignedDistance(const btConvexShape*	shape0,
 }
 #endif
 
-
-/* Symbols cleanup		*/ 
+/* Symbols cleanup		*/
 
 #undef GJK_MAX_ITERATIONS
 #undef GJK_ACCURACY
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
index 976238a04c..7db32c6309 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
@@ -29,40 +29,39 @@ GJK-EPA collision solver by Nathanael Presson, 2008
 #include "Bullet3Common/b3Transform.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 
-
 ///btGjkEpaSolver contributed under zlib by Nathanael Presson
-struct	b3GjkEpaSolver2
+struct b3GjkEpaSolver2
 {
-struct	sResults
+	struct sResults
 	{
-	enum eStatus
+		enum eStatus
 		{
-		Separated,		/* Shapes doesnt penetrate												*/ 
-		Penetrating,	/* Shapes are penetrating												*/ 
-		GJK_Failed,		/* GJK phase fail, no big issue, shapes are probably just 'touching'	*/ 
-		EPA_Failed		/* EPA phase fail, bigger problem, need to save parameters, and debug	*/ 
-		}		status;
-	b3Vector3	witnesses[2];
-	b3Vector3	normal;
-	b3Scalar	distance;
+			Separated,   /* Shapes doesnt penetrate												*/
+			Penetrating, /* Shapes are penetrating												*/
+			GJK_Failed,  /* GJK phase fail, no big issue, shapes are probably just 'touching'	*/
+			EPA_Failed   /* EPA phase fail, bigger problem, need to save parameters, and debug	*/
+		} status;
+		b3Vector3 witnesses[2];
+		b3Vector3 normal;
+		b3Scalar distance;
 	};
 
-static int		StackSizeRequirement();
+	static int StackSizeRequirement();
 
-static bool		Distance(	 const b3Transform&	transA, const b3Transform&	transB,
-							const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
-							const b3AlignedObjectArray<b3Vector3>& verticesA,
-							const b3AlignedObjectArray<b3Vector3>& verticesB,
-							const b3Vector3& guess,
-							sResults& results);
+	static bool Distance(const b3Transform& transA, const b3Transform& transB,
+						 const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
+						 const b3AlignedObjectArray<b3Vector3>& verticesA,
+						 const b3AlignedObjectArray<b3Vector3>& verticesB,
+						 const b3Vector3& guess,
+						 sResults& results);
 
-static bool		Penetration( const b3Transform&	transA, const b3Transform&	transB,
-							const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
+	static bool Penetration(const b3Transform& transA, const b3Transform& transB,
+							const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
 							const b3AlignedObjectArray<b3Vector3>& verticesA,
 							const b3AlignedObjectArray<b3Vector3>& verticesB,
 							const b3Vector3& guess,
 							sResults& results,
-							bool usemargins=true);
+							bool usemargins = true);
 #if 0
 static b3Scalar	SignedDistance(	const b3Vector3& position,
 								b3Scalar margin,
@@ -74,9 +73,7 @@ static bool		SignedDistance(	const btConvexShape* shape0,const btTransform& wtrs
 								const btConvexShape* shape1,const btTransform& wtrs1,
 								const b3Vector3& guess,
 								sResults& results);
-#endif 
-
+#endif
 };
 
-#endif //B3_GJK_EPA2_H
-
+#endif  //B3_GJK_EPA2_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
index e9e51d5a36..6f2c5251a0 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
@@ -13,50 +13,45 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "b3OptimizedBvh.h"
 #include "b3StridingMeshInterface.h"
 #include "Bullet3Geometry/b3AabbUtil.h"
 
-
 b3OptimizedBvh::b3OptimizedBvh()
-{ 
+{
 }
 
 b3OptimizedBvh::~b3OptimizedBvh()
 {
 }
 
-
 void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
 {
 	m_useQuantization = useQuantizedAabbCompression;
 
-
 	// NodeArray	triangleNodes;
 
-	struct	NodeTriangleCallback : public b3InternalTriangleIndexCallback
+	struct NodeTriangleCallback : public b3InternalTriangleIndexCallback
 	{
-
-		NodeArray&	m_triangleNodes;
+		NodeArray& m_triangleNodes;
 
 		NodeTriangleCallback& operator=(NodeTriangleCallback& other)
 		{
 			m_triangleNodes.copyFromArray(other.m_triangleNodes);
 			return *this;
 		}
-		
-		NodeTriangleCallback(NodeArray&	triangleNodes)
-			:m_triangleNodes(triangleNodes)
+
+		NodeTriangleCallback(NodeArray& triangleNodes)
+			: m_triangleNodes(triangleNodes)
 		{
 		}
 
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
 		{
 			b3OptimizedBvhNode node;
-			b3Vector3	aabbMin,aabbMax;
-			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT)); 
+			b3Vector3 aabbMin, aabbMax;
+			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
 			aabbMin.setMin(triangle[0]);
 			aabbMax.setMax(triangle[0]);
 			aabbMin.setMin(triangle[1]);
@@ -69,17 +64,17 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
 			node.m_aabbMaxOrg = aabbMax;
 
 			node.m_escapeIndex = -1;
-	
+
 			//for child nodes
 			node.m_subPart = partId;
 			node.m_triangleIndex = triangleIndex;
 			m_triangleNodes.push_back(node);
 		}
 	};
-	struct	QuantizedNodeTriangleCallback : public b3InternalTriangleIndexCallback
+	struct QuantizedNodeTriangleCallback : public b3InternalTriangleIndexCallback
 	{
-		QuantizedNodeArray&	m_triangleNodes;
-		const b3QuantizedBvh* m_optimizedTree; // for quantization
+		QuantizedNodeArray& m_triangleNodes;
+		const b3QuantizedBvh* m_optimizedTree;  // for quantization
 
 		QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
 		{
@@ -88,23 +83,23 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
 			return *this;
 		}
 
-		QuantizedNodeTriangleCallback(QuantizedNodeArray&	triangleNodes,const b3QuantizedBvh* tree)
-			:m_triangleNodes(triangleNodes),m_optimizedTree(tree)
+		QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes, const b3QuantizedBvh* tree)
+			: m_triangleNodes(triangleNodes), m_optimizedTree(tree)
 		{
 		}
 
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
 		{
 			// The partId and triangle index must fit in the same (positive) integer
-			b3Assert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
-			b3Assert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
+			b3Assert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
+			b3Assert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
 			//negative indices are reserved for escapeIndex
-			b3Assert(triangleIndex>=0);
+			b3Assert(triangleIndex >= 0);
 
 			b3QuantizedBvhNode node;
-			b3Vector3	aabbMin,aabbMax;
-			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT)); 
+			b3Vector3 aabbMin, aabbMax;
+			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
 			aabbMin.setMin(triangle[0]);
 			aabbMax.setMax(triangle[0]);
 			aabbMin.setMin(triangle[1]);
@@ -131,59 +126,52 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
 				aabbMin.setZ(aabbMin.getZ() - MIN_AABB_HALF_DIMENSION);
 			}
 
-			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
-			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
+			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
+			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
 
-			node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+			node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
 
 			m_triangleNodes.push_back(node);
 		}
 	};
-	
-
 
 	int numLeafNodes = 0;
 
-	
 	if (m_useQuantization)
 	{
-
 		//initialize quantization values
-		setQuantizationValues(bvhAabbMin,bvhAabbMax);
+		setQuantizationValues(bvhAabbMin, bvhAabbMax);
 
-		QuantizedNodeTriangleCallback	callback(m_quantizedLeafNodes,this);
+		QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes, this);
 
-	
-		triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
+		triangles->InternalProcessAllTriangles(&callback, m_bvhAabbMin, m_bvhAabbMax);
 
 		//now we have an array of leafnodes in m_leafNodes
 		numLeafNodes = m_quantizedLeafNodes.size();
 
-
-		m_quantizedContiguousNodes.resize(2*numLeafNodes);
-
-
-	} else
+		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
+	}
+	else
 	{
-		NodeTriangleCallback	callback(m_leafNodes);
+		NodeTriangleCallback callback(m_leafNodes);
 
-		b3Vector3 aabbMin=b3MakeVector3(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
-		b3Vector3 aabbMax=b3MakeVector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
+		b3Vector3 aabbMin = b3MakeVector3(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
+		b3Vector3 aabbMax = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
 
-		triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
+		triangles->InternalProcessAllTriangles(&callback, aabbMin, aabbMax);
 
 		//now we have an array of leafnodes in m_leafNodes
 		numLeafNodes = m_leafNodes.size();
 
-		m_contiguousNodes.resize(2*numLeafNodes);
+		m_contiguousNodes.resize(2 * numLeafNodes);
 	}
 
 	m_curNodeIndex = 0;
 
-	buildTree(0,numLeafNodes);
+	buildTree(0, numLeafNodes);
 
 	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if(m_useQuantization && !m_SubtreeHeaders.size())
+	if (m_useQuantization && !m_SubtreeHeaders.size())
 	{
 		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
@@ -199,37 +187,29 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
 	m_leafNodes.clear();
 }
 
-
-
-
-void	b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
+void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
 {
 	if (m_useQuantization)
 	{
+		setQuantizationValues(aabbMin, aabbMax);
 
-		setQuantizationValues(aabbMin,aabbMax);
-
-		updateBvhNodes(meshInterface,0,m_curNodeIndex,0);
+		updateBvhNodes(meshInterface, 0, m_curNodeIndex, 0);
 
 		///now update all subtree headers
 
 		int i;
-		for (i=0;i<m_SubtreeHeaders.size();i++)
+		for (i = 0; i < m_SubtreeHeaders.size(); i++)
 		{
 			b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
 			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
 		}
-
-	} else
+	}
+	else
 	{
-
 	}
 }
 
-
-
-
-void	b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
+void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
 {
 	//incrementally initialize quantization values
 	b3Assert(m_useQuantization);
@@ -244,147 +224,135 @@ void	b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface,const b
 
 	///we should update all quantization values, using updateBvhNodes(meshInterface);
 	///but we only update chunks that overlap the given aabb
-	
-	unsigned short	quantizedQueryAabbMin[3];
-	unsigned short	quantizedQueryAabbMax[3];
 
-	quantize(&quantizedQueryAabbMin[0],aabbMin,0);
-	quantize(&quantizedQueryAabbMax[0],aabbMax,1);
+	unsigned short quantizedQueryAabbMin[3];
+	unsigned short quantizedQueryAabbMax[3];
+
+	quantize(&quantizedQueryAabbMin[0], aabbMin, 0);
+	quantize(&quantizedQueryAabbMax[0], aabbMax, 1);
 
 	int i;
-	for (i=0;i<this->m_SubtreeHeaders.size();i++)
+	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
 	{
 		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
 
 		//PCK: unsigned instead of bool
-		unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+		unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
 		if (overlap != 0)
 		{
-			updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i);
+			updateBvhNodes(meshInterface, subtree.m_rootNodeIndex, subtree.m_rootNodeIndex + subtree.m_subtreeSize, i);
 
 			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
 		}
 	}
-	
 }
 
-void	b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
+void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface, int firstNode, int endNode, int index)
 {
 	(void)index;
 
 	b3Assert(m_useQuantization);
 
-	int curNodeSubPart=-1;
+	int curNodeSubPart = -1;
 
 	//get access info to trianglemesh data
-		const unsigned char *vertexbase = 0;
-		int numverts = 0;
-		PHY_ScalarType type = PHY_INTEGER;
-		int stride = 0;
-		const unsigned char *indexbase = 0;
-		int indexstride = 0;
-		int numfaces = 0;
-		PHY_ScalarType indicestype = PHY_INTEGER;
-
-		b3Vector3	triangleVerts[3];
-		b3Vector3	aabbMin,aabbMax;
-		const b3Vector3& meshScaling = meshInterface->getScaling();
-		
-		int i;
-		for (i=endNode-1;i>=firstNode;i--)
+	const unsigned char* vertexbase = 0;
+	int numverts = 0;
+	PHY_ScalarType type = PHY_INTEGER;
+	int stride = 0;
+	const unsigned char* indexbase = 0;
+	int indexstride = 0;
+	int numfaces = 0;
+	PHY_ScalarType indicestype = PHY_INTEGER;
+
+	b3Vector3 triangleVerts[3];
+	b3Vector3 aabbMin, aabbMax;
+	const b3Vector3& meshScaling = meshInterface->getScaling();
+
+	int i;
+	for (i = endNode - 1; i >= firstNode; i--)
+	{
+		b3QuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
+		if (curNode.isLeafNode())
 		{
+			//recalc aabb from triangle data
+			int nodeSubPart = curNode.getPartId();
+			int nodeTriangleIndex = curNode.getTriangleIndex();
+			if (nodeSubPart != curNodeSubPart)
+			{
+				if (curNodeSubPart >= 0)
+					meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
+				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
 
+				curNodeSubPart = nodeSubPart;
+				b3Assert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
+			}
+			//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
 
-			b3QuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
-			if (curNode.isLeafNode())
+			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
+
+			for (int j = 2; j >= 0; j--)
 			{
-				//recalc aabb from triangle data
-				int nodeSubPart = curNode.getPartId();
-				int nodeTriangleIndex = curNode.getTriangleIndex();
-				if (nodeSubPart != curNodeSubPart)
+				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+				if (type == PHY_FLOAT)
 				{
-					if (curNodeSubPart >= 0)
-						meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-					meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
-
-					curNodeSubPart = nodeSubPart;
-					b3Assert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
+					triangleVerts[j] = b3MakeVector3(
+						graphicsbase[0] * meshScaling.getX(),
+						graphicsbase[1] * meshScaling.getY(),
+						graphicsbase[2] * meshScaling.getZ());
 				}
-				//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
-
-				unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
-				
-				
-				for (int j=2;j>=0;j--)
+				else
 				{
-					
-					int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-					if (type == PHY_FLOAT)
-					{
-						float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-						triangleVerts[j] = b3MakeVector3(
-							graphicsbase[0]*meshScaling.getX(),
-							graphicsbase[1]*meshScaling.getY(),
-							graphicsbase[2]*meshScaling.getZ());
-					}
-					else
-					{
-						double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-						triangleVerts[j] = b3MakeVector3( b3Scalar(graphicsbase[0]*meshScaling.getX()), b3Scalar(graphicsbase[1]*meshScaling.getY()), b3Scalar(graphicsbase[2]*meshScaling.getZ()));
-					}
+					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
+					triangleVerts[j] = b3MakeVector3(b3Scalar(graphicsbase[0] * meshScaling.getX()), b3Scalar(graphicsbase[1] * meshScaling.getY()), b3Scalar(graphicsbase[2] * meshScaling.getZ()));
 				}
+			}
 
+			aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+			aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
+			aabbMin.setMin(triangleVerts[0]);
+			aabbMax.setMax(triangleVerts[0]);
+			aabbMin.setMin(triangleVerts[1]);
+			aabbMax.setMax(triangleVerts[1]);
+			aabbMin.setMin(triangleVerts[2]);
+			aabbMax.setMax(triangleVerts[2]);
+
+			quantize(&curNode.m_quantizedAabbMin[0], aabbMin, 0);
+			quantize(&curNode.m_quantizedAabbMax[0], aabbMax, 1);
+		}
+		else
+		{
+			//combine aabb from both children
 
-				
-				aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-				aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT)); 
-				aabbMin.setMin(triangleVerts[0]);
-				aabbMax.setMax(triangleVerts[0]);
-				aabbMin.setMin(triangleVerts[1]);
-				aabbMax.setMax(triangleVerts[1]);
-				aabbMin.setMin(triangleVerts[2]);
-				aabbMax.setMax(triangleVerts[2]);
-
-				quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
-				quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
-				
-			} else
-			{
-				//combine aabb from both children
+			b3QuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i + 1];
 
-				b3QuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
-				
-				b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
-					&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
-				
+			b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i + 2] : &m_quantizedContiguousNodes[i + 1 + leftChildNode->getEscapeIndex()];
 
+			{
+				for (int i = 0; i < 3; i++)
 				{
-					for (int i=0;i<3;i++)
-					{
-						curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
-						if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
-							curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
-
-						curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
-						if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
-							curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
-					}
+					curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
+					if (curNode.m_quantizedAabbMin[i] > rightChildNode->m_quantizedAabbMin[i])
+						curNode.m_quantizedAabbMin[i] = rightChildNode->m_quantizedAabbMin[i];
+
+					curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
+					if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
+						curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
 				}
 			}
-
 		}
+	}
 
-		if (curNodeSubPart >= 0)
-			meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-
-		
+	if (curNodeSubPart >= 0)
+		meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
 }
 
 ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-b3OptimizedBvh* b3OptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+b3OptimizedBvh* b3OptimizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
 {
-	b3QuantizedBvh* bvh = b3QuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
-	
+	b3QuantizedBvh* bvh = b3QuantizedBvh::deSerializeInPlace(i_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
+
 	//we don't add additional data so just do a static upcast
 	return static_cast<b3OptimizedBvh*>(bvh);
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h
index 0272ef83bf..1286552939 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.h
@@ -22,44 +22,35 @@ subject to the following restrictions:
 
 class b3StridingMeshInterface;
 
-
 ///The b3OptimizedBvh extends the b3QuantizedBvh to create AABB tree for triangle meshes, through the b3StridingMeshInterface.
-B3_ATTRIBUTE_ALIGNED16(class) b3OptimizedBvh : public b3QuantizedBvh
+B3_ATTRIBUTE_ALIGNED16(class)
+b3OptimizedBvh : public b3QuantizedBvh
 {
-	
 public:
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
 protected:
-
 public:
-
 	b3OptimizedBvh();
 
 	virtual ~b3OptimizedBvh();
 
-	void	build(b3StridingMeshInterface* triangles,bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax);
+	void build(b3StridingMeshInterface * triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax);
 
-	void	refit(b3StridingMeshInterface* triangles,const b3Vector3& aabbMin,const b3Vector3& aabbMax);
+	void refit(b3StridingMeshInterface * triangles, const b3Vector3& aabbMin, const b3Vector3& aabbMax);
 
-	void	refitPartial(b3StridingMeshInterface* triangles,const b3Vector3& aabbMin, const b3Vector3& aabbMax);
+	void refitPartial(b3StridingMeshInterface * triangles, const b3Vector3& aabbMin, const b3Vector3& aabbMax);
 
-	void	updateBvhNodes(b3StridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
+	void updateBvhNodes(b3StridingMeshInterface * meshInterface, int firstNode, int endNode, int index);
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
+	virtual bool serializeInPlace(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
 	{
-		return b3QuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
-
+		return b3QuantizedBvh::serialize(o_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
 	}
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static b3OptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
-
-
+	static b3OptimizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
 };
 
-
-#endif //B3_OPTIMIZED_BVH_H
-
-
+#endif  //B3_OPTIMIZED_BVH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
index 52027e1118..9a448495f3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
@@ -17,46 +17,40 @@ subject to the following restrictions:
 
 #include "Bullet3Geometry/b3AabbUtil.h"
 
-
 #define RAYAABB2
 
-b3QuantizedBvh::b3QuantizedBvh() : 
-					m_bulletVersion(B3_BULLET_VERSION),
-					m_useQuantization(false), 
-					m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
-					//m_traversalMode(TRAVERSAL_STACKLESS)
-					//m_traversalMode(TRAVERSAL_RECURSIVE)
-					,m_subtreeHeaderCount(0) //PCK: add this line
+b3QuantizedBvh::b3QuantizedBvh() : m_bulletVersion(B3_BULLET_VERSION),
+								   m_useQuantization(false),
+								   m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
+								   //m_traversalMode(TRAVERSAL_STACKLESS)
+								   //m_traversalMode(TRAVERSAL_RECURSIVE)
+								   ,
+								   m_subtreeHeaderCount(0)  //PCK: add this line
 {
-	m_bvhAabbMin.setValue(-B3_INFINITY,-B3_INFINITY,-B3_INFINITY);
-	m_bvhAabbMax.setValue(B3_INFINITY,B3_INFINITY,B3_INFINITY);
+	m_bvhAabbMin.setValue(-B3_INFINITY, -B3_INFINITY, -B3_INFINITY);
+	m_bvhAabbMax.setValue(B3_INFINITY, B3_INFINITY, B3_INFINITY);
 }
 
-
-
-
-
 void b3QuantizedBvh::buildInternal()
 {
 	///assumes that caller filled in the m_quantizedLeafNodes
 	m_useQuantization = true;
 	int numLeafNodes = 0;
-	
+
 	if (m_useQuantization)
 	{
 		//now we have an array of leafnodes in m_leafNodes
 		numLeafNodes = m_quantizedLeafNodes.size();
 
-		m_quantizedContiguousNodes.resize(2*numLeafNodes);
-
+		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
 	}
 
 	m_curNodeIndex = 0;
 
-	buildTree(0,numLeafNodes);
+	buildTree(0, numLeafNodes);
 
 	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if(m_useQuantization && !m_SubtreeHeaders.size())
+	if (m_useQuantization && !m_SubtreeHeaders.size())
 	{
 		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
@@ -72,35 +66,27 @@ void b3QuantizedBvh::buildInternal()
 	m_leafNodes.clear();
 }
 
-
-
 ///just for debugging, to visualize the individual patches/subtrees
 #ifdef DEBUG_PATCH_COLORS
-b3Vector3 color[4]=
-{
-	b3Vector3(1,0,0),
-	b3Vector3(0,1,0),
-	b3Vector3(0,0,1),
-	b3Vector3(0,1,1)
-};
-#endif //DEBUG_PATCH_COLORS
-
-
+b3Vector3 color[4] =
+	{
+		b3Vector3(1, 0, 0),
+		b3Vector3(0, 1, 0),
+		b3Vector3(0, 0, 1),
+		b3Vector3(0, 1, 1)};
+#endif  //DEBUG_PATCH_COLORS
 
-void	b3QuantizedBvh::setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin)
+void b3QuantizedBvh::setQuantizationValues(const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax, b3Scalar quantizationMargin)
 {
 	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	b3Vector3 clampValue =b3MakeVector3(quantizationMargin,quantizationMargin,quantizationMargin);
+	b3Vector3 clampValue = b3MakeVector3(quantizationMargin, quantizationMargin, quantizationMargin);
 	m_bvhAabbMin = bvhAabbMin - clampValue;
 	m_bvhAabbMax = bvhAabbMax + clampValue;
 	b3Vector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-	m_bvhQuantization = b3MakeVector3(b3Scalar(65533.0),b3Scalar(65533.0),b3Scalar(65533.0)) / aabbSize;
+	m_bvhQuantization = b3MakeVector3(b3Scalar(65533.0), b3Scalar(65533.0), b3Scalar(65533.0)) / aabbSize;
 	m_useQuantization = true;
 }
 
-
-
-
 b3QuantizedBvh::~b3QuantizedBvh()
 {
 }
@@ -108,104 +94,100 @@ b3QuantizedBvh::~b3QuantizedBvh()
 #ifdef DEBUG_TREE_BUILDING
 int gStackDepth = 0;
 int gMaxStackDepth = 0;
-#endif //DEBUG_TREE_BUILDING
+#endif  //DEBUG_TREE_BUILDING
 
-void	b3QuantizedBvh::buildTree	(int startIndex,int endIndex)
+void b3QuantizedBvh::buildTree(int startIndex, int endIndex)
 {
 #ifdef DEBUG_TREE_BUILDING
 	gStackDepth++;
 	if (gStackDepth > gMaxStackDepth)
 		gMaxStackDepth = gStackDepth;
-#endif //DEBUG_TREE_BUILDING
-
+#endif  //DEBUG_TREE_BUILDING
 
 	int splitAxis, splitIndex, i;
-	int numIndices =endIndex-startIndex;
+	int numIndices = endIndex - startIndex;
 	int curIndex = m_curNodeIndex;
 
-	b3Assert(numIndices>0);
+	b3Assert(numIndices > 0);
 
-	if (numIndices==1)
+	if (numIndices == 1)
 	{
 #ifdef DEBUG_TREE_BUILDING
 		gStackDepth--;
-#endif //DEBUG_TREE_BUILDING
-		
-		assignInternalNodeFromLeafNode(m_curNodeIndex,startIndex);
+#endif  //DEBUG_TREE_BUILDING
+
+		assignInternalNodeFromLeafNode(m_curNodeIndex, startIndex);
 
 		m_curNodeIndex++;
-		return;	
+		return;
 	}
 	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-	
-	splitAxis = calcSplittingAxis(startIndex,endIndex);
 
-	splitIndex = sortAndCalcSplittingIndex(startIndex,endIndex,splitAxis);
+	splitAxis = calcSplittingAxis(startIndex, endIndex);
+
+	splitIndex = sortAndCalcSplittingIndex(startIndex, endIndex, splitAxis);
 
 	int internalNodeIndex = m_curNodeIndex;
-	
+
 	//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
 	//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
-	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use b3Vector3(B3_INFINITY,B3_INFINITY,B3_INFINITY)) because of quantization
-	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use b3Vector3(-B3_INFINITY,-B3_INFINITY,-B3_INFINITY)) because of quantization
-	
-	
-	for (i=startIndex;i<endIndex;i++)
+	setInternalNodeAabbMin(m_curNodeIndex, m_bvhAabbMax);  //can't use b3Vector3(B3_INFINITY,B3_INFINITY,B3_INFINITY)) because of quantization
+	setInternalNodeAabbMax(m_curNodeIndex, m_bvhAabbMin);  //can't use b3Vector3(-B3_INFINITY,-B3_INFINITY,-B3_INFINITY)) because of quantization
+
+	for (i = startIndex; i < endIndex; i++)
 	{
-		mergeInternalNodeAabb(m_curNodeIndex,getAabbMin(i),getAabbMax(i));
+		mergeInternalNodeAabb(m_curNodeIndex, getAabbMin(i), getAabbMax(i));
 	}
 
 	m_curNodeIndex++;
-	
 
 	//internalNode->m_escapeIndex;
-	
+
 	int leftChildNodexIndex = m_curNodeIndex;
 
 	//build left child tree
-	buildTree(startIndex,splitIndex);
+	buildTree(startIndex, splitIndex);
 
 	int rightChildNodexIndex = m_curNodeIndex;
 	//build right child tree
-	buildTree(splitIndex,endIndex);
+	buildTree(splitIndex, endIndex);
 
 #ifdef DEBUG_TREE_BUILDING
 	gStackDepth--;
-#endif //DEBUG_TREE_BUILDING
+#endif  //DEBUG_TREE_BUILDING
 
 	int escapeIndex = m_curNodeIndex - curIndex;
 
 	if (m_useQuantization)
 	{
 		//escapeIndex is the number of nodes of this subtree
-		const int sizeQuantizedNode =sizeof(b3QuantizedBvhNode);
+		const int sizeQuantizedNode = sizeof(b3QuantizedBvhNode);
 		const int treeSizeInBytes = escapeIndex * sizeQuantizedNode;
 		if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES)
 		{
-			updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex);
+			updateSubtreeHeaders(leftChildNodexIndex, rightChildNodexIndex);
 		}
-	} else
+	}
+	else
 	{
-
 	}
 
-	setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex);
-
+	setInternalNodeEscapeIndex(internalNodeIndex, escapeIndex);
 }
 
-void	b3QuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex)
+void b3QuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex)
 {
 	b3Assert(m_useQuantization);
 
 	b3QuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
 	int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
-	int leftSubTreeSizeInBytes =  leftSubTreeSize * static_cast<int>(sizeof(b3QuantizedBvhNode));
-	
+	int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(b3QuantizedBvhNode));
+
 	b3QuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
 	int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
-	int rightSubTreeSizeInBytes =  rightSubTreeSize *  static_cast<int>(sizeof(b3QuantizedBvhNode));
+	int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(b3QuantizedBvhNode));
 
-	if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+	if (leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
 	{
 		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(leftChildNode);
@@ -213,7 +195,7 @@ void	b3QuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
 		subtree.m_subtreeSize = leftSubTreeSize;
 	}
 
-	if(rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+	if (rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
 	{
 		b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(rightChildNode);
@@ -225,32 +207,31 @@ void	b3QuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();
 }
 
-
-int	b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis)
+int b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis)
 {
 	int i;
-	int splitIndex =startIndex;
+	int splitIndex = startIndex;
 	int numIndices = endIndex - startIndex;
 	b3Scalar splitValue;
 
-	b3Vector3 means=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
-	for (i=startIndex;i<endIndex;i++)
+	b3Vector3 means = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
+	for (i = startIndex; i < endIndex; i++)
 	{
-		b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
-		means+=center;
+		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+		means += center;
 	}
-	means *= (b3Scalar(1.)/(b3Scalar)numIndices);
-	
+	means *= (b3Scalar(1.) / (b3Scalar)numIndices);
+
 	splitValue = means[splitAxis];
-	
+
 	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
 		if (center[splitAxis] > splitValue)
 		{
 			//swap
-			swapLeafNodes(i,splitIndex);
+			swapLeafNodes(i, splitIndex);
 			splitIndex++;
 		}
 	}
@@ -260,56 +241,53 @@ int	b3QuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
 	//unbalanced1 is unsafe: it can cause stack overflows
 	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
 
-	//unbalanced2 should work too: always use center (perfect balanced trees)	
+	//unbalanced2 should work too: always use center (perfect balanced trees)
 	//bool unbalanced2 = true;
 
 	//this should be safe too:
-	int rangeBalancedIndices = numIndices/3;
-	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
-	
+	int rangeBalancedIndices = numIndices / 3;
+	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
+
 	if (unbalanced)
 	{
-		splitIndex = startIndex+ (numIndices>>1);
+		splitIndex = startIndex + (numIndices >> 1);
 	}
 
-	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+	bool unbal = (splitIndex == startIndex) || (splitIndex == (endIndex));
 	(void)unbal;
 	b3Assert(!unbal);
 
 	return splitIndex;
 }
 
-
-int	b3QuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
+int b3QuantizedBvh::calcSplittingAxis(int startIndex, int endIndex)
 {
 	int i;
 
-	b3Vector3 means=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
-	b3Vector3 variance=b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
-	int numIndices = endIndex-startIndex;
+	b3Vector3 means = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
+	b3Vector3 variance = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
+	int numIndices = endIndex - startIndex;
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
-		means+=center;
+		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+		means += center;
 	}
-	means *= (b3Scalar(1.)/(b3Scalar)numIndices);
-		
-	for (i=startIndex;i<endIndex;i++)
+	means *= (b3Scalar(1.) / (b3Scalar)numIndices);
+
+	for (i = startIndex; i < endIndex; i++)
 	{
-		b3Vector3 center = b3Scalar(0.5)*(getAabbMax(i)+getAabbMin(i));
-		b3Vector3 diff2 = center-means;
+		b3Vector3 center = b3Scalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+		b3Vector3 diff2 = center - means;
 		diff2 = diff2 * diff2;
 		variance += diff2;
 	}
-	variance *= (b3Scalar(1.)/	((b3Scalar)numIndices-1)	);
-	
+	variance *= (b3Scalar(1.) / ((b3Scalar)numIndices - 1));
+
 	return variance.maxAxis();
 }
 
-
-
-void	b3QuantizedBvh::reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+void b3QuantizedBvh::reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
 {
 	//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
 
@@ -318,38 +296,37 @@ void	b3QuantizedBvh::reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallb
 		///quantize query AABB
 		unsigned short int quantizedQueryAabbMin[3];
 		unsigned short int quantizedQueryAabbMax[3];
-		quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
-		quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
+		quantizeWithClamp(quantizedQueryAabbMin, aabbMin, 0);
+		quantizeWithClamp(quantizedQueryAabbMax, aabbMax, 1);
 
 		switch (m_traversalMode)
 		{
-		case TRAVERSAL_STACKLESS:
-				walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,0,m_curNodeIndex);
-			break;
-		case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
-				walkStacklessQuantizedTreeCacheFriendly(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
-			break;
-		case TRAVERSAL_RECURSIVE:
+			case TRAVERSAL_STACKLESS:
+				walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax, 0, m_curNodeIndex);
+				break;
+			case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
+				walkStacklessQuantizedTreeCacheFriendly(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
+				break;
+			case TRAVERSAL_RECURSIVE:
 			{
 				const b3QuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
-				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
 			}
 			break;
-		default:
-			//unsupported
-			b3Assert(0);
+			default:
+				//unsupported
+				b3Assert(0);
 		}
-	} else
+	}
+	else
 	{
-		walkStacklessTree(nodeCallback,aabbMin,aabbMax);
+		walkStacklessTree(nodeCallback, aabbMin, aabbMax);
 	}
 }
 
-
 static int b3s_maxIterations = 0;
 
-
-void	b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+void b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
 {
 	b3Assert(!m_useQuantization);
 
@@ -363,24 +340,25 @@ void	b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const
 	while (curIndex < m_curNodeIndex)
 	{
 		//catch bugs in tree data
-		b3Assert (walkIterations < m_curNodeIndex);
+		b3Assert(walkIterations < m_curNodeIndex);
 
 		walkIterations++;
-		aabbOverlap = b3TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+		aabbOverlap = b3TestAabbAgainstAabb2(aabbMin, aabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
 		isLeafNode = rootNode->m_escapeIndex == -1;
-		
+
 		//PCK: unsigned instead of bool
 		if (isLeafNode && (aabbOverlap != 0))
 		{
-			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
-		} 
-		
+			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
+		}
+
 		//PCK: unsigned instead of bool
 		if ((aabbOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->m_escapeIndex;
 			rootNode += escapeIndex;
@@ -389,7 +367,6 @@ void	b3QuantizedBvh::walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const
 	}
 	if (b3s_maxIterations < walkIterations)
 		b3s_maxIterations = walkIterations;
-
 }
 
 /*
@@ -413,39 +390,38 @@ void	b3QuantizedBvh::walkTree(b3OptimizedBvhNode* rootNode,b3NodeOverlapCallback
 }
 */
 
-void b3QuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode,b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+void b3QuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode, b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
 {
 	b3Assert(m_useQuantization);
-	
+
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
 	unsigned aabbOverlap;
 
 	//PCK: unsigned instead of bool
-	aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,currentNode->m_quantizedAabbMin,currentNode->m_quantizedAabbMax);
+	aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, currentNode->m_quantizedAabbMin, currentNode->m_quantizedAabbMax);
 	isLeafNode = currentNode->isLeafNode();
-		
+
 	//PCK: unsigned instead of bool
 	if (aabbOverlap != 0)
 	{
 		if (isLeafNode)
 		{
-			nodeCallback->processNode(currentNode->getPartId(),currentNode->getTriangleIndex());
-		} else
+			nodeCallback->processNode(currentNode->getPartId(), currentNode->getTriangleIndex());
+		}
+		else
 		{
 			//process left and right children
-			const b3QuantizedBvhNode* leftChildNode = currentNode+1;
-			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+			const b3QuantizedBvhNode* leftChildNode = currentNode + 1;
+			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
 
-			const b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode+1:leftChildNode+leftChildNode->getEscapeIndex();
-			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+			const b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode + 1 : leftChildNode + leftChildNode->getEscapeIndex();
+			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
 		}
-	}		
+	}
 }
 
-
-
-void	b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+void b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const
 {
 	b3Assert(!m_useQuantization);
 
@@ -454,11 +430,11 @@ void	b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCall
 	int walkIterations = 0;
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
-	unsigned aabbOverlap=0;
-	unsigned rayBoxOverlap=0;
+	unsigned aabbOverlap = 0;
+	unsigned rayBoxOverlap = 0;
 	b3Scalar lambda_max = 1.0;
-	
-		/* Quick pruning by quantized box */
+
+	/* Quick pruning by quantized box */
 	b3Vector3 rayAabbMin = raySource;
 	b3Vector3 rayAabbMax = raySource;
 	rayAabbMin.setMin(rayTarget);
@@ -469,15 +445,15 @@ void	b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCall
 	rayAabbMax += aabbMax;
 
 #ifdef RAYAABB2
-	b3Vector3 rayDir = (rayTarget-raySource);
-	rayDir.normalize ();
-	lambda_max = rayDir.dot(rayTarget-raySource);
+	b3Vector3 rayDir = (rayTarget - raySource);
+	rayDir.normalize();
+	lambda_max = rayDir.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	b3Vector3 rayDirectionInverse;
 	rayDirectionInverse[0] = rayDir[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[0];
 	rayDirectionInverse[1] = rayDir[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[1];
 	rayDirectionInverse[2] = rayDir[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDir[2];
-	unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+	unsigned int sign[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
 #endif
 
 	b3Vector3 bounds[2];
@@ -486,7 +462,7 @@ void	b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCall
 	{
 		b3Scalar param = 1.0;
 		//catch bugs in tree data
-		b3Assert (walkIterations < m_curNodeIndex);
+		b3Assert(walkIterations < m_curNodeIndex);
 
 		walkIterations++;
 
@@ -496,34 +472,35 @@ void	b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCall
 		bounds[0] -= aabbMax;
 		bounds[1] -= aabbMin;
 
-		aabbOverlap = b3TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+		aabbOverlap = b3TestAabbAgainstAabb2(rayAabbMin, rayAabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
 		//perhaps profile if it is worth doing the aabbOverlap test first
 
 #ifdef RAYAABB2
-			///careful with this check: need to check division by zero (above) and fix the unQuantize method
-			///thanks Joerg/hiker for the reproduction case!
-			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-		rayBoxOverlap = aabbOverlap ? b3RayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
+		///careful with this check: need to check division by zero (above) and fix the unQuantize method
+		///thanks Joerg/hiker for the reproduction case!
+		///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
+		rayBoxOverlap = aabbOverlap ? b3RayAabb2(raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
 
 #else
 		b3Vector3 normal;
-		rayBoxOverlap = b3RayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal);
+		rayBoxOverlap = b3RayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
 #endif
 
 		isLeafNode = rootNode->m_escapeIndex == -1;
-		
+
 		//PCK: unsigned instead of bool
 		if (isLeafNode && (rayBoxOverlap != 0))
 		{
-			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
-		} 
-		
+			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
+		}
+
 		//PCK: unsigned instead of bool
 		if ((rayBoxOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->m_escapeIndex;
 			rootNode += escapeIndex;
@@ -532,15 +509,12 @@ void	b3QuantizedBvh::walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCall
 	}
 	if (b3s_maxIterations < walkIterations)
 		b3s_maxIterations = walkIterations;
-
 }
 
-
-
-void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const
 {
 	b3Assert(m_useQuantization);
-	
+
 	int curIndex = startNodeIndex;
 	int walkIterations = 0;
 	int subTreeSize = endNodeIndex - startNodeIndex;
@@ -548,7 +522,7 @@ void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
 
 	const b3QuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
 	int escapeIndex;
-	
+
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
 	unsigned boxBoxOverlap = 0;
@@ -557,14 +531,14 @@ void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
 	b3Scalar lambda_max = 1.0;
 
 #ifdef RAYAABB2
-	b3Vector3 rayDirection = (rayTarget-raySource);
-	rayDirection.normalize ();
-	lambda_max = rayDirection.dot(rayTarget-raySource);
+	b3Vector3 rayDirection = (rayTarget - raySource);
+	rayDirection.normalize();
+	lambda_max = rayDirection.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	rayDirection[0] = rayDirection[0] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[0];
 	rayDirection[1] = rayDirection[1] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[1];
 	rayDirection[2] = rayDirection[2] == b3Scalar(0.0) ? b3Scalar(B3_LARGE_FLOAT) : b3Scalar(1.0) / rayDirection[2];
-	unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
+	unsigned int sign[3] = {rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
 #endif
 
 	/* Quick pruning by quantized box */
@@ -579,37 +553,36 @@ void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
 
 	unsigned short int quantizedQueryAabbMin[3];
 	unsigned short int quantizedQueryAabbMax[3];
-	quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
-	quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
+	quantizeWithClamp(quantizedQueryAabbMin, rayAabbMin, 0);
+	quantizeWithClamp(quantizedQueryAabbMax, rayAabbMax, 1);
 
 	while (curIndex < endNodeIndex)
 	{
-
 //#define VISUALLY_ANALYZE_BVH 1
 #ifdef VISUALLY_ANALYZE_BVH
 		//some code snippet to debugDraw aabb, to visually analyze bvh structure
 		static int drawPatch = 0;
 		//need some global access to a debugDrawer
 		extern b3IDebugDraw* debugDrawerPtr;
-		if (curIndex==drawPatch)
+		if (curIndex == drawPatch)
 		{
-			b3Vector3 aabbMin,aabbMax;
+			b3Vector3 aabbMin, aabbMax;
 			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
 			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			b3Vector3	color(1,0,0);
-			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+			b3Vector3 color(1, 0, 0);
+			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
 		}
-#endif//VISUALLY_ANALYZE_BVH
+#endif  //VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		b3Assert (walkIterations < subTreeSize);
+		b3Assert(walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
 		// only interested if this is closer than any previous hit
 		b3Scalar param = 1.0;
 		rayBoxOverlap = 0;
-		boxBoxOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		boxBoxOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
 		isLeafNode = rootNode->isLeafNode();
 		if (boxBoxOverlap)
 		{
@@ -634,24 +607,25 @@ void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
 			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
 
 			//B3_PROFILE("b3RayAabb2");
-			rayBoxOverlap = b3RayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
-			
+			rayBoxOverlap = b3RayAabb2(raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
+
 #else
-			rayBoxOverlap = true;//b3RayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
+			rayBoxOverlap = true;  //b3RayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
 #endif
 		}
-		
+
 		if (isLeafNode && rayBoxOverlap)
 		{
-			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
+			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
 		}
-		
+
 		//PCK: unsigned instead of bool
 		if ((rayBoxOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->getEscapeIndex();
 			rootNode += escapeIndex;
@@ -660,13 +634,12 @@ void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
 	}
 	if (b3s_maxIterations < walkIterations)
 		b3s_maxIterations = walkIterations;
-
 }
 
-void	b3QuantizedBvh::walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const
+void b3QuantizedBvh::walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
 {
 	b3Assert(m_useQuantization);
-	
+
 	int curIndex = startNodeIndex;
 	int walkIterations = 0;
 	int subTreeSize = endNodeIndex - startNodeIndex;
@@ -674,49 +647,49 @@ void	b3QuantizedBvh::walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallb
 
 	const b3QuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
 	int escapeIndex;
-	
+
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
 	unsigned aabbOverlap;
 
 	while (curIndex < endNodeIndex)
 	{
-
 //#define VISUALLY_ANALYZE_BVH 1
 #ifdef VISUALLY_ANALYZE_BVH
 		//some code snippet to debugDraw aabb, to visually analyze bvh structure
 		static int drawPatch = 0;
 		//need some global access to a debugDrawer
 		extern b3IDebugDraw* debugDrawerPtr;
-		if (curIndex==drawPatch)
+		if (curIndex == drawPatch)
 		{
-			b3Vector3 aabbMin,aabbMax;
+			b3Vector3 aabbMin, aabbMax;
 			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
 			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			b3Vector3	color(1,0,0);
-			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+			b3Vector3 color(1, 0, 0);
+			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
 		}
-#endif//VISUALLY_ANALYZE_BVH
+#endif  //VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		b3Assert (walkIterations < subTreeSize);
+		b3Assert(walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
-		aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
 		isLeafNode = rootNode->isLeafNode();
-		
+
 		if (isLeafNode && aabbOverlap)
 		{
-			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
-		} 
-		
+			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
+		}
+
 		//PCK: unsigned instead of bool
 		if ((aabbOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->getEscapeIndex();
 			rootNode += escapeIndex;
@@ -725,40 +698,36 @@ void	b3QuantizedBvh::walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallb
 	}
 	if (b3s_maxIterations < walkIterations)
 		b3s_maxIterations = walkIterations;
-
 }
 
 //This traversal can be called from Playstation 3 SPU
-void	b3QuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+void b3QuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
 {
 	b3Assert(m_useQuantization);
 
 	int i;
 
-
-	for (i=0;i<this->m_SubtreeHeaders.size();i++)
+	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
 	{
 		const b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
 
 		//PCK: unsigned instead of bool
-		unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+		unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
 		if (overlap != 0)
 		{
-			walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
-				subtree.m_rootNodeIndex,
-				subtree.m_rootNodeIndex+subtree.m_subtreeSize);
+			walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax,
+									   subtree.m_rootNodeIndex,
+									   subtree.m_rootNodeIndex + subtree.m_subtreeSize);
 		}
 	}
 }
 
-
-void	b3QuantizedBvh::reportRayOverlappingNodex (b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const
+void b3QuantizedBvh::reportRayOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const
 {
-	reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,b3MakeVector3(0,0,0),b3MakeVector3(0,0,0));
+	reportBoxCastOverlappingNodex(nodeCallback, raySource, rayTarget, b3MakeVector3(0, 0, 0), b3MakeVector3(0, 0, 0));
 }
 
-
-void	b3QuantizedBvh::reportBoxCastOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+void b3QuantizedBvh::reportBoxCastOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
 {
 	//always use stackless
 
@@ -782,31 +751,31 @@ void	b3QuantizedBvh::reportBoxCastOverlappingNodex(b3NodeOverlapCallback* nodeCa
 		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
 	}
 	*/
-
 }
 
-
-void	b3QuantizedBvh::swapLeafNodes(int i,int splitIndex)
+void b3QuantizedBvh::swapLeafNodes(int i, int splitIndex)
 {
 	if (m_useQuantization)
 	{
-			b3QuantizedBvhNode tmp = m_quantizedLeafNodes[i];
-			m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
-			m_quantizedLeafNodes[splitIndex] = tmp;
-	} else
+		b3QuantizedBvhNode tmp = m_quantizedLeafNodes[i];
+		m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
+		m_quantizedLeafNodes[splitIndex] = tmp;
+	}
+	else
 	{
-			b3OptimizedBvhNode tmp = m_leafNodes[i];
-			m_leafNodes[i] = m_leafNodes[splitIndex];
-			m_leafNodes[splitIndex] = tmp;
+		b3OptimizedBvhNode tmp = m_leafNodes[i];
+		m_leafNodes[i] = m_leafNodes[splitIndex];
+		m_leafNodes[splitIndex] = tmp;
 	}
 }
 
-void	b3QuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex)
+void b3QuantizedBvh::assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex)
 {
 	if (m_useQuantization)
 	{
 		m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex];
-	} else
+	}
+	else
 	{
 		m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex];
 	}
@@ -823,11 +792,10 @@ static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
 static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
 #endif
 
-
 unsigned int b3QuantizedBvh::getAlignmentSerializationPadding()
 {
 	// I changed this to 0 since the extra padding is not needed or used.
-	return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
+	return 0;  //BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
 }
 
 unsigned b3QuantizedBvh::calculateSerializeBufferSize() const
@@ -841,12 +809,12 @@ unsigned b3QuantizedBvh::calculateSerializeBufferSize() const
 	return baseSize + m_curNodeIndex * sizeof(b3OptimizedBvhNode);
 }
 
-bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
+bool b3QuantizedBvh::serialize(void* o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
 {
 	b3Assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();
 
-/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+	/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
 	{
 		///check alignedment for buffer?
 		b3Assert(0);
@@ -854,7 +822,7 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 	}
 */
 
-	b3QuantizedBvh *targetBvh = (b3QuantizedBvh *)o_alignedDataBuffer;
+	b3QuantizedBvh* targetBvh = (b3QuantizedBvh*)o_alignedDataBuffer;
 
 	// construct the class so the virtual function table, etc will be set up
 	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
@@ -864,10 +832,9 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 	{
 		targetBvh->m_curNodeIndex = static_cast<int>(b3SwapEndian(m_curNodeIndex));
 
-
-		b3SwapVector3Endian(m_bvhAabbMin,targetBvh->m_bvhAabbMin);
-		b3SwapVector3Endian(m_bvhAabbMax,targetBvh->m_bvhAabbMax);
-		b3SwapVector3Endian(m_bvhQuantization,targetBvh->m_bvhQuantization);
+		b3SwapVector3Endian(m_bvhAabbMin, targetBvh->m_bvhAabbMin);
+		b3SwapVector3Endian(m_bvhAabbMax, targetBvh->m_bvhAabbMax);
+		b3SwapVector3Endian(m_bvhQuantization, targetBvh->m_bvhQuantization);
 
 		targetBvh->m_traversalMode = (b3TraversalMode)b3SwapEndian(m_traversalMode);
 		targetBvh->m_subtreeHeaderCount = static_cast<int>(b3SwapEndian(m_subtreeHeaderCount));
@@ -884,12 +851,12 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 
 	targetBvh->m_useQuantization = m_useQuantization;
 
-	unsigned char *nodeData = (unsigned char *)targetBvh;
+	unsigned char* nodeData = (unsigned char*)targetBvh;
 	nodeData += sizeof(b3QuantizedBvh);
-	
-	unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+
+	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
-	
+
 	int nodeCount = m_curNodeIndex;
 
 	if (m_useQuantization)
@@ -915,7 +882,6 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 		{
 			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
 			{
-	
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0];
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1];
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2];
@@ -925,8 +891,6 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2];
 
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex;
-
-
 			}
 		}
 		nodeData += sizeof(b3QuantizedBvhNode) * nodeCount;
@@ -972,7 +936,7 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 		targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
 	}
 
-	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
 
 	// Now serialize the subtree headers
@@ -1027,14 +991,13 @@ bool b3QuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 	return true;
 }
 
-b3QuantizedBvh *b3QuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+b3QuantizedBvh* b3QuantizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
 {
-
-	if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+	if (i_alignedDataBuffer == NULL)  // || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
 	{
 		return NULL;
 	}
-	b3QuantizedBvh *bvh = (b3QuantizedBvh *)i_alignedDataBuffer;
+	b3QuantizedBvh* bvh = (b3QuantizedBvh*)i_alignedDataBuffer;
 
 	if (i_swapEndian)
 	{
@@ -1056,12 +1019,12 @@ b3QuantizedBvh *b3QuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 		return NULL;
 	}
 
-	unsigned char *nodeData = (unsigned char *)bvh;
+	unsigned char* nodeData = (unsigned char*)bvh;
 	nodeData += sizeof(b3QuantizedBvh);
-	
-	unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+
+	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
-	
+
 	int nodeCount = bvh->m_curNodeIndex;
 
 	// Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor
@@ -1099,7 +1062,7 @@ b3QuantizedBvh *b3QuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 			{
 				b3UnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
 				b3UnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-				
+
 				bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(b3SwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
 				bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(b3SwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
 				bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(b3SwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
@@ -1108,7 +1071,7 @@ b3QuantizedBvh *b3QuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 		nodeData += sizeof(b3OptimizedBvhNode) * nodeCount;
 	}
 
-	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
 
 	// Now serialize the subtree headers
@@ -1134,13 +1097,11 @@ b3QuantizedBvh *b3QuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 }
 
 // Constructor that prevents b3Vector3's default constructor from being called
-b3QuantizedBvh::b3QuantizedBvh(b3QuantizedBvh &self, bool /* ownsMemory */) :
-m_bvhAabbMin(self.m_bvhAabbMin),
-m_bvhAabbMax(self.m_bvhAabbMax),
-m_bvhQuantization(self.m_bvhQuantization),
-m_bulletVersion(B3_BULLET_VERSION)
+b3QuantizedBvh::b3QuantizedBvh(b3QuantizedBvh& self, bool /* ownsMemory */) : m_bvhAabbMin(self.m_bvhAabbMin),
+																			  m_bvhAabbMax(self.m_bvhAabbMax),
+																			  m_bvhQuantization(self.m_bvhQuantization),
+																			  m_bulletVersion(B3_BULLET_VERSION)
 {
-
 }
 
 void b3QuantizedBvh::deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedBvhFloatData)
@@ -1150,8 +1111,8 @@ void b3QuantizedBvh::deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedB
 	m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
 
 	m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0;
-	
+	m_useQuantization = quantizedBvhFloatData.m_useQuantization != 0;
+
 	{
 		int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
 		m_contiguousNodes.resize(numElem);
@@ -1160,7 +1121,7 @@ void b3QuantizedBvh::deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedB
 		{
 			b3OptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
 
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
 				m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
@@ -1174,11 +1135,11 @@ void b3QuantizedBvh::deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedB
 	{
 		int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
 		m_quantizedContiguousNodes.resize(numElem);
-		
+
 		if (numElem)
 		{
 			b3QuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
 				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
@@ -1192,16 +1153,16 @@ void b3QuantizedBvh::deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedB
 	}
 
 	m_traversalMode = b3TraversalMode(quantizedBvhFloatData.m_traversalMode);
-	
+
 	{
 		int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
 		m_SubtreeHeaders.resize(numElem);
 		if (numElem)
 		{
 			b3BvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
 				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
@@ -1221,8 +1182,8 @@ void b3QuantizedBvh::deSerializeDouble(struct b3QuantizedBvhDoubleData& quantize
 	m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
 
 	m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0;
-	
+	m_useQuantization = quantizedBvhDoubleData.m_useQuantization != 0;
+
 	{
 		int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
 		m_contiguousNodes.resize(numElem);
@@ -1231,7 +1192,7 @@ void b3QuantizedBvh::deSerializeDouble(struct b3QuantizedBvhDoubleData& quantize
 		{
 			b3OptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
 
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
 				m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
@@ -1245,11 +1206,11 @@ void b3QuantizedBvh::deSerializeDouble(struct b3QuantizedBvhDoubleData& quantize
 	{
 		int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
 		m_quantizedContiguousNodes.resize(numElem);
-		
+
 		if (numElem)
 		{
 			b3QuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
 				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
@@ -1263,16 +1224,16 @@ void b3QuantizedBvh::deSerializeDouble(struct b3QuantizedBvhDoubleData& quantize
 	}
 
 	m_traversalMode = b3TraversalMode(quantizedBvhDoubleData.m_traversalMode);
-	
+
 	{
 		int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
 		m_SubtreeHeaders.resize(numElem);
 		if (numElem)
 		{
 			b3BvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
 				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
@@ -1283,19 +1244,11 @@ void b3QuantizedBvh::deSerializeDouble(struct b3QuantizedBvhDoubleData& quantize
 			}
 		}
 	}
-
 }
 
-
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	b3QuantizedBvh::serialize(void* dataBuffer, b3Serializer* serializer) const
+const char* b3QuantizedBvh::serialize(void* dataBuffer, b3Serializer* serializer) const
 {
 	b3Assert(0);
 	return 0;
 }
-
-
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
index 63c523c758..48b41abcad 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
@@ -22,11 +22,11 @@ class b3Serializer;
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 #ifdef __SPU__
 #define printf spu_printf
-#endif //__SPU__
+#endif  //__SPU__
 
 #include <stdio.h>
 #include <stdlib.h>
-#endif //DEBUG_CHECK_DEQUANTIZATION
+#endif  //DEBUG_CHECK_DEQUANTIZATION
 
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3AlignedAllocator.h"
@@ -44,13 +44,10 @@ class b3Serializer;
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
 
-
-
 //http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
 
-
 //Note: currently we have 16 bytes per quantized node
-#define MAX_SUBTREE_SIZE_IN_BYTES  2048
+#define MAX_SUBTREE_SIZE_IN_BYTES 2048
 
 // 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
 // actually) triangles each (since the sign bit is reserved
@@ -58,7 +55,8 @@ class b3Serializer;
 
 ///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-B3_ATTRIBUTE_ALIGNED16	(struct) b3QuantizedBvhNode : public b3QuantizedBvhNodeData
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3QuantizedBvhNode : public b3QuantizedBvhNodeData
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
@@ -72,48 +70,48 @@ B3_ATTRIBUTE_ALIGNED16	(struct) b3QuantizedBvhNode : public b3QuantizedBvhNodeDa
 		b3Assert(!isLeafNode());
 		return -m_escapeIndexOrTriangleIndex;
 	}
-	int	getTriangleIndex() const
+	int getTriangleIndex() const
 	{
 		b3Assert(isLeafNode());
-		unsigned int x=0;
-		unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
+		unsigned int x = 0;
+		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
 		// Get only the lower bits where the triangle index is stored
-		return (m_escapeIndexOrTriangleIndex&~(y));
+		return (m_escapeIndexOrTriangleIndex & ~(y));
 	}
-	int	getPartId() const
+	int getPartId() const
 	{
 		b3Assert(isLeafNode());
 		// Get only the highest bits where the part index is stored
-		return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+		return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
 	}
-}
-;
+};
 
 /// b3OptimizedBvhNode contains both internal and leaf node information.
 /// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
-B3_ATTRIBUTE_ALIGNED16 (struct) b3OptimizedBvhNode
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3OptimizedBvhNode
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
 	//32 bytes
-	b3Vector3	m_aabbMinOrg;
-	b3Vector3	m_aabbMaxOrg;
+	b3Vector3 m_aabbMinOrg;
+	b3Vector3 m_aabbMaxOrg;
 
 	//4
-	int	m_escapeIndex;
+	int m_escapeIndex;
 
 	//8
 	//for child nodes
-	int	m_subPart;
-	int	m_triangleIndex;
+	int m_subPart;
+	int m_triangleIndex;
 
-//pad the size to 64 bytes
-	char	m_padding[20];
+	//pad the size to 64 bytes
+	char m_padding[20];
 };
 
-
 ///b3BvhSubtreeInfo provides info to gather a subtree of limited size
-B3_ATTRIBUTE_ALIGNED16(class) b3BvhSubtreeInfo : public b3BvhSubtreeInfoData
+B3_ATTRIBUTE_ALIGNED16(class)
+b3BvhSubtreeInfo : public b3BvhSubtreeInfoData
 {
 public:
 	B3_DECLARE_ALIGNED_ALLOCATOR();
@@ -123,8 +121,7 @@ public:
 		//memset(&m_padding[0], 0, sizeof(m_padding));
 	}
 
-
-	void	setAabbFromQuantizeNode(const b3QuantizedBvhNode& quantizedNode)
+	void setAabbFromQuantizeNode(const b3QuantizedBvhNode& quantizedNode)
 	{
 		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
 		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
@@ -133,14 +130,12 @@ public:
 		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
 		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
 	}
-}
-;
-
+};
 
 class b3NodeOverlapCallback
 {
 public:
-	virtual ~b3NodeOverlapCallback() {};
+	virtual ~b3NodeOverlapCallback(){};
 
 	virtual void processNode(int subPart, int triangleIndex) = 0;
 };
@@ -148,18 +143,16 @@ public:
 #include "Bullet3Common/b3AlignedAllocator.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
-
-
 ///for code readability:
-typedef b3AlignedObjectArray<b3OptimizedBvhNode>	NodeArray;
-typedef b3AlignedObjectArray<b3QuantizedBvhNode>	QuantizedNodeArray;
-typedef b3AlignedObjectArray<b3BvhSubtreeInfo>		BvhSubtreeInfoArray;
-
+typedef b3AlignedObjectArray<b3OptimizedBvhNode> NodeArray;
+typedef b3AlignedObjectArray<b3QuantizedBvhNode> QuantizedNodeArray;
+typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray;
 
 ///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
 ///It is used by the b3BvhTriangleMeshShape as midphase
 ///It is recommended to use quantization for better performance and lower memory requirements.
-B3_ATTRIBUTE_ALIGNED16(class) b3QuantizedBvh
+B3_ATTRIBUTE_ALIGNED16(class)
+b3QuantizedBvh
 {
 public:
 	enum b3TraversalMode
@@ -169,56 +162,48 @@ public:
 		TRAVERSAL_RECURSIVE
 	};
 
-
-
-
-	b3Vector3			m_bvhAabbMin;
-	b3Vector3			m_bvhAabbMax;
-	b3Vector3			m_bvhQuantization;
+	b3Vector3 m_bvhAabbMin;
+	b3Vector3 m_bvhAabbMax;
+	b3Vector3 m_bvhQuantization;
 
 protected:
-	int					m_bulletVersion;	//for serialization versioning. It could also be used to detect endianess.
+	int m_bulletVersion;  //for serialization versioning. It could also be used to detect endianess.
 
-	int					m_curNodeIndex;
+	int m_curNodeIndex;
 	//quantization data
-	bool				m_useQuantization;
+	bool m_useQuantization;
 
+	NodeArray m_leafNodes;
+	NodeArray m_contiguousNodes;
+	QuantizedNodeArray m_quantizedLeafNodes;
+	QuantizedNodeArray m_quantizedContiguousNodes;
 
-
-	NodeArray			m_leafNodes;
-	NodeArray			m_contiguousNodes;
-	QuantizedNodeArray	m_quantizedLeafNodes;
-	QuantizedNodeArray	m_quantizedContiguousNodes;
-	
-	b3TraversalMode	m_traversalMode;
-	BvhSubtreeInfoArray		m_SubtreeHeaders;
+	b3TraversalMode m_traversalMode;
+	BvhSubtreeInfoArray m_SubtreeHeaders;
 
 	//This is only used for serialization so we don't have to add serialization directly to b3AlignedObjectArray
 	mutable int m_subtreeHeaderCount;
 
-	
-
-
-
 	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
 	///this might be refactored into a virtual, it is usually not calculated at run-time
-	void	setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin)
+	void setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin)
 	{
 		if (m_useQuantization)
 		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
-		} else
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
+		}
+		else
 		{
 			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
-
 		}
 	}
-	void	setInternalNodeAabbMax(int nodeIndex,const b3Vector3& aabbMax)
+	void setInternalNodeAabbMax(int nodeIndex, const b3Vector3& aabbMax)
 	{
 		if (m_useQuantization)
 		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
-		} else
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
+		}
+		else
 		{
 			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
 		}
@@ -232,115 +217,102 @@ protected:
 		}
 		//non-quantized
 		return m_leafNodes[nodeIndex].m_aabbMinOrg;
-
 	}
 	b3Vector3 getAabbMax(int nodeIndex) const
 	{
 		if (m_useQuantization)
 		{
 			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
-		} 
+		}
 		//non-quantized
 		return m_leafNodes[nodeIndex].m_aabbMaxOrg;
-		
 	}
 
-	
-	void	setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
+	void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
 	{
 		if (m_useQuantization)
 		{
 			m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
-		} 
+		}
 		else
 		{
 			m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
 		}
-
 	}
 
-	void mergeInternalNodeAabb(int nodeIndex,const b3Vector3& newAabbMin,const b3Vector3& newAabbMax) 
+	void mergeInternalNodeAabb(int nodeIndex, const b3Vector3& newAabbMin, const b3Vector3& newAabbMax)
 	{
 		if (m_useQuantization)
 		{
 			unsigned short int quantizedAabbMin[3];
 			unsigned short int quantizedAabbMax[3];
-			quantize(quantizedAabbMin,newAabbMin,0);
-			quantize(quantizedAabbMax,newAabbMax,1);
-			for (int i=0;i<3;i++)
+			quantize(quantizedAabbMin, newAabbMin, 0);
+			quantize(quantizedAabbMax, newAabbMax, 1);
+			for (int i = 0; i < 3; i++)
 			{
 				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
 					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
 
 				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
 					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
-
 			}
-		} else
+		}
+		else
 		{
 			//non-quantized
 			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);		
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
 		}
 	}
 
-	void	swapLeafNodes(int firstIndex,int secondIndex);
+	void swapLeafNodes(int firstIndex, int secondIndex);
 
-	void	assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
+	void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
 
 protected:
+	void buildTree(int startIndex, int endIndex);
 
-	
-
-	void	buildTree	(int startIndex,int endIndex);
+	int calcSplittingAxis(int startIndex, int endIndex);
 
-	int	calcSplittingAxis(int startIndex,int endIndex);
+	int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
 
-	int	sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
-	
-	void	walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
+	void walkStacklessTree(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
 
-	void	walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
-	void	walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
-	void	walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
+	void walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
+	void walkStacklessQuantizedTree(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const;
+	void walkStacklessTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
 
 	///tree traversal designed for small-memory processors like PS3 SPU
-	void	walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
+	void walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
 
 	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void	walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode,b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
+	void walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode, b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
 
 	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void	walkRecursiveQuantizedTreeAgainstQuantizedTree(const b3QuantizedBvhNode* treeNodeA,const b3QuantizedBvhNode* treeNodeB,b3NodeOverlapCallback* nodeCallback) const;
-	
-
-
+	void walkRecursiveQuantizedTreeAgainstQuantizedTree(const b3QuantizedBvhNode* treeNodeA, const b3QuantizedBvhNode* treeNodeB, b3NodeOverlapCallback* nodeCallback) const;
 
-	void	updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
+	void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
 
 public:
-	
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
 	b3QuantizedBvh();
 
 	virtual ~b3QuantizedBvh();
 
-	
 	///***************************************** expert/internal use only *************************
-	void	setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin=b3Scalar(1.0));
-	QuantizedNodeArray&	getLeafNodeArray() {			return	m_quantizedLeafNodes;	}
+	void setQuantizationValues(const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax, b3Scalar quantizationMargin = b3Scalar(1.0));
+	QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
 	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
-	void	buildInternal();
+	void buildInternal();
 	///***************************************** expert/internal use only *************************
 
-	void	reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
-	void	reportRayOverlappingNodex (b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const;
-	void	reportBoxCastOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
+	void reportAabbOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
+	void reportRayOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const;
+	void reportBoxCastOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
 
-		B3_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point,int isMax) const
+	B3_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point, int isMax) const
 	{
-
 		b3Assert(m_useQuantization);
 
 		b3Assert(point.getX() <= m_bvhAabbMax.getX());
@@ -357,122 +329,114 @@ public:
 		///@todo: double-check this
 		if (isMax)
 		{
-			out[0] = (unsigned short) (((unsigned short)(v.getX()+b3Scalar(1.)) | 1));
-			out[1] = (unsigned short) (((unsigned short)(v.getY()+b3Scalar(1.)) | 1));
-			out[2] = (unsigned short) (((unsigned short)(v.getZ()+b3Scalar(1.)) | 1));
-		} else
+			out[0] = (unsigned short)(((unsigned short)(v.getX() + b3Scalar(1.)) | 1));
+			out[1] = (unsigned short)(((unsigned short)(v.getY() + b3Scalar(1.)) | 1));
+			out[2] = (unsigned short)(((unsigned short)(v.getZ() + b3Scalar(1.)) | 1));
+		}
+		else
 		{
-			out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
-			out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
-			out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
+			out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
+			out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
+			out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
 		}
 
-
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 		b3Vector3 newPoint = unQuantize(out);
 		if (isMax)
 		{
 			if (newPoint.getX() < point.getX())
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
 			}
 			if (newPoint.getY() < point.getY())
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
 			}
 			if (newPoint.getZ() < point.getZ())
 			{
-
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
 			}
-		} else
+		}
+		else
 		{
 			if (newPoint.getX() > point.getX())
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
 			}
 			if (newPoint.getY() > point.getY())
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
 			}
 			if (newPoint.getZ() > point.getZ())
 			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
 			}
 		}
-#endif //DEBUG_CHECK_DEQUANTIZATION
-
+#endif  //DEBUG_CHECK_DEQUANTIZATION
 	}
 
-
-	B3_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2,int isMax) const
+	B3_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2, int isMax) const
 	{
-
 		b3Assert(m_useQuantization);
 
 		b3Vector3 clampedPoint(point2);
 		clampedPoint.setMax(m_bvhAabbMin);
 		clampedPoint.setMin(m_bvhAabbMax);
 
-		quantize(out,clampedPoint,isMax);
-
+		quantize(out, clampedPoint, isMax);
 	}
-	
-	B3_FORCE_INLINE b3Vector3	unQuantize(const unsigned short* vecIn) const
+
+	B3_FORCE_INLINE b3Vector3 unQuantize(const unsigned short* vecIn) const
 	{
-			b3Vector3	vecOut;
-			vecOut.setValue(
+		b3Vector3 vecOut;
+		vecOut.setValue(
 			(b3Scalar)(vecIn[0]) / (m_bvhQuantization.getX()),
 			(b3Scalar)(vecIn[1]) / (m_bvhQuantization.getY()),
 			(b3Scalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
-			vecOut += m_bvhAabbMin;
-			return vecOut;
+		vecOut += m_bvhAabbMin;
+		return vecOut;
 	}
 
 	///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
-	void	setTraversalMode(b3TraversalMode	traversalMode)
+	void setTraversalMode(b3TraversalMode traversalMode)
 	{
 		m_traversalMode = traversalMode;
 	}
 
-
-	B3_FORCE_INLINE QuantizedNodeArray&	getQuantizedNodeArray()
-	{	
-		return	m_quantizedContiguousNodes;
+	B3_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
+	{
+		return m_quantizedContiguousNodes;
 	}
 
-
-	B3_FORCE_INLINE BvhSubtreeInfoArray&	getSubtreeInfoArray()
+	B3_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
 	{
 		return m_SubtreeHeaders;
 	}
 
-////////////////////////////////////////////////////////////////////
+	////////////////////////////////////////////////////////////////////
 
 	/////Calculate space needed to store BVH for serialization
 	unsigned calculateSerializeBufferSize() const;
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
+	virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static b3QuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
+	static b3QuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
 
 	static unsigned int getAlignmentSerializationPadding();
-//////////////////////////////////////////////////////////////////////
+	//////////////////////////////////////////////////////////////////////
 
-	
-	virtual	int	calculateSerializeBufferSizeNew() const;
+	virtual int calculateSerializeBufferSizeNew() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const;
 
-	virtual	void deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedBvhFloatData);
+	virtual void deSerializeFloat(struct b3QuantizedBvhFloatData & quantizedBvhFloatData);
 
-	virtual	void deSerializeDouble(struct b3QuantizedBvhDoubleData& quantizedBvhDoubleData);
+	virtual void deSerializeDouble(struct b3QuantizedBvhDoubleData & quantizedBvhDoubleData);
 
-
-////////////////////////////////////////////////////////////////////
+	////////////////////////////////////////////////////////////////////
 
 	B3_FORCE_INLINE bool isQuantized()
 	{
@@ -483,74 +447,65 @@ private:
 	// Special "copy" constructor that allows for in-place deserialization
 	// Prevents b3Vector3's default constructor from being called, but doesn't inialize much else
 	// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
-	b3QuantizedBvh(b3QuantizedBvh &other, bool ownsMemory);
-
-}
-;
-
+	b3QuantizedBvh(b3QuantizedBvh & other, bool ownsMemory);
+};
 
 struct b3OptimizedBvhNodeFloatData
 {
-	b3Vector3FloatData	m_aabbMinOrg;
-	b3Vector3FloatData	m_aabbMaxOrg;
-	int	m_escapeIndex;
-	int	m_subPart;
-	int	m_triangleIndex;
+	b3Vector3FloatData m_aabbMinOrg;
+	b3Vector3FloatData m_aabbMaxOrg;
+	int m_escapeIndex;
+	int m_subPart;
+	int m_triangleIndex;
 	char m_pad[4];
 };
 
 struct b3OptimizedBvhNodeDoubleData
 {
-	b3Vector3DoubleData	m_aabbMinOrg;
-	b3Vector3DoubleData	m_aabbMaxOrg;
-	int	m_escapeIndex;
-	int	m_subPart;
-	int	m_triangleIndex;
-	char	m_pad[4];
+	b3Vector3DoubleData m_aabbMinOrg;
+	b3Vector3DoubleData m_aabbMaxOrg;
+	int m_escapeIndex;
+	int m_subPart;
+	int m_triangleIndex;
+	char m_pad[4];
 };
 
-
-
-struct	b3QuantizedBvhFloatData
+struct b3QuantizedBvhFloatData
 {
-	b3Vector3FloatData			m_bvhAabbMin;
-	b3Vector3FloatData			m_bvhAabbMax;
-	b3Vector3FloatData			m_bvhQuantization;
-	int					m_curNodeIndex;
-	int					m_useQuantization;
-	int					m_numContiguousLeafNodes;
-	int					m_numQuantizedContiguousNodes;
-	b3OptimizedBvhNodeFloatData	*m_contiguousNodesPtr;
-	b3QuantizedBvhNodeData		*m_quantizedContiguousNodesPtr;
-	b3BvhSubtreeInfoData	*m_subTreeInfoPtr;
-	int					m_traversalMode;
-	int					m_numSubtreeHeaders;
-	
+	b3Vector3FloatData m_bvhAabbMin;
+	b3Vector3FloatData m_bvhAabbMax;
+	b3Vector3FloatData m_bvhQuantization;
+	int m_curNodeIndex;
+	int m_useQuantization;
+	int m_numContiguousLeafNodes;
+	int m_numQuantizedContiguousNodes;
+	b3OptimizedBvhNodeFloatData* m_contiguousNodesPtr;
+	b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr;
+	b3BvhSubtreeInfoData* m_subTreeInfoPtr;
+	int m_traversalMode;
+	int m_numSubtreeHeaders;
 };
 
-struct	b3QuantizedBvhDoubleData
+struct b3QuantizedBvhDoubleData
 {
-	b3Vector3DoubleData			m_bvhAabbMin;
-	b3Vector3DoubleData			m_bvhAabbMax;
-	b3Vector3DoubleData			m_bvhQuantization;
-	int							m_curNodeIndex;
-	int							m_useQuantization;
-	int							m_numContiguousLeafNodes;
-	int							m_numQuantizedContiguousNodes;
-	b3OptimizedBvhNodeDoubleData	*m_contiguousNodesPtr;
-	b3QuantizedBvhNodeData			*m_quantizedContiguousNodesPtr;
-
-	int							m_traversalMode;
-	int							m_numSubtreeHeaders;
-	b3BvhSubtreeInfoData		*m_subTreeInfoPtr;
+	b3Vector3DoubleData m_bvhAabbMin;
+	b3Vector3DoubleData m_bvhAabbMax;
+	b3Vector3DoubleData m_bvhQuantization;
+	int m_curNodeIndex;
+	int m_useQuantization;
+	int m_numContiguousLeafNodes;
+	int m_numQuantizedContiguousNodes;
+	b3OptimizedBvhNodeDoubleData* m_contiguousNodesPtr;
+	b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr;
+
+	int m_traversalMode;
+	int m_numSubtreeHeaders;
+	b3BvhSubtreeInfoData* m_subTreeInfoPtr;
 };
 
-
-B3_FORCE_INLINE	int	b3QuantizedBvh::calculateSerializeBufferSizeNew() const
+B3_FORCE_INLINE int b3QuantizedBvh::calculateSerializeBufferSizeNew() const
 {
 	return sizeof(b3QuantizedBvhData);
 }
 
-
-
-#endif //B3_QUANTIZED_BVH_H
+#endif  //B3_QUANTIZED_BVH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
index 4d97f7f62b..6b0c941f23 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
@@ -15,35 +15,32 @@ subject to the following restrictions:
 
 #include "b3StridingMeshInterface.h"
 
-
 b3StridingMeshInterface::~b3StridingMeshInterface()
 {
-
 }
 
-
-void	b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+void b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
 {
 	(void)aabbMin;
 	(void)aabbMax;
 	int numtotalphysicsverts = 0;
-	int part,graphicssubparts = getNumSubParts();
-	const unsigned char * vertexbase;
-	const unsigned char * indexbase;
+	int part, graphicssubparts = getNumSubParts();
+	const unsigned char* vertexbase;
+	const unsigned char* indexbase;
 	int indexstride;
 	PHY_ScalarType type;
 	PHY_ScalarType gfxindextype;
-	int stride,numverts,numtriangles;
+	int stride, numverts, numtriangles;
 	int gfxindex;
 	b3Vector3 triangle[3];
 
 	b3Vector3 meshScaling = getScaling();
 
 	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-	for (part=0;part<graphicssubparts ;part++)
+	for (part = 0; part < graphicssubparts; part++)
 	{
-		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-		numtotalphysicsverts+=numtriangles*3; //upper bound
+		getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
+		numtotalphysicsverts += numtriangles * 3;  //upper bound
 
 		///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
 		///so disable this feature by default
@@ -51,143 +48,141 @@ void	b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleInde
 
 		switch (type)
 		{
-		case PHY_FLOAT:
-		 {
-
-			 float* graphicsbase;
-
-			 switch (gfxindextype)
-			 {
-			 case PHY_INTEGER:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			 case PHY_SHORT:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			case PHY_UCHAR:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			 default:
-				 b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-			 }
-			 break;
-		 }
-
-		case PHY_DOUBLE:
+			case PHY_FLOAT:
+			{
+				float* graphicsbase;
+
+				switch (gfxindextype)
+				{
+					case PHY_INTEGER:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					case PHY_SHORT:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					case PHY_UCHAR:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					default:
+						b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+				}
+				break;
+			}
+
+			case PHY_DOUBLE:
 			{
 				double* graphicsbase;
 
 				switch (gfxindextype)
 				{
-				case PHY_INTEGER:
+					case PHY_INTEGER:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				case PHY_SHORT:
+					case PHY_SHORT:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				case PHY_UCHAR:
+					case PHY_UCHAR:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				default:
-					b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+					default:
+						b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
 				}
 				break;
 			}
-		default:
-			b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+			default:
+				b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
 		}
 
 		unLockReadOnlyVertexBase(part);
 	}
 }
 
-void	b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
+void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin, b3Vector3& aabbMax)
 {
-
-	struct	AabbCalculationCallback : public b3InternalTriangleIndexCallback
+	struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
 	{
-		b3Vector3	m_aabbMin;
-		b3Vector3	m_aabbMax;
+		b3Vector3 m_aabbMin;
+		b3Vector3 m_aabbMax;
 
 		AabbCalculationCallback()
 		{
-			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
+			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
 		}
 
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
 		{
 			(void)partId;
 			(void)triangleIndex;
@@ -202,13 +197,11 @@ void	b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vecto
 	};
 
 	//first calculate the total aabb for all triangles
-	AabbCalculationCallback	aabbCallback;
-	aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
-	aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-	InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
+	AabbCalculationCallback aabbCallback;
+	aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
+	aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+	InternalProcessAllTriangles(&aabbCallback, aabbMin, aabbMax);
 
 	aabbMin = aabbCallback.m_aabbMin;
 	aabbMax = aabbCallback.m_aabbMax;
 }
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h
index 9513f68f77..087b30f3e6 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h
@@ -20,148 +20,139 @@ subject to the following restrictions:
 #include "b3TriangleCallback.h"
 //#include "b3ConcaveShape.h"
 
-
-enum  	PHY_ScalarType { 
-  PHY_FLOAT, PHY_DOUBLE, PHY_INTEGER, PHY_SHORT, 
-  PHY_FIXEDPOINT88, PHY_UCHAR 
+enum PHY_ScalarType
+{
+	PHY_FLOAT,
+	PHY_DOUBLE,
+	PHY_INTEGER,
+	PHY_SHORT,
+	PHY_FIXEDPOINT88,
+	PHY_UCHAR
 };
 
-
 ///	The b3StridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with b3BvhTriangleMeshShape and some other collision shapes.
 /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
 /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-B3_ATTRIBUTE_ALIGNED16(class ) b3StridingMeshInterface
+B3_ATTRIBUTE_ALIGNED16(class)
+b3StridingMeshInterface
 {
-	protected:
-	
-		b3Vector3 m_scaling;
-
-	public:
-		B3_DECLARE_ALIGNED_ALLOCATOR();
-		
-		b3StridingMeshInterface() :m_scaling(b3MakeVector3(b3Scalar(1.),b3Scalar(1.),b3Scalar(1.)))
-		{
-
-		}
-
-		virtual ~b3StridingMeshInterface();
-
-
-
-		virtual void	InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const;
-
-		///brute force method to calculate aabb
-		void	calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax);
-
-		/// get read and write access to a subpart of a triangle mesh
-		/// this subpart has a continuous array of vertices and indices
-		/// in this way the mesh can be handled as chunks of memory with striding
-		/// very similar to OpenGL vertexarray support
-		/// make a call to unLockVertexBase when the read and write access is finished	
-		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
-		
-		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
-	
-		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-		virtual void	unLockVertexBase(int subpart)=0;
-
-		virtual void	unLockReadOnlyVertexBase(int subpart) const=0;
-
-
-		/// getNumSubParts returns the number of seperate subparts
-		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts() const=0;
-
-		virtual void	preallocateVertices(int numverts)=0;
-		virtual void	preallocateIndices(int numindices)=0;
-
-		virtual bool	hasPremadeAabb() const { return false; }
-		virtual void	setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax ) const
-                {
-                        (void) aabbMin;
-                        (void) aabbMax;
-                }
-		virtual void	getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax ) const
-        {
-            (void) aabbMin;
-            (void) aabbMax;
-        }
-
-		const b3Vector3&	getScaling() const {
-			return m_scaling;
-		}
-		void	setScaling(const b3Vector3& scaling)
-		{
-			m_scaling = scaling;
-		}
-
-		virtual	int	calculateSerializeBufferSize() const;
-
-		///fills the dataBuffer and returns the struct name (and 0 on failure)
-		//virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
-
-
+protected:
+	b3Vector3 m_scaling;
+
+public:
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	b3StridingMeshInterface() : m_scaling(b3MakeVector3(b3Scalar(1.), b3Scalar(1.), b3Scalar(1.)))
+	{
+	}
+
+	virtual ~b3StridingMeshInterface();
+
+	virtual void InternalProcessAllTriangles(b3InternalTriangleIndexCallback * callback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
+
+	///brute force method to calculate aabb
+	void calculateAabbBruteForce(b3Vector3 & aabbMin, b3Vector3 & aabbMax);
+
+	/// get read and write access to a subpart of a triangle mesh
+	/// this subpart has a continuous array of vertices and indices
+	/// in this way the mesh can be handled as chunks of memory with striding
+	/// very similar to OpenGL vertexarray support
+	/// make a call to unLockVertexBase when the read and write access is finished
+	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) = 0;
+
+	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const = 0;
+
+	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+	virtual void unLockVertexBase(int subpart) = 0;
+
+	virtual void unLockReadOnlyVertexBase(int subpart) const = 0;
+
+	/// getNumSubParts returns the number of seperate subparts
+	/// each subpart has a continuous array of vertices and indices
+	virtual int getNumSubParts() const = 0;
+
+	virtual void preallocateVertices(int numverts) = 0;
+	virtual void preallocateIndices(int numindices) = 0;
+
+	virtual bool hasPremadeAabb() const { return false; }
+	virtual void setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
+	{
+		(void)aabbMin;
+		(void)aabbMax;
+	}
+	virtual void getPremadeAabb(b3Vector3 * aabbMin, b3Vector3 * aabbMax) const
+	{
+		(void)aabbMin;
+		(void)aabbMax;
+	}
+
+	const b3Vector3& getScaling() const
+	{
+		return m_scaling;
+	}
+	void setScaling(const b3Vector3& scaling)
+	{
+		m_scaling = scaling;
+	}
+
+	virtual int calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	//virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
 };
 
-struct	b3IntIndexData
+struct b3IntIndexData
 {
-	int	m_value;
+	int m_value;
 };
 
-struct	b3ShortIntIndexData
+struct b3ShortIntIndexData
 {
 	short m_value;
 	char m_pad[2];
 };
 
-struct	b3ShortIntIndexTripletData
+struct b3ShortIntIndexTripletData
 {
-	short	m_values[3];
-	char	m_pad[2];
+	short m_values[3];
+	char m_pad[2];
 };
 
-struct	b3CharIndexTripletData
+struct b3CharIndexTripletData
 {
 	unsigned char m_values[3];
-	char	m_pad;
+	char m_pad;
 };
 
-
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	b3MeshPartData
+struct b3MeshPartData
 {
-	b3Vector3FloatData			*m_vertices3f;
-	b3Vector3DoubleData			*m_vertices3d;
+	b3Vector3FloatData* m_vertices3f;
+	b3Vector3DoubleData* m_vertices3d;
 
-	b3IntIndexData				*m_indices32;
-	b3ShortIntIndexTripletData	*m_3indices16;
-	b3CharIndexTripletData		*m_3indices8;
+	b3IntIndexData* m_indices32;
+	b3ShortIntIndexTripletData* m_3indices16;
+	b3CharIndexTripletData* m_3indices8;
 
-	b3ShortIntIndexData			*m_indices16;//backwards compatibility
+	b3ShortIntIndexData* m_indices16;  //backwards compatibility
 
-	int                     m_numTriangles;//length of m_indices = m_numTriangles
-	int                     m_numVertices;
+	int m_numTriangles;  //length of m_indices = m_numTriangles
+	int m_numVertices;
 };
 
-
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	b3StridingMeshInterfaceData
+struct b3StridingMeshInterfaceData
 {
-	b3MeshPartData	*m_meshPartsPtr;
-	b3Vector3FloatData	m_scaling;
-	int	m_numMeshParts;
+	b3MeshPartData* m_meshPartsPtr;
+	b3Vector3FloatData m_scaling;
+	int m_numMeshParts;
 	char m_padding[4];
 };
 
-
-
-
-B3_FORCE_INLINE	int	b3StridingMeshInterface::calculateSerializeBufferSize() const
+B3_FORCE_INLINE int b3StridingMeshInterface::calculateSerializeBufferSize() const
 {
 	return sizeof(b3StridingMeshInterfaceData);
 }
 
-
-
-#endif //B3_STRIDING_MESHINTERFACE_H
+#endif  //B3_STRIDING_MESHINTERFACE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
index d073ee57c3..9ca1e22949 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h
@@ -6,33 +6,29 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3VectorFloat4.h"
 
-
 struct b3GjkPairDetector;
 
-
-
-inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const struct b3ConvexPolyhedronData* hull, 
-	const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
+inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
+												 const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
 {
-	b3Vector3 supVec = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
+	b3Vector3 supVec = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 	b3Scalar maxDot = b3Scalar(-B3_LARGE_FLOAT);
 
-    // Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically. 
-    if( 0 < hull->m_numVertices )
-    {
-        const b3Vector3 scaled = supportVec;
-		int index = (int) scaled.maxDot( &verticesA[hull->m_vertexOffset], hull->m_numVertices, maxDot); 
-        return verticesA[hull->m_vertexOffset+index];
-    }
-
-    return supVec;
+	// Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically.
+	if (0 < hull->m_numVertices)
+	{
+		const b3Vector3 scaled = supportVec;
+		int index = (int)scaled.maxDot(&verticesA[hull->m_vertexOffset], hull->m_numVertices, maxDot);
+		return verticesA[hull->m_vertexOffset + index];
+	}
 
+	return supVec;
 }
 
-inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec,const struct b3ConvexPolyhedronData* hull, 
-	const b3AlignedObjectArray<b3Vector3>& verticesA)
+inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
+													const b3AlignedObjectArray<b3Vector3>& verticesA)
 {
-	return localGetSupportVertexWithMargin(supportVec,hull,verticesA,0.f);
+	return localGetSupportVertexWithMargin(supportVec, hull, verticesA, 0.f);
 }
 
-#endif //B3_SUPPORT_MAPPINGS_H
+#endif  //B3_SUPPORT_MAPPINGS_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp
index 9066451884..3908c6de89 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.cpp
@@ -17,12 +17,8 @@ subject to the following restrictions:
 
 b3TriangleCallback::~b3TriangleCallback()
 {
-	
 }
 
-
 b3InternalTriangleIndexCallback::~b3InternalTriangleIndexCallback()
 {
-
 }
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h
index 3059fa4f21..a0fd3e7ac7 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleCallback.h
@@ -18,13 +18,11 @@ subject to the following restrictions:
 
 #include "Bullet3Common/b3Vector3.h"
 
-
 ///The b3TriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
 ///This callback is called by processAllTriangles for all b3ConcaveShape derived class, such as  b3BvhTriangleMeshShape, b3StaticPlaneShape and b3HeightfieldTerrainShape.
 class b3TriangleCallback
 {
 public:
-
 	virtual ~b3TriangleCallback();
 	virtual void processTriangle(b3Vector3* triangle, int partId, int triangleIndex) = 0;
 };
@@ -32,11 +30,8 @@ public:
 class b3InternalTriangleIndexCallback
 {
 public:
-
 	virtual ~b3InternalTriangleIndexCallback();
-	virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex) = 0;
+	virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex) = 0;
 };
 
-
-
-#endif //B3_TRIANGLE_CALLBACK_H
+#endif  //B3_TRIANGLE_CALLBACK_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp
index a0f59babbe..73faadbdd0 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.cpp
@@ -15,81 +15,76 @@ subject to the following restrictions:
 
 #include "b3TriangleIndexVertexArray.h"
 
-b3TriangleIndexVertexArray::b3TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,b3Scalar* vertexBase,int vertexStride)
-: m_hasAabb(0)
+b3TriangleIndexVertexArray::b3TriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, b3Scalar* vertexBase, int vertexStride)
+	: m_hasAabb(0)
 {
 	b3IndexedMesh mesh;
 
 	mesh.m_numTriangles = numTriangles;
-	mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase;
+	mesh.m_triangleIndexBase = (const unsigned char*)triangleIndexBase;
 	mesh.m_triangleIndexStride = triangleIndexStride;
 	mesh.m_numVertices = numVertices;
-	mesh.m_vertexBase = (const unsigned char *)vertexBase;
+	mesh.m_vertexBase = (const unsigned char*)vertexBase;
 	mesh.m_vertexStride = vertexStride;
 
 	addIndexedMesh(mesh);
-
 }
 
 b3TriangleIndexVertexArray::~b3TriangleIndexVertexArray()
 {
-
 }
 
-void	b3TriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
+void b3TriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart)
 {
-	b3Assert(subpart< getNumSubParts() );
+	b3Assert(subpart < getNumSubParts());
 
 	b3IndexedMesh& mesh = m_indexedMeshes[subpart];
 
 	numverts = mesh.m_numVertices;
-	(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
+	(*vertexbase) = (unsigned char*)mesh.m_vertexBase;
 
-   type = mesh.m_vertexType;
+	type = mesh.m_vertexType;
 
 	vertexStride = mesh.m_vertexStride;
 
 	numfaces = mesh.m_numTriangles;
 
-	(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
+	(*indexbase) = (unsigned char*)mesh.m_triangleIndexBase;
 	indexstride = mesh.m_triangleIndexStride;
 	indicestype = mesh.m_indexType;
 }
 
-void	b3TriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+void b3TriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart) const
 {
 	const b3IndexedMesh& mesh = m_indexedMeshes[subpart];
 
 	numverts = mesh.m_numVertices;
-	(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
+	(*vertexbase) = (const unsigned char*)mesh.m_vertexBase;
+
+	type = mesh.m_vertexType;
 
-   type = mesh.m_vertexType;
-   
 	vertexStride = mesh.m_vertexStride;
 
 	numfaces = mesh.m_numTriangles;
-	(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
+	(*indexbase) = (const unsigned char*)mesh.m_triangleIndexBase;
 	indexstride = mesh.m_triangleIndexStride;
 	indicestype = mesh.m_indexType;
 }
 
-bool	b3TriangleIndexVertexArray::hasPremadeAabb() const
+bool b3TriangleIndexVertexArray::hasPremadeAabb() const
 {
 	return (m_hasAabb == 1);
 }
 
-
-void	b3TriangleIndexVertexArray::setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax ) const
+void b3TriangleIndexVertexArray::setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
 {
 	m_aabbMin = aabbMin;
 	m_aabbMax = aabbMax;
-	m_hasAabb = 1; // this is intentionally an int see notes in header
+	m_hasAabb = 1;  // this is intentionally an int see notes in header
 }
 
-void	b3TriangleIndexVertexArray::getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax ) const
+void b3TriangleIndexVertexArray::getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax) const
 {
 	*aabbMin = m_aabbMin;
 	*aabbMax = m_aabbMax;
 }
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h
index d26b2893bc..b6ceb8df10 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h
@@ -20,62 +20,59 @@ subject to the following restrictions:
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3Scalar.h"
 
-
 ///The b3IndexedMesh indexes a single vertex and index array. Multiple b3IndexedMesh objects can be passed into a b3TriangleIndexVertexArray using addIndexedMesh.
 ///Instead of the number of indices, we pass the number of triangles.
-B3_ATTRIBUTE_ALIGNED16( struct)	b3IndexedMesh
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3IndexedMesh
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-   int                     m_numTriangles;
-   const unsigned char *   m_triangleIndexBase;
-   // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
-   int                     m_triangleIndexStride;
-   int                     m_numVertices;
-   const unsigned char *   m_vertexBase;
-   // Size of a vertex, in bytes
-   int                     m_vertexStride;
-
-   // The index type is set when adding an indexed mesh to the
-   // b3TriangleIndexVertexArray, do not set it manually
-   PHY_ScalarType m_indexType;
-
-   // The vertex type has a default type similar to Bullet's precision mode (float or double)
-   // but can be set manually if you for example run Bullet with double precision but have
-   // mesh data in single precision..
-   PHY_ScalarType m_vertexType;
-
-
-   b3IndexedMesh()
-	   :m_indexType(PHY_INTEGER),
+	int m_numTriangles;
+	const unsigned char* m_triangleIndexBase;
+	// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
+	int m_triangleIndexStride;
+	int m_numVertices;
+	const unsigned char* m_vertexBase;
+	// Size of a vertex, in bytes
+	int m_vertexStride;
+
+	// The index type is set when adding an indexed mesh to the
+	// b3TriangleIndexVertexArray, do not set it manually
+	PHY_ScalarType m_indexType;
+
+	// The vertex type has a default type similar to Bullet's precision mode (float or double)
+	// but can be set manually if you for example run Bullet with double precision but have
+	// mesh data in single precision..
+	PHY_ScalarType m_vertexType;
+
+	b3IndexedMesh()
+		: m_indexType(PHY_INTEGER),
 #ifdef B3_USE_DOUBLE_PRECISION
-      m_vertexType(PHY_DOUBLE)
-#else // B3_USE_DOUBLE_PRECISION
-      m_vertexType(PHY_FLOAT)
-#endif // B3_USE_DOUBLE_PRECISION
-      {
-      }
-}
-;
-
+		  m_vertexType(PHY_DOUBLE)
+#else   // B3_USE_DOUBLE_PRECISION
+		  m_vertexType(PHY_FLOAT)
+#endif  // B3_USE_DOUBLE_PRECISION
+	{
+	}
+};
 
-typedef b3AlignedObjectArray<b3IndexedMesh>	IndexedMeshArray;
+typedef b3AlignedObjectArray<b3IndexedMesh> IndexedMeshArray;
 
 ///The b3TriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
 ///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this b3TriangleIndexVertexArray.
-B3_ATTRIBUTE_ALIGNED16( class) b3TriangleIndexVertexArray : public b3StridingMeshInterface
+B3_ATTRIBUTE_ALIGNED16(class)
+b3TriangleIndexVertexArray : public b3StridingMeshInterface
 {
 protected:
-	IndexedMeshArray	m_indexedMeshes;
+	IndexedMeshArray m_indexedMeshes;
 	int m_pad[2];
-	mutable int m_hasAabb; // using int instead of bool to maintain alignment
+	mutable int m_hasAabb;  // using int instead of bool to maintain alignment
 	mutable b3Vector3 m_aabbMin;
 	mutable b3Vector3 m_aabbMax;
 
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
 	b3TriangleIndexVertexArray() : m_hasAabb(0)
@@ -85,49 +82,47 @@ public:
 	virtual ~b3TriangleIndexVertexArray();
 
 	//just to be backwards compatible
-	b3TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,b3Scalar* vertexBase,int vertexStride);
-	
-	void	addIndexedMesh(const b3IndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
+	b3TriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, b3Scalar* vertexBase, int vertexStride);
+
+	void addIndexedMesh(const b3IndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
 	{
 		m_indexedMeshes.push_back(mesh);
-		m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType;
+		m_indexedMeshes[m_indexedMeshes.size() - 1].m_indexType = indexType;
 	}
-	
-	
-	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
 
-	virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0);
+
+	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const;
 
 	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void	unLockVertexBase(int subpart) {(void)subpart;}
+	virtual void unLockVertexBase(int subpart) { (void)subpart; }
 
-	virtual void	unLockReadOnlyVertexBase(int subpart) const {(void)subpart;}
+	virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; }
 
 	/// getNumSubParts returns the number of seperate subparts
 	/// each subpart has a continuous array of vertices and indices
-	virtual int		getNumSubParts() const { 
+	virtual int getNumSubParts() const
+	{
 		return (int)m_indexedMeshes.size();
 	}
 
-	IndexedMeshArray&	getIndexedMeshArray()
+	IndexedMeshArray& getIndexedMeshArray()
 	{
 		return m_indexedMeshes;
 	}
 
-	const IndexedMeshArray&	getIndexedMeshArray() const
+	const IndexedMeshArray& getIndexedMeshArray() const
 	{
 		return m_indexedMeshes;
 	}
 
-	virtual void	preallocateVertices(int numverts){(void) numverts;}
-	virtual void	preallocateIndices(int numindices){(void) numindices;}
-
-	virtual bool	hasPremadeAabb() const;
-	virtual void	setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax ) const;
-	virtual void	getPremadeAabb(b3Vector3* aabbMin, b3Vector3* aabbMax ) const;
+	virtual void preallocateVertices(int numverts) { (void)numverts; }
+	virtual void preallocateIndices(int numindices) { (void)numindices; }
 
-}
-;
+	virtual bool hasPremadeAabb() const;
+	virtual void setPremadeAabb(const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
+	virtual void getPremadeAabb(b3Vector3 * aabbMin, b3Vector3 * aabbMax) const;
+};
 
-#endif //B3_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#endif  //B3_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h
index f6f65f7719..5cc4b5a626 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VectorFloat4.h
@@ -7,5 +7,4 @@
 #define float4 b3Vector3
 //#define make_float4(x,y,z,w) b3Vector4(x,y,z,w)
 
-
-#endif //B3_VECTOR_FLOAT4_H
+#endif  //B3_VECTOR_FLOAT4_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
index cf3d5ef49d..dae61d4581 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
@@ -23,26 +23,24 @@ subject to the following restrictions:
 		
 */
 
-
 #include "b3VoronoiSimplexSolver.h"
 
-#define VERTA  0
-#define VERTB  1
-#define VERTC  2
-#define VERTD  3
+#define VERTA 0
+#define VERTB 1
+#define VERTC 2
+#define VERTD 3
 
 #define B3_CATCH_DEGENERATE_TETRAHEDRON 1
-void	b3VoronoiSimplexSolver::removeVertex(int index)
+void b3VoronoiSimplexSolver::removeVertex(int index)
 {
-	
-	b3Assert(m_numVertices>0);
+	b3Assert(m_numVertices > 0);
 	m_numVertices--;
 	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
 	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
 	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
 }
 
-void	b3VoronoiSimplexSolver::reduceVertices (const b3UsageBitfield& usedVerts)
+void b3VoronoiSimplexSolver::reduceVertices(const b3UsageBitfield& usedVerts)
 {
 	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
 		removeVertex(3);
@@ -52,29 +50,22 @@ void	b3VoronoiSimplexSolver::reduceVertices (const b3UsageBitfield& usedVerts)
 
 	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
 		removeVertex(1);
-	
+
 	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
 		removeVertex(0);
-
 }
 
-
-
-
-
 //clear the simplex, remove all the vertices
 void b3VoronoiSimplexSolver::reset()
 {
 	m_cachedValidClosest = false;
 	m_numVertices = 0;
 	m_needsUpdate = true;
-	m_lastW = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
+	m_lastW = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
 	m_cachedBC.reset();
 }
 
-
-
-	//add a vertex
+//add a vertex
 void b3VoronoiSimplexSolver::addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q)
 {
 	m_lastW = w;
@@ -87,9 +78,8 @@ void b3VoronoiSimplexSolver::addVertex(const b3Vector3& w, const b3Vector3& p, c
 	m_numVertices++;
 }
 
-bool	b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
+bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
 {
-	
 	if (m_needsUpdate)
 	{
 		m_cachedBC.reset();
@@ -98,127 +88,131 @@ bool	b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
 
 		switch (numVertices())
 		{
-		case 0:
+			case 0:
 				m_cachedValidClosest = false;
 				break;
-		case 1:
+			case 1:
 			{
 				m_cachedP1 = m_simplexPointsP[0];
 				m_cachedP2 = m_simplexPointsQ[0];
-				m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
+				m_cachedV = m_cachedP1 - m_cachedP2;  //== m_simplexVectorW[0]
 				m_cachedBC.reset();
-				m_cachedBC.setBarycentricCoordinates(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
+				m_cachedBC.setBarycentricCoordinates(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 				m_cachedValidClosest = m_cachedBC.isValid();
 				break;
 			};
-		case 2:
+			case 2:
 			{
-			//closest point origin from line segment
-					const b3Vector3& from = m_simplexVectorW[0];
-					const b3Vector3& to = m_simplexVectorW[1];
-					b3Vector3 nearest;
-
-					b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
-					b3Vector3 diff = p - from;
-					b3Vector3 v = to - from;
-					b3Scalar t = v.dot(diff);
-					
-					if (t > 0) {
-						b3Scalar dotVV = v.dot(v);
-						if (t < dotVV) {
-							t /= dotVV;
-							diff -= t*v;
-							m_cachedBC.m_usedVertices.usedVertexA = true;
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						} else {
-							t = 1;
-							diff -= v;
-							//reduce to 1 point
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						}
-					} else
+				//closest point origin from line segment
+				const b3Vector3& from = m_simplexVectorW[0];
+				const b3Vector3& to = m_simplexVectorW[1];
+				b3Vector3 nearest;
+
+				b3Vector3 p = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
+				b3Vector3 diff = p - from;
+				b3Vector3 v = to - from;
+				b3Scalar t = v.dot(diff);
+
+				if (t > 0)
+				{
+					b3Scalar dotVV = v.dot(v);
+					if (t < dotVV)
 					{
-						t = 0;
-						//reduce to 1 point
+						t /= dotVV;
+						diff -= t * v;
 						m_cachedBC.m_usedVertices.usedVertexA = true;
+						m_cachedBC.m_usedVertices.usedVertexB = true;
+					}
+					else
+					{
+						t = 1;
+						diff -= v;
+						//reduce to 1 point
+						m_cachedBC.m_usedVertices.usedVertexB = true;
 					}
-					m_cachedBC.setBarycentricCoordinates(1-t,t);
-					nearest = from + t*v;
+				}
+				else
+				{
+					t = 0;
+					//reduce to 1 point
+					m_cachedBC.m_usedVertices.usedVertexA = true;
+				}
+				m_cachedBC.setBarycentricCoordinates(1 - t, t);
+				nearest = from + t * v;
 
-					m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
-					m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
-					m_cachedV = m_cachedP1 - m_cachedP2;
-					
-					reduceVertices(m_cachedBC.m_usedVertices);
+				m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
+				m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
+				m_cachedV = m_cachedP1 - m_cachedP2;
 
-					m_cachedValidClosest = m_cachedBC.isValid();
-					break;
+				reduceVertices(m_cachedBC.m_usedVertices);
+
+				m_cachedValidClosest = m_cachedBC.isValid();
+				break;
 			}
-		case 3: 
-			{ 
-				//closest point origin from triangle 
-				b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)); 
+			case 3:
+			{
+				//closest point origin from triangle
+				b3Vector3 p = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 
-				const b3Vector3& a = m_simplexVectorW[0]; 
-				const b3Vector3& b = m_simplexVectorW[1]; 
-				const b3Vector3& c = m_simplexVectorW[2]; 
+				const b3Vector3& a = m_simplexVectorW[0];
+				const b3Vector3& b = m_simplexVectorW[1];
+				const b3Vector3& c = m_simplexVectorW[2];
 
-				closestPtPointTriangle(p,a,b,c,m_cachedBC); 
-				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + 
-				m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + 
-				m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2]; 
+				closestPtPointTriangle(p, a, b, c, m_cachedBC);
+				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
+							 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+							 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
 
-				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] + 
-				m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] + 
-				m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2]; 
+				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
+							 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+							 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
 
-				m_cachedV = m_cachedP1-m_cachedP2; 
+				m_cachedV = m_cachedP1 - m_cachedP2;
 
-				reduceVertices (m_cachedBC.m_usedVertices); 
-				m_cachedValidClosest = m_cachedBC.isValid(); 
+				reduceVertices(m_cachedBC.m_usedVertices);
+				m_cachedValidClosest = m_cachedBC.isValid();
 
-				break; 
+				break;
 			}
-		case 4:
+			case 4:
 			{
+				b3Vector3 p = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 
-				
-				b3Vector3 p =b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
-				
 				const b3Vector3& a = m_simplexVectorW[0];
 				const b3Vector3& b = m_simplexVectorW[1];
 				const b3Vector3& c = m_simplexVectorW[2];
 				const b3Vector3& d = m_simplexVectorW[3];
 
-				bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
+				bool hasSeperation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC);
 
 				if (hasSeperation)
 				{
-
 					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
+								 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+								 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
+								 m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
 
 					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
+								 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+								 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
+								 m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
 
-					m_cachedV = m_cachedP1-m_cachedP2;
-					reduceVertices (m_cachedBC.m_usedVertices);
-				} else
+					m_cachedV = m_cachedP1 - m_cachedP2;
+					reduceVertices(m_cachedBC.m_usedVertices);
+				}
+				else
 				{
-//					printf("sub distance got penetration\n");
+					//					printf("sub distance got penetration\n");
 
 					if (m_cachedBC.m_degenerate)
 					{
 						m_cachedValidClosest = false;
-					} else
+					}
+					else
 					{
 						m_cachedValidClosest = true;
 						//degenerate case == false, penetration = true + zero
-						m_cachedV.setValue(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
+						m_cachedV.setValue(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
 					}
 					break;
 				}
@@ -228,7 +222,7 @@ bool	b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
 				//closest point origin from tetrahedron
 				break;
 			}
-		default:
+			default:
 			{
 				m_cachedValidClosest = false;
 			}
@@ -236,7 +230,6 @@ bool	b3VoronoiSimplexSolver::updateClosestVectorAndPoints()
 	}
 
 	return m_cachedValidClosest;
-
 }
 
 //return/calculate the closest vertex
@@ -247,13 +240,11 @@ bool b3VoronoiSimplexSolver::closest(b3Vector3& v)
 	return succes;
 }
 
-
-
 b3Scalar b3VoronoiSimplexSolver::maxVertex()
 {
 	int i, numverts = numVertices();
 	b3Scalar maxV = b3Scalar(0.);
-	for (i=0;i<numverts;i++)
+	for (i = 0; i < numverts; i++)
 	{
 		b3Scalar curLen2 = m_simplexVectorW[i].length2();
 		if (maxV < curLen2)
@@ -262,13 +253,11 @@ b3Scalar b3VoronoiSimplexSolver::maxVertex()
 	return maxV;
 }
 
-
-
-	//return the current simplex
-int b3VoronoiSimplexSolver::getSimplex(b3Vector3 *pBuf, b3Vector3 *qBuf, b3Vector3 *yBuf) const
+//return the current simplex
+int b3VoronoiSimplexSolver::getSimplex(b3Vector3* pBuf, b3Vector3* qBuf, b3Vector3* yBuf) const
 {
 	int i;
-	for (i=0;i<numVertices();i++)
+	for (i = 0; i < numVertices(); i++)
 	{
 		yBuf[i] = m_simplexVectorW[i];
 		pBuf[i] = m_simplexPointsP[i];
@@ -277,20 +266,17 @@ int b3VoronoiSimplexSolver::getSimplex(b3Vector3 *pBuf, b3Vector3 *qBuf, b3Vecto
 	return numVertices();
 }
 
-
-
-
 bool b3VoronoiSimplexSolver::inSimplex(const b3Vector3& w)
 {
 	bool found = false;
 	int i, numverts = numVertices();
 	//b3Scalar maxV = b3Scalar(0.);
-	
+
 	//w is in the current (reduced) simplex
-	for (i=0;i<numverts;i++)
+	for (i = 0; i < numverts; i++)
 	{
 #ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
-		if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
+		if (m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
 #else
 		if (m_simplexVectorW[i] == w)
 #endif
@@ -300,199 +286,190 @@ bool b3VoronoiSimplexSolver::inSimplex(const b3Vector3& w)
 	//check in case lastW is already removed
 	if (w == m_lastW)
 		return true;
-    	
+
 	return found;
 }
 
-void b3VoronoiSimplexSolver::backup_closest(b3Vector3& v) 
+void b3VoronoiSimplexSolver::backup_closest(b3Vector3& v)
 {
 	v = m_cachedV;
 }
 
-
-bool b3VoronoiSimplexSolver::emptySimplex() const 
+bool b3VoronoiSimplexSolver::emptySimplex() const
 {
 	return (numVertices() == 0);
-
 }
 
-void b3VoronoiSimplexSolver::compute_points(b3Vector3& p1, b3Vector3& p2) 
+void b3VoronoiSimplexSolver::compute_points(b3Vector3& p1, b3Vector3& p2)
 {
 	updateClosestVectorAndPoints();
 	p1 = m_cachedP1;
 	p2 = m_cachedP2;
-
 }
 
-
-
-
-bool	b3VoronoiSimplexSolver::closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c,b3SubSimplexClosestResult& result)
+bool b3VoronoiSimplexSolver::closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, b3SubSimplexClosestResult& result)
 {
 	result.m_usedVertices.reset();
 
-    // Check if P in vertex region outside A
-    b3Vector3 ab = b - a;
-    b3Vector3 ac = c - a;
-    b3Vector3 ap = p - a;
-    b3Scalar d1 = ab.dot(ap);
-    b3Scalar d2 = ac.dot(ap);
-    if (d1 <= b3Scalar(0.0) && d2 <= b3Scalar(0.0)) 
+	// Check if P in vertex region outside A
+	b3Vector3 ab = b - a;
+	b3Vector3 ac = c - a;
+	b3Vector3 ap = p - a;
+	b3Scalar d1 = ab.dot(ap);
+	b3Scalar d2 = ac.dot(ap);
+	if (d1 <= b3Scalar(0.0) && d2 <= b3Scalar(0.0))
 	{
 		result.m_closestPointOnSimplex = a;
 		result.m_usedVertices.usedVertexA = true;
-		result.setBarycentricCoordinates(1,0,0);
-		return true;// a; // barycentric coordinates (1,0,0)
+		result.setBarycentricCoordinates(1, 0, 0);
+		return true;  // a; // barycentric coordinates (1,0,0)
 	}
 
-    // Check if P in vertex region outside B
-    b3Vector3 bp = p - b;
-    b3Scalar d3 = ab.dot(bp);
-    b3Scalar d4 = ac.dot(bp);
-    if (d3 >= b3Scalar(0.0) && d4 <= d3) 
+	// Check if P in vertex region outside B
+	b3Vector3 bp = p - b;
+	b3Scalar d3 = ab.dot(bp);
+	b3Scalar d4 = ac.dot(bp);
+	if (d3 >= b3Scalar(0.0) && d4 <= d3)
 	{
 		result.m_closestPointOnSimplex = b;
 		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(0,1,0);
+		result.setBarycentricCoordinates(0, 1, 0);
 
-		return true; // b; // barycentric coordinates (0,1,0)
+		return true;  // b; // barycentric coordinates (0,1,0)
 	}
-    // Check if P in edge region of AB, if so return projection of P onto AB
-    b3Scalar vc = d1*d4 - d3*d2;
-    if (vc <= b3Scalar(0.0) && d1 >= b3Scalar(0.0) && d3 <= b3Scalar(0.0)) {
-        b3Scalar v = d1 / (d1 - d3);
+	// Check if P in edge region of AB, if so return projection of P onto AB
+	b3Scalar vc = d1 * d4 - d3 * d2;
+	if (vc <= b3Scalar(0.0) && d1 >= b3Scalar(0.0) && d3 <= b3Scalar(0.0))
+	{
+		b3Scalar v = d1 / (d1 - d3);
 		result.m_closestPointOnSimplex = a + v * ab;
 		result.m_usedVertices.usedVertexA = true;
 		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(1-v,v,0);
+		result.setBarycentricCoordinates(1 - v, v, 0);
 		return true;
-        //return a + v * ab; // barycentric coordinates (1-v,v,0)
-    }
-
-    // Check if P in vertex region outside C
-    b3Vector3 cp = p - c;
-    b3Scalar d5 = ab.dot(cp);
-    b3Scalar d6 = ac.dot(cp);
-    if (d6 >= b3Scalar(0.0) && d5 <= d6) 
+		//return a + v * ab; // barycentric coordinates (1-v,v,0)
+	}
+
+	// Check if P in vertex region outside C
+	b3Vector3 cp = p - c;
+	b3Scalar d5 = ab.dot(cp);
+	b3Scalar d6 = ac.dot(cp);
+	if (d6 >= b3Scalar(0.0) && d5 <= d6)
 	{
 		result.m_closestPointOnSimplex = c;
 		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0,0,1);
-		return true;//c; // barycentric coordinates (0,0,1)
+		result.setBarycentricCoordinates(0, 0, 1);
+		return true;  //c; // barycentric coordinates (0,0,1)
 	}
 
-    // Check if P in edge region of AC, if so return projection of P onto AC
-    b3Scalar vb = d5*d2 - d1*d6;
-    if (vb <= b3Scalar(0.0) && d2 >= b3Scalar(0.0) && d6 <= b3Scalar(0.0)) {
-        b3Scalar w = d2 / (d2 - d6);
+	// Check if P in edge region of AC, if so return projection of P onto AC
+	b3Scalar vb = d5 * d2 - d1 * d6;
+	if (vb <= b3Scalar(0.0) && d2 >= b3Scalar(0.0) && d6 <= b3Scalar(0.0))
+	{
+		b3Scalar w = d2 / (d2 - d6);
 		result.m_closestPointOnSimplex = a + w * ac;
 		result.m_usedVertices.usedVertexA = true;
 		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(1-w,0,w);
+		result.setBarycentricCoordinates(1 - w, 0, w);
 		return true;
-        //return a + w * ac; // barycentric coordinates (1-w,0,w)
-    }
+		//return a + w * ac; // barycentric coordinates (1-w,0,w)
+	}
+
+	// Check if P in edge region of BC, if so return projection of P onto BC
+	b3Scalar va = d3 * d6 - d5 * d4;
+	if (va <= b3Scalar(0.0) && (d4 - d3) >= b3Scalar(0.0) && (d5 - d6) >= b3Scalar(0.0))
+	{
+		b3Scalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
 
-    // Check if P in edge region of BC, if so return projection of P onto BC
-    b3Scalar va = d3*d6 - d5*d4;
-    if (va <= b3Scalar(0.0) && (d4 - d3) >= b3Scalar(0.0) && (d5 - d6) >= b3Scalar(0.0)) {
-        b3Scalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-		
 		result.m_closestPointOnSimplex = b + w * (c - b);
 		result.m_usedVertices.usedVertexB = true;
 		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0,1-w,w);
-		return true;		
-       // return b + w * (c - b); // barycentric coordinates (0,1-w,w)
-    }
-
-    // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-    b3Scalar denom = b3Scalar(1.0) / (va + vb + vc);
-    b3Scalar v = vb * denom;
-    b3Scalar w = vc * denom;
-    
+		result.setBarycentricCoordinates(0, 1 - w, w);
+		return true;
+		// return b + w * (c - b); // barycentric coordinates (0,1-w,w)
+	}
+
+	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
+	b3Scalar denom = b3Scalar(1.0) / (va + vb + vc);
+	b3Scalar v = vb * denom;
+	b3Scalar w = vc * denom;
+
 	result.m_closestPointOnSimplex = a + ab * v + ac * w;
 	result.m_usedVertices.usedVertexA = true;
 	result.m_usedVertices.usedVertexB = true;
 	result.m_usedVertices.usedVertexC = true;
-	result.setBarycentricCoordinates(1-v-w,v,w);
-	
-	return true;
-//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = b3Scalar(1.0) - v - w
+	result.setBarycentricCoordinates(1 - v - w, v, w);
 
+	return true;
+	//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = b3Scalar(1.0) - v - w
 }
 
-
-
-
-
 /// Test if point p and d lie on opposite sides of plane through abc
 int b3VoronoiSimplexSolver::pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d)
 {
-	b3Vector3 normal = (b-a).cross(c-a);
+	b3Vector3 normal = (b - a).cross(c - a);
 
-    b3Scalar signp = (p - a).dot(normal); // [AP AB AC]
-    b3Scalar signd = (d - a).dot( normal); // [AD AB AC]
+	b3Scalar signp = (p - a).dot(normal);  // [AP AB AC]
+	b3Scalar signd = (d - a).dot(normal);  // [AD AB AC]
 
 #ifdef B3_CATCH_DEGENERATE_TETRAHEDRON
 #ifdef BT_USE_DOUBLE_PRECISION
-if (signd * signd < (b3Scalar(1e-8) * b3Scalar(1e-8)))
+	if (signd * signd < (b3Scalar(1e-8) * b3Scalar(1e-8)))
 	{
 		return -1;
 	}
 #else
 	if (signd * signd < (b3Scalar(1e-4) * b3Scalar(1e-4)))
 	{
-//		printf("affine dependent/degenerate\n");//
+		//		printf("affine dependent/degenerate\n");//
 		return -1;
 	}
 #endif
 
 #endif
 	// Points on opposite sides if expression signs are opposite
-    return signp * signd < b3Scalar(0.);
+	return signp * signd < b3Scalar(0.);
 }
 
-
-bool	b3VoronoiSimplexSolver::closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult)
+bool b3VoronoiSimplexSolver::closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult)
 {
 	b3SubSimplexClosestResult tempResult;
 
-    // Start out assuming point inside all halfspaces, so closest to itself
+	// Start out assuming point inside all halfspaces, so closest to itself
 	finalResult.m_closestPointOnSimplex = p;
 	finalResult.m_usedVertices.reset();
-    finalResult.m_usedVertices.usedVertexA = true;
+	finalResult.m_usedVertices.usedVertexA = true;
 	finalResult.m_usedVertices.usedVertexB = true;
 	finalResult.m_usedVertices.usedVertexC = true;
 	finalResult.m_usedVertices.usedVertexD = true;
 
-    int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
+	int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
 	int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
-  	int	pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
-	int	pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
-
-   if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
-   {
-	   finalResult.m_degenerate = true;
-	   return false;
-   }
+	int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
+	int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
 
-   if (!pointOutsideABC  && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
-	 {
-		 return false;
-	 }
+	if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
+	{
+		finalResult.m_degenerate = true;
+		return false;
+	}
 
+	if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
+	{
+		return false;
+	}
 
-    b3Scalar bestSqDist = FLT_MAX;
-    // If point outside face abc then compute closest point on abc
-	if (pointOutsideABC) 
+	b3Scalar bestSqDist = FLT_MAX;
+	// If point outside face abc then compute closest point on abc
+	if (pointOutsideABC)
 	{
-        closestPtPointTriangle(p, a, b, c,tempResult);
+		closestPtPointTriangle(p, a, b, c, tempResult);
 		b3Vector3 q = tempResult.m_closestPointOnSimplex;
-		
-        b3Scalar sqDist = (q - p).dot( q - p);
-        // Update best closest point if (squared) distance is less than current best
-        if (sqDist < bestSqDist) {
+
+		b3Scalar sqDist = (q - p).dot(q - p);
+		// Update best closest point if (squared) distance is less than current best
+		if (sqDist < bestSqDist)
+		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
 			//convert result bitmask!
@@ -501,25 +478,22 @@ bool	b3VoronoiSimplexSolver::closestPtPointTetrahedron(const b3Vector3& p, const
 			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
 			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
 			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC],
-					0
-			);
-
+				tempResult.m_barycentricCoords[VERTA],
+				tempResult.m_barycentricCoords[VERTB],
+				tempResult.m_barycentricCoords[VERTC],
+				0);
 		}
-    }
-  
+	}
 
 	// Repeat test for face acd
-	if (pointOutsideACD) 
+	if (pointOutsideACD)
 	{
-        closestPtPointTriangle(p, a, c, d,tempResult);
+		closestPtPointTriangle(p, a, c, d, tempResult);
 		b3Vector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
 
-        b3Scalar sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
+		b3Scalar sqDist = (q - p).dot(q - p);
+		if (sqDist < bestSqDist)
 		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
@@ -529,52 +503,46 @@ bool	b3VoronoiSimplexSolver::closestPtPointTetrahedron(const b3Vector3& p, const
 			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
 			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
 			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					0,
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC]
-			);
-
+				tempResult.m_barycentricCoords[VERTA],
+				0,
+				tempResult.m_barycentricCoords[VERTB],
+				tempResult.m_barycentricCoords[VERTC]);
 		}
-    }
-    // Repeat test for face adb
+	}
+	// Repeat test for face adb
 
-	
 	if (pointOutsideADB)
 	{
-		closestPtPointTriangle(p, a, d, b,tempResult);
+		closestPtPointTriangle(p, a, d, b, tempResult);
 		b3Vector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
 
-        b3Scalar sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
+		b3Scalar sqDist = (q - p).dot(q - p);
+		if (sqDist < bestSqDist)
 		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
 			finalResult.m_usedVertices.reset();
 			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
 			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-			
+
 			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
 			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					0,
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
+				tempResult.m_barycentricCoords[VERTA],
+				tempResult.m_barycentricCoords[VERTC],
+				0,
+				tempResult.m_barycentricCoords[VERTB]);
 		}
-    }
-    // Repeat test for face bdc
-    
+	}
+	// Repeat test for face bdc
 
 	if (pointOutsideBDC)
 	{
-        closestPtPointTriangle(p, b, d, c,tempResult);
+		closestPtPointTriangle(p, b, d, c, tempResult);
 		b3Vector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
-        b3Scalar sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
+		b3Scalar sqDist = (q - p).dot(q - p);
+		if (sqDist < bestSqDist)
 		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
@@ -585,25 +553,22 @@ bool	b3VoronoiSimplexSolver::closestPtPointTetrahedron(const b3Vector3& p, const
 			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
 
 			finalResult.setBarycentricCoordinates(
-					0,
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
+				0,
+				tempResult.m_barycentricCoords[VERTA],
+				tempResult.m_barycentricCoords[VERTC],
+				tempResult.m_barycentricCoords[VERTB]);
 		}
-    }
+	}
 
 	//help! we ended up full !
-	
+
 	if (finalResult.m_usedVertices.usedVertexA &&
 		finalResult.m_usedVertices.usedVertexB &&
 		finalResult.m_usedVertices.usedVertexC &&
-		finalResult.m_usedVertices.usedVertexD) 
+		finalResult.m_usedVertices.usedVertexD)
 	{
 		return true;
 	}
 
-    return true;
+	return true;
 }
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
index a6e27667d8..b40b169978 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
@@ -13,22 +13,19 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef B3_VORONOI_SIMPLEX_SOLVER_H
 #define B3_VORONOI_SIMPLEX_SOLVER_H
 
 #include "Bullet3Common/b3Vector3.h"
 
-
 #define VORONOI_SIMPLEX_MAX_VERTS 5
 
 ///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
 //#define BT_USE_EQUAL_VERTEX_THRESHOLD
 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
 
-
-struct b3UsageBitfield{
+struct b3UsageBitfield
+{
 	b3UsageBitfield()
 	{
 		reset();
@@ -41,137 +38,127 @@ struct b3UsageBitfield{
 		usedVertexC = false;
 		usedVertexD = false;
 	}
-	unsigned short usedVertexA	: 1;
-	unsigned short usedVertexB	: 1;
-	unsigned short usedVertexC	: 1;
-	unsigned short usedVertexD	: 1;
-	unsigned short unused1		: 1;
-	unsigned short unused2		: 1;
-	unsigned short unused3		: 1;
-	unsigned short unused4		: 1;
+	unsigned short usedVertexA : 1;
+	unsigned short usedVertexB : 1;
+	unsigned short usedVertexC : 1;
+	unsigned short usedVertexD : 1;
+	unsigned short unused1 : 1;
+	unsigned short unused2 : 1;
+	unsigned short unused3 : 1;
+	unsigned short unused4 : 1;
 };
 
-
-struct	b3SubSimplexClosestResult
+struct b3SubSimplexClosestResult
 {
-	b3Vector3	m_closestPointOnSimplex;
+	b3Vector3 m_closestPointOnSimplex;
 	//MASK for m_usedVertices
-	//stores the simplex vertex-usage, using the MASK, 
+	//stores the simplex vertex-usage, using the MASK,
 	// if m_usedVertices & MASK then the related vertex is used
-	b3UsageBitfield	m_usedVertices;
-	b3Scalar	m_barycentricCoords[4];
+	b3UsageBitfield m_usedVertices;
+	b3Scalar m_barycentricCoords[4];
 	bool m_degenerate;
 
-	void	reset()
+	void reset()
 	{
 		m_degenerate = false;
 		setBarycentricCoordinates();
 		m_usedVertices.reset();
 	}
-	bool	isValid()
+	bool isValid()
 	{
 		bool valid = (m_barycentricCoords[0] >= b3Scalar(0.)) &&
-			(m_barycentricCoords[1] >= b3Scalar(0.)) &&
-			(m_barycentricCoords[2] >= b3Scalar(0.)) &&
-			(m_barycentricCoords[3] >= b3Scalar(0.));
-
+					 (m_barycentricCoords[1] >= b3Scalar(0.)) &&
+					 (m_barycentricCoords[2] >= b3Scalar(0.)) &&
+					 (m_barycentricCoords[3] >= b3Scalar(0.));
 
 		return valid;
 	}
-	void	setBarycentricCoordinates(b3Scalar a=b3Scalar(0.),b3Scalar b=b3Scalar(0.),b3Scalar c=b3Scalar(0.),b3Scalar d=b3Scalar(0.))
+	void setBarycentricCoordinates(b3Scalar a = b3Scalar(0.), b3Scalar b = b3Scalar(0.), b3Scalar c = b3Scalar(0.), b3Scalar d = b3Scalar(0.))
 	{
 		m_barycentricCoords[0] = a;
 		m_barycentricCoords[1] = b;
 		m_barycentricCoords[2] = c;
 		m_barycentricCoords[3] = d;
 	}
-
 };
 
 /// b3VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
 /// Can be used with GJK, as an alternative to Johnson distance algorithm.
 
-B3_ATTRIBUTE_ALIGNED16(class) b3VoronoiSimplexSolver 
+B3_ATTRIBUTE_ALIGNED16(class)
+b3VoronoiSimplexSolver
 {
 public:
-
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	int	m_numVertices;
-
-	b3Vector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
-	b3Vector3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
-	b3Vector3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+	int m_numVertices;
 
-	
+	b3Vector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
+	b3Vector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+	b3Vector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
 
-	b3Vector3	m_cachedP1;
-	b3Vector3	m_cachedP2;
-	b3Vector3	m_cachedV;
-	b3Vector3	m_lastW;
-	
-	b3Scalar	m_equalVertexThreshold;
-	bool		m_cachedValidClosest;
+	b3Vector3 m_cachedP1;
+	b3Vector3 m_cachedP2;
+	b3Vector3 m_cachedV;
+	b3Vector3 m_lastW;
 
+	b3Scalar m_equalVertexThreshold;
+	bool m_cachedValidClosest;
 
 	b3SubSimplexClosestResult m_cachedBC;
 
-	bool	m_needsUpdate;
-	
-	void	removeVertex(int index);
-	void	reduceVertices (const b3UsageBitfield& usedVerts);
-	bool	updateClosestVectorAndPoints();
+	bool m_needsUpdate;
 
-	bool	closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult);
-	int		pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d);
-	bool	closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c,b3SubSimplexClosestResult& result);
+	void removeVertex(int index);
+	void reduceVertices(const b3UsageBitfield& usedVerts);
+	bool updateClosestVectorAndPoints();
 
-public:
+	bool closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult);
+	int pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d);
+	bool closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, b3SubSimplexClosestResult& result);
 
+public:
 	b3VoronoiSimplexSolver()
-		:  m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
+		: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
 	{
 	}
-	 void reset();
-
-	 void addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q);
+	void reset();
 
-	 void	setEqualVertexThreshold(b3Scalar threshold)
-	 {
-		 m_equalVertexThreshold = threshold;
-	 }
+	void addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q);
 
-	 b3Scalar	getEqualVertexThreshold() const
-	 {
-		 return m_equalVertexThreshold;
-	 }
+	void setEqualVertexThreshold(b3Scalar threshold)
+	{
+		m_equalVertexThreshold = threshold;
+	}
 
-	 bool closest(b3Vector3& v);
+	b3Scalar getEqualVertexThreshold() const
+	{
+		return m_equalVertexThreshold;
+	}
 
-	 b3Scalar maxVertex();
+	bool closest(b3Vector3 & v);
 
-	 bool fullSimplex() const
-	 {
-		 return (m_numVertices == 4);
-	 }
+	b3Scalar maxVertex();
 
-	 int getSimplex(b3Vector3 *pBuf, b3Vector3 *qBuf, b3Vector3 *yBuf) const;
+	bool fullSimplex() const
+	{
+		return (m_numVertices == 4);
+	}
 
-	 bool inSimplex(const b3Vector3& w);
-	
-	 void backup_closest(b3Vector3& v) ;
+	int getSimplex(b3Vector3 * pBuf, b3Vector3 * qBuf, b3Vector3 * yBuf) const;
 
-	 bool emptySimplex() const ;
+	bool inSimplex(const b3Vector3& w);
 
-	 void compute_points(b3Vector3& p1, b3Vector3& p2) ;
+	void backup_closest(b3Vector3 & v);
 
-	 int numVertices() const 
-	 {
-		 return m_numVertices;
-	 }
+	bool emptySimplex() const;
 
+	void compute_points(b3Vector3 & p1, b3Vector3 & p2);
 
+	int numVertices() const
+	{
+		return m_numVertices;
+	}
 };
 
-#endif //B3_VORONOI_SIMPLEX_SOLVER_H
-
+#endif  //B3_VORONOI_SIMPLEX_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
index 4b3b49eae8..f1df8a6970 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h
@@ -1,258 +1,257 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* bvhTraversalKernelCL= \
-"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
-"//written by Erwin Coumans\n"
-"#define SHAPE_CONVEX_HULL 3\n"
-"#define SHAPE_CONCAVE_TRIMESH 5\n"
-"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-"#define SHAPE_SPHERE 7\n"
-"typedef unsigned int u32;\n"
-"#define MAX_NUM_PARTS_IN_BITS 10\n"
-"///btQuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
-"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
-"typedef struct\n"
-"{\n"
-"	//12 bytes\n"
-"	unsigned short int	m_quantizedAabbMin[3];\n"
-"	unsigned short int	m_quantizedAabbMax[3];\n"
-"	//4 bytes\n"
-"	int	m_escapeIndexOrTriangleIndex;\n"
-"} btQuantizedBvhNode;\n"
-"typedef struct\n"
-"{\n"
-"	float4		m_aabbMin;\n"
-"	float4		m_aabbMax;\n"
-"	float4		m_quantization;\n"
-"	int			m_numNodes;\n"
-"	int			m_numSubTrees;\n"
-"	int			m_nodeOffset;\n"
-"	int			m_subTreeOffset;\n"
-"} b3BvhInfo;\n"
-"int	getTriangleIndex(const btQuantizedBvhNode* rootNode)\n"
-"{\n"
-"	unsigned int x=0;\n"
-"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-"	// Get only the lower bits where the triangle index is stored\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-"}\n"
-"int isLeaf(const btQuantizedBvhNode* rootNode)\n"
-"{\n"
-"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-"}\n"
-"	\n"
-"int getEscapeIndex(const btQuantizedBvhNode* rootNode)\n"
-"{\n"
-"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-"}\n"
-"typedef struct\n"
-"{\n"
-"	//12 bytes\n"
-"	unsigned short int	m_quantizedAabbMin[3];\n"
-"	unsigned short int	m_quantizedAabbMax[3];\n"
-"	//4 bytes, points to the root of the subtree\n"
-"	int			m_rootNodeIndex;\n"
-"	//4 bytes\n"
-"	int			m_subtreeSize;\n"
-"	int			m_padding[3];\n"
-"} btBvhSubtreeInfo;\n"
-"///keep this in sync with btCollidable.h\n"
-"typedef struct\n"
-"{\n"
-"	int m_numChildShapes;\n"
-"	int blaat2;\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"	\n"
-"} btCollidableGpu;\n"
-"typedef struct\n"
-"{\n"
-"	float4	m_childPosition;\n"
-"	float4	m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"} btGpuChildShape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	float4 m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_collidableIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} BodyData;\n"
-"typedef struct \n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float4	m_min;\n"
-"		float   m_minElems[4];\n"
-"		int			m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float4	m_max;\n"
-"		float   m_maxElems[4];\n"
-"		int			m_maxIndices[4];\n"
-"	};\n"
-"} btAabbCL;\n"
-"int testQuantizedAabbAgainstQuantizedAabb(\n"
-"								const unsigned short int* aabbMin1,\n"
-"								const unsigned short int* aabbMax1,\n"
-"								const unsigned short int* aabbMin2,\n"
-"								const unsigned short int* aabbMax2)\n"
-"{\n"
-"	//int overlap = 1;\n"
-"	if (aabbMin1[0] > aabbMax2[0])\n"
-"		return 0;\n"
-"	if (aabbMax1[0] < aabbMin2[0])\n"
-"		return 0;\n"
-"	if (aabbMin1[1] > aabbMax2[1])\n"
-"		return 0;\n"
-"	if (aabbMax1[1] < aabbMin2[1])\n"
-"		return 0;\n"
-"	if (aabbMin1[2] > aabbMax2[2])\n"
-"		return 0;\n"
-"	if (aabbMax1[2] < aabbMin2[2])\n"
-"		return 0;\n"
-"	return 1;\n"
-"	//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;\n"
-"	//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;\n"
-"	//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;\n"
-"	//return overlap;\n"
-"}\n"
-"void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)\n"
-"{\n"
-"	float4 clampedPoint = max(point2,bvhAabbMin);\n"
-"	clampedPoint = min (clampedPoint, bvhAabbMax);\n"
-"	float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;\n"
-"	if (isMax)\n"
-"	{\n"
-"		out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));\n"
-"		out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));\n"
-"		out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));\n"
-"	} else\n"
-"	{\n"
-"		out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));\n"
-"		out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));\n"
-"		out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));\n"
-"	}\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   bvhTraversalKernel( __global const int4* pairs, \n"
-"									__global const BodyData* rigidBodies, \n"
-"									__global const btCollidableGpu* collidables,\n"
-"									__global btAabbCL* aabbs,\n"
-"									__global int4* concavePairsOut,\n"
-"									__global volatile int* numConcavePairsOut,\n"
-"									__global const btBvhSubtreeInfo* subtreeHeadersRoot,\n"
-"									__global const btQuantizedBvhNode* quantizedNodesRoot,\n"
-"									__global const b3BvhInfo* bvhInfos,\n"
-"									int numPairs,\n"
-"									int maxNumConcavePairsCapacity)\n"
-"{\n"
-"	int id = get_global_id(0);\n"
-"	if (id>=numPairs)\n"
-"		return;\n"
-"	\n"
-"	int bodyIndexA = pairs[id].x;\n"
-"	int bodyIndexB = pairs[id].y;\n"
-"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	\n"
-"	//once the broadphase avoids static-static pairs, we can remove this test\n"
-"	if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-"	{\n"
-"		return;\n"
-"	}\n"
-"		\n"
-"	if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)\n"
-"		return;\n"
-"	int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-"		\n"
-"	if (shapeTypeB!=SHAPE_CONVEX_HULL &&\n"
-"		shapeTypeB!=SHAPE_SPHERE	&&\n"
-"		shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
-"		)\n"
-"		return;\n"
-"	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];\n"
-"	float4 bvhAabbMin = bvhInfo.m_aabbMin;\n"
-"	float4 bvhAabbMax = bvhInfo.m_aabbMax;\n"
-"	float4 bvhQuantization = bvhInfo.m_quantization;\n"
-"	int numSubtreeHeaders = bvhInfo.m_numSubTrees;\n"
-"	__global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];\n"
-"	__global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];\n"
-"	\n"
-"	unsigned short int quantizedQueryAabbMin[3];\n"
-"	unsigned short int quantizedQueryAabbMax[3];\n"
-"	quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
-"	quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
-"	\n"
-"	for (int i=0;i<numSubtreeHeaders;i++)\n"
-"	{\n"
-"		btBvhSubtreeInfo subtree = subtreeHeaders[i];\n"
-"				\n"
-"		int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);\n"
-"		if (overlap != 0)\n"
-"		{\n"
-"			int startNodeIndex = subtree.m_rootNodeIndex;\n"
-"			int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;\n"
-"			int curIndex = startNodeIndex;\n"
-"			int escapeIndex;\n"
-"			int isLeafNode;\n"
-"			int aabbOverlap;\n"
-"			while (curIndex < endNodeIndex)\n"
-"			{\n"
-"				btQuantizedBvhNode rootNode = quantizedNodes[curIndex];\n"
-"				aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);\n"
-"				isLeafNode = isLeaf(&rootNode);\n"
-"				if (aabbOverlap)\n"
-"				{\n"
-"					if (isLeafNode)\n"
-"					{\n"
-"						int triangleIndex = getTriangleIndex(&rootNode);\n"
-"						if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"						{\n"
-"								int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
-"								int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);\n"
-"								for (int b=0;b<numChildrenB;b++)\n"
-"								{\n"
-"									if ((pairIdx+b)<maxNumConcavePairsCapacity)\n"
-"									{\n"
-"										int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
-"										int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);\n"
-"										concavePairsOut[pairIdx+b] = newPair;\n"
-"									}\n"
-"								}\n"
-"						} else\n"
-"						{\n"
-"							int pairIdx = atomic_inc(numConcavePairsOut);\n"
-"							if (pairIdx<maxNumConcavePairsCapacity)\n"
-"							{\n"
-"								int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);\n"
-"								concavePairsOut[pairIdx] = newPair;\n"
-"							}\n"
-"						}\n"
-"					} \n"
-"					curIndex++;\n"
-"				} else\n"
-"				{\n"
-"					if (isLeafNode)\n"
-"					{\n"
-"						curIndex++;\n"
-"					} else\n"
-"					{\n"
-"						escapeIndex = getEscapeIndex(&rootNode);\n"
-"						curIndex += escapeIndex;\n"
-"					}\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-;
+static const char* bvhTraversalKernelCL =
+	"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
+	"//written by Erwin Coumans\n"
+	"#define SHAPE_CONVEX_HULL 3\n"
+	"#define SHAPE_CONCAVE_TRIMESH 5\n"
+	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
+	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
+	"#define SHAPE_SPHERE 7\n"
+	"typedef unsigned int u32;\n"
+	"#define MAX_NUM_PARTS_IN_BITS 10\n"
+	"///btQuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
+	"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
+	"typedef struct\n"
+	"{\n"
+	"	//12 bytes\n"
+	"	unsigned short int	m_quantizedAabbMin[3];\n"
+	"	unsigned short int	m_quantizedAabbMax[3];\n"
+	"	//4 bytes\n"
+	"	int	m_escapeIndexOrTriangleIndex;\n"
+	"} btQuantizedBvhNode;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4		m_aabbMin;\n"
+	"	float4		m_aabbMax;\n"
+	"	float4		m_quantization;\n"
+	"	int			m_numNodes;\n"
+	"	int			m_numSubTrees;\n"
+	"	int			m_nodeOffset;\n"
+	"	int			m_subTreeOffset;\n"
+	"} b3BvhInfo;\n"
+	"int	getTriangleIndex(const btQuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	unsigned int x=0;\n"
+	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+	"	// Get only the lower bits where the triangle index is stored\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+	"}\n"
+	"int isLeaf(const btQuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+	"}\n"
+	"	\n"
+	"int getEscapeIndex(const btQuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+	"}\n"
+	"typedef struct\n"
+	"{\n"
+	"	//12 bytes\n"
+	"	unsigned short int	m_quantizedAabbMin[3];\n"
+	"	unsigned short int	m_quantizedAabbMax[3];\n"
+	"	//4 bytes, points to the root of the subtree\n"
+	"	int			m_rootNodeIndex;\n"
+	"	//4 bytes\n"
+	"	int			m_subtreeSize;\n"
+	"	int			m_padding[3];\n"
+	"} btBvhSubtreeInfo;\n"
+	"///keep this in sync with btCollidable.h\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_numChildShapes;\n"
+	"	int blaat2;\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"	\n"
+	"} btCollidableGpu;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4	m_childPosition;\n"
+	"	float4	m_childOrientation;\n"
+	"	int m_shapeIndex;\n"
+	"	int m_unused0;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"} btGpuChildShape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	float4 m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_collidableIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} BodyData;\n"
+	"typedef struct \n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_min;\n"
+	"		float   m_minElems[4];\n"
+	"		int			m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_max;\n"
+	"		float   m_maxElems[4];\n"
+	"		int			m_maxIndices[4];\n"
+	"	};\n"
+	"} btAabbCL;\n"
+	"int testQuantizedAabbAgainstQuantizedAabb(\n"
+	"								const unsigned short int* aabbMin1,\n"
+	"								const unsigned short int* aabbMax1,\n"
+	"								const unsigned short int* aabbMin2,\n"
+	"								const unsigned short int* aabbMax2)\n"
+	"{\n"
+	"	//int overlap = 1;\n"
+	"	if (aabbMin1[0] > aabbMax2[0])\n"
+	"		return 0;\n"
+	"	if (aabbMax1[0] < aabbMin2[0])\n"
+	"		return 0;\n"
+	"	if (aabbMin1[1] > aabbMax2[1])\n"
+	"		return 0;\n"
+	"	if (aabbMax1[1] < aabbMin2[1])\n"
+	"		return 0;\n"
+	"	if (aabbMin1[2] > aabbMax2[2])\n"
+	"		return 0;\n"
+	"	if (aabbMax1[2] < aabbMin2[2])\n"
+	"		return 0;\n"
+	"	return 1;\n"
+	"	//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;\n"
+	"	//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;\n"
+	"	//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;\n"
+	"	//return overlap;\n"
+	"}\n"
+	"void quantizeWithClamp(unsigned short* out, float4 point2,int isMax, float4 bvhAabbMin, float4 bvhAabbMax, float4 bvhQuantization)\n"
+	"{\n"
+	"	float4 clampedPoint = max(point2,bvhAabbMin);\n"
+	"	clampedPoint = min (clampedPoint, bvhAabbMax);\n"
+	"	float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;\n"
+	"	if (isMax)\n"
+	"	{\n"
+	"		out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));\n"
+	"		out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));\n"
+	"		out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));\n"
+	"	} else\n"
+	"	{\n"
+	"		out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));\n"
+	"		out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));\n"
+	"		out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));\n"
+	"	}\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   bvhTraversalKernel( __global const int4* pairs, \n"
+	"									__global const BodyData* rigidBodies, \n"
+	"									__global const btCollidableGpu* collidables,\n"
+	"									__global btAabbCL* aabbs,\n"
+	"									__global int4* concavePairsOut,\n"
+	"									__global volatile int* numConcavePairsOut,\n"
+	"									__global const btBvhSubtreeInfo* subtreeHeadersRoot,\n"
+	"									__global const btQuantizedBvhNode* quantizedNodesRoot,\n"
+	"									__global const b3BvhInfo* bvhInfos,\n"
+	"									int numPairs,\n"
+	"									int maxNumConcavePairsCapacity)\n"
+	"{\n"
+	"	int id = get_global_id(0);\n"
+	"	if (id>=numPairs)\n"
+	"		return;\n"
+	"	\n"
+	"	int bodyIndexA = pairs[id].x;\n"
+	"	int bodyIndexB = pairs[id].y;\n"
+	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	\n"
+	"	//once the broadphase avoids static-static pairs, we can remove this test\n"
+	"	if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
+	"	{\n"
+	"		return;\n"
+	"	}\n"
+	"		\n"
+	"	if (collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH)\n"
+	"		return;\n"
+	"	int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
+	"		\n"
+	"	if (shapeTypeB!=SHAPE_CONVEX_HULL &&\n"
+	"		shapeTypeB!=SHAPE_SPHERE	&&\n"
+	"		shapeTypeB!=SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
+	"		)\n"
+	"		return;\n"
+	"	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];\n"
+	"	float4 bvhAabbMin = bvhInfo.m_aabbMin;\n"
+	"	float4 bvhAabbMax = bvhInfo.m_aabbMax;\n"
+	"	float4 bvhQuantization = bvhInfo.m_quantization;\n"
+	"	int numSubtreeHeaders = bvhInfo.m_numSubTrees;\n"
+	"	__global const btBvhSubtreeInfo* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];\n"
+	"	__global const btQuantizedBvhNode* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];\n"
+	"	\n"
+	"	unsigned short int quantizedQueryAabbMin[3];\n"
+	"	unsigned short int quantizedQueryAabbMax[3];\n"
+	"	quantizeWithClamp(quantizedQueryAabbMin,aabbs[bodyIndexB].m_min,false,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
+	"	quantizeWithClamp(quantizedQueryAabbMax,aabbs[bodyIndexB].m_max,true ,bvhAabbMin, bvhAabbMax,bvhQuantization);\n"
+	"	\n"
+	"	for (int i=0;i<numSubtreeHeaders;i++)\n"
+	"	{\n"
+	"		btBvhSubtreeInfo subtree = subtreeHeaders[i];\n"
+	"				\n"
+	"		int overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);\n"
+	"		if (overlap != 0)\n"
+	"		{\n"
+	"			int startNodeIndex = subtree.m_rootNodeIndex;\n"
+	"			int endNodeIndex = subtree.m_rootNodeIndex+subtree.m_subtreeSize;\n"
+	"			int curIndex = startNodeIndex;\n"
+	"			int escapeIndex;\n"
+	"			int isLeafNode;\n"
+	"			int aabbOverlap;\n"
+	"			while (curIndex < endNodeIndex)\n"
+	"			{\n"
+	"				btQuantizedBvhNode rootNode = quantizedNodes[curIndex];\n"
+	"				aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode.m_quantizedAabbMin,rootNode.m_quantizedAabbMax);\n"
+	"				isLeafNode = isLeaf(&rootNode);\n"
+	"				if (aabbOverlap)\n"
+	"				{\n"
+	"					if (isLeafNode)\n"
+	"					{\n"
+	"						int triangleIndex = getTriangleIndex(&rootNode);\n"
+	"						if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"						{\n"
+	"								int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
+	"								int pairIdx = atomic_add(numConcavePairsOut,numChildrenB);\n"
+	"								for (int b=0;b<numChildrenB;b++)\n"
+	"								{\n"
+	"									if ((pairIdx+b)<maxNumConcavePairsCapacity)\n"
+	"									{\n"
+	"										int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
+	"										int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,childShapeIndexB);\n"
+	"										concavePairsOut[pairIdx+b] = newPair;\n"
+	"									}\n"
+	"								}\n"
+	"						} else\n"
+	"						{\n"
+	"							int pairIdx = atomic_inc(numConcavePairsOut);\n"
+	"							if (pairIdx<maxNumConcavePairsCapacity)\n"
+	"							{\n"
+	"								int4 newPair = (int4)(bodyIndexA,bodyIndexB,triangleIndex,0);\n"
+	"								concavePairsOut[pairIdx] = newPair;\n"
+	"							}\n"
+	"						}\n"
+	"					} \n"
+	"					curIndex++;\n"
+	"				} else\n"
+	"				{\n"
+	"					if (isLeafNode)\n"
+	"					{\n"
+	"						curIndex++;\n"
+	"					} else\n"
+	"					{\n"
+	"						escapeIndex = getEscapeIndex(&rootNode);\n"
+	"						curIndex += escapeIndex;\n"
+	"					}\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
index 7ed4b382c3..74959a931c 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
@@ -1,1446 +1,1445 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* mprKernelsCL= \
-"/***\n"
-" * ---------------------------------\n"
-" * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>\n"
-" *\n"
-" *  This file was ported from mpr.c file, part of libccd.\n"
-" *  The Minkoski Portal Refinement implementation was ported \n"
-" *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.\n"
-" *  at http://github.com/erwincoumans/bullet3\n"
-" *\n"
-" *  Distributed under the OSI-approved BSD License (the \"License\");\n"
-" *  see <http://www.opensource.org/licenses/bsd-license.php>.\n"
-" *  This software is distributed WITHOUT ANY WARRANTY; without even the\n"
-" *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n"
-" *  See the License for more information.\n"
-" */\n"
-"#ifndef B3_MPR_PENETRATION_H\n"
-"#define B3_MPR_PENETRATION_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_RIGIDBODY_DATA_H\n"
-"#define B3_RIGIDBODY_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-"struct b3RigidBodyData\n"
-"{\n"
-"	b3Float4				m_pos;\n"
-"	b3Quat					m_quat;\n"
-"	b3Float4				m_linVel;\n"
-"	b3Float4				m_angVel;\n"
-"	int 					m_collidableIdx;\n"
-"	float 				m_invMass;\n"
-"	float 				m_restituitionCoeff;\n"
-"	float 				m_frictionCoeff;\n"
-"};\n"
-"typedef struct b3InertiaData b3InertiaData_t;\n"
-"struct b3InertiaData\n"
-"{\n"
-"	b3Mat3x3 m_invInertiaWorld;\n"
-"	b3Mat3x3 m_initInvInertia;\n"
-"};\n"
-"#endif //B3_RIGIDBODY_DATA_H\n"
-"	\n"
-"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
-"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"typedef struct b3GpuFace b3GpuFace_t;\n"
-"struct b3GpuFace\n"
-"{\n"
-"	b3Float4 m_plane;\n"
-"	int m_indexOffset;\n"
-"	int m_numIndices;\n"
-"	int m_unusedPadding1;\n"
-"	int m_unusedPadding2;\n"
-"};\n"
-"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
-"struct b3ConvexPolyhedronData\n"
-"{\n"
-"	b3Float4		m_localCenter;\n"
-"	b3Float4		m_extents;\n"
-"	b3Float4		mC;\n"
-"	b3Float4		mE;\n"
-"	float			m_radius;\n"
-"	int	m_faceOffset;\n"
-"	int m_numFaces;\n"
-"	int	m_numVertices;\n"
-"	int m_vertexOffset;\n"
-"	int	m_uniqueEdgesOffset;\n"
-"	int	m_numUniqueEdges;\n"
-"	int m_unused;\n"
-"};\n"
-"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
-"#ifndef B3_COLLIDABLE_H\n"
-"#define B3_COLLIDABLE_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"enum b3ShapeTypes\n"
-"{\n"
-"	SHAPE_HEIGHT_FIELD=1,\n"
-"	SHAPE_CONVEX_HULL=3,\n"
-"	SHAPE_PLANE=4,\n"
-"	SHAPE_CONCAVE_TRIMESH=5,\n"
-"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
-"	SHAPE_SPHERE=7,\n"
-"	MAX_NUM_SHAPE_TYPES,\n"
-"};\n"
-"typedef struct b3Collidable b3Collidable_t;\n"
-"struct b3Collidable\n"
-"{\n"
-"	union {\n"
-"		int m_numChildShapes;\n"
-"		int m_bvhIndex;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float m_radius;\n"
-"		int	m_compoundBvhIndex;\n"
-"	};\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"};\n"
-"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
-"struct b3GpuChildShape\n"
-"{\n"
-"	b3Float4	m_childPosition;\n"
-"	b3Quat		m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"struct b3CompoundOverlappingPair\n"
-"{\n"
-"	int m_bodyIndexA;\n"
-"	int m_bodyIndexB;\n"
-"//	int	m_pairType;\n"
-"	int m_childShapeIndexA;\n"
-"	int m_childShapeIndexB;\n"
-"};\n"
-"#endif //B3_COLLIDABLE_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#define B3_MPR_SQRT sqrt\n"
-"#endif\n"
-"#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))\n"
-"#define B3_MPR_FABS fabs\n"
-"#define B3_MPR_TOLERANCE 1E-6f\n"
-"#define B3_MPR_MAX_ITERATIONS 1000\n"
-"struct _b3MprSupport_t \n"
-"{\n"
-"    b3Float4 v;  //!< Support point in minkowski sum\n"
-"    b3Float4 v1; //!< Support point in obj1\n"
-"    b3Float4 v2; //!< Support point in obj2\n"
-"};\n"
-"typedef struct _b3MprSupport_t b3MprSupport_t;\n"
-"struct _b3MprSimplex_t \n"
-"{\n"
-"    b3MprSupport_t ps[4];\n"
-"    int last; //!< index of last added point\n"
-"};\n"
-"typedef struct _b3MprSimplex_t b3MprSimplex_t;\n"
-"inline b3MprSupport_t* b3MprSimplexPointW(b3MprSimplex_t *s, int idx)\n"
-"{\n"
-"    return &s->ps[idx];\n"
-"}\n"
-"inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)\n"
-"{\n"
-"    s->last = size - 1;\n"
-"}\n"
-"inline int b3MprSimplexSize(const b3MprSimplex_t *s)\n"
-"{\n"
-"    return s->last + 1;\n"
-"}\n"
-"inline const b3MprSupport_t* b3MprSimplexPoint(const b3MprSimplex_t* s, int idx)\n"
-"{\n"
-"    // here is no check on boundaries\n"
-"    return &s->ps[idx];\n"
-"}\n"
-"inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)\n"
-"{\n"
-"    *d = *s;\n"
-"}\n"
-"inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)\n"
-"{\n"
-"    b3MprSupportCopy(s->ps + pos, a);\n"
-"}\n"
-"inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)\n"
-"{\n"
-"    b3MprSupport_t supp;\n"
-"    b3MprSupportCopy(&supp, &s->ps[pos1]);\n"
-"    b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);\n"
-"    b3MprSupportCopy(&s->ps[pos2], &supp);\n"
-"}\n"
-"inline int b3MprIsZero(float val)\n"
-"{\n"
-"    return B3_MPR_FABS(val) < FLT_EPSILON;\n"
-"}\n"
-"inline int b3MprEq(float _a, float _b)\n"
-"{\n"
-"    float ab;\n"
-"    float a, b;\n"
-"    ab = B3_MPR_FABS(_a - _b);\n"
-"    if (B3_MPR_FABS(ab) < FLT_EPSILON)\n"
-"        return 1;\n"
-"    a = B3_MPR_FABS(_a);\n"
-"    b = B3_MPR_FABS(_b);\n"
-"    if (b > a){\n"
-"        return ab < FLT_EPSILON * b;\n"
-"    }else{\n"
-"        return ab < FLT_EPSILON * a;\n"
-"    }\n"
-"}\n"
-"inline int b3MprVec3Eq(const b3Float4* a, const b3Float4 *b)\n"
-"{\n"
-"    return b3MprEq((*a).x, (*b).x)\n"
-"            && b3MprEq((*a).y, (*b).y)\n"
-"            && b3MprEq((*a).z, (*b).z);\n"
-"}\n"
-"inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global const b3ConvexPolyhedronData_t* hull, 	b3ConstArray(b3Float4) verticesA)\n"
-"{\n"
-"	b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
-"	float maxDot = -B3_LARGE_FLOAT;\n"
-"    if( 0 < hull->m_numVertices )\n"
-"    {\n"
-"        const b3Float4 scaled = supportVec;\n"
-"		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
-"        return verticesA[hull->m_vertexOffset+index];\n"
-"    }\n"
-"    return supVec;\n"
-"}\n"
-"B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-"													b3ConstArray(b3Float4)					cpuVertices,\n"
-"													__global b3Float4* sepAxis,\n"
-"														const b3Float4* _dir, b3Float4* outp, int logme)\n"
-"{\n"
-"	//dir is in worldspace, move to local space\n"
-"	\n"
-"	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;\n"
-"	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;\n"
-"	\n"
-"	b3Float4 dir = b3MakeFloat4((*_dir).x,(*_dir).y,(*_dir).z,0.f);\n"
-"	\n"
-"	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),dir);\n"
-"	\n"
-"	//find local support vertex\n"
-"	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;\n"
-"	\n"
-"	b3Assert(cpuCollidables[colIndex].m_shapeType==SHAPE_CONVEX_HULL);\n"
-"	__global const b3ConvexPolyhedronData_t* hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];\n"
-"	\n"
-"	b3Float4 pInA;\n"
-"	if (logme)\n"
-"	{\n"
-"		b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
-"		float maxDot = -B3_LARGE_FLOAT;\n"
-"		if( 0 < hull->m_numVertices )\n"
-"		{\n"
-"			const b3Float4 scaled = localDir;\n"
-"			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
-"			pInA = cpuVertices[hull->m_vertexOffset+index];\n"
-"			\n"
-"		}\n"
-"	} else\n"
-"	{\n"
-"		pInA = b3LocalGetSupportVertex(localDir,hull,cpuVertices);\n"
-"	}\n"
-"	//move vertex to world space\n"
-"	*outp = b3TransformPoint(pInA,pos,orn);\n"
-"	\n"
-"}\n"
-"inline void b3MprSupport(int pairIndex,int bodyIndexA, int bodyIndexB,   b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-"													b3ConstArray(b3Float4)					cpuVertices,\n"
-"													__global b3Float4* sepAxis,\n"
-"													const b3Float4* _dir, b3MprSupport_t *supp)\n"
-"{\n"
-"    b3Float4 dir;\n"
-"	dir = *_dir;\n"
-"	b3MprConvexSupport(pairIndex,bodyIndexA,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v1,0);\n"
-"    dir = *_dir*-1.f;\n"
-"	b3MprConvexSupport(pairIndex,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v2,0);\n"
-"    supp->v = supp->v1 - supp->v2;\n"
-"}\n"
-"inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)\n"
-"{\n"
-"    center->v1 = cpuBodyBuf[bodyIndexA].m_pos;\n"
-"	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;\n"
-"    center->v = center->v1 - center->v2;\n"
-"}\n"
-"inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)\n"
-"{\n"
-"	(*v).x = x;\n"
-"	(*v).y = y;\n"
-"	(*v).z = z;\n"
-"	(*v).w = 0.f;\n"
-"}\n"
-"inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)\n"
-"{\n"
-"    (*v).x += (*w).x;\n"
-"    (*v).y += (*w).y;\n"
-"    (*v).z += (*w).z;\n"
-"}\n"
-"inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)\n"
-"{\n"
-"    *v = *w;\n"
-"}\n"
-"inline void b3MprVec3Scale(b3Float4 *d, float k)\n"
-"{\n"
-"    *d *= k;\n"
-"}\n"
-"inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)\n"
-"{\n"
-"    float dot;\n"
-"	dot = b3Dot3F4(*a,*b);\n"
-"    return dot;\n"
-"}\n"
-"inline float b3MprVec3Len2(const b3Float4 *v)\n"
-"{\n"
-"    return b3MprVec3Dot(v, v);\n"
-"}\n"
-"inline void b3MprVec3Normalize(b3Float4 *d)\n"
-"{\n"
-"    float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));\n"
-"    b3MprVec3Scale(d, k);\n"
-"}\n"
-"inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)\n"
-"{\n"
-"	*d = b3Cross3(*a,*b);\n"
-"	\n"
-"}\n"
-"inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)\n"
-"{\n"
-"	*d = *v - *w;\n"
-"}\n"
-"inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)\n"
-"{\n"
-"    b3Float4 v2v1, v3v1;\n"
-"    b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,\n"
-"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-"    b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,\n"
-"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-"    b3MprVec3Cross(dir, &v2v1, &v3v1);\n"
-"    b3MprVec3Normalize(dir);\n"
-"}\n"
-"inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,\n"
-"                                       const b3Float4 *dir)\n"
-"{\n"
-"    float dot;\n"
-"    dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
-"    return b3MprIsZero(dot) || dot > 0.f;\n"
-"}\n"
-"inline int portalReachTolerance(const b3MprSimplex_t *portal,\n"
-"                                     const b3MprSupport_t *v4,\n"
-"                                     const b3Float4 *dir)\n"
-"{\n"
-"    float dv1, dv2, dv3, dv4;\n"
-"    float dot1, dot2, dot3;\n"
-"    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}\n"
-"    dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);\n"
-"    dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);\n"
-"    dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);\n"
-"    dv4 = b3MprVec3Dot(&v4->v, dir);\n"
-"    dot1 = dv4 - dv1;\n"
-"    dot2 = dv4 - dv2;\n"
-"    dot3 = dv4 - dv3;\n"
-"    dot1 = B3_MPR_FMIN(dot1, dot2);\n"
-"    dot1 = B3_MPR_FMIN(dot1, dot3);\n"
-"    return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;\n"
-"}\n"
-"inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,   \n"
-"                                         const b3MprSupport_t *v4,\n"
-"                                         const b3Float4 *dir)\n"
-"{\n"
-"    float dot;\n"
-"    dot = b3MprVec3Dot(&v4->v, dir);\n"
-"    return b3MprIsZero(dot) || dot > 0.f;\n"
-"}\n"
-"inline void b3ExpandPortal(b3MprSimplex_t *portal,\n"
-"                              const b3MprSupport_t *v4)\n"
-"{\n"
-"    float dot;\n"
-"    b3Float4 v4v0;\n"
-"    b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);\n"
-"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);\n"
-"    if (dot > 0.f){\n"
-"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);\n"
-"        if (dot > 0.f){\n"
-"            b3MprSimplexSet(portal, 1, v4);\n"
-"        }else{\n"
-"            b3MprSimplexSet(portal, 3, v4);\n"
-"        }\n"
-"    }else{\n"
-"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);\n"
-"        if (dot > 0.f){\n"
-"            b3MprSimplexSet(portal, 2, v4);\n"
-"        }else{\n"
-"            b3MprSimplexSet(portal, 1, v4);\n"
-"        }\n"
-"    }\n"
-"}\n"
-"B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-"													b3ConstArray(b3Float4)					cpuVertices,\n"
-"													__global b3Float4* sepAxis,\n"
-"													__global int*	hasSepAxis,\n"
-"													b3MprSimplex_t *portal)\n"
-"{\n"
-"    b3Float4 dir, va, vb;\n"
-"    float dot;\n"
-"    int cont;\n"
-"	\n"
-"	\n"
-"    // vertex 0 is center of portal\n"
-"    b3FindOrigin(bodyIndexA,bodyIndexB,cpuBodyBuf, b3MprSimplexPointW(portal, 0));\n"
-"    // vertex 0 is center of portal\n"
-"    b3MprSimplexSetSize(portal, 1);\n"
-"	\n"
-"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-"    if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin)){\n"
-"        // Portal's center lies on origin (0,0,0) => we know that objects\n"
-"        // intersect but we would need to know penetration info.\n"
-"        // So move center little bit...\n"
-"        b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);\n"
-"        b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);\n"
-"    }\n"
-"    // vertex 1 = support in direction of origin\n"
-"    b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
-"    b3MprVec3Scale(&dir, -1.f);\n"
-"    b3MprVec3Normalize(&dir);\n"
-"    b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 1));\n"
-"    b3MprSimplexSetSize(portal, 2);\n"
-"    // test if origin isn't outside of v1\n"
-"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);\n"
-"	\n"
-"    if (b3MprIsZero(dot) || dot < 0.f)\n"
-"        return -1;\n"
-"    // vertex 2\n"
-"    b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,\n"
-"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-"    if (b3MprIsZero(b3MprVec3Len2(&dir))){\n"
-"        if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin)){\n"
-"            // origin lies on v1\n"
-"            return 1;\n"
-"        }else{\n"
-"            // origin lies on v0-v1 segment\n"
-"            return 2;\n"
-"        }\n"
-"    }\n"
-"    b3MprVec3Normalize(&dir);\n"
-"	 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 2));\n"
-"    \n"
-"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);\n"
-"    if (b3MprIsZero(dot) || dot < 0.f)\n"
-"        return -1;\n"
-"    b3MprSimplexSetSize(portal, 3);\n"
-"    // vertex 3 direction\n"
-"    b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
-"                     &b3MprSimplexPoint(portal, 0)->v);\n"
-"    b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
-"                     &b3MprSimplexPoint(portal, 0)->v);\n"
-"    b3MprVec3Cross(&dir, &va, &vb);\n"
-"    b3MprVec3Normalize(&dir);\n"
-"    // it is better to form portal faces to be oriented \"outside\" origin\n"
-"    dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
-"    if (dot > 0.f){\n"
-"        b3MprSimplexSwap(portal, 1, 2);\n"
-"        b3MprVec3Scale(&dir, -1.f);\n"
-"    }\n"
-"    while (b3MprSimplexSize(portal) < 4){\n"
-"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 3));\n"
-"        \n"
-"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);\n"
-"        if (b3MprIsZero(dot) || dot < 0.f)\n"
-"            return -1;\n"
-"        cont = 0;\n"
-"        // test if origin is outside (v1, v0, v3) - set v2 as v3 and\n"
-"        // continue\n"
-"        b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
-"                          &b3MprSimplexPoint(portal, 3)->v);\n"
-"        dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
-"        if (dot < 0.f && !b3MprIsZero(dot)){\n"
-"            b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));\n"
-"            cont = 1;\n"
-"        }\n"
-"        if (!cont){\n"
-"            // test if origin is outside (v3, v0, v2) - set v1 as v3 and\n"
-"            // continue\n"
-"            b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,\n"
-"                              &b3MprSimplexPoint(portal, 2)->v);\n"
-"            dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
-"            if (dot < 0.f && !b3MprIsZero(dot)){\n"
-"                b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));\n"
-"                cont = 1;\n"
-"            }\n"
-"        }\n"
-"        if (cont){\n"
-"            b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
-"                             &b3MprSimplexPoint(portal, 0)->v);\n"
-"            b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
-"                             &b3MprSimplexPoint(portal, 0)->v);\n"
-"            b3MprVec3Cross(&dir, &va, &vb);\n"
-"            b3MprVec3Normalize(&dir);\n"
-"        }else{\n"
-"            b3MprSimplexSetSize(portal, 4);\n"
-"        }\n"
-"    }\n"
-"    return 0;\n"
-"}\n"
-"B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-"													b3ConstArray(b3Float4)					cpuVertices,\n"
-"													__global b3Float4* sepAxis,\n"
-"													b3MprSimplex_t *portal)\n"
-"{\n"
-"    b3Float4 dir;\n"
-"    b3MprSupport_t v4;\n"
-"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
-"    //while (1)\n"
-"	{\n"
-"        // compute direction outside the portal (from v0 throught v1,v2,v3\n"
-"        // face)\n"
-"        b3PortalDir(portal, &dir);\n"
-"        // test if origin is inside the portal\n"
-"        if (portalEncapsulesOrigin(portal, &dir))\n"
-"            return 0;\n"
-"        // get next support point\n"
-"        \n"
-"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
-"        // test if v4 can expand portal to contain origin and if portal\n"
-"        // expanding doesn't reach given tolerance\n"
-"        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)\n"
-"                || portalReachTolerance(portal, &v4, &dir))\n"
-"		{\n"
-"            return -1;\n"
-"        }\n"
-"        // v1-v2-v3 triangle must be rearranged to face outside Minkowski\n"
-"        // difference (direction from v0).\n"
-"        b3ExpandPortal(portal, &v4);\n"
-"    }\n"
-"    return -1;\n"
-"}\n"
-"B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)\n"
-"{\n"
-"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-"    b3Float4 dir;\n"
-"    size_t i;\n"
-"    float b[4], sum, inv;\n"
-"    b3Float4 vec, p1, p2;\n"
-"    b3PortalDir(portal, &dir);\n"
-"    // use barycentric coordinates of tetrahedron to find origin\n"
-"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
-"                       &b3MprSimplexPoint(portal, 2)->v);\n"
-"    b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
-"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
-"                       &b3MprSimplexPoint(portal, 2)->v);\n"
-"    b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
-"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,\n"
-"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-"    b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
-"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
-"                       &b3MprSimplexPoint(portal, 1)->v);\n"
-"    b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
-"	sum = b[0] + b[1] + b[2] + b[3];\n"
-"    if (b3MprIsZero(sum) || sum < 0.f){\n"
-"		b[0] = 0.f;\n"
-"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
-"                           &b3MprSimplexPoint(portal, 3)->v);\n"
-"        b[1] = b3MprVec3Dot(&vec, &dir);\n"
-"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
-"                           &b3MprSimplexPoint(portal, 1)->v);\n"
-"        b[2] = b3MprVec3Dot(&vec, &dir);\n"
-"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
-"                           &b3MprSimplexPoint(portal, 2)->v);\n"
-"        b[3] = b3MprVec3Dot(&vec, &dir);\n"
-"		sum = b[1] + b[2] + b[3];\n"
-"	}\n"
-"	inv = 1.f / sum;\n"
-"    b3MprVec3Copy(&p1, b3mpr_vec3_origin);\n"
-"    b3MprVec3Copy(&p2, b3mpr_vec3_origin);\n"
-"    for (i = 0; i < 4; i++){\n"
-"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);\n"
-"        b3MprVec3Scale(&vec, b[i]);\n"
-"        b3MprVec3Add(&p1, &vec);\n"
-"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);\n"
-"        b3MprVec3Scale(&vec, b[i]);\n"
-"        b3MprVec3Add(&p2, &vec);\n"
-"    }\n"
-"    b3MprVec3Scale(&p1, inv);\n"
-"    b3MprVec3Scale(&p2, inv);\n"
-"    b3MprVec3Copy(pos, &p1);\n"
-"    b3MprVec3Add(pos, &p2);\n"
-"    b3MprVec3Scale(pos, 0.5);\n"
-"}\n"
-"inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)\n"
-"{\n"
-"    b3Float4 ab;\n"
-"    b3MprVec3Sub2(&ab, a, b);\n"
-"    return b3MprVec3Len2(&ab);\n"
-"}\n"
-"inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,\n"
-"                                                  const b3Float4 *x0,\n"
-"                                                  const b3Float4 *b,\n"
-"                                                  b3Float4 *witness)\n"
-"{\n"
-"    // The computation comes from solving equation of segment:\n"
-"    //      S(t) = x0 + t.d\n"
-"    //          where - x0 is initial point of segment\n"
-"    //                - d is direction of segment from x0 (|d| > 0)\n"
-"    //                - t belongs to <0, 1> interval\n"
-"    // \n"
-"    // Than, distance from a segment to some point P can be expressed:\n"
-"    //      D(t) = |x0 + t.d - P|^2\n"
-"    //          which is distance from any point on segment. Minimization\n"
-"    //          of this function brings distance from P to segment.\n"
-"    // Minimization of D(t) leads to simple quadratic equation that's\n"
-"    // solving is straightforward.\n"
-"    //\n"
-"    // Bonus of this method is witness point for free.\n"
-"    float dist, t;\n"
-"    b3Float4 d, a;\n"
-"    // direction of segment\n"
-"    b3MprVec3Sub2(&d, b, x0);\n"
-"    // precompute vector from P to x0\n"
-"    b3MprVec3Sub2(&a, x0, P);\n"
-"    t  = -1.f * b3MprVec3Dot(&a, &d);\n"
-"    t /= b3MprVec3Len2(&d);\n"
-"    if (t < 0.f || b3MprIsZero(t)){\n"
-"        dist = b3MprVec3Dist2(x0, P);\n"
-"        if (witness)\n"
-"            b3MprVec3Copy(witness, x0);\n"
-"    }else if (t > 1.f || b3MprEq(t, 1.f)){\n"
-"        dist = b3MprVec3Dist2(b, P);\n"
-"        if (witness)\n"
-"            b3MprVec3Copy(witness, b);\n"
-"    }else{\n"
-"        if (witness){\n"
-"            b3MprVec3Copy(witness, &d);\n"
-"            b3MprVec3Scale(witness, t);\n"
-"            b3MprVec3Add(witness, x0);\n"
-"            dist = b3MprVec3Dist2(witness, P);\n"
-"        }else{\n"
-"            // recycling variables\n"
-"            b3MprVec3Scale(&d, t);\n"
-"            b3MprVec3Add(&d, &a);\n"
-"            dist = b3MprVec3Len2(&d);\n"
-"        }\n"
-"    }\n"
-"    return dist;\n"
-"}\n"
-"inline float b3MprVec3PointTriDist2(const b3Float4 *P,\n"
-"                                const b3Float4 *x0, const b3Float4 *B,\n"
-"                                const b3Float4 *C,\n"
-"                                b3Float4 *witness)\n"
-"{\n"
-"    // Computation comes from analytic expression for triangle (x0, B, C)\n"
-"    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and\n"
-"    // Then equation for distance is:\n"
-"    //      D(s, t) = | T(s, t) - P |^2\n"
-"    // This leads to minimization of quadratic function of two variables.\n"
-"    // The solution from is taken only if s is between 0 and 1, t is\n"
-"    // between 0 and 1 and t + s < 1, otherwise distance from segment is\n"
-"    // computed.\n"
-"    b3Float4 d1, d2, a;\n"
-"    float u, v, w, p, q, r;\n"
-"    float s, t, dist, dist2;\n"
-"    b3Float4 witness2;\n"
-"    b3MprVec3Sub2(&d1, B, x0);\n"
-"    b3MprVec3Sub2(&d2, C, x0);\n"
-"    b3MprVec3Sub2(&a, x0, P);\n"
-"    u = b3MprVec3Dot(&a, &a);\n"
-"    v = b3MprVec3Dot(&d1, &d1);\n"
-"    w = b3MprVec3Dot(&d2, &d2);\n"
-"    p = b3MprVec3Dot(&a, &d1);\n"
-"    q = b3MprVec3Dot(&a, &d2);\n"
-"    r = b3MprVec3Dot(&d1, &d2);\n"
-"    s = (q * r - w * p) / (w * v - r * r);\n"
-"    t = (-s * r - q) / w;\n"
-"    if ((b3MprIsZero(s) || s > 0.f)\n"
-"            && (b3MprEq(s, 1.f) || s < 1.f)\n"
-"            && (b3MprIsZero(t) || t > 0.f)\n"
-"            && (b3MprEq(t, 1.f) || t < 1.f)\n"
-"            && (b3MprEq(t + s, 1.f) || t + s < 1.f)){\n"
-"        if (witness){\n"
-"            b3MprVec3Scale(&d1, s);\n"
-"            b3MprVec3Scale(&d2, t);\n"
-"            b3MprVec3Copy(witness, x0);\n"
-"            b3MprVec3Add(witness, &d1);\n"
-"            b3MprVec3Add(witness, &d2);\n"
-"            dist = b3MprVec3Dist2(witness, P);\n"
-"        }else{\n"
-"            dist  = s * s * v;\n"
-"            dist += t * t * w;\n"
-"            dist += 2.f * s * t * r;\n"
-"            dist += 2.f * s * p;\n"
-"            dist += 2.f * t * q;\n"
-"            dist += u;\n"
-"        }\n"
-"    }else{\n"
-"        dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);\n"
-"        dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);\n"
-"        if (dist2 < dist){\n"
-"            dist = dist2;\n"
-"            if (witness)\n"
-"                b3MprVec3Copy(witness, &witness2);\n"
-"        }\n"
-"        dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);\n"
-"        if (dist2 < dist){\n"
-"            dist = dist2;\n"
-"            if (witness)\n"
-"                b3MprVec3Copy(witness, &witness2);\n"
-"        }\n"
-"    }\n"
-"    return dist;\n"
-"}\n"
-"B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
-"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
-"													b3ConstArray(b3Float4)					cpuVertices,\n"
-"													__global b3Float4* sepAxis,\n"
-"                       b3MprSimplex_t *portal,\n"
-"                       float *depth, b3Float4 *pdir, b3Float4 *pos)\n"
-"{\n"
-"    b3Float4 dir;\n"
-"    b3MprSupport_t v4;\n"
-"    unsigned long iterations;\n"
-"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-"    iterations = 1UL;\n"
-"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
-"    //while (1)\n"
-"	{\n"
-"        // compute portal direction and obtain next support point\n"
-"        b3PortalDir(portal, &dir);\n"
-"        \n"
-"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
-"        // reached tolerance -> find penetration info\n"
-"        if (portalReachTolerance(portal, &v4, &dir)\n"
-"                || iterations ==B3_MPR_MAX_ITERATIONS)\n"
-"		{\n"
-"            *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin,&b3MprSimplexPoint(portal, 1)->v,&b3MprSimplexPoint(portal, 2)->v,&b3MprSimplexPoint(portal, 3)->v,pdir);\n"
-"            *depth = B3_MPR_SQRT(*depth);\n"
-"			\n"
-"			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))\n"
-"			{\n"
-"				\n"
-"				*pdir = dir;\n"
-"			} \n"
-"			b3MprVec3Normalize(pdir);\n"
-"			\n"
-"            // barycentric coordinates:\n"
-"            b3FindPos(portal, pos);\n"
-"            return;\n"
-"        }\n"
-"        b3ExpandPortal(portal, &v4);\n"
-"        iterations++;\n"
-"    }\n"
-"}\n"
-"B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)\n"
-"{\n"
-"    // Touching contact on portal's v1 - so depth is zero and direction\n"
-"    // is unimportant and pos can be guessed\n"
-"    *depth = 0.f;\n"
-"    b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
-"	b3Float4* b3mpr_vec3_origin = &zero;\n"
-"	b3MprVec3Copy(dir, b3mpr_vec3_origin);\n"
-"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
-"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
-"    b3MprVec3Scale(pos, 0.5);\n"
-"}\n"
-"B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,\n"
-"                              float *depth, b3Float4 *dir, b3Float4 *pos)\n"
-"{\n"
-"    \n"
-"    // Origin lies on v0-v1 segment.\n"
-"    // Depth is distance to v1, direction also and position must be\n"
-"    // computed\n"
-"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
-"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
-"    b3MprVec3Scale(pos, 0.5f);\n"
-"    \n"
-"    b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
-"    *depth = B3_MPR_SQRT(b3MprVec3Len2(dir));\n"
-"    b3MprVec3Normalize(dir);\n"
-"}\n"
-"inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,\n"
-"					b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,\n"
-"					b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
-"					b3ConstArray(b3Collidable_t)	cpuCollidables,\n"
-"					b3ConstArray(b3Float4)	cpuVertices,\n"
-"					__global b3Float4* sepAxis,\n"
-"					__global int*	hasSepAxis,\n"
-"					float *depthOut, b3Float4* dirOut, b3Float4* posOut)\n"
-"{\n"
-"	\n"
-"	 b3MprSimplex_t portal;\n"
-"	 \n"
-"//	if (!hasSepAxis[pairIndex])\n"
-"	//	return -1;\n"
-"	\n"
-"	hasSepAxis[pairIndex] = 0;\n"
-"	 int res;\n"
-"    // Phase 1: Portal discovery\n"
-"    res = b3DiscoverPortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,hasSepAxis, &portal);\n"
-"	\n"
-"	  \n"
-"	//sepAxis[pairIndex] = *pdir;//or -dir?\n"
-"	switch (res)\n"
-"	{\n"
-"	case 0:\n"
-"		{\n"
-"			// Phase 2: Portal refinement\n"
-"		\n"
-"			res = b3RefinePortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal);\n"
-"			if (res < 0)\n"
-"				return -1;\n"
-"			// Phase 3. Penetration info\n"
-"			b3FindPenetr(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal, depthOut, dirOut, posOut);\n"
-"			hasSepAxis[pairIndex] = 1;\n"
-"			sepAxis[pairIndex] = -*dirOut;\n"
-"			break;\n"
-"		}\n"
-"	case 1:\n"
-"		{\n"
-"			 // Touching contact on portal's v1.\n"
-"			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);\n"
-"			break;\n"
-"		}\n"
-"	case 2:\n"
-"		{\n"
-"			\n"
-"			b3FindPenetrSegment( &portal, depthOut, dirOut, posOut);\n"
-"			break;\n"
-"		}\n"
-"	default:\n"
-"		{\n"
-"			hasSepAxis[pairIndex]=0;\n"
-"			//if (res < 0)\n"
-"			//{\n"
-"				// Origin isn't inside portal - no collision.\n"
-"				return -1;\n"
-"			//}\n"
-"		}\n"
-"	};\n"
-"	\n"
-"	return 0;\n"
-"};\n"
-"#endif //B3_MPR_PENETRATION_H\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"	#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"	#define counter32_t volatile __global int*\n"
-"#endif\n"
-"__kernel void   mprPenetrationKernel( __global int4* pairs,\n"
-"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-"																					__global const b3Collidable_t* collidables,\n"
-"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global float4* separatingNormals,\n"
-"																					__global int* hasSeparatingAxis,\n"
-"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																					counter32_t nGlobalContactsOut,\n"
-"																					int contactCapacity,\n"
-"																					int numPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"		\n"
-"		\n"
-"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-"		{\n"
-"			return;\n"
-"		}\n"
-"		\n"
-"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
-"		{\n"
-"			return;\n"
-"		}\n"
-"		float depthOut;\n"
-"		b3Float4 dirOut;\n"
-"		b3Float4 posOut;\n"
-"		int res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB,rigidBodies,convexShapes,collidables,vertices,separatingNormals,hasSeparatingAxis,&depthOut, &dirOut, &posOut);\n"
-"		\n"
-"		\n"
-"		\n"
-"		\n"
-"		if (res==0)\n"
-"		{\n"
-"			//add a contact\n"
-"			int dstIdx;\n"
-"			AppendInc( nGlobalContactsOut, dstIdx );\n"
-"			if (dstIdx<contactCapacity)\n"
-"			{\n"
-"				pairs[pairIndex].z = dstIdx;\n"
-"				__global struct b3Contact4Data* c = globalContactsOut + dstIdx;\n"
-"				c->m_worldNormalOnB = -dirOut;//normal;\n"
-"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"				c->m_batchIdx = pairIndex;\n"
-"				int bodyA = pairs[pairIndex].x;\n"
-"				int bodyB = pairs[pairIndex].y;\n"
-"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
-"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
-"				c->m_childIndexA = -1;\n"
-"				c->m_childIndexB = -1;\n"
-"				//for (int i=0;i<nContacts;i++)\n"
-"				posOut.w = -depthOut;\n"
-"				c->m_worldPosB[0] = posOut;//localPoints[contactIdx[i]];\n"
-"				GET_NPOINTS(*c) = 1;//nContacts;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"typedef float4 Quaternion;\n"
-"#define make_float4 (float4)\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-"{\n"
-"	return qtRotate( *orientation, *p ) + (*translation);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"inline void project(__global const b3ConvexPolyhedronData_t* hull,  const float4 pos, const float4 orn, \n"
-"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
-"{\n"
-"	min[0] = FLT_MAX;\n"
-"	max[0] = -FLT_MAX;\n"
-"	int numVerts = hull->m_numVertices;\n"
-"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-"	float offset = dot(pos,*dir);\n"
-"	for(int i=0;i<numVerts;i++)\n"
-"	{\n"
-"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-"		if(dp < min[0])	\n"
-"			min[0] = dp;\n"
-"		if(dp > max[0])	\n"
-"			max[0] = dp;\n"
-"	}\n"
-"	if(min[0]>max[0])\n"
-"	{\n"
-"		float tmp = min[0];\n"
-"		min[0] = max[0];\n"
-"		max[0] = tmp;\n"
-"	}\n"
-"	min[0] += offset;\n"
-"	max[0] += offset;\n"
-"}\n"
-"bool findSeparatingAxisUnitSphere(	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	__global const float4* vertices,\n"
-"	__global const float4* unitSphereDirections,\n"
-"	int numUnitSphereDirections,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	int curEdgeEdge = 0;\n"
-"	// Test unit sphere directions\n"
-"	for (int i=0;i<numUnitSphereDirections;i++)\n"
-"	{\n"
-"		float4 crossje;\n"
-"		crossje = unitSphereDirections[i];	\n"
-"		if (dot3F4(DeltaC2,crossje)>0)\n"
-"			crossje *= -1.f;\n"
-"		{\n"
-"			float dist;\n"
-"			bool result = true;\n"
-"			float Min0,Max0;\n"
-"			float Min1,Max1;\n"
-"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
-"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
-"		\n"
-"			if(Max0<Min1 || Max1<Min0)\n"
-"				return false;\n"
-"		\n"
-"			float d0 = Max0 - Min1;\n"
-"			float d1 = Max1 - Min0;\n"
-"			dist = d0<d1 ? d0:d1;\n"
-"			result = true;\n"
-"	\n"
-"			if(dist<*dmin)\n"
-"			{\n"
-"				*dmin = dist;\n"
-"				*sep = crossje;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"__kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs, \n"
-"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-"																					__global const b3Collidable_t* collidables,\n"
-"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* unitSphereDirections,\n"
-"																					__global  float4* separatingNormals,\n"
-"																					__global  int* hasSeparatingAxis,\n"
-"																					__global  float* dmins,\n"
-"																					int numUnitSphereDirections,\n"
-"																					int numPairs\n"
-"																					)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		if (hasSeparatingAxis[i])\n"
-"		{\n"
-"	\n"
-"			int bodyIndexA = pairs[i].x;\n"
-"			int bodyIndexB = pairs[i].y;\n"
-"	\n"
-"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"		\n"
-"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"			\n"
-"			\n"
-"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"	\n"
-"			float dmin = dmins[i];\n"
-"	\n"
-"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			posA.w = 0.f;\n"
-"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"			posB.w = 0.f;\n"
-"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"			const float4 DeltaC2 = c0 - c1;\n"
-"			float4 sepNormal = separatingNormals[i];\n"
-"			\n"
-"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
-"			if (numEdgeEdgeDirections>numUnitSphereDirections)\n"
-"			{\n"
-"				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																										posB,ornB,\n"
-"																										DeltaC2,\n"
-"																										vertices,unitSphereDirections,numUnitSphereDirections,&sepNormal,&dmin);\n"
-"				if (!sepEE)\n"
-"				{\n"
-"					hasSeparatingAxis[i] = 0;\n"
-"				} else\n"
-"				{\n"
-"					hasSeparatingAxis[i] = 1;\n"
-"					separatingNormals[i] = sepNormal;\n"
-"				}\n"
-"			}\n"
-"		}		//if (hasSeparatingAxis[i])\n"
-"	}//(i<numPairs)\n"
-"}\n"
-;
+static const char* mprKernelsCL =
+	"/***\n"
+	" * ---------------------------------\n"
+	" * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>\n"
+	" *\n"
+	" *  This file was ported from mpr.c file, part of libccd.\n"
+	" *  The Minkoski Portal Refinement implementation was ported \n"
+	" *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.\n"
+	" *  at http://github.com/erwincoumans/bullet3\n"
+	" *\n"
+	" *  Distributed under the OSI-approved BSD License (the \"License\");\n"
+	" *  see <http://www.opensource.org/licenses/bsd-license.php>.\n"
+	" *  This software is distributed WITHOUT ANY WARRANTY; without even the\n"
+	" *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n"
+	" *  See the License for more information.\n"
+	" */\n"
+	"#ifndef B3_MPR_PENETRATION_H\n"
+	"#define B3_MPR_PENETRATION_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_RIGIDBODY_DATA_H\n"
+	"#define B3_RIGIDBODY_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
+	"struct b3RigidBodyData\n"
+	"{\n"
+	"	b3Float4				m_pos;\n"
+	"	b3Quat					m_quat;\n"
+	"	b3Float4				m_linVel;\n"
+	"	b3Float4				m_angVel;\n"
+	"	int 					m_collidableIdx;\n"
+	"	float 				m_invMass;\n"
+	"	float 				m_restituitionCoeff;\n"
+	"	float 				m_frictionCoeff;\n"
+	"};\n"
+	"typedef struct b3InertiaData b3InertiaData_t;\n"
+	"struct b3InertiaData\n"
+	"{\n"
+	"	b3Mat3x3 m_invInertiaWorld;\n"
+	"	b3Mat3x3 m_initInvInertia;\n"
+	"};\n"
+	"#endif //B3_RIGIDBODY_DATA_H\n"
+	"	\n"
+	"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
+	"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"typedef struct b3GpuFace b3GpuFace_t;\n"
+	"struct b3GpuFace\n"
+	"{\n"
+	"	b3Float4 m_plane;\n"
+	"	int m_indexOffset;\n"
+	"	int m_numIndices;\n"
+	"	int m_unusedPadding1;\n"
+	"	int m_unusedPadding2;\n"
+	"};\n"
+	"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
+	"struct b3ConvexPolyhedronData\n"
+	"{\n"
+	"	b3Float4		m_localCenter;\n"
+	"	b3Float4		m_extents;\n"
+	"	b3Float4		mC;\n"
+	"	b3Float4		mE;\n"
+	"	float			m_radius;\n"
+	"	int	m_faceOffset;\n"
+	"	int m_numFaces;\n"
+	"	int	m_numVertices;\n"
+	"	int m_vertexOffset;\n"
+	"	int	m_uniqueEdgesOffset;\n"
+	"	int	m_numUniqueEdges;\n"
+	"	int m_unused;\n"
+	"};\n"
+	"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
+	"#ifndef B3_COLLIDABLE_H\n"
+	"#define B3_COLLIDABLE_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"enum b3ShapeTypes\n"
+	"{\n"
+	"	SHAPE_HEIGHT_FIELD=1,\n"
+	"	SHAPE_CONVEX_HULL=3,\n"
+	"	SHAPE_PLANE=4,\n"
+	"	SHAPE_CONCAVE_TRIMESH=5,\n"
+	"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
+	"	SHAPE_SPHERE=7,\n"
+	"	MAX_NUM_SHAPE_TYPES,\n"
+	"};\n"
+	"typedef struct b3Collidable b3Collidable_t;\n"
+	"struct b3Collidable\n"
+	"{\n"
+	"	union {\n"
+	"		int m_numChildShapes;\n"
+	"		int m_bvhIndex;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float m_radius;\n"
+	"		int	m_compoundBvhIndex;\n"
+	"	};\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"};\n"
+	"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
+	"struct b3GpuChildShape\n"
+	"{\n"
+	"	b3Float4	m_childPosition;\n"
+	"	b3Quat		m_childOrientation;\n"
+	"	int m_shapeIndex;\n"
+	"	int m_unused0;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"struct b3CompoundOverlappingPair\n"
+	"{\n"
+	"	int m_bodyIndexA;\n"
+	"	int m_bodyIndexB;\n"
+	"//	int	m_pairType;\n"
+	"	int m_childShapeIndexA;\n"
+	"	int m_childShapeIndexB;\n"
+	"};\n"
+	"#endif //B3_COLLIDABLE_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#define B3_MPR_SQRT sqrt\n"
+	"#endif\n"
+	"#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))\n"
+	"#define B3_MPR_FABS fabs\n"
+	"#define B3_MPR_TOLERANCE 1E-6f\n"
+	"#define B3_MPR_MAX_ITERATIONS 1000\n"
+	"struct _b3MprSupport_t \n"
+	"{\n"
+	"    b3Float4 v;  //!< Support point in minkowski sum\n"
+	"    b3Float4 v1; //!< Support point in obj1\n"
+	"    b3Float4 v2; //!< Support point in obj2\n"
+	"};\n"
+	"typedef struct _b3MprSupport_t b3MprSupport_t;\n"
+	"struct _b3MprSimplex_t \n"
+	"{\n"
+	"    b3MprSupport_t ps[4];\n"
+	"    int last; //!< index of last added point\n"
+	"};\n"
+	"typedef struct _b3MprSimplex_t b3MprSimplex_t;\n"
+	"inline b3MprSupport_t* b3MprSimplexPointW(b3MprSimplex_t *s, int idx)\n"
+	"{\n"
+	"    return &s->ps[idx];\n"
+	"}\n"
+	"inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)\n"
+	"{\n"
+	"    s->last = size - 1;\n"
+	"}\n"
+	"inline int b3MprSimplexSize(const b3MprSimplex_t *s)\n"
+	"{\n"
+	"    return s->last + 1;\n"
+	"}\n"
+	"inline const b3MprSupport_t* b3MprSimplexPoint(const b3MprSimplex_t* s, int idx)\n"
+	"{\n"
+	"    // here is no check on boundaries\n"
+	"    return &s->ps[idx];\n"
+	"}\n"
+	"inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)\n"
+	"{\n"
+	"    *d = *s;\n"
+	"}\n"
+	"inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)\n"
+	"{\n"
+	"    b3MprSupportCopy(s->ps + pos, a);\n"
+	"}\n"
+	"inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)\n"
+	"{\n"
+	"    b3MprSupport_t supp;\n"
+	"    b3MprSupportCopy(&supp, &s->ps[pos1]);\n"
+	"    b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);\n"
+	"    b3MprSupportCopy(&s->ps[pos2], &supp);\n"
+	"}\n"
+	"inline int b3MprIsZero(float val)\n"
+	"{\n"
+	"    return B3_MPR_FABS(val) < FLT_EPSILON;\n"
+	"}\n"
+	"inline int b3MprEq(float _a, float _b)\n"
+	"{\n"
+	"    float ab;\n"
+	"    float a, b;\n"
+	"    ab = B3_MPR_FABS(_a - _b);\n"
+	"    if (B3_MPR_FABS(ab) < FLT_EPSILON)\n"
+	"        return 1;\n"
+	"    a = B3_MPR_FABS(_a);\n"
+	"    b = B3_MPR_FABS(_b);\n"
+	"    if (b > a){\n"
+	"        return ab < FLT_EPSILON * b;\n"
+	"    }else{\n"
+	"        return ab < FLT_EPSILON * a;\n"
+	"    }\n"
+	"}\n"
+	"inline int b3MprVec3Eq(const b3Float4* a, const b3Float4 *b)\n"
+	"{\n"
+	"    return b3MprEq((*a).x, (*b).x)\n"
+	"            && b3MprEq((*a).y, (*b).y)\n"
+	"            && b3MprEq((*a).z, (*b).z);\n"
+	"}\n"
+	"inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec,__global const b3ConvexPolyhedronData_t* hull, 	b3ConstArray(b3Float4) verticesA)\n"
+	"{\n"
+	"	b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
+	"	float maxDot = -B3_LARGE_FLOAT;\n"
+	"    if( 0 < hull->m_numVertices )\n"
+	"    {\n"
+	"        const b3Float4 scaled = supportVec;\n"
+	"		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
+	"        return verticesA[hull->m_vertexOffset+index];\n"
+	"    }\n"
+	"    return supVec;\n"
+	"}\n"
+	"B3_STATIC void b3MprConvexSupport(int pairIndex,int bodyIndex,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
+	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
+	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
+	"													b3ConstArray(b3Float4)					cpuVertices,\n"
+	"													__global b3Float4* sepAxis,\n"
+	"														const b3Float4* _dir, b3Float4* outp, int logme)\n"
+	"{\n"
+	"	//dir is in worldspace, move to local space\n"
+	"	\n"
+	"	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;\n"
+	"	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;\n"
+	"	\n"
+	"	b3Float4 dir = b3MakeFloat4((*_dir).x,(*_dir).y,(*_dir).z,0.f);\n"
+	"	\n"
+	"	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn),dir);\n"
+	"	\n"
+	"	//find local support vertex\n"
+	"	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;\n"
+	"	\n"
+	"	b3Assert(cpuCollidables[colIndex].m_shapeType==SHAPE_CONVEX_HULL);\n"
+	"	__global const b3ConvexPolyhedronData_t* hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];\n"
+	"	\n"
+	"	b3Float4 pInA;\n"
+	"	if (logme)\n"
+	"	{\n"
+	"		b3Float4 supVec = b3MakeFloat4(0,0,0,0);\n"
+	"		float maxDot = -B3_LARGE_FLOAT;\n"
+	"		if( 0 < hull->m_numVertices )\n"
+	"		{\n"
+	"			const b3Float4 scaled = localDir;\n"
+	"			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);\n"
+	"			pInA = cpuVertices[hull->m_vertexOffset+index];\n"
+	"			\n"
+	"		}\n"
+	"	} else\n"
+	"	{\n"
+	"		pInA = b3LocalGetSupportVertex(localDir,hull,cpuVertices);\n"
+	"	}\n"
+	"	//move vertex to world space\n"
+	"	*outp = b3TransformPoint(pInA,pos,orn);\n"
+	"	\n"
+	"}\n"
+	"inline void b3MprSupport(int pairIndex,int bodyIndexA, int bodyIndexB,   b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
+	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
+	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
+	"													b3ConstArray(b3Float4)					cpuVertices,\n"
+	"													__global b3Float4* sepAxis,\n"
+	"													const b3Float4* _dir, b3MprSupport_t *supp)\n"
+	"{\n"
+	"    b3Float4 dir;\n"
+	"	dir = *_dir;\n"
+	"	b3MprConvexSupport(pairIndex,bodyIndexA,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v1,0);\n"
+	"    dir = *_dir*-1.f;\n"
+	"	b3MprConvexSupport(pairIndex,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,&dir, &supp->v2,0);\n"
+	"    supp->v = supp->v1 - supp->v2;\n"
+	"}\n"
+	"inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)\n"
+	"{\n"
+	"    center->v1 = cpuBodyBuf[bodyIndexA].m_pos;\n"
+	"	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;\n"
+	"    center->v = center->v1 - center->v2;\n"
+	"}\n"
+	"inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)\n"
+	"{\n"
+	"	(*v).x = x;\n"
+	"	(*v).y = y;\n"
+	"	(*v).z = z;\n"
+	"	(*v).w = 0.f;\n"
+	"}\n"
+	"inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)\n"
+	"{\n"
+	"    (*v).x += (*w).x;\n"
+	"    (*v).y += (*w).y;\n"
+	"    (*v).z += (*w).z;\n"
+	"}\n"
+	"inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)\n"
+	"{\n"
+	"    *v = *w;\n"
+	"}\n"
+	"inline void b3MprVec3Scale(b3Float4 *d, float k)\n"
+	"{\n"
+	"    *d *= k;\n"
+	"}\n"
+	"inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)\n"
+	"{\n"
+	"    float dot;\n"
+	"	dot = b3Dot3F4(*a,*b);\n"
+	"    return dot;\n"
+	"}\n"
+	"inline float b3MprVec3Len2(const b3Float4 *v)\n"
+	"{\n"
+	"    return b3MprVec3Dot(v, v);\n"
+	"}\n"
+	"inline void b3MprVec3Normalize(b3Float4 *d)\n"
+	"{\n"
+	"    float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));\n"
+	"    b3MprVec3Scale(d, k);\n"
+	"}\n"
+	"inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)\n"
+	"{\n"
+	"	*d = b3Cross3(*a,*b);\n"
+	"	\n"
+	"}\n"
+	"inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)\n"
+	"{\n"
+	"	*d = *v - *w;\n"
+	"}\n"
+	"inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)\n"
+	"{\n"
+	"    b3Float4 v2v1, v3v1;\n"
+	"    b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    b3MprVec3Cross(dir, &v2v1, &v3v1);\n"
+	"    b3MprVec3Normalize(dir);\n"
+	"}\n"
+	"inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,\n"
+	"                                       const b3Float4 *dir)\n"
+	"{\n"
+	"    float dot;\n"
+	"    dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    return b3MprIsZero(dot) || dot > 0.f;\n"
+	"}\n"
+	"inline int portalReachTolerance(const b3MprSimplex_t *portal,\n"
+	"                                     const b3MprSupport_t *v4,\n"
+	"                                     const b3Float4 *dir)\n"
+	"{\n"
+	"    float dv1, dv2, dv3, dv4;\n"
+	"    float dot1, dot2, dot3;\n"
+	"    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}\n"
+	"    dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);\n"
+	"    dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);\n"
+	"    dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);\n"
+	"    dv4 = b3MprVec3Dot(&v4->v, dir);\n"
+	"    dot1 = dv4 - dv1;\n"
+	"    dot2 = dv4 - dv2;\n"
+	"    dot3 = dv4 - dv3;\n"
+	"    dot1 = B3_MPR_FMIN(dot1, dot2);\n"
+	"    dot1 = B3_MPR_FMIN(dot1, dot3);\n"
+	"    return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;\n"
+	"}\n"
+	"inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,   \n"
+	"                                         const b3MprSupport_t *v4,\n"
+	"                                         const b3Float4 *dir)\n"
+	"{\n"
+	"    float dot;\n"
+	"    dot = b3MprVec3Dot(&v4->v, dir);\n"
+	"    return b3MprIsZero(dot) || dot > 0.f;\n"
+	"}\n"
+	"inline void b3ExpandPortal(b3MprSimplex_t *portal,\n"
+	"                              const b3MprSupport_t *v4)\n"
+	"{\n"
+	"    float dot;\n"
+	"    b3Float4 v4v0;\n"
+	"    b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);\n"
+	"    if (dot > 0.f){\n"
+	"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);\n"
+	"        if (dot > 0.f){\n"
+	"            b3MprSimplexSet(portal, 1, v4);\n"
+	"        }else{\n"
+	"            b3MprSimplexSet(portal, 3, v4);\n"
+	"        }\n"
+	"    }else{\n"
+	"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);\n"
+	"        if (dot > 0.f){\n"
+	"            b3MprSimplexSet(portal, 2, v4);\n"
+	"        }else{\n"
+	"            b3MprSimplexSet(portal, 1, v4);\n"
+	"        }\n"
+	"    }\n"
+	"}\n"
+	"B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
+	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
+	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
+	"													b3ConstArray(b3Float4)					cpuVertices,\n"
+	"													__global b3Float4* sepAxis,\n"
+	"													__global int*	hasSepAxis,\n"
+	"													b3MprSimplex_t *portal)\n"
+	"{\n"
+	"    b3Float4 dir, va, vb;\n"
+	"    float dot;\n"
+	"    int cont;\n"
+	"	\n"
+	"	\n"
+	"    // vertex 0 is center of portal\n"
+	"    b3FindOrigin(bodyIndexA,bodyIndexB,cpuBodyBuf, b3MprSimplexPointW(portal, 0));\n"
+	"    // vertex 0 is center of portal\n"
+	"    b3MprSimplexSetSize(portal, 1);\n"
+	"	\n"
+	"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
+	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
+	"    if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin)){\n"
+	"        // Portal's center lies on origin (0,0,0) => we know that objects\n"
+	"        // intersect but we would need to know penetration info.\n"
+	"        // So move center little bit...\n"
+	"        b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);\n"
+	"        b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);\n"
+	"    }\n"
+	"    // vertex 1 = support in direction of origin\n"
+	"    b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"    b3MprVec3Scale(&dir, -1.f);\n"
+	"    b3MprVec3Normalize(&dir);\n"
+	"    b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 1));\n"
+	"    b3MprSimplexSetSize(portal, 2);\n"
+	"    // test if origin isn't outside of v1\n"
+	"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);\n"
+	"	\n"
+	"    if (b3MprIsZero(dot) || dot < 0.f)\n"
+	"        return -1;\n"
+	"    // vertex 2\n"
+	"    b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    if (b3MprIsZero(b3MprVec3Len2(&dir))){\n"
+	"        if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin)){\n"
+	"            // origin lies on v1\n"
+	"            return 1;\n"
+	"        }else{\n"
+	"            // origin lies on v0-v1 segment\n"
+	"            return 2;\n"
+	"        }\n"
+	"    }\n"
+	"    b3MprVec3Normalize(&dir);\n"
+	"	 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 2));\n"
+	"    \n"
+	"    dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);\n"
+	"    if (b3MprIsZero(dot) || dot < 0.f)\n"
+	"        return -1;\n"
+	"    b3MprSimplexSetSize(portal, 3);\n"
+	"    // vertex 3 direction\n"
+	"    b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
+	"                     &b3MprSimplexPoint(portal, 0)->v);\n"
+	"    b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
+	"                     &b3MprSimplexPoint(portal, 0)->v);\n"
+	"    b3MprVec3Cross(&dir, &va, &vb);\n"
+	"    b3MprVec3Normalize(&dir);\n"
+	"    // it is better to form portal faces to be oriented \"outside\" origin\n"
+	"    dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"    if (dot > 0.f){\n"
+	"        b3MprSimplexSwap(portal, 1, 2);\n"
+	"        b3MprVec3Scale(&dir, -1.f);\n"
+	"    }\n"
+	"    while (b3MprSimplexSize(portal) < 4){\n"
+	"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, b3MprSimplexPointW(portal, 3));\n"
+	"        \n"
+	"        dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);\n"
+	"        if (b3MprIsZero(dot) || dot < 0.f)\n"
+	"            return -1;\n"
+	"        cont = 0;\n"
+	"        // test if origin is outside (v1, v0, v3) - set v2 as v3 and\n"
+	"        // continue\n"
+	"        b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
+	"                          &b3MprSimplexPoint(portal, 3)->v);\n"
+	"        dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"        if (dot < 0.f && !b3MprIsZero(dot)){\n"
+	"            b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));\n"
+	"            cont = 1;\n"
+	"        }\n"
+	"        if (!cont){\n"
+	"            // test if origin is outside (v3, v0, v2) - set v1 as v3 and\n"
+	"            // continue\n"
+	"            b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,\n"
+	"                              &b3MprSimplexPoint(portal, 2)->v);\n"
+	"            dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"            if (dot < 0.f && !b3MprIsZero(dot)){\n"
+	"                b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));\n"
+	"                cont = 1;\n"
+	"            }\n"
+	"        }\n"
+	"        if (cont){\n"
+	"            b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,\n"
+	"                             &b3MprSimplexPoint(portal, 0)->v);\n"
+	"            b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,\n"
+	"                             &b3MprSimplexPoint(portal, 0)->v);\n"
+	"            b3MprVec3Cross(&dir, &va, &vb);\n"
+	"            b3MprVec3Normalize(&dir);\n"
+	"        }else{\n"
+	"            b3MprSimplexSetSize(portal, 4);\n"
+	"        }\n"
+	"    }\n"
+	"    return 0;\n"
+	"}\n"
+	"B3_STATIC int b3RefinePortal(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
+	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
+	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
+	"													b3ConstArray(b3Float4)					cpuVertices,\n"
+	"													__global b3Float4* sepAxis,\n"
+	"													b3MprSimplex_t *portal)\n"
+	"{\n"
+	"    b3Float4 dir;\n"
+	"    b3MprSupport_t v4;\n"
+	"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
+	"    //while (1)\n"
+	"	{\n"
+	"        // compute direction outside the portal (from v0 throught v1,v2,v3\n"
+	"        // face)\n"
+	"        b3PortalDir(portal, &dir);\n"
+	"        // test if origin is inside the portal\n"
+	"        if (portalEncapsulesOrigin(portal, &dir))\n"
+	"            return 0;\n"
+	"        // get next support point\n"
+	"        \n"
+	"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
+	"        // test if v4 can expand portal to contain origin and if portal\n"
+	"        // expanding doesn't reach given tolerance\n"
+	"        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)\n"
+	"                || portalReachTolerance(portal, &v4, &dir))\n"
+	"		{\n"
+	"            return -1;\n"
+	"        }\n"
+	"        // v1-v2-v3 triangle must be rearranged to face outside Minkowski\n"
+	"        // difference (direction from v0).\n"
+	"        b3ExpandPortal(portal, &v4);\n"
+	"    }\n"
+	"    return -1;\n"
+	"}\n"
+	"B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)\n"
+	"{\n"
+	"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
+	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
+	"    b3Float4 dir;\n"
+	"    size_t i;\n"
+	"    float b[4], sum, inv;\n"
+	"    b3Float4 vec, p1, p2;\n"
+	"    b3PortalDir(portal, &dir);\n"
+	"    // use barycentric coordinates of tetrahedron to find origin\n"
+	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 2)->v);\n"
+	"    b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
+	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 2)->v);\n"
+	"    b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);\n"
+	"    b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
+	"                       &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);\n"
+	"	sum = b[0] + b[1] + b[2] + b[3];\n"
+	"    if (b3MprIsZero(sum) || sum < 0.f){\n"
+	"		b[0] = 0.f;\n"
+	"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,\n"
+	"                           &b3MprSimplexPoint(portal, 3)->v);\n"
+	"        b[1] = b3MprVec3Dot(&vec, &dir);\n"
+	"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,\n"
+	"                           &b3MprSimplexPoint(portal, 1)->v);\n"
+	"        b[2] = b3MprVec3Dot(&vec, &dir);\n"
+	"        b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,\n"
+	"                           &b3MprSimplexPoint(portal, 2)->v);\n"
+	"        b[3] = b3MprVec3Dot(&vec, &dir);\n"
+	"		sum = b[1] + b[2] + b[3];\n"
+	"	}\n"
+	"	inv = 1.f / sum;\n"
+	"    b3MprVec3Copy(&p1, b3mpr_vec3_origin);\n"
+	"    b3MprVec3Copy(&p2, b3mpr_vec3_origin);\n"
+	"    for (i = 0; i < 4; i++){\n"
+	"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);\n"
+	"        b3MprVec3Scale(&vec, b[i]);\n"
+	"        b3MprVec3Add(&p1, &vec);\n"
+	"        b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);\n"
+	"        b3MprVec3Scale(&vec, b[i]);\n"
+	"        b3MprVec3Add(&p2, &vec);\n"
+	"    }\n"
+	"    b3MprVec3Scale(&p1, inv);\n"
+	"    b3MprVec3Scale(&p2, inv);\n"
+	"    b3MprVec3Copy(pos, &p1);\n"
+	"    b3MprVec3Add(pos, &p2);\n"
+	"    b3MprVec3Scale(pos, 0.5);\n"
+	"}\n"
+	"inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)\n"
+	"{\n"
+	"    b3Float4 ab;\n"
+	"    b3MprVec3Sub2(&ab, a, b);\n"
+	"    return b3MprVec3Len2(&ab);\n"
+	"}\n"
+	"inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,\n"
+	"                                                  const b3Float4 *x0,\n"
+	"                                                  const b3Float4 *b,\n"
+	"                                                  b3Float4 *witness)\n"
+	"{\n"
+	"    // The computation comes from solving equation of segment:\n"
+	"    //      S(t) = x0 + t.d\n"
+	"    //          where - x0 is initial point of segment\n"
+	"    //                - d is direction of segment from x0 (|d| > 0)\n"
+	"    //                - t belongs to <0, 1> interval\n"
+	"    // \n"
+	"    // Than, distance from a segment to some point P can be expressed:\n"
+	"    //      D(t) = |x0 + t.d - P|^2\n"
+	"    //          which is distance from any point on segment. Minimization\n"
+	"    //          of this function brings distance from P to segment.\n"
+	"    // Minimization of D(t) leads to simple quadratic equation that's\n"
+	"    // solving is straightforward.\n"
+	"    //\n"
+	"    // Bonus of this method is witness point for free.\n"
+	"    float dist, t;\n"
+	"    b3Float4 d, a;\n"
+	"    // direction of segment\n"
+	"    b3MprVec3Sub2(&d, b, x0);\n"
+	"    // precompute vector from P to x0\n"
+	"    b3MprVec3Sub2(&a, x0, P);\n"
+	"    t  = -1.f * b3MprVec3Dot(&a, &d);\n"
+	"    t /= b3MprVec3Len2(&d);\n"
+	"    if (t < 0.f || b3MprIsZero(t)){\n"
+	"        dist = b3MprVec3Dist2(x0, P);\n"
+	"        if (witness)\n"
+	"            b3MprVec3Copy(witness, x0);\n"
+	"    }else if (t > 1.f || b3MprEq(t, 1.f)){\n"
+	"        dist = b3MprVec3Dist2(b, P);\n"
+	"        if (witness)\n"
+	"            b3MprVec3Copy(witness, b);\n"
+	"    }else{\n"
+	"        if (witness){\n"
+	"            b3MprVec3Copy(witness, &d);\n"
+	"            b3MprVec3Scale(witness, t);\n"
+	"            b3MprVec3Add(witness, x0);\n"
+	"            dist = b3MprVec3Dist2(witness, P);\n"
+	"        }else{\n"
+	"            // recycling variables\n"
+	"            b3MprVec3Scale(&d, t);\n"
+	"            b3MprVec3Add(&d, &a);\n"
+	"            dist = b3MprVec3Len2(&d);\n"
+	"        }\n"
+	"    }\n"
+	"    return dist;\n"
+	"}\n"
+	"inline float b3MprVec3PointTriDist2(const b3Float4 *P,\n"
+	"                                const b3Float4 *x0, const b3Float4 *B,\n"
+	"                                const b3Float4 *C,\n"
+	"                                b3Float4 *witness)\n"
+	"{\n"
+	"    // Computation comes from analytic expression for triangle (x0, B, C)\n"
+	"    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and\n"
+	"    // Then equation for distance is:\n"
+	"    //      D(s, t) = | T(s, t) - P |^2\n"
+	"    // This leads to minimization of quadratic function of two variables.\n"
+	"    // The solution from is taken only if s is between 0 and 1, t is\n"
+	"    // between 0 and 1 and t + s < 1, otherwise distance from segment is\n"
+	"    // computed.\n"
+	"    b3Float4 d1, d2, a;\n"
+	"    float u, v, w, p, q, r;\n"
+	"    float s, t, dist, dist2;\n"
+	"    b3Float4 witness2;\n"
+	"    b3MprVec3Sub2(&d1, B, x0);\n"
+	"    b3MprVec3Sub2(&d2, C, x0);\n"
+	"    b3MprVec3Sub2(&a, x0, P);\n"
+	"    u = b3MprVec3Dot(&a, &a);\n"
+	"    v = b3MprVec3Dot(&d1, &d1);\n"
+	"    w = b3MprVec3Dot(&d2, &d2);\n"
+	"    p = b3MprVec3Dot(&a, &d1);\n"
+	"    q = b3MprVec3Dot(&a, &d2);\n"
+	"    r = b3MprVec3Dot(&d1, &d2);\n"
+	"    s = (q * r - w * p) / (w * v - r * r);\n"
+	"    t = (-s * r - q) / w;\n"
+	"    if ((b3MprIsZero(s) || s > 0.f)\n"
+	"            && (b3MprEq(s, 1.f) || s < 1.f)\n"
+	"            && (b3MprIsZero(t) || t > 0.f)\n"
+	"            && (b3MprEq(t, 1.f) || t < 1.f)\n"
+	"            && (b3MprEq(t + s, 1.f) || t + s < 1.f)){\n"
+	"        if (witness){\n"
+	"            b3MprVec3Scale(&d1, s);\n"
+	"            b3MprVec3Scale(&d2, t);\n"
+	"            b3MprVec3Copy(witness, x0);\n"
+	"            b3MprVec3Add(witness, &d1);\n"
+	"            b3MprVec3Add(witness, &d2);\n"
+	"            dist = b3MprVec3Dist2(witness, P);\n"
+	"        }else{\n"
+	"            dist  = s * s * v;\n"
+	"            dist += t * t * w;\n"
+	"            dist += 2.f * s * t * r;\n"
+	"            dist += 2.f * s * p;\n"
+	"            dist += 2.f * t * q;\n"
+	"            dist += u;\n"
+	"        }\n"
+	"    }else{\n"
+	"        dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);\n"
+	"        dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);\n"
+	"        if (dist2 < dist){\n"
+	"            dist = dist2;\n"
+	"            if (witness)\n"
+	"                b3MprVec3Copy(witness, &witness2);\n"
+	"        }\n"
+	"        dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);\n"
+	"        if (dist2 < dist){\n"
+	"            dist = dist2;\n"
+	"            if (witness)\n"
+	"                b3MprVec3Copy(witness, &witness2);\n"
+	"        }\n"
+	"    }\n"
+	"    return dist;\n"
+	"}\n"
+	"B3_STATIC void b3FindPenetr(int pairIndex,int bodyIndexA, int bodyIndexB,  b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, \n"
+	"													b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
+	"													b3ConstArray(b3Collidable_t)				cpuCollidables,\n"
+	"													b3ConstArray(b3Float4)					cpuVertices,\n"
+	"													__global b3Float4* sepAxis,\n"
+	"                       b3MprSimplex_t *portal,\n"
+	"                       float *depth, b3Float4 *pdir, b3Float4 *pos)\n"
+	"{\n"
+	"    b3Float4 dir;\n"
+	"    b3MprSupport_t v4;\n"
+	"    unsigned long iterations;\n"
+	"	b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
+	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
+	"    iterations = 1UL;\n"
+	"	for (int i=0;i<B3_MPR_MAX_ITERATIONS;i++)\n"
+	"    //while (1)\n"
+	"	{\n"
+	"        // compute portal direction and obtain next support point\n"
+	"        b3PortalDir(portal, &dir);\n"
+	"        \n"
+	"		 b3MprSupport(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&dir, &v4);\n"
+	"        // reached tolerance -> find penetration info\n"
+	"        if (portalReachTolerance(portal, &v4, &dir)\n"
+	"                || iterations ==B3_MPR_MAX_ITERATIONS)\n"
+	"		{\n"
+	"            *depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin,&b3MprSimplexPoint(portal, 1)->v,&b3MprSimplexPoint(portal, 2)->v,&b3MprSimplexPoint(portal, 3)->v,pdir);\n"
+	"            *depth = B3_MPR_SQRT(*depth);\n"
+	"			\n"
+	"			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))\n"
+	"			{\n"
+	"				\n"
+	"				*pdir = dir;\n"
+	"			} \n"
+	"			b3MprVec3Normalize(pdir);\n"
+	"			\n"
+	"            // barycentric coordinates:\n"
+	"            b3FindPos(portal, pos);\n"
+	"            return;\n"
+	"        }\n"
+	"        b3ExpandPortal(portal, &v4);\n"
+	"        iterations++;\n"
+	"    }\n"
+	"}\n"
+	"B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal,float *depth, b3Float4 *dir, b3Float4 *pos)\n"
+	"{\n"
+	"    // Touching contact on portal's v1 - so depth is zero and direction\n"
+	"    // is unimportant and pos can be guessed\n"
+	"    *depth = 0.f;\n"
+	"    b3Float4 zero = b3MakeFloat4(0,0,0,0);\n"
+	"	b3Float4* b3mpr_vec3_origin = &zero;\n"
+	"	b3MprVec3Copy(dir, b3mpr_vec3_origin);\n"
+	"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
+	"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
+	"    b3MprVec3Scale(pos, 0.5);\n"
+	"}\n"
+	"B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,\n"
+	"                              float *depth, b3Float4 *dir, b3Float4 *pos)\n"
+	"{\n"
+	"    \n"
+	"    // Origin lies on v0-v1 segment.\n"
+	"    // Depth is distance to v1, direction also and position must be\n"
+	"    // computed\n"
+	"    b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);\n"
+	"    b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);\n"
+	"    b3MprVec3Scale(pos, 0.5f);\n"
+	"    \n"
+	"    b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);\n"
+	"    *depth = B3_MPR_SQRT(b3MprVec3Len2(dir));\n"
+	"    b3MprVec3Normalize(dir);\n"
+	"}\n"
+	"inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,\n"
+	"					b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,\n"
+	"					b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData, \n"
+	"					b3ConstArray(b3Collidable_t)	cpuCollidables,\n"
+	"					b3ConstArray(b3Float4)	cpuVertices,\n"
+	"					__global b3Float4* sepAxis,\n"
+	"					__global int*	hasSepAxis,\n"
+	"					float *depthOut, b3Float4* dirOut, b3Float4* posOut)\n"
+	"{\n"
+	"	\n"
+	"	 b3MprSimplex_t portal;\n"
+	"	 \n"
+	"//	if (!hasSepAxis[pairIndex])\n"
+	"	//	return -1;\n"
+	"	\n"
+	"	hasSepAxis[pairIndex] = 0;\n"
+	"	 int res;\n"
+	"    // Phase 1: Portal discovery\n"
+	"    res = b3DiscoverPortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices,sepAxis,hasSepAxis, &portal);\n"
+	"	\n"
+	"	  \n"
+	"	//sepAxis[pairIndex] = *pdir;//or -dir?\n"
+	"	switch (res)\n"
+	"	{\n"
+	"	case 0:\n"
+	"		{\n"
+	"			// Phase 2: Portal refinement\n"
+	"		\n"
+	"			res = b3RefinePortal(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal);\n"
+	"			if (res < 0)\n"
+	"				return -1;\n"
+	"			// Phase 3. Penetration info\n"
+	"			b3FindPenetr(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,cpuConvexData,cpuCollidables,cpuVertices, sepAxis,&portal, depthOut, dirOut, posOut);\n"
+	"			hasSepAxis[pairIndex] = 1;\n"
+	"			sepAxis[pairIndex] = -*dirOut;\n"
+	"			break;\n"
+	"		}\n"
+	"	case 1:\n"
+	"		{\n"
+	"			 // Touching contact on portal's v1.\n"
+	"			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);\n"
+	"			break;\n"
+	"		}\n"
+	"	case 2:\n"
+	"		{\n"
+	"			\n"
+	"			b3FindPenetrSegment( &portal, depthOut, dirOut, posOut);\n"
+	"			break;\n"
+	"		}\n"
+	"	default:\n"
+	"		{\n"
+	"			hasSepAxis[pairIndex]=0;\n"
+	"			//if (res < 0)\n"
+	"			//{\n"
+	"				// Origin isn't inside portal - no collision.\n"
+	"				return -1;\n"
+	"			//}\n"
+	"		}\n"
+	"	};\n"
+	"	\n"
+	"	return 0;\n"
+	"};\n"
+	"#endif //B3_MPR_PENETRATION_H\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"	#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"	#define counter32_t volatile __global int*\n"
+	"#endif\n"
+	"__kernel void   mprPenetrationKernel( __global int4* pairs,\n"
+	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																					__global const b3Collidable_t* collidables,\n"
+	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global float4* separatingNormals,\n"
+	"																					__global int* hasSeparatingAxis,\n"
+	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																					counter32_t nGlobalContactsOut,\n"
+	"																					int contactCapacity,\n"
+	"																					int numPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"		\n"
+	"		\n"
+	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
+	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
+	"		{\n"
+	"			return;\n"
+	"		}\n"
+	"		\n"
+	"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
+	"		{\n"
+	"			return;\n"
+	"		}\n"
+	"		float depthOut;\n"
+	"		b3Float4 dirOut;\n"
+	"		b3Float4 posOut;\n"
+	"		int res = b3MprPenetration(pairIndex, bodyIndexA, bodyIndexB,rigidBodies,convexShapes,collidables,vertices,separatingNormals,hasSeparatingAxis,&depthOut, &dirOut, &posOut);\n"
+	"		\n"
+	"		\n"
+	"		\n"
+	"		\n"
+	"		if (res==0)\n"
+	"		{\n"
+	"			//add a contact\n"
+	"			int dstIdx;\n"
+	"			AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"			if (dstIdx<contactCapacity)\n"
+	"			{\n"
+	"				pairs[pairIndex].z = dstIdx;\n"
+	"				__global struct b3Contact4Data* c = globalContactsOut + dstIdx;\n"
+	"				c->m_worldNormalOnB = -dirOut;//normal;\n"
+	"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"				c->m_batchIdx = pairIndex;\n"
+	"				int bodyA = pairs[pairIndex].x;\n"
+	"				int bodyB = pairs[pairIndex].y;\n"
+	"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
+	"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
+	"				c->m_childIndexA = -1;\n"
+	"				c->m_childIndexB = -1;\n"
+	"				//for (int i=0;i<nContacts;i++)\n"
+	"				posOut.w = -depthOut;\n"
+	"				c->m_worldPosB[0] = posOut;//localPoints[contactIdx[i]];\n"
+	"				GET_NPOINTS(*c) = 1;//nContacts;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"typedef float4 Quaternion;\n"
+	"#define make_float4 (float4)\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
+	"{\n"
+	"	return qtRotate( *orientation, *p ) + (*translation);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"inline void project(__global const b3ConvexPolyhedronData_t* hull,  const float4 pos, const float4 orn, \n"
+	"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
+	"{\n"
+	"	min[0] = FLT_MAX;\n"
+	"	max[0] = -FLT_MAX;\n"
+	"	int numVerts = hull->m_numVertices;\n"
+	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+	"	float offset = dot(pos,*dir);\n"
+	"	for(int i=0;i<numVerts;i++)\n"
+	"	{\n"
+	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+	"		if(dp < min[0])	\n"
+	"			min[0] = dp;\n"
+	"		if(dp > max[0])	\n"
+	"			max[0] = dp;\n"
+	"	}\n"
+	"	if(min[0]>max[0])\n"
+	"	{\n"
+	"		float tmp = min[0];\n"
+	"		min[0] = max[0];\n"
+	"		max[0] = tmp;\n"
+	"	}\n"
+	"	min[0] += offset;\n"
+	"	max[0] += offset;\n"
+	"}\n"
+	"bool findSeparatingAxisUnitSphere(	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	__global const float4* vertices,\n"
+	"	__global const float4* unitSphereDirections,\n"
+	"	int numUnitSphereDirections,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	int curEdgeEdge = 0;\n"
+	"	// Test unit sphere directions\n"
+	"	for (int i=0;i<numUnitSphereDirections;i++)\n"
+	"	{\n"
+	"		float4 crossje;\n"
+	"		crossje = unitSphereDirections[i];	\n"
+	"		if (dot3F4(DeltaC2,crossje)>0)\n"
+	"			crossje *= -1.f;\n"
+	"		{\n"
+	"			float dist;\n"
+	"			bool result = true;\n"
+	"			float Min0,Max0;\n"
+	"			float Min1,Max1;\n"
+	"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
+	"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
+	"		\n"
+	"			if(Max0<Min1 || Max1<Min0)\n"
+	"				return false;\n"
+	"		\n"
+	"			float d0 = Max0 - Min1;\n"
+	"			float d1 = Max1 - Min0;\n"
+	"			dist = d0<d1 ? d0:d1;\n"
+	"			result = true;\n"
+	"	\n"
+	"			if(dist<*dmin)\n"
+	"			{\n"
+	"				*dmin = dist;\n"
+	"				*sep = crossje;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"__kernel void   findSeparatingAxisUnitSphereKernel( __global const int4* pairs, \n"
+	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																					__global const b3Collidable_t* collidables,\n"
+	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* unitSphereDirections,\n"
+	"																					__global  float4* separatingNormals,\n"
+	"																					__global  int* hasSeparatingAxis,\n"
+	"																					__global  float* dmins,\n"
+	"																					int numUnitSphereDirections,\n"
+	"																					int numPairs\n"
+	"																					)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		if (hasSeparatingAxis[i])\n"
+	"		{\n"
+	"	\n"
+	"			int bodyIndexA = pairs[i].x;\n"
+	"			int bodyIndexB = pairs[i].y;\n"
+	"	\n"
+	"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"		\n"
+	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"			\n"
+	"			\n"
+	"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"	\n"
+	"			float dmin = dmins[i];\n"
+	"	\n"
+	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			posA.w = 0.f;\n"
+	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"			posB.w = 0.f;\n"
+	"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"			const float4 DeltaC2 = c0 - c1;\n"
+	"			float4 sepNormal = separatingNormals[i];\n"
+	"			\n"
+	"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
+	"			if (numEdgeEdgeDirections>numUnitSphereDirections)\n"
+	"			{\n"
+	"				bool sepEE = findSeparatingAxisUnitSphere(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+	"																										posB,ornB,\n"
+	"																										DeltaC2,\n"
+	"																										vertices,unitSphereDirections,numUnitSphereDirections,&sepNormal,&dmin);\n"
+	"				if (!sepEE)\n"
+	"				{\n"
+	"					hasSeparatingAxis[i] = 0;\n"
+	"				} else\n"
+	"				{\n"
+	"					hasSeparatingAxis[i] = 1;\n"
+	"					separatingNormals[i] = sepNormal;\n"
+	"				}\n"
+	"			}\n"
+	"		}		//if (hasSeparatingAxis[i])\n"
+	"	}//(i<numPairs)\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
index b0103fe674..b2e0a2dd47 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
@@ -1,1289 +1,1288 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* primitiveContactsKernelsCL= \
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#define SHAPE_CONVEX_HULL 3\n"
-"#define SHAPE_PLANE 4\n"
-"#define SHAPE_CONCAVE_TRIMESH 5\n"
-"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-"#define SHAPE_SPHERE 7\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile __global int*\n"
-"#endif\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"typedef unsigned int u32;\n"
-"typedef struct \n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float4	m_min;\n"
-"		float   m_minElems[4];\n"
-"		int			m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float4	m_max;\n"
-"		float   m_maxElems[4];\n"
-"		int			m_maxIndices[4];\n"
-"	};\n"
-"} btAabbCL;\n"
-"///keep this in sync with btCollidable.h\n"
-"typedef struct\n"
-"{\n"
-"	int m_numChildShapes;\n"
-"	float m_radius;\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"	\n"
-"} btCollidableGpu;\n"
-"typedef struct\n"
-"{\n"
-"	float4	m_childPosition;\n"
-"	float4	m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"} btGpuChildShape;\n"
-"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	float4 m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_collidableIdx;	\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} BodyData;\n"
-"typedef struct  \n"
-"{\n"
-"	float4		m_localCenter;\n"
-"	float4		m_extents;\n"
-"	float4		mC;\n"
-"	float4		mE;\n"
-"	\n"
-"	float			m_radius;\n"
-"	int	m_faceOffset;\n"
-"	int m_numFaces;\n"
-"	int	m_numVertices;\n"
-"	\n"
-"	int m_vertexOffset;\n"
-"	int	m_uniqueEdgesOffset;\n"
-"	int	m_numUniqueEdges;\n"
-"	int m_unused;\n"
-"} ConvexPolyhedronCL;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_plane;\n"
-"	int m_indexOffset;\n"
-"	int m_numIndices;\n"
-"} btGpuFace;\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"__inline\n"
-"float fastDiv(float numerator, float denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"//	return numerator/denominator;	\n"
-"}\n"
-"__inline\n"
-"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"//#define dot3F4 dot\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"__inline\n"
-"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-"{\n"
-"	return qtRotate( *orientation, *p ) + (*translation);\n"
-"}\n"
-"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
-"		float4* translationOut, Quaternion* orientationOut)\n"
-"{\n"
-"	*orientationOut = qtInvert(orientationIn);\n"
-"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
-"}\n"
-"void	trMul(float4 translationA, Quaternion orientationA,\n"
-"						float4 translationB, Quaternion orientationB,\n"
-"		float4* translationOut, Quaternion* orientationOut)\n"
-"{\n"
-"	*orientationOut = qtMul(orientationA,orientationB);\n"
-"	*translationOut = transform(&translationB,&translationA,&orientationA);\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"}\n"
-"__inline float4 lerp3(const float4 a,const float4 b, float  t)\n"
-"{\n"
-"	return make_float4(	a.x + (b.x - a.x) * t,\n"
-"						a.y + (b.y - a.y) * t,\n"
-"						a.z + (b.z - a.z) * t,\n"
-"						0.f);\n"
-"}\n"
-"float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)\n"
-"{\n"
-"	float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);\n"
-"	float dist = dot3F4(n, point) + planeEqn.w;\n"
-"	*closestPointOnFace = point - dist * n;\n"
-"	return dist;\n"
-"}\n"
-"inline bool IsPointInPolygon(float4 p, \n"
-"							const btGpuFace* face,\n"
-"							__global const float4* baseVertex,\n"
-"							__global const  int* convexIndices,\n"
-"							float4* out)\n"
-"{\n"
-"    float4 a;\n"
-"    float4 b;\n"
-"    float4 ab;\n"
-"    float4 ap;\n"
-"    float4 v;\n"
-"	float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);\n"
-"	\n"
-"	if (face->m_numIndices<2)\n"
-"		return false;\n"
-"	\n"
-"	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];\n"
-"	\n"
-"	b = v0;\n"
-"    for(unsigned i=0; i != face->m_numIndices; ++i)\n"
-"    {\n"
-"		a = b;\n"
-"		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];\n"
-"		b = vi;\n"
-"        ab = b-a;\n"
-"        ap = p-a;\n"
-"        v = cross3(ab,plane);\n"
-"        if (dot(ap, v) > 0.f)\n"
-"        {\n"
-"            float ab_m2 = dot(ab, ab);\n"
-"            float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;\n"
-"            if (rt <= 0.f)\n"
-"            {\n"
-"                *out = a;\n"
-"            }\n"
-"            else if (rt >= 1.f) \n"
-"            {\n"
-"                *out = b;\n"
-"            }\n"
-"            else\n"
-"            {\n"
-"            	float s = 1.f - rt;\n"
-"				out[0].x = s * a.x + rt * b.x;\n"
-"				out[0].y = s * a.y + rt * b.y;\n"
-"				out[0].z = s * a.z + rt * b.z;\n"
-"            }\n"
-"            return false;\n"
-"        }\n"
-"    }\n"
-"    return true;\n"
-"}\n"
-"void	computeContactSphereConvex(int pairIndex,\n"
-"																int bodyIndexA, int bodyIndexB, \n"
-"																int collidableIndexA, int collidableIndexB, \n"
-"																__global const BodyData* rigidBodies, \n"
-"																__global const btCollidableGpu* collidables,\n"
-"																__global const ConvexPolyhedronCL* convexShapes,\n"
-"																__global const float4* convexVertices,\n"
-"																__global const int* convexIndices,\n"
-"																__global const btGpuFace* faces,\n"
-"																__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																counter32_t nGlobalContactsOut,\n"
-"																int maxContactCapacity,\n"
-"																float4 spherePos2,\n"
-"																float radius,\n"
-"																float4 pos,\n"
-"																float4 quat\n"
-"																)\n"
-"{\n"
-"	float4 invPos;\n"
-"	float4 invOrn;\n"
-"	trInverse(pos,quat, &invPos,&invOrn);\n"
-"	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n"
-"	int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
-"	int numFaces = convexShapes[shapeIndex].m_numFaces;\n"
-"	float4 closestPnt = (float4)(0, 0, 0, 0);\n"
-"	float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
-"	float minDist = -1000000.f;\n"
-"	bool bCollide = true;\n"
-"	for ( int f = 0; f < numFaces; f++ )\n"
-"	{\n"
-"		btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];\n"
-"		// set up a plane equation \n"
-"		float4 planeEqn;\n"
-"		float4 n1 = face.m_plane;\n"
-"		n1.w = 0.f;\n"
-"		planeEqn = n1;\n"
-"		planeEqn.w = face.m_plane.w;\n"
-"		\n"
-"	\n"
-"		// compute a signed distance from the vertex in cloth to the face of rigidbody.\n"
-"		float4 pntReturn;\n"
-"		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);\n"
-"		// If the distance is positive, the plane is a separating plane. \n"
-"		if ( dist > radius )\n"
-"		{\n"
-"			bCollide = false;\n"
-"			break;\n"
-"		}\n"
-"		if (dist>0)\n"
-"		{\n"
-"			//might hit an edge or vertex\n"
-"			float4 out;\n"
-"			float4 zeroPos = make_float4(0,0,0,0);\n"
-"			bool isInPoly = IsPointInPolygon(spherePos,\n"
-"					&face,\n"
-"					&convexVertices[convexShapes[shapeIndex].m_vertexOffset],\n"
-"					convexIndices,\n"
-"           &out);\n"
-"			if (isInPoly)\n"
-"			{\n"
-"				if (dist>minDist)\n"
-"				{\n"
-"					minDist = dist;\n"
-"					closestPnt = pntReturn;\n"
-"					hitNormalWorld = planeEqn;\n"
-"					\n"
-"				}\n"
-"			} else\n"
-"			{\n"
-"				float4 tmp = spherePos-out;\n"
-"				float l2 = dot(tmp,tmp);\n"
-"				if (l2<radius*radius)\n"
-"				{\n"
-"					dist  = sqrt(l2);\n"
-"					if (dist>minDist)\n"
-"					{\n"
-"						minDist = dist;\n"
-"						closestPnt = out;\n"
-"						hitNormalWorld = tmp/dist;\n"
-"						\n"
-"					}\n"
-"					\n"
-"				} else\n"
-"				{\n"
-"					bCollide = false;\n"
-"					break;\n"
-"				}\n"
-"			}\n"
-"		} else\n"
-"		{\n"
-"			if ( dist > minDist )\n"
-"			{\n"
-"				minDist = dist;\n"
-"				closestPnt = pntReturn;\n"
-"				hitNormalWorld.xyz = planeEqn.xyz;\n"
-"			}\n"
-"		}\n"
-"		\n"
-"	}\n"
-"	\n"
-"	if (bCollide && minDist > -10000)\n"
-"	{\n"
-"		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n"
-"		float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n"
-"		\n"
-"		float actualDepth = minDist-radius;\n"
-"		if (actualDepth<=0.f)\n"
-"		{\n"
-"			\n"
-"			pOnB1.w = actualDepth;\n"
-"			int dstIdx;\n"
-"			AppendInc( nGlobalContactsOut, dstIdx );\n"
-"		\n"
-"			\n"
-"			if (1)//dstIdx < maxContactCapacity)\n"
-"			{\n"
-"				__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"				c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
-"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"				c->m_batchIdx = pairIndex;\n"
-"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-"				c->m_worldPosB[0] = pOnB1;\n"
-"				c->m_childIndexA = -1;\n"
-"				c->m_childIndexB = -1;\n"
-"				GET_NPOINTS(*c) = 1;\n"
-"			} \n"
-"		}\n"
-"	}//if (hasCollision)\n"
-"}\n"
-"							\n"
-"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
-"{\n"
-"	if( nPoints == 0 )\n"
-"        return 0;\n"
-"    \n"
-"    if (nPoints <=4)\n"
-"        return nPoints;\n"
-"    \n"
-"    \n"
-"    if (nPoints >64)\n"
-"        nPoints = 64;\n"
-"    \n"
-"	float4 center = make_float4(0.f);\n"
-"	{\n"
-"		\n"
-"		for (int i=0;i<nPoints;i++)\n"
-"			center += p[i];\n"
-"		center /= (float)nPoints;\n"
-"	}\n"
-"    \n"
-"	\n"
-"    \n"
-"	//	sample 4 directions\n"
-"    \n"
-"    float4 aVector = p[0] - center;\n"
-"    float4 u = cross3( nearNormal, aVector );\n"
-"    float4 v = cross3( nearNormal, u );\n"
-"    u = normalize3( u );\n"
-"    v = normalize3( v );\n"
-"    \n"
-"    \n"
-"    //keep point with deepest penetration\n"
-"    float minW= FLT_MAX;\n"
-"    \n"
-"    int minIndex=-1;\n"
-"    \n"
-"    float4 maxDots;\n"
-"    maxDots.x = FLT_MIN;\n"
-"    maxDots.y = FLT_MIN;\n"
-"    maxDots.z = FLT_MIN;\n"
-"    maxDots.w = FLT_MIN;\n"
-"    \n"
-"    //	idx, distance\n"
-"    for(int ie = 0; ie<nPoints; ie++ )\n"
-"    {\n"
-"        if (p[ie].w<minW)\n"
-"        {\n"
-"            minW = p[ie].w;\n"
-"            minIndex=ie;\n"
-"        }\n"
-"        float f;\n"
-"        float4 r = p[ie]-center;\n"
-"        f = dot3F4( u, r );\n"
-"        if (f<maxDots.x)\n"
-"        {\n"
-"            maxDots.x = f;\n"
-"            contactIdx[0].x = ie;\n"
-"        }\n"
-"        \n"
-"        f = dot3F4( -u, r );\n"
-"        if (f<maxDots.y)\n"
-"        {\n"
-"            maxDots.y = f;\n"
-"            contactIdx[0].y = ie;\n"
-"        }\n"
-"        \n"
-"        \n"
-"        f = dot3F4( v, r );\n"
-"        if (f<maxDots.z)\n"
-"        {\n"
-"            maxDots.z = f;\n"
-"            contactIdx[0].z = ie;\n"
-"        }\n"
-"        \n"
-"        f = dot3F4( -v, r );\n"
-"        if (f<maxDots.w)\n"
-"        {\n"
-"            maxDots.w = f;\n"
-"            contactIdx[0].w = ie;\n"
-"        }\n"
-"        \n"
-"    }\n"
-"    \n"
-"    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
-"    {\n"
-"        //replace the first contact with minimum (todo: replace contact with least penetration)\n"
-"        contactIdx[0].x = minIndex;\n"
-"    }\n"
-"    \n"
-"    return 4;\n"
-"    \n"
-"}\n"
-"#define MAX_PLANE_CONVEX_POINTS 64\n"
-"int computeContactPlaneConvex(int pairIndex,\n"
-"								int bodyIndexA, int bodyIndexB, \n"
-"								int collidableIndexA, int collidableIndexB, \n"
-"								__global const BodyData* rigidBodies, \n"
-"								__global const btCollidableGpu*collidables,\n"
-"								__global const ConvexPolyhedronCL* convexShapes,\n"
-"								__global const float4* convexVertices,\n"
-"								__global const int* convexIndices,\n"
-"								__global const btGpuFace* faces,\n"
-"								__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"								counter32_t nGlobalContactsOut,\n"
-"								int maxContactCapacity,\n"
-"								float4 posB,\n"
-"								Quaternion ornB\n"
-"								)\n"
-"{\n"
-"	int resultIndex=-1;\n"
-"		int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
-"	__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];\n"
-"	\n"
-"	float4 posA;\n"
-"	posA = rigidBodies[bodyIndexA].m_pos;\n"
-"	Quaternion ornA;\n"
-"	ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"	int numContactsOut = 0;\n"
-"	int numWorldVertsB1= 0;\n"
-"	float4 planeEq;\n"
-"	 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
-"	float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
-"	float4 planeNormalWorld;\n"
-"	planeNormalWorld = qtRotate(ornA,planeNormal);\n"
-"	float planeConstant = planeEq.w;\n"
-"	\n"
-"	float4 invPosA;Quaternion invOrnA;\n"
-"	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
-"	{\n"
-"		\n"
-"		trInverse(posA,ornA,&invPosA,&invOrnA);\n"
-"		trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
-"	}\n"
-"	float4 invPosB;Quaternion invOrnB;\n"
-"	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;\n"
-"	{\n"
-"		\n"
-"		trInverse(posB,ornB,&invPosB,&invOrnB);\n"
-"		trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);	\n"
-"	}\n"
-"	\n"
-"	float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);\n"
-"	float maxDot = -1e30;\n"
-"	int hitVertex=-1;\n"
-"	float4 hitVtx;\n"
-"	float4 contactPoints[MAX_PLANE_CONVEX_POINTS];\n"
-"	int numPoints = 0;\n"
-"	int4 contactIdx;\n"
-"	contactIdx=make_int4(0,1,2,3);\n"
-"    \n"
-"	\n"
-"	for (int i=0;i<hullB->m_numVertices;i++)\n"
-"	{\n"
-"		float4 vtx = convexVertices[hullB->m_vertexOffset+i];\n"
-"		float curDot = dot(vtx,planeNormalInConvex);\n"
-"		if (curDot>maxDot)\n"
-"		{\n"
-"			hitVertex=i;\n"
-"			maxDot=curDot;\n"
-"			hitVtx = vtx;\n"
-"			//make sure the deepest points is always included\n"
-"			if (numPoints==MAX_PLANE_CONVEX_POINTS)\n"
-"				numPoints--;\n"
-"		}\n"
-"		if (numPoints<MAX_PLANE_CONVEX_POINTS)\n"
-"		{\n"
-"			float4 vtxWorld = transform(&vtx, &posB, &ornB);\n"
-"			float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;\n"
-"			float dist = dot(planeNormal,vtxInPlane)-planeConstant;\n"
-"			if (dist<0.f)\n"
-"			{\n"
-"				vtxWorld.w = dist;\n"
-"				contactPoints[numPoints] = vtxWorld;\n"
-"				numPoints++;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	int numReducedPoints  = numPoints;\n"
-"	if (numPoints>4)\n"
-"	{\n"
-"		numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);\n"
-"	}\n"
-"	if (numReducedPoints>0)\n"
-"	{\n"
-"		int dstIdx;\n"
-"	    AppendInc( nGlobalContactsOut, dstIdx );\n"
-"		if (dstIdx < maxContactCapacity)\n"
-"		{\n"
-"			resultIndex = dstIdx;\n"
-"			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"			c->m_worldNormalOnB = -planeNormalWorld;\n"
-"			//c->setFrictionCoeff(0.7);\n"
-"			//c->setRestituitionCoeff(0.f);\n"
-"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"			c->m_batchIdx = pairIndex;\n"
-"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-"			c->m_childIndexA = -1;\n"
-"			c->m_childIndexB = -1;\n"
-"			switch (numReducedPoints)\n"
-"            {\n"
-"                case 4:\n"
-"                    c->m_worldPosB[3] = contactPoints[contactIdx.w];\n"
-"                case 3:\n"
-"                    c->m_worldPosB[2] = contactPoints[contactIdx.z];\n"
-"                case 2:\n"
-"                    c->m_worldPosB[1] = contactPoints[contactIdx.y];\n"
-"                case 1:\n"
-"                    c->m_worldPosB[0] = contactPoints[contactIdx.x];\n"
-"                default:\n"
-"                {\n"
-"                }\n"
-"            };\n"
-"			\n"
-"			GET_NPOINTS(*c) = numReducedPoints;\n"
-"		}//if (dstIdx < numPairs)\n"
-"	}	\n"
-"	return resultIndex;\n"
-"}\n"
-"void	computeContactPlaneSphere(int pairIndex,\n"
-"																int bodyIndexA, int bodyIndexB, \n"
-"																int collidableIndexA, int collidableIndexB, \n"
-"																__global const BodyData* rigidBodies, \n"
-"																__global const btCollidableGpu* collidables,\n"
-"																__global const btGpuFace* faces,\n"
-"																__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																counter32_t nGlobalContactsOut,\n"
-"																int maxContactCapacity)\n"
-"{\n"
-"	float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
-"	float radius = collidables[collidableIndexB].m_radius;\n"
-"	float4 posA1 = rigidBodies[bodyIndexA].m_pos;\n"
-"	float4 ornA1 = rigidBodies[bodyIndexA].m_quat;\n"
-"	float4 posB1 = rigidBodies[bodyIndexB].m_pos;\n"
-"	float4 ornB1 = rigidBodies[bodyIndexB].m_quat;\n"
-"	\n"
-"	bool hasCollision = false;\n"
-"	float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
-"	float planeConstant = planeEq.w;\n"
-"	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
-"	{\n"
-"		float4 invPosA;Quaternion invOrnA;\n"
-"		trInverse(posA1,ornA1,&invPosA,&invOrnA);\n"
-"		trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
-"	}\n"
-"	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;\n"
-"	{\n"
-"		float4 invPosB;Quaternion invOrnB;\n"
-"		trInverse(posB1,ornB1,&invPosB,&invOrnB);\n"
-"		trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);	\n"
-"	}\n"
-"	float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;\n"
-"	float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
-"	float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;\n"
-"	hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();\n"
-"	if (hasCollision)\n"
-"	{\n"
-"		float4 vtxInPlaneProjected1 = vtxInPlane1 -   distance*planeNormal1;\n"
-"		float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);\n"
-"		float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);\n"
-"		float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;\n"
-"		pOnB1.w = distance;\n"
-"		int dstIdx;\n"
-"    AppendInc( nGlobalContactsOut, dstIdx );\n"
-"		\n"
-"		if (dstIdx < maxContactCapacity)\n"
-"		{\n"
-"			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"			c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
-"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"			c->m_batchIdx = pairIndex;\n"
-"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-"			c->m_worldPosB[0] = pOnB1;\n"
-"			c->m_childIndexA = -1;\n"
-"			c->m_childIndexB = -1;\n"
-"			GET_NPOINTS(*c) = 1;\n"
-"		}//if (dstIdx < numPairs)\n"
-"	}//if (hasCollision)\n"
-"}\n"
-"__kernel void   primitiveContactsKernel( __global int4* pairs, \n"
-"																					__global const BodyData* rigidBodies, \n"
-"																					__global const btCollidableGpu* collidables,\n"
-"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const btGpuFace* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																					counter32_t nGlobalContactsOut,\n"
-"																					int numPairs, int maxContactCapacity)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"	float4 worldVertsB1[64];\n"
-"	float4 worldVertsB2[64];\n"
-"	int capacityWorldVerts = 64;	\n"
-"	float4 localContactsOut[64];\n"
-"	int localContactCapacity=64;\n"
-"	\n"
-"	float minDist = -1e30f;\n"
-"	float maxDist = 0.02f;\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"			\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
-"		{\n"
-"			float4 posB;\n"
-"			posB = rigidBodies[bodyIndexB].m_pos;\n"
-"			Quaternion ornB;\n"
-"			ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"			int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);\n"
-"			if (contactIndex>=0)\n"
-"				pairs[pairIndex].z = contactIndex;\n"
-"			return;\n"
-"		}\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
-"		{\n"
-"			float4 posA;\n"
-"			posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			Quaternion ornA;\n"
-"			ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"			int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
-"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
-"			if (contactIndex>=0)\n"
-"				pairs[pairIndex].z = contactIndex;\n"
-"			return;\n"
-"		}\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-"		{\n"
-"			computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-"																rigidBodies,collidables,faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n"
-"			return;\n"
-"		}\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
-"		{\n"
-"			computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
-"																rigidBodies,collidables,\n"
-"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n"
-"			return;\n"
-"		}\n"
-"		\n"
-"	\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
-"		{\n"
-"		\n"
-"			float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n"
-"			float sphereRadius = collidables[collidableIndexA].m_radius;\n"
-"			float4 convexPos = rigidBodies[bodyIndexB].m_pos;\n"
-"			float4 convexOrn = rigidBodies[bodyIndexB].m_quat;\n"
-"			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-"																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-"																spherePos,sphereRadius,convexPos,convexOrn);\n"
-"			return;\n"
-"		}\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-"		{\n"
-"		\n"
-"			float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
-"			float sphereRadius = collidables[collidableIndexB].m_radius;\n"
-"			float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n"
-"			float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n"
-"			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
-"																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-"																spherePos,sphereRadius,convexPos,convexOrn);\n"
-"			return;\n"
-"		}\n"
-"	\n"
-"	\n"
-"	\n"
-"		\n"
-"	\n"
-"	\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-"		{\n"
-"			//sphere-sphere\n"
-"			float radiusA = collidables[collidableIndexA].m_radius;\n"
-"			float radiusB = collidables[collidableIndexB].m_radius;\n"
-"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"			float4 diff = posA-posB;\n"
-"			float len = length(diff);\n"
-"			\n"
-"			///iff distance positive, don't generate a new contact\n"
-"			if ( len <= (radiusA+radiusB))\n"
-"			{\n"
-"				///distance (negative means penetration)\n"
-"				float dist = len - (radiusA+radiusB);\n"
-"				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
-"				if (len > 0.00001)\n"
-"				{\n"
-"					normalOnSurfaceB = diff / len;\n"
-"				}\n"
-"				float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
-"				contactPosB.w = dist;\n"
-"								\n"
-"				int dstIdx;\n"
-"				 AppendInc( nGlobalContactsOut, dstIdx );\n"
-"				\n"
-"				if (dstIdx < maxContactCapacity)\n"
-"				{\n"
-"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"					c->m_worldNormalOnB = normalOnSurfaceB;\n"
-"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"					c->m_batchIdx = pairIndex;\n"
-"					int bodyA = pairs[pairIndex].x;\n"
-"					int bodyB = pairs[pairIndex].y;\n"
-"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-"					c->m_worldPosB[0] = contactPosB;\n"
-"					c->m_childIndexA = -1;\n"
-"					c->m_childIndexB = -1;\n"
-"					GET_NPOINTS(*c) = 1;\n"
-"				}//if (dstIdx < numPairs)\n"
-"			}//if ( len <= (radiusA+radiusB))\n"
-"			return;\n"
-"		}//SHAPE_SPHERE SHAPE_SPHERE\n"
-"	}//	if (i<numPairs)\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,\n"
-"													__global const BodyData* rigidBodies, \n"
-"													__global const btCollidableGpu* collidables,\n"
-"													__global const ConvexPolyhedronCL* convexShapes, \n"
-"													__global const float4* vertices,\n"
-"													__global const float4* uniqueEdges,\n"
-"													__global const btGpuFace* faces,\n"
-"													__global const int* indices,\n"
-"													__global btAabbCL* aabbs,\n"
-"													__global const btGpuChildShape* gpuChildShapes,\n"
-"													__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"													counter32_t nGlobalContactsOut,\n"
-"													int numCompoundPairs, int maxContactCapacity\n"
-"													)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i<numCompoundPairs)\n"
-"	{\n"
-"		int bodyIndexA = gpuCompoundPairs[i].x;\n"
-"		int bodyIndexB = gpuCompoundPairs[i].y;\n"
-"		int childShapeIndexA = gpuCompoundPairs[i].z;\n"
-"		int childShapeIndexB = gpuCompoundPairs[i].w;\n"
-"		\n"
-"		int collidableIndexA = -1;\n"
-"		int collidableIndexB = -1;\n"
-"		\n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		\n"
-"		float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"							\n"
-"		if (childShapeIndexA >= 0)\n"
-"		{\n"
-"			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-"			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-"			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-"			float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-"			float4 newOrnA = qtMul(ornA,childOrnA);\n"
-"			posA = newPosA;\n"
-"			ornA = newOrnA;\n"
-"		} else\n"
-"		{\n"
-"			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		}\n"
-"		\n"
-"		if (childShapeIndexB>=0)\n"
-"		{\n"
-"			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"			posB = newPosB;\n"
-"			ornB = newOrnB;\n"
-"		} else\n"
-"		{\n"
-"			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
-"		}\n"
-"	\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"	\n"
-"		int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
-"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-"		int pairIndex = i;\n"
-"		if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))\n"
-"		{\n"
-"			computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB,  collidableIndexA,collidableIndexB, \n"
-"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);\n"
-"			return;\n"
-"		}\n"
-"		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))\n"
-"		{\n"
-"			computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
-"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
-"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
-"			return;\n"
-"		}\n"
-"		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))\n"
-"		{\n"
-"			float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
-"			float sphereRadius = collidables[collidableIndexB].m_radius;\n"
-"			float4 convexPos = posA;\n"
-"			float4 convexOrn = ornA;\n"
-"			\n"
-"			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA, \n"
-"										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-"										spherePos,sphereRadius,convexPos,convexOrn);\n"
-"	\n"
-"			return;\n"
-"		}\n"
-"		if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))\n"
-"		{\n"
-"			float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n"
-"			float sphereRadius = collidables[collidableIndexA].m_radius;\n"
-"			float4 convexPos = posB;\n"
-"			float4 convexOrn = ornB;\n"
-"			\n"
-"			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
-"										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-"										spherePos,sphereRadius,convexPos,convexOrn);\n"
-"	\n"
-"			return;\n"
-"		}\n"
-"	}//	if (i<numCompoundPairs)\n"
-"}\n"
-"bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )\n"
-"{\n"
-"	const float4* p1 = &vertices[0];\n"
-"	const float4* p2 = &vertices[1];\n"
-"	const float4* p3 = &vertices[2];\n"
-"	float4 edge1;	edge1 = (*p2 - *p1);\n"
-"	float4 edge2;	edge2 = ( *p3 - *p2 );\n"
-"	float4 edge3;	edge3 = ( *p1 - *p3 );\n"
-"	\n"
-"	float4 p1_to_p; p1_to_p = ( *p - *p1 );\n"
-"	float4 p2_to_p; p2_to_p = ( *p - *p2 );\n"
-"	float4 p3_to_p; p3_to_p = ( *p - *p3 );\n"
-"	float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));\n"
-"	float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));\n"
-"	float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));\n"
-"	\n"
-"	\n"
-"	float r1, r2, r3;\n"
-"	r1 = dot(edge1_normal,p1_to_p );\n"
-"	r2 = dot(edge2_normal,p2_to_p );\n"
-"	r3 = dot(edge3_normal,p3_to_p );\n"
-"	\n"
-"	if ( r1 > 0 && r2 > 0 && r3 > 0 )\n"
-"		return true;\n"
-"    if ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) \n"
-"		return true;\n"
-"	return false;\n"
-"}\n"
-"float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest) \n"
-"{\n"
-"	float4 diff = p - from;\n"
-"	float4 v = to - from;\n"
-"	float t = dot(v,diff);\n"
-"	\n"
-"	if (t > 0) \n"
-"	{\n"
-"		float dotVV = dot(v,v);\n"
-"		if (t < dotVV) \n"
-"		{\n"
-"			t /= dotVV;\n"
-"			diff -= t*v;\n"
-"		} else \n"
-"		{\n"
-"			t = 1;\n"
-"			diff -= v;\n"
-"		}\n"
-"	} else\n"
-"	{\n"
-"		t = 0;\n"
-"	}\n"
-"	*nearest = from + t*v;\n"
-"	return dot(diff,diff);	\n"
-"}\n"
-"void	computeContactSphereTriangle(int pairIndex,\n"
-"									int bodyIndexA, int bodyIndexB,\n"
-"									int collidableIndexA, int collidableIndexB, \n"
-"									__global const BodyData* rigidBodies, \n"
-"									__global const btCollidableGpu* collidables,\n"
-"									const float4* triangleVertices,\n"
-"									__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"									counter32_t nGlobalContactsOut,\n"
-"									int maxContactCapacity,\n"
-"									float4 spherePos2,\n"
-"									float radius,\n"
-"									float4 pos,\n"
-"									float4 quat,\n"
-"									int faceIndex\n"
-"									)\n"
-"{\n"
-"	float4 invPos;\n"
-"	float4 invOrn;\n"
-"	trInverse(pos,quat, &invPos,&invOrn);\n"
-"	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n"
-"	int numFaces = 3;\n"
-"	float4 closestPnt = (float4)(0, 0, 0, 0);\n"
-"	float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
-"	float minDist = -1000000.f;\n"
-"	bool bCollide = false;\n"
-"	\n"
-"	//////////////////////////////////////\n"
-"	float4 sphereCenter;\n"
-"	sphereCenter = spherePos;\n"
-"	const float4* vertices = triangleVertices;\n"
-"	float contactBreakingThreshold = 0.f;//todo?\n"
-"	float radiusWithThreshold = radius + contactBreakingThreshold;\n"
-"	float4 edge10;\n"
-"	edge10 = vertices[1]-vertices[0];\n"
-"	edge10.w = 0.f;//is this needed?\n"
-"	float4 edge20;\n"
-"	edge20 = vertices[2]-vertices[0];\n"
-"	edge20.w = 0.f;//is this needed?\n"
-"	float4 normal = cross3(edge10,edge20);\n"
-"	normal = normalize(normal);\n"
-"	float4 p1ToCenter;\n"
-"	p1ToCenter = sphereCenter - vertices[0];\n"
-"	\n"
-"	float distanceFromPlane = dot(p1ToCenter,normal);\n"
-"	if (distanceFromPlane < 0.f)\n"
-"	{\n"
-"		//triangle facing the other way\n"
-"		distanceFromPlane *= -1.f;\n"
-"		normal *= -1.f;\n"
-"	}\n"
-"	hitNormalWorld = normal;\n"
-"	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;\n"
-"	\n"
-"	// Check for contact / intersection\n"
-"	bool hasContact = false;\n"
-"	float4 contactPoint;\n"
-"	if (isInsideContactPlane) \n"
-"	{\n"
-"	\n"
-"		if (pointInTriangle(vertices,&normal, &sphereCenter)) \n"
-"		{\n"
-"			// Inside the contact wedge - touches a point on the shell plane\n"
-"			hasContact = true;\n"
-"			contactPoint = sphereCenter - normal*distanceFromPlane;\n"
-"			\n"
-"		} else {\n"
-"			// Could be inside one of the contact capsules\n"
-"			float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;\n"
-"			float4 nearestOnEdge;\n"
-"			int numEdges = 3;\n"
-"			for (int i = 0; i < numEdges; i++) \n"
-"			{\n"
-"				float4 pa =vertices[i];\n"
-"				float4 pb = vertices[(i+1)%3];\n"
-"				float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);\n"
-"				if (distanceSqr < contactCapsuleRadiusSqr) \n"
-"				{\n"
-"					// Yep, we're inside a capsule\n"
-"					hasContact = true;\n"
-"					contactPoint = nearestOnEdge;\n"
-"					\n"
-"				}\n"
-"				\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if (hasContact) \n"
-"	{\n"
-"		closestPnt = contactPoint;\n"
-"		float4 contactToCenter = sphereCenter - contactPoint;\n"
-"		minDist = length(contactToCenter);\n"
-"		if (minDist>FLT_EPSILON)\n"
-"		{\n"
-"			hitNormalWorld = normalize(contactToCenter);//*(1./minDist);\n"
-"			bCollide  = true;\n"
-"		}\n"
-"		\n"
-"	}\n"
-"	/////////////////////////////////////\n"
-"	if (bCollide && minDist > -10000)\n"
-"	{\n"
-"		\n"
-"		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n"
-"		float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n"
-"		float actualDepth = minDist-radius;\n"
-"		\n"
-"		if (actualDepth<=0.f)\n"
-"		{\n"
-"			pOnB1.w = actualDepth;\n"
-"			int dstIdx;\n"
-"			\n"
-"			float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);\n"
-"			if (lenSqr>FLT_EPSILON)\n"
-"			{\n"
-"				AppendInc( nGlobalContactsOut, dstIdx );\n"
-"			\n"
-"				if (dstIdx < maxContactCapacity)\n"
-"				{\n"
-"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"					c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
-"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"					c->m_batchIdx = pairIndex;\n"
-"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
-"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
-"					c->m_worldPosB[0] = pOnB1;\n"
-"					c->m_childIndexA = -1;\n"
-"					c->m_childIndexB = faceIndex;\n"
-"					GET_NPOINTS(*c) = 1;\n"
-"				} \n"
-"			}\n"
-"		}\n"
-"	}//if (hasCollision)\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   findConcaveSphereContactsKernel( __global int4* concavePairs,\n"
-"												__global const BodyData* rigidBodies,\n"
-"												__global const btCollidableGpu* collidables,\n"
-"												__global const ConvexPolyhedronCL* convexShapes, \n"
-"												__global const float4* vertices,\n"
-"												__global const float4* uniqueEdges,\n"
-"												__global const btGpuFace* faces,\n"
-"												__global const int* indices,\n"
-"												__global btAabbCL* aabbs,\n"
-"												__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"												counter32_t nGlobalContactsOut,\n"
-"													int numConcavePairs, int maxContactCapacity\n"
-"												)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConcavePairs)\n"
-"		return;\n"
-"	int pairIdx = i;\n"
-"	int bodyIndexA = concavePairs[i].x;\n"
-"	int bodyIndexB = concavePairs[i].y;\n"
-"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"	if (collidables[collidableIndexB].m_shapeType==SHAPE_SPHERE)\n"
-"	{\n"
-"		int f = concavePairs[i].z;\n"
-"		btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-"		\n"
-"		float4 verticesA[3];\n"
-"		for (int i=0;i<3;i++)\n"
-"		{\n"
-"			int index = indices[face.m_indexOffset+i];\n"
-"			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-"			verticesA[i] = vert;\n"
-"		}\n"
-"		float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
-"		float sphereRadius = collidables[collidableIndexB].m_radius;\n"
-"		float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n"
-"		float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n"
-"		computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
-"																rigidBodies,collidables,\n"
-"																verticesA,\n"
-"																globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
-"																spherePos,sphereRadius,convexPos,convexOrn, f);\n"
-"		return;\n"
-"	}\n"
-"}\n"
-;
+static const char* primitiveContactsKernelsCL =
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#define SHAPE_CONVEX_HULL 3\n"
+	"#define SHAPE_PLANE 4\n"
+	"#define SHAPE_CONCAVE_TRIMESH 5\n"
+	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
+	"#define SHAPE_SPHERE 7\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile __global int*\n"
+	"#endif\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"typedef unsigned int u32;\n"
+	"typedef struct \n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_min;\n"
+	"		float   m_minElems[4];\n"
+	"		int			m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_max;\n"
+	"		float   m_maxElems[4];\n"
+	"		int			m_maxIndices[4];\n"
+	"	};\n"
+	"} btAabbCL;\n"
+	"///keep this in sync with btCollidable.h\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_numChildShapes;\n"
+	"	float m_radius;\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"	\n"
+	"} btCollidableGpu;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4	m_childPosition;\n"
+	"	float4	m_childOrientation;\n"
+	"	int m_shapeIndex;\n"
+	"	int m_unused0;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"} btGpuChildShape;\n"
+	"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	float4 m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_collidableIdx;	\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} BodyData;\n"
+	"typedef struct  \n"
+	"{\n"
+	"	float4		m_localCenter;\n"
+	"	float4		m_extents;\n"
+	"	float4		mC;\n"
+	"	float4		mE;\n"
+	"	\n"
+	"	float			m_radius;\n"
+	"	int	m_faceOffset;\n"
+	"	int m_numFaces;\n"
+	"	int	m_numVertices;\n"
+	"	\n"
+	"	int m_vertexOffset;\n"
+	"	int	m_uniqueEdgesOffset;\n"
+	"	int	m_numUniqueEdges;\n"
+	"	int m_unused;\n"
+	"} ConvexPolyhedronCL;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_plane;\n"
+	"	int m_indexOffset;\n"
+	"	int m_numIndices;\n"
+	"} btGpuFace;\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"__inline\n"
+	"float fastDiv(float numerator, float denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"//	return numerator/denominator;	\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"//#define dot3F4 dot\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"__inline\n"
+	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
+	"{\n"
+	"	return qtRotate( *orientation, *p ) + (*translation);\n"
+	"}\n"
+	"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
+	"		float4* translationOut, Quaternion* orientationOut)\n"
+	"{\n"
+	"	*orientationOut = qtInvert(orientationIn);\n"
+	"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
+	"}\n"
+	"void	trMul(float4 translationA, Quaternion orientationA,\n"
+	"						float4 translationB, Quaternion orientationB,\n"
+	"		float4* translationOut, Quaternion* orientationOut)\n"
+	"{\n"
+	"	*orientationOut = qtMul(orientationA,orientationB);\n"
+	"	*translationOut = transform(&translationB,&translationA,&orientationA);\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"}\n"
+	"__inline float4 lerp3(const float4 a,const float4 b, float  t)\n"
+	"{\n"
+	"	return make_float4(	a.x + (b.x - a.x) * t,\n"
+	"						a.y + (b.y - a.y) * t,\n"
+	"						a.z + (b.z - a.z) * t,\n"
+	"						0.f);\n"
+	"}\n"
+	"float signedDistanceFromPointToPlane(float4 point, float4 planeEqn, float4* closestPointOnFace)\n"
+	"{\n"
+	"	float4 n = (float4)(planeEqn.x, planeEqn.y, planeEqn.z, 0);\n"
+	"	float dist = dot3F4(n, point) + planeEqn.w;\n"
+	"	*closestPointOnFace = point - dist * n;\n"
+	"	return dist;\n"
+	"}\n"
+	"inline bool IsPointInPolygon(float4 p, \n"
+	"							const btGpuFace* face,\n"
+	"							__global const float4* baseVertex,\n"
+	"							__global const  int* convexIndices,\n"
+	"							float4* out)\n"
+	"{\n"
+	"    float4 a;\n"
+	"    float4 b;\n"
+	"    float4 ab;\n"
+	"    float4 ap;\n"
+	"    float4 v;\n"
+	"	float4 plane = make_float4(face->m_plane.x,face->m_plane.y,face->m_plane.z,0.f);\n"
+	"	\n"
+	"	if (face->m_numIndices<2)\n"
+	"		return false;\n"
+	"	\n"
+	"	float4 v0 = baseVertex[convexIndices[face->m_indexOffset + face->m_numIndices-1]];\n"
+	"	\n"
+	"	b = v0;\n"
+	"    for(unsigned i=0; i != face->m_numIndices; ++i)\n"
+	"    {\n"
+	"		a = b;\n"
+	"		float4 vi = baseVertex[convexIndices[face->m_indexOffset + i]];\n"
+	"		b = vi;\n"
+	"        ab = b-a;\n"
+	"        ap = p-a;\n"
+	"        v = cross3(ab,plane);\n"
+	"        if (dot(ap, v) > 0.f)\n"
+	"        {\n"
+	"            float ab_m2 = dot(ab, ab);\n"
+	"            float rt = ab_m2 != 0.f ? dot(ab, ap) / ab_m2 : 0.f;\n"
+	"            if (rt <= 0.f)\n"
+	"            {\n"
+	"                *out = a;\n"
+	"            }\n"
+	"            else if (rt >= 1.f) \n"
+	"            {\n"
+	"                *out = b;\n"
+	"            }\n"
+	"            else\n"
+	"            {\n"
+	"            	float s = 1.f - rt;\n"
+	"				out[0].x = s * a.x + rt * b.x;\n"
+	"				out[0].y = s * a.y + rt * b.y;\n"
+	"				out[0].z = s * a.z + rt * b.z;\n"
+	"            }\n"
+	"            return false;\n"
+	"        }\n"
+	"    }\n"
+	"    return true;\n"
+	"}\n"
+	"void	computeContactSphereConvex(int pairIndex,\n"
+	"																int bodyIndexA, int bodyIndexB, \n"
+	"																int collidableIndexA, int collidableIndexB, \n"
+	"																__global const BodyData* rigidBodies, \n"
+	"																__global const btCollidableGpu* collidables,\n"
+	"																__global const ConvexPolyhedronCL* convexShapes,\n"
+	"																__global const float4* convexVertices,\n"
+	"																__global const int* convexIndices,\n"
+	"																__global const btGpuFace* faces,\n"
+	"																__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																counter32_t nGlobalContactsOut,\n"
+	"																int maxContactCapacity,\n"
+	"																float4 spherePos2,\n"
+	"																float radius,\n"
+	"																float4 pos,\n"
+	"																float4 quat\n"
+	"																)\n"
+	"{\n"
+	"	float4 invPos;\n"
+	"	float4 invOrn;\n"
+	"	trInverse(pos,quat, &invPos,&invOrn);\n"
+	"	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n"
+	"	int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	int numFaces = convexShapes[shapeIndex].m_numFaces;\n"
+	"	float4 closestPnt = (float4)(0, 0, 0, 0);\n"
+	"	float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
+	"	float minDist = -1000000.f;\n"
+	"	bool bCollide = true;\n"
+	"	for ( int f = 0; f < numFaces; f++ )\n"
+	"	{\n"
+	"		btGpuFace face = faces[convexShapes[shapeIndex].m_faceOffset+f];\n"
+	"		// set up a plane equation \n"
+	"		float4 planeEqn;\n"
+	"		float4 n1 = face.m_plane;\n"
+	"		n1.w = 0.f;\n"
+	"		planeEqn = n1;\n"
+	"		planeEqn.w = face.m_plane.w;\n"
+	"		\n"
+	"	\n"
+	"		// compute a signed distance from the vertex in cloth to the face of rigidbody.\n"
+	"		float4 pntReturn;\n"
+	"		float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);\n"
+	"		// If the distance is positive, the plane is a separating plane. \n"
+	"		if ( dist > radius )\n"
+	"		{\n"
+	"			bCollide = false;\n"
+	"			break;\n"
+	"		}\n"
+	"		if (dist>0)\n"
+	"		{\n"
+	"			//might hit an edge or vertex\n"
+	"			float4 out;\n"
+	"			float4 zeroPos = make_float4(0,0,0,0);\n"
+	"			bool isInPoly = IsPointInPolygon(spherePos,\n"
+	"					&face,\n"
+	"					&convexVertices[convexShapes[shapeIndex].m_vertexOffset],\n"
+	"					convexIndices,\n"
+	"           &out);\n"
+	"			if (isInPoly)\n"
+	"			{\n"
+	"				if (dist>minDist)\n"
+	"				{\n"
+	"					minDist = dist;\n"
+	"					closestPnt = pntReturn;\n"
+	"					hitNormalWorld = planeEqn;\n"
+	"					\n"
+	"				}\n"
+	"			} else\n"
+	"			{\n"
+	"				float4 tmp = spherePos-out;\n"
+	"				float l2 = dot(tmp,tmp);\n"
+	"				if (l2<radius*radius)\n"
+	"				{\n"
+	"					dist  = sqrt(l2);\n"
+	"					if (dist>minDist)\n"
+	"					{\n"
+	"						minDist = dist;\n"
+	"						closestPnt = out;\n"
+	"						hitNormalWorld = tmp/dist;\n"
+	"						\n"
+	"					}\n"
+	"					\n"
+	"				} else\n"
+	"				{\n"
+	"					bCollide = false;\n"
+	"					break;\n"
+	"				}\n"
+	"			}\n"
+	"		} else\n"
+	"		{\n"
+	"			if ( dist > minDist )\n"
+	"			{\n"
+	"				minDist = dist;\n"
+	"				closestPnt = pntReturn;\n"
+	"				hitNormalWorld.xyz = planeEqn.xyz;\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"	}\n"
+	"	\n"
+	"	if (bCollide && minDist > -10000)\n"
+	"	{\n"
+	"		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n"
+	"		float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n"
+	"		\n"
+	"		float actualDepth = minDist-radius;\n"
+	"		if (actualDepth<=0.f)\n"
+	"		{\n"
+	"			\n"
+	"			pOnB1.w = actualDepth;\n"
+	"			int dstIdx;\n"
+	"			AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"		\n"
+	"			\n"
+	"			if (1)//dstIdx < maxContactCapacity)\n"
+	"			{\n"
+	"				__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"				c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
+	"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"				c->m_batchIdx = pairIndex;\n"
+	"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
+	"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
+	"				c->m_worldPosB[0] = pOnB1;\n"
+	"				c->m_childIndexA = -1;\n"
+	"				c->m_childIndexB = -1;\n"
+	"				GET_NPOINTS(*c) = 1;\n"
+	"			} \n"
+	"		}\n"
+	"	}//if (hasCollision)\n"
+	"}\n"
+	"							\n"
+	"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
+	"{\n"
+	"	if( nPoints == 0 )\n"
+	"        return 0;\n"
+	"    \n"
+	"    if (nPoints <=4)\n"
+	"        return nPoints;\n"
+	"    \n"
+	"    \n"
+	"    if (nPoints >64)\n"
+	"        nPoints = 64;\n"
+	"    \n"
+	"	float4 center = make_float4(0.f);\n"
+	"	{\n"
+	"		\n"
+	"		for (int i=0;i<nPoints;i++)\n"
+	"			center += p[i];\n"
+	"		center /= (float)nPoints;\n"
+	"	}\n"
+	"    \n"
+	"	\n"
+	"    \n"
+	"	//	sample 4 directions\n"
+	"    \n"
+	"    float4 aVector = p[0] - center;\n"
+	"    float4 u = cross3( nearNormal, aVector );\n"
+	"    float4 v = cross3( nearNormal, u );\n"
+	"    u = normalize3( u );\n"
+	"    v = normalize3( v );\n"
+	"    \n"
+	"    \n"
+	"    //keep point with deepest penetration\n"
+	"    float minW= FLT_MAX;\n"
+	"    \n"
+	"    int minIndex=-1;\n"
+	"    \n"
+	"    float4 maxDots;\n"
+	"    maxDots.x = FLT_MIN;\n"
+	"    maxDots.y = FLT_MIN;\n"
+	"    maxDots.z = FLT_MIN;\n"
+	"    maxDots.w = FLT_MIN;\n"
+	"    \n"
+	"    //	idx, distance\n"
+	"    for(int ie = 0; ie<nPoints; ie++ )\n"
+	"    {\n"
+	"        if (p[ie].w<minW)\n"
+	"        {\n"
+	"            minW = p[ie].w;\n"
+	"            minIndex=ie;\n"
+	"        }\n"
+	"        float f;\n"
+	"        float4 r = p[ie]-center;\n"
+	"        f = dot3F4( u, r );\n"
+	"        if (f<maxDots.x)\n"
+	"        {\n"
+	"            maxDots.x = f;\n"
+	"            contactIdx[0].x = ie;\n"
+	"        }\n"
+	"        \n"
+	"        f = dot3F4( -u, r );\n"
+	"        if (f<maxDots.y)\n"
+	"        {\n"
+	"            maxDots.y = f;\n"
+	"            contactIdx[0].y = ie;\n"
+	"        }\n"
+	"        \n"
+	"        \n"
+	"        f = dot3F4( v, r );\n"
+	"        if (f<maxDots.z)\n"
+	"        {\n"
+	"            maxDots.z = f;\n"
+	"            contactIdx[0].z = ie;\n"
+	"        }\n"
+	"        \n"
+	"        f = dot3F4( -v, r );\n"
+	"        if (f<maxDots.w)\n"
+	"        {\n"
+	"            maxDots.w = f;\n"
+	"            contactIdx[0].w = ie;\n"
+	"        }\n"
+	"        \n"
+	"    }\n"
+	"    \n"
+	"    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
+	"    {\n"
+	"        //replace the first contact with minimum (todo: replace contact with least penetration)\n"
+	"        contactIdx[0].x = minIndex;\n"
+	"    }\n"
+	"    \n"
+	"    return 4;\n"
+	"    \n"
+	"}\n"
+	"#define MAX_PLANE_CONVEX_POINTS 64\n"
+	"int computeContactPlaneConvex(int pairIndex,\n"
+	"								int bodyIndexA, int bodyIndexB, \n"
+	"								int collidableIndexA, int collidableIndexB, \n"
+	"								__global const BodyData* rigidBodies, \n"
+	"								__global const btCollidableGpu*collidables,\n"
+	"								__global const ConvexPolyhedronCL* convexShapes,\n"
+	"								__global const float4* convexVertices,\n"
+	"								__global const int* convexIndices,\n"
+	"								__global const btGpuFace* faces,\n"
+	"								__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"								counter32_t nGlobalContactsOut,\n"
+	"								int maxContactCapacity,\n"
+	"								float4 posB,\n"
+	"								Quaternion ornB\n"
+	"								)\n"
+	"{\n"
+	"	int resultIndex=-1;\n"
+	"		int shapeIndex = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	__global const ConvexPolyhedronCL* hullB = &convexShapes[shapeIndex];\n"
+	"	\n"
+	"	float4 posA;\n"
+	"	posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"	Quaternion ornA;\n"
+	"	ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"	int numContactsOut = 0;\n"
+	"	int numWorldVertsB1= 0;\n"
+	"	float4 planeEq;\n"
+	"	 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
+	"	float4 planeNormal = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
+	"	float4 planeNormalWorld;\n"
+	"	planeNormalWorld = qtRotate(ornA,planeNormal);\n"
+	"	float planeConstant = planeEq.w;\n"
+	"	\n"
+	"	float4 invPosA;Quaternion invOrnA;\n"
+	"	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
+	"	{\n"
+	"		\n"
+	"		trInverse(posA,ornA,&invPosA,&invOrnA);\n"
+	"		trMul(invPosA,invOrnA,posB,ornB,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
+	"	}\n"
+	"	float4 invPosB;Quaternion invOrnB;\n"
+	"	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;\n"
+	"	{\n"
+	"		\n"
+	"		trInverse(posB,ornB,&invPosB,&invOrnB);\n"
+	"		trMul(invPosB,invOrnB,posA,ornA,&planeInConvexPos1,&planeInConvexOrn1);	\n"
+	"	}\n"
+	"	\n"
+	"	float4 planeNormalInConvex = qtRotate(planeInConvexOrn1,-planeNormal);\n"
+	"	float maxDot = -1e30;\n"
+	"	int hitVertex=-1;\n"
+	"	float4 hitVtx;\n"
+	"	float4 contactPoints[MAX_PLANE_CONVEX_POINTS];\n"
+	"	int numPoints = 0;\n"
+	"	int4 contactIdx;\n"
+	"	contactIdx=make_int4(0,1,2,3);\n"
+	"    \n"
+	"	\n"
+	"	for (int i=0;i<hullB->m_numVertices;i++)\n"
+	"	{\n"
+	"		float4 vtx = convexVertices[hullB->m_vertexOffset+i];\n"
+	"		float curDot = dot(vtx,planeNormalInConvex);\n"
+	"		if (curDot>maxDot)\n"
+	"		{\n"
+	"			hitVertex=i;\n"
+	"			maxDot=curDot;\n"
+	"			hitVtx = vtx;\n"
+	"			//make sure the deepest points is always included\n"
+	"			if (numPoints==MAX_PLANE_CONVEX_POINTS)\n"
+	"				numPoints--;\n"
+	"		}\n"
+	"		if (numPoints<MAX_PLANE_CONVEX_POINTS)\n"
+	"		{\n"
+	"			float4 vtxWorld = transform(&vtx, &posB, &ornB);\n"
+	"			float4 vtxInPlane = transform(&vtxWorld, &invPosA, &invOrnA);//oplaneTransform.inverse()*vtxWorld;\n"
+	"			float dist = dot(planeNormal,vtxInPlane)-planeConstant;\n"
+	"			if (dist<0.f)\n"
+	"			{\n"
+	"				vtxWorld.w = dist;\n"
+	"				contactPoints[numPoints] = vtxWorld;\n"
+	"				numPoints++;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	int numReducedPoints  = numPoints;\n"
+	"	if (numPoints>4)\n"
+	"	{\n"
+	"		numReducedPoints = extractManifoldSequential( contactPoints, numPoints, planeNormalInConvex, &contactIdx);\n"
+	"	}\n"
+	"	if (numReducedPoints>0)\n"
+	"	{\n"
+	"		int dstIdx;\n"
+	"	    AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"		if (dstIdx < maxContactCapacity)\n"
+	"		{\n"
+	"			resultIndex = dstIdx;\n"
+	"			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"			c->m_worldNormalOnB = -planeNormalWorld;\n"
+	"			//c->setFrictionCoeff(0.7);\n"
+	"			//c->setRestituitionCoeff(0.f);\n"
+	"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"			c->m_batchIdx = pairIndex;\n"
+	"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
+	"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
+	"			c->m_childIndexA = -1;\n"
+	"			c->m_childIndexB = -1;\n"
+	"			switch (numReducedPoints)\n"
+	"            {\n"
+	"                case 4:\n"
+	"                    c->m_worldPosB[3] = contactPoints[contactIdx.w];\n"
+	"                case 3:\n"
+	"                    c->m_worldPosB[2] = contactPoints[contactIdx.z];\n"
+	"                case 2:\n"
+	"                    c->m_worldPosB[1] = contactPoints[contactIdx.y];\n"
+	"                case 1:\n"
+	"                    c->m_worldPosB[0] = contactPoints[contactIdx.x];\n"
+	"                default:\n"
+	"                {\n"
+	"                }\n"
+	"            };\n"
+	"			\n"
+	"			GET_NPOINTS(*c) = numReducedPoints;\n"
+	"		}//if (dstIdx < numPairs)\n"
+	"	}	\n"
+	"	return resultIndex;\n"
+	"}\n"
+	"void	computeContactPlaneSphere(int pairIndex,\n"
+	"																int bodyIndexA, int bodyIndexB, \n"
+	"																int collidableIndexA, int collidableIndexB, \n"
+	"																__global const BodyData* rigidBodies, \n"
+	"																__global const btCollidableGpu* collidables,\n"
+	"																__global const btGpuFace* faces,\n"
+	"																__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																counter32_t nGlobalContactsOut,\n"
+	"																int maxContactCapacity)\n"
+	"{\n"
+	"	float4 planeEq = faces[collidables[collidableIndexA].m_shapeIndex].m_plane;\n"
+	"	float radius = collidables[collidableIndexB].m_radius;\n"
+	"	float4 posA1 = rigidBodies[bodyIndexA].m_pos;\n"
+	"	float4 ornA1 = rigidBodies[bodyIndexA].m_quat;\n"
+	"	float4 posB1 = rigidBodies[bodyIndexB].m_pos;\n"
+	"	float4 ornB1 = rigidBodies[bodyIndexB].m_quat;\n"
+	"	\n"
+	"	bool hasCollision = false;\n"
+	"	float4 planeNormal1 = make_float4(planeEq.x,planeEq.y,planeEq.z,0.f);\n"
+	"	float planeConstant = planeEq.w;\n"
+	"	float4 convexInPlaneTransPos1; Quaternion convexInPlaneTransOrn1;\n"
+	"	{\n"
+	"		float4 invPosA;Quaternion invOrnA;\n"
+	"		trInverse(posA1,ornA1,&invPosA,&invOrnA);\n"
+	"		trMul(invPosA,invOrnA,posB1,ornB1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
+	"	}\n"
+	"	float4 planeInConvexPos1;	Quaternion planeInConvexOrn1;\n"
+	"	{\n"
+	"		float4 invPosB;Quaternion invOrnB;\n"
+	"		trInverse(posB1,ornB1,&invPosB,&invOrnB);\n"
+	"		trMul(invPosB,invOrnB,posA1,ornA1,&planeInConvexPos1,&planeInConvexOrn1);	\n"
+	"	}\n"
+	"	float4 vtx1 = qtRotate(planeInConvexOrn1,-planeNormal1)*radius;\n"
+	"	float4 vtxInPlane1 = transform(&vtx1,&convexInPlaneTransPos1,&convexInPlaneTransOrn1);\n"
+	"	float distance = dot3F4(planeNormal1,vtxInPlane1) - planeConstant;\n"
+	"	hasCollision = distance < 0.f;//m_manifoldPtr->getContactBreakingThreshold();\n"
+	"	if (hasCollision)\n"
+	"	{\n"
+	"		float4 vtxInPlaneProjected1 = vtxInPlane1 -   distance*planeNormal1;\n"
+	"		float4 vtxInPlaneWorld1 = transform(&vtxInPlaneProjected1,&posA1,&ornA1);\n"
+	"		float4 normalOnSurfaceB1 = qtRotate(ornA1,planeNormal1);\n"
+	"		float4 pOnB1 = vtxInPlaneWorld1+normalOnSurfaceB1*distance;\n"
+	"		pOnB1.w = distance;\n"
+	"		int dstIdx;\n"
+	"    AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"		\n"
+	"		if (dstIdx < maxContactCapacity)\n"
+	"		{\n"
+	"			__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"			c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
+	"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"			c->m_batchIdx = pairIndex;\n"
+	"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
+	"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
+	"			c->m_worldPosB[0] = pOnB1;\n"
+	"			c->m_childIndexA = -1;\n"
+	"			c->m_childIndexB = -1;\n"
+	"			GET_NPOINTS(*c) = 1;\n"
+	"		}//if (dstIdx < numPairs)\n"
+	"	}//if (hasCollision)\n"
+	"}\n"
+	"__kernel void   primitiveContactsKernel( __global int4* pairs, \n"
+	"																					__global const BodyData* rigidBodies, \n"
+	"																					__global const btCollidableGpu* collidables,\n"
+	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const btGpuFace* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																					counter32_t nGlobalContactsOut,\n"
+	"																					int numPairs, int maxContactCapacity)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"	float4 worldVertsB1[64];\n"
+	"	float4 worldVertsB2[64];\n"
+	"	int capacityWorldVerts = 64;	\n"
+	"	float4 localContactsOut[64];\n"
+	"	int localContactCapacity=64;\n"
+	"	\n"
+	"	float minDist = -1e30f;\n"
+	"	float maxDist = 0.02f;\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"			\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
+	"		{\n"
+	"			float4 posB;\n"
+	"			posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"			Quaternion ornB;\n"
+	"			ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"			int contactIndex = computeContactPlaneConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
+	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
+	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity, posB,ornB);\n"
+	"			if (contactIndex>=0)\n"
+	"				pairs[pairIndex].z = contactIndex;\n"
+	"			return;\n"
+	"		}\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
+	"		{\n"
+	"			float4 posA;\n"
+	"			posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			Quaternion ornA;\n"
+	"			ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"			int contactIndex = computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
+	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
+	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
+	"			if (contactIndex>=0)\n"
+	"				pairs[pairIndex].z = contactIndex;\n"
+	"			return;\n"
+	"		}\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_PLANE &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
+	"		{\n"
+	"			computeContactPlaneSphere(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
+	"																rigidBodies,collidables,faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n"
+	"			return;\n"
+	"		}\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_PLANE)\n"
+	"		{\n"
+	"			computeContactPlaneSphere( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
+	"																rigidBodies,collidables,\n"
+	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity);\n"
+	"			return;\n"
+	"		}\n"
+	"		\n"
+	"	\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)\n"
+	"		{\n"
+	"		\n"
+	"			float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n"
+	"			float sphereRadius = collidables[collidableIndexA].m_radius;\n"
+	"			float4 convexPos = rigidBodies[bodyIndexB].m_pos;\n"
+	"			float4 convexOrn = rigidBodies[bodyIndexB].m_quat;\n"
+	"			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
+	"																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
+	"																spherePos,sphereRadius,convexPos,convexOrn);\n"
+	"			return;\n"
+	"		}\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_CONVEX_HULL &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
+	"		{\n"
+	"		\n"
+	"			float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
+	"			float sphereRadius = collidables[collidableIndexB].m_radius;\n"
+	"			float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n"
+	"			float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n"
+	"			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
+	"																rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
+	"																spherePos,sphereRadius,convexPos,convexOrn);\n"
+	"			return;\n"
+	"		}\n"
+	"	\n"
+	"	\n"
+	"	\n"
+	"		\n"
+	"	\n"
+	"	\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
+	"		{\n"
+	"			//sphere-sphere\n"
+	"			float radiusA = collidables[collidableIndexA].m_radius;\n"
+	"			float radiusB = collidables[collidableIndexB].m_radius;\n"
+	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"			float4 diff = posA-posB;\n"
+	"			float len = length(diff);\n"
+	"			\n"
+	"			///iff distance positive, don't generate a new contact\n"
+	"			if ( len <= (radiusA+radiusB))\n"
+	"			{\n"
+	"				///distance (negative means penetration)\n"
+	"				float dist = len - (radiusA+radiusB);\n"
+	"				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
+	"				if (len > 0.00001)\n"
+	"				{\n"
+	"					normalOnSurfaceB = diff / len;\n"
+	"				}\n"
+	"				float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
+	"				contactPosB.w = dist;\n"
+	"								\n"
+	"				int dstIdx;\n"
+	"				 AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"				\n"
+	"				if (dstIdx < maxContactCapacity)\n"
+	"				{\n"
+	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"					c->m_worldNormalOnB = normalOnSurfaceB;\n"
+	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"					c->m_batchIdx = pairIndex;\n"
+	"					int bodyA = pairs[pairIndex].x;\n"
+	"					int bodyB = pairs[pairIndex].y;\n"
+	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
+	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
+	"					c->m_worldPosB[0] = contactPosB;\n"
+	"					c->m_childIndexA = -1;\n"
+	"					c->m_childIndexB = -1;\n"
+	"					GET_NPOINTS(*c) = 1;\n"
+	"				}//if (dstIdx < numPairs)\n"
+	"			}//if ( len <= (radiusA+radiusB))\n"
+	"			return;\n"
+	"		}//SHAPE_SPHERE SHAPE_SPHERE\n"
+	"	}//	if (i<numPairs)\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   processCompoundPairsPrimitivesKernel( __global const int4* gpuCompoundPairs,\n"
+	"													__global const BodyData* rigidBodies, \n"
+	"													__global const btCollidableGpu* collidables,\n"
+	"													__global const ConvexPolyhedronCL* convexShapes, \n"
+	"													__global const float4* vertices,\n"
+	"													__global const float4* uniqueEdges,\n"
+	"													__global const btGpuFace* faces,\n"
+	"													__global const int* indices,\n"
+	"													__global btAabbCL* aabbs,\n"
+	"													__global const btGpuChildShape* gpuChildShapes,\n"
+	"													__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"													counter32_t nGlobalContactsOut,\n"
+	"													int numCompoundPairs, int maxContactCapacity\n"
+	"													)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i<numCompoundPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = gpuCompoundPairs[i].x;\n"
+	"		int bodyIndexB = gpuCompoundPairs[i].y;\n"
+	"		int childShapeIndexA = gpuCompoundPairs[i].z;\n"
+	"		int childShapeIndexB = gpuCompoundPairs[i].w;\n"
+	"		\n"
+	"		int collidableIndexA = -1;\n"
+	"		int collidableIndexB = -1;\n"
+	"		\n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		\n"
+	"		float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"							\n"
+	"		if (childShapeIndexA >= 0)\n"
+	"		{\n"
+	"			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
+	"			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
+	"			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
+	"			float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
+	"			float4 newOrnA = qtMul(ornA,childOrnA);\n"
+	"			posA = newPosA;\n"
+	"			ornA = newOrnA;\n"
+	"		} else\n"
+	"		{\n"
+	"			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		}\n"
+	"		\n"
+	"		if (childShapeIndexB>=0)\n"
+	"		{\n"
+	"			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"			posB = newPosB;\n"
+	"			ornB = newOrnB;\n"
+	"		} else\n"
+	"		{\n"
+	"			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
+	"		}\n"
+	"	\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	\n"
+	"		int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
+	"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
+	"		int pairIndex = i;\n"
+	"		if ((shapeTypeA == SHAPE_PLANE) && (shapeTypeB==SHAPE_CONVEX_HULL))\n"
+	"		{\n"
+	"			computeContactPlaneConvex( pairIndex, bodyIndexA,bodyIndexB,  collidableIndexA,collidableIndexB, \n"
+	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
+	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posB,ornB);\n"
+	"			return;\n"
+	"		}\n"
+	"		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB==SHAPE_PLANE))\n"
+	"		{\n"
+	"			computeContactPlaneConvex( pairIndex, bodyIndexB,bodyIndexA,  collidableIndexB,collidableIndexA, \n"
+	"																rigidBodies,collidables,convexShapes,vertices,indices,\n"
+	"																faces,	globalContactsOut, nGlobalContactsOut,maxContactCapacity,posA,ornA);\n"
+	"			return;\n"
+	"		}\n"
+	"		if ((shapeTypeA == SHAPE_CONVEX_HULL) && (shapeTypeB == SHAPE_SPHERE))\n"
+	"		{\n"
+	"			float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
+	"			float sphereRadius = collidables[collidableIndexB].m_radius;\n"
+	"			float4 convexPos = posA;\n"
+	"			float4 convexOrn = ornA;\n"
+	"			\n"
+	"			computeContactSphereConvex(pairIndex, bodyIndexB, bodyIndexA , collidableIndexB,collidableIndexA, \n"
+	"										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
+	"										spherePos,sphereRadius,convexPos,convexOrn);\n"
+	"	\n"
+	"			return;\n"
+	"		}\n"
+	"		if ((shapeTypeA == SHAPE_SPHERE) && (shapeTypeB == SHAPE_CONVEX_HULL))\n"
+	"		{\n"
+	"			float4 spherePos = rigidBodies[bodyIndexA].m_pos;\n"
+	"			float sphereRadius = collidables[collidableIndexA].m_radius;\n"
+	"			float4 convexPos = posB;\n"
+	"			float4 convexOrn = ornB;\n"
+	"			\n"
+	"			computeContactSphereConvex(pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, \n"
+	"										rigidBodies,collidables,convexShapes,vertices,indices,faces, globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
+	"										spherePos,sphereRadius,convexPos,convexOrn);\n"
+	"	\n"
+	"			return;\n"
+	"		}\n"
+	"	}//	if (i<numCompoundPairs)\n"
+	"}\n"
+	"bool pointInTriangle(const float4* vertices, const float4* normal, float4 *p )\n"
+	"{\n"
+	"	const float4* p1 = &vertices[0];\n"
+	"	const float4* p2 = &vertices[1];\n"
+	"	const float4* p3 = &vertices[2];\n"
+	"	float4 edge1;	edge1 = (*p2 - *p1);\n"
+	"	float4 edge2;	edge2 = ( *p3 - *p2 );\n"
+	"	float4 edge3;	edge3 = ( *p1 - *p3 );\n"
+	"	\n"
+	"	float4 p1_to_p; p1_to_p = ( *p - *p1 );\n"
+	"	float4 p2_to_p; p2_to_p = ( *p - *p2 );\n"
+	"	float4 p3_to_p; p3_to_p = ( *p - *p3 );\n"
+	"	float4 edge1_normal; edge1_normal = ( cross(edge1,*normal));\n"
+	"	float4 edge2_normal; edge2_normal = ( cross(edge2,*normal));\n"
+	"	float4 edge3_normal; edge3_normal = ( cross(edge3,*normal));\n"
+	"	\n"
+	"	\n"
+	"	float r1, r2, r3;\n"
+	"	r1 = dot(edge1_normal,p1_to_p );\n"
+	"	r2 = dot(edge2_normal,p2_to_p );\n"
+	"	r3 = dot(edge3_normal,p3_to_p );\n"
+	"	\n"
+	"	if ( r1 > 0 && r2 > 0 && r3 > 0 )\n"
+	"		return true;\n"
+	"    if ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) \n"
+	"		return true;\n"
+	"	return false;\n"
+	"}\n"
+	"float segmentSqrDistance(float4 from, float4 to,float4 p, float4* nearest) \n"
+	"{\n"
+	"	float4 diff = p - from;\n"
+	"	float4 v = to - from;\n"
+	"	float t = dot(v,diff);\n"
+	"	\n"
+	"	if (t > 0) \n"
+	"	{\n"
+	"		float dotVV = dot(v,v);\n"
+	"		if (t < dotVV) \n"
+	"		{\n"
+	"			t /= dotVV;\n"
+	"			diff -= t*v;\n"
+	"		} else \n"
+	"		{\n"
+	"			t = 1;\n"
+	"			diff -= v;\n"
+	"		}\n"
+	"	} else\n"
+	"	{\n"
+	"		t = 0;\n"
+	"	}\n"
+	"	*nearest = from + t*v;\n"
+	"	return dot(diff,diff);	\n"
+	"}\n"
+	"void	computeContactSphereTriangle(int pairIndex,\n"
+	"									int bodyIndexA, int bodyIndexB,\n"
+	"									int collidableIndexA, int collidableIndexB, \n"
+	"									__global const BodyData* rigidBodies, \n"
+	"									__global const btCollidableGpu* collidables,\n"
+	"									const float4* triangleVertices,\n"
+	"									__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"									counter32_t nGlobalContactsOut,\n"
+	"									int maxContactCapacity,\n"
+	"									float4 spherePos2,\n"
+	"									float radius,\n"
+	"									float4 pos,\n"
+	"									float4 quat,\n"
+	"									int faceIndex\n"
+	"									)\n"
+	"{\n"
+	"	float4 invPos;\n"
+	"	float4 invOrn;\n"
+	"	trInverse(pos,quat, &invPos,&invOrn);\n"
+	"	float4 spherePos = transform(&spherePos2,&invPos,&invOrn);\n"
+	"	int numFaces = 3;\n"
+	"	float4 closestPnt = (float4)(0, 0, 0, 0);\n"
+	"	float4 hitNormalWorld = (float4)(0, 0, 0, 0);\n"
+	"	float minDist = -1000000.f;\n"
+	"	bool bCollide = false;\n"
+	"	\n"
+	"	//////////////////////////////////////\n"
+	"	float4 sphereCenter;\n"
+	"	sphereCenter = spherePos;\n"
+	"	const float4* vertices = triangleVertices;\n"
+	"	float contactBreakingThreshold = 0.f;//todo?\n"
+	"	float radiusWithThreshold = radius + contactBreakingThreshold;\n"
+	"	float4 edge10;\n"
+	"	edge10 = vertices[1]-vertices[0];\n"
+	"	edge10.w = 0.f;//is this needed?\n"
+	"	float4 edge20;\n"
+	"	edge20 = vertices[2]-vertices[0];\n"
+	"	edge20.w = 0.f;//is this needed?\n"
+	"	float4 normal = cross3(edge10,edge20);\n"
+	"	normal = normalize(normal);\n"
+	"	float4 p1ToCenter;\n"
+	"	p1ToCenter = sphereCenter - vertices[0];\n"
+	"	\n"
+	"	float distanceFromPlane = dot(p1ToCenter,normal);\n"
+	"	if (distanceFromPlane < 0.f)\n"
+	"	{\n"
+	"		//triangle facing the other way\n"
+	"		distanceFromPlane *= -1.f;\n"
+	"		normal *= -1.f;\n"
+	"	}\n"
+	"	hitNormalWorld = normal;\n"
+	"	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;\n"
+	"	\n"
+	"	// Check for contact / intersection\n"
+	"	bool hasContact = false;\n"
+	"	float4 contactPoint;\n"
+	"	if (isInsideContactPlane) \n"
+	"	{\n"
+	"	\n"
+	"		if (pointInTriangle(vertices,&normal, &sphereCenter)) \n"
+	"		{\n"
+	"			// Inside the contact wedge - touches a point on the shell plane\n"
+	"			hasContact = true;\n"
+	"			contactPoint = sphereCenter - normal*distanceFromPlane;\n"
+	"			\n"
+	"		} else {\n"
+	"			// Could be inside one of the contact capsules\n"
+	"			float contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;\n"
+	"			float4 nearestOnEdge;\n"
+	"			int numEdges = 3;\n"
+	"			for (int i = 0; i < numEdges; i++) \n"
+	"			{\n"
+	"				float4 pa =vertices[i];\n"
+	"				float4 pb = vertices[(i+1)%3];\n"
+	"				float distanceSqr = segmentSqrDistance(pa,pb,sphereCenter, &nearestOnEdge);\n"
+	"				if (distanceSqr < contactCapsuleRadiusSqr) \n"
+	"				{\n"
+	"					// Yep, we're inside a capsule\n"
+	"					hasContact = true;\n"
+	"					contactPoint = nearestOnEdge;\n"
+	"					\n"
+	"				}\n"
+	"				\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if (hasContact) \n"
+	"	{\n"
+	"		closestPnt = contactPoint;\n"
+	"		float4 contactToCenter = sphereCenter - contactPoint;\n"
+	"		minDist = length(contactToCenter);\n"
+	"		if (minDist>FLT_EPSILON)\n"
+	"		{\n"
+	"			hitNormalWorld = normalize(contactToCenter);//*(1./minDist);\n"
+	"			bCollide  = true;\n"
+	"		}\n"
+	"		\n"
+	"	}\n"
+	"	/////////////////////////////////////\n"
+	"	if (bCollide && minDist > -10000)\n"
+	"	{\n"
+	"		\n"
+	"		float4 normalOnSurfaceB1 = qtRotate(quat,-hitNormalWorld);\n"
+	"		float4 pOnB1 = transform(&closestPnt,&pos,&quat);\n"
+	"		float actualDepth = minDist-radius;\n"
+	"		\n"
+	"		if (actualDepth<=0.f)\n"
+	"		{\n"
+	"			pOnB1.w = actualDepth;\n"
+	"			int dstIdx;\n"
+	"			\n"
+	"			float lenSqr = dot3F4(normalOnSurfaceB1,normalOnSurfaceB1);\n"
+	"			if (lenSqr>FLT_EPSILON)\n"
+	"			{\n"
+	"				AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"			\n"
+	"				if (dstIdx < maxContactCapacity)\n"
+	"				{\n"
+	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"					c->m_worldNormalOnB = -normalOnSurfaceB1;\n"
+	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"					c->m_batchIdx = pairIndex;\n"
+	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;\n"
+	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;\n"
+	"					c->m_worldPosB[0] = pOnB1;\n"
+	"					c->m_childIndexA = -1;\n"
+	"					c->m_childIndexB = faceIndex;\n"
+	"					GET_NPOINTS(*c) = 1;\n"
+	"				} \n"
+	"			}\n"
+	"		}\n"
+	"	}//if (hasCollision)\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   findConcaveSphereContactsKernel( __global int4* concavePairs,\n"
+	"												__global const BodyData* rigidBodies,\n"
+	"												__global const btCollidableGpu* collidables,\n"
+	"												__global const ConvexPolyhedronCL* convexShapes, \n"
+	"												__global const float4* vertices,\n"
+	"												__global const float4* uniqueEdges,\n"
+	"												__global const btGpuFace* faces,\n"
+	"												__global const int* indices,\n"
+	"												__global btAabbCL* aabbs,\n"
+	"												__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"												counter32_t nGlobalContactsOut,\n"
+	"													int numConcavePairs, int maxContactCapacity\n"
+	"												)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConcavePairs)\n"
+	"		return;\n"
+	"	int pairIdx = i;\n"
+	"	int bodyIndexA = concavePairs[i].x;\n"
+	"	int bodyIndexB = concavePairs[i].y;\n"
+	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	if (collidables[collidableIndexB].m_shapeType==SHAPE_SPHERE)\n"
+	"	{\n"
+	"		int f = concavePairs[i].z;\n"
+	"		btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+	"		\n"
+	"		float4 verticesA[3];\n"
+	"		for (int i=0;i<3;i++)\n"
+	"		{\n"
+	"			int index = indices[face.m_indexOffset+i];\n"
+	"			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
+	"			verticesA[i] = vert;\n"
+	"		}\n"
+	"		float4 spherePos = rigidBodies[bodyIndexB].m_pos;\n"
+	"		float sphereRadius = collidables[collidableIndexB].m_radius;\n"
+	"		float4 convexPos = rigidBodies[bodyIndexA].m_pos;\n"
+	"		float4 convexOrn = rigidBodies[bodyIndexA].m_quat;\n"
+	"		computeContactSphereTriangle(i, bodyIndexB, bodyIndexA, collidableIndexB, collidableIndexA, \n"
+	"																rigidBodies,collidables,\n"
+	"																verticesA,\n"
+	"																globalContactsOut, nGlobalContactsOut,maxContactCapacity,\n"
+	"																spherePos,sphereRadius,convexPos,convexOrn, f);\n"
+	"		return;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
index f0ecfc7851..907809d8bd 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
@@ -1,2099 +1,2098 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* satClipKernelsCL= \
-"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile __global int*\n"
-"#endif\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"typedef unsigned int u32;\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
-"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"typedef struct b3GpuFace b3GpuFace_t;\n"
-"struct b3GpuFace\n"
-"{\n"
-"	b3Float4 m_plane;\n"
-"	int m_indexOffset;\n"
-"	int m_numIndices;\n"
-"	int m_unusedPadding1;\n"
-"	int m_unusedPadding2;\n"
-"};\n"
-"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
-"struct b3ConvexPolyhedronData\n"
-"{\n"
-"	b3Float4		m_localCenter;\n"
-"	b3Float4		m_extents;\n"
-"	b3Float4		mC;\n"
-"	b3Float4		mE;\n"
-"	float			m_radius;\n"
-"	int	m_faceOffset;\n"
-"	int m_numFaces;\n"
-"	int	m_numVertices;\n"
-"	int m_vertexOffset;\n"
-"	int	m_uniqueEdgesOffset;\n"
-"	int	m_numUniqueEdges;\n"
-"	int m_unused;\n"
-"};\n"
-"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
-"#ifndef B3_COLLIDABLE_H\n"
-"#define B3_COLLIDABLE_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"enum b3ShapeTypes\n"
-"{\n"
-"	SHAPE_HEIGHT_FIELD=1,\n"
-"	SHAPE_CONVEX_HULL=3,\n"
-"	SHAPE_PLANE=4,\n"
-"	SHAPE_CONCAVE_TRIMESH=5,\n"
-"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
-"	SHAPE_SPHERE=7,\n"
-"	MAX_NUM_SHAPE_TYPES,\n"
-"};\n"
-"typedef struct b3Collidable b3Collidable_t;\n"
-"struct b3Collidable\n"
-"{\n"
-"	union {\n"
-"		int m_numChildShapes;\n"
-"		int m_bvhIndex;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float m_radius;\n"
-"		int	m_compoundBvhIndex;\n"
-"	};\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"};\n"
-"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
-"struct b3GpuChildShape\n"
-"{\n"
-"	b3Float4	m_childPosition;\n"
-"	b3Quat		m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"struct b3CompoundOverlappingPair\n"
-"{\n"
-"	int m_bodyIndexA;\n"
-"	int m_bodyIndexB;\n"
-"//	int	m_pairType;\n"
-"	int m_childShapeIndexA;\n"
-"	int m_childShapeIndexB;\n"
-"};\n"
-"#endif //B3_COLLIDABLE_H\n"
-"#ifndef B3_RIGIDBODY_DATA_H\n"
-"#define B3_RIGIDBODY_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-"struct b3RigidBodyData\n"
-"{\n"
-"	b3Float4				m_pos;\n"
-"	b3Quat					m_quat;\n"
-"	b3Float4				m_linVel;\n"
-"	b3Float4				m_angVel;\n"
-"	int 					m_collidableIdx;\n"
-"	float 				m_invMass;\n"
-"	float 				m_restituitionCoeff;\n"
-"	float 				m_frictionCoeff;\n"
-"};\n"
-"typedef struct b3InertiaData b3InertiaData_t;\n"
-"struct b3InertiaData\n"
-"{\n"
-"	b3Mat3x3 m_invInertiaWorld;\n"
-"	b3Mat3x3 m_initInvInertia;\n"
-"};\n"
-"#endif //B3_RIGIDBODY_DATA_H\n"
-"	\n"
-"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"__inline\n"
-"float fastDiv(float numerator, float denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"//	return numerator/denominator;	\n"
-"}\n"
-"__inline\n"
-"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"//#define dot3F4 dot\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"__inline\n"
-"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-"{\n"
-"	return qtRotate( *orientation, *p ) + (*translation);\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"}\n"
-"__inline float4 lerp3(const float4 a,const float4 b, float  t)\n"
-"{\n"
-"	return make_float4(	a.x + (b.x - a.x) * t,\n"
-"						a.y + (b.y - a.y) * t,\n"
-"						a.z + (b.z - a.z) * t,\n"
-"						0.f);\n"
-"}\n"
-"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
-"int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n"
-"{\n"
-"	\n"
-"	int ve;\n"
-"	float ds, de;\n"
-"	int numVertsOut = 0;\n"
-"    //double-check next test\n"
-"    	if (numVertsIn < 2)\n"
-"    		return 0;\n"
-"    \n"
-"	float4 firstVertex=pVtxIn[numVertsIn-1];\n"
-"	float4 endVertex = pVtxIn[0];\n"
-"	\n"
-"	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
-"    \n"
-"	for (ve = 0; ve < numVertsIn; ve++)\n"
-"	{\n"
-"		endVertex=pVtxIn[ve];\n"
-"		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
-"		if (ds<0)\n"
-"		{\n"
-"			if (de<0)\n"
-"			{\n"
-"				// Start < 0, end < 0, so output endVertex\n"
-"				ppVtxOut[numVertsOut++] = endVertex;\n"
-"			}\n"
-"			else\n"
-"			{\n"
-"				// Start < 0, end >= 0, so output intersection\n"
-"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-"			}\n"
-"		}\n"
-"		else\n"
-"		{\n"
-"			if (de<0)\n"
-"			{\n"
-"				// Start >= 0, end < 0 so output intersection and end\n"
-"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-"				ppVtxOut[numVertsOut++] = endVertex;\n"
-"			}\n"
-"		}\n"
-"		firstVertex = endVertex;\n"
-"		ds = de;\n"
-"	}\n"
-"	return numVertsOut;\n"
-"}\n"
-"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
-"int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n"
-"{\n"
-"	\n"
-"	int ve;\n"
-"	float ds, de;\n"
-"	int numVertsOut = 0;\n"
-"//double-check next test\n"
-"	if (numVertsIn < 2)\n"
-"		return 0;\n"
-"	float4 firstVertex=pVtxIn[numVertsIn-1];\n"
-"	float4 endVertex = pVtxIn[0];\n"
-"	\n"
-"	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
-"	for (ve = 0; ve < numVertsIn; ve++)\n"
-"	{\n"
-"		endVertex=pVtxIn[ve];\n"
-"		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
-"		if (ds<0)\n"
-"		{\n"
-"			if (de<0)\n"
-"			{\n"
-"				// Start < 0, end < 0, so output endVertex\n"
-"				ppVtxOut[numVertsOut++] = endVertex;\n"
-"			}\n"
-"			else\n"
-"			{\n"
-"				// Start < 0, end >= 0, so output intersection\n"
-"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-"			}\n"
-"		}\n"
-"		else\n"
-"		{\n"
-"			if (de<0)\n"
-"			{\n"
-"				// Start >= 0, end < 0 so output intersection and end\n"
-"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
-"				ppVtxOut[numVertsOut++] = endVertex;\n"
-"			}\n"
-"		}\n"
-"		firstVertex = endVertex;\n"
-"		ds = de;\n"
-"	}\n"
-"	return numVertsOut;\n"
-"}\n"
-"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA,  \n"
-"	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
-"	float4* worldVertsB2, int capacityWorldVertsB2,\n"
-"	const float minDist, float maxDist,\n"
-"	__global const float4* vertices,\n"
-"	__global const b3GpuFace_t* faces,\n"
-"	__global const int* indices,\n"
-"	float4* contactsOut,\n"
-"	int contactCapacity)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	float4* pVtxIn = worldVertsB1;\n"
-"	float4* pVtxOut = worldVertsB2;\n"
-"	\n"
-"	int numVertsIn = numWorldVertsB1;\n"
-"	int numVertsOut = 0;\n"
-"	int closestFaceA=-1;\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(\n"
-"				faces[hullA->m_faceOffset+face].m_plane.x, \n"
-"				faces[hullA->m_faceOffset+face].m_plane.y, \n"
-"				faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-"		\n"
-"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-"			if (d < dmin)\n"
-"			{\n"
-"				dmin = d;\n"
-"				closestFaceA = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if (closestFaceA<0)\n"
-"		return numContactsOut;\n"
-"	b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n"
-"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-"	int numVerticesA = polyA.m_numIndices;\n"
-"	for(int e0=0;e0<numVerticesA;e0++)\n"
-"	{\n"
-"		const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n"
-"		const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
-"		const float4 edge0 = a - b;\n"
-"		const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
-"		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-"		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
-"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-"		float4 worldA1 = transform(&a,&posA,&ornA);\n"
-"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-"		\n"
-"		float4 planeNormalWS = planeNormalWS1;\n"
-"		float planeEqWS=planeEqWS1;\n"
-"		\n"
-"		//clip face\n"
-"		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
-"		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
-"		//btSwap(pVtxIn,pVtxOut);\n"
-"		float4* tmp = pVtxOut;\n"
-"		pVtxOut = pVtxIn;\n"
-"		pVtxIn = tmp;\n"
-"		numVertsIn = numVertsOut;\n"
-"		numVertsOut = 0;\n"
-"	}\n"
-"	\n"
-"	// only keep points that are behind the witness face\n"
-"	{\n"
-"		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-"		float localPlaneEq = polyA.m_plane.w;\n"
-"		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
-"		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
-"		for (int i=0;i<numVertsIn;i++)\n"
-"		{\n"
-"			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-"			if (depth <=minDist)\n"
-"			{\n"
-"				depth = minDist;\n"
-"			}\n"
-"			if (depth <=maxDist)\n"
-"			{\n"
-"				float4 pointInWorld = pVtxIn[i];\n"
-"				//resultOut.addContactPoint(separatingNormal,point,depth);\n"
-"				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	return numContactsOut;\n"
-"}\n"
-"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA,  \n"
-"	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
-"	float4* worldVertsB2, int capacityWorldVertsB2,\n"
-"	const float minDist, float maxDist,\n"
-"	const float4* verticesA,\n"
-"	const b3GpuFace_t* facesA,\n"
-"	const int* indicesA,\n"
-"	__global const float4* verticesB,\n"
-"	__global const b3GpuFace_t* facesB,\n"
-"	__global const int* indicesB,\n"
-"	float4* contactsOut,\n"
-"	int contactCapacity)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	float4* pVtxIn = worldVertsB1;\n"
-"	float4* pVtxOut = worldVertsB2;\n"
-"	\n"
-"	int numVertsIn = numWorldVertsB1;\n"
-"	int numVertsOut = 0;\n"
-"	int closestFaceA=-1;\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(\n"
-"				facesA[hullA->m_faceOffset+face].m_plane.x, \n"
-"				facesA[hullA->m_faceOffset+face].m_plane.y, \n"
-"				facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-"		\n"
-"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-"			if (d < dmin)\n"
-"			{\n"
-"				dmin = d;\n"
-"				closestFaceA = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if (closestFaceA<0)\n"
-"		return numContactsOut;\n"
-"	b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n"
-"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-"	int numVerticesA = polyA.m_numIndices;\n"
-"	for(int e0=0;e0<numVerticesA;e0++)\n"
-"	{\n"
-"		const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n"
-"		const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
-"		const float4 edge0 = a - b;\n"
-"		const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
-"		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-"		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
-"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-"		float4 worldA1 = transform(&a,&posA,&ornA);\n"
-"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-"		\n"
-"		float4 planeNormalWS = planeNormalWS1;\n"
-"		float planeEqWS=planeEqWS1;\n"
-"		\n"
-"		//clip face\n"
-"		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
-"		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
-"		//btSwap(pVtxIn,pVtxOut);\n"
-"		float4* tmp = pVtxOut;\n"
-"		pVtxOut = pVtxIn;\n"
-"		pVtxIn = tmp;\n"
-"		numVertsIn = numVertsOut;\n"
-"		numVertsOut = 0;\n"
-"	}\n"
-"	\n"
-"	// only keep points that are behind the witness face\n"
-"	{\n"
-"		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
-"		float localPlaneEq = polyA.m_plane.w;\n"
-"		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
-"		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
-"		for (int i=0;i<numVertsIn;i++)\n"
-"		{\n"
-"			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-"			if (depth <=minDist)\n"
-"			{\n"
-"				depth = minDist;\n"
-"			}\n"
-"			if (depth <=maxDist)\n"
-"			{\n"
-"				float4 pointInWorld = pVtxIn[i];\n"
-"				//resultOut.addContactPoint(separatingNormal,point,depth);\n"
-"				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	return numContactsOut;\n"
-"}\n"
-"int	clipHullAgainstHull(const float4 separatingNormal,\n"
-"	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
-"	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
-"	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
-"	const float minDist, float maxDist,\n"
-"	__global const float4* vertices,\n"
-"	__global const b3GpuFace_t* faces,\n"
-"	__global const int* indices,\n"
-"	float4*	localContactsOut,\n"
-"	int localContactCapacity)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	int numWorldVertsB1= 0;\n"
-"	int closestFaceB=-1;\n"
-"	float dmax = -FLT_MAX;\n"
-"	{\n"
-"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n"
-"				faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-"			if (d > dmax)\n"
-"			{\n"
-"				dmax = d;\n"
-"				closestFaceB = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	{\n"
-"		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
-"		const int numVertices = polyB.m_numIndices;\n"
-"		for(int e0=0;e0<numVertices;e0++)\n"
-"		{\n"
-"			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
-"			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-"		}\n"
-"	}\n"
-"	if (closestFaceB>=0)\n"
-"	{\n"
-"		numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n"
-"				posA,ornA,\n"
-"				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n"
-"				faces,\n"
-"				indices,localContactsOut,localContactCapacity);\n"
-"	}\n"
-"	return numContactsOut;\n"
-"}\n"
-"int	clipHullAgainstHullLocalA(const float4 separatingNormal,\n"
-"	const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
-"	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
-"	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
-"	const float minDist, float maxDist,\n"
-"	const float4* verticesA,\n"
-"	const b3GpuFace_t* facesA,\n"
-"	const int* indicesA,\n"
-"	__global const float4* verticesB,\n"
-"	__global const b3GpuFace_t* facesB,\n"
-"	__global const int* indicesB,\n"
-"	float4*	localContactsOut,\n"
-"	int localContactCapacity)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	int numWorldVertsB1= 0;\n"
-"	int closestFaceB=-1;\n"
-"	float dmax = -FLT_MAX;\n"
-"	{\n"
-"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n"
-"				facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-"			if (d > dmax)\n"
-"			{\n"
-"				dmax = d;\n"
-"				closestFaceB = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	{\n"
-"		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
-"		const int numVertices = polyB.m_numIndices;\n"
-"		for(int e0=0;e0<numVertices;e0++)\n"
-"		{\n"
-"			const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
-"			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-"		}\n"
-"	}\n"
-"	if (closestFaceB>=0)\n"
-"	{\n"
-"		numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n"
-"				posA,ornA,\n"
-"				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n"
-"				verticesA,facesA,indicesA,\n"
-"				verticesB,facesB,indicesB,\n"
-"				localContactsOut,localContactCapacity);\n"
-"	}\n"
-"	return numContactsOut;\n"
-"}\n"
-"#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n"
-"#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n"
-"#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n"
-"#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n"
-"int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
-"{\n"
-"	if( nPoints == 0 )\n"
-"        return 0;\n"
-"    \n"
-"    if (nPoints <=4)\n"
-"        return nPoints;\n"
-"    \n"
-"    \n"
-"    if (nPoints >64)\n"
-"        nPoints = 64;\n"
-"    \n"
-"	float4 center = make_float4(0.f);\n"
-"	{\n"
-"		\n"
-"		for (int i=0;i<nPoints;i++)\n"
-"			center += p[i];\n"
-"		center /= (float)nPoints;\n"
-"	}\n"
-"    \n"
-"	\n"
-"    \n"
-"	//	sample 4 directions\n"
-"    \n"
-"    float4 aVector = p[0] - center;\n"
-"    float4 u = cross3( nearNormal, aVector );\n"
-"    float4 v = cross3( nearNormal, u );\n"
-"    u = normalize3( u );\n"
-"    v = normalize3( v );\n"
-"    \n"
-"    \n"
-"    //keep point with deepest penetration\n"
-"    float minW= FLT_MAX;\n"
-"    \n"
-"    int minIndex=-1;\n"
-"    \n"
-"    float4 maxDots;\n"
-"    maxDots.x = FLT_MIN;\n"
-"    maxDots.y = FLT_MIN;\n"
-"    maxDots.z = FLT_MIN;\n"
-"    maxDots.w = FLT_MIN;\n"
-"    \n"
-"    //	idx, distance\n"
-"    for(int ie = 0; ie<nPoints; ie++ )\n"
-"    {\n"
-"        if (p[ie].w<minW)\n"
-"        {\n"
-"            minW = p[ie].w;\n"
-"            minIndex=ie;\n"
-"        }\n"
-"        float f;\n"
-"        float4 r = p[ie]-center;\n"
-"        f = dot3F4( u, r );\n"
-"        if (f<maxDots.x)\n"
-"        {\n"
-"            maxDots.x = f;\n"
-"            contactIdx[0].x = ie;\n"
-"        }\n"
-"        \n"
-"        f = dot3F4( -u, r );\n"
-"        if (f<maxDots.y)\n"
-"        {\n"
-"            maxDots.y = f;\n"
-"            contactIdx[0].y = ie;\n"
-"        }\n"
-"        \n"
-"        \n"
-"        f = dot3F4( v, r );\n"
-"        if (f<maxDots.z)\n"
-"        {\n"
-"            maxDots.z = f;\n"
-"            contactIdx[0].z = ie;\n"
-"        }\n"
-"        \n"
-"        f = dot3F4( -v, r );\n"
-"        if (f<maxDots.w)\n"
-"        {\n"
-"            maxDots.w = f;\n"
-"            contactIdx[0].w = ie;\n"
-"        }\n"
-"        \n"
-"    }\n"
-"    \n"
-"    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
-"    {\n"
-"        //replace the first contact with minimum (todo: replace contact with least penetration)\n"
-"        contactIdx[0].x = minIndex;\n"
-"    }\n"
-"    \n"
-"    return 4;\n"
-"    \n"
-"}\n"
-"int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
-"{\n"
-"    contactIdx[0] = 0;\n"
-"    contactIdx[1] = 1;\n"
-"    contactIdx[2] = 2;\n"
-"    contactIdx[3] = 3;\n"
-"    \n"
-"	if( nPoints == 0 ) return 0;\n"
-"    \n"
-"	nPoints = min2( nPoints, 4 );\n"
-"    return nPoints;\n"
-"    \n"
-"}\n"
-"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
-"{\n"
-"	if( nPoints == 0 ) return 0;\n"
-"	nPoints = min2( nPoints, 64 );\n"
-"	float4 center = make_float4(0.f);\n"
-"	{\n"
-"		float4 v[64];\n"
-"		for (int i=0;i<nPoints;i++)\n"
-"			v[i] = p[i];\n"
-"		//memcpy( v, p, nPoints*sizeof(float4) );\n"
-"		PARALLEL_SUM( v, nPoints );\n"
-"		center = v[0]/(float)nPoints;\n"
-"	}\n"
-"	\n"
-"	{	//	sample 4 directions\n"
-"		if( nPoints < 4 )\n"
-"		{\n"
-"			for(int i=0; i<nPoints; i++) \n"
-"				contactIdx[i] = i;\n"
-"			return nPoints;\n"
-"		}\n"
-"		float4 aVector = p[0] - center;\n"
-"		float4 u = cross3( nearNormal, aVector );\n"
-"		float4 v = cross3( nearNormal, u );\n"
-"		u = normalize3( u );\n"
-"		v = normalize3( v );\n"
-"		int idx[4];\n"
-"		float2 max00 = make_float2(0,FLT_MAX);\n"
-"		{\n"
-"			//	idx, distance\n"
-"			{\n"
-"				{\n"
-"					int4 a[64];\n"
-"					for(int ie = 0; ie<nPoints; ie++ )\n"
-"					{\n"
-"						\n"
-"						\n"
-"						float f;\n"
-"						float4 r = p[ie]-center;\n"
-"						f = dot3F4( u, r );\n"
-"						a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-"						f = dot3F4( -u, r );\n"
-"						a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-"						f = dot3F4( v, r );\n"
-"						a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-"						f = dot3F4( -v, r );\n"
-"						a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
-"					}\n"
-"					for(int ie=0; ie<nPoints; ie++)\n"
-"					{\n"
-"						a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n"
-"						a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n"
-"						a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n"
-"						a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n"
-"					}\n"
-"					idx[0] = (int)a[0].x & 0xff;\n"
-"					idx[1] = (int)a[0].y & 0xff;\n"
-"					idx[2] = (int)a[0].z & 0xff;\n"
-"					idx[3] = (int)a[0].w & 0xff;\n"
-"				}\n"
-"			}\n"
-"			{\n"
-"				float2 h[64];\n"
-"				PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n"
-"				REDUCE_MIN( h, nPoints );\n"
-"				max00 = h[0];\n"
-"			}\n"
-"		}\n"
-"		contactIdx[0] = idx[0];\n"
-"		contactIdx[1] = idx[1];\n"
-"		contactIdx[2] = idx[2];\n"
-"		contactIdx[3] = idx[3];\n"
-"		return 4;\n"
-"	}\n"
-"}\n"
-"__kernel void   extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
-"																	__global const b3RigidBodyData_t* rigidBodies, \n"
-"																	__global const float4* closestPointsWorld,\n"
-"																	__global const float4* separatingNormalsWorld,\n"
-"																	__global const int* contactCounts,\n"
-"																	__global const int* contactOffsets,\n"
-"																	__global struct b3Contact4Data* restrict contactsOut,\n"
-"																	counter32_t nContactsOut,\n"
-"																	int contactCapacity,\n"
-"																	int numPairs,\n"
-"																	int pairIndex\n"
-"																	)\n"
-"{\n"
-"	int idx = get_global_id(0);\n"
-"	\n"
-"	if (idx<numPairs)\n"
-"	{\n"
-"		float4 normal = separatingNormalsWorld[idx];\n"
-"		int nPoints = contactCounts[idx];\n"
-"		__global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n"
-"		float4 localPoints[64];\n"
-"		for (int i=0;i<nPoints;i++)\n"
-"		{\n"
-"			localPoints[i] = pointsIn[i];\n"
-"		}\n"
-"		int contactIdx[4];// = {-1,-1,-1,-1};\n"
-"		contactIdx[0] = -1;\n"
-"		contactIdx[1] = -1;\n"
-"		contactIdx[2] = -1;\n"
-"		contactIdx[3] = -1;\n"
-"		int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n"
-"		int dstIdx;\n"
-"		AppendInc( nContactsOut, dstIdx );\n"
-"		if (dstIdx<contactCapacity)\n"
-"		{\n"
-"			__global struct b3Contact4Data* c = contactsOut + dstIdx;\n"
-"			c->m_worldNormalOnB = -normal;\n"
-"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"			c->m_batchIdx = idx;\n"
-"			int bodyA = pairs[pairIndex].x;\n"
-"			int bodyB = pairs[pairIndex].y;\n"
-"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
-"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
-"			c->m_childIndexA = -1;\n"
-"			c->m_childIndexB = -1;\n"
-"			for (int i=0;i<nContacts;i++)\n"
-"			{\n"
-"				c->m_worldPosB[i] = localPoints[contactIdx[i]];\n"
-"			}\n"
-"			GET_NPOINTS(*c) = nContacts;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
-"		float4* translationOut, Quaternion* orientationOut)\n"
-"{\n"
-"	*orientationOut = qtInvert(orientationIn);\n"
-"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
-"}\n"
-"void	trMul(float4 translationA, Quaternion orientationA,\n"
-"						float4 translationB, Quaternion orientationB,\n"
-"		float4* translationOut, Quaternion* orientationOut)\n"
-"{\n"
-"	*orientationOut = qtMul(orientationA,orientationB);\n"
-"	*translationOut = transform(&translationB,&translationA,&orientationA);\n"
-"}\n"
-"__kernel void   clipHullHullKernel( __global int4* pairs, \n"
-"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-"																					__global const b3Collidable_t* collidables,\n"
-"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const b3GpuFace_t* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global const float4* separatingNormals,\n"
-"																					__global const int* hasSeparatingAxis,\n"
-"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																					counter32_t nGlobalContactsOut,\n"
-"																					int numPairs,\n"
-"																					int contactCapacity)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"	float4 worldVertsB1[64];\n"
-"	float4 worldVertsB2[64];\n"
-"	int capacityWorldVerts = 64;	\n"
-"	float4 localContactsOut[64];\n"
-"	int localContactCapacity=64;\n"
-"	\n"
-"	float minDist = -1e30f;\n"
-"	float maxDist = 0.02f;\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"			\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"		if (hasSeparatingAxis[i])\n"
-"		{\n"
-"			\n"
-"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"			\n"
-"		\n"
-"			int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n"
-"														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
-"														rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
-"													  rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
-"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
-"														minDist, maxDist,\n"
-"														vertices,faces,indices,\n"
-"														localContactsOut,localContactCapacity);\n"
-"												\n"
-"		if (numLocalContactsOut>0)\n"
-"		{\n"
-"				float4 normal = -separatingNormals[i];\n"
-"				int nPoints = numLocalContactsOut;\n"
-"				float4* pointsIn = localContactsOut;\n"
-"				int contactIdx[4];// = {-1,-1,-1,-1};\n"
-"				contactIdx[0] = -1;\n"
-"				contactIdx[1] = -1;\n"
-"				contactIdx[2] = -1;\n"
-"				contactIdx[3] = -1;\n"
-"		\n"
-"				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
-"		\n"
-"				\n"
-"				int mprContactIndex = pairs[pairIndex].z;\n"
-"				int dstIdx = mprContactIndex;\n"
-"				if (dstIdx<0)\n"
-"				{\n"
-"					AppendInc( nGlobalContactsOut, dstIdx );\n"
-"				}\n"
-"				if (dstIdx<contactCapacity)\n"
-"				{\n"
-"					pairs[pairIndex].z = dstIdx;\n"
-"					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
-"					c->m_worldNormalOnB = -normal;\n"
-"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"					c->m_batchIdx = pairIndex;\n"
-"					int bodyA = pairs[pairIndex].x;\n"
-"					int bodyB = pairs[pairIndex].y;\n"
-"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-"					c->m_childIndexA = -1;\n"
-"					c->m_childIndexB = -1;\n"
-"					for (int i=0;i<nReducedContacts;i++)\n"
-"					{\n"
-"					//this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n"
-"						if (i>0||(mprContactIndex<0))\n"
-"						{\n"
-"							c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
-"						}\n"
-"					}\n"
-"					GET_NPOINTS(*c) = nReducedContacts;\n"
-"				}\n"
-"				\n"
-"			}//		if (numContactsOut>0)\n"
-"		}//		if (hasSeparatingAxis[i])\n"
-"	}//	if (i<numPairs)\n"
-"}\n"
-"__kernel void   clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n"
-"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-"																					__global const b3Collidable_t* collidables,\n"
-"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const b3GpuFace_t* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global const b3GpuChildShape_t* gpuChildShapes,\n"
-"																					__global const float4* gpuCompoundSepNormalsOut,\n"
-"																					__global const int* gpuHasCompoundSepNormalsOut,\n"
-"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																					counter32_t nGlobalContactsOut,\n"
-"																					int numCompoundPairs, int maxContactCapacity)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"	float4 worldVertsB1[64];\n"
-"	float4 worldVertsB2[64];\n"
-"	int capacityWorldVerts = 64;	\n"
-"	float4 localContactsOut[64];\n"
-"	int localContactCapacity=64;\n"
-"	\n"
-"	float minDist = -1e30f;\n"
-"	float maxDist = 0.02f;\n"
-"	if (i<numCompoundPairs)\n"
-"	{\n"
-"		if (gpuHasCompoundSepNormalsOut[i])\n"
-"		{\n"
-"			int bodyIndexA = gpuCompoundPairs[i].x;\n"
-"			int bodyIndexB = gpuCompoundPairs[i].y;\n"
-"			\n"
-"			int childShapeIndexA = gpuCompoundPairs[i].z;\n"
-"			int childShapeIndexB = gpuCompoundPairs[i].w;\n"
-"			\n"
-"			int collidableIndexA = -1;\n"
-"			int collidableIndexB = -1;\n"
-"			\n"
-"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			\n"
-"			float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"								\n"
-"			if (childShapeIndexA >= 0)\n"
-"			{\n"
-"				collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-"				float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-"				float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-"				float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-"				float4 newOrnA = qtMul(ornA,childOrnA);\n"
-"				posA = newPosA;\n"
-"				ornA = newOrnA;\n"
-"			} else\n"
-"			{\n"
-"				collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"			}\n"
-"			\n"
-"			if (childShapeIndexB>=0)\n"
-"			{\n"
-"				collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"				float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"				float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"				float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"				float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"				posB = newPosB;\n"
-"				ornB = newOrnB;\n"
-"			} else\n"
-"			{\n"
-"				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
-"			}\n"
-"			\n"
-"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"		\n"
-"			int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n"
-"														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
-"														posA,ornA,\n"
-"													  posB,ornB,\n"
-"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
-"														minDist, maxDist,\n"
-"														vertices,faces,indices,\n"
-"														localContactsOut,localContactCapacity);\n"
-"												\n"
-"		if (numLocalContactsOut>0)\n"
-"		{\n"
-"				float4 normal = -gpuCompoundSepNormalsOut[i];\n"
-"				int nPoints = numLocalContactsOut;\n"
-"				float4* pointsIn = localContactsOut;\n"
-"				int contactIdx[4];// = {-1,-1,-1,-1};\n"
-"				contactIdx[0] = -1;\n"
-"				contactIdx[1] = -1;\n"
-"				contactIdx[2] = -1;\n"
-"				contactIdx[3] = -1;\n"
-"		\n"
-"				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
-"		\n"
-"				int dstIdx;\n"
-"				AppendInc( nGlobalContactsOut, dstIdx );\n"
-"				if ((dstIdx+nReducedContacts) < maxContactCapacity)\n"
-"				{\n"
-"					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
-"					c->m_worldNormalOnB = -normal;\n"
-"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"					c->m_batchIdx = pairIndex;\n"
-"					int bodyA = gpuCompoundPairs[pairIndex].x;\n"
-"					int bodyB = gpuCompoundPairs[pairIndex].y;\n"
-"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-"					c->m_childIndexA = childShapeIndexA;\n"
-"					c->m_childIndexB = childShapeIndexB;\n"
-"					for (int i=0;i<nReducedContacts;i++)\n"
-"					{\n"
-"						c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
-"					}\n"
-"					GET_NPOINTS(*c) = nReducedContacts;\n"
-"				}\n"
-"				\n"
-"			}//		if (numContactsOut>0)\n"
-"		}//		if (gpuHasCompoundSepNormalsOut[i])\n"
-"	}//	if (i<numCompoundPairs)\n"
-"}\n"
-"__kernel void   sphereSphereCollisionKernel( __global const int4* pairs, \n"
-"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-"																					__global const b3Collidable_t* collidables,\n"
-"																					__global const float4* separatingNormals,\n"
-"																					__global const int* hasSeparatingAxis,\n"
-"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																					counter32_t nGlobalContactsOut,\n"
-"																					int contactCapacity,\n"
-"																					int numPairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"			\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
-"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
-"		{\n"
-"			//sphere-sphere\n"
-"			float radiusA = collidables[collidableIndexA].m_radius;\n"
-"			float radiusB = collidables[collidableIndexB].m_radius;\n"
-"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"			float4 diff = posA-posB;\n"
-"			float len = length(diff);\n"
-"			\n"
-"			///iff distance positive, don't generate a new contact\n"
-"			if ( len <= (radiusA+radiusB))\n"
-"			{\n"
-"				///distance (negative means penetration)\n"
-"				float dist = len - (radiusA+radiusB);\n"
-"				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
-"				if (len > 0.00001)\n"
-"				{\n"
-"					normalOnSurfaceB = diff / len;\n"
-"				}\n"
-"				float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
-"				contactPosB.w = dist;\n"
-"								\n"
-"				int dstIdx;\n"
-"				AppendInc( nGlobalContactsOut, dstIdx );\n"
-"				if (dstIdx < contactCapacity)\n"
-"				{\n"
-"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"					c->m_worldNormalOnB = -normalOnSurfaceB;\n"
-"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"					c->m_batchIdx = pairIndex;\n"
-"					int bodyA = pairs[pairIndex].x;\n"
-"					int bodyB = pairs[pairIndex].y;\n"
-"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-"					c->m_worldPosB[0] = contactPosB;\n"
-"					c->m_childIndexA = -1;\n"
-"					c->m_childIndexB = -1;\n"
-"					GET_NPOINTS(*c) = 1;\n"
-"				}//if (dstIdx < numPairs)\n"
-"			}//if ( len <= (radiusA+radiusB))\n"
-"		}//SHAPE_SPHERE SHAPE_SPHERE\n"
-"	}//if (i<numPairs)\n"
-"}				\n"
-"__kernel void   clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n"
-"																					__global const b3RigidBodyData_t* rigidBodies, \n"
-"																					__global const b3Collidable_t* collidables,\n"
-"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const b3GpuFace_t* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global const b3GpuChildShape_t* gpuChildShapes,\n"
-"																					__global const float4* separatingNormals,\n"
-"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
-"																					counter32_t nGlobalContactsOut,\n"
-"																					int contactCapacity,\n"
-"																					int numConcavePairs)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"	float4 worldVertsB1[64];\n"
-"	float4 worldVertsB2[64];\n"
-"	int capacityWorldVerts = 64;	\n"
-"	float4 localContactsOut[64];\n"
-"	int localContactCapacity=64;\n"
-"	\n"
-"	float minDist = -1e30f;\n"
-"	float maxDist = 0.02f;\n"
-"	if (i<numConcavePairs)\n"
-"	{\n"
-"		//negative value means that the pair is invalid\n"
-"		if (concavePairsIn[i].w<0)\n"
-"			return;\n"
-"		int bodyIndexA = concavePairsIn[i].x;\n"
-"		int bodyIndexB = concavePairsIn[i].y;\n"
-"		int f = concavePairsIn[i].z;\n"
-"		int childShapeIndexA = f;\n"
-"		\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"		\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"		\n"
-"		///////////////////////////////////////////////////////////////\n"
-"		\n"
-"	\n"
-"		bool overlap = false;\n"
-"		\n"
-"		b3ConvexPolyhedronData_t convexPolyhedronA;\n"
-"	//add 3 vertices of the triangle\n"
-"		convexPolyhedronA.m_numVertices = 3;\n"
-"		convexPolyhedronA.m_vertexOffset = 0;\n"
-"		float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-"		b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-"		\n"
-"		float4 verticesA[3];\n"
-"		for (int i=0;i<3;i++)\n"
-"		{\n"
-"			int index = indices[face.m_indexOffset+i];\n"
-"			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-"			verticesA[i] = vert;\n"
-"			localCenter += vert;\n"
-"		}\n"
-"		float dmin = FLT_MAX;\n"
-"		int localCC=0;\n"
-"		//a triangle has 3 unique edges\n"
-"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-"		float4 uniqueEdgesA[3];\n"
-"		\n"
-"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-"		convexPolyhedronA.m_faceOffset = 0;\n"
-"                                  \n"
-"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-"                             \n"
-"		b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-"		int indicesA[3+3+2+2+2];\n"
-"		int curUsedIndices=0;\n"
-"		int fidx=0;\n"
-"		//front size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[0] = 0;\n"
-"			indicesA[1] = 1;\n"
-"			indicesA[2] = 2;\n"
-"			curUsedIndices+=3;\n"
-"			float c = face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = normal.x;\n"
-"			facesA[fidx].m_plane.y = normal.y;\n"
-"			facesA[fidx].m_plane.z = normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"		//back size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[3]=2;\n"
-"			indicesA[4]=1;\n"
-"			indicesA[5]=0;\n"
-"			curUsedIndices+=3;\n"
-"			float c = dot3F4(normal,verticesA[0]);\n"
-"			float c1 = -face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = -normal.x;\n"
-"			facesA[fidx].m_plane.y = -normal.y;\n"
-"			facesA[fidx].m_plane.z = -normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"		bool addEdgePlanes = true;\n"
-"		if (addEdgePlanes)\n"
-"		{\n"
-"			int numVertices=3;\n"
-"			int prevVertex = numVertices-1;\n"
-"			for (int i=0;i<numVertices;i++)\n"
-"			{\n"
-"				float4 v0 = verticesA[i];\n"
-"				float4 v1 = verticesA[prevVertex];\n"
-"                                            \n"
-"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-"				float c = -dot3F4(edgeNormal,v0);\n"
-"				facesA[fidx].m_numIndices = 2;\n"
-"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"				indicesA[curUsedIndices++]=i;\n"
-"				indicesA[curUsedIndices++]=prevVertex;\n"
-"                                            \n"
-"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-"				facesA[fidx].m_plane.w = c;\n"
-"				fidx++;\n"
-"				prevVertex = i;\n"
-"			}\n"
-"		}\n"
-"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		posA.w = 0.f;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"		posB.w = 0.f;\n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"		float4 sepAxis = separatingNormals[i];\n"
-"		\n"
-"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-"		int childShapeIndexB =-1;\n"
-"		if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"		{\n"
-"			///////////////////\n"
-"			///compound shape support\n"
-"			\n"
-"			childShapeIndexB = concavePairsIn[pairIndex].w;\n"
-"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"			posB = newPosB;\n"
-"			ornB = newOrnB;\n"
-"			\n"
-"		}\n"
-"		\n"
-"		////////////////////////////////////////\n"
-"		\n"
-"		\n"
-"		\n"
-"		int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n"
-"														&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-"														posA,ornA,\n"
-"													  posB,ornB,\n"
-"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
-"														minDist, maxDist,\n"
-"														&verticesA,&facesA,&indicesA,\n"
-"														vertices,faces,indices,\n"
-"														localContactsOut,localContactCapacity);\n"
-"												\n"
-"		if (numLocalContactsOut>0)\n"
-"		{\n"
-"			float4 normal = -separatingNormals[i];\n"
-"			int nPoints = numLocalContactsOut;\n"
-"			float4* pointsIn = localContactsOut;\n"
-"			int contactIdx[4];// = {-1,-1,-1,-1};\n"
-"			contactIdx[0] = -1;\n"
-"			contactIdx[1] = -1;\n"
-"			contactIdx[2] = -1;\n"
-"			contactIdx[3] = -1;\n"
-"	\n"
-"			int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
-"	\n"
-"			int dstIdx;\n"
-"			AppendInc( nGlobalContactsOut, dstIdx );\n"
-"			if (dstIdx<contactCapacity)\n"
-"			{\n"
-"				__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
-"				c->m_worldNormalOnB = -normal;\n"
-"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"				c->m_batchIdx = pairIndex;\n"
-"				int bodyA = concavePairsIn[pairIndex].x;\n"
-"				int bodyB = concavePairsIn[pairIndex].y;\n"
-"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-"				c->m_childIndexA = childShapeIndexA;\n"
-"				c->m_childIndexB = childShapeIndexB;\n"
-"				for (int i=0;i<nReducedContacts;i++)\n"
-"				{\n"
-"					c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
-"				}\n"
-"				GET_NPOINTS(*c) = nReducedContacts;\n"
-"			}\n"
-"				\n"
-"		}//		if (numContactsOut>0)\n"
-"	}//	if (i<numPairs)\n"
-"}\n"
-"int	findClippingFaces(const float4 separatingNormal,\n"
-"                      __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n"
-"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
-"                       __global float4* worldVertsA1,\n"
-"                      __global float4* worldNormalsA1,\n"
-"                      __global float4* worldVertsB1,\n"
-"                      int capacityWorldVerts,\n"
-"                      const float minDist, float maxDist,\n"
-"                      __global const float4* vertices,\n"
-"                      __global const b3GpuFace_t* faces,\n"
-"                      __global const int* indices,\n"
-"                      __global int4* clippingFaces, int pairIndex)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	int numWorldVertsB1= 0;\n"
-"    \n"
-"    \n"
-"	int closestFaceB=-1;\n"
-"	float dmax = -FLT_MAX;\n"
-"    \n"
-"	{\n"
-"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n"
-"                                              faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-"			if (d > dmax)\n"
-"			{\n"
-"				dmax = d;\n"
-"				closestFaceB = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"    \n"
-"	{\n"
-"		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
-"		const int numVertices = polyB.m_numIndices;\n"
-"		for(int e0=0;e0<numVertices;e0++)\n"
-"		{\n"
-"			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
-"			worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-"		}\n"
-"	}\n"
-"    \n"
-"    int closestFaceA=-1;\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(\n"
-"                                              faces[hullA->m_faceOffset+face].m_plane.x,\n"
-"                                              faces[hullA->m_faceOffset+face].m_plane.y,\n"
-"                                              faces[hullA->m_faceOffset+face].m_plane.z,\n"
-"                                              0.f);\n"
-"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-"            \n"
-"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-"			if (d < dmin)\n"
-"			{\n"
-"				dmin = d;\n"
-"				closestFaceA = face;\n"
-"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"    \n"
-"    int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
-"	for(int e0=0;e0<numVerticesA;e0++)\n"
-"	{\n"
-"        const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
-"        worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
-"    }\n"
-"    \n"
-"    clippingFaces[pairIndex].x = closestFaceA;\n"
-"    clippingFaces[pairIndex].y = closestFaceB;\n"
-"    clippingFaces[pairIndex].z = numVerticesA;\n"
-"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
-"    \n"
-"    \n"
-"	return numContactsOut;\n"
-"}\n"
-"int clipFaces(__global float4* worldVertsA1,\n"
-"              __global float4* worldNormalsA1,\n"
-"              __global float4* worldVertsB1,\n"
-"              __global float4* worldVertsB2, \n"
-"              int capacityWorldVertsB2,\n"
-"              const float minDist, float maxDist,\n"
-"              __global int4* clippingFaces,\n"
-"              int pairIndex)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"    \n"
-"    int closestFaceA = clippingFaces[pairIndex].x;\n"
-"    int closestFaceB = clippingFaces[pairIndex].y;\n"
-"	int numVertsInA = clippingFaces[pairIndex].z;\n"
-"	int numVertsInB = clippingFaces[pairIndex].w;\n"
-"    \n"
-"	int numVertsOut = 0;\n"
-"    \n"
-"	if (closestFaceA<0)\n"
-"		return numContactsOut;\n"
-"    \n"
-"    __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
-"    __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
-"    \n"
-"    \n"
-"	\n"
-"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-"    \n"
-"	for(int e0=0;e0<numVertsInA;e0++)\n"
-"	{\n"
-"		const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
-"		const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
-"		const float4 WorldEdge0 = aw - bw;\n"
-"		float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
-"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-"		float4 worldA1 = aw;\n"
-"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-"		float4 planeNormalWS = planeNormalWS1;\n"
-"		float planeEqWS=planeEqWS1;\n"
-"		numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
-"		__global float4* tmp = pVtxOut;\n"
-"		pVtxOut = pVtxIn;\n"
-"		pVtxIn = tmp;\n"
-"		numVertsInB = numVertsOut;\n"
-"		numVertsOut = 0;\n"
-"	}\n"
-"    \n"
-"    //float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
-"    //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
-"    \n"
-"    /*for (int i=0;i<numVertsInB;i++)\n"
-"    {\n"
-"        pVtxOut[i] = pVtxIn[i];\n"
-"    }*/\n"
-"    \n"
-"    \n"
-"    \n"
-"    \n"
-"    //numVertsInB=0;\n"
-"	\n"
-"    float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
-"    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
-"    for (int i=0;i<numVertsInB;i++)\n"
-"    {\n"
-"        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-"        if (depth <=minDist)\n"
-"        {\n"
-"            depth = minDist;\n"
-"        }\n"
-"        \n"
-"        if (depth <=maxDist)\n"
-"        {\n"
-"            float4 pointInWorld = pVtxIn[i];\n"
-"            pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-"        }\n"
-"    }\n"
-"   \n"
-"    clippingFaces[pairIndex].w =numContactsOut;\n"
-"   \n"
-"    \n"
-"	return numContactsOut;\n"
-"}\n"
-"__kernel void   findClippingFacesKernel(  __global const int4* pairs,\n"
-"                                        __global const b3RigidBodyData_t* rigidBodies,\n"
-"                                        __global const b3Collidable_t* collidables,\n"
-"                                        __global const b3ConvexPolyhedronData_t* convexShapes,\n"
-"                                        __global const float4* vertices,\n"
-"                                        __global const float4* uniqueEdges,\n"
-"                                        __global const b3GpuFace_t* faces,\n"
-"                                        __global const int* indices,\n"
-"                                        __global const float4* separatingNormals,\n"
-"                                        __global const int* hasSeparatingAxis,\n"
-"                                        __global int4* clippingFacesOut,\n"
-"                                        __global float4* worldVertsA1,\n"
-"                                        __global float4* worldNormalsA1,\n"
-"                                        __global float4* worldVertsB1,\n"
-"                                        int capacityWorldVerts,\n"
-"                                        int numPairs\n"
-"                                        )\n"
-"{\n"
-"    \n"
-"	int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"    \n"
-"	\n"
-"	float minDist = -1e30f;\n"
-"	float maxDist = 0.02f;\n"
-"    \n"
-"	if (i<numPairs)\n"
-"	{\n"
-"        \n"
-"		if (hasSeparatingAxis[i])\n"
-"		{\n"
-"            \n"
-"			int bodyIndexA = pairs[i].x;\n"
-"			int bodyIndexB = pairs[i].y;\n"
-"			\n"
-"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"			\n"
-"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"			\n"
-"            \n"
-"            \n"
-"			int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n"
-"                                                        &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
-"                                                        rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
-"                                                        rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
-"                                                        worldVertsA1,\n"
-"                                                        worldNormalsA1,\n"
-"                                                        worldVertsB1,capacityWorldVerts,\n"
-"                                                        minDist, maxDist,\n"
-"                                                        vertices,faces,indices,\n"
-"                                                        clippingFacesOut,i);\n"
-"            \n"
-"            \n"
-"		}//		if (hasSeparatingAxis[i])\n"
-"	}//	if (i<numPairs)\n"
-"    \n"
-"}\n"
-"__kernel void   clipFacesAndFindContactsKernel(    __global const float4* separatingNormals,\n"
-"                                                   __global const int* hasSeparatingAxis,\n"
-"                                                   __global int4* clippingFacesOut,\n"
-"                                                   __global float4* worldVertsA1,\n"
-"                                                   __global float4* worldNormalsA1,\n"
-"                                                   __global float4* worldVertsB1,\n"
-"                                                   __global float4* worldVertsB2,\n"
-"                                                    int vertexFaceCapacity,\n"
-"                                                   int numPairs,\n"
-"					                                        int debugMode\n"
-"                                                   )\n"
-"{\n"
-"    int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"    \n"
-"	float minDist = -1e30f;\n"
-"	float maxDist = 0.02f;\n"
-"    \n"
-"	if (i<numPairs)\n"
-"	{\n"
-"        \n"
-"		if (hasSeparatingAxis[i])\n"
-"		{\n"
-"            \n"
-"//			int bodyIndexA = pairs[i].x;\n"
-"	//		int bodyIndexB = pairs[i].y;\n"
-"		    \n"
-"            int numLocalContactsOut = 0;\n"
-"            int capacityWorldVertsB2 = vertexFaceCapacity;\n"
-"            \n"
-"            __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
-"            __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
-"            \n"
-"            {\n"
-"                __global int4* clippingFaces = clippingFacesOut;\n"
-"            \n"
-"                \n"
-"                int closestFaceA = clippingFaces[pairIndex].x;\n"
-"                int closestFaceB = clippingFaces[pairIndex].y;\n"
-"                int numVertsInA = clippingFaces[pairIndex].z;\n"
-"                int numVertsInB = clippingFaces[pairIndex].w;\n"
-"                \n"
-"                int numVertsOut = 0;\n"
-"                \n"
-"                if (closestFaceA>=0)\n"
-"                {\n"
-"                    \n"
-"                    \n"
-"                    \n"
-"                    // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
-"                    \n"
-"                    for(int e0=0;e0<numVertsInA;e0++)\n"
-"                    {\n"
-"                        const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
-"                        const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
-"                        const float4 WorldEdge0 = aw - bw;\n"
-"                        float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
-"                        float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
-"                        float4 worldA1 = aw;\n"
-"                        float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
-"                        float4 planeNormalWS = planeNormalWS1;\n"
-"                        float planeEqWS=planeEqWS1;\n"
-"                        numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
-"                        __global float4* tmp = pVtxOut;\n"
-"                        pVtxOut = pVtxIn;\n"
-"                        pVtxIn = tmp;\n"
-"                        numVertsInB = numVertsOut;\n"
-"                        numVertsOut = 0;\n"
-"                    }\n"
-"                    \n"
-"                    float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
-"                    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
-"                    \n"
-"                    for (int i=0;i<numVertsInB;i++)\n"
-"                    {\n"
-"                        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
-"                        if (depth <=minDist)\n"
-"                        {\n"
-"                            depth = minDist;\n"
-"                        }\n"
-"                        \n"
-"                        if (depth <=maxDist)\n"
-"                        {\n"
-"                            float4 pointInWorld = pVtxIn[i];\n"
-"                            pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
-"                        }\n"
-"                    }\n"
-"                    \n"
-"                }\n"
-"                clippingFaces[pairIndex].w =numLocalContactsOut;\n"
-"                \n"
-"            }\n"
-"            \n"
-"            for (int i=0;i<numLocalContactsOut;i++)\n"
-"                pVtxIn[i] = pVtxOut[i];\n"
-"                \n"
-"		}//		if (hasSeparatingAxis[i])\n"
-"	}//	if (i<numPairs)\n"
-"    \n"
-"}\n"
-"__kernel void   newContactReductionKernel( __global int4* pairs,\n"
-"                                                   __global const b3RigidBodyData_t* rigidBodies,\n"
-"                                                   __global const float4* separatingNormals,\n"
-"                                                   __global const int* hasSeparatingAxis,\n"
-"                                                   __global struct b3Contact4Data* globalContactsOut,\n"
-"                                                   __global int4* clippingFaces,\n"
-"                                                   __global float4* worldVertsB2,\n"
-"                                                   volatile __global int* nGlobalContactsOut,\n"
-"                                                   int vertexFaceCapacity,\n"
-"												   int contactCapacity,\n"
-"                                                   int numPairs\n"
-"                                                   )\n"
-"{\n"
-"    int i = get_global_id(0);\n"
-"	int pairIndex = i;\n"
-"	\n"
-"    int4 contactIdx;\n"
-"    contactIdx=make_int4(0,1,2,3);\n"
-"    \n"
-"	if (i<numPairs)\n"
-"	{\n"
-"        \n"
-"		if (hasSeparatingAxis[i])\n"
-"		{\n"
-"            \n"
-"			\n"
-"            \n"
-"            \n"
-"			int nPoints = clippingFaces[pairIndex].w;\n"
-"           \n"
-"            if (nPoints>0)\n"
-"            {\n"
-"                 __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n"
-"                float4 normal = -separatingNormals[i];\n"
-"                \n"
-"                int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n"
-"            \n"
-"				int mprContactIndex = pairs[pairIndex].z;\n"
-"                int dstIdx = mprContactIndex;\n"
-"				if (dstIdx<0)\n"
-"				{\n"
-"	                AppendInc( nGlobalContactsOut, dstIdx );\n"
-"				}\n"
-"//#if 0\n"
-"                \n"
-"				if (dstIdx < contactCapacity)\n"
-"				{\n"
-"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
-"					c->m_worldNormalOnB = -normal;\n"
-"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
-"					c->m_batchIdx = pairIndex;\n"
-"					int bodyA = pairs[pairIndex].x;\n"
-"					int bodyB = pairs[pairIndex].y;\n"
-"					pairs[pairIndex].w = dstIdx;\n"
-"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
-"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
-"                    c->m_childIndexA =-1;\n"
-"					c->m_childIndexB =-1;\n"
-"                    switch (nReducedContacts)\n"
-"                    {\n"
-"                        case 4:\n"
-"                            c->m_worldPosB[3] = pointsIn[contactIdx.w];\n"
-"                        case 3:\n"
-"                            c->m_worldPosB[2] = pointsIn[contactIdx.z];\n"
-"                        case 2:\n"
-"                            c->m_worldPosB[1] = pointsIn[contactIdx.y];\n"
-"                        case 1:\n"
-"							if (mprContactIndex<0)//test\n"
-"	                            c->m_worldPosB[0] = pointsIn[contactIdx.x];\n"
-"                        default:\n"
-"                        {\n"
-"                        }\n"
-"                    };\n"
-"                    \n"
-"					GET_NPOINTS(*c) = nReducedContacts;\n"
-"                    \n"
-"                 }\n"
-"                 \n"
-"                \n"
-"//#endif\n"
-"				\n"
-"			}//		if (numContactsOut>0)\n"
-"		}//		if (hasSeparatingAxis[i])\n"
-"	}//	if (i<numPairs)\n"
-"    \n"
-"    \n"
-"}\n"
-;
+static const char* satClipKernelsCL =
+	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile __global int*\n"
+	"#endif\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"typedef unsigned int u32;\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#ifndef B3_CONVEX_POLYHEDRON_DATA_H\n"
+	"#define B3_CONVEX_POLYHEDRON_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"typedef struct b3GpuFace b3GpuFace_t;\n"
+	"struct b3GpuFace\n"
+	"{\n"
+	"	b3Float4 m_plane;\n"
+	"	int m_indexOffset;\n"
+	"	int m_numIndices;\n"
+	"	int m_unusedPadding1;\n"
+	"	int m_unusedPadding2;\n"
+	"};\n"
+	"typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;\n"
+	"struct b3ConvexPolyhedronData\n"
+	"{\n"
+	"	b3Float4		m_localCenter;\n"
+	"	b3Float4		m_extents;\n"
+	"	b3Float4		mC;\n"
+	"	b3Float4		mE;\n"
+	"	float			m_radius;\n"
+	"	int	m_faceOffset;\n"
+	"	int m_numFaces;\n"
+	"	int	m_numVertices;\n"
+	"	int m_vertexOffset;\n"
+	"	int	m_uniqueEdgesOffset;\n"
+	"	int	m_numUniqueEdges;\n"
+	"	int m_unused;\n"
+	"};\n"
+	"#endif //B3_CONVEX_POLYHEDRON_DATA_H\n"
+	"#ifndef B3_COLLIDABLE_H\n"
+	"#define B3_COLLIDABLE_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"enum b3ShapeTypes\n"
+	"{\n"
+	"	SHAPE_HEIGHT_FIELD=1,\n"
+	"	SHAPE_CONVEX_HULL=3,\n"
+	"	SHAPE_PLANE=4,\n"
+	"	SHAPE_CONCAVE_TRIMESH=5,\n"
+	"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
+	"	SHAPE_SPHERE=7,\n"
+	"	MAX_NUM_SHAPE_TYPES,\n"
+	"};\n"
+	"typedef struct b3Collidable b3Collidable_t;\n"
+	"struct b3Collidable\n"
+	"{\n"
+	"	union {\n"
+	"		int m_numChildShapes;\n"
+	"		int m_bvhIndex;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float m_radius;\n"
+	"		int	m_compoundBvhIndex;\n"
+	"	};\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"};\n"
+	"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
+	"struct b3GpuChildShape\n"
+	"{\n"
+	"	b3Float4	m_childPosition;\n"
+	"	b3Quat		m_childOrientation;\n"
+	"	int m_shapeIndex;\n"
+	"	int m_unused0;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"struct b3CompoundOverlappingPair\n"
+	"{\n"
+	"	int m_bodyIndexA;\n"
+	"	int m_bodyIndexB;\n"
+	"//	int	m_pairType;\n"
+	"	int m_childShapeIndexA;\n"
+	"	int m_childShapeIndexB;\n"
+	"};\n"
+	"#endif //B3_COLLIDABLE_H\n"
+	"#ifndef B3_RIGIDBODY_DATA_H\n"
+	"#define B3_RIGIDBODY_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
+	"struct b3RigidBodyData\n"
+	"{\n"
+	"	b3Float4				m_pos;\n"
+	"	b3Quat					m_quat;\n"
+	"	b3Float4				m_linVel;\n"
+	"	b3Float4				m_angVel;\n"
+	"	int 					m_collidableIdx;\n"
+	"	float 				m_invMass;\n"
+	"	float 				m_restituitionCoeff;\n"
+	"	float 				m_frictionCoeff;\n"
+	"};\n"
+	"typedef struct b3InertiaData b3InertiaData_t;\n"
+	"struct b3InertiaData\n"
+	"{\n"
+	"	b3Mat3x3 m_invInertiaWorld;\n"
+	"	b3Mat3x3 m_initInvInertia;\n"
+	"};\n"
+	"#endif //B3_RIGIDBODY_DATA_H\n"
+	"	\n"
+	"#define GET_NPOINTS(x) (x).m_worldNormalOnB.w\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"__inline\n"
+	"float fastDiv(float numerator, float denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"//	return numerator/denominator;	\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"//#define dot3F4 dot\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"__inline\n"
+	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
+	"{\n"
+	"	return qtRotate( *orientation, *p ) + (*translation);\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"}\n"
+	"__inline float4 lerp3(const float4 a,const float4 b, float  t)\n"
+	"{\n"
+	"	return make_float4(	a.x + (b.x - a.x) * t,\n"
+	"						a.y + (b.y - a.y) * t,\n"
+	"						a.z + (b.z - a.z) * t,\n"
+	"						0.f);\n"
+	"}\n"
+	"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
+	"int clipFaceGlobal(__global const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, __global float4* ppVtxOut)\n"
+	"{\n"
+	"	\n"
+	"	int ve;\n"
+	"	float ds, de;\n"
+	"	int numVertsOut = 0;\n"
+	"    //double-check next test\n"
+	"    	if (numVertsIn < 2)\n"
+	"    		return 0;\n"
+	"    \n"
+	"	float4 firstVertex=pVtxIn[numVertsIn-1];\n"
+	"	float4 endVertex = pVtxIn[0];\n"
+	"	\n"
+	"	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
+	"    \n"
+	"	for (ve = 0; ve < numVertsIn; ve++)\n"
+	"	{\n"
+	"		endVertex=pVtxIn[ve];\n"
+	"		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
+	"		if (ds<0)\n"
+	"		{\n"
+	"			if (de<0)\n"
+	"			{\n"
+	"				// Start < 0, end < 0, so output endVertex\n"
+	"				ppVtxOut[numVertsOut++] = endVertex;\n"
+	"			}\n"
+	"			else\n"
+	"			{\n"
+	"				// Start < 0, end >= 0, so output intersection\n"
+	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
+	"			}\n"
+	"		}\n"
+	"		else\n"
+	"		{\n"
+	"			if (de<0)\n"
+	"			{\n"
+	"				// Start >= 0, end < 0 so output intersection and end\n"
+	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
+	"				ppVtxOut[numVertsOut++] = endVertex;\n"
+	"			}\n"
+	"		}\n"
+	"		firstVertex = endVertex;\n"
+	"		ds = de;\n"
+	"	}\n"
+	"	return numVertsOut;\n"
+	"}\n"
+	"// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut\n"
+	"int clipFace(const float4* pVtxIn, int numVertsIn, float4 planeNormalWS,float planeEqWS, float4* ppVtxOut)\n"
+	"{\n"
+	"	\n"
+	"	int ve;\n"
+	"	float ds, de;\n"
+	"	int numVertsOut = 0;\n"
+	"//double-check next test\n"
+	"	if (numVertsIn < 2)\n"
+	"		return 0;\n"
+	"	float4 firstVertex=pVtxIn[numVertsIn-1];\n"
+	"	float4 endVertex = pVtxIn[0];\n"
+	"	\n"
+	"	ds = dot3F4(planeNormalWS,firstVertex)+planeEqWS;\n"
+	"	for (ve = 0; ve < numVertsIn; ve++)\n"
+	"	{\n"
+	"		endVertex=pVtxIn[ve];\n"
+	"		de = dot3F4(planeNormalWS,endVertex)+planeEqWS;\n"
+	"		if (ds<0)\n"
+	"		{\n"
+	"			if (de<0)\n"
+	"			{\n"
+	"				// Start < 0, end < 0, so output endVertex\n"
+	"				ppVtxOut[numVertsOut++] = endVertex;\n"
+	"			}\n"
+	"			else\n"
+	"			{\n"
+	"				// Start < 0, end >= 0, so output intersection\n"
+	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
+	"			}\n"
+	"		}\n"
+	"		else\n"
+	"		{\n"
+	"			if (de<0)\n"
+	"			{\n"
+	"				// Start >= 0, end < 0 so output intersection and end\n"
+	"				ppVtxOut[numVertsOut++] = lerp3(firstVertex, endVertex,(ds * 1.f/(ds - de)) );\n"
+	"				ppVtxOut[numVertsOut++] = endVertex;\n"
+	"			}\n"
+	"		}\n"
+	"		firstVertex = endVertex;\n"
+	"		ds = de;\n"
+	"	}\n"
+	"	return numVertsOut;\n"
+	"}\n"
+	"int clipFaceAgainstHull(const float4 separatingNormal, __global const b3ConvexPolyhedronData_t* hullA,  \n"
+	"	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
+	"	float4* worldVertsB2, int capacityWorldVertsB2,\n"
+	"	const float minDist, float maxDist,\n"
+	"	__global const float4* vertices,\n"
+	"	__global const b3GpuFace_t* faces,\n"
+	"	__global const int* indices,\n"
+	"	float4* contactsOut,\n"
+	"	int contactCapacity)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	float4* pVtxIn = worldVertsB1;\n"
+	"	float4* pVtxOut = worldVertsB2;\n"
+	"	\n"
+	"	int numVertsIn = numWorldVertsB1;\n"
+	"	int numVertsOut = 0;\n"
+	"	int closestFaceA=-1;\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(\n"
+	"				faces[hullA->m_faceOffset+face].m_plane.x, \n"
+	"				faces[hullA->m_faceOffset+face].m_plane.y, \n"
+	"				faces[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
+	"		\n"
+	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
+	"			if (d < dmin)\n"
+	"			{\n"
+	"				dmin = d;\n"
+	"				closestFaceA = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if (closestFaceA<0)\n"
+	"		return numContactsOut;\n"
+	"	b3GpuFace_t polyA = faces[hullA->m_faceOffset+closestFaceA];\n"
+	"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
+	"	int numVerticesA = polyA.m_numIndices;\n"
+	"	for(int e0=0;e0<numVerticesA;e0++)\n"
+	"	{\n"
+	"		const float4 a = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+e0]];\n"
+	"		const float4 b = vertices[hullA->m_vertexOffset+indices[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
+	"		const float4 edge0 = a - b;\n"
+	"		const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
+	"		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
+	"		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
+	"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
+	"		float4 worldA1 = transform(&a,&posA,&ornA);\n"
+	"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
+	"		\n"
+	"		float4 planeNormalWS = planeNormalWS1;\n"
+	"		float planeEqWS=planeEqWS1;\n"
+	"		\n"
+	"		//clip face\n"
+	"		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
+	"		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
+	"		//btSwap(pVtxIn,pVtxOut);\n"
+	"		float4* tmp = pVtxOut;\n"
+	"		pVtxOut = pVtxIn;\n"
+	"		pVtxIn = tmp;\n"
+	"		numVertsIn = numVertsOut;\n"
+	"		numVertsOut = 0;\n"
+	"	}\n"
+	"	\n"
+	"	// only keep points that are behind the witness face\n"
+	"	{\n"
+	"		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
+	"		float localPlaneEq = polyA.m_plane.w;\n"
+	"		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
+	"		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
+	"		for (int i=0;i<numVertsIn;i++)\n"
+	"		{\n"
+	"			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
+	"			if (depth <=minDist)\n"
+	"			{\n"
+	"				depth = minDist;\n"
+	"			}\n"
+	"			if (depth <=maxDist)\n"
+	"			{\n"
+	"				float4 pointInWorld = pVtxIn[i];\n"
+	"				//resultOut.addContactPoint(separatingNormal,point,depth);\n"
+	"				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"int clipFaceAgainstHullLocalA(const float4 separatingNormal, const b3ConvexPolyhedronData_t* hullA,  \n"
+	"	const float4 posA, const Quaternion ornA, float4* worldVertsB1, int numWorldVertsB1,\n"
+	"	float4* worldVertsB2, int capacityWorldVertsB2,\n"
+	"	const float minDist, float maxDist,\n"
+	"	const float4* verticesA,\n"
+	"	const b3GpuFace_t* facesA,\n"
+	"	const int* indicesA,\n"
+	"	__global const float4* verticesB,\n"
+	"	__global const b3GpuFace_t* facesB,\n"
+	"	__global const int* indicesB,\n"
+	"	float4* contactsOut,\n"
+	"	int contactCapacity)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	float4* pVtxIn = worldVertsB1;\n"
+	"	float4* pVtxOut = worldVertsB2;\n"
+	"	\n"
+	"	int numVertsIn = numWorldVertsB1;\n"
+	"	int numVertsOut = 0;\n"
+	"	int closestFaceA=-1;\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(\n"
+	"				facesA[hullA->m_faceOffset+face].m_plane.x, \n"
+	"				facesA[hullA->m_faceOffset+face].m_plane.y, \n"
+	"				facesA[hullA->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
+	"		\n"
+	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
+	"			if (d < dmin)\n"
+	"			{\n"
+	"				dmin = d;\n"
+	"				closestFaceA = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if (closestFaceA<0)\n"
+	"		return numContactsOut;\n"
+	"	b3GpuFace_t polyA = facesA[hullA->m_faceOffset+closestFaceA];\n"
+	"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
+	"	int numVerticesA = polyA.m_numIndices;\n"
+	"	for(int e0=0;e0<numVerticesA;e0++)\n"
+	"	{\n"
+	"		const float4 a = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+e0]];\n"
+	"		const float4 b = verticesA[hullA->m_vertexOffset+indicesA[polyA.m_indexOffset+((e0+1)%numVerticesA)]];\n"
+	"		const float4 edge0 = a - b;\n"
+	"		const float4 WorldEdge0 = qtRotate(ornA,edge0);\n"
+	"		float4 planeNormalA = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
+	"		float4 worldPlaneAnormal1 = qtRotate(ornA,planeNormalA);\n"
+	"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
+	"		float4 worldA1 = transform(&a,&posA,&ornA);\n"
+	"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
+	"		\n"
+	"		float4 planeNormalWS = planeNormalWS1;\n"
+	"		float planeEqWS=planeEqWS1;\n"
+	"		\n"
+	"		//clip face\n"
+	"		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);\n"
+	"		numVertsOut = clipFace(pVtxIn, numVertsIn, planeNormalWS,planeEqWS, pVtxOut);\n"
+	"		//btSwap(pVtxIn,pVtxOut);\n"
+	"		float4* tmp = pVtxOut;\n"
+	"		pVtxOut = pVtxIn;\n"
+	"		pVtxIn = tmp;\n"
+	"		numVertsIn = numVertsOut;\n"
+	"		numVertsOut = 0;\n"
+	"	}\n"
+	"	\n"
+	"	// only keep points that are behind the witness face\n"
+	"	{\n"
+	"		float4 localPlaneNormal  = make_float4(polyA.m_plane.x,polyA.m_plane.y,polyA.m_plane.z,0.f);\n"
+	"		float localPlaneEq = polyA.m_plane.w;\n"
+	"		float4 planeNormalWS = qtRotate(ornA,localPlaneNormal);\n"
+	"		float planeEqWS=localPlaneEq-dot3F4(planeNormalWS,posA);\n"
+	"		for (int i=0;i<numVertsIn;i++)\n"
+	"		{\n"
+	"			float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
+	"			if (depth <=minDist)\n"
+	"			{\n"
+	"				depth = minDist;\n"
+	"			}\n"
+	"			if (depth <=maxDist)\n"
+	"			{\n"
+	"				float4 pointInWorld = pVtxIn[i];\n"
+	"				//resultOut.addContactPoint(separatingNormal,point,depth);\n"
+	"				contactsOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"int	clipHullAgainstHull(const float4 separatingNormal,\n"
+	"	__global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
+	"	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
+	"	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
+	"	const float minDist, float maxDist,\n"
+	"	__global const float4* vertices,\n"
+	"	__global const b3GpuFace_t* faces,\n"
+	"	__global const int* indices,\n"
+	"	float4*	localContactsOut,\n"
+	"	int localContactCapacity)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	int numWorldVertsB1= 0;\n"
+	"	int closestFaceB=-1;\n"
+	"	float dmax = -FLT_MAX;\n"
+	"	{\n"
+	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x, \n"
+	"				faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
+	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
+	"			if (d > dmax)\n"
+	"			{\n"
+	"				dmax = d;\n"
+	"				closestFaceB = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	{\n"
+	"		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
+	"		const int numVertices = polyB.m_numIndices;\n"
+	"		for(int e0=0;e0<numVertices;e0++)\n"
+	"		{\n"
+	"			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
+	"			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
+	"		}\n"
+	"	}\n"
+	"	if (closestFaceB>=0)\n"
+	"	{\n"
+	"		numContactsOut = clipFaceAgainstHull(separatingNormal, hullA, \n"
+	"				posA,ornA,\n"
+	"				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,vertices,\n"
+	"				faces,\n"
+	"				indices,localContactsOut,localContactCapacity);\n"
+	"	}\n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"int	clipHullAgainstHullLocalA(const float4 separatingNormal,\n"
+	"	const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB, \n"
+	"	const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB, \n"
+	"	float4* worldVertsB1, float4* worldVertsB2, int capacityWorldVerts,\n"
+	"	const float minDist, float maxDist,\n"
+	"	const float4* verticesA,\n"
+	"	const b3GpuFace_t* facesA,\n"
+	"	const int* indicesA,\n"
+	"	__global const float4* verticesB,\n"
+	"	__global const b3GpuFace_t* facesB,\n"
+	"	__global const int* indicesB,\n"
+	"	float4*	localContactsOut,\n"
+	"	int localContactCapacity)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	int numWorldVertsB1= 0;\n"
+	"	int closestFaceB=-1;\n"
+	"	float dmax = -FLT_MAX;\n"
+	"	{\n"
+	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x, \n"
+	"				facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
+	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
+	"			if (d > dmax)\n"
+	"			{\n"
+	"				dmax = d;\n"
+	"				closestFaceB = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	{\n"
+	"		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
+	"		const int numVertices = polyB.m_numIndices;\n"
+	"		for(int e0=0;e0<numVertices;e0++)\n"
+	"		{\n"
+	"			const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
+	"			worldVertsB1[numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
+	"		}\n"
+	"	}\n"
+	"	if (closestFaceB>=0)\n"
+	"	{\n"
+	"		numContactsOut = clipFaceAgainstHullLocalA(separatingNormal, hullA, \n"
+	"				posA,ornA,\n"
+	"				worldVertsB1,numWorldVertsB1,worldVertsB2,capacityWorldVerts, minDist, maxDist,\n"
+	"				verticesA,facesA,indicesA,\n"
+	"				verticesB,facesB,indicesB,\n"
+	"				localContactsOut,localContactCapacity);\n"
+	"	}\n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"#define PARALLEL_SUM(v, n) for(int j=1; j<n; j++) v[0] += v[j];\n"
+	"#define PARALLEL_DO(execution, n) for(int ie=0; ie<n; ie++){execution;}\n"
+	"#define REDUCE_MAX(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y > v[i+offset].y)? v[i]: v[i+offset]; }\n"
+	"#define REDUCE_MIN(v, n) {int i=0; for(int offset=0; offset<n; offset++) v[i] = (v[i].y < v[i+offset].y)? v[i]: v[i+offset]; }\n"
+	"int extractManifoldSequentialGlobal(__global const float4* p, int nPoints, float4 nearNormal, int4* contactIdx)\n"
+	"{\n"
+	"	if( nPoints == 0 )\n"
+	"        return 0;\n"
+	"    \n"
+	"    if (nPoints <=4)\n"
+	"        return nPoints;\n"
+	"    \n"
+	"    \n"
+	"    if (nPoints >64)\n"
+	"        nPoints = 64;\n"
+	"    \n"
+	"	float4 center = make_float4(0.f);\n"
+	"	{\n"
+	"		\n"
+	"		for (int i=0;i<nPoints;i++)\n"
+	"			center += p[i];\n"
+	"		center /= (float)nPoints;\n"
+	"	}\n"
+	"    \n"
+	"	\n"
+	"    \n"
+	"	//	sample 4 directions\n"
+	"    \n"
+	"    float4 aVector = p[0] - center;\n"
+	"    float4 u = cross3( nearNormal, aVector );\n"
+	"    float4 v = cross3( nearNormal, u );\n"
+	"    u = normalize3( u );\n"
+	"    v = normalize3( v );\n"
+	"    \n"
+	"    \n"
+	"    //keep point with deepest penetration\n"
+	"    float minW= FLT_MAX;\n"
+	"    \n"
+	"    int minIndex=-1;\n"
+	"    \n"
+	"    float4 maxDots;\n"
+	"    maxDots.x = FLT_MIN;\n"
+	"    maxDots.y = FLT_MIN;\n"
+	"    maxDots.z = FLT_MIN;\n"
+	"    maxDots.w = FLT_MIN;\n"
+	"    \n"
+	"    //	idx, distance\n"
+	"    for(int ie = 0; ie<nPoints; ie++ )\n"
+	"    {\n"
+	"        if (p[ie].w<minW)\n"
+	"        {\n"
+	"            minW = p[ie].w;\n"
+	"            minIndex=ie;\n"
+	"        }\n"
+	"        float f;\n"
+	"        float4 r = p[ie]-center;\n"
+	"        f = dot3F4( u, r );\n"
+	"        if (f<maxDots.x)\n"
+	"        {\n"
+	"            maxDots.x = f;\n"
+	"            contactIdx[0].x = ie;\n"
+	"        }\n"
+	"        \n"
+	"        f = dot3F4( -u, r );\n"
+	"        if (f<maxDots.y)\n"
+	"        {\n"
+	"            maxDots.y = f;\n"
+	"            contactIdx[0].y = ie;\n"
+	"        }\n"
+	"        \n"
+	"        \n"
+	"        f = dot3F4( v, r );\n"
+	"        if (f<maxDots.z)\n"
+	"        {\n"
+	"            maxDots.z = f;\n"
+	"            contactIdx[0].z = ie;\n"
+	"        }\n"
+	"        \n"
+	"        f = dot3F4( -v, r );\n"
+	"        if (f<maxDots.w)\n"
+	"        {\n"
+	"            maxDots.w = f;\n"
+	"            contactIdx[0].w = ie;\n"
+	"        }\n"
+	"        \n"
+	"    }\n"
+	"    \n"
+	"    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)\n"
+	"    {\n"
+	"        //replace the first contact with minimum (todo: replace contact with least penetration)\n"
+	"        contactIdx[0].x = minIndex;\n"
+	"    }\n"
+	"    \n"
+	"    return 4;\n"
+	"    \n"
+	"}\n"
+	"int extractManifoldSequentialGlobalFake(__global const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
+	"{\n"
+	"    contactIdx[0] = 0;\n"
+	"    contactIdx[1] = 1;\n"
+	"    contactIdx[2] = 2;\n"
+	"    contactIdx[3] = 3;\n"
+	"    \n"
+	"	if( nPoints == 0 ) return 0;\n"
+	"    \n"
+	"	nPoints = min2( nPoints, 4 );\n"
+	"    return nPoints;\n"
+	"    \n"
+	"}\n"
+	"int extractManifoldSequential(const float4* p, int nPoints, float4 nearNormal, int* contactIdx)\n"
+	"{\n"
+	"	if( nPoints == 0 ) return 0;\n"
+	"	nPoints = min2( nPoints, 64 );\n"
+	"	float4 center = make_float4(0.f);\n"
+	"	{\n"
+	"		float4 v[64];\n"
+	"		for (int i=0;i<nPoints;i++)\n"
+	"			v[i] = p[i];\n"
+	"		//memcpy( v, p, nPoints*sizeof(float4) );\n"
+	"		PARALLEL_SUM( v, nPoints );\n"
+	"		center = v[0]/(float)nPoints;\n"
+	"	}\n"
+	"	\n"
+	"	{	//	sample 4 directions\n"
+	"		if( nPoints < 4 )\n"
+	"		{\n"
+	"			for(int i=0; i<nPoints; i++) \n"
+	"				contactIdx[i] = i;\n"
+	"			return nPoints;\n"
+	"		}\n"
+	"		float4 aVector = p[0] - center;\n"
+	"		float4 u = cross3( nearNormal, aVector );\n"
+	"		float4 v = cross3( nearNormal, u );\n"
+	"		u = normalize3( u );\n"
+	"		v = normalize3( v );\n"
+	"		int idx[4];\n"
+	"		float2 max00 = make_float2(0,FLT_MAX);\n"
+	"		{\n"
+	"			//	idx, distance\n"
+	"			{\n"
+	"				{\n"
+	"					int4 a[64];\n"
+	"					for(int ie = 0; ie<nPoints; ie++ )\n"
+	"					{\n"
+	"						\n"
+	"						\n"
+	"						float f;\n"
+	"						float4 r = p[ie]-center;\n"
+	"						f = dot3F4( u, r );\n"
+	"						a[ie].x = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
+	"						f = dot3F4( -u, r );\n"
+	"						a[ie].y = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
+	"						f = dot3F4( v, r );\n"
+	"						a[ie].z = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
+	"						f = dot3F4( -v, r );\n"
+	"						a[ie].w = ((*(u32*)&f) & 0xffffff00) | (0xff & ie);\n"
+	"					}\n"
+	"					for(int ie=0; ie<nPoints; ie++)\n"
+	"					{\n"
+	"						a[0].x = (a[0].x > a[ie].x )? a[0].x: a[ie].x;\n"
+	"						a[0].y = (a[0].y > a[ie].y )? a[0].y: a[ie].y;\n"
+	"						a[0].z = (a[0].z > a[ie].z )? a[0].z: a[ie].z;\n"
+	"						a[0].w = (a[0].w > a[ie].w )? a[0].w: a[ie].w;\n"
+	"					}\n"
+	"					idx[0] = (int)a[0].x & 0xff;\n"
+	"					idx[1] = (int)a[0].y & 0xff;\n"
+	"					idx[2] = (int)a[0].z & 0xff;\n"
+	"					idx[3] = (int)a[0].w & 0xff;\n"
+	"				}\n"
+	"			}\n"
+	"			{\n"
+	"				float2 h[64];\n"
+	"				PARALLEL_DO( h[ie] = make_float2((float)ie, p[ie].w), nPoints );\n"
+	"				REDUCE_MIN( h, nPoints );\n"
+	"				max00 = h[0];\n"
+	"			}\n"
+	"		}\n"
+	"		contactIdx[0] = idx[0];\n"
+	"		contactIdx[1] = idx[1];\n"
+	"		contactIdx[2] = idx[2];\n"
+	"		contactIdx[3] = idx[3];\n"
+	"		return 4;\n"
+	"	}\n"
+	"}\n"
+	"__kernel void   extractManifoldAndAddContactKernel(__global const int4* pairs, \n"
+	"																	__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																	__global const float4* closestPointsWorld,\n"
+	"																	__global const float4* separatingNormalsWorld,\n"
+	"																	__global const int* contactCounts,\n"
+	"																	__global const int* contactOffsets,\n"
+	"																	__global struct b3Contact4Data* restrict contactsOut,\n"
+	"																	counter32_t nContactsOut,\n"
+	"																	int contactCapacity,\n"
+	"																	int numPairs,\n"
+	"																	int pairIndex\n"
+	"																	)\n"
+	"{\n"
+	"	int idx = get_global_id(0);\n"
+	"	\n"
+	"	if (idx<numPairs)\n"
+	"	{\n"
+	"		float4 normal = separatingNormalsWorld[idx];\n"
+	"		int nPoints = contactCounts[idx];\n"
+	"		__global const float4* pointsIn = &closestPointsWorld[contactOffsets[idx]];\n"
+	"		float4 localPoints[64];\n"
+	"		for (int i=0;i<nPoints;i++)\n"
+	"		{\n"
+	"			localPoints[i] = pointsIn[i];\n"
+	"		}\n"
+	"		int contactIdx[4];// = {-1,-1,-1,-1};\n"
+	"		contactIdx[0] = -1;\n"
+	"		contactIdx[1] = -1;\n"
+	"		contactIdx[2] = -1;\n"
+	"		contactIdx[3] = -1;\n"
+	"		int nContacts = extractManifoldSequential(localPoints, nPoints, normal, contactIdx);\n"
+	"		int dstIdx;\n"
+	"		AppendInc( nContactsOut, dstIdx );\n"
+	"		if (dstIdx<contactCapacity)\n"
+	"		{\n"
+	"			__global struct b3Contact4Data* c = contactsOut + dstIdx;\n"
+	"			c->m_worldNormalOnB = -normal;\n"
+	"			c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"			c->m_batchIdx = idx;\n"
+	"			int bodyA = pairs[pairIndex].x;\n"
+	"			int bodyB = pairs[pairIndex].y;\n"
+	"			c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0 ? -bodyA:bodyA;\n"
+	"			c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0 ? -bodyB:bodyB;\n"
+	"			c->m_childIndexA = -1;\n"
+	"			c->m_childIndexB = -1;\n"
+	"			for (int i=0;i<nContacts;i++)\n"
+	"			{\n"
+	"				c->m_worldPosB[i] = localPoints[contactIdx[i]];\n"
+	"			}\n"
+	"			GET_NPOINTS(*c) = nContacts;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
+	"		float4* translationOut, Quaternion* orientationOut)\n"
+	"{\n"
+	"	*orientationOut = qtInvert(orientationIn);\n"
+	"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
+	"}\n"
+	"void	trMul(float4 translationA, Quaternion orientationA,\n"
+	"						float4 translationB, Quaternion orientationB,\n"
+	"		float4* translationOut, Quaternion* orientationOut)\n"
+	"{\n"
+	"	*orientationOut = qtMul(orientationA,orientationB);\n"
+	"	*translationOut = transform(&translationB,&translationA,&orientationA);\n"
+	"}\n"
+	"__kernel void   clipHullHullKernel( __global int4* pairs, \n"
+	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																					__global const b3Collidable_t* collidables,\n"
+	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const b3GpuFace_t* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global const float4* separatingNormals,\n"
+	"																					__global const int* hasSeparatingAxis,\n"
+	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																					counter32_t nGlobalContactsOut,\n"
+	"																					int numPairs,\n"
+	"																					int contactCapacity)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"	float4 worldVertsB1[64];\n"
+	"	float4 worldVertsB2[64];\n"
+	"	int capacityWorldVerts = 64;	\n"
+	"	float4 localContactsOut[64];\n"
+	"	int localContactCapacity=64;\n"
+	"	\n"
+	"	float minDist = -1e30f;\n"
+	"	float maxDist = 0.02f;\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"			\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"		if (hasSeparatingAxis[i])\n"
+	"		{\n"
+	"			\n"
+	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"			\n"
+	"		\n"
+	"			int numLocalContactsOut = clipHullAgainstHull(separatingNormals[i],\n"
+	"														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
+	"														rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
+	"													  rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
+	"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
+	"														minDist, maxDist,\n"
+	"														vertices,faces,indices,\n"
+	"														localContactsOut,localContactCapacity);\n"
+	"												\n"
+	"		if (numLocalContactsOut>0)\n"
+	"		{\n"
+	"				float4 normal = -separatingNormals[i];\n"
+	"				int nPoints = numLocalContactsOut;\n"
+	"				float4* pointsIn = localContactsOut;\n"
+	"				int contactIdx[4];// = {-1,-1,-1,-1};\n"
+	"				contactIdx[0] = -1;\n"
+	"				contactIdx[1] = -1;\n"
+	"				contactIdx[2] = -1;\n"
+	"				contactIdx[3] = -1;\n"
+	"		\n"
+	"				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
+	"		\n"
+	"				\n"
+	"				int mprContactIndex = pairs[pairIndex].z;\n"
+	"				int dstIdx = mprContactIndex;\n"
+	"				if (dstIdx<0)\n"
+	"				{\n"
+	"					AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"				}\n"
+	"				if (dstIdx<contactCapacity)\n"
+	"				{\n"
+	"					pairs[pairIndex].z = dstIdx;\n"
+	"					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
+	"					c->m_worldNormalOnB = -normal;\n"
+	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"					c->m_batchIdx = pairIndex;\n"
+	"					int bodyA = pairs[pairIndex].x;\n"
+	"					int bodyB = pairs[pairIndex].y;\n"
+	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
+	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
+	"					c->m_childIndexA = -1;\n"
+	"					c->m_childIndexB = -1;\n"
+	"					for (int i=0;i<nReducedContacts;i++)\n"
+	"					{\n"
+	"					//this condition means: overwrite contact point, unless at index i==0 we have a valid 'mpr' contact\n"
+	"						if (i>0||(mprContactIndex<0))\n"
+	"						{\n"
+	"							c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
+	"						}\n"
+	"					}\n"
+	"					GET_NPOINTS(*c) = nReducedContacts;\n"
+	"				}\n"
+	"				\n"
+	"			}//		if (numContactsOut>0)\n"
+	"		}//		if (hasSeparatingAxis[i])\n"
+	"	}//	if (i<numPairs)\n"
+	"}\n"
+	"__kernel void   clipCompoundsHullHullKernel( __global const int4* gpuCompoundPairs, \n"
+	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																					__global const b3Collidable_t* collidables,\n"
+	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const b3GpuFace_t* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global const b3GpuChildShape_t* gpuChildShapes,\n"
+	"																					__global const float4* gpuCompoundSepNormalsOut,\n"
+	"																					__global const int* gpuHasCompoundSepNormalsOut,\n"
+	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																					counter32_t nGlobalContactsOut,\n"
+	"																					int numCompoundPairs, int maxContactCapacity)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"	float4 worldVertsB1[64];\n"
+	"	float4 worldVertsB2[64];\n"
+	"	int capacityWorldVerts = 64;	\n"
+	"	float4 localContactsOut[64];\n"
+	"	int localContactCapacity=64;\n"
+	"	\n"
+	"	float minDist = -1e30f;\n"
+	"	float maxDist = 0.02f;\n"
+	"	if (i<numCompoundPairs)\n"
+	"	{\n"
+	"		if (gpuHasCompoundSepNormalsOut[i])\n"
+	"		{\n"
+	"			int bodyIndexA = gpuCompoundPairs[i].x;\n"
+	"			int bodyIndexB = gpuCompoundPairs[i].y;\n"
+	"			\n"
+	"			int childShapeIndexA = gpuCompoundPairs[i].z;\n"
+	"			int childShapeIndexB = gpuCompoundPairs[i].w;\n"
+	"			\n"
+	"			int collidableIndexA = -1;\n"
+	"			int collidableIndexB = -1;\n"
+	"			\n"
+	"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			\n"
+	"			float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"								\n"
+	"			if (childShapeIndexA >= 0)\n"
+	"			{\n"
+	"				collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
+	"				float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
+	"				float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
+	"				float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
+	"				float4 newOrnA = qtMul(ornA,childOrnA);\n"
+	"				posA = newPosA;\n"
+	"				ornA = newOrnA;\n"
+	"			} else\n"
+	"			{\n"
+	"				collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"			}\n"
+	"			\n"
+	"			if (childShapeIndexB>=0)\n"
+	"			{\n"
+	"				collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"				float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"				float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"				float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"				float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"				posB = newPosB;\n"
+	"				ornB = newOrnB;\n"
+	"			} else\n"
+	"			{\n"
+	"				collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
+	"			}\n"
+	"			\n"
+	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"		\n"
+	"			int numLocalContactsOut = clipHullAgainstHull(gpuCompoundSepNormalsOut[i],\n"
+	"														&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
+	"														posA,ornA,\n"
+	"													  posB,ornB,\n"
+	"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
+	"														minDist, maxDist,\n"
+	"														vertices,faces,indices,\n"
+	"														localContactsOut,localContactCapacity);\n"
+	"												\n"
+	"		if (numLocalContactsOut>0)\n"
+	"		{\n"
+	"				float4 normal = -gpuCompoundSepNormalsOut[i];\n"
+	"				int nPoints = numLocalContactsOut;\n"
+	"				float4* pointsIn = localContactsOut;\n"
+	"				int contactIdx[4];// = {-1,-1,-1,-1};\n"
+	"				contactIdx[0] = -1;\n"
+	"				contactIdx[1] = -1;\n"
+	"				contactIdx[2] = -1;\n"
+	"				contactIdx[3] = -1;\n"
+	"		\n"
+	"				int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
+	"		\n"
+	"				int dstIdx;\n"
+	"				AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"				if ((dstIdx+nReducedContacts) < maxContactCapacity)\n"
+	"				{\n"
+	"					__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
+	"					c->m_worldNormalOnB = -normal;\n"
+	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"					c->m_batchIdx = pairIndex;\n"
+	"					int bodyA = gpuCompoundPairs[pairIndex].x;\n"
+	"					int bodyB = gpuCompoundPairs[pairIndex].y;\n"
+	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
+	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
+	"					c->m_childIndexA = childShapeIndexA;\n"
+	"					c->m_childIndexB = childShapeIndexB;\n"
+	"					for (int i=0;i<nReducedContacts;i++)\n"
+	"					{\n"
+	"						c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
+	"					}\n"
+	"					GET_NPOINTS(*c) = nReducedContacts;\n"
+	"				}\n"
+	"				\n"
+	"			}//		if (numContactsOut>0)\n"
+	"		}//		if (gpuHasCompoundSepNormalsOut[i])\n"
+	"	}//	if (i<numCompoundPairs)\n"
+	"}\n"
+	"__kernel void   sphereSphereCollisionKernel( __global const int4* pairs, \n"
+	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																					__global const b3Collidable_t* collidables,\n"
+	"																					__global const float4* separatingNormals,\n"
+	"																					__global const int* hasSeparatingAxis,\n"
+	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																					counter32_t nGlobalContactsOut,\n"
+	"																					int contactCapacity,\n"
+	"																					int numPairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"			\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"		if (collidables[collidableIndexA].m_shapeType == SHAPE_SPHERE &&\n"
+	"			collidables[collidableIndexB].m_shapeType == SHAPE_SPHERE)\n"
+	"		{\n"
+	"			//sphere-sphere\n"
+	"			float radiusA = collidables[collidableIndexA].m_radius;\n"
+	"			float radiusB = collidables[collidableIndexB].m_radius;\n"
+	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"			float4 diff = posA-posB;\n"
+	"			float len = length(diff);\n"
+	"			\n"
+	"			///iff distance positive, don't generate a new contact\n"
+	"			if ( len <= (radiusA+radiusB))\n"
+	"			{\n"
+	"				///distance (negative means penetration)\n"
+	"				float dist = len - (radiusA+radiusB);\n"
+	"				float4 normalOnSurfaceB = make_float4(1.f,0.f,0.f,0.f);\n"
+	"				if (len > 0.00001)\n"
+	"				{\n"
+	"					normalOnSurfaceB = diff / len;\n"
+	"				}\n"
+	"				float4 contactPosB = posB + normalOnSurfaceB*radiusB;\n"
+	"				contactPosB.w = dist;\n"
+	"								\n"
+	"				int dstIdx;\n"
+	"				AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"				if (dstIdx < contactCapacity)\n"
+	"				{\n"
+	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"					c->m_worldNormalOnB = -normalOnSurfaceB;\n"
+	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"					c->m_batchIdx = pairIndex;\n"
+	"					int bodyA = pairs[pairIndex].x;\n"
+	"					int bodyB = pairs[pairIndex].y;\n"
+	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
+	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
+	"					c->m_worldPosB[0] = contactPosB;\n"
+	"					c->m_childIndexA = -1;\n"
+	"					c->m_childIndexB = -1;\n"
+	"					GET_NPOINTS(*c) = 1;\n"
+	"				}//if (dstIdx < numPairs)\n"
+	"			}//if ( len <= (radiusA+radiusB))\n"
+	"		}//SHAPE_SPHERE SHAPE_SPHERE\n"
+	"	}//if (i<numPairs)\n"
+	"}				\n"
+	"__kernel void   clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,\n"
+	"																					__global const b3RigidBodyData_t* rigidBodies, \n"
+	"																					__global const b3Collidable_t* collidables,\n"
+	"																					__global const b3ConvexPolyhedronData_t* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const b3GpuFace_t* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global const b3GpuChildShape_t* gpuChildShapes,\n"
+	"																					__global const float4* separatingNormals,\n"
+	"																					__global struct b3Contact4Data* restrict globalContactsOut,\n"
+	"																					counter32_t nGlobalContactsOut,\n"
+	"																					int contactCapacity,\n"
+	"																					int numConcavePairs)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"	float4 worldVertsB1[64];\n"
+	"	float4 worldVertsB2[64];\n"
+	"	int capacityWorldVerts = 64;	\n"
+	"	float4 localContactsOut[64];\n"
+	"	int localContactCapacity=64;\n"
+	"	\n"
+	"	float minDist = -1e30f;\n"
+	"	float maxDist = 0.02f;\n"
+	"	if (i<numConcavePairs)\n"
+	"	{\n"
+	"		//negative value means that the pair is invalid\n"
+	"		if (concavePairsIn[i].w<0)\n"
+	"			return;\n"
+	"		int bodyIndexA = concavePairsIn[i].x;\n"
+	"		int bodyIndexB = concavePairsIn[i].y;\n"
+	"		int f = concavePairsIn[i].z;\n"
+	"		int childShapeIndexA = f;\n"
+	"		\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"		\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"		\n"
+	"		///////////////////////////////////////////////////////////////\n"
+	"		\n"
+	"	\n"
+	"		bool overlap = false;\n"
+	"		\n"
+	"		b3ConvexPolyhedronData_t convexPolyhedronA;\n"
+	"	//add 3 vertices of the triangle\n"
+	"		convexPolyhedronA.m_numVertices = 3;\n"
+	"		convexPolyhedronA.m_vertexOffset = 0;\n"
+	"		float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
+	"		b3GpuFace_t face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+	"		\n"
+	"		float4 verticesA[3];\n"
+	"		for (int i=0;i<3;i++)\n"
+	"		{\n"
+	"			int index = indices[face.m_indexOffset+i];\n"
+	"			float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
+	"			verticesA[i] = vert;\n"
+	"			localCenter += vert;\n"
+	"		}\n"
+	"		float dmin = FLT_MAX;\n"
+	"		int localCC=0;\n"
+	"		//a triangle has 3 unique edges\n"
+	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
+	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
+	"		float4 uniqueEdgesA[3];\n"
+	"		\n"
+	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
+	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
+	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
+	"		convexPolyhedronA.m_faceOffset = 0;\n"
+	"                                  \n"
+	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
+	"                             \n"
+	"		b3GpuFace_t facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
+	"		int indicesA[3+3+2+2+2];\n"
+	"		int curUsedIndices=0;\n"
+	"		int fidx=0;\n"
+	"		//front size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[0] = 0;\n"
+	"			indicesA[1] = 1;\n"
+	"			indicesA[2] = 2;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = normal.x;\n"
+	"			facesA[fidx].m_plane.y = normal.y;\n"
+	"			facesA[fidx].m_plane.z = normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"		//back size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[3]=2;\n"
+	"			indicesA[4]=1;\n"
+	"			indicesA[5]=0;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = dot3F4(normal,verticesA[0]);\n"
+	"			float c1 = -face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = -normal.x;\n"
+	"			facesA[fidx].m_plane.y = -normal.y;\n"
+	"			facesA[fidx].m_plane.z = -normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"		bool addEdgePlanes = true;\n"
+	"		if (addEdgePlanes)\n"
+	"		{\n"
+	"			int numVertices=3;\n"
+	"			int prevVertex = numVertices-1;\n"
+	"			for (int i=0;i<numVertices;i++)\n"
+	"			{\n"
+	"				float4 v0 = verticesA[i];\n"
+	"				float4 v1 = verticesA[prevVertex];\n"
+	"                                            \n"
+	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
+	"				float c = -dot3F4(edgeNormal,v0);\n"
+	"				facesA[fidx].m_numIndices = 2;\n"
+	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"				indicesA[curUsedIndices++]=i;\n"
+	"				indicesA[curUsedIndices++]=prevVertex;\n"
+	"                                            \n"
+	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
+	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
+	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
+	"				facesA[fidx].m_plane.w = c;\n"
+	"				fidx++;\n"
+	"				prevVertex = i;\n"
+	"			}\n"
+	"		}\n"
+	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
+	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		posA.w = 0.f;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"		posB.w = 0.f;\n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"		float4 sepAxis = separatingNormals[i];\n"
+	"		\n"
+	"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
+	"		int childShapeIndexB =-1;\n"
+	"		if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"		{\n"
+	"			///////////////////\n"
+	"			///compound shape support\n"
+	"			\n"
+	"			childShapeIndexB = concavePairsIn[pairIndex].w;\n"
+	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"			posB = newPosB;\n"
+	"			ornB = newOrnB;\n"
+	"			\n"
+	"		}\n"
+	"		\n"
+	"		////////////////////////////////////////\n"
+	"		\n"
+	"		\n"
+	"		\n"
+	"		int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,\n"
+	"														&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+	"														posA,ornA,\n"
+	"													  posB,ornB,\n"
+	"													  worldVertsB1,worldVertsB2,capacityWorldVerts,\n"
+	"														minDist, maxDist,\n"
+	"														&verticesA,&facesA,&indicesA,\n"
+	"														vertices,faces,indices,\n"
+	"														localContactsOut,localContactCapacity);\n"
+	"												\n"
+	"		if (numLocalContactsOut>0)\n"
+	"		{\n"
+	"			float4 normal = -separatingNormals[i];\n"
+	"			int nPoints = numLocalContactsOut;\n"
+	"			float4* pointsIn = localContactsOut;\n"
+	"			int contactIdx[4];// = {-1,-1,-1,-1};\n"
+	"			contactIdx[0] = -1;\n"
+	"			contactIdx[1] = -1;\n"
+	"			contactIdx[2] = -1;\n"
+	"			contactIdx[3] = -1;\n"
+	"	\n"
+	"			int nReducedContacts = extractManifoldSequential(pointsIn, nPoints, normal, contactIdx);\n"
+	"	\n"
+	"			int dstIdx;\n"
+	"			AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"			if (dstIdx<contactCapacity)\n"
+	"			{\n"
+	"				__global struct b3Contact4Data* c = globalContactsOut+ dstIdx;\n"
+	"				c->m_worldNormalOnB = -normal;\n"
+	"				c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"				c->m_batchIdx = pairIndex;\n"
+	"				int bodyA = concavePairsIn[pairIndex].x;\n"
+	"				int bodyB = concavePairsIn[pairIndex].y;\n"
+	"				c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
+	"				c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
+	"				c->m_childIndexA = childShapeIndexA;\n"
+	"				c->m_childIndexB = childShapeIndexB;\n"
+	"				for (int i=0;i<nReducedContacts;i++)\n"
+	"				{\n"
+	"					c->m_worldPosB[i] = pointsIn[contactIdx[i]];\n"
+	"				}\n"
+	"				GET_NPOINTS(*c) = nReducedContacts;\n"
+	"			}\n"
+	"				\n"
+	"		}//		if (numContactsOut>0)\n"
+	"	}//	if (i<numPairs)\n"
+	"}\n"
+	"int	findClippingFaces(const float4 separatingNormal,\n"
+	"                      __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,\n"
+	"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
+	"                       __global float4* worldVertsA1,\n"
+	"                      __global float4* worldNormalsA1,\n"
+	"                      __global float4* worldVertsB1,\n"
+	"                      int capacityWorldVerts,\n"
+	"                      const float minDist, float maxDist,\n"
+	"                      __global const float4* vertices,\n"
+	"                      __global const b3GpuFace_t* faces,\n"
+	"                      __global const int* indices,\n"
+	"                      __global int4* clippingFaces, int pairIndex)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	int numWorldVertsB1= 0;\n"
+	"    \n"
+	"    \n"
+	"	int closestFaceB=-1;\n"
+	"	float dmax = -FLT_MAX;\n"
+	"    \n"
+	"	{\n"
+	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(faces[hullB->m_faceOffset+face].m_plane.x,\n"
+	"                                              faces[hullB->m_faceOffset+face].m_plane.y, faces[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
+	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
+	"			if (d > dmax)\n"
+	"			{\n"
+	"				dmax = d;\n"
+	"				closestFaceB = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"	{\n"
+	"		const b3GpuFace_t polyB = faces[hullB->m_faceOffset+closestFaceB];\n"
+	"		const int numVertices = polyB.m_numIndices;\n"
+	"		for(int e0=0;e0<numVertices;e0++)\n"
+	"		{\n"
+	"			const float4 b = vertices[hullB->m_vertexOffset+indices[polyB.m_indexOffset+e0]];\n"
+	"			worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"    int closestFaceA=-1;\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(\n"
+	"                                              faces[hullA->m_faceOffset+face].m_plane.x,\n"
+	"                                              faces[hullA->m_faceOffset+face].m_plane.y,\n"
+	"                                              faces[hullA->m_faceOffset+face].m_plane.z,\n"
+	"                                              0.f);\n"
+	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
+	"            \n"
+	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
+	"			if (d < dmin)\n"
+	"			{\n"
+	"				dmin = d;\n"
+	"				closestFaceA = face;\n"
+	"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"    int numVerticesA = faces[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
+	"	for(int e0=0;e0<numVerticesA;e0++)\n"
+	"	{\n"
+	"        const float4 a = vertices[hullA->m_vertexOffset+indices[faces[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
+	"        worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
+	"    }\n"
+	"    \n"
+	"    clippingFaces[pairIndex].x = closestFaceA;\n"
+	"    clippingFaces[pairIndex].y = closestFaceB;\n"
+	"    clippingFaces[pairIndex].z = numVerticesA;\n"
+	"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
+	"    \n"
+	"    \n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"int clipFaces(__global float4* worldVertsA1,\n"
+	"              __global float4* worldNormalsA1,\n"
+	"              __global float4* worldVertsB1,\n"
+	"              __global float4* worldVertsB2, \n"
+	"              int capacityWorldVertsB2,\n"
+	"              const float minDist, float maxDist,\n"
+	"              __global int4* clippingFaces,\n"
+	"              int pairIndex)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"    \n"
+	"    int closestFaceA = clippingFaces[pairIndex].x;\n"
+	"    int closestFaceB = clippingFaces[pairIndex].y;\n"
+	"	int numVertsInA = clippingFaces[pairIndex].z;\n"
+	"	int numVertsInB = clippingFaces[pairIndex].w;\n"
+	"    \n"
+	"	int numVertsOut = 0;\n"
+	"    \n"
+	"	if (closestFaceA<0)\n"
+	"		return numContactsOut;\n"
+	"    \n"
+	"    __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
+	"    __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
+	"    \n"
+	"    \n"
+	"	\n"
+	"	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
+	"    \n"
+	"	for(int e0=0;e0<numVertsInA;e0++)\n"
+	"	{\n"
+	"		const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
+	"		const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
+	"		const float4 WorldEdge0 = aw - bw;\n"
+	"		float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
+	"		float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
+	"		float4 worldA1 = aw;\n"
+	"		float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
+	"		float4 planeNormalWS = planeNormalWS1;\n"
+	"		float planeEqWS=planeEqWS1;\n"
+	"		numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
+	"		__global float4* tmp = pVtxOut;\n"
+	"		pVtxOut = pVtxIn;\n"
+	"		pVtxIn = tmp;\n"
+	"		numVertsInB = numVertsOut;\n"
+	"		numVertsOut = 0;\n"
+	"	}\n"
+	"    \n"
+	"    //float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
+	"    //float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
+	"    \n"
+	"    /*for (int i=0;i<numVertsInB;i++)\n"
+	"    {\n"
+	"        pVtxOut[i] = pVtxIn[i];\n"
+	"    }*/\n"
+	"    \n"
+	"    \n"
+	"    \n"
+	"    \n"
+	"    //numVertsInB=0;\n"
+	"	\n"
+	"    float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
+	"    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
+	"    for (int i=0;i<numVertsInB;i++)\n"
+	"    {\n"
+	"        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
+	"        if (depth <=minDist)\n"
+	"        {\n"
+	"            depth = minDist;\n"
+	"        }\n"
+	"        \n"
+	"        if (depth <=maxDist)\n"
+	"        {\n"
+	"            float4 pointInWorld = pVtxIn[i];\n"
+	"            pVtxOut[numContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
+	"        }\n"
+	"    }\n"
+	"   \n"
+	"    clippingFaces[pairIndex].w =numContactsOut;\n"
+	"   \n"
+	"    \n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"__kernel void   findClippingFacesKernel(  __global const int4* pairs,\n"
+	"                                        __global const b3RigidBodyData_t* rigidBodies,\n"
+	"                                        __global const b3Collidable_t* collidables,\n"
+	"                                        __global const b3ConvexPolyhedronData_t* convexShapes,\n"
+	"                                        __global const float4* vertices,\n"
+	"                                        __global const float4* uniqueEdges,\n"
+	"                                        __global const b3GpuFace_t* faces,\n"
+	"                                        __global const int* indices,\n"
+	"                                        __global const float4* separatingNormals,\n"
+	"                                        __global const int* hasSeparatingAxis,\n"
+	"                                        __global int4* clippingFacesOut,\n"
+	"                                        __global float4* worldVertsA1,\n"
+	"                                        __global float4* worldNormalsA1,\n"
+	"                                        __global float4* worldVertsB1,\n"
+	"                                        int capacityWorldVerts,\n"
+	"                                        int numPairs\n"
+	"                                        )\n"
+	"{\n"
+	"    \n"
+	"	int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"    \n"
+	"	\n"
+	"	float minDist = -1e30f;\n"
+	"	float maxDist = 0.02f;\n"
+	"    \n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"        \n"
+	"		if (hasSeparatingAxis[i])\n"
+	"		{\n"
+	"            \n"
+	"			int bodyIndexA = pairs[i].x;\n"
+	"			int bodyIndexB = pairs[i].y;\n"
+	"			\n"
+	"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"			\n"
+	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"			\n"
+	"            \n"
+	"            \n"
+	"			int numLocalContactsOut = findClippingFaces(separatingNormals[i],\n"
+	"                                                        &convexShapes[shapeIndexA], &convexShapes[shapeIndexB],\n"
+	"                                                        rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,\n"
+	"                                                        rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,\n"
+	"                                                        worldVertsA1,\n"
+	"                                                        worldNormalsA1,\n"
+	"                                                        worldVertsB1,capacityWorldVerts,\n"
+	"                                                        minDist, maxDist,\n"
+	"                                                        vertices,faces,indices,\n"
+	"                                                        clippingFacesOut,i);\n"
+	"            \n"
+	"            \n"
+	"		}//		if (hasSeparatingAxis[i])\n"
+	"	}//	if (i<numPairs)\n"
+	"    \n"
+	"}\n"
+	"__kernel void   clipFacesAndFindContactsKernel(    __global const float4* separatingNormals,\n"
+	"                                                   __global const int* hasSeparatingAxis,\n"
+	"                                                   __global int4* clippingFacesOut,\n"
+	"                                                   __global float4* worldVertsA1,\n"
+	"                                                   __global float4* worldNormalsA1,\n"
+	"                                                   __global float4* worldVertsB1,\n"
+	"                                                   __global float4* worldVertsB2,\n"
+	"                                                    int vertexFaceCapacity,\n"
+	"                                                   int numPairs,\n"
+	"					                                        int debugMode\n"
+	"                                                   )\n"
+	"{\n"
+	"    int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"    \n"
+	"	float minDist = -1e30f;\n"
+	"	float maxDist = 0.02f;\n"
+	"    \n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"        \n"
+	"		if (hasSeparatingAxis[i])\n"
+	"		{\n"
+	"            \n"
+	"//			int bodyIndexA = pairs[i].x;\n"
+	"	//		int bodyIndexB = pairs[i].y;\n"
+	"		    \n"
+	"            int numLocalContactsOut = 0;\n"
+	"            int capacityWorldVertsB2 = vertexFaceCapacity;\n"
+	"            \n"
+	"            __global float4* pVtxIn = &worldVertsB1[pairIndex*capacityWorldVertsB2];\n"
+	"            __global float4* pVtxOut = &worldVertsB2[pairIndex*capacityWorldVertsB2];\n"
+	"            \n"
+	"            {\n"
+	"                __global int4* clippingFaces = clippingFacesOut;\n"
+	"            \n"
+	"                \n"
+	"                int closestFaceA = clippingFaces[pairIndex].x;\n"
+	"                int closestFaceB = clippingFaces[pairIndex].y;\n"
+	"                int numVertsInA = clippingFaces[pairIndex].z;\n"
+	"                int numVertsInB = clippingFaces[pairIndex].w;\n"
+	"                \n"
+	"                int numVertsOut = 0;\n"
+	"                \n"
+	"                if (closestFaceA>=0)\n"
+	"                {\n"
+	"                    \n"
+	"                    \n"
+	"                    \n"
+	"                    // clip polygon to back of planes of all faces of hull A that are adjacent to witness face\n"
+	"                    \n"
+	"                    for(int e0=0;e0<numVertsInA;e0++)\n"
+	"                    {\n"
+	"                        const float4 aw = worldVertsA1[pairIndex*capacityWorldVertsB2+e0];\n"
+	"                        const float4 bw = worldVertsA1[pairIndex*capacityWorldVertsB2+((e0+1)%numVertsInA)];\n"
+	"                        const float4 WorldEdge0 = aw - bw;\n"
+	"                        float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];\n"
+	"                        float4 planeNormalWS1 = -cross3(WorldEdge0,worldPlaneAnormal1);\n"
+	"                        float4 worldA1 = aw;\n"
+	"                        float planeEqWS1 = -dot3F4(worldA1,planeNormalWS1);\n"
+	"                        float4 planeNormalWS = planeNormalWS1;\n"
+	"                        float planeEqWS=planeEqWS1;\n"
+	"                        numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS,planeEqWS, pVtxOut);\n"
+	"                        __global float4* tmp = pVtxOut;\n"
+	"                        pVtxOut = pVtxIn;\n"
+	"                        pVtxIn = tmp;\n"
+	"                        numVertsInB = numVertsOut;\n"
+	"                        numVertsOut = 0;\n"
+	"                    }\n"
+	"                    \n"
+	"                    float4 planeNormalWS = worldNormalsA1[pairIndex];\n"
+	"                    float planeEqWS=-dot3F4(planeNormalWS,worldVertsA1[pairIndex*capacityWorldVertsB2]);\n"
+	"                    \n"
+	"                    for (int i=0;i<numVertsInB;i++)\n"
+	"                    {\n"
+	"                        float depth = dot3F4(planeNormalWS,pVtxIn[i])+planeEqWS;\n"
+	"                        if (depth <=minDist)\n"
+	"                        {\n"
+	"                            depth = minDist;\n"
+	"                        }\n"
+	"                        \n"
+	"                        if (depth <=maxDist)\n"
+	"                        {\n"
+	"                            float4 pointInWorld = pVtxIn[i];\n"
+	"                            pVtxOut[numLocalContactsOut++] = make_float4(pointInWorld.x,pointInWorld.y,pointInWorld.z,depth);\n"
+	"                        }\n"
+	"                    }\n"
+	"                    \n"
+	"                }\n"
+	"                clippingFaces[pairIndex].w =numLocalContactsOut;\n"
+	"                \n"
+	"            }\n"
+	"            \n"
+	"            for (int i=0;i<numLocalContactsOut;i++)\n"
+	"                pVtxIn[i] = pVtxOut[i];\n"
+	"                \n"
+	"		}//		if (hasSeparatingAxis[i])\n"
+	"	}//	if (i<numPairs)\n"
+	"    \n"
+	"}\n"
+	"__kernel void   newContactReductionKernel( __global int4* pairs,\n"
+	"                                                   __global const b3RigidBodyData_t* rigidBodies,\n"
+	"                                                   __global const float4* separatingNormals,\n"
+	"                                                   __global const int* hasSeparatingAxis,\n"
+	"                                                   __global struct b3Contact4Data* globalContactsOut,\n"
+	"                                                   __global int4* clippingFaces,\n"
+	"                                                   __global float4* worldVertsB2,\n"
+	"                                                   volatile __global int* nGlobalContactsOut,\n"
+	"                                                   int vertexFaceCapacity,\n"
+	"												   int contactCapacity,\n"
+	"                                                   int numPairs\n"
+	"                                                   )\n"
+	"{\n"
+	"    int i = get_global_id(0);\n"
+	"	int pairIndex = i;\n"
+	"	\n"
+	"    int4 contactIdx;\n"
+	"    contactIdx=make_int4(0,1,2,3);\n"
+	"    \n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"        \n"
+	"		if (hasSeparatingAxis[i])\n"
+	"		{\n"
+	"            \n"
+	"			\n"
+	"            \n"
+	"            \n"
+	"			int nPoints = clippingFaces[pairIndex].w;\n"
+	"           \n"
+	"            if (nPoints>0)\n"
+	"            {\n"
+	"                 __global float4* pointsIn = &worldVertsB2[pairIndex*vertexFaceCapacity];\n"
+	"                float4 normal = -separatingNormals[i];\n"
+	"                \n"
+	"                int nReducedContacts = extractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);\n"
+	"            \n"
+	"				int mprContactIndex = pairs[pairIndex].z;\n"
+	"                int dstIdx = mprContactIndex;\n"
+	"				if (dstIdx<0)\n"
+	"				{\n"
+	"	                AppendInc( nGlobalContactsOut, dstIdx );\n"
+	"				}\n"
+	"//#if 0\n"
+	"                \n"
+	"				if (dstIdx < contactCapacity)\n"
+	"				{\n"
+	"					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];\n"
+	"					c->m_worldNormalOnB = -normal;\n"
+	"					c->m_restituitionCoeffCmp = (0.f*0xffff);c->m_frictionCoeffCmp = (0.7f*0xffff);\n"
+	"					c->m_batchIdx = pairIndex;\n"
+	"					int bodyA = pairs[pairIndex].x;\n"
+	"					int bodyB = pairs[pairIndex].y;\n"
+	"					pairs[pairIndex].w = dstIdx;\n"
+	"					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass==0?-bodyA:bodyA;\n"
+	"					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass==0?-bodyB:bodyB;\n"
+	"                    c->m_childIndexA =-1;\n"
+	"					c->m_childIndexB =-1;\n"
+	"                    switch (nReducedContacts)\n"
+	"                    {\n"
+	"                        case 4:\n"
+	"                            c->m_worldPosB[3] = pointsIn[contactIdx.w];\n"
+	"                        case 3:\n"
+	"                            c->m_worldPosB[2] = pointsIn[contactIdx.z];\n"
+	"                        case 2:\n"
+	"                            c->m_worldPosB[1] = pointsIn[contactIdx.y];\n"
+	"                        case 1:\n"
+	"							if (mprContactIndex<0)//test\n"
+	"	                            c->m_worldPosB[0] = pointsIn[contactIdx.x];\n"
+	"                        default:\n"
+	"                        {\n"
+	"                        }\n"
+	"                    };\n"
+	"                    \n"
+	"					GET_NPOINTS(*c) = nReducedContacts;\n"
+	"                    \n"
+	"                 }\n"
+	"                 \n"
+	"                \n"
+	"//#endif\n"
+	"				\n"
+	"			}//		if (numContactsOut>0)\n"
+	"		}//		if (hasSeparatingAxis[i])\n"
+	"	}//	if (i<numPairs)\n"
+	"    \n"
+	"    \n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
index 611569cacf..a60702ca62 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h
@@ -1,1457 +1,1456 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* satConcaveKernelsCL= \
-"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
-"//written by Erwin Coumans\n"
-"#define SHAPE_CONVEX_HULL 3\n"
-"#define SHAPE_CONCAVE_TRIMESH 5\n"
-"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-"#define B3_MAX_STACK_DEPTH 256\n"
-"typedef unsigned int u32;\n"
-"///keep this in sync with btCollidable.h\n"
-"typedef struct\n"
-"{\n"
-"	union {\n"
-"		int m_numChildShapes;\n"
-"		int m_bvhIndex;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float m_radius;\n"
-"		int	m_compoundBvhIndex;\n"
-"	};\n"
-"	\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"	\n"
-"} btCollidableGpu;\n"
-"#define MAX_NUM_PARTS_IN_BITS 10\n"
-"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
-"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
-"typedef struct\n"
-"{\n"
-"	//12 bytes\n"
-"	unsigned short int	m_quantizedAabbMin[3];\n"
-"	unsigned short int	m_quantizedAabbMax[3];\n"
-"	//4 bytes\n"
-"	int	m_escapeIndexOrTriangleIndex;\n"
-"} b3QuantizedBvhNode;\n"
-"typedef struct\n"
-"{\n"
-"	float4		m_aabbMin;\n"
-"	float4		m_aabbMax;\n"
-"	float4		m_quantization;\n"
-"	int			m_numNodes;\n"
-"	int			m_numSubTrees;\n"
-"	int			m_nodeOffset;\n"
-"	int			m_subTreeOffset;\n"
-"} b3BvhInfo;\n"
-"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	unsigned int x=0;\n"
-"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-"	// Get only the lower bits where the triangle index is stored\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-"}\n"
-"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	unsigned int x=0;\n"
-"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-"	// Get only the lower bits where the triangle index is stored\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-"}\n"
-"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-"}\n"
-"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-"}\n"
-"	\n"
-"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-"}\n"
-"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-"}\n"
-"typedef struct\n"
-"{\n"
-"	//12 bytes\n"
-"	unsigned short int	m_quantizedAabbMin[3];\n"
-"	unsigned short int	m_quantizedAabbMax[3];\n"
-"	//4 bytes, points to the root of the subtree\n"
-"	int			m_rootNodeIndex;\n"
-"	//4 bytes\n"
-"	int			m_subtreeSize;\n"
-"	int			m_padding[3];\n"
-"} b3BvhSubtreeInfo;\n"
-"typedef struct\n"
-"{\n"
-"	float4	m_childPosition;\n"
-"	float4	m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"} btGpuChildShape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	float4 m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_collidableIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} BodyData;\n"
-"typedef struct  \n"
-"{\n"
-"	float4		m_localCenter;\n"
-"	float4		m_extents;\n"
-"	float4		mC;\n"
-"	float4		mE;\n"
-"	\n"
-"	float			m_radius;\n"
-"	int	m_faceOffset;\n"
-"	int m_numFaces;\n"
-"	int	m_numVertices;\n"
-"	int m_vertexOffset;\n"
-"	int	m_uniqueEdgesOffset;\n"
-"	int	m_numUniqueEdges;\n"
-"	int m_unused;\n"
-"} ConvexPolyhedronCL;\n"
-"typedef struct \n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float4	m_min;\n"
-"		float   m_minElems[4];\n"
-"		int			m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float4	m_max;\n"
-"		float   m_maxElems[4];\n"
-"		int			m_maxIndices[4];\n"
-"	};\n"
-"} btAabbCL;\n"
-"#ifndef B3_AABB_H\n"
-"#define B3_AABB_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3Aabb b3Aabb_t;\n"
-"struct b3Aabb\n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float m_min[4];\n"
-"		b3Float4 m_minVec;\n"
-"		int m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float	m_max[4];\n"
-"		b3Float4 m_maxVec;\n"
-"		int m_signedMaxIndices[4];\n"
-"	};\n"
-"};\n"
-"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
-"						b3Float4ConstArg pos,\n"
-"						b3QuatConstArg orn,\n"
-"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
-"{\n"
-"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
-"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
-"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
-"		b3Mat3x3 m;\n"
-"		m = b3QuatGetRotationMatrix(orn);\n"
-"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
-"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
-"		\n"
-"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
-"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
-"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
-"										 0.f);\n"
-"		*aabbMinOut = center-extent;\n"
-"		*aabbMaxOut = center+extent;\n"
-"}\n"
-"/// conservative test for overlap between two aabbs\n"
-"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
-"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
-"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
-"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"#endif //B3_AABB_H\n"
-"/*\n"
-"Bullet Continuous Collision Detection and Physics Library\n"
-"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose,\n"
-"including commercial applications, and to alter it and redistribute it freely,\n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"#ifndef B3_INT2_H\n"
-"#define B3_INT2_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#define b3UnsignedInt2 uint2\n"
-"#define b3Int2 int2\n"
-"#define b3MakeInt2 (int2)\n"
-"#endif //__cplusplus\n"
-"#endif\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_plane;\n"
-"	int m_indexOffset;\n"
-"	int m_numIndices;\n"
-"} btGpuFace;\n"
-"#define make_float4 (float4)\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"	\n"
-"//	float4 a1 = make_float4(a.xyz,0.f);\n"
-"//	float4 b1 = make_float4(b.xyz,0.f);\n"
-"//	return cross(a1,b1);\n"
-"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
-"	\n"
-"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
-"	\n"
-"	//return c;\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	v = make_float4(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"__inline\n"
-"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-"{\n"
-"	return qtRotate( *orientation, *p ) + (*translation);\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"}\n"
-"inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-"const float4* dir, const float4* vertices, float* min, float* max)\n"
-"{\n"
-"	min[0] = FLT_MAX;\n"
-"	max[0] = -FLT_MAX;\n"
-"	int numVerts = hull->m_numVertices;\n"
-"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-"	float offset = dot(pos,*dir);\n"
-"	for(int i=0;i<numVerts;i++)\n"
-"	{\n"
-"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-"		if(dp < min[0])	\n"
-"			min[0] = dp;\n"
-"		if(dp > max[0])	\n"
-"			max[0] = dp;\n"
-"	}\n"
-"	if(min[0]>max[0])\n"
-"	{\n"
-"		float tmp = min[0];\n"
-"		min[0] = max[0];\n"
-"		max[0] = tmp;\n"
-"	}\n"
-"	min[0] += offset;\n"
-"	max[0] += offset;\n"
-"}\n"
-"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
-"{\n"
-"	min[0] = FLT_MAX;\n"
-"	max[0] = -FLT_MAX;\n"
-"	int numVerts = hull->m_numVertices;\n"
-"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-"	float offset = dot(pos,*dir);\n"
-"	for(int i=0;i<numVerts;i++)\n"
-"	{\n"
-"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-"		if(dp < min[0])	\n"
-"			min[0] = dp;\n"
-"		if(dp > max[0])	\n"
-"			max[0] = dp;\n"
-"	}\n"
-"	if(min[0]>max[0])\n"
-"	{\n"
-"		float tmp = min[0];\n"
-"		min[0] = max[0];\n"
-"		max[0] = tmp;\n"
-"	}\n"
-"	min[0] += offset;\n"
-"	max[0] += offset;\n"
-"}\n"
-"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA,const float4 ornA,\n"
-"	const float4 posB,const float4 ornB,\n"
-"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
-"{\n"
-"	float Min0,Max0;\n"
-"	float Min1,Max1;\n"
-"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
-"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
-"	if(Max0<Min1 || Max1<Min0)\n"
-"		return false;\n"
-"	float d0 = Max0 - Min1;\n"
-"	float d1 = Max1 - Min0;\n"
-"	*depth = d0<d1 ? d0:d1;\n"
-"	return true;\n"
-"}\n"
-"inline bool IsAlmostZero(const float4 v)\n"
-"{\n"
-"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	\n"
-"	const float4* verticesA, \n"
-"	const float4* uniqueEdgesA, \n"
-"	const btGpuFace* facesA,\n"
-"	const int*  indicesA,\n"
-"	__global const float4* verticesB, \n"
-"	__global const float4* uniqueEdgesB, \n"
-"	__global const btGpuFace* facesB,\n"
-"	__global const int*  indicesB,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	{\n"
-"		int numFacesA = hullA->m_numFaces;\n"
-"		// Test normals from hullA\n"
-"		for(int i=0;i<numFacesA;i++)\n"
-"		{\n"
-"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-"				faceANormalWS*=-1.f;\n"
-"			curPlaneTests++;\n"
-"			float d;\n"
-"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
-"				return false;\n"
-"			if(d<*dmin)\n"
-"			{\n"
-"				*dmin = d;\n"
-"				*sep = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	__global const float4* verticesA, \n"
-"	__global const float4* uniqueEdgesA, \n"
-"	__global const btGpuFace* facesA,\n"
-"	__global const int*  indicesA,\n"
-"	const float4* verticesB,\n"
-"	const float4* uniqueEdgesB, \n"
-"	const btGpuFace* facesB,\n"
-"	const int*  indicesB,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	{\n"
-"		int numFacesA = hullA->m_numFaces;\n"
-"		// Test normals from hullA\n"
-"		for(int i=0;i<numFacesA;i++)\n"
-"		{\n"
-"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-"				faceANormalWS *= -1.f;\n"
-"			curPlaneTests++;\n"
-"			float d;\n"
-"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
-"				return false;\n"
-"			if(d<*dmin)\n"
-"			{\n"
-"				*dmin = d;\n"
-"				*sep = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	const float4* verticesA, \n"
-"	const float4* uniqueEdgesA, \n"
-"	const btGpuFace* facesA,\n"
-"	const int*  indicesA,\n"
-"	__global const float4* verticesB, \n"
-"	__global const float4* uniqueEdgesB, \n"
-"	__global const btGpuFace* facesB,\n"
-"	__global const int*  indicesB,\n"
-"		float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	int curEdgeEdge = 0;\n"
-"	// Test edges\n"
-"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
-"	{\n"
-"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
-"		float4 edge0World = qtRotate(ornA,edge0);\n"
-"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
-"		{\n"
-"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
-"			float4 edge1World = qtRotate(ornB,edge1);\n"
-"			float4 crossje = cross3(edge0World,edge1World);\n"
-"			curEdgeEdge++;\n"
-"			if(!IsAlmostZero(crossje))\n"
-"			{\n"
-"				crossje = normalize3(crossje);\n"
-"				if (dot3F4(DeltaC2,crossje)<0)\n"
-"					crossje *= -1.f;\n"
-"				float dist;\n"
-"				bool result = true;\n"
-"				{\n"
-"					float Min0,Max0;\n"
-"					float Min1,Max1;\n"
-"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
-"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
-"				\n"
-"					if(Max0<Min1 || Max1<Min0)\n"
-"						result = false;\n"
-"				\n"
-"					float d0 = Max0 - Min1;\n"
-"					float d1 = Max1 - Min0;\n"
-"					dist = d0<d1 ? d0:d1;\n"
-"					result = true;\n"
-"				}\n"
-"				\n"
-"				if(dist<*dmin)\n"
-"				{\n"
-"					*dmin = dist;\n"
-"					*sep = crossje;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"inline int	findClippingFaces(const float4 separatingNormal,\n"
-"                      const ConvexPolyhedronCL* hullA, \n"
-"					  __global const ConvexPolyhedronCL* hullB,\n"
-"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
-"                       __global float4* worldVertsA1,\n"
-"                      __global float4* worldNormalsA1,\n"
-"                      __global float4* worldVertsB1,\n"
-"                      int capacityWorldVerts,\n"
-"                      const float minDist, float maxDist,\n"
-"					  const float4* verticesA,\n"
-"                      const btGpuFace* facesA,\n"
-"                      const int* indicesA,\n"
-"					  __global const float4* verticesB,\n"
-"                      __global const btGpuFace* facesB,\n"
-"                      __global const int* indicesB,\n"
-"                      __global int4* clippingFaces, int pairIndex)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	int numWorldVertsB1= 0;\n"
-"    \n"
-"    \n"
-"	int closestFaceB=0;\n"
-"	float dmax = -FLT_MAX;\n"
-"    \n"
-"	{\n"
-"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
-"                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-"			if (d > dmax)\n"
-"			{\n"
-"				dmax = d;\n"
-"				closestFaceB = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"    \n"
-"	{\n"
-"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
-"		int numVertices = polyB.m_numIndices;\n"
-"        if (numVertices>capacityWorldVerts)\n"
-"            numVertices = capacityWorldVerts;\n"
-"        if (numVertices<0)\n"
-"            numVertices = 0;\n"
-"        \n"
-"		for(int e0=0;e0<numVertices;e0++)\n"
-"		{\n"
-"            if (e0<capacityWorldVerts)\n"
-"            {\n"
-"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
-"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-"            }\n"
-"		}\n"
-"	}\n"
-"    \n"
-"    int closestFaceA=0;\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(\n"
-"                                              facesA[hullA->m_faceOffset+face].m_plane.x,\n"
-"                                              facesA[hullA->m_faceOffset+face].m_plane.y,\n"
-"                                              facesA[hullA->m_faceOffset+face].m_plane.z,\n"
-"                                              0.f);\n"
-"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-"            \n"
-"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-"			if (d < dmin)\n"
-"			{\n"
-"				dmin = d;\n"
-"				closestFaceA = face;\n"
-"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"    \n"
-"    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
-"    if (numVerticesA>capacityWorldVerts)\n"
-"       numVerticesA = capacityWorldVerts;\n"
-"    if (numVerticesA<0)\n"
-"        numVerticesA=0;\n"
-"    \n"
-"	for(int e0=0;e0<numVerticesA;e0++)\n"
-"	{\n"
-"        if (e0<capacityWorldVerts)\n"
-"        {\n"
-"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
-"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
-"        }\n"
-"    }\n"
-"    \n"
-"    clippingFaces[pairIndex].x = closestFaceA;\n"
-"    clippingFaces[pairIndex].y = closestFaceB;\n"
-"    clippingFaces[pairIndex].z = numVerticesA;\n"
-"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
-"    \n"
-"    \n"
-"	return numContactsOut;\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,\n"
-"                                                __global const BodyData* rigidBodies,\n"
-"                                                __global const btCollidableGpu* collidables,\n"
-"                                                __global const ConvexPolyhedronCL* convexShapes,\n"
-"                                                __global const float4* vertices,\n"
-"                                                __global const float4* uniqueEdges,\n"
-"                                                __global const btGpuFace* faces,\n"
-"                                                __global const int* indices,\n"
-"                                                __global const btGpuChildShape* gpuChildShapes,\n"
-"                                                __global btAabbCL* aabbs,\n"
-"                                                __global float4* concaveSeparatingNormalsOut,\n"
-"                                                __global int* concaveHasSeparatingNormals,\n"
-"                                                __global int4* clippingFacesOut,\n"
-"                                                __global float4* worldVertsA1GPU,\n"
-"                                                __global float4*  worldNormalsAGPU,\n"
-"                                                __global float4* worldVertsB1GPU,\n"
-"                                                __global float* dmins,\n"
-"                                                int vertexFaceCapacity,\n"
-"                                                int numConcavePairs\n"
-"                                                )\n"
-"{\n"
-"    \n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConcavePairs)\n"
-"		return;\n"
-"    \n"
-"	concaveHasSeparatingNormals[i] = 0;\n"
-"    \n"
-"	int pairIdx = i;\n"
-"    \n"
-"	int bodyIndexA = concavePairs[i].x;\n"
-"	int bodyIndexB = concavePairs[i].y;\n"
-"    \n"
-"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"    \n"
-"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"    \n"
-"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
-"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"	{\n"
-"		concavePairs[pairIdx].w = -1;\n"
-"		return;\n"
-"	}\n"
-"    \n"
-"    \n"
-"    \n"
-"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"	int numActualConcaveConvexTests = 0;\n"
-"	\n"
-"	int f = concavePairs[i].z;\n"
-"	\n"
-"	bool overlap = false;\n"
-"	\n"
-"	ConvexPolyhedronCL convexPolyhedronA;\n"
-"    \n"
-"	//add 3 vertices of the triangle\n"
-"	convexPolyhedronA.m_numVertices = 3;\n"
-"	convexPolyhedronA.m_vertexOffset = 0;\n"
-"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-"    \n"
-"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-"	float4 triMinAabb, triMaxAabb;\n"
-"	btAabbCL triAabb;\n"
-"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
-"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
-"	\n"
-"	float4 verticesA[3];\n"
-"	for (int i=0;i<3;i++)\n"
-"	{\n"
-"		int index = indices[face.m_indexOffset+i];\n"
-"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-"		verticesA[i] = vert;\n"
-"		localCenter += vert;\n"
-"        \n"
-"		triAabb.m_min = min(triAabb.m_min,vert);\n"
-"		triAabb.m_max = max(triAabb.m_max,vert);\n"
-"        \n"
-"	}\n"
-"    \n"
-"	overlap = true;\n"
-"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
-"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
-"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
-"    \n"
-"	if (overlap)\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		int hasSeparatingAxis=5;\n"
-"		float4 sepAxis=make_float4(1,2,3,4);\n"
-"        \n"
-"		int localCC=0;\n"
-"		numActualConcaveConvexTests++;\n"
-"        \n"
-"		//a triangle has 3 unique edges\n"
-"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-"		float4 uniqueEdgesA[3];\n"
-"		\n"
-"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-"        \n"
-"        \n"
-"		convexPolyhedronA.m_faceOffset = 0;\n"
-"        \n"
-"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-"        \n"
-"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-"		int indicesA[3+3+2+2+2];\n"
-"		int curUsedIndices=0;\n"
-"		int fidx=0;\n"
-"        \n"
-"		//front size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[0] = 0;\n"
-"			indicesA[1] = 1;\n"
-"			indicesA[2] = 2;\n"
-"			curUsedIndices+=3;\n"
-"			float c = face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = normal.x;\n"
-"			facesA[fidx].m_plane.y = normal.y;\n"
-"			facesA[fidx].m_plane.z = normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"		//back size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[3]=2;\n"
-"			indicesA[4]=1;\n"
-"			indicesA[5]=0;\n"
-"			curUsedIndices+=3;\n"
-"			float c = dot(normal,verticesA[0]);\n"
-"			float c1 = -face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = -normal.x;\n"
-"			facesA[fidx].m_plane.y = -normal.y;\n"
-"			facesA[fidx].m_plane.z = -normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"        \n"
-"		bool addEdgePlanes = true;\n"
-"		if (addEdgePlanes)\n"
-"		{\n"
-"			int numVertices=3;\n"
-"			int prevVertex = numVertices-1;\n"
-"			for (int i=0;i<numVertices;i++)\n"
-"			{\n"
-"				float4 v0 = verticesA[i];\n"
-"				float4 v1 = verticesA[prevVertex];\n"
-"                \n"
-"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-"				float c = -dot(edgeNormal,v0);\n"
-"                \n"
-"				facesA[fidx].m_numIndices = 2;\n"
-"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"				indicesA[curUsedIndices++]=i;\n"
-"				indicesA[curUsedIndices++]=prevVertex;\n"
-"                \n"
-"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-"				facesA[fidx].m_plane.w = c;\n"
-"				fidx++;\n"
-"				prevVertex = i;\n"
-"			}\n"
-"		}\n"
-"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-"        \n"
-"        \n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		posA.w = 0.f;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"		posB.w = 0.f;\n"
-"        \n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"        \n"
-"		\n"
-"        \n"
-"        \n"
-"		///////////////////\n"
-"		///compound shape support\n"
-"        \n"
-"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"		{\n"
-"			int compoundChild = concavePairs[pairIdx].w;\n"
-"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
-"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"			posB = newPosB;\n"
-"			ornB = newOrnB;\n"
-"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-"		}\n"
-"		//////////////////\n"
-"        \n"
-"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
-"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"		const float4 DeltaC2 = c0 - c1;\n"
-"        \n"
-"        \n"
-"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-"                                             posA,ornA,\n"
-"                                             posB,ornB,\n"
-"                                             DeltaC2,\n"
-"                                             verticesA,uniqueEdgesA,facesA,indicesA,\n"
-"                                             vertices,uniqueEdges,faces,indices,\n"
-"                                             &sepAxis,&dmin);\n"
-"		hasSeparatingAxis = 4;\n"
-"		if (!sepA)\n"
-"		{\n"
-"			hasSeparatingAxis = 0;\n"
-"		} else\n"
-"		{\n"
-"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
-"                                                 posB,ornB,\n"
-"                                                 posA,ornA,\n"
-"                                                 DeltaC2,\n"
-"                                                 vertices,uniqueEdges,faces,indices,\n"
-"                                                 verticesA,uniqueEdgesA,facesA,indicesA,\n"
-"                                                 &sepAxis,&dmin);\n"
-"            \n"
-"			if (!sepB)\n"
-"			{\n"
-"				hasSeparatingAxis = 0;\n"
-"			} else\n"
-"			{\n"
-"				hasSeparatingAxis = 1;\n"
-"			}\n"
-"		}	\n"
-"		\n"
-"		if (hasSeparatingAxis)\n"
-"		{\n"
-"            dmins[i] = dmin;\n"
-"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
-"			concaveHasSeparatingNormals[i]=1;\n"
-"            \n"
-"		} else\n"
-"		{	\n"
-"			//mark this pair as in-active\n"
-"			concavePairs[pairIdx].w = -1;\n"
-"		}\n"
-"	}\n"
-"	else\n"
-"	{	\n"
-"		//mark this pair as in-active\n"
-"		concavePairs[pairIdx].w = -1;\n"
-"	}\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,\n"
-"                                                          __global const BodyData* rigidBodies,\n"
-"                                                          __global const btCollidableGpu* collidables,\n"
-"                                                          __global const ConvexPolyhedronCL* convexShapes,\n"
-"                                                          __global const float4* vertices,\n"
-"                                                          __global const float4* uniqueEdges,\n"
-"                                                          __global const btGpuFace* faces,\n"
-"                                                          __global const int* indices,\n"
-"                                                          __global const btGpuChildShape* gpuChildShapes,\n"
-"                                                          __global btAabbCL* aabbs,\n"
-"                                                          __global float4* concaveSeparatingNormalsOut,\n"
-"                                                          __global int* concaveHasSeparatingNormals,\n"
-"                                                          __global int4* clippingFacesOut,\n"
-"                                                          __global float4* worldVertsA1GPU,\n"
-"                                                          __global float4*  worldNormalsAGPU,\n"
-"                                                          __global float4* worldVertsB1GPU,\n"
-"                                                          __global float* dmins,\n"
-"                                                          int vertexFaceCapacity,\n"
-"                                                          int numConcavePairs\n"
-"                                                          )\n"
-"{\n"
-"    \n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConcavePairs)\n"
-"		return;\n"
-"    \n"
-"	if (!concaveHasSeparatingNormals[i])\n"
-"        return;\n"
-"    \n"
-"	int pairIdx = i;\n"
-"    \n"
-"	int bodyIndexA = concavePairs[i].x;\n"
-"	int bodyIndexB = concavePairs[i].y;\n"
-"    \n"
-"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"    \n"
-"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"    \n"
-"    \n"
-"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"	int numActualConcaveConvexTests = 0;\n"
-"	\n"
-"	int f = concavePairs[i].z;\n"
-"	\n"
-"	bool overlap = false;\n"
-"	\n"
-"	ConvexPolyhedronCL convexPolyhedronA;\n"
-"    \n"
-"	//add 3 vertices of the triangle\n"
-"	convexPolyhedronA.m_numVertices = 3;\n"
-"	convexPolyhedronA.m_vertexOffset = 0;\n"
-"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-"    \n"
-"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-"	float4 triMinAabb, triMaxAabb;\n"
-"	btAabbCL triAabb;\n"
-"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
-"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
-"	\n"
-"	float4 verticesA[3];\n"
-"	for (int i=0;i<3;i++)\n"
-"	{\n"
-"		int index = indices[face.m_indexOffset+i];\n"
-"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-"		verticesA[i] = vert;\n"
-"		localCenter += vert;\n"
-"        \n"
-"		triAabb.m_min = min(triAabb.m_min,vert);\n"
-"		triAabb.m_max = max(triAabb.m_max,vert);\n"
-"        \n"
-"	}\n"
-"    \n"
-"	overlap = true;\n"
-"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
-"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
-"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
-"    \n"
-"	if (overlap)\n"
-"	{\n"
-"		float dmin = dmins[i];\n"
-"		int hasSeparatingAxis=5;\n"
-"		float4 sepAxis=make_float4(1,2,3,4);\n"
-"        sepAxis = concaveSeparatingNormalsOut[pairIdx];\n"
-"        \n"
-"		int localCC=0;\n"
-"		numActualConcaveConvexTests++;\n"
-"        \n"
-"		//a triangle has 3 unique edges\n"
-"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-"		float4 uniqueEdgesA[3];\n"
-"		\n"
-"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-"        \n"
-"        \n"
-"		convexPolyhedronA.m_faceOffset = 0;\n"
-"        \n"
-"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-"        \n"
-"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-"		int indicesA[3+3+2+2+2];\n"
-"		int curUsedIndices=0;\n"
-"		int fidx=0;\n"
-"        \n"
-"		//front size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[0] = 0;\n"
-"			indicesA[1] = 1;\n"
-"			indicesA[2] = 2;\n"
-"			curUsedIndices+=3;\n"
-"			float c = face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = normal.x;\n"
-"			facesA[fidx].m_plane.y = normal.y;\n"
-"			facesA[fidx].m_plane.z = normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"		//back size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[3]=2;\n"
-"			indicesA[4]=1;\n"
-"			indicesA[5]=0;\n"
-"			curUsedIndices+=3;\n"
-"			float c = dot(normal,verticesA[0]);\n"
-"			float c1 = -face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = -normal.x;\n"
-"			facesA[fidx].m_plane.y = -normal.y;\n"
-"			facesA[fidx].m_plane.z = -normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"        \n"
-"		bool addEdgePlanes = true;\n"
-"		if (addEdgePlanes)\n"
-"		{\n"
-"			int numVertices=3;\n"
-"			int prevVertex = numVertices-1;\n"
-"			for (int i=0;i<numVertices;i++)\n"
-"			{\n"
-"				float4 v0 = verticesA[i];\n"
-"				float4 v1 = verticesA[prevVertex];\n"
-"                \n"
-"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-"				float c = -dot(edgeNormal,v0);\n"
-"                \n"
-"				facesA[fidx].m_numIndices = 2;\n"
-"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"				indicesA[curUsedIndices++]=i;\n"
-"				indicesA[curUsedIndices++]=prevVertex;\n"
-"                \n"
-"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-"				facesA[fidx].m_plane.w = c;\n"
-"				fidx++;\n"
-"				prevVertex = i;\n"
-"			}\n"
-"		}\n"
-"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-"        \n"
-"        \n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		posA.w = 0.f;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"		posB.w = 0.f;\n"
-"        \n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"        \n"
-"		\n"
-"        \n"
-"        \n"
-"		///////////////////\n"
-"		///compound shape support\n"
-"        \n"
-"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"		{\n"
-"			int compoundChild = concavePairs[pairIdx].w;\n"
-"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
-"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"			posB = newPosB;\n"
-"			ornB = newOrnB;\n"
-"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-"		}\n"
-"		//////////////////\n"
-"        \n"
-"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
-"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"		const float4 DeltaC2 = c0 - c1;\n"
-"        \n"
-"        \n"
-"		{\n"
-"			bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-"                                                              posA,ornA,\n"
-"                                                              posB,ornB,\n"
-"                                                              DeltaC2,\n"
-"                                                              verticesA,uniqueEdgesA,facesA,indicesA,\n"
-"                                                              vertices,uniqueEdges,faces,indices,\n"
-"                                                              &sepAxis,&dmin);\n"
-"                \n"
-"			if (!sepEE)\n"
-"			{\n"
-"				hasSeparatingAxis = 0;\n"
-"			} else\n"
-"			{\n"
-"				hasSeparatingAxis = 1;\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		\n"
-"		if (hasSeparatingAxis)\n"
-"		{\n"
-"			sepAxis.w = dmin;\n"
-"            dmins[i] = dmin;\n"
-"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
-"			concaveHasSeparatingNormals[i]=1;\n"
-"           \n"
-" 	float minDist = -1e30f;\n"
-"			float maxDist = 0.02f;\n"
-"            \n"
-"            findClippingFaces(sepAxis,\n"
-"                              &convexPolyhedronA,\n"
-"                              &convexShapes[shapeIndexB],\n"
-"                              posA,ornA,\n"
-"                              posB,ornB,\n"
-"                              worldVertsA1GPU,\n"
-"                              worldNormalsAGPU,\n"
-"                              worldVertsB1GPU,\n"
-"                              vertexFaceCapacity,\n"
-"                              minDist, maxDist,\n"
-"                              verticesA,\n"
-"                              facesA,\n"
-"                              indicesA,\n"
-"                              vertices,\n"
-"                              faces,\n"
-"                              indices,\n"
-"                              clippingFacesOut, pairIdx);\n"
-"	           \n"
-"            \n"
-"		} else\n"
-"		{	\n"
-"			//mark this pair as in-active\n"
-"			concavePairs[pairIdx].w = -1;\n"
-"		}\n"
-"	}\n"
-"	else\n"
-"	{	\n"
-"		//mark this pair as in-active\n"
-"		concavePairs[pairIdx].w = -1;\n"
-"	}\n"
-"	\n"
-"	concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points\n"
-"}\n"
-;
+static const char* satConcaveKernelsCL =
+	"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
+	"//written by Erwin Coumans\n"
+	"#define SHAPE_CONVEX_HULL 3\n"
+	"#define SHAPE_CONCAVE_TRIMESH 5\n"
+	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
+	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
+	"#define B3_MAX_STACK_DEPTH 256\n"
+	"typedef unsigned int u32;\n"
+	"///keep this in sync with btCollidable.h\n"
+	"typedef struct\n"
+	"{\n"
+	"	union {\n"
+	"		int m_numChildShapes;\n"
+	"		int m_bvhIndex;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float m_radius;\n"
+	"		int	m_compoundBvhIndex;\n"
+	"	};\n"
+	"	\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"	\n"
+	"} btCollidableGpu;\n"
+	"#define MAX_NUM_PARTS_IN_BITS 10\n"
+	"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
+	"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
+	"typedef struct\n"
+	"{\n"
+	"	//12 bytes\n"
+	"	unsigned short int	m_quantizedAabbMin[3];\n"
+	"	unsigned short int	m_quantizedAabbMax[3];\n"
+	"	//4 bytes\n"
+	"	int	m_escapeIndexOrTriangleIndex;\n"
+	"} b3QuantizedBvhNode;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4		m_aabbMin;\n"
+	"	float4		m_aabbMax;\n"
+	"	float4		m_quantization;\n"
+	"	int			m_numNodes;\n"
+	"	int			m_numSubTrees;\n"
+	"	int			m_nodeOffset;\n"
+	"	int			m_subTreeOffset;\n"
+	"} b3BvhInfo;\n"
+	"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	unsigned int x=0;\n"
+	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+	"	// Get only the lower bits where the triangle index is stored\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+	"}\n"
+	"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	unsigned int x=0;\n"
+	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+	"	// Get only the lower bits where the triangle index is stored\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+	"}\n"
+	"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+	"}\n"
+	"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+	"}\n"
+	"	\n"
+	"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+	"}\n"
+	"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+	"}\n"
+	"typedef struct\n"
+	"{\n"
+	"	//12 bytes\n"
+	"	unsigned short int	m_quantizedAabbMin[3];\n"
+	"	unsigned short int	m_quantizedAabbMax[3];\n"
+	"	//4 bytes, points to the root of the subtree\n"
+	"	int			m_rootNodeIndex;\n"
+	"	//4 bytes\n"
+	"	int			m_subtreeSize;\n"
+	"	int			m_padding[3];\n"
+	"} b3BvhSubtreeInfo;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4	m_childPosition;\n"
+	"	float4	m_childOrientation;\n"
+	"	int m_shapeIndex;\n"
+	"	int m_unused0;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"} btGpuChildShape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	float4 m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_collidableIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} BodyData;\n"
+	"typedef struct  \n"
+	"{\n"
+	"	float4		m_localCenter;\n"
+	"	float4		m_extents;\n"
+	"	float4		mC;\n"
+	"	float4		mE;\n"
+	"	\n"
+	"	float			m_radius;\n"
+	"	int	m_faceOffset;\n"
+	"	int m_numFaces;\n"
+	"	int	m_numVertices;\n"
+	"	int m_vertexOffset;\n"
+	"	int	m_uniqueEdgesOffset;\n"
+	"	int	m_numUniqueEdges;\n"
+	"	int m_unused;\n"
+	"} ConvexPolyhedronCL;\n"
+	"typedef struct \n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_min;\n"
+	"		float   m_minElems[4];\n"
+	"		int			m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_max;\n"
+	"		float   m_maxElems[4];\n"
+	"		int			m_maxIndices[4];\n"
+	"	};\n"
+	"} btAabbCL;\n"
+	"#ifndef B3_AABB_H\n"
+	"#define B3_AABB_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3Aabb b3Aabb_t;\n"
+	"struct b3Aabb\n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float m_min[4];\n"
+	"		b3Float4 m_minVec;\n"
+	"		int m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float	m_max[4];\n"
+	"		b3Float4 m_maxVec;\n"
+	"		int m_signedMaxIndices[4];\n"
+	"	};\n"
+	"};\n"
+	"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
+	"						b3Float4ConstArg pos,\n"
+	"						b3QuatConstArg orn,\n"
+	"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
+	"{\n"
+	"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
+	"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
+	"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
+	"		b3Mat3x3 m;\n"
+	"		m = b3QuatGetRotationMatrix(orn);\n"
+	"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
+	"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
+	"		\n"
+	"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
+	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
+	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
+	"										 0.f);\n"
+	"		*aabbMinOut = center-extent;\n"
+	"		*aabbMaxOut = center+extent;\n"
+	"}\n"
+	"/// conservative test for overlap between two aabbs\n"
+	"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
+	"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
+	"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
+	"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"#endif //B3_AABB_H\n"
+	"/*\n"
+	"Bullet Continuous Collision Detection and Physics Library\n"
+	"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose,\n"
+	"including commercial applications, and to alter it and redistribute it freely,\n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"#ifndef B3_INT2_H\n"
+	"#define B3_INT2_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#define b3UnsignedInt2 uint2\n"
+	"#define b3Int2 int2\n"
+	"#define b3MakeInt2 (int2)\n"
+	"#endif //__cplusplus\n"
+	"#endif\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_plane;\n"
+	"	int m_indexOffset;\n"
+	"	int m_numIndices;\n"
+	"} btGpuFace;\n"
+	"#define make_float4 (float4)\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"	\n"
+	"//	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"//	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"//	return cross(a1,b1);\n"
+	"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
+	"	\n"
+	"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
+	"	\n"
+	"	//return c;\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = make_float4(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"__inline\n"
+	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
+	"{\n"
+	"	return qtRotate( *orientation, *p ) + (*translation);\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"}\n"
+	"inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
+	"const float4* dir, const float4* vertices, float* min, float* max)\n"
+	"{\n"
+	"	min[0] = FLT_MAX;\n"
+	"	max[0] = -FLT_MAX;\n"
+	"	int numVerts = hull->m_numVertices;\n"
+	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+	"	float offset = dot(pos,*dir);\n"
+	"	for(int i=0;i<numVerts;i++)\n"
+	"	{\n"
+	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+	"		if(dp < min[0])	\n"
+	"			min[0] = dp;\n"
+	"		if(dp > max[0])	\n"
+	"			max[0] = dp;\n"
+	"	}\n"
+	"	if(min[0]>max[0])\n"
+	"	{\n"
+	"		float tmp = min[0];\n"
+	"		min[0] = max[0];\n"
+	"		max[0] = tmp;\n"
+	"	}\n"
+	"	min[0] += offset;\n"
+	"	max[0] += offset;\n"
+	"}\n"
+	"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
+	"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
+	"{\n"
+	"	min[0] = FLT_MAX;\n"
+	"	max[0] = -FLT_MAX;\n"
+	"	int numVerts = hull->m_numVertices;\n"
+	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+	"	float offset = dot(pos,*dir);\n"
+	"	for(int i=0;i<numVerts;i++)\n"
+	"	{\n"
+	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+	"		if(dp < min[0])	\n"
+	"			min[0] = dp;\n"
+	"		if(dp > max[0])	\n"
+	"			max[0] = dp;\n"
+	"	}\n"
+	"	if(min[0]>max[0])\n"
+	"	{\n"
+	"		float tmp = min[0];\n"
+	"		min[0] = max[0];\n"
+	"		max[0] = tmp;\n"
+	"	}\n"
+	"	min[0] += offset;\n"
+	"	max[0] += offset;\n"
+	"}\n"
+	"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA,const float4 ornA,\n"
+	"	const float4 posB,const float4 ornB,\n"
+	"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
+	"{\n"
+	"	float Min0,Max0;\n"
+	"	float Min1,Max1;\n"
+	"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
+	"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
+	"	if(Max0<Min1 || Max1<Min0)\n"
+	"		return false;\n"
+	"	float d0 = Max0 - Min1;\n"
+	"	float d1 = Max1 - Min0;\n"
+	"	*depth = d0<d1 ? d0:d1;\n"
+	"	return true;\n"
+	"}\n"
+	"inline bool IsAlmostZero(const float4 v)\n"
+	"{\n"
+	"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	\n"
+	"	const float4* verticesA, \n"
+	"	const float4* uniqueEdgesA, \n"
+	"	const btGpuFace* facesA,\n"
+	"	const int*  indicesA,\n"
+	"	__global const float4* verticesB, \n"
+	"	__global const float4* uniqueEdgesB, \n"
+	"	__global const btGpuFace* facesB,\n"
+	"	__global const int*  indicesB,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	{\n"
+	"		int numFacesA = hullA->m_numFaces;\n"
+	"		// Test normals from hullA\n"
+	"		for(int i=0;i<numFacesA;i++)\n"
+	"		{\n"
+	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
+	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+	"				faceANormalWS*=-1.f;\n"
+	"			curPlaneTests++;\n"
+	"			float d;\n"
+	"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
+	"				return false;\n"
+	"			if(d<*dmin)\n"
+	"			{\n"
+	"				*dmin = d;\n"
+	"				*sep = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	__global const float4* verticesA, \n"
+	"	__global const float4* uniqueEdgesA, \n"
+	"	__global const btGpuFace* facesA,\n"
+	"	__global const int*  indicesA,\n"
+	"	const float4* verticesB,\n"
+	"	const float4* uniqueEdgesB, \n"
+	"	const btGpuFace* facesB,\n"
+	"	const int*  indicesB,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	{\n"
+	"		int numFacesA = hullA->m_numFaces;\n"
+	"		// Test normals from hullA\n"
+	"		for(int i=0;i<numFacesA;i++)\n"
+	"		{\n"
+	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
+	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+	"				faceANormalWS *= -1.f;\n"
+	"			curPlaneTests++;\n"
+	"			float d;\n"
+	"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
+	"				return false;\n"
+	"			if(d<*dmin)\n"
+	"			{\n"
+	"				*dmin = d;\n"
+	"				*sep = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	const float4* verticesA, \n"
+	"	const float4* uniqueEdgesA, \n"
+	"	const btGpuFace* facesA,\n"
+	"	const int*  indicesA,\n"
+	"	__global const float4* verticesB, \n"
+	"	__global const float4* uniqueEdgesB, \n"
+	"	__global const btGpuFace* facesB,\n"
+	"	__global const int*  indicesB,\n"
+	"		float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	int curEdgeEdge = 0;\n"
+	"	// Test edges\n"
+	"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
+	"	{\n"
+	"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
+	"		float4 edge0World = qtRotate(ornA,edge0);\n"
+	"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
+	"		{\n"
+	"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
+	"			float4 edge1World = qtRotate(ornB,edge1);\n"
+	"			float4 crossje = cross3(edge0World,edge1World);\n"
+	"			curEdgeEdge++;\n"
+	"			if(!IsAlmostZero(crossje))\n"
+	"			{\n"
+	"				crossje = normalize3(crossje);\n"
+	"				if (dot3F4(DeltaC2,crossje)<0)\n"
+	"					crossje *= -1.f;\n"
+	"				float dist;\n"
+	"				bool result = true;\n"
+	"				{\n"
+	"					float Min0,Max0;\n"
+	"					float Min1,Max1;\n"
+	"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
+	"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
+	"				\n"
+	"					if(Max0<Min1 || Max1<Min0)\n"
+	"						result = false;\n"
+	"				\n"
+	"					float d0 = Max0 - Min1;\n"
+	"					float d1 = Max1 - Min0;\n"
+	"					dist = d0<d1 ? d0:d1;\n"
+	"					result = true;\n"
+	"				}\n"
+	"				\n"
+	"				if(dist<*dmin)\n"
+	"				{\n"
+	"					*dmin = dist;\n"
+	"					*sep = crossje;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"inline int	findClippingFaces(const float4 separatingNormal,\n"
+	"                      const ConvexPolyhedronCL* hullA, \n"
+	"					  __global const ConvexPolyhedronCL* hullB,\n"
+	"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
+	"                       __global float4* worldVertsA1,\n"
+	"                      __global float4* worldNormalsA1,\n"
+	"                      __global float4* worldVertsB1,\n"
+	"                      int capacityWorldVerts,\n"
+	"                      const float minDist, float maxDist,\n"
+	"					  const float4* verticesA,\n"
+	"                      const btGpuFace* facesA,\n"
+	"                      const int* indicesA,\n"
+	"					  __global const float4* verticesB,\n"
+	"                      __global const btGpuFace* facesB,\n"
+	"                      __global const int* indicesB,\n"
+	"                      __global int4* clippingFaces, int pairIndex)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	int numWorldVertsB1= 0;\n"
+	"    \n"
+	"    \n"
+	"	int closestFaceB=0;\n"
+	"	float dmax = -FLT_MAX;\n"
+	"    \n"
+	"	{\n"
+	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
+	"                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
+	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
+	"			if (d > dmax)\n"
+	"			{\n"
+	"				dmax = d;\n"
+	"				closestFaceB = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"	{\n"
+	"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
+	"		int numVertices = polyB.m_numIndices;\n"
+	"        if (numVertices>capacityWorldVerts)\n"
+	"            numVertices = capacityWorldVerts;\n"
+	"        if (numVertices<0)\n"
+	"            numVertices = 0;\n"
+	"        \n"
+	"		for(int e0=0;e0<numVertices;e0++)\n"
+	"		{\n"
+	"            if (e0<capacityWorldVerts)\n"
+	"            {\n"
+	"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
+	"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
+	"            }\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"    int closestFaceA=0;\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(\n"
+	"                                              facesA[hullA->m_faceOffset+face].m_plane.x,\n"
+	"                                              facesA[hullA->m_faceOffset+face].m_plane.y,\n"
+	"                                              facesA[hullA->m_faceOffset+face].m_plane.z,\n"
+	"                                              0.f);\n"
+	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
+	"            \n"
+	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
+	"			if (d < dmin)\n"
+	"			{\n"
+	"				dmin = d;\n"
+	"				closestFaceA = face;\n"
+	"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
+	"    if (numVerticesA>capacityWorldVerts)\n"
+	"       numVerticesA = capacityWorldVerts;\n"
+	"    if (numVerticesA<0)\n"
+	"        numVerticesA=0;\n"
+	"    \n"
+	"	for(int e0=0;e0<numVerticesA;e0++)\n"
+	"	{\n"
+	"        if (e0<capacityWorldVerts)\n"
+	"        {\n"
+	"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
+	"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
+	"        }\n"
+	"    }\n"
+	"    \n"
+	"    clippingFaces[pairIndex].x = closestFaceA;\n"
+	"    clippingFaces[pairIndex].y = closestFaceB;\n"
+	"    clippingFaces[pairIndex].z = numVerticesA;\n"
+	"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
+	"    \n"
+	"    \n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   findConcaveSeparatingAxisVertexFaceKernel( __global int4* concavePairs,\n"
+	"                                                __global const BodyData* rigidBodies,\n"
+	"                                                __global const btCollidableGpu* collidables,\n"
+	"                                                __global const ConvexPolyhedronCL* convexShapes,\n"
+	"                                                __global const float4* vertices,\n"
+	"                                                __global const float4* uniqueEdges,\n"
+	"                                                __global const btGpuFace* faces,\n"
+	"                                                __global const int* indices,\n"
+	"                                                __global const btGpuChildShape* gpuChildShapes,\n"
+	"                                                __global btAabbCL* aabbs,\n"
+	"                                                __global float4* concaveSeparatingNormalsOut,\n"
+	"                                                __global int* concaveHasSeparatingNormals,\n"
+	"                                                __global int4* clippingFacesOut,\n"
+	"                                                __global float4* worldVertsA1GPU,\n"
+	"                                                __global float4*  worldNormalsAGPU,\n"
+	"                                                __global float4* worldVertsB1GPU,\n"
+	"                                                __global float* dmins,\n"
+	"                                                int vertexFaceCapacity,\n"
+	"                                                int numConcavePairs\n"
+	"                                                )\n"
+	"{\n"
+	"    \n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConcavePairs)\n"
+	"		return;\n"
+	"    \n"
+	"	concaveHasSeparatingNormals[i] = 0;\n"
+	"    \n"
+	"	int pairIdx = i;\n"
+	"    \n"
+	"	int bodyIndexA = concavePairs[i].x;\n"
+	"	int bodyIndexB = concavePairs[i].y;\n"
+	"    \n"
+	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"    \n"
+	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"    \n"
+	"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
+	"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"	{\n"
+	"		concavePairs[pairIdx].w = -1;\n"
+	"		return;\n"
+	"	}\n"
+	"    \n"
+	"    \n"
+	"    \n"
+	"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"	int numActualConcaveConvexTests = 0;\n"
+	"	\n"
+	"	int f = concavePairs[i].z;\n"
+	"	\n"
+	"	bool overlap = false;\n"
+	"	\n"
+	"	ConvexPolyhedronCL convexPolyhedronA;\n"
+	"    \n"
+	"	//add 3 vertices of the triangle\n"
+	"	convexPolyhedronA.m_numVertices = 3;\n"
+	"	convexPolyhedronA.m_vertexOffset = 0;\n"
+	"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
+	"    \n"
+	"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+	"	float4 triMinAabb, triMaxAabb;\n"
+	"	btAabbCL triAabb;\n"
+	"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
+	"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
+	"	\n"
+	"	float4 verticesA[3];\n"
+	"	for (int i=0;i<3;i++)\n"
+	"	{\n"
+	"		int index = indices[face.m_indexOffset+i];\n"
+	"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
+	"		verticesA[i] = vert;\n"
+	"		localCenter += vert;\n"
+	"        \n"
+	"		triAabb.m_min = min(triAabb.m_min,vert);\n"
+	"		triAabb.m_max = max(triAabb.m_max,vert);\n"
+	"        \n"
+	"	}\n"
+	"    \n"
+	"	overlap = true;\n"
+	"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
+	"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
+	"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
+	"    \n"
+	"	if (overlap)\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		int hasSeparatingAxis=5;\n"
+	"		float4 sepAxis=make_float4(1,2,3,4);\n"
+	"        \n"
+	"		int localCC=0;\n"
+	"		numActualConcaveConvexTests++;\n"
+	"        \n"
+	"		//a triangle has 3 unique edges\n"
+	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
+	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
+	"		float4 uniqueEdgesA[3];\n"
+	"		\n"
+	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
+	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
+	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
+	"        \n"
+	"        \n"
+	"		convexPolyhedronA.m_faceOffset = 0;\n"
+	"        \n"
+	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
+	"        \n"
+	"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
+	"		int indicesA[3+3+2+2+2];\n"
+	"		int curUsedIndices=0;\n"
+	"		int fidx=0;\n"
+	"        \n"
+	"		//front size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[0] = 0;\n"
+	"			indicesA[1] = 1;\n"
+	"			indicesA[2] = 2;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = normal.x;\n"
+	"			facesA[fidx].m_plane.y = normal.y;\n"
+	"			facesA[fidx].m_plane.z = normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"		//back size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[3]=2;\n"
+	"			indicesA[4]=1;\n"
+	"			indicesA[5]=0;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = dot(normal,verticesA[0]);\n"
+	"			float c1 = -face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = -normal.x;\n"
+	"			facesA[fidx].m_plane.y = -normal.y;\n"
+	"			facesA[fidx].m_plane.z = -normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"        \n"
+	"		bool addEdgePlanes = true;\n"
+	"		if (addEdgePlanes)\n"
+	"		{\n"
+	"			int numVertices=3;\n"
+	"			int prevVertex = numVertices-1;\n"
+	"			for (int i=0;i<numVertices;i++)\n"
+	"			{\n"
+	"				float4 v0 = verticesA[i];\n"
+	"				float4 v1 = verticesA[prevVertex];\n"
+	"                \n"
+	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
+	"				float c = -dot(edgeNormal,v0);\n"
+	"                \n"
+	"				facesA[fidx].m_numIndices = 2;\n"
+	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"				indicesA[curUsedIndices++]=i;\n"
+	"				indicesA[curUsedIndices++]=prevVertex;\n"
+	"                \n"
+	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
+	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
+	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
+	"				facesA[fidx].m_plane.w = c;\n"
+	"				fidx++;\n"
+	"				prevVertex = i;\n"
+	"			}\n"
+	"		}\n"
+	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
+	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
+	"        \n"
+	"        \n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		posA.w = 0.f;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"		posB.w = 0.f;\n"
+	"        \n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"        \n"
+	"		\n"
+	"        \n"
+	"        \n"
+	"		///////////////////\n"
+	"		///compound shape support\n"
+	"        \n"
+	"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"		{\n"
+	"			int compoundChild = concavePairs[pairIdx].w;\n"
+	"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
+	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"			posB = newPosB;\n"
+	"			ornB = newOrnB;\n"
+	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+	"		}\n"
+	"		//////////////////\n"
+	"        \n"
+	"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
+	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"		const float4 DeltaC2 = c0 - c1;\n"
+	"        \n"
+	"        \n"
+	"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+	"                                             posA,ornA,\n"
+	"                                             posB,ornB,\n"
+	"                                             DeltaC2,\n"
+	"                                             verticesA,uniqueEdgesA,facesA,indicesA,\n"
+	"                                             vertices,uniqueEdges,faces,indices,\n"
+	"                                             &sepAxis,&dmin);\n"
+	"		hasSeparatingAxis = 4;\n"
+	"		if (!sepA)\n"
+	"		{\n"
+	"			hasSeparatingAxis = 0;\n"
+	"		} else\n"
+	"		{\n"
+	"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
+	"                                                 posB,ornB,\n"
+	"                                                 posA,ornA,\n"
+	"                                                 DeltaC2,\n"
+	"                                                 vertices,uniqueEdges,faces,indices,\n"
+	"                                                 verticesA,uniqueEdgesA,facesA,indicesA,\n"
+	"                                                 &sepAxis,&dmin);\n"
+	"            \n"
+	"			if (!sepB)\n"
+	"			{\n"
+	"				hasSeparatingAxis = 0;\n"
+	"			} else\n"
+	"			{\n"
+	"				hasSeparatingAxis = 1;\n"
+	"			}\n"
+	"		}	\n"
+	"		\n"
+	"		if (hasSeparatingAxis)\n"
+	"		{\n"
+	"            dmins[i] = dmin;\n"
+	"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
+	"			concaveHasSeparatingNormals[i]=1;\n"
+	"            \n"
+	"		} else\n"
+	"		{	\n"
+	"			//mark this pair as in-active\n"
+	"			concavePairs[pairIdx].w = -1;\n"
+	"		}\n"
+	"	}\n"
+	"	else\n"
+	"	{	\n"
+	"		//mark this pair as in-active\n"
+	"		concavePairs[pairIdx].w = -1;\n"
+	"	}\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   findConcaveSeparatingAxisEdgeEdgeKernel( __global int4* concavePairs,\n"
+	"                                                          __global const BodyData* rigidBodies,\n"
+	"                                                          __global const btCollidableGpu* collidables,\n"
+	"                                                          __global const ConvexPolyhedronCL* convexShapes,\n"
+	"                                                          __global const float4* vertices,\n"
+	"                                                          __global const float4* uniqueEdges,\n"
+	"                                                          __global const btGpuFace* faces,\n"
+	"                                                          __global const int* indices,\n"
+	"                                                          __global const btGpuChildShape* gpuChildShapes,\n"
+	"                                                          __global btAabbCL* aabbs,\n"
+	"                                                          __global float4* concaveSeparatingNormalsOut,\n"
+	"                                                          __global int* concaveHasSeparatingNormals,\n"
+	"                                                          __global int4* clippingFacesOut,\n"
+	"                                                          __global float4* worldVertsA1GPU,\n"
+	"                                                          __global float4*  worldNormalsAGPU,\n"
+	"                                                          __global float4* worldVertsB1GPU,\n"
+	"                                                          __global float* dmins,\n"
+	"                                                          int vertexFaceCapacity,\n"
+	"                                                          int numConcavePairs\n"
+	"                                                          )\n"
+	"{\n"
+	"    \n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConcavePairs)\n"
+	"		return;\n"
+	"    \n"
+	"	if (!concaveHasSeparatingNormals[i])\n"
+	"        return;\n"
+	"    \n"
+	"	int pairIdx = i;\n"
+	"    \n"
+	"	int bodyIndexA = concavePairs[i].x;\n"
+	"	int bodyIndexB = concavePairs[i].y;\n"
+	"    \n"
+	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"    \n"
+	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"    \n"
+	"    \n"
+	"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"	int numActualConcaveConvexTests = 0;\n"
+	"	\n"
+	"	int f = concavePairs[i].z;\n"
+	"	\n"
+	"	bool overlap = false;\n"
+	"	\n"
+	"	ConvexPolyhedronCL convexPolyhedronA;\n"
+	"    \n"
+	"	//add 3 vertices of the triangle\n"
+	"	convexPolyhedronA.m_numVertices = 3;\n"
+	"	convexPolyhedronA.m_vertexOffset = 0;\n"
+	"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
+	"    \n"
+	"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+	"	float4 triMinAabb, triMaxAabb;\n"
+	"	btAabbCL triAabb;\n"
+	"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
+	"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
+	"	\n"
+	"	float4 verticesA[3];\n"
+	"	for (int i=0;i<3;i++)\n"
+	"	{\n"
+	"		int index = indices[face.m_indexOffset+i];\n"
+	"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
+	"		verticesA[i] = vert;\n"
+	"		localCenter += vert;\n"
+	"        \n"
+	"		triAabb.m_min = min(triAabb.m_min,vert);\n"
+	"		triAabb.m_max = max(triAabb.m_max,vert);\n"
+	"        \n"
+	"	}\n"
+	"    \n"
+	"	overlap = true;\n"
+	"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
+	"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
+	"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
+	"    \n"
+	"	if (overlap)\n"
+	"	{\n"
+	"		float dmin = dmins[i];\n"
+	"		int hasSeparatingAxis=5;\n"
+	"		float4 sepAxis=make_float4(1,2,3,4);\n"
+	"        sepAxis = concaveSeparatingNormalsOut[pairIdx];\n"
+	"        \n"
+	"		int localCC=0;\n"
+	"		numActualConcaveConvexTests++;\n"
+	"        \n"
+	"		//a triangle has 3 unique edges\n"
+	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
+	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
+	"		float4 uniqueEdgesA[3];\n"
+	"		\n"
+	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
+	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
+	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
+	"        \n"
+	"        \n"
+	"		convexPolyhedronA.m_faceOffset = 0;\n"
+	"        \n"
+	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
+	"        \n"
+	"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
+	"		int indicesA[3+3+2+2+2];\n"
+	"		int curUsedIndices=0;\n"
+	"		int fidx=0;\n"
+	"        \n"
+	"		//front size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[0] = 0;\n"
+	"			indicesA[1] = 1;\n"
+	"			indicesA[2] = 2;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = normal.x;\n"
+	"			facesA[fidx].m_plane.y = normal.y;\n"
+	"			facesA[fidx].m_plane.z = normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"		//back size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[3]=2;\n"
+	"			indicesA[4]=1;\n"
+	"			indicesA[5]=0;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = dot(normal,verticesA[0]);\n"
+	"			float c1 = -face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = -normal.x;\n"
+	"			facesA[fidx].m_plane.y = -normal.y;\n"
+	"			facesA[fidx].m_plane.z = -normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"        \n"
+	"		bool addEdgePlanes = true;\n"
+	"		if (addEdgePlanes)\n"
+	"		{\n"
+	"			int numVertices=3;\n"
+	"			int prevVertex = numVertices-1;\n"
+	"			for (int i=0;i<numVertices;i++)\n"
+	"			{\n"
+	"				float4 v0 = verticesA[i];\n"
+	"				float4 v1 = verticesA[prevVertex];\n"
+	"                \n"
+	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
+	"				float c = -dot(edgeNormal,v0);\n"
+	"                \n"
+	"				facesA[fidx].m_numIndices = 2;\n"
+	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"				indicesA[curUsedIndices++]=i;\n"
+	"				indicesA[curUsedIndices++]=prevVertex;\n"
+	"                \n"
+	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
+	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
+	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
+	"				facesA[fidx].m_plane.w = c;\n"
+	"				fidx++;\n"
+	"				prevVertex = i;\n"
+	"			}\n"
+	"		}\n"
+	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
+	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
+	"        \n"
+	"        \n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		posA.w = 0.f;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"		posB.w = 0.f;\n"
+	"        \n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"        \n"
+	"		\n"
+	"        \n"
+	"        \n"
+	"		///////////////////\n"
+	"		///compound shape support\n"
+	"        \n"
+	"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"		{\n"
+	"			int compoundChild = concavePairs[pairIdx].w;\n"
+	"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
+	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"			posB = newPosB;\n"
+	"			ornB = newOrnB;\n"
+	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+	"		}\n"
+	"		//////////////////\n"
+	"        \n"
+	"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
+	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"		const float4 DeltaC2 = c0 - c1;\n"
+	"        \n"
+	"        \n"
+	"		{\n"
+	"			bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+	"                                                              posA,ornA,\n"
+	"                                                              posB,ornB,\n"
+	"                                                              DeltaC2,\n"
+	"                                                              verticesA,uniqueEdgesA,facesA,indicesA,\n"
+	"                                                              vertices,uniqueEdges,faces,indices,\n"
+	"                                                              &sepAxis,&dmin);\n"
+	"                \n"
+	"			if (!sepEE)\n"
+	"			{\n"
+	"				hasSeparatingAxis = 0;\n"
+	"			} else\n"
+	"			{\n"
+	"				hasSeparatingAxis = 1;\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		\n"
+	"		if (hasSeparatingAxis)\n"
+	"		{\n"
+	"			sepAxis.w = dmin;\n"
+	"            dmins[i] = dmin;\n"
+	"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
+	"			concaveHasSeparatingNormals[i]=1;\n"
+	"           \n"
+	" 	float minDist = -1e30f;\n"
+	"			float maxDist = 0.02f;\n"
+	"            \n"
+	"            findClippingFaces(sepAxis,\n"
+	"                              &convexPolyhedronA,\n"
+	"                              &convexShapes[shapeIndexB],\n"
+	"                              posA,ornA,\n"
+	"                              posB,ornB,\n"
+	"                              worldVertsA1GPU,\n"
+	"                              worldNormalsAGPU,\n"
+	"                              worldVertsB1GPU,\n"
+	"                              vertexFaceCapacity,\n"
+	"                              minDist, maxDist,\n"
+	"                              verticesA,\n"
+	"                              facesA,\n"
+	"                              indicesA,\n"
+	"                              vertices,\n"
+	"                              faces,\n"
+	"                              indices,\n"
+	"                              clippingFacesOut, pairIdx);\n"
+	"	           \n"
+	"            \n"
+	"		} else\n"
+	"		{	\n"
+	"			//mark this pair as in-active\n"
+	"			concavePairs[pairIdx].w = -1;\n"
+	"		}\n"
+	"	}\n"
+	"	else\n"
+	"	{	\n"
+	"		//mark this pair as in-active\n"
+	"		concavePairs[pairIdx].w = -1;\n"
+	"	}\n"
+	"	\n"
+	"	concavePairs[i].z = -1;//for the next stage, z is used to determine existing contact points\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
index 6f8b0a90db..e627af2799 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
@@ -1,2104 +1,2103 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* satKernelsCL= \
-"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
-"//written by Erwin Coumans\n"
-"#define SHAPE_CONVEX_HULL 3\n"
-"#define SHAPE_CONCAVE_TRIMESH 5\n"
-"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
-"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-"#define B3_MAX_STACK_DEPTH 256\n"
-"typedef unsigned int u32;\n"
-"///keep this in sync with btCollidable.h\n"
-"typedef struct\n"
-"{\n"
-"	union {\n"
-"		int m_numChildShapes;\n"
-"		int m_bvhIndex;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float m_radius;\n"
-"		int	m_compoundBvhIndex;\n"
-"	};\n"
-"	\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"	\n"
-"} btCollidableGpu;\n"
-"#define MAX_NUM_PARTS_IN_BITS 10\n"
-"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
-"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
-"typedef struct\n"
-"{\n"
-"	//12 bytes\n"
-"	unsigned short int	m_quantizedAabbMin[3];\n"
-"	unsigned short int	m_quantizedAabbMax[3];\n"
-"	//4 bytes\n"
-"	int	m_escapeIndexOrTriangleIndex;\n"
-"} b3QuantizedBvhNode;\n"
-"typedef struct\n"
-"{\n"
-"	float4		m_aabbMin;\n"
-"	float4		m_aabbMax;\n"
-"	float4		m_quantization;\n"
-"	int			m_numNodes;\n"
-"	int			m_numSubTrees;\n"
-"	int			m_nodeOffset;\n"
-"	int			m_subTreeOffset;\n"
-"} b3BvhInfo;\n"
-"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	unsigned int x=0;\n"
-"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-"	// Get only the lower bits where the triangle index is stored\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-"}\n"
-"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	unsigned int x=0;\n"
-"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
-"	// Get only the lower bits where the triangle index is stored\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
-"}\n"
-"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-"}\n"
-"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
-"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
-"}\n"
-"	\n"
-"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-"}\n"
-"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
-"{\n"
-"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
-"}\n"
-"typedef struct\n"
-"{\n"
-"	//12 bytes\n"
-"	unsigned short int	m_quantizedAabbMin[3];\n"
-"	unsigned short int	m_quantizedAabbMax[3];\n"
-"	//4 bytes, points to the root of the subtree\n"
-"	int			m_rootNodeIndex;\n"
-"	//4 bytes\n"
-"	int			m_subtreeSize;\n"
-"	int			m_padding[3];\n"
-"} b3BvhSubtreeInfo;\n"
-"typedef struct\n"
-"{\n"
-"	float4	m_childPosition;\n"
-"	float4	m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"} btGpuChildShape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	float4 m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_collidableIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} BodyData;\n"
-"typedef struct  \n"
-"{\n"
-"	float4		m_localCenter;\n"
-"	float4		m_extents;\n"
-"	float4		mC;\n"
-"	float4		mE;\n"
-"	\n"
-"	float			m_radius;\n"
-"	int	m_faceOffset;\n"
-"	int m_numFaces;\n"
-"	int	m_numVertices;\n"
-"	int m_vertexOffset;\n"
-"	int	m_uniqueEdgesOffset;\n"
-"	int	m_numUniqueEdges;\n"
-"	int m_unused;\n"
-"} ConvexPolyhedronCL;\n"
-"typedef struct \n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float4	m_min;\n"
-"		float   m_minElems[4];\n"
-"		int			m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float4	m_max;\n"
-"		float   m_maxElems[4];\n"
-"		int			m_maxIndices[4];\n"
-"	};\n"
-"} btAabbCL;\n"
-"#ifndef B3_AABB_H\n"
-"#define B3_AABB_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3Aabb b3Aabb_t;\n"
-"struct b3Aabb\n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float m_min[4];\n"
-"		b3Float4 m_minVec;\n"
-"		int m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float	m_max[4];\n"
-"		b3Float4 m_maxVec;\n"
-"		int m_signedMaxIndices[4];\n"
-"	};\n"
-"};\n"
-"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
-"						b3Float4ConstArg pos,\n"
-"						b3QuatConstArg orn,\n"
-"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
-"{\n"
-"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
-"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
-"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
-"		b3Mat3x3 m;\n"
-"		m = b3QuatGetRotationMatrix(orn);\n"
-"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
-"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
-"		\n"
-"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
-"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
-"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
-"										 0.f);\n"
-"		*aabbMinOut = center-extent;\n"
-"		*aabbMaxOut = center+extent;\n"
-"}\n"
-"/// conservative test for overlap between two aabbs\n"
-"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
-"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
-"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
-"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"#endif //B3_AABB_H\n"
-"/*\n"
-"Bullet Continuous Collision Detection and Physics Library\n"
-"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose,\n"
-"including commercial applications, and to alter it and redistribute it freely,\n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"#ifndef B3_INT2_H\n"
-"#define B3_INT2_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#define b3UnsignedInt2 uint2\n"
-"#define b3Int2 int2\n"
-"#define b3MakeInt2 (int2)\n"
-"#endif //__cplusplus\n"
-"#endif\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_plane;\n"
-"	int m_indexOffset;\n"
-"	int m_numIndices;\n"
-"} btGpuFace;\n"
-"#define make_float4 (float4)\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"	\n"
-"//	float4 a1 = make_float4(a.xyz,0.f);\n"
-"//	float4 b1 = make_float4(b.xyz,0.f);\n"
-"//	return cross(a1,b1);\n"
-"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
-"	\n"
-"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
-"	\n"
-"	//return c;\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	v = make_float4(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"__inline\n"
-"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
-"{\n"
-"	return qtRotate( *orientation, *p ) + (*translation);\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"}\n"
-"inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-"const float4* dir, const float4* vertices, float* min, float* max)\n"
-"{\n"
-"	min[0] = FLT_MAX;\n"
-"	max[0] = -FLT_MAX;\n"
-"	int numVerts = hull->m_numVertices;\n"
-"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-"	float offset = dot(pos,*dir);\n"
-"	for(int i=0;i<numVerts;i++)\n"
-"	{\n"
-"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-"		if(dp < min[0])	\n"
-"			min[0] = dp;\n"
-"		if(dp > max[0])	\n"
-"			max[0] = dp;\n"
-"	}\n"
-"	if(min[0]>max[0])\n"
-"	{\n"
-"		float tmp = min[0];\n"
-"		min[0] = max[0];\n"
-"		max[0] = tmp;\n"
-"	}\n"
-"	min[0] += offset;\n"
-"	max[0] += offset;\n"
-"}\n"
-"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
-"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
-"{\n"
-"	min[0] = FLT_MAX;\n"
-"	max[0] = -FLT_MAX;\n"
-"	int numVerts = hull->m_numVertices;\n"
-"	const float4 localDir = qtInvRotate(orn,*dir);\n"
-"	float offset = dot(pos,*dir);\n"
-"	for(int i=0;i<numVerts;i++)\n"
-"	{\n"
-"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
-"		if(dp < min[0])	\n"
-"			min[0] = dp;\n"
-"		if(dp > max[0])	\n"
-"			max[0] = dp;\n"
-"	}\n"
-"	if(min[0]>max[0])\n"
-"	{\n"
-"		float tmp = min[0];\n"
-"		min[0] = max[0];\n"
-"		max[0] = tmp;\n"
-"	}\n"
-"	min[0] += offset;\n"
-"	max[0] += offset;\n"
-"}\n"
-"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA,const float4 ornA,\n"
-"	const float4 posB,const float4 ornB,\n"
-"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
-"{\n"
-"	float Min0,Max0;\n"
-"	float Min1,Max1;\n"
-"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
-"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
-"	if(Max0<Min1 || Max1<Min0)\n"
-"		return false;\n"
-"	float d0 = Max0 - Min1;\n"
-"	float d1 = Max1 - Min0;\n"
-"	*depth = d0<d1 ? d0:d1;\n"
-"	return true;\n"
-"}\n"
-"inline bool IsAlmostZero(const float4 v)\n"
-"{\n"
-"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	\n"
-"	const float4* verticesA, \n"
-"	const float4* uniqueEdgesA, \n"
-"	const btGpuFace* facesA,\n"
-"	const int*  indicesA,\n"
-"	__global const float4* verticesB, \n"
-"	__global const float4* uniqueEdgesB, \n"
-"	__global const btGpuFace* facesB,\n"
-"	__global const int*  indicesB,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	{\n"
-"		int numFacesA = hullA->m_numFaces;\n"
-"		// Test normals from hullA\n"
-"		for(int i=0;i<numFacesA;i++)\n"
-"		{\n"
-"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-"				faceANormalWS*=-1.f;\n"
-"			curPlaneTests++;\n"
-"			float d;\n"
-"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
-"				return false;\n"
-"			if(d<*dmin)\n"
-"			{\n"
-"				*dmin = d;\n"
-"				*sep = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	__global const float4* verticesA, \n"
-"	__global const float4* uniqueEdgesA, \n"
-"	__global const btGpuFace* facesA,\n"
-"	__global const int*  indicesA,\n"
-"	const float4* verticesB,\n"
-"	const float4* uniqueEdgesB, \n"
-"	const btGpuFace* facesB,\n"
-"	const int*  indicesB,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	{\n"
-"		int numFacesA = hullA->m_numFaces;\n"
-"		// Test normals from hullA\n"
-"		for(int i=0;i<numFacesA;i++)\n"
-"		{\n"
-"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
-"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-"				faceANormalWS *= -1.f;\n"
-"			curPlaneTests++;\n"
-"			float d;\n"
-"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
-"				return false;\n"
-"			if(d<*dmin)\n"
-"			{\n"
-"				*dmin = d;\n"
-"				*sep = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	const float4* verticesA, \n"
-"	const float4* uniqueEdgesA, \n"
-"	const btGpuFace* facesA,\n"
-"	const int*  indicesA,\n"
-"	__global const float4* verticesB, \n"
-"	__global const float4* uniqueEdgesB, \n"
-"	__global const btGpuFace* facesB,\n"
-"	__global const int*  indicesB,\n"
-"		float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	int curEdgeEdge = 0;\n"
-"	// Test edges\n"
-"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
-"	{\n"
-"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
-"		float4 edge0World = qtRotate(ornA,edge0);\n"
-"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
-"		{\n"
-"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
-"			float4 edge1World = qtRotate(ornB,edge1);\n"
-"			float4 crossje = cross3(edge0World,edge1World);\n"
-"			curEdgeEdge++;\n"
-"			if(!IsAlmostZero(crossje))\n"
-"			{\n"
-"				crossje = normalize3(crossje);\n"
-"				if (dot3F4(DeltaC2,crossje)<0)\n"
-"					crossje *= -1.f;\n"
-"				float dist;\n"
-"				bool result = true;\n"
-"				{\n"
-"					float Min0,Max0;\n"
-"					float Min1,Max1;\n"
-"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
-"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
-"				\n"
-"					if(Max0<Min1 || Max1<Min0)\n"
-"						result = false;\n"
-"				\n"
-"					float d0 = Max0 - Min1;\n"
-"					float d1 = Max1 - Min0;\n"
-"					dist = d0<d1 ? d0:d1;\n"
-"					result = true;\n"
-"				}\n"
-"				\n"
-"				if(dist<*dmin)\n"
-"				{\n"
-"					*dmin = dist;\n"
-"					*sep = crossje;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"inline bool TestSepAxis(__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA,const float4 ornA,\n"
-"	const float4 posB,const float4 ornB,\n"
-"	float4* sep_axis, __global const float4* vertices,float* depth)\n"
-"{\n"
-"	float Min0,Max0;\n"
-"	float Min1,Max1;\n"
-"	project(hullA,posA,ornA,sep_axis,vertices, &Min0, &Max0);\n"
-"	project(hullB,posB,ornB, sep_axis,vertices, &Min1, &Max1);\n"
-"	if(Max0<Min1 || Max1<Min0)\n"
-"		return false;\n"
-"	float d0 = Max0 - Min1;\n"
-"	float d1 = Max1 - Min0;\n"
-"	*depth = d0<d1 ? d0:d1;\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxis(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	__global const float4* vertices, \n"
-"	__global const float4* uniqueEdges, \n"
-"	__global const btGpuFace* faces,\n"
-"	__global const int*  indices,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	\n"
-"	int curPlaneTests=0;\n"
-"	{\n"
-"		int numFacesA = hullA->m_numFaces;\n"
-"		// Test normals from hullA\n"
-"		for(int i=0;i<numFacesA;i++)\n"
-"		{\n"
-"			const float4 normal = faces[hullA->m_faceOffset+i].m_plane;\n"
-"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
-"	\n"
-"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
-"				faceANormalWS*=-1.f;\n"
-"				\n"
-"			curPlaneTests++;\n"
-"	\n"
-"			float d;\n"
-"			if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, vertices,&d))\n"
-"				return false;\n"
-"	\n"
-"			if(d<*dmin)\n"
-"			{\n"
-"				*dmin = d;\n"
-"				*sep = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"		if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"		{\n"
-"			*sep = -(*sep);\n"
-"		}\n"
-"	\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisUnitSphere(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	__global const float4* vertices,\n"
-"	__global const float4* unitSphereDirections,\n"
-"	int numUnitSphereDirections,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	int curEdgeEdge = 0;\n"
-"	// Test unit sphere directions\n"
-"	for (int i=0;i<numUnitSphereDirections;i++)\n"
-"	{\n"
-"		float4 crossje;\n"
-"		crossje = unitSphereDirections[i];	\n"
-"		if (dot3F4(DeltaC2,crossje)>0)\n"
-"			crossje *= -1.f;\n"
-"		{\n"
-"			float dist;\n"
-"			bool result = true;\n"
-"			float Min0,Max0;\n"
-"			float Min1,Max1;\n"
-"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
-"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
-"		\n"
-"			if(Max0<Min1 || Max1<Min0)\n"
-"				return false;\n"
-"		\n"
-"			float d0 = Max0 - Min1;\n"
-"			float d1 = Max1 - Min0;\n"
-"			dist = d0<d1 ? d0:d1;\n"
-"			result = true;\n"
-"	\n"
-"			if(dist<*dmin)\n"
-"			{\n"
-"				*dmin = dist;\n"
-"				*sep = crossje;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"bool findSeparatingAxisEdgeEdge(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
-"	const float4 posA1,\n"
-"	const float4 ornA,\n"
-"	const float4 posB1,\n"
-"	const float4 ornB,\n"
-"	const float4 DeltaC2,\n"
-"	__global const float4* vertices, \n"
-"	__global const float4* uniqueEdges, \n"
-"	__global const btGpuFace* faces,\n"
-"	__global const int*  indices,\n"
-"	float4* sep,\n"
-"	float* dmin)\n"
-"{\n"
-"	\n"
-"	float4 posA = posA1;\n"
-"	posA.w = 0.f;\n"
-"	float4 posB = posB1;\n"
-"	posB.w = 0.f;\n"
-"	int curPlaneTests=0;\n"
-"	int curEdgeEdge = 0;\n"
-"	// Test edges\n"
-"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
-"	{\n"
-"		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];\n"
-"		float4 edge0World = qtRotate(ornA,edge0);\n"
-"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
-"		{\n"
-"			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];\n"
-"			float4 edge1World = qtRotate(ornB,edge1);\n"
-"			float4 crossje = cross3(edge0World,edge1World);\n"
-"			curEdgeEdge++;\n"
-"			if(!IsAlmostZero(crossje))\n"
-"			{\n"
-"				crossje = normalize3(crossje);\n"
-"				if (dot3F4(DeltaC2,crossje)<0)\n"
-"					crossje*=-1.f;\n"
-"					\n"
-"				float dist;\n"
-"				bool result = true;\n"
-"				{\n"
-"					float Min0,Max0;\n"
-"					float Min1,Max1;\n"
-"					project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
-"					project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
-"				\n"
-"					if(Max0<Min1 || Max1<Min0)\n"
-"						return false;\n"
-"				\n"
-"					float d0 = Max0 - Min1;\n"
-"					float d1 = Max1 - Min0;\n"
-"					dist = d0<d1 ? d0:d1;\n"
-"					result = true;\n"
-"				}\n"
-"				\n"
-"				if(dist<*dmin)\n"
-"				{\n"
-"					*dmin = dist;\n"
-"					*sep = crossje;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
-"	{\n"
-"		*sep = -(*sep);\n"
-"	}\n"
-"	return true;\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   processCompoundPairsKernel( __global const int4* gpuCompoundPairs,\n"
-"																					__global const BodyData* rigidBodies, \n"
-"																					__global const btCollidableGpu* collidables,\n"
-"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const btGpuFace* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global btAabbCL* aabbs,\n"
-"																					__global const btGpuChildShape* gpuChildShapes,\n"
-"																					__global volatile float4* gpuCompoundSepNormalsOut,\n"
-"																					__global volatile int* gpuHasCompoundSepNormalsOut,\n"
-"																					int numCompoundPairs\n"
-"																					)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i<numCompoundPairs)\n"
-"	{\n"
-"		int bodyIndexA = gpuCompoundPairs[i].x;\n"
-"		int bodyIndexB = gpuCompoundPairs[i].y;\n"
-"		int childShapeIndexA = gpuCompoundPairs[i].z;\n"
-"		int childShapeIndexB = gpuCompoundPairs[i].w;\n"
-"		\n"
-"		int collidableIndexA = -1;\n"
-"		int collidableIndexB = -1;\n"
-"		\n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		\n"
-"		float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"							\n"
-"		if (childShapeIndexA >= 0)\n"
-"		{\n"
-"			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-"			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-"			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-"			float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-"			float4 newOrnA = qtMul(ornA,childOrnA);\n"
-"			posA = newPosA;\n"
-"			ornA = newOrnA;\n"
-"		} else\n"
-"		{\n"
-"			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		}\n"
-"		\n"
-"		if (childShapeIndexB>=0)\n"
-"		{\n"
-"			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"			posB = newPosB;\n"
-"			ornB = newOrnB;\n"
-"		} else\n"
-"		{\n"
-"			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
-"		}\n"
-"	\n"
-"		gpuHasCompoundSepNormalsOut[i] = 0;\n"
-"	\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"	\n"
-"		int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
-"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
-"	\n"
-"		if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))\n"
-"		{\n"
-"			return;\n"
-"		}\n"
-"		int hasSeparatingAxis = 5;\n"
-"							\n"
-"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"		float dmin = FLT_MAX;\n"
-"		posA.w = 0.f;\n"
-"		posB.w = 0.f;\n"
-"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"		const float4 DeltaC2 = c0 - c1;\n"
-"		float4 sepNormal = make_float4(1,0,0,0);\n"
-"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
-"		hasSeparatingAxis = 4;\n"
-"		if (!sepA)\n"
-"		{\n"
-"			hasSeparatingAxis = 0;\n"
-"		} else\n"
-"		{\n"
-"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,posA,ornA,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
-"			if (!sepB)\n"
-"			{\n"
-"				hasSeparatingAxis = 0;\n"
-"			} else//(!sepB)\n"
-"			{\n"
-"				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
-"				if (sepEE)\n"
-"				{\n"
-"						gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);\n"
-"						gpuHasCompoundSepNormalsOut[i] = 1;\n"
-"				}//sepEE\n"
-"			}//(!sepB)\n"
-"		}//(!sepA)\n"
-"		\n"
-"		\n"
-"	}\n"
-"		\n"
-"}\n"
-"inline b3Float4 MyUnQuantize(const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
-"{\n"
-"		b3Float4 vecOut;\n"
-"		vecOut = b3MakeFloat4(\n"
-"			(float)(vecIn[0]) / (quantization.x),\n"
-"			(float)(vecIn[1]) / (quantization.y),\n"
-"			(float)(vecIn[2]) / (quantization.z),\n"
-"			0.f);\n"
-"		vecOut += bvhAabbMin;\n"
-"		return vecOut;\n"
-"}\n"
-"inline b3Float4 MyUnQuantizeGlobal(__global const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
-"{\n"
-"		b3Float4 vecOut;\n"
-"		vecOut = b3MakeFloat4(\n"
-"			(float)(vecIn[0]) / (quantization.x),\n"
-"			(float)(vecIn[1]) / (quantization.y),\n"
-"			(float)(vecIn[2]) / (quantization.z),\n"
-"			0.f);\n"
-"		vecOut += bvhAabbMin;\n"
-"		return vecOut;\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   findCompoundPairsKernel( __global const int4* pairs, \n"
-"	__global const BodyData* rigidBodies, \n"
-"	__global const btCollidableGpu* collidables,\n"
-"	__global const ConvexPolyhedronCL* convexShapes, \n"
-"	__global const float4* vertices,\n"
-"	__global const float4* uniqueEdges,\n"
-"	__global const btGpuFace* faces,\n"
-"	__global const int* indices,\n"
-"	__global b3Aabb_t* aabbLocalSpace,\n"
-"	__global const btGpuChildShape* gpuChildShapes,\n"
-"	__global volatile int4* gpuCompoundPairsOut,\n"
-"	__global volatile int* numCompoundPairsOut,\n"
-"	__global const b3BvhSubtreeInfo* subtrees,\n"
-"	__global const b3QuantizedBvhNode* quantizedNodes,\n"
-"	__global const b3BvhInfo* bvhInfos,\n"
-"	int numPairs,\n"
-"	int maxNumCompoundPairsCapacity\n"
-"	)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-"		{\n"
-"			return;\n"
-"		}\n"
-"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-"		{\n"
-"			int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;\n"
-"			int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;\n"
-"			int numSubTreesA = bvhInfos[bvhA].m_numSubTrees;\n"
-"			int subTreesOffsetA = bvhInfos[bvhA].m_subTreeOffset;\n"
-"			int subTreesOffsetB = bvhInfos[bvhB].m_subTreeOffset;\n"
-"			int numSubTreesB = bvhInfos[bvhB].m_numSubTrees;\n"
-"			\n"
-"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"			\n"
-"			for (int p=0;p<numSubTreesA;p++)\n"
-"			{\n"
-"				b3BvhSubtreeInfo subtreeA = subtrees[subTreesOffsetA+p];\n"
-"				//bvhInfos[bvhA].m_quantization\n"
-"				b3Float4 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-"				b3Float4 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-"				b3Float4 aabbAMinOut,aabbAMaxOut;\n"
-"				float margin=0.f;\n"
-"				b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
-"				\n"
-"				for (int q=0;q<numSubTreesB;q++)\n"
-"				{\n"
-"					b3BvhSubtreeInfo subtreeB = subtrees[subTreesOffsetB+q];\n"
-"					b3Float4 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-"					b3Float4 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-"					b3Float4 aabbBMinOut,aabbBMaxOut;\n"
-"					float margin=0.f;\n"
-"					b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
-"					\n"
-"					\n"
-"					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
-"					if (aabbOverlap)\n"
-"					{\n"
-"						\n"
-"						int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfos[bvhA].m_nodeOffset;\n"
-"						int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;\n"
-"						int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfos[bvhB].m_nodeOffset;\n"
-"						int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;\n"
-"						b3Int2 nodeStack[B3_MAX_STACK_DEPTH];\n"
-"						b3Int2 node0;\n"
-"						node0.x = startNodeIndexA;\n"
-"						node0.y = startNodeIndexB;\n"
-"						int maxStackDepth = B3_MAX_STACK_DEPTH;\n"
-"						int depth=0;\n"
-"						nodeStack[depth++]=node0;\n"
-"						do\n"
-"						{\n"
-"							b3Int2 node = nodeStack[--depth];\n"
-"							b3Float4 aMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-"							b3Float4 aMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
-"							b3Float4 bMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-"							b3Float4 bMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
-"							float margin=0.f;\n"
-"							b3Float4 aabbAMinOut,aabbAMaxOut;\n"
-"							b3TransformAabb2(aMinLocal,aMaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
-"							b3Float4 aabbBMinOut,aabbBMaxOut;\n"
-"							b3TransformAabb2(bMinLocal,bMaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
-"							\n"
-"							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
-"							if (nodeOverlap)\n"
-"							{\n"
-"								bool isLeafA = isLeafNodeGlobal(&quantizedNodes[node.x]);\n"
-"								bool isLeafB = isLeafNodeGlobal(&quantizedNodes[node.y]);\n"
-"								bool isInternalA = !isLeafA;\n"
-"								bool isInternalB = !isLeafB;\n"
-"								//fail, even though it might hit two leaf nodes\n"
-"								if (depth+4>maxStackDepth && !(isLeafA && isLeafB))\n"
-"								{\n"
-"									//printf(\"Error: traversal exceeded maxStackDepth\");\n"
-"									continue;\n"
-"								}\n"
-"								if(isInternalA)\n"
-"								{\n"
-"									int nodeAleftChild = node.x+1;\n"
-"									bool isNodeALeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.x+1]);\n"
-"									int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + getEscapeIndexGlobal(&quantizedNodes[node.x+1]);\n"
-"									if(isInternalB)\n"
-"									{					\n"
-"										int nodeBleftChild = node.y+1;\n"
-"										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
-"										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
-"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);\n"
-"										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);\n"
-"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);\n"
-"										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);\n"
-"									}\n"
-"									else\n"
-"									{\n"
-"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);\n"
-"										nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);\n"
-"									}\n"
-"								}\n"
-"								else\n"
-"								{\n"
-"									if(isInternalB)\n"
-"									{\n"
-"										int nodeBleftChild = node.y+1;\n"
-"										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
-"										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
-"										nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);\n"
-"										nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);\n"
-"									}\n"
-"									else\n"
-"									{\n"
-"										int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-"										if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-"										{\n"
-"											int childShapeIndexA = getTriangleIndexGlobal(&quantizedNodes[node.x]);\n"
-"											int childShapeIndexB = getTriangleIndexGlobal(&quantizedNodes[node.y]);\n"
-"											gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
-"										}\n"
-"									}\n"
-"								}\n"
-"							}\n"
-"						} while (depth);\n"
-"					}\n"
-"				}\n"
-"			}\n"
-"			\n"
-"			return;\n"
-"		}\n"
-"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-"		{\n"
-"			if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) \n"
-"			{\n"
-"				int numChildrenA = collidables[collidableIndexA].m_numChildShapes;\n"
-"				for (int c=0;c<numChildrenA;c++)\n"
-"				{\n"
-"					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;\n"
-"					int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
-"					float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"					float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
-"					float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
-"					float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
-"					float4 newOrnA = qtMul(ornA,childOrnA);\n"
-"					int shapeIndexA = collidables[childColIndexA].m_shapeIndex;\n"
-"					b3Aabb_t aabbAlocal = aabbLocalSpace[shapeIndexA];\n"
-"					float margin = 0.f;\n"
-"					\n"
-"					b3Float4 aabbAMinWS;\n"
-"					b3Float4 aabbAMaxWS;\n"
-"					\n"
-"					b3TransformAabb2(aabbAlocal.m_minVec,aabbAlocal.m_maxVec,margin,\n"
-"						newPosA,\n"
-"						newOrnA,\n"
-"						&aabbAMinWS,&aabbAMaxWS);\n"
-"						\n"
-"					\n"
-"					if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"					{\n"
-"						int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
-"						for (int b=0;b<numChildrenB;b++)\n"
-"						{\n"
-"							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
-"							int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"							float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"							float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"							float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"							float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"							float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"							float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"							int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-"							b3Aabb_t aabbBlocal = aabbLocalSpace[shapeIndexB];\n"
-"							\n"
-"							b3Float4 aabbBMinWS;\n"
-"							b3Float4 aabbBMaxWS;\n"
-"							\n"
-"							b3TransformAabb2(aabbBlocal.m_minVec,aabbBlocal.m_maxVec,margin,\n"
-"								newPosB,\n"
-"								newOrnB,\n"
-"								&aabbBMinWS,&aabbBMaxWS);\n"
-"								\n"
-"								\n"
-"							\n"
-"							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinWS,aabbAMaxWS,aabbBMinWS,aabbBMaxWS);\n"
-"							if (aabbOverlap)\n"
-"							{\n"
-"								int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"								float dmin = FLT_MAX;\n"
-"								float4 posA = newPosA;\n"
-"								posA.w = 0.f;\n"
-"								float4 posB = newPosB;\n"
-"								posB.w = 0.f;\n"
-"								float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"								float4 ornA = newOrnA;\n"
-"								float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"								float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"								float4 ornB =newOrnB;\n"
-"								float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"								const float4 DeltaC2 = c0 - c1;\n"
-"								{//\n"
-"									int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-"									if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-"									{\n"
-"										gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
-"									}\n"
-"								}//\n"
-"							}//fi(1)\n"
-"						} //for (int b=0\n"
-"					}//if (collidables[collidableIndexB].\n"
-"					else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"					{\n"
-"						if (1)\n"
-"						{\n"
-"							int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"							float dmin = FLT_MAX;\n"
-"							float4 posA = newPosA;\n"
-"							posA.w = 0.f;\n"
-"							float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"							posB.w = 0.f;\n"
-"							float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"							float4 ornA = newOrnA;\n"
-"							float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"							float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"							float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"							float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"							const float4 DeltaC2 = c0 - c1;\n"
-"							{\n"
-"								int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-"								if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-"								{\n"
-"									gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,-1);\n"
-"								}//if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-"							}//\n"
-"						}//fi (1)\n"
-"					}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"				}//for (int b=0;b<numChildrenB;b++)	\n"
-"				return;\n"
-"			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"			if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH) \n"
-"				&& (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-"			{\n"
-"				int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
-"				for (int b=0;b<numChildrenB;b++)\n"
-"				{\n"
-"					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
-"					int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"					float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
-"					float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"					float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"					float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"					float4 newPosB = qtRotate(ornB,childPosB)+posB;\n"
-"					float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"					int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-"					//////////////////////////////////////\n"
-"					if (1)\n"
-"					{\n"
-"						int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"						float dmin = FLT_MAX;\n"
-"						float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"						posA.w = 0.f;\n"
-"						float4 posB = newPosB;\n"
-"						posB.w = 0.f;\n"
-"						float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"						float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"						float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"						float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"						float4 ornB =newOrnB;\n"
-"						float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"						const float4 DeltaC2 = c0 - c1;\n"
-"						{//\n"
-"							int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
-"							if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-"							{\n"
-"								gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,-1,childShapeIndexB);\n"
-"							}//fi (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
-"						}//\n"
-"					}//fi (1)	\n"
-"				}//for (int b=0;b<numChildrenB;b++)\n"
-"				return;\n"
-"			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"			return;\n"
-"		}//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
-"	}//i<numPairs\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   findSeparatingAxisKernel( __global const int4* pairs, \n"
-"																					__global const BodyData* rigidBodies, \n"
-"																					__global const btCollidableGpu* collidables,\n"
-"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const btGpuFace* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global btAabbCL* aabbs,\n"
-"																					__global volatile float4* separatingNormals,\n"
-"																					__global volatile int* hasSeparatingAxis,\n"
-"																					int numPairs\n"
-"																					)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"	\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"		\n"
-"		\n"
-"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-"		{\n"
-"			hasSeparatingAxis[i] = 0;\n"
-"			return;\n"
-"		}\n"
-"		\n"
-"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
-"		{\n"
-"			hasSeparatingAxis[i] = 0;\n"
-"			return;\n"
-"		}\n"
-"			\n"
-"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))\n"
-"		{\n"
-"			hasSeparatingAxis[i] = 0;\n"
-"			return;\n"
-"		}\n"
-"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"		float dmin = FLT_MAX;\n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		posA.w = 0.f;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"		posB.w = 0.f;\n"
-"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"		const float4 DeltaC2 = c0 - c1;\n"
-"		float4 sepNormal;\n"
-"		\n"
-"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																								posB,ornB,\n"
-"																								DeltaC2,\n"
-"																								vertices,uniqueEdges,faces,\n"
-"																								indices,&sepNormal,&dmin);\n"
-"		hasSeparatingAxis[i] = 4;\n"
-"		if (!sepA)\n"
-"		{\n"
-"			hasSeparatingAxis[i] = 0;\n"
-"		} else\n"
-"		{\n"
-"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
-"																									posA,ornA,\n"
-"																									DeltaC2,\n"
-"																									vertices,uniqueEdges,faces,\n"
-"																									indices,&sepNormal,&dmin);\n"
-"			if (!sepB)\n"
-"			{\n"
-"				hasSeparatingAxis[i] = 0;\n"
-"			} else\n"
-"			{\n"
-"				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																									posB,ornB,\n"
-"																									DeltaC2,\n"
-"																									vertices,uniqueEdges,faces,\n"
-"																									indices,&sepNormal,&dmin);\n"
-"				if (!sepEE)\n"
-"				{\n"
-"					hasSeparatingAxis[i] = 0;\n"
-"				} else\n"
-"				{\n"
-"					hasSeparatingAxis[i] = 1;\n"
-"					separatingNormals[i] = sepNormal;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"	}\n"
-"}\n"
-"__kernel void   findSeparatingAxisVertexFaceKernel( __global const int4* pairs, \n"
-"																					__global const BodyData* rigidBodies, \n"
-"																					__global const btCollidableGpu* collidables,\n"
-"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const btGpuFace* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global btAabbCL* aabbs,\n"
-"																					__global volatile float4* separatingNormals,\n"
-"																					__global volatile int* hasSeparatingAxis,\n"
-"																					__global  float* dmins,\n"
-"																					int numPairs\n"
-"																					)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"	\n"
-"		int bodyIndexA = pairs[i].x;\n"
-"		int bodyIndexB = pairs[i].y;\n"
-"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	\n"
-"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"	\n"
-"		hasSeparatingAxis[i] = 0;	\n"
-"		\n"
-"		//once the broadphase avoids static-static pairs, we can remove this test\n"
-"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
-"		{\n"
-"			return;\n"
-"		}\n"
-"		\n"
-"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
-"		{\n"
-"			return;\n"
-"		}\n"
-"			\n"
-"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"		float dmin = FLT_MAX;\n"
-"		dmins[i] = dmin;\n"
-"		\n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		posA.w = 0.f;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"		posB.w = 0.f;\n"
-"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"		const float4 DeltaC2 = c0 - c1;\n"
-"		float4 sepNormal;\n"
-"		\n"
-"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																								posB,ornB,\n"
-"																								DeltaC2,\n"
-"																								vertices,uniqueEdges,faces,\n"
-"																								indices,&sepNormal,&dmin);\n"
-"		hasSeparatingAxis[i] = 4;\n"
-"		if (!sepA)\n"
-"		{\n"
-"			hasSeparatingAxis[i] = 0;\n"
-"		} else\n"
-"		{\n"
-"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
-"																									posA,ornA,\n"
-"																									DeltaC2,\n"
-"																									vertices,uniqueEdges,faces,\n"
-"																									indices,&sepNormal,&dmin);\n"
-"			if (sepB)\n"
-"			{\n"
-"				dmins[i] = dmin;\n"
-"				hasSeparatingAxis[i] = 1;\n"
-"				separatingNormals[i] = sepNormal;\n"
-"			}\n"
-"		}\n"
-"		\n"
-"	}\n"
-"}\n"
-"__kernel void   findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs, \n"
-"																					__global const BodyData* rigidBodies, \n"
-"																					__global const btCollidableGpu* collidables,\n"
-"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const btGpuFace* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global btAabbCL* aabbs,\n"
-"																					__global  float4* separatingNormals,\n"
-"																					__global  int* hasSeparatingAxis,\n"
-"																					__global  float* dmins,\n"
-"																					__global const float4* unitSphereDirections,\n"
-"																					int numUnitSphereDirections,\n"
-"																					int numPairs\n"
-"																					)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	\n"
-"	if (i<numPairs)\n"
-"	{\n"
-"		if (hasSeparatingAxis[i])\n"
-"		{\n"
-"	\n"
-"			int bodyIndexA = pairs[i].x;\n"
-"			int bodyIndexB = pairs[i].y;\n"
-"	\n"
-"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"		\n"
-"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"			\n"
-"			\n"
-"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"	\n"
-"			float dmin = dmins[i];\n"
-"	\n"
-"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"			posA.w = 0.f;\n"
-"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"			posB.w = 0.f;\n"
-"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
-"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"			const float4 DeltaC2 = c0 - c1;\n"
-"			float4 sepNormal = separatingNormals[i];\n"
-"			\n"
-"			\n"
-"			\n"
-"			bool sepEE = false;\n"
-"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
-"			if (numEdgeEdgeDirections<=numUnitSphereDirections)\n"
-"			{\n"
-"				sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																									posB,ornB,\n"
-"																									DeltaC2,\n"
-"																									vertices,uniqueEdges,faces,\n"
-"																									indices,&sepNormal,&dmin);\n"
-"																									\n"
-"					if (!sepEE)\n"
-"					{\n"
-"						hasSeparatingAxis[i] = 0;\n"
-"					} else\n"
-"					{\n"
-"						hasSeparatingAxis[i] = 1;\n"
-"						separatingNormals[i] = sepNormal;\n"
-"					}\n"
-"			}\n"
-"			/*\n"
-"			///else case is a separate kernel, to make Mac OSX OpenCL compiler happy\n"
-"			else\n"
-"			{\n"
-"				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
-"																									posB,ornB,\n"
-"																									DeltaC2,\n"
-"																									vertices,unitSphereDirections,numUnitSphereDirections,\n"
-"																									&sepNormal,&dmin);\n"
-"					if (!sepEE)\n"
-"					{\n"
-"						hasSeparatingAxis[i] = 0;\n"
-"					} else\n"
-"					{\n"
-"						hasSeparatingAxis[i] = 1;\n"
-"						separatingNormals[i] = sepNormal;\n"
-"					}\n"
-"			}\n"
-"			*/\n"
-"		}		//if (hasSeparatingAxis[i])\n"
-"	}//(i<numPairs)\n"
-"}\n"
-"inline int	findClippingFaces(const float4 separatingNormal,\n"
-"                      const ConvexPolyhedronCL* hullA, \n"
-"					  __global const ConvexPolyhedronCL* hullB,\n"
-"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
-"                       __global float4* worldVertsA1,\n"
-"                      __global float4* worldNormalsA1,\n"
-"                      __global float4* worldVertsB1,\n"
-"                      int capacityWorldVerts,\n"
-"                      const float minDist, float maxDist,\n"
-"					  const float4* verticesA,\n"
-"                      const btGpuFace* facesA,\n"
-"                      const int* indicesA,\n"
-"					  __global const float4* verticesB,\n"
-"                      __global const btGpuFace* facesB,\n"
-"                      __global const int* indicesB,\n"
-"                      __global int4* clippingFaces, int pairIndex)\n"
-"{\n"
-"	int numContactsOut = 0;\n"
-"	int numWorldVertsB1= 0;\n"
-"    \n"
-"    \n"
-"	int closestFaceB=0;\n"
-"	float dmax = -FLT_MAX;\n"
-"    \n"
-"	{\n"
-"		for(int face=0;face<hullB->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
-"                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
-"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
-"			float d = dot3F4(WorldNormal,separatingNormal);\n"
-"			if (d > dmax)\n"
-"			{\n"
-"				dmax = d;\n"
-"				closestFaceB = face;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"    \n"
-"	{\n"
-"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
-"		int numVertices = polyB.m_numIndices;\n"
-"        if (numVertices>capacityWorldVerts)\n"
-"            numVertices = capacityWorldVerts;\n"
-"        \n"
-"		for(int e0=0;e0<numVertices;e0++)\n"
-"		{\n"
-"            if (e0<capacityWorldVerts)\n"
-"            {\n"
-"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
-"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
-"            }\n"
-"		}\n"
-"	}\n"
-"    \n"
-"    int closestFaceA=0;\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		for(int face=0;face<hullA->m_numFaces;face++)\n"
-"		{\n"
-"			const float4 Normal = make_float4(\n"
-"                                              facesA[hullA->m_faceOffset+face].m_plane.x,\n"
-"                                              facesA[hullA->m_faceOffset+face].m_plane.y,\n"
-"                                              facesA[hullA->m_faceOffset+face].m_plane.z,\n"
-"                                              0.f);\n"
-"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
-"            \n"
-"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
-"			if (d < dmin)\n"
-"			{\n"
-"				dmin = d;\n"
-"				closestFaceA = face;\n"
-"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"    \n"
-"    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
-"    if (numVerticesA>capacityWorldVerts)\n"
-"       numVerticesA = capacityWorldVerts;\n"
-"    \n"
-"	for(int e0=0;e0<numVerticesA;e0++)\n"
-"	{\n"
-"        if (e0<capacityWorldVerts)\n"
-"        {\n"
-"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
-"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
-"        }\n"
-"    }\n"
-"    \n"
-"    clippingFaces[pairIndex].x = closestFaceA;\n"
-"    clippingFaces[pairIndex].y = closestFaceB;\n"
-"    clippingFaces[pairIndex].z = numVerticesA;\n"
-"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
-"    \n"
-"    \n"
-"	return numContactsOut;\n"
-"}\n"
-"// work-in-progress\n"
-"__kernel void   findConcaveSeparatingAxisKernel( __global int4* concavePairs,\n"
-"																					__global const BodyData* rigidBodies,\n"
-"																					__global const btCollidableGpu* collidables,\n"
-"																					__global const ConvexPolyhedronCL* convexShapes, \n"
-"																					__global const float4* vertices,\n"
-"																					__global const float4* uniqueEdges,\n"
-"																					__global const btGpuFace* faces,\n"
-"																					__global const int* indices,\n"
-"																					__global const btGpuChildShape* gpuChildShapes,\n"
-"																					__global btAabbCL* aabbs,\n"
-"																					__global float4* concaveSeparatingNormalsOut,\n"
-"																					__global int* concaveHasSeparatingNormals,\n"
-"																					__global int4* clippingFacesOut,\n"
-"																					__global float4* worldVertsA1GPU,\n"
-"																					__global float4*  worldNormalsAGPU,\n"
-"																					__global float4* worldVertsB1GPU,\n"
-"																					int vertexFaceCapacity,\n"
-"																					int numConcavePairs\n"
-"																					)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConcavePairs)\n"
-"		return;\n"
-"	concaveHasSeparatingNormals[i] = 0;\n"
-"	int pairIdx = i;\n"
-"	int bodyIndexA = concavePairs[i].x;\n"
-"	int bodyIndexB = concavePairs[i].y;\n"
-"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
-"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
-"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
-"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
-"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
-"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"	{\n"
-"		concavePairs[pairIdx].w = -1;\n"
-"		return;\n"
-"	}\n"
-"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
-"	int numActualConcaveConvexTests = 0;\n"
-"	\n"
-"	int f = concavePairs[i].z;\n"
-"	\n"
-"	bool overlap = false;\n"
-"	\n"
-"	ConvexPolyhedronCL convexPolyhedronA;\n"
-"	//add 3 vertices of the triangle\n"
-"	convexPolyhedronA.m_numVertices = 3;\n"
-"	convexPolyhedronA.m_vertexOffset = 0;\n"
-"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
-"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
-"	float4 triMinAabb, triMaxAabb;\n"
-"	btAabbCL triAabb;\n"
-"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
-"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
-"	\n"
-"	float4 verticesA[3];\n"
-"	for (int i=0;i<3;i++)\n"
-"	{\n"
-"		int index = indices[face.m_indexOffset+i];\n"
-"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
-"		verticesA[i] = vert;\n"
-"		localCenter += vert;\n"
-"			\n"
-"		triAabb.m_min = min(triAabb.m_min,vert);		\n"
-"		triAabb.m_max = max(triAabb.m_max,vert);		\n"
-"	}\n"
-"	overlap = true;\n"
-"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
-"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
-"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
-"		\n"
-"	if (overlap)\n"
-"	{\n"
-"		float dmin = FLT_MAX;\n"
-"		int hasSeparatingAxis=5;\n"
-"		float4 sepAxis=make_float4(1,2,3,4);\n"
-"		int localCC=0;\n"
-"		numActualConcaveConvexTests++;\n"
-"		//a triangle has 3 unique edges\n"
-"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
-"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
-"		float4 uniqueEdgesA[3];\n"
-"		\n"
-"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
-"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
-"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
-"		convexPolyhedronA.m_faceOffset = 0;\n"
-"                                  \n"
-"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
-"                             \n"
-"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
-"		int indicesA[3+3+2+2+2];\n"
-"		int curUsedIndices=0;\n"
-"		int fidx=0;\n"
-"		//front size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[0] = 0;\n"
-"			indicesA[1] = 1;\n"
-"			indicesA[2] = 2;\n"
-"			curUsedIndices+=3;\n"
-"			float c = face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = normal.x;\n"
-"			facesA[fidx].m_plane.y = normal.y;\n"
-"			facesA[fidx].m_plane.z = normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"		//back size of triangle\n"
-"		{\n"
-"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"			indicesA[3]=2;\n"
-"			indicesA[4]=1;\n"
-"			indicesA[5]=0;\n"
-"			curUsedIndices+=3;\n"
-"			float c = dot(normal,verticesA[0]);\n"
-"			float c1 = -face.m_plane.w;\n"
-"			facesA[fidx].m_plane.x = -normal.x;\n"
-"			facesA[fidx].m_plane.y = -normal.y;\n"
-"			facesA[fidx].m_plane.z = -normal.z;\n"
-"			facesA[fidx].m_plane.w = c;\n"
-"			facesA[fidx].m_numIndices=3;\n"
-"		}\n"
-"		fidx++;\n"
-"		bool addEdgePlanes = true;\n"
-"		if (addEdgePlanes)\n"
-"		{\n"
-"			int numVertices=3;\n"
-"			int prevVertex = numVertices-1;\n"
-"			for (int i=0;i<numVertices;i++)\n"
-"			{\n"
-"				float4 v0 = verticesA[i];\n"
-"				float4 v1 = verticesA[prevVertex];\n"
-"                                            \n"
-"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
-"				float c = -dot(edgeNormal,v0);\n"
-"				facesA[fidx].m_numIndices = 2;\n"
-"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
-"				indicesA[curUsedIndices++]=i;\n"
-"				indicesA[curUsedIndices++]=prevVertex;\n"
-"                                            \n"
-"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
-"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
-"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
-"				facesA[fidx].m_plane.w = c;\n"
-"				fidx++;\n"
-"				prevVertex = i;\n"
-"			}\n"
-"		}\n"
-"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
-"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
-"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
-"		posA.w = 0.f;\n"
-"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
-"		posB.w = 0.f;\n"
-"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
-"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
-"		\n"
-"		///////////////////\n"
-"		///compound shape support\n"
-"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
-"		{\n"
-"			int compoundChild = concavePairs[pairIdx].w;\n"
-"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
-"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
-"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
-"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
-"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
-"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
-"			posB = newPosB;\n"
-"			ornB = newOrnB;\n"
-"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
-"		}\n"
-"		//////////////////\n"
-"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
-"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
-"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
-"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
-"		const float4 DeltaC2 = c0 - c1;\n"
-"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-"												posA,ornA,\n"
-"												posB,ornB,\n"
-"												DeltaC2,\n"
-"												verticesA,uniqueEdgesA,facesA,indicesA,\n"
-"												vertices,uniqueEdges,faces,indices,\n"
-"												&sepAxis,&dmin);\n"
-"		hasSeparatingAxis = 4;\n"
-"		if (!sepA)\n"
-"		{\n"
-"			hasSeparatingAxis = 0;\n"
-"		} else\n"
-"		{\n"
-"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
-"												posB,ornB,\n"
-"												posA,ornA,\n"
-"												DeltaC2,\n"
-"												vertices,uniqueEdges,faces,indices,\n"
-"												verticesA,uniqueEdgesA,facesA,indicesA,\n"
-"												&sepAxis,&dmin);\n"
-"			if (!sepB)\n"
-"			{\n"
-"				hasSeparatingAxis = 0;\n"
-"			} else\n"
-"			{\n"
-"				bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
-"															posA,ornA,\n"
-"															posB,ornB,\n"
-"															DeltaC2,\n"
-"															verticesA,uniqueEdgesA,facesA,indicesA,\n"
-"															vertices,uniqueEdges,faces,indices,\n"
-"															&sepAxis,&dmin);\n"
-"	\n"
-"				if (!sepEE)\n"
-"				{\n"
-"					hasSeparatingAxis = 0;\n"
-"				} else\n"
-"				{\n"
-"					hasSeparatingAxis = 1;\n"
-"				}\n"
-"			}\n"
-"		}	\n"
-"		\n"
-"		if (hasSeparatingAxis)\n"
-"		{\n"
-"			sepAxis.w = dmin;\n"
-"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
-"			concaveHasSeparatingNormals[i]=1;\n"
-"			float minDist = -1e30f;\n"
-"			float maxDist = 0.02f;\n"
-"		\n"
-"			findClippingFaces(sepAxis,\n"
-"                     &convexPolyhedronA,\n"
-"					 &convexShapes[shapeIndexB],\n"
-"					 posA,ornA,\n"
-"					 posB,ornB,\n"
-"                      worldVertsA1GPU,\n"
-"                      worldNormalsAGPU,\n"
-"                      worldVertsB1GPU,\n"
-"					  vertexFaceCapacity,\n"
-"                      minDist, maxDist,\n"
-"                      verticesA,\n"
-"                      facesA,\n"
-"                      indicesA,\n"
-" 					  vertices,\n"
-"                      faces,\n"
-"                      indices,\n"
-"                      clippingFacesOut, pairIdx);\n"
-"		} else\n"
-"		{	\n"
-"			//mark this pair as in-active\n"
-"			concavePairs[pairIdx].w = -1;\n"
-"		}\n"
-"	}\n"
-"	else\n"
-"	{	\n"
-"		//mark this pair as in-active\n"
-"		concavePairs[pairIdx].w = -1;\n"
-"	}\n"
-"	\n"
-"	concavePairs[pairIdx].z = -1;//now z is used for existing/persistent contacts\n"
-"}\n"
-;
+static const char* satKernelsCL =
+	"//keep this enum in sync with the CPU version (in btCollidable.h)\n"
+	"//written by Erwin Coumans\n"
+	"#define SHAPE_CONVEX_HULL 3\n"
+	"#define SHAPE_CONCAVE_TRIMESH 5\n"
+	"#define TRIANGLE_NUM_CONVEX_FACES 5\n"
+	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
+	"#define B3_MAX_STACK_DEPTH 256\n"
+	"typedef unsigned int u32;\n"
+	"///keep this in sync with btCollidable.h\n"
+	"typedef struct\n"
+	"{\n"
+	"	union {\n"
+	"		int m_numChildShapes;\n"
+	"		int m_bvhIndex;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float m_radius;\n"
+	"		int	m_compoundBvhIndex;\n"
+	"	};\n"
+	"	\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"	\n"
+	"} btCollidableGpu;\n"
+	"#define MAX_NUM_PARTS_IN_BITS 10\n"
+	"///b3QuantizedBvhNode is a compressed aabb node, 16 bytes.\n"
+	"///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).\n"
+	"typedef struct\n"
+	"{\n"
+	"	//12 bytes\n"
+	"	unsigned short int	m_quantizedAabbMin[3];\n"
+	"	unsigned short int	m_quantizedAabbMax[3];\n"
+	"	//4 bytes\n"
+	"	int	m_escapeIndexOrTriangleIndex;\n"
+	"} b3QuantizedBvhNode;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4		m_aabbMin;\n"
+	"	float4		m_aabbMax;\n"
+	"	float4		m_quantization;\n"
+	"	int			m_numNodes;\n"
+	"	int			m_numSubTrees;\n"
+	"	int			m_nodeOffset;\n"
+	"	int			m_subTreeOffset;\n"
+	"} b3BvhInfo;\n"
+	"int	getTriangleIndex(const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	unsigned int x=0;\n"
+	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+	"	// Get only the lower bits where the triangle index is stored\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+	"}\n"
+	"int	getTriangleIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	unsigned int x=0;\n"
+	"	unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);\n"
+	"	// Get only the lower bits where the triangle index is stored\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex&~(y));\n"
+	"}\n"
+	"int isLeafNode(const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+	"}\n"
+	"int isLeafNodeGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	//skipindex is negative (internal node), triangleindex >=0 (leafnode)\n"
+	"	return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;\n"
+	"}\n"
+	"	\n"
+	"int getEscapeIndex(const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+	"}\n"
+	"int getEscapeIndexGlobal(__global const b3QuantizedBvhNode* rootNode)\n"
+	"{\n"
+	"	return -rootNode->m_escapeIndexOrTriangleIndex;\n"
+	"}\n"
+	"typedef struct\n"
+	"{\n"
+	"	//12 bytes\n"
+	"	unsigned short int	m_quantizedAabbMin[3];\n"
+	"	unsigned short int	m_quantizedAabbMax[3];\n"
+	"	//4 bytes, points to the root of the subtree\n"
+	"	int			m_rootNodeIndex;\n"
+	"	//4 bytes\n"
+	"	int			m_subtreeSize;\n"
+	"	int			m_padding[3];\n"
+	"} b3BvhSubtreeInfo;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4	m_childPosition;\n"
+	"	float4	m_childOrientation;\n"
+	"	int m_shapeIndex;\n"
+	"	int m_unused0;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"} btGpuChildShape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	float4 m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_collidableIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} BodyData;\n"
+	"typedef struct  \n"
+	"{\n"
+	"	float4		m_localCenter;\n"
+	"	float4		m_extents;\n"
+	"	float4		mC;\n"
+	"	float4		mE;\n"
+	"	\n"
+	"	float			m_radius;\n"
+	"	int	m_faceOffset;\n"
+	"	int m_numFaces;\n"
+	"	int	m_numVertices;\n"
+	"	int m_vertexOffset;\n"
+	"	int	m_uniqueEdgesOffset;\n"
+	"	int	m_numUniqueEdges;\n"
+	"	int m_unused;\n"
+	"} ConvexPolyhedronCL;\n"
+	"typedef struct \n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_min;\n"
+	"		float   m_minElems[4];\n"
+	"		int			m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float4	m_max;\n"
+	"		float   m_maxElems[4];\n"
+	"		int			m_maxIndices[4];\n"
+	"	};\n"
+	"} btAabbCL;\n"
+	"#ifndef B3_AABB_H\n"
+	"#define B3_AABB_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3Aabb b3Aabb_t;\n"
+	"struct b3Aabb\n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float m_min[4];\n"
+	"		b3Float4 m_minVec;\n"
+	"		int m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float	m_max[4];\n"
+	"		b3Float4 m_maxVec;\n"
+	"		int m_signedMaxIndices[4];\n"
+	"	};\n"
+	"};\n"
+	"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
+	"						b3Float4ConstArg pos,\n"
+	"						b3QuatConstArg orn,\n"
+	"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
+	"{\n"
+	"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
+	"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
+	"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
+	"		b3Mat3x3 m;\n"
+	"		m = b3QuatGetRotationMatrix(orn);\n"
+	"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
+	"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
+	"		\n"
+	"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
+	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
+	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
+	"										 0.f);\n"
+	"		*aabbMinOut = center-extent;\n"
+	"		*aabbMaxOut = center+extent;\n"
+	"}\n"
+	"/// conservative test for overlap between two aabbs\n"
+	"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
+	"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
+	"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
+	"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"#endif //B3_AABB_H\n"
+	"/*\n"
+	"Bullet Continuous Collision Detection and Physics Library\n"
+	"Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org\n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose,\n"
+	"including commercial applications, and to alter it and redistribute it freely,\n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"#ifndef B3_INT2_H\n"
+	"#define B3_INT2_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#define b3UnsignedInt2 uint2\n"
+	"#define b3Int2 int2\n"
+	"#define b3MakeInt2 (int2)\n"
+	"#endif //__cplusplus\n"
+	"#endif\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_plane;\n"
+	"	int m_indexOffset;\n"
+	"	int m_numIndices;\n"
+	"} btGpuFace;\n"
+	"#define make_float4 (float4)\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"	\n"
+	"//	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"//	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"//	return cross(a1,b1);\n"
+	"//float4 c = make_float4(a.y*b.z - a.z*b.y,a.z*b.x - a.x*b.z,a.x*b.y - a.y*b.x,0.f);\n"
+	"	\n"
+	"	//	float4 c = make_float4(a.y*b.z - a.z*b.y,1.f,a.x*b.y - a.y*b.x,0.f);\n"
+	"	\n"
+	"	//return c;\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = make_float4(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"__inline\n"
+	"float4 transform(const float4* p, const float4* translation, const Quaternion* orientation)\n"
+	"{\n"
+	"	return qtRotate( *orientation, *p ) + (*translation);\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"}\n"
+	"inline void projectLocal(const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
+	"const float4* dir, const float4* vertices, float* min, float* max)\n"
+	"{\n"
+	"	min[0] = FLT_MAX;\n"
+	"	max[0] = -FLT_MAX;\n"
+	"	int numVerts = hull->m_numVertices;\n"
+	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+	"	float offset = dot(pos,*dir);\n"
+	"	for(int i=0;i<numVerts;i++)\n"
+	"	{\n"
+	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+	"		if(dp < min[0])	\n"
+	"			min[0] = dp;\n"
+	"		if(dp > max[0])	\n"
+	"			max[0] = dp;\n"
+	"	}\n"
+	"	if(min[0]>max[0])\n"
+	"	{\n"
+	"		float tmp = min[0];\n"
+	"		min[0] = max[0];\n"
+	"		max[0] = tmp;\n"
+	"	}\n"
+	"	min[0] += offset;\n"
+	"	max[0] += offset;\n"
+	"}\n"
+	"inline void project(__global const ConvexPolyhedronCL* hull,  const float4 pos, const float4 orn, \n"
+	"const float4* dir, __global const float4* vertices, float* min, float* max)\n"
+	"{\n"
+	"	min[0] = FLT_MAX;\n"
+	"	max[0] = -FLT_MAX;\n"
+	"	int numVerts = hull->m_numVertices;\n"
+	"	const float4 localDir = qtInvRotate(orn,*dir);\n"
+	"	float offset = dot(pos,*dir);\n"
+	"	for(int i=0;i<numVerts;i++)\n"
+	"	{\n"
+	"		float dp = dot(vertices[hull->m_vertexOffset+i],localDir);\n"
+	"		if(dp < min[0])	\n"
+	"			min[0] = dp;\n"
+	"		if(dp > max[0])	\n"
+	"			max[0] = dp;\n"
+	"	}\n"
+	"	if(min[0]>max[0])\n"
+	"	{\n"
+	"		float tmp = min[0];\n"
+	"		min[0] = max[0];\n"
+	"		max[0] = tmp;\n"
+	"	}\n"
+	"	min[0] += offset;\n"
+	"	max[0] += offset;\n"
+	"}\n"
+	"inline bool TestSepAxisLocalA(const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA,const float4 ornA,\n"
+	"	const float4 posB,const float4 ornB,\n"
+	"	float4* sep_axis, const float4* verticesA, __global const float4* verticesB,float* depth)\n"
+	"{\n"
+	"	float Min0,Max0;\n"
+	"	float Min1,Max1;\n"
+	"	projectLocal(hullA,posA,ornA,sep_axis,verticesA, &Min0, &Max0);\n"
+	"	project(hullB,posB,ornB, sep_axis,verticesB, &Min1, &Max1);\n"
+	"	if(Max0<Min1 || Max1<Min0)\n"
+	"		return false;\n"
+	"	float d0 = Max0 - Min1;\n"
+	"	float d1 = Max1 - Min0;\n"
+	"	*depth = d0<d1 ? d0:d1;\n"
+	"	return true;\n"
+	"}\n"
+	"inline bool IsAlmostZero(const float4 v)\n"
+	"{\n"
+	"	if(fabs(v.x)>1e-6f || fabs(v.y)>1e-6f || fabs(v.z)>1e-6f)\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	\n"
+	"	const float4* verticesA, \n"
+	"	const float4* uniqueEdgesA, \n"
+	"	const btGpuFace* facesA,\n"
+	"	const int*  indicesA,\n"
+	"	__global const float4* verticesB, \n"
+	"	__global const float4* uniqueEdgesB, \n"
+	"	__global const btGpuFace* facesB,\n"
+	"	__global const int*  indicesB,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	{\n"
+	"		int numFacesA = hullA->m_numFaces;\n"
+	"		// Test normals from hullA\n"
+	"		for(int i=0;i<numFacesA;i++)\n"
+	"		{\n"
+	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
+	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+	"				faceANormalWS*=-1.f;\n"
+	"			curPlaneTests++;\n"
+	"			float d;\n"
+	"			if(!TestSepAxisLocalA( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, verticesA, verticesB,&d))\n"
+	"				return false;\n"
+	"			if(d<*dmin)\n"
+	"			{\n"
+	"				*dmin = d;\n"
+	"				*sep = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisLocalB(	__global const ConvexPolyhedronCL* hullA,  const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	__global const float4* verticesA, \n"
+	"	__global const float4* uniqueEdgesA, \n"
+	"	__global const btGpuFace* facesA,\n"
+	"	__global const int*  indicesA,\n"
+	"	const float4* verticesB,\n"
+	"	const float4* uniqueEdgesB, \n"
+	"	const btGpuFace* facesB,\n"
+	"	const int*  indicesB,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	{\n"
+	"		int numFacesA = hullA->m_numFaces;\n"
+	"		// Test normals from hullA\n"
+	"		for(int i=0;i<numFacesA;i++)\n"
+	"		{\n"
+	"			const float4 normal = facesA[hullA->m_faceOffset+i].m_plane;\n"
+	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+	"				faceANormalWS *= -1.f;\n"
+	"			curPlaneTests++;\n"
+	"			float d;\n"
+	"			if(!TestSepAxisLocalA( hullB, hullA, posB,ornB,posA,ornA, &faceANormalWS, verticesB,verticesA, &d))\n"
+	"				return false;\n"
+	"			if(d<*dmin)\n"
+	"			{\n"
+	"				*dmin = d;\n"
+	"				*sep = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisEdgeEdgeLocalA(	const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	const float4* verticesA, \n"
+	"	const float4* uniqueEdgesA, \n"
+	"	const btGpuFace* facesA,\n"
+	"	const int*  indicesA,\n"
+	"	__global const float4* verticesB, \n"
+	"	__global const float4* uniqueEdgesB, \n"
+	"	__global const btGpuFace* facesB,\n"
+	"	__global const int*  indicesB,\n"
+	"		float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	int curEdgeEdge = 0;\n"
+	"	// Test edges\n"
+	"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
+	"	{\n"
+	"		const float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset+e0];\n"
+	"		float4 edge0World = qtRotate(ornA,edge0);\n"
+	"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
+	"		{\n"
+	"			const float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset+e1];\n"
+	"			float4 edge1World = qtRotate(ornB,edge1);\n"
+	"			float4 crossje = cross3(edge0World,edge1World);\n"
+	"			curEdgeEdge++;\n"
+	"			if(!IsAlmostZero(crossje))\n"
+	"			{\n"
+	"				crossje = normalize3(crossje);\n"
+	"				if (dot3F4(DeltaC2,crossje)<0)\n"
+	"					crossje *= -1.f;\n"
+	"				float dist;\n"
+	"				bool result = true;\n"
+	"				{\n"
+	"					float Min0,Max0;\n"
+	"					float Min1,Max1;\n"
+	"					projectLocal(hullA,posA,ornA,&crossje,verticesA, &Min0, &Max0);\n"
+	"					project(hullB,posB,ornB,&crossje,verticesB, &Min1, &Max1);\n"
+	"				\n"
+	"					if(Max0<Min1 || Max1<Min0)\n"
+	"						result = false;\n"
+	"				\n"
+	"					float d0 = Max0 - Min1;\n"
+	"					float d1 = Max1 - Min0;\n"
+	"					dist = d0<d1 ? d0:d1;\n"
+	"					result = true;\n"
+	"				}\n"
+	"				\n"
+	"				if(dist<*dmin)\n"
+	"				{\n"
+	"					*dmin = dist;\n"
+	"					*sep = crossje;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"inline bool TestSepAxis(__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA,const float4 ornA,\n"
+	"	const float4 posB,const float4 ornB,\n"
+	"	float4* sep_axis, __global const float4* vertices,float* depth)\n"
+	"{\n"
+	"	float Min0,Max0;\n"
+	"	float Min1,Max1;\n"
+	"	project(hullA,posA,ornA,sep_axis,vertices, &Min0, &Max0);\n"
+	"	project(hullB,posB,ornB, sep_axis,vertices, &Min1, &Max1);\n"
+	"	if(Max0<Min1 || Max1<Min0)\n"
+	"		return false;\n"
+	"	float d0 = Max0 - Min1;\n"
+	"	float d1 = Max1 - Min0;\n"
+	"	*depth = d0<d1 ? d0:d1;\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxis(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	__global const float4* vertices, \n"
+	"	__global const float4* uniqueEdges, \n"
+	"	__global const btGpuFace* faces,\n"
+	"	__global const int*  indices,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	\n"
+	"	int curPlaneTests=0;\n"
+	"	{\n"
+	"		int numFacesA = hullA->m_numFaces;\n"
+	"		// Test normals from hullA\n"
+	"		for(int i=0;i<numFacesA;i++)\n"
+	"		{\n"
+	"			const float4 normal = faces[hullA->m_faceOffset+i].m_plane;\n"
+	"			float4 faceANormalWS = qtRotate(ornA,normal);\n"
+	"	\n"
+	"			if (dot3F4(DeltaC2,faceANormalWS)<0)\n"
+	"				faceANormalWS*=-1.f;\n"
+	"				\n"
+	"			curPlaneTests++;\n"
+	"	\n"
+	"			float d;\n"
+	"			if(!TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,&faceANormalWS, vertices,&d))\n"
+	"				return false;\n"
+	"	\n"
+	"			if(d<*dmin)\n"
+	"			{\n"
+	"				*dmin = d;\n"
+	"				*sep = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"		if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"		{\n"
+	"			*sep = -(*sep);\n"
+	"		}\n"
+	"	\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisUnitSphere(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	__global const float4* vertices,\n"
+	"	__global const float4* unitSphereDirections,\n"
+	"	int numUnitSphereDirections,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	int curEdgeEdge = 0;\n"
+	"	// Test unit sphere directions\n"
+	"	for (int i=0;i<numUnitSphereDirections;i++)\n"
+	"	{\n"
+	"		float4 crossje;\n"
+	"		crossje = unitSphereDirections[i];	\n"
+	"		if (dot3F4(DeltaC2,crossje)>0)\n"
+	"			crossje *= -1.f;\n"
+	"		{\n"
+	"			float dist;\n"
+	"			bool result = true;\n"
+	"			float Min0,Max0;\n"
+	"			float Min1,Max1;\n"
+	"			project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
+	"			project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
+	"		\n"
+	"			if(Max0<Min1 || Max1<Min0)\n"
+	"				return false;\n"
+	"		\n"
+	"			float d0 = Max0 - Min1;\n"
+	"			float d1 = Max1 - Min0;\n"
+	"			dist = d0<d1 ? d0:d1;\n"
+	"			result = true;\n"
+	"	\n"
+	"			if(dist<*dmin)\n"
+	"			{\n"
+	"				*dmin = dist;\n"
+	"				*sep = crossje;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"bool findSeparatingAxisEdgeEdge(	__global const ConvexPolyhedronCL* hullA, __global const ConvexPolyhedronCL* hullB, \n"
+	"	const float4 posA1,\n"
+	"	const float4 ornA,\n"
+	"	const float4 posB1,\n"
+	"	const float4 ornB,\n"
+	"	const float4 DeltaC2,\n"
+	"	__global const float4* vertices, \n"
+	"	__global const float4* uniqueEdges, \n"
+	"	__global const btGpuFace* faces,\n"
+	"	__global const int*  indices,\n"
+	"	float4* sep,\n"
+	"	float* dmin)\n"
+	"{\n"
+	"	\n"
+	"	float4 posA = posA1;\n"
+	"	posA.w = 0.f;\n"
+	"	float4 posB = posB1;\n"
+	"	posB.w = 0.f;\n"
+	"	int curPlaneTests=0;\n"
+	"	int curEdgeEdge = 0;\n"
+	"	// Test edges\n"
+	"	for(int e0=0;e0<hullA->m_numUniqueEdges;e0++)\n"
+	"	{\n"
+	"		const float4 edge0 = uniqueEdges[hullA->m_uniqueEdgesOffset+e0];\n"
+	"		float4 edge0World = qtRotate(ornA,edge0);\n"
+	"		for(int e1=0;e1<hullB->m_numUniqueEdges;e1++)\n"
+	"		{\n"
+	"			const float4 edge1 = uniqueEdges[hullB->m_uniqueEdgesOffset+e1];\n"
+	"			float4 edge1World = qtRotate(ornB,edge1);\n"
+	"			float4 crossje = cross3(edge0World,edge1World);\n"
+	"			curEdgeEdge++;\n"
+	"			if(!IsAlmostZero(crossje))\n"
+	"			{\n"
+	"				crossje = normalize3(crossje);\n"
+	"				if (dot3F4(DeltaC2,crossje)<0)\n"
+	"					crossje*=-1.f;\n"
+	"					\n"
+	"				float dist;\n"
+	"				bool result = true;\n"
+	"				{\n"
+	"					float Min0,Max0;\n"
+	"					float Min1,Max1;\n"
+	"					project(hullA,posA,ornA,&crossje,vertices, &Min0, &Max0);\n"
+	"					project(hullB,posB,ornB,&crossje,vertices, &Min1, &Max1);\n"
+	"				\n"
+	"					if(Max0<Min1 || Max1<Min0)\n"
+	"						return false;\n"
+	"				\n"
+	"					float d0 = Max0 - Min1;\n"
+	"					float d1 = Max1 - Min0;\n"
+	"					dist = d0<d1 ? d0:d1;\n"
+	"					result = true;\n"
+	"				}\n"
+	"				\n"
+	"				if(dist<*dmin)\n"
+	"				{\n"
+	"					*dmin = dist;\n"
+	"					*sep = crossje;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	if((dot3F4(-DeltaC2,*sep))>0.0f)\n"
+	"	{\n"
+	"		*sep = -(*sep);\n"
+	"	}\n"
+	"	return true;\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   processCompoundPairsKernel( __global const int4* gpuCompoundPairs,\n"
+	"																					__global const BodyData* rigidBodies, \n"
+	"																					__global const btCollidableGpu* collidables,\n"
+	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const btGpuFace* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global btAabbCL* aabbs,\n"
+	"																					__global const btGpuChildShape* gpuChildShapes,\n"
+	"																					__global volatile float4* gpuCompoundSepNormalsOut,\n"
+	"																					__global volatile int* gpuHasCompoundSepNormalsOut,\n"
+	"																					int numCompoundPairs\n"
+	"																					)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i<numCompoundPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = gpuCompoundPairs[i].x;\n"
+	"		int bodyIndexB = gpuCompoundPairs[i].y;\n"
+	"		int childShapeIndexA = gpuCompoundPairs[i].z;\n"
+	"		int childShapeIndexB = gpuCompoundPairs[i].w;\n"
+	"		\n"
+	"		int collidableIndexA = -1;\n"
+	"		int collidableIndexB = -1;\n"
+	"		\n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		\n"
+	"		float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"							\n"
+	"		if (childShapeIndexA >= 0)\n"
+	"		{\n"
+	"			collidableIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
+	"			float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
+	"			float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
+	"			float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
+	"			float4 newOrnA = qtMul(ornA,childOrnA);\n"
+	"			posA = newPosA;\n"
+	"			ornA = newOrnA;\n"
+	"		} else\n"
+	"		{\n"
+	"			collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		}\n"
+	"		\n"
+	"		if (childShapeIndexB>=0)\n"
+	"		{\n"
+	"			collidableIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"			posB = newPosB;\n"
+	"			ornB = newOrnB;\n"
+	"		} else\n"
+	"		{\n"
+	"			collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;	\n"
+	"		}\n"
+	"	\n"
+	"		gpuHasCompoundSepNormalsOut[i] = 0;\n"
+	"	\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	\n"
+	"		int shapeTypeA = collidables[collidableIndexA].m_shapeType;\n"
+	"		int shapeTypeB = collidables[collidableIndexB].m_shapeType;\n"
+	"	\n"
+	"		if ((shapeTypeA != SHAPE_CONVEX_HULL) || (shapeTypeB != SHAPE_CONVEX_HULL))\n"
+	"		{\n"
+	"			return;\n"
+	"		}\n"
+	"		int hasSeparatingAxis = 5;\n"
+	"							\n"
+	"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"		float dmin = FLT_MAX;\n"
+	"		posA.w = 0.f;\n"
+	"		posB.w = 0.f;\n"
+	"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"		const float4 DeltaC2 = c0 - c1;\n"
+	"		float4 sepNormal = make_float4(1,0,0,0);\n"
+	"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
+	"		hasSeparatingAxis = 4;\n"
+	"		if (!sepA)\n"
+	"		{\n"
+	"			hasSeparatingAxis = 0;\n"
+	"		} else\n"
+	"		{\n"
+	"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,posA,ornA,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
+	"			if (!sepB)\n"
+	"			{\n"
+	"				hasSeparatingAxis = 0;\n"
+	"			} else//(!sepB)\n"
+	"			{\n"
+	"				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,posB,ornB,DeltaC2,vertices,uniqueEdges,faces,indices,&sepNormal,&dmin);\n"
+	"				if (sepEE)\n"
+	"				{\n"
+	"						gpuCompoundSepNormalsOut[i] = sepNormal;//fastNormalize4(sepNormal);\n"
+	"						gpuHasCompoundSepNormalsOut[i] = 1;\n"
+	"				}//sepEE\n"
+	"			}//(!sepB)\n"
+	"		}//(!sepA)\n"
+	"		\n"
+	"		\n"
+	"	}\n"
+	"		\n"
+	"}\n"
+	"inline b3Float4 MyUnQuantize(const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
+	"{\n"
+	"		b3Float4 vecOut;\n"
+	"		vecOut = b3MakeFloat4(\n"
+	"			(float)(vecIn[0]) / (quantization.x),\n"
+	"			(float)(vecIn[1]) / (quantization.y),\n"
+	"			(float)(vecIn[2]) / (quantization.z),\n"
+	"			0.f);\n"
+	"		vecOut += bvhAabbMin;\n"
+	"		return vecOut;\n"
+	"}\n"
+	"inline b3Float4 MyUnQuantizeGlobal(__global const unsigned short* vecIn, b3Float4 quantization, b3Float4 bvhAabbMin)\n"
+	"{\n"
+	"		b3Float4 vecOut;\n"
+	"		vecOut = b3MakeFloat4(\n"
+	"			(float)(vecIn[0]) / (quantization.x),\n"
+	"			(float)(vecIn[1]) / (quantization.y),\n"
+	"			(float)(vecIn[2]) / (quantization.z),\n"
+	"			0.f);\n"
+	"		vecOut += bvhAabbMin;\n"
+	"		return vecOut;\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   findCompoundPairsKernel( __global const int4* pairs, \n"
+	"	__global const BodyData* rigidBodies, \n"
+	"	__global const btCollidableGpu* collidables,\n"
+	"	__global const ConvexPolyhedronCL* convexShapes, \n"
+	"	__global const float4* vertices,\n"
+	"	__global const float4* uniqueEdges,\n"
+	"	__global const btGpuFace* faces,\n"
+	"	__global const int* indices,\n"
+	"	__global b3Aabb_t* aabbLocalSpace,\n"
+	"	__global const btGpuChildShape* gpuChildShapes,\n"
+	"	__global volatile int4* gpuCompoundPairsOut,\n"
+	"	__global volatile int* numCompoundPairsOut,\n"
+	"	__global const b3BvhSubtreeInfo* subtrees,\n"
+	"	__global const b3QuantizedBvhNode* quantizedNodes,\n"
+	"	__global const b3BvhInfo* bvhInfos,\n"
+	"	int numPairs,\n"
+	"	int maxNumCompoundPairsCapacity\n"
+	"	)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
+	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
+	"		{\n"
+	"			return;\n"
+	"		}\n"
+	"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) &&(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
+	"		{\n"
+	"			int bvhA = collidables[collidableIndexA].m_compoundBvhIndex;\n"
+	"			int bvhB = collidables[collidableIndexB].m_compoundBvhIndex;\n"
+	"			int numSubTreesA = bvhInfos[bvhA].m_numSubTrees;\n"
+	"			int subTreesOffsetA = bvhInfos[bvhA].m_subTreeOffset;\n"
+	"			int subTreesOffsetB = bvhInfos[bvhB].m_subTreeOffset;\n"
+	"			int numSubTreesB = bvhInfos[bvhB].m_numSubTrees;\n"
+	"			\n"
+	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			b3Quat ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"			b3Quat ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"			\n"
+	"			for (int p=0;p<numSubTreesA;p++)\n"
+	"			{\n"
+	"				b3BvhSubtreeInfo subtreeA = subtrees[subTreesOffsetA+p];\n"
+	"				//bvhInfos[bvhA].m_quantization\n"
+	"				b3Float4 treeAminLocal = MyUnQuantize(subtreeA.m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
+	"				b3Float4 treeAmaxLocal = MyUnQuantize(subtreeA.m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
+	"				b3Float4 aabbAMinOut,aabbAMaxOut;\n"
+	"				float margin=0.f;\n"
+	"				b3TransformAabb2(treeAminLocal,treeAmaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
+	"				\n"
+	"				for (int q=0;q<numSubTreesB;q++)\n"
+	"				{\n"
+	"					b3BvhSubtreeInfo subtreeB = subtrees[subTreesOffsetB+q];\n"
+	"					b3Float4 treeBminLocal = MyUnQuantize(subtreeB.m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
+	"					b3Float4 treeBmaxLocal = MyUnQuantize(subtreeB.m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
+	"					b3Float4 aabbBMinOut,aabbBMaxOut;\n"
+	"					float margin=0.f;\n"
+	"					b3TransformAabb2(treeBminLocal,treeBmaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
+	"					\n"
+	"					\n"
+	"					bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
+	"					if (aabbOverlap)\n"
+	"					{\n"
+	"						\n"
+	"						int startNodeIndexA = subtreeA.m_rootNodeIndex+bvhInfos[bvhA].m_nodeOffset;\n"
+	"						int endNodeIndexA = startNodeIndexA+subtreeA.m_subtreeSize;\n"
+	"						int startNodeIndexB = subtreeB.m_rootNodeIndex+bvhInfos[bvhB].m_nodeOffset;\n"
+	"						int endNodeIndexB = startNodeIndexB+subtreeB.m_subtreeSize;\n"
+	"						b3Int2 nodeStack[B3_MAX_STACK_DEPTH];\n"
+	"						b3Int2 node0;\n"
+	"						node0.x = startNodeIndexA;\n"
+	"						node0.y = startNodeIndexB;\n"
+	"						int maxStackDepth = B3_MAX_STACK_DEPTH;\n"
+	"						int depth=0;\n"
+	"						nodeStack[depth++]=node0;\n"
+	"						do\n"
+	"						{\n"
+	"							b3Int2 node = nodeStack[--depth];\n"
+	"							b3Float4 aMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMin,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
+	"							b3Float4 aMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.x].m_quantizedAabbMax,bvhInfos[bvhA].m_quantization,bvhInfos[bvhA].m_aabbMin);\n"
+	"							b3Float4 bMinLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMin,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
+	"							b3Float4 bMaxLocal = MyUnQuantizeGlobal(quantizedNodes[node.y].m_quantizedAabbMax,bvhInfos[bvhB].m_quantization,bvhInfos[bvhB].m_aabbMin);\n"
+	"							float margin=0.f;\n"
+	"							b3Float4 aabbAMinOut,aabbAMaxOut;\n"
+	"							b3TransformAabb2(aMinLocal,aMaxLocal, margin,posA,ornA,&aabbAMinOut,&aabbAMaxOut);\n"
+	"							b3Float4 aabbBMinOut,aabbBMaxOut;\n"
+	"							b3TransformAabb2(bMinLocal,bMaxLocal, margin,posB,ornB,&aabbBMinOut,&aabbBMaxOut);\n"
+	"							\n"
+	"							bool nodeOverlap = b3TestAabbAgainstAabb(aabbAMinOut,aabbAMaxOut,aabbBMinOut,aabbBMaxOut);\n"
+	"							if (nodeOverlap)\n"
+	"							{\n"
+	"								bool isLeafA = isLeafNodeGlobal(&quantizedNodes[node.x]);\n"
+	"								bool isLeafB = isLeafNodeGlobal(&quantizedNodes[node.y]);\n"
+	"								bool isInternalA = !isLeafA;\n"
+	"								bool isInternalB = !isLeafB;\n"
+	"								//fail, even though it might hit two leaf nodes\n"
+	"								if (depth+4>maxStackDepth && !(isLeafA && isLeafB))\n"
+	"								{\n"
+	"									//printf(\"Error: traversal exceeded maxStackDepth\");\n"
+	"									continue;\n"
+	"								}\n"
+	"								if(isInternalA)\n"
+	"								{\n"
+	"									int nodeAleftChild = node.x+1;\n"
+	"									bool isNodeALeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.x+1]);\n"
+	"									int nodeArightChild = isNodeALeftChildLeaf? node.x+2 : node.x+1 + getEscapeIndexGlobal(&quantizedNodes[node.x+1]);\n"
+	"									if(isInternalB)\n"
+	"									{					\n"
+	"										int nodeBleftChild = node.y+1;\n"
+	"										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
+	"										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
+	"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBleftChild);\n"
+	"										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBleftChild);\n"
+	"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild, nodeBrightChild);\n"
+	"										nodeStack[depth++] = b3MakeInt2(nodeArightChild, nodeBrightChild);\n"
+	"									}\n"
+	"									else\n"
+	"									{\n"
+	"										nodeStack[depth++] = b3MakeInt2(nodeAleftChild,node.y);\n"
+	"										nodeStack[depth++] = b3MakeInt2(nodeArightChild,node.y);\n"
+	"									}\n"
+	"								}\n"
+	"								else\n"
+	"								{\n"
+	"									if(isInternalB)\n"
+	"									{\n"
+	"										int nodeBleftChild = node.y+1;\n"
+	"										bool isNodeBLeftChildLeaf = isLeafNodeGlobal(&quantizedNodes[node.y+1]);\n"
+	"										int nodeBrightChild = isNodeBLeftChildLeaf? node.y+2 : node.y+1 + getEscapeIndexGlobal(&quantizedNodes[node.y+1]);\n"
+	"										nodeStack[depth++] = b3MakeInt2(node.x,nodeBleftChild);\n"
+	"										nodeStack[depth++] = b3MakeInt2(node.x,nodeBrightChild);\n"
+	"									}\n"
+	"									else\n"
+	"									{\n"
+	"										int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
+	"										if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
+	"										{\n"
+	"											int childShapeIndexA = getTriangleIndexGlobal(&quantizedNodes[node.x]);\n"
+	"											int childShapeIndexB = getTriangleIndexGlobal(&quantizedNodes[node.y]);\n"
+	"											gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
+	"										}\n"
+	"									}\n"
+	"								}\n"
+	"							}\n"
+	"						} while (depth);\n"
+	"					}\n"
+	"				}\n"
+	"			}\n"
+	"			\n"
+	"			return;\n"
+	"		}\n"
+	"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
+	"		{\n"
+	"			if (collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) \n"
+	"			{\n"
+	"				int numChildrenA = collidables[collidableIndexA].m_numChildShapes;\n"
+	"				for (int c=0;c<numChildrenA;c++)\n"
+	"				{\n"
+	"					int childShapeIndexA = collidables[collidableIndexA].m_shapeIndex+c;\n"
+	"					int childColIndexA = gpuChildShapes[childShapeIndexA].m_shapeIndex;\n"
+	"					float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"					float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"					float4 childPosA = gpuChildShapes[childShapeIndexA].m_childPosition;\n"
+	"					float4 childOrnA = gpuChildShapes[childShapeIndexA].m_childOrientation;\n"
+	"					float4 newPosA = qtRotate(ornA,childPosA)+posA;\n"
+	"					float4 newOrnA = qtMul(ornA,childOrnA);\n"
+	"					int shapeIndexA = collidables[childColIndexA].m_shapeIndex;\n"
+	"					b3Aabb_t aabbAlocal = aabbLocalSpace[shapeIndexA];\n"
+	"					float margin = 0.f;\n"
+	"					\n"
+	"					b3Float4 aabbAMinWS;\n"
+	"					b3Float4 aabbAMaxWS;\n"
+	"					\n"
+	"					b3TransformAabb2(aabbAlocal.m_minVec,aabbAlocal.m_maxVec,margin,\n"
+	"						newPosA,\n"
+	"						newOrnA,\n"
+	"						&aabbAMinWS,&aabbAMaxWS);\n"
+	"						\n"
+	"					\n"
+	"					if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"					{\n"
+	"						int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
+	"						for (int b=0;b<numChildrenB;b++)\n"
+	"						{\n"
+	"							int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
+	"							int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"							float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"							float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"							float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"							float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"							float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"							float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"							int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+	"							b3Aabb_t aabbBlocal = aabbLocalSpace[shapeIndexB];\n"
+	"							\n"
+	"							b3Float4 aabbBMinWS;\n"
+	"							b3Float4 aabbBMaxWS;\n"
+	"							\n"
+	"							b3TransformAabb2(aabbBlocal.m_minVec,aabbBlocal.m_maxVec,margin,\n"
+	"								newPosB,\n"
+	"								newOrnB,\n"
+	"								&aabbBMinWS,&aabbBMaxWS);\n"
+	"								\n"
+	"								\n"
+	"							\n"
+	"							bool aabbOverlap = b3TestAabbAgainstAabb(aabbAMinWS,aabbAMaxWS,aabbBMinWS,aabbBMaxWS);\n"
+	"							if (aabbOverlap)\n"
+	"							{\n"
+	"								int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"								float dmin = FLT_MAX;\n"
+	"								float4 posA = newPosA;\n"
+	"								posA.w = 0.f;\n"
+	"								float4 posB = newPosB;\n"
+	"								posB.w = 0.f;\n"
+	"								float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"								float4 ornA = newOrnA;\n"
+	"								float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"								float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"								float4 ornB =newOrnB;\n"
+	"								float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"								const float4 DeltaC2 = c0 - c1;\n"
+	"								{//\n"
+	"									int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
+	"									if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
+	"									{\n"
+	"										gpuCompoundPairsOut[compoundPairIdx]  = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,childShapeIndexB);\n"
+	"									}\n"
+	"								}//\n"
+	"							}//fi(1)\n"
+	"						} //for (int b=0\n"
+	"					}//if (collidables[collidableIndexB].\n"
+	"					else//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"					{\n"
+	"						if (1)\n"
+	"						{\n"
+	"							int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"							float dmin = FLT_MAX;\n"
+	"							float4 posA = newPosA;\n"
+	"							posA.w = 0.f;\n"
+	"							float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"							posB.w = 0.f;\n"
+	"							float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"							float4 ornA = newOrnA;\n"
+	"							float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"							float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"							float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"							float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"							const float4 DeltaC2 = c0 - c1;\n"
+	"							{\n"
+	"								int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
+	"								if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
+	"								{\n"
+	"									gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,childShapeIndexA,-1);\n"
+	"								}//if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
+	"							}//\n"
+	"						}//fi (1)\n"
+	"					}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"				}//for (int b=0;b<numChildrenB;b++)	\n"
+	"				return;\n"
+	"			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"			if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONCAVE_TRIMESH) \n"
+	"				&& (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
+	"			{\n"
+	"				int numChildrenB = collidables[collidableIndexB].m_numChildShapes;\n"
+	"				for (int b=0;b<numChildrenB;b++)\n"
+	"				{\n"
+	"					int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+b;\n"
+	"					int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"					float4 ornB = rigidBodies[bodyIndexB].m_quat;\n"
+	"					float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"					float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"					float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"					float4 newPosB = qtRotate(ornB,childPosB)+posB;\n"
+	"					float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"					int shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+	"					//////////////////////////////////////\n"
+	"					if (1)\n"
+	"					{\n"
+	"						int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"						float dmin = FLT_MAX;\n"
+	"						float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"						posA.w = 0.f;\n"
+	"						float4 posB = newPosB;\n"
+	"						posB.w = 0.f;\n"
+	"						float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"						float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"						float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"						float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"						float4 ornB =newOrnB;\n"
+	"						float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"						const float4 DeltaC2 = c0 - c1;\n"
+	"						{//\n"
+	"							int compoundPairIdx = atomic_inc(numCompoundPairsOut);\n"
+	"							if (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
+	"							{\n"
+	"								gpuCompoundPairsOut[compoundPairIdx] = (int4)(bodyIndexA,bodyIndexB,-1,childShapeIndexB);\n"
+	"							}//fi (compoundPairIdx<maxNumCompoundPairsCapacity)\n"
+	"						}//\n"
+	"					}//fi (1)	\n"
+	"				}//for (int b=0;b<numChildrenB;b++)\n"
+	"				return;\n"
+	"			}//if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"			return;\n"
+	"		}//fi ((collidables[collidableIndexA].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS) ||(collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS))\n"
+	"	}//i<numPairs\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   findSeparatingAxisKernel( __global const int4* pairs, \n"
+	"																					__global const BodyData* rigidBodies, \n"
+	"																					__global const btCollidableGpu* collidables,\n"
+	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const btGpuFace* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global btAabbCL* aabbs,\n"
+	"																					__global volatile float4* separatingNormals,\n"
+	"																					__global volatile int* hasSeparatingAxis,\n"
+	"																					int numPairs\n"
+	"																					)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"	\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"		\n"
+	"		\n"
+	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
+	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
+	"		{\n"
+	"			hasSeparatingAxis[i] = 0;\n"
+	"			return;\n"
+	"		}\n"
+	"		\n"
+	"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
+	"		{\n"
+	"			hasSeparatingAxis[i] = 0;\n"
+	"			return;\n"
+	"		}\n"
+	"			\n"
+	"		if ((collidables[collidableIndexA].m_shapeType==SHAPE_CONCAVE_TRIMESH))\n"
+	"		{\n"
+	"			hasSeparatingAxis[i] = 0;\n"
+	"			return;\n"
+	"		}\n"
+	"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"		float dmin = FLT_MAX;\n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		posA.w = 0.f;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"		posB.w = 0.f;\n"
+	"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"		const float4 DeltaC2 = c0 - c1;\n"
+	"		float4 sepNormal;\n"
+	"		\n"
+	"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+	"																								posB,ornB,\n"
+	"																								DeltaC2,\n"
+	"																								vertices,uniqueEdges,faces,\n"
+	"																								indices,&sepNormal,&dmin);\n"
+	"		hasSeparatingAxis[i] = 4;\n"
+	"		if (!sepA)\n"
+	"		{\n"
+	"			hasSeparatingAxis[i] = 0;\n"
+	"		} else\n"
+	"		{\n"
+	"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
+	"																									posA,ornA,\n"
+	"																									DeltaC2,\n"
+	"																									vertices,uniqueEdges,faces,\n"
+	"																									indices,&sepNormal,&dmin);\n"
+	"			if (!sepB)\n"
+	"			{\n"
+	"				hasSeparatingAxis[i] = 0;\n"
+	"			} else\n"
+	"			{\n"
+	"				bool sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+	"																									posB,ornB,\n"
+	"																									DeltaC2,\n"
+	"																									vertices,uniqueEdges,faces,\n"
+	"																									indices,&sepNormal,&dmin);\n"
+	"				if (!sepEE)\n"
+	"				{\n"
+	"					hasSeparatingAxis[i] = 0;\n"
+	"				} else\n"
+	"				{\n"
+	"					hasSeparatingAxis[i] = 1;\n"
+	"					separatingNormals[i] = sepNormal;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"	}\n"
+	"}\n"
+	"__kernel void   findSeparatingAxisVertexFaceKernel( __global const int4* pairs, \n"
+	"																					__global const BodyData* rigidBodies, \n"
+	"																					__global const btCollidableGpu* collidables,\n"
+	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const btGpuFace* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global btAabbCL* aabbs,\n"
+	"																					__global volatile float4* separatingNormals,\n"
+	"																					__global volatile int* hasSeparatingAxis,\n"
+	"																					__global  float* dmins,\n"
+	"																					int numPairs\n"
+	"																					)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"	\n"
+	"		int bodyIndexA = pairs[i].x;\n"
+	"		int bodyIndexB = pairs[i].y;\n"
+	"		int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"		int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	\n"
+	"		int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"		int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	\n"
+	"		hasSeparatingAxis[i] = 0;	\n"
+	"		\n"
+	"		//once the broadphase avoids static-static pairs, we can remove this test\n"
+	"		if ((rigidBodies[bodyIndexA].m_invMass==0) &&(rigidBodies[bodyIndexB].m_invMass==0))\n"
+	"		{\n"
+	"			return;\n"
+	"		}\n"
+	"		\n"
+	"		if ((collidables[collidableIndexA].m_shapeType!=SHAPE_CONVEX_HULL) ||(collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL))\n"
+	"		{\n"
+	"			return;\n"
+	"		}\n"
+	"			\n"
+	"		int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"		float dmin = FLT_MAX;\n"
+	"		dmins[i] = dmin;\n"
+	"		\n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		posA.w = 0.f;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"		posB.w = 0.f;\n"
+	"		float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"		const float4 DeltaC2 = c0 - c1;\n"
+	"		float4 sepNormal;\n"
+	"		\n"
+	"		bool sepA = findSeparatingAxis(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+	"																								posB,ornB,\n"
+	"																								DeltaC2,\n"
+	"																								vertices,uniqueEdges,faces,\n"
+	"																								indices,&sepNormal,&dmin);\n"
+	"		hasSeparatingAxis[i] = 4;\n"
+	"		if (!sepA)\n"
+	"		{\n"
+	"			hasSeparatingAxis[i] = 0;\n"
+	"		} else\n"
+	"		{\n"
+	"			bool sepB = findSeparatingAxis(	&convexShapes[shapeIndexB],&convexShapes[shapeIndexA],posB,ornB,\n"
+	"																									posA,ornA,\n"
+	"																									DeltaC2,\n"
+	"																									vertices,uniqueEdges,faces,\n"
+	"																									indices,&sepNormal,&dmin);\n"
+	"			if (sepB)\n"
+	"			{\n"
+	"				dmins[i] = dmin;\n"
+	"				hasSeparatingAxis[i] = 1;\n"
+	"				separatingNormals[i] = sepNormal;\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"	}\n"
+	"}\n"
+	"__kernel void   findSeparatingAxisEdgeEdgeKernel( __global const int4* pairs, \n"
+	"																					__global const BodyData* rigidBodies, \n"
+	"																					__global const btCollidableGpu* collidables,\n"
+	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const btGpuFace* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global btAabbCL* aabbs,\n"
+	"																					__global  float4* separatingNormals,\n"
+	"																					__global  int* hasSeparatingAxis,\n"
+	"																					__global  float* dmins,\n"
+	"																					__global const float4* unitSphereDirections,\n"
+	"																					int numUnitSphereDirections,\n"
+	"																					int numPairs\n"
+	"																					)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	\n"
+	"	if (i<numPairs)\n"
+	"	{\n"
+	"		if (hasSeparatingAxis[i])\n"
+	"		{\n"
+	"	\n"
+	"			int bodyIndexA = pairs[i].x;\n"
+	"			int bodyIndexB = pairs[i].y;\n"
+	"	\n"
+	"			int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"			int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"		\n"
+	"			int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"			int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"			\n"
+	"			\n"
+	"			int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"	\n"
+	"			float dmin = dmins[i];\n"
+	"	\n"
+	"			float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"			posA.w = 0.f;\n"
+	"			float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"			posB.w = 0.f;\n"
+	"			float4 c0local = convexShapes[shapeIndexA].m_localCenter;\n"
+	"			float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"			float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"			float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"			float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"			float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"			const float4 DeltaC2 = c0 - c1;\n"
+	"			float4 sepNormal = separatingNormals[i];\n"
+	"			\n"
+	"			\n"
+	"			\n"
+	"			bool sepEE = false;\n"
+	"			int numEdgeEdgeDirections = convexShapes[shapeIndexA].m_numUniqueEdges*convexShapes[shapeIndexB].m_numUniqueEdges;\n"
+	"			if (numEdgeEdgeDirections<=numUnitSphereDirections)\n"
+	"			{\n"
+	"				sepEE = findSeparatingAxisEdgeEdge(	&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+	"																									posB,ornB,\n"
+	"																									DeltaC2,\n"
+	"																									vertices,uniqueEdges,faces,\n"
+	"																									indices,&sepNormal,&dmin);\n"
+	"																									\n"
+	"					if (!sepEE)\n"
+	"					{\n"
+	"						hasSeparatingAxis[i] = 0;\n"
+	"					} else\n"
+	"					{\n"
+	"						hasSeparatingAxis[i] = 1;\n"
+	"						separatingNormals[i] = sepNormal;\n"
+	"					}\n"
+	"			}\n"
+	"			/*\n"
+	"			///else case is a separate kernel, to make Mac OSX OpenCL compiler happy\n"
+	"			else\n"
+	"			{\n"
+	"				sepEE = findSeparatingAxisUnitSphere(&convexShapes[shapeIndexA], &convexShapes[shapeIndexB],posA,ornA,\n"
+	"																									posB,ornB,\n"
+	"																									DeltaC2,\n"
+	"																									vertices,unitSphereDirections,numUnitSphereDirections,\n"
+	"																									&sepNormal,&dmin);\n"
+	"					if (!sepEE)\n"
+	"					{\n"
+	"						hasSeparatingAxis[i] = 0;\n"
+	"					} else\n"
+	"					{\n"
+	"						hasSeparatingAxis[i] = 1;\n"
+	"						separatingNormals[i] = sepNormal;\n"
+	"					}\n"
+	"			}\n"
+	"			*/\n"
+	"		}		//if (hasSeparatingAxis[i])\n"
+	"	}//(i<numPairs)\n"
+	"}\n"
+	"inline int	findClippingFaces(const float4 separatingNormal,\n"
+	"                      const ConvexPolyhedronCL* hullA, \n"
+	"					  __global const ConvexPolyhedronCL* hullB,\n"
+	"                      const float4 posA, const Quaternion ornA,const float4 posB, const Quaternion ornB,\n"
+	"                       __global float4* worldVertsA1,\n"
+	"                      __global float4* worldNormalsA1,\n"
+	"                      __global float4* worldVertsB1,\n"
+	"                      int capacityWorldVerts,\n"
+	"                      const float minDist, float maxDist,\n"
+	"					  const float4* verticesA,\n"
+	"                      const btGpuFace* facesA,\n"
+	"                      const int* indicesA,\n"
+	"					  __global const float4* verticesB,\n"
+	"                      __global const btGpuFace* facesB,\n"
+	"                      __global const int* indicesB,\n"
+	"                      __global int4* clippingFaces, int pairIndex)\n"
+	"{\n"
+	"	int numContactsOut = 0;\n"
+	"	int numWorldVertsB1= 0;\n"
+	"    \n"
+	"    \n"
+	"	int closestFaceB=0;\n"
+	"	float dmax = -FLT_MAX;\n"
+	"    \n"
+	"	{\n"
+	"		for(int face=0;face<hullB->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(facesB[hullB->m_faceOffset+face].m_plane.x,\n"
+	"                                              facesB[hullB->m_faceOffset+face].m_plane.y, facesB[hullB->m_faceOffset+face].m_plane.z,0.f);\n"
+	"			const float4 WorldNormal = qtRotate(ornB, Normal);\n"
+	"			float d = dot3F4(WorldNormal,separatingNormal);\n"
+	"			if (d > dmax)\n"
+	"			{\n"
+	"				dmax = d;\n"
+	"				closestFaceB = face;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"	{\n"
+	"		const btGpuFace polyB = facesB[hullB->m_faceOffset+closestFaceB];\n"
+	"		int numVertices = polyB.m_numIndices;\n"
+	"        if (numVertices>capacityWorldVerts)\n"
+	"            numVertices = capacityWorldVerts;\n"
+	"        \n"
+	"		for(int e0=0;e0<numVertices;e0++)\n"
+	"		{\n"
+	"            if (e0<capacityWorldVerts)\n"
+	"            {\n"
+	"                const float4 b = verticesB[hullB->m_vertexOffset+indicesB[polyB.m_indexOffset+e0]];\n"
+	"                worldVertsB1[pairIndex*capacityWorldVerts+numWorldVertsB1++] = transform(&b,&posB,&ornB);\n"
+	"            }\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"    int closestFaceA=0;\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		for(int face=0;face<hullA->m_numFaces;face++)\n"
+	"		{\n"
+	"			const float4 Normal = make_float4(\n"
+	"                                              facesA[hullA->m_faceOffset+face].m_plane.x,\n"
+	"                                              facesA[hullA->m_faceOffset+face].m_plane.y,\n"
+	"                                              facesA[hullA->m_faceOffset+face].m_plane.z,\n"
+	"                                              0.f);\n"
+	"			const float4 faceANormalWS = qtRotate(ornA,Normal);\n"
+	"            \n"
+	"			float d = dot3F4(faceANormalWS,separatingNormal);\n"
+	"			if (d < dmin)\n"
+	"			{\n"
+	"				dmin = d;\n"
+	"				closestFaceA = face;\n"
+	"                worldNormalsA1[pairIndex] = faceANormalWS;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"    \n"
+	"    int numVerticesA = facesA[hullA->m_faceOffset+closestFaceA].m_numIndices;\n"
+	"    if (numVerticesA>capacityWorldVerts)\n"
+	"       numVerticesA = capacityWorldVerts;\n"
+	"    \n"
+	"	for(int e0=0;e0<numVerticesA;e0++)\n"
+	"	{\n"
+	"        if (e0<capacityWorldVerts)\n"
+	"        {\n"
+	"            const float4 a = verticesA[hullA->m_vertexOffset+indicesA[facesA[hullA->m_faceOffset+closestFaceA].m_indexOffset+e0]];\n"
+	"            worldVertsA1[pairIndex*capacityWorldVerts+e0] = transform(&a, &posA,&ornA);\n"
+	"        }\n"
+	"    }\n"
+	"    \n"
+	"    clippingFaces[pairIndex].x = closestFaceA;\n"
+	"    clippingFaces[pairIndex].y = closestFaceB;\n"
+	"    clippingFaces[pairIndex].z = numVerticesA;\n"
+	"    clippingFaces[pairIndex].w = numWorldVertsB1;\n"
+	"    \n"
+	"    \n"
+	"	return numContactsOut;\n"
+	"}\n"
+	"// work-in-progress\n"
+	"__kernel void   findConcaveSeparatingAxisKernel( __global int4* concavePairs,\n"
+	"																					__global const BodyData* rigidBodies,\n"
+	"																					__global const btCollidableGpu* collidables,\n"
+	"																					__global const ConvexPolyhedronCL* convexShapes, \n"
+	"																					__global const float4* vertices,\n"
+	"																					__global const float4* uniqueEdges,\n"
+	"																					__global const btGpuFace* faces,\n"
+	"																					__global const int* indices,\n"
+	"																					__global const btGpuChildShape* gpuChildShapes,\n"
+	"																					__global btAabbCL* aabbs,\n"
+	"																					__global float4* concaveSeparatingNormalsOut,\n"
+	"																					__global int* concaveHasSeparatingNormals,\n"
+	"																					__global int4* clippingFacesOut,\n"
+	"																					__global float4* worldVertsA1GPU,\n"
+	"																					__global float4*  worldNormalsAGPU,\n"
+	"																					__global float4* worldVertsB1GPU,\n"
+	"																					int vertexFaceCapacity,\n"
+	"																					int numConcavePairs\n"
+	"																					)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConcavePairs)\n"
+	"		return;\n"
+	"	concaveHasSeparatingNormals[i] = 0;\n"
+	"	int pairIdx = i;\n"
+	"	int bodyIndexA = concavePairs[i].x;\n"
+	"	int bodyIndexB = concavePairs[i].y;\n"
+	"	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;\n"
+	"	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;\n"
+	"	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;\n"
+	"	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;\n"
+	"	if (collidables[collidableIndexB].m_shapeType!=SHAPE_CONVEX_HULL&&\n"
+	"		collidables[collidableIndexB].m_shapeType!=SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"	{\n"
+	"		concavePairs[pairIdx].w = -1;\n"
+	"		return;\n"
+	"	}\n"
+	"	int numFacesA = convexShapes[shapeIndexA].m_numFaces;\n"
+	"	int numActualConcaveConvexTests = 0;\n"
+	"	\n"
+	"	int f = concavePairs[i].z;\n"
+	"	\n"
+	"	bool overlap = false;\n"
+	"	\n"
+	"	ConvexPolyhedronCL convexPolyhedronA;\n"
+	"	//add 3 vertices of the triangle\n"
+	"	convexPolyhedronA.m_numVertices = 3;\n"
+	"	convexPolyhedronA.m_vertexOffset = 0;\n"
+	"	float4	localCenter = make_float4(0.f,0.f,0.f,0.f);\n"
+	"	btGpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset+f];\n"
+	"	float4 triMinAabb, triMaxAabb;\n"
+	"	btAabbCL triAabb;\n"
+	"	triAabb.m_min = make_float4(1e30f,1e30f,1e30f,0.f);\n"
+	"	triAabb.m_max = make_float4(-1e30f,-1e30f,-1e30f,0.f);\n"
+	"	\n"
+	"	float4 verticesA[3];\n"
+	"	for (int i=0;i<3;i++)\n"
+	"	{\n"
+	"		int index = indices[face.m_indexOffset+i];\n"
+	"		float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset+index];\n"
+	"		verticesA[i] = vert;\n"
+	"		localCenter += vert;\n"
+	"			\n"
+	"		triAabb.m_min = min(triAabb.m_min,vert);		\n"
+	"		triAabb.m_max = max(triAabb.m_max,vert);		\n"
+	"	}\n"
+	"	overlap = true;\n"
+	"	overlap = (triAabb.m_min.x > aabbs[bodyIndexB].m_max.x || triAabb.m_max.x < aabbs[bodyIndexB].m_min.x) ? false : overlap;\n"
+	"	overlap = (triAabb.m_min.z > aabbs[bodyIndexB].m_max.z || triAabb.m_max.z < aabbs[bodyIndexB].m_min.z) ? false : overlap;\n"
+	"	overlap = (triAabb.m_min.y > aabbs[bodyIndexB].m_max.y || triAabb.m_max.y < aabbs[bodyIndexB].m_min.y) ? false : overlap;\n"
+	"		\n"
+	"	if (overlap)\n"
+	"	{\n"
+	"		float dmin = FLT_MAX;\n"
+	"		int hasSeparatingAxis=5;\n"
+	"		float4 sepAxis=make_float4(1,2,3,4);\n"
+	"		int localCC=0;\n"
+	"		numActualConcaveConvexTests++;\n"
+	"		//a triangle has 3 unique edges\n"
+	"		convexPolyhedronA.m_numUniqueEdges = 3;\n"
+	"		convexPolyhedronA.m_uniqueEdgesOffset = 0;\n"
+	"		float4 uniqueEdgesA[3];\n"
+	"		\n"
+	"		uniqueEdgesA[0] = (verticesA[1]-verticesA[0]);\n"
+	"		uniqueEdgesA[1] = (verticesA[2]-verticesA[1]);\n"
+	"		uniqueEdgesA[2] = (verticesA[0]-verticesA[2]);\n"
+	"		convexPolyhedronA.m_faceOffset = 0;\n"
+	"                                  \n"
+	"		float4 normal = make_float4(face.m_plane.x,face.m_plane.y,face.m_plane.z,0.f);\n"
+	"                             \n"
+	"		btGpuFace facesA[TRIANGLE_NUM_CONVEX_FACES];\n"
+	"		int indicesA[3+3+2+2+2];\n"
+	"		int curUsedIndices=0;\n"
+	"		int fidx=0;\n"
+	"		//front size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[0] = 0;\n"
+	"			indicesA[1] = 1;\n"
+	"			indicesA[2] = 2;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = normal.x;\n"
+	"			facesA[fidx].m_plane.y = normal.y;\n"
+	"			facesA[fidx].m_plane.z = normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"		//back size of triangle\n"
+	"		{\n"
+	"			facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"			indicesA[3]=2;\n"
+	"			indicesA[4]=1;\n"
+	"			indicesA[5]=0;\n"
+	"			curUsedIndices+=3;\n"
+	"			float c = dot(normal,verticesA[0]);\n"
+	"			float c1 = -face.m_plane.w;\n"
+	"			facesA[fidx].m_plane.x = -normal.x;\n"
+	"			facesA[fidx].m_plane.y = -normal.y;\n"
+	"			facesA[fidx].m_plane.z = -normal.z;\n"
+	"			facesA[fidx].m_plane.w = c;\n"
+	"			facesA[fidx].m_numIndices=3;\n"
+	"		}\n"
+	"		fidx++;\n"
+	"		bool addEdgePlanes = true;\n"
+	"		if (addEdgePlanes)\n"
+	"		{\n"
+	"			int numVertices=3;\n"
+	"			int prevVertex = numVertices-1;\n"
+	"			for (int i=0;i<numVertices;i++)\n"
+	"			{\n"
+	"				float4 v0 = verticesA[i];\n"
+	"				float4 v1 = verticesA[prevVertex];\n"
+	"                                            \n"
+	"				float4 edgeNormal = normalize(cross(normal,v1-v0));\n"
+	"				float c = -dot(edgeNormal,v0);\n"
+	"				facesA[fidx].m_numIndices = 2;\n"
+	"				facesA[fidx].m_indexOffset=curUsedIndices;\n"
+	"				indicesA[curUsedIndices++]=i;\n"
+	"				indicesA[curUsedIndices++]=prevVertex;\n"
+	"                                            \n"
+	"				facesA[fidx].m_plane.x = edgeNormal.x;\n"
+	"				facesA[fidx].m_plane.y = edgeNormal.y;\n"
+	"				facesA[fidx].m_plane.z = edgeNormal.z;\n"
+	"				facesA[fidx].m_plane.w = c;\n"
+	"				fidx++;\n"
+	"				prevVertex = i;\n"
+	"			}\n"
+	"		}\n"
+	"		convexPolyhedronA.m_numFaces = TRIANGLE_NUM_CONVEX_FACES;\n"
+	"		convexPolyhedronA.m_localCenter = localCenter*(1.f/3.f);\n"
+	"		float4 posA = rigidBodies[bodyIndexA].m_pos;\n"
+	"		posA.w = 0.f;\n"
+	"		float4 posB = rigidBodies[bodyIndexB].m_pos;\n"
+	"		posB.w = 0.f;\n"
+	"		float4 ornA = rigidBodies[bodyIndexA].m_quat;\n"
+	"		float4 ornB =rigidBodies[bodyIndexB].m_quat;\n"
+	"		\n"
+	"		///////////////////\n"
+	"		///compound shape support\n"
+	"		if (collidables[collidableIndexB].m_shapeType==SHAPE_COMPOUND_OF_CONVEX_HULLS)\n"
+	"		{\n"
+	"			int compoundChild = concavePairs[pairIdx].w;\n"
+	"			int childShapeIndexB = compoundChild;//collidables[collidableIndexB].m_shapeIndex+compoundChild;\n"
+	"			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;\n"
+	"			float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;\n"
+	"			float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;\n"
+	"			float4 newPosB = transform(&childPosB,&posB,&ornB);\n"
+	"			float4 newOrnB = qtMul(ornB,childOrnB);\n"
+	"			posB = newPosB;\n"
+	"			ornB = newOrnB;\n"
+	"			shapeIndexB = collidables[childColIndexB].m_shapeIndex;\n"
+	"		}\n"
+	"		//////////////////\n"
+	"		float4 c0local = convexPolyhedronA.m_localCenter;\n"
+	"		float4 c0 = transform(&c0local, &posA, &ornA);\n"
+	"		float4 c1local = convexShapes[shapeIndexB].m_localCenter;\n"
+	"		float4 c1 = transform(&c1local,&posB,&ornB);\n"
+	"		const float4 DeltaC2 = c0 - c1;\n"
+	"		bool sepA = findSeparatingAxisLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+	"												posA,ornA,\n"
+	"												posB,ornB,\n"
+	"												DeltaC2,\n"
+	"												verticesA,uniqueEdgesA,facesA,indicesA,\n"
+	"												vertices,uniqueEdges,faces,indices,\n"
+	"												&sepAxis,&dmin);\n"
+	"		hasSeparatingAxis = 4;\n"
+	"		if (!sepA)\n"
+	"		{\n"
+	"			hasSeparatingAxis = 0;\n"
+	"		} else\n"
+	"		{\n"
+	"			bool sepB = findSeparatingAxisLocalB(	&convexShapes[shapeIndexB],&convexPolyhedronA,\n"
+	"												posB,ornB,\n"
+	"												posA,ornA,\n"
+	"												DeltaC2,\n"
+	"												vertices,uniqueEdges,faces,indices,\n"
+	"												verticesA,uniqueEdgesA,facesA,indicesA,\n"
+	"												&sepAxis,&dmin);\n"
+	"			if (!sepB)\n"
+	"			{\n"
+	"				hasSeparatingAxis = 0;\n"
+	"			} else\n"
+	"			{\n"
+	"				bool sepEE = findSeparatingAxisEdgeEdgeLocalA(	&convexPolyhedronA, &convexShapes[shapeIndexB],\n"
+	"															posA,ornA,\n"
+	"															posB,ornB,\n"
+	"															DeltaC2,\n"
+	"															verticesA,uniqueEdgesA,facesA,indicesA,\n"
+	"															vertices,uniqueEdges,faces,indices,\n"
+	"															&sepAxis,&dmin);\n"
+	"	\n"
+	"				if (!sepEE)\n"
+	"				{\n"
+	"					hasSeparatingAxis = 0;\n"
+	"				} else\n"
+	"				{\n"
+	"					hasSeparatingAxis = 1;\n"
+	"				}\n"
+	"			}\n"
+	"		}	\n"
+	"		\n"
+	"		if (hasSeparatingAxis)\n"
+	"		{\n"
+	"			sepAxis.w = dmin;\n"
+	"			concaveSeparatingNormalsOut[pairIdx]=sepAxis;\n"
+	"			concaveHasSeparatingNormals[i]=1;\n"
+	"			float minDist = -1e30f;\n"
+	"			float maxDist = 0.02f;\n"
+	"		\n"
+	"			findClippingFaces(sepAxis,\n"
+	"                     &convexPolyhedronA,\n"
+	"					 &convexShapes[shapeIndexB],\n"
+	"					 posA,ornA,\n"
+	"					 posB,ornB,\n"
+	"                      worldVertsA1GPU,\n"
+	"                      worldNormalsAGPU,\n"
+	"                      worldVertsB1GPU,\n"
+	"					  vertexFaceCapacity,\n"
+	"                      minDist, maxDist,\n"
+	"                      verticesA,\n"
+	"                      facesA,\n"
+	"                      indicesA,\n"
+	" 					  vertices,\n"
+	"                      faces,\n"
+	"                      indices,\n"
+	"                      clippingFacesOut, pairIdx);\n"
+	"		} else\n"
+	"		{	\n"
+	"			//mark this pair as in-active\n"
+	"			concavePairs[pairIdx].w = -1;\n"
+	"		}\n"
+	"	}\n"
+	"	else\n"
+	"	{	\n"
+	"		//mark this pair as in-active\n"
+	"		concavePairs[pairIdx].w = -1;\n"
+	"	}\n"
+	"	\n"
+	"	concavePairs[pairIdx].z = -1;//now z is used for existing/persistent contacts\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
index a4980f71e1..c0e11bfb26 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.cpp
@@ -19,149 +19,139 @@ subject to the following restrictions:
 #define KERNEL1 "SearchSortDataUpperKernel"
 #define KERNEL2 "SubtractKernel"
 
-
 #include "b3BoundSearchCL.h"
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "b3LauncherCL.h"
 #include "kernels/BoundSearchKernelsCL.h"
 
 b3BoundSearchCL::b3BoundSearchCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int maxSize)
-	:m_context(ctx),
-	m_device(device),
-	m_queue(queue)
+	: m_context(ctx),
+	  m_device(device),
+	  m_queue(queue)
 {
-
 	const char* additionalMacros = "";
 	//const char* srcFileNameForCaching="";
 
 	cl_int pErrNum;
 	const char* kernelSource = boundSearchKernelsCL;
 
-	cl_program boundSearchProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, kernelSource, &pErrNum,additionalMacros, BOUNDSEARCH_PATH);
+	cl_program boundSearchProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, BOUNDSEARCH_PATH);
 	b3Assert(boundSearchProg);
 
-	m_lowerSortDataKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SearchSortDataLowerKernel", &pErrNum, boundSearchProg,additionalMacros );
-	b3Assert(m_lowerSortDataKernel );
+	m_lowerSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataLowerKernel", &pErrNum, boundSearchProg, additionalMacros);
+	b3Assert(m_lowerSortDataKernel);
 
-	m_upperSortDataKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SearchSortDataUpperKernel", &pErrNum, boundSearchProg,additionalMacros );
+	m_upperSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SearchSortDataUpperKernel", &pErrNum, boundSearchProg, additionalMacros);
 	b3Assert(m_upperSortDataKernel);
 
 	m_subtractKernel = 0;
 
-	if( maxSize )
+	if (maxSize)
 	{
-		m_subtractKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SubtractKernel", &pErrNum, boundSearchProg,additionalMacros );
+		m_subtractKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SubtractKernel", &pErrNum, boundSearchProg, additionalMacros);
 		b3Assert(m_subtractKernel);
 	}
 
 	//m_constBuffer = new b3OpenCLArray<b3Int4>( device, 1, BufferBase::BUFFER_CONST );
-	
-	m_lower = (maxSize == 0)? 0: new b3OpenCLArray<unsigned int>(ctx,queue,maxSize );
-	m_upper = (maxSize == 0)? 0: new b3OpenCLArray<unsigned int>(ctx,queue, maxSize );
 
-	m_filler = new b3FillCL(ctx,device,queue);
+	m_lower = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
+	m_upper = (maxSize == 0) ? 0 : new b3OpenCLArray<unsigned int>(ctx, queue, maxSize);
+
+	m_filler = new b3FillCL(ctx, device, queue);
 }
 
 b3BoundSearchCL::~b3BoundSearchCL()
 {
-	
 	delete m_lower;
 	delete m_upper;
 	delete m_filler;
-			
+
 	clReleaseKernel(m_lowerSortDataKernel);
 	clReleaseKernel(m_upperSortDataKernel);
 	clReleaseKernel(m_subtractKernel);
-	
-
 }
 
-
-void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option )
+void b3BoundSearchCL::execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option)
 {
 	b3Int4 constBuffer;
 	constBuffer.x = nSrc;
 	constBuffer.y = nDst;
 
-	if( option == BOUND_LOWER )
+	if (option == BOUND_LOWER)
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL()) };
-
-		b3LauncherCL launcher( m_queue, m_lowerSortDataKernel,"m_lowerSortDataKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( nSrc );
-        launcher.setConst( nDst );
-        
-		launcher.launch1D( nSrc, 64 );
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
+
+		b3LauncherCL launcher(m_queue, m_lowerSortDataKernel, "m_lowerSortDataKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(nSrc);
+		launcher.setConst(nDst);
+
+		launcher.launch1D(nSrc, 64);
 	}
-	else if( option == BOUND_UPPER )
+	else if (option == BOUND_UPPER)
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
 
-		b3LauncherCL launcher(m_queue, m_upperSortDataKernel,"m_upperSortDataKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-        launcher.setConst( nSrc );
-        launcher.setConst( nDst );
+		b3LauncherCL launcher(m_queue, m_upperSortDataKernel, "m_upperSortDataKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(nSrc);
+		launcher.setConst(nDst);
 
-		launcher.launch1D( nSrc, 64 );
+		launcher.launch1D(nSrc, 64);
 	}
-	else if( option == COUNT )
+	else if (option == COUNT)
 	{
-		b3Assert( m_lower );
-		b3Assert( m_upper );
-		b3Assert( m_lower->capacity() <= (int)nDst );
-		b3Assert( m_upper->capacity() <= (int)nDst );
+		b3Assert(m_lower);
+		b3Assert(m_upper);
+		b3Assert(m_lower->capacity() <= (int)nDst);
+		b3Assert(m_upper->capacity() <= (int)nDst);
 
 		int zero = 0;
-		m_filler->execute( *m_lower, zero, nDst );
-		m_filler->execute( *m_upper, zero, nDst );
+		m_filler->execute(*m_lower, zero, nDst);
+		m_filler->execute(*m_upper, zero, nDst);
 
-		execute( src, nSrc, *m_lower, nDst, BOUND_LOWER );
-		execute( src, nSrc, *m_upper, nDst, BOUND_UPPER );
+		execute(src, nSrc, *m_lower, nDst, BOUND_LOWER);
+		execute(src, nSrc, *m_upper, nDst, BOUND_UPPER);
 
 		{
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_upper->getBufferCL(), true ), b3BufferInfoCL( m_lower->getBufferCL(), true ), b3BufferInfoCL( dst.getBufferCL() ) };
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_upper->getBufferCL(), true), b3BufferInfoCL(m_lower->getBufferCL(), true), b3BufferInfoCL(dst.getBufferCL())};
 
-			b3LauncherCL  launcher( m_queue, m_subtractKernel ,"m_subtractKernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-            launcher.setConst( nSrc );
-            launcher.setConst( nDst );
+			b3LauncherCL launcher(m_queue, m_subtractKernel, "m_subtractKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(nSrc);
+			launcher.setConst(nDst);
 
-			launcher.launch1D( nDst, 64 );
+			launcher.launch1D(nDst, 64);
 		}
 	}
 	else
 	{
-		b3Assert( 0 );
+		b3Assert(0);
 	}
-
 }
 
-
-void b3BoundSearchCL::executeHost( b3AlignedObjectArray<b3SortData>& src, int nSrc, 
-	b3AlignedObjectArray<unsigned int>& dst,  int nDst, Option option )
+void b3BoundSearchCL::executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc,
+								  b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option)
 {
+	for (int i = 0; i < nSrc - 1; i++)
+		b3Assert(src[i].m_key <= src[i + 1].m_key);
 
-
-	for(int i=0; i<nSrc-1; i++) 
-		b3Assert( src[i].m_key <= src[i+1].m_key );
-
-	b3SortData minData,zeroData,maxData;
+	b3SortData minData, zeroData, maxData;
 	minData.m_key = -1;
 	minData.m_value = -1;
-	zeroData.m_key=0;
-	zeroData.m_value=0;
+	zeroData.m_key = 0;
+	zeroData.m_value = 0;
 	maxData.m_key = nDst;
 	maxData.m_value = nDst;
 
-	if( option == BOUND_LOWER )
+	if (option == BOUND_LOWER)
 	{
-		for(int i=0; i<nSrc; i++)
+		for (int i = 0; i < nSrc; i++)
 		{
-			b3SortData& iData = (i==0)? minData: src[i-1];
-			b3SortData& jData = (i==nSrc)? maxData: src[i];
+			b3SortData& iData = (i == 0) ? minData : src[i - 1];
+			b3SortData& jData = (i == nSrc) ? maxData : src[i];
 
-			if( iData.m_key != jData.m_key )
+			if (iData.m_key != jData.m_key)
 			{
 				int k = jData.m_key;
 				{
@@ -170,14 +160,14 @@ void b3BoundSearchCL::executeHost( b3AlignedObjectArray<b3SortData>& src, int nS
 			}
 		}
 	}
-	else if( option == BOUND_UPPER )
+	else if (option == BOUND_UPPER)
 	{
-		for(int i=1; i<nSrc+1; i++)
+		for (int i = 1; i < nSrc + 1; i++)
 		{
-			b3SortData& iData = src[i-1];
-			b3SortData& jData = (i==nSrc)? maxData: src[i];
+			b3SortData& iData = src[i - 1];
+			b3SortData& jData = (i == nSrc) ? maxData : src[i];
 
-			if( iData.m_key != jData.m_key )
+			if (iData.m_key != jData.m_key)
 			{
 				int k = iData.m_key;
 				{
@@ -186,28 +176,28 @@ void b3BoundSearchCL::executeHost( b3AlignedObjectArray<b3SortData>& src, int nS
 			}
 		}
 	}
-	else if( option == COUNT )
+	else if (option == COUNT)
 	{
 		b3AlignedObjectArray<unsigned int> lower;
-		lower.resize(nDst );
+		lower.resize(nDst);
 		b3AlignedObjectArray<unsigned int> upper;
-		upper.resize(nDst );
+		upper.resize(nDst);
 
-		for(int i=0; i<nDst; i++) 
-		{ 
-			lower[i] = upper[i] = 0; 
+		for (int i = 0; i < nDst; i++)
+		{
+			lower[i] = upper[i] = 0;
 		}
 
-		executeHost( src, nSrc, lower, nDst, BOUND_LOWER );
-		executeHost( src, nSrc, upper, nDst, BOUND_UPPER );
+		executeHost(src, nSrc, lower, nDst, BOUND_LOWER);
+		executeHost(src, nSrc, upper, nDst, BOUND_UPPER);
 
-		for( int i=0; i<nDst; i++) 
-		{ 
-			dst[i] = upper[i] - lower[i]; 
+		for (int i = 0; i < nDst; i++)
+		{
+			dst[i] = upper[i] - lower[i];
 		}
 	}
 	else
 	{
-		b3Assert( 0 );
+		b3Assert(0);
 	}
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
index 7e2940965c..0d633e3d23 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h
@@ -26,42 +26,39 @@ subject to the following restrictions:
 
 #include "b3OpenCLArray.h"
 #include "b3FillCL.h"
-#include "b3RadixSort32CL.h" //for b3SortData (perhaps move it?)
+#include "b3RadixSort32CL.h"  //for b3SortData (perhaps move it?)
 class b3BoundSearchCL
 {
-	public:
+public:
+	enum Option
+	{
+		BOUND_LOWER,
+		BOUND_UPPER,
+		COUNT,
+	};
 
-		enum Option
-		{
-			BOUND_LOWER,
-			BOUND_UPPER,
-			COUNT,
-		};
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
 
-		cl_context m_context;
-		cl_device_id m_device;
-		cl_command_queue m_queue;
+	cl_kernel m_lowerSortDataKernel;
+	cl_kernel m_upperSortDataKernel;
+	cl_kernel m_subtractKernel;
 
-		
-		cl_kernel m_lowerSortDataKernel;
-		cl_kernel m_upperSortDataKernel;
-		cl_kernel m_subtractKernel;
-		
-		b3OpenCLArray<b3Int4>* m_constbtOpenCLArray;
-		b3OpenCLArray<unsigned int>* m_lower;
-		b3OpenCLArray<unsigned int>* m_upper;
-		
-		b3FillCL* m_filler;
-		
-		b3BoundSearchCL(cl_context context, cl_device_id device, cl_command_queue queue, int size);
+	b3OpenCLArray<b3Int4>* m_constbtOpenCLArray;
+	b3OpenCLArray<unsigned int>* m_lower;
+	b3OpenCLArray<unsigned int>* m_upper;
 
-		virtual ~b3BoundSearchCL();
+	b3FillCL* m_filler;
 
-		//	src has to be src[i].m_key <= src[i+1].m_key
-		void execute( b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER );
+	b3BoundSearchCL(cl_context context, cl_device_id device, cl_command_queue queue, int size);
 
-		void executeHost( b3AlignedObjectArray<b3SortData>& src, int nSrc, b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
-};
+	virtual ~b3BoundSearchCL();
+
+	//	src has to be src[i].m_key <= src[i+1].m_key
+	void execute(b3OpenCLArray<b3SortData>& src, int nSrc, b3OpenCLArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
 
+	void executeHost(b3AlignedObjectArray<b3SortData>& src, int nSrc, b3AlignedObjectArray<unsigned int>& dst, int nDst, Option option = BOUND_LOWER);
+};
 
-#endif //B3_BOUNDSEARCH_H
+#endif  //B3_BOUNDSEARCH_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
index 52f219ae3f..35fc467b20 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3BufferInfoCL.h
@@ -4,16 +4,15 @@
 
 #include "b3OpenCLArray.h"
 
-
 struct b3BufferInfoCL
 {
 	//b3BufferInfoCL(){}
 
-//	template<typename T>
-	b3BufferInfoCL(cl_mem buff, bool isReadOnly = false): m_clBuffer(buff), m_isReadOnly(isReadOnly){}
+	//	template<typename T>
+	b3BufferInfoCL(cl_mem buff, bool isReadOnly = false) : m_clBuffer(buff), m_isReadOnly(isReadOnly) {}
 
 	cl_mem m_clBuffer;
 	bool m_isReadOnly;
 };
 
-#endif //B3_BUFFER_INFO_CL_H
+#endif  //B3_BUFFER_INFO_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
index f05c2648f1..bd25bb2101 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.cpp
@@ -8,29 +8,26 @@
 #include "kernels/FillKernelsCL.h"
 
 b3FillCL::b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue)
-:m_commandQueue(queue)
+	: m_commandQueue(queue)
 {
 	const char* kernelSource = fillKernelsCL;
 	cl_int pErrNum;
 	const char* additionalMacros = "";
 
-	cl_program fillProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, kernelSource, &pErrNum,additionalMacros, FILL_CL_PROGRAM_PATH);
+	cl_program fillProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, FILL_CL_PROGRAM_PATH);
 	b3Assert(fillProg);
 
-	m_fillIntKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "FillIntKernel", &pErrNum, fillProg,additionalMacros );
+	m_fillIntKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillIntKernel", &pErrNum, fillProg, additionalMacros);
 	b3Assert(m_fillIntKernel);
 
-	m_fillUnsignedIntKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "FillUnsignedIntKernel", &pErrNum, fillProg,additionalMacros );
+	m_fillUnsignedIntKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillUnsignedIntKernel", &pErrNum, fillProg, additionalMacros);
 	b3Assert(m_fillIntKernel);
 
-	m_fillFloatKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "FillFloatKernel", &pErrNum, fillProg,additionalMacros );
+	m_fillFloatKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillFloatKernel", &pErrNum, fillProg, additionalMacros);
 	b3Assert(m_fillFloatKernel);
 
-	
-
-	m_fillKernelInt2 = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "FillInt2Kernel", &pErrNum, fillProg,additionalMacros );
+	m_fillKernelInt2 = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "FillInt2Kernel", &pErrNum, fillProg, additionalMacros);
 	b3Assert(m_fillKernelInt2);
-	
 }
 
 b3FillCL::~b3FillCL()
@@ -39,88 +36,84 @@ b3FillCL::~b3FillCL()
 	clReleaseKernel(m_fillIntKernel);
 	clReleaseKernel(m_fillUnsignedIntKernel);
 	clReleaseKernel(m_fillFloatKernel);
-
 }
 
 void b3FillCL::execute(b3OpenCLArray<float>& src, const float value, int n, int offset)
 {
-	b3Assert( n>0 );
+	b3Assert(n > 0);
 
 	{
-		b3LauncherCL launcher( m_commandQueue, m_fillFloatKernel,"m_fillFloatKernel" );
-		launcher.setBuffer( src.getBufferCL());
-		launcher.setConst( n );
-		launcher.setConst( value );
-		launcher.setConst( offset);
+		b3LauncherCL launcher(m_commandQueue, m_fillFloatKernel, "m_fillFloatKernel");
+		launcher.setBuffer(src.getBufferCL());
+		launcher.setConst(n);
+		launcher.setConst(value);
+		launcher.setConst(offset);
 
-		launcher.launch1D( n );
+		launcher.launch1D(n);
 	}
 }
 
 void b3FillCL::execute(b3OpenCLArray<int>& src, const int value, int n, int offset)
 {
-	b3Assert( n>0 );
-	
+	b3Assert(n > 0);
 
 	{
-		b3LauncherCL launcher( m_commandQueue, m_fillIntKernel ,"m_fillIntKernel");
+		b3LauncherCL launcher(m_commandQueue, m_fillIntKernel, "m_fillIntKernel");
 		launcher.setBuffer(src.getBufferCL());
-		launcher.setConst( n);
-		launcher.setConst( value);
-		launcher.setConst( offset);
-		launcher.launch1D( n );
+		launcher.setConst(n);
+		launcher.setConst(value);
+		launcher.setConst(offset);
+		launcher.launch1D(n);
 	}
 }
 
-
 void b3FillCL::execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset)
 {
-	b3Assert( n>0 );
+	b3Assert(n > 0);
 
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_fillUnsignedIntKernel,"m_fillUnsignedIntKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( n );
-        launcher.setConst(value);
+		b3LauncherCL launcher(m_commandQueue, m_fillUnsignedIntKernel, "m_fillUnsignedIntKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(n);
+		launcher.setConst(value);
 		launcher.setConst(offset);
 
-		launcher.launch1D( n );
+		launcher.launch1D(n);
 	}
 }
 
-void b3FillCL::executeHost(b3AlignedObjectArray<b3Int2> &src, const b3Int2 &value, int n, int offset)
+void b3FillCL::executeHost(b3AlignedObjectArray<b3Int2>& src, const b3Int2& value, int n, int offset)
 {
-	for (int i=0;i<n;i++)
+	for (int i = 0; i < n; i++)
 	{
-		src[i+offset]=value;
+		src[i + offset] = value;
 	}
 }
 
-void b3FillCL::executeHost(b3AlignedObjectArray<int> &src, const int value, int n, int offset)
+void b3FillCL::executeHost(b3AlignedObjectArray<int>& src, const int value, int n, int offset)
 {
-	for (int i=0;i<n;i++)
+	for (int i = 0; i < n; i++)
 	{
-		src[i+offset]=value;
+		src[i + offset] = value;
 	}
 }
 
-void b3FillCL::execute(b3OpenCLArray<b3Int2> &src, const b3Int2 &value, int n, int offset)
+void b3FillCL::execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset)
 {
-	b3Assert( n>0 );
-	
+	b3Assert(n > 0);
 
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src.getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src.getBufferCL())};
 
-		b3LauncherCL launcher(m_commandQueue, m_fillKernelInt2,"m_fillKernelInt2");
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+		b3LauncherCL launcher(m_commandQueue, m_fillKernelInt2, "m_fillKernelInt2");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 		launcher.setConst(n);
 		launcher.setConst(value);
 		launcher.setConst(offset);
 
 		//( constBuffer );
-		launcher.launch1D( n );
+		launcher.launch1D(n);
 	}
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
index 1609676b9d..c92c3e5119 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3FillCL.h
@@ -7,57 +7,46 @@
 #include "Bullet3Common/shared/b3Int2.h"
 #include "Bullet3Common/shared/b3Int4.h"
 
-
 class b3FillCL
 {
-	
-	cl_command_queue	m_commandQueue;
-	
-	cl_kernel			m_fillKernelInt2;
-	cl_kernel			m_fillIntKernel;
-	cl_kernel			m_fillUnsignedIntKernel;
-	cl_kernel			m_fillFloatKernel;
-
-	public:
-		
-		struct b3ConstData
-		{
-			union
-			{
-				b3Int4 m_data;
-				b3UnsignedInt4 m_UnsignedData;
-			};
-			int m_offset;
-			int m_n;
-			int m_padding[2];
+	cl_command_queue m_commandQueue;
+
+	cl_kernel m_fillKernelInt2;
+	cl_kernel m_fillIntKernel;
+	cl_kernel m_fillUnsignedIntKernel;
+	cl_kernel m_fillFloatKernel;
+
+public:
+	struct b3ConstData
+	{
+		union {
+			b3Int4 m_data;
+			b3UnsignedInt4 m_UnsignedData;
 		};
+		int m_offset;
+		int m_n;
+		int m_padding[2];
+	};
 
 protected:
-
 public:
+	b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue);
 
-		b3FillCL(cl_context ctx, cl_device_id device, cl_command_queue queue);
+	virtual ~b3FillCL();
 
-		virtual ~b3FillCL();
+	void execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset = 0);
 
-		void execute(b3OpenCLArray<unsigned int>& src, const unsigned int value, int n, int offset = 0);
-	
-		void execute(b3OpenCLArray<int>& src, const int value, int n, int offset = 0);
+	void execute(b3OpenCLArray<int>& src, const int value, int n, int offset = 0);
 
-		void execute(b3OpenCLArray<float>& src, const float value, int n, int offset = 0);
+	void execute(b3OpenCLArray<float>& src, const float value, int n, int offset = 0);
 
-		void execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset = 0);
+	void execute(b3OpenCLArray<b3Int2>& src, const b3Int2& value, int n, int offset = 0);
 
-		void executeHost(b3AlignedObjectArray<b3Int2> &src, const b3Int2 &value, int n, int offset);
+	void executeHost(b3AlignedObjectArray<b3Int2>& src, const b3Int2& value, int n, int offset);
 
-		void executeHost(b3AlignedObjectArray<int> &src, const int value, int n, int offset);
+	void executeHost(b3AlignedObjectArray<int>& src, const int value, int n, int offset);
 
 	//	void execute(b3OpenCLArray<b3Int4>& src, const b3Int4& value, int n, int offset = 0);
-
 };
-		
-		
-		
-	
 
-#endif //B3_FILL_CL_H
+#endif  //B3_FILL_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
index 94590d11ca..c97d02eb45 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.cpp
@@ -1,13 +1,13 @@
 #include "b3LauncherCL.h"
 
 bool gDebugLauncherCL = false;
-    
+
 b3LauncherCL::b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name)
-:m_commandQueue(queue),
-m_kernel(kernel),
-m_idx(0),
-m_enableSerialization(false),
-m_name(name)
+	: m_commandQueue(queue),
+	  m_kernel(kernel),
+	  m_idx(0),
+	  m_enableSerialization(false),
+	  m_name(name)
 {
 	if (gDebugLauncherCL)
 	{
@@ -15,59 +15,58 @@ m_name(name)
 		printf("[%d] Prepare to launch OpenCL kernel %s\n", counter++, name);
 	}
 
-      m_serializationSizeInBytes = sizeof(int);
+	m_serializationSizeInBytes = sizeof(int);
 }
-    
+
 b3LauncherCL::~b3LauncherCL()
-  {
-      for (int i=0;i<m_arrays.size();i++)
-      {
-		  delete (m_arrays[i]);
-      }
-
-	  m_arrays.clear();
-	  if (gDebugLauncherCL)
-	  {
+{
+	for (int i = 0; i < m_arrays.size(); i++)
+	{
+		delete (m_arrays[i]);
+	}
+
+	m_arrays.clear();
+	if (gDebugLauncherCL)
+	{
 		static int counter = 0;
-		printf("[%d] Finished launching OpenCL kernel %s\n", counter++,m_name);
-	  }
-  }
+		printf("[%d] Finished launching OpenCL kernel %s\n", counter++, m_name);
+	}
+}
 
-void b3LauncherCL::setBuffer( cl_mem clBuffer)
+void b3LauncherCL::setBuffer(cl_mem clBuffer)
 {
-		if (m_enableSerialization)
-		{
-			b3KernelArgData kernelArg;
-			kernelArg.m_argIndex = m_idx;
-			kernelArg.m_isBuffer = 1;
-			kernelArg.m_clBuffer = clBuffer;
-		
-			cl_mem_info param_name = CL_MEM_SIZE;
-			size_t param_value;
-			size_t sizeInBytes = sizeof(size_t);
-			size_t actualSizeInBytes;
-			cl_int err;
-			err = clGetMemObjectInfo (	kernelArg.m_clBuffer,
-									  param_name,
-									  sizeInBytes,
-									  &param_value,
-									  &actualSizeInBytes);
-			
-			b3Assert( err == CL_SUCCESS );
-			kernelArg.m_argSizeInBytes = param_value;
-			
-			m_kernelArguments.push_back(kernelArg);
-			m_serializationSizeInBytes+= sizeof(b3KernelArgData);
-			m_serializationSizeInBytes+=param_value;
-            }
-            cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
-		b3Assert( status == CL_SUCCESS );
-}
+	if (m_enableSerialization)
+	{
+		b3KernelArgData kernelArg;
+		kernelArg.m_argIndex = m_idx;
+		kernelArg.m_isBuffer = 1;
+		kernelArg.m_clBuffer = clBuffer;
 
+		cl_mem_info param_name = CL_MEM_SIZE;
+		size_t param_value;
+		size_t sizeInBytes = sizeof(size_t);
+		size_t actualSizeInBytes;
+		cl_int err;
+		err = clGetMemObjectInfo(kernelArg.m_clBuffer,
+								 param_name,
+								 sizeInBytes,
+								 &param_value,
+								 &actualSizeInBytes);
+
+		b3Assert(err == CL_SUCCESS);
+		kernelArg.m_argSizeInBytes = param_value;
+
+		m_kernelArguments.push_back(kernelArg);
+		m_serializationSizeInBytes += sizeof(b3KernelArgData);
+		m_serializationSizeInBytes += param_value;
+	}
+	cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &clBuffer);
+	b3Assert(status == CL_SUCCESS);
+}
 
-void b3LauncherCL::setBuffers( b3BufferInfoCL* buffInfo, int n )
+void b3LauncherCL::setBuffers(b3BufferInfoCL* buffInfo, int n)
 {
-	for(int i=0; i<n; i++)
+	for (int i = 0; i < n; i++)
 	{
 		if (m_enableSerialization)
 		{
@@ -75,106 +74,103 @@ void b3LauncherCL::setBuffers( b3BufferInfoCL* buffInfo, int n )
 			kernelArg.m_argIndex = m_idx;
 			kernelArg.m_isBuffer = 1;
 			kernelArg.m_clBuffer = buffInfo[i].m_clBuffer;
-		
+
 			cl_mem_info param_name = CL_MEM_SIZE;
 			size_t param_value;
 			size_t sizeInBytes = sizeof(size_t);
 			size_t actualSizeInBytes;
 			cl_int err;
-			err = clGetMemObjectInfo (	kernelArg.m_clBuffer,
-									  param_name,
-									  sizeInBytes,
-									  &param_value,
-									  &actualSizeInBytes);
-			
-			b3Assert( err == CL_SUCCESS );
+			err = clGetMemObjectInfo(kernelArg.m_clBuffer,
+									 param_name,
+									 sizeInBytes,
+									 &param_value,
+									 &actualSizeInBytes);
+
+			b3Assert(err == CL_SUCCESS);
 			kernelArg.m_argSizeInBytes = param_value;
-			
+
 			m_kernelArguments.push_back(kernelArg);
-			m_serializationSizeInBytes+= sizeof(b3KernelArgData);
-			m_serializationSizeInBytes+=param_value;
-            }
-            cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
-		b3Assert( status == CL_SUCCESS );
-        }
+			m_serializationSizeInBytes += sizeof(b3KernelArgData);
+			m_serializationSizeInBytes += param_value;
+		}
+		cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &buffInfo[i].m_clBuffer);
+		b3Assert(status == CL_SUCCESS);
+	}
 }
 
 struct b3KernelArgDataUnaligned
 {
-    int m_isBuffer;
-    int m_argIndex;
-    int m_argSizeInBytes;
+	int m_isBuffer;
+	int m_argIndex;
+	int m_argSizeInBytes;
 	int m_unusedPadding;
-    union
-    {
-        cl_mem m_clBuffer;
-        unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
-    };
-    
+	union {
+		cl_mem m_clBuffer;
+		unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
+	};
 };
 #include <string.h>
 
-
-
 int b3LauncherCL::deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx)
 {
-    int index=0;
-    
-    int numArguments = *(int*) &buf[index];
-    index+=sizeof(int);
-    
-    for (int i=0;i<numArguments;i++)
-    {
-        b3KernelArgDataUnaligned* arg = (b3KernelArgDataUnaligned*)&buf[index];
-
-        index+=sizeof(b3KernelArgData);
-        if (arg->m_isBuffer)
-        {
-            b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx,m_commandQueue, arg->m_argSizeInBytes);
-            clData->resize(arg->m_argSizeInBytes);
-            
-            clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
-            
-            arg->m_clBuffer = clData->getBufferCL();
-            
-            m_arrays.push_back(clData);
-            
-            cl_int status = clSetKernelArg( m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
-		b3Assert( status == CL_SUCCESS );
-            index+=arg->m_argSizeInBytes;
-        } else 
-        {
-            cl_int status = clSetKernelArg( m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
-		b3Assert( status == CL_SUCCESS );
-        }
+	int index = 0;
+
+	int numArguments = *(int*)&buf[index];
+	index += sizeof(int);
+
+	for (int i = 0; i < numArguments; i++)
+	{
+		b3KernelArgDataUnaligned* arg = (b3KernelArgDataUnaligned*)&buf[index];
+
+		index += sizeof(b3KernelArgData);
+		if (arg->m_isBuffer)
+		{
+			b3OpenCLArray<unsigned char>* clData = new b3OpenCLArray<unsigned char>(ctx, m_commandQueue, arg->m_argSizeInBytes);
+			clData->resize(arg->m_argSizeInBytes);
+
+			clData->copyFromHostPointer(&buf[index], arg->m_argSizeInBytes);
+
+			arg->m_clBuffer = clData->getBufferCL();
+
+			m_arrays.push_back(clData);
+
+			cl_int status = clSetKernelArg(m_kernel, m_idx++, sizeof(cl_mem), &arg->m_clBuffer);
+			b3Assert(status == CL_SUCCESS);
+			index += arg->m_argSizeInBytes;
+		}
+		else
+		{
+			cl_int status = clSetKernelArg(m_kernel, m_idx++, arg->m_argSizeInBytes, &arg->m_argData);
+			b3Assert(status == CL_SUCCESS);
+		}
 		b3KernelArgData b;
-		memcpy(&b,arg,sizeof(b3KernelArgDataUnaligned));
-	m_kernelArguments.push_back(b);
-    }
-m_serializationSizeInBytes = index;
-    return index;
+		memcpy(&b, arg, sizeof(b3KernelArgDataUnaligned));
+		m_kernelArguments.push_back(b);
+	}
+	m_serializationSizeInBytes = index;
+	return index;
 }
 
 int b3LauncherCL::validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx)
-  {
-	 int index=0;
-      
-      int numArguments = *(int*) &goldBuffer[index];
-      index+=sizeof(int);
+{
+	int index = 0;
+
+	int numArguments = *(int*)&goldBuffer[index];
+	index += sizeof(int);
 
 	if (numArguments != m_kernelArguments.size())
 	{
-		printf("failed validation: expected %d arguments, found %d\n",numArguments, m_kernelArguments.size());
+		printf("failed validation: expected %d arguments, found %d\n", numArguments, m_kernelArguments.size());
 		return -1;
 	}
-      
-      for (int ii=0;ii<numArguments;ii++)
-      {
-          b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
+
+	for (int ii = 0; ii < numArguments; ii++)
+	{
+		b3KernelArgData* argGold = (b3KernelArgData*)&goldBuffer[index];
 
 		if (m_kernelArguments[ii].m_argSizeInBytes != argGold->m_argSizeInBytes)
 		{
-			printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n",ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
+			printf("failed validation: argument %d sizeInBytes expected: %d, found %d\n", ii, argGold->m_argSizeInBytes, m_kernelArguments[ii].m_argSizeInBytes);
 			return -2;
 		}
 
@@ -184,125 +180,117 @@ int b3LauncherCL::validateResults(unsigned char* goldBuffer, int goldBufferCapac
 
 			if (expected != found)
 			{
-				printf("failed validation: argument %d isBuffer expected: %d, found %d\n",ii,expected, found);
+				printf("failed validation: argument %d isBuffer expected: %d, found %d\n", ii, expected, found);
 				return -3;
 			}
 		}
-		index+=sizeof(b3KernelArgData);
+		index += sizeof(b3KernelArgData);
 
 		if (argGold->m_isBuffer)
-          {
-
-			unsigned char* memBuf= (unsigned char*) malloc(m_kernelArguments[ii].m_argSizeInBytes);
+		{
+			unsigned char* memBuf = (unsigned char*)malloc(m_kernelArguments[ii].m_argSizeInBytes);
 			unsigned char* goldBuf = &goldBuffer[index];
-			for (int j=0;j<m_kernelArguments[j].m_argSizeInBytes;j++)
+			for (int j = 0; j < m_kernelArguments[j].m_argSizeInBytes; j++)
 			{
 				memBuf[j] = 0xaa;
 			}
 
 			cl_int status = 0;
-			status = clEnqueueReadBuffer( m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
-                                           memBuf, 0,0,0 );
-              b3Assert( status==CL_SUCCESS );
-              clFinish(m_commandQueue);
+			status = clEnqueueReadBuffer(m_commandQueue, m_kernelArguments[ii].m_clBuffer, CL_TRUE, 0, m_kernelArguments[ii].m_argSizeInBytes,
+										 memBuf, 0, 0, 0);
+			b3Assert(status == CL_SUCCESS);
+			clFinish(m_commandQueue);
 
-			for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
+			for (int b = 0; b < m_kernelArguments[ii].m_argSizeInBytes; b++)
 			{
 				int expected = goldBuf[b];
 				int found = memBuf[b];
 				if (expected != found)
 				{
 					printf("failed validation: argument %d OpenCL data at byte position %d expected: %d, found %d\n",
-						ii, b, expected, found);
+						   ii, b, expected, found);
 					return -4;
 				}
 			}
 
-              
-              index+=argGold->m_argSizeInBytes;
-          } else 
-          {
-			
+			index += argGold->m_argSizeInBytes;
+		}
+		else
+		{
 			//compare content
-			for (int b=0;b<m_kernelArguments[ii].m_argSizeInBytes;b++)
+			for (int b = 0; b < m_kernelArguments[ii].m_argSizeInBytes; b++)
 			{
 				int expected = argGold->m_argData[b];
-				int found =m_kernelArguments[ii].m_argData[b];
+				int found = m_kernelArguments[ii].m_argData[b];
 				if (expected != found)
 				{
 					printf("failed validation: argument %d const data at byte position %d expected: %d, found %d\n",
-						ii, b, expected, found);
+						   ii, b, expected, found);
 					return -5;
 				}
 			}
-
-          }
-      }
-      return index;
-
+		}
+	}
+	return index;
 }
 
 int b3LauncherCL::serializeArguments(unsigned char* destBuffer, int destBufferCapacity)
 {
-//initialize to known values
-for (int i=0;i<destBufferCapacity;i++)
-	destBuffer[i] = 0xec;
-
-    assert(destBufferCapacity>=m_serializationSizeInBytes);
-    
-    //todo: use the b3Serializer for this to allow for 32/64bit, endianness etc        
-    int numArguments = m_kernelArguments.size();
-    int curBufferSize = 0;
-    int* dest = (int*)&destBuffer[curBufferSize];
-    *dest = numArguments;
-    curBufferSize += sizeof(int);
-    
-    
-    
-    for (int i=0;i<this->m_kernelArguments.size();i++)
-    {
-        b3KernelArgData* arg = (b3KernelArgData*) &destBuffer[curBufferSize];
-        *arg = m_kernelArguments[i];
-        curBufferSize+=sizeof(b3KernelArgData);
-        if (arg->m_isBuffer==1)
-        {
-            //copy the OpenCL buffer content
-            cl_int status = 0;
-            status = clEnqueueReadBuffer( m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
-                                         &destBuffer[curBufferSize], 0,0,0 );
-            b3Assert( status==CL_SUCCESS );
-            clFinish(m_commandQueue);
-            curBufferSize+=arg->m_argSizeInBytes;
-        }
-        
-    }
-    return curBufferSize;
+	//initialize to known values
+	for (int i = 0; i < destBufferCapacity; i++)
+		destBuffer[i] = 0xec;
+
+	assert(destBufferCapacity >= m_serializationSizeInBytes);
+
+	//todo: use the b3Serializer for this to allow for 32/64bit, endianness etc
+	int numArguments = m_kernelArguments.size();
+	int curBufferSize = 0;
+	int* dest = (int*)&destBuffer[curBufferSize];
+	*dest = numArguments;
+	curBufferSize += sizeof(int);
+
+	for (int i = 0; i < this->m_kernelArguments.size(); i++)
+	{
+		b3KernelArgData* arg = (b3KernelArgData*)&destBuffer[curBufferSize];
+		*arg = m_kernelArguments[i];
+		curBufferSize += sizeof(b3KernelArgData);
+		if (arg->m_isBuffer == 1)
+		{
+			//copy the OpenCL buffer content
+			cl_int status = 0;
+			status = clEnqueueReadBuffer(m_commandQueue, arg->m_clBuffer, 0, 0, arg->m_argSizeInBytes,
+										 &destBuffer[curBufferSize], 0, 0, 0);
+			b3Assert(status == CL_SUCCESS);
+			clFinish(m_commandQueue);
+			curBufferSize += arg->m_argSizeInBytes;
+		}
+	}
+	return curBufferSize;
 }
 
 void b3LauncherCL::serializeToFile(const char* fileName, int numWorkItems)
 {
 	int num = numWorkItems;
 	int buffSize = getSerializationBufferSize();
-	unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
-	for (int i=0;i<buffSize+1;i++)
+	unsigned char* buf = new unsigned char[buffSize + sizeof(int)];
+	for (int i = 0; i < buffSize + 1; i++)
 	{
 		unsigned char* ptr = (unsigned char*)&buf[i];
 		*ptr = 0xff;
 	}
-//	int actualWrite = serializeArguments(buf,buffSize);
-              
-//	unsigned char* cptr = (unsigned char*)&buf[buffSize];
-//            printf("buf[buffSize] = %d\n",*cptr);
-              
-	assert(buf[buffSize]==0xff);//check for buffer overrun
+	//	int actualWrite = serializeArguments(buf,buffSize);
+
+	//	unsigned char* cptr = (unsigned char*)&buf[buffSize];
+	//            printf("buf[buffSize] = %d\n",*cptr);
+
+	assert(buf[buffSize] == 0xff);  //check for buffer overrun
 	int* ptr = (int*)&buf[buffSize];
-              
+
 	*ptr = num;
-              
-	FILE* f = fopen(fileName,"wb");
-	fwrite(buf,buffSize+sizeof(int),1,f);
+
+	FILE* f = fopen(fileName, "wb");
+	fwrite(buf, buffSize + sizeof(int), 1, f);
 	fclose(f);
 
 	delete[] buf;
-}		
-
+}
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
index 1b267b31ef..18e9c1db2b 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h
@@ -9,60 +9,57 @@
 
 #define B3_DEBUG_SERIALIZE_CL
 
-
 #ifdef _WIN32
-#pragma warning(disable :4996)
+#pragma warning(disable : 4996)
 #endif
 #define B3_CL_MAX_ARG_SIZE 16
-B3_ATTRIBUTE_ALIGNED16(struct) b3KernelArgData
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3KernelArgData
 {
-    int m_isBuffer;
-    int m_argIndex;
-    int m_argSizeInBytes;
+	int m_isBuffer;
+	int m_argIndex;
+	int m_argSizeInBytes;
 	int m_unusedPadding;
-    union
-    {
-        cl_mem m_clBuffer;
-        unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
-    };
-    
+	union {
+		cl_mem m_clBuffer;
+		unsigned char m_argData[B3_CL_MAX_ARG_SIZE];
+	};
 };
 
 class b3LauncherCL
 {
-
 	cl_command_queue m_commandQueue;
 	cl_kernel m_kernel;
 	int m_idx;
-	
-    b3AlignedObjectArray<b3KernelArgData> m_kernelArguments;
-    int m_serializationSizeInBytes;
-	bool	m_enableSerialization;
+
+	b3AlignedObjectArray<b3KernelArgData> m_kernelArguments;
+	int m_serializationSizeInBytes;
+	bool m_enableSerialization;
 
 	const char* m_name;
-	public:
-
-     b3AlignedObjectArray<b3OpenCLArray<unsigned char>* > m_arrays;
-    
-		b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name);
-    
-    virtual ~b3LauncherCL();
-    
-		void setBuffer( cl_mem clBuffer);
-
-		void setBuffers( b3BufferInfoCL* buffInfo, int n );
-    
-    int getSerializationBufferSize() const 
-    {
-        return m_serializationSizeInBytes;
-    }
-    
-    int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx);
+
+public:
+	b3AlignedObjectArray<b3OpenCLArray<unsigned char>*> m_arrays;
+
+	b3LauncherCL(cl_command_queue queue, cl_kernel kernel, const char* name);
+
+	virtual ~b3LauncherCL();
+
+	void setBuffer(cl_mem clBuffer);
+
+	void setBuffers(b3BufferInfoCL* buffInfo, int n);
+
+	int getSerializationBufferSize() const
+	{
+		return m_serializationSizeInBytes;
+	}
+
+	int deserializeArgs(unsigned char* buf, int bufSize, cl_context ctx);
 
 	inline int validateResults(unsigned char* goldBuffer, int goldBufferCapacity, cl_context ctx);
 
-    int serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
-    
+	int serializeArguments(unsigned char* destBuffer, int destBufferCapacity);
+
 	int getNumArguments() const
 	{
 		return m_kernelArguments.size();
@@ -75,61 +72,57 @@ class b3LauncherCL
 
 	void serializeToFile(const char* fileName, int numWorkItems);
 
-	template<typename T>
-		inline void setConst( const T& consts )
-		{
-			int sz=sizeof(T);
-			b3Assert(sz<=B3_CL_MAX_ARG_SIZE);
-
-			if (m_enableSerialization)
-			{
-				b3KernelArgData kernelArg;
-				kernelArg.m_argIndex = m_idx;
-				kernelArg.m_isBuffer = 0;
-				T* destArg = (T*)kernelArg.m_argData;
-				*destArg = consts;
-				kernelArg.m_argSizeInBytes = sizeof(T);
-				m_kernelArguments.push_back(kernelArg);
-				m_serializationSizeInBytes+=sizeof(b3KernelArgData);
-			}
-            
-			cl_int status = clSetKernelArg( m_kernel, m_idx++, sz, &consts );
-			b3Assert( status == CL_SUCCESS );
-		}
+	template <typename T>
+	inline void setConst(const T& consts)
+	{
+		int sz = sizeof(T);
+		b3Assert(sz <= B3_CL_MAX_ARG_SIZE);
 
-		inline void launch1D( int numThreads, int localSize = 64)
+		if (m_enableSerialization)
 		{
-			launch2D( numThreads, 1, localSize, 1 );
+			b3KernelArgData kernelArg;
+			kernelArg.m_argIndex = m_idx;
+			kernelArg.m_isBuffer = 0;
+			T* destArg = (T*)kernelArg.m_argData;
+			*destArg = consts;
+			kernelArg.m_argSizeInBytes = sizeof(T);
+			m_kernelArguments.push_back(kernelArg);
+			m_serializationSizeInBytes += sizeof(b3KernelArgData);
 		}
 
-		inline void launch2D( int numThreadsX, int numThreadsY, int localSizeX, int localSizeY )
-		{
-			size_t gRange[3] = {1,1,1};
-			size_t lRange[3] = {1,1,1};
-			lRange[0] = localSizeX;
-			lRange[1] = localSizeY;
-			gRange[0] = b3Max((size_t)1, (numThreadsX/lRange[0])+(!(numThreadsX%lRange[0])?0:1));
-			gRange[0] *= lRange[0];
-			gRange[1] = b3Max((size_t)1, (numThreadsY/lRange[1])+(!(numThreadsY%lRange[1])?0:1));
-			gRange[1] *= lRange[1];
-
-			cl_int status = clEnqueueNDRangeKernel( m_commandQueue, 
-				m_kernel, 2, NULL, gRange, lRange, 0,0,0 );
-            if (status != CL_SUCCESS)
-            {
-                printf("Error: OpenCL status = %d\n",status);
-            }
-			b3Assert( status == CL_SUCCESS );
+		cl_int status = clSetKernelArg(m_kernel, m_idx++, sz, &consts);
+		b3Assert(status == CL_SUCCESS);
+	}
 
-		}
-	
-		void	enableSerialization(bool serialize)
+	inline void launch1D(int numThreads, int localSize = 64)
+	{
+		launch2D(numThreads, 1, localSize, 1);
+	}
+
+	inline void launch2D(int numThreadsX, int numThreadsY, int localSizeX, int localSizeY)
+	{
+		size_t gRange[3] = {1, 1, 1};
+		size_t lRange[3] = {1, 1, 1};
+		lRange[0] = localSizeX;
+		lRange[1] = localSizeY;
+		gRange[0] = b3Max((size_t)1, (numThreadsX / lRange[0]) + (!(numThreadsX % lRange[0]) ? 0 : 1));
+		gRange[0] *= lRange[0];
+		gRange[1] = b3Max((size_t)1, (numThreadsY / lRange[1]) + (!(numThreadsY % lRange[1]) ? 0 : 1));
+		gRange[1] *= lRange[1];
+
+		cl_int status = clEnqueueNDRangeKernel(m_commandQueue,
+											   m_kernel, 2, NULL, gRange, lRange, 0, 0, 0);
+		if (status != CL_SUCCESS)
 		{
-			m_enableSerialization = serialize;
+			printf("Error: OpenCL status = %d\n", status);
 		}
-		
-};
-
+		b3Assert(status == CL_SUCCESS);
+	}
 
+	void enableSerialization(bool serialize)
+	{
+		m_enableSerialization = serialize;
+	}
+};
 
-#endif //B3_LAUNCHER_CL_H
+#endif  //B3_LAUNCHER_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
index d70c30f53f..e837cceb66 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h
@@ -7,16 +7,16 @@
 template <typename T>
 class b3OpenCLArray
 {
-	size_t	m_size;
-	size_t	m_capacity;
-	cl_mem	m_clBuffer;
+	size_t m_size;
+	size_t m_capacity;
+	cl_mem m_clBuffer;
 
-	cl_context		 m_clContext;
+	cl_context m_clContext;
 	cl_command_queue m_commandQueue;
 
-	bool	m_ownsMemory;
+	bool m_ownsMemory;
 
-	bool	m_allowGrowingCapacity;
+	bool m_allowGrowingCapacity;
 
 	void deallocate()
 	{
@@ -25,22 +25,19 @@ class b3OpenCLArray
 			clReleaseMemObject(m_clBuffer);
 		}
 		m_clBuffer = 0;
-		m_capacity=0;
+		m_capacity = 0;
 	}
 
 	b3OpenCLArray<T>& operator=(const b3OpenCLArray<T>& src);
 
-	B3_FORCE_INLINE	size_t	allocSize(size_t size)
-		{
-			return (size ? size*2 : 1);
-		}
+	B3_FORCE_INLINE size_t allocSize(size_t size)
+	{
+		return (size ? size * 2 : 1);
+	}
 
 public:
-
-	b3OpenCLArray(cl_context ctx, cl_command_queue queue, size_t initialCapacity=0, bool allowGrowingCapacity=true)
-	:m_size(0),  m_capacity(0),m_clBuffer(0),
-	m_clContext(ctx),m_commandQueue(queue),
-	m_ownsMemory(true),m_allowGrowingCapacity(true)
+	b3OpenCLArray(cl_context ctx, cl_command_queue queue, size_t initialCapacity = 0, bool allowGrowingCapacity = true)
+		: m_size(0), m_capacity(0), m_clBuffer(0), m_clContext(ctx), m_commandQueue(queue), m_ownsMemory(true), m_allowGrowingCapacity(true)
 	{
 		if (initialCapacity)
 		{
@@ -60,34 +57,32 @@ public:
 		m_capacity = sizeInElements;
 	}
 
-// we could enable this assignment, but need to make sure to avoid accidental deep copies
-//	b3OpenCLArray<T>& operator=(const b3AlignedObjectArray<T>& src)
-//	{
-//		copyFromArray(src);
-//		return *this;
-//	}
+	// we could enable this assignment, but need to make sure to avoid accidental deep copies
+	//	b3OpenCLArray<T>& operator=(const b3AlignedObjectArray<T>& src)
+	//	{
+	//		copyFromArray(src);
+	//		return *this;
+	//	}
 
-
-	cl_mem	getBufferCL() const
+	cl_mem getBufferCL() const
 	{
 		return m_clBuffer;
 	}
 
-
 	virtual ~b3OpenCLArray()
 	{
 		deallocate();
-		m_size=0;
-		m_capacity=0;
+		m_size = 0;
+		m_capacity = 0;
 	}
 
-	B3_FORCE_INLINE	bool push_back(const T& _Val,bool waitForCompletion=true)
+	B3_FORCE_INLINE bool push_back(const T& _Val, bool waitForCompletion = true)
 	{
 		bool result = true;
 		size_t sz = size();
-		if( sz == capacity() )
+		if (sz == capacity())
 		{
-			result = reserve( allocSize(size()) );
+			result = reserve(allocSize(size()));
 		}
 		copyFromHostPointer(&_Val, 1, sz, waitForCompletion);
 		m_size++;
@@ -96,23 +91,23 @@ public:
 
 	B3_FORCE_INLINE T forcedAt(size_t n) const
 	{
-		b3Assert(n>=0);
-		b3Assert(n<capacity());
+		b3Assert(n >= 0);
+		b3Assert(n < capacity());
 		T elem;
-		copyToHostPointer(&elem,1,n,true);
+		copyToHostPointer(&elem, 1, n, true);
 		return elem;
 	}
 
 	B3_FORCE_INLINE T at(size_t n) const
 	{
-		b3Assert(n>=0);
-		b3Assert(n<size());
+		b3Assert(n >= 0);
+		b3Assert(n < size());
 		T elem;
-		copyToHostPointer(&elem,1,n,true);
+		copyToHostPointer(&elem, 1, n, true);
 		return elem;
 	}
 
-	B3_FORCE_INLINE	bool resize(size_t newsize, bool copyOldContents=true)
+	B3_FORCE_INLINE bool resize(size_t newsize, bool copyOldContents = true)
 	{
 		bool result = true;
 		size_t curSize = size();
@@ -120,11 +115,12 @@ public:
 		if (newsize < curSize)
 		{
 			//leave the OpenCL memory for now
-		} else
+		}
+		else
 		{
 			if (newsize > size())
 			{
-				result = reserve(newsize,copyOldContents);
+				result = reserve(newsize, copyOldContents);
 			}
 
 			//leave new data uninitialized (init in debug mode?)
@@ -134,7 +130,8 @@ public:
 		if (result)
 		{
 			m_size = newsize;
-		} else
+		}
+		else
 		{
 			m_size = 0;
 		}
@@ -146,25 +143,25 @@ public:
 		return m_size;
 	}
 
-	B3_FORCE_INLINE	size_t capacity() const
+	B3_FORCE_INLINE size_t capacity() const
 	{
 		return m_capacity;
 	}
 
-	B3_FORCE_INLINE	bool reserve(size_t _Count, bool copyOldContents=true)
+	B3_FORCE_INLINE bool reserve(size_t _Count, bool copyOldContents = true)
 	{
-		bool result=true;
+		bool result = true;
 		// determine new minimum length of allocated storage
 		if (capacity() < _Count)
-		{	// not enough room, reallocate
+		{  // not enough room, reallocate
 
 			if (m_allowGrowingCapacity)
 			{
 				cl_int ciErrNum;
 				//create a new OpenCL buffer
-				size_t memSizeInBytes = sizeof(T)*_Count;
+				size_t memSizeInBytes = sizeof(T) * _Count;
 				cl_mem buf = clCreateBuffer(m_clContext, CL_MEM_READ_WRITE, memSizeInBytes, NULL, &ciErrNum);
-				if (ciErrNum!=CL_SUCCESS)
+				if (ciErrNum != CL_SUCCESS)
 				{
 					b3Error("OpenCL out-of-memory\n");
 					_Count = 0;
@@ -173,13 +170,13 @@ public:
 //#define B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
 #ifdef B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
 				unsigned char* src = (unsigned char*)malloc(memSizeInBytes);
-				for (size_t i=0;i<memSizeInBytes;i++)
+				for (size_t i = 0; i < memSizeInBytes; i++)
 					src[i] = 0xbb;
-				ciErrNum = clEnqueueWriteBuffer( m_commandQueue, buf, CL_TRUE, 0, memSizeInBytes, src, 0,0,0 );
-				b3Assert(ciErrNum==CL_SUCCESS);
+				ciErrNum = clEnqueueWriteBuffer(m_commandQueue, buf, CL_TRUE, 0, memSizeInBytes, src, 0, 0, 0);
+				b3Assert(ciErrNum == CL_SUCCESS);
 				clFinish(m_commandQueue);
 				free(src);
-#endif //B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
+#endif  //B3_ALWAYS_INITIALIZE_OPENCL_BUFFERS
 
 				if (result)
 				{
@@ -193,21 +190,21 @@ public:
 				m_clBuffer = buf;
 
 				m_capacity = _Count;
-			} else
+			}
+			else
 			{
 				//fail: assert and
 				b3Assert(0);
 				deallocate();
-				result=false;
+				result = false;
 			}
 		}
 		return result;
 	}
 
-
-	void copyToCL(cl_mem destination, size_t numElements, size_t firstElem=0, size_t dstOffsetInElems=0) const
+	void copyToCL(cl_mem destination, size_t numElements, size_t firstElem = 0, size_t dstOffsetInElems = 0) const
 	{
-		if (numElements<=0)
+		if (numElements <= 0)
 			return;
 
 		b3Assert(m_clBuffer);
@@ -216,75 +213,74 @@ public:
 		//likely some error, destination is same as source
 		b3Assert(m_clBuffer != destination);
 
-		b3Assert((firstElem+numElements)<=m_size);
+		b3Assert((firstElem + numElements) <= m_size);
 
 		cl_int status = 0;
 
+		b3Assert(numElements > 0);
+		b3Assert(numElements <= m_size);
 
-		b3Assert(numElements>0);
-		b3Assert(numElements<=m_size);
-
-		size_t srcOffsetBytes = sizeof(T)*firstElem;
-		size_t dstOffsetInBytes = sizeof(T)*dstOffsetInElems;
+		size_t srcOffsetBytes = sizeof(T) * firstElem;
+		size_t dstOffsetInBytes = sizeof(T) * dstOffsetInElems;
 
-		status = clEnqueueCopyBuffer( m_commandQueue, m_clBuffer, destination,
-			srcOffsetBytes, dstOffsetInBytes, sizeof(T)*numElements, 0, 0, 0 );
+		status = clEnqueueCopyBuffer(m_commandQueue, m_clBuffer, destination,
+									 srcOffsetBytes, dstOffsetInBytes, sizeof(T) * numElements, 0, 0, 0);
 
-		b3Assert( status == CL_SUCCESS );
+		b3Assert(status == CL_SUCCESS);
 	}
 
-	void copyFromHost(const b3AlignedObjectArray<T>& srcArray, bool waitForCompletion=true)
+	void copyFromHost(const b3AlignedObjectArray<T>& srcArray, bool waitForCompletion = true)
 	{
 		size_t newSize = srcArray.size();
 
 		bool copyOldContents = false;
-		resize (newSize,copyOldContents);
+		resize(newSize, copyOldContents);
 		if (newSize)
-			copyFromHostPointer(&srcArray[0],newSize,0,waitForCompletion);
-
+			copyFromHostPointer(&srcArray[0], newSize, 0, waitForCompletion);
 	}
 
-	void copyFromHostPointer(const T* src, size_t numElems, size_t destFirstElem= 0, bool waitForCompletion=true)
+	void copyFromHostPointer(const T* src, size_t numElems, size_t destFirstElem = 0, bool waitForCompletion = true)
 	{
-		b3Assert(numElems+destFirstElem <= capacity());
+		b3Assert(numElems + destFirstElem <= capacity());
 
-		if (numElems+destFirstElem)
+		if (numElems + destFirstElem)
 		{
 			cl_int status = 0;
-			size_t sizeInBytes=sizeof(T)*numElems;
-			status = clEnqueueWriteBuffer( m_commandQueue, m_clBuffer, 0, sizeof(T)*destFirstElem, sizeInBytes,
-			src, 0,0,0 );
-			b3Assert(status == CL_SUCCESS );
+			size_t sizeInBytes = sizeof(T) * numElems;
+			status = clEnqueueWriteBuffer(m_commandQueue, m_clBuffer, 0, sizeof(T) * destFirstElem, sizeInBytes,
+										  src, 0, 0, 0);
+			b3Assert(status == CL_SUCCESS);
 			if (waitForCompletion)
 				clFinish(m_commandQueue);
-		} else
+		}
+		else
 		{
 			b3Error("copyFromHostPointer invalid range\n");
 		}
 	}
 
-
-	void copyToHost(b3AlignedObjectArray<T>& destArray, bool waitForCompletion=true) const
+	void copyToHost(b3AlignedObjectArray<T>& destArray, bool waitForCompletion = true) const
 	{
 		destArray.resize(this->size());
 		if (size())
-			copyToHostPointer(&destArray[0], size(),0,waitForCompletion);
+			copyToHostPointer(&destArray[0], size(), 0, waitForCompletion);
 	}
 
-	void copyToHostPointer(T* destPtr, size_t numElem, size_t srcFirstElem=0, bool waitForCompletion=true) const
+	void copyToHostPointer(T* destPtr, size_t numElem, size_t srcFirstElem = 0, bool waitForCompletion = true) const
 	{
-		b3Assert(numElem+srcFirstElem <= capacity());
+		b3Assert(numElem + srcFirstElem <= capacity());
 
-		if(numElem+srcFirstElem <= capacity())
+		if (numElem + srcFirstElem <= capacity())
 		{
 			cl_int status = 0;
-			status = clEnqueueReadBuffer( m_commandQueue, m_clBuffer, 0, sizeof(T)*srcFirstElem, sizeof(T)*numElem,
-			destPtr, 0,0,0 );
-			b3Assert( status==CL_SUCCESS );
+			status = clEnqueueReadBuffer(m_commandQueue, m_clBuffer, 0, sizeof(T) * srcFirstElem, sizeof(T) * numElem,
+										 destPtr, 0, 0, 0);
+			b3Assert(status == CL_SUCCESS);
 
 			if (waitForCompletion)
 				clFinish(m_commandQueue);
-		} else
+		}
+		else
 		{
 			b3Error("copyToHostPointer invalid range\n");
 		}
@@ -296,11 +292,9 @@ public:
 		resize(newSize);
 		if (size())
 		{
-			src.copyToCL(m_clBuffer,size());
+			src.copyToCL(m_clBuffer, size());
 		}
 	}
-
 };
 
-
-#endif //B3_OPENCL_ARRAY_H
+#endif  //B3_OPENCL_ARRAY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
index 42cd197740..822b511633 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.cpp
@@ -7,25 +7,24 @@
 #include "kernels/PrefixScanKernelsCL.h"
 
 b3PrefixScanCL::b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-:m_commandQueue(queue)
+	: m_commandQueue(queue)
 {
 	const char* scanKernelSource = prefixScanKernelsCL;
 	cl_int pErrNum;
-	char* additionalMacros=0;
+	char* additionalMacros = 0;
 
-	m_workBuffer = new b3OpenCLArray<unsigned int>(ctx,queue,size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, scanKernelSource, &pErrNum,additionalMacros, B3_PREFIXSCAN_PROG_PATH);
+	m_workBuffer = new b3OpenCLArray<unsigned int>(ctx, queue, size);
+	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_PROG_PATH);
 	b3Assert(scanProg);
 
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_localScanKernel );
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_blockSumKernel );
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_propagationKernel );
+	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_localScanKernel);
+	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_blockSumKernel);
+	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_propagationKernel);
 }
 
-
 b3PrefixScanCL::~b3PrefixScanCL()
 {
 	delete m_workBuffer;
@@ -34,20 +33,19 @@ b3PrefixScanCL::~b3PrefixScanCL()
 	clReleaseKernel(m_propagationKernel);
 }
 
-template<class T>
+template <class T>
 T b3NextPowerOf2(T n)
 {
 	n -= 1;
-	for(int i=0; i<sizeof(T)*8; i++)
-		n = n | (n>>i);
-	return n+1;
+	for (int i = 0; i < sizeof(T) * 8; i++)
+		n = n | (n >> i);
+	return n + 1;
 }
 
 void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum)
 {
-	
-//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)( (n+BLOCK_SIZE*2-1)/(BLOCK_SIZE*2) );
+	//	b3Assert( data->m_option == EXCLUSIVE );
+	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
 
 	dst.resize(src.size());
 	m_workBuffer->resize(src.size());
@@ -55,55 +53,51 @@ void b3PrefixScanCL::execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<uns
 	b3Int4 constBuffer;
 	constBuffer.x = n;
 	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2( numBlocks );
+	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
 
 	b3OpenCLArray<unsigned int>* srcNative = &src;
 	b3OpenCLArray<unsigned int>* dstNative = &dst;
-	
+
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( srcNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_localScanKernel,"m_localScanKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst(  constBuffer );
-		launcher.launch1D( numBlocks*BLOCK_SIZE, BLOCK_SIZE );
+		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
 	}
 
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_blockSumKernel,"m_blockSumKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( constBuffer );
-		launcher.launch1D( BLOCK_SIZE, BLOCK_SIZE );
+		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
 	}
-	
 
-	if( numBlocks > 1 )
+	if (numBlocks > 1)
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
-		b3LauncherCL launcher( m_commandQueue, m_propagationKernel,"m_propagationKernel" );
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( constBuffer );
-		launcher.launch1D( (numBlocks-1)*BLOCK_SIZE, BLOCK_SIZE );
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
+		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
 	}
 
-
-	if( sum )
+	if (sum)
 	{
 		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum,1,n-1,true);
+		dstNative->copyToHostPointer(sum, 1, n - 1, true);
 	}
-
 }
 
-
 void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum)
 {
 	unsigned int s = 0;
 	//if( data->m_option == EXCLUSIVE )
 	{
-		for(int i=0; i<n; i++)
+		for (int i = 0; i < n; i++)
 		{
 			dst[i] = s;
 			s += src[i];
@@ -119,8 +113,8 @@ void b3PrefixScanCL::executeHost(b3AlignedObjectArray<unsigned int>& src, b3Alig
 	}
 	*/
 
-	if( sum )
+	if (sum)
 	{
-		*sum = dst[n-1];
+		*sum = dst[n - 1];
 	}
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
index a9a2e61b9e..346efa0c73 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h
@@ -13,9 +13,9 @@ class b3PrefixScanCL
 		BLOCK_SIZE = 128
 	};
 
-//	Option m_option;
+	//	Option m_option;
 
-	cl_command_queue	m_commandQueue;
+	cl_command_queue m_commandQueue;
 
 	cl_kernel m_localScanKernel;
 	cl_kernel m_blockSumKernel;
@@ -23,15 +23,13 @@ class b3PrefixScanCL
 
 	b3OpenCLArray<unsigned int>* m_workBuffer;
 
-
-	public:
-		
-	b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue,int size=0);
+public:
+	b3PrefixScanCL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size = 0);
 
 	virtual ~b3PrefixScanCL();
 
 	void execute(b3OpenCLArray<unsigned int>& src, b3OpenCLArray<unsigned int>& dst, int n, unsigned int* sum = 0);
-	void executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum=0);
+	void executeHost(b3AlignedObjectArray<unsigned int>& src, b3AlignedObjectArray<unsigned int>& dst, int n, unsigned int* sum = 0);
 };
 
-#endif //B3_PREFIX_SCAN_CL_H
+#endif  //B3_PREFIX_SCAN_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
index 80560d793d..1cac97c988 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
@@ -7,25 +7,24 @@
 #include "kernels/PrefixScanKernelsFloat4CL.h"
 
 b3PrefixScanFloat4CL::b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
-:m_commandQueue(queue)
+	: m_commandQueue(queue)
 {
 	const char* scanKernelSource = prefixScanKernelsFloat4CL;
 	cl_int pErrNum;
-	char* additionalMacros=0;
+	char* additionalMacros = 0;
 
-	m_workBuffer = new b3OpenCLArray<b3Vector3>(ctx,queue,size);
-	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, scanKernelSource, &pErrNum,additionalMacros, B3_PREFIXSCAN_FLOAT4_PROG_PATH);
+	m_workBuffer = new b3OpenCLArray<b3Vector3>(ctx, queue, size);
+	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, scanKernelSource, &pErrNum, additionalMacros, B3_PREFIXSCAN_FLOAT4_PROG_PATH);
 	b3Assert(scanProg);
 
-	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_localScanKernel );
-	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_blockSumKernel );
-	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg,additionalMacros );
-	b3Assert(m_propagationKernel );
+	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_localScanKernel);
+	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_blockSumKernel);
+	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg, additionalMacros);
+	b3Assert(m_propagationKernel);
 }
 
-
 b3PrefixScanFloat4CL::~b3PrefixScanFloat4CL()
 {
 	delete m_workBuffer;
@@ -34,20 +33,19 @@ b3PrefixScanFloat4CL::~b3PrefixScanFloat4CL()
 	clReleaseKernel(m_propagationKernel);
 }
 
-template<class T>
+template <class T>
 T b3NextPowerOf2(T n)
 {
 	n -= 1;
-	for(int i=0; i<sizeof(T)*8; i++)
-		n = n | (n>>i);
-	return n+1;
+	for (int i = 0; i < sizeof(T) * 8; i++)
+		n = n | (n >> i);
+	return n + 1;
 }
 
 void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<b3Vector3>& dst, int n, b3Vector3* sum)
 {
-	
-//	b3Assert( data->m_option == EXCLUSIVE );
-	const unsigned int numBlocks = (const unsigned int)( (n+BLOCK_SIZE*2-1)/(BLOCK_SIZE*2) );
+	//	b3Assert( data->m_option == EXCLUSIVE );
+	const unsigned int numBlocks = (const unsigned int)((n + BLOCK_SIZE * 2 - 1) / (BLOCK_SIZE * 2));
 
 	dst.resize(src.size());
 	m_workBuffer->resize(src.size());
@@ -55,55 +53,51 @@ void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<
 	b3Int4 constBuffer;
 	constBuffer.x = n;
 	constBuffer.y = numBlocks;
-	constBuffer.z = (int)b3NextPowerOf2( numBlocks );
+	constBuffer.z = (int)b3NextPowerOf2(numBlocks);
 
 	b3OpenCLArray<b3Vector3>* srcNative = &src;
 	b3OpenCLArray<b3Vector3>* dstNative = &dst;
-	
+
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( srcNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(srcNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_localScanKernel ,"m_localScanKernel");
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst(  constBuffer );
-		launcher.launch1D( numBlocks*BLOCK_SIZE, BLOCK_SIZE );
+		b3LauncherCL launcher(m_commandQueue, m_localScanKernel, "m_localScanKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D(numBlocks * BLOCK_SIZE, BLOCK_SIZE);
 	}
 
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_workBuffer->getBufferCL())};
 
-		b3LauncherCL launcher( m_commandQueue, m_blockSumKernel ,"m_blockSumKernel");
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( constBuffer );
-		launcher.launch1D( BLOCK_SIZE, BLOCK_SIZE );
+		b3LauncherCL launcher(m_commandQueue, m_blockSumKernel, "m_blockSumKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D(BLOCK_SIZE, BLOCK_SIZE);
 	}
-	
 
-	if( numBlocks > 1 )
+	if (numBlocks > 1)
 	{
-		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
-		b3LauncherCL launcher( m_commandQueue, m_propagationKernel ,"m_propagationKernel");
-		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-		launcher.setConst( constBuffer );
-		launcher.launch1D( (numBlocks-1)*BLOCK_SIZE, BLOCK_SIZE );
+		b3BufferInfoCL bInfo[] = {b3BufferInfoCL(dstNative->getBufferCL()), b3BufferInfoCL(m_workBuffer->getBufferCL())};
+		b3LauncherCL launcher(m_commandQueue, m_propagationKernel, "m_propagationKernel");
+		launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+		launcher.setConst(constBuffer);
+		launcher.launch1D((numBlocks - 1) * BLOCK_SIZE, BLOCK_SIZE);
 	}
 
-
-	if( sum )
+	if (sum)
 	{
 		clFinish(m_commandQueue);
-		dstNative->copyToHostPointer(sum,1,n-1,true);
+		dstNative->copyToHostPointer(sum, 1, n - 1, true);
 	}
-
 }
 
-
 void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum)
 {
-	b3Vector3 s=b3MakeVector3(0,0,0);
+	b3Vector3 s = b3MakeVector3(0, 0, 0);
 	//if( data->m_option == EXCLUSIVE )
 	{
-		for(int i=0; i<n; i++)
+		for (int i = 0; i < n; i++)
 		{
 			dst[i] = s;
 			s += src[i];
@@ -119,8 +113,8 @@ void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3A
 	}
 	*/
 
-	if( sum )
+	if (sum)
 	{
-		*sum = dst[n-1];
+		*sum = dst[n - 1];
 	}
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
index 2c8003c1bb..122b0bfd68 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h
@@ -14,9 +14,9 @@ class b3PrefixScanFloat4CL
 		BLOCK_SIZE = 128
 	};
 
-//	Option m_option;
+	//	Option m_option;
 
-	cl_command_queue	m_commandQueue;
+	cl_command_queue m_commandQueue;
 
 	cl_kernel m_localScanKernel;
 	cl_kernel m_blockSumKernel;
@@ -24,10 +24,8 @@ class b3PrefixScanFloat4CL
 
 	b3OpenCLArray<b3Vector3>* m_workBuffer;
 
-
-	public:
-		
-	b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue,int size=0);
+public:
+	b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size = 0);
 
 	virtual ~b3PrefixScanFloat4CL();
 
@@ -35,4 +33,4 @@ class b3PrefixScanFloat4CL
 	void executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum);
 };
 
-#endif //B3_PREFIX_SCAN_CL_H
+#endif  //B3_PREFIX_SCAN_CL_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
index f11ae4bcdb..e86af6583f 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp
@@ -10,21 +10,20 @@
 #include "kernels/RadixSort32KernelsCL.h"
 
 b3RadixSort32CL::b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity)
-:m_commandQueue(queue)
+	: m_commandQueue(queue)
 {
 	b3OpenCLDeviceInfo info;
-	b3OpenCLUtils::getDeviceInfo(device,&info);
-	m_deviceCPU = (info.m_deviceType & CL_DEVICE_TYPE_CPU)!=0;
+	b3OpenCLUtils::getDeviceInfo(device, &info);
+	m_deviceCPU = (info.m_deviceType & CL_DEVICE_TYPE_CPU) != 0;
 
-	m_workBuffer1 = new b3OpenCLArray<unsigned int>(ctx,queue);
-	m_workBuffer2 = new b3OpenCLArray<unsigned int>(ctx,queue);
-	m_workBuffer3 = new b3OpenCLArray<b3SortData>(ctx,queue);
-	m_workBuffer3a = new b3OpenCLArray<unsigned int>(ctx,queue);
-	m_workBuffer4 = new b3OpenCLArray<b3SortData>(ctx,queue);
-	m_workBuffer4a = new b3OpenCLArray<unsigned int>(ctx,queue);
+	m_workBuffer1 = new b3OpenCLArray<unsigned int>(ctx, queue);
+	m_workBuffer2 = new b3OpenCLArray<unsigned int>(ctx, queue);
+	m_workBuffer3 = new b3OpenCLArray<b3SortData>(ctx, queue);
+	m_workBuffer3a = new b3OpenCLArray<unsigned int>(ctx, queue);
+	m_workBuffer4 = new b3OpenCLArray<b3SortData>(ctx, queue);
+	m_workBuffer4a = new b3OpenCLArray<unsigned int>(ctx, queue);
 
-
-	if (initialCapacity>0)
+	if (initialCapacity > 0)
 	{
 		m_workBuffer1->resize(initialCapacity);
 		m_workBuffer3->resize(initialCapacity);
@@ -33,45 +32,40 @@ b3RadixSort32CL::b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command
 		m_workBuffer4a->resize(initialCapacity);
 	}
 
-	m_scan = new b3PrefixScanCL(ctx,device,queue);
-	m_fill = new b3FillCL(ctx,device,queue);
-	
+	m_scan = new b3PrefixScanCL(ctx, device, queue);
+	m_fill = new b3FillCL(ctx, device, queue);
+
 	const char* additionalMacros = "";
 
 	cl_int pErrNum;
 	const char* kernelSource = radixSort32KernelsCL;
-	
-	cl_program sortProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, kernelSource, &pErrNum,additionalMacros, RADIXSORT32_PATH);
-	b3Assert(sortProg);
 
-	m_streamCountSortDataKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "StreamCountSortDataKernel", &pErrNum, sortProg,additionalMacros );
-	b3Assert(m_streamCountSortDataKernel );
+	cl_program sortProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, kernelSource, &pErrNum, additionalMacros, RADIXSORT32_PATH);
+	b3Assert(sortProg);
 
+	m_streamCountSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "StreamCountSortDataKernel", &pErrNum, sortProg, additionalMacros);
+	b3Assert(m_streamCountSortDataKernel);
 
-	
-	m_streamCountKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "StreamCountKernel", &pErrNum, sortProg,additionalMacros );
+	m_streamCountKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "StreamCountKernel", &pErrNum, sortProg, additionalMacros);
 	b3Assert(m_streamCountKernel);
 
-
-	
 	if (m_deviceCPU)
 	{
-		
-		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SortAndScatterSortDataKernelSerial", &pErrNum, sortProg,additionalMacros );
+		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterSortDataKernelSerial", &pErrNum, sortProg, additionalMacros);
 		b3Assert(m_sortAndScatterSortDataKernel);
-		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SortAndScatterKernelSerial", &pErrNum, sortProg,additionalMacros );
+		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterKernelSerial", &pErrNum, sortProg, additionalMacros);
 		b3Assert(m_sortAndScatterKernel);
-	} else
+	}
+	else
 	{
-		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SortAndScatterSortDataKernel", &pErrNum, sortProg,additionalMacros );
+		m_sortAndScatterSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterSortDataKernel", &pErrNum, sortProg, additionalMacros);
 		b3Assert(m_sortAndScatterSortDataKernel);
-		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "SortAndScatterKernel", &pErrNum, sortProg,additionalMacros );
+		m_sortAndScatterKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "SortAndScatterKernel", &pErrNum, sortProg, additionalMacros);
 		b3Assert(m_sortAndScatterKernel);
 	}
-		
-	m_prefixScanKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, kernelSource, "PrefixScanKernel", &pErrNum, sortProg,additionalMacros );
+
+	m_prefixScanKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, kernelSource, "PrefixScanKernel", &pErrNum, sortProg, additionalMacros);
 	b3Assert(m_prefixScanKernel);
-		
 }
 
 b3RadixSort32CL::~b3RadixSort32CL()
@@ -96,8 +90,7 @@ void b3RadixSort32CL::executeHost(b3AlignedObjectArray<b3SortData>& inout, int s
 {
 	int n = inout.size();
 	const int BITS_PER_PASS = 8;
-	const int NUM_TABLES = (1<<BITS_PER_PASS);
-
+	const int NUM_TABLES = (1 << BITS_PER_PASS);
 
 	int tables[NUM_TABLES];
 	int counter[NUM_TABLES];
@@ -107,34 +100,33 @@ void b3RadixSort32CL::executeHost(b3AlignedObjectArray<b3SortData>& inout, int s
 	workbuffer.resize(inout.size());
 	b3SortData* dst = &workbuffer[0];
 
-	int count=0;
-	for(int startBit=0; startBit<sortBits; startBit+=BITS_PER_PASS)
+	int count = 0;
+	for (int startBit = 0; startBit < sortBits; startBit += BITS_PER_PASS)
 	{
-		for(int i=0; i<NUM_TABLES; i++)
+		for (int i = 0; i < NUM_TABLES; i++)
 		{
 			tables[i] = 0;
 		}
 
-		for(int i=0; i<n; i++)
+		for (int i = 0; i < n; i++)
 		{
-			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES-1);
+			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES - 1);
 			tables[tableIdx]++;
 		}
 //#define TEST
 #ifdef TEST
-		printf("histogram size=%d\n",NUM_TABLES);
-		for (int i=0;i<NUM_TABLES;i++)
+		printf("histogram size=%d\n", NUM_TABLES);
+		for (int i = 0; i < NUM_TABLES; i++)
 		{
-			if (tables[i]!=0)
+			if (tables[i] != 0)
 			{
-				printf("tables[%d]=%d]\n",i,tables[i]);
+				printf("tables[%d]=%d]\n", i, tables[i]);
 			}
-
 		}
-#endif //TEST
-		//	prefix scan
+#endif  //TEST \
+	//	prefix scan
 		int sum = 0;
-		for(int i=0; i<NUM_TABLES; i++)
+		for (int i = 0; i < NUM_TABLES; i++)
 		{
 			int iData = tables[i];
 			tables[i] = sum;
@@ -143,71 +135,65 @@ void b3RadixSort32CL::executeHost(b3AlignedObjectArray<b3SortData>& inout, int s
 		}
 
 		//	distribute
-		for(int i=0; i<n; i++)
+		for (int i = 0; i < n; i++)
 		{
-			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES-1);
-			
+			int tableIdx = (src[i].m_key >> startBit) & (NUM_TABLES - 1);
+
 			dst[tables[tableIdx] + counter[tableIdx]] = src[i];
-			counter[tableIdx] ++;
+			counter[tableIdx]++;
 		}
 
-		b3Swap( src, dst );
+		b3Swap(src, dst);
 		count++;
 	}
 
-	if (count&1)
+	if (count & 1)
 	{
-		b3Assert(0);//need to copy 
-
+		b3Assert(0);  //need to copy
 	}
 }
 
 void b3RadixSort32CL::executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
 {
-
 	b3AlignedObjectArray<b3SortData> inout;
 	keyValuesInOut.copyToHost(inout);
 
-	executeHost(inout,sortBits);
+	executeHost(inout, sortBits);
 
 	keyValuesInOut.copyFromHost(inout);
 }
 
-void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn, 
-								b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits)
+void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn,
+							  b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits)
 {
-
 }
 
 //#define DEBUG_RADIXSORT
 //#define DEBUG_RADIXSORT2
 
-
 void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits /* = 32 */)
 {
-	
 	int originalSize = keyValuesInOut.size();
 	int workingSize = originalSize;
-	
-			
+
 	int dataAlignment = DATA_ALIGNMENT;
 
 #ifdef DEBUG_RADIXSORT2
-    b3AlignedObjectArray<b3SortData>   test2;
-    keyValuesInOut.copyToHost(test2);
-    printf("numElem = %d\n",test2.size());
-    for (int i=0;i<test2.size();i++)
-    {
-        printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
-        printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
-    }
-#endif //DEBUG_RADIXSORT2
-    
+	b3AlignedObjectArray<b3SortData> test2;
+	keyValuesInOut.copyToHost(test2);
+	printf("numElem = %d\n", test2.size());
+	for (int i = 0; i < test2.size(); i++)
+	{
+		printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
+		printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
+	}
+#endif  //DEBUG_RADIXSORT2
+
 	b3OpenCLArray<b3SortData>* src = 0;
 
-	if (workingSize%dataAlignment)
+	if (workingSize % dataAlignment)
 	{
-		workingSize += dataAlignment-(workingSize%dataAlignment);
+		workingSize += dataAlignment - (workingSize % dataAlignment);
 		m_workBuffer4->copyFromOpenCLArray(keyValuesInOut);
 		m_workBuffer4->resize(workingSize);
 		b3SortData fillValue;
@@ -216,327 +202,301 @@ void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sor
 
 #define USE_BTFILL
 #ifdef USE_BTFILL
-		m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4,(b3Int2&)fillValue,workingSize-originalSize,originalSize);
+		m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4, (b3Int2&)fillValue, workingSize - originalSize, originalSize);
 #else
 		//fill the remaining bits (very slow way, todo: fill on GPU/OpenCL side)
-		
-		for (int i=originalSize; i<workingSize;i++)
+
+		for (int i = originalSize; i < workingSize; i++)
 		{
-			m_workBuffer4->copyFromHostPointer(&fillValue,1,i);
+			m_workBuffer4->copyFromHostPointer(&fillValue, 1, i);
 		}
-#endif//USE_BTFILL
+#endif  //USE_BTFILL
 
 		src = m_workBuffer4;
-	} else
+	}
+	else
 	{
 		src = &keyValuesInOut;
 		m_workBuffer4->resize(0);
 	}
-		
-	b3Assert( workingSize%DATA_ALIGNMENT == 0 );
-	int minCap = NUM_BUCKET*NUM_WGS;
 
+	b3Assert(workingSize % DATA_ALIGNMENT == 0);
+	int minCap = NUM_BUCKET * NUM_WGS;
 
 	int n = workingSize;
 
 	m_workBuffer1->resize(minCap);
 	m_workBuffer3->resize(workingSize);
-	
 
-//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
-	b3Assert( BITS_PER_PASS == 4 );
-	b3Assert( WG_SIZE == 64 );
-	b3Assert( (sortBits&0x3) == 0 );
+	//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
+	b3Assert(BITS_PER_PASS == 4);
+	b3Assert(WG_SIZE == 64);
+	b3Assert((sortBits & 0x3) == 0);
 
-	
-	
 	b3OpenCLArray<b3SortData>* dst = m_workBuffer3;
 
 	b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
 	b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
 
-
 	int nWGs = NUM_WGS;
 	b3ConstData cdata;
 
 	{
-        int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;//set at 256
-     	int nBlocks = (n+blockSize-1)/(blockSize);
+		int blockSize = ELEMENTS_PER_WORK_ITEM * WG_SIZE;  //set at 256
+		int nBlocks = (n + blockSize - 1) / (blockSize);
 		cdata.m_n = n;
 		cdata.m_nWGs = NUM_WGS;
 		cdata.m_startBit = 0;
-		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1)/cdata.m_nWGs;
-		if( nBlocks < NUM_WGS )
+		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1) / cdata.m_nWGs;
+		if (nBlocks < NUM_WGS)
 		{
 			cdata.m_nBlocksPerWG = 1;
 			nWGs = nBlocks;
 		}
 	}
 
-	int count=0;
-	for(int ib=0; ib<sortBits; ib+=4)
+	int count = 0;
+	for (int ib = 0; ib < sortBits; ib += 4)
 	{
 #ifdef DEBUG_RADIXSORT2
-        keyValuesInOut.copyToHost(test2);
-        printf("numElem = %d\n",test2.size());
-        for (int i=0;i<test2.size();i++)
-        {
-            if (test2[i].m_key != test2[i].m_value)
-            {
-                printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
-                printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
-            }
-        }
-#endif //DEBUG_RADIXSORT2
-        
+		keyValuesInOut.copyToHost(test2);
+		printf("numElem = %d\n", test2.size());
+		for (int i = 0; i < test2.size(); i++)
+		{
+			if (test2[i].m_key != test2[i].m_value)
+			{
+				printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
+				printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
+			}
+		}
+#endif  //DEBUG_RADIXSORT2
+
 		cdata.m_startBit = ib;
-		
+
 		if (src->size())
 		{
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( srcHisto->getBufferCL() ) };
-			b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel,"m_streamCountSortDataKernel");
-
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			
-			int num = NUM_WGS*WG_SIZE;
-			launcher.launch1D( num, WG_SIZE );
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(srcHisto->getBufferCL())};
+			b3LauncherCL launcher(m_commandQueue, m_streamCountSortDataKernel, "m_streamCountSortDataKernel");
+
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(cdata);
+
+			int num = NUM_WGS * WG_SIZE;
+			launcher.launch1D(num, WG_SIZE);
 		}
 
-        
-        
 #ifdef DEBUG_RADIXSORT
 		b3AlignedObjectArray<unsigned int> testHist;
 		srcHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n",ib, testHist.size());
-		for (int i=0;i<testHist.size();i++)
+		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
+		for (int i = 0; i < testHist.size(); i++)
 		{
-			if (testHist[i]!=0)
-				printf("testHist[%d]=%d\n",i,testHist[i]);
+			if (testHist[i] != 0)
+				printf("testHist[%d]=%d\n", i, testHist[i]);
 		}
-#endif //DEBUG_RADIXSORT
-	
-	
+#endif  //DEBUG_RADIXSORT
 
 //fast prefix scan is not working properly on Mac OSX yet
 #ifdef __APPLE__
-	bool fastScan=false;
+		bool fastScan = false;
 #else
-	bool fastScan=!m_deviceCPU;//only use fast scan on GPU
+		bool fastScan = !m_deviceCPU;  //only use fast scan on GPU
 #endif
 
 		if (fastScan)
-		{//	prefix scan group histogram
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( srcHisto->getBufferCL() ) };
-			b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel,"m_prefixScanKernel" );
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			launcher.launch1D( 128, 128 );
+		{  //	prefix scan group histogram
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(srcHisto->getBufferCL())};
+			b3LauncherCL launcher(m_commandQueue, m_prefixScanKernel, "m_prefixScanKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(cdata);
+			launcher.launch1D(128, 128);
 			destHisto = srcHisto;
-		}else
+		}
+		else
 		{
 			//unsigned int sum; //for debugging
-            m_scan->execute(*srcHisto,*destHisto,1920,0);//,&sum);
+			m_scan->execute(*srcHisto, *destHisto, 1920, 0);  //,&sum);
 		}
 
-
 #ifdef DEBUG_RADIXSORT
 		destHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n",ib, testHist.size());
-		for (int i=0;i<testHist.size();i++)
+		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
+		for (int i = 0; i < testHist.size(); i++)
 		{
-			if (testHist[i]!=0)
-				printf("testHist[%d]=%d\n",i,testHist[i]);
+			if (testHist[i] != 0)
+				printf("testHist[%d]=%d\n", i, testHist[i]);
 		}
-        
-        for (int i=0;i<testHist.size();i+=NUM_WGS)
+
+		for (int i = 0; i < testHist.size(); i += NUM_WGS)
 		{
-				printf("testHist[%d]=%d\n",i/NUM_WGS,testHist[i]);
+			printf("testHist[%d]=%d\n", i / NUM_WGS, testHist[i]);
 		}
 
-#endif //DEBUG_RADIXSORT
+#endif  //DEBUG_RADIXSORT
 
 #define USE_GPU
 #ifdef USE_GPU
-        
+
 		if (src->size())
-		{//	local sort and distribute
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( destHisto->getBufferCL(), true ), b3BufferInfoCL( dst->getBufferCL() )};
-			b3LauncherCL launcher( m_commandQueue, m_sortAndScatterSortDataKernel,"m_sortAndScatterSortDataKernel" );
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			launcher.launch1D( nWGs*WG_SIZE, WG_SIZE );
-            
+		{  //	local sort and distribute
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(destHisto->getBufferCL(), true), b3BufferInfoCL(dst->getBufferCL())};
+			b3LauncherCL launcher(m_commandQueue, m_sortAndScatterSortDataKernel, "m_sortAndScatterSortDataKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(cdata);
+			launcher.launch1D(nWGs * WG_SIZE, WG_SIZE);
 		}
 #else
-        {
+		{
 #define NUM_TABLES 16
 //#define SEQUENTIAL
 #ifdef SEQUENTIAL
-            int counter2[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-            int tables[NUM_TABLES];
-            int startBit = ib;
-            
-            destHisto->copyToHost(testHist);
-            b3AlignedObjectArray<b3SortData> srcHost;
-            b3AlignedObjectArray<b3SortData> dstHost;
-            dstHost.resize(src->size());
-            
-            src->copyToHost(srcHost);
-            
-            for (int i=0;i<NUM_TABLES;i++)
-            {
-                tables[i] = testHist[i*NUM_WGS];
-            }
-            
-            //	distribute
-            for(int i=0; i<n; i++)
-            {
-                int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES-1);
-                
-                dstHost[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
-                counter2[tableIdx] ++;
-            }
-            
-            
+			int counter2[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+			int tables[NUM_TABLES];
+			int startBit = ib;
+
+			destHisto->copyToHost(testHist);
+			b3AlignedObjectArray<b3SortData> srcHost;
+			b3AlignedObjectArray<b3SortData> dstHost;
+			dstHost.resize(src->size());
+
+			src->copyToHost(srcHost);
+
+			for (int i = 0; i < NUM_TABLES; i++)
+			{
+				tables[i] = testHist[i * NUM_WGS];
+			}
+
+			//	distribute
+			for (int i = 0; i < n; i++)
+			{
+				int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
+
+				dstHost[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
+				counter2[tableIdx]++;
+			}
+
 #else
-          
-            int counter2[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-            
-            int tables[NUM_TABLES];
-             b3AlignedObjectArray<b3SortData> dstHostOK;
-            dstHostOK.resize(src->size());
-
-            destHisto->copyToHost(testHist);
-            b3AlignedObjectArray<b3SortData> srcHost;
-            src->copyToHost(srcHost);
-        
-            int blockSize = 256;
-            int nBlocksPerWG = cdata.m_nBlocksPerWG;
-            int startBit = ib;
-
-            {
-                for (int i=0;i<NUM_TABLES;i++)
-                {
-                    tables[i] = testHist[i*NUM_WGS];
-                }
-                
-                //	distribute
-                for(int i=0; i<n; i++)
-                {
-                    int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES-1);
-                    
-                    dstHostOK[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
-                    counter2[tableIdx] ++;
-                }
-
-            
-            }
-            
-            
-            b3AlignedObjectArray<b3SortData> dstHost;
-            dstHost.resize(src->size());
-            
-            
-            int counter[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-            
-            
-            
-            for (int wgIdx=0;wgIdx<NUM_WGS;wgIdx++)
-            {
-              int counter[NUM_TABLES]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-
-              int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;
-                
-              for(int iblock=0; iblock<b3Min(cdata.m_nBlocksPerWG, nBlocks); iblock++)
-              {
-                for (int lIdx = 0;lIdx < 64;lIdx++)
-                {
-                    int addr = iblock*blockSize + blockSize*cdata.m_nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;
-                    
-                    //	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
-                    //	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
-                    //	AMD: AtomInc performs better while NV prefers ++
-                    for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)
-                    {
-                        if( addr+j < n )
-                        {
-                          //  printf ("addr+j=%d\n", addr+j);
-                            
-                            int i = addr+j;
-                            
-                            int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES-1);
-                            
-                            int destIndex = testHist[tableIdx*NUM_WGS+wgIdx] + counter[tableIdx];
-                            
-                            b3SortData ok = dstHostOK[destIndex];
-                                                    
-                            if (ok.m_key != srcHost[i].m_key)
-                            {
-                                printf("ok.m_key = %d, srcHost[i].m_key = %d\n", ok.m_key,srcHost[i].m_key );
-                                printf("(ok.m_value = %d, srcHost[i].m_value = %d)\n", ok.m_value,srcHost[i].m_value );
-                            }
-                            if (ok.m_value != srcHost[i].m_value)
-                            {
-                                
-                               printf("ok.m_value = %d, srcHost[i].m_value = %d\n", ok.m_value,srcHost[i].m_value );
-                                printf("(ok.m_key = %d, srcHost[i].m_key = %d)\n", ok.m_key,srcHost[i].m_key );
-
-                            }
-                   
-                            dstHost[destIndex] = srcHost[i];
-                            counter[tableIdx] ++;
-                            
-                        }
-                    }
-                }
-              }
-            }
-            
-         
-#endif //SEQUENTIAL
-            
-            dst->copyFromHost(dstHost);
-        }
-#endif//USE_GPU
-        
-        
-        
+
+			int counter2[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+			int tables[NUM_TABLES];
+			b3AlignedObjectArray<b3SortData> dstHostOK;
+			dstHostOK.resize(src->size());
+
+			destHisto->copyToHost(testHist);
+			b3AlignedObjectArray<b3SortData> srcHost;
+			src->copyToHost(srcHost);
+
+			int blockSize = 256;
+			int nBlocksPerWG = cdata.m_nBlocksPerWG;
+			int startBit = ib;
+
+			{
+				for (int i = 0; i < NUM_TABLES; i++)
+				{
+					tables[i] = testHist[i * NUM_WGS];
+				}
+
+				//	distribute
+				for (int i = 0; i < n; i++)
+				{
+					int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
+
+					dstHostOK[tables[tableIdx] + counter2[tableIdx]] = srcHost[i];
+					counter2[tableIdx]++;
+				}
+			}
+
+			b3AlignedObjectArray<b3SortData> dstHost;
+			dstHost.resize(src->size());
+
+			int counter[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+			for (int wgIdx = 0; wgIdx < NUM_WGS; wgIdx++)
+			{
+				int counter[NUM_TABLES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+				int nBlocks = (n) / blockSize - nBlocksPerWG * wgIdx;
+
+				for (int iblock = 0; iblock < b3Min(cdata.m_nBlocksPerWG, nBlocks); iblock++)
+				{
+					for (int lIdx = 0; lIdx < 64; lIdx++)
+					{
+						int addr = iblock * blockSize + blockSize * cdata.m_nBlocksPerWG * wgIdx + ELEMENTS_PER_WORK_ITEM * lIdx;
+
+						//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD
+						//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops
+						//	AMD: AtomInc performs better while NV prefers ++
+						for (int j = 0; j < ELEMENTS_PER_WORK_ITEM; j++)
+						{
+							if (addr + j < n)
+							{
+								//  printf ("addr+j=%d\n", addr+j);
+
+								int i = addr + j;
+
+								int tableIdx = (srcHost[i].m_key >> startBit) & (NUM_TABLES - 1);
+
+								int destIndex = testHist[tableIdx * NUM_WGS + wgIdx] + counter[tableIdx];
+
+								b3SortData ok = dstHostOK[destIndex];
+
+								if (ok.m_key != srcHost[i].m_key)
+								{
+									printf("ok.m_key = %d, srcHost[i].m_key = %d\n", ok.m_key, srcHost[i].m_key);
+									printf("(ok.m_value = %d, srcHost[i].m_value = %d)\n", ok.m_value, srcHost[i].m_value);
+								}
+								if (ok.m_value != srcHost[i].m_value)
+								{
+									printf("ok.m_value = %d, srcHost[i].m_value = %d\n", ok.m_value, srcHost[i].m_value);
+									printf("(ok.m_key = %d, srcHost[i].m_key = %d)\n", ok.m_key, srcHost[i].m_key);
+								}
+
+								dstHost[destIndex] = srcHost[i];
+								counter[tableIdx]++;
+							}
+						}
+					}
+				}
+			}
+
+#endif  //SEQUENTIAL
+
+			dst->copyFromHost(dstHost);
+		}
+#endif  //USE_GPU
+
 #ifdef DEBUG_RADIXSORT
 		destHisto->copyToHost(testHist);
-		printf("ib = %d, testHist size = %d, non zero elements:\n",ib, testHist.size());
-		for (int i=0;i<testHist.size();i++)
+		printf("ib = %d, testHist size = %d, non zero elements:\n", ib, testHist.size());
+		for (int i = 0; i < testHist.size(); i++)
 		{
-			if (testHist[i]!=0)
-				printf("testHist[%d]=%d\n",i,testHist[i]);
+			if (testHist[i] != 0)
+				printf("testHist[%d]=%d\n", i, testHist[i]);
 		}
-#endif //DEBUG_RADIXSORT
-		b3Swap(src, dst );
-		b3Swap(srcHisto,destHisto);
+#endif  //DEBUG_RADIXSORT
+		b3Swap(src, dst);
+		b3Swap(srcHisto, destHisto);
 
 #ifdef DEBUG_RADIXSORT2
-        keyValuesInOut.copyToHost(test2);
-        printf("numElem = %d\n",test2.size());
-        for (int i=0;i<test2.size();i++)
-        {
-            if (test2[i].m_key != test2[i].m_value)
-            {
-                printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
-                printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
-            }
-        }
-#endif //DEBUG_RADIXSORT2
-        
-        count++;
-                
-        
+		keyValuesInOut.copyToHost(test2);
+		printf("numElem = %d\n", test2.size());
+		for (int i = 0; i < test2.size(); i++)
+		{
+			if (test2[i].m_key != test2[i].m_value)
+			{
+				printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
+				printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
+			}
+		}
+#endif  //DEBUG_RADIXSORT2
+
+		count++;
 	}
-	
-   
-    
-	if (count&1)
+
+	if (count & 1)
 	{
-		b3Assert(0);//need to copy from workbuffer to keyValuesInOut
+		b3Assert(0);  //need to copy from workbuffer to keyValuesInOut
 	}
 
 	if (m_workBuffer4->size())
@@ -545,153 +505,137 @@ void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sor
 		keyValuesInOut.copyFromOpenCLArray(*m_workBuffer4);
 	}
 
-
 #ifdef DEBUG_RADIXSORT
-    keyValuesInOut.copyToHost(test2);
-   
-    printf("numElem = %d\n",test2.size());
-    for (int i=0;i<test2.size();i++)
-    {
-        printf("test2[%d].m_key=%d\n",i,test2[i].m_key);
-        printf("test2[%d].m_value=%d\n",i,test2[i].m_value);
-    }
-#endif    
-	
-}
-
-
-
-
+	keyValuesInOut.copyToHost(test2);
 
+	printf("numElem = %d\n", test2.size());
+	for (int i = 0; i < test2.size(); i++)
+	{
+		printf("test2[%d].m_key=%d\n", i, test2[i].m_key);
+		printf("test2[%d].m_value=%d\n", i, test2[i].m_value);
+	}
+#endif
+}
 
 void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits /* = 32 */)
 {
 	int originalSize = keysInOut.size();
 	int workingSize = originalSize;
-	
-			
+
 	int dataAlignment = DATA_ALIGNMENT;
 
 	b3OpenCLArray<unsigned int>* src = 0;
 
-	if (workingSize%dataAlignment)
+	if (workingSize % dataAlignment)
 	{
-		workingSize += dataAlignment-(workingSize%dataAlignment);
+		workingSize += dataAlignment - (workingSize % dataAlignment);
 		m_workBuffer4a->copyFromOpenCLArray(keysInOut);
 		m_workBuffer4a->resize(workingSize);
 		unsigned int fillValue = 0xffffffff;
-		
-		m_fill->execute(*m_workBuffer4a,fillValue,workingSize-originalSize,originalSize);
+
+		m_fill->execute(*m_workBuffer4a, fillValue, workingSize - originalSize, originalSize);
 
 		src = m_workBuffer4a;
-	} else
+	}
+	else
 	{
 		src = &keysInOut;
 		m_workBuffer4a->resize(0);
 	}
-	
-	
-
-	b3Assert( workingSize%DATA_ALIGNMENT == 0 );
-	int minCap = NUM_BUCKET*NUM_WGS;
 
+	b3Assert(workingSize % DATA_ALIGNMENT == 0);
+	int minCap = NUM_BUCKET * NUM_WGS;
 
 	int n = workingSize;
 
-	
 	m_workBuffer1->resize(minCap);
 	m_workBuffer3->resize(workingSize);
 	m_workBuffer3a->resize(workingSize);
 
-//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
-	b3Assert( BITS_PER_PASS == 4 );
-	b3Assert( WG_SIZE == 64 );
-	b3Assert( (sortBits&0x3) == 0 );
+	//	ADLASSERT( ELEMENTS_PER_WORK_ITEM == 4 );
+	b3Assert(BITS_PER_PASS == 4);
+	b3Assert(WG_SIZE == 64);
+	b3Assert((sortBits & 0x3) == 0);
 
-	
-	
 	b3OpenCLArray<unsigned int>* dst = m_workBuffer3a;
 
 	b3OpenCLArray<unsigned int>* srcHisto = m_workBuffer1;
 	b3OpenCLArray<unsigned int>* destHisto = m_workBuffer2;
 
-
 	int nWGs = NUM_WGS;
 	b3ConstData cdata;
 
 	{
-        int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;//set at 256
-     	int nBlocks = (n+blockSize-1)/(blockSize);
+		int blockSize = ELEMENTS_PER_WORK_ITEM * WG_SIZE;  //set at 256
+		int nBlocks = (n + blockSize - 1) / (blockSize);
 		cdata.m_n = n;
 		cdata.m_nWGs = NUM_WGS;
 		cdata.m_startBit = 0;
-		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1)/cdata.m_nWGs;
-		if( nBlocks < NUM_WGS )
+		cdata.m_nBlocksPerWG = (nBlocks + cdata.m_nWGs - 1) / cdata.m_nWGs;
+		if (nBlocks < NUM_WGS)
 		{
 			cdata.m_nBlocksPerWG = 1;
 			nWGs = nBlocks;
 		}
 	}
 
-	int count=0;
-	for(int ib=0; ib<sortBits; ib+=4)
+	int count = 0;
+	for (int ib = 0; ib < sortBits; ib += 4)
 	{
 		cdata.m_startBit = ib;
-		
+
 		if (src->size())
 		{
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( srcHisto->getBufferCL() ) };
-			b3LauncherCL launcher(m_commandQueue, m_streamCountKernel,"m_streamCountKernel");
-
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			
-			int num = NUM_WGS*WG_SIZE;
-			launcher.launch1D( num, WG_SIZE );
-		}
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(srcHisto->getBufferCL())};
+			b3LauncherCL launcher(m_commandQueue, m_streamCountKernel, "m_streamCountKernel");
+
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(cdata);
 
-        
+			int num = NUM_WGS * WG_SIZE;
+			launcher.launch1D(num, WG_SIZE);
+		}
 
 //fast prefix scan is not working properly on Mac OSX yet
 #ifdef __APPLE__
-	bool fastScan=false;	
+		bool fastScan = false;
 #else
-	bool fastScan=!m_deviceCPU;
+		bool fastScan = !m_deviceCPU;
 #endif
 
 		if (fastScan)
-		{//	prefix scan group histogram
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( srcHisto->getBufferCL() ) };
-			b3LauncherCL launcher( m_commandQueue, m_prefixScanKernel,"m_prefixScanKernel" );
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			launcher.launch1D( 128, 128 );
+		{  //	prefix scan group histogram
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(srcHisto->getBufferCL())};
+			b3LauncherCL launcher(m_commandQueue, m_prefixScanKernel, "m_prefixScanKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(cdata);
+			launcher.launch1D(128, 128);
 			destHisto = srcHisto;
-		}else
+		}
+		else
 		{
 			//unsigned int sum; //for debugging
-            m_scan->execute(*srcHisto,*destHisto,1920,0);//,&sum);
+			m_scan->execute(*srcHisto, *destHisto, 1920, 0);  //,&sum);
 		}
 
 		if (src->size())
-		{//	local sort and distribute
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( src->getBufferCL(), true ), b3BufferInfoCL( destHisto->getBufferCL(), true ), b3BufferInfoCL( dst->getBufferCL() )};
-			b3LauncherCL launcher( m_commandQueue, m_sortAndScatterKernel ,"m_sortAndScatterKernel");
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-			launcher.setConst(  cdata );
-			launcher.launch1D( nWGs*WG_SIZE, WG_SIZE );
-            
+		{  //	local sort and distribute
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(src->getBufferCL(), true), b3BufferInfoCL(destHisto->getBufferCL(), true), b3BufferInfoCL(dst->getBufferCL())};
+			b3LauncherCL launcher(m_commandQueue, m_sortAndScatterKernel, "m_sortAndScatterKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+			launcher.setConst(cdata);
+			launcher.launch1D(nWGs * WG_SIZE, WG_SIZE);
 		}
-        
-		b3Swap(src, dst );
-		b3Swap(srcHisto,destHisto);
 
-        count++;
+		b3Swap(src, dst);
+		b3Swap(srcHisto, destHisto);
+
+		count++;
 	}
-    
-	if (count&1)
+
+	if (count & 1)
 	{
-		b3Assert(0);//need to copy from workbuffer to keyValuesInOut
+		b3Assert(0);  //need to copy from workbuffer to keyValuesInOut
 	}
 
 	if (m_workBuffer4a->size())
@@ -699,12 +643,4 @@ void b3RadixSort32CL::execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBi
 		m_workBuffer4a->resize(originalSize);
 		keysInOut.copyFromOpenCLArray(*m_workBuffer4a);
 	}
-	
 }
-
-
-
-
-
-
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
index 975bd80e53..69caf182d7 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h
@@ -6,90 +6,79 @@
 
 struct b3SortData
 {
-	union
-	{
+	union {
 		unsigned int m_key;
 		unsigned int x;
 	};
 
-	union
-	{
+	union {
 		unsigned int m_value;
 		unsigned int y;
-		
 	};
 };
 #include "b3BufferInfoCL.h"
 
-class  b3RadixSort32CL
+class b3RadixSort32CL
 {
+	b3OpenCLArray<unsigned int>* m_workBuffer1;
+	b3OpenCLArray<unsigned int>* m_workBuffer2;
 
-		b3OpenCLArray<unsigned int>* m_workBuffer1;
-		b3OpenCLArray<unsigned int>* m_workBuffer2;
-		
-		b3OpenCLArray<b3SortData>*	m_workBuffer3;
-		b3OpenCLArray<b3SortData>*	m_workBuffer4;
-
-		b3OpenCLArray<unsigned int>* m_workBuffer3a;
-		b3OpenCLArray<unsigned int>* m_workBuffer4a;
+	b3OpenCLArray<b3SortData>* m_workBuffer3;
+	b3OpenCLArray<b3SortData>* m_workBuffer4;
 
-		cl_command_queue	m_commandQueue;
+	b3OpenCLArray<unsigned int>* m_workBuffer3a;
+	b3OpenCLArray<unsigned int>* m_workBuffer4a;
 
-		cl_kernel m_streamCountSortDataKernel;
-		cl_kernel m_streamCountKernel;
+	cl_command_queue m_commandQueue;
 
-		cl_kernel m_prefixScanKernel;
-		cl_kernel m_sortAndScatterSortDataKernel;
-		cl_kernel m_sortAndScatterKernel;
+	cl_kernel m_streamCountSortDataKernel;
+	cl_kernel m_streamCountKernel;
 
+	cl_kernel m_prefixScanKernel;
+	cl_kernel m_sortAndScatterSortDataKernel;
+	cl_kernel m_sortAndScatterKernel;
 
-		bool	m_deviceCPU;
+	bool m_deviceCPU;
 
-		class b3PrefixScanCL* m_scan;
-		class b3FillCL*	m_fill;
+	class b3PrefixScanCL* m_scan;
+	class b3FillCL* m_fill;
 
 public:
 	struct b3ConstData
-		{
-			int m_n;
-			int m_nWGs;
-			int m_startBit;
-			int m_nBlocksPerWG;
-		};
+	{
+		int m_n;
+		int m_nWGs;
+		int m_startBit;
+		int m_nBlocksPerWG;
+	};
 	enum
-		{
-			DATA_ALIGNMENT = 256,
-			WG_SIZE = 64,
-            BLOCK_SIZE = 256,
-			ELEMENTS_PER_WORK_ITEM = (BLOCK_SIZE/WG_SIZE),
-			BITS_PER_PASS = 4,
-			NUM_BUCKET=(1<<BITS_PER_PASS),
-			//	if you change this, change nPerWI in kernel as well
-			NUM_WGS = 20*6,	//	cypress
-//			NUM_WGS = 24*6,	//	cayman
-//			NUM_WGS = 32*4,	//	nv
-		};
-
+	{
+		DATA_ALIGNMENT = 256,
+		WG_SIZE = 64,
+		BLOCK_SIZE = 256,
+		ELEMENTS_PER_WORK_ITEM = (BLOCK_SIZE / WG_SIZE),
+		BITS_PER_PASS = 4,
+		NUM_BUCKET = (1 << BITS_PER_PASS),
+		//	if you change this, change nPerWI in kernel as well
+		NUM_WGS = 20 * 6,  //	cypress
+						   //			NUM_WGS = 24*6,	//	cayman
+						   //			NUM_WGS = 32*4,	//	nv
+	};
 
 private:
-		
-
 public:
+	b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity = 0);
 
-		b3RadixSort32CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int initialCapacity =0);
+	virtual ~b3RadixSort32CL();
 
-		virtual ~b3RadixSort32CL();
+	void execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn,
+				 b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits = 32);
 
-		void execute(b3OpenCLArray<unsigned int>& keysIn, b3OpenCLArray<unsigned int>& keysOut, b3OpenCLArray<unsigned int>& valuesIn, 
-								b3OpenCLArray<unsigned int>& valuesOut, int n, int sortBits = 32);
-
-		///keys only
-		void execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits  = 32 );
-
-		void execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits  = 32 );
-		void executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
-		void executeHost(b3AlignedObjectArray<b3SortData>& keyValuesInOut, int sortBits = 32);
+	///keys only
+	void execute(b3OpenCLArray<unsigned int>& keysInOut, int sortBits = 32);
 
+	void execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
+	void executeHost(b3OpenCLArray<b3SortData>& keyValuesInOut, int sortBits = 32);
+	void executeHost(b3AlignedObjectArray<b3SortData>& keyValuesInOut, int sortBits = 32);
 };
-#endif //B3_RADIXSORT32_H
-
+#endif  //B3_RADIXSORT32_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
index 9c9e847138..1758dd41e3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h
@@ -1,87 +1,86 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* boundSearchKernelsCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"typedef unsigned int u32;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"typedef struct\n"
-"{\n"
-"	u32 m_key; \n"
-"	u32 m_value;\n"
-"}SortData;\n"
-"typedef struct\n"
-"{\n"
-"	u32 m_nSrc;\n"
-"	u32 m_nDst;\n"
-"	u32 m_padding[2];\n"
-"} ConstBuffer;\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"__kernel\n"
-"void SearchSortDataLowerKernel(__global SortData* src, __global u32 *dst, \n"
-"					unsigned int nSrc, unsigned int nDst)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < nSrc )\n"
-"	{\n"
-"		SortData first; first.m_key = (u32)(-1); first.m_value = (u32)(-1);\n"
-"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
-"		SortData iData = (gIdx==0)? first: src[gIdx-1];\n"
-"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
-"		if( iData.m_key != jData.m_key )\n"
-"		{\n"
-"//			for(u32 k=iData.m_key+1; k<=min(jData.m_key, nDst-1); k++)\n"
-"			u32 k = jData.m_key;\n"
-"			{\n"
-"				dst[k] = gIdx;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"__kernel\n"
-"void SearchSortDataUpperKernel(__global SortData* src, __global u32 *dst, \n"
-"					unsigned int nSrc, unsigned int nDst)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX+1;\n"
-"	if( gIdx < nSrc+1 )\n"
-"	{\n"
-"		SortData first; first.m_key = 0; first.m_value = 0;\n"
-"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
-"		SortData iData = src[gIdx-1];\n"
-"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
-"		if( iData.m_key != jData.m_key )\n"
-"		{\n"
-"			u32 k = iData.m_key;\n"
-"			{\n"
-"				dst[k] = gIdx;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"__kernel\n"
-"void SubtractKernel(__global u32* A, __global u32 *B, __global u32 *C, \n"
-"					unsigned int nSrc, unsigned int nDst)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	\n"
-"	if( gIdx < nDst )\n"
-"	{\n"
-"		C[gIdx] = A[gIdx] - B[gIdx];\n"
-"	}\n"
-"}\n"
-;
+static const char* boundSearchKernelsCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"typedef unsigned int u32;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"typedef struct\n"
+	"{\n"
+	"	u32 m_key; \n"
+	"	u32 m_value;\n"
+	"}SortData;\n"
+	"typedef struct\n"
+	"{\n"
+	"	u32 m_nSrc;\n"
+	"	u32 m_nDst;\n"
+	"	u32 m_padding[2];\n"
+	"} ConstBuffer;\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"__kernel\n"
+	"void SearchSortDataLowerKernel(__global SortData* src, __global u32 *dst, \n"
+	"					unsigned int nSrc, unsigned int nDst)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < nSrc )\n"
+	"	{\n"
+	"		SortData first; first.m_key = (u32)(-1); first.m_value = (u32)(-1);\n"
+	"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
+	"		SortData iData = (gIdx==0)? first: src[gIdx-1];\n"
+	"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
+	"		if( iData.m_key != jData.m_key )\n"
+	"		{\n"
+	"//			for(u32 k=iData.m_key+1; k<=min(jData.m_key, nDst-1); k++)\n"
+	"			u32 k = jData.m_key;\n"
+	"			{\n"
+	"				dst[k] = gIdx;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"__kernel\n"
+	"void SearchSortDataUpperKernel(__global SortData* src, __global u32 *dst, \n"
+	"					unsigned int nSrc, unsigned int nDst)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX+1;\n"
+	"	if( gIdx < nSrc+1 )\n"
+	"	{\n"
+	"		SortData first; first.m_key = 0; first.m_value = 0;\n"
+	"		SortData end; end.m_key = nDst; end.m_value = nDst;\n"
+	"		SortData iData = src[gIdx-1];\n"
+	"		SortData jData = (gIdx==nSrc)? end: src[gIdx];\n"
+	"		if( iData.m_key != jData.m_key )\n"
+	"		{\n"
+	"			u32 k = iData.m_key;\n"
+	"			{\n"
+	"				dst[k] = gIdx;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"__kernel\n"
+	"void SubtractKernel(__global u32* A, __global u32 *B, __global u32 *C, \n"
+	"					unsigned int nSrc, unsigned int nDst)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	\n"
+	"	if( gIdx < nDst )\n"
+	"	{\n"
+	"		C[gIdx] = A[gIdx] - B[gIdx];\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
index e5670e3cd3..33c9279462 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/CopyKernelsCL.h
@@ -1,132 +1,131 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* copyKernelsCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"\n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"\n"
-"typedef unsigned int u32;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"\n"
-"#define make_uint4 (uint4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"\n"
-"typedef struct\n"
-"{\n"
-"	int m_n;\n"
-"	int m_padding[3];\n"
-"} ConstBuffer;\n"
-"\n"
-"\n"
-"\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void Copy1F4Kernel(__global float4* dst, __global float4* src, \n"
-"					ConstBuffer cb)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"\n"
-"	if( gIdx < cb.m_n )\n"
-"	{\n"
-"		float4 a0 = src[gIdx];\n"
-"\n"
-"		dst[ gIdx ] = a0;\n"
-"	}\n"
-"}\n"
-"\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void Copy2F4Kernel(__global float4* dst, __global float4* src, \n"
-"					ConstBuffer cb)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"\n"
-"	if( 2*gIdx <= cb.m_n )\n"
-"	{\n"
-"		float4 a0 = src[gIdx*2+0];\n"
-"		float4 a1 = src[gIdx*2+1];\n"
-"\n"
-"		dst[ gIdx*2+0 ] = a0;\n"
-"		dst[ gIdx*2+1 ] = a1;\n"
-"	}\n"
-"}\n"
-"\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void Copy4F4Kernel(__global float4* dst, __global float4* src, \n"
-"					ConstBuffer cb)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"\n"
-"	if( 4*gIdx <= cb.m_n )\n"
-"	{\n"
-"		int idx0 = gIdx*4+0;\n"
-"		int idx1 = gIdx*4+1;\n"
-"		int idx2 = gIdx*4+2;\n"
-"		int idx3 = gIdx*4+3;\n"
-"\n"
-"		float4 a0 = src[idx0];\n"
-"		float4 a1 = src[idx1];\n"
-"		float4 a2 = src[idx2];\n"
-"		float4 a3 = src[idx3];\n"
-"\n"
-"		dst[ idx0 ] = a0;\n"
-"		dst[ idx1 ] = a1;\n"
-"		dst[ idx2 ] = a2;\n"
-"		dst[ idx3 ] = a3;\n"
-"	}\n"
-"}\n"
-"\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void CopyF1Kernel(__global float* dstF1, __global float* srcF1, \n"
-"					ConstBuffer cb)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"\n"
-"	if( gIdx < cb.m_n )\n"
-"	{\n"
-"		float a0 = srcF1[gIdx];\n"
-"\n"
-"		dstF1[ gIdx ] = a0;\n"
-"	}\n"
-"}\n"
-"\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void CopyF2Kernel(__global float2* dstF2, __global float2* srcF2, \n"
-"					ConstBuffer cb)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"\n"
-"	if( gIdx < cb.m_n )\n"
-"	{\n"
-"		float2 a0 = srcF2[gIdx];\n"
-"\n"
-"		dstF2[ gIdx ] = a0;\n"
-"	}\n"
-"}\n"
-"\n"
-"\n"
-;
+static const char* copyKernelsCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"\n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"\n"
+	"typedef unsigned int u32;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_n;\n"
+	"	int m_padding[3];\n"
+	"} ConstBuffer;\n"
+	"\n"
+	"\n"
+	"\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void Copy1F4Kernel(__global float4* dst, __global float4* src, \n"
+	"					ConstBuffer cb)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"\n"
+	"	if( gIdx < cb.m_n )\n"
+	"	{\n"
+	"		float4 a0 = src[gIdx];\n"
+	"\n"
+	"		dst[ gIdx ] = a0;\n"
+	"	}\n"
+	"}\n"
+	"\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void Copy2F4Kernel(__global float4* dst, __global float4* src, \n"
+	"					ConstBuffer cb)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"\n"
+	"	if( 2*gIdx <= cb.m_n )\n"
+	"	{\n"
+	"		float4 a0 = src[gIdx*2+0];\n"
+	"		float4 a1 = src[gIdx*2+1];\n"
+	"\n"
+	"		dst[ gIdx*2+0 ] = a0;\n"
+	"		dst[ gIdx*2+1 ] = a1;\n"
+	"	}\n"
+	"}\n"
+	"\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void Copy4F4Kernel(__global float4* dst, __global float4* src, \n"
+	"					ConstBuffer cb)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"\n"
+	"	if( 4*gIdx <= cb.m_n )\n"
+	"	{\n"
+	"		int idx0 = gIdx*4+0;\n"
+	"		int idx1 = gIdx*4+1;\n"
+	"		int idx2 = gIdx*4+2;\n"
+	"		int idx3 = gIdx*4+3;\n"
+	"\n"
+	"		float4 a0 = src[idx0];\n"
+	"		float4 a1 = src[idx1];\n"
+	"		float4 a2 = src[idx2];\n"
+	"		float4 a3 = src[idx3];\n"
+	"\n"
+	"		dst[ idx0 ] = a0;\n"
+	"		dst[ idx1 ] = a1;\n"
+	"		dst[ idx2 ] = a2;\n"
+	"		dst[ idx3 ] = a3;\n"
+	"	}\n"
+	"}\n"
+	"\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void CopyF1Kernel(__global float* dstF1, __global float* srcF1, \n"
+	"					ConstBuffer cb)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"\n"
+	"	if( gIdx < cb.m_n )\n"
+	"	{\n"
+	"		float a0 = srcF1[gIdx];\n"
+	"\n"
+	"		dstF1[ gIdx ] = a0;\n"
+	"	}\n"
+	"}\n"
+	"\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void CopyF2Kernel(__global float2* dstF2, __global float2* srcF2, \n"
+	"					ConstBuffer cb)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"\n"
+	"	if( gIdx < cb.m_n )\n"
+	"	{\n"
+	"		float2 a0 = srcF2[gIdx];\n"
+	"\n"
+	"		dstF2[ gIdx ] = a0;\n"
+	"	}\n"
+	"}\n"
+	"\n"
+	"\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
index 4f8b96e489..983e652270 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h
@@ -1,91 +1,90 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* fillKernelsCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"typedef unsigned int u32;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define make_uint4 (uint4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"typedef struct\n"
-"{\n"
-"	union\n"
-"	{\n"
-"		int4 m_data;\n"
-"		uint4 m_unsignedData;\n"
-"		float	m_floatData;\n"
-"	};\n"
-"	int m_offset;\n"
-"	int m_n;\n"
-"	int m_padding[2];\n"
-"} ConstBuffer;\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void FillIntKernel(__global int* dstInt, 			int num_elements, int value, const int offset)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < num_elements )\n"
-"	{\n"
-"		dstInt[ offset+gIdx ] = value;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void FillFloatKernel(__global float* dstFloat, 	int num_elements, float value, const int offset)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < num_elements )\n"
-"	{\n"
-"		dstFloat[ offset+gIdx ] = value;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void FillUnsignedIntKernel(__global unsigned int* dstInt, const int num, const unsigned int value, const int offset)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < num )\n"
-"	{\n"
-"		dstInt[ offset+gIdx ] = value;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void FillInt2Kernel(__global int2* dstInt2, 	const int num, const int2 value, const int offset)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < num )\n"
-"	{\n"
-"		dstInt2[ gIdx + offset] = make_int2( value.x, value.y );\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(64,1,1)))\n"
-"void FillInt4Kernel(__global int4* dstInt4, 		const int num, const int4 value, const int offset)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < num )\n"
-"	{\n"
-"		dstInt4[ offset+gIdx ] = value;\n"
-"	}\n"
-"}\n"
-;
+static const char* fillKernelsCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"typedef unsigned int u32;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"typedef struct\n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		int4 m_data;\n"
+	"		uint4 m_unsignedData;\n"
+	"		float	m_floatData;\n"
+	"	};\n"
+	"	int m_offset;\n"
+	"	int m_n;\n"
+	"	int m_padding[2];\n"
+	"} ConstBuffer;\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void FillIntKernel(__global int* dstInt, 			int num_elements, int value, const int offset)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < num_elements )\n"
+	"	{\n"
+	"		dstInt[ offset+gIdx ] = value;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void FillFloatKernel(__global float* dstFloat, 	int num_elements, float value, const int offset)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < num_elements )\n"
+	"	{\n"
+	"		dstFloat[ offset+gIdx ] = value;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void FillUnsignedIntKernel(__global unsigned int* dstInt, const int num, const unsigned int value, const int offset)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < num )\n"
+	"	{\n"
+	"		dstInt[ offset+gIdx ] = value;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void FillInt2Kernel(__global int2* dstInt2, 	const int num, const int2 value, const int offset)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < num )\n"
+	"	{\n"
+	"		dstInt2[ gIdx + offset] = make_int2( value.x, value.y );\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"void FillInt4Kernel(__global int4* dstInt4, 		const int num, const int4 value, const int offset)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < num )\n"
+	"	{\n"
+	"		dstInt4[ offset+gIdx ] = value;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
index 27baab8331..fc5e7b865c 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h
@@ -1,129 +1,128 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* prefixScanKernelsCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"typedef unsigned int u32;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"// takahiro end\n"
-"#define WG_SIZE 128 \n"
-"#define m_numElems x\n"
-"#define m_numBlocks y\n"
-"#define m_numScanBlocks z\n"
-"/*typedef struct\n"
-"{\n"
-"	uint m_numElems;\n"
-"	uint m_numBlocks;\n"
-"	uint m_numScanBlocks;\n"
-"	uint m_padding[1];\n"
-"} ConstBuffer;\n"
-"*/\n"
-"u32 ScanExclusive(__local u32* data, u32 n, int lIdx, int lSize)\n"
-"{\n"
-"	u32 blocksum;\n"
-"    int offset = 1;\n"
-"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
-"    {\n"
-"        GROUP_LDS_BARRIER;\n"
-"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
-"        {\n"
-"            int ai = offset*(2*iIdx+1)-1;\n"
-"            int bi = offset*(2*iIdx+2)-1;\n"
-"            data[bi] += data[ai];\n"
-"        }\n"
-"	}\n"
-"    GROUP_LDS_BARRIER;\n"
-"    if( lIdx == 0 )\n"
-"	{\n"
-"		blocksum = data[ n-1 ];\n"
-"        data[ n-1 ] = 0;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	offset >>= 1;\n"
-"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
-"    {\n"
-"        GROUP_LDS_BARRIER;\n"
-"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
-"        {\n"
-"            int ai = offset*(2*iIdx+1)-1;\n"
-"            int bi = offset*(2*iIdx+2)-1;\n"
-"            u32 temp = data[ai];\n"
-"            data[ai] = data[bi];\n"
-"            data[bi] += temp;\n"
-"        }\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	return blocksum;\n"
-"}\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"__kernel\n"
-"void LocalScanKernel(__global u32* dst, __global u32 *src, __global u32 *sumBuffer,\n"
-"		uint4 cb)\n"
-"{\n"
-"	__local u32 ldsData[WG_SIZE*2];\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
-"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
-"	u32 sum = ScanExclusive(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-"	if( lIdx == 0 ) sumBuffer[GET_GROUP_IDX] = sum;\n"
-"	if( (2*gIdx) < cb.m_numElems )\n"
-"    {\n"
-"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
-"	}\n"
-"	if( (2*gIdx + 1) < cb.m_numElems )\n"
-"	{\n"
-"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
-"    }\n"
-"}\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"__kernel\n"
-"void AddOffsetKernel(__global u32 *dst, __global u32 *blockSum, uint4 cb)\n"
-"{\n"
-"	const u32 blockSize = WG_SIZE*2;\n"
-"	int myIdx = GET_GROUP_IDX+1;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	u32 iBlockSum = blockSum[myIdx];\n"
-"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
-"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
-"	{\n"
-"		dst[i] += iBlockSum;\n"
-"	}\n"
-"}\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"__kernel\n"
-"void TopLevelScanKernel(__global u32* dst, uint4 cb)\n"
-"{\n"
-"	__local u32 ldsData[2048];\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	int lSize = GET_GROUP_SIZE;\n"
-"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
-"	{\n"
-"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	u32 sum = ScanExclusive(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
-"	{\n"
-"		dst[i] = ldsData[i];\n"
-"	}\n"
-"	if( gIdx == 0 )\n"
-"	{\n"
-"		dst[cb.m_numBlocks] = sum;\n"
-"	}\n"
-"}\n"
-;
+static const char* prefixScanKernelsCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"typedef unsigned int u32;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"// takahiro end\n"
+	"#define WG_SIZE 128 \n"
+	"#define m_numElems x\n"
+	"#define m_numBlocks y\n"
+	"#define m_numScanBlocks z\n"
+	"/*typedef struct\n"
+	"{\n"
+	"	uint m_numElems;\n"
+	"	uint m_numBlocks;\n"
+	"	uint m_numScanBlocks;\n"
+	"	uint m_padding[1];\n"
+	"} ConstBuffer;\n"
+	"*/\n"
+	"u32 ScanExclusive(__local u32* data, u32 n, int lIdx, int lSize)\n"
+	"{\n"
+	"	u32 blocksum;\n"
+	"    int offset = 1;\n"
+	"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
+	"    {\n"
+	"        GROUP_LDS_BARRIER;\n"
+	"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
+	"        {\n"
+	"            int ai = offset*(2*iIdx+1)-1;\n"
+	"            int bi = offset*(2*iIdx+2)-1;\n"
+	"            data[bi] += data[ai];\n"
+	"        }\n"
+	"	}\n"
+	"    GROUP_LDS_BARRIER;\n"
+	"    if( lIdx == 0 )\n"
+	"	{\n"
+	"		blocksum = data[ n-1 ];\n"
+	"        data[ n-1 ] = 0;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	offset >>= 1;\n"
+	"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
+	"    {\n"
+	"        GROUP_LDS_BARRIER;\n"
+	"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
+	"        {\n"
+	"            int ai = offset*(2*iIdx+1)-1;\n"
+	"            int bi = offset*(2*iIdx+2)-1;\n"
+	"            u32 temp = data[ai];\n"
+	"            data[ai] = data[bi];\n"
+	"            data[bi] += temp;\n"
+	"        }\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	return blocksum;\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"__kernel\n"
+	"void LocalScanKernel(__global u32* dst, __global u32 *src, __global u32 *sumBuffer,\n"
+	"		uint4 cb)\n"
+	"{\n"
+	"	__local u32 ldsData[WG_SIZE*2];\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
+	"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
+	"	u32 sum = ScanExclusive(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
+	"	if( lIdx == 0 ) sumBuffer[GET_GROUP_IDX] = sum;\n"
+	"	if( (2*gIdx) < cb.m_numElems )\n"
+	"    {\n"
+	"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
+	"	}\n"
+	"	if( (2*gIdx + 1) < cb.m_numElems )\n"
+	"	{\n"
+	"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
+	"    }\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"__kernel\n"
+	"void AddOffsetKernel(__global u32 *dst, __global u32 *blockSum, uint4 cb)\n"
+	"{\n"
+	"	const u32 blockSize = WG_SIZE*2;\n"
+	"	int myIdx = GET_GROUP_IDX+1;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	u32 iBlockSum = blockSum[myIdx];\n"
+	"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
+	"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
+	"	{\n"
+	"		dst[i] += iBlockSum;\n"
+	"	}\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"__kernel\n"
+	"void TopLevelScanKernel(__global u32* dst, uint4 cb)\n"
+	"{\n"
+	"	__local u32 ldsData[2048];\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	int lSize = GET_GROUP_SIZE;\n"
+	"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
+	"	{\n"
+	"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	u32 sum = ScanExclusive(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
+	"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
+	"	{\n"
+	"		dst[i] = ldsData[i];\n"
+	"	}\n"
+	"	if( gIdx == 0 )\n"
+	"	{\n"
+	"		dst[cb.m_numBlocks] = sum;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
index 5b13254796..15d1bc5195 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h
@@ -1,129 +1,128 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* prefixScanKernelsFloat4CL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"typedef unsigned int u32;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"// takahiro end\n"
-"#define WG_SIZE 128 \n"
-"#define m_numElems x\n"
-"#define m_numBlocks y\n"
-"#define m_numScanBlocks z\n"
-"/*typedef struct\n"
-"{\n"
-"	uint m_numElems;\n"
-"	uint m_numBlocks;\n"
-"	uint m_numScanBlocks;\n"
-"	uint m_padding[1];\n"
-"} ConstBuffer;\n"
-"*/\n"
-"float4 ScanExclusiveFloat4(__local float4* data, u32 n, int lIdx, int lSize)\n"
-"{\n"
-"	float4 blocksum;\n"
-"    int offset = 1;\n"
-"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
-"    {\n"
-"        GROUP_LDS_BARRIER;\n"
-"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
-"        {\n"
-"            int ai = offset*(2*iIdx+1)-1;\n"
-"            int bi = offset*(2*iIdx+2)-1;\n"
-"            data[bi] += data[ai];\n"
-"        }\n"
-"	}\n"
-"    GROUP_LDS_BARRIER;\n"
-"    if( lIdx == 0 )\n"
-"	{\n"
-"		blocksum = data[ n-1 ];\n"
-"    data[ n-1 ] = 0;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	offset >>= 1;\n"
-"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
-"    {\n"
-"        GROUP_LDS_BARRIER;\n"
-"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
-"        {\n"
-"            int ai = offset*(2*iIdx+1)-1;\n"
-"            int bi = offset*(2*iIdx+2)-1;\n"
-"            float4 temp = data[ai];\n"
-"            data[ai] = data[bi];\n"
-"            data[bi] += temp;\n"
-"        }\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	return blocksum;\n"
-"}\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"__kernel\n"
-"void LocalScanKernel(__global float4* dst, __global float4* src, __global float4* sumBuffer,	uint4 cb)\n"
-"{\n"
-"	__local float4 ldsData[WG_SIZE*2];\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
-"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
-"	float4 sum = ScanExclusiveFloat4(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-"	if( lIdx == 0 ) \n"
-"		sumBuffer[GET_GROUP_IDX] = sum;\n"
-"	if( (2*gIdx) < cb.m_numElems )\n"
-"    {\n"
-"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
-"	}\n"
-"	if( (2*gIdx + 1) < cb.m_numElems )\n"
-"	{\n"
-"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
-"    }\n"
-"}\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"__kernel\n"
-"void AddOffsetKernel(__global float4* dst, __global float4* blockSum, uint4 cb)\n"
-"{\n"
-"	const u32 blockSize = WG_SIZE*2;\n"
-"	int myIdx = GET_GROUP_IDX+1;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	float4 iBlockSum = blockSum[myIdx];\n"
-"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
-"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
-"	{\n"
-"		dst[i] += iBlockSum;\n"
-"	}\n"
-"}\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"__kernel\n"
-"void TopLevelScanKernel(__global float4* dst, uint4 cb)\n"
-"{\n"
-"	__local float4 ldsData[2048];\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	int lSize = GET_GROUP_SIZE;\n"
-"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
-"	{\n"
-"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	float4 sum = ScanExclusiveFloat4(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
-"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
-"	{\n"
-"		dst[i] = ldsData[i];\n"
-"	}\n"
-"	if( gIdx == 0 )\n"
-"	{\n"
-"		dst[cb.m_numBlocks] = sum;\n"
-"	}\n"
-"}\n"
-;
+static const char* prefixScanKernelsFloat4CL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"typedef unsigned int u32;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"// takahiro end\n"
+	"#define WG_SIZE 128 \n"
+	"#define m_numElems x\n"
+	"#define m_numBlocks y\n"
+	"#define m_numScanBlocks z\n"
+	"/*typedef struct\n"
+	"{\n"
+	"	uint m_numElems;\n"
+	"	uint m_numBlocks;\n"
+	"	uint m_numScanBlocks;\n"
+	"	uint m_padding[1];\n"
+	"} ConstBuffer;\n"
+	"*/\n"
+	"float4 ScanExclusiveFloat4(__local float4* data, u32 n, int lIdx, int lSize)\n"
+	"{\n"
+	"	float4 blocksum;\n"
+	"    int offset = 1;\n"
+	"    for(int nActive=n>>1; nActive>0; nActive>>=1, offset<<=1)\n"
+	"    {\n"
+	"        GROUP_LDS_BARRIER;\n"
+	"        for(int iIdx=lIdx; iIdx<nActive; iIdx+=lSize)\n"
+	"        {\n"
+	"            int ai = offset*(2*iIdx+1)-1;\n"
+	"            int bi = offset*(2*iIdx+2)-1;\n"
+	"            data[bi] += data[ai];\n"
+	"        }\n"
+	"	}\n"
+	"    GROUP_LDS_BARRIER;\n"
+	"    if( lIdx == 0 )\n"
+	"	{\n"
+	"		blocksum = data[ n-1 ];\n"
+	"    data[ n-1 ] = 0;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	offset >>= 1;\n"
+	"    for(int nActive=1; nActive<n; nActive<<=1, offset>>=1 )\n"
+	"    {\n"
+	"        GROUP_LDS_BARRIER;\n"
+	"        for( int iIdx = lIdx; iIdx<nActive; iIdx += lSize )\n"
+	"        {\n"
+	"            int ai = offset*(2*iIdx+1)-1;\n"
+	"            int bi = offset*(2*iIdx+2)-1;\n"
+	"            float4 temp = data[ai];\n"
+	"            data[ai] = data[bi];\n"
+	"            data[bi] += temp;\n"
+	"        }\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	return blocksum;\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"__kernel\n"
+	"void LocalScanKernel(__global float4* dst, __global float4* src, __global float4* sumBuffer,	uint4 cb)\n"
+	"{\n"
+	"	__local float4 ldsData[WG_SIZE*2];\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	ldsData[2*lIdx]     = ( 2*gIdx < cb.m_numElems )? src[2*gIdx]: 0;\n"
+	"	ldsData[2*lIdx + 1] = ( 2*gIdx+1 < cb.m_numElems )? src[2*gIdx + 1]: 0;\n"
+	"	float4 sum = ScanExclusiveFloat4(ldsData, WG_SIZE*2, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
+	"	if( lIdx == 0 ) \n"
+	"		sumBuffer[GET_GROUP_IDX] = sum;\n"
+	"	if( (2*gIdx) < cb.m_numElems )\n"
+	"    {\n"
+	"        dst[2*gIdx]     = ldsData[2*lIdx];\n"
+	"	}\n"
+	"	if( (2*gIdx + 1) < cb.m_numElems )\n"
+	"	{\n"
+	"        dst[2*gIdx + 1] = ldsData[2*lIdx + 1];\n"
+	"    }\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"__kernel\n"
+	"void AddOffsetKernel(__global float4* dst, __global float4* blockSum, uint4 cb)\n"
+	"{\n"
+	"	const u32 blockSize = WG_SIZE*2;\n"
+	"	int myIdx = GET_GROUP_IDX+1;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	float4 iBlockSum = blockSum[myIdx];\n"
+	"	int endValue = min((myIdx+1)*(blockSize), cb.m_numElems);\n"
+	"	for(int i=myIdx*blockSize+lIdx; i<endValue; i+=GET_GROUP_SIZE)\n"
+	"	{\n"
+	"		dst[i] += iBlockSum;\n"
+	"	}\n"
+	"}\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"__kernel\n"
+	"void TopLevelScanKernel(__global float4* dst, uint4 cb)\n"
+	"{\n"
+	"	__local float4 ldsData[2048];\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	int lSize = GET_GROUP_SIZE;\n"
+	"	for(int i=lIdx; i<cb.m_numScanBlocks; i+=lSize )\n"
+	"	{\n"
+	"		ldsData[i] = (i<cb.m_numBlocks)? dst[i]:0;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	float4 sum = ScanExclusiveFloat4(ldsData, cb.m_numScanBlocks, GET_LOCAL_IDX, GET_GROUP_SIZE);\n"
+	"	for(int i=lIdx; i<cb.m_numBlocks; i+=lSize )\n"
+	"	{\n"
+	"		dst[i] = ldsData[i];\n"
+	"	}\n"
+	"	if( gIdx == 0 )\n"
+	"	{\n"
+	"		dst[cb.m_numBlocks] = sum;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
index 8876c16aa6..fb4bdda303 100644
--- a/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
+++ b/thirdparty/bullet/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h
@@ -1,910 +1,909 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* radixSort32KernelsCL= \
-"/*\n"
-"Bullet Continuous Collision Detection and Physics Library\n"
-"Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org\n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Author Takahiro Harada\n"
-"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"typedef unsigned int u32;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_uint4 (uint4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"#define WG_SIZE 64\n"
-"#define ELEMENTS_PER_WORK_ITEM (256/WG_SIZE)\n"
-"#define BITS_PER_PASS 4\n"
-"#define NUM_BUCKET (1<<BITS_PER_PASS)\n"
-"typedef uchar u8;\n"
-"//	this isn't optimization for VLIW. But just reducing writes. \n"
-"#define USE_2LEVEL_REDUCE 1\n"
-"//#define CHECK_BOUNDARY 1\n"
-"//#define NV_GPU 1\n"
-"//	Cypress\n"
-"#define nPerWI 16\n"
-"//	Cayman\n"
-"//#define nPerWI 20\n"
-"#define m_n x\n"
-"#define m_nWGs y\n"
-"#define m_startBit z\n"
-"#define m_nBlocksPerWG w\n"
-"/*\n"
-"typedef struct\n"
-"{\n"
-"	int m_n;\n"
-"	int m_nWGs;\n"
-"	int m_startBit;\n"
-"	int m_nBlocksPerWG;\n"
-"} ConstBuffer;\n"
-"*/\n"
-"typedef struct\n"
-"{\n"
-"	unsigned int m_key;\n"
-"	unsigned int m_value;\n"
-"} SortDataCL;\n"
-"uint prefixScanVectorEx( uint4* data )\n"
-"{\n"
-"	u32 sum = 0;\n"
-"	u32 tmp = data[0].x;\n"
-"	data[0].x = sum;\n"
-"	sum += tmp;\n"
-"	tmp = data[0].y;\n"
-"	data[0].y = sum;\n"
-"	sum += tmp;\n"
-"	tmp = data[0].z;\n"
-"	data[0].z = sum;\n"
-"	sum += tmp;\n"
-"	tmp = data[0].w;\n"
-"	data[0].w = sum;\n"
-"	sum += tmp;\n"
-"	return sum;\n"
-"}\n"
-"u32 localPrefixSum( u32 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory, int wgSize /*64 or 128*/ )\n"
-"{\n"
-"	{	//	Set data\n"
-"		sorterSharedMemory[lIdx] = 0;\n"
-"		sorterSharedMemory[lIdx+wgSize] = pData;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	{	//	Prefix sum\n"
-"		int idx = 2*lIdx + (wgSize+1);\n"
-"#if defined(USE_2LEVEL_REDUCE)\n"
-"		if( lIdx < 64 )\n"
-"		{\n"
-"			u32 u0, u1, u2;\n"
-"			u0 = sorterSharedMemory[idx-3];\n"
-"			u1 = sorterSharedMemory[idx-2];\n"
-"			u2 = sorterSharedMemory[idx-1];\n"
-"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-"			GROUP_MEM_FENCE;\n"
-"			u0 = sorterSharedMemory[idx-12];\n"
-"			u1 = sorterSharedMemory[idx-8];\n"
-"			u2 = sorterSharedMemory[idx-4];\n"
-"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-"			GROUP_MEM_FENCE;\n"
-"			u0 = sorterSharedMemory[idx-48];\n"
-"			u1 = sorterSharedMemory[idx-32];\n"
-"			u2 = sorterSharedMemory[idx-16];\n"
-"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
-"			GROUP_MEM_FENCE;\n"
-"			if( wgSize > 64 )\n"
-"			{\n"
-"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
-"				GROUP_MEM_FENCE;\n"
-"			}\n"
-"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
-"			GROUP_MEM_FENCE;\n"
-"		}\n"
-"#else\n"
-"		if( lIdx < 64 )\n"
-"		{\n"
-"			sorterSharedMemory[idx] += sorterSharedMemory[idx-1];\n"
-"			GROUP_MEM_FENCE;\n"
-"			sorterSharedMemory[idx] += sorterSharedMemory[idx-2];			\n"
-"			GROUP_MEM_FENCE;\n"
-"			sorterSharedMemory[idx] += sorterSharedMemory[idx-4];\n"
-"			GROUP_MEM_FENCE;\n"
-"			sorterSharedMemory[idx] += sorterSharedMemory[idx-8];\n"
-"			GROUP_MEM_FENCE;\n"
-"			sorterSharedMemory[idx] += sorterSharedMemory[idx-16];\n"
-"			GROUP_MEM_FENCE;\n"
-"			sorterSharedMemory[idx] += sorterSharedMemory[idx-32];\n"
-"			GROUP_MEM_FENCE;\n"
-"			if( wgSize > 64 )\n"
-"			{\n"
-"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
-"				GROUP_MEM_FENCE;\n"
-"			}\n"
-"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
-"			GROUP_MEM_FENCE;\n"
-"		}\n"
-"#endif\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	*totalSum = sorterSharedMemory[wgSize*2-1];\n"
-"	u32 addValue = sorterSharedMemory[lIdx+wgSize-1];\n"
-"	return addValue;\n"
-"}\n"
-"//__attribute__((reqd_work_group_size(128,1,1)))\n"
-"uint4 localPrefixSum128V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
-"{\n"
-"	u32 s4 = prefixScanVectorEx( &pData );\n"
-"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 128 );\n"
-"	return pData + make_uint4( rank, rank, rank, rank );\n"
-"}\n"
-"//__attribute__((reqd_work_group_size(64,1,1)))\n"
-"uint4 localPrefixSum64V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
-"{\n"
-"	u32 s4 = prefixScanVectorEx( &pData );\n"
-"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 64 );\n"
-"	return pData + make_uint4( rank, rank, rank, rank );\n"
-"}\n"
-"u32 unpack4Key( u32 key, int keyIdx ){ return (key>>(keyIdx*8)) & 0xff;}\n"
-"u32 bit8Scan(u32 v)\n"
-"{\n"
-"	return (v<<8) + (v<<16) + (v<<24);\n"
-"}\n"
-"//===\n"
-"#define MY_HISTOGRAM(idx) localHistogramMat[(idx)*WG_SIZE+lIdx]\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void StreamCountKernel( __global u32* gSrc, __global u32* histogramOut, int4 cb )\n"
-"{\n"
-"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
-"	u32 gIdx = GET_GLOBAL_IDX;\n"
-"	u32 lIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	u32 wgSize = GET_GROUP_SIZE;\n"
-"	const int startBit = cb.m_startBit;\n"
-"	const int n = cb.m_n;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-"	for(int i=0; i<NUM_BUCKET; i++)\n"
-"	{\n"
-"		MY_HISTOGRAM(i) = 0;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-"	u32 localKey;\n"
-"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-"	{\n"
-"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
-"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
-"		//	AMD: AtomInc performs better while NV prefers ++\n"
-"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"		{\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"			if( addr+i < n )\n"
-"#endif\n"
-"			{\n"
-"				localKey = (gSrc[addr+i]>>startBit) & 0xf;\n"
-"#if defined(NV_GPU)\n"
-"				MY_HISTOGRAM( localKey )++;\n"
-"#else\n"
-"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
-"#endif\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	\n"
-"	if( lIdx < NUM_BUCKET )\n"
-"	{\n"
-"		u32 sum = 0;\n"
-"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
-"		{\n"
-"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
-"		}\n"
-"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void StreamCountSortDataKernel( __global SortDataCL* gSrc, __global u32* histogramOut, int4  cb )\n"
-"{\n"
-"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
-"	u32 gIdx = GET_GLOBAL_IDX;\n"
-"	u32 lIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	u32 wgSize = GET_GROUP_SIZE;\n"
-"	const int startBit = cb.m_startBit;\n"
-"	const int n = cb.m_n;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-"	for(int i=0; i<NUM_BUCKET; i++)\n"
-"	{\n"
-"		MY_HISTOGRAM(i) = 0;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-"	u32 localKey;\n"
-"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-"	{\n"
-"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
-"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
-"		//	AMD: AtomInc performs better while NV prefers ++\n"
-"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"		{\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"			if( addr+i < n )\n"
-"#endif\n"
-"			{\n"
-"				localKey = (gSrc[addr+i].m_key>>startBit) & 0xf;\n"
-"#if defined(NV_GPU)\n"
-"				MY_HISTOGRAM( localKey )++;\n"
-"#else\n"
-"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
-"#endif\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	\n"
-"	if( lIdx < NUM_BUCKET )\n"
-"	{\n"
-"		u32 sum = 0;\n"
-"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
-"		{\n"
-"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
-"		}\n"
-"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
-"	}\n"
-"}\n"
-"#define nPerLane (nPerWI/4)\n"
-"//	NUM_BUCKET*nWGs < 128*nPerWI\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(128,1,1)))\n"
-"void PrefixScanKernel( __global u32* wHistogram1, int4  cb )\n"
-"{\n"
-"	__local u32 ldsTopScanData[128*2];\n"
-"	u32 lIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	u32 data[nPerWI];\n"
-"	for(int i=0; i<nPerWI; i++)\n"
-"	{\n"
-"		data[i] = 0;\n"
-"		if( (nPerWI*lIdx+i) < NUM_BUCKET*nWGs )\n"
-"			data[i] = wHistogram1[nPerWI*lIdx+i];\n"
-"	}\n"
-"	uint4 myData = make_uint4(0,0,0,0);\n"
-"	for(int i=0; i<nPerLane; i++)\n"
-"	{\n"
-"		myData.x += data[nPerLane*0+i];\n"
-"		myData.y += data[nPerLane*1+i];\n"
-"		myData.z += data[nPerLane*2+i];\n"
-"		myData.w += data[nPerLane*3+i];\n"
-"	}\n"
-"	uint totalSum;\n"
-"	uint4 scanned = localPrefixSum128V( myData, lIdx, &totalSum, ldsTopScanData );\n"
-"//	for(int j=0; j<4; j++) //	somehow it introduces a lot of branches\n"
-"	{	int j = 0;\n"
-"		u32 sum = 0;\n"
-"		for(int i=0; i<nPerLane; i++)\n"
-"		{\n"
-"			u32 tmp = data[nPerLane*j+i];\n"
-"			data[nPerLane*j+i] = sum;\n"
-"			sum += tmp;\n"
-"		}\n"
-"	}\n"
-"	{	int j = 1;\n"
-"		u32 sum = 0;\n"
-"		for(int i=0; i<nPerLane; i++)\n"
-"		{\n"
-"			u32 tmp = data[nPerLane*j+i];\n"
-"			data[nPerLane*j+i] = sum;\n"
-"			sum += tmp;\n"
-"		}\n"
-"	}\n"
-"	{	int j = 2;\n"
-"		u32 sum = 0;\n"
-"		for(int i=0; i<nPerLane; i++)\n"
-"		{\n"
-"			u32 tmp = data[nPerLane*j+i];\n"
-"			data[nPerLane*j+i] = sum;\n"
-"			sum += tmp;\n"
-"		}\n"
-"	}\n"
-"	{	int j = 3;\n"
-"		u32 sum = 0;\n"
-"		for(int i=0; i<nPerLane; i++)\n"
-"		{\n"
-"			u32 tmp = data[nPerLane*j+i];\n"
-"			data[nPerLane*j+i] = sum;\n"
-"			sum += tmp;\n"
-"		}\n"
-"	}\n"
-"	for(int i=0; i<nPerLane; i++)\n"
-"	{\n"
-"		data[nPerLane*0+i] += scanned.x;\n"
-"		data[nPerLane*1+i] += scanned.y;\n"
-"		data[nPerLane*2+i] += scanned.z;\n"
-"		data[nPerLane*3+i] += scanned.w;\n"
-"	}\n"
-"	for(int i=0; i<nPerWI; i++)\n"
-"	{\n"
-"		int index = nPerWI*lIdx+i;\n"
-"		if (index < NUM_BUCKET*nWGs)\n"
-"			wHistogram1[nPerWI*lIdx+i] = data[i];\n"
-"	}\n"
-"}\n"
-"//	4 scan, 4 exchange\n"
-"void sort4Bits(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
-"{\n"
-"	for(int bitIdx=0; bitIdx<BITS_PER_PASS; bitIdx++)\n"
-"	{\n"
-"		u32 mask = (1<<bitIdx);\n"
-"		uint4 cmpResult = make_uint4( (sortData[0]>>startBit) & mask, (sortData[1]>>startBit) & mask, (sortData[2]>>startBit) & mask, (sortData[3]>>startBit) & mask );\n"
-"		uint4 prefixSum = SELECT_UINT4( make_uint4(1,1,1,1), make_uint4(0,0,0,0), cmpResult != make_uint4(0,0,0,0) );\n"
-"		u32 total;\n"
-"		prefixSum = localPrefixSum64V( prefixSum, lIdx, &total, ldsSortData );\n"
-"		{\n"
-"			uint4 localAddr = make_uint4(lIdx*4+0,lIdx*4+1,lIdx*4+2,lIdx*4+3);\n"
-"			uint4 dstAddr = localAddr - prefixSum + make_uint4( total, total, total, total );\n"
-"			dstAddr = SELECT_UINT4( prefixSum, dstAddr, cmpResult != make_uint4(0, 0, 0, 0) );\n"
-"			GROUP_LDS_BARRIER;\n"
-"			ldsSortData[dstAddr.x] = sortData[0];\n"
-"			ldsSortData[dstAddr.y] = sortData[1];\n"
-"			ldsSortData[dstAddr.z] = sortData[2];\n"
-"			ldsSortData[dstAddr.w] = sortData[3];\n"
-"			GROUP_LDS_BARRIER;\n"
-"			sortData[0] = ldsSortData[localAddr.x];\n"
-"			sortData[1] = ldsSortData[localAddr.y];\n"
-"			sortData[2] = ldsSortData[localAddr.z];\n"
-"			sortData[3] = ldsSortData[localAddr.w];\n"
-"			GROUP_LDS_BARRIER;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"//	2 scan, 2 exchange\n"
-"void sort4Bits1(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
-"{\n"
-"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
-"	{\n"
-"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
-"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
-"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
-"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
-"		u32 key4;\n"
-"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
-"		{\n"
-"			sKeyPacked[0] |= 1<<(8*b.x);\n"
-"			sKeyPacked[1] |= 1<<(8*b.y);\n"
-"			sKeyPacked[2] |= 1<<(8*b.z);\n"
-"			sKeyPacked[3] |= 1<<(8*b.w);\n"
-"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
-"		}\n"
-"		u32 rankPacked;\n"
-"		u32 sumPacked;\n"
-"		{\n"
-"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		u32 newOffset[4] = { 0,0,0,0 };\n"
-"		{\n"
-"			u32 sumScanned = bit8Scan( sumPacked );\n"
-"			u32 scannedKeys[4];\n"
-"			scannedKeys[0] = 1<<(8*b.x);\n"
-"			scannedKeys[1] = 1<<(8*b.y);\n"
-"			scannedKeys[2] = 1<<(8*b.z);\n"
-"			scannedKeys[3] = 1<<(8*b.w);\n"
-"			{	//	4 scans at once\n"
-"				u32 sum4 = 0;\n"
-"				for(int ie=0; ie<4; ie++)\n"
-"				{\n"
-"					u32 tmp = scannedKeys[ie];\n"
-"					scannedKeys[ie] = sum4;\n"
-"					sum4 += tmp;\n"
-"				}\n"
-"			}\n"
-"			{\n"
-"				u32 sumPlusRank = sumScanned + rankPacked;\n"
-"				{	u32 ie = b.x;\n"
-"					scannedKeys[0] += sumPlusRank;\n"
-"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
-"				}\n"
-"				{	u32 ie = b.y;\n"
-"					scannedKeys[1] += sumPlusRank;\n"
-"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
-"				}\n"
-"				{	u32 ie = b.z;\n"
-"					scannedKeys[2] += sumPlusRank;\n"
-"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
-"				}\n"
-"				{	u32 ie = b.w;\n"
-"					scannedKeys[3] += sumPlusRank;\n"
-"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		{\n"
-"			ldsSortData[newOffset[0]] = sortData[0];\n"
-"			ldsSortData[newOffset[1]] = sortData[1];\n"
-"			ldsSortData[newOffset[2]] = sortData[2];\n"
-"			ldsSortData[newOffset[3]] = sortData[3];\n"
-"			GROUP_LDS_BARRIER;\n"
-"			u32 dstAddr = 4*lIdx;\n"
-"			sortData[0] = ldsSortData[dstAddr+0];\n"
-"			sortData[1] = ldsSortData[dstAddr+1];\n"
-"			sortData[2] = ldsSortData[dstAddr+2];\n"
-"			sortData[3] = ldsSortData[dstAddr+3];\n"
-"			GROUP_LDS_BARRIER;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"#define SET_HISTOGRAM(setIdx, key) ldsSortData[(setIdx)*NUM_BUCKET+key]\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SortAndScatterKernel( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
-"{\n"
-"	__local u32 ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
-"	__local u32 localHistogram[NUM_BUCKET*2];\n"
-"	u32 gIdx = GET_GLOBAL_IDX;\n"
-"	u32 lIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	u32 wgSize = GET_GROUP_SIZE;\n"
-"	const int n = cb.m_n;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	const int startBit = cb.m_startBit;\n"
-"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-"	if( lIdx < (NUM_BUCKET) )\n"
-"	{\n"
-"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
-"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-"	{\n"
-"		u32 myHistogram = 0;\n"
-"		u32 sortData[ELEMENTS_PER_WORK_ITEM];\n"
-"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ] : 0xffffffff;\n"
-"#else\n"
-"			sortData[i] = gSrc[ addr+i ];\n"
-"#endif\n"
-"		sort4Bits(sortData, startBit, lIdx, ldsSortData);\n"
-"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
-"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
-"		{	//	create histogram\n"
-"			u32 setIdx = lIdx/16;\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				localHistogram[lIdx] = 0;\n"
-"			}\n"
-"			ldsSortData[lIdx] = 0;\n"
-"			GROUP_LDS_BARRIER;\n"
-"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"				if( addr+i < n )\n"
-"#endif\n"
-"#if defined(NV_GPU)\n"
-"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
-"#else\n"
-"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
-"#endif\n"
-"			\n"
-"			GROUP_LDS_BARRIER;\n"
-"			\n"
-"			uint hIdx = NUM_BUCKET+lIdx;\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				u32 sum = 0;\n"
-"				for(int i=0; i<WG_SIZE/16; i++)\n"
-"				{\n"
-"					sum += SET_HISTOGRAM( i, lIdx );\n"
-"				}\n"
-"				myHistogram = sum;\n"
-"				localHistogram[hIdx] = sum;\n"
-"			}\n"
-"			GROUP_LDS_BARRIER;\n"
-"#if defined(USE_2LEVEL_REDUCE)\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-"				GROUP_MEM_FENCE;\n"
-"				u32 u0, u1, u2;\n"
-"				u0 = localHistogram[hIdx-3];\n"
-"				u1 = localHistogram[hIdx-2];\n"
-"				u2 = localHistogram[hIdx-1];\n"
-"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-"				GROUP_MEM_FENCE;\n"
-"				u0 = localHistogram[hIdx-12];\n"
-"				u1 = localHistogram[hIdx-8];\n"
-"				u2 = localHistogram[hIdx-4];\n"
-"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-"				GROUP_MEM_FENCE;\n"
-"			}\n"
-"#else\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
-"				GROUP_MEM_FENCE;\n"
-"			}\n"
-"#endif\n"
-"			GROUP_LDS_BARRIER;\n"
-"		}\n"
-"		{\n"
-"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
-"			{\n"
-"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
-"				int binIdx = keys[ie];\n"
-"				int groupOffset = localHistogramToCarry[binIdx];\n"
-"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"				if( addr+ie < n )\n"
-"#endif\n"
-"				gDst[ groupOffset + myIdx ] = sortData[ie];\n"
-"			}\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		if( lIdx < NUM_BUCKET )\n"
-"		{\n"
-"			localHistogramToCarry[lIdx] += myHistogram;\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"	}\n"
-"}\n"
-"//	2 scan, 2 exchange\n"
-"void sort4Bits1KeyValue(u32 sortData[4], int sortVal[4], int startBit, int lIdx, __local u32* ldsSortData, __local int *ldsSortVal)\n"
-"{\n"
-"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
-"	{\n"
-"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
-"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
-"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
-"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
-"		u32 key4;\n"
-"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
-"		{\n"
-"			sKeyPacked[0] |= 1<<(8*b.x);\n"
-"			sKeyPacked[1] |= 1<<(8*b.y);\n"
-"			sKeyPacked[2] |= 1<<(8*b.z);\n"
-"			sKeyPacked[3] |= 1<<(8*b.w);\n"
-"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
-"		}\n"
-"		u32 rankPacked;\n"
-"		u32 sumPacked;\n"
-"		{\n"
-"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		u32 newOffset[4] = { 0,0,0,0 };\n"
-"		{\n"
-"			u32 sumScanned = bit8Scan( sumPacked );\n"
-"			u32 scannedKeys[4];\n"
-"			scannedKeys[0] = 1<<(8*b.x);\n"
-"			scannedKeys[1] = 1<<(8*b.y);\n"
-"			scannedKeys[2] = 1<<(8*b.z);\n"
-"			scannedKeys[3] = 1<<(8*b.w);\n"
-"			{	//	4 scans at once\n"
-"				u32 sum4 = 0;\n"
-"				for(int ie=0; ie<4; ie++)\n"
-"				{\n"
-"					u32 tmp = scannedKeys[ie];\n"
-"					scannedKeys[ie] = sum4;\n"
-"					sum4 += tmp;\n"
-"				}\n"
-"			}\n"
-"			{\n"
-"				u32 sumPlusRank = sumScanned + rankPacked;\n"
-"				{	u32 ie = b.x;\n"
-"					scannedKeys[0] += sumPlusRank;\n"
-"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
-"				}\n"
-"				{	u32 ie = b.y;\n"
-"					scannedKeys[1] += sumPlusRank;\n"
-"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
-"				}\n"
-"				{	u32 ie = b.z;\n"
-"					scannedKeys[2] += sumPlusRank;\n"
-"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
-"				}\n"
-"				{	u32 ie = b.w;\n"
-"					scannedKeys[3] += sumPlusRank;\n"
-"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		{\n"
-"			ldsSortData[newOffset[0]] = sortData[0];\n"
-"			ldsSortData[newOffset[1]] = sortData[1];\n"
-"			ldsSortData[newOffset[2]] = sortData[2];\n"
-"			ldsSortData[newOffset[3]] = sortData[3];\n"
-"			ldsSortVal[newOffset[0]] = sortVal[0];\n"
-"			ldsSortVal[newOffset[1]] = sortVal[1];\n"
-"			ldsSortVal[newOffset[2]] = sortVal[2];\n"
-"			ldsSortVal[newOffset[3]] = sortVal[3];\n"
-"			GROUP_LDS_BARRIER;\n"
-"			u32 dstAddr = 4*lIdx;\n"
-"			sortData[0] = ldsSortData[dstAddr+0];\n"
-"			sortData[1] = ldsSortData[dstAddr+1];\n"
-"			sortData[2] = ldsSortData[dstAddr+2];\n"
-"			sortData[3] = ldsSortData[dstAddr+3];\n"
-"			sortVal[0] = ldsSortVal[dstAddr+0];\n"
-"			sortVal[1] = ldsSortVal[dstAddr+1];\n"
-"			sortVal[2] = ldsSortVal[dstAddr+2];\n"
-"			sortVal[3] = ldsSortVal[dstAddr+3];\n"
-"			GROUP_LDS_BARRIER;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SortAndScatterSortDataKernel( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
-"{\n"
-"	__local int ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-"	__local int ldsSortVal[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
-"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
-"	__local u32 localHistogram[NUM_BUCKET*2];\n"
-"	u32 gIdx = GET_GLOBAL_IDX;\n"
-"	u32 lIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	u32 wgSize = GET_GROUP_SIZE;\n"
-"	const int n = cb.m_n;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	const int startBit = cb.m_startBit;\n"
-"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-"	if( lIdx < (NUM_BUCKET) )\n"
-"	{\n"
-"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"    \n"
-"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
-"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
-"	{\n"
-"		u32 myHistogram = 0;\n"
-"		int sortData[ELEMENTS_PER_WORK_ITEM];\n"
-"		int sortVal[ELEMENTS_PER_WORK_ITEM];\n"
-"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"		{\n"
-"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ].m_key : 0xffffffff;\n"
-"			sortVal[i] = ( addr+i < n )? gSrc[ addr+i ].m_value : 0xffffffff;\n"
-"		}\n"
-"#else\n"
-"		{\n"
-"			sortData[i] = gSrc[ addr+i ].m_key;\n"
-"			sortVal[i] = gSrc[ addr+i ].m_value;\n"
-"		}\n"
-"#endif\n"
-"		sort4Bits1KeyValue(sortData, sortVal, startBit, lIdx, ldsSortData, ldsSortVal);\n"
-"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
-"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
-"		{	//	create histogram\n"
-"			u32 setIdx = lIdx/16;\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				localHistogram[lIdx] = 0;\n"
-"			}\n"
-"			ldsSortData[lIdx] = 0;\n"
-"			GROUP_LDS_BARRIER;\n"
-"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"				if( addr+i < n )\n"
-"#endif\n"
-"#if defined(NV_GPU)\n"
-"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
-"#else\n"
-"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
-"#endif\n"
-"			\n"
-"			GROUP_LDS_BARRIER;\n"
-"			\n"
-"			uint hIdx = NUM_BUCKET+lIdx;\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				u32 sum = 0;\n"
-"				for(int i=0; i<WG_SIZE/16; i++)\n"
-"				{\n"
-"					sum += SET_HISTOGRAM( i, lIdx );\n"
-"				}\n"
-"				myHistogram = sum;\n"
-"				localHistogram[hIdx] = sum;\n"
-"			}\n"
-"			GROUP_LDS_BARRIER;\n"
-"#if defined(USE_2LEVEL_REDUCE)\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-"				GROUP_MEM_FENCE;\n"
-"				u32 u0, u1, u2;\n"
-"				u0 = localHistogram[hIdx-3];\n"
-"				u1 = localHistogram[hIdx-2];\n"
-"				u2 = localHistogram[hIdx-1];\n"
-"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-"				GROUP_MEM_FENCE;\n"
-"				u0 = localHistogram[hIdx-12];\n"
-"				u1 = localHistogram[hIdx-8];\n"
-"				u2 = localHistogram[hIdx-4];\n"
-"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
-"				GROUP_MEM_FENCE;\n"
-"			}\n"
-"#else\n"
-"			if( lIdx < NUM_BUCKET )\n"
-"			{\n"
-"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
-"				GROUP_MEM_FENCE;\n"
-"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
-"				GROUP_MEM_FENCE;\n"
-"			}\n"
-"#endif\n"
-"			GROUP_LDS_BARRIER;\n"
-"		}\n"
-"    	{\n"
-"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
-"			{\n"
-"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
-"				int binIdx = keys[ie];\n"
-"				int groupOffset = localHistogramToCarry[binIdx];\n"
-"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
-"#if defined(CHECK_BOUNDARY)\n"
-"				if( addr+ie < n )\n"
-"				{\n"
-"                    if ((groupOffset + myIdx)<n)\n"
-"                    {\n"
-"                        if (sortData[ie]==sortVal[ie])\n"
-"                        {\n"
-"                            \n"
-"                            SortDataCL tmp;\n"
-"                            tmp.m_key = sortData[ie];\n"
-"                            tmp.m_value = sortVal[ie];\n"
-"                            if (tmp.m_key == tmp.m_value)\n"
-"                                gDst[groupOffset + myIdx ] = tmp;\n"
-"                        }\n"
-"                        \n"
-"                    }\n"
-"				}\n"
-"#else\n"
-"                if ((groupOffset + myIdx)<n)\n"
-"                {\n"
-"                    gDst[ groupOffset + myIdx ].m_key = sortData[ie];\n"
-"                    gDst[ groupOffset + myIdx ].m_value = sortVal[ie];\n"
-"                }\n"
-"#endif\n"
-"			}\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		if( lIdx < NUM_BUCKET )\n"
-"		{\n"
-"			localHistogramToCarry[lIdx] += myHistogram;\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SortAndScatterSortDataKernelSerial( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
-"{\n"
-"    \n"
-"	u32 gIdx = GET_GLOBAL_IDX;\n"
-"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	u32 wgSize = GET_GROUP_SIZE;\n"
-"	const int startBit = cb.m_startBit;\n"
-"	const int n = cb.m_n;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-"    int counter[NUM_BUCKET];\n"
-"    \n"
-"    if (realLocalIdx>0)\n"
-"        return;\n"
-"    \n"
-"    for (int c=0;c<NUM_BUCKET;c++)\n"
-"        counter[c]=0;\n"
-"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-"	\n"
-"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
-"  {\n"
-"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
-" 	{\n"
-"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-"        \n"
-"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
-"		{\n"
-"            int i = addr2+j;\n"
-"			if( i < n )\n"
-"			{\n"
-"                int tableIdx;\n"
-"				tableIdx = (gSrc[i].m_key>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
-"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
-"                counter[tableIdx] ++;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"  }\n"
-"    \n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SortAndScatterKernelSerial( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
-"{\n"
-"    \n"
-"	u32 gIdx = GET_GLOBAL_IDX;\n"
-"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
-"	u32 wgIdx = GET_GROUP_IDX;\n"
-"	u32 wgSize = GET_GROUP_SIZE;\n"
-"	const int startBit = cb.m_startBit;\n"
-"	const int n = cb.m_n;\n"
-"	const int nWGs = cb.m_nWGs;\n"
-"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
-"    int counter[NUM_BUCKET];\n"
-"    \n"
-"    if (realLocalIdx>0)\n"
-"        return;\n"
-"    \n"
-"    for (int c=0;c<NUM_BUCKET;c++)\n"
-"        counter[c]=0;\n"
-"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
-"	\n"
-"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
-"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
-"  {\n"
-"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
-" 	{\n"
-"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
-"        \n"
-"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
-"		{\n"
-"            int i = addr2+j;\n"
-"			if( i < n )\n"
-"			{\n"
-"                int tableIdx;\n"
-"				tableIdx = (gSrc[i]>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
-"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
-"                counter[tableIdx] ++;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"  }\n"
-"    \n"
-"}\n"
-;
+static const char* radixSort32KernelsCL =
+	"/*\n"
+	"Bullet Continuous Collision Detection and Physics Library\n"
+	"Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org\n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Author Takahiro Harada\n"
+	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"typedef unsigned int u32;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"#define WG_SIZE 64\n"
+	"#define ELEMENTS_PER_WORK_ITEM (256/WG_SIZE)\n"
+	"#define BITS_PER_PASS 4\n"
+	"#define NUM_BUCKET (1<<BITS_PER_PASS)\n"
+	"typedef uchar u8;\n"
+	"//	this isn't optimization for VLIW. But just reducing writes. \n"
+	"#define USE_2LEVEL_REDUCE 1\n"
+	"//#define CHECK_BOUNDARY 1\n"
+	"//#define NV_GPU 1\n"
+	"//	Cypress\n"
+	"#define nPerWI 16\n"
+	"//	Cayman\n"
+	"//#define nPerWI 20\n"
+	"#define m_n x\n"
+	"#define m_nWGs y\n"
+	"#define m_startBit z\n"
+	"#define m_nBlocksPerWG w\n"
+	"/*\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_n;\n"
+	"	int m_nWGs;\n"
+	"	int m_startBit;\n"
+	"	int m_nBlocksPerWG;\n"
+	"} ConstBuffer;\n"
+	"*/\n"
+	"typedef struct\n"
+	"{\n"
+	"	unsigned int m_key;\n"
+	"	unsigned int m_value;\n"
+	"} SortDataCL;\n"
+	"uint prefixScanVectorEx( uint4* data )\n"
+	"{\n"
+	"	u32 sum = 0;\n"
+	"	u32 tmp = data[0].x;\n"
+	"	data[0].x = sum;\n"
+	"	sum += tmp;\n"
+	"	tmp = data[0].y;\n"
+	"	data[0].y = sum;\n"
+	"	sum += tmp;\n"
+	"	tmp = data[0].z;\n"
+	"	data[0].z = sum;\n"
+	"	sum += tmp;\n"
+	"	tmp = data[0].w;\n"
+	"	data[0].w = sum;\n"
+	"	sum += tmp;\n"
+	"	return sum;\n"
+	"}\n"
+	"u32 localPrefixSum( u32 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory, int wgSize /*64 or 128*/ )\n"
+	"{\n"
+	"	{	//	Set data\n"
+	"		sorterSharedMemory[lIdx] = 0;\n"
+	"		sorterSharedMemory[lIdx+wgSize] = pData;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	{	//	Prefix sum\n"
+	"		int idx = 2*lIdx + (wgSize+1);\n"
+	"#if defined(USE_2LEVEL_REDUCE)\n"
+	"		if( lIdx < 64 )\n"
+	"		{\n"
+	"			u32 u0, u1, u2;\n"
+	"			u0 = sorterSharedMemory[idx-3];\n"
+	"			u1 = sorterSharedMemory[idx-2];\n"
+	"			u2 = sorterSharedMemory[idx-1];\n"
+	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			u0 = sorterSharedMemory[idx-12];\n"
+	"			u1 = sorterSharedMemory[idx-8];\n"
+	"			u2 = sorterSharedMemory[idx-4];\n"
+	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			u0 = sorterSharedMemory[idx-48];\n"
+	"			u1 = sorterSharedMemory[idx-32];\n"
+	"			u2 = sorterSharedMemory[idx-16];\n"
+	"			AtomAdd( sorterSharedMemory[idx], u0+u1+u2 );			\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			if( wgSize > 64 )\n"
+	"			{\n"
+	"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"			}\n"
+	"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"		}\n"
+	"#else\n"
+	"		if( lIdx < 64 )\n"
+	"		{\n"
+	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-1];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-2];			\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-4];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-8];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-16];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			sorterSharedMemory[idx] += sorterSharedMemory[idx-32];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"			if( wgSize > 64 )\n"
+	"			{\n"
+	"				sorterSharedMemory[idx] += sorterSharedMemory[idx-64];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"			}\n"
+	"			sorterSharedMemory[idx-1] += sorterSharedMemory[idx-2];\n"
+	"			GROUP_MEM_FENCE;\n"
+	"		}\n"
+	"#endif\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	*totalSum = sorterSharedMemory[wgSize*2-1];\n"
+	"	u32 addValue = sorterSharedMemory[lIdx+wgSize-1];\n"
+	"	return addValue;\n"
+	"}\n"
+	"//__attribute__((reqd_work_group_size(128,1,1)))\n"
+	"uint4 localPrefixSum128V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
+	"{\n"
+	"	u32 s4 = prefixScanVectorEx( &pData );\n"
+	"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 128 );\n"
+	"	return pData + make_uint4( rank, rank, rank, rank );\n"
+	"}\n"
+	"//__attribute__((reqd_work_group_size(64,1,1)))\n"
+	"uint4 localPrefixSum64V( uint4 pData, uint lIdx, uint* totalSum, __local u32* sorterSharedMemory )\n"
+	"{\n"
+	"	u32 s4 = prefixScanVectorEx( &pData );\n"
+	"	u32 rank = localPrefixSum( s4, lIdx, totalSum, sorterSharedMemory, 64 );\n"
+	"	return pData + make_uint4( rank, rank, rank, rank );\n"
+	"}\n"
+	"u32 unpack4Key( u32 key, int keyIdx ){ return (key>>(keyIdx*8)) & 0xff;}\n"
+	"u32 bit8Scan(u32 v)\n"
+	"{\n"
+	"	return (v<<8) + (v<<16) + (v<<24);\n"
+	"}\n"
+	"//===\n"
+	"#define MY_HISTOGRAM(idx) localHistogramMat[(idx)*WG_SIZE+lIdx]\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void StreamCountKernel( __global u32* gSrc, __global u32* histogramOut, int4 cb )\n"
+	"{\n"
+	"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
+	"	u32 gIdx = GET_GLOBAL_IDX;\n"
+	"	u32 lIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	u32 wgSize = GET_GROUP_SIZE;\n"
+	"	const int startBit = cb.m_startBit;\n"
+	"	const int n = cb.m_n;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
+	"	for(int i=0; i<NUM_BUCKET; i++)\n"
+	"	{\n"
+	"		MY_HISTOGRAM(i) = 0;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
+	"	u32 localKey;\n"
+	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
+	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
+	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
+	"	{\n"
+	"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
+	"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
+	"		//	AMD: AtomInc performs better while NV prefers ++\n"
+	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"		{\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"			if( addr+i < n )\n"
+	"#endif\n"
+	"			{\n"
+	"				localKey = (gSrc[addr+i]>>startBit) & 0xf;\n"
+	"#if defined(NV_GPU)\n"
+	"				MY_HISTOGRAM( localKey )++;\n"
+	"#else\n"
+	"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
+	"#endif\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	\n"
+	"	if( lIdx < NUM_BUCKET )\n"
+	"	{\n"
+	"		u32 sum = 0;\n"
+	"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
+	"		{\n"
+	"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
+	"		}\n"
+	"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void StreamCountSortDataKernel( __global SortDataCL* gSrc, __global u32* histogramOut, int4  cb )\n"
+	"{\n"
+	"	__local u32 localHistogramMat[NUM_BUCKET*WG_SIZE];\n"
+	"	u32 gIdx = GET_GLOBAL_IDX;\n"
+	"	u32 lIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	u32 wgSize = GET_GROUP_SIZE;\n"
+	"	const int startBit = cb.m_startBit;\n"
+	"	const int n = cb.m_n;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
+	"	for(int i=0; i<NUM_BUCKET; i++)\n"
+	"	{\n"
+	"		MY_HISTOGRAM(i) = 0;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
+	"	u32 localKey;\n"
+	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
+	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
+	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
+	"	{\n"
+	"		//	MY_HISTOGRAM( localKeys.x ) ++ is much expensive than atomic add as it requires read and write while atomics can just add on AMD\n"
+	"		//	Using registers didn't perform well. It seems like use localKeys to address requires a lot of alu ops\n"
+	"		//	AMD: AtomInc performs better while NV prefers ++\n"
+	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"		{\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"			if( addr+i < n )\n"
+	"#endif\n"
+	"			{\n"
+	"				localKey = (gSrc[addr+i].m_key>>startBit) & 0xf;\n"
+	"#if defined(NV_GPU)\n"
+	"				MY_HISTOGRAM( localKey )++;\n"
+	"#else\n"
+	"				AtomInc( MY_HISTOGRAM( localKey ) );\n"
+	"#endif\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	\n"
+	"	if( lIdx < NUM_BUCKET )\n"
+	"	{\n"
+	"		u32 sum = 0;\n"
+	"		for(int i=0; i<GET_GROUP_SIZE; i++)\n"
+	"		{\n"
+	"			sum += localHistogramMat[lIdx*WG_SIZE+(i+lIdx)%GET_GROUP_SIZE];\n"
+	"		}\n"
+	"		histogramOut[lIdx*nWGs+wgIdx] = sum;\n"
+	"	}\n"
+	"}\n"
+	"#define nPerLane (nPerWI/4)\n"
+	"//	NUM_BUCKET*nWGs < 128*nPerWI\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(128,1,1)))\n"
+	"void PrefixScanKernel( __global u32* wHistogram1, int4  cb )\n"
+	"{\n"
+	"	__local u32 ldsTopScanData[128*2];\n"
+	"	u32 lIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	u32 data[nPerWI];\n"
+	"	for(int i=0; i<nPerWI; i++)\n"
+	"	{\n"
+	"		data[i] = 0;\n"
+	"		if( (nPerWI*lIdx+i) < NUM_BUCKET*nWGs )\n"
+	"			data[i] = wHistogram1[nPerWI*lIdx+i];\n"
+	"	}\n"
+	"	uint4 myData = make_uint4(0,0,0,0);\n"
+	"	for(int i=0; i<nPerLane; i++)\n"
+	"	{\n"
+	"		myData.x += data[nPerLane*0+i];\n"
+	"		myData.y += data[nPerLane*1+i];\n"
+	"		myData.z += data[nPerLane*2+i];\n"
+	"		myData.w += data[nPerLane*3+i];\n"
+	"	}\n"
+	"	uint totalSum;\n"
+	"	uint4 scanned = localPrefixSum128V( myData, lIdx, &totalSum, ldsTopScanData );\n"
+	"//	for(int j=0; j<4; j++) //	somehow it introduces a lot of branches\n"
+	"	{	int j = 0;\n"
+	"		u32 sum = 0;\n"
+	"		for(int i=0; i<nPerLane; i++)\n"
+	"		{\n"
+	"			u32 tmp = data[nPerLane*j+i];\n"
+	"			data[nPerLane*j+i] = sum;\n"
+	"			sum += tmp;\n"
+	"		}\n"
+	"	}\n"
+	"	{	int j = 1;\n"
+	"		u32 sum = 0;\n"
+	"		for(int i=0; i<nPerLane; i++)\n"
+	"		{\n"
+	"			u32 tmp = data[nPerLane*j+i];\n"
+	"			data[nPerLane*j+i] = sum;\n"
+	"			sum += tmp;\n"
+	"		}\n"
+	"	}\n"
+	"	{	int j = 2;\n"
+	"		u32 sum = 0;\n"
+	"		for(int i=0; i<nPerLane; i++)\n"
+	"		{\n"
+	"			u32 tmp = data[nPerLane*j+i];\n"
+	"			data[nPerLane*j+i] = sum;\n"
+	"			sum += tmp;\n"
+	"		}\n"
+	"	}\n"
+	"	{	int j = 3;\n"
+	"		u32 sum = 0;\n"
+	"		for(int i=0; i<nPerLane; i++)\n"
+	"		{\n"
+	"			u32 tmp = data[nPerLane*j+i];\n"
+	"			data[nPerLane*j+i] = sum;\n"
+	"			sum += tmp;\n"
+	"		}\n"
+	"	}\n"
+	"	for(int i=0; i<nPerLane; i++)\n"
+	"	{\n"
+	"		data[nPerLane*0+i] += scanned.x;\n"
+	"		data[nPerLane*1+i] += scanned.y;\n"
+	"		data[nPerLane*2+i] += scanned.z;\n"
+	"		data[nPerLane*3+i] += scanned.w;\n"
+	"	}\n"
+	"	for(int i=0; i<nPerWI; i++)\n"
+	"	{\n"
+	"		int index = nPerWI*lIdx+i;\n"
+	"		if (index < NUM_BUCKET*nWGs)\n"
+	"			wHistogram1[nPerWI*lIdx+i] = data[i];\n"
+	"	}\n"
+	"}\n"
+	"//	4 scan, 4 exchange\n"
+	"void sort4Bits(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
+	"{\n"
+	"	for(int bitIdx=0; bitIdx<BITS_PER_PASS; bitIdx++)\n"
+	"	{\n"
+	"		u32 mask = (1<<bitIdx);\n"
+	"		uint4 cmpResult = make_uint4( (sortData[0]>>startBit) & mask, (sortData[1]>>startBit) & mask, (sortData[2]>>startBit) & mask, (sortData[3]>>startBit) & mask );\n"
+	"		uint4 prefixSum = SELECT_UINT4( make_uint4(1,1,1,1), make_uint4(0,0,0,0), cmpResult != make_uint4(0,0,0,0) );\n"
+	"		u32 total;\n"
+	"		prefixSum = localPrefixSum64V( prefixSum, lIdx, &total, ldsSortData );\n"
+	"		{\n"
+	"			uint4 localAddr = make_uint4(lIdx*4+0,lIdx*4+1,lIdx*4+2,lIdx*4+3);\n"
+	"			uint4 dstAddr = localAddr - prefixSum + make_uint4( total, total, total, total );\n"
+	"			dstAddr = SELECT_UINT4( prefixSum, dstAddr, cmpResult != make_uint4(0, 0, 0, 0) );\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			ldsSortData[dstAddr.x] = sortData[0];\n"
+	"			ldsSortData[dstAddr.y] = sortData[1];\n"
+	"			ldsSortData[dstAddr.z] = sortData[2];\n"
+	"			ldsSortData[dstAddr.w] = sortData[3];\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			sortData[0] = ldsSortData[localAddr.x];\n"
+	"			sortData[1] = ldsSortData[localAddr.y];\n"
+	"			sortData[2] = ldsSortData[localAddr.z];\n"
+	"			sortData[3] = ldsSortData[localAddr.w];\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"//	2 scan, 2 exchange\n"
+	"void sort4Bits1(u32 sortData[4], int startBit, int lIdx, __local u32* ldsSortData)\n"
+	"{\n"
+	"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
+	"	{\n"
+	"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
+	"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
+	"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
+	"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
+	"		u32 key4;\n"
+	"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
+	"		{\n"
+	"			sKeyPacked[0] |= 1<<(8*b.x);\n"
+	"			sKeyPacked[1] |= 1<<(8*b.y);\n"
+	"			sKeyPacked[2] |= 1<<(8*b.z);\n"
+	"			sKeyPacked[3] |= 1<<(8*b.w);\n"
+	"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
+	"		}\n"
+	"		u32 rankPacked;\n"
+	"		u32 sumPacked;\n"
+	"		{\n"
+	"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		u32 newOffset[4] = { 0,0,0,0 };\n"
+	"		{\n"
+	"			u32 sumScanned = bit8Scan( sumPacked );\n"
+	"			u32 scannedKeys[4];\n"
+	"			scannedKeys[0] = 1<<(8*b.x);\n"
+	"			scannedKeys[1] = 1<<(8*b.y);\n"
+	"			scannedKeys[2] = 1<<(8*b.z);\n"
+	"			scannedKeys[3] = 1<<(8*b.w);\n"
+	"			{	//	4 scans at once\n"
+	"				u32 sum4 = 0;\n"
+	"				for(int ie=0; ie<4; ie++)\n"
+	"				{\n"
+	"					u32 tmp = scannedKeys[ie];\n"
+	"					scannedKeys[ie] = sum4;\n"
+	"					sum4 += tmp;\n"
+	"				}\n"
+	"			}\n"
+	"			{\n"
+	"				u32 sumPlusRank = sumScanned + rankPacked;\n"
+	"				{	u32 ie = b.x;\n"
+	"					scannedKeys[0] += sumPlusRank;\n"
+	"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
+	"				}\n"
+	"				{	u32 ie = b.y;\n"
+	"					scannedKeys[1] += sumPlusRank;\n"
+	"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
+	"				}\n"
+	"				{	u32 ie = b.z;\n"
+	"					scannedKeys[2] += sumPlusRank;\n"
+	"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
+	"				}\n"
+	"				{	u32 ie = b.w;\n"
+	"					scannedKeys[3] += sumPlusRank;\n"
+	"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		{\n"
+	"			ldsSortData[newOffset[0]] = sortData[0];\n"
+	"			ldsSortData[newOffset[1]] = sortData[1];\n"
+	"			ldsSortData[newOffset[2]] = sortData[2];\n"
+	"			ldsSortData[newOffset[3]] = sortData[3];\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			u32 dstAddr = 4*lIdx;\n"
+	"			sortData[0] = ldsSortData[dstAddr+0];\n"
+	"			sortData[1] = ldsSortData[dstAddr+1];\n"
+	"			sortData[2] = ldsSortData[dstAddr+2];\n"
+	"			sortData[3] = ldsSortData[dstAddr+3];\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"#define SET_HISTOGRAM(setIdx, key) ldsSortData[(setIdx)*NUM_BUCKET+key]\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SortAndScatterKernel( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
+	"{\n"
+	"	__local u32 ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
+	"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
+	"	__local u32 localHistogram[NUM_BUCKET*2];\n"
+	"	u32 gIdx = GET_GLOBAL_IDX;\n"
+	"	u32 lIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	u32 wgSize = GET_GROUP_SIZE;\n"
+	"	const int n = cb.m_n;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	const int startBit = cb.m_startBit;\n"
+	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
+	"	if( lIdx < (NUM_BUCKET) )\n"
+	"	{\n"
+	"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
+	"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
+	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
+	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
+	"	{\n"
+	"		u32 myHistogram = 0;\n"
+	"		u32 sortData[ELEMENTS_PER_WORK_ITEM];\n"
+	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ] : 0xffffffff;\n"
+	"#else\n"
+	"			sortData[i] = gSrc[ addr+i ];\n"
+	"#endif\n"
+	"		sort4Bits(sortData, startBit, lIdx, ldsSortData);\n"
+	"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
+	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
+	"		{	//	create histogram\n"
+	"			u32 setIdx = lIdx/16;\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				localHistogram[lIdx] = 0;\n"
+	"			}\n"
+	"			ldsSortData[lIdx] = 0;\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"				if( addr+i < n )\n"
+	"#endif\n"
+	"#if defined(NV_GPU)\n"
+	"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
+	"#else\n"
+	"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
+	"#endif\n"
+	"			\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			\n"
+	"			uint hIdx = NUM_BUCKET+lIdx;\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				u32 sum = 0;\n"
+	"				for(int i=0; i<WG_SIZE/16; i++)\n"
+	"				{\n"
+	"					sum += SET_HISTOGRAM( i, lIdx );\n"
+	"				}\n"
+	"				myHistogram = sum;\n"
+	"				localHistogram[hIdx] = sum;\n"
+	"			}\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"#if defined(USE_2LEVEL_REDUCE)\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				u32 u0, u1, u2;\n"
+	"				u0 = localHistogram[hIdx-3];\n"
+	"				u1 = localHistogram[hIdx-2];\n"
+	"				u2 = localHistogram[hIdx-1];\n"
+	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				u0 = localHistogram[hIdx-12];\n"
+	"				u1 = localHistogram[hIdx-8];\n"
+	"				u2 = localHistogram[hIdx-4];\n"
+	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
+	"				GROUP_MEM_FENCE;\n"
+	"			}\n"
+	"#else\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"			}\n"
+	"#endif\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"		}\n"
+	"		{\n"
+	"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
+	"			{\n"
+	"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
+	"				int binIdx = keys[ie];\n"
+	"				int groupOffset = localHistogramToCarry[binIdx];\n"
+	"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"				if( addr+ie < n )\n"
+	"#endif\n"
+	"				gDst[ groupOffset + myIdx ] = sortData[ie];\n"
+	"			}\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		if( lIdx < NUM_BUCKET )\n"
+	"		{\n"
+	"			localHistogramToCarry[lIdx] += myHistogram;\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"	}\n"
+	"}\n"
+	"//	2 scan, 2 exchange\n"
+	"void sort4Bits1KeyValue(u32 sortData[4], int sortVal[4], int startBit, int lIdx, __local u32* ldsSortData, __local int *ldsSortVal)\n"
+	"{\n"
+	"	for(uint ibit=0; ibit<BITS_PER_PASS; ibit+=2)\n"
+	"	{\n"
+	"		uint4 b = make_uint4((sortData[0]>>(startBit+ibit)) & 0x3, \n"
+	"			(sortData[1]>>(startBit+ibit)) & 0x3, \n"
+	"			(sortData[2]>>(startBit+ibit)) & 0x3, \n"
+	"			(sortData[3]>>(startBit+ibit)) & 0x3);\n"
+	"		u32 key4;\n"
+	"		u32 sKeyPacked[4] = { 0, 0, 0, 0 };\n"
+	"		{\n"
+	"			sKeyPacked[0] |= 1<<(8*b.x);\n"
+	"			sKeyPacked[1] |= 1<<(8*b.y);\n"
+	"			sKeyPacked[2] |= 1<<(8*b.z);\n"
+	"			sKeyPacked[3] |= 1<<(8*b.w);\n"
+	"			key4 = sKeyPacked[0] + sKeyPacked[1] + sKeyPacked[2] + sKeyPacked[3];\n"
+	"		}\n"
+	"		u32 rankPacked;\n"
+	"		u32 sumPacked;\n"
+	"		{\n"
+	"			rankPacked = localPrefixSum( key4, lIdx, &sumPacked, ldsSortData, WG_SIZE );\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		u32 newOffset[4] = { 0,0,0,0 };\n"
+	"		{\n"
+	"			u32 sumScanned = bit8Scan( sumPacked );\n"
+	"			u32 scannedKeys[4];\n"
+	"			scannedKeys[0] = 1<<(8*b.x);\n"
+	"			scannedKeys[1] = 1<<(8*b.y);\n"
+	"			scannedKeys[2] = 1<<(8*b.z);\n"
+	"			scannedKeys[3] = 1<<(8*b.w);\n"
+	"			{	//	4 scans at once\n"
+	"				u32 sum4 = 0;\n"
+	"				for(int ie=0; ie<4; ie++)\n"
+	"				{\n"
+	"					u32 tmp = scannedKeys[ie];\n"
+	"					scannedKeys[ie] = sum4;\n"
+	"					sum4 += tmp;\n"
+	"				}\n"
+	"			}\n"
+	"			{\n"
+	"				u32 sumPlusRank = sumScanned + rankPacked;\n"
+	"				{	u32 ie = b.x;\n"
+	"					scannedKeys[0] += sumPlusRank;\n"
+	"					newOffset[0] = unpack4Key( scannedKeys[0], ie );\n"
+	"				}\n"
+	"				{	u32 ie = b.y;\n"
+	"					scannedKeys[1] += sumPlusRank;\n"
+	"					newOffset[1] = unpack4Key( scannedKeys[1], ie );\n"
+	"				}\n"
+	"				{	u32 ie = b.z;\n"
+	"					scannedKeys[2] += sumPlusRank;\n"
+	"					newOffset[2] = unpack4Key( scannedKeys[2], ie );\n"
+	"				}\n"
+	"				{	u32 ie = b.w;\n"
+	"					scannedKeys[3] += sumPlusRank;\n"
+	"					newOffset[3] = unpack4Key( scannedKeys[3], ie );\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		{\n"
+	"			ldsSortData[newOffset[0]] = sortData[0];\n"
+	"			ldsSortData[newOffset[1]] = sortData[1];\n"
+	"			ldsSortData[newOffset[2]] = sortData[2];\n"
+	"			ldsSortData[newOffset[3]] = sortData[3];\n"
+	"			ldsSortVal[newOffset[0]] = sortVal[0];\n"
+	"			ldsSortVal[newOffset[1]] = sortVal[1];\n"
+	"			ldsSortVal[newOffset[2]] = sortVal[2];\n"
+	"			ldsSortVal[newOffset[3]] = sortVal[3];\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			u32 dstAddr = 4*lIdx;\n"
+	"			sortData[0] = ldsSortData[dstAddr+0];\n"
+	"			sortData[1] = ldsSortData[dstAddr+1];\n"
+	"			sortData[2] = ldsSortData[dstAddr+2];\n"
+	"			sortData[3] = ldsSortData[dstAddr+3];\n"
+	"			sortVal[0] = ldsSortVal[dstAddr+0];\n"
+	"			sortVal[1] = ldsSortVal[dstAddr+1];\n"
+	"			sortVal[2] = ldsSortVal[dstAddr+2];\n"
+	"			sortVal[3] = ldsSortVal[dstAddr+3];\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SortAndScatterSortDataKernel( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
+	"{\n"
+	"	__local int ldsSortData[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
+	"	__local int ldsSortVal[WG_SIZE*ELEMENTS_PER_WORK_ITEM+16];\n"
+	"	__local u32 localHistogramToCarry[NUM_BUCKET];\n"
+	"	__local u32 localHistogram[NUM_BUCKET*2];\n"
+	"	u32 gIdx = GET_GLOBAL_IDX;\n"
+	"	u32 lIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	u32 wgSize = GET_GROUP_SIZE;\n"
+	"	const int n = cb.m_n;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	const int startBit = cb.m_startBit;\n"
+	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
+	"	if( lIdx < (NUM_BUCKET) )\n"
+	"	{\n"
+	"		localHistogramToCarry[lIdx] = rHistogram[lIdx*nWGs + wgIdx];\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"    \n"
+	"	const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
+	"	int nBlocks = n/blockSize - nBlocksPerWG*wgIdx;\n"
+	"	int addr = blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
+	"	for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++, addr+=blockSize)\n"
+	"	{\n"
+	"		u32 myHistogram = 0;\n"
+	"		int sortData[ELEMENTS_PER_WORK_ITEM];\n"
+	"		int sortVal[ELEMENTS_PER_WORK_ITEM];\n"
+	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"		{\n"
+	"			sortData[i] = ( addr+i < n )? gSrc[ addr+i ].m_key : 0xffffffff;\n"
+	"			sortVal[i] = ( addr+i < n )? gSrc[ addr+i ].m_value : 0xffffffff;\n"
+	"		}\n"
+	"#else\n"
+	"		{\n"
+	"			sortData[i] = gSrc[ addr+i ].m_key;\n"
+	"			sortVal[i] = gSrc[ addr+i ].m_value;\n"
+	"		}\n"
+	"#endif\n"
+	"		sort4Bits1KeyValue(sortData, sortVal, startBit, lIdx, ldsSortData, ldsSortVal);\n"
+	"		u32 keys[ELEMENTS_PER_WORK_ITEM];\n"
+	"		for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"			keys[i] = (sortData[i]>>startBit) & 0xf;\n"
+	"		{	//	create histogram\n"
+	"			u32 setIdx = lIdx/16;\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				localHistogram[lIdx] = 0;\n"
+	"			}\n"
+	"			ldsSortData[lIdx] = 0;\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			for(int i=0; i<ELEMENTS_PER_WORK_ITEM; i++)\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"				if( addr+i < n )\n"
+	"#endif\n"
+	"#if defined(NV_GPU)\n"
+	"				SET_HISTOGRAM( setIdx, keys[i] )++;\n"
+	"#else\n"
+	"				AtomInc( SET_HISTOGRAM( setIdx, keys[i] ) );\n"
+	"#endif\n"
+	"			\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			\n"
+	"			uint hIdx = NUM_BUCKET+lIdx;\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				u32 sum = 0;\n"
+	"				for(int i=0; i<WG_SIZE/16; i++)\n"
+	"				{\n"
+	"					sum += SET_HISTOGRAM( i, lIdx );\n"
+	"				}\n"
+	"				myHistogram = sum;\n"
+	"				localHistogram[hIdx] = sum;\n"
+	"			}\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"#if defined(USE_2LEVEL_REDUCE)\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				u32 u0, u1, u2;\n"
+	"				u0 = localHistogram[hIdx-3];\n"
+	"				u1 = localHistogram[hIdx-2];\n"
+	"				u2 = localHistogram[hIdx-1];\n"
+	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				u0 = localHistogram[hIdx-12];\n"
+	"				u1 = localHistogram[hIdx-8];\n"
+	"				u2 = localHistogram[hIdx-4];\n"
+	"				AtomAdd( localHistogram[hIdx], u0 + u1 + u2 );\n"
+	"				GROUP_MEM_FENCE;\n"
+	"			}\n"
+	"#else\n"
+	"			if( lIdx < NUM_BUCKET )\n"
+	"			{\n"
+	"				localHistogram[hIdx] = localHistogram[hIdx-1];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-1];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-2];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-4];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"				localHistogram[hIdx] += localHistogram[hIdx-8];\n"
+	"				GROUP_MEM_FENCE;\n"
+	"			}\n"
+	"#endif\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"		}\n"
+	"    	{\n"
+	"			for(int ie=0; ie<ELEMENTS_PER_WORK_ITEM; ie++)\n"
+	"			{\n"
+	"				int dataIdx = ELEMENTS_PER_WORK_ITEM*lIdx+ie;\n"
+	"				int binIdx = keys[ie];\n"
+	"				int groupOffset = localHistogramToCarry[binIdx];\n"
+	"				int myIdx = dataIdx - localHistogram[NUM_BUCKET+binIdx];\n"
+	"#if defined(CHECK_BOUNDARY)\n"
+	"				if( addr+ie < n )\n"
+	"				{\n"
+	"                    if ((groupOffset + myIdx)<n)\n"
+	"                    {\n"
+	"                        if (sortData[ie]==sortVal[ie])\n"
+	"                        {\n"
+	"                            \n"
+	"                            SortDataCL tmp;\n"
+	"                            tmp.m_key = sortData[ie];\n"
+	"                            tmp.m_value = sortVal[ie];\n"
+	"                            if (tmp.m_key == tmp.m_value)\n"
+	"                                gDst[groupOffset + myIdx ] = tmp;\n"
+	"                        }\n"
+	"                        \n"
+	"                    }\n"
+	"				}\n"
+	"#else\n"
+	"                if ((groupOffset + myIdx)<n)\n"
+	"                {\n"
+	"                    gDst[ groupOffset + myIdx ].m_key = sortData[ie];\n"
+	"                    gDst[ groupOffset + myIdx ].m_value = sortVal[ie];\n"
+	"                }\n"
+	"#endif\n"
+	"			}\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		if( lIdx < NUM_BUCKET )\n"
+	"		{\n"
+	"			localHistogramToCarry[lIdx] += myHistogram;\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SortAndScatterSortDataKernelSerial( __global const SortDataCL* restrict gSrc, __global const u32* rHistogram, __global SortDataCL* restrict gDst, int4 cb)\n"
+	"{\n"
+	"    \n"
+	"	u32 gIdx = GET_GLOBAL_IDX;\n"
+	"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	u32 wgSize = GET_GROUP_SIZE;\n"
+	"	const int startBit = cb.m_startBit;\n"
+	"	const int n = cb.m_n;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
+	"    int counter[NUM_BUCKET];\n"
+	"    \n"
+	"    if (realLocalIdx>0)\n"
+	"        return;\n"
+	"    \n"
+	"    for (int c=0;c<NUM_BUCKET;c++)\n"
+	"        counter[c]=0;\n"
+	"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
+	"	\n"
+	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
+	"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
+	"  {\n"
+	"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
+	" 	{\n"
+	"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
+	"        \n"
+	"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
+	"		{\n"
+	"            int i = addr2+j;\n"
+	"			if( i < n )\n"
+	"			{\n"
+	"                int tableIdx;\n"
+	"				tableIdx = (gSrc[i].m_key>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
+	"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
+	"                counter[tableIdx] ++;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"  }\n"
+	"    \n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SortAndScatterKernelSerial( __global const u32* restrict gSrc, __global const u32* rHistogram, __global u32* restrict gDst, int4  cb )\n"
+	"{\n"
+	"    \n"
+	"	u32 gIdx = GET_GLOBAL_IDX;\n"
+	"	u32 realLocalIdx = GET_LOCAL_IDX;\n"
+	"	u32 wgIdx = GET_GROUP_IDX;\n"
+	"	u32 wgSize = GET_GROUP_SIZE;\n"
+	"	const int startBit = cb.m_startBit;\n"
+	"	const int n = cb.m_n;\n"
+	"	const int nWGs = cb.m_nWGs;\n"
+	"	const int nBlocksPerWG = cb.m_nBlocksPerWG;\n"
+	"    int counter[NUM_BUCKET];\n"
+	"    \n"
+	"    if (realLocalIdx>0)\n"
+	"        return;\n"
+	"    \n"
+	"    for (int c=0;c<NUM_BUCKET;c++)\n"
+	"        counter[c]=0;\n"
+	"    const int blockSize = ELEMENTS_PER_WORK_ITEM*WG_SIZE;\n"
+	"	\n"
+	"	int nBlocks = (n)/blockSize - nBlocksPerWG*wgIdx;\n"
+	"   for(int iblock=0; iblock<min(nBlocksPerWG, nBlocks); iblock++)\n"
+	"  {\n"
+	"     for (int lIdx=0;lIdx<WG_SIZE;lIdx++)\n"
+	" 	{\n"
+	"        int addr2 = iblock*blockSize + blockSize*nBlocksPerWG*wgIdx + ELEMENTS_PER_WORK_ITEM*lIdx;\n"
+	"        \n"
+	"		for(int j=0; j<ELEMENTS_PER_WORK_ITEM; j++)\n"
+	"		{\n"
+	"            int i = addr2+j;\n"
+	"			if( i < n )\n"
+	"			{\n"
+	"                int tableIdx;\n"
+	"				tableIdx = (gSrc[i]>>startBit) & 0xf;//0xf = NUM_TABLES-1\n"
+	"                gDst[rHistogram[tableIdx*nWGs+wgIdx] + counter[tableIdx]] = gSrc[i];\n"
+	"                counter[tableIdx] ++;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"  }\n"
+	"    \n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
index 161e304f09..6571f30548 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
@@ -4,7 +4,6 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
 
-
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
@@ -15,38 +14,35 @@
 
 #include "Bullet3OpenCL/Raycast/kernels/rayCastKernels.h"
 
-
 #define B3_RAYCAST_PATH "src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl"
 
-
-
 struct b3GpuRaycastInternalData
 {
 	cl_context m_context;
 	cl_device_id m_device;
-	cl_command_queue  m_q;
+	cl_command_queue m_q;
 	cl_kernel m_raytraceKernel;
 	cl_kernel m_raytracePairsKernel;
 	cl_kernel m_findRayRigidPairIndexRanges;
-	
+
 	b3GpuParallelLinearBvh* m_plbvh;
 	b3RadixSort32CL* m_radixSorter;
 	b3FillCL* m_fill;
-	
+
 	//1 element per ray
 	b3OpenCLArray<b3RayInfo>* m_gpuRays;
 	b3OpenCLArray<b3RayHit>* m_gpuHitResults;
 	b3OpenCLArray<int>* m_firstRayRigidPairIndexPerRay;
 	b3OpenCLArray<int>* m_numRayRigidPairsPerRay;
-	
+
 	//1 element per (ray index, rigid index) pair, where the ray intersects with the rigid's AABB
 	b3OpenCLArray<int>* m_gpuNumRayRigidPairs;
-	b3OpenCLArray<b3Int2>* m_gpuRayRigidPairs;	//x == ray index, y == rigid index
-	
+	b3OpenCLArray<b3Int2>* m_gpuRayRigidPairs;  //x == ray index, y == rigid index
+
 	int m_test;
 };
 
-b3GpuRaycast::b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue  q)
+b3GpuRaycast::b3GpuRaycast(cl_context ctx, cl_device_id device, cl_command_queue q)
 {
 	m_data = new b3GpuRaycastInternalData;
 	m_data->m_context = ctx;
@@ -59,7 +55,7 @@ b3GpuRaycast::b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue
 	m_data->m_plbvh = new b3GpuParallelLinearBvh(ctx, device, q);
 	m_data->m_radixSorter = new b3RadixSort32CL(ctx, device, q);
 	m_data->m_fill = new b3FillCL(ctx, device, q);
-	
+
 	m_data->m_gpuRays = new b3OpenCLArray<b3RayInfo>(ctx, q);
 	m_data->m_gpuHitResults = new b3OpenCLArray<b3RayHit>(ctx, q);
 	m_data->m_firstRayRigidPairIndexPerRay = new b3OpenCLArray<int>(ctx, q);
@@ -68,19 +64,17 @@ b3GpuRaycast::b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue
 	m_data->m_gpuRayRigidPairs = new b3OpenCLArray<b3Int2>(ctx, q);
 
 	{
-		cl_int errNum=0;
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,rayCastKernelCL,&errNum,"",B3_RAYCAST_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-		m_data->m_raytraceKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "rayCastKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_data->m_raytracePairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "rayCastPairsKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_data->m_findRayRigidPairIndexRanges = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "findRayRigidPairIndexRanges",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
+		cl_int errNum = 0;
+		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, &errNum, "", B3_RAYCAST_PATH);
+		b3Assert(errNum == CL_SUCCESS);
+		m_data->m_raytraceKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "rayCastKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_data->m_raytracePairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "rayCastPairsKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_data->m_findRayRigidPairIndexRanges = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "findRayRigidPairIndexRanges", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
 		clReleaseProgram(prog);
 	}
-
-
 }
 
 b3GpuRaycast::~b3GpuRaycast()
@@ -88,78 +82,80 @@ b3GpuRaycast::~b3GpuRaycast()
 	clReleaseKernel(m_data->m_raytraceKernel);
 	clReleaseKernel(m_data->m_raytracePairsKernel);
 	clReleaseKernel(m_data->m_findRayRigidPairIndexRanges);
-	
+
 	delete m_data->m_plbvh;
 	delete m_data->m_radixSorter;
 	delete m_data->m_fill;
-	
+
 	delete m_data->m_gpuRays;
 	delete m_data->m_gpuHitResults;
 	delete m_data->m_firstRayRigidPairIndexPerRay;
 	delete m_data->m_numRayRigidPairsPerRay;
 	delete m_data->m_gpuNumRayRigidPairs;
 	delete m_data->m_gpuRayRigidPairs;
-	
+
 	delete m_data;
 }
 
-bool sphere_intersect(const b3Vector3& spherePos,  b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo, float& hitFraction)
+bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo, float& hitFraction)
 {
-    b3Vector3 rs = rayFrom - spherePos;
-	b3Vector3 rayDir = rayTo-rayFrom;
-	
-	float A = b3Dot(rayDir,rayDir);
-    float B = b3Dot(rs, rayDir);
-    float C = b3Dot(rs, rs) - (radius * radius);
-    
-	float D = B * B - A*C;
-
-    if (D > 0.0)
-    {
-        float t = (-B - sqrt(D))/A;
-
-        if ( (t >= 0.0f) && (t < hitFraction) )
-        {
+	b3Vector3 rs = rayFrom - spherePos;
+	b3Vector3 rayDir = rayTo - rayFrom;
+
+	float A = b3Dot(rayDir, rayDir);
+	float B = b3Dot(rs, rayDir);
+	float C = b3Dot(rs, rs) - (radius * radius);
+
+	float D = B * B - A * C;
+
+	if (D > 0.0)
+	{
+		float t = (-B - sqrt(D)) / A;
+
+		if ((t >= 0.0f) && (t < hitFraction))
+		{
 			hitFraction = t;
-            return true;
+			return true;
 		}
 	}
 	return false;
 }
 
 bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly,
-	const b3AlignedObjectArray<b3GpuFace>& faces,  float& hitFraction, b3Vector3& hitNormal)
+			   const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal)
 {
 	float exitFraction = hitFraction;
 	float enterFraction = -0.1f;
-	b3Vector3 curHitNormal=b3MakeVector3(0,0,0);
-	for (int i=0;i<poly.m_numFaces;i++)
+	b3Vector3 curHitNormal = b3MakeVector3(0, 0, 0);
+	for (int i = 0; i < poly.m_numFaces; i++)
 	{
-		const b3GpuFace& face = faces[poly.m_faceOffset+i];
-		float fromPlaneDist = b3Dot(rayFromLocal,face.m_plane)+face.m_plane.w;
-		float toPlaneDist = b3Dot(rayToLocal,face.m_plane)+face.m_plane.w;
-		if (fromPlaneDist<0.f)
+		const b3GpuFace& face = faces[poly.m_faceOffset + i];
+		float fromPlaneDist = b3Dot(rayFromLocal, face.m_plane) + face.m_plane.w;
+		float toPlaneDist = b3Dot(rayToLocal, face.m_plane) + face.m_plane.w;
+		if (fromPlaneDist < 0.f)
 		{
 			if (toPlaneDist >= 0.f)
 			{
-				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
-				if (exitFraction>fraction)
+				float fraction = fromPlaneDist / (fromPlaneDist - toPlaneDist);
+				if (exitFraction > fraction)
 				{
 					exitFraction = fraction;
 				}
-			} 			
-		} else
+			}
+		}
+		else
 		{
-			if (toPlaneDist<0.f)
+			if (toPlaneDist < 0.f)
 			{
-				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
+				float fraction = fromPlaneDist / (fromPlaneDist - toPlaneDist);
 				if (enterFraction <= fraction)
 				{
 					enterFraction = fraction;
 					curHitNormal = face.m_plane;
 					curHitNormal.w = 0.f;
 				}
-			} else
+			}
+			else
 			{
 				return false;
 			}
@@ -176,44 +172,41 @@ bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const
 	return true;
 }
 
-void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults,
-		int numBodies,const struct b3RigidBodyData* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
+void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
+								int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
 {
-
-//	return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
+	//	return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);
 
 	B3_PROFILE("castRaysHost");
-	for (int r=0;r<rays.size();r++)
+	for (int r = 0; r < rays.size(); r++)
 	{
 		b3Vector3 rayFrom = rays[r].m_from;
 		b3Vector3 rayTo = rays[r].m_to;
 		float hitFraction = hitResults[r].m_hitFraction;
 
-		int hitBodyIndex= -1;
+		int hitBodyIndex = -1;
 		b3Vector3 hitNormal;
 
-		for (int b=0;b<numBodies;b++)
+		for (int b = 0; b < numBodies; b++)
 		{
-				
 			const b3Vector3& pos = bodies[b].m_pos;
 			//const b3Quaternion& orn = bodies[b].m_quat;
-			
+
 			switch (collidables[bodies[b].m_collidableIdx].m_shapeType)
 			{
-			case SHAPE_SPHERE:
+				case SHAPE_SPHERE:
 				{
 					b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius;
-					if (sphere_intersect(pos,  radius, rayFrom, rayTo,hitFraction))
+					if (sphere_intersect(pos, radius, rayFrom, rayTo, hitFraction))
 					{
 						hitBodyIndex = b;
 						b3Vector3 hitPoint;
-						hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
-						hitNormal = (hitPoint-bodies[b].m_pos).normalize();
+						hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to, hitFraction);
+						hitNormal = (hitPoint - bodies[b].m_pos).normalize();
 					}
 				}
-			case SHAPE_CONVEX_HULL:
+				case SHAPE_CONVEX_HULL:
 				{
-
 					b3Transform convexWorldTransform;
 					convexWorldTransform.setIdentity();
 					convexWorldTransform.setOrigin(bodies[b].m_pos);
@@ -222,72 +215,67 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays,	b3A
 
 					b3Vector3 rayFromLocal = convexWorld2Local(rayFrom);
 					b3Vector3 rayToLocal = convexWorld2Local(rayTo);
-					
-					
+
 					int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
 					const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
-					if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData->m_convexFaces, hitFraction, hitNormal))
+					if (rayConvex(rayFromLocal, rayToLocal, poly, narrowphaseData->m_convexFaces, hitFraction, hitNormal))
 					{
 						hitBodyIndex = b;
 					}
 
-					
 					break;
 				}
-			default:
+				default:
 				{
-					static bool once=true;
+					static bool once = true;
 					if (once)
 					{
-						once=false;
+						once = false;
 						b3Warning("Raytest: unsupported shape type\n");
 					}
 				}
 			}
 		}
-		if (hitBodyIndex>=0)
+		if (hitBodyIndex >= 0)
 		{
-
 			hitResults[r].m_hitFraction = hitFraction;
-			hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
+			hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to, hitFraction);
 			hitResults[r].m_hitNormal = hitNormal;
 			hitResults[r].m_hitBody = hitBodyIndex;
 		}
-
 	}
 }
 ///todo: add some acceleration structure (AABBs, tree etc)
-void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults,
-		int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, 
-		const struct b3GpuNarrowPhaseInternalData* narrowphaseData,	class b3GpuBroadphaseInterface* broadphase)
+void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
+							int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
+							const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase)
 {
 	//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);
 
 	B3_PROFILE("castRaysGPU");
-	
+
 	{
 		B3_PROFILE("raycast copyFromHost");
 		m_data->m_gpuRays->copyFromHost(rays);
 		m_data->m_gpuHitResults->copyFromHost(hitResults);
-		
 	}
-	
+
 	int numRays = hitResults.size();
 	{
 		m_data->m_firstRayRigidPairIndexPerRay->resize(numRays);
 		m_data->m_numRayRigidPairsPerRay->resize(numRays);
-		
+
 		m_data->m_gpuNumRayRigidPairs->resize(1);
 		m_data->m_gpuRayRigidPairs->resize(numRays * 16);
 	}
-	
+
 	//run kernel
 	const bool USE_BRUTE_FORCE_RAYCAST = false;
-	if(USE_BRUTE_FORCE_RAYCAST)
+	if (USE_BRUTE_FORCE_RAYCAST)
 	{
 		B3_PROFILE("raycast launch1D");
 
-		b3LauncherCL launcher(m_data->m_q,m_data->m_raytraceKernel,"m_raytraceKernel");
+		b3LauncherCL launcher(m_data->m_q, m_data->m_raytraceKernel, "m_raytraceKernel");
 		int numRays = rays.size();
 		launcher.setConst(numRays);
 
@@ -299,93 +287,88 @@ void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3Align
 		launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL());
 		launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL());
 		launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL());
-		
+
 		launcher.launch1D(numRays);
 		clFinish(m_data->m_q);
 	}
 	else
 	{
-		m_data->m_plbvh->build( broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU() );
+		m_data->m_plbvh->build(broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU());
 
 		m_data->m_plbvh->testRaysAgainstBvhAabbs(*m_data->m_gpuRays, *m_data->m_gpuNumRayRigidPairs, *m_data->m_gpuRayRigidPairs);
-		
+
 		int numRayRigidPairs = -1;
 		m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1);
-		if( numRayRigidPairs > m_data->m_gpuRayRigidPairs->size() )
+		if (numRayRigidPairs > m_data->m_gpuRayRigidPairs->size())
 		{
 			numRayRigidPairs = m_data->m_gpuRayRigidPairs->size();
 			m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1);
 		}
-		
-		m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs);	//Radix sort needs b3OpenCLArray::size() to be correct
-		
+
+		m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs);  //Radix sort needs b3OpenCLArray::size() to be correct
+
 		//Sort ray-rigid pairs by ray index
 		{
 			B3_PROFILE("sort ray-rigid pairs");
-			m_data->m_radixSorter->execute( *reinterpret_cast< b3OpenCLArray<b3SortData>* >(m_data->m_gpuRayRigidPairs) );
+			m_data->m_radixSorter->execute(*reinterpret_cast<b3OpenCLArray<b3SortData>*>(m_data->m_gpuRayRigidPairs));
 		}
-		
+
 		//detect start,count of each ray pair
 		{
 			B3_PROFILE("detect ray-rigid pair index ranges");
-			
+
 			{
 				B3_PROFILE("reset ray-rigid pair index ranges");
-				
-				m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays);	//atomic_min used to find first index
+
+				m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays);  //atomic_min used to find first index
 				m_data->m_fill->execute(*m_data->m_numRayRigidPairsPerRay, 0, numRays);
 				clFinish(m_data->m_q);
 			}
-			
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() ),
-				
-				b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
-				b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() )
-			};
-			
+
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(m_data->m_gpuRayRigidPairs->getBufferCL()),
+
+					b3BufferInfoCL(m_data->m_firstRayRigidPairIndexPerRay->getBufferCL()),
+					b3BufferInfoCL(m_data->m_numRayRigidPairsPerRay->getBufferCL())};
+
 			b3LauncherCL launcher(m_data->m_q, m_data->m_findRayRigidPairIndexRanges, "m_findRayRigidPairIndexRanges");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numRayRigidPairs);
-			
+
 			launcher.launch1D(numRayRigidPairs);
 			clFinish(m_data->m_q);
 		}
-		
+
 		{
 			B3_PROFILE("ray-rigid intersection");
-			
-			b3BufferInfoCL bufferInfo[] = 
-			{
-				b3BufferInfoCL( m_data->m_gpuRays->getBufferCL() ),
-				b3BufferInfoCL( m_data->m_gpuHitResults->getBufferCL() ),
-				b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
-				b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() ),
-				
-				b3BufferInfoCL( narrowphaseData->m_bodyBufferGPU->getBufferCL() ),
-				b3BufferInfoCL( narrowphaseData->m_collidablesGPU->getBufferCL() ),
-				b3BufferInfoCL( narrowphaseData->m_convexFacesGPU->getBufferCL() ),
-				b3BufferInfoCL( narrowphaseData->m_convexPolyhedraGPU->getBufferCL() ),
-				
-				b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() )
-			};
-			
+
+			b3BufferInfoCL bufferInfo[] =
+				{
+					b3BufferInfoCL(m_data->m_gpuRays->getBufferCL()),
+					b3BufferInfoCL(m_data->m_gpuHitResults->getBufferCL()),
+					b3BufferInfoCL(m_data->m_firstRayRigidPairIndexPerRay->getBufferCL()),
+					b3BufferInfoCL(m_data->m_numRayRigidPairsPerRay->getBufferCL()),
+
+					b3BufferInfoCL(narrowphaseData->m_bodyBufferGPU->getBufferCL()),
+					b3BufferInfoCL(narrowphaseData->m_collidablesGPU->getBufferCL()),
+					b3BufferInfoCL(narrowphaseData->m_convexFacesGPU->getBufferCL()),
+					b3BufferInfoCL(narrowphaseData->m_convexPolyhedraGPU->getBufferCL()),
+
+					b3BufferInfoCL(m_data->m_gpuRayRigidPairs->getBufferCL())};
+
 			b3LauncherCL launcher(m_data->m_q, m_data->m_raytracePairsKernel, "m_raytracePairsKernel");
-			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
+			launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL));
 			launcher.setConst(numRays);
-			
+
 			launcher.launch1D(numRays);
 			clFinish(m_data->m_q);
 		}
 	}
-	
-	
 
 	//copy results
 	{
 		B3_PROFILE("raycast copyToHost");
 		m_data->m_gpuHitResults->copyToHost(hitResults);
 	}
-
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h
index 3a5cf44b79..f1f6ffd402 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h
+++ b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.h
@@ -7,26 +7,22 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
 
-
-
 class b3GpuRaycast
 {
 protected:
 	struct b3GpuRaycastInternalData* m_data;
+
 public:
-	b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue  q);
+	b3GpuRaycast(cl_context ctx, cl_device_id device, cl_command_queue q);
 	virtual ~b3GpuRaycast();
 
-	void castRaysHost(const b3AlignedObjectArray<b3RayInfo>& raysIn,	b3AlignedObjectArray<b3RayHit>& hitResults,
-		int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
-		const struct b3GpuNarrowPhaseInternalData* narrowphaseData);
-
-	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults,
-		int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
-		const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase);
-	
+	void castRaysHost(const b3AlignedObjectArray<b3RayInfo>& raysIn, b3AlignedObjectArray<b3RayHit>& hitResults,
+					  int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
+					  const struct b3GpuNarrowPhaseInternalData* narrowphaseData);
 
-		
+	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults,
+				  int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables,
+				  const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase);
 };
 
-#endif //B3_GPU_RAYCAST_H
+#endif  //B3_GPU_RAYCAST_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
index 6257909a4d..94f6a8eb9f 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
@@ -1,381 +1,380 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* rayCastKernelCL= \
-"#define SHAPE_CONVEX_HULL 3\n"
-"#define SHAPE_PLANE 4\n"
-"#define SHAPE_CONCAVE_TRIMESH 5\n"
-"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
-"#define SHAPE_SPHERE 7\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_from;\n"
-"	float4 m_to;\n"
-"} b3RayInfo;\n"
-"typedef struct\n"
-"{\n"
-"	float m_hitFraction;\n"
-"	int	m_hitResult0;\n"
-"	int	m_hitResult1;\n"
-"	int	m_hitResult2;\n"
-"	float4	m_hitPoint;\n"
-"	float4	m_hitNormal;\n"
-"} b3RayHit;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	float4 m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	unsigned int m_collidableIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} Body;\n"
-"typedef struct Collidable\n"
-"{\n"
-"	union {\n"
-"		int m_numChildShapes;\n"
-"		int m_bvhIndex;\n"
-"	};\n"
-"	float m_radius;\n"
-"	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
-"} Collidable;\n"
-"typedef struct  \n"
-"{\n"
-"	float4		m_localCenter;\n"
-"	float4		m_extents;\n"
-"	float4		mC;\n"
-"	float4		mE;\n"
-"	float			m_radius;\n"
-"	int	m_faceOffset;\n"
-"	int m_numFaces;\n"
-"	int	m_numVertices;\n"
-"	int m_vertexOffset;\n"
-"	int	m_uniqueEdgesOffset;\n"
-"	int	m_numUniqueEdges;\n"
-"	int m_unused;\n"
-"} ConvexPolyhedronCL;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_plane;\n"
-"	int m_indexOffset;\n"
-"	int m_numIndices;\n"
-"} b3GpuFace;\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"	Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"	Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"	Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"	float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = (float4)(a.xyz,0.f);\n"
-"	float4 b1 = (float4)(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"	Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"	//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"	Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fast_normalize(in);\n"
-"	//	in /= length( in );\n"
-"	//	return in;\n"
-"}\n"
-"__inline\n"
-"	float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(q,vcpy);\n"
-"	out = qtMul(out,qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"	Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"	float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
-"	float4* translationOut, Quaternion* orientationOut)\n"
-"{\n"
-"	*orientationOut = qtInvert(orientationIn);\n"
-"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
-"}\n"
-"bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,\n"
-"	__global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)\n"
-"{\n"
-"	rayFromLocal.w = 0.f;\n"
-"	rayToLocal.w = 0.f;\n"
-"	bool result = true;\n"
-"	float exitFraction = hitFraction[0];\n"
-"	float enterFraction = -0.3f;\n"
-"	float4 curHitNormal = (float4)(0,0,0,0);\n"
-"	for (int i=0;i<numFaces && result;i++)\n"
-"	{\n"
-"		b3GpuFace face = faces[faceOffset+i];\n"
-"		float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;\n"
-"		float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;\n"
-"		if (fromPlaneDist<0.f)\n"
-"		{\n"
-"			if (toPlaneDist >= 0.f)\n"
-"			{\n"
-"				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
-"				if (exitFraction>fraction)\n"
-"				{\n"
-"					exitFraction = fraction;\n"
-"				}\n"
-"			} 			\n"
-"		} else\n"
-"		{\n"
-"			if (toPlaneDist<0.f)\n"
-"			{\n"
-"				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
-"				if (enterFraction <= fraction)\n"
-"				{\n"
-"					enterFraction = fraction;\n"
-"					curHitNormal = face.m_plane;\n"
-"					curHitNormal.w = 0.f;\n"
-"				}\n"
-"			} else\n"
-"			{\n"
-"				result = false;\n"
-"			}\n"
-"		}\n"
-"		if (exitFraction <= enterFraction)\n"
-"			result = false;\n"
-"	}\n"
-"	if (enterFraction < 0.f)\n"
-"	{\n"
-"		result = false;\n"
-"	}\n"
-"	if (result)\n"
-"	{	\n"
-"		hitFraction[0] = enterFraction;\n"
-"		hitNormal[0] = curHitNormal;\n"
-"	}\n"
-"	return result;\n"
-"}\n"
-"bool sphere_intersect(float4 spherePos,  float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n"
-"{\n"
-"	float4 rs = rayFrom - spherePos;\n"
-"	rs.w = 0.f;\n"
-"	float4 rayDir = rayTo-rayFrom;\n"
-"	rayDir.w = 0.f;\n"
-"	float A = dot(rayDir,rayDir);\n"
-"	float B = dot(rs, rayDir);\n"
-"	float C = dot(rs, rs) - (radius * radius);\n"
-"	float D = B * B - A*C;\n"
-"	if (D > 0.0f)\n"
-"	{\n"
-"		float t = (-B - sqrt(D))/A;\n"
-"		if ( (t >= 0.0f) && (t < (*hitFraction)) )\n"
-"		{\n"
-"			*hitFraction = t;\n"
-"			return true;\n"
-"		}\n"
-"	}\n"
-"	return false;\n"
-"}\n"
-"float4 setInterpolate3(float4 from, float4 to, float t)\n"
-"{\n"
-"	float s = 1.0f - t;\n"
-"	float4 result;\n"
-"	result = s * from + t * to;\n"
-"	result.w = 0.f;	\n"
-"	return result;	\n"
-"}\n"
-"__kernel void rayCastKernel(  \n"
-"	int numRays, \n"
-"	const __global b3RayInfo* rays, \n"
-"	__global b3RayHit* hitResults, \n"
-"	const int numBodies, \n"
-"	__global Body* bodies,\n"
-"	__global Collidable* collidables,\n"
-"	__global const b3GpuFace* faces,\n"
-"	__global const ConvexPolyhedronCL* convexShapes	)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numRays)\n"
-"		return;\n"
-"	hitResults[i].m_hitFraction = 1.f;\n"
-"	float4 rayFrom = rays[i].m_from;\n"
-"	float4 rayTo = rays[i].m_to;\n"
-"	float hitFraction = 1.f;\n"
-"	float4 hitPoint;\n"
-"	float4 hitNormal;\n"
-"	int hitBodyIndex= -1;\n"
-"	int cachedCollidableIndex = -1;\n"
-"	Collidable cachedCollidable;\n"
-"	for (int b=0;b<numBodies;b++)\n"
-"	{\n"
-"		if (hitResults[i].m_hitResult2==b)\n"
-"			continue;\n"
-"		Body body = bodies[b];\n"
-"		float4 pos = body.m_pos;\n"
-"		float4 orn = body.m_quat;\n"
-"		if (cachedCollidableIndex != body.m_collidableIdx)\n"
-"		{\n"
-"			cachedCollidableIndex = body.m_collidableIdx;\n"
-"			cachedCollidable = collidables[cachedCollidableIndex];\n"
-"		}\n"
-"		if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
-"		{\n"
-"			float4 invPos = (float4)(0,0,0,0);\n"
-"			float4 invOrn = (float4)(0,0,0,0);\n"
-"			float4 rayFromLocal = (float4)(0,0,0,0);\n"
-"			float4 rayToLocal = (float4)(0,0,0,0);\n"
-"			invOrn = qtInvert(orn);\n"
-"			invPos = qtRotate(invOrn, -pos);\n"
-"			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
-"			rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
-"			rayFromLocal.w = 0.f;\n"
-"			rayToLocal.w = 0.f;\n"
-"			int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;\n"
-"			int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;\n"
-"			if (numFaces)\n"
-"			{\n"
-"				if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
-"				{\n"
-"					hitBodyIndex = b;\n"
-"					\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		if (cachedCollidable.m_shapeType == SHAPE_SPHERE)\n"
-"		{\n"
-"			float radius = cachedCollidable.m_radius;\n"
-"		\n"
-"			if (sphere_intersect(pos,  radius, rayFrom, rayTo, &hitFraction))\n"
-"			{\n"
-"				hitBodyIndex = b;\n"
-"				hitNormal = (float4) (hitPoint-bodies[b].m_pos);\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	if (hitBodyIndex>=0)\n"
-"	{\n"
-"		hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
-"		hitResults[i].m_hitFraction = hitFraction;\n"
-"		hitResults[i].m_hitPoint = hitPoint;\n"
-"		hitResults[i].m_hitNormal = normalize(hitNormal);\n"
-"		hitResults[i].m_hitResult0 = hitBodyIndex;\n"
-"	}\n"
-"}\n"
-"__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs, \n"
-"											__global int* out_firstRayRigidPairIndexPerRay,\n"
-"											__global int* out_numRayRigidPairsPerRay,\n"
-"											int numRayRigidPairs)\n"
-"{\n"
-"	int rayRigidPairIndex = get_global_id(0);\n"
-"	if (rayRigidPairIndex >= numRayRigidPairs) return;\n"
-"	\n"
-"	int rayIndex = rayRigidPairs[rayRigidPairIndex].x;\n"
-"	\n"
-"	atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);\n"
-"	atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);\n"
-"}\n"
-"__kernel void rayCastPairsKernel(const __global b3RayInfo* rays, \n"
-"								__global b3RayHit* hitResults, \n"
-"								__global int* firstRayRigidPairIndexPerRay,\n"
-"								__global int* numRayRigidPairsPerRay,\n"
-"									\n"
-"								__global Body* bodies,\n"
-"								__global Collidable* collidables,\n"
-"								__global const b3GpuFace* faces,\n"
-"								__global const ConvexPolyhedronCL* convexShapes,\n"
-"								\n"
-"								__global int2* rayRigidPairs,\n"
-"								int numRays)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i >= numRays) return;\n"
-"	\n"
-"	float4 rayFrom = rays[i].m_from;\n"
-"	float4 rayTo = rays[i].m_to;\n"
-"		\n"
-"	hitResults[i].m_hitFraction = 1.f;\n"
-"		\n"
-"	float hitFraction = 1.f;\n"
-"	float4 hitPoint;\n"
-"	float4 hitNormal;\n"
-"	int hitBodyIndex = -1;\n"
-"		\n"
-"	//\n"
-"	for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)\n"
-"	{\n"
-"		int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];\n"
-"		int b = rayRigidPairs[rayRigidPairIndex].y;\n"
-"		\n"
-"		if (hitResults[i].m_hitResult2 == b) continue;\n"
-"		\n"
-"		Body body = bodies[b];\n"
-"		Collidable rigidCollidable = collidables[body.m_collidableIdx];\n"
-"		\n"
-"		float4 pos = body.m_pos;\n"
-"		float4 orn = body.m_quat;\n"
-"		\n"
-"		if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
-"		{\n"
-"			float4 invPos = (float4)(0,0,0,0);\n"
-"			float4 invOrn = (float4)(0,0,0,0);\n"
-"			float4 rayFromLocal = (float4)(0,0,0,0);\n"
-"			float4 rayToLocal = (float4)(0,0,0,0);\n"
-"			invOrn = qtInvert(orn);\n"
-"			invPos = qtRotate(invOrn, -pos);\n"
-"			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
-"			rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
-"			rayFromLocal.w = 0.f;\n"
-"			rayToLocal.w = 0.f;\n"
-"			int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;\n"
-"			int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;\n"
-"			\n"
-"			if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
-"			{\n"
-"				hitBodyIndex = b;\n"
-"				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		if (rigidCollidable.m_shapeType == SHAPE_SPHERE)\n"
-"		{\n"
-"			float radius = rigidCollidable.m_radius;\n"
-"		\n"
-"			if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n"
-"			{\n"
-"				hitBodyIndex = b;\n"
-"				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
-"				hitNormal = (float4) (hitPoint - bodies[b].m_pos);\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"	\n"
-"	if (hitBodyIndex >= 0)\n"
-"	{\n"
-"		hitResults[i].m_hitFraction = hitFraction;\n"
-"		hitResults[i].m_hitPoint = hitPoint;\n"
-"		hitResults[i].m_hitNormal = normalize(hitNormal);\n"
-"		hitResults[i].m_hitResult0 = hitBodyIndex;\n"
-"	}\n"
-"	\n"
-"}\n"
-;
+static const char* rayCastKernelCL =
+	"#define SHAPE_CONVEX_HULL 3\n"
+	"#define SHAPE_PLANE 4\n"
+	"#define SHAPE_CONCAVE_TRIMESH 5\n"
+	"#define SHAPE_COMPOUND_OF_CONVEX_HULLS 6\n"
+	"#define SHAPE_SPHERE 7\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_from;\n"
+	"	float4 m_to;\n"
+	"} b3RayInfo;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float m_hitFraction;\n"
+	"	int	m_hitResult0;\n"
+	"	int	m_hitResult1;\n"
+	"	int	m_hitResult2;\n"
+	"	float4	m_hitPoint;\n"
+	"	float4	m_hitNormal;\n"
+	"} b3RayHit;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	float4 m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	unsigned int m_collidableIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} Body;\n"
+	"typedef struct Collidable\n"
+	"{\n"
+	"	union {\n"
+	"		int m_numChildShapes;\n"
+	"		int m_bvhIndex;\n"
+	"	};\n"
+	"	float m_radius;\n"
+	"	int m_shapeType;\n"
+	"	int m_shapeIndex;\n"
+	"} Collidable;\n"
+	"typedef struct  \n"
+	"{\n"
+	"	float4		m_localCenter;\n"
+	"	float4		m_extents;\n"
+	"	float4		mC;\n"
+	"	float4		mE;\n"
+	"	float			m_radius;\n"
+	"	int	m_faceOffset;\n"
+	"	int m_numFaces;\n"
+	"	int	m_numVertices;\n"
+	"	int m_vertexOffset;\n"
+	"	int	m_uniqueEdgesOffset;\n"
+	"	int	m_numUniqueEdges;\n"
+	"	int m_unused;\n"
+	"} ConvexPolyhedronCL;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_plane;\n"
+	"	int m_indexOffset;\n"
+	"	int m_numIndices;\n"
+	"} b3GpuFace;\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"	Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"	Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"	Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"	float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = (float4)(a.xyz,0.f);\n"
+	"	float4 b1 = (float4)(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"	Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"	//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"	Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fast_normalize(in);\n"
+	"	//	in /= length( in );\n"
+	"	//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"	float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(q,vcpy);\n"
+	"	out = qtMul(out,qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"	Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"	float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"void	trInverse(float4 translationIn, Quaternion orientationIn,\n"
+	"	float4* translationOut, Quaternion* orientationOut)\n"
+	"{\n"
+	"	*orientationOut = qtInvert(orientationIn);\n"
+	"	*translationOut = qtRotate(*orientationOut, -translationIn);\n"
+	"}\n"
+	"bool rayConvex(float4 rayFromLocal, float4 rayToLocal, int numFaces, int faceOffset,\n"
+	"	__global const b3GpuFace* faces, float* hitFraction, float4* hitNormal)\n"
+	"{\n"
+	"	rayFromLocal.w = 0.f;\n"
+	"	rayToLocal.w = 0.f;\n"
+	"	bool result = true;\n"
+	"	float exitFraction = hitFraction[0];\n"
+	"	float enterFraction = -0.3f;\n"
+	"	float4 curHitNormal = (float4)(0,0,0,0);\n"
+	"	for (int i=0;i<numFaces && result;i++)\n"
+	"	{\n"
+	"		b3GpuFace face = faces[faceOffset+i];\n"
+	"		float fromPlaneDist = dot(rayFromLocal,face.m_plane)+face.m_plane.w;\n"
+	"		float toPlaneDist = dot(rayToLocal,face.m_plane)+face.m_plane.w;\n"
+	"		if (fromPlaneDist<0.f)\n"
+	"		{\n"
+	"			if (toPlaneDist >= 0.f)\n"
+	"			{\n"
+	"				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
+	"				if (exitFraction>fraction)\n"
+	"				{\n"
+	"					exitFraction = fraction;\n"
+	"				}\n"
+	"			} 			\n"
+	"		} else\n"
+	"		{\n"
+	"			if (toPlaneDist<0.f)\n"
+	"			{\n"
+	"				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);\n"
+	"				if (enterFraction <= fraction)\n"
+	"				{\n"
+	"					enterFraction = fraction;\n"
+	"					curHitNormal = face.m_plane;\n"
+	"					curHitNormal.w = 0.f;\n"
+	"				}\n"
+	"			} else\n"
+	"			{\n"
+	"				result = false;\n"
+	"			}\n"
+	"		}\n"
+	"		if (exitFraction <= enterFraction)\n"
+	"			result = false;\n"
+	"	}\n"
+	"	if (enterFraction < 0.f)\n"
+	"	{\n"
+	"		result = false;\n"
+	"	}\n"
+	"	if (result)\n"
+	"	{	\n"
+	"		hitFraction[0] = enterFraction;\n"
+	"		hitNormal[0] = curHitNormal;\n"
+	"	}\n"
+	"	return result;\n"
+	"}\n"
+	"bool sphere_intersect(float4 spherePos,  float radius, float4 rayFrom, float4 rayTo, float* hitFraction)\n"
+	"{\n"
+	"	float4 rs = rayFrom - spherePos;\n"
+	"	rs.w = 0.f;\n"
+	"	float4 rayDir = rayTo-rayFrom;\n"
+	"	rayDir.w = 0.f;\n"
+	"	float A = dot(rayDir,rayDir);\n"
+	"	float B = dot(rs, rayDir);\n"
+	"	float C = dot(rs, rs) - (radius * radius);\n"
+	"	float D = B * B - A*C;\n"
+	"	if (D > 0.0f)\n"
+	"	{\n"
+	"		float t = (-B - sqrt(D))/A;\n"
+	"		if ( (t >= 0.0f) && (t < (*hitFraction)) )\n"
+	"		{\n"
+	"			*hitFraction = t;\n"
+	"			return true;\n"
+	"		}\n"
+	"	}\n"
+	"	return false;\n"
+	"}\n"
+	"float4 setInterpolate3(float4 from, float4 to, float t)\n"
+	"{\n"
+	"	float s = 1.0f - t;\n"
+	"	float4 result;\n"
+	"	result = s * from + t * to;\n"
+	"	result.w = 0.f;	\n"
+	"	return result;	\n"
+	"}\n"
+	"__kernel void rayCastKernel(  \n"
+	"	int numRays, \n"
+	"	const __global b3RayInfo* rays, \n"
+	"	__global b3RayHit* hitResults, \n"
+	"	const int numBodies, \n"
+	"	__global Body* bodies,\n"
+	"	__global Collidable* collidables,\n"
+	"	__global const b3GpuFace* faces,\n"
+	"	__global const ConvexPolyhedronCL* convexShapes	)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numRays)\n"
+	"		return;\n"
+	"	hitResults[i].m_hitFraction = 1.f;\n"
+	"	float4 rayFrom = rays[i].m_from;\n"
+	"	float4 rayTo = rays[i].m_to;\n"
+	"	float hitFraction = 1.f;\n"
+	"	float4 hitPoint;\n"
+	"	float4 hitNormal;\n"
+	"	int hitBodyIndex= -1;\n"
+	"	int cachedCollidableIndex = -1;\n"
+	"	Collidable cachedCollidable;\n"
+	"	for (int b=0;b<numBodies;b++)\n"
+	"	{\n"
+	"		if (hitResults[i].m_hitResult2==b)\n"
+	"			continue;\n"
+	"		Body body = bodies[b];\n"
+	"		float4 pos = body.m_pos;\n"
+	"		float4 orn = body.m_quat;\n"
+	"		if (cachedCollidableIndex != body.m_collidableIdx)\n"
+	"		{\n"
+	"			cachedCollidableIndex = body.m_collidableIdx;\n"
+	"			cachedCollidable = collidables[cachedCollidableIndex];\n"
+	"		}\n"
+	"		if (cachedCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
+	"		{\n"
+	"			float4 invPos = (float4)(0,0,0,0);\n"
+	"			float4 invOrn = (float4)(0,0,0,0);\n"
+	"			float4 rayFromLocal = (float4)(0,0,0,0);\n"
+	"			float4 rayToLocal = (float4)(0,0,0,0);\n"
+	"			invOrn = qtInvert(orn);\n"
+	"			invPos = qtRotate(invOrn, -pos);\n"
+	"			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
+	"			rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
+	"			rayFromLocal.w = 0.f;\n"
+	"			rayToLocal.w = 0.f;\n"
+	"			int numFaces = convexShapes[cachedCollidable.m_shapeIndex].m_numFaces;\n"
+	"			int faceOffset = convexShapes[cachedCollidable.m_shapeIndex].m_faceOffset;\n"
+	"			if (numFaces)\n"
+	"			{\n"
+	"				if (rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
+	"				{\n"
+	"					hitBodyIndex = b;\n"
+	"					\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		if (cachedCollidable.m_shapeType == SHAPE_SPHERE)\n"
+	"		{\n"
+	"			float radius = cachedCollidable.m_radius;\n"
+	"		\n"
+	"			if (sphere_intersect(pos,  radius, rayFrom, rayTo, &hitFraction))\n"
+	"			{\n"
+	"				hitBodyIndex = b;\n"
+	"				hitNormal = (float4) (hitPoint-bodies[b].m_pos);\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	if (hitBodyIndex>=0)\n"
+	"	{\n"
+	"		hitPoint = setInterpolate3(rayFrom, rayTo,hitFraction);\n"
+	"		hitResults[i].m_hitFraction = hitFraction;\n"
+	"		hitResults[i].m_hitPoint = hitPoint;\n"
+	"		hitResults[i].m_hitNormal = normalize(hitNormal);\n"
+	"		hitResults[i].m_hitResult0 = hitBodyIndex;\n"
+	"	}\n"
+	"}\n"
+	"__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs, \n"
+	"											__global int* out_firstRayRigidPairIndexPerRay,\n"
+	"											__global int* out_numRayRigidPairsPerRay,\n"
+	"											int numRayRigidPairs)\n"
+	"{\n"
+	"	int rayRigidPairIndex = get_global_id(0);\n"
+	"	if (rayRigidPairIndex >= numRayRigidPairs) return;\n"
+	"	\n"
+	"	int rayIndex = rayRigidPairs[rayRigidPairIndex].x;\n"
+	"	\n"
+	"	atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);\n"
+	"	atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);\n"
+	"}\n"
+	"__kernel void rayCastPairsKernel(const __global b3RayInfo* rays, \n"
+	"								__global b3RayHit* hitResults, \n"
+	"								__global int* firstRayRigidPairIndexPerRay,\n"
+	"								__global int* numRayRigidPairsPerRay,\n"
+	"									\n"
+	"								__global Body* bodies,\n"
+	"								__global Collidable* collidables,\n"
+	"								__global const b3GpuFace* faces,\n"
+	"								__global const ConvexPolyhedronCL* convexShapes,\n"
+	"								\n"
+	"								__global int2* rayRigidPairs,\n"
+	"								int numRays)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i >= numRays) return;\n"
+	"	\n"
+	"	float4 rayFrom = rays[i].m_from;\n"
+	"	float4 rayTo = rays[i].m_to;\n"
+	"		\n"
+	"	hitResults[i].m_hitFraction = 1.f;\n"
+	"		\n"
+	"	float hitFraction = 1.f;\n"
+	"	float4 hitPoint;\n"
+	"	float4 hitNormal;\n"
+	"	int hitBodyIndex = -1;\n"
+	"		\n"
+	"	//\n"
+	"	for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)\n"
+	"	{\n"
+	"		int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];\n"
+	"		int b = rayRigidPairs[rayRigidPairIndex].y;\n"
+	"		\n"
+	"		if (hitResults[i].m_hitResult2 == b) continue;\n"
+	"		\n"
+	"		Body body = bodies[b];\n"
+	"		Collidable rigidCollidable = collidables[body.m_collidableIdx];\n"
+	"		\n"
+	"		float4 pos = body.m_pos;\n"
+	"		float4 orn = body.m_quat;\n"
+	"		\n"
+	"		if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
+	"		{\n"
+	"			float4 invPos = (float4)(0,0,0,0);\n"
+	"			float4 invOrn = (float4)(0,0,0,0);\n"
+	"			float4 rayFromLocal = (float4)(0,0,0,0);\n"
+	"			float4 rayToLocal = (float4)(0,0,0,0);\n"
+	"			invOrn = qtInvert(orn);\n"
+	"			invPos = qtRotate(invOrn, -pos);\n"
+	"			rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
+	"			rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
+	"			rayFromLocal.w = 0.f;\n"
+	"			rayToLocal.w = 0.f;\n"
+	"			int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;\n"
+	"			int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;\n"
+	"			\n"
+	"			if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
+	"			{\n"
+	"				hitBodyIndex = b;\n"
+	"				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		if (rigidCollidable.m_shapeType == SHAPE_SPHERE)\n"
+	"		{\n"
+	"			float radius = rigidCollidable.m_radius;\n"
+	"		\n"
+	"			if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n"
+	"			{\n"
+	"				hitBodyIndex = b;\n"
+	"				hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
+	"				hitNormal = (float4) (hitPoint - bodies[b].m_pos);\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"	\n"
+	"	if (hitBodyIndex >= 0)\n"
+	"	{\n"
+	"		hitResults[i].m_hitFraction = hitFraction;\n"
+	"		hitResults[i].m_hitPoint = hitPoint;\n"
+	"		hitResults[i].m_hitNormal = normalize(hitNormal);\n"
+	"		hitResults[i].m_hitResult0 = hitBodyIndex;\n"
+	"	}\n"
+	"	\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h
index c7478f54a1..89c0142ab3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuConstraint4.h
@@ -5,14 +5,13 @@
 
 #include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
 
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3GpuConstraint4 : public b3ContactConstraint4
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3GpuConstraint4 : public b3ContactConstraint4
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	inline	void setFrictionCoeff(float value) { m_linear[3] = value; }
-	inline	float getFrictionCoeff() const { return m_linear[3]; }
+	inline void setFrictionCoeff(float value) { m_linear[3] = value; }
+	inline float getFrictionCoeff() const { return m_linear[3]; }
 };
 
-#endif //B3_CONSTRAINT4_h
-
+#endif  //B3_CONSTRAINT4_h
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
index af687b54e9..a271090af4 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
@@ -19,11 +19,11 @@ subject to the following restrictions:
 #include <new>
 #include "Bullet3Common/b3Transform.h"
 
-void b3GpuGenericConstraint::getInfo1 (unsigned int* info,const b3RigidBodyData* bodies)
+void b3GpuGenericConstraint::getInfo1(unsigned int* info, const b3RigidBodyData* bodies)
 {
 	switch (m_constraintType)
 	{
-	case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
+		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
 		{
 			*info = 3;
 			break;
@@ -35,7 +35,7 @@ void b3GpuGenericConstraint::getInfo1 (unsigned int* info,const b3RigidBodyData*
 	};
 }
 
-void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info,  const b3RigidBodyData* bodies)
+void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies)
 {
 	b3Transform trA;
 	trA.setIdentity();
@@ -47,54 +47,52 @@ void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo
 	trB.setOrigin(bodies[constraint->m_rbB].m_pos);
 	trB.setRotation(bodies[constraint->m_rbB].m_quat);
 
-		// anchor points in global coordinates with respect to body PORs.
-   
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
+	// anchor points in global coordinates with respect to body PORs.
 
-	b3Vector3 a1 = trA.getBasis()*constraint->getPivotInA();
+	// set jacobian
+	info->m_J1linearAxis[0] = 1;
+	info->m_J1linearAxis[info->rowskip + 1] = 1;
+	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
+
+	b3Vector3 a1 = trA.getBasis() * constraint->getPivotInA();
 	//b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA());
 
 	{
 		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip);
+		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
+		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
 		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
+
 	if (info->m_J2linearAxis)
 	{
 		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip+1] = -1;
-		info->m_J2linearAxis[2*info->rowskip+2] = -1;
+		info->m_J2linearAxis[info->rowskip + 1] = -1;
+		info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
 	}
-	
-	b3Vector3 a2 = trB.getBasis()*constraint->getPivotInB();
-   
+
+	b3Vector3 a2 = trB.getBasis() * constraint->getPivotInB();
+
 	{
-	//	b3Vector3 a2n = -a2;
+		//	b3Vector3 a2n = -a2;
 		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
+		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
 
-
-    // set right hand side
-//	b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
+	// set right hand side
+	//	b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
 	b3Scalar currERP = info->erp;
 
 	b3Scalar k = info->fps * currERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]);
+	int j;
+	for (j = 0; j < 3; j++)
+	{
+		info->m_constraintError[j * info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]);
 		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
+	}
 #if 0
 	if(m_flags & B3_P2P_FLAGS_CFM)
 	{
@@ -117,21 +115,20 @@ void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo
 	}
 	info->m_damping = m_setting.m_damping;
 #endif
-
 }
 
-void b3GpuGenericConstraint::getInfo2 (b3GpuConstraintInfo2* info,  const b3RigidBodyData* bodies)
+void b3GpuGenericConstraint::getInfo2(b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies)
 {
 	switch (m_constraintType)
 	{
-	case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
+		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
 		{
-			getInfo2Point2Point(this,info,bodies);
+			getInfo2Point2Point(this, info, bodies);
 			break;
 		};
 		default:
-			{
-				b3Assert(0);
-			}
+		{
+			b3Assert(0);
+		}
 	};
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
index 14b3ba7fec..1f163ba7d5 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
@@ -20,37 +20,35 @@ subject to the following restrictions:
 struct b3RigidBodyData;
 enum B3_CONSTRAINT_FLAGS
 {
-	B3_CONSTRAINT_FLAG_ENABLED=1,
+	B3_CONSTRAINT_FLAG_ENABLED = 1,
 };
 
 enum b3GpuGenericConstraintType
 {
-	B3_GPU_POINT2POINT_CONSTRAINT_TYPE=3,
-	B3_GPU_FIXED_CONSTRAINT_TYPE=4,
-//	B3_HINGE_CONSTRAINT_TYPE,
-//	B3_CONETWIST_CONSTRAINT_TYPE,
-//	B3_D6_CONSTRAINT_TYPE,
-//	B3_SLIDER_CONSTRAINT_TYPE,
-//	B3_CONTACT_CONSTRAINT_TYPE,
-//	B3_D6_SPRING_CONSTRAINT_TYPE,
-//	B3_GEAR_CONSTRAINT_TYPE,
-	
+	B3_GPU_POINT2POINT_CONSTRAINT_TYPE = 3,
+	B3_GPU_FIXED_CONSTRAINT_TYPE = 4,
+	//	B3_HINGE_CONSTRAINT_TYPE,
+	//	B3_CONETWIST_CONSTRAINT_TYPE,
+	//	B3_D6_CONSTRAINT_TYPE,
+	//	B3_SLIDER_CONSTRAINT_TYPE,
+	//	B3_CONTACT_CONSTRAINT_TYPE,
+	//	B3_D6_SPRING_CONSTRAINT_TYPE,
+	//	B3_GEAR_CONSTRAINT_TYPE,
+
 	B3_GPU_MAX_CONSTRAINT_TYPE
 };
 
-
-
-struct b3GpuConstraintInfo2 
+struct b3GpuConstraintInfo2
 {
 	// integrator parameters: frames per second (1/stepsize), default error
 	// reduction parameter (0..1).
-	b3Scalar fps,erp;
+	b3Scalar fps, erp;
 
 	// for the first and second body, pointers to two (linear and angular)
 	// n*3 jacobian sub matrices, stored by rows. these matrices will have
 	// been initialized to 0 on entry. if the second body is zero then the
 	// J2xx pointers may be 0.
-	b3Scalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+	b3Scalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
 
 	// elements to jump from one row to the next in J's
 	int rowskip;
@@ -58,44 +56,44 @@ struct b3GpuConstraintInfo2
 	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
 	// "constraint force mixing" vector. c is set to zero on entry, cfm is
 	// set to a constant value (typically very small or zero) value on entry.
-	b3Scalar *m_constraintError,*cfm;
+	b3Scalar *m_constraintError, *cfm;
 
 	// lo and hi limits for variables (set to -/+ infinity on entry).
-	b3Scalar *m_lowerLimit,*m_upperLimit;
+	b3Scalar *m_lowerLimit, *m_upperLimit;
 
 	// findex vector for variables. see the LCP solver interface for a
 	// description of what this does. this is set to -1 on entry.
 	// note that the returned indexes are relative to the first index of
 	// the constraint.
-	int *findex;
+	int* findex;
 	// number of solver iterations
 	int m_numIterations;
 
 	//damping of the velocity
-	b3Scalar	m_damping;
+	b3Scalar m_damping;
 };
 
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3GpuGenericConstraint
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3GpuGenericConstraint
 {
-	int				m_constraintType;
-	int				m_rbA;
-	int				m_rbB;
-	float			m_breakingImpulseThreshold;
+	int m_constraintType;
+	int m_rbA;
+	int m_rbB;
+	float m_breakingImpulseThreshold;
 
 	b3Vector3 m_pivotInA;
 	b3Vector3 m_pivotInB;
 	b3Quaternion m_relTargetAB;
 
-	int	m_flags;
+	int m_flags;
 	int m_uid;
 	int m_padding[2];
 
-	int	getRigidBodyA() const
+	int getRigidBodyA() const
 	{
 		return m_rbA;
 	}
-	int	getRigidBodyB() const
+	int getRigidBodyB() const
 	{
 		return m_rbB;
 	}
@@ -121,12 +119,10 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3GpuGenericConstraint
 	}
 
 	///internal method used by the constraint solver, don't use them directly
-	void getInfo1 (unsigned int* info,const b3RigidBodyData* bodies);
+	void getInfo1(unsigned int* info, const b3RigidBodyData* bodies);
 
 	///internal method used by the constraint solver, don't use them directly
-	void getInfo2 (b3GpuConstraintInfo2* info,  const b3RigidBodyData* bodies);
-
-
+	void getInfo2(b3GpuConstraintInfo2 * info, const b3RigidBodyData* bodies);
 };
 
-#endif //B3_GPU_GENERIC_CONSTRAINT_H
\ No newline at end of file
+#endif  //B3_GPU_GENERIC_CONSTRAINT_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
index 179dfc4f26..089fb1f6a6 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
@@ -2,7 +2,7 @@
 #include "b3GpuJacobiContactSolver.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
+#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"  //b3Int2
 class b3Vector3;
 #include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
@@ -15,89 +15,78 @@ class b3Vector3;
 #include "Bullet3Common/shared/b3Int4.h"
 #define SOLVER_UTILS_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl"
 
-
 struct b3GpuJacobiSolverInternalData
 {
-		//btRadixSort32CL*	m_sort32;
-		//btBoundSearchCL*	m_search;
-		b3PrefixScanCL*	m_scan;
-
-		b3OpenCLArray<unsigned int>* m_bodyCount;
-		b3OpenCLArray<b3Int2>*		m_contactConstraintOffsets;
-		b3OpenCLArray<unsigned int>* m_offsetSplitBodies;
-
-		b3OpenCLArray<b3Vector3>*	m_deltaLinearVelocities;
-		b3OpenCLArray<b3Vector3>*	m_deltaAngularVelocities;
-
-		b3AlignedObjectArray<b3Vector3>	m_deltaLinearVelocitiesCPU;
-		b3AlignedObjectArray<b3Vector3>	m_deltaAngularVelocitiesCPU;
+	//btRadixSort32CL*	m_sort32;
+	//btBoundSearchCL*	m_search;
+	b3PrefixScanCL* m_scan;
 
+	b3OpenCLArray<unsigned int>* m_bodyCount;
+	b3OpenCLArray<b3Int2>* m_contactConstraintOffsets;
+	b3OpenCLArray<unsigned int>* m_offsetSplitBodies;
 
+	b3OpenCLArray<b3Vector3>* m_deltaLinearVelocities;
+	b3OpenCLArray<b3Vector3>* m_deltaAngularVelocities;
 
-		b3OpenCLArray<b3GpuConstraint4>* m_contactConstraints;
-
-		b3FillCL*	m_filler;
-		
-
-		cl_kernel	m_countBodiesKernel;
-		cl_kernel	m_contactToConstraintSplitKernel;
-		cl_kernel	m_clearVelocitiesKernel;
-		cl_kernel	m_averageVelocitiesKernel;
-		cl_kernel	m_updateBodyVelocitiesKernel;
-		cl_kernel	m_solveContactKernel;
-		cl_kernel	m_solveFrictionKernel;
+	b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocitiesCPU;
+	b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocitiesCPU;
 
+	b3OpenCLArray<b3GpuConstraint4>* m_contactConstraints;
 
+	b3FillCL* m_filler;
 
+	cl_kernel m_countBodiesKernel;
+	cl_kernel m_contactToConstraintSplitKernel;
+	cl_kernel m_clearVelocitiesKernel;
+	cl_kernel m_averageVelocitiesKernel;
+	cl_kernel m_updateBodyVelocitiesKernel;
+	cl_kernel m_solveContactKernel;
+	cl_kernel m_solveFrictionKernel;
 };
 
-
 b3GpuJacobiContactSolver::b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
-	:m_context(ctx),
-	m_device(device),
-	m_queue(queue)
+	: m_context(ctx),
+	  m_device(device),
+	  m_queue(queue)
 {
 	m_data = new b3GpuJacobiSolverInternalData;
-	m_data->m_scan = new b3PrefixScanCL(m_context,m_device,m_queue);
-	m_data->m_bodyCount = new b3OpenCLArray<unsigned int>(m_context,m_queue);
-	m_data->m_filler = new b3FillCL(m_context,m_device,m_queue);
-	m_data->m_contactConstraintOffsets = new b3OpenCLArray<b3Int2>(m_context,m_queue);
-	m_data->m_offsetSplitBodies = new b3OpenCLArray<unsigned int>(m_context,m_queue);
-	m_data->m_contactConstraints = new b3OpenCLArray<b3GpuConstraint4>(m_context,m_queue);
-	m_data->m_deltaLinearVelocities = new b3OpenCLArray<b3Vector3>(m_context,m_queue);
-	m_data->m_deltaAngularVelocities = new b3OpenCLArray<b3Vector3>(m_context,m_queue);
+	m_data->m_scan = new b3PrefixScanCL(m_context, m_device, m_queue);
+	m_data->m_bodyCount = new b3OpenCLArray<unsigned int>(m_context, m_queue);
+	m_data->m_filler = new b3FillCL(m_context, m_device, m_queue);
+	m_data->m_contactConstraintOffsets = new b3OpenCLArray<b3Int2>(m_context, m_queue);
+	m_data->m_offsetSplitBodies = new b3OpenCLArray<unsigned int>(m_context, m_queue);
+	m_data->m_contactConstraints = new b3OpenCLArray<b3GpuConstraint4>(m_context, m_queue);
+	m_data->m_deltaLinearVelocities = new b3OpenCLArray<b3Vector3>(m_context, m_queue);
+	m_data->m_deltaAngularVelocities = new b3OpenCLArray<b3Vector3>(m_context, m_queue);
 
 	cl_int pErrNum;
-	const char* additionalMacros="";
+	const char* additionalMacros = "";
 	const char* solverUtilsSource = solverUtilsCL;
 	{
-		cl_program solverUtilsProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solverUtilsSource, &pErrNum,additionalMacros, SOLVER_UTILS_KERNEL_PATH);
+		cl_program solverUtilsProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverUtilsSource, &pErrNum, additionalMacros, SOLVER_UTILS_KERNEL_PATH);
 		b3Assert(solverUtilsProg);
-		m_data->m_countBodiesKernel =  b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+		m_data->m_countBodiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
 		b3Assert(m_data->m_countBodiesKernel);
 
-		m_data->m_contactToConstraintSplitKernel  = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg,additionalMacros );
+		m_data->m_contactToConstraintSplitKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg, additionalMacros);
 		b3Assert(m_data->m_contactToConstraintSplitKernel);
-		m_data->m_clearVelocitiesKernel  = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+		m_data->m_clearVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
 		b3Assert(m_data->m_clearVelocitiesKernel);
 
-		m_data->m_averageVelocitiesKernel  = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "AverageVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+		m_data->m_averageVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "AverageVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
 		b3Assert(m_data->m_averageVelocitiesKernel);
 
-		m_data->m_updateBodyVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "UpdateBodyVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+		m_data->m_updateBodyVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "UpdateBodyVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
 		b3Assert(m_data->m_updateBodyVelocitiesKernel);
 
-		
-		m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
-		b3Assert(m_data->m_solveContactKernel );
+		m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg, additionalMacros);
+		b3Assert(m_data->m_solveContactKernel);
 
-		m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
+		m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg, additionalMacros);
 		b3Assert(m_data->m_solveFrictionKernel);
 	}
-
 }
 
-
 b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
 {
 	clReleaseKernel(m_data->m_solveContactKernel);
@@ -106,7 +95,7 @@ b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
 	clReleaseKernel(m_data->m_contactToConstraintSplitKernel);
 	clReleaseKernel(m_data->m_averageVelocitiesKernel);
 	clReleaseKernel(m_data->m_updateBodyVelocitiesKernel);
-	clReleaseKernel(m_data->m_clearVelocitiesKernel );
+	clReleaseKernel(m_data->m_clearVelocitiesKernel);
 
 	delete m_data->m_deltaLinearVelocities;
 	delete m_data->m_deltaAngularVelocities;
@@ -119,80 +108,70 @@ b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
 	delete m_data;
 }
 
-
-
 b3Vector3 make_float4(float v)
 {
-	return b3MakeVector3 (v,v,v);
+	return b3MakeVector3(v, v, v);
 }
 
-b3Vector4 make_float4(float x,float y, float z, float w)
+b3Vector4 make_float4(float x, float y, float z, float w)
 {
-	return b3MakeVector4 (x,y,z,w);
+	return b3MakeVector4(x, y, z, w);
 }
 
-
-	static
-	inline
-	float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1, 
-					 const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
-	{
-		return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
-	}
-
-
-	static
-	inline
-	void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
-							 b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
-	{
-		linear = n;
-		angular0 = b3Cross(r0, n);
-		angular1 = -b3Cross(r1, n);
-	}
-
-
-static __inline void solveContact(b3GpuConstraint4& cs, 
-	const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
-	const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB, 
-	float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
+static inline float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
+							   const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
 {
+	return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
+}
 
+static inline void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
+									   b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
+{
+	linear = n;
+	angular0 = b3Cross(r0, n);
+	angular1 = -b3Cross(r1, n);
+}
 
-	for(int ic=0; ic<4; ic++)
+static __inline void solveContact(b3GpuConstraint4& cs,
+								  const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
+								  const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
+								  float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
+{
+	for (int ic = 0; ic < 4; ic++)
 	{
 		//	dont necessary because this makes change to 0
-		if( cs.m_jacCoeffInv[ic] == 0.f ) continue;
+		if (cs.m_jacCoeffInv[ic] == 0.f) continue;
 
 		{
 			b3Vector3 angular0, angular1, linear;
 			b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
 			b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
-			setLinearAndAngular( (const b3Vector3 &)cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, linear, angular0, angular1 );
+			setLinearAndAngular((const b3Vector3&)cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, linear, angular0, angular1);
 
-			float rambdaDt = calcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1,
-				linVelARO+dLinVelA, angVelARO+dAngVelA, linVelBRO+dLinVelB, angVelBRO+dAngVelB ) + cs.m_b[ic];
+			float rambdaDt = calcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
+										linVelARO + dLinVelA, angVelARO + dAngVelA, linVelBRO + dLinVelB, angVelBRO + dAngVelB) +
+							 cs.m_b[ic];
 			rambdaDt *= cs.m_jacCoeffInv[ic];
 
 			{
 				float prevSum = cs.m_appliedRambdaDt[ic];
 				float updated = prevSum;
 				updated += rambdaDt;
-				updated = b3Max( updated, minRambdaDt[ic] );
-				updated = b3Min( updated, maxRambdaDt[ic] );
+				updated = b3Max(updated, minRambdaDt[ic]);
+				updated = b3Min(updated, maxRambdaDt[ic]);
 				rambdaDt = updated - prevSum;
 				cs.m_appliedRambdaDt[ic] = updated;
 			}
 
-			b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-			b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+			b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+			b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+			b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+			b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 #ifdef _WIN32
-            b3Assert(_finite(linImp0.getX()));
+			b3Assert(_finite(linImp0.getX()));
 			b3Assert(_finite(linImp1.getX()));
 #endif
-			
+
 			if (invMassA)
 			{
 				dLinVelA += linImp0;
@@ -207,43 +186,42 @@ static __inline void solveContact(b3GpuConstraint4& cs,
 	}
 }
 
-
-
 void solveContact3(b3GpuConstraint4* cs,
-			b3Vector3* posAPtr, b3Vector3* linVelA, b3Vector3* angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-			b3Vector3* posBPtr, b3Vector3* linVelB, b3Vector3* angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
-			b3Vector3* dLinVelA, b3Vector3* dAngVelA, b3Vector3* dLinVelB, b3Vector3* dAngVelB)
+				   b3Vector3* posAPtr, b3Vector3* linVelA, b3Vector3* angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+				   b3Vector3* posBPtr, b3Vector3* linVelB, b3Vector3* angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+				   b3Vector3* dLinVelA, b3Vector3* dAngVelA, b3Vector3* dLinVelB, b3Vector3* dAngVelB)
 {
 	float minRambdaDt = 0;
 	float maxRambdaDt = FLT_MAX;
 
-	for(int ic=0; ic<4; ic++)
+	for (int ic = 0; ic < 4; ic++)
 	{
-		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
+		if (cs->m_jacCoeffInv[ic] == 0.f) continue;
 
 		b3Vector3 angular0, angular1, linear;
 		b3Vector3 r0 = cs->m_worldPos[ic] - *posAPtr;
 		b3Vector3 r1 = cs->m_worldPos[ic] - *posBPtr;
-		setLinearAndAngular( cs->m_linear, r0, r1, linear, angular0, angular1 );
+		setLinearAndAngular(cs->m_linear, r0, r1, linear, angular0, angular1);
 
-		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, 
-			*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
+		float rambdaDt = calcRelVel(cs->m_linear, -cs->m_linear, angular0, angular1,
+									*linVelA + *dLinVelA, *angVelA + *dAngVelA, *linVelB + *dLinVelB, *angVelB + *dAngVelB) +
+						 cs->m_b[ic];
 		rambdaDt *= cs->m_jacCoeffInv[ic];
 
 		{
 			float prevSum = cs->m_appliedRambdaDt[ic];
 			float updated = prevSum;
 			updated += rambdaDt;
-			updated = b3Max( updated, minRambdaDt );
-			updated = b3Min( updated, maxRambdaDt );
+			updated = b3Max(updated, minRambdaDt);
+			updated = b3Min(updated, maxRambdaDt);
 			rambdaDt = updated - prevSum;
 			cs->m_appliedRambdaDt[ic] = updated;
 		}
 
-		b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-		b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 
 		if (invMassA)
 		{
@@ -258,58 +236,56 @@ void solveContact3(b3GpuConstraint4* cs,
 	}
 }
 
-
-static inline void solveFriction(b3GpuConstraint4& cs, 
-	const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
-	const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB, 
-	float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
+static inline void solveFriction(b3GpuConstraint4& cs,
+								 const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
+								 const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
+								 float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
 {
+	b3Vector3 linVelA = linVelARO + dLinVelA;
+	b3Vector3 linVelB = linVelBRO + dLinVelB;
+	b3Vector3 angVelA = angVelARO + dAngVelA;
+	b3Vector3 angVelB = angVelBRO + dAngVelB;
 
-	b3Vector3 linVelA = linVelARO+dLinVelA;
-	b3Vector3 linVelB = linVelBRO+dLinVelB;
-	b3Vector3 angVelA = angVelARO+dAngVelA;
-	b3Vector3 angVelB = angVelBRO+dAngVelB;
-
-	if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
+	if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
 	const b3Vector3& center = (const b3Vector3&)cs.m_center;
 
 	b3Vector3 n = -(const b3Vector3&)cs.m_linear;
 
 	b3Vector3 tangent[2];
-#if 1		
-	b3PlaneSpace1 (n, tangent[0],tangent[1]);
+#if 1
+	b3PlaneSpace1(n, tangent[0], tangent[1]);
 #else
-	b3Vector3 r = cs.m_worldPos[0]-center;
-	tangent[0] = cross3( n, r );
-	tangent[1] = cross3( tangent[0], n );
-	tangent[0] = normalize3( tangent[0] );
-	tangent[1] = normalize3( tangent[1] );
+	b3Vector3 r = cs.m_worldPos[0] - center;
+	tangent[0] = cross3(n, r);
+	tangent[1] = cross3(tangent[0], n);
+	tangent[0] = normalize3(tangent[0]);
+	tangent[1] = normalize3(tangent[1]);
 #endif
 
 	b3Vector3 angular0, angular1, linear;
 	b3Vector3 r0 = center - posA;
 	b3Vector3 r1 = center - posB;
-	for(int i=0; i<2; i++)
+	for (int i = 0; i < 2; i++)
 	{
-		setLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 );
+		setLinearAndAngular(tangent[i], r0, r1, linear, angular0, angular1);
 		float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
-			linVelA, angVelA, linVelB, angVelB );
+									linVelA, angVelA, linVelB, angVelB);
 		rambdaDt *= cs.m_fJacCoeffInv[i];
 
-			{
-				float prevSum = cs.m_fAppliedRambdaDt[i];
-				float updated = prevSum;
-				updated += rambdaDt;
-				updated = b3Max( updated, minRambdaDt[i] );
-				updated = b3Min( updated, maxRambdaDt[i] );
-				rambdaDt = updated - prevSum;
-				cs.m_fAppliedRambdaDt[i] = updated;
-			}
+		{
+			float prevSum = cs.m_fAppliedRambdaDt[i];
+			float updated = prevSum;
+			updated += rambdaDt;
+			updated = b3Max(updated, minRambdaDt[i]);
+			updated = b3Min(updated, maxRambdaDt[i]);
+			rambdaDt = updated - prevSum;
+			cs.m_fAppliedRambdaDt[i] = updated;
+		}
 
-		b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-		b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-		b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-		b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 #ifdef _WIN32
 		b3Assert(_finite(linImp0.getX()));
 		b3Assert(_finite(linImp1.getX()));
@@ -326,65 +302,58 @@ static inline void solveFriction(b3GpuConstraint4& cs,
 		}
 	}
 
-	{	//	angular damping for point constraint
-		b3Vector3 ab = ( posB - posA ).normalized();
-		b3Vector3 ac = ( center - posA ).normalized();
-		if( b3Dot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
+	{  //	angular damping for point constraint
+		b3Vector3 ab = (posB - posA).normalized();
+		b3Vector3 ac = (center - posA).normalized();
+		if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
 		{
-			float angNA = b3Dot( n, angVelA );
-			float angNB = b3Dot( n, angVelB );
+			float angNA = b3Dot(n, angVelA);
+			float angNB = b3Dot(n, angVelB);
 
 			if (invMassA)
-				dAngVelA -= (angNA*0.1f)*n;
+				dAngVelA -= (angNA * 0.1f) * n;
 			if (invMassB)
-				dAngVelB -= (angNB*0.1f)*n;
+				dAngVelB -= (angNB * 0.1f) * n;
 		}
 	}
-
 }
 
-
-
-
 float calcJacCoeff(const b3Vector3& linear0, const b3Vector3& linear1, const b3Vector3& angular0, const b3Vector3& angular1,
-					float invMass0, const b3Matrix3x3* invInertia0, float invMass1, const b3Matrix3x3* invInertia1, float countA, float countB)
+				   float invMass0, const b3Matrix3x3* invInertia0, float invMass1, const b3Matrix3x3* invInertia1, float countA, float countB)
 {
 	//	linear0,1 are normlized
-	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
-	
-	float jmj1 = b3Dot(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = b3Dot(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);
-//	return -1.f/((jmj0+jmj1)+(jmj2+jmj3));
+	float jmj0 = invMass0;  //dot3F4(linear0, linear0)*invMass0;
 
+	float jmj1 = b3Dot(mtMul3(angular0, *invInertia0), angular0);
+	float jmj2 = invMass1;  //dot3F4(linear1, linear1)*invMass1;
+	float jmj3 = b3Dot(mtMul3(angular1, *invInertia1), angular1);
+	return -1.f / ((jmj0 + jmj1) * countA + (jmj2 + jmj3) * countB);
+	//	return -1.f/((jmj0+jmj1)+(jmj2+jmj3));
 }
 
-
-void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-	const b3Vector3& posB, const b3Vector3& linVelB, const b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, 
-	 b3Contact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
-	b3GpuConstraint4* dstC )
+void setConstraint4(const b3Vector3& posA, const b3Vector3& linVelA, const b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+					const b3Vector3& posB, const b3Vector3& linVelB, const b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+					b3Contact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
+					b3GpuConstraint4* dstC)
 {
 	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
 	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
 
-	float dtInv = 1.f/dt;
-	for(int ic=0; ic<4; ic++)
+	float dtInv = 1.f / dt;
+	for (int ic = 0; ic < 4; ic++)
 	{
 		dstC->m_appliedRambdaDt[ic] = 0.f;
 	}
 	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
 
-
 	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear[3] = 0.7f ;//src->getFrictionCoeff() );
-	for(int ic=0; ic<4; ic++)
+	dstC->m_linear[3] = 0.7f;  //src->getFrictionCoeff() );
+	for (int ic = 0; ic < 4; ic++)
 	{
 		b3Vector3 r0 = src->m_worldPosB[ic] - posA;
 		b3Vector3 r1 = src->m_worldPosB[ic] - posB;
 
-		if( ic >= src->m_worldNormalOnB[3] )//npoints
+		if (ic >= src->m_worldNormalOnB[3])  //npoints
 		{
 			dstC->m_jacCoeffInv[ic] = 0.f;
 			continue;
@@ -396,53 +365,53 @@ void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Ve
 			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, linear, angular0, angular1);
 
 			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
+												   invMassA, &invInertiaA, invMassB, &invInertiaB, countA, countB);
 
 			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB);
+								 linVelA, angVelA, linVelB, angVelB);
 
-			float e = 0.f;//src->getRestituitionCoeff();
-			if( relVelN*relVelN < 0.004f ) 
+			float e = 0.f;  //src->getRestituitionCoeff();
+			if (relVelN * relVelN < 0.004f)
 			{
 				e = 0.f;
 			}
 
-			dstC->m_b[ic] = e*relVelN;
+			dstC->m_b[ic] = e * relVelN;
 			//float penetration = src->m_worldPos[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic][3] + positionDrift)*positionConstraintCoeff*dtInv;
+			dstC->m_b[ic] += (src->m_worldPosB[ic][3] + positionDrift) * positionConstraintCoeff * dtInv;
 			dstC->m_appliedRambdaDt[ic] = 0.f;
 		}
 	}
 
-	if( src->m_worldNormalOnB[3] > 0 )//npoints
-	{	//	prepare friction
+	if (src->m_worldNormalOnB[3] > 0)  //npoints
+	{                                  //	prepare friction
 		b3Vector3 center = make_float4(0.f);
-		for(int i=0; i<src->m_worldNormalOnB[3]; i++) 
+		for (int i = 0; i < src->m_worldNormalOnB[3]; i++)
 			center += src->m_worldPosB[i];
 		center /= (float)src->m_worldNormalOnB[3];
 
 		b3Vector3 tangent[2];
-		b3PlaneSpace1(src->m_worldNormalOnB,tangent[0],tangent[1]);
-		
+		b3PlaneSpace1(src->m_worldNormalOnB, tangent[0], tangent[1]);
+
 		b3Vector3 r[2];
 		r[0] = center - posA;
 		r[1] = center - posB;
 
-		for(int i=0; i<2; i++)
+		for (int i = 0; i < 2; i++)
 		{
 			b3Vector3 linear, angular0, angular1;
 			setLinearAndAngular(tangent[i], r[0], r[1], linear, angular0, angular1);
 
 			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
+												   invMassA, &invInertiaA, invMassB, &invInertiaB, countA, countB);
 			dstC->m_fAppliedRambdaDt[i] = 0.f;
 		}
 		dstC->m_center = center;
 	}
 
-	for(int i=0; i<4; i++)
+	for (int i = 0; i < 4; i++)
 	{
-		if( i<src->m_worldNormalOnB[3] )
+		if (i < src->m_worldNormalOnB[3])
 		{
 			dstC->m_worldPos[i] = src->m_worldPosB[i];
 		}
@@ -453,17 +422,14 @@ void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Ve
 	}
 }
 
-
-
 void ContactToConstraintKernel(b3Contact4* gContact, b3RigidBodyData* gBodies, b3InertiaData* gShapes, b3GpuConstraint4* gConstraintOut, int nContacts,
-float dt,
-float positionDrift,
-float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bodyCount
-)
+							   float dt,
+							   float positionDrift,
+							   float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bodyCount)
 {
 	//int gIdx = 0;//GET_GLOBAL_IDX;
-	
-	if( gIdx < nContacts )
+
+	if (gIdx < nContacts)
 	{
 		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
 		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
@@ -472,50 +438,46 @@ float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bod
 		b3Vector3 linVelA = gBodies[aIdx].m_linVel;
 		b3Vector3 angVelA = gBodies[aIdx].m_angVel;
 		float invMassA = gBodies[aIdx].m_invMass;
-		b3Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertiaWorld;//.m_invInertia;
+		b3Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertiaWorld;  //.m_invInertia;
 
 		b3Vector3 posB = gBodies[bIdx].m_pos;
 		b3Vector3 linVelB = gBodies[bIdx].m_linVel;
 		b3Vector3 angVelB = gBodies[bIdx].m_angVel;
 		float invMassB = gBodies[bIdx].m_invMass;
-		b3Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld;//m_invInertia;
+		b3Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld;  //m_invInertia;
 
 		b3GpuConstraint4 cs;
 		float countA = invMassA ? (float)(bodyCount[aIdx]) : 1;
 		float countB = invMassB ? (float)(bodyCount[bIdx]) : 1;
-    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
-			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,
-			&cs );
-		
+		setConstraint4(posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
+					   &gContact[gIdx], dt, positionDrift, positionConstraintCoeff, countA, countB,
+					   &cs);
 
-		
 		cs.m_batchIdx = gContact[gIdx].m_batchIdx;
 
 		gConstraintOut[gIdx] = cs;
 	}
 }
 
-
-void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo)
+void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, const b3JacobiSolverInfo& solverInfo)
 {
 	B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
 
 	b3AlignedObjectArray<unsigned int> bodyCount;
 	bodyCount.resize(numBodies);
-	for (int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 		bodyCount[i] = 0;
 
 	b3AlignedObjectArray<b3Int2> contactConstraintOffsets;
 	contactConstraintOffsets.resize(numManifolds);
 
-
-	for (int i=0;i<numManifolds;i++)
+	for (int i = 0; i < numManifolds; i++)
 	{
 		int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
 		int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;
 
-		bool isFixedA = (pa <0) || (pa == solverInfo.m_fixedBodyIndex);
-		bool isFixedB = (pb <0) || (pb == solverInfo.m_fixedBodyIndex);
+		bool isFixedA = (pa < 0) || (pa == solverInfo.m_fixedBodyIndex);
+		bool isFixedB = (pb < 0) || (pb == solverInfo.m_fixedBodyIndex);
 
 		int bodyIndexA = manifoldPtr[i].getBodyA();
 		int bodyIndexB = manifoldPtr[i].getBodyB();
@@ -529,71 +491,63 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 		{
 			contactConstraintOffsets[i].y = bodyCount[bodyIndexB];
 			bodyCount[bodyIndexB]++;
-		} 
+		}
 	}
 
 	b3AlignedObjectArray<unsigned int> offsetSplitBodies;
 	offsetSplitBodies.resize(numBodies);
 	unsigned int totalNumSplitBodies;
-	m_data->m_scan->executeHost(bodyCount,offsetSplitBodies,numBodies,&totalNumSplitBodies);
-	int numlastBody = bodyCount[numBodies-1];
+	m_data->m_scan->executeHost(bodyCount, offsetSplitBodies, numBodies, &totalNumSplitBodies);
+	int numlastBody = bodyCount[numBodies - 1];
 	totalNumSplitBodies += numlastBody;
-	printf("totalNumSplitBodies = %d\n",totalNumSplitBodies);
-
-	
-
-
+	printf("totalNumSplitBodies = %d\n", totalNumSplitBodies);
 
 	b3AlignedObjectArray<b3GpuConstraint4> contactConstraints;
 	contactConstraints.resize(numManifolds);
 
-	for (int i=0;i<numManifolds;i++)
+	for (int i = 0; i < numManifolds; i++)
 	{
-		ContactToConstraintKernel(&manifoldPtr[0],bodies,inertias,&contactConstraints[0],numManifolds,
-			solverInfo.m_deltaTime,
-			solverInfo.m_positionDrift,
-			solverInfo.m_positionConstraintCoeff,
-			i, bodyCount);
+		ContactToConstraintKernel(&manifoldPtr[0], bodies, inertias, &contactConstraints[0], numManifolds,
+								  solverInfo.m_deltaTime,
+								  solverInfo.m_positionDrift,
+								  solverInfo.m_positionConstraintCoeff,
+								  i, bodyCount);
 	}
 	int maxIter = solverInfo.m_numIterations;
 
-
 	b3AlignedObjectArray<b3Vector3> deltaLinearVelocities;
 	b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
 	deltaLinearVelocities.resize(totalNumSplitBodies);
 	deltaAngularVelocities.resize(totalNumSplitBodies);
-	for (unsigned int i=0;i<totalNumSplitBodies;i++)
+	for (unsigned int i = 0; i < totalNumSplitBodies; i++)
 	{
 		deltaLinearVelocities[i].setZero();
 		deltaAngularVelocities[i].setZero();
 	}
 
-
-
-	for (int iter = 0;iter<maxIter;iter++)
+	for (int iter = 0; iter < maxIter; iter++)
 	{
-		int i=0;
-		for( i=0; i<numManifolds; i++)
+		int i = 0;
+		for (i = 0; i < numManifolds; i++)
 		{
-
 			//float frictionCoeff = contactConstraints[i].getFrictionCoeff();
 			int aIdx = (int)contactConstraints[i].m_bodyA;
 			int bIdx = (int)contactConstraints[i].m_bodyB;
 			b3RigidBodyData& bodyA = bodies[aIdx];
 			b3RigidBodyData& bodyB = bodies[bIdx];
 
-			b3Vector3 zero = b3MakeVector3(0,0,0);
-			
-			b3Vector3* dlvAPtr=&zero;
-			b3Vector3* davAPtr=&zero;
-			b3Vector3* dlvBPtr=&zero;
-			b3Vector3* davBPtr=&zero;
-			
+			b3Vector3 zero = b3MakeVector3(0, 0, 0);
+
+			b3Vector3* dlvAPtr = &zero;
+			b3Vector3* davAPtr = &zero;
+			b3Vector3* dlvBPtr = &zero;
+			b3Vector3* davBPtr = &zero;
+
 			if (bodyA.m_invMass)
 			{
 				int bodyOffsetA = offsetSplitBodies[aIdx];
 				int constraintOffsetA = contactConstraintOffsets[i].x;
-				int splitIndexA = bodyOffsetA+constraintOffsetA;
+				int splitIndexA = bodyOffsetA + constraintOffsetA;
 				dlvAPtr = &deltaLinearVelocities[splitIndexA];
 				davAPtr = &deltaAngularVelocities[splitIndexA];
 			}
@@ -602,67 +556,61 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 			{
 				int bodyOffsetB = offsetSplitBodies[bIdx];
 				int constraintOffsetB = contactConstraintOffsets[i].y;
-				int splitIndexB= bodyOffsetB+constraintOffsetB;
-				dlvBPtr =&deltaLinearVelocities[splitIndexB];
+				int splitIndexB = bodyOffsetB + constraintOffsetB;
+				dlvBPtr = &deltaLinearVelocities[splitIndexB];
 				davBPtr = &deltaAngularVelocities[splitIndexB];
 			}
 
-
-
 			{
-				float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-				float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
-
-				solveContact( contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld, 
-					(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
-					maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr		);
-
+				float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
+				float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
 
+				solveContact(contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
+							 (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
+							 maxRambdaDt, minRambdaDt, *dlvAPtr, *davAPtr, *dlvBPtr, *davBPtr);
 			}
-			
 		}
 
-		
 		//easy
-		for (int i=0;i<numBodies;i++)
+		for (int i = 0; i < numBodies; i++)
 		{
 			if (bodies[i].m_invMass)
 			{
 				int bodyOffset = offsetSplitBodies[i];
 				int count = bodyCount[i];
-				float factor = 1.f/float(count);
+				float factor = 1.f / float(count);
 				b3Vector3 averageLinVel;
 				averageLinVel.setZero();
 				b3Vector3 averageAngVel;
 				averageAngVel.setZero();
-				for (int j=0;j<count;j++)
+				for (int j = 0; j < count; j++)
 				{
-					averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
-					averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
+					averageLinVel += deltaLinearVelocities[bodyOffset + j] * factor;
+					averageAngVel += deltaAngularVelocities[bodyOffset + j] * factor;
 				}
-				for (int j=0;j<count;j++)
+				for (int j = 0; j < count; j++)
 				{
-					deltaLinearVelocities[bodyOffset+j] = averageLinVel;
-					deltaAngularVelocities[bodyOffset+j] = averageAngVel;
+					deltaLinearVelocities[bodyOffset + j] = averageLinVel;
+					deltaAngularVelocities[bodyOffset + j] = averageAngVel;
 				}
 			}
 		}
 	}
-	for (int iter = 0;iter<maxIter;iter++)
+	for (int iter = 0; iter < maxIter; iter++)
 	{
 		//int i=0;
-	
+
 		//solve friction
 
-		for(int i=0; i<numManifolds; i++)
+		for (int i = 0; i < numManifolds; i++)
 		{
-			float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-			float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
+			float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
+			float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
 
 			float sum = 0;
-			for(int j=0; j<4; j++)
+			for (int j = 0; j < 4; j++)
 			{
-				sum +=contactConstraints[i].m_appliedRambdaDt[j];
+				sum += contactConstraints[i].m_appliedRambdaDt[j];
 			}
 			float frictionCoeff = contactConstraints[i].getFrictionCoeff();
 			int aIdx = (int)contactConstraints[i].m_bodyA;
@@ -670,18 +618,18 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 			b3RigidBodyData& bodyA = bodies[aIdx];
 			b3RigidBodyData& bodyB = bodies[bIdx];
 
-			b3Vector3 zero = b3MakeVector3(0,0,0);
-			
-			b3Vector3* dlvAPtr=&zero;
-			b3Vector3* davAPtr=&zero;
-			b3Vector3* dlvBPtr=&zero;
-			b3Vector3* davBPtr=&zero;
-			
+			b3Vector3 zero = b3MakeVector3(0, 0, 0);
+
+			b3Vector3* dlvAPtr = &zero;
+			b3Vector3* davAPtr = &zero;
+			b3Vector3* dlvBPtr = &zero;
+			b3Vector3* davBPtr = &zero;
+
 			if (bodyA.m_invMass)
 			{
 				int bodyOffsetA = offsetSplitBodies[aIdx];
 				int constraintOffsetA = contactConstraintOffsets[i].x;
-				int splitIndexA = bodyOffsetA+constraintOffsetA;
+				int splitIndexA = bodyOffsetA + constraintOffsetA;
 				dlvAPtr = &deltaLinearVelocities[splitIndexA];
 				davAPtr = &deltaAngularVelocities[splitIndexA];
 			}
@@ -690,55 +638,50 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 			{
 				int bodyOffsetB = offsetSplitBodies[bIdx];
 				int constraintOffsetB = contactConstraintOffsets[i].y;
-				int splitIndexB= bodyOffsetB+constraintOffsetB;
-				dlvBPtr =&deltaLinearVelocities[splitIndexB];
+				int splitIndexB = bodyOffsetB + constraintOffsetB;
+				dlvBPtr = &deltaLinearVelocities[splitIndexB];
 				davBPtr = &deltaAngularVelocities[splitIndexB];
 			}
 
-			for(int j=0; j<4; j++)
+			for (int j = 0; j < 4; j++)
 			{
-				maxRambdaDt[j] = frictionCoeff*sum;
+				maxRambdaDt[j] = frictionCoeff * sum;
 				minRambdaDt[j] = -maxRambdaDt[j];
 			}
 
-			solveFriction( contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,inertias[aIdx].m_invInertiaWorld, 
-				(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
-				maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr);
-
+			solveFriction(contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
+						  (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
+						  maxRambdaDt, minRambdaDt, *dlvAPtr, *davAPtr, *dlvBPtr, *davBPtr);
 		}
 
 		//easy
-		for (int i=0;i<numBodies;i++)
+		for (int i = 0; i < numBodies; i++)
 		{
 			if (bodies[i].m_invMass)
 			{
 				int bodyOffset = offsetSplitBodies[i];
 				int count = bodyCount[i];
-				float factor = 1.f/float(count);
+				float factor = 1.f / float(count);
 				b3Vector3 averageLinVel;
 				averageLinVel.setZero();
 				b3Vector3 averageAngVel;
 				averageAngVel.setZero();
-				for (int j=0;j<count;j++)
+				for (int j = 0; j < count; j++)
 				{
-					averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
-					averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
+					averageLinVel += deltaLinearVelocities[bodyOffset + j] * factor;
+					averageAngVel += deltaAngularVelocities[bodyOffset + j] * factor;
 				}
-				for (int j=0;j<count;j++)
+				for (int j = 0; j < count; j++)
 				{
-					deltaLinearVelocities[bodyOffset+j] = averageLinVel;
-					deltaAngularVelocities[bodyOffset+j] = averageAngVel;
+					deltaLinearVelocities[bodyOffset + j] = averageLinVel;
+					deltaAngularVelocities[bodyOffset + j] = averageAngVel;
 				}
 			}
 		}
-
-
-
 	}
 
-
 	//easy
-	for (int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 	{
 		if (bodies[i].m_invMass)
 		{
@@ -753,8 +696,6 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 	}
 }
 
-
-
 void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index)
 //
 //
@@ -762,49 +703,47 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
 {
 	b3JacobiSolverInfo solverInfo;
 	solverInfo.m_fixedBodyIndex = static0Index;
-	
 
 	B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
 
 	//int numBodies = bodies->size();
-	int numManifolds = numContacts;//manifoldPtr->size();
+	int numManifolds = numContacts;  //manifoldPtr->size();
 
 	{
 		B3_PROFILE("resize");
 		m_data->m_bodyCount->resize(numBodies);
 	}
-	
-	unsigned int val=0;
+
+	unsigned int val = 0;
 	b3Int2 val2;
-	val2.x=0;
-	val2.y=0;
+	val2.x = 0;
+	val2.y = 0;
 
-	 {
+	{
 		B3_PROFILE("m_filler");
 		m_data->m_contactConstraintOffsets->resize(numManifolds);
-		m_data->m_filler->execute(*m_data->m_bodyCount,val,numBodies);
-		
-	
-		m_data->m_filler->execute(*m_data->m_contactConstraintOffsets,val2,numManifolds);
+		m_data->m_filler->execute(*m_data->m_bodyCount, val, numBodies);
+
+		m_data->m_filler->execute(*m_data->m_contactConstraintOffsets, val2, numManifolds);
 	}
 
 	{
 		B3_PROFILE("m_countBodiesKernel");
-		b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel,"m_countBodiesKernel");
-		launcher.setBuffer(contactBuf);//manifoldPtr->getBufferCL());
+		b3LauncherCL launcher(this->m_queue, m_data->m_countBodiesKernel, "m_countBodiesKernel");
+		launcher.setBuffer(contactBuf);  //manifoldPtr->getBufferCL());
 		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
 		launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
 		launcher.setConst(numManifolds);
 		launcher.setConst(solverInfo.m_fixedBodyIndex);
 		launcher.launch1D(numManifolds);
 	}
-	unsigned int totalNumSplitBodies=0;
+	unsigned int totalNumSplitBodies = 0;
 	{
 		B3_PROFILE("m_scan->execute");
-		
+
 		m_data->m_offsetSplitBodies->resize(numBodies);
-		m_data->m_scan->execute(*m_data->m_bodyCount,*m_data->m_offsetSplitBodies,numBodies,&totalNumSplitBodies);
-		totalNumSplitBodies+=m_data->m_bodyCount->at(numBodies-1);
+		m_data->m_scan->execute(*m_data->m_bodyCount, *m_data->m_offsetSplitBodies, numBodies, &totalNumSplitBodies);
+		totalNumSplitBodies += m_data->m_bodyCount->at(numBodies - 1);
 	}
 
 	{
@@ -812,50 +751,45 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
 		//int numContacts = manifoldPtr->size();
 		m_data->m_contactConstraints->resize(numContacts);
 	}
-	
+
 	{
 		B3_PROFILE("contactToConstraintSplitKernel");
-		b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel,"m_contactToConstraintSplitKernel");
+		b3LauncherCL launcher(m_queue, m_data->m_contactToConstraintSplitKernel, "m_contactToConstraintSplitKernel");
 		launcher.setBuffer(contactBuf);
 		launcher.setBuffer(bodyBuf);
 		launcher.setBuffer(inertiaBuf);
 		launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
 		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-        launcher.setConst(numContacts);
+		launcher.setConst(numContacts);
 		launcher.setConst(solverInfo.m_deltaTime);
 		launcher.setConst(solverInfo.m_positionDrift);
 		launcher.setConst(solverInfo.m_positionConstraintCoeff);
-		launcher.launch1D( numContacts, 64 );
-		
+		launcher.launch1D(numContacts, 64);
 	}
 
-	
 	{
 		B3_PROFILE("m_data->m_deltaLinearVelocities->resize");
 		m_data->m_deltaLinearVelocities->resize(totalNumSplitBodies);
 		m_data->m_deltaAngularVelocities->resize(totalNumSplitBodies);
 	}
 
-
-	
 	{
 		B3_PROFILE("m_clearVelocitiesKernel");
-		b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel,"m_clearVelocitiesKernel");
+		b3LauncherCL launch(m_queue, m_data->m_clearVelocitiesKernel, "m_clearVelocitiesKernel");
 		launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
 		launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
 		launch.setConst(totalNumSplitBodies);
 		launch.launch1D(totalNumSplitBodies);
 		clFinish(m_queue);
 	}
-	
-	
+
 	int maxIter = solverInfo.m_numIterations;
 
-	for (int iter = 0;iter<maxIter;iter++)
+	for (int iter = 0; iter < maxIter; iter++)
 	{
 		{
 			B3_PROFILE("m_solveContactKernel");
-			b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
+			b3LauncherCL launcher(m_queue, m_data->m_solveContactKernel, "m_solveContactKernel");
 			launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
 			launcher.setBuffer(bodyBuf);
 			launcher.setBuffer(inertiaBuf);
@@ -873,11 +807,9 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
 			clFinish(m_queue);
 		}
 
-		
-
 		{
 			B3_PROFILE("average velocities");
-			b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
+			b3LauncherCL launcher(m_queue, m_data->m_averageVelocitiesKernel, "m_averageVelocitiesKernel");
 			launcher.setBuffer(bodyBuf);
 			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
 			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
@@ -888,10 +820,9 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
 			clFinish(m_queue);
 		}
 
-		
 		{
 			B3_PROFILE("m_solveFrictionKernel");
-			b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel");
+			b3LauncherCL launcher(m_queue, m_data->m_solveFrictionKernel, "m_solveFrictionKernel");
 			launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
 			launcher.setBuffer(bodyBuf);
 			launcher.setBuffer(inertiaBuf);
@@ -909,10 +840,9 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
 			clFinish(m_queue);
 		}
 
-		
 		{
 			B3_PROFILE("average velocities");
-			b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
+			b3LauncherCL launcher(m_queue, m_data->m_averageVelocitiesKernel, "m_averageVelocitiesKernel");
 			launcher.setBuffer(bodyBuf);
 			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
 			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
@@ -922,27 +852,20 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
 			launcher.launch1D(numBodies);
 			clFinish(m_queue);
 		}
-
-		
-
 	}
 
-	
 	{
-			B3_PROFILE("update body velocities");
-			b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel,"m_updateBodyVelocitiesKernel");
-			launcher.setBuffer(bodyBuf);
-			launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
-			launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
-			launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
-			launcher.setConst(numBodies);
-			launcher.launch1D(numBodies);
-			clFinish(m_queue);
-		}
-
-
-
+		B3_PROFILE("update body velocities");
+		b3LauncherCL launcher(m_queue, m_data->m_updateBodyVelocitiesKernel, "m_updateBodyVelocitiesKernel");
+		launcher.setBuffer(bodyBuf);
+		launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
+		launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
+		launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
+		launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
+		launcher.setConst(numBodies);
+		launcher.launch1D(numBodies);
+		clFinish(m_queue);
+	}
 }
 
 #if 0
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h
index b418f29ec4..8281aee05d 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.h
@@ -8,7 +8,6 @@
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 
-
 //struct b3InertiaData;
 //b3InertiaData
 
@@ -21,21 +20,20 @@ struct b3JacobiSolverInfo
 	float m_deltaTime;
 	float m_positionDrift;
 	float m_positionConstraintCoeff;
-	int	m_numIterations;
+	int m_numIterations;
 
 	b3JacobiSolverInfo()
-		:m_fixedBodyIndex(0),
-		m_deltaTime(1./60.f),
-		m_positionDrift( 0.005f ), 
-		m_positionConstraintCoeff( 0.99f ),
-		m_numIterations(7)
+		: m_fixedBodyIndex(0),
+		  m_deltaTime(1. / 60.f),
+		  m_positionDrift(0.005f),
+		  m_positionConstraintCoeff(0.99f),
+		  m_numIterations(7)
 	{
 	}
 };
 class b3GpuJacobiContactSolver
 {
 protected:
-
 	struct b3GpuJacobiSolverInternalData* m_data;
 
 	cl_context m_context;
@@ -43,20 +41,16 @@ protected:
 	cl_command_queue m_queue;
 
 public:
-
 	b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
 	virtual ~b3GpuJacobiContactSolver();
 
-
 	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
-	void solveGroupHost(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,struct b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo);
+	void solveGroupHost(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, struct b3Contact4* manifoldPtr, int numManifolds, const b3JacobiSolverInfo& solverInfo);
 	//void  solveGroupHost(btRigidBodyCL* bodies,b3InertiaData* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
 
 	//b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
 
 	//void  solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
 	//void  solveGroupMixed(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
-
 };
-#endif //B3_GPU_JACOBI_CONTACT_SOLVER_H
-
+#endif  //B3_GPU_JACOBI_CONTACT_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
index 698fa15f96..2e4f6c1572 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
@@ -1,6 +1,5 @@
 #include "b3GpuNarrowPhase.h"
 
-
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
 #include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.h"
@@ -16,107 +15,87 @@
 #include "Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"
 
-
-
-
 b3GpuNarrowPhase::b3GpuNarrowPhase(cl_context ctx, cl_device_id device, cl_command_queue queue, const b3Config& config)
-:m_data(0) ,m_planeBodyIndex(-1),m_static0Index(-1),
-m_context(ctx),
-m_device(device),
-m_queue(queue)
+	: m_data(0), m_planeBodyIndex(-1), m_static0Index(-1), m_context(ctx), m_device(device), m_queue(queue)
 {
-    
 	m_data = new b3GpuNarrowPhaseInternalData();
 	m_data->m_currentContactBuffer = 0;
 
-	memset(m_data,0,sizeof(b3GpuNarrowPhaseInternalData));
-    
+	memset(m_data, 0, sizeof(b3GpuNarrowPhaseInternalData));
 
 	m_data->m_config = config;
-	
-	m_data->m_gpuSatCollision = new GpuSatCollision(ctx,device,queue);
-	
-	
-	m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context,m_queue, config.m_maxTriConvexPairCapacity);
 
+	m_data->m_gpuSatCollision = new GpuSatCollision(ctx, device, queue);
+
+	m_data->m_triangleConvexPairs = new b3OpenCLArray<b3Int4>(m_context, m_queue, config.m_maxTriConvexPairCapacity);
 
 	//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
 	//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
-    
+
 	m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>();
 	m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
 	m_data->m_bodyBufferCPU = new b3AlignedObjectArray<b3RigidBodyData>();
 	m_data->m_bodyBufferCPU->resize(config.m_maxConvexBodies);
-    
+
 	m_data->m_inertiaBufferCPU = new b3AlignedObjectArray<b3InertiaData>();
 	m_data->m_inertiaBufferCPU->resize(config.m_maxConvexBodies);
-	
-	m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
-	m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx,queue, config.m_maxContactCapacity,true);
-	
-	m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx,queue,config.m_maxConvexBodies,false);
-	m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx,queue,config.m_maxConvexShapes);
+
+	m_data->m_pBufContactBuffersGPU[0] = new b3OpenCLArray<b3Contact4>(ctx, queue, config.m_maxContactCapacity, true);
+	m_data->m_pBufContactBuffersGPU[1] = new b3OpenCLArray<b3Contact4>(ctx, queue, config.m_maxContactCapacity, true);
+
+	m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx, queue, config.m_maxConvexBodies, false);
+	m_data->m_collidablesGPU = new b3OpenCLArray<b3Collidable>(ctx, queue, config.m_maxConvexShapes);
 	m_data->m_collidablesCPU.reserve(config.m_maxConvexShapes);
 
 	m_data->m_localShapeAABBCPU = new b3AlignedObjectArray<b3SapAabb>;
-	m_data->m_localShapeAABBGPU = new b3OpenCLArray<b3SapAabb>(ctx,queue,config.m_maxConvexShapes);
-    
-    
+	m_data->m_localShapeAABBGPU = new b3OpenCLArray<b3SapAabb>(ctx, queue, config.m_maxConvexShapes);
+
 	//m_data->m_solverDataGPU = adl::Solver<adl::TYPE_CL>::allocate(ctx,queue, config.m_maxBroadphasePairs,false);
-	m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx,queue, config.m_maxConvexBodies,false);
+	m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx, queue, config.m_maxConvexBodies, false);
 
-	m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx,queue,config.m_maxConvexShapes*config.m_maxFacesPerShape,false);
-	m_data->m_convexFaces.reserve(config.m_maxConvexShapes*config.m_maxFacesPerShape);
+	m_data->m_convexFacesGPU = new b3OpenCLArray<b3GpuFace>(ctx, queue, config.m_maxConvexShapes * config.m_maxFacesPerShape, false);
+	m_data->m_convexFaces.reserve(config.m_maxConvexShapes * config.m_maxFacesPerShape);
 
-	m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx,queue,config.m_maxCompoundChildShapes,false);
-	
-	m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronData>(ctx,queue,config.m_maxConvexShapes,false);
+	m_data->m_gpuChildShapes = new b3OpenCLArray<b3GpuChildShape>(ctx, queue, config.m_maxCompoundChildShapes, false);
+
+	m_data->m_convexPolyhedraGPU = new b3OpenCLArray<b3ConvexPolyhedronData>(ctx, queue, config.m_maxConvexShapes, false);
 	m_data->m_convexPolyhedra.reserve(config.m_maxConvexShapes);
 
-	m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexUniqueEdges,true);
+	m_data->m_uniqueEdgesGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexUniqueEdges, true);
 	m_data->m_uniqueEdges.reserve(config.m_maxConvexUniqueEdges);
-	
-	
 
-	m_data->m_convexVerticesGPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexVertices,true);
+	m_data->m_convexVerticesGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexVertices, true);
 	m_data->m_convexVertices.reserve(config.m_maxConvexVertices);
 
-	m_data->m_convexIndicesGPU = new b3OpenCLArray<int>(ctx,queue,config.m_maxConvexIndices,true);
-    m_data->m_convexIndices.reserve(config.m_maxConvexIndices);
-    
-	m_data->m_worldVertsB1GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
-    m_data->m_clippingFacesOutGPU = new  b3OpenCLArray<b3Int4>(ctx,queue,config.m_maxConvexBodies);
-    m_data->m_worldNormalsAGPU = new  b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies);
-	m_data->m_worldVertsA1GPU = new b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
-    m_data->m_worldVertsB2GPU = new  b3OpenCLArray<b3Vector3>(ctx,queue,config.m_maxConvexBodies*config.m_maxVerticesPerFace);
-    
-    
+	m_data->m_convexIndicesGPU = new b3OpenCLArray<int>(ctx, queue, config.m_maxConvexIndices, true);
+	m_data->m_convexIndices.reserve(config.m_maxConvexIndices);
+
+	m_data->m_worldVertsB1GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace);
+	m_data->m_clippingFacesOutGPU = new b3OpenCLArray<b3Int4>(ctx, queue, config.m_maxConvexBodies);
+	m_data->m_worldNormalsAGPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies);
+	m_data->m_worldVertsA1GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace);
+	m_data->m_worldVertsB2GPU = new b3OpenCLArray<b3Vector3>(ctx, queue, config.m_maxConvexBodies * config.m_maxVerticesPerFace);
 
-	m_data->m_convexData = new b3AlignedObjectArray<b3ConvexUtility* >();
+	m_data->m_convexData = new b3AlignedObjectArray<b3ConvexUtility*>();
 
 	m_data->m_convexData->resize(config.m_maxConvexShapes);
 	m_data->m_convexPolyhedra.resize(config.m_maxConvexShapes);
-    
+
 	m_data->m_numAcceleratedShapes = 0;
 	m_data->m_numAcceleratedRigidBodies = 0;
-    
-		
-	m_data->m_subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context,this->m_queue);
-	m_data->m_treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context,this->m_queue);
-	m_data->m_bvhInfoGPU = new b3OpenCLArray<b3BvhInfo>(this->m_context,this->m_queue);
+
+	m_data->m_subTreesGPU = new b3OpenCLArray<b3BvhSubtreeInfo>(this->m_context, this->m_queue);
+	m_data->m_treeNodesGPU = new b3OpenCLArray<b3QuantizedBvhNode>(this->m_context, this->m_queue);
+	m_data->m_bvhInfoGPU = new b3OpenCLArray<b3BvhInfo>(this->m_context, this->m_queue);
 
 	//m_data->m_contactCGPU = new b3OpenCLArray<Constraint4>(ctx,queue,config.m_maxBroadphasePairs,false);
 	//m_data->m_frictionCGPU = new b3OpenCLArray<adl::Solver<adl::TYPE_CL>::allocateFrictionConstraint( m_data->m_deviceCL, config.m_maxBroadphasePairs);
- 
-	
-
 }
 
-
 b3GpuNarrowPhase::~b3GpuNarrowPhase()
 {
 	delete m_data->m_gpuSatCollision;
-	
+
 	delete m_data->m_triangleConvexPairs;
 	//delete m_data->m_convexPairsOutGPU;
 	//delete m_data->m_planePairs;
@@ -126,7 +105,6 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
 	delete m_data->m_pBufContactBuffersGPU[0];
 	delete m_data->m_pBufContactBuffersGPU[1];
 
-
 	delete m_data->m_inertiaBufferGPU;
 	delete m_data->m_collidablesGPU;
 	delete m_data->m_localShapeAABBCPU;
@@ -139,18 +117,18 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
 	delete m_data->m_convexVerticesGPU;
 	delete m_data->m_convexIndicesGPU;
 	delete m_data->m_worldVertsB1GPU;
-    delete m_data->m_clippingFacesOutGPU;
-    delete m_data->m_worldNormalsAGPU;
+	delete m_data->m_clippingFacesOutGPU;
+	delete m_data->m_worldNormalsAGPU;
 	delete m_data->m_worldVertsA1GPU;
-    delete m_data->m_worldVertsB2GPU;
-    
+	delete m_data->m_worldVertsB2GPU;
+
 	delete m_data->m_bvhInfoGPU;
 
-	for (int i=0;i<m_data->m_bvhData.size();i++)
+	for (int i = 0; i < m_data->m_bvhData.size(); i++)
 	{
 		delete m_data->m_bvhData[i];
 	}
-	for (int i=0;i<m_data->m_meshInterfaces.size();i++)
+	for (int i = 0; i < m_data->m_meshInterfaces.size(); i++)
 	{
 		delete m_data->m_meshInterfaces[i];
 	}
@@ -159,198 +137,180 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
 	delete m_data->m_treeNodesGPU;
 	delete m_data->m_subTreesGPU;
 
-    
-    delete m_data->m_convexData;
+	delete m_data->m_convexData;
 	delete m_data;
 }
 
-
-int	b3GpuNarrowPhase::allocateCollidable()
+int b3GpuNarrowPhase::allocateCollidable()
 {
 	int curSize = m_data->m_collidablesCPU.size();
-	if (curSize<m_data->m_config.m_maxConvexShapes)
+	if (curSize < m_data->m_config.m_maxConvexShapes)
 	{
 		m_data->m_collidablesCPU.expand();
 		return curSize;
 	}
 	else
 	{
-		b3Error("allocateCollidable out-of-range %d\n",m_data->m_config.m_maxConvexShapes);
+		b3Error("allocateCollidable out-of-range %d\n", m_data->m_config.m_maxConvexShapes);
 	}
 	return -1;
-
 }
 
-
-
-
-
-int		b3GpuNarrowPhase::registerSphereShape(float radius)
+int b3GpuNarrowPhase::registerSphereShape(float radius)
 {
 	int collidableIndex = allocateCollidable();
-	if (collidableIndex<0)
+	if (collidableIndex < 0)
 		return collidableIndex;
 
-
 	b3Collidable& col = getCollidableCpu(collidableIndex);
 	col.m_shapeType = SHAPE_SPHERE;
 	col.m_shapeIndex = 0;
 	col.m_radius = radius;
-	
-	if (col.m_shapeIndex>=0)
+
+	if (col.m_shapeIndex >= 0)
 	{
 		b3SapAabb aabb;
-		b3Vector3 myAabbMin=b3MakeVector3(-radius,-radius,-radius);
-		b3Vector3 myAabbMax=b3MakeVector3(radius,radius,radius);
+		b3Vector3 myAabbMin = b3MakeVector3(-radius, -radius, -radius);
+		b3Vector3 myAabbMax = b3MakeVector3(radius, radius, radius);
 
-		aabb.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
-		aabb.m_min[1] = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
-		aabb.m_min[2] = myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
+		aabb.m_min[0] = myAabbMin[0];  //s_convexHeightField->m_aabb.m_min.x;
+		aabb.m_min[1] = myAabbMin[1];  //s_convexHeightField->m_aabb.m_min.y;
+		aabb.m_min[2] = myAabbMin[2];  //s_convexHeightField->m_aabb.m_min.z;
 		aabb.m_minIndices[3] = 0;
 
-		aabb.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
-		aabb.m_max[1] = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
-		aabb.m_max[2] = myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
+		aabb.m_max[0] = myAabbMax[0];  //s_convexHeightField->m_aabb.m_max.x;
+		aabb.m_max[1] = myAabbMax[1];  //s_convexHeightField->m_aabb.m_max.y;
+		aabb.m_max[2] = myAabbMax[2];  //s_convexHeightField->m_aabb.m_max.z;
 		aabb.m_signedMaxIndices[3] = 0;
 
 		m_data->m_localShapeAABBCPU->push_back(aabb);
-//		m_data->m_localShapeAABBGPU->push_back(aabb);
+		//		m_data->m_localShapeAABBGPU->push_back(aabb);
 		clFinish(m_queue);
 	}
-	
+
 	return collidableIndex;
 }
 
-
 int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant)
 {
 	int faceOffset = m_data->m_convexFaces.size();
 	b3GpuFace& face = m_data->m_convexFaces.expand();
-	face.m_plane = b3MakeVector3(faceNormal.x,faceNormal.y,faceNormal.z,faceConstant);
+	face.m_plane = b3MakeVector3(faceNormal.x, faceNormal.y, faceNormal.z, faceConstant);
 	return faceOffset;
 }
 
-int		b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float planeConstant)
+int b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float planeConstant)
 {
 	int collidableIndex = allocateCollidable();
-	if (collidableIndex<0)
+	if (collidableIndex < 0)
 		return collidableIndex;
 
-
 	b3Collidable& col = getCollidableCpu(collidableIndex);
 	col.m_shapeType = SHAPE_PLANE;
-	col.m_shapeIndex = registerFace(planeNormal,planeConstant);
+	col.m_shapeIndex = registerFace(planeNormal, planeConstant);
 	col.m_radius = planeConstant;
-	
-	if (col.m_shapeIndex>=0)
+
+	if (col.m_shapeIndex >= 0)
 	{
 		b3SapAabb aabb;
 		aabb.m_min[0] = -1e30f;
 		aabb.m_min[1] = -1e30f;
 		aabb.m_min[2] = -1e30f;
 		aabb.m_minIndices[3] = 0;
-		
+
 		aabb.m_max[0] = 1e30f;
 		aabb.m_max[1] = 1e30f;
 		aabb.m_max[2] = 1e30f;
 		aabb.m_signedMaxIndices[3] = 0;
 
 		m_data->m_localShapeAABBCPU->push_back(aabb);
-//		m_data->m_localShapeAABBGPU->push_back(aabb);
+		//		m_data->m_localShapeAABBGPU->push_back(aabb);
 		clFinish(m_queue);
 	}
-	
+
 	return collidableIndex;
 }
 
-
-int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr,b3Collidable& col)
+int b3GpuNarrowPhase::registerConvexHullShapeInternal(b3ConvexUtility* convexPtr, b3Collidable& col)
 {
+	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes + 1);
+	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1);
 
-	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
-	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
-	
-    
-	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
+	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1);
 	convex.mC = convexPtr->mC;
 	convex.mE = convexPtr->mE;
-	convex.m_extents= convexPtr->m_extents;
+	convex.m_extents = convexPtr->m_extents;
 	convex.m_localCenter = convexPtr->m_localCenter;
 	convex.m_radius = convexPtr->m_radius;
-	
+
 	convex.m_numUniqueEdges = convexPtr->m_uniqueEdges.size();
 	int edgeOffset = m_data->m_uniqueEdges.size();
 	convex.m_uniqueEdgesOffset = edgeOffset;
-	
-	m_data->m_uniqueEdges.resize(edgeOffset+convex.m_numUniqueEdges);
-    
+
+	m_data->m_uniqueEdges.resize(edgeOffset + convex.m_numUniqueEdges);
+
 	//convex data here
 	int i;
-	for ( i=0;i<convexPtr->m_uniqueEdges.size();i++)
+	for (i = 0; i < convexPtr->m_uniqueEdges.size(); i++)
 	{
-		m_data->m_uniqueEdges[edgeOffset+i] = convexPtr->m_uniqueEdges[i];
+		m_data->m_uniqueEdges[edgeOffset + i] = convexPtr->m_uniqueEdges[i];
 	}
-    
+
 	int faceOffset = m_data->m_convexFaces.size();
 	convex.m_faceOffset = faceOffset;
 	convex.m_numFaces = convexPtr->m_faces.size();
 
-	m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
-	
+	m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces);
 
-	for (i=0;i<convexPtr->m_faces.size();i++)
+	for (i = 0; i < convexPtr->m_faces.size(); i++)
 	{
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
-																			convexPtr->m_faces[i].m_plane[1],
-																			convexPtr->m_faces[i].m_plane[2],
-																			convexPtr->m_faces[i].m_plane[3]);
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector3(convexPtr->m_faces[i].m_plane[0],
+																			   convexPtr->m_faces[i].m_plane[1],
+																			   convexPtr->m_faces[i].m_plane[2],
+																			   convexPtr->m_faces[i].m_plane[3]);
 
-		
 		int indexOffset = m_data->m_convexIndices.size();
 		int numIndices = convexPtr->m_faces[i].m_indices.size();
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
-		m_data->m_convexIndices.resize(indexOffset+numIndices);
-		for (int p=0;p<numIndices;p++)
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices;
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset;
+		m_data->m_convexIndices.resize(indexOffset + numIndices);
+		for (int p = 0; p < numIndices; p++)
 		{
-			m_data->m_convexIndices[indexOffset+p] = convexPtr->m_faces[i].m_indices[p];
+			m_data->m_convexIndices[indexOffset + p] = convexPtr->m_faces[i].m_indices[p];
 		}
 	}
-    
+
 	convex.m_numVertices = convexPtr->m_vertices.size();
 	int vertexOffset = m_data->m_convexVertices.size();
-	convex.m_vertexOffset =vertexOffset;
-	
-	m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
-	for (int i=0;i<convexPtr->m_vertices.size();i++)
+	convex.m_vertexOffset = vertexOffset;
+
+	m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices);
+	for (int i = 0; i < convexPtr->m_vertices.size(); i++)
 	{
-		m_data->m_convexVertices[vertexOffset+i] = convexPtr->m_vertices[i];
+		m_data->m_convexVertices[vertexOffset + i] = convexPtr->m_vertices[i];
 	}
 
 	(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = convexPtr;
-	
-    
-    
+
 	return m_data->m_numAcceleratedShapes++;
 }
 
-
-int		b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
+int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling)
 {
 	b3AlignedObjectArray<b3Vector3> verts;
 
-	unsigned char* vts = (unsigned char*) vertices;
-	for (int i=0;i<numVertices;i++)
+	unsigned char* vts = (unsigned char*)vertices;
+	for (int i = 0; i < numVertices; i++)
 	{
-		float* vertex = (float*) &vts[i*strideInBytes];
-		verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
+		float* vertex = (float*)&vts[i * strideInBytes];
+		verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2]));
 	}
 
 	b3ConvexUtility* utilPtr = new b3ConvexUtility();
 	bool merge = true;
 	if (numVertices)
 	{
-		utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
+		utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge);
 	}
 
 	int collidableIndex = registerConvexHullShape(utilPtr);
@@ -358,35 +318,34 @@ int		b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int stride
 	return collidableIndex;
 }
 
-int		b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
+int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
 {
 	int collidableIndex = allocateCollidable();
-	if (collidableIndex<0)
+	if (collidableIndex < 0)
 		return collidableIndex;
 
 	b3Collidable& col = getCollidableCpu(collidableIndex);
 	col.m_shapeType = SHAPE_CONVEX_HULL;
 	col.m_shapeIndex = -1;
-	
-	
+
 	{
-		b3Vector3 localCenter=b3MakeVector3(0,0,0);
-		for (int i=0;i<utilPtr->m_vertices.size();i++)
-			localCenter+=utilPtr->m_vertices[i];
-		localCenter*= (1.f/utilPtr->m_vertices.size());
+		b3Vector3 localCenter = b3MakeVector3(0, 0, 0);
+		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
+			localCenter += utilPtr->m_vertices[i];
+		localCenter *= (1.f / utilPtr->m_vertices.size());
 		utilPtr->m_localCenter = localCenter;
 
-		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr,col);
+		col.m_shapeIndex = registerConvexHullShapeInternal(utilPtr, col);
 	}
 
-	if (col.m_shapeIndex>=0)
+	if (col.m_shapeIndex >= 0)
 	{
 		b3SapAabb aabb;
-		
-		b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
-		b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
 
-		for (int i=0;i<utilPtr->m_vertices.size();i++)
+		b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
+		b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
+
+		for (int i = 0; i < utilPtr->m_vertices.size(); i++)
 		{
 			myAabbMin.setMin(utilPtr->m_vertices[i]);
 			myAabbMax.setMax(utilPtr->m_vertices[i]);
@@ -402,18 +361,16 @@ int		b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
 		aabb.m_signedMaxIndices[3] = 0;
 
 		m_data->m_localShapeAABBCPU->push_back(aabb);
-//		m_data->m_localShapeAABBGPU->push_back(aabb);
+		//		m_data->m_localShapeAABBGPU->push_back(aabb);
 	}
-	
-	return collidableIndex;
 
+	return collidableIndex;
 }
 
-int		b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes)
+int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes)
 {
-	
 	int collidableIndex = allocateCollidable();
-	if (collidableIndex<0)
+	if (collidableIndex < 0)
 		return collidableIndex;
 
 	b3Collidable& col = getCollidableCpu(collidableIndex);
@@ -422,44 +379,41 @@ int		b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
 	col.m_compoundBvhIndex = m_data->m_bvhInfoCPU.size();
 
 	{
-		b3Assert(col.m_shapeIndex+childShapes->size()<m_data->m_config.m_maxCompoundChildShapes);
-		for (int i=0;i<childShapes->size();i++)
+		b3Assert(col.m_shapeIndex + childShapes->size() < m_data->m_config.m_maxCompoundChildShapes);
+		for (int i = 0; i < childShapes->size(); i++)
 		{
 			m_data->m_cpuChildShapes.push_back(childShapes->at(i));
 		}
 	}
 
-
-
 	col.m_numChildShapes = childShapes->size();
-	
-	
+
 	b3SapAabb aabbLocalSpace;
-	b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
-	b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
-	
+	b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
+	b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
+
 	b3AlignedObjectArray<b3Aabb> childLocalAabbs;
 	childLocalAabbs.resize(childShapes->size());
 
 	//compute local AABB of the compound of all children
-	for (int i=0;i<childShapes->size();i++)
+	for (int i = 0; i < childShapes->size(); i++)
 	{
 		int childColIndex = childShapes->at(i).m_shapeIndex;
 		//b3Collidable& childCol = getCollidableCpu(childColIndex);
-		b3SapAabb aabbLoc =m_data->m_localShapeAABBCPU->at(childColIndex);
+		b3SapAabb aabbLoc = m_data->m_localShapeAABBCPU->at(childColIndex);
 
-		b3Vector3 childLocalAabbMin=b3MakeVector3(aabbLoc.m_min[0],aabbLoc.m_min[1],aabbLoc.m_min[2]);
-		b3Vector3 childLocalAabbMax=b3MakeVector3(aabbLoc.m_max[0],aabbLoc.m_max[1],aabbLoc.m_max[2]);
-		b3Vector3 aMin,aMax;
+		b3Vector3 childLocalAabbMin = b3MakeVector3(aabbLoc.m_min[0], aabbLoc.m_min[1], aabbLoc.m_min[2]);
+		b3Vector3 childLocalAabbMax = b3MakeVector3(aabbLoc.m_max[0], aabbLoc.m_max[1], aabbLoc.m_max[2]);
+		b3Vector3 aMin, aMax;
 		b3Scalar margin(0.f);
 		b3Transform childTr;
 		childTr.setIdentity();
 
 		childTr.setOrigin(childShapes->at(i).m_childPosition);
 		childTr.setRotation(b3Quaternion(childShapes->at(i).m_childOrientation));
-		b3TransformAabb(childLocalAabbMin,childLocalAabbMax,margin,childTr,aMin,aMax);
+		b3TransformAabb(childLocalAabbMin, childLocalAabbMax, margin, childTr, aMin, aMax);
 		myAabbMin.setMin(aMin);
-		myAabbMax.setMax(aMax);		
+		myAabbMax.setMax(aMax);
 		childLocalAabbs[i].m_min[0] = aMin[0];
 		childLocalAabbs[i].m_min[1] = aMin[1];
 		childLocalAabbs[i].m_min[2] = aMin[2];
@@ -469,36 +423,35 @@ int		b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
 		childLocalAabbs[i].m_max[2] = aMax[2];
 		childLocalAabbs[i].m_max[3] = 0;
 	}
-	
-	aabbLocalSpace.m_min[0] = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
-	aabbLocalSpace.m_min[1]= myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
-	aabbLocalSpace.m_min[2]= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
+
+	aabbLocalSpace.m_min[0] = myAabbMin[0];  //s_convexHeightField->m_aabb.m_min.x;
+	aabbLocalSpace.m_min[1] = myAabbMin[1];  //s_convexHeightField->m_aabb.m_min.y;
+	aabbLocalSpace.m_min[2] = myAabbMin[2];  //s_convexHeightField->m_aabb.m_min.z;
 	aabbLocalSpace.m_minIndices[3] = 0;
-	
-	aabbLocalSpace.m_max[0] = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
-	aabbLocalSpace.m_max[1]= myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
-	aabbLocalSpace.m_max[2]= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
+
+	aabbLocalSpace.m_max[0] = myAabbMax[0];  //s_convexHeightField->m_aabb.m_max.x;
+	aabbLocalSpace.m_max[1] = myAabbMax[1];  //s_convexHeightField->m_aabb.m_max.y;
+	aabbLocalSpace.m_max[2] = myAabbMax[2];  //s_convexHeightField->m_aabb.m_max.z;
 	aabbLocalSpace.m_signedMaxIndices[3] = 0;
-	
-	m_data->m_localShapeAABBCPU->push_back(aabbLocalSpace);
 
+	m_data->m_localShapeAABBCPU->push_back(aabbLocalSpace);
 
 	b3QuantizedBvh* bvh = new b3QuantizedBvh;
-	bvh->setQuantizationValues(myAabbMin,myAabbMax);
-	QuantizedNodeArray&	nodes = bvh->getLeafNodeArray();
+	bvh->setQuantizationValues(myAabbMin, myAabbMax);
+	QuantizedNodeArray& nodes = bvh->getLeafNodeArray();
 	int numNodes = childShapes->size();
 
-	for (int i=0;i<numNodes;i++)
+	for (int i = 0; i < numNodes; i++)
 	{
 		b3QuantizedBvhNode node;
-		b3Vector3 aabbMin,aabbMax;
-		aabbMin = (b3Vector3&) childLocalAabbs[i].m_min;
-		aabbMax = (b3Vector3&) childLocalAabbs[i].m_max;
+		b3Vector3 aabbMin, aabbMax;
+		aabbMin = (b3Vector3&)childLocalAabbs[i].m_min;
+		aabbMax = (b3Vector3&)childLocalAabbs[i].m_max;
 
-		bvh->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
-		bvh->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
+		bvh->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
+		bvh->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
 		int partId = 0;
-		node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
+		node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | i;
 		nodes.push_back(node);
 	}
 	bvh->buildInternal();
@@ -511,7 +464,7 @@ int		b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
 	//void	buildInternal();
 
 	b3BvhInfo bvhInfo;
-	
+
 	bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
 	bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
 	bvhInfo.m_quantization = bvh->m_bvhQuantization;
@@ -520,80 +473,72 @@ int		b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
 	bvhInfo.m_nodeOffset = m_data->m_treeNodesCPU.size();
 	bvhInfo.m_subTreeOffset = m_data->m_subTreesCPU.size();
 
-	int numNewNodes = 		bvh->getQuantizedNodeArray().size();
+	int numNewNodes = bvh->getQuantizedNodeArray().size();
 
-	for (int i=0;i<numNewNodes-1;i++)
+	for (int i = 0; i < numNewNodes - 1; i++)
 	{
-
 		if (bvh->getQuantizedNodeArray()[i].isLeafNode())
 		{
 			int orgIndex = bvh->getQuantizedNodeArray()[i].getTriangleIndex();
 
 			b3Vector3 nodeMinVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMin);
 			b3Vector3 nodeMaxVec = bvh->unQuantize(bvh->getQuantizedNodeArray()[i].m_quantizedAabbMax);
-		
-			for (int c=0;c<3;c++)
+
+			for (int c = 0; c < 3; c++)
 			{
 				if (childLocalAabbs[orgIndex].m_min[c] < nodeMinVec[c])
 				{
-					printf("min org (%f) and new (%f) ? at i:%d,c:%d\n",childLocalAabbs[i].m_min[c],nodeMinVec[c],i,c);
+					printf("min org (%f) and new (%f) ? at i:%d,c:%d\n", childLocalAabbs[i].m_min[c], nodeMinVec[c], i, c);
 				}
 				if (childLocalAabbs[orgIndex].m_max[c] > nodeMaxVec[c])
 				{
-					printf("max org (%f) and new (%f) ? at i:%d,c:%d\n",childLocalAabbs[i].m_max[c],nodeMaxVec[c],i,c);
+					printf("max org (%f) and new (%f) ? at i:%d,c:%d\n", childLocalAabbs[i].m_max[c], nodeMaxVec[c], i, c);
 				}
-
 			}
 		}
-
 	}
 
 	m_data->m_bvhInfoCPU.push_back(bvhInfo);
 
 	int numNewSubtrees = bvh->getSubtreeInfoArray().size();
-	m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size()+numNewSubtrees);
-	for (int i=0;i<numNewSubtrees;i++)
+	m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size() + numNewSubtrees);
+	for (int i = 0; i < numNewSubtrees; i++)
 	{
 		m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
 	}
 	int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
 
-	for (int i=0;i<numNewTreeNodes;i++)
+	for (int i = 0; i < numNewTreeNodes; i++)
 	{
 		m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
 	}
 
-//	m_data->m_localShapeAABBGPU->push_back(aabbWS);
+	//	m_data->m_localShapeAABBGPU->push_back(aabbWS);
 	clFinish(m_queue);
 	return collidableIndex;
-	
 }
 
-
-int		b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling1)
+int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling1)
 {
-	
-
-	b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
+	b3Vector3 scaling = b3MakeVector3(scaling1[0], scaling1[1], scaling1[2]);
 
 	int collidableIndex = allocateCollidable();
-	if (collidableIndex<0)
+	if (collidableIndex < 0)
 		return collidableIndex;
 
 	b3Collidable& col = getCollidableCpu(collidableIndex);
-	
+
 	col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
-	col.m_shapeIndex = registerConcaveMeshShape(vertices,indices,col,scaling);
+	col.m_shapeIndex = registerConcaveMeshShape(vertices, indices, col, scaling);
 	col.m_bvhIndex = m_data->m_bvhInfoCPU.size();
-		
 
 	b3SapAabb aabb;
-	b3Vector3 myAabbMin=b3MakeVector3(1e30f,1e30f,1e30f);
-	b3Vector3 myAabbMax=b3MakeVector3(-1e30f,-1e30f,-1e30f);
+	b3Vector3 myAabbMin = b3MakeVector3(1e30f, 1e30f, 1e30f);
+	b3Vector3 myAabbMax = b3MakeVector3(-1e30f, -1e30f, -1e30f);
 
-	for (int i=0;i<vertices->size();i++)
+	for (int i = 0; i < vertices->size(); i++)
 	{
-		b3Vector3 vtx(vertices->at(i)*scaling);
+		b3Vector3 vtx(vertices->at(i) * scaling);
 		myAabbMin.setMin(vtx);
 		myAabbMax.setMax(vtx);
 	}
@@ -603,27 +548,27 @@ int		b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
 	aabb.m_minIndices[3] = 0;
 
 	aabb.m_max[0] = myAabbMax[0];
-	aabb.m_max[1]= myAabbMax[1];
-	aabb.m_max[2]= myAabbMax[2];
-	aabb.m_signedMaxIndices[3]= 0;
+	aabb.m_max[1] = myAabbMax[1];
+	aabb.m_max[2] = myAabbMax[2];
+	aabb.m_signedMaxIndices[3] = 0;
 
 	m_data->m_localShapeAABBCPU->push_back(aabb);
-//	m_data->m_localShapeAABBGPU->push_back(aabb);
+	//	m_data->m_localShapeAABBGPU->push_back(aabb);
 
 	b3OptimizedBvh* bvh = new b3OptimizedBvh();
 	//void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
-	
+
 	bool useQuantizedAabbCompression = true;
-	b3TriangleIndexVertexArray* meshInterface=new b3TriangleIndexVertexArray();
+	b3TriangleIndexVertexArray* meshInterface = new b3TriangleIndexVertexArray();
 	m_data->m_meshInterfaces.push_back(meshInterface);
 	b3IndexedMesh mesh;
-	mesh.m_numTriangles = indices->size()/3;
+	mesh.m_numTriangles = indices->size() / 3;
 	mesh.m_numVertices = vertices->size();
-	mesh.m_vertexBase = (const unsigned char *)&vertices->at(0).x;
+	mesh.m_vertexBase = (const unsigned char*)&vertices->at(0).x;
 	mesh.m_vertexStride = sizeof(b3Vector3);
-	mesh.m_triangleIndexStride = 3 * sizeof(int);// or sizeof(int)
-	mesh.m_triangleIndexBase = (const unsigned char *)&indices->at(0);
-	
+	mesh.m_triangleIndexStride = 3 * sizeof(int);  // or sizeof(int)
+	mesh.m_triangleIndexBase = (const unsigned char*)&indices->at(0);
+
 	meshInterface->addIndexedMesh(mesh);
 	bvh->build(meshInterface, useQuantizedAabbCompression, (b3Vector3&)aabb.m_min, (b3Vector3&)aabb.m_max);
 	m_data->m_bvhData.push_back(bvh);
@@ -632,7 +577,7 @@ int		b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
 	int numSubTrees = bvh->getSubtreeInfoArray().size();
 
 	b3BvhInfo bvhInfo;
-	
+
 	bvhInfo.m_aabbMin = bvh->m_bvhAabbMin;
 	bvhInfo.m_aabbMax = bvh->m_bvhAabbMax;
 	bvhInfo.m_quantization = bvh->m_bvhQuantization;
@@ -643,97 +588,87 @@ int		b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
 
 	m_data->m_bvhInfoCPU.push_back(bvhInfo);
 
-
 	int numNewSubtrees = bvh->getSubtreeInfoArray().size();
-	m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size()+numNewSubtrees);
-	for (int i=0;i<numNewSubtrees;i++)
+	m_data->m_subTreesCPU.reserve(m_data->m_subTreesCPU.size() + numNewSubtrees);
+	for (int i = 0; i < numNewSubtrees; i++)
 	{
 		m_data->m_subTreesCPU.push_back(bvh->getSubtreeInfoArray()[i]);
 	}
 	int numNewTreeNodes = bvh->getQuantizedNodeArray().size();
 
-	for (int i=0;i<numNewTreeNodes;i++)
+	for (int i = 0; i < numNewTreeNodes; i++)
 	{
 		m_data->m_treeNodesCPU.push_back(bvh->getQuantizedNodeArray()[i]);
 	}
 
-
-
-
 	return collidableIndex;
 }
 
-int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,b3Collidable& col, const float* scaling1)
+int b3GpuNarrowPhase::registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling1)
 {
+	b3Vector3 scaling = b3MakeVector3(scaling1[0], scaling1[1], scaling1[2]);
 
+	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes + 1);
+	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes + 1);
 
-	b3Vector3 scaling=b3MakeVector3(scaling1[0],scaling1[1],scaling1[2]);
-
-	m_data->m_convexData->resize(m_data->m_numAcceleratedShapes+1);
-	m_data->m_convexPolyhedra.resize(m_data->m_numAcceleratedShapes+1);
-	
-    
-	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size()-1);
-	convex.mC = b3MakeVector3(0,0,0);
-	convex.mE = b3MakeVector3(0,0,0);
-	convex.m_extents= b3MakeVector3(0,0,0);
-	convex.m_localCenter = b3MakeVector3(0,0,0);
+	b3ConvexPolyhedronData& convex = m_data->m_convexPolyhedra.at(m_data->m_convexPolyhedra.size() - 1);
+	convex.mC = b3MakeVector3(0, 0, 0);
+	convex.mE = b3MakeVector3(0, 0, 0);
+	convex.m_extents = b3MakeVector3(0, 0, 0);
+	convex.m_localCenter = b3MakeVector3(0, 0, 0);
 	convex.m_radius = 0.f;
-	
+
 	convex.m_numUniqueEdges = 0;
 	int edgeOffset = m_data->m_uniqueEdges.size();
 	convex.m_uniqueEdgesOffset = edgeOffset;
-	
+
 	int faceOffset = m_data->m_convexFaces.size();
 	convex.m_faceOffset = faceOffset;
-	
-	convex.m_numFaces = indices->size()/3;
-	m_data->m_convexFaces.resize(faceOffset+convex.m_numFaces);
-	m_data->m_convexIndices.reserve(convex.m_numFaces*3);
-	for (int i=0;i<convex.m_numFaces;i++)
+
+	convex.m_numFaces = indices->size() / 3;
+	m_data->m_convexFaces.resize(faceOffset + convex.m_numFaces);
+	m_data->m_convexIndices.reserve(convex.m_numFaces * 3);
+	for (int i = 0; i < convex.m_numFaces; i++)
 	{
-		if (i%256==0)
+		if (i % 256 == 0)
 		{
 			//printf("i=%d out of %d", i,convex.m_numFaces);
 		}
-		b3Vector3 vert0(vertices->at(indices->at(i*3))*scaling);
-		b3Vector3 vert1(vertices->at(indices->at(i*3+1))*scaling);
-		b3Vector3 vert2(vertices->at(indices->at(i*3+2))*scaling);
+		b3Vector3 vert0(vertices->at(indices->at(i * 3)) * scaling);
+		b3Vector3 vert1(vertices->at(indices->at(i * 3 + 1)) * scaling);
+		b3Vector3 vert2(vertices->at(indices->at(i * 3 + 2)) * scaling);
 
-		b3Vector3 normal = ((vert1-vert0).cross(vert2-vert0)).normalize();
+		b3Vector3 normal = ((vert1 - vert0).cross(vert2 - vert0)).normalize();
 		b3Scalar c = -(normal.dot(vert0));
 
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_plane = b3MakeVector4(normal.x,normal.y,normal.z,c);
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_plane = b3MakeVector4(normal.x, normal.y, normal.z, c);
 		int indexOffset = m_data->m_convexIndices.size();
 		int numIndices = 3;
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_numIndices = numIndices;
-		m_data->m_convexFaces[convex.m_faceOffset+i].m_indexOffset = indexOffset;
-		m_data->m_convexIndices.resize(indexOffset+numIndices);
-		for (int p=0;p<numIndices;p++)
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_numIndices = numIndices;
+		m_data->m_convexFaces[convex.m_faceOffset + i].m_indexOffset = indexOffset;
+		m_data->m_convexIndices.resize(indexOffset + numIndices);
+		for (int p = 0; p < numIndices; p++)
 		{
-			int vi = indices->at(i*3+p);
-			m_data->m_convexIndices[indexOffset+p] = vi;//convexPtr->m_faces[i].m_indices[p];
+			int vi = indices->at(i * 3 + p);
+			m_data->m_convexIndices[indexOffset + p] = vi;  //convexPtr->m_faces[i].m_indices[p];
 		}
 	}
-    
+
 	convex.m_numVertices = vertices->size();
 	int vertexOffset = m_data->m_convexVertices.size();
-	convex.m_vertexOffset =vertexOffset;
-	m_data->m_convexVertices.resize(vertexOffset+convex.m_numVertices);
-	for (int i=0;i<vertices->size();i++)
+	convex.m_vertexOffset = vertexOffset;
+	m_data->m_convexVertices.resize(vertexOffset + convex.m_numVertices);
+	for (int i = 0; i < vertices->size(); i++)
 	{
-		m_data->m_convexVertices[vertexOffset+i] = vertices->at(i)*scaling;
+		m_data->m_convexVertices[vertexOffset + i] = vertices->at(i) * scaling;
 	}
 
 	(*m_data->m_convexData)[m_data->m_numAcceleratedShapes] = 0;
-	
-  
+
 	return m_data->m_numAcceleratedShapes++;
 }
 
-
-
-cl_mem	b3GpuNarrowPhase::getBodiesGpu()
+cl_mem b3GpuNarrowPhase::getBodiesGpu()
 {
 	return (cl_mem)m_data->m_bodyBufferGPU->getBufferCL();
 }
@@ -743,25 +678,21 @@ const struct b3RigidBodyData* b3GpuNarrowPhase::getBodiesCpu() const
 	return &m_data->m_bodyBufferCPU->at(0);
 };
 
-
-
-
-int	b3GpuNarrowPhase::getNumBodiesGpu() const
+int b3GpuNarrowPhase::getNumBodiesGpu() const
 {
 	return m_data->m_bodyBufferGPU->size();
 }
 
-cl_mem	b3GpuNarrowPhase::getBodyInertiasGpu()
+cl_mem b3GpuNarrowPhase::getBodyInertiasGpu()
 {
 	return (cl_mem)m_data->m_inertiaBufferGPU->getBufferCL();
 }
 
-int	b3GpuNarrowPhase::getNumBodyInertiasGpu() const
+int b3GpuNarrowPhase::getNumBodyInertiasGpu() const
 {
 	return m_data->m_inertiaBufferGPU->size();
 }
 
-
 b3Collidable& b3GpuNarrowPhase::getCollidableCpu(int collidableIndex)
 {
 	return m_data->m_collidablesCPU[collidableIndex];
@@ -789,25 +720,20 @@ const struct b3SapAabb* b3GpuNarrowPhase::getLocalSpaceAabbsCpu() const
 	if (m_data->m_localShapeAABBCPU->size())
 	{
 		return &m_data->m_localShapeAABBCPU->at(0);
-	} 
+	}
 	return 0;
 }
 
-
-cl_mem	b3GpuNarrowPhase::getAabbLocalSpaceBufferGpu()
+cl_mem b3GpuNarrowPhase::getAabbLocalSpaceBufferGpu()
 {
 	return m_data->m_localShapeAABBGPU->getBufferCL();
 }
-int	b3GpuNarrowPhase::getNumCollidablesGpu() const
+int b3GpuNarrowPhase::getNumCollidablesGpu() const
 {
 	return m_data->m_collidablesGPU->size();
 }
 
-
-
-
-
-int	b3GpuNarrowPhase::getNumContactsGpu() const
+int b3GpuNarrowPhase::getNumContactsGpu() const
 {
 	return m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
 }
@@ -824,37 +750,33 @@ const b3Contact4* b3GpuNarrowPhase::getContactsCPU() const
 
 void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects)
 {
-
 	cl_mem aabbsLocalSpace = m_data->m_localShapeAABBGPU->getBufferCL();
 
 	int nContactOut = 0;
 
 	//swap buffer
-	m_data->m_currentContactBuffer=1-m_data->m_currentContactBuffer;
+	m_data->m_currentContactBuffer = 1 - m_data->m_currentContactBuffer;
 
 	//int curSize = m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer]->size();
 
 	int maxTriConvexPairCapacity = m_data->m_config.m_maxTriConvexPairCapacity;
-	int numTriConvexPairsOut=0;
-	
-	b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context,m_queue);
-	broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs,numBroadphasePairs);
-
-	
+	int numTriConvexPairsOut = 0;
 
+	b3OpenCLArray<b3Int4> broadphasePairsGPU(m_context, m_queue);
+	broadphasePairsGPU.setFromOpenCLBuffer(broadphasePairs, numBroadphasePairs);
 
-	b3OpenCLArray<b3Aabb> clAabbArrayWorldSpace(this->m_context,this->m_queue);
-	clAabbArrayWorldSpace.setFromOpenCLBuffer(aabbsWorldSpace,numObjects);
+	b3OpenCLArray<b3Aabb> clAabbArrayWorldSpace(this->m_context, this->m_queue);
+	clAabbArrayWorldSpace.setFromOpenCLBuffer(aabbsWorldSpace, numObjects);
 
-	b3OpenCLArray<b3Aabb> clAabbArrayLocalSpace(this->m_context,this->m_queue);
-	clAabbArrayLocalSpace.setFromOpenCLBuffer(aabbsLocalSpace,numObjects);
+	b3OpenCLArray<b3Aabb> clAabbArrayLocalSpace(this->m_context, this->m_queue);
+	clAabbArrayLocalSpace.setFromOpenCLBuffer(aabbsLocalSpace, numObjects);
 
 	m_data->m_gpuSatCollision->computeConvexConvexContactsGPUSAT(
 		&broadphasePairsGPU, numBroadphasePairs,
 		m_data->m_bodyBufferGPU,
 		m_data->m_pBufContactBuffersGPU[m_data->m_currentContactBuffer],
 		nContactOut,
-		m_data->m_pBufContactBuffersGPU[1-m_data->m_currentContactBuffer],
+		m_data->m_pBufContactBuffersGPU[1 - m_data->m_currentContactBuffer],
 		m_data->m_config.m_maxContactCapacity,
 		m_data->m_config.m_compoundPairCapacity,
 		*m_data->m_convexPolyhedraGPU,
@@ -878,8 +800,7 @@ void b3GpuNarrowPhase::computeContacts(cl_mem broadphasePairs, int numBroadphase
 		numObjects,
 		maxTriConvexPairCapacity,
 		*m_data->m_triangleConvexPairs,
-		numTriConvexPairsOut
-		);
+		numTriConvexPairsOut);
 
 	/*b3AlignedObjectArray<b3Int4> broadphasePairsCPU;
 	broadphasePairsGPU.copyToHost(broadphasePairsCPU);
@@ -892,105 +813,97 @@ const b3SapAabb& b3GpuNarrowPhase::getLocalSpaceAabb(int collidableIndex) const
 	return m_data->m_localShapeAABBCPU->at(collidableIndex);
 }
 
-
-
-
-
-int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation , const float* aabbMinPtr, const float* aabbMaxPtr,bool writeToGpu)
+int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMinPtr, const float* aabbMaxPtr, bool writeToGpu)
 {
-	b3Vector3 aabbMin=b3MakeVector3(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
-	b3Vector3 aabbMax=b3MakeVector3(aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
-	
+	b3Vector3 aabbMin = b3MakeVector3(aabbMinPtr[0], aabbMinPtr[1], aabbMinPtr[2]);
+	b3Vector3 aabbMax = b3MakeVector3(aabbMaxPtr[0], aabbMaxPtr[1], aabbMaxPtr[2]);
 
 	if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies))
 	{
-		b3Error("registerRigidBody: exceeding the number of rigid bodies, %d > %d \n",m_data->m_numAcceleratedRigidBodies,m_data->m_config.m_maxConvexBodies);
+		b3Error("registerRigidBody: exceeding the number of rigid bodies, %d > %d \n", m_data->m_numAcceleratedRigidBodies, m_data->m_config.m_maxConvexBodies);
 		return -1;
 	}
-    
-	m_data->m_bodyBufferCPU->resize(m_data->m_numAcceleratedRigidBodies+1);
-    
+
+	m_data->m_bodyBufferCPU->resize(m_data->m_numAcceleratedRigidBodies + 1);
+
 	b3RigidBodyData& body = m_data->m_bodyBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
-    
+
 	float friction = 1.f;
 	float restitution = 0.f;
-    
+
 	body.m_frictionCoeff = friction;
 	body.m_restituitionCoeff = restitution;
-	body.m_angVel = b3MakeVector3(0,0,0);
-	body.m_linVel=b3MakeVector3(0,0,0);//.setZero();
-	body.m_pos =b3MakeVector3(position[0],position[1],position[2]);
-	body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
+	body.m_angVel = b3MakeVector3(0, 0, 0);
+	body.m_linVel = b3MakeVector3(0, 0, 0);  //.setZero();
+	body.m_pos = b3MakeVector3(position[0], position[1], position[2]);
+	body.m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]);
 	body.m_collidableIdx = collidableIndex;
-	if (collidableIndex>=0)
+	if (collidableIndex >= 0)
 	{
-//		body.m_shapeType = m_data->m_collidablesCPU.at(collidableIndex).m_shapeType;
-	} else
+		//		body.m_shapeType = m_data->m_collidablesCPU.at(collidableIndex).m_shapeType;
+	}
+	else
 	{
-	//	body.m_shapeType = CollisionShape::SHAPE_PLANE;
+		//	body.m_shapeType = CollisionShape::SHAPE_PLANE;
 		m_planeBodyIndex = m_data->m_numAcceleratedRigidBodies;
 	}
 	//body.m_shapeType = shapeType;
-	
-	
-	body.m_invMass = mass? 1.f/mass : 0.f;
-    
+
+	body.m_invMass = mass ? 1.f / mass : 0.f;
+
 	if (writeToGpu)
 	{
-		m_data->m_bodyBufferGPU->copyFromHostPointer(&body,1,m_data->m_numAcceleratedRigidBodies);
+		m_data->m_bodyBufferGPU->copyFromHostPointer(&body, 1, m_data->m_numAcceleratedRigidBodies);
 	}
-    
+
 	b3InertiaData& shapeInfo = m_data->m_inertiaBufferCPU->at(m_data->m_numAcceleratedRigidBodies);
-    
-	if (mass==0.f)
+
+	if (mass == 0.f)
 	{
-		if (m_data->m_numAcceleratedRigidBodies==0)
+		if (m_data->m_numAcceleratedRigidBodies == 0)
 			m_static0Index = 0;
-        
-		shapeInfo.m_initInvInertia.setValue(0,0,0,0,0,0,0,0,0);
-		shapeInfo.m_invInertiaWorld.setValue(0,0,0,0,0,0,0,0,0);
-	} else
+
+		shapeInfo.m_initInvInertia.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
+		shapeInfo.m_invInertiaWorld.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
+	}
+	else
 	{
-        
-		b3Assert(body.m_collidableIdx>=0);
-        
+		b3Assert(body.m_collidableIdx >= 0);
+
 		//approximate using the aabb of the shape
-        
+
 		//Aabb aabb = (*m_data->m_shapePointers)[shapeIndex]->m_aabb;
-		b3Vector3 halfExtents = (aabbMax-aabbMin);//*0.5f;//fake larger inertia makes demos more stable ;-)
-        
+		b3Vector3 halfExtents = (aabbMax - aabbMin);  //*0.5f;//fake larger inertia makes demos more stable ;-)
+
 		b3Vector3 localInertia;
-        
-		float lx=2.f*halfExtents[0];
-		float ly=2.f*halfExtents[1];
-		float lz=2.f*halfExtents[2];
-        
-		localInertia.setValue( (mass/12.0f) * (ly*ly + lz*lz),
-                                   (mass/12.0f) * (lx*lx + lz*lz),
-                                   (mass/12.0f) * (lx*lx + ly*ly));
-        
+
+		float lx = 2.f * halfExtents[0];
+		float ly = 2.f * halfExtents[1];
+		float lz = 2.f * halfExtents[2];
+
+		localInertia.setValue((mass / 12.0f) * (ly * ly + lz * lz),
+							  (mass / 12.0f) * (lx * lx + lz * lz),
+							  (mass / 12.0f) * (lx * lx + ly * ly));
+
 		b3Vector3 invLocalInertia;
-		invLocalInertia[0] = 1.f/localInertia[0];
-		invLocalInertia[1] = 1.f/localInertia[1];
-		invLocalInertia[2] = 1.f/localInertia[2];
+		invLocalInertia[0] = 1.f / localInertia[0];
+		invLocalInertia[1] = 1.f / localInertia[1];
+		invLocalInertia[2] = 1.f / localInertia[2];
 		invLocalInertia[3] = 0.f;
-        
+
 		shapeInfo.m_initInvInertia.setValue(
-			invLocalInertia[0],		0,						0,
-			0,						invLocalInertia[1],		0,
-			0,						0,						invLocalInertia[2]);
+			invLocalInertia[0], 0, 0,
+			0, invLocalInertia[1], 0,
+			0, 0, invLocalInertia[2]);
 
-		b3Matrix3x3 m (body.m_quat);
+		b3Matrix3x3 m(body.m_quat);
 
 		shapeInfo.m_invInertiaWorld = m.scaled(invLocalInertia) * m.transpose();
-        
 	}
-    
+
 	if (writeToGpu)
-		m_data->m_inertiaBufferGPU->copyFromHostPointer(&shapeInfo,1,m_data->m_numAcceleratedRigidBodies);
-    
-    
-    
+		m_data->m_inertiaBufferGPU->copyFromHostPointer(&shapeInfo, 1, m_data->m_numAcceleratedRigidBodies);
+
 	return m_data->m_numAcceleratedRigidBodies++;
 }
 
@@ -999,15 +912,13 @@ int b3GpuNarrowPhase::getNumRigidBodies() const
 	return m_data->m_numAcceleratedRigidBodies;
 }
 
-void	b3GpuNarrowPhase::writeAllBodiesToGpu()
+void b3GpuNarrowPhase::writeAllBodiesToGpu()
 {
-
 	if (m_data->m_localShapeAABBCPU->size())
 	{
 		m_data->m_localShapeAABBGPU->copyFromHost(*m_data->m_localShapeAABBCPU);
 	}
-	
-	
+
 	m_data->m_gpuChildShapes->copyFromHost(m_data->m_cpuChildShapes);
 	m_data->m_convexFacesGPU->copyFromHost(m_data->m_convexFaces);
 	m_data->m_convexPolyhedraGPU->copyFromHost(m_data->m_convexPolyhedra);
@@ -1018,25 +929,21 @@ void	b3GpuNarrowPhase::writeAllBodiesToGpu()
 	m_data->m_treeNodesGPU->copyFromHost(m_data->m_treeNodesCPU);
 	m_data->m_subTreesGPU->copyFromHost(m_data->m_subTreesCPU);
 
-
 	m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
 	m_data->m_inertiaBufferGPU->resize(m_data->m_numAcceleratedRigidBodies);
-    
+
 	if (m_data->m_numAcceleratedRigidBodies)
 	{
-		m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
-		m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
+		m_data->m_bodyBufferGPU->copyFromHostPointer(&m_data->m_bodyBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies);
+		m_data->m_inertiaBufferGPU->copyFromHostPointer(&m_data->m_inertiaBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies);
 	}
-    if (m_data->m_collidablesCPU.size())
+	if (m_data->m_collidablesCPU.size())
 	{
 		m_data->m_collidablesGPU->copyFromHost(m_data->m_collidablesCPU);
 	}
-	
-    
 }
 
-
-void	b3GpuNarrowPhase::reset()
+void b3GpuNarrowPhase::reset()
 {
 	m_data->m_numAcceleratedShapes = 0;
 	m_data->m_numAcceleratedRigidBodies = 0;
@@ -1053,21 +960,19 @@ void	b3GpuNarrowPhase::reset()
 	m_data->m_treeNodesCPU.resize(0);
 	m_data->m_subTreesCPU.resize(0);
 	m_data->m_bvhInfoCPU.resize(0);
-
 }
 
-
-void	b3GpuNarrowPhase::readbackAllBodiesToCpu()
+void b3GpuNarrowPhase::readbackAllBodiesToCpu()
 {
-	m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
+	m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0), m_data->m_numAcceleratedRigidBodies);
 }
 
-void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation , int bodyIndex)
+void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation, int bodyIndex)
 {
-	if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
+	if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size())
 	{
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_pos=b3MakeVector3(position[0],position[1],position[2]);
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
+		m_data->m_bodyBufferCPU->at(bodyIndex).m_pos = b3MakeVector3(position[0], position[1], position[2]);
+		m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0], orientation[1], orientation[2], orientation[3]);
 	}
 	else
 	{
@@ -1076,24 +981,25 @@ void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation
 }
 void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex)
 {
-	if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
+	if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size())
 	{
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel=b3MakeVector3(linVel[0],linVel[1],linVel[2]);
-		m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel=b3MakeVector3(angVel[0],angVel[1],angVel[2]);
-	} else
+		m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel = b3MakeVector3(linVel[0], linVel[1], linVel[2]);
+		m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel = b3MakeVector3(angVel[0], angVel[1], angVel[2]);
+	}
+	else
 	{
 		b3Warning("setObjectVelocityCpu out of range.\n");
 	}
 }
 
-bool b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const
+bool b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const
 {
-	if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
+	if (bodyIndex >= 0 && bodyIndex < m_data->m_bodyBufferCPU->size())
 	{
 		position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x;
 		position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y;
 		position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z;
-		position[3] = 1.f;//or 1
+		position[3] = 1.f;  //or 1
 
 		orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x;
 		orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y;
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
index 05ff3fd09e..21a68de343 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h
@@ -9,11 +9,10 @@
 class b3GpuNarrowPhase
 {
 protected:
-
-	struct b3GpuNarrowPhaseInternalData*	m_data;
+	struct b3GpuNarrowPhaseInternalData* m_data;
 	int m_acceleratedCompanionShapeIndex;
 	int m_planeBodyIndex;
-	int	m_static0Index;
+	int m_static0Index;
 
 	cl_context m_context;
 	cl_device_id m_device;
@@ -23,64 +22,58 @@ protected:
 	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);
 
 public:
-
-	
-
-
 	b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);
 
 	virtual ~b3GpuNarrowPhase(void);
 
-	int		registerSphereShape(float radius);
-	int		registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
+	int registerSphereShape(float radius);
+	int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
 
 	int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
 	int registerFace(const b3Vector3& faceNormal, float faceConstant);
-	
-	int	registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices,const float* scaling);
-	
+
+	int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
+
 	//do they need to be merged?
-	
-	int	registerConvexHullShape(b3ConvexUtility* utilPtr);
-	int	registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
 
-	int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax,bool writeToGpu);
-	void setObjectTransform(const float* position, const float* orientation , int bodyIndex);
+	int registerConvexHullShape(b3ConvexUtility* utilPtr);
+	int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
+
+	int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax, bool writeToGpu);
+	void setObjectTransform(const float* position, const float* orientation, int bodyIndex);
 
-	void	writeAllBodiesToGpu();
-	void  reset();
-	void	readbackAllBodiesToCpu();
-	bool	getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const;
+	void writeAllBodiesToGpu();
+	void reset();
+	void readbackAllBodiesToCpu();
+	bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;
 
-	void setObjectTransformCpu(float* position, float* orientation , int bodyIndex);
+	void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
 	void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);
 
-	
 	virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);
-	
 
-	cl_mem	getBodiesGpu();
+	cl_mem getBodiesGpu();
 	const struct b3RigidBodyData* getBodiesCpu() const;
 	//struct b3RigidBodyData* getBodiesCpu();
 
-	int	getNumBodiesGpu() const;
+	int getNumBodiesGpu() const;
 
-	cl_mem	getBodyInertiasGpu();
-	int	getNumBodyInertiasGpu() const;
+	cl_mem getBodyInertiasGpu();
+	int getNumBodyInertiasGpu() const;
 
-	cl_mem	getCollidablesGpu();
+	cl_mem getCollidablesGpu();
 	const struct b3Collidable* getCollidablesCpu() const;
-	int		getNumCollidablesGpu() const;
+	int getNumCollidablesGpu() const;
 
 	const struct b3SapAabb* getLocalSpaceAabbsCpu() const;
 
 	const struct b3Contact4* getContactsCPU() const;
 
-	cl_mem	getContactsGpu();
-	int	getNumContactsGpu() const;
+	cl_mem getContactsGpu();
+	int getNumContactsGpu() const;
+
+	cl_mem getAabbLocalSpaceBufferGpu();
 
-	cl_mem	getAabbLocalSpaceBufferGpu();
-	
 	int getNumRigidBodies() const;
 
 	int allocateCollidable();
@@ -92,18 +85,17 @@ public:
 	b3Collidable& getCollidableCpu(int collidableIndex);
 	const b3Collidable& getCollidableCpu(int collidableIndex) const;
 
-	const b3GpuNarrowPhaseInternalData*	getInternalData() const
+	const b3GpuNarrowPhaseInternalData* getInternalData() const
 	{
-			return m_data;
+		return m_data;
 	}
 
-	b3GpuNarrowPhaseInternalData*	getInternalData()
+	b3GpuNarrowPhaseInternalData* getInternalData()
 	{
-			return m_data;
+		return m_data;
 	}
 
 	const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
 };
 
-#endif //B3_GPU_NARROWPHASE_H
-
+#endif  //B3_GPU_NARROWPHASE_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
index 8a7f1ea859..716a5ea0fc 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h
@@ -20,57 +20,53 @@
 #include "Bullet3Common/shared/b3Int4.h"
 #include "Bullet3Common/shared/b3Int2.h"
 
-
 class b3ConvexUtility;
 
 struct b3GpuNarrowPhaseInternalData
 {
 	b3AlignedObjectArray<b3ConvexUtility*>* m_convexData;
-    
+
 	b3AlignedObjectArray<b3ConvexPolyhedronData> m_convexPolyhedra;
 	b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
 	b3AlignedObjectArray<b3Vector3> m_convexVertices;
 	b3AlignedObjectArray<int> m_convexIndices;
-    
+
 	b3OpenCLArray<b3ConvexPolyhedronData>* m_convexPolyhedraGPU;
 	b3OpenCLArray<b3Vector3>* m_uniqueEdgesGPU;
 	b3OpenCLArray<b3Vector3>* m_convexVerticesGPU;
 	b3OpenCLArray<int>* m_convexIndicesGPU;
-    
-    b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
-    b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
-    b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
-    b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
-    b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
-    
+
+	b3OpenCLArray<b3Vector3>* m_worldVertsB1GPU;
+	b3OpenCLArray<b3Int4>* m_clippingFacesOutGPU;
+	b3OpenCLArray<b3Vector3>* m_worldNormalsAGPU;
+	b3OpenCLArray<b3Vector3>* m_worldVertsA1GPU;
+	b3OpenCLArray<b3Vector3>* m_worldVertsB2GPU;
+
 	b3AlignedObjectArray<b3GpuChildShape> m_cpuChildShapes;
-	b3OpenCLArray<b3GpuChildShape>*	m_gpuChildShapes;
-    
+	b3OpenCLArray<b3GpuChildShape>* m_gpuChildShapes;
+
 	b3AlignedObjectArray<b3GpuFace> m_convexFaces;
 	b3OpenCLArray<b3GpuFace>* m_convexFacesGPU;
-    
-	struct GpuSatCollision*	m_gpuSatCollision;
-	    
-	
-	b3OpenCLArray<b3Int4>*			m_triangleConvexPairs;
-    
-	
+
+	struct GpuSatCollision* m_gpuSatCollision;
+
+	b3OpenCLArray<b3Int4>* m_triangleConvexPairs;
+
 	b3OpenCLArray<b3Contact4>* m_pBufContactBuffersGPU[2];
-	int	m_currentContactBuffer;
+	int m_currentContactBuffer;
 	b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
-	
-    
+
 	b3AlignedObjectArray<b3RigidBodyData>* m_bodyBufferCPU;
 	b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
-    
-	b3AlignedObjectArray<b3InertiaData>*	m_inertiaBufferCPU;
-	b3OpenCLArray<b3InertiaData>*	m_inertiaBufferGPU;
-    
+
+	b3AlignedObjectArray<b3InertiaData>* m_inertiaBufferCPU;
+	b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU;
+
 	int m_numAcceleratedShapes;
 	int m_numAcceleratedRigidBodies;
-    
-	b3AlignedObjectArray<b3Collidable>	m_collidablesCPU;
-	b3OpenCLArray<b3Collidable>*	m_collidablesGPU;
+
+	b3AlignedObjectArray<b3Collidable> m_collidablesCPU;
+	b3OpenCLArray<b3Collidable>* m_collidablesGPU;
 
 	b3OpenCLArray<b3SapAabb>* m_localShapeAABBGPU;
 	b3AlignedObjectArray<b3SapAabb>* m_localShapeAABBCPU;
@@ -78,18 +74,16 @@ struct b3GpuNarrowPhaseInternalData
 	b3AlignedObjectArray<class b3OptimizedBvh*> m_bvhData;
 	b3AlignedObjectArray<class b3TriangleIndexVertexArray*> m_meshInterfaces;
 
-	b3AlignedObjectArray<b3QuantizedBvhNode>	m_treeNodesCPU;
-	b3AlignedObjectArray<b3BvhSubtreeInfo>	m_subTreesCPU;
+	b3AlignedObjectArray<b3QuantizedBvhNode> m_treeNodesCPU;
+	b3AlignedObjectArray<b3BvhSubtreeInfo> m_subTreesCPU;
+
+	b3AlignedObjectArray<b3BvhInfo> m_bvhInfoCPU;
+	b3OpenCLArray<b3BvhInfo>* m_bvhInfoGPU;
 
-	b3AlignedObjectArray<b3BvhInfo>	m_bvhInfoCPU;
-	b3OpenCLArray<b3BvhInfo>*			m_bvhInfoGPU;
-	
-	b3OpenCLArray<b3QuantizedBvhNode>*	m_treeNodesGPU;
-	b3OpenCLArray<b3BvhSubtreeInfo>*	m_subTreesGPU;
-	
+	b3OpenCLArray<b3QuantizedBvhNode>* m_treeNodesGPU;
+	b3OpenCLArray<b3BvhSubtreeInfo>* m_subTreesGPU;
 
-	b3Config	m_config;
-    
+	b3Config m_config;
 };
 
-#endif //B3_GPU_NARROWPHASE_INTERNAL_DATA_H
+#endif  //B3_GPU_NARROWPHASE_INTERNAL_DATA_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
index 0d3d50c548..bd9d6bb04b 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
@@ -14,11 +14,10 @@ subject to the following restrictions:
 */
 //Originally written by Erwin Coumans
 
-
 bool useGpuInitSolverBodies = true;
 bool useGpuInfo1 = true;
-bool useGpuInfo2= true;
-bool useGpuSolveJointConstraintRows=true;
+bool useGpuInfo2 = true;
+bool useGpuSolveJointConstraintRows = true;
 bool useGpuWriteBackVelocities = true;
 bool gpuBreakConstraints = true;
 
@@ -29,27 +28,25 @@ bool gpuBreakConstraints = true;
 #include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
 #include <new>
 #include "Bullet3Common/b3AlignedObjectArray.h"
-#include <string.h> //for memset
+#include <string.h>  //for memset
 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 
 #include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
 
-#include "Bullet3OpenCL/RigidBody/kernels/jointSolver.h" //solveConstraintRowsCL
+#include "Bullet3OpenCL/RigidBody/kernels/jointSolver.h"  //solveConstraintRowsCL
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 
 #define B3_JOINT_SOLVER_PATH "src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl"
 
-
 struct b3GpuPgsJacobiSolverInternalData
 {
-
 	cl_context m_context;
 	cl_device_id m_device;
 	cl_command_queue m_queue;
 
-	b3PrefixScanCL*	m_prefixScan;
+	b3PrefixScanCL* m_prefixScan;
 
 	cl_kernel m_solveJointConstraintRowsKernels;
 	cl_kernel m_initSolverBodiesKernel;
@@ -59,31 +56,27 @@ struct b3GpuPgsJacobiSolverInternalData
 	cl_kernel m_writeBackVelocitiesKernel;
 	cl_kernel m_breakViolatedConstraintsKernel;
 
-	b3OpenCLArray<unsigned int>*	m_gpuConstraintRowOffsets;
+	b3OpenCLArray<unsigned int>* m_gpuConstraintRowOffsets;
 
-	b3OpenCLArray<b3GpuSolverBody>*			m_gpuSolverBodies;
-	b3OpenCLArray<b3BatchConstraint>*		m_gpuBatchConstraints;
-	b3OpenCLArray<b3GpuSolverConstraint>*		m_gpuConstraintRows;
-	b3OpenCLArray<unsigned int>*			m_gpuConstraintInfo1;
+	b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies;
+	b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints;
+	b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows;
+	b3OpenCLArray<unsigned int>* m_gpuConstraintInfo1;
 
-//	b3AlignedObjectArray<b3GpuSolverBody>		m_cpuSolverBodies;
-	b3AlignedObjectArray<b3BatchConstraint>		m_cpuBatchConstraints;
-	b3AlignedObjectArray<b3GpuSolverConstraint>	m_cpuConstraintRows;
-	b3AlignedObjectArray<unsigned int>			m_cpuConstraintInfo1;
-	b3AlignedObjectArray<unsigned int>			m_cpuConstraintRowOffsets;
+	//	b3AlignedObjectArray<b3GpuSolverBody>		m_cpuSolverBodies;
+	b3AlignedObjectArray<b3BatchConstraint> m_cpuBatchConstraints;
+	b3AlignedObjectArray<b3GpuSolverConstraint> m_cpuConstraintRows;
+	b3AlignedObjectArray<unsigned int> m_cpuConstraintInfo1;
+	b3AlignedObjectArray<unsigned int> m_cpuConstraintRowOffsets;
 
-	b3AlignedObjectArray<b3RigidBodyData>			m_cpuBodies;
-	b3AlignedObjectArray<b3InertiaData>			m_cpuInertias;
+	b3AlignedObjectArray<b3RigidBodyData> m_cpuBodies;
+	b3AlignedObjectArray<b3InertiaData> m_cpuInertias;
 
-	
 	b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
 
-	b3AlignedObjectArray<int>		m_batchSizes;
-
-
+	b3AlignedObjectArray<int> m_batchSizes;
 };
 
-
 /*
 static b3Transform	getWorldTransform(b3RigidBodyData* rb)
 {
@@ -100,12 +93,12 @@ static const b3Matrix3x3&	getInvInertiaTensorWorld(b3InertiaData* inertia)
 
 */
 
-static const b3Vector3&	getLinearVelocity(b3RigidBodyData* rb)
+static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
 {
 	return rb->m_linVel;
 }
 
-static const b3Vector3&	getAngularVelocity(b3RigidBodyData* rb)
+static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
 {
 	return rb->m_angVel;
 }
@@ -114,12 +107,9 @@ b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& rel_pos)
 {
 	//we also calculate lin/ang velocity for kinematic objects
 	return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
-	
 }
 
-
-
-b3GpuPgsConstraintSolver::b3GpuPgsConstraintSolver (cl_context ctx, cl_device_id device, cl_command_queue queue,bool usePgs)
+b3GpuPgsConstraintSolver::b3GpuPgsConstraintSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, bool usePgs)
 {
 	m_usePgs = usePgs;
 	m_gpuData = new b3GpuPgsJacobiSolverInternalData();
@@ -127,45 +117,40 @@ b3GpuPgsConstraintSolver::b3GpuPgsConstraintSolver (cl_context ctx, cl_device_id
 	m_gpuData->m_device = device;
 	m_gpuData->m_queue = queue;
 
-	m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx,device,queue);
+	m_gpuData->m_prefixScan = new b3PrefixScanCL(ctx, device, queue);
 
-	m_gpuData->m_gpuConstraintRowOffsets = new b3OpenCLArray<unsigned int>(m_gpuData->m_context,m_gpuData->m_queue);
+	m_gpuData->m_gpuConstraintRowOffsets = new b3OpenCLArray<unsigned int>(m_gpuData->m_context, m_gpuData->m_queue);
 
-	m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context,m_gpuData->m_queue);
-	m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
-	m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
-	m_gpuData->m_gpuConstraintInfo1 = new b3OpenCLArray<unsigned int>(m_gpuData->m_context,m_gpuData->m_queue);
-	cl_int errNum=0;
+	m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context, m_gpuData->m_queue);
+	m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context, m_gpuData->m_queue);
+	m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context, m_gpuData->m_queue);
+	m_gpuData->m_gpuConstraintInfo1 = new b3OpenCLArray<unsigned int>(m_gpuData->m_context, m_gpuData->m_queue);
+	cl_int errNum = 0;
 
 	{
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,&errNum,"",B3_JOINT_SOLVER_PATH);
+		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, &errNum, "", B3_JOINT_SOLVER_PATH);
 		//cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_gpuData->m_context,m_gpuData->m_device,0,&errNum,"",B3_JOINT_SOLVER_PATH,true);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_initSolverBodiesKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,"initSolverBodies",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_getInfo1Kernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,"getInfo1Kernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_initBatchConstraintsKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,"initBatchConstraintsKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_getInfo2Kernel= b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,"getInfo2Kernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_writeBackVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,"writeBackVelocitiesKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-		m_gpuData->m_breakViolatedConstraintsKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context,m_gpuData->m_device,solveConstraintRowsCL,"breakViolatedConstraintsKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
-
-		
-		
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_solveJointConstraintRowsKernels = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "solveJointConstraintRows", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_initSolverBodiesKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "initSolverBodies", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_getInfo1Kernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "getInfo1Kernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_initBatchConstraintsKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "initBatchConstraintsKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_getInfo2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "getInfo2Kernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_writeBackVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "writeBackVelocitiesKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
+		m_gpuData->m_breakViolatedConstraintsKernel = b3OpenCLUtils::compileCLKernelFromString(m_gpuData->m_context, m_gpuData->m_device, solveConstraintRowsCL, "breakViolatedConstraintsKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
 
 		clReleaseProgram(prog);
 	}
-
-
 }
 
-b3GpuPgsConstraintSolver::~b3GpuPgsConstraintSolver ()
+b3GpuPgsConstraintSolver::~b3GpuPgsConstraintSolver()
 {
 	clReleaseKernel(m_gpuData->m_solveJointConstraintRowsKernels);
 	clReleaseKernel(m_gpuData->m_initSolverBodiesKernel);
@@ -195,16 +180,12 @@ struct b3BatchConstraint
 
 static b3AlignedObjectArray<b3BatchConstraint> batchConstraints;
 
-
-void	b3GpuPgsConstraintSolver::recomputeBatches()
+void b3GpuPgsConstraintSolver::recomputeBatches()
 {
 	m_gpuData->m_batchSizes.clear();
 }
 
-
-
-
-b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
 	B3_PROFILE("GPU solveGroupCacheFriendlySetup");
 	batchConstraints.resize(numConstraints);
@@ -212,7 +193,6 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 	m_staticIdx = -1;
 	m_maxOverrideNumSolverIterations = 0;
 
-
 	/*	m_gpuData->m_gpuBodies->resize(numBodies);
 	m_gpuData->m_gpuBodies->copyFromHostPointer(bodies,numBodies);
 
@@ -223,15 +203,13 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 
 	m_gpuData->m_gpuSolverBodies->resize(numBodies);
 
-
 	m_tmpSolverBodyPool.resize(numBodies);
 	{
-		
 		if (useGpuInitSolverBodies)
 		{
 			B3_PROFILE("m_initSolverBodiesKernel");
 
-			b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initSolverBodiesKernel,"m_initSolverBodiesKernel");
+			b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_initSolverBodiesKernel, "m_initSolverBodiesKernel");
 			launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
 			launcher.setBuffer(gpuBodies->getBufferCL());
 			launcher.setConst(numBodies);
@@ -239,48 +217,44 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 			clFinish(m_gpuData->m_queue);
 
 			//			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-		} else
+		}
+		else
 		{
 			gpuBodies->copyToHost(m_gpuData->m_cpuBodies);
-			for (int i=0;i<numBodies;i++)
+			for (int i = 0; i < numBodies; i++)
 			{
-
 				b3RigidBodyData& body = m_gpuData->m_cpuBodies[i];
 				b3GpuSolverBody& solverBody = m_tmpSolverBodyPool[i];
-				initSolverBody(i,&solverBody,&body);
+				initSolverBody(i, &solverBody, &body);
 				solverBody.m_originalBodyIndex = i;
 			}
 			m_gpuData->m_gpuSolverBodies->copyFromHost(m_tmpSolverBodyPool);
 		}
 	}
 
-//	int totalBodies = 0;
+	//	int totalBodies = 0;
 	int totalNumRows = 0;
 	//b3RigidBody* rb0=0,*rb1=0;
 	//if (1)
 	{
 		{
-
-
 			//			int i;
 
 			m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
 
 			//			b3OpenCLArray<b3GpuGenericConstraint> gpuConstraints(m_gpuData->m_context,m_gpuData->m_queue);
 
-
 			if (useGpuInfo1)
 			{
 				B3_PROFILE("info1 and init batchConstraint");
-				
+
 				m_gpuData->m_gpuConstraintInfo1->resize(numConstraints);
 
-				
 				if (1)
 				{
 					B3_PROFILE("getInfo1Kernel");
 
-					b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo1Kernel,"m_getInfo1Kernel");
+					b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_getInfo1Kernel, "m_getInfo1Kernel");
 					launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
 					launcher.setBuffer(gpuConstraints->getBufferCL());
 					launcher.setConst(numConstraints);
@@ -288,19 +262,19 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 					clFinish(m_gpuData->m_queue);
 				}
 
-				if (m_gpuData->m_batchSizes.size()==0)
+				if (m_gpuData->m_batchSizes.size() == 0)
 				{
 					B3_PROFILE("initBatchConstraintsKernel");
 
 					m_gpuData->m_gpuConstraintRowOffsets->resize(numConstraints);
-					unsigned int total=0;
-					m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1,*m_gpuData->m_gpuConstraintRowOffsets,numConstraints,&total);
-					unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints-1);
-					totalNumRows = total+lastElem;
+					unsigned int total = 0;
+					m_gpuData->m_prefixScan->execute(*m_gpuData->m_gpuConstraintInfo1, *m_gpuData->m_gpuConstraintRowOffsets, numConstraints, &total);
+					unsigned int lastElem = m_gpuData->m_gpuConstraintInfo1->at(numConstraints - 1);
+					totalNumRows = total + lastElem;
 
 					{
 						B3_PROFILE("init batch constraints");
-						b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_initBatchConstraintsKernel,"m_initBatchConstraintsKernel");
+						b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_initBatchConstraintsKernel, "m_initBatchConstraintsKernel");
 						launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
 						launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
 						launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
@@ -313,79 +287,74 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 					//assume the batching happens on CPU, so copy the data
 					m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
 				}
-			} 
+			}
 			else
 			{
-				totalNumRows  = 0;
+				totalNumRows = 0;
 				gpuConstraints->copyToHost(m_gpuData->m_cpuConstraints);
 				//calculate the total number of contraint rows
-				for (int i=0;i<numConstraints;i++)
+				for (int i = 0; i < numConstraints; i++)
 				{
-					unsigned int& info1= m_tmpConstraintSizesPool[i];
+					unsigned int& info1 = m_tmpConstraintSizesPool[i];
 					//					unsigned int info1;
 					if (m_gpuData->m_cpuConstraints[i].isEnabled())
 					{
-
-						m_gpuData->m_cpuConstraints[i].getInfo1(&info1,&m_gpuData->m_cpuBodies[0]);
-					} else
+						m_gpuData->m_cpuConstraints[i].getInfo1(&info1, &m_gpuData->m_cpuBodies[0]);
+					}
+					else
 					{
 						info1 = 0;
 					}
-					
+
 					totalNumRows += info1;
 				}
 
 				m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
 				m_gpuData->m_gpuConstraintInfo1->copyFromHost(m_tmpConstraintSizesPool);
-
 			}
 			m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
 			m_gpuData->m_gpuConstraintRows->resize(totalNumRows);
-			
+
 			//			b3GpuConstraintArray		verify;
 
 			if (useGpuInfo2)
 			{
 				{
-						B3_PROFILE("getInfo2Kernel");
-						b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_getInfo2Kernel,"m_getInfo2Kernel");
-						launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
-						launcher.setBuffer(gpuConstraints->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
-						launcher.setBuffer(gpuBodies->getBufferCL());
-						launcher.setBuffer(gpuInertias->getBufferCL());
-						launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
-						launcher.setConst(infoGlobal.m_timeStep);
-						launcher.setConst(infoGlobal.m_erp);
-						launcher.setConst(infoGlobal.m_globalCfm);
-						launcher.setConst(infoGlobal.m_damping);
-						launcher.setConst(infoGlobal.m_numIterations);
-						launcher.setConst(numConstraints);
-						launcher.launch1D(numConstraints);
-						clFinish(m_gpuData->m_queue);
-
-						if (m_gpuData->m_batchSizes.size()==0)
-							m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
-						//m_gpuData->m_gpuConstraintRows->copyToHost(verify);
-						//m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
-
-						
+					B3_PROFILE("getInfo2Kernel");
+					b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_getInfo2Kernel, "m_getInfo2Kernel");
+					launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
+					launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
+					launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
+					launcher.setBuffer(gpuConstraints->getBufferCL());
+					launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
+					launcher.setBuffer(gpuBodies->getBufferCL());
+					launcher.setBuffer(gpuInertias->getBufferCL());
+					launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
+					launcher.setConst(infoGlobal.m_timeStep);
+					launcher.setConst(infoGlobal.m_erp);
+					launcher.setConst(infoGlobal.m_globalCfm);
+					launcher.setConst(infoGlobal.m_damping);
+					launcher.setConst(infoGlobal.m_numIterations);
+					launcher.setConst(numConstraints);
+					launcher.launch1D(numConstraints);
+					clFinish(m_gpuData->m_queue);
 
-					}
-			} 
+					if (m_gpuData->m_batchSizes.size() == 0)
+						m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
+					//m_gpuData->m_gpuConstraintRows->copyToHost(verify);
+					//m_gpuData->m_gpuConstraintRows->copyToHost(m_tmpSolverNonContactConstraintPool);
+				}
+			}
 			else
 			{
-			
 				gpuInertias->copyToHost(m_gpuData->m_cpuInertias);
 
-					///setup the b3SolverConstraints
-			
-				for (int i=0;i<numConstraints;i++)
+				///setup the b3SolverConstraints
+
+				for (int i = 0; i < numConstraints; i++)
 				{
 					const int& info1 = m_tmpConstraintSizesPool[i];
-				
+
 					if (info1)
 					{
 						int constraintIndex = batchConstraints[i].m_originalConstraintIndex;
@@ -394,15 +363,13 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 						b3GpuSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[constraintRowOffset];
 						b3GpuGenericConstraint& constraint = m_gpuData->m_cpuConstraints[i];
 
-						b3RigidBodyData& rbA = m_gpuData->m_cpuBodies[ constraint.getRigidBodyA()];
+						b3RigidBodyData& rbA = m_gpuData->m_cpuBodies[constraint.getRigidBodyA()];
 						//b3RigidBody& rbA = constraint.getRigidBodyA();
-		//				b3RigidBody& rbB = constraint.getRigidBodyB();
-						b3RigidBodyData& rbB = m_gpuData->m_cpuBodies[ constraint.getRigidBodyB()];
-					
-					
+						//				b3RigidBody& rbB = constraint.getRigidBodyB();
+						b3RigidBodyData& rbB = m_gpuData->m_cpuBodies[constraint.getRigidBodyB()];
 
-						int solverBodyIdA = constraint.getRigidBodyA();//getOrInitSolverBody(constraint.getRigidBodyA(),bodies,inertias);
-						int solverBodyIdB = constraint.getRigidBodyB();//getOrInitSolverBody(constraint.getRigidBodyB(),bodies,inertias);
+						int solverBodyIdA = constraint.getRigidBodyA();  //getOrInitSolverBody(constraint.getRigidBodyA(),bodies,inertias);
+						int solverBodyIdB = constraint.getRigidBodyB();  //getOrInitSolverBody(constraint.getRigidBodyB(),bodies,inertias);
 
 						b3GpuSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
 						b3GpuSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
@@ -410,7 +377,8 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 						if (rbA.m_invMass)
 						{
 							batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;
-						} else
+						}
+						else
 						{
 							if (!solverBodyIdA)
 								m_staticIdx = 0;
@@ -420,29 +388,28 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 						if (rbB.m_invMass)
 						{
 							batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;
-						} else
+						}
+						else
 						{
 							if (!solverBodyIdB)
 								m_staticIdx = 0;
 							batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;
 						}
 
-
-						int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-						if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
+						int overrideNumSolverIterations = 0;  //constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
+						if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
 							m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
 
-
 						int j;
-						for ( j=0;j<info1;j++)
+						for (j = 0; j < info1; j++)
 						{
-							memset(&currentConstraintRow[j],0,sizeof(b3GpuSolverConstraint));
-							currentConstraintRow[j].m_angularComponentA.setValue(0,0,0);
-							currentConstraintRow[j].m_angularComponentB.setValue(0,0,0);
+							memset(&currentConstraintRow[j], 0, sizeof(b3GpuSolverConstraint));
+							currentConstraintRow[j].m_angularComponentA.setValue(0, 0, 0);
+							currentConstraintRow[j].m_angularComponentB.setValue(0, 0, 0);
 							currentConstraintRow[j].m_appliedImpulse = 0.f;
 							currentConstraintRow[j].m_appliedPushImpulse = 0.f;
 							currentConstraintRow[j].m_cfm = 0.f;
-							currentConstraintRow[j].m_contactNormal.setValue(0,0,0);
+							currentConstraintRow[j].m_contactNormal.setValue(0, 0, 0);
 							currentConstraintRow[j].m_friction = 0.f;
 							currentConstraintRow[j].m_frictionIndex = 0;
 							currentConstraintRow[j].m_jacDiagABInv = 0.f;
@@ -451,13 +418,13 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 
 							currentConstraintRow[j].m_originalContactPoint = 0;
 							currentConstraintRow[j].m_overrideNumSolverIterations = 0;
-							currentConstraintRow[j].m_relpos1CrossNormal.setValue(0,0,0);
-							currentConstraintRow[j].m_relpos2CrossNormal.setValue(0,0,0);
+							currentConstraintRow[j].m_relpos1CrossNormal.setValue(0, 0, 0);
+							currentConstraintRow[j].m_relpos2CrossNormal.setValue(0, 0, 0);
 							currentConstraintRow[j].m_rhs = 0.f;
 							currentConstraintRow[j].m_rhsPenetration = 0.f;
 							currentConstraintRow[j].m_solverBodyIdA = 0;
 							currentConstraintRow[j].m_solverBodyIdB = 0;
-							
+
 							currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
 							currentConstraintRow[j].m_upperLimit = B3_INFINITY;
 							currentConstraintRow[j].m_appliedImpulse = 0.f;
@@ -467,26 +434,25 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 							currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
 						}
 
-						bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-						bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-						bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-						bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-						bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-						bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-						bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-						bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-
+						bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
+						bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
+						bodyAPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+						bodyAPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
+						bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
+						bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
+						bodyBPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+						bodyBPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
 
 						b3GpuConstraintInfo2 info2;
-						info2.fps = 1.f/infoGlobal.m_timeStep;
+						info2.fps = 1.f / infoGlobal.m_timeStep;
 						info2.erp = infoGlobal.m_erp;
 						info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
 						info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
 						info2.m_J2linearAxis = 0;
 						info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-						info2.rowskip = sizeof(b3GpuSolverConstraint)/sizeof(b3Scalar);//check this
+						info2.rowskip = sizeof(b3GpuSolverConstraint) / sizeof(b3Scalar);  //check this
 						///the size of b3GpuSolverConstraint needs be a multiple of b3Scalar
-						b3Assert(info2.rowskip*sizeof(b3Scalar)== sizeof(b3GpuSolverConstraint));
+						b3Assert(info2.rowskip * sizeof(b3Scalar) == sizeof(b3GpuSolverConstraint));
 						info2.m_constraintError = &currentConstraintRow->m_rhs;
 						currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
 						info2.m_damping = infoGlobal.m_damping;
@@ -494,47 +460,45 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 						info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
 						info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
 						info2.m_numIterations = infoGlobal.m_numIterations;
-						m_gpuData->m_cpuConstraints[i].getInfo2(&info2,&m_gpuData->m_cpuBodies[0]);
+						m_gpuData->m_cpuConstraints[i].getInfo2(&info2, &m_gpuData->m_cpuBodies[0]);
 
 						///finalize the constraint setup
-						for ( j=0;j<info1;j++)
+						for (j = 0; j < info1; j++)
 						{
 							b3GpuSolverConstraint& solverConstraint = currentConstraintRow[j];
 
-							if (solverConstraint.m_upperLimit>=m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
+							if (solverConstraint.m_upperLimit >= m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
 							{
 								solverConstraint.m_upperLimit = m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold();
 							}
 
-							if (solverConstraint.m_lowerLimit<=-m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
+							if (solverConstraint.m_lowerLimit <= -m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
 							{
 								solverConstraint.m_lowerLimit = -m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold();
 							}
 
-	//						solverConstraint.m_originalContactPoint = constraint;
-							
-							b3Matrix3x3& invInertiaWorldA= m_gpuData->m_cpuInertias[constraint.getRigidBodyA()].m_invInertiaWorld;
-							{
+							//						solverConstraint.m_originalContactPoint = constraint;
 
+							b3Matrix3x3& invInertiaWorldA = m_gpuData->m_cpuInertias[constraint.getRigidBodyA()].m_invInertiaWorld;
+							{
 								//b3Vector3 angularFactorA(1,1,1);
 								const b3Vector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-								solverConstraint.m_angularComponentA = invInertiaWorldA*ftorqueAxis1;//*angularFactorA;
+								solverConstraint.m_angularComponentA = invInertiaWorldA * ftorqueAxis1;  //*angularFactorA;
 							}
-						
-							b3Matrix3x3& invInertiaWorldB= m_gpuData->m_cpuInertias[constraint.getRigidBodyB()].m_invInertiaWorld;
-							{
 
+							b3Matrix3x3& invInertiaWorldB = m_gpuData->m_cpuInertias[constraint.getRigidBodyB()].m_invInertiaWorld;
+							{
 								const b3Vector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-								solverConstraint.m_angularComponentB = invInertiaWorldB*ftorqueAxis2;//*constraint.getRigidBodyB().getAngularFactor();
+								solverConstraint.m_angularComponentB = invInertiaWorldB * ftorqueAxis2;  //*constraint.getRigidBodyB().getAngularFactor();
 							}
 
 							{
 								//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
 								//because it gets multiplied iMJlB
-								b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.m_invMass;
-								b3Vector3 iMJaA = invInertiaWorldA*solverConstraint.m_relpos1CrossNormal;
-								b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.m_invMass;//sign of normal?
-								b3Vector3 iMJaB = invInertiaWorldB*solverConstraint.m_relpos2CrossNormal;
+								b3Vector3 iMJlA = solverConstraint.m_contactNormal * rbA.m_invMass;
+								b3Vector3 iMJaA = invInertiaWorldA * solverConstraint.m_relpos1CrossNormal;
+								b3Vector3 iMJlB = solverConstraint.m_contactNormal * rbB.m_invMass;  //sign of normal?
+								b3Vector3 iMJaB = invInertiaWorldB * solverConstraint.m_relpos2CrossNormal;
 
 								b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
 								sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
@@ -542,10 +506,9 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 								sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
 								b3Scalar fsum = b3Fabs(sum);
 								b3Assert(fsum > B3_EPSILON);
-								solverConstraint.m_jacDiagABInv = fsum>B3_EPSILON?b3Scalar(1.)/sum : 0.f;
+								solverConstraint.m_jacDiagABInv = fsum > B3_EPSILON ? b3Scalar(1.) / sum : 0.f;
 							}
 
-
 							///fix rhs
 							///todo: add force/torque accelerators
 							{
@@ -553,94 +516,80 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
 								b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.m_linVel) + solverConstraint.m_relpos1CrossNormal.dot(rbA.m_angVel);
 								b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.m_linVel) + solverConstraint.m_relpos2CrossNormal.dot(rbB.m_angVel);
 
-								rel_vel = vel1Dotn+vel2Dotn;
+								rel_vel = vel1Dotn + vel2Dotn;
 
 								b3Scalar restitution = 0.f;
-								b3Scalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
-								b3Scalar	velocityError = restitution - rel_vel * info2.m_damping;
-								b3Scalar	penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-								b3Scalar	velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
-								solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+								b3Scalar positionalError = solverConstraint.m_rhs;  //already filled in by getConstraintInfo2
+								b3Scalar velocityError = restitution - rel_vel * info2.m_damping;
+								b3Scalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+								b3Scalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
+								solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
 								solverConstraint.m_appliedImpulse = 0.f;
-
 							}
 						}
-
 					}
 				}
 
-
-
 				m_gpuData->m_gpuConstraintRows->copyFromHost(m_tmpSolverNonContactConstraintPool);
 				m_gpuData->m_gpuConstraintInfo1->copyFromHost(m_tmpConstraintSizesPool);
 
-				if (m_gpuData->m_batchSizes.size()==0)
+				if (m_gpuData->m_batchSizes.size() == 0)
 					m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
 				else
 					m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
 
 				m_gpuData->m_gpuSolverBodies->copyFromHost(m_tmpSolverBodyPool);
 
-
-
-			}//end useGpuInfo2
-
-
+			}  //end useGpuInfo2
 		}
 
 #ifdef B3_SUPPORT_CONTACT_CONSTRAINTS
 		{
 			int i;
 
-			for (i=0;i<numManifolds;i++)
+			for (i = 0; i < numManifolds; i++)
 			{
 				b3Contact4& manifold = manifoldPtr[i];
-				convertContact(bodies,inertias,&manifold,infoGlobal);
+				convertContact(bodies, inertias, &manifold, infoGlobal);
 			}
 		}
-#endif //B3_SUPPORT_CONTACT_CONSTRAINTS
+#endif  //B3_SUPPORT_CONTACT_CONSTRAINTS
 	}
 
-//	b3ContactSolverInfo info = infoGlobal;
-
-
-//	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
-//	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-//	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
+	//	b3ContactSolverInfo info = infoGlobal;
 
+	//	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
+	//	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
+	//	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
 
 	return 0.f;
-
 }
 
-
-
 ///a straight copy from GPU/OpenCL kernel, for debugging
-__inline void internalApplyImpulse( b3GpuSolverBody* body,  const b3Vector3& linearComponent, const b3Vector3& angularComponent,float impulseMagnitude)
+__inline void internalApplyImpulse(b3GpuSolverBody* body, const b3Vector3& linearComponent, const b3Vector3& angularComponent, float impulseMagnitude)
 {
-	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;
-	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);
+	body->m_deltaLinearVelocity += linearComponent * impulseMagnitude * body->m_linearFactor;
+	body->m_deltaAngularVelocity += angularComponent * (impulseMagnitude * body->m_angularFactor);
 }
 
-
-void resolveSingleConstraintRowGeneric2( b3GpuSolverBody* body1,  b3GpuSolverBody* body2,  b3GpuSolverConstraint* c)
+void resolveSingleConstraintRowGeneric2(b3GpuSolverBody* body1, b3GpuSolverBody* body2, b3GpuSolverConstraint* c)
 {
-	float deltaImpulse = c->m_rhs-b3Scalar(c->m_appliedImpulse)*c->m_cfm;
-	float deltaVel1Dotn	=	b3Dot(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ b3Dot(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
-	float deltaVel2Dotn	=	-b3Dot(c->m_contactNormal,body2->m_deltaLinearVelocity) + b3Dot(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);
+	float deltaImpulse = c->m_rhs - b3Scalar(c->m_appliedImpulse) * c->m_cfm;
+	float deltaVel1Dotn = b3Dot(c->m_contactNormal, body1->m_deltaLinearVelocity) + b3Dot(c->m_relpos1CrossNormal, body1->m_deltaAngularVelocity);
+	float deltaVel2Dotn = -b3Dot(c->m_contactNormal, body2->m_deltaLinearVelocity) + b3Dot(c->m_relpos2CrossNormal, body2->m_deltaAngularVelocity);
 
-	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;
-	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;
+	deltaImpulse -= deltaVel1Dotn * c->m_jacDiagABInv;
+	deltaImpulse -= deltaVel2Dotn * c->m_jacDiagABInv;
 
 	float sum = b3Scalar(c->m_appliedImpulse) + deltaImpulse;
 	if (sum < c->m_lowerLimit)
 	{
-		deltaImpulse = c->m_lowerLimit-b3Scalar(c->m_appliedImpulse);
+		deltaImpulse = c->m_lowerLimit - b3Scalar(c->m_appliedImpulse);
 		c->m_appliedImpulse = c->m_lowerLimit;
 	}
-	else if (sum > c->m_upperLimit) 
+	else if (sum > c->m_upperLimit)
 	{
-		deltaImpulse = c->m_upperLimit-b3Scalar(c->m_appliedImpulse);
+		deltaImpulse = c->m_upperLimit - b3Scalar(c->m_appliedImpulse);
 		c->m_appliedImpulse = c->m_upperLimit;
 	}
 	else
@@ -648,64 +597,56 @@ void resolveSingleConstraintRowGeneric2( b3GpuSolverBody* body1,  b3GpuSolverBod
 		c->m_appliedImpulse = sum;
 	}
 
-	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);
-	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);
-
+	internalApplyImpulse(body1, c->m_contactNormal * body1->m_invMass, c->m_angularComponentA, deltaImpulse);
+	internalApplyImpulse(body2, -c->m_contactNormal * body2->m_invMass, c->m_angularComponentB, deltaImpulse);
 }
 
-
-
-void	b3GpuPgsConstraintSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb)
+void b3GpuPgsConstraintSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb)
 {
-
-	solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
-	solverBody->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
+	solverBody->m_deltaLinearVelocity.setValue(0.f, 0.f, 0.f);
+	solverBody->m_deltaAngularVelocity.setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
 
 	b3Assert(rb);
-//	solverBody->m_worldTransform = getWorldTransform(rb);
-	solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass,rb->m_invMass,rb->m_invMass));
+	//	solverBody->m_worldTransform = getWorldTransform(rb);
+	solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass, rb->m_invMass, rb->m_invMass));
 	solverBody->m_originalBodyIndex = bodyIndex;
-	solverBody->m_angularFactor = b3MakeVector3(1,1,1);
-	solverBody->m_linearFactor = b3MakeVector3(1,1,1);
+	solverBody->m_angularFactor = b3MakeVector3(1, 1, 1);
+	solverBody->m_linearFactor = b3MakeVector3(1, 1, 1);
 	solverBody->m_linearVelocity = getLinearVelocity(rb);
 	solverBody->m_angularVelocity = getAngularVelocity(rb);
 }
 
-
-void	b3GpuPgsConstraintSolver::averageVelocities()
+void b3GpuPgsConstraintSolver::averageVelocities()
 {
 }
 
-
-b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
 	//only create the batches once.
 	//@todo: incrementally update batches when constraints are added/activated and/or removed/deactivated
 	B3_PROFILE("GpuSolveGroupCacheFriendlyIterations");
 
-	bool createBatches = m_gpuData->m_batchSizes.size()==0;
+	bool createBatches = m_gpuData->m_batchSizes.size() == 0;
 	{
-		
 		if (createBatches)
 		{
-			
 			m_gpuData->m_batchSizes.resize(0);
 
 			{
 				m_gpuData->m_gpuBatchConstraints->copyToHost(batchConstraints);
 
 				B3_PROFILE("batch joints");
-				b3Assert(batchConstraints.size()==numConstraints);
-				int simdWidth =numConstraints+1;
+				b3Assert(batchConstraints.size() == numConstraints);
+				int simdWidth = numConstraints + 1;
 				int numBodies = m_tmpSolverBodyPool.size();
-				sortConstraintByBatch3( &batchConstraints[0], numConstraints, simdWidth , m_staticIdx,  numBodies);
+				sortConstraintByBatch3(&batchConstraints[0], numConstraints, simdWidth, m_staticIdx, numBodies);
 
 				m_gpuData->m_gpuBatchConstraints->copyFromHost(batchConstraints);
-
 			}
-		} else
+		}
+		else
 		{
 			/*b3AlignedObjectArray<b3BatchConstraint> cpuCheckBatches;
 			m_gpuData->m_gpuBatchConstraints->copyToHost(cpuCheckBatches);
@@ -715,12 +656,11 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
 			//>copyFromHost(batchConstraints);
 		}
 		int maxIterations = infoGlobal.m_numIterations;
-	
+
 		bool useBatching = true;
 
-		if (useBatching )
+		if (useBatching)
 		{
-			
 			if (!useGpuSolveJointConstraintRows)
 			{
 				B3_PROFILE("copy to host");
@@ -730,24 +670,21 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
 				m_gpuData->m_gpuConstraintInfo1->copyToHost(m_gpuData->m_cpuConstraintInfo1);
 				m_gpuData->m_gpuConstraintRowOffsets->copyToHost(m_gpuData->m_cpuConstraintRowOffsets);
 				gpuConstraints1->copyToHost(m_gpuData->m_cpuConstraints);
-
 			}
 
-			for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
+			for (int iteration = 0; iteration < maxIterations; iteration++)
 			{
-				
 				int batchOffset = 0;
-				int constraintOffset=0;
+				int constraintOffset = 0;
 				int numBatches = m_gpuData->m_batchSizes.size();
-				for (int bb=0;bb<numBatches;bb++)
+				for (int bb = 0; bb < numBatches; bb++)
 				{
 					int numConstraintsInBatch = m_gpuData->m_batchSizes[bb];
 
-					
 					if (useGpuSolveJointConstraintRows)
 					{
 						B3_PROFILE("solveJointConstraintRowsKernels");
-					
+
 						/*
 						__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,
 					  __global b3BatchConstraint* batchConstraints,
@@ -758,53 +695,48 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
 						int batchOffset,
 						int numConstraintsInBatch*/
 
-
-						b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_solveJointConstraintRowsKernels,"m_solveJointConstraintRowsKernels");
+						b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_solveJointConstraintRowsKernels, "m_solveJointConstraintRowsKernels");
 						launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
 						launcher.setBuffer(m_gpuData->m_gpuBatchConstraints->getBufferCL());
 						launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
 						launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
 						launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
-						launcher.setBuffer(gpuConstraints1->getBufferCL());//to detect disabled constraints
+						launcher.setBuffer(gpuConstraints1->getBufferCL());  //to detect disabled constraints
 						launcher.setConst(batchOffset);
 						launcher.setConst(numConstraintsInBatch);
 
 						launcher.launch1D(numConstraintsInBatch);
-						
-
-					} else//useGpu
+					}
+					else  //useGpu
 					{
-						
-
-						
-						for (int b=0;b<numConstraintsInBatch;b++)
+						for (int b = 0; b < numConstraintsInBatch; b++)
 						{
-							const b3BatchConstraint& c = batchConstraints[batchOffset+b];
+							const b3BatchConstraint& c = batchConstraints[batchOffset + b];
 							/*printf("-----------\n");
 							printf("bb=%d\n",bb);
 							printf("c.batchId = %d\n", c.m_batchId);
 							*/
-							b3Assert(c.m_batchId==bb);
+							b3Assert(c.m_batchId == bb);
 							b3GpuGenericConstraint* constraint = &m_gpuData->m_cpuConstraints[c.m_originalConstraintIndex];
-							if (constraint->m_flags&B3_CONSTRAINT_FLAG_ENABLED)
+							if (constraint->m_flags & B3_CONSTRAINT_FLAG_ENABLED)
 							{
 								int numConstraintRows = m_gpuData->m_cpuConstraintInfo1[c.m_originalConstraintIndex];
 								int constraintOffset = m_gpuData->m_cpuConstraintRowOffsets[c.m_originalConstraintIndex];
-								
-								for (int jj=0;jj<numConstraintRows;jj++)
+
+								for (int jj = 0; jj < numConstraintRows; jj++)
 								{
-	//							
-									b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[constraintOffset+jj];
+									//
+									b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[constraintOffset + jj];
 									//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
-									resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA],&m_tmpSolverBodyPool[constraint.m_solverBodyIdB],&constraint);
+									resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA], &m_tmpSolverBodyPool[constraint.m_solverBodyIdB], &constraint);
 								}
 							}
 						}
-					}//useGpu
-					batchOffset+=numConstraintsInBatch;
-					constraintOffset+=numConstraintsInBatch;
+					}  //useGpu
+					batchOffset += numConstraintsInBatch;
+					constraintOffset += numConstraintsInBatch;
 				}
-			}//for (int iteration...
+			}  //for (int iteration...
 
 			if (!useGpuSolveJointConstraintRows)
 			{
@@ -820,20 +752,16 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
 			}
 			//int sz = sizeof(b3GpuSolverBody);
 			//printf("cpu sizeof(b3GpuSolverBody)=%d\n",sz);
-
-			
-			
-
-
-		} else
+		}
+		else
 		{
-			for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
-			{			
-				int numJoints =			m_tmpSolverNonContactConstraintPool.size();
-				for (int j=0;j<numJoints;j++)
+			for (int iteration = 0; iteration < maxIterations; iteration++)
+			{
+				int numJoints = m_tmpSolverNonContactConstraintPool.size();
+				for (int j = 0; j < numJoints; j++)
 				{
 					b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
-					resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA],&m_tmpSolverBodyPool[constraint.m_solverBodyIdB],&constraint);
+					resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA], &m_tmpSolverBodyPool[constraint.m_solverBodyIdB], &constraint);
 				}
 
 				if (!m_usePgs)
@@ -842,212 +770,198 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyIterations(b3OpenCLArr
 				}
 			}
 		}
-		
 	}
 	clFinish(m_gpuData->m_queue);
 	return 0.f;
 }
 
-
-
-
 static b3AlignedObjectArray<int> bodyUsed;
 static b3AlignedObjectArray<int> curUsed;
 
-
-
-inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3( b3BatchConstraint* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies)
+inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3(b3BatchConstraint* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies)
 {
 	//int sz = sizeof(b3BatchConstraint);
 
 	B3_PROFILE("sortConstraintByBatch3");
-	
+
 	static int maxSwaps = 0;
 	int numSwaps = 0;
 
-	curUsed.resize(2*simdWidth);
+	curUsed.resize(2 * simdWidth);
 
 	static int maxNumConstraints = 0;
-	if (maxNumConstraints<numConstraints)
+	if (maxNumConstraints < numConstraints)
 	{
 		maxNumConstraints = numConstraints;
 		//printf("maxNumConstraints  = %d\n",maxNumConstraints );
 	}
 
-	int numUsedArray = numBodies/32+1;
+	int numUsedArray = numBodies / 32 + 1;
 	bodyUsed.resize(numUsedArray);
 
-	for (int q=0;q<numUsedArray;q++)
-		bodyUsed[q]=0;
+	for (int q = 0; q < numUsedArray; q++)
+		bodyUsed[q] = 0;
 
-	
 	int curBodyUsed = 0;
 
 	int numIter = 0;
-    
-		
+
 #if defined(_DEBUG)
-	for(int i=0; i<numConstraints; i++)
+	for (int i = 0; i < numConstraints; i++)
 		cs[i].m_batchId = -1;
 #endif
-	
+
 	int numValidConstraints = 0;
-//	int unprocessedConstraintIndex = 0;
+	//	int unprocessedConstraintIndex = 0;
 
 	int batchIdx = 0;
-    
 
 	{
 		B3_PROFILE("cpu batch innerloop");
-		
-		while( numValidConstraints < numConstraints)
+
+		while (numValidConstraints < numConstraints)
 		{
 			numIter++;
 			int nCurrentBatch = 0;
 			//	clear flag
-			for(int i=0; i<curBodyUsed; i++) 
-				bodyUsed[curUsed[i]/32] = 0;
+			for (int i = 0; i < curBodyUsed; i++)
+				bodyUsed[curUsed[i] / 32] = 0;
 
-            curBodyUsed = 0;
+			curBodyUsed = 0;
 
-			for(int i=numValidConstraints; i<numConstraints; i++)
+			for (int i = numValidConstraints; i < numConstraints; i++)
 			{
 				int idx = i;
-				b3Assert( idx < numConstraints );
+				b3Assert(idx < numConstraints);
 				//	check if it can go
 				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
 				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
 				int bodyA = abs(bodyAS);
 				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;
-				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;
+				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
+				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
 				int aUnavailable = 0;
 				int bUnavailable = 0;
 				if (!aIsStatic)
 				{
-					aUnavailable = bodyUsed[ bodyA/32 ] & (1<<(bodyA&31));
+					aUnavailable = bodyUsed[bodyA / 32] & (1 << (bodyA & 31));
 				}
 				if (!aUnavailable)
-				if (!bIsStatic)
-				{
-					bUnavailable = bodyUsed[ bodyB/32 ] & (1<<(bodyB&31));
-				}
-                
-				if( aUnavailable==0 && bUnavailable==0 ) // ok
+					if (!bIsStatic)
+					{
+						bUnavailable = bodyUsed[bodyB / 32] & (1 << (bodyB & 31));
+					}
+
+				if (aUnavailable == 0 && bUnavailable == 0)  // ok
 				{
 					if (!aIsStatic)
 					{
-						bodyUsed[ bodyA/32 ] |= (1<<(bodyA&31));
-						curUsed[curBodyUsed++]=bodyA;
+						bodyUsed[bodyA / 32] |= (1 << (bodyA & 31));
+						curUsed[curBodyUsed++] = bodyA;
 					}
 					if (!bIsStatic)
 					{
-						bodyUsed[ bodyB/32 ] |= (1<<(bodyB&31));
-						curUsed[curBodyUsed++]=bodyB;
+						bodyUsed[bodyB / 32] |= (1 << (bodyB & 31));
+						curUsed[curBodyUsed++] = bodyB;
 					}
 
 					cs[idx].m_batchId = batchIdx;
 
-					if (i!=numValidConstraints)
+					if (i != numValidConstraints)
 					{
-						b3Swap(cs[i],cs[numValidConstraints]);
+						b3Swap(cs[i], cs[numValidConstraints]);
 						numSwaps++;
 					}
 
 					numValidConstraints++;
 					{
 						nCurrentBatch++;
-						if( nCurrentBatch == simdWidth )
+						if (nCurrentBatch == simdWidth)
 						{
 							nCurrentBatch = 0;
-							for(int i=0; i<curBodyUsed; i++) 
-								bodyUsed[curUsed[i]/32] = 0;
+							for (int i = 0; i < curBodyUsed; i++)
+								bodyUsed[curUsed[i] / 32] = 0;
 							curBodyUsed = 0;
 						}
 					}
 				}
 			}
 			m_gpuData->m_batchSizes.push_back(nCurrentBatch);
-			batchIdx ++;
+			batchIdx++;
 		}
 	}
-	
+
 #if defined(_DEBUG)
-    //		debugPrintf( "nBatches: %d\n", batchIdx );
-	for(int i=0; i<numConstraints; i++)
-    {
-        b3Assert( cs[i].m_batchId != -1 );
-    }
+	//		debugPrintf( "nBatches: %d\n", batchIdx );
+	for (int i = 0; i < numConstraints; i++)
+	{
+		b3Assert(cs[i].m_batchId != -1);
+	}
 #endif
 
-	if (maxSwaps<numSwaps)
+	if (maxSwaps < numSwaps)
 	{
 		maxSwaps = numSwaps;
 		//printf("maxSwaps = %d\n", maxSwaps);
 	}
-	
+
 	return batchIdx;
 }
 
-
 /// b3PgsJacobiSolver Sequentially applies impulses
-b3Scalar b3GpuPgsConstraintSolver::solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, 
-				int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints, const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3GpuPgsConstraintSolver::solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
+											  int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
-
 	B3_PROFILE("solveJoints");
 	//you need to provide at least some bodies
-	
-	solveGroupCacheFriendlySetup( gpuBodies, gpuInertias,numBodies,gpuConstraints, numConstraints,infoGlobal);
 
-	solveGroupCacheFriendlyIterations(gpuConstraints, numConstraints,infoGlobal);
+	solveGroupCacheFriendlySetup(gpuBodies, gpuInertias, numBodies, gpuConstraints, numConstraints, infoGlobal);
+
+	solveGroupCacheFriendlyIterations(gpuConstraints, numConstraints, infoGlobal);
+
+	solveGroupCacheFriendlyFinish(gpuBodies, gpuInertias, numBodies, gpuConstraints, numConstraints, infoGlobal);
 
-	solveGroupCacheFriendlyFinish(gpuBodies, gpuInertias,numBodies, gpuConstraints, numConstraints, infoGlobal);
-	
 	return 0.f;
 }
 
-void	b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, 
-				int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints)
+void b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
+										   int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints)
 {
 	b3ContactSolverInfo infoGlobal;
 	infoGlobal.m_splitImpulse = false;
-	infoGlobal.m_timeStep = 1.f/60.f;
-	infoGlobal.m_numIterations = 4;//4;
-//	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
+	infoGlobal.m_timeStep = 1.f / 60.f;
+	infoGlobal.m_numIterations = 4;  //4;
+									 //	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
 	//infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
-	infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
+	infoGlobal.m_solverMode |= B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
 
 	//if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 	//if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
-				
-
-	solveGroup(gpuBodies,gpuInertias,numBodies,gpuConstraints,numConstraints,infoGlobal);
 
+	solveGroup(gpuBodies, gpuInertias, numBodies, gpuConstraints, numConstraints, infoGlobal);
 }
 
 //b3AlignedObjectArray<b3RigidBodyData> testBodies;
 
-
-b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
+b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
 {
 	B3_PROFILE("solveGroupCacheFriendlyFinish");
-//	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-//	int i,j;
-
+	//	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+	//	int i,j;
 
 	{
 		if (gpuBreakConstraints)
 		{
 			B3_PROFILE("breakViolatedConstraintsKernel");
-			b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_breakViolatedConstraintsKernel,"m_breakViolatedConstraintsKernel");
+			b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_breakViolatedConstraintsKernel, "m_breakViolatedConstraintsKernel");
 			launcher.setBuffer(gpuConstraints->getBufferCL());
 			launcher.setBuffer(m_gpuData->m_gpuConstraintInfo1->getBufferCL());
 			launcher.setBuffer(m_gpuData->m_gpuConstraintRowOffsets->getBufferCL());
 			launcher.setBuffer(m_gpuData->m_gpuConstraintRows->getBufferCL());
 			launcher.setConst(numConstraints);
 			launcher.launch1D(numConstraints);
-		} else
+		}
+		else
 		{
 			gpuConstraints->copyToHost(m_gpuData->m_cpuConstraints);
 			m_gpuData->m_gpuBatchConstraints->copyToHost(m_gpuData->m_cpuBatchConstraints);
@@ -1056,31 +970,28 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
 			m_gpuData->m_gpuConstraintInfo1->copyToHost(m_gpuData->m_cpuConstraintInfo1);
 			m_gpuData->m_gpuConstraintRowOffsets->copyToHost(m_gpuData->m_cpuConstraintRowOffsets);
 
-			for (int cid=0;cid<numConstraints;cid++)
+			for (int cid = 0; cid < numConstraints; cid++)
 			{
 				int originalConstraintIndex = batchConstraints[cid].m_originalConstraintIndex;
 				int constraintRowOffset = m_gpuData->m_cpuConstraintRowOffsets[originalConstraintIndex];
 				int numRows = m_gpuData->m_cpuConstraintInfo1[originalConstraintIndex];
 				if (numRows)
 				{
-		
-				//	printf("cid=%d, breakingThreshold =%f\n",cid,breakingThreshold);
-					for (int i=0;i<numRows;i++)
+					//	printf("cid=%d, breakingThreshold =%f\n",cid,breakingThreshold);
+					for (int i = 0; i < numRows; i++)
 					{
-						int rowIndex =constraintRowOffset+i;
+						int rowIndex = constraintRowOffset + i;
 						int orgConstraintIndex = m_gpuData->m_cpuConstraintRows[rowIndex].m_originalConstraintIndex;
 						float breakingThreshold = m_gpuData->m_cpuConstraints[orgConstraintIndex].m_breakingImpulseThreshold;
-					//	printf("rows[%d].m_appliedImpulse=%f\n",rowIndex,rows[rowIndex].m_appliedImpulse);
+						//	printf("rows[%d].m_appliedImpulse=%f\n",rowIndex,rows[rowIndex].m_appliedImpulse);
 						if (b3Fabs(m_gpuData->m_cpuConstraintRows[rowIndex].m_appliedImpulse) >= breakingThreshold)
 						{
-
-							m_gpuData->m_cpuConstraints[orgConstraintIndex].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;
+							m_gpuData->m_cpuConstraints[orgConstraintIndex].m_flags = 0;  //&= ~B3_CONSTRAINT_FLAG_ENABLED;
 						}
 					}
 				}
 			}
 
-
 			gpuConstraints->copyFromHost(m_gpuData->m_cpuConstraints);
 		}
 	}
@@ -1090,28 +1001,27 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
 		{
 			B3_PROFILE("GPU write back velocities and transforms");
 
-			b3LauncherCL launcher(m_gpuData->m_queue,m_gpuData->m_writeBackVelocitiesKernel,"m_writeBackVelocitiesKernel");
+			b3LauncherCL launcher(m_gpuData->m_queue, m_gpuData->m_writeBackVelocitiesKernel, "m_writeBackVelocitiesKernel");
 			launcher.setBuffer(gpuBodies->getBufferCL());
 			launcher.setBuffer(m_gpuData->m_gpuSolverBodies->getBufferCL());
 			launcher.setConst(numBodies);
 			launcher.launch1D(numBodies);
 			clFinish(m_gpuData->m_queue);
-//			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
-//			m_gpuData->m_gpuBodies->copyToHostPointer(bodies,numBodies);
+			//			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
+			//			m_gpuData->m_gpuBodies->copyToHostPointer(bodies,numBodies);
 			//m_gpuData->m_gpuBodies->copyToHost(testBodies);
-
-		} 
+		}
 		else
 		{
 			B3_PROFILE("CPU write back velocities and transforms");
 
 			m_gpuData->m_gpuSolverBodies->copyToHost(m_tmpSolverBodyPool);
 			gpuBodies->copyToHost(m_gpuData->m_cpuBodies);
-			for ( int i=0;i<m_tmpSolverBodyPool.size();i++)
+			for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
 			{
 				int bodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
 				//printf("bodyIndex=%d\n",bodyIndex);
-				b3Assert(i==bodyIndex);
+				b3Assert(i == bodyIndex);
 
 				b3RigidBodyData* body = &m_gpuData->m_cpuBodies[bodyIndex];
 				if (body->m_invMass)
@@ -1125,11 +1035,12 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
 					{
 						body->m_linVel = m_tmpSolverBodyPool[i].m_linearVelocity;
 						body->m_angVel = m_tmpSolverBodyPool[i].m_angularVelocity;
-					} else
+					}
+					else
 					{
 						b3Assert(0);
 					}
-	/*			
+					/*			
 					if (infoGlobal.m_splitImpulse)
 					{
 						body->m_pos = m_tmpSolverBodyPool[i].m_worldTransform.getOrigin();
@@ -1139,10 +1050,9 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
 					}
 					*/
 				}
-			}//for
+			}  //for
 
 			gpuBodies->copyFromHost(m_gpuData->m_cpuBodies);
-
 		}
 	}
 
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h
index ec0e3f73d6..00bc544f02 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h
@@ -19,7 +19,6 @@ subject to the following restrictions:
 struct b3Contact4;
 struct b3ContactPoint;
 
-
 class b3Dispatcher;
 
 #include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
@@ -38,41 +37,40 @@ class b3GpuPgsConstraintSolver
 protected:
 	int m_staticIdx;
 	struct b3GpuPgsJacobiSolverInternalData* m_gpuData;
-	protected:
-	b3AlignedObjectArray<b3GpuSolverBody>      m_tmpSolverBodyPool;
-	b3GpuConstraintArray			m_tmpSolverContactConstraintPool;
-	b3GpuConstraintArray			m_tmpSolverNonContactConstraintPool;
-	b3GpuConstraintArray			m_tmpSolverContactFrictionConstraintPool;
-	b3GpuConstraintArray			m_tmpSolverContactRollingFrictionConstraintPool;
+
+protected:
+	b3AlignedObjectArray<b3GpuSolverBody> m_tmpSolverBodyPool;
+	b3GpuConstraintArray m_tmpSolverContactConstraintPool;
+	b3GpuConstraintArray m_tmpSolverNonContactConstraintPool;
+	b3GpuConstraintArray m_tmpSolverContactFrictionConstraintPool;
+	b3GpuConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
 
 	b3AlignedObjectArray<unsigned int> m_tmpConstraintSizesPool;
-	
 
-	bool						m_usePgs;
-	void						averageVelocities();
+	bool m_usePgs;
+	void averageVelocities();
 
-	int							m_maxOverrideNumSolverIterations;
+	int m_maxOverrideNumSolverIterations;
 
-	int							m_numSplitImpulseRecoveries;
+	int m_numSplitImpulseRecoveries;
 
-//	int	getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias);
-	void	initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb);
+	//	int	getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias);
+	void initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb);
 
 public:
-	b3GpuPgsConstraintSolver (cl_context ctx, cl_device_id device, cl_command_queue queue,bool usePgs);
-	virtual~b3GpuPgsConstraintSolver ();
-
-	virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1,int numConstraints,const b3ContactSolverInfo& infoGlobal);
-	virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
-	b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
+	b3GpuPgsConstraintSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, bool usePgs);
+	virtual ~b3GpuPgsConstraintSolver();
 
+	virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1, int numConstraints, const b3ContactSolverInfo& infoGlobal);
+	virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
+	b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
 
-	b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
-	void	solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, 
-				int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints);
+	b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
+	void solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
+					 int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints);
 
-	int sortConstraintByBatch3( struct b3BatchConstraint* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies);
-	void	recomputeBatches();
+	int sortConstraintByBatch3(struct b3BatchConstraint* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies);
+	void recomputeBatches();
 };
 
-#endif //B3_GPU_PGS_CONSTRAINT_SOLVER_H
+#endif  //B3_GPU_PGS_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
index f0b0abd5e0..e3d235a4fd 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp
@@ -2,7 +2,7 @@
 bool gUseLargeBatches = false;
 bool gCpuBatchContacts = false;
 bool gCpuSolveConstraint = false;
-bool gCpuRadixSort=false;
+bool gCpuRadixSort = false;
 bool gCpuSetSortData = false;
 bool gCpuSortContactsDeterminism = false;
 bool gUseCpuCopyConstraints = false;
@@ -11,7 +11,6 @@ bool gReorderContactsOnCpu = false;
 
 bool optionalSortContactsDeterminism = true;
 
-
 #include "b3GpuPgsContactSolver.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
 
@@ -23,7 +22,6 @@ bool optionalSortContactsDeterminism = true;
 #include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "b3Solver.h"
 
-
 #define B3_SOLVER_SETUP_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl"
 #define B3_SOLVER_SETUP2_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl"
 #define B3_SOLVER_CONTACT_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl"
@@ -38,11 +36,7 @@ bool optionalSortContactsDeterminism = true;
 #include "kernels/batchingKernels.h"
 #include "kernels/batchingKernelsNew.h"
 
-
-
-
-
-struct	b3GpuBatchingPgsSolverInternalData
+struct b3GpuBatchingPgsSolverInternalData
 {
 	cl_context m_context;
 	cl_device_id m_device;
@@ -53,9 +47,9 @@ struct	b3GpuBatchingPgsSolverInternalData
 	b3OpenCLArray<b3GpuConstraint4>* m_contactCGPU;
 	b3OpenCLArray<unsigned int>* m_numConstraints;
 	b3OpenCLArray<unsigned int>* m_offsets;
-		
-	b3Solver*		m_solverGPU;		
-	
+
+	b3Solver* m_solverGPU;
+
 	cl_kernel m_batchingKernel;
 	cl_kernel m_batchingKernelNew;
 	cl_kernel m_solveContactKernel;
@@ -67,17 +61,14 @@ struct	b3GpuBatchingPgsSolverInternalData
 	cl_kernel m_reorderContactKernel;
 	cl_kernel m_copyConstraintKernel;
 
-	cl_kernel	m_setDeterminismSortDataBodyAKernel;
-	cl_kernel	m_setDeterminismSortDataBodyBKernel;
-	cl_kernel	m_setDeterminismSortDataChildShapeAKernel;
-	cl_kernel	m_setDeterminismSortDataChildShapeBKernel;
-
+	cl_kernel m_setDeterminismSortDataBodyAKernel;
+	cl_kernel m_setDeterminismSortDataBodyBKernel;
+	cl_kernel m_setDeterminismSortDataChildShapeAKernel;
+	cl_kernel m_setDeterminismSortDataChildShapeBKernel;
 
-
-
-	class b3RadixSort32CL*	m_sort32;
-	class b3BoundSearchCL*	m_search;
-	class b3PrefixScanCL*	m_scan;
+	class b3RadixSort32CL* m_sort32;
+	class b3BoundSearchCL* m_search;
+	class b3PrefixScanCL* m_scan;
 
 	b3OpenCLArray<b3SortData>* m_sortDataBuffer;
 	b3OpenCLArray<b3Contact4>* m_contactBuffer;
@@ -85,63 +76,56 @@ struct	b3GpuBatchingPgsSolverInternalData
 	b3OpenCLArray<b3RigidBodyData>* m_bodyBufferGPU;
 	b3OpenCLArray<b3InertiaData>* m_inertiaBufferGPU;
 	b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU;
-	
-	b3OpenCLArray<b3Contact4>* m_pBufContactOutGPUCopy;
-	b3OpenCLArray<b3SortData>*	m_contactKeyValues;
 
+	b3OpenCLArray<b3Contact4>* m_pBufContactOutGPUCopy;
+	b3OpenCLArray<b3SortData>* m_contactKeyValues;
 
 	b3AlignedObjectArray<unsigned int> m_idxBuffer;
 	b3AlignedObjectArray<b3SortData> m_sortData;
 	b3AlignedObjectArray<b3Contact4> m_old;
 
-	b3AlignedObjectArray<int>	m_batchSizes;
-	b3OpenCLArray<int>*	m_batchSizesGpu;
-
+	b3AlignedObjectArray<int> m_batchSizes;
+	b3OpenCLArray<int>* m_batchSizesGpu;
 };
 
-
-
-b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx,cl_device_id device, cl_command_queue  q,int pairCapacity)
+b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity)
 {
-	m_debugOutput=0;
+	m_debugOutput = 0;
 	m_data = new b3GpuBatchingPgsSolverInternalData;
 	m_data->m_context = ctx;
 	m_data->m_device = device;
 	m_data->m_queue = q;
 	m_data->m_pairCapacity = pairCapacity;
 	m_data->m_nIterations = 4;
-	m_data->m_batchSizesGpu = new b3OpenCLArray<int>(ctx,q);
-	m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx,q);
-	m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx,q);
-	m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx,q);
-
-	m_data->m_pBufContactOutGPUCopy = new b3OpenCLArray<b3Contact4>(ctx,q);
-	m_data->m_contactKeyValues = new b3OpenCLArray<b3SortData>(ctx,q);
+	m_data->m_batchSizesGpu = new b3OpenCLArray<int>(ctx, q);
+	m_data->m_bodyBufferGPU = new b3OpenCLArray<b3RigidBodyData>(ctx, q);
+	m_data->m_inertiaBufferGPU = new b3OpenCLArray<b3InertiaData>(ctx, q);
+	m_data->m_pBufContactOutGPU = new b3OpenCLArray<b3Contact4>(ctx, q);
 
+	m_data->m_pBufContactOutGPUCopy = new b3OpenCLArray<b3Contact4>(ctx, q);
+	m_data->m_contactKeyValues = new b3OpenCLArray<b3SortData>(ctx, q);
 
-	m_data->m_solverGPU = new b3Solver(ctx,device,q,512*1024);
+	m_data->m_solverGPU = new b3Solver(ctx, device, q, 512 * 1024);
 
-	m_data->m_sort32 = new b3RadixSort32CL(ctx,device,m_data->m_queue);
-	m_data->m_scan = new b3PrefixScanCL(ctx,device,m_data->m_queue,B3_SOLVER_N_CELLS);
-	m_data->m_search = new b3BoundSearchCL(ctx,device,m_data->m_queue,B3_SOLVER_N_CELLS);
+	m_data->m_sort32 = new b3RadixSort32CL(ctx, device, m_data->m_queue);
+	m_data->m_scan = new b3PrefixScanCL(ctx, device, m_data->m_queue, B3_SOLVER_N_CELLS);
+	m_data->m_search = new b3BoundSearchCL(ctx, device, m_data->m_queue, B3_SOLVER_N_CELLS);
 
-	const int sortSize = B3NEXTMULTIPLEOF( pairCapacity, 512 );
+	const int sortSize = B3NEXTMULTIPLEOF(pairCapacity, 512);
 
-	m_data->m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx,m_data->m_queue,sortSize);
-	m_data->m_contactBuffer = new b3OpenCLArray<b3Contact4>(ctx,m_data->m_queue);
+	m_data->m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx, m_data->m_queue, sortSize);
+	m_data->m_contactBuffer = new b3OpenCLArray<b3Contact4>(ctx, m_data->m_queue);
 
-	m_data->m_numConstraints = new b3OpenCLArray<unsigned int>(ctx,m_data->m_queue,B3_SOLVER_N_CELLS);
+	m_data->m_numConstraints = new b3OpenCLArray<unsigned int>(ctx, m_data->m_queue, B3_SOLVER_N_CELLS);
 	m_data->m_numConstraints->resize(B3_SOLVER_N_CELLS);
 
-	m_data->m_contactCGPU = new b3OpenCLArray<b3GpuConstraint4>(ctx,q,pairCapacity);
+	m_data->m_contactCGPU = new b3OpenCLArray<b3GpuConstraint4>(ctx, q, pairCapacity);
 
-	m_data->m_offsets = new b3OpenCLArray<unsigned int>( ctx,m_data->m_queue,B3_SOLVER_N_CELLS);
+	m_data->m_offsets = new b3OpenCLArray<unsigned int>(ctx, m_data->m_queue, B3_SOLVER_N_CELLS);
 	m_data->m_offsets->resize(B3_SOLVER_N_CELLS);
 	const char* additionalMacros = "";
 	//const char* srcFileNameForCaching="";
 
-
-
 	cl_int pErrNum;
 	const char* batchKernelSource = batchingKernelsCL;
 	const char* batchKernelNewSource = batchingKernelsNewCL;
@@ -149,88 +133,73 @@ b3GpuPgsContactSolver::b3GpuPgsContactSolver(cl_context ctx,cl_device_id device,
 	const char* solverSetup2Source = solverSetup2CL;
 	const char* solveContactSource = solveContactCL;
 	const char* solveFrictionSource = solveFrictionCL;
-	
-		
+
 	{
-		
-		cl_program solveContactProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solveContactSource, &pErrNum,additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH);
+		cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveContactSource, &pErrNum, additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH);
 		b3Assert(solveContactProg);
-		
-		cl_program solveFrictionProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solveFrictionSource, &pErrNum,additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH);
+
+		cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveFrictionSource, &pErrNum, additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH);
 		b3Assert(solveFrictionProg);
 
-		cl_program solverSetup2Prog= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solverSetup2Source, &pErrNum,additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH);
-		
-		
+		cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetup2Source, &pErrNum, additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH);
+
 		b3Assert(solverSetup2Prog);
 
-		
-		cl_program solverSetupProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solverSetupSource, &pErrNum,additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH);
+		cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetupSource, &pErrNum, additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH);
 		b3Assert(solverSetupProg);
-		
-		
-		m_data->m_solveFrictionKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg,additionalMacros );
+
+		m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg, additionalMacros);
 		b3Assert(m_data->m_solveFrictionKernel);
 
-		m_data->m_solveContactKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg,additionalMacros );
+		m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg, additionalMacros);
 		b3Assert(m_data->m_solveContactKernel);
 
-		m_data->m_solveSingleContactKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solveContactSource, "solveSingleContactKernel", &pErrNum, solveContactProg,additionalMacros );
+		m_data->m_solveSingleContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "solveSingleContactKernel", &pErrNum, solveContactProg, additionalMacros);
 		b3Assert(m_data->m_solveSingleContactKernel);
 
-		m_data->m_solveSingleFrictionKernel =b3OpenCLUtils::compileCLKernelFromString( ctx, device, solveFrictionSource, "solveSingleFrictionKernel", &pErrNum, solveFrictionProg,additionalMacros );
+		m_data->m_solveSingleFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "solveSingleFrictionKernel", &pErrNum, solveFrictionProg, additionalMacros);
 		b3Assert(m_data->m_solveSingleFrictionKernel);
-		
-		m_data->m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg,additionalMacros );
+
+		m_data->m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg, additionalMacros);
 		b3Assert(m_data->m_contactToConstraintKernel);
-			
-		m_data->m_setSortDataKernel =  b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog,additionalMacros );
+
+		m_data->m_setSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_setSortDataKernel);
 
-		m_data->m_setDeterminismSortDataBodyAKernel =  b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyA", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_data->m_setDeterminismSortDataBodyAKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyA", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_setDeterminismSortDataBodyAKernel);
 
-		m_data->m_setDeterminismSortDataBodyBKernel =  b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyB", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_data->m_setDeterminismSortDataBodyBKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataBodyB", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_setDeterminismSortDataBodyBKernel);
 
-		m_data->m_setDeterminismSortDataChildShapeAKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeA", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_data->m_setDeterminismSortDataChildShapeAKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeA", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_setDeterminismSortDataChildShapeAKernel);
 
-		m_data->m_setDeterminismSortDataChildShapeBKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeB", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_data->m_setDeterminismSortDataChildShapeBKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetDeterminismSortDataChildShapeB", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_setDeterminismSortDataChildShapeBKernel);
 
-		
-		m_data->m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_data->m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_reorderContactKernel);
-		
 
-		m_data->m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_data->m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_data->m_copyConstraintKernel);
-		
 	}
 
 	{
-		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelSource, &pErrNum,additionalMacros, B3_BATCHING_PATH);
+		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelSource, &pErrNum, additionalMacros, B3_BATCHING_PATH);
 		b3Assert(batchingProg);
-		
-		m_data->m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg,additionalMacros );
+
+		m_data->m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg, additionalMacros);
 		b3Assert(m_data->m_batchingKernel);
 	}
-			
+
 	{
-		cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelNewSource, &pErrNum,additionalMacros, B3_BATCHING_NEW_PATH);
+		cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelNewSource, &pErrNum, additionalMacros, B3_BATCHING_NEW_PATH);
 		b3Assert(batchingNewProg);
-		
-		m_data->m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg,additionalMacros );
+
+		m_data->m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg, additionalMacros);
 		b3Assert(m_data->m_batchingKernelNew);
 	}
-		
-
-
-
-
-
-
 }
 
 b3GpuPgsContactSolver::~b3GpuPgsContactSolver()
@@ -242,8 +211,6 @@ b3GpuPgsContactSolver::~b3GpuPgsContactSolver()
 	delete m_data->m_pBufContactOutGPUCopy;
 	delete m_data->m_contactKeyValues;
 
-
-
 	delete m_data->m_contactCGPU;
 	delete m_data->m_numConstraints;
 	delete m_data->m_offsets;
@@ -259,29 +226,25 @@ b3GpuPgsContactSolver::~b3GpuPgsContactSolver()
 	clReleaseKernel(m_data->m_batchingKernelNew);
 	clReleaseKernel(m_data->m_solveSingleContactKernel);
 	clReleaseKernel(m_data->m_solveSingleFrictionKernel);
-	clReleaseKernel( m_data->m_solveContactKernel);
-	clReleaseKernel( m_data->m_solveFrictionKernel);
+	clReleaseKernel(m_data->m_solveContactKernel);
+	clReleaseKernel(m_data->m_solveFrictionKernel);
 
-	clReleaseKernel( m_data->m_contactToConstraintKernel);
-	clReleaseKernel( m_data->m_setSortDataKernel);
-	clReleaseKernel( m_data->m_reorderContactKernel);
-	clReleaseKernel( m_data->m_copyConstraintKernel);
+	clReleaseKernel(m_data->m_contactToConstraintKernel);
+	clReleaseKernel(m_data->m_setSortDataKernel);
+	clReleaseKernel(m_data->m_reorderContactKernel);
+	clReleaseKernel(m_data->m_copyConstraintKernel);
 
 	clReleaseKernel(m_data->m_setDeterminismSortDataBodyAKernel);
 	clReleaseKernel(m_data->m_setDeterminismSortDataBodyBKernel);
 	clReleaseKernel(m_data->m_setDeterminismSortDataChildShapeAKernel);
 	clReleaseKernel(m_data->m_setDeterminismSortDataChildShapeBKernel);
 
-
-
 	delete m_data;
 }
 
-
-
 struct b3ConstraintCfg
 {
-	b3ConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(0) {}
+	b3ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(0) {}
 
 	float m_positionDrift;
 	float m_positionConstraintCoeff;
@@ -291,354 +254,306 @@ struct b3ConstraintCfg
 	int m_staticIdx;
 };
 
-
-
-void b3GpuPgsContactSolver::solveContactConstraintBatchSizes(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches,int numIterations, const b3AlignedObjectArray<int>* batchSizes)//const b3OpenCLArray<int>* gpuBatchSizes)
+void b3GpuPgsContactSolver::solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+															 b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes)  //const b3OpenCLArray<int>* gpuBatchSizes)
 {
 	B3_PROFILE("solveContactConstraintBatchSizes");
-	int numBatches = batchSizes->size()/B3_MAX_NUM_BATCHES;
-	for(int iter=0; iter<numIterations; iter++)
+	int numBatches = batchSizes->size() / B3_MAX_NUM_BATCHES;
+	for (int iter = 0; iter < numIterations; iter++)
 	{
-		
-		for (int cellId=0;cellId<numBatches;cellId++)
+		for (int cellId = 0; cellId < numBatches; cellId++)
 		{
 			int offset = 0;
-			for (int ii=0;ii<B3_MAX_NUM_BATCHES;ii++)
+			for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++)
 			{
-				int numInBatch = batchSizes->at(cellId*B3_MAX_NUM_BATCHES+ii);
+				int numInBatch = batchSizes->at(cellId * B3_MAX_NUM_BATCHES + ii);
 				if (!numInBatch)
 					break;
 
 				{
-					b3LauncherCL launcher( m_data->m_queue, m_data->m_solveSingleContactKernel,"m_solveSingleContactKernel" );
-					launcher.setBuffer(bodyBuf->getBufferCL() );
-					launcher.setBuffer(shapeBuf->getBufferCL() );
-					launcher.setBuffer(	constraint->getBufferCL() );
+					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveSingleContactKernel, "m_solveSingleContactKernel");
+					launcher.setBuffer(bodyBuf->getBufferCL());
+					launcher.setBuffer(shapeBuf->getBufferCL());
+					launcher.setBuffer(constraint->getBufferCL());
 					launcher.setConst(cellId);
 					launcher.setConst(offset);
 					launcher.setConst(numInBatch);
 					launcher.launch1D(numInBatch);
-					offset+=numInBatch;
+					offset += numInBatch;
 				}
 			}
 		}
 	}
 
-
-	for(int iter=0; iter<numIterations; iter++)
+	for (int iter = 0; iter < numIterations; iter++)
 	{
-		for (int cellId=0;cellId<numBatches;cellId++)
+		for (int cellId = 0; cellId < numBatches; cellId++)
 		{
 			int offset = 0;
-			for (int ii=0;ii<B3_MAX_NUM_BATCHES;ii++)
+			for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++)
 			{
-				int numInBatch = batchSizes->at(cellId*B3_MAX_NUM_BATCHES+ii);
+				int numInBatch = batchSizes->at(cellId * B3_MAX_NUM_BATCHES + ii);
 				if (!numInBatch)
 					break;
 
 				{
-					b3LauncherCL launcher( m_data->m_queue, m_data->m_solveSingleFrictionKernel,"m_solveSingleFrictionKernel" );
-					launcher.setBuffer(bodyBuf->getBufferCL() );
-					launcher.setBuffer(shapeBuf->getBufferCL() );
-					launcher.setBuffer(	constraint->getBufferCL() );
+					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveSingleFrictionKernel, "m_solveSingleFrictionKernel");
+					launcher.setBuffer(bodyBuf->getBufferCL());
+					launcher.setBuffer(shapeBuf->getBufferCL());
+					launcher.setBuffer(constraint->getBufferCL());
 					launcher.setConst(cellId);
 					launcher.setConst(offset);
 					launcher.setConst(numInBatch);
 					launcher.launch1D(numInBatch);
-					offset+=numInBatch;
+					offset += numInBatch;
 				}
 			}
 		}
 	}
 }
 
-void b3GpuPgsContactSolver::solveContactConstraint(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches,int numIterations, const b3AlignedObjectArray<int>* batchSizes)//,const b3OpenCLArray<int>* gpuBatchSizes)
+void b3GpuPgsContactSolver::solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+												   b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes)  //,const b3OpenCLArray<int>* gpuBatchSizes)
 {
-	
 	//sort the contacts
 
-	
-	b3Int4 cdata = b3MakeInt4( n, 0, 0, 0 );
+	b3Int4 cdata = b3MakeInt4(n, 0, 0, 0);
 	{
-		
 		const int nn = B3_SOLVER_N_CELLS;
 
 		cdata.x = 0;
-		cdata.y = maxNumBatches;//250;
-
+		cdata.y = maxNumBatches;  //250;
 
-		int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
+		int numWorkItems = 64 * nn / B3_SOLVER_N_BATCHES;
 #ifdef DEBUG_ME
-		SolverDebugInfo* debugInfo = new  SolverDebugInfo[numWorkItems];
-		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device,numWorkItems);
+		SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
+		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems);
 #endif
 
-
-
 		{
-
 			B3_PROFILE("m_batchSolveKernel iterations");
-			for(int iter=0; iter<numIterations; iter++)
+			for (int iter = 0; iter < numIterations; iter++)
 			{
-				for(int ib=0; ib<B3_SOLVER_N_BATCHES; ib++)
+				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
 				{
 #ifdef DEBUG_ME
-					memset(debugInfo,0,sizeof(SolverDebugInfo)*numWorkItems);
-					gpuDebugInfo.write(debugInfo,numWorkItems);
+					memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems);
+					gpuDebugInfo.write(debugInfo, numWorkItems);
 #endif
 
-
 					cdata.z = ib;
-					
 
-				b3LauncherCL launcher( m_data->m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
+					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveContactKernel, "m_solveContactKernel");
 #if 1
-                    
-					b3BufferInfoCL bInfo[] = { 
-
-						b3BufferInfoCL( bodyBuf->getBufferCL() ), 
-						b3BufferInfoCL( shapeBuf->getBufferCL() ), 
-						b3BufferInfoCL( constraint->getBufferCL() ),
-						b3BufferInfoCL( m_data->m_solverGPU->m_numConstraints->getBufferCL() ), 
-						b3BufferInfoCL( m_data->m_solverGPU->m_offsets->getBufferCL() ) 
+
+					b3BufferInfoCL bInfo[] = {
+
+						b3BufferInfoCL(bodyBuf->getBufferCL()),
+						b3BufferInfoCL(shapeBuf->getBufferCL()),
+						b3BufferInfoCL(constraint->getBufferCL()),
+						b3BufferInfoCL(m_data->m_solverGPU->m_numConstraints->getBufferCL()),
+						b3BufferInfoCL(m_data->m_solverGPU->m_offsets->getBufferCL())
 #ifdef DEBUG_ME
-						,	b3BufferInfoCL(&gpuDebugInfo)
+							,
+						b3BufferInfoCL(&gpuDebugInfo)
 #endif
-						};
-
-					
+					};
 
-                    launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-					launcher.setBuffer( m_data->m_solverGPU->m_batchSizes.getBufferCL());
+					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+					launcher.setBuffer(m_data->m_solverGPU->m_batchSizes.getBufferCL());
 					//launcher.setConst(  cdata.x );
-                    launcher.setConst(  cdata.y );
-                    launcher.setConst(  cdata.z );
+					launcher.setConst(cdata.y);
+					launcher.setConst(cdata.z);
 					b3Int4 nSplit;
 					nSplit.x = B3_SOLVER_N_SPLIT_X;
 					nSplit.y = B3_SOLVER_N_SPLIT_Y;
 					nSplit.z = B3_SOLVER_N_SPLIT_Z;
 
-                    launcher.setConst(  nSplit );
-                    launcher.launch1D( numWorkItems, 64 );
+					launcher.setConst(nSplit);
+					launcher.launch1D(numWorkItems, 64);
 
-                    
 #else
-                    const char* fileName = "m_batchSolveKernel.bin";
-                    FILE* f = fopen(fileName,"rb");
-                    if (f)
-                    {
-                        int sizeInBytes=0;
-                        if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
-                        {
-                            printf("error, cannot get file size\n");
-                            exit(0);
-                        }
-                        
-                        unsigned char* buf = (unsigned char*) malloc(sizeInBytes);
-                        fread(buf,sizeInBytes,1,f);
-                        int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes,m_context);
-                        int num = *(int*)&buf[serializedBytes];
-                        
-                        launcher.launch1D( num);
-
-                        //this clFinish is for testing on errors
-                        clFinish(m_queue);
-                    }
+					const char* fileName = "m_batchSolveKernel.bin";
+					FILE* f = fopen(fileName, "rb");
+					if (f)
+					{
+						int sizeInBytes = 0;
+						if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
+						{
+							printf("error, cannot get file size\n");
+							exit(0);
+						}
+
+						unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
+						fread(buf, sizeInBytes, 1, f);
+						int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
+						int num = *(int*)&buf[serializedBytes];
+
+						launcher.launch1D(num);
+
+						//this clFinish is for testing on errors
+						clFinish(m_queue);
+					}
 
 #endif
-					
 
 #ifdef DEBUG_ME
 					clFinish(m_queue);
-					gpuDebugInfo.read(debugInfo,numWorkItems);
+					gpuDebugInfo.read(debugInfo, numWorkItems);
 					clFinish(m_queue);
-					for (int i=0;i<numWorkItems;i++)
+					for (int i = 0; i < numWorkItems; i++)
 					{
-						if (debugInfo[i].m_valInt2>0)
+						if (debugInfo[i].m_valInt2 > 0)
 						{
-							printf("debugInfo[i].m_valInt2 = %d\n",i,debugInfo[i].m_valInt2);
+							printf("debugInfo[i].m_valInt2 = %d\n", i, debugInfo[i].m_valInt2);
 						}
 
-						if (debugInfo[i].m_valInt3>0)
+						if (debugInfo[i].m_valInt3 > 0)
 						{
-							printf("debugInfo[i].m_valInt3 = %d\n",i,debugInfo[i].m_valInt3);
+							printf("debugInfo[i].m_valInt3 = %d\n", i, debugInfo[i].m_valInt3);
 						}
 					}
-#endif //DEBUG_ME
-
-
+#endif  //DEBUG_ME
 				}
 			}
-		
-			clFinish(m_data->m_queue);
-
 
+			clFinish(m_data->m_queue);
 		}
 
 		cdata.x = 1;
-		bool applyFriction=true;
+		bool applyFriction = true;
 		if (applyFriction)
-    	{
+		{
 			B3_PROFILE("m_batchSolveKernel iterations2");
-			for(int iter=0; iter<numIterations; iter++)
+			for (int iter = 0; iter < numIterations; iter++)
 			{
-				for(int ib=0; ib<B3_SOLVER_N_BATCHES; ib++)
+				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
 				{
 					cdata.z = ib;
-					
-
-					b3BufferInfoCL bInfo[] = { 
-						b3BufferInfoCL( bodyBuf->getBufferCL() ), 
-						b3BufferInfoCL( shapeBuf->getBufferCL() ), 
-						b3BufferInfoCL( constraint->getBufferCL() ),
-						b3BufferInfoCL( m_data->m_solverGPU->m_numConstraints->getBufferCL() ), 
-						b3BufferInfoCL( m_data->m_solverGPU->m_offsets->getBufferCL() )
+
+					b3BufferInfoCL bInfo[] = {
+						b3BufferInfoCL(bodyBuf->getBufferCL()),
+						b3BufferInfoCL(shapeBuf->getBufferCL()),
+						b3BufferInfoCL(constraint->getBufferCL()),
+						b3BufferInfoCL(m_data->m_solverGPU->m_numConstraints->getBufferCL()),
+						b3BufferInfoCL(m_data->m_solverGPU->m_offsets->getBufferCL())
 #ifdef DEBUG_ME
-						,b3BufferInfoCL(&gpuDebugInfo)
-#endif //DEBUG_ME
+							,
+						b3BufferInfoCL(&gpuDebugInfo)
+#endif  //DEBUG_ME
 					};
-					b3LauncherCL launcher( m_data->m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel" );
-					launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-					launcher.setBuffer( m_data->m_solverGPU->m_batchSizes.getBufferCL());
+					b3LauncherCL launcher(m_data->m_queue, m_data->m_solveFrictionKernel, "m_solveFrictionKernel");
+					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+					launcher.setBuffer(m_data->m_solverGPU->m_batchSizes.getBufferCL());
 					//launcher.setConst(  cdata.x );
-                    launcher.setConst(  cdata.y );
-                    launcher.setConst(  cdata.z );
+					launcher.setConst(cdata.y);
+					launcher.setConst(cdata.z);
 
-                    b3Int4 nSplit;
+					b3Int4 nSplit;
 					nSplit.x = B3_SOLVER_N_SPLIT_X;
 					nSplit.y = B3_SOLVER_N_SPLIT_Y;
 					nSplit.z = B3_SOLVER_N_SPLIT_Z;
 
-                    launcher.setConst(  nSplit );
-                    
-					launcher.launch1D( 64*nn/B3_SOLVER_N_BATCHES, 64 );
+					launcher.setConst(nSplit);
+
+					launcher.launch1D(64 * nn / B3_SOLVER_N_BATCHES, 64);
 				}
 			}
 			clFinish(m_data->m_queue);
-			
 		}
 #ifdef DEBUG_ME
 		delete[] debugInfo;
-#endif //DEBUG_ME
+#endif  //DEBUG_ME
 	}
-
-	
 }
 
-
-
-
-
-
-
-
-
-
-
-static bool sortfnc(const b3SortData& a,const b3SortData& b)
+static bool sortfnc(const b3SortData& a, const b3SortData& b)
 {
-	return (a.m_key<b.m_key);
+	return (a.m_key < b.m_key);
 }
 
 static bool b3ContactCmp(const b3Contact4& p, const b3Contact4& q)
 {
-	return ((p.m_bodyAPtrAndSignBit<q.m_bodyAPtrAndSignBit) ||
-		((p.m_bodyAPtrAndSignBit==q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit<q.m_bodyBPtrAndSignBit)) ||
-		((p.m_bodyAPtrAndSignBit==q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit==q.m_bodyBPtrAndSignBit)  &&     p.m_childIndexA<q.m_childIndexA ) ||
-		((p.m_bodyAPtrAndSignBit==q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit==q.m_bodyBPtrAndSignBit)  &&     p.m_childIndexA<q.m_childIndexA ) ||
-		((p.m_bodyAPtrAndSignBit==q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit==q.m_bodyBPtrAndSignBit)  &&     p.m_childIndexA==q.m_childIndexA  && p.m_childIndexB<q.m_childIndexB)
-		);
+	return ((p.m_bodyAPtrAndSignBit < q.m_bodyAPtrAndSignBit) ||
+			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit < q.m_bodyBPtrAndSignBit)) ||
+			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA < q.m_childIndexA) ||
+			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA < q.m_childIndexA) ||
+			((p.m_bodyAPtrAndSignBit == q.m_bodyAPtrAndSignBit) && (p.m_bodyBPtrAndSignBit == q.m_bodyBPtrAndSignBit) && p.m_childIndexA == q.m_childIndexA && p.m_childIndexB < q.m_childIndexB));
 }
 
-
-
-
-
-
-
-
-
-
-
 #define USE_SPATIAL_BATCHING 1
 #define USE_4x4_GRID 1
 
 #ifndef USE_SPATIAL_BATCHING
-static const int gridTable4x4[] = 
-{
-	0,1,17,16,
-	1,2,18,19,
-	17,18,32,3,
-	16,19,3,34
-};
-static const int gridTable8x8[] = 
-{
-	0,  2,  3, 16, 17, 18, 19,  1,
-	66, 64, 80, 67, 82, 81, 65, 83,
-	131,144,128,130,147,129,145,146,
-	208,195,194,192,193,211,210,209,
-	21, 22, 23,  5,  4,  6,  7, 20,
-	86, 85, 69, 87, 70, 68, 84, 71,
-	151,133,149,150,135,148,132,134,
-	197,27,214,213,212,199,198,196
-	
-};
+static const int gridTable4x4[] =
+	{
+		0, 1, 17, 16,
+		1, 2, 18, 19,
+		17, 18, 32, 3,
+		16, 19, 3, 34};
+static const int gridTable8x8[] =
+	{
+		0, 2, 3, 16, 17, 18, 19, 1,
+		66, 64, 80, 67, 82, 81, 65, 83,
+		131, 144, 128, 130, 147, 129, 145, 146,
+		208, 195, 194, 192, 193, 211, 210, 209,
+		21, 22, 23, 5, 4, 6, 7, 20,
+		86, 85, 69, 87, 70, 68, 84, 71,
+		151, 133, 149, 150, 135, 148, 132, 134,
+		197, 27, 214, 213, 212, 199, 198, 196
 
+};
 
 #endif
 
-
-void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts,float scale,const b3Int4& nSplit,int staticIdx)
+void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData* gSortDataOut, int nContacts, float scale, const b3Int4& nSplit, int staticIdx)
 {
-	for (int gIdx=0;gIdx<nContacts;gIdx++)
+	for (int gIdx = 0; gIdx < nContacts; gIdx++)
 	{
-		if( gIdx < nContacts )
+		if (gIdx < nContacts)
 		{
-			int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;
-			int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;
+			int aPtrAndSignBit = gContact[gIdx].m_bodyAPtrAndSignBit;
+			int bPtrAndSignBit = gContact[gIdx].m_bodyBPtrAndSignBit;
 
-			int aIdx = abs(aPtrAndSignBit );
+			int aIdx = abs(aPtrAndSignBit);
 			int bIdx = abs(bPtrAndSignBit);
 
-			bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);
+			bool aStatic = (aPtrAndSignBit < 0) || (aPtrAndSignBit == staticIdx);
 
-	#if USE_SPATIAL_BATCHING		
-			int idx = (aStatic)? bIdx: aIdx;
+#if USE_SPATIAL_BATCHING
+			int idx = (aStatic) ? bIdx : aIdx;
 			b3Vector3 p = gBodies[idx].m_pos;
-			int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);
-			int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);
-			int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);
-			
-			int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);
-		
-	#else//USE_SPATIAL_BATCHING
-			bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
-
-		#if USE_4x4_GRID
-			int aa = aIdx&3;
-			int bb = bIdx&3;
+			int xIdx = (int)((p.x - ((p.x < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.x - 1);
+			int yIdx = (int)((p.y - ((p.y < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.y - 1);
+			int zIdx = (int)((p.z - ((p.z < 0.f) ? 1.f : 0.f)) * scale) & (nSplit.z - 1);
+
+			int newIndex = (xIdx + yIdx * nSplit.x + zIdx * nSplit.x * nSplit.y);
+
+#else  //USE_SPATIAL_BATCHING
+			bool bStatic = (bPtrAndSignBit < 0) || (bPtrAndSignBit == staticIdx);
+
+#if USE_4x4_GRID
+			int aa = aIdx & 3;
+			int bb = bIdx & 3;
 			if (aStatic)
 				aa = bb;
 			if (bStatic)
 				bb = aa;
 
-			int gridIndex = aa + bb*4;
+			int gridIndex = aa + bb * 4;
 			int newIndex = gridTable4x4[gridIndex];
-		#else//USE_4x4_GRID
-			int aa = aIdx&7;
-			int bb = bIdx&7;
+#else   //USE_4x4_GRID
+			int aa = aIdx & 7;
+			int bb = bIdx & 7;
 			if (aStatic)
 				aa = bb;
 			if (bStatic)
 				bb = aa;
 
-			int gridIndex = aa + bb*8;
+			int gridIndex = aa + bb * 8;
 			int newIndex = gridTable8x8[gridIndex];
-		#endif//USE_4x4_GRID
-	#endif//USE_SPATIAL_BATCHING
-
+#endif  //USE_4x4_GRID
+#endif  //USE_SPATIAL_BATCHING
 
 			gSortDataOut[gIdx].x = newIndex;
 			gSortDataOut[gIdx].y = gIdx;
@@ -650,17 +565,12 @@ void SetSortDataCPU(b3Contact4* gContact, b3RigidBodyData* gBodies, b3SortData*
 	}
 }
 
-
-
-
-
-
 void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const b3Config& config, int static0Index)
 {
 	B3_PROFILE("solveContacts");
-	m_data->m_bodyBufferGPU->setFromOpenCLBuffer(bodyBuf,numBodies);
-	m_data->m_inertiaBufferGPU->setFromOpenCLBuffer(inertiaBuf,numBodies);
-	m_data->m_pBufContactOutGPU->setFromOpenCLBuffer(contactBuf,numContacts);
+	m_data->m_bodyBufferGPU->setFromOpenCLBuffer(bodyBuf, numBodies);
+	m_data->m_inertiaBufferGPU->setFromOpenCLBuffer(inertiaBuf, numBodies);
+	m_data->m_pBufContactOutGPU->setFromOpenCLBuffer(contactBuf, numContacts);
 
 	if (optionalSortContactsDeterminism)
 	{
@@ -671,61 +581,61 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 			m_data->m_pBufContactOutGPUCopy->resize(numContacts);
 			m_data->m_contactKeyValues->resize(numContacts);
 
-			m_data->m_pBufContactOutGPU->copyToCL(m_data->m_pBufContactOutGPUCopy->getBufferCL(),numContacts,0,0);
+			m_data->m_pBufContactOutGPU->copyToCL(m_data->m_pBufContactOutGPUCopy->getBufferCL(), numContacts, 0, 0);
 
 			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel,"m_setDeterminismSortDataChildShapeBKernel");
+				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeBKernel, "m_setDeterminismSortDataChildShapeBKernel");
 				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
 				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
 				launcher.setConst(numContacts);
-				launcher.launch1D( numContacts, 64 );
+				launcher.launch1D(numContacts, 64);
 			}
 			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
 			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel,"m_setDeterminismSortDataChildShapeAKernel");
+				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataChildShapeAKernel, "m_setDeterminismSortDataChildShapeAKernel");
 				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
 				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
 				launcher.setConst(numContacts);
-				launcher.launch1D( numContacts, 64 );
+				launcher.launch1D(numContacts, 64);
 			}
 			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
 			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel,"m_setDeterminismSortDataBodyBKernel");
+				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyBKernel, "m_setDeterminismSortDataBodyBKernel");
 				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
 				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
 				launcher.setConst(numContacts);
-				launcher.launch1D( numContacts, 64 );
+				launcher.launch1D(numContacts, 64);
 			}
-						
+
 			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
-			
+
 			{
-				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel,"m_setDeterminismSortDataBodyAKernel");
+				b3LauncherCL launcher(m_data->m_queue, m_data->m_setDeterminismSortDataBodyAKernel, "m_setDeterminismSortDataBodyAKernel");
 				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
 				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
 				launcher.setConst(numContacts);
-				launcher.launch1D( numContacts, 64 );
+				launcher.launch1D(numContacts, 64);
 			}
 
 			m_data->m_solverGPU->m_sort32->execute(*m_data->m_contactKeyValues);
 
 			{
 				B3_PROFILE("gpu reorderContactKernel (determinism)");
-                                
+
 				b3Int4 cdata;
 				cdata.x = numContacts;
-                                
+
 				//b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
 				//	, b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
-				b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel,"m_reorderContactKernel");
+				b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_reorderContactKernel, "m_reorderContactKernel");
 				launcher.setBuffer(m_data->m_pBufContactOutGPUCopy->getBufferCL());
 				launcher.setBuffer(m_data->m_pBufContactOutGPU->getBufferCL());
 				launcher.setBuffer(m_data->m_contactKeyValues->getBufferCL());
-				launcher.setConst( cdata );
-				launcher.launch1D( numContacts, 64 );
-            }
-
-		} else
+				launcher.setConst(cdata);
+				launcher.launch1D(numContacts, 64);
+			}
+		}
+		else
 		{
 			B3_PROFILE("CPU Sort contact constraints (determinism)");
 			b3AlignedObjectArray<b3Contact4> cpuConstraints;
@@ -735,96 +645,80 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 			{
 				cpuConstraints.quickSort(b3ContactCmp);
 
-				for (int i=0;i<cpuConstraints.size();i++)
+				for (int i = 0; i < cpuConstraints.size(); i++)
 				{
 					cpuConstraints[i].m_batchIdx = i;
 				}
 			}
 			m_data->m_pBufContactOutGPU->copyFromHost(cpuConstraints);
-			if (m_debugOutput==100)
+			if (m_debugOutput == 100)
 			{
-				for (int i=0;i<cpuConstraints.size();i++)
+				for (int i = 0; i < cpuConstraints.size(); i++)
 				{
-					printf("c[%d].m_bodyA = %d, m_bodyB = %d, batchId = %d\n",i,cpuConstraints[i].m_bodyAPtrAndSignBit,cpuConstraints[i].m_bodyBPtrAndSignBit, cpuConstraints[i].m_batchIdx);
+					printf("c[%d].m_bodyA = %d, m_bodyB = %d, batchId = %d\n", i, cpuConstraints[i].m_bodyAPtrAndSignBit, cpuConstraints[i].m_bodyBPtrAndSignBit, cpuConstraints[i].m_batchIdx);
 				}
 			}
 
 			m_debugOutput++;
 		}
 	}
-	
-
-
 
 	int nContactOut = m_data->m_pBufContactOutGPU->size();
 
 	bool useSolver = true;
-	
-
-    if (useSolver)
-    {
-        float dt=1./60.;
-        b3ConstraintCfg csCfg( dt );
-        csCfg.m_enableParallelSolve = true;
-        csCfg.m_batchCellSize = 6;
-        csCfg.m_staticIdx = static0Index;
-        
-        
-        b3OpenCLArray<b3RigidBodyData>* bodyBuf = m_data->m_bodyBufferGPU;
-
-        void* additionalData = 0;//m_data->m_frictionCGPU;
-        const b3OpenCLArray<b3InertiaData>* shapeBuf = m_data->m_inertiaBufferGPU;
-        b3OpenCLArray<b3GpuConstraint4>* contactConstraintOut = m_data->m_contactCGPU;
-        int nContacts = nContactOut;
-        
-        
+
+	if (useSolver)
+	{
+		float dt = 1. / 60.;
+		b3ConstraintCfg csCfg(dt);
+		csCfg.m_enableParallelSolve = true;
+		csCfg.m_batchCellSize = 6;
+		csCfg.m_staticIdx = static0Index;
+
+		b3OpenCLArray<b3RigidBodyData>* bodyBuf = m_data->m_bodyBufferGPU;
+
+		void* additionalData = 0;  //m_data->m_frictionCGPU;
+		const b3OpenCLArray<b3InertiaData>* shapeBuf = m_data->m_inertiaBufferGPU;
+		b3OpenCLArray<b3GpuConstraint4>* contactConstraintOut = m_data->m_contactCGPU;
+		int nContacts = nContactOut;
+
 		int maxNumBatches = 0;
- 
+
 		if (!gUseLargeBatches)
-        {
-            
-            if( m_data->m_solverGPU->m_contactBuffer2)
-            {
-                m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
-            }
-            
-            if( m_data->m_solverGPU->m_contactBuffer2 == 0 )
-            {
-				m_data->m_solverGPU->m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(m_data->m_context,m_data->m_queue, nContacts );
-                m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
-            }
-			
-            //clFinish(m_data->m_queue);
-            
-            
-            
+		{
+			if (m_data->m_solverGPU->m_contactBuffer2)
 			{
-				B3_PROFILE("batching");
-				//@todo: just reserve it, without copy of original contact (unless we use warmstarting)
+				m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
+			}
 
+			if (m_data->m_solverGPU->m_contactBuffer2 == 0)
+			{
+				m_data->m_solverGPU->m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(m_data->m_context, m_data->m_queue, nContacts);
+				m_data->m_solverGPU->m_contactBuffer2->resize(nContacts);
+			}
 
+			//clFinish(m_data->m_queue);
 
-				//const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
+			{
+				B3_PROFILE("batching");
+				//@todo: just reserve it, without copy of original contact (unless we use warmstarting)
 
+				//const b3OpenCLArray<b3RigidBodyData>* bodyNative = bodyBuf;
 
 				{
-
 					//b3OpenCLArray<b3RigidBodyData>* bodyNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, bodyBuf );
 					//b3OpenCLArray<b3Contact4>* contactNative = b3OpenCLArrayUtils::map<adl::TYPE_CL, true>( data->m_device, contactsIn );
 
-					const int sortAlignment = 512; // todo. get this out of sort
-					if( csCfg.m_enableParallelSolve )
+					const int sortAlignment = 512;  // todo. get this out of sort
+					if (csCfg.m_enableParallelSolve)
 					{
-
-
-						int sortSize = B3NEXTMULTIPLEOF( nContacts, sortAlignment );
+						int sortSize = B3NEXTMULTIPLEOF(nContacts, sortAlignment);
 
 						b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
 						b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
 
-
 						if (!gCpuSetSortData)
-						{	//	2. set cell idx
+						{  //	2. set cell idx
 							B3_PROFILE("GPU set cell idx");
 							struct CB
 							{
@@ -834,29 +728,28 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 								b3Int4 m_nSplit;
 							};
 
-							b3Assert( sortSize%64 == 0 );
+							b3Assert(sortSize % 64 == 0);
 							CB cdata;
 							cdata.m_nContacts = nContacts;
 							cdata.m_staticIdx = csCfg.m_staticIdx;
-							cdata.m_scale = 1.f/csCfg.m_batchCellSize;
+							cdata.m_scale = 1.f / csCfg.m_batchCellSize;
 							cdata.m_nSplit.x = B3_SOLVER_N_SPLIT_X;
 							cdata.m_nSplit.y = B3_SOLVER_N_SPLIT_Y;
 							cdata.m_nSplit.z = B3_SOLVER_N_SPLIT_Z;
 
 							m_data->m_solverGPU->m_sortDataBuffer->resize(nContacts);
 
-
-							b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL()), b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
-							b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel,"m_setSortDataKernel" );
-							launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-							launcher.setConst( cdata.m_nContacts );
-							launcher.setConst( cdata.m_scale );
+							b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL()), b3BufferInfoCL(bodyBuf->getBufferCL()), b3BufferInfoCL(m_data->m_solverGPU->m_sortDataBuffer->getBufferCL())};
+							b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_setSortDataKernel, "m_setSortDataKernel");
+							launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+							launcher.setConst(cdata.m_nContacts);
+							launcher.setConst(cdata.m_scale);
 							launcher.setConst(cdata.m_nSplit);
 							launcher.setConst(cdata.m_staticIdx);
 
-
-							launcher.launch1D( sortSize, 64 );
-						} else
+							launcher.launch1D(sortSize, 64);
+						}
+						else
 						{
 							m_data->m_solverGPU->m_sortDataBuffer->resize(nContacts);
 							b3AlignedObjectArray<b3SortData> sortDataCPU;
@@ -866,22 +759,19 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							m_data->m_pBufContactOutGPU->copyToHost(contactCPU);
 							b3AlignedObjectArray<b3RigidBodyData> bodiesCPU;
 							bodyBuf->copyToHost(bodiesCPU);
-							float scale = 1.f/csCfg.m_batchCellSize;
+							float scale = 1.f / csCfg.m_batchCellSize;
 							b3Int4 nSplit;
 							nSplit.x = B3_SOLVER_N_SPLIT_X;
 							nSplit.y = B3_SOLVER_N_SPLIT_Y;
 							nSplit.z = B3_SOLVER_N_SPLIT_Z;
 
-							SetSortDataCPU(&contactCPU[0],  &bodiesCPU[0], &sortDataCPU[0], nContacts,scale,nSplit,csCfg.m_staticIdx);
-
+							SetSortDataCPU(&contactCPU[0], &bodiesCPU[0], &sortDataCPU[0], nContacts, scale, nSplit, csCfg.m_staticIdx);
 
 							m_data->m_solverGPU->m_sortDataBuffer->copyFromHost(sortDataCPU);
 						}
 
-
-
 						if (!gCpuRadixSort)
-						{	//	3. sort by cell idx
+						{  //	3. sort by cell idx
 							B3_PROFILE("gpuRadixSort");
 							//int n = B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT;
 							//int sortBit = 32;
@@ -891,10 +781,8 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							//adl::RadixSort32<adl::TYPE_CL>::execute( data->m_sort32, *data->m_sortDataBuffer, sortSize );
 							b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
 							this->m_data->m_solverGPU->m_sort32->execute(keyValuesInOut);
-
-
-
-						} else
+						}
+						else
 						{
 							b3OpenCLArray<b3SortData>& keyValuesInOut = *(m_data->m_solverGPU->m_sortDataBuffer);
 							b3AlignedObjectArray<b3SortData> hostValues;
@@ -903,7 +791,6 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							keyValuesInOut.copyFromHost(hostValues);
 						}
 
-
 						if (gUseScanHost)
 						{
 							//	4. find entries
@@ -914,13 +801,11 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							b3AlignedObjectArray<b3SortData> sortDataHost;
 							m_data->m_solverGPU->m_sortDataBuffer->copyToHost(sortDataHost);
 
-
 							//m_data->m_solverGPU->m_search->executeHost(*m_data->m_solverGPU->m_sortDataBuffer,nContacts,*countsNative,B3_SOLVER_N_CELLS,b3BoundSearchCL::COUNT);
-							m_data->m_solverGPU->m_search->executeHost(sortDataHost,nContacts,countsHost,B3_SOLVER_N_CELLS,b3BoundSearchCL::COUNT);
+							m_data->m_solverGPU->m_search->executeHost(sortDataHost, nContacts, countsHost, B3_SOLVER_N_CELLS, b3BoundSearchCL::COUNT);
 
 							countsNative->copyFromHost(countsHost);
 
-
 							//adl::BoundSearch<adl::TYPE_CL>::execute( data->m_search, *data->m_sortDataBuffer, nContacts, *countsNative,
 							//	B3_SOLVER_N_SPLIT*B3_SOLVER_N_SPLIT, adl::BoundSearchBase::COUNT );
 
@@ -929,24 +814,21 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							b3AlignedObjectArray<unsigned int> offsetsHost;
 							offsetsHost.resize(offsetsNative->size());
 
-
-							m_data->m_solverGPU->m_scan->executeHost(countsHost,offsetsHost, B3_SOLVER_N_CELLS);//,&sum );
+							m_data->m_solverGPU->m_scan->executeHost(countsHost, offsetsHost, B3_SOLVER_N_CELLS);  //,&sum );
 							offsetsNative->copyFromHost(offsetsHost);
 
 							//printf("sum = %d\n",sum);
-						}  else
+						}
+						else
 						{
 							//	4. find entries
 							B3_PROFILE("gpuBoundSearch");
-							m_data->m_solverGPU->m_search->execute(*m_data->m_solverGPU->m_sortDataBuffer,nContacts,*countsNative,B3_SOLVER_N_CELLS,b3BoundSearchCL::COUNT);
-							m_data->m_solverGPU->m_scan->execute(*countsNative,*offsetsNative, B3_SOLVER_N_CELLS);//,&sum );
-						} 
-
-
-
+							m_data->m_solverGPU->m_search->execute(*m_data->m_solverGPU->m_sortDataBuffer, nContacts, *countsNative, B3_SOLVER_N_CELLS, b3BoundSearchCL::COUNT);
+							m_data->m_solverGPU->m_scan->execute(*countsNative, *offsetsNative, B3_SOLVER_N_CELLS);  //,&sum );
+						}
 
 						if (nContacts)
-						{	//	5. sort constraints by cellIdx
+						{  //	5. sort constraints by cellIdx
 							if (gReorderContactsOnCpu)
 							{
 								B3_PROFILE("cpu m_reorderContactKernel");
@@ -956,7 +838,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 								b3AlignedObjectArray<b3Contact4> outContacts;
 								m_data->m_pBufContactOutGPU->copyToHost(inContacts);
 								outContacts.resize(inContacts.size());
-								for (int i=0;i<nContacts;i++)
+								for (int i = 0; i < nContacts; i++)
 								{
 									int srcIdx = sortDataHost[i].y;
 									outContacts[i] = inContacts[srcIdx];
@@ -974,30 +856,25 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 								"	}\n"
 								"}\n"
 								*/
-							} else
+							}
+							else
 							{
 								B3_PROFILE("gpu m_reorderContactKernel");
 
 								b3Int4 cdata;
 								cdata.x = nContacts;
 
-								b3BufferInfoCL bInfo[] = { 
-									b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ), 
-									b3BufferInfoCL( m_data->m_solverGPU->m_contactBuffer2->getBufferCL())
-									, b3BufferInfoCL( m_data->m_solverGPU->m_sortDataBuffer->getBufferCL()) };
+								b3BufferInfoCL bInfo[] = {
+									b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL()),
+									b3BufferInfoCL(m_data->m_solverGPU->m_contactBuffer2->getBufferCL()), b3BufferInfoCL(m_data->m_solverGPU->m_sortDataBuffer->getBufferCL())};
 
-									b3LauncherCL launcher(m_data->m_queue,m_data->m_solverGPU->m_reorderContactKernel,"m_reorderContactKernel");
-									launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-									launcher.setConst( cdata );
-									launcher.launch1D( nContacts, 64 );
+								b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_reorderContactKernel, "m_reorderContactKernel");
+								launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+								launcher.setConst(cdata);
+								launcher.launch1D(nContacts, 64);
 							}
 						}
-
-
-
-
 					}
-
 				}
 
 				//clFinish(m_data->m_queue);
@@ -1008,48 +885,46 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 				//				printf(",,,\n");
 				//				}
 
-
 				if (nContacts)
 				{
-
 					if (gUseCpuCopyConstraints)
 					{
-						for (int i=0;i<nContacts;i++)
+						for (int i = 0; i < nContacts; i++)
 						{
 							m_data->m_pBufContactOutGPU->copyFromOpenCLArray(*m_data->m_solverGPU->m_contactBuffer2);
-							//							m_data->m_solverGPU->m_contactBuffer2->getBufferCL(); 
-							//						m_data->m_pBufContactOutGPU->getBufferCL() 
+							//							m_data->m_solverGPU->m_contactBuffer2->getBufferCL();
+							//						m_data->m_pBufContactOutGPU->getBufferCL()
 						}
-
-					} else
+					}
+					else
 					{
 						B3_PROFILE("gpu m_copyConstraintKernel");
-						b3Int4 cdata; cdata.x = nContacts;
-						b3BufferInfoCL bInfo[] = { 
-							b3BufferInfoCL(  m_data->m_solverGPU->m_contactBuffer2->getBufferCL() ), 
-							b3BufferInfoCL( m_data->m_pBufContactOutGPU->getBufferCL() ) 
-						};
-
-						b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel,"m_copyConstraintKernel" );
-						launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
-						launcher.setConst(  cdata );
-						launcher.launch1D( nContacts, 64 );
+						b3Int4 cdata;
+						cdata.x = nContacts;
+						b3BufferInfoCL bInfo[] = {
+							b3BufferInfoCL(m_data->m_solverGPU->m_contactBuffer2->getBufferCL()),
+							b3BufferInfoCL(m_data->m_pBufContactOutGPU->getBufferCL())};
+
+						b3LauncherCL launcher(m_data->m_queue, m_data->m_solverGPU->m_copyConstraintKernel, "m_copyConstraintKernel");
+						launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
+						launcher.setConst(cdata);
+						launcher.launch1D(nContacts, 64);
 						//we use the clFinish for proper benchmark/profile
 						clFinish(m_data->m_queue);
 					}
 				}
 
-
-//				bool compareGPU = false;
+				//				bool compareGPU = false;
 				if (nContacts)
 				{
 					if (!gCpuBatchContacts)
 					{
 						B3_PROFILE("gpu batchContacts");
-						maxNumBatches = 250;//250;
-						m_data->m_solverGPU->batchContacts( m_data->m_pBufContactOutGPU, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx );
+						maxNumBatches = 250;  //250;
+						m_data->m_solverGPU->batchContacts(m_data->m_pBufContactOutGPU, nContacts, m_data->m_solverGPU->m_numConstraints, m_data->m_solverGPU->m_offsets, csCfg.m_staticIdx);
 						clFinish(m_data->m_queue);
-					} else
+					}
+					else
 					{
 						B3_PROFILE("cpu batchContacts");
 						static b3AlignedObjectArray<b3Contact4> cpuContacts;
@@ -1070,45 +945,43 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							offsetsNative->copyToHost(offsetsNativeHost);
 						}
 
-
-						int numNonzeroGrid=0;
+						int numNonzeroGrid = 0;
 
 						if (gUseLargeBatches)
 						{
 							m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
 							int totalNumConstraints = cpuContacts.size();
 							//int simdWidth =numBodies+1;//-1;//64;//-1;//32;
-							int numBatches = sortConstraintByBatch3( &cpuContacts[0], totalNumConstraints, totalNumConstraints+1,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[0]);	//	on GPU
-							maxNumBatches = b3Max(numBatches,maxNumBatches);
+							int numBatches = sortConstraintByBatch3(&cpuContacts[0], totalNumConstraints, totalNumConstraints + 1, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[0]);  //	on GPU
+							maxNumBatches = b3Max(numBatches, maxNumBatches);
 							static int globalMaxBatch = 0;
-							if (maxNumBatches>globalMaxBatch )
+							if (maxNumBatches > globalMaxBatch)
 							{
-								globalMaxBatch  = maxNumBatches;
-								b3Printf("maxNumBatches = %d\n",maxNumBatches);
+								globalMaxBatch = maxNumBatches;
+								b3Printf("maxNumBatches = %d\n", maxNumBatches);
 							}
-								
-						} else
+						}
+						else
 						{
-							m_data->m_batchSizes.resize(B3_SOLVER_N_CELLS*B3_MAX_NUM_BATCHES);
+							m_data->m_batchSizes.resize(B3_SOLVER_N_CELLS * B3_MAX_NUM_BATCHES);
 							B3_PROFILE("cpu batch grid");
-							for(int i=0; i<B3_SOLVER_N_CELLS; i++)
+							for (int i = 0; i < B3_SOLVER_N_CELLS; i++)
 							{
 								int n = (nNativeHost)[i];
 								int offset = (offsetsNativeHost)[i];
-								if( n )
+								if (n)
 								{
 									numNonzeroGrid++;
-									int simdWidth =numBodies+1;//-1;//64;//-1;//32;
-									int numBatches = sortConstraintByBatch3( &cpuContacts[0]+offset, n, simdWidth,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[i*B3_MAX_NUM_BATCHES]);	//	on GPU
-									maxNumBatches = b3Max(numBatches,maxNumBatches);
+									int simdWidth = numBodies + 1;                                                                                                                                 //-1;//64;//-1;//32;
+									int numBatches = sortConstraintByBatch3(&cpuContacts[0] + offset, n, simdWidth, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[i * B3_MAX_NUM_BATCHES]);  //	on GPU
+									maxNumBatches = b3Max(numBatches, maxNumBatches);
 									static int globalMaxBatch = 0;
-									if (maxNumBatches>globalMaxBatch )
+									if (maxNumBatches > globalMaxBatch)
 									{
-										globalMaxBatch  = maxNumBatches;
-										b3Printf("maxNumBatches = %d\n",maxNumBatches);
+										globalMaxBatch = maxNumBatches;
+										b3Printf("maxNumBatches = %d\n", maxNumBatches);
 									}
 									//we use the clFinish for proper benchmark/profile
-									
 								}
 							}
 							//clFinish(m_data->m_queue);
@@ -1117,22 +990,12 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 							B3_PROFILE("m_contactBuffer->copyFromHost");
 							m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts);
 						}
-
-					} 
-
+					}
 				}
+			}
+		}
 
-
-			
-
-
-			} 
-
-
-		} 
-
-
-			//printf("maxNumBatches = %d\n", maxNumBatches);
+		//printf("maxNumBatches = %d\n", maxNumBatches);
 
 		if (gUseLargeBatches)
 		{
@@ -1140,58 +1003,52 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 			{
 				B3_PROFILE("cpu batchContacts");
 				static b3AlignedObjectArray<b3Contact4> cpuContacts;
-//				b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
+				//				b3OpenCLArray<b3Contact4>* contactsIn = m_data->m_solverGPU->m_contactBuffer2;
 				{
 					B3_PROFILE("copyToHost");
 					m_data->m_pBufContactOutGPU->copyToHost(cpuContacts);
 				}
-//				b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
-//				b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
-
+				//				b3OpenCLArray<unsigned int>* countsNative = m_data->m_solverGPU->m_numConstraints;
+				//				b3OpenCLArray<unsigned int>* offsetsNative = m_data->m_solverGPU->m_offsets;
 
-
-//				int numNonzeroGrid=0;
+				//				int numNonzeroGrid=0;
 
 				{
 					m_data->m_batchSizes.resize(B3_MAX_NUM_BATCHES);
 					int totalNumConstraints = cpuContacts.size();
-	//				int simdWidth =numBodies+1;//-1;//64;//-1;//32;
-					int numBatches = sortConstraintByBatch3( &cpuContacts[0], totalNumConstraints, totalNumConstraints+1,csCfg.m_staticIdx ,numBodies,&m_data->m_batchSizes[0]);	//	on GPU
-					maxNumBatches = b3Max(numBatches,maxNumBatches);
+					//				int simdWidth =numBodies+1;//-1;//64;//-1;//32;
+					int numBatches = sortConstraintByBatch3(&cpuContacts[0], totalNumConstraints, totalNumConstraints + 1, csCfg.m_staticIdx, numBodies, &m_data->m_batchSizes[0]);  //	on GPU
+					maxNumBatches = b3Max(numBatches, maxNumBatches);
 					static int globalMaxBatch = 0;
-					if (maxNumBatches>globalMaxBatch )
+					if (maxNumBatches > globalMaxBatch)
 					{
-						globalMaxBatch  = maxNumBatches;
-						b3Printf("maxNumBatches = %d\n",maxNumBatches);
+						globalMaxBatch = maxNumBatches;
+						b3Printf("maxNumBatches = %d\n", maxNumBatches);
 					}
-								
 				}
 				{
 					B3_PROFILE("m_contactBuffer->copyFromHost");
 					m_data->m_solverGPU->m_contactBuffer2->copyFromHost((b3AlignedObjectArray<b3Contact4>&)cpuContacts);
 				}
-
-			} 
-
+			}
 		}
 
 		if (nContacts)
 		{
 			B3_PROFILE("gpu convertToConstraints");
-			m_data->m_solverGPU->convertToConstraints( bodyBuf, 
-				shapeBuf, m_data->m_solverGPU->m_contactBuffer2,
-				contactConstraintOut, 
-				additionalData, nContacts, 
-				(b3SolverBase::ConstraintCfg&) csCfg );
+			m_data->m_solverGPU->convertToConstraints(bodyBuf,
+													  shapeBuf, m_data->m_solverGPU->m_contactBuffer2,
+													  contactConstraintOut,
+													  additionalData, nContacts,
+													  (b3SolverBase::ConstraintCfg&)csCfg);
 			clFinish(m_data->m_queue);
 		}
 
-
 		if (1)
 		{
 			int numIter = 4;
 
-			m_data->m_solverGPU->m_nIterations = numIter;//10
+			m_data->m_solverGPU->m_nIterations = numIter;  //10
 			if (!gCpuSolveConstraint)
 			{
 				B3_PROFILE("GPU solveContactConstraint");
@@ -1208,32 +1065,30 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 
 				if (gUseLargeBatches)
 				{
-					solveContactConstraintBatchSizes(m_data->m_bodyBufferGPU, 
-						m_data->m_inertiaBufferGPU,
-						m_data->m_contactCGPU,0,
-						nContactOut ,
-						maxNumBatches,numIter,&m_data->m_batchSizes);
-				} else
+					solveContactConstraintBatchSizes(m_data->m_bodyBufferGPU,
+													 m_data->m_inertiaBufferGPU,
+													 m_data->m_contactCGPU, 0,
+													 nContactOut,
+													 maxNumBatches, numIter, &m_data->m_batchSizes);
+				}
+				else
 				{
 					solveContactConstraint(
-						m_data->m_bodyBufferGPU, 
+						m_data->m_bodyBufferGPU,
 						m_data->m_inertiaBufferGPU,
-						m_data->m_contactCGPU,0,
-						nContactOut ,
-						maxNumBatches,numIter,&m_data->m_batchSizes);//m_data->m_batchSizesGpu);
+						m_data->m_contactCGPU, 0,
+						nContactOut,
+						maxNumBatches, numIter, &m_data->m_batchSizes);  //m_data->m_batchSizesGpu);
 				}
 			}
 			else
 			{
 				B3_PROFILE("Host solveContactConstraint");
 
-				m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU,0, nContactOut ,maxNumBatches,&m_data->m_batchSizes);
+				m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU, 0, nContactOut, maxNumBatches, &m_data->m_batchSizes);
 			}
-            
-            
-        }
-        
-        
+		}
+
 #if 0
         if (0)
         {
@@ -1244,114 +1099,96 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
             adl::DeviceUtils::waitForCompletion( m_data->m_deviceCL );
         }
 #endif
-        
-    }
-
+	}
 }
 
-
-void b3GpuPgsContactSolver::batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx )
+void b3GpuPgsContactSolver::batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx)
 {
 }
 
-
-
-
-
-
-
-
-
-
-
 b3AlignedObjectArray<unsigned int> idxBuffer;
 b3AlignedObjectArray<b3SortData> sortData;
 b3AlignedObjectArray<b3Contact4> old;
 
-
-inline int b3GpuPgsContactSolver::sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies)
+inline int b3GpuPgsContactSolver::sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies)
 {
-	
 	B3_PROFILE("sortConstraintByBatch");
 	int numIter = 0;
-    
+
 	sortData.resize(n);
 	idxBuffer.resize(n);
 	old.resize(n);
-	
+
 	unsigned int* idxSrc = &idxBuffer[0];
 	unsigned int* idxDst = &idxBuffer[0];
 	int nIdxSrc, nIdxDst;
-    
+
 	const int N_FLG = 256;
-	const int FLG_MASK = N_FLG-1;
-	unsigned int flg[N_FLG/32];
+	const int FLG_MASK = N_FLG - 1;
+	unsigned int flg[N_FLG / 32];
 #if defined(_DEBUG)
-	for(int i=0; i<n; i++)
+	for (int i = 0; i < n; i++)
 		cs[i].getBatchIdx() = -1;
 #endif
-	for(int i=0; i<n; i++) 
+	for (int i = 0; i < n; i++)
 		idxSrc[i] = i;
 	nIdxSrc = n;
-    
+
 	int batchIdx = 0;
-    
+
 	{
 		B3_PROFILE("cpu batch innerloop");
-		while( nIdxSrc )
+		while (nIdxSrc)
 		{
 			numIter++;
 			nIdxDst = 0;
 			int nCurrentBatch = 0;
-            
+
 			//	clear flag
-			for(int i=0; i<N_FLG/32; i++) flg[i] = 0;
-            
-			for(int i=0; i<nIdxSrc; i++)
+			for (int i = 0; i < N_FLG / 32; i++) flg[i] = 0;
+
+			for (int i = 0; i < nIdxSrc; i++)
 			{
 				int idx = idxSrc[i];
-				
 
-				b3Assert( idx < n );
+				b3Assert(idx < n);
 				//	check if it can go
 				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
 				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
-                
-				
-                
+
 				int bodyA = abs(bodyAS);
 				int bodyB = abs(bodyBS);
-                
+
 				int aIdx = bodyA & FLG_MASK;
 				int bIdx = bodyB & FLG_MASK;
-                
-				unsigned int aUnavailable = flg[ aIdx/32 ] & (1<<(aIdx&31));
-				unsigned int bUnavailable = flg[ bIdx/32 ] & (1<<(bIdx&31));
-                
-				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;
-				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;
-
-                //use inv_mass!
-				aUnavailable = !aIsStatic? aUnavailable:0;//
-				bUnavailable = !bIsStatic? bUnavailable:0;
-                
-				if( aUnavailable==0 && bUnavailable==0 ) // ok
+
+				unsigned int aUnavailable = flg[aIdx / 32] & (1 << (aIdx & 31));
+				unsigned int bUnavailable = flg[bIdx / 32] & (1 << (bIdx & 31));
+
+				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
+				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
+
+				//use inv_mass!
+				aUnavailable = !aIsStatic ? aUnavailable : 0;  //
+				bUnavailable = !bIsStatic ? bUnavailable : 0;
+
+				if (aUnavailable == 0 && bUnavailable == 0)  // ok
 				{
 					if (!aIsStatic)
-						flg[ aIdx/32 ] |= (1<<(aIdx&31));
+						flg[aIdx / 32] |= (1 << (aIdx & 31));
 					if (!bIsStatic)
-						flg[ bIdx/32 ] |= (1<<(bIdx&31));
+						flg[bIdx / 32] |= (1 << (bIdx & 31));
 
 					cs[idx].getBatchIdx() = batchIdx;
 					sortData[idx].m_key = batchIdx;
 					sortData[idx].m_value = idx;
-                    
+
 					{
 						nCurrentBatch++;
-						if( nCurrentBatch == simdWidth )
+						if (nCurrentBatch == simdWidth)
 						{
 							nCurrentBatch = 0;
-							for(int i=0; i<N_FLG/32; i++) flg[i] = 0;
+							for (int i = 0; i < N_FLG / 32; i++) flg[i] = 0;
 						}
 					}
 				}
@@ -1360,128 +1197,121 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch( b3Contact4* cs, int n,
 					idxDst[nIdxDst++] = idx;
 				}
 			}
-			b3Swap( idxSrc, idxDst );
-			b3Swap( nIdxSrc, nIdxDst );
-			batchIdx ++;
+			b3Swap(idxSrc, idxDst);
+			b3Swap(nIdxSrc, nIdxDst);
+			batchIdx++;
 		}
 	}
 	{
 		B3_PROFILE("quickSort");
 		sortData.quickSort(sortfnc);
 	}
-	
-	
+
 	{
-        B3_PROFILE("reorder");
+		B3_PROFILE("reorder");
 		//	reorder
-		
-		memcpy( &old[0], cs, sizeof(b3Contact4)*n);
-		for(int i=0; i<n; i++)
+
+		memcpy(&old[0], cs, sizeof(b3Contact4) * n);
+		for (int i = 0; i < n; i++)
 		{
 			int idx = sortData[i].m_value;
 			cs[i] = old[idx];
 		}
 	}
-    
-	
+
 #if defined(_DEBUG)
-    //		debugPrintf( "nBatches: %d\n", batchIdx );
-	for(int i=0; i<n; i++)
-    {
-        b3Assert( cs[i].getBatchIdx() != -1 );
-    }
+	//		debugPrintf( "nBatches: %d\n", batchIdx );
+	for (int i = 0; i < n; i++)
+	{
+		b3Assert(cs[i].getBatchIdx() != -1);
+	}
 #endif
 	return batchIdx;
 }
 
-
 b3AlignedObjectArray<int> bodyUsed2;
 
-inline int b3GpuPgsContactSolver::sortConstraintByBatch2( b3Contact4* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies)
+inline int b3GpuPgsContactSolver::sortConstraintByBatch2(b3Contact4* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies)
 {
-	
 	B3_PROFILE("sortConstraintByBatch2");
-	
 
-	
-	bodyUsed2.resize(2*simdWidth);
+	bodyUsed2.resize(2 * simdWidth);
 
-	for (int q=0;q<2*simdWidth;q++)
-		bodyUsed2[q]=0;
+	for (int q = 0; q < 2 * simdWidth; q++)
+		bodyUsed2[q] = 0;
 
 	int curBodyUsed = 0;
 
 	int numIter = 0;
-    
+
 	m_data->m_sortData.resize(numConstraints);
 	m_data->m_idxBuffer.resize(numConstraints);
 	m_data->m_old.resize(numConstraints);
-	
+
 	unsigned int* idxSrc = &m_data->m_idxBuffer[0];
-		
+
 #if defined(_DEBUG)
-	for(int i=0; i<numConstraints; i++)
+	for (int i = 0; i < numConstraints; i++)
 		cs[i].getBatchIdx() = -1;
 #endif
-	for(int i=0; i<numConstraints; i++) 
+	for (int i = 0; i < numConstraints; i++)
 		idxSrc[i] = i;
-    
+
 	int numValidConstraints = 0;
-//	int unprocessedConstraintIndex = 0;
+	//	int unprocessedConstraintIndex = 0;
 
 	int batchIdx = 0;
-    
 
 	{
 		B3_PROFILE("cpu batch innerloop");
-		
-		while( numValidConstraints < numConstraints)
+
+		while (numValidConstraints < numConstraints)
 		{
 			numIter++;
 			int nCurrentBatch = 0;
 			//	clear flag
-			for(int i=0; i<curBodyUsed; i++) 
+			for (int i = 0; i < curBodyUsed; i++)
 				bodyUsed2[i] = 0;
-            curBodyUsed = 0;
+			curBodyUsed = 0;
 
-			for(int i=numValidConstraints; i<numConstraints; i++)
+			for (int i = numValidConstraints; i < numConstraints; i++)
 			{
 				int idx = idxSrc[i];
-				b3Assert( idx < numConstraints );
+				b3Assert(idx < numConstraints);
 				//	check if it can go
 				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
 				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
 				int bodyA = abs(bodyAS);
 				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;
-				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;
+				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
+				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
 				int aUnavailable = 0;
 				int bUnavailable = 0;
 				if (!aIsStatic)
 				{
-					for (int j=0;j<curBodyUsed;j++)
+					for (int j = 0; j < curBodyUsed; j++)
 					{
 						if (bodyA == bodyUsed2[j])
 						{
-							aUnavailable=1;
+							aUnavailable = 1;
 							break;
 						}
 					}
 				}
 				if (!aUnavailable)
-				if (!bIsStatic)
-				{
-					for (int j=0;j<curBodyUsed;j++)
+					if (!bIsStatic)
 					{
-						if (bodyB == bodyUsed2[j])
+						for (int j = 0; j < curBodyUsed; j++)
 						{
-							bUnavailable=1;
-							break;
+							if (bodyB == bodyUsed2[j])
+							{
+								bUnavailable = 1;
+								break;
+							}
 						}
 					}
-				}
-                
-				if( aUnavailable==0 && bUnavailable==0 ) // ok
+
+				if (aUnavailable == 0 && bUnavailable == 0)  // ok
 				{
 					if (!aIsStatic)
 					{
@@ -1496,7 +1326,7 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch2( b3Contact4* cs, int nu
 					m_data->m_sortData[idx].m_key = batchIdx;
 					m_data->m_sortData[idx].m_value = idx;
 
-					if (i!=numValidConstraints)
+					if (i != numValidConstraints)
 					{
 						b3Swap(idxSrc[i], idxSrc[numValidConstraints]);
 					}
@@ -1504,20 +1334,19 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch2( b3Contact4* cs, int nu
 					numValidConstraints++;
 					{
 						nCurrentBatch++;
-						if( nCurrentBatch == simdWidth )
+						if (nCurrentBatch == simdWidth)
 						{
 							nCurrentBatch = 0;
-							for(int i=0; i<curBodyUsed; i++) 
+							for (int i = 0; i < curBodyUsed; i++)
 								bodyUsed2[i] = 0;
 
-							
 							curBodyUsed = 0;
 						}
 					}
 				}
 			}
-			
-			batchIdx ++;
+
+			batchIdx++;
 		}
 	}
 	{
@@ -1526,155 +1355,148 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch2( b3Contact4* cs, int nu
 	}
 
 	{
-        B3_PROFILE("reorder");
+		B3_PROFILE("reorder");
 		//	reorder
-		
-		memcpy( &m_data->m_old[0], cs, sizeof(b3Contact4)*numConstraints);
 
-		for(int i=0; i<numConstraints; i++)
+		memcpy(&m_data->m_old[0], cs, sizeof(b3Contact4) * numConstraints);
+
+		for (int i = 0; i < numConstraints; i++)
 		{
 			b3Assert(m_data->m_sortData[idxSrc[i]].m_value == idxSrc[i]);
 			int idx = m_data->m_sortData[idxSrc[i]].m_value;
 			cs[i] = m_data->m_old[idx];
 		}
 	}
-	
+
 #if defined(_DEBUG)
-    //		debugPrintf( "nBatches: %d\n", batchIdx );
-	for(int i=0; i<numConstraints; i++)
-    {
-        b3Assert( cs[i].getBatchIdx() != -1 );
-    }
+	//		debugPrintf( "nBatches: %d\n", batchIdx );
+	for (int i = 0; i < numConstraints; i++)
+	{
+		b3Assert(cs[i].getBatchIdx() != -1);
+	}
 #endif
 
-	
 	return batchIdx;
 }
 
-
 b3AlignedObjectArray<int> bodyUsed;
 b3AlignedObjectArray<int> curUsed;
 
-
-inline int b3GpuPgsContactSolver::sortConstraintByBatch3( b3Contact4* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies, int* batchSizes)
+inline int b3GpuPgsContactSolver::sortConstraintByBatch3(b3Contact4* cs, int numConstraints, int simdWidth, int staticIdx, int numBodies, int* batchSizes)
 {
-	
 	B3_PROFILE("sortConstraintByBatch3");
-	
+
 	static int maxSwaps = 0;
 	int numSwaps = 0;
 
-	curUsed.resize(2*simdWidth);
+	curUsed.resize(2 * simdWidth);
 
 	static int maxNumConstraints = 0;
-	if (maxNumConstraints<numConstraints)
+	if (maxNumConstraints < numConstraints)
 	{
 		maxNumConstraints = numConstraints;
 		//printf("maxNumConstraints  = %d\n",maxNumConstraints );
 	}
 
-	int numUsedArray = numBodies/32+1;
+	int numUsedArray = numBodies / 32 + 1;
 	bodyUsed.resize(numUsedArray);
 
-	for (int q=0;q<numUsedArray;q++)
-		bodyUsed[q]=0;
+	for (int q = 0; q < numUsedArray; q++)
+		bodyUsed[q] = 0;
 
-	
 	int curBodyUsed = 0;
 
 	int numIter = 0;
-    
+
 	m_data->m_sortData.resize(0);
 	m_data->m_idxBuffer.resize(0);
 	m_data->m_old.resize(0);
-	
-		
+
 #if defined(_DEBUG)
-	for(int i=0; i<numConstraints; i++)
+	for (int i = 0; i < numConstraints; i++)
 		cs[i].getBatchIdx() = -1;
 #endif
-	
+
 	int numValidConstraints = 0;
-//	int unprocessedConstraintIndex = 0;
+	//	int unprocessedConstraintIndex = 0;
 
 	int batchIdx = 0;
-    
 
 	{
 		B3_PROFILE("cpu batch innerloop");
-		
-		while( numValidConstraints < numConstraints)
+
+		while (numValidConstraints < numConstraints)
 		{
 			numIter++;
 			int nCurrentBatch = 0;
 			batchSizes[batchIdx] = 0;
 
 			//	clear flag
-			for(int i=0; i<curBodyUsed; i++) 
-				bodyUsed[curUsed[i]/32] = 0;
+			for (int i = 0; i < curBodyUsed; i++)
+				bodyUsed[curUsed[i] / 32] = 0;
 
-            curBodyUsed = 0;
+			curBodyUsed = 0;
 
-			for(int i=numValidConstraints; i<numConstraints; i++)
+			for (int i = numValidConstraints; i < numConstraints; i++)
 			{
 				int idx = i;
-				b3Assert( idx < numConstraints );
+				b3Assert(idx < numConstraints);
 				//	check if it can go
 				int bodyAS = cs[idx].m_bodyAPtrAndSignBit;
 				int bodyBS = cs[idx].m_bodyBPtrAndSignBit;
 				int bodyA = abs(bodyAS);
 				int bodyB = abs(bodyBS);
-				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;
-				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;
+				bool aIsStatic = (bodyAS < 0) || bodyAS == staticIdx;
+				bool bIsStatic = (bodyBS < 0) || bodyBS == staticIdx;
 				int aUnavailable = 0;
 				int bUnavailable = 0;
 				if (!aIsStatic)
 				{
-					aUnavailable = bodyUsed[ bodyA/32 ] & (1<<(bodyA&31));
+					aUnavailable = bodyUsed[bodyA / 32] & (1 << (bodyA & 31));
 				}
 				if (!aUnavailable)
-				if (!bIsStatic)
-				{
-					bUnavailable = bodyUsed[ bodyB/32 ] & (1<<(bodyB&31));
-				}
-                
-				if( aUnavailable==0 && bUnavailable==0 ) // ok
+					if (!bIsStatic)
+					{
+						bUnavailable = bodyUsed[bodyB / 32] & (1 << (bodyB & 31));
+					}
+
+				if (aUnavailable == 0 && bUnavailable == 0)  // ok
 				{
 					if (!aIsStatic)
 					{
-						bodyUsed[ bodyA/32 ] |= (1<<(bodyA&31));
-						curUsed[curBodyUsed++]=bodyA;
+						bodyUsed[bodyA / 32] |= (1 << (bodyA & 31));
+						curUsed[curBodyUsed++] = bodyA;
 					}
 					if (!bIsStatic)
 					{
-						bodyUsed[ bodyB/32 ] |= (1<<(bodyB&31));
-						curUsed[curBodyUsed++]=bodyB;
+						bodyUsed[bodyB / 32] |= (1 << (bodyB & 31));
+						curUsed[curBodyUsed++] = bodyB;
 					}
 
 					cs[idx].getBatchIdx() = batchIdx;
 
-					if (i!=numValidConstraints)
+					if (i != numValidConstraints)
 					{
-						b3Swap(cs[i],cs[numValidConstraints]);
+						b3Swap(cs[i], cs[numValidConstraints]);
 						numSwaps++;
 					}
 
 					numValidConstraints++;
 					{
 						nCurrentBatch++;
-						if( nCurrentBatch == simdWidth )
+						if (nCurrentBatch == simdWidth)
 						{
 							batchSizes[batchIdx] += simdWidth;
 							nCurrentBatch = 0;
-							for(int i=0; i<curBodyUsed; i++) 
-								bodyUsed[curUsed[i]/32] = 0;
+							for (int i = 0; i < curBodyUsed; i++)
+								bodyUsed[curUsed[i] / 32] = 0;
 							curBodyUsed = 0;
 						}
 					}
 				}
 			}
 
-			if (batchIdx>=B3_MAX_NUM_BATCHES)
+			if (batchIdx >= B3_MAX_NUM_BATCHES)
 			{
 				b3Error("batchIdx>=B3_MAX_NUM_BATCHES");
 				b3Assert(0);
@@ -1683,26 +1505,25 @@ inline int b3GpuPgsContactSolver::sortConstraintByBatch3( b3Contact4* cs, int nu
 
 			batchSizes[batchIdx] += nCurrentBatch;
 
-			batchIdx ++;
-			
+			batchIdx++;
 		}
 	}
-	
+
 #if defined(_DEBUG)
-    //		debugPrintf( "nBatches: %d\n", batchIdx );
-	for(int i=0; i<numConstraints; i++)
-    {
-        b3Assert( cs[i].getBatchIdx() != -1 );
-    }
+	//		debugPrintf( "nBatches: %d\n", batchIdx );
+	for (int i = 0; i < numConstraints; i++)
+	{
+		b3Assert(cs[i].getBatchIdx() != -1);
+	}
 #endif
 
-	batchSizes[batchIdx] =0;
-	
-	if (maxSwaps<numSwaps)
+	batchSizes[batchIdx] = 0;
+
+	if (maxSwaps < numSwaps)
 	{
 		maxSwaps = numSwaps;
 		//printf("maxSwaps = %d\n", maxSwaps);
 	}
-	
+
 	return batchIdx;
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
index 98e2a5b8c4..6ab7502af3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
@@ -11,33 +11,27 @@
 class b3GpuPgsContactSolver
 {
 protected:
-
 	int m_debugOutput;
 
-	struct b3GpuBatchingPgsSolverInternalData*		m_data;
+	struct b3GpuBatchingPgsSolverInternalData* m_data;
+
+	void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
 
-	void batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx );
-	
-	inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
-	inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
-	inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies, int* batchSizes);
-	
+	inline int sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
+	inline int sortConstraintByBatch2(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
+	inline int sortConstraintByBatch3(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies, int* batchSizes);
 
-	
-	void solveContactConstraintBatchSizes(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
+	void solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+										  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
 
-		void solveContactConstraint(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
+	void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+								b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
 
 public:
-	
-	b3GpuPgsContactSolver(cl_context ctx,cl_device_id device, cl_command_queue  q,int pairCapacity);
+	b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity);
 	virtual ~b3GpuPgsContactSolver();
 
 	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
-
 };
 
-#endif //B3_GPU_BATCHING_PGS_SOLVER_H
-
+#endif  //B3_GPU_BATCHING_PGS_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
index 783e443060..fef33ad1cd 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
@@ -47,7 +47,7 @@ bool gClearPairsOnGpu = true;
 #define TEST_OTHER_GPU_SOLVER 1
 #ifdef TEST_OTHER_GPU_SOLVER
 #include "b3GpuJacobiContactSolver.h"
-#endif //TEST_OTHER_GPU_SOLVER
+#endif  //TEST_OTHER_GPU_SOLVER
 
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
@@ -59,73 +59,68 @@ bool gClearPairsOnGpu = true;
 #include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 #include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
 
-	
 #include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
 
-b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue  q,class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
+b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx, cl_device_id device, cl_command_queue q, class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
 {
 	m_data = new b3GpuRigidBodyPipelineInternalData;
-	m_data->m_constraintUid=0;
+	m_data->m_constraintUid = 0;
 	m_data->m_config = config;
 	m_data->m_context = ctx;
 	m_data->m_device = device;
 	m_data->m_queue = q;
 
-	m_data->m_solver = new b3PgsJacobiSolver(true);//new b3PgsJacobiSolver(true);
-	m_data->m_gpuSolver = new b3GpuPgsConstraintSolver(ctx,device,q,true);//new b3PgsJacobiSolver(true);
-	
-	m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
-	m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
+	m_data->m_solver = new b3PgsJacobiSolver(true);                            //new b3PgsJacobiSolver(true);
+	m_data->m_gpuSolver = new b3GpuPgsConstraintSolver(ctx, device, q, true);  //new b3PgsJacobiSolver(true);
 
-	m_data->m_gpuConstraints = new b3OpenCLArray<b3GpuGenericConstraint>(ctx,q);
+	m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx, q, config.m_maxConvexBodies);
+	m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx, q, config.m_maxBroadphasePairs);
+
+	m_data->m_gpuConstraints = new b3OpenCLArray<b3GpuGenericConstraint>(ctx, q);
 #ifdef TEST_OTHER_GPU_SOLVER
-	m_data->m_solver3 = new b3GpuJacobiContactSolver(ctx,device,q,config.m_maxBroadphasePairs);	
-#endif //	TEST_OTHER_GPU_SOLVER
-	
-	m_data->m_solver2 = new b3GpuPgsContactSolver(ctx,device,q,config.m_maxBroadphasePairs);
+	m_data->m_solver3 = new b3GpuJacobiContactSolver(ctx, device, q, config.m_maxBroadphasePairs);
+#endif  //	TEST_OTHER_GPU_SOLVER
+
+	m_data->m_solver2 = new b3GpuPgsContactSolver(ctx, device, q, config.m_maxBroadphasePairs);
 
-	m_data->m_raycaster = new b3GpuRaycast(ctx,device,q);
+	m_data->m_raycaster = new b3GpuRaycast(ctx, device, q);
 
-	
 	m_data->m_broadphaseDbvt = broadphaseDbvt;
 	m_data->m_broadphaseSap = broadphaseSap;
 	m_data->m_narrowphase = narrowphase;
-	m_data->m_gravity.setValue(0.f,-9.8f,0.f);
+	m_data->m_gravity.setValue(0.f, -9.8f, 0.f);
 
-	cl_int errNum=0;
+	cl_int errNum = 0;
 
 	{
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,integrateKernelCL,&errNum,"",B3_RIGIDBODY_INTEGRATE_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-		m_data->m_integrateTransformsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,integrateKernelCL, "integrateTransformsKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
+		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, integrateKernelCL, &errNum, "", B3_RIGIDBODY_INTEGRATE_PATH);
+		b3Assert(errNum == CL_SUCCESS);
+		m_data->m_integrateTransformsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, integrateKernelCL, "integrateTransformsKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
 		clReleaseProgram(prog);
 	}
 	{
-		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,updateAabbsKernelCL,&errNum,"",B3_RIGIDBODY_UPDATEAABB_PATH);
-		b3Assert(errNum==CL_SUCCESS);
-		m_data->m_updateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "initializeGpuAabbsFull",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
+		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, updateAabbsKernelCL, &errNum, "", B3_RIGIDBODY_UPDATEAABB_PATH);
+		b3Assert(errNum == CL_SUCCESS);
+		m_data->m_updateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, updateAabbsKernelCL, "initializeGpuAabbsFull", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
 
-
-		m_data->m_clearOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "clearOverlappingPairsKernel",&errNum,prog);
-		b3Assert(errNum==CL_SUCCESS);
+		m_data->m_clearOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, updateAabbsKernelCL, "clearOverlappingPairsKernel", &errNum, prog);
+		b3Assert(errNum == CL_SUCCESS);
 
 		clReleaseProgram(prog);
 	}
-
-
 }
 
 b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
 {
 	if (m_data->m_integrateTransformsKernel)
 		clReleaseKernel(m_data->m_integrateTransformsKernel);
-	
+
 	if (m_data->m_updateAabbsKernel)
 		clReleaseKernel(m_data->m_updateAabbsKernel);
-	
+
 	if (m_data->m_clearOverlappingPairsKernel)
 		clReleaseKernel(m_data->m_clearOverlappingPairsKernel);
 	delete m_data->m_raycaster;
@@ -136,15 +131,14 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
 
 #ifdef TEST_OTHER_GPU_SOLVER
 	delete m_data->m_solver3;
-#endif //TEST_OTHER_GPU_SOLVER
-	
+#endif  //TEST_OTHER_GPU_SOLVER
+
 	delete m_data->m_solver2;
-	
-	
+
 	delete m_data;
 }
 
-void	b3GpuRigidBodyPipeline::reset()
+void b3GpuRigidBodyPipeline::reset()
 {
 	m_data->m_gpuConstraints->resize(0);
 	m_data->m_cpuConstraints.resize(0);
@@ -152,30 +146,28 @@ void	b3GpuRigidBodyPipeline::reset()
 	m_data->m_allAabbsCPU.resize(0);
 }
 
-void	b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
+void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
 {
 	m_data->m_joints.push_back(constraint);
 }
 
-void	b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
+void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
 {
 	m_data->m_joints.remove(constraint);
 }
 
-
-
-void  b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
+void b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
 {
 	m_data->m_gpuSolver->recomputeBatches();
 	//slow linear search
 	m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
 	//remove
-	for (int i=0;i<m_data->m_cpuConstraints.size();i++)
+	for (int i = 0; i < m_data->m_cpuConstraints.size(); i++)
 	{
 		if (m_data->m_cpuConstraints[i].m_uid == uid)
 		{
 			//m_data->m_cpuConstraints.remove(m_data->m_cpuConstraints[i]);
-			m_data->m_cpuConstraints.swap(i,m_data->m_cpuConstraints.size()-1);
+			m_data->m_cpuConstraints.swap(i, m_data->m_cpuConstraints.size() - 1);
 			m_data->m_cpuConstraints.pop_back();
 
 			break;
@@ -185,13 +177,13 @@ void  b3GpuRigidBodyPipeline::removeConstraintByUid(int uid)
 	if (m_data->m_cpuConstraints.size())
 	{
 		m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
-	} else
+	}
+	else
 	{
 		m_data->m_gpuConstraints->resize(0);
 	}
-
 }
-int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold)
+int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold)
 {
 	m_data->m_gpuSolver->recomputeBatches();
 	b3GpuGenericConstraint c;
@@ -200,14 +192,14 @@ int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, co
 	c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
 	c.m_rbA = bodyA;
 	c.m_rbB = bodyB;
-	c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
-	c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
+	c.m_pivotInA.setValue(pivotInA[0], pivotInA[1], pivotInA[2]);
+	c.m_pivotInB.setValue(pivotInB[0], pivotInB[1], pivotInB[2]);
 	c.m_breakingImpulseThreshold = breakingThreshold;
 	c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE;
 	m_data->m_cpuConstraints.push_back(c);
 	return c.m_uid;
 }
-int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB,float breakingThreshold)
+int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold)
 {
 	m_data->m_gpuSolver->recomputeBatches();
 	b3GpuGenericConstraint c;
@@ -216,9 +208,9 @@ int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const fl
 	c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
 	c.m_rbA = bodyA;
 	c.m_rbB = bodyB;
-	c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
-	c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
-	c.m_relTargetAB.setValue(relTargetAB[0],relTargetAB[1],relTargetAB[2],relTargetAB[3]);
+	c.m_pivotInA.setValue(pivotInA[0], pivotInA[1], pivotInA[2]);
+	c.m_pivotInB.setValue(pivotInB[0], pivotInB[1], pivotInB[2]);
+	c.m_relTargetAB.setValue(relTargetAB[0], relTargetAB[1], relTargetAB[2], relTargetAB[3]);
 	c.m_breakingImpulseThreshold = breakingThreshold;
 	c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE;
 
@@ -226,31 +218,28 @@ int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const fl
 	return c.m_uid;
 }
 
-
-void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
+void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 {
-
 	//update worldspace AABBs from local AABB/worldtransform
 	{
 		B3_PROFILE("setupGpuAabbs");
 		setupGpuAabbsFull();
 	}
 
-	int numPairs =0;
+	int numPairs = 0;
 
 	//compute overlapping pairs
 	{
-
 		if (gUseDbvt)
 		{
 			{
 				B3_PROFILE("setAabb");
 				m_data->m_allAabbsGPU->copyToHost(m_data->m_allAabbsCPU);
-				for (int i=0;i<m_data->m_allAabbsCPU.size();i++)
+				for (int i = 0; i < m_data->m_allAabbsCPU.size(); i++)
 				{
-					b3Vector3 aabbMin=b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]);
-					b3Vector3 aabbMax=b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]);
-					m_data->m_broadphaseDbvt->setAabb(i,aabbMin,aabbMax,0);
+					b3Vector3 aabbMin = b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0], m_data->m_allAabbsCPU[i].m_min[1], m_data->m_allAabbsCPU[i].m_min[2]);
+					b3Vector3 aabbMax = b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0], m_data->m_allAabbsCPU[i].m_max[1], m_data->m_allAabbsCPU[i].m_max[2]);
+					m_data->m_broadphaseDbvt->setAabb(i, aabbMin, aabbMax, 0);
 				}
 			}
 
@@ -259,13 +248,14 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 				m_data->m_broadphaseDbvt->calculateOverlappingPairs();
 			}
 			numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs();
-
-		} else
+		}
+		else
 		{
 			if (gUseCalculateOverlappingPairsHost)
 			{
 				m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs);
-			} else
+			}
+			else
 			{
 				m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
 			}
@@ -274,24 +264,24 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 	}
 
 	//compute contact points
-//	printf("numPairs=%d\n",numPairs);
-	
-	int numContacts  = 0;
+	//	printf("numPairs=%d\n",numPairs);
 
+	int numContacts = 0;
 
 	int numBodies = m_data->m_narrowphase->getNumRigidBodies();
 
 	if (numPairs)
 	{
-		cl_mem pairs =0;
-		cl_mem aabbsWS =0;
+		cl_mem pairs = 0;
+		cl_mem aabbsWS = 0;
 		if (gUseDbvt)
 		{
 			B3_PROFILE("m_overlappingPairsGPU->copyFromHost");
 			m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray());
 			pairs = m_data->m_overlappingPairsGPU->getBufferCL();
 			aabbsWS = m_data->m_allAabbsGPU->getBufferCL();
-		} else
+		}
+		else
 		{
 			pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer();
 			aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS();
@@ -302,31 +292,27 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 		//mark the contacts for each pair as 'unused'
 		if (numPairs)
 		{
-			b3OpenCLArray<b3BroadphasePair> gpuPairs(this->m_data->m_context,m_data->m_queue);
-			gpuPairs.setFromOpenCLBuffer(pairs,numPairs);
+			b3OpenCLArray<b3BroadphasePair> gpuPairs(this->m_data->m_context, m_data->m_queue);
+			gpuPairs.setFromOpenCLBuffer(pairs, numPairs);
 
 			if (gClearPairsOnGpu)
 			{
-				
-
 				//b3AlignedObjectArray<b3BroadphasePair> hostPairs;//just for debugging
 				//gpuPairs.copyToHost(hostPairs);
 
-				b3LauncherCL launcher(m_data->m_queue,m_data->m_clearOverlappingPairsKernel,"clearOverlappingPairsKernel");
+				b3LauncherCL launcher(m_data->m_queue, m_data->m_clearOverlappingPairsKernel, "clearOverlappingPairsKernel");
 				launcher.setBuffer(pairs);
 				launcher.setConst(numPairs);
 				launcher.launch1D(numPairs);
 
-
 				//gpuPairs.copyToHost(hostPairs);
-			
-
-			} else
+			}
+			else
 			{
 				b3AlignedObjectArray<b3BroadphasePair> hostPairs;
 				gpuPairs.copyToHost(hostPairs);
 
-				for (int i=0;i<hostPairs.size();i++)
+				for (int i = 0; i < hostPairs.size(); i++)
 				{
 					hostPairs[i].z = 0xffffffff;
 				}
@@ -335,7 +321,7 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 			}
 		}
 
-		m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies);
+		m_data->m_narrowphase->computeContacts(pairs, numPairs, aabbsWS, numBodies);
 		numContacts = m_data->m_narrowphase->getNumContactsGpu();
 
 		if (gUseDbvt)
@@ -347,56 +333,54 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 		if (gDumpContactStats && numContacts)
 		{
 			m_data->m_narrowphase->getContactsGpu();
-			
+
 			printf("numContacts = %d\n", numContacts);
 
-			int totalPoints  = 0;
+			int totalPoints = 0;
 			const b3Contact4* contacts = m_data->m_narrowphase->getContactsCPU();
 
-			for (int i=0;i<numContacts;i++)
+			for (int i = 0; i < numContacts; i++)
 			{
 				totalPoints += contacts->getNPoints();
 			}
-			printf("totalPoints=%d\n",totalPoints);
-
+			printf("totalPoints=%d\n", totalPoints);
 		}
 	}
-	
 
 	//convert contact points to contact constraints
-	
+
 	//solve constraints
 
-	b3OpenCLArray<b3RigidBodyData> gpuBodies(m_data->m_context,m_data->m_queue,0,true);
-	gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumRigidBodies());
-	b3OpenCLArray<b3InertiaData> gpuInertias(m_data->m_context,m_data->m_queue,0,true);
-	gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumRigidBodies());
-	b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
-	gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
+	b3OpenCLArray<b3RigidBodyData> gpuBodies(m_data->m_context, m_data->m_queue, 0, true);
+	gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(), m_data->m_narrowphase->getNumRigidBodies());
+	b3OpenCLArray<b3InertiaData> gpuInertias(m_data->m_context, m_data->m_queue, 0, true);
+	gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(), m_data->m_narrowphase->getNumRigidBodies());
+	b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context, m_data->m_queue, 0, true);
+	gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(), m_data->m_narrowphase->getNumContactsGpu());
 
-	int numJoints =  m_data->m_joints.size() ?  m_data->m_joints.size() : m_data->m_cpuConstraints.size();
+	int numJoints = m_data->m_joints.size() ? m_data->m_joints.size() : m_data->m_cpuConstraints.size();
 	if (useBullet2CpuSolver && numJoints)
 	{
-
-	//	b3AlignedObjectArray<b3Contact4> hostContacts;
+		//	b3AlignedObjectArray<b3Contact4> hostContacts;
 		//gpuContacts.copyToHost(hostContacts);
 		{
-			bool useGpu = m_data->m_joints.size()==0;
+			bool useGpu = m_data->m_joints.size() == 0;
 
-//			b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
+			//			b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
 			//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
 			if (useGpu)
 			{
-				m_data->m_gpuSolver->solveJoints(m_data->m_narrowphase->getNumRigidBodies(),&gpuBodies,&gpuInertias,numJoints, m_data->m_gpuConstraints);
-			} else
+				m_data->m_gpuSolver->solveJoints(m_data->m_narrowphase->getNumRigidBodies(), &gpuBodies, &gpuInertias, numJoints, m_data->m_gpuConstraints);
+			}
+			else
 			{
 				b3AlignedObjectArray<b3RigidBodyData> hostBodies;
 				gpuBodies.copyToHost(hostBodies);
 				b3AlignedObjectArray<b3InertiaData> hostInertias;
 				gpuInertias.copyToHost(hostInertias);
 
-				b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
-				m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
+				b3TypedConstraint** joints = numJoints ? &m_data->m_joints[0] : 0;
+				m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(), &hostBodies[0], &hostInertias[0], 0, 0, numJoints, joints);
 				gpuBodies.copyFromHost(hostBodies);
 			}
 		}
@@ -404,22 +388,20 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 
 	if (numContacts)
 	{
-
 #ifdef TEST_OTHER_GPU_SOLVER
-		
+
 		if (gUseJacobi)
 		{
 			bool useGpu = true;
 			if (useGpu)
 			{
-
 				bool forceHost = false;
 				if (forceHost)
 				{
 					b3AlignedObjectArray<b3RigidBodyData> hostBodies;
 					b3AlignedObjectArray<b3InertiaData> hostInertias;
 					b3AlignedObjectArray<b3Contact4> hostContacts;
-				
+
 					{
 						B3_PROFILE("copyToHost");
 						gpuBodies.copyToHost(hostBodies);
@@ -429,25 +411,24 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 
 					{
 						b3JacobiSolverInfo solverInfo;
-						m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),solverInfo);
-
-						
+						m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(), &hostContacts[0], hostContacts.size(), solverInfo);
 					}
 					{
 						B3_PROFILE("copyFromHost");
 						gpuBodies.copyFromHost(hostBodies);
 					}
-				} else
-
+				}
+				else
 
 				{
 					int static0Index = m_data->m_narrowphase->getStatic0Index();
 					b3JacobiSolverInfo solverInfo;
 					//m_data->m_solver3->solveContacts(    >solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo);
 					//m_data->m_solver3->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]);
-					m_data->m_solver3->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),m_data->m_config, static0Index);
+					m_data->m_solver3->solveContacts(numBodies, gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL(), m_data->m_config, static0Index);
 				}
-			} else
+			}
+			else
 			{
 				b3AlignedObjectArray<b3RigidBodyData> hostBodies;
 				gpuBodies.copyToHost(hostBodies);
@@ -460,17 +441,15 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 				}
 				gpuBodies.copyFromHost(hostBodies);
 			}
-		
-		} else
-#endif //TEST_OTHER_GPU_SOLVER
+		}
+		else
+#endif  //TEST_OTHER_GPU_SOLVER
 		{
-			
 			int static0Index = m_data->m_narrowphase->getStatic0Index();
-			m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),m_data->m_config, static0Index);
-			
+			m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL(), m_data->m_config, static0Index);
+
 			//m_data->m_solver4->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(), gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL());
-			
-			
+
 			/*m_data->m_solver3->solveContactConstraintHost(
 			(b3OpenCLArray<RigidBodyBase::Body>*)&gpuBodies,
 			(b3OpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias,
@@ -481,11 +460,9 @@ void	b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
 	}
 
 	integrate(deltaTime);
-
 }
 
-
-void	b3GpuRigidBodyPipeline::integrate(float timeStep)
+void b3GpuRigidBodyPipeline::integrate(float timeStep)
 {
 	//integrate
 	int numBodies = m_data->m_narrowphase->getNumRigidBodies();
@@ -493,24 +470,25 @@ void	b3GpuRigidBodyPipeline::integrate(float timeStep)
 
 	if (gIntegrateOnCpu)
 	{
-		if(numBodies)
+		if (numBodies)
 		{
-			b3GpuNarrowPhaseInternalData*	npData = m_data->m_narrowphase->getInternalData();
+			b3GpuNarrowPhaseInternalData* npData = m_data->m_narrowphase->getInternalData();
 			npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU);
 
 			b3RigidBodyData_t* bodies = &npData->m_bodyBufferCPU->at(0);
 
-			for (int nodeID=0;nodeID<numBodies;nodeID++)
+			for (int nodeID = 0; nodeID < numBodies; nodeID++)
 			{
-				integrateSingleTransform( bodies,nodeID, timeStep, angularDamp, m_data->m_gravity);
+				integrateSingleTransform(bodies, nodeID, timeStep, angularDamp, m_data->m_gravity);
 			}
 			npData->m_bodyBufferGPU->copyFromHost(*npData->m_bodyBufferCPU);
 		}
-	} else
+	}
+	else
 	{
-		b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel,"m_integrateTransformsKernel");
+		b3LauncherCL launcher(m_data->m_queue, m_data->m_integrateTransformsKernel, "m_integrateTransformsKernel");
 		launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu());
-		
+
 		launcher.setConst(numBodies);
 		launcher.setConst(timeStep);
 		launcher.setConst(angularDamp);
@@ -519,12 +497,9 @@ void	b3GpuRigidBodyPipeline::integrate(float timeStep)
 	}
 }
 
-
-
-
-void	b3GpuRigidBodyPipeline::setupGpuAabbsFull()
+void b3GpuRigidBodyPipeline::setupGpuAabbsFull()
 {
-	cl_int ciErrNum=0;
+	cl_int ciErrNum = 0;
 
 	int numBodies = m_data->m_narrowphase->getNumRigidBodies();
 	if (!numBodies)
@@ -532,34 +507,35 @@ void	b3GpuRigidBodyPipeline::setupGpuAabbsFull()
 
 	if (gCalcWorldSpaceAabbOnCpu)
 	{
-		
 		if (numBodies)
 		{
 			if (gUseDbvt)
 			{
 				m_data->m_allAabbsCPU.resize(numBodies);
 				m_data->m_narrowphase->readbackAllBodiesToCpu();
-				for (int i=0;i<numBodies;i++)
+				for (int i = 0; i < numBodies; i++)
 				{
-					b3ComputeWorldAabb(  i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_allAabbsCPU[0]);
+					b3ComputeWorldAabb(i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(), &m_data->m_allAabbsCPU[0]);
 				}
 				m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
-			} else
+			}
+			else
 			{
 				m_data->m_broadphaseSap->getAllAabbsCPU().resize(numBodies);
 				m_data->m_narrowphase->readbackAllBodiesToCpu();
-				for (int i=0;i<numBodies;i++)
+				for (int i = 0; i < numBodies; i++)
 				{
-					b3ComputeWorldAabb(  i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_broadphaseSap->getAllAabbsCPU()[0]);
+					b3ComputeWorldAabb(i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(), &m_data->m_broadphaseSap->getAllAabbsCPU()[0]);
 				}
 				m_data->m_broadphaseSap->getAllAabbsGPU().copyFromHost(m_data->m_broadphaseSap->getAllAabbsCPU());
 				//m_data->m_broadphaseSap->writeAabbsToGpu();
 			}
 		}
-	} else
+	}
+	else
 	{
 		//__kernel void initializeGpuAabbsFull(  const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB)
-		b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel,"m_updateAabbsKernel");
+		b3LauncherCL launcher(m_data->m_queue, m_data->m_updateAabbsKernel, "m_updateAabbsKernel");
 		launcher.setConst(numBodies);
 		cl_mem bodies = m_data->m_narrowphase->getBodiesGpu();
 		launcher.setBuffer(bodies);
@@ -568,17 +544,18 @@ void	b3GpuRigidBodyPipeline::setupGpuAabbsFull()
 		cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu();
 		launcher.setBuffer(localAabbs);
 
-		cl_mem worldAabbs =0;
+		cl_mem worldAabbs = 0;
 		if (gUseDbvt)
 		{
 			worldAabbs = m_data->m_allAabbsGPU->getBufferCL();
-		} else
+		}
+		else
 		{
 			worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS();
 		}
 		launcher.setBuffer(worldAabbs);
 		launcher.launch1D(numBodies);
-	
+
 		oclCHECKERROR(ciErrNum, CL_SUCCESS);
 	}
 
@@ -595,78 +572,68 @@ void	b3GpuRigidBodyPipeline::setupGpuAabbsFull()
 
 	};
 	*/
-
-	
-
-
-
 }
 
-
-
-cl_mem	b3GpuRigidBodyPipeline::getBodyBuffer()
+cl_mem b3GpuRigidBodyPipeline::getBodyBuffer()
 {
 	return m_data->m_narrowphase->getBodiesGpu();
 }
 
-int	b3GpuRigidBodyPipeline::getNumBodies() const
+int b3GpuRigidBodyPipeline::getNumBodies() const
 {
 	return m_data->m_narrowphase->getNumRigidBodies();
 }
 
-void	b3GpuRigidBodyPipeline::setGravity(const float* grav)
+void b3GpuRigidBodyPipeline::setGravity(const float* grav)
 {
-	m_data->m_gravity.setValue(grav[0],grav[1],grav[2]);
+	m_data->m_gravity.setValue(grav[0], grav[1], grav[2]);
 }
 
-void 		b3GpuRigidBodyPipeline::copyConstraintsToHost()
+void b3GpuRigidBodyPipeline::copyConstraintsToHost()
 {
 	m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints);
 }
 
-void 		b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
+void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
 {
 	m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
 	m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
 }
 
-
-int		b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
+int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu)
 {
-	
-	b3Vector3 aabbMin=b3MakeVector3(0,0,0),aabbMax=b3MakeVector3(0,0,0);
+	b3Vector3 aabbMin = b3MakeVector3(0, 0, 0), aabbMax = b3MakeVector3(0, 0, 0);
 
-	
-	if (collidableIndex>=0)
+	if (collidableIndex >= 0)
 	{
 		b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex);
-		b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]);
-		b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]);
-		
+		b3Vector3 localAabbMin = b3MakeVector3(localAabb.m_min[0], localAabb.m_min[1], localAabb.m_min[2]);
+		b3Vector3 localAabbMax = b3MakeVector3(localAabb.m_max[0], localAabb.m_max[1], localAabb.m_max[2]);
+
 		b3Scalar margin = 0.01f;
 		b3Transform t;
 		t.setIdentity();
-		t.setOrigin(b3MakeVector3(position[0],position[1],position[2]));
-		t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
-		b3TransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
-	} else
+		t.setOrigin(b3MakeVector3(position[0], position[1], position[2]));
+		t.setRotation(b3Quaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
+		b3TransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
+	}
+	else
 	{
 		b3Error("registerPhysicsInstance using invalid collidableIndex\n");
 		return -1;
 	}
-			
-	
+
 	bool writeToGpu = false;
 	int bodyIndex = m_data->m_narrowphase->getNumRigidBodies();
-	bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu);
+	bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex, mass, position, orientation, &aabbMin.getX(), &aabbMax.getX(), writeToGpu);
 
-	if (bodyIndex>=0)
+	if (bodyIndex >= 0)
 	{
 		if (gUseDbvt)
 		{
-			m_data->m_broadphaseDbvt->createProxy(aabbMin,aabbMax,bodyIndex,0,1,1);
+			m_data->m_broadphaseDbvt->createProxy(aabbMin, aabbMax, bodyIndex, 0, 1, 1);
 			b3SapAabb aabb;
-			for (int i=0;i<3;i++)
+			for (int i = 0; i < 3; i++)
 			{
 				aabb.m_min[i] = aabbMin[i];
 				aabb.m_max[i] = aabbMax[i];
@@ -677,14 +644,16 @@ int		b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
 			{
 				m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
 			}
-		} else
+		}
+		else
 		{
 			if (mass)
 			{
-				m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher);
-			} else
+				m_data->m_broadphaseSap->createProxy(aabbMin, aabbMax, bodyIndex, 1, 1);  //m_dispatcher);
+			}
+			else
 			{
-				m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher);	
+				m_data->m_broadphaseSap->createLargeProxy(aabbMin, aabbMax, bodyIndex, 1, 1);  //m_dispatcher);
 			}
 		}
 	}
@@ -699,10 +668,10 @@ int		b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* po
 	return bodyIndex;
 }
 
-void	b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults)
+void b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults)
 {
-	this->m_data->m_raycaster->castRays(rays,hitResults,
-		getNumBodies(),this->m_data->m_narrowphase->getBodiesCpu(),
-		m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu(),
-		m_data->m_narrowphase->getInternalData(), m_data->m_broadphaseSap);
+	this->m_data->m_raycaster->castRays(rays, hitResults,
+										getNumBodies(), this->m_data->m_narrowphase->getBodiesCpu(),
+										m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu(),
+										m_data->m_narrowphase->getInternalData(), m_data->m_broadphaseSap);
 }
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
index b4eac6841a..0e5c6fec12 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
@@ -25,50 +25,46 @@ subject to the following restrictions:
 class b3GpuRigidBodyPipeline
 {
 protected:
-	struct b3GpuRigidBodyPipelineInternalData*	m_data;
+	struct b3GpuRigidBodyPipelineInternalData* m_data;
 
 	int allocateCollidable();
 
 public:
-
-
-	b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue  q , class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
+	b3GpuRigidBodyPipeline(cl_context ctx, cl_device_id device, cl_command_queue q, class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config);
 	virtual ~b3GpuRigidBodyPipeline();
 
-	void	stepSimulation(float deltaTime);
-	void	integrate(float timeStep);
-	void	setupGpuAabbsFull();
+	void stepSimulation(float deltaTime);
+	void integrate(float timeStep);
+	void setupGpuAabbsFull();
 
-	int		registerConvexPolyhedron(class b3ConvexUtility* convex);
+	int registerConvexPolyhedron(class b3ConvexUtility* convex);
 
 	//int		registerConvexPolyhedron(const float* vertices, int strideInBytes, int numVertices, const float* scaling);
 	//int		registerSphereShape(float radius);
 	//int		registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);
-	
+
 	//int		registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);
 	//int		registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
 
-	
-	int		registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData, bool writeInstanceToGpu);
+	int registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData, bool writeInstanceToGpu);
 	//if you passed "writeInstanceToGpu" false in the registerPhysicsInstance method (for performance) you need to call writeAllInstancesToGpu after all instances are registered
-	void	writeAllInstancesToGpu();
-	void	copyConstraintsToHost();
-	void	setGravity(const float* grav);
+	void writeAllInstancesToGpu();
+	void copyConstraintsToHost();
+	void setGravity(const float* grav);
 	void reset();
-	
-	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold);
+
+	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, float breakingThreshold);
 	int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
 	void removeConstraintByUid(int uid);
 
-	void	addConstraint(class b3TypedConstraint* constraint);
-	void	removeConstraint(b3TypedConstraint* constraint);
-
-	void	castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults);
+	void addConstraint(class b3TypedConstraint* constraint);
+	void removeConstraint(b3TypedConstraint* constraint);
 
-	cl_mem	getBodyBuffer();
+	void castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults);
 
-	int	getNumBodies() const;
+	cl_mem getBodyBuffer();
 
+	int getNumBodies() const;
 };
 
-#endif //B3_GPU_RIGIDBODY_PIPELINE_H
\ No newline at end of file
+#endif  //B3_GPU_RIGIDBODY_PIPELINE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
index 5ac92f97d6..e0a26fda17 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipelineInternalData.h
@@ -22,52 +22,47 @@ subject to the following restrictions:
 #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
 
-
 #include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
 #include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
 
-
-
 #include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h"
 #include "Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h"
 
 struct b3GpuRigidBodyPipelineInternalData
 {
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
 
-	cl_context			m_context;
-	cl_device_id		m_device;
-	cl_command_queue	m_queue;
+	cl_kernel m_integrateTransformsKernel;
+	cl_kernel m_updateAabbsKernel;
+	cl_kernel m_clearOverlappingPairsKernel;
 
-	cl_kernel	m_integrateTransformsKernel;
-	cl_kernel	m_updateAabbsKernel;
-	cl_kernel	m_clearOverlappingPairsKernel;
-	
 	class b3PgsJacobiSolver* m_solver;
-	
+
 	class b3GpuPgsConstraintSolver* m_gpuSolver;
 
 	class b3GpuPgsContactSolver* m_solver2;
 	class b3GpuJacobiContactSolver* m_solver3;
 	class b3GpuRaycast* m_raycaster;
-	
+
 	class b3GpuBroadphaseInterface* m_broadphaseSap;
-	
+
 	struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
-	b3OpenCLArray<b3SapAabb>*	m_allAabbsGPU;
-	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
-	b3OpenCLArray<b3BroadphasePair>*		m_overlappingPairsGPU;
+	b3OpenCLArray<b3SapAabb>* m_allAabbsGPU;
+	b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
+	b3OpenCLArray<b3BroadphasePair>* m_overlappingPairsGPU;
 
 	b3OpenCLArray<b3GpuGenericConstraint>* m_gpuConstraints;
 	b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
 
 	b3AlignedObjectArray<b3TypedConstraint*> m_joints;
-	int	m_constraintUid;
-	class b3GpuNarrowPhase*	m_narrowphase;
-	b3Vector3	m_gravity;
+	int m_constraintUid;
+	class b3GpuNarrowPhase* m_narrowphase;
+	b3Vector3 m_gravity;
 
-	b3Config	m_config;
+	b3Config m_config;
 };
 
-#endif //B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
-
+#endif  //B3_GPU_RIGIDBODY_PIPELINE_INTERNAL_DATA_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h
index f2a61801ac..db815d9b31 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverBody.h
@@ -13,11 +13,9 @@ subject to the following restrictions:
 */
 //Originally written by Erwin Coumans
 
-
 #ifndef B3_GPU_SOLVER_BODY_H
 #define B3_GPU_SOLVER_BODY_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 
@@ -27,29 +25,27 @@ subject to the following restrictions:
 ///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
 #ifdef B3_USE_SSE
 #define USE_SIMD 1
-#endif //
-
-
+#endif  //
 
 ///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-B3_ATTRIBUTE_ALIGNED16 (struct)	b3GpuSolverBody
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3GpuSolverBody
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
-//	b3Transform		m_worldTransformUnused;
-	b3Vector3		m_deltaLinearVelocity;
-	b3Vector3		m_deltaAngularVelocity;
-	b3Vector3		m_angularFactor;
-	b3Vector3		m_linearFactor;
-	b3Vector3		m_invMass;
-	b3Vector3		m_pushVelocity;
-	b3Vector3		m_turnVelocity;
-	b3Vector3		m_linearVelocity;
-	b3Vector3		m_angularVelocity;
-
-	union 
-	{
-		void*	m_originalBody;
-		int		m_originalBodyIndex;
+	//	b3Transform		m_worldTransformUnused;
+	b3Vector3 m_deltaLinearVelocity;
+	b3Vector3 m_deltaAngularVelocity;
+	b3Vector3 m_angularFactor;
+	b3Vector3 m_linearFactor;
+	b3Vector3 m_invMass;
+	b3Vector3 m_pushVelocity;
+	b3Vector3 m_turnVelocity;
+	b3Vector3 m_linearVelocity;
+	b3Vector3 m_angularVelocity;
+
+	union {
+		void* m_originalBody;
+		int m_originalBodyIndex;
 	};
 
 	int padding[3];
@@ -65,44 +61,41 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3GpuSolverBody
 		return m_worldTransform;
 	}
 	*/
-	B3_FORCE_INLINE void	getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity ) const
+	B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
 	{
 		if (m_originalBody)
-			velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+			velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
 		else
-			velocity.setValue(0,0,0);
+			velocity.setValue(0, 0, 0);
 	}
 
-	B3_FORCE_INLINE void	getAngularVelocity(b3Vector3& angVel) const
+	B3_FORCE_INLINE void getAngularVelocity(b3Vector3 & angVel) const
 	{
 		if (m_originalBody)
-			angVel =m_angularVelocity+m_deltaAngularVelocity;
+			angVel = m_angularVelocity + m_deltaAngularVelocity;
 		else
-			angVel.setValue(0,0,0);
+			angVel.setValue(0, 0, 0);
 	}
 
-
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude)
+	B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
 
-	B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,b3Scalar impulseMagnitude)
+	B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, b3Scalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_pushVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
 
-
-
 	const b3Vector3& getDeltaLinearVelocity() const
 	{
 		return m_deltaLinearVelocity;
@@ -113,20 +106,19 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3GpuSolverBody
 		return m_deltaAngularVelocity;
 	}
 
-	const b3Vector3& getPushVelocity() const 
+	const b3Vector3& getPushVelocity() const
 	{
 		return m_pushVelocity;
 	}
 
-	const b3Vector3& getTurnVelocity() const 
+	const b3Vector3& getTurnVelocity() const
 	{
 		return m_turnVelocity;
 	}
 
-
 	////////////////////////////////////////////////
 	///some internal methods, don't use them
-		
+
 	b3Vector3& internalGetDeltaLinearVelocity()
 	{
 		return m_deltaLinearVelocity;
@@ -151,7 +143,7 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3GpuSolverBody
 	{
 		m_invMass = invMass;
 	}
-	
+
 	b3Vector3& internalGetPushVelocity()
 	{
 		return m_pushVelocity;
@@ -162,67 +154,57 @@ B3_ATTRIBUTE_ALIGNED16 (struct)	b3GpuSolverBody
 		return m_turnVelocity;
 	}
 
-	B3_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity ) const
+	B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
 	{
-		velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+		velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
 	}
 
-	B3_FORCE_INLINE void	internalGetAngularVelocity(b3Vector3& angVel) const
+	B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3 & angVel) const
 	{
-		angVel = m_angularVelocity+m_deltaAngularVelocity;
+		angVel = m_angularVelocity + m_deltaAngularVelocity;
 	}
 
-
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude)
+	B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
 	{
 		//if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
-		
-	
-	
 
-	void	writebackVelocity()
+	void writebackVelocity()
 	{
 		//if (m_originalBody>=0)
 		{
-			m_linearVelocity +=m_deltaLinearVelocity;
+			m_linearVelocity += m_deltaLinearVelocity;
 			m_angularVelocity += m_deltaAngularVelocity;
-			
+
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
 
-
-	void	writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
+	void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
 	{
-        (void) timeStep;
+		(void)timeStep;
 		if (m_originalBody)
 		{
 			m_linearVelocity += m_deltaLinearVelocity;
 			m_angularVelocity += m_deltaAngularVelocity;
-			
+
 			//correct the position/orientation based on push/turn recovery
 			b3Transform newTransform;
-			if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
+			if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
 			{
-			//	b3Quaternion orn = m_worldTransform.getRotation();
-//				b3TransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
-//				m_worldTransform = newTransform;
+				//	b3Quaternion orn = m_worldTransform.getRotation();
+				//				b3TransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
+				//				m_worldTransform = newTransform;
 			}
 			//m_worldTransform.setRotation(orn);
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
-	
-
-
 };
 
-#endif //B3_SOLVER_BODY_H
-
-
+#endif  //B3_SOLVER_BODY_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h
index 60d235baab..7d9eea243a 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h
@@ -13,11 +13,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_GPU_SOLVER_CONSTRAINT_H
 #define B3_GPU_SOLVER_CONSTRAINT_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 //#include "b3JacobianEntry.h"
@@ -25,58 +23,51 @@ subject to the following restrictions:
 
 //#define NO_FRICTION_TANGENTIALS 1
 
-
-
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-B3_ATTRIBUTE_ALIGNED16 (struct)	b3GpuSolverConstraint
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3GpuSolverConstraint
 {
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
-	b3Vector3		m_relpos1CrossNormal;
-	b3Vector3		m_contactNormal;
+	b3Vector3 m_relpos1CrossNormal;
+	b3Vector3 m_contactNormal;
 
-	b3Vector3		m_relpos2CrossNormal;
+	b3Vector3 m_relpos2CrossNormal;
 	//b3Vector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
 
-	b3Vector3		m_angularComponentA;
-	b3Vector3		m_angularComponentB;
-	
-	mutable b3Scalar	m_appliedPushImpulse;
-	mutable b3Scalar	m_appliedImpulse;
+	b3Vector3 m_angularComponentA;
+	b3Vector3 m_angularComponentB;
+
+	mutable b3Scalar m_appliedPushImpulse;
+	mutable b3Scalar m_appliedImpulse;
 	int m_padding1;
 	int m_padding2;
-	b3Scalar	m_friction;
-	b3Scalar	m_jacDiagABInv;
-	b3Scalar		m_rhs;
-	b3Scalar		m_cfm;
-	
-    b3Scalar		m_lowerLimit;
-	b3Scalar		m_upperLimit;
-	b3Scalar		m_rhsPenetration;
-    union
-	{
-		void*		m_originalContactPoint;
-		int		m_originalConstraintIndex;
-		b3Scalar	m_unusedPadding4;
+	b3Scalar m_friction;
+	b3Scalar m_jacDiagABInv;
+	b3Scalar m_rhs;
+	b3Scalar m_cfm;
+
+	b3Scalar m_lowerLimit;
+	b3Scalar m_upperLimit;
+	b3Scalar m_rhsPenetration;
+	union {
+		void* m_originalContactPoint;
+		int m_originalConstraintIndex;
+		b3Scalar m_unusedPadding4;
 	};
 
-	int	m_overrideNumSolverIterations;
-    int			m_frictionIndex;
+	int m_overrideNumSolverIterations;
+	int m_frictionIndex;
 	int m_solverBodyIdA;
 	int m_solverBodyIdB;
 
-    
-	enum		b3SolverConstraintType
+	enum b3SolverConstraintType
 	{
 		B3_SOLVER_CONTACT_1D = 0,
 		B3_SOLVER_FRICTION_1D
 	};
 };
 
-typedef b3AlignedObjectArray<b3GpuSolverConstraint>	b3GpuConstraintArray;
-
-
-#endif //B3_GPU_SOLVER_CONSTRAINT_H
-
-
+typedef b3AlignedObjectArray<b3GpuSolverConstraint> b3GpuConstraintArray;
 
+#endif  //B3_GPU_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp
index 20bf6d47c5..ccf67da1a8 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 */
 //Originally written by Takahiro Harada
 
-
 #include "b3Solver.h"
 
 ///useNewBatchingKernel  is a rewritten kernel using just a single thread of the warp, for experiments
@@ -38,7 +37,6 @@ bool gConvertConstraintOnCpu = false;
 #include "kernels/batchingKernels.h"
 #include "kernels/batchingKernelsNew.h"
 
-
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
 #include "Bullet3Common/b3Vector3.h"
 
@@ -48,7 +46,7 @@ struct SolverDebugInfo
 	int m_valInt1;
 	int m_valInt2;
 	int m_valInt3;
-	
+
 	int m_valInt4;
 	int m_valInt5;
 	int m_valInt6;
@@ -59,11 +57,10 @@ struct SolverDebugInfo
 	int m_valInt10;
 	int m_valInt11;
 
-	int	m_valInt12;
-	int	m_valInt13;
-	int	m_valInt14;
-	int	m_valInt15;
-
+	int m_valInt12;
+	int m_valInt13;
+	int m_valInt14;
+	int m_valInt15;
 
 	float m_val0;
 	float m_val1;
@@ -71,9 +68,6 @@ struct SolverDebugInfo
 	float m_val3;
 };
 
-
-
-
 class SolverDeviceInl
 {
 public:
@@ -84,101 +78,89 @@ public:
 	};
 };
 
-
-
 b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
-			:
-			m_context(ctx),
-			m_device(device),
-			m_queue(queue),
-			m_batchSizes(ctx,queue),
-			m_nIterations(4)
+	: m_context(ctx),
+	  m_device(device),
+	  m_queue(queue),
+	  m_batchSizes(ctx, queue),
+	  m_nIterations(4)
 {
-	m_sort32 = new b3RadixSort32CL(ctx,device,queue);
-	m_scan = new b3PrefixScanCL(ctx,device,queue,B3_SOLVER_N_CELLS);
-	m_search = new b3BoundSearchCL(ctx,device,queue,B3_SOLVER_N_CELLS);
+	m_sort32 = new b3RadixSort32CL(ctx, device, queue);
+	m_scan = new b3PrefixScanCL(ctx, device, queue, B3_SOLVER_N_CELLS);
+	m_search = new b3BoundSearchCL(ctx, device, queue, B3_SOLVER_N_CELLS);
 
-	const int sortSize = B3NEXTMULTIPLEOF( pairCapacity, 512 );
+	const int sortSize = B3NEXTMULTIPLEOF(pairCapacity, 512);
 
-	m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx,queue,sortSize);
-	m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(ctx,queue);
+	m_sortDataBuffer = new b3OpenCLArray<b3SortData>(ctx, queue, sortSize);
+	m_contactBuffer2 = new b3OpenCLArray<b3Contact4>(ctx, queue);
 
-	m_numConstraints = new b3OpenCLArray<unsigned int>(ctx,queue,B3_SOLVER_N_CELLS );
+	m_numConstraints = new b3OpenCLArray<unsigned int>(ctx, queue, B3_SOLVER_N_CELLS);
 	m_numConstraints->resize(B3_SOLVER_N_CELLS);
 
-	m_offsets = new b3OpenCLArray<unsigned int>( ctx,queue,B3_SOLVER_N_CELLS);
+	m_offsets = new b3OpenCLArray<unsigned int>(ctx, queue, B3_SOLVER_N_CELLS);
 	m_offsets->resize(B3_SOLVER_N_CELLS);
 	const char* additionalMacros = "";
-//	const char* srcFileNameForCaching="";
-
-
+	//	const char* srcFileNameForCaching="";
 
 	cl_int pErrNum;
 	const char* batchKernelSource = batchingKernelsCL;
 	const char* batchKernelNewSource = batchingKernelsNewCL;
-	
+
 	const char* solverSetupSource = solverSetupCL;
 	const char* solverSetup2Source = solverSetup2CL;
 	const char* solveContactSource = solveContactCL;
 	const char* solveFrictionSource = solveFrictionCL;
-	
-	
-	
+
 	{
-		
-		cl_program solveContactProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solveContactSource, &pErrNum,additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH);
+		cl_program solveContactProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveContactSource, &pErrNum, additionalMacros, B3_SOLVER_CONTACT_KERNEL_PATH);
 		b3Assert(solveContactProg);
-		
-		cl_program solveFrictionProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solveFrictionSource, &pErrNum,additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH);
+
+		cl_program solveFrictionProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solveFrictionSource, &pErrNum, additionalMacros, B3_SOLVER_FRICTION_KERNEL_PATH);
 		b3Assert(solveFrictionProg);
 
-		cl_program solverSetup2Prog= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solverSetup2Source, &pErrNum,additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH);
+		cl_program solverSetup2Prog = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetup2Source, &pErrNum, additionalMacros, B3_SOLVER_SETUP2_KERNEL_PATH);
 		b3Assert(solverSetup2Prog);
 
-		
-		cl_program solverSetupProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solverSetupSource, &pErrNum,additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH);
+		cl_program solverSetupProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverSetupSource, &pErrNum, additionalMacros, B3_SOLVER_SETUP_KERNEL_PATH);
 		b3Assert(solverSetupProg);
-		
-		
-		m_solveFrictionKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg,additionalMacros );
+
+		m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveFrictionSource, "BatchSolveKernelFriction", &pErrNum, solveFrictionProg, additionalMacros);
 		b3Assert(m_solveFrictionKernel);
 
-		m_solveContactKernel= b3OpenCLUtils::compileCLKernelFromString( ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg,additionalMacros );
+		m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solveContactSource, "BatchSolveKernelContact", &pErrNum, solveContactProg, additionalMacros);
 		b3Assert(m_solveContactKernel);
-		
-		m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg,additionalMacros );
+
+		m_contactToConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetupSource, "ContactToConstraintKernel", &pErrNum, solverSetupProg, additionalMacros);
 		b3Assert(m_contactToConstraintKernel);
-			
-		m_setSortDataKernel =  b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog,additionalMacros );
+
+		m_setSortDataKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "SetSortDataKernel", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_setSortDataKernel);
-				
-		m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog,additionalMacros );
+
+		m_reorderContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "ReorderContactKernel", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_reorderContactKernel);
-		
 
-		m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog,additionalMacros );
+		m_copyConstraintKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverSetup2Source, "CopyConstraintKernel", &pErrNum, solverSetup2Prog, additionalMacros);
 		b3Assert(m_copyConstraintKernel);
-		
 	}
 
 	{
-		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelSource, &pErrNum,additionalMacros, B3_BATCHING_PATH);
+		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelSource, &pErrNum, additionalMacros, B3_BATCHING_PATH);
 		//cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, 0, &pErrNum,additionalMacros, B3_BATCHING_PATH,true);
 		b3Assert(batchingProg);
-		
-		m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg,additionalMacros );
+
+		m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg, additionalMacros);
 		b3Assert(m_batchingKernel);
 	}
 	{
-		cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelNewSource, &pErrNum,additionalMacros, B3_BATCHING_NEW_PATH);
+		cl_program batchingNewProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, batchKernelNewSource, &pErrNum, additionalMacros, B3_BATCHING_NEW_PATH);
 		b3Assert(batchingNewProg);
 
-		m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg,additionalMacros );
+		m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString(ctx, device, batchKernelNewSource, "CreateBatchesNew", &pErrNum, batchingNewProg, additionalMacros);
 		//m_batchingKernelNew = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelNewSource, "CreateBatchesBruteForce", &pErrNum, batchingNewProg,additionalMacros );
 		b3Assert(m_batchingKernelNew);
 	}
 }
-		
+
 b3Solver::~b3Solver()
 {
 	delete m_offsets;
@@ -190,71 +172,68 @@ b3Solver::~b3Solver()
 	delete m_scan;
 	delete m_search;
 
-
 	clReleaseKernel(m_batchingKernel);
 	clReleaseKernel(m_batchingKernelNew);
-	
-	clReleaseKernel( m_solveContactKernel);
-	clReleaseKernel( m_solveFrictionKernel);
-
-	clReleaseKernel( m_contactToConstraintKernel);
-	clReleaseKernel( m_setSortDataKernel);
-	clReleaseKernel( m_reorderContactKernel);
-	clReleaseKernel( m_copyConstraintKernel);
-			
-}
 
+	clReleaseKernel(m_solveContactKernel);
+	clReleaseKernel(m_solveFrictionKernel);
 
- 
+	clReleaseKernel(m_contactToConstraintKernel);
+	clReleaseKernel(m_setSortDataKernel);
+	clReleaseKernel(m_reorderContactKernel);
+	clReleaseKernel(m_copyConstraintKernel);
+}
 
-template<bool JACOBI>
-static
-__inline
-void solveContact(b3GpuConstraint4& cs, 
-	const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-	const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, 
-	float maxRambdaDt[4], float minRambdaDt[4])
+template <bool JACOBI>
+static __inline void solveContact(b3GpuConstraint4& cs,
+								  const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+								  const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+								  float maxRambdaDt[4], float minRambdaDt[4])
 {
-
-	b3Vector3 dLinVelA; dLinVelA.setZero();
-	b3Vector3 dAngVelA; dAngVelA.setZero();
-	b3Vector3 dLinVelB; dLinVelB.setZero();
-	b3Vector3 dAngVelB; dAngVelB.setZero();
-
-	for(int ic=0; ic<4; ic++)
+	b3Vector3 dLinVelA;
+	dLinVelA.setZero();
+	b3Vector3 dAngVelA;
+	dAngVelA.setZero();
+	b3Vector3 dLinVelB;
+	dLinVelB.setZero();
+	b3Vector3 dAngVelB;
+	dAngVelB.setZero();
+
+	for (int ic = 0; ic < 4; ic++)
 	{
 		//	dont necessary because this makes change to 0
-		if( cs.m_jacCoeffInv[ic] == 0.f ) continue;
+		if (cs.m_jacCoeffInv[ic] == 0.f) continue;
 
 		{
 			b3Vector3 angular0, angular1, linear;
 			b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
 			b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
-			setLinearAndAngular( (const b3Vector3 &)cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, &linear, &angular0, &angular1 );
+			setLinearAndAngular((const b3Vector3&)cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, &linear, &angular0, &angular1);
 
-			float rambdaDt = calcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB ) + cs.m_b[ic];
+			float rambdaDt = calcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
+										linVelA, angVelA, linVelB, angVelB) +
+							 cs.m_b[ic];
 			rambdaDt *= cs.m_jacCoeffInv[ic];
 
 			{
 				float prevSum = cs.m_appliedRambdaDt[ic];
 				float updated = prevSum;
 				updated += rambdaDt;
-				updated = b3Max( updated, minRambdaDt[ic] );
-				updated = b3Min( updated, maxRambdaDt[ic] );
+				updated = b3Max(updated, minRambdaDt[ic]);
+				updated = b3Min(updated, maxRambdaDt[ic]);
 				rambdaDt = updated - prevSum;
 				cs.m_appliedRambdaDt[ic] = updated;
 			}
 
-			b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-			b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+			b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+			b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+			b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+			b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 #ifdef _WIN32
-            b3Assert(_finite(linImp0.getX()));
+			b3Assert(_finite(linImp0.getX()));
 			b3Assert(_finite(linImp1.getX()));
 #endif
-			if( JACOBI )
+			if (JACOBI)
 			{
 				dLinVelA += linImp0;
 				dAngVelA += angImp0;
@@ -271,92 +250,83 @@ void solveContact(b3GpuConstraint4& cs,
 		}
 	}
 
-	if( JACOBI )
+	if (JACOBI)
 	{
 		linVelA += dLinVelA;
 		angVelA += dAngVelA;
 		linVelB += dLinVelB;
 		angVelB += dAngVelB;
 	}
-
 }
 
+static __inline void solveFriction(b3GpuConstraint4& cs,
+								   const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+								   const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+								   float maxRambdaDt[4], float minRambdaDt[4])
+{
+	if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
+	const b3Vector3& center = (const b3Vector3&)cs.m_center;
 
+	b3Vector3 n = -(const b3Vector3&)cs.m_linear;
 
-
-
-	static
-	__inline
-	void solveFriction(b3GpuConstraint4& cs, 
-		const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
-		const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, 
-		float maxRambdaDt[4], float minRambdaDt[4])
-	{
-
-		if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
-		const b3Vector3& center = (const b3Vector3&)cs.m_center;
-
-		b3Vector3 n = -(const b3Vector3&)cs.m_linear;
-
-		b3Vector3 tangent[2];
-#if 1		
-		b3PlaneSpace1 (n, tangent[0],tangent[1]);
+	b3Vector3 tangent[2];
+#if 1
+	b3PlaneSpace1(n, tangent[0], tangent[1]);
 #else
-		b3Vector3 r = cs.m_worldPos[0]-center;
-		tangent[0] = cross3( n, r );
-		tangent[1] = cross3( tangent[0], n );
-		tangent[0] = normalize3( tangent[0] );
-		tangent[1] = normalize3( tangent[1] );
+	b3Vector3 r = cs.m_worldPos[0] - center;
+	tangent[0] = cross3(n, r);
+	tangent[1] = cross3(tangent[0], n);
+	tangent[0] = normalize3(tangent[0]);
+	tangent[1] = normalize3(tangent[1]);
 #endif
 
-		b3Vector3 angular0, angular1, linear;
-		b3Vector3 r0 = center - posA;
-		b3Vector3 r1 = center - posB;
-		for(int i=0; i<2; i++)
-		{
-			setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );
-			float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB );
-			rambdaDt *= cs.m_fJacCoeffInv[i];
+	b3Vector3 angular0, angular1, linear;
+	b3Vector3 r0 = center - posA;
+	b3Vector3 r1 = center - posB;
+	for (int i = 0; i < 2; i++)
+	{
+		setLinearAndAngular(tangent[i], r0, r1, &linear, &angular0, &angular1);
+		float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
+									linVelA, angVelA, linVelB, angVelB);
+		rambdaDt *= cs.m_fJacCoeffInv[i];
 
-				{
-					float prevSum = cs.m_fAppliedRambdaDt[i];
-					float updated = prevSum;
-					updated += rambdaDt;
-					updated = b3Max( updated, minRambdaDt[i] );
-					updated = b3Min( updated, maxRambdaDt[i] );
-					rambdaDt = updated - prevSum;
-					cs.m_fAppliedRambdaDt[i] = updated;
-				}
+		{
+			float prevSum = cs.m_fAppliedRambdaDt[i];
+			float updated = prevSum;
+			updated += rambdaDt;
+			updated = b3Max(updated, minRambdaDt[i]);
+			updated = b3Min(updated, maxRambdaDt[i]);
+			rambdaDt = updated - prevSum;
+			cs.m_fAppliedRambdaDt[i] = updated;
+		}
 
-			b3Vector3 linImp0 = invMassA*linear*rambdaDt;
-			b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
-			b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
-			b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+		b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+		b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+		b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+		b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
 #ifdef _WIN32
-			b3Assert(_finite(linImp0.getX()));
-			b3Assert(_finite(linImp1.getX()));
+		b3Assert(_finite(linImp0.getX()));
+		b3Assert(_finite(linImp1.getX()));
 #endif
-			linVelA += linImp0;
-			angVelA += angImp0;
-			linVelB += linImp1;
-			angVelB += angImp1;
-		}
+		linVelA += linImp0;
+		angVelA += angImp0;
+		linVelB += linImp1;
+		angVelB += angImp1;
+	}
 
-		{	//	angular damping for point constraint
-			b3Vector3 ab = ( posB - posA ).normalized();
-			b3Vector3 ac = ( center - posA ).normalized();
-			if( b3Dot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
-			{
-				float angNA = b3Dot( n, angVelA );
-				float angNB = b3Dot( n, angVelB );
+	{  //	angular damping for point constraint
+		b3Vector3 ab = (posB - posA).normalized();
+		b3Vector3 ac = (center - posA).normalized();
+		if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
+		{
+			float angNA = b3Dot(n, angVelA);
+			float angNB = b3Dot(n, angVelB);
 
-				angVelA -= (angNA*0.1f)*n;
-				angVelB -= (angNB*0.1f)*n;
-			}
+			angVelA -= (angNA * 0.1f) * n;
+			angVelB -= (angNB * 0.1f) * n;
 		}
-
 	}
+}
 /*
  b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
 	b3AlignedObjectArray<b3InertiaData>& m_shapes;
@@ -370,79 +340,69 @@ void solveContact(b3GpuConstraint4& cs,
 	int m_maxNumBatches;
  */
 
-struct SolveTask// : public ThreadPool::Task
+struct SolveTask  // : public ThreadPool::Task
 {
-	SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies,  b3AlignedObjectArray<b3InertiaData>& shapes, b3AlignedObjectArray<b3GpuConstraint4>& constraints,
-		int start, int nConstraints,int maxNumBatches,b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx, b3AlignedObjectArray<int>* batchSizes, int cellIndex)
-		: m_bodies( bodies ), m_shapes( shapes ), 
-		m_constraints( constraints ), 
-		m_batchSizes(batchSizes),
-		m_cellIndex(cellIndex),
-		m_curWgidx(curWgidx),
-		m_start( start ), 
-		m_nConstraints( nConstraints ),
-		m_solveFriction( true ),
-		m_maxNumBatches(maxNumBatches)
-	{}
-
-	unsigned short int getType(){ return 0; }
+	SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies, b3AlignedObjectArray<b3InertiaData>& shapes, b3AlignedObjectArray<b3GpuConstraint4>& constraints,
+			  int start, int nConstraints, int maxNumBatches, b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx, b3AlignedObjectArray<int>* batchSizes, int cellIndex)
+		: m_bodies(bodies), m_shapes(shapes), m_constraints(constraints), m_batchSizes(batchSizes), m_cellIndex(cellIndex), m_curWgidx(curWgidx), m_start(start), m_nConstraints(nConstraints), m_solveFriction(true), m_maxNumBatches(maxNumBatches)
+	{
+	}
+
+	unsigned short int getType() { return 0; }
 
 	void run(int tIdx)
 	{
 		int offset = 0;
-		for (int ii=0;ii<B3_MAX_NUM_BATCHES;ii++)
+		for (int ii = 0; ii < B3_MAX_NUM_BATCHES; ii++)
 		{
-			int numInBatch = m_batchSizes->at(m_cellIndex*B3_MAX_NUM_BATCHES+ii);
+			int numInBatch = m_batchSizes->at(m_cellIndex * B3_MAX_NUM_BATCHES + ii);
 			if (!numInBatch)
 				break;
 
-			for (int jj=0;jj<numInBatch;jj++)
+			for (int jj = 0; jj < numInBatch; jj++)
 			{
-				int i = m_start + offset+jj;
+				int i = m_start + offset + jj;
 				int batchId = m_constraints[i].m_batchIdx;
-				b3Assert(batchId==ii);
+				b3Assert(batchId == ii);
 				float frictionCoeff = m_constraints[i].getFrictionCoeff();
 				int aIdx = (int)m_constraints[i].m_bodyA;
 				int bIdx = (int)m_constraints[i].m_bodyB;
-//				int localBatch = m_constraints[i].m_batchIdx;
+				//				int localBatch = m_constraints[i].m_batchIdx;
 				b3RigidBodyData& bodyA = m_bodies[aIdx];
 				b3RigidBodyData& bodyB = m_bodies[bIdx];
 
-				if( !m_solveFriction )
+				if (!m_solveFriction)
 				{
-					float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-					float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
+					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
+					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
 
-					solveContact<false>( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3 &)m_shapes[aIdx].m_invInertiaWorld, 
-							(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3 &)m_shapes[bIdx].m_invInertiaWorld,
-						maxRambdaDt, minRambdaDt );
+					solveContact<false>(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
+										(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
+										maxRambdaDt, minRambdaDt);
 				}
 				else
 				{
-					float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
-					float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
+					float maxRambdaDt[4] = {FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX};
+					float minRambdaDt[4] = {0.f, 0.f, 0.f, 0.f};
 					float sum = 0;
-					for(int j=0; j<4; j++)
+					for (int j = 0; j < 4; j++)
 					{
-						sum +=m_constraints[i].m_appliedRambdaDt[j];
+						sum += m_constraints[i].m_appliedRambdaDt[j];
 					}
 					frictionCoeff = 0.7f;
-					for(int j=0; j<4; j++)
+					for (int j = 0; j < 4; j++)
 					{
-						maxRambdaDt[j] = frictionCoeff*sum;
+						maxRambdaDt[j] = frictionCoeff * sum;
 						minRambdaDt[j] = -maxRambdaDt[j];
 					}
-					solveFriction( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,(const b3Matrix3x3 &) m_shapes[aIdx].m_invInertiaWorld, 
-						(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass,(const b3Matrix3x3 &) m_shapes[bIdx].m_invInertiaWorld,
-						maxRambdaDt, minRambdaDt );
-			
+					solveFriction(m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3&)m_shapes[aIdx].m_invInertiaWorld,
+								  (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3&)m_shapes[bIdx].m_invInertiaWorld,
+								  maxRambdaDt, minRambdaDt);
 				}
 			}
-			offset+=numInBatch;
-
-
+			offset += numInBatch;
 		}
-/*		for (int bb=0;bb<m_maxNumBatches;bb++)
+		/*		for (int bb=0;bb<m_maxNumBatches;bb++)
 		{
 			//for(int ic=m_nConstraints-1; ic>=0; ic--)
 			for(int ic=0; ic<m_nConstraints; ic++)
@@ -491,9 +451,6 @@ struct SolveTask// : public ThreadPool::Task
 			}
 		}
 		*/
-
-
-		
 	}
 
 	b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
@@ -508,11 +465,9 @@ struct SolveTask// : public ThreadPool::Task
 	int m_maxNumBatches;
 };
 
-
-void b3Solver::solveContactConstraintHost(  b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches,b3AlignedObjectArray<int>* batchSizes)
+void b3Solver::solveContactConstraintHost(b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf,
+										  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, b3AlignedObjectArray<int>* batchSizes)
 {
-
 #if 0
 	{	
 		int nSplitX = B3_SOLVER_N_SPLIT_X;
@@ -571,114 +526,105 @@ void b3Solver::solveContactConstraintHost(  b3OpenCLArray<b3RigidBodyData>* body
 	//printf("------------------------\n");
 	b3AlignedObjectArray<unsigned int> offsetsHost;
 	m_offsets->copyToHost(offsetsHost);
-	static int frame=0;
-	bool useBatches=true;
+	static int frame = 0;
+	bool useBatches = true;
 	if (useBatches)
 	{
-		for(int iter=0; iter<m_nIterations; iter++)
+		for (int iter = 0; iter < m_nIterations; iter++)
 		{
-			for (int cellBatch=0;cellBatch<B3_SOLVER_N_BATCHES;cellBatch++)
+			for (int cellBatch = 0; cellBatch < B3_SOLVER_N_BATCHES; cellBatch++)
 			{
-				
 				int nSplitX = B3_SOLVER_N_SPLIT_X;
 				int nSplitY = B3_SOLVER_N_SPLIT_Y;
-				int numWorkgroups = B3_SOLVER_N_CELLS/B3_SOLVER_N_BATCHES;
+				int numWorkgroups = B3_SOLVER_N_CELLS / B3_SOLVER_N_BATCHES;
 				//printf("cell Batch %d\n",cellBatch);
 				b3AlignedObjectArray<int> usedBodies[B3_SOLVER_N_CELLS];
-				for (int i=0;i<B3_SOLVER_N_CELLS;i++)
+				for (int i = 0; i < B3_SOLVER_N_CELLS; i++)
 				{
 					usedBodies[i].resize(0);
 				}
 
-				
-
-
 				//for (int wgIdx=numWorkgroups-1;wgIdx>=0;wgIdx--)
-				for (int wgIdx=0;wgIdx<numWorkgroups;wgIdx++)
+				for (int wgIdx = 0; wgIdx < numWorkgroups; wgIdx++)
 				{
-					int zIdx = (wgIdx/((nSplitX*nSplitY)/4))*2+((cellBatch&4)>>2);
-					int remain= (wgIdx%((nSplitX*nSplitY)/4));
-					int yIdx = (remain/(nSplitX/2))*2 + ((cellBatch&2)>>1);
-					int xIdx = (remain%(nSplitX/2))*2 + (cellBatch&1);
-					int cellIdx = xIdx+yIdx*nSplitX+zIdx*(nSplitX*nSplitY);
-					
-	
-					if( numConstraintsHost[cellIdx] == 0 ) 
+					int zIdx = (wgIdx / ((nSplitX * nSplitY) / 4)) * 2 + ((cellBatch & 4) >> 2);
+					int remain = (wgIdx % ((nSplitX * nSplitY) / 4));
+					int yIdx = (remain / (nSplitX / 2)) * 2 + ((cellBatch & 2) >> 1);
+					int xIdx = (remain % (nSplitX / 2)) * 2 + (cellBatch & 1);
+					int cellIdx = xIdx + yIdx * nSplitX + zIdx * (nSplitX * nSplitY);
+
+					if (numConstraintsHost[cellIdx] == 0)
 						continue;
 
 					//printf("wgIdx %d: xIdx=%d, yIdx=%d, zIdx=%d, cellIdx=%d, cell Batch %d\n",wgIdx,xIdx,yIdx,zIdx,cellIdx,cellBatch);
 					//printf("cell %d has %d constraints\n", cellIdx,numConstraintsHost[cellIdx]);
 					if (zIdx)
 					{
-					//printf("?\n");
+						//printf("?\n");
 					}
 
-					if (iter==0)
+					if (iter == 0)
 					{
 						//printf("frame=%d, Cell xIdx=%x, yIdx=%d ",frame, xIdx,yIdx);
 						//printf("cellBatch=%d, wgIdx=%d, #constraints in cell=%d\n",cellBatch,wgIdx,numConstraintsHost[cellIdx]);
 					}
 					const int start = offsetsHost[cellIdx];
 					int numConstraintsInCell = numConstraintsHost[cellIdx];
-	//				const int end = start + numConstraintsInCell;
+					//				const int end = start + numConstraintsInCell;
 
-					SolveTask task( bodyNative, shapeNative, constraintNative, start, numConstraintsInCell ,maxNumBatches,usedBodies,wgIdx,batchSizes,cellIdx);
+					SolveTask task(bodyNative, shapeNative, constraintNative, start, numConstraintsInCell, maxNumBatches, usedBodies, wgIdx, batchSizes, cellIdx);
 					task.m_solveFriction = false;
 					task.run(0);
-				
 				}
 			}
 		}
 
-		for(int iter=0; iter<m_nIterations; iter++)
+		for (int iter = 0; iter < m_nIterations; iter++)
 		{
-			for (int cellBatch=0;cellBatch<B3_SOLVER_N_BATCHES;cellBatch++)
+			for (int cellBatch = 0; cellBatch < B3_SOLVER_N_BATCHES; cellBatch++)
 			{
 				int nSplitX = B3_SOLVER_N_SPLIT_X;
 				int nSplitY = B3_SOLVER_N_SPLIT_Y;
-				
 
-				int numWorkgroups = B3_SOLVER_N_CELLS/B3_SOLVER_N_BATCHES;
+				int numWorkgroups = B3_SOLVER_N_CELLS / B3_SOLVER_N_BATCHES;
 
-				for (int wgIdx=0;wgIdx<numWorkgroups;wgIdx++)
+				for (int wgIdx = 0; wgIdx < numWorkgroups; wgIdx++)
 				{
-					int zIdx = (wgIdx/((nSplitX*nSplitY)/4))*2+((cellBatch&4)>>2);
-					int remain= (wgIdx%((nSplitX*nSplitY)/4));
-					int yIdx = (remain/(nSplitX/2))*2 + ((cellBatch&2)>>1);
-					int xIdx = (remain%(nSplitX/2))*2 + (cellBatch&1);
-					
-					int cellIdx = xIdx+yIdx*nSplitX+zIdx*(nSplitX*nSplitY);
-	
-					if( numConstraintsHost[cellIdx] == 0 ) 
+					int zIdx = (wgIdx / ((nSplitX * nSplitY) / 4)) * 2 + ((cellBatch & 4) >> 2);
+					int remain = (wgIdx % ((nSplitX * nSplitY) / 4));
+					int yIdx = (remain / (nSplitX / 2)) * 2 + ((cellBatch & 2) >> 1);
+					int xIdx = (remain % (nSplitX / 2)) * 2 + (cellBatch & 1);
+
+					int cellIdx = xIdx + yIdx * nSplitX + zIdx * (nSplitX * nSplitY);
+
+					if (numConstraintsHost[cellIdx] == 0)
 						continue;
-	
+
 					//printf("yIdx=%d\n",yIdx);
-					
+
 					const int start = offsetsHost[cellIdx];
 					int numConstraintsInCell = numConstraintsHost[cellIdx];
-	//				const int end = start + numConstraintsInCell;
+					//				const int end = start + numConstraintsInCell;
 
-					SolveTask task( bodyNative, shapeNative, constraintNative, start, numConstraintsInCell,maxNumBatches, 0,0,batchSizes,cellIdx);
+					SolveTask task(bodyNative, shapeNative, constraintNative, start, numConstraintsInCell, maxNumBatches, 0, 0, batchSizes, cellIdx);
 					task.m_solveFriction = true;
 					task.run(0);
-					
 				}
 			}
 		}
-
-
-	} else
+	}
+	else
 	{
-		for(int iter=0; iter<m_nIterations; iter++)
+		for (int iter = 0; iter < m_nIterations; iter++)
 		{
-			SolveTask task( bodyNative, shapeNative, constraintNative, 0, n ,maxNumBatches,0,0,0,0);
+			SolveTask task(bodyNative, shapeNative, constraintNative, 0, n, maxNumBatches, 0, 0, 0, 0);
 			task.m_solveFriction = false;
 			task.run(0);
 		}
 
-		for(int iter=0; iter<m_nIterations; iter++)
+		for (int iter = 0; iter < m_nIterations; iter++)
 		{
-			SolveTask task( bodyNative, shapeNative, constraintNative, 0, n ,maxNumBatches,0,0,0,0);
+			SolveTask task(bodyNative, shapeNative, constraintNative, 0, n, maxNumBatches, 0, 0, 0, 0);
 			task.m_solveFriction = true;
 			task.run(0);
 		}
@@ -688,23 +634,21 @@ void b3Solver::solveContactConstraintHost(  b3OpenCLArray<b3RigidBodyData>* body
 	shapeBuf->copyFromHost(shapeNative);
 	constraint->copyFromHost(constraintNative);
 	frame++;
-	
 }
 
 void checkConstraintBatch(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
-					const b3OpenCLArray<b3InertiaData>* shapeBuf,
-					b3OpenCLArray<b3GpuConstraint4>* constraint, 
-					b3OpenCLArray<unsigned int>* m_numConstraints,
-					b3OpenCLArray<unsigned int>* m_offsets,
-					int batchId
-					)
+						  const b3OpenCLArray<b3InertiaData>* shapeBuf,
+						  b3OpenCLArray<b3GpuConstraint4>* constraint,
+						  b3OpenCLArray<unsigned int>* m_numConstraints,
+						  b3OpenCLArray<unsigned int>* m_offsets,
+						  int batchId)
 {
-//						b3BufferInfoCL( m_numConstraints->getBufferCL() ), 
-//						b3BufferInfoCL( m_offsets->getBufferCL() ) 
-	
+	//						b3BufferInfoCL( m_numConstraints->getBufferCL() ),
+	//						b3BufferInfoCL( m_offsets->getBufferCL() )
+
 	int cellBatch = batchId;
 	const int nn = B3_SOLVER_N_CELLS;
-//	int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
+	//	int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
 
 	b3AlignedObjectArray<unsigned int> gN;
 	m_numConstraints->copyToHost(gN);
@@ -712,243 +656,220 @@ void checkConstraintBatch(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
 	m_offsets->copyToHost(gOffsets);
 	int nSplitX = B3_SOLVER_N_SPLIT_X;
 	int nSplitY = B3_SOLVER_N_SPLIT_Y;
-	
-//	int bIdx = batchId;
+
+	//	int bIdx = batchId;
 
 	b3AlignedObjectArray<b3GpuConstraint4> cpuConstraints;
 	constraint->copyToHost(cpuConstraints);
 
 	printf("batch = %d\n", batchId);
 
-	int numWorkgroups = nn/B3_SOLVER_N_BATCHES;
+	int numWorkgroups = nn / B3_SOLVER_N_BATCHES;
 	b3AlignedObjectArray<int> usedBodies;
 
-
-	for (int wgIdx=0;wgIdx<numWorkgroups;wgIdx++)
+	for (int wgIdx = 0; wgIdx < numWorkgroups; wgIdx++)
 	{
 		printf("wgIdx = %d           ", wgIdx);
 
-		int zIdx = (wgIdx/((nSplitX*nSplitY))/2)*2+((cellBatch&4)>>2);					
-		int remain = wgIdx%((nSplitX*nSplitY));
-		int yIdx = (remain%(nSplitX/2))*2 + ((cellBatch&2)>>1);
-		int xIdx = (remain/(nSplitX/2))*2 + (cellBatch&1);
+		int zIdx = (wgIdx / ((nSplitX * nSplitY)) / 2) * 2 + ((cellBatch & 4) >> 2);
+		int remain = wgIdx % ((nSplitX * nSplitY));
+		int yIdx = (remain % (nSplitX / 2)) * 2 + ((cellBatch & 2) >> 1);
+		int xIdx = (remain / (nSplitX / 2)) * 2 + (cellBatch & 1);
 
-		
-		int cellIdx = xIdx+yIdx*nSplitX+zIdx*(nSplitX*nSplitY);
-		printf("cellIdx=%d\n",cellIdx);
-		if( gN[cellIdx] == 0 ) 
+		int cellIdx = xIdx + yIdx * nSplitX + zIdx * (nSplitX * nSplitY);
+		printf("cellIdx=%d\n", cellIdx);
+		if (gN[cellIdx] == 0)
 			continue;
 
 		const int start = gOffsets[cellIdx];
 		const int end = start + gN[cellIdx];
 
-		for (int c=start;c<end;c++)
+		for (int c = start; c < end; c++)
 		{
 			b3GpuConstraint4& constraint = cpuConstraints[c];
 			//printf("constraint (%d,%d)\n", constraint.m_bodyA,constraint.m_bodyB);
-			if (usedBodies.findLinearSearch(constraint.m_bodyA)< usedBodies.size())
+			if (usedBodies.findLinearSearch(constraint.m_bodyA) < usedBodies.size())
 			{
 				printf("error?\n");
 			}
-			if (usedBodies.findLinearSearch(constraint.m_bodyB)< usedBodies.size())
+			if (usedBodies.findLinearSearch(constraint.m_bodyB) < usedBodies.size())
 			{
 				printf("error?\n");
 			}
 		}
 
-		for (int c=start;c<end;c++)
+		for (int c = start; c < end; c++)
 		{
 			b3GpuConstraint4& constraint = cpuConstraints[c];
 			usedBodies.push_back(constraint.m_bodyA);
 			usedBodies.push_back(constraint.m_bodyB);
 		}
-
 	}
 }
 
-static bool verify=false;
+static bool verify = false;
 
-void b3Solver::solveContactConstraint(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches)
+void b3Solver::solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+									  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches)
 {
-	
-	
-	b3Int4 cdata = b3MakeInt4( n, 0, 0, 0 );
+	b3Int4 cdata = b3MakeInt4(n, 0, 0, 0);
 	{
-		
 		const int nn = B3_SOLVER_N_CELLS;
 
 		cdata.x = 0;
-		cdata.y = maxNumBatches;//250;
-
+		cdata.y = maxNumBatches;  //250;
 
-		int numWorkItems = 64*nn/B3_SOLVER_N_BATCHES;
+		int numWorkItems = 64 * nn / B3_SOLVER_N_BATCHES;
 #ifdef DEBUG_ME
-		SolverDebugInfo* debugInfo = new  SolverDebugInfo[numWorkItems];
-		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device,numWorkItems);
+		SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
+		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems);
 #endif
 
-
-
 		{
-
 			B3_PROFILE("m_batchSolveKernel iterations");
-			for(int iter=0; iter<m_nIterations; iter++)
+			for (int iter = 0; iter < m_nIterations; iter++)
 			{
-				for(int ib=0; ib<B3_SOLVER_N_BATCHES; ib++)
+				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
 				{
-					
 					if (verify)
 					{
-						checkConstraintBatch(bodyBuf,shapeBuf,constraint,m_numConstraints,m_offsets,ib);
+						checkConstraintBatch(bodyBuf, shapeBuf, constraint, m_numConstraints, m_offsets, ib);
 					}
 
 #ifdef DEBUG_ME
-					memset(debugInfo,0,sizeof(SolverDebugInfo)*numWorkItems);
-					gpuDebugInfo.write(debugInfo,numWorkItems);
+					memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems);
+					gpuDebugInfo.write(debugInfo, numWorkItems);
 #endif
 
-
 					cdata.z = ib;
-					
 
-				b3LauncherCL launcher( m_queue, m_solveContactKernel ,"m_solveContactKernel");
+					b3LauncherCL launcher(m_queue, m_solveContactKernel, "m_solveContactKernel");
 #if 1
-                    
-					b3BufferInfoCL bInfo[] = { 
-
-						b3BufferInfoCL( bodyBuf->getBufferCL() ), 
-						b3BufferInfoCL( shapeBuf->getBufferCL() ), 
-						b3BufferInfoCL( constraint->getBufferCL() ),
-						b3BufferInfoCL( m_numConstraints->getBufferCL() ), 
-						b3BufferInfoCL( m_offsets->getBufferCL() ) 
+
+					b3BufferInfoCL bInfo[] = {
+
+						b3BufferInfoCL(bodyBuf->getBufferCL()),
+						b3BufferInfoCL(shapeBuf->getBufferCL()),
+						b3BufferInfoCL(constraint->getBufferCL()),
+						b3BufferInfoCL(m_numConstraints->getBufferCL()),
+						b3BufferInfoCL(m_offsets->getBufferCL())
 #ifdef DEBUG_ME
-						,	b3BufferInfoCL(&gpuDebugInfo)
+							,
+						b3BufferInfoCL(&gpuDebugInfo)
 #endif
-						};
-
-					
+					};
 
-                    launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 					//launcher.setConst(  cdata.x );
-                    launcher.setConst(  cdata.y );
-                    launcher.setConst(  cdata.z );
-                    b3Int4 nSplit;
+					launcher.setConst(cdata.y);
+					launcher.setConst(cdata.z);
+					b3Int4 nSplit;
 					nSplit.x = B3_SOLVER_N_SPLIT_X;
 					nSplit.y = B3_SOLVER_N_SPLIT_Y;
 					nSplit.z = B3_SOLVER_N_SPLIT_Z;
 
-                    launcher.setConst(  nSplit );
-                    launcher.launch1D( numWorkItems, 64 );
+					launcher.setConst(nSplit);
+					launcher.launch1D(numWorkItems, 64);
 
-                    
 #else
-                    const char* fileName = "m_batchSolveKernel.bin";
-                    FILE* f = fopen(fileName,"rb");
-                    if (f)
-                    {
-                        int sizeInBytes=0;
-                        if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
-                        {
-                            printf("error, cannot get file size\n");
-                            exit(0);
-                        }
-                        
-                        unsigned char* buf = (unsigned char*) malloc(sizeInBytes);
-                        fread(buf,sizeInBytes,1,f);
-                        int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes,m_context);
-                        int num = *(int*)&buf[serializedBytes];
-                        
-                        launcher.launch1D( num);
-
-                        //this clFinish is for testing on errors
-                        clFinish(m_queue);
-                    }
+					const char* fileName = "m_batchSolveKernel.bin";
+					FILE* f = fopen(fileName, "rb");
+					if (f)
+					{
+						int sizeInBytes = 0;
+						if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
+						{
+							printf("error, cannot get file size\n");
+							exit(0);
+						}
+
+						unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
+						fread(buf, sizeInBytes, 1, f);
+						int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
+						int num = *(int*)&buf[serializedBytes];
+
+						launcher.launch1D(num);
+
+						//this clFinish is for testing on errors
+						clFinish(m_queue);
+					}
 
 #endif
-					
 
 #ifdef DEBUG_ME
 					clFinish(m_queue);
-					gpuDebugInfo.read(debugInfo,numWorkItems);
+					gpuDebugInfo.read(debugInfo, numWorkItems);
 					clFinish(m_queue);
-					for (int i=0;i<numWorkItems;i++)
+					for (int i = 0; i < numWorkItems; i++)
 					{
-						if (debugInfo[i].m_valInt2>0)
+						if (debugInfo[i].m_valInt2 > 0)
 						{
-							printf("debugInfo[i].m_valInt2 = %d\n",i,debugInfo[i].m_valInt2);
+							printf("debugInfo[i].m_valInt2 = %d\n", i, debugInfo[i].m_valInt2);
 						}
 
-						if (debugInfo[i].m_valInt3>0)
+						if (debugInfo[i].m_valInt3 > 0)
 						{
-							printf("debugInfo[i].m_valInt3 = %d\n",i,debugInfo[i].m_valInt3);
+							printf("debugInfo[i].m_valInt3 = %d\n", i, debugInfo[i].m_valInt3);
 						}
 					}
-#endif //DEBUG_ME
-
-
+#endif  //DEBUG_ME
 				}
 			}
-		
-			clFinish(m_queue);
-
 
+			clFinish(m_queue);
 		}
 
 		cdata.x = 1;
-		bool applyFriction=true;
+		bool applyFriction = true;
 		if (applyFriction)
-    	{
+		{
 			B3_PROFILE("m_batchSolveKernel iterations2");
-			for(int iter=0; iter<m_nIterations; iter++)
+			for (int iter = 0; iter < m_nIterations; iter++)
 			{
-				for(int ib=0; ib<B3_SOLVER_N_BATCHES; ib++)
+				for (int ib = 0; ib < B3_SOLVER_N_BATCHES; ib++)
 				{
 					cdata.z = ib;
-					
-
-					b3BufferInfoCL bInfo[] = { 
-						b3BufferInfoCL( bodyBuf->getBufferCL() ), 
-						b3BufferInfoCL( shapeBuf->getBufferCL() ), 
-						b3BufferInfoCL( constraint->getBufferCL() ),
-						b3BufferInfoCL( m_numConstraints->getBufferCL() ), 
-						b3BufferInfoCL( m_offsets->getBufferCL() )
+
+					b3BufferInfoCL bInfo[] = {
+						b3BufferInfoCL(bodyBuf->getBufferCL()),
+						b3BufferInfoCL(shapeBuf->getBufferCL()),
+						b3BufferInfoCL(constraint->getBufferCL()),
+						b3BufferInfoCL(m_numConstraints->getBufferCL()),
+						b3BufferInfoCL(m_offsets->getBufferCL())
 #ifdef DEBUG_ME
-						,b3BufferInfoCL(&gpuDebugInfo)
-#endif //DEBUG_ME
+							,
+						b3BufferInfoCL(&gpuDebugInfo)
+#endif  //DEBUG_ME
 					};
-					b3LauncherCL launcher( m_queue, m_solveFrictionKernel,"m_solveFrictionKernel" );
-					launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+					b3LauncherCL launcher(m_queue, m_solveFrictionKernel, "m_solveFrictionKernel");
+					launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 					//launcher.setConst(  cdata.x );
-                    launcher.setConst(  cdata.y );
-                    launcher.setConst(  cdata.z );
-                    b3Int4 nSplit;
+					launcher.setConst(cdata.y);
+					launcher.setConst(cdata.z);
+					b3Int4 nSplit;
 					nSplit.x = B3_SOLVER_N_SPLIT_X;
 					nSplit.y = B3_SOLVER_N_SPLIT_Y;
 					nSplit.z = B3_SOLVER_N_SPLIT_Z;
 
-                    launcher.setConst(  nSplit );
-                    
-					launcher.launch1D( 64*nn/B3_SOLVER_N_BATCHES, 64 );
+					launcher.setConst(nSplit);
+
+					launcher.launch1D(64 * nn / B3_SOLVER_N_BATCHES, 64);
 				}
 			}
 			clFinish(m_queue);
-			
 		}
 #ifdef DEBUG_ME
 		delete[] debugInfo;
-#endif //DEBUG_ME
+#endif  //DEBUG_ME
 	}
-
-	
 }
 
-void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, 
-	const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-	b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData, 
-	int nContacts, const ConstraintCfg& cfg )
+void b3Solver::convertToConstraints(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
+									const b3OpenCLArray<b3InertiaData>* shapeBuf,
+									b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
+									int nContacts, const ConstraintCfg& cfg)
 {
-//	b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
+	//	b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
 	contactCOut->resize(nContacts);
 	struct CB
 	{
@@ -959,30 +880,28 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyB
 	};
 
 	{
-
 		CB cdata;
 		cdata.m_nContacts = nContacts;
 		cdata.m_dt = cfg.m_dt;
 		cdata.m_positionDrift = cfg.m_positionDrift;
 		cdata.m_positionConstraintCoeff = cfg.m_positionConstraintCoeff;
 
-		
 		if (gConvertConstraintOnCpu)
 		{
 			b3AlignedObjectArray<b3RigidBodyData> gBodies;
-		bodyBuf->copyToHost(gBodies);
+			bodyBuf->copyToHost(gBodies);
 
-		b3AlignedObjectArray<b3Contact4> gContact;
-		contactsIn->copyToHost(gContact);
+			b3AlignedObjectArray<b3Contact4> gContact;
+			contactsIn->copyToHost(gContact);
+
+			b3AlignedObjectArray<b3InertiaData> gShapes;
+			shapeBuf->copyToHost(gShapes);
+
+			b3AlignedObjectArray<b3GpuConstraint4> gConstraintOut;
+			gConstraintOut.resize(nContacts);
 
-		b3AlignedObjectArray<b3InertiaData> gShapes;
-		shapeBuf->copyToHost(gShapes);
-		
-		b3AlignedObjectArray<b3GpuConstraint4> gConstraintOut;
-		gConstraintOut.resize(nContacts);
-		
 			B3_PROFILE("cpu contactToConstraintKernel");
-			for (int gIdx=0;gIdx<nContacts;gIdx++)
+			for (int gIdx = 0; gIdx < nContacts; gIdx++)
 			{
 				int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
 				int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
@@ -1001,40 +920,36 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyB
 
 				b3ContactConstraint4_t cs;
 
-    			setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
-					&gContact[gIdx], cdata.m_dt, cdata.m_positionDrift, cdata.m_positionConstraintCoeff,
-					&cs );
-		
+				setConstraint4(posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
+							   &gContact[gIdx], cdata.m_dt, cdata.m_positionDrift, cdata.m_positionConstraintCoeff,
+							   &cs);
+
 				cs.m_batchIdx = gContact[gIdx].m_batchIdx;
 
 				gConstraintOut[gIdx] = (b3GpuConstraint4&)cs;
 			}
 
 			contactCOut->copyFromHost(gConstraintOut);
-
-		} else
+		}
+		else
 		{
 			B3_PROFILE("gpu m_contactToConstraintKernel");
 
-		
-			b3BufferInfoCL bInfo[] = { b3BufferInfoCL( contactsIn->getBufferCL() ), b3BufferInfoCL( bodyBuf->getBufferCL() ), b3BufferInfoCL( shapeBuf->getBufferCL()),
-				b3BufferInfoCL( contactCOut->getBufferCL() )};
-			b3LauncherCL launcher( m_queue, m_contactToConstraintKernel,"m_contactToConstraintKernel" );
-			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+			b3BufferInfoCL bInfo[] = {b3BufferInfoCL(contactsIn->getBufferCL()), b3BufferInfoCL(bodyBuf->getBufferCL()), b3BufferInfoCL(shapeBuf->getBufferCL()),
+									  b3BufferInfoCL(contactCOut->getBufferCL())};
+			b3LauncherCL launcher(m_queue, m_contactToConstraintKernel, "m_contactToConstraintKernel");
+			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
 			//launcher.setConst(  cdata );
-        
+
 			launcher.setConst(cdata.m_nContacts);
 			launcher.setConst(cdata.m_dt);
 			launcher.setConst(cdata.m_positionDrift);
 			launcher.setConst(cdata.m_positionConstraintCoeff);
-        
-			launcher.launch1D( nContacts, 64 );	
-			clFinish(m_queue);
 
+			launcher.launch1D(nContacts, 64);
+			clFinish(m_queue);
 		}
 	}
-
-	
 }
 
 /*
@@ -1115,28 +1030,24 @@ void b3Solver::sortContacts(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
 }
 
 */
-void	b3Solver::batchContacts(  b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* nNative, b3OpenCLArray<unsigned int>* offsetsNative, int staticIdx )
+void b3Solver::batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* nNative, b3OpenCLArray<unsigned int>* offsetsNative, int staticIdx)
 {
-	
-	int numWorkItems = 64*B3_SOLVER_N_CELLS;
+	int numWorkItems = 64 * B3_SOLVER_N_CELLS;
 	{
 		B3_PROFILE("batch generation");
-		
+
 		b3Int4 cdata;
 		cdata.x = nContacts;
 		cdata.y = 0;
 		cdata.z = staticIdx;
 
-		
 #ifdef BATCH_DEBUG
-		SolverDebugInfo* debugInfo = new  SolverDebugInfo[numWorkItems];
-		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device,numWorkItems);
-		memset(debugInfo,0,sizeof(SolverDebugInfo)*numWorkItems);
-		gpuDebugInfo.write(debugInfo,numWorkItems);
+		SolverDebugInfo* debugInfo = new SolverDebugInfo[numWorkItems];
+		adl::b3OpenCLArray<SolverDebugInfo> gpuDebugInfo(data->m_device, numWorkItems);
+		memset(debugInfo, 0, sizeof(SolverDebugInfo) * numWorkItems);
+		gpuDebugInfo.write(debugInfo, numWorkItems);
 #endif
 
-		
-
 #if 0
 		b3BufferInfoCL bInfo[] = { 
 			b3BufferInfoCL( contacts->getBufferCL() ), 
@@ -1148,8 +1059,6 @@ void	b3Solver::batchContacts(  b3OpenCLArray<b3Contact4>* contacts, int nContact
 #endif
 		};
 #endif
-		
-		
 
 		{
 			m_batchSizes.resize(nNative->size());
@@ -1157,22 +1066,21 @@ void	b3Solver::batchContacts(  b3OpenCLArray<b3Contact4>* contacts, int nContact
 			//b3LauncherCL launcher( m_queue, m_batchingKernel);
 			cl_kernel k = useNewBatchingKernel ? m_batchingKernelNew : m_batchingKernel;
 
-			b3LauncherCL launcher( m_queue, k,"*batchingKernel");
-			if (!useNewBatchingKernel )
+			b3LauncherCL launcher(m_queue, k, "*batchingKernel");
+			if (!useNewBatchingKernel)
 			{
-				launcher.setBuffer( contacts->getBufferCL() );
+				launcher.setBuffer(contacts->getBufferCL());
 			}
-			launcher.setBuffer( m_contactBuffer2->getBufferCL() );
-			launcher.setBuffer( nNative->getBufferCL());
-			launcher.setBuffer( offsetsNative->getBufferCL());
-			
+			launcher.setBuffer(m_contactBuffer2->getBufferCL());
+			launcher.setBuffer(nNative->getBufferCL());
+			launcher.setBuffer(offsetsNative->getBufferCL());
+
 			launcher.setBuffer(m_batchSizes.getBufferCL());
-			
 
 			//launcher.setConst(  cdata );
-            launcher.setConst(staticIdx);
-            
-			launcher.launch1D( numWorkItems, 64 );
+			launcher.setConst(staticIdx);
+
+			launcher.launch1D(numWorkItems, 64);
 			//clFinish(m_queue);
 			//b3AlignedObjectArray<int> batchSizesCPU;
 			//m_batchSizes.copyToHost(batchSizesCPU);
@@ -1180,46 +1088,41 @@ void	b3Solver::batchContacts(  b3OpenCLArray<b3Contact4>* contacts, int nContact
 		}
 
 #ifdef BATCH_DEBUG
-	aaaa
-		b3Contact4* hostContacts = new b3Contact4[nContacts];
-		m_contactBuffer->read(hostContacts,nContacts);
+		aaaa
+			b3Contact4* hostContacts = new b3Contact4[nContacts];
+		m_contactBuffer->read(hostContacts, nContacts);
 		clFinish(m_queue);
 
-		gpuDebugInfo.read(debugInfo,numWorkItems);
+		gpuDebugInfo.read(debugInfo, numWorkItems);
 		clFinish(m_queue);
 
-		for (int i=0;i<numWorkItems;i++)
+		for (int i = 0; i < numWorkItems; i++)
 		{
-			if (debugInfo[i].m_valInt1>0)
+			if (debugInfo[i].m_valInt1 > 0)
 			{
 				printf("catch\n");
 			}
-			if (debugInfo[i].m_valInt2>0)
+			if (debugInfo[i].m_valInt2 > 0)
 			{
 				printf("catch22\n");
 			}
 
-			if (debugInfo[i].m_valInt3>0)
+			if (debugInfo[i].m_valInt3 > 0)
 			{
 				printf("catch666\n");
 			}
 
-			if (debugInfo[i].m_valInt4>0)
+			if (debugInfo[i].m_valInt4 > 0)
 			{
 				printf("catch777\n");
 			}
 		}
 		delete[] debugInfo;
-#endif //BATCH_DEBUG
-
+#endif  //BATCH_DEBUG
 	}
 
-//	copy buffer to buffer
+	//	copy buffer to buffer
 	//b3Assert(m_contactBuffer->size()==nContacts);
 	//contacts->copyFromOpenCLArray( *m_contactBuffer);
 	//clFinish(m_queue);//needed?
-	
-	
-	
 }
-
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h
index b37f2f1bec..ee63531d78 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 */
 //Originally written by Takahiro Harada
 
-
 #ifndef __ADL_SOLVER_H
 #define __ADL_SOLVER_H
 
@@ -29,98 +28,83 @@ subject to the following restrictions:
 
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 
-
-#define B3NEXTMULTIPLEOF(num, alignment) (((num)/(alignment) + (((num)%(alignment)==0)?0:1))*(alignment))
+#define B3NEXTMULTIPLEOF(num, alignment) (((num) / (alignment) + (((num) % (alignment) == 0) ? 0 : 1)) * (alignment))
 
 enum
 {
-	B3_SOLVER_N_SPLIT_X = 8,//16,//4,
-	B3_SOLVER_N_SPLIT_Y = 4,//16,//4,
-	B3_SOLVER_N_SPLIT_Z = 8,//,
-	B3_SOLVER_N_CELLS = B3_SOLVER_N_SPLIT_X*B3_SOLVER_N_SPLIT_Y*B3_SOLVER_N_SPLIT_Z,
-	B3_SOLVER_N_BATCHES = 8,//4,//8,//4,
+	B3_SOLVER_N_SPLIT_X = 8,  //16,//4,
+	B3_SOLVER_N_SPLIT_Y = 4,  //16,//4,
+	B3_SOLVER_N_SPLIT_Z = 8,  //,
+	B3_SOLVER_N_CELLS = B3_SOLVER_N_SPLIT_X * B3_SOLVER_N_SPLIT_Y * B3_SOLVER_N_SPLIT_Z,
+	B3_SOLVER_N_BATCHES = 8,  //4,//8,//4,
 	B3_MAX_NUM_BATCHES = 128,
 };
 
 class b3SolverBase
 {
-	public:
-		
-
-		struct ConstraintCfg
-		{
-			ConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(-1) {}
-
-			float m_positionDrift;
-			float m_positionConstraintCoeff;
-			float m_dt;
-			bool m_enableParallelSolve;
-			float m_batchCellSize;
-			int m_staticIdx;
-		};
-		
+public:
+	struct ConstraintCfg
+	{
+		ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(-1) {}
+
+		float m_positionDrift;
+		float m_positionConstraintCoeff;
+		float m_dt;
+		bool m_enableParallelSolve;
+		float m_batchCellSize;
+		int m_staticIdx;
+	};
 };
 
 class b3Solver : public b3SolverBase
 {
-	public:
-
-		cl_context m_context;
-		cl_device_id m_device;
-		cl_command_queue m_queue;
-				
-
-		b3OpenCLArray<unsigned int>* m_numConstraints;
-		b3OpenCLArray<unsigned int>* m_offsets;
-		b3OpenCLArray<int> m_batchSizes;
-		
-		
-		int m_nIterations;
-		cl_kernel m_batchingKernel;
-		cl_kernel m_batchingKernelNew;
-		cl_kernel m_solveContactKernel;
-		cl_kernel m_solveFrictionKernel;
-		cl_kernel m_contactToConstraintKernel;
-		cl_kernel m_setSortDataKernel;
-		cl_kernel m_reorderContactKernel;
-		cl_kernel m_copyConstraintKernel;
+public:
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
 
-		class b3RadixSort32CL*	m_sort32;
-		class b3BoundSearchCL*	m_search;
-		class b3PrefixScanCL*	m_scan;
+	b3OpenCLArray<unsigned int>* m_numConstraints;
+	b3OpenCLArray<unsigned int>* m_offsets;
+	b3OpenCLArray<int> m_batchSizes;
 
-		b3OpenCLArray<b3SortData>* m_sortDataBuffer;
-		b3OpenCLArray<b3Contact4>* m_contactBuffer2;
+	int m_nIterations;
+	cl_kernel m_batchingKernel;
+	cl_kernel m_batchingKernelNew;
+	cl_kernel m_solveContactKernel;
+	cl_kernel m_solveFrictionKernel;
+	cl_kernel m_contactToConstraintKernel;
+	cl_kernel m_setSortDataKernel;
+	cl_kernel m_reorderContactKernel;
+	cl_kernel m_copyConstraintKernel;
 
-		enum
-		{
-			DYNAMIC_CONTACT_ALLOCATION_THRESHOLD = 2000000,
-		};
+	class b3RadixSort32CL* m_sort32;
+	class b3BoundSearchCL* m_search;
+	class b3PrefixScanCL* m_scan;
 
-		
+	b3OpenCLArray<b3SortData>* m_sortDataBuffer;
+	b3OpenCLArray<b3Contact4>* m_contactBuffer2;
 
-		
-		b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
+	enum
+	{
+		DYNAMIC_CONTACT_ALLOCATION_THRESHOLD = 2000000,
+	};
 
-		virtual ~b3Solver();
-		
-		void solveContactConstraint( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* inertiaBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches);
+	b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
 
-		void solveContactConstraintHost(  b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, b3AlignedObjectArray<int>* batchSizes);
+	virtual ~b3Solver();
 
+	void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* inertiaBuf,
+								b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches);
 
-		void convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, 
-			const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData, 
-			int nContacts, const ConstraintCfg& cfg );
+	void solveContactConstraintHost(b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf,
+									b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, b3AlignedObjectArray<int>* batchSizes);
 
-		void	batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx );
+	void convertToConstraints(const b3OpenCLArray<b3RigidBodyData>* bodyBuf,
+							  const b3OpenCLArray<b3InertiaData>* shapeBuf,
+							  b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData,
+							  int nContacts, const ConstraintCfg& cfg);
 
+	void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
 };
 
-
-
-
-#endif //__ADL_SOLVER_H
+#endif  //__ADL_SOLVER_H
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
index 150eedc94b..7c73c96baa 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
@@ -1,388 +1,387 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* batchingKernelsCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile __global int*\n"
-"#endif\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"#define WG_SIZE 64\n"
-"typedef struct \n"
-"{\n"
-"	int m_n;\n"
-"	int m_start;\n"
-"	int m_staticIdx;\n"
-"	int m_paddings[1];\n"
-"} ConstBuffer;\n"
-"typedef struct \n"
-"{\n"
-"	int m_a;\n"
-"	int m_b;\n"
-"	u32 m_idx;\n"
-"}Elem;\n"
-"#define STACK_SIZE (WG_SIZE*10)\n"
-"//#define STACK_SIZE (WG_SIZE)\n"
-"#define RING_SIZE 1024\n"
-"#define RING_SIZE_MASK (RING_SIZE-1)\n"
-"#define CHECK_SIZE (WG_SIZE)\n"
-"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
-"#define RING_END ldsTmp\n"
-"u32 readBuf(__local u32* buff, int idx)\n"
-"{\n"
-"	idx = idx % (32*CHECK_SIZE);\n"
-"	int bitIdx = idx%32;\n"
-"	int bufIdx = idx/32;\n"
-"	return buff[bufIdx] & (1<<bitIdx);\n"
-"}\n"
-"void writeBuf(__local u32* buff, int idx)\n"
-"{\n"
-"	idx = idx % (32*CHECK_SIZE);\n"
-"	int bitIdx = idx%32;\n"
-"	int bufIdx = idx/32;\n"
-"//	buff[bufIdx] |= (1<<bitIdx);\n"
-"	atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-"}\n"
-"u32 tryWrite(__local u32* buff, int idx)\n"
-"{\n"
-"	idx = idx % (32*CHECK_SIZE);\n"
-"	int bitIdx = idx%32;\n"
-"	int bufIdx = idx/32;\n"
-"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-"	return ((ans >> bitIdx)&1) == 0;\n"
-"}\n"
-"//	batching on the GPU\n"
-"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
-"		__global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
-"		int m_staticIdx )\n"
-"{\n"
-"	__local u32 ldsStackIdx[STACK_SIZE];\n"
-"	__local u32 ldsStackEnd;\n"
-"	__local Elem ldsRingElem[RING_SIZE];\n"
-"	__local u32 ldsRingEnd;\n"
-"	__local u32 ldsTmp;\n"
-"	__local u32 ldsCheckBuffer[CHECK_SIZE];\n"
-"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
-"	__local u32 ldsGEnd;\n"
-"	__local u32 ldsDstEnd;\n"
-"	int wgIdx = GET_GROUP_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	\n"
-"	const int m_n = gN[wgIdx];\n"
-"	const int m_start = gStart[wgIdx];\n"
-"		\n"
-"	if( lIdx == 0 )\n"
-"	{\n"
-"		ldsRingEnd = 0;\n"
-"		ldsGEnd = 0;\n"
-"		ldsStackEnd = 0;\n"
-"		ldsDstEnd = m_start;\n"
-"	}\n"
-"	\n"
-"	\n"
-"	\n"
-"//	while(1)\n"
-"//was 250\n"
-"	int ie=0;\n"
-"	int maxBatch = 0;\n"
-"	for(ie=0; ie<50; ie++)\n"
-"	{\n"
-"		ldsFixedBuffer[lIdx] = 0;\n"
-"		for(int giter=0; giter<4; giter++)\n"
-"		{\n"
-"			int ringCap = GET_RING_CAPACITY;\n"
-"		\n"
-"			//	1. fill ring\n"
-"			if( ldsGEnd < m_n )\n"
-"			{\n"
-"				while( ringCap > WG_SIZE )\n"
-"				{\n"
-"					if( ldsGEnd >= m_n ) break;\n"
-"					if( lIdx < ringCap - WG_SIZE )\n"
-"					{\n"
-"						int srcIdx;\n"
-"						AtomInc1( ldsGEnd, srcIdx );\n"
-"						if( srcIdx < m_n )\n"
-"						{\n"
-"							int dstIdx;\n"
-"							AtomInc1( ldsRingEnd, dstIdx );\n"
-"							\n"
-"							int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
-"							int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
-"							ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
-"							ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
-"							ldsRingElem[dstIdx].m_idx = srcIdx;\n"
-"						}\n"
-"					}\n"
-"					ringCap = GET_RING_CAPACITY;\n"
-"				}\n"
-"			}\n"
-"			GROUP_LDS_BARRIER;\n"
-"	\n"
-"			//	2. fill stack\n"
-"			__local Elem* dst = ldsRingElem;\n"
-"			if( lIdx == 0 ) RING_END = 0;\n"
-"			int srcIdx=lIdx;\n"
-"			int end = ldsRingEnd;\n"
-"			{\n"
-"				for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
-"				{\n"
-"					Elem e;\n"
-"					if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
-"					bool done = (srcIdx<end)?false:true;\n"
-"					for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
-"					\n"
-"					if( !done )\n"
-"					{\n"
-"						int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
-"						int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
-"						if( aUsed==0 && bUsed==0 )\n"
-"						{\n"
-"							int aAvailable=1;\n"
-"							int bAvailable=1;\n"
-"							int ea = abs(e.m_a);\n"
-"							int eb = abs(e.m_b);\n"
-"							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
-"							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
-"							\n"
-"							if (!aStatic)\n"
-"								aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
-"							if (!bStatic)\n"
-"								bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
-"							\n"
-"							//aAvailable = aStatic? 1: aAvailable;\n"
-"							//bAvailable = bStatic? 1: bAvailable;\n"
-"							bool success = (aAvailable && bAvailable);\n"
-"							if(success)\n"
-"							{\n"
-"							\n"
-"								if (!aStatic)\n"
-"									writeBuf( ldsFixedBuffer, ea );\n"
-"								if (!bStatic)\n"
-"									writeBuf( ldsFixedBuffer, eb );\n"
-"							}\n"
-"							done = success;\n"
-"						}\n"
-"					}\n"
-"					//	put it aside\n"
-"					if(srcIdx<end)\n"
-"					{\n"
-"						if( done )\n"
-"						{\n"
-"							int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
-"							if( dstIdx < STACK_SIZE )\n"
-"								ldsStackIdx[dstIdx] = e.m_idx;\n"
-"							else{\n"
-"								done = false;\n"
-"								AtomAdd( ldsStackEnd, -1 );\n"
-"							}\n"
-"						}\n"
-"						if( !done )\n"
-"						{\n"
-"							int dstIdx; AtomInc1( RING_END, dstIdx );\n"
-"							dst[dstIdx] = e;\n"
-"						}\n"
-"					}\n"
-"					//	if filled, flush\n"
-"					if( ldsStackEnd == STACK_SIZE )\n"
-"					{\n"
-"						for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
-"						{\n"
-"							int idx = m_start + ldsStackIdx[i];\n"
-"							int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
-"							gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
-"							gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
-"						}\n"
-"						if( lIdx == 0 ) ldsStackEnd = 0;\n"
-"						//for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
-"						ldsFixedBuffer[lIdx] = 0;\n"
-"					}\n"
-"				}\n"
-"			}\n"
-"			if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
-"		{\n"
-"			int idx = m_start + ldsStackIdx[i];\n"
-"			int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
-"			gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
-"			gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
-"		}\n"
-"		//	in case it couldn't consume any pair. Flush them\n"
-"		//	todo. Serial batch worth while?\n"
-"		if( ldsStackEnd == 0 )\n"
-"		{\n"
-"			for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
-"			{\n"
-"				int idx = m_start + ldsRingElem[i].m_idx;\n"
-"				int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
-"				gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
-"				int curBatch = 100+i;\n"
-"				if (maxBatch < curBatch)\n"
-"					maxBatch = curBatch;\n"
-"				\n"
-"				gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
-"				\n"
-"			}\n"
-"			GROUP_LDS_BARRIER;\n"
-"			if( lIdx == 0 ) ldsRingEnd = 0;\n"
-"		}\n"
-"		if( lIdx == 0 ) ldsStackEnd = 0;\n"
-"		GROUP_LDS_BARRIER;\n"
-"		//	termination\n"
-"		if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
-"			break;\n"
-"	}\n"
-"	if( lIdx == 0 )\n"
-"	{\n"
-"		if (maxBatch < ie)\n"
-"			maxBatch=ie;\n"
-"		batchSizes[wgIdx]=maxBatch;\n"
-"	}\n"
-"}\n"
-;
+static const char* batchingKernelsCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile __global int*\n"
+	"#endif\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_n;\n"
+	"	int m_start;\n"
+	"	int m_staticIdx;\n"
+	"	int m_paddings[1];\n"
+	"} ConstBuffer;\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_a;\n"
+	"	int m_b;\n"
+	"	u32 m_idx;\n"
+	"}Elem;\n"
+	"#define STACK_SIZE (WG_SIZE*10)\n"
+	"//#define STACK_SIZE (WG_SIZE)\n"
+	"#define RING_SIZE 1024\n"
+	"#define RING_SIZE_MASK (RING_SIZE-1)\n"
+	"#define CHECK_SIZE (WG_SIZE)\n"
+	"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
+	"#define RING_END ldsTmp\n"
+	"u32 readBuf(__local u32* buff, int idx)\n"
+	"{\n"
+	"	idx = idx % (32*CHECK_SIZE);\n"
+	"	int bitIdx = idx%32;\n"
+	"	int bufIdx = idx/32;\n"
+	"	return buff[bufIdx] & (1<<bitIdx);\n"
+	"}\n"
+	"void writeBuf(__local u32* buff, int idx)\n"
+	"{\n"
+	"	idx = idx % (32*CHECK_SIZE);\n"
+	"	int bitIdx = idx%32;\n"
+	"	int bufIdx = idx/32;\n"
+	"//	buff[bufIdx] |= (1<<bitIdx);\n"
+	"	atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
+	"}\n"
+	"u32 tryWrite(__local u32* buff, int idx)\n"
+	"{\n"
+	"	idx = idx % (32*CHECK_SIZE);\n"
+	"	int bitIdx = idx%32;\n"
+	"	int bufIdx = idx/32;\n"
+	"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
+	"	return ((ans >> bitIdx)&1) == 0;\n"
+	"}\n"
+	"//	batching on the GPU\n"
+	"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
+	"		__global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
+	"		int m_staticIdx )\n"
+	"{\n"
+	"	__local u32 ldsStackIdx[STACK_SIZE];\n"
+	"	__local u32 ldsStackEnd;\n"
+	"	__local Elem ldsRingElem[RING_SIZE];\n"
+	"	__local u32 ldsRingEnd;\n"
+	"	__local u32 ldsTmp;\n"
+	"	__local u32 ldsCheckBuffer[CHECK_SIZE];\n"
+	"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
+	"	__local u32 ldsGEnd;\n"
+	"	__local u32 ldsDstEnd;\n"
+	"	int wgIdx = GET_GROUP_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	\n"
+	"	const int m_n = gN[wgIdx];\n"
+	"	const int m_start = gStart[wgIdx];\n"
+	"		\n"
+	"	if( lIdx == 0 )\n"
+	"	{\n"
+	"		ldsRingEnd = 0;\n"
+	"		ldsGEnd = 0;\n"
+	"		ldsStackEnd = 0;\n"
+	"		ldsDstEnd = m_start;\n"
+	"	}\n"
+	"	\n"
+	"	\n"
+	"	\n"
+	"//	while(1)\n"
+	"//was 250\n"
+	"	int ie=0;\n"
+	"	int maxBatch = 0;\n"
+	"	for(ie=0; ie<50; ie++)\n"
+	"	{\n"
+	"		ldsFixedBuffer[lIdx] = 0;\n"
+	"		for(int giter=0; giter<4; giter++)\n"
+	"		{\n"
+	"			int ringCap = GET_RING_CAPACITY;\n"
+	"		\n"
+	"			//	1. fill ring\n"
+	"			if( ldsGEnd < m_n )\n"
+	"			{\n"
+	"				while( ringCap > WG_SIZE )\n"
+	"				{\n"
+	"					if( ldsGEnd >= m_n ) break;\n"
+	"					if( lIdx < ringCap - WG_SIZE )\n"
+	"					{\n"
+	"						int srcIdx;\n"
+	"						AtomInc1( ldsGEnd, srcIdx );\n"
+	"						if( srcIdx < m_n )\n"
+	"						{\n"
+	"							int dstIdx;\n"
+	"							AtomInc1( ldsRingEnd, dstIdx );\n"
+	"							\n"
+	"							int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
+	"							int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
+	"							ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
+	"							ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
+	"							ldsRingElem[dstIdx].m_idx = srcIdx;\n"
+	"						}\n"
+	"					}\n"
+	"					ringCap = GET_RING_CAPACITY;\n"
+	"				}\n"
+	"			}\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"	\n"
+	"			//	2. fill stack\n"
+	"			__local Elem* dst = ldsRingElem;\n"
+	"			if( lIdx == 0 ) RING_END = 0;\n"
+	"			int srcIdx=lIdx;\n"
+	"			int end = ldsRingEnd;\n"
+	"			{\n"
+	"				for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
+	"				{\n"
+	"					Elem e;\n"
+	"					if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
+	"					bool done = (srcIdx<end)?false:true;\n"
+	"					for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
+	"					\n"
+	"					if( !done )\n"
+	"					{\n"
+	"						int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
+	"						int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
+	"						if( aUsed==0 && bUsed==0 )\n"
+	"						{\n"
+	"							int aAvailable=1;\n"
+	"							int bAvailable=1;\n"
+	"							int ea = abs(e.m_a);\n"
+	"							int eb = abs(e.m_b);\n"
+	"							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
+	"							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
+	"							\n"
+	"							if (!aStatic)\n"
+	"								aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
+	"							if (!bStatic)\n"
+	"								bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
+	"							\n"
+	"							//aAvailable = aStatic? 1: aAvailable;\n"
+	"							//bAvailable = bStatic? 1: bAvailable;\n"
+	"							bool success = (aAvailable && bAvailable);\n"
+	"							if(success)\n"
+	"							{\n"
+	"							\n"
+	"								if (!aStatic)\n"
+	"									writeBuf( ldsFixedBuffer, ea );\n"
+	"								if (!bStatic)\n"
+	"									writeBuf( ldsFixedBuffer, eb );\n"
+	"							}\n"
+	"							done = success;\n"
+	"						}\n"
+	"					}\n"
+	"					//	put it aside\n"
+	"					if(srcIdx<end)\n"
+	"					{\n"
+	"						if( done )\n"
+	"						{\n"
+	"							int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
+	"							if( dstIdx < STACK_SIZE )\n"
+	"								ldsStackIdx[dstIdx] = e.m_idx;\n"
+	"							else{\n"
+	"								done = false;\n"
+	"								AtomAdd( ldsStackEnd, -1 );\n"
+	"							}\n"
+	"						}\n"
+	"						if( !done )\n"
+	"						{\n"
+	"							int dstIdx; AtomInc1( RING_END, dstIdx );\n"
+	"							dst[dstIdx] = e;\n"
+	"						}\n"
+	"					}\n"
+	"					//	if filled, flush\n"
+	"					if( ldsStackEnd == STACK_SIZE )\n"
+	"					{\n"
+	"						for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
+	"						{\n"
+	"							int idx = m_start + ldsStackIdx[i];\n"
+	"							int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
+	"							gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
+	"							gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
+	"						}\n"
+	"						if( lIdx == 0 ) ldsStackEnd = 0;\n"
+	"						//for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
+	"						ldsFixedBuffer[lIdx] = 0;\n"
+	"					}\n"
+	"				}\n"
+	"			}\n"
+	"			if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
+	"		{\n"
+	"			int idx = m_start + ldsStackIdx[i];\n"
+	"			int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
+	"			gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
+	"			gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
+	"		}\n"
+	"		//	in case it couldn't consume any pair. Flush them\n"
+	"		//	todo. Serial batch worth while?\n"
+	"		if( ldsStackEnd == 0 )\n"
+	"		{\n"
+	"			for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
+	"			{\n"
+	"				int idx = m_start + ldsRingElem[i].m_idx;\n"
+	"				int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
+	"				gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
+	"				int curBatch = 100+i;\n"
+	"				if (maxBatch < curBatch)\n"
+	"					maxBatch = curBatch;\n"
+	"				\n"
+	"				gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
+	"				\n"
+	"			}\n"
+	"			GROUP_LDS_BARRIER;\n"
+	"			if( lIdx == 0 ) ldsRingEnd = 0;\n"
+	"		}\n"
+	"		if( lIdx == 0 ) ldsStackEnd = 0;\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		//	termination\n"
+	"		if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
+	"			break;\n"
+	"	}\n"
+	"	if( lIdx == 0 )\n"
+	"	{\n"
+	"		if (maxBatch < ie)\n"
+	"			maxBatch=ie;\n"
+	"		batchSizes[wgIdx]=maxBatch;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
index 1e5957adae..05800656cb 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
@@ -1,291 +1,290 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* batchingKernelsNewCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Erwin Coumans\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile __global int*\n"
-"#endif\n"
-"#define SIMD_WIDTH 64\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"#define WG_SIZE 64\n"
-"typedef struct \n"
-"{\n"
-"	int m_n;\n"
-"	int m_start;\n"
-"	int m_staticIdx;\n"
-"	int m_paddings[1];\n"
-"} ConstBuffer;\n"
-"typedef struct \n"
-"{\n"
-"	int m_a;\n"
-"	int m_b;\n"
-"	u32 m_idx;\n"
-"}Elem;\n"
-"//	batching on the GPU\n"
-"__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, 	__global const u32* gN, __global const u32* gStart, int m_staticIdx )\n"
-"{\n"
-"	int wgIdx = GET_GROUP_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	\n"
-"	const int m_n = gN[wgIdx];\n"
-"	const int m_start = gStart[wgIdx];\n"
-"		\n"
-"	if( lIdx == 0 )\n"
-"	{\n"
-"		for (int i=0;i<m_n;i++)\n"
-"		{\n"
-"			int srcIdx = i+m_start;\n"
-"			int batchIndex = i;\n"
-"			gConstraints[ srcIdx ].m_batchIdx = batchIndex;	\n"
-"		}\n"
-"	}\n"
-"}\n"
-"#define CHECK_SIZE (WG_SIZE)\n"
-"u32 readBuf(__local u32* buff, int idx)\n"
-"{\n"
-"	idx = idx % (32*CHECK_SIZE);\n"
-"	int bitIdx = idx%32;\n"
-"	int bufIdx = idx/32;\n"
-"	return buff[bufIdx] & (1<<bitIdx);\n"
-"}\n"
-"void writeBuf(__local u32* buff, int idx)\n"
-"{\n"
-"	idx = idx % (32*CHECK_SIZE);\n"
-"	int bitIdx = idx%32;\n"
-"	int bufIdx = idx/32;\n"
-"	buff[bufIdx] |= (1<<bitIdx);\n"
-"	//atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-"}\n"
-"u32 tryWrite(__local u32* buff, int idx)\n"
-"{\n"
-"	idx = idx % (32*CHECK_SIZE);\n"
-"	int bitIdx = idx%32;\n"
-"	int bufIdx = idx/32;\n"
-"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
-"	return ((ans >> bitIdx)&1) == 0;\n"
-"}\n"
-"//	batching on the GPU\n"
-"__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )\n"
-"{\n"
-"	int wgIdx = GET_GROUP_IDX;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	const int numConstraints = gN[wgIdx];\n"
-"	const int m_start = gStart[wgIdx];\n"
-"	b3Contact4Data_t tmp;\n"
-"	\n"
-"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
-"		\n"
-"	\n"
-"	\n"
-"	\n"
-"	\n"
-"	if( lIdx == 0 )\n"
-"	{\n"
-"	\n"
-"		\n"
-"		__global struct b3Contact4Data* cs = &gConstraints[m_start];	\n"
-"	\n"
-"		\n"
-"		int numValidConstraints = 0;\n"
-"		int batchIdx = 0;\n"
-"		while( numValidConstraints < numConstraints)\n"
-"		{\n"
-"			int nCurrentBatch = 0;\n"
-"			//	clear flag\n"
-"	\n"
-"			for(int i=0; i<CHECK_SIZE; i++) \n"
-"				ldsFixedBuffer[i] = 0;		\n"
-"			for(int i=numValidConstraints; i<numConstraints; i++)\n"
-"			{\n"
-"				int bodyAS = cs[i].m_bodyAPtrAndSignBit;\n"
-"				int bodyBS = cs[i].m_bodyBPtrAndSignBit;\n"
-"				int bodyA = abs(bodyAS);\n"
-"				int bodyB = abs(bodyBS);\n"
-"				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;\n"
-"				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;\n"
-"				int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);\n"
-"				int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);\n"
-"				\n"
-"				if( aUnavailable==0 && bUnavailable==0 ) // ok\n"
-"				{\n"
-"					if (!aIsStatic)\n"
-"					{\n"
-"						writeBuf( ldsFixedBuffer, bodyA );\n"
-"					}\n"
-"					if (!bIsStatic)\n"
-"					{\n"
-"						writeBuf( ldsFixedBuffer, bodyB );\n"
-"					}\n"
-"					cs[i].m_batchIdx = batchIdx;\n"
-"					if (i!=numValidConstraints)\n"
-"					{\n"
-"						tmp = cs[i];\n"
-"						cs[i] = cs[numValidConstraints];\n"
-"						cs[numValidConstraints]  = tmp;\n"
-"					}\n"
-"					numValidConstraints++;\n"
-"					\n"
-"					nCurrentBatch++;\n"
-"					if( nCurrentBatch == SIMD_WIDTH)\n"
-"					{\n"
-"						nCurrentBatch = 0;\n"
-"						for(int i=0; i<CHECK_SIZE; i++) \n"
-"							ldsFixedBuffer[i] = 0;\n"
-"						\n"
-"					}\n"
-"				}\n"
-"			}//for\n"
-"			batchIdx ++;\n"
-"		}//while\n"
-"		\n"
-"		batchSizes[wgIdx] = batchIdx;\n"
-"	}//if( lIdx == 0 )\n"
-"	\n"
-"	//return batchIdx;\n"
-"}\n"
-;
+static const char* batchingKernelsNewCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Erwin Coumans\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile __global int*\n"
+	"#endif\n"
+	"#define SIMD_WIDTH 64\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_n;\n"
+	"	int m_start;\n"
+	"	int m_staticIdx;\n"
+	"	int m_paddings[1];\n"
+	"} ConstBuffer;\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_a;\n"
+	"	int m_b;\n"
+	"	u32 m_idx;\n"
+	"}Elem;\n"
+	"//	batching on the GPU\n"
+	"__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, 	__global const u32* gN, __global const u32* gStart, int m_staticIdx )\n"
+	"{\n"
+	"	int wgIdx = GET_GROUP_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	\n"
+	"	const int m_n = gN[wgIdx];\n"
+	"	const int m_start = gStart[wgIdx];\n"
+	"		\n"
+	"	if( lIdx == 0 )\n"
+	"	{\n"
+	"		for (int i=0;i<m_n;i++)\n"
+	"		{\n"
+	"			int srcIdx = i+m_start;\n"
+	"			int batchIndex = i;\n"
+	"			gConstraints[ srcIdx ].m_batchIdx = batchIndex;	\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"#define CHECK_SIZE (WG_SIZE)\n"
+	"u32 readBuf(__local u32* buff, int idx)\n"
+	"{\n"
+	"	idx = idx % (32*CHECK_SIZE);\n"
+	"	int bitIdx = idx%32;\n"
+	"	int bufIdx = idx/32;\n"
+	"	return buff[bufIdx] & (1<<bitIdx);\n"
+	"}\n"
+	"void writeBuf(__local u32* buff, int idx)\n"
+	"{\n"
+	"	idx = idx % (32*CHECK_SIZE);\n"
+	"	int bitIdx = idx%32;\n"
+	"	int bufIdx = idx/32;\n"
+	"	buff[bufIdx] |= (1<<bitIdx);\n"
+	"	//atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
+	"}\n"
+	"u32 tryWrite(__local u32* buff, int idx)\n"
+	"{\n"
+	"	idx = idx % (32*CHECK_SIZE);\n"
+	"	int bitIdx = idx%32;\n"
+	"	int bufIdx = idx/32;\n"
+	"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
+	"	return ((ans >> bitIdx)&1) == 0;\n"
+	"}\n"
+	"//	batching on the GPU\n"
+	"__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )\n"
+	"{\n"
+	"	int wgIdx = GET_GROUP_IDX;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	const int numConstraints = gN[wgIdx];\n"
+	"	const int m_start = gStart[wgIdx];\n"
+	"	b3Contact4Data_t tmp;\n"
+	"	\n"
+	"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
+	"		\n"
+	"	\n"
+	"	\n"
+	"	\n"
+	"	\n"
+	"	if( lIdx == 0 )\n"
+	"	{\n"
+	"	\n"
+	"		\n"
+	"		__global struct b3Contact4Data* cs = &gConstraints[m_start];	\n"
+	"	\n"
+	"		\n"
+	"		int numValidConstraints = 0;\n"
+	"		int batchIdx = 0;\n"
+	"		while( numValidConstraints < numConstraints)\n"
+	"		{\n"
+	"			int nCurrentBatch = 0;\n"
+	"			//	clear flag\n"
+	"	\n"
+	"			for(int i=0; i<CHECK_SIZE; i++) \n"
+	"				ldsFixedBuffer[i] = 0;		\n"
+	"			for(int i=numValidConstraints; i<numConstraints; i++)\n"
+	"			{\n"
+	"				int bodyAS = cs[i].m_bodyAPtrAndSignBit;\n"
+	"				int bodyBS = cs[i].m_bodyBPtrAndSignBit;\n"
+	"				int bodyA = abs(bodyAS);\n"
+	"				int bodyB = abs(bodyBS);\n"
+	"				bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;\n"
+	"				bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;\n"
+	"				int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);\n"
+	"				int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);\n"
+	"				\n"
+	"				if( aUnavailable==0 && bUnavailable==0 ) // ok\n"
+	"				{\n"
+	"					if (!aIsStatic)\n"
+	"					{\n"
+	"						writeBuf( ldsFixedBuffer, bodyA );\n"
+	"					}\n"
+	"					if (!bIsStatic)\n"
+	"					{\n"
+	"						writeBuf( ldsFixedBuffer, bodyB );\n"
+	"					}\n"
+	"					cs[i].m_batchIdx = batchIdx;\n"
+	"					if (i!=numValidConstraints)\n"
+	"					{\n"
+	"						tmp = cs[i];\n"
+	"						cs[i] = cs[numValidConstraints];\n"
+	"						cs[numValidConstraints]  = tmp;\n"
+	"					}\n"
+	"					numValidConstraints++;\n"
+	"					\n"
+	"					nCurrentBatch++;\n"
+	"					if( nCurrentBatch == SIMD_WIDTH)\n"
+	"					{\n"
+	"						nCurrentBatch = 0;\n"
+	"						for(int i=0; i<CHECK_SIZE; i++) \n"
+	"							ldsFixedBuffer[i] = 0;\n"
+	"						\n"
+	"					}\n"
+	"				}\n"
+	"			}//for\n"
+	"			batchIdx ++;\n"
+	"		}//while\n"
+	"		\n"
+	"		batchSizes[wgIdx] = batchIdx;\n"
+	"	}//if( lIdx == 0 )\n"
+	"	\n"
+	"	//return batchIdx;\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
index a5a432947c..6e9c53e161 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
@@ -1,433 +1,432 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* integrateKernelCL= \
-"/*\n"
-"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Erwin Coumans\n"
-"#ifndef B3_RIGIDBODY_DATA_H\n"
-"#define B3_RIGIDBODY_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-"struct b3RigidBodyData\n"
-"{\n"
-"	b3Float4				m_pos;\n"
-"	b3Quat					m_quat;\n"
-"	b3Float4				m_linVel;\n"
-"	b3Float4				m_angVel;\n"
-"	int 					m_collidableIdx;\n"
-"	float 				m_invMass;\n"
-"	float 				m_restituitionCoeff;\n"
-"	float 				m_frictionCoeff;\n"
-"};\n"
-"typedef struct b3InertiaData b3InertiaData_t;\n"
-"struct b3InertiaData\n"
-"{\n"
-"	b3Mat3x3 m_invInertiaWorld;\n"
-"	b3Mat3x3 m_initInvInertia;\n"
-"};\n"
-"#endif //B3_RIGIDBODY_DATA_H\n"
-"	\n"
-"#ifndef B3_RIGIDBODY_DATA_H\n"
-"#endif //B3_RIGIDBODY_DATA_H\n"
-"	\n"
-"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
-"{\n"
-"	\n"
-"	if (bodies[nodeID].m_invMass != 0.f)\n"
-"	{\n"
-"		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
-"		//angular velocity\n"
-"		{\n"
-"			b3Float4 axis;\n"
-"			//add some hardcoded angular damping\n"
-"			bodies[nodeID].m_angVel.x *= angularDamping;\n"
-"			bodies[nodeID].m_angVel.y *= angularDamping;\n"
-"			bodies[nodeID].m_angVel.z *= angularDamping;\n"
-"			\n"
-"			b3Float4 angvel = bodies[nodeID].m_angVel;\n"
-"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
-"			\n"
-"			//limit the angular motion\n"
-"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
-"			{\n"
-"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
-"			}\n"
-"			if(fAngle < 0.001f)\n"
-"			{\n"
-"				// use Taylor's expansions of sync function\n"
-"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
-"			}\n"
-"			else\n"
-"			{\n"
-"				// sync(fAngle) = sin(c*fAngle)/t\n"
-"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
-"			}\n"
-"			\n"
-"			b3Quat dorn;\n"
-"			dorn.x = axis.x;\n"
-"			dorn.y = axis.y;\n"
-"			dorn.z = axis.z;\n"
-"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
-"			b3Quat orn0 = bodies[nodeID].m_quat;\n"
-"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
-"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
-"			bodies[nodeID].m_quat=predictedOrn;\n"
-"		}\n"
-"		//linear velocity		\n"
-"		bodies[nodeID].m_pos +=  bodies[nodeID].m_linVel * timeStep;\n"
-"		\n"
-"		//apply gravity\n"
-"		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
-"		\n"
-"	}\n"
-"	\n"
-"}\n"
-"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
-"{\n"
-"	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
-"	\n"
-"	if( (body->m_invMass != 0.f))\n"
-"	{\n"
-"		//angular velocity\n"
-"		{\n"
-"			b3Float4 axis;\n"
-"			//add some hardcoded angular damping\n"
-"			body->m_angVel.x *= angularDamping;\n"
-"			body->m_angVel.y *= angularDamping;\n"
-"			body->m_angVel.z *= angularDamping;\n"
-"			\n"
-"			b3Float4 angvel = body->m_angVel;\n"
-"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
-"			//limit the angular motion\n"
-"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
-"			{\n"
-"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
-"			}\n"
-"			if(fAngle < 0.001f)\n"
-"			{\n"
-"				// use Taylor's expansions of sync function\n"
-"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
-"			}\n"
-"			else\n"
-"			{\n"
-"				// sync(fAngle) = sin(c*fAngle)/t\n"
-"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
-"			}\n"
-"			b3Quat dorn;\n"
-"			dorn.x = axis.x;\n"
-"			dorn.y = axis.y;\n"
-"			dorn.z = axis.z;\n"
-"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
-"			b3Quat orn0 = body->m_quat;\n"
-"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
-"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
-"			body->m_quat=predictedOrn;\n"
-"		}\n"
-"		//apply gravity\n"
-"		body->m_linVel += gravityAcceleration * timeStep;\n"
-"		//linear velocity		\n"
-"		body->m_pos +=  body->m_linVel * timeStep;\n"
-"		\n"
-"	}\n"
-"	\n"
-"}\n"
-"__kernel void \n"
-"  integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
-"{\n"
-"	int nodeID = get_global_id(0);\n"
-"	\n"
-"	if( nodeID < numNodes)\n"
-"	{\n"
-"		integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n"
-"	}\n"
-"}\n"
-;
+static const char* integrateKernelCL =
+	"/*\n"
+	"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Erwin Coumans\n"
+	"#ifndef B3_RIGIDBODY_DATA_H\n"
+	"#define B3_RIGIDBODY_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
+	"struct b3RigidBodyData\n"
+	"{\n"
+	"	b3Float4				m_pos;\n"
+	"	b3Quat					m_quat;\n"
+	"	b3Float4				m_linVel;\n"
+	"	b3Float4				m_angVel;\n"
+	"	int 					m_collidableIdx;\n"
+	"	float 				m_invMass;\n"
+	"	float 				m_restituitionCoeff;\n"
+	"	float 				m_frictionCoeff;\n"
+	"};\n"
+	"typedef struct b3InertiaData b3InertiaData_t;\n"
+	"struct b3InertiaData\n"
+	"{\n"
+	"	b3Mat3x3 m_invInertiaWorld;\n"
+	"	b3Mat3x3 m_initInvInertia;\n"
+	"};\n"
+	"#endif //B3_RIGIDBODY_DATA_H\n"
+	"	\n"
+	"#ifndef B3_RIGIDBODY_DATA_H\n"
+	"#endif //B3_RIGIDBODY_DATA_H\n"
+	"	\n"
+	"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
+	"{\n"
+	"	\n"
+	"	if (bodies[nodeID].m_invMass != 0.f)\n"
+	"	{\n"
+	"		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
+	"		//angular velocity\n"
+	"		{\n"
+	"			b3Float4 axis;\n"
+	"			//add some hardcoded angular damping\n"
+	"			bodies[nodeID].m_angVel.x *= angularDamping;\n"
+	"			bodies[nodeID].m_angVel.y *= angularDamping;\n"
+	"			bodies[nodeID].m_angVel.z *= angularDamping;\n"
+	"			\n"
+	"			b3Float4 angvel = bodies[nodeID].m_angVel;\n"
+	"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
+	"			\n"
+	"			//limit the angular motion\n"
+	"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
+	"			{\n"
+	"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
+	"			}\n"
+	"			if(fAngle < 0.001f)\n"
+	"			{\n"
+	"				// use Taylor's expansions of sync function\n"
+	"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
+	"			}\n"
+	"			else\n"
+	"			{\n"
+	"				// sync(fAngle) = sin(c*fAngle)/t\n"
+	"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
+	"			}\n"
+	"			\n"
+	"			b3Quat dorn;\n"
+	"			dorn.x = axis.x;\n"
+	"			dorn.y = axis.y;\n"
+	"			dorn.z = axis.z;\n"
+	"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
+	"			b3Quat orn0 = bodies[nodeID].m_quat;\n"
+	"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
+	"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
+	"			bodies[nodeID].m_quat=predictedOrn;\n"
+	"		}\n"
+	"		//linear velocity		\n"
+	"		bodies[nodeID].m_pos +=  bodies[nodeID].m_linVel * timeStep;\n"
+	"		\n"
+	"		//apply gravity\n"
+	"		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
+	"		\n"
+	"	}\n"
+	"	\n"
+	"}\n"
+	"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
+	"{\n"
+	"	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
+	"	\n"
+	"	if( (body->m_invMass != 0.f))\n"
+	"	{\n"
+	"		//angular velocity\n"
+	"		{\n"
+	"			b3Float4 axis;\n"
+	"			//add some hardcoded angular damping\n"
+	"			body->m_angVel.x *= angularDamping;\n"
+	"			body->m_angVel.y *= angularDamping;\n"
+	"			body->m_angVel.z *= angularDamping;\n"
+	"			\n"
+	"			b3Float4 angvel = body->m_angVel;\n"
+	"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
+	"			//limit the angular motion\n"
+	"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
+	"			{\n"
+	"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
+	"			}\n"
+	"			if(fAngle < 0.001f)\n"
+	"			{\n"
+	"				// use Taylor's expansions of sync function\n"
+	"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
+	"			}\n"
+	"			else\n"
+	"			{\n"
+	"				// sync(fAngle) = sin(c*fAngle)/t\n"
+	"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
+	"			}\n"
+	"			b3Quat dorn;\n"
+	"			dorn.x = axis.x;\n"
+	"			dorn.y = axis.y;\n"
+	"			dorn.z = axis.z;\n"
+	"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
+	"			b3Quat orn0 = body->m_quat;\n"
+	"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
+	"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
+	"			body->m_quat=predictedOrn;\n"
+	"		}\n"
+	"		//apply gravity\n"
+	"		body->m_linVel += gravityAcceleration * timeStep;\n"
+	"		//linear velocity		\n"
+	"		body->m_pos +=  body->m_linVel * timeStep;\n"
+	"		\n"
+	"	}\n"
+	"	\n"
+	"}\n"
+	"__kernel void \n"
+	"  integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
+	"{\n"
+	"	int nodeID = get_global_id(0);\n"
+	"	\n"
+	"	if( nodeID < numNodes)\n"
+	"	{\n"
+	"		integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
index d48ecf6ea6..c94b55851e 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
@@ -1,721 +1,720 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solveConstraintRowsCL= \
-"/*\n"
-"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Erwin Coumans\n"
-"#define B3_CONSTRAINT_FLAG_ENABLED 1\n"
-"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
-"#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n"
-"#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails\n"
-"#define B3_INFINITY 1e30f\n"
-"#define mymake_float4 (float4)\n"
-"__inline float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
-"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"typedef float4 Quaternion;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_row[3];\n"
-"}Matrix3x3;\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-"{\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a.m_row[0], b );\n"
-"	ans.y = dot3F4( a.m_row[1], b );\n"
-"	ans.z = dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-"{\n"
-"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a, colx );\n"
-"	ans.y = dot3F4( a, coly );\n"
-"	ans.z = dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"typedef struct\n"
-"{\n"
-"	Matrix3x3 m_invInertiaWorld;\n"
-"	Matrix3x3 m_initInvInertia;\n"
-"} BodyInertia;\n"
-"typedef struct\n"
-"{\n"
-"	Matrix3x3 m_basis;//orientation\n"
-"	float4	m_origin;//transform\n"
-"}b3Transform;\n"
-"typedef struct\n"
-"{\n"
-"//	b3Transform		m_worldTransformUnused;\n"
-"	float4		m_deltaLinearVelocity;\n"
-"	float4		m_deltaAngularVelocity;\n"
-"	float4		m_angularFactor;\n"
-"	float4		m_linearFactor;\n"
-"	float4		m_invMass;\n"
-"	float4		m_pushVelocity;\n"
-"	float4		m_turnVelocity;\n"
-"	float4		m_linearVelocity;\n"
-"	float4		m_angularVelocity;\n"
-"	union \n"
-"	{\n"
-"		void*	m_originalBody;\n"
-"		int		m_originalBodyIndex;\n"
-"	};\n"
-"	int padding[3];\n"
-"} b3GpuSolverBody;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	Quaternion m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	unsigned int m_shapeIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} b3RigidBodyCL;\n"
-"typedef struct\n"
-"{\n"
-"	float4		m_relpos1CrossNormal;\n"
-"	float4		m_contactNormal;\n"
-"	float4		m_relpos2CrossNormal;\n"
-"	//float4		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n"
-"	float4		m_angularComponentA;\n"
-"	float4		m_angularComponentB;\n"
-"	\n"
-"	float	m_appliedPushImpulse;\n"
-"	float	m_appliedImpulse;\n"
-"	int	m_padding1;\n"
-"	int	m_padding2;\n"
-"	float	m_friction;\n"
-"	float	m_jacDiagABInv;\n"
-"	float		m_rhs;\n"
-"	float		m_cfm;\n"
-"	\n"
-"    float		m_lowerLimit;\n"
-"	float		m_upperLimit;\n"
-"	float		m_rhsPenetration;\n"
-"	int			m_originalConstraint;\n"
-"	int	m_overrideNumSolverIterations;\n"
-"    int			m_frictionIndex;\n"
-"	int m_solverBodyIdA;\n"
-"	int m_solverBodyIdB;\n"
-"} b3SolverConstraint;\n"
-"typedef struct \n"
-"{\n"
-"	int m_bodyAPtrAndSignBit;\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int m_originalConstraintIndex;\n"
-"	int m_batchId;\n"
-"} b3BatchConstraint;\n"
-"typedef struct \n"
-"{\n"
-"	int				m_constraintType;\n"
-"	int				m_rbA;\n"
-"	int				m_rbB;\n"
-"	float			m_breakingImpulseThreshold;\n"
-"	float4 m_pivotInA;\n"
-"	float4 m_pivotInB;\n"
-"	Quaternion m_relTargetAB;\n"
-"	int	m_flags;\n"
-"	int m_padding[3];\n"
-"} b3GpuGenericConstraint;\n"
-"/*b3Transform	getWorldTransform(b3RigidBodyCL* rb)\n"
-"{\n"
-"	b3Transform newTrans;\n"
-"	newTrans.setOrigin(rb->m_pos);\n"
-"	newTrans.setRotation(rb->m_quat);\n"
-"	return newTrans;\n"
-"}*/\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	v = mymake_float4(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline void internalApplyImpulse(__global b3GpuSolverBody* body,  float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
-"{\n"
-"	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
-"	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
-"}\n"
-"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
-"{\n"
-"	float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
-"	float deltaVel1Dotn	=	dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
-"	float deltaVel2Dotn	=	-dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
-"	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;\n"
-"	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;\n"
-"	float sum = c->m_appliedImpulse + deltaImpulse;\n"
-"	if (sum < c->m_lowerLimit)\n"
-"	{\n"
-"		deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
-"		c->m_appliedImpulse = c->m_lowerLimit;\n"
-"	}\n"
-"	else if (sum > c->m_upperLimit) \n"
-"	{\n"
-"		deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
-"		c->m_appliedImpulse = c->m_upperLimit;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		c->m_appliedImpulse = sum;\n"
-"	}\n"
-"	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
-"	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
-"}\n"
-"__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n"
-"					  __global b3BatchConstraint* batchConstraints,\n"
-"					  	__global b3SolverConstraint* rows,\n"
-"						__global unsigned int* numConstraintRowsInfo1, \n"
-"						__global unsigned int* rowOffsets,\n"
-"						__global b3GpuGenericConstraint* constraints,\n"
-"						int batchOffset,\n"
-"						int numConstraintsInBatch\n"
-"                      )\n"
-"{\n"
-"	int b = get_global_id(0);\n"
-"	if (b>=numConstraintsInBatch)\n"
-"		return;\n"
-"	__global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n"
-"	int originalConstraintIndex = c->m_originalConstraintIndex;\n"
-"	if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)\n"
-"	{\n"
-"		int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];\n"
-"		int rowOffset = rowOffsets[originalConstraintIndex];\n"
-"		for (int jj=0;jj<numConstraintRows;jj++)\n"
-"		{\n"
-"			__global b3SolverConstraint* constraint = &rows[rowOffset+jj];\n"
-"			resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
-"		}\n"
-"	}\n"
-"};\n"
-"__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numBodies)\n"
-"		return;\n"
-"	__global b3GpuSolverBody* solverBody = &solverBodies[i];\n"
-"	__global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n"
-"	solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
-"	solverBody->m_deltaAngularVelocity  = (float4)(0.f,0.f,0.f,0.f);\n"
-"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
-"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
-"	solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n"
-"	solverBody->m_originalBodyIndex = i;\n"
-"	solverBody->m_angularFactor = (float4)(1,1,1,0);\n"
-"	solverBody->m_linearFactor = (float4) (1,1,1,0);\n"
-"	solverBody->m_linearVelocity = bodyCL->m_linVel;\n"
-"	solverBody->m_angularVelocity = bodyCL->m_angVel;\n"
-"}\n"
-"__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)\n"
-"{\n"
-"	int cid = get_global_id(0);\n"
-"	if (cid>=numConstraints)\n"
-"		return;\n"
-"	int numRows = numConstraintRows[cid];\n"
-"	if (numRows)\n"
-"	{\n"
-"		for (int i=0;i<numRows;i++)\n"
-"		{\n"
-"			int rowIndex = rowOffsets[cid]+i;\n"
-"			float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
-"			if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
-"			{\n"
-"				constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConstraints)\n"
-"		return;\n"
-"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
-"	switch (constraint->m_constraintType)\n"
-"	{\n"
-"		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
-"		{\n"
-"			infos[i] = 3;\n"
-"			break;\n"
-"		}\n"
-"		case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
-"		{\n"
-"			infos[i] = 6;\n"
-"			break;\n"
-"		}\n"
-"		default:\n"
-"		{\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, \n"
-"										__global b3BatchConstraint* batchConstraints, \n"
-"										__global b3GpuGenericConstraint* constraints,\n"
-"										__global b3RigidBodyCL* bodies,\n"
-"										int numConstraints)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConstraints)\n"
-"		return;\n"
-"	int rbA = constraints[i].m_rbA;\n"
-"	int rbB = constraints[i].m_rbB;\n"
-"	batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;\n"
-"	batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;\n"
-"	batchConstraints[i].m_batchId = -1;\n"
-"	batchConstraints[i].m_originalConstraintIndex = i;\n"
-"}\n"
-"typedef struct\n"
-"{\n"
-"	// integrator parameters: frames per second (1/stepsize), default error\n"
-"	// reduction parameter (0..1).\n"
-"	float fps,erp;\n"
-"	// for the first and second body, pointers to two (linear and angular)\n"
-"	// n*3 jacobian sub matrices, stored by rows. these matrices will have\n"
-"	// been initialized to 0 on entry. if the second body is zero then the\n"
-"	// J2xx pointers may be 0.\n"
-"	union \n"
-"	{\n"
-"		__global float4* m_J1linearAxisFloat4;\n"
-"		__global float* m_J1linearAxis;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		__global float4* m_J1angularAxisFloat4;\n"
-"		__global float* m_J1angularAxis;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"	__global float4* m_J2linearAxisFloat4;\n"
-"	__global float* m_J2linearAxis;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		__global float4* m_J2angularAxisFloat4;\n"
-"		__global float* m_J2angularAxis;\n"
-"	};\n"
-"	// elements to jump from one row to the next in J's\n"
-"	int rowskip;\n"
-"	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n"
-"	// \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n"
-"	// set to a constant value (typically very small or zero) value on entry.\n"
-"	__global float* m_constraintError;\n"
-"	__global float* cfm;\n"
-"	// lo and hi limits for variables (set to -/+ infinity on entry).\n"
-"	__global float* m_lowerLimit;\n"
-"	__global float* m_upperLimit;\n"
-"	// findex vector for variables. see the LCP solver interface for a\n"
-"	// description of what this does. this is set to -1 on entry.\n"
-"	// note that the returned indexes are relative to the first index of\n"
-"	// the constraint.\n"
-"	__global int *findex;\n"
-"	// number of solver iterations\n"
-"	int m_numIterations;\n"
-"	//damping of the velocity\n"
-"	float	m_damping;\n"
-"} b3GpuConstraintInfo2;\n"
-"void	getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n"
-"{\n"
-"	*v0 = (float4)(0.		,-vecIn.z		,vecIn.y,0.f);\n"
-"	*v1 = (float4)(vecIn.z	,0.			,-vecIn.x,0.f);\n"
-"	*v2 = (float4)(-vecIn.y	,vecIn.x	,0.f,0.f);\n"
-"}\n"
-"void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n"
-"{\n"
-"	float4 posA = bodies[constraint->m_rbA].m_pos;\n"
-"	Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n"
-"	float4 posB = bodies[constraint->m_rbB].m_pos;\n"
-"	Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n"
-"		// anchor points in global coordinates with respect to body PORs.\n"
-"   \n"
-"    // set jacobian\n"
-"    info->m_J1linearAxis[0] = 1;\n"
-"	info->m_J1linearAxis[info->rowskip+1] = 1;\n"
-"	info->m_J1linearAxis[2*info->rowskip+2] = 1;\n"
-"	float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n"
-"	{\n"
-"		__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n"
-"		__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n"
-"		__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n"
-"		float4 a1neg = -a1;\n"
-"		getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n"
-"	}\n"
-"	if (info->m_J2linearAxis)\n"
-"	{\n"
-"		info->m_J2linearAxis[0] = -1;\n"
-"		info->m_J2linearAxis[info->rowskip+1] = -1;\n"
-"		info->m_J2linearAxis[2*info->rowskip+2] = -1;\n"
-"	}\n"
-"	\n"
-"	float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n"
-"   \n"
-"	{\n"
-"	//	float4 a2n = -a2;\n"
-"		__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n"
-"		__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n"
-"		__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n"
-"		getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n"
-"	}\n"
-"    \n"
-"    // set right hand side\n"
-"//	float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n"
-"	float currERP = info->erp;\n"
-"	float k = info->fps * currERP;\n"
-"    int j;\n"
-"	float4 result = a2 + posB - a1 - posA;\n"
-"	float* resultPtr = &result;\n"
-"	for (j=0; j<3; j++)\n"
-"    {\n"
-"        info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n"
-"    }\n"
-"}\n"
-"Quaternion nearest( Quaternion first, Quaternion qd)\n"
-"{\n"
-"	Quaternion diff,sum;\n"
-"	diff = first- qd;\n"
-"	sum = first + qd;\n"
-"	\n"
-"	if( dot(diff,diff) < dot(sum,sum) )\n"
-"		return qd;\n"
-"	return (-qd);\n"
-"}\n"
-"float b3Acos(float x) \n"
-"{ \n"
-"	if (x<-1)	\n"
-"		x=-1; \n"
-"	if (x>1)	\n"
-"		x=1;\n"
-"	return acos(x); \n"
-"}\n"
-"float getAngle(Quaternion orn)\n"
-"{\n"
-"	if (orn.w>=1.f)\n"
-"		orn.w=1.f;\n"
-"	float s = 2.f * b3Acos(orn.w);\n"
-"	return s;\n"
-"}\n"
-"void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)\n"
-"{\n"
-"	Quaternion orn1 = nearest(orn0,orn1a);\n"
-"	\n"
-"	Quaternion dorn = qtMul(orn1,qtInvert(orn0));\n"
-"	*angle = getAngle(dorn);\n"
-"	*axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);\n"
-"	\n"
-"	//check for axis length\n"
-"	float len = dot3F4(*axis,*axis);\n"
-"	if (len < FLT_EPSILON*FLT_EPSILON)\n"
-"		*axis = (float4)(1,0,0,0);\n"
-"	else\n"
-"		*axis /= sqrt(len);\n"
-"}\n"
-"void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n"
-"{\n"
-"	Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n"
-"	Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n"
-"	int s = info->rowskip;\n"
-"	int start_index = start_row * s;\n"
-"	// 3 rows to make body rotations equal\n"
-"	info->m_J1angularAxis[start_index] = 1;\n"
-"	info->m_J1angularAxis[start_index + s + 1] = 1;\n"
-"	info->m_J1angularAxis[start_index + s*2+2] = 1;\n"
-"	if ( info->m_J2angularAxis)\n"
-"	{\n"
-"		info->m_J2angularAxis[start_index] = -1;\n"
-"		info->m_J2angularAxis[start_index + s+1] = -1;\n"
-"		info->m_J2angularAxis[start_index + s*2+2] = -1;\n"
-"	}\n"
-"	\n"
-"	float currERP = info->erp;\n"
-"	float k = info->fps * currERP;\n"
-"	float4 diff;\n"
-"	float angle;\n"
-"	float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));\n"
-"	\n"
-"	calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);\n"
-"	diff*=-angle;\n"
-"		\n"
-"	float* resultPtr = &diff;\n"
-"	\n"
-"	for (int j=0; j<3; j++)\n"
-"    {\n"
-"        info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];\n"
-"    }\n"
-"	\n"
-"}\n"
-"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numBodies)\n"
-"		return;\n"
-"	if (bodies[i].m_invMass)\n"
-"	{\n"
-"//		if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)\n"
-"		{\n"
-"			bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n"
-"		}\n"
-"//		if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)\n"
-"		{\n"
-"			bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n"
-"		} \n"
-"	}\n"
-"}\n"
-"__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n"
-"							__global unsigned int* infos, \n"
-"							__global unsigned int* constraintRowOffsets, \n"
-"							__global b3GpuGenericConstraint* constraints, \n"
-"							__global b3BatchConstraint* batchConstraints, \n"
-"							__global b3RigidBodyCL* bodies,\n"
-"							__global BodyInertia* inertias,\n"
-"							__global b3GpuSolverBody* solverBodies,\n"
-"							float timeStep,\n"
-"							float globalErp,\n"
-"							float globalCfm,\n"
-"							float globalDamping,\n"
-"							int globalNumIterations,\n"
-"							int numConstraints)\n"
-"{\n"
-"	int i = get_global_id(0);\n"
-"	if (i>=numConstraints)\n"
-"		return;\n"
-"		\n"
-"	//for now, always initialize the batch info\n"
-"	int info1 = infos[i];\n"
-"			\n"
-"	__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];\n"
-"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
-"	__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n"
-"	__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n"
-"	int solverBodyIdA = constraint->m_rbA;\n"
-"	int solverBodyIdB = constraint->m_rbB;\n"
-"	__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n"
-"	__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n"
-"	if (rbA->m_invMass)\n"
-"	{\n"
-"		batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n"
-"	} else\n"
-"	{\n"
-"//			if (!solverBodyIdA)\n"
-"//				m_staticIdx = 0;\n"
-"		batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n"
-"	}\n"
-"	if (rbB->m_invMass)\n"
-"	{\n"
-"		batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n"
-"	} else\n"
-"	{\n"
-"//			if (!solverBodyIdB)\n"
-"//				m_staticIdx = 0;\n"
-"		batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n"
-"	}\n"
-"	if (info1)\n"
-"	{\n"
-"		int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n"
-"//		if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n"
-"	//		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n"
-"		int j;\n"
-"		for ( j=0;j<info1;j++)\n"
-"		{\n"
-"//			memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));\n"
-"			currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n"
-"			currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n"
-"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
-"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
-"			currentConstraintRow[j].m_cfm = 0.f;\n"
-"			currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n"
-"			currentConstraintRow[j].m_friction = 0.f;\n"
-"			currentConstraintRow[j].m_frictionIndex = 0;\n"
-"			currentConstraintRow[j].m_jacDiagABInv = 0.f;\n"
-"			currentConstraintRow[j].m_lowerLimit = 0.f;\n"
-"			currentConstraintRow[j].m_upperLimit = 0.f;\n"
-"			currentConstraintRow[j].m_originalConstraint = i;\n"
-"			currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n"
-"			currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n"
-"			currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n"
-"			currentConstraintRow[j].m_rhs = 0.f;\n"
-"			currentConstraintRow[j].m_rhsPenetration = 0.f;\n"
-"			currentConstraintRow[j].m_solverBodyIdA = 0;\n"
-"			currentConstraintRow[j].m_solverBodyIdB = 0;\n"
-"							\n"
-"			currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n"
-"			currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n"
-"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
-"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
-"			currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n"
-"			currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n"
-"			currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;		\n"
-"		}\n"
-"		bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
-"		bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
-"		bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
-"		bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
-"		bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
-"		bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
-"		bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
-"		bodyBPtr->m_turnVelocity  = (float4)(0,0,0,0);\n"
-"		int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
-"		\n"
-"		b3GpuConstraintInfo2 info2;\n"
-"		info2.fps = 1.f/timeStep;\n"
-"		info2.erp = globalErp;\n"
-"		info2.m_J1linearAxisFloat4 = &currentConstraintRow->m_contactNormal;\n"
-"		info2.m_J1angularAxisFloat4 = &currentConstraintRow->m_relpos1CrossNormal;\n"
-"		info2.m_J2linearAxisFloat4 = 0;\n"
-"		info2.m_J2angularAxisFloat4 = &currentConstraintRow->m_relpos2CrossNormal;\n"
-"		info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
-"		///the size of b3SolverConstraint needs be a multiple of float\n"
-"//		b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n"
-"		info2.m_constraintError = &currentConstraintRow->m_rhs;\n"
-"		currentConstraintRow->m_cfm = globalCfm;\n"
-"		info2.m_damping = globalDamping;\n"
-"		info2.cfm = &currentConstraintRow->m_cfm;\n"
-"		info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;\n"
-"		info2.m_upperLimit = &currentConstraintRow->m_upperLimit;\n"
-"		info2.m_numIterations = globalNumIterations;\n"
-"		switch (constraint->m_constraintType)\n"
-"		{\n"
-"			case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
-"			{\n"
-"				getInfo2Point2Point(constraint,&info2,bodies);\n"
-"				break;\n"
-"			}\n"
-"			case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
-"			{\n"
-"				getInfo2Point2Point(constraint,&info2,bodies);\n"
-"				getInfo2FixedOrientation(constraint,&info2,bodies,3);\n"
-"				break;\n"
-"			}\n"
-"			default:\n"
-"			{\n"
-"			}\n"
-"		}\n"
-"		///finalize the constraint setup\n"
-"		for ( j=0;j<info1;j++)\n"
-"		{\n"
-"			__global b3SolverConstraint* solverConstraint = &currentConstraintRow[j];\n"
-"			if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n"
-"			{\n"
-"				solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n"
-"			}\n"
-"			if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n"
-"			{\n"
-"				solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n"
-"			}\n"
-"//						solverConstraint->m_originalContactPoint = constraint;\n"
-"							\n"
-"			Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n"
-"			{\n"
-"				//float4 angularFactorA(1,1,1);\n"
-"				float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n"
-"				solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n"
-"			}\n"
-"						\n"
-"			Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n"
-"			{\n"
-"				float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n"
-"				solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n"
-"			}\n"
-"			{\n"
-"				//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n"
-"				//because it gets multiplied iMJlB\n"
-"				float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n"
-"				float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n"
-"				float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n"
-"				float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n"
-"				float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n"
-"				sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n"
-"				sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n"
-"				sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n"
-"				float fsum = fabs(sum);\n"
-"				if (fsum>FLT_EPSILON)\n"
-"				{\n"
-"					solverConstraint->m_jacDiagABInv = 1.f/sum;\n"
-"				} else\n"
-"				{\n"
-"					solverConstraint->m_jacDiagABInv = 0.f;\n"
-"				}\n"
-"			}\n"
-"			///fix rhs\n"
-"			///todo: add force/torque accelerators\n"
-"			{\n"
-"				float rel_vel;\n"
-"				float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n"
-"				float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n"
-"				rel_vel = vel1Dotn+vel2Dotn;\n"
-"				float restitution = 0.f;\n"
-"				float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n"
-"				float	velocityError = restitution - rel_vel * info2.m_damping;\n"
-"				float	penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n"
-"				float	velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n"
-"				solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n"
-"				solverConstraint->m_appliedImpulse = 0.f;\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-;
+static const char* solveConstraintRowsCL =
+	"/*\n"
+	"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Erwin Coumans\n"
+	"#define B3_CONSTRAINT_FLAG_ENABLED 1\n"
+	"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
+	"#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n"
+	"#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails\n"
+	"#define B3_INFINITY 1e30f\n"
+	"#define mymake_float4 (float4)\n"
+	"__inline float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
+	"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"typedef float4 Quaternion;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_row[3];\n"
+	"}Matrix3x3;\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+	"{\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a.m_row[0], b );\n"
+	"	ans.y = dot3F4( a.m_row[1], b );\n"
+	"	ans.z = dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+	"{\n"
+	"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a, colx );\n"
+	"	ans.y = dot3F4( a, coly );\n"
+	"	ans.z = dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"typedef struct\n"
+	"{\n"
+	"	Matrix3x3 m_invInertiaWorld;\n"
+	"	Matrix3x3 m_initInvInertia;\n"
+	"} BodyInertia;\n"
+	"typedef struct\n"
+	"{\n"
+	"	Matrix3x3 m_basis;//orientation\n"
+	"	float4	m_origin;//transform\n"
+	"}b3Transform;\n"
+	"typedef struct\n"
+	"{\n"
+	"//	b3Transform		m_worldTransformUnused;\n"
+	"	float4		m_deltaLinearVelocity;\n"
+	"	float4		m_deltaAngularVelocity;\n"
+	"	float4		m_angularFactor;\n"
+	"	float4		m_linearFactor;\n"
+	"	float4		m_invMass;\n"
+	"	float4		m_pushVelocity;\n"
+	"	float4		m_turnVelocity;\n"
+	"	float4		m_linearVelocity;\n"
+	"	float4		m_angularVelocity;\n"
+	"	union \n"
+	"	{\n"
+	"		void*	m_originalBody;\n"
+	"		int		m_originalBodyIndex;\n"
+	"	};\n"
+	"	int padding[3];\n"
+	"} b3GpuSolverBody;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	Quaternion m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	unsigned int m_shapeIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} b3RigidBodyCL;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4		m_relpos1CrossNormal;\n"
+	"	float4		m_contactNormal;\n"
+	"	float4		m_relpos2CrossNormal;\n"
+	"	//float4		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n"
+	"	float4		m_angularComponentA;\n"
+	"	float4		m_angularComponentB;\n"
+	"	\n"
+	"	float	m_appliedPushImpulse;\n"
+	"	float	m_appliedImpulse;\n"
+	"	int	m_padding1;\n"
+	"	int	m_padding2;\n"
+	"	float	m_friction;\n"
+	"	float	m_jacDiagABInv;\n"
+	"	float		m_rhs;\n"
+	"	float		m_cfm;\n"
+	"	\n"
+	"    float		m_lowerLimit;\n"
+	"	float		m_upperLimit;\n"
+	"	float		m_rhsPenetration;\n"
+	"	int			m_originalConstraint;\n"
+	"	int	m_overrideNumSolverIterations;\n"
+	"    int			m_frictionIndex;\n"
+	"	int m_solverBodyIdA;\n"
+	"	int m_solverBodyIdB;\n"
+	"} b3SolverConstraint;\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_bodyAPtrAndSignBit;\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int m_originalConstraintIndex;\n"
+	"	int m_batchId;\n"
+	"} b3BatchConstraint;\n"
+	"typedef struct \n"
+	"{\n"
+	"	int				m_constraintType;\n"
+	"	int				m_rbA;\n"
+	"	int				m_rbB;\n"
+	"	float			m_breakingImpulseThreshold;\n"
+	"	float4 m_pivotInA;\n"
+	"	float4 m_pivotInB;\n"
+	"	Quaternion m_relTargetAB;\n"
+	"	int	m_flags;\n"
+	"	int m_padding[3];\n"
+	"} b3GpuGenericConstraint;\n"
+	"/*b3Transform	getWorldTransform(b3RigidBodyCL* rb)\n"
+	"{\n"
+	"	b3Transform newTrans;\n"
+	"	newTrans.setOrigin(rb->m_pos);\n"
+	"	newTrans.setRotation(rb->m_quat);\n"
+	"	return newTrans;\n"
+	"}*/\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = mymake_float4(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline void internalApplyImpulse(__global b3GpuSolverBody* body,  float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
+	"{\n"
+	"	body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
+	"	body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
+	"}\n"
+	"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
+	"{\n"
+	"	float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
+	"	float deltaVel1Dotn	=	dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) 	+ dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
+	"	float deltaVel2Dotn	=	-dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
+	"	deltaImpulse	-=	deltaVel1Dotn*c->m_jacDiagABInv;\n"
+	"	deltaImpulse	-=	deltaVel2Dotn*c->m_jacDiagABInv;\n"
+	"	float sum = c->m_appliedImpulse + deltaImpulse;\n"
+	"	if (sum < c->m_lowerLimit)\n"
+	"	{\n"
+	"		deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
+	"		c->m_appliedImpulse = c->m_lowerLimit;\n"
+	"	}\n"
+	"	else if (sum > c->m_upperLimit) \n"
+	"	{\n"
+	"		deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
+	"		c->m_appliedImpulse = c->m_upperLimit;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		c->m_appliedImpulse = sum;\n"
+	"	}\n"
+	"	internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
+	"	internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
+	"}\n"
+	"__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n"
+	"					  __global b3BatchConstraint* batchConstraints,\n"
+	"					  	__global b3SolverConstraint* rows,\n"
+	"						__global unsigned int* numConstraintRowsInfo1, \n"
+	"						__global unsigned int* rowOffsets,\n"
+	"						__global b3GpuGenericConstraint* constraints,\n"
+	"						int batchOffset,\n"
+	"						int numConstraintsInBatch\n"
+	"                      )\n"
+	"{\n"
+	"	int b = get_global_id(0);\n"
+	"	if (b>=numConstraintsInBatch)\n"
+	"		return;\n"
+	"	__global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n"
+	"	int originalConstraintIndex = c->m_originalConstraintIndex;\n"
+	"	if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)\n"
+	"	{\n"
+	"		int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];\n"
+	"		int rowOffset = rowOffsets[originalConstraintIndex];\n"
+	"		for (int jj=0;jj<numConstraintRows;jj++)\n"
+	"		{\n"
+	"			__global b3SolverConstraint* constraint = &rows[rowOffset+jj];\n"
+	"			resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
+	"		}\n"
+	"	}\n"
+	"};\n"
+	"__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numBodies)\n"
+	"		return;\n"
+	"	__global b3GpuSolverBody* solverBody = &solverBodies[i];\n"
+	"	__global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n"
+	"	solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
+	"	solverBody->m_deltaAngularVelocity  = (float4)(0.f,0.f,0.f,0.f);\n"
+	"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
+	"	solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
+	"	solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n"
+	"	solverBody->m_originalBodyIndex = i;\n"
+	"	solverBody->m_angularFactor = (float4)(1,1,1,0);\n"
+	"	solverBody->m_linearFactor = (float4) (1,1,1,0);\n"
+	"	solverBody->m_linearVelocity = bodyCL->m_linVel;\n"
+	"	solverBody->m_angularVelocity = bodyCL->m_angVel;\n"
+	"}\n"
+	"__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)\n"
+	"{\n"
+	"	int cid = get_global_id(0);\n"
+	"	if (cid>=numConstraints)\n"
+	"		return;\n"
+	"	int numRows = numConstraintRows[cid];\n"
+	"	if (numRows)\n"
+	"	{\n"
+	"		for (int i=0;i<numRows;i++)\n"
+	"		{\n"
+	"			int rowIndex = rowOffsets[cid]+i;\n"
+	"			float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
+	"			if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
+	"			{\n"
+	"				constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConstraints)\n"
+	"		return;\n"
+	"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
+	"	switch (constraint->m_constraintType)\n"
+	"	{\n"
+	"		case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
+	"		{\n"
+	"			infos[i] = 3;\n"
+	"			break;\n"
+	"		}\n"
+	"		case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
+	"		{\n"
+	"			infos[i] = 6;\n"
+	"			break;\n"
+	"		}\n"
+	"		default:\n"
+	"		{\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, \n"
+	"										__global b3BatchConstraint* batchConstraints, \n"
+	"										__global b3GpuGenericConstraint* constraints,\n"
+	"										__global b3RigidBodyCL* bodies,\n"
+	"										int numConstraints)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConstraints)\n"
+	"		return;\n"
+	"	int rbA = constraints[i].m_rbA;\n"
+	"	int rbB = constraints[i].m_rbB;\n"
+	"	batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;\n"
+	"	batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;\n"
+	"	batchConstraints[i].m_batchId = -1;\n"
+	"	batchConstraints[i].m_originalConstraintIndex = i;\n"
+	"}\n"
+	"typedef struct\n"
+	"{\n"
+	"	// integrator parameters: frames per second (1/stepsize), default error\n"
+	"	// reduction parameter (0..1).\n"
+	"	float fps,erp;\n"
+	"	// for the first and second body, pointers to two (linear and angular)\n"
+	"	// n*3 jacobian sub matrices, stored by rows. these matrices will have\n"
+	"	// been initialized to 0 on entry. if the second body is zero then the\n"
+	"	// J2xx pointers may be 0.\n"
+	"	union \n"
+	"	{\n"
+	"		__global float4* m_J1linearAxisFloat4;\n"
+	"		__global float* m_J1linearAxis;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		__global float4* m_J1angularAxisFloat4;\n"
+	"		__global float* m_J1angularAxis;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"	__global float4* m_J2linearAxisFloat4;\n"
+	"	__global float* m_J2linearAxis;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		__global float4* m_J2angularAxisFloat4;\n"
+	"		__global float* m_J2angularAxis;\n"
+	"	};\n"
+	"	// elements to jump from one row to the next in J's\n"
+	"	int rowskip;\n"
+	"	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n"
+	"	// \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n"
+	"	// set to a constant value (typically very small or zero) value on entry.\n"
+	"	__global float* m_constraintError;\n"
+	"	__global float* cfm;\n"
+	"	// lo and hi limits for variables (set to -/+ infinity on entry).\n"
+	"	__global float* m_lowerLimit;\n"
+	"	__global float* m_upperLimit;\n"
+	"	// findex vector for variables. see the LCP solver interface for a\n"
+	"	// description of what this does. this is set to -1 on entry.\n"
+	"	// note that the returned indexes are relative to the first index of\n"
+	"	// the constraint.\n"
+	"	__global int *findex;\n"
+	"	// number of solver iterations\n"
+	"	int m_numIterations;\n"
+	"	//damping of the velocity\n"
+	"	float	m_damping;\n"
+	"} b3GpuConstraintInfo2;\n"
+	"void	getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n"
+	"{\n"
+	"	*v0 = (float4)(0.		,-vecIn.z		,vecIn.y,0.f);\n"
+	"	*v1 = (float4)(vecIn.z	,0.			,-vecIn.x,0.f);\n"
+	"	*v2 = (float4)(-vecIn.y	,vecIn.x	,0.f,0.f);\n"
+	"}\n"
+	"void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n"
+	"{\n"
+	"	float4 posA = bodies[constraint->m_rbA].m_pos;\n"
+	"	Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n"
+	"	float4 posB = bodies[constraint->m_rbB].m_pos;\n"
+	"	Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n"
+	"		// anchor points in global coordinates with respect to body PORs.\n"
+	"   \n"
+	"    // set jacobian\n"
+	"    info->m_J1linearAxis[0] = 1;\n"
+	"	info->m_J1linearAxis[info->rowskip+1] = 1;\n"
+	"	info->m_J1linearAxis[2*info->rowskip+2] = 1;\n"
+	"	float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n"
+	"	{\n"
+	"		__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n"
+	"		__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n"
+	"		__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n"
+	"		float4 a1neg = -a1;\n"
+	"		getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n"
+	"	}\n"
+	"	if (info->m_J2linearAxis)\n"
+	"	{\n"
+	"		info->m_J2linearAxis[0] = -1;\n"
+	"		info->m_J2linearAxis[info->rowskip+1] = -1;\n"
+	"		info->m_J2linearAxis[2*info->rowskip+2] = -1;\n"
+	"	}\n"
+	"	\n"
+	"	float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n"
+	"   \n"
+	"	{\n"
+	"	//	float4 a2n = -a2;\n"
+	"		__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n"
+	"		__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n"
+	"		__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n"
+	"		getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n"
+	"	}\n"
+	"    \n"
+	"    // set right hand side\n"
+	"//	float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n"
+	"	float currERP = info->erp;\n"
+	"	float k = info->fps * currERP;\n"
+	"    int j;\n"
+	"	float4 result = a2 + posB - a1 - posA;\n"
+	"	float* resultPtr = &result;\n"
+	"	for (j=0; j<3; j++)\n"
+	"    {\n"
+	"        info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n"
+	"    }\n"
+	"}\n"
+	"Quaternion nearest( Quaternion first, Quaternion qd)\n"
+	"{\n"
+	"	Quaternion diff,sum;\n"
+	"	diff = first- qd;\n"
+	"	sum = first + qd;\n"
+	"	\n"
+	"	if( dot(diff,diff) < dot(sum,sum) )\n"
+	"		return qd;\n"
+	"	return (-qd);\n"
+	"}\n"
+	"float b3Acos(float x) \n"
+	"{ \n"
+	"	if (x<-1)	\n"
+	"		x=-1; \n"
+	"	if (x>1)	\n"
+	"		x=1;\n"
+	"	return acos(x); \n"
+	"}\n"
+	"float getAngle(Quaternion orn)\n"
+	"{\n"
+	"	if (orn.w>=1.f)\n"
+	"		orn.w=1.f;\n"
+	"	float s = 2.f * b3Acos(orn.w);\n"
+	"	return s;\n"
+	"}\n"
+	"void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)\n"
+	"{\n"
+	"	Quaternion orn1 = nearest(orn0,orn1a);\n"
+	"	\n"
+	"	Quaternion dorn = qtMul(orn1,qtInvert(orn0));\n"
+	"	*angle = getAngle(dorn);\n"
+	"	*axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);\n"
+	"	\n"
+	"	//check for axis length\n"
+	"	float len = dot3F4(*axis,*axis);\n"
+	"	if (len < FLT_EPSILON*FLT_EPSILON)\n"
+	"		*axis = (float4)(1,0,0,0);\n"
+	"	else\n"
+	"		*axis /= sqrt(len);\n"
+	"}\n"
+	"void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n"
+	"{\n"
+	"	Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n"
+	"	Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n"
+	"	int s = info->rowskip;\n"
+	"	int start_index = start_row * s;\n"
+	"	// 3 rows to make body rotations equal\n"
+	"	info->m_J1angularAxis[start_index] = 1;\n"
+	"	info->m_J1angularAxis[start_index + s + 1] = 1;\n"
+	"	info->m_J1angularAxis[start_index + s*2+2] = 1;\n"
+	"	if ( info->m_J2angularAxis)\n"
+	"	{\n"
+	"		info->m_J2angularAxis[start_index] = -1;\n"
+	"		info->m_J2angularAxis[start_index + s+1] = -1;\n"
+	"		info->m_J2angularAxis[start_index + s*2+2] = -1;\n"
+	"	}\n"
+	"	\n"
+	"	float currERP = info->erp;\n"
+	"	float k = info->fps * currERP;\n"
+	"	float4 diff;\n"
+	"	float angle;\n"
+	"	float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));\n"
+	"	\n"
+	"	calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);\n"
+	"	diff*=-angle;\n"
+	"		\n"
+	"	float* resultPtr = &diff;\n"
+	"	\n"
+	"	for (int j=0; j<3; j++)\n"
+	"    {\n"
+	"        info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];\n"
+	"    }\n"
+	"	\n"
+	"}\n"
+	"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numBodies)\n"
+	"		return;\n"
+	"	if (bodies[i].m_invMass)\n"
+	"	{\n"
+	"//		if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)\n"
+	"		{\n"
+	"			bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n"
+	"		}\n"
+	"//		if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)\n"
+	"		{\n"
+	"			bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n"
+	"		} \n"
+	"	}\n"
+	"}\n"
+	"__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n"
+	"							__global unsigned int* infos, \n"
+	"							__global unsigned int* constraintRowOffsets, \n"
+	"							__global b3GpuGenericConstraint* constraints, \n"
+	"							__global b3BatchConstraint* batchConstraints, \n"
+	"							__global b3RigidBodyCL* bodies,\n"
+	"							__global BodyInertia* inertias,\n"
+	"							__global b3GpuSolverBody* solverBodies,\n"
+	"							float timeStep,\n"
+	"							float globalErp,\n"
+	"							float globalCfm,\n"
+	"							float globalDamping,\n"
+	"							int globalNumIterations,\n"
+	"							int numConstraints)\n"
+	"{\n"
+	"	int i = get_global_id(0);\n"
+	"	if (i>=numConstraints)\n"
+	"		return;\n"
+	"		\n"
+	"	//for now, always initialize the batch info\n"
+	"	int info1 = infos[i];\n"
+	"			\n"
+	"	__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];\n"
+	"	__global b3GpuGenericConstraint* constraint = &constraints[i];\n"
+	"	__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n"
+	"	__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n"
+	"	int solverBodyIdA = constraint->m_rbA;\n"
+	"	int solverBodyIdB = constraint->m_rbB;\n"
+	"	__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n"
+	"	__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n"
+	"	if (rbA->m_invMass)\n"
+	"	{\n"
+	"		batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n"
+	"	} else\n"
+	"	{\n"
+	"//			if (!solverBodyIdA)\n"
+	"//				m_staticIdx = 0;\n"
+	"		batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n"
+	"	}\n"
+	"	if (rbB->m_invMass)\n"
+	"	{\n"
+	"		batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n"
+	"	} else\n"
+	"	{\n"
+	"//			if (!solverBodyIdB)\n"
+	"//				m_staticIdx = 0;\n"
+	"		batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n"
+	"	}\n"
+	"	if (info1)\n"
+	"	{\n"
+	"		int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n"
+	"//		if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n"
+	"	//		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n"
+	"		int j;\n"
+	"		for ( j=0;j<info1;j++)\n"
+	"		{\n"
+	"//			memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));\n"
+	"			currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n"
+	"			currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n"
+	"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
+	"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
+	"			currentConstraintRow[j].m_cfm = 0.f;\n"
+	"			currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n"
+	"			currentConstraintRow[j].m_friction = 0.f;\n"
+	"			currentConstraintRow[j].m_frictionIndex = 0;\n"
+	"			currentConstraintRow[j].m_jacDiagABInv = 0.f;\n"
+	"			currentConstraintRow[j].m_lowerLimit = 0.f;\n"
+	"			currentConstraintRow[j].m_upperLimit = 0.f;\n"
+	"			currentConstraintRow[j].m_originalConstraint = i;\n"
+	"			currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n"
+	"			currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n"
+	"			currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n"
+	"			currentConstraintRow[j].m_rhs = 0.f;\n"
+	"			currentConstraintRow[j].m_rhsPenetration = 0.f;\n"
+	"			currentConstraintRow[j].m_solverBodyIdA = 0;\n"
+	"			currentConstraintRow[j].m_solverBodyIdB = 0;\n"
+	"							\n"
+	"			currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n"
+	"			currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n"
+	"			currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
+	"			currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
+	"			currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n"
+	"			currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n"
+	"			currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;		\n"
+	"		}\n"
+	"		bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
+	"		bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
+	"		bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
+	"		bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
+	"		bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
+	"		bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
+	"		bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
+	"		bodyBPtr->m_turnVelocity  = (float4)(0,0,0,0);\n"
+	"		int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
+	"		\n"
+	"		b3GpuConstraintInfo2 info2;\n"
+	"		info2.fps = 1.f/timeStep;\n"
+	"		info2.erp = globalErp;\n"
+	"		info2.m_J1linearAxisFloat4 = &currentConstraintRow->m_contactNormal;\n"
+	"		info2.m_J1angularAxisFloat4 = &currentConstraintRow->m_relpos1CrossNormal;\n"
+	"		info2.m_J2linearAxisFloat4 = 0;\n"
+	"		info2.m_J2angularAxisFloat4 = &currentConstraintRow->m_relpos2CrossNormal;\n"
+	"		info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
+	"		///the size of b3SolverConstraint needs be a multiple of float\n"
+	"//		b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n"
+	"		info2.m_constraintError = &currentConstraintRow->m_rhs;\n"
+	"		currentConstraintRow->m_cfm = globalCfm;\n"
+	"		info2.m_damping = globalDamping;\n"
+	"		info2.cfm = &currentConstraintRow->m_cfm;\n"
+	"		info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;\n"
+	"		info2.m_upperLimit = &currentConstraintRow->m_upperLimit;\n"
+	"		info2.m_numIterations = globalNumIterations;\n"
+	"		switch (constraint->m_constraintType)\n"
+	"		{\n"
+	"			case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
+	"			{\n"
+	"				getInfo2Point2Point(constraint,&info2,bodies);\n"
+	"				break;\n"
+	"			}\n"
+	"			case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
+	"			{\n"
+	"				getInfo2Point2Point(constraint,&info2,bodies);\n"
+	"				getInfo2FixedOrientation(constraint,&info2,bodies,3);\n"
+	"				break;\n"
+	"			}\n"
+	"			default:\n"
+	"			{\n"
+	"			}\n"
+	"		}\n"
+	"		///finalize the constraint setup\n"
+	"		for ( j=0;j<info1;j++)\n"
+	"		{\n"
+	"			__global b3SolverConstraint* solverConstraint = &currentConstraintRow[j];\n"
+	"			if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n"
+	"			{\n"
+	"				solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n"
+	"			}\n"
+	"			if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n"
+	"			{\n"
+	"				solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n"
+	"			}\n"
+	"//						solverConstraint->m_originalContactPoint = constraint;\n"
+	"							\n"
+	"			Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n"
+	"			{\n"
+	"				//float4 angularFactorA(1,1,1);\n"
+	"				float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n"
+	"				solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n"
+	"			}\n"
+	"						\n"
+	"			Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n"
+	"			{\n"
+	"				float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n"
+	"				solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n"
+	"			}\n"
+	"			{\n"
+	"				//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n"
+	"				//because it gets multiplied iMJlB\n"
+	"				float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n"
+	"				float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n"
+	"				float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n"
+	"				float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n"
+	"				float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n"
+	"				sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n"
+	"				sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n"
+	"				sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n"
+	"				float fsum = fabs(sum);\n"
+	"				if (fsum>FLT_EPSILON)\n"
+	"				{\n"
+	"					solverConstraint->m_jacDiagABInv = 1.f/sum;\n"
+	"				} else\n"
+	"				{\n"
+	"					solverConstraint->m_jacDiagABInv = 0.f;\n"
+	"				}\n"
+	"			}\n"
+	"			///fix rhs\n"
+	"			///todo: add force/torque accelerators\n"
+	"			{\n"
+	"				float rel_vel;\n"
+	"				float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n"
+	"				float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n"
+	"				rel_vel = vel1Dotn+vel2Dotn;\n"
+	"				float restitution = 0.f;\n"
+	"				float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n"
+	"				float	velocityError = restitution - rel_vel * info2.m_damping;\n"
+	"				float	penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n"
+	"				float	velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n"
+	"				solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n"
+	"				solverConstraint->m_appliedImpulse = 0.f;\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h
index 15a049992b..6e14ad51fc 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h
@@ -1,393 +1,392 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solveContactCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile global int*\n"
-"#endif\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define mymake_float4 (float4)\n"
-"//#define make_float2 (float2)\n"
-"//#define make_uint4 (uint4)\n"
-"//#define make_int4 (int4)\n"
-"//#define make_uint2 (uint2)\n"
-"//#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"///////////////////////////////////////\n"
-"//	Vector\n"
-"///////////////////////////////////////\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
-"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"//	float length = sqrtf(dot3F4(a, a));\n"
-"//	return 1.f/length * a;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Matrix3x3\n"
-"///////////////////////////////////////\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_row[3];\n"
-"}Matrix3x3;\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-"{\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a.m_row[0], b );\n"
-"	ans.y = dot3F4( a.m_row[1], b );\n"
-"	ans.z = dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-"{\n"
-"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a, colx );\n"
-"	ans.y = dot3F4( a, coly );\n"
-"	ans.z = dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"#define WG_SIZE 64\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	Quaternion m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_shapeIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} Body;\n"
-"typedef struct\n"
-"{\n"
-"	Matrix3x3 m_invInertia;\n"
-"	Matrix3x3 m_initInvInertia;\n"
-"} Shape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_linear;\n"
-"	float4 m_worldPos[4];\n"
-"	float4 m_center;	\n"
-"	float m_jacCoeffInv[4];\n"
-"	float m_b[4];\n"
-"	float m_appliedRambdaDt[4];\n"
-"	float m_fJacCoeffInv[2];	\n"
-"	float m_fAppliedRambdaDt[2];	\n"
-"	u32 m_bodyA;\n"
-"	u32 m_bodyB;\n"
-"	int m_batchIdx;\n"
-"	u32 m_paddings[1];\n"
-"} Constraint4;\n"
-"typedef struct\n"
-"{\n"
-"	int m_nConstraints;\n"
-"	int m_start;\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBuffer;\n"
-"typedef struct\n"
-"{\n"
-"	int m_solveFriction;\n"
-"	int m_maxBatch;	//	long batch really kills the performance\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBufferBatchSolve;\n"
-"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
-"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
-"{\n"
-"	*linear = mymake_float4(-n.xyz,0.f);\n"
-"	*angular0 = -cross3(r0, n);\n"
-"	*angular1 = cross3(r1, n);\n"
-"}\n"
-"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
-"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
-"{\n"
-"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
-"}\n"
-"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
-"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
-"{\n"
-"	//	linear0,1 are normlized\n"
-"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
-"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
-"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
-"}\n"
-"void solveContact(__global Constraint4* cs,\n"
-"				  float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
-"				  float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n"
-"void solveContact(__global Constraint4* cs,\n"
-"			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
-"			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n"
-"{\n"
-"	float minRambdaDt = 0;\n"
-"	float maxRambdaDt = FLT_MAX;\n"
-"	for(int ic=0; ic<4; ic++)\n"
-"	{\n"
-"		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
-"		float4 angular0, angular1, linear;\n"
-"		float4 r0 = cs->m_worldPos[ic] - posA;\n"
-"		float4 r1 = cs->m_worldPos[ic] - posB;\n"
-"		setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
-"		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
-"			*linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
-"		rambdaDt *= cs->m_jacCoeffInv[ic];\n"
-"		{\n"
-"			float prevSum = cs->m_appliedRambdaDt[ic];\n"
-"			float updated = prevSum;\n"
-"			updated += rambdaDt;\n"
-"			updated = max2( updated, minRambdaDt );\n"
-"			updated = min2( updated, maxRambdaDt );\n"
-"			rambdaDt = updated - prevSum;\n"
-"			cs->m_appliedRambdaDt[ic] = updated;\n"
-"		}\n"
-"		float4 linImp0 = invMassA*linear*rambdaDt;\n"
-"		float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-"		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-"		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-"		*linVelA += linImp0;\n"
-"		*angVelA += angImp0;\n"
-"		*linVelB += linImp1;\n"
-"		*angVelB += angImp1;\n"
-"	}\n"
-"}\n"
-"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
-" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
-"{\n"
-"  if (fabs(n[0].z) > 0.70710678f) {\n"
-"    // choose p in y-z plane\n"
-"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = 0;\n"
-"	p[0].y = -n[0].z*k;\n"
-"	p[0].z = n[0].y*k;\n"
-"    // set q = n x p\n"
-"    q[0].x = a*k;\n"
-"	q[0].y = -n[0].x*p[0].z;\n"
-"	q[0].z = n[0].x*p[0].y;\n"
-"  }\n"
-"  else {\n"
-"    // choose p in x-y plane\n"
-"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = -n[0].y*k;\n"
-"	p[0].y = n[0].x*k;\n"
-"	p[0].z = 0;\n"
-"    // set q = n x p\n"
-"    q[0].x = -n[0].z*p[0].y;\n"
-"	q[0].y = n[0].z*p[0].x;\n"
-"	q[0].z = a*k;\n"
-"  }\n"
-"}\n"
-"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
-"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
-"{\n"
-"	//float frictionCoeff = ldsCs[0].m_linear.w;\n"
-"	int aIdx = ldsCs[0].m_bodyA;\n"
-"	int bIdx = ldsCs[0].m_bodyB;\n"
-"	float4 posA = gBodies[aIdx].m_pos;\n"
-"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-"	float invMassA = gBodies[aIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-"	float4 posB = gBodies[bIdx].m_pos;\n"
-"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-"	float invMassB = gBodies[bIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-"	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-"			posB, &linVelB, &angVelB, invMassB, invInertiaB );\n"
-"  if (gBodies[aIdx].m_invMass)\n"
-"  {\n"
-"		gBodies[aIdx].m_linVel = linVelA;\n"
-"		gBodies[aIdx].m_angVel = angVelA;\n"
-"	} else\n"
-"	{\n"
-"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-"	\n"
-"	}\n"
-"	if (gBodies[bIdx].m_invMass)\n"
-"  {\n"
-"		gBodies[bIdx].m_linVel = linVelB;\n"
-"		gBodies[bIdx].m_angVel = angVelB;\n"
-"	} else\n"
-"	{\n"
-"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-"	\n"
-"	}\n"
-"}\n"
-"typedef struct \n"
-"{\n"
-"	int m_valInt0;\n"
-"	int m_valInt1;\n"
-"	int m_valInt2;\n"
-"	int m_valInt3;\n"
-"	float m_val0;\n"
-"	float m_val1;\n"
-"	float m_val2;\n"
-"	float m_val3;\n"
-"} SolverDebugInfo;\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void BatchSolveKernelContact(__global Body* gBodies,\n"
-"                      __global Shape* gShapes,\n"
-"                      __global Constraint4* gConstraints,\n"
-"                      __global int* gN,\n"
-"                      __global int* gOffsets,\n"
-"                      __global	int* batchSizes,\n"
-"                       int maxBatch1,\n"
-"                       int cellBatch,\n"
-"                       int4 nSplit\n"
-"                      )\n"
-"{\n"
-"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
-"	__local int ldsCurBatch;\n"
-"	__local int ldsNextBatch;\n"
-"	__local int ldsStart;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	int wgIdx = GET_GROUP_IDX;\n"
-"//	int gIdx = GET_GLOBAL_IDX;\n"
-"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
-"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
-"	\n"
-"	\n"
-"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
-"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
-"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
-"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
-"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
-"	//int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n"
-"	//int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n"
-"	//int cellIdx = xIdx+yIdx*nSplit;\n"
-"	\n"
-"	if( gN[cellIdx] == 0 ) \n"
-"		return;\n"
-"	int maxBatch = batchSizes[cellIdx];\n"
-"	\n"
-"	\n"
-"	const int start = gOffsets[cellIdx];\n"
-"	const int end = start + gN[cellIdx];\n"
-"	\n"
-"	\n"
-"	\n"
-"	if( lIdx == 0 )\n"
-"	{\n"
-"		ldsCurBatch = 0;\n"
-"		ldsNextBatch = 0;\n"
-"		ldsStart = start;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	int idx=ldsStart+lIdx;\n"
-"	while (ldsCurBatch < maxBatch)\n"
-"	{\n"
-"		for(; idx<end; )\n"
-"		{\n"
-"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
-"			{\n"
-"					solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-"				 idx+=64;\n"
-"			} else\n"
-"			{\n"
-"				break;\n"
-"			}\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"	\n"
-"		if( lIdx == 0 )\n"
-"		{\n"
-"			ldsCurBatch++;\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"	}\n"
-"	\n"
-"    \n"
-"}\n"
-"__kernel void solveSingleContactKernel(__global Body* gBodies,\n"
-"                      __global Shape* gShapes,\n"
-"                      __global Constraint4* gConstraints,\n"
-"                       int cellIdx,\n"
-"                       int batchOffset,\n"
-"                       int numConstraintsInBatch\n"
-"                      )\n"
-"{\n"
-"	int index = get_global_id(0);\n"
-"	if (index < numConstraintsInBatch)\n"
-"	{\n"
-"		int idx=batchOffset+index;\n"
-"		solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-"	}    \n"
-"}\n"
-;
+static const char* solveContactCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile global int*\n"
+	"#endif\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define mymake_float4 (float4)\n"
+	"//#define make_float2 (float2)\n"
+	"//#define make_uint4 (uint4)\n"
+	"//#define make_int4 (int4)\n"
+	"//#define make_uint2 (uint2)\n"
+	"//#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"///////////////////////////////////////\n"
+	"//	Vector\n"
+	"///////////////////////////////////////\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
+	"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"//	float length = sqrtf(dot3F4(a, a));\n"
+	"//	return 1.f/length * a;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Matrix3x3\n"
+	"///////////////////////////////////////\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_row[3];\n"
+	"}Matrix3x3;\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+	"{\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a.m_row[0], b );\n"
+	"	ans.y = dot3F4( a.m_row[1], b );\n"
+	"	ans.z = dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+	"{\n"
+	"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a, colx );\n"
+	"	ans.y = dot3F4( a, coly );\n"
+	"	ans.z = dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	Quaternion m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_shapeIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} Body;\n"
+	"typedef struct\n"
+	"{\n"
+	"	Matrix3x3 m_invInertia;\n"
+	"	Matrix3x3 m_initInvInertia;\n"
+	"} Shape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_linear;\n"
+	"	float4 m_worldPos[4];\n"
+	"	float4 m_center;	\n"
+	"	float m_jacCoeffInv[4];\n"
+	"	float m_b[4];\n"
+	"	float m_appliedRambdaDt[4];\n"
+	"	float m_fJacCoeffInv[2];	\n"
+	"	float m_fAppliedRambdaDt[2];	\n"
+	"	u32 m_bodyA;\n"
+	"	u32 m_bodyB;\n"
+	"	int m_batchIdx;\n"
+	"	u32 m_paddings[1];\n"
+	"} Constraint4;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_nConstraints;\n"
+	"	int m_start;\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBuffer;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_solveFriction;\n"
+	"	int m_maxBatch;	//	long batch really kills the performance\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBufferBatchSolve;\n"
+	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
+	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
+	"{\n"
+	"	*linear = mymake_float4(-n.xyz,0.f);\n"
+	"	*angular0 = -cross3(r0, n);\n"
+	"	*angular1 = cross3(r1, n);\n"
+	"}\n"
+	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
+	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
+	"{\n"
+	"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
+	"}\n"
+	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+	"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
+	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+	"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
+	"{\n"
+	"	//	linear0,1 are normlized\n"
+	"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
+	"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
+	"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
+	"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
+	"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
+	"}\n"
+	"void solveContact(__global Constraint4* cs,\n"
+	"				  float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
+	"				  float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n"
+	"void solveContact(__global Constraint4* cs,\n"
+	"			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
+	"			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n"
+	"{\n"
+	"	float minRambdaDt = 0;\n"
+	"	float maxRambdaDt = FLT_MAX;\n"
+	"	for(int ic=0; ic<4; ic++)\n"
+	"	{\n"
+	"		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
+	"		float4 angular0, angular1, linear;\n"
+	"		float4 r0 = cs->m_worldPos[ic] - posA;\n"
+	"		float4 r1 = cs->m_worldPos[ic] - posB;\n"
+	"		setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
+	"		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
+	"			*linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
+	"		rambdaDt *= cs->m_jacCoeffInv[ic];\n"
+	"		{\n"
+	"			float prevSum = cs->m_appliedRambdaDt[ic];\n"
+	"			float updated = prevSum;\n"
+	"			updated += rambdaDt;\n"
+	"			updated = max2( updated, minRambdaDt );\n"
+	"			updated = min2( updated, maxRambdaDt );\n"
+	"			rambdaDt = updated - prevSum;\n"
+	"			cs->m_appliedRambdaDt[ic] = updated;\n"
+	"		}\n"
+	"		float4 linImp0 = invMassA*linear*rambdaDt;\n"
+	"		float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
+	"		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
+	"		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
+	"		*linVelA += linImp0;\n"
+	"		*angVelA += angImp0;\n"
+	"		*linVelB += linImp1;\n"
+	"		*angVelB += angImp1;\n"
+	"	}\n"
+	"}\n"
+	"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
+	" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
+	"{\n"
+	"  if (fabs(n[0].z) > 0.70710678f) {\n"
+	"    // choose p in y-z plane\n"
+	"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = 0;\n"
+	"	p[0].y = -n[0].z*k;\n"
+	"	p[0].z = n[0].y*k;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = a*k;\n"
+	"	q[0].y = -n[0].x*p[0].z;\n"
+	"	q[0].z = n[0].x*p[0].y;\n"
+	"  }\n"
+	"  else {\n"
+	"    // choose p in x-y plane\n"
+	"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = -n[0].y*k;\n"
+	"	p[0].y = n[0].x*k;\n"
+	"	p[0].z = 0;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = -n[0].z*p[0].y;\n"
+	"	q[0].y = n[0].z*p[0].x;\n"
+	"	q[0].z = a*k;\n"
+	"  }\n"
+	"}\n"
+	"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
+	"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
+	"{\n"
+	"	//float frictionCoeff = ldsCs[0].m_linear.w;\n"
+	"	int aIdx = ldsCs[0].m_bodyA;\n"
+	"	int bIdx = ldsCs[0].m_bodyB;\n"
+	"	float4 posA = gBodies[aIdx].m_pos;\n"
+	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
+	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
+	"	float invMassA = gBodies[aIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
+	"	float4 posB = gBodies[bIdx].m_pos;\n"
+	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
+	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
+	"	float invMassB = gBodies[bIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
+	"	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
+	"			posB, &linVelB, &angVelB, invMassB, invInertiaB );\n"
+	"  if (gBodies[aIdx].m_invMass)\n"
+	"  {\n"
+	"		gBodies[aIdx].m_linVel = linVelA;\n"
+	"		gBodies[aIdx].m_angVel = angVelA;\n"
+	"	} else\n"
+	"	{\n"
+	"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
+	"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
+	"	\n"
+	"	}\n"
+	"	if (gBodies[bIdx].m_invMass)\n"
+	"  {\n"
+	"		gBodies[bIdx].m_linVel = linVelB;\n"
+	"		gBodies[bIdx].m_angVel = angVelB;\n"
+	"	} else\n"
+	"	{\n"
+	"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
+	"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
+	"	\n"
+	"	}\n"
+	"}\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_valInt0;\n"
+	"	int m_valInt1;\n"
+	"	int m_valInt2;\n"
+	"	int m_valInt3;\n"
+	"	float m_val0;\n"
+	"	float m_val1;\n"
+	"	float m_val2;\n"
+	"	float m_val3;\n"
+	"} SolverDebugInfo;\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void BatchSolveKernelContact(__global Body* gBodies,\n"
+	"                      __global Shape* gShapes,\n"
+	"                      __global Constraint4* gConstraints,\n"
+	"                      __global int* gN,\n"
+	"                      __global int* gOffsets,\n"
+	"                      __global	int* batchSizes,\n"
+	"                       int maxBatch1,\n"
+	"                       int cellBatch,\n"
+	"                       int4 nSplit\n"
+	"                      )\n"
+	"{\n"
+	"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
+	"	__local int ldsCurBatch;\n"
+	"	__local int ldsNextBatch;\n"
+	"	__local int ldsStart;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	int wgIdx = GET_GROUP_IDX;\n"
+	"//	int gIdx = GET_GLOBAL_IDX;\n"
+	"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
+	"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
+	"	\n"
+	"	\n"
+	"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
+	"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
+	"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
+	"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
+	"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
+	"	//int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n"
+	"	//int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n"
+	"	//int cellIdx = xIdx+yIdx*nSplit;\n"
+	"	\n"
+	"	if( gN[cellIdx] == 0 ) \n"
+	"		return;\n"
+	"	int maxBatch = batchSizes[cellIdx];\n"
+	"	\n"
+	"	\n"
+	"	const int start = gOffsets[cellIdx];\n"
+	"	const int end = start + gN[cellIdx];\n"
+	"	\n"
+	"	\n"
+	"	\n"
+	"	if( lIdx == 0 )\n"
+	"	{\n"
+	"		ldsCurBatch = 0;\n"
+	"		ldsNextBatch = 0;\n"
+	"		ldsStart = start;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	int idx=ldsStart+lIdx;\n"
+	"	while (ldsCurBatch < maxBatch)\n"
+	"	{\n"
+	"		for(; idx<end; )\n"
+	"		{\n"
+	"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
+	"			{\n"
+	"					solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
+	"				 idx+=64;\n"
+	"			} else\n"
+	"			{\n"
+	"				break;\n"
+	"			}\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"	\n"
+	"		if( lIdx == 0 )\n"
+	"		{\n"
+	"			ldsCurBatch++;\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"	}\n"
+	"	\n"
+	"    \n"
+	"}\n"
+	"__kernel void solveSingleContactKernel(__global Body* gBodies,\n"
+	"                      __global Shape* gShapes,\n"
+	"                      __global Constraint4* gConstraints,\n"
+	"                       int cellIdx,\n"
+	"                       int batchOffset,\n"
+	"                       int numConstraintsInBatch\n"
+	"                      )\n"
+	"{\n"
+	"	int index = get_global_id(0);\n"
+	"	if (index < numConstraintsInBatch)\n"
+	"	{\n"
+	"		int idx=batchOffset+index;\n"
+	"		solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
+	"	}    \n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
index eb58674f22..9707cdb25d 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
@@ -1,421 +1,420 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solveFrictionCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile global int*\n"
-"#endif\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define mymake_float4 (float4)\n"
-"//#define make_float2 (float2)\n"
-"//#define make_uint4 (uint4)\n"
-"//#define make_int4 (int4)\n"
-"//#define make_uint2 (uint2)\n"
-"//#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"///////////////////////////////////////\n"
-"//	Vector\n"
-"///////////////////////////////////////\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
-"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"//	float length = sqrtf(dot3F4(a, a));\n"
-"//	return 1.f/length * a;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Matrix3x3\n"
-"///////////////////////////////////////\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_row[3];\n"
-"}Matrix3x3;\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-"{\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a.m_row[0], b );\n"
-"	ans.y = dot3F4( a.m_row[1], b );\n"
-"	ans.z = dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-"{\n"
-"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a, colx );\n"
-"	ans.y = dot3F4( a, coly );\n"
-"	ans.z = dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"#define WG_SIZE 64\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	Quaternion m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_shapeIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} Body;\n"
-"typedef struct\n"
-"{\n"
-"	Matrix3x3 m_invInertia;\n"
-"	Matrix3x3 m_initInvInertia;\n"
-"} Shape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_linear;\n"
-"	float4 m_worldPos[4];\n"
-"	float4 m_center;	\n"
-"	float m_jacCoeffInv[4];\n"
-"	float m_b[4];\n"
-"	float m_appliedRambdaDt[4];\n"
-"	float m_fJacCoeffInv[2];	\n"
-"	float m_fAppliedRambdaDt[2];	\n"
-"	u32 m_bodyA;\n"
-"	u32 m_bodyB;\n"
-"	int m_batchIdx;\n"
-"	u32 m_paddings[1];\n"
-"} Constraint4;\n"
-"typedef struct\n"
-"{\n"
-"	int m_nConstraints;\n"
-"	int m_start;\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBuffer;\n"
-"typedef struct\n"
-"{\n"
-"	int m_solveFriction;\n"
-"	int m_maxBatch;	//	long batch really kills the performance\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBufferBatchSolve;\n"
-"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
-"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
-"{\n"
-"	*linear = mymake_float4(-n.xyz,0.f);\n"
-"	*angular0 = -cross3(r0, n);\n"
-"	*angular1 = cross3(r1, n);\n"
-"}\n"
-"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
-"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
-"{\n"
-"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
-"}\n"
-"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
-"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
-"{\n"
-"	//	linear0,1 are normlized\n"
-"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
-"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
-"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
-"}\n"
-"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
-" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
-"{\n"
-"  if (fabs(n[0].z) > 0.70710678f) {\n"
-"    // choose p in y-z plane\n"
-"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = 0;\n"
-"	p[0].y = -n[0].z*k;\n"
-"	p[0].z = n[0].y*k;\n"
-"    // set q = n x p\n"
-"    q[0].x = a*k;\n"
-"	q[0].y = -n[0].x*p[0].z;\n"
-"	q[0].z = n[0].x*p[0].y;\n"
-"  }\n"
-"  else {\n"
-"    // choose p in x-y plane\n"
-"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = -n[0].y*k;\n"
-"	p[0].y = n[0].x*k;\n"
-"	p[0].z = 0;\n"
-"    // set q = n x p\n"
-"    q[0].x = -n[0].z*p[0].y;\n"
-"	q[0].y = n[0].z*p[0].x;\n"
-"	q[0].z = a*k;\n"
-"  }\n"
-"}\n"
-"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
-"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
-"{\n"
-"	float frictionCoeff = ldsCs[0].m_linear.w;\n"
-"	int aIdx = ldsCs[0].m_bodyA;\n"
-"	int bIdx = ldsCs[0].m_bodyB;\n"
-"	float4 posA = gBodies[aIdx].m_pos;\n"
-"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-"	float invMassA = gBodies[aIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-"	float4 posB = gBodies[bIdx].m_pos;\n"
-"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-"	float invMassB = gBodies[bIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-"	\n"
-"	{\n"
-"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
-"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
-"		float sum = 0;\n"
-"		for(int j=0; j<4; j++)\n"
-"		{\n"
-"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
-"		}\n"
-"		frictionCoeff = 0.7f;\n"
-"		for(int j=0; j<4; j++)\n"
-"		{\n"
-"			maxRambdaDt[j] = frictionCoeff*sum;\n"
-"			minRambdaDt[j] = -maxRambdaDt[j];\n"
-"		}\n"
-"		\n"
-"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
-"		\n"
-"		\n"
-"		{\n"
-"			\n"
-"			__global Constraint4* cs = ldsCs;\n"
-"			\n"
-"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
-"			const float4 center = cs->m_center;\n"
-"			\n"
-"			float4 n = -cs->m_linear;\n"
-"			\n"
-"			float4 tangent[2];\n"
-"			btPlaneSpace1(&n,&tangent[0],&tangent[1]);\n"
-"			float4 angular0, angular1, linear;\n"
-"			float4 r0 = center - posA;\n"
-"			float4 r1 = center - posB;\n"
-"			for(int i=0; i<2; i++)\n"
-"			{\n"
-"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
-"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
-"											linVelA, angVelA, linVelB, angVelB );\n"
-"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
-"				\n"
-"				{\n"
-"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
-"					float updated = prevSum;\n"
-"					updated += rambdaDt;\n"
-"					updated = max2( updated, minRambdaDt[i] );\n"
-"					updated = min2( updated, maxRambdaDt[i] );\n"
-"					rambdaDt = updated - prevSum;\n"
-"					cs->m_fAppliedRambdaDt[i] = updated;\n"
-"				}\n"
-"				\n"
-"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
-"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-"				\n"
-"				linVelA += linImp0;\n"
-"				angVelA += angImp0;\n"
-"				linVelB += linImp1;\n"
-"				angVelB += angImp1;\n"
-"			}\n"
-"			{	//	angular damping for point constraint\n"
-"				float4 ab = normalize3( posB - posA );\n"
-"				float4 ac = normalize3( center - posA );\n"
-"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
-"				{\n"
-"					float angNA = dot3F4( n, angVelA );\n"
-"					float angNB = dot3F4( n, angVelB );\n"
-"					\n"
-"					angVelA -= (angNA*0.1f)*n;\n"
-"					angVelB -= (angNB*0.1f)*n;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		\n"
-"	}\n"
-"	if (gBodies[aIdx].m_invMass)\n"
-"	{\n"
-"		gBodies[aIdx].m_linVel = linVelA;\n"
-"		gBodies[aIdx].m_angVel = angVelA;\n"
-"	} else\n"
-"	{\n"
-"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-"	}\n"
-"	if (gBodies[bIdx].m_invMass)\n"
-"	{\n"
-"		gBodies[bIdx].m_linVel = linVelB;\n"
-"		gBodies[bIdx].m_angVel = angVelB;\n"
-"	} else\n"
-"	{\n"
-"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
-"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
-"	}\n"
-" \n"
-"}\n"
-"typedef struct \n"
-"{\n"
-"	int m_valInt0;\n"
-"	int m_valInt1;\n"
-"	int m_valInt2;\n"
-"	int m_valInt3;\n"
-"	float m_val0;\n"
-"	float m_val1;\n"
-"	float m_val2;\n"
-"	float m_val3;\n"
-"} SolverDebugInfo;\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void BatchSolveKernelFriction(__global Body* gBodies,\n"
-"                      __global Shape* gShapes,\n"
-"                      __global Constraint4* gConstraints,\n"
-"                      __global int* gN,\n"
-"                      __global int* gOffsets,\n"
-"                      __global int* batchSizes,\n"
-"                       int maxBatch1,\n"
-"                       int cellBatch,\n"
-"                       int4 nSplit\n"
-"                      )\n"
-"{\n"
-"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
-"	__local int ldsCurBatch;\n"
-"	__local int ldsNextBatch;\n"
-"	__local int ldsStart;\n"
-"	int lIdx = GET_LOCAL_IDX;\n"
-"	int wgIdx = GET_GROUP_IDX;\n"
-"//	int gIdx = GET_GLOBAL_IDX;\n"
-"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
-"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
-"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
-"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
-"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
-"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
-"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
-"	\n"
-"	if( gN[cellIdx] == 0 ) \n"
-"		return;\n"
-"	int maxBatch = batchSizes[cellIdx];\n"
-"	const int start = gOffsets[cellIdx];\n"
-"	const int end = start + gN[cellIdx];\n"
-"	\n"
-"	if( lIdx == 0 )\n"
-"	{\n"
-"		ldsCurBatch = 0;\n"
-"		ldsNextBatch = 0;\n"
-"		ldsStart = start;\n"
-"	}\n"
-"	GROUP_LDS_BARRIER;\n"
-"	int idx=ldsStart+lIdx;\n"
-"	while (ldsCurBatch < maxBatch)\n"
-"	{\n"
-"		for(; idx<end; )\n"
-"		{\n"
-"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
-"			{\n"
-"					solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-"				 idx+=64;\n"
-"			} else\n"
-"			{\n"
-"				break;\n"
-"			}\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"		if( lIdx == 0 )\n"
-"		{\n"
-"			ldsCurBatch++;\n"
-"		}\n"
-"		GROUP_LDS_BARRIER;\n"
-"	}\n"
-"	\n"
-"    \n"
-"}\n"
-"__kernel void solveSingleFrictionKernel(__global Body* gBodies,\n"
-"                      __global Shape* gShapes,\n"
-"                      __global Constraint4* gConstraints,\n"
-"                       int cellIdx,\n"
-"                       int batchOffset,\n"
-"                       int numConstraintsInBatch\n"
-"                      )\n"
-"{\n"
-"	int index = get_global_id(0);\n"
-"	if (index < numConstraintsInBatch)\n"
-"	{\n"
-"		\n"
-"		int idx=batchOffset+index;\n"
-"	\n"
-"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
-"	}    \n"
-"}\n"
-;
+static const char* solveFrictionCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile global int*\n"
+	"#endif\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define mymake_float4 (float4)\n"
+	"//#define make_float2 (float2)\n"
+	"//#define make_uint4 (uint4)\n"
+	"//#define make_int4 (int4)\n"
+	"//#define make_uint2 (uint2)\n"
+	"//#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"///////////////////////////////////////\n"
+	"//	Vector\n"
+	"///////////////////////////////////////\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
+	"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"//	float length = sqrtf(dot3F4(a, a));\n"
+	"//	return 1.f/length * a;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Matrix3x3\n"
+	"///////////////////////////////////////\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_row[3];\n"
+	"}Matrix3x3;\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+	"{\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a.m_row[0], b );\n"
+	"	ans.y = dot3F4( a.m_row[1], b );\n"
+	"	ans.z = dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+	"{\n"
+	"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a, colx );\n"
+	"	ans.y = dot3F4( a, coly );\n"
+	"	ans.z = dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	Quaternion m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_shapeIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} Body;\n"
+	"typedef struct\n"
+	"{\n"
+	"	Matrix3x3 m_invInertia;\n"
+	"	Matrix3x3 m_initInvInertia;\n"
+	"} Shape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_linear;\n"
+	"	float4 m_worldPos[4];\n"
+	"	float4 m_center;	\n"
+	"	float m_jacCoeffInv[4];\n"
+	"	float m_b[4];\n"
+	"	float m_appliedRambdaDt[4];\n"
+	"	float m_fJacCoeffInv[2];	\n"
+	"	float m_fAppliedRambdaDt[2];	\n"
+	"	u32 m_bodyA;\n"
+	"	u32 m_bodyB;\n"
+	"	int m_batchIdx;\n"
+	"	u32 m_paddings[1];\n"
+	"} Constraint4;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_nConstraints;\n"
+	"	int m_start;\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBuffer;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_solveFriction;\n"
+	"	int m_maxBatch;	//	long batch really kills the performance\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBufferBatchSolve;\n"
+	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
+	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
+	"{\n"
+	"	*linear = mymake_float4(-n.xyz,0.f);\n"
+	"	*angular0 = -cross3(r0, n);\n"
+	"	*angular1 = cross3(r1, n);\n"
+	"}\n"
+	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
+	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
+	"{\n"
+	"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
+	"}\n"
+	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+	"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
+	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+	"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
+	"{\n"
+	"	//	linear0,1 are normlized\n"
+	"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
+	"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
+	"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
+	"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
+	"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
+	"}\n"
+	"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
+	" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
+	"{\n"
+	"  if (fabs(n[0].z) > 0.70710678f) {\n"
+	"    // choose p in y-z plane\n"
+	"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = 0;\n"
+	"	p[0].y = -n[0].z*k;\n"
+	"	p[0].z = n[0].y*k;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = a*k;\n"
+	"	q[0].y = -n[0].x*p[0].z;\n"
+	"	q[0].z = n[0].x*p[0].y;\n"
+	"  }\n"
+	"  else {\n"
+	"    // choose p in x-y plane\n"
+	"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = -n[0].y*k;\n"
+	"	p[0].y = n[0].x*k;\n"
+	"	p[0].z = 0;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = -n[0].z*p[0].y;\n"
+	"	q[0].y = n[0].z*p[0].x;\n"
+	"	q[0].z = a*k;\n"
+	"  }\n"
+	"}\n"
+	"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
+	"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
+	"{\n"
+	"	float frictionCoeff = ldsCs[0].m_linear.w;\n"
+	"	int aIdx = ldsCs[0].m_bodyA;\n"
+	"	int bIdx = ldsCs[0].m_bodyB;\n"
+	"	float4 posA = gBodies[aIdx].m_pos;\n"
+	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
+	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
+	"	float invMassA = gBodies[aIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
+	"	float4 posB = gBodies[bIdx].m_pos;\n"
+	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
+	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
+	"	float invMassB = gBodies[bIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
+	"	\n"
+	"	{\n"
+	"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
+	"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
+	"		float sum = 0;\n"
+	"		for(int j=0; j<4; j++)\n"
+	"		{\n"
+	"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
+	"		}\n"
+	"		frictionCoeff = 0.7f;\n"
+	"		for(int j=0; j<4; j++)\n"
+	"		{\n"
+	"			maxRambdaDt[j] = frictionCoeff*sum;\n"
+	"			minRambdaDt[j] = -maxRambdaDt[j];\n"
+	"		}\n"
+	"		\n"
+	"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
+	"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
+	"		\n"
+	"		\n"
+	"		{\n"
+	"			\n"
+	"			__global Constraint4* cs = ldsCs;\n"
+	"			\n"
+	"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
+	"			const float4 center = cs->m_center;\n"
+	"			\n"
+	"			float4 n = -cs->m_linear;\n"
+	"			\n"
+	"			float4 tangent[2];\n"
+	"			btPlaneSpace1(&n,&tangent[0],&tangent[1]);\n"
+	"			float4 angular0, angular1, linear;\n"
+	"			float4 r0 = center - posA;\n"
+	"			float4 r1 = center - posB;\n"
+	"			for(int i=0; i<2; i++)\n"
+	"			{\n"
+	"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
+	"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
+	"											linVelA, angVelA, linVelB, angVelB );\n"
+	"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
+	"				\n"
+	"				{\n"
+	"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
+	"					float updated = prevSum;\n"
+	"					updated += rambdaDt;\n"
+	"					updated = max2( updated, minRambdaDt[i] );\n"
+	"					updated = min2( updated, maxRambdaDt[i] );\n"
+	"					rambdaDt = updated - prevSum;\n"
+	"					cs->m_fAppliedRambdaDt[i] = updated;\n"
+	"				}\n"
+	"				\n"
+	"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
+	"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
+	"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
+	"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
+	"				\n"
+	"				linVelA += linImp0;\n"
+	"				angVelA += angImp0;\n"
+	"				linVelB += linImp1;\n"
+	"				angVelB += angImp1;\n"
+	"			}\n"
+	"			{	//	angular damping for point constraint\n"
+	"				float4 ab = normalize3( posB - posA );\n"
+	"				float4 ac = normalize3( center - posA );\n"
+	"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
+	"				{\n"
+	"					float angNA = dot3F4( n, angVelA );\n"
+	"					float angNB = dot3F4( n, angVelB );\n"
+	"					\n"
+	"					angVelA -= (angNA*0.1f)*n;\n"
+	"					angVelB -= (angNB*0.1f)*n;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		\n"
+	"	}\n"
+	"	if (gBodies[aIdx].m_invMass)\n"
+	"	{\n"
+	"		gBodies[aIdx].m_linVel = linVelA;\n"
+	"		gBodies[aIdx].m_angVel = angVelA;\n"
+	"	} else\n"
+	"	{\n"
+	"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
+	"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
+	"	}\n"
+	"	if (gBodies[bIdx].m_invMass)\n"
+	"	{\n"
+	"		gBodies[bIdx].m_linVel = linVelB;\n"
+	"		gBodies[bIdx].m_angVel = angVelB;\n"
+	"	} else\n"
+	"	{\n"
+	"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
+	"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
+	"	}\n"
+	" \n"
+	"}\n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_valInt0;\n"
+	"	int m_valInt1;\n"
+	"	int m_valInt2;\n"
+	"	int m_valInt3;\n"
+	"	float m_val0;\n"
+	"	float m_val1;\n"
+	"	float m_val2;\n"
+	"	float m_val3;\n"
+	"} SolverDebugInfo;\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void BatchSolveKernelFriction(__global Body* gBodies,\n"
+	"                      __global Shape* gShapes,\n"
+	"                      __global Constraint4* gConstraints,\n"
+	"                      __global int* gN,\n"
+	"                      __global int* gOffsets,\n"
+	"                      __global int* batchSizes,\n"
+	"                       int maxBatch1,\n"
+	"                       int cellBatch,\n"
+	"                       int4 nSplit\n"
+	"                      )\n"
+	"{\n"
+	"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
+	"	__local int ldsCurBatch;\n"
+	"	__local int ldsNextBatch;\n"
+	"	__local int ldsStart;\n"
+	"	int lIdx = GET_LOCAL_IDX;\n"
+	"	int wgIdx = GET_GROUP_IDX;\n"
+	"//	int gIdx = GET_GLOBAL_IDX;\n"
+	"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
+	"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
+	"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
+	"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
+	"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
+	"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
+	"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
+	"	\n"
+	"	if( gN[cellIdx] == 0 ) \n"
+	"		return;\n"
+	"	int maxBatch = batchSizes[cellIdx];\n"
+	"	const int start = gOffsets[cellIdx];\n"
+	"	const int end = start + gN[cellIdx];\n"
+	"	\n"
+	"	if( lIdx == 0 )\n"
+	"	{\n"
+	"		ldsCurBatch = 0;\n"
+	"		ldsNextBatch = 0;\n"
+	"		ldsStart = start;\n"
+	"	}\n"
+	"	GROUP_LDS_BARRIER;\n"
+	"	int idx=ldsStart+lIdx;\n"
+	"	while (ldsCurBatch < maxBatch)\n"
+	"	{\n"
+	"		for(; idx<end; )\n"
+	"		{\n"
+	"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
+	"			{\n"
+	"					solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
+	"				 idx+=64;\n"
+	"			} else\n"
+	"			{\n"
+	"				break;\n"
+	"			}\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"		if( lIdx == 0 )\n"
+	"		{\n"
+	"			ldsCurBatch++;\n"
+	"		}\n"
+	"		GROUP_LDS_BARRIER;\n"
+	"	}\n"
+	"	\n"
+	"    \n"
+	"}\n"
+	"__kernel void solveSingleFrictionKernel(__global Body* gBodies,\n"
+	"                      __global Shape* gShapes,\n"
+	"                      __global Constraint4* gConstraints,\n"
+	"                       int cellIdx,\n"
+	"                       int batchOffset,\n"
+	"                       int numConstraintsInBatch\n"
+	"                      )\n"
+	"{\n"
+	"	int index = get_global_id(0);\n"
+	"	if (index < numConstraintsInBatch)\n"
+	"	{\n"
+	"		\n"
+	"		int idx=batchOffset+index;\n"
+	"	\n"
+	"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
+	"	}    \n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
index eb1834ee00..d53db03181 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
@@ -1,703 +1,702 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solverSetupCL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#ifndef B3_CONTACT_CONSTRAINT5_H\n"
-"#define B3_CONTACT_CONSTRAINT5_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"typedef struct b3ContactConstraint4 b3ContactConstraint4_t;\n"
-"struct b3ContactConstraint4\n"
-"{\n"
-"	b3Float4 m_linear;//normal?\n"
-"	b3Float4 m_worldPos[4];\n"
-"	b3Float4 m_center;	//	friction\n"
-"	float m_jacCoeffInv[4];\n"
-"	float m_b[4];\n"
-"	float m_appliedRambdaDt[4];\n"
-"	float m_fJacCoeffInv[2];	//	friction\n"
-"	float m_fAppliedRambdaDt[2];	//	friction\n"
-"	unsigned int m_bodyA;\n"
-"	unsigned int m_bodyB;\n"
-"	int			m_batchIdx;\n"
-"	unsigned int m_paddings;\n"
-"};\n"
-"//inline	void setFrictionCoeff(float value) { m_linear[3] = value; }\n"
-"inline	float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) \n"
-"{\n"
-"	return constraint->m_linear.w; \n"
-"}\n"
-"#endif //B3_CONTACT_CONSTRAINT5_H\n"
-"#ifndef B3_RIGIDBODY_DATA_H\n"
-"#define B3_RIGIDBODY_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-"struct b3RigidBodyData\n"
-"{\n"
-"	b3Float4				m_pos;\n"
-"	b3Quat					m_quat;\n"
-"	b3Float4				m_linVel;\n"
-"	b3Float4				m_angVel;\n"
-"	int 					m_collidableIdx;\n"
-"	float 				m_invMass;\n"
-"	float 				m_restituitionCoeff;\n"
-"	float 				m_frictionCoeff;\n"
-"};\n"
-"typedef struct b3InertiaData b3InertiaData_t;\n"
-"struct b3InertiaData\n"
-"{\n"
-"	b3Mat3x3 m_invInertiaWorld;\n"
-"	b3Mat3x3 m_initInvInertia;\n"
-"};\n"
-"#endif //B3_RIGIDBODY_DATA_H\n"
-"	\n"
-"void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);\n"
-" void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)\n"
-"{\n"
-"  if (b3Fabs(n.z) > 0.70710678f) {\n"
-"    // choose p in y-z plane\n"
-"    float a = n.y*n.y + n.z*n.z;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = 0;\n"
-"	p[0].y = -n.z*k;\n"
-"	p[0].z = n.y*k;\n"
-"    // set q = n x p\n"
-"    q[0].x = a*k;\n"
-"	q[0].y = -n.x*p[0].z;\n"
-"	q[0].z = n.x*p[0].y;\n"
-"  }\n"
-"  else {\n"
-"    // choose p in x-y plane\n"
-"    float a = n.x*n.x + n.y*n.y;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = -n.y*k;\n"
-"	p[0].y = n.x*k;\n"
-"	p[0].z = 0;\n"
-"    // set q = n x p\n"
-"    q[0].x = -n.z*p[0].y;\n"
-"	q[0].y = n.z*p[0].x;\n"
-"	q[0].z = a*k;\n"
-"  }\n"
-"}\n"
-" \n"
-"void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)\n"
-"{\n"
-"	*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);\n"
-"	*angular0 = b3Cross3(r0, n);\n"
-"	*angular1 = -b3Cross3(r1, n);\n"
-"}\n"
-"float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,\n"
-"	b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )\n"
-"{\n"
-"	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);\n"
-"}\n"
-"float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,\n"
-"					float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)\n"
-"{\n"
-"	//	linear0,1 are normlized\n"
-"	float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;\n"
-"	float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-"	float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;\n"
-"	float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
-"}\n"
-"void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,\n"
-"	b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, \n"
-"	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,\n"
-"	b3ContactConstraint4_t* dstC )\n"
-"{\n"
-"	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
-"	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
-"	float dtInv = 1.f/dt;\n"
-"	for(int ic=0; ic<4; ic++)\n"
-"	{\n"
-"		dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-"	}\n"
-"	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
-"	dstC->m_linear = src->m_worldNormalOnB;\n"
-"	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
-"	for(int ic=0; ic<4; ic++)\n"
-"	{\n"
-"		b3Float4 r0 = src->m_worldPosB[ic] - posA;\n"
-"		b3Float4 r1 = src->m_worldPosB[ic] - posB;\n"
-"		if( ic >= src->m_worldNormalOnB.w )//npoints\n"
-"		{\n"
-"			dstC->m_jacCoeffInv[ic] = 0.f;\n"
-"			continue;\n"
-"		}\n"
-"		float relVelN;\n"
-"		{\n"
-"			b3Float4 linear, angular0, angular1;\n"
-"			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
-"			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-"				invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
-"			relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
-"				linVelA, angVelA, linVelB, angVelB);\n"
-"			float e = 0.f;//src->getRestituitionCoeff();\n"
-"			if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
-"			dstC->m_b[ic] = e*relVelN;\n"
-"			//float penetration = src->m_worldPosB[ic].w;\n"
-"			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
-"			dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-"		}\n"
-"	}\n"
-"	if( src->m_worldNormalOnB.w > 0 )//npoints\n"
-"	{	//	prepare friction\n"
-"		b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);\n"
-"		for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
-"			center += src->m_worldPosB[i];\n"
-"		center /= (float)src->m_worldNormalOnB.w;\n"
-"		b3Float4 tangent[2];\n"
-"		b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
-"		\n"
-"		b3Float4 r[2];\n"
-"		r[0] = center - posA;\n"
-"		r[1] = center - posB;\n"
-"		for(int i=0; i<2; i++)\n"
-"		{\n"
-"			b3Float4 linear, angular0, angular1;\n"
-"			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
-"			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-"				invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
-"			dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
-"		}\n"
-"		dstC->m_center = center;\n"
-"	}\n"
-"	for(int i=0; i<4; i++)\n"
-"	{\n"
-"		if( i<src->m_worldNormalOnB.w )\n"
-"		{\n"
-"			dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
-"		}\n"
-"		else\n"
-"		{\n"
-"			dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);\n"
-"		}\n"
-"	}\n"
-"}\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile global int*\n"
-"#endif\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"///////////////////////////////////////\n"
-"//	Vector\n"
-"///////////////////////////////////////\n"
-"__inline\n"
-"float fastDiv(float numerator, float denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"//	return numerator/denominator;	\n"
-"}\n"
-"__inline\n"
-"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"}\n"
-"__inline\n"
-"float fastSqrtf(float f2)\n"
-"{\n"
-"	return native_sqrt(f2);\n"
-"//	return sqrt(f2);\n"
-"}\n"
-"__inline\n"
-"float fastRSqrt(float f2)\n"
-"{\n"
-"	return native_rsqrt(f2);\n"
-"}\n"
-"__inline\n"
-"float fastLength4(float4 v)\n"
-"{\n"
-"	return fast_length(v);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"__inline\n"
-"float sqrtf(float a)\n"
-"{\n"
-"//	return sqrt(a);\n"
-"	return native_sqrt(a);\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float length3(const float4 a)\n"
-"{\n"
-"	return sqrtf(dot3F4(a,a));\n"
-"}\n"
-"__inline\n"
-"float dot4(const float4 a, const float4 b)\n"
-"{\n"
-"	return dot( a, b );\n"
-"}\n"
-"//	for height\n"
-"__inline\n"
-"float dot3w1(const float4 point, const float4 eqn)\n"
-"{\n"
-"	return dot3F4(point,eqn) + eqn.w;\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"//	float length = sqrtf(dot3F4(a, a));\n"
-"//	return 1.f/length * a;\n"
-"}\n"
-"__inline\n"
-"float4 normalize4(const float4 a)\n"
-"{\n"
-"	float length = sqrtf(dot4(a, a));\n"
-"	return 1.f/length * a;\n"
-"}\n"
-"__inline\n"
-"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
-"{\n"
-"	float4 eqn;\n"
-"	float4 ab = b-a;\n"
-"	float4 ac = c-a;\n"
-"	eqn = normalize3( cross3(ab, ac) );\n"
-"	eqn.w = -dot3F4(eqn,a);\n"
-"	return eqn;\n"
-"}\n"
-"#define WG_SIZE 64\n"
-"typedef struct\n"
-"{\n"
-"	int m_nConstraints;\n"
-"	int m_start;\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBuffer;\n"
-"typedef struct\n"
-"{\n"
-"	int m_solveFriction;\n"
-"	int m_maxBatch;	//	long batch really kills the performance\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBufferBatchSolve;\n"
-" \n"
-"typedef struct \n"
-"{\n"
-"	int m_valInt0;\n"
-"	int m_valInt1;\n"
-"	int m_valInt2;\n"
-"	int m_valInt3;\n"
-"	float m_val0;\n"
-"	float m_val1;\n"
-"	float m_val2;\n"
-"	float m_val3;\n"
-"} SolverDebugInfo;\n"
-"typedef struct\n"
-"{\n"
-"	int m_nContacts;\n"
-"	float m_dt;\n"
-"	float m_positionDrift;\n"
-"	float m_positionConstraintCoeff;\n"
-"} ConstBufferCTC;\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, \n"
-"int nContacts,\n"
-"float dt,\n"
-"float positionDrift,\n"
-"float positionConstraintCoeff\n"
-")\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
-"		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
-"		float4 posA = gBodies[aIdx].m_pos;\n"
-"		float4 linVelA = gBodies[aIdx].m_linVel;\n"
-"		float4 angVelA = gBodies[aIdx].m_angVel;\n"
-"		float invMassA = gBodies[aIdx].m_invMass;\n"
-"		b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;\n"
-"		float4 posB = gBodies[bIdx].m_pos;\n"
-"		float4 linVelB = gBodies[bIdx].m_linVel;\n"
-"		float4 angVelB = gBodies[bIdx].m_angVel;\n"
-"		float invMassB = gBodies[bIdx].m_invMass;\n"
-"		b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;\n"
-"		b3ContactConstraint4_t cs;\n"
-"    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
-"			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,\n"
-"			&cs );\n"
-"		\n"
-"		cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
-"		gConstraintOut[gIdx] = cs;\n"
-"	}\n"
-"}\n"
-;
+static const char* solverSetupCL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#ifndef B3_CONTACT_CONSTRAINT5_H\n"
+	"#define B3_CONTACT_CONSTRAINT5_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef struct b3ContactConstraint4 b3ContactConstraint4_t;\n"
+	"struct b3ContactConstraint4\n"
+	"{\n"
+	"	b3Float4 m_linear;//normal?\n"
+	"	b3Float4 m_worldPos[4];\n"
+	"	b3Float4 m_center;	//	friction\n"
+	"	float m_jacCoeffInv[4];\n"
+	"	float m_b[4];\n"
+	"	float m_appliedRambdaDt[4];\n"
+	"	float m_fJacCoeffInv[2];	//	friction\n"
+	"	float m_fAppliedRambdaDt[2];	//	friction\n"
+	"	unsigned int m_bodyA;\n"
+	"	unsigned int m_bodyB;\n"
+	"	int			m_batchIdx;\n"
+	"	unsigned int m_paddings;\n"
+	"};\n"
+	"//inline	void setFrictionCoeff(float value) { m_linear[3] = value; }\n"
+	"inline	float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) \n"
+	"{\n"
+	"	return constraint->m_linear.w; \n"
+	"}\n"
+	"#endif //B3_CONTACT_CONSTRAINT5_H\n"
+	"#ifndef B3_RIGIDBODY_DATA_H\n"
+	"#define B3_RIGIDBODY_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
+	"struct b3RigidBodyData\n"
+	"{\n"
+	"	b3Float4				m_pos;\n"
+	"	b3Quat					m_quat;\n"
+	"	b3Float4				m_linVel;\n"
+	"	b3Float4				m_angVel;\n"
+	"	int 					m_collidableIdx;\n"
+	"	float 				m_invMass;\n"
+	"	float 				m_restituitionCoeff;\n"
+	"	float 				m_frictionCoeff;\n"
+	"};\n"
+	"typedef struct b3InertiaData b3InertiaData_t;\n"
+	"struct b3InertiaData\n"
+	"{\n"
+	"	b3Mat3x3 m_invInertiaWorld;\n"
+	"	b3Mat3x3 m_initInvInertia;\n"
+	"};\n"
+	"#endif //B3_RIGIDBODY_DATA_H\n"
+	"	\n"
+	"void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);\n"
+	" void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)\n"
+	"{\n"
+	"  if (b3Fabs(n.z) > 0.70710678f) {\n"
+	"    // choose p in y-z plane\n"
+	"    float a = n.y*n.y + n.z*n.z;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = 0;\n"
+	"	p[0].y = -n.z*k;\n"
+	"	p[0].z = n.y*k;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = a*k;\n"
+	"	q[0].y = -n.x*p[0].z;\n"
+	"	q[0].z = n.x*p[0].y;\n"
+	"  }\n"
+	"  else {\n"
+	"    // choose p in x-y plane\n"
+	"    float a = n.x*n.x + n.y*n.y;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = -n.y*k;\n"
+	"	p[0].y = n.x*k;\n"
+	"	p[0].z = 0;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = -n.z*p[0].y;\n"
+	"	q[0].y = n.z*p[0].x;\n"
+	"	q[0].z = a*k;\n"
+	"  }\n"
+	"}\n"
+	" \n"
+	"void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)\n"
+	"{\n"
+	"	*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);\n"
+	"	*angular0 = b3Cross3(r0, n);\n"
+	"	*angular1 = -b3Cross3(r1, n);\n"
+	"}\n"
+	"float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,\n"
+	"	b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )\n"
+	"{\n"
+	"	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);\n"
+	"}\n"
+	"float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,\n"
+	"					float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)\n"
+	"{\n"
+	"	//	linear0,1 are normlized\n"
+	"	float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;\n"
+	"	float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
+	"	float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;\n"
+	"	float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
+	"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
+	"}\n"
+	"void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,\n"
+	"	b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, \n"
+	"	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,\n"
+	"	b3ContactConstraint4_t* dstC )\n"
+	"{\n"
+	"	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
+	"	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
+	"	float dtInv = 1.f/dt;\n"
+	"	for(int ic=0; ic<4; ic++)\n"
+	"	{\n"
+	"		dstC->m_appliedRambdaDt[ic] = 0.f;\n"
+	"	}\n"
+	"	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
+	"	dstC->m_linear = src->m_worldNormalOnB;\n"
+	"	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
+	"	for(int ic=0; ic<4; ic++)\n"
+	"	{\n"
+	"		b3Float4 r0 = src->m_worldPosB[ic] - posA;\n"
+	"		b3Float4 r1 = src->m_worldPosB[ic] - posB;\n"
+	"		if( ic >= src->m_worldNormalOnB.w )//npoints\n"
+	"		{\n"
+	"			dstC->m_jacCoeffInv[ic] = 0.f;\n"
+	"			continue;\n"
+	"		}\n"
+	"		float relVelN;\n"
+	"		{\n"
+	"			b3Float4 linear, angular0, angular1;\n"
+	"			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
+	"			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
+	"				invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
+	"			relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
+	"				linVelA, angVelA, linVelB, angVelB);\n"
+	"			float e = 0.f;//src->getRestituitionCoeff();\n"
+	"			if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
+	"			dstC->m_b[ic] = e*relVelN;\n"
+	"			//float penetration = src->m_worldPosB[ic].w;\n"
+	"			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
+	"			dstC->m_appliedRambdaDt[ic] = 0.f;\n"
+	"		}\n"
+	"	}\n"
+	"	if( src->m_worldNormalOnB.w > 0 )//npoints\n"
+	"	{	//	prepare friction\n"
+	"		b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);\n"
+	"		for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
+	"			center += src->m_worldPosB[i];\n"
+	"		center /= (float)src->m_worldNormalOnB.w;\n"
+	"		b3Float4 tangent[2];\n"
+	"		b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
+	"		\n"
+	"		b3Float4 r[2];\n"
+	"		r[0] = center - posA;\n"
+	"		r[1] = center - posB;\n"
+	"		for(int i=0; i<2; i++)\n"
+	"		{\n"
+	"			b3Float4 linear, angular0, angular1;\n"
+	"			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
+	"			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
+	"				invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
+	"			dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
+	"		}\n"
+	"		dstC->m_center = center;\n"
+	"	}\n"
+	"	for(int i=0; i<4; i++)\n"
+	"	{\n"
+	"		if( i<src->m_worldNormalOnB.w )\n"
+	"		{\n"
+	"			dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
+	"		}\n"
+	"		else\n"
+	"		{\n"
+	"			dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile global int*\n"
+	"#endif\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"///////////////////////////////////////\n"
+	"//	Vector\n"
+	"///////////////////////////////////////\n"
+	"__inline\n"
+	"float fastDiv(float numerator, float denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"//	return numerator/denominator;	\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"}\n"
+	"__inline\n"
+	"float fastSqrtf(float f2)\n"
+	"{\n"
+	"	return native_sqrt(f2);\n"
+	"//	return sqrt(f2);\n"
+	"}\n"
+	"__inline\n"
+	"float fastRSqrt(float f2)\n"
+	"{\n"
+	"	return native_rsqrt(f2);\n"
+	"}\n"
+	"__inline\n"
+	"float fastLength4(float4 v)\n"
+	"{\n"
+	"	return fast_length(v);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"__inline\n"
+	"float sqrtf(float a)\n"
+	"{\n"
+	"//	return sqrt(a);\n"
+	"	return native_sqrt(a);\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float length3(const float4 a)\n"
+	"{\n"
+	"	return sqrtf(dot3F4(a,a));\n"
+	"}\n"
+	"__inline\n"
+	"float dot4(const float4 a, const float4 b)\n"
+	"{\n"
+	"	return dot( a, b );\n"
+	"}\n"
+	"//	for height\n"
+	"__inline\n"
+	"float dot3w1(const float4 point, const float4 eqn)\n"
+	"{\n"
+	"	return dot3F4(point,eqn) + eqn.w;\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"//	float length = sqrtf(dot3F4(a, a));\n"
+	"//	return 1.f/length * a;\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize4(const float4 a)\n"
+	"{\n"
+	"	float length = sqrtf(dot4(a, a));\n"
+	"	return 1.f/length * a;\n"
+	"}\n"
+	"__inline\n"
+	"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
+	"{\n"
+	"	float4 eqn;\n"
+	"	float4 ab = b-a;\n"
+	"	float4 ac = c-a;\n"
+	"	eqn = normalize3( cross3(ab, ac) );\n"
+	"	eqn.w = -dot3F4(eqn,a);\n"
+	"	return eqn;\n"
+	"}\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_nConstraints;\n"
+	"	int m_start;\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBuffer;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_solveFriction;\n"
+	"	int m_maxBatch;	//	long batch really kills the performance\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBufferBatchSolve;\n"
+	" \n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_valInt0;\n"
+	"	int m_valInt1;\n"
+	"	int m_valInt2;\n"
+	"	int m_valInt3;\n"
+	"	float m_val0;\n"
+	"	float m_val1;\n"
+	"	float m_val2;\n"
+	"	float m_val3;\n"
+	"} SolverDebugInfo;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_nContacts;\n"
+	"	float m_dt;\n"
+	"	float m_positionDrift;\n"
+	"	float m_positionConstraintCoeff;\n"
+	"} ConstBufferCTC;\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, \n"
+	"int nContacts,\n"
+	"float dt,\n"
+	"float positionDrift,\n"
+	"float positionConstraintCoeff\n"
+	")\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
+	"		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
+	"		float4 posA = gBodies[aIdx].m_pos;\n"
+	"		float4 linVelA = gBodies[aIdx].m_linVel;\n"
+	"		float4 angVelA = gBodies[aIdx].m_angVel;\n"
+	"		float invMassA = gBodies[aIdx].m_invMass;\n"
+	"		b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;\n"
+	"		float4 posB = gBodies[bIdx].m_pos;\n"
+	"		float4 linVelB = gBodies[bIdx].m_linVel;\n"
+	"		float4 angVelB = gBodies[bIdx].m_angVel;\n"
+	"		float invMassB = gBodies[bIdx].m_invMass;\n"
+	"		b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;\n"
+	"		b3ContactConstraint4_t cs;\n"
+	"    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
+	"			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,\n"
+	"			&cs );\n"
+	"		\n"
+	"		cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
+	"		gConstraintOut[gIdx] = cs;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
index 1b5819f6cf..1e6e3579b6 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
@@ -1,601 +1,600 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solverSetup2CL= \
-"/*\n"
-"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Takahiro Harada\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile global int*\n"
-"#endif\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"///////////////////////////////////////\n"
-"//	Vector\n"
-"///////////////////////////////////////\n"
-"__inline\n"
-"float fastDiv(float numerator, float denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"//	return numerator/denominator;	\n"
-"}\n"
-"__inline\n"
-"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"}\n"
-"__inline\n"
-"float fastSqrtf(float f2)\n"
-"{\n"
-"	return native_sqrt(f2);\n"
-"//	return sqrt(f2);\n"
-"}\n"
-"__inline\n"
-"float fastRSqrt(float f2)\n"
-"{\n"
-"	return native_rsqrt(f2);\n"
-"}\n"
-"__inline\n"
-"float fastLength4(float4 v)\n"
-"{\n"
-"	return fast_length(v);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"__inline\n"
-"float sqrtf(float a)\n"
-"{\n"
-"//	return sqrt(a);\n"
-"	return native_sqrt(a);\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a, float4 b)\n"
-"{\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float length3(const float4 a)\n"
-"{\n"
-"	return sqrtf(dot3F4(a,a));\n"
-"}\n"
-"__inline\n"
-"float dot4(const float4 a, const float4 b)\n"
-"{\n"
-"	return dot( a, b );\n"
-"}\n"
-"//	for height\n"
-"__inline\n"
-"float dot3w1(const float4 point, const float4 eqn)\n"
-"{\n"
-"	return dot3F4(point,eqn) + eqn.w;\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"//	float length = sqrtf(dot3F4(a, a));\n"
-"//	return 1.f/length * a;\n"
-"}\n"
-"__inline\n"
-"float4 normalize4(const float4 a)\n"
-"{\n"
-"	float length = sqrtf(dot4(a, a));\n"
-"	return 1.f/length * a;\n"
-"}\n"
-"__inline\n"
-"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
-"{\n"
-"	float4 eqn;\n"
-"	float4 ab = b-a;\n"
-"	float4 ac = c-a;\n"
-"	eqn = normalize3( cross3(ab, ac) );\n"
-"	eqn.w = -dot3F4(eqn,a);\n"
-"	return eqn;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Matrix3x3\n"
-"///////////////////////////////////////\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_row[3];\n"
-"}Matrix3x3;\n"
-"__inline\n"
-"Matrix3x3 mtZero();\n"
-"__inline\n"
-"Matrix3x3 mtIdentity();\n"
-"__inline\n"
-"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
-"__inline\n"
-"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-"__inline\n"
-"Matrix3x3 mtZero()\n"
-"{\n"
-"	Matrix3x3 m;\n"
-"	m.m_row[0] = (float4)(0.f);\n"
-"	m.m_row[1] = (float4)(0.f);\n"
-"	m.m_row[2] = (float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"Matrix3x3 mtIdentity()\n"
-"{\n"
-"	Matrix3x3 m;\n"
-"	m.m_row[0] = (float4)(1,0,0,0);\n"
-"	m.m_row[1] = (float4)(0,1,0,0);\n"
-"	m.m_row[2] = (float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
-"{\n"
-"	Matrix3x3 out;\n"
-"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
-"{\n"
-"	Matrix3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	Matrix3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-"{\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a.m_row[0], b );\n"
-"	ans.y = dot3F4( a.m_row[1], b );\n"
-"	ans.z = dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-"{\n"
-"	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a, colx );\n"
-"	ans.y = dot3F4( a, coly );\n"
-"	ans.z = dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"#define WG_SIZE 64\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	Quaternion m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_shapeIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} Body;\n"
-"typedef struct\n"
-"{\n"
-"	Matrix3x3 m_invInertia;\n"
-"	Matrix3x3 m_initInvInertia;\n"
-"} Shape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_linear;\n"
-"	float4 m_worldPos[4];\n"
-"	float4 m_center;	\n"
-"	float m_jacCoeffInv[4];\n"
-"	float m_b[4];\n"
-"	float m_appliedRambdaDt[4];\n"
-"	float m_fJacCoeffInv[2];	\n"
-"	float m_fAppliedRambdaDt[2];	\n"
-"	u32 m_bodyA;\n"
-"	u32 m_bodyB;\n"
-"	int m_batchIdx;\n"
-"	u32 m_paddings[1];\n"
-"} Constraint4;\n"
-"typedef struct\n"
-"{\n"
-"	int m_nConstraints;\n"
-"	int m_start;\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBuffer;\n"
-"typedef struct\n"
-"{\n"
-"	int m_solveFriction;\n"
-"	int m_maxBatch;	//	long batch really kills the performance\n"
-"	int m_batchIdx;\n"
-"	int m_nSplit;\n"
-"//	int m_paddings[1];\n"
-"} ConstBufferBatchSolve;\n"
-" \n"
-"typedef struct \n"
-"{\n"
-"	int m_valInt0;\n"
-"	int m_valInt1;\n"
-"	int m_valInt2;\n"
-"	int m_valInt3;\n"
-"	float m_val0;\n"
-"	float m_val1;\n"
-"	float m_val2;\n"
-"	float m_val3;\n"
-"} SolverDebugInfo;\n"
-"//	others\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n"
-"{\n"
-"	int nContacts = cb.x;\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int srcIdx = sortData[gIdx].y;\n"
-"		out[gIdx] = in[srcIdx];\n"
-"	}\n"
-"}\n"
-"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int2 sd;\n"
-"		sd.x = contactsIn[gIdx].m_childIndexB;\n"
-"		sd.y = gIdx;\n"
-"		sortDataOut[gIdx] = sd;\n"
-"	}\n"
-"}\n"
-"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int2 sdIn;\n"
-"		sdIn = sortDataInOut[gIdx];\n"
-"		int2 sdOut;\n"
-"		sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n"
-"		sdOut.y = sdIn.y;\n"
-"		sortDataInOut[gIdx] = sdOut;\n"
-"	}\n"
-"}\n"
-"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int2 sdIn;\n"
-"		sdIn = sortDataInOut[gIdx];\n"
-"		int2 sdOut;\n"
-"		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n"
-"		sdOut.y = sdIn.y;\n"
-"		sortDataInOut[gIdx] = sdOut;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int2 sdIn;\n"
-"		sdIn = sortDataInOut[gIdx];\n"
-"		int2 sdOut;\n"
-"		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;\n"
-"		sdOut.y = sdIn.y;\n"
-"		sortDataInOut[gIdx] = sdOut;\n"
-"	}\n"
-"}\n"
-"typedef struct\n"
-"{\n"
-"	int m_nContacts;\n"
-"	int m_staticIdx;\n"
-"	float m_scale;\n"
-"	int m_nSplit;\n"
-"} ConstBufferSSD;\n"
-"__constant const int gridTable4x4[] = \n"
-"{\n"
-"    0,1,17,16,\n"
-"	1,2,18,19,\n"
-"	17,18,32,3,\n"
-"	16,19,3,34\n"
-"};\n"
-"__constant const int gridTable8x8[] = \n"
-"{\n"
-"	  0,  2,  3, 16, 17, 18, 19,  1,\n"
-"	 66, 64, 80, 67, 82, 81, 65, 83,\n"
-"	131,144,128,130,147,129,145,146,\n"
-"	208,195,194,192,193,211,210,209,\n"
-"	 21, 22, 23,  5,  4,  6,  7, 20,\n"
-"	 86, 85, 69, 87, 70, 68, 84, 71,\n"
-"	151,133,149,150,135,148,132,134,\n"
-"	197,27,214,213,212,199,198,196\n"
-"	\n"
-"};\n"
-"#define USE_SPATIAL_BATCHING 1\n"
-"#define USE_4x4_GRID 1\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n"
-"int nContacts,float scale,int4 nSplit,int staticIdx)\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;\n"
-"		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;\n"
-"		int aIdx = abs(aPtrAndSignBit );\n"
-"		int bIdx = abs(bPtrAndSignBit);\n"
-"		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n"
-"		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);\n"
-"#if USE_SPATIAL_BATCHING		\n"
-"		int idx = (aStatic)? bIdx: aIdx;\n"
-"		float4 p = gBodies[idx].m_pos;\n"
-"		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);\n"
-"		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);\n"
-"		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);\n"
-"		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);\n"
-"		\n"
-"#else//USE_SPATIAL_BATCHING\n"
-"	#if USE_4x4_GRID\n"
-"		int aa = aIdx&3;\n"
-"		int bb = bIdx&3;\n"
-"		if (aStatic)\n"
-"			aa = bb;\n"
-"		if (bStatic)\n"
-"			bb = aa;\n"
-"		int gridIndex = aa + bb*4;\n"
-"		int newIndex = gridTable4x4[gridIndex];\n"
-"	#else//USE_4x4_GRID\n"
-"		int aa = aIdx&7;\n"
-"		int bb = bIdx&7;\n"
-"		if (aStatic)\n"
-"			aa = bb;\n"
-"		if (bStatic)\n"
-"			bb = aa;\n"
-"		int gridIndex = aa + bb*8;\n"
-"		int newIndex = gridTable8x8[gridIndex];\n"
-"	#endif//USE_4x4_GRID\n"
-"#endif//USE_SPATIAL_BATCHING\n"
-"		gSortDataOut[gIdx].x = newIndex;\n"
-"		gSortDataOut[gIdx].y = gIdx;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		gSortDataOut[gIdx].x = 0xffffffff;\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	if( gIdx < cb.x )\n"
-"	{\n"
-"		gOut[gIdx] = gIn[gIdx];\n"
-"	}\n"
-"}\n"
-;
+static const char* solverSetup2CL =
+	"/*\n"
+	"Copyright (c) 2012 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Takahiro Harada\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile global int*\n"
+	"#endif\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"///////////////////////////////////////\n"
+	"//	Vector\n"
+	"///////////////////////////////////////\n"
+	"__inline\n"
+	"float fastDiv(float numerator, float denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"//	return numerator/denominator;	\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"}\n"
+	"__inline\n"
+	"float fastSqrtf(float f2)\n"
+	"{\n"
+	"	return native_sqrt(f2);\n"
+	"//	return sqrt(f2);\n"
+	"}\n"
+	"__inline\n"
+	"float fastRSqrt(float f2)\n"
+	"{\n"
+	"	return native_rsqrt(f2);\n"
+	"}\n"
+	"__inline\n"
+	"float fastLength4(float4 v)\n"
+	"{\n"
+	"	return fast_length(v);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"__inline\n"
+	"float sqrtf(float a)\n"
+	"{\n"
+	"//	return sqrt(a);\n"
+	"	return native_sqrt(a);\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a, float4 b)\n"
+	"{\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float length3(const float4 a)\n"
+	"{\n"
+	"	return sqrtf(dot3F4(a,a));\n"
+	"}\n"
+	"__inline\n"
+	"float dot4(const float4 a, const float4 b)\n"
+	"{\n"
+	"	return dot( a, b );\n"
+	"}\n"
+	"//	for height\n"
+	"__inline\n"
+	"float dot3w1(const float4 point, const float4 eqn)\n"
+	"{\n"
+	"	return dot3F4(point,eqn) + eqn.w;\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"//	float length = sqrtf(dot3F4(a, a));\n"
+	"//	return 1.f/length * a;\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize4(const float4 a)\n"
+	"{\n"
+	"	float length = sqrtf(dot4(a, a));\n"
+	"	return 1.f/length * a;\n"
+	"}\n"
+	"__inline\n"
+	"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
+	"{\n"
+	"	float4 eqn;\n"
+	"	float4 ab = b-a;\n"
+	"	float4 ac = c-a;\n"
+	"	eqn = normalize3( cross3(ab, ac) );\n"
+	"	eqn.w = -dot3F4(eqn,a);\n"
+	"	return eqn;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Matrix3x3\n"
+	"///////////////////////////////////////\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_row[3];\n"
+	"}Matrix3x3;\n"
+	"__inline\n"
+	"Matrix3x3 mtZero();\n"
+	"__inline\n"
+	"Matrix3x3 mtIdentity();\n"
+	"__inline\n"
+	"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
+	"__inline\n"
+	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"Matrix3x3 mtZero()\n"
+	"{\n"
+	"	Matrix3x3 m;\n"
+	"	m.m_row[0] = (float4)(0.f);\n"
+	"	m.m_row[1] = (float4)(0.f);\n"
+	"	m.m_row[2] = (float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"Matrix3x3 mtIdentity()\n"
+	"{\n"
+	"	Matrix3x3 m;\n"
+	"	m.m_row[0] = (float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
+	"{\n"
+	"	Matrix3x3 out;\n"
+	"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
+	"{\n"
+	"	Matrix3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	Matrix3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+	"{\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a.m_row[0], b );\n"
+	"	ans.y = dot3F4( a.m_row[1], b );\n"
+	"	ans.z = dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+	"{\n"
+	"	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a, colx );\n"
+	"	ans.y = dot3F4( a, coly );\n"
+	"	ans.z = dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	Quaternion m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_shapeIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} Body;\n"
+	"typedef struct\n"
+	"{\n"
+	"	Matrix3x3 m_invInertia;\n"
+	"	Matrix3x3 m_initInvInertia;\n"
+	"} Shape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_linear;\n"
+	"	float4 m_worldPos[4];\n"
+	"	float4 m_center;	\n"
+	"	float m_jacCoeffInv[4];\n"
+	"	float m_b[4];\n"
+	"	float m_appliedRambdaDt[4];\n"
+	"	float m_fJacCoeffInv[2];	\n"
+	"	float m_fAppliedRambdaDt[2];	\n"
+	"	u32 m_bodyA;\n"
+	"	u32 m_bodyB;\n"
+	"	int m_batchIdx;\n"
+	"	u32 m_paddings[1];\n"
+	"} Constraint4;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_nConstraints;\n"
+	"	int m_start;\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBuffer;\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_solveFriction;\n"
+	"	int m_maxBatch;	//	long batch really kills the performance\n"
+	"	int m_batchIdx;\n"
+	"	int m_nSplit;\n"
+	"//	int m_paddings[1];\n"
+	"} ConstBufferBatchSolve;\n"
+	" \n"
+	"typedef struct \n"
+	"{\n"
+	"	int m_valInt0;\n"
+	"	int m_valInt1;\n"
+	"	int m_valInt2;\n"
+	"	int m_valInt3;\n"
+	"	float m_val0;\n"
+	"	float m_val1;\n"
+	"	float m_val2;\n"
+	"	float m_val3;\n"
+	"} SolverDebugInfo;\n"
+	"//	others\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )\n"
+	"{\n"
+	"	int nContacts = cb.x;\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int srcIdx = sortData[gIdx].y;\n"
+	"		out[gIdx] = in[srcIdx];\n"
+	"	}\n"
+	"}\n"
+	"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int2 sd;\n"
+	"		sd.x = contactsIn[gIdx].m_childIndexB;\n"
+	"		sd.y = gIdx;\n"
+	"		sortDataOut[gIdx] = sd;\n"
+	"	}\n"
+	"}\n"
+	"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int2 sdIn;\n"
+	"		sdIn = sortDataInOut[gIdx];\n"
+	"		int2 sdOut;\n"
+	"		sdOut.x = contactsIn[sdIn.y].m_childIndexA;\n"
+	"		sdOut.y = sdIn.y;\n"
+	"		sortDataInOut[gIdx] = sdOut;\n"
+	"	}\n"
+	"}\n"
+	"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int2 sdIn;\n"
+	"		sdIn = sortDataInOut[gIdx];\n"
+	"		int2 sdOut;\n"
+	"		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n"
+	"		sdOut.y = sdIn.y;\n"
+	"		sortDataInOut[gIdx] = sdOut;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int2 sdIn;\n"
+	"		sdIn = sortDataInOut[gIdx];\n"
+	"		int2 sdOut;\n"
+	"		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;\n"
+	"		sdOut.y = sdIn.y;\n"
+	"		sortDataInOut[gIdx] = sdOut;\n"
+	"	}\n"
+	"}\n"
+	"typedef struct\n"
+	"{\n"
+	"	int m_nContacts;\n"
+	"	int m_staticIdx;\n"
+	"	float m_scale;\n"
+	"	int m_nSplit;\n"
+	"} ConstBufferSSD;\n"
+	"__constant const int gridTable4x4[] = \n"
+	"{\n"
+	"    0,1,17,16,\n"
+	"	1,2,18,19,\n"
+	"	17,18,32,3,\n"
+	"	16,19,3,34\n"
+	"};\n"
+	"__constant const int gridTable8x8[] = \n"
+	"{\n"
+	"	  0,  2,  3, 16, 17, 18, 19,  1,\n"
+	"	 66, 64, 80, 67, 82, 81, 65, 83,\n"
+	"	131,144,128,130,147,129,145,146,\n"
+	"	208,195,194,192,193,211,210,209,\n"
+	"	 21, 22, 23,  5,  4,  6,  7, 20,\n"
+	"	 86, 85, 69, 87, 70, 68, 84, 71,\n"
+	"	151,133,149,150,135,148,132,134,\n"
+	"	197,27,214,213,212,199,198,196\n"
+	"	\n"
+	"};\n"
+	"#define USE_SPATIAL_BATCHING 1\n"
+	"#define USE_4x4_GRID 1\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, \n"
+	"int nContacts,float scale,int4 nSplit,int staticIdx)\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;\n"
+	"		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;\n"
+	"		int aIdx = abs(aPtrAndSignBit );\n"
+	"		int bIdx = abs(bPtrAndSignBit);\n"
+	"		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);\n"
+	"		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);\n"
+	"#if USE_SPATIAL_BATCHING		\n"
+	"		int idx = (aStatic)? bIdx: aIdx;\n"
+	"		float4 p = gBodies[idx].m_pos;\n"
+	"		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);\n"
+	"		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);\n"
+	"		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);\n"
+	"		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);\n"
+	"		\n"
+	"#else//USE_SPATIAL_BATCHING\n"
+	"	#if USE_4x4_GRID\n"
+	"		int aa = aIdx&3;\n"
+	"		int bb = bIdx&3;\n"
+	"		if (aStatic)\n"
+	"			aa = bb;\n"
+	"		if (bStatic)\n"
+	"			bb = aa;\n"
+	"		int gridIndex = aa + bb*4;\n"
+	"		int newIndex = gridTable4x4[gridIndex];\n"
+	"	#else//USE_4x4_GRID\n"
+	"		int aa = aIdx&7;\n"
+	"		int bb = bIdx&7;\n"
+	"		if (aStatic)\n"
+	"			aa = bb;\n"
+	"		if (bStatic)\n"
+	"			bb = aa;\n"
+	"		int gridIndex = aa + bb*8;\n"
+	"		int newIndex = gridTable8x8[gridIndex];\n"
+	"	#endif//USE_4x4_GRID\n"
+	"#endif//USE_SPATIAL_BATCHING\n"
+	"		gSortDataOut[gIdx].x = newIndex;\n"
+	"		gSortDataOut[gIdx].y = gIdx;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		gSortDataOut[gIdx].x = 0xffffffff;\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	if( gIdx < cb.x )\n"
+	"	{\n"
+	"		gOut[gIdx] = gIn[gIdx];\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
index c0173ad9f4..f4d98d9941 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
@@ -1,909 +1,908 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* solverUtilsCL= \
-"/*\n"
-"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
-"This software is provided 'as-is', without any express or implied warranty.\n"
-"In no event will the authors be held liable for any damages arising from the use of this software.\n"
-"Permission is granted to anyone to use this software for any purpose, \n"
-"including commercial applications, and to alter it and redistribute it freely, \n"
-"subject to the following restrictions:\n"
-"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
-"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
-"3. This notice may not be removed or altered from any source distribution.\n"
-"*/\n"
-"//Originally written by Erwin Coumans\n"
-"#ifndef B3_CONTACT4DATA_H\n"
-"#define B3_CONTACT4DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
-"struct b3Contact4Data\n"
-"{\n"
-"	b3Float4	m_worldPosB[4];\n"
-"//	b3Float4	m_localPosA[4];\n"
-"//	b3Float4	m_localPosB[4];\n"
-"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
-"	unsigned short  m_restituitionCoeffCmp;\n"
-"	unsigned short  m_frictionCoeffCmp;\n"
-"	int m_batchIdx;\n"
-"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
-"	int m_bodyBPtrAndSignBit;\n"
-"	int	m_childIndexA;\n"
-"	int	m_childIndexB;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
-"};\n"
-"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
-"{\n"
-"	return (int)contact->m_worldNormalOnB.w;\n"
-"};\n"
-"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
-"{\n"
-"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
-"};\n"
-"#endif //B3_CONTACT4DATA_H\n"
-"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
-"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
-"#ifdef cl_ext_atomic_counters_32\n"
-"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
-"#else\n"
-"#define counter32_t volatile global int*\n"
-"#endif\n"
-"typedef unsigned int u32;\n"
-"typedef unsigned short u16;\n"
-"typedef unsigned char u8;\n"
-"#define GET_GROUP_IDX get_group_id(0)\n"
-"#define GET_LOCAL_IDX get_local_id(0)\n"
-"#define GET_GLOBAL_IDX get_global_id(0)\n"
-"#define GET_GROUP_SIZE get_local_size(0)\n"
-"#define GET_NUM_GROUPS get_num_groups(0)\n"
-"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
-"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
-"#define AtomInc(x) atom_inc(&(x))\n"
-"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
-"#define AppendInc(x, out) out = atomic_inc(x)\n"
-"#define AtomAdd(x, value) atom_add(&(x), value)\n"
-"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
-"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
-"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
-"#define make_float4 (float4)\n"
-"#define make_float2 (float2)\n"
-"#define make_uint4 (uint4)\n"
-"#define make_int4 (int4)\n"
-"#define make_uint2 (uint2)\n"
-"#define make_int2 (int2)\n"
-"#define max2 max\n"
-"#define min2 min\n"
-"///////////////////////////////////////\n"
-"//	Vector\n"
-"///////////////////////////////////////\n"
-"__inline\n"
-"float fastDiv(float numerator, float denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"//	return numerator/denominator;	\n"
-"}\n"
-"__inline\n"
-"float4 fastDiv4(float4 numerator, float4 denominator)\n"
-"{\n"
-"	return native_divide(numerator, denominator);	\n"
-"}\n"
-"__inline\n"
-"float fastSqrtf(float f2)\n"
-"{\n"
-"	return native_sqrt(f2);\n"
-"//	return sqrt(f2);\n"
-"}\n"
-"__inline\n"
-"float fastRSqrt(float f2)\n"
-"{\n"
-"	return native_rsqrt(f2);\n"
-"}\n"
-"__inline\n"
-"float fastLength4(float4 v)\n"
-"{\n"
-"	return fast_length(v);\n"
-"}\n"
-"__inline\n"
-"float4 fastNormalize4(float4 v)\n"
-"{\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"__inline\n"
-"float sqrtf(float a)\n"
-"{\n"
-"//	return sqrt(a);\n"
-"	return native_sqrt(a);\n"
-"}\n"
-"__inline\n"
-"float4 cross3(float4 a1, float4 b1)\n"
-"{\n"
-"	float4 	a=make_float4(a1.xyz,0.f);\n"
-"	float4 	b=make_float4(b1.xyz,0.f);\n"
-"	//float4 	a=a1;\n"
-"	//float4 	b=b1;\n"
-"	return cross(a,b);\n"
-"}\n"
-"__inline\n"
-"float dot3F4(float4 a, float4 b)\n"
-"{\n"
-"	float4 a1 = make_float4(a.xyz,0.f);\n"
-"	float4 b1 = make_float4(b.xyz,0.f);\n"
-"	return dot(a1, b1);\n"
-"}\n"
-"__inline\n"
-"float length3(const float4 a)\n"
-"{\n"
-"	return sqrtf(dot3F4(a,a));\n"
-"}\n"
-"__inline\n"
-"float dot4(const float4 a, const float4 b)\n"
-"{\n"
-"	return dot( a, b );\n"
-"}\n"
-"//	for height\n"
-"__inline\n"
-"float dot3w1(const float4 point, const float4 eqn)\n"
-"{\n"
-"	return dot3F4(point,eqn) + eqn.w;\n"
-"}\n"
-"__inline\n"
-"float4 normalize3(const float4 a)\n"
-"{\n"
-"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
-"	return fastNormalize4( n );\n"
-"//	float length = sqrtf(dot3F4(a, a));\n"
-"//	return 1.f/length * a;\n"
-"}\n"
-"__inline\n"
-"float4 normalize4(const float4 a)\n"
-"{\n"
-"	float length = sqrtf(dot4(a, a));\n"
-"	return 1.f/length * a;\n"
-"}\n"
-"__inline\n"
-"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
-"{\n"
-"	float4 eqn;\n"
-"	float4 ab = b-a;\n"
-"	float4 ac = c-a;\n"
-"	eqn = normalize3( cross3(ab, ac) );\n"
-"	eqn.w = -dot3F4(eqn,a);\n"
-"	return eqn;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Matrix3x3\n"
-"///////////////////////////////////////\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_row[3];\n"
-"}Matrix3x3;\n"
-"__inline\n"
-"Matrix3x3 mtZero();\n"
-"__inline\n"
-"Matrix3x3 mtIdentity();\n"
-"__inline\n"
-"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
-"__inline\n"
-"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b);\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b);\n"
-"__inline\n"
-"Matrix3x3 mtZero()\n"
-"{\n"
-"	Matrix3x3 m;\n"
-"	m.m_row[0] = (float4)(0.f);\n"
-"	m.m_row[1] = (float4)(0.f);\n"
-"	m.m_row[2] = (float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"Matrix3x3 mtIdentity()\n"
-"{\n"
-"	Matrix3x3 m;\n"
-"	m.m_row[0] = (float4)(1,0,0,0);\n"
-"	m.m_row[1] = (float4)(0,1,0,0);\n"
-"	m.m_row[2] = (float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
-"{\n"
-"	Matrix3x3 out;\n"
-"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
-"{\n"
-"	Matrix3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	Matrix3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul1(Matrix3x3 a, float4 b)\n"
-"{\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a.m_row[0], b );\n"
-"	ans.y = dot3F4( a.m_row[1], b );\n"
-"	ans.z = dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"float4 mtMul3(float4 a, Matrix3x3 b)\n"
-"{\n"
-"	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	float4 ans;\n"
-"	ans.x = dot3F4( a, colx );\n"
-"	ans.y = dot3F4( a, coly );\n"
-"	ans.z = dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"///////////////////////////////////////\n"
-"//	Quaternion\n"
-"///////////////////////////////////////\n"
-"typedef float4 Quaternion;\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b);\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in);\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec);\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q);\n"
-"__inline\n"
-"Quaternion qtMul(Quaternion a, Quaternion b)\n"
-"{\n"
-"	Quaternion ans;\n"
-"	ans = cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtNormalize(Quaternion in)\n"
-"{\n"
-"	return fastNormalize4(in);\n"
-"//	in /= length( in );\n"
-"//	return in;\n"
-"}\n"
-"__inline\n"
-"float4 qtRotate(Quaternion q, float4 vec)\n"
-"{\n"
-"	Quaternion qInv = qtInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"Quaternion qtInvert(Quaternion q)\n"
-"{\n"
-"	return (Quaternion)(-q.xyz, q.w);\n"
-"}\n"
-"__inline\n"
-"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
-"{\n"
-"	return qtRotate( qtInvert( q ), vec );\n"
-"}\n"
-"#define WG_SIZE 64\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_pos;\n"
-"	Quaternion m_quat;\n"
-"	float4 m_linVel;\n"
-"	float4 m_angVel;\n"
-"	u32 m_shapeIdx;\n"
-"	float m_invMass;\n"
-"	float m_restituitionCoeff;\n"
-"	float m_frictionCoeff;\n"
-"} Body;\n"
-"typedef struct\n"
-"{\n"
-"	Matrix3x3 m_invInertia;\n"
-"	Matrix3x3 m_initInvInertia;\n"
-"} Shape;\n"
-"typedef struct\n"
-"{\n"
-"	float4 m_linear;\n"
-"	float4 m_worldPos[4];\n"
-"	float4 m_center;	\n"
-"	float m_jacCoeffInv[4];\n"
-"	float m_b[4];\n"
-"	float m_appliedRambdaDt[4];\n"
-"	float m_fJacCoeffInv[2];	\n"
-"	float m_fAppliedRambdaDt[2];	\n"
-"	u32 m_bodyA;\n"
-"	u32 m_bodyB;\n"
-"	int m_batchIdx;\n"
-"	u32 m_paddings;\n"
-"} Constraint4;\n"
-"__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)\n"
-"{\n"
-"	int i = GET_GLOBAL_IDX;\n"
-"	\n"
-"	if( i < numContactManifolds)\n"
-"	{\n"
-"		int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;\n"
-"		bool isFixedA = (pa <0) || (pa == fixedBodyIndex);\n"
-"		int bodyIndexA = abs(pa);\n"
-"		if (!isFixedA)\n"
-"		{\n"
-"			 AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);\n"
-"		}\n"
-"		barrier(CLK_GLOBAL_MEM_FENCE);\n"
-"		int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;\n"
-"		bool isFixedB = (pb <0) || (pb == fixedBodyIndex);\n"
-"		int bodyIndexB = abs(pb);\n"
-"		if (!isFixedB)\n"
-"		{\n"
-"			AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);\n"
-"		} \n"
-"	}\n"
-"}\n"
-"__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)\n"
-"{\n"
-"	int i = GET_GLOBAL_IDX;\n"
-"	\n"
-"	if( i < numSplitBodies)\n"
-"	{\n"
-"		linearVelocities[i] = make_float4(0);\n"
-"		angularVelocities[i] = make_float4(0);\n"
-"	}\n"
-"}\n"
-"__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
-"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
-"{\n"
-"	int i = GET_GLOBAL_IDX;\n"
-"	if (i<numBodies)\n"
-"	{\n"
-"		if (gBodies[i].m_invMass)\n"
-"		{\n"
-"			int bodyOffset = offsetSplitBodies[i];\n"
-"			int count = bodyCount[i];\n"
-"			float factor = 1.f/((float)count);\n"
-"			float4 averageLinVel = make_float4(0.f);\n"
-"			float4 averageAngVel = make_float4(0.f);\n"
-"			\n"
-"			for (int j=0;j<count;j++)\n"
-"			{\n"
-"				averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;\n"
-"				averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;\n"
-"			}\n"
-"			\n"
-"			for (int j=0;j<count;j++)\n"
-"			{\n"
-"				deltaLinearVelocities[bodyOffset+j] = averageLinVel;\n"
-"				deltaAngularVelocities[bodyOffset+j] = averageAngVel;\n"
-"			}\n"
-"			\n"
-"		}//bodies[i].m_invMass\n"
-"	}//i<numBodies\n"
-"}\n"
-"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
-"{\n"
-"	*linear = make_float4(n.xyz,0.f);\n"
-"	*angular0 = cross3(r0, n);\n"
-"	*angular1 = -cross3(r1, n);\n"
-"}\n"
-"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
-"{\n"
-"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
-"}\n"
-"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
-"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)\n"
-"{\n"
-"	//	linear0,1 are normlized\n"
-"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
-"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
-"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
-"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
-"	return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);\n"
-"}\n"
-"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
-" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
-"{\n"
-"  if (fabs(n.z) > 0.70710678f) {\n"
-"    // choose p in y-z plane\n"
-"    float a = n.y*n.y + n.z*n.z;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = 0;\n"
-"	p[0].y = -n.z*k;\n"
-"	p[0].z = n.y*k;\n"
-"    // set q = n x p\n"
-"    q[0].x = a*k;\n"
-"	q[0].y = -n.x*p[0].z;\n"
-"	q[0].z = n.x*p[0].y;\n"
-"  }\n"
-"  else {\n"
-"    // choose p in x-y plane\n"
-"    float a = n.x*n.x + n.y*n.y;\n"
-"    float k = 1.f/sqrt(a);\n"
-"    p[0].x = -n.y*k;\n"
-"	p[0].y = n.x*k;\n"
-"	p[0].z = 0;\n"
-"    // set q = n x p\n"
-"    q[0].x = -n.z*p[0].y;\n"
-"	q[0].y = n.z*p[0].x;\n"
-"	q[0].z = a*k;\n"
-"  }\n"
-"}\n"
-"void solveContact(__global Constraint4* cs,\n"
-"			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
-"			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,\n"
-"			float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)\n"
-"{\n"
-"	float minRambdaDt = 0;\n"
-"	float maxRambdaDt = FLT_MAX;\n"
-"	for(int ic=0; ic<4; ic++)\n"
-"	{\n"
-"		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
-"		float4 angular0, angular1, linear;\n"
-"		float4 r0 = cs->m_worldPos[ic] - posA;\n"
-"		float4 r1 = cs->m_worldPos[ic] - posB;\n"
-"		setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
-"	\n"
-"		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
-"			*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
-"		rambdaDt *= cs->m_jacCoeffInv[ic];\n"
-"		\n"
-"		{\n"
-"			float prevSum = cs->m_appliedRambdaDt[ic];\n"
-"			float updated = prevSum;\n"
-"			updated += rambdaDt;\n"
-"			updated = max2( updated, minRambdaDt );\n"
-"			updated = min2( updated, maxRambdaDt );\n"
-"			rambdaDt = updated - prevSum;\n"
-"			cs->m_appliedRambdaDt[ic] = updated;\n"
-"		}\n"
-"			\n"
-"		float4 linImp0 = invMassA*linear*rambdaDt;\n"
-"		float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-"		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-"		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-"		\n"
-"		if (invMassA)\n"
-"		{\n"
-"			*dLinVelA += linImp0;\n"
-"			*dAngVelA += angImp0;\n"
-"		}\n"
-"		if (invMassB)\n"
-"		{\n"
-"			*dLinVelB += linImp1;\n"
-"			*dAngVelB += angImp1;\n"
-"		}\n"
-"	}\n"
-"}\n"
-"//	solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
-"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n"
-"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
-"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
-"{\n"
-"	//float frictionCoeff = ldsCs[0].m_linear.w;\n"
-"	int aIdx = ldsCs[0].m_bodyA;\n"
-"	int bIdx = ldsCs[0].m_bodyB;\n"
-"	float4 posA = gBodies[aIdx].m_pos;\n"
-"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-"	float invMassA = gBodies[aIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-"	float4 posB = gBodies[bIdx].m_pos;\n"
-"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-"	float invMassB = gBodies[bIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-"			\n"
-"	float4 dLinVelA = make_float4(0,0,0,0);\n"
-"	float4 dAngVelA = make_float4(0,0,0,0);\n"
-"	float4 dLinVelB = make_float4(0,0,0,0);\n"
-"	float4 dAngVelB = make_float4(0,0,0,0);\n"
-"			\n"
-"	int bodyOffsetA = offsetSplitBodies[aIdx];\n"
-"	int constraintOffsetA = contactConstraintOffsets[0].x;\n"
-"	int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
-"	\n"
-"	if (invMassA)\n"
-"	{\n"
-"		dLinVelA = deltaLinearVelocities[splitIndexA];\n"
-"		dAngVelA = deltaAngularVelocities[splitIndexA];\n"
-"	}\n"
-"	int bodyOffsetB = offsetSplitBodies[bIdx];\n"
-"	int constraintOffsetB = contactConstraintOffsets[0].y;\n"
-"	int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
-"	if (invMassB)\n"
-"	{\n"
-"		dLinVelB = deltaLinearVelocities[splitIndexB];\n"
-"		dAngVelB = deltaAngularVelocities[splitIndexB];\n"
-"	}\n"
-"	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-"			posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);\n"
-"	if (invMassA)\n"
-"	{\n"
-"		deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
-"		deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
-"	} \n"
-"	if (invMassB)\n"
-"	{\n"
-"		deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
-"		deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
-"	}\n"
-"}\n"
-"__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
-"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
-"float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
-")\n"
-"{\n"
-"	int i = GET_GLOBAL_IDX;\n"
-"	if (i<numManifolds)\n"
-"	{\n"
-"		solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
-"	}\n"
-"}\n"
-"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,\n"
-"							__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
-"							__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
-"{\n"
-"	float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;\n"
-"	int aIdx = ldsCs[0].m_bodyA;\n"
-"	int bIdx = ldsCs[0].m_bodyB;\n"
-"	float4 posA = gBodies[aIdx].m_pos;\n"
-"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
-"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
-"	float invMassA = gBodies[aIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-"	float4 posB = gBodies[bIdx].m_pos;\n"
-"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
-"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
-"	float invMassB = gBodies[bIdx].m_invMass;\n"
-"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-"	\n"
-"	float4 dLinVelA = make_float4(0,0,0,0);\n"
-"	float4 dAngVelA = make_float4(0,0,0,0);\n"
-"	float4 dLinVelB = make_float4(0,0,0,0);\n"
-"	float4 dAngVelB = make_float4(0,0,0,0);\n"
-"			\n"
-"	int bodyOffsetA = offsetSplitBodies[aIdx];\n"
-"	int constraintOffsetA = contactConstraintOffsets[0].x;\n"
-"	int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
-"	\n"
-"	if (invMassA)\n"
-"	{\n"
-"		dLinVelA = deltaLinearVelocities[splitIndexA];\n"
-"		dAngVelA = deltaAngularVelocities[splitIndexA];\n"
-"	}\n"
-"	int bodyOffsetB = offsetSplitBodies[bIdx];\n"
-"	int constraintOffsetB = contactConstraintOffsets[0].y;\n"
-"	int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
-"	if (invMassB)\n"
-"	{\n"
-"		dLinVelB = deltaLinearVelocities[splitIndexB];\n"
-"		dAngVelB = deltaAngularVelocities[splitIndexB];\n"
-"	}\n"
-"	{\n"
-"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
-"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
-"		float sum = 0;\n"
-"		for(int j=0; j<4; j++)\n"
-"		{\n"
-"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
-"		}\n"
-"		frictionCoeff = 0.7f;\n"
-"		for(int j=0; j<4; j++)\n"
-"		{\n"
-"			maxRambdaDt[j] = frictionCoeff*sum;\n"
-"			minRambdaDt[j] = -maxRambdaDt[j];\n"
-"		}\n"
-"		\n"
-"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
-"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
-"		\n"
-"		\n"
-"		{\n"
-"			\n"
-"			__global Constraint4* cs = ldsCs;\n"
-"			\n"
-"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
-"			const float4 center = cs->m_center;\n"
-"			\n"
-"			float4 n = -cs->m_linear;\n"
-"			\n"
-"			float4 tangent[2];\n"
-"			btPlaneSpace1(n,&tangent[0],&tangent[1]);\n"
-"			float4 angular0, angular1, linear;\n"
-"			float4 r0 = center - posA;\n"
-"			float4 r1 = center - posB;\n"
-"			for(int i=0; i<2; i++)\n"
-"			{\n"
-"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
-"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
-"											linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );\n"
-"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
-"				\n"
-"				{\n"
-"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
-"					float updated = prevSum;\n"
-"					updated += rambdaDt;\n"
-"					updated = max2( updated, minRambdaDt[i] );\n"
-"					updated = min2( updated, maxRambdaDt[i] );\n"
-"					rambdaDt = updated - prevSum;\n"
-"					cs->m_fAppliedRambdaDt[i] = updated;\n"
-"				}\n"
-"				\n"
-"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
-"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
-"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
-"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
-"				\n"
-"				dLinVelA += linImp0;\n"
-"				dAngVelA += angImp0;\n"
-"				dLinVelB += linImp1;\n"
-"				dAngVelB += angImp1;\n"
-"			}\n"
-"			{	//	angular damping for point constraint\n"
-"				float4 ab = normalize3( posB - posA );\n"
-"				float4 ac = normalize3( center - posA );\n"
-"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
-"				{\n"
-"					float angNA = dot3F4( n, angVelA );\n"
-"					float angNB = dot3F4( n, angVelB );\n"
-"					\n"
-"					dAngVelA -= (angNA*0.1f)*n;\n"
-"					dAngVelB -= (angNB*0.1f)*n;\n"
-"				}\n"
-"			}\n"
-"		}\n"
-"		\n"
-"		\n"
-"	}\n"
-"	if (invMassA)\n"
-"	{\n"
-"		deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
-"		deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
-"	} \n"
-"	if (invMassB)\n"
-"	{\n"
-"		deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
-"		deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
-"	}\n"
-" \n"
-"}\n"
-"__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
-"										__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
-"										__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
-"										float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
-")\n"
-"{\n"
-"	int i = GET_GLOBAL_IDX;\n"
-"	if (i<numManifolds)\n"
-"	{\n"
-"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
-"	}\n"
-"}\n"
-"__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
-"									__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
-"{\n"
-"	int i = GET_GLOBAL_IDX;\n"
-"	if (i<numBodies)\n"
-"	{\n"
-"		if (gBodies[i].m_invMass)\n"
-"		{\n"
-"			int bodyOffset = offsetSplitBodies[i];\n"
-"			int count = bodyCount[i];\n"
-"			if (count)\n"
-"			{\n"
-"				gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];\n"
-"				gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];\n"
-"			}\n"
-"		}\n"
-"	}\n"
-"}\n"
-"void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n"
-"	const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n"
-"	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,\n"
-"	Constraint4* dstC )\n"
-"{\n"
-"	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
-"	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
-"	float dtInv = 1.f/dt;\n"
-"	for(int ic=0; ic<4; ic++)\n"
-"	{\n"
-"		dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-"	}\n"
-"	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
-"	dstC->m_linear = src->m_worldNormalOnB;\n"
-"	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
-"	for(int ic=0; ic<4; ic++)\n"
-"	{\n"
-"		float4 r0 = src->m_worldPosB[ic] - posA;\n"
-"		float4 r1 = src->m_worldPosB[ic] - posB;\n"
-"		if( ic >= src->m_worldNormalOnB.w )//npoints\n"
-"		{\n"
-"			dstC->m_jacCoeffInv[ic] = 0.f;\n"
-"			continue;\n"
-"		}\n"
-"		float relVelN;\n"
-"		{\n"
-"			float4 linear, angular0, angular1;\n"
-"			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
-"			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-"				invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);\n"
-"			relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
-"				linVelA, angVelA, linVelB, angVelB);\n"
-"			float e = 0.f;//src->getRestituitionCoeff();\n"
-"			if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
-"			dstC->m_b[ic] = e*relVelN;\n"
-"			//float penetration = src->m_worldPosB[ic].w;\n"
-"			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
-"			dstC->m_appliedRambdaDt[ic] = 0.f;\n"
-"		}\n"
-"	}\n"
-"	if( src->m_worldNormalOnB.w > 0 )//npoints\n"
-"	{	//	prepare friction\n"
-"		float4 center = make_float4(0.f);\n"
-"		for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
-"			center += src->m_worldPosB[i];\n"
-"		center /= (float)src->m_worldNormalOnB.w;\n"
-"		float4 tangent[2];\n"
-"		btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
-"		\n"
-"		float4 r[2];\n"
-"		r[0] = center - posA;\n"
-"		r[1] = center - posB;\n"
-"		for(int i=0; i<2; i++)\n"
-"		{\n"
-"			float4 linear, angular0, angular1;\n"
-"			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
-"			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
-"				invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);\n"
-"			dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
-"		}\n"
-"		dstC->m_center = center;\n"
-"	}\n"
-"	for(int i=0; i<4; i++)\n"
-"	{\n"
-"		if( i<src->m_worldNormalOnB.w )\n"
-"		{\n"
-"			dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
-"		}\n"
-"		else\n"
-"		{\n"
-"			dstC->m_worldPos[i] = make_float4(0.f);\n"
-"		}\n"
-"	}\n"
-"}\n"
-"__kernel\n"
-"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
-"void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, \n"
-"__global const unsigned int* bodyCount,\n"
-"int nContacts,\n"
-"float dt,\n"
-"float positionDrift,\n"
-"float positionConstraintCoeff\n"
-")\n"
-"{\n"
-"	int gIdx = GET_GLOBAL_IDX;\n"
-"	\n"
-"	if( gIdx < nContacts )\n"
-"	{\n"
-"		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
-"		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
-"		float4 posA = gBodies[aIdx].m_pos;\n"
-"		float4 linVelA = gBodies[aIdx].m_linVel;\n"
-"		float4 angVelA = gBodies[aIdx].m_angVel;\n"
-"		float invMassA = gBodies[aIdx].m_invMass;\n"
-"		Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
-"		float4 posB = gBodies[bIdx].m_pos;\n"
-"		float4 linVelB = gBodies[bIdx].m_linVel;\n"
-"		float4 angVelB = gBodies[bIdx].m_angVel;\n"
-"		float invMassB = gBodies[bIdx].m_invMass;\n"
-"		Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
-"		Constraint4 cs;\n"
-"		float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;\n"
-"		float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;\n"
-"    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
-"			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,\n"
-"			&cs  );\n"
-"		\n"
-"		cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
-"		gConstraintOut[gIdx] = cs;\n"
-"	}\n"
-"}\n"
-;
+static const char* solverUtilsCL =
+	"/*\n"
+	"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
+	"This software is provided 'as-is', without any express or implied warranty.\n"
+	"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+	"Permission is granted to anyone to use this software for any purpose, \n"
+	"including commercial applications, and to alter it and redistribute it freely, \n"
+	"subject to the following restrictions:\n"
+	"1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.\n"
+	"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+	"3. This notice may not be removed or altered from any source distribution.\n"
+	"*/\n"
+	"//Originally written by Erwin Coumans\n"
+	"#ifndef B3_CONTACT4DATA_H\n"
+	"#define B3_CONTACT4DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"typedef  struct b3Contact4Data b3Contact4Data_t;\n"
+	"struct b3Contact4Data\n"
+	"{\n"
+	"	b3Float4	m_worldPosB[4];\n"
+	"//	b3Float4	m_localPosA[4];\n"
+	"//	b3Float4	m_localPosB[4];\n"
+	"	b3Float4	m_worldNormalOnB;	//	w: m_nPoints\n"
+	"	unsigned short  m_restituitionCoeffCmp;\n"
+	"	unsigned short  m_frictionCoeffCmp;\n"
+	"	int m_batchIdx;\n"
+	"	int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
+	"	int m_bodyBPtrAndSignBit;\n"
+	"	int	m_childIndexA;\n"
+	"	int	m_childIndexB;\n"
+	"	int m_unused1;\n"
+	"	int m_unused2;\n"
+	"};\n"
+	"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
+	"{\n"
+	"	return (int)contact->m_worldNormalOnB.w;\n"
+	"};\n"
+	"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
+	"{\n"
+	"	contact->m_worldNormalOnB.w = (float)numPoints;\n"
+	"};\n"
+	"#endif //B3_CONTACT4DATA_H\n"
+	"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+	"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+	"#ifdef cl_ext_atomic_counters_32\n"
+	"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+	"#else\n"
+	"#define counter32_t volatile global int*\n"
+	"#endif\n"
+	"typedef unsigned int u32;\n"
+	"typedef unsigned short u16;\n"
+	"typedef unsigned char u8;\n"
+	"#define GET_GROUP_IDX get_group_id(0)\n"
+	"#define GET_LOCAL_IDX get_local_id(0)\n"
+	"#define GET_GLOBAL_IDX get_global_id(0)\n"
+	"#define GET_GROUP_SIZE get_local_size(0)\n"
+	"#define GET_NUM_GROUPS get_num_groups(0)\n"
+	"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+	"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+	"#define AtomInc(x) atom_inc(&(x))\n"
+	"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+	"#define AppendInc(x, out) out = atomic_inc(x)\n"
+	"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+	"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+	"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+	"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+	"#define make_float4 (float4)\n"
+	"#define make_float2 (float2)\n"
+	"#define make_uint4 (uint4)\n"
+	"#define make_int4 (int4)\n"
+	"#define make_uint2 (uint2)\n"
+	"#define make_int2 (int2)\n"
+	"#define max2 max\n"
+	"#define min2 min\n"
+	"///////////////////////////////////////\n"
+	"//	Vector\n"
+	"///////////////////////////////////////\n"
+	"__inline\n"
+	"float fastDiv(float numerator, float denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"//	return numerator/denominator;	\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastDiv4(float4 numerator, float4 denominator)\n"
+	"{\n"
+	"	return native_divide(numerator, denominator);	\n"
+	"}\n"
+	"__inline\n"
+	"float fastSqrtf(float f2)\n"
+	"{\n"
+	"	return native_sqrt(f2);\n"
+	"//	return sqrt(f2);\n"
+	"}\n"
+	"__inline\n"
+	"float fastRSqrt(float f2)\n"
+	"{\n"
+	"	return native_rsqrt(f2);\n"
+	"}\n"
+	"__inline\n"
+	"float fastLength4(float4 v)\n"
+	"{\n"
+	"	return fast_length(v);\n"
+	"}\n"
+	"__inline\n"
+	"float4 fastNormalize4(float4 v)\n"
+	"{\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"__inline\n"
+	"float sqrtf(float a)\n"
+	"{\n"
+	"//	return sqrt(a);\n"
+	"	return native_sqrt(a);\n"
+	"}\n"
+	"__inline\n"
+	"float4 cross3(float4 a1, float4 b1)\n"
+	"{\n"
+	"	float4 	a=make_float4(a1.xyz,0.f);\n"
+	"	float4 	b=make_float4(b1.xyz,0.f);\n"
+	"	//float4 	a=a1;\n"
+	"	//float4 	b=b1;\n"
+	"	return cross(a,b);\n"
+	"}\n"
+	"__inline\n"
+	"float dot3F4(float4 a, float4 b)\n"
+	"{\n"
+	"	float4 a1 = make_float4(a.xyz,0.f);\n"
+	"	float4 b1 = make_float4(b.xyz,0.f);\n"
+	"	return dot(a1, b1);\n"
+	"}\n"
+	"__inline\n"
+	"float length3(const float4 a)\n"
+	"{\n"
+	"	return sqrtf(dot3F4(a,a));\n"
+	"}\n"
+	"__inline\n"
+	"float dot4(const float4 a, const float4 b)\n"
+	"{\n"
+	"	return dot( a, b );\n"
+	"}\n"
+	"//	for height\n"
+	"__inline\n"
+	"float dot3w1(const float4 point, const float4 eqn)\n"
+	"{\n"
+	"	return dot3F4(point,eqn) + eqn.w;\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize3(const float4 a)\n"
+	"{\n"
+	"	float4 n = make_float4(a.x, a.y, a.z, 0.f);\n"
+	"	return fastNormalize4( n );\n"
+	"//	float length = sqrtf(dot3F4(a, a));\n"
+	"//	return 1.f/length * a;\n"
+	"}\n"
+	"__inline\n"
+	"float4 normalize4(const float4 a)\n"
+	"{\n"
+	"	float length = sqrtf(dot4(a, a));\n"
+	"	return 1.f/length * a;\n"
+	"}\n"
+	"__inline\n"
+	"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
+	"{\n"
+	"	float4 eqn;\n"
+	"	float4 ab = b-a;\n"
+	"	float4 ac = c-a;\n"
+	"	eqn = normalize3( cross3(ab, ac) );\n"
+	"	eqn.w = -dot3F4(eqn,a);\n"
+	"	return eqn;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Matrix3x3\n"
+	"///////////////////////////////////////\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_row[3];\n"
+	"}Matrix3x3;\n"
+	"__inline\n"
+	"Matrix3x3 mtZero();\n"
+	"__inline\n"
+	"Matrix3x3 mtIdentity();\n"
+	"__inline\n"
+	"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
+	"__inline\n"
+	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+	"__inline\n"
+	"Matrix3x3 mtZero()\n"
+	"{\n"
+	"	Matrix3x3 m;\n"
+	"	m.m_row[0] = (float4)(0.f);\n"
+	"	m.m_row[1] = (float4)(0.f);\n"
+	"	m.m_row[2] = (float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"Matrix3x3 mtIdentity()\n"
+	"{\n"
+	"	Matrix3x3 m;\n"
+	"	m.m_row[0] = (float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
+	"{\n"
+	"	Matrix3x3 out;\n"
+	"	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
+	"{\n"
+	"	Matrix3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	Matrix3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+	"{\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a.m_row[0], b );\n"
+	"	ans.y = dot3F4( a.m_row[1], b );\n"
+	"	ans.z = dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+	"{\n"
+	"	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	float4 ans;\n"
+	"	ans.x = dot3F4( a, colx );\n"
+	"	ans.y = dot3F4( a, coly );\n"
+	"	ans.z = dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"///////////////////////////////////////\n"
+	"//	Quaternion\n"
+	"///////////////////////////////////////\n"
+	"typedef float4 Quaternion;\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b);\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in);\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec);\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q);\n"
+	"__inline\n"
+	"Quaternion qtMul(Quaternion a, Quaternion b)\n"
+	"{\n"
+	"	Quaternion ans;\n"
+	"	ans = cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtNormalize(Quaternion in)\n"
+	"{\n"
+	"	return fastNormalize4(in);\n"
+	"//	in /= length( in );\n"
+	"//	return in;\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtRotate(Quaternion q, float4 vec)\n"
+	"{\n"
+	"	Quaternion qInv = qtInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"Quaternion qtInvert(Quaternion q)\n"
+	"{\n"
+	"	return (Quaternion)(-q.xyz, q.w);\n"
+	"}\n"
+	"__inline\n"
+	"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
+	"{\n"
+	"	return qtRotate( qtInvert( q ), vec );\n"
+	"}\n"
+	"#define WG_SIZE 64\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_pos;\n"
+	"	Quaternion m_quat;\n"
+	"	float4 m_linVel;\n"
+	"	float4 m_angVel;\n"
+	"	u32 m_shapeIdx;\n"
+	"	float m_invMass;\n"
+	"	float m_restituitionCoeff;\n"
+	"	float m_frictionCoeff;\n"
+	"} Body;\n"
+	"typedef struct\n"
+	"{\n"
+	"	Matrix3x3 m_invInertia;\n"
+	"	Matrix3x3 m_initInvInertia;\n"
+	"} Shape;\n"
+	"typedef struct\n"
+	"{\n"
+	"	float4 m_linear;\n"
+	"	float4 m_worldPos[4];\n"
+	"	float4 m_center;	\n"
+	"	float m_jacCoeffInv[4];\n"
+	"	float m_b[4];\n"
+	"	float m_appliedRambdaDt[4];\n"
+	"	float m_fJacCoeffInv[2];	\n"
+	"	float m_fAppliedRambdaDt[2];	\n"
+	"	u32 m_bodyA;\n"
+	"	u32 m_bodyB;\n"
+	"	int m_batchIdx;\n"
+	"	u32 m_paddings;\n"
+	"} Constraint4;\n"
+	"__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)\n"
+	"{\n"
+	"	int i = GET_GLOBAL_IDX;\n"
+	"	\n"
+	"	if( i < numContactManifolds)\n"
+	"	{\n"
+	"		int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;\n"
+	"		bool isFixedA = (pa <0) || (pa == fixedBodyIndex);\n"
+	"		int bodyIndexA = abs(pa);\n"
+	"		if (!isFixedA)\n"
+	"		{\n"
+	"			 AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);\n"
+	"		}\n"
+	"		barrier(CLK_GLOBAL_MEM_FENCE);\n"
+	"		int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;\n"
+	"		bool isFixedB = (pb <0) || (pb == fixedBodyIndex);\n"
+	"		int bodyIndexB = abs(pb);\n"
+	"		if (!isFixedB)\n"
+	"		{\n"
+	"			AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);\n"
+	"		} \n"
+	"	}\n"
+	"}\n"
+	"__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)\n"
+	"{\n"
+	"	int i = GET_GLOBAL_IDX;\n"
+	"	\n"
+	"	if( i < numSplitBodies)\n"
+	"	{\n"
+	"		linearVelocities[i] = make_float4(0);\n"
+	"		angularVelocities[i] = make_float4(0);\n"
+	"	}\n"
+	"}\n"
+	"__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
+	"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
+	"{\n"
+	"	int i = GET_GLOBAL_IDX;\n"
+	"	if (i<numBodies)\n"
+	"	{\n"
+	"		if (gBodies[i].m_invMass)\n"
+	"		{\n"
+	"			int bodyOffset = offsetSplitBodies[i];\n"
+	"			int count = bodyCount[i];\n"
+	"			float factor = 1.f/((float)count);\n"
+	"			float4 averageLinVel = make_float4(0.f);\n"
+	"			float4 averageAngVel = make_float4(0.f);\n"
+	"			\n"
+	"			for (int j=0;j<count;j++)\n"
+	"			{\n"
+	"				averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;\n"
+	"				averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;\n"
+	"			}\n"
+	"			\n"
+	"			for (int j=0;j<count;j++)\n"
+	"			{\n"
+	"				deltaLinearVelocities[bodyOffset+j] = averageLinVel;\n"
+	"				deltaAngularVelocities[bodyOffset+j] = averageAngVel;\n"
+	"			}\n"
+	"			\n"
+	"		}//bodies[i].m_invMass\n"
+	"	}//i<numBodies\n"
+	"}\n"
+	"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
+	"{\n"
+	"	*linear = make_float4(n.xyz,0.f);\n"
+	"	*angular0 = cross3(r0, n);\n"
+	"	*angular1 = -cross3(r1, n);\n"
+	"}\n"
+	"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
+	"{\n"
+	"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
+	"}\n"
+	"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+	"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)\n"
+	"{\n"
+	"	//	linear0,1 are normlized\n"
+	"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
+	"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
+	"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
+	"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
+	"	return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);\n"
+	"}\n"
+	"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
+	" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
+	"{\n"
+	"  if (fabs(n.z) > 0.70710678f) {\n"
+	"    // choose p in y-z plane\n"
+	"    float a = n.y*n.y + n.z*n.z;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = 0;\n"
+	"	p[0].y = -n.z*k;\n"
+	"	p[0].z = n.y*k;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = a*k;\n"
+	"	q[0].y = -n.x*p[0].z;\n"
+	"	q[0].z = n.x*p[0].y;\n"
+	"  }\n"
+	"  else {\n"
+	"    // choose p in x-y plane\n"
+	"    float a = n.x*n.x + n.y*n.y;\n"
+	"    float k = 1.f/sqrt(a);\n"
+	"    p[0].x = -n.y*k;\n"
+	"	p[0].y = n.x*k;\n"
+	"	p[0].z = 0;\n"
+	"    // set q = n x p\n"
+	"    q[0].x = -n.z*p[0].y;\n"
+	"	q[0].y = n.z*p[0].x;\n"
+	"	q[0].z = a*k;\n"
+	"  }\n"
+	"}\n"
+	"void solveContact(__global Constraint4* cs,\n"
+	"			float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
+	"			float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,\n"
+	"			float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)\n"
+	"{\n"
+	"	float minRambdaDt = 0;\n"
+	"	float maxRambdaDt = FLT_MAX;\n"
+	"	for(int ic=0; ic<4; ic++)\n"
+	"	{\n"
+	"		if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
+	"		float4 angular0, angular1, linear;\n"
+	"		float4 r0 = cs->m_worldPos[ic] - posA;\n"
+	"		float4 r1 = cs->m_worldPos[ic] - posB;\n"
+	"		setLinearAndAngular( cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
+	"	\n"
+	"		float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
+	"			*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
+	"		rambdaDt *= cs->m_jacCoeffInv[ic];\n"
+	"		\n"
+	"		{\n"
+	"			float prevSum = cs->m_appliedRambdaDt[ic];\n"
+	"			float updated = prevSum;\n"
+	"			updated += rambdaDt;\n"
+	"			updated = max2( updated, minRambdaDt );\n"
+	"			updated = min2( updated, maxRambdaDt );\n"
+	"			rambdaDt = updated - prevSum;\n"
+	"			cs->m_appliedRambdaDt[ic] = updated;\n"
+	"		}\n"
+	"			\n"
+	"		float4 linImp0 = invMassA*linear*rambdaDt;\n"
+	"		float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
+	"		float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
+	"		float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
+	"		\n"
+	"		if (invMassA)\n"
+	"		{\n"
+	"			*dLinVelA += linImp0;\n"
+	"			*dAngVelA += angImp0;\n"
+	"		}\n"
+	"		if (invMassB)\n"
+	"		{\n"
+	"			*dLinVelB += linImp1;\n"
+	"			*dAngVelB += angImp1;\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"//	solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
+	"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n"
+	"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
+	"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
+	"{\n"
+	"	//float frictionCoeff = ldsCs[0].m_linear.w;\n"
+	"	int aIdx = ldsCs[0].m_bodyA;\n"
+	"	int bIdx = ldsCs[0].m_bodyB;\n"
+	"	float4 posA = gBodies[aIdx].m_pos;\n"
+	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
+	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
+	"	float invMassA = gBodies[aIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
+	"	float4 posB = gBodies[bIdx].m_pos;\n"
+	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
+	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
+	"	float invMassB = gBodies[bIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
+	"			\n"
+	"	float4 dLinVelA = make_float4(0,0,0,0);\n"
+	"	float4 dAngVelA = make_float4(0,0,0,0);\n"
+	"	float4 dLinVelB = make_float4(0,0,0,0);\n"
+	"	float4 dAngVelB = make_float4(0,0,0,0);\n"
+	"			\n"
+	"	int bodyOffsetA = offsetSplitBodies[aIdx];\n"
+	"	int constraintOffsetA = contactConstraintOffsets[0].x;\n"
+	"	int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
+	"	\n"
+	"	if (invMassA)\n"
+	"	{\n"
+	"		dLinVelA = deltaLinearVelocities[splitIndexA];\n"
+	"		dAngVelA = deltaAngularVelocities[splitIndexA];\n"
+	"	}\n"
+	"	int bodyOffsetB = offsetSplitBodies[bIdx];\n"
+	"	int constraintOffsetB = contactConstraintOffsets[0].y;\n"
+	"	int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
+	"	if (invMassB)\n"
+	"	{\n"
+	"		dLinVelB = deltaLinearVelocities[splitIndexB];\n"
+	"		dAngVelB = deltaAngularVelocities[splitIndexB];\n"
+	"	}\n"
+	"	solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
+	"			posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);\n"
+	"	if (invMassA)\n"
+	"	{\n"
+	"		deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
+	"		deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
+	"	} \n"
+	"	if (invMassB)\n"
+	"	{\n"
+	"		deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
+	"		deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
+	"	}\n"
+	"}\n"
+	"__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
+	"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
+	"float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
+	")\n"
+	"{\n"
+	"	int i = GET_GLOBAL_IDX;\n"
+	"	if (i<numManifolds)\n"
+	"	{\n"
+	"		solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
+	"	}\n"
+	"}\n"
+	"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,\n"
+	"							__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
+	"							__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
+	"{\n"
+	"	float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;\n"
+	"	int aIdx = ldsCs[0].m_bodyA;\n"
+	"	int bIdx = ldsCs[0].m_bodyB;\n"
+	"	float4 posA = gBodies[aIdx].m_pos;\n"
+	"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
+	"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
+	"	float invMassA = gBodies[aIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
+	"	float4 posB = gBodies[bIdx].m_pos;\n"
+	"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
+	"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
+	"	float invMassB = gBodies[bIdx].m_invMass;\n"
+	"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
+	"	\n"
+	"	float4 dLinVelA = make_float4(0,0,0,0);\n"
+	"	float4 dAngVelA = make_float4(0,0,0,0);\n"
+	"	float4 dLinVelB = make_float4(0,0,0,0);\n"
+	"	float4 dAngVelB = make_float4(0,0,0,0);\n"
+	"			\n"
+	"	int bodyOffsetA = offsetSplitBodies[aIdx];\n"
+	"	int constraintOffsetA = contactConstraintOffsets[0].x;\n"
+	"	int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
+	"	\n"
+	"	if (invMassA)\n"
+	"	{\n"
+	"		dLinVelA = deltaLinearVelocities[splitIndexA];\n"
+	"		dAngVelA = deltaAngularVelocities[splitIndexA];\n"
+	"	}\n"
+	"	int bodyOffsetB = offsetSplitBodies[bIdx];\n"
+	"	int constraintOffsetB = contactConstraintOffsets[0].y;\n"
+	"	int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
+	"	if (invMassB)\n"
+	"	{\n"
+	"		dLinVelB = deltaLinearVelocities[splitIndexB];\n"
+	"		dAngVelB = deltaAngularVelocities[splitIndexB];\n"
+	"	}\n"
+	"	{\n"
+	"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
+	"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
+	"		float sum = 0;\n"
+	"		for(int j=0; j<4; j++)\n"
+	"		{\n"
+	"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
+	"		}\n"
+	"		frictionCoeff = 0.7f;\n"
+	"		for(int j=0; j<4; j++)\n"
+	"		{\n"
+	"			maxRambdaDt[j] = frictionCoeff*sum;\n"
+	"			minRambdaDt[j] = -maxRambdaDt[j];\n"
+	"		}\n"
+	"		\n"
+	"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
+	"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
+	"		\n"
+	"		\n"
+	"		{\n"
+	"			\n"
+	"			__global Constraint4* cs = ldsCs;\n"
+	"			\n"
+	"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
+	"			const float4 center = cs->m_center;\n"
+	"			\n"
+	"			float4 n = -cs->m_linear;\n"
+	"			\n"
+	"			float4 tangent[2];\n"
+	"			btPlaneSpace1(n,&tangent[0],&tangent[1]);\n"
+	"			float4 angular0, angular1, linear;\n"
+	"			float4 r0 = center - posA;\n"
+	"			float4 r1 = center - posB;\n"
+	"			for(int i=0; i<2; i++)\n"
+	"			{\n"
+	"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
+	"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
+	"											linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );\n"
+	"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
+	"				\n"
+	"				{\n"
+	"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
+	"					float updated = prevSum;\n"
+	"					updated += rambdaDt;\n"
+	"					updated = max2( updated, minRambdaDt[i] );\n"
+	"					updated = min2( updated, maxRambdaDt[i] );\n"
+	"					rambdaDt = updated - prevSum;\n"
+	"					cs->m_fAppliedRambdaDt[i] = updated;\n"
+	"				}\n"
+	"				\n"
+	"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
+	"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
+	"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
+	"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
+	"				\n"
+	"				dLinVelA += linImp0;\n"
+	"				dAngVelA += angImp0;\n"
+	"				dLinVelB += linImp1;\n"
+	"				dAngVelB += angImp1;\n"
+	"			}\n"
+	"			{	//	angular damping for point constraint\n"
+	"				float4 ab = normalize3( posB - posA );\n"
+	"				float4 ac = normalize3( center - posA );\n"
+	"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
+	"				{\n"
+	"					float angNA = dot3F4( n, angVelA );\n"
+	"					float angNB = dot3F4( n, angVelB );\n"
+	"					\n"
+	"					dAngVelA -= (angNA*0.1f)*n;\n"
+	"					dAngVelB -= (angNB*0.1f)*n;\n"
+	"				}\n"
+	"			}\n"
+	"		}\n"
+	"		\n"
+	"		\n"
+	"	}\n"
+	"	if (invMassA)\n"
+	"	{\n"
+	"		deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
+	"		deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
+	"	} \n"
+	"	if (invMassB)\n"
+	"	{\n"
+	"		deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
+	"		deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
+	"	}\n"
+	" \n"
+	"}\n"
+	"__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
+	"										__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
+	"										__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
+	"										float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
+	")\n"
+	"{\n"
+	"	int i = GET_GLOBAL_IDX;\n"
+	"	if (i<numManifolds)\n"
+	"	{\n"
+	"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
+	"	}\n"
+	"}\n"
+	"__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
+	"									__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
+	"{\n"
+	"	int i = GET_GLOBAL_IDX;\n"
+	"	if (i<numBodies)\n"
+	"	{\n"
+	"		if (gBodies[i].m_invMass)\n"
+	"		{\n"
+	"			int bodyOffset = offsetSplitBodies[i];\n"
+	"			int count = bodyCount[i];\n"
+	"			if (count)\n"
+	"			{\n"
+	"				gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];\n"
+	"				gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];\n"
+	"			}\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n"
+	"	const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n"
+	"	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,\n"
+	"	Constraint4* dstC )\n"
+	"{\n"
+	"	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
+	"	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
+	"	float dtInv = 1.f/dt;\n"
+	"	for(int ic=0; ic<4; ic++)\n"
+	"	{\n"
+	"		dstC->m_appliedRambdaDt[ic] = 0.f;\n"
+	"	}\n"
+	"	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
+	"	dstC->m_linear = src->m_worldNormalOnB;\n"
+	"	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
+	"	for(int ic=0; ic<4; ic++)\n"
+	"	{\n"
+	"		float4 r0 = src->m_worldPosB[ic] - posA;\n"
+	"		float4 r1 = src->m_worldPosB[ic] - posB;\n"
+	"		if( ic >= src->m_worldNormalOnB.w )//npoints\n"
+	"		{\n"
+	"			dstC->m_jacCoeffInv[ic] = 0.f;\n"
+	"			continue;\n"
+	"		}\n"
+	"		float relVelN;\n"
+	"		{\n"
+	"			float4 linear, angular0, angular1;\n"
+	"			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n"
+	"			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
+	"				invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);\n"
+	"			relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
+	"				linVelA, angVelA, linVelB, angVelB);\n"
+	"			float e = 0.f;//src->getRestituitionCoeff();\n"
+	"			if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
+	"			dstC->m_b[ic] = e*relVelN;\n"
+	"			//float penetration = src->m_worldPosB[ic].w;\n"
+	"			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
+	"			dstC->m_appliedRambdaDt[ic] = 0.f;\n"
+	"		}\n"
+	"	}\n"
+	"	if( src->m_worldNormalOnB.w > 0 )//npoints\n"
+	"	{	//	prepare friction\n"
+	"		float4 center = make_float4(0.f);\n"
+	"		for(int i=0; i<src->m_worldNormalOnB.w; i++) \n"
+	"			center += src->m_worldPosB[i];\n"
+	"		center /= (float)src->m_worldNormalOnB.w;\n"
+	"		float4 tangent[2];\n"
+	"		btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n"
+	"		\n"
+	"		float4 r[2];\n"
+	"		r[0] = center - posA;\n"
+	"		r[1] = center - posB;\n"
+	"		for(int i=0; i<2; i++)\n"
+	"		{\n"
+	"			float4 linear, angular0, angular1;\n"
+	"			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
+	"			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
+	"				invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);\n"
+	"			dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
+	"		}\n"
+	"		dstC->m_center = center;\n"
+	"	}\n"
+	"	for(int i=0; i<4; i++)\n"
+	"	{\n"
+	"		if( i<src->m_worldNormalOnB.w )\n"
+	"		{\n"
+	"			dstC->m_worldPos[i] = src->m_worldPosB[i];\n"
+	"		}\n"
+	"		else\n"
+	"		{\n"
+	"			dstC->m_worldPos[i] = make_float4(0.f);\n"
+	"		}\n"
+	"	}\n"
+	"}\n"
+	"__kernel\n"
+	"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+	"void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, \n"
+	"__global const unsigned int* bodyCount,\n"
+	"int nContacts,\n"
+	"float dt,\n"
+	"float positionDrift,\n"
+	"float positionConstraintCoeff\n"
+	")\n"
+	"{\n"
+	"	int gIdx = GET_GLOBAL_IDX;\n"
+	"	\n"
+	"	if( gIdx < nContacts )\n"
+	"	{\n"
+	"		int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
+	"		int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
+	"		float4 posA = gBodies[aIdx].m_pos;\n"
+	"		float4 linVelA = gBodies[aIdx].m_linVel;\n"
+	"		float4 angVelA = gBodies[aIdx].m_angVel;\n"
+	"		float invMassA = gBodies[aIdx].m_invMass;\n"
+	"		Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
+	"		float4 posB = gBodies[bIdx].m_pos;\n"
+	"		float4 linVelB = gBodies[bIdx].m_linVel;\n"
+	"		float4 angVelB = gBodies[bIdx].m_angVel;\n"
+	"		float invMassB = gBodies[bIdx].m_invMass;\n"
+	"		Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
+	"		Constraint4 cs;\n"
+	"		float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;\n"
+	"		float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;\n"
+	"    	setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
+	"			&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,\n"
+	"			&cs  );\n"
+	"		\n"
+	"		cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
+	"		gConstraintOut[gIdx] = cs;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
index d70e74017a..bb949b2027 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
@@ -1,483 +1,482 @@
 //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
-static const char* updateAabbsKernelCL= \
-"#ifndef B3_UPDATE_AABBS_H\n"
-"#define B3_UPDATE_AABBS_H\n"
-"#ifndef B3_AABB_H\n"
-"#define B3_AABB_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#define B3_FLOAT4_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#define B3_PLATFORM_DEFINITIONS_H\n"
-"struct MyTest\n"
-"{\n"
-"	int bla;\n"
-"};\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
-"#define B3_LARGE_FLOAT 1e18f\n"
-"#define B3_INFINITY 1e18f\n"
-"#define b3Assert(a)\n"
-"#define b3ConstArray(a) __global const a*\n"
-"#define b3AtomicInc atomic_inc\n"
-"#define b3AtomicAdd atomic_add\n"
-"#define b3Fabs fabs\n"
-"#define b3Sqrt native_sqrt\n"
-"#define b3Sin native_sin\n"
-"#define b3Cos native_cos\n"
-"#define B3_STATIC\n"
-"#endif\n"
-"#endif\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Float4;\n"
-"	#define b3Float4ConstArg const b3Float4\n"
-"	#define b3MakeFloat4 (float4)\n"
-"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return dot(a1, b1);\n"
-"	}\n"
-"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
-"	{\n"
-"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
-"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
-"		return cross(a1, b1);\n"
-"	}\n"
-"	#define b3MinFloat4 min\n"
-"	#define b3MaxFloat4 max\n"
-"	#define b3Normalized(a) normalize(a)\n"
-"#endif \n"
-"		\n"
-"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
-"{\n"
-"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
-"		return false;\n"
-"	return true;\n"
-"}\n"
-"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
-"{\n"
-"    float maxDot = -B3_INFINITY;\n"
-"    int i = 0;\n"
-"    int ptIndex = -1;\n"
-"    for( i = 0; i < vecLen; i++ )\n"
-"    {\n"
-"        float dot = b3Dot3F4(vecArray[i],vec);\n"
-"            \n"
-"        if( dot > maxDot )\n"
-"        {\n"
-"            maxDot = dot;\n"
-"            ptIndex = i;\n"
-"        }\n"
-"    }\n"
-"	b3Assert(ptIndex>=0);\n"
-"    if (ptIndex<0)\n"
-"	{\n"
-"		ptIndex = 0;\n"
-"	}\n"
-"    *dotOut = maxDot;\n"
-"    return ptIndex;\n"
-"}\n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#define B3_MAT3x3_H\n"
-"#ifndef B3_QUAT_H\n"
-"#define B3_QUAT_H\n"
-"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"	typedef float4	b3Quat;\n"
-"	#define b3QuatConstArg const b3Quat\n"
-"	\n"
-"	\n"
-"inline float4 b3FastNormalize4(float4 v)\n"
-"{\n"
-"	v = (float4)(v.xyz,0.f);\n"
-"	return fast_normalize(v);\n"
-"}\n"
-"	\n"
-"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
-"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
-"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
-"{\n"
-"	b3Quat ans;\n"
-"	ans = b3Cross3( a, b );\n"
-"	ans += a.w*b+b.w*a;\n"
-"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
-"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
-"	return ans;\n"
-"}\n"
-"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
-"{\n"
-"	b3Quat q;\n"
-"	q=in;\n"
-"	//return b3FastNormalize4(in);\n"
-"	float len = native_sqrt(dot(q, q));\n"
-"	if(len > 0.f)\n"
-"	{\n"
-"		q *= 1.f / len;\n"
-"	}\n"
-"	else\n"
-"	{\n"
-"		q.x = q.y = q.z = 0.f;\n"
-"		q.w = 1.f;\n"
-"	}\n"
-"	return q;\n"
-"}\n"
-"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	b3Quat qInv = b3QuatInvert( q );\n"
-"	float4 vcpy = vec;\n"
-"	vcpy.w = 0.f;\n"
-"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
-"	return out;\n"
-"}\n"
-"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
-"{\n"
-"	return (b3Quat)(-q.xyz, q.w);\n"
-"}\n"
-"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
-"{\n"
-"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
-"}\n"
-"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
-"{\n"
-"	return b3QuatRotate( orientation, point ) + (translation);\n"
-"}\n"
-"	\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"typedef struct\n"
-"{\n"
-"	b3Float4 m_row[3];\n"
-"}b3Mat3x3;\n"
-"#define b3Mat3x3ConstArg const b3Mat3x3\n"
-"#define b3GetRow(m,row) (m.m_row[row])\n"
-"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
-"{\n"
-"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
-"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
-"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
-"	out.m_row[0].w = 0.f;\n"
-"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
-"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
-"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
-"	out.m_row[1].w = 0.f;\n"
-"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
-"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
-"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
-"	out.m_row[2].w = 0.f;\n"
-"	return out;\n"
-"}\n"
-"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
-"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
-"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtZero();\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity();\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
-"__inline\n"
-"b3Mat3x3 mtZero()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(0.f);\n"
-"	m.m_row[1] = (b3Float4)(0.f);\n"
-"	m.m_row[2] = (b3Float4)(0.f);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtIdentity()\n"
-"{\n"
-"	b3Mat3x3 m;\n"
-"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
-"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
-"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
-"	return m;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
-"{\n"
-"	b3Mat3x3 out;\n"
-"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
-"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
-"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
-"	return out;\n"
-"}\n"
-"__inline\n"
-"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Mat3x3 transB;\n"
-"	transB = mtTranspose( b );\n"
-"	b3Mat3x3 ans;\n"
-"	//	why this doesn't run when 0ing in the for{}\n"
-"	a.m_row[0].w = 0.f;\n"
-"	a.m_row[1].w = 0.f;\n"
-"	a.m_row[2].w = 0.f;\n"
-"	for(int i=0; i<3; i++)\n"
-"	{\n"
-"//	a.m_row[i].w = 0.f;\n"
-"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
-"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
-"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
-"		ans.m_row[i].w = 0.f;\n"
-"	}\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
-"{\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
-"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
-"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
-"	ans.w = 0.f;\n"
-"	return ans;\n"
-"}\n"
-"__inline\n"
-"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
-"{\n"
-"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
-"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
-"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
-"	b3Float4 ans;\n"
-"	ans.x = b3Dot3F4( a, colx );\n"
-"	ans.y = b3Dot3F4( a, coly );\n"
-"	ans.z = b3Dot3F4( a, colz );\n"
-"	return ans;\n"
-"}\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3Aabb b3Aabb_t;\n"
-"struct b3Aabb\n"
-"{\n"
-"	union\n"
-"	{\n"
-"		float m_min[4];\n"
-"		b3Float4 m_minVec;\n"
-"		int m_minIndices[4];\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float	m_max[4];\n"
-"		b3Float4 m_maxVec;\n"
-"		int m_signedMaxIndices[4];\n"
-"	};\n"
-"};\n"
-"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
-"						b3Float4ConstArg pos,\n"
-"						b3QuatConstArg orn,\n"
-"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
-"{\n"
-"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
-"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
-"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
-"		b3Mat3x3 m;\n"
-"		m = b3QuatGetRotationMatrix(orn);\n"
-"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
-"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
-"		\n"
-"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
-"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
-"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
-"										 0.f);\n"
-"		*aabbMinOut = center-extent;\n"
-"		*aabbMaxOut = center+extent;\n"
-"}\n"
-"/// conservative test for overlap between two aabbs\n"
-"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
-"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
-"{\n"
-"	bool overlap = true;\n"
-"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
-"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
-"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
-"	return overlap;\n"
-"}\n"
-"#endif //B3_AABB_H\n"
-"#ifndef B3_COLLIDABLE_H\n"
-"#define B3_COLLIDABLE_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"enum b3ShapeTypes\n"
-"{\n"
-"	SHAPE_HEIGHT_FIELD=1,\n"
-"	SHAPE_CONVEX_HULL=3,\n"
-"	SHAPE_PLANE=4,\n"
-"	SHAPE_CONCAVE_TRIMESH=5,\n"
-"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
-"	SHAPE_SPHERE=7,\n"
-"	MAX_NUM_SHAPE_TYPES,\n"
-"};\n"
-"typedef struct b3Collidable b3Collidable_t;\n"
-"struct b3Collidable\n"
-"{\n"
-"	union {\n"
-"		int m_numChildShapes;\n"
-"		int m_bvhIndex;\n"
-"	};\n"
-"	union\n"
-"	{\n"
-"		float m_radius;\n"
-"		int	m_compoundBvhIndex;\n"
-"	};\n"
-"	int m_shapeType;\n"
-"	union\n"
-"	{\n"
-"		int m_shapeIndex;\n"
-"		float m_height;\n"
-"	};\n"
-"};\n"
-"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
-"struct b3GpuChildShape\n"
-"{\n"
-"	b3Float4	m_childPosition;\n"
-"	b3Quat		m_childOrientation;\n"
-"	union\n"
-"	{\n"
-"		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
-"		int			m_capsuleAxis;\n"
-"	};\n"
-"	union \n"
-"	{\n"
-"		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
-"		int			m_numChildShapes;//used for compound shape\n"
-"	};\n"
-"	union \n"
-"	{\n"
-"		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
-"		int	m_collidableShapeIndex;\n"
-"	};\n"
-"	int			m_shapeType;\n"
-"};\n"
-"struct b3CompoundOverlappingPair\n"
-"{\n"
-"	int m_bodyIndexA;\n"
-"	int m_bodyIndexB;\n"
-"//	int	m_pairType;\n"
-"	int m_childShapeIndexA;\n"
-"	int m_childShapeIndexB;\n"
-"};\n"
-"#endif //B3_COLLIDABLE_H\n"
-"#ifndef B3_RIGIDBODY_DATA_H\n"
-"#define B3_RIGIDBODY_DATA_H\n"
-"#ifndef B3_FLOAT4_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_FLOAT4_H\n"
-"#ifndef B3_QUAT_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif \n"
-"#endif //B3_QUAT_H\n"
-"#ifndef B3_MAT3x3_H\n"
-"#ifdef __cplusplus\n"
-"#else\n"
-"#endif\n"
-"#endif //B3_MAT3x3_H\n"
-"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
-"struct b3RigidBodyData\n"
-"{\n"
-"	b3Float4				m_pos;\n"
-"	b3Quat					m_quat;\n"
-"	b3Float4				m_linVel;\n"
-"	b3Float4				m_angVel;\n"
-"	int 					m_collidableIdx;\n"
-"	float 				m_invMass;\n"
-"	float 				m_restituitionCoeff;\n"
-"	float 				m_frictionCoeff;\n"
-"};\n"
-"typedef struct b3InertiaData b3InertiaData_t;\n"
-"struct b3InertiaData\n"
-"{\n"
-"	b3Mat3x3 m_invInertiaWorld;\n"
-"	b3Mat3x3 m_initInvInertia;\n"
-"};\n"
-"#endif //B3_RIGIDBODY_DATA_H\n"
-"	\n"
-"void b3ComputeWorldAabb(  int bodyId, __global const b3RigidBodyData_t* bodies, __global const  b3Collidable_t* collidables, __global const  b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n"
-"{\n"
-"	__global const b3RigidBodyData_t* body = &bodies[bodyId];\n"
-"	b3Float4 position = body->m_pos;\n"
-"	b3Quat	orientation = body->m_quat;\n"
-"	\n"
-"	int collidableIndex = body->m_collidableIdx;\n"
-"	int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
-"		\n"
-"	if (shapeIndex>=0)\n"
-"	{\n"
-"				\n"
-"		b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n"
-"		b3Aabb_t worldAabb;\n"
-"		\n"
-"		b3Float4 aabbAMinOut,aabbAMaxOut;	\n"
-"		float margin = 0.f;\n"
-"		b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n"
-"		\n"
-"		worldAabb.m_minVec =aabbAMinOut;\n"
-"		worldAabb.m_minIndices[3] = bodyId;\n"
-"		worldAabb.m_maxVec = aabbAMaxOut;\n"
-"		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n"
-"		worldAabbs[bodyId] = worldAabb;\n"
-"	}\n"
-"}\n"
-"#endif //B3_UPDATE_AABBS_H\n"
-"__kernel void initializeGpuAabbsFull(  const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n"
-"{\n"
-"	int nodeID = get_global_id(0);\n"
-"	if( nodeID < numNodes )\n"
-"	{\n"
-"		b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n"
-"	}\n"
-"}\n"
-"__kernel void clearOverlappingPairsKernel(  __global int4* pairs, int numPairs)\n"
-"{\n"
-"	int pairId = get_global_id(0);\n"
-"	if( pairId< numPairs )\n"
-"	{\n"
-"		pairs[pairId].z = 0xffffffff;\n"
-"	}\n"
-"}\n"
-;
+static const char* updateAabbsKernelCL =
+	"#ifndef B3_UPDATE_AABBS_H\n"
+	"#define B3_UPDATE_AABBS_H\n"
+	"#ifndef B3_AABB_H\n"
+	"#define B3_AABB_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#define B3_FLOAT4_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#define B3_PLATFORM_DEFINITIONS_H\n"
+	"struct MyTest\n"
+	"{\n"
+	"	int bla;\n"
+	"};\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+	"#define B3_LARGE_FLOAT 1e18f\n"
+	"#define B3_INFINITY 1e18f\n"
+	"#define b3Assert(a)\n"
+	"#define b3ConstArray(a) __global const a*\n"
+	"#define b3AtomicInc atomic_inc\n"
+	"#define b3AtomicAdd atomic_add\n"
+	"#define b3Fabs fabs\n"
+	"#define b3Sqrt native_sqrt\n"
+	"#define b3Sin native_sin\n"
+	"#define b3Cos native_cos\n"
+	"#define B3_STATIC\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Float4;\n"
+	"	#define b3Float4ConstArg const b3Float4\n"
+	"	#define b3MakeFloat4 (float4)\n"
+	"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return dot(a1, b1);\n"
+	"	}\n"
+	"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+	"	{\n"
+	"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+	"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+	"		return cross(a1, b1);\n"
+	"	}\n"
+	"	#define b3MinFloat4 min\n"
+	"	#define b3MaxFloat4 max\n"
+	"	#define b3Normalized(a) normalize(a)\n"
+	"#endif \n"
+	"		\n"
+	"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+	"{\n"
+	"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+	"		return false;\n"
+	"	return true;\n"
+	"}\n"
+	"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+	"{\n"
+	"    float maxDot = -B3_INFINITY;\n"
+	"    int i = 0;\n"
+	"    int ptIndex = -1;\n"
+	"    for( i = 0; i < vecLen; i++ )\n"
+	"    {\n"
+	"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+	"            \n"
+	"        if( dot > maxDot )\n"
+	"        {\n"
+	"            maxDot = dot;\n"
+	"            ptIndex = i;\n"
+	"        }\n"
+	"    }\n"
+	"	b3Assert(ptIndex>=0);\n"
+	"    if (ptIndex<0)\n"
+	"	{\n"
+	"		ptIndex = 0;\n"
+	"	}\n"
+	"    *dotOut = maxDot;\n"
+	"    return ptIndex;\n"
+	"}\n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#define B3_MAT3x3_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#define B3_QUAT_H\n"
+	"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"	typedef float4	b3Quat;\n"
+	"	#define b3QuatConstArg const b3Quat\n"
+	"	\n"
+	"	\n"
+	"inline float4 b3FastNormalize4(float4 v)\n"
+	"{\n"
+	"	v = (float4)(v.xyz,0.f);\n"
+	"	return fast_normalize(v);\n"
+	"}\n"
+	"	\n"
+	"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+	"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+	"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+	"{\n"
+	"	b3Quat ans;\n"
+	"	ans = b3Cross3( a, b );\n"
+	"	ans += a.w*b+b.w*a;\n"
+	"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+	"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+	"	return ans;\n"
+	"}\n"
+	"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+	"{\n"
+	"	b3Quat q;\n"
+	"	q=in;\n"
+	"	//return b3FastNormalize4(in);\n"
+	"	float len = native_sqrt(dot(q, q));\n"
+	"	if(len > 0.f)\n"
+	"	{\n"
+	"		q *= 1.f / len;\n"
+	"	}\n"
+	"	else\n"
+	"	{\n"
+	"		q.x = q.y = q.z = 0.f;\n"
+	"		q.w = 1.f;\n"
+	"	}\n"
+	"	return q;\n"
+	"}\n"
+	"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	b3Quat qInv = b3QuatInvert( q );\n"
+	"	float4 vcpy = vec;\n"
+	"	vcpy.w = 0.f;\n"
+	"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+	"{\n"
+	"	return (b3Quat)(-q.xyz, q.w);\n"
+	"}\n"
+	"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+	"{\n"
+	"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+	"}\n"
+	"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+	"{\n"
+	"	return b3QuatRotate( orientation, point ) + (translation);\n"
+	"}\n"
+	"	\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"typedef struct\n"
+	"{\n"
+	"	b3Float4 m_row[3];\n"
+	"}b3Mat3x3;\n"
+	"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+	"#define b3GetRow(m,row) (m.m_row[row])\n"
+	"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+	"{\n"
+	"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+	"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+	"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+	"	out.m_row[0].w = 0.f;\n"
+	"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+	"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+	"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+	"	out.m_row[1].w = 0.f;\n"
+	"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+	"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+	"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+	"	out.m_row[2].w = 0.f;\n"
+	"	return out;\n"
+	"}\n"
+	"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+	"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+	"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero();\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity();\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+	"__inline\n"
+	"b3Mat3x3 mtZero()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(0.f);\n"
+	"	m.m_row[1] = (b3Float4)(0.f);\n"
+	"	m.m_row[2] = (b3Float4)(0.f);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtIdentity()\n"
+	"{\n"
+	"	b3Mat3x3 m;\n"
+	"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+	"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+	"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+	"	return m;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+	"{\n"
+	"	b3Mat3x3 out;\n"
+	"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+	"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+	"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+	"	return out;\n"
+	"}\n"
+	"__inline\n"
+	"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Mat3x3 transB;\n"
+	"	transB = mtTranspose( b );\n"
+	"	b3Mat3x3 ans;\n"
+	"	//	why this doesn't run when 0ing in the for{}\n"
+	"	a.m_row[0].w = 0.f;\n"
+	"	a.m_row[1].w = 0.f;\n"
+	"	a.m_row[2].w = 0.f;\n"
+	"	for(int i=0; i<3; i++)\n"
+	"	{\n"
+	"//	a.m_row[i].w = 0.f;\n"
+	"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+	"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+	"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+	"		ans.m_row[i].w = 0.f;\n"
+	"	}\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+	"{\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+	"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+	"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+	"	ans.w = 0.f;\n"
+	"	return ans;\n"
+	"}\n"
+	"__inline\n"
+	"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+	"{\n"
+	"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+	"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+	"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+	"	b3Float4 ans;\n"
+	"	ans.x = b3Dot3F4( a, colx );\n"
+	"	ans.y = b3Dot3F4( a, coly );\n"
+	"	ans.z = b3Dot3F4( a, colz );\n"
+	"	return ans;\n"
+	"}\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3Aabb b3Aabb_t;\n"
+	"struct b3Aabb\n"
+	"{\n"
+	"	union\n"
+	"	{\n"
+	"		float m_min[4];\n"
+	"		b3Float4 m_minVec;\n"
+	"		int m_minIndices[4];\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float	m_max[4];\n"
+	"		b3Float4 m_maxVec;\n"
+	"		int m_signedMaxIndices[4];\n"
+	"	};\n"
+	"};\n"
+	"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
+	"						b3Float4ConstArg pos,\n"
+	"						b3QuatConstArg orn,\n"
+	"						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
+	"{\n"
+	"		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
+	"		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
+	"		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
+	"		b3Mat3x3 m;\n"
+	"		m = b3QuatGetRotationMatrix(orn);\n"
+	"		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
+	"		b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
+	"		\n"
+	"		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
+	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
+	"										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
+	"										 0.f);\n"
+	"		*aabbMinOut = center-extent;\n"
+	"		*aabbMaxOut = center+extent;\n"
+	"}\n"
+	"/// conservative test for overlap between two aabbs\n"
+	"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
+	"								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
+	"{\n"
+	"	bool overlap = true;\n"
+	"	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
+	"	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
+	"	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
+	"	return overlap;\n"
+	"}\n"
+	"#endif //B3_AABB_H\n"
+	"#ifndef B3_COLLIDABLE_H\n"
+	"#define B3_COLLIDABLE_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"enum b3ShapeTypes\n"
+	"{\n"
+	"	SHAPE_HEIGHT_FIELD=1,\n"
+	"	SHAPE_CONVEX_HULL=3,\n"
+	"	SHAPE_PLANE=4,\n"
+	"	SHAPE_CONCAVE_TRIMESH=5,\n"
+	"	SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
+	"	SHAPE_SPHERE=7,\n"
+	"	MAX_NUM_SHAPE_TYPES,\n"
+	"};\n"
+	"typedef struct b3Collidable b3Collidable_t;\n"
+	"struct b3Collidable\n"
+	"{\n"
+	"	union {\n"
+	"		int m_numChildShapes;\n"
+	"		int m_bvhIndex;\n"
+	"	};\n"
+	"	union\n"
+	"	{\n"
+	"		float m_radius;\n"
+	"		int	m_compoundBvhIndex;\n"
+	"	};\n"
+	"	int m_shapeType;\n"
+	"	union\n"
+	"	{\n"
+	"		int m_shapeIndex;\n"
+	"		float m_height;\n"
+	"	};\n"
+	"};\n"
+	"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
+	"struct b3GpuChildShape\n"
+	"{\n"
+	"	b3Float4	m_childPosition;\n"
+	"	b3Quat		m_childOrientation;\n"
+	"	union\n"
+	"	{\n"
+	"		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
+	"		int			m_capsuleAxis;\n"
+	"	};\n"
+	"	union \n"
+	"	{\n"
+	"		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
+	"		int			m_numChildShapes;//used for compound shape\n"
+	"	};\n"
+	"	union \n"
+	"	{\n"
+	"		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
+	"		int	m_collidableShapeIndex;\n"
+	"	};\n"
+	"	int			m_shapeType;\n"
+	"};\n"
+	"struct b3CompoundOverlappingPair\n"
+	"{\n"
+	"	int m_bodyIndexA;\n"
+	"	int m_bodyIndexB;\n"
+	"//	int	m_pairType;\n"
+	"	int m_childShapeIndexA;\n"
+	"	int m_childShapeIndexB;\n"
+	"};\n"
+	"#endif //B3_COLLIDABLE_H\n"
+	"#ifndef B3_RIGIDBODY_DATA_H\n"
+	"#define B3_RIGIDBODY_DATA_H\n"
+	"#ifndef B3_FLOAT4_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_FLOAT4_H\n"
+	"#ifndef B3_QUAT_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif \n"
+	"#endif //B3_QUAT_H\n"
+	"#ifndef B3_MAT3x3_H\n"
+	"#ifdef __cplusplus\n"
+	"#else\n"
+	"#endif\n"
+	"#endif //B3_MAT3x3_H\n"
+	"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
+	"struct b3RigidBodyData\n"
+	"{\n"
+	"	b3Float4				m_pos;\n"
+	"	b3Quat					m_quat;\n"
+	"	b3Float4				m_linVel;\n"
+	"	b3Float4				m_angVel;\n"
+	"	int 					m_collidableIdx;\n"
+	"	float 				m_invMass;\n"
+	"	float 				m_restituitionCoeff;\n"
+	"	float 				m_frictionCoeff;\n"
+	"};\n"
+	"typedef struct b3InertiaData b3InertiaData_t;\n"
+	"struct b3InertiaData\n"
+	"{\n"
+	"	b3Mat3x3 m_invInertiaWorld;\n"
+	"	b3Mat3x3 m_initInvInertia;\n"
+	"};\n"
+	"#endif //B3_RIGIDBODY_DATA_H\n"
+	"	\n"
+	"void b3ComputeWorldAabb(  int bodyId, __global const b3RigidBodyData_t* bodies, __global const  b3Collidable_t* collidables, __global const  b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n"
+	"{\n"
+	"	__global const b3RigidBodyData_t* body = &bodies[bodyId];\n"
+	"	b3Float4 position = body->m_pos;\n"
+	"	b3Quat	orientation = body->m_quat;\n"
+	"	\n"
+	"	int collidableIndex = body->m_collidableIdx;\n"
+	"	int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
+	"		\n"
+	"	if (shapeIndex>=0)\n"
+	"	{\n"
+	"				\n"
+	"		b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n"
+	"		b3Aabb_t worldAabb;\n"
+	"		\n"
+	"		b3Float4 aabbAMinOut,aabbAMaxOut;	\n"
+	"		float margin = 0.f;\n"
+	"		b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n"
+	"		\n"
+	"		worldAabb.m_minVec =aabbAMinOut;\n"
+	"		worldAabb.m_minIndices[3] = bodyId;\n"
+	"		worldAabb.m_maxVec = aabbAMaxOut;\n"
+	"		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n"
+	"		worldAabbs[bodyId] = worldAabb;\n"
+	"	}\n"
+	"}\n"
+	"#endif //B3_UPDATE_AABBS_H\n"
+	"__kernel void initializeGpuAabbsFull(  const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n"
+	"{\n"
+	"	int nodeID = get_global_id(0);\n"
+	"	if( nodeID < numNodes )\n"
+	"	{\n"
+	"		b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n"
+	"	}\n"
+	"}\n"
+	"__kernel void clearOverlappingPairsKernel(  __global int4* pairs, int numPairs)\n"
+	"{\n"
+	"	int pairId = get_global_id(0);\n"
+	"	if( pairId< numPairs )\n"
+	"	{\n"
+	"		pairs[pairId].z = 0xffffffff;\n"
+	"	}\n"
+	"}\n";
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
index a6b57b1a12..eaa27dfe8f 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
@@ -19,1035 +19,969 @@
 // Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
 #ifndef __BULLET2_H__
 #define __BULLET2_H__
-namespace Bullet3SerializeBullet2 {
-
+namespace Bullet3SerializeBullet2
+{
 // put an empty struct in the case
-typedef struct bInvalidHandle {
+typedef struct bInvalidHandle
+{
 	int unused;
-}bInvalidHandle;
-
-    class PointerArray;
-    class b3PhysicsSystem;
-    class ListBase;
-    class b3Vector3FloatData;
-    class b3Vector3DoubleData;
-    class b3Matrix3x3FloatData;
-    class b3Matrix3x3DoubleData;
-    class b3TransformFloatData;
-    class b3TransformDoubleData;
-    class b3BvhSubtreeInfoData;
-    class b3OptimizedBvhNodeFloatData;
-    class b3OptimizedBvhNodeDoubleData;
-    class b3QuantizedBvhNodeData;
-    class b3QuantizedBvhFloatData;
-    class b3QuantizedBvhDoubleData;
-    class b3CollisionShapeData;
-    class b3StaticPlaneShapeData;
-    class b3ConvexInternalShapeData;
-    class b3PositionAndRadius;
-    class b3MultiSphereShapeData;
-    class b3IntIndexData;
-    class b3ShortIntIndexData;
-    class b3ShortIntIndexTripletData;
-    class b3CharIndexTripletData;
-    class b3MeshPartData;
-    class b3StridingMeshInterfaceData;
-    class b3TriangleMeshShapeData;
-    class b3ScaledTriangleMeshShapeData;
-    class b3CompoundShapeChildData;
-    class b3CompoundShapeData;
-    class b3CylinderShapeData;
-    class b3CapsuleShapeData;
-    class b3TriangleInfoData;
-    class b3TriangleInfoMapData;
-    class b3GImpactMeshShapeData;
-    class b3ConvexHullShapeData;
-    class b3CollisionObjectDoubleData;
-    class b3CollisionObjectFloatData;
-    class b3DynamicsWorldDoubleData;
-    class b3DynamicsWorldFloatData;
-    class b3RigidBodyFloatData;
-    class b3RigidBodyDoubleData;
-    class b3ConstraintInfo1;
-    class b3TypedConstraintData;
-    class b3Point2PointConstraintFloatData;
-    class b3Point2PointConstraintDoubleData;
-    class b3HingeConstraintDoubleData;
-    class b3HingeConstraintFloatData;
-    class b3ConeTwistConstraintData;
-    class b3Generic6DofConstraintData;
-    class b3Generic6DofSpringConstraintData;
-    class b3SliderConstraintData;
-    class b3ContactSolverInfoDoubleData;
-    class b3ContactSolverInfoFloatData;
-    class SoftBodyMaterialData;
-    class SoftBodyNodeData;
-    class SoftBodyLinkData;
-    class SoftBodyFaceData;
-    class SoftBodyTetraData;
-    class SoftRigidAnchorData;
-    class SoftBodyConfigData;
-    class SoftBodyPoseData;
-    class SoftBodyClusterData;
-    class b3SoftBodyJointData;
-    class b3SoftBodyFloatData;
-// -------------------------------------------------- //
-    class PointerArray
-    {
-    public:
-        int m_size;
-        int m_capacity;
-        void *m_data;
-    };
-
-
-// -------------------------------------------------- //
-    class b3PhysicsSystem
-    {
-    public:
-        PointerArray m_collisionShapes;
-        PointerArray m_collisionObjects;
-        PointerArray m_constraints;
-    };
-
-
-// -------------------------------------------------- //
-    class ListBase
-    {
-    public:
-        void *first;
-        void *last;
-    };
-
-
-// -------------------------------------------------- //
-    class b3Vector3FloatData
-    {
-    public:
-        float m_floats[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3Vector3DoubleData
-    {
-    public:
-        double m_floats[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3Matrix3x3FloatData
-    {
-    public:
-        b3Vector3FloatData m_el[3];
-    };
-
-
-// -------------------------------------------------- //
-    class b3Matrix3x3DoubleData
-    {
-    public:
-        b3Vector3DoubleData m_el[3];
-    };
-
-
-// -------------------------------------------------- //
-    class b3TransformFloatData
-    {
-    public:
-        b3Matrix3x3FloatData m_basis;
-        b3Vector3FloatData m_origin;
-    };
-
-
-// -------------------------------------------------- //
-    class b3TransformDoubleData
-    {
-    public:
-        b3Matrix3x3DoubleData m_basis;
-        b3Vector3DoubleData m_origin;
-    };
-
-
-// -------------------------------------------------- //
-    class b3BvhSubtreeInfoData
-    {
-    public:
-        int m_rootNodeIndex;
-        int m_subtreeSize;
-        short m_quantizedAabbMin[3];
-        short m_quantizedAabbMax[3];
-    };
-
-
-// -------------------------------------------------- //
-    class b3OptimizedBvhNodeFloatData
-    {
-    public:
-        b3Vector3FloatData m_aabbMinOrg;
-        b3Vector3FloatData m_aabbMaxOrg;
-        int m_escapeIndex;
-        int m_subPart;
-        int m_triangleIndex;
-        char m_pad[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3OptimizedBvhNodeDoubleData
-    {
-    public:
-        b3Vector3DoubleData m_aabbMinOrg;
-        b3Vector3DoubleData m_aabbMaxOrg;
-        int m_escapeIndex;
-        int m_subPart;
-        int m_triangleIndex;
-        char m_pad[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3QuantizedBvhNodeData
-    {
-    public:
-        short m_quantizedAabbMin[3];
-        short m_quantizedAabbMax[3];
-        int m_escapeIndexOrTriangleIndex;
-    };
-
-
-// -------------------------------------------------- //
-    class b3QuantizedBvhFloatData
-    {
-    public:
-        b3Vector3FloatData m_bvhAabbMin;
-        b3Vector3FloatData m_bvhAabbMax;
-        b3Vector3FloatData m_bvhQuantization;
-        int m_curNodeIndex;
-        int m_useQuantization;
-        int m_numContiguousLeafNodes;
-        int m_numQuantizedContiguousNodes;
-        b3OptimizedBvhNodeFloatData *m_contiguousNodesPtr;
-        b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
-        b3BvhSubtreeInfoData *m_subTreeInfoPtr;
-        int m_traversalMode;
-        int m_numSubtreeHeaders;
-    };
-
-
-// -------------------------------------------------- //
-    class b3QuantizedBvhDoubleData
-    {
-    public:
-        b3Vector3DoubleData m_bvhAabbMin;
-        b3Vector3DoubleData m_bvhAabbMax;
-        b3Vector3DoubleData m_bvhQuantization;
-        int m_curNodeIndex;
-        int m_useQuantization;
-        int m_numContiguousLeafNodes;
-        int m_numQuantizedContiguousNodes;
-        b3OptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
-        b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
-        int m_traversalMode;
-        int m_numSubtreeHeaders;
-        b3BvhSubtreeInfoData *m_subTreeInfoPtr;
-    };
-
-
-// -------------------------------------------------- //
-    class b3CollisionShapeData
-    {
-    public:
-        char *m_name;
-        int m_shapeType;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3StaticPlaneShapeData
-    {
-    public:
-        b3CollisionShapeData m_collisionShapeData;
-        b3Vector3FloatData m_localScaling;
-        b3Vector3FloatData m_planeNormal;
-        float m_planeConstant;
-        char m_pad[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3ConvexInternalShapeData
-    {
-    public:
-        b3CollisionShapeData m_collisionShapeData;
-        b3Vector3FloatData m_localScaling;
-        b3Vector3FloatData m_implicitShapeDimensions;
-        float m_collisionMargin;
-        int m_padding;
-    };
-
-
-// -------------------------------------------------- //
-    class b3PositionAndRadius
-    {
-    public:
-        b3Vector3FloatData m_pos;
-        float m_radius;
-    };
-
-
-// -------------------------------------------------- //
-    class b3MultiSphereShapeData
-    {
-    public:
-        b3ConvexInternalShapeData m_convexInternalShapeData;
-        b3PositionAndRadius *m_localPositionArrayPtr;
-        int m_localPositionArraySize;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3IntIndexData
-    {
-    public:
-        int m_value;
-    };
-
-
-// -------------------------------------------------- //
-    class b3ShortIntIndexData
-    {
-    public:
-        short m_value;
-        char m_pad[2];
-    };
-
-
-// -------------------------------------------------- //
-    class b3ShortIntIndexTripletData
-    {
-    public:
-        short m_values[3];
-        char m_pad[2];
-    };
-
-
-// -------------------------------------------------- //
-    class b3CharIndexTripletData
-    {
-    public:
-        char m_values[3];
-        char m_pad;
-    };
-
-
-// -------------------------------------------------- //
-    class b3MeshPartData
-    {
-    public:
-        b3Vector3FloatData *m_vertices3f;
-        b3Vector3DoubleData *m_vertices3d;
-        b3IntIndexData *m_indices32;
-        b3ShortIntIndexTripletData *m_3indices16;
-        b3CharIndexTripletData *m_3indices8;
-        b3ShortIntIndexData *m_indices16;
-        int m_numTriangles;
-        int m_numVertices;
-    };
-
-
-// -------------------------------------------------- //
-    class b3StridingMeshInterfaceData
-    {
-    public:
-        b3MeshPartData *m_meshPartsPtr;
-        b3Vector3FloatData m_scaling;
-        int m_numMeshParts;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3TriangleMeshShapeData
-    {
-    public:
-        b3CollisionShapeData m_collisionShapeData;
-        b3StridingMeshInterfaceData m_meshInterface;
-        b3QuantizedBvhFloatData *m_quantizedFloatBvh;
-        b3QuantizedBvhDoubleData *m_quantizedDoubleBvh;
-        b3TriangleInfoMapData *m_triangleInfoMap;
-        float m_collisionMargin;
-        char m_pad3[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3ScaledTriangleMeshShapeData
-    {
-    public:
-        b3TriangleMeshShapeData m_trimeshShapeData;
-        b3Vector3FloatData m_localScaling;
-    };
-
-
-// -------------------------------------------------- //
-    class b3CompoundShapeChildData
-    {
-    public:
-        b3TransformFloatData m_transform;
-        b3CollisionShapeData *m_childShape;
-        int m_childShapeType;
-        float m_childMargin;
-    };
-
-
-// -------------------------------------------------- //
-    class b3CompoundShapeData
-    {
-    public:
-        b3CollisionShapeData m_collisionShapeData;
-        b3CompoundShapeChildData *m_childShapePtr;
-        int m_numChildShapes;
-        float m_collisionMargin;
-    };
-
-
-// -------------------------------------------------- //
-    class b3CylinderShapeData
-    {
-    public:
-        b3ConvexInternalShapeData m_convexInternalShapeData;
-        int m_upAxis;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3CapsuleShapeData
-    {
-    public:
-        b3ConvexInternalShapeData m_convexInternalShapeData;
-        int m_upAxis;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3TriangleInfoData
-    {
-    public:
-        int m_flags;
-        float m_edgeV0V1Angle;
-        float m_edgeV1V2Angle;
-        float m_edgeV2V0Angle;
-    };
-
-
-// -------------------------------------------------- //
-    class b3TriangleInfoMapData
-    {
-    public:
-        int *m_hashTablePtr;
-        int *m_nextPtr;
-        b3TriangleInfoData *m_valueArrayPtr;
-        int *m_keyArrayPtr;
-        float m_convexEpsilon;
-        float m_planarEpsilon;
-        float m_equalVertexThreshold;
-        float m_edgeDistanceThreshold;
-        float m_zeroAreaThreshold;
-        int m_nextSize;
-        int m_hashTableSize;
-        int m_numValues;
-        int m_numKeys;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3GImpactMeshShapeData
-    {
-    public:
-        b3CollisionShapeData m_collisionShapeData;
-        b3StridingMeshInterfaceData m_meshInterface;
-        b3Vector3FloatData m_localScaling;
-        float m_collisionMargin;
-        int m_gimpactSubType;
-    };
-
-
-// -------------------------------------------------- //
-    class b3ConvexHullShapeData
-    {
-    public:
-        b3ConvexInternalShapeData m_convexInternalShapeData;
-        b3Vector3FloatData *m_unscaledPointsFloatPtr;
-        b3Vector3DoubleData *m_unscaledPointsDoublePtr;
-        int m_numUnscaledPoints;
-        char m_padding3[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3CollisionObjectDoubleData
-    {
-    public:
-        void *m_broadphaseHandle;
-        void *m_collisionShape;
-        b3CollisionShapeData *m_rootCollisionShape;
-        char *m_name;
-        b3TransformDoubleData m_worldTransform;
-        b3TransformDoubleData m_interpolationWorldTransform;
-        b3Vector3DoubleData m_interpolationLinearVelocity;
-        b3Vector3DoubleData m_interpolationAngularVelocity;
-        b3Vector3DoubleData m_anisotropicFriction;
-        double m_contactProcessingThreshold;
-        double m_deactivationTime;
-        double m_friction;
-        double m_rollingFriction;
-        double m_restitution;
-        double m_hitFraction;
-        double m_ccdSweptSphereRadius;
-        double m_ccdMotionThreshold;
-        int m_hasAnisotropicFriction;
-        int m_collisionFlags;
-        int m_islandTag1;
-        int m_companionId;
-        int m_activationState1;
-        int m_internalType;
-        int m_checkCollideWith;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3CollisionObjectFloatData
-    {
-    public:
-        void *m_broadphaseHandle;
-        void *m_collisionShape;
-        b3CollisionShapeData *m_rootCollisionShape;
-        char *m_name;
-        b3TransformFloatData m_worldTransform;
-        b3TransformFloatData m_interpolationWorldTransform;
-        b3Vector3FloatData m_interpolationLinearVelocity;
-        b3Vector3FloatData m_interpolationAngularVelocity;
-        b3Vector3FloatData m_anisotropicFriction;
-        float m_contactProcessingThreshold;
-        float m_deactivationTime;
-        float m_friction;
-        float m_rollingFriction;
-        float m_restitution;
-        float m_hitFraction;
-        float m_ccdSweptSphereRadius;
-        float m_ccdMotionThreshold;
-        int m_hasAnisotropicFriction;
-        int m_collisionFlags;
-        int m_islandTag1;
-        int m_companionId;
-        int m_activationState1;
-        int m_internalType;
-        int m_checkCollideWith;
-        char m_padding[4];
-    };
-
-
-
-// -------------------------------------------------- //
-    class b3RigidBodyFloatData
-    {
-    public:
-        b3CollisionObjectFloatData m_collisionObjectData;
-        b3Matrix3x3FloatData m_invInertiaTensorWorld;
-        b3Vector3FloatData m_linearVelocity;
-        b3Vector3FloatData m_angularVelocity;
-        b3Vector3FloatData m_angularFactor;
-        b3Vector3FloatData m_linearFactor;
-        b3Vector3FloatData m_gravity;
-        b3Vector3FloatData m_gravity_acceleration;
-        b3Vector3FloatData m_invInertiaLocal;
-        b3Vector3FloatData m_totalForce;
-        b3Vector3FloatData m_totalTorque;
-        float m_inverseMass;
-        float m_linearDamping;
-        float m_angularDamping;
-        float m_additionalDampingFactor;
-        float m_additionalLinearDampingThresholdSqr;
-        float m_additionalAngularDampingThresholdSqr;
-        float m_additionalAngularDampingFactor;
-        float m_linearSleepingThreshold;
-        float m_angularSleepingThreshold;
-        int m_additionalDamping;
-    };
-
-
-// -------------------------------------------------- //
-    class b3RigidBodyDoubleData
-    {
-    public:
-        b3CollisionObjectDoubleData m_collisionObjectData;
-        b3Matrix3x3DoubleData m_invInertiaTensorWorld;
-        b3Vector3DoubleData m_linearVelocity;
-        b3Vector3DoubleData m_angularVelocity;
-        b3Vector3DoubleData m_angularFactor;
-        b3Vector3DoubleData m_linearFactor;
-        b3Vector3DoubleData m_gravity;
-        b3Vector3DoubleData m_gravity_acceleration;
-        b3Vector3DoubleData m_invInertiaLocal;
-        b3Vector3DoubleData m_totalForce;
-        b3Vector3DoubleData m_totalTorque;
-        double m_inverseMass;
-        double m_linearDamping;
-        double m_angularDamping;
-        double m_additionalDampingFactor;
-        double m_additionalLinearDampingThresholdSqr;
-        double m_additionalAngularDampingThresholdSqr;
-        double m_additionalAngularDampingFactor;
-        double m_linearSleepingThreshold;
-        double m_angularSleepingThreshold;
-        int m_additionalDamping;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3ConstraintInfo1
-    {
-    public:
-        int m_numConstraintRows;
-        int nub;
-    };
-
-
-// -------------------------------------------------- //
-    class b3TypedConstraintData
-    {
-    public:
-        bInvalidHandle *m_rbA;
-        bInvalidHandle *m_rbB;
-        char *m_name;
-        int m_objectType;
-        int m_userConstraintType;
-        int m_userConstraintId;
-        int m_needsFeedback;
-        float m_appliedImpulse;
-        float m_dbgDrawSize;
-        int m_disableCollisionsBetweenLinkedBodies;
-        int m_overrideNumSolverIterations;
-        float m_breakingImpulseThreshold;
-        int m_isEnabled;
-    };
-
-
-// -------------------------------------------------- //
-    class b3Point2PointConstraintFloatData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3Vector3FloatData m_pivotInA;
-        b3Vector3FloatData m_pivotInB;
-    };
-
-
-// -------------------------------------------------- //
-    class b3Point2PointConstraintDoubleData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3Vector3DoubleData m_pivotInA;
-        b3Vector3DoubleData m_pivotInB;
-    };
-
-
-// -------------------------------------------------- //
-    class b3HingeConstraintDoubleData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3TransformDoubleData m_rbAFrame;
-        b3TransformDoubleData m_rbBFrame;
-        int m_useReferenceFrameA;
-        int m_angularOnly;
-        int m_enableAngularMotor;
-        float m_motorTargetVelocity;
-        float m_maxMotorImpulse;
-        float m_lowerLimit;
-        float m_upperLimit;
-        float m_limitSoftness;
-        float m_biasFactor;
-        float m_relaxationFactor;
-    };
-
-
-// -------------------------------------------------- //
-    class b3HingeConstraintFloatData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3TransformFloatData m_rbAFrame;
-        b3TransformFloatData m_rbBFrame;
-        int m_useReferenceFrameA;
-        int m_angularOnly;
-        int m_enableAngularMotor;
-        float m_motorTargetVelocity;
-        float m_maxMotorImpulse;
-        float m_lowerLimit;
-        float m_upperLimit;
-        float m_limitSoftness;
-        float m_biasFactor;
-        float m_relaxationFactor;
-    };
-
-
-// -------------------------------------------------- //
-    class b3ConeTwistConstraintData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3TransformFloatData m_rbAFrame;
-        b3TransformFloatData m_rbBFrame;
-        float m_swingSpan1;
-        float m_swingSpan2;
-        float m_twistSpan;
-        float m_limitSoftness;
-        float m_biasFactor;
-        float m_relaxationFactor;
-        float m_damping;
-        char m_pad[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3Generic6DofConstraintData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3TransformFloatData m_rbAFrame;
-        b3TransformFloatData m_rbBFrame;
-        b3Vector3FloatData m_linearUpperLimit;
-        b3Vector3FloatData m_linearLowerLimit;
-        b3Vector3FloatData m_angularUpperLimit;
-        b3Vector3FloatData m_angularLowerLimit;
-        int m_useLinearReferenceFrameA;
-        int m_useOffsetForConstraintFrame;
-    };
-
-
-// -------------------------------------------------- //
-    class b3Generic6DofSpringConstraintData
-    {
-    public:
-        b3Generic6DofConstraintData m_6dofData;
-        int m_springEnabled[6];
-        float m_equilibriumPoint[6];
-        float m_springStiffness[6];
-        float m_springDamping[6];
-    };
-
-
-// -------------------------------------------------- //
-    class b3SliderConstraintData
-    {
-    public:
-        b3TypedConstraintData m_typeConstraintData;
-        b3TransformFloatData m_rbAFrame;
-        b3TransformFloatData m_rbBFrame;
-        float m_linearUpperLimit;
-        float m_linearLowerLimit;
-        float m_angularUpperLimit;
-        float m_angularLowerLimit;
-        int m_useLinearReferenceFrameA;
-        int m_useOffsetForConstraintFrame;
-    };
-
-
-// -------------------------------------------------- //
-    class b3ContactSolverInfoDoubleData
-    {
-    public:
-        double m_tau;
-        double m_damping;
-        double m_friction;
-        double m_timeStep;
-        double m_restitution;
-        double m_maxErrorReduction;
-        double m_sor;
-        double m_erp;
-        double m_erp2;
-        double m_globalCfm;
-        double m_splitImpulsePenetrationThreshold;
-        double m_splitImpulseTurnErp;
-        double m_linearSlop;
-        double m_warmstartingFactor;
-        double m_maxGyroscopicForce;
-        double m_singleAxisRollingFrictionThreshold;
-        int m_numIterations;
-        int m_solverMode;
-        int m_restingContactRestitutionThreshold;
-        int m_minimumSolverBatchSize;
-        int m_splitImpulse;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class b3ContactSolverInfoFloatData
-    {
-    public:
-        float m_tau;
-        float m_damping;
-        float m_friction;
-        float m_timeStep;
-        float m_restitution;
-        float m_maxErrorReduction;
-        float m_sor;
-        float m_erp;
-        float m_erp2;
-        float m_globalCfm;
-        float m_splitImpulsePenetrationThreshold;
-        float m_splitImpulseTurnErp;
-        float m_linearSlop;
-        float m_warmstartingFactor;
-        float m_maxGyroscopicForce;
-        float m_singleAxisRollingFrictionThreshold;
-        int m_numIterations;
-        int m_solverMode;
-        int m_restingContactRestitutionThreshold;
-        int m_minimumSolverBatchSize;
-        int m_splitImpulse;
-        char m_padding[4];
-    };
-
-
-	// -------------------------------------------------- //
-    class b3DynamicsWorldDoubleData
-    {
-    public:
-        b3ContactSolverInfoDoubleData m_solverInfo;
-        b3Vector3DoubleData m_gravity;
-    };
-
-
-// -------------------------------------------------- //
-    class b3DynamicsWorldFloatData
-    {
-    public:
-        b3ContactSolverInfoFloatData m_solverInfo;
-        b3Vector3FloatData m_gravity;
-    };
-
-
-
-// -------------------------------------------------- //
-    class SoftBodyMaterialData
-    {
-    public:
-        float m_linearStiffness;
-        float m_angularStiffness;
-        float m_volumeStiffness;
-        int m_flags;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyNodeData
-    {
-    public:
-        SoftBodyMaterialData *m_material;
-        b3Vector3FloatData m_position;
-        b3Vector3FloatData m_previousPosition;
-        b3Vector3FloatData m_velocity;
-        b3Vector3FloatData m_accumulatedForce;
-        b3Vector3FloatData m_normal;
-        float m_inverseMass;
-        float m_area;
-        int m_attach;
-        int m_pad;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyLinkData
-    {
-    public:
-        SoftBodyMaterialData *m_material;
-        int m_nodeIndices[2];
-        float m_restLength;
-        int m_bbending;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyFaceData
-    {
-    public:
-        b3Vector3FloatData m_normal;
-        SoftBodyMaterialData *m_material;
-        int m_nodeIndices[3];
-        float m_restArea;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyTetraData
-    {
-    public:
-        b3Vector3FloatData m_c0[4];
-        SoftBodyMaterialData *m_material;
-        int m_nodeIndices[4];
-        float m_restVolume;
-        float m_c1;
-        float m_c2;
-        int m_pad;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftRigidAnchorData
-    {
-    public:
-        b3Matrix3x3FloatData m_c0;
-        b3Vector3FloatData m_c1;
-        b3Vector3FloatData m_localFrame;
-        bInvalidHandle *m_rigidBody;
-        int m_nodeIndex;
-        float m_c2;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyConfigData
-    {
-    public:
-        int m_aeroModel;
-        float m_baumgarte;
-        float m_damping;
-        float m_drag;
-        float m_lift;
-        float m_pressure;
-        float m_volume;
-        float m_dynamicFriction;
-        float m_poseMatch;
-        float m_rigidContactHardness;
-        float m_kineticContactHardness;
-        float m_softContactHardness;
-        float m_anchorHardness;
-        float m_softRigidClusterHardness;
-        float m_softKineticClusterHardness;
-        float m_softSoftClusterHardness;
-        float m_softRigidClusterImpulseSplit;
-        float m_softKineticClusterImpulseSplit;
-        float m_softSoftClusterImpulseSplit;
-        float m_maxVolume;
-        float m_timeScale;
-        int m_velocityIterations;
-        int m_positionIterations;
-        int m_driftIterations;
-        int m_clusterIterations;
-        int m_collisionFlags;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyPoseData
-    {
-    public:
-        b3Matrix3x3FloatData m_rot;
-        b3Matrix3x3FloatData m_scale;
-        b3Matrix3x3FloatData m_aqq;
-        b3Vector3FloatData m_com;
-        b3Vector3FloatData *m_positions;
-        float *m_weights;
-        int m_numPositions;
-        int m_numWeigts;
-        int m_bvolume;
-        int m_bframe;
-        float m_restVolume;
-        int m_pad;
-    };
-
-
-// -------------------------------------------------- //
-    class SoftBodyClusterData
-    {
-    public:
-        b3TransformFloatData m_framexform;
-        b3Matrix3x3FloatData m_locii;
-        b3Matrix3x3FloatData m_invwi;
-        b3Vector3FloatData m_com;
-        b3Vector3FloatData m_vimpulses[2];
-        b3Vector3FloatData m_dimpulses[2];
-        b3Vector3FloatData m_lv;
-        b3Vector3FloatData m_av;
-        b3Vector3FloatData *m_framerefs;
-        int *m_nodeIndices;
-        float *m_masses;
-        int m_numFrameRefs;
-        int m_numNodes;
-        int m_numMasses;
-        float m_idmass;
-        float m_imass;
-        int m_nvimpulses;
-        int m_ndimpulses;
-        float m_ndamping;
-        float m_ldamping;
-        float m_adamping;
-        float m_matching;
-        float m_maxSelfCollisionImpulse;
-        float m_selfCollisionImpulseFactor;
-        int m_containsAnchor;
-        int m_collide;
-        int m_clusterIndex;
-    };
-
-
-// -------------------------------------------------- //
-    class b3SoftBodyJointData
-    {
-    public:
-        void *m_bodyA;
-        void *m_bodyB;
-        b3Vector3FloatData m_refs[2];
-        float m_cfm;
-        float m_erp;
-        float m_split;
-        int m_delete;
-        b3Vector3FloatData m_relPosition[2];
-        int m_bodyAtype;
-        int m_bodyBtype;
-        int m_jointType;
-        int m_pad;
-    };
-
-
-// -------------------------------------------------- //
-    class b3SoftBodyFloatData
-    {
-    public:
-        b3CollisionObjectFloatData m_collisionObjectData;
-        SoftBodyPoseData *m_pose;
-        SoftBodyMaterialData **m_materials;
-        SoftBodyNodeData *m_nodes;
-        SoftBodyLinkData *m_links;
-        SoftBodyFaceData *m_faces;
-        SoftBodyTetraData *m_tetrahedra;
-        SoftRigidAnchorData *m_anchors;
-        SoftBodyClusterData *m_clusters;
-        b3SoftBodyJointData *m_joints;
-        int m_numMaterials;
-        int m_numNodes;
-        int m_numLinks;
-        int m_numFaces;
-        int m_numTetrahedra;
-        int m_numAnchors;
-        int m_numClusters;
-        int m_numJoints;
-        SoftBodyConfigData m_config;
-    };
-
-
-}
-#endif//__BULLET2_H__
\ No newline at end of file
+} bInvalidHandle;
+
+class PointerArray;
+class b3PhysicsSystem;
+class ListBase;
+class b3Vector3FloatData;
+class b3Vector3DoubleData;
+class b3Matrix3x3FloatData;
+class b3Matrix3x3DoubleData;
+class b3TransformFloatData;
+class b3TransformDoubleData;
+class b3BvhSubtreeInfoData;
+class b3OptimizedBvhNodeFloatData;
+class b3OptimizedBvhNodeDoubleData;
+class b3QuantizedBvhNodeData;
+class b3QuantizedBvhFloatData;
+class b3QuantizedBvhDoubleData;
+class b3CollisionShapeData;
+class b3StaticPlaneShapeData;
+class b3ConvexInternalShapeData;
+class b3PositionAndRadius;
+class b3MultiSphereShapeData;
+class b3IntIndexData;
+class b3ShortIntIndexData;
+class b3ShortIntIndexTripletData;
+class b3CharIndexTripletData;
+class b3MeshPartData;
+class b3StridingMeshInterfaceData;
+class b3TriangleMeshShapeData;
+class b3ScaledTriangleMeshShapeData;
+class b3CompoundShapeChildData;
+class b3CompoundShapeData;
+class b3CylinderShapeData;
+class b3CapsuleShapeData;
+class b3TriangleInfoData;
+class b3TriangleInfoMapData;
+class b3GImpactMeshShapeData;
+class b3ConvexHullShapeData;
+class b3CollisionObjectDoubleData;
+class b3CollisionObjectFloatData;
+class b3DynamicsWorldDoubleData;
+class b3DynamicsWorldFloatData;
+class b3RigidBodyFloatData;
+class b3RigidBodyDoubleData;
+class b3ConstraintInfo1;
+class b3TypedConstraintData;
+class b3Point2PointConstraintFloatData;
+class b3Point2PointConstraintDoubleData;
+class b3HingeConstraintDoubleData;
+class b3HingeConstraintFloatData;
+class b3ConeTwistConstraintData;
+class b3Generic6DofConstraintData;
+class b3Generic6DofSpringConstraintData;
+class b3SliderConstraintData;
+class b3ContactSolverInfoDoubleData;
+class b3ContactSolverInfoFloatData;
+class SoftBodyMaterialData;
+class SoftBodyNodeData;
+class SoftBodyLinkData;
+class SoftBodyFaceData;
+class SoftBodyTetraData;
+class SoftRigidAnchorData;
+class SoftBodyConfigData;
+class SoftBodyPoseData;
+class SoftBodyClusterData;
+class b3SoftBodyJointData;
+class b3SoftBodyFloatData;
+// -------------------------------------------------- //
+class PointerArray
+{
+public:
+	int m_size;
+	int m_capacity;
+	void *m_data;
+};
+
+// -------------------------------------------------- //
+class b3PhysicsSystem
+{
+public:
+	PointerArray m_collisionShapes;
+	PointerArray m_collisionObjects;
+	PointerArray m_constraints;
+};
+
+// -------------------------------------------------- //
+class ListBase
+{
+public:
+	void *first;
+	void *last;
+};
+
+// -------------------------------------------------- //
+class b3Vector3FloatData
+{
+public:
+	float m_floats[4];
+};
+
+// -------------------------------------------------- //
+class b3Vector3DoubleData
+{
+public:
+	double m_floats[4];
+};
+
+// -------------------------------------------------- //
+class b3Matrix3x3FloatData
+{
+public:
+	b3Vector3FloatData m_el[3];
+};
+
+// -------------------------------------------------- //
+class b3Matrix3x3DoubleData
+{
+public:
+	b3Vector3DoubleData m_el[3];
+};
+
+// -------------------------------------------------- //
+class b3TransformFloatData
+{
+public:
+	b3Matrix3x3FloatData m_basis;
+	b3Vector3FloatData m_origin;
+};
+
+// -------------------------------------------------- //
+class b3TransformDoubleData
+{
+public:
+	b3Matrix3x3DoubleData m_basis;
+	b3Vector3DoubleData m_origin;
+};
+
+// -------------------------------------------------- //
+class b3BvhSubtreeInfoData
+{
+public:
+	int m_rootNodeIndex;
+	int m_subtreeSize;
+	short m_quantizedAabbMin[3];
+	short m_quantizedAabbMax[3];
+};
+
+// -------------------------------------------------- //
+class b3OptimizedBvhNodeFloatData
+{
+public:
+	b3Vector3FloatData m_aabbMinOrg;
+	b3Vector3FloatData m_aabbMaxOrg;
+	int m_escapeIndex;
+	int m_subPart;
+	int m_triangleIndex;
+	char m_pad[4];
+};
+
+// -------------------------------------------------- //
+class b3OptimizedBvhNodeDoubleData
+{
+public:
+	b3Vector3DoubleData m_aabbMinOrg;
+	b3Vector3DoubleData m_aabbMaxOrg;
+	int m_escapeIndex;
+	int m_subPart;
+	int m_triangleIndex;
+	char m_pad[4];
+};
+
+// -------------------------------------------------- //
+class b3QuantizedBvhNodeData
+{
+public:
+	short m_quantizedAabbMin[3];
+	short m_quantizedAabbMax[3];
+	int m_escapeIndexOrTriangleIndex;
+};
+
+// -------------------------------------------------- //
+class b3QuantizedBvhFloatData
+{
+public:
+	b3Vector3FloatData m_bvhAabbMin;
+	b3Vector3FloatData m_bvhAabbMax;
+	b3Vector3FloatData m_bvhQuantization;
+	int m_curNodeIndex;
+	int m_useQuantization;
+	int m_numContiguousLeafNodes;
+	int m_numQuantizedContiguousNodes;
+	b3OptimizedBvhNodeFloatData *m_contiguousNodesPtr;
+	b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+	b3BvhSubtreeInfoData *m_subTreeInfoPtr;
+	int m_traversalMode;
+	int m_numSubtreeHeaders;
+};
+
+// -------------------------------------------------- //
+class b3QuantizedBvhDoubleData
+{
+public:
+	b3Vector3DoubleData m_bvhAabbMin;
+	b3Vector3DoubleData m_bvhAabbMax;
+	b3Vector3DoubleData m_bvhQuantization;
+	int m_curNodeIndex;
+	int m_useQuantization;
+	int m_numContiguousLeafNodes;
+	int m_numQuantizedContiguousNodes;
+	b3OptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
+	b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+	int m_traversalMode;
+	int m_numSubtreeHeaders;
+	b3BvhSubtreeInfoData *m_subTreeInfoPtr;
+};
+
+// -------------------------------------------------- //
+class b3CollisionShapeData
+{
+public:
+	char *m_name;
+	int m_shapeType;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3StaticPlaneShapeData
+{
+public:
+	b3CollisionShapeData m_collisionShapeData;
+	b3Vector3FloatData m_localScaling;
+	b3Vector3FloatData m_planeNormal;
+	float m_planeConstant;
+	char m_pad[4];
+};
+
+// -------------------------------------------------- //
+class b3ConvexInternalShapeData
+{
+public:
+	b3CollisionShapeData m_collisionShapeData;
+	b3Vector3FloatData m_localScaling;
+	b3Vector3FloatData m_implicitShapeDimensions;
+	float m_collisionMargin;
+	int m_padding;
+};
+
+// -------------------------------------------------- //
+class b3PositionAndRadius
+{
+public:
+	b3Vector3FloatData m_pos;
+	float m_radius;
+};
+
+// -------------------------------------------------- //
+class b3MultiSphereShapeData
+{
+public:
+	b3ConvexInternalShapeData m_convexInternalShapeData;
+	b3PositionAndRadius *m_localPositionArrayPtr;
+	int m_localPositionArraySize;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3IntIndexData
+{
+public:
+	int m_value;
+};
+
+// -------------------------------------------------- //
+class b3ShortIntIndexData
+{
+public:
+	short m_value;
+	char m_pad[2];
+};
+
+// -------------------------------------------------- //
+class b3ShortIntIndexTripletData
+{
+public:
+	short m_values[3];
+	char m_pad[2];
+};
+
+// -------------------------------------------------- //
+class b3CharIndexTripletData
+{
+public:
+	char m_values[3];
+	char m_pad;
+};
+
+// -------------------------------------------------- //
+class b3MeshPartData
+{
+public:
+	b3Vector3FloatData *m_vertices3f;
+	b3Vector3DoubleData *m_vertices3d;
+	b3IntIndexData *m_indices32;
+	b3ShortIntIndexTripletData *m_3indices16;
+	b3CharIndexTripletData *m_3indices8;
+	b3ShortIntIndexData *m_indices16;
+	int m_numTriangles;
+	int m_numVertices;
+};
+
+// -------------------------------------------------- //
+class b3StridingMeshInterfaceData
+{
+public:
+	b3MeshPartData *m_meshPartsPtr;
+	b3Vector3FloatData m_scaling;
+	int m_numMeshParts;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3TriangleMeshShapeData
+{
+public:
+	b3CollisionShapeData m_collisionShapeData;
+	b3StridingMeshInterfaceData m_meshInterface;
+	b3QuantizedBvhFloatData *m_quantizedFloatBvh;
+	b3QuantizedBvhDoubleData *m_quantizedDoubleBvh;
+	b3TriangleInfoMapData *m_triangleInfoMap;
+	float m_collisionMargin;
+	char m_pad3[4];
+};
+
+// -------------------------------------------------- //
+class b3ScaledTriangleMeshShapeData
+{
+public:
+	b3TriangleMeshShapeData m_trimeshShapeData;
+	b3Vector3FloatData m_localScaling;
+};
+
+// -------------------------------------------------- //
+class b3CompoundShapeChildData
+{
+public:
+	b3TransformFloatData m_transform;
+	b3CollisionShapeData *m_childShape;
+	int m_childShapeType;
+	float m_childMargin;
+};
+
+// -------------------------------------------------- //
+class b3CompoundShapeData
+{
+public:
+	b3CollisionShapeData m_collisionShapeData;
+	b3CompoundShapeChildData *m_childShapePtr;
+	int m_numChildShapes;
+	float m_collisionMargin;
+};
+
+// -------------------------------------------------- //
+class b3CylinderShapeData
+{
+public:
+	b3ConvexInternalShapeData m_convexInternalShapeData;
+	int m_upAxis;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3CapsuleShapeData
+{
+public:
+	b3ConvexInternalShapeData m_convexInternalShapeData;
+	int m_upAxis;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3TriangleInfoData
+{
+public:
+	int m_flags;
+	float m_edgeV0V1Angle;
+	float m_edgeV1V2Angle;
+	float m_edgeV2V0Angle;
+};
+
+// -------------------------------------------------- //
+class b3TriangleInfoMapData
+{
+public:
+	int *m_hashTablePtr;
+	int *m_nextPtr;
+	b3TriangleInfoData *m_valueArrayPtr;
+	int *m_keyArrayPtr;
+	float m_convexEpsilon;
+	float m_planarEpsilon;
+	float m_equalVertexThreshold;
+	float m_edgeDistanceThreshold;
+	float m_zeroAreaThreshold;
+	int m_nextSize;
+	int m_hashTableSize;
+	int m_numValues;
+	int m_numKeys;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3GImpactMeshShapeData
+{
+public:
+	b3CollisionShapeData m_collisionShapeData;
+	b3StridingMeshInterfaceData m_meshInterface;
+	b3Vector3FloatData m_localScaling;
+	float m_collisionMargin;
+	int m_gimpactSubType;
+};
+
+// -------------------------------------------------- //
+class b3ConvexHullShapeData
+{
+public:
+	b3ConvexInternalShapeData m_convexInternalShapeData;
+	b3Vector3FloatData *m_unscaledPointsFloatPtr;
+	b3Vector3DoubleData *m_unscaledPointsDoublePtr;
+	int m_numUnscaledPoints;
+	char m_padding3[4];
+};
+
+// -------------------------------------------------- //
+class b3CollisionObjectDoubleData
+{
+public:
+	void *m_broadphaseHandle;
+	void *m_collisionShape;
+	b3CollisionShapeData *m_rootCollisionShape;
+	char *m_name;
+	b3TransformDoubleData m_worldTransform;
+	b3TransformDoubleData m_interpolationWorldTransform;
+	b3Vector3DoubleData m_interpolationLinearVelocity;
+	b3Vector3DoubleData m_interpolationAngularVelocity;
+	b3Vector3DoubleData m_anisotropicFriction;
+	double m_contactProcessingThreshold;
+	double m_deactivationTime;
+	double m_friction;
+	double m_rollingFriction;
+	double m_restitution;
+	double m_hitFraction;
+	double m_ccdSweptSphereRadius;
+	double m_ccdMotionThreshold;
+	int m_hasAnisotropicFriction;
+	int m_collisionFlags;
+	int m_islandTag1;
+	int m_companionId;
+	int m_activationState1;
+	int m_internalType;
+	int m_checkCollideWith;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3CollisionObjectFloatData
+{
+public:
+	void *m_broadphaseHandle;
+	void *m_collisionShape;
+	b3CollisionShapeData *m_rootCollisionShape;
+	char *m_name;
+	b3TransformFloatData m_worldTransform;
+	b3TransformFloatData m_interpolationWorldTransform;
+	b3Vector3FloatData m_interpolationLinearVelocity;
+	b3Vector3FloatData m_interpolationAngularVelocity;
+	b3Vector3FloatData m_anisotropicFriction;
+	float m_contactProcessingThreshold;
+	float m_deactivationTime;
+	float m_friction;
+	float m_rollingFriction;
+	float m_restitution;
+	float m_hitFraction;
+	float m_ccdSweptSphereRadius;
+	float m_ccdMotionThreshold;
+	int m_hasAnisotropicFriction;
+	int m_collisionFlags;
+	int m_islandTag1;
+	int m_companionId;
+	int m_activationState1;
+	int m_internalType;
+	int m_checkCollideWith;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3RigidBodyFloatData
+{
+public:
+	b3CollisionObjectFloatData m_collisionObjectData;
+	b3Matrix3x3FloatData m_invInertiaTensorWorld;
+	b3Vector3FloatData m_linearVelocity;
+	b3Vector3FloatData m_angularVelocity;
+	b3Vector3FloatData m_angularFactor;
+	b3Vector3FloatData m_linearFactor;
+	b3Vector3FloatData m_gravity;
+	b3Vector3FloatData m_gravity_acceleration;
+	b3Vector3FloatData m_invInertiaLocal;
+	b3Vector3FloatData m_totalForce;
+	b3Vector3FloatData m_totalTorque;
+	float m_inverseMass;
+	float m_linearDamping;
+	float m_angularDamping;
+	float m_additionalDampingFactor;
+	float m_additionalLinearDampingThresholdSqr;
+	float m_additionalAngularDampingThresholdSqr;
+	float m_additionalAngularDampingFactor;
+	float m_linearSleepingThreshold;
+	float m_angularSleepingThreshold;
+	int m_additionalDamping;
+};
+
+// -------------------------------------------------- //
+class b3RigidBodyDoubleData
+{
+public:
+	b3CollisionObjectDoubleData m_collisionObjectData;
+	b3Matrix3x3DoubleData m_invInertiaTensorWorld;
+	b3Vector3DoubleData m_linearVelocity;
+	b3Vector3DoubleData m_angularVelocity;
+	b3Vector3DoubleData m_angularFactor;
+	b3Vector3DoubleData m_linearFactor;
+	b3Vector3DoubleData m_gravity;
+	b3Vector3DoubleData m_gravity_acceleration;
+	b3Vector3DoubleData m_invInertiaLocal;
+	b3Vector3DoubleData m_totalForce;
+	b3Vector3DoubleData m_totalTorque;
+	double m_inverseMass;
+	double m_linearDamping;
+	double m_angularDamping;
+	double m_additionalDampingFactor;
+	double m_additionalLinearDampingThresholdSqr;
+	double m_additionalAngularDampingThresholdSqr;
+	double m_additionalAngularDampingFactor;
+	double m_linearSleepingThreshold;
+	double m_angularSleepingThreshold;
+	int m_additionalDamping;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3ConstraintInfo1
+{
+public:
+	int m_numConstraintRows;
+	int nub;
+};
+
+// -------------------------------------------------- //
+class b3TypedConstraintData
+{
+public:
+	bInvalidHandle *m_rbA;
+	bInvalidHandle *m_rbB;
+	char *m_name;
+	int m_objectType;
+	int m_userConstraintType;
+	int m_userConstraintId;
+	int m_needsFeedback;
+	float m_appliedImpulse;
+	float m_dbgDrawSize;
+	int m_disableCollisionsBetweenLinkedBodies;
+	int m_overrideNumSolverIterations;
+	float m_breakingImpulseThreshold;
+	int m_isEnabled;
+};
+
+// -------------------------------------------------- //
+class b3Point2PointConstraintFloatData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3Vector3FloatData m_pivotInA;
+	b3Vector3FloatData m_pivotInB;
+};
+
+// -------------------------------------------------- //
+class b3Point2PointConstraintDoubleData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3Vector3DoubleData m_pivotInA;
+	b3Vector3DoubleData m_pivotInB;
+};
+
+// -------------------------------------------------- //
+class b3HingeConstraintDoubleData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3TransformDoubleData m_rbAFrame;
+	b3TransformDoubleData m_rbBFrame;
+	int m_useReferenceFrameA;
+	int m_angularOnly;
+	int m_enableAngularMotor;
+	float m_motorTargetVelocity;
+	float m_maxMotorImpulse;
+	float m_lowerLimit;
+	float m_upperLimit;
+	float m_limitSoftness;
+	float m_biasFactor;
+	float m_relaxationFactor;
+};
+
+// -------------------------------------------------- //
+class b3HingeConstraintFloatData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3TransformFloatData m_rbAFrame;
+	b3TransformFloatData m_rbBFrame;
+	int m_useReferenceFrameA;
+	int m_angularOnly;
+	int m_enableAngularMotor;
+	float m_motorTargetVelocity;
+	float m_maxMotorImpulse;
+	float m_lowerLimit;
+	float m_upperLimit;
+	float m_limitSoftness;
+	float m_biasFactor;
+	float m_relaxationFactor;
+};
+
+// -------------------------------------------------- //
+class b3ConeTwistConstraintData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3TransformFloatData m_rbAFrame;
+	b3TransformFloatData m_rbBFrame;
+	float m_swingSpan1;
+	float m_swingSpan2;
+	float m_twistSpan;
+	float m_limitSoftness;
+	float m_biasFactor;
+	float m_relaxationFactor;
+	float m_damping;
+	char m_pad[4];
+};
+
+// -------------------------------------------------- //
+class b3Generic6DofConstraintData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3TransformFloatData m_rbAFrame;
+	b3TransformFloatData m_rbBFrame;
+	b3Vector3FloatData m_linearUpperLimit;
+	b3Vector3FloatData m_linearLowerLimit;
+	b3Vector3FloatData m_angularUpperLimit;
+	b3Vector3FloatData m_angularLowerLimit;
+	int m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
+};
+
+// -------------------------------------------------- //
+class b3Generic6DofSpringConstraintData
+{
+public:
+	b3Generic6DofConstraintData m_6dofData;
+	int m_springEnabled[6];
+	float m_equilibriumPoint[6];
+	float m_springStiffness[6];
+	float m_springDamping[6];
+};
+
+// -------------------------------------------------- //
+class b3SliderConstraintData
+{
+public:
+	b3TypedConstraintData m_typeConstraintData;
+	b3TransformFloatData m_rbAFrame;
+	b3TransformFloatData m_rbBFrame;
+	float m_linearUpperLimit;
+	float m_linearLowerLimit;
+	float m_angularUpperLimit;
+	float m_angularLowerLimit;
+	int m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
+};
+
+// -------------------------------------------------- //
+class b3ContactSolverInfoDoubleData
+{
+public:
+	double m_tau;
+	double m_damping;
+	double m_friction;
+	double m_timeStep;
+	double m_restitution;
+	double m_maxErrorReduction;
+	double m_sor;
+	double m_erp;
+	double m_erp2;
+	double m_globalCfm;
+	double m_splitImpulsePenetrationThreshold;
+	double m_splitImpulseTurnErp;
+	double m_linearSlop;
+	double m_warmstartingFactor;
+	double m_maxGyroscopicForce;
+	double m_singleAxisRollingFrictionThreshold;
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	int m_splitImpulse;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3ContactSolverInfoFloatData
+{
+public:
+	float m_tau;
+	float m_damping;
+	float m_friction;
+	float m_timeStep;
+	float m_restitution;
+	float m_maxErrorReduction;
+	float m_sor;
+	float m_erp;
+	float m_erp2;
+	float m_globalCfm;
+	float m_splitImpulsePenetrationThreshold;
+	float m_splitImpulseTurnErp;
+	float m_linearSlop;
+	float m_warmstartingFactor;
+	float m_maxGyroscopicForce;
+	float m_singleAxisRollingFrictionThreshold;
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	int m_splitImpulse;
+	char m_padding[4];
+};
+
+// -------------------------------------------------- //
+class b3DynamicsWorldDoubleData
+{
+public:
+	b3ContactSolverInfoDoubleData m_solverInfo;
+	b3Vector3DoubleData m_gravity;
+};
+
+// -------------------------------------------------- //
+class b3DynamicsWorldFloatData
+{
+public:
+	b3ContactSolverInfoFloatData m_solverInfo;
+	b3Vector3FloatData m_gravity;
+};
+
+// -------------------------------------------------- //
+class SoftBodyMaterialData
+{
+public:
+	float m_linearStiffness;
+	float m_angularStiffness;
+	float m_volumeStiffness;
+	int m_flags;
+};
+
+// -------------------------------------------------- //
+class SoftBodyNodeData
+{
+public:
+	SoftBodyMaterialData *m_material;
+	b3Vector3FloatData m_position;
+	b3Vector3FloatData m_previousPosition;
+	b3Vector3FloatData m_velocity;
+	b3Vector3FloatData m_accumulatedForce;
+	b3Vector3FloatData m_normal;
+	float m_inverseMass;
+	float m_area;
+	int m_attach;
+	int m_pad;
+};
+
+// -------------------------------------------------- //
+class SoftBodyLinkData
+{
+public:
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[2];
+	float m_restLength;
+	int m_bbending;
+};
+
+// -------------------------------------------------- //
+class SoftBodyFaceData
+{
+public:
+	b3Vector3FloatData m_normal;
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[3];
+	float m_restArea;
+};
+
+// -------------------------------------------------- //
+class SoftBodyTetraData
+{
+public:
+	b3Vector3FloatData m_c0[4];
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[4];
+	float m_restVolume;
+	float m_c1;
+	float m_c2;
+	int m_pad;
+};
+
+// -------------------------------------------------- //
+class SoftRigidAnchorData
+{
+public:
+	b3Matrix3x3FloatData m_c0;
+	b3Vector3FloatData m_c1;
+	b3Vector3FloatData m_localFrame;
+	bInvalidHandle *m_rigidBody;
+	int m_nodeIndex;
+	float m_c2;
+};
+
+// -------------------------------------------------- //
+class SoftBodyConfigData
+{
+public:
+	int m_aeroModel;
+	float m_baumgarte;
+	float m_damping;
+	float m_drag;
+	float m_lift;
+	float m_pressure;
+	float m_volume;
+	float m_dynamicFriction;
+	float m_poseMatch;
+	float m_rigidContactHardness;
+	float m_kineticContactHardness;
+	float m_softContactHardness;
+	float m_anchorHardness;
+	float m_softRigidClusterHardness;
+	float m_softKineticClusterHardness;
+	float m_softSoftClusterHardness;
+	float m_softRigidClusterImpulseSplit;
+	float m_softKineticClusterImpulseSplit;
+	float m_softSoftClusterImpulseSplit;
+	float m_maxVolume;
+	float m_timeScale;
+	int m_velocityIterations;
+	int m_positionIterations;
+	int m_driftIterations;
+	int m_clusterIterations;
+	int m_collisionFlags;
+};
+
+// -------------------------------------------------- //
+class SoftBodyPoseData
+{
+public:
+	b3Matrix3x3FloatData m_rot;
+	b3Matrix3x3FloatData m_scale;
+	b3Matrix3x3FloatData m_aqq;
+	b3Vector3FloatData m_com;
+	b3Vector3FloatData *m_positions;
+	float *m_weights;
+	int m_numPositions;
+	int m_numWeigts;
+	int m_bvolume;
+	int m_bframe;
+	float m_restVolume;
+	int m_pad;
+};
+
+// -------------------------------------------------- //
+class SoftBodyClusterData
+{
+public:
+	b3TransformFloatData m_framexform;
+	b3Matrix3x3FloatData m_locii;
+	b3Matrix3x3FloatData m_invwi;
+	b3Vector3FloatData m_com;
+	b3Vector3FloatData m_vimpulses[2];
+	b3Vector3FloatData m_dimpulses[2];
+	b3Vector3FloatData m_lv;
+	b3Vector3FloatData m_av;
+	b3Vector3FloatData *m_framerefs;
+	int *m_nodeIndices;
+	float *m_masses;
+	int m_numFrameRefs;
+	int m_numNodes;
+	int m_numMasses;
+	float m_idmass;
+	float m_imass;
+	int m_nvimpulses;
+	int m_ndimpulses;
+	float m_ndamping;
+	float m_ldamping;
+	float m_adamping;
+	float m_matching;
+	float m_maxSelfCollisionImpulse;
+	float m_selfCollisionImpulseFactor;
+	int m_containsAnchor;
+	int m_collide;
+	int m_clusterIndex;
+};
+
+// -------------------------------------------------- //
+class b3SoftBodyJointData
+{
+public:
+	void *m_bodyA;
+	void *m_bodyB;
+	b3Vector3FloatData m_refs[2];
+	float m_cfm;
+	float m_erp;
+	float m_split;
+	int m_delete;
+	b3Vector3FloatData m_relPosition[2];
+	int m_bodyAtype;
+	int m_bodyBtype;
+	int m_jointType;
+	int m_pad;
+};
+
+// -------------------------------------------------- //
+class b3SoftBodyFloatData
+{
+public:
+	b3CollisionObjectFloatData m_collisionObjectData;
+	SoftBodyPoseData *m_pose;
+	SoftBodyMaterialData **m_materials;
+	SoftBodyNodeData *m_nodes;
+	SoftBodyLinkData *m_links;
+	SoftBodyFaceData *m_faces;
+	SoftBodyTetraData *m_tetrahedra;
+	SoftRigidAnchorData *m_anchors;
+	SoftBodyClusterData *m_clusters;
+	b3SoftBodyJointData *m_joints;
+	int m_numMaterials;
+	int m_numNodes;
+	int m_numLinks;
+	int m_numFaces;
+	int m_numTetrahedra;
+	int m_numAnchors;
+	int m_numClusters;
+	int m_numJoints;
+	SoftBodyConfigData m_config;
+};
+
+}  // namespace Bullet3SerializeBullet2
+#endif  //__BULLET2_H__
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp
index c3ceb8388c..d2a7163670 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp
@@ -17,12 +17,11 @@ subject to the following restrictions:
 #include "b3Defines.h"
 #include "b3DNA.h"
 
-#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
 #include <memory.h>
 #endif
 #include <string.h>
 
-
 // 32 && 64 bit versions
 #ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 #ifdef _WIN64
@@ -31,130 +30,116 @@ extern int b3s_bulletDNAlen64;
 #else
 extern char b3s_bulletDNAstr[];
 extern int b3s_bulletDNAlen;
-#endif //_WIN64
-#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+#endif  //_WIN64
+#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 
 extern char b3s_bulletDNAstr64[];
 extern int b3s_bulletDNAlen64;
 extern char b3s_bulletDNAstr[];
 extern int b3s_bulletDNAlen;
 
-#endif //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 
 using namespace bParse;
 
 b3BulletFile::b3BulletFile()
-:bFile("", "BULLET ")
+	: bFile("", "BULLET ")
 {
-	mMemoryDNA = new bDNA(); //this memory gets released in the bFile::~bFile destructor,@todo not consistent with the rule 'who allocates it, has to deallocate it"
+	mMemoryDNA = new bDNA();  //this memory gets released in the bFile::~bFile destructor,@todo not consistent with the rule 'who allocates it, has to deallocate it"
 
 	m_DnaCopy = 0;
 
-
 #ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 #ifdef _WIN64
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
-		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen64);
-#else//_WIN64
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
-		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen);
-#endif//_WIN64
-#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+	m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
+	memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
+	mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen64);
+#else   //_WIN64
+	m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
+	memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
+	mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen);
+#endif  //_WIN64
+#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 	if (VOID_IS_8)
 	{
-		m_DnaCopy = (char*) b3AlignedAlloc(b3s_bulletDNAlen64,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
-		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen64);
+		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
+		memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
+		mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen64);
 	}
 	else
 	{
-		m_DnaCopy =(char*) b3AlignedAlloc(b3s_bulletDNAlen,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
-		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen);
+		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
+		memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
+		mMemoryDNA->init(m_DnaCopy, b3s_bulletDNAlen);
 	}
-#endif//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 }
 
-
-
 b3BulletFile::b3BulletFile(const char* fileName)
-:bFile(fileName, "BULLET ")
+	: bFile(fileName, "BULLET ")
 {
 	m_DnaCopy = 0;
 }
 
-
-
-b3BulletFile::b3BulletFile(char *memoryBuffer, int len)
-:bFile(memoryBuffer,len, "BULLET ")
+b3BulletFile::b3BulletFile(char* memoryBuffer, int len)
+	: bFile(memoryBuffer, len, "BULLET ")
 {
 	m_DnaCopy = 0;
 }
 
-
 b3BulletFile::~b3BulletFile()
 {
 	if (m_DnaCopy)
 		b3AlignedFree(m_DnaCopy);
 
-	
 	while (m_dataBlocks.size())
 	{
-		char* dataBlock = m_dataBlocks[m_dataBlocks.size()-1];
+		char* dataBlock = m_dataBlocks[m_dataBlocks.size() - 1];
 		delete[] dataBlock;
 		m_dataBlocks.pop_back();
 	}
-
 }
 
-
-
 // ----------------------------------------------------- //
 void b3BulletFile::parseData()
 {
-//	printf ("Building datablocks");
-//	printf ("Chunk size = %d",CHUNK_HEADER_LEN);
-//	printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
+	//	printf ("Building datablocks");
+	//	printf ("Chunk size = %d",CHUNK_HEADER_LEN);
+	//	printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
 
-	const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
+	const bool brokenDNA = (mFlags & FD_BROKEN_DNA) != 0;
 
 	//const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
-	
 
 	mDataStart = 12;
 
-	char *dataPtr = mFileBuffer+mDataStart;
+	char* dataPtr = mFileBuffer + mDataStart;
 
 	bChunkInd dataChunk;
 	dataChunk.code = 0;
 
-
 	//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
 	int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
-	
-	
-	if (mFlags &FD_ENDIAN_SWAP) 
+
+	if (mFlags & FD_ENDIAN_SWAP)
 		swapLen(dataPtr);
 
 	//dataPtr += ChunkUtils::getOffset(mFlags);
-	char *dataPtrHead = 0;
+	char* dataPtrHead = 0;
 
 	while (dataChunk.code != B3_DNA1)
 	{
-		if (!brokenDNA || (dataChunk.code != B3_QUANTIZED_BVH_CODE) )
+		if (!brokenDNA || (dataChunk.code != B3_QUANTIZED_BVH_CODE))
 		{
-
 			// one behind
 			if (dataChunk.code == B3_SDNA) break;
 			//if (dataChunk.code == DNA1) break;
 
 			// same as (BHEAD+DATA dependency)
-			dataPtrHead = dataPtr+ChunkUtils::getOffset(mFlags);
-			if (dataChunk.dna_nr>=0)
+			dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
+			if (dataChunk.dna_nr >= 0)
 			{
-				char *id = readStruct(dataPtrHead, dataChunk);
+				char* id = readStruct(dataPtrHead, dataChunk);
 
 				// lookup maps
 				if (id)
@@ -171,96 +156,91 @@ void b3BulletFile::parseData()
 
 				if (dataChunk.code == B3_SOFTBODY_CODE)
 				{
-					m_softBodies.push_back((bStructHandle*) id);
+					m_softBodies.push_back((bStructHandle*)id);
 				}
-				
+
 				if (dataChunk.code == B3_RIGIDBODY_CODE)
 				{
-					m_rigidBodies.push_back((bStructHandle*) id);
+					m_rigidBodies.push_back((bStructHandle*)id);
 				}
 
 				if (dataChunk.code == B3_DYNAMICSWORLD_CODE)
 				{
-					m_dynamicsWorldInfo.push_back((bStructHandle*) id);
+					m_dynamicsWorldInfo.push_back((bStructHandle*)id);
 				}
 
 				if (dataChunk.code == B3_CONSTRAINT_CODE)
 				{
-					m_constraints.push_back((bStructHandle*) id);
+					m_constraints.push_back((bStructHandle*)id);
 				}
 
 				if (dataChunk.code == B3_QUANTIZED_BVH_CODE)
 				{
-					m_bvhs.push_back((bStructHandle*) id);
+					m_bvhs.push_back((bStructHandle*)id);
 				}
 
 				if (dataChunk.code == B3_TRIANLGE_INFO_MAP)
 				{
-					m_triangleInfoMaps.push_back((bStructHandle*) id);
+					m_triangleInfoMaps.push_back((bStructHandle*)id);
 				}
 
 				if (dataChunk.code == B3_COLLISIONOBJECT_CODE)
 				{
-					m_collisionObjects.push_back((bStructHandle*) id);
+					m_collisionObjects.push_back((bStructHandle*)id);
 				}
 
 				if (dataChunk.code == B3_SHAPE_CODE)
 				{
-					m_collisionShapes.push_back((bStructHandle*) id);
+					m_collisionShapes.push_back((bStructHandle*)id);
 				}
 
-		//		if (dataChunk.code == GLOB)
-		//		{
-		//			m_glob = (bStructHandle*) id;
-		//		}
-			} else
+				//		if (dataChunk.code == GLOB)
+				//		{
+				//			m_glob = (bStructHandle*) id;
+				//		}
+			}
+			else
 			{
 				//printf("unknown chunk\n");
 
 				mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
 			}
-		} else
+		}
+		else
 		{
 			printf("skipping B3_QUANTIZED_BVH_CODE due to broken DNA\n");
 		}
 
-		
 		dataPtr += seek;
 
-		seek =  getNextBlock(&dataChunk, dataPtr, mFlags);
-		if (mFlags &FD_ENDIAN_SWAP) 
+		seek = getNextBlock(&dataChunk, dataPtr, mFlags);
+		if (mFlags & FD_ENDIAN_SWAP)
 			swapLen(dataPtr);
 
 		if (seek < 0)
 			break;
 	}
-
 }
 
-void	b3BulletFile::addDataBlock(char* dataBlock)
+void b3BulletFile::addDataBlock(char* dataBlock)
 {
 	m_dataBlocks.push_back(dataBlock);
-
 }
 
-
-
-
-void	b3BulletFile::writeDNA(FILE* fp)
+void b3BulletFile::writeDNA(FILE* fp)
 {
-
 	bChunkInd dataChunk;
 	dataChunk.code = B3_DNA1;
 	dataChunk.dna_nr = 0;
 	dataChunk.nr = 1;
-#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES	
+#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 	if (VOID_IS_8)
 	{
 #ifdef _WIN64
 		dataChunk.len = b3s_bulletDNAlen64;
 		dataChunk.oldPtr = b3s_bulletDNAstr64;
-		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
-		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64,1,fp);
+		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
+		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64, 1, fp);
 #else
 		b3Assert(0);
 #endif
@@ -270,43 +250,42 @@ void	b3BulletFile::writeDNA(FILE* fp)
 #ifndef _WIN64
 		dataChunk.len = b3s_bulletDNAlen;
 		dataChunk.oldPtr = b3s_bulletDNAstr;
-		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
-		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen,1,fp);
-#else//_WIN64
+		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
+		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen, 1, fp);
+#else   //_WIN64
 		b3Assert(0);
-#endif//_WIN64
+#endif  //_WIN64
 	}
-#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 	if (VOID_IS_8)
 	{
 		dataChunk.len = b3s_bulletDNAlen64;
 		dataChunk.oldPtr = b3s_bulletDNAstr64;
-		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
-		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64,1,fp);
+		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
+		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64, 1, fp);
 	}
 	else
 	{
 		dataChunk.len = b3s_bulletDNAlen;
 		dataChunk.oldPtr = b3s_bulletDNAstr;
-		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
-		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen,1,fp);
+		fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
+		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen, 1, fp);
 	}
-#endif//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 }
 
-
-void	b3BulletFile::parse(int verboseMode)
+void b3BulletFile::parse(int verboseMode)
 {
 #ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 	if (VOID_IS_8)
 	{
 #ifdef _WIN64
-		
+
 		if (m_DnaCopy)
 			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
-		parseInternal(verboseMode,(char*)b3s_bulletDNAstr64,b3s_bulletDNAlen64);
+		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
+		memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
+		parseInternal(verboseMode, (char*)b3s_bulletDNAstr64, b3s_bulletDNAlen64);
 #else
 		b3Assert(0);
 #endif
@@ -317,93 +296,91 @@ void	b3BulletFile::parse(int verboseMode)
 
 		if (m_DnaCopy)
 			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
-		parseInternal(verboseMode,m_DnaCopy,b3s_bulletDNAlen);
+		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
+		memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
+		parseInternal(verboseMode, m_DnaCopy, b3s_bulletDNAlen);
 #else
 		b3Assert(0);
 #endif
 	}
-#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
 	if (VOID_IS_8)
 	{
 		if (m_DnaCopy)
 			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
-		parseInternal(verboseMode,m_DnaCopy,b3s_bulletDNAlen64);
+		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64, 16);
+		memcpy(m_DnaCopy, b3s_bulletDNAstr64, b3s_bulletDNAlen64);
+		parseInternal(verboseMode, m_DnaCopy, b3s_bulletDNAlen64);
 	}
 	else
 	{
 		if (m_DnaCopy)
 			delete m_DnaCopy;
-		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen,16);
-		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
-		parseInternal(verboseMode,m_DnaCopy,b3s_bulletDNAlen);
+		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen, 16);
+		memcpy(m_DnaCopy, b3s_bulletDNAstr, b3s_bulletDNAlen);
+		parseInternal(verboseMode, m_DnaCopy, b3s_bulletDNAlen);
 	}
-#endif//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	
+#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+
 	//the parsing will convert to cpu endian
-	mFlags &=~FD_ENDIAN_SWAP;
+	mFlags &= ~FD_ENDIAN_SWAP;
 
-	int littleEndian= 1;
-	littleEndian= ((char*)&littleEndian)[0];
-	
-	mFileBuffer[8] = littleEndian?'v':'V';
-	
+	int littleEndian = 1;
+	littleEndian = ((char*)&littleEndian)[0];
+
+	mFileBuffer[8] = littleEndian ? 'v' : 'V';
 }
 
 // experimental
-int		b3BulletFile::write(const char* fileName, bool fixupPointers)
+int b3BulletFile::write(const char* fileName, bool fixupPointers)
 {
-	FILE *fp = fopen(fileName, "wb");
+	FILE* fp = fopen(fileName, "wb");
 	if (fp)
 	{
-		char header[B3_SIZEOFBLENDERHEADER] ;
+		char header[B3_SIZEOFBLENDERHEADER];
 		memcpy(header, m_headerString, 7);
-		int endian= 1;
-		endian= ((char*)&endian)[0];
+		int endian = 1;
+		endian = ((char*)&endian)[0];
 
 		if (endian)
 		{
 			header[7] = '_';
-		} else
+		}
+		else
 		{
 			header[7] = '-';
 		}
 		if (VOID_IS_8)
 		{
-			header[8]='V';
-		} else
+			header[8] = 'V';
+		}
+		else
 		{
-			header[8]='v';
+			header[8] = 'v';
 		}
 
 		header[9] = '2';
 		header[10] = '7';
 		header[11] = '5';
-		
-		fwrite(header,B3_SIZEOFBLENDERHEADER,1,fp);
+
+		fwrite(header, B3_SIZEOFBLENDERHEADER, 1, fp);
 
 		writeChunks(fp, fixupPointers);
 
 		writeDNA(fp);
 
 		fclose(fp);
-		
-	} else
+	}
+	else
 	{
-		printf("Error: cannot open file %s for writing\n",fileName);
+		printf("Error: cannot open file %s for writing\n", fileName);
 		return 0;
 	}
 	return 1;
 }
 
-
-
-void	b3BulletFile::addStruct(const	char* structType,void* data, int len, void* oldPtr, int code)
+void b3BulletFile::addStruct(const char* structType, void* data, int len, void* oldPtr, int code)
 {
-	
 	bParse::bChunkInd dataChunk;
 	dataChunk.code = code;
 	dataChunk.nr = 1;
@@ -412,11 +389,11 @@ void	b3BulletFile::addStruct(const	char* structType,void* data, int len, void* o
 	dataChunk.oldPtr = oldPtr;
 
 	///Perform structure size validation
-	short* structInfo= mMemoryDNA->getStruct(dataChunk.dna_nr);
+	short* structInfo = mMemoryDNA->getStruct(dataChunk.dna_nr);
 	int elemBytes;
-	elemBytes= mMemoryDNA->getLength(structInfo[0]);
-//	int elemBytes = mMemoryDNA->getElementSize(structInfo[0],structInfo[1]);
-	assert(len==elemBytes);
+	elemBytes = mMemoryDNA->getLength(structInfo[0]);
+	//	int elemBytes = mMemoryDNA->getElementSize(structInfo[0],structInfo[1]);
+	assert(len == elemBytes);
 
 	mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data);
 	m_chunks.push_back(dataChunk);
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h
index fb1b9b0dde..ede1d378ae 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.h
@@ -16,68 +16,59 @@ subject to the following restrictions:
 #ifndef B3_BULLET_FILE_H
 #define B3_BULLET_FILE_H
 
-
 #include "b3File.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3Defines.h"
 
 #include "Bullet3Serialize/Bullet2FileLoader/b3Serializer.h"
 
+namespace bParse
+{
+// ----------------------------------------------------- //
+class b3BulletFile : public bFile
+{
+protected:
+	char* m_DnaCopy;
 
+public:
+	b3AlignedObjectArray<bStructHandle*> m_softBodies;
 
-namespace bParse {
-
-	// ----------------------------------------------------- //
-	class b3BulletFile : public bFile
-	{
-		
-
-	protected:
-	
-		char*	m_DnaCopy;
-				
-	public:
-
-		b3AlignedObjectArray<bStructHandle*>	m_softBodies;
-
-		b3AlignedObjectArray<bStructHandle*>	m_rigidBodies;
-
-		b3AlignedObjectArray<bStructHandle*>	m_collisionObjects;
+	b3AlignedObjectArray<bStructHandle*> m_rigidBodies;
 
-		b3AlignedObjectArray<bStructHandle*>	m_collisionShapes;
+	b3AlignedObjectArray<bStructHandle*> m_collisionObjects;
 
-		b3AlignedObjectArray<bStructHandle*>	m_constraints;
+	b3AlignedObjectArray<bStructHandle*> m_collisionShapes;
 
-		b3AlignedObjectArray<bStructHandle*>	m_bvhs;
+	b3AlignedObjectArray<bStructHandle*> m_constraints;
 
-		b3AlignedObjectArray<bStructHandle*>	m_triangleInfoMaps;
+	b3AlignedObjectArray<bStructHandle*> m_bvhs;
 
-		b3AlignedObjectArray<bStructHandle*>	m_dynamicsWorldInfo;
+	b3AlignedObjectArray<bStructHandle*> m_triangleInfoMaps;
 
-		b3AlignedObjectArray<char*>				m_dataBlocks;
-		b3BulletFile();
+	b3AlignedObjectArray<bStructHandle*> m_dynamicsWorldInfo;
 
-		b3BulletFile(const char* fileName);
+	b3AlignedObjectArray<char*> m_dataBlocks;
+	b3BulletFile();
 
-		b3BulletFile(char *memoryBuffer, int len);
+	b3BulletFile(const char* fileName);
 
-		virtual ~b3BulletFile();
+	b3BulletFile(char* memoryBuffer, int len);
 
-		virtual	void	addDataBlock(char* dataBlock);
-	
+	virtual ~b3BulletFile();
 
-		// experimental
-		virtual int		write(const char* fileName, bool fixupPointers=false);
+	virtual void addDataBlock(char* dataBlock);
 
-		virtual	void	parse(int verboseMode);
+	// experimental
+	virtual int write(const char* fileName, bool fixupPointers = false);
 
-		virtual	void parseData();
+	virtual void parse(int verboseMode);
 
-		virtual	void	writeDNA(FILE* fp);
+	virtual void parseData();
 
-		void	addStruct(const char* structType,void* data, int len, void* oldPtr, int code);
+	virtual void writeDNA(FILE* fp);
 
-	};
+	void addStruct(const char* structType, void* data, int len, void* oldPtr, int code);
 };
+};  // namespace bParse
 
-#endif //B3_BULLET_FILE_H
+#endif  //B3_BULLET_FILE_H
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp
index c0e1bb708c..ff75ff8cc4 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.cpp
@@ -17,15 +17,13 @@ subject to the following restrictions:
 #include "b3Defines.h"
 #include "b3File.h"
 
-#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
 #include <memory.h>
 #endif
 #include <string.h>
 
-
 using namespace bParse;
 
-
 // ----------------------------------------------------- //
 short ChunkUtils::swapShort(short sht)
 {
@@ -57,19 +55,15 @@ int ChunkUtils::getOffset(int flags)
 
 	if (VOID_IS_8)
 	{
-		if (flags &FD_BITS_VARIES)
+		if (flags & FD_BITS_VARIES)
 			res = sizeof(bChunkPtr4);
 	}
 	else
 	{
-		if (flags &FD_BITS_VARIES)
+		if (flags & FD_BITS_VARIES)
 			res = sizeof(bChunkPtr8);
 	}
 	return res;
 }
 
-
-
-
-
 //eof
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h
index 03ecb6b4fa..c9d0f37d9e 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Chunk.h
@@ -16,77 +16,69 @@ subject to the following restrictions:
 #ifndef __BCHUNK_H__
 #define __BCHUNK_H__
 
-#if defined (_WIN32) && ! defined (__MINGW32__)
-	#define b3Long64 __int64
-#elif defined (__MINGW32__)	
-	#include <stdint.h>
-	#define b3Long64 int64_t
+#if defined(_WIN32) && !defined(__MINGW32__)
+#define b3Long64 __int64
+#elif defined(__MINGW32__)
+#include <stdint.h>
+#define b3Long64 int64_t
 #else
-	#define b3Long64 long long
+#define b3Long64 long long
 #endif
 
-
-namespace bParse {
-
-
-	// ----------------------------------------------------- //
-	class bChunkPtr4
-	{
-	public:
-		bChunkPtr4(){}
-		int code;
-		int len;
-		union
-		{
-			int m_uniqueInt;
-		};
-		int dna_nr;
-		int nr;
-	};
-
-	// ----------------------------------------------------- //
-	class bChunkPtr8
-	{
-	public:
-		bChunkPtr8(){}
-		int code,  len;
-		union
-		{
-			b3Long64 oldPrev;
-			int	m_uniqueInts[2];
-		};
-		int dna_nr, nr;
-	};
-
-	// ----------------------------------------------------- //
-	class bChunkInd
-	{
-	public:
-		bChunkInd(){}
-		int code, len;
-		void *oldPtr;
-		int dna_nr, nr;
+namespace bParse
+{
+// ----------------------------------------------------- //
+class bChunkPtr4
+{
+public:
+	bChunkPtr4() {}
+	int code;
+	int len;
+	union {
+		int m_uniqueInt;
 	};
-
-
-	// ----------------------------------------------------- //
-	class ChunkUtils
-	{
-	public:
-		
-		// file chunk offset
-		static int getOffset(int flags);
-
-		// endian utils
-		static short swapShort(short sht);
-		static int swapInt(int inte);
-		static b3Long64 swapLong64(b3Long64 lng);
-
+	int dna_nr;
+	int nr;
+};
+
+// ----------------------------------------------------- //
+class bChunkPtr8
+{
+public:
+	bChunkPtr8() {}
+	int code, len;
+	union {
+		b3Long64 oldPrev;
+		int m_uniqueInts[2];
 	};
-
-
-	const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd)));
-	const bool VOID_IS_8 = ((sizeof(void*)==8));
-}
-
-#endif//__BCHUNK_H__
+	int dna_nr, nr;
+};
+
+// ----------------------------------------------------- //
+class bChunkInd
+{
+public:
+	bChunkInd() {}
+	int code, len;
+	void *oldPtr;
+	int dna_nr, nr;
+};
+
+// ----------------------------------------------------- //
+class ChunkUtils
+{
+public:
+	// file chunk offset
+	static int getOffset(int flags);
+
+	// endian utils
+	static short swapShort(short sht);
+	static int swapInt(int inte);
+	static b3Long64 swapLong64(b3Long64 lng);
+};
+
+const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd)));
+const bool VOID_IS_8 = ((sizeof(void *) == 8));
+}  // namespace bParse
+
+#endif  //__BCHUNK_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h
index 2792d84033..5884fad4d6 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Common.h
@@ -16,24 +16,25 @@ subject to the following restrictions:
 #ifndef __BCOMMON_H__
 #define __BCOMMON_H__
 
-
 #include <assert.h>
 //#include "bLog.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3HashMap.h"
 
-namespace bParse {
-
-	class bMain;
-	class bFileData;
-	class bFile;
-	class bDNA;
-
-	// delete void* undefined
-	typedef struct bStructHandle {int unused;}bStructHandle;
-	typedef b3AlignedObjectArray<bStructHandle*>	bListBasePtr;
-	typedef b3HashMap<b3HashPtr, bStructHandle*> bPtrMap;
-}
-
-
-#endif//__BCOMMON_H__
+namespace bParse
+{
+class bMain;
+class bFileData;
+class bFile;
+class bDNA;
+
+// delete void* undefined
+typedef struct bStructHandle
+{
+	int unused;
+} bStructHandle;
+typedef b3AlignedObjectArray<bStructHandle*> bListBasePtr;
+typedef b3HashMap<b3HashPtr, bStructHandle*> bPtrMap;
+}  // namespace bParse
+
+#endif  //__BCOMMON_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
index 0fe5056922..09c8f23859 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
@@ -23,13 +23,11 @@ subject to the following restrictions:
 //this define will force traversal of structures, to check backward (and forward) compatibility
 //#define TEST_BACKWARD_FORWARD_COMPATIBILITY
 
-
 using namespace bParse;
 
-
 // ----------------------------------------------------- //
 bDNA::bDNA()
-	:	mPtrLen(0)
+	: mPtrLen(0)
 {
 	// --
 }
@@ -43,7 +41,7 @@ bDNA::~bDNA()
 // ----------------------------------------------------- //
 bool bDNA::lessThan(bDNA *file)
 {
-	return ( m_Names.size() < file->m_Names.size());
+	return (m_Names.size() < file->m_Names.size());
 }
 
 // ----------------------------------------------------- //
@@ -53,36 +51,31 @@ char *bDNA::getName(int ind)
 	return m_Names[ind].m_name;
 }
 
-
 // ----------------------------------------------------- //
 char *bDNA::getType(int ind)
 {
-	assert(ind<=  (int)mTypes.size());
+	assert(ind <= (int)mTypes.size());
 	return mTypes[ind];
 }
 
-
 // ----------------------------------------------------- //
 short *bDNA::getStruct(int ind)
 {
-	assert(ind <=  (int)mStructs.size());
+	assert(ind <= (int)mStructs.size());
 	return mStructs[ind];
 }
 
-
 // ----------------------------------------------------- //
 short bDNA::getLength(int ind)
 {
-	assert(ind <=  (int)mTlens.size());
+	assert(ind <= (int)mTlens.size());
 	return mTlens[ind];
 }
 
-
 // ----------------------------------------------------- //
 int bDNA::getReverseType(short type)
 {
-
-	int* intPtr = mStructReverse.find(type);
+	int *intPtr = mStructReverse.find(type);
 	if (intPtr)
 		return *intPtr;
 
@@ -92,12 +85,11 @@ int bDNA::getReverseType(short type)
 // ----------------------------------------------------- //
 int bDNA::getReverseType(const char *type)
 {
-
 	b3HashString key(type);
-	int* valuePtr = mTypeLookup.find(key);
+	int *valuePtr = mTypeLookup.find(key);
 	if (valuePtr)
 		return *valuePtr;
-	
+
 	return -1;
 }
 
@@ -110,22 +102,22 @@ int bDNA::getNumStructs()
 // ----------------------------------------------------- //
 bool bDNA::flagNotEqual(int dna_nr)
 {
-	assert(dna_nr <=	(int)mCMPFlags.size());
+	assert(dna_nr <= (int)mCMPFlags.size());
 	return mCMPFlags[dna_nr] == FDF_STRUCT_NEQU;
 }
 
 // ----------------------------------------------------- //
 bool bDNA::flagEqual(int dna_nr)
 {
-	assert(dna_nr <=	(int)mCMPFlags.size());
+	assert(dna_nr <= (int)mCMPFlags.size());
 	int flag = mCMPFlags[dna_nr];
-	return  flag == FDF_STRUCT_EQU;
+	return flag == FDF_STRUCT_EQU;
 }
 
 // ----------------------------------------------------- //
 bool bDNA::flagNone(int dna_nr)
 {
-	assert(dna_nr <=	(int)mCMPFlags.size());
+	assert(dna_nr <= (int)mCMPFlags.size());
 	return mCMPFlags[dna_nr] == FDF_NONE;
 }
 
@@ -143,15 +135,15 @@ void bDNA::initRecurseCmpFlags(int iter)
 	short *oldStrc = mStructs[iter];
 	short type = oldStrc[0];
 
-	for (int i=0; i<(int)mStructs.size(); i++)
+	for (int i = 0; i < (int)mStructs.size(); i++)
 	{
-		if (i != iter && mCMPFlags[i] == FDF_STRUCT_EQU )
+		if (i != iter && mCMPFlags[i] == FDF_STRUCT_EQU)
 		{
 			short *curStruct = mStructs[i];
 			int eleLen = curStruct[1];
-			curStruct+=2;
+			curStruct += 2;
 
-			for (int j=0; j<eleLen; j++, curStruct+=2)
+			for (int j = 0; j < eleLen; j++, curStruct += 2)
 			{
 				if (curStruct[0] == type)
 				{
@@ -171,18 +163,14 @@ void bDNA::initRecurseCmpFlags(int iter)
 // ----------------------------------------------------- //
 void bDNA::initCmpFlags(bDNA *memDNA)
 {
-
-    // compare the file to memory
+	// compare the file to memory
 	// this ptr should be the file data
 
-
-	assert(!(m_Names.size() == 0));// && "SDNA empty!");
+	assert(!(m_Names.size() == 0));  // && "SDNA empty!");
 	mCMPFlags.resize(mStructs.size(), FDF_NONE);
 
-
-
 	int i;
-	for ( i=0; i<(int)mStructs.size(); i++)
+	for (i = 0; i < (int)mStructs.size(); i++)
 	{
 		short *oldStruct = mStructs[i];
 
@@ -196,7 +184,7 @@ void bDNA::initCmpFlags(bDNA *memDNA)
 
 //#define SLOW_FORWARD_COMPATIBLE 1
 #ifdef SLOW_FORWARD_COMPATIBLE
-		char* typeName = mTypes[oldLookup];
+		char *typeName = mTypes[oldLookup];
 		int newLookup = memDNA->getReverseType(typeName);
 		if (newLookup == -1)
 		{
@@ -210,71 +198,61 @@ void bDNA::initCmpFlags(bDNA *memDNA)
 		if (oldLookup < memDNA->mStructs.size())
 		{
 			short *curStruct = memDNA->mStructs[oldLookup];
-#endif	
-	
-		
+#endif
 
-			// rebuild...
-			mCMPFlags[i] = FDF_STRUCT_NEQU;
+		// rebuild...
+		mCMPFlags[i] = FDF_STRUCT_NEQU;
 
 #ifndef TEST_BACKWARD_FORWARD_COMPATIBILITY
 
-			if (curStruct[1] == oldStruct[1])
+		if (curStruct[1] == oldStruct[1])
+		{
+			// type len same ...
+			if (mTlens[oldStruct[0]] == memDNA->mTlens[curStruct[0]])
 			{
-				// type len same ...
-				if (mTlens[oldStruct[0]] == memDNA->mTlens[curStruct[0]])
-				{
-					bool isSame = true;
-					int elementLength = oldStruct[1];
-
+				bool isSame = true;
+				int elementLength = oldStruct[1];
 
-					curStruct+=2;
-					oldStruct+=2;
+				curStruct += 2;
+				oldStruct += 2;
 
+				for (int j = 0; j < elementLength; j++, curStruct += 2, oldStruct += 2)
+				{
+					// type the same
+					//const char* typeFileDNA = mTypes[oldStruct[0]];
+					//const char* typeMemDNA = mTypes[curStruct[0]];
+					if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]]) != 0)
+					{
+						isSame = false;
+						break;
+					}
 
-					for (int j=0; j<elementLength; j++, curStruct+=2, oldStruct+=2)
+					// name the same
+					if (strcmp(m_Names[oldStruct[1]].m_name, memDNA->m_Names[curStruct[1]].m_name) != 0)
 					{
-						// type the same
-						//const char* typeFileDNA = mTypes[oldStruct[0]];
-						//const char* typeMemDNA = mTypes[curStruct[0]];
-						if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]])!=0)
-						{
-							isSame=false;
-							break;
-						}
-
-						// name the same
-						if (strcmp(m_Names[oldStruct[1]].m_name, memDNA->m_Names[curStruct[1]].m_name)!=0)
-						{
-							isSame=false;
-							break;
-						}
+						isSame = false;
+						break;
 					}
-					// flag valid ==
-					if (isSame)
-						mCMPFlags[i] = FDF_STRUCT_EQU;
 				}
+				// flag valid ==
+				if (isSame)
+					mCMPFlags[i] = FDF_STRUCT_EQU;
 			}
-#endif
 		}
-	}
-
-
-
-
-
-	// recurse in
-	for ( i=0; i<(int)mStructs.size(); i++)
-	{
-		if (mCMPFlags[i] == FDF_STRUCT_NEQU)
-			initRecurseCmpFlags(i);
+#endif
 	}
 }
 
+// recurse in
+for (i = 0; i < (int)mStructs.size(); i++)
+{
+	if (mCMPFlags[i] == FDF_STRUCT_NEQU)
+		initRecurseCmpFlags(i);
+}
+}
 
-
-
-static int name_is_array(char* name, int* dim1, int* dim2) {
+static int name_is_array(char *name, int *dim1, int *dim2)
+{
 	int len = strlen(name);
 	/*fprintf(stderr,"[%s]",name);*/
 	/*if (len >= 1) {
@@ -284,58 +262,77 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
 	return 0;*/
 	char *bp;
 	int num;
-	if (dim1) {
+	if (dim1)
+	{
 		*dim1 = 1;
 	}
-	if (dim2) {
+	if (dim2)
+	{
 		*dim2 = 1;
 	}
 	bp = strchr(name, '[');
-	if (!bp) {
+	if (!bp)
+	{
 		return 0;
 	}
 	num = 0;
-	while (++bp < name+len-1) {
+	while (++bp < name + len - 1)
+	{
 		const char c = *bp;
-		if (c == ']') {
+		if (c == ']')
+		{
 			break;
 		}
-		if (c <= '9' && c >= '0') {
+		if (c <= '9' && c >= '0')
+		{
 			num *= 10;
 			num += (c - '0');
-		} else {
+		}
+		else
+		{
 			printf("array parse error.\n");
 			return 0;
 		}
 	}
-	if (dim2) {
+	if (dim2)
+	{
 		*dim2 = num;
 	}
 
 	/* find second dim, if any. */
 	bp = strchr(bp, '[');
-	if (!bp) {
+	if (!bp)
+	{
 		return 1; /* at least we got the first dim. */
 	}
 	num = 0;
-	while (++bp < name+len-1) {
+	while (++bp < name + len - 1)
+	{
 		const char c = *bp;
-		if (c == ']') {
+		if (c == ']')
+		{
 			break;
 		}
-		if (c <= '9' && c >= '0') {
+		if (c <= '9' && c >= '0')
+		{
 			num *= 10;
 			num += (c - '0');
-		} else {
+		}
+		else
+		{
 			printf("array2 parse error.\n");
 			return 1;
 		}
 	}
-	if (dim1) {
-		if (dim2) {
+	if (dim1)
+	{
+		if (dim2)
+		{
 			*dim1 = *dim2;
 			*dim2 = num;
-		} else {
+		}
+		else
+		{
 			*dim1 = num;
 		}
 	}
@@ -343,14 +340,15 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
 	return 1;
 }
 
-
 // ----------------------------------------------------- //
 void bDNA::init(char *data, int len, bool swap)
 {
-	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;
+	int *intPtr = 0;
+	short *shtPtr = 0;
+	char *cp = 0;
+	int dataLen = 0;
 	//long nr=0;
-	intPtr = (int*)data;
+	intPtr = (int *)data;
 
 	/*
 		SDNA (4 bytes) (magic number)
@@ -360,38 +358,35 @@ void bDNA::init(char *data, int len, bool swap)
 		<string>
 	*/
 
-	if (strncmp(data, "SDNA", 4)==0)
+	if (strncmp(data, "SDNA", 4) == 0)
 	{
 		// skip ++ NAME
-		intPtr++; intPtr++;
+		intPtr++;
+		intPtr++;
 	}
 
-
-
 	// Parse names
-	if (swap) 
+	if (swap)
 	{
 		*intPtr = ChunkUtils::swapInt(*intPtr);
 	}
 	dataLen = *intPtr;
 	intPtr++;
 
-	cp = (char*)intPtr;
+	cp = (char *)intPtr;
 	int i;
-	for ( i=0; i<dataLen; i++)
+	for (i = 0; i < dataLen; i++)
 	{
 		bNameInfo info;
 		info.m_name = cp;
 		info.m_isPointer = (info.m_name[0] == '*') || (info.m_name[1] == '*');
-		name_is_array(info.m_name,&info.m_dim0,&info.m_dim1);
+		name_is_array(info.m_name, &info.m_dim0, &info.m_dim1);
 		m_Names.push_back(info);
-		while (*cp)cp++;
+		while (*cp) cp++;
 		cp++;
 	}
 
-	
-	cp = b3AlignPointer(cp,4);
-	
+	cp = b3AlignPointer(cp, 4);
 
 	/*
 		TYPE (4 bytes)
@@ -400,26 +395,26 @@ void bDNA::init(char *data, int len, bool swap)
 		<string>
 	*/
 
-	intPtr = (int*)cp;
-	assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+	intPtr = (int *)cp;
+	assert(strncmp(cp, "TYPE", 4) == 0);
+	intPtr++;
 
-	if (swap) 
+	if (swap)
 	{
 		*intPtr = ChunkUtils::swapInt(*intPtr);
 	}
 	dataLen = *intPtr;
 	intPtr++;
 
-	cp = (char*)intPtr;
-	for ( i=0; i<dataLen; i++)
+	cp = (char *)intPtr;
+	for (i = 0; i < dataLen; i++)
 	{
 		mTypes.push_back(cp);
-		while (*cp)cp++;
+		while (*cp) cp++;
 		cp++;
 	}
 
-
-	cp = b3AlignPointer(cp,4);
+	cp = b3AlignPointer(cp, 4);
 
 	/*
 		TLEN (4 bytes)
@@ -428,13 +423,14 @@ void bDNA::init(char *data, int len, bool swap)
 	*/
 
 	// Parse type lens
-	intPtr = (int*)cp;
-	assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+	intPtr = (int *)cp;
+	assert(strncmp(cp, "TLEN", 4) == 0);
+	intPtr++;
 
 	dataLen = (int)mTypes.size();
 
-	shtPtr = (short*)intPtr;
-	for ( i=0; i<dataLen; i++, shtPtr++)
+	shtPtr = (short *)intPtr;
+	for (i = 0; i < dataLen; i++, shtPtr++)
 	{
 		if (swap)
 			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
@@ -454,94 +450,89 @@ void bDNA::init(char *data, int len, bool swap)
 		<namenr>
 	*/
 
-	intPtr = (int*)shtPtr;
-	cp = (char*)intPtr;
-	assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+	intPtr = (int *)shtPtr;
+	cp = (char *)intPtr;
+	assert(strncmp(cp, "STRC", 4) == 0);
+	intPtr++;
 
-	if (swap) 
+	if (swap)
 	{
 		*intPtr = ChunkUtils::swapInt(*intPtr);
 	}
 	dataLen = *intPtr;
 	intPtr++;
 
-
-	shtPtr = (short*)intPtr;
-	for ( i=0; i<dataLen; i++)
+	shtPtr = (short *)intPtr;
+	for (i = 0; i < dataLen; i++)
 	{
-		mStructs.push_back (shtPtr);
+		mStructs.push_back(shtPtr);
 		if (swap)
 		{
-			shtPtr[0]= ChunkUtils::swapShort(shtPtr[0]);
-			shtPtr[1]= ChunkUtils::swapShort(shtPtr[1]);
+			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
+			shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
 
 			int len = shtPtr[1];
-			shtPtr+= 2;
+			shtPtr += 2;
 
-			for (int a=0; a<len; a++, shtPtr+=2)
+			for (int a = 0; a < len; a++, shtPtr += 2)
 			{
-				shtPtr[0]= ChunkUtils::swapShort(shtPtr[0]);
-				shtPtr[1]= ChunkUtils::swapShort(shtPtr[1]);
+				shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
+				shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
 			}
 		}
 		else
-			shtPtr+= (2*shtPtr[1])+2;
+			shtPtr += (2 * shtPtr[1]) + 2;
 	}
 
-
 	// build reverse lookups
-	for ( i=0; i<(int)mStructs.size(); i++)
+	for (i = 0; i < (int)mStructs.size(); i++)
 	{
 		short *strc = mStructs.at(i);
-		if (!mPtrLen && strcmp(mTypes[strc[0]],"ListBase")==0)
+		if (!mPtrLen && strcmp(mTypes[strc[0]], "ListBase") == 0)
 		{
-			mPtrLen = mTlens[strc[0]]/2;
+			mPtrLen = mTlens[strc[0]] / 2;
 		}
 
 		mStructReverse.insert(strc[0], i);
-		mTypeLookup.insert(b3HashString(mTypes[strc[0]]),i);
+		mTypeLookup.insert(b3HashString(mTypes[strc[0]]), i);
 	}
 }
 
-
 // ----------------------------------------------------- //
-int bDNA::getArraySize(char* string)
+int bDNA::getArraySize(char *string)
 {
 	int ret = 1;
 	int len = strlen(string);
 
-	
-	char* next = 0;
-	for (int i=0; i<len; i++)
+	char *next = 0;
+	for (int i = 0; i < len; i++)
 	{
 		char c = string[i];
 
 		if (c == '[')
-			next = &string[i+1];
-		else if (c==']')
+			next = &string[i + 1];
+		else if (c == ']')
 			if (next)
 				ret *= atoi(next);
 	}
 
-//	print (string << ' ' << ret);
+	//	print (string << ' ' << ret);
 	return ret;
 }
 
-
 void bDNA::dumpTypeDefinitions()
 {
 	int i;
 
 	int numTypes = mTypes.size();
-	
-	for (i=0;i<numTypes;i++)
-	{
 
+	for (i = 0; i < numTypes; i++)
+	{
 	}
 
-	for ( i=0; i<(int)mStructs.size(); i++)
+	for (i = 0; i < (int)mStructs.size(); i++)
 	{
-		int totalBytes=0;
+		int totalBytes = 0;
 		short *oldStruct = mStructs[i];
 
 		int oldLookup = getReverseType(oldStruct[0]);
@@ -551,44 +542,46 @@ void bDNA::dumpTypeDefinitions()
 			continue;
 		}
 
-		short* newStruct = mStructs[oldLookup];
-		char* typeName = mTypes[newStruct[0]];
-		printf("%3d: %s ",i,typeName);
-		
+		short *newStruct = mStructs[oldLookup];
+		char *typeName = mTypes[newStruct[0]];
+		printf("%3d: %s ", i, typeName);
+
 		//char *name = mNames[oldStruct[1]];
 		int len = oldStruct[1];
-		printf(" (%d fields) ",len);
-		oldStruct+=2;
+		printf(" (%d fields) ", len);
+		oldStruct += 2;
 
 		printf("{");
 		int j;
-		for (j=0; j<len; ++j,oldStruct+=2) {
-			const char* name = m_Names[oldStruct[1]].m_name;
-			printf("%s %s",	mTypes[oldStruct[0]],name);
-			int elemNumBytes= 0;
+		for (j = 0; j < len; ++j, oldStruct += 2)
+		{
+			const char *name = m_Names[oldStruct[1]].m_name;
+			printf("%s %s", mTypes[oldStruct[0]], name);
+			int elemNumBytes = 0;
 			int arrayDimensions = getArraySizeNew(oldStruct[1]);
 
 			if (m_Names[oldStruct[1]].m_isPointer)
 			{
 				elemNumBytes = VOID_IS_8 ? 8 : 4;
-			} else
+			}
+			else
 			{
 				elemNumBytes = getLength(oldStruct[0]);
 			}
-			printf(" /* %d bytes */",elemNumBytes*arrayDimensions);
-			
-			if (j == len-1) {
+			printf(" /* %d bytes */", elemNumBytes * arrayDimensions);
+
+			if (j == len - 1)
+			{
 				printf(";}");
-			} else {
+			}
+			else
+			{
 				printf("; ");
 			}
-			totalBytes+=elemNumBytes*arrayDimensions;
+			totalBytes += elemNumBytes * arrayDimensions;
 		}
-		printf("\ntotalBytes=%d\n\n",totalBytes);
-
+		printf("\ntotalBytes=%d\n\n", totalBytes);
 	}
-	
-
 
 #if 0
 	/* dump out display of types and their sizes */
@@ -618,12 +611,6 @@ void bDNA::dumpTypeDefinitions()
 		}
 	}
 #endif
-
 }
 
-
-
-
 //eof
-
-
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h
index 6e60087cce..ca6004d960 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3DNA.h
@@ -16,95 +16,86 @@ subject to the following restrictions:
 #ifndef __BDNA_H__
 #define __BDNA_H__
 
-
 #include "b3Common.h"
 
-namespace bParse {
-
-	struct	bNameInfo
+namespace bParse
+{
+struct bNameInfo
+{
+	char *m_name;
+	bool m_isPointer;
+	int m_dim0;
+	int m_dim1;
+};
+
+class bDNA
+{
+public:
+	bDNA();
+	~bDNA();
+
+	void init(char *data, int len, bool swap = false);
+
+	int getArraySize(char *str);
+	int getArraySizeNew(short name)
 	{
-		char*	m_name;
-		bool	m_isPointer;
-		int		m_dim0;
-		int		m_dim1;
-	};
-
-	class bDNA
+		const bNameInfo &nameInfo = m_Names[name];
+		return nameInfo.m_dim0 * nameInfo.m_dim1;
+	}
+	int getElementSize(short type, short name)
 	{
-	public:
-		bDNA();
-		~bDNA();
-
-		void init(char *data, int len, bool swap=false);
-
-		int getArraySize(char* str);
-		int getArraySizeNew(short name)
-		{
-			const bNameInfo& nameInfo = m_Names[name];
-			return nameInfo.m_dim0*nameInfo.m_dim1;
-		}
-		int getElementSize(short type, short name)
-		{
-			const bNameInfo& nameInfo = m_Names[name];
-			int size = nameInfo.m_isPointer ? mPtrLen*nameInfo.m_dim0*nameInfo.m_dim1 : mTlens[type]*nameInfo.m_dim0*nameInfo.m_dim1;
-			return size;
-		}
-
-		int	getNumNames() const
-		{
-			return m_Names.size();
-		}
-
-		char *getName(int ind);
-		char *getType(int ind);
-		short *getStruct(int ind);
-		short getLength(int ind);
-		int getReverseType(short type);
-		int getReverseType(const char *type);
-
-
-		int getNumStructs();
-
-		//
-		bool lessThan(bDNA* other);
-
-		void initCmpFlags(bDNA *memDNA);
-		bool flagNotEqual(int dna_nr);
-		bool flagEqual(int dna_nr);
-		bool flagNone(int dna_nr);
+		const bNameInfo &nameInfo = m_Names[name];
+		int size = nameInfo.m_isPointer ? mPtrLen * nameInfo.m_dim0 * nameInfo.m_dim1 : mTlens[type] * nameInfo.m_dim0 * nameInfo.m_dim1;
+		return size;
+	}
 
+	int getNumNames() const
+	{
+		return m_Names.size();
+	}
 
-		int getPointerSize();
+	char *getName(int ind);
+	char *getType(int ind);
+	short *getStruct(int ind);
+	short getLength(int ind);
+	int getReverseType(short type);
+	int getReverseType(const char *type);
 
-		void	dumpTypeDefinitions();
+	int getNumStructs();
 
-	
-	private:
-		enum FileDNAFlags
-		{
-			FDF_NONE=0,
-			FDF_STRUCT_NEQU,
-			FDF_STRUCT_EQU
-		};
+	//
+	bool lessThan(bDNA *other);
 
-		void initRecurseCmpFlags(int i);
+	void initCmpFlags(bDNA *memDNA);
+	bool flagNotEqual(int dna_nr);
+	bool flagEqual(int dna_nr);
+	bool flagNone(int dna_nr);
 
-		b3AlignedObjectArray<int>			mCMPFlags;
+	int getPointerSize();
 
-		b3AlignedObjectArray<bNameInfo>			m_Names;
-		b3AlignedObjectArray<char*>			mTypes;
-		b3AlignedObjectArray<short*>			mStructs;
-		b3AlignedObjectArray<short>			mTlens;
-		b3HashMap<b3HashInt, int>			mStructReverse;
-		b3HashMap<b3HashString,int>	mTypeLookup;
+	void dumpTypeDefinitions();
 
-		int							mPtrLen;
-		
+private:
+	enum FileDNAFlags
+	{
+		FDF_NONE = 0,
+		FDF_STRUCT_NEQU,
+		FDF_STRUCT_EQU
+	};
 
+	void initRecurseCmpFlags(int i);
 
+	b3AlignedObjectArray<int> mCMPFlags;
 
-	};
-}
+	b3AlignedObjectArray<bNameInfo> m_Names;
+	b3AlignedObjectArray<char *> mTypes;
+	b3AlignedObjectArray<short *> mStructs;
+	b3AlignedObjectArray<short> mTlens;
+	b3HashMap<b3HashInt, int> mStructReverse;
+	b3HashMap<b3HashString, int> mTypeLookup;
 
+	int mPtrLen;
+};
+}  // namespace bParse
 
-#endif//__BDNA_H__
+#endif  //__BDNA_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h
index 8f28d3c441..0524c94db1 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Defines.h
@@ -19,118 +19,131 @@
 #ifndef __B_DEFINES_H__
 #define __B_DEFINES_H__
 
-
 // MISC defines, see BKE_global.h, BKE_utildefines.h
 #define B3_SIZEOFBLENDERHEADER 12
 
-
 // ------------------------------------------------------------
-#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
-#	define B3_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
+#define B3_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
 #else
-#	define B3_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#define B3_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
 #endif
 
-
 // ------------------------------------------------------------
-#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
-#	define B3_MAKE_ID2(c, d) ( (c)<<8 | (d) )
+#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
+#define B3_MAKE_ID2(c, d) ((c) << 8 | (d))
 #else
-#	define B3_MAKE_ID2(c, d) ( (d)<<8 | (c) )
+#define B3_MAKE_ID2(c, d) ((d) << 8 | (c))
 #endif
 
 // ------------------------------------------------------------
-#define B3_ID_SCE		B3_MAKE_ID2('S', 'C')
-#define B3_ID_LI		B3_MAKE_ID2('L', 'I')
-#define B3_ID_OB		B3_MAKE_ID2('O', 'B')
-#define B3_ID_ME		B3_MAKE_ID2('M', 'E')
-#define B3_ID_CU		B3_MAKE_ID2('C', 'U')
-#define B3_ID_MB		B3_MAKE_ID2('M', 'B')
-#define B3_ID_MA		B3_MAKE_ID2('M', 'A')
-#define B3_ID_TE		B3_MAKE_ID2('T', 'E')
-#define B3_ID_IM		B3_MAKE_ID2('I', 'M')
-#define B3_ID_IK		B3_MAKE_ID2('I', 'K')
-#define B3_ID_WV		B3_MAKE_ID2('W', 'V')
-#define B3_ID_LT		B3_MAKE_ID2('L', 'T')
-#define B3_ID_SE		B3_MAKE_ID2('S', 'E')
-#define B3_ID_LF		B3_MAKE_ID2('L', 'F')
-#define B3_ID_LA		B3_MAKE_ID2('L', 'A')
-#define B3_ID_CA		B3_MAKE_ID2('C', 'A')
-#define B3_ID_IP		B3_MAKE_ID2('I', 'P')
-#define B3_ID_KE		B3_MAKE_ID2('K', 'E')
-#define B3_ID_WO		B3_MAKE_ID2('W', 'O')
-#define B3_ID_SCR		B3_MAKE_ID2('S', 'R')
-#define B3_ID_VF		B3_MAKE_ID2('V', 'F')
-#define B3_ID_TXT		B3_MAKE_ID2('T', 'X')
-#define B3_ID_SO		B3_MAKE_ID2('S', 'O')
-#define B3_ID_SAMPLE	B3_MAKE_ID2('S', 'A')
-#define B3_ID_GR		B3_MAKE_ID2('G', 'R')
-#define B3_ID_ID		B3_MAKE_ID2('I', 'D')
-#define B3_ID_AR		B3_MAKE_ID2('A', 'R')
-#define B3_ID_AC		B3_MAKE_ID2('A', 'C')
-#define B3_ID_SCRIPT	B3_MAKE_ID2('P', 'Y')
-#define B3_ID_FLUIDSIM	B3_MAKE_ID2('F', 'S')
-#define B3_ID_NT		B3_MAKE_ID2('N', 'T')
-#define B3_ID_BR		B3_MAKE_ID2('B', 'R')
-
-
-#define B3_ID_SEQ		B3_MAKE_ID2('S', 'Q')
-#define B3_ID_CO		B3_MAKE_ID2('C', 'O')
-#define B3_ID_PO		B3_MAKE_ID2('A', 'C')
-#define B3_ID_NLA		B3_MAKE_ID2('N', 'L')
-
-#define B3_ID_VS		B3_MAKE_ID2('V', 'S')
-#define B3_ID_VN		B3_MAKE_ID2('V', 'N')
-
+#define B3_ID_SCE B3_MAKE_ID2('S', 'C')
+#define B3_ID_LI B3_MAKE_ID2('L', 'I')
+#define B3_ID_OB B3_MAKE_ID2('O', 'B')
+#define B3_ID_ME B3_MAKE_ID2('M', 'E')
+#define B3_ID_CU B3_MAKE_ID2('C', 'U')
+#define B3_ID_MB B3_MAKE_ID2('M', 'B')
+#define B3_ID_MA B3_MAKE_ID2('M', 'A')
+#define B3_ID_TE B3_MAKE_ID2('T', 'E')
+#define B3_ID_IM B3_MAKE_ID2('I', 'M')
+#define B3_ID_IK B3_MAKE_ID2('I', 'K')
+#define B3_ID_WV B3_MAKE_ID2('W', 'V')
+#define B3_ID_LT B3_MAKE_ID2('L', 'T')
+#define B3_ID_SE B3_MAKE_ID2('S', 'E')
+#define B3_ID_LF B3_MAKE_ID2('L', 'F')
+#define B3_ID_LA B3_MAKE_ID2('L', 'A')
+#define B3_ID_CA B3_MAKE_ID2('C', 'A')
+#define B3_ID_IP B3_MAKE_ID2('I', 'P')
+#define B3_ID_KE B3_MAKE_ID2('K', 'E')
+#define B3_ID_WO B3_MAKE_ID2('W', 'O')
+#define B3_ID_SCR B3_MAKE_ID2('S', 'R')
+#define B3_ID_VF B3_MAKE_ID2('V', 'F')
+#define B3_ID_TXT B3_MAKE_ID2('T', 'X')
+#define B3_ID_SO B3_MAKE_ID2('S', 'O')
+#define B3_ID_SAMPLE B3_MAKE_ID2('S', 'A')
+#define B3_ID_GR B3_MAKE_ID2('G', 'R')
+#define B3_ID_ID B3_MAKE_ID2('I', 'D')
+#define B3_ID_AR B3_MAKE_ID2('A', 'R')
+#define B3_ID_AC B3_MAKE_ID2('A', 'C')
+#define B3_ID_SCRIPT B3_MAKE_ID2('P', 'Y')
+#define B3_ID_FLUIDSIM B3_MAKE_ID2('F', 'S')
+#define B3_ID_NT B3_MAKE_ID2('N', 'T')
+#define B3_ID_BR B3_MAKE_ID2('B', 'R')
+
+#define B3_ID_SEQ B3_MAKE_ID2('S', 'Q')
+#define B3_ID_CO B3_MAKE_ID2('C', 'O')
+#define B3_ID_PO B3_MAKE_ID2('A', 'C')
+#define B3_ID_NLA B3_MAKE_ID2('N', 'L')
+
+#define B3_ID_VS B3_MAKE_ID2('V', 'S')
+#define B3_ID_VN B3_MAKE_ID2('V', 'N')
 
 // ------------------------------------------------------------
-#define B3_FORM B3_MAKE_ID('F','O','R','M')
-#define B3_DDG1 B3_MAKE_ID('3','D','G','1')
-#define B3_DDG2 B3_MAKE_ID('3','D','G','2')
-#define B3_DDG3 B3_MAKE_ID('3','D','G','3')
-#define B3_DDG4 B3_MAKE_ID('3','D','G','4')
-#define B3_GOUR B3_MAKE_ID('G','O','U','R')
-#define B3_BLEN B3_MAKE_ID('B','L','E','N')
-#define B3_DER_ B3_MAKE_ID('D','E','R','_')
-#define B3_V100 B3_MAKE_ID('V','1','0','0')
-#define B3_DATA B3_MAKE_ID('D','A','T','A')
-#define B3_GLOB B3_MAKE_ID('G','L','O','B')
-#define B3_IMAG B3_MAKE_ID('I','M','A','G')
-#define B3_TEST B3_MAKE_ID('T','E','S','T')
-#define B3_USER B3_MAKE_ID('U','S','E','R')
-
+#define B3_FORM B3_MAKE_ID('F', 'O', 'R', 'M')
+#define B3_DDG1 B3_MAKE_ID('3', 'D', 'G', '1')
+#define B3_DDG2 B3_MAKE_ID('3', 'D', 'G', '2')
+#define B3_DDG3 B3_MAKE_ID('3', 'D', 'G', '3')
+#define B3_DDG4 B3_MAKE_ID('3', 'D', 'G', '4')
+#define B3_GOUR B3_MAKE_ID('G', 'O', 'U', 'R')
+#define B3_BLEN B3_MAKE_ID('B', 'L', 'E', 'N')
+#define B3_DER_ B3_MAKE_ID('D', 'E', 'R', '_')
+#define B3_V100 B3_MAKE_ID('V', '1', '0', '0')
+#define B3_DATA B3_MAKE_ID('D', 'A', 'T', 'A')
+#define B3_GLOB B3_MAKE_ID('G', 'L', 'O', 'B')
+#define B3_IMAG B3_MAKE_ID('I', 'M', 'A', 'G')
+#define B3_TEST B3_MAKE_ID('T', 'E', 'S', 'T')
+#define B3_USER B3_MAKE_ID('U', 'S', 'E', 'R')
 
 // ------------------------------------------------------------
-#define B3_DNA1 B3_MAKE_ID('D','N','A','1')
-#define B3_REND B3_MAKE_ID('R','E','N','D')
-#define B3_ENDB B3_MAKE_ID('E','N','D','B')
-#define B3_NAME B3_MAKE_ID('N','A','M','E')
-#define B3_SDNA B3_MAKE_ID('S','D','N','A')
-#define B3_TYPE B3_MAKE_ID('T','Y','P','E')
-#define B3_TLEN B3_MAKE_ID('T','L','E','N')
-#define B3_STRC B3_MAKE_ID('S','T','R','C')
-
+#define B3_DNA1 B3_MAKE_ID('D', 'N', 'A', '1')
+#define B3_REND B3_MAKE_ID('R', 'E', 'N', 'D')
+#define B3_ENDB B3_MAKE_ID('E', 'N', 'D', 'B')
+#define B3_NAME B3_MAKE_ID('N', 'A', 'M', 'E')
+#define B3_SDNA B3_MAKE_ID('S', 'D', 'N', 'A')
+#define B3_TYPE B3_MAKE_ID('T', 'Y', 'P', 'E')
+#define B3_TLEN B3_MAKE_ID('T', 'L', 'E', 'N')
+#define B3_STRC B3_MAKE_ID('S', 'T', 'R', 'C')
 
 // ------------------------------------------------------------
-#define B3_SWITCH_INT(a) { \
-    char s_i, *p_i; \
-    p_i= (char *)&(a); \
-    s_i=p_i[0]; p_i[0]=p_i[3]; p_i[3]=s_i; \
-    s_i=p_i[1]; p_i[1]=p_i[2]; p_i[2]=s_i; }
+#define B3_SWITCH_INT(a)    \
+	{                       \
+		char s_i, *p_i;     \
+		p_i = (char *)&(a); \
+		s_i = p_i[0];       \
+		p_i[0] = p_i[3];    \
+		p_i[3] = s_i;       \
+		s_i = p_i[1];       \
+		p_i[1] = p_i[2];    \
+		p_i[2] = s_i;       \
+	}
 
 // ------------------------------------------------------------
-#define B3_SWITCH_SHORT(a)	{ \
-    char s_i, *p_i; \
-	p_i= (char *)&(a); \
-	s_i=p_i[0]; p_i[0]=p_i[1]; p_i[1]=s_i; }
+#define B3_SWITCH_SHORT(a)  \
+	{                       \
+		char s_i, *p_i;     \
+		p_i = (char *)&(a); \
+		s_i = p_i[0];       \
+		p_i[0] = p_i[1];    \
+		p_i[1] = s_i;       \
+	}
 
 // ------------------------------------------------------------
-#define B3_SWITCH_LONGINT(a) { \
-    char s_i, *p_i; \
-    p_i= (char *)&(a);  \
-    s_i=p_i[0]; p_i[0]=p_i[7]; p_i[7]=s_i; \
-    s_i=p_i[1]; p_i[1]=p_i[6]; p_i[6]=s_i; \
-    s_i=p_i[2]; p_i[2]=p_i[5]; p_i[5]=s_i; \
-    s_i=p_i[3]; p_i[3]=p_i[4]; p_i[4]=s_i; }
-
-#endif//__B_DEFINES_H__
+#define B3_SWITCH_LONGINT(a) \
+	{                        \
+		char s_i, *p_i;      \
+		p_i = (char *)&(a);  \
+		s_i = p_i[0];        \
+		p_i[0] = p_i[7];     \
+		p_i[7] = s_i;        \
+		s_i = p_i[1];        \
+		p_i[1] = p_i[6];     \
+		p_i[6] = s_i;        \
+		s_i = p_i[2];        \
+		p_i[2] = p_i[5];     \
+		p_i[5] = s_i;        \
+		s_i = p_i[3];        \
+		p_i[3] = p_i[4];     \
+		p_i[4] = s_i;        \
+	}
+
+#endif  //__B_DEFINES_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
index 432f7fc2b4..145de62db3 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
@@ -29,39 +29,38 @@ subject to the following restrictions:
 using namespace bParse;
 #define MAX_STRLEN 1024
 
-const char* getCleanName(const char* memName, char* buffer)
+const char *getCleanName(const char *memName, char *buffer)
 {
 	int slen = strlen(memName);
-	assert(slen<MAX_STRLEN);
-	slen=b3Min(slen,MAX_STRLEN);
-	for (int i=0;i<slen;i++)
+	assert(slen < MAX_STRLEN);
+	slen = b3Min(slen, MAX_STRLEN);
+	for (int i = 0; i < slen; i++)
 	{
-		if (memName[i]==']'||memName[i]=='[')
+		if (memName[i] == ']' || memName[i] == '[')
 		{
-			buffer[i] = 0;//'_';
-		} else
+			buffer[i] = 0;  //'_';
+		}
+		else
 		{
 			buffer[i] = memName[i];
 		}
 	}
-	buffer[slen]=0;
+	buffer[slen] = 0;
 	return buffer;
 }
 
-
-
 // ----------------------------------------------------- //
 bFile::bFile(const char *filename, const char headerString[7])
-	:	mOwnsBuffer(true),
-		mFileBuffer(0),
-		mFileLen(0),
-		mVersion(0),
-		mDataStart(0),
-		mFileDNA(0),
-		mMemoryDNA(0),
-		mFlags(FD_INVALID)
+	: mOwnsBuffer(true),
+	  mFileBuffer(0),
+	  mFileLen(0),
+	  mVersion(0),
+	  mDataStart(0),
+	  mFileDNA(0),
+	  mMemoryDNA(0),
+	  mFlags(FD_INVALID)
 {
-	for (int i=0;i<7;i++)
+	for (int i = 0; i < 7; i++)
 	{
 		m_headerString[i] = headerString[i];
 	}
@@ -73,7 +72,7 @@ bFile::bFile(const char *filename, const char headerString[7])
 		mFileLen = ftell(fp);
 		fseek(fp, 0L, SEEK_SET);
 
-		mFileBuffer = (char*)malloc(mFileLen+1);
+		mFileBuffer = (char *)malloc(mFileLen + 1);
 		int bytesRead;
 		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
 
@@ -81,22 +80,21 @@ bFile::bFile(const char *filename, const char headerString[7])
 
 		//
 		parseHeader();
-
 	}
 }
 
 // ----------------------------------------------------- //
-bFile::bFile( char *memoryBuffer, int len, const char headerString[7])
-:	mOwnsBuffer(false),
-	mFileBuffer(0),
-		mFileLen(0),
-		mVersion(0),
-		mDataStart(0),
-		mFileDNA(0),
-		mMemoryDNA(0),
-		mFlags(FD_INVALID)
+bFile::bFile(char *memoryBuffer, int len, const char headerString[7])
+	: mOwnsBuffer(false),
+	  mFileBuffer(0),
+	  mFileLen(0),
+	  mVersion(0),
+	  mDataStart(0),
+	  mFileDNA(0),
+	  mMemoryDNA(0),
+	  mFlags(FD_INVALID)
 {
-	for (int i=0;i<7;i++)
+	for (int i = 0; i < 7; i++)
 	{
 		m_headerString[i] = headerString[i];
 	}
@@ -104,10 +102,8 @@ bFile::bFile( char *memoryBuffer, int len, const char headerString[7])
 	mFileLen = len;
 
 	parseHeader();
-
 }
 
-
 // ----------------------------------------------------- //
 bFile::~bFile()
 {
@@ -117,15 +113,10 @@ bFile::~bFile()
 		mFileBuffer = 0;
 	}
 
-
 	delete mMemoryDNA;
 	delete mFileDNA;
 }
 
-
-
-
-
 // ----------------------------------------------------- //
 void bFile::parseHeader()
 {
@@ -133,11 +124,11 @@ void bFile::parseHeader()
 		return;
 
 	char *blenderBuf = mFileBuffer;
-	char header[B3_SIZEOFBLENDERHEADER+1] ;
+	char header[B3_SIZEOFBLENDERHEADER + 1];
 	memcpy(header, blenderBuf, B3_SIZEOFBLENDERHEADER);
-	header[B3_SIZEOFBLENDERHEADER]='\0';
+	header[B3_SIZEOFBLENDERHEADER] = '\0';
 
-	if (strncmp(header, m_headerString, 6)!=0)
+	if (strncmp(header, m_headerString, 6) != 0)
 	{
 		memcpy(header, m_headerString, B3_SIZEOFBLENDERHEADER);
 		return;
@@ -148,35 +139,34 @@ void bFile::parseHeader()
 		mFlags |= FD_DOUBLE_PRECISION;
 	}
 
-	char *ver = header+9;
+	char *ver = header + 9;
 	mVersion = atoi(ver);
 	if (mVersion <= 241)
 	{
 		//printf("Warning, %d not fully tested : <= 242\n", mVersion);
 	}
 
-	int littleEndian= 1;
-	littleEndian= ((char*)&littleEndian)[0];
+	int littleEndian = 1;
+	littleEndian = ((char *)&littleEndian)[0];
 
 	// swap ptr sizes...
-	if (header[7]=='-')
+	if (header[7] == '-')
 	{
 		mFlags |= FD_FILE_64;
 		if (!VOID_IS_8)
 			mFlags |= FD_BITS_VARIES;
 	}
-	else if (VOID_IS_8) mFlags |= FD_BITS_VARIES;
+	else if (VOID_IS_8)
+		mFlags |= FD_BITS_VARIES;
 
 	// swap endian...
-	if (header[8]=='V')
+	if (header[8] == 'V')
 	{
-		if (littleEndian ==1)
+		if (littleEndian == 1)
 			mFlags |= FD_ENDIAN_SWAP;
 	}
-	else
-		if (littleEndian==0)
-			mFlags |= FD_ENDIAN_SWAP;
-
+	else if (littleEndian == 0)
+		mFlags |= FD_ENDIAN_SWAP;
 
 	mFlags |= FD_OK;
 }
@@ -184,13 +174,13 @@ void bFile::parseHeader()
 // ----------------------------------------------------- //
 bool bFile::ok()
 {
-	return (mFlags &FD_OK)!=0;
+	return (mFlags & FD_OK) != 0;
 }
 
 // ----------------------------------------------------- //
-void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
+void bFile::parseInternal(int verboseMode, char *memDna, int memDnaLength)
 {
-	if ( (mFlags &FD_OK) ==0)
+	if ((mFlags & FD_OK) == 0)
 		return;
 
 	char *blenderData = mFileBuffer;
@@ -198,38 +188,40 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
 	dna.oldPtr = 0;
 
 	char *tempBuffer = blenderData;
-	for (int i=0; i<mFileLen; i++)
+	for (int i = 0; i < mFileLen; i++)
 	{
 		// looking for the data's starting position
 		// and the start of SDNA decls
 
-		if (!mDataStart && strncmp(tempBuffer, "REND", 4)==0)
+		if (!mDataStart && strncmp(tempBuffer, "REND", 4) == 0)
 			mDataStart = i;
 
-		if (strncmp(tempBuffer, "DNA1", 4)==0)
+		if (strncmp(tempBuffer, "DNA1", 4) == 0)
 		{
 			// read the DNA1 block and extract SDNA
 			if (getNextBlock(&dna, tempBuffer, mFlags) > 0)
 			{
-				if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) ==0)
+				if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) == 0)
 					dna.oldPtr = (tempBuffer + ChunkUtils::getOffset(mFlags));
-				else dna.oldPtr = 0;
+				else
+					dna.oldPtr = 0;
 			}
-			else dna.oldPtr = 0;
+			else
+				dna.oldPtr = 0;
 		}
 		// Some Bullet files are missing the DNA1 block
 		// In Blender it's DNA1 + ChunkUtils::getOffset() + SDNA + NAME
 		// In Bullet tests its SDNA + NAME
-		else if (strncmp(tempBuffer, "SDNANAME", 8) ==0)
+		else if (strncmp(tempBuffer, "SDNANAME", 8) == 0)
 		{
 			dna.oldPtr = blenderData + i;
-			dna.len = mFileLen-i;
+			dna.len = mFileLen - i;
 
 			// Also no REND block, so exit now.
-			if (mVersion==276) break;
+			if (mVersion == 276) break;
 		}
 
-        if (mDataStart && dna.oldPtr) break;
+		if (mDataStart && dna.oldPtr) break;
 		tempBuffer++;
 	}
 	if (!dna.oldPtr || !dna.len)
@@ -239,43 +231,35 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
 		return;
 	}
 
-
 	mFileDNA = new bDNA();
 
-
 	///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary
-	mFileDNA->init((char*)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP)!=0);
-
+	mFileDNA->init((char *)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP) != 0);
 
-	if (mVersion==276)
+	if (mVersion == 276)
 	{
 		int i;
-		for (i=0;i<mFileDNA->getNumNames();i++)
+		for (i = 0; i < mFileDNA->getNumNames(); i++)
 		{
-			if (strcmp(mFileDNA->getName(i),"int")==0)
+			if (strcmp(mFileDNA->getName(i), "int") == 0)
 			{
 				mFlags |= FD_BROKEN_DNA;
 			}
 		}
-		if ((mFlags&FD_BROKEN_DNA)!=0)
+		if ((mFlags & FD_BROKEN_DNA) != 0)
 		{
 			//printf("warning: fixing some broken DNA version\n");
 		}
 	}
 
-
-
 	if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
 		mFileDNA->dumpTypeDefinitions();
 
 	mMemoryDNA = new bDNA();
-	int littleEndian= 1;
-	littleEndian= ((char*)&littleEndian)[0];
-
-	mMemoryDNA->init(memDna,memDnaLength,littleEndian==0);
-
-
+	int littleEndian = 1;
+	littleEndian = ((char *)&littleEndian)[0];
 
+	mMemoryDNA->init(memDna, memDnaLength, littleEndian == 0);
 
 	///@todo we need a better version check, add version/sub version info from FileGlobal into memory DNA/header files
 	if (mMemoryDNA->getNumNames() != mFileDNA->getNumNames())
@@ -290,7 +274,6 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
 		//printf ("Warning, file DNA is newer than built in.");
 	}
 
-
 	mFileDNA->initCmpFlags(mMemoryDNA);
 
 	parseData();
@@ -298,102 +281,95 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
 	resolvePointers(verboseMode);
 
 	updateOldPointers();
-
-
 }
 
-
-
 // ----------------------------------------------------- //
-void bFile::swap(char *head, bChunkInd& dataChunk, bool ignoreEndianFlag)
+void bFile::swap(char *head, bChunkInd &dataChunk, bool ignoreEndianFlag)
 {
 	char *data = head;
 	short *strc = mFileDNA->getStruct(dataChunk.dna_nr);
 
-
-
 	const char s[] = "SoftBodyMaterialData";
 	int szs = sizeof(s);
-	if (strncmp((char*)&dataChunk.code,"ARAY",4)==0)
+	if (strncmp((char *)&dataChunk.code, "ARAY", 4) == 0)
 	{
 		short *oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
 		char *oldType = mFileDNA->getType(oldStruct[0]);
-		if (strncmp(oldType,s,szs)==0)
+		if (strncmp(oldType, s, szs) == 0)
 		{
 			return;
 		}
 	}
 
-
 	int len = mFileDNA->getLength(strc[0]);
 
-	for (int i=0; i<dataChunk.nr; i++)
+	for (int i = 0; i < dataChunk.nr; i++)
 	{
-		swapStruct(dataChunk.dna_nr, data,ignoreEndianFlag);
-		data+=len;
+		swapStruct(dataChunk.dna_nr, data, ignoreEndianFlag);
+		data += len;
 	}
 }
 
 void bFile::swapLen(char *dataPtr)
 {
-	const bool VOID_IS_8 = ((sizeof(void*)==8));
+	const bool VOID_IS_8 = ((sizeof(void *) == 8));
 	if (VOID_IS_8)
 	{
-		if (mFlags &FD_BITS_VARIES)
+		if (mFlags & FD_BITS_VARIES)
 		{
-			bChunkPtr4*c = (bChunkPtr4*) dataPtr;
-			if ((c->code & 0xFFFF)==0)
-					c->code >>=16;
+			bChunkPtr4 *c = (bChunkPtr4 *)dataPtr;
+			if ((c->code & 0xFFFF) == 0)
+				c->code >>= 16;
 			B3_SWITCH_INT(c->len);
 			B3_SWITCH_INT(c->dna_nr);
 			B3_SWITCH_INT(c->nr);
-		} else
+		}
+		else
 		{
-			bChunkPtr8* c = (bChunkPtr8*) dataPtr;
-			if ((c->code & 0xFFFF)==0)
-				c->code >>=16;
+			bChunkPtr8 *c = (bChunkPtr8 *)dataPtr;
+			if ((c->code & 0xFFFF) == 0)
+				c->code >>= 16;
 			B3_SWITCH_INT(c->len);
 			B3_SWITCH_INT(c->dna_nr);
 			B3_SWITCH_INT(c->nr);
-
 		}
-	} else
+	}
+	else
 	{
-		if (mFlags &FD_BITS_VARIES)
+		if (mFlags & FD_BITS_VARIES)
 		{
-			bChunkPtr8*c = (bChunkPtr8*) dataPtr;
-			if ((c->code & 0xFFFF)==0)
-				c->code >>=16;
+			bChunkPtr8 *c = (bChunkPtr8 *)dataPtr;
+			if ((c->code & 0xFFFF) == 0)
+				c->code >>= 16;
 			B3_SWITCH_INT(c->len);
 			B3_SWITCH_INT(c->dna_nr);
 			B3_SWITCH_INT(c->nr);
-
-		} else
+		}
+		else
 		{
-			bChunkPtr4* c = (bChunkPtr4*) dataPtr;
-			if ((c->code & 0xFFFF)==0)
-				c->code >>=16;
+			bChunkPtr4 *c = (bChunkPtr4 *)dataPtr;
+			if ((c->code & 0xFFFF) == 0)
+				c->code >>= 16;
 			B3_SWITCH_INT(c->len);
 
 			B3_SWITCH_INT(c->dna_nr);
 			B3_SWITCH_INT(c->nr);
-
 		}
 	}
-
 }
 
-
-void bFile::swapDNA(char* ptr)
+void bFile::swapDNA(char *ptr)
 {
-	bool swap = ((mFlags & FD_ENDIAN_SWAP)!=0);
-
-	char* data = &ptr[20];
-//	void bDNA::init(char *data, int len, bool swap)
-	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;
+	bool swap = ((mFlags & FD_ENDIAN_SWAP) != 0);
+
+	char *data = &ptr[20];
+	//	void bDNA::init(char *data, int len, bool swap)
+	int *intPtr = 0;
+	short *shtPtr = 0;
+	char *cp = 0;
+	int dataLen = 0;
 	//long nr=0;
-	intPtr = (int*)data;
+	intPtr = (int *)data;
 
 	/*
 		SDNA (4 bytes) (magic number)
@@ -403,14 +379,13 @@ void bFile::swapDNA(char* ptr)
 		<string>
 	*/
 
-	if (strncmp(data, "SDNA", 4)==0)
+	if (strncmp(data, "SDNA", 4) == 0)
 	{
 		// skip ++ NAME
-		intPtr++; intPtr++;
+		intPtr++;
+		intPtr++;
 	}
 
-
-
 	// Parse names
 	if (swap)
 		dataLen = ChunkUtils::swapInt(*intPtr);
@@ -420,16 +395,15 @@ void bFile::swapDNA(char* ptr)
 	*intPtr = ChunkUtils::swapInt(*intPtr);
 	intPtr++;
 
-	cp = (char*)intPtr;
+	cp = (char *)intPtr;
 	int i;
-	for ( i=0; i<dataLen; i++)
+	for (i = 0; i < dataLen; i++)
 	{
-		while (*cp)cp++;
+		while (*cp) cp++;
 		cp++;
 	}
 
-
-	cp = b3AlignPointer(cp,4);
+	cp = b3AlignPointer(cp, 4);
 
 	/*
 		TYPE (4 bytes)
@@ -438,8 +412,9 @@ void bFile::swapDNA(char* ptr)
 		<string>
 	*/
 
-	intPtr = (int*)cp;
-	assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+	intPtr = (int *)cp;
+	assert(strncmp(cp, "TYPE", 4) == 0);
+	intPtr++;
 
 	if (swap)
 		dataLen = ChunkUtils::swapInt(*intPtr);
@@ -450,14 +425,14 @@ void bFile::swapDNA(char* ptr)
 
 	intPtr++;
 
-	cp = (char*)intPtr;
-	for ( i=0; i<dataLen; i++)
+	cp = (char *)intPtr;
+	for (i = 0; i < dataLen; i++)
 	{
-		while (*cp)cp++;
+		while (*cp) cp++;
 		cp++;
 	}
 
-	cp = b3AlignPointer(cp,4);
+	cp = b3AlignPointer(cp, 4);
 
 	/*
 		TLEN (4 bytes)
@@ -466,15 +441,15 @@ void bFile::swapDNA(char* ptr)
 	*/
 
 	// Parse type lens
-	intPtr = (int*)cp;
-	assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
-
+	intPtr = (int *)cp;
+	assert(strncmp(cp, "TLEN", 4) == 0);
+	intPtr++;
 
-	shtPtr = (short*)intPtr;
-	for ( i=0; i<dataLen; i++, shtPtr++)
+	shtPtr = (short *)intPtr;
+	for (i = 0; i < dataLen; i++, shtPtr++)
 	{
 		//??????if (swap)
-			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
+		shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
 	}
 
 	if (dataLen & 1)
@@ -491,9 +466,9 @@ void bFile::swapDNA(char* ptr)
 		<namenr>
 	*/
 
-	intPtr = (int*)shtPtr;
-	cp = (char*)intPtr;
-	assert(strncmp(cp, "STRC", 4)==0);
+	intPtr = (int *)shtPtr;
+	cp = (char *)intPtr;
+	assert(strncmp(cp, "STRC", 4) == 0);
 	intPtr++;
 
 	if (swap)
@@ -505,66 +480,56 @@ void bFile::swapDNA(char* ptr)
 
 	intPtr++;
 
-
-	shtPtr = (short*)intPtr;
-	for ( i=0; i<dataLen; i++)
+	shtPtr = (short *)intPtr;
+	for (i = 0; i < dataLen; i++)
 	{
-
 		//if (swap)
 		{
 			int len = shtPtr[1];
 
-			shtPtr[0]= ChunkUtils::swapShort(shtPtr[0]);
-			shtPtr[1]= ChunkUtils::swapShort(shtPtr[1]);
+			shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
+			shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
 
-			shtPtr+= 2;
+			shtPtr += 2;
 
-			for (int a=0; a<len; a++, shtPtr+=2)
+			for (int a = 0; a < len; a++, shtPtr += 2)
 			{
-				shtPtr[0]= ChunkUtils::swapShort(shtPtr[0]);
-				shtPtr[1]= ChunkUtils::swapShort(shtPtr[1]);
+				shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
+				shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
 			}
 		}
-//		else
-//			shtPtr+= (2*shtPtr[1])+2;
+		//		else
+		//			shtPtr+= (2*shtPtr[1])+2;
 	}
-
 }
 
-void bFile::writeFile(const char* fileName)
+void bFile::writeFile(const char *fileName)
 {
-	FILE* f = fopen(fileName,"wb");
-	fwrite(mFileBuffer,1,mFileLen,f);
+	FILE *f = fopen(fileName, "wb");
+	fwrite(mFileBuffer, 1, mFileLen, f);
 	fclose(f);
 }
 
 void bFile::preSwap()
 {
-
 	//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
 	//FD_ENDIAN_SWAP
 	//byte 8 determines the endianness of the file, little (v) versus big (V)
-	int littleEndian= 1;
-	littleEndian= ((char*)&littleEndian)[0];
-
+	int littleEndian = 1;
+	littleEndian = ((char *)&littleEndian)[0];
 
-	if (mFileBuffer[8]=='V')
+	if (mFileBuffer[8] == 'V')
 	{
-		mFileBuffer[8]='v';
+		mFileBuffer[8] = 'v';
 	}
 	else
 	{
-		mFileBuffer[8]='V';
+		mFileBuffer[8] = 'V';
 	}
 
-
-
-
-
-
 	mDataStart = 12;
 
-	char *dataPtr = mFileBuffer+mDataStart;
+	char *dataPtr = mFileBuffer + mDataStart;
 
 	bChunkInd dataChunk;
 	dataChunk.code = 0;
@@ -579,21 +544,22 @@ void bFile::preSwap()
 	while (1)
 	{
 		// one behind
-		if (dataChunk.code == B3_SDNA || dataChunk.code==B3_DNA1 || dataChunk.code == B3_TYPE || dataChunk.code == B3_TLEN || dataChunk.code==B3_STRC)
+		if (dataChunk.code == B3_SDNA || dataChunk.code == B3_DNA1 || dataChunk.code == B3_TYPE || dataChunk.code == B3_TLEN || dataChunk.code == B3_STRC)
 		{
-
 			swapDNA(dataPtr);
 			break;
-		} else
+		}
+		else
 		{
 			//if (dataChunk.code == DNA1) break;
-			dataPtrHead = dataPtr+ChunkUtils::getOffset(mFlags);
+			dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
 
 			swapLen(dataPtr);
-			if (dataChunk.dna_nr>=0)
+			if (dataChunk.dna_nr >= 0)
 			{
-				swap(dataPtrHead, dataChunk,ignoreEndianFlag);
-			} else
+				swap(dataPtrHead, dataChunk, ignoreEndianFlag);
+			}
+			else
 			{
 				//printf("unknown chunk\n");
 			}
@@ -602,7 +568,7 @@ void bFile::preSwap()
 		// next please!
 		dataPtr += seek;
 
-		seek =  getNextBlock(&dataChunk, dataPtr, mFlags);
+		seek = getNextBlock(&dataChunk, dataPtr, mFlags);
 		if (seek < 0)
 			break;
 	}
@@ -610,56 +576,50 @@ void bFile::preSwap()
 	if (mFlags & FD_ENDIAN_SWAP)
 	{
 		mFlags &= ~FD_ENDIAN_SWAP;
-	} else
+	}
+	else
 	{
 		mFlags |= FD_ENDIAN_SWAP;
 	}
-
-
-
 }
 
-
 // ----------------------------------------------------- //
-char* bFile::readStruct(char *head, bChunkInd&  dataChunk)
+char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 {
 	bool ignoreEndianFlag = false;
 
 	if (mFlags & FD_ENDIAN_SWAP)
 		swap(head, dataChunk, ignoreEndianFlag);
 
-
-
 	if (!mFileDNA->flagEqual(dataChunk.dna_nr))
 	{
 		// Ouch! need to rebuild the struct
-		short *oldStruct,*curStruct;
+		short *oldStruct, *curStruct;
 		char *oldType, *newType;
 		int oldLen, curLen, reverseOld;
 
-
 		oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
 		oldType = mFileDNA->getType(oldStruct[0]);
 
 		oldLen = mFileDNA->getLength(oldStruct[0]);
 
-		if ((mFlags&FD_BROKEN_DNA)!=0)
+		if ((mFlags & FD_BROKEN_DNA) != 0)
 		{
-			if ((strcmp(oldType,"b3QuantizedBvhNodeData")==0)&&oldLen==20)
+			if ((strcmp(oldType, "b3QuantizedBvhNodeData") == 0) && oldLen == 20)
 			{
 				return 0;
 			}
-			if ((strcmp(oldType,"b3ShortIntIndexData")==0))
+			if ((strcmp(oldType, "b3ShortIntIndexData") == 0))
 			{
 				int allocLen = 2;
-	    		char *dataAlloc = new char[(dataChunk.nr*allocLen)+1];
-				memset(dataAlloc, 0, (dataChunk.nr*allocLen)+1);
-				short* dest = (short*) dataAlloc;
-				const short* src = (short*) head;
-				for (int i=0;i<dataChunk.nr;i++)
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
+				short *dest = (short *)dataAlloc;
+				const short *src = (short *)head;
+				for (int i = 0; i < dataChunk.nr; i++)
 				{
 					dest[i] = src[i];
-					if (mFlags &FD_ENDIAN_SWAP)
+					if (mFlags & FD_ENDIAN_SWAP)
 					{
 						B3_SWITCH_SHORT(dest[i]);
 					}
@@ -669,14 +629,12 @@ char* bFile::readStruct(char *head, bChunkInd&  dataChunk)
 			}
 		}
 
-
-
 		///don't try to convert Link block data, just memcpy it. Other data can be converted.
-		if (strcmp("Link",oldType)!=0)
+		if (strcmp("Link", oldType) != 0)
 		{
 			reverseOld = mMemoryDNA->getReverseType(oldType);
 
-			if ((reverseOld!=-1))
+			if ((reverseOld != -1))
 			{
 				// make sure it's here
 				//assert(reverseOld!= -1 && "getReverseType() returned -1, struct required!");
@@ -686,39 +644,38 @@ char* bFile::readStruct(char *head, bChunkInd&  dataChunk)
 				newType = mMemoryDNA->getType(curStruct[0]);
 				curLen = mMemoryDNA->getLength(curStruct[0]);
 
-
-
 				// make sure it's the same
-				assert((strcmp(oldType, newType)==0) && "internal error, struct mismatch!");
-
+				assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!");
 
 				// numBlocks * length
 
-                int allocLen = (curLen);
-    			char *dataAlloc = new char[(dataChunk.nr*allocLen)+1];
-				memset(dataAlloc, 0, (dataChunk.nr*allocLen));
+				int allocLen = (curLen);
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen));
 
 				// track allocated
 				addDataBlock(dataAlloc);
 
 				char *cur = dataAlloc;
 				char *old = head;
-				for (int block=0; block<dataChunk.nr; block++)
+				for (int block = 0; block < dataChunk.nr; block++)
 				{
 					bool fixupPointers = true;
 					parseStruct(cur, old, dataChunk.dna_nr, reverseOld, fixupPointers);
-					mLibPointers.insert(old,(bStructHandle*)cur);
+					mLibPointers.insert(old, (bStructHandle *)cur);
 
 					cur += curLen;
 					old += oldLen;
 				}
 				return dataAlloc;
 			}
-		} else
+		}
+		else
 		{
 			//printf("Link found\n");
 		}
-	} else
+	}
+	else
 	{
 //#define DEBUG_EQUAL_STRUCTS
 #ifdef DEBUG_EQUAL_STRUCTS
@@ -726,24 +683,20 @@ char* bFile::readStruct(char *head, bChunkInd&  dataChunk)
 		char *oldType;
 		oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
 		oldType = mFileDNA->getType(oldStruct[0]);
-		printf("%s equal structure, just memcpy\n",oldType);
-#endif //
+		printf("%s equal structure, just memcpy\n", oldType);
+#endif  //
 	}
 
-
-	char *dataAlloc = new char[(dataChunk.len)+1];
-	memset(dataAlloc, 0, dataChunk.len+1);
-
+	char *dataAlloc = new char[(dataChunk.len) + 1];
+	memset(dataAlloc, 0, dataChunk.len + 1);
 
 	// track allocated
 	addDataBlock(dataAlloc);
 
 	memcpy(dataAlloc, head, dataChunk.len);
 	return dataAlloc;
-
 }
 
-
 // ----------------------------------------------------- //
 void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers)
 {
@@ -751,7 +704,7 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 	if (new_dna == -1) return;
 
 	//disable this, because we need to fixup pointers/ListBase
-	if (0)//mFileDNA->flagEqual(old_dna))
+	if (0)  //mFileDNA->flagEqual(old_dna))
 	{
 		short *strc = mFileDNA->getStruct(old_dna);
 		int len = mFileDNA->getLength(strc[0]);
@@ -766,31 +719,29 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 	int elementLength, size, revType, old_nr, new_nr, fpLen;
 	short firstStructType;
 
-
 	// File to memory lookup
 	memoryStruct = mMemoryDNA->getStruct(new_dna);
 	fileStruct = mFileDNA->getStruct(old_dna);
 	firstStruct = fileStruct;
 
-
 	filePtrOld = fileStruct;
 	firstStructType = mMemoryDNA->getStruct(0)[0];
 
 	// Get number of elements
 	elementLength = memoryStruct[1];
-	memoryStruct+=2;
+	memoryStruct += 2;
 
-	cpc = strcPtr; cpo = 0;
-	for (int ele=0; ele<elementLength; ele++, memoryStruct+=2)
+	cpc = strcPtr;
+	cpo = 0;
+	for (int ele = 0; ele < elementLength; ele++, memoryStruct += 2)
 	{
 		memType = mMemoryDNA->getType(memoryStruct[0]);
 		memName = mMemoryDNA->getName(memoryStruct[1]);
 
-
 		size = mMemoryDNA->getElementSize(memoryStruct[0], memoryStruct[1]);
 		revType = mMemoryDNA->getReverseType(memoryStruct[0]);
 
-		if (revType != -1 && memoryStruct[0]>=firstStructType && memName[0] != '*')
+		if (revType != -1 && memoryStruct[0] >= firstStructType && memName[0] != '*')
 		{
 			cpo = getFileElement(firstStruct, memName, memType, dtPtr, &filePtrOld);
 			if (cpo)
@@ -799,94 +750,92 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 				old_nr = mFileDNA->getReverseType(memType);
 				new_nr = revType;
 				fpLen = mFileDNA->getElementSize(filePtrOld[0], filePtrOld[1]);
-				if (arrayLen==1)
+				if (arrayLen == 1)
 				{
-					parseStruct(cpc, cpo, old_nr, new_nr,fixupPointers);
-				} else
+					parseStruct(cpc, cpo, old_nr, new_nr, fixupPointers);
+				}
+				else
 				{
-					char* tmpCpc = cpc;
-					char* tmpCpo = cpo;
+					char *tmpCpc = cpc;
+					char *tmpCpo = cpo;
 
-					for (int i=0;i<arrayLen;i++)
+					for (int i = 0; i < arrayLen; i++)
 					{
-						parseStruct(tmpCpc, tmpCpo, old_nr, new_nr,fixupPointers);
-						tmpCpc += size/arrayLen;
-						tmpCpo += fpLen/arrayLen;
+						parseStruct(tmpCpc, tmpCpo, old_nr, new_nr, fixupPointers);
+						tmpCpc += size / arrayLen;
+						tmpCpo += fpLen / arrayLen;
 					}
 				}
-				cpc+=size;
-				cpo+=fpLen;
+				cpc += size;
+				cpo += fpLen;
 			}
 			else
-				cpc+=size;
+				cpc += size;
 		}
 		else
 		{
-			getMatchingFileDNA(fileStruct, memName, memType, cpc, dtPtr,fixupPointers);
-			cpc+=size;
+			getMatchingFileDNA(fileStruct, memName, memType, cpc, dtPtr, fixupPointers);
+			cpc += size;
 		}
-
 	}
 }
 
-
 // ----------------------------------------------------- //
 static void getElement(int arrayLen, const char *cur, const char *old, char *oldPtr, char *curData)
 {
-#define b3GetEle(value, current, type, cast, size, ptr)\
-	if (strcmp(current, type)==0)\
-	{\
-		value = (*(cast*)ptr);\
-		ptr += size;\
+#define b3GetEle(value, current, type, cast, size, ptr) \
+	if (strcmp(current, type) == 0)                     \
+	{                                                   \
+		value = (*(cast *)ptr);                         \
+		ptr += size;                                    \
 	}
 
-#define b3SetEle(value, current, type, cast, size, ptr)\
-	if (strcmp(current, type)==0)\
-	{\
-		(*(cast*)ptr) = (cast)value;\
-		ptr += size;\
+#define b3SetEle(value, current, type, cast, size, ptr) \
+	if (strcmp(current, type) == 0)                     \
+	{                                                   \
+		(*(cast *)ptr) = (cast)value;                   \
+		ptr += size;                                    \
 	}
 	double value = 0.0;
 
-	for (int i=0; i<arrayLen; i++)
+	for (int i = 0; i < arrayLen; i++)
 	{
-		b3GetEle(value, old, "char",   char,   sizeof(char),   oldPtr);
-		b3SetEle(value, cur, "char",   char,   sizeof(char),   curData);
-		b3GetEle(value, old, "short",  short,  sizeof(short),  oldPtr);
-		b3SetEle(value, cur, "short",  short,  sizeof(short),  curData);
-		b3GetEle(value, old, "ushort",  unsigned short,  sizeof(unsigned short),  oldPtr);
-		b3SetEle(value, cur, "ushort",  unsigned short,  sizeof(unsigned short),  curData);
-		b3GetEle(value, old, "int",    int,    sizeof(int),    oldPtr);
-		b3SetEle(value, cur, "int",    int,    sizeof(int),    curData);
-		b3GetEle(value, old, "long",   int,    sizeof(int),    oldPtr);
-		b3SetEle(value, cur, "long",   int,    sizeof(int),    curData);
-		b3GetEle(value, old, "float",  float,  sizeof(float),  oldPtr);
-		b3SetEle(value, cur, "float",  float,  sizeof(float),  curData);
+		b3GetEle(value, old, "char", char, sizeof(char), oldPtr);
+		b3SetEle(value, cur, "char", char, sizeof(char), curData);
+		b3GetEle(value, old, "short", short, sizeof(short), oldPtr);
+		b3SetEle(value, cur, "short", short, sizeof(short), curData);
+		b3GetEle(value, old, "ushort", unsigned short, sizeof(unsigned short), oldPtr);
+		b3SetEle(value, cur, "ushort", unsigned short, sizeof(unsigned short), curData);
+		b3GetEle(value, old, "int", int, sizeof(int), oldPtr);
+		b3SetEle(value, cur, "int", int, sizeof(int), curData);
+		b3GetEle(value, old, "long", int, sizeof(int), oldPtr);
+		b3SetEle(value, cur, "long", int, sizeof(int), curData);
+		b3GetEle(value, old, "float", float, sizeof(float), oldPtr);
+		b3SetEle(value, cur, "float", float, sizeof(float), curData);
 		b3GetEle(value, old, "double", double, sizeof(double), oldPtr);
 		b3SetEle(value, cur, "double", double, sizeof(double), curData);
 	}
 }
 
-
 // ----------------------------------------------------- //
-void bFile::swapData(char *data, short type, int arraySize,bool ignoreEndianFlag)
+void bFile::swapData(char *data, short type, int arraySize, bool ignoreEndianFlag)
 {
-	if (ignoreEndianFlag || (mFlags &FD_ENDIAN_SWAP))
+	if (ignoreEndianFlag || (mFlags & FD_ENDIAN_SWAP))
 	{
 		if (type == 2 || type == 3)
 		{
-			short *sp = (short*)data;
-			for (int i=0; i<arraySize; i++)
+			short *sp = (short *)data;
+			for (int i = 0; i < arraySize; i++)
 			{
 				sp[0] = ChunkUtils::swapShort(sp[0]);
 				sp++;
 			}
 		}
-		if (type>3 && type <8)
+		if (type > 3 && type < 8)
 		{
 			char c;
 			char *cp = data;
-			for (int i=0; i<arraySize; i++)
+			for (int i = 0; i < arraySize; i++)
 			{
 				c = cp[0];
 				cp[0] = cp[3];
@@ -894,14 +843,12 @@ void bFile::swapData(char *data, short type, int arraySize,bool ignoreEndianFlag
 				c = cp[1];
 				cp[1] = cp[2];
 				cp[2] = c;
-				cp+=4;
+				cp += 4;
 			}
 		}
 	}
 }
 
-
-
 void bFile::safeSwapPtr(char *dst, const char *src)
 {
 	int ptrFile = mFileDNA->getPointerSize();
@@ -910,84 +857,79 @@ void bFile::safeSwapPtr(char *dst, const char *src)
 	if (!src && !dst)
 		return;
 
-
 	if (ptrFile == ptrMem)
 	{
 		memcpy(dst, src, ptrMem);
 	}
-	else if (ptrMem==4 && ptrFile==8)
+	else if (ptrMem == 4 && ptrFile == 8)
 	{
-		b3PointerUid* oldPtr = (b3PointerUid*)src;
-		b3PointerUid* newPtr = (b3PointerUid*)dst;
+		b3PointerUid *oldPtr = (b3PointerUid *)src;
+		b3PointerUid *newPtr = (b3PointerUid *)dst;
 
 		if (oldPtr->m_uniqueIds[0] == oldPtr->m_uniqueIds[1])
 		{
 			//Bullet stores the 32bit unique ID in both upper and lower part of 64bit pointers
 			//so it can be used to distinguish between .blend and .bullet
 			newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0];
-		} else
+		}
+		else
 		{
 			//deal with pointers the Blender .blend style way, see
 			//readfile.c in the Blender source tree
-			b3Long64 longValue = *((b3Long64*)src);
+			b3Long64 longValue = *((b3Long64 *)src);
 			//endian swap for 64bit pointer otherwise truncation will fail due to trailing zeros
 			if (mFlags & FD_ENDIAN_SWAP)
 				B3_SWITCH_LONGINT(longValue);
-			*((int*)dst) = (int)(longValue>>3);
+			*((int *)dst) = (int)(longValue >> 3);
 		}
-
 	}
-	else if (ptrMem==8 && ptrFile==4)
+	else if (ptrMem == 8 && ptrFile == 4)
 	{
-		b3PointerUid* oldPtr = (b3PointerUid*)src;
-		b3PointerUid* newPtr = (b3PointerUid*)dst;
+		b3PointerUid *oldPtr = (b3PointerUid *)src;
+		b3PointerUid *newPtr = (b3PointerUid *)dst;
 		if (oldPtr->m_uniqueIds[0] == oldPtr->m_uniqueIds[1])
 		{
 			newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0];
 			newPtr->m_uniqueIds[1] = 0;
-		} else
+		}
+		else
 		{
-			*((b3Long64*)dst)= *((int*)src);
+			*((b3Long64 *)dst) = *((int *)src);
 		}
 	}
 	else
 	{
-		printf ("%d %d\n", ptrFile,ptrMem);
+		printf("%d %d\n", ptrFile, ptrMem);
 		assert(0 && "Invalid pointer len");
 	}
-
-
 }
 
-
 // ----------------------------------------------------- //
-void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName,  const char* lookupType, char *strcData, char *data, bool fixupPointers)
+void bFile::getMatchingFileDNA(short *dna_addr, const char *lookupName, const char *lookupType, char *strcData, char *data, bool fixupPointers)
 {
 	// find the matching memory dna data
 	// to the file being loaded. Fill the
 	// memory with the file data...
 
 	int len = dna_addr[1];
-	dna_addr+=2;
+	dna_addr += 2;
 
-	for (int i=0; i<len; i++, dna_addr+=2)
+	for (int i = 0; i < len; i++, dna_addr += 2)
 	{
-		const char* type = mFileDNA->getType(dna_addr[0]);
-		const char* name = mFileDNA->getName(dna_addr[1]);
-
-
+		const char *type = mFileDNA->getType(dna_addr[0]);
+		const char *name = mFileDNA->getName(dna_addr[1]);
 
 		int eleLen = mFileDNA->getElementSize(dna_addr[0], dna_addr[1]);
 
-		if ((mFlags&FD_BROKEN_DNA)!=0)
+		if ((mFlags & FD_BROKEN_DNA) != 0)
 		{
-			if ((strcmp(type,"short")==0)&&(strcmp(name,"int")==0))
+			if ((strcmp(type, "short") == 0) && (strcmp(name, "int") == 0))
 			{
 				eleLen = 0;
 			}
 		}
 
-		if (strcmp(lookupName, name)==0)
+		if (strcmp(lookupName, name) == 0)
 		{
 			//int arrayLenold = mFileDNA->getArraySize((char*)name.c_str());
 			int arrayLen = mFileDNA->getArraySizeNew(dna_addr[1]);
@@ -998,7 +940,7 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName,  const c
 				// cast pointers
 				int ptrFile = mFileDNA->getPointerSize();
 				int ptrMem = mMemoryDNA->getPointerSize();
-				safeSwapPtr(strcData,data);
+				safeSwapPtr(strcData, data);
 
 				if (fixupPointers)
 				{
@@ -1007,11 +949,11 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName,  const c
 						//void **sarray = (void**)strcData;
 						//void **darray = (void**)data;
 
-                        char *cpc, *cpo;
-						cpc = (char*)strcData;
-						cpo = (char*)data;
+						char *cpc, *cpo;
+						cpc = (char *)strcData;
+						cpo = (char *)data;
 
-						for (int a=0; a<arrayLen; a++)
+						for (int a = 0; a < arrayLen; a++)
 						{
 							safeSwapPtr(cpc, cpo);
 							m_pointerFixupArray.push_back(cpc);
@@ -1029,12 +971,11 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName,  const c
 				}
 				else
 				{
-//					printf("skipped %s %s : %x\n",type.c_str(),name.c_str(),strcData);
+					//					printf("skipped %s %s : %x\n",type.c_str(),name.c_str(),strcData);
 				}
-
 			}
 
-			else if (strcmp(type, lookupType)==0)
+			else if (strcmp(type, lookupType) == 0)
 				memcpy(strcData, data, eleLen);
 			else
 				getElement(arrayLen, lookupType, type, data, strcData);
@@ -1042,27 +983,26 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName,  const c
 			// --
 			return;
 		}
-		data+=eleLen;
+		data += eleLen;
 	}
 }
 
-
 // ----------------------------------------------------- //
-char* bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos)
+char *bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos)
 {
-	short *old = firstStruct;//mFileDNA->getStruct(old_nr);
+	short *old = firstStruct;  //mFileDNA->getStruct(old_nr);
 	int elementLength = old[1];
-	old+=2;
+	old += 2;
 
-	for (int i=0; i<elementLength; i++, old+=2)
+	for (int i = 0; i < elementLength; i++, old += 2)
 	{
-		char* type = mFileDNA->getType(old[0]);
-		char* name = mFileDNA->getName(old[1]);
+		char *type = mFileDNA->getType(old[0]);
+		char *name = mFileDNA->getName(old[1]);
 		int len = mFileDNA->getElementSize(old[0], old[1]);
 
-		if (strcmp(lookupName, name)==0)
+		if (strcmp(lookupName, name) == 0)
 		{
-			if (strcmp(type, lookupType)==0)
+			if (strcmp(type, lookupType) == 0)
 			{
 				if (foundPos)
 					*foundPos = old;
@@ -1070,46 +1010,46 @@ char* bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupTy
 			}
 			return 0;
 		}
-		data+=len;
+		data += len;
 	}
 	return 0;
 }
 
-
 // ----------------------------------------------------- //
-void bFile::swapStruct(int dna_nr, char *data,bool ignoreEndianFlag)
+void bFile::swapStruct(int dna_nr, char *data, bool ignoreEndianFlag)
 {
 	if (dna_nr == -1) return;
 
 	short *strc = mFileDNA->getStruct(dna_nr);
 	//short *firstStrc = strc;
 
-	int elementLen= strc[1];
-	strc+=2;
+	int elementLen = strc[1];
+	strc += 2;
 
 	short first = mFileDNA->getStruct(0)[0];
 
 	char *buf = data;
-	for (int i=0; i<elementLen; i++, strc+=2)
+	for (int i = 0; i < elementLen; i++, strc += 2)
 	{
 		char *type = mFileDNA->getType(strc[0]);
 		char *name = mFileDNA->getName(strc[1]);
 
 		int size = mFileDNA->getElementSize(strc[0], strc[1]);
-		if (strc[0] >= first && name[0]!='*')
+		if (strc[0] >= first && name[0] != '*')
 		{
 			int old_nr = mFileDNA->getReverseType(type);
 			int arrayLen = mFileDNA->getArraySizeNew(strc[1]);
-			if (arrayLen==1)
+			if (arrayLen == 1)
 			{
-				swapStruct(old_nr,buf,ignoreEndianFlag);
-			} else
+				swapStruct(old_nr, buf, ignoreEndianFlag);
+			}
+			else
 			{
-				char* tmpBuf = buf;
-				for (int i=0;i<arrayLen;i++)
+				char *tmpBuf = buf;
+				for (int i = 0; i < arrayLen; i++)
 				{
-					swapStruct(old_nr,tmpBuf,ignoreEndianFlag);
-					tmpBuf+=size/arrayLen;
+					swapStruct(old_nr, tmpBuf, ignoreEndianFlag);
+					tmpBuf += size / arrayLen;
 				}
 			}
 		}
@@ -1118,39 +1058,39 @@ void bFile::swapStruct(int dna_nr, char *data,bool ignoreEndianFlag)
 			//int arrayLenOld = mFileDNA->getArraySize(name);
 			int arrayLen = mFileDNA->getArraySizeNew(strc[1]);
 			//assert(arrayLenOld == arrayLen);
-			swapData(buf, strc[0], arrayLen,ignoreEndianFlag);
+			swapData(buf, strc[0], arrayLen, ignoreEndianFlag);
 		}
-		buf+=size;
+		buf += size;
 	}
 }
 
 void bFile::resolvePointersMismatch()
 {
-//	printf("resolvePointersStructMismatch\n");
+	//	printf("resolvePointersStructMismatch\n");
 
 	int i;
 
-	for (i=0;i<	m_pointerFixupArray.size();i++)
+	for (i = 0; i < m_pointerFixupArray.size(); i++)
 	{
-		char* cur = m_pointerFixupArray.at(i);
-		void** ptrptr = (void**) cur;
-		void* ptr = *ptrptr;
+		char *cur = m_pointerFixupArray.at(i);
+		void **ptrptr = (void **)cur;
+		void *ptr = *ptrptr;
 		ptr = findLibPointer(ptr);
 		if (ptr)
 		{
 			//printf("Fixup pointer!\n");
 			*(ptrptr) = ptr;
-		} else
+		}
+		else
 		{
-//			printf("pointer not found: %x\n",cur);
+			//			printf("pointer not found: %x\n",cur);
 		}
 	}
 
-
-	for (i=0; i<m_pointerPtrFixupArray.size(); i++)
+	for (i = 0; i < m_pointerPtrFixupArray.size(); i++)
 	{
-		char* cur= m_pointerPtrFixupArray.at(i);
-		void** ptrptr = (void**)cur;
+		char *cur = m_pointerPtrFixupArray.at(i);
+		void **ptrptr = (void **)cur;
 
 		bChunkInd *block = m_chunkPtrPtrMap.find(*ptrptr);
 		if (block)
@@ -1158,7 +1098,6 @@ void bFile::resolvePointersMismatch()
 			int ptrMem = mMemoryDNA->getPointerSize();
 			int ptrFile = mFileDNA->getPointerSize();
 
-
 			int blockLen = block->len / ptrFile;
 
 			void *onptr = findLibPointer(*ptrptr);
@@ -1168,16 +1107,16 @@ void bFile::resolvePointersMismatch()
 				addDataBlock(newPtr);
 				memset(newPtr, 0, blockLen * ptrMem);
 
-				void **onarray = (void**)onptr;
-				char *oldPtr = (char*)onarray;
+				void **onarray = (void **)onptr;
+				char *oldPtr = (char *)onarray;
 
 				int p = 0;
 				while (blockLen-- > 0)
 				{
 					b3PointerUid dp = {{0}};
-					safeSwapPtr((char*)dp.m_uniqueIds, oldPtr);
+					safeSwapPtr((char *)dp.m_uniqueIds, oldPtr);
 
-					void **tptr = (void**)(newPtr + p * ptrMem);
+					void **tptr = (void **)(newPtr + p * ptrMem);
 					*tptr = findLibPointer(dp.m_ptr);
 
 					oldPtr += ptrFile;
@@ -1190,70 +1129,63 @@ void bFile::resolvePointersMismatch()
 	}
 }
 
-
 ///this loop only works fine if the Blender DNA structure of the file matches the headerfiles
-void bFile::resolvePointersChunk(const bChunkInd& dataChunk, int verboseMode)
+void bFile::resolvePointersChunk(const bChunkInd &dataChunk, int verboseMode)
 {
-	bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
+	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
 
-	short int* oldStruct = fileDna->getStruct(dataChunk.dna_nr);
+	short int *oldStruct = fileDna->getStruct(dataChunk.dna_nr);
 	short oldLen = fileDna->getLength(oldStruct[0]);
 	//char* structType = fileDna->getType(oldStruct[0]);
 
-	char* cur	= (char*)findLibPointer(dataChunk.oldPtr);
-	for (int block=0; block<dataChunk.nr; block++)
+	char *cur = (char *)findLibPointer(dataChunk.oldPtr);
+	for (int block = 0; block < dataChunk.nr; block++)
 	{
-		resolvePointersStructRecursive(cur,dataChunk.dna_nr, verboseMode,1);
+		resolvePointersStructRecursive(cur, dataChunk.dna_nr, verboseMode, 1);
 		cur += oldLen;
 	}
 }
 
-
-int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verboseMode,int recursion)
+int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verboseMode, int recursion)
 {
+	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
 
-	bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
+	char *memType;
+	char *memName;
+	short firstStructType = fileDna->getStruct(0)[0];
 
-	char* memType;
-	char* memName;
-	short	firstStructType = fileDna->getStruct(0)[0];
+	char *elemPtr = strcPtr;
 
-
-	char* elemPtr= strcPtr;
-
-	short int* oldStruct = fileDna->getStruct(dna_nr);
+	short int *oldStruct = fileDna->getStruct(dna_nr);
 
 	int elementLength = oldStruct[1];
-	oldStruct+=2;
+	oldStruct += 2;
 
 	int totalSize = 0;
 
-	for (int ele=0; ele<elementLength; ele++, oldStruct+=2)
+	for (int ele = 0; ele < elementLength; ele++, oldStruct += 2)
 	{
-
 		memType = fileDna->getType(oldStruct[0]);
 		memName = fileDna->getName(oldStruct[1]);
 
-
-
 		int arrayLen = fileDna->getArraySizeNew(oldStruct[1]);
 		if (memName[0] == '*')
 		{
 			if (arrayLen > 1)
 			{
-				void **array= (void**)elemPtr;
-				for (int a=0; a<arrayLen; a++)
+				void **array = (void **)elemPtr;
+				for (int a = 0; a < arrayLen; a++)
 				{
 					if (verboseMode & FD_VERBOSE_EXPORT_XML)
 					{
-						for (int i=0;i<recursion;i++)
+						for (int i = 0; i < recursion; i++)
 						{
 							printf("  ");
 						}
 						//skip the *
-						printf("<%s type=\"pointer\"> ",&memName[1]);
+						printf("<%s type=\"pointer\"> ", &memName[1]);
 						printf("%p ", array[a]);
-						printf("</%s>\n",&memName[1]);
+						printf("</%s>\n", &memName[1]);
 					}
 
 					array[a] = findLibPointer(array[a]);
@@ -1261,266 +1193,259 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 			}
 			else
 			{
-				void** ptrptr = (void**) elemPtr;
-				void* ptr = *ptrptr;
+				void **ptrptr = (void **)elemPtr;
+				void *ptr = *ptrptr;
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
 				{
-					for (int i=0;i<recursion;i++)
+					for (int i = 0; i < recursion; i++)
 					{
 						printf("  ");
 					}
-					printf("<%s type=\"pointer\"> ",&memName[1]);
+					printf("<%s type=\"pointer\"> ", &memName[1]);
 					printf("%p ", ptr);
-					printf("</%s>\n",&memName[1]);
+					printf("</%s>\n", &memName[1]);
 				}
 				ptr = findLibPointer(ptr);
 
 				if (ptr)
 				{
-	//				printf("Fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
+					//				printf("Fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
 					*(ptrptr) = ptr;
 					if (memName[1] == '*' && ptrptr && *ptrptr)
 					{
 						// This	will only work if the given	**array	is continuous
-						void **array= (void**)*(ptrptr);
-						void *np= array[0];
-						int	n=0;
+						void **array = (void **)*(ptrptr);
+						void *np = array[0];
+						int n = 0;
 						while (np)
 						{
-							np= findLibPointer(array[n]);
-							if (np) array[n]= np;
+							np = findLibPointer(array[n]);
+							if (np) array[n] = np;
 							n++;
 						}
 					}
-				} else
+				}
+				else
 				{
-	//				printf("Cannot fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
+					//				printf("Cannot fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
 				}
 			}
-		} else
+		}
+		else
 		{
 			int revType = fileDna->getReverseType(oldStruct[0]);
-			if (oldStruct[0]>=firstStructType) //revType != -1 &&
+			if (oldStruct[0] >= firstStructType)  //revType != -1 &&
 			{
 				char cleanName[MAX_STRLEN];
-				getCleanName(memName,cleanName);
+				getCleanName(memName, cleanName);
 
 				int arrayLen = fileDna->getArraySizeNew(oldStruct[1]);
 				int byteOffset = 0;
 
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
 				{
-					for (int i=0;i<recursion;i++)
+					for (int i = 0; i < recursion; i++)
 					{
 						printf("  ");
 					}
 
-					if (arrayLen>1)
+					if (arrayLen > 1)
 					{
-						printf("<%s type=\"%s\" count=%d>\n",cleanName,memType, arrayLen);
-					} else
+						printf("<%s type=\"%s\" count=%d>\n", cleanName, memType, arrayLen);
+					}
+					else
 					{
-						printf("<%s type=\"%s\">\n",cleanName,memType);
+						printf("<%s type=\"%s\">\n", cleanName, memType);
 					}
 				}
 
-				for (int i=0;i<arrayLen;i++)
+				for (int i = 0; i < arrayLen; i++)
 				{
-					byteOffset += resolvePointersStructRecursive(elemPtr+byteOffset,revType, verboseMode,recursion+1);
+					byteOffset += resolvePointersStructRecursive(elemPtr + byteOffset, revType, verboseMode, recursion + 1);
 				}
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
 				{
-					for (int i=0;i<recursion;i++)
+					for (int i = 0; i < recursion; i++)
 					{
 						printf("  ");
 					}
-					printf("</%s>\n",cleanName);
+					printf("</%s>\n", cleanName);
 				}
-			} else
+			}
+			else
 			{
 				//export a simple type
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
 				{
-
-					if (arrayLen>MAX_ARRAY_LENGTH)
+					if (arrayLen > MAX_ARRAY_LENGTH)
 					{
 						printf("too long\n");
-					} else
+					}
+					else
 					{
 						//printf("%s %s\n",memType,memName);
 
-						bool isIntegerType = (strcmp(memType,"char")==0) || (strcmp(memType,"int")==0) || (strcmp(memType,"short")==0);
+						bool isIntegerType = (strcmp(memType, "char") == 0) || (strcmp(memType, "int") == 0) || (strcmp(memType, "short") == 0);
 
 						if (isIntegerType)
 						{
-							const char* newtype="int";
+							const char *newtype = "int";
 							int dbarray[MAX_ARRAY_LENGTH];
-							int* dbPtr = 0;
-							char* tmp = elemPtr;
+							int *dbPtr = 0;
+							char *tmp = elemPtr;
 							dbPtr = &dbarray[0];
 							if (dbPtr)
 							{
 								char cleanName[MAX_STRLEN];
-								getCleanName(memName,cleanName);
+								getCleanName(memName, cleanName);
 
 								int i;
-								getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
-								for (i=0;i<recursion;i++)
+								getElement(arrayLen, newtype, memType, tmp, (char *)dbPtr);
+								for (i = 0; i < recursion; i++)
 									printf("  ");
-								if (arrayLen==1)
-									printf("<%s type=\"%s\">",cleanName,memType);
+								if (arrayLen == 1)
+									printf("<%s type=\"%s\">", cleanName, memType);
 								else
-									printf("<%s type=\"%s\" count=%d>",cleanName,memType,arrayLen);
-								for (i=0;i<arrayLen;i++)
-									printf(" %d ",dbPtr[i]);
-								printf("</%s>\n",cleanName);
+									printf("<%s type=\"%s\" count=%d>", cleanName, memType, arrayLen);
+								for (i = 0; i < arrayLen; i++)
+									printf(" %d ", dbPtr[i]);
+								printf("</%s>\n", cleanName);
 							}
-						} else
+						}
+						else
 						{
-							const char* newtype="double";
+							const char *newtype = "double";
 							double dbarray[MAX_ARRAY_LENGTH];
-					 		double* dbPtr = 0;
-							char* tmp = elemPtr;
+							double *dbPtr = 0;
+							char *tmp = elemPtr;
 							dbPtr = &dbarray[0];
 							if (dbPtr)
 							{
 								int i;
-								getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
-								for (i=0;i<recursion;i++)
+								getElement(arrayLen, newtype, memType, tmp, (char *)dbPtr);
+								for (i = 0; i < recursion; i++)
 									printf("  ");
 								char cleanName[MAX_STRLEN];
-								getCleanName(memName,cleanName);
+								getCleanName(memName, cleanName);
 
-								if (arrayLen==1)
+								if (arrayLen == 1)
 								{
-									printf("<%s type=\"%s\">",memName,memType);
+									printf("<%s type=\"%s\">", memName, memType);
 								}
 								else
 								{
-									printf("<%s type=\"%s\" count=%d>",cleanName,memType,arrayLen);
+									printf("<%s type=\"%s\" count=%d>", cleanName, memType, arrayLen);
 								}
-								for (i=0;i<arrayLen;i++)
-									printf(" %f ",dbPtr[i]);
-								printf("</%s>\n",cleanName);
+								for (i = 0; i < arrayLen; i++)
+									printf(" %f ", dbPtr[i]);
+								printf("</%s>\n", cleanName);
 							}
 						}
 					}
-
 				}
 			}
 		}
 
 		int size = fileDna->getElementSize(oldStruct[0], oldStruct[1]);
 		totalSize += size;
-		elemPtr+=size;
-
+		elemPtr += size;
 	}
 
 	return totalSize;
 }
 
-
 ///Resolve pointers replaces the original pointers in structures, and linked lists by the new in-memory structures
 void bFile::resolvePointers(int verboseMode)
 {
-	bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
+	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
 
 	//char *dataPtr = mFileBuffer+mDataStart;
 
-	if (1) //mFlags & (FD_BITS_VARIES | FD_VERSION_VARIES))
+	if (1)  //mFlags & (FD_BITS_VARIES | FD_VERSION_VARIES))
 	{
 		resolvePointersMismatch();
 	}
 
 	{
-
 		if (verboseMode & FD_VERBOSE_EXPORT_XML)
 		{
 			printf("<?xml version=\"1.0\" encoding=\"utf-8\"?>\n");
 			int numitems = m_chunks.size();
 			printf("<bullet_physics version=%d itemcount = %d>\n", b3GetVersion(), numitems);
 		}
-		for (int i=0;i<m_chunks.size();i++)
+		for (int i = 0; i < m_chunks.size(); i++)
 		{
-			const bChunkInd& dataChunk = m_chunks.at(i);
+			const bChunkInd &dataChunk = m_chunks.at(i);
 
 			if (!mFileDNA || fileDna->flagEqual(dataChunk.dna_nr))
 			{
 				//dataChunk.len
-				short int* oldStruct = fileDna->getStruct(dataChunk.dna_nr);
-				char* oldType = fileDna->getType(oldStruct[0]);
+				short int *oldStruct = fileDna->getStruct(dataChunk.dna_nr);
+				char *oldType = fileDna->getType(oldStruct[0]);
 
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
+					printf(" <%s pointer=%p>\n", oldType, dataChunk.oldPtr);
 
 				resolvePointersChunk(dataChunk, verboseMode);
 
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" </%s>\n",oldType);
-			} else
+					printf(" </%s>\n", oldType);
+			}
+			else
 			{
 				//printf("skipping mStruct\n");
 			}
 		}
-			if (verboseMode & FD_VERBOSE_EXPORT_XML)
-			{
-				printf("</bullet_physics>\n");
-			}
+		if (verboseMode & FD_VERBOSE_EXPORT_XML)
+		{
+			printf("</bullet_physics>\n");
+		}
 	}
-
-
 }
 
-
 // ----------------------------------------------------- //
-void* bFile::findLibPointer(void *ptr)
+void *bFile::findLibPointer(void *ptr)
 {
-
-	bStructHandle** ptrptr = getLibPointers().find(ptr);
+	bStructHandle **ptrptr = getLibPointers().find(ptr);
 	if (ptrptr)
 		return *ptrptr;
 	return 0;
 }
 
-
-void	bFile::updateOldPointers()
+void bFile::updateOldPointers()
 {
 	int i;
 
-	for (i=0;i<m_chunks.size();i++)
+	for (i = 0; i < m_chunks.size(); i++)
 	{
-		bChunkInd& dataChunk = m_chunks[i];
+		bChunkInd &dataChunk = m_chunks[i];
 		dataChunk.oldPtr = findLibPointer(dataChunk.oldPtr);
 	}
 }
-void	bFile::dumpChunks(bParse::bDNA* dna)
+void bFile::dumpChunks(bParse::bDNA *dna)
 {
 	int i;
 
-	for (i=0;i<m_chunks.size();i++)
+	for (i = 0; i < m_chunks.size(); i++)
 	{
-		bChunkInd& dataChunk = m_chunks[i];
-		char* codeptr = (char*)&dataChunk.code;
-		char codestr[5] = {codeptr[0],codeptr[1],codeptr[2],codeptr[3],0};
+		bChunkInd &dataChunk = m_chunks[i];
+		char *codeptr = (char *)&dataChunk.code;
+		char codestr[5] = {codeptr[0], codeptr[1], codeptr[2], codeptr[3], 0};
 
-		short* newStruct = dna->getStruct(dataChunk.dna_nr);
-		char* typeName = dna->getType(newStruct[0]);
-		printf("%3d: %s  ",i,typeName);
+		short *newStruct = dna->getStruct(dataChunk.dna_nr);
+		char *typeName = dna->getType(newStruct[0]);
+		printf("%3d: %s  ", i, typeName);
 
-		printf("code=%s  ",codestr);
+		printf("code=%s  ", codestr);
 
-		printf("ptr=%p  ",dataChunk.oldPtr);
-		printf("len=%d  ",dataChunk.len);
-		printf("nr=%d  ",dataChunk.nr);
-		if (dataChunk.nr!=1)
+		printf("ptr=%p  ", dataChunk.oldPtr);
+		printf("len=%d  ", dataChunk.len);
+		printf("nr=%d  ", dataChunk.nr);
+		if (dataChunk.nr != 1)
 		{
 			printf("not 1\n");
 		}
 		printf("\n");
-
-
-
-
 	}
 
 #if 0
@@ -1536,20 +1461,18 @@ void	bFile::dumpChunks(bParse::bDNA* dna)
 		printf("\n");
 	}
 #endif
-
 }
 
-
-void	bFile::writeChunks(FILE* fp, bool fixupPointers)
+void bFile::writeChunks(FILE *fp, bool fixupPointers)
 {
-	bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
+	bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
 
-	for (int i=0;i<m_chunks.size();i++)
+	for (int i = 0; i < m_chunks.size(); i++)
 	{
-		bChunkInd& dataChunk = m_chunks.at(i);
+		bChunkInd &dataChunk = m_chunks.at(i);
 
 		// Ouch! need to rebuild the struct
-		short *oldStruct,*curStruct;
+		short *oldStruct, *curStruct;
 		char *oldType, *newType;
 		int oldLen, curLen, reverseOld;
 
@@ -1559,8 +1482,7 @@ void	bFile::writeChunks(FILE* fp, bool fixupPointers)
 		///don't try to convert Link block data, just memcpy it. Other data can be converted.
 		reverseOld = mMemoryDNA->getReverseType(oldType);
 
-
-		if ((reverseOld!=-1))
+		if ((reverseOld != -1))
 		{
 			// make sure it's here
 			//assert(reverseOld!= -1 && "getReverseType() returned -1, struct required!");
@@ -1568,50 +1490,47 @@ void	bFile::writeChunks(FILE* fp, bool fixupPointers)
 			curStruct = mMemoryDNA->getStruct(reverseOld);
 			newType = mMemoryDNA->getType(curStruct[0]);
 			// make sure it's the same
-			assert((strcmp(oldType, newType)==0) && "internal error, struct mismatch!");
-
+			assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!");
 
 			curLen = mMemoryDNA->getLength(curStruct[0]);
 			dataChunk.dna_nr = reverseOld;
-			if (strcmp("Link",oldType)!=0)
+			if (strcmp("Link", oldType) != 0)
 			{
 				dataChunk.len = curLen * dataChunk.nr;
-			} else
+			}
+			else
 			{
-//				printf("keep length of link = %d\n",dataChunk.len);
+				//				printf("keep length of link = %d\n",dataChunk.len);
 			}
 
 			//write the structure header
-			fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
-
+			fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
 
-
-			short int* curStruct1;
+			short int *curStruct1;
 			curStruct1 = mMemoryDNA->getStruct(dataChunk.dna_nr);
 			assert(curStruct1 == curStruct);
 
-			char* cur	= fixupPointers  ?  (char*)findLibPointer(dataChunk.oldPtr) : (char*)dataChunk.oldPtr;
+			char *cur = fixupPointers ? (char *)findLibPointer(dataChunk.oldPtr) : (char *)dataChunk.oldPtr;
 
 			//write the actual contents of the structure(s)
-			fwrite(cur,dataChunk.len,1,fp);
-		} else
+			fwrite(cur, dataChunk.len, 1, fp);
+		}
+		else
 		{
 			printf("serious error, struct mismatch: don't write\n");
 		}
 	}
-
 }
 
-
 // ----------------------------------------------------- //
-int bFile::getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int flags)
+int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags)
 {
 	bool swap = false;
 	bool varies = false;
 
-	if (flags &FD_ENDIAN_SWAP)
+	if (flags & FD_ENDIAN_SWAP)
 		swap = true;
-	if (flags &FD_BITS_VARIES)
+	if (flags & FD_BITS_VARIES)
 		varies = true;
 
 	if (VOID_IS_8)
@@ -1621,27 +1540,25 @@ int bFile::getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int fl
 			bChunkPtr4 head;
 			memcpy(&head, dataPtr, sizeof(bChunkPtr4));
 
-
 			bChunkPtr8 chunk;
 
-			chunk.code		= head.code;
-			chunk.len		= head.len;
+			chunk.code = head.code;
+			chunk.len = head.len;
 			chunk.m_uniqueInts[0] = head.m_uniqueInt;
 			chunk.m_uniqueInts[1] = 0;
-			chunk.dna_nr	= head.dna_nr;
-			chunk.nr		= head.nr;
+			chunk.dna_nr = head.dna_nr;
+			chunk.nr = head.nr;
 
 			if (swap)
 			{
-				if ((chunk.code & 0xFFFF)==0)
-					chunk.code >>=16;
+				if ((chunk.code & 0xFFFF) == 0)
+					chunk.code >>= 16;
 
 				B3_SWITCH_INT(chunk.len);
 				B3_SWITCH_INT(chunk.dna_nr);
 				B3_SWITCH_INT(chunk.nr);
 			}
 
-
 			memcpy(dataChunk, &chunk, sizeof(bChunkInd));
 		}
 		else
@@ -1651,8 +1568,8 @@ int bFile::getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int fl
 
 			if (swap)
 			{
-				if ((c.code & 0xFFFF)==0)
-					c.code >>=16;
+				if ((c.code & 0xFFFF) == 0)
+					c.code >>= 16;
 
 				B3_SWITCH_INT(c.len);
 				B3_SWITCH_INT(c.dna_nr);
@@ -1669,31 +1586,30 @@ int bFile::getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int fl
 			bChunkPtr8 head;
 			memcpy(&head, dataPtr, sizeof(bChunkPtr8));
 
-
 			bChunkPtr4 chunk;
 			chunk.code = head.code;
 			chunk.len = head.len;
 
-			if (head.m_uniqueInts[0]==head.m_uniqueInts[1])
+			if (head.m_uniqueInts[0] == head.m_uniqueInts[1])
 			{
 				chunk.m_uniqueInt = head.m_uniqueInts[0];
-			} else
+			}
+			else
 			{
-				b3Long64 oldPtr =0;
+				b3Long64 oldPtr = 0;
 				memcpy(&oldPtr, &head.m_uniqueInts[0], 8);
 				if (swap)
 					B3_SWITCH_LONGINT(oldPtr);
 				chunk.m_uniqueInt = (int)(oldPtr >> 3);
 			}
 
-
 			chunk.dna_nr = head.dna_nr;
 			chunk.nr = head.nr;
 
 			if (swap)
 			{
-				if ((chunk.code & 0xFFFF)==0)
-					chunk.code >>=16;
+				if ((chunk.code & 0xFFFF) == 0)
+					chunk.code >>= 16;
 
 				B3_SWITCH_INT(chunk.len);
 				B3_SWITCH_INT(chunk.dna_nr);
@@ -1709,8 +1625,8 @@ int bFile::getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int fl
 
 			if (swap)
 			{
-				if ((c.code & 0xFFFF)==0)
-					c.code >>=16;
+				if ((c.code & 0xFFFF) == 0)
+					c.code >>= 16;
 
 				B3_SWITCH_INT(c.len);
 				B3_SWITCH_INT(c.dna_nr);
@@ -1731,9 +1647,7 @@ int bFile::getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int fl
 	print (dataChunk->dna_nr);
 	print (dataChunk->nr);
 #endif
-	return (dataChunk->len+ChunkUtils::getOffset(flags));
+	return (dataChunk->len + ChunkUtils::getOffset(flags));
 }
 
-
-
 //eof
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h
index 861056806d..bda229cfbd 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3File.h
@@ -20,146 +20,139 @@ subject to the following restrictions:
 #include "b3Chunk.h"
 #include <stdio.h>
 
-namespace bParse {
-
-	// ----------------------------------------------------- //
-	enum bFileFlags
-	{
-		FD_INVALID   =0,
-		FD_OK        =1,
-		FD_VOID_IS_8 =2,
-		FD_ENDIAN_SWAP      =4,
-		FD_FILE_64   =8,
-		FD_BITS_VARIES    =16,
-		FD_VERSION_VARIES = 32,
-		FD_DOUBLE_PRECISION =64,
-		FD_BROKEN_DNA = 128
-	};
-
-	enum bFileVerboseMode
+namespace bParse
+{
+// ----------------------------------------------------- //
+enum bFileFlags
+{
+	FD_INVALID = 0,
+	FD_OK = 1,
+	FD_VOID_IS_8 = 2,
+	FD_ENDIAN_SWAP = 4,
+	FD_FILE_64 = 8,
+	FD_BITS_VARIES = 16,
+	FD_VERSION_VARIES = 32,
+	FD_DOUBLE_PRECISION = 64,
+	FD_BROKEN_DNA = 128
+};
+
+enum bFileVerboseMode
+{
+	FD_VERBOSE_EXPORT_XML = 1,
+	FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS = 2,
+	FD_VERBOSE_DUMP_CHUNKS = 4,
+	FD_VERBOSE_DUMP_FILE_INFO = 8,
+};
+// ----------------------------------------------------- //
+class bFile
+{
+protected:
+	char m_headerString[7];
+
+	bool mOwnsBuffer;
+	char *mFileBuffer;
+	int mFileLen;
+	int mVersion;
+
+	bPtrMap mLibPointers;
+
+	int mDataStart;
+	bDNA *mFileDNA;
+	bDNA *mMemoryDNA;
+
+	b3AlignedObjectArray<char *> m_pointerFixupArray;
+	b3AlignedObjectArray<char *> m_pointerPtrFixupArray;
+
+	b3AlignedObjectArray<bChunkInd> m_chunks;
+	b3HashMap<b3HashPtr, bChunkInd> m_chunkPtrPtrMap;
+
+	//
+
+	bPtrMap mDataPointers;
+
+	int mFlags;
+
+	// ////////////////////////////////////////////////////////////////////////////
+
+	// buffer offset util
+	int getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags);
+	void safeSwapPtr(char *dst, const char *src);
+
+	virtual void parseHeader();
+
+	virtual void parseData() = 0;
+
+	void resolvePointersMismatch();
+	void resolvePointersChunk(const bChunkInd &dataChunk, int verboseMode);
+
+	int resolvePointersStructRecursive(char *strcPtr, int old_dna, int verboseMode, int recursion);
+	//void swapPtr(char *dst, char *src);
+
+	void parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers);
+	void getMatchingFileDNA(short *old, const char *lookupName, const char *lookupType, char *strcData, char *data, bool fixupPointers);
+	char *getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos);
+
+	void swap(char *head, class bChunkInd &ch, bool ignoreEndianFlag);
+	void swapData(char *data, short type, int arraySize, bool ignoreEndianFlag);
+	void swapStruct(int dna_nr, char *data, bool ignoreEndianFlag);
+	void swapLen(char *dataPtr);
+	void swapDNA(char *ptr);
+
+	char *readStruct(char *head, class bChunkInd &chunk);
+	char *getAsString(int code);
+
+	void parseInternal(int verboseMode, char *memDna, int memDnaLength);
+
+public:
+	bFile(const char *filename, const char headerString[7]);
+
+	//todo: make memoryBuffer const char
+	//bFile( const char *memoryBuffer, int len);
+	bFile(char *memoryBuffer, int len, const char headerString[7]);
+	virtual ~bFile();
+
+	bDNA *getFileDNA()
 	{
-		FD_VERBOSE_EXPORT_XML = 1,
-		FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS = 2,
-		FD_VERBOSE_DUMP_CHUNKS = 4,
-		FD_VERBOSE_DUMP_FILE_INFO=8,
-	};
-	// ----------------------------------------------------- //
-	class bFile
-	{
-	protected:
-		
-		char				m_headerString[7];
-
-		bool				mOwnsBuffer;
-		char*				mFileBuffer;
-		int					mFileLen;
-		int					mVersion;
-
-
-		bPtrMap				mLibPointers;
-
-		int					mDataStart;
-		bDNA*				mFileDNA;
-		bDNA*				mMemoryDNA;
-
-		b3AlignedObjectArray<char*>	m_pointerFixupArray;
-		b3AlignedObjectArray<char*>	m_pointerPtrFixupArray;
-		
-		b3AlignedObjectArray<bChunkInd>	m_chunks;
-        b3HashMap<b3HashPtr, bChunkInd> m_chunkPtrPtrMap;
-
-        // 
-	
-		bPtrMap				mDataPointers;
-
-		
-		int					mFlags;
-
-		// ////////////////////////////////////////////////////////////////////////////
-
-			// buffer offset util
-		int getNextBlock(bChunkInd *dataChunk,  const char *dataPtr, const int flags);
-		void safeSwapPtr(char *dst, const char *src);
-
-		virtual	void parseHeader();
-		
-		virtual	void parseData() = 0;
-
-		void resolvePointersMismatch();
-		void resolvePointersChunk(const bChunkInd& dataChunk, int verboseMode);
+		return mFileDNA;
+	}
 
-		int resolvePointersStructRecursive(char *strcPtr, int old_dna, int verboseMode, int recursion);
-		//void swapPtr(char *dst, char *src);
+	virtual void addDataBlock(char *dataBlock) = 0;
 
-		void parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers);
-		void getMatchingFileDNA(short* old, const char* lookupName, const char* lookupType, char *strcData, char *data, bool fixupPointers);
-		char* getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos);
-
-
-		void swap(char *head, class bChunkInd& ch, bool ignoreEndianFlag);
-		void swapData(char *data, short type, int arraySize, bool ignoreEndianFlag);
-		void swapStruct(int dna_nr, char *data, bool ignoreEndianFlag);
-		void swapLen(char *dataPtr);
-		void swapDNA(char* ptr);
-
-
-		char* readStruct(char *head, class bChunkInd& chunk);
-		char *getAsString(int code);
-
-		void	parseInternal(int verboseMode, char* memDna,int memDnaLength);
-
-	public:
-		bFile(const char *filename, const char headerString[7]);
-		
-		//todo: make memoryBuffer const char
-		//bFile( const char *memoryBuffer, int len);
-		bFile( char *memoryBuffer, int len, const char headerString[7]);
-		virtual ~bFile();
-
-		bDNA*				getFileDNA()
-		{
-			return mFileDNA;
-		}
-
-		virtual	void	addDataBlock(char* dataBlock) = 0;
-
-		int	getFlags() const
-		{
-			return mFlags;
-		}
-
-		bPtrMap&		getLibPointers()
-		{
-			return mLibPointers;
-		}
-		
-		void* findLibPointer(void *ptr);
+	int getFlags() const
+	{
+		return mFlags;
+	}
 
-		bool ok();
+	bPtrMap &getLibPointers()
+	{
+		return mLibPointers;
+	}
 
-		virtual	void parse(int verboseMode) = 0;
+	void *findLibPointer(void *ptr);
 
-		virtual	int	write(const char* fileName, bool fixupPointers=false) = 0;
+	bool ok();
 
-		virtual	void	writeChunks(FILE* fp, bool fixupPointers );
+	virtual void parse(int verboseMode) = 0;
 
-		virtual	void	writeDNA(FILE* fp) = 0;
+	virtual int write(const char *fileName, bool fixupPointers = false) = 0;
 
-		void	updateOldPointers();
-		void	resolvePointers(int verboseMode);
+	virtual void writeChunks(FILE *fp, bool fixupPointers);
 
-		void	dumpChunks(bDNA* dna);
-		
-		int		getVersion() const
-		{
-			return mVersion;
-		}
-		//pre-swap the endianness, so that data loaded on a target with different endianness doesn't need to be swapped
-		void preSwap();
-		void writeFile(const char* fileName);
+	virtual void writeDNA(FILE *fp) = 0;
 
-	};
-}
+	void updateOldPointers();
+	void resolvePointers(int verboseMode);
 
+	void dumpChunks(bDNA *dna);
 
-#endif//__BFILE_H__
+	int getVersion() const
+	{
+		return mVersion;
+	}
+	//pre-swap the endianness, so that data loaded on a target with different endianness doesn't need to be swapped
+	void preSwap();
+	void writeFile(const char *fileName);
+};
+}  // namespace bParse
+
+#endif  //__BFILE_H__
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp
index c6a2a832ad..ea4a8e2007 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.cpp
@@ -1,908 +1,18062 @@
-char b3s_bulletDNAstr[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
-char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
-char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
-char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
-char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
-char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
-char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
-char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
-char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
-char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
-char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
-char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
-char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97),
-char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
-char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),
-char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98),
-char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77),
-char(97),char(120),char(0),char(109),char(95),char(98),char(118),char(104),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),
-char(0),char(109),char(95),char(99),char(117),char(114),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(117),char(115),
-char(101),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(110),char(117),char(109),char(67),
-char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(76),char(101),char(97),char(102),char(78),char(111),char(100),char(101),char(115),char(0),char(109),
-char(95),char(110),char(117),char(109),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),
-char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(0),char(42),char(109),char(95),char(99),char(111),char(110),char(116),char(105),char(103),char(117),char(111),
-char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),
-char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),
-char(114),char(0),char(42),char(109),char(95),char(115),char(117),char(98),char(84),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(80),char(116),char(114),char(0),
-char(109),char(95),char(116),char(114),char(97),char(118),char(101),char(114),char(115),char(97),char(108),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(110),char(117),
-char(109),char(83),char(117),char(98),char(116),char(114),char(101),char(101),char(72),char(101),char(97),char(100),char(101),char(114),char(115),char(0),char(42),char(109),char(95),char(110),
-char(97),char(109),char(101),char(0),char(109),char(95),char(115),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(91),char(52),char(93),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),
-char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(83),char(99),char(97),
-char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(108),char(97),char(110),char(101),char(78),char(111),char(114),char(109),char(97),char(108),char(0),char(109),
-char(95),char(112),char(108),char(97),char(110),char(101),char(67),char(111),char(110),char(115),char(116),char(97),char(110),char(116),char(0),char(109),char(95),char(105),char(109),char(112),
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-char(8),char(0),char(-65),char(0),char(8),char(0),char(-64),char(0),char(8),char(0),char(-63),char(0),char(8),char(0),char(-62),char(0),char(8),char(0),char(-61),char(0),
-char(8),char(0),char(-60),char(0),char(8),char(0),char(-59),char(0),char(8),char(0),char(-58),char(0),char(8),char(0),char(-57),char(0),char(8),char(0),char(-56),char(0),
-char(8),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),
-char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),char(51),char(0),char(22),char(0),char(7),char(0),char(-67),char(0),char(7),char(0),char(-79),char(0),
-char(7),char(0),char(110),char(0),char(7),char(0),char(-66),char(0),char(7),char(0),char(112),char(0),char(7),char(0),char(-65),char(0),char(7),char(0),char(-64),char(0),
-char(7),char(0),char(-63),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),char(7),char(0),char(-59),char(0),
-char(7),char(0),char(-58),char(0),char(7),char(0),char(-57),char(0),char(7),char(0),char(-56),char(0),char(7),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),
-char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),
-char(65),char(0),char(4),char(0),char(7),char(0),char(-49),char(0),char(7),char(0),char(-48),char(0),char(7),char(0),char(-47),char(0),char(4),char(0),char(78),char(0),
-char(66),char(0),char(10),char(0),char(65),char(0),char(-46),char(0),char(13),char(0),char(-45),char(0),char(13),char(0),char(-44),char(0),char(13),char(0),char(-43),char(0),
-char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0),char(7),char(0),char(-121),char(0),char(7),char(0),char(-40),char(0),char(4),char(0),char(-39),char(0),
-char(4),char(0),char(53),char(0),char(67),char(0),char(4),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-38),char(0),char(7),char(0),char(-37),char(0),
-char(4),char(0),char(-36),char(0),char(68),char(0),char(4),char(0),char(13),char(0),char(-41),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-35),char(0),
-char(7),char(0),char(-34),char(0),char(69),char(0),char(7),char(0),char(13),char(0),char(-33),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-32),char(0),
-char(7),char(0),char(-31),char(0),char(7),char(0),char(-30),char(0),char(7),char(0),char(-29),char(0),char(4),char(0),char(53),char(0),char(70),char(0),char(6),char(0),
-char(15),char(0),char(-28),char(0),char(13),char(0),char(-30),char(0),char(13),char(0),char(-27),char(0),char(56),char(0),char(-26),char(0),char(4),char(0),char(-25),char(0),
-char(7),char(0),char(-29),char(0),char(71),char(0),char(26),char(0),char(4),char(0),char(-24),char(0),char(7),char(0),char(-23),char(0),char(7),char(0),char(-79),char(0),
-char(7),char(0),char(-22),char(0),char(7),char(0),char(-21),char(0),char(7),char(0),char(-20),char(0),char(7),char(0),char(-19),char(0),char(7),char(0),char(-18),char(0),
-char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),
-char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),
-char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0),char(4),char(0),char(-4),char(0),char(4),char(0),char(-3),char(0),
-char(4),char(0),char(-2),char(0),char(4),char(0),char(-1),char(0),char(4),char(0),char(117),char(0),char(72),char(0),char(12),char(0),char(15),char(0),char(0),char(1),
-char(15),char(0),char(1),char(1),char(15),char(0),char(2),char(1),char(13),char(0),char(3),char(1),char(13),char(0),char(4),char(1),char(7),char(0),char(5),char(1),
-char(4),char(0),char(6),char(1),char(4),char(0),char(7),char(1),char(4),char(0),char(8),char(1),char(4),char(0),char(9),char(1),char(7),char(0),char(-31),char(0),
-char(4),char(0),char(53),char(0),char(73),char(0),char(27),char(0),char(17),char(0),char(10),char(1),char(15),char(0),char(11),char(1),char(15),char(0),char(12),char(1),
-char(13),char(0),char(3),char(1),char(13),char(0),char(13),char(1),char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),
-char(13),char(0),char(17),char(1),char(4),char(0),char(18),char(1),char(7),char(0),char(19),char(1),char(4),char(0),char(20),char(1),char(4),char(0),char(21),char(1),
-char(4),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(4),char(0),char(25),char(1),char(4),char(0),char(26),char(1),
-char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),
-char(7),char(0),char(32),char(1),char(4),char(0),char(33),char(1),char(4),char(0),char(34),char(1),char(4),char(0),char(35),char(1),char(74),char(0),char(12),char(0),
-char(9),char(0),char(36),char(1),char(9),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(39),char(1),char(7),char(0),char(-63),char(0),
-char(7),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(13),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(4),char(0),char(44),char(1),
-char(4),char(0),char(45),char(1),char(4),char(0),char(53),char(0),char(75),char(0),char(19),char(0),char(47),char(0),char(125),char(0),char(72),char(0),char(46),char(1),
-char(65),char(0),char(47),char(1),char(66),char(0),char(48),char(1),char(67),char(0),char(49),char(1),char(68),char(0),char(50),char(1),char(69),char(0),char(51),char(1),
-char(70),char(0),char(52),char(1),char(73),char(0),char(53),char(1),char(74),char(0),char(54),char(1),char(4),char(0),char(55),char(1),char(4),char(0),char(21),char(1),
-char(4),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(4),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),
-char(4),char(0),char(61),char(1),char(71),char(0),char(62),char(1),};
-int b3s_bulletDNAlen= sizeof(b3s_bulletDNAstr);
-char b3s_bulletDNAstr64[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
-char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
-char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
-char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
-char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
-char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
-char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
-char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
-char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
-char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
-char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
-char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
-char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97),
-char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
-char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),
-char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98),
-char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77),
-char(97),char(120),char(0),char(109),char(95),char(98),char(118),char(104),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),
-char(0),char(109),char(95),char(99),char(117),char(114),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(117),char(115),
-char(101),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(110),char(117),char(109),char(67),
-char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(76),char(101),char(97),char(102),char(78),char(111),char(100),char(101),char(115),char(0),char(109),
-char(95),char(110),char(117),char(109),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),
-char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(0),char(42),char(109),char(95),char(99),char(111),char(110),char(116),char(105),char(103),char(117),char(111),
-char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),
-char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),
-char(114),char(0),char(42),char(109),char(95),char(115),char(117),char(98),char(84),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(80),char(116),char(114),char(0),
-char(109),char(95),char(116),char(114),char(97),char(118),char(101),char(114),char(115),char(97),char(108),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(110),char(117),
-char(109),char(83),char(117),char(98),char(116),char(114),char(101),char(101),char(72),char(101),char(97),char(100),char(101),char(114),char(115),char(0),char(42),char(109),char(95),char(110),
-char(97),char(109),char(101),char(0),char(109),char(95),char(115),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(91),char(52),char(93),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),
-char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(83),char(99),char(97),
-char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(108),char(97),char(110),char(101),char(78),char(111),char(114),char(109),char(97),char(108),char(0),char(109),
-char(95),char(112),char(108),char(97),char(110),char(101),char(67),char(111),char(110),char(115),char(116),char(97),char(110),char(116),char(0),char(109),char(95),char(105),char(109),char(112),
-char(108),char(105),char(99),char(105),char(116),char(83),char(104),char(97),char(112),char(101),char(68),char(105),char(109),char(101),char(110),char(115),char(105),char(111),char(110),char(115),
-char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(109),
-char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(111),char(115),char(0),char(109),char(95),char(114),char(97),char(100),
-char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(111),char(110),char(118),char(101),char(120),char(73),char(110),char(116),char(101),char(114),char(110),char(97),char(108),
-char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(42),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(80),char(111),
-char(115),char(105),char(116),char(105),char(111),char(110),char(65),char(114),char(114),char(97),char(121),char(80),char(116),char(114),char(0),char(109),char(95),char(108),char(111),char(99),
-char(97),char(108),char(80),char(111),char(115),char(105),char(116),char(105),char(111),char(110),char(65),char(114),char(114),char(97),char(121),char(83),char(105),char(122),char(101),char(0),
-char(109),char(95),char(118),char(97),char(108),char(117),char(101),char(0),char(109),char(95),char(112),char(97),char(100),char(91),char(50),char(93),char(0),char(109),char(95),char(118),
-char(97),char(108),char(117),char(101),char(115),char(91),char(51),char(93),char(0),char(109),char(95),char(112),char(97),char(100),char(0),char(42),char(109),char(95),char(118),char(101),
-char(114),char(116),char(105),char(99),char(101),char(115),char(51),char(102),char(0),char(42),char(109),char(95),char(118),char(101),char(114),char(116),char(105),char(99),char(101),char(115),
-char(51),char(100),char(0),char(42),char(109),char(95),char(105),char(110),char(100),char(105),char(99),char(101),char(115),char(51),char(50),char(0),char(42),char(109),char(95),char(51),
-char(105),char(110),char(100),char(105),char(99),char(101),char(115),char(49),char(54),char(0),char(42),char(109),char(95),char(51),char(105),char(110),char(100),char(105),char(99),char(101),
-char(115),char(56),char(0),char(42),char(109),char(95),char(105),char(110),char(100),char(105),char(99),char(101),char(115),char(49),char(54),char(0),char(109),char(95),char(110),char(117),
-char(109),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(115),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(101),char(114),char(116),
-char(105),char(99),char(101),char(115),char(0),char(42),char(109),char(95),char(109),char(101),char(115),char(104),char(80),char(97),char(114),char(116),char(115),char(80),char(116),char(114),
-char(0),char(109),char(95),char(115),char(99),char(97),char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(110),char(117),char(109),char(77),char(101),char(115),char(104),
-char(80),char(97),char(114),char(116),char(115),char(0),char(109),char(95),char(109),char(101),char(115),char(104),char(73),char(110),char(116),char(101),char(114),char(102),char(97),char(99),
-char(101),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(70),char(108),char(111),char(97),char(116),char(66),
-char(118),char(104),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(68),char(111),char(117),char(98),char(108),
-char(101),char(66),char(118),char(104),char(0),char(42),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(102),char(111),
-char(77),char(97),char(112),char(0),char(109),char(95),char(112),char(97),char(100),char(51),char(91),char(52),char(93),char(0),char(109),char(95),char(116),char(114),char(105),char(109),
-char(101),char(115),char(104),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(116),char(114),char(97),char(110),char(115),
-char(102),char(111),char(114),char(109),char(0),char(42),char(109),char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),char(97),char(112),char(101),char(0),char(109),
-char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104),
-char(105),char(108),char(100),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(42),char(109),char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),
-char(97),char(112),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),char(109),char(67),char(104),char(105),char(108),char(100),char(83),char(104),char(97),
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-char(9),char(0),char(36),char(1),char(9),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(39),char(1),char(7),char(0),char(-63),char(0),
-char(7),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(13),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(4),char(0),char(44),char(1),
-char(4),char(0),char(45),char(1),char(4),char(0),char(53),char(0),char(75),char(0),char(19),char(0),char(47),char(0),char(125),char(0),char(72),char(0),char(46),char(1),
-char(65),char(0),char(47),char(1),char(66),char(0),char(48),char(1),char(67),char(0),char(49),char(1),char(68),char(0),char(50),char(1),char(69),char(0),char(51),char(1),
-char(70),char(0),char(52),char(1),char(73),char(0),char(53),char(1),char(74),char(0),char(54),char(1),char(4),char(0),char(55),char(1),char(4),char(0),char(21),char(1),
-char(4),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(4),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),
-char(4),char(0),char(61),char(1),char(71),char(0),char(62),char(1),};
-int b3s_bulletDNAlen64= sizeof(b3s_bulletDNAstr64);
+char b3s_bulletDNAstr[] = {
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+	char(0),
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+	char(4),
+	char(0),
+	char(-52),
+	char(0),
+	char(4),
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+	char(-51),
+	char(0),
+	char(4),
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+	char(0),
+	char(0),
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+	char(37),
+	char(0),
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+	char(0),
+	char(22),
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+	char(0),
+	char(-67),
+	char(0),
+	char(7),
+	char(0),
+	char(-79),
+	char(0),
+	char(7),
+	char(0),
+	char(110),
+	char(0),
+	char(7),
+	char(0),
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+	char(0),
+	char(112),
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+	char(0),
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+	char(0),
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+	char(0),
+	char(-57),
+	char(0),
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+	char(0),
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+	char(13),
+	char(0),
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+	char(0),
+	char(7),
+	char(0),
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+	char(0),
+	char(-40),
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+	char(4),
+	char(0),
+	char(-39),
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+	char(0),
+	char(67),
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+	char(-37),
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+	char(0),
+	char(4),
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+	char(65),
+	char(0),
+	char(-46),
+	char(0),
+	char(4),
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+	char(-35),
+	char(0),
+	char(7),
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+	char(-34),
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+	char(69),
+	char(0),
+	char(7),
+	char(0),
+	char(13),
+	char(0),
+	char(-33),
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+	char(-46),
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+	char(0),
+	char(7),
+	char(0),
+	char(-31),
+	char(0),
+	char(7),
+	char(0),
+	char(-30),
+	char(0),
+	char(7),
+	char(0),
+	char(-29),
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+	char(53),
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+	char(0),
+	char(6),
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+	char(0),
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+	char(0),
+	char(-30),
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+	char(-27),
+	char(0),
+	char(56),
+	char(0),
+	char(-26),
+	char(0),
+	char(4),
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+	char(-25),
+	char(0),
+	char(7),
+	char(0),
+	char(-29),
+	char(0),
+	char(71),
+	char(0),
+	char(26),
+	char(0),
+	char(4),
+	char(0),
+	char(-24),
+	char(0),
+	char(7),
+	char(0),
+	char(-23),
+	char(0),
+	char(7),
+	char(0),
+	char(-79),
+	char(0),
+	char(7),
+	char(0),
+	char(-22),
+	char(0),
+	char(7),
+	char(0),
+	char(-21),
+	char(0),
+	char(7),
+	char(0),
+	char(-20),
+	char(0),
+	char(7),
+	char(0),
+	char(-19),
+	char(0),
+	char(7),
+	char(0),
+	char(-18),
+	char(0),
+	char(7),
+	char(0),
+	char(-17),
+	char(0),
+	char(7),
+	char(0),
+	char(-16),
+	char(0),
+	char(7),
+	char(0),
+	char(-15),
+	char(0),
+	char(7),
+	char(0),
+	char(-14),
+	char(0),
+	char(7),
+	char(0),
+	char(-13),
+	char(0),
+	char(7),
+	char(0),
+	char(-12),
+	char(0),
+	char(7),
+	char(0),
+	char(-11),
+	char(0),
+	char(7),
+	char(0),
+	char(-10),
+	char(0),
+	char(7),
+	char(0),
+	char(-9),
+	char(0),
+	char(7),
+	char(0),
+	char(-8),
+	char(0),
+	char(7),
+	char(0),
+	char(-7),
+	char(0),
+	char(7),
+	char(0),
+	char(-6),
+	char(0),
+	char(7),
+	char(0),
+	char(-5),
+	char(0),
+	char(4),
+	char(0),
+	char(-4),
+	char(0),
+	char(4),
+	char(0),
+	char(-3),
+	char(0),
+	char(4),
+	char(0),
+	char(-2),
+	char(0),
+	char(4),
+	char(0),
+	char(-1),
+	char(0),
+	char(4),
+	char(0),
+	char(117),
+	char(0),
+	char(72),
+	char(0),
+	char(12),
+	char(0),
+	char(15),
+	char(0),
+	char(0),
+	char(1),
+	char(15),
+	char(0),
+	char(1),
+	char(1),
+	char(15),
+	char(0),
+	char(2),
+	char(1),
+	char(13),
+	char(0),
+	char(3),
+	char(1),
+	char(13),
+	char(0),
+	char(4),
+	char(1),
+	char(7),
+	char(0),
+	char(5),
+	char(1),
+	char(4),
+	char(0),
+	char(6),
+	char(1),
+	char(4),
+	char(0),
+	char(7),
+	char(1),
+	char(4),
+	char(0),
+	char(8),
+	char(1),
+	char(4),
+	char(0),
+	char(9),
+	char(1),
+	char(7),
+	char(0),
+	char(-31),
+	char(0),
+	char(4),
+	char(0),
+	char(53),
+	char(0),
+	char(73),
+	char(0),
+	char(27),
+	char(0),
+	char(17),
+	char(0),
+	char(10),
+	char(1),
+	char(15),
+	char(0),
+	char(11),
+	char(1),
+	char(15),
+	char(0),
+	char(12),
+	char(1),
+	char(13),
+	char(0),
+	char(3),
+	char(1),
+	char(13),
+	char(0),
+	char(13),
+	char(1),
+	char(13),
+	char(0),
+	char(14),
+	char(1),
+	char(13),
+	char(0),
+	char(15),
+	char(1),
+	char(13),
+	char(0),
+	char(16),
+	char(1),
+	char(13),
+	char(0),
+	char(17),
+	char(1),
+	char(4),
+	char(0),
+	char(18),
+	char(1),
+	char(7),
+	char(0),
+	char(19),
+	char(1),
+	char(4),
+	char(0),
+	char(20),
+	char(1),
+	char(4),
+	char(0),
+	char(21),
+	char(1),
+	char(4),
+	char(0),
+	char(22),
+	char(1),
+	char(7),
+	char(0),
+	char(23),
+	char(1),
+	char(7),
+	char(0),
+	char(24),
+	char(1),
+	char(4),
+	char(0),
+	char(25),
+	char(1),
+	char(4),
+	char(0),
+	char(26),
+	char(1),
+	char(7),
+	char(0),
+	char(27),
+	char(1),
+	char(7),
+	char(0),
+	char(28),
+	char(1),
+	char(7),
+	char(0),
+	char(29),
+	char(1),
+	char(7),
+	char(0),
+	char(30),
+	char(1),
+	char(7),
+	char(0),
+	char(31),
+	char(1),
+	char(7),
+	char(0),
+	char(32),
+	char(1),
+	char(4),
+	char(0),
+	char(33),
+	char(1),
+	char(4),
+	char(0),
+	char(34),
+	char(1),
+	char(4),
+	char(0),
+	char(35),
+	char(1),
+	char(74),
+	char(0),
+	char(12),
+	char(0),
+	char(9),
+	char(0),
+	char(36),
+	char(1),
+	char(9),
+	char(0),
+	char(37),
+	char(1),
+	char(13),
+	char(0),
+	char(38),
+	char(1),
+	char(7),
+	char(0),
+	char(39),
+	char(1),
+	char(7),
+	char(0),
+	char(-63),
+	char(0),
+	char(7),
+	char(0),
+	char(40),
+	char(1),
+	char(4),
+	char(0),
+	char(41),
+	char(1),
+	char(13),
+	char(0),
+	char(42),
+	char(1),
+	char(4),
+	char(0),
+	char(43),
+	char(1),
+	char(4),
+	char(0),
+	char(44),
+	char(1),
+	char(4),
+	char(0),
+	char(45),
+	char(1),
+	char(4),
+	char(0),
+	char(53),
+	char(0),
+	char(75),
+	char(0),
+	char(19),
+	char(0),
+	char(47),
+	char(0),
+	char(125),
+	char(0),
+	char(72),
+	char(0),
+	char(46),
+	char(1),
+	char(65),
+	char(0),
+	char(47),
+	char(1),
+	char(66),
+	char(0),
+	char(48),
+	char(1),
+	char(67),
+	char(0),
+	char(49),
+	char(1),
+	char(68),
+	char(0),
+	char(50),
+	char(1),
+	char(69),
+	char(0),
+	char(51),
+	char(1),
+	char(70),
+	char(0),
+	char(52),
+	char(1),
+	char(73),
+	char(0),
+	char(53),
+	char(1),
+	char(74),
+	char(0),
+	char(54),
+	char(1),
+	char(4),
+	char(0),
+	char(55),
+	char(1),
+	char(4),
+	char(0),
+	char(21),
+	char(1),
+	char(4),
+	char(0),
+	char(56),
+	char(1),
+	char(4),
+	char(0),
+	char(57),
+	char(1),
+	char(4),
+	char(0),
+	char(58),
+	char(1),
+	char(4),
+	char(0),
+	char(59),
+	char(1),
+	char(4),
+	char(0),
+	char(60),
+	char(1),
+	char(4),
+	char(0),
+	char(61),
+	char(1),
+	char(71),
+	char(0),
+	char(62),
+	char(1),
+};
+int b3s_bulletDNAlen = sizeof(b3s_bulletDNAstr);
+char b3s_bulletDNAstr64[] = {
+	char(83),
+	char(68),
+	char(78),
+	char(65),
+	char(78),
+	char(65),
+	char(77),
+	char(69),
+	char(63),
+	char(1),
+	char(0),
+	char(0),
+	char(109),
+	char(95),
+	char(115),
+	char(105),
+	char(122),
+	char(101),
+	char(0),
+	char(109),
+	char(95),
+	char(99),
+	char(97),
+	char(112),
+	char(97),
+	char(99),
+	char(105),
+	char(116),
+	char(121),
+	char(0),
+	char(42),
+	char(109),
+	char(95),
+	char(100),
+	char(97),
+	char(116),
+	char(97),
+	char(0),
+	char(109),
+	char(95),
+	char(99),
+	char(111),
+	char(108),
+	char(108),
+	char(105),
+	char(115),
+	char(105),
+	char(111),
+	char(110),
+	char(83),
+	char(104),
+	char(97),
+	char(112),
+	char(101),
+	char(115),
+	char(0),
+	char(109),
+	char(95),
+	char(99),
+	char(111),
+	char(108),
+	char(108),
+	char(105),
+	char(115),
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+	char(-68),
+	char(0),
+	char(64),
+	char(0),
+	char(9),
+	char(0),
+	char(55),
+	char(0),
+	char(-97),
+	char(0),
+	char(17),
+	char(0),
+	char(-94),
+	char(0),
+	char(17),
+	char(0),
+	char(-93),
+	char(0),
+	char(7),
+	char(0),
+	char(-78),
+	char(0),
+	char(7),
+	char(0),
+	char(-77),
+	char(0),
+	char(7),
+	char(0),
+	char(-76),
+	char(0),
+	char(7),
+	char(0),
+	char(-75),
+	char(0),
+	char(4),
+	char(0),
+	char(-74),
+	char(0),
+	char(4),
+	char(0),
+	char(-73),
+	char(0),
+	char(49),
+	char(0),
+	char(22),
+	char(0),
+	char(8),
+	char(0),
+	char(-67),
+	char(0),
+	char(8),
+	char(0),
+	char(-79),
+	char(0),
+	char(8),
+	char(0),
+	char(110),
+	char(0),
+	char(8),
+	char(0),
+	char(-66),
+	char(0),
+	char(8),
+	char(0),
+	char(112),
+	char(0),
+	char(8),
+	char(0),
+	char(-65),
+	char(0),
+	char(8),
+	char(0),
+	char(-64),
+	char(0),
+	char(8),
+	char(0),
+	char(-63),
+	char(0),
+	char(8),
+	char(0),
+	char(-62),
+	char(0),
+	char(8),
+	char(0),
+	char(-61),
+	char(0),
+	char(8),
+	char(0),
+	char(-60),
+	char(0),
+	char(8),
+	char(0),
+	char(-59),
+	char(0),
+	char(8),
+	char(0),
+	char(-58),
+	char(0),
+	char(8),
+	char(0),
+	char(-57),
+	char(0),
+	char(8),
+	char(0),
+	char(-56),
+	char(0),
+	char(8),
+	char(0),
+	char(-55),
+	char(0),
+	char(4),
+	char(0),
+	char(-54),
+	char(0),
+	char(4),
+	char(0),
+	char(-53),
+	char(0),
+	char(4),
+	char(0),
+	char(-52),
+	char(0),
+	char(4),
+	char(0),
+	char(-51),
+	char(0),
+	char(4),
+	char(0),
+	char(-50),
+	char(0),
+	char(0),
+	char(0),
+	char(37),
+	char(0),
+	char(51),
+	char(0),
+	char(22),
+	char(0),
+	char(7),
+	char(0),
+	char(-67),
+	char(0),
+	char(7),
+	char(0),
+	char(-79),
+	char(0),
+	char(7),
+	char(0),
+	char(110),
+	char(0),
+	char(7),
+	char(0),
+	char(-66),
+	char(0),
+	char(7),
+	char(0),
+	char(112),
+	char(0),
+	char(7),
+	char(0),
+	char(-65),
+	char(0),
+	char(7),
+	char(0),
+	char(-64),
+	char(0),
+	char(7),
+	char(0),
+	char(-63),
+	char(0),
+	char(7),
+	char(0),
+	char(-62),
+	char(0),
+	char(7),
+	char(0),
+	char(-61),
+	char(0),
+	char(7),
+	char(0),
+	char(-60),
+	char(0),
+	char(7),
+	char(0),
+	char(-59),
+	char(0),
+	char(7),
+	char(0),
+	char(-58),
+	char(0),
+	char(7),
+	char(0),
+	char(-57),
+	char(0),
+	char(7),
+	char(0),
+	char(-56),
+	char(0),
+	char(7),
+	char(0),
+	char(-55),
+	char(0),
+	char(4),
+	char(0),
+	char(-54),
+	char(0),
+	char(4),
+	char(0),
+	char(-53),
+	char(0),
+	char(4),
+	char(0),
+	char(-52),
+	char(0),
+	char(4),
+	char(0),
+	char(-51),
+	char(0),
+	char(4),
+	char(0),
+	char(-50),
+	char(0),
+	char(0),
+	char(0),
+	char(37),
+	char(0),
+	char(65),
+	char(0),
+	char(4),
+	char(0),
+	char(7),
+	char(0),
+	char(-49),
+	char(0),
+	char(7),
+	char(0),
+	char(-48),
+	char(0),
+	char(7),
+	char(0),
+	char(-47),
+	char(0),
+	char(4),
+	char(0),
+	char(78),
+	char(0),
+	char(66),
+	char(0),
+	char(10),
+	char(0),
+	char(65),
+	char(0),
+	char(-46),
+	char(0),
+	char(13),
+	char(0),
+	char(-45),
+	char(0),
+	char(13),
+	char(0),
+	char(-44),
+	char(0),
+	char(13),
+	char(0),
+	char(-43),
+	char(0),
+	char(13),
+	char(0),
+	char(-42),
+	char(0),
+	char(13),
+	char(0),
+	char(-41),
+	char(0),
+	char(7),
+	char(0),
+	char(-121),
+	char(0),
+	char(7),
+	char(0),
+	char(-40),
+	char(0),
+	char(4),
+	char(0),
+	char(-39),
+	char(0),
+	char(4),
+	char(0),
+	char(53),
+	char(0),
+	char(67),
+	char(0),
+	char(4),
+	char(0),
+	char(65),
+	char(0),
+	char(-46),
+	char(0),
+	char(4),
+	char(0),
+	char(-38),
+	char(0),
+	char(7),
+	char(0),
+	char(-37),
+	char(0),
+	char(4),
+	char(0),
+	char(-36),
+	char(0),
+	char(68),
+	char(0),
+	char(4),
+	char(0),
+	char(13),
+	char(0),
+	char(-41),
+	char(0),
+	char(65),
+	char(0),
+	char(-46),
+	char(0),
+	char(4),
+	char(0),
+	char(-35),
+	char(0),
+	char(7),
+	char(0),
+	char(-34),
+	char(0),
+	char(69),
+	char(0),
+	char(7),
+	char(0),
+	char(13),
+	char(0),
+	char(-33),
+	char(0),
+	char(65),
+	char(0),
+	char(-46),
+	char(0),
+	char(4),
+	char(0),
+	char(-32),
+	char(0),
+	char(7),
+	char(0),
+	char(-31),
+	char(0),
+	char(7),
+	char(0),
+	char(-30),
+	char(0),
+	char(7),
+	char(0),
+	char(-29),
+	char(0),
+	char(4),
+	char(0),
+	char(53),
+	char(0),
+	char(70),
+	char(0),
+	char(6),
+	char(0),
+	char(15),
+	char(0),
+	char(-28),
+	char(0),
+	char(13),
+	char(0),
+	char(-30),
+	char(0),
+	char(13),
+	char(0),
+	char(-27),
+	char(0),
+	char(56),
+	char(0),
+	char(-26),
+	char(0),
+	char(4),
+	char(0),
+	char(-25),
+	char(0),
+	char(7),
+	char(0),
+	char(-29),
+	char(0),
+	char(71),
+	char(0),
+	char(26),
+	char(0),
+	char(4),
+	char(0),
+	char(-24),
+	char(0),
+	char(7),
+	char(0),
+	char(-23),
+	char(0),
+	char(7),
+	char(0),
+	char(-79),
+	char(0),
+	char(7),
+	char(0),
+	char(-22),
+	char(0),
+	char(7),
+	char(0),
+	char(-21),
+	char(0),
+	char(7),
+	char(0),
+	char(-20),
+	char(0),
+	char(7),
+	char(0),
+	char(-19),
+	char(0),
+	char(7),
+	char(0),
+	char(-18),
+	char(0),
+	char(7),
+	char(0),
+	char(-17),
+	char(0),
+	char(7),
+	char(0),
+	char(-16),
+	char(0),
+	char(7),
+	char(0),
+	char(-15),
+	char(0),
+	char(7),
+	char(0),
+	char(-14),
+	char(0),
+	char(7),
+	char(0),
+	char(-13),
+	char(0),
+	char(7),
+	char(0),
+	char(-12),
+	char(0),
+	char(7),
+	char(0),
+	char(-11),
+	char(0),
+	char(7),
+	char(0),
+	char(-10),
+	char(0),
+	char(7),
+	char(0),
+	char(-9),
+	char(0),
+	char(7),
+	char(0),
+	char(-8),
+	char(0),
+	char(7),
+	char(0),
+	char(-7),
+	char(0),
+	char(7),
+	char(0),
+	char(-6),
+	char(0),
+	char(7),
+	char(0),
+	char(-5),
+	char(0),
+	char(4),
+	char(0),
+	char(-4),
+	char(0),
+	char(4),
+	char(0),
+	char(-3),
+	char(0),
+	char(4),
+	char(0),
+	char(-2),
+	char(0),
+	char(4),
+	char(0),
+	char(-1),
+	char(0),
+	char(4),
+	char(0),
+	char(117),
+	char(0),
+	char(72),
+	char(0),
+	char(12),
+	char(0),
+	char(15),
+	char(0),
+	char(0),
+	char(1),
+	char(15),
+	char(0),
+	char(1),
+	char(1),
+	char(15),
+	char(0),
+	char(2),
+	char(1),
+	char(13),
+	char(0),
+	char(3),
+	char(1),
+	char(13),
+	char(0),
+	char(4),
+	char(1),
+	char(7),
+	char(0),
+	char(5),
+	char(1),
+	char(4),
+	char(0),
+	char(6),
+	char(1),
+	char(4),
+	char(0),
+	char(7),
+	char(1),
+	char(4),
+	char(0),
+	char(8),
+	char(1),
+	char(4),
+	char(0),
+	char(9),
+	char(1),
+	char(7),
+	char(0),
+	char(-31),
+	char(0),
+	char(4),
+	char(0),
+	char(53),
+	char(0),
+	char(73),
+	char(0),
+	char(27),
+	char(0),
+	char(17),
+	char(0),
+	char(10),
+	char(1),
+	char(15),
+	char(0),
+	char(11),
+	char(1),
+	char(15),
+	char(0),
+	char(12),
+	char(1),
+	char(13),
+	char(0),
+	char(3),
+	char(1),
+	char(13),
+	char(0),
+	char(13),
+	char(1),
+	char(13),
+	char(0),
+	char(14),
+	char(1),
+	char(13),
+	char(0),
+	char(15),
+	char(1),
+	char(13),
+	char(0),
+	char(16),
+	char(1),
+	char(13),
+	char(0),
+	char(17),
+	char(1),
+	char(4),
+	char(0),
+	char(18),
+	char(1),
+	char(7),
+	char(0),
+	char(19),
+	char(1),
+	char(4),
+	char(0),
+	char(20),
+	char(1),
+	char(4),
+	char(0),
+	char(21),
+	char(1),
+	char(4),
+	char(0),
+	char(22),
+	char(1),
+	char(7),
+	char(0),
+	char(23),
+	char(1),
+	char(7),
+	char(0),
+	char(24),
+	char(1),
+	char(4),
+	char(0),
+	char(25),
+	char(1),
+	char(4),
+	char(0),
+	char(26),
+	char(1),
+	char(7),
+	char(0),
+	char(27),
+	char(1),
+	char(7),
+	char(0),
+	char(28),
+	char(1),
+	char(7),
+	char(0),
+	char(29),
+	char(1),
+	char(7),
+	char(0),
+	char(30),
+	char(1),
+	char(7),
+	char(0),
+	char(31),
+	char(1),
+	char(7),
+	char(0),
+	char(32),
+	char(1),
+	char(4),
+	char(0),
+	char(33),
+	char(1),
+	char(4),
+	char(0),
+	char(34),
+	char(1),
+	char(4),
+	char(0),
+	char(35),
+	char(1),
+	char(74),
+	char(0),
+	char(12),
+	char(0),
+	char(9),
+	char(0),
+	char(36),
+	char(1),
+	char(9),
+	char(0),
+	char(37),
+	char(1),
+	char(13),
+	char(0),
+	char(38),
+	char(1),
+	char(7),
+	char(0),
+	char(39),
+	char(1),
+	char(7),
+	char(0),
+	char(-63),
+	char(0),
+	char(7),
+	char(0),
+	char(40),
+	char(1),
+	char(4),
+	char(0),
+	char(41),
+	char(1),
+	char(13),
+	char(0),
+	char(42),
+	char(1),
+	char(4),
+	char(0),
+	char(43),
+	char(1),
+	char(4),
+	char(0),
+	char(44),
+	char(1),
+	char(4),
+	char(0),
+	char(45),
+	char(1),
+	char(4),
+	char(0),
+	char(53),
+	char(0),
+	char(75),
+	char(0),
+	char(19),
+	char(0),
+	char(47),
+	char(0),
+	char(125),
+	char(0),
+	char(72),
+	char(0),
+	char(46),
+	char(1),
+	char(65),
+	char(0),
+	char(47),
+	char(1),
+	char(66),
+	char(0),
+	char(48),
+	char(1),
+	char(67),
+	char(0),
+	char(49),
+	char(1),
+	char(68),
+	char(0),
+	char(50),
+	char(1),
+	char(69),
+	char(0),
+	char(51),
+	char(1),
+	char(70),
+	char(0),
+	char(52),
+	char(1),
+	char(73),
+	char(0),
+	char(53),
+	char(1),
+	char(74),
+	char(0),
+	char(54),
+	char(1),
+	char(4),
+	char(0),
+	char(55),
+	char(1),
+	char(4),
+	char(0),
+	char(21),
+	char(1),
+	char(4),
+	char(0),
+	char(56),
+	char(1),
+	char(4),
+	char(0),
+	char(57),
+	char(1),
+	char(4),
+	char(0),
+	char(58),
+	char(1),
+	char(4),
+	char(0),
+	char(59),
+	char(1),
+	char(4),
+	char(0),
+	char(60),
+	char(1),
+	char(4),
+	char(0),
+	char(61),
+	char(1),
+	char(71),
+	char(0),
+	char(62),
+	char(1),
+};
+int b3s_bulletDNAlen64 = sizeof(b3s_bulletDNAstr64);
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h
index 1c1ce43764..d9e153e238 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/b3Serializer.h
@@ -16,158 +16,142 @@ subject to the following restrictions:
 #ifndef B3_SERIALIZER_H
 #define B3_SERIALIZER_H
 
-#include "Bullet3Common/b3Scalar.h" // has definitions like B3_FORCE_INLINE
+#include "Bullet3Common/b3Scalar.h"  // has definitions like B3_FORCE_INLINE
 #include "Bullet3Common/b3StackAlloc.h"
 #include "Bullet3Common/b3HashMap.h"
 
-#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
 #include <memory.h>
 #endif
 #include <string.h>
 
-
-
 extern char b3s_bulletDNAstr[];
 extern int b3s_bulletDNAlen;
 extern char b3s_bulletDNAstr64[];
 extern int b3s_bulletDNAlen64;
 
-B3_FORCE_INLINE	int b3StrLen(const char* str) 
+B3_FORCE_INLINE int b3StrLen(const char* str)
 {
-    if (!str) 
-		return(0);
+	if (!str)
+		return (0);
 	int len = 0;
-    
+
 	while (*str != 0)
 	{
-        str++;
-        len++;
-    }
+		str++;
+		len++;
+	}
 
-    return len;
+	return len;
 }
 
-
 class b3Chunk
 {
 public:
-	int		m_chunkCode;
-	int		m_length;
-	void	*m_oldPtr;
-	int		m_dna_nr;
-	int		m_number;
+	int m_chunkCode;
+	int m_length;
+	void* m_oldPtr;
+	int m_dna_nr;
+	int m_number;
 };
 
-enum	b3SerializationFlags
+enum b3SerializationFlags
 {
 	B3_SERIALIZE_NO_BVH = 1,
 	B3_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
 	B3_SERIALIZE_NO_DUPLICATE_ASSERT = 4
 };
 
-class	b3Serializer
+class b3Serializer
 {
-
 public:
-
 	virtual ~b3Serializer() {}
 
-	virtual	const unsigned char*		getBufferPointer() const = 0;
-
-	virtual	int		getCurrentBufferSize() const = 0;
+	virtual const unsigned char* getBufferPointer() const = 0;
 
-	virtual	b3Chunk*	allocate(size_t size, int numElements) = 0;
+	virtual int getCurrentBufferSize() const = 0;
 
-	virtual	void	finalizeChunk(b3Chunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
+	virtual b3Chunk* allocate(size_t size, int numElements) = 0;
 
-	virtual	 void*	findPointer(void* oldPtr)  = 0;
+	virtual void finalizeChunk(b3Chunk* chunk, const char* structType, int chunkCode, void* oldPtr) = 0;
 
-	virtual	void*	getUniquePointer(void*oldPtr) = 0;
+	virtual void* findPointer(void* oldPtr) = 0;
 
-	virtual	void	startSerialization() = 0;
-	
-	virtual	void	finishSerialization() = 0;
+	virtual void* getUniquePointer(void* oldPtr) = 0;
 
-	virtual	const char*	findNameForPointer(const void* ptr) const = 0;
+	virtual void startSerialization() = 0;
 
-	virtual	void	registerNameForPointer(const void* ptr, const char* name) = 0;
+	virtual void finishSerialization() = 0;
 
-	virtual void	serializeName(const char* ptr) = 0;
+	virtual const char* findNameForPointer(const void* ptr) const = 0;
 
-	virtual int		getSerializationFlags() const = 0;
+	virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
 
-	virtual void	setSerializationFlags(int flags) = 0;
+	virtual void serializeName(const char* ptr) = 0;
 
+	virtual int getSerializationFlags() const = 0;
 
+	virtual void setSerializationFlags(int flags) = 0;
 };
 
-
-
 #define B3_HEADER_LENGTH 12
-#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
-#	define B3_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
+#define B3_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
 #else
-#	define B3_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#define B3_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
 #endif
 
-#define B3_SOFTBODY_CODE		B3_MAKE_ID('S','B','D','Y')
-#define B3_COLLISIONOBJECT_CODE B3_MAKE_ID('C','O','B','J')
-#define B3_RIGIDBODY_CODE		B3_MAKE_ID('R','B','D','Y')
-#define B3_CONSTRAINT_CODE		B3_MAKE_ID('C','O','N','S')
-#define B3_BOXSHAPE_CODE		B3_MAKE_ID('B','O','X','S')
-#define B3_QUANTIZED_BVH_CODE	B3_MAKE_ID('Q','B','V','H')
-#define B3_TRIANLGE_INFO_MAP	B3_MAKE_ID('T','M','A','P')
-#define B3_SHAPE_CODE			B3_MAKE_ID('S','H','A','P')
-#define B3_ARRAY_CODE			B3_MAKE_ID('A','R','A','Y')
-#define B3_SBMATERIAL_CODE		B3_MAKE_ID('S','B','M','T')
-#define B3_SBNODE_CODE			B3_MAKE_ID('S','B','N','D')
-#define B3_DYNAMICSWORLD_CODE	B3_MAKE_ID('D','W','L','D')
-#define B3_DNA_CODE				B3_MAKE_ID('D','N','A','1')
-
-
-struct	b3PointerUid
+#define B3_SOFTBODY_CODE B3_MAKE_ID('S', 'B', 'D', 'Y')
+#define B3_COLLISIONOBJECT_CODE B3_MAKE_ID('C', 'O', 'B', 'J')
+#define B3_RIGIDBODY_CODE B3_MAKE_ID('R', 'B', 'D', 'Y')
+#define B3_CONSTRAINT_CODE B3_MAKE_ID('C', 'O', 'N', 'S')
+#define B3_BOXSHAPE_CODE B3_MAKE_ID('B', 'O', 'X', 'S')
+#define B3_QUANTIZED_BVH_CODE B3_MAKE_ID('Q', 'B', 'V', 'H')
+#define B3_TRIANLGE_INFO_MAP B3_MAKE_ID('T', 'M', 'A', 'P')
+#define B3_SHAPE_CODE B3_MAKE_ID('S', 'H', 'A', 'P')
+#define B3_ARRAY_CODE B3_MAKE_ID('A', 'R', 'A', 'Y')
+#define B3_SBMATERIAL_CODE B3_MAKE_ID('S', 'B', 'M', 'T')
+#define B3_SBNODE_CODE B3_MAKE_ID('S', 'B', 'N', 'D')
+#define B3_DYNAMICSWORLD_CODE B3_MAKE_ID('D', 'W', 'L', 'D')
+#define B3_DNA_CODE B3_MAKE_ID('D', 'N', 'A', '1')
+
+struct b3PointerUid
 {
-	union
-	{
-		void*	m_ptr;
-		int		m_uniqueIds[2];
+	union {
+		void* m_ptr;
+		int m_uniqueIds[2];
 	};
 };
 
 ///The b3DefaultSerializer is the main Bullet serialization class.
 ///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
-class b3DefaultSerializer	:	public b3Serializer
+class b3DefaultSerializer : public b3Serializer
 {
+	b3AlignedObjectArray<char*> mTypes;
+	b3AlignedObjectArray<short*> mStructs;
+	b3AlignedObjectArray<short> mTlens;
+	b3HashMap<b3HashInt, int> mStructReverse;
+	b3HashMap<b3HashString, int> mTypeLookup;
 
+	b3HashMap<b3HashPtr, void*> m_chunkP;
 
-	b3AlignedObjectArray<char*>			mTypes;
-	b3AlignedObjectArray<short*>			mStructs;
-	b3AlignedObjectArray<short>			mTlens;
-	b3HashMap<b3HashInt, int>			mStructReverse;
-	b3HashMap<b3HashString,int>	mTypeLookup;
+	b3HashMap<b3HashPtr, const char*> m_nameMap;
 
-	
-	b3HashMap<b3HashPtr,void*>	m_chunkP;
-	
-	b3HashMap<b3HashPtr,const char*>	m_nameMap;
+	b3HashMap<b3HashPtr, b3PointerUid> m_uniquePointers;
+	int m_uniqueIdGenerator;
 
-	b3HashMap<b3HashPtr,b3PointerUid>	m_uniquePointers;
-	int	m_uniqueIdGenerator;
+	int m_totalSize;
+	unsigned char* m_buffer;
+	int m_currentSize;
+	void* m_dna;
+	int m_dnaLength;
 
-	int					m_totalSize;
-	unsigned char*		m_buffer;
-	int					m_currentSize;
-	void*				m_dna;
-	int					m_dnaLength;
+	int m_serializationFlags;
 
-	int					m_serializationFlags;
+	b3AlignedObjectArray<b3Chunk*> m_chunkPtrs;
 
-
-	b3AlignedObjectArray<b3Chunk*>	m_chunkPtrs;
-	
 protected:
-
-	virtual	void*	findPointer(void* oldPtr) 
+	virtual void* findPointer(void* oldPtr)
 	{
 		void** ptr = m_chunkP.find(oldPtr);
 		if (ptr && *ptr)
@@ -175,48 +159,43 @@ protected:
 		return 0;
 	}
 
-	
-
-
-
-		void	writeDNA()
-		{
-			b3Chunk* dnaChunk = allocate(m_dnaLength,1);
-			memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength);
-			finalizeChunk(dnaChunk,"DNA1",B3_DNA_CODE, m_dna);
-		}
+	void writeDNA()
+	{
+		b3Chunk* dnaChunk = allocate(m_dnaLength, 1);
+		memcpy(dnaChunk->m_oldPtr, m_dna, m_dnaLength);
+		finalizeChunk(dnaChunk, "DNA1", B3_DNA_CODE, m_dna);
+	}
 
-		int getReverseType(const char *type) const
-		{
+	int getReverseType(const char* type) const
+	{
+		b3HashString key(type);
+		const int* valuePtr = mTypeLookup.find(key);
+		if (valuePtr)
+			return *valuePtr;
 
-			b3HashString key(type);
-			const int* valuePtr = mTypeLookup.find(key);
-			if (valuePtr)
-				return *valuePtr;
-			
-			return -1;
-		}
+		return -1;
+	}
 
-		void initDNA(const char* bdnaOrg,int dnalen)
-		{
-			///was already initialized
-			if (m_dna)
-				return;
+	void initDNA(const char* bdnaOrg, int dnalen)
+	{
+		///was already initialized
+		if (m_dna)
+			return;
 
-			int littleEndian= 1;
-			littleEndian= ((char*)&littleEndian)[0];
-			
+		int littleEndian = 1;
+		littleEndian = ((char*)&littleEndian)[0];
 
-			m_dna = b3AlignedAlloc(dnalen,16);
-			memcpy(m_dna,bdnaOrg,dnalen);
-			m_dnaLength = dnalen;
+		m_dna = b3AlignedAlloc(dnalen, 16);
+		memcpy(m_dna, bdnaOrg, dnalen);
+		m_dnaLength = dnalen;
 
-			int *intPtr=0;
-			short *shtPtr=0;
-			char *cp = 0;int dataLen =0;
-			intPtr = (int*)m_dna;
+		int* intPtr = 0;
+		short* shtPtr = 0;
+		char* cp = 0;
+		int dataLen = 0;
+		intPtr = (int*)m_dna;
 
-			/*
+		/*
 				SDNA (4 bytes) (magic number)
 				NAME (4 bytes)
 				<nr> (4 bytes) amount of names (int)
@@ -224,81 +203,81 @@ protected:
 				<string>
 			*/
 
-			if (strncmp((const char*)m_dna, "SDNA", 4)==0)
-			{
-				// skip ++ NAME
-				intPtr++; intPtr++;
-			}
-
-			// Parse names
-			if (!littleEndian)
-				*intPtr = b3SwapEndian(*intPtr);
-				
-			dataLen = *intPtr;
-			
+		if (strncmp((const char*)m_dna, "SDNA", 4) == 0)
+		{
+			// skip ++ NAME
+			intPtr++;
 			intPtr++;
+		}
 
-			cp = (char*)intPtr;
-			int i;
-			for ( i=0; i<dataLen; i++)
-			{
-				
-				while (*cp)cp++;
-				cp++;
-			}
-			cp = b3AlignPointer(cp,4);
+		// Parse names
+		if (!littleEndian)
+			*intPtr = b3SwapEndian(*intPtr);
 
-			/*
+		dataLen = *intPtr;
+
+		intPtr++;
+
+		cp = (char*)intPtr;
+		int i;
+		for (i = 0; i < dataLen; i++)
+		{
+			while (*cp) cp++;
+			cp++;
+		}
+		cp = b3AlignPointer(cp, 4);
+
+		/*
 				TYPE (4 bytes)
 				<nr> amount of types (int)
 				<string>
 				<string>
 			*/
 
-			intPtr = (int*)cp;
-			b3Assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+		intPtr = (int*)cp;
+		b3Assert(strncmp(cp, "TYPE", 4) == 0);
+		intPtr++;
 
-			if (!littleEndian)
-				*intPtr =  b3SwapEndian(*intPtr);
-			
-			dataLen = *intPtr;
-			intPtr++;
+		if (!littleEndian)
+			*intPtr = b3SwapEndian(*intPtr);
 
-			
-			cp = (char*)intPtr;
-			for (i=0; i<dataLen; i++)
-			{
-				mTypes.push_back(cp);
-				while (*cp)cp++;
-				cp++;
-			}
+		dataLen = *intPtr;
+		intPtr++;
 
-			cp = b3AlignPointer(cp,4);
+		cp = (char*)intPtr;
+		for (i = 0; i < dataLen; i++)
+		{
+			mTypes.push_back(cp);
+			while (*cp) cp++;
+			cp++;
+		}
 
+		cp = b3AlignPointer(cp, 4);
 
-			/*
+		/*
 				TLEN (4 bytes)
 				<len> (short) the lengths of types
 				<len>
 			*/
 
-			// Parse type lens
-			intPtr = (int*)cp;
-			b3Assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+		// Parse type lens
+		intPtr = (int*)cp;
+		b3Assert(strncmp(cp, "TLEN", 4) == 0);
+		intPtr++;
 
-			dataLen = (int)mTypes.size();
+		dataLen = (int)mTypes.size();
 
-			shtPtr = (short*)intPtr;
-			for (i=0; i<dataLen; i++, shtPtr++)
-			{
-				if (!littleEndian)
-					shtPtr[0] = b3SwapEndian(shtPtr[0]);
-				mTlens.push_back(shtPtr[0]);
-			}
+		shtPtr = (short*)intPtr;
+		for (i = 0; i < dataLen; i++, shtPtr++)
+		{
+			if (!littleEndian)
+				shtPtr[0] = b3SwapEndian(shtPtr[0]);
+			mTlens.push_back(shtPtr[0]);
+		}
 
-			if (dataLen & 1) shtPtr++;
+		if (dataLen & 1) shtPtr++;
 
-			/*
+		/*
 				STRC (4 bytes)
 				<nr> amount of structs (int)
 				<typenr>
@@ -309,331 +288,314 @@ protected:
 				<namenr>
 			*/
 
-			intPtr = (int*)shtPtr;
-			cp = (char*)intPtr;
-			b3Assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+		intPtr = (int*)shtPtr;
+		cp = (char*)intPtr;
+		b3Assert(strncmp(cp, "STRC", 4) == 0);
+		intPtr++;
 
-			if (!littleEndian)
-				*intPtr = b3SwapEndian(*intPtr);
-			dataLen = *intPtr ; 
-			intPtr++;
+		if (!littleEndian)
+			*intPtr = b3SwapEndian(*intPtr);
+		dataLen = *intPtr;
+		intPtr++;
 
+		shtPtr = (short*)intPtr;
+		for (i = 0; i < dataLen; i++)
+		{
+			mStructs.push_back(shtPtr);
 
-			shtPtr = (short*)intPtr;
-			for (i=0; i<dataLen; i++)
+			if (!littleEndian)
 			{
-				mStructs.push_back (shtPtr);
-				
-				if (!littleEndian)
-				{
-					shtPtr[0]= b3SwapEndian(shtPtr[0]);
-					shtPtr[1]= b3SwapEndian(shtPtr[1]);
+				shtPtr[0] = b3SwapEndian(shtPtr[0]);
+				shtPtr[1] = b3SwapEndian(shtPtr[1]);
 
-					int len = shtPtr[1];
-					shtPtr+= 2;
+				int len = shtPtr[1];
+				shtPtr += 2;
 
-					for (int a=0; a<len; a++, shtPtr+=2)
-					{
-							shtPtr[0]= b3SwapEndian(shtPtr[0]);
-							shtPtr[1]= b3SwapEndian(shtPtr[1]);
-					}
-
-				} else
+				for (int a = 0; a < len; a++, shtPtr += 2)
 				{
-					shtPtr+= (2*shtPtr[1])+2;
+					shtPtr[0] = b3SwapEndian(shtPtr[0]);
+					shtPtr[1] = b3SwapEndian(shtPtr[1]);
 				}
 			}
-
-			// build reverse lookups
-			for (i=0; i<(int)mStructs.size(); i++)
+			else
 			{
-				short *strc = mStructs.at(i);
-				mStructReverse.insert(strc[0], i);
-				mTypeLookup.insert(b3HashString(mTypes[strc[0]]),i);
+				shtPtr += (2 * shtPtr[1]) + 2;
 			}
 		}
 
-public:	
-	
+		// build reverse lookups
+		for (i = 0; i < (int)mStructs.size(); i++)
+		{
+			short* strc = mStructs.at(i);
+			mStructReverse.insert(strc[0], i);
+			mTypeLookup.insert(b3HashString(mTypes[strc[0]]), i);
+		}
+	}
 
-	
+public:
+	b3DefaultSerializer(int totalSize = 0)
+		: m_totalSize(totalSize),
+		  m_currentSize(0),
+		  m_dna(0),
+		  m_dnaLength(0),
+		  m_serializationFlags(0)
+	{
+		m_buffer = m_totalSize ? (unsigned char*)b3AlignedAlloc(totalSize, 16) : 0;
 
-		b3DefaultSerializer(int totalSize=0)
-			:m_totalSize(totalSize),
-			m_currentSize(0),
-			m_dna(0),
-			m_dnaLength(0),
-			m_serializationFlags(0)
-		{
-			m_buffer = m_totalSize?(unsigned char*)b3AlignedAlloc(totalSize,16):0;
-			
-			const bool VOID_IS_8 = ((sizeof(void*)==8));
+		const bool VOID_IS_8 = ((sizeof(void*) == 8));
 
 #ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-			if (VOID_IS_8)
-			{
+		if (VOID_IS_8)
+		{
 #if _WIN64
-				initDNA((const char*)b3s_bulletDNAstr64,b3s_bulletDNAlen64);
+			initDNA((const char*)b3s_bulletDNAstr64, b3s_bulletDNAlen64);
 #else
-				b3Assert(0);
+			b3Assert(0);
 #endif
-			} else
-			{
+		}
+		else
+		{
 #ifndef _WIN64
-				initDNA((const char*)b3s_bulletDNAstr,b3s_bulletDNAlen);
+			initDNA((const char*)b3s_bulletDNAstr, b3s_bulletDNAlen);
 #else
-				b3Assert(0);
+			b3Assert(0);
 #endif
-			}
-	
-#else //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-			if (VOID_IS_8)
-			{
-				initDNA((const char*)b3s_bulletDNAstr64,b3s_bulletDNAlen64);
-			} else
-			{
-				initDNA((const char*)b3s_bulletDNAstr,b3s_bulletDNAlen);
-			}
-#endif //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-	
 		}
 
-		virtual ~b3DefaultSerializer() 
+#else   //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+		if (VOID_IS_8)
 		{
-			if (m_buffer)
-				b3AlignedFree(m_buffer);
-			if (m_dna)
-				b3AlignedFree(m_dna);
+			initDNA((const char*)b3s_bulletDNAstr64, b3s_bulletDNAlen64);
 		}
-
-		void	writeHeader(unsigned char* buffer) const
+		else
 		{
-			
+			initDNA((const char*)b3s_bulletDNAstr, b3s_bulletDNAlen);
+		}
+#endif  //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+	}
 
-#ifdef  B3_USE_DOUBLE_PRECISION
-			memcpy(buffer, "BULLETd", 7);
+	virtual ~b3DefaultSerializer()
+	{
+		if (m_buffer)
+			b3AlignedFree(m_buffer);
+		if (m_dna)
+			b3AlignedFree(m_dna);
+	}
+
+	void writeHeader(unsigned char* buffer) const
+	{
+#ifdef B3_USE_DOUBLE_PRECISION
+		memcpy(buffer, "BULLETd", 7);
 #else
-			memcpy(buffer, "BULLETf", 7);
-#endif //B3_USE_DOUBLE_PRECISION
-	
-			int littleEndian= 1;
-			littleEndian= ((char*)&littleEndian)[0];
+		memcpy(buffer, "BULLETf", 7);
+#endif  //B3_USE_DOUBLE_PRECISION
 
-			if (sizeof(void*)==8)
-			{
-				buffer[7] = '-';
-			} else
-			{
-				buffer[7] = '_';
-			}
+		int littleEndian = 1;
+		littleEndian = ((char*)&littleEndian)[0];
 
-			if (littleEndian)
-			{
-				buffer[8]='v';				
-			} else
-			{
-				buffer[8]='V';
-			}
+		if (sizeof(void*) == 8)
+		{
+			buffer[7] = '-';
+		}
+		else
+		{
+			buffer[7] = '_';
+		}
 
+		if (littleEndian)
+		{
+			buffer[8] = 'v';
+		}
+		else
+		{
+			buffer[8] = 'V';
+		}
 
-			buffer[9] = '2';
-			buffer[10] = '8';
-			buffer[11] = '1';
+		buffer[9] = '2';
+		buffer[10] = '8';
+		buffer[11] = '1';
+	}
 
+	virtual void startSerialization()
+	{
+		m_uniqueIdGenerator = 1;
+		if (m_totalSize)
+		{
+			unsigned char* buffer = internalAlloc(B3_HEADER_LENGTH);
+			writeHeader(buffer);
 		}
+	}
+
+	virtual void finishSerialization()
+	{
+		writeDNA();
 
-		virtual	void	startSerialization()
+		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
+		int mysize = 0;
+		if (!m_totalSize)
 		{
-			m_uniqueIdGenerator= 1;
-			if (m_totalSize)
+			if (m_buffer)
+				b3AlignedFree(m_buffer);
+
+			m_currentSize += B3_HEADER_LENGTH;
+			m_buffer = (unsigned char*)b3AlignedAlloc(m_currentSize, 16);
+
+			unsigned char* currentPtr = m_buffer;
+			writeHeader(m_buffer);
+			currentPtr += B3_HEADER_LENGTH;
+			mysize += B3_HEADER_LENGTH;
+			for (int i = 0; i < m_chunkPtrs.size(); i++)
 			{
-				unsigned char* buffer = internalAlloc(B3_HEADER_LENGTH);
-				writeHeader(buffer);
+				int curLength = sizeof(b3Chunk) + m_chunkPtrs[i]->m_length;
+				memcpy(currentPtr, m_chunkPtrs[i], curLength);
+				b3AlignedFree(m_chunkPtrs[i]);
+				currentPtr += curLength;
+				mysize += curLength;
 			}
-			
 		}
 
-		virtual	void	finishSerialization()
+		mTypes.clear();
+		mStructs.clear();
+		mTlens.clear();
+		mStructReverse.clear();
+		mTypeLookup.clear();
+		m_chunkP.clear();
+		m_nameMap.clear();
+		m_uniquePointers.clear();
+		m_chunkPtrs.clear();
+	}
+
+	virtual void* getUniquePointer(void* oldPtr)
+	{
+		if (!oldPtr)
+			return 0;
+
+		b3PointerUid* uptr = (b3PointerUid*)m_uniquePointers.find(oldPtr);
+		if (uptr)
 		{
-			writeDNA();
+			return uptr->m_ptr;
+		}
+		m_uniqueIdGenerator++;
 
-			//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-			int mysize = 0;
-			if (!m_totalSize)
-			{
-				if (m_buffer)
-					b3AlignedFree(m_buffer);
+		b3PointerUid uid;
+		uid.m_uniqueIds[0] = m_uniqueIdGenerator;
+		uid.m_uniqueIds[1] = m_uniqueIdGenerator;
+		m_uniquePointers.insert(oldPtr, uid);
+		return uid.m_ptr;
+	}
 
-				m_currentSize += B3_HEADER_LENGTH;
-				m_buffer = (unsigned char*)b3AlignedAlloc(m_currentSize,16);
+	virtual const unsigned char* getBufferPointer() const
+	{
+		return m_buffer;
+	}
 
-				unsigned char* currentPtr = m_buffer;
-				writeHeader(m_buffer);
-				currentPtr += B3_HEADER_LENGTH;
-				mysize+=B3_HEADER_LENGTH;
-				for (int i=0;i<	m_chunkPtrs.size();i++)
-				{
-					int curLength = sizeof(b3Chunk)+m_chunkPtrs[i]->m_length;
-					memcpy(currentPtr,m_chunkPtrs[i], curLength);
-					b3AlignedFree(m_chunkPtrs[i]);
-					currentPtr+=curLength;
-					mysize+=curLength;
-				}
-			}
+	virtual int getCurrentBufferSize() const
+	{
+		return m_currentSize;
+	}
 
-			mTypes.clear();
-			mStructs.clear();
-			mTlens.clear();
-			mStructReverse.clear();
-			mTypeLookup.clear();
-			m_chunkP.clear();
-			m_nameMap.clear();
-			m_uniquePointers.clear();
-			m_chunkPtrs.clear();
+	virtual void finalizeChunk(b3Chunk* chunk, const char* structType, int chunkCode, void* oldPtr)
+	{
+		if (!(m_serializationFlags & B3_SERIALIZE_NO_DUPLICATE_ASSERT))
+		{
+			b3Assert(!findPointer(oldPtr));
 		}
 
-		virtual	void*	getUniquePointer(void*oldPtr)
-		{
-			if (!oldPtr)
-				return 0;
+		chunk->m_dna_nr = getReverseType(structType);
 
-			b3PointerUid* uptr = (b3PointerUid*)m_uniquePointers.find(oldPtr);
-			if (uptr)
-			{
-				return uptr->m_ptr;
-			}
-			m_uniqueIdGenerator++;
-			
-			b3PointerUid uid;
-			uid.m_uniqueIds[0] = m_uniqueIdGenerator;
-			uid.m_uniqueIds[1] = m_uniqueIdGenerator;
-			m_uniquePointers.insert(oldPtr,uid);
-			return uid.m_ptr;
+		chunk->m_chunkCode = chunkCode;
 
-		}
+		void* uniquePtr = getUniquePointer(oldPtr);
 
-		virtual	const unsigned char*		getBufferPointer() const
-		{
-			return m_buffer;
-		}
+		m_chunkP.insert(oldPtr, uniquePtr);  //chunk->m_oldPtr);
+		chunk->m_oldPtr = uniquePtr;         //oldPtr;
+	}
 
-		virtual	int					getCurrentBufferSize() const
-		{
-			return	m_currentSize;
-		}
+	virtual unsigned char* internalAlloc(size_t size)
+	{
+		unsigned char* ptr = 0;
 
-		virtual	void	finalizeChunk(b3Chunk* chunk, const char* structType, int chunkCode,void* oldPtr)
+		if (m_totalSize)
 		{
-			if (!(m_serializationFlags&B3_SERIALIZE_NO_DUPLICATE_ASSERT))
-			{
-				b3Assert(!findPointer(oldPtr));
-			}
-
-			chunk->m_dna_nr = getReverseType(structType);
-			
-			chunk->m_chunkCode = chunkCode;
-			
-			void* uniquePtr = getUniquePointer(oldPtr);
-			
-			m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr);
-			chunk->m_oldPtr = uniquePtr;//oldPtr;
-			
+			ptr = m_buffer + m_currentSize;
+			m_currentSize += int(size);
+			b3Assert(m_currentSize < m_totalSize);
 		}
-
-		
-		virtual unsigned char* internalAlloc(size_t size)
+		else
 		{
-			unsigned char* ptr = 0;
-
-			if (m_totalSize)
-			{
-				ptr = m_buffer+m_currentSize;
-				m_currentSize += int(size);
-				b3Assert(m_currentSize<m_totalSize);
-			} else
-			{
-				ptr = (unsigned char*)b3AlignedAlloc(size,16);
-				m_currentSize += int(size);
-			}
-			return ptr;
+			ptr = (unsigned char*)b3AlignedAlloc(size, 16);
+			m_currentSize += int(size);
 		}
+		return ptr;
+	}
 
-		
+	virtual b3Chunk* allocate(size_t size, int numElements)
+	{
+		unsigned char* ptr = internalAlloc(int(size) * numElements + sizeof(b3Chunk));
 
-		virtual	b3Chunk*	allocate(size_t size, int numElements)
-		{
+		unsigned char* data = ptr + sizeof(b3Chunk);
 
-			unsigned char* ptr = internalAlloc(int(size)*numElements+sizeof(b3Chunk));
+		b3Chunk* chunk = (b3Chunk*)ptr;
+		chunk->m_chunkCode = 0;
+		chunk->m_oldPtr = data;
+		chunk->m_length = int(size) * numElements;
+		chunk->m_number = numElements;
 
-			unsigned char* data = ptr + sizeof(b3Chunk);
-			
-			b3Chunk* chunk = (b3Chunk*)ptr;
-			chunk->m_chunkCode = 0;
-			chunk->m_oldPtr = data;
-			chunk->m_length = int(size)*numElements;
-			chunk->m_number = numElements;
-			
-			m_chunkPtrs.push_back(chunk);
-			
+		m_chunkPtrs.push_back(chunk);
 
-			return chunk;
-		}
+		return chunk;
+	}
 
-		virtual	const char*	findNameForPointer(const void* ptr) const
-		{
-			const char*const * namePtr = m_nameMap.find(ptr);
-			if (namePtr && *namePtr)
-				return *namePtr;
-			return 0;
+	virtual const char* findNameForPointer(const void* ptr) const
+	{
+		const char* const* namePtr = m_nameMap.find(ptr);
+		if (namePtr && *namePtr)
+			return *namePtr;
+		return 0;
+	}
 
-		}
+	virtual void registerNameForPointer(const void* ptr, const char* name)
+	{
+		m_nameMap.insert(ptr, name);
+	}
 
-		virtual	void	registerNameForPointer(const void* ptr, const char* name)
+	virtual void serializeName(const char* name)
+	{
+		if (name)
 		{
-			m_nameMap.insert(ptr,name);
-		}
+			//don't serialize name twice
+			if (findPointer((void*)name))
+				return;
 
-		virtual void	serializeName(const char* name)
-		{
-			if (name)
+			int len = b3StrLen(name);
+			if (len)
 			{
-				//don't serialize name twice
-				if (findPointer((void*)name))
-					return;
-
-				int len = b3StrLen(name);
-				if (len)
+				int newLen = len + 1;
+				int padding = ((newLen + 3) & ~3) - newLen;
+				newLen += padding;
+
+				//serialize name string now
+				b3Chunk* chunk = allocate(sizeof(char), newLen);
+				char* destinationName = (char*)chunk->m_oldPtr;
+				for (int i = 0; i < len; i++)
 				{
-
-					int newLen = len+1;
-					int padding = ((newLen+3)&~3)-newLen;
-					newLen += padding;
-
-					//serialize name string now
-					b3Chunk* chunk = allocate(sizeof(char),newLen);
-					char* destinationName = (char*)chunk->m_oldPtr;
-					for (int i=0;i<len;i++)
-					{
-						destinationName[i] = name[i];
-					}
-					destinationName[len] = 0;
-					finalizeChunk(chunk,"char",B3_ARRAY_CODE,(void*)name);
+					destinationName[i] = name[i];
 				}
+				destinationName[len] = 0;
+				finalizeChunk(chunk, "char", B3_ARRAY_CODE, (void*)name);
 			}
 		}
+	}
 
-		virtual int		getSerializationFlags() const
-		{
-			return m_serializationFlags;
-		}
-
-		virtual void	setSerializationFlags(int flags)
-		{
-			m_serializationFlags = flags;
-		}
+	virtual int getSerializationFlags() const
+	{
+		return m_serializationFlags;
+	}
 
+	virtual void setSerializationFlags(int flags)
+	{
+		m_serializationFlags = flags;
+	}
 };
 
-
-#endif //B3_SERIALIZER_H
-
+#endif  //B3_SERIALIZER_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
index 77763305b1..ec6fe9f4d8 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
@@ -2,7 +2,6 @@
 //Bullet Continuous Collision Detection and Physics Library
 //Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
-
 //
 // btAxisSweep3
 //
@@ -19,18 +18,15 @@
 // 3. This notice may not be removed or altered from any source distribution.
 #include "btAxisSweep3.h"
 
-
-btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
-:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator)
+btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+	: btAxisSweep3Internal<unsigned short int>(worldAabbMin, worldAabbMax, 0xfffe, 0xffff, maxHandles, pairCache, disableRaycastAccelerator)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 32767);
-
 }
 
-
-bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
-:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator)
+bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+	: btAxisSweep3Internal<unsigned int>(worldAabbMin, worldAabbMax, 0xfffffffe, 0x7fffffff, maxHandles, pairCache, disableRaycastAccelerator)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 2147483647);
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index a3648df1af..1e42f25f3b 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -33,9 +33,7 @@
 class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
 {
 public:
-
-	btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
-
+	btAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
 };
 
 /// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
@@ -44,9 +42,7 @@ public:
 class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
 {
 public:
-
-	bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
-
+	bt32BitAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
 };
 
 #endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
index 2c4d41bc04..2ee35528fd 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
@@ -36,172 +36,158 @@ template <typename BP_FP_INT_TYPE>
 class btAxisSweep3Internal : public btBroadphaseInterface
 {
 protected:
-
-	BP_FP_INT_TYPE	m_bpHandleMask;
-	BP_FP_INT_TYPE	m_handleSentinel;
+	BP_FP_INT_TYPE m_bpHandleMask;
+	BP_FP_INT_TYPE m_handleSentinel;
 
 public:
-	
- BT_DECLARE_ALIGNED_ALLOCATOR();
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	class Edge
 	{
 	public:
-		BP_FP_INT_TYPE m_pos;			// low bit is min/max
+		BP_FP_INT_TYPE m_pos;  // low bit is min/max
 		BP_FP_INT_TYPE m_handle;
 
-		BP_FP_INT_TYPE IsMax() const {return static_cast<BP_FP_INT_TYPE>(m_pos & 1);}
+		BP_FP_INT_TYPE IsMax() const { return static_cast<BP_FP_INT_TYPE>(m_pos & 1); }
 	};
 
 public:
-	class	Handle : public btBroadphaseProxy
+	class Handle : public btBroadphaseProxy
 	{
 	public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+
 		// indexes into the edge arrays
-		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
-//		BP_FP_INT_TYPE m_uniqueId;
-		btBroadphaseProxy*	m_dbvtProxy;//for faster raycast
+		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];  // 6 * 2 = 12
+													  //		BP_FP_INT_TYPE m_uniqueId;
+		btBroadphaseProxy* m_dbvtProxy;               //for faster raycast
 		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
-	
-		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
-		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
-	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
 
-	
+		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) { m_minEdges[0] = next; }
+		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const { return m_minEdges[0]; }
+	};  // 24 bytes + 24 for Edge structures = 44 bytes total per entry
+
 protected:
-	btVector3 m_worldAabbMin;						// overall system bounds
-	btVector3 m_worldAabbMax;						// overall system bounds
+	btVector3 m_worldAabbMin;  // overall system bounds
+	btVector3 m_worldAabbMax;  // overall system bounds
+
+	btVector3 m_quantize;  // scaling factor for quantization
 
-	btVector3 m_quantize;						// scaling factor for quantization
+	BP_FP_INT_TYPE m_numHandles;  // number of active handles
+	BP_FP_INT_TYPE m_maxHandles;  // max number of handles
+	Handle* m_pHandles;           // handles pool
 
-	BP_FP_INT_TYPE m_numHandles;						// number of active handles
-	BP_FP_INT_TYPE m_maxHandles;						// max number of handles
-	Handle* m_pHandles;						// handles pool
-	
-	BP_FP_INT_TYPE m_firstFreeHandle;		// free handles list
+	BP_FP_INT_TYPE m_firstFreeHandle;  // free handles list
 
-	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
+	Edge* m_pEdges[3];  // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
 	void* m_pEdgesRawPtr[3];
 
 	btOverlappingPairCache* m_pairCache;
 
 	///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
 	btOverlappingPairCallback* m_userPairCallback;
-	
-	bool	m_ownsPairCache;
 
-	int	m_invalidPair;
+	bool m_ownsPairCache;
+
+	int m_invalidPair;
 
 	///additional dynamic aabb structure, used to accelerate ray cast queries.
 	///can be disabled using a optional argument in the constructor
-	btDbvtBroadphase*	m_raycastAccelerator;
-	btOverlappingPairCache*	m_nullPairCache;
-
+	btDbvtBroadphase* m_raycastAccelerator;
+	btOverlappingPairCache* m_nullPairCache;
 
 	// allocation/deallocation
 	BP_FP_INT_TYPE allocHandle();
 	void freeHandle(BP_FP_INT_TYPE handle);
-	
 
-	bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1);
+	bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1);
 
 #ifdef DEBUG_BROADPHASE
-	void debugPrintAxis(int axis,bool checkCardinality=true);
-#endif //DEBUG_BROADPHASE
+	void debugPrintAxis(int axis, bool checkCardinality = true);
+#endif  //DEBUG_BROADPHASE
 
 	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 
-	
-
-	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
+	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
+	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
+	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
 
 public:
+	btAxisSweep3Internal(const btVector3& worldAabbMin, const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
 
-	btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
-
-	virtual	~btAxisSweep3Internal();
+	virtual ~btAxisSweep3Internal();
 
 	BP_FP_INT_TYPE getNumHandles() const
 	{
 		return m_numHandles;
 	}
 
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-	
-	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
-	void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
-	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
+	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
+
+	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
+	void removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher);
+	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
+	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const { return m_pHandles + index; }
 
 	virtual void resetPool(btDispatcher* dispatcher);
 
-	void	processAllOverlappingPairs(btOverlapCallback* callback);
+	void processAllOverlappingPairs(btOverlapCallback* callback);
 
 	//Broadphase Interface
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	virtual void  getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
-	virtual void	aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	
+	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
+	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
+	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
+	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
+
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
+	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+
 	void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
 	///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
-	void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+	void unQuantize(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
+
+	bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
-	btOverlappingPairCache*	getOverlappingPairCache()
+	btOverlappingPairCache* getOverlappingPairCache()
 	{
 		return m_pairCache;
 	}
-	const btOverlappingPairCache*	getOverlappingPairCache() const
+	const btOverlappingPairCache* getOverlappingPairCache() const
 	{
 		return m_pairCache;
 	}
 
-	void	setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
+	void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
 	{
 		m_userPairCallback = pairCallback;
 	}
-	const btOverlappingPairCallback*	getOverlappingPairUserCallback() const
+	const btOverlappingPairCallback* getOverlappingPairUserCallback() const
 	{
 		return m_userPairCallback;
 	}
 
 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
 	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
 	{
 		aabbMin = m_worldAabbMin;
 		aabbMax = m_worldAabbMax;
 	}
 
-	virtual void	printStats()
+	virtual void printStats()
 	{
-/*		printf("btAxisSweep3.h\n");
+		/*		printf("btAxisSweep3.h\n");
 		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
 		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
 			m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
 			*/
-
 	}
-
 };
 
 ////////////////////////////////////////////////////////////////////
 
-
-
-
 #ifdef DEBUG_BROADPHASE
 #include <stdio.h>
 
@@ -209,75 +195,73 @@ template <typename BP_FP_INT_TYPE>
 void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinality)
 {
 	int numEdges = m_pHandles[0].m_maxEdges[axis];
-	printf("SAP Axis %d, numEdges=%d\n",axis,numEdges);
+	printf("SAP Axis %d, numEdges=%d\n", axis, numEdges);
 
 	int i;
-	for (i=0;i<numEdges+1;i++)
+	for (i = 0; i < numEdges + 1; i++)
 	{
 		Edge* pEdge = m_pEdges[axis] + i;
 		Handle* pHandlePrev = getHandle(pEdge->m_handle);
-		int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
+		int handleIndex = pEdge->IsMax() ? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
 		char beginOrEnd;
-		beginOrEnd=pEdge->IsMax()?'E':'B';
-		printf("	[%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex);
+		beginOrEnd = pEdge->IsMax() ? 'E' : 'B';
+		printf("	[%c,h=%d,p=%x,i=%d]\n", beginOrEnd, pEdge->m_handle, pEdge->m_pos, handleIndex);
 	}
 
 	if (checkCardinality)
-		btAssert(numEdges == m_numHandles*2+1);
+		btAssert(numEdges == m_numHandles * 2 + 1);
 }
-#endif //DEBUG_BROADPHASE
+#endif  //DEBUG_BROADPHASE
 
 template <typename BP_FP_INT_TYPE>
-btBroadphaseProxy*	btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher)
+btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
 {
-		(void)shapeType;
-		BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher);
-		
-		Handle* handle = getHandle(handleId);
-		
-		if (m_raycastAccelerator)
-		{
-			btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher);
-			handle->m_dbvtProxy = rayProxy;
-		}
-		return handle;
-}
+	(void)shapeType;
+	BP_FP_INT_TYPE handleId = addHandle(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
 
+	Handle* handle = getHandle(handleId);
 
+	if (m_raycastAccelerator)
+	{
+		btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
+		handle->m_dbvtProxy = rayProxy;
+	}
+	return handle;
+}
 
 template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
 {
 	Handle* handle = static_cast<Handle*>(proxy);
 	if (m_raycastAccelerator)
-		m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher);
+		m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy, dispatcher);
 	removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
 }
 
 template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher)
 {
 	Handle* handle = static_cast<Handle*>(proxy);
 	handle->m_aabbMin = aabbMin;
 	handle->m_aabbMax = aabbMax;
-	updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
+	updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax, dispatcher);
 	if (m_raycastAccelerator)
-		m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher);
-
+		m_raycastAccelerator->setAabb(handle->m_dbvtProxy, aabbMin, aabbMax, dispatcher);
 }
 
 template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
 {
 	if (m_raycastAccelerator)
 	{
-		m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax);
-	} else
+		m_raycastAccelerator->rayTest(rayFrom, rayTo, rayCallback, aabbMin, aabbMax);
+	}
+	else
 	{
 		//choose axis?
 		BP_FP_INT_TYPE axis = 0;
 		//for each proxy
-		for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
+		for (BP_FP_INT_TYPE i = 1; i < m_numHandles * 2 + 1; i++)
 		{
 			if (m_pEdges[axis][i].IsMax())
 			{
@@ -288,22 +272,23 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,cons
 }
 
 template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
 {
 	if (m_raycastAccelerator)
 	{
-		m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback);
-	} else
+		m_raycastAccelerator->aabbTest(aabbMin, aabbMax, callback);
+	}
+	else
 	{
 		//choose axis?
 		BP_FP_INT_TYPE axis = 0;
 		//for each proxy
-		for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
+		for (BP_FP_INT_TYPE i = 1; i < m_numHandles * 2 + 1; i++)
 		{
 			if (m_pEdges[axis][i].IsMax())
 			{
 				Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
-				if (TestAabbAgainstAabb2(aabbMin,aabbMax,handle->m_aabbMin,handle->m_aabbMax))
+				if (TestAabbAgainstAabb2(aabbMin, aabbMax, handle->m_aabbMin, handle->m_aabbMax))
 				{
 					callback.process(handle);
 				}
@@ -312,66 +297,60 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, co
 	}
 }
 
-
-
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	Handle* pHandle = static_cast<Handle*>(proxy);
 	aabbMin = pHandle->m_aabbMin;
 	aabbMax = pHandle->m_aabbMax;
 }
 
-
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	Handle* pHandle = static_cast<Handle*>(proxy);
 
 	unsigned short vecInMin[3];
 	unsigned short vecInMax[3];
 
-	vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ;
-	vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ;
-	vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ;
-	vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ;
-	vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ;
-	vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ;
-	
-	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ()));
+	vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos;
+	vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos + 1;
+	vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos;
+	vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos + 1;
+	vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos;
+	vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos + 1;
+
+	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()), (btScalar)(vecInMin[1]) / (m_quantize.getY()), (btScalar)(vecInMin[2]) / (m_quantize.getZ()));
 	aabbMin += m_worldAabbMin;
-	
-	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ()));
+
+	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()), (btScalar)(vecInMax[1]) / (m_quantize.getY()), (btScalar)(vecInMax[2]) / (m_quantize.getZ()));
 	aabbMax += m_worldAabbMin;
 }
 
-
-
-
 template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
-:m_bpHandleMask(handleMask),
-m_handleSentinel(handleSentinel),
-m_pairCache(pairCache),
-m_userPairCallback(0),
-m_ownsPairCache(false),
-m_invalidPair(0),
-m_raycastAccelerator(0)
+btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin, const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+	: m_bpHandleMask(handleMask),
+	  m_handleSentinel(handleSentinel),
+	  m_pairCache(pairCache),
+	  m_userPairCallback(0),
+	  m_ownsPairCache(false),
+	  m_invalidPair(0),
+	  m_raycastAccelerator(0)
 {
-	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
+	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles + 1);  //need to add one sentinel handle
 
 	if (!m_pairCache)
 	{
-		void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
-		m_pairCache = new(ptr) btHashedOverlappingPairCache();
+		void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
+		m_pairCache = new (ptr) btHashedOverlappingPairCache();
 		m_ownsPairCache = true;
 	}
 
 	if (!disableRaycastAccelerator)
 	{
-		m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache();
-		m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache);
-		m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs
+		m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache), 16)) btNullPairCache();
+		m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase), 16)) btDbvtBroadphase(m_nullPairCache);  //m_pairCache);
+		m_raycastAccelerator->m_deferedcollide = true;                                                                //don't add/remove pairs
 	}
 
 	//btAssert(bounds.HasVolume());
@@ -382,13 +361,13 @@ m_raycastAccelerator(0)
 
 	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
 
-	BP_FP_INT_TYPE	maxInt = m_handleSentinel;
+	BP_FP_INT_TYPE maxInt = m_handleSentinel;
 
-	m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
+	m_quantize = btVector3(btScalar(maxInt), btScalar(maxInt), btScalar(maxInt)) / aabbSize;
 
 	// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
 	m_pHandles = new Handle[maxHandles];
-	
+
 	m_maxHandles = maxHandles;
 	m_numHandles = 0;
 
@@ -404,14 +383,14 @@ m_raycastAccelerator(0)
 		// allocate edge buffers
 		for (int i = 0; i < 3; i++)
 		{
-			m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16);
-			m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2];
+			m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge) * maxHandles * 2, 16);
+			m_pEdges[i] = new (m_pEdgesRawPtr[i]) Edge[maxHandles * 2];
 		}
 	}
 	//removed overlap management
 
 	// make boundary sentinels
-	
+
 	m_pHandles[0].m_clientObject = 0;
 
 	for (int axis = 0; axis < 3; axis++)
@@ -425,10 +404,8 @@ m_raycastAccelerator(0)
 		m_pEdges[axis][1].m_handle = 0;
 #ifdef DEBUG_BROADPHASE
 		debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-
+#endif  //DEBUG_BROADPHASE
 	}
-
 }
 
 template <typename BP_FP_INT_TYPE>
@@ -439,14 +416,14 @@ btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
 		m_nullPairCache->~btOverlappingPairCache();
 		btAlignedFree(m_nullPairCache);
 		m_raycastAccelerator->~btDbvtBroadphase();
-		btAlignedFree (m_raycastAccelerator);
+		btAlignedFree(m_raycastAccelerator);
 	}
 
 	for (int i = 2; i >= 0; i--)
 	{
 		btAlignedFree(m_pEdgesRawPtr[i]);
 	}
-	delete [] m_pHandles;
+	delete[] m_pHandles;
 
 	if (m_ownsPairCache)
 	{
@@ -470,13 +447,12 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const b
 	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
 #else
 	btVector3 v = (point - m_worldAabbMin) * m_quantize;
-	out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax);
-	out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax);
-	out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax);
-#endif //OLD_CLAMPING_METHOD
+	out[0] = (v[0] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[0] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0] & m_bpHandleMask) | isMax);
+	out[1] = (v[1] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[1] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1] & m_bpHandleMask) | isMax);
+	out[2] = (v[2] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[2] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2] & m_bpHandleMask) | isMax);
+#endif  //OLD_CLAMPING_METHOD
 }
 
-
 template <typename BP_FP_INT_TYPE>
 BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
 {
@@ -500,9 +476,8 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
 	m_numHandles--;
 }
 
-
 template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher)
+BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
 {
 	// quantize the bounds
 	BP_FP_INT_TYPE min[3], max[3];
@@ -511,10 +486,9 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3&
 
 	// allocate a handle
 	BP_FP_INT_TYPE handle = allocHandle();
-	
 
 	Handle* pHandle = getHandle(handle);
-	
+
 	pHandle->m_uniqueId = static_cast<int>(handle);
 	//pHandle->m_pOverlaps = 0;
 	pHandle->m_clientObject = pOwner;
@@ -524,11 +498,9 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3&
 	// compute current limit of edge arrays
 	BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2);
 
-	
 	// insert new edges just inside the max boundary edge
 	for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
 	{
-
 		m_pHandles[0].m_maxEdges[axis] += 2;
 
 		m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
@@ -544,22 +516,19 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3&
 	}
 
 	// now sort the new edges to their correct position
-	sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false);
-	sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false);
-	sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false);
-	sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false);
-	sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true);
-	sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true);
-
+	sortMinDown(0, pHandle->m_minEdges[0], dispatcher, false);
+	sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher, false);
+	sortMinDown(1, pHandle->m_minEdges[1], dispatcher, false);
+	sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher, false);
+	sortMinDown(2, pHandle->m_minEdges[2], dispatcher, true);
+	sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher, true);
 
 	return handle;
 }
 
-
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher)
 {
-
 	Handle* pHandle = getHandle(handle);
 
 	//explicitly remove the pairs containing the proxy
@@ -567,50 +536,43 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 	///@todo: compare performance
 	if (!m_pairCache->hasDeferredRemoval())
 	{
-		m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
+		m_pairCache->removeOverlappingPairsContainingProxy(pHandle, dispatcher);
 	}
 
 	// compute current limit of edge arrays
 	int limit = static_cast<int>(m_numHandles * 2);
-	
+
 	int axis;
 
-	for (axis = 0;axis<3;axis++)
+	for (axis = 0; axis < 3; axis++)
 	{
 		m_pHandles[0].m_maxEdges[axis] -= 2;
 	}
 
 	// remove the edges by sorting them up to the end of the list
-	for ( axis = 0; axis < 3; axis++)
+	for (axis = 0; axis < 3; axis++)
 	{
 		Edge* pEdges = m_pEdges[axis];
 		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
 		pEdges[max].m_pos = m_handleSentinel;
 
-		sortMaxUp(axis,max,dispatcher,false);
-
+		sortMaxUp(axis, max, dispatcher, false);
 
 		BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
 		pEdges[i].m_pos = m_handleSentinel;
 
+		sortMinUp(axis, i, dispatcher, false);
 
-		sortMinUp(axis,i,dispatcher,false);
+		pEdges[limit - 1].m_handle = 0;
+		pEdges[limit - 1].m_pos = m_handleSentinel;
 
-		pEdges[limit-1].m_handle = 0;
-		pEdges[limit-1].m_pos = m_handleSentinel;
-		
 #ifdef DEBUG_BROADPHASE
-			debugPrintAxis(axis,false);
-#endif //DEBUG_BROADPHASE
-
-
+		debugPrintAxis(axis, false);
+#endif  //DEBUG_BROADPHASE
 	}
 
-
 	// free the handle
 	freeHandle(handle);
-
-	
 }
 
 template <typename BP_FP_INT_TYPE>
@@ -625,20 +587,16 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*
 			m_pHandles[m_maxHandles - 1].SetNextFree(0);
 		}
 	}
-}       
-
+}
 
-extern int gOverlappingPairs;
 //#include <stdio.h>
 
 template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
-
 	if (m_pairCache->hasDeferredRemoval())
 	{
-	
-		btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
+		btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
 
 		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
 		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
@@ -646,18 +604,15 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 		m_invalidPair = 0;
 
-		
 		int i;
 
 		btBroadphasePair previousPair;
 		previousPair.m_pProxy0 = 0;
 		previousPair.m_pProxy1 = 0;
 		previousPair.m_algorithm = 0;
-		
-		
-		for (i=0;i<overlappingPairArray.size();i++)
+
+		for (i = 0; i < overlappingPairArray.size(); i++)
 		{
-		
 			btBroadphasePair& pair = overlappingPairArray[i];
 
 			bool isDuplicate = (pair == previousPair);
@@ -669,92 +624,90 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 			if (!isDuplicate)
 			{
 				///important to use an AABB test that is consistent with the broadphase
-				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+				bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
 
 				if (hasOverlap)
 				{
-					needsRemoval = false;//callback->processOverlap(pair);
-				} else
+					needsRemoval = false;  //callback->processOverlap(pair);
+				}
+				else
 				{
 					needsRemoval = true;
 				}
-			} else
+			}
+			else
 			{
 				//remove duplicate
 				needsRemoval = true;
 				//should have no algorithm
 				btAssert(!pair.m_algorithm);
 			}
-			
+
 			if (needsRemoval)
 			{
-				m_pairCache->cleanOverlappingPair(pair,dispatcher);
+				m_pairCache->cleanOverlappingPair(pair, dispatcher);
 
-		//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-		//		m_overlappingPairArray.pop_back();
+				//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+				//		m_overlappingPairArray.pop_back();
 				pair.m_pProxy0 = 0;
 				pair.m_pProxy1 = 0;
 				m_invalidPair++;
-				gOverlappingPairs--;
-			} 
-			
+			}
 		}
 
-	///if you don't like to skip the invalid pairs in the array, execute following code:
-	#define CLEAN_INVALID_PAIRS 1
-	#ifdef CLEAN_INVALID_PAIRS
+///if you don't like to skip the invalid pairs in the array, execute following code:
+#define CLEAN_INVALID_PAIRS 1
+#ifdef CLEAN_INVALID_PAIRS
 
 		//perform a sort, to sort 'invalid' pairs to the end
 		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
 
 		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 		m_invalidPair = 0;
-	#endif//CLEAN_INVALID_PAIRS
-		
+#endif  //CLEAN_INVALID_PAIRS
+
 		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
 	}
-
 }
 
-
 template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
 	const Handle* pHandleA = static_cast<Handle*>(proxy0);
 	const Handle* pHandleB = static_cast<Handle*>(proxy1);
-	
+
 	//optimization 1: check the array index (memory address), instead of the m_pos
 
 	for (int axis = 0; axis < 3; axis++)
-	{ 
-		if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
-			pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
-		{ 
-			return false; 
-		} 
-	} 
+	{
+		if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
+			pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
+		{
+			return false;
+		}
+	}
 	return true;
 }
 
 template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1)
+bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1)
 {
 	//optimization 1: check the array index (memory address), instead of the m_pos
 
-	if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] || 
+	if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] ||
 		pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] ||
 		pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] ||
-		pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1]) 
-	{ 
-		return false; 
-	} 
+		pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1])
+	{
+		return false;
+	}
 	return true;
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher)
 {
-//	btAssert(bounds.IsFinite());
+	//	btAssert(bounds.IsFinite());
 	//btAssert(bounds.HasVolume());
 
 	Handle* pHandle = getHandle(handle);
@@ -778,34 +731,28 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, c
 
 		// expand (only adds overlaps)
 		if (dmin < 0)
-			sortMinDown(axis, emin,dispatcher,true);
+			sortMinDown(axis, emin, dispatcher, true);
 
 		if (dmax > 0)
-			sortMaxUp(axis, emax,dispatcher,true);
+			sortMaxUp(axis, emax, dispatcher, true);
 
 		// shrink (only removes overlaps)
 		if (dmin > 0)
-			sortMinUp(axis, emin,dispatcher,true);
+			sortMinUp(axis, emin, dispatcher, true);
 
 		if (dmax < 0)
-			sortMaxDown(axis, emax,dispatcher,true);
+			sortMaxDown(axis, emax, dispatcher, true);
 
 #ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
+		debugPrintAxis(axis);
+#endif  //DEBUG_BROADPHASE
 	}
-
-	
 }
 
-
-
-
 // sorting a min edge downwards can only ever *add* overlaps
 template <typename BP_FP_INT_TYPE>
 void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
 {
-
 	Edge* pEdge = m_pEdges[axis] + edge;
 	Edge* pPrev = pEdge - 1;
 	Handle* pHandleEdge = getHandle(pEdge->m_handle);
@@ -817,16 +764,15 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE
 		if (pPrev->IsMax())
 		{
 			// if previous edge is a maximum check the bounds and add an overlap if necessary
-			const int axis1 = (1  << axis) & 3;
-			const int axis2 = (1  << axis1) & 3;
-			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev,axis1,axis2))
+			const int axis1 = (1 << axis) & 3;
+			const int axis2 = (1 << axis1) & 3;
+			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev, axis1, axis2))
 			{
-				m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev);
+				m_pairCache->addOverlappingPair(pHandleEdge, pHandlePrev);
 				if (m_userPairCallback)
-					m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev);
+					m_userPairCallback->addOverlappingPair(pHandleEdge, pHandlePrev);
 
 				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
-
 			}
 
 			// update edge reference in other handle
@@ -849,8 +795,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE
 
 #ifdef DEBUG_BROADPHASE
 	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-
+#endif  //DEBUG_BROADPHASE
 }
 
 // sorting a min edge upwards can only ever *remove* overlaps
@@ -869,25 +814,21 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE ed
 		{
 			Handle* handle0 = getHandle(pEdge->m_handle);
 			Handle* handle1 = getHandle(pNext->m_handle);
-			const int axis1 = (1  << axis) & 3;
-			const int axis2 = (1  << axis1) & 3;
-			
+			const int axis1 = (1 << axis) & 3;
+			const int axis2 = (1 << axis1) & 3;
+
 			// if next edge is maximum remove any overlap between the two handles
-			if (updateOverlaps 
+			if (updateOverlaps
 #ifdef USE_OVERLAP_TEST_ON_REMOVES
-				&& testOverlap2D(handle0,handle1,axis1,axis2)
-#endif //USE_OVERLAP_TEST_ON_REMOVES
-				)
+				&& testOverlap2D(handle0, handle1, axis1, axis2)
+#endif  //USE_OVERLAP_TEST_ON_REMOVES
+			)
 			{
-				
-
-				m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);	
+				m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
 				if (m_userPairCallback)
-					m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher);
-				
+					m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
 			}
 
-
 			// update edge reference in other handle
 			pHandleNext->m_maxEdges[axis]--;
 		}
@@ -905,15 +846,12 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE ed
 		pEdge++;
 		pNext++;
 	}
-
-
 }
 
 // sorting a max edge downwards can only ever *remove* overlaps
 template <typename BP_FP_INT_TYPE>
 void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
 {
-
 	Edge* pEdge = m_pEdges[axis] + edge;
 	Edge* pPrev = pEdge - 1;
 	Handle* pHandleEdge = getHandle(pEdge->m_handle);
@@ -927,28 +865,25 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE
 			// if previous edge was a minimum remove any overlap between the two handles
 			Handle* handle0 = getHandle(pEdge->m_handle);
 			Handle* handle1 = getHandle(pPrev->m_handle);
-			const int axis1 = (1  << axis) & 3;
-			const int axis2 = (1  << axis1) & 3;
+			const int axis1 = (1 << axis) & 3;
+			const int axis2 = (1 << axis1) & 3;
 
-			if (updateOverlaps  
+			if (updateOverlaps
 #ifdef USE_OVERLAP_TEST_ON_REMOVES
-				&& testOverlap2D(handle0,handle1,axis1,axis2)
-#endif //USE_OVERLAP_TEST_ON_REMOVES
-				)
+				&& testOverlap2D(handle0, handle1, axis1, axis2)
+#endif  //USE_OVERLAP_TEST_ON_REMOVES
+			)
 			{
 				//this is done during the overlappingpairarray iteration/narrowphase collision
 
-				
-				m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);
+				m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
 				if (m_userPairCallback)
-					m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher);
-			
-
-
+					m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
 			}
 
 			// update edge reference in other handle
-			pHandlePrev->m_minEdges[axis]++;;
+			pHandlePrev->m_minEdges[axis]++;
+			;
 		}
 		else
 			pHandlePrev->m_maxEdges[axis]++;
@@ -965,11 +900,9 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE
 		pPrev--;
 	}
 
-	
 #ifdef DEBUG_BROADPHASE
 	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-
+#endif  //DEBUG_BROADPHASE
 }
 
 // sorting a max edge upwards can only ever *add* overlaps
@@ -984,19 +917,19 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE ed
 	{
 		Handle* pHandleNext = getHandle(pNext->m_handle);
 
-		const int axis1 = (1  << axis) & 3;
-		const int axis2 = (1  << axis1) & 3;
+		const int axis1 = (1 << axis) & 3;
+		const int axis2 = (1 << axis1) & 3;
 
 		if (!pNext->IsMax())
 		{
 			// if next edge is a minimum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext,axis1,axis2))
+			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext, axis1, axis2))
 			{
 				Handle* handle0 = getHandle(pEdge->m_handle);
 				Handle* handle1 = getHandle(pNext->m_handle);
-				m_pairCache->addOverlappingPair(handle0,handle1);
+				m_pairCache->addOverlappingPair(handle0, handle1);
 				if (m_userPairCallback)
-					m_userPairCallback->addOverlappingPair(handle0,handle1);
+					m_userPairCallback->addOverlappingPair(handle0, handle1);
 			}
 
 			// update edge reference in other handle
@@ -1016,7 +949,6 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE ed
 		pEdge++;
 		pNext++;
 	}
-	
 }
 
 #endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
index fb68e0024e..b097eca5f5 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
@@ -13,10 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef		BT_BROADPHASE_INTERFACE_H
-#define 	BT_BROADPHASE_INTERFACE_H
-
-
+#ifndef BT_BROADPHASE_INTERFACE_H
+#define BT_BROADPHASE_INTERFACE_H
 
 struct btDispatcherInfo;
 class btDispatcher;
@@ -24,27 +22,23 @@ class btDispatcher;
 
 class btOverlappingPairCache;
 
-
-
-struct	btBroadphaseAabbCallback
+struct btBroadphaseAabbCallback
 {
 	virtual ~btBroadphaseAabbCallback() {}
-	virtual bool	process(const btBroadphaseProxy* proxy) = 0;
+	virtual bool process(const btBroadphaseProxy* proxy) = 0;
 };
 
-
-struct	btBroadphaseRayCallback : public btBroadphaseAabbCallback
+struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
 {
 	///added some cached data to accelerate ray-AABB tests
-	btVector3		m_rayDirectionInverse;
-	unsigned int	m_signs[3];
-	btScalar		m_lambda_max;
+	btVector3 m_rayDirectionInverse;
+	unsigned int m_signs[3];
+	btScalar m_lambda_max;
 
 	virtual ~btBroadphaseRayCallback() {}
-	
+
 protected:
-    
-    btBroadphaseRayCallback() {}
+	btBroadphaseRayCallback() {}
 };
 
 #include "LinearMath/btVector3.h"
@@ -57,30 +51,29 @@ class btBroadphaseInterface
 public:
 	virtual ~btBroadphaseInterface() {}
 
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr,  int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) =0;
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
+	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) = 0;
+	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
+	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher) = 0;
+	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const = 0;
 
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0)) = 0;
 
-	virtual void	aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
+	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
 
 	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher)=0;
+	virtual void calculateOverlappingPairs(btDispatcher* dispatcher) = 0;
 
-	virtual	btOverlappingPairCache*	getOverlappingPairCache()=0;
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const =0;
+	virtual btOverlappingPairCache* getOverlappingPairCache() = 0;
+	virtual const btOverlappingPairCache* getOverlappingPairCache() const = 0;
 
 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
 	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
+	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const = 0;
 
 	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
-
-	virtual void	printStats() = 0;
+	virtual void resetPool(btDispatcher* dispatcher) { (void)dispatcher; };
 
+	virtual void printStats() = 0;
 };
 
-#endif //BT_BROADPHASE_INTERFACE_H
+#endif  //BT_BROADPHASE_INTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
index 0fd4ef46be..7ee065aac3 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
@@ -15,4 +15,4 @@ subject to the following restrictions:
 
 #include "btBroadphaseProxy.h"
 
-BT_NOT_EMPTY_FILE // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library
+BT_NOT_EMPTY_FILE  // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index adaf083a21..825caeef56 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -16,11 +16,10 @@ subject to the following restrictions:
 #ifndef BT_BROADPHASE_PROXY_H
 #define BT_BROADPHASE_PROXY_H
 
-#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
+#include "LinearMath/btScalar.h"  //for SIMD_FORCE_INLINE
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btAlignedAllocator.h"
 
-
 /// btDispatcher uses these types
 /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
 /// to facilitate type checking
@@ -35,8 +34,8 @@ enum BroadphaseNativeTypes
 	CONVEX_HULL_SHAPE_PROXYTYPE,
 	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
 	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
-//implicit convex shapes
-IMPLICIT_CONVEX_SHAPES_START_HERE,
+	//implicit convex shapes
+	IMPLICIT_CONVEX_SHAPES_START_HERE,
 	SPHERE_SHAPE_PROXYTYPE,
 	MULTI_SPHERE_SHAPE_PROXYTYPE,
 	CAPSULE_SHAPE_PROXYTYPE,
@@ -49,8 +48,8 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 	BOX_2D_SHAPE_PROXYTYPE,
 	CONVEX_2D_SHAPE_PROXYTYPE,
 	CUSTOM_CONVEX_SHAPE_TYPE,
-//concave shapes
-CONCAVE_SHAPES_START_HERE,
+	//concave shapes
+	CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
@@ -58,15 +57,16 @@ CONCAVE_SHAPES_START_HERE,
 	FAST_CONCAVE_MESH_PROXYTYPE,
 	//terrain
 	TERRAIN_SHAPE_PROXYTYPE,
-///Used for GIMPACT Trimesh integration
+	///Used for GIMPACT Trimesh integration
 	GIMPACT_SHAPE_PROXYTYPE,
-///Multimaterial mesh
-    MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
-	
+	///Multimaterial mesh
+	MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
+
 	EMPTY_SHAPE_PROXYTYPE,
 	STATIC_PLANE_PROXYTYPE,
 	CUSTOM_CONCAVE_SHAPE_TYPE,
-CONCAVE_SHAPES_END_HERE,
+	SDF_SHAPE_PROXYTYPE = CUSTOM_CONCAVE_SHAPE_TYPE,
+	CONCAVE_SHAPES_END_HERE,
 
 	COMPOUND_SHAPE_PROXYTYPE,
 
@@ -76,38 +76,37 @@ CONCAVE_SHAPES_END_HERE,
 	INVALID_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
-	
-};
 
+};
 
-///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. 
+///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
 ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
-ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
+ATTRIBUTE_ALIGNED16(struct)
+btBroadphaseProxy
 {
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-BT_DECLARE_ALIGNED_ALLOCATOR();
-	
 	///optional filtering to cull potential collisions
 	enum CollisionFilterGroups
 	{
-	        DefaultFilter = 1,
-	        StaticFilter = 2,
-	        KinematicFilter = 4,
-	        DebrisFilter = 8,
-			SensorTrigger = 16,
-			CharacterFilter = 32,
-	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
+		DefaultFilter = 1,
+		StaticFilter = 2,
+		KinematicFilter = 4,
+		DebrisFilter = 8,
+		SensorTrigger = 16,
+		CharacterFilter = 32,
+		AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 
 	//Usually the client btCollisionObject or Rigidbody class
-	void*	m_clientObject;
-	int		m_collisionFilterGroup;
-	int		m_collisionFilterMask;
+	void* m_clientObject;
+	int m_collisionFilterGroup;
+	int m_collisionFilterMask;
 
-	int		m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
+	int m_uniqueId;  //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 
-	btVector3	m_aabbMin;
-	btVector3	m_aabbMax;
+	btVector3 m_aabbMin;
+	btVector3 m_aabbMax;
 
 	SIMD_FORCE_INLINE int getUid() const
 	{
@@ -115,47 +114,45 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	}
 
 	//used for memory pools
-	btBroadphaseProxy() :m_clientObject(0)
+	btBroadphaseProxy() : m_clientObject(0)
 	{
 	}
 
-	btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask)
-		:m_clientObject(userPtr),
-		m_collisionFilterGroup(collisionFilterGroup),
-		m_collisionFilterMask(collisionFilterMask),
-		m_aabbMin(aabbMin),
-		m_aabbMax(aabbMax)
+	btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
+		: m_clientObject(userPtr),
+		  m_collisionFilterGroup(collisionFilterGroup),
+		  m_collisionFilterMask(collisionFilterMask),
+		  m_aabbMin(aabbMin),
+		  m_aabbMax(aabbMax)
 	{
 	}
 
-	
-
 	static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
 	{
-		return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
+		return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
 	}
 
-	static SIMD_FORCE_INLINE bool	isConvex(int proxyType)
+	static SIMD_FORCE_INLINE bool isConvex(int proxyType)
 	{
 		return (proxyType < CONCAVE_SHAPES_START_HERE);
 	}
 
-	static SIMD_FORCE_INLINE bool	isNonMoving(int proxyType)
+	static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
 	{
-		return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
+		return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
 	}
 
-	static SIMD_FORCE_INLINE bool	isConcave(int proxyType)
+	static SIMD_FORCE_INLINE bool isConcave(int proxyType)
 	{
 		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
-			(proxyType < CONCAVE_SHAPES_END_HERE));
+				(proxyType < CONCAVE_SHAPES_END_HERE));
 	}
-	static SIMD_FORCE_INLINE bool	isCompound(int proxyType)
+	static SIMD_FORCE_INLINE bool isCompound(int proxyType)
 	{
 		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
 	}
 
-	static SIMD_FORCE_INLINE bool	isSoftBody(int proxyType)
+	static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
 	{
 		return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
 	}
@@ -167,67 +164,62 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
 	{
-		return (proxyType == BOX_2D_SHAPE_PROXYTYPE) ||	(proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
+		return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
 	}
-
-	
-}
-;
+};
 
 class btCollisionAlgorithm;
 
 struct btBroadphaseProxy;
 
-
-
 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
-ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
+ATTRIBUTE_ALIGNED16(struct)
+btBroadphasePair
 {
-	btBroadphasePair ()
-		:
-	m_pProxy0(0),
-		m_pProxy1(0),
-		m_algorithm(0),
-		m_internalInfo1(0)
+	btBroadphasePair()
+		: m_pProxy0(0),
+		  m_pProxy1(0),
+		  m_algorithm(0),
+		  m_internalInfo1(0)
 	{
 	}
 
-BT_DECLARE_ALIGNED_ALLOCATOR();
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btBroadphasePair(const btBroadphasePair& other)
-		:		m_pProxy0(other.m_pProxy0),
-				m_pProxy1(other.m_pProxy1),
-				m_algorithm(other.m_algorithm),
-				m_internalInfo1(other.m_internalInfo1)
+		: m_pProxy0(other.m_pProxy0),
+		  m_pProxy1(other.m_pProxy1),
+		  m_algorithm(other.m_algorithm),
+		  m_internalInfo1(other.m_internalInfo1)
 	{
 	}
-	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
+	btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
 	{
-
 		//keep them sorted, so the std::set operations work
 		if (proxy0.m_uniqueId < proxy1.m_uniqueId)
-        { 
-            m_pProxy0 = &proxy0; 
-            m_pProxy1 = &proxy1; 
-        }
-        else 
-        { 
-			m_pProxy0 = &proxy1; 
-            m_pProxy1 = &proxy0; 
-        }
+		{
+			m_pProxy0 = &proxy0;
+			m_pProxy1 = &proxy1;
+		}
+		else
+		{
+			m_pProxy0 = &proxy1;
+			m_pProxy1 = &proxy0;
+		}
 
 		m_algorithm = 0;
 		m_internalInfo1 = 0;
-
 	}
-	
+
 	btBroadphaseProxy* m_pProxy0;
 	btBroadphaseProxy* m_pProxy1;
-	
-	mutable btCollisionAlgorithm* m_algorithm;
-	union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
 
+	mutable btCollisionAlgorithm* m_algorithm;
+	union {
+		void* m_internalInfo1;
+		int m_internalTmpValue;
+	};  //don't use this data, it will be removed in future version.
 };
 
 /*
@@ -239,31 +231,25 @@ SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePa
 }
 */
 
-
-
 class btBroadphasePairSortPredicate
 {
-	public:
-
-		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
-		{
-			const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
-			const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
-			const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
-			const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
-
-			 return uidA0 > uidB0 || 
-				(a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
-				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
-		}
+public:
+	bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
+	{
+		const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
+		const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
+		const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
+		const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
+
+		return uidA0 > uidB0 ||
+			   (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
+			   (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
+	}
 };
 
-
-SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
+SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
 {
-	 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
+	return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
 }
 
-
-#endif //BT_BROADPHASE_PROXY_H
-
+#endif  //BT_BROADPHASE_PROXY_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
index c95d1be0f2..6e36d3bd73 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
@@ -20,4 +20,3 @@ btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructio
 {
 	m_dispatcher = ci.m_dispatcher1;
 }
-
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 405656236b..b00c0b1b4b 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -25,57 +25,51 @@ class btManifoldResult;
 class btCollisionObject;
 struct btCollisionObjectWrapper;
 struct btDispatcherInfo;
-class	btPersistentManifold;
+class btPersistentManifold;
 
-typedef btAlignedObjectArray<btPersistentManifold*>	btManifoldArray;
+typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
 
 struct btCollisionAlgorithmConstructionInfo
 {
 	btCollisionAlgorithmConstructionInfo()
-		:m_dispatcher1(0),
-		m_manifold(0)
+		: m_dispatcher1(0),
+		  m_manifold(0)
 	{
 	}
-	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
-		:m_dispatcher1(dispatcher)
+	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher, int temp)
+		: m_dispatcher1(dispatcher)
 	{
 		(void)temp;
 	}
 
-	btDispatcher*	m_dispatcher1;
-	btPersistentManifold*	m_manifold;
-
-//	int	getDispatcherId();
+	btDispatcher* m_dispatcher1;
+	btPersistentManifold* m_manifold;
 
+	//	int	getDispatcherId();
 };
 
-
 ///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
 ///It is persistent over frames
 class btCollisionAlgorithm
 {
-
 protected:
-
-	btDispatcher*	m_dispatcher;
+	btDispatcher* m_dispatcher;
 
 protected:
-//	int	getDispatcherId();
-	
-public:
+	//	int	getDispatcherId();
 
-	btCollisionAlgorithm() {};
+public:
+	btCollisionAlgorithm(){};
 
 	btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
 
-	virtual ~btCollisionAlgorithm() {};
+	virtual ~btCollisionAlgorithm(){};
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray) = 0;
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
 };
 
-
-#endif //BT_COLLISION_ALGORITHM_H
+#endif  //BT_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
index d791d07418..37156fd589 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
@@ -17,210 +17,225 @@ subject to the following restrictions:
 #include "btDbvt.h"
 
 //
-typedef btAlignedObjectArray<btDbvtNode*>			tNodeArray;
-typedef btAlignedObjectArray<const btDbvtNode*>	tConstNodeArray;
+typedef btAlignedObjectArray<btDbvtNode*> tNodeArray;
+typedef btAlignedObjectArray<const btDbvtNode*> tConstNodeArray;
 
 //
 struct btDbvtNodeEnumerator : btDbvt::ICollide
 {
-	tConstNodeArray	nodes;
+	tConstNodeArray nodes;
 	void Process(const btDbvtNode* n) { nodes.push_back(n); }
 };
 
 //
-static DBVT_INLINE int			indexof(const btDbvtNode* node)
+static DBVT_INLINE int indexof(const btDbvtNode* node)
 {
-	return(node->parent->childs[1]==node);
+	return (node->parent->childs[1] == node);
 }
 
 //
-static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
+static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a,
 									  const btDbvtVolume& b)
 {
-#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
-	ATTRIBUTE_ALIGNED16( char locals[sizeof(btDbvtAabbMm)]);
-	btDbvtVolume* ptr = (btDbvtVolume*) locals;
-	btDbvtVolume&	res=*ptr;
+#if (DBVT_MERGE_IMPL == DBVT_IMPL_SSE)
+	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
+	btDbvtVolume* ptr = (btDbvtVolume*)locals;
+	btDbvtVolume& res = *ptr;
 #else
-		btDbvtVolume	res;
+	btDbvtVolume res;
 #endif
-	Merge(a,b,res);
-	return(res);
+	Merge(a, b, res);
+	return (res);
 }
 
 // volume+edge lengths
-static DBVT_INLINE btScalar		size(const btDbvtVolume& a)
+static DBVT_INLINE btScalar size(const btDbvtVolume& a)
 {
-	const btVector3	edges=a.Lengths();
-	return(	edges.x()*edges.y()*edges.z()+
-		edges.x()+edges.y()+edges.z());
+	const btVector3 edges = a.Lengths();
+	return (edges.x() * edges.y() * edges.z() +
+			edges.x() + edges.y() + edges.z());
 }
 
 //
-static void						getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
+static void getmaxdepth(const btDbvtNode* node, int depth, int& maxdepth)
 {
-	if(node->isinternal())
+	if (node->isinternal())
 	{
-		getmaxdepth(node->childs[0],depth+1,maxdepth);
-		getmaxdepth(node->childs[1],depth+1,maxdepth);
-	} else maxdepth=btMax(maxdepth,depth);
+		getmaxdepth(node->childs[0], depth + 1, maxdepth);
+		getmaxdepth(node->childs[1], depth + 1, maxdepth);
+	}
+	else
+		maxdepth = btMax(maxdepth, depth);
 }
 
 //
-static DBVT_INLINE void			deletenode(	btDbvt* pdbvt,
-										   btDbvtNode* node)
+static DBVT_INLINE void deletenode(btDbvt* pdbvt,
+								   btDbvtNode* node)
 {
 	btAlignedFree(pdbvt->m_free);
-	pdbvt->m_free=node;
+	pdbvt->m_free = node;
 }
 
 //
-static void						recursedeletenode(	btDbvt* pdbvt,
-												  btDbvtNode* node)
+static void recursedeletenode(btDbvt* pdbvt,
+							  btDbvtNode* node)
 {
-	if(!node->isleaf())
+	if (!node->isleaf())
 	{
-		recursedeletenode(pdbvt,node->childs[0]);
-		recursedeletenode(pdbvt,node->childs[1]);
+		recursedeletenode(pdbvt, node->childs[0]);
+		recursedeletenode(pdbvt, node->childs[1]);
 	}
-	if(node==pdbvt->m_root) pdbvt->m_root=0;
-	deletenode(pdbvt,node);
+	if (node == pdbvt->m_root) pdbvt->m_root = 0;
+	deletenode(pdbvt, node);
 }
 
 //
-static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
-										   btDbvtNode* parent,
-										   void* data)
+static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt,
+										  btDbvtNode* parent,
+										  void* data)
 {
-	btDbvtNode*	node;
-	if(pdbvt->m_free)
-	{ node=pdbvt->m_free;pdbvt->m_free=0; }
+	btDbvtNode* node;
+	if (pdbvt->m_free)
+	{
+		node = pdbvt->m_free;
+		pdbvt->m_free = 0;
+	}
 	else
-	{ node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); }
-	node->parent	=	parent;
-	node->data		=	data;
-	node->childs[1]	=	0;
-	return(node);
+	{
+		node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
+	}
+	node->parent = parent;
+	node->data = data;
+	node->childs[1] = 0;
+	return (node);
 }
 
 //
-static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
-										   btDbvtNode* parent,
-										   const btDbvtVolume& volume,
-										   void* data)
+static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt,
+										  btDbvtNode* parent,
+										  const btDbvtVolume& volume,
+										  void* data)
 {
-	btDbvtNode*	node=createnode(pdbvt,parent,data);
-	node->volume=volume;
-	return(node);
+	btDbvtNode* node = createnode(pdbvt, parent, data);
+	node->volume = volume;
+	return (node);
 }
 
 //
-static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
-										   btDbvtNode* parent,
-										   const btDbvtVolume& volume0,
-										   const btDbvtVolume& volume1,
-										   void* data)
+static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt,
+										  btDbvtNode* parent,
+										  const btDbvtVolume& volume0,
+										  const btDbvtVolume& volume1,
+										  void* data)
 {
-	btDbvtNode*	node=createnode(pdbvt,parent,data);
-	Merge(volume0,volume1,node->volume);
-	return(node);
+	btDbvtNode* node = createnode(pdbvt, parent, data);
+	Merge(volume0, volume1, node->volume);
+	return (node);
 }
 
 //
-static void						insertleaf(	btDbvt* pdbvt,
-										   btDbvtNode* root,
-										   btDbvtNode* leaf)
+static void insertleaf(btDbvt* pdbvt,
+					   btDbvtNode* root,
+					   btDbvtNode* leaf)
 {
-	if(!pdbvt->m_root)
+	if (!pdbvt->m_root)
 	{
-		pdbvt->m_root	=	leaf;
-		leaf->parent	=	0;
+		pdbvt->m_root = leaf;
+		leaf->parent = 0;
 	}
 	else
 	{
-		if(!root->isleaf())
+		if (!root->isleaf())
 		{
-			do	{
-				root=root->childs[Select(	leaf->volume,
-					root->childs[0]->volume,
-					root->childs[1]->volume)];
-			} while(!root->isleaf());
+			do
+			{
+				root = root->childs[Select(leaf->volume,
+										   root->childs[0]->volume,
+										   root->childs[1]->volume)];
+			} while (!root->isleaf());
 		}
-		btDbvtNode*	prev=root->parent;
-		btDbvtNode*	node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
-		if(prev)
+		btDbvtNode* prev = root->parent;
+		btDbvtNode* node = createnode(pdbvt, prev, leaf->volume, root->volume, 0);
+		if (prev)
 		{
-			prev->childs[indexof(root)]	=	node;
-			node->childs[0]				=	root;root->parent=node;
-			node->childs[1]				=	leaf;leaf->parent=node;
-			do	{
-				if(!prev->volume.Contain(node->volume))
-					Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+			prev->childs[indexof(root)] = node;
+			node->childs[0] = root;
+			root->parent = node;
+			node->childs[1] = leaf;
+			leaf->parent = node;
+			do
+			{
+				if (!prev->volume.Contain(node->volume))
+					Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
 				else
 					break;
-				node=prev;
-			} while(0!=(prev=node->parent));
+				node = prev;
+			} while (0 != (prev = node->parent));
 		}
 		else
 		{
-			node->childs[0]	=	root;root->parent=node;
-			node->childs[1]	=	leaf;leaf->parent=node;
-			pdbvt->m_root	=	node;
+			node->childs[0] = root;
+			root->parent = node;
+			node->childs[1] = leaf;
+			leaf->parent = node;
+			pdbvt->m_root = node;
 		}
 	}
 }
 
 //
-static btDbvtNode*				removeleaf(	btDbvt* pdbvt,
-										   btDbvtNode* leaf)
+static btDbvtNode* removeleaf(btDbvt* pdbvt,
+							  btDbvtNode* leaf)
 {
-	if(leaf==pdbvt->m_root)
+	if (leaf == pdbvt->m_root)
 	{
-		pdbvt->m_root=0;
-		return(0);
+		pdbvt->m_root = 0;
+		return (0);
 	}
 	else
 	{
-		btDbvtNode*	parent=leaf->parent;
-		btDbvtNode*	prev=parent->parent;
-		btDbvtNode*	sibling=parent->childs[1-indexof(leaf)];			
-		if(prev)
+		btDbvtNode* parent = leaf->parent;
+		btDbvtNode* prev = parent->parent;
+		btDbvtNode* sibling = parent->childs[1 - indexof(leaf)];
+		if (prev)
 		{
-			prev->childs[indexof(parent)]=sibling;
-			sibling->parent=prev;
-			deletenode(pdbvt,parent);
-			while(prev)
+			prev->childs[indexof(parent)] = sibling;
+			sibling->parent = prev;
+			deletenode(pdbvt, parent);
+			while (prev)
 			{
-				const btDbvtVolume	pb=prev->volume;
-				Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
-				if(NotEqual(pb,prev->volume))
+				const btDbvtVolume pb = prev->volume;
+				Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume);
+				if (NotEqual(pb, prev->volume))
 				{
-					prev=prev->parent;
-				} else break;
+					prev = prev->parent;
+				}
+				else
+					break;
 			}
-			return(prev?prev:pdbvt->m_root);
+			return (prev ? prev : pdbvt->m_root);
 		}
 		else
-		{								
-			pdbvt->m_root=sibling;
-			sibling->parent=0;
-			deletenode(pdbvt,parent);
-			return(pdbvt->m_root);
-		}			
+		{
+			pdbvt->m_root = sibling;
+			sibling->parent = 0;
+			deletenode(pdbvt, parent);
+			return (pdbvt->m_root);
+		}
 	}
 }
 
 //
-static void						fetchleaves(btDbvt* pdbvt,
-											btDbvtNode* root,
-											tNodeArray& leaves,
-											int depth=-1)
+static void fetchleaves(btDbvt* pdbvt,
+						btDbvtNode* root,
+						tNodeArray& leaves,
+						int depth = -1)
 {
-	if(root->isinternal()&&depth)
+	if (root->isinternal() && depth)
 	{
-		fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
-		fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
-		deletenode(pdbvt,root);
+		fetchleaves(pdbvt, root->childs[0], leaves, depth - 1);
+		fetchleaves(pdbvt, root->childs[1], leaves, depth - 1);
+		deletenode(pdbvt, root);
 	}
 	else
 	{
@@ -229,51 +244,50 @@ static void						fetchleaves(btDbvt* pdbvt,
 }
 
 //
-static bool						leftOfAxis(	const btDbvtNode* node,
-										   const btVector3& org,
-										   const btVector3& axis)
+static bool leftOfAxis(const btDbvtNode* node,
+					   const btVector3& org,
+					   const btVector3& axis)
 {
 	return btDot(axis, node->volume.Center() - org) <= 0;
 }
 
-
 // Partitions leaves such that leaves[0, n) are on the
 // left of axis, and leaves[n, count) are on the right
 // of axis. returns N.
-static int						split(	btDbvtNode** leaves,
-									  int count,
-									  const btVector3& org,
-									  const btVector3& axis)
+static int split(btDbvtNode** leaves,
+				 int count,
+				 const btVector3& org,
+				 const btVector3& axis)
 {
-	int begin=0;
-	int end=count;
-	for(;;)
+	int begin = 0;
+	int end = count;
+	for (;;)
 	{
-		while(begin!=end && leftOfAxis(leaves[begin],org,axis))
+		while (begin != end && leftOfAxis(leaves[begin], org, axis))
 		{
 			++begin;
 		}
 
-		if(begin==end)
+		if (begin == end)
 		{
 			break;
 		}
 
-		while(begin!=end && !leftOfAxis(leaves[end-1],org,axis))
+		while (begin != end && !leftOfAxis(leaves[end - 1], org, axis))
 		{
 			--end;
 		}
 
-		if(begin==end)
+		if (begin == end)
 		{
 			break;
 		}
 
 		// swap out of place nodes
 		--end;
-		btDbvtNode* temp=leaves[begin];
-		leaves[begin]=leaves[end];
-		leaves[end]=temp;
+		btDbvtNode* temp = leaves[begin];
+		leaves[begin] = leaves[end];
+		leaves[end] = temp;
 		++begin;
 	}
 
@@ -281,150 +295,153 @@ static int						split(	btDbvtNode** leaves,
 }
 
 //
-static btDbvtVolume				bounds(	btDbvtNode** leaves,
-									   int count)
+static btDbvtVolume bounds(btDbvtNode** leaves,
+						   int count)
 {
-#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
-	ATTRIBUTE_ALIGNED16(char	locals[sizeof(btDbvtVolume)]);
-	btDbvtVolume* ptr = (btDbvtVolume*) locals;
-	btDbvtVolume&	volume=*ptr;
-	volume=leaves[0]->volume;
+#if DBVT_MERGE_IMPL == DBVT_IMPL_SSE
+	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
+	btDbvtVolume* ptr = (btDbvtVolume*)locals;
+	btDbvtVolume& volume = *ptr;
+	volume = leaves[0]->volume;
 #else
-	btDbvtVolume volume=leaves[0]->volume;
+	btDbvtVolume volume = leaves[0]->volume;
 #endif
-	for(int i=1,ni=count;i<ni;++i)
+	for (int i = 1, ni = count; i < ni; ++i)
 	{
-		Merge(volume,leaves[i]->volume,volume);
+		Merge(volume, leaves[i]->volume, volume);
 	}
-	return(volume);
+	return (volume);
 }
 
 //
-static void						bottomup(	btDbvt* pdbvt,
-										 btDbvtNode** leaves,
-										 int count)
+static void bottomup(btDbvt* pdbvt,
+					 btDbvtNode** leaves,
+					 int count)
 {
-	while(count>1)
+	while (count > 1)
 	{
-		btScalar	minsize=SIMD_INFINITY;
-		int			minidx[2]={-1,-1};
-		for(int i=0;i<count;++i)
+		btScalar minsize = SIMD_INFINITY;
+		int minidx[2] = {-1, -1};
+		for (int i = 0; i < count; ++i)
 		{
-			for(int j=i+1;j<count;++j)
+			for (int j = i + 1; j < count; ++j)
 			{
-				const btScalar	sz=size(merge(leaves[i]->volume,leaves[j]->volume));
-				if(sz<minsize)
+				const btScalar sz = size(merge(leaves[i]->volume, leaves[j]->volume));
+				if (sz < minsize)
 				{
-					minsize		=	sz;
-					minidx[0]	=	i;
-					minidx[1]	=	j;
+					minsize = sz;
+					minidx[0] = i;
+					minidx[1] = j;
 				}
 			}
 		}
-		btDbvtNode*	n[]	=	{leaves[minidx[0]],leaves[minidx[1]]};
-		btDbvtNode*	p	=	createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
-		p->childs[0]		=	n[0];
-		p->childs[1]		=	n[1];
-		n[0]->parent		=	p;
-		n[1]->parent		=	p;
-		leaves[minidx[0]]	=	p;
-		leaves[minidx[1]]	=	leaves[count-1];
+		btDbvtNode* n[] = {leaves[minidx[0]], leaves[minidx[1]]};
+		btDbvtNode* p = createnode(pdbvt, 0, n[0]->volume, n[1]->volume, 0);
+		p->childs[0] = n[0];
+		p->childs[1] = n[1];
+		n[0]->parent = p;
+		n[1]->parent = p;
+		leaves[minidx[0]] = p;
+		leaves[minidx[1]] = leaves[count - 1];
 		--count;
 	}
 }
 
 //
-static btDbvtNode*			topdown(btDbvt* pdbvt,
-									btDbvtNode** leaves,
-									int count,
-									int bu_treshold)
+static btDbvtNode* topdown(btDbvt* pdbvt,
+						   btDbvtNode** leaves,
+						   int count,
+						   int bu_treshold)
 {
-	static const btVector3	axis[]={btVector3(1,0,0),
-		btVector3(0,1,0),
-		btVector3(0,0,1)};
-	btAssert(bu_treshold>2);
-	if(count>1)
+	static const btVector3 axis[] = {btVector3(1, 0, 0),
+									 btVector3(0, 1, 0),
+									 btVector3(0, 0, 1)};
+	btAssert(bu_treshold > 2);
+	if (count > 1)
 	{
-		if(count>bu_treshold)
+		if (count > bu_treshold)
 		{
-			const btDbvtVolume	vol=bounds(leaves,count);
-			const btVector3			org=vol.Center();
-			int						partition;
-			int						bestaxis=-1;
-			int						bestmidp=count;
-			int						splitcount[3][2]={{0,0},{0,0},{0,0}};
+			const btDbvtVolume vol = bounds(leaves, count);
+			const btVector3 org = vol.Center();
+			int partition;
+			int bestaxis = -1;
+			int bestmidp = count;
+			int splitcount[3][2] = {{0, 0}, {0, 0}, {0, 0}};
 			int i;
-			for( i=0;i<count;++i)
+			for (i = 0; i < count; ++i)
 			{
-				const btVector3	x=leaves[i]->volume.Center()-org;
-				for(int j=0;j<3;++j)
+				const btVector3 x = leaves[i]->volume.Center() - org;
+				for (int j = 0; j < 3; ++j)
 				{
-					++splitcount[j][btDot(x,axis[j])>0?1:0];
+					++splitcount[j][btDot(x, axis[j]) > 0 ? 1 : 0];
 				}
 			}
-			for( i=0;i<3;++i)
+			for (i = 0; i < 3; ++i)
 			{
-				if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
+				if ((splitcount[i][0] > 0) && (splitcount[i][1] > 0))
 				{
-					const int	midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
-					if(midp<bestmidp)
+					const int midp = (int)btFabs(btScalar(splitcount[i][0] - splitcount[i][1]));
+					if (midp < bestmidp)
 					{
-						bestaxis=i;
-						bestmidp=midp;
+						bestaxis = i;
+						bestmidp = midp;
 					}
 				}
 			}
-			if(bestaxis>=0)
+			if (bestaxis >= 0)
 			{
-				partition=split(leaves,count,org,axis[bestaxis]);
-				btAssert(partition!=0 && partition!=count);
+				partition = split(leaves, count, org, axis[bestaxis]);
+				btAssert(partition != 0 && partition != count);
 			}
 			else
 			{
-				partition=count/2+1;
+				partition = count / 2 + 1;
 			}
-			btDbvtNode*	node=createnode(pdbvt,0,vol,0);
-			node->childs[0]=topdown(pdbvt,&leaves[0],partition,bu_treshold);
-			node->childs[1]=topdown(pdbvt,&leaves[partition],count-partition,bu_treshold);
-			node->childs[0]->parent=node;
-			node->childs[1]->parent=node;
-			return(node);
+			btDbvtNode* node = createnode(pdbvt, 0, vol, 0);
+			node->childs[0] = topdown(pdbvt, &leaves[0], partition, bu_treshold);
+			node->childs[1] = topdown(pdbvt, &leaves[partition], count - partition, bu_treshold);
+			node->childs[0]->parent = node;
+			node->childs[1]->parent = node;
+			return (node);
 		}
 		else
 		{
-			bottomup(pdbvt,leaves,count);
-			return(leaves[0]);
+			bottomup(pdbvt, leaves, count);
+			return (leaves[0]);
 		}
 	}
-	return(leaves[0]);
+	return (leaves[0]);
 }
 
 //
-static DBVT_INLINE btDbvtNode*	sort(btDbvtNode* n,btDbvtNode*& r)
+static DBVT_INLINE btDbvtNode* sort(btDbvtNode* n, btDbvtNode*& r)
 {
-	btDbvtNode*	p=n->parent;
+	btDbvtNode* p = n->parent;
 	btAssert(n->isinternal());
-	if(p>n)
+	if (p > n)
 	{
-		const int		i=indexof(n);
-		const int		j=1-i;
-		btDbvtNode*	s=p->childs[j];
-		btDbvtNode*	q=p->parent;
-		btAssert(n==p->childs[i]);
-		if(q) q->childs[indexof(p)]=n; else r=n;
-		s->parent=n;
-		p->parent=n;
-		n->parent=q;
-		p->childs[0]=n->childs[0];
-		p->childs[1]=n->childs[1];
-		n->childs[0]->parent=p;
-		n->childs[1]->parent=p;
-		n->childs[i]=p;
-		n->childs[j]=s;
-		btSwap(p->volume,n->volume);
-		return(p);
+		const int i = indexof(n);
+		const int j = 1 - i;
+		btDbvtNode* s = p->childs[j];
+		btDbvtNode* q = p->parent;
+		btAssert(n == p->childs[i]);
+		if (q)
+			q->childs[indexof(p)] = n;
+		else
+			r = n;
+		s->parent = n;
+		p->parent = n;
+		n->parent = q;
+		p->childs[0] = n->childs[0];
+		p->childs[1] = n->childs[1];
+		n->childs[0]->parent = p;
+		n->childs[1]->parent = p;
+		n->childs[i] = p;
+		n->childs[j] = s;
+		btSwap(p->volume, n->volume);
+		return (p);
 	}
-	return(n);
+	return (n);
 }
 
 #if 0
@@ -442,11 +459,11 @@ static DBVT_INLINE btDbvtNode*	walkup(btDbvtNode* n,int count)
 //
 btDbvt::btDbvt()
 {
-	m_root		=	0;
-	m_free		=	0;
-	m_lkhd		=	-1;
-	m_leaves	=	0;
-	m_opath		=	0;
+	m_root = 0;
+	m_free = 0;
+	m_lkhd = -1;
+	m_leaves = 0;
+	m_opath = 0;
 }
 
 //
@@ -456,228 +473,233 @@ btDbvt::~btDbvt()
 }
 
 //
-void			btDbvt::clear()
+void btDbvt::clear()
 {
-	if(m_root)	
-		recursedeletenode(this,m_root);
+	if (m_root)
+		recursedeletenode(this, m_root);
 	btAlignedFree(m_free);
-	m_free=0;
-	m_lkhd		=	-1;
+	m_free = 0;
+	m_lkhd = -1;
 	m_stkStack.clear();
-	m_opath		=	0;
-	
+	m_opath = 0;
 }
 
 //
-void			btDbvt::optimizeBottomUp()
+void btDbvt::optimizeBottomUp()
 {
-	if(m_root)
+	if (m_root)
 	{
 		tNodeArray leaves;
 		leaves.reserve(m_leaves);
-		fetchleaves(this,m_root,leaves);
-		bottomup(this,&leaves[0],leaves.size());
-		m_root=leaves[0];
+		fetchleaves(this, m_root, leaves);
+		bottomup(this, &leaves[0], leaves.size());
+		m_root = leaves[0];
 	}
 }
 
 //
-void			btDbvt::optimizeTopDown(int bu_treshold)
+void btDbvt::optimizeTopDown(int bu_treshold)
 {
-	if(m_root)
+	if (m_root)
 	{
-		tNodeArray	leaves;
+		tNodeArray leaves;
 		leaves.reserve(m_leaves);
-		fetchleaves(this,m_root,leaves);
-		m_root=topdown(this,&leaves[0],leaves.size(),bu_treshold);
+		fetchleaves(this, m_root, leaves);
+		m_root = topdown(this, &leaves[0], leaves.size(), bu_treshold);
 	}
 }
 
 //
-void			btDbvt::optimizeIncremental(int passes)
+void btDbvt::optimizeIncremental(int passes)
 {
-	if(passes<0) passes=m_leaves;
-	if(m_root&&(passes>0))
+	if (passes < 0) passes = m_leaves;
+	if (m_root && (passes > 0))
 	{
-		do	{
-			btDbvtNode*		node=m_root;
-			unsigned	bit=0;
-			while(node->isinternal())
+		do
+		{
+			btDbvtNode* node = m_root;
+			unsigned bit = 0;
+			while (node->isinternal())
 			{
-				node=sort(node,m_root)->childs[(m_opath>>bit)&1];
-				bit=(bit+1)&(sizeof(unsigned)*8-1);
+				node = sort(node, m_root)->childs[(m_opath >> bit) & 1];
+				bit = (bit + 1) & (sizeof(unsigned) * 8 - 1);
 			}
 			update(node);
 			++m_opath;
-		} while(--passes);
+		} while (--passes);
 	}
 }
 
 //
-btDbvtNode*	btDbvt::insert(const btDbvtVolume& volume,void* data)
+btDbvtNode* btDbvt::insert(const btDbvtVolume& volume, void* data)
 {
-	btDbvtNode*	leaf=createnode(this,0,volume,data);
-	insertleaf(this,m_root,leaf);
+	btDbvtNode* leaf = createnode(this, 0, volume, data);
+	insertleaf(this, m_root, leaf);
 	++m_leaves;
-	return(leaf);
+	return (leaf);
 }
 
 //
-void			btDbvt::update(btDbvtNode* leaf,int lookahead)
+void btDbvt::update(btDbvtNode* leaf, int lookahead)
 {
-	btDbvtNode*	root=removeleaf(this,leaf);
-	if(root)
+	btDbvtNode* root = removeleaf(this, leaf);
+	if (root)
 	{
-		if(lookahead>=0)
+		if (lookahead >= 0)
 		{
-			for(int i=0;(i<lookahead)&&root->parent;++i)
+			for (int i = 0; (i < lookahead) && root->parent; ++i)
 			{
-				root=root->parent;
+				root = root->parent;
 			}
-		} else root=m_root;
+		}
+		else
+			root = m_root;
 	}
-	insertleaf(this,root,leaf);
+	insertleaf(this, root, leaf);
 }
 
 //
-void			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
+void btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume)
 {
-	btDbvtNode*	root=removeleaf(this,leaf);
-	if(root)
+	btDbvtNode* root = removeleaf(this, leaf);
+	if (root)
 	{
-		if(m_lkhd>=0)
+		if (m_lkhd >= 0)
 		{
-			for(int i=0;(i<m_lkhd)&&root->parent;++i)
+			for (int i = 0; (i < m_lkhd) && root->parent; ++i)
 			{
-				root=root->parent;
+				root = root->parent;
 			}
-		} else root=m_root;
+		}
+		else
+			root = m_root;
 	}
-	leaf->volume=volume;
-	insertleaf(this,root,leaf);
+	leaf->volume = volume;
+	insertleaf(this, root, leaf);
 }
 
 //
-bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
+bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity, btScalar margin)
 {
-	if(leaf->volume.Contain(volume)) return(false);
-	volume.Expand(btVector3(margin,margin,margin));
+	if (leaf->volume.Contain(volume)) return (false);
+	volume.Expand(btVector3(margin, margin, margin));
 	volume.SignedExpand(velocity);
-	update(leaf,volume);
-	return(true);
+	update(leaf, volume);
+	return (true);
 }
 
 //
-bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
+bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity)
 {
-	if(leaf->volume.Contain(volume)) return(false);
+	if (leaf->volume.Contain(volume)) return (false);
 	volume.SignedExpand(velocity);
-	update(leaf,volume);
-	return(true);
+	update(leaf, volume);
+	return (true);
 }
 
 //
-bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
+bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, btScalar margin)
 {
-	if(leaf->volume.Contain(volume)) return(false);
-	volume.Expand(btVector3(margin,margin,margin));
-	update(leaf,volume);
-	return(true);
+	if (leaf->volume.Contain(volume)) return (false);
+	volume.Expand(btVector3(margin, margin, margin));
+	update(leaf, volume);
+	return (true);
 }
 
 //
-void			btDbvt::remove(btDbvtNode* leaf)
+void btDbvt::remove(btDbvtNode* leaf)
 {
-	removeleaf(this,leaf);
-	deletenode(this,leaf);
+	removeleaf(this, leaf);
+	deletenode(this, leaf);
 	--m_leaves;
 }
 
 //
-void			btDbvt::write(IWriter* iwriter) const
+void btDbvt::write(IWriter* iwriter) const
 {
-	btDbvtNodeEnumerator	nodes;
-	nodes.nodes.reserve(m_leaves*2);
-	enumNodes(m_root,nodes);
-	iwriter->Prepare(m_root,nodes.nodes.size());
-	for(int i=0;i<nodes.nodes.size();++i)
+	btDbvtNodeEnumerator nodes;
+	nodes.nodes.reserve(m_leaves * 2);
+	enumNodes(m_root, nodes);
+	iwriter->Prepare(m_root, nodes.nodes.size());
+	for (int i = 0; i < nodes.nodes.size(); ++i)
 	{
-		const btDbvtNode* n=nodes.nodes[i];
-		int			p=-1;
-		if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
-		if(n->isinternal())
+		const btDbvtNode* n = nodes.nodes[i];
+		int p = -1;
+		if (n->parent) p = nodes.nodes.findLinearSearch(n->parent);
+		if (n->isinternal())
 		{
-			const int	c0=nodes.nodes.findLinearSearch(n->childs[0]);
-			const int	c1=nodes.nodes.findLinearSearch(n->childs[1]);
-			iwriter->WriteNode(n,i,p,c0,c1);
+			const int c0 = nodes.nodes.findLinearSearch(n->childs[0]);
+			const int c1 = nodes.nodes.findLinearSearch(n->childs[1]);
+			iwriter->WriteNode(n, i, p, c0, c1);
 		}
 		else
 		{
-			iwriter->WriteLeaf(n,i,p);
-		}	
+			iwriter->WriteLeaf(n, i, p);
+		}
 	}
 }
 
 //
-void			btDbvt::clone(btDbvt& dest,IClone* iclone) const
+void btDbvt::clone(btDbvt& dest, IClone* iclone) const
 {
 	dest.clear();
-	if(m_root!=0)
-	{	
-		btAlignedObjectArray<sStkCLN>	stack;
+	if (m_root != 0)
+	{
+		btAlignedObjectArray<sStkCLN> stack;
 		stack.reserve(m_leaves);
-		stack.push_back(sStkCLN(m_root,0));
-		do	{
-			const int		i=stack.size()-1;
-			const sStkCLN	e=stack[i];
-			btDbvtNode*			n=createnode(&dest,e.parent,e.node->volume,e.node->data);
+		stack.push_back(sStkCLN(m_root, 0));
+		do
+		{
+			const int i = stack.size() - 1;
+			const sStkCLN e = stack[i];
+			btDbvtNode* n = createnode(&dest, e.parent, e.node->volume, e.node->data);
 			stack.pop_back();
-			if(e.parent!=0)
-				e.parent->childs[i&1]=n;
+			if (e.parent != 0)
+				e.parent->childs[i & 1] = n;
 			else
-				dest.m_root=n;
-			if(e.node->isinternal())
+				dest.m_root = n;
+			if (e.node->isinternal())
 			{
-				stack.push_back(sStkCLN(e.node->childs[0],n));
-				stack.push_back(sStkCLN(e.node->childs[1],n));
+				stack.push_back(sStkCLN(e.node->childs[0], n));
+				stack.push_back(sStkCLN(e.node->childs[1], n));
 			}
 			else
 			{
 				iclone->CloneLeaf(n);
 			}
-		} while(stack.size()>0);
+		} while (stack.size() > 0);
 	}
 }
 
 //
-int				btDbvt::maxdepth(const btDbvtNode* node)
+int btDbvt::maxdepth(const btDbvtNode* node)
 {
-	int	depth=0;
-	if(node) getmaxdepth(node,1,depth);
-	return(depth);
+	int depth = 0;
+	if (node) getmaxdepth(node, 1, depth);
+	return (depth);
 }
 
 //
-int				btDbvt::countLeaves(const btDbvtNode* node)
+int btDbvt::countLeaves(const btDbvtNode* node)
 {
-	if(node->isinternal())
-		return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
+	if (node->isinternal())
+		return (countLeaves(node->childs[0]) + countLeaves(node->childs[1]));
 	else
-		return(1);
+		return (1);
 }
 
 //
-void			btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
+void btDbvt::extractLeaves(const btDbvtNode* node, btAlignedObjectArray<const btDbvtNode*>& leaves)
 {
-	if(node->isinternal())
+	if (node->isinternal())
 	{
-		extractLeaves(node->childs[0],leaves);
-		extractLeaves(node->childs[1],leaves);
+		extractLeaves(node->childs[0], leaves);
+		extractLeaves(node->childs[1], leaves);
 	}
 	else
 	{
 		leaves.push_back(node);
-	}	
+	}
 }
 
 //
@@ -726,603 +748,608 @@ struct btDbvtBenchmark
 {
 	struct NilPolicy : btDbvt::ICollide
 	{
-		NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true)		{}
-		void	Process(const btDbvtNode*,const btDbvtNode*)				{ ++m_pcount; }
-		void	Process(const btDbvtNode*)									{ ++m_pcount; }
-		void	Process(const btDbvtNode*,btScalar depth)
+		NilPolicy() : m_pcount(0), m_depth(-SIMD_INFINITY), m_checksort(true) {}
+		void Process(const btDbvtNode*, const btDbvtNode*) { ++m_pcount; }
+		void Process(const btDbvtNode*) { ++m_pcount; }
+		void Process(const btDbvtNode*, btScalar depth)
 		{
 			++m_pcount;
-			if(m_checksort)
-			{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
+			if (m_checksort)
+			{
+				if (depth >= m_depth)
+					m_depth = depth;
+				else
+					printf("wrong depth: %f (should be >= %f)\r\n", depth, m_depth);
+			}
 		}
-		int			m_pcount;
-		btScalar	m_depth;
-		bool		m_checksort;
+		int m_pcount;
+		btScalar m_depth;
+		bool m_checksort;
 	};
 	struct P14 : btDbvt::ICollide
 	{
 		struct Node
 		{
-			const btDbvtNode*	leaf;
-			btScalar			depth;
+			const btDbvtNode* leaf;
+			btScalar depth;
 		};
-		void Process(const btDbvtNode* leaf,btScalar depth)
+		void Process(const btDbvtNode* leaf, btScalar depth)
 		{
-			Node	n;
-			n.leaf	=	leaf;
-			n.depth	=	depth;
+			Node n;
+			n.leaf = leaf;
+			n.depth = depth;
 		}
-		static int sortfnc(const Node& a,const Node& b)
+		static int sortfnc(const Node& a, const Node& b)
 		{
-			if(a.depth<b.depth) return(+1);
-			if(a.depth>b.depth) return(-1);
-			return(0);
+			if (a.depth < b.depth) return (+1);
+			if (a.depth > b.depth) return (-1);
+			return (0);
 		}
-		btAlignedObjectArray<Node>		m_nodes;
+		btAlignedObjectArray<Node> m_nodes;
 	};
 	struct P15 : btDbvt::ICollide
 	{
 		struct Node
 		{
-			const btDbvtNode*	leaf;
-			btScalar			depth;
+			const btDbvtNode* leaf;
+			btScalar depth;
 		};
 		void Process(const btDbvtNode* leaf)
 		{
-			Node	n;
-			n.leaf	=	leaf;
-			n.depth	=	dot(leaf->volume.Center(),m_axis);
+			Node n;
+			n.leaf = leaf;
+			n.depth = dot(leaf->volume.Center(), m_axis);
 		}
-		static int sortfnc(const Node& a,const Node& b)
+		static int sortfnc(const Node& a, const Node& b)
 		{
-			if(a.depth<b.depth) return(+1);
-			if(a.depth>b.depth) return(-1);
-			return(0);
+			if (a.depth < b.depth) return (+1);
+			if (a.depth > b.depth) return (-1);
+			return (0);
 		}
-		btAlignedObjectArray<Node>		m_nodes;
-		btVector3						m_axis;
+		btAlignedObjectArray<Node> m_nodes;
+		btVector3 m_axis;
 	};
-	static btScalar			RandUnit()
+	static btScalar RandUnit()
 	{
-		return(rand()/(btScalar)RAND_MAX);
+		return (rand() / (btScalar)RAND_MAX);
 	}
-	static btVector3		RandVector3()
+	static btVector3 RandVector3()
 	{
-		return(btVector3(RandUnit(),RandUnit(),RandUnit()));
+		return (btVector3(RandUnit(), RandUnit(), RandUnit()));
 	}
-	static btVector3		RandVector3(btScalar cs)
+	static btVector3 RandVector3(btScalar cs)
 	{
-		return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
+		return (RandVector3() * cs - btVector3(cs, cs, cs) / 2);
 	}
-	static btDbvtVolume	RandVolume(btScalar cs,btScalar eb,btScalar es)
+	static btDbvtVolume RandVolume(btScalar cs, btScalar eb, btScalar es)
 	{
-		return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
+		return (btDbvtVolume::FromCE(RandVector3(cs), btVector3(eb, eb, eb) + RandVector3() * es));
 	}
-	static btTransform		RandTransform(btScalar cs)
+	static btTransform RandTransform(btScalar cs)
 	{
-		btTransform	t;
+		btTransform t;
 		t.setOrigin(RandVector3(cs));
-		t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
-		return(t);
+		t.setRotation(btQuaternion(RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2).normalized());
+		return (t);
 	}
-	static void				RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
+	static void RandTree(btScalar cs, btScalar eb, btScalar es, int leaves, btDbvt& dbvt)
 	{
 		dbvt.clear();
-		for(int i=0;i<leaves;++i)
+		for (int i = 0; i < leaves; ++i)
 		{
-			dbvt.insert(RandVolume(cs,eb,es),0);
+			dbvt.insert(RandVolume(cs, eb, es), 0);
 		}
 	}
 };
 
-void			btDbvt::benchmark()
+void btDbvt::benchmark()
 {
-	static const btScalar	cfgVolumeCenterScale		=	100;
-	static const btScalar	cfgVolumeExentsBase			=	1;
-	static const btScalar	cfgVolumeExentsScale		=	4;
-	static const int		cfgLeaves					=	8192;
-	static const bool		cfgEnable					=	true;
+	static const btScalar cfgVolumeCenterScale = 100;
+	static const btScalar cfgVolumeExentsBase = 1;
+	static const btScalar cfgVolumeExentsScale = 4;
+	static const int cfgLeaves = 8192;
+	static const bool cfgEnable = true;
 
 	//[1] btDbvtVolume intersections
-	bool					cfgBenchmark1_Enable		=	cfgEnable;
-	static const int		cfgBenchmark1_Iterations	=	8;
-	static const int		cfgBenchmark1_Reference		=	3499;
+	bool cfgBenchmark1_Enable = cfgEnable;
+	static const int cfgBenchmark1_Iterations = 8;
+	static const int cfgBenchmark1_Reference = 3499;
 	//[2] btDbvtVolume merges
-	bool					cfgBenchmark2_Enable		=	cfgEnable;
-	static const int		cfgBenchmark2_Iterations	=	4;
-	static const int		cfgBenchmark2_Reference		=	1945;
+	bool cfgBenchmark2_Enable = cfgEnable;
+	static const int cfgBenchmark2_Iterations = 4;
+	static const int cfgBenchmark2_Reference = 1945;
 	//[3] btDbvt::collideTT
-	bool					cfgBenchmark3_Enable		=	cfgEnable;
-	static const int		cfgBenchmark3_Iterations	=	512;
-	static const int		cfgBenchmark3_Reference		=	5485;
+	bool cfgBenchmark3_Enable = cfgEnable;
+	static const int cfgBenchmark3_Iterations = 512;
+	static const int cfgBenchmark3_Reference = 5485;
 	//[4] btDbvt::collideTT self
-	bool					cfgBenchmark4_Enable		=	cfgEnable;
-	static const int		cfgBenchmark4_Iterations	=	512;
-	static const int		cfgBenchmark4_Reference		=	2814;
+	bool cfgBenchmark4_Enable = cfgEnable;
+	static const int cfgBenchmark4_Iterations = 512;
+	static const int cfgBenchmark4_Reference = 2814;
 	//[5] btDbvt::collideTT xform
-	bool					cfgBenchmark5_Enable		=	cfgEnable;
-	static const int		cfgBenchmark5_Iterations	=	512;
-	static const btScalar	cfgBenchmark5_OffsetScale	=	2;
-	static const int		cfgBenchmark5_Reference		=	7379;
+	bool cfgBenchmark5_Enable = cfgEnable;
+	static const int cfgBenchmark5_Iterations = 512;
+	static const btScalar cfgBenchmark5_OffsetScale = 2;
+	static const int cfgBenchmark5_Reference = 7379;
 	//[6] btDbvt::collideTT xform,self
-	bool					cfgBenchmark6_Enable		=	cfgEnable;
-	static const int		cfgBenchmark6_Iterations	=	512;
-	static const btScalar	cfgBenchmark6_OffsetScale	=	2;
-	static const int		cfgBenchmark6_Reference		=	7270;
+	bool cfgBenchmark6_Enable = cfgEnable;
+	static const int cfgBenchmark6_Iterations = 512;
+	static const btScalar cfgBenchmark6_OffsetScale = 2;
+	static const int cfgBenchmark6_Reference = 7270;
 	//[7] btDbvt::rayTest
-	bool					cfgBenchmark7_Enable		=	cfgEnable;
-	static const int		cfgBenchmark7_Passes		=	32;
-	static const int		cfgBenchmark7_Iterations	=	65536;
-	static const int		cfgBenchmark7_Reference		=	6307;
+	bool cfgBenchmark7_Enable = cfgEnable;
+	static const int cfgBenchmark7_Passes = 32;
+	static const int cfgBenchmark7_Iterations = 65536;
+	static const int cfgBenchmark7_Reference = 6307;
 	//[8] insert/remove
-	bool					cfgBenchmark8_Enable		=	cfgEnable;
-	static const int		cfgBenchmark8_Passes		=	32;
-	static const int		cfgBenchmark8_Iterations	=	65536;
-	static const int		cfgBenchmark8_Reference		=	2105;
+	bool cfgBenchmark8_Enable = cfgEnable;
+	static const int cfgBenchmark8_Passes = 32;
+	static const int cfgBenchmark8_Iterations = 65536;
+	static const int cfgBenchmark8_Reference = 2105;
 	//[9] updates (teleport)
-	bool					cfgBenchmark9_Enable		=	cfgEnable;
-	static const int		cfgBenchmark9_Passes		=	32;
-	static const int		cfgBenchmark9_Iterations	=	65536;
-	static const int		cfgBenchmark9_Reference		=	1879;
+	bool cfgBenchmark9_Enable = cfgEnable;
+	static const int cfgBenchmark9_Passes = 32;
+	static const int cfgBenchmark9_Iterations = 65536;
+	static const int cfgBenchmark9_Reference = 1879;
 	//[10] updates (jitter)
-	bool					cfgBenchmark10_Enable		=	cfgEnable;
-	static const btScalar	cfgBenchmark10_Scale		=	cfgVolumeCenterScale/10000;
-	static const int		cfgBenchmark10_Passes		=	32;
-	static const int		cfgBenchmark10_Iterations	=	65536;
-	static const int		cfgBenchmark10_Reference	=	1244;
+	bool cfgBenchmark10_Enable = cfgEnable;
+	static const btScalar cfgBenchmark10_Scale = cfgVolumeCenterScale / 10000;
+	static const int cfgBenchmark10_Passes = 32;
+	static const int cfgBenchmark10_Iterations = 65536;
+	static const int cfgBenchmark10_Reference = 1244;
 	//[11] optimize (incremental)
-	bool					cfgBenchmark11_Enable		=	cfgEnable;
-	static const int		cfgBenchmark11_Passes		=	64;
-	static const int		cfgBenchmark11_Iterations	=	65536;
-	static const int		cfgBenchmark11_Reference	=	2510;
+	bool cfgBenchmark11_Enable = cfgEnable;
+	static const int cfgBenchmark11_Passes = 64;
+	static const int cfgBenchmark11_Iterations = 65536;
+	static const int cfgBenchmark11_Reference = 2510;
 	//[12] btDbvtVolume notequal
-	bool					cfgBenchmark12_Enable		=	cfgEnable;
-	static const int		cfgBenchmark12_Iterations	=	32;
-	static const int		cfgBenchmark12_Reference	=	3677;
+	bool cfgBenchmark12_Enable = cfgEnable;
+	static const int cfgBenchmark12_Iterations = 32;
+	static const int cfgBenchmark12_Reference = 3677;
 	//[13] culling(OCL+fullsort)
-	bool					cfgBenchmark13_Enable		=	cfgEnable;
-	static const int		cfgBenchmark13_Iterations	=	1024;
-	static const int		cfgBenchmark13_Reference	=	2231;
+	bool cfgBenchmark13_Enable = cfgEnable;
+	static const int cfgBenchmark13_Iterations = 1024;
+	static const int cfgBenchmark13_Reference = 2231;
 	//[14] culling(OCL+qsort)
-	bool					cfgBenchmark14_Enable		=	cfgEnable;
-	static const int		cfgBenchmark14_Iterations	=	8192;
-	static const int		cfgBenchmark14_Reference	=	3500;
+	bool cfgBenchmark14_Enable = cfgEnable;
+	static const int cfgBenchmark14_Iterations = 8192;
+	static const int cfgBenchmark14_Reference = 3500;
 	//[15] culling(KDOP+qsort)
-	bool					cfgBenchmark15_Enable		=	cfgEnable;
-	static const int		cfgBenchmark15_Iterations	=	8192;
-	static const int		cfgBenchmark15_Reference	=	1151;
+	bool cfgBenchmark15_Enable = cfgEnable;
+	static const int cfgBenchmark15_Iterations = 8192;
+	static const int cfgBenchmark15_Reference = 1151;
 	//[16] insert/remove batch
-	bool					cfgBenchmark16_Enable		=	cfgEnable;
-	static const int		cfgBenchmark16_BatchCount	=	256;
-	static const int		cfgBenchmark16_Passes		=	16384;
-	static const int		cfgBenchmark16_Reference	=	5138;
+	bool cfgBenchmark16_Enable = cfgEnable;
+	static const int cfgBenchmark16_BatchCount = 256;
+	static const int cfgBenchmark16_Passes = 16384;
+	static const int cfgBenchmark16_Reference = 5138;
 	//[17] select
-	bool					cfgBenchmark17_Enable		=	cfgEnable;
-	static const int		cfgBenchmark17_Iterations	=	4;
-	static const int		cfgBenchmark17_Reference	=	3390;
+	bool cfgBenchmark17_Enable = cfgEnable;
+	static const int cfgBenchmark17_Iterations = 4;
+	static const int cfgBenchmark17_Reference = 3390;
 
-	btClock					wallclock;
+	btClock wallclock;
 	printf("Benchmarking dbvt...\r\n");
-	printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
-	printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
-	printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
-	printf("\tLeaves: %u\r\n",cfgLeaves);
-	printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
-	printf("\tsizeof(btDbvtNode):   %u bytes\r\n",sizeof(btDbvtNode));
-	if(cfgBenchmark1_Enable)
-	{// Benchmark 1	
+	printf("\tWorld scale: %f\r\n", cfgVolumeCenterScale);
+	printf("\tExtents base: %f\r\n", cfgVolumeExentsBase);
+	printf("\tExtents range: %f\r\n", cfgVolumeExentsScale);
+	printf("\tLeaves: %u\r\n", cfgLeaves);
+	printf("\tsizeof(btDbvtVolume): %u bytes\r\n", sizeof(btDbvtVolume));
+	printf("\tsizeof(btDbvtNode):   %u bytes\r\n", sizeof(btDbvtNode));
+	if (cfgBenchmark1_Enable)
+	{  // Benchmark 1
 		srand(380843);
-		btAlignedObjectArray<btDbvtVolume>	volumes;
-		btAlignedObjectArray<bool>			results;
+		btAlignedObjectArray<btDbvtVolume> volumes;
+		btAlignedObjectArray<bool> results;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
 		printf("[1] btDbvtVolume intersections: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark1_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark1_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					results[k]=Intersect(volumes[j],volumes[k]);
+					results[k] = Intersect(volumes[j], volumes[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark1_Reference) * 100 / time);
 	}
-	if(cfgBenchmark2_Enable)
-	{// Benchmark 2	
+	if (cfgBenchmark2_Enable)
+	{  // Benchmark 2
 		srand(380843);
-		btAlignedObjectArray<btDbvtVolume>	volumes;
-		btAlignedObjectArray<btDbvtVolume>	results;
+		btAlignedObjectArray<btDbvtVolume> volumes;
+		btAlignedObjectArray<btDbvtVolume> results;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
 		printf("[2] btDbvtVolume merges: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark2_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark2_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					Merge(volumes[j],volumes[k],results[k]);
+					Merge(volumes[j], volumes[k], results[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark2_Reference) * 100 / time);
 	}
-	if(cfgBenchmark3_Enable)
-	{// Benchmark 3	
+	if (cfgBenchmark3_Enable)
+	{  // Benchmark 3
 		srand(380843);
-		btDbvt						dbvt[2];
-		btDbvtBenchmark::NilPolicy	policy;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		btDbvt dbvt[2];
+		btDbvtBenchmark::NilPolicy policy;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
 		dbvt[0].optimizeTopDown();
 		dbvt[1].optimizeTopDown();
 		printf("[3] btDbvt::collideTT: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark3_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark3_Iterations; ++i)
 		{
-			btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
+			btDbvt::collideTT(dbvt[0].m_root, dbvt[1].m_root, policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark3_Reference) * 100 / time);
 	}
-	if(cfgBenchmark4_Enable)
-	{// Benchmark 4
+	if (cfgBenchmark4_Enable)
+	{  // Benchmark 4
 		srand(380843);
-		btDbvt						dbvt;
-		btDbvtBenchmark::NilPolicy	policy;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvt dbvt;
+		btDbvtBenchmark::NilPolicy policy;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[4] btDbvt::collideTT self: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark4_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark4_Iterations; ++i)
 		{
-			btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
+			btDbvt::collideTT(dbvt.m_root, dbvt.m_root, policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark4_Reference) * 100 / time);
 	}
-	if(cfgBenchmark5_Enable)
-	{// Benchmark 5	
+	if (cfgBenchmark5_Enable)
+	{  // Benchmark 5
 		srand(380843);
-		btDbvt								dbvt[2];
-		btAlignedObjectArray<btTransform>	transforms;
-		btDbvtBenchmark::NilPolicy			policy;
+		btDbvt dbvt[2];
+		btAlignedObjectArray<btTransform> transforms;
+		btDbvtBenchmark::NilPolicy policy;
 		transforms.resize(cfgBenchmark5_Iterations);
-		for(int i=0;i<transforms.size();++i)
+		for (int i = 0; i < transforms.size(); ++i)
 		{
-			transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
+			transforms[i] = btDbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark5_OffsetScale);
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]);
 		dbvt[0].optimizeTopDown();
 		dbvt[1].optimizeTopDown();
 		printf("[5] btDbvt::collideTT xform: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark5_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark5_Iterations; ++i)
 		{
-			btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
+			btDbvt::collideTT(dbvt[0].m_root, dbvt[1].m_root, transforms[i], policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark5_Reference) * 100 / time);
 	}
-	if(cfgBenchmark6_Enable)
-	{// Benchmark 6	
+	if (cfgBenchmark6_Enable)
+	{  // Benchmark 6
 		srand(380843);
-		btDbvt								dbvt;
-		btAlignedObjectArray<btTransform>	transforms;
-		btDbvtBenchmark::NilPolicy			policy;
+		btDbvt dbvt;
+		btAlignedObjectArray<btTransform> transforms;
+		btDbvtBenchmark::NilPolicy policy;
 		transforms.resize(cfgBenchmark6_Iterations);
-		for(int i=0;i<transforms.size();++i)
+		for (int i = 0; i < transforms.size(); ++i)
 		{
-			transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
+			transforms[i] = btDbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark6_OffsetScale);
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[6] btDbvt::collideTT xform,self: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark6_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark6_Iterations; ++i)
 		{
-			btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);		
+			btDbvt::collideTT(dbvt.m_root, dbvt.m_root, transforms[i], policy);
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark6_Reference) * 100 / time);
 	}
-	if(cfgBenchmark7_Enable)
-	{// Benchmark 7	
+	if (cfgBenchmark7_Enable)
+	{  // Benchmark 7
 		srand(380843);
-		btDbvt								dbvt;
-		btAlignedObjectArray<btVector3>		rayorg;
-		btAlignedObjectArray<btVector3>		raydir;
-		btDbvtBenchmark::NilPolicy			policy;
+		btDbvt dbvt;
+		btAlignedObjectArray<btVector3> rayorg;
+		btAlignedObjectArray<btVector3> raydir;
+		btDbvtBenchmark::NilPolicy policy;
 		rayorg.resize(cfgBenchmark7_Iterations);
 		raydir.resize(cfgBenchmark7_Iterations);
-		for(int i=0;i<rayorg.size();++i)
+		for (int i = 0; i < rayorg.size(); ++i)
 		{
-			rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
-			raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+			rayorg[i] = btDbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
+			raydir[i] = btDbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2);
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[7] btDbvt::rayTest: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark7_Passes;++i)
+		for (int i = 0; i < cfgBenchmark7_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark7_Iterations;++j)
+			for (int j = 0; j < cfgBenchmark7_Iterations; ++j)
 			{
-				btDbvt::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
+				btDbvt::rayTest(dbvt.m_root, rayorg[j], rayorg[j] + raydir[j], policy);
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		unsigned	rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
-		printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		unsigned rays = cfgBenchmark7_Passes * cfgBenchmark7_Iterations;
+		printf("%u ms (%i%%),(%u r/s)\r\n", time, (time - cfgBenchmark7_Reference) * 100 / time, (rays * 1000) / time);
 	}
-	if(cfgBenchmark8_Enable)
-	{// Benchmark 8	
+	if (cfgBenchmark8_Enable)
+	{  // Benchmark 8
 		srand(380843);
-		btDbvt								dbvt;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvt dbvt;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[8] insert/remove: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark8_Passes;++i)
+		for (int i = 0; i < cfgBenchmark8_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark8_Iterations;++j)
+			for (int j = 0; j < cfgBenchmark8_Iterations; ++j)
 			{
-				dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+				dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
-		printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int ir = cfgBenchmark8_Passes * cfgBenchmark8_Iterations;
+		printf("%u ms (%i%%),(%u ir/s)\r\n", time, (time - cfgBenchmark8_Reference) * 100 / time, ir * 1000 / time);
 	}
-	if(cfgBenchmark9_Enable)
-	{// Benchmark 9	
+	if (cfgBenchmark9_Enable)
+	{  // Benchmark 9
 		srand(380843);
-		btDbvt										dbvt;
-		btAlignedObjectArray<const btDbvtNode*>	leaves;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvt dbvt;
+		btAlignedObjectArray<const btDbvtNode*> leaves;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root,leaves);
+		dbvt.extractLeaves(dbvt.m_root, leaves);
 		printf("[9] updates (teleport): ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark9_Passes;++i)
+		for (int i = 0; i < cfgBenchmark9_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark9_Iterations;++j)
+			for (int j = 0; j < cfgBenchmark9_Iterations; ++j)
 			{
-				dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
-					btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
+				dbvt.update(const_cast<btDbvtNode*>(leaves[rand() % cfgLeaves]),
+							btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale));
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int up = cfgBenchmark9_Passes * cfgBenchmark9_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark9_Reference) * 100 / time, up * 1000 / time);
 	}
-	if(cfgBenchmark10_Enable)
-	{// Benchmark 10	
+	if (cfgBenchmark10_Enable)
+	{  // Benchmark 10
 		srand(380843);
-		btDbvt										dbvt;
-		btAlignedObjectArray<const btDbvtNode*>	leaves;
-		btAlignedObjectArray<btVector3>				vectors;
+		btDbvt dbvt;
+		btAlignedObjectArray<const btDbvtNode*> leaves;
+		btAlignedObjectArray<btVector3> vectors;
 		vectors.resize(cfgBenchmark10_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
+			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)) * cfgBenchmark10_Scale;
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
-		dbvt.extractLeaves(dbvt.m_root,leaves);
+		dbvt.extractLeaves(dbvt.m_root, leaves);
 		printf("[10] updates (jitter): ");
 		wallclock.reset();
 
-		for(int i=0;i<cfgBenchmark10_Passes;++i)
+		for (int i = 0; i < cfgBenchmark10_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark10_Iterations;++j)
-			{			
-				const btVector3&	d=vectors[j];
-				btDbvtNode*		l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
-				btDbvtVolume		v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
-				dbvt.update(l,v);
+			for (int j = 0; j < cfgBenchmark10_Iterations; ++j)
+			{
+				const btVector3& d = vectors[j];
+				btDbvtNode* l = const_cast<btDbvtNode*>(leaves[rand() % cfgLeaves]);
+				btDbvtVolume v = btDbvtVolume::FromMM(l->volume.Mins() + d, l->volume.Maxs() + d);
+				dbvt.update(l, v);
 			}
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
-		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int up = cfgBenchmark10_Passes * cfgBenchmark10_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark10_Reference) * 100 / time, up * 1000 / time);
 	}
-	if(cfgBenchmark11_Enable)
-	{// Benchmark 11	
+	if (cfgBenchmark11_Enable)
+	{  // Benchmark 11
 		srand(380843);
-		btDbvt										dbvt;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvt dbvt;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[11] optimize (incremental): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark11_Passes;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark11_Passes; ++i)
 		{
 			dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
-		printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int op = cfgBenchmark11_Passes * cfgBenchmark11_Iterations;
+		printf("%u ms (%i%%),(%u o/s)\r\n", time, (time - cfgBenchmark11_Reference) * 100 / time, op / time * 1000);
 	}
-	if(cfgBenchmark12_Enable)
-	{// Benchmark 12	
+	if (cfgBenchmark12_Enable)
+	{  // Benchmark 12
 		srand(380843);
-		btAlignedObjectArray<btDbvtVolume>	volumes;
-		btAlignedObjectArray<bool>				results;
+		btAlignedObjectArray<btDbvtVolume> volumes;
+		btAlignedObjectArray<bool> results;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
 		printf("[12] btDbvtVolume notequal: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark12_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark12_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					results[k]=NotEqual(volumes[j],volumes[k]);
+					results[k] = NotEqual(volumes[j], volumes[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark12_Reference) * 100 / time);
 	}
-	if(cfgBenchmark13_Enable)
-	{// Benchmark 13	
+	if (cfgBenchmark13_Enable)
+	{  // Benchmark 13
 		srand(380843);
-		btDbvt								dbvt;
-		btAlignedObjectArray<btVector3>		vectors;
-		btDbvtBenchmark::NilPolicy			policy;
+		btDbvt dbvt;
+		btAlignedObjectArray<btVector3> vectors;
+		btDbvtBenchmark::NilPolicy policy;
 		vectors.resize(cfgBenchmark13_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized();
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		printf("[13] culling(OCL+fullsort): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark13_Iterations;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark13_Iterations; ++i)
 		{
-			static const btScalar	offset=0;
-			policy.m_depth=-SIMD_INFINITY;
-			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
+			static const btScalar offset = 0;
+			policy.m_depth = -SIMD_INFINITY;
+			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	t=cfgBenchmark13_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int t = cfgBenchmark13_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark13_Reference) * 100 / time, (t * 1000) / time);
 	}
-	if(cfgBenchmark14_Enable)
-	{// Benchmark 14	
+	if (cfgBenchmark14_Enable)
+	{  // Benchmark 14
 		srand(380843);
-		btDbvt								dbvt;
-		btAlignedObjectArray<btVector3>		vectors;
-		btDbvtBenchmark::P14				policy;
+		btDbvt dbvt;
+		btAlignedObjectArray<btVector3> vectors;
+		btDbvtBenchmark::P14 policy;
 		vectors.resize(cfgBenchmark14_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized();
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		policy.m_nodes.reserve(cfgLeaves);
 		printf("[14] culling(OCL+qsort): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark14_Iterations;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark14_Iterations; ++i)
 		{
-			static const btScalar	offset=0;
+			static const btScalar offset = 0;
 			policy.m_nodes.resize(0);
-			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
+			dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy, false);
 			policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	t=cfgBenchmark14_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int t = cfgBenchmark14_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark14_Reference) * 100 / time, (t * 1000) / time);
 	}
-	if(cfgBenchmark15_Enable)
-	{// Benchmark 15	
+	if (cfgBenchmark15_Enable)
+	{  // Benchmark 15
 		srand(380843);
-		btDbvt								dbvt;
-		btAlignedObjectArray<btVector3>		vectors;
-		btDbvtBenchmark::P15				policy;
+		btDbvt dbvt;
+		btAlignedObjectArray<btVector3> vectors;
+		btDbvtBenchmark::P15 policy;
 		vectors.resize(cfgBenchmark15_Iterations);
-		for(int i=0;i<vectors.size();++i)
+		for (int i = 0; i < vectors.size(); ++i)
 		{
-			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+			vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized();
 		}
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		policy.m_nodes.reserve(cfgLeaves);
 		printf("[15] culling(KDOP+qsort): ");
-		wallclock.reset();	
-		for(int i=0;i<cfgBenchmark15_Iterations;++i)
+		wallclock.reset();
+		for (int i = 0; i < cfgBenchmark15_Iterations; ++i)
 		{
-			static const btScalar	offset=0;
+			static const btScalar offset = 0;
 			policy.m_nodes.resize(0);
-			policy.m_axis=vectors[i];
-			dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
+			policy.m_axis = vectors[i];
+			dbvt.collideKDOP(dbvt.m_root, &vectors[i], &offset, 1, policy);
 			policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	t=cfgBenchmark15_Iterations;
-		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int t = cfgBenchmark15_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark15_Reference) * 100 / time, (t * 1000) / time);
 	}
-	if(cfgBenchmark16_Enable)
-	{// Benchmark 16	
+	if (cfgBenchmark16_Enable)
+	{  // Benchmark 16
 		srand(380843);
-		btDbvt								dbvt;
-		btAlignedObjectArray<btDbvtNode*>	batch;
-		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		btDbvt dbvt;
+		btAlignedObjectArray<btDbvtNode*> batch;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt);
 		dbvt.optimizeTopDown();
 		batch.reserve(cfgBenchmark16_BatchCount);
-		printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
+		printf("[16] insert/remove batch(%u): ", cfgBenchmark16_BatchCount);
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark16_Passes;++i)
+		for (int i = 0; i < cfgBenchmark16_Passes; ++i)
 		{
-			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
 			{
-				batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+				batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0));
 			}
-			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			for (int j = 0; j < cfgBenchmark16_BatchCount; ++j)
 			{
 				dbvt.remove(batch[j]);
 			}
 			batch.resize(0);
 		}
-		const int	time=(int)wallclock.getTimeMilliseconds();
-		const int	ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
-		printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
+		const int time = (int)wallclock.getTimeMilliseconds();
+		const int ir = cfgBenchmark16_Passes * cfgBenchmark16_BatchCount;
+		printf("%u ms (%i%%),(%u bir/s)\r\n", time, (time - cfgBenchmark16_Reference) * 100 / time, int(ir * 1000.0 / time));
 	}
-	if(cfgBenchmark17_Enable)
-	{// Benchmark 17
+	if (cfgBenchmark17_Enable)
+	{  // Benchmark 17
 		srand(380843);
-		btAlignedObjectArray<btDbvtVolume>	volumes;
-		btAlignedObjectArray<int>			results;
-		btAlignedObjectArray<int>			indices;
+		btAlignedObjectArray<btDbvtVolume> volumes;
+		btAlignedObjectArray<int> results;
+		btAlignedObjectArray<int> indices;
 		volumes.resize(cfgLeaves);
 		results.resize(cfgLeaves);
 		indices.resize(cfgLeaves);
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			indices[i]=i;
-			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			indices[i] = i;
+			volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale);
 		}
-		for(int i=0;i<cfgLeaves;++i)
+		for (int i = 0; i < cfgLeaves; ++i)
 		{
-			btSwap(indices[i],indices[rand()%cfgLeaves]);
+			btSwap(indices[i], indices[rand() % cfgLeaves]);
 		}
 		printf("[17] btDbvtVolume select: ");
 		wallclock.reset();
-		for(int i=0;i<cfgBenchmark17_Iterations;++i)
+		for (int i = 0; i < cfgBenchmark17_Iterations; ++i)
 		{
-			for(int j=0;j<cfgLeaves;++j)
+			for (int j = 0; j < cfgLeaves; ++j)
 			{
-				for(int k=0;k<cfgLeaves;++k)
+				for (int k = 0; k < cfgLeaves; ++k)
 				{
-					const int idx=indices[k];
-					results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
+					const int idx = indices[k];
+					results[idx] = Select(volumes[idx], volumes[j], volumes[k]);
 				}
 			}
 		}
-		const int time=(int)wallclock.getTimeMilliseconds();
-		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
+		const int time = (int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark17_Reference) * 100 / time);
 	}
 	printf("\r\n\r\n");
 }
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
index b5a0014580..a316dbf207 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -26,50 +26,49 @@ subject to the following restrictions:
 // Compile time configuration
 //
 
-
 // Implementation profiles
-#define DBVT_IMPL_GENERIC		0	// Generic implementation	
-#define DBVT_IMPL_SSE			1	// SSE
+#define DBVT_IMPL_GENERIC 0  // Generic implementation
+#define DBVT_IMPL_SSE 1      // SSE
 
 // Template implementation of ICollide
 #ifdef _WIN32
-#if (defined (_MSC_VER) && _MSC_VER >= 1400)
-#define	DBVT_USE_TEMPLATE		1
+#if (defined(_MSC_VER) && _MSC_VER >= 1400)
+#define DBVT_USE_TEMPLATE 1
 #else
-#define	DBVT_USE_TEMPLATE		0
+#define DBVT_USE_TEMPLATE 0
 #endif
 #else
-#define	DBVT_USE_TEMPLATE		0
+#define DBVT_USE_TEMPLATE 0
 #endif
 
 // Use only intrinsics instead of inline asm
-#define DBVT_USE_INTRINSIC_SSE	1
+#define DBVT_USE_INTRINSIC_SSE 1
 
 // Using memmov for collideOCL
-#define DBVT_USE_MEMMOVE		1
+#define DBVT_USE_MEMMOVE 1
 
 // Enable benchmarking code
-#define	DBVT_ENABLE_BENCHMARK	0
+#define DBVT_ENABLE_BENCHMARK 0
 
 // Inlining
-#define DBVT_INLINE				SIMD_FORCE_INLINE
+#define DBVT_INLINE SIMD_FORCE_INLINE
 
 // Specific methods implementation
 
 //SSE gives errors on a MSVC 7.1
-#if defined (BT_USE_SSE) //&& defined (_WIN32)
-#define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
-#define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
-#define DBVT_INT0_IMPL			DBVT_IMPL_SSE
+#if defined(BT_USE_SSE)  //&& defined (_WIN32)
+#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
+#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
+#define DBVT_INT0_IMPL DBVT_IMPL_SSE
 #else
-#define DBVT_SELECT_IMPL		DBVT_IMPL_GENERIC
-#define DBVT_MERGE_IMPL			DBVT_IMPL_GENERIC
-#define DBVT_INT0_IMPL			DBVT_IMPL_GENERIC
+#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC
+#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC
+#define DBVT_INT0_IMPL DBVT_IMPL_GENERIC
 #endif
 
-#if	(DBVT_SELECT_IMPL==DBVT_IMPL_SSE)||	\
-	(DBVT_MERGE_IMPL==DBVT_IMPL_SSE)||	\
-	(DBVT_INT0_IMPL==DBVT_IMPL_SSE)
+#if (DBVT_SELECT_IMPL == DBVT_IMPL_SSE) || \
+	(DBVT_MERGE_IMPL == DBVT_IMPL_SSE) ||  \
+	(DBVT_INT0_IMPL == DBVT_IMPL_SSE)
 #include <emmintrin.h>
 #endif
 
@@ -78,21 +77,24 @@ subject to the following restrictions:
 //
 
 #if DBVT_USE_TEMPLATE
-#define	DBVT_VIRTUAL
+#define DBVT_VIRTUAL
 #define DBVT_VIRTUAL_DTOR(a)
-#define DBVT_PREFIX					template <typename T>
-#define DBVT_IPOLICY				T& policy
-#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)1;(void)typechecker;
+#define DBVT_PREFIX template <typename T>
+#define DBVT_IPOLICY T& policy
+#define DBVT_CHECKTYPE                           \
+	static const ICollide& typechecker = *(T*)1; \
+	(void)typechecker;
 #else
-#define	DBVT_VIRTUAL_DTOR(a)		virtual ~a() {}
-#define DBVT_VIRTUAL				virtual
+#define DBVT_VIRTUAL_DTOR(a) \
+	virtual ~a() {}
+#define DBVT_VIRTUAL virtual
 #define DBVT_PREFIX
-#define DBVT_IPOLICY				ICollide& policy
+#define DBVT_IPOLICY ICollide& policy
 #define DBVT_CHECKTYPE
 #endif
 
 #if DBVT_USE_MEMMOVE
-#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
 #include <memory.h>
 #endif
 #include <string.h>
@@ -122,194 +124,193 @@ subject to the following restrictions:
 #error "DBVT_INT0_IMPL undefined"
 #endif
 
-
 //
 // Defaults volumes
 //
 
-/* btDbvtAabbMm			*/ 
-struct	btDbvtAabbMm
+/* btDbvtAabbMm			*/
+struct btDbvtAabbMm
 {
-	DBVT_INLINE btVector3			Center() const	{ return((mi+mx)/2); }
-	DBVT_INLINE btVector3			Lengths() const	{ return(mx-mi); }
-	DBVT_INLINE btVector3			Extents() const	{ return((mx-mi)/2); }
-	DBVT_INLINE const btVector3&	Mins() const	{ return(mi); }
-	DBVT_INLINE const btVector3&	Maxs() const	{ return(mx); }
-	static inline btDbvtAabbMm		FromCE(const btVector3& c,const btVector3& e);
-	static inline btDbvtAabbMm		FromCR(const btVector3& c,btScalar r);
-	static inline btDbvtAabbMm		FromMM(const btVector3& mi,const btVector3& mx);
-	static inline btDbvtAabbMm		FromPoints(const btVector3* pts,int n);
-	static inline btDbvtAabbMm		FromPoints(const btVector3** ppts,int n);
-	DBVT_INLINE void				Expand(const btVector3& e);
-	DBVT_INLINE void				SignedExpand(const btVector3& e);
-	DBVT_INLINE bool				Contain(const btDbvtAabbMm& a) const;
-	DBVT_INLINE int					Classify(const btVector3& n,btScalar o,int s) const;
-	DBVT_INLINE btScalar			ProjectMinimum(const btVector3& v,unsigned signs) const;
-	DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
-		const btDbvtAabbMm& b);
-	
-	DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
-		const btVector3& b);
-
-	DBVT_INLINE friend btScalar		Proximity(	const btDbvtAabbMm& a,
-		const btDbvtAabbMm& b);
-	DBVT_INLINE friend int			Select(		const btDbvtAabbMm& o,
-		const btDbvtAabbMm& a,
-		const btDbvtAabbMm& b);
-	DBVT_INLINE friend void			Merge(		const btDbvtAabbMm& a,
-		const btDbvtAabbMm& b,
-		btDbvtAabbMm& r);
-	DBVT_INLINE friend bool			NotEqual(	const btDbvtAabbMm& a,
-		const btDbvtAabbMm& b);
-    
-    DBVT_INLINE btVector3&	tMins()	{ return(mi); }
-	DBVT_INLINE btVector3&	tMaxs()	{ return(mx); }
-    
+	DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); }
+	DBVT_INLINE btVector3 Lengths() const { return (mx - mi); }
+	DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); }
+	DBVT_INLINE const btVector3& Mins() const { return (mi); }
+	DBVT_INLINE const btVector3& Maxs() const { return (mx); }
+	static inline btDbvtAabbMm FromCE(const btVector3& c, const btVector3& e);
+	static inline btDbvtAabbMm FromCR(const btVector3& c, btScalar r);
+	static inline btDbvtAabbMm FromMM(const btVector3& mi, const btVector3& mx);
+	static inline btDbvtAabbMm FromPoints(const btVector3* pts, int n);
+	static inline btDbvtAabbMm FromPoints(const btVector3** ppts, int n);
+	DBVT_INLINE void Expand(const btVector3& e);
+	DBVT_INLINE void SignedExpand(const btVector3& e);
+	DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const;
+	DBVT_INLINE int Classify(const btVector3& n, btScalar o, int s) const;
+	DBVT_INLINE btScalar ProjectMinimum(const btVector3& v, unsigned signs) const;
+	DBVT_INLINE friend bool Intersect(const btDbvtAabbMm& a,
+									  const btDbvtAabbMm& b);
+
+	DBVT_INLINE friend bool Intersect(const btDbvtAabbMm& a,
+									  const btVector3& b);
+
+	DBVT_INLINE friend btScalar Proximity(const btDbvtAabbMm& a,
+										  const btDbvtAabbMm& b);
+	DBVT_INLINE friend int Select(const btDbvtAabbMm& o,
+								  const btDbvtAabbMm& a,
+								  const btDbvtAabbMm& b);
+	DBVT_INLINE friend void Merge(const btDbvtAabbMm& a,
+								  const btDbvtAabbMm& b,
+								  btDbvtAabbMm& r);
+	DBVT_INLINE friend bool NotEqual(const btDbvtAabbMm& a,
+									 const btDbvtAabbMm& b);
+
+	DBVT_INLINE btVector3& tMins() { return (mi); }
+	DBVT_INLINE btVector3& tMaxs() { return (mx); }
+
 private:
-	DBVT_INLINE void				AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
+	DBVT_INLINE void AddSpan(const btVector3& d, btScalar& smi, btScalar& smx) const;
+
 private:
-	btVector3	mi,mx;
+	btVector3 mi, mx;
 };
 
-// Types	
-typedef	btDbvtAabbMm	btDbvtVolume;
+// Types
+typedef btDbvtAabbMm btDbvtVolume;
 
-/* btDbvtNode				*/ 
-struct	btDbvtNode
+/* btDbvtNode				*/
+struct btDbvtNode
 {
-	btDbvtVolume	volume;
-	btDbvtNode*		parent;
-	DBVT_INLINE bool	isleaf() const		{ return(childs[1]==0); }
-	DBVT_INLINE bool	isinternal() const	{ return(!isleaf()); }
-	union
-	{
-		btDbvtNode*	childs[2];
-		void*	data;
-		int		dataAsInt;
+	btDbvtVolume volume;
+	btDbvtNode* parent;
+	DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
+	DBVT_INLINE bool isinternal() const { return (!isleaf()); }
+	union {
+		btDbvtNode* childs[2];
+		void* data;
+		int dataAsInt;
 	};
 };
 
 typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;
 
-
 ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
 ///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
 ///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
-struct	btDbvt
+struct btDbvt
 {
-	/* Stack element	*/ 
-	struct	sStkNN
+	/* Stack element	*/
+	struct sStkNN
 	{
-		const btDbvtNode*	a;
-		const btDbvtNode*	b;
+		const btDbvtNode* a;
+		const btDbvtNode* b;
 		sStkNN() {}
-		sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {}
+		sStkNN(const btDbvtNode* na, const btDbvtNode* nb) : a(na), b(nb) {}
 	};
-	struct	sStkNP
+	struct sStkNP
 	{
-		const btDbvtNode*	node;
-		int			mask;
-		sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {}
+		const btDbvtNode* node;
+		int mask;
+		sStkNP(const btDbvtNode* n, unsigned m) : node(n), mask(m) {}
 	};
-	struct	sStkNPS
+	struct sStkNPS
 	{
-		const btDbvtNode*	node;
-		int			mask;
-		btScalar	value;
+		const btDbvtNode* node;
+		int mask;
+		btScalar value;
 		sStkNPS() {}
-		sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {}
+		sStkNPS(const btDbvtNode* n, unsigned m, btScalar v) : node(n), mask(m), value(v) {}
 	};
-	struct	sStkCLN
+	struct sStkCLN
 	{
-		const btDbvtNode*	node;
-		btDbvtNode*		parent;
-		sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {}
+		const btDbvtNode* node;
+		btDbvtNode* parent;
+		sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {}
 	};
 	// Policies/Interfaces
 
-	/* ICollide	*/ 
-	struct	ICollide
-	{		
+	/* ICollide	*/
+	struct ICollide
+	{
 		DBVT_VIRTUAL_DTOR(ICollide)
-			DBVT_VIRTUAL void	Process(const btDbvtNode*,const btDbvtNode*)		{}
-		DBVT_VIRTUAL void	Process(const btDbvtNode*)					{}
-		DBVT_VIRTUAL void	Process(const btDbvtNode* n,btScalar)			{ Process(n); }
-		DBVT_VIRTUAL bool	Descent(const btDbvtNode*)					{ return(true); }
-		DBVT_VIRTUAL bool	AllLeaves(const btDbvtNode*)					{ return(true); }
+		DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {}
+		DBVT_VIRTUAL void Process(const btDbvtNode*) {}
+		DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); }
+		DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); }
+		DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); }
 	};
-	/* IWriter	*/ 
-	struct	IWriter
+	/* IWriter	*/
+	struct IWriter
 	{
 		virtual ~IWriter() {}
-		virtual void		Prepare(const btDbvtNode* root,int numnodes)=0;
-		virtual void		WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0;
-		virtual void		WriteLeaf(const btDbvtNode*,int index,int parent)=0;
+		virtual void Prepare(const btDbvtNode* root, int numnodes) = 0;
+		virtual void WriteNode(const btDbvtNode*, int index, int parent, int child0, int child1) = 0;
+		virtual void WriteLeaf(const btDbvtNode*, int index, int parent) = 0;
 	};
-	/* IClone	*/ 
-	struct	IClone
+	/* IClone	*/
+	struct IClone
 	{
-		virtual ~IClone()	{}
-		virtual void		CloneLeaf(btDbvtNode*) {}
+		virtual ~IClone() {}
+		virtual void CloneLeaf(btDbvtNode*) {}
 	};
 
 	// Constants
-	enum	{
-		SIMPLE_STACKSIZE	=	64,
-		DOUBLE_STACKSIZE	=	SIMPLE_STACKSIZE*2
+	enum
+	{
+		SIMPLE_STACKSIZE = 64,
+		DOUBLE_STACKSIZE = SIMPLE_STACKSIZE * 2
 	};
 
 	// Fields
-	btDbvtNode*		m_root;
-	btDbvtNode*		m_free;
-	int				m_lkhd;
-	int				m_leaves;
-	unsigned		m_opath;
-
-	
-	btAlignedObjectArray<sStkNN>	m_stkStack;
+	btDbvtNode* m_root;
+	btDbvtNode* m_free;
+	int m_lkhd;
+	int m_leaves;
+	unsigned m_opath;
 
+	btAlignedObjectArray<sStkNN> m_stkStack;
 
 	// Methods
 	btDbvt();
 	~btDbvt();
-	void			clear();
-	bool			empty() const { return(0==m_root); }
-	void			optimizeBottomUp();
-	void			optimizeTopDown(int bu_treshold=128);
-	void			optimizeIncremental(int passes);
-	btDbvtNode*		insert(const btDbvtVolume& box,void* data);
-	void			update(btDbvtNode* leaf,int lookahead=-1);
-	void			update(btDbvtNode* leaf,btDbvtVolume& volume);
-	bool			update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin);
-	bool			update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity);
-	bool			update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin);	
-	void			remove(btDbvtNode* leaf);
-	void			write(IWriter* iwriter) const;
-	void			clone(btDbvt& dest,IClone* iclone=0) const;
-	static int		maxdepth(const btDbvtNode* node);
-	static int		countLeaves(const btDbvtNode* node);
-	static void		extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves);
+	void clear();
+	bool empty() const { return (0 == m_root); }
+	void optimizeBottomUp();
+	void optimizeTopDown(int bu_treshold = 128);
+	void optimizeIncremental(int passes);
+	btDbvtNode* insert(const btDbvtVolume& box, void* data);
+	void update(btDbvtNode* leaf, int lookahead = -1);
+	void update(btDbvtNode* leaf, btDbvtVolume& volume);
+	bool update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity, btScalar margin);
+	bool update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity);
+	bool update(btDbvtNode* leaf, btDbvtVolume& volume, btScalar margin);
+	void remove(btDbvtNode* leaf);
+	void write(IWriter* iwriter) const;
+	void clone(btDbvt& dest, IClone* iclone = 0) const;
+	static int maxdepth(const btDbvtNode* node);
+	static int countLeaves(const btDbvtNode* node);
+	static void extractLeaves(const btDbvtNode* node, btAlignedObjectArray<const btDbvtNode*>& leaves);
 #if DBVT_ENABLE_BENCHMARK
-	static void		benchmark();
+	static void benchmark();
 #else
-	static void		benchmark(){}
+	static void benchmark()
+	{
+	}
 #endif
 	// DBVT_IPOLICY must support ICollide policy/interface
 	DBVT_PREFIX
-		static void		enumNodes(	const btDbvtNode* root,
-		DBVT_IPOLICY);
+	static void enumNodes(const btDbvtNode* root,
+						  DBVT_IPOLICY);
 	DBVT_PREFIX
-		static void		enumLeaves(	const btDbvtNode* root,
-		DBVT_IPOLICY);
+	static void enumLeaves(const btDbvtNode* root,
+						   DBVT_IPOLICY);
 	DBVT_PREFIX
-		void		collideTT(	const btDbvtNode* root0,
-		const btDbvtNode* root1,
-		DBVT_IPOLICY);
+	void collideTT(const btDbvtNode* root0,
+				   const btDbvtNode* root1,
+				   DBVT_IPOLICY);
 
 	DBVT_PREFIX
-		void		collideTTpersistentStack(	const btDbvtNode* root0,
-		  const btDbvtNode* root1,
-		  DBVT_IPOLICY);
+	void collideTTpersistentStack(const btDbvtNode* root0,
+								  const btDbvtNode* root1,
+								  DBVT_IPOLICY);
 #if 0
 	DBVT_PREFIX
 		void		collideTT(	const btDbvtNode* root0,
@@ -325,82 +326,89 @@ struct	btDbvt
 #endif
 
 	DBVT_PREFIX
-		void		collideTV(	const btDbvtNode* root,
-		const btDbvtVolume& volume,
-		DBVT_IPOLICY) const;
-	
+	void collideTV(const btDbvtNode* root,
+				   const btDbvtVolume& volume,
+				   DBVT_IPOLICY) const;
+
 	DBVT_PREFIX
-	void		collideTVNoStackAlloc(	const btDbvtNode* root,
-						  const btDbvtVolume& volume,
-						  btNodeStack& stack,
-						  DBVT_IPOLICY) const;
-	
-	
-	
-	
+	void collideTVNoStackAlloc(const btDbvtNode* root,
+							   const btDbvtVolume& volume,
+							   btNodeStack& stack,
+							   DBVT_IPOLICY) const;
+
 	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
 	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
 	DBVT_PREFIX
-		static void		rayTest(	const btDbvtNode* root,
-		const btVector3& rayFrom,
-		const btVector3& rayTo,
-		DBVT_IPOLICY);
+	static void rayTest(const btDbvtNode* root,
+						const btVector3& rayFrom,
+						const btVector3& rayTo,
+						DBVT_IPOLICY);
 	///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
 	///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts
 	DBVT_PREFIX
-		void		rayTestInternal(	const btDbvtNode* root,
-								const btVector3& rayFrom,
-								const btVector3& rayTo,
-								const btVector3& rayDirectionInverse,
-								unsigned int signs[3],
-								btScalar lambda_max,
-								const btVector3& aabbMin,
-								const btVector3& aabbMax,
-                                btAlignedObjectArray<const btDbvtNode*>& stack,
-								DBVT_IPOLICY) const;
+	void rayTestInternal(const btDbvtNode* root,
+						 const btVector3& rayFrom,
+						 const btVector3& rayTo,
+						 const btVector3& rayDirectionInverse,
+						 unsigned int signs[3],
+						 btScalar lambda_max,
+						 const btVector3& aabbMin,
+						 const btVector3& aabbMax,
+						 btAlignedObjectArray<const btDbvtNode*>& stack,
+						 DBVT_IPOLICY) const;
 
 	DBVT_PREFIX
-		static void		collideKDOP(const btDbvtNode* root,
-		const btVector3* normals,
-		const btScalar* offsets,
-		int count,
-		DBVT_IPOLICY);
+	static void collideKDOP(const btDbvtNode* root,
+							const btVector3* normals,
+							const btScalar* offsets,
+							int count,
+							DBVT_IPOLICY);
 	DBVT_PREFIX
-		static void		collideOCL(	const btDbvtNode* root,
-		const btVector3* normals,
-		const btScalar* offsets,
-		const btVector3& sortaxis,
-		int count,								
-		DBVT_IPOLICY,
-		bool fullsort=true);
+	static void collideOCL(const btDbvtNode* root,
+						   const btVector3* normals,
+						   const btScalar* offsets,
+						   const btVector3& sortaxis,
+						   int count,
+						   DBVT_IPOLICY,
+						   bool fullsort = true);
 	DBVT_PREFIX
-		static void		collideTU(	const btDbvtNode* root,
-		DBVT_IPOLICY);
-	// Helpers	
-	static DBVT_INLINE int	nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h)
+	static void collideTU(const btDbvtNode* root,
+						  DBVT_IPOLICY);
+	// Helpers
+	static DBVT_INLINE int nearest(const int* i, const btDbvt::sStkNPS* a, btScalar v, int l, int h)
 	{
-		int	m=0;
-		while(l<h)
+		int m = 0;
+		while (l < h)
 		{
-			m=(l+h)>>1;
-			if(a[i[m]].value>=v) l=m+1; else h=m;
+			m = (l + h) >> 1;
+			if (a[i[m]].value >= v)
+				l = m + 1;
+			else
+				h = m;
 		}
-		return(h);
+		return (h);
 	}
-	static DBVT_INLINE int	allocate(	btAlignedObjectArray<int>& ifree,
-		btAlignedObjectArray<sStkNPS>& stock,
-		const sStkNPS& value)
+	static DBVT_INLINE int allocate(btAlignedObjectArray<int>& ifree,
+									btAlignedObjectArray<sStkNPS>& stock,
+									const sStkNPS& value)
 	{
-		int	i;
-		if(ifree.size()>0)
-		{ i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; }
+		int i;
+		if (ifree.size() > 0)
+		{
+			i = ifree[ifree.size() - 1];
+			ifree.pop_back();
+			stock[i] = value;
+		}
 		else
-		{ i=stock.size();stock.push_back(value); }
-		return(i); 
+		{
+			i = stock.size();
+			stock.push_back(value);
+		}
+		return (i);
 	}
 	//
 private:
-	btDbvt(const btDbvt&)	{}	
+	btDbvt(const btDbvt&) {}
 };
 
 //
@@ -408,227 +416,252 @@ private:
 //
 
 //
-inline btDbvtAabbMm			btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e)
+inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c, const btVector3& e)
 {
 	btDbvtAabbMm box;
-	box.mi=c-e;box.mx=c+e;
-	return(box);
+	box.mi = c - e;
+	box.mx = c + e;
+	return (box);
 }
 
 //
-inline btDbvtAabbMm			btDbvtAabbMm::FromCR(const btVector3& c,btScalar r)
+inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c, btScalar r)
 {
-	return(FromCE(c,btVector3(r,r,r)));
+	return (FromCE(c, btVector3(r, r, r)));
 }
 
 //
-inline btDbvtAabbMm			btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx)
+inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi, const btVector3& mx)
 {
 	btDbvtAabbMm box;
-	box.mi=mi;box.mx=mx;
-	return(box);
+	box.mi = mi;
+	box.mx = mx;
+	return (box);
 }
 
 //
-inline btDbvtAabbMm			btDbvtAabbMm::FromPoints(const btVector3* pts,int n)
+inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts, int n)
 {
 	btDbvtAabbMm box;
-	box.mi=box.mx=pts[0];
-	for(int i=1;i<n;++i)
+	box.mi = box.mx = pts[0];
+	for (int i = 1; i < n; ++i)
 	{
 		box.mi.setMin(pts[i]);
 		box.mx.setMax(pts[i]);
 	}
-	return(box);
+	return (box);
 }
 
 //
-inline btDbvtAabbMm			btDbvtAabbMm::FromPoints(const btVector3** ppts,int n)
+inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts, int n)
 {
 	btDbvtAabbMm box;
-	box.mi=box.mx=*ppts[0];
-	for(int i=1;i<n;++i)
+	box.mi = box.mx = *ppts[0];
+	for (int i = 1; i < n; ++i)
 	{
 		box.mi.setMin(*ppts[i]);
 		box.mx.setMax(*ppts[i]);
 	}
-	return(box);
+	return (box);
 }
 
 //
-DBVT_INLINE void		btDbvtAabbMm::Expand(const btVector3& e)
+DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e)
 {
-	mi-=e;mx+=e;
+	mi -= e;
+	mx += e;
 }
 
 //
-DBVT_INLINE void		btDbvtAabbMm::SignedExpand(const btVector3& e)
+DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e)
 {
-	if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]);
-	if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]);
-	if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]);
+	if (e.x() > 0)
+		mx.setX(mx.x() + e[0]);
+	else
+		mi.setX(mi.x() + e[0]);
+	if (e.y() > 0)
+		mx.setY(mx.y() + e[1]);
+	else
+		mi.setY(mi.y() + e[1]);
+	if (e.z() > 0)
+		mx.setZ(mx.z() + e[2]);
+	else
+		mi.setZ(mi.z() + e[2]);
 }
 
 //
-DBVT_INLINE bool		btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
+DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
 {
-	return(	(mi.x()<=a.mi.x())&&
-		(mi.y()<=a.mi.y())&&
-		(mi.z()<=a.mi.z())&&
-		(mx.x()>=a.mx.x())&&
-		(mx.y()>=a.mx.y())&&
-		(mx.z()>=a.mx.z()));
+	return ((mi.x() <= a.mi.x()) &&
+			(mi.y() <= a.mi.y()) &&
+			(mi.z() <= a.mi.z()) &&
+			(mx.x() >= a.mx.x()) &&
+			(mx.y() >= a.mx.y()) &&
+			(mx.z() >= a.mx.z()));
 }
 
 //
-DBVT_INLINE int		btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const
+DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) const
 {
-	btVector3			pi,px;
-	switch(s)
+	btVector3 pi, px;
+	switch (s)
 	{
-	case	(0+0+0):	px=btVector3(mi.x(),mi.y(),mi.z());
-		pi=btVector3(mx.x(),mx.y(),mx.z());break;
-	case	(1+0+0):	px=btVector3(mx.x(),mi.y(),mi.z());
-		pi=btVector3(mi.x(),mx.y(),mx.z());break;
-	case	(0+2+0):	px=btVector3(mi.x(),mx.y(),mi.z());
-		pi=btVector3(mx.x(),mi.y(),mx.z());break;
-	case	(1+2+0):	px=btVector3(mx.x(),mx.y(),mi.z());
-		pi=btVector3(mi.x(),mi.y(),mx.z());break;
-	case	(0+0+4):	px=btVector3(mi.x(),mi.y(),mx.z());
-		pi=btVector3(mx.x(),mx.y(),mi.z());break;
-	case	(1+0+4):	px=btVector3(mx.x(),mi.y(),mx.z());
-		pi=btVector3(mi.x(),mx.y(),mi.z());break;
-	case	(0+2+4):	px=btVector3(mi.x(),mx.y(),mx.z());
-		pi=btVector3(mx.x(),mi.y(),mi.z());break;
-	case	(1+2+4):	px=btVector3(mx.x(),mx.y(),mx.z());
-		pi=btVector3(mi.x(),mi.y(),mi.z());break;
+		case (0 + 0 + 0):
+			px = btVector3(mi.x(), mi.y(), mi.z());
+			pi = btVector3(mx.x(), mx.y(), mx.z());
+			break;
+		case (1 + 0 + 0):
+			px = btVector3(mx.x(), mi.y(), mi.z());
+			pi = btVector3(mi.x(), mx.y(), mx.z());
+			break;
+		case (0 + 2 + 0):
+			px = btVector3(mi.x(), mx.y(), mi.z());
+			pi = btVector3(mx.x(), mi.y(), mx.z());
+			break;
+		case (1 + 2 + 0):
+			px = btVector3(mx.x(), mx.y(), mi.z());
+			pi = btVector3(mi.x(), mi.y(), mx.z());
+			break;
+		case (0 + 0 + 4):
+			px = btVector3(mi.x(), mi.y(), mx.z());
+			pi = btVector3(mx.x(), mx.y(), mi.z());
+			break;
+		case (1 + 0 + 4):
+			px = btVector3(mx.x(), mi.y(), mx.z());
+			pi = btVector3(mi.x(), mx.y(), mi.z());
+			break;
+		case (0 + 2 + 4):
+			px = btVector3(mi.x(), mx.y(), mx.z());
+			pi = btVector3(mx.x(), mi.y(), mi.z());
+			break;
+		case (1 + 2 + 4):
+			px = btVector3(mx.x(), mx.y(), mx.z());
+			pi = btVector3(mi.x(), mi.y(), mi.z());
+			break;
 	}
-	if((btDot(n,px)+o)<0)		return(-1);
-	if((btDot(n,pi)+o)>=0)	return(+1);
-	return(0);
+	if ((btDot(n, px) + o) < 0) return (-1);
+	if ((btDot(n, pi) + o) >= 0) return (+1);
+	return (0);
 }
 
 //
-DBVT_INLINE btScalar	btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const
+DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v, unsigned signs) const
 {
-	const btVector3*	b[]={&mx,&mi};
-	const btVector3		p(	b[(signs>>0)&1]->x(),
-		b[(signs>>1)&1]->y(),
-		b[(signs>>2)&1]->z());
-	return(btDot(p,v));
+	const btVector3* b[] = {&mx, &mi};
+	const btVector3 p(b[(signs >> 0) & 1]->x(),
+					  b[(signs >> 1) & 1]->y(),
+					  b[(signs >> 2) & 1]->z());
+	return (btDot(p, v));
 }
 
 //
-DBVT_INLINE void		btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const
+DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d, btScalar& smi, btScalar& smx) const
 {
-	for(int i=0;i<3;++i)
+	for (int i = 0; i < 3; ++i)
 	{
-		if(d[i]<0)
-		{ smi+=mx[i]*d[i];smx+=mi[i]*d[i]; }
+		if (d[i] < 0)
+		{
+			smi += mx[i] * d[i];
+			smx += mi[i] * d[i];
+		}
 		else
-		{ smi+=mi[i]*d[i];smx+=mx[i]*d[i]; }
+		{
+			smi += mi[i] * d[i];
+			smx += mx[i] * d[i];
+		}
 	}
 }
 
 //
-DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
-								  const btDbvtAabbMm& b)
+DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
+						   const btDbvtAabbMm& b)
 {
-#if	DBVT_INT0_IMPL == DBVT_IMPL_SSE
-	const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
-		_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
-#if defined (_WIN32)
-	const __int32*	pu((const __int32*)&rt);
+#if DBVT_INT0_IMPL == DBVT_IMPL_SSE
+	const __m128 rt(_mm_or_ps(_mm_cmplt_ps(_mm_load_ps(b.mx), _mm_load_ps(a.mi)),
+							  _mm_cmplt_ps(_mm_load_ps(a.mx), _mm_load_ps(b.mi))));
+#if defined(_WIN32)
+	const __int32* pu((const __int32*)&rt);
 #else
-    const int*	pu((const int*)&rt);
+	const int* pu((const int*)&rt);
 #endif
-	return((pu[0]|pu[1]|pu[2])==0);
+	return ((pu[0] | pu[1] | pu[2]) == 0);
 #else
-	return(	(a.mi.x()<=b.mx.x())&&
-		(a.mx.x()>=b.mi.x())&&
-		(a.mi.y()<=b.mx.y())&&
-		(a.mx.y()>=b.mi.y())&&
-		(a.mi.z()<=b.mx.z())&&		
-		(a.mx.z()>=b.mi.z()));
+	return ((a.mi.x() <= b.mx.x()) &&
+			(a.mx.x() >= b.mi.x()) &&
+			(a.mi.y() <= b.mx.y()) &&
+			(a.mx.y() >= b.mi.y()) &&
+			(a.mi.z() <= b.mx.z()) &&
+			(a.mx.z() >= b.mi.z()));
 #endif
 }
 
-
-
 //
-DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
-								  const btVector3& b)
+DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
+						   const btVector3& b)
 {
-	return(	(b.x()>=a.mi.x())&&
-		(b.y()>=a.mi.y())&&
-		(b.z()>=a.mi.z())&&
-		(b.x()<=a.mx.x())&&
-		(b.y()<=a.mx.y())&&
-		(b.z()<=a.mx.z()));
+	return ((b.x() >= a.mi.x()) &&
+			(b.y() >= a.mi.y()) &&
+			(b.z() >= a.mi.z()) &&
+			(b.x() <= a.mx.x()) &&
+			(b.y() <= a.mx.y()) &&
+			(b.z() <= a.mx.z()));
 }
 
-
-
-
-
 //////////////////////////////////////
 
-
 //
-DBVT_INLINE btScalar	Proximity(	const btDbvtAabbMm& a,
-								  const btDbvtAabbMm& b)
+DBVT_INLINE btScalar Proximity(const btDbvtAabbMm& a,
+							   const btDbvtAabbMm& b)
 {
-	const btVector3	d=(a.mi+a.mx)-(b.mi+b.mx);
-	return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
+	const btVector3 d = (a.mi + a.mx) - (b.mi + b.mx);
+	return (btFabs(d.x()) + btFabs(d.y()) + btFabs(d.z()));
 }
 
-
-
 //
-DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
-							   const btDbvtAabbMm& a,
-							   const btDbvtAabbMm& b)
+DBVT_INLINE int Select(const btDbvtAabbMm& o,
+					   const btDbvtAabbMm& a,
+					   const btDbvtAabbMm& b)
 {
-#if	DBVT_SELECT_IMPL == DBVT_IMPL_SSE
-    
-#if defined (_WIN32)
-	static ATTRIBUTE_ALIGNED16(const unsigned __int32)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE
+
+#if defined(_WIN32)
+	static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
 #else
-    static ATTRIBUTE_ALIGNED16(const unsigned int)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/};
+	static ATTRIBUTE_ALIGNED16(const unsigned int) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x00000000 /*0x7fffffff*/};
 #endif
 	///@todo: the intrinsic version is 11% slower
 #if DBVT_USE_INTRINSIC_SSE
 
-	union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory
+	union btSSEUnion  ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory
 	{
-	   __m128		ssereg;
-	   float		floats[4];
-	   int			ints[4];
+		__m128 ssereg;
+		float floats[4];
+		int ints[4];
 	};
 
-	__m128	omi(_mm_load_ps(o.mi));
-	omi=_mm_add_ps(omi,_mm_load_ps(o.mx));
-	__m128	ami(_mm_load_ps(a.mi));
-	ami=_mm_add_ps(ami,_mm_load_ps(a.mx));
-	ami=_mm_sub_ps(ami,omi);
-	ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask));
-	__m128	bmi(_mm_load_ps(b.mi));
-	bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx));
-	bmi=_mm_sub_ps(bmi,omi);
-	bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask));
-	__m128	t0(_mm_movehl_ps(ami,ami));
-	ami=_mm_add_ps(ami,t0);
-	ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1));
-	__m128 t1(_mm_movehl_ps(bmi,bmi));
-	bmi=_mm_add_ps(bmi,t1);
-	bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1));
-	
+	__m128 omi(_mm_load_ps(o.mi));
+	omi = _mm_add_ps(omi, _mm_load_ps(o.mx));
+	__m128 ami(_mm_load_ps(a.mi));
+	ami = _mm_add_ps(ami, _mm_load_ps(a.mx));
+	ami = _mm_sub_ps(ami, omi);
+	ami = _mm_and_ps(ami, _mm_load_ps((const float*)mask));
+	__m128 bmi(_mm_load_ps(b.mi));
+	bmi = _mm_add_ps(bmi, _mm_load_ps(b.mx));
+	bmi = _mm_sub_ps(bmi, omi);
+	bmi = _mm_and_ps(bmi, _mm_load_ps((const float*)mask));
+	__m128 t0(_mm_movehl_ps(ami, ami));
+	ami = _mm_add_ps(ami, t0);
+	ami = _mm_add_ss(ami, _mm_shuffle_ps(ami, ami, 1));
+	__m128 t1(_mm_movehl_ps(bmi, bmi));
+	bmi = _mm_add_ps(bmi, t1);
+	bmi = _mm_add_ss(bmi, _mm_shuffle_ps(bmi, bmi, 1));
+
 	btSSEUnion tmp;
-	tmp.ssereg = _mm_cmple_ss(bmi,ami);
-	return tmp.ints[0]&1;
+	tmp.ssereg = _mm_cmple_ss(bmi, ami);
+	return tmp.ints[0] & 1;
 
 #else
-	ATTRIBUTE_ALIGNED16(__int32	r[1]);
+	ATTRIBUTE_ALIGNED16(__int32 r[1]);
 	__asm
 	{
 		mov		eax,o
@@ -656,46 +689,52 @@ DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
 			cmpless	xmm2,xmm1
 			movss	r,xmm2
 	}
-	return(r[0]&1);
+	return (r[0] & 1);
 #endif
 #else
-	return(Proximity(o,a)<Proximity(o,b)?0:1);
+	return (Proximity(o, a) < Proximity(o, b) ? 0 : 1);
 #endif
 }
 
 //
-DBVT_INLINE void		Merge(	const btDbvtAabbMm& a,
-							  const btDbvtAabbMm& b,
-							  btDbvtAabbMm& r)
+DBVT_INLINE void Merge(const btDbvtAabbMm& a,
+					   const btDbvtAabbMm& b,
+					   btDbvtAabbMm& r)
 {
-#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
-	__m128	ami(_mm_load_ps(a.mi));
-	__m128	amx(_mm_load_ps(a.mx));
-	__m128	bmi(_mm_load_ps(b.mi));
-	__m128	bmx(_mm_load_ps(b.mx));
-	ami=_mm_min_ps(ami,bmi);
-	amx=_mm_max_ps(amx,bmx);
-	_mm_store_ps(r.mi,ami);
-	_mm_store_ps(r.mx,amx);
+#if DBVT_MERGE_IMPL == DBVT_IMPL_SSE
+	__m128 ami(_mm_load_ps(a.mi));
+	__m128 amx(_mm_load_ps(a.mx));
+	__m128 bmi(_mm_load_ps(b.mi));
+	__m128 bmx(_mm_load_ps(b.mx));
+	ami = _mm_min_ps(ami, bmi);
+	amx = _mm_max_ps(amx, bmx);
+	_mm_store_ps(r.mi, ami);
+	_mm_store_ps(r.mx, amx);
 #else
-	for(int i=0;i<3;++i)
+	for (int i = 0; i < 3; ++i)
 	{
-		if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
-		if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
+		if (a.mi[i] < b.mi[i])
+			r.mi[i] = a.mi[i];
+		else
+			r.mi[i] = b.mi[i];
+		if (a.mx[i] > b.mx[i])
+			r.mx[i] = a.mx[i];
+		else
+			r.mx[i] = b.mx[i];
 	}
 #endif
 }
 
 //
-DBVT_INLINE bool		NotEqual(	const btDbvtAabbMm& a,
-								 const btDbvtAabbMm& b)
+DBVT_INLINE bool NotEqual(const btDbvtAabbMm& a,
+						  const btDbvtAabbMm& b)
 {
-	return(	(a.mi.x()!=b.mi.x())||
-		(a.mi.y()!=b.mi.y())||
-		(a.mi.z()!=b.mi.z())||
-		(a.mx.x()!=b.mx.x())||
-		(a.mx.y()!=b.mx.y())||
-		(a.mx.z()!=b.mx.z()));
+	return ((a.mi.x() != b.mi.x()) ||
+			(a.mi.y() != b.mi.y()) ||
+			(a.mi.z() != b.mi.z()) ||
+			(a.mx.x() != b.mx.x()) ||
+			(a.mx.y() != b.mx.y()) ||
+			(a.mx.z() != b.mx.z()));
 }
 
 //
@@ -704,162 +743,162 @@ DBVT_INLINE bool		NotEqual(	const btDbvtAabbMm& a,
 
 //
 DBVT_PREFIX
-inline void		btDbvt::enumNodes(	const btDbvtNode* root,
-								  DBVT_IPOLICY)
+inline void btDbvt::enumNodes(const btDbvtNode* root,
+							  DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		policy.Process(root);
-	if(root->isinternal())
+	policy.Process(root);
+	if (root->isinternal())
 	{
-		enumNodes(root->childs[0],policy);
-		enumNodes(root->childs[1],policy);
+		enumNodes(root->childs[0], policy);
+		enumNodes(root->childs[1], policy);
 	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::enumLeaves(	const btDbvtNode* root,
-								   DBVT_IPOLICY)
+inline void btDbvt::enumLeaves(const btDbvtNode* root,
+							   DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		if(root->isinternal())
-		{
-			enumLeaves(root->childs[0],policy);
-			enumLeaves(root->childs[1],policy);
-		}
-		else
-		{
-			policy.Process(root);
-		}
+	if (root->isinternal())
+	{
+		enumLeaves(root->childs[0], policy);
+		enumLeaves(root->childs[1], policy);
+	}
+	else
+	{
+		policy.Process(root);
+	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::collideTT(	const btDbvtNode* root0,
-								  const btDbvtNode* root1,
-								  DBVT_IPOLICY)
+inline void btDbvt::collideTT(const btDbvtNode* root0,
+							  const btDbvtNode* root1,
+							  DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		if(root0&&root1)
+	if (root0 && root1)
+	{
+		int depth = 1;
+		int treshold = DOUBLE_STACKSIZE - 4;
+		btAlignedObjectArray<sStkNN> stkStack;
+		stkStack.resize(DOUBLE_STACKSIZE);
+		stkStack[0] = sStkNN(root0, root1);
+		do
 		{
-			int								depth=1;
-			int								treshold=DOUBLE_STACKSIZE-4;
-			btAlignedObjectArray<sStkNN>	stkStack;
-			stkStack.resize(DOUBLE_STACKSIZE);
-			stkStack[0]=sStkNN(root0,root1);
-			do	{		
-				sStkNN	p=stkStack[--depth];
-				if(depth>treshold)
+			sStkNN p = stkStack[--depth];
+			if (depth > treshold)
+			{
+				stkStack.resize(stkStack.size() * 2);
+				treshold = stkStack.size() - 4;
+			}
+			if (p.a == p.b)
+			{
+				if (p.a->isinternal())
 				{
-					stkStack.resize(stkStack.size()*2);
-					treshold=stkStack.size()-4;
+					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
+					stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
+					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
 				}
-				if(p.a==p.b)
+			}
+			else if (Intersect(p.a->volume, p.b->volume))
+			{
+				if (p.a->isinternal())
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
+					{
+						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
+						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
+						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
+						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
+					}
+					else
 					{
-						stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
-						stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
-						stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+						stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
+						stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
 					}
 				}
-				else if(Intersect(p.a->volume,p.b->volume))
+				else
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
 					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
-							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
-						}
+						stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
+						stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
 					}
 					else
 					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
-							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							policy.Process(p.a,p.b);
-						}
+						policy.Process(p.a, p.b);
 					}
 				}
-			} while(depth);
-		}
+			}
+		} while (depth);
+	}
 }
 
-
-
 DBVT_PREFIX
-inline void		btDbvt::collideTTpersistentStack(	const btDbvtNode* root0,
-								  const btDbvtNode* root1,
-								  DBVT_IPOLICY)
+inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0,
+											 const btDbvtNode* root1,
+											 DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		if(root0&&root1)
+	if (root0 && root1)
+	{
+		int depth = 1;
+		int treshold = DOUBLE_STACKSIZE - 4;
+
+		m_stkStack.resize(DOUBLE_STACKSIZE);
+		m_stkStack[0] = sStkNN(root0, root1);
+		do
 		{
-			int								depth=1;
-			int								treshold=DOUBLE_STACKSIZE-4;
-			
-			m_stkStack.resize(DOUBLE_STACKSIZE);
-			m_stkStack[0]=sStkNN(root0,root1);
-			do	{		
-				sStkNN	p=m_stkStack[--depth];
-				if(depth>treshold)
+			sStkNN p = m_stkStack[--depth];
+			if (depth > treshold)
+			{
+				m_stkStack.resize(m_stkStack.size() * 2);
+				treshold = m_stkStack.size() - 4;
+			}
+			if (p.a == p.b)
+			{
+				if (p.a->isinternal())
 				{
-					m_stkStack.resize(m_stkStack.size()*2);
-					treshold=m_stkStack.size()-4;
+					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
+					m_stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
+					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
 				}
-				if(p.a==p.b)
+			}
+			else if (Intersect(p.a->volume, p.b->volume))
+			{
+				if (p.a->isinternal())
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
 					{
-						m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
-						m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
-						m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
+						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
+					}
+					else
+					{
+						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
+						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
 					}
 				}
-				else if(Intersect(p.a->volume,p.b->volume))
+				else
 				{
-					if(p.a->isinternal())
+					if (p.b->isinternal())
 					{
-						if(p.b->isinternal())
-						{
-							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
-							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
-						}
+						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
+						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
 					}
 					else
 					{
-						if(p.b->isinternal())
-						{
-							m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
-							m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							policy.Process(p.a,p.b);
-						}
+						policy.Process(p.a, p.b);
 					}
 				}
-			} while(depth);
-		}
+			}
+		} while (depth);
+	}
 }
 
 #if 0
@@ -929,33 +968,35 @@ inline void		btDbvt::collideTT(	const btDbvtNode* root0,
 	const btTransform	xform=xform0.inverse()*xform1;
 	collideTT(root0,root1,xform,policy);
 }
-#endif 
+#endif
 
 DBVT_PREFIX
-inline void		btDbvt::collideTV(	const btDbvtNode* root,
-								  const btDbvtVolume& vol,
-								  DBVT_IPOLICY) const
+inline void btDbvt::collideTV(const btDbvtNode* root,
+							  const btDbvtVolume& vol,
+							  DBVT_IPOLICY) const
 {
 	DBVT_CHECKTYPE
-	if(root)
+	if (root)
 	{
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
-		btAlignedObjectArray<const btDbvtNode*>	stack;
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)
+		volume(vol);
+		btAlignedObjectArray<const btDbvtNode*> stack;
 		stack.resize(0);
 #ifndef BT_DISABLE_STACK_TEMP_MEMORY
-		char tempmemory[SIMPLE_STACKSIZE*sizeof(const btDbvtNode*)];
+		char tempmemory[SIMPLE_STACKSIZE * sizeof(const btDbvtNode*)];
 		stack.initializeFromBuffer(tempmemory, 0, SIMPLE_STACKSIZE);
 #else
 		stack.reserve(SIMPLE_STACKSIZE);
-#endif //BT_DISABLE_STACK_TEMP_MEMORY
+#endif  //BT_DISABLE_STACK_TEMP_MEMORY
 
 		stack.push_back(root);
-		do	{
-			const btDbvtNode*	n=stack[stack.size()-1];
+		do
+		{
+			const btDbvtNode* n = stack[stack.size() - 1];
 			stack.pop_back();
-			if(Intersect(n->volume,volume))
+			if (Intersect(n->volume, volume))
 			{
-				if(n->isinternal())
+				if (n->isinternal())
 				{
 					stack.push_back(n->childs[0]);
 					stack.push_back(n->childs[1]);
@@ -965,30 +1006,32 @@ inline void		btDbvt::collideTV(	const btDbvtNode* root,
 					policy.Process(n);
 				}
 			}
-		} while(stack.size()>0);
+		} while (stack.size() > 0);
 	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::collideTVNoStackAlloc(	const btDbvtNode* root,
-											 const btDbvtVolume& vol,
-											 btNodeStack& stack,
-											 DBVT_IPOLICY) const
+inline void btDbvt::collideTVNoStackAlloc(const btDbvtNode* root,
+										  const btDbvtVolume& vol,
+										  btNodeStack& stack,
+										  DBVT_IPOLICY) const
 {
 	DBVT_CHECKTYPE
-	if(root)
+	if (root)
 	{
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)
+		volume(vol);
 		stack.resize(0);
 		stack.reserve(SIMPLE_STACKSIZE);
 		stack.push_back(root);
-		do	{
-			const btDbvtNode*	n=stack[stack.size()-1];
+		do
+		{
+			const btDbvtNode* n = stack[stack.size() - 1];
 			stack.pop_back();
-			if(Intersect(n->volume,volume))
+			if (Intersect(n->volume, volume))
 			{
-				if(n->isinternal())
+				if (n->isinternal())
 				{
 					stack.push_back(n->childs[0]);
 					stack.push_back(n->childs[1]);
@@ -998,328 +1041,346 @@ inline void		btDbvt::collideTVNoStackAlloc(	const btDbvtNode* root,
 					policy.Process(n);
 				}
 			}
-		} while(stack.size()>0);
+		} while (stack.size() > 0);
 	}
 }
 
-
 DBVT_PREFIX
-inline void		btDbvt::rayTestInternal(	const btDbvtNode* root,
-								const btVector3& rayFrom,
-								const btVector3& rayTo,
-								const btVector3& rayDirectionInverse,
-								unsigned int signs[3],
-								btScalar lambda_max,
-								const btVector3& aabbMin,
-								const btVector3& aabbMax,
-                                btAlignedObjectArray<const btDbvtNode*>& stack,
-                                DBVT_IPOLICY ) const
+inline void btDbvt::rayTestInternal(const btDbvtNode* root,
+									const btVector3& rayFrom,
+									const btVector3& rayTo,
+									const btVector3& rayDirectionInverse,
+									unsigned int signs[3],
+									btScalar lambda_max,
+									const btVector3& aabbMin,
+									const btVector3& aabbMax,
+									btAlignedObjectArray<const btDbvtNode*>& stack,
+									DBVT_IPOLICY) const
 {
-        (void) rayTo;
+	(void)rayTo;
 	DBVT_CHECKTYPE
-	if(root)
+	if (root)
 	{
 		btVector3 resultNormal;
 
-		int								depth=1;
-		int								treshold=DOUBLE_STACKSIZE-2;
+		int depth = 1;
+		int treshold = DOUBLE_STACKSIZE - 2;
 		stack.resize(DOUBLE_STACKSIZE);
-		stack[0]=root;
+		stack[0] = root;
 		btVector3 bounds[2];
-		do	
+		do
 		{
-			const btDbvtNode*	node=stack[--depth];
-			bounds[0] = node->volume.Mins()-aabbMax;
-			bounds[1] = node->volume.Maxs()-aabbMin;
-			btScalar tmin=1.f,lambda_min=0.f;
-			unsigned int result1=false;
-			result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
-			if(result1)
+			const btDbvtNode* node = stack[--depth];
+			bounds[0] = node->volume.Mins() - aabbMax;
+			bounds[1] = node->volume.Maxs() - aabbMin;
+			btScalar tmin = 1.f, lambda_min = 0.f;
+			unsigned int result1 = false;
+			result1 = btRayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
+			if (result1)
 			{
-				if(node->isinternal())
+				if (node->isinternal())
 				{
-					if(depth>treshold)
+					if (depth > treshold)
 					{
-						stack.resize(stack.size()*2);
-						treshold=stack.size()-2;
+						stack.resize(stack.size() * 2);
+						treshold = stack.size() - 2;
 					}
-					stack[depth++]=node->childs[0];
-					stack[depth++]=node->childs[1];
+					stack[depth++] = node->childs[0];
+					stack[depth++] = node->childs[1];
 				}
 				else
 				{
 					policy.Process(node);
 				}
 			}
-		} while(depth);
+		} while (depth);
 	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::rayTest(	const btDbvtNode* root,
-								const btVector3& rayFrom,
-								const btVector3& rayTo,
-								DBVT_IPOLICY)
+inline void btDbvt::rayTest(const btDbvtNode* root,
+							const btVector3& rayFrom,
+							const btVector3& rayTo,
+							DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		if(root)
-		{
-			btVector3 rayDir = (rayTo-rayFrom);
-			rayDir.normalize ();
+	if (root)
+	{
+		btVector3 rayDir = (rayTo - rayFrom);
+		rayDir.normalize();
 
-			///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
-			btVector3 rayDirectionInverse;
-			rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
-			rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
-			rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
-			unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
+		btVector3 rayDirectionInverse;
+		rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
+		rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
+		rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
+		unsigned int signs[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
 
-			btScalar lambda_max = rayDir.dot(rayTo-rayFrom);
+		btScalar lambda_max = rayDir.dot(rayTo - rayFrom);
 
-			btVector3 resultNormal;
+		btVector3 resultNormal;
 
-			btAlignedObjectArray<const btDbvtNode*>	stack;
+		btAlignedObjectArray<const btDbvtNode*> stack;
 
-			int								depth=1;
-			int								treshold=DOUBLE_STACKSIZE-2;
+		int depth = 1;
+		int treshold = DOUBLE_STACKSIZE - 2;
 
-			char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)];
+		char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)];
 #ifndef BT_DISABLE_STACK_TEMP_MEMORY
-			stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE);
-#else//BT_DISABLE_STACK_TEMP_MEMORY
-			stack.resize(DOUBLE_STACKSIZE);
-#endif //BT_DISABLE_STACK_TEMP_MEMORY
-			stack[0]=root;
-			btVector3 bounds[2];
-			do	{
-				const btDbvtNode*	node=stack[--depth];
+		stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE);
+#else   //BT_DISABLE_STACK_TEMP_MEMORY
+		stack.resize(DOUBLE_STACKSIZE);
+#endif  //BT_DISABLE_STACK_TEMP_MEMORY
+		stack[0] = root;
+		btVector3 bounds[2];
+		do
+		{
+			const btDbvtNode* node = stack[--depth];
+
+			bounds[0] = node->volume.Mins();
+			bounds[1] = node->volume.Maxs();
 
-				bounds[0] = node->volume.Mins();
-				bounds[1] = node->volume.Maxs();
-				
-				btScalar tmin=1.f,lambda_min=0.f;
-				unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
+			btScalar tmin = 1.f, lambda_min = 0.f;
+			unsigned int result1 = btRayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
 
 #ifdef COMPARE_BTRAY_AABB2
-				btScalar param=1.f;
-				bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal);
-				btAssert(result1 == result2);
-#endif //TEST_BTRAY_AABB2
+			btScalar param = 1.f;
+			bool result2 = btRayAabb(rayFrom, rayTo, node->volume.Mins(), node->volume.Maxs(), param, resultNormal);
+			btAssert(result1 == result2);
+#endif  //TEST_BTRAY_AABB2
 
-				if(result1)
+			if (result1)
+			{
+				if (node->isinternal())
 				{
-					if(node->isinternal())
+					if (depth > treshold)
 					{
-						if(depth>treshold)
-						{
-							stack.resize(stack.size()*2);
-							treshold=stack.size()-2;
-						}
-						stack[depth++]=node->childs[0];
-						stack[depth++]=node->childs[1];
-					}
-					else
-					{
-						policy.Process(node);
+						stack.resize(stack.size() * 2);
+						treshold = stack.size() - 2;
 					}
+					stack[depth++] = node->childs[0];
+					stack[depth++] = node->childs[1];
 				}
-			} while(depth);
-
-		}
+				else
+				{
+					policy.Process(node);
+				}
+			}
+		} while (depth);
+	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::collideKDOP(const btDbvtNode* root,
-									const btVector3* normals,
-									const btScalar* offsets,
-									int count,
-									DBVT_IPOLICY)
+inline void btDbvt::collideKDOP(const btDbvtNode* root,
+								const btVector3* normals,
+								const btScalar* offsets,
+								int count,
+								DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		const int inside = (1 << count) - 1;
+		btAlignedObjectArray<sStkNP> stack;
+		int signs[sizeof(unsigned) * 8];
+		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
+		for (int i = 0; i < count; ++i)
 		{
-			const int						inside=(1<<count)-1;
-			btAlignedObjectArray<sStkNP>	stack;
-			int								signs[sizeof(unsigned)*8];
-			btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
-			for(int i=0;i<count;++i)
+			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
+					   ((normals[i].y() >= 0) ? 2 : 0) +
+					   ((normals[i].z() >= 0) ? 4 : 0);
+		}
+		stack.reserve(SIMPLE_STACKSIZE);
+		stack.push_back(sStkNP(root, 0));
+		do
+		{
+			sStkNP se = stack[stack.size() - 1];
+			bool out = false;
+			stack.pop_back();
+			for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
 			{
-				signs[i]=	((normals[i].x()>=0)?1:0)+
-					((normals[i].y()>=0)?2:0)+
-					((normals[i].z()>=0)?4:0);
-			}
-			stack.reserve(SIMPLE_STACKSIZE);
-			stack.push_back(sStkNP(root,0));
-			do	{
-				sStkNP	se=stack[stack.size()-1];
-				bool	out=false;
-				stack.pop_back();
-				for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+				if (0 == (se.mask & j))
 				{
-					if(0==(se.mask&j))
+					const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
+					switch (side)
 					{
-						const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
-						switch(side)
-						{
-						case	-1:	out=true;break;
-						case	+1:	se.mask|=j;break;
-						}
+						case -1:
+							out = true;
+							break;
+						case +1:
+							se.mask |= j;
+							break;
 					}
 				}
-				if(!out)
+			}
+			if (!out)
+			{
+				if ((se.mask != inside) && (se.node->isinternal()))
 				{
-					if((se.mask!=inside)&&(se.node->isinternal()))
-					{
-						stack.push_back(sStkNP(se.node->childs[0],se.mask));
-						stack.push_back(sStkNP(se.node->childs[1],se.mask));
-					}
-					else
-					{
-						if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy);
-					}
+					stack.push_back(sStkNP(se.node->childs[0], se.mask));
+					stack.push_back(sStkNP(se.node->childs[1], se.mask));
 				}
-			} while(stack.size());
-		}
+				else
+				{
+					if (policy.AllLeaves(se.node)) enumLeaves(se.node, policy);
+				}
+			}
+		} while (stack.size());
+	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::collideOCL(	const btDbvtNode* root,
-								   const btVector3* normals,
-								   const btScalar* offsets,
-								   const btVector3& sortaxis,
-								   int count,
-								   DBVT_IPOLICY,
-								   bool fsort)
+inline void btDbvt::collideOCL(const btDbvtNode* root,
+							   const btVector3* normals,
+							   const btScalar* offsets,
+							   const btVector3& sortaxis,
+							   int count,
+							   DBVT_IPOLICY,
+							   bool fsort)
 {
 	DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		const unsigned srtsgns = (sortaxis[0] >= 0 ? 1 : 0) +
+								 (sortaxis[1] >= 0 ? 2 : 0) +
+								 (sortaxis[2] >= 0 ? 4 : 0);
+		const int inside = (1 << count) - 1;
+		btAlignedObjectArray<sStkNPS> stock;
+		btAlignedObjectArray<int> ifree;
+		btAlignedObjectArray<int> stack;
+		int signs[sizeof(unsigned) * 8];
+		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
+		for (int i = 0; i < count; ++i)
 		{
-			const unsigned					srtsgns=(sortaxis[0]>=0?1:0)+
-				(sortaxis[1]>=0?2:0)+
-				(sortaxis[2]>=0?4:0);
-			const int						inside=(1<<count)-1;
-			btAlignedObjectArray<sStkNPS>	stock;
-			btAlignedObjectArray<int>		ifree;
-			btAlignedObjectArray<int>		stack;
-			int								signs[sizeof(unsigned)*8];
-			btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
-			for(int i=0;i<count;++i)
+			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
+					   ((normals[i].y() >= 0) ? 2 : 0) +
+					   ((normals[i].z() >= 0) ? 4 : 0);
+		}
+		stock.reserve(SIMPLE_STACKSIZE);
+		stack.reserve(SIMPLE_STACKSIZE);
+		ifree.reserve(SIMPLE_STACKSIZE);
+		stack.push_back(allocate(ifree, stock, sStkNPS(root, 0, root->volume.ProjectMinimum(sortaxis, srtsgns))));
+		do
+		{
+			const int id = stack[stack.size() - 1];
+			sStkNPS se = stock[id];
+			stack.pop_back();
+			ifree.push_back(id);
+			if (se.mask != inside)
 			{
-				signs[i]=	((normals[i].x()>=0)?1:0)+
-					((normals[i].y()>=0)?2:0)+
-					((normals[i].z()>=0)?4:0);
-			}
-			stock.reserve(SIMPLE_STACKSIZE);
-			stack.reserve(SIMPLE_STACKSIZE);
-			ifree.reserve(SIMPLE_STACKSIZE);
-			stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns))));
-			do	{
-				const int	id=stack[stack.size()-1];
-				sStkNPS		se=stock[id];
-				stack.pop_back();ifree.push_back(id);
-				if(se.mask!=inside)
+				bool out = false;
+				for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
 				{
-					bool	out=false;
-					for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+					if (0 == (se.mask & j))
 					{
-						if(0==(se.mask&j))
+						const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
+						switch (side)
 						{
-							const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
-							switch(side)
-							{
-							case	-1:	out=true;break;
-							case	+1:	se.mask|=j;break;
-							}
+							case -1:
+								out = true;
+								break;
+							case +1:
+								se.mask |= j;
+								break;
 						}
 					}
-					if(out) continue;
 				}
-				if(policy.Descent(se.node))
+				if (out) continue;
+			}
+			if (policy.Descent(se.node))
+			{
+				if (se.node->isinternal())
 				{
-					if(se.node->isinternal())
+					const btDbvtNode* pns[] = {se.node->childs[0], se.node->childs[1]};
+					sStkNPS nes[] = {sStkNPS(pns[0], se.mask, pns[0]->volume.ProjectMinimum(sortaxis, srtsgns)),
+									 sStkNPS(pns[1], se.mask, pns[1]->volume.ProjectMinimum(sortaxis, srtsgns))};
+					const int q = nes[0].value < nes[1].value ? 1 : 0;
+					int j = stack.size();
+					if (fsort && (j > 0))
 					{
-						const btDbvtNode* pns[]={	se.node->childs[0],se.node->childs[1]};
-						sStkNPS		nes[]={	sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)),
-							sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))};
-						const int	q=nes[0].value<nes[1].value?1:0;				
-						int			j=stack.size();
-						if(fsort&&(j>0))
-						{
-							/* Insert 0	*/ 
-							j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
-							stack.push_back(0);
-							
-							//void * memmove ( void * destination, const void * source, size_t num );
-							
+						/* Insert 0	*/
+						j = nearest(&stack[0], &stock[0], nes[q].value, 0, stack.size());
+						stack.push_back(0);
+
+						//void * memmove ( void * destination, const void * source, size_t num );
+
 #if DBVT_USE_MEMMOVE
-                     {
-                     int num_items_to_move = stack.size()-1-j;
-                     if(num_items_to_move > 0)
-                        memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
-                     }
+						{
+							int num_items_to_move = stack.size() - 1 - j;
+							if (num_items_to_move > 0)
+								memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
+						}
 #else
-                     for(int k=stack.size()-1;k>j;--k) {
-								stack[k]=stack[k-1];
-                     }
+						for (int k = stack.size() - 1; k > j; --k)
+						{
+							stack[k] = stack[k - 1];
+						}
 #endif
-							stack[j]=allocate(ifree,stock,nes[q]);
-							/* Insert 1	*/ 
-							j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
-							stack.push_back(0);
+						stack[j] = allocate(ifree, stock, nes[q]);
+						/* Insert 1	*/
+						j = nearest(&stack[0], &stock[0], nes[1 - q].value, j, stack.size());
+						stack.push_back(0);
 #if DBVT_USE_MEMMOVE
-                     {
-                     int num_items_to_move = stack.size()-1-j;
-                     if(num_items_to_move > 0)
-                        memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
-                     }
-#else
-                     for(int k=stack.size()-1;k>j;--k) {
-                        stack[k]=stack[k-1];
-                     }
-#endif
-							stack[j]=allocate(ifree,stock,nes[1-q]);
+						{
+							int num_items_to_move = stack.size() - 1 - j;
+							if (num_items_to_move > 0)
+								memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
 						}
-						else
+#else
+						for (int k = stack.size() - 1; k > j; --k)
 						{
-							stack.push_back(allocate(ifree,stock,nes[q]));
-							stack.push_back(allocate(ifree,stock,nes[1-q]));
+							stack[k] = stack[k - 1];
 						}
+#endif
+						stack[j] = allocate(ifree, stock, nes[1 - q]);
 					}
 					else
 					{
-						policy.Process(se.node,se.value);
+						stack.push_back(allocate(ifree, stock, nes[q]));
+						stack.push_back(allocate(ifree, stock, nes[1 - q]));
 					}
 				}
-			} while(stack.size());
-		}
+				else
+				{
+					policy.Process(se.node, se.value);
+				}
+			}
+		} while (stack.size());
+	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::collideTU(	const btDbvtNode* root,
-								  DBVT_IPOLICY)
+inline void btDbvt::collideTU(const btDbvtNode* root,
+							  DBVT_IPOLICY)
 {
 	DBVT_CHECKTYPE
-		if(root)
+	if (root)
+	{
+		btAlignedObjectArray<const btDbvtNode*> stack;
+		stack.reserve(SIMPLE_STACKSIZE);
+		stack.push_back(root);
+		do
 		{
-			btAlignedObjectArray<const btDbvtNode*>	stack;
-			stack.reserve(SIMPLE_STACKSIZE);
-			stack.push_back(root);
-			do	{
-				const btDbvtNode*	n=stack[stack.size()-1];
-				stack.pop_back();
-				if(policy.Descent(n))
+			const btDbvtNode* n = stack[stack.size() - 1];
+			stack.pop_back();
+			if (policy.Descent(n))
+			{
+				if (n->isinternal())
 				{
-					if(n->isinternal())
-					{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
-					else
-					{ policy.Process(n); }
+					stack.push_back(n->childs[0]);
+					stack.push_back(n->childs[1]);
 				}
-			} while(stack.size()>0);
-		}
+				else
+				{
+					policy.Process(n);
+				}
+			}
+		} while (stack.size() > 0);
+	}
 }
 
 //
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
index 4d12b1c9c7..7b39dbdc0f 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
@@ -17,33 +17,32 @@ subject to the following restrictions:
 
 #include "btDbvtBroadphase.h"
 #include "LinearMath/btThreads.h"
-
+btScalar gDbvtMargin = btScalar(0.05);
 //
 // Profiling
 //
 
-#if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK
+#if DBVT_BP_PROFILE || DBVT_BP_ENABLE_BENCHMARK
 #include <stdio.h>
 #endif
 
 #if DBVT_BP_PROFILE
-struct	ProfileScope
+struct ProfileScope
 {
-	__forceinline ProfileScope(btClock& clock,unsigned long& value) :
-	m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
+	__forceinline ProfileScope(btClock& clock, unsigned long& value) : m_clock(&clock), m_value(&value), m_base(clock.getTimeMicroseconds())
 	{
 	}
 	__forceinline ~ProfileScope()
 	{
-		(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
+		(*m_value) += m_clock->getTimeMicroseconds() - m_base;
 	}
-	btClock*		m_clock;
-	unsigned long*	m_value;
-	unsigned long	m_base;
+	btClock* m_clock;
+	unsigned long* m_value;
+	unsigned long m_base;
 };
-#define	SPC(_value_)	ProfileScope	spc_scope(m_clock,_value_)
+#define SPC(_value_) ProfileScope spc_scope(m_clock, _value_)
 #else
-#define	SPC(_value_)
+#define SPC(_value_)
 #endif
 
 //
@@ -52,66 +51,75 @@ struct	ProfileScope
 
 //
 template <typename T>
-static inline void	listappend(T* item,T*& list)
+static inline void listappend(T* item, T*& list)
 {
-	item->links[0]=0;
-	item->links[1]=list;
-	if(list) list->links[0]=item;
-	list=item;
+	item->links[0] = 0;
+	item->links[1] = list;
+	if (list) list->links[0] = item;
+	list = item;
 }
 
 //
 template <typename T>
-static inline void	listremove(T* item,T*& list)
+static inline void listremove(T* item, T*& list)
 {
-	if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
-	if(item->links[1]) item->links[1]->links[0]=item->links[0];
+	if (item->links[0])
+		item->links[0]->links[1] = item->links[1];
+	else
+		list = item->links[1];
+	if (item->links[1]) item->links[1]->links[0] = item->links[0];
 }
 
 //
 template <typename T>
-static inline int	listcount(T* root)
+static inline int listcount(T* root)
 {
-	int	n=0;
-	while(root) { ++n;root=root->links[1]; }
-	return(n);
+	int n = 0;
+	while (root)
+	{
+		++n;
+		root = root->links[1];
+	}
+	return (n);
 }
 
 //
 template <typename T>
-static inline void	clear(T& value)
+static inline void clear(T& value)
 {
-	static const struct ZeroDummy : T {} zerodummy;
-	value=zerodummy;
+	static const struct ZeroDummy : T
+	{
+	} zerodummy;
+	value = zerodummy;
 }
 
 //
 // Colliders
 //
 
-/* Tree collider	*/ 
-struct	btDbvtTreeCollider : btDbvt::ICollide
+/* Tree collider	*/
+struct btDbvtTreeCollider : btDbvt::ICollide
 {
-	btDbvtBroadphase*	pbp;
-	btDbvtProxy*		proxy;
+	btDbvtBroadphase* pbp;
+	btDbvtProxy* proxy;
 	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
-	void	Process(const btDbvtNode* na,const btDbvtNode* nb)
+	void Process(const btDbvtNode* na, const btDbvtNode* nb)
 	{
-		if(na!=nb)
+		if (na != nb)
 		{
-			btDbvtProxy*	pa=(btDbvtProxy*)na->data;
-			btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
+			btDbvtProxy* pa = (btDbvtProxy*)na->data;
+			btDbvtProxy* pb = (btDbvtProxy*)nb->data;
 #if DBVT_BP_SORTPAIRS
-			if(pa->m_uniqueId>pb->m_uniqueId) 
-				btSwap(pa,pb);
+			if (pa->m_uniqueId > pb->m_uniqueId)
+				btSwap(pa, pb);
 #endif
-			pbp->m_paircache->addOverlappingPair(pa,pb);
+			pbp->m_paircache->addOverlappingPair(pa, pb);
 			++pbp->m_newpairs;
 		}
 	}
-	void	Process(const btDbvtNode* n)
+	void Process(const btDbvtNode* n)
 	{
-		Process(n,proxy->leaf);
+		Process(n, proxy->leaf);
 	}
 };
 
@@ -122,31 +130,31 @@ struct	btDbvtTreeCollider : btDbvt::ICollide
 //
 btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
 {
-	m_deferedcollide	=	false;
-	m_needcleanup		=	true;
-	m_releasepaircache	=	(paircache!=0)?false:true;
-	m_prediction		=	0;
-	m_stageCurrent		=	0;
-	m_fixedleft			=	0;
-	m_fupdates			=	1;
-	m_dupdates			=	0;
-	m_cupdates			=	10;
-	m_newpairs			=	1;
-	m_updates_call		=	0;
-	m_updates_done		=	0;
-	m_updates_ratio		=	0;
-	m_paircache			=	paircache? paircache	: new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
-	m_gid				=	0;
-	m_pid				=	0;
-	m_cid				=	0;
-	for(int i=0;i<=STAGECOUNT;++i)
+	m_deferedcollide = false;
+	m_needcleanup = true;
+	m_releasepaircache = (paircache != 0) ? false : true;
+	m_prediction = 0;
+	m_stageCurrent = 0;
+	m_fixedleft = 0;
+	m_fupdates = 1;
+	m_dupdates = 0;
+	m_cupdates = 10;
+	m_newpairs = 1;
+	m_updates_call = 0;
+	m_updates_done = 0;
+	m_updates_ratio = 0;
+	m_paircache = paircache ? paircache : new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16)) btHashedOverlappingPairCache();
+	m_gid = 0;
+	m_pid = 0;
+	m_cid = 0;
+	for (int i = 0; i <= STAGECOUNT; ++i)
 	{
-		m_stageRoots[i]=0;
+		m_stageRoots[i] = 0;
 	}
 #if BT_THREADSAFE
-    m_rayTestStacks.resize(BT_MAX_THREAD_COUNT);
+	m_rayTestStacks.resize(BT_MAX_THREAD_COUNT);
 #else
-    m_rayTestStacks.resize(1);
+	m_rayTestStacks.resize(1);
 #endif
 #if DBVT_BP_PROFILE
 	clear(m_profiling);
@@ -156,7 +164,7 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
 //
 btDbvtBroadphase::~btDbvtBroadphase()
 {
-	if(m_releasepaircache) 
+	if (m_releasepaircache)
 	{
 		m_paircache->~btOverlappingPairCache();
 		btAlignedFree(m_paircache);
@@ -164,305 +172,294 @@ btDbvtBroadphase::~btDbvtBroadphase()
 }
 
 //
-btBroadphaseProxy*				btDbvtBroadphase::createProxy(	const btVector3& aabbMin,
-															  const btVector3& aabbMax,
-															  int /*shapeType*/,
-															  void* userPtr,
-															  int collisionFilterGroup,
-															  int collisionFilterMask,
-															  btDispatcher* /*dispatcher*/)
+btBroadphaseProxy* btDbvtBroadphase::createProxy(const btVector3& aabbMin,
+												 const btVector3& aabbMax,
+												 int /*shapeType*/,
+												 void* userPtr,
+												 int collisionFilterGroup,
+												 int collisionFilterMask,
+												 btDispatcher* /*dispatcher*/)
 {
-	btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	aabbMin,aabbMax,userPtr,
-		collisionFilterGroup,
-		collisionFilterMask);
+	btDbvtProxy* proxy = new (btAlignedAlloc(sizeof(btDbvtProxy), 16)) btDbvtProxy(aabbMin, aabbMax, userPtr,
+																				   collisionFilterGroup,
+																				   collisionFilterMask);
 
-	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
+	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
 
 	//bproxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
-	proxy->stage		=	m_stageCurrent;
-	proxy->m_uniqueId	=	++m_gid;
-	proxy->leaf			=	m_sets[0].insert(aabb,proxy);
-	listappend(proxy,m_stageRoots[m_stageCurrent]);
-	if(!m_deferedcollide)
+	proxy->stage = m_stageCurrent;
+	proxy->m_uniqueId = ++m_gid;
+	proxy->leaf = m_sets[0].insert(aabb, proxy);
+	listappend(proxy, m_stageRoots[m_stageCurrent]);
+	if (!m_deferedcollide)
 	{
-		btDbvtTreeCollider	collider(this);
-		collider.proxy=proxy;
-		m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
-		m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
+		btDbvtTreeCollider collider(this);
+		collider.proxy = proxy;
+		m_sets[0].collideTV(m_sets[0].m_root, aabb, collider);
+		m_sets[1].collideTV(m_sets[1].m_root, aabb, collider);
 	}
-	return(proxy);
+	return (proxy);
 }
 
 //
-void							btDbvtBroadphase::destroyProxy(	btBroadphaseProxy* absproxy,
-															   btDispatcher* dispatcher)
+void btDbvtBroadphase::destroyProxy(btBroadphaseProxy* absproxy,
+									btDispatcher* dispatcher)
 {
-	btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
-	if(proxy->stage==STAGECOUNT)
+	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
+	if (proxy->stage == STAGECOUNT)
 		m_sets[1].remove(proxy->leaf);
 	else
 		m_sets[0].remove(proxy->leaf);
-	listremove(proxy,m_stageRoots[proxy->stage]);
-	m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
+	listremove(proxy, m_stageRoots[proxy->stage]);
+	m_paircache->removeOverlappingPairsContainingProxy(proxy, dispatcher);
 	btAlignedFree(proxy);
-	m_needcleanup=true;
+	m_needcleanup = true;
 }
 
-void	btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
+void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
 	aabbMin = proxy->m_aabbMin;
 	aabbMax = proxy->m_aabbMax;
 }
 
-struct	BroadphaseRayTester : btDbvt::ICollide
+struct BroadphaseRayTester : btDbvt::ICollide
 {
 	btBroadphaseRayCallback& m_rayCallback;
 	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-		:m_rayCallback(orgCallback)
+		: m_rayCallback(orgCallback)
 	{
 	}
-	void					Process(const btDbvtNode* leaf)
+	void Process(const btDbvtNode* leaf)
 	{
-		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
+		btDbvtProxy* proxy = (btDbvtProxy*)leaf->data;
 		m_rayCallback.process(proxy);
 	}
-};	
+};
 
-void	btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
+void btDbvtBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
 {
 	BroadphaseRayTester callback(rayCallback);
-    btAlignedObjectArray<const btDbvtNode*>* stack = &m_rayTestStacks[0];
+	btAlignedObjectArray<const btDbvtNode*>* stack = &m_rayTestStacks[0];
 #if BT_THREADSAFE
-    // for this function to be threadsafe, each thread must have a separate copy
-    // of this stack.  This could be thread-local static to avoid dynamic allocations,
-    // instead of just a local.
-    int threadIndex = btGetCurrentThreadIndex();
-    btAlignedObjectArray<const btDbvtNode*> localStack;
-    if (threadIndex < m_rayTestStacks.size())
-    {
-        // use per-thread preallocated stack if possible to avoid dynamic allocations
-        stack = &m_rayTestStacks[threadIndex];
-    }
-    else
-    {
-        stack = &localStack;
-    }
+	// for this function to be threadsafe, each thread must have a separate copy
+	// of this stack.  This could be thread-local static to avoid dynamic allocations,
+	// instead of just a local.
+	int threadIndex = btGetCurrentThreadIndex();
+	btAlignedObjectArray<const btDbvtNode*> localStack;
+	//todo(erwincoumans, "why do we get tsan issue here?")
+	if (0)//threadIndex < m_rayTestStacks.size())
+	//if (threadIndex < m_rayTestStacks.size())
+	{
+		// use per-thread preallocated stack if possible to avoid dynamic allocations
+		stack = &m_rayTestStacks[threadIndex];
+	}
+	else
+	{
+		stack = &localStack;
+	}
 #endif
 
-	m_sets[0].rayTestInternal(	m_sets[0].m_root,
-		rayFrom,
-		rayTo,
-		rayCallback.m_rayDirectionInverse,
-		rayCallback.m_signs,
-		rayCallback.m_lambda_max,
-		aabbMin,
-		aabbMax,
-        *stack,
-		callback);
-
-	m_sets[1].rayTestInternal(	m_sets[1].m_root,
-		rayFrom,
-		rayTo,
-		rayCallback.m_rayDirectionInverse,
-		rayCallback.m_signs,
-		rayCallback.m_lambda_max,
-		aabbMin,
-		aabbMax,
-        *stack,
-		callback);
-
+	m_sets[0].rayTestInternal(m_sets[0].m_root,
+							  rayFrom,
+							  rayTo,
+							  rayCallback.m_rayDirectionInverse,
+							  rayCallback.m_signs,
+							  rayCallback.m_lambda_max,
+							  aabbMin,
+							  aabbMax,
+							  *stack,
+							  callback);
+
+	m_sets[1].rayTestInternal(m_sets[1].m_root,
+							  rayFrom,
+							  rayTo,
+							  rayCallback.m_rayDirectionInverse,
+							  rayCallback.m_signs,
+							  rayCallback.m_lambda_max,
+							  aabbMin,
+							  aabbMax,
+							  *stack,
+							  callback);
 }
 
-
-struct	BroadphaseAabbTester : btDbvt::ICollide
+struct BroadphaseAabbTester : btDbvt::ICollide
 {
 	btBroadphaseAabbCallback& m_aabbCallback;
 	BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
-		:m_aabbCallback(orgCallback)
+		: m_aabbCallback(orgCallback)
 	{
 	}
-	void					Process(const btDbvtNode* leaf)
+	void Process(const btDbvtNode* leaf)
 	{
-		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
+		btDbvtProxy* proxy = (btDbvtProxy*)leaf->data;
 		m_aabbCallback.process(proxy);
 	}
-};	
+};
 
-void	btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
+void btDbvtBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& aabbCallback)
 {
 	BroadphaseAabbTester callback(aabbCallback);
 
-	const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
-		//process all children, that overlap with  the given AABB bounds
-	m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
-	m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
-
+	const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(aabbMin, aabbMax);
+	//process all children, that overlap with  the given AABB bounds
+	m_sets[0].collideTV(m_sets[0].m_root, bounds, callback);
+	m_sets[1].collideTV(m_sets[1].m_root, bounds, callback);
 }
 
-
-
 //
-void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
-														  const btVector3& aabbMin,
-														  const btVector3& aabbMax,
-														  btDispatcher* /*dispatcher*/)
+void btDbvtBroadphase::setAabb(btBroadphaseProxy* absproxy,
+							   const btVector3& aabbMin,
+							   const btVector3& aabbMax,
+							   btDispatcher* /*dispatcher*/)
 {
-	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)
+	aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
 #if DBVT_BP_PREVENTFALSEUPDATE
-	if(NotEqual(aabb,proxy->leaf->volume))
+	if (NotEqual(aabb, proxy->leaf->volume))
 #endif
 	{
-		bool	docollide=false;
-		if(proxy->stage==STAGECOUNT)
-		{/* fixed -> dynamic set	*/ 
+		bool docollide = false;
+		if (proxy->stage == STAGECOUNT)
+		{ /* fixed -> dynamic set	*/
 			m_sets[1].remove(proxy->leaf);
-			proxy->leaf=m_sets[0].insert(aabb,proxy);
-			docollide=true;
+			proxy->leaf = m_sets[0].insert(aabb, proxy);
+			docollide = true;
 		}
 		else
-		{/* dynamic set				*/ 
+		{ /* dynamic set				*/
 			++m_updates_call;
-			if(Intersect(proxy->leaf->volume,aabb))
-			{/* Moving				*/ 
-
-				const btVector3	delta=aabbMin-proxy->m_aabbMin;
-				btVector3		velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
-				if(delta[0]<0) velocity[0]=-velocity[0];
-				if(delta[1]<0) velocity[1]=-velocity[1];
-				if(delta[2]<0) velocity[2]=-velocity[2];
-				if	(
-#ifdef DBVT_BP_MARGIN				
-					m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
-#else
-					m_sets[0].update(proxy->leaf,aabb,velocity)
-#endif
-					)
+			if (Intersect(proxy->leaf->volume, aabb))
+			{ /* Moving				*/
+
+				const btVector3 delta = aabbMin - proxy->m_aabbMin;
+				btVector3 velocity(((proxy->m_aabbMax - proxy->m_aabbMin) / 2) * m_prediction);
+				if (delta[0] < 0) velocity[0] = -velocity[0];
+				if (delta[1] < 0) velocity[1] = -velocity[1];
+				if (delta[2] < 0) velocity[2] = -velocity[2];
+				if (
+					m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
+
+				)
 				{
 					++m_updates_done;
-					docollide=true;
+					docollide = true;
 				}
 			}
 			else
-			{/* Teleporting			*/ 
-				m_sets[0].update(proxy->leaf,aabb);
+			{ /* Teleporting			*/
+				m_sets[0].update(proxy->leaf, aabb);
 				++m_updates_done;
-				docollide=true;
-			}	
+				docollide = true;
+			}
 		}
-		listremove(proxy,m_stageRoots[proxy->stage]);
+		listremove(proxy, m_stageRoots[proxy->stage]);
 		proxy->m_aabbMin = aabbMin;
 		proxy->m_aabbMax = aabbMax;
-		proxy->stage	=	m_stageCurrent;
-		listappend(proxy,m_stageRoots[m_stageCurrent]);
-		if(docollide)
+		proxy->stage = m_stageCurrent;
+		listappend(proxy, m_stageRoots[m_stageCurrent]);
+		if (docollide)
 		{
-			m_needcleanup=true;
-			if(!m_deferedcollide)
+			m_needcleanup = true;
+			if (!m_deferedcollide)
 			{
-				btDbvtTreeCollider	collider(this);
-				m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
-				m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+				btDbvtTreeCollider collider(this);
+				m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
+				m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
 			}
-		}	
+		}
 	}
 }
 
-
 //
-void							btDbvtBroadphase::setAabbForceUpdate(		btBroadphaseProxy* absproxy,
-														  const btVector3& aabbMin,
-														  const btVector3& aabbMax,
-														  btDispatcher* /*dispatcher*/)
+void btDbvtBroadphase::setAabbForceUpdate(btBroadphaseProxy* absproxy,
+										  const btVector3& aabbMin,
+										  const btVector3& aabbMax,
+										  btDispatcher* /*dispatcher*/)
 {
-	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
-	bool	docollide=false;
-	if(proxy->stage==STAGECOUNT)
-	{/* fixed -> dynamic set	*/ 
+	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)
+	aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
+	bool docollide = false;
+	if (proxy->stage == STAGECOUNT)
+	{ /* fixed -> dynamic set	*/
 		m_sets[1].remove(proxy->leaf);
-		proxy->leaf=m_sets[0].insert(aabb,proxy);
-		docollide=true;
+		proxy->leaf = m_sets[0].insert(aabb, proxy);
+		docollide = true;
 	}
 	else
-	{/* dynamic set				*/ 
+	{ /* dynamic set				*/
 		++m_updates_call;
-		/* Teleporting			*/ 
-		m_sets[0].update(proxy->leaf,aabb);
+		/* Teleporting			*/
+		m_sets[0].update(proxy->leaf, aabb);
 		++m_updates_done;
-		docollide=true;
+		docollide = true;
 	}
-	listremove(proxy,m_stageRoots[proxy->stage]);
+	listremove(proxy, m_stageRoots[proxy->stage]);
 	proxy->m_aabbMin = aabbMin;
 	proxy->m_aabbMax = aabbMax;
-	proxy->stage	=	m_stageCurrent;
-	listappend(proxy,m_stageRoots[m_stageCurrent]);
-	if(docollide)
+	proxy->stage = m_stageCurrent;
+	listappend(proxy, m_stageRoots[m_stageCurrent]);
+	if (docollide)
 	{
-		m_needcleanup=true;
-		if(!m_deferedcollide)
+		m_needcleanup = true;
+		if (!m_deferedcollide)
 		{
-			btDbvtTreeCollider	collider(this);
-			m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+			btDbvtTreeCollider collider(this);
+			m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
 		}
-	}	
+	}
 }
 
 //
-void							btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
 	collide(dispatcher);
 #if DBVT_BP_PROFILE
-	if(0==(m_pid%DBVT_BP_PROFILING_RATE))
-	{	
-		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
-		unsigned int	total=m_profiling.m_total;
-		if(total<=0) total=1;
-		printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
-		printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
-		printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
-		printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
-		const unsigned long	sum=m_profiling.m_ddcollide+
-			m_profiling.m_fdcollide+
-			m_profiling.m_cleanup;
-		printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
-		printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
+	if (0 == (m_pid % DBVT_BP_PROFILING_RATE))
+	{
+		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n", m_sets[1].m_leaves, m_sets[0].m_leaves, m_paircache->getNumOverlappingPairs());
+		unsigned int total = m_profiling.m_total;
+		if (total <= 0) total = 1;
+		printf("ddcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_ddcollide * 100) / total, m_profiling.m_ddcollide / DBVT_BP_PROFILING_RATE);
+		printf("fdcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_fdcollide * 100) / total, m_profiling.m_fdcollide / DBVT_BP_PROFILING_RATE);
+		printf("cleanup:   %u%% (%uus)\r\n", (50 + m_profiling.m_cleanup * 100) / total, m_profiling.m_cleanup / DBVT_BP_PROFILING_RATE);
+		printf("total:     %uus\r\n", total / DBVT_BP_PROFILING_RATE);
+		const unsigned long sum = m_profiling.m_ddcollide +
+								  m_profiling.m_fdcollide +
+								  m_profiling.m_cleanup;
+		printf("leaked: %u%% (%uus)\r\n", 100 - ((50 + sum * 100) / total), (total - sum) / DBVT_BP_PROFILING_RATE);
+		printf("job counts: %u%%\r\n", (m_profiling.m_jobcount * 100) / ((m_sets[0].m_leaves + m_sets[1].m_leaves) * DBVT_BP_PROFILING_RATE));
 		clear(m_profiling);
 		m_clock.reset();
 	}
 #endif
 
 	performDeferredRemoval(dispatcher);
-
 }
 
 void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
 {
-
 	if (m_paircache->hasDeferredRemoval())
 	{
-
-		btBroadphasePairArray&	overlappingPairArray = m_paircache->getOverlappingPairArray();
+		btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
 
 		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
 		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
 
 		int invalidPair = 0;
 
-		
 		int i;
 
 		btBroadphasePair previousPair;
 		previousPair.m_pProxy0 = 0;
 		previousPair.m_pProxy1 = 0;
 		previousPair.m_algorithm = 0;
-		
-		
-		for (i=0;i<overlappingPairArray.size();i++)
+
+		for (i = 0; i < overlappingPairArray.size(); i++)
 		{
-		
 			btBroadphasePair& pair = overlappingPairArray[i];
 
 			bool isDuplicate = (pair == previousPair);
@@ -474,34 +471,35 @@ void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
 			if (!isDuplicate)
 			{
 				//important to perform AABB check that is consistent with the broadphase
-				btDbvtProxy*		pa=(btDbvtProxy*)pair.m_pProxy0;
-				btDbvtProxy*		pb=(btDbvtProxy*)pair.m_pProxy1;
-				bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
+				btDbvtProxy* pa = (btDbvtProxy*)pair.m_pProxy0;
+				btDbvtProxy* pb = (btDbvtProxy*)pair.m_pProxy1;
+				bool hasOverlap = Intersect(pa->leaf->volume, pb->leaf->volume);
 
 				if (hasOverlap)
 				{
 					needsRemoval = false;
-				} else
+				}
+				else
 				{
 					needsRemoval = true;
 				}
-			} else
+			}
+			else
 			{
 				//remove duplicate
 				needsRemoval = true;
 				//should have no algorithm
 				btAssert(!pair.m_algorithm);
 			}
-			
+
 			if (needsRemoval)
 			{
-				m_paircache->cleanOverlappingPair(pair,dispatcher);
+				m_paircache->cleanOverlappingPair(pair, dispatcher);
 
 				pair.m_pProxy0 = 0;
 				pair.m_pProxy1 = 0;
 				invalidPair++;
-			} 
-			
+			}
 		}
 
 		//perform a sort, to sort 'invalid' pairs to the end
@@ -511,7 +509,7 @@ void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
 }
 
 //
-void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
+void btDbvtBroadphase::collide(btDispatcher* dispatcher)
 {
 	/*printf("---------------------------------------------------------\n");
 	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
@@ -528,295 +526,303 @@ void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
 	}
 */
 
-
-
 	SPC(m_profiling.m_total);
-	/* optimize				*/ 
-	m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
-	if(m_fixedleft)
+	/* optimize				*/
+	m_sets[0].optimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
+	if (m_fixedleft)
 	{
-		const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
-		m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
-		m_fixedleft=btMax<int>(0,m_fixedleft-count);
+		const int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
+		m_sets[1].optimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
+		m_fixedleft = btMax<int>(0, m_fixedleft - count);
 	}
-	/* dynamic -> fixed set	*/ 
-	m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
-	btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
-	if(current)
+	/* dynamic -> fixed set	*/
+	m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
+	btDbvtProxy* current = m_stageRoots[m_stageCurrent];
+	if (current)
 	{
 #if DBVT_BP_ACCURATESLEEPING
-		btDbvtTreeCollider	collider(this);
+		btDbvtTreeCollider collider(this);
 #endif
-		do	{
-			btDbvtProxy*	next=current->links[1];
-			listremove(current,m_stageRoots[current->stage]);
-			listappend(current,m_stageRoots[STAGECOUNT]);
+		do
+		{
+			btDbvtProxy* next = current->links[1];
+			listremove(current, m_stageRoots[current->stage]);
+			listappend(current, m_stageRoots[STAGECOUNT]);
 #if DBVT_BP_ACCURATESLEEPING
-			m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
-			collider.proxy=current;
-			btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
-			btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
+			m_paircache->removeOverlappingPairsContainingProxy(current, dispatcher);
+			collider.proxy = current;
+			btDbvt::collideTV(m_sets[0].m_root, current->aabb, collider);
+			btDbvt::collideTV(m_sets[1].m_root, current->aabb, collider);
 #endif
 			m_sets[0].remove(current->leaf);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)	curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
-			current->leaf	=	m_sets[1].insert(curAabb,current);
-			current->stage	=	STAGECOUNT;	
-			current			=	next;
-		} while(current);
-		m_fixedleft=m_sets[1].m_leaves;
-		m_needcleanup=true;
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)
+			curAabb = btDbvtVolume::FromMM(current->m_aabbMin, current->m_aabbMax);
+			current->leaf = m_sets[1].insert(curAabb, current);
+			current->stage = STAGECOUNT;
+			current = next;
+		} while (current);
+		m_fixedleft = m_sets[1].m_leaves;
+		m_needcleanup = true;
 	}
-	/* collide dynamics		*/ 
+	/* collide dynamics		*/
 	{
-		btDbvtTreeCollider	collider(this);
-		if(m_deferedcollide)
+		btDbvtTreeCollider collider(this);
+		if (m_deferedcollide)
 		{
 			SPC(m_profiling.m_fdcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
 		}
-		if(m_deferedcollide)
+		if (m_deferedcollide)
 		{
 			SPC(m_profiling.m_ddcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
 		}
 	}
-	/* clean up				*/ 
-	if(m_needcleanup)
+	/* clean up				*/
+	if (m_needcleanup)
 	{
 		SPC(m_profiling.m_cleanup);
-		btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
-		if(pairs.size()>0)
+		btBroadphasePairArray& pairs = m_paircache->getOverlappingPairArray();
+		if (pairs.size() > 0)
 		{
-
-			int			ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
-			for(int i=0;i<ni;++i)
+			int ni = btMin(pairs.size(), btMax<int>(m_newpairs, (pairs.size() * m_cupdates) / 100));
+			for (int i = 0; i < ni; ++i)
 			{
-				btBroadphasePair&	p=pairs[(m_cid+i)%pairs.size()];
-				btDbvtProxy*		pa=(btDbvtProxy*)p.m_pProxy0;
-				btDbvtProxy*		pb=(btDbvtProxy*)p.m_pProxy1;
-				if(!Intersect(pa->leaf->volume,pb->leaf->volume))
+				btBroadphasePair& p = pairs[(m_cid + i) % pairs.size()];
+				btDbvtProxy* pa = (btDbvtProxy*)p.m_pProxy0;
+				btDbvtProxy* pb = (btDbvtProxy*)p.m_pProxy1;
+				if (!Intersect(pa->leaf->volume, pb->leaf->volume))
 				{
 #if DBVT_BP_SORTPAIRS
-					if(pa->m_uniqueId>pb->m_uniqueId) 
-						btSwap(pa,pb);
+					if (pa->m_uniqueId > pb->m_uniqueId)
+						btSwap(pa, pb);
 #endif
-					m_paircache->removeOverlappingPair(pa,pb,dispatcher);
-					--ni;--i;
+					m_paircache->removeOverlappingPair(pa, pb, dispatcher);
+					--ni;
+					--i;
 				}
 			}
-			if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
+			if (pairs.size() > 0)
+				m_cid = (m_cid + ni) % pairs.size();
+			else
+				m_cid = 0;
 		}
 	}
 	++m_pid;
-	m_newpairs=1;
-	m_needcleanup=false;
-	if(m_updates_call>0)
-	{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
+	m_newpairs = 1;
+	m_needcleanup = false;
+	if (m_updates_call > 0)
+	{
+		m_updates_ratio = m_updates_done / (btScalar)m_updates_call;
+	}
 	else
-	{ m_updates_ratio=0; }
-	m_updates_done/=2;
-	m_updates_call/=2;
+	{
+		m_updates_ratio = 0;
+	}
+	m_updates_done /= 2;
+	m_updates_call /= 2;
 }
 
 //
-void							btDbvtBroadphase::optimize()
+void btDbvtBroadphase::optimize()
 {
 	m_sets[0].optimizeTopDown();
 	m_sets[1].optimizeTopDown();
 }
 
 //
-btOverlappingPairCache*			btDbvtBroadphase::getOverlappingPairCache()
+btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
 {
-	return(m_paircache);
+	return (m_paircache);
 }
 
 //
-const btOverlappingPairCache*	btDbvtBroadphase::getOverlappingPairCache() const
+const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
 {
-	return(m_paircache);
+	return (m_paircache);
 }
 
 //
-void							btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
 {
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)
+	bounds;
 
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds;
-
-	if(!m_sets[0].empty())
-		if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
-			m_sets[1].m_root->volume,bounds);
+	if (!m_sets[0].empty())
+		if (!m_sets[1].empty())
+			Merge(m_sets[0].m_root->volume,
+				  m_sets[1].m_root->volume, bounds);
 		else
-			bounds=m_sets[0].m_root->volume;
-	else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
+			bounds = m_sets[0].m_root->volume;
+	else if (!m_sets[1].empty())
+		bounds = m_sets[1].m_root->volume;
 	else
-		bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
-	aabbMin=bounds.Mins();
-	aabbMax=bounds.Maxs();
+		bounds = btDbvtVolume::FromCR(btVector3(0, 0, 0), 0);
+	aabbMin = bounds.Mins();
+	aabbMax = bounds.Maxs();
 }
 
 void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
 {
-	
 	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
 	if (!totalObjects)
 	{
 		//reset internal dynamic tree data structures
 		m_sets[0].clear();
 		m_sets[1].clear();
-		
-		m_deferedcollide	=	false;
-		m_needcleanup		=	true;
-		m_stageCurrent		=	0;
-		m_fixedleft			=	0;
-		m_fupdates			=	1;
-		m_dupdates			=	0;
-		m_cupdates			=	10;
-		m_newpairs			=	1;
-		m_updates_call		=	0;
-		m_updates_done		=	0;
-		m_updates_ratio		=	0;
-		
-		m_gid				=	0;
-		m_pid				=	0;
-		m_cid				=	0;
-		for(int i=0;i<=STAGECOUNT;++i)
+
+		m_deferedcollide = false;
+		m_needcleanup = true;
+		m_stageCurrent = 0;
+		m_fixedleft = 0;
+		m_fupdates = 1;
+		m_dupdates = 0;
+		m_cupdates = 10;
+		m_newpairs = 1;
+		m_updates_call = 0;
+		m_updates_done = 0;
+		m_updates_ratio = 0;
+
+		m_gid = 0;
+		m_pid = 0;
+		m_cid = 0;
+		for (int i = 0; i <= STAGECOUNT; ++i)
 		{
-			m_stageRoots[i]=0;
+			m_stageRoots[i] = 0;
 		}
 	}
 }
 
 //
-void							btDbvtBroadphase::printStats()
-{}
+void btDbvtBroadphase::printStats()
+{
+}
 
 //
 #if DBVT_BP_ENABLE_BENCHMARK
 
-struct	btBroadphaseBenchmark
+struct btBroadphaseBenchmark
 {
-	struct	Experiment
+	struct Experiment
 	{
-		const char*			name;
-		int					object_count;
-		int					update_count;
-		int					spawn_count;
-		int					iterations;
-		btScalar			speed;
-		btScalar			amplitude;
+		const char* name;
+		int object_count;
+		int update_count;
+		int spawn_count;
+		int iterations;
+		btScalar speed;
+		btScalar amplitude;
 	};
-	struct	Object
+	struct Object
 	{
-		btVector3			center;
-		btVector3			extents;
-		btBroadphaseProxy*	proxy;
-		btScalar			time;
-		void				update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
+		btVector3 center;
+		btVector3 extents;
+		btBroadphaseProxy* proxy;
+		btScalar time;
+		void update(btScalar speed, btScalar amplitude, btBroadphaseInterface* pbi)
 		{
-			time		+=	speed;
-			center[0]	=	btCos(time*(btScalar)2.17)*amplitude+
-				btSin(time)*amplitude/2;
-			center[1]	=	btCos(time*(btScalar)1.38)*amplitude+
-				btSin(time)*amplitude;
-			center[2]	=	btSin(time*(btScalar)0.777)*amplitude;
-			pbi->setAabb(proxy,center-extents,center+extents,0);
+			time += speed;
+			center[0] = btCos(time * (btScalar)2.17) * amplitude +
+						btSin(time) * amplitude / 2;
+			center[1] = btCos(time * (btScalar)1.38) * amplitude +
+						btSin(time) * amplitude;
+			center[2] = btSin(time * (btScalar)0.777) * amplitude;
+			pbi->setAabb(proxy, center - extents, center + extents, 0);
 		}
 	};
-	static int		UnsignedRand(int range=RAND_MAX-1)	{ return(rand()%(range+1)); }
-	static btScalar	UnitRand()							{ return(UnsignedRand(16384)/(btScalar)16384); }
-	static void		OutputTime(const char* name,btClock& c,unsigned count=0)
+	static int UnsignedRand(int range = RAND_MAX - 1) { return (rand() % (range + 1)); }
+	static btScalar UnitRand() { return (UnsignedRand(16384) / (btScalar)16384); }
+	static void OutputTime(const char* name, btClock& c, unsigned count = 0)
 	{
-		const unsigned long	us=c.getTimeMicroseconds();
-		const unsigned long	ms=(us+500)/1000;
-		const btScalar		sec=us/(btScalar)(1000*1000);
-		if(count>0)
-			printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
+		const unsigned long us = c.getTimeMicroseconds();
+		const unsigned long ms = (us + 500) / 1000;
+		const btScalar sec = us / (btScalar)(1000 * 1000);
+		if (count > 0)
+			printf("%s : %u us (%u ms), %.2f/s\r\n", name, us, ms, count / sec);
 		else
-			printf("%s : %u us (%u ms)\r\n",name,us,ms);
+			printf("%s : %u us (%u ms)\r\n", name, us, ms);
 	}
 };
 
-void							btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
+void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
 {
-	static const btBroadphaseBenchmark::Experiment		experiments[]=
-	{
-		{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
-		/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
+	static const btBroadphaseBenchmark::Experiment experiments[] =
+		{
+			{"1024o.10%", 1024, 10, 0, 8192, (btScalar)0.005, (btScalar)100},
+			/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
 		{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
-	};
-	static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
-	btAlignedObjectArray<btBroadphaseBenchmark::Object*>	objects;
-	btClock													wallclock;
-	/* Begin			*/ 
-	for(int iexp=0;iexp<nexperiments;++iexp)
+		};
+	static const int nexperiments = sizeof(experiments) / sizeof(experiments[0]);
+	btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
+	btClock wallclock;
+	/* Begin			*/
+	for (int iexp = 0; iexp < nexperiments; ++iexp)
 	{
-		const btBroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
-		const int									object_count=experiment.object_count;
-		const int									update_count=(object_count*experiment.update_count)/100;
-		const int									spawn_count=(object_count*experiment.spawn_count)/100;
-		const btScalar								speed=experiment.speed;	
-		const btScalar								amplitude=experiment.amplitude;
-		printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
-		printf("\tObjects: %u\r\n",object_count);
-		printf("\tUpdate: %u\r\n",update_count);
-		printf("\tSpawn: %u\r\n",spawn_count);
-		printf("\tSpeed: %f\r\n",speed);
-		printf("\tAmplitude: %f\r\n",amplitude);
+		const btBroadphaseBenchmark::Experiment& experiment = experiments[iexp];
+		const int object_count = experiment.object_count;
+		const int update_count = (object_count * experiment.update_count) / 100;
+		const int spawn_count = (object_count * experiment.spawn_count) / 100;
+		const btScalar speed = experiment.speed;
+		const btScalar amplitude = experiment.amplitude;
+		printf("Experiment #%u '%s':\r\n", iexp, experiment.name);
+		printf("\tObjects: %u\r\n", object_count);
+		printf("\tUpdate: %u\r\n", update_count);
+		printf("\tSpawn: %u\r\n", spawn_count);
+		printf("\tSpeed: %f\r\n", speed);
+		printf("\tAmplitude: %f\r\n", amplitude);
 		srand(180673);
-		/* Create objects	*/ 
+		/* Create objects	*/
 		wallclock.reset();
 		objects.reserve(object_count);
-		for(int i=0;i<object_count;++i)
+		for (int i = 0; i < object_count; ++i)
 		{
-			btBroadphaseBenchmark::Object*	po=new btBroadphaseBenchmark::Object();
-			po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
-			po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
-			po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
-			po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
-			po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
-			po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
-			po->time=btBroadphaseBenchmark::UnitRand()*2000;
-			po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
+			btBroadphaseBenchmark::Object* po = new btBroadphaseBenchmark::Object();
+			po->center[0] = btBroadphaseBenchmark::UnitRand() * 50;
+			po->center[1] = btBroadphaseBenchmark::UnitRand() * 50;
+			po->center[2] = btBroadphaseBenchmark::UnitRand() * 50;
+			po->extents[0] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
+			po->extents[1] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
+			po->extents[2] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
+			po->time = btBroadphaseBenchmark::UnitRand() * 2000;
+			po->proxy = pbi->createProxy(po->center - po->extents, po->center + po->extents, 0, po, 1, 1, 0, 0);
 			objects.push_back(po);
 		}
-		btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
-		/* First update		*/ 
+		btBroadphaseBenchmark::OutputTime("\tInitialization", wallclock);
+		/* First update		*/
 		wallclock.reset();
-		for(int i=0;i<objects.size();++i)
+		for (int i = 0; i < objects.size(); ++i)
 		{
-			objects[i]->update(speed,amplitude,pbi);
+			objects[i]->update(speed, amplitude, pbi);
 		}
-		btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
-		/* Updates			*/ 
+		btBroadphaseBenchmark::OutputTime("\tFirst update", wallclock);
+		/* Updates			*/
 		wallclock.reset();
-		for(int i=0;i<experiment.iterations;++i)
+		for (int i = 0; i < experiment.iterations; ++i)
 		{
-			for(int j=0;j<update_count;++j)
-			{				
-				objects[j]->update(speed,amplitude,pbi);
+			for (int j = 0; j < update_count; ++j)
+			{
+				objects[j]->update(speed, amplitude, pbi);
 			}
 			pbi->calculateOverlappingPairs(0);
 		}
-		btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
-		/* Clean up			*/ 
+		btBroadphaseBenchmark::OutputTime("\tUpdate", wallclock, experiment.iterations);
+		/* Clean up			*/
 		wallclock.reset();
-		for(int i=0;i<objects.size();++i)
+		for (int i = 0; i < objects.size(); ++i)
 		{
-			pbi->destroyProxy(objects[i]->proxy,0);
+			pbi->destroyProxy(objects[i]->proxy, 0);
 			delete objects[i];
 		}
 		objects.resize(0);
-		btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
+		btBroadphaseBenchmark::OutputTime("\tRelease", wallclock);
 	}
-
 }
 #else
-void							btDbvtBroadphase::benchmark(btBroadphaseInterface*)
-{}
+void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
+{
+}
 #endif
 
 #if DBVT_BP_PROFILE
-#undef	SPC
+#undef SPC
 #endif
-
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
index 8feb95d51f..a71feef53b 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
@@ -24,15 +24,16 @@ subject to the following restrictions:
 // Compile time config
 //
 
-#define	DBVT_BP_PROFILE					0
+#define DBVT_BP_PROFILE 0
 //#define DBVT_BP_SORTPAIRS				1
-#define DBVT_BP_PREVENTFALSEUPDATE		0
-#define DBVT_BP_ACCURATESLEEPING		0
-#define DBVT_BP_ENABLE_BENCHMARK		0
-#define DBVT_BP_MARGIN					(btScalar)0.05
+#define DBVT_BP_PREVENTFALSEUPDATE 0
+#define DBVT_BP_ACCURATESLEEPING 0
+#define DBVT_BP_ENABLE_BENCHMARK 0
+//#define DBVT_BP_MARGIN					(btScalar)0.05
+extern btScalar gDbvtMargin;
 
 #if DBVT_BP_PROFILE
-#define	DBVT_BP_PROFILING_RATE	256
+#define DBVT_BP_PROFILING_RATE 256
 #include "LinearMath/btQuickprof.h"
 #endif
 
@@ -41,90 +42,90 @@ subject to the following restrictions:
 //
 struct btDbvtProxy : btBroadphaseProxy
 {
-	/* Fields		*/ 
+	/* Fields		*/
 	//btDbvtAabbMm	aabb;
-	btDbvtNode*		leaf;
-	btDbvtProxy*	links[2];
-	int				stage;
-	/* ctor			*/ 
-	btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask) :
-	btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
+	btDbvtNode* leaf;
+	btDbvtProxy* links[2];
+	int stage;
+	/* ctor			*/
+	btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
 	{
-		links[0]=links[1]=0;
+		links[0] = links[1] = 0;
 	}
 };
 
-typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
+typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
 
 ///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
 ///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
-struct	btDbvtBroadphase : btBroadphaseInterface
+struct btDbvtBroadphase : btBroadphaseInterface
 {
-	/* Config		*/ 
-	enum	{
-		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
-		FIXED_SET			=	1,	/* Fixed set index		*/ 
-		STAGECOUNT			=	2	/* Number of stages		*/ 
+	/* Config		*/
+	enum
+	{
+		DYNAMIC_SET = 0, /* Dynamic set index	*/
+		FIXED_SET = 1,   /* Fixed set index		*/
+		STAGECOUNT = 2   /* Number of stages		*/
 	};
-	/* Fields		*/ 
-	btDbvt					m_sets[2];					// Dbvt sets
-	btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
-	btOverlappingPairCache*	m_paircache;				// Pair cache
-	btScalar				m_prediction;				// Velocity prediction
-	int						m_stageCurrent;				// Current stage
-	int						m_fupdates;					// % of fixed updates per frame
-	int						m_dupdates;					// % of dynamic updates per frame
-	int						m_cupdates;					// % of cleanup updates per frame
-	int						m_newpairs;					// Number of pairs created
-	int						m_fixedleft;				// Fixed optimization left
-	unsigned				m_updates_call;				// Number of updates call
-	unsigned				m_updates_done;				// Number of updates done
-	btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
-	int						m_pid;						// Parse id
-	int						m_cid;						// Cleanup index
-	int						m_gid;						// Gen id
-	bool					m_releasepaircache;			// Release pair cache on delete
-	bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
-	bool					m_needcleanup;				// Need to run cleanup?
-    btAlignedObjectArray< btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
+	/* Fields		*/
+	btDbvt m_sets[2];                           // Dbvt sets
+	btDbvtProxy* m_stageRoots[STAGECOUNT + 1];  // Stages list
+	btOverlappingPairCache* m_paircache;        // Pair cache
+	btScalar m_prediction;                      // Velocity prediction
+	int m_stageCurrent;                         // Current stage
+	int m_fupdates;                             // % of fixed updates per frame
+	int m_dupdates;                             // % of dynamic updates per frame
+	int m_cupdates;                             // % of cleanup updates per frame
+	int m_newpairs;                             // Number of pairs created
+	int m_fixedleft;                            // Fixed optimization left
+	unsigned m_updates_call;                    // Number of updates call
+	unsigned m_updates_done;                    // Number of updates done
+	btScalar m_updates_ratio;                   // m_updates_done/m_updates_call
+	int m_pid;                                  // Parse id
+	int m_cid;                                  // Cleanup index
+	int m_gid;                                  // Gen id
+	bool m_releasepaircache;                    // Release pair cache on delete
+	bool m_deferedcollide;                      // Defere dynamic/static collision to collide call
+	bool m_needcleanup;                         // Need to run cleanup?
+	btAlignedObjectArray<btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
 #if DBVT_BP_PROFILE
-	btClock					m_clock;
-	struct	{
-		unsigned long		m_total;
-		unsigned long		m_ddcollide;
-		unsigned long		m_fdcollide;
-		unsigned long		m_cleanup;
-		unsigned long		m_jobcount;
-	}				m_profiling;
+	btClock m_clock;
+	struct
+	{
+		unsigned long m_total;
+		unsigned long m_ddcollide;
+		unsigned long m_fdcollide;
+		unsigned long m_cleanup;
+		unsigned long m_jobcount;
+	} m_profiling;
 #endif
-	/* Methods		*/ 
-	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
+	/* Methods		*/
+	btDbvtBroadphase(btOverlappingPairCache* paircache = 0);
 	~btDbvtBroadphase();
-	void							collide(btDispatcher* dispatcher);
-	void							optimize();
-	
-	/* btBroadphaseInterface Implementation	*/
-	btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
-	virtual void					destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void					setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	virtual void					rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
-	virtual void					aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	virtual void					getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	virtual	void					calculateOverlappingPairs(btDispatcher* dispatcher);
-	virtual	btOverlappingPairCache*	getOverlappingPairCache();
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const;
-	virtual	void					getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-	virtual	void					printStats();
+	void collide(btDispatcher* dispatcher);
+	void optimize();
 
+	/* btBroadphaseInterface Implementation	*/
+	btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
+	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
+	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
+	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+
+	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
+	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
+	virtual btOverlappingPairCache* getOverlappingPairCache();
+	virtual const btOverlappingPairCache* getOverlappingPairCache() const;
+	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const;
+	virtual void printStats();
 
 	///reset broadphase internal structures, to ensure determinism/reproducability
 	virtual void resetPool(btDispatcher* dispatcher);
 
-	void	performDeferredRemoval(btDispatcher* dispatcher);
-	
-	void	setVelocityPrediction(btScalar prediction)
+	void performDeferredRemoval(btDispatcher* dispatcher);
+
+	void setVelocityPrediction(btScalar prediction)
 	{
 		m_prediction = prediction;
 	}
@@ -133,15 +134,13 @@ struct	btDbvtBroadphase : btBroadphaseInterface
 		return m_prediction;
 	}
 
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 
+	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
 	///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
 	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
 	///http://code.google.com/p/bullet/issues/detail?id=223
-	void							setAabbForceUpdate(		btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
-
-	static void						benchmark(btBroadphaseInterface*);
-
+	void setAabbForceUpdate(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/);
 
+	static void benchmark(btBroadphaseInterface*);
 };
 
 #endif
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp
index 20768225b3..d76d408aa6 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp
@@ -17,6 +17,4 @@ subject to the following restrictions:
 
 btDispatcher::~btDispatcher()
 {
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
index 7b0f9489af..b09b7d4d42 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -20,7 +20,7 @@ subject to the following restrictions:
 class btCollisionAlgorithm;
 struct btBroadphaseProxy;
 class btRigidBody;
-class	btCollisionObject;
+class btCollisionObject;
 class btOverlappingPairCache;
 struct btCollisionObjectWrapper;
 
@@ -35,33 +35,34 @@ struct btDispatcherInfo
 		DISPATCH_CONTINUOUS
 	};
 	btDispatcherInfo()
-		:m_timeStep(btScalar(0.)),
-		m_stepCount(0),
-		m_dispatchFunc(DISPATCH_DISCRETE),
-		m_timeOfImpact(btScalar(1.)),
-		m_useContinuous(true),
-		m_debugDraw(0),
-		m_enableSatConvex(false),
-		m_enableSPU(true),
-		m_useEpa(true),
-		m_allowedCcdPenetration(btScalar(0.04)),
-		m_useConvexConservativeDistanceUtil(false),
-		m_convexConservativeDistanceThreshold(0.0f)
+		: m_timeStep(btScalar(0.)),
+		  m_stepCount(0),
+		  m_dispatchFunc(DISPATCH_DISCRETE),
+		  m_timeOfImpact(btScalar(1.)),
+		  m_useContinuous(true),
+		  m_debugDraw(0),
+		  m_enableSatConvex(false),
+		  m_enableSPU(true),
+		  m_useEpa(true),
+		  m_allowedCcdPenetration(btScalar(0.04)),
+		  m_useConvexConservativeDistanceUtil(false),
+		  m_convexConservativeDistanceThreshold(0.0f),
+		  m_deterministicOverlappingPairs(false)
 	{
-
 	}
-	btScalar	m_timeStep;
-	int			m_stepCount;
-	int			m_dispatchFunc;
-	mutable btScalar	m_timeOfImpact;
-	bool		m_useContinuous;
-	class btIDebugDraw*	m_debugDraw;
-	bool		m_enableSatConvex;
-	bool		m_enableSPU;
-	bool		m_useEpa;
-	btScalar	m_allowedCcdPenetration;
-	bool		m_useConvexConservativeDistanceUtil;
-	btScalar	m_convexConservativeDistanceThreshold;
+	btScalar m_timeStep;
+	int m_stepCount;
+	int m_dispatchFunc;
+	mutable btScalar m_timeOfImpact;
+	bool m_useContinuous;
+	class btIDebugDraw* m_debugDraw;
+	bool m_enableSatConvex;
+	bool m_enableSPU;
+	bool m_useEpa;
+	btScalar m_allowedCcdPenetration;
+	bool m_useConvexConservativeDistanceUtil;
+	btScalar m_convexConservativeDistanceThreshold;
+	bool m_deterministicOverlappingPairs;
 };
 
 enum ebtDispatcherQueryType
@@ -74,40 +75,36 @@ enum ebtDispatcherQueryType
 ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
 class btDispatcher
 {
-
-
 public:
-	virtual ~btDispatcher() ;
+	virtual ~btDispatcher();
 
-	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
+	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
 
-	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
+	virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1) = 0;
 
-	virtual void releaseManifold(btPersistentManifold* manifold)=0;
+	virtual void releaseManifold(btPersistentManifold* manifold) = 0;
 
-	virtual void clearManifold(btPersistentManifold* manifold)=0;
+	virtual void clearManifold(btPersistentManifold* manifold) = 0;
 
-	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
+	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
 
-	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
+	virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
 
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
+	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) = 0;
 
 	virtual int getNumManifolds() const = 0;
 
 	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
 
-	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
+	virtual btPersistentManifold** getInternalManifoldPointer() = 0;
 
-	virtual	btPoolAllocator*	getInternalManifoldPool() = 0;
+	virtual btPoolAllocator* getInternalManifoldPool() = 0;
 
-	virtual	const btPoolAllocator*	getInternalManifoldPool() const = 0;
+	virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
 
-	virtual	void* allocateCollisionAlgorithm(int size)  = 0;
-
-	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
+	virtual void* allocateCollisionAlgorithm(int size) = 0;
 
+	virtual void freeCollisionAlgorithm(void* ptr) = 0;
 };
 
-
-#endif //BT_DISPATCHER_H
+#endif  //BT_DISPATCHER_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index 55ebf06f1e..8ce1087c9f 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btOverlappingPairCache.h"
 
 #include "btDispatcher.h"
@@ -23,127 +21,95 @@ subject to the following restrictions:
 
 #include <stdio.h>
 
-int	gOverlappingPairs = 0;
-
-int gRemovePairs =0;
-int gAddedPairs =0;
-int gFindPairs =0;
-
-
-
-
-btHashedOverlappingPairCache::btHashedOverlappingPairCache():
-	m_overlapFilterCallback(0),
-	m_ghostPairCallback(0)
+btHashedOverlappingPairCache::btHashedOverlappingPairCache() : m_overlapFilterCallback(0),
+															   m_ghostPairCallback(0)
 {
-	int initialAllocatedSize= 2;
+	int initialAllocatedSize = 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 	growTables();
 }
 
-
-
-
 btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
 {
 }
 
-
-
-void	btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
+void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher)
 {
 	if (pair.m_algorithm && dispatcher)
 	{
 		{
 			pair.m_algorithm->~btCollisionAlgorithm();
 			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm=0;
+			pair.m_algorithm = 0;
 		}
 	}
 }
 
-
-
-
-void	btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+void btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
 {
-
-	class	CleanPairCallback : public btOverlapCallback
+	class CleanPairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache*	m_pairCache;
+		btOverlappingPairCache* m_pairCache;
 		btDispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
-			:m_cleanProxy(cleanProxy),
-			m_pairCache(pairCache),
-			m_dispatcher(dispatcher)
+		CleanPairCallback(btBroadphaseProxy* cleanProxy, btOverlappingPairCache* pairCache, btDispatcher* dispatcher)
+			: m_cleanProxy(cleanProxy),
+			  m_pairCache(pairCache),
+			  m_dispatcher(dispatcher)
 		{
 		}
-		virtual	bool	processOverlap(btBroadphasePair& pair)
+		virtual bool processOverlap(btBroadphasePair& pair)
 		{
 			if ((pair.m_pProxy0 == m_cleanProxy) ||
 				(pair.m_pProxy1 == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
 			}
 			return false;
 		}
-		
 	};
 
-	CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs,dispatcher);
+	CleanPairCallback cleanPairs(proxy, this, dispatcher);
 
+	processAllOverlappingPairs(&cleanPairs, dispatcher);
 }
 
-
-
-
-void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
 {
-
-	class	RemovePairCallback : public btOverlapCallback
+	class RemovePairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_obsoleteProxy;
 
 	public:
 		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			:m_obsoleteProxy(obsoleteProxy)
+			: m_obsoleteProxy(obsoleteProxy)
 		{
 		}
-		virtual	bool	processOverlap(btBroadphasePair& pair)
+		virtual bool processOverlap(btBroadphasePair& pair)
 		{
 			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-				(pair.m_pProxy1 == m_obsoleteProxy));
+					(pair.m_pProxy1 == m_obsoleteProxy));
 		}
-		
 	};
 
-
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback,dispatcher);
+	processAllOverlappingPairs(&removeCallback, dispatcher);
 }
 
-
-
-
-
 btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	gFindPairs++;
-	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-		btSwap(proxy0,proxy1);
+	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
+		btSwap(proxy0, proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
-	/*if (proxyId1 > proxyId2) 
+	/*if (proxyId1 > proxyId2)
 		btSwap(proxyId1, proxyId2);*/
 
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
 
 	if (hash >= m_hashTable.size())
 	{
@@ -168,9 +134,8 @@ btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* prox
 
 //#include <stdio.h>
 
-void	btHashedOverlappingPairCache::growTables()
+void btHashedOverlappingPairCache::growTables()
 {
-
 	int newCapacity = m_overlappingPairArray.capacity();
 
 	if (m_hashTable.size() < newCapacity)
@@ -181,10 +146,9 @@ void	btHashedOverlappingPairCache::growTables()
 		m_hashTable.resize(newCapacity);
 		m_next.resize(newCapacity);
 
-
 		int i;
 
-		for (i= 0; i < newCapacity; ++i)
+		for (i = 0; i < newCapacity; ++i)
 		{
 			m_hashTable[i] = BT_NULL_PAIR;
 		}
@@ -193,35 +157,31 @@ void	btHashedOverlappingPairCache::growTables()
 			m_next[i] = BT_NULL_PAIR;
 		}
 
-		for(i=0;i<curHashtableSize;i++)
+		for (i = 0; i < curHashtableSize; i++)
 		{
-	
 			const btBroadphasePair& pair = m_overlappingPairArray[i];
 			int proxyId1 = pair.m_pProxy0->getUid();
 			int proxyId2 = pair.m_pProxy1->getUid();
 			/*if (proxyId1 > proxyId2) 
 				btSwap(proxyId1, proxyId2);*/
-			int	hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
 			m_next[i] = m_hashTable[hashValue];
 			m_hashTable[hashValue] = i;
 		}
-
-
 	}
 }
 
 btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-		btSwap(proxy0,proxy1);
+	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
+		btSwap(proxy0, proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
 	/*if (proxyId1 > proxyId2) 
 		btSwap(proxyId1, proxyId2);*/
 
-	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
-
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
 
 	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
 	if (pair != NULL)
@@ -243,7 +203,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 
 	//this is where we add an actual pair, so also call the 'ghost'
 	if (m_ghostPairCallback)
-		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
+		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 
 	int newCapacity = m_overlappingPairArray.capacity();
 
@@ -251,15 +211,14 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 	{
 		growTables();
 		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
 	}
-	
-	pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
-//	pair->m_pProxy0 = proxy0;
-//	pair->m_pProxy1 = proxy1;
+
+	pair = new (mem) btBroadphasePair(*proxy0, *proxy1);
+	//	pair->m_pProxy0 = proxy0;
+	//	pair->m_pProxy1 = proxy1;
 	pair->m_algorithm = 0;
 	pair->m_internalTmpValue = 0;
-	
 
 	m_next[count] = m_hashTable[hash];
 	m_hashTable[hash] = count;
@@ -267,20 +226,17 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 	return pair;
 }
 
-
-
-void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
+void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
 {
-	gRemovePairs++;
-	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-		btSwap(proxy0,proxy1);
+	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
+		btSwap(proxy0, proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
-	/*if (proxyId1 > proxyId2) 
+	/*if (proxyId1 > proxyId2)
 		btSwap(proxyId1, proxyId2);*/
 
-	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
 
 	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
 	if (pair == NULL)
@@ -288,7 +244,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 		return 0;
 	}
 
-	cleanOverlappingPair(*pair,dispatcher);
+	cleanOverlappingPair(*pair, dispatcher);
 
 	void* userData = pair->m_internalInfo1;
 
@@ -326,7 +282,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 	int lastPairIndex = m_overlappingPairArray.size() - 1;
 
 	if (m_ghostPairCallback)
-		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
+		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1, dispatcher);
 
 	// If the removed pair is the last pair, we are done.
 	if (lastPairIndex == pairIndex)
@@ -337,8 +293,8 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 
 	// Remove the last pair from the hash table.
 	const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
-		/* missing swap here too, Nat. */ 
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1));
+	/* missing swap here too, Nat. */
+	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity() - 1));
 
 	index = m_hashTable[lastHash];
 	btAssert(index != BT_NULL_PAIR);
@@ -373,43 +329,105 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 }
 //#include <stdio.h>
 #include "LinearMath/btQuickprof.h"
-void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
+void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
 {
 	BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
 	int i;
 
-//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
-	for (i=0;i<m_overlappingPairArray.size();)
+	//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
+	for (i = 0; i < m_overlappingPairArray.size();)
 	{
-	
 		btBroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
-			removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
-
-			gOverlappingPairs--;
-		} else
+			removeOverlappingPair(pair->m_pProxy0, pair->m_pProxy1, dispatcher);
+		}
+		else
 		{
 			i++;
 		}
 	}
 }
 
-void	btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+struct MyPairIndex
+{
+	int m_orgIndex;
+	int m_uidA0;
+	int m_uidA1;
+};
+
+class MyPairIndeSortPredicate
+{
+public:
+	bool operator()(const MyPairIndex& a, const MyPairIndex& b) const
+	{
+		const int uidA0 = a.m_uidA0;
+		const int uidB0 = b.m_uidA0;
+		const int uidA1 = a.m_uidA1;
+		const int uidB1 = b.m_uidA1;
+		return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1);
+	}
+};
+
+void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
+{
+	if (dispatchInfo.m_deterministicOverlappingPairs)
+	{
+		btBroadphasePairArray& pa = getOverlappingPairArray();
+		btAlignedObjectArray<MyPairIndex> indices;
+		{
+			BT_PROFILE("sortOverlappingPairs");
+			indices.resize(pa.size());
+			for (int i = 0; i < indices.size(); i++)
+			{
+				const btBroadphasePair& p = pa[i];
+				const int uidA0 = p.m_pProxy0 ? p.m_pProxy0->m_uniqueId : -1;
+				const int uidA1 = p.m_pProxy1 ? p.m_pProxy1->m_uniqueId : -1;
+
+				indices[i].m_uidA0 = uidA0;
+				indices[i].m_uidA1 = uidA1;
+				indices[i].m_orgIndex = i;
+			}
+			indices.quickSort(MyPairIndeSortPredicate());
+		}
+		{
+			BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
+			int i;
+			for (i = 0; i < indices.size();)
+			{
+				btBroadphasePair* pair = &pa[indices[i].m_orgIndex];
+				if (callback->processOverlap(*pair))
+				{
+					removeOverlappingPair(pair->m_pProxy0, pair->m_pProxy1, dispatcher);
+				}
+				else
+				{
+					i++;
+				}
+			}
+		}
+	}
+	else
+	{
+		processAllOverlappingPairs(callback, dispatcher);
+	}
+}
+
+void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
 {
 	///need to keep hashmap in sync with pair address, so rebuild all
 	btBroadphasePairArray tmpPairs;
 	int i;
-	for (i=0;i<m_overlappingPairArray.size();i++)
+	for (i = 0; i < m_overlappingPairArray.size(); i++)
 	{
 		tmpPairs.push_back(m_overlappingPairArray[i]);
 	}
 
-	for (i=0;i<tmpPairs.size();i++)
+	for (i = 0; i < tmpPairs.size(); i++)
 	{
-		removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher);
+		removeOverlappingPair(tmpPairs[i].m_pProxy0, tmpPairs[i].m_pProxy1, dispatcher);
 	}
-	
+
 	for (i = 0; i < m_next.size(); i++)
 	{
 		m_next[i] = BT_NULL_PAIR;
@@ -417,32 +435,28 @@ void	btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher
 
 	tmpPairs.quickSort(btBroadphasePairSortPredicate());
 
-	for (i=0;i<tmpPairs.size();i++)
+	for (i = 0; i < tmpPairs.size(); i++)
 	{
-		addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1);
+		addOverlappingPair(tmpPairs[i].m_pProxy0, tmpPairs[i].m_pProxy1);
 	}
-
-	
 }
 
-
-void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
+void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
 {
 	if (!hasDeferredRemoval())
 	{
-		btBroadphasePair findPair(*proxy0,*proxy1);
+		btBroadphasePair findPair(*proxy0, *proxy1);
 
 		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
 		if (findIndex < m_overlappingPairArray.size())
 		{
-			gOverlappingPairs--;
 			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
 			void* userData = pair.m_internalInfo1;
-			cleanOverlappingPair(pair,dispatcher);
+			cleanOverlappingPair(pair, dispatcher);
 			if (m_ghostPairCallback)
-				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-			
-			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
+				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1, dispatcher);
+
+			m_overlappingPairArray.swap(findIndex, m_overlappingPairArray.capacity() - 1);
 			m_overlappingPairArray.pop_back();
 			return userData;
 		}
@@ -451,99 +465,73 @@ void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 	return 0;
 }
 
-
-
-
-
-
-
-
-btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
 	//don't add overlap with own
 	btAssert(proxy0 != proxy1);
 
-	if (!needsBroadphaseCollision(proxy0,proxy1))
+	if (!needsBroadphaseCollision(proxy0, proxy1))
 		return 0;
-	
+
 	void* mem = &m_overlappingPairArray.expandNonInitializing();
-	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
-	
-	gOverlappingPairs++;
-	gAddedPairs++;
-	
+	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0, *proxy1);
+
 	if (m_ghostPairCallback)
 		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 	return pair;
-	
 }
 
 ///this findPair becomes really slow. Either sort the list to speedup the query, or
 ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
 ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
 ///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
- btBroadphasePair*	btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+btBroadphasePair* btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	if (!needsBroadphaseCollision(proxy0,proxy1))
+	if (!needsBroadphaseCollision(proxy0, proxy1))
 		return 0;
 
-	btBroadphasePair tmpPair(*proxy0,*proxy1);
+	btBroadphasePair tmpPair(*proxy0, *proxy1);
 	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
 
 	if (findIndex < m_overlappingPairArray.size())
 	{
 		//btAssert(it != m_overlappingPairSet.end());
-		 btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
+		btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
 		return pair;
 	}
 	return 0;
 }
 
-
-
-
-
-
-
-
-
-
 //#include <stdio.h>
 
-void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
+void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
 {
-
 	int i;
 
-	for (i=0;i<m_overlappingPairArray.size();)
+	for (i = 0; i < m_overlappingPairArray.size();)
 	{
-	
 		btBroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
-			cleanOverlappingPair(*pair,dispatcher);
+			cleanOverlappingPair(*pair, dispatcher);
 			pair->m_pProxy0 = 0;
 			pair->m_pProxy1 = 0;
-			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+			m_overlappingPairArray.swap(i, m_overlappingPairArray.size() - 1);
 			m_overlappingPairArray.pop_back();
-			gOverlappingPairs--;
-		} else
+		}
+		else
 		{
 			i++;
 		}
 	}
 }
 
-
-
-
-btSortedOverlappingPairCache::btSortedOverlappingPairCache():
-	m_blockedForChanges(false),
-	m_hasDeferredRemoval(true),
-	m_overlapFilterCallback(0),
-	m_ghostPairCallback(0)
+btSortedOverlappingPairCache::btSortedOverlappingPairCache() : m_blockedForChanges(false),
+															   m_hasDeferredRemoval(true),
+															   m_overlapFilterCallback(0),
+															   m_ghostPairCallback(0)
 {
-	int initialAllocatedSize= 2;
+	int initialAllocatedSize = 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 }
 
@@ -551,82 +539,73 @@ btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
 {
 }
 
-void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
+void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher)
 {
 	if (pair.m_algorithm)
 	{
 		{
 			pair.m_algorithm->~btCollisionAlgorithm();
 			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm=0;
-			gRemovePairs--;
+			pair.m_algorithm = 0;
 		}
 	}
 }
 
-
-void	btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+void btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
 {
-
-	class	CleanPairCallback : public btOverlapCallback
+	class CleanPairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache*	m_pairCache;
+		btOverlappingPairCache* m_pairCache;
 		btDispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
-			:m_cleanProxy(cleanProxy),
-			m_pairCache(pairCache),
-			m_dispatcher(dispatcher)
+		CleanPairCallback(btBroadphaseProxy* cleanProxy, btOverlappingPairCache* pairCache, btDispatcher* dispatcher)
+			: m_cleanProxy(cleanProxy),
+			  m_pairCache(pairCache),
+			  m_dispatcher(dispatcher)
 		{
 		}
-		virtual	bool	processOverlap(btBroadphasePair& pair)
+		virtual bool processOverlap(btBroadphasePair& pair)
 		{
 			if ((pair.m_pProxy0 == m_cleanProxy) ||
 				(pair.m_pProxy1 == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
 			}
 			return false;
 		}
-		
 	};
 
-	CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs,dispatcher);
+	CleanPairCallback cleanPairs(proxy, this, dispatcher);
 
+	processAllOverlappingPairs(&cleanPairs, dispatcher);
 }
 
-
-void	btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+void btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
 {
-
-	class	RemovePairCallback : public btOverlapCallback
+	class RemovePairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_obsoleteProxy;
 
 	public:
 		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			:m_obsoleteProxy(obsoleteProxy)
+			: m_obsoleteProxy(obsoleteProxy)
 		{
 		}
-		virtual	bool	processOverlap(btBroadphasePair& pair)
+		virtual bool processOverlap(btBroadphasePair& pair)
 		{
 			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-				(pair.m_pProxy1 == m_obsoleteProxy));
+					(pair.m_pProxy1 == m_obsoleteProxy));
 		}
-		
 	};
 
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback,dispatcher);
+	processAllOverlappingPairs(&removeCallback, dispatcher);
 }
 
-void	btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+void btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
 {
 	//should already be sorted
 }
-
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index f7be7d45b3..a85782bc8a 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef BT_OVERLAPPING_PAIR_CACHE_H
 #define BT_OVERLAPPING_PAIR_CACHE_H
 
-
 #include "btBroadphaseInterface.h"
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
@@ -24,177 +23,163 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
 
-typedef btAlignedObjectArray<btBroadphasePair>	btBroadphasePairArray;
+typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
 
-struct	btOverlapCallback
+struct btOverlapCallback
 {
 	virtual ~btOverlapCallback()
-	{}
+	{
+	}
 	//return true for deletion of the pair
-	virtual bool	processOverlap(btBroadphasePair& pair) = 0;
-
+	virtual bool processOverlap(btBroadphasePair& pair) = 0;
 };
 
 struct btOverlapFilterCallback
 {
 	virtual ~btOverlapFilterCallback()
-	{}
+	{
+	}
 	// return true when pairs need collision
-	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
+	virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const = 0;
 };
 
-
-
-
-
-
-
-extern int gRemovePairs;
-extern int gAddedPairs;
-extern int gFindPairs;
-
-const int BT_NULL_PAIR=0xffffffff;
+const int BT_NULL_PAIR = 0xffffffff;
 
 ///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
 ///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
 class btOverlappingPairCache : public btOverlappingPairCallback
 {
 public:
-	virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor
+	virtual ~btOverlappingPairCache() {}  // this is needed so we can get to the derived class destructor
+
+	virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
 
-	virtual btBroadphasePair*	getOverlappingPairArrayPtr() = 0;
-	
-	virtual const btBroadphasePair*	getOverlappingPairArrayPtr() const = 0;
+	virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
 
-	virtual btBroadphasePairArray&	getOverlappingPairArray() = 0;
+	virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
 
-	virtual	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
+	virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
 
 	virtual int getNumOverlappingPairs() const = 0;
 
-	virtual void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
+	virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
 
-	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
+	virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
 
-	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
+	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0;
 
+	virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
+	{
+		processAllOverlappingPairs(callback, dispatcher);
+	}
 	virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
 
-	virtual bool	hasDeferredRemoval() = 0;
-
-	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
-
-	virtual void	sortOverlappingPairs(btDispatcher* dispatcher) = 0;
+	virtual bool hasDeferredRemoval() = 0;
 
+	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) = 0;
 
+	virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0;
 };
 
 /// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
 
-ATTRIBUTE_ALIGNED16(class) btHashedOverlappingPairCache : public btOverlappingPairCache
+ATTRIBUTE_ALIGNED16(class)
+btHashedOverlappingPairCache : public btOverlappingPairCache
 {
-	btBroadphasePairArray	m_overlappingPairArray;
+	btBroadphasePairArray m_overlappingPairArray;
 	btOverlapFilterCallback* m_overlapFilterCallback;
 
 protected:
-	
-	btAlignedObjectArray<int>	m_hashTable;
-	btAlignedObjectArray<int>	m_next;
-	btOverlappingPairCallback*	m_ghostPairCallback;
-
+	btAlignedObjectArray<int> m_hashTable;
+	btAlignedObjectArray<int> m_next;
+	btOverlappingPairCallback* m_ghostPairCallback;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btHashedOverlappingPairCache();
 	virtual ~btHashedOverlappingPairCache();
 
-	
-	void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	void removeOverlappingPairsContainingProxy(btBroadphaseProxy * proxy, btDispatcher * dispatcher);
+
+	virtual void* removeOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, btDispatcher * dispatcher);
 
-	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
-	
-	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const
 	{
 		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
 
 		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
 		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-		
+
 		return collides;
 	}
 
 	// Add a pair and return the new pair. If the pair already exists,
 	// no new pair is created and the old one is returned.
-	virtual btBroadphasePair* 	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1)
 	{
-		gAddedPairs++;
-
-		if (!needsBroadphaseCollision(proxy0,proxy1))
+		if (!needsBroadphaseCollision(proxy0, proxy1))
 			return 0;
 
-		return internalAddPair(proxy0,proxy1);
+		return internalAddPair(proxy0, proxy1);
 	}
 
-	
+	void cleanProxyFromPairs(btBroadphaseProxy * proxy, btDispatcher * dispatcher);
 
-	void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher * dispatcher);
 
-	
-	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
+	virtual void processAllOverlappingPairs(btOverlapCallback * callback, btDispatcher * dispatcher, const struct btDispatcherInfo& dispatchInfo);
 
-	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
+	virtual btBroadphasePair* getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	const btBroadphasePair*	getOverlappingPairArrayPtr() const
+	const btBroadphasePair* getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	btBroadphasePairArray&	getOverlappingPairArray()
+	btBroadphasePairArray& getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
 
-	const btBroadphasePairArray&	getOverlappingPairArray() const
+	const btBroadphasePairArray& getOverlappingPairArray() const
 	{
 		return m_overlappingPairArray;
 	}
 
-	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
-
+	void cleanOverlappingPair(btBroadphasePair & pair, btDispatcher * dispatcher);
 
-
-	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
+	btBroadphasePair* findPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1);
 
 	int GetCount() const { return m_overlappingPairArray.size(); }
-//	btBroadphasePair* GetPairs() { return m_pairs; }
+	//	btBroadphasePair* GetPairs() { return m_pairs; }
 
 	btOverlapFilterCallback* getOverlapFilterCallback()
 	{
 		return m_overlapFilterCallback;
 	}
 
-	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
+	void setOverlapFilterCallback(btOverlapFilterCallback * callback)
 	{
 		m_overlapFilterCallback = callback;
 	}
 
-	int	getNumOverlappingPairs() const
+	int getNumOverlappingPairs() const
 	{
 		return m_overlappingPairArray.size();
 	}
+
 private:
-	
-	btBroadphasePair* 	internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+	btBroadphasePair* internalAddPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1);
 
-	void	growTables();
+	void growTables();
 
 	SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
-	{	
+	{
 		return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
 	}
 
@@ -214,40 +199,37 @@ private:
 	}
 	*/
 
-
 	SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
 	{
 		unsigned int key = proxyId1 | (proxyId2 << 16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
-		key ^=  (key >> 10);
-		key +=  (key << 3);
-		key ^=  (key >> 6);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
 		key += ~(key << 11);
-		key ^=  (key >> 16);
+		key ^= (key >> 16);
 		return key;
 	}
-	
-
 
-	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
+	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, int hash)
 	{
 		int proxyId1 = proxy0->getUid();
 		int proxyId2 = proxy1->getUid();
-		#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
+#if 0  // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
 		if (proxyId1 > proxyId2) 
 			btSwap(proxyId1, proxyId2);
-		#endif
+#endif
 
 		int index = m_hashTable[hash];
-		
-		while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+
+		while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
 		{
 			index = m_next[index];
 		}
 
-		if ( index == BT_NULL_PAIR )
+		if (index == BT_NULL_PAIR)
 		{
 			return NULL;
 		}
@@ -257,155 +239,136 @@ private:
 		return &m_overlappingPairArray[index];
 	}
 
-	virtual bool	hasDeferredRemoval()
+	virtual bool hasDeferredRemoval()
 	{
 		return false;
 	}
 
-	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
+	virtual void setInternalGhostPairCallback(btOverlappingPairCallback * ghostPairCallback)
 	{
 		m_ghostPairCallback = ghostPairCallback;
 	}
 
-	virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
-	
-
-	
+	virtual void sortOverlappingPairs(btDispatcher * dispatcher);
 };
 
-
-
-
 ///btSortedOverlappingPairCache maintains the objects with overlapping AABB
 ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
-class	btSortedOverlappingPairCache : public btOverlappingPairCache
+class btSortedOverlappingPairCache : public btOverlappingPairCache
 {
-	protected:
-		//avoid brute-force finding all the time
-		btBroadphasePairArray	m_overlappingPairArray;
+protected:
+	//avoid brute-force finding all the time
+	btBroadphasePairArray m_overlappingPairArray;
 
-		//during the dispatch, check that user doesn't destroy/create proxy
-		bool		m_blockedForChanges;
+	//during the dispatch, check that user doesn't destroy/create proxy
+	bool m_blockedForChanges;
 
-		///by default, do the removal during the pair traversal
-		bool		m_hasDeferredRemoval;
-		
-		//if set, use the callback instead of the built in filter in needBroadphaseCollision
-		btOverlapFilterCallback* m_overlapFilterCallback;
+	///by default, do the removal during the pair traversal
+	bool m_hasDeferredRemoval;
 
-		btOverlappingPairCallback*	m_ghostPairCallback;
+	//if set, use the callback instead of the built in filter in needBroadphaseCollision
+	btOverlapFilterCallback* m_overlapFilterCallback;
 
-	public:
-			
-		btSortedOverlappingPairCache();	
-		virtual ~btSortedOverlappingPairCache();
+	btOverlappingPairCallback* m_ghostPairCallback;
 
-		virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
+public:
+	btSortedOverlappingPairCache();
+	virtual ~btSortedOverlappingPairCache();
 
-		void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
+	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher);
 
-		void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
-		
-		btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+	void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher);
 
-		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-			
-		
-		void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher);
 
-		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
+	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
-		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
-		{
-			if (m_overlapFilterCallback)
-				return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+	void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
 
-			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-			
-			return collides;
-		}
-		
-		btBroadphasePairArray&	getOverlappingPairArray()
-		{
-			return m_overlappingPairArray;
-		}
+	void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
 
-		const btBroadphasePairArray&	getOverlappingPairArray() const
-		{
-			return m_overlappingPairArray;
-		}
+	inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
+	{
+		if (m_overlapFilterCallback)
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
 
-		
+		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
 
+		return collides;
+	}
 
-		btBroadphasePair*	getOverlappingPairArrayPtr()
-		{
-			return &m_overlappingPairArray[0];
-		}
+	btBroadphasePairArray& getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
 
-		const btBroadphasePair*	getOverlappingPairArrayPtr() const
-		{
-			return &m_overlappingPairArray[0];
-		}
+	const btBroadphasePairArray& getOverlappingPairArray() const
+	{
+		return m_overlappingPairArray;
+	}
 
-		int	getNumOverlappingPairs() const
-		{
-			return m_overlappingPairArray.size();
-		}
-		
-		btOverlapFilterCallback* getOverlapFilterCallback()
-		{
-			return m_overlapFilterCallback;
-		}
+	btBroadphasePair* getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
 
-		void setOverlapFilterCallback(btOverlapFilterCallback* callback)
-		{
-			m_overlapFilterCallback = callback;
-		}
+	const btBroadphasePair* getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
 
-		virtual bool	hasDeferredRemoval()
-		{
-			return m_hasDeferredRemoval;
-		}
+	int getNumOverlappingPairs() const
+	{
+		return m_overlappingPairArray.size();
+	}
 
-		virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
-		{
-			m_ghostPairCallback = ghostPairCallback;
-		}
+	btOverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return m_overlapFilterCallback;
+	}
 
-		virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
-		
+	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
+	{
+		m_overlapFilterCallback = callback;
+	}
 
-};
+	virtual bool hasDeferredRemoval()
+	{
+		return m_hasDeferredRemoval;
+	}
 
+	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
+	{
+		m_ghostPairCallback = ghostPairCallback;
+	}
 
+	virtual void sortOverlappingPairs(btDispatcher* dispatcher);
+};
 
 ///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
 class btNullPairCache : public btOverlappingPairCache
 {
-
-	btBroadphasePairArray	m_overlappingPairArray;
+	btBroadphasePairArray m_overlappingPairArray;
 
 public:
-
-	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
+	virtual btBroadphasePair* getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
-	const btBroadphasePair*	getOverlappingPairArrayPtr() const
+	const btBroadphasePair* getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
-	btBroadphasePairArray&	getOverlappingPairArray()
+	btBroadphasePairArray& getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
-	
-	virtual	void	cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
-	{
 
+	virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/, btDispatcher* /*dispatcher*/)
+	{
 	}
 
 	virtual int getNumOverlappingPairs() const
@@ -413,16 +376,15 @@ public:
 		return 0;
 	}
 
-	virtual void	cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
+	virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/, btDispatcher* /*dispatcher*/)
 	{
-
 	}
 
-	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
+	virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
 	{
 	}
 
-	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
+	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* /*dispatcher*/)
 	{
 	}
 
@@ -431,39 +393,33 @@ public:
 		return 0;
 	}
 
-	virtual bool	hasDeferredRemoval()
+	virtual bool hasDeferredRemoval()
 	{
 		return true;
 	}
 
-	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
+	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
 	{
-
 	}
 
-	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
+	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
 	{
 		return 0;
 	}
 
-	virtual void*	removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
+	virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/, btDispatcher* /*dispatcher*/)
 	{
 		return 0;
 	}
 
-	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
+	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/)
 	{
 	}
-	
-	virtual void	sortOverlappingPairs(btDispatcher* dispatcher)
+
+	virtual void sortOverlappingPairs(btDispatcher* dispatcher)
 	{
-        (void) dispatcher;
+		(void)dispatcher;
 	}
-
-
 };
 
-
-#endif //BT_OVERLAPPING_PAIR_CACHE_H
-
-
+#endif  //BT_OVERLAPPING_PAIR_CACHE_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
index 3e069fa5e2..d16c72542f 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
@@ -18,26 +18,24 @@ subject to the following restrictions:
 #define OVERLAPPING_PAIR_CALLBACK_H
 
 class btDispatcher;
-struct  btBroadphasePair;
+struct btBroadphasePair;
 
 ///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
 class btOverlappingPairCallback
 {
 protected:
-    btOverlappingPairCallback() {}
-    
+	btOverlappingPairCallback() {}
+
 public:
 	virtual ~btOverlappingPairCallback()
 	{
-
 	}
-	
-	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0;
 
-	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0;
+	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
 
-	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0;
+	virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher) = 0;
 
+	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0, btDispatcher* dispatcher) = 0;
 };
 
-#endif //OVERLAPPING_PAIR_CALLBACK_H
+#endif  //OVERLAPPING_PAIR_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index 875d89c53e..b814fd84d8 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -21,43 +21,38 @@ subject to the following restrictions:
 
 #define RAYAABB2
 
-btQuantizedBvh::btQuantizedBvh() : 
-					m_bulletVersion(BT_BULLET_VERSION),
-					m_useQuantization(false), 
-					//m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
-					m_traversalMode(TRAVERSAL_STACKLESS)
-					//m_traversalMode(TRAVERSAL_RECURSIVE)
-					,m_subtreeHeaderCount(0) //PCK: add this line
+btQuantizedBvh::btQuantizedBvh() : m_bulletVersion(BT_BULLET_VERSION),
+								   m_useQuantization(false),
+								   //m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
+								   m_traversalMode(TRAVERSAL_STACKLESS)
+								   //m_traversalMode(TRAVERSAL_RECURSIVE)
+								   ,
+								   m_subtreeHeaderCount(0)  //PCK: add this line
 {
-	m_bvhAabbMin.setValue(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY);
-	m_bvhAabbMax.setValue(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+	m_bvhAabbMin.setValue(-SIMD_INFINITY, -SIMD_INFINITY, -SIMD_INFINITY);
+	m_bvhAabbMax.setValue(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
 }
 
-
-
-
-
 void btQuantizedBvh::buildInternal()
 {
 	///assumes that caller filled in the m_quantizedLeafNodes
 	m_useQuantization = true;
 	int numLeafNodes = 0;
-	
+
 	if (m_useQuantization)
 	{
 		//now we have an array of leafnodes in m_leafNodes
 		numLeafNodes = m_quantizedLeafNodes.size();
 
-		m_quantizedContiguousNodes.resize(2*numLeafNodes);
-
+		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
 	}
 
 	m_curNodeIndex = 0;
 
-	buildTree(0,numLeafNodes);
+	buildTree(0, numLeafNodes);
 
 	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if(m_useQuantization && !m_SubtreeHeaders.size())
+	if (m_useQuantization && !m_SubtreeHeaders.size())
 	{
 		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
@@ -73,29 +68,24 @@ void btQuantizedBvh::buildInternal()
 	m_leafNodes.clear();
 }
 
-
-
 ///just for debugging, to visualize the individual patches/subtrees
 #ifdef DEBUG_PATCH_COLORS
-btVector3 color[4]=
-{
-	btVector3(1,0,0),
-	btVector3(0,1,0),
-	btVector3(0,0,1),
-	btVector3(0,1,1)
-};
-#endif //DEBUG_PATCH_COLORS
-
-
+btVector3 color[4] =
+	{
+		btVector3(1, 0, 0),
+		btVector3(0, 1, 0),
+		btVector3(0, 0, 1),
+		btVector3(0, 1, 1)};
+#endif  //DEBUG_PATCH_COLORS
 
-void	btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin)
+void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin)
 {
 	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
+	btVector3 clampValue(quantizationMargin, quantizationMargin, quantizationMargin);
 	m_bvhAabbMin = bvhAabbMin - clampValue;
 	m_bvhAabbMax = bvhAabbMax + clampValue;
 	btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-	m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+	m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
 
 	m_useQuantization = true;
 
@@ -103,25 +93,22 @@ void	btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
 		unsigned short vecIn[3];
 		btVector3 v;
 		{
-			quantize(vecIn,m_bvhAabbMin,false);
+			quantize(vecIn, m_bvhAabbMin, false);
 			v = unQuantize(vecIn);
-			m_bvhAabbMin.setMin(v-clampValue);
+			m_bvhAabbMin.setMin(v - clampValue);
 		}
-        aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-        m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+		aabbSize = m_bvhAabbMax - m_bvhAabbMin;
+		m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
 		{
-			quantize(vecIn,m_bvhAabbMax,true);
+			quantize(vecIn, m_bvhAabbMax, true);
 			v = unQuantize(vecIn);
-			m_bvhAabbMax.setMax(v+clampValue);
+			m_bvhAabbMax.setMax(v + clampValue);
 		}
 		aabbSize = m_bvhAabbMax - m_bvhAabbMin;
-		m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+		m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
 	}
 }
 
-
-
-
 btQuantizedBvh::~btQuantizedBvh()
 {
 }
@@ -129,104 +116,100 @@ btQuantizedBvh::~btQuantizedBvh()
 #ifdef DEBUG_TREE_BUILDING
 int gStackDepth = 0;
 int gMaxStackDepth = 0;
-#endif //DEBUG_TREE_BUILDING
+#endif  //DEBUG_TREE_BUILDING
 
-void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
+void btQuantizedBvh::buildTree(int startIndex, int endIndex)
 {
 #ifdef DEBUG_TREE_BUILDING
 	gStackDepth++;
 	if (gStackDepth > gMaxStackDepth)
 		gMaxStackDepth = gStackDepth;
-#endif //DEBUG_TREE_BUILDING
-
+#endif  //DEBUG_TREE_BUILDING
 
 	int splitAxis, splitIndex, i;
-	int numIndices =endIndex-startIndex;
+	int numIndices = endIndex - startIndex;
 	int curIndex = m_curNodeIndex;
 
-	btAssert(numIndices>0);
+	btAssert(numIndices > 0);
 
-	if (numIndices==1)
+	if (numIndices == 1)
 	{
 #ifdef DEBUG_TREE_BUILDING
 		gStackDepth--;
-#endif //DEBUG_TREE_BUILDING
-		
-		assignInternalNodeFromLeafNode(m_curNodeIndex,startIndex);
+#endif  //DEBUG_TREE_BUILDING
+
+		assignInternalNodeFromLeafNode(m_curNodeIndex, startIndex);
 
 		m_curNodeIndex++;
-		return;	
+		return;
 	}
 	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-	
-	splitAxis = calcSplittingAxis(startIndex,endIndex);
 
-	splitIndex = sortAndCalcSplittingIndex(startIndex,endIndex,splitAxis);
+	splitAxis = calcSplittingAxis(startIndex, endIndex);
+
+	splitIndex = sortAndCalcSplittingIndex(startIndex, endIndex, splitAxis);
 
 	int internalNodeIndex = m_curNodeIndex;
-	
+
 	//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
 	//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
-	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
-	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
-	
-	
-	for (i=startIndex;i<endIndex;i++)
+	setInternalNodeAabbMin(m_curNodeIndex, m_bvhAabbMax);  //can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
+	setInternalNodeAabbMax(m_curNodeIndex, m_bvhAabbMin);  //can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
+
+	for (i = startIndex; i < endIndex; i++)
 	{
-		mergeInternalNodeAabb(m_curNodeIndex,getAabbMin(i),getAabbMax(i));
+		mergeInternalNodeAabb(m_curNodeIndex, getAabbMin(i), getAabbMax(i));
 	}
 
 	m_curNodeIndex++;
-	
 
 	//internalNode->m_escapeIndex;
-	
+
 	int leftChildNodexIndex = m_curNodeIndex;
 
 	//build left child tree
-	buildTree(startIndex,splitIndex);
+	buildTree(startIndex, splitIndex);
 
 	int rightChildNodexIndex = m_curNodeIndex;
 	//build right child tree
-	buildTree(splitIndex,endIndex);
+	buildTree(splitIndex, endIndex);
 
 #ifdef DEBUG_TREE_BUILDING
 	gStackDepth--;
-#endif //DEBUG_TREE_BUILDING
+#endif  //DEBUG_TREE_BUILDING
 
 	int escapeIndex = m_curNodeIndex - curIndex;
 
 	if (m_useQuantization)
 	{
 		//escapeIndex is the number of nodes of this subtree
-		const int sizeQuantizedNode =sizeof(btQuantizedBvhNode);
+		const int sizeQuantizedNode = sizeof(btQuantizedBvhNode);
 		const int treeSizeInBytes = escapeIndex * sizeQuantizedNode;
 		if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES)
 		{
-			updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex);
+			updateSubtreeHeaders(leftChildNodexIndex, rightChildNodexIndex);
 		}
-	} else
+	}
+	else
 	{
-
 	}
 
-	setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex);
-
+	setInternalNodeEscapeIndex(internalNodeIndex, escapeIndex);
 }
 
-void	btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex)
+void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex)
 {
 	btAssert(m_useQuantization);
 
 	btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
 	int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
-	int leftSubTreeSizeInBytes =  leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
-	
+	int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
+
 	btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
 	int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
-	int rightSubTreeSizeInBytes =  rightSubTreeSize *  static_cast<int>(sizeof(btQuantizedBvhNode));
+	int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
 
-	if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+	if (leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
 	{
 		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(leftChildNode);
@@ -234,7 +217,7 @@ void	btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
 		subtree.m_subtreeSize = leftSubTreeSize;
 	}
 
-	if(rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+	if (rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
 	{
 		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(rightChildNode);
@@ -246,32 +229,31 @@ void	btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();
 }
 
-
-int	btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis)
+int btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis)
 {
 	int i;
-	int splitIndex =startIndex;
+	int splitIndex = startIndex;
 	int numIndices = endIndex - startIndex;
 	btScalar splitValue;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	for (i=startIndex;i<endIndex;i++)
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
-		means+=center;
+		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
-	
+	means *= (btScalar(1.) / (btScalar)numIndices);
+
 	splitValue = means[splitAxis];
-	
+
 	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
 		if (center[splitAxis] > splitValue)
 		{
 			//swap
-			swapLeafNodes(i,splitIndex);
+			swapLeafNodes(i, splitIndex);
 			splitIndex++;
 		}
 	}
@@ -281,56 +263,53 @@ int	btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
 	//unbalanced1 is unsafe: it can cause stack overflows
 	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
 
-	//unbalanced2 should work too: always use center (perfect balanced trees)	
+	//unbalanced2 should work too: always use center (perfect balanced trees)
 	//bool unbalanced2 = true;
 
 	//this should be safe too:
-	int rangeBalancedIndices = numIndices/3;
-	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
-	
+	int rangeBalancedIndices = numIndices / 3;
+	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
+
 	if (unbalanced)
 	{
-		splitIndex = startIndex+ (numIndices>>1);
+		splitIndex = startIndex + (numIndices >> 1);
 	}
 
-	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+	bool unbal = (splitIndex == startIndex) || (splitIndex == (endIndex));
 	(void)unbal;
 	btAssert(!unbal);
 
 	return splitIndex;
 }
 
-
-int	btQuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
+int btQuantizedBvh::calcSplittingAxis(int startIndex, int endIndex)
 {
 	int i;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
-	int numIndices = endIndex-startIndex;
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
+	int numIndices = endIndex - startIndex;
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
-		means+=center;
+		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
-		
-	for (i=startIndex;i<endIndex;i++)
+	means *= (btScalar(1.) / (btScalar)numIndices);
+
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
-		btVector3 diff2 = center-means;
+		btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+		btVector3 diff2 = center - means;
 		diff2 = diff2 * diff2;
 		variance += diff2;
 	}
-	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
-	
+	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
+
 	return variance.maxAxis();
 }
 
-
-
-void	btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
 
@@ -339,38 +318,37 @@ void	btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
 		///quantize query AABB
 		unsigned short int quantizedQueryAabbMin[3];
 		unsigned short int quantizedQueryAabbMax[3];
-		quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
-		quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
+		quantizeWithClamp(quantizedQueryAabbMin, aabbMin, 0);
+		quantizeWithClamp(quantizedQueryAabbMax, aabbMax, 1);
 
 		switch (m_traversalMode)
 		{
-		case TRAVERSAL_STACKLESS:
-				walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,0,m_curNodeIndex);
-			break;
-		case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
-				walkStacklessQuantizedTreeCacheFriendly(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
-			break;
-		case TRAVERSAL_RECURSIVE:
+			case TRAVERSAL_STACKLESS:
+				walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax, 0, m_curNodeIndex);
+				break;
+			case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
+				walkStacklessQuantizedTreeCacheFriendly(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
+				break;
+			case TRAVERSAL_RECURSIVE:
 			{
 				const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
-				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
 			}
 			break;
-		default:
-			//unsupported
-			btAssert(0);
+			default:
+				//unsupported
+				btAssert(0);
 		}
-	} else
+	}
+	else
 	{
-		walkStacklessTree(nodeCallback,aabbMin,aabbMax);
+		walkStacklessTree(nodeCallback, aabbMin, aabbMax);
 	}
 }
 
-
 int maxIterations = 0;
 
-
-void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	btAssert(!m_useQuantization);
 
@@ -384,24 +362,25 @@ void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
 	while (curIndex < m_curNodeIndex)
 	{
 		//catch bugs in tree data
-		btAssert (walkIterations < m_curNodeIndex);
+		btAssert(walkIterations < m_curNodeIndex);
 
 		walkIterations++;
-		aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+		aabbOverlap = TestAabbAgainstAabb2(aabbMin, aabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
 		isLeafNode = rootNode->m_escapeIndex == -1;
-		
+
 		//PCK: unsigned instead of bool
 		if (isLeafNode && (aabbOverlap != 0))
 		{
-			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
-		} 
-		
+			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
+		}
+
 		//PCK: unsigned instead of bool
 		if ((aabbOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->m_escapeIndex;
 			rootNode += escapeIndex;
@@ -410,7 +389,6 @@ void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
 	}
 	if (maxIterations < walkIterations)
 		maxIterations = walkIterations;
-
 }
 
 /*
@@ -434,39 +412,38 @@ void	btQuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback
 }
 */
 
-void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
 {
 	btAssert(m_useQuantization);
-	
+
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
 	unsigned aabbOverlap;
 
 	//PCK: unsigned instead of bool
-	aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,currentNode->m_quantizedAabbMin,currentNode->m_quantizedAabbMax);
+	aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, currentNode->m_quantizedAabbMin, currentNode->m_quantizedAabbMax);
 	isLeafNode = currentNode->isLeafNode();
-		
+
 	//PCK: unsigned instead of bool
 	if (aabbOverlap != 0)
 	{
 		if (isLeafNode)
 		{
-			nodeCallback->processNode(currentNode->getPartId(),currentNode->getTriangleIndex());
-		} else
+			nodeCallback->processNode(currentNode->getPartId(), currentNode->getTriangleIndex());
+		}
+		else
 		{
 			//process left and right children
-			const btQuantizedBvhNode* leftChildNode = currentNode+1;
-			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+			const btQuantizedBvhNode* leftChildNode = currentNode + 1;
+			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
 
-			const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode+1:leftChildNode+leftChildNode->getEscapeIndex();
-			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+			const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode + 1 : leftChildNode + leftChildNode->getEscapeIndex();
+			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
 		}
-	}		
+	}
 }
 
-
-
-void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
 {
 	btAssert(!m_useQuantization);
 
@@ -475,11 +452,11 @@ void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 	int walkIterations = 0;
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
-	unsigned aabbOverlap=0;
-	unsigned rayBoxOverlap=0;
+	unsigned aabbOverlap = 0;
+	unsigned rayBoxOverlap = 0;
 	btScalar lambda_max = 1.0;
-	
-		/* Quick pruning by quantized box */
+
+	/* Quick pruning by quantized box */
 	btVector3 rayAabbMin = raySource;
 	btVector3 rayAabbMax = raySource;
 	rayAabbMin.setMin(rayTarget);
@@ -490,15 +467,15 @@ void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 	rayAabbMax += aabbMax;
 
 #ifdef RAYAABB2
-	btVector3 rayDir = (rayTarget-raySource);
-	rayDir.normalize ();
-	lambda_max = rayDir.dot(rayTarget-raySource);
+	btVector3 rayDir = (rayTarget - raySource);
+	rayDir.normalize();
+	lambda_max = rayDir.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	btVector3 rayDirectionInverse;
 	rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
 	rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
 	rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
-	unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+	unsigned int sign[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
 #endif
 
 	btVector3 bounds[2];
@@ -507,7 +484,7 @@ void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 	{
 		btScalar param = 1.0;
 		//catch bugs in tree data
-		btAssert (walkIterations < m_curNodeIndex);
+		btAssert(walkIterations < m_curNodeIndex);
 
 		walkIterations++;
 
@@ -517,34 +494,35 @@ void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 		bounds[0] -= aabbMax;
 		bounds[1] -= aabbMin;
 
-		aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+		aabbOverlap = TestAabbAgainstAabb2(rayAabbMin, rayAabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
 		//perhaps profile if it is worth doing the aabbOverlap test first
 
 #ifdef RAYAABB2
-			///careful with this check: need to check division by zero (above) and fix the unQuantize method
-			///thanks Joerg/hiker for the reproduction case!
-			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-		rayBoxOverlap = aabbOverlap ? btRayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
+		///careful with this check: need to check division by zero (above) and fix the unQuantize method
+		///thanks Joerg/hiker for the reproduction case!
+		///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
+		rayBoxOverlap = aabbOverlap ? btRayAabb2(raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
 
 #else
 		btVector3 normal;
-		rayBoxOverlap = btRayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal);
+		rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
 #endif
 
 		isLeafNode = rootNode->m_escapeIndex == -1;
-		
+
 		//PCK: unsigned instead of bool
 		if (isLeafNode && (rayBoxOverlap != 0))
 		{
-			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
-		} 
-		
+			nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
+		}
+
 		//PCK: unsigned instead of bool
 		if ((rayBoxOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->m_escapeIndex;
 			rootNode += escapeIndex;
@@ -553,15 +531,12 @@ void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 	}
 	if (maxIterations < walkIterations)
 		maxIterations = walkIterations;
-
 }
 
-
-
-void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
 {
 	btAssert(m_useQuantization);
-	
+
 	int curIndex = startNodeIndex;
 	int walkIterations = 0;
 	int subTreeSize = endNodeIndex - startNodeIndex;
@@ -569,7 +544,7 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 
 	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
 	int escapeIndex;
-	
+
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
 	unsigned boxBoxOverlap = 0;
@@ -578,14 +553,14 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 	btScalar lambda_max = 1.0;
 
 #ifdef RAYAABB2
-	btVector3 rayDirection = (rayTarget-raySource);
-	rayDirection.normalize ();
-	lambda_max = rayDirection.dot(rayTarget-raySource);
+	btVector3 rayDirection = (rayTarget - raySource);
+	rayDirection.normalize();
+	lambda_max = rayDirection.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
 	rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
 	rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
-	unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
+	unsigned int sign[3] = {rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
 #endif
 
 	/* Quick pruning by quantized box */
@@ -600,37 +575,36 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 
 	unsigned short int quantizedQueryAabbMin[3];
 	unsigned short int quantizedQueryAabbMax[3];
-	quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
-	quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
+	quantizeWithClamp(quantizedQueryAabbMin, rayAabbMin, 0);
+	quantizeWithClamp(quantizedQueryAabbMax, rayAabbMax, 1);
 
 	while (curIndex < endNodeIndex)
 	{
-
 //#define VISUALLY_ANALYZE_BVH 1
 #ifdef VISUALLY_ANALYZE_BVH
 		//some code snippet to debugDraw aabb, to visually analyze bvh structure
 		static int drawPatch = 0;
 		//need some global access to a debugDrawer
 		extern btIDebugDraw* debugDrawerPtr;
-		if (curIndex==drawPatch)
+		if (curIndex == drawPatch)
 		{
-			btVector3 aabbMin,aabbMax;
+			btVector3 aabbMin, aabbMax;
 			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
 			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			btVector3	color(1,0,0);
-			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+			btVector3 color(1, 0, 0);
+			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
 		}
-#endif//VISUALLY_ANALYZE_BVH
+#endif  //VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		btAssert (walkIterations < subTreeSize);
+		btAssert(walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
 		// only interested if this is closer than any previous hit
 		btScalar param = 1.0;
 		rayBoxOverlap = 0;
-		boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
 		isLeafNode = rootNode->isLeafNode();
 		if (boxBoxOverlap)
 		{
@@ -655,24 +629,25 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
 
 			//BT_PROFILE("btRayAabb2");
-			rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
-			
+			rayBoxOverlap = btRayAabb2(raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
+
 #else
-			rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
+			rayBoxOverlap = true;  //btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
 #endif
 		}
-		
+
 		if (isLeafNode && rayBoxOverlap)
 		{
-			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
+			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
 		}
-		
+
 		//PCK: unsigned instead of bool
 		if ((rayBoxOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->getEscapeIndex();
 			rootNode += escapeIndex;
@@ -681,13 +656,12 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 	}
 	if (maxIterations < walkIterations)
 		maxIterations = walkIterations;
-
 }
 
-void	btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const
+void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
 {
 	btAssert(m_useQuantization);
-	
+
 	int curIndex = startNodeIndex;
 	int walkIterations = 0;
 	int subTreeSize = endNodeIndex - startNodeIndex;
@@ -695,49 +669,49 @@ void	btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
 
 	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
 	int escapeIndex;
-	
+
 	bool isLeafNode;
 	//PCK: unsigned instead of bool
 	unsigned aabbOverlap;
 
 	while (curIndex < endNodeIndex)
 	{
-
 //#define VISUALLY_ANALYZE_BVH 1
 #ifdef VISUALLY_ANALYZE_BVH
 		//some code snippet to debugDraw aabb, to visually analyze bvh structure
 		static int drawPatch = 0;
 		//need some global access to a debugDrawer
 		extern btIDebugDraw* debugDrawerPtr;
-		if (curIndex==drawPatch)
+		if (curIndex == drawPatch)
 		{
-			btVector3 aabbMin,aabbMax;
+			btVector3 aabbMin, aabbMax;
 			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
 			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
-			btVector3	color(1,0,0);
-			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+			btVector3 color(1, 0, 0);
+			debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
 		}
-#endif//VISUALLY_ANALYZE_BVH
+#endif  //VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		btAssert (walkIterations < subTreeSize);
+		btAssert(walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
-		aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
 		isLeafNode = rootNode->isLeafNode();
-		
+
 		if (isLeafNode && aabbOverlap)
 		{
-			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
-		} 
-		
+			nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
+		}
+
 		//PCK: unsigned instead of bool
 		if ((aabbOverlap != 0) || isLeafNode)
 		{
 			rootNode++;
 			curIndex++;
-		} else
+		}
+		else
 		{
 			escapeIndex = rootNode->getEscapeIndex();
 			rootNode += escapeIndex;
@@ -746,40 +720,36 @@ void	btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
 	}
 	if (maxIterations < walkIterations)
 		maxIterations = walkIterations;
-
 }
 
 //This traversal can be called from Playstation 3 SPU
-void	btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
 {
 	btAssert(m_useQuantization);
 
 	int i;
 
-
-	for (i=0;i<this->m_SubtreeHeaders.size();i++)
+	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
 	{
 		const btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
 
 		//PCK: unsigned instead of bool
-		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
 		if (overlap != 0)
 		{
-			walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
-				subtree.m_rootNodeIndex,
-				subtree.m_rootNodeIndex+subtree.m_subtreeSize);
+			walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax,
+									   subtree.m_rootNodeIndex,
+									   subtree.m_rootNodeIndex + subtree.m_subtreeSize);
 		}
 	}
 }
 
-
-void	btQuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
+void btQuantizedBvh::reportRayOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
 {
-	reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,btVector3(0,0,0),btVector3(0,0,0));
+	reportBoxCastOverlappingNodex(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0));
 }
 
-
-void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
+void btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	//always use stackless
 
@@ -803,31 +773,31 @@ void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCa
 		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
 	}
 	*/
-
 }
 
-
-void	btQuantizedBvh::swapLeafNodes(int i,int splitIndex)
+void btQuantizedBvh::swapLeafNodes(int i, int splitIndex)
 {
 	if (m_useQuantization)
 	{
-			btQuantizedBvhNode tmp = m_quantizedLeafNodes[i];
-			m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
-			m_quantizedLeafNodes[splitIndex] = tmp;
-	} else
+		btQuantizedBvhNode tmp = m_quantizedLeafNodes[i];
+		m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
+		m_quantizedLeafNodes[splitIndex] = tmp;
+	}
+	else
 	{
-			btOptimizedBvhNode tmp = m_leafNodes[i];
-			m_leafNodes[i] = m_leafNodes[splitIndex];
-			m_leafNodes[splitIndex] = tmp;
+		btOptimizedBvhNode tmp = m_leafNodes[i];
+		m_leafNodes[i] = m_leafNodes[splitIndex];
+		m_leafNodes[splitIndex] = tmp;
 	}
 }
 
-void	btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex)
+void btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex)
 {
 	if (m_useQuantization)
 	{
 		m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex];
-	} else
+	}
+	else
 	{
 		m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex];
 	}
@@ -844,11 +814,10 @@ static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
 static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
 #endif
 
-
 unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
 {
 	// I changed this to 0 since the extra padding is not needed or used.
-	return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
+	return 0;  //BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
 }
 
 unsigned btQuantizedBvh::calculateSerializeBufferSize() const
@@ -862,12 +831,12 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize() const
 	return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
 }
 
-bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
+bool btQuantizedBvh::serialize(void* o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
 {
 	btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();
 
-/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+	/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
 	{
 		///check alignedment for buffer?
 		btAssert(0);
@@ -875,7 +844,7 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 	}
 */
 
-	btQuantizedBvh *targetBvh = (btQuantizedBvh *)o_alignedDataBuffer;
+	btQuantizedBvh* targetBvh = (btQuantizedBvh*)o_alignedDataBuffer;
 
 	// construct the class so the virtual function table, etc will be set up
 	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
@@ -885,10 +854,9 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 	{
 		targetBvh->m_curNodeIndex = static_cast<int>(btSwapEndian(m_curNodeIndex));
 
-
-		btSwapVector3Endian(m_bvhAabbMin,targetBvh->m_bvhAabbMin);
-		btSwapVector3Endian(m_bvhAabbMax,targetBvh->m_bvhAabbMax);
-		btSwapVector3Endian(m_bvhQuantization,targetBvh->m_bvhQuantization);
+		btSwapVector3Endian(m_bvhAabbMin, targetBvh->m_bvhAabbMin);
+		btSwapVector3Endian(m_bvhAabbMax, targetBvh->m_bvhAabbMax);
+		btSwapVector3Endian(m_bvhQuantization, targetBvh->m_bvhQuantization);
 
 		targetBvh->m_traversalMode = (btTraversalMode)btSwapEndian(m_traversalMode);
 		targetBvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(m_subtreeHeaderCount));
@@ -905,12 +873,12 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 
 	targetBvh->m_useQuantization = m_useQuantization;
 
-	unsigned char *nodeData = (unsigned char *)targetBvh;
+	unsigned char* nodeData = (unsigned char*)targetBvh;
 	nodeData += sizeof(btQuantizedBvh);
-	
-	unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+
+	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
-	
+
 	int nodeCount = m_curNodeIndex;
 
 	if (m_useQuantization)
@@ -936,7 +904,6 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 		{
 			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
 			{
-	
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0];
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1];
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2];
@@ -946,8 +913,6 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2];
 
 				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex;
-
-
 			}
 		}
 		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
@@ -993,7 +958,7 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 		targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
 	}
 
-	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
 
 	// Now serialize the subtree headers
@@ -1048,14 +1013,13 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 	return true;
 }
 
-btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+btQuantizedBvh* btQuantizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
 {
-
-	if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+	if (i_alignedDataBuffer == NULL)  // || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
 	{
 		return NULL;
 	}
-	btQuantizedBvh *bvh = (btQuantizedBvh *)i_alignedDataBuffer;
+	btQuantizedBvh* bvh = (btQuantizedBvh*)i_alignedDataBuffer;
 
 	if (i_swapEndian)
 	{
@@ -1077,12 +1041,12 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 		return NULL;
 	}
 
-	unsigned char *nodeData = (unsigned char *)bvh;
+	unsigned char* nodeData = (unsigned char*)bvh;
 	nodeData += sizeof(btQuantizedBvh);
-	
-	unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+
+	unsigned sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
-	
+
 	int nodeCount = bvh->m_curNodeIndex;
 
 	// Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor
@@ -1120,7 +1084,7 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 			{
 				btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
 				btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-				
+
 				bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
 				bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
 				bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
@@ -1129,7 +1093,7 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
 	}
 
-	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	sizeToAdd = 0;  //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
 	nodeData += sizeToAdd;
 
 	// Now serialize the subtree headers
@@ -1155,13 +1119,11 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 }
 
 // Constructor that prevents btVector3's default constructor from being called
-btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) :
-m_bvhAabbMin(self.m_bvhAabbMin),
-m_bvhAabbMax(self.m_bvhAabbMax),
-m_bvhQuantization(self.m_bvhQuantization),
-m_bulletVersion(BT_BULLET_VERSION)
+btQuantizedBvh::btQuantizedBvh(btQuantizedBvh& self, bool /* ownsMemory */) : m_bvhAabbMin(self.m_bvhAabbMin),
+																			  m_bvhAabbMax(self.m_bvhAabbMax),
+																			  m_bvhQuantization(self.m_bvhQuantization),
+																			  m_bulletVersion(BT_BULLET_VERSION)
 {
-
 }
 
 void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData)
@@ -1171,8 +1133,8 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
 	m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
 
 	m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0;
-	
+	m_useQuantization = quantizedBvhFloatData.m_useQuantization != 0;
+
 	{
 		int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
 		m_contiguousNodes.resize(numElem);
@@ -1181,7 +1143,7 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
 		{
 			btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
 
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
 				m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
@@ -1195,11 +1157,11 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
 	{
 		int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
 		m_quantizedContiguousNodes.resize(numElem);
-		
+
 		if (numElem)
 		{
 			btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
 				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
@@ -1213,16 +1175,16 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
 	}
 
 	m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode);
-	
+
 	{
 		int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
 		m_SubtreeHeaders.resize(numElem);
 		if (numElem)
 		{
 			btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
 				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
@@ -1242,8 +1204,8 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
 	m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
 
 	m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
-	m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0;
-	
+	m_useQuantization = quantizedBvhDoubleData.m_useQuantization != 0;
+
 	{
 		int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
 		m_contiguousNodes.resize(numElem);
@@ -1252,7 +1214,7 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
 		{
 			btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
 
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
 				m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
@@ -1266,11 +1228,11 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
 	{
 		int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
 		m_quantizedContiguousNodes.resize(numElem);
-		
+
 		if (numElem)
 		{
 			btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
 				m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
@@ -1284,16 +1246,16 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
 	}
 
 	m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode);
-	
+
 	{
 		int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
 		m_SubtreeHeaders.resize(numElem);
 		if (numElem)
 		{
 			btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
-				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+				m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
 				m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
 				m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
@@ -1304,32 +1266,29 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
 			}
 		}
 	}
-
 }
 
-
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer;
-	
+
 	m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax);
 	m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin);
 	m_bvhQuantization.serialize(quantizedData->m_bvhQuantization);
 
 	quantizedData->m_curNodeIndex = m_curNodeIndex;
 	quantizedData->m_useQuantization = m_useQuantization;
-	
+
 	quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size();
-	quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*) (m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
+	quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*)(m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
 	if (quantizedData->m_contiguousNodesPtr)
 	{
 		int sz = sizeof(btOptimizedBvhNodeData);
 		int numElem = m_contiguousNodes.size();
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			m_contiguousNodes[i].m_aabbMaxOrg.serialize(memPtr->m_aabbMaxOrg);
 			m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg);
@@ -1339,19 +1298,19 @@ const char*	btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
 			// Fill padding with zeros to appease msan.
 			memset(memPtr->m_pad, 0, sizeof(memPtr->m_pad));
 		}
-		serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]);
+		serializer->finalizeChunk(chunk, "btOptimizedBvhNodeData", BT_ARRAY_CODE, (void*)&m_contiguousNodes[0]);
 	}
 
 	quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size();
-//	printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
-	quantizedData->m_quantizedContiguousNodesPtr =(btQuantizedBvhNodeData*) (m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
+	//	printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
+	quantizedData->m_quantizedContiguousNodesPtr = (btQuantizedBvhNodeData*)(m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
 	if (quantizedData->m_quantizedContiguousNodesPtr)
 	{
 		int sz = sizeof(btQuantizedBvhNodeData);
 		int numElem = m_quantizedContiguousNodes.size();
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			memPtr->m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex;
 			memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0];
@@ -1361,20 +1320,20 @@ const char*	btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
 			memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1];
 			memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2];
 		}
-		serializer->finalizeChunk(chunk,"btQuantizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_quantizedContiguousNodes[0]);
+		serializer->finalizeChunk(chunk, "btQuantizedBvhNodeData", BT_ARRAY_CODE, (void*)&m_quantizedContiguousNodes[0]);
 	}
 
 	quantizedData->m_traversalMode = int(m_traversalMode);
 	quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size();
 
-	quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*) (m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
+	quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*)(m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
 	if (quantizedData->m_subTreeInfoPtr)
 	{
 		int sz = sizeof(btBvhSubtreeInfoData);
 		int numElem = m_SubtreeHeaders.size();
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			memPtr->m_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0];
 			memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1];
@@ -1386,12 +1345,7 @@ const char*	btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
 			memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex;
 			memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize;
 		}
-		serializer->finalizeChunk(chunk,"btBvhSubtreeInfoData",BT_ARRAY_CODE,(void*)&m_SubtreeHeaders[0]);
+		serializer->finalizeChunk(chunk, "btBvhSubtreeInfoData", BT_ARRAY_CODE, (void*)&m_SubtreeHeaders[0]);
 	}
 	return btQuantizedBvhDataName;
 }
-
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
index 3dd5ac9bb6..1c47b9ccf2 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -22,11 +22,11 @@ class btSerializer;
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 #ifdef __SPU__
 #define printf spu_printf
-#endif //__SPU__
+#endif  //__SPU__
 
 #include <stdio.h>
 #include <stdlib.h>
-#endif //DEBUG_CHECK_DEQUANTIZATION
+#endif  //DEBUG_CHECK_DEQUANTIZATION
 
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btAlignedAllocator.h"
@@ -41,13 +41,10 @@ class btSerializer;
 #define btQuantizedBvhDataName "btQuantizedBvhFloatData"
 #endif
 
-
-
 //http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
 
-
 //Note: currently we have 16 bytes per quantized node
-#define MAX_SUBTREE_SIZE_IN_BYTES  2048
+#define MAX_SUBTREE_SIZE_IN_BYTES 2048
 
 // 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
 // actually) triangles each (since the sign bit is reserved
@@ -55,15 +52,16 @@ class btSerializer;
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16	(struct) btQuantizedBvhNode
+ATTRIBUTE_ALIGNED16(struct)
+btQuantizedBvhNode
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
+	unsigned short int m_quantizedAabbMin[3];
+	unsigned short int m_quantizedAabbMax[3];
 	//4 bytes
-	int	m_escapeIndexOrTriangleIndex;
+	int m_escapeIndexOrTriangleIndex;
 
 	bool isLeafNode() const
 	{
@@ -75,68 +73,67 @@ ATTRIBUTE_ALIGNED16	(struct) btQuantizedBvhNode
 		btAssert(!isLeafNode());
 		return -m_escapeIndexOrTriangleIndex;
 	}
-	int	getTriangleIndex() const
+	int getTriangleIndex() const
 	{
 		btAssert(isLeafNode());
-		unsigned int x=0;
-		unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
+		unsigned int x = 0;
+		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
 		// Get only the lower bits where the triangle index is stored
-		return (m_escapeIndexOrTriangleIndex&~(y));
+		return (m_escapeIndexOrTriangleIndex & ~(y));
 	}
-	int	getPartId() const
+	int getPartId() const
 	{
 		btAssert(isLeafNode());
 		// Get only the highest bits where the part index is stored
-		return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+		return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
 	}
-}
-;
+};
 
 /// btOptimizedBvhNode contains both internal and leaf node information.
 /// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
-ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
+ATTRIBUTE_ALIGNED16(struct)
+btOptimizedBvhNode
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	//32 bytes
-	btVector3	m_aabbMinOrg;
-	btVector3	m_aabbMaxOrg;
+	btVector3 m_aabbMinOrg;
+	btVector3 m_aabbMaxOrg;
 
 	//4
-	int	m_escapeIndex;
+	int m_escapeIndex;
 
 	//8
 	//for child nodes
-	int	m_subPart;
-	int	m_triangleIndex;
+	int m_subPart;
+	int m_triangleIndex;
 
-//pad the size to 64 bytes
-	char	m_padding[20];
+	//pad the size to 64 bytes
+	char m_padding[20];
 };
 
-
 ///btBvhSubtreeInfo provides info to gather a subtree of limited size
-ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
+ATTRIBUTE_ALIGNED16(class)
+btBvhSubtreeInfo
 {
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
+	unsigned short int m_quantizedAabbMin[3];
+	unsigned short int m_quantizedAabbMax[3];
 	//4 bytes, points to the root of the subtree
-	int			m_rootNodeIndex;
+	int m_rootNodeIndex;
 	//4 bytes
-	int			m_subtreeSize;
-	int			m_padding[3];
+	int m_subtreeSize;
+	int m_padding[3];
 
 	btBvhSubtreeInfo()
 	{
 		//memset(&m_padding[0], 0, sizeof(m_padding));
 	}
 
-
-	void	setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
+	void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
 	{
 		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
 		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
@@ -145,14 +142,12 @@ public:
 		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
 		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
 	}
-}
-;
-
+};
 
 class btNodeOverlapCallback
 {
 public:
-	virtual ~btNodeOverlapCallback() {};
+	virtual ~btNodeOverlapCallback(){};
 
 	virtual void processNode(int subPart, int triangleIndex) = 0;
 };
@@ -160,18 +155,16 @@ public:
 #include "LinearMath/btAlignedAllocator.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-
-
 ///for code readability:
-typedef btAlignedObjectArray<btOptimizedBvhNode>	NodeArray;
-typedef btAlignedObjectArray<btQuantizedBvhNode>	QuantizedNodeArray;
-typedef btAlignedObjectArray<btBvhSubtreeInfo>		BvhSubtreeInfoArray;
-
+typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
+typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
+typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
 
 ///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
 ///It is used by the btBvhTriangleMeshShape as midphase.
 ///It is recommended to use quantization for better performance and lower memory requirements.
-ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
+ATTRIBUTE_ALIGNED16(class)
+btQuantizedBvh
 {
 public:
 	enum btTraversalMode
@@ -182,54 +175,47 @@ public:
 	};
 
 protected:
+	btVector3 m_bvhAabbMin;
+	btVector3 m_bvhAabbMax;
+	btVector3 m_bvhQuantization;
 
+	int m_bulletVersion;  //for serialization versioning. It could also be used to detect endianess.
 
-	btVector3			m_bvhAabbMin;
-	btVector3			m_bvhAabbMax;
-	btVector3			m_bvhQuantization;
-
-	int					m_bulletVersion;	//for serialization versioning. It could also be used to detect endianess.
-
-	int					m_curNodeIndex;
+	int m_curNodeIndex;
 	//quantization data
-	bool				m_useQuantization;
+	bool m_useQuantization;
 
+	NodeArray m_leafNodes;
+	NodeArray m_contiguousNodes;
+	QuantizedNodeArray m_quantizedLeafNodes;
+	QuantizedNodeArray m_quantizedContiguousNodes;
 
-
-	NodeArray			m_leafNodes;
-	NodeArray			m_contiguousNodes;
-	QuantizedNodeArray	m_quantizedLeafNodes;
-	QuantizedNodeArray	m_quantizedContiguousNodes;
-	
-	btTraversalMode	m_traversalMode;
-	BvhSubtreeInfoArray		m_SubtreeHeaders;
+	btTraversalMode m_traversalMode;
+	BvhSubtreeInfoArray m_SubtreeHeaders;
 
 	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
 	mutable int m_subtreeHeaderCount;
 
-	
-
-
-
 	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
 	///this might be refactored into a virtual, it is usually not calculated at run-time
-	void	setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
+	void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
 	{
 		if (m_useQuantization)
 		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
-		} else
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
+		}
+		else
 		{
 			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
-
 		}
 	}
-	void	setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
+	void setInternalNodeAabbMax(int nodeIndex, const btVector3& aabbMax)
 	{
 		if (m_useQuantization)
 		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
-		} else
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
+		}
+		else
 		{
 			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
 		}
@@ -243,115 +229,102 @@ protected:
 		}
 		//non-quantized
 		return m_leafNodes[nodeIndex].m_aabbMinOrg;
-
 	}
 	btVector3 getAabbMax(int nodeIndex) const
 	{
 		if (m_useQuantization)
 		{
 			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
-		} 
+		}
 		//non-quantized
 		return m_leafNodes[nodeIndex].m_aabbMaxOrg;
-		
 	}
 
-	
-	void	setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
+	void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
 	{
 		if (m_useQuantization)
 		{
 			m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
-		} 
+		}
 		else
 		{
 			m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
 		}
-
 	}
 
-	void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax) 
+	void mergeInternalNodeAabb(int nodeIndex, const btVector3& newAabbMin, const btVector3& newAabbMax)
 	{
 		if (m_useQuantization)
 		{
 			unsigned short int quantizedAabbMin[3];
 			unsigned short int quantizedAabbMax[3];
-			quantize(quantizedAabbMin,newAabbMin,0);
-			quantize(quantizedAabbMax,newAabbMax,1);
-			for (int i=0;i<3;i++)
+			quantize(quantizedAabbMin, newAabbMin, 0);
+			quantize(quantizedAabbMax, newAabbMax, 1);
+			for (int i = 0; i < 3; i++)
 			{
 				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
 					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
 
 				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
 					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
-
 			}
-		} else
+		}
+		else
 		{
 			//non-quantized
 			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);		
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
 		}
 	}
 
-	void	swapLeafNodes(int firstIndex,int secondIndex);
+	void swapLeafNodes(int firstIndex, int secondIndex);
 
-	void	assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
+	void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
 
 protected:
+	void buildTree(int startIndex, int endIndex);
 
-	
+	int calcSplittingAxis(int startIndex, int endIndex);
 
-	void	buildTree	(int startIndex,int endIndex);
+	int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
 
-	int	calcSplittingAxis(int startIndex,int endIndex);
+	void walkStacklessTree(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	int	sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
-	
-	void	walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-
-	void	walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
-	void	walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
-	void	walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
+	void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
+	void walkStacklessQuantizedTree(btNodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const;
+	void walkStacklessTreeAgainstRay(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
 
 	///tree traversal designed for small-memory processors like PS3 SPU
-	void	walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
+	void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
 
 	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void	walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
+	void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
 
 	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void	walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
-	
+	void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA, const btQuantizedBvhNode* treeNodeB, btNodeOverlapCallback* nodeCallback) const;
 
-
-
-	void	updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
+	void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
 
 public:
-	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btQuantizedBvh();
 
 	virtual ~btQuantizedBvh();
 
-	
 	///***************************************** expert/internal use only *************************
-	void	setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
-	QuantizedNodeArray&	getLeafNodeArray() {			return	m_quantizedLeafNodes;	}
+	void setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin = btScalar(1.0));
+	QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
 	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
-	void	buildInternal();
+	void buildInternal();
 	///***************************************** expert/internal use only *************************
 
-	void	reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-	void	reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
-	void	reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
+	void reportAabbOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
+	void reportRayOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
+	void reportBoxCastOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-		SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
+	SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point, int isMax) const
 	{
-
 		btAssert(m_useQuantization);
 
 		btAssert(point.getX() <= m_bvhAabbMax.getX());
@@ -368,122 +341,114 @@ public:
 		///@todo: double-check this
 		if (isMax)
 		{
-			out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
-			out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
-			out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
-		} else
+			out[0] = (unsigned short)(((unsigned short)(v.getX() + btScalar(1.)) | 1));
+			out[1] = (unsigned short)(((unsigned short)(v.getY() + btScalar(1.)) | 1));
+			out[2] = (unsigned short)(((unsigned short)(v.getZ() + btScalar(1.)) | 1));
+		}
+		else
 		{
-			out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
-			out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
-			out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
+			out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
+			out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
+			out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
 		}
 
-
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 		btVector3 newPoint = unQuantize(out);
 		if (isMax)
 		{
 			if (newPoint.getX() < point.getX())
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
 			}
 			if (newPoint.getY() < point.getY())
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
 			}
 			if (newPoint.getZ() < point.getZ())
 			{
-
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
 			}
-		} else
+		}
+		else
 		{
 			if (newPoint.getX() > point.getX())
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
 			}
 			if (newPoint.getY() > point.getY())
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
 			}
 			if (newPoint.getZ() > point.getZ())
 			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
 			}
 		}
-#endif //DEBUG_CHECK_DEQUANTIZATION
-
+#endif  //DEBUG_CHECK_DEQUANTIZATION
 	}
 
-
-	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
+	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2, int isMax) const
 	{
-
 		btAssert(m_useQuantization);
 
 		btVector3 clampedPoint(point2);
 		clampedPoint.setMax(m_bvhAabbMin);
 		clampedPoint.setMin(m_bvhAabbMax);
 
-		quantize(out,clampedPoint,isMax);
-
+		quantize(out, clampedPoint, isMax);
 	}
-	
-	SIMD_FORCE_INLINE btVector3	unQuantize(const unsigned short* vecIn) const
+
+	SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
 	{
-			btVector3	vecOut;
-			vecOut.setValue(
+		btVector3 vecOut;
+		vecOut.setValue(
 			(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
 			(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
 			(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
-			vecOut += m_bvhAabbMin;
-			return vecOut;
+		vecOut += m_bvhAabbMin;
+		return vecOut;
 	}
 
 	///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
-	void	setTraversalMode(btTraversalMode	traversalMode)
+	void setTraversalMode(btTraversalMode traversalMode)
 	{
 		m_traversalMode = traversalMode;
 	}
 
-
-	SIMD_FORCE_INLINE QuantizedNodeArray&	getQuantizedNodeArray()
-	{	
-		return	m_quantizedContiguousNodes;
+	SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
+	{
+		return m_quantizedContiguousNodes;
 	}
 
-
-	SIMD_FORCE_INLINE BvhSubtreeInfoArray&	getSubtreeInfoArray()
+	SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
 	{
 		return m_SubtreeHeaders;
 	}
 
-////////////////////////////////////////////////////////////////////
+	////////////////////////////////////////////////////////////////////
 
 	/////Calculate space needed to store BVH for serialization
 	unsigned calculateSerializeBufferSize() const;
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
+	virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
+	static btQuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
 
 	static unsigned int getAlignmentSerializationPadding();
-//////////////////////////////////////////////////////////////////////
+	//////////////////////////////////////////////////////////////////////
 
-	
-	virtual	int	calculateSerializeBufferSizeNew() const;
+	virtual int calculateSerializeBufferSizeNew() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual	void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
-	virtual	void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
+	virtual void deSerializeFloat(struct btQuantizedBvhFloatData & quantizedBvhFloatData);
 
+	virtual void deSerializeDouble(struct btQuantizedBvhDoubleData & quantizedBvhDoubleData);
 
-////////////////////////////////////////////////////////////////////
+	////////////////////////////////////////////////////////////////////
 
 	SIMD_FORCE_INLINE bool isQuantized()
 	{
@@ -494,38 +459,37 @@ private:
 	// Special "copy" constructor that allows for in-place deserialization
 	// Prevents btVector3's default constructor from being called, but doesn't inialize much else
 	// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
-	btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory);
-
-}
-;
-
+	btQuantizedBvh(btQuantizedBvh & other, bool ownsMemory);
+};
 
-struct	btBvhSubtreeInfoData
+// clang-format off
+// parser needs * with the name
+struct btBvhSubtreeInfoData
 {
-	int			m_rootNodeIndex;
-	int			m_subtreeSize;
+	int m_rootNodeIndex;
+	int m_subtreeSize;
 	unsigned short m_quantizedAabbMin[3];
 	unsigned short m_quantizedAabbMax[3];
 };
 
 struct btOptimizedBvhNodeFloatData
 {
-	btVector3FloatData	m_aabbMinOrg;
-	btVector3FloatData	m_aabbMaxOrg;
-	int	m_escapeIndex;
-	int	m_subPart;
-	int	m_triangleIndex;
+	btVector3FloatData m_aabbMinOrg;
+	btVector3FloatData m_aabbMaxOrg;
+	int m_escapeIndex;
+	int m_subPart;
+	int m_triangleIndex;
 	char m_pad[4];
 };
 
 struct btOptimizedBvhNodeDoubleData
 {
-	btVector3DoubleData	m_aabbMinOrg;
-	btVector3DoubleData	m_aabbMaxOrg;
-	int	m_escapeIndex;
-	int	m_subPart;
-	int	m_triangleIndex;
-	char	m_pad[4];
+	btVector3DoubleData m_aabbMinOrg;
+	btVector3DoubleData m_aabbMaxOrg;
+	int m_escapeIndex;
+	int m_subPart;
+	int m_triangleIndex;
+	char m_pad[4];
 };
 
 
@@ -569,13 +533,11 @@ struct	btQuantizedBvhDoubleData
 	int							m_numSubtreeHeaders;
 	btBvhSubtreeInfoData		*m_subTreeInfoPtr;
 };
+// clang-format on
 
-
-SIMD_FORCE_INLINE	int	btQuantizedBvh::calculateSerializeBufferSizeNew() const
+SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
 {
 	return sizeof(btQuantizedBvhData);
 }
 
-
-
-#endif //BT_QUANTIZED_BVH_H
+#endif  //BT_QUANTIZED_BVH_H
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index f1d5f5476e..166cf771fe 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -24,52 +24,45 @@ subject to the following restrictions:
 
 #include <new>
 
-extern int gOverlappingPairs;
-
-void	btSimpleBroadphase::validate()
+void btSimpleBroadphase::validate()
 {
-	for (int i=0;i<m_numHandles;i++)
+	for (int i = 0; i < m_numHandles; i++)
 	{
-		for (int j=i+1;j<m_numHandles;j++)
+		for (int j = i + 1; j < m_numHandles; j++)
 		{
 			btAssert(&m_pHandles[i] != &m_pHandles[j]);
 		}
 	}
-	
 }
 
 btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
-	:m_pairCache(overlappingPairCache),
-	m_ownsPairCache(false),
-	m_invalidPair(0)
+	: m_pairCache(overlappingPairCache),
+	  m_ownsPairCache(false),
+	  m_invalidPair(0)
 {
-
 	if (!overlappingPairCache)
 	{
-		void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
-		m_pairCache = new (mem)btHashedOverlappingPairCache();
+		void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
+		m_pairCache = new (mem) btHashedOverlappingPairCache();
 		m_ownsPairCache = true;
 	}
 
 	// allocate handles buffer and put all handles on free list
-	m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
-	m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
+	m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * maxProxies, 16);
+	m_pHandles = new (m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
 	m_maxHandles = maxProxies;
 	m_numHandles = 0;
 	m_firstFreeHandle = 0;
 	m_LastHandleIndex = -1;
-	
 
 	{
 		for (int i = m_firstFreeHandle; i < maxProxies; i++)
 		{
 			m_pHandles[i].SetNextFree(i + 1);
-			m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
+			m_pHandles[i].m_uniqueId = i + 2;  //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
 		}
 		m_pHandles[maxProxies - 1].SetNextFree(0);
-	
 	}
-
 }
 
 btSimpleBroadphase::~btSimpleBroadphase()
@@ -83,26 +76,25 @@ btSimpleBroadphase::~btSimpleBroadphase()
 	}
 }
 
-
-btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
+btBroadphaseProxy* btSimpleBroadphase::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
 {
 	if (m_numHandles >= m_maxHandles)
 	{
 		btAssert(0);
-		return 0; //should never happen, but don't let the game crash ;-)
+		return 0;  //should never happen, but don't let the game crash ;-)
 	}
-	btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
+	btAssert(aabbMin[0] <= aabbMax[0] && aabbMin[1] <= aabbMax[1] && aabbMin[2] <= aabbMax[2]);
 
 	int newHandleIndex = allocHandle();
-	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
+	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex]) btSimpleBroadphaseProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
 
 	return proxy;
 }
 
-class	RemovingOverlapCallback : public btOverlapCallback
+class RemovingOverlapCallback : public btOverlapCallback
 {
 protected:
-	virtual bool	processOverlap(btBroadphasePair& pair)
+	virtual bool processOverlap(btBroadphasePair& pair)
 	{
 		(void)pair;
 		btAssert(0);
@@ -112,12 +104,13 @@ protected:
 
 class RemovePairContainingProxy
 {
+	btBroadphaseProxy* m_targetProxy;
 
-	btBroadphaseProxy*	m_targetProxy;
-	public:
+public:
 	virtual ~RemovePairContainingProxy()
 	{
 	}
+
 protected:
 	virtual bool processOverlap(btBroadphasePair& pair)
 	{
@@ -128,38 +121,36 @@ protected:
 	};
 };
 
-void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
+void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher)
 {
-		
-		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
-		freeHandle(proxy0);
+	btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
+	freeHandle(proxy0);
 
-		m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
+	m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
 
-		//validate();
-		
+	//validate();
 }
 
-void	btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
 	aabbMin = sbp->m_aabbMin;
 	aabbMax = sbp->m_aabbMax;
 }
 
-void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
+void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
 {
 	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
 	sbp->m_aabbMin = aabbMin;
 	sbp->m_aabbMax = aabbMax;
 }
 
-void	btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
+void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
 {
-	for (int i=0; i <= m_LastHandleIndex; i++)
+	for (int i = 0; i <= m_LastHandleIndex; i++)
 	{
 		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if(!proxy->m_clientObject)
+		if (!proxy->m_clientObject)
 		{
 			continue;
 		}
@@ -167,69 +158,59 @@ void	btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
 	}
 }
 
-
-void	btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
 {
-	for (int i=0; i <= m_LastHandleIndex; i++)
+	for (int i = 0; i <= m_LastHandleIndex; i++)
 	{
 		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if(!proxy->m_clientObject)
+		if (!proxy->m_clientObject)
 		{
 			continue;
 		}
-		if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
+		if (TestAabbAgainstAabb2(aabbMin, aabbMax, proxy->m_aabbMin, proxy->m_aabbMax))
 		{
 			callback.process(proxy);
 		}
 	}
 }
 
-
-
-	
-
-
-
-bool	btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
+bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1)
 {
-	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] && 
+	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
 		   proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
 		   proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
-
 }
 
-
-
 //then remove non-overlapping ones
 class CheckOverlapCallback : public btOverlapCallback
 {
 public:
 	virtual bool processOverlap(btBroadphasePair& pair)
 	{
-		return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
+		return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0), static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
 	}
 };
 
-void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
 	//first check for new overlapping pairs
-	int i,j;
+	int i, j;
 	if (m_numHandles >= 0)
 	{
 		int new_largest_index = -1;
-		for (i=0; i <= m_LastHandleIndex; i++)
+		for (i = 0; i <= m_LastHandleIndex; i++)
 		{
 			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
-			if(!proxy0->m_clientObject)
+			if (!proxy0->m_clientObject)
 			{
 				continue;
 			}
 			new_largest_index = i;
-			for (j=i+1; j <= m_LastHandleIndex; j++)
+			for (j = i + 1; j <= m_LastHandleIndex; j++)
 			{
 				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
 				btAssert(proxy0 != proxy1);
-				if(!proxy1->m_clientObject)
+				if (!proxy1->m_clientObject)
 				{
 					continue;
 				}
@@ -237,19 +218,20 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
 				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
 
-				if (aabbOverlap(p0,p1))
+				if (aabbOverlap(p0, p1))
 				{
-					if ( !m_pairCache->findPair(proxy0,proxy1))
+					if (!m_pairCache->findPair(proxy0, proxy1))
 					{
-						m_pairCache->addOverlappingPair(proxy0,proxy1);
+						m_pairCache->addOverlappingPair(proxy0, proxy1);
 					}
-				} else
+				}
+				else
 				{
 					if (!m_pairCache->hasDeferredRemoval())
 					{
-						if ( m_pairCache->findPair(proxy0,proxy1))
+						if (m_pairCache->findPair(proxy0, proxy1))
 						{
-							m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+							m_pairCache->removeOverlappingPair(proxy0, proxy1, dispatcher);
 						}
 					}
 				}
@@ -260,8 +242,7 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
 		{
-
-			btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
+			btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
 
 			//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
 			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
@@ -269,16 +250,13 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 			m_invalidPair = 0;
 
-
 			btBroadphasePair previousPair;
 			previousPair.m_pProxy0 = 0;
 			previousPair.m_pProxy1 = 0;
 			previousPair.m_algorithm = 0;
 
-
-			for (i=0;i<overlappingPairArray.size();i++)
+			for (i = 0; i < overlappingPairArray.size(); i++)
 			{
-
 				btBroadphasePair& pair = overlappingPairArray[i];
 
 				bool isDuplicate = (pair == previousPair);
@@ -289,16 +267,18 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 				if (!isDuplicate)
 				{
-					bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+					bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
 
 					if (hasOverlap)
 					{
-						needsRemoval = false;//callback->processOverlap(pair);
-					} else
+						needsRemoval = false;  //callback->processOverlap(pair);
+					}
+					else
 					{
 						needsRemoval = true;
 					}
-				} else
+				}
+				else
 				{
 					//remove duplicate
 					needsRemoval = true;
@@ -308,16 +288,14 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 				if (needsRemoval)
 				{
-					m_pairCache->cleanOverlappingPair(pair,dispatcher);
+					m_pairCache->cleanOverlappingPair(pair, dispatcher);
 
 					//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
 					//		m_overlappingPairArray.pop_back();
 					pair.m_pProxy0 = 0;
 					pair.m_pProxy1 = 0;
 					m_invalidPair++;
-					gOverlappingPairs--;
-				} 
-
+				}
 			}
 
 			///if you don't like to skip the invalid pairs in the array, execute following code:
@@ -329,21 +307,19 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 			m_invalidPair = 0;
-#endif//CLEAN_INVALID_PAIRS
-
+#endif  //CLEAN_INVALID_PAIRS
 		}
 	}
 }
 
-
-bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
 	btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
 	btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-	return aabbOverlap(p0,p1);
+	return aabbOverlap(p0, p1);
 }
 
-void	btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
+void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
 {
 	//not yet
 }
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
index d7a18e400a..3e02fdc003 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -16,57 +16,47 @@ subject to the following restrictions:
 #ifndef BT_SIMPLE_BROADPHASE_H
 #define BT_SIMPLE_BROADPHASE_H
 
-
 #include "btOverlappingPairCache.h"
 
-
 struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 {
-	int			m_nextFree;
-	
-//	int			m_handleId;
+	int m_nextFree;
 
-	
-	btSimpleBroadphaseProxy() {};
+	//	int			m_handleId;
 
-	btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask)
-	:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask)
+	btSimpleBroadphaseProxy(){};
+
+	btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
+		: btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
 	{
 		(void)shapeType;
 	}
-	
-	
-	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
-	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
-
-	
-
 
+	SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; }
+	SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
 };
 
 ///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
 ///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
 class btSimpleBroadphase : public btBroadphaseInterface
 {
-
 protected:
+	int m_numHandles;  // number of active handles
+	int m_maxHandles;  // max number of handles
+	int m_LastHandleIndex;
 
-	int		m_numHandles;						// number of active handles
-	int		m_maxHandles;						// max number of handles
-	int		m_LastHandleIndex;							
-	
-	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
+	btSimpleBroadphaseProxy* m_pHandles;  // handles pool
 
 	void* m_pHandlesRawPtr;
-	int		m_firstFreeHandle;		// free handles list
-	
+	int m_firstFreeHandle;  // free handles list
+
 	int allocHandle()
 	{
 		btAssert(m_numHandles < m_maxHandles);
 		int freeHandle = m_firstFreeHandle;
 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
 		m_numHandles++;
-		if(freeHandle > m_LastHandleIndex)
+		if (freeHandle > m_LastHandleIndex)
 		{
 			m_LastHandleIndex = freeHandle;
 		}
@@ -75,9 +65,9 @@ protected:
 
 	void freeHandle(btSimpleBroadphaseProxy* proxy)
 	{
-		int handle = int(proxy-m_pHandles);
+		int handle = int(proxy - m_pHandles);
 		btAssert(handle >= 0 && handle < m_maxHandles);
-		if(handle == m_LastHandleIndex)
+		if (handle == m_LastHandleIndex)
 		{
 			m_LastHandleIndex--;
 		}
@@ -89,20 +79,18 @@ protected:
 		m_numHandles--;
 	}
 
-	btOverlappingPairCache*	m_pairCache;
-	bool	m_ownsPairCache;
+	btOverlappingPairCache* m_pairCache;
+	bool m_ownsPairCache;
 
-	int	m_invalidPair;
+	int m_invalidPair;
 
-	
-	
-	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
+	inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
 	{
 		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
 		return proxy0;
 	}
 
-	inline const btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
+	inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
 	{
 		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
 		return proxy0;
@@ -111,61 +99,50 @@ protected:
 	///reset broadphase internal structures, to ensure determinism/reproducability
 	virtual void resetPool(btDispatcher* dispatcher);
 
-
-	void	validate();
+	void validate();
 
 protected:
-
-
-	
-
 public:
-	btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
+	btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
 	virtual ~btSimpleBroadphase();
 
+	static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
 
-		static bool	aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
-
+	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
 
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
+	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
 
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
+	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
+	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
+	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
+	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
 
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
-	virtual void	aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-		
-	btOverlappingPairCache*	getOverlappingPairCache()
+	btOverlappingPairCache* getOverlappingPairCache()
 	{
 		return m_pairCache;
 	}
-	const btOverlappingPairCache*	getOverlappingPairCache() const
+	const btOverlappingPairCache* getOverlappingPairCache() const
 	{
 		return m_pairCache;
 	}
 
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
+	bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
 	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
 	{
-		aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
-		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+		aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
+		aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
 	}
 
-	virtual void	printStats()
+	virtual void printStats()
 	{
-//		printf("btSimpleBroadphase.h\n");
-//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+		//		printf("btSimpleBroadphase.h\n");
+		//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
 	}
 };
 
-
-
-#endif //BT_SIMPLE_BROADPHASE_H
-
+#endif  //BT_SIMPLE_BROADPHASE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index c81af95672..7647f67360 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -18,94 +18,95 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
-
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
-:m_sphere(sphere),
-m_triangle(triangle),
-m_contactBreakingThreshold(contactBreakingThreshold)
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold)
+	: m_sphere(sphere),
+	  m_triangle(triangle),
+	  m_contactBreakingThreshold(contactBreakingThreshold)
 {
-
 }
 
-void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
+void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults)
 {
-
 	(void)debugDraw;
 	const btTransform& transformA = input.m_transformA;
 	const btTransform& transformB = input.m_transformB;
 
-	btVector3 point,normal;
+	btVector3 point, normal;
 	btScalar timeOfImpact = btScalar(1.);
 	btScalar depth = btScalar(0.);
-//	output.m_distance = btScalar(BT_LARGE_FLOAT);
+	//	output.m_distance = btScalar(BT_LARGE_FLOAT);
 	//move sphere into triangle space
-	btTransform	sphereInTr = transformB.inverseTimes(transformA);
+	btTransform sphereInTr = transformB.inverseTimes(transformA);
 
-	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
+	if (collide(sphereInTr.getOrigin(), point, normal, depth, timeOfImpact, m_contactBreakingThreshold))
 	{
 		if (swapResults)
 		{
-			btVector3 normalOnB = transformB.getBasis()*normal;
+			btVector3 normalOnB = transformB.getBasis() * normal;
 			btVector3 normalOnA = -normalOnB;
-			btVector3 pointOnA = transformB*point+normalOnB*depth;
-			output.addContactPoint(normalOnA,pointOnA,depth);
-		} else
+			btVector3 pointOnA = transformB * point + normalOnB * depth;
+			output.addContactPoint(normalOnA, pointOnA, depth);
+		}
+		else
 		{
-			output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
+			output.addContactPoint(transformB.getBasis() * normal, transformB * point, depth);
 		}
 	}
-
 }
 
-
-
 // See also geometrictools.com
 // Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest);
+btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to, const btVector3& p, btVector3& nearest);
 
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
+btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to, const btVector3& p, btVector3& nearest)
+{
 	btVector3 diff = p - from;
 	btVector3 v = to - from;
 	btScalar t = v.dot(diff);
-	
-	if (t > 0) {
+
+	if (t > 0)
+	{
 		btScalar dotVV = v.dot(v);
-		if (t < dotVV) {
+		if (t < dotVV)
+		{
 			t /= dotVV;
-			diff -= t*v;
-		} else {
+			diff -= t * v;
+		}
+		else
+		{
 			t = 1;
 			diff -= v;
 		}
-	} else
+	}
+	else
 		t = 0;
 
-	nearest = from + t*v;
-	return diff.dot(diff);	
+	nearest = from + t * v;
+	return diff.dot(diff);
 }
 
-bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal)  {
+bool SphereTriangleDetector::facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal)
+{
 	btVector3 lp(p);
 	btVector3 lnormal(normal);
-	
+
 	return pointInTriangle(vertices, lnormal, &lp);
 }
 
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
+bool SphereTriangleDetector::collide(const btVector3& sphereCenter, btVector3& point, btVector3& resultNormal, btScalar& depth, btScalar& timeOfImpact, btScalar contactBreakingThreshold)
 {
-
 	const btVector3* vertices = &m_triangle->getVertexPtr(0);
-	
+
 	btScalar radius = m_sphere->getRadius();
 	btScalar radiusWithThreshold = radius + contactBreakingThreshold;
 
-	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
+	btVector3 normal = (vertices[1] - vertices[0]).cross(vertices[2] - vertices[0]);
 
 	btScalar l2 = normal.length2();
 	bool hasContact = false;
 	btVector3 contactPoint;
 
-	if (l2 >= SIMD_EPSILON*SIMD_EPSILON)
+	if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
 	{
 		normal /= btSqrt(l2);
 
@@ -120,52 +121,59 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 		}
 
 		bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
-	
+
 		// Check for contact / intersection
-	
-		if (isInsideContactPlane) {
-			if (facecontains(sphereCenter, vertices, normal)) {
+
+		if (isInsideContactPlane)
+		{
+			if (facecontains(sphereCenter, vertices, normal))
+			{
 				// Inside the contact wedge - touches a point on the shell plane
 				hasContact = true;
-				contactPoint = sphereCenter - normal*distanceFromPlane;
+				contactPoint = sphereCenter - normal * distanceFromPlane;
 			}
-			else {
+			else
+			{
 				// Could be inside one of the contact capsules
-				btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
+				btScalar contactCapsuleRadiusSqr = radiusWithThreshold * radiusWithThreshold;
+				btScalar minDistSqr = contactCapsuleRadiusSqr;
 				btVector3 nearestOnEdge;
-				for (int i = 0; i < m_triangle->getNumEdges(); i++) {
-
+				for (int i = 0; i < m_triangle->getNumEdges(); i++)
+				{
 					btVector3 pa;
 					btVector3 pb;
 
 					m_triangle->getEdge(i, pa, pb);
 
 					btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge);
-					if (distanceSqr < contactCapsuleRadiusSqr) {
-						// Yep, we're inside a capsule
+					if (distanceSqr < minDistSqr)
+					{
+						// Yep, we're inside a capsule, and record the capsule with smallest distance
+						minDistSqr = distanceSqr;
 						hasContact = true;
 						contactPoint = nearestOnEdge;
 					}
-
 				}
 			}
 		}
 	}
 
-	if (hasContact) {
+	if (hasContact)
+	{
 		btVector3 contactToCentre = sphereCenter - contactPoint;
 		btScalar distanceSqr = contactToCentre.length2();
 
-		if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
+		if (distanceSqr < radiusWithThreshold * radiusWithThreshold)
 		{
-			if (distanceSqr>SIMD_EPSILON)
+			if (distanceSqr > SIMD_EPSILON)
 			{
 				btScalar distance = btSqrt(distanceSqr);
 				resultNormal = contactToCentre;
 				resultNormal.normalize();
 				point = contactPoint;
-				depth = -(radius-distance);
-			} else
+				depth = -(radius - distance);
+			}
+			else
 			{
 				resultNormal = normal;
 				point = contactPoint;
@@ -174,36 +182,34 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 			return true;
 		}
 	}
-	
+
 	return false;
 }
 
-
-bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
+bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p)
 {
 	const btVector3* p1 = &vertices[0];
 	const btVector3* p2 = &vertices[1];
 	const btVector3* p3 = &vertices[2];
 
-	btVector3 edge1( *p2 - *p1 );
-	btVector3 edge2( *p3 - *p2 );
-	btVector3 edge3( *p1 - *p3 );
+	btVector3 edge1(*p2 - *p1);
+	btVector3 edge2(*p3 - *p2);
+	btVector3 edge3(*p1 - *p3);
+
+	btVector3 p1_to_p(*p - *p1);
+	btVector3 p2_to_p(*p - *p2);
+	btVector3 p3_to_p(*p - *p3);
 
-	btVector3 p1_to_p( *p - *p1 );
-	btVector3 p2_to_p( *p - *p2 );
-	btVector3 p3_to_p( *p - *p3 );
+	btVector3 edge1_normal(edge1.cross(normal));
+	btVector3 edge2_normal(edge2.cross(normal));
+	btVector3 edge3_normal(edge3.cross(normal));
 
-	btVector3 edge1_normal( edge1.cross(normal));
-	btVector3 edge2_normal( edge2.cross(normal));
-	btVector3 edge3_normal( edge3.cross(normal));
-	
 	btScalar r1, r2, r3;
-	r1 = edge1_normal.dot( p1_to_p );
-	r2 = edge2_normal.dot( p2_to_p );
-	r3 = edge3_normal.dot( p3_to_p );
-	if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
-	     ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
+	r1 = edge1_normal.dot(p1_to_p);
+	r2 = edge2_normal.dot(p2_to_p);
+	r3 = edge3_normal.dot(p3_to_p);
+	if ((r1 > 0 && r2 > 0 && r3 > 0) ||
+		(r1 <= 0 && r2 <= 0 && r3 <= 0))
 		return true;
 	return false;
-
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
index 22953af43f..d47e47530d 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
@@ -18,34 +18,26 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 
-
-
 class btSphereShape;
 class btTriangleShape;
 
-
-
 /// sphere-triangle to match the btDiscreteCollisionDetectorInterface
 struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
 {
-	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
 
-	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
+	SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold);
 
-	virtual ~SphereTriangleDetector() {};
+	virtual ~SphereTriangleDetector(){};
 
-	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar	contactBreakingThreshold);
+	bool collide(const btVector3& sphereCenter, btVector3& point, btVector3& resultNormal, btScalar& depth, btScalar& timeOfImpact, btScalar contactBreakingThreshold);
 
 private:
-
-	
-	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
-	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
+	bool pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p);
+	bool facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal);
 
 	btSphereShape* m_sphere;
 	btTriangleShape* m_triangle;
-	btScalar	m_contactBreakingThreshold;
-	
+	btScalar m_contactBreakingThreshold;
 };
-#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
-
+#endif  //BT_SPHERE_TRIANGLE_DETECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
index 57f1464935..ac5de45d27 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
@@ -17,31 +17,31 @@ subject to the following restrictions:
 #include "btCollisionDispatcher.h"
 #include "btCollisionObject.h"
 
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci)
-:btCollisionAlgorithm(ci)
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+	: btCollisionAlgorithm(ci)
 //,
 //m_colObj0(0),
 //m_colObj1(0)
 {
 }
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* )
-:btCollisionAlgorithm(ci)
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*)
+	: btCollisionAlgorithm(ci)
 //,
 //m_colObj0(0),
 //m_colObj1(0)
 {
-//	if (ci.m_dispatcher1->needsCollision(colObj0,colObj1))
-//	{
-//		m_colObj0 = colObj0;
-//		m_colObj1 = colObj1;
-//		
-//		m_colObj0->activate();
-//		m_colObj1->activate();
-//	}
+	//	if (ci.m_dispatcher1->needsCollision(colObj0,colObj1))
+	//	{
+	//		m_colObj0 = colObj0;
+	//		m_colObj1 = colObj1;
+	//
+	//		m_colObj0->activate();
+	//		m_colObj1->activate();
+	//	}
 }
 
 btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm()
 {
-//		m_colObj0->activate();
-//		m_colObj1->activate();
+	//		m_colObj0->activate();
+	//		m_colObj1->activate();
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
index 0e19f1ea35..862060571b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
@@ -21,17 +21,15 @@ subject to the following restrictions:
 ///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
 class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
 {
-//	btCollisionObject* m_colObj0;
-//	btCollisionObject* m_colObj1;
+	//	btCollisionObject* m_colObj0;
+	//	btCollisionObject* m_colObj1;
 
 protected:
+	btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
 
-	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
-
-	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
 public:
 	virtual ~btActivatingCollisionAlgorithm();
-
 };
-#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H
+#endif  //__BT_ACTIVATING_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
index 2c36277821..6873a95d90 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
@@ -26,61 +26,55 @@ subject to the following restrictions:
 
 #define USE_PERSISTENT_CONTACTS 1
 
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
-: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf)
+btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap)
+	: btActivatingCollisionAlgorithm(ci, obj0Wrap, obj1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
 
 btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
 {
-	
 	if (m_ownManifold)
 	{
 		if (m_manifoldPtr)
 			m_dispatcher->releaseManifold(m_manifoldPtr);
 	}
-	
 }
 
-
-void b2CollidePolygons(btManifoldResult* manifold,  const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
+void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
 
 //#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btBox2dBox2dCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	
 	const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
 	const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
+	b2CollidePolygons(resultOut, box0, body0Wrap->getWorldTransform(), box1, body1Wrap->getWorldTransform());
 
 	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
 	if (m_ownManifold)
 	{
 		resultOut->refreshContactPoints();
 	}
-
 }
 
-btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
 {
 	//not yet
 	return 1.f;
 }
 
-
 struct ClipVertex
 {
 	btVector3 v;
@@ -89,16 +83,16 @@ struct ClipVertex
 	//b2ContactID id;
 };
 
-#define b2Dot(a,b) (a).dot(b)
-#define b2Mul(a,b) (a)*(b)
-#define b2MulT(a,b) (a).transpose()*(b)
-#define b2Cross(a,b) (a).cross(b)
-#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
+#define b2Dot(a, b) (a).dot(b)
+#define b2Mul(a, b) (a) * (b)
+#define b2MulT(a, b) (a).transpose() * (b)
+#define b2Cross(a, b) (a).cross(b)
+#define btCrossS(a, s) btVector3(s* a.getY(), -s* a.getX(), 0.f)
 
-int b2_maxManifoldPoints =2;
+int b2_maxManifoldPoints = 2;
 
 static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
-					  const btVector3& normal, btScalar offset)
+							 const btVector3& normal, btScalar offset)
 {
 	// Start with no output points
 	int numOut = 0;
@@ -133,7 +127,7 @@ static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
 
 // Find the separation between poly1 and poly2 for a give edge normal on poly1.
 static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
-							  const btBox2dShape* poly2, const btTransform& xf2)
+							   const btBox2dShape* poly2, const btTransform& xf2)
 {
 	const btVector3* vertices1 = poly1->getVertices();
 	const btVector3* normals1 = poly1->getNormals();
@@ -151,8 +145,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 	int index = 0;
 	btScalar minDot = BT_LARGE_FLOAT;
 
-    if( count2 > 0 )
-        index = (int) normal1.minDot( vertices2, count2, minDot);
+	if (count2 > 0)
+		index = (int)normal1.minDot(vertices2, count2, minDot);
 
 	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
 	btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -162,8 +156,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 
 // Find the max separation between poly1 and poly2 using edge normals from poly1.
 static btScalar FindMaxSeparation(int* edgeIndex,
-								 const btBox2dShape* poly1, const btTransform& xf1,
-								 const btBox2dShape* poly2, const btTransform& xf2)
+								  const btBox2dShape* poly1, const btTransform& xf1,
+								  const btBox2dShape* poly2, const btTransform& xf2)
 {
 	int count1 = poly1->getVertexCount();
 	const btVector3* normals1 = poly1->getNormals();
@@ -174,9 +168,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 
 	// Find edge normal on poly1 that has the largest projection onto d.
 	int edge = 0;
-    btScalar maxDot;
-    if( count1 > 0 )
-        edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
+	btScalar maxDot;
+	if (count1 > 0)
+		edge = (int)dLocal1.maxDot(normals1, count1, maxDot);
 
 	// Get the separation for the edge normal.
 	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
@@ -224,7 +218,7 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 	}
 
 	// Perform a local search for the best edge normal.
-	for ( ; ; )
+	for (;;)
 	{
 		if (increment == -1)
 			edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
@@ -285,14 +279,14 @@ static void FindIncidentEdge(ClipVertex c[2],
 	int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
 
 	c[0].v = b2Mul(xf2, vertices2[i1]);
-//	c[0].id.features.referenceEdge = (unsigned char)edge1;
-//	c[0].id.features.incidentEdge = (unsigned char)i1;
-//	c[0].id.features.incidentVertex = 0;
+	//	c[0].id.features.referenceEdge = (unsigned char)edge1;
+	//	c[0].id.features.incidentEdge = (unsigned char)i1;
+	//	c[0].id.features.incidentVertex = 0;
 
 	c[1].v = b2Mul(xf2, vertices2[i2]);
-//	c[1].id.features.referenceEdge = (unsigned char)edge1;
-//	c[1].id.features.incidentEdge = (unsigned char)i2;
-//	c[1].id.features.incidentVertex = 1;
+	//	c[1].id.features.referenceEdge = (unsigned char)edge1;
+	//	c[1].id.features.incidentEdge = (unsigned char)i2;
+	//	c[1].id.features.incidentVertex = 1;
 }
 
 // Find edge normal of max separation on A - return if separating axis is found
@@ -303,10 +297,9 @@ static void FindIncidentEdge(ClipVertex c[2],
 
 // The normal points from 1 to 2
 void b2CollidePolygons(btManifoldResult* manifold,
-					  const btBox2dShape* polyA, const btTransform& xfA,
-					  const btBox2dShape* polyB, const btTransform& xfB)
+					   const btBox2dShape* polyA, const btTransform& xfA,
+					   const btBox2dShape* polyB, const btTransform& xfB)
 {
-
 	int edgeA = 0;
 	btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
 	if (separationA > 0.0f)
@@ -317,10 +310,10 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	if (separationB > 0.0f)
 		return;
 
-	const btBox2dShape* poly1;	// reference poly
-	const btBox2dShape* poly2;	// incident poly
+	const btBox2dShape* poly1;  // reference poly
+	const btBox2dShape* poly2;  // incident poly
 	btTransform xf1, xf2;
-	int edge1;		// reference edge
+	int edge1;  // reference edge
 	unsigned char flip;
 	const btScalar k_relativeTol = 0.98f;
 	const btScalar k_absoluteTol = 0.001f;
@@ -352,14 +345,13 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	const btVector3* vertices1 = poly1->getVertices();
 
 	btVector3 v11 = vertices1[edge1];
-	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
+	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1 + 1] : vertices1[0];
 
 	//btVector3 dv = v12 - v11;
 	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
 	sideNormal.normalize();
 	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
-	
-	
+
 	v11 = b2Mul(xf1, v11);
 	v12 = b2Mul(xf1, v12);
 
@@ -369,13 +361,12 @@ void b2CollidePolygons(btManifoldResult* manifold,
 
 	// Clip incident edge against extruded edge1 side edges.
 	ClipVertex clipPoints1[2];
-	clipPoints1[0].v.setValue(0,0,0);
-	clipPoints1[1].v.setValue(0,0,0);
+	clipPoints1[0].v.setValue(0, 0, 0);
+	clipPoints1[1].v.setValue(0, 0, 0);
 
 	ClipVertex clipPoints2[2];
-	clipPoints2[0].v.setValue(0,0,0);
-	clipPoints2[1].v.setValue(0,0,0);
-
+	clipPoints2[0].v.setValue(0, 0, 0);
+	clipPoints2[1].v.setValue(0, 0, 0);
 
 	int np;
 
@@ -386,7 +377,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
 		return;
 
 	// Clip to negative box side 1
-	np = ClipSegmentToLine(clipPoints2, clipPoints1,  sideNormal, sideOffset2);
+	np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
 
 	if (np < 2)
 	{
@@ -403,19 +394,18 @@ void b2CollidePolygons(btManifoldResult* manifold,
 
 		if (separation <= 0.0f)
 		{
-			
 			//b2ManifoldPoint* cp = manifold->points + pointCount;
 			//btScalar separation = separation;
 			//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
 			//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
 
-			manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
+			manifold->addContactPoint(-manifoldNormal, clipPoints2[i].v, separation);
 
-//			cp->id = clipPoints2[i].id;
-//			cp->id.features.flip = flip;
+			//			cp->id = clipPoints2[i].id;
+			//			cp->id.features.flip = flip;
 			++pointCount;
 		}
 	}
 
-//	manifold->pointCount = pointCount;}
+	//	manifold->pointCount = pointCount;}
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
index 6ea6e89bda..3b66d1fd0b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
@@ -26,22 +26,22 @@ class btPersistentManifold;
 ///box-box collision detection
 class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+
 public:
 	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBox2dBox2dCollisionAlgorithm();
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
@@ -49,18 +49,15 @@ public:
 		}
 	}
 
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
+			return new (ptr) btBox2dBox2dCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
 		}
 	};
-
 };
 
-#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
-
+#endif  //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
index ac68968f59..7a391e059a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
@@ -21,14 +21,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 #define USE_PERSISTENT_CONTACTS 1
 
-btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf)
+btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -42,30 +42,27 @@ btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
 	}
 }
 
-void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	
 	const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
 	const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
 
-
-
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-#ifndef USE_PERSISTENT_CONTACTS	
+#ifndef USE_PERSISTENT_CONTACTS
 	m_manifoldPtr->clearManifold();
-#endif //USE_PERSISTENT_CONTACTS
+#endif  //USE_PERSISTENT_CONTACTS
 
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
 	input.m_transformA = body0Wrap->getWorldTransform();
 	input.m_transformB = body1Wrap->getWorldTransform();
 
-	btBoxBoxDetector detector(box0,box1);
-	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+	btBoxBoxDetector detector(box0, box1);
+	detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
 
 #ifdef USE_PERSISTENT_CONTACTS
 	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
@@ -73,11 +70,10 @@ void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrappe
 	{
 		resultOut->refreshContactPoints();
 	}
-#endif //USE_PERSISTENT_CONTACTS
-
+#endif  //USE_PERSISTENT_CONTACTS
 }
 
-btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
 {
 	//not yet
 	return 1.f;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
index 59808df5a9..eb21065765 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -26,22 +26,22 @@ class btPersistentManifold;
 ///box-box collision detection
 class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+
 public:
 	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBoxBoxCollisionAlgorithm();
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
@@ -49,18 +49,15 @@ public:
 		}
 	}
 
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
+			return new (ptr) btBoxBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
 		}
 	};
-
 };
 
-#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H
-
+#endif  //BT_BOX_BOX__COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
index 7043bde34f..202039956e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -24,14 +24,12 @@ subject to the following restrictions:
 #include <float.h>
 #include <string.h>
 
-btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2)
-: m_box1(box1),
-m_box2(box2)
+btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1, const btBoxShape* box2)
+	: m_box1(box1),
+	  m_box2(box2)
 {
-
 }
 
-
 // given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
 // generate contact points. this returns 0 if there is no contact otherwise
 // it returns the number of contacts generated.
@@ -48,67 +46,66 @@ m_box2(box2)
 // collision functions. this function only fills in the position and depth
 // fields.
 struct dContactGeom;
-#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+#define dDOTpq(a, b, p, q) ((a)[0] * (b)[0] + (a)[p] * (b)[q] + (a)[2 * (p)] * (b)[2 * (q)])
 #define dInfinity FLT_MAX
 
-
 /*PURE_INLINE btScalar dDOT   (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
 PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); }
 PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); }
 PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); }
 */
-static btScalar dDOT   (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
-static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,4); }
-static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); }
-static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); }
-#define dMULTIPLYOP1_331(A,op,B,C) \
-{\
-  (A)[0] op dDOT41((B),(C)); \
-  (A)[1] op dDOT41((B+1),(C)); \
-  (A)[2] op dDOT41((B+2),(C)); \
-}
+static btScalar dDOT(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 1, 1); }
+static btScalar dDOT44(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 4, 4); }
+static btScalar dDOT41(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 4, 1); }
+static btScalar dDOT14(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 1, 4); }
+#define dMULTIPLYOP1_331(A, op, B, C)   \
+	{                                   \
+		(A)[0] op dDOT41((B), (C));     \
+		(A)[1] op dDOT41((B + 1), (C)); \
+		(A)[2] op dDOT41((B + 2), (C)); \
+	}
 
-#define dMULTIPLYOP0_331(A,op,B,C) \
-{ \
-  (A)[0] op dDOT((B),(C)); \
-  (A)[1] op dDOT((B+4),(C)); \
-  (A)[2] op dDOT((B+8),(C)); \
-} 
+#define dMULTIPLYOP0_331(A, op, B, C) \
+	{                                 \
+		(A)[0] op dDOT((B), (C));     \
+		(A)[1] op dDOT((B + 4), (C)); \
+		(A)[2] op dDOT((B + 8), (C)); \
+	}
 
-#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
-#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+#define dMULTIPLY1_331(A, B, C) dMULTIPLYOP1_331(A, =, B, C)
+#define dMULTIPLY0_331(A, B, C) dMULTIPLYOP0_331(A, =, B, C)
 
-typedef btScalar dMatrix3[4*3];
+typedef btScalar dMatrix3[4 * 3];
 
-void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
-			   const btVector3& pb, const btVector3& ub,
-			   btScalar *alpha, btScalar *beta);
-void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
-			   const btVector3& pb, const btVector3& ub,
-			   btScalar *alpha, btScalar *beta)
+void dLineClosestApproach(const btVector3& pa, const btVector3& ua,
+						  const btVector3& pb, const btVector3& ub,
+						  btScalar* alpha, btScalar* beta);
+void dLineClosestApproach(const btVector3& pa, const btVector3& ua,
+						  const btVector3& pb, const btVector3& ub,
+						  btScalar* alpha, btScalar* beta)
 {
-  btVector3 p;
-  p[0] = pb[0] - pa[0];
-  p[1] = pb[1] - pa[1];
-  p[2] = pb[2] - pa[2];
-  btScalar uaub = dDOT(ua,ub);
-  btScalar q1 =  dDOT(ua,p);
-  btScalar q2 = -dDOT(ub,p);
-  btScalar d = 1-uaub*uaub;
-  if (d <= btScalar(0.0001f)) {
-    // @@@ this needs to be made more robust
-    *alpha = 0;
-    *beta  = 0;
-  }
-  else {
-    d = 1.f/d;
-    *alpha = (q1 + uaub*q2)*d;
-    *beta  = (uaub*q1 + q2)*d;
-  }
+	btVector3 p;
+	p[0] = pb[0] - pa[0];
+	p[1] = pb[1] - pa[1];
+	p[2] = pb[2] - pa[2];
+	btScalar uaub = dDOT(ua, ub);
+	btScalar q1 = dDOT(ua, p);
+	btScalar q2 = -dDOT(ub, p);
+	btScalar d = 1 - uaub * uaub;
+	if (d <= btScalar(0.0001f))
+	{
+		// @@@ this needs to be made more robust
+		*alpha = 0;
+		*beta = 0;
+	}
+	else
+	{
+		d = 1.f / d;
+		*alpha = (q1 + uaub * q2) * d;
+		*beta = (uaub * q1 + q2) * d;
+	}
 }
 
-
-
 // find all the intersection points between the 2D rectangle with vertices
 // at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
 // (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
@@ -117,60 +114,66 @@ void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
 // the number of intersection points is returned by the function (this will
 // be in the range 0 to 8).
 
-static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
+static int intersectRectQuad2(btScalar h[2], btScalar p[8], btScalar ret[16])
 {
-  // q (and r) contain nq (and nr) coordinate points for the current (and
-  // chopped) polygons
-  int nq=4,nr=0;
-  btScalar buffer[16];
-  btScalar *q = p;
-  btScalar *r = ret;
-  for (int dir=0; dir <= 1; dir++) {
-    // direction notation: xy[0] = x axis, xy[1] = y axis
-    for (int sign=-1; sign <= 1; sign += 2) {
-      // chop q along the line xy[dir] = sign*h[dir]
-      btScalar *pq = q;
-      btScalar *pr = r;
-      nr = 0;
-      for (int i=nq; i > 0; i--) {
-	// go through all points in q and all lines between adjacent points
-	if (sign*pq[dir] < h[dir]) {
-	  // this point is inside the chopping line
-	  pr[0] = pq[0];
-	  pr[1] = pq[1];
-	  pr += 2;
-	  nr++;
-	  if (nr & 8) {
-	    q = r;
-	    goto done;
-	  }
-	}
-	btScalar *nextq = (i > 1) ? pq+2 : q;
-	if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
-	  // this line crosses the chopping line
-	  pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
-	    (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
-	  pr[dir] = sign*h[dir];
-	  pr += 2;
-	  nr++;
-	  if (nr & 8) {
-	    q = r;
-	    goto done;
-	  }
+	// q (and r) contain nq (and nr) coordinate points for the current (and
+	// chopped) polygons
+	int nq = 4, nr = 0;
+	btScalar buffer[16];
+	btScalar* q = p;
+	btScalar* r = ret;
+	for (int dir = 0; dir <= 1; dir++)
+	{
+		// direction notation: xy[0] = x axis, xy[1] = y axis
+		for (int sign = -1; sign <= 1; sign += 2)
+		{
+			// chop q along the line xy[dir] = sign*h[dir]
+			btScalar* pq = q;
+			btScalar* pr = r;
+			nr = 0;
+			for (int i = nq; i > 0; i--)
+			{
+				// go through all points in q and all lines between adjacent points
+				if (sign * pq[dir] < h[dir])
+				{
+					// this point is inside the chopping line
+					pr[0] = pq[0];
+					pr[1] = pq[1];
+					pr += 2;
+					nr++;
+					if (nr & 8)
+					{
+						q = r;
+						goto done;
+					}
+				}
+				btScalar* nextq = (i > 1) ? pq + 2 : q;
+				if ((sign * pq[dir] < h[dir]) ^ (sign * nextq[dir] < h[dir]))
+				{
+					// this line crosses the chopping line
+					pr[1 - dir] = pq[1 - dir] + (nextq[1 - dir] - pq[1 - dir]) /
+													(nextq[dir] - pq[dir]) * (sign * h[dir] - pq[dir]);
+					pr[dir] = sign * h[dir];
+					pr += 2;
+					nr++;
+					if (nr & 8)
+					{
+						q = r;
+						goto done;
+					}
+				}
+				pq += 2;
+			}
+			q = r;
+			r = (q == ret) ? buffer : ret;
+			nq = nr;
+		}
 	}
-	pq += 2;
-      }
-      q = r;
-      r = (q==ret) ? buffer : ret;
-      nq = nr;
-    }
-  }
- done:
-  if (q != ret) memcpy (ret,q,nr*2*sizeof(btScalar));
-  return nr;
+done:
+	if (q != ret) memcpy(ret, q, nr * 2 * sizeof(btScalar));
+	return nr;
 }
 
-
 #define M__PI 3.14159265f
 
 // given n points in the plane (array p, of size 2*n), generate m points that
@@ -181,538 +184,584 @@ static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
 // n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
 // in the range [0..n-1].
 
-void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]);
-void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
+void cullPoints2(int n, btScalar p[], int m, int i0, int iret[]);
+void cullPoints2(int n, btScalar p[], int m, int i0, int iret[])
 {
-  // compute the centroid of the polygon in cx,cy
-  int i,j;
-  btScalar a,cx,cy,q;
-  if (n==1) {
-    cx = p[0];
-    cy = p[1];
-  }
-  else if (n==2) {
-    cx = btScalar(0.5)*(p[0] + p[2]);
-    cy = btScalar(0.5)*(p[1] + p[3]);
-  }
-  else {
-    a = 0;
-    cx = 0;
-    cy = 0;
-    for (i=0; i<(n-1); i++) {
-      q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
-      a += q;
-      cx += q*(p[i*2]+p[i*2+2]);
-      cy += q*(p[i*2+1]+p[i*2+3]);
-    }
-    q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
-	if (btFabs(a+q) > SIMD_EPSILON)
+	// compute the centroid of the polygon in cx,cy
+	int i, j;
+	btScalar a, cx, cy, q;
+	if (n == 1)
 	{
-		a = 1.f/(btScalar(3.0)*(a+q));
-	} else
+		cx = p[0];
+		cy = p[1];
+	}
+	else if (n == 2)
 	{
-		a=BT_LARGE_FLOAT;
+		cx = btScalar(0.5) * (p[0] + p[2]);
+		cy = btScalar(0.5) * (p[1] + p[3]);
 	}
-    cx = a*(cx + q*(p[n*2-2]+p[0]));
-    cy = a*(cy + q*(p[n*2-1]+p[1]));
-  }
-
-  // compute the angle of each point w.r.t. the centroid
-  btScalar A[8];
-  for (i=0; i<n; i++) A[i] = btAtan2(p[i*2+1]-cy,p[i*2]-cx);
-
-  // search for points that have angles closest to A[i0] + i*(2*pi/m).
-  int avail[8];
-  for (i=0; i<n; i++) avail[i] = 1;
-  avail[i0] = 0;
-  iret[0] = i0;
-  iret++;
-  for (j=1; j<m; j++) {
-    a = btScalar(j)*(2*M__PI/m) + A[i0];
-    if (a > M__PI) a -= 2*M__PI;
-    btScalar maxdiff=1e9,diff;
-
-    *iret = i0;			// iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
-
-    for (i=0; i<n; i++) {
-      if (avail[i]) {
-	diff = btFabs (A[i]-a);
-	if (diff > M__PI) diff = 2*M__PI - diff;
-	if (diff < maxdiff) {
-	  maxdiff = diff;
-	  *iret = i;
+	else
+	{
+		a = 0;
+		cx = 0;
+		cy = 0;
+		for (i = 0; i < (n - 1); i++)
+		{
+			q = p[i * 2] * p[i * 2 + 3] - p[i * 2 + 2] * p[i * 2 + 1];
+			a += q;
+			cx += q * (p[i * 2] + p[i * 2 + 2]);
+			cy += q * (p[i * 2 + 1] + p[i * 2 + 3]);
+		}
+		q = p[n * 2 - 2] * p[1] - p[0] * p[n * 2 - 1];
+		if (btFabs(a + q) > SIMD_EPSILON)
+		{
+			a = 1.f / (btScalar(3.0) * (a + q));
+		}
+		else
+		{
+			a = BT_LARGE_FLOAT;
+		}
+		cx = a * (cx + q * (p[n * 2 - 2] + p[0]));
+		cy = a * (cy + q * (p[n * 2 - 1] + p[1]));
 	}
-      }
-    }
-#if defined(DEBUG) || defined (_DEBUG)
-    btAssert (*iret != i0);	// ensure iret got set
+
+	// compute the angle of each point w.r.t. the centroid
+	btScalar A[8];
+	for (i = 0; i < n; i++) A[i] = btAtan2(p[i * 2 + 1] - cy, p[i * 2] - cx);
+
+	// search for points that have angles closest to A[i0] + i*(2*pi/m).
+	int avail[8];
+	for (i = 0; i < n; i++) avail[i] = 1;
+	avail[i0] = 0;
+	iret[0] = i0;
+	iret++;
+	for (j = 1; j < m; j++)
+	{
+		a = btScalar(j) * (2 * M__PI / m) + A[i0];
+		if (a > M__PI) a -= 2 * M__PI;
+		btScalar maxdiff = 1e9, diff;
+
+		*iret = i0;  // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
+
+		for (i = 0; i < n; i++)
+		{
+			if (avail[i])
+			{
+				diff = btFabs(A[i] - a);
+				if (diff > M__PI) diff = 2 * M__PI - diff;
+				if (diff < maxdiff)
+				{
+					maxdiff = diff;
+					*iret = i;
+				}
+			}
+		}
+#if defined(DEBUG) || defined(_DEBUG)
+		btAssert(*iret != i0);  // ensure iret got set
 #endif
-    avail[*iret] = 0;
-    iret++;
-  }
+		avail[*iret] = 0;
+		iret++;
+	}
 }
 
+int dBoxBox2(const btVector3& p1, const dMatrix3 R1,
+			 const btVector3& side1, const btVector3& p2,
+			 const dMatrix3 R2, const btVector3& side2,
+			 btVector3& normal, btScalar* depth, int* return_code,
+			 int maxc, dContactGeom* /*contact*/, int /*skip*/, btDiscreteCollisionDetectorInterface::Result& output);
+int dBoxBox2(const btVector3& p1, const dMatrix3 R1,
+			 const btVector3& side1, const btVector3& p2,
+			 const dMatrix3 R2, const btVector3& side2,
+			 btVector3& normal, btScalar* depth, int* return_code,
+			 int maxc, dContactGeom* /*contact*/, int /*skip*/, btDiscreteCollisionDetectorInterface::Result& output)
+{
+	const btScalar fudge_factor = btScalar(1.05);
+	btVector3 p, pp, normalC(0.f, 0.f, 0.f);
+	const btScalar* normalR = 0;
+	btScalar A[3], B[3], R11, R12, R13, R21, R22, R23, R31, R32, R33,
+		Q11, Q12, Q13, Q21, Q22, Q23, Q31, Q32, Q33, s, s2, l;
+	int i, j, invert_normal, code;
+
+	// get vector from centers of box 1 to box 2, relative to box 1
+	p = p2 - p1;
+	dMULTIPLY1_331(pp, R1, p);  // get pp = p relative to body 1
+
+	// get side lengths / 2
+	A[0] = side1[0] * btScalar(0.5);
+	A[1] = side1[1] * btScalar(0.5);
+	A[2] = side1[2] * btScalar(0.5);
+	B[0] = side2[0] * btScalar(0.5);
+	B[1] = side2[1] * btScalar(0.5);
+	B[2] = side2[2] * btScalar(0.5);
+
+	// Rij is R1'*R2, i.e. the relative rotation between R1 and R2
+	R11 = dDOT44(R1 + 0, R2 + 0);
+	R12 = dDOT44(R1 + 0, R2 + 1);
+	R13 = dDOT44(R1 + 0, R2 + 2);
+	R21 = dDOT44(R1 + 1, R2 + 0);
+	R22 = dDOT44(R1 + 1, R2 + 1);
+	R23 = dDOT44(R1 + 1, R2 + 2);
+	R31 = dDOT44(R1 + 2, R2 + 0);
+	R32 = dDOT44(R1 + 2, R2 + 1);
+	R33 = dDOT44(R1 + 2, R2 + 2);
+
+	Q11 = btFabs(R11);
+	Q12 = btFabs(R12);
+	Q13 = btFabs(R13);
+	Q21 = btFabs(R21);
+	Q22 = btFabs(R22);
+	Q23 = btFabs(R23);
+	Q31 = btFabs(R31);
+	Q32 = btFabs(R32);
+	Q33 = btFabs(R33);
+
+	// for all 15 possible separating axes:
+	//   * see if the axis separates the boxes. if so, return 0.
+	//   * find the depth of the penetration along the separating axis (s2)
+	//   * if this is the largest depth so far, record it.
+	// the normal vector will be set to the separating axis with the smallest
+	// depth. note: normalR is set to point to a column of R1 or R2 if that is
+	// the smallest depth normal so far. otherwise normalR is 0 and normalC is
+	// set to a vector relative to body 1. invert_normal is 1 if the sign of
+	// the normal should be flipped.
+
+#define TST(expr1, expr2, norm, cc)    \
+	s2 = btFabs(expr1) - (expr2);      \
+	if (s2 > 0) return 0;              \
+	if (s2 > s)                        \
+	{                                  \
+		s = s2;                        \
+		normalR = norm;                \
+		invert_normal = ((expr1) < 0); \
+		code = (cc);                   \
+	}
 
+	s = -dInfinity;
+	invert_normal = 0;
+	code = 0;
 
-int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
-	     const btVector3& side1, const btVector3& p2,
-	     const dMatrix3 R2, const btVector3& side2,
-	     btVector3& normal, btScalar *depth, int *return_code,
-		 int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output);
-int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
-	     const btVector3& side1, const btVector3& p2,
-	     const dMatrix3 R2, const btVector3& side2,
-	     btVector3& normal, btScalar *depth, int *return_code,
-		 int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
-{
-  const btScalar fudge_factor = btScalar(1.05);
-  btVector3 p,pp,normalC(0.f,0.f,0.f);
-  const btScalar *normalR = 0;
-  btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
-    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
-  int i,j,invert_normal,code;
-
-  // get vector from centers of box 1 to box 2, relative to box 1
-  p = p2 - p1;
-  dMULTIPLY1_331 (pp,R1,p);		// get pp = p relative to body 1
-
-  // get side lengths / 2
-  A[0] = side1[0]*btScalar(0.5);
-  A[1] = side1[1]*btScalar(0.5);
-  A[2] = side1[2]*btScalar(0.5);
-  B[0] = side2[0]*btScalar(0.5);
-  B[1] = side2[1]*btScalar(0.5);
-  B[2] = side2[2]*btScalar(0.5);
-
-  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
-  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
-  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
-  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
-
-  Q11 = btFabs(R11); Q12 = btFabs(R12); Q13 = btFabs(R13);
-  Q21 = btFabs(R21); Q22 = btFabs(R22); Q23 = btFabs(R23);
-  Q31 = btFabs(R31); Q32 = btFabs(R32); Q33 = btFabs(R33);
-
-  // for all 15 possible separating axes:
-  //   * see if the axis separates the boxes. if so, return 0.
-  //   * find the depth of the penetration along the separating axis (s2)
-  //   * if this is the largest depth so far, record it.
-  // the normal vector will be set to the separating axis with the smallest
-  // depth. note: normalR is set to point to a column of R1 or R2 if that is
-  // the smallest depth normal so far. otherwise normalR is 0 and normalC is
-  // set to a vector relative to body 1. invert_normal is 1 if the sign of
-  // the normal should be flipped.
-
-#define TST(expr1,expr2,norm,cc) \
-  s2 = btFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-    s = s2; \
-    normalR = norm; \
-    invert_normal = ((expr1) < 0); \
-    code = (cc); \
-  }
-
-  s = -dInfinity;
-  invert_normal = 0;
-  code = 0;
-
-  // separating axis = u1,u2,u3
-  TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
-  TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
-  TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
-
-  // separating axis = v1,v2,v3
-  TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
-  TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
-  TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
-
-  // note: cross product axes need to be scaled when s is computed.
-  // normal (n1,n2,n3) is relative to box 1.
+	// separating axis = u1,u2,u3
+	TST(pp[0], (A[0] + B[0] * Q11 + B[1] * Q12 + B[2] * Q13), R1 + 0, 1);
+	TST(pp[1], (A[1] + B[0] * Q21 + B[1] * Q22 + B[2] * Q23), R1 + 1, 2);
+	TST(pp[2], (A[2] + B[0] * Q31 + B[1] * Q32 + B[2] * Q33), R1 + 2, 3);
+
+	// separating axis = v1,v2,v3
+	TST(dDOT41(R2 + 0, p), (A[0] * Q11 + A[1] * Q21 + A[2] * Q31 + B[0]), R2 + 0, 4);
+	TST(dDOT41(R2 + 1, p), (A[0] * Q12 + A[1] * Q22 + A[2] * Q32 + B[1]), R2 + 1, 5);
+	TST(dDOT41(R2 + 2, p), (A[0] * Q13 + A[1] * Q23 + A[2] * Q33 + B[2]), R2 + 2, 6);
+
+	// note: cross product axes need to be scaled when s is computed.
+	// normal (n1,n2,n3) is relative to box 1.
 #undef TST
-#define TST(expr1,expr2,n1,n2,n3,cc) \
-  s2 = btFabs(expr1) - (expr2); \
-  if (s2 > SIMD_EPSILON) return 0; \
-  l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
-  if (l > SIMD_EPSILON) { \
-    s2 /= l; \
-    if (s2*fudge_factor > s) { \
-      s = s2; \
-      normalR = 0; \
-      normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
-      invert_normal = ((expr1) < 0); \
-      code = (cc); \
-    } \
-  }
-
-  btScalar fudge2 (1.0e-5f);
-
-  Q11 += fudge2;
-  Q12 += fudge2;
-  Q13 += fudge2;
-
-  Q21 += fudge2;
-  Q22 += fudge2;
-  Q23 += fudge2;
-
-  Q31 += fudge2;
-  Q32 += fudge2;
-  Q33 += fudge2;
-
-  // separating axis = u1 x (v1,v2,v3)
-  TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
-  TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
-  TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
-
-  // separating axis = u2 x (v1,v2,v3)
-  TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
-  TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
-  TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
-
-  // separating axis = u3 x (v1,v2,v3)
-  TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
-  TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
-  TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
+#define TST(expr1, expr2, n1, n2, n3, cc)                \
+	s2 = btFabs(expr1) - (expr2);                        \
+	if (s2 > SIMD_EPSILON) return 0;                     \
+	l = btSqrt((n1) * (n1) + (n2) * (n2) + (n3) * (n3)); \
+	if (l > SIMD_EPSILON)                                \
+	{                                                    \
+		s2 /= l;                                         \
+		if (s2 * fudge_factor > s)                       \
+		{                                                \
+			s = s2;                                      \
+			normalR = 0;                                 \
+			normalC[0] = (n1) / l;                       \
+			normalC[1] = (n2) / l;                       \
+			normalC[2] = (n3) / l;                       \
+			invert_normal = ((expr1) < 0);               \
+			code = (cc);                                 \
+		}                                                \
+	}
+
+	btScalar fudge2(1.0e-5f);
+
+	Q11 += fudge2;
+	Q12 += fudge2;
+	Q13 += fudge2;
+
+	Q21 += fudge2;
+	Q22 += fudge2;
+	Q23 += fudge2;
+
+	Q31 += fudge2;
+	Q32 += fudge2;
+	Q33 += fudge2;
+
+	// separating axis = u1 x (v1,v2,v3)
+	TST(pp[2] * R21 - pp[1] * R31, (A[1] * Q31 + A[2] * Q21 + B[1] * Q13 + B[2] * Q12), 0, -R31, R21, 7);
+	TST(pp[2] * R22 - pp[1] * R32, (A[1] * Q32 + A[2] * Q22 + B[0] * Q13 + B[2] * Q11), 0, -R32, R22, 8);
+	TST(pp[2] * R23 - pp[1] * R33, (A[1] * Q33 + A[2] * Q23 + B[0] * Q12 + B[1] * Q11), 0, -R33, R23, 9);
+
+	// separating axis = u2 x (v1,v2,v3)
+	TST(pp[0] * R31 - pp[2] * R11, (A[0] * Q31 + A[2] * Q11 + B[1] * Q23 + B[2] * Q22), R31, 0, -R11, 10);
+	TST(pp[0] * R32 - pp[2] * R12, (A[0] * Q32 + A[2] * Q12 + B[0] * Q23 + B[2] * Q21), R32, 0, -R12, 11);
+	TST(pp[0] * R33 - pp[2] * R13, (A[0] * Q33 + A[2] * Q13 + B[0] * Q22 + B[1] * Q21), R33, 0, -R13, 12);
+
+	// separating axis = u3 x (v1,v2,v3)
+	TST(pp[1] * R11 - pp[0] * R21, (A[0] * Q21 + A[1] * Q11 + B[1] * Q33 + B[2] * Q32), -R21, R11, 0, 13);
+	TST(pp[1] * R12 - pp[0] * R22, (A[0] * Q22 + A[1] * Q12 + B[0] * Q33 + B[2] * Q31), -R22, R12, 0, 14);
+	TST(pp[1] * R13 - pp[0] * R23, (A[0] * Q23 + A[1] * Q13 + B[0] * Q32 + B[1] * Q31), -R23, R13, 0, 15);
 
 #undef TST
 
-  if (!code) return 0;
-
-  // if we get to this point, the boxes interpenetrate. compute the normal
-  // in global coordinates.
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-    dMULTIPLY0_331 (normal,R1,normalC);
-  }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-  *depth = -s;
-
-  // compute contact point(s)
-
-  if (code > 6) {
-    // an edge from box 1 touches an edge from box 2.
-    // find a point pa on the intersecting edge of box 1
-    btVector3 pa;
-    btScalar sign;
-    for (i=0; i<3; i++) pa[i] = p1[i];
-    for (j=0; j<3; j++) {
-      sign = (dDOT14(normal,R1+j) > 0) ? btScalar(1.0) : btScalar(-1.0);
-      for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
-    }
-
-    // find a point pb on the intersecting edge of box 2
-    btVector3 pb;
-    for (i=0; i<3; i++) pb[i] = p2[i];
-    for (j=0; j<3; j++) {
-      sign = (dDOT14(normal,R2+j) > 0) ? btScalar(-1.0) : btScalar(1.0);
-      for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
-    }
-
-    btScalar alpha,beta;
-    btVector3 ua,ub;
-    for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
-    for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
-
-    dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
-    for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
-    for (i=0; i<3; i++) pb[i] += ub[i]*beta;
+	if (!code) return 0;
 
+	// if we get to this point, the boxes interpenetrate. compute the normal
+	// in global coordinates.
+	if (normalR)
+	{
+		normal[0] = normalR[0];
+		normal[1] = normalR[4];
+		normal[2] = normalR[8];
+	}
+	else
 	{
-		
-		//contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]);
-		//contact[0].depth = *depth;
-		btVector3 pointInWorld;
+		dMULTIPLY0_331(normal, R1, normalC);
+	}
+	if (invert_normal)
+	{
+		normal[0] = -normal[0];
+		normal[1] = -normal[1];
+		normal[2] = -normal[2];
+	}
+	*depth = -s;
+
+	// compute contact point(s)
+
+	if (code > 6)
+	{
+		// an edge from box 1 touches an edge from box 2.
+		// find a point pa on the intersecting edge of box 1
+		btVector3 pa;
+		btScalar sign;
+		for (i = 0; i < 3; i++) pa[i] = p1[i];
+		for (j = 0; j < 3; j++)
+		{
+			sign = (dDOT14(normal, R1 + j) > 0) ? btScalar(1.0) : btScalar(-1.0);
+			for (i = 0; i < 3; i++) pa[i] += sign * A[j] * R1[i * 4 + j];
+		}
+
+		// find a point pb on the intersecting edge of box 2
+		btVector3 pb;
+		for (i = 0; i < 3; i++) pb[i] = p2[i];
+		for (j = 0; j < 3; j++)
+		{
+			sign = (dDOT14(normal, R2 + j) > 0) ? btScalar(-1.0) : btScalar(1.0);
+			for (i = 0; i < 3; i++) pb[i] += sign * B[j] * R2[i * 4 + j];
+		}
+
+		btScalar alpha, beta;
+		btVector3 ua, ub;
+		for (i = 0; i < 3; i++) ua[i] = R1[((code)-7) / 3 + i * 4];
+		for (i = 0; i < 3; i++) ub[i] = R2[((code)-7) % 3 + i * 4];
+
+		dLineClosestApproach(pa, ua, pb, ub, &alpha, &beta);
+		for (i = 0; i < 3; i++) pa[i] += ua[i] * alpha;
+		for (i = 0; i < 3; i++) pb[i] += ub[i] * beta;
+
+		{
+			//contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]);
+			//contact[0].depth = *depth;
+			btVector3 pointInWorld;
 
 #ifdef USE_CENTER_POINT
-	    for (i=0; i<3; i++) 
-			pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5);
-		output.addContactPoint(-normal,pointInWorld,-*depth);
+			for (i = 0; i < 3; i++)
+				pointInWorld[i] = (pa[i] + pb[i]) * btScalar(0.5);
+			output.addContactPoint(-normal, pointInWorld, -*depth);
 #else
-		output.addContactPoint(-normal,pb,-*depth);
+			output.addContactPoint(-normal, pb, -*depth);
 
-#endif //
-		*return_code = code;
+#endif  //
+			*return_code = code;
+		}
+		return 1;
+	}
+
+	// okay, we have a face-something intersection (because the separating
+	// axis is perpendicular to a face). define face 'a' to be the reference
+	// face (i.e. the normal vector is perpendicular to this) and face 'b' to be
+	// the incident face (the closest face of the other box).
+
+	const btScalar *Ra, *Rb, *pa, *pb, *Sa, *Sb;
+	if (code <= 3)
+	{
+		Ra = R1;
+		Rb = R2;
+		pa = p1;
+		pb = p2;
+		Sa = A;
+		Sb = B;
+	}
+	else
+	{
+		Ra = R2;
+		Rb = R1;
+		pa = p2;
+		pb = p1;
+		Sa = B;
+		Sb = A;
+	}
+
+	// nr = normal vector of reference face dotted with axes of incident box.
+	// anr = absolute values of nr.
+	btVector3 normal2, nr, anr;
+	if (code <= 3)
+	{
+		normal2[0] = normal[0];
+		normal2[1] = normal[1];
+		normal2[2] = normal[2];
+	}
+	else
+	{
+		normal2[0] = -normal[0];
+		normal2[1] = -normal[1];
+		normal2[2] = -normal[2];
 	}
-    return 1;
-  }
-
-  // okay, we have a face-something intersection (because the separating
-  // axis is perpendicular to a face). define face 'a' to be the reference
-  // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
-  // the incident face (the closest face of the other box).
-
-  const btScalar *Ra,*Rb,*pa,*pb,*Sa,*Sb;
-  if (code <= 3) {
-    Ra = R1;
-    Rb = R2;
-    pa = p1;
-    pb = p2;
-    Sa = A;
-    Sb = B;
-  }
-  else {
-    Ra = R2;
-    Rb = R1;
-    pa = p2;
-    pb = p1;
-    Sa = B;
-    Sb = A;
-  }
-
-  // nr = normal vector of reference face dotted with axes of incident box.
-  // anr = absolute values of nr.
-  btVector3 normal2,nr,anr;
-  if (code <= 3) {
-    normal2[0] = normal[0];
-    normal2[1] = normal[1];
-    normal2[2] = normal[2];
-  }
-  else {
-    normal2[0] = -normal[0];
-    normal2[1] = -normal[1];
-    normal2[2] = -normal[2];
-  }
-  dMULTIPLY1_331 (nr,Rb,normal2);
-  anr[0] = btFabs (nr[0]);
-  anr[1] = btFabs (nr[1]);
-  anr[2] = btFabs (nr[2]);
-
-  // find the largest compontent of anr: this corresponds to the normal
-  // for the indident face. the other axis numbers of the indicent face
-  // are stored in a1,a2.
-  int lanr,a1,a2;
-  if (anr[1] > anr[0]) {
-    if (anr[1] > anr[2]) {
-      a1 = 0;
-      lanr = 1;
-      a2 = 2;
-    }
-    else {
-      a1 = 0;
-      a2 = 1;
-      lanr = 2;
-    }
-  }
-  else {
-    if (anr[0] > anr[2]) {
-      lanr = 0;
-      a1 = 1;
-      a2 = 2;
-    }
-    else {
-      a1 = 0;
-      a2 = 1;
-      lanr = 2;
-    }
-  }
-
-  // compute center point of incident face, in reference-face coordinates
-  btVector3 center;
-  if (nr[lanr] < 0) {
-    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
-  }
-  else {
-    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
-  }
-
-  // find the normal and non-normal axis numbers of the reference box
-  int codeN,code1,code2;
-  if (code <= 3) codeN = code-1; else codeN = code-4;
-  if (codeN==0) {
-    code1 = 1;
-    code2 = 2;
-  }
-  else if (codeN==1) {
-    code1 = 0;
-    code2 = 2;
-  }
-  else {
-    code1 = 0;
-    code2 = 1;
-  }
-
-  // find the four corners of the incident face, in reference-face coordinates
-  btScalar quad[8];	// 2D coordinate of incident face (x,y pairs)
-  btScalar c1,c2,m11,m12,m21,m22;
-  c1 = dDOT14 (center,Ra+code1);
-  c2 = dDOT14 (center,Ra+code2);
-  // optimize this? - we have already computed this data above, but it is not
-  // stored in an easy-to-index format. for now it's quicker just to recompute
-  // the four dot products.
-  m11 = dDOT44 (Ra+code1,Rb+a1);
-  m12 = dDOT44 (Ra+code1,Rb+a2);
-  m21 = dDOT44 (Ra+code2,Rb+a1);
-  m22 = dDOT44 (Ra+code2,Rb+a2);
-  {
-    btScalar k1 = m11*Sb[a1];
-    btScalar k2 = m21*Sb[a1];
-    btScalar k3 = m12*Sb[a2];
-    btScalar k4 = m22*Sb[a2];
-    quad[0] = c1 - k1 - k3;
-    quad[1] = c2 - k2 - k4;
-    quad[2] = c1 - k1 + k3;
-    quad[3] = c2 - k2 + k4;
-    quad[4] = c1 + k1 + k3;
-    quad[5] = c2 + k2 + k4;
-    quad[6] = c1 + k1 - k3;
-    quad[7] = c2 + k2 - k4;
-  }
-
-  // find the size of the reference face
-  btScalar rect[2];
-  rect[0] = Sa[code1];
-  rect[1] = Sa[code2];
-
-  // intersect the incident and reference faces
-  btScalar ret[16];
-  int n = intersectRectQuad2 (rect,quad,ret);
-  if (n < 1) return 0;		// this should never happen
-
-  // convert the intersection points into reference-face coordinates,
-  // and compute the contact position and depth for each point. only keep
-  // those points that have a positive (penetrating) depth. delete points in
-  // the 'ret' array as necessary so that 'point' and 'ret' correspond.
-  btScalar point[3*8];		// penetrating contact points
-  btScalar dep[8];			// depths for those points
-  btScalar det1 = 1.f/(m11*m22 - m12*m21);
-  m11 *= det1;
-  m12 *= det1;
-  m21 *= det1;
-  m22 *= det1;
-  int cnum = 0;			// number of penetrating contact points found
-  for (j=0; j < n; j++) {
-    btScalar k1 =  m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
-    btScalar k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
-    for (i=0; i<3; i++) point[cnum*3+i] =
-			  center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
-    dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3);
-    if (dep[cnum] >= 0) {
-      ret[cnum*2] = ret[j*2];
-      ret[cnum*2+1] = ret[j*2+1];
-      cnum++;
-    }
-  }
-  if (cnum < 1) return 0;	// this should never happen
-
-  // we can't generate more contacts than we actually have
-  if (maxc > cnum) maxc = cnum;
-  if (maxc < 1) maxc = 1;
-
-  if (cnum <= maxc) {
-
-	  if (code<4) 
-	  {
-    // we have less contacts than we need, so we use them all
-    for (j=0; j < cnum; j++) 
+	dMULTIPLY1_331(nr, Rb, normal2);
+	anr[0] = btFabs(nr[0]);
+	anr[1] = btFabs(nr[1]);
+	anr[2] = btFabs(nr[2]);
+
+	// find the largest compontent of anr: this corresponds to the normal
+	// for the indident face. the other axis numbers of the indicent face
+	// are stored in a1,a2.
+	int lanr, a1, a2;
+	if (anr[1] > anr[0])
 	{
-		btVector3 pointInWorld;
-		for (i=0; i<3; i++) 
-			pointInWorld[i] = point[j*3+i] + pa[i];
-		output.addContactPoint(-normal,pointInWorld,-dep[j]);
-
-    }
-	  } else
-	  {
-		  // we have less contacts than we need, so we use them all
-		for (j=0; j < cnum; j++) 
+		if (anr[1] > anr[2])
 		{
-			btVector3 pointInWorld;
-			for (i=0; i<3; i++) 
-				pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
+			a1 = 0;
+			lanr = 1;
+			a2 = 2;
+		}
+		else
+		{
+			a1 = 0;
+			a2 = 1;
+			lanr = 2;
+		}
+	}
+	else
+	{
+		if (anr[0] > anr[2])
+		{
+			lanr = 0;
+			a1 = 1;
+			a2 = 2;
+		}
+		else
+		{
+			a1 = 0;
+			a2 = 1;
+			lanr = 2;
+		}
+	}
+
+	// compute center point of incident face, in reference-face coordinates
+	btVector3 center;
+	if (nr[lanr] < 0)
+	{
+		for (i = 0; i < 3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i * 4 + lanr];
+	}
+	else
+	{
+		for (i = 0; i < 3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i * 4 + lanr];
+	}
+
+	// find the normal and non-normal axis numbers of the reference box
+	int codeN, code1, code2;
+	if (code <= 3)
+		codeN = code - 1;
+	else
+		codeN = code - 4;
+	if (codeN == 0)
+	{
+		code1 = 1;
+		code2 = 2;
+	}
+	else if (codeN == 1)
+	{
+		code1 = 0;
+		code2 = 2;
+	}
+	else
+	{
+		code1 = 0;
+		code2 = 1;
+	}
+
+	// find the four corners of the incident face, in reference-face coordinates
+	btScalar quad[8];  // 2D coordinate of incident face (x,y pairs)
+	btScalar c1, c2, m11, m12, m21, m22;
+	c1 = dDOT14(center, Ra + code1);
+	c2 = dDOT14(center, Ra + code2);
+	// optimize this? - we have already computed this data above, but it is not
+	// stored in an easy-to-index format. for now it's quicker just to recompute
+	// the four dot products.
+	m11 = dDOT44(Ra + code1, Rb + a1);
+	m12 = dDOT44(Ra + code1, Rb + a2);
+	m21 = dDOT44(Ra + code2, Rb + a1);
+	m22 = dDOT44(Ra + code2, Rb + a2);
+	{
+		btScalar k1 = m11 * Sb[a1];
+		btScalar k2 = m21 * Sb[a1];
+		btScalar k3 = m12 * Sb[a2];
+		btScalar k4 = m22 * Sb[a2];
+		quad[0] = c1 - k1 - k3;
+		quad[1] = c2 - k2 - k4;
+		quad[2] = c1 - k1 + k3;
+		quad[3] = c2 - k2 + k4;
+		quad[4] = c1 + k1 + k3;
+		quad[5] = c2 + k2 + k4;
+		quad[6] = c1 + k1 - k3;
+		quad[7] = c2 + k2 - k4;
+	}
+
+	// find the size of the reference face
+	btScalar rect[2];
+	rect[0] = Sa[code1];
+	rect[1] = Sa[code2];
+
+	// intersect the incident and reference faces
+	btScalar ret[16];
+	int n = intersectRectQuad2(rect, quad, ret);
+	if (n < 1) return 0;  // this should never happen
+
+	// convert the intersection points into reference-face coordinates,
+	// and compute the contact position and depth for each point. only keep
+	// those points that have a positive (penetrating) depth. delete points in
+	// the 'ret' array as necessary so that 'point' and 'ret' correspond.
+	btScalar point[3 * 8];  // penetrating contact points
+	btScalar dep[8];        // depths for those points
+	btScalar det1 = 1.f / (m11 * m22 - m12 * m21);
+	m11 *= det1;
+	m12 *= det1;
+	m21 *= det1;
+	m22 *= det1;
+	int cnum = 0;  // number of penetrating contact points found
+	for (j = 0; j < n; j++)
+	{
+		btScalar k1 = m22 * (ret[j * 2] - c1) - m12 * (ret[j * 2 + 1] - c2);
+		btScalar k2 = -m21 * (ret[j * 2] - c1) + m11 * (ret[j * 2 + 1] - c2);
+		for (i = 0; i < 3; i++) point[cnum * 3 + i] =
+									center[i] + k1 * Rb[i * 4 + a1] + k2 * Rb[i * 4 + a2];
+		dep[cnum] = Sa[codeN] - dDOT(normal2, point + cnum * 3);
+		if (dep[cnum] >= 0)
+		{
+			ret[cnum * 2] = ret[j * 2];
+			ret[cnum * 2 + 1] = ret[j * 2 + 1];
+			cnum++;
+		}
+	}
+	if (cnum < 1) return 0;  // this should never happen
+
+	// we can't generate more contacts than we actually have
+	if (maxc > cnum) maxc = cnum;
+	if (maxc < 1) maxc = 1;
+
+	if (cnum <= maxc)
+	{
+		if (code < 4)
+		{
+			// we have less contacts than we need, so we use them all
+			for (j = 0; j < cnum; j++)
+			{
+				btVector3 pointInWorld;
+				for (i = 0; i < 3; i++)
+					pointInWorld[i] = point[j * 3 + i] + pa[i];
+				output.addContactPoint(-normal, pointInWorld, -dep[j]);
+			}
+		}
+		else
+		{
+			// we have less contacts than we need, so we use them all
+			for (j = 0; j < cnum; j++)
+			{
+				btVector3 pointInWorld;
+				for (i = 0; i < 3; i++)
+					pointInWorld[i] = point[j * 3 + i] + pa[i] - normal[i] * dep[j];
 				//pointInWorld[i] = point[j*3+i] + pa[i];
-			output.addContactPoint(-normal,pointInWorld,-dep[j]);
+				output.addContactPoint(-normal, pointInWorld, -dep[j]);
+			}
 		}
-	  }
-  }
-  else {
-    // we have more contacts than are wanted, some of them must be culled.
-    // find the deepest point, it is always the first contact.
-    int i1 = 0;
-    btScalar maxdepth = dep[0];
-    for (i=1; i<cnum; i++) {
-      if (dep[i] > maxdepth) {
-	maxdepth = dep[i];
-	i1 = i;
-      }
-    }
-
-    int iret[8];
-    cullPoints2 (cnum,ret,maxc,i1,iret);
-
-    for (j=0; j < maxc; j++) {
-//      dContactGeom *con = CONTACT(contact,skip*j);
-  //    for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
-    //  con->depth = dep[iret[j]];
-
-		btVector3 posInWorld;
-		for (i=0; i<3; i++) 
-			posInWorld[i] = point[iret[j]*3+i] + pa[i];
-		if (code<4) 
-	   {
-			output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
-		} else
+	}
+	else
+	{
+		// we have more contacts than are wanted, some of them must be culled.
+		// find the deepest point, it is always the first contact.
+		int i1 = 0;
+		btScalar maxdepth = dep[0];
+		for (i = 1; i < cnum; i++)
 		{
-			output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
+			if (dep[i] > maxdepth)
+			{
+				maxdepth = dep[i];
+				i1 = i;
+			}
 		}
-    }
-    cnum = maxc;
-  }
 
-  *return_code = code;
-  return cnum;
+		int iret[8];
+		cullPoints2(cnum, ret, maxc, i1, iret);
+
+		for (j = 0; j < maxc; j++)
+		{
+			//      dContactGeom *con = CONTACT(contact,skip*j);
+			//    for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
+			//  con->depth = dep[iret[j]];
+
+			btVector3 posInWorld;
+			for (i = 0; i < 3; i++)
+				posInWorld[i] = point[iret[j] * 3 + i] + pa[i];
+			if (code < 4)
+			{
+				output.addContactPoint(-normal, posInWorld, -dep[iret[j]]);
+			}
+			else
+			{
+				output.addContactPoint(-normal, posInWorld - normal * dep[iret[j]], -dep[iret[j]]);
+			}
+		}
+		cnum = maxc;
+	}
+
+	*return_code = code;
+	return cnum;
 }
 
-void	btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/,bool /*swapResults*/)
+void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* /*debugDraw*/, bool /*swapResults*/)
 {
-	
 	const btTransform& transformA = input.m_transformA;
 	const btTransform& transformB = input.m_transformB;
-	
+
 	int skip = 0;
-	dContactGeom *contact = 0;
+	dContactGeom* contact = 0;
 
 	dMatrix3 R1;
 	dMatrix3 R2;
 
-	for (int j=0;j<3;j++)
+	for (int j = 0; j < 3; j++)
 	{
-		R1[0+4*j] = transformA.getBasis()[j].x();
-		R2[0+4*j] = transformB.getBasis()[j].x();
-
-		R1[1+4*j] = transformA.getBasis()[j].y();
-		R2[1+4*j] = transformB.getBasis()[j].y();
-
+		R1[0 + 4 * j] = transformA.getBasis()[j].x();
+		R2[0 + 4 * j] = transformB.getBasis()[j].x();
 
-		R1[2+4*j] = transformA.getBasis()[j].z();
-		R2[2+4*j] = transformB.getBasis()[j].z();
+		R1[1 + 4 * j] = transformA.getBasis()[j].y();
+		R2[1 + 4 * j] = transformB.getBasis()[j].y();
 
+		R1[2 + 4 * j] = transformA.getBasis()[j].z();
+		R2[2 + 4 * j] = transformB.getBasis()[j].z();
 	}
 
-	
-
 	btVector3 normal;
 	btScalar depth;
 	int return_code;
 	int maxc = 4;
 
-
-	dBoxBox2 (transformA.getOrigin(), 
-	R1,
-	2.f*m_box1->getHalfExtentsWithMargin(),
-	transformB.getOrigin(),
-	R2, 
-	2.f*m_box2->getHalfExtentsWithMargin(),
-	normal, &depth, &return_code,
-	maxc, contact, skip,
-	output
-	);
-
+	dBoxBox2(transformA.getOrigin(),
+			 R1,
+			 2.f * m_box1->getHalfExtentsWithMargin(),
+			 transformB.getOrigin(),
+			 R2,
+			 2.f * m_box2->getHalfExtentsWithMargin(),
+			 normal, &depth, &return_code,
+			 maxc, contact, skip,
+			 output);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
index 3924377705..9f7d988fc1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
@@ -19,11 +19,9 @@ subject to the following restrictions:
 #ifndef BT_BOX_BOX_DETECTOR_H
 #define BT_BOX_BOX_DETECTOR_H
 
-
 class btBoxShape;
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 
-
 /// btBoxBoxDetector wraps the ODE box-box collision detector
 /// re-distributed under the Zlib license with permission from Russell L. Smith
 struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
@@ -32,13 +30,11 @@ struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
 	const btBoxShape* m_box2;
 
 public:
+	btBoxBoxDetector(const btBoxShape* box1, const btBoxShape* box2);
 
-	btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2);
-
-	virtual ~btBoxBoxDetector() {};
-
-	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+	virtual ~btBoxBoxDetector(){};
 
+	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
 };
 
-#endif //BT_BOX_BOX_DETECTOR_H
+#endif  //BT_BOX_BOX_DETECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
index 35f77d4e65..d6e15f555b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
@@ -23,11 +23,9 @@ class btPoolAllocator;
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator size, default collision algorithms and persistent manifold pool size
 ///@todo: describe the meaning
-class	btCollisionConfiguration
+class btCollisionConfiguration
 {
-
 public:
-
 	virtual ~btCollisionConfiguration()
 	{
 	}
@@ -37,13 +35,9 @@ public:
 
 	virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
 
-
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
+	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) = 0;
 
 	virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) = 0;
-
-
 };
 
-#endif //BT_COLLISION_CONFIGURATION
-
+#endif  //BT_COLLISION_CONFIGURATION
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
index 62ee66c4e9..bd81284939 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -26,20 +26,18 @@ struct btCollisionAlgorithmConstructionInfo;
 struct btCollisionAlgorithmCreateFunc
 {
 	bool m_swapped;
-	
+
 	btCollisionAlgorithmCreateFunc()
-		:m_swapped(false)
+		: m_swapped(false)
 	{
 	}
 	virtual ~btCollisionAlgorithmCreateFunc(){};
 
-	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo&, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		
 		(void)body0Wrap;
 		(void)body1Wrap;
 		return 0;
 	}
 };
-#endif //BT_COLLISION_CREATE_FUNC
-
+#endif  //BT_COLLISION_CREATE_FUNC
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index 5739a1ef01..25b2b1ea46 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btCollisionDispatcher.h"
 #include "LinearMath/btQuickprof.h"
 
@@ -27,46 +25,38 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-int gNumManifold = 0;
-
 #ifdef BT_DEBUG
 #include <stdio.h>
 #endif
 
-
-btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
-m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
-	m_collisionConfiguration(collisionConfiguration)
+btCollisionDispatcher::btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration) : m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
+																								 m_collisionConfiguration(collisionConfiguration)
 {
 	int i;
 
 	setNearCallback(defaultNearCallback);
-	
+
 	m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
 
 	m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
 
-	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
+	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
 	{
-		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
+		for (int j = 0; j < MAX_BROADPHASE_COLLISION_TYPES; j++)
 		{
-			m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
+			m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i, j);
 			btAssert(m_doubleDispatchContactPoints[i][j]);
 			m_doubleDispatchClosestPoints[i][j] = m_collisionConfiguration->getClosestPointsAlgorithmCreateFunc(i, j);
-
 		}
 	}
-	
-	
 }
 
-
-void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
+void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
 {
 	m_doubleDispatchContactPoints[proxyType0][proxyType1] = createFunc;
 }
 
-void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
+void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
 {
 	m_doubleDispatchClosestPoints[proxyType0][proxyType1] = createFunc;
 }
@@ -75,37 +65,33 @@ btCollisionDispatcher::~btCollisionDispatcher()
 {
 }
 
-btPersistentManifold*	btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) 
-{ 
-	gNumManifold++;
-	
+btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
+{
 	//btAssert(gNumManifold < 65535);
-	
-
 
 	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-	
-	btScalar contactBreakingThreshold =  (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? 
-		btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
-		: gContactBreakingThreshold ;
-
-	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
-		
- 	void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) );
-    if (NULL == mem)
+
+	btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
+																																: gContactBreakingThreshold;
+
+	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
+
+	void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
+	if (NULL == mem)
 	{
-        //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
-		if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
+		//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
+		if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
 		{
-			mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
-		} else
+			mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
+		}
+		else
 		{
 			btAssert(0);
 			//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
 			return 0;
 		}
 	}
-	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
+	btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
 	manifold->m_index1a = m_manifoldsPtr.size();
 	m_manifoldsPtr.push_back(manifold);
 
@@ -117,18 +103,14 @@ void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
 	manifold->clearManifold();
 }
 
-	
 void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 {
-	
-	gNumManifold--;
-
 	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
 	clearManifold(manifold);
 
 	int findIndex = manifold->m_index1a;
 	btAssert(findIndex < m_manifoldsPtr.size());
-	m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
+	m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
 	m_manifoldsPtr[findIndex]->m_index1a = findIndex;
 	m_manifoldsPtr.pop_back();
 
@@ -136,19 +118,15 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
 	{
 		m_persistentManifoldPoolAllocator->freeMemory(manifold);
-	} else
+	}
+	else
 	{
 		btAlignedFree(manifold);
 	}
-	
 }
 
-	
-
-
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType)
+btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType)
 {
-	
 	btCollisionAlgorithmConstructionInfo ci;
 
 	ci.m_dispatcher1 = this;
@@ -166,21 +144,18 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObje
 	return algo;
 }
 
-
-
-
-bool	btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)
+bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0, const btCollisionObject* body1)
 {
 	//here you can do filtering
-	bool hasResponse = 
+	bool hasResponse =
 		(body0->hasContactResponse() && body1->hasContactResponse());
 	//no response between two static/kinematic bodies:
 	hasResponse = hasResponse &&
-		((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject()));
+				  ((!body0->isStaticOrKinematicObject()) || (!body1->isStaticOrKinematicObject()));
 	return hasResponse;
 }
 
-bool	btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1)
+bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
 {
 	btAssert(body0);
 	btAssert(body1);
@@ -197,31 +172,27 @@ bool	btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const
 			printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
 		}
 	}
-#endif //BT_DEBUG
+#endif  //BT_DEBUG
 
 	if ((!body0->isActive()) && (!body1->isActive()))
 		needsCollision = false;
 	else if ((!body0->checkCollideWith(body1)) || (!body1->checkCollideWith(body0)))
 		needsCollision = false;
-	
-	return needsCollision ;
 
+	return needsCollision;
 }
 
-
-
 ///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
 ///this is useful for the collision dispatcher.
 class btCollisionPairCallback : public btOverlapCallback
 {
 	const btDispatcherInfo& m_dispatchInfo;
-	btCollisionDispatcher*	m_dispatcher;
+	btCollisionDispatcher* m_dispatcher;
 
 public:
-
-	btCollisionPairCallback(const btDispatcherInfo& dispatchInfo,btCollisionDispatcher*	dispatcher)
-	:m_dispatchInfo(dispatchInfo),
-	m_dispatcher(dispatcher)
+	btCollisionPairCallback(const btDispatcherInfo& dispatchInfo, btCollisionDispatcher* dispatcher)
+		: m_dispatchInfo(dispatchInfo),
+		  m_dispatcher(dispatcher)
 	{
 	}
 
@@ -233,83 +204,76 @@ public:
 	}
 	*/
 
-
 	virtual ~btCollisionPairCallback() {}
 
-
-	virtual bool	processOverlap(btBroadphasePair& pair)
+	virtual bool processOverlap(btBroadphasePair& pair)
 	{
-		(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
+		(*m_dispatcher->getNearCallback())(pair, *m_dispatcher, m_dispatchInfo);
 		return false;
 	}
 };
 
-
-
-void	btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) 
+void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
 {
 	//m_blockedForChanges = true;
 
-	btCollisionPairCallback	collisionCallback(dispatchInfo,this);
+	btCollisionPairCallback collisionCallback(dispatchInfo, this);
 
-	pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
+	{
+		BT_PROFILE("processAllOverlappingPairs");
+		pairCache->processAllOverlappingPairs(&collisionCallback, dispatcher, dispatchInfo);
+	}
 
 	//m_blockedForChanges = false;
-
 }
 
-
-
 //by default, Bullet will use this near callback
 void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
 {
-		btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+	btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+	btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+
+	if (dispatcher.needsCollision(colObj0, colObj1))
+	{
+		btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
+		btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);
 
-		if (dispatcher.needsCollision(colObj0,colObj1))
+		//dispatcher will keep algorithms persistent in the collision pair
+		if (!collisionPair.m_algorithm)
 		{
-			btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
-			btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
+			collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap, &obj1Wrap, 0, BT_CONTACT_POINT_ALGORITHMS);
+		}
 
+		if (collisionPair.m_algorithm)
+		{
+			btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
 
-			//dispatcher will keep algorithms persistent in the collision pair
-			if (!collisionPair.m_algorithm)
+			if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
 			{
-				collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap,0, BT_CONTACT_POINT_ALGORITHMS);
-			}
+				//discrete collision detection query
 
-			if (collisionPair.m_algorithm)
+				collisionPair.m_algorithm->processCollision(&obj0Wrap, &obj1Wrap, dispatchInfo, &contactPointResult);
+			}
+			else
 			{
-				btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap);
-				
-				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
-				{
-					//discrete collision detection query
-					
-					collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult);
-				} else
-				{
-					//continuous collision detection query, time of impact (toi)
-					btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-
-				}
+				//continuous collision detection query, time of impact (toi)
+				btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0, colObj1, dispatchInfo, &contactPointResult);
+				if (dispatchInfo.m_timeOfImpact > toi)
+					dispatchInfo.m_timeOfImpact = toi;
 			}
 		}
-
+	}
 }
 
-
 void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
 {
-    void* mem = m_collisionAlgorithmPoolAllocator->allocate( size );
-    if (NULL == mem)
-    {
-	    //warn user for overflow?
-	    return btAlignedAlloc(static_cast<size_t>(size), 16);
-    }
-    return mem;
+	void* mem = m_collisionAlgorithmPoolAllocator->allocate(size);
+	if (NULL == mem)
+	{
+		//warn user for overflow?
+		return btAlignedAlloc(static_cast<size_t>(size), 16);
+	}
+	return mem;
 }
 
 void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
@@ -317,7 +281,8 @@ void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
 	if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
 	{
 		m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
-	} else
+	}
+	else
 	{
 		btAlignedFree(ptr);
 	}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index b97ee3c1ba..6b9f5e23a5 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -37,35 +37,30 @@ class btCollisionDispatcher;
 ///user can override this nearcallback for collision filtering and more finegrained control over collision detection
 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
 
-
 ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
 ///Time of Impact, Closest Points and Penetration Depth.
 class btCollisionDispatcher : public btDispatcher
 {
-
 protected:
+	int m_dispatcherFlags;
 
-	int		m_dispatcherFlags;
+	btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
 
-	btAlignedObjectArray<btPersistentManifold*>	m_manifoldsPtr;
+	btManifoldResult m_defaultManifoldResult;
 
-	btManifoldResult	m_defaultManifoldResult;
+	btNearCallback m_nearCallback;
 
-	btNearCallback		m_nearCallback;
-	
-	btPoolAllocator*	m_collisionAlgorithmPoolAllocator;
+	btPoolAllocator* m_collisionAlgorithmPoolAllocator;
 
-	btPoolAllocator*	m_persistentManifoldPoolAllocator;
+	btPoolAllocator* m_persistentManifoldPoolAllocator;
 
 	btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
 
 	btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
 
-	btCollisionConfiguration*	m_collisionConfiguration;
-
+	btCollisionConfiguration* m_collisionConfiguration;
 
 public:
-
 	enum DispatcherFlags
 	{
 		CD_STATIC_STATIC_REPORTED = 1,
@@ -73,103 +68,100 @@ public:
 		CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
 	};
 
-	int	getDispatcherFlags() const
+	int getDispatcherFlags() const
 	{
 		return m_dispatcherFlags;
 	}
 
-	void	setDispatcherFlags(int flags)
+	void setDispatcherFlags(int flags)
 	{
 		m_dispatcherFlags = flags;
 	}
 
 	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
-	void	registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
+	void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
 
-	void	registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc);
+	void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
 
-	int	getNumManifolds() const
-	{ 
-		return int( m_manifoldsPtr.size());
+	int getNumManifolds() const
+	{
+		return int(m_manifoldsPtr.size());
 	}
 
-	btPersistentManifold**	getInternalManifoldPointer()
+	btPersistentManifold** getInternalManifoldPointer()
 	{
-		return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
+		return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0;
 	}
 
-	 btPersistentManifold* getManifoldByIndexInternal(int index)
+	btPersistentManifold* getManifoldByIndexInternal(int index)
 	{
 		return m_manifoldsPtr[index];
 	}
 
-	 const btPersistentManifold* getManifoldByIndexInternal(int index) const
+	const btPersistentManifold* getManifoldByIndexInternal(int index) const
 	{
 		return m_manifoldsPtr[index];
 	}
 
-	btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
+	btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btCollisionDispatcher();
 
-	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
-	
-	virtual void releaseManifold(btPersistentManifold* manifold);
+	virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1);
 
+	virtual void releaseManifold(btPersistentManifold* manifold);
 
 	virtual void clearManifold(btPersistentManifold* manifold);
 
-	btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
-		
-	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
-	
-	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
-	
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
+	btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
+
+	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
+
+	virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1);
 
-	void	setNearCallback(btNearCallback	nearCallback)
+	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher);
+
+	void setNearCallback(btNearCallback nearCallback)
 	{
-		m_nearCallback = nearCallback; 
+		m_nearCallback = nearCallback;
 	}
 
-	btNearCallback	getNearCallback() const
+	btNearCallback getNearCallback() const
 	{
 		return m_nearCallback;
 	}
 
 	//by default, Bullet will use this near callback
-	static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
+	static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
 
-	virtual	void* allocateCollisionAlgorithm(int size);
+	virtual void* allocateCollisionAlgorithm(int size);
 
-	virtual	void freeCollisionAlgorithm(void* ptr);
+	virtual void freeCollisionAlgorithm(void* ptr);
 
-	btCollisionConfiguration*	getCollisionConfiguration()
+	btCollisionConfiguration* getCollisionConfiguration()
 	{
 		return m_collisionConfiguration;
 	}
 
-	const btCollisionConfiguration*	getCollisionConfiguration() const
+	const btCollisionConfiguration* getCollisionConfiguration() const
 	{
 		return m_collisionConfiguration;
 	}
 
-	void	setCollisionConfiguration(btCollisionConfiguration* config)
+	void setCollisionConfiguration(btCollisionConfiguration* config)
 	{
 		m_collisionConfiguration = config;
 	}
 
-	virtual	btPoolAllocator*	getInternalManifoldPool()
+	virtual btPoolAllocator* getInternalManifoldPool()
 	{
 		return m_persistentManifoldPoolAllocator;
 	}
 
-	virtual	const btPoolAllocator*	getInternalManifoldPool() const
+	virtual const btPoolAllocator* getInternalManifoldPool() const
 	{
 		return m_persistentManifoldPoolAllocator;
 	}
-
 };
 
-#endif //BT_COLLISION__DISPATCHER_H
-
+#endif  //BT_COLLISION__DISPATCHER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
index 075860c503..6fe56538d2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btCollisionDispatcherMt.h"
 #include "LinearMath/btQuickprof.h"
 
@@ -27,138 +25,132 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-
-btCollisionDispatcherMt::btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize )
-    : btCollisionDispatcher( config )
+btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
+	: btCollisionDispatcher(config)
 {
-    m_batchUpdating = false;
-    m_grainSize = grainSize;  // iterations per task
+	m_batchUpdating = false;
+	m_grainSize = grainSize;  // iterations per task
 }
 
-
-btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 )
+btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
 {
-    //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-
-    btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ?
-        btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) )
-        : gContactBreakingThreshold;
-
-    btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() );
-
-    void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) );
-    if ( NULL == mem )
-    {
-        //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
-        if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 )
-        {
-            mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 );
-        }
-        else
-        {
-            btAssert( 0 );
-            //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
-            return 0;
-        }
-    }
-    btPersistentManifold* manifold = new( mem ) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold );
-    if ( !m_batchUpdating )
-    {
-        // batch updater will update manifold pointers array after finishing, so
-        // only need to update array when not batch-updating
-        //btAssert( !btThreadsAreRunning() );
-        manifold->m_index1a = m_manifoldsPtr.size();
-        m_manifoldsPtr.push_back( manifold );
-    }
-
-    return manifold;
+	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
+
+	btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
+																																: gContactBreakingThreshold;
+
+	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
+
+	void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
+	if (NULL == mem)
+	{
+		//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
+		if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
+		{
+			mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
+		}
+		else
+		{
+			btAssert(0);
+			//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
+			return 0;
+		}
+	}
+	btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
+	if (!m_batchUpdating)
+	{
+		// batch updater will update manifold pointers array after finishing, so
+		// only need to update array when not batch-updating
+		//btAssert( !btThreadsAreRunning() );
+		manifold->m_index1a = m_manifoldsPtr.size();
+		m_manifoldsPtr.push_back(manifold);
+	}
+
+	return manifold;
 }
 
-void btCollisionDispatcherMt::releaseManifold( btPersistentManifold* manifold )
+void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
 {
-    clearManifold( manifold );
-    //btAssert( !btThreadsAreRunning() );
-    if ( !m_batchUpdating )
-    {
-        // batch updater will update manifold pointers array after finishing, so
-        // only need to update array when not batch-updating
-        int findIndex = manifold->m_index1a;
-        btAssert( findIndex < m_manifoldsPtr.size() );
-        m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 );
-        m_manifoldsPtr[ findIndex ]->m_index1a = findIndex;
-        m_manifoldsPtr.pop_back();
-    }
-
-    manifold->~btPersistentManifold();
-    if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) )
-    {
-        m_persistentManifoldPoolAllocator->freeMemory( manifold );
-    }
-    else
-    {
-        btAlignedFree( manifold );
-    }
+	clearManifold(manifold);
+	//btAssert( !btThreadsAreRunning() );
+	if (!m_batchUpdating)
+	{
+		// batch updater will update manifold pointers array after finishing, so
+		// only need to update array when not batch-updating
+		int findIndex = manifold->m_index1a;
+		btAssert(findIndex < m_manifoldsPtr.size());
+		m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
+		m_manifoldsPtr[findIndex]->m_index1a = findIndex;
+		m_manifoldsPtr.pop_back();
+	}
+
+	manifold->~btPersistentManifold();
+	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
+	{
+		m_persistentManifoldPoolAllocator->freeMemory(manifold);
+	}
+	else
+	{
+		btAlignedFree(manifold);
+	}
 }
 
 struct CollisionDispatcherUpdater : public btIParallelForBody
 {
-    btBroadphasePair* mPairArray;
-    btNearCallback mCallback;
-    btCollisionDispatcher* mDispatcher;
-    const btDispatcherInfo* mInfo;
-
-    CollisionDispatcherUpdater()
-    {
-        mPairArray = NULL;
-        mCallback = NULL;
-        mDispatcher = NULL;
-        mInfo = NULL;
-    }
-    void forLoop( int iBegin, int iEnd ) const
-    {
-        for ( int i = iBegin; i < iEnd; ++i )
-        {
-            btBroadphasePair* pair = &mPairArray[ i ];
-            mCallback( *pair, *mDispatcher, *mInfo );
-        }
-    }
+	btBroadphasePair* mPairArray;
+	btNearCallback mCallback;
+	btCollisionDispatcher* mDispatcher;
+	const btDispatcherInfo* mInfo;
+
+	CollisionDispatcherUpdater()
+	{
+		mPairArray = NULL;
+		mCallback = NULL;
+		mDispatcher = NULL;
+		mInfo = NULL;
+	}
+	void forLoop(int iBegin, int iEnd) const
+	{
+		for (int i = iBegin; i < iEnd; ++i)
+		{
+			btBroadphasePair* pair = &mPairArray[i];
+			mCallback(*pair, *mDispatcher, *mInfo);
+		}
+	}
 };
 
-
-void btCollisionDispatcherMt::dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher )
+void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
 {
-    int pairCount = pairCache->getNumOverlappingPairs();
-    if ( pairCount == 0 )
-    {
-        return;
-    }
-    CollisionDispatcherUpdater updater;
-    updater.mCallback = getNearCallback();
-    updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
-    updater.mDispatcher = this;
-    updater.mInfo = &info;
-
-    m_batchUpdating = true;
-    btParallelFor( 0, pairCount, m_grainSize, updater );
-    m_batchUpdating = false;
-
-    // reconstruct the manifolds array to ensure determinism
-    m_manifoldsPtr.resizeNoInitialize( 0 );
-
-    btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
-    for ( int i = 0; i < pairCount; ++i )
-    {
-        if (btCollisionAlgorithm* algo = pairs[ i ].m_algorithm)
-        {
-            algo->getAllContactManifolds( m_manifoldsPtr );
-        }
-    }
-
-    // update the indices (used when releasing manifolds)
-    for ( int i = 0; i < m_manifoldsPtr.size(); ++i )
-    {
-        m_manifoldsPtr[ i ]->m_index1a = i;
-    }
+	int pairCount = pairCache->getNumOverlappingPairs();
+	if (pairCount == 0)
+	{
+		return;
+	}
+	CollisionDispatcherUpdater updater;
+	updater.mCallback = getNearCallback();
+	updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
+	updater.mDispatcher = this;
+	updater.mInfo = &info;
+
+	m_batchUpdating = true;
+	btParallelFor(0, pairCount, m_grainSize, updater);
+	m_batchUpdating = false;
+
+	// reconstruct the manifolds array to ensure determinism
+	m_manifoldsPtr.resizeNoInitialize(0);
+
+	btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
+	for (int i = 0; i < pairCount; ++i)
+	{
+		if (btCollisionAlgorithm* algo = pairs[i].m_algorithm)
+		{
+			algo->getAllContactManifolds(m_manifoldsPtr);
+		}
+	}
+
+	// update the indices (used when releasing manifolds)
+	for (int i = 0; i < m_manifoldsPtr.size(); ++i)
+	{
+		m_manifoldsPtr[i]->m_index1a = i;
+	}
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
index f1d7eafdc9..28eba7f32a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
@@ -19,21 +19,19 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "LinearMath/btThreads.h"
 
-
 class btCollisionDispatcherMt : public btCollisionDispatcher
 {
 public:
-    btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize = 40 );
+	btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize = 40);
 
-    virtual btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE;
-    virtual void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE;
+	virtual btPersistentManifold* getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1) BT_OVERRIDE;
+	virtual void releaseManifold(btPersistentManifold* manifold) BT_OVERRIDE;
 
-    virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE;
+	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
 
 protected:
-    bool m_batchUpdating;
-    int m_grainSize;
+	bool m_batchUpdating;
+	int m_grainSize;
 };
 
-#endif //BT_COLLISION_DISPATCHER_MT_H
-
+#endif  //BT_COLLISION_DISPATCHER_MT_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index b595c56bc5..98a02d0c45 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -13,41 +13,41 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btCollisionObject.h"
 #include "LinearMath/btSerializer.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 
 btCollisionObject::btCollisionObject()
-	:	m_interpolationLinearVelocity(0.f, 0.f, 0.f),
-		m_interpolationAngularVelocity(0.f, 0.f, 0.f),
-		m_anisotropicFriction(1.f,1.f,1.f),
-		m_hasAnisotropicFriction(false),
-		m_contactProcessingThreshold(BT_LARGE_FLOAT),
-		m_broadphaseHandle(0),
-		m_collisionShape(0),
-		m_extensionPointer(0),
-		m_rootCollisionShape(0),
-		m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
-		m_islandTag1(-1),
-		m_companionId(-1),
-        m_worldArrayIndex(-1),
-		m_activationState1(1),
-		m_deactivationTime(btScalar(0.)),
-		m_friction(btScalar(0.5)),
-		m_restitution(btScalar(0.)),
-		m_rollingFriction(0.0f),
-        m_spinningFriction(0.f),
-		m_contactDamping(.1),
-		m_contactStiffness(1e4),
-		m_internalType(CO_COLLISION_OBJECT),
-		m_userObjectPointer(0),
-		m_userIndex2(-1),
-		m_userIndex(-1),
-		m_hitFraction(btScalar(1.)),
-		m_ccdSweptSphereRadius(btScalar(0.)),
-		m_ccdMotionThreshold(btScalar(0.)),
-		m_checkCollideWith(false),
-		m_updateRevision(0)
+	: m_interpolationLinearVelocity(0.f, 0.f, 0.f),
+	  m_interpolationAngularVelocity(0.f, 0.f, 0.f),
+	  m_anisotropicFriction(1.f, 1.f, 1.f),
+	  m_hasAnisotropicFriction(false),
+	  m_contactProcessingThreshold(BT_LARGE_FLOAT),
+	  m_broadphaseHandle(0),
+	  m_collisionShape(0),
+	  m_extensionPointer(0),
+	  m_rootCollisionShape(0),
+	  m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
+	  m_islandTag1(-1),
+	  m_companionId(-1),
+	  m_worldArrayIndex(-1),
+	  m_activationState1(1),
+	  m_deactivationTime(btScalar(0.)),
+	  m_friction(btScalar(0.5)),
+	  m_restitution(btScalar(0.)),
+	  m_rollingFriction(0.0f),
+	  m_spinningFriction(0.f),
+	  m_contactDamping(.1),
+	  m_contactStiffness(BT_LARGE_FLOAT),
+	  m_internalType(CO_COLLISION_OBJECT),
+	  m_userObjectPointer(0),
+	  m_userIndex2(-1),
+	  m_userIndex(-1),
+	  m_hitFraction(btScalar(1.)),
+	  m_ccdSweptSphereRadius(btScalar(0.)),
+	  m_ccdMotionThreshold(btScalar(0.)),
+	  m_checkCollideWith(false),
+	  m_updateRevision(0)
 {
 	m_worldTransform.setIdentity();
 	m_interpolationWorldTransform.setIdentity();
@@ -58,8 +58,8 @@ btCollisionObject::~btCollisionObject()
 }
 
 void btCollisionObject::setActivationState(int newState) const
-{ 
-	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
+{
+	if ((m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
 		m_activationState1 = newState;
 }
 
@@ -70,7 +70,7 @@ void btCollisionObject::forceActivationState(int newState) const
 
 void btCollisionObject::activate(bool forceActivation) const
 {
-	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
+	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT)))
 	{
 		setActivationState(ACTIVE_TAG);
 		m_deactivationTime = btScalar(0.);
@@ -79,7 +79,6 @@ void btCollisionObject::activate(bool forceActivation) const
 
 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-
 	btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
 
 	m_worldTransform.serialize(dataOut->m_worldTransform);
@@ -91,7 +90,7 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
 	dataOut->m_broadphaseHandle = 0;
 	dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
-	dataOut->m_rootCollisionShape = 0;//@todo
+	dataOut->m_rootCollisionShape = 0;  //@todo
 	dataOut->m_collisionFlags = m_collisionFlags;
 	dataOut->m_islandTag1 = m_islandTag1;
 	dataOut->m_companionId = m_companionId;
@@ -103,8 +102,8 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_contactStiffness = m_contactStiffness;
 	dataOut->m_restitution = m_restitution;
 	dataOut->m_internalType = m_internalType;
-	
-	char* name = (char*) serializer->findNameForPointer(this);
+
+	char* name = (char*)serializer->findNameForPointer(this);
 	dataOut->m_name = (char*)serializer->getUniquePointer(name);
 	if (dataOut->m_name)
 	{
@@ -114,18 +113,25 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
 	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 	dataOut->m_checkCollideWith = m_checkCollideWith;
-
-	// Fill padding with zeros to appease msan.
-	memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
-
+	if (m_broadphaseHandle)
+	{
+		dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
+		dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
+		dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
+	}
+	else
+	{
+		dataOut->m_collisionFilterGroup = 0;
+		dataOut->m_collisionFilterMask = 0;
+		dataOut->m_uniqueId = -1;
+	}
 	return btCollisionObjectDataName;
 }
 
-
 void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
 {
 	int len = calculateSerializeBufferSize();
-	btChunk* chunk = serializer->allocate(len,1);
+	btChunk* chunk = serializer->allocate(len, 1);
 	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
+	serializer->finalizeChunk(chunk, structType, BT_COLLISIONOBJECT_CODE, (void*)this);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
index fec831bffc..56b3d89e56 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -25,8 +25,8 @@ subject to the following restrictions:
 #define DISABLE_DEACTIVATION 4
 #define DISABLE_SIMULATION 5
 
-struct	btBroadphaseProxy;
-class	btCollisionShape;
+struct btBroadphaseProxy;
+class btCollisionShape;
 struct btCollisionShapeData;
 #include "LinearMath/btMotionState.h"
 #include "LinearMath/btAlignedAllocator.h"
@@ -42,123 +42,118 @@ typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
 #define btCollisionObjectDataName "btCollisionObjectFloatData"
 #endif
 
-
-/// btCollisionObject can be used to manage collision detection objects. 
+/// btCollisionObject can be used to manage collision detection objects.
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
 /// They can be added to the btCollisionWorld.
-ATTRIBUTE_ALIGNED16(class)	btCollisionObject
+ATTRIBUTE_ALIGNED16(class)
+btCollisionObject
 {
-
 protected:
-
-	btTransform	m_worldTransform;
+	btTransform m_worldTransform;
 
 	///m_interpolationWorldTransform is used for CCD and interpolation
 	///it can be either previous or future (predicted) transform
-	btTransform	m_interpolationWorldTransform;
-	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
+	btTransform m_interpolationWorldTransform;
+	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities)
 	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
-	btVector3	m_interpolationLinearVelocity;
-	btVector3	m_interpolationAngularVelocity;
-	
-	btVector3	m_anisotropicFriction;
-	int			m_hasAnisotropicFriction;
-	btScalar	m_contactProcessingThreshold;	
-
-	btBroadphaseProxy*		m_broadphaseHandle;
-	btCollisionShape*		m_collisionShape;
+	btVector3 m_interpolationLinearVelocity;
+	btVector3 m_interpolationAngularVelocity;
+
+	btVector3 m_anisotropicFriction;
+	int m_hasAnisotropicFriction;
+	btScalar m_contactProcessingThreshold;
+
+	btBroadphaseProxy* m_broadphaseHandle;
+	btCollisionShape* m_collisionShape;
 	///m_extensionPointer is used by some internal low-level Bullet extensions.
-	void*					m_extensionPointer;
-	
+	void* m_extensionPointer;
+
 	///m_rootCollisionShape is temporarily used to store the original collision shape
 	///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
 	///If it is NULL, the m_collisionShape is not temporarily replaced.
-	btCollisionShape*		m_rootCollisionShape;
+	btCollisionShape* m_rootCollisionShape;
 
-	int				m_collisionFlags;
+	int m_collisionFlags;
 
-	int				m_islandTag1;
-	int				m_companionId;
-    int             m_worldArrayIndex;  // index of object in world's collisionObjects array
+	int m_islandTag1;
+	int m_companionId;
+	int m_worldArrayIndex;  // index of object in world's collisionObjects array
 
-	mutable int				m_activationState1;
-	mutable btScalar			m_deactivationTime;
+	mutable int m_activationState1;
+	mutable btScalar m_deactivationTime;
 
-	btScalar		m_friction;
-	btScalar		m_restitution;
-	btScalar		m_rollingFriction;//torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
-    btScalar        m_spinningFriction; // torsional friction around the contact normal (useful for grasping)
-	btScalar		m_contactDamping;
-	btScalar		m_contactStiffness;
-	
-	
+	btScalar m_friction;
+	btScalar m_restitution;
+	btScalar m_rollingFriction;   //torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
+	btScalar m_spinningFriction;  // torsional friction around the contact normal (useful for grasping)
+	btScalar m_contactDamping;
+	btScalar m_contactStiffness;
 
 	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
 	///do not assign your own m_internalType unless you write a new dynamics object class.
-	int				m_internalType;
+	int m_internalType;
 
 	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
 
-	void*			m_userObjectPointer;
+	void* m_userObjectPointer;
+
+	int m_userIndex2;
 
-	int				m_userIndex2;
-	
-    int	m_userIndex;
+	int m_userIndex;
 
 	///time of impact calculation
-	btScalar		m_hitFraction; 
-	
+	btScalar m_hitFraction;
+
 	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar		m_ccdSweptSphereRadius;
+	btScalar m_ccdSweptSphereRadius;
 
 	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
-	btScalar		m_ccdMotionThreshold;
-	
+	btScalar m_ccdMotionThreshold;
+
 	/// If some object should have elaborate collision filtering by sub-classes
-	int			m_checkCollideWith;
+	int m_checkCollideWith;
 
 	btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
 
 	///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
-	int			m_updateRevision;
+	int m_updateRevision;
 
-	btVector3	m_customDebugColorRGB;
+	btVector3 m_customDebugColorRGB;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	enum CollisionFlags
 	{
-		CF_STATIC_OBJECT= 1,
-		CF_KINEMATIC_OBJECT= 2,
+		CF_STATIC_OBJECT = 1,
+		CF_KINEMATIC_OBJECT = 2,
 		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+		CF_CUSTOM_MATERIAL_CALLBACK = 8,  //this allows per-triangle material (friction/restitution)
 		CF_CHARACTER_OBJECT = 16,
-		CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
-		CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing
+		CF_DISABLE_VISUALIZE_OBJECT = 32,          //disable debug drawing
+		CF_DISABLE_SPU_COLLISION_PROCESSING = 64,  //disable parallel/SPU processing
 		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
 		CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
 		CF_HAS_FRICTION_ANCHOR = 512,
 		CF_HAS_COLLISION_SOUND_TRIGGER = 1024
 	};
 
-	enum	CollisionObjectTypes
+	enum CollisionObjectTypes
 	{
-		CO_COLLISION_OBJECT =1,
-		CO_RIGID_BODY=2,
+		CO_COLLISION_OBJECT = 1,
+		CO_RIGID_BODY = 2,
 		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
 		///It is useful for collision sensors, explosion objects, character controller etc.
-		CO_GHOST_OBJECT=4,
-		CO_SOFT_BODY=8,
-		CO_HF_FLUID=16,
-		CO_USER_TYPE=32,
-		CO_FEATHERSTONE_LINK=64
+		CO_GHOST_OBJECT = 4,
+		CO_SOFT_BODY = 8,
+		CO_HF_FLUID = 16,
+		CO_USER_TYPE = 32,
+		CO_FEATHERSTONE_LINK = 64
 	};
 
 	enum AnisotropicFrictionFlags
 	{
-		CF_ANISOTROPIC_FRICTION_DISABLED=0,
+		CF_ANISOTROPIC_FRICTION_DISABLED = 0,
 		CF_ANISOTROPIC_FRICTION = 1,
 		CF_ANISOTROPIC_ROLLING_FRICTION = 2
 	};
@@ -166,76 +161,77 @@ public:
 	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
 	{
 		///static objects, kinematic and object without contact response don't merge islands
-		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
+		return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0);
 	}
 
 	const btVector3& getAnisotropicFriction() const
 	{
 		return m_anisotropicFriction;
 	}
-	void	setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
+	void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
 	{
 		m_anisotropicFriction = anisotropicFriction;
-		bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
-		m_hasAnisotropicFriction = isUnity?frictionMode : 0;
+		bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f);
+		m_hasAnisotropicFriction = isUnity ? frictionMode : 0;
 	}
-	bool	hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
+	bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
 	{
-		return (m_hasAnisotropicFriction&frictionMode)!=0;
+		return (m_hasAnisotropicFriction & frictionMode) != 0;
 	}
 
 	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
 	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
-	void	setContactProcessingThreshold( btScalar contactProcessingThreshold)
+	void setContactProcessingThreshold(btScalar contactProcessingThreshold)
 	{
 		m_contactProcessingThreshold = contactProcessingThreshold;
 	}
-	btScalar	getContactProcessingThreshold() const
+	btScalar getContactProcessingThreshold() const
 	{
 		return m_contactProcessingThreshold;
 	}
 
-	SIMD_FORCE_INLINE bool		isStaticObject() const {
+	SIMD_FORCE_INLINE bool isStaticObject() const
+	{
 		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
 	}
 
-	SIMD_FORCE_INLINE bool		isKinematicObject() const
+	SIMD_FORCE_INLINE bool isKinematicObject() const
 	{
 		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
 	}
 
-	SIMD_FORCE_INLINE bool		isStaticOrKinematicObject() const
+	SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const
 	{
-		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
+		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0;
 	}
 
-	SIMD_FORCE_INLINE bool		hasContactResponse() const {
-		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
+	SIMD_FORCE_INLINE bool hasContactResponse() const
+	{
+		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0;
 	}
 
-	
 	btCollisionObject();
 
 	virtual ~btCollisionObject();
 
-	virtual void	setCollisionShape(btCollisionShape* collisionShape)
+	virtual void setCollisionShape(btCollisionShape * collisionShape)
 	{
 		m_updateRevision++;
 		m_collisionShape = collisionShape;
 		m_rootCollisionShape = collisionShape;
 	}
 
-	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const
+	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
 	{
 		return m_collisionShape;
 	}
 
-	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape()
+	SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
 	{
 		return m_collisionShape;
 	}
 
-	void	setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
+	void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
 	{
 		if (ignoreCollisionCheck)
 		{
@@ -253,7 +249,7 @@ public:
 		m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
 	}
 
-	virtual bool	checkCollideWithOverride(const btCollisionObject*  co) const
+	virtual bool checkCollideWithOverride(const btCollisionObject* co) const
 	{
 		int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
 		if (index < m_objectsWithoutCollisionCheck.size())
@@ -263,317 +259,309 @@ public:
 		return true;
 	}
 
-
-	
-
-	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
+	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
 	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
-	void*		internalGetExtensionPointer() const
+	void* internalGetExtensionPointer() const
 	{
 		return m_extensionPointer;
 	}
 	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
 	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
-	void	internalSetExtensionPointer(void* pointer)
+	void internalSetExtensionPointer(void* pointer)
 	{
 		m_extensionPointer = pointer;
 	}
 
-	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
-	
+	SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1; }
+
 	void setActivationState(int newState) const;
 
-	void	setDeactivationTime(btScalar time)
+	void setDeactivationTime(btScalar time)
 	{
 		m_deactivationTime = time;
 	}
-	btScalar	getDeactivationTime() const
+	btScalar getDeactivationTime() const
 	{
 		return m_deactivationTime;
 	}
 
 	void forceActivationState(int newState) const;
 
-	void	activate(bool forceActivation = false) const;
+	void activate(bool forceActivation = false) const;
 
 	SIMD_FORCE_INLINE bool isActive() const
 	{
 		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
 	}
 
-	void	setRestitution(btScalar rest)
+	void setRestitution(btScalar rest)
 	{
 		m_updateRevision++;
 		m_restitution = rest;
 	}
-	btScalar	getRestitution() const
+	btScalar getRestitution() const
 	{
 		return m_restitution;
 	}
-	void	setFriction(btScalar frict)
+	void setFriction(btScalar frict)
 	{
 		m_updateRevision++;
 		m_friction = frict;
 	}
-	btScalar	getFriction() const
+	btScalar getFriction() const
 	{
 		return m_friction;
 	}
 
-	void	setRollingFriction(btScalar frict)
+	void setRollingFriction(btScalar frict)
 	{
 		m_updateRevision++;
 		m_rollingFriction = frict;
 	}
-	btScalar	getRollingFriction() const
+	btScalar getRollingFriction() const
 	{
 		return m_rollingFriction;
 	}
-    void	setSpinningFriction(btScalar frict)
-    {
-        m_updateRevision++;
-        m_spinningFriction = frict;
-    }
-    btScalar	getSpinningFriction() const
-    {
-        return m_spinningFriction;
-    }
-    void	setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
+	void setSpinningFriction(btScalar frict)
+	{
+		m_updateRevision++;
+		m_spinningFriction = frict;
+	}
+	btScalar getSpinningFriction() const
+	{
+		return m_spinningFriction;
+	}
+	void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
 	{
 		m_updateRevision++;
 		m_contactStiffness = stiffness;
 		m_contactDamping = damping;
-		
-		m_collisionFlags |=CF_HAS_CONTACT_STIFFNESS_DAMPING;
-		
-        //avoid divisions by zero...
-		if (m_contactStiffness< SIMD_EPSILON)
-        {
-            m_contactStiffness = SIMD_EPSILON;
-        }
-	}
-	
-	btScalar	getContactStiffness() const
+
+		m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING;
+
+		//avoid divisions by zero...
+		if (m_contactStiffness < SIMD_EPSILON)
+		{
+			m_contactStiffness = SIMD_EPSILON;
+		}
+	}
+
+	btScalar getContactStiffness() const
 	{
 		return m_contactStiffness;
 	}
-	
-	btScalar	getContactDamping() const
+
+	btScalar getContactDamping() const
 	{
 		return m_contactDamping;
 	}
-    
+
 	///reserved for Bullet internal usage
-	int	getInternalType() const
+	int getInternalType() const
 	{
 		return m_internalType;
 	}
 
-	btTransform&	getWorldTransform()
+	btTransform& getWorldTransform()
 	{
 		return m_worldTransform;
 	}
 
-	const btTransform&	getWorldTransform() const
+	const btTransform& getWorldTransform() const
 	{
 		return m_worldTransform;
 	}
 
-	void	setWorldTransform(const btTransform& worldTrans)
+	void setWorldTransform(const btTransform& worldTrans)
 	{
 		m_updateRevision++;
 		m_worldTransform = worldTrans;
 	}
 
-
-	SIMD_FORCE_INLINE btBroadphaseProxy*	getBroadphaseHandle()
+	SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle()
 	{
 		return m_broadphaseHandle;
 	}
 
-	SIMD_FORCE_INLINE const btBroadphaseProxy*	getBroadphaseHandle() const
+	SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const
 	{
 		return m_broadphaseHandle;
 	}
 
-	void	setBroadphaseHandle(btBroadphaseProxy* handle)
+	void setBroadphaseHandle(btBroadphaseProxy * handle)
 	{
 		m_broadphaseHandle = handle;
 	}
 
-
-	const btTransform&	getInterpolationWorldTransform() const
+	const btTransform& getInterpolationWorldTransform() const
 	{
 		return m_interpolationWorldTransform;
 	}
 
-	btTransform&	getInterpolationWorldTransform()
+	btTransform& getInterpolationWorldTransform()
 	{
 		return m_interpolationWorldTransform;
 	}
 
-	void	setInterpolationWorldTransform(const btTransform&	trans)
+	void setInterpolationWorldTransform(const btTransform& trans)
 	{
 		m_updateRevision++;
 		m_interpolationWorldTransform = trans;
 	}
 
-	void	setInterpolationLinearVelocity(const btVector3& linvel)
+	void setInterpolationLinearVelocity(const btVector3& linvel)
 	{
 		m_updateRevision++;
 		m_interpolationLinearVelocity = linvel;
 	}
 
-	void	setInterpolationAngularVelocity(const btVector3& angvel)
+	void setInterpolationAngularVelocity(const btVector3& angvel)
 	{
 		m_updateRevision++;
 		m_interpolationAngularVelocity = angvel;
 	}
 
-	const btVector3&	getInterpolationLinearVelocity() const
+	const btVector3& getInterpolationLinearVelocity() const
 	{
 		return m_interpolationLinearVelocity;
 	}
 
-	const btVector3&	getInterpolationAngularVelocity() const
+	const btVector3& getInterpolationAngularVelocity() const
 	{
 		return m_interpolationAngularVelocity;
 	}
 
 	SIMD_FORCE_INLINE int getIslandTag() const
 	{
-		return	m_islandTag1;
+		return m_islandTag1;
 	}
 
-	void	setIslandTag(int tag)
+	void setIslandTag(int tag)
 	{
 		m_islandTag1 = tag;
 	}
 
 	SIMD_FORCE_INLINE int getCompanionId() const
 	{
-		return	m_companionId;
+		return m_companionId;
 	}
 
-	void	setCompanionId(int id)
+	void setCompanionId(int id)
 	{
 		m_companionId = id;
 	}
 
-    SIMD_FORCE_INLINE int getWorldArrayIndex() const
-    {
-        return	m_worldArrayIndex;
-    }
+	SIMD_FORCE_INLINE int getWorldArrayIndex() const
+	{
+		return m_worldArrayIndex;
+	}
 
-    // only should be called by CollisionWorld
-    void setWorldArrayIndex(int ix)
-    {
-        m_worldArrayIndex = ix;
-    }
+	// only should be called by CollisionWorld
+	void setWorldArrayIndex(int ix)
+	{
+		m_worldArrayIndex = ix;
+	}
 
-    SIMD_FORCE_INLINE btScalar			getHitFraction() const
+	SIMD_FORCE_INLINE btScalar getHitFraction() const
 	{
-		return m_hitFraction; 
+		return m_hitFraction;
 	}
 
-	void	setHitFraction(btScalar hitFraction)
+	void setHitFraction(btScalar hitFraction)
 	{
 		m_hitFraction = hitFraction;
 	}
 
-	
-	SIMD_FORCE_INLINE int	getCollisionFlags() const
+	SIMD_FORCE_INLINE int getCollisionFlags() const
 	{
 		return m_collisionFlags;
 	}
 
-	void	setCollisionFlags(int flags)
+	void setCollisionFlags(int flags)
 	{
 		m_collisionFlags = flags;
 	}
-	
+
 	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar			getCcdSweptSphereRadius() const
+	btScalar getCcdSweptSphereRadius() const
 	{
 		return m_ccdSweptSphereRadius;
 	}
 
 	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	void	setCcdSweptSphereRadius(btScalar radius)
+	void setCcdSweptSphereRadius(btScalar radius)
 	{
 		m_ccdSweptSphereRadius = radius;
 	}
 
-	btScalar 	getCcdMotionThreshold() const
+	btScalar getCcdMotionThreshold() const
 	{
 		return m_ccdMotionThreshold;
 	}
 
-	btScalar 	getCcdSquareMotionThreshold() const
+	btScalar getCcdSquareMotionThreshold() const
 	{
-		return m_ccdMotionThreshold*m_ccdMotionThreshold;
+		return m_ccdMotionThreshold * m_ccdMotionThreshold;
 	}
 
-
-
 	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
-	void	setCcdMotionThreshold(btScalar ccdMotionThreshold)
+	void setCcdMotionThreshold(btScalar ccdMotionThreshold)
 	{
 		m_ccdMotionThreshold = ccdMotionThreshold;
 	}
 
 	///users can point to their objects, userPointer is not used by Bullet
-	void*	getUserPointer() const
+	void* getUserPointer() const
 	{
 		return m_userObjectPointer;
 	}
 
-	int	getUserIndex() const
+	int getUserIndex() const
 	{
 		return m_userIndex;
 	}
-	
-	int	getUserIndex2() const
+
+	int getUserIndex2() const
 	{
 		return m_userIndex2;
 	}
-	
+
 	///users can point to their objects, userPointer is not used by Bullet
-	void	setUserPointer(void* userPointer)
+	void setUserPointer(void* userPointer)
 	{
 		m_userObjectPointer = userPointer;
 	}
 
 	///users can point to their objects, userPointer is not used by Bullet
-	void	setUserIndex(int index)
+	void setUserIndex(int index)
 	{
 		m_userIndex = index;
 	}
-	
-	void	setUserIndex2(int index)
+
+	void setUserIndex2(int index)
 	{
 		m_userIndex2 = index;
 	}
 
-	int	getUpdateRevisionInternal() const
+	int getUpdateRevisionInternal() const
 	{
 		return m_updateRevision;
 	}
 
-	void	setCustomDebugColor(const btVector3& colorRGB)
+	void setCustomDebugColor(const btVector3& colorRGB)
 	{
 		m_customDebugColorRGB = colorRGB;
 		m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
 	}
 
-	void	removeCustomDebugColor()
+	void removeCustomDebugColor()
 	{
 		m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
 	}
 
-	bool getCustomDebugColor(btVector3& colorRGB) const
+	bool getCustomDebugColor(btVector3 & colorRGB) const
 	{
-		bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
+		bool hasCustomColor = (0 != (m_collisionFlags & CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
 		if (hasCustomColor)
 		{
 			colorRGB = m_customDebugColorRGB;
@@ -589,15 +577,16 @@ public:
 		return true;
 	}
 
-	virtual	int	calculateSerializeBufferSize()	const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, class btSerializer* serializer) const;
-
-	virtual void serializeSingleObject(class btSerializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
 
+	virtual void serializeSingleObject(class btSerializer * serializer) const;
 };
 
+// clang-format off
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btCollisionObjectDoubleData
 {
@@ -621,7 +610,6 @@ struct	btCollisionObjectDoubleData
 	double					m_hitFraction; 
 	double					m_ccdSweptSphereRadius;
 	double					m_ccdMotionThreshold;
-
 	int						m_hasAnisotropicFriction;
 	int						m_collisionFlags;
 	int						m_islandTag1;
@@ -629,8 +617,9 @@ struct	btCollisionObjectDoubleData
 	int						m_activationState1;
 	int						m_internalType;
 	int						m_checkCollideWith;
-
-	char	m_padding[4];
+	int						m_collisionFilterGroup;
+	int						m_collisionFilterMask;
+	int						m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
@@ -650,13 +639,12 @@ struct	btCollisionObjectFloatData
 	float					m_deactivationTime;
 	float					m_friction;
 	float					m_rollingFriction;
-    float                   m_contactDamping;
+	float                   m_contactDamping;
     float                   m_contactStiffness;
 	float					m_restitution;
 	float					m_hitFraction; 
 	float					m_ccdSweptSphereRadius;
 	float					m_ccdMotionThreshold;
-
 	int						m_hasAnisotropicFriction;
 	int						m_collisionFlags;
 	int						m_islandTag1;
@@ -664,16 +652,15 @@ struct	btCollisionObjectFloatData
 	int						m_activationState1;
 	int						m_internalType;
 	int						m_checkCollideWith;
-	char					m_padding[4];
+	int						m_collisionFilterGroup;
+	int						m_collisionFilterMask;
+	int						m_uniqueId;
 };
+// clang-format on
 
-
-
-SIMD_FORCE_INLINE	int	btCollisionObject::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
 {
 	return sizeof(btCollisionObjectData);
 }
 
-
-
-#endif //BT_COLLISION_OBJECT_H
+#endif  //BT_COLLISION_OBJECT_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
index 952440b7de..1cc4a5ac5f 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
@@ -1,25 +1,25 @@
 #ifndef BT_COLLISION_OBJECT_WRAPPER_H
 #define BT_COLLISION_OBJECT_WRAPPER_H
 
-///btCollisionObjectWrapperis an internal data structure. 
+///btCollisionObjectWrapperis an internal data structure.
 ///Most users can ignore this and use btCollisionObject and btCollisionShape instead
 class btCollisionShape;
 class btCollisionObject;
 class btTransform;
-#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition
+#include "LinearMath/btScalar.h"  // for SIMD_FORCE_INLINE definition
 
 #define BT_DECLARE_STACK_ONLY_OBJECT \
-	private: \
-		void* operator new(size_t size); \
-		void operator delete(void*);
+private:                             \
+	void* operator new(size_t size); \
+	void operator delete(void*);
 
 struct btCollisionObjectWrapper;
 struct btCollisionObjectWrapper
 {
-BT_DECLARE_STACK_ONLY_OBJECT
+	BT_DECLARE_STACK_ONLY_OBJECT
 
 private:
-	btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed.
+	btCollisionObjectWrapper(const btCollisionObjectWrapper&);  // not implemented. Not allowed.
 	btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
 
 public:
@@ -27,17 +27,17 @@ public:
 	const btCollisionShape* m_shape;
 	const btCollisionObject* m_collisionObject;
 	const btTransform& m_worldTransform;
-	int		m_partId;
-	int		m_index;
+	int m_partId;
+	int m_index;
 
 	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
-	: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform),
-	m_partId(partId), m_index(index)
-	{}
+		: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index)
+	{
+	}
 
 	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
 	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
 	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
 };
 
-#endif //BT_COLLISION_OBJECT_WRAPPER_H
+#endif  //BT_COLLISION_OBJECT_WRAPPER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index c3e912fdca..782e9efaf1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -19,9 +19,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btSphereShape.h"                 //for raycasting
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"        //for raycasting
+#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"  //for raycasting
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -38,7 +38,6 @@ subject to the following restrictions:
 
 //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 
-
 //#define USE_BRUTEFORCE_RAYBROADPHASE 1
 //RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
 //#define RECALCULATE_AABB_RAYCAST 1
@@ -48,7 +47,6 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
 
-
 ///for debug drawing
 
 //for debug rendering
@@ -65,25 +63,21 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 
-
-
-btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
-:m_dispatcher1(dispatcher),
-m_broadphasePairCache(pairCache),
-m_debugDrawer(0),
-m_forceUpdateAllAabbs(true)
+btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
+	: m_dispatcher1(dispatcher),
+	  m_broadphasePairCache(pairCache),
+	  m_debugDrawer(0),
+	  m_forceUpdateAllAabbs(true)
 {
 }
 
-
 btCollisionWorld::~btCollisionWorld()
 {
-
 	//clean up remaining objects
 	int i;
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
-		btCollisionObject* collisionObject= m_collisionObjects[i];
+		btCollisionObject* collisionObject = m_collisionObjects[i];
 
 		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
 		if (bp)
@@ -91,74 +85,83 @@ btCollisionWorld::~btCollisionWorld()
 			//
 			// only clear the cached algorithms
 			//
-			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
-			getBroadphase()->destroyProxy(bp,m_dispatcher1);
+			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp, m_dispatcher1);
+			getBroadphase()->destroyProxy(bp, m_dispatcher1);
 			collisionObject->setBroadphaseHandle(0);
 		}
 	}
-
-
 }
 
-
-
-
-
-
-
-
-
-
-void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
+void btCollisionWorld::refreshBroadphaseProxy(btCollisionObject* collisionObject)
 {
+	if (collisionObject->getBroadphaseHandle())
+	{
+		int collisionFilterGroup = collisionObject->getBroadphaseHandle()->m_collisionFilterGroup;
+		int collisionFilterMask = collisionObject->getBroadphaseHandle()->m_collisionFilterMask;
+
+		getBroadphase()->destroyProxy(collisionObject->getBroadphaseHandle(), getDispatcher());
+
+		//calculate new AABB
+		btTransform trans = collisionObject->getWorldTransform();
+
+		btVector3 minAabb;
+		btVector3 maxAabb;
+		collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
+
+		int type = collisionObject->getCollisionShape()->getShapeType();
+		collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
+			minAabb,
+			maxAabb,
+			type,
+			collisionObject,
+			collisionFilterGroup,
+			collisionFilterMask,
+			m_dispatcher1));
+	}
+}
 
+void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
+{
 	btAssert(collisionObject);
 
 	//check that the object isn't already added
-	btAssert( m_collisionObjects.findLinearSearch(collisionObject)  == m_collisionObjects.size());
-    btAssert(collisionObject->getWorldArrayIndex() == -1);  // do not add the same object to more than one collision world
+	btAssert(m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
+	btAssert(collisionObject->getWorldArrayIndex() == -1);  // do not add the same object to more than one collision world
 
-    collisionObject->setWorldArrayIndex(m_collisionObjects.size());
+	collisionObject->setWorldArrayIndex(m_collisionObjects.size());
 	m_collisionObjects.push_back(collisionObject);
 
 	//calculate new AABB
 	btTransform trans = collisionObject->getWorldTransform();
 
-	btVector3	minAabb;
-	btVector3	maxAabb;
-	collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
+	btVector3 minAabb;
+	btVector3 maxAabb;
+	collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
 
 	int type = collisionObject->getCollisionShape()->getShapeType();
-	collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
+	collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
 		minAabb,
 		maxAabb,
 		type,
 		collisionObject,
 		collisionFilterGroup,
 		collisionFilterMask,
-		m_dispatcher1))	;
-
-
-
-
-
+		m_dispatcher1));
 }
 
-
-
-void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
+void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
 {
-	btVector3 minAabb,maxAabb;
-	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+	btVector3 minAabb, maxAabb;
+	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
 	//need to increase the aabb for contact thresholds
-	btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+	btVector3 contactThreshold(gContactBreakingThreshold, gContactBreakingThreshold, gContactBreakingThreshold);
 	minAabb -= contactThreshold;
 	maxAabb += contactThreshold;
 
-	if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
+	if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
 	{
-		btVector3 minAabb2,maxAabb2;
-		colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
+		btVector3 minAabb2, maxAabb2;
+		colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
 		minAabb2 -= contactThreshold;
 		maxAabb2 += contactThreshold;
 		minAabb.setMin(minAabb2);
@@ -168,10 +171,11 @@ void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
 	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
 
 	//moving objects should be moderately sized, probably something wrong if not
-	if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
+	if (colObj->isStaticObject() || ((maxAabb - minAabb).length2() < btScalar(1e12)))
 	{
-		bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
-	} else
+		bp->setAabb(colObj->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
+	}
+	else
 	{
 		//something went wrong, investigate
 		//this assert is unwanted in 3D modelers (danger of loosing work)
@@ -189,15 +193,15 @@ void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
 	}
 }
 
-void	btCollisionWorld::updateAabbs()
+void btCollisionWorld::updateAabbs()
 {
 	BT_PROFILE("updateAabbs");
 
 	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-        btAssert(colObj->getWorldArrayIndex() == i);
+		btAssert(colObj->getWorldArrayIndex() == i);
 
 		//only update aabb of active objects
 		if (m_forceUpdateAllAabbs || colObj->isActive())
@@ -207,14 +211,13 @@ void	btCollisionWorld::updateAabbs()
 	}
 }
 
-
-void	btCollisionWorld::computeOverlappingPairs()
+void btCollisionWorld::computeOverlappingPairs()
 {
 	BT_PROFILE("calculateOverlappingPairs");
 	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
 }
 
-void	btCollisionWorld::performDiscreteCollisionDetection()
+void btCollisionWorld::performDiscreteCollisionDetection()
 {
 	BT_PROFILE("performDiscreteCollisionDetection");
 
@@ -228,69 +231,61 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 	{
 		BT_PROFILE("dispatchAllCollisionPairs");
 		if (dispatcher)
-			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
+			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(), dispatchInfo, m_dispatcher1);
 	}
-
 }
 
-
-
-void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
+void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
 {
-
-
 	//bool removeFromBroadphase = false;
 
 	{
-
 		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
 		if (bp)
 		{
 			//
 			// only clear the cached algorithms
 			//
-			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
-			getBroadphase()->destroyProxy(bp,m_dispatcher1);
+			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp, m_dispatcher1);
+			getBroadphase()->destroyProxy(bp, m_dispatcher1);
 			collisionObject->setBroadphaseHandle(0);
 		}
 	}
 
-
-    int iObj = collisionObject->getWorldArrayIndex();
-//    btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
-    if (iObj >= 0 && iObj < m_collisionObjects.size())
-    {
-        btAssert(collisionObject == m_collisionObjects[iObj]);
-        m_collisionObjects.swap(iObj, m_collisionObjects.size()-1);
-        m_collisionObjects.pop_back();
-        if (iObj < m_collisionObjects.size())
-        {
-            m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
-        }
-    }
-    else
-    {
-        // slow linear search
-        //swapremove
-        m_collisionObjects.remove(collisionObject);
-    }
-    collisionObject->setWorldArrayIndex(-1);
+	int iObj = collisionObject->getWorldArrayIndex();
+	//    btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
+	if (iObj >= 0 && iObj < m_collisionObjects.size())
+	{
+		btAssert(collisionObject == m_collisionObjects[iObj]);
+		m_collisionObjects.swap(iObj, m_collisionObjects.size() - 1);
+		m_collisionObjects.pop_back();
+		if (iObj < m_collisionObjects.size())
+		{
+			m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
+		}
+	}
+	else
+	{
+		// slow linear search
+		//swapremove
+		m_collisionObjects.remove(collisionObject);
+	}
+	collisionObject->setWorldArrayIndex(-1);
 }
 
-
-void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-										btCollisionObject* collisionObject,
-										const btCollisionShape* collisionShape,
-										const btTransform& colObjWorldTransform,
-										RayResultCallback& resultCallback)
+void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+									 btCollisionObject* collisionObject,
+									 const btCollisionShape* collisionShape,
+									 const btTransform& colObjWorldTransform,
+									 RayResultCallback& resultCallback)
 {
-	btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
-	btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
+	btCollisionObjectWrapper colObWrap(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
+	btCollisionWorld::rayTestSingleInternal(rayFromTrans, rayToTrans, &colObWrap, resultCallback);
 }
 
-void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-										const btCollisionObjectWrapper* collisionObjectWrap,
-										RayResultCallback& resultCallback)
+void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+											 const btCollisionObjectWrapper* collisionObjectWrap,
+											 RayResultCallback& resultCallback)
 {
 	btSphereShape pointShape(btScalar(0.0));
 	pointShape.setMargin(0.f);
@@ -304,12 +299,12 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 		btConvexCast::CastResult castResult;
 		castResult.m_fraction = resultCallback.m_closestHitFraction;
 
-		btConvexShape* convexShape = (btConvexShape*) collisionShape;
-		btVoronoiSimplexSolver	simplexSolver;
-		btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
-		
-		btGjkConvexCast	gjkConvexCaster(castShape,convexShape,&simplexSolver);
-		
+		btConvexShape* convexShape = (btConvexShape*)collisionShape;
+		btVoronoiSimplexSolver simplexSolver;
+		btSubsimplexConvexCast subSimplexConvexCaster(castShape, convexShape, &simplexSolver);
+
+		btGjkConvexCast gjkConvexCaster(castShape, convexShape, &simplexSolver);
+
 		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
 
 		btConvexCast* convexCasterPtr = 0;
@@ -318,10 +313,10 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 			convexCasterPtr = &gjkConvexCaster;
 		else
 			convexCasterPtr = &subSimplexConvexCaster;
-		
+
 		btConvexCast& convexCaster = *convexCasterPtr;
 
-		if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
+		if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
 		{
 			//add hit
 			if (castResult.m_normal.length2() > btScalar(0.0001))
@@ -332,81 +327,75 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
 					//rotate normal into worldspace
 					castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
-#endif //USE_SUBSIMPLEX_CONVEX_CAST
+#endif  //USE_SUBSIMPLEX_CONVEX_CAST
 
 					castResult.m_normal.normalize();
-					btCollisionWorld::LocalRayResult localRayResult
-						(
+					btCollisionWorld::LocalRayResult localRayResult(
 						collisionObjectWrap->getCollisionObject(),
 						0,
 						castResult.m_normal,
-						castResult.m_fraction
-						);
+						castResult.m_fraction);
 
 					bool normalInWorldSpace = true;
 					resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
-
 				}
 			}
 		}
-	} else {
+	}
+	else
+	{
 		if (collisionShape->isConcave())
 		{
-
 			//ConvexCast::CastResult
-				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
+			struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
+			{
+				btCollisionWorld::RayResultCallback* m_resultCallback;
+				const btCollisionObject* m_collisionObject;
+				const btConcaveShape* m_triangleMesh;
+
+				btTransform m_colObjWorldTransform;
+
+				BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
+											  btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, const btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) :  //@BP Mod
+																																																							btTriangleRaycastCallback(from, to, resultCallback->m_flags),
+																																																							m_resultCallback(resultCallback),
+																																																							m_collisionObject(collisionObject),
+																																																							m_triangleMesh(triangleMesh),
+																																																							m_colObjWorldTransform(colObjWorldTransform)
 				{
-					btCollisionWorld::RayResultCallback* m_resultCallback;
-					const btCollisionObject*	m_collisionObject;
-					const btConcaveShape*	m_triangleMesh;
-
-					btTransform m_colObjWorldTransform;
-
-					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-					btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const btConcaveShape*	triangleMesh,const btTransform& colObjWorldTransform):
-						//@BP Mod
-						btTriangleRaycastCallback(from,to, resultCallback->m_flags),
-							m_resultCallback(resultCallback),
-							m_collisionObject(collisionObject),
-							m_triangleMesh(triangleMesh),
-							m_colObjWorldTransform(colObjWorldTransform)
-						{
-						}
-
-
-					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
-					{
-						btCollisionWorld::LocalShapeInfo	shapeInfo;
-						shapeInfo.m_shapePart = partId;
-						shapeInfo.m_triangleIndex = triangleIndex;
+				}
 
-						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
+				virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
+				{
+					btCollisionWorld::LocalShapeInfo shapeInfo;
+					shapeInfo.m_shapePart = partId;
+					shapeInfo.m_triangleIndex = triangleIndex;
 
-						btCollisionWorld::LocalRayResult rayResult
-							(m_collisionObject,
-							&shapeInfo,
-							hitNormalWorld,
-							hitFraction);
+					btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
 
-						bool	normalInWorldSpace = true;
-						return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
-					}
+					btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
+															   &shapeInfo,
+															   hitNormalWorld,
+															   hitFraction);
 
-				};
+					bool normalInWorldSpace = true;
+					return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
+				}
+			};
 
 			btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 			btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
 			btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
 
 			//			BT_PROFILE("rayTestConcave");
-			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
+			if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
 				///optimized version for btBvhTriangleMeshShape
 				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
-				
-				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
+
+				BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
+				triangleMesh->performRaycast(&rcb, rayFromLocal, rayToLocal);
 			}
 			else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
@@ -418,7 +407,7 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 				btVector3 scale = scaledTriangleMesh->getLocalScaling();
 				btVector3 rayFromLocalScaled = rayFromLocal / scale;
 				btVector3 rayToLocalScaled = rayToLocal / scale;
-				
+
 				//perform raycast in the underlying btBvhTriangleMeshShape
 				BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
@@ -439,45 +428,40 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
-					const btCollisionObject*	m_collisionObject;
-					btConcaveShape*	m_triangleMesh;
+					const btCollisionObject* m_collisionObject;
+					btConcaveShape* m_triangleMesh;
 
 					btTransform m_colObjWorldTransform;
 
-					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):
-					//@BP Mod
-					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
-						m_resultCallback(resultCallback),
-						m_collisionObject(collisionObject),
-						m_triangleMesh(triangleMesh),
-						m_colObjWorldTransform(colObjWorldTransform)
+					BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
+												  btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) :  //@BP Mod
+																																																						  btTriangleRaycastCallback(from, to, resultCallback->m_flags),
+																																																						  m_resultCallback(resultCallback),
+																																																						  m_collisionObject(collisionObject),
+																																																						  m_triangleMesh(triangleMesh),
+																																																						  m_colObjWorldTransform(colObjWorldTransform)
 					{
 					}
 
-
-					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
+					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
 					{
-						btCollisionWorld::LocalShapeInfo	shapeInfo;
+						btCollisionWorld::LocalShapeInfo shapeInfo;
 						shapeInfo.m_shapePart = partId;
 						shapeInfo.m_triangleIndex = triangleIndex;
 
 						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
 
-						btCollisionWorld::LocalRayResult rayResult
-							(m_collisionObject,
-							&shapeInfo,
-							hitNormalWorld,
-							hitFraction);
+						btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
+																   &shapeInfo,
+																   hitNormalWorld,
+																   hitFraction);
 
-						bool	normalInWorldSpace = true;
-						return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
+						bool normalInWorldSpace = true;
+						return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
 					}
-
 				};
 
-
-				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
+				BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 
 				btVector3 rayAabbMinLocal = rayFromLocal;
@@ -485,9 +469,11 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 				btVector3 rayAabbMaxLocal = rayFromLocal;
 				rayAabbMaxLocal.setMax(rayToLocal);
 
-				concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
+				concaveShape->processAllTriangles(&rcb, rayAabbMinLocal, rayAabbMaxLocal);
 			}
-		} else {
+		}
+		else
+		{
 			//			BT_PROFILE("rayTestCompound");
 			if (collisionShape->isCompound())
 			{
@@ -495,10 +481,10 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 				{
 					RayResultCallback* m_userCallback;
 					int m_i;
-					
-					LocalInfoAdder2 (int i, RayResultCallback *user)
+
+					LocalInfoAdder2(int i, RayResultCallback* user)
 						: m_userCallback(user), m_i(i)
-					{ 
+					{
 						m_closestHitFraction = m_userCallback->m_closestHitFraction;
 						m_flags = m_userCallback->m_flags;
 					}
@@ -507,7 +493,7 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 						return m_userCallback->needsCollision(p);
 					}
 
-					virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b)
+					virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& r, bool b)
 					{
 						btCollisionWorld::LocalShapeInfo shapeInfo;
 						shapeInfo.m_shapePart = -1;
@@ -520,7 +506,7 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 						return result;
 					}
 				};
-				
+
 				struct RayTester : btDbvt::ICollide
 				{
 					const btCollisionObject* m_collisionObject;
@@ -529,33 +515,29 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 					const btTransform& m_rayFromTrans;
 					const btTransform& m_rayToTrans;
 					RayResultCallback& m_resultCallback;
-					
+
 					RayTester(const btCollisionObject* collisionObject,
-							const btCompoundShape* compoundShape,
-							const btTransform& colObjWorldTransform,
-							const btTransform& rayFromTrans,
-							const btTransform& rayToTrans,
-							RayResultCallback& resultCallback):
-						m_collisionObject(collisionObject),
-						m_compoundShape(compoundShape),
-						m_colObjWorldTransform(colObjWorldTransform),
-						m_rayFromTrans(rayFromTrans),
-						m_rayToTrans(rayToTrans),
-						m_resultCallback(resultCallback)
+							  const btCompoundShape* compoundShape,
+							  const btTransform& colObjWorldTransform,
+							  const btTransform& rayFromTrans,
+							  const btTransform& rayToTrans,
+							  RayResultCallback& resultCallback) : m_collisionObject(collisionObject),
+																   m_compoundShape(compoundShape),
+																   m_colObjWorldTransform(colObjWorldTransform),
+																   m_rayFromTrans(rayFromTrans),
+																   m_rayToTrans(rayToTrans),
+																   m_resultCallback(resultCallback)
 					{
-						
 					}
-					
+
 					void ProcessLeaf(int i)
 					{
 						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
 						const btTransform& childTrans = m_compoundShape->getChildTransform(i);
 						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
-						
-						btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans,-1,i);
-						// replace collision shape so that callback can determine the triangle
 
-						
+						btCollisionObjectWrapper tmpOb(0, childCollisionShape, m_collisionObject, childWorldTrans, -1, i);
+						// replace collision shape so that callback can determine the triangle
 
 						LocalInfoAdder2 my_cb(i, &m_resultCallback);
 
@@ -564,19 +546,17 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 							m_rayToTrans,
 							&tmpOb,
 							my_cb);
-						
 					}
-				
+
 					void Process(const btDbvtNode* leaf)
 					{
 						ProcessLeaf(leaf->dataAsInt);
 					}
 				};
-				
+
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
 				const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
 
-
 				RayTester rayCB(
 					collisionObjectWrap->getCollisionObject(),
 					compoundShape,
@@ -584,39 +564,39 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 					rayFromTrans,
 					rayToTrans,
 					resultCallback);
-#ifndef	DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
+#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 				if (dbvt)
 				{
 					btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
 					btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
-					btDbvt::rayTest(dbvt->m_root, localRayFrom , localRayTo, rayCB);
+					btDbvt::rayTest(dbvt->m_root, localRayFrom, localRayTo, rayCB);
 				}
 				else
-#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
+#endif  //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 				{
 					for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
 					{
 						rayCB.ProcessLeaf(i);
-					}	
+					}
 				}
 			}
 		}
 	}
 }
 
-void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
-											btCollisionObject* collisionObject,
-											const btCollisionShape* collisionShape,
-											const btTransform& colObjWorldTransform,
-											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
+void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
+										 btCollisionObject* collisionObject,
+										 const btCollisionShape* collisionShape,
+										 const btTransform& colObjWorldTransform,
+										 ConvexResultCallback& resultCallback, btScalar allowedPenetration)
 {
-	btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
-	btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
+	btCollisionObjectWrapper tmpOb(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
+	btCollisionWorld::objectQuerySingleInternal(castShape, convexFromTrans, convexToTrans, &tmpOb, resultCallback, allowedPenetration);
 }
 
-void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
-											const btCollisionObjectWrapper* colObjWrap,
-											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
+void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
+												 const btCollisionObjectWrapper* colObjWrap,
+												 ConvexResultCallback& resultCallback, btScalar allowedPenetration)
 {
 	const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
 	const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
@@ -626,21 +606,19 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 		//BT_PROFILE("convexSweepConvex");
 		btConvexCast::CastResult castResult;
 		castResult.m_allowedPenetration = allowedPenetration;
-		castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??
+		castResult.m_fraction = resultCallback.m_closestHitFraction;  //btScalar(1.);//??
 
-		btConvexShape* convexShape = (btConvexShape*) collisionShape;
-		btVoronoiSimplexSolver	simplexSolver;
-		btGjkEpaPenetrationDepthSolver	gjkEpaPenetrationSolver;
+		btConvexShape* convexShape = (btConvexShape*)collisionShape;
+		btVoronoiSimplexSolver simplexSolver;
+		btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
 
-		btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);
+		btContinuousConvexCollision convexCaster1(castShape, convexShape, &simplexSolver, &gjkEpaPenetrationSolver);
 		//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
 		//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
 
 		btConvexCast* castPtr = &convexCaster1;
 
-
-
-		if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
+		if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
 		{
 			//add hit
 			if (castResult.m_normal.length2() > btScalar(0.0001))
@@ -648,25 +626,24 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
 				{
 					castResult.m_normal.normalize();
-					btCollisionWorld::LocalConvexResult localConvexResult
-						(
+					btCollisionWorld::LocalConvexResult localConvexResult(
 						colObjWrap->getCollisionObject(),
 						0,
 						castResult.m_normal,
 						castResult.m_hitPoint,
-						castResult.m_fraction
-						);
+						castResult.m_fraction);
 
 					bool normalInWorldSpace = true;
 					resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
-
 				}
 			}
 		}
-	} else {
+	}
+	else
+	{
 		if (collisionShape->isConcave())
 		{
-			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
+			if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
 				//BT_PROFILE("convexSweepbtBvhTriangleMesh");
 				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
@@ -680,62 +657,57 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
 				{
 					btCollisionWorld::ConvexResultCallback* m_resultCallback;
-					const btCollisionObject*	m_collisionObject;
-					btTriangleMeshShape*	m_triangleMesh;
-
-					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-						btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
-					btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
-						m_resultCallback(resultCallback),
-						m_collisionObject(collisionObject),
-						m_triangleMesh(triangleMesh)
+					const btCollisionObject* m_collisionObject;
+					btTriangleMeshShape* m_triangleMesh;
+
+					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
+													 btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
+																																																								m_resultCallback(resultCallback),
+																																																								m_collisionObject(collisionObject),
+																																																								m_triangleMesh(triangleMesh)
 					{
 					}
 
-
-					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
+					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
 					{
-						btCollisionWorld::LocalShapeInfo	shapeInfo;
+						btCollisionWorld::LocalShapeInfo shapeInfo;
 						shapeInfo.m_shapePart = partId;
 						shapeInfo.m_triangleIndex = triangleIndex;
 						if (hitFraction <= m_resultCallback->m_closestHitFraction)
 						{
+							btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
+																			 &shapeInfo,
+																			 hitNormalLocal,
+																			 hitPointLocal,
+																			 hitFraction);
 
-							btCollisionWorld::LocalConvexResult convexResult
-								(m_collisionObject,
-								&shapeInfo,
-								hitNormalLocal,
-								hitPointLocal,
-								hitFraction);
-
-							bool	normalInWorldSpace = true;
+							bool normalInWorldSpace = true;
 
-
-							return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
+							return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
 						}
 						return hitFraction;
 					}
-
 				};
 
-				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
 				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 				tccb.m_allowedPenetration = allowedPenetration;
 				btVector3 boxMinLocal, boxMaxLocal;
 				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
-				triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
-			} else
+				triangleMesh->performConvexcast(&tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
+			}
+			else
 			{
-				if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
+				if (collisionShape->getShapeType() == STATIC_PLANE_PROXYTYPE)
 				{
 					btConvexCast::CastResult castResult;
 					castResult.m_allowedPenetration = allowedPenetration;
 					castResult.m_fraction = resultCallback.m_closestHitFraction;
-					btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
-					btContinuousConvexCollision convexCaster1(castShape,planeShape);
+					btStaticPlaneShape* planeShape = (btStaticPlaneShape*)collisionShape;
+					btContinuousConvexCollision convexCaster1(castShape, planeShape);
 					btConvexCast* castPtr = &convexCaster1;
 
-					if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
+					if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
 					{
 						//add hit
 						if (castResult.m_normal.length2() > btScalar(0.0001))
@@ -743,22 +715,20 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 							if (castResult.m_fraction < resultCallback.m_closestHitFraction)
 							{
 								castResult.m_normal.normalize();
-								btCollisionWorld::LocalConvexResult localConvexResult
-									(
+								btCollisionWorld::LocalConvexResult localConvexResult(
 									colObjWrap->getCollisionObject(),
 									0,
 									castResult.m_normal,
 									castResult.m_hitPoint,
-									castResult.m_fraction
-									);
+									castResult.m_fraction);
 
 								bool normalInWorldSpace = true;
 								resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
 							}
 						}
 					}
-
-				} else
+				}
+				else
 				{
 					//BT_PROFILE("convexSweepConcave");
 					btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
@@ -772,44 +742,39 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 					struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
 					{
 						btCollisionWorld::ConvexResultCallback* m_resultCallback;
-						const btCollisionObject*	m_collisionObject;
-						btConcaveShape*	m_triangleMesh;
-
-						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-							btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
-						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
-							m_resultCallback(resultCallback),
-							m_collisionObject(collisionObject),
-							m_triangleMesh(triangleMesh)
+						const btCollisionObject* m_collisionObject;
+						btConcaveShape* m_triangleMesh;
+
+						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
+														 btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
+																																																							   m_resultCallback(resultCallback),
+																																																							   m_collisionObject(collisionObject),
+																																																							   m_triangleMesh(triangleMesh)
 						{
 						}
 
-
-						virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
+						virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
 						{
-							btCollisionWorld::LocalShapeInfo	shapeInfo;
+							btCollisionWorld::LocalShapeInfo shapeInfo;
 							shapeInfo.m_shapePart = partId;
 							shapeInfo.m_triangleIndex = triangleIndex;
 							if (hitFraction <= m_resultCallback->m_closestHitFraction)
 							{
+								btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
+																				 &shapeInfo,
+																				 hitNormalLocal,
+																				 hitPointLocal,
+																				 hitFraction);
 
-								btCollisionWorld::LocalConvexResult convexResult
-									(m_collisionObject,
-									&shapeInfo,
-									hitNormalLocal,
-									hitPointLocal,
-									hitFraction);
-
-								bool	normalInWorldSpace = true;
+								bool normalInWorldSpace = true;
 
-								return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
+								return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
 							}
 							return hitFraction;
 						}
-
 					};
 
-					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
+					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
 					tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 					tccb.m_allowedPenetration = allowedPenetration;
 					btVector3 boxMinLocal, boxMaxLocal;
@@ -821,35 +786,37 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 					rayAabbMaxLocal.setMax(convexToLocal);
 					rayAabbMinLocal += boxMinLocal;
 					rayAabbMaxLocal += boxMaxLocal;
-					concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
+					concaveShape->processAllTriangles(&tccb, rayAabbMinLocal, rayAabbMaxLocal);
 				}
 			}
-		} else {
+		}
+		else
+		{
 			if (collisionShape->isCompound())
 			{
-				struct	btCompoundLeafCallback : btDbvt::ICollide
+				struct btCompoundLeafCallback : btDbvt::ICollide
 				{
 					btCompoundLeafCallback(
-										   const btCollisionObjectWrapper* colObjWrap,
-										   const btConvexShape* castShape,
-										   const btTransform& convexFromTrans,
-										   const btTransform& convexToTrans,
-										   btScalar allowedPenetration,
-										   const btCompoundShape* compoundShape,
-										   const btTransform& colObjWorldTransform,
-										   ConvexResultCallback& resultCallback)
-					: 
-					  m_colObjWrap(colObjWrap),
-						m_castShape(castShape),
-						m_convexFromTrans(convexFromTrans),
-						m_convexToTrans(convexToTrans),
-						m_allowedPenetration(allowedPenetration),
-						m_compoundShape(compoundShape),
-						m_colObjWorldTransform(colObjWorldTransform),
-						m_resultCallback(resultCallback) {
+						const btCollisionObjectWrapper* colObjWrap,
+						const btConvexShape* castShape,
+						const btTransform& convexFromTrans,
+						const btTransform& convexToTrans,
+						btScalar allowedPenetration,
+						const btCompoundShape* compoundShape,
+						const btTransform& colObjWorldTransform,
+						ConvexResultCallback& resultCallback)
+						: m_colObjWrap(colObjWrap),
+						  m_castShape(castShape),
+						  m_convexFromTrans(convexFromTrans),
+						  m_convexToTrans(convexToTrans),
+						  m_allowedPenetration(allowedPenetration),
+						  m_compoundShape(compoundShape),
+						  m_colObjWorldTransform(colObjWorldTransform),
+						  m_resultCallback(resultCallback)
+					{
 					}
 
-				  const btCollisionObjectWrapper* m_colObjWrap;
+					const btCollisionObjectWrapper* m_colObjWrap;
 					const btConvexShape* m_castShape;
 					const btTransform& m_convexFromTrans;
 					const btTransform& m_convexToTrans;
@@ -859,16 +826,16 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 					ConvexResultCallback& m_resultCallback;
 
 				public:
-
-					void		ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
+					void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
 					{
 						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
 
-						struct	LocalInfoAdder : public ConvexResultCallback {
+						struct LocalInfoAdder : public ConvexResultCallback
+						{
 							ConvexResultCallback* m_userCallback;
 							int m_i;
 
-							LocalInfoAdder(int i, ConvexResultCallback *user)
+							LocalInfoAdder(int i, ConvexResultCallback* user)
 								: m_userCallback(user), m_i(i)
 							{
 								m_closestHitFraction = m_userCallback->m_closestHitFraction;
@@ -877,9 +844,9 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 							{
 								return m_userCallback->needsCollision(p);
 							}
-							virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult&	r, bool b)
+							virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
 							{
-								btCollisionWorld::LocalShapeInfo	shapeInfo;
+								btCollisionWorld::LocalShapeInfo shapeInfo;
 								shapeInfo.m_shapePart = -1;
 								shapeInfo.m_triangleIndex = m_i;
 								if (r.m_localShapeInfo == NULL)
@@ -887,7 +854,6 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 								const btScalar result = m_userCallback->addSingleResult(r, b);
 								m_closestHitFraction = m_userCallback->m_closestHitFraction;
 								return result;
-
 							}
 						};
 
@@ -898,7 +864,7 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 						objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
 					}
 
-					void		Process(const btDbvtNode* leaf)
+					void Process(const btDbvtNode* leaf)
 					{
 						// Processing leaf node
 						int index = leaf->dataAsInt;
@@ -923,15 +889,18 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 				fromLocalAabbMax.setMax(toLocalAabbMax);
 
 				btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
-					  allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
+												allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
 
 				const btDbvt* tree = compoundShape->getDynamicAabbTree();
-				if (tree) {
-					const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
+				if (tree)
+				{
+					const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
 					tree->collideTV(tree->m_root, bounds, callback);
-				} else {
+				}
+				else
+				{
 					int i;
-					for (i=0;i<compoundShape->getNumChildShapes();i++)
+					for (i = 0; i < compoundShape->getNumChildShapes(); i++)
 					{
 						const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
 						btTransform childTrans = compoundShape->getChildTransform(i);
@@ -943,33 +912,31 @@ void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
 	}
 }
 
-
 struct btSingleRayCallback : public btBroadphaseRayCallback
 {
-
-	btVector3	m_rayFromWorld;
-	btVector3	m_rayToWorld;
-	btTransform	m_rayFromTrans;
-	btTransform	m_rayToTrans;
-	btVector3	m_hitNormal;
-
-	const btCollisionWorld*	m_world;
-	btCollisionWorld::RayResultCallback&	m_resultCallback;
-
-	btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
-		:m_rayFromWorld(rayFromWorld),
-		m_rayToWorld(rayToWorld),
-		m_world(world),
-		m_resultCallback(resultCallback)
+	btVector3 m_rayFromWorld;
+	btVector3 m_rayToWorld;
+	btTransform m_rayFromTrans;
+	btTransform m_rayToTrans;
+	btVector3 m_hitNormal;
+
+	const btCollisionWorld* m_world;
+	btCollisionWorld::RayResultCallback& m_resultCallback;
+
+	btSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btCollisionWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
+		: m_rayFromWorld(rayFromWorld),
+		  m_rayToWorld(rayToWorld),
+		  m_world(world),
+		  m_resultCallback(resultCallback)
 	{
 		m_rayFromTrans.setIdentity();
 		m_rayFromTrans.setOrigin(m_rayFromWorld);
 		m_rayToTrans.setIdentity();
 		m_rayToTrans.setOrigin(m_rayToWorld);
 
-		btVector3 rayDir = (rayToWorld-rayFromWorld);
+		btVector3 rayDir = (rayToWorld - rayFromWorld);
 
-		rayDir.normalize ();
+		rayDir.normalize();
 		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
 		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
@@ -978,22 +945,19 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
 		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
 		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
 
-		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
-
+		m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
 	}
 
-
-
-	virtual bool	process(const btBroadphaseProxy* proxy)
+	virtual bool process(const btBroadphaseProxy* proxy)
 	{
 		///terminate further ray tests, once the closestHitFraction reached zero
 		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
 			return false;
 
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
 
 		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
 		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
 			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
@@ -1011,57 +975,53 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
 			//culling already done by broadphase
 			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
 			{
-				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
-					collisionObject,
-					collisionObject->getCollisionShape(),
-					collisionObject->getWorldTransform(),
-					m_resultCallback);
+				m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
+									   collisionObject,
+									   collisionObject->getCollisionShape(),
+									   collisionObject->getWorldTransform(),
+									   m_resultCallback);
 			}
 		}
 		return true;
 	}
 };
 
-void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
+void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {
 	//BT_PROFILE("rayTest");
 	/// use the broadphase to accelerate the search for objects, based on their aabb
 	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
+	btSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
 
 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
+	m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
 #else
-	for (int i=0;i<this->getNumCollisionObjects();i++)
+	for (int i = 0; i < this->getNumCollisionObjects(); i++)
 	{
 		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}	
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
-
+	}
+#endif  //USE_BRUTEFORCE_RAYBROADPHASE
 }
 
-
 struct btSingleSweepCallback : public btBroadphaseRayCallback
 {
-
-	btTransform	m_convexFromTrans;
-	btTransform	m_convexToTrans;
-	btVector3	m_hitNormal;
-	const btCollisionWorld*	m_world;
-	btCollisionWorld::ConvexResultCallback&	m_resultCallback;
-	btScalar	m_allowedCcdPenetration;
+	btTransform m_convexFromTrans;
+	btTransform m_convexToTrans;
+	btVector3 m_hitNormal;
+	const btCollisionWorld* m_world;
+	btCollisionWorld::ConvexResultCallback& m_resultCallback;
+	btScalar m_allowedCcdPenetration;
 	const btConvexShape* m_castShape;
 
-
-	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration)
-		:m_convexFromTrans(convexFromTrans),
-		m_convexToTrans(convexToTrans),
-		m_world(world),
-		m_resultCallback(resultCallback),
-		m_allowedCcdPenetration(allowedPenetration),
-		m_castShape(castShape)
+	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans, const btCollisionWorld* world, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedPenetration)
+		: m_convexFromTrans(convexFromTrans),
+		  m_convexToTrans(convexToTrans),
+		  m_world(world),
+		  m_resultCallback(resultCallback),
+		  m_allowedCcdPenetration(allowedPenetration),
+		  m_castShape(castShape)
 	{
-		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
+		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
 		btVector3 rayDir = unnormalizedRayDir.normalized();
 		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
@@ -1072,109 +1032,102 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback
 		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
 
 		m_lambda_max = rayDir.dot(unnormalizedRayDir);
-
 	}
 
-	virtual bool	process(const btBroadphaseProxy* proxy)
+	virtual bool process(const btBroadphaseProxy* proxy)
 	{
 		///terminate further convex sweep tests, once the closestHitFraction reached zero
 		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
 			return false;
 
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
 
 		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
+		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
+		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans,
-				collisionObject,
-				collisionObject->getCollisionShape(),
-				collisionObject->getWorldTransform(),
-				m_resultCallback,
-				m_allowedCcdPenetration);
+			m_world->objectQuerySingle(m_castShape, m_convexFromTrans, m_convexToTrans,
+									   collisionObject,
+									   collisionObject->getCollisionShape(),
+									   collisionObject->getWorldTransform(),
+									   m_resultCallback,
+									   m_allowedCcdPenetration);
 		}
 
 		return true;
 	}
 };
 
-
-
-void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
+void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
 {
-
 	BT_PROFILE("convexSweepTest");
 	/// use the broadphase to accelerate the search for objects, based on their aabb
 	/// and for each object with ray-aabb overlap, perform an exact ray test
 	/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
 
-
-
-	btTransform	convexFromTrans,convexToTrans;
+	btTransform convexFromTrans, convexToTrans;
 	convexFromTrans = convexFromWorld;
 	convexToTrans = convexToWorld;
 	btVector3 castShapeAabbMin, castShapeAabbMax;
 	/* Compute AABB that encompasses angular movement */
 	{
 		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
+		btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
 		btVector3 zeroLinVel;
-		zeroLinVel.setValue(0,0,0);
+		zeroLinVel.setValue(0, 0, 0);
 		btTransform R;
-		R.setIdentity ();
-		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
+		R.setIdentity();
+		R.setRotation(convexFromTrans.getRotation());
+		castShape->calculateTemporalAabb(R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
 	}
 
 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
 
-	btSingleSweepCallback	convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);
+	btSingleSweepCallback convexCB(castShape, convexFromWorld, convexToWorld, this, resultCallback, allowedCcdPenetration);
 
-	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);
+	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(), convexToTrans.getOrigin(), convexCB, castShapeAabbMin, castShapeAabbMax);
 
 #else
 	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
 	// do a ray-shape query using convexCaster (CCD)
 	int i;
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
-		btCollisionObject*	collisionObject= m_collisionObjects[i];
+		btCollisionObject* collisionObject = m_collisionObjects[i];
 		//only perform raycast if filterMask matches
-		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
+		if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
+		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
-			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
+			btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
+			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
+			AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
+			btScalar hitLambda = btScalar(1.);  //could use resultCallback.m_closestHitFraction, but needs testing
 			btVector3 hitNormal;
-			if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
+			if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
 			{
-				objectQuerySingle(castShape, convexFromTrans,convexToTrans,
-					collisionObject,
-					collisionObject->getCollisionShape(),
-					collisionObject->getWorldTransform(),
-					resultCallback,
-					allowedCcdPenetration);
+				objectQuerySingle(castShape, convexFromTrans, convexToTrans,
+								  collisionObject,
+								  collisionObject->getCollisionShape(),
+								  collisionObject->getWorldTransform(),
+								  resultCallback,
+								  allowedCcdPenetration);
 			}
 		}
 	}
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
+#endif  //USE_BRUTEFORCE_RAYBROADPHASE
 }
 
-
-
 struct btBridgedManifoldResult : public btManifoldResult
 {
+	btCollisionWorld::ContactResultCallback& m_resultCallback;
 
-	btCollisionWorld::ContactResultCallback&	m_resultCallback;
-
-	btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback )
-		:btManifoldResult(obj0Wrap,obj1Wrap),
-		m_resultCallback(resultCallback)
+	btBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap, btCollisionWorld::ContactResultCallback& resultCallback)
+		: btManifoldResult(obj0Wrap, obj1Wrap),
+		  m_resultCallback(resultCallback)
 	{
 	}
 
-	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
 	{
 		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
@@ -1182,78 +1135,74 @@ struct btBridgedManifoldResult : public btManifoldResult
 		btVector3 localB;
 		if (isSwapped)
 		{
-			localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+			localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
 			localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-		} else
+		}
+		else
 		{
-			localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+			localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
 			localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 		}
-		
-		btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+
+		btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
 		newPt.m_positionWorldOnA = pointA;
 		newPt.m_positionWorldOnB = pointInWorld;
-		
-	   //BP mod, store contact triangles.
+
+		//BP mod, store contact triangles.
 		if (isSwapped)
 		{
 			newPt.m_partId0 = m_partId1;
 			newPt.m_partId1 = m_partId0;
-			newPt.m_index0  = m_index1;
-			newPt.m_index1  = m_index0;
-		} else
+			newPt.m_index0 = m_index1;
+			newPt.m_index1 = m_index0;
+		}
+		else
 		{
 			newPt.m_partId0 = m_partId0;
 			newPt.m_partId1 = m_partId1;
-			newPt.m_index0  = m_index0;
-			newPt.m_index1  = m_index1;
+			newPt.m_index0 = m_index0;
+			newPt.m_index1 = m_index1;
 		}
 
 		//experimental feature info, for per-triangle material etc.
-		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
-		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
-		m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
-
+		const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
+		const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
+		m_resultCallback.addSingleResult(newPt, obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
 	}
-	
 };
 
-
-
 struct btSingleContactCallback : public btBroadphaseAabbCallback
 {
-
 	btCollisionObject* m_collisionObject;
-	btCollisionWorld*	m_world;
-	btCollisionWorld::ContactResultCallback&	m_resultCallback;
-	
-	
-	btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world,btCollisionWorld::ContactResultCallback& resultCallback)
-		:m_collisionObject(collisionObject),
-		m_world(world),
-		m_resultCallback(resultCallback)
+	btCollisionWorld* m_world;
+	btCollisionWorld::ContactResultCallback& m_resultCallback;
+
+	btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world, btCollisionWorld::ContactResultCallback& resultCallback)
+		: m_collisionObject(collisionObject),
+		  m_world(world),
+		  m_resultCallback(resultCallback)
 	{
 	}
 
-	virtual bool	process(const btBroadphaseProxy* proxy)
+	virtual bool process(const btBroadphaseProxy* proxy)
 	{
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
 		if (collisionObject == m_collisionObject)
 			return true;
 
 		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
 		{
-			btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1);
-			btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1);
+			btCollisionObjectWrapper ob0(0, m_collisionObject->getCollisionShape(), m_collisionObject, m_collisionObject->getWorldTransform(), -1, -1);
+			btCollisionObjectWrapper ob1(0, collisionObject->getCollisionShape(), collisionObject, collisionObject->getWorldTransform(), -1, -1);
 
-			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1,0, BT_CLOSEST_POINT_ALGORITHMS);
+			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0, &ob1, 0, BT_CLOSEST_POINT_ALGORITHMS);
 			if (algorithm)
 			{
-				btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
+				btBridgedManifoldResult contactPointResult(&ob0, &ob1, m_resultCallback);
 				//discrete collision detection query
-				
-				algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);
+
+				algorithm->processCollision(&ob0, &ob1, m_world->getDispatchInfo(), &contactPointResult);
 
 				algorithm->~btCollisionAlgorithm();
 				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
@@ -1263,271 +1212,247 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
 	}
 };
 
-
 ///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
 ///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
-void	btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback)
+void btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback)
 {
-	btVector3 aabbMin,aabbMax;
-	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
-	btSingleContactCallback	contactCB(colObj,this,resultCallback);
-	
-	m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);
-}
+	btVector3 aabbMin, aabbMax;
+	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), aabbMin, aabbMax);
+	btSingleContactCallback contactCB(colObj, this, resultCallback);
 
+	m_broadphasePairCache->aabbTest(aabbMin, aabbMax, contactCB);
+}
 
 ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
 ///it reports one or more contact points (including the one with deepest penetration)
-void	btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
+void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
 {
-	btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1);
-	btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1);
+	btCollisionObjectWrapper obA(0, colObjA->getCollisionShape(), colObjA, colObjA->getWorldTransform(), -1, -1);
+	btCollisionObjectWrapper obB(0, colObjB->getCollisionShape(), colObjB, colObjB->getWorldTransform(), -1, -1);
 
-	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB, 0, BT_CLOSEST_POINT_ALGORITHMS);
+	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA, &obB, 0, BT_CLOSEST_POINT_ALGORITHMS);
 	if (algorithm)
 	{
-		btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
+		btBridgedManifoldResult contactPointResult(&obA, &obB, resultCallback);
 		contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold;
 		//discrete collision detection query
-		algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);
+		algorithm->processCollision(&obA, &obB, getDispatchInfo(), &contactPointResult);
 
 		algorithm->~btCollisionAlgorithm();
 		getDispatcher()->freeCollisionAlgorithm(algorithm);
 	}
-
 }
 
-
-
-
 class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
 {
-	btIDebugDraw*	m_debugDrawer;
-	btVector3	m_color;
-	btTransform	m_worldTrans;
+	btIDebugDraw* m_debugDrawer;
+	btVector3 m_color;
+	btTransform m_worldTrans;
 
 public:
+	DebugDrawcallback(btIDebugDraw* debugDrawer, const btTransform& worldTrans, const btVector3& color) : m_debugDrawer(debugDrawer),
+																										  m_color(color),
+																										  m_worldTrans(worldTrans)
+	{
+	}
 
-	DebugDrawcallback(btIDebugDraw*	debugDrawer,const btTransform& worldTrans,const btVector3& color) :
-	  m_debugDrawer(debugDrawer),
-		  m_color(color),
-		  m_worldTrans(worldTrans)
-	  {
-	  }
-
-	  virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
-	  {
-		  processTriangle(triangle,partId,triangleIndex);
-	  }
-
-	  virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
-	  {
-		  (void)partId;
-		  (void)triangleIndex;
-
-		  btVector3 wv0,wv1,wv2;
-		  wv0 = m_worldTrans*triangle[0];
-		  wv1 = m_worldTrans*triangle[1];
-		  wv2 = m_worldTrans*triangle[2];
-		  btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
-          
-          if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )
-          {
-		    btVector3 normal = (wv1-wv0).cross(wv2-wv0);
-		    normal.normalize();
-		    btVector3 normalColor(1,1,0);
-		    m_debugDrawer->drawLine(center,center+normal,normalColor);
-          }
-		  m_debugDrawer->drawLine(wv0,wv1,m_color);
-		  m_debugDrawer->drawLine(wv1,wv2,m_color);
-		  m_debugDrawer->drawLine(wv2,wv0,m_color);
-	  }
-};
+	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+	{
+		processTriangle(triangle, partId, triangleIndex);
+	}
+
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
+	{
+		(void)partId;
+		(void)triangleIndex;
 
+		btVector3 wv0, wv1, wv2;
+		wv0 = m_worldTrans * triangle[0];
+		wv1 = m_worldTrans * triangle[1];
+		wv2 = m_worldTrans * triangle[2];
+		btVector3 center = (wv0 + wv1 + wv2) * btScalar(1. / 3.);
+
+		if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+		{
+			btVector3 normal = (wv1 - wv0).cross(wv2 - wv0);
+			normal.normalize();
+			btVector3 normalColor(1, 1, 0);
+			m_debugDrawer->drawLine(center, center + normal, normalColor);
+		}
+		m_debugDrawer->drawLine(wv0, wv1, m_color);
+		m_debugDrawer->drawLine(wv1, wv2, m_color);
+		m_debugDrawer->drawLine(wv2, wv0, m_color);
+	}
+};
 
 void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
 {
 	// Draw a small simplex at the center of the object
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
 	{
-		getDebugDrawer()->drawTransform(worldTransform,.1);
+		getDebugDrawer()->drawTransform(worldTransform, .1);
 	}
 
 	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
 	{
 		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
-		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		for (int i = compoundShape->getNumChildShapes() - 1; i >= 0; i--)
 		{
 			btTransform childTrans = compoundShape->getChildTransform(i);
 			const btCollisionShape* colShape = compoundShape->getChildShape(i);
-			debugDrawObject(worldTransform*childTrans,colShape,color);
+			debugDrawObject(worldTransform * childTrans, colShape, color);
 		}
-
-	} else
+	}
+	else
 	{
+		switch (shape->getShapeType())
+		{
+			case BOX_SHAPE_PROXYTYPE:
+			{
+				const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+				btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
+				getDebugDrawer()->drawBox(-halfExtents, halfExtents, worldTransform, color);
+				break;
+			}
+
+			case SPHERE_SHAPE_PROXYTYPE:
+			{
+				const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+				btScalar radius = sphereShape->getMargin();  //radius doesn't include the margin, so draw with margin
+
+				getDebugDrawer()->drawSphere(radius, worldTransform, color);
+				break;
+			}
+			case MULTI_SPHERE_SHAPE_PROXYTYPE:
+			{
+				const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+				btTransform childTransform;
+				childTransform.setIdentity();
+
+				for (int i = multiSphereShape->getSphereCount() - 1; i >= 0; i--)
+				{
+					childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+					getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform * childTransform, color);
+				}
+
+				break;
+			}
+			case CAPSULE_SHAPE_PROXYTYPE:
+			{
+				const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
+
+				btScalar radius = capsuleShape->getRadius();
+				btScalar halfHeight = capsuleShape->getHalfHeight();
+
+				int upAxis = capsuleShape->getUpAxis();
+				getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
+				break;
+			}
+			case CONE_SHAPE_PROXYTYPE:
+			{
+				const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+				btScalar radius = coneShape->getRadius();  //+coneShape->getMargin();
+				btScalar height = coneShape->getHeight();  //+coneShape->getMargin();
+
+				int upAxis = coneShape->getConeUpIndex();
+				getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
+				break;
+			}
+			case CYLINDER_SHAPE_PROXYTYPE:
+			{
+				const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+				int upAxis = cylinder->getUpAxis();
+				btScalar radius = cylinder->getRadius();
+				btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+				getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
+				break;
+			}
+
+			case STATIC_PLANE_PROXYTYPE:
+			{
+				const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+				btScalar planeConst = staticPlaneShape->getPlaneConstant();
+				const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+				getDebugDrawer()->drawPlane(planeNormal, planeConst, worldTransform, color);
+				break;
+			}
+			default:
+			{
+				/// for polyhedral shapes
+				if (shape->isPolyhedral())
+				{
+					btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*)shape;
+
+					int i;
+					if (polyshape->getConvexPolyhedron())
+					{
+						const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
+						for (i = 0; i < poly->m_faces.size(); i++)
+						{
+							btVector3 centroid(0, 0, 0);
+							int numVerts = poly->m_faces[i].m_indices.size();
+							if (numVerts)
+							{
+								int lastV = poly->m_faces[i].m_indices[numVerts - 1];
+								for (int v = 0; v < poly->m_faces[i].m_indices.size(); v++)
+								{
+									int curVert = poly->m_faces[i].m_indices[v];
+									centroid += poly->m_vertices[curVert];
+									getDebugDrawer()->drawLine(worldTransform * poly->m_vertices[lastV], worldTransform * poly->m_vertices[curVert], color);
+									lastV = curVert;
+								}
+							}
+							centroid *= btScalar(1.f) / btScalar(numVerts);
+							if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+							{
+								btVector3 normalColor(1, 1, 0);
+								btVector3 faceNormal(poly->m_faces[i].m_plane[0], poly->m_faces[i].m_plane[1], poly->m_faces[i].m_plane[2]);
+								getDebugDrawer()->drawLine(worldTransform * centroid, worldTransform * (centroid + faceNormal), normalColor);
+							}
+						}
+					}
+					else
+					{
+						for (i = 0; i < polyshape->getNumEdges(); i++)
+						{
+							btVector3 a, b;
+							polyshape->getEdge(i, a, b);
+							btVector3 wa = worldTransform * a;
+							btVector3 wb = worldTransform * b;
+							getDebugDrawer()->drawLine(wa, wb, color);
+						}
+					}
+				}
 
-        switch (shape->getShapeType())
-        {
-
-        case BOX_SHAPE_PROXYTYPE:
-            {
-                const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
-                btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
-                getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
-                break;
-            }
-
-        case SPHERE_SHAPE_PROXYTYPE:
-            {
-                const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
-                btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
-
-                getDebugDrawer()->drawSphere(radius, worldTransform, color);
-                break;
-            }
-        case MULTI_SPHERE_SHAPE_PROXYTYPE:
-            {
-                const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
-
-                btTransform childTransform;
-                childTransform.setIdentity();
-
-                for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
-                {
-                    childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
-                    getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
-                }
-
-                break;
-            }
-        case CAPSULE_SHAPE_PROXYTYPE:
-            {
-                const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
-
-                btScalar radius = capsuleShape->getRadius();
-                btScalar halfHeight = capsuleShape->getHalfHeight();
-
-                int upAxis = capsuleShape->getUpAxis();
-                getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
-                break;
-            }
-        case CONE_SHAPE_PROXYTYPE:
-            {
-                const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
-                btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
-                btScalar height = coneShape->getHeight();//+coneShape->getMargin();
-
-                int upAxis= coneShape->getConeUpIndex();
-                getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
-                break;
-
-            }
-        case CYLINDER_SHAPE_PROXYTYPE:
-            {
-                const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
-                int upAxis = cylinder->getUpAxis();
-                btScalar radius = cylinder->getRadius();
-                btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
-                getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
-                break;
-            }
-
-        case STATIC_PLANE_PROXYTYPE:
-            {
-                const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
-                btScalar planeConst = staticPlaneShape->getPlaneConstant();
-                const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
-                getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
-                break;
-
-            }
-        default:
-            {
-
-                /// for polyhedral shapes
-                if (shape->isPolyhedral())
-                {
-                    btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
-                    
-                    int i;
-                    if (polyshape->getConvexPolyhedron())
-                    {
-                        const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
-                        for (i=0;i<poly->m_faces.size();i++)
-                        {
-                            btVector3 centroid(0,0,0);
-                            int numVerts = poly->m_faces[i].m_indices.size();
-                            if (numVerts)
-                            {
-                                int lastV = poly->m_faces[i].m_indices[numVerts-1];
-                                for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
-                                {
-                                    int curVert = poly->m_faces[i].m_indices[v];
-                                    centroid+=poly->m_vertices[curVert];
-                                    getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
-                                    lastV = curVert;
-                                }
-                            }
-                            centroid*= btScalar(1.f)/btScalar(numVerts);
-                            if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
-                            {
-                                btVector3 normalColor(1,1,0);
-                                btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
-                                getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
-                            }
-                            
-                        }
-                        
-                        
-                    } else
-                    {
-                        for (i=0;i<polyshape->getNumEdges();i++)
-                        {
-                            btVector3 a,b;
-                            polyshape->getEdge(i,a,b);
-                            btVector3 wa = worldTransform * a;
-                            btVector3 wb = worldTransform * b;
-                            getDebugDrawer()->drawLine(wa,wb,color);
-                        }
-                    }
-                    
-                    
-                }
-                    
-                if (shape->isConcave())
-                {
-                    btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-
-                    ///@todo pass camera, for some culling? no -> we are not a graphics lib
-                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-
-                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
-                    concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
-
-                }
-
-                if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
-                {
-                    btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
-                    //todo: pass camera for some culling			
-                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-                    //DebugDrawcallback drawCallback;
-                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
-                    convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
-                }
-
-
-                
-            }
-       
+				if (shape->isConcave())
+				{
+					btConcaveShape* concaveMesh = (btConcaveShape*)shape;
+
+					///@todo pass camera, for some culling? no -> we are not a graphics lib
+					btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+					btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+
+					DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
+					concaveMesh->processAllTriangles(&drawCallback, aabbMin, aabbMax);
+				}
+
+				if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+				{
+					btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*)shape;
+					//todo: pass camera for some culling
+					btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+					btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+					//DebugDrawcallback drawCallback;
+					DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
+					convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback, aabbMin, aabbMax);
+				}
+			}
 		}
 	}
 }
 
-
-void	btCollisionWorld::debugDrawWorld()
+void btCollisionWorld::debugDrawWorld()
 {
 	if (getDebugDrawer())
 	{
@@ -1535,25 +1460,23 @@ void	btCollisionWorld::debugDrawWorld()
 
 		btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors();
 
-		if ( getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
+		if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
 		{
-		
-
 			if (getDispatcher())
 			{
 				int numManifolds = getDispatcher()->getNumManifolds();
-			
-				for (int i=0;i<numManifolds;i++)
+
+				for (int i = 0; i < numManifolds; i++)
 				{
 					btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
 					//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
 					//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
 
 					int numContacts = contactManifold->getNumContacts();
-					for (int j=0;j<numContacts;j++)
+					for (int j = 0; j < numContacts; j++)
 					{
 						btManifoldPoint& cp = contactManifold->getContactPoint(j);
-						getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),defaultColors.m_contactPoint);
+						getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB, cp.m_normalWorldOnB, cp.getDistance(), cp.getLifeTime(), defaultColors.m_contactPoint);
 					}
 				}
 			}
@@ -1563,58 +1486,63 @@ void	btCollisionWorld::debugDrawWorld()
 		{
 			int i;
 
-			for (  i=0;i<m_collisionObjects.size();i++)
+			for (i = 0; i < m_collisionObjects.size(); i++)
 			{
 				btCollisionObject* colObj = m_collisionObjects[i];
-				if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
+				if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT) == 0)
 				{
 					if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
 					{
-						btVector3 color(btScalar(0.4),btScalar(0.4),btScalar(0.4));
+						btVector3 color(btScalar(0.4), btScalar(0.4), btScalar(0.4));
 
-						switch(colObj->getActivationState())
+						switch (colObj->getActivationState())
 						{
-						case  ACTIVE_TAG:
-							color = defaultColors.m_activeObject; break;
-						case ISLAND_SLEEPING:
-							color =  defaultColors.m_deactivatedObject;break;
-						case WANTS_DEACTIVATION:
-							color = defaultColors.m_wantsDeactivationObject;break;
-						case DISABLE_DEACTIVATION:
-							color = defaultColors.m_disabledDeactivationObject;break;
-						case DISABLE_SIMULATION:
-							color = defaultColors.m_disabledSimulationObject;break;
-						default:
+							case ACTIVE_TAG:
+								color = defaultColors.m_activeObject;
+								break;
+							case ISLAND_SLEEPING:
+								color = defaultColors.m_deactivatedObject;
+								break;
+							case WANTS_DEACTIVATION:
+								color = defaultColors.m_wantsDeactivationObject;
+								break;
+							case DISABLE_DEACTIVATION:
+								color = defaultColors.m_disabledDeactivationObject;
+								break;
+							case DISABLE_SIMULATION:
+								color = defaultColors.m_disabledSimulationObject;
+								break;
+							default:
 							{
-								color = btVector3(btScalar(.3),btScalar(0.3),btScalar(0.3));
+								color = btVector3(btScalar(.3), btScalar(0.3), btScalar(0.3));
 							}
 						};
 
 						colObj->getCustomDebugColor(color);
 
-						debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
+						debugDrawObject(colObj->getWorldTransform(), colObj->getCollisionShape(), color);
 					}
 					if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 					{
-						btVector3 minAabb,maxAabb;
+						btVector3 minAabb, maxAabb;
 						btVector3 colorvec = defaultColors.m_aabb;
-						colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-						btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+						colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
+						btVector3 contactThreshold(gContactBreakingThreshold, gContactBreakingThreshold, gContactBreakingThreshold);
 						minAabb -= contactThreshold;
 						maxAabb += contactThreshold;
 
-						btVector3 minAabb2,maxAabb2;
+						btVector3 minAabb2, maxAabb2;
 
-						if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
+						if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
 						{
-							colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
+							colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
 							minAabb2 -= contactThreshold;
 							maxAabb2 += contactThreshold;
 							minAabb.setMin(minAabb2);
 							maxAabb.setMax(maxAabb2);
 						}
 
-						m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
+						m_debugDrawer->drawAabb(minAabb, maxAabb, colorvec);
 					}
 				}
 			}
@@ -1622,45 +1550,63 @@ void	btCollisionWorld::debugDrawWorld()
 	}
 }
 
-
-void	btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
+void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
 {
 	int i;
 
 	///keep track of shapes already serialized
-	btHashMap<btHashPtr,btCollisionShape*>	serializedShapes;
+	btHashMap<btHashPtr, btCollisionShape*> serializedShapes;
 
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btCollisionShape* shape = colObj->getCollisionShape();
 
 		if (!serializedShapes.find(shape))
 		{
-			serializedShapes.insert(shape,shape);
+			serializedShapes.insert(shape, shape);
 			shape->serializeSingleShape(serializer);
 		}
 	}
 
 	//serialize all collision objects
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if ((colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) || (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK))
+		if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
 		{
 			colObj->serializeSingleObject(serializer);
 		}
 	}
 }
 
-
-void	btCollisionWorld::serialize(btSerializer* serializer)
+void btCollisionWorld::serializeContactManifolds(btSerializer* serializer)
 {
+	if (serializer->getSerializationFlags() & BT_SERIALIZE_CONTACT_MANIFOLDS)
+	{
+		int numManifolds = getDispatcher()->getNumManifolds();
+		for (int i = 0; i < numManifolds; i++)
+		{
+			const btPersistentManifold* manifold = getDispatcher()->getInternalManifoldPointer()[i];
+			//don't serialize empty manifolds, they just take space
+			//(may have to do it anyway if it destroys determinism)
+			if (manifold->getNumContacts() == 0)
+				continue;
+
+			btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1);
+			const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer);
+			serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold);
+		}
+	}
+}
 
+void btCollisionWorld::serialize(btSerializer* serializer)
+{
 	serializer->startSerialization();
-	
+
 	serializeCollisionObjects(serializer);
-	
+
+	serializeContactManifolds(serializer);
+
 	serializer->finishSerialization();
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
index eede2b28ca..fd0e5b9bbd 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 /**
  * @mainpage Bullet Documentation
  *
@@ -66,8 +65,6 @@ subject to the following restrictions:
  * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
  * 
  */
- 
- 
 
 #ifndef BT_COLLISION_WORLD_H
 #define BT_COLLISION_WORLD_H
@@ -87,144 +84,138 @@ class btSerializer;
 ///CollisionWorld is interface and container for the collision detection
 class btCollisionWorld
 {
-
-	
 protected:
+	btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
 
-	btAlignedObjectArray<btCollisionObject*>	m_collisionObjects;
-	
-	btDispatcher*	m_dispatcher1;
+	btDispatcher* m_dispatcher1;
 
-	btDispatcherInfo	m_dispatchInfo;
+	btDispatcherInfo m_dispatchInfo;
 
-	btBroadphaseInterface*	m_broadphasePairCache;
+	btBroadphaseInterface* m_broadphasePairCache;
 
-	btIDebugDraw*	m_debugDrawer;
+	btIDebugDraw* m_debugDrawer;
 
 	///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
 	///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
 	bool m_forceUpdateAllAabbs;
 
-	void	serializeCollisionObjects(btSerializer* serializer);
+	void serializeCollisionObjects(btSerializer* serializer);
 
-public:
+	void serializeContactManifolds(btSerializer* serializer);
 
+public:
 	//this constructor doesn't own the dispatcher and paircache/broadphase
-	btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
+	btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btCollisionWorld();
 
-	void	setBroadphase(btBroadphaseInterface*	pairCache)
+	void setBroadphase(btBroadphaseInterface* pairCache)
 	{
 		m_broadphasePairCache = pairCache;
 	}
 
-	const btBroadphaseInterface*	getBroadphase() const
+	const btBroadphaseInterface* getBroadphase() const
 	{
 		return m_broadphasePairCache;
 	}
 
-	btBroadphaseInterface*	getBroadphase()
+	btBroadphaseInterface* getBroadphase()
 	{
 		return m_broadphasePairCache;
 	}
 
-	btOverlappingPairCache*	getPairCache()
+	btOverlappingPairCache* getPairCache()
 	{
 		return m_broadphasePairCache->getOverlappingPairCache();
 	}
 
-
-	btDispatcher*	getDispatcher()
+	btDispatcher* getDispatcher()
 	{
 		return m_dispatcher1;
 	}
 
-	const btDispatcher*	getDispatcher() const
+	const btDispatcher* getDispatcher() const
 	{
 		return m_dispatcher1;
 	}
 
-	void	updateSingleAabb(btCollisionObject* colObj);
+	void updateSingleAabb(btCollisionObject* colObj);
 
-	virtual void	updateAabbs();
+	virtual void updateAabbs();
 
 	///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
 	///it can be useful to use if you perform ray tests without collision detection/simulation
-	virtual void	computeOverlappingPairs();
+	virtual void computeOverlappingPairs();
 
-	
-	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
+	virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
 	{
-			m_debugDrawer = debugDrawer;
+		m_debugDrawer = debugDrawer;
 	}
 
-	virtual btIDebugDraw*	getDebugDrawer()
+	virtual btIDebugDraw* getDebugDrawer()
 	{
 		return m_debugDrawer;
 	}
 
-	virtual void	debugDrawWorld();
+	virtual void debugDrawWorld();
 
 	virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
 
-
 	///LocalShapeInfo gives extra information for complex shapes
 	///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
-	struct	LocalShapeInfo
+	struct LocalShapeInfo
 	{
-		int	m_shapePart;
-		int	m_triangleIndex;
-		
+		int m_shapePart;
+		int m_triangleIndex;
+
 		//const btCollisionShape*	m_shapeTemp;
 		//const btTransform*	m_shapeLocalTransform;
 	};
 
-	struct	LocalRayResult
+	struct LocalRayResult
 	{
-		LocalRayResult(const btCollisionObject*	collisionObject, 
-			LocalShapeInfo*	localShapeInfo,
-			const btVector3&		hitNormalLocal,
-			btScalar hitFraction)
-		:m_collisionObject(collisionObject),
-		m_localShapeInfo(localShapeInfo),
-		m_hitNormalLocal(hitNormalLocal),
-		m_hitFraction(hitFraction)
+		LocalRayResult(const btCollisionObject* collisionObject,
+					   LocalShapeInfo* localShapeInfo,
+					   const btVector3& hitNormalLocal,
+					   btScalar hitFraction)
+			: m_collisionObject(collisionObject),
+			  m_localShapeInfo(localShapeInfo),
+			  m_hitNormalLocal(hitNormalLocal),
+			  m_hitFraction(hitFraction)
 		{
 		}
 
-		const btCollisionObject*		m_collisionObject;
-		LocalShapeInfo*			m_localShapeInfo;
-		btVector3				m_hitNormalLocal;
-		btScalar				m_hitFraction;
-
+		const btCollisionObject* m_collisionObject;
+		LocalShapeInfo* m_localShapeInfo;
+		btVector3 m_hitNormalLocal;
+		btScalar m_hitFraction;
 	};
 
 	///RayResultCallback is used to report new raycast results
-	struct	RayResultCallback
+	struct RayResultCallback
 	{
-		btScalar	m_closestHitFraction;
-		const btCollisionObject*		m_collisionObject;
-		int	m_collisionFilterGroup;
-		int	m_collisionFilterMask;
+		btScalar m_closestHitFraction;
+		const btCollisionObject* m_collisionObject;
+		int m_collisionFilterGroup;
+		int m_collisionFilterMask;
 		//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
 		unsigned int m_flags;
 
 		virtual ~RayResultCallback()
 		{
 		}
-		bool	hasHit() const
+		bool hasHit() const
 		{
 			return (m_collisionObject != 0);
 		}
 
 		RayResultCallback()
-			:m_closestHitFraction(btScalar(1.)),
-			m_collisionObject(0),
-			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-			//@BP Mod
-			m_flags(0)
+			: m_closestHitFraction(btScalar(1.)),
+			  m_collisionObject(0),
+			  m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
+			  m_collisionFilterMask(btBroadphaseProxy::AllFilter),
+			  //@BP Mod
+			  m_flags(0)
 		{
 		}
 
@@ -235,62 +226,62 @@ public:
 			return collides;
 		}
 
-
-		virtual	btScalar	addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
+		virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace) = 0;
 	};
 
-	struct	ClosestRayResultCallback : public RayResultCallback
+	struct ClosestRayResultCallback : public RayResultCallback
 	{
-		ClosestRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
-		:m_rayFromWorld(rayFromWorld),
-		m_rayToWorld(rayToWorld)
+		ClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+			: m_rayFromWorld(rayFromWorld),
+			  m_rayToWorld(rayToWorld)
 		{
 		}
 
-		btVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
-		btVector3	m_rayToWorld;
+		btVector3 m_rayFromWorld;  //used to calculate hitPointWorld from hitFraction
+		btVector3 m_rayToWorld;
+
+		btVector3 m_hitNormalWorld;
+		btVector3 m_hitPointWorld;
 
-		btVector3	m_hitNormalWorld;
-		btVector3	m_hitPointWorld;
-			
-		virtual	btScalar	addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
+		virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
 		{
 			//caller already does the filter on the m_closestHitFraction
 			btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
-			
+
 			m_closestHitFraction = rayResult.m_hitFraction;
 			m_collisionObject = rayResult.m_collisionObject;
 			if (normalInWorldSpace)
 			{
 				m_hitNormalWorld = rayResult.m_hitNormalLocal;
-			} else
+			}
+			else
 			{
 				///need to transform normal into worldspace
-				m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
+				m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
 			}
-			m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
+			m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
 			return rayResult.m_hitFraction;
 		}
 	};
 
-	struct	AllHitsRayResultCallback : public RayResultCallback
+	struct AllHitsRayResultCallback : public RayResultCallback
 	{
-		AllHitsRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
-		:m_rayFromWorld(rayFromWorld),
-		m_rayToWorld(rayToWorld)
+		AllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+			: m_rayFromWorld(rayFromWorld),
+			  m_rayToWorld(rayToWorld)
 		{
 		}
 
-		btAlignedObjectArray<const btCollisionObject*>		m_collisionObjects;
+		btAlignedObjectArray<const btCollisionObject*> m_collisionObjects;
 
-		btVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
-		btVector3	m_rayToWorld;
+		btVector3 m_rayFromWorld;  //used to calculate hitPointWorld from hitFraction
+		btVector3 m_rayToWorld;
 
-		btAlignedObjectArray<btVector3>	m_hitNormalWorld;
-		btAlignedObjectArray<btVector3>	m_hitPointWorld;
+		btAlignedObjectArray<btVector3> m_hitNormalWorld;
+		btAlignedObjectArray<btVector3> m_hitPointWorld;
 		btAlignedObjectArray<btScalar> m_hitFractions;
-			
-		virtual	btScalar	addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
+
+		virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
 		{
 			m_collisionObject = rayResult.m_collisionObject;
 			m_collisionObjects.push_back(rayResult.m_collisionObject);
@@ -298,69 +289,66 @@ public:
 			if (normalInWorldSpace)
 			{
 				hitNormalWorld = rayResult.m_hitNormalLocal;
-			} else
+			}
+			else
 			{
 				///need to transform normal into worldspace
-				hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
+				hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
 			}
 			m_hitNormalWorld.push_back(hitNormalWorld);
 			btVector3 hitPointWorld;
-			hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
+			hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
 			m_hitPointWorld.push_back(hitPointWorld);
 			m_hitFractions.push_back(rayResult.m_hitFraction);
 			return m_closestHitFraction;
 		}
 	};
 
-
 	struct LocalConvexResult
 	{
-		LocalConvexResult(const btCollisionObject*	hitCollisionObject, 
-			LocalShapeInfo*	localShapeInfo,
-			const btVector3&		hitNormalLocal,
-			const btVector3&		hitPointLocal,
-			btScalar hitFraction
-			)
-		:m_hitCollisionObject(hitCollisionObject),
-		m_localShapeInfo(localShapeInfo),
-		m_hitNormalLocal(hitNormalLocal),
-		m_hitPointLocal(hitPointLocal),
-		m_hitFraction(hitFraction)
+		LocalConvexResult(const btCollisionObject* hitCollisionObject,
+						  LocalShapeInfo* localShapeInfo,
+						  const btVector3& hitNormalLocal,
+						  const btVector3& hitPointLocal,
+						  btScalar hitFraction)
+			: m_hitCollisionObject(hitCollisionObject),
+			  m_localShapeInfo(localShapeInfo),
+			  m_hitNormalLocal(hitNormalLocal),
+			  m_hitPointLocal(hitPointLocal),
+			  m_hitFraction(hitFraction)
 		{
 		}
 
-		const btCollisionObject*		m_hitCollisionObject;
-		LocalShapeInfo*			m_localShapeInfo;
-		btVector3				m_hitNormalLocal;
-		btVector3				m_hitPointLocal;
-		btScalar				m_hitFraction;
+		const btCollisionObject* m_hitCollisionObject;
+		LocalShapeInfo* m_localShapeInfo;
+		btVector3 m_hitNormalLocal;
+		btVector3 m_hitPointLocal;
+		btScalar m_hitFraction;
 	};
 
 	///RayResultCallback is used to report new raycast results
-	struct	ConvexResultCallback
+	struct ConvexResultCallback
 	{
-		btScalar	m_closestHitFraction;
-		int	m_collisionFilterGroup;
-		int	m_collisionFilterMask;
-		
+		btScalar m_closestHitFraction;
+		int m_collisionFilterGroup;
+		int m_collisionFilterMask;
+
 		ConvexResultCallback()
-			:m_closestHitFraction(btScalar(1.)),
-			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			m_collisionFilterMask(btBroadphaseProxy::AllFilter)
+			: m_closestHitFraction(btScalar(1.)),
+			  m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
+			  m_collisionFilterMask(btBroadphaseProxy::AllFilter)
 		{
 		}
 
 		virtual ~ConvexResultCallback()
 		{
 		}
-		
-		bool	hasHit() const
+
+		bool hasHit() const
 		{
 			return (m_closestHitFraction < btScalar(1.));
 		}
 
-		
-
 		virtual bool needsCollision(btBroadphaseProxy* proxy0) const
 		{
 			bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
@@ -368,39 +356,40 @@ public:
 			return collides;
 		}
 
-		virtual	btScalar	addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
+		virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace) = 0;
 	};
 
-	struct	ClosestConvexResultCallback : public ConvexResultCallback
+	struct ClosestConvexResultCallback : public ConvexResultCallback
 	{
-		ClosestConvexResultCallback(const btVector3&	convexFromWorld,const btVector3&	convexToWorld)
-		:m_convexFromWorld(convexFromWorld),
-		m_convexToWorld(convexToWorld),
-		m_hitCollisionObject(0)
+		ClosestConvexResultCallback(const btVector3& convexFromWorld, const btVector3& convexToWorld)
+			: m_convexFromWorld(convexFromWorld),
+			  m_convexToWorld(convexToWorld),
+			  m_hitCollisionObject(0)
 		{
 		}
 
-		btVector3	m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
-		btVector3	m_convexToWorld;
+		btVector3 m_convexFromWorld;  //used to calculate hitPointWorld from hitFraction
+		btVector3 m_convexToWorld;
 
-		btVector3	m_hitNormalWorld;
-		btVector3	m_hitPointWorld;
-		const btCollisionObject*	m_hitCollisionObject;
-		
-		virtual	btScalar	addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
+		btVector3 m_hitNormalWorld;
+		btVector3 m_hitPointWorld;
+		const btCollisionObject* m_hitCollisionObject;
+
+		virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace)
 		{
-//caller already does the filter on the m_closestHitFraction
+			//caller already does the filter on the m_closestHitFraction
 			btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
-						
+
 			m_closestHitFraction = convexResult.m_hitFraction;
 			m_hitCollisionObject = convexResult.m_hitCollisionObject;
 			if (normalInWorldSpace)
 			{
 				m_hitNormalWorld = convexResult.m_hitNormalLocal;
-			} else
+			}
+			else
 			{
 				///need to transform normal into worldspace
-				m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
+				m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
 			}
 			m_hitPointWorld = convexResult.m_hitPointLocal;
 			return convexResult.m_hitFraction;
@@ -408,23 +397,23 @@ public:
 	};
 
 	///ContactResultCallback is used to report contact points
-	struct	ContactResultCallback
+	struct ContactResultCallback
 	{
-		int	m_collisionFilterGroup;
-		int	m_collisionFilterMask;
-		btScalar	m_closestDistanceThreshold;
+		int m_collisionFilterGroup;
+		int m_collisionFilterMask;
+		btScalar m_closestDistanceThreshold;
 
 		ContactResultCallback()
-			:m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-			m_closestDistanceThreshold(0)
+			: m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
+			  m_collisionFilterMask(btBroadphaseProxy::AllFilter),
+			  m_closestDistanceThreshold(0)
 		{
 		}
 
 		virtual ~ContactResultCallback()
 		{
 		}
-		
+
 		virtual bool needsCollision(btBroadphaseProxy* proxy0) const
 		{
 			bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
@@ -432,58 +421,57 @@ public:
 			return collides;
 		}
 
-		virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0;
+		virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) = 0;
 	};
 
-
-
-	int	getNumCollisionObjects() const
+	int getNumCollisionObjects() const
 	{
 		return int(m_collisionObjects.size());
 	}
 
 	/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
 	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
-	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 
+	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
 
 	/// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
 	/// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
-	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;
+	void convexSweepTest(const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
 
 	///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
 	///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
-	void	contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
+	void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
 
 	///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
 	///it reports one or more contact points (including the one with deepest penetration)
-	void	contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
-
+	void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
 	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
 	/// This allows more customization.
-	static void	rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback);
+	static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+							  btCollisionObject* collisionObject,
+							  const btCollisionShape* collisionShape,
+							  const btTransform& colObjWorldTransform,
+							  RayResultCallback& resultCallback);
 
-	static void	rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  const btCollisionObjectWrapper* collisionObjectWrap,
-					  RayResultCallback& resultCallback);
+	static void rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+									  const btCollisionObjectWrapper* collisionObjectWrap,
+									  RayResultCallback& resultCallback);
 
 	/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
-	static void	objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  ConvexResultCallback& resultCallback, btScalar	allowedPenetration);
+	static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans, const btTransform& rayToTrans,
+								  btCollisionObject* collisionObject,
+								  const btCollisionShape* collisionShape,
+								  const btTransform& colObjWorldTransform,
+								  ConvexResultCallback& resultCallback, btScalar allowedPenetration);
 
-	static void	objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
-											const btCollisionObjectWrapper* colObjWrap,
-											ConvexResultCallback& resultCallback, btScalar allowedPenetration);
+	static void objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
+										  const btCollisionObjectWrapper* colObjWrap,
+										  ConvexResultCallback& resultCallback, btScalar allowedPenetration);
 
-	virtual void	addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
+	virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
+
+	virtual void refreshBroadphaseProxy(btCollisionObject* collisionObject);
 
 	btCollisionObjectArray& getCollisionObjectArray()
 	{
@@ -495,10 +483,9 @@ public:
 		return m_collisionObjects;
 	}
 
+	virtual void removeCollisionObject(btCollisionObject* collisionObject);
 
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
-
-	virtual void	performDiscreteCollisionDetection();
+	virtual void performDiscreteCollisionDetection();
 
 	btDispatcherInfo& getDispatchInfo()
 	{
@@ -509,20 +496,18 @@ public:
 	{
 		return m_dispatchInfo;
 	}
-	
-	bool	getForceUpdateAllAabbs() const
+
+	bool getForceUpdateAllAabbs() const
 	{
 		return m_forceUpdateAllAabbs;
 	}
-	void setForceUpdateAllAabbs( bool forceUpdateAllAabbs)
+	void setForceUpdateAllAabbs(bool forceUpdateAllAabbs)
 	{
 		m_forceUpdateAllAabbs = forceUpdateAllAabbs;
 	}
 
 	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
-	virtual	void	serialize(btSerializer* serializer);
-
+	virtual void serialize(btSerializer* serializer);
 };
 
-
-#endif //BT_COLLISION_WORLD_H
+#endif  //BT_COLLISION_WORLD_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
index f2b0837808..9f422dc157 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
@@ -15,269 +15,251 @@ subject to the following restrictions:
 
 #include "btCollisionWorldImporter.h"
 #include "btBulletCollisionCommon.h"
-#include "LinearMath/btSerializer.h" //for btBulletSerializedArrays definition
+#include "LinearMath/btSerializer.h"  //for btBulletSerializedArrays definition
 
 #ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
 #include "BulletCollision/Gimpact/btGImpactShape.h"
-#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
+#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
 
 btCollisionWorldImporter::btCollisionWorldImporter(btCollisionWorld* world)
-:m_collisionWorld(world),
-m_verboseMode(0)
+	: m_collisionWorld(world),
+	  m_verboseMode(0)
 {
-
 }
 
 btCollisionWorldImporter::~btCollisionWorldImporter()
 {
 }
 
-
-
-
-
-bool	btCollisionWorldImporter::convertAllObjects( btBulletSerializedArrays* arrays)
+bool btCollisionWorldImporter::convertAllObjects(btBulletSerializedArrays* arrays)
 {
-
 	m_shapeMap.clear();
 	m_bodyMap.clear();
 
 	int i;
 
-	for (i=0;i<arrays->m_bvhsDouble.size();i++)
+	for (i = 0; i < arrays->m_bvhsDouble.size(); i++)
 	{
 		btOptimizedBvh* bvh = createOptimizedBvh();
 		btQuantizedBvhDoubleData* bvhData = arrays->m_bvhsDouble[i];
 		bvh->deSerializeDouble(*bvhData);
-		m_bvhMap.insert(arrays->m_bvhsDouble[i],bvh);
+		m_bvhMap.insert(arrays->m_bvhsDouble[i], bvh);
 	}
-	for (i=0;i<arrays->m_bvhsFloat.size();i++)
-    {
-        btOptimizedBvh* bvh = createOptimizedBvh();
-   		btQuantizedBvhFloatData* bvhData = arrays->m_bvhsFloat[i];
+	for (i = 0; i < arrays->m_bvhsFloat.size(); i++)
+	{
+		btOptimizedBvh* bvh = createOptimizedBvh();
+		btQuantizedBvhFloatData* bvhData = arrays->m_bvhsFloat[i];
 		bvh->deSerializeFloat(*bvhData);
-		m_bvhMap.insert(arrays->m_bvhsFloat[i],bvh);
+		m_bvhMap.insert(arrays->m_bvhsFloat[i], bvh);
 	}
 
-
-
-
-
-	for (i=0;i<arrays->m_colShapeData.size();i++)
+	for (i = 0; i < arrays->m_colShapeData.size(); i++)
 	{
 		btCollisionShapeData* shapeData = arrays->m_colShapeData[i];
 		btCollisionShape* shape = convertCollisionShape(shapeData);
 		if (shape)
 		{
-	//		printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
-			m_shapeMap.insert(shapeData,shape);
+			//		printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
+			m_shapeMap.insert(shapeData, shape);
 		}
 
-		if (shape&& shapeData->m_name)
+		if (shape && shapeData->m_name)
 		{
 			char* newname = duplicateName(shapeData->m_name);
-			m_objectNameMap.insert(shape,newname);
-			m_nameShapeMap.insert(newname,shape);
+			m_objectNameMap.insert(shape, newname);
+			m_nameShapeMap.insert(newname, shape);
 		}
 	}
 
-
-	for (i=0;i<arrays->m_collisionObjectDataDouble.size();i++)
+	for (i = 0; i < arrays->m_collisionObjectDataDouble.size(); i++)
 	{
-        btCollisionObjectDoubleData* colObjData = arrays->m_collisionObjectDataDouble[i];
-        btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
-        if (shapePtr && *shapePtr)
-        {
-            btTransform startTransform;
-            colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
-            startTransform.deSerializeDouble(colObjData->m_worldTransform);
-
-            btCollisionShape* shape = (btCollisionShape*)*shapePtr;
-            btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
-            body->setFriction(btScalar(colObjData->m_friction));
-            body->setRestitution(btScalar(colObjData->m_restitution));
+		btCollisionObjectDoubleData* colObjData = arrays->m_collisionObjectDataDouble[i];
+		btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
+		if (shapePtr && *shapePtr)
+		{
+			btTransform startTransform;
+			colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
+			startTransform.deSerializeDouble(colObjData->m_worldTransform);
+
+			btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+			btCollisionObject* body = createCollisionObject(startTransform, shape, colObjData->m_name);
+			body->setFriction(btScalar(colObjData->m_friction));
+			body->setRestitution(btScalar(colObjData->m_restitution));
 
 #ifdef USE_INTERNAL_EDGE_UTILITY
-            if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-            {
-                btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
-                if (trimesh->getTriangleInfoMap())
-                {
-                    body->setCollisionFlags(body->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-                }
-            }
-#endif //USE_INTERNAL_EDGE_UTILITY
-            m_bodyMap.insert(colObjData,body);
-        } else
-        {
-            printf("error: no shape found\n");
-        }
+			if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+			{
+				btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
+				if (trimesh->getTriangleInfoMap())
+				{
+					body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
+				}
+			}
+#endif  //USE_INTERNAL_EDGE_UTILITY
+			m_bodyMap.insert(colObjData, body);
+		}
+		else
+		{
+			printf("error: no shape found\n");
+		}
 	}
-	for (i=0;i<arrays->m_collisionObjectDataFloat.size();i++)
+	for (i = 0; i < arrays->m_collisionObjectDataFloat.size(); i++)
 	{
-        btCollisionObjectFloatData* colObjData = arrays->m_collisionObjectDataFloat[i];
-        btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
-        if (shapePtr && *shapePtr)
-        {
-            btTransform startTransform;
-            colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
-            startTransform.deSerializeFloat(colObjData->m_worldTransform);
+		btCollisionObjectFloatData* colObjData = arrays->m_collisionObjectDataFloat[i];
+		btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
+		if (shapePtr && *shapePtr)
+		{
+			btTransform startTransform;
+			colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
+			startTransform.deSerializeFloat(colObjData->m_worldTransform);
 
-            btCollisionShape* shape = (btCollisionShape*)*shapePtr;
-            btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
+			btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+			btCollisionObject* body = createCollisionObject(startTransform, shape, colObjData->m_name);
 
 #ifdef USE_INTERNAL_EDGE_UTILITY
-            if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-            {
-                btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
-                if (trimesh->getTriangleInfoMap())
-                {
-                    body->setCollisionFlags(body->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-                }
-            }
-#endif //USE_INTERNAL_EDGE_UTILITY
-            m_bodyMap.insert(colObjData,body);
-        } else
-        {
-            printf("error: no shape found\n");
-        }
-    }
+			if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+			{
+				btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
+				if (trimesh->getTriangleInfoMap())
+				{
+					body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
+				}
+			}
+#endif  //USE_INTERNAL_EDGE_UTILITY
+			m_bodyMap.insert(colObjData, body);
+		}
+		else
+		{
+			printf("error: no shape found\n");
+		}
+	}
 
 	return true;
 }
 
-
-
 void btCollisionWorldImporter::deleteAllData()
 {
 	int i;
 
-	for (i=0;i<m_allocatedCollisionObjects.size();i++)
+	for (i = 0; i < m_allocatedCollisionObjects.size(); i++)
 	{
-		if(m_collisionWorld)
+		if (m_collisionWorld)
 			m_collisionWorld->removeCollisionObject(m_allocatedCollisionObjects[i]);
 		delete m_allocatedCollisionObjects[i];
 	}
 
 	m_allocatedCollisionObjects.clear();
 
-
-	for (i=0;i<m_allocatedCollisionShapes.size();i++)
+	for (i = 0; i < m_allocatedCollisionShapes.size(); i++)
 	{
 		delete m_allocatedCollisionShapes[i];
 	}
 	m_allocatedCollisionShapes.clear();
 
-
-	for (i=0;i<m_allocatedBvhs.size();i++)
+	for (i = 0; i < m_allocatedBvhs.size(); i++)
 	{
 		delete m_allocatedBvhs[i];
 	}
 	m_allocatedBvhs.clear();
 
-	for (i=0;i<m_allocatedTriangleInfoMaps.size();i++)
+	for (i = 0; i < m_allocatedTriangleInfoMaps.size(); i++)
 	{
 		delete m_allocatedTriangleInfoMaps[i];
 	}
 	m_allocatedTriangleInfoMaps.clear();
-	for (i=0;i<m_allocatedTriangleIndexArrays.size();i++)
+	for (i = 0; i < m_allocatedTriangleIndexArrays.size(); i++)
 	{
 		delete m_allocatedTriangleIndexArrays[i];
 	}
 	m_allocatedTriangleIndexArrays.clear();
-	for (i=0;i<m_allocatedNames.size();i++)
+	for (i = 0; i < m_allocatedNames.size(); i++)
 	{
 		delete[] m_allocatedNames[i];
 	}
 	m_allocatedNames.clear();
 
-	for (i=0;i<m_allocatedbtStridingMeshInterfaceDatas.size();i++)
+	for (i = 0; i < m_allocatedbtStridingMeshInterfaceDatas.size(); i++)
 	{
 		btStridingMeshInterfaceData* curData = m_allocatedbtStridingMeshInterfaceDatas[i];
 
-		for(int a = 0;a < curData->m_numMeshParts;a++)
+		for (int a = 0; a < curData->m_numMeshParts; a++)
 		{
 			btMeshPartData* curPart = &curData->m_meshPartsPtr[a];
-			if(curPart->m_vertices3f)
-				delete [] curPart->m_vertices3f;
+			if (curPart->m_vertices3f)
+				delete[] curPart->m_vertices3f;
 
-			if(curPart->m_vertices3d)
-				delete [] curPart->m_vertices3d;
+			if (curPart->m_vertices3d)
+				delete[] curPart->m_vertices3d;
 
-			if(curPart->m_indices32)
-				delete [] curPart->m_indices32;
+			if (curPart->m_indices32)
+				delete[] curPart->m_indices32;
 
-			if(curPart->m_3indices16)
-				delete [] curPart->m_3indices16;
+			if (curPart->m_3indices16)
+				delete[] curPart->m_3indices16;
 
-			if(curPart->m_indices16)
-				delete [] curPart->m_indices16;
+			if (curPart->m_indices16)
+				delete[] curPart->m_indices16;
 
 			if (curPart->m_3indices8)
-				delete [] curPart->m_3indices8;
-
+				delete[] curPart->m_3indices8;
 		}
-		delete [] curData->m_meshPartsPtr;
+		delete[] curData->m_meshPartsPtr;
 		delete curData;
 	}
 	m_allocatedbtStridingMeshInterfaceDatas.clear();
 
-	for (i=0;i<m_indexArrays.size();i++)
+	for (i = 0; i < m_indexArrays.size(); i++)
 	{
 		btAlignedFree(m_indexArrays[i]);
 	}
-  m_indexArrays.clear();
+	m_indexArrays.clear();
 
-	for (i=0;i<m_shortIndexArrays.size();i++)
+	for (i = 0; i < m_shortIndexArrays.size(); i++)
 	{
 		btAlignedFree(m_shortIndexArrays[i]);
 	}
-  m_shortIndexArrays.clear();
+	m_shortIndexArrays.clear();
 
-	for (i=0;i<m_charIndexArrays.size();i++)
+	for (i = 0; i < m_charIndexArrays.size(); i++)
 	{
 		btAlignedFree(m_charIndexArrays[i]);
 	}
-  m_charIndexArrays.clear();
+	m_charIndexArrays.clear();
 
-	for (i=0;i<m_floatVertexArrays.size();i++)
+	for (i = 0; i < m_floatVertexArrays.size(); i++)
 	{
 		btAlignedFree(m_floatVertexArrays[i]);
 	}
-  m_floatVertexArrays.clear();
+	m_floatVertexArrays.clear();
 
-	for (i=0;i<m_doubleVertexArrays.size();i++)
+	for (i = 0; i < m_doubleVertexArrays.size(); i++)
 	{
 		btAlignedFree(m_doubleVertexArrays[i]);
 	}
-   m_doubleVertexArrays.clear();
-
-
+	m_doubleVertexArrays.clear();
 }
 
-
-
-btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionShapeData* shapeData  )
+btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionShapeData* shapeData)
 {
 	btCollisionShape* shape = 0;
 
 	switch (shapeData->m_shapeType)
-		{
-	case STATIC_PLANE_PROXYTYPE:
+	{
+		case STATIC_PLANE_PROXYTYPE:
 		{
 			btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
-			btVector3 planeNormal,localScaling;
+			btVector3 planeNormal, localScaling;
 			planeNormal.deSerializeFloat(planeData->m_planeNormal);
 			localScaling.deSerializeFloat(planeData->m_localScaling);
-			shape = createPlaneShape(planeNormal,planeData->m_planeConstant);
+			shape = createPlaneShape(planeNormal, planeData->m_planeConstant);
 			shape->setLocalScaling(localScaling);
 
 			break;
 		}
-	case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
+		case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
 		{
-			btScaledTriangleMeshShapeData* scaledMesh = (btScaledTriangleMeshShapeData*) shapeData;
-			btCollisionShapeData* colShapeData = (btCollisionShapeData*) &scaledMesh->m_trimeshShapeData;
+			btScaledTriangleMeshShapeData* scaledMesh = (btScaledTriangleMeshShapeData*)shapeData;
+			btCollisionShapeData* colShapeData = (btCollisionShapeData*)&scaledMesh->m_trimeshShapeData;
 			colShapeData->m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 			btCollisionShape* childShape = convertCollisionShape(colShapeData);
 			btBvhTriangleMeshShape* meshShape = (btBvhTriangleMeshShape*)childShape;
@@ -288,15 +270,14 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 			break;
 		}
 #ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
-	case GIMPACT_SHAPE_PROXYTYPE:
+		case GIMPACT_SHAPE_PROXYTYPE:
 		{
-			btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
+			btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*)shapeData;
 			if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
 			{
 				btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&gimpactData->m_meshInterface);
 				btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData);
 
-
 				btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
 				btVector3 localScaling;
 				localScaling.deSerializeFloat(gimpactData->m_localScaling);
@@ -304,47 +285,45 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 				gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
 				gimpactShape->updateBound();
 				shape = gimpactShape;
-			} else
+			}
+			else
 			{
 				printf("unsupported gimpact sub type\n");
 			}
 			break;
 		}
-#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
-	//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
-	//so deal with this
+#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT                                                                        \
+		//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \
+		//so deal with this
 		case CAPSULE_SHAPE_PROXYTYPE:
 		{
 			btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
 
-
 			switch (capData->m_upAxis)
 			{
-			case 0:
+				case 0:
 				{
-					shape = createCapsuleShapeX(1,1);
+					shape = createCapsuleShapeX(1, 1);
 					break;
 				}
-			case 1:
+				case 1:
 				{
-					shape = createCapsuleShapeY(1,1);
+					shape = createCapsuleShapeY(1, 1);
 					break;
 				}
-			case 2:
+				case 2:
 				{
-					shape = createCapsuleShapeZ(1,1);
+					shape = createCapsuleShapeZ(1, 1);
 					break;
 				}
-			default:
+				default:
 				{
 					printf("error: wrong up axis for btCapsuleShape\n");
 				}
-
-
 			};
 			if (shape)
 			{
-				btCapsuleShape* cap = (btCapsuleShape*) shape;
+				btCapsuleShape* cap = (btCapsuleShape*)shape;
 				cap->deSerializeFloat(capData);
 			}
 			break;
@@ -355,163 +334,156 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 		case SPHERE_SHAPE_PROXYTYPE:
 		case MULTI_SPHERE_SHAPE_PROXYTYPE:
 		case CONVEX_HULL_SHAPE_PROXYTYPE:
+		{
+			btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
+			btVector3 implicitShapeDimensions;
+			implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
+			btVector3 localScaling;
+			localScaling.deSerializeFloat(bsd->m_localScaling);
+			btVector3 margin(bsd->m_collisionMargin, bsd->m_collisionMargin, bsd->m_collisionMargin);
+			switch (shapeData->m_shapeType)
 			{
-				btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
-				btVector3 implicitShapeDimensions;
-				implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
-				btVector3 localScaling;
-				localScaling.deSerializeFloat(bsd->m_localScaling);
-				btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
-				switch (shapeData->m_shapeType)
+				case BOX_SHAPE_PROXYTYPE:
 				{
-					case BOX_SHAPE_PROXYTYPE:
-						{
-							btBoxShape* box= (btBoxShape*)createBoxShape(implicitShapeDimensions/localScaling+margin);
-							//box->initializePolyhedralFeatures();
-							shape = box;
+					btBoxShape* box = (btBoxShape*)createBoxShape(implicitShapeDimensions / localScaling + margin);
+					//box->initializePolyhedralFeatures();
+					shape = box;
 
+					break;
+				}
+				case SPHERE_SHAPE_PROXYTYPE:
+				{
+					shape = createSphereShape(implicitShapeDimensions.getX());
+					break;
+				}
+
+				case CYLINDER_SHAPE_PROXYTYPE:
+				{
+					btCylinderShapeData* cylData = (btCylinderShapeData*)shapeData;
+					btVector3 halfExtents = implicitShapeDimensions + margin;
+					switch (cylData->m_upAxis)
+					{
+						case 0:
+						{
+							shape = createCylinderShapeX(halfExtents.getY(), halfExtents.getX());
 							break;
 						}
-					case SPHERE_SHAPE_PROXYTYPE:
+						case 1:
 						{
-							shape = createSphereShape(implicitShapeDimensions.getX());
+							shape = createCylinderShapeY(halfExtents.getX(), halfExtents.getY());
 							break;
 						}
-
-					case CYLINDER_SHAPE_PROXYTYPE:
+						case 2:
 						{
-							btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
-							btVector3 halfExtents = implicitShapeDimensions+margin;
-							switch (cylData->m_upAxis)
-							{
-							case 0:
-								{
-									shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
-									break;
-								}
-							case 1:
-								{
-									shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
-									break;
-								}
-							case 2:
-								{
-									shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
-									break;
-								}
-							default:
-								{
-									printf("unknown Cylinder up axis\n");
-								}
-
-							};
-
-
-
+							shape = createCylinderShapeZ(halfExtents.getX(), halfExtents.getZ());
 							break;
 						}
-					case CONE_SHAPE_PROXYTYPE:
+						default:
 						{
-							btConeShapeData* conData = (btConeShapeData*) shapeData;
-							btVector3 halfExtents = implicitShapeDimensions;//+margin;
-							switch (conData->m_upIndex)
-							{
-							case 0:
-								{
-									shape = createConeShapeX(halfExtents.getY(),halfExtents.getX());
-									break;
-								}
-							case 1:
-								{
-									shape = createConeShapeY(halfExtents.getX(),halfExtents.getY());
-									break;
-								}
-							case 2:
-								{
-									shape = createConeShapeZ(halfExtents.getX(),halfExtents.getZ());
-									break;
-								}
-							default:
-								{
-									printf("unknown Cone up axis\n");
-								}
-
-							};
-
-
+							printf("unknown Cylinder up axis\n");
+						}
+					};
 
+					break;
+				}
+				case CONE_SHAPE_PROXYTYPE:
+				{
+					btConeShapeData* conData = (btConeShapeData*)shapeData;
+					btVector3 halfExtents = implicitShapeDimensions;  //+margin;
+					switch (conData->m_upIndex)
+					{
+						case 0:
+						{
+							shape = createConeShapeX(halfExtents.getY(), halfExtents.getX());
 							break;
 						}
-					case MULTI_SPHERE_SHAPE_PROXYTYPE:
+						case 1:
 						{
-							btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
-							int numSpheres = mss->m_localPositionArraySize;
-
-							btAlignedObjectArray<btVector3> tmpPos;
-							btAlignedObjectArray<btScalar> radii;
-							radii.resize(numSpheres);
-							tmpPos.resize(numSpheres);
-							int i;
-							for ( i=0;i<numSpheres;i++)
-							{
-								tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
-								radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
-							}
-							shape = createMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
+							shape = createConeShapeY(halfExtents.getX(), halfExtents.getY());
 							break;
 						}
-					case CONVEX_HULL_SHAPE_PROXYTYPE:
+						case 2:
 						{
-						//	int sz = sizeof(btConvexHullShapeData);
-						//	int sz2 = sizeof(btConvexInternalShapeData);
-						//	int sz3 = sizeof(btCollisionShapeData);
-							btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
-							int numPoints = convexData->m_numUnscaledPoints;
-
-							btAlignedObjectArray<btVector3> tmpPoints;
-							tmpPoints.resize(numPoints);
-							int i;
-							for ( i=0;i<numPoints;i++)
-							{
-#ifdef BT_USE_DOUBLE_PRECISION
-							if (convexData->m_unscaledPointsDoublePtr)
-								tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
-							if (convexData->m_unscaledPointsFloatPtr)
-								tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
-#else
-							if (convexData->m_unscaledPointsFloatPtr)
-								tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
-							if (convexData->m_unscaledPointsDoublePtr)
-								tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
-#endif //BT_USE_DOUBLE_PRECISION
-							}
-							btConvexHullShape* hullShape = createConvexHullShape();
-							for (i=0;i<numPoints;i++)
-							{
-								hullShape->addPoint(tmpPoints[i]);
-							}
-							hullShape->setMargin(bsd->m_collisionMargin);
-							//hullShape->initializePolyhedralFeatures();
-							shape = hullShape;
+							shape = createConeShapeZ(halfExtents.getX(), halfExtents.getZ());
 							break;
 						}
-					default:
+						default:
 						{
-							printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
+							printf("unknown Cone up axis\n");
 						}
-				}
+					};
 
-				if (shape)
+					break;
+				}
+				case MULTI_SPHERE_SHAPE_PROXYTYPE:
+				{
+					btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
+					int numSpheres = mss->m_localPositionArraySize;
+
+					btAlignedObjectArray<btVector3> tmpPos;
+					btAlignedObjectArray<btScalar> radii;
+					radii.resize(numSpheres);
+					tmpPos.resize(numSpheres);
+					int i;
+					for (i = 0; i < numSpheres; i++)
+					{
+						tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
+						radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
+					}
+					shape = createMultiSphereShape(&tmpPos[0], &radii[0], numSpheres);
+					break;
+				}
+				case CONVEX_HULL_SHAPE_PROXYTYPE:
 				{
-					shape->setMargin(bsd->m_collisionMargin);
+					//	int sz = sizeof(btConvexHullShapeData);
+					//	int sz2 = sizeof(btConvexInternalShapeData);
+					//	int sz3 = sizeof(btCollisionShapeData);
+					btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
+					int numPoints = convexData->m_numUnscaledPoints;
+
+					btAlignedObjectArray<btVector3> tmpPoints;
+					tmpPoints.resize(numPoints);
+					int i;
+					for (i = 0; i < numPoints; i++)
+					{
+#ifdef BT_USE_DOUBLE_PRECISION
+						if (convexData->m_unscaledPointsDoublePtr)
+							tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
+						if (convexData->m_unscaledPointsFloatPtr)
+							tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
+#else
+						if (convexData->m_unscaledPointsFloatPtr)
+							tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
+						if (convexData->m_unscaledPointsDoublePtr)
+							tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
+#endif  //BT_USE_DOUBLE_PRECISION
+					}
+					btConvexHullShape* hullShape = createConvexHullShape();
+					for (i = 0; i < numPoints; i++)
+					{
+						hullShape->addPoint(tmpPoints[i]);
+					}
+					hullShape->setMargin(bsd->m_collisionMargin);
+					//hullShape->initializePolyhedralFeatures();
+					shape = hullShape;
+					break;
+				}
+				default:
+				{
+					printf("error: cannot create shape type (%d)\n", shapeData->m_shapeType);
+				}
+			}
 
-					btVector3 localScaling;
-					localScaling.deSerializeFloat(bsd->m_localScaling);
-					shape->setLocalScaling(localScaling);
+			if (shape)
+			{
+				shape->setMargin(bsd->m_collisionMargin);
 
-				}
-				break;
+				btVector3 localScaling;
+				localScaling.deSerializeFloat(bsd->m_localScaling);
+				shape->setLocalScaling(localScaling);
 			}
+			break;
+		}
 		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
 		{
 			btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
@@ -522,10 +494,10 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 				return 0;
 			}
 
-			btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
+			btVector3 scaling;
+			scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
 			meshInterface->setScaling(scaling);
 
-
 			btOptimizedBvh* bvh = 0;
 #if 1
 			if (trimesh->m_quantizedFloatBvh)
@@ -534,7 +506,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 				if (bvhPtr && *bvhPtr)
 				{
 					bvh = *bvhPtr;
-				} else
+				}
+				else
 				{
 					bvh = createOptimizedBvh();
 					bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
@@ -546,7 +519,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 				if (bvhPtr && *bvhPtr)
 				{
 					bvh = *bvhPtr;
-				} else
+				}
+				else
 				{
 					bvh = createOptimizedBvh();
 					bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
@@ -554,8 +528,7 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 			}
 #endif
 
-
-			btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
+			btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface, bvh);
 			trimeshShape->setMargin(trimesh->m_collisionMargin);
 			shape = trimeshShape;
 
@@ -567,71 +540,66 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 
 #ifdef USE_INTERNAL_EDGE_UTILITY
 				gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
-#endif //USE_INTERNAL_EDGE_UTILITY
-
+#endif  //USE_INTERNAL_EDGE_UTILITY
 			}
 
 			//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
 			break;
 		}
 		case COMPOUND_SHAPE_PROXYTYPE:
-			{
-				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
-				btCompoundShape* compoundShape = createCompoundShape();
-
-				//btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
+		{
+			btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
+			btCompoundShape* compoundShape = createCompoundShape();
 
+			//btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
 
-				btAlignedObjectArray<btCollisionShape*> childShapes;
-				for (int i=0;i<compoundData->m_numChildShapes;i++)
-				{
-					//btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
+			btAlignedObjectArray<btCollisionShape*> childShapes;
+			for (int i = 0; i < compoundData->m_numChildShapes; i++)
+			{
+				//btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
 
-					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
+				btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
 
-					btCollisionShape* childShape = convertCollisionShape(cd);
-					if (childShape)
-					{
-						btTransform localTransform;
-						localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
-						compoundShape->addChildShape(localTransform,childShape);
-					} else
-					{
+				btCollisionShape* childShape = convertCollisionShape(cd);
+				if (childShape)
+				{
+					btTransform localTransform;
+					localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
+					compoundShape->addChildShape(localTransform, childShape);
+				}
+				else
+				{
 #ifdef _DEBUG
-						printf("error: couldn't create childShape for compoundShape\n");
+					printf("error: couldn't create childShape for compoundShape\n");
 #endif
-					}
-
 				}
-				shape = compoundShape;
-
-				break;
 			}
+			shape = compoundShape;
+
+			break;
+		}
 		case SOFTBODY_SHAPE_PROXYTYPE:
-			{
-				return 0;
-			}
+		{
+			return 0;
+		}
 		default:
-			{
+		{
 #ifdef _DEBUG
-				printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
+			printf("unsupported shape type (%d)\n", shapeData->m_shapeType);
 #endif
-			}
 		}
+	}
 
-		return shape;
-
+	return shape;
 }
 
-
-
 char* btCollisionWorldImporter::duplicateName(const char* name)
 {
 	if (name)
 	{
 		int l = (int)strlen(name);
-		char* newName = new char[l+1];
-		memcpy(newName,name,l);
+		char* newName = new char[l + 1];
+		memcpy(newName, name, l);
 		newName[l] = 0;
 		m_allocatedNames.push_back(newName);
 		return newName;
@@ -639,53 +607,43 @@ char* btCollisionWorldImporter::duplicateName(const char* name)
 	return 0;
 }
 
-
-
-
-
-
-
-
-
-
-
-btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStridingMeshInterfaceData&  meshData)
+btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStridingMeshInterfaceData& meshData)
 {
 	btTriangleIndexVertexArray* meshInterface = createTriangleMeshContainer();
 
-	for (int i=0;i<meshData.m_numMeshParts;i++)
+	for (int i = 0; i < meshData.m_numMeshParts; i++)
 	{
 		btIndexedMesh meshPart;
 		meshPart.m_numTriangles = meshData.m_meshPartsPtr[i].m_numTriangles;
 		meshPart.m_numVertices = meshData.m_meshPartsPtr[i].m_numVertices;
 
-
 		if (meshData.m_meshPartsPtr[i].m_indices32)
 		{
 			meshPart.m_indexType = PHY_INTEGER;
-			meshPart.m_triangleIndexStride = 3*sizeof(int);
-			int* indexArray = (int*)btAlignedAlloc(sizeof(int)*3*meshPart.m_numTriangles,16);
+			meshPart.m_triangleIndexStride = 3 * sizeof(int);
+			int* indexArray = (int*)btAlignedAlloc(sizeof(int) * 3 * meshPart.m_numTriangles, 16);
 			m_indexArrays.push_back(indexArray);
-			for (int j=0;j<3*meshPart.m_numTriangles;j++)
+			for (int j = 0; j < 3 * meshPart.m_numTriangles; j++)
 			{
 				indexArray[j] = meshData.m_meshPartsPtr[i].m_indices32[j].m_value;
 			}
 			meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
-		} else
+		}
+		else
 		{
 			if (meshData.m_meshPartsPtr[i].m_3indices16)
 			{
 				meshPart.m_indexType = PHY_SHORT;
-				meshPart.m_triangleIndexStride = sizeof(short int)*3;//sizeof(btShortIntIndexTripletData);
+				meshPart.m_triangleIndexStride = sizeof(short int) * 3;  //sizeof(btShortIntIndexTripletData);
 
-				short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int)*3*meshPart.m_numTriangles,16);
+				short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int) * 3 * meshPart.m_numTriangles, 16);
 				m_shortIndexArrays.push_back(indexArray);
 
-				for (int j=0;j<meshPart.m_numTriangles;j++)
+				for (int j = 0; j < meshPart.m_numTriangles; j++)
 				{
-					indexArray[3*j] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[0];
-					indexArray[3*j+1] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[1];
-					indexArray[3*j+2] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[2];
+					indexArray[3 * j] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[0];
+					indexArray[3 * j + 1] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[1];
+					indexArray[3 * j + 2] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[2];
 				}
 
 				meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
@@ -693,10 +651,10 @@ btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStri
 			if (meshData.m_meshPartsPtr[i].m_indices16)
 			{
 				meshPart.m_indexType = PHY_SHORT;
-				meshPart.m_triangleIndexStride = 3*sizeof(short int);
-				short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int)*3*meshPart.m_numTriangles,16);
+				meshPart.m_triangleIndexStride = 3 * sizeof(short int);
+				short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int) * 3 * meshPart.m_numTriangles, 16);
 				m_shortIndexArrays.push_back(indexArray);
-				for (int j=0;j<3*meshPart.m_numTriangles;j++)
+				for (int j = 0; j < 3 * meshPart.m_numTriangles; j++)
 				{
 					indexArray[j] = meshData.m_meshPartsPtr[i].m_indices16[j].m_value;
 				}
@@ -707,16 +665,16 @@ btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStri
 			if (meshData.m_meshPartsPtr[i].m_3indices8)
 			{
 				meshPart.m_indexType = PHY_UCHAR;
-				meshPart.m_triangleIndexStride = sizeof(unsigned char)*3;
+				meshPart.m_triangleIndexStride = sizeof(unsigned char) * 3;
 
-				unsigned char* indexArray = (unsigned char*)btAlignedAlloc(sizeof(unsigned char)*3*meshPart.m_numTriangles,16);
+				unsigned char* indexArray = (unsigned char*)btAlignedAlloc(sizeof(unsigned char) * 3 * meshPart.m_numTriangles, 16);
 				m_charIndexArrays.push_back(indexArray);
 
-				for (int j=0;j<meshPart.m_numTriangles;j++)
+				for (int j = 0; j < meshPart.m_numTriangles; j++)
 				{
-					indexArray[3*j] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[0];
-					indexArray[3*j+1] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[1];
-					indexArray[3*j+2] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[2];
+					indexArray[3 * j] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[0];
+					indexArray[3 * j + 1] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[1];
+					indexArray[3 * j + 2] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[2];
 				}
 
 				meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
@@ -727,10 +685,10 @@ btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStri
 		{
 			meshPart.m_vertexType = PHY_FLOAT;
 			meshPart.m_vertexStride = sizeof(btVector3FloatData);
-			btVector3FloatData* vertices = (btVector3FloatData*) btAlignedAlloc(sizeof(btVector3FloatData)*meshPart.m_numVertices,16);
+			btVector3FloatData* vertices = (btVector3FloatData*)btAlignedAlloc(sizeof(btVector3FloatData) * meshPart.m_numVertices, 16);
 			m_floatVertexArrays.push_back(vertices);
 
-			for (int j=0;j<meshPart.m_numVertices;j++)
+			for (int j = 0; j < meshPart.m_numVertices; j++)
 			{
 				vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[0];
 				vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[1];
@@ -738,16 +696,16 @@ btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStri
 				vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[3];
 			}
 			meshPart.m_vertexBase = (const unsigned char*)vertices;
-		} else
+		}
+		else
 		{
 			meshPart.m_vertexType = PHY_DOUBLE;
 			meshPart.m_vertexStride = sizeof(btVector3DoubleData);
 
-
-			btVector3DoubleData* vertices = (btVector3DoubleData*) btAlignedAlloc(sizeof(btVector3DoubleData)*meshPart.m_numVertices,16);
+			btVector3DoubleData* vertices = (btVector3DoubleData*)btAlignedAlloc(sizeof(btVector3DoubleData) * meshPart.m_numVertices, 16);
 			m_doubleVertexArrays.push_back(vertices);
 
-			for (int j=0;j<meshPart.m_numVertices;j++)
+			for (int j = 0; j < meshPart.m_numVertices; j++)
 			{
 				vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[0];
 				vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[1];
@@ -759,14 +717,13 @@ btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStri
 
 		if (meshPart.m_triangleIndexBase && meshPart.m_vertexBase)
 		{
-			meshInterface->addIndexedMesh(meshPart,meshPart.m_indexType);
+			meshInterface->addIndexedMesh(meshPart, meshPart.m_indexType);
 		}
 	}
 
 	return meshInterface;
 }
 
-
 btStridingMeshInterfaceData* btCollisionWorldImporter::createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData)
 {
 	//create a new btStridingMeshInterfaceData that is an exact copy of shapedata and store it in the WorldImporter
@@ -776,7 +733,7 @@ btStridingMeshInterfaceData* btCollisionWorldImporter::createStridingMeshInterfa
 	newData->m_numMeshParts = interfaceData->m_numMeshParts;
 	newData->m_meshPartsPtr = new btMeshPartData[newData->m_numMeshParts];
 
-	for(int i = 0;i < newData->m_numMeshParts;i++)
+	for (int i = 0; i < newData->m_numMeshParts; i++)
 	{
 		btMeshPartData* curPart = &interfaceData->m_meshPartsPtr[i];
 		btMeshPartData* curNewPart = &newData->m_meshPartsPtr[i];
@@ -784,18 +741,18 @@ btStridingMeshInterfaceData* btCollisionWorldImporter::createStridingMeshInterfa
 		curNewPart->m_numTriangles = curPart->m_numTriangles;
 		curNewPart->m_numVertices = curPart->m_numVertices;
 
-		if(curPart->m_vertices3f)
+		if (curPart->m_vertices3f)
 		{
 			curNewPart->m_vertices3f = new btVector3FloatData[curNewPart->m_numVertices];
-			memcpy(curNewPart->m_vertices3f,curPart->m_vertices3f,sizeof(btVector3FloatData) * curNewPart->m_numVertices);
+			memcpy(curNewPart->m_vertices3f, curPart->m_vertices3f, sizeof(btVector3FloatData) * curNewPart->m_numVertices);
 		}
 		else
 			curNewPart->m_vertices3f = NULL;
 
-		if(curPart->m_vertices3d)
+		if (curPart->m_vertices3d)
 		{
 			curNewPart->m_vertices3d = new btVector3DoubleData[curNewPart->m_numVertices];
-			memcpy(curNewPart->m_vertices3d,curPart->m_vertices3d,sizeof(btVector3DoubleData) * curNewPart->m_numVertices);
+			memcpy(curNewPart->m_vertices3d, curPart->m_vertices3d, sizeof(btVector3DoubleData) * curNewPart->m_numVertices);
 		}
 		else
 			curNewPart->m_vertices3d = NULL;
@@ -803,63 +760,60 @@ btStridingMeshInterfaceData* btCollisionWorldImporter::createStridingMeshInterfa
 		int numIndices = curNewPart->m_numTriangles * 3;
 		///the m_3indices8 was not initialized in some Bullet versions, this can cause crashes at loading time
 		///we catch it by only dealing with m_3indices8 if none of the other indices are initialized
-		bool uninitialized3indices8Workaround =false;
+		bool uninitialized3indices8Workaround = false;
 
-		if(curPart->m_indices32)
+		if (curPart->m_indices32)
 		{
-			uninitialized3indices8Workaround=true;
+			uninitialized3indices8Workaround = true;
 			curNewPart->m_indices32 = new btIntIndexData[numIndices];
-			memcpy(curNewPart->m_indices32,curPart->m_indices32,sizeof(btIntIndexData) * numIndices);
+			memcpy(curNewPart->m_indices32, curPart->m_indices32, sizeof(btIntIndexData) * numIndices);
 		}
 		else
 			curNewPart->m_indices32 = NULL;
 
-		if(curPart->m_3indices16)
+		if (curPart->m_3indices16)
 		{
-			uninitialized3indices8Workaround=true;
+			uninitialized3indices8Workaround = true;
 			curNewPart->m_3indices16 = new btShortIntIndexTripletData[curNewPart->m_numTriangles];
-			memcpy(curNewPart->m_3indices16,curPart->m_3indices16,sizeof(btShortIntIndexTripletData) * curNewPart->m_numTriangles);
+			memcpy(curNewPart->m_3indices16, curPart->m_3indices16, sizeof(btShortIntIndexTripletData) * curNewPart->m_numTriangles);
 		}
 		else
 			curNewPart->m_3indices16 = NULL;
 
-		if(curPart->m_indices16)
+		if (curPart->m_indices16)
 		{
-			uninitialized3indices8Workaround=true;
+			uninitialized3indices8Workaround = true;
 			curNewPart->m_indices16 = new btShortIntIndexData[numIndices];
-			memcpy(curNewPart->m_indices16,curPart->m_indices16,sizeof(btShortIntIndexData) * numIndices);
+			memcpy(curNewPart->m_indices16, curPart->m_indices16, sizeof(btShortIntIndexData) * numIndices);
 		}
 		else
 			curNewPart->m_indices16 = NULL;
 
-		if(!uninitialized3indices8Workaround && curPart->m_3indices8)
+		if (!uninitialized3indices8Workaround && curPart->m_3indices8)
 		{
 			curNewPart->m_3indices8 = new btCharIndexTripletData[curNewPart->m_numTriangles];
-			memcpy(curNewPart->m_3indices8,curPart->m_3indices8,sizeof(btCharIndexTripletData) * curNewPart->m_numTriangles);
+			memcpy(curNewPart->m_3indices8, curPart->m_3indices8, sizeof(btCharIndexTripletData) * curNewPart->m_numTriangles);
 		}
 		else
 			curNewPart->m_3indices8 = NULL;
-
 	}
 
 	m_allocatedbtStridingMeshInterfaceDatas.push_back(newData);
 
-	return(newData);
+	return (newData);
 }
 
 #ifdef USE_INTERNAL_EDGE_UTILITY
-extern ContactAddedCallback		gContactAddedCallback;
+extern ContactAddedCallback gContactAddedCallback;
 
-static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
+static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0, int partId0, int index0, const btCollisionObject* colObj1, int partId1, int index1)
 {
-
-	btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
-		//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
-		//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
+	btAdjustInternalEdgeContacts(cp, colObj1, colObj0, partId1, index1);
+	//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
+	//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
 	return true;
 }
-#endif //USE_INTERNAL_EDGE_UTILITY
-
+#endif  //USE_INTERNAL_EDGE_UTILITY
 
 /*
 btRigidBody*  btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName)
@@ -898,29 +852,27 @@ btCollisionObject* btCollisionWorldImporter::getCollisionObjectByName(const char
 	return 0;
 }
 
-btCollisionObject* btCollisionWorldImporter::createCollisionObject(const btTransform& startTransform,btCollisionShape* shape, const char* bodyName)
+btCollisionObject* btCollisionWorldImporter::createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName)
 {
 	btCollisionObject* colObj = new btCollisionObject();
 	colObj->setWorldTransform(startTransform);
 	colObj->setCollisionShape(shape);
-	m_collisionWorld->addCollisionObject(colObj);//todo: flags etc
+	m_collisionWorld->addCollisionObject(colObj);  //todo: flags etc
 
 	if (bodyName)
 	{
 		char* newname = duplicateName(bodyName);
-		m_objectNameMap.insert(colObj,newname);
-		m_nameColObjMap.insert(newname,colObj);
+		m_objectNameMap.insert(colObj, newname);
+		m_nameColObjMap.insert(newname, colObj);
 	}
 	m_allocatedCollisionObjects.push_back(colObj);
 
 	return colObj;
 }
 
-
-
-btCollisionShape* btCollisionWorldImporter::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
+btCollisionShape* btCollisionWorldImporter::createPlaneShape(const btVector3& planeNormal, btScalar planeConstant)
 {
-	btStaticPlaneShape* shape = new btStaticPlaneShape(planeNormal,planeConstant);
+	btStaticPlaneShape* shape = new btStaticPlaneShape(planeNormal, planeConstant);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
@@ -937,85 +889,83 @@ btCollisionShape* btCollisionWorldImporter::createSphereShape(btScalar radius)
 	return shape;
 }
 
-
 btCollisionShape* btCollisionWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
 {
-	btCapsuleShapeX* shape = new btCapsuleShapeX(radius,height);
+	btCapsuleShapeX* shape = new btCapsuleShapeX(radius, height);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
 btCollisionShape* btCollisionWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
 {
-	btCapsuleShape* shape = new btCapsuleShape(radius,height);
+	btCapsuleShape* shape = new btCapsuleShape(radius, height);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
 btCollisionShape* btCollisionWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
 {
-	btCapsuleShapeZ* shape = new btCapsuleShapeZ(radius,height);
+	btCapsuleShapeZ* shape = new btCapsuleShapeZ(radius, height);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btCollisionShape* btCollisionWorldImporter::createCylinderShapeX(btScalar radius,btScalar height)
+btCollisionShape* btCollisionWorldImporter::createCylinderShapeX(btScalar radius, btScalar height)
 {
-	btCylinderShapeX* shape = new btCylinderShapeX(btVector3(height,radius,radius));
+	btCylinderShapeX* shape = new btCylinderShapeX(btVector3(height, radius, radius));
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btCollisionShape* btCollisionWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
+btCollisionShape* btCollisionWorldImporter::createCylinderShapeY(btScalar radius, btScalar height)
 {
-	btCylinderShape* shape = new btCylinderShape(btVector3(radius,height,radius));
+	btCylinderShape* shape = new btCylinderShape(btVector3(radius, height, radius));
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btCollisionShape* btCollisionWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height)
+btCollisionShape* btCollisionWorldImporter::createCylinderShapeZ(btScalar radius, btScalar height)
 {
-	btCylinderShapeZ* shape = new btCylinderShapeZ(btVector3(radius,radius,height));
+	btCylinderShapeZ* shape = new btCylinderShapeZ(btVector3(radius, radius, height));
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btCollisionShape* btCollisionWorldImporter::createConeShapeX(btScalar radius,btScalar height)
+btCollisionShape* btCollisionWorldImporter::createConeShapeX(btScalar radius, btScalar height)
 {
-	btConeShapeX* shape = new btConeShapeX(radius,height);
+	btConeShapeX* shape = new btConeShapeX(radius, height);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btCollisionShape* btCollisionWorldImporter::createConeShapeY(btScalar radius,btScalar height)
+btCollisionShape* btCollisionWorldImporter::createConeShapeY(btScalar radius, btScalar height)
 {
-	btConeShape* shape = new btConeShape(radius,height);
+	btConeShape* shape = new btConeShape(radius, height);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btCollisionShape* btCollisionWorldImporter::createConeShapeZ(btScalar radius,btScalar height)
+btCollisionShape* btCollisionWorldImporter::createConeShapeZ(btScalar radius, btScalar height)
 {
-	btConeShapeZ* shape = new btConeShapeZ(radius,height);
+	btConeShapeZ* shape = new btConeShapeZ(radius, height);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btTriangleIndexVertexArray*	btCollisionWorldImporter::createTriangleMeshContainer()
+btTriangleIndexVertexArray* btCollisionWorldImporter::createTriangleMeshContainer()
 {
 	btTriangleIndexVertexArray* in = new btTriangleIndexVertexArray();
 	m_allocatedTriangleIndexArrays.push_back(in);
 	return in;
 }
 
-btOptimizedBvh*	btCollisionWorldImporter::createOptimizedBvh()
+btOptimizedBvh* btCollisionWorldImporter::createOptimizedBvh()
 {
 	btOptimizedBvh* bvh = new btOptimizedBvh();
 	m_allocatedBvhs.push_back(bvh);
 	return bvh;
 }
 
-
 btTriangleInfoMap* btCollisionWorldImporter::createTriangleInfoMap()
 {
 	btTriangleInfoMap* tim = new btTriangleInfoMap();
@@ -1027,16 +977,15 @@ btBvhTriangleMeshShape* btCollisionWorldImporter::createBvhTriangleMeshShape(btS
 {
 	if (bvh)
 	{
-		btBvhTriangleMeshShape* bvhTriMesh = new btBvhTriangleMeshShape(trimesh,bvh->isQuantized(), false);
+		btBvhTriangleMeshShape* bvhTriMesh = new btBvhTriangleMeshShape(trimesh, bvh->isQuantized(), false);
 		bvhTriMesh->setOptimizedBvh(bvh);
 		m_allocatedCollisionShapes.push_back(bvhTriMesh);
 		return bvhTriMesh;
 	}
 
-	btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh,true);
+	btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh, true);
 	m_allocatedCollisionShapes.push_back(ts);
 	return ts;
-
 }
 btCollisionShape* btCollisionWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh)
 {
@@ -1048,9 +997,8 @@ btGImpactMeshShape* btCollisionWorldImporter::createGimpactShape(btStridingMeshI
 	btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
-
 }
-#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
+#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
 
 btConvexHullShape* btCollisionWorldImporter::createConvexHullShape()
 {
@@ -1066,25 +1014,22 @@ btCompoundShape* btCollisionWorldImporter::createCompoundShape()
 	return shape;
 }
 
-
-btScaledBvhTriangleMeshShape* btCollisionWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScaling)
+btScaledBvhTriangleMeshShape* btCollisionWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScaling)
 {
-	btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape,localScaling);
+	btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape, localScaling);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-btMultiSphereShape* btCollisionWorldImporter::createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres)
+btMultiSphereShape* btCollisionWorldImporter::createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres)
 {
 	btMultiSphereShape* shape = new btMultiSphereShape(positions, radi, numSpheres);
 	m_allocatedCollisionShapes.push_back(shape);
 	return shape;
 }
 
-
-
-	// query for data
-int	btCollisionWorldImporter::getNumCollisionShapes() const
+// query for data
+int btCollisionWorldImporter::getNumCollisionShapes() const
 {
 	return m_allocatedCollisionShapes.size();
 }
@@ -1097,23 +1042,21 @@ btCollisionShape* btCollisionWorldImporter::getCollisionShapeByIndex(int index)
 btCollisionShape* btCollisionWorldImporter::getCollisionShapeByName(const char* name)
 {
 	btCollisionShape** shapePtr = m_nameShapeMap.find(name);
-	if (shapePtr&& *shapePtr)
+	if (shapePtr && *shapePtr)
 	{
 		return *shapePtr;
 	}
 	return 0;
 }
 
-
-const char*	btCollisionWorldImporter::getNameForPointer(const void* ptr) const
+const char* btCollisionWorldImporter::getNameForPointer(const void* ptr) const
 {
-	const char*const * namePtr = m_objectNameMap.find(ptr);
+	const char* const* namePtr = m_objectNameMap.find(ptr);
 	if (namePtr && *namePtr)
 		return *namePtr;
 	return 0;
 }
 
-
 int btCollisionWorldImporter::getNumRigidBodies() const
 {
 	return m_allocatedRigidBodies.size();
@@ -1124,12 +1067,11 @@ btCollisionObject* btCollisionWorldImporter::getRigidBodyByIndex(int index) cons
 	return m_allocatedRigidBodies[index];
 }
 
-
 int btCollisionWorldImporter::getNumBvhs() const
 {
 	return m_allocatedBvhs.size();
 }
- btOptimizedBvh* btCollisionWorldImporter::getBvhByIndex(int index) const
+btOptimizedBvh* btCollisionWorldImporter::getBvhByIndex(int index) const
 {
 	return m_allocatedBvhs[index];
 }
@@ -1143,5 +1085,3 @@ btTriangleInfoMap* btCollisionWorldImporter::getTriangleInfoMapByIndex(int index
 {
 	return m_allocatedTriangleInfoMaps[index];
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
index 81c6142726..5e8bc95341 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_COLLISION_WORLD_IMPORTER_H
 #define BT_COLLISION_WORLD_IMPORTER_H
 
@@ -26,7 +25,6 @@ class btCollisionShape;
 class btCollisionObject;
 struct btBulletSerializedArrays;
 
-
 struct ConstraintInput;
 class btCollisionWorld;
 struct btCollisionShapeData;
@@ -46,9 +44,6 @@ class btSliderConstraint;
 class btGearConstraint;
 struct btContactSolverInfo;
 
-
-
-
 class btCollisionWorldImporter
 {
 protected:
@@ -56,60 +51,53 @@ protected:
 
 	int m_verboseMode;
 
-	btAlignedObjectArray<btCollisionShape*>  m_allocatedCollisionShapes;
+	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 	btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
 
-	btAlignedObjectArray<btOptimizedBvh*>	 m_allocatedBvhs;
+	btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
 	btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
 	btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
 	btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
 	btAlignedObjectArray<btCollisionObject*> m_allocatedCollisionObjects;
 
+	btAlignedObjectArray<char*> m_allocatedNames;
 
-	btAlignedObjectArray<char*>				m_allocatedNames;
+	btAlignedObjectArray<int*> m_indexArrays;
+	btAlignedObjectArray<short int*> m_shortIndexArrays;
+	btAlignedObjectArray<unsigned char*> m_charIndexArrays;
 
-	btAlignedObjectArray<int*>				m_indexArrays;
-	btAlignedObjectArray<short int*>		m_shortIndexArrays;
-	btAlignedObjectArray<unsigned char*>	m_charIndexArrays;
+	btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
+	btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
 
-	btAlignedObjectArray<btVector3FloatData*>	m_floatVertexArrays;
-	btAlignedObjectArray<btVector3DoubleData*>	m_doubleVertexArrays;
+	btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
+	btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
 
+	btHashMap<btHashString, btCollisionShape*> m_nameShapeMap;
+	btHashMap<btHashString, btCollisionObject*> m_nameColObjMap;
 
-	btHashMap<btHashPtr,btOptimizedBvh*>	m_bvhMap;
-	btHashMap<btHashPtr,btTriangleInfoMap*>	m_timMap;
-
-	btHashMap<btHashString,btCollisionShape*>	m_nameShapeMap;
-	btHashMap<btHashString,btCollisionObject*>	m_nameColObjMap;
-
-	btHashMap<btHashPtr,const char*>	m_objectNameMap;
-
-	btHashMap<btHashPtr,btCollisionShape*>	m_shapeMap;
-	btHashMap<btHashPtr,btCollisionObject*>	m_bodyMap;
+	btHashMap<btHashPtr, const char*> m_objectNameMap;
 
+	btHashMap<btHashPtr, btCollisionShape*> m_shapeMap;
+	btHashMap<btHashPtr, btCollisionObject*> m_bodyMap;
 
 	//methods
 
+	char* duplicateName(const char* name);
 
-
-	char*	duplicateName(const char* name);
-
-	btCollisionShape* convertCollisionShape(  btCollisionShapeData* shapeData  );
-
+	btCollisionShape* convertCollisionShape(btCollisionShapeData* shapeData);
 
 public:
-
 	btCollisionWorldImporter(btCollisionWorld* world);
 
 	virtual ~btCollisionWorldImporter();
 
-    bool	convertAllObjects( btBulletSerializedArrays* arrays);
+	bool convertAllObjects(btBulletSerializedArrays* arrays);
 
-		///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
+	///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
 	///make sure you don't use the dynamics world containing objects after you call this method
 	virtual void deleteAllData();
 
-	void	setVerboseMode(int verboseMode)
+	void setVerboseMode(int verboseMode)
 	{
 		m_verboseMode = verboseMode;
 	}
@@ -119,14 +107,14 @@ public:
 		return m_verboseMode;
 	}
 
-		// query for data
-	int	getNumCollisionShapes() const;
+	// query for data
+	int getNumCollisionShapes() const;
 	btCollisionShape* getCollisionShapeByIndex(int index);
 	int getNumRigidBodies() const;
 	btCollisionObject* getRigidBodyByIndex(int index) const;
 
 	int getNumBvhs() const;
-	btOptimizedBvh*  getBvhByIndex(int index) const;
+	btOptimizedBvh* getBvhByIndex(int index) const;
 	int getNumTriangleInfoMaps() const;
 	btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
 
@@ -134,56 +122,48 @@ public:
 	btCollisionShape* getCollisionShapeByName(const char* name);
 	btCollisionObject* getCollisionObjectByName(const char* name);
 
-
-	const char*	getNameForPointer(const void* ptr) const;
+	const char* getNameForPointer(const void* ptr) const;
 
 	///those virtuals are called by load and can be overridden by the user
 
-
-
 	//bodies
 
-	virtual btCollisionObject*  createCollisionObject(	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);
+	virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
 
 	///shapes
 
-	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
+	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
 	virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
 	virtual btCollisionShape* createSphereShape(btScalar radius);
 	virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
 	virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
 	virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
 
-	virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
-	virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
-	virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
-	virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
-	virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
-	virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
-	virtual class btTriangleIndexVertexArray*	createTriangleMeshContainer();
-	virtual	btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
+	virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
+	virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
+	virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
+	virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
+	virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
+	virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
 	virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
 #ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
 	virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
-#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
+#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
 	virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
 
 	virtual class btConvexHullShape* createConvexHullShape();
 	virtual class btCompoundShape* createCompoundShape();
-	virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
+	virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
 
-	virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
+	virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
 
 	virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
 
 	///acceleration and connectivity structures
-	virtual btOptimizedBvh*	createOptimizedBvh();
+	virtual btOptimizedBvh* createOptimizedBvh();
 	virtual btTriangleInfoMap* createTriangleInfoMap();
-
-
-
-
 };
 
-
-#endif //BT_WORLD_IMPORTER_H
+#endif  //BT_WORLD_IMPORTER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 7f4dea1c6d..633bee4825 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -25,62 +25,58 @@ subject to the following restrictions:
 
 btShapePairCallback gCompoundChildShapePairCallback = 0;
 
-btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
-:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_isSwapped(isSwapped),
-m_sharedManifold(ci.m_manifold)
+btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_isSwapped(isSwapped),
+	  m_sharedManifold(ci.m_manifold)
 {
 	m_ownsManifold = false;
 
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
-	btAssert (colObjWrap->getCollisionShape()->isCompound());
-	
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	btAssert(colObjWrap->getCollisionShape()->isCompound());
+
 	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 	m_compoundShapeRevision = compoundShape->getUpdateRevision();
-	
-	
-	preallocateChildAlgorithms(body0Wrap,body1Wrap);
+
+	preallocateChildAlgorithms(body0Wrap, body1Wrap);
 }
 
-void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 {
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
-	btAssert (colObjWrap->getCollisionShape()->isCompound());
-	
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
+	btAssert(colObjWrap->getCollisionShape()->isCompound());
+
 	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 
 	int numChildren = compoundShape->getNumChildShapes();
 	int i;
-	
+
 	m_childCollisionAlgorithms.resize(numChildren);
-	for (i=0;i<numChildren;i++)
+	for (i = 0; i < numChildren; i++)
 	{
 		if (compoundShape->getDynamicAabbTree())
 		{
 			m_childCollisionAlgorithms[i] = 0;
-		} else
+		}
+		else
 		{
-			
 			const btCollisionShape* childShape = compoundShape->getChildShape(i);
 
-			btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully)
-			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
-
+			btCollisionObjectWrapper childWrap(colObjWrap, childShape, colObjWrap->getCollisionObject(), colObjWrap->getWorldTransform(), -1, i);  //wrong child trans, but unused (hopefully)
+			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap, otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
 
 			btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
 			btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
-
-
 		}
 	}
 }
 
-void	btCompoundCollisionAlgorithm::removeChildAlgorithms()
+void btCompoundCollisionAlgorithm::removeChildAlgorithms()
 {
 	int numChildren = m_childCollisionAlgorithms.size();
 	int i;
-	for (i=0;i<numChildren;i++)
+	for (i = 0; i < numChildren; i++)
 	{
 		if (m_childCollisionAlgorithms[i])
 		{
@@ -95,71 +91,63 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
 	removeChildAlgorithms();
 }
 
-
-
-
-struct	btCompoundLeafCallback : btDbvt::ICollide
+struct btCompoundLeafCallback : btDbvt::ICollide
 {
-
 public:
-
 	const btCollisionObjectWrapper* m_compoundColObjWrap;
 	const btCollisionObjectWrapper* m_otherObjWrap;
 	btDispatcher* m_dispatcher;
 	const btDispatcherInfo& m_dispatchInfo;
-	btManifoldResult*	m_resultOut;
-	btCollisionAlgorithm**	m_childCollisionAlgorithms;
-	btPersistentManifold*	m_sharedManifold;
-	
-	btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult*	resultOut,btCollisionAlgorithm**	childCollisionAlgorithms,btPersistentManifold*	sharedManifold)
-		:m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
-		m_childCollisionAlgorithms(childCollisionAlgorithms),
-		m_sharedManifold(sharedManifold)
-	{
+	btManifoldResult* m_resultOut;
+	btCollisionAlgorithm** m_childCollisionAlgorithms;
+	btPersistentManifold* m_sharedManifold;
 
+	btCompoundLeafCallback(const btCollisionObjectWrapper* compoundObjWrap, const btCollisionObjectWrapper* otherObjWrap, btDispatcher* dispatcher, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut, btCollisionAlgorithm** childCollisionAlgorithms, btPersistentManifold* sharedManifold)
+		: m_compoundColObjWrap(compoundObjWrap), m_otherObjWrap(otherObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithms(childCollisionAlgorithms), m_sharedManifold(sharedManifold)
+	{
 	}
 
-
-	void	ProcessChildShape(const btCollisionShape* childShape,int index)
+	void ProcessChildShape(const btCollisionShape* childShape, int index)
 	{
-		btAssert(index>=0);
+		btAssert(index >= 0);
 		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
-		btAssert(index<compoundShape->getNumChildShapes());
+		btAssert(index < compoundShape->getNumChildShapes());
 
+		if (gCompoundChildShapePairCallback)
+		{
+			if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
+				return;
+		}
 
 		//backup
-		btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
-		
+		btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
+
 		const btTransform& childTrans = compoundShape->getChildTransform(index);
-		btTransform	newChildWorldTrans = orgTrans*childTrans ;
+		btTransform newChildWorldTrans = orgTrans * childTrans;
 
 		//perform an AABB check first
-		btVector3 aabbMin0,aabbMax0;
-		childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
+		btVector3 aabbMin0, aabbMax0;
+		childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
 
 		btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
 		aabbMin0 -= extendAabb;
 		aabbMax0 += extendAabb;
 
 		btVector3 aabbMin1, aabbMax1;
-		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
+		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
 
-		if (gCompoundChildShapePairCallback)
-		{
-			if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
-				return;
-		}
 
-		if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
+		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 		{
+			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index);
 
-			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
-			
 			btCollisionAlgorithm* algo = 0;
+			bool allocatedAlgorithm = false;
 
 			if (m_resultOut->m_closestPointDistanceThreshold > 0)
 			{
 				algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
+				allocatedAlgorithm = true;
 			}
 			else
 			{
@@ -170,7 +158,7 @@ public:
 				}
 				algo = m_childCollisionAlgorithms[index];
 			}
-			
+
 			const btCollisionObjectWrapper* tmpWrap = 0;
 
 			///detect swapping case
@@ -178,15 +166,16 @@ public:
 			{
 				tmpWrap = m_resultOut->getBody0Wrap();
 				m_resultOut->setBody0Wrap(&compoundWrap);
-				m_resultOut->setShapeIdentifiersA(-1,index);
-			} else
+				m_resultOut->setShapeIdentifiersA(-1, index);
+			}
+			else
 			{
 				tmpWrap = m_resultOut->getBody1Wrap();
 				m_resultOut->setBody1Wrap(&compoundWrap);
-				m_resultOut->setShapeIdentifiersB(-1,index);
+				m_resultOut->setShapeIdentifiersB(-1, index);
 			}
 
-			algo->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut);
+			algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
 
 #if 0
 			if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
@@ -200,14 +189,19 @@ public:
 			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
 			{
 				m_resultOut->setBody0Wrap(tmpWrap);
-			} else
+			}
+			else
 			{
 				m_resultOut->setBody1Wrap(tmpWrap);
 			}
-			
+			if (allocatedAlgorithm)
+			{
+				algo->~btCollisionAlgorithm();
+				m_dispatcher->freeCollisionAlgorithm(algo);
+			}
 		}
 	}
-	void		Process(const btDbvtNode* leaf)
+	void Process(const btDbvtNode* leaf)
 	{
 		int index = leaf->dataAsInt;
 
@@ -224,22 +218,16 @@ public:
 		}
 #endif
 
-		ProcessChildShape(childShape,index);
-
+		ProcessChildShape(childShape, index);
 	}
 };
 
-
-
-
-
-
-void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
-	btAssert (colObjWrap->getCollisionShape()->isCompound());
+	btAssert(colObjWrap->getCollisionShape()->isCompound());
 	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 
 	///btCompoundShape might have changed:
@@ -248,17 +236,17 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 	{
 		///clear and update all
 		removeChildAlgorithms();
-		
-		preallocateChildAlgorithms(body0Wrap,body1Wrap);
+
+		preallocateChildAlgorithms(body0Wrap, body1Wrap);
 		m_compoundShapeRevision = compoundShape->getUpdateRevision();
 	}
 
-    if (m_childCollisionAlgorithms.size()==0)
-        return;
-    
+	if (m_childCollisionAlgorithms.size() == 0)
+		return;
+
 	const btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps
-	btCompoundLeafCallback  callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
+	btCompoundLeafCallback callback(colObjWrap, otherObjWrap, m_dispatcher, dispatchInfo, resultOut, &m_childCollisionAlgorithms[0], m_sharedManifold);
 
 	///we need to refresh all contact manifolds
 	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
@@ -266,18 +254,18 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 	{
 		int i;
 		manifoldArray.resize(0);
-		for (i=0;i<m_childCollisionAlgorithms.size();i++)
+		for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
 		{
 			if (m_childCollisionAlgorithms[i])
 			{
 				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
-				for (int m=0;m<manifoldArray.size();m++)
+				for (int m = 0; m < manifoldArray.size(); m++)
 				{
 					if (manifoldArray[m]->getNumContacts())
 					{
 						resultOut->setPersistentManifold(manifoldArray[m]);
 						resultOut->refreshContactPoints();
-						resultOut->setPersistentManifold(0);//??necessary?
+						resultOut->setPersistentManifold(0);  //??necessary?
 					}
 				}
 				manifoldArray.resize(0);
@@ -287,57 +275,56 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 
 	if (tree)
 	{
-
-		btVector3 localAabbMin,localAabbMax;
+		btVector3 localAabbMin, localAabbMax;
 		btTransform otherInCompoundSpace;
 		otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
-		otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
+		otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace, localAabbMin, localAabbMax);
 		btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
 		localAabbMin -= extraExtends;
 		localAabbMax += extraExtends;
 
-		const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+		const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
 		//process all children, that overlap with  the given AABB bounds
-		tree->collideTVNoStackAlloc(tree->m_root,bounds,stack2,callback);
-
-	} else
+		tree->collideTVNoStackAlloc(tree->m_root, bounds, stack2, callback);
+	}
+	else
 	{
 		//iterate over all children, perform an AABB check inside ProcessChildShape
 		int numChildren = m_childCollisionAlgorithms.size();
 		int i;
-		for (i=0;i<numChildren;i++)
+		for (i = 0; i < numChildren; i++)
 		{
-			callback.ProcessChildShape(compoundShape->getChildShape(i),i);
+			callback.ProcessChildShape(compoundShape->getChildShape(i), i);
 		}
 	}
 
 	{
-				//iterate over all children, perform an AABB check inside ProcessChildShape
+		//iterate over all children, perform an AABB check inside ProcessChildShape
 		int numChildren = m_childCollisionAlgorithms.size();
 		int i;
 		manifoldArray.resize(0);
-        const btCollisionShape* childShape = 0;
-        btTransform	orgTrans;
-        
-        btTransform	newChildWorldTrans;
-        btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;        
-        
-		for (i=0;i<numChildren;i++)
+		const btCollisionShape* childShape = 0;
+		btTransform orgTrans;
+
+		btTransform newChildWorldTrans;
+		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
+
+		for (i = 0; i < numChildren; i++)
 		{
 			if (m_childCollisionAlgorithms[i])
 			{
 				childShape = compoundShape->getChildShape(i);
-			//if not longer overlapping, remove the algorithm
+				//if not longer overlapping, remove the algorithm
 				orgTrans = colObjWrap->getWorldTransform();
-                
+
 				const btTransform& childTrans = compoundShape->getChildTransform(i);
-                newChildWorldTrans = orgTrans*childTrans ;
+				newChildWorldTrans = orgTrans * childTrans;
 
 				//perform an AABB check first
-				childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
-				otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
+				childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
+				otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
 
-				if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
+				if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 				{
 					m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
 					m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
@@ -348,15 +335,15 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 	}
 }
 
-btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	btAssert(0);
 	//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
+	btCollisionObject* colObj = m_isSwapped ? body1 : body0;
+	btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
+
+	btAssert(colObj->getCollisionShape()->isCompound());
 
-	btAssert (colObj->getCollisionShape()->isCompound());
-	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
 	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
@@ -370,33 +357,29 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 
 	int numChildren = m_childCollisionAlgorithms.size();
 	int i;
-    btTransform	orgTrans;
-    btScalar frac;
-	for (i=0;i<numChildren;i++)
+	btTransform orgTrans;
+	btScalar frac;
+	for (i = 0; i < numChildren; i++)
 	{
 		//btCollisionShape* childShape = compoundShape->getChildShape(i);
 
 		//backup
-        orgTrans = colObj->getWorldTransform();
-	
+		orgTrans = colObj->getWorldTransform();
+
 		const btTransform& childTrans = compoundShape->getChildTransform(i);
 		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->setWorldTransform( orgTrans*childTrans );
+		colObj->setWorldTransform(orgTrans * childTrans);
 
 		//btCollisionShape* tmpShape = colObj->getCollisionShape();
 		//colObj->internalSetTemporaryCollisionShape( childShape );
-        frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
-		if (frac<hitFraction)
+		frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
+		if (frac < hitFraction)
 		{
 			hitFraction = frac;
 		}
 		//revert back
 		//colObj->internalSetTemporaryCollisionShape( tmpShape);
-		colObj->setWorldTransform( orgTrans);
+		colObj->setWorldTransform(orgTrans);
 	}
 	return hitFraction;
-
 }
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index d2086fbc02..4ea5e77185 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -35,7 +35,7 @@ typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCol
 extern btShapePairCallback gCompoundChildShapePairCallback;
 
 /// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
-class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
+class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 	btNodeStack stack2;
 	btManifoldArray manifoldArray;
@@ -44,61 +44,56 @@ protected:
 	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
 	bool m_isSwapped;
 
-	class btPersistentManifold*	m_sharedManifold;
-	bool					m_ownsManifold;
+	class btPersistentManifold* m_sharedManifold;
+	bool m_ownsManifold;
 
+	int m_compoundShapeRevision;  //to keep track of changes, so that childAlgorithm array can be updated
 
-	int	m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
-	
-	void	removeChildAlgorithms();
-	
-	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	void removeChildAlgorithms();
 
-public:
+	void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
-	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+public:
+	btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btCompoundCollisionAlgorithm();
 
-	btCollisionAlgorithm* getChildAlgorithm (int n) const
+	btCollisionAlgorithm* getChildAlgorithm(int n) const
 	{
 		return m_childCollisionAlgorithms[n];
 	}
 
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		int i;
-		for (i=0;i<m_childCollisionAlgorithms.size();i++)
+		for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
 		{
 			if (m_childCollisionAlgorithms[i])
 				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
 		}
 	}
 
-	
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
+			return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
 		}
 	};
 
-	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
+			return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
 		}
 	};
-
 };
 
-#endif //BT_COMPOUND_COLLISION_ALGORITHM_H
+#endif  //BT_COMPOUND_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
index d4a1aa78e4..044b60dbb1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
@@ -29,29 +29,25 @@ subject to the following restrictions:
 
 btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
 
-btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
-:btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,isSwapped)
+btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
+	: btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, isSwapped)
 {
-
-	void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
-	m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
+	void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache), 16);
+	m_childCollisionAlgorithmCache = new (ptr) btHashedSimplePairCache();
 
 	const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
-	btAssert (col0ObjWrap->getCollisionShape()->isCompound());
+	btAssert(col0ObjWrap->getCollisionShape()->isCompound());
 
 	const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
-	btAssert (col1ObjWrap->getCollisionShape()->isCompound());
-	
+	btAssert(col1ObjWrap->getCollisionShape()->isCompound());
+
 	const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
 	m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
 
 	const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
 	m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
-	
-	
 }
 
-
 btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
 {
 	removeChildAlgorithms();
@@ -59,32 +55,30 @@ btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
 	btAlignedFree(m_childCollisionAlgorithmCache);
 }
 
-void	btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray&	manifoldArray)
+void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
 {
 	int i;
 	btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-	for (i=0;i<pairs.size();i++)
+	for (i = 0; i < pairs.size(); i++)
 	{
 		if (pairs[i].m_userPointer)
 		{
-			
 			((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
 		}
 	}
 }
 
-
-void	btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
+void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
 {
 	btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
 
 	int numChildren = pairs.size();
 	int i;
-	for (i=0;i<numChildren;i++)
+	for (i = 0; i < numChildren; i++)
 	{
 		if (pairs[i].m_userPointer)
 		{
-			btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
+			btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
 			algo->~btCollisionAlgorithm();
 			m_dispatcher->freeCollisionAlgorithm(algo);
 		}
@@ -92,77 +86,65 @@ void	btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
 	m_childCollisionAlgorithmCache->removeAllPairs();
 }
 
-struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
+struct btCompoundCompoundLeafCallback : btDbvt::ICollide
 {
 	int m_numOverlapPairs;
 
-
 	const btCollisionObjectWrapper* m_compound0ColObjWrap;
 	const btCollisionObjectWrapper* m_compound1ColObjWrap;
 	btDispatcher* m_dispatcher;
 	const btDispatcherInfo& m_dispatchInfo;
-	btManifoldResult*	m_resultOut;
-	
-	
-	class btHashedSimplePairCache*	m_childCollisionAlgorithmCache;
-	
-	btPersistentManifold*	m_sharedManifold;
-	
-	btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap,
-									const btCollisionObjectWrapper* compound0ObjWrap,
-									btDispatcher* dispatcher,
-									const btDispatcherInfo& dispatchInfo,
-									btManifoldResult*	resultOut,
-									btHashedSimplePairCache* childAlgorithmsCache,
-									btPersistentManifold*	sharedManifold)
-		:m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
-		m_childCollisionAlgorithmCache(childAlgorithmsCache),
-		m_sharedManifold(sharedManifold)
-	{
+	btManifoldResult* m_resultOut;
 
-	}
+	class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
 
+	btPersistentManifold* m_sharedManifold;
 
+	btCompoundCompoundLeafCallback(const btCollisionObjectWrapper* compound1ObjWrap,
+								   const btCollisionObjectWrapper* compound0ObjWrap,
+								   btDispatcher* dispatcher,
+								   const btDispatcherInfo& dispatchInfo,
+								   btManifoldResult* resultOut,
+								   btHashedSimplePairCache* childAlgorithmsCache,
+								   btPersistentManifold* sharedManifold)
+		: m_numOverlapPairs(0), m_compound0ColObjWrap(compound1ObjWrap), m_compound1ColObjWrap(compound0ObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithmCache(childAlgorithmsCache), m_sharedManifold(sharedManifold)
+	{
+	}
 
-	
-	void		Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
+	void Process(const btDbvtNode* leaf0, const btDbvtNode* leaf1)
 	{
 		BT_PROFILE("btCompoundCompoundLeafCallback::Process");
 		m_numOverlapPairs++;
 
-
 		int childIndex0 = leaf0->dataAsInt;
 		int childIndex1 = leaf1->dataAsInt;
-		
-
-		btAssert(childIndex0>=0);
-		btAssert(childIndex1>=0);
 
+		btAssert(childIndex0 >= 0);
+		btAssert(childIndex1 >= 0);
 
 		const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
-		btAssert(childIndex0<compoundShape0->getNumChildShapes());
+		btAssert(childIndex0 < compoundShape0->getNumChildShapes());
 
 		const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
-		btAssert(childIndex1<compoundShape1->getNumChildShapes());
+		btAssert(childIndex1 < compoundShape1->getNumChildShapes());
 
 		const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
 		const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
 
 		//backup
-		btTransform	orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
+		btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
 		const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
-		btTransform	newChildWorldTrans0 = orgTrans0*childTrans0 ;
-		
-		btTransform	orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
+		btTransform newChildWorldTrans0 = orgTrans0 * childTrans0;
+
+		btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
 		const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
-		btTransform	newChildWorldTrans1 = orgTrans1*childTrans1 ;
-		
+		btTransform newChildWorldTrans1 = orgTrans1 * childTrans1;
 
 		//perform an AABB check first
-		btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
-		childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
-		childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
-		
+		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
+		childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
+		childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
+
 		btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
 
 		aabbMin0 -= thresholdVec;
@@ -170,29 +152,28 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 
 		if (gCompoundCompoundChildShapePairCallback)
 		{
-			if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1))
+			if (!gCompoundCompoundChildShapePairCallback(childShape0, childShape1))
 				return;
 		}
 
-		if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
+		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 		{
-			btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0);
-			btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1);
-			
-
-			btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
+			btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap, childShape0, m_compound0ColObjWrap->getCollisionObject(), newChildWorldTrans0, -1, childIndex0);
+			btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap, childShape1, m_compound1ColObjWrap->getCollisionObject(), newChildWorldTrans1, -1, childIndex1);
 
+			btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0, childIndex1);
+			bool removePair = false;
 			btCollisionAlgorithm* colAlgo = 0;
 			if (m_resultOut->m_closestPointDistanceThreshold > 0)
 			{
 				colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
+				removePair = true;
 			}
 			else
 			{
 				if (pair)
 				{
 					colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
-
 				}
 				else
 				{
@@ -204,7 +185,7 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 			}
 
 			btAssert(colAlgo);
-						
+
 			const btCollisionObjectWrapper* tmpWrap0 = 0;
 			const btCollisionObjectWrapper* tmpWrap1 = 0;
 
@@ -214,101 +195,100 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 			m_resultOut->setBody0Wrap(&compoundWrap0);
 			m_resultOut->setBody1Wrap(&compoundWrap1);
 
-			m_resultOut->setShapeIdentifiersA(-1,childIndex0);
-			m_resultOut->setShapeIdentifiersB(-1,childIndex1);
+			m_resultOut->setShapeIdentifiersA(-1, childIndex0);
+			m_resultOut->setShapeIdentifiersB(-1, childIndex1);
 
+			colAlgo->processCollision(&compoundWrap0, &compoundWrap1, m_dispatchInfo, m_resultOut);
 
-			colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
-			
 			m_resultOut->setBody0Wrap(tmpWrap0);
 			m_resultOut->setBody1Wrap(tmpWrap1);
-			
-
 
+			if (removePair)
+			{
+				colAlgo->~btCollisionAlgorithm();
+				m_dispatcher->freeCollisionAlgorithm(colAlgo);
+			}
 		}
 	}
 };
 
-
-static DBVT_INLINE bool		MyIntersect(	const btDbvtAabbMm& a,
-								  const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
+static DBVT_INLINE bool MyIntersect(const btDbvtAabbMm& a,
+									const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
 {
-	btVector3 newmin,newmax;
-	btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax);
+	btVector3 newmin, newmax;
+	btTransformAabb(b.Mins(), b.Maxs(), 0.f, xform, newmin, newmax);
 	newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
 	newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
-	btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax);
-	return Intersect(a,newb);
+	btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin, newmax);
+	return Intersect(a, newb);
 }
 
-
-static inline void		MycollideTT(	const btDbvtNode* root0,
-								  const btDbvtNode* root1,
-								  const btTransform& xform,
-								  btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold)
+static inline void MycollideTT(const btDbvtNode* root0,
+							   const btDbvtNode* root1,
+							   const btTransform& xform,
+							   btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold)
 {
-
-		if(root0&&root1)
-		{
-			int								depth=1;
-			int								treshold=btDbvt::DOUBLE_STACKSIZE-4;
-			btAlignedObjectArray<btDbvt::sStkNN>	stkStack;
+	if (root0 && root1)
+	{
+		int depth = 1;
+		int treshold = btDbvt::DOUBLE_STACKSIZE - 4;
+		btAlignedObjectArray<btDbvt::sStkNN> stkStack;
 #ifdef USE_LOCAL_STACK
-			ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
-			stkStack.initializeFromBuffer(&localStack,btDbvt::DOUBLE_STACKSIZE,btDbvt::DOUBLE_STACKSIZE);
+		ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
+		stkStack.initializeFromBuffer(&localStack, btDbvt::DOUBLE_STACKSIZE, btDbvt::DOUBLE_STACKSIZE);
 #else
-			stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
+		stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
 #endif
-			stkStack[0]=btDbvt::sStkNN(root0,root1);
-			do	{
-				btDbvt::sStkNN	p=stkStack[--depth];
-				if(MyIntersect(p.a->volume,p.b->volume,xform, distanceThreshold))
+		stkStack[0] = btDbvt::sStkNN(root0, root1);
+		do
+		{
+			btDbvt::sStkNN p = stkStack[--depth];
+			if (MyIntersect(p.a->volume, p.b->volume, xform, distanceThreshold))
+			{
+				if (depth > treshold)
 				{
-					if(depth>treshold)
+					stkStack.resize(stkStack.size() * 2);
+					treshold = stkStack.size() - 4;
+				}
+				if (p.a->isinternal())
+				{
+					if (p.b->isinternal())
 					{
-						stkStack.resize(stkStack.size()*2);
-						treshold=stkStack.size()-4;
+						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[0]);
+						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[0]);
+						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[1]);
+						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[1]);
 					}
-					if(p.a->isinternal())
+					else
 					{
-						if(p.b->isinternal())
-						{					
-							stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]);
-							stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]);
-							stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]);
-							stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]);
-						}
-						else
-						{
-							stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b);
-							stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b);
-						}
+						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b);
+						stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b);
+					}
+				}
+				else
+				{
+					if (p.b->isinternal())
+					{
+						stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[0]);
+						stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[1]);
 					}
 					else
 					{
-						if(p.b->isinternal())
-						{
-							stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]);
-							stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]);
-						}
-						else
-						{
-							callback->Process(p.a,p.b);
-						}
+						callback->Process(p.a, p.b);
 					}
 				}
-			} while(depth);
-		}
+			}
+		} while (depth);
+	}
 }
 
-void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btCompoundCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-
 	const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
-	const btCollisionObjectWrapper* col1ObjWrap= body1Wrap;
+	const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
 
-	btAssert (col0ObjWrap->getCollisionShape()->isCompound());
-	btAssert (col1ObjWrap->getCollisionShape()->isCompound());
+	btAssert(col0ObjWrap->getCollisionShape()->isCompound());
+	btAssert(col1ObjWrap->getCollisionShape()->isCompound());
 	const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
 	const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
 
@@ -316,7 +296,7 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
 	const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
 	if (!tree0 || !tree1)
 	{
-		return btCompoundCollisionAlgorithm::processCollision(body0Wrap,body1Wrap,dispatchInfo,resultOut);
+		return btCompoundCollisionAlgorithm::processCollision(body0Wrap, body1Wrap, dispatchInfo, resultOut);
 	}
 	///btCompoundShape might have changed:
 	////make sure the internal child collision algorithm caches are still valid
@@ -326,28 +306,26 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
 		removeChildAlgorithms();
 		m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
 		m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
-
 	}
 
-
 	///we need to refresh all contact manifolds
 	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
 	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
 	{
 		int i;
 		btManifoldArray manifoldArray;
-#ifdef USE_LOCAL_STACK 
+#ifdef USE_LOCAL_STACK
 		btPersistentManifold localManifolds[4];
-		manifoldArray.initializeFromBuffer(&localManifolds,0,4);
+		manifoldArray.initializeFromBuffer(&localManifolds, 0, 4);
 #endif
 		btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-		for (i=0;i<pairs.size();i++)
+		for (i = 0; i < pairs.size(); i++)
 		{
 			if (pairs[i].m_userPointer)
 			{
-				btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
+				btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
 				algo->getAllContactManifolds(manifoldArray);
-				for (int m=0;m<manifoldArray.size();m++)
+				for (int m = 0; m < manifoldArray.size(); m++)
 				{
 					if (manifoldArray[m]->getNumContacts())
 					{
@@ -361,96 +339,75 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
 		}
 	}
 
+	btCompoundCompoundLeafCallback callback(col0ObjWrap, col1ObjWrap, this->m_dispatcher, dispatchInfo, resultOut, this->m_childCollisionAlgorithmCache, m_sharedManifold);
 
-	
-
-	btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
-
-
-	const btTransform	xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform();
-	MycollideTT(tree0->m_root,tree1->m_root,xform,&callback, resultOut->m_closestPointDistanceThreshold);
+	const btTransform xform = col0ObjWrap->getWorldTransform().inverse() * col1ObjWrap->getWorldTransform();
+	MycollideTT(tree0->m_root, tree1->m_root, xform, &callback, resultOut->m_closestPointDistanceThreshold);
 
 	//printf("#compound-compound child/leaf overlap =%d                      \r",callback.m_numOverlapPairs);
 
 	//remove non-overlapping child pairs
 
 	{
-		btAssert(m_removePairs.size()==0);
+		btAssert(m_removePairs.size() == 0);
 
 		//iterate over all children, perform an AABB check inside ProcessChildShape
 		btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
-		
+
 		int i;
-		btManifoldArray	manifoldArray;
-        
-		
-
-        
-        
-        btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;        
-        
-		for (i=0;i<pairs.size();i++)
+		btManifoldArray manifoldArray;
+
+		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
+
+		for (i = 0; i < pairs.size(); i++)
 		{
 			if (pairs[i].m_userPointer)
 			{
 				btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
 
 				{
-					btTransform	orgTrans0;
 					const btCollisionShape* childShape0 = 0;
-					
-					btTransform	newChildWorldTrans0;
-					btTransform	orgInterpolationTrans0;
+
+					btTransform newChildWorldTrans0;
 					childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
-					orgTrans0 = col0ObjWrap->getWorldTransform();
-					orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
 					const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
-					newChildWorldTrans0 = orgTrans0*childTrans0 ;
-					childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
+					newChildWorldTrans0 = col0ObjWrap->getWorldTransform() * childTrans0;
+					childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
 				}
 				btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
 				aabbMin0 -= thresholdVec;
 				aabbMax0 += thresholdVec;
 				{
-					btTransform	orgInterpolationTrans1;
 					const btCollisionShape* childShape1 = 0;
-					btTransform	orgTrans1;
-					btTransform	newChildWorldTrans1;
+					btTransform newChildWorldTrans1;
 
 					childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
-					orgTrans1 = col1ObjWrap->getWorldTransform();
-					orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
 					const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
-					newChildWorldTrans1 = orgTrans1*childTrans1 ;
-					childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
+					newChildWorldTrans1 = col1ObjWrap->getWorldTransform() * childTrans1;
+					childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
 				}
-				
+
 				aabbMin1 -= thresholdVec;
 				aabbMax1 += thresholdVec;
 
-				if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
+				if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 				{
 					algo->~btCollisionAlgorithm();
 					m_dispatcher->freeCollisionAlgorithm(algo);
-					m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB));
+					m_removePairs.push_back(btSimplePair(pairs[i].m_indexA, pairs[i].m_indexB));
 				}
 			}
 		}
-		for (int i=0;i<m_removePairs.size();i++)
+		for (int i = 0; i < m_removePairs.size(); i++)
 		{
-			m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB);
+			m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA, m_removePairs[i].m_indexB);
 		}
 		m_removePairs.clear();
 	}
-
 }
 
-btScalar	btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	btAssert(0);
 	return 0.f;
-
 }
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
index f29f7a709a..a940d840e0 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
@@ -34,54 +34,49 @@ class btCollisionObject;
 
 class btCollisionShape;
 
+extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
+
 /// btCompoundCompoundCollisionAlgorithm  supports collision between two btCompoundCollisionShape shapes
-class btCompoundCompoundCollisionAlgorithm  : public btCompoundCollisionAlgorithm
+class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm
 {
-
-	class btHashedSimplePairCache*	m_childCollisionAlgorithmCache;
+	class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
 	btSimplePairArray m_removePairs;
 
+	int m_compoundShapeRevision0;  //to keep track of changes, so that childAlgorithm array can be updated
+	int m_compoundShapeRevision1;
 
-	int	m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated
-	int	m_compoundShapeRevision1;
-	
-	void	removeChildAlgorithms();
-	
-//	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	void removeChildAlgorithms();
 
-public:
+	//	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
-	btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+public:
+	btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btCompoundCompoundCollisionAlgorithm();
 
-	
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray);
-	
-	
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
+			return new (mem) btCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
 		}
 	};
 
-	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
+			return new (mem) btCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
 		}
 	};
-
 };
 
-#endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
+#endif  //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
index 1cb3d2e7a1..9087f84398 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
@@ -22,7 +22,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 
-
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -34,8 +33,6 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
 
-
-
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
@@ -45,31 +42,28 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
 	m_simplexSolver = simplexSolver;
 	m_pdSolver = pdSolver;
 }
 
-btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc() 
-{ 
+btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
+{
 }
 
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_simplexSolver(simplexSolver),
-m_pdSolver(pdSolver),
-m_ownManifold (false),
-m_manifoldPtr(mf),
-m_lowLevelOfDetail(false)
+btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_simplexSolver(simplexSolver),
+	  m_pdSolver(pdSolver),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf),
+	  m_lowLevelOfDetail(false)
 {
 	(void)body0Wrap;
 	(void)body1Wrap;
 }
 
-
-
-
 btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
 {
 	if (m_ownManifold)
@@ -79,26 +73,22 @@ btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
 	}
 }
 
-void	btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
+void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
 {
 	m_lowLevelOfDetail = useLowLevel;
 }
 
-
-
 extern btScalar gContactBreakingThreshold;
 
-
 //
 // Convex-Convex collision algorithm
 //
-void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvex2dConvex2dAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-
 	if (!m_manifoldPtr)
 	{
 		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -106,49 +96,41 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
 	//comment-out next line to test multi-contact generation
 	//resultOut->getPersistentManifold()->clearManifold();
 
-
 	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
 	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
-	btVector3  normalOnB;
-	btVector3  pointOnBWorld;
+	btVector3 normalOnB;
+	btVector3 pointOnBWorld;
 
 	{
-
-
 		btGjkPairDetector::ClosestPointInput input;
 
-		btGjkPairDetector	gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
+		btGjkPairDetector gjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
 		//TODO: if (dispatchInfo.m_useContinuous)
 		gjkPairDetector.setMinkowskiA(min0);
 		gjkPairDetector.setMinkowskiB(min1);
 
 		{
 			input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
-			input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+			input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
 		}
 
 		input.m_transformA = body0Wrap->getWorldTransform();
 		input.m_transformB = body1Wrap->getWorldTransform();
 
-		gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+		gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
 
-		btVector3 v0,v1;
+		btVector3 v0, v1;
 		btVector3 sepNormalWorldSpace;
-
 	}
 
 	if (m_ownManifold)
 	{
 		resultOut->refreshContactPoints();
 	}
-
 }
 
-
-
-
-btScalar	btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
@@ -158,7 +140,6 @@ btScalar	btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* c
 	///col0->m_worldTransform,
 	btScalar resultFraction = btScalar(1.);
 
-
 	btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
 	btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
 
@@ -166,77 +147,65 @@ btScalar	btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* c
 		squareMot1 < col1->getCcdSquareMotionThreshold())
 		return resultFraction;
 
-
 	//An adhoc way of testing the Continuous Collision Detection algorithms
 	//One object is approximated as a sphere, to simplify things
 	//Starting in penetration should report no time of impact
 	//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
 	//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
 
-
 	/// Convex0 against sphere for Convex1
 	{
 		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
 
-		btSphereShape	sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+		btSphereShape sphere1(col1->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
 		btConvexCast::CastResult result;
 		btVoronoiSimplexSolver voronoiSimplex;
 		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
 		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
+		btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
 		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
-			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
+								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
 		{
-
 			//store result.m_fraction in both bodies
 
-			if (col0->getHitFraction()> result.m_fraction)
-				col0->setHitFraction( result.m_fraction );
+			if (col0->getHitFraction() > result.m_fraction)
+				col0->setHitFraction(result.m_fraction);
 
 			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction( result.m_fraction);
+				col1->setHitFraction(result.m_fraction);
 
 			if (resultFraction > result.m_fraction)
 				resultFraction = result.m_fraction;
-
 		}
-
-
-
-
 	}
 
 	/// Sphere (for convex0) against Convex1
 	{
 		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
 
-		btSphereShape	sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+		btSphereShape sphere0(col0->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
 		btConvexCast::CastResult result;
 		btVoronoiSimplexSolver voronoiSimplex;
 		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
 		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
+		btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
 		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
-			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
+								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
 		{
-
 			//store result.m_fraction in both bodies
 
-			if (col0->getHitFraction()	> result.m_fraction)
-				col0->setHitFraction( result.m_fraction);
+			if (col0->getHitFraction() > result.m_fraction)
+				col0->setHitFraction(result.m_fraction);
 
 			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction( result.m_fraction);
+				col1->setHitFraction(result.m_fraction);
 
 			if (resultFraction > result.m_fraction)
 				resultFraction = result.m_fraction;
-
 		}
 	}
 
 	return resultFraction;
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
index 24d1336778..9fca463fbe 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
@@ -23,70 +23,61 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
+#include "LinearMath/btTransformUtil.h"  //for btConvexSeparatingDistanceUtil
 
 class btConvexPenetrationDepthSolver;
 
-
 ///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
 ///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
 class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
 {
-	btSimplexSolverInterface*		m_simplexSolver;
+	btSimplexSolverInterface* m_simplexSolver;
 	btConvexPenetrationDepthSolver* m_pdSolver;
 
-	
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool			m_lowLevelOfDetail;
-	
-public:
-
-	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+	bool m_lowLevelOfDetail;
 
+public:
+	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvex2dConvex2dAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		///should we use m_ownManifold to avoid adding duplicates?
 		if (m_manifoldPtr && m_ownManifold)
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
+	void setLowLevelOfDetail(bool useLowLevel);
 
-	void	setLowLevelOfDetail(bool useLowLevel);
-
-
-	const btPersistentManifold*	getManifold()
+	const btPersistentManifold* getManifold()
 	{
 		return m_manifoldPtr;
 	}
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-
-		btConvexPenetrationDepthSolver*		m_pdSolver;
-		btSimplexSolverInterface*			m_simplexSolver;
+		btConvexPenetrationDepthSolver* m_pdSolver;
+		btSimplexSolverInterface* m_simplexSolver;
 		int m_numPerturbationIterations;
 		int m_minimumPointsPerturbationThreshold;
 
-		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
-		
+		CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+
 		virtual ~CreateFunc();
 
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
-			return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
 		}
 	};
-
-
 };
 
-#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
+#endif  //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 39ff7934d9..e50f85e2bb 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btConvexConcaveCollisionAlgorithm.h"
 #include "LinearMath/btQuickprof.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
@@ -27,11 +26,12 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
 
-btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped),
-m_isSwapped(isSwapped)
+btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_btConvexTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped),
+	  m_isSwapped(isSwapped)
 {
 }
 
@@ -39,7 +39,7 @@ btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
 {
 }
 
-void	btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&	manifoldArray)
+void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
 {
 	if (m_btConvexTriangleCallback.m_manifoldPtr)
 	{
@@ -47,38 +47,32 @@ void	btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&
 	}
 }
 
-
-btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
-	  m_dispatcher(dispatcher),
-	m_dispatchInfoPtr(0)
+btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
+																																													 m_dispatchInfoPtr(0)
 {
-	m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap;
-	m_triBodyWrap = isSwapped? body0Wrap:body1Wrap;
-	
-	  //
-	  // create the manifold from the dispatcher 'manifold pool'
-	  //
-	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject());
+	m_convexBodyWrap = isSwapped ? body1Wrap : body0Wrap;
+	m_triBodyWrap = isSwapped ? body0Wrap : body1Wrap;
+
+	//
+	// create the manifold from the dispatcher 'manifold pool'
+	//
+	m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(), m_triBodyWrap->getCollisionObject());
 
-  	  clearCache();
+	clearCache();
 }
 
 btConvexTriangleCallback::~btConvexTriangleCallback()
 {
 	clearCache();
-	m_dispatcher->releaseManifold( m_manifoldPtr );
-  
+	m_dispatcher->releaseManifold(m_manifoldPtr);
 }
-  
 
-void	btConvexTriangleCallback::clearCache()
+void btConvexTriangleCallback::clearCache()
 {
 	m_dispatcher->clearManifold(m_manifoldPtr);
 }
 
-
-void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
-partId, int triangleIndex)
+void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
 {
 	BT_PROFILE("btConvexTriangleCallback::processTriangle");
 
@@ -87,16 +81,12 @@ partId, int triangleIndex)
 		return;
 	}
 
-        //just for debugging purposes
-        //printf("triangle %d",m_triangleCount++);
-
-
+	//just for debugging purposes
+	//printf("triangle %d",m_triangleCount++);
 
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
-
-
 #if 0	
 	
 	///debug drawing of the overlapping triangles
@@ -110,16 +100,15 @@ partId, int triangleIndex)
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
 	}
 #endif
-	
+
 	if (m_convexBodyWrap->getCollisionShape()->isConvex())
 	{
-		btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
+		btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
 		tm.setMargin(m_collisionMarginTriangle);
-		
-		
-		btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
+
+		btCollisionObjectWrapper triObWrap(m_triBodyWrap, &tm, m_triBodyWrap->getCollisionObject(), m_triBodyWrap->getWorldTransform(), partId, triangleIndex);  //correct transform?
 		btCollisionAlgorithm* colAlgo = 0;
-		
+
 		if (m_resultOut->m_closestPointDistanceThreshold > 0)
 		{
 			colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
@@ -134,36 +123,32 @@ partId, int triangleIndex)
 		{
 			tmpWrap = m_resultOut->getBody0Wrap();
 			m_resultOut->setBody0Wrap(&triObWrap);
-			m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
+			m_resultOut->setShapeIdentifiersA(partId, triangleIndex);
 		}
 		else
 		{
 			tmpWrap = m_resultOut->getBody1Wrap();
 			m_resultOut->setBody1Wrap(&triObWrap);
-			m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
+			m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
 		}
-	
-		colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
+
+		colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
 
 		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
 		{
 			m_resultOut->setBody0Wrap(tmpWrap);
-		} else
+		}
+		else
 		{
 			m_resultOut->setBody1Wrap(tmpWrap);
 		}
-		
-
 
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
 	}
-
 }
 
-
-
-void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
+void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
 {
 	m_convexBodyWrap = convexBodyWrap;
 	m_triBodyWrap = triBodyWrap;
@@ -177,66 +162,120 @@ void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr
 	convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
 	const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
 	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
-	convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
-	btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold;
-	
-	btVector3 extra(extraMargin,extraMargin,extraMargin);
+	convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax);
+	btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold;
+
+	btVector3 extra(extraMargin, extraMargin, extraMargin);
 
 	m_aabbMax += extra;
 	m_aabbMin -= extra;
-	
 }
 
 void btConvexConcaveCollisionAlgorithm::clearCache()
 {
 	m_btConvexTriangleCallback.clearCache();
-
 }
 
-void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
-	
+
 	const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
 	const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
 	if (triBodyWrap->getCollisionShape()->isConcave())
 	{
+		if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE)
+		{
+			btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
+			if (convexBodyWrap->getCollisionShape()->isConvex())
+			{
+				btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
+				btAlignedObjectArray<btVector3> queryVertices;
+
+				if (convex->isPolyhedral())
+				{
+					btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
+					for (int v = 0; v < poly->getNumVertices(); v++)
+					{
+						btVector3 vtx;
+						poly->getVertex(v, vtx);
+						queryVertices.push_back(vtx);
+					}
+				}
+				btScalar maxDist = SIMD_EPSILON;
+
+				if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
+				{
+					queryVertices.push_back(btVector3(0, 0, 0));
+					btSphereShape* sphere = (btSphereShape*)convex;
+					maxDist = sphere->getRadius() + SIMD_EPSILON;
+				}
+				if (queryVertices.size())
+				{
+					resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
+					//m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
+
+					btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
+					for (int v = 0; v < queryVertices.size(); v++)
+					{
+						const btVector3& vtx = queryVertices[v];
+						btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform() * vtx;
+						btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
+
+						btVector3 normalLocal;
+						btScalar dist;
+						if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal))
+						{
+							if (dist <= maxDist)
+							{
+								normalLocal.safeNormalize();
+								btVector3 normal = triBodyWrap->getWorldTransform().getBasis() * normalLocal;
+
+								if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
+								{
+									btSphereShape* sphere = (btSphereShape*)convex;
+									dist -= sphere->getRadius();
+									vtxWorldSpace -= sphere->getRadius() * normal;
+								}
+								resultOut->addContactPoint(normal, vtxWorldSpace - normal * dist, dist);
+							}
+						}
+					}
+					resultOut->refreshContactPoints();
+				}
+			}
+		}
+		else
+		{
+			const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triBodyWrap->getCollisionShape());
+
+			if (convexBodyWrap->getCollisionShape()->isConvex())
+			{
+				btScalar collisionMarginTriangle = concaveShape->getMargin();
 
+				resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
+				m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, convexBodyWrap, triBodyWrap, resultOut);
 
-		
-		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
-		
-		if (convexBodyWrap->getCollisionShape()->isConvex())
-		{
-			btScalar collisionMarginTriangle = concaveShape->getMargin();
-					
-			resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-			m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
+				m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(), triBodyWrap->getCollisionObject());
 
-			m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
+				concaveShape->processAllTriangles(&m_btConvexTriangleCallback, m_btConvexTriangleCallback.getAabbMin(), m_btConvexTriangleCallback.getAabbMax());
 
-			concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
-			
-			resultOut->refreshContactPoints();
+				resultOut->refreshContactPoints();
 
-			m_btConvexTriangleCallback.clearWrapperData();
-	
+				m_btConvexTriangleCallback.clearWrapperData();
+			}
 		}
-	
 	}
-
 }
 
-
-btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
 	btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
 	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
 
-
 	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
 
 	//only perform CCD above a certain threshold, this prevents blocking on the long run
@@ -255,25 +294,23 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
 	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
 	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
 
-	struct LocalTriangleSphereCastCallback	: public btTriangleCallback
+	struct LocalTriangleSphereCastCallback : public btTriangleCallback
 	{
 		btTransform m_ccdSphereFromTrans;
 		btTransform m_ccdSphereToTrans;
-		btTransform	m_meshTransform;
+		btTransform m_meshTransform;
 
-		btScalar	m_ccdSphereRadius;
-		btScalar	m_hitFraction;
-	
+		btScalar m_ccdSphereRadius;
+		btScalar m_hitFraction;
 
-		LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
-			:m_ccdSphereFromTrans(from),
-			m_ccdSphereToTrans(to),
-			m_ccdSphereRadius(ccdSphereRadius),
-			m_hitFraction(hitFraction)
-		{			
+		LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
+			: m_ccdSphereFromTrans(from),
+			  m_ccdSphereToTrans(to),
+			  m_ccdSphereRadius(ccdSphereRadius),
+			  m_hitFraction(hitFraction)
+		{
 		}
-		
-		
+
 		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 		{
 			BT_PROFILE("processTriangle");
@@ -284,29 +321,23 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
 			ident.setIdentity();
 			btConvexCast::CastResult castResult;
 			castResult.m_fraction = m_hitFraction;
-			btSphereShape	pointShape(m_ccdSphereRadius);
-			btTriangleShape	triShape(triangle[0],triangle[1],triangle[2]);
-			btVoronoiSimplexSolver	simplexSolver;
-			btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
+			btSphereShape pointShape(m_ccdSphereRadius);
+			btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
+			btVoronoiSimplexSolver simplexSolver;
+			btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
 			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
 			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
 			//local space?
 
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
-				ident,ident,castResult))
+			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
+											  ident, ident, castResult))
 			{
 				if (m_hitFraction > castResult.m_fraction)
 					m_hitFraction = castResult.m_fraction;
 			}
-
 		}
-
 	};
 
-
-	
-
-	
 	if (triBody->getCollisionShape()->isConcave())
 	{
 		btVector3 rayAabbMin = convexFromLocal.getOrigin();
@@ -314,33 +345,30 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
 		btVector3 rayAabbMax = convexFromLocal.getOrigin();
 		rayAabbMax.setMax(convexToLocal.getOrigin());
 		btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
-		rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
-		rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
+		rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
+		rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
 
-		btScalar curHitFraction = btScalar(1.); //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
-			convexbody->getCcdSweptSphereRadius(),curHitFraction);
+		btScalar curHitFraction = btScalar(1.);  //is this available?
+		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
+														convexbody->getCcdSweptSphereRadius(), curHitFraction);
 
 		raycastCallback.m_hitFraction = convexbody->getHitFraction();
 
 		btCollisionObject* concavebody = triBody;
 
-		btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
-		
+		btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
+
 		if (triangleMesh)
 		{
-			triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
+			triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
 		}
-	
-
 
 		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
 		{
-			convexbody->setHitFraction( raycastCallback.m_hitFraction);
+			convexbody->setHitFraction(raycastCallback.m_hitFraction);
 			return raycastCallback.m_hitFraction;
 		}
 	}
 
 	return btScalar(1.);
-
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
index 93d842ef50..b72e402981 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
@@ -26,42 +26,40 @@ class btDispatcher;
 #include "btCollisionCreateFunc.h"
 
 ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
-ATTRIBUTE_ALIGNED16(class)  btConvexTriangleCallback : public btTriangleCallback
+ATTRIBUTE_ALIGNED16(class)
+btConvexTriangleCallback : public btTriangleCallback
 {
-
-	btVector3	m_aabbMin;
-	btVector3	m_aabbMax ;
+	btVector3 m_aabbMin;
+	btVector3 m_aabbMax;
 
 	const btCollisionObjectWrapper* m_convexBodyWrap;
 	const btCollisionObjectWrapper* m_triBodyWrap;
 
-
-
 	btManifoldResult* m_resultOut;
-	btDispatcher*	m_dispatcher;
+	btDispatcher* m_dispatcher;
 	const btDispatcherInfo* m_dispatchInfoPtr;
 	btScalar m_collisionMarginTriangle;
-	
+
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-int	m_triangleCount;
-	
-	btPersistentManifold*	m_manifoldPtr;
 
-	btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+	int m_triangleCount;
+
+	btPersistentManifold* m_manifoldPtr;
 
-	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
+	btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
-	void	clearWrapperData()
+	void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
+
+	void clearWrapperData()
 	{
 		m_convexBodyWrap = 0;
 		m_triBodyWrap = 0;
 	}
 	virtual ~btConvexTriangleCallback();
 
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-	
+	virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
+
 	void clearCache();
 
 	SIMD_FORCE_INLINE const btVector3& getAabbMin() const
@@ -72,56 +70,48 @@ int	m_triangleCount;
 	{
 		return m_aabbMax;
 	}
-
 };
 
-
-
-
 /// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
-ATTRIBUTE_ALIGNED16(class)  btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
+ATTRIBUTE_ALIGNED16(class)
+btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-
 	btConvexTriangleCallback m_btConvexTriangleCallback;
 
-	bool	m_isSwapped;
-
-
+	bool m_isSwapped;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+
+	btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btConvexConcaveCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
+
+	btScalar calculateTimeOfImpact(btCollisionObject * body0, btCollisionObject * body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray);
-	
-	void	clearCache();
+	void clearCache();
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
+			return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
 		}
 	};
 
-	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
+			return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
 		}
 	};
-
 };
 
-#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+#endif  //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index b54bd48932..44dd3c553e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -28,8 +28,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
-
-
+#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -42,8 +41,6 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
 
-
-
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
@@ -56,8 +53,6 @@ subject to the following restrictions:
 
 ///////////
 
-
-
 static SIMD_FORCE_INLINE void segmentsClosestPoints(
 	btVector3& ptsVector,
 	btVector3& offsetA,
@@ -65,43 +60,49 @@ static SIMD_FORCE_INLINE void segmentsClosestPoints(
 	btScalar& tA, btScalar& tB,
 	const btVector3& translation,
 	const btVector3& dirA, btScalar hlenA,
-	const btVector3& dirB, btScalar hlenB )
+	const btVector3& dirB, btScalar hlenB)
 {
 	// compute the parameters of the closest points on each line segment
 
-	btScalar dirA_dot_dirB = btDot(dirA,dirB);
-	btScalar dirA_dot_trans = btDot(dirA,translation);
-	btScalar dirB_dot_trans = btDot(dirB,translation);
+	btScalar dirA_dot_dirB = btDot(dirA, dirB);
+	btScalar dirA_dot_trans = btDot(dirA, translation);
+	btScalar dirB_dot_trans = btDot(dirB, translation);
 
 	btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
 
-	if ( denom == 0.0f ) {
+	if (denom == 0.0f)
+	{
 		tA = 0.0f;
-	} else {
-		tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
-		if ( tA < -hlenA )
+	}
+	else
+	{
+		tA = (dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB) / denom;
+		if (tA < -hlenA)
 			tA = -hlenA;
-		else if ( tA > hlenA )
+		else if (tA > hlenA)
 			tA = hlenA;
 	}
 
 	tB = tA * dirA_dot_dirB - dirB_dot_trans;
 
-	if ( tB < -hlenB ) {
+	if (tB < -hlenB)
+	{
 		tB = -hlenB;
 		tA = tB * dirA_dot_dirB + dirA_dot_trans;
 
-		if ( tA < -hlenA )
+		if (tA < -hlenA)
 			tA = -hlenA;
-		else if ( tA > hlenA )
+		else if (tA > hlenA)
 			tA = hlenA;
-	} else if ( tB > hlenB ) {
+	}
+	else if (tB > hlenB)
+	{
 		tB = hlenB;
 		tA = tB * dirA_dot_dirB + dirA_dot_trans;
 
-		if ( tA < -hlenA )
+		if (tA < -hlenA)
 			tA = -hlenA;
-		else if ( tA > hlenA )
+		else if (tA > hlenA)
 			tA = hlenA;
 	}
 
@@ -113,19 +114,18 @@ static SIMD_FORCE_INLINE void segmentsClosestPoints(
 	ptsVector = translation - offsetA + offsetB;
 }
 
-
 static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
 	btVector3& normalOnB,
 	btVector3& pointOnB,
 	btScalar capsuleLengthA,
-	btScalar	capsuleRadiusA,
+	btScalar capsuleRadiusA,
 	btScalar capsuleLengthB,
-	btScalar	capsuleRadiusB,
+	btScalar capsuleRadiusB,
 	int capsuleAxisA,
 	int capsuleAxisB,
 	const btTransform& transformA,
 	const btTransform& transformB,
-	btScalar distanceThreshold )
+	btScalar distanceThreshold)
 {
 	btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
 	btVector3 translationA = transformA.getOrigin();
@@ -138,47 +138,38 @@ static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
 
 	// compute the closest points of the capsule line segments
 
-	btVector3 ptsVector;           // the vector between the closest points
-	
-	btVector3 offsetA, offsetB;    // offsets from segment centers to their closest points
-	btScalar tA, tB;              // parameters on line segment
+	btVector3 ptsVector;  // the vector between the closest points
+
+	btVector3 offsetA, offsetB;  // offsets from segment centers to their closest points
+	btScalar tA, tB;             // parameters on line segment
 
-	segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation,
-						   directionA, capsuleLengthA, directionB, capsuleLengthB );
+	segmentsClosestPoints(ptsVector, offsetA, offsetB, tA, tB, translation,
+						  directionA, capsuleLengthA, directionB, capsuleLengthB);
 
 	btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
 
-	if ( distance > distanceThreshold )
+	if (distance > distanceThreshold)
 		return distance;
 
 	btScalar lenSqr = ptsVector.length2();
-	if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON))
+	if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
 	{
 		//degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
 		btVector3 q;
-		btPlaneSpace1(directionA,normalOnB,q);
-	} else
+		btPlaneSpace1(directionA, normalOnB, q);
+	}
+	else
 	{
 		// compute the contact normal
-		normalOnB = ptsVector*-btRecipSqrt(lenSqr);
+		normalOnB = ptsVector * -btRecipSqrt(lenSqr);
 	}
-	pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB;
+	pointOnB = transformB.getOrigin() + offsetB + normalOnB * capsuleRadiusB;
 
 	return distance;
 }
 
-
-
-
-
-
-
 //////////
 
-
-
-
-
 btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver)
 {
 	m_numPerturbationIterations = 0;
@@ -186,30 +177,27 @@ btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver*
 	m_pdSolver = pdSolver;
 }
 
-btConvexConvexAlgorithm::CreateFunc::~CreateFunc() 
-{ 
+btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
+{
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_pdSolver(pdSolver),
-m_ownManifold (false),
-m_manifoldPtr(mf),
-m_lowLevelOfDetail(false),
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_pdSolver(pdSolver),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf),
+	  m_lowLevelOfDetail(false),
 #ifdef USE_SEPDISTANCE_UTIL2
-m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
-			  (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
+	  m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
+					(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
 #endif
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+	  m_numPerturbationIterations(numPerturbationIterations),
+	  m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
 	(void)body0Wrap;
 	(void)body1Wrap;
 }
 
-
-
-
 btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
 {
 	if (m_ownManifold)
@@ -219,112 +207,105 @@ btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
 	}
 }
 
-void	btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
+void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
 {
 	m_lowLevelOfDetail = useLowLevel;
 }
 
-
 struct btPerturbedContactResult : public btManifoldResult
 {
 	btManifoldResult* m_originalManifoldResult;
 	btTransform m_transformA;
 	btTransform m_transformB;
-	btTransform	m_unPerturbedTransform;
-	bool	m_perturbA;
-	btIDebugDraw*	m_debugDrawer;
-
-
-	btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
-		:m_originalManifoldResult(originalResult),
-		m_transformA(transformA),
-		m_transformB(transformB),
-		m_unPerturbedTransform(unPerturbedTransform),
-		m_perturbA(perturbA),
-		m_debugDrawer(debugDrawer)
+	btTransform m_unPerturbedTransform;
+	bool m_perturbA;
+	btIDebugDraw* m_debugDrawer;
+
+	btPerturbedContactResult(btManifoldResult* originalResult, const btTransform& transformA, const btTransform& transformB, const btTransform& unPerturbedTransform, bool perturbA, btIDebugDraw* debugDrawer)
+		: m_originalManifoldResult(originalResult),
+		  m_transformA(transformA),
+		  m_transformB(transformB),
+		  m_unPerturbedTransform(unPerturbedTransform),
+		  m_perturbA(perturbA),
+		  m_debugDrawer(debugDrawer)
 	{
 	}
-	virtual ~ btPerturbedContactResult()
+	virtual ~btPerturbedContactResult()
 	{
 	}
 
-	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
+	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar orgDepth)
 	{
-		btVector3 endPt,startPt;
+		btVector3 endPt, startPt;
 		btScalar newDepth;
 		btVector3 newNormal;
 
 		if (m_perturbA)
 		{
-			btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
-			endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
-			newDepth = (endPt -  pointInWorld).dot(normalOnBInWorld);
-			startPt = endPt+normalOnBInWorld*newDepth;
-		} else
+			btVector3 endPtOrg = pointInWorld + normalOnBInWorld * orgDepth;
+			endPt = (m_unPerturbedTransform * m_transformA.inverse())(endPtOrg);
+			newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
+			startPt = endPt - normalOnBInWorld * newDepth;
+		}
+		else
 		{
-			endPt = pointInWorld + normalOnBInWorld*orgDepth;
-			startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
-			newDepth = (endPt -  startPt).dot(normalOnBInWorld);
-			
+			endPt = pointInWorld + normalOnBInWorld * orgDepth;
+			startPt = (m_unPerturbedTransform * m_transformB.inverse())(pointInWorld);
+			newDepth = (endPt - startPt).dot(normalOnBInWorld);
 		}
 
 //#define DEBUG_CONTACTS 1
 #ifdef DEBUG_CONTACTS
-		m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
-		m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
-		m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
-#endif //DEBUG_CONTACTS
+		m_debugDrawer->drawLine(startPt, endPt, btVector3(1, 0, 0));
+		m_debugDrawer->drawSphere(startPt, 0.05, btVector3(0, 1, 0));
+		m_debugDrawer->drawSphere(endPt, 0.05, btVector3(0, 0, 1));
+#endif  //DEBUG_CONTACTS
 
-		
-		m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
+		m_originalManifoldResult->addContactPoint(normalOnBInWorld, startPt, newDepth);
 	}
-
 };
 
 extern btScalar gContactBreakingThreshold;
 
-
 //
 // Convex-Convex collision algorithm
 //
-void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-
 	if (!m_manifoldPtr)
 	{
 		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
 	//comment-out next line to test multi-contact generation
 	//resultOut->getPersistentManifold()->clearManifold();
-	
 
 	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
 	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
-	btVector3  normalOnB;
-		btVector3  pointOnBWorld;
+	btVector3 normalOnB;
+	btVector3 pointOnBWorld;
 #ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
 	if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
 	{
 		//m_manifoldPtr->clearManifold();
 
-		btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
-		btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
-		
-		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+		btCapsuleShape* capsuleA = (btCapsuleShape*)min0;
+		btCapsuleShape* capsuleB = (btCapsuleShape*)min1;
+
+		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
 
-		btScalar dist = capsuleCapsuleDistance(normalOnB,	pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
-			capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
-			body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
+		btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
+											   capsuleB->getHalfHeight(), capsuleB->getRadius(), capsuleA->getUpAxis(), capsuleB->getUpAxis(),
+											   body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
 
-		if (dist<threshold)
+		if (dist < threshold)
 		{
-			btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
-			resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);	
+			btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
+			resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
 		}
 		resultOut->refreshContactPoints();
 		return;
@@ -334,19 +315,19 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 	{
 		//m_manifoldPtr->clearManifold();
 
-		btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
-		btSphereShape* capsuleB = (btSphereShape*) min1;
-		
-		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+		btCapsuleShape* capsuleA = (btCapsuleShape*)min0;
+		btSphereShape* capsuleB = (btSphereShape*)min1;
+
+		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
 
-		btScalar dist = capsuleCapsuleDistance(normalOnB,	pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
-			0.,capsuleB->getRadius(),capsuleA->getUpAxis(),1,
-			body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
+		btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
+											   0., capsuleB->getRadius(), capsuleA->getUpAxis(), 1,
+											   body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
 
-		if (dist<threshold)
+		if (dist < threshold)
 		{
-			btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
-			resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);	
+			btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
+			resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
 		}
 		resultOut->refreshContactPoints();
 		return;
@@ -356,248 +337,336 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 	{
 		//m_manifoldPtr->clearManifold();
 
-		btSphereShape* capsuleA = (btSphereShape*) min0;
-		btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
-		
-		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+		btSphereShape* capsuleA = (btSphereShape*)min0;
+		btCapsuleShape* capsuleB = (btCapsuleShape*)min1;
 
-		btScalar dist = capsuleCapsuleDistance(normalOnB,	pointOnBWorld,0.,capsuleA->getRadius(),
-			capsuleB->getHalfHeight(),capsuleB->getRadius(),1,capsuleB->getUpAxis(),
-			body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
+		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
 
-		if (dist<threshold)
+		btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, 0., capsuleA->getRadius(),
+											   capsuleB->getHalfHeight(), capsuleB->getRadius(), 1, capsuleB->getUpAxis(),
+											   body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
+
+		if (dist < threshold)
 		{
-			btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
-			resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);	
+			btAssert(normalOnB.length2() >= (SIMD_EPSILON * SIMD_EPSILON));
+			resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
 		}
 		resultOut->refreshContactPoints();
 		return;
 	}
-#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
-
-
-
+#endif  //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
 
 #ifdef USE_SEPDISTANCE_UTIL2
 	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
 	{
-		m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
+		m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(), body1->getWorldTransform());
 	}
 
-	if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
-#endif //USE_SEPDISTANCE_UTIL2
-
-	{
+	if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance() <= 0.f)
+#endif  //USE_SEPDISTANCE_UTIL2
 
-	
-	btGjkPairDetector::ClosestPointInput input;
-    btVoronoiSimplexSolver simplexSolver;
-    btGjkPairDetector	gjkPairDetector( min0, min1, &simplexSolver, m_pdSolver );
-	//TODO: if (dispatchInfo.m_useContinuous)
-	gjkPairDetector.setMinkowskiA(min0);
-	gjkPairDetector.setMinkowskiB(min1);
-
-#ifdef USE_SEPDISTANCE_UTIL2
-	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-	{
-		input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
-	} else
-#endif //USE_SEPDISTANCE_UTIL2
 	{
-		//if (dispatchInfo.m_convexMaxDistanceUseCPT)
-		//{
-		//	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
-		//} else
-		//{
-		input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold()+resultOut->m_closestPointDistanceThreshold;
-//		}
-
-		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	}
-
-	input.m_transformA = body0Wrap->getWorldTransform();
-	input.m_transformB = body1Wrap->getWorldTransform();
-
-
-
-	
+		btGjkPairDetector::ClosestPointInput input;
+		btVoronoiSimplexSolver simplexSolver;
+		btGjkPairDetector gjkPairDetector(min0, min1, &simplexSolver, m_pdSolver);
+		//TODO: if (dispatchInfo.m_useContinuous)
+		gjkPairDetector.setMinkowskiA(min0);
+		gjkPairDetector.setMinkowskiB(min1);
 
 #ifdef USE_SEPDISTANCE_UTIL2
-	btScalar sepDist = 0.f;
-	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-	{
-		sepDist = gjkPairDetector.getCachedSeparatingDistance();
-		if (sepDist>SIMD_EPSILON)
+		if (dispatchInfo.m_useConvexConservativeDistanceUtil)
 		{
-			sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
-			//now perturbe directions to get multiple contact points
-			
+			input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
+		}
+		else
+#endif  //USE_SEPDISTANCE_UTIL2
+		{
+			//if (dispatchInfo.m_convexMaxDistanceUseCPT)
+			//{
+			//	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
+			//} else
+			//{
+			input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold;
+			//		}
+
+			input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
 		}
-	}
-#endif //USE_SEPDISTANCE_UTIL2
-
-	if (min0->isPolyhedral() && min1->isPolyhedral())
-	{
 
+		input.m_transformA = body0Wrap->getWorldTransform();
+		input.m_transformB = body1Wrap->getWorldTransform();
 
-		struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
+#ifdef USE_SEPDISTANCE_UTIL2
+		btScalar sepDist = 0.f;
+		if (dispatchInfo.m_useConvexConservativeDistanceUtil)
 		{
-			virtual void setShapeIdentifiersA(int partId0,int index0){}
-			virtual void setShapeIdentifiersB(int partId1,int index1){}
-			virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) 
+			sepDist = gjkPairDetector.getCachedSeparatingDistance();
+			if (sepDist > SIMD_EPSILON)
 			{
+				sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
+				//now perturbe directions to get multiple contact points
 			}
-		};
+		}
+#endif  //USE_SEPDISTANCE_UTIL2
 
-		
-		struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
+		if (min0->isPolyhedral() && min1->isPolyhedral())
 		{
-			btDiscreteCollisionDetectorInterface::Result* m_originalResult;
-			btVector3	m_reportedNormalOnWorld;
-			btScalar m_marginOnA;
-			btScalar m_marginOnB;
-			btScalar	m_reportedDistance;
-			
-			bool		m_foundResult;
-			btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
-			:m_originalResult(result),
-			m_marginOnA(marginOnA),
-			m_marginOnB(marginOnB),
-			m_foundResult(false)
+			struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
 			{
-			}
-			
-			virtual void setShapeIdentifiersA(int partId0,int index0){}
-			virtual void setShapeIdentifiersB(int partId1,int index1){}
-			virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg) 
-			{
-				m_reportedDistance = depthOrg;
-				m_reportedNormalOnWorld = normalOnBInWorld;
-				
-				btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
-				m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
-				if (m_reportedDistance<0.f)
+				btVector3 m_normalOnBInWorld;
+				btVector3 m_pointInWorld;
+				btScalar m_depth;
+				bool m_hasContact;
+
+				btDummyResult()
+					: m_hasContact(false)
 				{
-					m_foundResult = true;					
 				}
-				m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
-			}
-		};
 
-		
-		btDummyResult dummy;
-
-///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
+				virtual void setShapeIdentifiersA(int partId0, int index0) {}
+				virtual void setShapeIdentifiersB(int partId1, int index1) {}
+				virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
+				{
+					m_hasContact = true;
+					m_normalOnBInWorld = normalOnBInWorld;
+					m_pointInWorld = pointInWorld;
+					m_depth = depth;
+				}
+			};
 
-		btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
-		btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
+			struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
+			{
+				btDiscreteCollisionDetectorInterface::Result* m_originalResult;
+				btVector3 m_reportedNormalOnWorld;
+				btScalar m_marginOnA;
+				btScalar m_marginOnB;
+				btScalar m_reportedDistance;
+
+				bool m_foundResult;
+				btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
+					: m_originalResult(result),
+					  m_marginOnA(marginOnA),
+					  m_marginOnB(marginOnB),
+					  m_foundResult(false)
+				{
+				}
 
-		btWithoutMarginResult	withoutMargin(resultOut, min0Margin,min1Margin);
+				virtual void setShapeIdentifiersA(int partId0, int index0) {}
+				virtual void setShapeIdentifiersB(int partId1, int index1) {}
+				virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorldOrg, btScalar depthOrg)
+				{
+					m_reportedDistance = depthOrg;
+					m_reportedNormalOnWorld = normalOnBInWorld;
 
-		btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
-		btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
-		if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
-		{
+					btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld * m_marginOnB;
+					m_reportedDistance = depthOrg + (m_marginOnA + m_marginOnB);
+					if (m_reportedDistance < 0.f)
+					{
+						m_foundResult = true;
+					}
+					m_originalResult->addContactPoint(normalOnBInWorld, adjustedPointB, m_reportedDistance);
+				}
+			};
 
+			btDummyResult dummy;
 
-			
+			///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
 
-			btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+			btScalar min0Margin = min0->getShapeType() == BOX_SHAPE_PROXYTYPE ? 0.f : min0->getMargin();
+			btScalar min1Margin = min1->getShapeType() == BOX_SHAPE_PROXYTYPE ? 0.f : min1->getMargin();
 
-			btScalar minDist = -1e30f;
-			btVector3 sepNormalWorldSpace;
-			bool foundSepAxis  = true;
+			btWithoutMarginResult withoutMargin(resultOut, min0Margin, min1Margin);
 
-			if (dispatchInfo.m_enableSatConvex)
-			{
-				foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
-					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0Wrap->getWorldTransform(), 
-					body1Wrap->getWorldTransform(),
-					sepNormalWorldSpace,*resultOut);
-			} else
+			btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*)min0;
+			btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*)min1;
+			if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
 			{
+				btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
+
+				btScalar minDist = -1e30f;
+				btVector3 sepNormalWorldSpace;
+				bool foundSepAxis = true;
+
+				if (dispatchInfo.m_enableSatConvex)
+				{
+					foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
+						*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+						body0Wrap->getWorldTransform(),
+						body1Wrap->getWorldTransform(),
+						sepNormalWorldSpace, *resultOut);
+				}
+				else
+				{
 #ifdef ZERO_MARGIN
-				gjkPairDetector.setIgnoreMargin(true);
-				gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+					gjkPairDetector.setIgnoreMargin(true);
+					gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
 #else
 
+					gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
+					//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+#endif  //ZERO_MARGIN                                                    \
+	//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \
+	//if (l2>SIMD_EPSILON)
+					{
+						sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;  //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
+						//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
+						minDist = withoutMargin.m_reportedDistance;  //gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
 
-				gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
-				//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
-#endif //ZERO_MARGIN
-				//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-				//if (l2>SIMD_EPSILON)
-				{
-					sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
-					//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
-					minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
-	
 #ifdef ZERO_MARGIN
-					foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
+						foundSepAxis = true;  //gjkPairDetector.getCachedSeparatingDistance()<0.f;
 #else
-					foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
+						foundSepAxis = withoutMargin.m_foundResult && minDist < 0;  //-(min0->getMargin()+min1->getMargin());
 #endif
+					}
 				}
+				if (foundSepAxis)
+				{
+					//				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
+
+					worldVertsB1.resize(0);
+					btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+																	 body0Wrap->getWorldTransform(),
+																	 body1Wrap->getWorldTransform(), minDist - threshold, threshold, worldVertsB1, worldVertsB2,
+																	 *resultOut);
+				}
+				if (m_ownManifold)
+				{
+					resultOut->refreshContactPoints();
+				}
+				return;
 			}
-			if (foundSepAxis)
-			{
-				
-//				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
-
-				worldVertsB1.resize(0);
-				btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0Wrap->getWorldTransform(), 
-																 body1Wrap->getWorldTransform(), minDist-threshold, threshold, worldVertsB1,worldVertsB2,
-																 *resultOut);
- 				
-			}
-			if (m_ownManifold)
+			else
 			{
-				resultOut->refreshContactPoints();
-			}
-			return;
+				//we can also deal with convex versus triangle (without connectivity data)
+				if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
+				{
+					btVertexArray worldSpaceVertices;
+					btTriangleShape* tri = (btTriangleShape*)polyhedronB;
+					worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[0]);
+					worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[1]);
+					worldSpaceVertices.push_back(body1Wrap->getWorldTransform() * tri->m_vertices1[2]);
 
-		} else
-		{
-			//we can also deal with convex versus triangle (without connectivity data)
-			if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
-			{
+					//tri->initializePolyhedralFeatures();
 
-				btVertexArray vertices;
-				btTriangleShape* tri = (btTriangleShape*)polyhedronB;
-				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
-				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
-				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
-				
-				//tri->initializePolyhedralFeatures();
+					btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
 
-				btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+					btVector3 sepNormalWorldSpace;
+					btScalar minDist = -1e30f;
+					btScalar maxDist = threshold;
 
-				btVector3 sepNormalWorldSpace;
-				btScalar minDist =-1e30f;
-				btScalar maxDist = threshold;
-				
-				bool foundSepAxis = false;
-				if (0)
-				{
-					polyhedronB->initializePolyhedralFeatures();
-					 foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
-					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0Wrap->getWorldTransform(), 
-					body1Wrap->getWorldTransform(),
-					sepNormalWorldSpace,*resultOut);
-				//	 printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
-
-				} else
-				{
+					bool foundSepAxis = false;
+					bool useSatSepNormal = true;
+
+					if (useSatSepNormal)
+					{
+#if 0
+					if (0)
+					{
+						//initializePolyhedralFeatures performs a convex hull computation, not needed for a single triangle
+						polyhedronB->initializePolyhedralFeatures();
+					} else
+#endif
+						{
+							btVector3 uniqueEdges[3] = {tri->m_vertices1[1] - tri->m_vertices1[0],
+														tri->m_vertices1[2] - tri->m_vertices1[1],
+														tri->m_vertices1[0] - tri->m_vertices1[2]};
+
+							uniqueEdges[0].normalize();
+							uniqueEdges[1].normalize();
+							uniqueEdges[2].normalize();
+
+							btConvexPolyhedron polyhedron;
+							polyhedron.m_vertices.push_back(tri->m_vertices1[2]);
+							polyhedron.m_vertices.push_back(tri->m_vertices1[0]);
+							polyhedron.m_vertices.push_back(tri->m_vertices1[1]);
+
+							{
+								btFace combinedFaceA;
+								combinedFaceA.m_indices.push_back(0);
+								combinedFaceA.m_indices.push_back(1);
+								combinedFaceA.m_indices.push_back(2);
+								btVector3 faceNormal = uniqueEdges[0].cross(uniqueEdges[1]);
+								faceNormal.normalize();
+								btScalar planeEq = 1e30f;
+								for (int v = 0; v < combinedFaceA.m_indices.size(); v++)
+								{
+									btScalar eq = tri->m_vertices1[combinedFaceA.m_indices[v]].dot(faceNormal);
+									if (planeEq > eq)
+									{
+										planeEq = eq;
+									}
+								}
+								combinedFaceA.m_plane[0] = faceNormal[0];
+								combinedFaceA.m_plane[1] = faceNormal[1];
+								combinedFaceA.m_plane[2] = faceNormal[2];
+								combinedFaceA.m_plane[3] = -planeEq;
+								polyhedron.m_faces.push_back(combinedFaceA);
+							}
+							{
+								btFace combinedFaceB;
+								combinedFaceB.m_indices.push_back(0);
+								combinedFaceB.m_indices.push_back(2);
+								combinedFaceB.m_indices.push_back(1);
+								btVector3 faceNormal = -uniqueEdges[0].cross(uniqueEdges[1]);
+								faceNormal.normalize();
+								btScalar planeEq = 1e30f;
+								for (int v = 0; v < combinedFaceB.m_indices.size(); v++)
+								{
+									btScalar eq = tri->m_vertices1[combinedFaceB.m_indices[v]].dot(faceNormal);
+									if (planeEq > eq)
+									{
+										planeEq = eq;
+									}
+								}
+
+								combinedFaceB.m_plane[0] = faceNormal[0];
+								combinedFaceB.m_plane[1] = faceNormal[1];
+								combinedFaceB.m_plane[2] = faceNormal[2];
+								combinedFaceB.m_plane[3] = -planeEq;
+								polyhedron.m_faces.push_back(combinedFaceB);
+							}
+
+							polyhedron.m_uniqueEdges.push_back(uniqueEdges[0]);
+							polyhedron.m_uniqueEdges.push_back(uniqueEdges[1]);
+							polyhedron.m_uniqueEdges.push_back(uniqueEdges[2]);
+							polyhedron.initialize2();
+
+							polyhedronB->setPolyhedralFeatures(polyhedron);
+						}
+
+						foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
+							*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+							body0Wrap->getWorldTransform(),
+							body1Wrap->getWorldTransform(),
+							sepNormalWorldSpace, *resultOut);
+						//	 printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
+					}
+					else
+					{
 #ifdef ZERO_MARGIN
-					gjkPairDetector.setIgnoreMargin(true);
-					gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+						gjkPairDetector.setIgnoreMargin(true);
+						gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
 #else
-					gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
-#endif//ZERO_MARGIN
-					
+						gjkPairDetector.getClosestPoints(input, dummy, dispatchInfo.m_debugDraw);
+#endif  //ZERO_MARGIN
+
+						if (dummy.m_hasContact && dummy.m_depth < 0)
+						{
+							if (foundSepAxis)
+							{
+								if (dummy.m_normalOnBInWorld.dot(sepNormalWorldSpace) < 0.99)
+								{
+									printf("?\n");
+								}
+							}
+							else
+							{
+								printf("!\n");
+							}
+							sepNormalWorldSpace.setValue(0, 0, 1);  // = dummy.m_normalOnBInWorld;
+							//minDist = dummy.m_depth;
+							foundSepAxis = true;
+						}
+#if 0
 					btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
 					if (l2>SIMD_EPSILON)
 					{
@@ -607,144 +676,132 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 						minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
 						foundSepAxis = true;
 					}
-				}
+#endif
+					}
 
-				
-			if (foundSepAxis)
-			{
-				worldVertsB2.resize(0);
-				btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), 
-					body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut);
-			}
-				
-				
-				if (m_ownManifold)
-				{
-					resultOut->refreshContactPoints();
+					if (foundSepAxis)
+					{
+						worldVertsB2.resize(0);
+						btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
+																		 body0Wrap->getWorldTransform(), worldSpaceVertices, worldVertsB2, minDist - threshold, maxDist, *resultOut);
+					}
+
+					if (m_ownManifold)
+					{
+						resultOut->refreshContactPoints();
+					}
+
+					return;
 				}
-				
-				return;
 			}
-			
 		}
 
+		gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
 
-	}
-	
-	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 
-	//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-	
-	//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
-	if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
-	{
-		
-		int i;
-		btVector3 v0,v1;
-		btVector3 sepNormalWorldSpace;
-		btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-	
-		if (l2>SIMD_EPSILON)
+		//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
+		if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
 		{
-			sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
-			
-			btPlaneSpace1(sepNormalWorldSpace,v0,v1);
-
+			int i;
+			btVector3 v0, v1;
+			btVector3 sepNormalWorldSpace;
+			btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
 
-			bool perturbeA = true;
-			const btScalar angleLimit = 0.125f * SIMD_PI;
-			btScalar perturbeAngle;
-			btScalar radiusA = min0->getAngularMotionDisc();
-			btScalar radiusB = min1->getAngularMotionDisc();
-			if (radiusA < radiusB)
+			if (l2 > SIMD_EPSILON)
 			{
-				perturbeAngle = gContactBreakingThreshold /radiusA;
-				perturbeA = true;
-			} else
-			{
-				perturbeAngle = gContactBreakingThreshold / radiusB;
-				perturbeA = false;
-			}
-			if ( perturbeAngle > angleLimit ) 
-					perturbeAngle = angleLimit;
+				sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis() * (1.f / l2);
 
-			btTransform unPerturbedTransform;
-			if (perturbeA)
-			{
-				unPerturbedTransform = input.m_transformA;
-			} else
-			{
-				unPerturbedTransform = input.m_transformB;
-			}
-			
-			for ( i=0;i<m_numPerturbationIterations;i++)
-			{
-				if (v0.length2()>SIMD_EPSILON)
+				btPlaneSpace1(sepNormalWorldSpace, v0, v1);
+
+				bool perturbeA = true;
+				const btScalar angleLimit = 0.125f * SIMD_PI;
+				btScalar perturbeAngle;
+				btScalar radiusA = min0->getAngularMotionDisc();
+				btScalar radiusB = min1->getAngularMotionDisc();
+				if (radiusA < radiusB)
 				{
-				btQuaternion perturbeRot(v0,perturbeAngle);
-				btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-				btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
-				
-				
+					perturbeAngle = gContactBreakingThreshold / radiusA;
+					perturbeA = true;
+				}
+				else
+				{
+					perturbeAngle = gContactBreakingThreshold / radiusB;
+					perturbeA = false;
+				}
+				if (perturbeAngle > angleLimit)
+					perturbeAngle = angleLimit;
+
+				btTransform unPerturbedTransform;
 				if (perturbeA)
 				{
-					input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
-					input.m_transformB = body1Wrap->getWorldTransform();
-	#ifdef DEBUG_CONTACTS
-					dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
-	#endif //DEBUG_CONTACTS
-				} else
+					unPerturbedTransform = input.m_transformA;
+				}
+				else
 				{
-					input.m_transformA = body0Wrap->getWorldTransform();
-					input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
-	#ifdef DEBUG_CONTACTS
-					dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
-	#endif
+					unPerturbedTransform = input.m_transformB;
 				}
-				
-				btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
-				gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
+
+				for (i = 0; i < m_numPerturbationIterations; i++)
+				{
+					if (v0.length2() > SIMD_EPSILON)
+					{
+						btQuaternion perturbeRot(v0, perturbeAngle);
+						btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations));
+						btQuaternion rotq(sepNormalWorldSpace, iterationAngle);
+
+						if (perturbeA)
+						{
+							input.m_transformA.setBasis(btMatrix3x3(rotq.inverse() * perturbeRot * rotq) * body0Wrap->getWorldTransform().getBasis());
+							input.m_transformB = body1Wrap->getWorldTransform();
+#ifdef DEBUG_CONTACTS
+							dispatchInfo.m_debugDraw->drawTransform(input.m_transformA, 10.0);
+#endif  //DEBUG_CONTACTS
+						}
+						else
+						{
+							input.m_transformA = body0Wrap->getWorldTransform();
+							input.m_transformB.setBasis(btMatrix3x3(rotq.inverse() * perturbeRot * rotq) * body1Wrap->getWorldTransform().getBasis());
+#ifdef DEBUG_CONTACTS
+							dispatchInfo.m_debugDraw->drawTransform(input.m_transformB, 10.0);
+#endif
+						}
+
+						btPerturbedContactResult perturbedResultOut(resultOut, input.m_transformA, input.m_transformB, unPerturbedTransform, perturbeA, dispatchInfo.m_debugDraw);
+						gjkPairDetector.getClosestPoints(input, perturbedResultOut, dispatchInfo.m_debugDraw);
+					}
 				}
 			}
 		}
-	}
-
-	
 
 #ifdef USE_SEPDISTANCE_UTIL2
-	if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
-	{
-		m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
-	}
-#endif //USE_SEPDISTANCE_UTIL2
-
-
+		if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > SIMD_EPSILON))
+		{
+			m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(), sepDist, body0->getWorldTransform(), body1->getWorldTransform());
+		}
+#endif  //USE_SEPDISTANCE_UTIL2
 	}
 
 	if (m_ownManifold)
 	{
 		resultOut->refreshContactPoints();
 	}
-
 }
 
-
-
 bool disableCcd = false;
-btScalar	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
 	///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
-    
+
 	///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
 	///col0->m_worldTransform,
 	btScalar resultFraction = btScalar(1.);
 
-
 	btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
 	btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
-    
+
 	if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
 		squareMot1 < col1->getCcdSquareMotionThreshold())
 		return resultFraction;
@@ -752,77 +809,65 @@ btScalar	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,
 	if (disableCcd)
 		return btScalar(1.);
 
-
 	//An adhoc way of testing the Continuous Collision Detection algorithms
 	//One object is approximated as a sphere, to simplify things
 	//Starting in penetration should report no time of impact
 	//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
 	//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
 
-		
 	/// Convex0 against sphere for Convex1
 	{
 		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
 
-		btSphereShape	sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+		btSphereShape sphere1(col1->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
 		btConvexCast::CastResult result;
 		btVoronoiSimplexSolver voronoiSimplex;
 		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
 		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
+		btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
 		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
-			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
+								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
 		{
-		
 			//store result.m_fraction in both bodies
-		
-			if (col0->getHitFraction()> result.m_fraction)
-				col0->setHitFraction( result.m_fraction );
+
+			if (col0->getHitFraction() > result.m_fraction)
+				col0->setHitFraction(result.m_fraction);
 
 			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction( result.m_fraction);
+				col1->setHitFraction(result.m_fraction);
 
 			if (resultFraction > result.m_fraction)
 				resultFraction = result.m_fraction;
-
 		}
-		
-		
-
-
 	}
 
 	/// Sphere (for convex0) against Convex1
 	{
 		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
 
-		btSphereShape	sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+		btSphereShape sphere0(col0->getCcdSweptSphereRadius());  //todo: allow non-zero sphere sizes, for better approximation
 		btConvexCast::CastResult result;
 		btVoronoiSimplexSolver voronoiSimplex;
 		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
 		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
+		btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
 		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
-			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
+								  col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
 		{
-		
 			//store result.m_fraction in both bodies
-		
-			if (col0->getHitFraction()	> result.m_fraction)
-				col0->setHitFraction( result.m_fraction);
+
+			if (col0->getHitFraction() > result.m_fraction)
+				col0->setHitFraction(result.m_fraction);
 
 			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction( result.m_fraction);
+				col1->setHitFraction(result.m_fraction);
 
 			if (resultFraction > result.m_fraction)
 				resultFraction = result.m_fraction;
-
 		}
 	}
-	
-	return resultFraction;
 
+	return resultFraction;
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index cd75ba12d7..eac5b4d824 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
-#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
+#include "LinearMath/btTransformUtil.h"  //for btConvexSeparatingDistanceUtil
 #include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
 
 class btConvexPenetrationDepthSolver;
@@ -41,69 +41,61 @@ class btConvexPenetrationDepthSolver;
 class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 {
 #ifdef USE_SEPDISTANCE_UTIL2
-	btConvexSeparatingDistanceUtil	m_sepDistance;
+	btConvexSeparatingDistanceUtil m_sepDistance;
 #endif
 	btConvexPenetrationDepthSolver* m_pdSolver;
 
 	btVertexArray worldVertsB1;
 	btVertexArray worldVertsB2;
-	
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool			m_lowLevelOfDetail;
-	
+
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+	bool m_lowLevelOfDetail;
+
 	int m_numPerturbationIterations;
 	int m_minimumPointsPerturbationThreshold;
 
-
 	///cache separating vector to speedup collision detection
-	
 
 public:
-
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+	btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexConvexAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		///should we use m_ownManifold to avoid adding duplicates?
 		if (m_manifoldPtr && m_ownManifold)
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
+	void setLowLevelOfDetail(bool useLowLevel);
 
-	void	setLowLevelOfDetail(bool useLowLevel);
-
-
-	const btPersistentManifold*	getManifold()
+	const btPersistentManifold* getManifold()
 	{
 		return m_manifoldPtr;
 	}
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-
-		btConvexPenetrationDepthSolver*		m_pdSolver;
+		btConvexPenetrationDepthSolver* m_pdSolver;
 		int m_numPerturbationIterations;
 		int m_minimumPointsPerturbationThreshold;
 
 		CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
-		
+
 		virtual ~CreateFunc();
 
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new (mem) btConvexConvexAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
 		}
 	};
-
-
 };
 
-#endif //BT_CONVEX_CONVEX_ALGORITHM_H
+#endif  //BT_CONVEX_CONVEX_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index cce2d95bcf..ba1bc06b69 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -23,25 +23,24 @@ subject to the following restrictions:
 
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
-: btCollisionAlgorithm(ci),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_isSwapped(isSwapped),
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+	: btCollisionAlgorithm(ci),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf),
+	  m_isSwapped(isSwapped),
+	  m_numPerturbationIterations(numPerturbationIterations),
+	  m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
 
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
 
-
 btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 {
 	if (m_ownManifold)
@@ -51,32 +50,32 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 	}
 }
 
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-    const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
-	btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
+	btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
 
-    bool hasCollision = false;
+	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
-	
+
 	btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
+	convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
 	//now perturbe the convex-world transform
-	convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
+	convexWorldTransform.getBasis() *= btMatrix3x3(perturbeRot);
 	btTransform planeInConvex;
-	planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
-	
-	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+	planeInConvex = convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
+
+	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
 
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
-	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+	btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
 	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
 
 	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
@@ -86,70 +85,69 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
 		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
 		btVector3 pOnB = vtxInPlaneWorld;
-		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
+		resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
 	}
 }
 
-
-void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	if (!m_manifoldPtr)
 		return;
 
-	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
-	btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
+	btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
 
 	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
 	btTransform planeInConvex;
-	planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
+	planeInConvex = convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
+	convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
 
-	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
-	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+	btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
 	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
 
-	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
+	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	if (hasCollision)
 	{
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
 		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
 		btVector3 pOnB = vtxInPlaneWorld;
-		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
+		resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
 	}
 
 	//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
 	//they keep on rolling forever because of the additional off-center contact points
 	//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
-	if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+	if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
 	{
-		btVector3 v0,v1;
-		btPlaneSpace1(planeNormal,v0,v1);
+		btVector3 v0, v1;
+		btPlaneSpace1(planeNormal, v0, v1);
 		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 
 		const btScalar angleLimit = 0.125f * SIMD_PI;
 		btScalar perturbeAngle;
 		btScalar radius = convexShape->getAngularMotionDisc();
 		perturbeAngle = gContactBreakingThreshold / radius;
-		if ( perturbeAngle > angleLimit ) 
-				perturbeAngle = angleLimit;
+		if (perturbeAngle > angleLimit)
+			perturbeAngle = angleLimit;
 
-		btQuaternion perturbeRot(v0,perturbeAngle);
-		for (int i=0;i<m_numPerturbationIterations;i++)
+		btQuaternion perturbeRot(v0, perturbeAngle);
+		for (int i = 0; i < m_numPerturbationIterations; i++)
 		{
-			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-			btQuaternion rotq(planeNormal,iterationAngle);
-			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
+			btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations));
+			btQuaternion rotq(planeNormal, iterationAngle);
+			collideSingleContact(rotq.inverse() * perturbeRot * rotq, body0Wrap, body1Wrap, dispatchInfo, resultOut);
 		}
 	}
 
@@ -162,7 +160,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectW
 	}
 }
 
-btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index d28c430c4c..b693da118f 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -28,25 +28,24 @@ class btPersistentManifold;
 /// Other features are frame-coherency (persistent data) and collision response.
 class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
 {
-	bool		m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool		m_isSwapped;
-	int			m_numPerturbationIterations;
-	int			m_minimumPointsPerturbationThreshold;
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+	bool m_isSwapped;
+	int m_numPerturbationIterations;
+	int m_minimumPointsPerturbationThreshold;
 
 public:
-
-	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexPlaneCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
@@ -54,31 +53,30 @@ public:
 		}
 	}
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		int	m_numPerturbationIterations;
+		int m_numPerturbationIterations;
 		int m_minimumPointsPerturbationThreshold;
-			
-		CreateFunc() 
+
+		CreateFunc()
 			: m_numPerturbationIterations(1),
-			m_minimumPointsPerturbationThreshold(0)
+			  m_minimumPointsPerturbationThreshold(0)
 		{
 		}
-		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
-			} else
+				return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
+			}
+			else
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
 			}
 		}
 	};
-
 };
 
-#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
-
+#endif  //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
index f6e4e57b0a..ef3ea9e394 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -26,114 +26,108 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 
-
-
 #include "LinearMath/btPoolAllocator.h"
 
-
-
-
-
 btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
 //btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc,btPoolAllocator*	persistentManifoldPool,btPoolAllocator*	collisionAlgorithmPool)
 {
-
-    void* mem = NULL;
+	void* mem = NULL;
 	if (constructionInfo.m_useEpaPenetrationAlgorithm)
 	{
-		mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
-		m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
-	}else
+		mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver), 16);
+		m_pdSolver = new (mem) btGjkEpaPenetrationDepthSolver;
+	}
+	else
 	{
-		mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
-		m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
+		mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver), 16);
+		m_pdSolver = new (mem) btMinkowskiPenetrationDepthSolver;
 	}
-	
+
 	//default CreationFunctions, filling the m_doubleDispatch table
-	mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
-	m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver);
-	mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
-	m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
-	m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
-	mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
-	m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
-	m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
-
-	mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
-	m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
-	mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
-	m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
-	
-	mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
-	m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc), 16);
+	m_convexConvexCreateFunc = new (mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver);
+	mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc), 16);
+	m_convexConcaveCreateFunc = new (mem) btConvexConcaveCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc), 16);
+	m_swappedConvexConcaveCreateFunc = new (mem) btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
+	mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc), 16);
+	m_compoundCreateFunc = new (mem) btCompoundCollisionAlgorithm::CreateFunc;
+
+	mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc), 16);
+	m_compoundCompoundCreateFunc = new (mem) btCompoundCompoundCollisionAlgorithm::CreateFunc;
+
+	mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc), 16);
+	m_swappedCompoundCreateFunc = new (mem) btCompoundCollisionAlgorithm::SwappedCreateFunc;
+	mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc), 16);
+	m_emptyCreateFunc = new (mem) btEmptyAlgorithm::CreateFunc;
+
+	mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc), 16);
+	m_sphereSphereCF = new (mem) btSphereSphereCollisionAlgorithm::CreateFunc;
 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
-	m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
-	m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc), 16);
+	m_sphereBoxCF = new (mem) btSphereBoxCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc), 16);
+	m_boxSphereCF = new (mem) btSphereBoxCollisionAlgorithm::CreateFunc;
 	m_boxSphereCF->m_swapped = true;
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
 
-	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
-	m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
-	m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc), 16);
+	m_sphereTriangleCF = new (mem) btSphereTriangleCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc), 16);
+	m_triangleSphereCF = new (mem) btSphereTriangleCollisionAlgorithm::CreateFunc;
 	m_triangleSphereCF->m_swapped = true;
-	
-	mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16);
-	m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc;
+
+	mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc), 16);
+	m_boxBoxCF = new (mem) btBoxBoxCollisionAlgorithm::CreateFunc;
 
 	//convex versus plane
-	mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
+	mem = btAlignedAlloc(sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc), 16);
 	m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
-	mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
+	mem = btAlignedAlloc(sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc), 16);
 	m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
 	m_planeConvexCF->m_swapped = true;
-	
+
 	///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
 	int maxSize4 = sizeof(btCompoundCompoundCollisionAlgorithm);
 
-	int	collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
-		
+	int collisionAlgorithmMaxElementSize = btMax(maxSize, constructionInfo.m_customCollisionAlgorithmMaxElementSize);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize3);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize4);
+
 	if (constructionInfo.m_persistentManifoldPool)
 	{
 		m_ownsPersistentManifoldPool = false;
 		m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
-	} else
+	}
+	else
 	{
 		m_ownsPersistentManifoldPool = true;
-		void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
-		m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
+		void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
+		m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold), constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
 	}
-	
-	collisionAlgorithmMaxElementSize = (collisionAlgorithmMaxElementSize+16)&0xffffffffffff0;
+
+	collisionAlgorithmMaxElementSize = (collisionAlgorithmMaxElementSize + 16) & 0xffffffffffff0;
 	if (constructionInfo.m_collisionAlgorithmPool)
 	{
 		m_ownsCollisionAlgorithmPool = false;
 		m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
-	} else
+	}
+	else
 	{
 		m_ownsCollisionAlgorithmPool = true;
-		void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
-		m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
+		void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
+		m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
 	}
-
-
 }
 
 btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
@@ -150,83 +144,78 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 	}
 
 	m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(	m_convexConvexCreateFunc);
+	btAlignedFree(m_convexConvexCreateFunc);
 
 	m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_convexConcaveCreateFunc);
+	btAlignedFree(m_convexConcaveCreateFunc);
 	m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_swappedConvexConcaveCreateFunc);
+	btAlignedFree(m_swappedConvexConcaveCreateFunc);
 
 	m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_compoundCreateFunc);
+	btAlignedFree(m_compoundCreateFunc);
 
 	m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree(m_compoundCompoundCreateFunc);
 
 	m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_swappedCompoundCreateFunc);
+	btAlignedFree(m_swappedCompoundCreateFunc);
 
 	m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_emptyCreateFunc);
+	btAlignedFree(m_emptyCreateFunc);
 
 	m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_sphereSphereCF);
+	btAlignedFree(m_sphereSphereCF);
 
 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_sphereBoxCF);
+	btAlignedFree(m_sphereBoxCF);
 	m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_boxSphereCF);
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+	btAlignedFree(m_boxSphereCF);
+#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
 
 	m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_sphereTriangleCF);
+	btAlignedFree(m_sphereTriangleCF);
 	m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_triangleSphereCF);
+	btAlignedFree(m_triangleSphereCF);
 	m_boxBoxCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_boxBoxCF);
+	btAlignedFree(m_boxBoxCF);
 
 	m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_convexPlaneCF);
+	btAlignedFree(m_convexPlaneCF);
 	m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree( m_planeConvexCF);
+	btAlignedFree(m_planeConvexCF);
 
 	m_pdSolver->~btConvexPenetrationDepthSolver();
-	
-	btAlignedFree(m_pdSolver);
-
 
+	btAlignedFree(m_pdSolver);
 }
 
 btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1)
 {
-
-
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
 	{
-		return	m_sphereSphereCF;
+		return m_sphereSphereCF;
 	}
 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
 	{
-		return	m_sphereBoxCF;
+		return m_sphereBoxCF;
 	}
 
 	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
 	{
-		return	m_boxSphereCF;
+		return m_boxSphereCF;
 	}
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
-
+#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
 
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE))
 	{
-		return	m_sphereTriangleCF;
+		return m_sphereTriangleCF;
 	}
 
 	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
 	{
-		return	m_triangleSphereCF;
+		return m_triangleSphereCF;
 	}
 
 	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
@@ -239,8 +228,6 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPoint
 		return m_planeConvexCF;
 	}
 
-
-
 	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
 	{
 		return m_convexConvexCreateFunc;
@@ -256,7 +243,6 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPoint
 		return m_swappedConvexConcaveCreateFunc;
 	}
 
-
 	if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
 	{
 		return m_compoundCompoundCreateFunc;
@@ -276,46 +262,41 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPoint
 
 	//failed to find an algorithm
 	return m_emptyCreateFunc;
-
 }
 
-btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
+btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
 {
-
-
-
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
+	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
 	{
-		return	m_sphereSphereCF;
+		return m_sphereSphereCF;
 	}
 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
+	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
 	{
-		return	m_sphereBoxCF;
+		return m_sphereBoxCF;
 	}
 
-	if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
+	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
 	{
-		return	m_boxSphereCF;
+		return m_boxSphereCF;
 	}
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
-
+#endif  //USE_BUGGY_SPHERE_BOX_ALGORITHM
 
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
+	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE))
 	{
-		return	m_sphereTriangleCF;
+		return m_sphereTriangleCF;
 	}
 
-	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE  ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
+	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
 	{
-		return	m_triangleSphereCF;
-	} 
+		return m_triangleSphereCF;
+	}
 
 	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
 	{
 		return m_boxBoxCF;
 	}
-	
+
 	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
 	{
 		return m_convexPlaneCF;
@@ -325,8 +306,6 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	{
 		return m_planeConvexCF;
 	}
-	
-
 
 	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
 	{
@@ -343,7 +322,6 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 		return m_swappedConvexConcaveCreateFunc;
 	}
 
-
 	if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
 	{
 		return m_compoundCompoundCreateFunc;
@@ -352,7 +330,8 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	if (btBroadphaseProxy::isCompound(proxyType0))
 	{
 		return m_compoundCreateFunc;
-	} else
+	}
+	else
 	{
 		if (btBroadphaseProxy::isCompound(proxyType1))
 		{
@@ -366,17 +345,17 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 
 void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
 {
-	btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc;
+	btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*)m_convexConvexCreateFunc;
 	convexConvex->m_numPerturbationIterations = numPerturbationIterations;
 	convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
 }
 
-void	btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
 {
 	btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF;
 	cpCF->m_numPerturbationIterations = numPerturbationIterations;
 	cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
-	
+
 	btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
 	pcCF->m_numPerturbationIterations = numPerturbationIterations;
 	pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index 17c7596cff..b39a3f41de 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -20,76 +20,68 @@ subject to the following restrictions:
 class btVoronoiSimplexSolver;
 class btConvexPenetrationDepthSolver;
 
-struct	btDefaultCollisionConstructionInfo
+struct btDefaultCollisionConstructionInfo
 {
-	btPoolAllocator*	m_persistentManifoldPool;
-	btPoolAllocator*	m_collisionAlgorithmPool;
-	int					m_defaultMaxPersistentManifoldPoolSize;
-	int					m_defaultMaxCollisionAlgorithmPoolSize;
-	int					m_customCollisionAlgorithmMaxElementSize;
-	int					m_useEpaPenetrationAlgorithm;
+	btPoolAllocator* m_persistentManifoldPool;
+	btPoolAllocator* m_collisionAlgorithmPool;
+	int m_defaultMaxPersistentManifoldPoolSize;
+	int m_defaultMaxCollisionAlgorithmPoolSize;
+	int m_customCollisionAlgorithmMaxElementSize;
+	int m_useEpaPenetrationAlgorithm;
 
 	btDefaultCollisionConstructionInfo()
-		:m_persistentManifoldPool(0),
-		m_collisionAlgorithmPool(0),
-		m_defaultMaxPersistentManifoldPoolSize(4096),
-		m_defaultMaxCollisionAlgorithmPoolSize(4096),
-		m_customCollisionAlgorithmMaxElementSize(0),
-		m_useEpaPenetrationAlgorithm(true)
+		: m_persistentManifoldPool(0),
+		  m_collisionAlgorithmPool(0),
+		  m_defaultMaxPersistentManifoldPoolSize(4096),
+		  m_defaultMaxCollisionAlgorithmPoolSize(4096),
+		  m_customCollisionAlgorithmMaxElementSize(0),
+		  m_useEpaPenetrationAlgorithm(true)
 	{
 	}
 };
 
-
-
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator, pool memory allocators
 ///@todo: describe the meaning
-class	btDefaultCollisionConfiguration : public btCollisionConfiguration
+class btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
-
 protected:
+	int m_persistentManifoldPoolSize;
 
-	int	m_persistentManifoldPoolSize;
-	
-
-	btPoolAllocator*	m_persistentManifoldPool;
-	bool	m_ownsPersistentManifoldPool;
+	btPoolAllocator* m_persistentManifoldPool;
+	bool m_ownsPersistentManifoldPool;
 
-
-	btPoolAllocator*	m_collisionAlgorithmPool;
-	bool	m_ownsCollisionAlgorithmPool;
+	btPoolAllocator* m_collisionAlgorithmPool;
+	bool m_ownsCollisionAlgorithmPool;
 
 	//default penetration depth solver
-	btConvexPenetrationDepthSolver*	m_pdSolver;
-	
+	btConvexPenetrationDepthSolver* m_pdSolver;
+
 	//default CreationFunctions, filling the m_doubleDispatch table
-	btCollisionAlgorithmCreateFunc*	m_convexConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_convexConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_swappedConvexConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_compoundCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_compoundCompoundCreateFunc;
-	
-	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
+
+	btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
 	btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
 	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
 
 	btCollisionAlgorithmCreateFunc* m_boxBoxCF;
-	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
-	btCollisionAlgorithmCreateFunc*	m_triangleSphereCF;
-	btCollisionAlgorithmCreateFunc*	m_planeConvexCF;
-	btCollisionAlgorithmCreateFunc*	m_convexPlaneCF;
-	
-public:
-
+	btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
+	btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
+	btCollisionAlgorithmCreateFunc* m_planeConvexCF;
+	btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
 
+public:
 	btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
 
 	virtual ~btDefaultCollisionConfiguration();
 
-		///memory pools
+	///memory pools
 	virtual btPoolAllocator* getPersistentManifoldPool()
 	{
 		return m_persistentManifoldPool;
@@ -100,8 +92,7 @@ public:
 		return m_collisionAlgorithmPool;
 	}
 
-
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
+	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
 
 	virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
 
@@ -112,11 +103,9 @@ public:
 	///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
 	///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
 	///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
-	void	setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
-
-	void	setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
+	void setConvexConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
 
+	void setPlaneConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
 };
 
-#endif //BT_DEFAULT_COLLISION_CONFIGURATION
-
+#endif  //BT_DEFAULT_COLLISION_CONFIGURATION
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
index 5fa1c8be5e..7cd41bdb33 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
@@ -15,20 +15,16 @@ subject to the following restrictions:
 
 #include "btEmptyCollisionAlgorithm.h"
 
-
-
 btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 	: btCollisionAlgorithm(ci)
 {
 }
 
-void btEmptyAlgorithm::processCollision (const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ,const btDispatcherInfo& ,btManifoldResult* )
+void btEmptyAlgorithm::processCollision(const btCollisionObjectWrapper*, const btCollisionObjectWrapper*, const btDispatcherInfo&, btManifoldResult*)
 {
 }
 
-btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
+btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject*, btCollisionObject*, const btDispatcherInfo&, btManifoldResult*)
 {
 	return btScalar(1.);
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
index cb0f152183..65ef83e094 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
@@ -25,30 +25,28 @@ subject to the following restrictions:
 ///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame.
 class btEmptyAlgorithm : public btCollisionAlgorithm
 {
-
 public:
-	
 	btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 	}
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-        virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
-        {
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
+		{
 			(void)body0Wrap;
 			(void)body1Wrap;
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
-			return new(mem) btEmptyAlgorithm(ci);
+			return new (mem) btEmptyAlgorithm(ci);
 		}
 	};
 
 } ATTRIBUTE_ALIGNED(16);
 
-#endif //BT_EMPTY_ALGORITH
+#endif  //BT_EMPTY_ALGORITH
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp
index 86141fa689..00f16fd0a8 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp
@@ -29,60 +29,58 @@ btGhostObject::~btGhostObject()
 	btAssert(!m_overlappingObjects.size());
 }
 
-
-void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
+void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy)
 {
 	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
 	btAssert(otherObject);
 	///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure
 	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index==m_overlappingObjects.size())
+	if (index == m_overlappingObjects.size())
 	{
 		//not found
 		m_overlappingObjects.push_back(otherObject);
 	}
 }
 
-void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy)
+void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy)
 {
 	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
 	btAssert(otherObject);
 	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index<m_overlappingObjects.size())
+	if (index < m_overlappingObjects.size())
 	{
-		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
+		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size() - 1];
 		m_overlappingObjects.pop_back();
 	}
 }
 
-
 btPairCachingGhostObject::btPairCachingGhostObject()
 {
-	m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+	m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16)) btHashedOverlappingPairCache();
 }
 
 btPairCachingGhostObject::~btPairCachingGhostObject()
 {
 	m_hashPairCache->~btHashedOverlappingPairCache();
-	btAlignedFree( m_hashPairCache );
+	btAlignedFree(m_hashPairCache);
 }
 
-void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
+void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy)
 {
-	btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle();
+	btBroadphaseProxy* actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle();
 	btAssert(actualThisProxy);
 
 	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
 	btAssert(otherObject);
 	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index==m_overlappingObjects.size())
+	if (index == m_overlappingObjects.size())
 	{
 		m_overlappingObjects.push_back(otherObject);
-		m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy);
+		m_hashPairCache->addOverlappingPair(actualThisProxy, otherProxy);
 	}
 }
 
-void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1)
+void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy1)
 {
 	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
 	btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle();
@@ -90,82 +88,79 @@ void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy
 
 	btAssert(otherObject);
 	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index<m_overlappingObjects.size())
+	if (index < m_overlappingObjects.size())
 	{
-		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
+		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size() - 1];
 		m_overlappingObjects.pop_back();
-		m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher);
+		m_hashPairCache->removeOverlappingPair(actualThisProxy, otherProxy, dispatcher);
 	}
 }
 
-
-void	btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
+void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
 {
-	btTransform	convexFromTrans,convexToTrans;
+	btTransform convexFromTrans, convexToTrans;
 	convexFromTrans = convexFromWorld;
 	convexToTrans = convexToWorld;
 	btVector3 castShapeAabbMin, castShapeAabbMax;
 	/* Compute AABB that encompasses angular movement */
 	{
 		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
+		btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0, linVel, angVel);
 		btTransform R;
-		R.setIdentity ();
-		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
+		R.setIdentity();
+		R.setRotation(convexFromTrans.getRotation());
+		castShape->calculateTemporalAabb(R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
 	}
 
 	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
 	// do a ray-shape query using convexCaster (CCD)
 	int i;
-	for (i=0;i<m_overlappingObjects.size();i++)
+	for (i = 0; i < m_overlappingObjects.size(); i++)
 	{
-		btCollisionObject*	collisionObject= m_overlappingObjects[i];
+		btCollisionObject* collisionObject = m_overlappingObjects[i];
 		//only perform raycast if filterMask matches
-		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
+		if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
+		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
-			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
+			btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
+			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
+			AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
+			btScalar hitLambda = btScalar(1.);  //could use resultCallback.m_closestHitFraction, but needs testing
 			btVector3 hitNormal;
-			if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
+			if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
 			{
-				btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans,
-					collisionObject,
-						collisionObject->getCollisionShape(),
-						collisionObject->getWorldTransform(),
-						resultCallback,
-						allowedCcdPenetration);
+				btCollisionWorld::objectQuerySingle(castShape, convexFromTrans, convexToTrans,
+													collisionObject,
+													collisionObject->getCollisionShape(),
+													collisionObject->getWorldTransform(),
+													resultCallback,
+													allowedCcdPenetration);
 			}
 		}
 	}
-
 }
 
-void	btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
+void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
 {
 	btTransform rayFromTrans;
 	rayFromTrans.setIdentity();
 	rayFromTrans.setOrigin(rayFromWorld);
-	btTransform  rayToTrans;
+	btTransform rayToTrans;
 	rayToTrans.setIdentity();
 	rayToTrans.setOrigin(rayToWorld);
 
-
 	int i;
-	for (i=0;i<m_overlappingObjects.size();i++)
+	for (i = 0; i < m_overlappingObjects.size(); i++)
 	{
-		btCollisionObject*	collisionObject= m_overlappingObjects[i];
+		btCollisionObject* collisionObject = m_overlappingObjects[i];
 		//only perform raycast if filterMask matches
-		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
 		{
-			btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
-							collisionObject,
-								collisionObject->getCollisionShape(),
-								collisionObject->getWorldTransform(),
-								resultCallback);
+			btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans,
+											collisionObject,
+											collisionObject->getCollisionShape(),
+											collisionObject->getWorldTransform(),
+											resultCallback);
 		}
 	}
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
index 8ec8613857..aa7f48d5cb 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef BT_GHOST_OBJECT_H
 #define BT_GHOST_OBJECT_H
 
-
 #include "btCollisionObject.h"
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
 #include "LinearMath/btAlignedAllocator.h"
@@ -31,48 +30,47 @@ class btDispatcher;
 ///By default, this overlap is based on the AABB
 ///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
 ///We plan on adding rayTest and other queries for the btGhostObject
-ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
+ATTRIBUTE_ALIGNED16(class)
+btGhostObject : public btCollisionObject
 {
 protected:
-
 	btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
 
 public:
-
 	btGhostObject();
 
 	virtual ~btGhostObject();
 
-	void	convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
+	void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
 
-	void	rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; 
+	void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const;
 
 	///this method is mainly for expert/internal use only.
-	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
+	virtual void addOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btBroadphaseProxy* thisProxy = 0);
 	///this method is mainly for expert/internal use only.
-	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
+	virtual void removeOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btDispatcher * dispatcher, btBroadphaseProxy* thisProxy = 0);
 
-	int	getNumOverlappingObjects() const
+	int getNumOverlappingObjects() const
 	{
 		return m_overlappingObjects.size();
 	}
 
-	btCollisionObject*	getOverlappingObject(int index)
+	btCollisionObject* getOverlappingObject(int index)
 	{
 		return m_overlappingObjects[index];
 	}
 
-	const btCollisionObject*	getOverlappingObject(int index) const
+	const btCollisionObject* getOverlappingObject(int index) const
 	{
 		return m_overlappingObjects[index];
 	}
 
-	btAlignedObjectArray<btCollisionObject*>&	getOverlappingPairs()
+	btAlignedObjectArray<btCollisionObject*>& getOverlappingPairs()
 	{
 		return m_overlappingObjects;
 	}
 
-	const btAlignedObjectArray<btCollisionObject*>	getOverlappingPairs() const
+	const btAlignedObjectArray<btCollisionObject*> getOverlappingPairs() const
 	{
 		return m_overlappingObjects;
 	}
@@ -81,49 +79,43 @@ public:
 	// internal cast
 	//
 
-	static const btGhostObject*	upcast(const btCollisionObject* colObj)
+	static const btGhostObject* upcast(const btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()==CO_GHOST_OBJECT)
+		if (colObj->getInternalType() == CO_GHOST_OBJECT)
 			return (const btGhostObject*)colObj;
 		return 0;
 	}
-	static btGhostObject*			upcast(btCollisionObject* colObj)
+	static btGhostObject* upcast(btCollisionObject * colObj)
 	{
-		if (colObj->getInternalType()==CO_GHOST_OBJECT)
+		if (colObj->getInternalType() == CO_GHOST_OBJECT)
 			return (btGhostObject*)colObj;
 		return 0;
 	}
-
 };
 
-class	btPairCachingGhostObject : public btGhostObject
+class btPairCachingGhostObject : public btGhostObject
 {
-	btHashedOverlappingPairCache*	m_hashPairCache;
+	btHashedOverlappingPairCache* m_hashPairCache;
 
 public:
-
 	btPairCachingGhostObject();
 
 	virtual ~btPairCachingGhostObject();
 
 	///this method is mainly for expert/internal use only.
-	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
+	virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy = 0);
 
-	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
+	virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy = 0);
 
-	btHashedOverlappingPairCache*	getOverlappingPairCache()
+	btHashedOverlappingPairCache* getOverlappingPairCache()
 	{
 		return m_hashPairCache;
 	}
-
 };
 
-
-
 ///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
 class btGhostPairCallback : public btOverlappingPairCallback
 {
-	
 public:
 	btGhostPairCallback()
 	{
@@ -131,15 +123,14 @@ public:
 
 	virtual ~btGhostPairCallback()
 	{
-		
 	}
 
-	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 	{
-		btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
-		btGhostObject* ghost0 = 		btGhostObject::upcast(colObj0);
-		btGhostObject* ghost1 = 		btGhostObject::upcast(colObj1);
+		btCollisionObject* colObj0 = (btCollisionObject*)proxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*)proxy1->m_clientObject;
+		btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
+		btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
 		if (ghost0)
 			ghost0->addOverlappingObjectInternal(proxy1, proxy0);
 		if (ghost1)
@@ -147,29 +138,25 @@ public:
 		return 0;
 	}
 
-	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
+	virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
 	{
-		btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
-		btGhostObject* ghost0 = 		btGhostObject::upcast(colObj0);
-		btGhostObject* ghost1 = 		btGhostObject::upcast(colObj1);
+		btCollisionObject* colObj0 = (btCollisionObject*)proxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*)proxy1->m_clientObject;
+		btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
+		btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
 		if (ghost0)
-			ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0);
+			ghost0->removeOverlappingObjectInternal(proxy1, dispatcher, proxy0);
 		if (ghost1)
-			ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1);
+			ghost1->removeOverlappingObjectInternal(proxy0, dispatcher, proxy1);
 		return 0;
 	}
 
-	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
+	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/)
 	{
 		btAssert(0);
 		//need to keep track of all ghost objects and call them here
 		//m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
 	}
-
-	
-
 };
 
 #endif
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
index 8c8a7c3c1e..b686d98d1e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
@@ -13,61 +13,49 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btHashedSimplePairCache.h"
 
-
 #include <stdio.h>
 
-int	gOverlappingSimplePairs = 0;
-int gRemoveSimplePairs =0;
-int gAddedSimplePairs =0;
-int gFindSimplePairs =0;
-
-
-
+#ifdef BT_DEBUG_COLLISION_PAIRS
+int gOverlappingSimplePairs = 0;
+int gRemoveSimplePairs = 0;
+int gAddedSimplePairs = 0;
+int gFindSimplePairs = 0;
+#endif  //BT_DEBUG_COLLISION_PAIRS
 
-btHashedSimplePairCache::btHashedSimplePairCache() {
-	int initialAllocatedSize= 2;
+btHashedSimplePairCache::btHashedSimplePairCache()
+{
+	int initialAllocatedSize = 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 	growTables();
 }
 
-
-
-
 btHashedSimplePairCache::~btHashedSimplePairCache()
 {
 }
 
-
-
-
-
-
 void btHashedSimplePairCache::removeAllPairs()
 {
 	m_overlappingPairArray.clear();
 	m_hashTable.clear();
 	m_next.clear();
 
-	int initialAllocatedSize= 2;
+	int initialAllocatedSize = 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 	growTables();
 }
 
-
-
 btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
 {
+#ifdef BT_DEBUG_COLLISION_PAIRS
 	gFindSimplePairs++;
-	
-	
+#endif
+
 	/*if (indexA > indexB) 
 		btSwap(indexA, indexB);*/
 
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));
 
 	if (hash >= m_hashTable.size())
 	{
@@ -92,9 +80,8 @@ btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
 
 //#include <stdio.h>
 
-void	btHashedSimplePairCache::growTables()
+void btHashedSimplePairCache::growTables()
 {
-
 	int newCapacity = m_overlappingPairArray.capacity();
 
 	if (m_hashTable.size() < newCapacity)
@@ -105,10 +92,9 @@ void	btHashedSimplePairCache::growTables()
 		m_hashTable.resize(newCapacity);
 		m_next.resize(newCapacity);
 
-
 		int i;
 
-		for (i= 0; i < newCapacity; ++i)
+		for (i = 0; i < newCapacity; ++i)
 		{
 			m_hashTable[i] = BT_SIMPLE_NULL_PAIR;
 		}
@@ -117,27 +103,22 @@ void	btHashedSimplePairCache::growTables()
 			m_next[i] = BT_SIMPLE_NULL_PAIR;
 		}
 
-		for(i=0;i<curHashtableSize;i++)
+		for (i = 0; i < curHashtableSize; i++)
 		{
-	
 			const btSimplePair& pair = m_overlappingPairArray[i];
 			int indexA = pair.m_indexA;
 			int indexB = pair.m_indexB;
-			
-			int	hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+
+			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
 			m_next[i] = m_hashTable[hashValue];
 			m_hashTable[hashValue] = i;
 		}
-
-
 	}
 }
 
 btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
 {
-
-	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
-
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
 
 	btSimplePair* pair = internalFindPair(indexA, indexB, hash);
 	if (pair != NULL)
@@ -155,30 +136,29 @@ btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
 	{
 		growTables();
 		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
+		hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));
 	}
-	
-	pair = new (mem) btSimplePair(indexA,indexB);
+
+	pair = new (mem) btSimplePair(indexA, indexB);
 
 	pair->m_userPointer = 0;
-	
+
 	m_next[count] = m_hashTable[hash];
 	m_hashTable[hash] = count;
 
 	return pair;
 }
 
-
-
 void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
 {
+#ifdef BT_DEBUG_COLLISION_PAIRS
 	gRemoveSimplePairs++;
-	
+#endif
 
 	/*if (indexA > indexB) 
 		btSwap(indexA, indexB);*/
 
-	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity() - 1));
 
 	btSimplePair* pair = internalFindPair(indexA, indexB, hash);
 	if (pair == NULL)
@@ -186,10 +166,8 @@ void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
 		return 0;
 	}
 
-	
 	void* userData = pair->m_userPointer;
 
-
 	int pairIndex = int(pair - &m_overlappingPairArray[0]);
 	btAssert(pairIndex < m_overlappingPairArray.size());
 
@@ -229,8 +207,8 @@ void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
 
 	// Remove the last pair from the hash table.
 	const btSimplePair* last = &m_overlappingPairArray[lastPairIndex];
-		/* missing swap here too, Nat. */ 
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity()-1));
+	/* missing swap here too, Nat. */
+	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity() - 1));
 
 	index = m_hashTable[lastHash];
 	btAssert(index != BT_SIMPLE_NULL_PAIR);
@@ -264,13 +242,3 @@ void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
 	return userData;
 }
 //#include <stdio.h>
-
-
-
-
-
-
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
index 2aaf6201f3..fd38a4f0e1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
@@ -16,142 +16,126 @@ subject to the following restrictions:
 #ifndef BT_HASHED_SIMPLE_PAIR_CACHE_H
 #define BT_HASHED_SIMPLE_PAIR_CACHE_H
 
-
-
 #include "LinearMath/btAlignedObjectArray.h"
 
-const int BT_SIMPLE_NULL_PAIR=0xffffffff;
+const int BT_SIMPLE_NULL_PAIR = 0xffffffff;
 
 struct btSimplePair
 {
-	btSimplePair(int indexA,int indexB)
-		:m_indexA(indexA),
-		m_indexB(indexB),
-		m_userPointer(0)
+	btSimplePair(int indexA, int indexB)
+		: m_indexA(indexA),
+		  m_indexB(indexB),
+		  m_userPointer(0)
 	{
 	}
 
 	int m_indexA;
 	int m_indexB;
-	union
-	{
-		void*	m_userPointer;
-		int		m_userValue;
+	union {
+		void* m_userPointer;
+		int m_userValue;
 	};
 };
 
-typedef btAlignedObjectArray<btSimplePair>	btSimplePairArray;
-
-
+typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
 
+#ifdef BT_DEBUG_COLLISION_PAIRS
 extern int gOverlappingSimplePairs;
 extern int gRemoveSimplePairs;
 extern int gAddedSimplePairs;
 extern int gFindSimplePairs;
-
-
-
+#endif  //BT_DEBUG_COLLISION_PAIRS
 
 class btHashedSimplePairCache
 {
-	btSimplePairArray	m_overlappingPairArray;
-		
+	btSimplePairArray m_overlappingPairArray;
 
 protected:
-	
-	btAlignedObjectArray<int>	m_hashTable;
-	btAlignedObjectArray<int>	m_next;
-	
+	btAlignedObjectArray<int> m_hashTable;
+	btAlignedObjectArray<int> m_next;
 
 public:
 	btHashedSimplePairCache();
 	virtual ~btHashedSimplePairCache();
-	
+
 	void removeAllPairs();
 
-	virtual void*	removeOverlappingPair(int indexA,int indexB);
-	
+	virtual void* removeOverlappingPair(int indexA, int indexB);
+
 	// Add a pair and return the new pair. If the pair already exists,
 	// no new pair is created and the old one is returned.
-	virtual btSimplePair* 	addOverlappingPair(int indexA,int indexB)
+	virtual btSimplePair* addOverlappingPair(int indexA, int indexB)
 	{
+#ifdef BT_DEBUG_COLLISION_PAIRS
 		gAddedSimplePairs++;
+#endif
 
-		return internalAddPair(indexA,indexB);
+		return internalAddPair(indexA, indexB);
 	}
 
-	
-	virtual btSimplePair*	getOverlappingPairArrayPtr()
+	virtual btSimplePair* getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	const btSimplePair*	getOverlappingPairArrayPtr() const
+	const btSimplePair* getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	btSimplePairArray&	getOverlappingPairArray()
+	btSimplePairArray& getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
 
-	const btSimplePairArray&	getOverlappingPairArray() const
+	const btSimplePairArray& getOverlappingPairArray() const
 	{
 		return m_overlappingPairArray;
 	}
 
-	
-	btSimplePair* findPair(int indexA,int indexB);
+	btSimplePair* findPair(int indexA, int indexB);
 
 	int GetCount() const { return m_overlappingPairArray.size(); }
 
-	int	getNumOverlappingPairs() const
+	int getNumOverlappingPairs() const
 	{
 		return m_overlappingPairArray.size();
 	}
+
 private:
-	
-	btSimplePair* 	internalAddPair(int indexA, int indexB);
+	btSimplePair* internalAddPair(int indexA, int indexB);
 
-	void	growTables();
+	void growTables();
 
 	SIMD_FORCE_INLINE bool equalsPair(const btSimplePair& pair, int indexA, int indexB)
-	{	
+	{
 		return pair.m_indexA == indexA && pair.m_indexB == indexB;
 	}
 
-	
-	
 	SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
 	{
 		unsigned int key = indexA | (indexB << 16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
-		key ^=  (key >> 10);
-		key +=  (key << 3);
-		key ^=  (key >> 6);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
 		key += ~(key << 11);
-		key ^=  (key >> 16);
+		key ^= (key >> 16);
 		return key;
 	}
-	
-
-
 
-
-	SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA , int proxyIdB, int hash)
+	SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA, int proxyIdB, int hash)
 	{
-		
 		int index = m_hashTable[hash];
-		
-		while( index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false)
+
+		while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false)
 		{
 			index = m_next[index];
 		}
 
-		if ( index == BT_SIMPLE_NULL_PAIR )
+		if (index == BT_SIMPLE_NULL_PAIR)
 		{
 			return NULL;
 		}
@@ -160,13 +144,6 @@ private:
 
 		return &m_overlappingPairArray[index];
 	}
-
-	
 };
 
-
-
-
-#endif //BT_HASHED_SIMPLE_PAIR_CACHE_H
-
-
+#endif  //BT_HASHED_SIMPLE_PAIR_CACHE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index 6cba442ca5..e74c83f9f1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -12,50 +12,44 @@
 
 #ifdef DEBUG_INTERNAL_EDGE
 #include <stdio.h>
-#endif //DEBUG_INTERNAL_EDGE
-
+#endif  //DEBUG_INTERNAL_EDGE
 
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
 static btIDebugDraw* gDebugDrawer = 0;
 
-void	btSetDebugDrawer(btIDebugDraw* debugDrawer)
+void btSetDebugDrawer(btIDebugDraw* debugDrawer)
 {
 	gDebugDrawer = debugDrawer;
 }
 
-static void    btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
+static void btDebugDrawLine(const btVector3& from, const btVector3& to, const btVector3& color)
 {
 	if (gDebugDrawer)
-		gDebugDrawer->drawLine(from,to,color);
+		gDebugDrawer->drawLine(from, to, color);
 }
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
-static int	btGetHash(int partId, int triangleIndex)
+static int btGetHash(int partId, int triangleIndex)
 {
-	int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+	int hash = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
 	return hash;
 }
 
-
-
-static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
+static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA, const btVector3& normalB)
 {
-	const btVector3 refAxis0  = edgeA;
-	const btVector3 refAxis1  = normalA;
+	const btVector3 refAxis0 = edgeA;
+	const btVector3 refAxis1 = normalA;
 	const btVector3 swingAxis = normalB;
 	btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	return  angle;
+	return angle;
 }
 
-
 struct btConnectivityProcessor : public btTriangleCallback
 {
-	int				m_partIdA;
-	int				m_triangleIndexA;
-	btVector3*		m_triangleVerticesA;
-	btTriangleInfoMap*	m_triangleInfoMap;
-
+	int m_partIdA;
+	int m_triangleIndexA;
+	btVector3* m_triangleVerticesA;
+	btTriangleInfoMap* m_triangleInfoMap;
 
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 	{
@@ -69,18 +63,17 @@ struct btConnectivityProcessor : public btTriangleCallback
 
 		//search for shared vertices and edges
 		int numshared = 0;
-		int sharedVertsA[3]={-1,-1,-1};
-		int sharedVertsB[3]={-1,-1,-1};
+		int sharedVertsA[3] = {-1, -1, -1};
+		int sharedVertsB[3] = {-1, -1, -1};
 
 		///skip degenerate triangles
-		btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
+		btScalar crossBSqr = ((triangle[1] - triangle[0]).cross(triangle[2] - triangle[0])).length2();
 		if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
 			return;
 
-
-		btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
+		btScalar crossASqr = ((m_triangleVerticesA[1] - m_triangleVerticesA[0]).cross(m_triangleVerticesA[2] - m_triangleVerticesA[0])).length2();
 		///skip degenerate triangles
-		if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
+		if (crossASqr < m_triangleInfoMap->m_equalVertexThreshold)
 			return;
 
 #if 0
@@ -96,36 +89,36 @@ struct btConnectivityProcessor : public btTriangleCallback
 			triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
 #endif
 
-		for (int i=0;i<3;i++)
+		for (int i = 0; i < 3; i++)
 		{
-			for (int j=0;j<3;j++)
+			for (int j = 0; j < 3; j++)
 			{
-				if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
+				if ((m_triangleVerticesA[i] - triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
 				{
 					sharedVertsA[numshared] = i;
 					sharedVertsB[numshared] = j;
 					numshared++;
 					///degenerate case
-					if(numshared >= 3)
+					if (numshared >= 3)
 						return;
 				}
 			}
 			///degenerate case
-			if(numshared >= 3)
+			if (numshared >= 3)
 				return;
 		}
 		switch (numshared)
 		{
-		case 0:
+			case 0:
 			{
 				break;
 			}
-		case 1:
+			case 1:
 			{
 				//shared vertex
 				break;
 			}
-		case 2:
+			case 2:
 			{
 				//shared edge
 				//we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
@@ -138,26 +131,25 @@ struct btConnectivityProcessor : public btTriangleCallback
 					sharedVertsB[0] = tmp;
 				}
 
-				int hash = btGetHash(m_partIdA,m_triangleIndexA);
+				int hash = btGetHash(m_partIdA, m_triangleIndexA);
 
 				btTriangleInfo* info = m_triangleInfoMap->find(hash);
 				if (!info)
 				{
 					btTriangleInfo tmp;
-					m_triangleInfoMap->insert(hash,tmp);
+					m_triangleInfoMap->insert(hash, tmp);
 					info = m_triangleInfoMap->find(hash);
 				}
 
-				int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
-				int otherIndexA = 3-sumvertsA;
+				int sumvertsA = sharedVertsA[0] + sharedVertsA[1];
+				int otherIndexA = 3 - sumvertsA;
 
-				
-				btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
+				btVector3 edge(m_triangleVerticesA[sharedVertsA[1]] - m_triangleVerticesA[sharedVertsA[0]]);
 
-				btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
-				int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
+				btTriangleShape tA(m_triangleVerticesA[0], m_triangleVerticesA[1], m_triangleVerticesA[2]);
+				int otherIndexB = 3 - (sharedVertsB[0] + sharedVertsB[1]);
 
-				btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
+				btTriangleShape tB(triangle[sharedVertsB[1]], triangle[sharedVertsB[0]], triangle[otherIndexB]);
 				//btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
 
 				btVector3 normalA;
@@ -168,26 +160,25 @@ struct btConnectivityProcessor : public btTriangleCallback
 				btVector3 edgeCrossA = edge.cross(normalA).normalize();
 
 				{
-					btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
+					btVector3 tmp = m_triangleVerticesA[otherIndexA] - m_triangleVerticesA[sharedVertsA[0]];
 					if (edgeCrossA.dot(tmp) < 0)
 					{
-						edgeCrossA*=-1;
+						edgeCrossA *= -1;
 					}
 				}
 
 				btVector3 edgeCrossB = edge.cross(normalB).normalize();
 
 				{
-					btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
+					btVector3 tmp = triangle[otherIndexB] - triangle[sharedVertsB[0]];
 					if (edgeCrossB.dot(tmp) < 0)
 					{
-						edgeCrossB*=-1;
+						edgeCrossB *= -1;
 					}
 				}
 
-				btScalar	angle2 = 0;
-				btScalar	ang4 = 0.f;
-
+				btScalar angle2 = 0;
+				btScalar ang4 = 0.f;
 
 				btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
 				btScalar len2 = calculatedEdge.length2();
@@ -196,52 +187,47 @@ struct btConnectivityProcessor : public btTriangleCallback
 				//btVector3 calculatedNormalB = normalA;
 				bool isConvex = false;
 
-				if (len2<m_triangleInfoMap->m_planarEpsilon)
+				if (len2 < m_triangleInfoMap->m_planarEpsilon)
 				{
 					angle2 = 0.f;
 					ang4 = 0.f;
-				} else
+				}
+				else
 				{
-
 					calculatedEdge.normalize();
 					btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
 					calculatedNormalA.normalize();
-					angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
-					ang4 = SIMD_PI-angle2;
+					angle2 = btGetAngle(calculatedNormalA, edgeCrossA, edgeCrossB);
+					ang4 = SIMD_PI - angle2;
 					btScalar dotA = normalA.dot(edgeCrossB);
 					///@todo: check if we need some epsilon, due to floating point imprecision
-					isConvex = (dotA<0.);
+					isConvex = (dotA < 0.);
 
 					correctedAngle = isConvex ? ang4 : -ang4;
 				}
 
-				
-
-				
-							
-				//alternatively use 
+				//alternatively use
 				//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
 
-
 				switch (sumvertsA)
 				{
-				case 1:
+					case 1:
 					{
-						btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
-						btQuaternion orn(edge,-correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn,normalA);
+						btVector3 edge = m_triangleVerticesA[0] - m_triangleVerticesA[1];
+						btQuaternion orn(edge, -correctedAngle);
+						btVector3 computedNormalB = quatRotate(orn, normalA);
 						btScalar bla = computedNormalB.dot(normalB);
-						if (bla<0)
+						if (bla < 0)
 						{
-							computedNormalB*=-1;
+							computedNormalB *= -1;
 							info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
 						}
 #ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB-normalB).length()>0.0001)
+						if ((computedNormalB - normalB).length() > 0.0001)
 						{
 							printf("warning: normals not identical\n");
 						}
-#endif//DEBUG_INTERNAL_EDGE
+#endif  //DEBUG_INTERNAL_EDGE
 
 						info->m_edgeV0V1Angle = -correctedAngle;
 
@@ -249,44 +235,44 @@ struct btConnectivityProcessor : public btTriangleCallback
 							info->m_flags |= TRI_INFO_V0V1_CONVEX;
 						break;
 					}
-				case 2:
+					case 2:
 					{
-						btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
-						btQuaternion orn(edge,-correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn,normalA);
-						if (computedNormalB.dot(normalB)<0)
+						btVector3 edge = m_triangleVerticesA[2] - m_triangleVerticesA[0];
+						btQuaternion orn(edge, -correctedAngle);
+						btVector3 computedNormalB = quatRotate(orn, normalA);
+						if (computedNormalB.dot(normalB) < 0)
 						{
-							computedNormalB*=-1;
+							computedNormalB *= -1;
 							info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
 						}
 
 #ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB-normalB).length()>0.0001)
+						if ((computedNormalB - normalB).length() > 0.0001)
 						{
 							printf("warning: normals not identical\n");
 						}
-#endif //DEBUG_INTERNAL_EDGE
+#endif  //DEBUG_INTERNAL_EDGE
 						info->m_edgeV2V0Angle = -correctedAngle;
 						if (isConvex)
 							info->m_flags |= TRI_INFO_V2V0_CONVEX;
-						break;	
+						break;
 					}
-				case 3:
+					case 3:
 					{
-						btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
-						btQuaternion orn(edge,-correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn,normalA);
-						if (computedNormalB.dot(normalB)<0)
+						btVector3 edge = m_triangleVerticesA[1] - m_triangleVerticesA[2];
+						btQuaternion orn(edge, -correctedAngle);
+						btVector3 computedNormalB = quatRotate(orn, normalA);
+						if (computedNormalB.dot(normalB) < 0)
 						{
 							info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
-							computedNormalB*=-1;
+							computedNormalB *= -1;
 						}
 #ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB-normalB).length()>0.0001)
+						if ((computedNormalB - normalB).length() > 0.0001)
 						{
 							printf("warning: normals not identical\n");
 						}
-#endif //DEBUG_INTERNAL_EDGE
+#endif  //DEBUG_INTERNAL_EDGE
 						info->m_edgeV1V2Angle = -correctedAngle;
 
 						if (isConvex)
@@ -297,18 +283,17 @@ struct btConnectivityProcessor : public btTriangleCallback
 
 				break;
 			}
-		default:
+			default:
 			{
 				//				printf("warning: duplicate triangle\n");
 			}
-
 		}
 	}
 };
 /////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////
 
-void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
+void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap)
 {
 	//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
 	if (trimeshShape->getTriangleInfoMap())
@@ -319,46 +304,45 @@ void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangle
 	btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
 	const btVector3& meshScaling = meshInterface->getScaling();
 
-	for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
+	for (int partId = 0; partId < meshInterface->getNumSubParts(); partId++)
 	{
-		const unsigned char *vertexbase = 0;
+		const unsigned char* vertexbase = 0;
 		int numverts = 0;
 		PHY_ScalarType type = PHY_INTEGER;
 		int stride = 0;
-		const unsigned char *indexbase = 0;
+		const unsigned char* indexbase = 0;
 		int indexstride = 0;
 		int numfaces = 0;
 		PHY_ScalarType indicestype = PHY_INTEGER;
 		//PHY_ScalarType indexType=0;
 
 		btVector3 triangleVerts[3];
-		meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
-		btVector3 aabbMin,aabbMax;
+		meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, partId);
+		btVector3 aabbMin, aabbMax;
 
-		for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
+		for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++)
 		{
-			unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
+			unsigned int* gfxbase = (unsigned int*)(indexbase + triangleIndex * indexstride);
 
-			for (int j=2;j>=0;j--)
+			for (int j = 2; j >= 0; j--)
 			{
-
-				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
 				if (type == PHY_FLOAT)
 				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
 					triangleVerts[j] = btVector3(
-						graphicsbase[0]*meshScaling.getX(),
-						graphicsbase[1]*meshScaling.getY(),
-						graphicsbase[2]*meshScaling.getZ());
+						graphicsbase[0] * meshScaling.getX(),
+						graphicsbase[1] * meshScaling.getY(),
+						graphicsbase[2] * meshScaling.getZ());
 				}
 				else
 				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-					triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
+					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
+					triangleVerts[j] = btVector3(btScalar(graphicsbase[0] * meshScaling.getX()), btScalar(graphicsbase[1] * meshScaling.getY()), btScalar(graphicsbase[2] * meshScaling.getZ()));
 				}
 			}
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
+			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
 			aabbMin.setMin(triangleVerts[0]);
 			aabbMax.setMax(triangleVerts[0]);
 			aabbMin.setMin(triangleVerts[1]);
@@ -370,131 +354,127 @@ void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangle
 			connectivityProcessor.m_partIdA = partId;
 			connectivityProcessor.m_triangleIndexA = triangleIndex;
 			connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
-			connectivityProcessor.m_triangleInfoMap  = triangleInfoMap;
+			connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
 
-			trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
+			trimeshShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax);
 		}
-
 	}
-
 }
 
-
-
-
 // Given a point and a line segment (defined by two points), compute the closest point
 // in the line.  Cap the point at the endpoints of the line segment.
-void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
+void btNearestPointInLineSegment(const btVector3& point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
 {
-	btVector3 lineDelta     = line1 - line0;
+	btVector3 lineDelta = line1 - line0;
 
 	// Handle degenerate lines
-	if ( lineDelta.fuzzyZero())
+	if (lineDelta.fuzzyZero())
 	{
 		nearestPoint = line0;
 	}
 	else
 	{
-		btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
+		btScalar delta = (point - line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
 
 		// Clamp the point to conform to the segment's endpoints
-		if ( delta < 0 )
+		if (delta < 0)
 			delta = 0;
-		else if ( delta > 1 )
+		else if (delta > 1)
 			delta = 1;
 
-		nearestPoint = line0 + lineDelta*delta;
+		nearestPoint = line0 + lineDelta * delta;
 	}
 }
 
-
-
-
-bool	btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
+bool btClampNormal(const btVector3& edge, const btVector3& tri_normal_org, const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3& clampedLocalNormal)
 {
 	btVector3 tri_normal = tri_normal_org;
 	//we only have a local triangle normal, not a local contact normal -> only normal in world space...
 	//either compute the current angle all in local space, or all in world space
 
 	btVector3 edgeCross = edge.cross(tri_normal).normalize();
-	btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
+	btScalar curAngle = btGetAngle(edgeCross, tri_normal, localContactNormalOnB);
 
-	if (correctedEdgeAngle<0)
+	if (correctedEdgeAngle < 0)
 	{
 		if (curAngle < correctedEdgeAngle)
 		{
-			btScalar diffAngle = correctedEdgeAngle-curAngle;
-			btQuaternion rotation(edge,diffAngle );
-			clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
+			btScalar diffAngle = correctedEdgeAngle - curAngle;
+			btQuaternion rotation(edge, diffAngle);
+			clampedLocalNormal = btMatrix3x3(rotation) * localContactNormalOnB;
 			return true;
 		}
 	}
 
-	if (correctedEdgeAngle>=0)
+	if (correctedEdgeAngle >= 0)
 	{
 		if (curAngle > correctedEdgeAngle)
 		{
-			btScalar diffAngle = correctedEdgeAngle-curAngle;
-			btQuaternion rotation(edge,diffAngle );
-			clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
+			btScalar diffAngle = correctedEdgeAngle - curAngle;
+			btQuaternion rotation(edge, diffAngle);
+			clampedLocalNormal = btMatrix3x3(rotation) * localContactNormalOnB;
 			return true;
 		}
 	}
 	return false;
 }
 
-
-
 /// Changes a btManifoldPoint collision normal to the normal from the mesh.
-void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
+void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
 {
 	//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
 	if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
 		return;
 
 	btBvhTriangleMeshShape* trimesh = 0;
-	
-	if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
-	   trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
-   else	   
-	   trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
-	   
-   	btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
-	if (!triangleInfoMapPtr)
+
+	if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+		trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
+	}
+	else
+	{
+		if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+		{
+			trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
+		}
+	}
+	if (trimesh == 0)
 		return;
 
-	int hash = btGetHash(partId0,index0);
+	btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap();
+	if (!triangleInfoMapPtr)
+		return;
 
+	int hash = btGetHash(partId0, index0);
 
 	btTriangleInfo* info = triangleInfoMapPtr->find(hash);
 	if (!info)
 		return;
 
-	btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
-	
+	btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE) == 0 ? 1.f : -1.f;
+
 	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
-	btVector3 v0,v1,v2;
-	tri_shape->getVertex(0,v0);
-	tri_shape->getVertex(1,v1);
-	tri_shape->getVertex(2,v2);
+	btVector3 v0, v1, v2;
+	tri_shape->getVertex(0, v0);
+	tri_shape->getVertex(1, v1);
+	tri_shape->getVertex(2, v2);
 
 	//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
 
-	btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
+	btVector3 red(1, 0, 0), green(0, 1, 0), blue(0, 0, 1), white(1, 1, 1), black(0, 0, 0);
 	btVector3 tri_normal;
 	tri_shape->calcNormal(tri_normal);
 
 	//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
 	btVector3 nearest;
-	btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
+	btNearestPointInLineSegment(cp.m_localPointB, v0, v1, nearest);
 
 	btVector3 contact = cp.m_localPointB;
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
 	const btTransform& tr = colObj0->getWorldTransform();
-	btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-
+	btDebugDrawLine(tr * nearest, tr * cp.m_localPointB, red);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
 	bool isNearEdge = false;
 
@@ -502,334 +482,325 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr
 	int numConvexEdgeHits = 0;
 
 	btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-	localContactNormalOnB.normalize();//is this necessary?
-	
+	localContactNormalOnB.normalize();  //is this necessary?
+
 	// Get closest edge
-	int      bestedge=-1;
-	btScalar    disttobestedge=BT_LARGE_FLOAT;
+	int bestedge = -1;
+	btScalar disttobestedge = BT_LARGE_FLOAT;
 	//
 	// Edge 0 -> 1
-	if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{	
-	   btVector3 nearest;
-	   btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
-	   btScalar     len=(contact-nearest).length();
-	   //
-	   if( len < disttobestedge )
-	   {
-	      bestedge=0;
-	      disttobestedge=len;
-      }	      
-   }	   
+	if (btFabs(info->m_edgeV0V1Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+	{
+		btVector3 nearest;
+		btNearestPointInLineSegment(cp.m_localPointB, v0, v1, nearest);
+		btScalar len = (contact - nearest).length();
+		//
+		if (len < disttobestedge)
+		{
+			bestedge = 0;
+			disttobestedge = len;
+		}
+	}
 	// Edge 1 -> 2
-	if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{	
-	   btVector3 nearest;
-	   btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
-	   btScalar     len=(contact-nearest).length();
-	   //
-	   if( len < disttobestedge )
-	   {
-	      bestedge=1;
-	      disttobestedge=len;
-      }	      
-   }	   
+	if (btFabs(info->m_edgeV1V2Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+	{
+		btVector3 nearest;
+		btNearestPointInLineSegment(cp.m_localPointB, v1, v2, nearest);
+		btScalar len = (contact - nearest).length();
+		//
+		if (len < disttobestedge)
+		{
+			bestedge = 1;
+			disttobestedge = len;
+		}
+	}
 	// Edge 2 -> 0
-	if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{	
-	   btVector3 nearest;
-	   btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
-	   btScalar     len=(contact-nearest).length();
-	   //
-	   if( len < disttobestedge )
-	   {
-	      bestedge=2;
-	      disttobestedge=len;
-      }	      
-   }   	      	
-	
+	if (btFabs(info->m_edgeV2V0Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+	{
+		btVector3 nearest;
+		btNearestPointInLineSegment(cp.m_localPointB, v2, v0, nearest);
+		btScalar len = (contact - nearest).length();
+		//
+		if (len < disttobestedge)
+		{
+			bestedge = 2;
+			disttobestedge = len;
+		}
+	}
+
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-   btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
-   btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
-#endif   
-	if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+	btVector3 upfix = tri_normal * btVector3(0.1f, 0.1f, 0.1f);
+	btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red);
+#endif
+	if (btFabs(info->m_edgeV0V1Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
 	{
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
+		btDebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black);
 #endif
-		btScalar len = (contact-nearest).length();
-		if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
-		if( bestedge==0 )
-		{
-			btVector3 edge(v0-v1);
-			isNearEdge = true;
-
-			if (info->m_edgeV0V1Angle==btScalar(0))
-			{
-				numConcaveEdgeHits++;
-			} else
+		btScalar len = (contact - nearest).length();
+		if (len < triangleInfoMapPtr->m_edgeDistanceThreshold)
+			if (bestedge == 0)
 			{
+				btVector3 edge(v0 - v1);
+				isNearEdge = true;
 
-				bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
-				btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-	#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
-	#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+				if (info->m_edgeV0V1Angle == btScalar(0))
+				{
+					numConcaveEdgeHits++;
+				}
+				else
+				{
+					bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
+					btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+					btDebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
-				btVector3 nA = swapFactor * tri_normal;
+					btVector3 nA = swapFactor * tri_normal;
 
-				btQuaternion orn(edge,info->m_edgeV0V1Angle);
-				btVector3 computedNormalB = quatRotate(orn,tri_normal);
-				if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
-					computedNormalB*=-1;
-				btVector3 nB = swapFactor*computedNormalB;
+					btQuaternion orn(edge, info->m_edgeV0V1Angle);
+					btVector3 computedNormalB = quatRotate(orn, tri_normal);
+					if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
+						computedNormalB *= -1;
+					btVector3 nB = swapFactor * computedNormalB;
 
-				btScalar	NdotA = localContactNormalOnB.dot(nA);
-				btScalar	NdotB = localContactNormalOnB.dot(nB);
-				bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
+					btScalar NdotA = localContactNormalOnB.dot(nA);
+					btScalar NdotB = localContactNormalOnB.dot(nB);
+					bool backFacingNormal = (NdotA < triangleInfoMapPtr->m_convexEpsilon) && (NdotB < triangleInfoMapPtr->m_convexEpsilon);
 
 #ifdef DEBUG_INTERNAL_EDGE
-				{
-					
-					btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
-				}
-#endif //DEBUG_INTERNAL_EDGE
-
+					{
+						btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + tr.getBasis() * (nB * 20), red);
+					}
+#endif  //DEBUG_INTERNAL_EDGE
 
-				if (backFacingNormal)
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					numConvexEdgeHits++;
-					btVector3 clampedLocalNormal;
-					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
-					if (isClamped)
+					if (backFacingNormal)
 					{
-						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
+						numConcaveEdgeHits++;
+					}
+					else
+					{
+						numConvexEdgeHits++;
+						btVector3 clampedLocalNormal;
+						bool isClamped = btClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info->m_edgeV0V1Angle, clampedLocalNormal);
+						if (isClamped)
 						{
-							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-							cp.m_normalWorldOnB = newNormal;
-							// Reproject collision point along normal. (what about cp.m_distance1?)
-							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-							
+							if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.dot(frontFacing * tri_normal) > 0))
+							{
+								btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
+								//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+								cp.m_normalWorldOnB = newNormal;
+								// Reproject collision point along normal. (what about cp.m_distance1?)
+								cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+								cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							}
 						}
 					}
 				}
 			}
-		}
 	}
 
-	btNearestPointInLineSegment(contact,v1,v2,nearest);
+	btNearestPointInLineSegment(contact, v1, v2, nearest);
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+	btDebugDrawLine(tr * nearest, tr * cp.m_localPointB, green);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-   btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green );
-#endif   
+	btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix, green);
+#endif
 
-	if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+	if (btFabs(info->m_edgeV1V2Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
 	{
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-
-
-		btScalar len = (contact-nearest).length();
-		if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
-		if( bestedge==1 )
-		{
-			isNearEdge = true;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-			btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+		btDebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
-			btVector3 edge(v1-v2);
-
-			isNearEdge = true;
-
-			if (info->m_edgeV1V2Angle == btScalar(0))
+		btScalar len = (contact - nearest).length();
+		if (len < triangleInfoMapPtr->m_edgeDistanceThreshold)
+			if (bestedge == 1)
 			{
-				numConcaveEdgeHits++;
-			} else
-			{
-				bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
-				btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-	#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
-	#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 nA = swapFactor * tri_normal;
-				
-				btQuaternion orn(edge,info->m_edgeV1V2Angle);
-				btVector3 computedNormalB = quatRotate(orn,tri_normal);
-				if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
-					computedNormalB*=-1;
-				btVector3 nB = swapFactor*computedNormalB;
-
-#ifdef DEBUG_INTERNAL_EDGE
-				{
-					btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
-				}
-#endif //DEBUG_INTERNAL_EDGE
+				isNearEdge = true;
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+				btDebugDrawLine(tr * nearest, tr * (nearest + tri_normal * 10), white);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
+				btVector3 edge(v1 - v2);
 
-				btScalar	NdotA = localContactNormalOnB.dot(nA);
-				btScalar	NdotB = localContactNormalOnB.dot(nB);
-				bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
+				isNearEdge = true;
 
-				if (backFacingNormal)
+				if (info->m_edgeV1V2Angle == btScalar(0))
 				{
 					numConcaveEdgeHits++;
 				}
 				else
 				{
-					numConvexEdgeHits++;
-					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-					btVector3 clampedLocalNormal;
-					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
-					if (isClamped)
+					bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX) != 0;
+					btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+					btDebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+					btVector3 nA = swapFactor * tri_normal;
+
+					btQuaternion orn(edge, info->m_edgeV1V2Angle);
+					btVector3 computedNormalB = quatRotate(orn, tri_normal);
+					if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
+						computedNormalB *= -1;
+					btVector3 nB = swapFactor * computedNormalB;
+
+#ifdef DEBUG_INTERNAL_EDGE
+					{
+						btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + tr.getBasis() * (nB * 20), red);
+					}
+#endif  //DEBUG_INTERNAL_EDGE
+
+					btScalar NdotA = localContactNormalOnB.dot(nA);
+					btScalar NdotB = localContactNormalOnB.dot(nB);
+					bool backFacingNormal = (NdotA < triangleInfoMapPtr->m_convexEpsilon) && (NdotB < triangleInfoMapPtr->m_convexEpsilon);
+
+					if (backFacingNormal)
+					{
+						numConcaveEdgeHits++;
+					}
+					else
 					{
-						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
+						numConvexEdgeHits++;
+						btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+						btVector3 clampedLocalNormal;
+						bool isClamped = btClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info->m_edgeV1V2Angle, clampedLocalNormal);
+						if (isClamped)
 						{
-							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-							cp.m_normalWorldOnB = newNormal;
-							// Reproject collision point along normal.
-							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.dot(frontFacing * tri_normal) > 0))
+							{
+								btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
+								//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+								cp.m_normalWorldOnB = newNormal;
+								// Reproject collision point along normal.
+								cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+								cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							}
 						}
 					}
 				}
 			}
-		}
 	}
 
-	btNearestPointInLineSegment(contact,v2,v0,nearest);
+	btNearestPointInLineSegment(contact, v2, v0, nearest);
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+	btDebugDrawLine(tr * nearest, tr * cp.m_localPointB, blue);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-   btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
-#endif   
+	btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix, blue);
+#endif
 
-	if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+	if (btFabs(info->m_edgeV2V0Angle) < triangleInfoMapPtr->m_maxEdgeAngleThreshold)
 	{
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-		btScalar len = (contact-nearest).length();
-		if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
-		if( bestedge==2 )
-		{
-			isNearEdge = true;
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-			btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+		btDebugDrawLine(tr * contact, tr * (contact + cp.m_normalWorldOnB * 10), black);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
-			btVector3 edge(v2-v0);
-
-			if (info->m_edgeV2V0Angle==btScalar(0))
-			{
-				numConcaveEdgeHits++;
-			} else
+		btScalar len = (contact - nearest).length();
+		if (len < triangleInfoMapPtr->m_edgeDistanceThreshold)
+			if (bestedge == 2)
 			{
+				isNearEdge = true;
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+				btDebugDrawLine(tr * nearest, tr * (nearest + tri_normal * 10), white);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
-				bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
-				btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-	#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
-	#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 nA = swapFactor * tri_normal;
-				btQuaternion orn(edge,info->m_edgeV2V0Angle);
-				btVector3 computedNormalB = quatRotate(orn,tri_normal);
-				if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
-					computedNormalB*=-1;
-				btVector3 nB = swapFactor*computedNormalB;
-
-#ifdef DEBUG_INTERNAL_EDGE
-				{
-					btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
-				}
-#endif //DEBUG_INTERNAL_EDGE
-
-				btScalar	NdotA = localContactNormalOnB.dot(nA);
-				btScalar	NdotB = localContactNormalOnB.dot(nB);
-				bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
+				btVector3 edge(v2 - v0);
 
-				if (backFacingNormal)
+				if (info->m_edgeV2V0Angle == btScalar(0))
 				{
 					numConcaveEdgeHits++;
 				}
 				else
 				{
-					numConvexEdgeHits++;
-					//				printf("hitting convex edge\n");
+					bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX) != 0;
+					btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+					btDebugDrawLine(tr * nearest, tr * (nearest + swapFactor * tri_normal * 10), white);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+					btVector3 nA = swapFactor * tri_normal;
+					btQuaternion orn(edge, info->m_edgeV2V0Angle);
+					btVector3 computedNormalB = quatRotate(orn, tri_normal);
+					if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
+						computedNormalB *= -1;
+					btVector3 nB = swapFactor * computedNormalB;
+
+#ifdef DEBUG_INTERNAL_EDGE
+					{
+						btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + tr.getBasis() * (nB * 20), red);
+					}
+#endif  //DEBUG_INTERNAL_EDGE
 
+					btScalar NdotA = localContactNormalOnB.dot(nA);
+					btScalar NdotB = localContactNormalOnB.dot(nB);
+					bool backFacingNormal = (NdotA < triangleInfoMapPtr->m_convexEpsilon) && (NdotB < triangleInfoMapPtr->m_convexEpsilon);
 
-					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-					btVector3 clampedLocalNormal;
-					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
-					if (isClamped)
+					if (backFacingNormal)
+					{
+						numConcaveEdgeHits++;
+					}
+					else
 					{
-						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
+						numConvexEdgeHits++;
+						//				printf("hitting convex edge\n");
+
+						btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+						btVector3 clampedLocalNormal;
+						bool isClamped = btClampNormal(edge, swapFactor * tri_normal, localContactNormalOnB, info->m_edgeV2V0Angle, clampedLocalNormal);
+						if (isClamped)
 						{
-							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-							cp.m_normalWorldOnB = newNormal;
-							// Reproject collision point along normal.
-							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED) != 0) || (clampedLocalNormal.dot(frontFacing * tri_normal) > 0))
+							{
+								btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
+								//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+								cp.m_normalWorldOnB = newNormal;
+								// Reproject collision point along normal.
+								cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+								cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							}
 						}
 					}
-				} 
+				}
 			}
-			
-
-		}
 	}
 
 #ifdef DEBUG_INTERNAL_EDGE
 	{
-		btVector3 color(0,1,1);
-		btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
+		btVector3 color(0, 1, 1);
+		btDebugDrawLine(cp.getPositionWorldOnB(), cp.getPositionWorldOnB() + cp.m_normalWorldOnB * 10, color);
 	}
-#endif //DEBUG_INTERNAL_EDGE
+#endif  //DEBUG_INTERNAL_EDGE
 
 	if (isNearEdge)
 	{
-
-		if (numConcaveEdgeHits>0)
+		if (numConcaveEdgeHits > 0)
 		{
-			if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
+			if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED) != 0)
 			{
 				//fix tri_normal so it pointing the same direction as the current local contact normal
 				if (tri_normal.dot(localContactNormalOnB) < 0)
 				{
 					tri_normal *= -1;
 				}
-				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
-			} else
+				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() * tri_normal;
+			}
+			else
 			{
-				btVector3 newNormal = tri_normal *frontFacing;
+				btVector3 newNormal = tri_normal * frontFacing;
 				//if the tri_normal is pointing opposite direction as the current local contact normal, skip it
-				btScalar d = newNormal.dot(localContactNormalOnB) ;
-				if (d< 0)
+				btScalar d = newNormal.dot(localContactNormalOnB);
+				if (d < 0)
 				{
 					return;
 				}
 				//modify the normal to be the triangle normal (or backfacing normal)
-				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
+				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() * newNormal;
 			}
-						
+
 			// Reproject collision point along normal.
 			cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
 			cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
index 7d9aafeee6..9d9cff040f 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
@@ -16,32 +16,26 @@ struct btCollisionObjectWrapper;
 class btManifoldPoint;
 class btIDebugDraw;
 
-
-
 enum btInternalEdgeAdjustFlags
 {
 	BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
-	BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
+	BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2,  //double sided options are experimental, single sided is recommended
 	BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
 };
 
-
 ///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
-void	btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
-
+void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap);
 
 ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
 ///If this info map is missing, or the triangle is not store in this map, nothing will be done
-void	btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap,const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
+void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap, const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
 
 ///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
 ///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
 //#define BT_INTERNAL_EDGE_DEBUG_DRAW
 
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-void	btSetDebugDrawer(btIDebugDraw* debugDrawer);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-
-#endif //BT_INTERNAL_EDGE_UTILITY_H
+void btSetDebugDrawer(btIDebugDraw* debugDrawer);
+#endif  //BT_INTERNAL_EDGE_DEBUG_DRAW
 
+#endif  //BT_INTERNAL_EDGE_UTILITY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index 23c73c8825..770eb24369 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -13,106 +13,102 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btManifoldResult.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 ///This is to allow MaterialCombiner/Custom Friction/Restitution values
-ContactAddedCallback		gContactAddedCallback=0;
+ContactAddedCallback gContactAddedCallback = 0;
 
-CalculateCombinedCallback		gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution;
-CalculateCombinedCallback		gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction;
-CalculateCombinedCallback		gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction;
-CalculateCombinedCallback		gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction;
-CalculateCombinedCallback		gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping;
-CalculateCombinedCallback		gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness;
+CalculateCombinedCallback gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution;
+CalculateCombinedCallback gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction;
+CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction;
+CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction;
+CalculateCombinedCallback gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping;
+CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness;
 
-btScalar	btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1)
 {
 	btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction();
 
-	const btScalar MAX_FRICTION  = btScalar(10.);
+	const btScalar MAX_FRICTION = btScalar(10.);
 	if (friction < -MAX_FRICTION)
 		friction = -MAX_FRICTION;
 	if (friction > MAX_FRICTION)
 		friction = MAX_FRICTION;
 	return friction;
-
 }
 
-btScalar	btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1)
 {
-    btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
-    
-    const btScalar MAX_FRICTION  = btScalar(10.);
-    if (friction < -MAX_FRICTION)
-        friction = -MAX_FRICTION;
-    if (friction > MAX_FRICTION)
-        friction = MAX_FRICTION;
-    return friction;
+	btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
+
+	const btScalar MAX_FRICTION = btScalar(10.);
+	if (friction < -MAX_FRICTION)
+		friction = -MAX_FRICTION;
+	if (friction > MAX_FRICTION)
+		friction = MAX_FRICTION;
+	return friction;
 }
 
 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-btScalar	btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1)
 {
 	btScalar friction = body0->getFriction() * body1->getFriction();
 
-	const btScalar MAX_FRICTION  = btScalar(10.);
+	const btScalar MAX_FRICTION = btScalar(10.);
 	if (friction < -MAX_FRICTION)
 		friction = -MAX_FRICTION;
 	if (friction > MAX_FRICTION)
 		friction = MAX_FRICTION;
 	return friction;
-
 }
 
-btScalar	btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1)
 {
 	return body0->getRestitution() * body1->getRestitution();
 }
 
-btScalar	btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1)
 {
-    return body0->getContactDamping() + body1->getContactDamping();
+	return body0->getContactDamping() + body1->getContactDamping();
 }
 
-btScalar	btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1)
 {
-    
-    btScalar s0 = body0->getContactStiffness();
-    btScalar s1 = body1->getContactStiffness();
-    
-    btScalar tmp0 = btScalar(1)/s0;
-    btScalar tmp1 = btScalar(1)/s1;
-    btScalar combinedStiffness = btScalar(1) / (tmp0+tmp1);
-    return combinedStiffness;
-}
+	btScalar s0 = body0->getContactStiffness();
+	btScalar s1 = body1->getContactStiffness();
 
+	btScalar tmp0 = btScalar(1) / s0;
+	btScalar tmp1 = btScalar(1) / s1;
+	btScalar combinedStiffness = btScalar(1) / (tmp0 + tmp1);
+	return combinedStiffness;
+}
 
-btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
-		:m_manifoldPtr(0),
-		m_body0Wrap(body0Wrap),
-		m_body1Wrap(body1Wrap)
+btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
+	: m_manifoldPtr(0),
+	  m_body0Wrap(body0Wrap),
+	  m_body1Wrap(body1Wrap)
 #ifdef DEBUG_PART_INDEX
-		,m_partId0(-1),
-	m_partId1(-1),
-	m_index0(-1),
-	m_index1(-1)
-#endif //DEBUG_PART_INDEX
-	, m_closestPointDistanceThreshold(0)
+	  ,
+	  m_partId0(-1),
+	  m_partId1(-1),
+	  m_index0(-1),
+	  m_index1(-1)
+#endif  //DEBUG_PART_INDEX
+	  ,
+	  m_closestPointDistanceThreshold(0)
 {
 }
 
-
-void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
 {
 	btAssert(m_manifoldPtr);
 	//order in manifold needs to match
 
 	if (depth > m_manifoldPtr->getContactBreakingThreshold())
-//	if (depth > m_manifoldPtr->getContactProcessingThreshold())
+		//	if (depth > m_manifoldPtr->getContactProcessingThreshold())
 		return;
 
 	bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
@@ -122,81 +118,82 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 
 	btVector3 localA;
 	btVector3 localB;
-	
+
 	if (isSwapped)
 	{
-		localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+		localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
 		localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
-	} else
+	}
+	else
 	{
-		localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+		localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
 		localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 	}
 
-	btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+	btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
 	newPt.m_positionWorldOnA = pointA;
 	newPt.m_positionWorldOnB = pointInWorld;
-	
+
 	int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
 
-	newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
-	newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
-	newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
-	newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
-	
-	if (    (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
-            (m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
-    {
-		newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
-		newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
-        newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
-    }
-
-	if (    (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
-            (m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR))
-    {
-        newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
-    }
-
-	btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);
-	
-
-	
-   //BP mod, store contact triangles.
+	newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+	newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+	newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+	newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+
+	if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
+		(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
+	{
+		newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+		newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+		newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
+	}
+
+	if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
+		(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR))
+	{
+		newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
+	}
+
+	btPlaneSpace1(newPt.m_normalWorldOnB, newPt.m_lateralFrictionDir1, newPt.m_lateralFrictionDir2);
+
+	//BP mod, store contact triangles.
 	if (isSwapped)
 	{
 		newPt.m_partId0 = m_partId1;
 		newPt.m_partId1 = m_partId0;
-		newPt.m_index0  = m_index1;
-		newPt.m_index1  = m_index0;
-	} else
+		newPt.m_index0 = m_index1;
+		newPt.m_index1 = m_index0;
+	}
+	else
 	{
 		newPt.m_partId0 = m_partId0;
 		newPt.m_partId1 = m_partId1;
-		newPt.m_index0  = m_index0;
-		newPt.m_index1  = m_index1;
+		newPt.m_index0 = m_index0;
+		newPt.m_index1 = m_index1;
 	}
 	//printf("depth=%f\n",depth);
 	///@todo, check this for any side effects
 	if (insertIndex >= 0)
 	{
 		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
-		m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
-	} else
+		m_manifoldPtr->replaceContactPoint(newPt, insertIndex);
+	}
+	else
 	{
 		insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
 	}
-	
+
 	//User can override friction and/or restitution
 	if (gContactAddedCallback &&
 		//and if either of the two bodies requires custom material
-		 ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-		   (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
+		((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
+		 (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
 	{
 		//experimental feature info, for per-triangle material etc.
-		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
-		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
-		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
+		const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
+		const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
+		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex), obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
 	}
 
 	if (gContactStartedCallback && isNewCollision)
@@ -204,4 +201,3 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 		gContactStartedCallback(m_manifoldPtr);
 	}
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
index 12cdafd1b6..6c0a2d9a43 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_MANIFOLD_RESULT_H
 #define BT_MANIFOLD_RESULT_H
 
@@ -29,85 +28,81 @@ class btManifoldPoint;
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
-typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
-extern ContactAddedCallback		gContactAddedCallback;
+typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1);
+extern ContactAddedCallback gContactAddedCallback;
 
 //#define DEBUG_PART_INDEX 1
 
 /// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness
-typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0,const btCollisionObject* body1);
+typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0, const btCollisionObject* body1);
 
-extern CalculateCombinedCallback		gCalculateCombinedRestitutionCallback;
-extern CalculateCombinedCallback		gCalculateCombinedFrictionCallback;
-extern CalculateCombinedCallback		gCalculateCombinedRollingFrictionCallback;
-extern CalculateCombinedCallback		gCalculateCombinedSpinningFrictionCallback;
-extern CalculateCombinedCallback		gCalculateCombinedContactDampingCallback;
-extern CalculateCombinedCallback		gCalculateCombinedContactStiffnessCallback;
+extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback;
+extern CalculateCombinedCallback gCalculateCombinedFrictionCallback;
+extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback;
+extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback;
+extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback;
+extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback;
 
 ///btManifoldResult is a helper class to manage  contact results.
 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
 {
 protected:
-
 	btPersistentManifold* m_manifoldPtr;
 
 	const btCollisionObjectWrapper* m_body0Wrap;
 	const btCollisionObjectWrapper* m_body1Wrap;
-	int	m_partId0;
+	int m_partId0;
 	int m_partId1;
 	int m_index0;
 	int m_index1;
-	
-	
-public:
 
+public:
 	btManifoldResult()
 		:
 #ifdef DEBUG_PART_INDEX
-		
-	m_partId0(-1),
-	m_partId1(-1),
-	m_index0(-1),
-	m_index1(-1)
-#endif //DEBUG_PART_INDEX
-		m_closestPointDistanceThreshold(0)
+
+		  m_partId0(-1),
+		  m_partId1(-1),
+		  m_index0(-1),
+		  m_index1(-1)
+#endif  //DEBUG_PART_INDEX
+			  m_closestPointDistanceThreshold(0)
 	{
 	}
 
-	btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
-	virtual ~btManifoldResult() {};
+	virtual ~btManifoldResult(){};
 
-	void	setPersistentManifold(btPersistentManifold* manifoldPtr)
+	void setPersistentManifold(btPersistentManifold* manifoldPtr)
 	{
 		m_manifoldPtr = manifoldPtr;
 	}
 
-	const btPersistentManifold*	getPersistentManifold() const
+	const btPersistentManifold* getPersistentManifold() const
 	{
 		return m_manifoldPtr;
 	}
-	btPersistentManifold*	getPersistentManifold()
+	btPersistentManifold* getPersistentManifold()
 	{
 		return m_manifoldPtr;
 	}
 
-	virtual void setShapeIdentifiersA(int partId0,int index0)
+	virtual void setShapeIdentifiersA(int partId0, int index0)
 	{
-		m_partId0=partId0;
-		m_index0=index0;
+		m_partId0 = partId0;
+		m_index0 = index0;
 	}
 
-	virtual void setShapeIdentifiersB(	int partId1,int index1)
+	virtual void setShapeIdentifiersB(int partId1, int index1)
 	{
-		m_partId1=partId1;
-		m_index1=index1;
+		m_partId1 = partId1;
+		m_index1 = index1;
 	}
 
+	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth);
 
-	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
-
-	SIMD_FORCE_INLINE	void refreshContactPoints()
+	SIMD_FORCE_INLINE void refreshContactPoints()
 	{
 		btAssert(m_manifoldPtr);
 		if (!m_manifoldPtr->getNumContacts())
@@ -117,10 +112,11 @@ public:
 
 		if (isSwapped)
 		{
-			m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
-		} else
+			m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(), m_body0Wrap->getCollisionObject()->getWorldTransform());
+		}
+		else
 		{
-			m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
+			m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(), m_body1Wrap->getCollisionObject()->getWorldTransform());
 		}
 	}
 
@@ -153,15 +149,15 @@ public:
 		return m_body1Wrap->getCollisionObject();
 	}
 
-	btScalar	m_closestPointDistanceThreshold;
+	btScalar m_closestPointDistanceThreshold;
 
 	/// in the future we can let the user override the methods to combine restitution and friction
-	static btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1);
-	static btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
-	static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1);
-    static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1);
-    static btScalar calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1);
-	static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1);
+	static btScalar calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1);
+	static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1);
+	static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1);
+	static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1);
+	static btScalar calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1);
+	static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1);
 };
 
-#endif //BT_MANIFOLD_RESULT_H
+#endif  //BT_MANIFOLD_RESULT_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 1344782257..e5097ccbbf 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -14,7 +14,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "LinearMath/btScalar.h"
 #include "btSimulationIslandManager.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@@ -25,8 +24,7 @@ subject to the following restrictions:
 //#include <stdio.h>
 #include "LinearMath/btQuickprof.h"
 
-btSimulationIslandManager::btSimulationIslandManager():
-m_splitIslands(true)
+btSimulationIslandManager::btSimulationIslandManager() : m_splitIslands(true)
 {
 }
 
@@ -34,53 +32,47 @@ btSimulationIslandManager::~btSimulationIslandManager()
 {
 }
 
-
 void btSimulationIslandManager::initUnionFind(int n)
 {
-		m_unionFind.reset(n);
+	m_unionFind.reset(n);
 }
-		
 
-void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld)
+void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */, btCollisionWorld* colWorld)
 {
-	
 	{
 		btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
 		const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
 		if (numOverlappingPairs)
 		{
-		btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
-		
-		for (int i=0;i<numOverlappingPairs;i++)
-		{
-			const btBroadphasePair& collisionPair = pairPtr[i];
-			btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
-			btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+			btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
 
-			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-				((colObj1) && ((colObj1)->mergesSimulationIslands())))
+			for (int i = 0; i < numOverlappingPairs; i++)
 			{
+				const btBroadphasePair& collisionPair = pairPtr[i];
+				btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+				btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
 
-				m_unionFind.unite((colObj0)->getIslandTag(),
-					(colObj1)->getIslandTag());
+				if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
+					((colObj1) && ((colObj1)->mergesSimulationIslands())))
+				{
+					m_unionFind.unite((colObj0)->getIslandTag(),
+									  (colObj1)->getIslandTag());
+				}
 			}
 		}
-		}
 	}
 }
 
 #ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
-void   btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
+void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher)
 {
-
-	// put the index into m_controllers into m_tag   
+	// put the index into m_controllers into m_tag
 	int index = 0;
 	{
-
 		int i;
-		for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
+		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
 		{
-			btCollisionObject*   collisionObject= colWorld->getCollisionObjectArray()[i];
+			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
 			//Adding filtering here
 			if (!collisionObject->isStaticOrKinematicObject())
 			{
@@ -92,28 +84,29 @@ void   btSimulationIslandManager::updateActivationState(btCollisionWorld* colWor
 	}
 	// do the union find
 
-	initUnionFind( index );
+	initUnionFind(index);
 
-	findUnions(dispatcher,colWorld);
+	findUnions(dispatcher, colWorld);
 }
 
-void   btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
+void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
 {
-	// put the islandId ('find' value) into m_tag   
+	// put the islandId ('find' value) into m_tag
 	{
 		int index = 0;
 		int i;
-		for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
+		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
 		{
-			btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
+			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
 			if (!collisionObject->isStaticOrKinematicObject())
 			{
-				collisionObject->setIslandTag( m_unionFind.find(index) );
+				collisionObject->setIslandTag(m_unionFind.find(index));
 				//Set the correct object offset in Collision Object Array
 				m_unionFind.getElement(index).m_sz = i;
 				collisionObject->setCompanionId(-1);
 				index++;
-			} else
+			}
+			else
 			{
 				collisionObject->setIslandTag(-1);
 				collisionObject->setCompanionId(-2);
@@ -122,49 +115,44 @@ void   btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* c
 	}
 }
 
-
-#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
-void	btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
+#else  //STATIC_SIMULATION_ISLAND_OPTIMIZATION
+void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher)
 {
+	initUnionFind(int(colWorld->getCollisionObjectArray().size()));
 
-	initUnionFind( int (colWorld->getCollisionObjectArray().size()));
-
-	// put the index into m_controllers into m_tag	
+	// put the index into m_controllers into m_tag
 	{
-
 		int index = 0;
 		int i;
-		for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
+		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
 		{
-			btCollisionObject*	collisionObject= colWorld->getCollisionObjectArray()[i];
+			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
 			collisionObject->setIslandTag(index);
 			collisionObject->setCompanionId(-1);
 			collisionObject->setHitFraction(btScalar(1.));
 			index++;
-
 		}
 	}
 	// do the union find
 
-	findUnions(dispatcher,colWorld);
+	findUnions(dispatcher, colWorld);
 }
 
-void	btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
+void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
 {
-	// put the islandId ('find' value) into m_tag	
+	// put the islandId ('find' value) into m_tag
 	{
-
-
 		int index = 0;
 		int i;
-		for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
+		for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
 		{
-			btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
+			btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
 			if (!collisionObject->isStaticOrKinematicObject())
 			{
-				collisionObject->setIslandTag( m_unionFind.find(index) );
+				collisionObject->setIslandTag(m_unionFind.find(index));
 				collisionObject->setCompanionId(-1);
-			} else
+			}
+			else
 			{
 				collisionObject->setIslandTag(-1);
 				collisionObject->setCompanionId(-2);
@@ -174,56 +162,59 @@ void	btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
 	}
 }
 
-#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
+#endif  //STATIC_SIMULATION_ISLAND_OPTIMIZATION
 
-inline	int	getIslandId(const btPersistentManifold* lhs)
+inline int getIslandId(const btPersistentManifold* lhs)
 {
 	int islandId;
 	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
 	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-	islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
+	islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
 	return islandId;
-
 }
 
-
-
 /// function object that routes calls to operator<
 class btPersistentManifoldSortPredicate
 {
-	public:
-
-		SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) const
-		{
-			return getIslandId(lhs) < getIslandId(rhs);
-		}
+public:
+	SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
+	{
+		return getIslandId(lhs) < getIslandId(rhs);
+	}
 };
 
-
-void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld)
+class btPersistentManifoldSortPredicateDeterministic
 {
+public:
+	SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
+	{
+		return (
+			(getIslandId(lhs) < getIslandId(rhs)) || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) || ((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) && (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId)));
+	}
+};
 
+void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
+{
 	BT_PROFILE("islandUnionFindAndQuickSort");
-	
+
 	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 
 	m_islandmanifold.resize(0);
 
 	//we are going to sort the unionfind array, and store the element id in the size
 	//afterwards, we clean unionfind, to make sure no-one uses it anymore
-	
+
 	getUnionFind().sortIslands();
 	int numElem = getUnionFind().getNumElements();
 
-	int endIslandIndex=1;
+	int endIslandIndex = 1;
 	int startIslandIndex;
 
-
 	//update the sleeping state for bodies, if all are sleeping
-	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
 	{
 		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-		for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+		for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
 		{
 		}
 
@@ -232,71 +223,68 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 		bool allSleeping = true;
 
 		int idx;
-		for (idx=startIslandIndex;idx<endIslandIndex;idx++)
+		for (idx = startIslandIndex; idx < endIslandIndex; idx++)
 		{
 			int i = getUnionFind().getElement(idx).m_sz;
 
 			btCollisionObject* colObj0 = collisionObjects[i];
 			if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 			{
-//				printf("error in island management\n");
+				//				printf("error in island management\n");
 			}
 
 			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 			if (colObj0->getIslandTag() == islandId)
 			{
-				if (colObj0->getActivationState()== ACTIVE_TAG)
-				{
-					allSleeping = false;
-				}
-				if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
+				if (colObj0->getActivationState() == ACTIVE_TAG ||
+					colObj0->getActivationState() == DISABLE_DEACTIVATION)
 				{
 					allSleeping = false;
+					break;
 				}
 			}
 		}
-			
 
 		if (allSleeping)
 		{
 			int idx;
-			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
+			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
 			{
 				int i = getUnionFind().getElement(idx).m_sz;
 				btCollisionObject* colObj0 = collisionObjects[i];
 				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 				{
-//					printf("error in island management\n");
+					//					printf("error in island management\n");
 				}
 
 				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
-					colObj0->setActivationState( ISLAND_SLEEPING );
+					colObj0->setActivationState(ISLAND_SLEEPING);
 				}
 			}
-		} else
+		}
+		else
 		{
-
 			int idx;
-			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
+			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
 			{
 				int i = getUnionFind().getElement(idx).m_sz;
 
 				btCollisionObject* colObj0 = collisionObjects[i];
 				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 				{
-//					printf("error in island management\n");
+					//					printf("error in island management\n");
 				}
 
 				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
-					if ( colObj0->getActivationState() == ISLAND_SLEEPING)
+					if (colObj0->getActivationState() == ISLAND_SLEEPING)
 					{
-						colObj0->setActivationState( WANTS_DEACTIVATION);
+						colObj0->setActivationState(WANTS_DEACTIVATION);
 						colObj0->setDeactivationTime(0.f);
 					}
 				}
@@ -304,29 +292,30 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 		}
 	}
 
-	
 	int i;
 	int maxNumManifolds = dispatcher->getNumManifolds();
 
-//#define SPLIT_ISLANDS 1
-//#ifdef SPLIT_ISLANDS
+	//#define SPLIT_ISLANDS 1
+	//#ifdef SPLIT_ISLANDS
 
-	
-//#endif //SPLIT_ISLANDS
+	//#endif //SPLIT_ISLANDS
 
-	
-	for (i=0;i<maxNumManifolds ;i++)
+	for (i = 0; i < maxNumManifolds; i++)
 	{
-		 btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-		 
-		 const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
-		 const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
-		
-		 ///@todo: check sleeping conditions!
-		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
+		btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
+		if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
+		{
+			if (manifold->getNumContacts() == 0)
+				continue;
+		}
+
+		const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
+		const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
+
+		///@todo: check sleeping conditions!
+		if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
 			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
 		{
-		
 			//kinematic objects don't merge islands, but wake up all connected objects
 			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
 			{
@@ -338,36 +327,34 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 				if (colObj1->hasContactResponse())
 					colObj0->activate();
 			}
-			if(m_splitIslands)
-			{ 
+			if (m_splitIslands)
+			{
 				//filtering for response
-				if (dispatcher->needsResponse(colObj0,colObj1))
+				if (dispatcher->needsResponse(colObj0, colObj1))
 					m_islandmanifold.push_back(manifold);
 			}
 		}
 	}
 }
 
-
-
 ///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback)
+void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
 {
 	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 
-	buildIslands(dispatcher,collisionWorld);
+	buildIslands(dispatcher, collisionWorld);
 
-	int endIslandIndex=1;
+	int endIslandIndex = 1;
 	int startIslandIndex;
 	int numElem = getUnionFind().getNumElements();
 
 	BT_PROFILE("processIslands");
 
-	if(!m_splitIslands)
+	if (!m_splitIslands)
 	{
 		btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
 		int maxNumManifolds = dispatcher->getNumManifolds();
-		callback->processIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
+		callback->processIsland(&collisionObjects[0], collisionObjects.size(), manifold, maxNumManifolds, -1);
 	}
 	else
 	{
@@ -375,11 +362,21 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 		// Sort the vector using predicate and std::sort
 		//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
 
-		int numManifolds = int (m_islandmanifold.size());
+		int numManifolds = int(m_islandmanifold.size());
 
 		//tried a radix sort, but quicksort/heapsort seems still faster
 		//@todo rewrite island management
-		m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+		//btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid,
+		//but also based on object0 unique id and object1 unique id
+		if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
+		{
+			m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic());
+		}
+		else
+		{
+			m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+		}
+
 		//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
 
 		//now process all active islands (sets of manifolds for now)
@@ -389,55 +386,49 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 
 		//int islandId;
 
-		
-
-	//	printf("Start Islands\n");
+		//	printf("Start Islands\n");
 
 		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-		for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+		for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
 		{
 			int islandId = getUnionFind().getElement(startIslandIndex).m_id;
 
+			bool islandSleeping = true;
 
-			   bool islandSleeping = true;
-	                
-					for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
-					{
-							int i = getUnionFind().getElement(endIslandIndex).m_sz;
-							btCollisionObject* colObj0 = collisionObjects[i];
-							m_islandBodies.push_back(colObj0);
-							if (colObj0->isActive())
-									islandSleeping = false;
-					}
-	                
+			for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
+			{
+				int i = getUnionFind().getElement(endIslandIndex).m_sz;
+				btCollisionObject* colObj0 = collisionObjects[i];
+				m_islandBodies.push_back(colObj0);
+				if (colObj0->isActive())
+					islandSleeping = false;
+			}
 
 			//find the accompanying contact manifold for this islandId
 			int numIslandManifolds = 0;
 			btPersistentManifold** startManifold = 0;
 
-			if (startManifoldIndex<numManifolds)
+			if (startManifoldIndex < numManifolds)
 			{
 				int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
 				if (curIslandId == islandId)
 				{
 					startManifold = &m_islandmanifold[startManifoldIndex];
-				
-					for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
-					{
 
+					for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex])); endManifoldIndex++)
+					{
 					}
 					/// Process the actual simulation, only if not sleeping/deactivated
-					numIslandManifolds = endManifoldIndex-startManifoldIndex;
+					numIslandManifolds = endManifoldIndex - startManifoldIndex;
 				}
-
 			}
 
 			if (!islandSleeping)
 			{
-				callback->processIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
-	//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
+				callback->processIsland(&m_islandBodies[0], m_islandBodies.size(), startManifold, numIslandManifolds, islandId);
+				//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
 			}
-			
+
 			if (numIslandManifolds)
 			{
 				startManifoldIndex = endManifoldIndex;
@@ -445,6 +436,5 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 
 			m_islandBodies.resize(0);
 		}
-	} // else if(!splitIslands) 
-
+	}  // else if(!splitIslands)
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
index e24c6afeca..6c2802141c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
@@ -26,45 +26,39 @@ class btCollisionWorld;
 class btDispatcher;
 class btPersistentManifold;
 
-
 ///SimulationIslandManager creates and handles simulation islands, using btUnionFind
 class btSimulationIslandManager
 {
 	btUnionFind m_unionFind;
 
-	btAlignedObjectArray<btPersistentManifold*>  m_islandmanifold;
-	btAlignedObjectArray<btCollisionObject* >  m_islandBodies;
-	
+	btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
+	btAlignedObjectArray<btCollisionObject*> m_islandBodies;
+
 	bool m_splitIslands;
-	
+
 public:
 	btSimulationIslandManager();
 	virtual ~btSimulationIslandManager();
 
+	void initUnionFind(int n);
 
-	void initUnionFind(int n);	
-	
-		
-	btUnionFind& getUnionFind() { return m_unionFind;}
-
-	virtual	void	updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
-	virtual	void	storeIslandActivationState(btCollisionWorld* world);
+	btUnionFind& getUnionFind() { return m_unionFind; }
 
+	virtual void updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher);
+	virtual void storeIslandActivationState(btCollisionWorld* world);
 
-	void	findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);
+	void findUnions(btDispatcher* dispatcher, btCollisionWorld* colWorld);
 
-	
-
-	struct	IslandCallback
+	struct IslandCallback
 	{
-		virtual ~IslandCallback() {};
+		virtual ~IslandCallback(){};
 
-		virtual	void	processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold**	manifolds,int numManifolds, int islandId) = 0;
+		virtual void processIsland(btCollisionObject** bodies, int numBodies, class btPersistentManifold** manifolds, int numManifolds, int islandId) = 0;
 	};
 
-	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
+	void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
 
-	void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
+	void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
 
 	bool getSplitIslands()
 	{
@@ -74,8 +68,6 @@ public:
 	{
 		m_splitIslands = doSplitIslands;
 	}
-
 };
 
-#endif //BT_SIMULATION_ISLAND_MANAGER_H
-
+#endif  //BT_SIMULATION_ISLAND_MANAGER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index e8b567e0ef..bc68b285b8 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -21,23 +21,22 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 //#include <stdio.h>
 
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_isSwapped(isSwapped)
+btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
+	: btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf),
+	  m_isSwapped(isSwapped)
 {
-	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
-	
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
+
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(), boxObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(), boxObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
 
-
 btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
 {
 	if (m_ownManifold)
@@ -47,17 +46,15 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
 	}
 }
 
-
-
-void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
+void btSphereBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	(void)resultOut;
 	if (!m_manifoldPtr)
 		return;
 
-	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
 	btVector3 pOnBox;
 
@@ -83,10 +80,9 @@ void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWra
 			resultOut->refreshContactPoints();
 		}
 	}
-
 }
 
-btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
@@ -97,27 +93,26 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 	return btScalar(1.);
 }
 
-
-bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance ) 
+bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance)
 {
-	const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
-	btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
+	const btBoxShape* boxShape = (const btBoxShape*)boxObjWrap->getCollisionShape();
+	btVector3 const& boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
 	btScalar boxMargin = boxShape->getMargin();
 	penetrationDepth = 1.0f;
 
 	// convert the sphere position to the box's local space
-	btTransform const &m44T = boxObjWrap->getWorldTransform();
+	btTransform const& m44T = boxObjWrap->getWorldTransform();
 	btVector3 sphereRelPos = m44T.invXform(sphereCenter);
 
 	// Determine the closest point to the sphere center in the box
 	btVector3 closestPoint = sphereRelPos;
-	closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) );
-	closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) );
-	closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) );
-	closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) );
-	closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) );
-	closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) );
-	
+	closestPoint.setX(btMin(boxHalfExtent.getX(), closestPoint.getX()));
+	closestPoint.setX(btMax(-boxHalfExtent.getX(), closestPoint.getX()));
+	closestPoint.setY(btMin(boxHalfExtent.getY(), closestPoint.getY()));
+	closestPoint.setY(btMax(-boxHalfExtent.getY(), closestPoint.getY()));
+	closestPoint.setZ(btMin(boxHalfExtent.getZ(), closestPoint.getZ()));
+	closestPoint.setZ(btMax(-boxHalfExtent.getZ(), closestPoint.getZ()));
+
 	btScalar intersectionDist = fRadius + boxMargin;
 	btScalar contactDist = intersectionDist + maxContactDistance;
 	normal = sphereRelPos - closestPoint;
@@ -136,42 +131,42 @@ bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWra
 	{
 		distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
 	}
-	else //compute the penetration details
+	else  //compute the penetration details
 	{
 		distance = normal.length();
 		normal /= distance;
 	}
 
 	pointOnBox = closestPoint + normal * boxMargin;
-//	v3PointOnSphere = sphereRelPos - (normal * fRadius);	
+	//	v3PointOnSphere = sphereRelPos - (normal * fRadius);
 	penetrationDepth = distance - intersectionDist;
 
 	// transform back in world space
 	btVector3 tmp = m44T(pointOnBox);
 	pointOnBox = tmp;
-//	tmp = m44T(v3PointOnSphere);
-//	v3PointOnSphere = tmp;
+	//	tmp = m44T(v3PointOnSphere);
+	//	v3PointOnSphere = tmp;
 	tmp = m44T.getBasis() * normal;
 	normal = tmp;
 
 	return true;
 }
 
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ) 
+btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal)
 {
 	//project the center of the sphere on the closest face of the box
 	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
 	btScalar minDist = faceDist;
-	closestPoint.setX( boxHalfExtent.getX() );
-	normal.setValue(btScalar(1.0f),  btScalar(0.0f),  btScalar(0.0f));
+	closestPoint.setX(boxHalfExtent.getX());
+	normal.setValue(btScalar(1.0f), btScalar(0.0f), btScalar(0.0f));
 
 	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
 	if (faceDist < minDist)
 	{
 		minDist = faceDist;
 		closestPoint = sphereRelPos;
-		closestPoint.setX( -boxHalfExtent.getX() );
-		normal.setValue(btScalar(-1.0f),  btScalar(0.0f),  btScalar(0.0f));
+		closestPoint.setX(-boxHalfExtent.getX());
+		normal.setValue(btScalar(-1.0f), btScalar(0.0f), btScalar(0.0f));
 	}
 
 	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
@@ -179,8 +174,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &b
 	{
 		minDist = faceDist;
 		closestPoint = sphereRelPos;
-		closestPoint.setY( boxHalfExtent.getY() );
-		normal.setValue(btScalar(0.0f),  btScalar(1.0f),  btScalar(0.0f));
+		closestPoint.setY(boxHalfExtent.getY());
+		normal.setValue(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f));
 	}
 
 	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
@@ -188,8 +183,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &b
 	{
 		minDist = faceDist;
 		closestPoint = sphereRelPos;
-		closestPoint.setY( -boxHalfExtent.getY() );
-		normal.setValue(btScalar(0.0f),  btScalar(-1.0f),  btScalar(0.0f));
+		closestPoint.setY(-boxHalfExtent.getY());
+		normal.setValue(btScalar(0.0f), btScalar(-1.0f), btScalar(0.0f));
 	}
 
 	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
@@ -197,8 +192,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &b
 	{
 		minDist = faceDist;
 		closestPoint = sphereRelPos;
-		closestPoint.setZ( boxHalfExtent.getZ() );
-		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(1.0f));
+		closestPoint.setZ(boxHalfExtent.getZ());
+		normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f));
 	}
 
 	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
@@ -206,8 +201,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &b
 	{
 		minDist = faceDist;
 		closestPoint = sphereRelPos;
-		closestPoint.setZ( -boxHalfExtent.getZ() );
-		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(-1.0f));
+		closestPoint.setZ(-boxHalfExtent.getZ());
+		normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(-1.0f));
 	}
 
 	return minDist;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
index eefaedc9e7..3348bc89af 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@@ -28,21 +28,20 @@ class btPersistentManifold;
 /// Other features are frame-coherency (persistent data) and collision response.
 class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool	m_isSwapped;
-	
-public:
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+	bool m_isSwapped;
 
-	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
+public:
+	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btSphereBoxCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
@@ -50,26 +49,25 @@ public:
 		}
 	}
 
-	bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
+	bool getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance);
+
+	btScalar getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal);
 
-	btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
-	
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
-			} else
+				return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
+			}
+			else
 			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
+				return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
 			}
 		}
 	};
-
 };
 
-#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
-
+#endif  //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index 27eaec3059..7fa0559f97 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -20,14 +20,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
-: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf)
+btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
+	: btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(), col1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -41,7 +41,7 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
 	}
 }
 
-void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereSphereCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 
@@ -53,27 +53,27 @@ void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObject
 	btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
 	btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
 
-	btVector3 diff = col0Wrap->getWorldTransform().getOrigin()-  col1Wrap->getWorldTransform().getOrigin();
+	btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
 	btScalar len = diff.length();
 	btScalar radius0 = sphere0->getRadius();
 	btScalar radius1 = sphere1->getRadius();
 
 #ifdef CLEAR_MANIFOLD
-	m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
+	m_manifoldPtr->clearManifold();  //don't do this, it disables warmstarting
 #endif
 
 	///iff distance positive, don't generate a new contact
-	if ( len > (radius0+radius1+resultOut->m_closestPointDistanceThreshold))
+	if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
 	{
 #ifndef CLEAR_MANIFOLD
 		resultOut->refreshContactPoints();
-#endif //CLEAR_MANIFOLD
+#endif  //CLEAR_MANIFOLD
 		return;
 	}
 	///distance (negative means penetration)
-	btScalar dist = len - (radius0+radius1);
+	btScalar dist = len - (radius0 + radius1);
 
-	btVector3 normalOnSurfaceB(1,0,0);
+	btVector3 normalOnSurfaceB(1, 0, 0);
 	if (len > SIMD_EPSILON)
 	{
 		normalOnSurfaceB = diff / len;
@@ -82,20 +82,18 @@ void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObject
 	///point on A (worldspace)
 	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
-	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
+	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
 
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
-	
-	
-	resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
+
+	resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
 
 #ifndef CLEAR_MANIFOLD
 	resultOut->refreshContactPoints();
-#endif //CLEAR_MANIFOLD
-
+#endif  //CLEAR_MANIFOLD
 }
 
-btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)col0;
 	(void)col1;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
index 3517a568a9..b08d0df76d 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
@@ -28,39 +28,37 @@ class btPersistentManifold;
 /// Also provides the most basic sample for custom/user btCollisionAlgorithm
 class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+
 public:
-	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap);
+	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap);
 
 	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
 			manifoldArray.push_back(m_manifoldPtr);
 		}
 	}
-	
+
 	virtual ~btSphereSphereCollisionAlgorithm();
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
-			return new(mem) btSphereSphereCollisionAlgorithm(0,ci,col0Wrap,col1Wrap);
+			return new (mem) btSphereSphereCollisionAlgorithm(0, ci, col0Wrap, col1Wrap);
 		}
 	};
-
 };
 
-#endif //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
-
+#endif  //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index 86d4e74400..1bc3056c01 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btSphereTriangleCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -21,15 +20,15 @@ subject to the following restrictions:
 #include "SphereTriangleDetector.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_swapped(swapped)
+btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf),
+	  m_swapped(swapped)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -43,36 +42,35 @@ btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
 	}
 }
 
-void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
+	const btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
 
 	btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
 	btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
-	
+
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold);
-	
+	SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
+
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
+	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);  ///@todo: tighter bounds
 	input.m_transformA = sphereObjWrap->getWorldTransform();
 	input.m_transformB = triObjWrap->getWorldTransform();
 
 	bool swapResults = m_swapped;
 
-	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults);
+	detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
 
 	if (m_ownManifold)
 		resultOut->refreshContactPoints();
-	
 }
 
-btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
index 6b6e39a72b..d660222f16 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -27,43 +27,39 @@ class btPersistentManifold;
 /// Also provides the most basic sample for custom/user btCollisionAlgorithm
 class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool	m_swapped;
-	
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
+	bool m_swapped;
+
 public:
-	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped);
+	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped);
 
 	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
 			manifoldArray.push_back(m_manifoldPtr);
 		}
 	}
-	
+
 	virtual ~btSphereTriangleCollisionAlgorithm();
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
-			
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
 
-			return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_swapped);
+			return new (mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_swapped);
 		}
 	};
-
 };
 
-#endif //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-
+#endif  //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
index 5222933595..816bf1e6ad 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
@@ -15,68 +15,60 @@ subject to the following restrictions:
 
 #include "btUnionFind.h"
 
-
-
 btUnionFind::~btUnionFind()
 {
 	Free();
-
 }
 
 btUnionFind::btUnionFind()
-{ 
-
+{
 }
 
-void	btUnionFind::allocate(int N)
+void btUnionFind::allocate(int N)
 {
 	m_elements.resize(N);
 }
-void	btUnionFind::Free()
+void btUnionFind::Free()
 {
 	m_elements.clear();
 }
 
-
-void	btUnionFind::reset(int N)
+void btUnionFind::reset(int N)
 {
 	allocate(N);
 
-	for (int i = 0; i < N; i++) 
-	{ 
-		m_elements[i].m_id = i; m_elements[i].m_sz = 1; 
-	} 
+	for (int i = 0; i < N; i++)
+	{
+		m_elements[i].m_id = i;
+		m_elements[i].m_sz = 1;
+	}
 }
 
-
 class btUnionFindElementSortPredicate
 {
-	public:
-
-		bool operator() ( const btElement& lhs, const btElement& rhs ) const
-		{
-			return lhs.m_id < rhs.m_id;
-		}
+public:
+	bool operator()(const btElement& lhs, const btElement& rhs) const
+	{
+		return lhs.m_id < rhs.m_id;
+	}
 };
 
 ///this is a special operation, destroying the content of btUnionFind.
 ///it sorts the elements, based on island id, in order to make it easy to iterate over islands
-void	btUnionFind::sortIslands()
+void btUnionFind::sortIslands()
 {
-
 	//first store the original body index, and islandId
 	int numElements = m_elements.size();
-	
-	for (int i=0;i<numElements;i++)
+
+	for (int i = 0; i < numElements; i++)
 	{
 		m_elements[i].m_id = find(i);
 #ifndef STATIC_SIMULATION_ISLAND_OPTIMIZATION
 		m_elements[i].m_sz = i;
-#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
+#endif  //STATIC_SIMULATION_ISLAND_OPTIMIZATION
 	}
-	
-	 // Sort the vector using predicate and std::sort
-	  //std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
-	  m_elements.quickSort(btUnionFindElementSortPredicate());
 
+	// Sort the vector using predicate and std::sort
+	//std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
+	m_elements.quickSort(btUnionFindElementSortPredicate());
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
index ef2a29202f..d422ef55eb 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
@@ -23,107 +23,101 @@ subject to the following restrictions:
 ///see for discussion of static island optimizations by Vroonsh here: http://code.google.com/p/bullet/issues/detail?id=406
 #define STATIC_SIMULATION_ISLAND_OPTIMIZATION 1
 
-struct	btElement
+struct btElement
 {
-	int	m_id;
-	int	m_sz;
+	int m_id;
+	int m_sz;
 };
 
 ///UnionFind calculates connected subsets
 // Implements weighted Quick Union with path compression
 // optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
 class btUnionFind
-  {
-    private:
-		btAlignedObjectArray<btElement>	m_elements;
-
-    public:
-	  
-		btUnionFind();
-		~btUnionFind();
-
-	
-		//this is a special operation, destroying the content of btUnionFind.
-		//it sorts the elements, based on island id, in order to make it easy to iterate over islands
-		void	sortIslands();
-
-	  void	reset(int N);
-
-	  SIMD_FORCE_INLINE int	getNumElements() const
-	  {
-		  return int(m_elements.size());
-	  }
-	  SIMD_FORCE_INLINE bool  isRoot(int x) const
-	  {
-		  return (x == m_elements[x].m_id);
-	  }
-
-	  btElement&	getElement(int index)
-	  {
-		  return m_elements[index];
-	  }
-	  const btElement& getElement(int index) const
-	  {
-		  return m_elements[index];
-	  }
-   
-	  void	allocate(int N);
-	  void	Free();
-
-
-
-
-	  int find(int p, int q)
-		{ 
-			return (find(p) == find(q)); 
-		}
-
-		void unite(int p, int q)
-		{
-			int i = find(p), j = find(q);
-			if (i == j) 
-				return;
+{
+private:
+	btAlignedObjectArray<btElement> m_elements;
+
+public:
+	btUnionFind();
+	~btUnionFind();
+
+	//this is a special operation, destroying the content of btUnionFind.
+	//it sorts the elements, based on island id, in order to make it easy to iterate over islands
+	void sortIslands();
+
+	void reset(int N);
+
+	SIMD_FORCE_INLINE int getNumElements() const
+	{
+		return int(m_elements.size());
+	}
+	SIMD_FORCE_INLINE bool isRoot(int x) const
+	{
+		return (x == m_elements[x].m_id);
+	}
+
+	btElement& getElement(int index)
+	{
+		return m_elements[index];
+	}
+	const btElement& getElement(int index) const
+	{
+		return m_elements[index];
+	}
+
+	void allocate(int N);
+	void Free();
+
+	int find(int p, int q)
+	{
+		return (find(p) == find(q));
+	}
+
+	void unite(int p, int q)
+	{
+		int i = find(p), j = find(q);
+		if (i == j)
+			return;
 
 #ifndef USE_PATH_COMPRESSION
-			//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
-			if (m_elements[i].m_sz < m_elements[j].m_sz)
-			{ 
-				m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; 
-			}
-			else 
-			{ 
-				m_elements[j].m_id = i; m_elements[i].m_sz += m_elements[j].m_sz; 
-			}
-#else
-			m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; 
-#endif //USE_PATH_COMPRESSION
+		//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
+		if (m_elements[i].m_sz < m_elements[j].m_sz)
+		{
+			m_elements[i].m_id = j;
+			m_elements[j].m_sz += m_elements[i].m_sz;
+		}
+		else
+		{
+			m_elements[j].m_id = i;
+			m_elements[i].m_sz += m_elements[j].m_sz;
 		}
+#else
+		m_elements[i].m_id = j;
+		m_elements[j].m_sz += m_elements[i].m_sz;
+#endif  //USE_PATH_COMPRESSION
+	}
+
+	int find(int x)
+	{
+		//btAssert(x < m_N);
+		//btAssert(x >= 0);
 
-		int find(int x)
-		{ 
+		while (x != m_elements[x].m_id)
+		{
+			//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
+
+#ifdef USE_PATH_COMPRESSION
+			const btElement* elementPtr = &m_elements[m_elements[x].m_id];
+			m_elements[x].m_id = elementPtr->m_id;
+			x = elementPtr->m_id;
+#else  //
+			x = m_elements[x].m_id;
+#endif
 			//btAssert(x < m_N);
 			//btAssert(x >= 0);
-
-			while (x != m_elements[x].m_id) 
-			{
-		//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
-	
-		#ifdef USE_PATH_COMPRESSION
-				const btElement* elementPtr = &m_elements[m_elements[x].m_id];
-				m_elements[x].m_id = elementPtr->m_id;
-				x = elementPtr->m_id;			
-		#else//
-				x = m_elements[x].m_id;
-		#endif		
-				//btAssert(x < m_N);
-				//btAssert(x >= 0);
-
-			}
-			return x; 
 		}
+		return x;
+	}
+};
 
-
-  };
-
-
-#endif //BT_UNION_FIND_H
+#endif  //BT_UNION_FIND_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
index ecce028c2e..a3d8075daf 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
@@ -15,28 +15,23 @@ subject to the following restrictions:
 
 #include "btBox2dShape.h"
 
+//{
 
-//{ 
-
-
-void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btBox2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+	btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
 }
 
-
-void	btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btBox2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	//btScalar margin = btScalar(0.);
 	btVector3 halfExtents = getHalfExtentsWithMargin();
 
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
-
-	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+	btScalar lx = btScalar(2.) * (halfExtents.x());
+	btScalar ly = btScalar(2.) * (halfExtents.y());
+	btScalar lz = btScalar(2.) * (halfExtents.z());
 
+	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
index 22bee4f2c8..7e085f9e2e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
@@ -23,9 +23,9 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 
 ///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btBox2dShape : public btPolyhedralConvexShape
 {
-
 	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
 
 	btVector3 m_centroid;
@@ -33,79 +33,75 @@ ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
 	btVector3 m_normals[4];
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
+		btVector3 margin(getMargin(), getMargin(), getMargin());
 		halfExtents += margin;
 		return halfExtents;
 	}
-	
+
 	const btVector3& getHalfExtentsWithoutMargin() const
 	{
-		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+		return m_implicitShapeDimensions;  //changed in Bullet 2.63: assume the scaling and margin are included
 	}
-	
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
+		btVector3 margin(getMargin(), getMargin(), getMargin());
 		halfExtents += margin;
-		
+
 		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
 	}
 
-	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 	{
 		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-		
+
 		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
 	}
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 	{
 		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-	
-		for (int i=0;i<numVectors;i++)
+
+		for (int i = 0; i < numVectors; i++)
 		{
 			const btVector3& vec = vectors[i];
 			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
+										   btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+										   btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
 		}
-
 	}
 
-
 	///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
-	btBox2dShape( const btVector3& boxHalfExtents) 
+	btBox2dShape(const btVector3& boxHalfExtents)
 		: btPolyhedralConvexShape(),
-		m_centroid(0,0,0)
+		  m_centroid(0, 0, 0)
 	{
-		m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
-		m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
-		m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
-		m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+		m_vertices[0].setValue(-boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
+		m_vertices[1].setValue(boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
+		m_vertices[2].setValue(boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
+		m_vertices[3].setValue(-boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
 
-		m_normals[0].setValue(0,-1,0);
-		m_normals[1].setValue(1,0,0);
-		m_normals[2].setValue(0,1,0);
-		m_normals[3].setValue(-1,0,0);
+		m_normals[0].setValue(0, -1, 0);
+		m_normals[1].setValue(1, 0, 0);
+		m_normals[2].setValue(0, 1, 0);
+		m_normals[3].setValue(-1, 0, 0);
 
 		btScalar minDimension = boxHalfExtents.getX();
-		if (minDimension>boxHalfExtents.getY())
+		if (minDimension > boxHalfExtents.getY())
 			minDimension = boxHalfExtents.getY();
 
 		m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
-		btVector3 margin(getMargin(),getMargin(),getMargin());
+		btVector3 margin(getMargin(), getMargin(), getMargin());
 		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
 
 		setSafeMargin(minDimension);
@@ -114,42 +110,34 @@ public:
 	virtual void setMargin(btScalar collisionMargin)
 	{
 		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		
+		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
+
 		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		btVector3 newMargin(getMargin(), getMargin(), getMargin());
 		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
 	}
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
 		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
 
 		btConvexInternalShape::setLocalScaling(scaling);
 
 		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
 	}
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-
-	int	getVertexCount() const
+	int getVertexCount() const
 	{
 		return 4;
 	}
 
-	virtual int getNumVertices()const
+	virtual int getNumVertices() const
 	{
 		return 4;
 	}
@@ -164,82 +152,70 @@ public:
 		return &m_normals[0];
 	}
 
-
-
-
-
-
-
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
 	{
 		//this plane might not be aligned...
-		btVector4 plane ;
-		getPlaneEquation(plane,i);
-		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+		btVector4 plane;
+		getPlaneEquation(plane, i);
+		planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
 		planeSupport = localGetSupportingVertex(-planeNormal);
 	}
 
-
 	const btVector3& getCentroid() const
 	{
 		return m_centroid;
 	}
-	
+
 	virtual int getNumPlanes() const
 	{
 		return 6;
-	}	
-	
-	
+	}
 
 	virtual int getNumEdges() const
 	{
 		return 12;
 	}
 
-
-	virtual void getVertex(int i,btVector3& vtx) const
+	virtual void getVertex(int i, btVector3& vtx) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
 		vtx = btVector3(
-				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
-				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
-				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+			halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
+			halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
+			halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
 	}
-	
 
-	virtual void	getPlaneEquation(btVector4& plane,int i) const
+	virtual void getPlaneEquation(btVector4 & plane, int i) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
 		switch (i)
 		{
-		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
-			break;
-		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
-			break;
-		default:
-			btAssert(0);
+			case 0:
+				plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
+				break;
+			case 1:
+				plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
+				break;
+			case 2:
+				plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
+				break;
+			case 3:
+				plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
+				break;
+			case 4:
+				plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
+				break;
+			case 5:
+				plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
+				break;
+			default:
+				btAssert(0);
 		}
 	}
 
-	
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
 	//virtual void getEdge(int i,Edge& edge) const
 	{
 		int edgeVert0 = 0;
@@ -247,126 +223,117 @@ public:
 
 		switch (i)
 		{
-		case 0:
+			case 0:
 				edgeVert0 = 0;
 				edgeVert1 = 1;
-			break;
-		case 1:
+				break;
+			case 1:
 				edgeVert0 = 0;
 				edgeVert1 = 2;
-			break;
-		case 2:
-			edgeVert0 = 1;
-			edgeVert1 = 3;
-
-			break;
-		case 3:
-			edgeVert0 = 2;
-			edgeVert1 = 3;
-			break;
-		case 4:
-			edgeVert0 = 0;
-			edgeVert1 = 4;
-			break;
-		case 5:
-			edgeVert0 = 1;
-			edgeVert1 = 5;
-
-			break;
-		case 6:
-			edgeVert0 = 2;
-			edgeVert1 = 6;
-			break;
-		case 7:
-			edgeVert0 = 3;
-			edgeVert1 = 7;
-			break;
-		case 8:
-			edgeVert0 = 4;
-			edgeVert1 = 5;
-			break;
-		case 9:
-			edgeVert0 = 4;
-			edgeVert1 = 6;
-			break;
-		case 10:
-			edgeVert0 = 5;
-			edgeVert1 = 7;
-			break;
-		case 11:
-			edgeVert0 = 6;
-			edgeVert1 = 7;
-			break;
-		default:
-			btAssert(0);
-
+				break;
+			case 2:
+				edgeVert0 = 1;
+				edgeVert1 = 3;
+
+				break;
+			case 3:
+				edgeVert0 = 2;
+				edgeVert1 = 3;
+				break;
+			case 4:
+				edgeVert0 = 0;
+				edgeVert1 = 4;
+				break;
+			case 5:
+				edgeVert0 = 1;
+				edgeVert1 = 5;
+
+				break;
+			case 6:
+				edgeVert0 = 2;
+				edgeVert1 = 6;
+				break;
+			case 7:
+				edgeVert0 = 3;
+				edgeVert1 = 7;
+				break;
+			case 8:
+				edgeVert0 = 4;
+				edgeVert1 = 5;
+				break;
+			case 9:
+				edgeVert0 = 4;
+				edgeVert1 = 6;
+				break;
+			case 10:
+				edgeVert0 = 5;
+				edgeVert1 = 7;
+				break;
+			case 11:
+				edgeVert0 = 6;
+				edgeVert1 = 7;
+				break;
+			default:
+				btAssert(0);
 		}
 
-		getVertex(edgeVert0,pa );
-		getVertex(edgeVert1,pb );
+		getVertex(edgeVert0, pa);
+		getVertex(edgeVert1, pb);
 	}
 
-
-
-
-	
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
 		//btScalar minDist = 2*tolerance;
-		
-		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
-						(pt.x() >= (-halfExtents.x()-tolerance)) &&
-						(pt.y() <= (halfExtents.y()+tolerance)) &&
-						(pt.y() >= (-halfExtents.y()-tolerance)) &&
-						(pt.z() <= (halfExtents.z()+tolerance)) &&
-						(pt.z() >= (-halfExtents.z()-tolerance));
-		
+
+		bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
+					  (pt.x() >= (-halfExtents.x() - tolerance)) &&
+					  (pt.y() <= (halfExtents.y() + tolerance)) &&
+					  (pt.y() >= (-halfExtents.y() - tolerance)) &&
+					  (pt.z() <= (halfExtents.z() + tolerance)) &&
+					  (pt.z() >= (-halfExtents.z() - tolerance));
+
 		return result;
 	}
 
-
 	//debugging
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "Box2d";
 	}
 
-	virtual int		getNumPreferredPenetrationDirections() const
+	virtual int getNumPreferredPenetrationDirections() const
 	{
 		return 6;
 	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 	{
 		switch (index)
 		{
-		case 0:
-			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			break;
-		case 1:
-			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			break;
-		case 2:
-			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			break;
-		case 3:
-			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			break;
-		case 4:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			break;
-		case 5:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			break;
-		default:
-			btAssert(0);
+			case 0:
+				penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
+				break;
+			case 1:
+				penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
+				break;
+			case 2:
+				penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
+				break;
+			case 3:
+				penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
+				break;
+			case 4:
+				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
+				break;
+			case 5:
+				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
+				break;
+			default:
+				btAssert(0);
 		}
 	}
-
 };
 
-#endif //BT_OBB_BOX_2D_SHAPE_H
-
-
+#endif  //BT_OBB_BOX_2D_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
index 72eeb38911..cb91d023e4 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
@@ -14,38 +14,32 @@ subject to the following restrictions:
 */
 #include "btBoxShape.h"
 
-btBoxShape::btBoxShape( const btVector3& boxHalfExtents) 
-: btPolyhedralConvexShape()
+btBoxShape::btBoxShape(const btVector3& boxHalfExtents)
+	: btPolyhedralConvexShape()
 {
 	m_shapeType = BOX_SHAPE_PROXYTYPE;
 
-	btVector3 margin(getMargin(),getMargin(),getMargin());
+	btVector3 margin(getMargin(), getMargin(), getMargin());
 	m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
 
 	setSafeMargin(boxHalfExtents);
 };
 
-
-
-
-void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btBoxShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+	btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
 }
 
-
-void	btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btBoxShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	//btScalar margin = btScalar(0.);
 	btVector3 halfExtents = getHalfExtentsWithMargin();
 
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
-
-	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+	btScalar lx = btScalar(2.) * (halfExtents.x());
+	btScalar ly = btScalar(2.) * (halfExtents.y());
+	btScalar lz = btScalar(2.) * (halfExtents.z());
 
+	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
index 715e3f2ab9..3c65505d5b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
@@ -23,112 +23,102 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 
 ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btBoxShape : public btPolyhedralConvexShape
 {
-
 	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
 
-
 public:
-
-BT_DECLARE_ALIGNED_ALLOCATOR();
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
+		btVector3 margin(getMargin(), getMargin(), getMargin());
 		halfExtents += margin;
 		return halfExtents;
 	}
-	
+
 	const btVector3& getHalfExtentsWithoutMargin() const
 	{
-		return m_implicitShapeDimensions;//scaling is included, margin is not
+		return m_implicitShapeDimensions;  //scaling is included, margin is not
 	}
-	
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
+		btVector3 margin(getMargin(), getMargin(), getMargin());
 		halfExtents += margin;
-		
+
 		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
 	}
 
-	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 	{
 		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-		
+
 		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+						 btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+						 btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
 	}
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 	{
 		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-	
-		for (int i=0;i<numVectors;i++)
+
+		for (int i = 0; i < numVectors; i++)
 		{
 			const btVector3& vec = vectors[i];
 			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
+										   btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+										   btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
 		}
-
 	}
 
-
-	btBoxShape( const btVector3& boxHalfExtents);
+	btBoxShape(const btVector3& boxHalfExtents);
 
 	virtual void setMargin(btScalar collisionMargin)
 	{
 		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		
+		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
+
 		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		btVector3 newMargin(getMargin(), getMargin(), getMargin());
 		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
 	}
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
 		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
 
 		btConvexInternalShape::setLocalScaling(scaling);
 
 		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
 	}
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
 	{
 		//this plane might not be aligned...
-		btVector4 plane ;
-		getPlaneEquation(plane,i);
-		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+		btVector4 plane;
+		getPlaneEquation(plane, i);
+		planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
 		planeSupport = localGetSupportingVertex(-planeNormal);
 	}
 
-	
 	virtual int getNumPlanes() const
 	{
 		return 6;
-	}	
-	
-	virtual int	getNumVertices() const 
+	}
+
+	virtual int getNumVertices() const
 	{
 		return 8;
 	}
@@ -138,49 +128,46 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 		return 12;
 	}
 
-
-	virtual void getVertex(int i,btVector3& vtx) const
+	virtual void getVertex(int i, btVector3& vtx) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithMargin();
 
 		vtx = btVector3(
-				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
-				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
-				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+			halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
+			halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
+			halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
 	}
-	
 
-	virtual void	getPlaneEquation(btVector4& plane,int i) const
+	virtual void getPlaneEquation(btVector4 & plane, int i) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
 		switch (i)
 		{
-		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
-			break;
-		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
-			break;
-		default:
-			btAssert(0);
+			case 0:
+				plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
+				break;
+			case 1:
+				plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
+				break;
+			case 2:
+				plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
+				break;
+			case 3:
+				plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
+				break;
+			case 4:
+				plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
+				break;
+			case 5:
+				plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
+				break;
+			default:
+				btAssert(0);
 		}
 	}
 
-	
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
 	//virtual void getEdge(int i,Edge& edge) const
 	{
 		int edgeVert0 = 0;
@@ -188,127 +175,117 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 
 		switch (i)
 		{
-		case 0:
+			case 0:
 				edgeVert0 = 0;
 				edgeVert1 = 1;
-			break;
-		case 1:
+				break;
+			case 1:
 				edgeVert0 = 0;
 				edgeVert1 = 2;
-			break;
-		case 2:
-			edgeVert0 = 1;
-			edgeVert1 = 3;
-
-			break;
-		case 3:
-			edgeVert0 = 2;
-			edgeVert1 = 3;
-			break;
-		case 4:
-			edgeVert0 = 0;
-			edgeVert1 = 4;
-			break;
-		case 5:
-			edgeVert0 = 1;
-			edgeVert1 = 5;
-
-			break;
-		case 6:
-			edgeVert0 = 2;
-			edgeVert1 = 6;
-			break;
-		case 7:
-			edgeVert0 = 3;
-			edgeVert1 = 7;
-			break;
-		case 8:
-			edgeVert0 = 4;
-			edgeVert1 = 5;
-			break;
-		case 9:
-			edgeVert0 = 4;
-			edgeVert1 = 6;
-			break;
-		case 10:
-			edgeVert0 = 5;
-			edgeVert1 = 7;
-			break;
-		case 11:
-			edgeVert0 = 6;
-			edgeVert1 = 7;
-			break;
-		default:
-			btAssert(0);
-
+				break;
+			case 2:
+				edgeVert0 = 1;
+				edgeVert1 = 3;
+
+				break;
+			case 3:
+				edgeVert0 = 2;
+				edgeVert1 = 3;
+				break;
+			case 4:
+				edgeVert0 = 0;
+				edgeVert1 = 4;
+				break;
+			case 5:
+				edgeVert0 = 1;
+				edgeVert1 = 5;
+
+				break;
+			case 6:
+				edgeVert0 = 2;
+				edgeVert1 = 6;
+				break;
+			case 7:
+				edgeVert0 = 3;
+				edgeVert1 = 7;
+				break;
+			case 8:
+				edgeVert0 = 4;
+				edgeVert1 = 5;
+				break;
+			case 9:
+				edgeVert0 = 4;
+				edgeVert1 = 6;
+				break;
+			case 10:
+				edgeVert0 = 5;
+				edgeVert1 = 7;
+				break;
+			case 11:
+				edgeVert0 = 6;
+				edgeVert1 = 7;
+				break;
+			default:
+				btAssert(0);
 		}
 
-		getVertex(edgeVert0,pa );
-		getVertex(edgeVert1,pb );
+		getVertex(edgeVert0, pa);
+		getVertex(edgeVert1, pb);
 	}
 
-
-
-
-	
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
 		//btScalar minDist = 2*tolerance;
-		
-		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
-						(pt.x() >= (-halfExtents.x()-tolerance)) &&
-						(pt.y() <= (halfExtents.y()+tolerance)) &&
-						(pt.y() >= (-halfExtents.y()-tolerance)) &&
-						(pt.z() <= (halfExtents.z()+tolerance)) &&
-						(pt.z() >= (-halfExtents.z()-tolerance));
-		
+
+		bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
+					  (pt.x() >= (-halfExtents.x() - tolerance)) &&
+					  (pt.y() <= (halfExtents.y() + tolerance)) &&
+					  (pt.y() >= (-halfExtents.y() - tolerance)) &&
+					  (pt.z() <= (halfExtents.z() + tolerance)) &&
+					  (pt.z() >= (-halfExtents.z() - tolerance));
+
 		return result;
 	}
 
-
 	//debugging
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "Box";
 	}
 
-	virtual int		getNumPreferredPenetrationDirections() const
+	virtual int getNumPreferredPenetrationDirections() const
 	{
 		return 6;
 	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 	{
 		switch (index)
 		{
-		case 0:
-			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			break;
-		case 1:
-			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			break;
-		case 2:
-			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			break;
-		case 3:
-			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			break;
-		case 4:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			break;
-		case 5:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			break;
-		default:
-			btAssert(0);
+			case 0:
+				penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
+				break;
+			case 1:
+				penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
+				break;
+			case 2:
+				penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
+				break;
+			case 3:
+				penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
+				break;
+			case 4:
+				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
+				break;
+			case 5:
+				penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
+				break;
+			default:
+				btAssert(0);
 		}
 	}
-
 };
 
-
-#endif //BT_OBB_BOX_MINKOWSKI_H
-
-
+#endif  //BT_OBB_BOX_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index 61f465cb72..d663b3d6d6 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -22,11 +22,11 @@ subject to the following restrictions:
 ///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
 ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
 btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
-:btTriangleMeshShape(meshInterface),
-m_bvh(0),
-m_triangleInfoMap(0),
-m_useQuantizedAabbCompression(useQuantizedAabbCompression),
-m_ownsBvh(false)
+	: btTriangleMeshShape(meshInterface),
+	  m_bvh(0),
+	  m_triangleInfoMap(0),
+	  m_useQuantizedAabbCompression(useQuantizedAabbCompression),
+	  m_ownsBvh(false)
 {
 	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
@@ -37,16 +37,15 @@ m_ownsBvh(false)
 		buildOptimizedBvh();
 	}
 
-#endif //DISABLE_BVH
-
+#endif  //DISABLE_BVH
 }
 
-btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
-:btTriangleMeshShape(meshInterface),
-m_bvh(0),
-m_triangleInfoMap(0),
-m_useQuantizedAabbCompression(useQuantizedAabbCompression),
-m_ownsBvh(false)
+btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh)
+	: btTriangleMeshShape(meshInterface),
+	  m_bvh(0),
+	  m_triangleInfoMap(0),
+	  m_useQuantizedAabbCompression(useQuantizedAabbCompression),
+	  m_ownsBvh(false)
 {
 	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
@@ -54,30 +53,28 @@ m_ownsBvh(false)
 
 	if (buildBvh)
 	{
-		void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
+		void* mem = btAlignedAlloc(sizeof(btOptimizedBvh), 16);
 		m_bvh = new (mem) btOptimizedBvh();
-		
-		m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
+
+		m_bvh->build(meshInterface, m_useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax);
 		m_ownsBvh = true;
 	}
 
-#endif //DISABLE_BVH
-
+#endif  //DISABLE_BVH
 }
 
-void	btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
+void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax)
 {
-	m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
-	
+	m_bvh->refitPartial(m_meshInterface, aabbMin, aabbMax);
+
 	m_localAabbMin.setMin(aabbMin);
 	m_localAabbMax.setMax(aabbMax);
 }
 
-
-void	btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
+void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin, const btVector3& aabbMax)
 {
-	m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
-	
+	m_bvh->refit(m_meshInterface, aabbMin, aabbMax);
+
 	recalcLocalAabb();
 }
 
@@ -90,27 +87,27 @@ btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
 	}
 }
 
-void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
+void btBvhTriangleMeshShape::performRaycast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
 {
-	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	struct MyNodeOverlapCallback : public btNodeOverlapCallback
 	{
-		btStridingMeshInterface*	m_meshInterface;
+		btStridingMeshInterface* m_meshInterface;
 		btTriangleCallback* m_callback;
 
-		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
-			:m_meshInterface(meshInterface),
-			m_callback(callback)
+		MyNodeOverlapCallback(btTriangleCallback* callback, btStridingMeshInterface* meshInterface)
+			: m_meshInterface(meshInterface),
+			  m_callback(callback)
 		{
 		}
-				
+
 		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
 		{
 			btVector3 m_triangle[3];
-			const unsigned char *vertexbase;
+			const unsigned char* vertexbase;
 			int numverts;
 			PHY_ScalarType type;
 			int stride;
-			const unsigned char *indexbase;
+			const unsigned char* indexbase;
 			int indexstride;
 			int numfaces;
 			PHY_ScalarType indicestype;
@@ -126,60 +123,60 @@ void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const
 				indicestype,
 				nodeSubPart);
 
-			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
-			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
-	
+			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
+			btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
+
 			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j=2;j>=0;j--)
+			for (int j = 2; j >= 0; j--)
 			{
-				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-				
+				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+
 				if (type == PHY_FLOAT)
 				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
+
+					m_triangle[j] = btVector3(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
 				}
 				else
 				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
+
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0]) * meshScaling.getX(), btScalar(graphicsbase[1]) * meshScaling.getY(), btScalar(graphicsbase[2]) * meshScaling.getZ());
 				}
 			}
 
 			/* Perform ray vs. triangle collision here */
-			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_callback->processTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
 			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
 		}
 	};
 
-	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+	MyNodeOverlapCallback myNodeCallback(callback, m_meshInterface);
 
-	m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
+	m_bvh->reportRayOverlappingNodex(&myNodeCallback, raySource, rayTarget);
 }
 
-void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
+void btBvhTriangleMeshShape::performConvexcast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
 {
-	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	struct MyNodeOverlapCallback : public btNodeOverlapCallback
 	{
-		btStridingMeshInterface*	m_meshInterface;
+		btStridingMeshInterface* m_meshInterface;
 		btTriangleCallback* m_callback;
 
-		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
-			:m_meshInterface(meshInterface),
-			m_callback(callback)
+		MyNodeOverlapCallback(btTriangleCallback* callback, btStridingMeshInterface* meshInterface)
+			: m_meshInterface(meshInterface),
+			  m_callback(callback)
 		{
 		}
-				
+
 		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
 		{
 			btVector3 m_triangle[3];
-			const unsigned char *vertexbase;
+			const unsigned char* vertexbase;
 			int numverts;
 			PHY_ScalarType type;
 			int stride;
-			const unsigned char *indexbase;
+			const unsigned char* indexbase;
 			int indexstride;
 			int numfaces;
 			PHY_ScalarType indicestype;
@@ -195,77 +192,74 @@ void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co
 				indicestype,
 				nodeSubPart);
 
-			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
-			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
-	
+			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
+			btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
+
 			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j=2;j>=0;j--)
+			for (int j = 2; j >= 0; j--)
 			{
-				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
 
 				if (type == PHY_FLOAT)
 				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
 
-					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+					m_triangle[j] = btVector3(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
 				}
 				else
 				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
+
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0]) * meshScaling.getX(), btScalar(graphicsbase[1]) * meshScaling.getY(), btScalar(graphicsbase[2]) * meshScaling.getZ());
 				}
 			}
 
 			/* Perform ray vs. triangle collision here */
-			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_callback->processTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
 			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
 		}
 	};
 
-	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+	MyNodeOverlapCallback myNodeCallback(callback, m_meshInterface);
 
-	m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
+	m_bvh->reportBoxCastOverlappingNodex(&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
 }
 
 //perform bvh tree traversal and report overlapping triangles to 'callback'
-void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
-
 #ifdef DISABLE_BVH
 	//brute force traverse all triangles
-	btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
+	btTriangleMeshShape::processAllTriangles(callback, aabbMin, aabbMax);
 #else
 
 	//first get all the nodes
 
-	
-	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	struct MyNodeOverlapCallback : public btNodeOverlapCallback
 	{
-		btStridingMeshInterface*	m_meshInterface;
-		btTriangleCallback*		m_callback;
-		btVector3				m_triangle[3];
+		btStridingMeshInterface* m_meshInterface;
+		btTriangleCallback* m_callback;
+		btVector3 m_triangle[3];
 		int m_numOverlap;
 
-		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
-			:m_meshInterface(meshInterface),
-			m_callback(callback),
-			m_numOverlap(0)
+		MyNodeOverlapCallback(btTriangleCallback* callback, btStridingMeshInterface* meshInterface)
+			: m_meshInterface(meshInterface),
+			  m_callback(callback),
+			  m_numOverlap(0)
 		{
 		}
-				
+
 		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
 		{
 			m_numOverlap++;
-			const unsigned char *vertexbase;
+			const unsigned char* vertexbase;
 			int numverts;
 			PHY_ScalarType type;
 			int stride;
-			const unsigned char *indexbase;
+			const unsigned char* indexbase;
 			int indexstride;
 			int numfaces;
 			PHY_ScalarType indicestype;
-			
 
 			m_meshInterface->getLockedReadOnlyVertexIndexBase(
 				&vertexbase,
@@ -278,67 +272,62 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 				indicestype,
 				nodeSubPart);
 
-			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
-			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
-	
+			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
+			btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT || indicestype == PHY_UCHAR);
+
 			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j=2;j>=0;j--)
+			for (int j = 2; j >= 0; j--)
 			{
-				
-				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
-
+				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : indicestype == PHY_INTEGER ? gfxbase[j] : ((unsigned char*)gfxbase)[j];
 
 #ifdef DEBUG_TRIANGLE_MESH
-				printf("%d ,",graphicsindex);
-#endif //DEBUG_TRIANGLE_MESH
+				printf("%d ,", graphicsindex);
+#endif  //DEBUG_TRIANGLE_MESH
 				if (type == PHY_FLOAT)
 				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-					
+					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
+
 					m_triangle[j] = btVector3(
-																		graphicsbase[0]*meshScaling.getX(),
-																		graphicsbase[1]*meshScaling.getY(),
-																		graphicsbase[2]*meshScaling.getZ());
+						graphicsbase[0] * meshScaling.getX(),
+						graphicsbase[1] * meshScaling.getY(),
+						graphicsbase[2] * meshScaling.getZ());
 				}
 				else
 				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
 
 					m_triangle[j] = btVector3(
-						btScalar(graphicsbase[0])*meshScaling.getX(),
-						btScalar(graphicsbase[1])*meshScaling.getY(),
-						btScalar(graphicsbase[2])*meshScaling.getZ());
+						btScalar(graphicsbase[0]) * meshScaling.getX(),
+						btScalar(graphicsbase[1]) * meshScaling.getY(),
+						btScalar(graphicsbase[2]) * meshScaling.getZ());
 				}
 #ifdef DEBUG_TRIANGLE_MESH
-				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
-#endif //DEBUG_TRIANGLE_MESH
+				printf("triangle vertices:%f,%f,%f\n", triangle[j].x(), triangle[j].y(), triangle[j].z());
+#endif  //DEBUG_TRIANGLE_MESH
 			}
 
-			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_callback->processTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
 			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
 		}
-
 	};
 
-	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
-
-	m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
-	
-#endif//DISABLE_BVH
+	MyNodeOverlapCallback myNodeCallback(callback, m_meshInterface);
 
+	m_bvh->reportAabbOverlappingNodex(&myNodeCallback, aabbMin, aabbMax);
 
+#endif  //DISABLE_BVH
 }
 
-void   btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
 {
-   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
-   {
-      btTriangleMeshShape::setLocalScaling(scaling);
-	  buildOptimizedBvh();
-   }
+	if ((getLocalScaling() - scaling).length2() > SIMD_EPSILON)
+	{
+		btTriangleMeshShape::setLocalScaling(scaling);
+		buildOptimizedBvh();
+	}
 }
 
-void   btBvhTriangleMeshShape::buildOptimizedBvh()
+void btBvhTriangleMeshShape::buildOptimizedBvh()
 {
 	if (m_ownsBvh)
 	{
@@ -346,43 +335,39 @@ void   btBvhTriangleMeshShape::buildOptimizedBvh()
 		btAlignedFree(m_bvh);
 	}
 	///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
-	void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
-	m_bvh = new(mem) btOptimizedBvh();
+	void* mem = btAlignedAlloc(sizeof(btOptimizedBvh), 16);
+	m_bvh = new (mem) btOptimizedBvh();
 	//rebuild the bvh...
-	m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
+	m_bvh->build(m_meshInterface, m_useQuantizedAabbCompression, m_localAabbMin, m_localAabbMax);
 	m_ownsBvh = true;
 }
 
-void   btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
+void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
 {
-   btAssert(!m_bvh);
-   btAssert(!m_ownsBvh);
-
-   m_bvh = bvh;
-   m_ownsBvh = false;
-   // update the scaling without rebuilding the bvh
-   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
-   {
-      btTriangleMeshShape::setLocalScaling(scaling);
-   }
-}
-
+	btAssert(!m_bvh);
+	btAssert(!m_ownsBvh);
 
+	m_bvh = bvh;
+	m_ownsBvh = false;
+	// update the scaling without rebuilding the bvh
+	if ((getLocalScaling() - scaling).length2() > SIMD_EPSILON)
+	{
+		btTriangleMeshShape::setLocalScaling(scaling);
+	}
+}
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
+	btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*)dataBuffer;
 
-	btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
+	btCollisionShape::serialize(&trimeshData->m_collisionShapeData, serializer);
 
 	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
 
 	trimeshData->m_collisionMargin = float(m_collisionMargin);
 
-	
-
-	if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
+	if (m_bvh && !(serializer->getSerializationFlags() & BT_SERIALIZE_NO_BVH))
 	{
 		void* chunk = serializer->findPointer(m_bvh);
 		if (chunk)
@@ -391,48 +376,49 @@ const char*	btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* se
 			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
 			trimeshData->m_quantizedFloatBvh = 0;
 #else
-			trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)chunk;
-			trimeshData->m_quantizedDoubleBvh= 0;
-#endif //BT_USE_DOUBLE_PRECISION
-		} else
+			trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
+			trimeshData->m_quantizedDoubleBvh = 0;
+#endif  //BT_USE_DOUBLE_PRECISION
+		}
+		else
 		{
-
 #ifdef BT_USE_DOUBLE_PRECISION
 			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
 			trimeshData->m_quantizedFloatBvh = 0;
 #else
-			trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
-			trimeshData->m_quantizedDoubleBvh= 0;
-#endif //BT_USE_DOUBLE_PRECISION
-	
+			trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+			trimeshData->m_quantizedDoubleBvh = 0;
+#endif  //BT_USE_DOUBLE_PRECISION
+
 			int sz = m_bvh->calculateSerializeBufferSizeNew();
-			btChunk* chunk = serializer->allocate(sz,1);
+			btChunk* chunk = serializer->allocate(sz, 1);
 			const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
+			serializer->finalizeChunk(chunk, structType, BT_QUANTIZED_BVH_CODE, m_bvh);
 		}
-	} else
+	}
+	else
 	{
 		trimeshData->m_quantizedFloatBvh = 0;
 		trimeshData->m_quantizedDoubleBvh = 0;
 	}
 
-	
-
-	if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
+	if (m_triangleInfoMap && !(serializer->getSerializationFlags() & BT_SERIALIZE_NO_TRIANGLEINFOMAP))
 	{
 		void* chunk = serializer->findPointer(m_triangleInfoMap);
 		if (chunk)
 		{
 			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
-		} else
+		}
+		else
 		{
 			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
 			int sz = m_triangleInfoMap->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(sz,1);
+			btChunk* chunk = serializer->allocate(sz, 1);
 			const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
+			serializer->finalizeChunk(chunk, structType, BT_TRIANLGE_INFO_MAP, m_triangleInfoMap);
 		}
-	} else
+	}
+	else
 	{
 		trimeshData->m_triangleInfoMap = 0;
 	}
@@ -443,28 +429,24 @@ const char*	btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* se
 	return "btTriangleMeshShapeData";
 }
 
-void	btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
+void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
 {
 	if (m_bvh)
 	{
-		int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
-		btChunk* chunk = serializer->allocate(len,1);
+		int len = m_bvh->calculateSerializeBufferSizeNew();  //make sure not to use calculateSerializeBufferSize because it is used for in-place
+		btChunk* chunk = serializer->allocate(len, 1);
 		const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
-		serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
+		serializer->finalizeChunk(chunk, structType, BT_QUANTIZED_BVH_CODE, (void*)m_bvh);
 	}
 }
 
-void	btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
+void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
 {
 	if (m_triangleInfoMap)
 	{
 		int len = m_triangleInfoMap->calculateSerializeBufferSize();
-		btChunk* chunk = serializer->allocate(len,1);
+		btChunk* chunk = serializer->allocate(len, 1);
 		const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
-		serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
+		serializer->finalizeChunk(chunk, structType, BT_TRIANLGE_INFO_MAP, (void*)m_triangleInfoMap);
 	}
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
index 1fa4995d16..8b2f2ee85e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -23,103 +23,99 @@ subject to the following restrictions:
 
 ///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
 ///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
-///using HACD, see Bullet/Demos/ConvexDecompositionDemo. 
+///using HACD, see Bullet/Demos/ConvexDecompositionDemo.
 ///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
-///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and 
-///cache friendly traversal for PlayStation 3 Cell SPU. 
+///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and
+///cache friendly traversal for PlayStation 3 Cell SPU.
 ///It is recommended to enable useQuantizedAabbCompression for better memory usage.
 ///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
 ///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
 ///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
-ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
+ATTRIBUTE_ALIGNED16(class)
+btBvhTriangleMeshShape : public btTriangleMeshShape
 {
-
-	btOptimizedBvh*	m_bvh;
-	btTriangleInfoMap*	m_triangleInfoMap;
+	btOptimizedBvh* m_bvh;
+	btTriangleInfoMap* m_triangleInfoMap;
 
 	bool m_useQuantizedAabbCompression;
 	bool m_ownsBvh;
 #ifdef __clang__
-	bool m_pad[11] __attribute__((unused));////need padding due to alignment
+	bool m_pad[11] __attribute__((unused));  ////need padding due to alignment
 #else
-	bool m_pad[11];////need padding due to alignment
+	bool m_pad[11];  ////need padding due to alignment
 #endif
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	
-	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
+	btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
 
 	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
-	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true);
-	
+	btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh = true);
+
 	virtual ~btBvhTriangleMeshShape();
 
-	bool getOwnsBvh () const
+	bool getOwnsBvh() const
 	{
 		return m_ownsBvh;
 	}
 
+	void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget);
+	void performConvexcast(btTriangleCallback * callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
 
-	
-	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
-	void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	void	refitTree(const btVector3& aabbMin,const btVector3& aabbMax);
+	void refitTree(const btVector3& aabbMin, const btVector3& aabbMax);
 
 	///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
-	void	partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);
+	void partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax);
 
 	//debugging
-	virtual const char*	getName()const {return "BVHTRIANGLEMESH";}
+	virtual const char* getName() const { return "BVHTRIANGLEMESH"; }
 
+	virtual void setLocalScaling(const btVector3& scaling);
 
-	virtual void	setLocalScaling(const btVector3& scaling);
-	
-	btOptimizedBvh*	getOptimizedBvh()
+	btOptimizedBvh* getOptimizedBvh()
 	{
 		return m_bvh;
 	}
 
-	void	setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
+	void setOptimizedBvh(btOptimizedBvh * bvh, const btVector3& localScaling = btVector3(1, 1, 1));
 
-	void    buildOptimizedBvh();
+	void buildOptimizedBvh();
 
-	bool	usesQuantizedAabbCompression() const
+	bool usesQuantizedAabbCompression() const
 	{
-		return	m_useQuantizedAabbCompression;
+		return m_useQuantizedAabbCompression;
 	}
 
-	void	setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap)
+	void setTriangleInfoMap(btTriangleInfoMap * triangleInfoMap)
 	{
 		m_triangleInfoMap = triangleInfoMap;
 	}
 
-	const btTriangleInfoMap*	getTriangleInfoMap() const
+	const btTriangleInfoMap* getTriangleInfoMap() const
 	{
 		return m_triangleInfoMap;
 	}
-	
-	btTriangleInfoMap*	getTriangleInfoMap()
+
+	btTriangleInfoMap* getTriangleInfoMap()
 	{
 		return m_triangleInfoMap;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void	serializeSingleBvh(btSerializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
-	virtual void	serializeSingleTriangleInfoMap(btSerializer* serializer) const;
+	virtual void serializeSingleBvh(btSerializer * serializer) const;
 
+	virtual void serializeSingleTriangleInfoMap(btSerializer * serializer) const;
 };
 
+// clang-format off
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btTriangleMeshShapeData
 {
@@ -138,12 +134,11 @@ struct	btTriangleMeshShapeData
 	
 };
 
+// clang-format on
 
-SIMD_FORCE_INLINE	int	btBvhTriangleMeshShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btTriangleMeshShapeData);
 }
 
-
-
-#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H
+#endif  //BT_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
index 0345501ce2..7c33774284 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
@@ -13,24 +13,21 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btCapsuleShape.h"
 
 #include "LinearMath/btQuaternion.h"
 
-btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
+btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape()
 {
 	m_collisionMargin = radius;
 	m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
 	m_upAxis = 1;
-	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
+	m_implicitShapeDimensions.setValue(radius, 0.5f * height, radius);
 }
 
- 
- btVector3	btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
 {
-
-	btVector3 supVec(0,0,0);
+	btVector3 supVec(0, 0, 0);
 
 	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
@@ -38,20 +35,19 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 	btScalar lenSqr = vec.length2();
 	if (lenSqr < btScalar(0.0001))
 	{
-		vec.setValue(1,0,0);
-	} else
+		vec.setValue(1, 0, 0);
+	}
+	else
 	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
 		vec *= rlen;
 	}
 
 	btVector3 vtx;
 	btScalar newDot;
-	
-	
 
 	{
-		btVector3 pos(0,0,0);
+		btVector3 pos(0, 0, 0);
 		pos[getUpAxis()] = getHalfHeight();
 
 		vtx = pos;
@@ -63,7 +59,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		}
 	}
 	{
-		btVector3 pos(0,0,0);
+		btVector3 pos(0, 0, 0);
 		pos[getUpAxis()] = -getHalfHeight();
 
 		vtx = pos;
@@ -76,15 +72,11 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 	}
 
 	return supVec;
-
 }
 
- void	btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-
-	
-	
-	for (int j=0;j<numVectors;j++)
+	for (int j = 0; j < numVectors; j++)
 	{
 		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 		const btVector3& vec = vectors[j];
@@ -92,7 +84,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		btVector3 vtx;
 		btScalar newDot;
 		{
-			btVector3 pos(0,0,0);
+			btVector3 pos(0, 0, 0);
 			pos[getUpAxis()] = getHalfHeight();
 			vtx = pos;
 			newDot = vec.dot(vtx);
@@ -103,7 +95,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 			}
 		}
 		{
-			btVector3 pos(0,0,0);
+			btVector3 pos(0, 0, 0);
 			pos[getUpAxis()] = -getHalfHeight();
 			vtx = pos;
 			newDot = vec.dot(vtx);
@@ -113,57 +105,44 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 				supportVerticesOut[j] = vtx;
 			}
 		}
-		
 	}
 }
 
-
-void	btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btCapsuleShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	//as an approximation, take the inertia of the box that bounds the spheres
 
 	btTransform ident;
 	ident.setIdentity();
 
-	
 	btScalar radius = getRadius();
 
-	btVector3 halfExtents(radius,radius,radius);
-	halfExtents[getUpAxis()]+=getHalfHeight();
+	btVector3 halfExtents(radius, radius, radius);
+	halfExtents[getUpAxis()] += getHalfHeight();
 
-	btScalar lx=btScalar(2.)*(halfExtents[0]);
-	btScalar ly=btScalar(2.)*(halfExtents[1]);
-	btScalar lz=btScalar(2.)*(halfExtents[2]);
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
+	btScalar lx = btScalar(2.) * (halfExtents[0]);
+	btScalar ly = btScalar(2.) * (halfExtents[1]);
+	btScalar lz = btScalar(2.) * (halfExtents[2]);
+	const btScalar x2 = lx * lx;
+	const btScalar y2 = ly * ly;
+	const btScalar z2 = lz * lz;
 	const btScalar scaledmass = mass * btScalar(.08333333);
 
-	inertia[0] = scaledmass * (y2+z2);
-	inertia[1] = scaledmass * (x2+z2);
-	inertia[2] = scaledmass * (x2+y2);
-
+	inertia[0] = scaledmass * (y2 + z2);
+	inertia[1] = scaledmass * (x2 + z2);
+	inertia[2] = scaledmass * (x2 + y2);
 }
 
-btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
+btCapsuleShapeX::btCapsuleShapeX(btScalar radius, btScalar height)
 {
 	m_collisionMargin = radius;
 	m_upAxis = 0;
-	m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
+	m_implicitShapeDimensions.setValue(0.5f * height, radius, radius);
 }
 
-
-
-
-
-
-btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
+btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius, btScalar height)
 {
 	m_collisionMargin = radius;
 	m_upAxis = 2;
-	m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
+	m_implicitShapeDimensions.setValue(radius, radius, 0.5f * height);
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
index 7d64b46abf..138d0c0f7c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -17,98 +17,96 @@ subject to the following restrictions:
 #define BT_CAPSULE_SHAPE_H
 
 #include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
 ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
 ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
-ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class)
+btCapsuleShape : public btConvexInternalShape
 {
 protected:
-	int	m_upAxis;
+	int m_upAxis;
 
 protected:
 	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
-	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
+	btCapsuleShape() : btConvexInternalShape() { m_shapeType = CAPSULE_SHAPE_PROXYTYPE; };
 
 public:
-	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btCapsuleShape(btScalar radius,btScalar height);
+
+	btCapsuleShape(btScalar radius, btScalar height);
 
 	///CollisionShape Interface
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
 	/// btConvexShape Interface
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
 	virtual void setMargin(btScalar collisionMargin)
 	{
 		//don't override the margin for capsules, their entire radius == margin
+		(void)collisionMargin;
 	}
 
-	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
-			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
-			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
-			btMatrix3x3 abs_b = t.getBasis().absolute();  
-			btVector3 center = t.getOrigin();
-            btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-        
-			aabbMin = center - extent;
-			aabbMax = center + extent;
+		btVector3 halfExtents(getRadius(), getRadius(), getRadius());
+		halfExtents[m_upAxis] = getRadius() + getHalfHeight();
+		btMatrix3x3 abs_b = t.getBasis().absolute();
+		btVector3 center = t.getOrigin();
+		btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+
+		aabbMin = center - extent;
+		aabbMax = center + extent;
 	}
 
-	virtual const char*	getName()const 
+	virtual const char* getName() const
 	{
 		return "CapsuleShape";
 	}
 
-	int	getUpAxis() const
+	int getUpAxis() const
 	{
 		return m_upAxis;
 	}
 
-	btScalar	getRadius() const
+	btScalar getRadius() const
 	{
-		int radiusAxis = (m_upAxis+2)%3;
+		int radiusAxis = (m_upAxis + 2) % 3;
 		return m_implicitShapeDimensions[radiusAxis];
 	}
 
-	btScalar	getHalfHeight() const
+	btScalar getHalfHeight() const
 	{
 		return m_implicitShapeDimensions[m_upAxis];
 	}
 
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
 		btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
-                btConvexInternalShape::setLocalScaling(scaling);
+		btConvexInternalShape::setLocalScaling(scaling);
 		m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
 		//update m_collisionMargin, since entire radius==margin
-		int radiusAxis = (m_upAxis+2)%3;
+		int radiusAxis = (m_upAxis + 2) % 3;
 		m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
 	}
 
-	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	virtual btVector3 getAnisotropicRollingFrictionDirection() const
 	{
-		btVector3 aniDir(0,0,0);
-		aniDir[getUpAxis()]=1;
+		btVector3 aniDir(0, 0, 0);
+		aniDir[getUpAxis()] = 1;
 		return aniDir;
 	}
 
-
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	SIMD_FORCE_INLINE	void	deSerializeFloat(struct btCapsuleShapeData* dataBuffer);
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
+	SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer);
 };
 
 ///btCapsuleShapeX represents a capsule around the Z axis
@@ -116,17 +114,13 @@ public:
 class btCapsuleShapeX : public btCapsuleShape
 {
 public:
+	btCapsuleShapeX(btScalar radius, btScalar height);
 
-	btCapsuleShapeX(btScalar radius,btScalar height);
-		
 	//debugging
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "CapsuleX";
 	}
-
-	
-
 };
 
 ///btCapsuleShapeZ represents a capsule around the Z axis
@@ -134,38 +128,36 @@ public:
 class btCapsuleShapeZ : public btCapsuleShape
 {
 public:
-	btCapsuleShapeZ(btScalar radius,btScalar height);
+	btCapsuleShapeZ(btScalar radius, btScalar height);
 
-		//debugging
-	virtual const char*	getName()const
+	//debugging
+	virtual const char* getName() const
 	{
 		return "CapsuleZ";
 	}
-
-	
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCapsuleShapeData
+struct btCapsuleShapeData
 {
-	btConvexInternalShapeData	m_convexInternalShapeData;
+	btConvexInternalShapeData m_convexInternalShapeData;
 
-	int	m_upAxis;
+	int m_upAxis;
 
-	char	m_padding[4];
+	char m_padding[4];
 };
 
-SIMD_FORCE_INLINE	int	btCapsuleShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btCapsuleShapeData);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
+	btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer;
 
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 
 	shapeData->m_upAxis = m_upAxis;
 
@@ -178,7 +170,7 @@ SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSeri
 	return "btCapsuleShapeData";
 }
 
-SIMD_FORCE_INLINE	void	btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
+SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
 {
 	m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
 	m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
@@ -187,4 +179,4 @@ SIMD_FORCE_INLINE	void	btCapsuleShape::deSerializeFloat(btCapsuleShapeData* data
 	m_upAxis = dataBuffer->m_upAxis;
 }
 
-#endif //BT_CAPSULE_SHAPE_H
+#endif  //BT_CAPSULE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
index 474bf1fb49..abd8ab3eb5 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
@@ -19,9 +19,6 @@ subject to the following restrictions:
 ///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
 ///This collision margin is used by Gjk and some other algorithms
 ///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
-#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
-
-
-
-#endif //BT_COLLISION_MARGIN_H
+#define CONVEX_DISTANCE_MARGIN btScalar(0.04)  // btScalar(0.1)//;//btScalar(0.01)
 
+#endif  //BT_COLLISION_MARGIN_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
index 823e2788f2..0b3640a65b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
@@ -20,47 +20,44 @@ subject to the following restrictions:
   can be used by probes that are checking whether the
   library is actually installed.
 */
-extern "C" 
+extern "C"
 {
-void btBulletCollisionProbe ();
+	void btBulletCollisionProbe();
 
-void btBulletCollisionProbe () {}
+	void btBulletCollisionProbe() {}
 }
 
-
-
-void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
+void btCollisionShape::getBoundingSphere(btVector3& center, btScalar& radius) const
 {
 	btTransform tr;
 	tr.setIdentity();
-	btVector3 aabbMin,aabbMax;
+	btVector3 aabbMin, aabbMax;
 
-	getAabb(tr,aabbMin,aabbMax);
+	getAabb(tr, aabbMin, aabbMax);
 
-	radius = (aabbMax-aabbMin).length()*btScalar(0.5);
-	center = (aabbMin+aabbMax)*btScalar(0.5);
+	radius = (aabbMax - aabbMin).length() * btScalar(0.5);
+	center = (aabbMin + aabbMax) * btScalar(0.5);
 }
 
-
-btScalar	btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
+btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
 {
 	return getAngularMotionDisc() * defaultContactThreshold;
 }
 
-btScalar	btCollisionShape::getAngularMotionDisc() const
+btScalar btCollisionShape::getAngularMotionDisc() const
 {
 	///@todo cache this value, to improve performance
-	btVector3	center;
+	btVector3 center;
 	btScalar disc;
-	getBoundingSphere(center,disc);
+	getBoundingSphere(center, disc);
 	disc += (center).length();
 	return disc;
 }
 
-void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
+void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const
 {
 	//start with static aabb
-	getAabb(curTrans,temporalAabbMin,temporalAabbMax);
+	getAabb(curTrans, temporalAabbMin, temporalAabbMax);
 
 	btScalar temporalAabbMaxx = temporalAabbMax.getX();
 	btScalar temporalAabbMaxy = temporalAabbMax.getY();
@@ -70,36 +67,36 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b
 	btScalar temporalAabbMinz = temporalAabbMin.getZ();
 
 	// add linear motion
-	btVector3 linMotion = linvel*timeStep;
+	btVector3 linMotion = linvel * timeStep;
 	///@todo: simd would have a vector max/min operation, instead of per-element access
 	if (linMotion.x() > btScalar(0.))
-		temporalAabbMaxx += linMotion.x(); 
+		temporalAabbMaxx += linMotion.x();
 	else
 		temporalAabbMinx += linMotion.x();
 	if (linMotion.y() > btScalar(0.))
-		temporalAabbMaxy += linMotion.y(); 
+		temporalAabbMaxy += linMotion.y();
 	else
 		temporalAabbMiny += linMotion.y();
 	if (linMotion.z() > btScalar(0.))
-		temporalAabbMaxz += linMotion.z(); 
+		temporalAabbMaxz += linMotion.z();
 	else
 		temporalAabbMinz += linMotion.z();
 
 	//add conservative angular motion
 	btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
-	btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
-	temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
-	temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
+	btVector3 angularMotion3d(angularMotion, angularMotion, angularMotion);
+	temporalAabbMin = btVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
+	temporalAabbMax = btVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
 
 	temporalAabbMin -= angularMotion3d;
 	temporalAabbMax += angularMotion3d;
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
-	char* name = (char*) serializer->findNameForPointer(this);
+	btCollisionShapeData* shapeData = (btCollisionShapeData*)dataBuffer;
+	char* name = (char*)serializer->findNameForPointer(this);
 	shapeData->m_name = (char*)serializer->getUniquePointer(name);
 	if (shapeData->m_name)
 	{
@@ -113,10 +110,10 @@ const char*	btCollisionShape::serialize(void* dataBuffer, btSerializer* serializ
 	return "btCollisionShapeData";
 }
 
-void	btCollisionShape::serializeSingleShape(btSerializer* serializer) const
+void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
 {
 	int len = calculateSerializeBufferSize();
-	btChunk* chunk = serializer->allocate(len,1);
+	btChunk* chunk = serializer->allocate(len, 1);
 	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
+	serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, (void*)this);
 }
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
index 6c4916fbd4..c80e105a4d 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -19,12 +19,12 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  //for the shape types
 class btSerializer;
 
-
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
-ATTRIBUTE_ALIGNED16(class) btCollisionShape
+ATTRIBUTE_ALIGNED16(class)
+btCollisionShape
 {
 protected:
 	int m_shapeType;
@@ -32,10 +32,9 @@ protected:
 	int m_userIndex;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
+	btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
 	{
 	}
 
@@ -44,50 +43,47 @@ public:
 	}
 
 	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
 
-	virtual void	getBoundingSphere(btVector3& center,btScalar& radius) const;
+	virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;
 
 	///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
-	virtual btScalar	getAngularMotionDisc() const;
-
-	virtual btScalar	getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
+	virtual btScalar getAngularMotionDisc() const;
 
+	virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
 
 	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
 	///result is conservative
-	void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
-
+	void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
 
-
-	SIMD_FORCE_INLINE bool	isPolyhedral() const
+	SIMD_FORCE_INLINE bool isPolyhedral() const
 	{
 		return btBroadphaseProxy::isPolyhedral(getShapeType());
 	}
 
-	SIMD_FORCE_INLINE bool	isConvex2d() const
+	SIMD_FORCE_INLINE bool isConvex2d() const
 	{
 		return btBroadphaseProxy::isConvex2d(getShapeType());
 	}
 
-	SIMD_FORCE_INLINE bool	isConvex() const
+	SIMD_FORCE_INLINE bool isConvex() const
 	{
 		return btBroadphaseProxy::isConvex(getShapeType());
 	}
-	SIMD_FORCE_INLINE bool	isNonMoving() const
+	SIMD_FORCE_INLINE bool isNonMoving() const
 	{
 		return btBroadphaseProxy::isNonMoving(getShapeType());
 	}
-	SIMD_FORCE_INLINE bool	isConcave() const
+	SIMD_FORCE_INLINE bool isConcave() const
 	{
 		return btBroadphaseProxy::isConcave(getShapeType());
 	}
-	SIMD_FORCE_INLINE bool	isCompound() const
+	SIMD_FORCE_INLINE bool isCompound() const
 	{
 		return btBroadphaseProxy::isCompound(getShapeType());
 	}
 
-	SIMD_FORCE_INLINE bool	isSoftBody() const
+	SIMD_FORCE_INLINE bool isSoftBody() const
 	{
 		return btBroadphaseProxy::isSoftBody(getShapeType());
 	}
@@ -99,35 +95,35 @@ public:
 	}
 
 #ifndef __SPU__
-	virtual void	setLocalScaling(const btVector3& scaling) =0;
-	virtual const btVector3& getLocalScaling() const =0;
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
-
+	virtual void setLocalScaling(const btVector3& scaling) = 0;
+	virtual const btVector3& getLocalScaling() const = 0;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
 
-//debugging support
-	virtual const char*	getName()const =0 ;
-#endif //__SPU__
+	//debugging support
+	virtual const char* getName() const = 0;
+#endif  //__SPU__
 
-	
-	int		getShapeType() const { return m_shapeType; }
+	int getShapeType() const
+	{
+		return m_shapeType;
+	}
 
 	///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
 	///See Bullet/Demos/RollingFrictionDemo for an example
-	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	virtual btVector3 getAnisotropicRollingFrictionDirection() const
 	{
-		return btVector3(1,1,1);
+		return btVector3(1, 1, 1);
 	}
-	virtual void	setMargin(btScalar margin) = 0;
-	virtual btScalar	getMargin() const = 0;
+	virtual void setMargin(btScalar margin) = 0;
+	virtual btScalar getMargin() const = 0;
 
-	
 	///optional user data pointer
-	void	setUserPointer(void*  userPtr)
+	void setUserPointer(void* userPtr)
 	{
 		m_userPointer = userPtr;
 	}
 
-	void*	getUserPointer() const
+	void* getUserPointer() const
 	{
 		return m_userPointer;
 	}
@@ -141,16 +137,16 @@ public:
 		return m_userIndex;
 	}
 
-
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void	serializeSingleShape(btSerializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
-};	
+	virtual void serializeSingleShape(btSerializer * serializer) const;
+};
 
+// clang-format off
+// parser needs * with the name
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btCollisionShapeData
 {
@@ -158,13 +154,10 @@ struct	btCollisionShapeData
 	int		m_shapeType;
 	char	m_padding[4];
 };
-
-SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize() const
+// clang-format on
+SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btCollisionShapeData);
 }
 
-
-
-#endif //BT_COLLISION_SHAPE_H
-
+#endif  //BT_COLLISION_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
index e8c8c336cd..fd7828b104 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -19,26 +19,25 @@ subject to the following restrictions:
 #include "LinearMath/btSerializer.h"
 
 btCompoundShape::btCompoundShape(bool enableDynamicAabbTree, const int initialChildCapacity)
-: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
-m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
-m_dynamicAabbTree(0),
-m_updateRevision(1),
-m_collisionMargin(btScalar(0.)),
-m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
+	: m_localAabbMin(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)),
+	  m_localAabbMax(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)),
+	  m_dynamicAabbTree(0),
+	  m_updateRevision(1),
+	  m_collisionMargin(btScalar(0.)),
+	  m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
 {
 	m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
 
 	if (enableDynamicAabbTree)
 	{
-		void* mem = btAlignedAlloc(sizeof(btDbvt),16);
-		m_dynamicAabbTree = new(mem) btDbvt();
-		btAssert(mem==m_dynamicAabbTree);
+		void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
+		m_dynamicAabbTree = new (mem) btDbvt();
+		btAssert(mem == m_dynamicAabbTree);
 	}
 
 	m_children.reserve(initialChildCapacity);
 }
 
-
 btCompoundShape::~btCompoundShape()
 {
 	if (m_dynamicAabbTree)
@@ -48,7 +47,7 @@ btCompoundShape::~btCompoundShape()
 	}
 }
 
-void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
+void btCompoundShape::addChildShape(const btTransform& localTransform, btCollisionShape* shape)
 {
 	m_updateRevision++;
 	//m_childTransforms.push_back(localTransform);
@@ -60,11 +59,10 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	child.m_childShapeType = shape->getShapeType();
 	child.m_childMargin = shape->getMargin();
 
-	
 	//extend the local aabbMin/aabbMax
-	btVector3 localAabbMin,localAabbMax;
-	shape->getAabb(localTransform,localAabbMin,localAabbMax);
-	for (int i=0;i<3;i++)
+	btVector3 localAabbMin, localAabbMax;
+	shape->getAabb(localTransform, localAabbMin, localAabbMax);
+	for (int i = 0; i < 3; i++)
 	{
 		if (m_localAabbMin[i] > localAabbMin[i])
 		{
@@ -74,31 +72,30 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 		{
 			m_localAabbMax[i] = localAabbMax[i];
 		}
-
 	}
 	if (m_dynamicAabbTree)
 	{
-		const btDbvtVolume	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+		const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
 		size_t index = m_children.size();
-		child.m_node = m_dynamicAabbTree->insert(bounds,reinterpret_cast<void*>(index) );
+		child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index));
 	}
 
 	m_children.push_back(child);
-
 }
 
-void	btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb)
+void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb)
 {
 	m_children[childIndex].m_transform = newChildTransform;
 
 	if (m_dynamicAabbTree)
 	{
 		///update the dynamic aabb tree
-		btVector3 localAabbMin,localAabbMax;
-		m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+		btVector3 localAabbMin, localAabbMax;
+		m_children[childIndex].m_childShape->getAabb(newChildTransform, localAabbMin, localAabbMax);
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)
+		bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
 		//int index = m_children.size()-1;
-		m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
+		m_dynamicAabbTree->update(m_children[childIndex].m_node, bounds);
 	}
 
 	if (shouldRecalculateLocalAabb)
@@ -110,35 +107,30 @@ void	btCompoundShape::updateChildTransform(int childIndex, const btTransform& ne
 void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 {
 	m_updateRevision++;
-	btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
+	btAssert(childShapeIndex >= 0 && childShapeIndex < m_children.size());
 	if (m_dynamicAabbTree)
 	{
 		m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
 	}
-	m_children.swap(childShapeIndex,m_children.size()-1);
-    if (m_dynamicAabbTree) 
+	m_children.swap(childShapeIndex, m_children.size() - 1);
+	if (m_dynamicAabbTree)
 		m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
 	m_children.pop_back();
-
 }
 
-
-
 void btCompoundShape::removeChildShape(btCollisionShape* shape)
 {
 	m_updateRevision++;
 	// Find the children containing the shape specified, and remove those children.
 	//note: there might be multiple children using the same shape!
-	for(int i = m_children.size()-1; i >= 0 ; i--)
+	for (int i = m_children.size() - 1; i >= 0; i--)
 	{
-		if(m_children[i].m_childShape == shape)
+		if (m_children[i].m_childShape == shape)
 		{
 			removeChildShapeByIndex(i);
 		}
 	}
 
-
-
 	recalculateLocalAabb();
 }
 
@@ -147,15 +139,15 @@ void btCompoundShape::recalculateLocalAabb()
 	// Recalculate the local aabb
 	// Brute force, it iterates over all the shapes left.
 
-	m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-	m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+	m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+	m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
 
 	//extend the local aabbMin/aabbMax
 	for (int j = 0; j < m_children.size(); j++)
 	{
-		btVector3 localAabbMin,localAabbMax;
+		btVector3 localAabbMin, localAabbMax;
 		m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
-		for (int i=0;i<3;i++)
+		for (int i = 0; i < 3; i++)
 		{
 			if (m_localAabbMin[i] > localAabbMin[i])
 				m_localAabbMin[i] = localAabbMin[i];
@@ -166,54 +158,48 @@ void btCompoundShape::recalculateLocalAabb()
 }
 
 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btCompoundShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
-	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-	
+	btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
+	btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
+
 	//avoid an illegal AABB when there are no children
 	if (!m_children.size())
 	{
-		localHalfExtents.setValue(0,0,0);
-		localCenter.setValue(0,0,0);
+		localHalfExtents.setValue(0, 0, 0);
+		localCenter.setValue(0, 0, 0);
 	}
-	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
-		
+	localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
 
-	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+	btMatrix3x3 abs_b = trans.getBasis().absolute();
 
 	btVector3 center = trans(localCenter);
 
-    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	aabbMin = center-extent;
-	aabbMax = center+extent;
-	
+	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	aabbMin = center - extent;
+	aabbMax = center + extent;
 }
 
-void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	//approximation: take the inertia from the aabb for now
 	btTransform ident;
 	ident.setIdentity();
-	btVector3 aabbMin,aabbMax;
-	getAabb(ident,aabbMin,aabbMax);
+	btVector3 aabbMin, aabbMax;
+	getAabb(ident, aabbMin, aabbMax);
 
-	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
 
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
-
-	inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
-	inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
-	inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
+	btScalar lx = btScalar(2.) * (halfExtents.x());
+	btScalar ly = btScalar(2.) * (halfExtents.y());
+	btScalar lz = btScalar(2.) * (halfExtents.z());
 
+	inertia[0] = mass / (btScalar(12.0)) * (ly * ly + lz * lz);
+	inertia[1] = mass / (btScalar(12.0)) * (lx * lx + lz * lz);
+	inertia[2] = mass / (btScalar(12.0)) * (lx * lx + ly * ly);
 }
 
-
-
-
-void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
+void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
 {
 	int n = m_children.size();
 
@@ -223,18 +209,18 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 
 	for (k = 0; k < n; k++)
 	{
-		btAssert(masses[k]>0);
+		btAssert(masses[k] > 0);
 		center += m_children[k].m_transform.getOrigin() * masses[k];
 		totalMass += masses[k];
 	}
 
-	btAssert(totalMass>0);
+	btAssert(totalMass > 0);
 
 	center /= totalMass;
 	principal.setOrigin(center);
 
 	btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	for ( k = 0; k < n; k++)
+	for (k = 0; k < n; k++)
 	{
 		btVector3 i;
 		m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
@@ -259,8 +245,8 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 		j[0].setValue(o2, 0, 0);
 		j[1].setValue(0, o2, 0);
 		j[2].setValue(0, 0, o2);
-		j[0] += o * -o.x(); 
-		j[1] += o * -o.y(); 
+		j[0] += o * -o.x();
+		j[1] += o * -o.y();
 		j[2] += o * -o.z();
 
 		//add inertia tensor of pointmass
@@ -273,59 +259,50 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 	inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
 }
 
-
-
-
-
 void btCompoundShape::setLocalScaling(const btVector3& scaling)
 {
-
-	for(int i = 0; i < m_children.size(); i++)
+	for (int i = 0; i < m_children.size(); i++)
 	{
 		btTransform childTrans = getChildTransform(i);
 		btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
-//		childScale = childScale * (childTrans.getBasis() * scaling);
+		//		childScale = childScale * (childTrans.getBasis() * scaling);
 		childScale = childScale * scaling / m_localScaling;
 		m_children[i].m_childShape->setLocalScaling(childScale);
 		childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
-		updateChildTransform(i, childTrans,false);
+		updateChildTransform(i, childTrans, false);
 	}
-	
+
 	m_localScaling = scaling;
 	recalculateLocalAabb();
-
 }
 
-
 void btCompoundShape::createAabbTreeFromChildren()
 {
-    if ( !m_dynamicAabbTree )
-    {
-        void* mem = btAlignedAlloc(sizeof(btDbvt),16);
-        m_dynamicAabbTree = new(mem) btDbvt();
-        btAssert(mem==m_dynamicAabbTree);
+	if (!m_dynamicAabbTree)
+	{
+		void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
+		m_dynamicAabbTree = new (mem) btDbvt();
+		btAssert(mem == m_dynamicAabbTree);
 
-        for ( int index = 0; index < m_children.size(); index++ )
-        {
-            btCompoundShapeChild &child = m_children[index];
+		for (int index = 0; index < m_children.size(); index++)
+		{
+			btCompoundShapeChild& child = m_children[index];
 
-            //extend the local aabbMin/aabbMax
-            btVector3 localAabbMin,localAabbMax;
-            child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
+			//extend the local aabbMin/aabbMax
+			btVector3 localAabbMin, localAabbMax;
+			child.m_childShape->getAabb(child.m_transform, localAabbMin, localAabbMax);
 
-            const btDbvtVolume  bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+			const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
 			size_t index2 = index;
-            child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) );
-        }
-    }
+			child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2));
+		}
+	}
 }
 
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-
-	btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
+	btCompoundShapeData* shapeData = (btCompoundShapeData*)dataBuffer;
 	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
 
 	shapeData->m_collisionMargin = float(m_collisionMargin);
@@ -333,27 +310,26 @@ const char*	btCompoundShape::serialize(void* dataBuffer, btSerializer* serialize
 	shapeData->m_childShapePtr = 0;
 	if (shapeData->m_numChildShapes)
 	{
-		btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
+		btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData), shapeData->m_numChildShapes);
 		btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
 		shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
 
-		for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
+		for (int i = 0; i < shapeData->m_numChildShapes; i++, memPtr++)
 		{
 			memPtr->m_childMargin = float(m_children[i].m_childMargin);
 			memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
 			//don't serialize shapes that already have been serialized
 			if (!serializer->findPointer(m_children[i].m_childShape))
 			{
-				btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
-				const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
-				serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
-			} 
+				btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(), 1);
+				const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr, serializer);
+				serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, m_children[i].m_childShape);
+			}
 
 			memPtr->m_childShapeType = m_children[i].m_childShapeType;
 			m_children[i].m_transform.serializeFloat(memPtr->m_transform);
 		}
-		serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
+		serializer->finalizeChunk(chunk, "btCompoundShapeChildData", BT_ARRAY_CODE, chunk->m_oldPtr);
 	}
 	return "btCompoundShapeData";
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
index 4eef8dba30..7e2d0eb817 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -27,45 +27,47 @@ subject to the following restrictions:
 //class btOptimizedBvh;
 struct btDbvt;
 
-ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
+ATTRIBUTE_ALIGNED16(struct)
+btCompoundShapeChild
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btTransform			m_transform;
-	btCollisionShape*	m_childShape;
-	int					m_childShapeType;
-	btScalar			m_childMargin;
-	struct btDbvtNode*	m_node;
+	btTransform m_transform;
+	btCollisionShape* m_childShape;
+	int m_childShapeType;
+	btScalar m_childMargin;
+	struct btDbvtNode* m_node;
 };
 
 SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
 {
-	return  ( c1.m_transform      == c2.m_transform &&
-		c1.m_childShape     == c2.m_childShape &&
-		c1.m_childShapeType == c2.m_childShapeType &&
-		c1.m_childMargin    == c2.m_childMargin );
+	return (c1.m_transform == c2.m_transform &&
+			c1.m_childShape == c2.m_childShape &&
+			c1.m_childShapeType == c2.m_childShapeType &&
+			c1.m_childMargin == c2.m_childMargin);
 }
 
 /// The btCompoundShape allows to store multiple other btCollisionShapes
 /// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
-/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
+/// It has an (optional) dynamic aabb tree to accelerate early rejection tests.
 /// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
 /// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
-ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
+ATTRIBUTE_ALIGNED16(class)
+btCompoundShape : public btCollisionShape
 {
 protected:
 	btAlignedObjectArray<btCompoundShapeChild> m_children;
-	btVector3						m_localAabbMin;
-	btVector3						m_localAabbMax;
+	btVector3 m_localAabbMin;
+	btVector3 m_localAabbMax;
 
-	btDbvt*							m_dynamicAabbTree;
+	btDbvt* m_dynamicAabbTree;
 
 	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
-	int								m_updateRevision;
+	int m_updateRevision;
 
-	btScalar	m_collisionMargin;
+	btScalar m_collisionMargin;
 
-	btVector3	m_localScaling;
+	btVector3 m_localScaling;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -74,17 +76,16 @@ public:
 
 	virtual ~btCompoundShape();
 
-	void	addChildShape(const btTransform& localTransform,btCollisionShape* shape);
+	void addChildShape(const btTransform& localTransform, btCollisionShape* shape);
 
 	/// Remove all children shapes that contain the specified shape
-	virtual void removeChildShape(btCollisionShape* shape);
+	virtual void removeChildShape(btCollisionShape * shape);
 
 	void removeChildShapeByIndex(int childShapeindex);
 
-
-	int		getNumChildShapes() const
+	int getNumChildShapes() const
 	{
-		return int (m_children.size());
+		return int(m_children.size());
 	}
 
 	btCollisionShape* getChildShape(int index)
@@ -96,18 +97,17 @@ public:
 		return m_children[index].m_childShape;
 	}
 
-	btTransform&	getChildTransform(int index)
+	btTransform& getChildTransform(int index)
 	{
 		return m_children[index].m_transform;
 	}
-	const btTransform&	getChildTransform(int index) const
+	const btTransform& getChildTransform(int index) const
 	{
 		return m_children[index].m_transform;
 	}
 
 	///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
-	void	updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
-
+	void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
 
 	btCompoundShapeChild* getChildList()
 	{
@@ -115,40 +115,40 @@ public:
 	}
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	virtual	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
 	/** Re-calculate the local Aabb. Is called at the end of removeChildShapes. 
 	Use this yourself if you modify the children or their transforms. */
-	virtual void recalculateLocalAabb(); 
+	virtual void recalculateLocalAabb();
 
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void setLocalScaling(const btVector3& scaling);
 
-	virtual const btVector3& getLocalScaling() const 
+	virtual const btVector3& getLocalScaling() const
 	{
 		return m_localScaling;
 	}
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual void	setMargin(btScalar margin)
+	virtual void setMargin(btScalar margin)
 	{
 		m_collisionMargin = margin;
 	}
-	virtual btScalar	getMargin() const
+	virtual btScalar getMargin() const
 	{
 		return m_collisionMargin;
 	}
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "Compound";
 	}
 
-	const btDbvt*	getDynamicAabbTree() const
+	const btDbvt* getDynamicAabbTree() const
 	{
 		return m_dynamicAabbTree;
 	}
-	
-	btDbvt*	getDynamicAabbTree()
+
+	btDbvt* getDynamicAabbTree()
 	{
 		return m_dynamicAabbTree;
 	}
@@ -160,21 +160,21 @@ public:
 	///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
 	///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
 	///of the collision object by the principal transform.
-	void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
+	void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const;
 
-	int	getUpdateRevision() const
+	int getUpdateRevision() const
 	{
 		return m_updateRevision;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
+// clang-format off
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btCompoundShapeChildData
 {
@@ -197,16 +197,11 @@ struct	btCompoundShapeData
 
 };
 
+// clang-format on
 
-SIMD_FORCE_INLINE	int	btCompoundShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btCompoundShapeData);
 }
 
-
-
-
-
-
-
-#endif //BT_COMPOUND_SHAPE_H
+#endif  //BT_COMPOUND_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
index 58ff84a5b0..5d396844dd 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
@@ -13,15 +13,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btConcaveShape.h"
 
 btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
 {
-
 }
 
 btConcaveShape::~btConcaveShape()
 {
-
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
index 2917cc5b60..716624e182 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -17,12 +17,13 @@ subject to the following restrictions:
 #define BT_CONCAVE_SHAPE_H
 
 #include "btCollisionShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 #include "btTriangleCallback.h"
 
 /// PHY_ScalarType enumerates possible scalar types.
 /// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use
-typedef enum PHY_ScalarType {
+typedef enum PHY_ScalarType
+{
 	PHY_FLOAT,
 	PHY_DOUBLE,
 	PHY_INTEGER,
@@ -33,30 +34,29 @@ typedef enum PHY_ScalarType {
 
 ///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
 ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
-ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape
+ATTRIBUTE_ALIGNED16(class)
+btConcaveShape : public btCollisionShape
 {
 protected:
 	btScalar m_collisionMargin;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btConcaveShape();
 
 	virtual ~btConcaveShape();
 
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
+	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const = 0;
 
-	virtual btScalar getMargin() const {
+	virtual btScalar getMargin() const
+	{
 		return m_collisionMargin;
 	}
 	virtual void setMargin(btScalar collisionMargin)
 	{
 		m_collisionMargin = collisionMargin;
 	}
-
-
-
 };
 
-#endif //BT_CONCAVE_SHAPE_H
+#endif  //BT_CONCAVE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
index 2d83c8bfba..64a6f272ca 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
@@ -15,11 +15,9 @@ subject to the following restrictions:
 
 #include "btConeShape.h"
 
-
-
-btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
-m_radius (radius),
-m_height(height)
+btConeShape::btConeShape(btScalar radius, btScalar height) : btConvexInternalShape(),
+															 m_radius(radius),
+															 m_height(height)
 {
 	m_shapeType = CONE_SHAPE_PROXYTYPE;
 	setConeUpIndex(1);
@@ -27,42 +25,40 @@ m_height(height)
 	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
 }
 
-btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
-btConeShape(radius,height)
+btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
 {
 	setConeUpIndex(2);
 }
 
-btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
-btConeShape(radius,height)
+btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
 {
 	setConeUpIndex(0);
 }
 
 ///choose upAxis index
-void	btConeShape::setConeUpIndex(int upIndex)
+void btConeShape::setConeUpIndex(int upIndex)
 {
 	switch (upIndex)
 	{
-	case 0:
+		case 0:
 			m_coneIndices[0] = 1;
 			m_coneIndices[1] = 0;
 			m_coneIndices[2] = 2;
-		break;
-	case 1:
+			break;
+		case 1:
 			m_coneIndices[0] = 0;
 			m_coneIndices[1] = 1;
 			m_coneIndices[2] = 2;
-		break;
-	case 2:
+			break;
+		case 2:
 			m_coneIndices[0] = 0;
 			m_coneIndices[1] = 2;
 			m_coneIndices[2] = 1;
-		break;
-	default:
-		btAssert(0);
+			break;
+		default:
+			btAssert(0);
 	};
-	
+
 	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
 	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
 	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
@@ -70,72 +66,71 @@ void	btConeShape::setConeUpIndex(int upIndex)
 
 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
 {
-	
 	btScalar halfHeight = m_height * btScalar(0.5);
 
- if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
- {
-	btVector3 tmp;
-
-	tmp[m_coneIndices[0]] = btScalar(0.);
-	tmp[m_coneIndices[1]] = halfHeight;
-	tmp[m_coneIndices[2]] = btScalar(0.);
-	return tmp;
- }
-  else {
-    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
-    if (s > SIMD_EPSILON) {
-      btScalar d = m_radius / s;
-	  btVector3 tmp;
-	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
-	  tmp[m_coneIndices[1]] = -halfHeight;
-	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
-	  return tmp;
-    }
-    else  {
+	if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
+	{
 		btVector3 tmp;
+
 		tmp[m_coneIndices[0]] = btScalar(0.);
-		tmp[m_coneIndices[1]] = -halfHeight;
+		tmp[m_coneIndices[1]] = halfHeight;
 		tmp[m_coneIndices[2]] = btScalar(0.);
 		return tmp;
 	}
-  }
-
+	else
+	{
+		btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
+		if (s > SIMD_EPSILON)
+		{
+			btScalar d = m_radius / s;
+			btVector3 tmp;
+			tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
+			tmp[m_coneIndices[1]] = -halfHeight;
+			tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
+			return tmp;
+		}
+		else
+		{
+			btVector3 tmp;
+			tmp[m_coneIndices[0]] = btScalar(0.);
+			tmp[m_coneIndices[1]] = -halfHeight;
+			tmp[m_coneIndices[2]] = btScalar(0.);
+			return tmp;
+		}
+	}
 }
 
-btVector3	btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
+btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-		return coneLocalSupport(vec);
+	return coneLocalSupport(vec);
 }
 
-void	btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
 		const btVector3& vec = vectors[i];
 		supportVerticesOut[i] = coneLocalSupport(vec);
 	}
 }
 
-
-btVector3	btConeShape::localGetSupportingVertex(const btVector3& vec)  const
+btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex = coneLocalSupport(vec);
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 }
 
-
-void	btConeShape::setLocalScaling(const btVector3& scaling)
+void btConeShape::setLocalScaling(const btVector3& scaling)
 {
 	int axis = m_coneIndices[1];
 	int r1 = m_coneIndices[0];
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
index 3b44e3f272..49f26bc4e5 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
@@ -17,31 +17,30 @@ subject to the following restrictions:
 #define BT_CONE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 ///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
-ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class)
+btConeShape : public btConvexInternalShape
 
 {
-
 	btScalar m_sinAngle;
 	btScalar m_radius;
 	btScalar m_height;
-	int		m_coneIndices[3];
+	int m_coneIndices[3];
 	btVector3 coneLocalSupport(const btVector3& v) const;
 
-
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btConeShape (btScalar radius,btScalar height);
-	
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 
-	btScalar getRadius() const { return m_radius;}
-	btScalar getHeight() const { return m_height;}
+	btConeShape(btScalar radius, btScalar height);
+
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
+
+	btScalar getRadius() const { return m_radius; }
+	btScalar getHeight() const { return m_height; }
 
 	void setRadius(const btScalar radius)
 	{
@@ -52,124 +51,115 @@ public:
 		m_height = height;
 	}
 
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
 	{
 		btTransform identity;
 		identity.setIdentity();
-		btVector3 aabbMin,aabbMax;
-		getAabb(identity,aabbMin,aabbMax);
+		btVector3 aabbMin, aabbMax;
+		getAabb(identity, aabbMin, aabbMax);
 
-		btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+		btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
 
 		btScalar margin = getMargin();
 
-		btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
-		btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
-		btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
-		const btScalar x2 = lx*lx;
-		const btScalar y2 = ly*ly;
-		const btScalar z2 = lz*lz;
+		btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
+		btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
+		btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
+		const btScalar x2 = lx * lx;
+		const btScalar y2 = ly * ly;
+		const btScalar z2 = lz * lz;
 		const btScalar scaledmass = mass * btScalar(0.08333333);
 
-		inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+		inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
 
-//		inertia.x() = scaledmass * (y2+z2);
-//		inertia.y() = scaledmass * (x2+z2);
-//		inertia.z() = scaledmass * (x2+y2);
+		//		inertia.x() = scaledmass * (y2+z2);
+		//		inertia.y() = scaledmass * (x2+z2);
+		//		inertia.z() = scaledmass * (x2+y2);
 	}
 
+	virtual const char* getName() const
+	{
+		return "Cone";
+	}
 
-		virtual const char*	getName()const 
-		{
-			return "Cone";
-		}
-		
-		///choose upAxis index
-		void	setConeUpIndex(int upIndex);
-		
-		int	getConeUpIndex() const
-		{
-			return m_coneIndices[1];
-		}
-
-	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	///choose upAxis index
+	void setConeUpIndex(int upIndex);
+
+	int getConeUpIndex() const
 	{
-		return btVector3 (0,1,0);
+		return m_coneIndices[1];
 	}
 
-	virtual void	setLocalScaling(const btVector3& scaling);
-	
-	
-	virtual	int	calculateSerializeBufferSize() const;
-	
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-	
+	virtual btVector3 getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3(0, 1, 0);
+	}
+
+	virtual void setLocalScaling(const btVector3& scaling);
 
+	virtual int calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///btConeShape implements a Cone shape, around the X axis
 class btConeShapeX : public btConeShape
 {
-	public:
-		btConeShapeX(btScalar radius,btScalar height);
+public:
+	btConeShapeX(btScalar radius, btScalar height);
 
-	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	virtual btVector3 getAnisotropicRollingFrictionDirection() const
 	{
-		return btVector3 (1,0,0);
+		return btVector3(1, 0, 0);
 	}
 
 	//debugging
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "ConeX";
 	}
-	
-	
 };
 
 ///btConeShapeZ implements a Cone shape, around the Z axis
 class btConeShapeZ : public btConeShape
 {
 public:
-	btConeShapeZ(btScalar radius,btScalar height);
+	btConeShapeZ(btScalar radius, btScalar height);
 
-	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	virtual btVector3 getAnisotropicRollingFrictionDirection() const
 	{
-		return btVector3 (0,0,1);
+		return btVector3(0, 0, 1);
 	}
 
 	//debugging
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "ConeZ";
 	}
-	
-	
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btConeShapeData
+struct btConeShapeData
 {
-	btConvexInternalShapeData	m_convexInternalShapeData;
-	
-	int	m_upIndex;
-	
-	char	m_padding[4];
+	btConvexInternalShapeData m_convexInternalShapeData;
+
+	int m_upIndex;
+
+	char m_padding[4];
 };
 
-SIMD_FORCE_INLINE	int	btConeShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btConeShapeData);
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
+	btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
 
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 
 	shapeData->m_upIndex = m_coneIndices[1];
 
@@ -182,5 +172,4 @@ SIMD_FORCE_INLINE	const char*	btConeShape::serialize(void* dataBuffer, btSeriali
 	return "btConeShapeData";
 }
 
-#endif //BT_CONE_MINKOWSKI_H
-
+#endif  //BT_CONE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
index 10ea3e981a..7d3d1d362f 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
@@ -15,54 +15,48 @@ subject to the following restrictions:
 
 #include "btConvex2dShape.h"
 
-btConvex2dShape::btConvex2dShape(	btConvexShape* convexChildShape):
-btConvexShape (), m_childConvexShape(convexChildShape)
+btConvex2dShape::btConvex2dShape(btConvexShape* convexChildShape) : btConvexShape(), m_childConvexShape(convexChildShape)
 {
 	m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
 }
-	
+
 btConvex2dShape::~btConvex2dShape()
 {
 }
 
-	
-
-btVector3	btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
 	return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
 }
 
-void	btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
+	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
 }
 
-
-btVector3	btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	return m_childConvexShape->localGetSupportingVertex(vec);
 }
 
-
-void	btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btConvex2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
-	m_childConvexShape->calculateLocalInertia(mass,inertia);
+	m_childConvexShape->calculateLocalInertia(mass, inertia);
 }
 
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btConvex2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	m_childConvexShape->getAabb(t,aabbMin,aabbMax);
+	m_childConvexShape->getAabb(t, aabbMin, aabbMax);
 }
 
-void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btConvex2dShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
+	m_childConvexShape->getAabbSlow(t, aabbMin, aabbMax);
 }
 
-void	btConvex2dShape::setLocalScaling(const btVector3& scaling) 
+void btConvex2dShape::setLocalScaling(const btVector3& scaling)
 {
 	m_childConvexShape->setLocalScaling(scaling);
 }
@@ -72,21 +66,21 @@ const btVector3& btConvex2dShape::getLocalScaling() const
 	return m_childConvexShape->getLocalScaling();
 }
 
-void	btConvex2dShape::setMargin(btScalar margin)
+void btConvex2dShape::setMargin(btScalar margin)
 {
 	m_childConvexShape->setMargin(margin);
 }
-btScalar	btConvex2dShape::getMargin() const
+btScalar btConvex2dShape::getMargin() const
 {
 	return m_childConvexShape->getMargin();
 }
 
-int		btConvex2dShape::getNumPreferredPenetrationDirections() const
+int btConvex2dShape::getNumPreferredPenetrationDirections() const
 {
 	return m_childConvexShape->getNumPreferredPenetrationDirections();
 }
-	
-void	btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 {
-	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
+	m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
index bbd1caf42f..cd4f1ef7b8 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
@@ -17,66 +17,61 @@ subject to the following restrictions:
 #define BT_CONVEX_2D_SHAPE_H
 
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 ///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
 ///For 2d boxes, the btBox2dShape is recommended.
-ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btConvex2dShape : public btConvexShape
 {
-	btConvexShape*	m_childConvexShape;
+	btConvexShape* m_childConvexShape;
 
-	public:
-	
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btConvex2dShape(	btConvexShape* convexChildShape);
-	
+
+	btConvex2dShape(btConvexShape * convexChildShape);
+
 	virtual ~btConvex2dShape();
-	
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	btConvexShape*	getChildShape() 
+	btConvexShape* getChildShape()
 	{
 		return m_childConvexShape;
 	}
 
-	const btConvexShape*	getChildShape() const
+	const btConvexShape* getChildShape() const
 	{
 		return m_childConvexShape;
 	}
 
-	virtual const char*	getName()const 
+	virtual const char* getName() const
 	{
 		return "Convex2dShape";
 	}
-	
-
 
 	///////////////////////////
 
-
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	setLocalScaling(const btVector3& scaling) ;
-	virtual const btVector3& getLocalScaling() const ;
+	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	setMargin(btScalar margin);
-	virtual btScalar	getMargin() const;
+	virtual void setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
 
-	virtual int		getNumPreferredPenetrationDirections() const;
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
+	virtual void setMargin(btScalar margin);
+	virtual btScalar getMargin() const;
 
+	virtual int getNumPreferredPenetrationDirections() const;
 
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
 };
 
-#endif //BT_CONVEX_2D_SHAPE_H
+#endif  //BT_CONVEX_2D_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index a7a9598406..703de45922 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
 #define BT_USE_SSE_IN_API
 #endif
 
@@ -25,14 +25,14 @@ subject to the following restrictions:
 #include "btConvexPolyhedron.h"
 #include "LinearMath/btConvexHullComputer.h"
 
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
+btConvexHullShape ::btConvexHullShape(const btScalar* points, int numPoints, int stride) : btPolyhedralConvexAabbCachingShape()
 {
 	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
 	m_unscaledPoints.resize(numPoints);
 
 	unsigned char* pointsAddress = (unsigned char*)points;
 
-	for (int i=0;i<numPoints;i++)
+	for (int i = 0; i < numPoints; i++)
 	{
 		btScalar* point = (btScalar*)pointsAddress;
 		m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
@@ -40,11 +40,8 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
 	}
 
 	recalcLocalAabb();
-
 }
 
-
-
 void btConvexHullShape::setLocalScaling(const btVector3& scaling)
 {
 	m_localScaling = scaling;
@@ -56,90 +53,81 @@ void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAa
 	m_unscaledPoints.push_back(point);
 	if (recalculateLocalAabb)
 		recalcLocalAabb();
-
 }
 
-btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
 	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
-    // Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically. 
-    if( 0 < m_unscaledPoints.size() )
-    {
-        btVector3 scaled = vec * m_localScaling;
-        int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
-        return m_unscaledPoints[index] * m_localScaling;
-    }
+	// Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically.
+	if (0 < m_unscaledPoints.size())
+	{
+		btVector3 scaled = vec * m_localScaling;
+		int index = (int)scaled.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), maxDot);  // FIXME: may violate encapsulation of m_unscaledPoints
+		return m_unscaledPoints[index] * m_localScaling;
+	}
 
-    return supVec;
+	return supVec;
 }
 
-void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
 	btScalar newDot;
 	//use 'w' component of supportVerticesOut?
 	{
-		for (int i=0;i<numVectors;i++)
+		for (int i = 0; i < numVectors; i++)
 		{
 			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
 		}
 	}
 
-    for (int j=0;j<numVectors;j++)
-    {
-        btVector3 vec = vectors[j] * m_localScaling;        // dot(a*b,c) = dot(a,b*c)
-        if( 0 <  m_unscaledPoints.size() )
-        {
-            int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
-            supportVerticesOut[j] = getScaledPoint(i);
-            supportVerticesOut[j][3] = newDot;        
-        }
-        else
-            supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
-    }
-
-
-
+	for (int j = 0; j < numVectors; j++)
+	{
+		btVector3 vec = vectors[j] * m_localScaling;  // dot(a*b,c) = dot(a,b*c)
+		if (0 < m_unscaledPoints.size())
+		{
+			int i = (int)vec.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
+			supportVerticesOut[j] = getScaledPoint(i);
+			supportVerticesOut[j][3] = newDot;
+		}
+		else
+			supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
+	}
 }
-	
-
 
-btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
 
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 }
 
-
 void btConvexHullShape::optimizeConvexHull()
 {
 	btConvexHullComputer conv;
-	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
+	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3), m_unscaledPoints.size(), 0.f, 0.f);
 	int numVerts = conv.vertices.size();
 	m_unscaledPoints.resize(0);
-	for (int i=0;i<numVerts;i++)
-    {
-        m_unscaledPoints.push_back(conv.vertices[i]);
-    }
+	for (int i = 0; i < numVerts; i++)
+	{
+		m_unscaledPoints.push_back(conv.vertices[i]);
+	}
 }
 
-
-
 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int	btConvexHullShape::getNumVertices() const
+int btConvexHullShape::getNumVertices() const
 {
 	return m_unscaledPoints.size();
 }
@@ -149,67 +137,65 @@ int btConvexHullShape::getNumEdges() const
 	return m_unscaledPoints.size();
 }
 
-void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btConvexHullShape::getEdge(int i, btVector3& pa, btVector3& pb) const
 {
-
-	int index0 = i%m_unscaledPoints.size();
-	int index1 = (i+1)%m_unscaledPoints.size();
+	int index0 = i % m_unscaledPoints.size();
+	int index1 = (i + 1) % m_unscaledPoints.size();
 	pa = getScaledPoint(index0);
 	pb = getScaledPoint(index1);
 }
 
-void btConvexHullShape::getVertex(int i,btVector3& vtx) const
+void btConvexHullShape::getVertex(int i, btVector3& vtx) const
 {
 	vtx = getScaledPoint(i);
 }
 
-int	btConvexHullShape::getNumPlanes() const
+int btConvexHullShape::getNumPlanes() const
 {
 	return 0;
 }
 
-void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
+void btConvexHullShape::getPlane(btVector3&, btVector3&, int) const
 {
-
 	btAssert(0);
 }
 
 //not yet
-bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexHullShape::isInside(const btVector3&, btScalar) const
 {
 	btAssert(0);
 	return false;
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	//int szc = sizeof(btConvexHullShapeData);
-	btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
+	btConvexHullShapeData* shapeData = (btConvexHullShapeData*)dataBuffer;
 	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 
 	int numElem = m_unscaledPoints.size();
 	shapeData->m_numUnscaledPoints = numElem;
 #ifdef BT_USE_DOUBLE_PRECISION
 	shapeData->m_unscaledPointsFloatPtr = 0;
-	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
+	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
 #else
-	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
+	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
 	shapeData->m_unscaledPointsDoublePtr = 0;
 #endif
-	
+
 	if (numElem)
 	{
 		int sz = sizeof(btVector3Data);
-	//	int sz2 = sizeof(btVector3DoubleData);
-	//	int sz3 = sizeof(btVector3FloatData);
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		//	int sz2 = sizeof(btVector3DoubleData);
+		//	int sz3 = sizeof(btVector3FloatData);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			m_unscaledPoints[i].serialize(*memPtr);
 		}
-		serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
+		serializer->finalizeChunk(chunk, btVector3DataName, BT_ARRAY_CODE, (void*)&m_unscaledPoints[0]);
 	}
 
 	// Fill padding with zeros to appease msan.
@@ -218,45 +204,41 @@ const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
 	return "btConvexHullShapeData";
 }
 
-void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
 {
 #if 1
 	minProj = FLT_MAX;
 	maxProj = -FLT_MAX;
 
 	int numVerts = m_unscaledPoints.size();
-	for(int i=0;i<numVerts;i++)
+	for (int i = 0; i < numVerts; i++)
 	{
 		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
 		btVector3 pt = trans * vtx;
 		btScalar dp = pt.dot(dir);
-		if(dp < minProj)	
+		if (dp < minProj)
 		{
 			minProj = dp;
 			witnesPtMin = pt;
 		}
-		if(dp > maxProj)	
+		if (dp > maxProj)
 		{
 			maxProj = dp;
-			witnesPtMax=pt;
+			witnesPtMax = pt;
 		}
 	}
 #else
-	btVector3 localAxis = dir*trans.getBasis();
-	witnesPtMin  = trans(localGetSupportingVertex(localAxis));
+	btVector3 localAxis = dir * trans.getBasis();
+	witnesPtMin = trans(localGetSupportingVertex(localAxis));
 	witnesPtMax = trans(localGetSupportingVertex(-localAxis));
 
 	minProj = witnesPtMin.dot(dir);
 	maxProj = witnesPtMax.dot(dir);
 #endif
 
-	if(minProj>maxProj)
+	if (minProj > maxProj)
 	{
-		btSwap(minProj,maxProj);
-		btSwap(witnesPtMin,witnesPtMax);
+		btSwap(minProj, maxProj);
+		btSwap(witnesPtMin, witnesPtMax);
 	}
-
-
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
index 0c12aeef15..96136d7dd7 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -17,28 +17,26 @@ subject to the following restrictions:
 #define BT_CONVEX_HULL_SHAPE_H
 
 #include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 #include "LinearMath/btAlignedObjectArray.h"
 
-
 ///The btConvexHullShape implements an implicit convex hull of an array of vertices.
 ///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
-ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class)
+btConvexHullShape : public btPolyhedralConvexAabbCachingShape
 {
-	btAlignedObjectArray<btVector3>	m_unscaledPoints;
+	btAlignedObjectArray<btVector3> m_unscaledPoints;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	
 	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
 	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
 	///btConvexHullShape make an internal copy of the points.
-	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
+	btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3));
 
 	void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
 
-	
 	btVector3* getUnscaledPoints()
 	{
 		return &m_unscaledPoints[0];
@@ -55,48 +53,46 @@ public:
 		return getUnscaledPoints();
 	}
 
-    void optimizeConvexHull();
-    
-	SIMD_FORCE_INLINE	btVector3 getScaledPoint(int i) const
+	void optimizeConvexHull();
+
+	SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
 	{
 		return m_unscaledPoints[i] * m_localScaling;
 	}
 
-	SIMD_FORCE_INLINE	int getNumPoints() const 
+	SIMD_FORCE_INLINE int getNumPoints() const
 	{
 		return m_unscaledPoints.size();
 	}
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
-
-	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
 
 	//debugging
-	virtual const char*	getName()const {return "Convex";}
+	virtual const char* getName() const { return "Convex"; }
 
-	
-	virtual int	getNumVertices() const;
+	virtual int getNumVertices() const;
 	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
-	virtual void getVertex(int i,btVector3& vtx) const;
-	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
+	virtual void getVertex(int i, btVector3& vtx) const;
+	virtual int getNumPlanes() const;
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
 
 	///in case we receive negative scaling
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void setLocalScaling(const btVector3& scaling);
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
+// clang-format off
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btConvexHullShapeData
 {
@@ -110,12 +106,11 @@ struct	btConvexHullShapeData
 
 };
 
+// clang-format on
 
-SIMD_FORCE_INLINE	int	btConvexHullShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btConvexHullShapeData);
 }
 
-
-#endif //BT_CONVEX_HULL_SHAPE_H
-
+#endif  //BT_CONVEX_HULL_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
index 083d60b1b1..4d598b1aa2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
@@ -13,139 +13,125 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btConvexInternalShape.h"
 
-
-
 btConvexInternalShape::btConvexInternalShape()
-: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_collisionMargin(CONVEX_DISTANCE_MARGIN)
+	: m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
+	  m_collisionMargin(CONVEX_DISTANCE_MARGIN)
 {
 }
 
-
-void	btConvexInternalShape::setLocalScaling(const btVector3& scaling)
+void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
 {
 	m_localScaling = scaling.absolute();
 }
 
-
-
-void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
+void btConvexInternalShape::getAabbSlow(const btTransform& trans, btVector3& minAabb, btVector3& maxAabb) const
 {
 #ifndef __SPU__
 	//use localGetSupportingVertexWithoutMargin?
 	btScalar margin = getMargin();
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 	{
-		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
 		vec[i] = btScalar(1.);
 
-		btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
+		btVector3 sv = localGetSupportingVertex(vec * trans.getBasis());
 
 		btVector3 tmp = trans(sv);
-		maxAabb[i] = tmp[i]+margin;
+		maxAabb[i] = tmp[i] + margin;
 		vec[i] = btScalar(-1.);
-		tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
-		minAabb[i] = tmp[i]-margin;
+		tmp = trans(localGetSupportingVertex(vec * trans.getBasis()));
+		minAabb[i] = tmp[i] - margin;
 	}
 #endif
 }
 
-
-
-btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec) const
 {
 #ifndef __SPU__
 
-	 btVector3	supVertex = localGetSupportingVertexWithoutMargin(vec);
+	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
 
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 
 #else
 	btAssert(0);
-	return btVector3(0,0,0);
-#endif //__SPU__
-
- }
-
+	return btVector3(0, 0, 0);
+#endif  //__SPU__
+}
 
 btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
-	:	btConvexInternalShape(),
-m_localAabbMin(1,1,1),
-m_localAabbMax(-1,-1,-1),
-m_isLocalAabbValid(false)
+	: btConvexInternalShape(),
+	  m_localAabbMin(1, 1, 1),
+	  m_localAabbMax(-1, -1, -1),
+	  m_isLocalAabbValid(false)
 {
 }
 
-
-void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+	getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
 }
 
-void	btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
+void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
 {
 	btConvexInternalShape::setLocalScaling(scaling);
 	recalcLocalAabb();
 }
 
-
-void	btConvexInternalAabbCachingShape::recalcLocalAabb()
+void btConvexInternalAabbCachingShape::recalcLocalAabb()
 {
 	m_isLocalAabbValid = true;
-	
-	#if 1
+
+#if 1
 	static const btVector3 _directions[] =
-	{
-		btVector3( 1.,  0.,  0.),
-		btVector3( 0.,  1.,  0.),
-		btVector3( 0.,  0.,  1.),
-		btVector3( -1., 0.,  0.),
-		btVector3( 0., -1.,  0.),
-		btVector3( 0.,  0., -1.)
-	};
-	
+		{
+			btVector3(1., 0., 0.),
+			btVector3(0., 1., 0.),
+			btVector3(0., 0., 1.),
+			btVector3(-1., 0., 0.),
+			btVector3(0., -1., 0.),
+			btVector3(0., 0., -1.)};
+
 	btVector3 _supporting[] =
-	{
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.)
-	};
-	
+		{
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.)};
+
 	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-	
-	for ( int i = 0; i < 3; ++i )
+
+	for (int i = 0; i < 3; ++i)
 	{
 		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
 		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
 	}
-	
-	#else
 
-	for (int i=0;i<3;i++)
+#else
+
+	for (int i = 0; i < 3; i++)
 	{
-		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
 		vec[i] = btScalar(1.);
 		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		m_localAabbMax[i] = tmp[i] + m_collisionMargin;
 		vec[i] = btScalar(-1.);
 		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+		m_localAabbMin[i] = tmp[i] - m_collisionMargin;
 	}
-	#endif
+#endif
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 1213b82fbe..a28c57de4b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -19,39 +19,35 @@ subject to the following restrictions:
 #include "btConvexShape.h"
 #include "LinearMath/btAabbUtil2.h"
 
-
 ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
 ///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
 ///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
-///Note that when creating small shapes (derived from btConvexInternalShape), 
+///Note that when creating small shapes (derived from btConvexInternalShape),
 ///you need to make sure to set a smaller collision margin, using the 'setMargin' API
 ///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
-ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btConvexInternalShape : public btConvexShape
 {
-
-	protected:
-
+protected:
 	//local scaling. collisionMargin is not scaled !
-	btVector3	m_localScaling;
+	btVector3 m_localScaling;
+
+	btVector3 m_implicitShapeDimensions;
 
-	btVector3	m_implicitShapeDimensions;
-	
-	btScalar	m_collisionMargin;
+	btScalar m_collisionMargin;
 
-	btScalar	m_padding;
+	btScalar m_padding;
 
 	btConvexInternalShape();
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	virtual ~btConvexInternalShape()
 	{
-
 	}
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
 
 	const btVector3& getImplicitShapeDimensions() const
 	{
@@ -62,110 +58,102 @@ public:
 	///changing a collision shape while the body is in the world is not recommended,
 	///it is best to remove the body from the world, then make the change, and re-add it
 	///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
-	void	setImplicitShapeDimensions(const btVector3& dimensions)
+	void setImplicitShapeDimensions(const btVector3& dimensions)
 	{
 		m_implicitShapeDimensions = dimensions;
 	}
 
-	void	setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
+	void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
 	{
-		btScalar safeMargin = defaultMarginMultiplier*minDimension;
+		btScalar safeMargin = defaultMarginMultiplier * minDimension;
 		if (safeMargin < getMargin())
 		{
 			setMargin(safeMargin);
 		}
 	}
-	void	setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
+	void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
 	{
 		//see http://code.google.com/p/bullet/issues/detail?id=349
 		//this margin check could could be added to other collision shapes too,
 		//or add some assert/warning somewhere
-		btScalar minDimension=halfExtents[halfExtents.minAxis()]; 		
+		btScalar minDimension = halfExtents[halfExtents.minAxis()];
 		setSafeMargin(minDimension, defaultMarginMultiplier);
 	}
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
-		getAabbSlow(t,aabbMin,aabbMax);
+		getAabbSlow(t, aabbMin, aabbMax);
 	}
 
+	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	
-	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-
-	virtual void	setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const 
+	virtual void setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const
 	{
 		return m_localScaling;
 	}
 
-	const btVector3& getLocalScalingNV() const 
+	const btVector3& getLocalScalingNV() const
 	{
 		return m_localScaling;
 	}
 
-	virtual void	setMargin(btScalar margin)
+	virtual void setMargin(btScalar margin)
 	{
 		m_collisionMargin = margin;
 	}
-	virtual btScalar	getMargin() const
+	virtual btScalar getMargin() const
 	{
 		return m_collisionMargin;
 	}
 
-	btScalar	getMarginNV() const
+	btScalar getMarginNV() const
 	{
 		return m_collisionMargin;
 	}
 
-	virtual int		getNumPreferredPenetrationDirections() const
+	virtual int getNumPreferredPenetrationDirections() const
 	{
 		return 0;
 	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 	{
 		(void)penetrationVector;
 		(void)index;
 		btAssert(0);
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btConvexInternalShapeData
+struct btConvexInternalShapeData
 {
-	btCollisionShapeData	m_collisionShapeData;
+	btCollisionShapeData m_collisionShapeData;
 
-	btVector3FloatData	m_localScaling;
+	btVector3FloatData m_localScaling;
 
-	btVector3FloatData	m_implicitShapeDimensions;
-	
-	float			m_collisionMargin;
+	btVector3FloatData m_implicitShapeDimensions;
 
-	int	m_padding;
+	float m_collisionMargin;
 
+	int m_padding;
 };
 
-
-
-SIMD_FORCE_INLINE	int	btConvexInternalShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btConvexInternalShapeData);
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
+	btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
 	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
 
 	m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
@@ -178,50 +166,43 @@ SIMD_FORCE_INLINE	const char*	btConvexInternalShape::serialize(void* dataBuffer,
 	return "btConvexInternalShapeData";
 }
 
-
-
-
 ///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
 class btConvexInternalAabbCachingShape : public btConvexInternalShape
 {
-	btVector3	m_localAabbMin;
-	btVector3	m_localAabbMax;
-	bool		m_isLocalAabbValid;
-	
+	btVector3 m_localAabbMin;
+	btVector3 m_localAabbMax;
+	bool m_isLocalAabbValid;
+
 protected:
-					
 	btConvexInternalAabbCachingShape();
-	
-	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+
+	void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
 	{
 		m_isLocalAabbValid = true;
 		m_localAabbMin = aabbMin;
 		m_localAabbMax = aabbMax;
 	}
 
-	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+	inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
 	{
 		btAssert(m_isLocalAabbValid);
 		aabbMin = m_localAabbMin;
 		aabbMax = m_localAabbMax;
 	}
 
-	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+	inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
 	{
-
 		//lazy evaluation of local aabb
 		btAssert(m_isLocalAabbValid);
-		btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+		btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
 	}
-		
-public:
-		
-	virtual void	setLocalScaling(const btVector3& scaling);
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+public:
+	virtual void setLocalScaling(const btVector3& scaling);
 
-	void	recalcLocalAabb();
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
+	void recalcLocalAabb();
 };
 
-#endif //BT_CONVEX_INTERNAL_SHAPE_H
+#endif  //BT_CONVEX_INTERNAL_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
index ad1d1bf78f..f00a440fa3 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
@@ -25,81 +25,73 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
 }
 
 #ifndef __SPU__
-btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
 {
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
 	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
 	if (lenSqr < btScalar(0.0001))
 	{
-		vec.setValue(1,0,0);
-	} else
+		vec.setValue(1, 0, 0);
+	}
+	else
 	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
 		vec *= rlen;
 	}
-    
-    if( m_numPoints > 0 )
-    {
-        // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
-    //    btVector3 scaled = vec * m_localScaling;
-        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);   //FIXME: may violate encapsulation of m_unscaledPoints
-        return getScaledPoint(index);
-    }
+
+	if (m_numPoints > 0)
+	{
+		// Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
+		//    btVector3 scaled = vec * m_localScaling;
+		int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);  //FIXME: may violate encapsulation of m_unscaledPoints
+		return getScaledPoint(index);
+	}
 
 	return supVec;
 }
 
-void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-    for( int j = 0; j < numVectors; j++ )
-    {
-        const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
-        btScalar maxDot;
-        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
-        supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
-        if( 0 <= index )
-        {
-            //WARNING: don't swap next lines, the w component would get overwritten!
-            supportVerticesOut[j] = getScaledPoint(index);
-            supportVerticesOut[j][3] = maxDot;
-        }
-    }
-
+	for (int j = 0; j < numVectors; j++)
+	{
+		const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
+		btScalar maxDot;
+		int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
+		supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
+		if (0 <= index)
+		{
+			//WARNING: don't swap next lines, the w component would get overwritten!
+			supportVerticesOut[j] = getScaledPoint(index);
+			supportVerticesOut[j][3] = maxDot;
+		}
+	}
 }
-	
-
 
-btVector3	btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
 
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 }
 
-
 #endif
 
-
-
-
-
-
 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int	btConvexPointCloudShape::getNumVertices() const
+int btConvexPointCloudShape::getNumVertices() const
 {
 	return m_numPoints;
 }
@@ -109,31 +101,29 @@ int btConvexPointCloudShape::getNumEdges() const
 	return 0;
 }
 
-void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
 {
-	btAssert (0);
+	btAssert(0);
 }
 
-void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
+void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
 {
-	vtx = m_unscaledPoints[i]*m_localScaling;
+	vtx = m_unscaledPoints[i] * m_localScaling;
 }
 
-int	btConvexPointCloudShape::getNumPlanes() const
+int btConvexPointCloudShape::getNumPlanes() const
 {
 	return 0;
 }
 
-void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
+void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
 {
-
 	btAssert(0);
 }
 
 //not yet
-bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const
 {
 	btAssert(0);
 	return false;
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
index 54b5afac3e..c7d554a4d3 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
@@ -17,11 +17,12 @@ subject to the following restrictions:
 #define BT_CONVEX_POINT_CLOUD_SHAPE_H
 
 #include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 #include "LinearMath/btAlignedObjectArray.h"
 
 ///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
-ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class)
+btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
 {
 	btVector3* m_unscaledPoints;
 	int m_numPoints;
@@ -31,13 +32,13 @@ public:
 
 	btConvexPointCloudShape()
 	{
-		m_localScaling.setValue(1.f,1.f,1.f);
+		m_localScaling.setValue(1.f, 1.f, 1.f);
 		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
 		m_unscaledPoints = 0;
 		m_numPoints = 0;
 	}
 
-	btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
+	btConvexPointCloudShape(btVector3 * points, int numPoints, const btVector3& localScaling, bool computeAabb = true)
 	{
 		m_localScaling = localScaling;
 		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
@@ -48,7 +49,7 @@ public:
 			recalcLocalAabb();
 	}
 
-	void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
+	void setPoints(btVector3 * points, int numPoints, bool computeAabb = true, const btVector3& localScaling = btVector3(1.f, 1.f, 1.f))
 	{
 		m_unscaledPoints = points;
 		m_numPoints = numPoints;
@@ -58,48 +59,45 @@ public:
 			recalcLocalAabb();
 	}
 
-	SIMD_FORCE_INLINE	btVector3* getUnscaledPoints()
+	SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
 	{
 		return m_unscaledPoints;
 	}
 
-	SIMD_FORCE_INLINE	const btVector3* getUnscaledPoints() const
+	SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
 	{
 		return m_unscaledPoints;
 	}
 
-	SIMD_FORCE_INLINE	int getNumPoints() const 
+	SIMD_FORCE_INLINE int getNumPoints() const
 	{
 		return m_numPoints;
 	}
 
-	SIMD_FORCE_INLINE	btVector3	getScaledPoint( int index) const
+	SIMD_FORCE_INLINE btVector3 getScaledPoint(int index) const
 	{
 		return m_unscaledPoints[index] * m_localScaling;
 	}
 
 #ifndef __SPU__
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 #endif
 
-
 	//debugging
-	virtual const char*	getName()const {return "ConvexPointCloud";}
+	virtual const char* getName() const { return "ConvexPointCloud"; }
 
-	virtual int	getNumVertices() const;
+	virtual int getNumVertices() const;
 	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
-	virtual void getVertex(int i,btVector3& vtx) const;
-	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
+	virtual void getVertex(int i, btVector3& vtx) const;
+	virtual int getNumPlanes() const;
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
 
 	///in case we receive negative scaling
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void setLocalScaling(const btVector3& scaling);
 };
 
-
-#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
-
+#endif  //BT_CONVEX_POINT_CLOUD_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
index 4f45319a83..65b669e1c0 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 ///This file was written by Erwin Coumans
 ///Separating axis rest based on work from Pierre Terdiman, see
 ///And contact clipping based on work from Simon Hobbs
@@ -21,49 +20,45 @@ subject to the following restrictions:
 #include "btConvexPolyhedron.h"
 #include "LinearMath/btHashMap.h"
 
-
 btConvexPolyhedron::btConvexPolyhedron()
 {
-
 }
 btConvexPolyhedron::~btConvexPolyhedron()
 {
-
 }
 
-
 inline bool IsAlmostZero(const btVector3& v)
 {
-	if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6)	return false;
+	if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false;
 	return true;
 }
 
 struct btInternalVertexPair
 {
-	btInternalVertexPair(short int v0,short int v1)
-		:m_v0(v0),
-		m_v1(v1)
+	btInternalVertexPair(short int v0, short int v1)
+		: m_v0(v0),
+		  m_v1(v1)
 	{
-		if (m_v1>m_v0)
-			btSwap(m_v0,m_v1);
+		if (m_v1 > m_v0)
+			btSwap(m_v0, m_v1);
 	}
 	short int m_v0;
 	short int m_v1;
 	int getHash() const
 	{
-		return m_v0+(m_v1<<16);
+		return m_v0 + (m_v1 << 16);
 	}
 	bool equals(const btInternalVertexPair& other) const
 	{
-		return m_v0==other.m_v0 && m_v1==other.m_v1;
+		return m_v0 == other.m_v0 && m_v1 == other.m_v1;
 	}
 };
 
 struct btInternalEdge
 {
 	btInternalEdge()
-		:m_face0(-1),
-		m_face1(-1)
+		: m_face0(-1),
+		  m_face1(-1)
 	{
 	}
 	short int m_face0;
@@ -75,23 +70,31 @@ struct btInternalEdge
 #ifdef TEST_INTERNAL_OBJECTS
 bool btConvexPolyhedron::testContainment() const
 {
-	for(int p=0;p<8;p++)
+	for (int p = 0; p < 8; p++)
 	{
 		btVector3 LocalPt;
-		if(p==0)		LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
-		else if(p==1)	LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
-		else if(p==2)	LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
-		else if(p==3)	LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
-		else if(p==4)	LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
-		else if(p==5)	LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
-		else if(p==6)	LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
-		else if(p==7)	LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
-
-		for(int i=0;i<m_faces.size();i++)
+		if (p == 0)
+			LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
+		else if (p == 1)
+			LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
+		else if (p == 2)
+			LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
+		else if (p == 3)
+			LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
+		else if (p == 4)
+			LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
+		else if (p == 5)
+			LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
+		else if (p == 6)
+			LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
+		else if (p == 7)
+			LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
+
+		for (int i = 0; i < m_faces.size(); i++)
 		{
 			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
 			const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
-			if(d>0.0f)
+			if (d > 0.0f)
 				return false;
 		}
 	}
@@ -99,33 +102,28 @@ bool btConvexPolyhedron::testContainment() const
 }
 #endif
 
-void	btConvexPolyhedron::initialize()
+void btConvexPolyhedron::initialize()
 {
+	btHashMap<btInternalVertexPair, btInternalEdge> edges;
 
-	btHashMap<btInternalVertexPair,btInternalEdge> edges;
-
-	btScalar TotalArea = 0.0f;
-	
-	m_localCenter.setValue(0, 0, 0);
-	for(int i=0;i<m_faces.size();i++)
+	for (int i = 0; i < m_faces.size(); i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
 		int NbTris = numVertices;
-		for(int j=0;j<NbTris;j++)
+		for (int j = 0; j < NbTris; j++)
 		{
-			int k = (j+1)%numVertices;
-			btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			int k = (j + 1) % numVertices;
+			btInternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
 			btInternalEdge* edptr = edges.find(vp);
-			btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
+			btVector3 edge = m_vertices[vp.m_v1] - m_vertices[vp.m_v0];
 			edge.normalize();
 
 			bool found = false;
 
-			for (int p=0;p<m_uniqueEdges.size();p++)
+			for (int p = 0; p < m_uniqueEdges.size(); p++)
 			{
-				
-				if (IsAlmostZero(m_uniqueEdges[p]-edge) || 
-					IsAlmostZero(m_uniqueEdges[p]+edge))
+				if (IsAlmostZero(m_uniqueEdges[p] - edge) ||
+					IsAlmostZero(m_uniqueEdges[p] + edge))
 				{
 					found = true;
 					break;
@@ -139,105 +137,107 @@ void	btConvexPolyhedron::initialize()
 
 			if (edptr)
 			{
-				btAssert(edptr->m_face0>=0);
-				btAssert(edptr->m_face1<0);
+				btAssert(edptr->m_face0 >= 0);
+				btAssert(edptr->m_face1 < 0);
 				edptr->m_face1 = i;
-			} else
+			}
+			else
 			{
 				btInternalEdge ed;
 				ed.m_face0 = i;
-				edges.insert(vp,ed);
+				edges.insert(vp, ed);
 			}
 		}
 	}
 
 #ifdef USE_CONNECTED_FACES
-	for(int i=0;i<m_faces.size();i++)
+	for (int i = 0; i < m_faces.size(); i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
 		m_faces[i].m_connectedFaces.resize(numVertices);
 
-		for(int j=0;j<numVertices;j++)
+		for (int j = 0; j < numVertices; j++)
 		{
-			int k = (j+1)%numVertices;
-			btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			int k = (j + 1) % numVertices;
+			btInternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
 			btInternalEdge* edptr = edges.find(vp);
 			btAssert(edptr);
-			btAssert(edptr->m_face0>=0);
-			btAssert(edptr->m_face1>=0);
+			btAssert(edptr->m_face0 >= 0);
+			btAssert(edptr->m_face1 >= 0);
 
-			int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
+			int connectedFace = (edptr->m_face0 == i) ? edptr->m_face1 : edptr->m_face0;
 			m_faces[i].m_connectedFaces[j] = connectedFace;
 		}
 	}
-#endif//USE_CONNECTED_FACES
+#endif  //USE_CONNECTED_FACES
+
+	initialize2();
+}
 
-	for(int i=0;i<m_faces.size();i++)
+void btConvexPolyhedron::initialize2()
+{
+	m_localCenter.setValue(0, 0, 0);
+	btScalar TotalArea = 0.0f;
+	for (int i = 0; i < m_faces.size(); i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices-2;
-		
+		int NbTris = numVertices - 2;
+
 		const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
-		for(int j=1;j<=NbTris;j++)
+		for (int j = 1; j <= NbTris; j++)
 		{
-			int k = (j+1)%numVertices;
+			int k = (j + 1) % numVertices;
 			const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
 			const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
 			btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
-			btVector3 Center = (p0+p1+p2)/3.0f;
+			btVector3 Center = (p0 + p1 + p2) / 3.0f;
 			m_localCenter += Area * Center;
 			TotalArea += Area;
 		}
 	}
 	m_localCenter /= TotalArea;
 
-
-
-
 #ifdef TEST_INTERNAL_OBJECTS
-	if(1)
+	if (1)
 	{
 		m_radius = FLT_MAX;
-		for(int i=0;i<m_faces.size();i++)
+		for (int i = 0; i < m_faces.size(); i++)
 		{
 			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
 			const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
-			if(dist<m_radius)
+			if (dist < m_radius)
 				m_radius = dist;
 		}
 
-	
 		btScalar MinX = FLT_MAX;
 		btScalar MinY = FLT_MAX;
 		btScalar MinZ = FLT_MAX;
 		btScalar MaxX = -FLT_MAX;
 		btScalar MaxY = -FLT_MAX;
 		btScalar MaxZ = -FLT_MAX;
-		for(int i=0; i<m_vertices.size(); i++)
+		for (int i = 0; i < m_vertices.size(); i++)
 		{
 			const btVector3& pt = m_vertices[i];
-			if(pt.x()<MinX)	MinX = pt.x();
-			if(pt.x()>MaxX)	MaxX = pt.x();
-			if(pt.y()<MinY)	MinY = pt.y();
-			if(pt.y()>MaxY)	MaxY = pt.y();
-			if(pt.z()<MinZ)	MinZ = pt.z();
-			if(pt.z()>MaxZ)	MaxZ = pt.z();
+			if (pt.x() < MinX) MinX = pt.x();
+			if (pt.x() > MaxX) MaxX = pt.x();
+			if (pt.y() < MinY) MinY = pt.y();
+			if (pt.y() > MaxY) MaxY = pt.y();
+			if (pt.z() < MinZ) MinZ = pt.z();
+			if (pt.z() > MaxZ) MaxZ = pt.z();
 		}
-		mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
-		mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
-
+		mC.setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
+		mE.setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
 
-
-//		const btScalar r = m_radius / sqrtf(2.0f);
+		//		const btScalar r = m_radius / sqrtf(2.0f);
 		const btScalar r = m_radius / sqrtf(3.0f);
 		const int LargestExtent = mE.maxAxis();
-		const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
+		const btScalar Step = (mE[LargestExtent] * 0.5f - r) / 1024.0f;
 		m_extents[0] = m_extents[1] = m_extents[2] = r;
-		m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
+		m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
 		bool FoundBox = false;
-		for(int j=0;j<1024;j++)
+		for (int j = 0; j < 1024; j++)
 		{
-			if(testContainment())
+			if (testContainment())
 			{
 				FoundBox = true;
 				break;
@@ -245,25 +245,25 @@ void	btConvexPolyhedron::initialize()
 
 			m_extents[LargestExtent] -= Step;
 		}
-		if(!FoundBox)
+		if (!FoundBox)
 		{
 			m_extents[0] = m_extents[1] = m_extents[2] = r;
 		}
 		else
 		{
 			// Refine the box
-			const btScalar Step = (m_radius - r)/1024.0f;
-			const int e0 = (1<<LargestExtent) & 3;
-			const int e1 = (1<<e0) & 3;
+			const btScalar Step = (m_radius - r) / 1024.0f;
+			const int e0 = (1 << LargestExtent) & 3;
+			const int e1 = (1 << e0) & 3;
 
-			for(int j=0;j<1024;j++)
+			for (int j = 0; j < 1024; j++)
 			{
 				const btScalar Saved0 = m_extents[e0];
 				const btScalar Saved1 = m_extents[e1];
 				m_extents[e0] += Step;
 				m_extents[e1] += Step;
 
-				if(!testContainment())
+				if (!testContainment())
 				{
 					m_extents[e0] = Saved0;
 					m_extents[e1] = Saved1;
@@ -274,30 +274,29 @@ void	btConvexPolyhedron::initialize()
 	}
 #endif
 }
-
-void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
 {
 	minProj = FLT_MAX;
 	maxProj = -FLT_MAX;
 	int numVerts = m_vertices.size();
-	for(int i=0;i<numVerts;i++)
+	for (int i = 0; i < numVerts; i++)
 	{
 		btVector3 pt = trans * m_vertices[i];
 		btScalar dp = pt.dot(dir);
-		if(dp < minProj)
+		if (dp < minProj)
 		{
 			minProj = dp;
 			witnesPtMin = pt;
 		}
-		if(dp > maxProj)
+		if (dp > maxProj)
 		{
 			maxProj = dp;
 			witnesPtMax = pt;
 		}
 	}
-	if(minProj>maxProj)
+	if (minProj > maxProj)
 	{
-		btSwap(minProj,maxProj);
-		btSwap(witnesPtMin,witnesPtMax);
+		btSwap(minProj, maxProj);
+		btSwap(witnesPtMin, witnesPtMax);
 	}
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
index d3cd066ac8..638aa9b3df 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -13,10 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 ///This file was written by Erwin Coumans
 
-
 #ifndef _BT_POLYHEDRAL_FEATURES_H
 #define _BT_POLYHEDRAL_FEATURES_H
 
@@ -25,41 +23,37 @@ subject to the following restrictions:
 
 #define TEST_INTERNAL_OBJECTS 1
 
-
 struct btFace
 {
-	btAlignedObjectArray<int>	m_indices;
-//	btAlignedObjectArray<int>	m_connectedFaces;
-	btScalar	m_plane[4];
+	btAlignedObjectArray<int> m_indices;
+	//	btAlignedObjectArray<int>	m_connectedFaces;
+	btScalar m_plane[4];
 };
 
-
-ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
+ATTRIBUTE_ALIGNED16(class)
+btConvexPolyhedron
 {
-	public:
-		
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-		
+
 	btConvexPolyhedron();
-	virtual	~btConvexPolyhedron();
+	virtual ~btConvexPolyhedron();
 
-	btAlignedObjectArray<btVector3>	m_vertices;
-	btAlignedObjectArray<btFace>	m_faces;
+	btAlignedObjectArray<btVector3> m_vertices;
+	btAlignedObjectArray<btFace> m_faces;
 	btAlignedObjectArray<btVector3> m_uniqueEdges;
 
-	btVector3		m_localCenter;
-	btVector3		m_extents;
-	btScalar		m_radius;
-	btVector3		mC;
-	btVector3		mE;
+	btVector3 m_localCenter;
+	btVector3 m_extents;
+	btScalar m_radius;
+	btVector3 mC;
+	btVector3 mE;
 
-	void	initialize();
+	void initialize();
+	void initialize2();
 	bool testContainment() const;
 
-	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
+	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
 };
 
-	
-#endif //_BT_POLYHEDRAL_FEATURES_H
-
-
+#endif  //_BT_POLYHEDRAL_FEATURES_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8d7fb054d6..f8fb0aa9fd 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
 #define BT_USE_SSE_IN_API
 #endif
 
@@ -27,30 +27,28 @@ subject to the following restrictions:
 #include "btConvexPointCloudShape.h"
 
 ///not supported on IBM SDK, until we fix the alignment of btVector3
-#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#if defined(__CELLOS_LV2__) && defined(__SPU__)
 #include <spu_intrinsics.h>
-static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
+static inline vec_float4 vec_dot3(vec_float4 vec0, vec_float4 vec1)
 {
-    vec_float4 result;
-    result = spu_mul( vec0, vec1 );
-    result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
-    return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
+	vec_float4 result;
+	result = spu_mul(vec0, vec1);
+	result = spu_madd(spu_rlqwbyte(vec0, 4), spu_rlqwbyte(vec1, 4), result);
+	return spu_madd(spu_rlqwbyte(vec0, 8), spu_rlqwbyte(vec1, 8), result);
 }
-#endif //__SPU__
+#endif  //__SPU__
 
-btConvexShape::btConvexShape ()
+btConvexShape::btConvexShape()
 {
 }
 
 btConvexShape::~btConvexShape()
 {
-
 }
 
-
-void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin, btVector3& witnesPtMax) const
 {
-	btVector3 localAxis = dir*trans.getBasis();
+	btVector3 localAxis = dir * trans.getBasis();
 	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
 	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
 
@@ -58,8 +56,8 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc
 	max = vtx2.dot(dir);
 	witnesPtMax = vtx2;
 	witnesPtMin = vtx1;
-	
-	if(min>max)
+
+	if (min > max)
 	{
 		btScalar tmp = min;
 		min = max;
@@ -69,387 +67,392 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc
 	}
 }
 
-
-static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
-{	
-
+static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
+{
 	btVector3 vec = localDirOrg * localScaling;
 
-#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#if defined(__CELLOS_LV2__) && defined(__SPU__)
 
 	btVector3 localDir = vec;
 
-	vec_float4 v_distMax = {-FLT_MAX,0,0,0};
-	vec_int4 v_idxMax = {-999,0,0,0};
-	int v=0;
+	vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
+	vec_int4 v_idxMax = {-999, 0, 0, 0};
+	int v = 0;
 	int numverts = numPoints;
 
-	for(;v<(int)numverts-4;v+=4) {
-		vec_float4 p0 = vec_dot3(points[v  ].get128(),localDir.get128());
-		vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
-		vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
-		vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
-		const vec_int4 i0 = {v  ,0,0,0};
-		const vec_int4 i1 = {v+1,0,0,0};
-		const vec_int4 i2 = {v+2,0,0,0};
-		const vec_int4 i3 = {v+3,0,0,0};
-		vec_uint4  retGt01 = spu_cmpgt(p0,p1);
-		vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
-		vec_int4   imax01 = spu_sel(i1,i0,retGt01);
-		vec_uint4  retGt23 = spu_cmpgt(p2,p3);
-		vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
-		vec_int4   imax23 = spu_sel(i3,i2,retGt23);
-		vec_uint4  retGt0123 = spu_cmpgt(pmax01,pmax23);
-		vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
-		vec_int4   imax0123 = spu_sel(imax23,imax01,retGt0123);
-		vec_uint4  retGtMax = spu_cmpgt(v_distMax,pmax0123);
-		v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
-		v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
+	for (; v < (int)numverts - 4; v += 4)
+	{
+		vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
+		vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
+		vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
+		vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
+		const vec_int4 i0 = {v, 0, 0, 0};
+		const vec_int4 i1 = {v + 1, 0, 0, 0};
+		const vec_int4 i2 = {v + 2, 0, 0, 0};
+		const vec_int4 i3 = {v + 3, 0, 0, 0};
+		vec_uint4 retGt01 = spu_cmpgt(p0, p1);
+		vec_float4 pmax01 = spu_sel(p1, p0, retGt01);
+		vec_int4 imax01 = spu_sel(i1, i0, retGt01);
+		vec_uint4 retGt23 = spu_cmpgt(p2, p3);
+		vec_float4 pmax23 = spu_sel(p3, p2, retGt23);
+		vec_int4 imax23 = spu_sel(i3, i2, retGt23);
+		vec_uint4 retGt0123 = spu_cmpgt(pmax01, pmax23);
+		vec_float4 pmax0123 = spu_sel(pmax23, pmax01, retGt0123);
+		vec_int4 imax0123 = spu_sel(imax23, imax01, retGt0123);
+		vec_uint4 retGtMax = spu_cmpgt(v_distMax, pmax0123);
+		v_distMax = spu_sel(pmax0123, v_distMax, retGtMax);
+		v_idxMax = spu_sel(imax0123, v_idxMax, retGtMax);
 	}
-	for(;v<(int)numverts;v++) {
-		vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
-		const vec_int4 i = {v,0,0,0};
-		vec_uint4  retGtMax = spu_cmpgt(v_distMax,p);
-		v_distMax = spu_sel(p,v_distMax,retGtMax);
-		v_idxMax = spu_sel(i,v_idxMax,retGtMax);
+	for (; v < (int)numverts; v++)
+	{
+		vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
+		const vec_int4 i = {v, 0, 0, 0};
+		vec_uint4 retGtMax = spu_cmpgt(v_distMax, p);
+		v_distMax = spu_sel(p, v_distMax, retGtMax);
+		v_idxMax = spu_sel(i, v_idxMax, retGtMax);
 	}
-	int ptIndex = spu_extract(v_idxMax,0);
-	const btVector3& supVec= points[ptIndex] * localScaling;
+	int ptIndex = spu_extract(v_idxMax, 0);
+	const btVector3& supVec = points[ptIndex] * localScaling;
 	return supVec;
 #else
 
-    btScalar maxDot;
-    long ptIndex = vec.maxDot( points, numPoints, maxDot);
+	btScalar maxDot;
+	long ptIndex = vec.maxDot(points, numPoints, maxDot);
 	btAssert(ptIndex >= 0);
+	if (ptIndex < 0)
+	{
+		ptIndex = 0;
+	}
 	btVector3 supVec = points[ptIndex] * localScaling;
 	return supVec;
-#endif //__SPU__
+#endif  //__SPU__
 }
 
-btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
+btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual(const btVector3& localDir) const
 {
 	switch (m_shapeType)
 	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		return btVector3(0,0,0);
-    }
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btBoxShape* convexShape = (btBoxShape*)this;
-		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
-
-#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
-    #if defined( BT_USE_SSE )
-            return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
-    #elif defined( BT_USE_NEON )
-            return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
-    #else
-        #error unknown vector arch
-    #endif
-#else
-		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
-#endif
-	}
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
-		btVector3* vertices = &triangleShape->m_vertices1[0];
-        btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
-		btVector3 sup = vertices[dots.maxAxis()];
-		return btVector3(sup.getX(),sup.getY(),sup.getZ());
-	}
-	case CYLINDER_SHAPE_PROXYTYPE:
-	{
-		btCylinderShape* cylShape = (btCylinderShape*)this;
-		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
-
-		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
-		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
-		int cylinderUpAxis = cylShape->getUpAxis();
-		int XX(1),YY(0),ZZ(2);
-
-		switch (cylinderUpAxis)
-		{
-		case 0:
+		case SPHERE_SHAPE_PROXYTYPE:
 		{
-			XX = 1;
-			YY = 0;
-			ZZ = 2;
+			return btVector3(0, 0, 0);
 		}
-		break;
-		case 1:
+		case BOX_SHAPE_PROXYTYPE:
 		{
-			XX = 0;
-			YY = 1;
-			ZZ = 2;	
+			btBoxShape* convexShape = (btBoxShape*)this;
+			const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
+
+#if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
+#if defined(BT_USE_SSE)
+			return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
+#elif defined(BT_USE_NEON)
+			return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
+#else
+#error unknown vector arch
+#endif
+#else
+			return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
+							 btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
+							 btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
+#endif
 		}
-		break;
-		case 2:
+		case TRIANGLE_SHAPE_PROXYTYPE:
 		{
-			XX = 0;
-			YY = 2;
-			ZZ = 1;
-			
+			btTriangleShape* triangleShape = (btTriangleShape*)this;
+			btVector3 dir(localDir.getX(), localDir.getY(), localDir.getZ());
+			btVector3* vertices = &triangleShape->m_vertices1[0];
+			btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
+			btVector3 sup = vertices[dots.maxAxis()];
+			return btVector3(sup.getX(), sup.getY(), sup.getZ());
 		}
-		break;
-		default:
-			btAssert(0);
-		break;
-		};
-
-		btScalar radius = halfExtents[XX];
-		btScalar halfHeight = halfExtents[cylinderUpAxis];
+		case CYLINDER_SHAPE_PROXYTYPE:
+		{
+			btCylinderShape* cylShape = (btCylinderShape*)this;
+			//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
 
-		btVector3 tmp;
-		btScalar d ;
+			btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
+			btVector3 v(localDir.getX(), localDir.getY(), localDir.getZ());
+			int cylinderUpAxis = cylShape->getUpAxis();
+			int XX(1), YY(0), ZZ(2);
 
-		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-		if (s != btScalar(0.0))
-		{
-			d = radius / s;  
-			tmp[XX] = v[XX] * d;
-			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-			tmp[ZZ] = v[ZZ] * d;
-			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
-		} else {
-			tmp[XX] = radius;
-			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-			tmp[ZZ] = btScalar(0.0);
-			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+			switch (cylinderUpAxis)
+			{
+				case 0:
+				{
+					XX = 1;
+					YY = 0;
+					ZZ = 2;
+				}
+				break;
+				case 1:
+				{
+					XX = 0;
+					YY = 1;
+					ZZ = 2;
+				}
+				break;
+				case 2:
+				{
+					XX = 0;
+					YY = 2;
+					ZZ = 1;
+				}
+				break;
+				default:
+					btAssert(0);
+					break;
+			};
+
+			btScalar radius = halfExtents[XX];
+			btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+			btVector3 tmp;
+			btScalar d;
+
+			btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+			if (s != btScalar(0.0))
+			{
+				d = radius / s;
+				tmp[XX] = v[XX] * d;
+				tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+				tmp[ZZ] = v[ZZ] * d;
+				return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
+			}
+			else
+			{
+				tmp[XX] = radius;
+				tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+				tmp[ZZ] = btScalar(0.0);
+				return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
+			}
 		}
-	}
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+		case CAPSULE_SHAPE_PROXYTYPE:
+		{
+			btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
 
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btScalar halfHeight = capsuleShape->getHalfHeight();
-		int capsuleUpAxis = capsuleShape->getUpAxis();
+			btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+			btScalar halfHeight = capsuleShape->getHalfHeight();
+			int capsuleUpAxis = capsuleShape->getUpAxis();
 
-		btVector3 supVec(0,0,0);
+			btVector3 supVec(0, 0, 0);
 
-		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+			btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
-		btVector3 vec = vec0;
-		btScalar lenSqr = vec.length2();
-		if (lenSqr < SIMD_EPSILON*SIMD_EPSILON)
-		{
-			vec.setValue(1,0,0);
-		} else
-		{
-			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-			vec *= rlen;
-		}
-		btVector3 vtx;
-		btScalar newDot;
-		{
-			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = halfHeight;
+			btVector3 vec = vec0;
+			btScalar lenSqr = vec.length2();
+			if (lenSqr < SIMD_EPSILON * SIMD_EPSILON)
+			{
+				vec.setValue(1, 0, 0);
+			}
+			else
+			{
+				btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
+				vec *= rlen;
+			}
+			btVector3 vtx;
+			btScalar newDot;
+			{
+				btVector3 pos(0, 0, 0);
+				pos[capsuleUpAxis] = halfHeight;
 
-			vtx = pos;
-			newDot = vec.dot(vtx);
-			
+				vtx = pos;
+				newDot = vec.dot(vtx);
 
-			if (newDot > maxDot)
+				if (newDot > maxDot)
+				{
+					maxDot = newDot;
+					supVec = vtx;
+				}
+			}
 			{
-				maxDot = newDot;
-				supVec = vtx;
+				btVector3 pos(0, 0, 0);
+				pos[capsuleUpAxis] = -halfHeight;
+
+				vtx = pos;
+				newDot = vec.dot(vtx);
+				if (newDot > maxDot)
+				{
+					maxDot = newDot;
+					supVec = vtx;
+				}
 			}
+			return btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
 		}
+		case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
 		{
-			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = -halfHeight;
-
-			vtx = pos;
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supVec = vtx;
-			}
+			btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
+			btVector3* points = convexPointCloudShape->getUnscaledPoints();
+			int numPoints = convexPointCloudShape->getNumPoints();
+			return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
 		}
-		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());	
-	}
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	{
-		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
-		btVector3* points = convexPointCloudShape->getUnscaledPoints ();
-		int numPoints = convexPointCloudShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
-	}
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
-		btVector3* points = convexHullShape->getUnscaledPoints();
-		int numPoints = convexHullShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
-	}
-    default:
+		case CONVEX_HULL_SHAPE_PROXYTYPE:
+		{
+			btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
+			btVector3* points = convexHullShape->getUnscaledPoints();
+			int numPoints = convexHullShape->getNumPoints();
+			return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
+		}
+		default:
 #ifndef __SPU__
-		return this->localGetSupportingVertexWithoutMargin (localDir);
+			return this->localGetSupportingVertexWithoutMargin(localDir);
 #else
-		btAssert (0);
+			btAssert(0);
 #endif
 	}
 
 	// should never reach here
-	btAssert (0);
-	return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
+	btAssert(0);
+	return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
 }
 
-btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
+btVector3 btConvexShape::localGetSupportVertexNonVirtual(const btVector3& localDir) const
 {
 	btVector3 localDirNorm = localDir;
-	if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+	if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 	{
-		localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		localDirNorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
 	}
-	localDirNorm.normalize ();
+	localDirNorm.normalize();
 
-	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
+	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm) + getMarginNonVirtual() * localDirNorm;
 }
 
 /* TODO: This should be bumped up to btCollisionShape () */
-btScalar btConvexShape::getMarginNonVirtual () const
+btScalar btConvexShape::getMarginNonVirtual() const
 {
 	switch (m_shapeType)
 	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		btSphereShape* sphereShape = (btSphereShape*)this;
-		return sphereShape->getRadius ();
-	}
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btBoxShape* convexShape = (btBoxShape*)this;
-		return convexShape->getMarginNV ();
-	}
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		return triangleShape->getMarginNV ();
-	}
-	case CYLINDER_SHAPE_PROXYTYPE:
-	{
-		btCylinderShape* cylShape = (btCylinderShape*)this;
-		return cylShape->getMarginNV();
-	}
-	case CONE_SHAPE_PROXYTYPE:
-	{
-		btConeShape* conShape = (btConeShape*)this;
-		return conShape->getMarginNV();
-	}
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		return capsuleShape->getMarginNV();
-	}
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	/* fall through */
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
-		return convexHullShape->getMarginNV();
-	}
-    default:
+		case SPHERE_SHAPE_PROXYTYPE:
+		{
+			btSphereShape* sphereShape = (btSphereShape*)this;
+			return sphereShape->getRadius();
+		}
+		case BOX_SHAPE_PROXYTYPE:
+		{
+			btBoxShape* convexShape = (btBoxShape*)this;
+			return convexShape->getMarginNV();
+		}
+		case TRIANGLE_SHAPE_PROXYTYPE:
+		{
+			btTriangleShape* triangleShape = (btTriangleShape*)this;
+			return triangleShape->getMarginNV();
+		}
+		case CYLINDER_SHAPE_PROXYTYPE:
+		{
+			btCylinderShape* cylShape = (btCylinderShape*)this;
+			return cylShape->getMarginNV();
+		}
+		case CONE_SHAPE_PROXYTYPE:
+		{
+			btConeShape* conShape = (btConeShape*)this;
+			return conShape->getMarginNV();
+		}
+		case CAPSULE_SHAPE_PROXYTYPE:
+		{
+			btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+			return capsuleShape->getMarginNV();
+		}
+		case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+		/* fall through */
+		case CONVEX_HULL_SHAPE_PROXYTYPE:
+		{
+			btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+			return convexHullShape->getMarginNV();
+		}
+		default:
 #ifndef __SPU__
-		return this->getMargin ();
+			return this->getMargin();
 #else
-		btAssert (0);
+			btAssert(0);
 #endif
 	}
 
 	// should never reach here
-	btAssert (0);
+	btAssert(0);
 	return btScalar(0.0f);
 }
 #ifndef __SPU__
-void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+void btConvexShape::getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	switch (m_shapeType)
 	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		btSphereShape* sphereShape = (btSphereShape*)this;
-		btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
-		btScalar margin = radius + sphereShape->getMarginNonVirtual();
-		const btVector3& center = t.getOrigin();
-		btVector3 extent(margin,margin,margin);
-		aabbMin = center - extent;
-		aabbMax = center + extent;
-    }
-	break;
-	case CYLINDER_SHAPE_PROXYTYPE:
-	/* fall through */
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btBoxShape* convexShape = (btBoxShape*)this;
-		btScalar margin=convexShape->getMarginNonVirtual();
-		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
-		halfExtents += btVector3(margin,margin,margin);
-		btMatrix3x3 abs_b = t.getBasis().absolute();  
-		btVector3 center = t.getOrigin();
-        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
-        
-		aabbMin = center - extent;
-		aabbMax = center + extent;
+		case SPHERE_SHAPE_PROXYTYPE:
+		{
+			btSphereShape* sphereShape = (btSphereShape*)this;
+			btScalar radius = sphereShape->getImplicitShapeDimensions().getX();  // * convexShape->getLocalScaling().getX();
+			btScalar margin = radius + sphereShape->getMarginNonVirtual();
+			const btVector3& center = t.getOrigin();
+			btVector3 extent(margin, margin, margin);
+			aabbMin = center - extent;
+			aabbMax = center + extent;
+		}
 		break;
-	}
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		btScalar margin = triangleShape->getMarginNonVirtual();
-		for (int i=0;i<3;i++)
+		case CYLINDER_SHAPE_PROXYTYPE:
+		/* fall through */
+		case BOX_SHAPE_PROXYTYPE:
+		{
+			btBoxShape* convexShape = (btBoxShape*)this;
+			btScalar margin = convexShape->getMarginNonVirtual();
+			btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+			halfExtents += btVector3(margin, margin, margin);
+			btMatrix3x3 abs_b = t.getBasis().absolute();
+			btVector3 center = t.getOrigin();
+			btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+
+			aabbMin = center - extent;
+			aabbMax = center + extent;
+			break;
+		}
+		case TRIANGLE_SHAPE_PROXYTYPE:
 		{
-			btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
-			vec[i] = btScalar(1.);
+			btTriangleShape* triangleShape = (btTriangleShape*)this;
+			btScalar margin = triangleShape->getMarginNonVirtual();
+			for (int i = 0; i < 3; i++)
+			{
+				btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
+				vec[i] = btScalar(1.);
 
-			btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
+				btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis());
 
-			btVector3 tmp = t(sv);
-			aabbMax[i] = tmp[i]+margin;
-			vec[i] = btScalar(-1.);
-			tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
-			aabbMin[i] = tmp[i]-margin;
-		}	
-	}
-	break;
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
-		int m_upAxis = capsuleShape->getUpAxis();
-		halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
-		btMatrix3x3 abs_b = t.getBasis().absolute();  
-		btVector3 center = t.getOrigin();
-        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
-		aabbMin = center - extent;
-		aabbMax = center + extent;
-	}
-	break;
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
-		btScalar margin = convexHullShape->getMarginNonVirtual();
-		convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
-	}
-	break;
-    default:
+				btVector3 tmp = t(sv);
+				aabbMax[i] = tmp[i] + margin;
+				vec[i] = btScalar(-1.);
+				tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis()));
+				aabbMin[i] = tmp[i] - margin;
+			}
+		}
+		break;
+		case CAPSULE_SHAPE_PROXYTYPE:
+		{
+			btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+			btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
+			int m_upAxis = capsuleShape->getUpAxis();
+			halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
+			btMatrix3x3 abs_b = t.getBasis().absolute();
+			btVector3 center = t.getOrigin();
+			btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+			aabbMin = center - extent;
+			aabbMax = center + extent;
+		}
+		break;
+		case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+		case CONVEX_HULL_SHAPE_PROXYTYPE:
+		{
+			btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
+			btScalar margin = convexHullShape->getMarginNonVirtual();
+			convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
+		}
+		break;
+		default:
 #ifndef __SPU__
-		this->getAabb (t, aabbMin, aabbMax);
+			this->getAabb(t, aabbMin, aabbMax);
 #else
-		btAssert (0);
+			btAssert(0);
 #endif
-	break;
+			break;
 	}
 
 	// should never reach here
-	btAssert (0);
+	btAssert(0);
 }
 
-#endif //__SPU__
+#endif  //__SPU__
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
index 875f2ac195..d3b3ed816e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
@@ -28,58 +28,48 @@ subject to the following restrictions:
 
 /// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
 /// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.
-ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
+ATTRIBUTE_ALIGNED16(class)
+btConvexShape : public btCollisionShape
 {
-
-
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btConvexShape ();
+	btConvexShape();
 
 	virtual ~btConvexShape();
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const = 0;
-
-	////////
-	#ifndef __SPU__
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
-	#endif //#ifndef __SPU__
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const = 0;
 
-	btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
-	btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
-	btScalar getMarginNonVirtual () const;
-	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
+////////
+#ifndef __SPU__
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const = 0;
+#endif  //#ifndef __SPU__
 
+	btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3& vec) const;
+	btVector3 localGetSupportVertexNonVirtual(const btVector3& vec) const;
+	btScalar getMarginNonVirtual() const;
+	void getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
 
-	
 	//notice that the vectors should be unit length
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const = 0;
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
 
-	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
+	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
 
-	virtual void	setLocalScaling(const btVector3& scaling) =0;
-	virtual const btVector3& getLocalScaling() const =0;
+	virtual void setLocalScaling(const btVector3& scaling) = 0;
+	virtual const btVector3& getLocalScaling() const = 0;
 
-	virtual void	setMargin(btScalar margin)=0;
+	virtual void setMargin(btScalar margin) = 0;
 
-	virtual btScalar	getMargin() const=0;
+	virtual btScalar getMargin() const = 0;
 
-	virtual int		getNumPreferredPenetrationDirections() const=0;
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
+	virtual int getNumPreferredPenetrationDirections() const = 0;
 
-
-	
-	
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const = 0;
 };
 
-
-
-#endif //BT_CONVEX_SHAPE_INTERFACE1
+#endif  //BT_CONVEX_SHAPE_INTERFACE1
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
index 0f9ced554b..f6987cc760 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
@@ -19,42 +19,37 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 #include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
 
-
-btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
+btConvexTriangleMeshShape ::btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb)
+	: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
 {
 	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
-	if ( calcAabb )
+	if (calcAabb)
 		recalcLocalAabb();
 }
 
-
-
-
 ///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
 ///but then we are duplicating
-class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
+class LocalSupportVertexCallback : public btInternalTriangleIndexCallback
 {
-
 	btVector3 m_supportVertexLocal;
-public:
 
+public:
 	btScalar m_maxDot;
 	btVector3 m_supportVecLocal;
 
 	LocalSupportVertexCallback(const btVector3& supportVecLocal)
-		: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
-		m_maxDot(btScalar(-BT_LARGE_FLOAT)),
-                m_supportVecLocal(supportVecLocal)
+		: m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)),
+		  m_maxDot(btScalar(-BT_LARGE_FLOAT)),
+		  m_supportVecLocal(supportVecLocal)
 	{
 	}
 
-	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
 	{
 		(void)triangleIndex;
 		(void)partId;
 
-		for (int i=0;i<3;i++)
+		for (int i = 0; i < 3; i++)
 		{
 			btScalar dot = m_supportVecLocal.dot(triangle[i]);
 			if (dot > m_maxDot)
@@ -64,99 +59,82 @@ public:
 			}
 		}
 	}
-	
-	btVector3	GetSupportVertexLocal()
+
+	btVector3 GetSupportVertexLocal()
 	{
 		return m_supportVertexLocal;
 	}
-
 };
 
-
-
-
-
-btVector3	btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
 {
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
 
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
 	if (lenSqr < btScalar(0.0001))
 	{
-		vec.setValue(1,0,0);
-	} else
+		vec.setValue(1, 0, 0);
+	}
+	else
 	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
 		vec *= rlen;
 	}
 
-	LocalSupportVertexCallback	supportCallback(vec);
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-	m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+	LocalSupportVertexCallback supportCallback(vec);
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+	m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
 	supVec = supportCallback.GetSupportVertexLocal();
 
 	return supVec;
 }
 
-void	btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
 	//use 'w' component of supportVerticesOut?
 	{
-		for (int i=0;i<numVectors;i++)
+		for (int i = 0; i < numVectors; i++)
 		{
 			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
 		}
 	}
-	
-	///@todo: could do the batch inside the callback!
 
+	///@todo: could do the batch inside the callback!
 
-	for (int j=0;j<numVectors;j++)
+	for (int j = 0; j < numVectors; j++)
 	{
 		const btVector3& vec = vectors[j];
-		LocalSupportVertexCallback	supportCallback(vec);
-		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-		m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+		LocalSupportVertexCallback supportCallback(vec);
+		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+		m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
 		supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
 	}
-	
 }
-	
 
-
-btVector3	btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
 
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 }
 
-
-
-
-
-
-
-
-
 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
 //Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
-int	btConvexTriangleMeshShape::getNumVertices() const
+int btConvexTriangleMeshShape::getNumVertices() const
 {
 	//cache this?
 	return 0;
-	
 }
 
 int btConvexTriangleMeshShape::getNumEdges() const
@@ -164,44 +142,40 @@ int btConvexTriangleMeshShape::getNumEdges() const
 	return 0;
 }
 
-void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
+void btConvexTriangleMeshShape::getEdge(int, btVector3&, btVector3&) const
 {
-	btAssert(0);	
+	btAssert(0);
 }
 
-void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
+void btConvexTriangleMeshShape::getVertex(int, btVector3&) const
 {
 	btAssert(0);
 }
 
-int	btConvexTriangleMeshShape::getNumPlanes() const
+int btConvexTriangleMeshShape::getNumPlanes() const
 {
 	return 0;
 }
 
-void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int  ) const
+void btConvexTriangleMeshShape::getPlane(btVector3&, btVector3&, int) const
 {
 	btAssert(0);
 }
 
 //not yet
-bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexTriangleMeshShape::isInside(const btVector3&, btScalar) const
 {
 	btAssert(0);
 	return false;
 }
 
-
-
-void	btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
 {
 	m_stridingMesh->setScaling(scaling);
-	
+
 	recalcLocalAabb();
-	
 }
 
-
 const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
 {
 	return m_stridingMesh->getScaling();
@@ -209,107 +183,101 @@ const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
 
 void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
 {
-   class CenterCallback: public btInternalTriangleIndexCallback
-   {
-      bool first;
-      btVector3 ref;
-      btVector3 sum;
-      btScalar volume;
-
-   public:
-
-      CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
-      {
-      }
-
-      virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-      {
-         (void) triangleIndex;
-         (void) partId;
-         if (first)
-         {
-            ref = triangle[0];
-            first = false;
-         }
-         else
-         {
-            btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
-            sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
-            volume += vol;
-         }
-      }
-      
-      btVector3 getCenter()
-      {
-         return (volume > 0) ? sum / volume : ref;
-      }
-
-      btScalar getVolume()
-      {
-         return volume * btScalar(1. / 6);
-      }
-
-   };
-
-   class InertiaCallback: public btInternalTriangleIndexCallback
-   {
-      btMatrix3x3 sum;
-      btVector3 center;
-
-   public:
-
-      InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
-      {
-      }
-
-      virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-      {
-         (void) triangleIndex;
-         (void) partId;
-         btMatrix3x3 i;
-         btVector3 a = triangle[0] - center;
-         btVector3 b = triangle[1] - center;
-         btVector3 c = triangle[2] - center;
-         btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
-         for (int j = 0; j < 3; j++)
-         {
-            for (int k = 0; k <= j; k++)
-            {
-               i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
-                  + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
-            }
-         }
-         btScalar i00 = -i[0][0];
-         btScalar i11 = -i[1][1];
-         btScalar i22 = -i[2][2];
-         i[0][0] = i11 + i22; 
-         i[1][1] = i22 + i00; 
-         i[2][2] = i00 + i11;
-         sum[0] += i[0];
-         sum[1] += i[1];
-         sum[2] += i[2];
-      }
-      
-      btMatrix3x3& getInertia()
-      {
-         return sum;
-      }
-
-   };
-
-   CenterCallback centerCallback;
-   btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-   m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
-   btVector3 center = centerCallback.getCenter();
-   principal.setOrigin(center);
-   volume = centerCallback.getVolume();
-
-   InertiaCallback inertiaCallback(center);
-   m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
-
-   btMatrix3x3& i = inertiaCallback.getInertia();
-   i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
-   inertia.setValue(i[0][0], i[1][1], i[2][2]);
-   inertia /= volume;
-}
+	class CenterCallback : public btInternalTriangleIndexCallback
+	{
+		bool first;
+		btVector3 ref;
+		btVector3 sum;
+		btScalar volume;
+
+	public:
+		CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
+		{
+		}
+
+		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+		{
+			(void)triangleIndex;
+			(void)partId;
+			if (first)
+			{
+				ref = triangle[0];
+				first = false;
+			}
+			else
+			{
+				btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
+				sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
+				volume += vol;
+			}
+		}
 
+		btVector3 getCenter()
+		{
+			return (volume > 0) ? sum / volume : ref;
+		}
+
+		btScalar getVolume()
+		{
+			return volume * btScalar(1. / 6);
+		}
+	};
+
+	class InertiaCallback : public btInternalTriangleIndexCallback
+	{
+		btMatrix3x3 sum;
+		btVector3 center;
+
+	public:
+		InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
+		{
+		}
+
+		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+		{
+			(void)triangleIndex;
+			(void)partId;
+			btMatrix3x3 i;
+			btVector3 a = triangle[0] - center;
+			btVector3 b = triangle[1] - center;
+			btVector3 c = triangle[2] - center;
+			btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
+			for (int j = 0; j < 3; j++)
+			{
+				for (int k = 0; k <= j; k++)
+				{
+					i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
+				}
+			}
+			btScalar i00 = -i[0][0];
+			btScalar i11 = -i[1][1];
+			btScalar i22 = -i[2][2];
+			i[0][0] = i11 + i22;
+			i[1][1] = i22 + i00;
+			i[2][2] = i00 + i11;
+			sum[0] += i[0];
+			sum[1] += i[1];
+			sum[2] += i[2];
+		}
+
+		btMatrix3x3& getInertia()
+		{
+			return sum;
+		}
+	};
+
+	CenterCallback centerCallback;
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+	m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
+	btVector3 center = centerCallback.getCenter();
+	principal.setOrigin(center);
+	volume = centerCallback.getVolume();
+
+	InertiaCallback inertiaCallback(center);
+	m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
+
+	btMatrix3x3& i = inertiaCallback.getInertia();
+	i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
+	inertia.setValue(i[0][0], i[1][1], i[2][2]);
+	inertia /= volume;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
index f338865ca1..6dac9fff04 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
@@ -15,24 +15,22 @@ subject to the following restrictions:
 #ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
 #define BT_CONVEX_TRIANGLEMESH_SHAPE_H
 
-
 #include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 /// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
 /// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
-ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class)
+btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
 {
-
-	class btStridingMeshInterface*	m_stridingMesh;
+	class btStridingMeshInterface* m_stridingMesh;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
 
-	class btStridingMeshInterface*	getMeshInterface()
+	btConvexTriangleMeshShape(btStridingMeshInterface * meshInterface, bool calcAabb = true);
+
+	class btStridingMeshInterface* getMeshInterface()
 	{
 		return m_stridingMesh;
 	}
@@ -40,24 +38,23 @@ public:
 	{
 		return m_stridingMesh;
 	}
-	
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
+
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
+
 	//debugging
-	virtual const char*	getName()const {return "ConvexTrimesh";}
-	
-	virtual int	getNumVertices() const;
+	virtual const char* getName() const { return "ConvexTrimesh"; }
+
+	virtual int getNumVertices() const;
 	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
-	virtual void getVertex(int i,btVector3& vtx) const;
-	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
+	virtual void getVertex(int i, btVector3& vtx) const;
+	virtual int getNumPlanes() const;
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
 
-	
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
 
 	///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
@@ -65,13 +62,7 @@ public:
 	///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
 	///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
 	///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
-	void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
-
+	void calculatePrincipalAxisTransform(btTransform & principal, btVector3 & inertia, btScalar & volume) const;
 };
 
-
-
-#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
-
-
-
+#endif  //BT_CONVEX_TRIANGLEMESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
index 604b3fc770..66dbb8e53d 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
@@ -15,11 +15,11 @@ subject to the following restrictions:
 
 #include "btCylinderShape.h"
 
-btCylinderShape::btCylinderShape (const btVector3& halfExtents)
-:btConvexInternalShape(),
-m_upAxis(1)
+btCylinderShape::btCylinderShape(const btVector3& halfExtents)
+	: btConvexInternalShape(),
+	  m_upAxis(1)
 {
-	btVector3 margin(getMargin(),getMargin(),getMargin());
+	btVector3 margin(getMargin(), getMargin(), getMargin());
 	m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
 
 	setSafeMargin(halfExtents);
@@ -27,30 +27,25 @@ m_upAxis(1)
 	m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
 }
 
-
-btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
-:btCylinderShape(halfExtents)
+btCylinderShapeX::btCylinderShapeX(const btVector3& halfExtents)
+	: btCylinderShape(halfExtents)
 {
 	m_upAxis = 0;
-
 }
 
-
-btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
-:btCylinderShape(halfExtents)
+btCylinderShapeZ::btCylinderShapeZ(const btVector3& halfExtents)
+	: btCylinderShape(halfExtents)
 {
 	m_upAxis = 2;
-
 }
 
-void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btCylinderShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+	btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
 }
 
-void	btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btCylinderShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
-
 //Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
 //#define USE_BOX_INERTIA_APPROXIMATION 1
 #ifndef USE_BOX_INERTIA_APPROXIMATION
@@ -64,25 +59,25 @@ void	btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
 	*
 	*/
 
-	btScalar radius2;	// square of cylinder radius
-	btScalar height2;	// square of cylinder height
-	btVector3 halfExtents = getHalfExtentsWithMargin();	// get cylinder dimension
+	btScalar radius2;                                    // square of cylinder radius
+	btScalar height2;                                    // square of cylinder height
+	btVector3 halfExtents = getHalfExtentsWithMargin();  // get cylinder dimension
 	btScalar div12 = mass / 12.f;
 	btScalar div4 = mass / 4.f;
 	btScalar div2 = mass / 2.f;
 	int idxRadius, idxHeight;
 
-	switch (m_upAxis)	// get indices of radius and height of cylinder
+	switch (m_upAxis)  // get indices of radius and height of cylinder
 	{
-		case 0:		// cylinder is aligned along x
+		case 0:  // cylinder is aligned along x
 			idxRadius = 1;
 			idxHeight = 0;
 			break;
-		case 2:		// cylinder is aligned along z
+		case 2:  // cylinder is aligned along z
 			idxRadius = 0;
 			idxHeight = 2;
 			break;
-		default:	// cylinder is aligned along y
+		default:  // cylinder is aligned along y
 			idxRadius = 0;
 			idxHeight = 1;
 	}
@@ -95,188 +90,164 @@ void	btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
 	btScalar t1 = div12 * height2 + div4 * radius2;
 	btScalar t2 = div2 * radius2;
 
-	switch (m_upAxis)	// set diagonal elements of inertia tensor
+	switch (m_upAxis)  // set diagonal elements of inertia tensor
 	{
-		case 0:		// cylinder is aligned along x
-			inertia.setValue(t2,t1,t1);
+		case 0:  // cylinder is aligned along x
+			inertia.setValue(t2, t1, t1);
 			break;
-		case 2:		// cylinder is aligned along z
-			inertia.setValue(t1,t1,t2);
+		case 2:  // cylinder is aligned along z
+			inertia.setValue(t1, t1, t2);
 			break;
-		default:	// cylinder is aligned along y
-			inertia.setValue(t1,t2,t1);
+		default:  // cylinder is aligned along y
+			inertia.setValue(t1, t2, t1);
 	}
-#else //USE_BOX_INERTIA_APPROXIMATION
+#else   //USE_BOX_INERTIA_APPROXIMATION
 	//approximation of box shape
 	btVector3 halfExtents = getHalfExtentsWithMargin();
 
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
+	btScalar lx = btScalar(2.) * (halfExtents.x());
+	btScalar ly = btScalar(2.) * (halfExtents.y());
+	btScalar lz = btScalar(2.) * (halfExtents.z());
 
-	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
-#endif //USE_BOX_INERTIA_APPROXIMATION
+	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
+#endif  //USE_BOX_INERTIA_APPROXIMATION
 }
 
-
-SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) 
+SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents, const btVector3& v)
 {
-const int cylinderUpAxis = 0;
-const int XX = 1;
-const int YY = 0;
-const int ZZ = 2;
+	const int cylinderUpAxis = 0;
+	const int XX = 1;
+	const int YY = 0;
+	const int ZZ = 2;
 
 	//mapping depends on how cylinder local orientation is
 	// extents of the cylinder is: X,Y is for radius, and Z for height
 
-
 	btScalar radius = halfExtents[XX];
 	btScalar halfHeight = halfExtents[cylinderUpAxis];
 
+	btVector3 tmp;
+	btScalar d;
 
-    btVector3 tmp;
-	btScalar d ;
-
-    btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-    if (s != btScalar(0.0))
+	btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+	if (s != btScalar(0.0))
 	{
-        d = radius / s;  
+		d = radius / s;
 		tmp[XX] = v[XX] * d;
 		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
 		tmp[ZZ] = v[ZZ] * d;
 		return tmp;
 	}
-    else
+	else
 	{
-	    tmp[XX] = radius;
+		tmp[XX] = radius;
 		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
 		tmp[ZZ] = btScalar(0.0);
 		return tmp;
-    }
-
-
+	}
 }
 
-
-
-
-
-
-inline  btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v) 
+inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents, const btVector3& v)
 {
-
-const int cylinderUpAxis = 1;
-const int XX = 0;
-const int YY = 1;
-const int ZZ = 2;
-
+	const int cylinderUpAxis = 1;
+	const int XX = 0;
+	const int YY = 1;
+	const int ZZ = 2;
 
 	btScalar radius = halfExtents[XX];
 	btScalar halfHeight = halfExtents[cylinderUpAxis];
 
+	btVector3 tmp;
+	btScalar d;
 
-    btVector3 tmp;
-	btScalar d ;
-
-    btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-    if (s != btScalar(0.0))
+	btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+	if (s != btScalar(0.0))
 	{
-        d = radius / s;  
+		d = radius / s;
 		tmp[XX] = v[XX] * d;
 		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
 		tmp[ZZ] = v[ZZ] * d;
 		return tmp;
 	}
-    else
+	else
 	{
-	    tmp[XX] = radius;
+		tmp[XX] = radius;
 		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
 		tmp[ZZ] = btScalar(0.0);
 		return tmp;
-    }
-
+	}
 }
 
-inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v) 
+inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents, const btVector3& v)
 {
-const int cylinderUpAxis = 2;
-const int XX = 0;
-const int YY = 2;
-const int ZZ = 1;
+	const int cylinderUpAxis = 2;
+	const int XX = 0;
+	const int YY = 2;
+	const int ZZ = 1;
 
 	//mapping depends on how cylinder local orientation is
 	// extents of the cylinder is: X,Y is for radius, and Z for height
 
-
 	btScalar radius = halfExtents[XX];
 	btScalar halfHeight = halfExtents[cylinderUpAxis];
 
+	btVector3 tmp;
+	btScalar d;
 
-    btVector3 tmp;
-	btScalar d ;
-
-    btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-    if (s != btScalar(0.0))
+	btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+	if (s != btScalar(0.0))
 	{
-        d = radius / s;  
+		d = radius / s;
 		tmp[XX] = v[XX] * d;
 		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
 		tmp[ZZ] = v[ZZ] * d;
 		return tmp;
 	}
-    else
+	else
 	{
-	    tmp[XX] = radius;
+		tmp[XX] = radius;
 		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
 		tmp[ZZ] = btScalar(0.0);
 		return tmp;
-    }
-
-
+	}
 }
 
-btVector3	btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-	return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
+	return CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vec);
 }
 
-
-btVector3	btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-	return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
+	return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vec);
 }
-btVector3	btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-	return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
+	return CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vec);
 }
 
-void	btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
-		supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
+		supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vectors[i]);
 	}
 }
 
-void	btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
-		supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
+		supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vectors[i]);
 	}
 }
 
-
-
-
-void	btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
-		supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
+		supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vectors[i]);
 	}
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
index a214a827c9..d3f64508ba 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -17,90 +17,84 @@ subject to the following restrictions:
 #define BT_CYLINDER_MINKOWSKI_H
 
 #include "btBoxShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 #include "LinearMath/btVector3.h"
 
 /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
-ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class)
+btCylinderShape : public btConvexInternalShape
 
 {
-
 protected:
-
-	int	m_upAxis;
+	int m_upAxis;
 
 public:
-
-BT_DECLARE_ALIGNED_ALLOCATOR();
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
+		btVector3 margin(getMargin(), getMargin(), getMargin());
 		halfExtents += margin;
 		return halfExtents;
 	}
-	
+
 	const btVector3& getHalfExtentsWithoutMargin() const
 	{
-		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+		return m_implicitShapeDimensions;  //changed in Bullet 2.63: assume the scaling and margin are included
 	}
 
-	btCylinderShape (const btVector3& halfExtents);
-	
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	btCylinderShape(const btVector3& halfExtents);
+
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
 	virtual void setMargin(btScalar collisionMargin)
 	{
 		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		
+		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
+
 		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		btVector3 newMargin(getMargin(), getMargin(), getMargin());
 		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
 	}
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
 	{
-
 		btVector3 supVertex;
 		supVertex = localGetSupportingVertexWithoutMargin(vec);
-		
-		if ( getMargin()!=btScalar(0.) )
+
+		if (getMargin() != btScalar(0.))
 		{
 			btVector3 vecnorm = vec;
-			if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+			if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 			{
-				vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-			} 
+				vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+			}
 			vecnorm.normalize();
-			supVertex+= getMargin() * vecnorm;
+			supVertex += getMargin() * vecnorm;
 		}
 		return supVertex;
 	}
 
-
 	//use box inertia
 	//	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-
-	int	getUpAxis() const
+	int getUpAxis() const
 	{
 		return m_upAxis;
 	}
 
-	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	virtual btVector3 getAnisotropicRollingFrictionDirection() const
 	{
-		btVector3 aniDir(0,0,0);
-		aniDir[getUpAxis()]=1;
+		btVector3 aniDir(0, 0, 0);
+		aniDir[getUpAxis()] = 1;
 		return aniDir;
 	}
 
@@ -109,43 +103,41 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 		return getHalfExtentsWithMargin().getX();
 	}
 
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
 		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
 
 		btConvexInternalShape::setLocalScaling(scaling);
 
 		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
 	}
 
 	//debugging
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "CylinderY";
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 class btCylinderShapeX : public btCylinderShape
 {
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btCylinderShapeX (const btVector3& halfExtents);
-
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
-		//debugging
-	virtual const char*	getName()const
+
+	btCylinderShapeX(const btVector3& halfExtents);
+
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
+
+	//debugging
+	virtual const char* getName() const
 	{
 		return "CylinderX";
 	}
@@ -154,21 +146,20 @@ public:
 	{
 		return getHalfExtentsWithMargin().getY();
 	}
-
 };
 
 class btCylinderShapeZ : public btCylinderShape
 {
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btCylinderShapeZ (const btVector3& halfExtents);
 
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	btCylinderShapeZ(const btVector3& halfExtents);
+
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
-		//debugging
-	virtual const char*	getName()const
+	//debugging
+	virtual const char* getName() const
 	{
 		return "CylinderZ";
 	}
@@ -177,30 +168,29 @@ public:
 	{
 		return getHalfExtentsWithMargin().getX();
 	}
-
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCylinderShapeData
+struct btCylinderShapeData
 {
-	btConvexInternalShapeData	m_convexInternalShapeData;
+	btConvexInternalShapeData m_convexInternalShapeData;
 
-	int	m_upAxis;
+	int m_upAxis;
 
-	char	m_padding[4];
+	char m_padding[4];
 };
 
-SIMD_FORCE_INLINE	int	btCylinderShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btCylinderShapeData);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
+	btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer;
 
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 
 	shapeData->m_upAxis = m_upAxis;
 
@@ -213,7 +203,4 @@ SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSer
 	return "btCylinderShapeData";
 }
 
-
-
-#endif //BT_CYLINDER_MINKOWSKI_H
-
+#endif  //BT_CYLINDER_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
index a9e6df5c58..4699555bd8 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
@@ -15,36 +15,28 @@ subject to the following restrictions:
 
 #include "btEmptyShape.h"
 
-
 #include "btCollisionShape.h"
 
-
-btEmptyShape::btEmptyShape() : btConcaveShape ()
+btEmptyShape::btEmptyShape() : btConcaveShape()
 {
 	m_shapeType = EMPTY_SHAPE_PROXYTYPE;
 }
 
-
 btEmptyShape::~btEmptyShape()
 {
 }
 
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btEmptyShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btVector3 margin(getMargin(),getMargin(),getMargin());
+	btVector3 margin(getMargin(), getMargin(), getMargin());
 
 	aabbMin = t.getOrigin() - margin;
 
 	aabbMax = t.getOrigin() + margin;
-
 }
 
-void	btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const
+void btEmptyShape::calculateLocalInertia(btScalar, btVector3&) const
 {
 	btAssert(0);
 }
-
-	
-	
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
index 069a79402b..d2e21173b2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -23,50 +23,43 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "btCollisionMargin.h"
 
-
-
-
 /// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class.
 /// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed.
-ATTRIBUTE_ALIGNED16(class) btEmptyShape	: public btConcaveShape
+ATTRIBUTE_ALIGNED16(class)
+btEmptyShape : public btConcaveShape
 {
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btEmptyShape();
 
 	virtual ~btEmptyShape();
 
-
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
 		m_localScaling = scaling;
 	}
-	virtual const btVector3& getLocalScaling() const 
+	virtual const btVector3& getLocalScaling() const
 	{
 		return m_localScaling;
 	}
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-	
-	virtual const char*	getName()const
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
+
+	virtual const char* getName() const
 	{
 		return "Empty";
 	}
 
-	virtual void processAllTriangles(btTriangleCallback* ,const btVector3& ,const btVector3& ) const
+	virtual void processAllTriangles(btTriangleCallback*, const btVector3&, const btVector3&) const
 	{
 	}
 
 protected:
-	btVector3	m_localScaling;
-
+	btVector3 m_localScaling;
 };
 
-
-
-#endif //BT_EMPTY_SHAPE_H
+#endif  //BT_EMPTY_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 441a89c6bb..c85ce2498e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -17,23 +17,17 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransformUtil.h"
 
-
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape
-(
-int heightStickWidth, int heightStickLength, const void* heightfieldData,
-btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
-PHY_ScalarType hdt, bool flipQuadEdges
-)
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(
+	int heightStickWidth, int heightStickLength, const void* heightfieldData,
+	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
+	PHY_ScalarType hdt, bool flipQuadEdges)
 {
 	initialize(heightStickWidth, heightStickLength, heightfieldData,
-	           heightScale, minHeight, maxHeight, upAxis, hdt,
-	           flipQuadEdges);
+			   heightScale, minHeight, maxHeight, upAxis, hdt,
+			   flipQuadEdges);
 }
 
-
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges)
 {
 	// legacy constructor: support only float or unsigned char,
 	// 	and min height is zero
@@ -45,27 +39,23 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
 	btScalar heightScale = maxHeight / 65535;
 
 	initialize(heightStickWidth, heightStickLength, heightfieldData,
-	           heightScale, minHeight, maxHeight, upAxis, hdt,
-	           flipQuadEdges);
+			   heightScale, minHeight, maxHeight, upAxis, hdt,
+			   flipQuadEdges);
 }
 
-
-
-void btHeightfieldTerrainShape::initialize
-(
-int heightStickWidth, int heightStickLength, const void* heightfieldData,
-btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
-PHY_ScalarType hdt, bool flipQuadEdges
-)
+void btHeightfieldTerrainShape::initialize(
+	int heightStickWidth, int heightStickLength, const void* heightfieldData,
+	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
+	PHY_ScalarType hdt, bool flipQuadEdges)
 {
 	// validation
-	btAssert(heightStickWidth > 1);// && "bad width");
-	btAssert(heightStickLength > 1);// && "bad length");
-	btAssert(heightfieldData);// && "null heightfield data");
+	btAssert(heightStickWidth > 1);   // && "bad width");
+	btAssert(heightStickLength > 1);  // && "bad length");
+	btAssert(heightfieldData);        // && "null heightfield data");
 	// btAssert(heightScale) -- do we care?  Trust caller here
-	btAssert(minHeight <= maxHeight);// && "bad min/max height");
-	btAssert(upAxis >= 0 && upAxis < 3);// && "bad upAxis--should be in range [0,2]");
-	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);// && "Bad height data type enum");
+	btAssert(minHeight <= maxHeight);                                    // && "bad min/max height");
+	btAssert(upAxis >= 0 && upAxis < 3);                                 // && "bad upAxis--should be in range [0,2]");
+	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);  // && "Bad height data type enum");
 
 	// initialize member variables
 	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
@@ -73,8 +63,8 @@ PHY_ScalarType hdt, bool flipQuadEdges
 	m_heightStickLength = heightStickLength;
 	m_minHeight = minHeight;
 	m_maxHeight = maxHeight;
-	m_width = (btScalar) (heightStickWidth - 1);
-	m_length = (btScalar) (heightStickLength - 1);
+	m_width = (btScalar)(heightStickWidth - 1);
+	m_length = (btScalar)(heightStickLength - 1);
 	m_heightScale = heightScale;
 	m_heightfieldDataUnknown = heightfieldData;
 	m_heightDataType = hdt;
@@ -87,28 +77,28 @@ PHY_ScalarType hdt, bool flipQuadEdges
 	// determine min/max axis-aligned bounding box (aabb) values
 	switch (m_upAxis)
 	{
-	case 0:
+		case 0:
 		{
 			m_localAabbMin.setValue(m_minHeight, 0, 0);
 			m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
 			break;
 		}
-	case 1:
+		case 1:
 		{
 			m_localAabbMin.setValue(0, m_minHeight, 0);
 			m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
 			break;
 		};
-	case 2:
+		case 2:
 		{
 			m_localAabbMin.setValue(0, 0, m_minHeight);
 			m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
 			break;
 		}
-	default:
+		default:
 		{
 			//need to get valid m_upAxis
-			btAssert(0);// && "Bad m_upAxis");
+			btAssert(0);  // && "Bad m_upAxis");
 		}
 	}
 
@@ -116,62 +106,57 @@ PHY_ScalarType hdt, bool flipQuadEdges
 	m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
 }
 
-
-
 btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
 {
 }
 
-
-
-void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btHeightfieldTerrainShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
+	btVector3 halfExtents = (m_localAabbMax - m_localAabbMin) * m_localScaling * btScalar(0.5);
 
 	btVector3 localOrigin(0, 0, 0);
 	localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
 	localOrigin *= m_localScaling;
 
-	btMatrix3x3 abs_b = t.getBasis().absolute();  
+	btMatrix3x3 abs_b = t.getBasis().absolute();
 	btVector3 center = t.getOrigin();
-    btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	extent += btVector3(getMargin(),getMargin(),getMargin());
+	btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	extent += btVector3(getMargin(), getMargin(), getMargin());
 
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 }
 
-
 /// This returns the "raw" (user's initial) height, not the actual height.
 /// The actual height needs to be adjusted to be relative to the center
 ///   of the heightfield's AABB.
 btScalar
-btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
+btHeightfieldTerrainShape::getRawHeightFieldValue(int x, int y) const
 {
 	btScalar val = 0.f;
 	switch (m_heightDataType)
 	{
-	case PHY_FLOAT:
+		case PHY_FLOAT:
 		{
-			val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
+			val = m_heightfieldDataFloat[(y * m_heightStickWidth) + x];
 			break;
 		}
 
-	case PHY_UCHAR:
+		case PHY_UCHAR:
 		{
-			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
+			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y * m_heightStickWidth) + x];
 			val = heightFieldValue * m_heightScale;
 			break;
 		}
 
-	case PHY_SHORT:
+		case PHY_SHORT:
 		{
 			short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
 			val = hfValue * m_heightScale;
 			break;
 		}
 
-	default:
+		default:
 		{
 			btAssert(!"Bad m_heightDataType");
 		}
@@ -180,74 +165,63 @@ btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
 	return val;
 }
 
-
-
-
 /// this returns the vertex in bullet-local coordinates
-void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
+void btHeightfieldTerrainShape::getVertex(int x, int y, btVector3& vertex) const
 {
-	btAssert(x>=0);
-	btAssert(y>=0);
-	btAssert(x<m_heightStickWidth);
-	btAssert(y<m_heightStickLength);
+	btAssert(x >= 0);
+	btAssert(y >= 0);
+	btAssert(x < m_heightStickWidth);
+	btAssert(y < m_heightStickLength);
 
-	btScalar	height = getRawHeightFieldValue(x,y);
+	btScalar height = getRawHeightFieldValue(x, y);
 
 	switch (m_upAxis)
 	{
-	case 0:
+		case 0:
 		{
-		vertex.setValue(
-			height - m_localOrigin.getX(),
-			(-m_width/btScalar(2.0)) + x,
-			(-m_length/btScalar(2.0) ) + y
-			);
+			vertex.setValue(
+				height - m_localOrigin.getX(),
+				(-m_width / btScalar(2.0)) + x,
+				(-m_length / btScalar(2.0)) + y);
 			break;
 		}
-	case 1:
+		case 1:
 		{
 			vertex.setValue(
-			(-m_width/btScalar(2.0)) + x,
-			height - m_localOrigin.getY(),
-			(-m_length/btScalar(2.0)) + y
-			);
+				(-m_width / btScalar(2.0)) + x,
+				height - m_localOrigin.getY(),
+				(-m_length / btScalar(2.0)) + y);
 			break;
 		};
-	case 2:
+		case 2:
 		{
 			vertex.setValue(
-			(-m_width/btScalar(2.0)) + x,
-			(-m_length/btScalar(2.0)) + y,
-			height - m_localOrigin.getZ()
-			);
+				(-m_width / btScalar(2.0)) + x,
+				(-m_length / btScalar(2.0)) + y,
+				height - m_localOrigin.getZ());
 			break;
 		}
-	default:
+		default:
 		{
 			//need to get valid m_upAxis
 			btAssert(0);
 		}
 	}
 
-	vertex*=m_localScaling;
+	vertex *= m_localScaling;
 }
 
-
-
 static inline int
-getQuantized
-(
-btScalar x
-)
+getQuantized(
+	btScalar x)
 {
-	if (x < 0.0) {
-		return (int) (x - 0.5);
+	if (x < 0.0)
+	{
+		return (int)(x - 0.5);
 	}
-	return (int) (x + 0.5);
+	return (int)(x + 0.5);
 }
 
-
-
 /// given input vector, return quantized version
 /**
   This routine is basically determining the gridpoint indices for a given
@@ -257,7 +231,7 @@ btScalar x
   "with clamp" means that we restrict the point to be in the heightfield's
   axis-aligned bounding box.
  */
-void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
+void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point, int /*isMax*/) const
 {
 	btVector3 clampedPoint(point);
 	clampedPoint.setMax(m_localAabbMin);
@@ -266,11 +240,8 @@ void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& poi
 	out[0] = getQuantized(clampedPoint.getX());
 	out[1] = getQuantized(clampedPoint.getY());
 	out[2] = getQuantized(clampedPoint.getZ());
-		
 }
 
-
-
 /// process all triangles within the provided axis-aligned bounding box
 /**
   basic algorithm:
@@ -278,128 +249,123 @@ void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& poi
     - convert input aabb to a range of heightfield grid points (quantize)
     - iterate over all triangles in that subset of the grid
  */
-void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	// scale down the input aabb's so they are in local (non-scaled) coordinates
-	btVector3	localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
-	btVector3	localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
+	btVector3 localAabbMin = aabbMin * btVector3(1.f / m_localScaling[0], 1.f / m_localScaling[1], 1.f / m_localScaling[2]);
+	btVector3 localAabbMax = aabbMax * btVector3(1.f / m_localScaling[0], 1.f / m_localScaling[1], 1.f / m_localScaling[2]);
 
 	// account for local origin
 	localAabbMin += m_localOrigin;
 	localAabbMax += m_localOrigin;
 
 	//quantize the aabbMin and aabbMax, and adjust the start/end ranges
-	int	quantizedAabbMin[3];
-	int	quantizedAabbMax[3];
-	quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
-	quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
-	
+	int quantizedAabbMin[3];
+	int quantizedAabbMax[3];
+	quantizeWithClamp(quantizedAabbMin, localAabbMin, 0);
+	quantizeWithClamp(quantizedAabbMax, localAabbMax, 1);
+
 	// expand the min/max quantized values
 	// this is to catch the case where the input aabb falls between grid points!
-	for (int i = 0; i < 3; ++i) {
+	for (int i = 0; i < 3; ++i)
+	{
 		quantizedAabbMin[i]--;
 		quantizedAabbMax[i]++;
-	}	
+	}
 
-	int startX=0;
-	int endX=m_heightStickWidth-1;
-	int startJ=0;
-	int endJ=m_heightStickLength-1;
+	int startX = 0;
+	int endX = m_heightStickWidth - 1;
+	int startJ = 0;
+	int endJ = m_heightStickLength - 1;
 
 	switch (m_upAxis)
 	{
-	case 0:
+		case 0:
 		{
-			if (quantizedAabbMin[1]>startX)
+			if (quantizedAabbMin[1] > startX)
 				startX = quantizedAabbMin[1];
-			if (quantizedAabbMax[1]<endX)
+			if (quantizedAabbMax[1] < endX)
 				endX = quantizedAabbMax[1];
-			if (quantizedAabbMin[2]>startJ)
+			if (quantizedAabbMin[2] > startJ)
 				startJ = quantizedAabbMin[2];
-			if (quantizedAabbMax[2]<endJ)
+			if (quantizedAabbMax[2] < endJ)
 				endJ = quantizedAabbMax[2];
 			break;
 		}
-	case 1:
+		case 1:
 		{
-			if (quantizedAabbMin[0]>startX)
+			if (quantizedAabbMin[0] > startX)
 				startX = quantizedAabbMin[0];
-			if (quantizedAabbMax[0]<endX)
+			if (quantizedAabbMax[0] < endX)
 				endX = quantizedAabbMax[0];
-			if (quantizedAabbMin[2]>startJ)
+			if (quantizedAabbMin[2] > startJ)
 				startJ = quantizedAabbMin[2];
-			if (quantizedAabbMax[2]<endJ)
+			if (quantizedAabbMax[2] < endJ)
 				endJ = quantizedAabbMax[2];
 			break;
 		};
-	case 2:
+		case 2:
 		{
-			if (quantizedAabbMin[0]>startX)
+			if (quantizedAabbMin[0] > startX)
 				startX = quantizedAabbMin[0];
-			if (quantizedAabbMax[0]<endX)
+			if (quantizedAabbMax[0] < endX)
 				endX = quantizedAabbMax[0];
-			if (quantizedAabbMin[1]>startJ)
+			if (quantizedAabbMin[1] > startJ)
 				startJ = quantizedAabbMin[1];
-			if (quantizedAabbMax[1]<endJ)
+			if (quantizedAabbMax[1] < endJ)
 				endJ = quantizedAabbMax[1];
 			break;
 		}
-	default:
+		default:
 		{
 			//need to get valid m_upAxis
 			btAssert(0);
 		}
 	}
 
-	
-  
-
-	for(int j=startJ; j<endJ; j++)
+	for (int j = startJ; j < endJ; j++)
 	{
-		for(int x=startX; x<endX; x++)
+		for (int x = startX; x < endX; x++)
 		{
 			btVector3 vertices[3];
-			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision  && !(j & 1)))
+			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1)))
 			{
-        //first triangle
-        getVertex(x,j,vertices[0]);
-		getVertex(x, j + 1, vertices[1]);
-		getVertex(x + 1, j + 1, vertices[2]);
-        callback->processTriangle(vertices,x,j);
-        //second triangle
-      //  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
-        getVertex(x+1,j+1,vertices[1]);
-		getVertex(x + 1, j, vertices[2]);
-		callback->processTriangle(vertices, x, j);
-
-			} else
+				//first triangle
+				getVertex(x, j, vertices[0]);
+				getVertex(x, j + 1, vertices[1]);
+				getVertex(x + 1, j + 1, vertices[2]);
+				callback->processTriangle(vertices, x, j);
+				//second triangle
+				//  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
+				getVertex(x + 1, j + 1, vertices[1]);
+				getVertex(x + 1, j, vertices[2]);
+				callback->processTriangle(vertices, x, j);
+			}
+			else
 			{
-        //first triangle
-        getVertex(x,j,vertices[0]);
-        getVertex(x,j+1,vertices[1]);
-        getVertex(x+1,j,vertices[2]);
-        callback->processTriangle(vertices,x,j);
-        //second triangle
-        getVertex(x+1,j,vertices[0]);
-        //getVertex(x,j+1,vertices[1]);
-        getVertex(x+1,j+1,vertices[2]);
-        callback->processTriangle(vertices,x,j);
+				//first triangle
+				getVertex(x, j, vertices[0]);
+				getVertex(x, j + 1, vertices[1]);
+				getVertex(x + 1, j, vertices[2]);
+				callback->processTriangle(vertices, x, j);
+				//second triangle
+				getVertex(x + 1, j, vertices[0]);
+				//getVertex(x,j+1,vertices[1]);
+				getVertex(x + 1, j + 1, vertices[2]);
+				callback->processTriangle(vertices, x, j);
 			}
 		}
 	}
-
-	
-
 }
 
-void	btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
+void btHeightfieldTerrainShape::calculateLocalInertia(btScalar, btVector3& inertia) const
 {
 	//moving concave objects not supported
-	
-	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+
+	inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 }
 
-void	btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
+void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
 {
 	m_localScaling = scaling;
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 4a7a4a4bda..8a50a57e31 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -68,43 +68,41 @@ subject to the following restrictions:
 
   For usage and testing see the TerrainDemo.
  */
-ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class)
+btHeightfieldTerrainShape : public btConcaveShape
 {
 protected:
-	btVector3	m_localAabbMin;
-	btVector3	m_localAabbMax;
-	btVector3	m_localOrigin;
+	btVector3 m_localAabbMin;
+	btVector3 m_localAabbMax;
+	btVector3 m_localOrigin;
 
 	///terrain data
-	int	m_heightStickWidth;
+	int m_heightStickWidth;
 	int m_heightStickLength;
-	btScalar	m_minHeight;
-	btScalar	m_maxHeight;
+	btScalar m_minHeight;
+	btScalar m_maxHeight;
 	btScalar m_width;
 	btScalar m_length;
 	btScalar m_heightScale;
-	union
-	{
-		const unsigned char*	m_heightfieldDataUnsignedChar;
-		const short*		m_heightfieldDataShort;
-		const btScalar*			m_heightfieldDataFloat;
-		const void*	m_heightfieldDataUnknown;
+	union {
+		const unsigned char* m_heightfieldDataUnsignedChar;
+		const short* m_heightfieldDataShort;
+		const btScalar* m_heightfieldDataFloat;
+		const void* m_heightfieldDataUnknown;
 	};
 
-	PHY_ScalarType	m_heightDataType;	
-	bool	m_flipQuadEdges;
-  	bool  m_useDiamondSubdivision;
+	PHY_ScalarType m_heightDataType;
+	bool m_flipQuadEdges;
+	bool m_useDiamondSubdivision;
 	bool m_useZigzagSubdivision;
 
-	int	m_upAxis;
-	
-	btVector3	m_localScaling;
-
-	virtual btScalar	getRawHeightFieldValue(int x,int y) const;
-	void		quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
-	void		getVertex(int x,int y,btVector3& vertex) const;
+	int m_upAxis;
 
+	btVector3 m_localScaling;
 
+	virtual btScalar getRawHeightFieldValue(int x, int y) const;
+	void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
+	void getVertex(int x, int y, btVector3& vertex) const;
 
 	/// protected initialization
 	/**
@@ -112,25 +110,24 @@ protected:
 	  backwards-compatible without a lot of copy/paste.
 	 */
 	void initialize(int heightStickWidth, int heightStickLength,
-	                const void* heightfieldData, btScalar heightScale,
-	                btScalar minHeight, btScalar maxHeight, int upAxis,
-	                PHY_ScalarType heightDataType, bool flipQuadEdges);
+					const void* heightfieldData, btScalar heightScale,
+					btScalar minHeight, btScalar maxHeight, int upAxis,
+					PHY_ScalarType heightDataType, bool flipQuadEdges);
 
 public:
-	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	/// preferred constructor
 	/**
 	  This constructor supports a range of heightfield
 	  data types, and allows for a non-zero minimum height value.
 	  heightScale is needed for any integer-based heightfield data types.
 	 */
-	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
-	                          const void* heightfieldData, btScalar heightScale,
-	                          btScalar minHeight, btScalar maxHeight,
-	                          int upAxis, PHY_ScalarType heightDataType,
-	                          bool flipQuadEdges);
+	btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,
+							  const void* heightfieldData, btScalar heightScale,
+							  btScalar minHeight, btScalar maxHeight,
+							  int upAxis, PHY_ScalarType heightDataType,
+							  bool flipQuadEdges);
 
 	/// legacy constructor
 	/**
@@ -139,29 +136,27 @@ public:
 	  compatibility reasons, heightScale is calculated as maxHeight / 65535 
 	  (and is only used when useFloatData = false).
  	 */
-	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
+	btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges);
 
 	virtual ~btHeightfieldTerrainShape();
 
+	void setUseDiamondSubdivision(bool useDiamondSubdivision = true) { m_useDiamondSubdivision = useDiamondSubdivision; }
 
-	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
+	///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625
+	void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; }
 
-	///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625	
-	void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;}
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void setLocalScaling(const btVector3& scaling);
 
-	virtual void	setLocalScaling(const btVector3& scaling);
-	
 	virtual const btVector3& getLocalScaling() const;
-	
-	//debugging
-	virtual const char*	getName()const {return "HEIGHTFIELD";}
 
+	//debugging
+	virtual const char* getName() const { return "HEIGHTFIELD"; }
 };
 
-#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
+#endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
index 866f9b4da4..c9a436bf26 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
@@ -21,15 +21,18 @@ subject to the following restrictions:
 // Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
 class btMaterial
 {
-    // public members so that materials can change due to world events
+	// public members so that materials can change due to world events
 public:
-    btScalar m_friction;
-    btScalar m_restitution;
-    int pad[2];
-
-    btMaterial(){}
-    btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
+	btScalar m_friction;
+	btScalar m_restitution;
+	int pad[2];
+
+	btMaterial() {}
+	btMaterial(btScalar fric, btScalar rest)
+	{
+		m_friction = fric;
+		m_restitution = rest;
+	}
 };
 
-#endif // BT_MATERIAL_H
-
+#endif  // BT_MATERIAL_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
new file mode 100644
index 0000000000..13c0a343f1
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
@@ -0,0 +1,522 @@
+#include "btMiniSDF.h"
+
+//
+//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
+//example:
+//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
+//The MIT License (MIT)
+//
+//Copyright (c) 2017 Dan Koschier
+//
+
+#include <limits.h>
+#include <string.h>  //memcpy
+
+struct btSdfDataStream
+{
+	const char* m_data;
+	int m_size;
+
+	int m_currentOffset;
+
+	btSdfDataStream(const char* data, int size)
+		: m_data(data),
+		  m_size(size),
+		  m_currentOffset(0)
+	{
+	}
+
+	template <class T>
+	bool read(T& val)
+	{
+		int bytes = sizeof(T);
+		if (m_currentOffset + bytes <= m_size)
+		{
+			char* dest = (char*)&val;
+			memcpy(dest, &m_data[m_currentOffset], bytes);
+			m_currentOffset += bytes;
+			return true;
+		}
+		btAssert(0);
+		return false;
+	}
+};
+
+bool btMiniSDF::load(const char* data, int size)
+{
+	int fileSize = -1;
+
+	btSdfDataStream ds(data, size);
+	{
+		double buf[6];
+		ds.read(buf);
+		m_domain.m_min[0] = buf[0];
+		m_domain.m_min[1] = buf[1];
+		m_domain.m_min[2] = buf[2];
+		m_domain.m_min[3] = 0;
+		m_domain.m_max[0] = buf[3];
+		m_domain.m_max[1] = buf[4];
+		m_domain.m_max[2] = buf[5];
+		m_domain.m_max[3] = 0;
+	}
+	{
+		unsigned int buf2[3];
+		ds.read(buf2);
+		m_resolution[0] = buf2[0];
+		m_resolution[1] = buf2[1];
+		m_resolution[2] = buf2[2];
+	}
+	{
+		double buf[3];
+		ds.read(buf);
+		m_cell_size[0] = buf[0];
+		m_cell_size[1] = buf[1];
+		m_cell_size[2] = buf[2];
+	}
+	{
+		double buf[3];
+		ds.read(buf);
+		m_inv_cell_size[0] = buf[0];
+		m_inv_cell_size[1] = buf[1];
+		m_inv_cell_size[2] = buf[2];
+	}
+	{
+		unsigned long long int cells;
+		ds.read(cells);
+		m_n_cells = cells;
+	}
+	{
+		unsigned long long int fields;
+		ds.read(fields);
+		m_n_fields = fields;
+	}
+
+	unsigned long long int nodes0;
+	std::size_t n_nodes0;
+	ds.read(nodes0);
+	n_nodes0 = nodes0;
+	if (n_nodes0 > 1024 * 1024 * 1024)
+	{
+		return m_isValid;
+	}
+	m_nodes.resize(n_nodes0);
+	for (unsigned int i = 0; i < n_nodes0; i++)
+	{
+		unsigned long long int n_nodes1;
+		ds.read(n_nodes1);
+		btAlignedObjectArray<double>& nodes = m_nodes[i];
+		nodes.resize(n_nodes1);
+		for (int j = 0; j < nodes.size(); j++)
+		{
+			double& node = nodes[j];
+			ds.read(node);
+		}
+	}
+
+	unsigned long long int n_cells0;
+	ds.read(n_cells0);
+	m_cells.resize(n_cells0);
+	for (int i = 0; i < n_cells0; i++)
+	{
+		unsigned long long int n_cells1;
+		btAlignedObjectArray<btCell32>& cells = m_cells[i];
+		ds.read(n_cells1);
+		cells.resize(n_cells1);
+		for (int j = 0; j < n_cells1; j++)
+		{
+			btCell32& cell = cells[j];
+			ds.read(cell);
+		}
+	}
+
+	{
+		unsigned long long int n_cell_maps0;
+		ds.read(n_cell_maps0);
+
+		m_cell_map.resize(n_cell_maps0);
+		for (int i = 0; i < n_cell_maps0; i++)
+		{
+			unsigned long long int n_cell_maps1;
+			btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
+			ds.read(n_cell_maps1);
+			cell_maps.resize(n_cell_maps1);
+			for (int j = 0; j < n_cell_maps1; j++)
+			{
+				unsigned int& cell_map = cell_maps[j];
+				ds.read(cell_map);
+			}
+		}
+	}
+
+	m_isValid = (ds.m_currentOffset == ds.m_size);
+	return m_isValid;
+}
+
+unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const& ijk) const
+{
+	return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0];
+}
+
+btAlignedBox3d
+btMiniSDF::subdomain(btMultiIndex const& ijk) const
+{
+	btAssert(m_isValid);
+	btVector3 tmp;
+	tmp.m_floats[0] = m_cell_size[0] * (double)ijk.ijk[0];
+	tmp.m_floats[1] = m_cell_size[1] * (double)ijk.ijk[1];
+	tmp.m_floats[2] = m_cell_size[2] * (double)ijk.ijk[2];
+
+	btVector3 origin = m_domain.min() + tmp;
+
+	btAlignedBox3d box = btAlignedBox3d(origin, origin + m_cell_size);
+	return box;
+}
+
+btMultiIndex
+btMiniSDF::singleToMultiIndex(unsigned int l) const
+{
+	btAssert(m_isValid);
+	unsigned int n01 = m_resolution[0] * m_resolution[1];
+	unsigned int k = l / n01;
+	unsigned int temp = l % n01;
+	unsigned int j = temp / m_resolution[0];
+	unsigned int i = temp % m_resolution[0];
+	btMultiIndex mi;
+	mi.ijk[0] = i;
+	mi.ijk[1] = j;
+	mi.ijk[2] = k;
+	return mi;
+}
+
+btAlignedBox3d
+btMiniSDF::subdomain(unsigned int l) const
+{
+	btAssert(m_isValid);
+	return subdomain(singleToMultiIndex(l));
+}
+
+btShapeMatrix
+btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const
+{
+	btAssert(m_isValid);
+	btShapeMatrix res;
+
+	btScalar x = xi[0];
+	btScalar y = xi[1];
+	btScalar z = xi[2];
+
+	btScalar x2 = x * x;
+	btScalar y2 = y * y;
+	btScalar z2 = z * z;
+
+	btScalar _1mx = 1.0 - x;
+	btScalar _1my = 1.0 - y;
+	btScalar _1mz = 1.0 - z;
+
+	btScalar _1px = 1.0 + x;
+	btScalar _1py = 1.0 + y;
+	btScalar _1pz = 1.0 + z;
+
+	btScalar _1m3x = 1.0 - 3.0 * x;
+	btScalar _1m3y = 1.0 - 3.0 * y;
+	btScalar _1m3z = 1.0 - 3.0 * z;
+
+	btScalar _1p3x = 1.0 + 3.0 * x;
+	btScalar _1p3y = 1.0 + 3.0 * y;
+	btScalar _1p3z = 1.0 + 3.0 * z;
+
+	btScalar _1mxt1my = _1mx * _1my;
+	btScalar _1mxt1py = _1mx * _1py;
+	btScalar _1pxt1my = _1px * _1my;
+	btScalar _1pxt1py = _1px * _1py;
+
+	btScalar _1mxt1mz = _1mx * _1mz;
+	btScalar _1mxt1pz = _1mx * _1pz;
+	btScalar _1pxt1mz = _1px * _1mz;
+	btScalar _1pxt1pz = _1px * _1pz;
+
+	btScalar _1myt1mz = _1my * _1mz;
+	btScalar _1myt1pz = _1my * _1pz;
+	btScalar _1pyt1mz = _1py * _1mz;
+	btScalar _1pyt1pz = _1py * _1pz;
+
+	btScalar _1mx2 = 1.0 - x2;
+	btScalar _1my2 = 1.0 - y2;
+	btScalar _1mz2 = 1.0 - z2;
+
+	// Corner nodes.
+	btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
+	res[0] = fac * _1mxt1my * _1mz;
+	res[1] = fac * _1pxt1my * _1mz;
+	res[2] = fac * _1mxt1py * _1mz;
+	res[3] = fac * _1pxt1py * _1mz;
+	res[4] = fac * _1mxt1my * _1pz;
+	res[5] = fac * _1pxt1my * _1pz;
+	res[6] = fac * _1mxt1py * _1pz;
+	res[7] = fac * _1pxt1py * _1pz;
+
+	// Edge nodes.
+
+	fac = 9.0 / 64.0 * _1mx2;
+	btScalar fact1m3x = fac * _1m3x;
+	btScalar fact1p3x = fac * _1p3x;
+	res[8] = fact1m3x * _1myt1mz;
+	res[9] = fact1p3x * _1myt1mz;
+	res[10] = fact1m3x * _1myt1pz;
+	res[11] = fact1p3x * _1myt1pz;
+	res[12] = fact1m3x * _1pyt1mz;
+	res[13] = fact1p3x * _1pyt1mz;
+	res[14] = fact1m3x * _1pyt1pz;
+	res[15] = fact1p3x * _1pyt1pz;
+
+	fac = 9.0 / 64.0 * _1my2;
+	btScalar fact1m3y = fac * _1m3y;
+	btScalar fact1p3y = fac * _1p3y;
+	res[16] = fact1m3y * _1mxt1mz;
+	res[17] = fact1p3y * _1mxt1mz;
+	res[18] = fact1m3y * _1pxt1mz;
+	res[19] = fact1p3y * _1pxt1mz;
+	res[20] = fact1m3y * _1mxt1pz;
+	res[21] = fact1p3y * _1mxt1pz;
+	res[22] = fact1m3y * _1pxt1pz;
+	res[23] = fact1p3y * _1pxt1pz;
+
+	fac = 9.0 / 64.0 * _1mz2;
+	btScalar fact1m3z = fac * _1m3z;
+	btScalar fact1p3z = fac * _1p3z;
+	res[24] = fact1m3z * _1mxt1my;
+	res[25] = fact1p3z * _1mxt1my;
+	res[26] = fact1m3z * _1mxt1py;
+	res[27] = fact1p3z * _1mxt1py;
+	res[28] = fact1m3z * _1pxt1my;
+	res[29] = fact1p3z * _1pxt1my;
+	res[30] = fact1m3z * _1pxt1py;
+	res[31] = fact1p3z * _1pxt1py;
+
+	if (gradient)
+	{
+		btShapeGradients& dN = *gradient;
+
+		btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0;
+		btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0;
+		btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0;
+		btScalar _18x = 18.0 * x;
+		btScalar _18y = 18.0 * y;
+		btScalar _18z = 18.0 * z;
+
+		btScalar _3m9x2 = 3.0 - 9.0 * x2;
+		btScalar _3m9y2 = 3.0 - 9.0 * y2;
+		btScalar _3m9z2 = 3.0 - 9.0 * z2;
+
+		btScalar _2x = 2.0 * x;
+		btScalar _2y = 2.0 * y;
+		btScalar _2z = 2.0 * z;
+
+		btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19;
+		btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19;
+		btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19;
+		btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19;
+		btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19;
+		btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19;
+
+		dN(0, 0) = _18xm9t3x2py2pz2m19 * _1myt1mz;
+		dN(0, 1) = _1mxt1mz * _18ym9tx2p3y2pz2m19;
+		dN(0, 2) = _1mxt1my * _18zm9tx2py2p3z2m19;
+		dN(1, 0) = _18xp9t3x2py2pz2m19 * _1myt1mz;
+		dN(1, 1) = _1pxt1mz * _18ym9tx2p3y2pz2m19;
+		dN(1, 2) = _1pxt1my * _18zm9tx2py2p3z2m19;
+		dN(2, 0) = _18xm9t3x2py2pz2m19 * _1pyt1mz;
+		dN(2, 1) = _1mxt1mz * _18yp9tx2p3y2pz2m19;
+		dN(2, 2) = _1mxt1py * _18zm9tx2py2p3z2m19;
+		dN(3, 0) = _18xp9t3x2py2pz2m19 * _1pyt1mz;
+		dN(3, 1) = _1pxt1mz * _18yp9tx2p3y2pz2m19;
+		dN(3, 2) = _1pxt1py * _18zm9tx2py2p3z2m19;
+		dN(4, 0) = _18xm9t3x2py2pz2m19 * _1myt1pz;
+		dN(4, 1) = _1mxt1pz * _18ym9tx2p3y2pz2m19;
+		dN(4, 2) = _1mxt1my * _18zp9tx2py2p3z2m19;
+		dN(5, 0) = _18xp9t3x2py2pz2m19 * _1myt1pz;
+		dN(5, 1) = _1pxt1pz * _18ym9tx2p3y2pz2m19;
+		dN(5, 2) = _1pxt1my * _18zp9tx2py2p3z2m19;
+		dN(6, 0) = _18xm9t3x2py2pz2m19 * _1pyt1pz;
+		dN(6, 1) = _1mxt1pz * _18yp9tx2p3y2pz2m19;
+		dN(6, 2) = _1mxt1py * _18zp9tx2py2p3z2m19;
+		dN(7, 0) = _18xp9t3x2py2pz2m19 * _1pyt1pz;
+		dN(7, 1) = _1pxt1pz * _18yp9tx2p3y2pz2m19;
+		dN(7, 2) = _1pxt1py * _18zp9tx2py2p3z2m19;
+
+		dN.topRowsDivide(8, 64.0);
+
+		btScalar _m3m9x2m2x = -_3m9x2 - _2x;
+		btScalar _p3m9x2m2x = _3m9x2 - _2x;
+		btScalar _1mx2t1m3x = _1mx2 * _1m3x;
+		btScalar _1mx2t1p3x = _1mx2 * _1p3x;
+		dN(8, 0) = _m3m9x2m2x * _1myt1mz,
+			  dN(8, 1) = -_1mx2t1m3x * _1mz,
+			  dN(8, 2) = -_1mx2t1m3x * _1my;
+		dN(9, 0) = _p3m9x2m2x * _1myt1mz,
+			  dN(9, 1) = -_1mx2t1p3x * _1mz,
+			  dN(9, 2) = -_1mx2t1p3x * _1my;
+		dN(10, 0) = _m3m9x2m2x * _1myt1pz,
+			   dN(10, 1) = -_1mx2t1m3x * _1pz,
+			   dN(10, 2) = _1mx2t1m3x * _1my;
+		dN(11, 0) = _p3m9x2m2x * _1myt1pz,
+			   dN(11, 1) = -_1mx2t1p3x * _1pz,
+			   dN(11, 2) = _1mx2t1p3x * _1my;
+		dN(12, 0) = _m3m9x2m2x * _1pyt1mz,
+			   dN(12, 1) = _1mx2t1m3x * _1mz,
+			   dN(12, 2) = -_1mx2t1m3x * _1py;
+		dN(13, 0) = _p3m9x2m2x * _1pyt1mz,
+			   dN(13, 1) = _1mx2t1p3x * _1mz,
+			   dN(13, 2) = -_1mx2t1p3x * _1py;
+		dN(14, 0) = _m3m9x2m2x * _1pyt1pz,
+			   dN(14, 1) = _1mx2t1m3x * _1pz,
+			   dN(14, 2) = _1mx2t1m3x * _1py;
+		dN(15, 0) = _p3m9x2m2x * _1pyt1pz,
+			   dN(15, 1) = _1mx2t1p3x * _1pz,
+			   dN(15, 2) = _1mx2t1p3x * _1py;
+
+		btScalar _m3m9y2m2y = -_3m9y2 - _2y;
+		btScalar _p3m9y2m2y = _3m9y2 - _2y;
+		btScalar _1my2t1m3y = _1my2 * _1m3y;
+		btScalar _1my2t1p3y = _1my2 * _1p3y;
+		dN(16, 0) = -_1my2t1m3y * _1mz,
+			   dN(16, 1) = _m3m9y2m2y * _1mxt1mz,
+			   dN(16, 2) = -_1my2t1m3y * _1mx;
+		dN(17, 0) = -_1my2t1p3y * _1mz,
+			   dN(17, 1) = _p3m9y2m2y * _1mxt1mz,
+			   dN(17, 2) = -_1my2t1p3y * _1mx;
+		dN(18, 0) = _1my2t1m3y * _1mz,
+			   dN(18, 1) = _m3m9y2m2y * _1pxt1mz,
+			   dN(18, 2) = -_1my2t1m3y * _1px;
+		dN(19, 0) = _1my2t1p3y * _1mz,
+			   dN(19, 1) = _p3m9y2m2y * _1pxt1mz,
+			   dN(19, 2) = -_1my2t1p3y * _1px;
+		dN(20, 0) = -_1my2t1m3y * _1pz,
+			   dN(20, 1) = _m3m9y2m2y * _1mxt1pz,
+			   dN(20, 2) = _1my2t1m3y * _1mx;
+		dN(21, 0) = -_1my2t1p3y * _1pz,
+			   dN(21, 1) = _p3m9y2m2y * _1mxt1pz,
+			   dN(21, 2) = _1my2t1p3y * _1mx;
+		dN(22, 0) = _1my2t1m3y * _1pz,
+			   dN(22, 1) = _m3m9y2m2y * _1pxt1pz,
+			   dN(22, 2) = _1my2t1m3y * _1px;
+		dN(23, 0) = _1my2t1p3y * _1pz,
+			   dN(23, 1) = _p3m9y2m2y * _1pxt1pz,
+			   dN(23, 2) = _1my2t1p3y * _1px;
+
+		btScalar _m3m9z2m2z = -_3m9z2 - _2z;
+		btScalar _p3m9z2m2z = _3m9z2 - _2z;
+		btScalar _1mz2t1m3z = _1mz2 * _1m3z;
+		btScalar _1mz2t1p3z = _1mz2 * _1p3z;
+		dN(24, 0) = -_1mz2t1m3z * _1my,
+			   dN(24, 1) = -_1mz2t1m3z * _1mx,
+			   dN(24, 2) = _m3m9z2m2z * _1mxt1my;
+		dN(25, 0) = -_1mz2t1p3z * _1my,
+			   dN(25, 1) = -_1mz2t1p3z * _1mx,
+			   dN(25, 2) = _p3m9z2m2z * _1mxt1my;
+		dN(26, 0) = -_1mz2t1m3z * _1py,
+			   dN(26, 1) = _1mz2t1m3z * _1mx,
+			   dN(26, 2) = _m3m9z2m2z * _1mxt1py;
+		dN(27, 0) = -_1mz2t1p3z * _1py,
+			   dN(27, 1) = _1mz2t1p3z * _1mx,
+			   dN(27, 2) = _p3m9z2m2z * _1mxt1py;
+		dN(28, 0) = _1mz2t1m3z * _1my,
+			   dN(28, 1) = -_1mz2t1m3z * _1px,
+			   dN(28, 2) = _m3m9z2m2z * _1pxt1my;
+		dN(29, 0) = _1mz2t1p3z * _1my,
+			   dN(29, 1) = -_1mz2t1p3z * _1px,
+			   dN(29, 2) = _p3m9z2m2z * _1pxt1my;
+		dN(30, 0) = _1mz2t1m3z * _1py,
+			   dN(30, 1) = _1mz2t1m3z * _1px,
+			   dN(30, 2) = _m3m9z2m2z * _1pxt1py;
+		dN(31, 0) = _1mz2t1p3z * _1py,
+			   dN(31, 1) = _1mz2t1p3z * _1px,
+			   dN(31, 2) = _p3m9z2m2z * _1pxt1py;
+
+		dN.bottomRowsMul(32u - 8u, 9.0 / 64.0);
+	}
+
+	return res;
+}
+
+bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x,
+							btVector3* gradient) const
+{
+	btAssert(m_isValid);
+	if (!m_isValid)
+		return false;
+
+	if (!m_domain.contains(x))
+		return false;
+
+	btVector3 tmpmi = ((x - m_domain.min()) * (m_inv_cell_size));  //.cast<unsigned int>().eval();
+	unsigned int mi[3] = {(unsigned int)tmpmi[0], (unsigned int)tmpmi[1], (unsigned int)tmpmi[2]};
+	if (mi[0] >= m_resolution[0])
+		mi[0] = m_resolution[0] - 1;
+	if (mi[1] >= m_resolution[1])
+		mi[1] = m_resolution[1] - 1;
+	if (mi[2] >= m_resolution[2])
+		mi[2] = m_resolution[2] - 1;
+	btMultiIndex mui;
+	mui.ijk[0] = mi[0];
+	mui.ijk[1] = mi[1];
+	mui.ijk[2] = mi[2];
+	int i = multiToSingleIndex(mui);
+	unsigned int i_ = m_cell_map[field_id][i];
+	if (i_ == UINT_MAX)
+		return false;
+
+	btAlignedBox3d sd = subdomain(i);
+	i = i_;
+	btVector3 d = sd.m_max - sd.m_min;  //.diagonal().eval();
+
+	btVector3 denom = (sd.max() - sd.min());
+	btVector3 c0 = btVector3(2.0, 2.0, 2.0) / denom;
+	btVector3 c1 = (sd.max() + sd.min()) / denom;
+	btVector3 xi = (c0 * x - c1);
+
+	btCell32 const& cell = m_cells[field_id][i];
+	if (!gradient)
+	{
+		//auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0));
+		double phi = 0.0;
+		btShapeMatrix N = shape_function_(xi, 0);
+		for (unsigned int j = 0u; j < 32u; ++j)
+		{
+			unsigned int v = cell.m_cells[j];
+			double c = m_nodes[field_id][v];
+			if (c == DBL_MAX)
+			{
+				return false;
+				;
+			}
+			phi += c * N[j];
+		}
+
+		dist = phi;
+		return true;
+	}
+
+	btShapeGradients dN;
+	btShapeMatrix N = shape_function_(xi, &dN);
+
+	double phi = 0.0;
+	gradient->setZero();
+	for (unsigned int j = 0u; j < 32u; ++j)
+	{
+		unsigned int v = cell.m_cells[j];
+		double c = m_nodes[field_id][v];
+		if (c == DBL_MAX)
+		{
+			gradient->setZero();
+			return false;
+		}
+		phi += c * N[j];
+		(*gradient)[0] += c * dN(j, 0);
+		(*gradient)[1] += c * dN(j, 1);
+		(*gradient)[2] += c * dN(j, 2);
+	}
+	(*gradient) *= c0;
+	dist = phi;
+	return true;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
new file mode 100644
index 0000000000..b60fd102fd
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
@@ -0,0 +1,127 @@
+#ifndef MINISDF_H
+#define MINISDF_H
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+struct btMultiIndex
+{
+	unsigned int ijk[3];
+};
+
+struct btAlignedBox3d
+{
+	btVector3 m_min;
+	btVector3 m_max;
+
+	const btVector3& min() const
+	{
+		return m_min;
+	}
+
+	const btVector3& max() const
+	{
+		return m_max;
+	}
+
+	bool contains(const btVector3& x) const
+	{
+		return TestPointAgainstAabb2(m_min, m_max, x);
+	}
+
+	btAlignedBox3d(const btVector3& mn, const btVector3& mx)
+		: m_min(mn),
+		  m_max(mx)
+	{
+	}
+
+	btAlignedBox3d()
+	{
+	}
+};
+
+struct btShapeMatrix
+{
+	double m_vec[32];
+
+	inline double& operator[](int i)
+	{
+		return m_vec[i];
+	}
+
+	inline const double& operator[](int i) const
+	{
+		return m_vec[i];
+	}
+};
+
+struct btShapeGradients
+{
+	btVector3 m_vec[32];
+
+	void topRowsDivide(int row, double denom)
+	{
+		for (int i = 0; i < row; i++)
+		{
+			m_vec[i] /= denom;
+		}
+	}
+
+	void bottomRowsMul(int row, double val)
+	{
+		for (int i = 32 - row; i < 32; i++)
+		{
+			m_vec[i] *= val;
+		}
+	}
+
+	inline btScalar& operator()(int i, int j)
+	{
+		return m_vec[i][j];
+	}
+};
+
+struct btCell32
+{
+	unsigned int m_cells[32];
+};
+
+struct btMiniSDF
+{
+	btAlignedBox3d m_domain;
+	unsigned int m_resolution[3];
+	btVector3 m_cell_size;
+	btVector3 m_inv_cell_size;
+	std::size_t m_n_cells;
+	std::size_t m_n_fields;
+	bool m_isValid;
+
+	btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
+	btAlignedObjectArray<btAlignedObjectArray<btCell32> > m_cells;
+	btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
+
+	btMiniSDF()
+		: m_isValid(false)
+	{
+	}
+	bool load(const char* data, int size);
+	bool isValid() const
+	{
+		return m_isValid;
+	}
+	unsigned int multiToSingleIndex(btMultiIndex const& ijk) const;
+
+	btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
+
+	btMultiIndex singleToMultiIndex(unsigned int l) const;
+
+	btAlignedBox3d subdomain(unsigned int l) const;
+
+	btShapeMatrix
+	shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
+
+	bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
+};
+
+#endif  //MINISDF_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
index 899ef50056..d4b6a651de 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
@@ -13,65 +13,59 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btMinkowskiSumShape.h"
 
-
-btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
-: btConvexInternalShape (),
-m_shapeA(shapeA),
-m_shapeB(shapeB)
+btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB)
+	: btConvexInternalShape(),
+	  m_shapeA(shapeA),
+	  m_shapeB(shapeB)
 {
 	m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
 	m_transA.setIdentity();
 	m_transB.setIdentity();
 }
 
-btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
-	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
-	return  supVertexA - supVertexB;
+	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec * m_transA.getBasis()));
+	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec * m_transB.getBasis()));
+	return supVertexA - supVertexB;
 }
 
-void	btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
 	///@todo: could make recursive use of batching. probably this shape is not used frequently.
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
 		supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
 	}
-
 }
 
-
-
-btScalar	btMinkowskiSumShape::getMargin() const
+btScalar btMinkowskiSumShape::getMargin() const
 {
 	return m_shapeA->getMargin() + m_shapeB->getMargin();
 }
 
-
-void	btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btMinkowskiSumShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	(void)mass;
 	//inertia of the AABB of the Minkowski sum
 	btTransform identity;
 	identity.setIdentity();
-	btVector3 aabbMin,aabbMax;
-	getAabb(identity,aabbMin,aabbMax);
+	btVector3 aabbMin, aabbMax;
+	getAabb(identity, aabbMin, aabbMax);
 
-	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
 
 	btScalar margin = getMargin();
 
-	btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
-	btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
-	btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
+	btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
+	btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
+	btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
+	const btScalar x2 = lx * lx;
+	const btScalar y2 = ly * ly;
+	const btScalar z2 = lz * lz;
 	const btScalar scaledmass = mass * btScalar(0.08333333);
 
-	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
index a3f9a47239..3b5150f6d5 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -17,46 +17,43 @@ subject to the following restrictions:
 #define BT_MINKOWSKI_SUM_SHAPE_H
 
 #include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 /// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
-ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class)
+btMinkowskiSumShape : public btConvexInternalShape
 {
-
-	btTransform	m_transA;
-	btTransform	m_transB;
-	const btConvexShape*	m_shapeA;
-	const btConvexShape*	m_shapeB;
+	btTransform m_transA;
+	btTransform m_transB;
+	const btConvexShape* m_shapeA;
+	const btConvexShape* m_shapeB;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
-
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB);
 
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
-	void	setTransformA(const btTransform&	transA) { m_transA = transA;}
-	void	setTransformB(const btTransform&	transB) { m_transB = transB;}
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	const btTransform& getTransformA()const  { return m_transA;}
-	const btTransform& GetTransformB()const  { return m_transB;}
+	void setTransformA(const btTransform& transA) { m_transA = transA; }
+	void setTransformB(const btTransform& transB) { m_transB = transB; }
 
+	const btTransform& getTransformA() const { return m_transA; }
+	const btTransform& GetTransformB() const { return m_transB; }
 
-	virtual btScalar	getMargin() const;
+	virtual btScalar getMargin() const;
 
-	const btConvexShape*	getShapeA() const { return m_shapeA;}
-	const btConvexShape*	getShapeB() const { return m_shapeB;}
+	const btConvexShape* getShapeA() const { return m_shapeA; }
+	const btConvexShape* getShapeB() const { return m_shapeB; }
 
-	virtual const char*	getName()const 
+	virtual const char* getName() const
 	{
 		return "MinkowskiSum";
 	}
 };
 
-#endif //BT_MINKOWSKI_SUM_SHAPE_H
+#endif  //BT_MINKOWSKI_SUM_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index 4195fa3138..c0cc55dfb0 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
 #define BT_USE_SSE_IN_API
 #endif
 
@@ -22,43 +22,41 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 #include "LinearMath/btSerializer.h"
 
-btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres)
-:btConvexInternalAabbCachingShape ()
+btMultiSphereShape::btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres)
+	: btConvexInternalAabbCachingShape()
 {
 	m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
 	//btScalar startMargin = btScalar(BT_LARGE_FLOAT);
 
 	m_localPositionArray.resize(numSpheres);
 	m_radiArray.resize(numSpheres);
-	for (int i=0;i<numSpheres;i++)
+	for (int i = 0; i < numSpheres; i++)
 	{
 		m_localPositionArray[i] = positions[i];
 		m_radiArray[i] = radi[i];
-		
 	}
 
 	recalcLocalAabb();
-
 }
 
 #ifndef MIN
-	#define MIN( _a, _b)    ((_a) < (_b) ? (_a) : (_b))
+#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
 #endif
- btVector3	btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
 {
-	btVector3 supVec(0,0,0);
+	btVector3 supVec(0, 0, 0);
 
 	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
-
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
-	if (lenSqr < (SIMD_EPSILON*SIMD_EPSILON))
+	if (lenSqr < (SIMD_EPSILON * SIMD_EPSILON))
 	{
-		vec.setValue(1,0,0);
-	} else
+		vec.setValue(1, 0, 0);
+	}
+	else
 	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
 		vec *= rlen;
 	}
 
@@ -69,32 +67,30 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 	const btScalar* rad = &m_radiArray[0];
 	int numSpheres = m_localPositionArray.size();
 
-	for( int k = 0; k < numSpheres; k+= 128 )
+	for (int k = 0; k < numSpheres; k += 128)
 	{
 		btVector3 temp[128];
-		int inner_count = MIN( numSpheres - k, 128 );
-        for( long i = 0; i < inner_count; i++ )
-        {
-            temp[i] = (*pos)*m_localScaling +vec*m_localScaling*(*rad) - vec * getMargin();
-            pos++;
-            rad++;
-        }
-        long i = vec.maxDot( temp, inner_count, newDot);
-        if( newDot > maxDot )
+		int inner_count = MIN(numSpheres - k, 128);
+		for (long i = 0; i < inner_count; i++)
+		{
+			temp[i] = (*pos) * m_localScaling + vec * m_localScaling * (*rad) - vec * getMargin();
+			pos++;
+			rad++;
+		}
+		long i = vec.maxDot(temp, inner_count, newDot);
+		if (newDot > maxDot)
 		{
 			maxDot = newDot;
 			supVec = temp[i];
 		}
-    }
+	}
 
 	return supVec;
-
 }
 
- void	btMultiSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btMultiSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-
-	for (int j=0;j<numVectors;j++)
+	for (int j = 0; j < numVectors; j++)
 	{
 		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
@@ -107,73 +103,63 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 		const btScalar* rad = &m_radiArray[0];
 		int numSpheres = m_localPositionArray.size();
 
-        for( int k = 0; k < numSpheres; k+= 128 )
-        {
-            btVector3 temp[128];
-            int inner_count = MIN( numSpheres - k, 128 );
-            for( long i = 0; i < inner_count; i++ )
-            {
-                temp[i] = (*pos)*m_localScaling +vec*m_localScaling*(*rad) - vec * getMargin();
-                pos++;
-                rad++;
-            }
-            long i = vec.maxDot( temp, inner_count, newDot);
-            if( newDot > maxDot )
-            {
-                maxDot = newDot;
-                supportVerticesOut[j] = temp[i];
-            }
-        }
-        
+		for (int k = 0; k < numSpheres; k += 128)
+		{
+			btVector3 temp[128];
+			int inner_count = MIN(numSpheres - k, 128);
+			for (long i = 0; i < inner_count; i++)
+			{
+				temp[i] = (*pos) * m_localScaling + vec * m_localScaling * (*rad) - vec * getMargin();
+				pos++;
+				rad++;
+			}
+			long i = vec.maxDot(temp, inner_count, newDot);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supportVerticesOut[j] = temp[i];
+			}
+		}
 	}
 }
 
-
-
-
-
-
-
-
-void	btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btMultiSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	//as an approximation, take the inertia of the box that bounds the spheres
 
-	btVector3 localAabbMin,localAabbMax;
-	getCachedLocalAabb(localAabbMin,localAabbMax);
-	btVector3 halfExtents = (localAabbMax-localAabbMin)*btScalar(0.5);
+	btVector3 localAabbMin, localAabbMax;
+	getCachedLocalAabb(localAabbMin, localAabbMax);
+	btVector3 halfExtents = (localAabbMax - localAabbMin) * btScalar(0.5);
 
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
-
-	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+	btScalar lx = btScalar(2.) * (halfExtents.x());
+	btScalar ly = btScalar(2.) * (halfExtents.y());
+	btScalar lz = btScalar(2.) * (halfExtents.z());
 
+	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
+					 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
 }
 
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*) dataBuffer;
+	btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*)dataBuffer;
 	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 
 	int numElem = m_localPositionArray.size();
-	shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]):  0;
-	
+	shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]) : 0;
+
 	shapeData->m_localPositionArraySize = numElem;
 	if (numElem)
 	{
-		btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius),numElem);
+		btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius), numElem);
 		btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			m_localPositionArray[i].serializeFloat(memPtr->m_pos);
 			memPtr->m_radius = float(m_radiArray[i]);
 		}
-		serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]);
+		serializer->finalizeChunk(chunk, "btPositionAndRadius", BT_ARRAY_CODE, (void*)&m_localPositionArray[0]);
 	}
 
 	// Fill padding with zeros to appease msan.
@@ -181,5 +167,3 @@ const char*	btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serial
 
 	return "btMultiSphereShapeData";
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 5d3b402684..2d79c07ca4 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -17,69 +17,65 @@ subject to the following restrictions:
 #define BT_MULTI_SPHERE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btAabbUtil2.h"
 
-
-
 ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
 ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
-ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
+ATTRIBUTE_ALIGNED16(class)
+btMultiSphereShape : public btConvexInternalAabbCachingShape
 {
-	
 	btAlignedObjectArray<btVector3> m_localPositionArray;
-	btAlignedObjectArray<btScalar>  m_radiArray;
-	
+	btAlignedObjectArray<btScalar> m_radiArray;
+
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
+
+	btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
 
 	///CollisionShape Interface
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
 	/// btConvexShape Interface
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
-	int	getSphereCount() const
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
+
+	int getSphereCount() const
 	{
 		return m_localPositionArray.size();
 	}
 
-	const btVector3&	getSpherePosition(int index) const
+	const btVector3& getSpherePosition(int index) const
 	{
 		return m_localPositionArray[index];
 	}
 
-	btScalar	getSphereRadius(int index) const
+	btScalar getSphereRadius(int index) const
 	{
 		return m_radiArray[index];
 	}
 
-
-	virtual const char*	getName()const 
+	virtual const char* getName() const
 	{
 		return "MultiSphere";
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
-struct	btPositionAndRadius
+struct btPositionAndRadius
 {
-	btVector3FloatData	m_pos;
-	float		m_radius;
+	btVector3FloatData m_pos;
+	float m_radius;
 };
 
+// clang-format off
+
 struct	btMultiSphereShapeData
 {
 	btConvexInternalShapeData	m_convexInternalShapeData;
@@ -89,13 +85,11 @@ struct	btMultiSphereShapeData
 	char	m_padding[4];
 };
 
+// clang-format on
 
-
-SIMD_FORCE_INLINE	int	btMultiSphereShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btMultiSphereShapeData);
 }
 
-
-
-#endif //BT_MULTI_SPHERE_MINKOWSKI_H
+#endif  //BT_MULTI_SPHERE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
index 58799ac96a..30108c9e7b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
@@ -19,27 +19,25 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
 //#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
 
-
 ///Obtains the material for a specific triangle
-const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
+const btMaterial *btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
 {
-    const unsigned char * materialBase = 0;
-    int numMaterials;
-    PHY_ScalarType materialType;
-    int materialStride;
-    const unsigned char * triangleMaterialBase = 0;
-    int numTriangles;
-    int triangleMaterialStride;
-    PHY_ScalarType triangleType;
-
-    ((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride,
-        &triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
-
-    // return the pointer to the place with the friction for the triangle
-    // TODO: This depends on whether it's a moving mesh or not
-    // BUG IN GIMPACT
-    //return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
-    int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
-    btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
-    return (matVal);
+	const unsigned char *materialBase = 0;
+	int numMaterials;
+	PHY_ScalarType materialType;
+	int materialStride;
+	const unsigned char *triangleMaterialBase = 0;
+	int numTriangles;
+	int triangleMaterialStride;
+	PHY_ScalarType triangleType;
+
+	((btTriangleIndexVertexMaterialArray *)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride, &triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
+
+	// return the pointer to the place with the friction for the triangle
+	// TODO: This depends on whether it's a moving mesh or not
+	// BUG IN GIMPACT
+	//return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
+	int *matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
+	btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
+	return (matVal);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
index 5ebaede4a8..d1d42f8e04 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
@@ -22,82 +22,80 @@ subject to the following restrictions:
 #include "btMaterial.h"
 
 ///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution.
-ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
+ATTRIBUTE_ALIGNED16(class)
+btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
 {
-    btAlignedObjectArray <btMaterial*> m_materialList;
+	btAlignedObjectArray<btMaterial *> m_materialList;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
-        btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
-        {
-            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-
-            const unsigned char *vertexbase;
-            int numverts;
-            PHY_ScalarType type;
-            int stride;
-            const unsigned char *indexbase;
-            int indexstride;
-            int numfaces;
-            PHY_ScalarType indicestype;
-
-            //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
-
-            for(int i = 0; i < meshInterface->getNumSubParts(); i++)
-            {
-                m_meshInterface->getLockedReadOnlyVertexIndexBase(
-                    &vertexbase,
-                    numverts,
-                    type,
-                    stride,
-                    &indexbase,
-                    indexstride,
-                    numfaces,
-                    indicestype,
-                    i);
-                //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
-            }
-        }
+	btMultimaterialTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true) : btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
+	{
+		m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+
+		const unsigned char *vertexbase;
+		int numverts;
+		PHY_ScalarType type;
+		int stride;
+		const unsigned char *indexbase;
+		int indexstride;
+		int numfaces;
+		PHY_ScalarType indicestype;
+
+		//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
+
+		for (int i = 0; i < meshInterface->getNumSubParts(); i++)
+		{
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				i);
+			//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
+		}
+	}
 
 	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
-	btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
-        btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
-        {
-            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-
-            const unsigned char *vertexbase;
-            int numverts;
-            PHY_ScalarType type;
-            int stride;
-            const unsigned char *indexbase;
-            int indexstride;
-            int numfaces;
-            PHY_ScalarType indicestype;
-
-            //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
-
-            for(int i = 0; i < meshInterface->getNumSubParts(); i++)
-            {
-                m_meshInterface->getLockedReadOnlyVertexIndexBase(
-                    &vertexbase,
-                    numverts,
-                    type,
-                    stride,
-                    &indexbase,
-                    indexstride,
-                    numfaces,
-                    indicestype,
-                    i);
-                //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
-            }
-        }
-	
-    virtual ~btMultimaterialTriangleMeshShape()
-    {
-/*
+	btMultimaterialTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, bool buildBvh = true) : btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
+	{
+		m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+
+		const unsigned char *vertexbase;
+		int numverts;
+		PHY_ScalarType type;
+		int stride;
+		const unsigned char *indexbase;
+		int indexstride;
+		int numfaces;
+		PHY_ScalarType indicestype;
+
+		//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
+
+		for (int i = 0; i < meshInterface->getNumSubParts(); i++)
+		{
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				i);
+			//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
+		}
+	}
+
+	virtual ~btMultimaterialTriangleMeshShape()
+	{
+		/*
         for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
         {
             btAlignedFree(m_materialValues[i]);
@@ -106,14 +104,12 @@ public:
         btAlignedFree(m_materialValues);
         m_materialLookup = NULL;
 */
-    }
+	}
 	//debugging
-	virtual const char*	getName()const {return "MULTIMATERIALTRIANGLEMESH";}
-
-    ///Obtains the material for a specific triangle
-    const btMaterial * getMaterialProperties(int partID, int triIndex);
+	virtual const char *getName() const { return "MULTIMATERIALTRIANGLEMESH"; }
 
-}
-;
+	///Obtains the material for a specific triangle
+	const btMaterial *getMaterialProperties(int partID, int triIndex);
+};
 
-#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#endif  //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
index 6f36775f7c..687399e0a9 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -13,51 +13,46 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btOptimizedBvh.h"
 #include "btStridingMeshInterface.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btIDebugDraw.h"
 
-
 btOptimizedBvh::btOptimizedBvh()
-{ 
+{
 }
 
 btOptimizedBvh::~btOptimizedBvh()
 {
 }
 
-
 void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
 {
 	m_useQuantization = useQuantizedAabbCompression;
 
-
 	// NodeArray	triangleNodes;
 
-	struct	NodeTriangleCallback : public btInternalTriangleIndexCallback
+	struct NodeTriangleCallback : public btInternalTriangleIndexCallback
 	{
-
-		NodeArray&	m_triangleNodes;
+		NodeArray& m_triangleNodes;
 
 		NodeTriangleCallback& operator=(NodeTriangleCallback& other)
 		{
 			m_triangleNodes.copyFromArray(other.m_triangleNodes);
 			return *this;
 		}
-		
-		NodeTriangleCallback(NodeArray&	triangleNodes)
-			:m_triangleNodes(triangleNodes)
+
+		NodeTriangleCallback(NodeArray& triangleNodes)
+			: m_triangleNodes(triangleNodes)
 		{
 		}
 
-		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
 		{
 			btOptimizedBvhNode node;
-			btVector3	aabbMin,aabbMax;
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
+			btVector3 aabbMin, aabbMax;
+			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
 			aabbMin.setMin(triangle[0]);
 			aabbMax.setMax(triangle[0]);
 			aabbMin.setMin(triangle[1]);
@@ -70,17 +65,17 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 			node.m_aabbMaxOrg = aabbMax;
 
 			node.m_escapeIndex = -1;
-	
+
 			//for child nodes
 			node.m_subPart = partId;
 			node.m_triangleIndex = triangleIndex;
 			m_triangleNodes.push_back(node);
 		}
 	};
-	struct	QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
+	struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
 	{
-		QuantizedNodeArray&	m_triangleNodes;
-		const btQuantizedBvh* m_optimizedTree; // for quantization
+		QuantizedNodeArray& m_triangleNodes;
+		const btQuantizedBvh* m_optimizedTree;  // for quantization
 
 		QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
 		{
@@ -89,23 +84,23 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 			return *this;
 		}
 
-		QuantizedNodeTriangleCallback(QuantizedNodeArray&	triangleNodes,const btQuantizedBvh* tree)
-			:m_triangleNodes(triangleNodes),m_optimizedTree(tree)
+		QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes, const btQuantizedBvh* tree)
+			: m_triangleNodes(triangleNodes), m_optimizedTree(tree)
 		{
 		}
 
-		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
 		{
 			// The partId and triangle index must fit in the same (positive) integer
-			btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
-			btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
+			btAssert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
+			btAssert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
 			//negative indices are reserved for escapeIndex
-			btAssert(triangleIndex>=0);
+			btAssert(triangleIndex >= 0);
 
 			btQuantizedBvhNode node;
-			btVector3	aabbMin,aabbMax;
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
+			btVector3 aabbMin, aabbMax;
+			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
 			aabbMin.setMin(triangle[0]);
 			aabbMax.setMax(triangle[0]);
 			aabbMin.setMin(triangle[1]);
@@ -132,59 +127,52 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 				aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
 			}
 
-			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
-			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
+			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
+			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
 
-			node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+			node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
 
 			m_triangleNodes.push_back(node);
 		}
 	};
-	
-
 
 	int numLeafNodes = 0;
 
-	
 	if (m_useQuantization)
 	{
-
 		//initialize quantization values
-		setQuantizationValues(bvhAabbMin,bvhAabbMax);
+		setQuantizationValues(bvhAabbMin, bvhAabbMax);
 
-		QuantizedNodeTriangleCallback	callback(m_quantizedLeafNodes,this);
+		QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes, this);
 
-	
-		triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
+		triangles->InternalProcessAllTriangles(&callback, m_bvhAabbMin, m_bvhAabbMax);
 
 		//now we have an array of leafnodes in m_leafNodes
 		numLeafNodes = m_quantizedLeafNodes.size();
 
-
-		m_quantizedContiguousNodes.resize(2*numLeafNodes);
-
-
-	} else
+		m_quantizedContiguousNodes.resize(2 * numLeafNodes);
+	}
+	else
 	{
-		NodeTriangleCallback	callback(m_leafNodes);
+		NodeTriangleCallback callback(m_leafNodes);
 
-		btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+		btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
 
-		triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
+		triangles->InternalProcessAllTriangles(&callback, aabbMin, aabbMax);
 
 		//now we have an array of leafnodes in m_leafNodes
 		numLeafNodes = m_leafNodes.size();
 
-		m_contiguousNodes.resize(2*numLeafNodes);
+		m_contiguousNodes.resize(2 * numLeafNodes);
 	}
 
 	m_curNodeIndex = 0;
 
-	buildTree(0,numLeafNodes);
+	buildTree(0, numLeafNodes);
 
 	///if the entire tree is small then subtree size, we need to create a header info for the tree
-	if(m_useQuantization && !m_SubtreeHeaders.size())
+	if (m_useQuantization && !m_SubtreeHeaders.size())
 	{
 		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
 		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
@@ -200,37 +188,29 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 	m_leafNodes.clear();
 }
 
-
-
-
-void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
+void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface, const btVector3& aabbMin, const btVector3& aabbMax)
 {
 	if (m_useQuantization)
 	{
+		setQuantizationValues(aabbMin, aabbMax);
 
-		setQuantizationValues(aabbMin,aabbMax);
-
-		updateBvhNodes(meshInterface,0,m_curNodeIndex,0);
+		updateBvhNodes(meshInterface, 0, m_curNodeIndex, 0);
 
 		///now update all subtree headers
 
 		int i;
-		for (i=0;i<m_SubtreeHeaders.size();i++)
+		for (i = 0; i < m_SubtreeHeaders.size(); i++)
 		{
 			btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
 			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
 		}
-
-	} else
+	}
+	else
 	{
-
 	}
 }
 
-
-
-
-void	btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
+void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface, const btVector3& aabbMin, const btVector3& aabbMax)
 {
 	//incrementally initialize quantization values
 	btAssert(m_useQuantization);
@@ -245,147 +225,135 @@ void	btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b
 
 	///we should update all quantization values, using updateBvhNodes(meshInterface);
 	///but we only update chunks that overlap the given aabb
-	
-	unsigned short	quantizedQueryAabbMin[3];
-	unsigned short	quantizedQueryAabbMax[3];
 
-	quantize(&quantizedQueryAabbMin[0],aabbMin,0);
-	quantize(&quantizedQueryAabbMax[0],aabbMax,1);
+	unsigned short quantizedQueryAabbMin[3];
+	unsigned short quantizedQueryAabbMax[3];
+
+	quantize(&quantizedQueryAabbMin[0], aabbMin, 0);
+	quantize(&quantizedQueryAabbMax[0], aabbMax, 1);
 
 	int i;
-	for (i=0;i<this->m_SubtreeHeaders.size();i++)
+	for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
 	{
 		btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
 
 		//PCK: unsigned instead of bool
-		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
 		if (overlap != 0)
 		{
-			updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i);
+			updateBvhNodes(meshInterface, subtree.m_rootNodeIndex, subtree.m_rootNodeIndex + subtree.m_subtreeSize, i);
 
 			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
 		}
 	}
-	
 }
 
-void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
+void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int firstNode, int endNode, int index)
 {
 	(void)index;
 
 	btAssert(m_useQuantization);
 
-	int curNodeSubPart=-1;
+	int curNodeSubPart = -1;
 
 	//get access info to trianglemesh data
-		const unsigned char *vertexbase = 0;
-		int numverts = 0;
-		PHY_ScalarType type = PHY_INTEGER;
-		int stride = 0;
-		const unsigned char *indexbase = 0;
-		int indexstride = 0;
-		int numfaces = 0;
-		PHY_ScalarType indicestype = PHY_INTEGER;
-
-		btVector3	triangleVerts[3];
-		btVector3	aabbMin,aabbMax;
-		const btVector3& meshScaling = meshInterface->getScaling();
-		
-		int i;
-		for (i=endNode-1;i>=firstNode;i--)
+	const unsigned char* vertexbase = 0;
+	int numverts = 0;
+	PHY_ScalarType type = PHY_INTEGER;
+	int stride = 0;
+	const unsigned char* indexbase = 0;
+	int indexstride = 0;
+	int numfaces = 0;
+	PHY_ScalarType indicestype = PHY_INTEGER;
+
+	btVector3 triangleVerts[3];
+	btVector3 aabbMin, aabbMax;
+	const btVector3& meshScaling = meshInterface->getScaling();
+
+	int i;
+	for (i = endNode - 1; i >= firstNode; i--)
+	{
+		btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
+		if (curNode.isLeafNode())
 		{
+			//recalc aabb from triangle data
+			int nodeSubPart = curNode.getPartId();
+			int nodeTriangleIndex = curNode.getTriangleIndex();
+			if (nodeSubPart != curNodeSubPart)
+			{
+				if (curNodeSubPart >= 0)
+					meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
+				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
 
+				curNodeSubPart = nodeSubPart;
+				btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
+			}
+			//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
 
-			btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
-			if (curNode.isLeafNode())
+			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
+
+			for (int j = 2; j >= 0; j--)
 			{
-				//recalc aabb from triangle data
-				int nodeSubPart = curNode.getPartId();
-				int nodeTriangleIndex = curNode.getTriangleIndex();
-				if (nodeSubPart != curNodeSubPart)
+				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+				if (type == PHY_FLOAT)
 				{
-					if (curNodeSubPart >= 0)
-						meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-					meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
-
-					curNodeSubPart = nodeSubPart;
-					btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
+					triangleVerts[j] = btVector3(
+						graphicsbase[0] * meshScaling.getX(),
+						graphicsbase[1] * meshScaling.getY(),
+						graphicsbase[2] * meshScaling.getZ());
 				}
-				//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
-
-				unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
-				
-				
-				for (int j=2;j>=0;j--)
+				else
 				{
-					
-					int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-					if (type == PHY_FLOAT)
-					{
-						float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-						triangleVerts[j] = btVector3(
-							graphicsbase[0]*meshScaling.getX(),
-							graphicsbase[1]*meshScaling.getY(),
-							graphicsbase[2]*meshScaling.getZ());
-					}
-					else
-					{
-						double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-						triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
-					}
+					double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
+					triangleVerts[j] = btVector3(btScalar(graphicsbase[0] * meshScaling.getX()), btScalar(graphicsbase[1] * meshScaling.getY()), btScalar(graphicsbase[2] * meshScaling.getZ()));
 				}
+			}
 
+			aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+			aabbMin.setMin(triangleVerts[0]);
+			aabbMax.setMax(triangleVerts[0]);
+			aabbMin.setMin(triangleVerts[1]);
+			aabbMax.setMax(triangleVerts[1]);
+			aabbMin.setMin(triangleVerts[2]);
+			aabbMax.setMax(triangleVerts[2]);
+
+			quantize(&curNode.m_quantizedAabbMin[0], aabbMin, 0);
+			quantize(&curNode.m_quantizedAabbMax[0], aabbMax, 1);
+		}
+		else
+		{
+			//combine aabb from both children
 
-				
-				aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-				aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
-				aabbMin.setMin(triangleVerts[0]);
-				aabbMax.setMax(triangleVerts[0]);
-				aabbMin.setMin(triangleVerts[1]);
-				aabbMax.setMax(triangleVerts[1]);
-				aabbMin.setMin(triangleVerts[2]);
-				aabbMax.setMax(triangleVerts[2]);
-
-				quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
-				quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
-				
-			} else
-			{
-				//combine aabb from both children
+			btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i + 1];
 
-				btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
-				
-				btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
-					&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
-				
+			btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i + 2] : &m_quantizedContiguousNodes[i + 1 + leftChildNode->getEscapeIndex()];
 
+			{
+				for (int i = 0; i < 3; i++)
 				{
-					for (int i=0;i<3;i++)
-					{
-						curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
-						if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
-							curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
-
-						curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
-						if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
-							curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
-					}
+					curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
+					if (curNode.m_quantizedAabbMin[i] > rightChildNode->m_quantizedAabbMin[i])
+						curNode.m_quantizedAabbMin[i] = rightChildNode->m_quantizedAabbMin[i];
+
+					curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
+					if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
+						curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
 				}
 			}
-
 		}
+	}
 
-		if (curNodeSubPart >= 0)
-			meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
-
-		
+	if (curNodeSubPart >= 0)
+		meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
 }
 
 ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
 {
-	btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
-	
+	btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
+
 	//we don't add additional data so just do a static upcast
 	return static_cast<btOptimizedBvh*>(bvh);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
index 715961f552..22f131c8b2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
@@ -22,44 +22,35 @@ subject to the following restrictions:
 
 class btStridingMeshInterface;
 
-
 ///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
-ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh
+ATTRIBUTE_ALIGNED16(class)
+btOptimizedBvh : public btQuantizedBvh
 {
-	
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 protected:
-
 public:
-
 	btOptimizedBvh();
 
 	virtual ~btOptimizedBvh();
 
-	void	build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
+	void build(btStridingMeshInterface * triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
 
-	void	refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
+	void refit(btStridingMeshInterface * triangles, const btVector3& aabbMin, const btVector3& aabbMax);
 
-	void	refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
+	void refitPartial(btStridingMeshInterface * triangles, const btVector3& aabbMin, const btVector3& aabbMax);
 
-	void	updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
+	void updateBvhNodes(btStridingMeshInterface * meshInterface, int firstNode, int endNode, int index);
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
+	virtual bool serializeInPlace(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
 	{
-		return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
-
+		return btQuantizedBvh::serialize(o_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
 	}
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
-
-
+	static btOptimizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
 };
 
-
-#endif //BT_OPTIMIZED_BVH_H
-
-
+#endif  //BT_OPTIMIZED_BVH_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 4854f370f7..521ecfc760 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -12,7 +12,7 @@ subject to the following restrictions:
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
 #define BT_USE_SSE_IN_API
 #endif
 
@@ -23,11 +23,9 @@ subject to the following restrictions:
 #include "LinearMath/btGeometryUtil.h"
 #include "LinearMath/btGrahamScan2dConvexHull.h"
 
-
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
-m_polyhedron(0)
+btPolyhedralConvexShape::btPolyhedralConvexShape() : btConvexInternalShape(),
+													 m_polyhedron(0)
 {
-
 }
 
 btPolyhedralConvexShape::~btPolyhedralConvexShape()
@@ -39,79 +37,148 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape()
 	}
 }
 
-
-bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
+void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron)
 {
+	if (m_polyhedron)
+	{
+		*m_polyhedron = polyhedron;
+	}
+	else
+	{
+		void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
+		m_polyhedron = new (mem) btConvexPolyhedron(polyhedron);
+	}
+}
 
+bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
+{
 	if (m_polyhedron)
 	{
 		m_polyhedron->~btConvexPolyhedron();
 		btAlignedFree(m_polyhedron);
 	}
-	
-	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+
+	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
 	m_polyhedron = new (mem) btConvexPolyhedron;
 
 	btAlignedObjectArray<btVector3> orgVertices;
 
-	for (int i=0;i<getNumVertices();i++)
+	for (int i = 0; i < getNumVertices(); i++)
 	{
 		btVector3& newVertex = orgVertices.expand();
-		getVertex(i,newVertex);
+		getVertex(i, newVertex);
 	}
-	
+
 	btConvexHullComputer conv;
-	
+
 	if (shiftVerticesByMargin)
 	{
 		btAlignedObjectArray<btVector3> planeEquations;
-		btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
+		btGeometryUtil::getPlaneEquationsFromVertices(orgVertices, planeEquations);
 
 		btAlignedObjectArray<btVector3> shiftedPlaneEquations;
-		for (int p=0;p<planeEquations.size();p++)
+		for (int p = 0; p < planeEquations.size(); p++)
 		{
-			   btVector3 plane = planeEquations[p];
-		//	   btScalar margin = getMargin();
-			   plane[3] -= getMargin();
-			   shiftedPlaneEquations.push_back(plane);
+			btVector3 plane = planeEquations[p];
+			//	   btScalar margin = getMargin();
+			plane[3] -= getMargin();
+			shiftedPlaneEquations.push_back(plane);
 		}
 
 		btAlignedObjectArray<btVector3> tmpVertices;
 
-		btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
-	
-		conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
-	} else
+		btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, tmpVertices);
+
+		conv.compute(&tmpVertices[0].getX(), sizeof(btVector3), tmpVertices.size(), 0.f, 0.f);
+	}
+	else
 	{
-		
-		conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+		conv.compute(&orgVertices[0].getX(), sizeof(btVector3), orgVertices.size(), 0.f, 0.f);
 	}
 
+#ifndef BT_RECONSTRUCT_FACES
 
+	int numVertices = conv.vertices.size();
+	m_polyhedron->m_vertices.resize(numVertices);
+	for (int p = 0; p < numVertices; p++)
+	{
+		m_polyhedron->m_vertices[p] = conv.vertices[p];
+	}
+
+	int v0, v1;
+	for (int j = 0; j < conv.faces.size(); j++)
+	{
+		btVector3 edges[3];
+		int numEdges = 0;
+		btFace combinedFace;
+		const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]];
+		v0 = edge->getSourceVertex();
+		int prevVertex = v0;
+		combinedFace.m_indices.push_back(v0);
+		v1 = edge->getTargetVertex();
+		while (v1 != v0)
+		{
+			btVector3 wa = conv.vertices[prevVertex];
+			btVector3 wb = conv.vertices[v1];
+			btVector3 newEdge = wb - wa;
+			newEdge.normalize();
+			if (numEdges < 2)
+				edges[numEdges++] = newEdge;
+
+			//face->addIndex(v1);
+			combinedFace.m_indices.push_back(v1);
+			edge = edge->getNextEdgeOfFace();
+			prevVertex = v1;
+			int v01 = edge->getSourceVertex();
+			v1 = edge->getTargetVertex();
+		}
+
+		btAssert(combinedFace.m_indices.size() > 2);
+
+		btVector3 faceNormal = edges[0].cross(edges[1]);
+		faceNormal.normalize();
+
+		btScalar planeEq = 1e30f;
+
+		for (int v = 0; v < combinedFace.m_indices.size(); v++)
+		{
+			btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal);
+			if (planeEq > eq)
+			{
+				planeEq = eq;
+			}
+		}
+		combinedFace.m_plane[0] = faceNormal.getX();
+		combinedFace.m_plane[1] = faceNormal.getY();
+		combinedFace.m_plane[2] = faceNormal.getZ();
+		combinedFace.m_plane[3] = -planeEq;
+
+		m_polyhedron->m_faces.push_back(combinedFace);
+	}
+
+#else  //BT_RECONSTRUCT_FACES
 
 	btAlignedObjectArray<btVector3> faceNormals;
 	int numFaces = conv.faces.size();
 	faceNormals.resize(numFaces);
 	btConvexHullComputer* convexUtil = &conv;
 
-	
-	btAlignedObjectArray<btFace>	tmpFaces;
+	btAlignedObjectArray<btFace> tmpFaces;
 	tmpFaces.resize(numFaces);
 
 	int numVertices = convexUtil->vertices.size();
 	m_polyhedron->m_vertices.resize(numVertices);
-	for (int p=0;p<numVertices;p++)
+	for (int p = 0; p < numVertices; p++)
 	{
 		m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
 	}
 
-
-	for (int i=0;i<numFaces;i++)
+	for (int i = 0; i < numFaces; i++)
 	{
 		int face = convexUtil->faces[i];
 		//printf("face=%d\n",face);
-		const btConvexHullComputer::Edge*  firstEdge = &convexUtil->edges[face];
-		const btConvexHullComputer::Edge*  edge = firstEdge;
+		const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
+		const btConvexHullComputer::Edge* edge = firstEdge;
 
 		btVector3 edges[3];
 		int numEdges = 0;
@@ -119,25 +186,23 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 
 		do
 		{
-			
 			int src = edge->getSourceVertex();
 			tmpFaces[i].m_indices.push_back(src);
 			int targ = edge->getTargetVertex();
 			btVector3 wa = convexUtil->vertices[src];
 
 			btVector3 wb = convexUtil->vertices[targ];
-			btVector3 newEdge = wb-wa;
+			btVector3 newEdge = wb - wa;
 			newEdge.normalize();
-			if (numEdges<2)
+			if (numEdges < 2)
 				edges[numEdges++] = newEdge;
 
 			edge = edge->getNextEdgeOfFace();
-		} while (edge!=firstEdge);
+		} while (edge != firstEdge);
 
 		btScalar planeEq = 1e30f;
 
-		
-		if (numEdges==2)
+		if (numEdges == 2)
 		{
 			faceNormals[i] = edges[0].cross(edges[1]);
 			faceNormals[i].normalize();
@@ -145,20 +210,19 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
 			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
 			tmpFaces[i].m_plane[3] = planeEq;
-
 		}
 		else
 		{
-			btAssert(0);//degenerate?
+			btAssert(0);  //degenerate?
 			faceNormals[i].setZero();
 		}
 
-		for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+		for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
 		{
 			btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
-			if (planeEq>eq)
+			if (planeEq > eq)
 			{
-				planeEq=eq;
+				planeEq = eq;
 			}
 		}
 		tmpFaces[i].m_plane[3] = -planeEq;
@@ -166,89 +230,86 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 
 	//merge coplanar faces and copy them to m_polyhedron
 
-	btScalar faceWeldThreshold= 0.999f;
+	btScalar faceWeldThreshold = 0.999f;
 	btAlignedObjectArray<int> todoFaces;
-	for (int i=0;i<tmpFaces.size();i++)
+	for (int i = 0; i < tmpFaces.size(); i++)
 		todoFaces.push_back(i);
 
 	while (todoFaces.size())
 	{
 		btAlignedObjectArray<int> coplanarFaceGroup;
-		int refFace = todoFaces[todoFaces.size()-1];
+		int refFace = todoFaces[todoFaces.size() - 1];
 
 		coplanarFaceGroup.push_back(refFace);
 		btFace& faceA = tmpFaces[refFace];
 		todoFaces.pop_back();
 
-		btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
-		for (int j=todoFaces.size()-1;j>=0;j--)
+		btVector3 faceNormalA(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
+		for (int j = todoFaces.size() - 1; j >= 0; j--)
 		{
 			int i = todoFaces[j];
 			btFace& faceB = tmpFaces[i];
-			btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
-			if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+			btVector3 faceNormalB(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
+			if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
 			{
 				coplanarFaceGroup.push_back(i);
 				todoFaces.remove(i);
 			}
 		}
 
-
 		bool did_merge = false;
-		if (coplanarFaceGroup.size()>1)
+		if (coplanarFaceGroup.size() > 1)
 		{
 			//do the merge: use Graham Scan 2d convex hull
 
 			btAlignedObjectArray<GrahamVector3> orgpoints;
-			btVector3 averageFaceNormal(0,0,0);
+			btVector3 averageFaceNormal(0, 0, 0);
 
-			for (int i=0;i<coplanarFaceGroup.size();i++)
+			for (int i = 0; i < coplanarFaceGroup.size(); i++)
 			{
-//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+				//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
 
 				btFace& face = tmpFaces[coplanarFaceGroup[i]];
-				btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
-				averageFaceNormal+=faceNormal;
-				for (int f=0;f<face.m_indices.size();f++)
+				btVector3 faceNormal(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
+				averageFaceNormal += faceNormal;
+				for (int f = 0; f < face.m_indices.size(); f++)
 				{
 					int orgIndex = face.m_indices[f];
 					btVector3 pt = m_polyhedron->m_vertices[orgIndex];
-					
+
 					bool found = false;
 
-					for (int i=0;i<orgpoints.size();i++)
+					for (int i = 0; i < orgpoints.size(); i++)
 					{
 						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
 						if (orgpoints[i].m_orgIndex == orgIndex)
 						{
-							found=true;
+							found = true;
 							break;
 						}
 					}
 					if (!found)
-						orgpoints.push_back(GrahamVector3(pt,orgIndex));
+						orgpoints.push_back(GrahamVector3(pt, orgIndex));
 				}
 			}
 
-			
-
 			btFace combinedFace;
-			for (int i=0;i<4;i++)
+			for (int i = 0; i < 4; i++)
 				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
 
 			btAlignedObjectArray<GrahamVector3> hull;
 
 			averageFaceNormal.normalize();
-			GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
+			GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);
 
-			for (int i=0;i<hull.size();i++)
+			for (int i = 0; i < hull.size(); i++)
 			{
 				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
-				for(int k = 0; k < orgpoints.size(); k++) 
+				for (int k = 0; k < orgpoints.size(); k++)
 				{
-					if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) 
+					if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
 					{
-						orgpoints[k].m_orgIndex = -1; // invalidate...
+						orgpoints[k].m_orgIndex = -1;  // invalidate...
 						break;
 					}
 				}
@@ -256,38 +317,41 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 
 			// are there rejected vertices?
 			bool reject_merge = false;
-			
 
-
-			for(int i = 0; i < orgpoints.size(); i++) {
-				if(orgpoints[i].m_orgIndex == -1)
-					continue; // this is in the hull...
+			for (int i = 0; i < orgpoints.size(); i++)
+			{
+				if (orgpoints[i].m_orgIndex == -1)
+					continue;  // this is in the hull...
 				// this vertex is rejected -- is anybody else using this vertex?
-				for(int j = 0; j < tmpFaces.size(); j++) {
-					
+				for (int j = 0; j < tmpFaces.size(); j++)
+				{
 					btFace& face = tmpFaces[j];
 					// is this a face of the current coplanar group?
 					bool is_in_current_group = false;
-					for(int k = 0; k < coplanarFaceGroup.size(); k++) {
-						if(coplanarFaceGroup[k] == j) {
+					for (int k = 0; k < coplanarFaceGroup.size(); k++)
+					{
+						if (coplanarFaceGroup[k] == j)
+						{
 							is_in_current_group = true;
 							break;
 						}
 					}
-					if(is_in_current_group) // ignore this face...
+					if (is_in_current_group)  // ignore this face...
 						continue;
 					// does this face use this rejected vertex?
-					for(int v = 0; v < face.m_indices.size(); v++) {
-						if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+					for (int v = 0; v < face.m_indices.size(); v++)
+					{
+						if (face.m_indices[v] == orgpoints[i].m_orgIndex)
+						{
 							// this rejected vertex is used in another face -- reject merge
 							reject_merge = true;
 							break;
 						}
 					}
-					if(reject_merge)
+					if (reject_merge)
 						break;
 				}
-				if(reject_merge)
+				if (reject_merge)
 					break;
 			}
 
@@ -298,34 +362,30 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 				m_polyhedron->m_faces.push_back(combinedFace);
 			}
 		}
-		if(!did_merge)
+		if (!did_merge)
 		{
-			for (int i=0;i<coplanarFaceGroup.size();i++)
+			for (int i = 0; i < coplanarFaceGroup.size(); i++)
 			{
 				btFace face = tmpFaces[coplanarFaceGroup[i]];
 				m_polyhedron->m_faces.push_back(face);
 			}
+		}
+	}
 
-		} 
-
-
+#endif  //BT_RECONSTRUCT_FACES
 
-	}
-	
 	m_polyhedron->initialize();
 
 	return true;
 }
 
 #ifndef MIN
-    #define MIN(_a, _b)     ((_a) < (_b) ? (_a) : (_b))
+#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
 #endif
 
-btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
 {
-
-
-	btVector3 supVec(0,0,0);
+	btVector3 supVec(0, 0, 0);
 #ifndef __SPU__
 	int i;
 	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -334,37 +394,36 @@ btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
 	btScalar lenSqr = vec.length2();
 	if (lenSqr < btScalar(0.0001))
 	{
-		vec.setValue(1,0,0);
-	} else
+		vec.setValue(1, 0, 0);
+	}
+	else
 	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
 		vec *= rlen;
 	}
 
 	btVector3 vtx;
 	btScalar newDot;
 
-    for( int k = 0; k < getNumVertices(); k += 128 )
-    {
-        btVector3 temp[128];
-        int inner_count = MIN(getNumVertices() - k, 128);
-        for( i = 0; i < inner_count; i++ )
-            getVertex(i,temp[i]); 
-        i = (int) vec.maxDot( temp, inner_count, newDot);
+	for (int k = 0; k < getNumVertices(); k += 128)
+	{
+		btVector3 temp[128];
+		int inner_count = MIN(getNumVertices() - k, 128);
+		for (i = 0; i < inner_count; i++)
+			getVertex(i, temp[i]);
+		i = (int)vec.maxDot(temp, inner_count, newDot);
 		if (newDot > maxDot)
 		{
 			maxDot = newDot;
 			supVec = temp[i];
-		}        
-    }
-	
-#endif //__SPU__
+		}
+	}
+
+#endif  //__SPU__
 	return supVec;
 }
 
-
-
-void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
 #ifndef __SPU__
 	int i;
@@ -372,36 +431,34 @@ void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
 	btVector3 vtx;
 	btScalar newDot;
 
-	for (i=0;i<numVectors;i++)
+	for (i = 0; i < numVectors; i++)
 	{
 		supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
 	}
 
-	for (int j=0;j<numVectors;j++)
+	for (int j = 0; j < numVectors; j++)
 	{
-        const btVector3& vec = vectors[j];
-        
-        for( int k = 0; k < getNumVertices(); k += 128 )
-        {
-            btVector3 temp[128];
-            int inner_count = MIN(getNumVertices() - k, 128);
-            for( i = 0; i < inner_count; i++ )
-                getVertex(i,temp[i]); 
-            i = (int) vec.maxDot( temp, inner_count, newDot);
-            if (newDot > supportVerticesOut[j][3])
-            {
+		const btVector3& vec = vectors[j];
+
+		for (int k = 0; k < getNumVertices(); k += 128)
+		{
+			btVector3 temp[128];
+			int inner_count = MIN(getNumVertices() - k, 128);
+			for (i = 0; i < inner_count; i++)
+				getVertex(i, temp[i]);
+			i = (int)vec.maxDot(temp, inner_count, newDot);
+			if (newDot > supportVerticesOut[j][3])
+			{
 				supportVerticesOut[j] = temp[i];
 				supportVerticesOut[j][3] = newDot;
-            }        
-        }
-    }
+			}
+		}
+	}
 
-#endif //__SPU__
+#endif  //__SPU__
 }
 
-
-
-void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 #ifndef __SPU__
 	//not yet, return box inertia
@@ -410,81 +467,77 @@ void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
 
 	btTransform ident;
 	ident.setIdentity();
-	btVector3 aabbMin,aabbMax;
-	getAabb(ident,aabbMin,aabbMax);
-	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
-
-	btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
-	btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
-	btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
+	btVector3 aabbMin, aabbMax;
+	getAabb(ident, aabbMin, aabbMax);
+	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
+
+	btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
+	btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
+	btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
+	const btScalar x2 = lx * lx;
+	const btScalar y2 = ly * ly;
+	const btScalar z2 = lz * lz;
 	const btScalar scaledmass = mass * btScalar(0.08333333);
 
-	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-#endif //__SPU__
+	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
+#endif  //__SPU__
 }
 
-
-
-void	btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
+void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
 {
 	btConvexInternalShape::setLocalScaling(scaling);
 	recalcLocalAabb();
 }
 
 btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
-:btPolyhedralConvexShape(),
-m_localAabbMin(1,1,1),
-m_localAabbMax(-1,-1,-1),
-m_isLocalAabbValid(false)
+	: btPolyhedralConvexShape(),
+	  m_localAabbMin(1, 1, 1),
+	  m_localAabbMax(-1, -1, -1),
+	  m_isLocalAabbValid(false)
 {
 }
 
-void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+	getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
 }
 
-void	btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
+void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
 {
 	m_isLocalAabbValid = true;
-	
-	#if 1
+
+#if 1
 	static const btVector3 _directions[] =
-	{
-		btVector3( 1.,  0.,  0.),
-		btVector3( 0.,  1.,  0.),
-		btVector3( 0.,  0.,  1.),
-		btVector3( -1., 0.,  0.),
-		btVector3( 0., -1.,  0.),
-		btVector3( 0.,  0., -1.)
-	};
-	
+		{
+			btVector3(1., 0., 0.),
+			btVector3(0., 1., 0.),
+			btVector3(0., 0., 1.),
+			btVector3(-1., 0., 0.),
+			btVector3(0., -1., 0.),
+			btVector3(0., 0., -1.)};
+
 	btVector3 _supporting[] =
-	{
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.)
-	};
-	
+		{
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.)};
+
 	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-	
-	for ( int i = 0; i < 3; ++i )
+
+	for (int i = 0; i < 3; ++i)
 	{
 		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
 		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
 	}
-	
-	#else
 
-	for (int i=0;i<3;i++)
+#else
+
+	for (int i = 0; i < 3; i++)
 	{
-		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
 		vec[i] = btScalar(1.);
 		btVector3 tmp = localGetSupportingVertex(vec);
 		m_localAabbMax[i] = tmp[i];
@@ -492,9 +545,5 @@ void	btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
 		tmp = localGetSupportingVertex(vec);
 		m_localAabbMin[i] = tmp[i];
 	}
-	#endif
+#endif
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index 7bf8e01c1f..b3ffab7a23 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -20,20 +20,15 @@ subject to the following restrictions:
 #include "btConvexInternalShape.h"
 class btConvexPolyhedron;
 
-
 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
-ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class)
+btPolyhedralConvexShape : public btConvexInternalShape
 {
-	
-
 protected:
-	
 	btConvexPolyhedron* m_polyhedron;
 
 public:
-	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
 
 	btPolyhedralConvexShape();
 
@@ -41,52 +36,49 @@ public:
 
 	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
 	///experimental/work-in-progress
-	virtual bool	initializePolyhedralFeatures(int shiftVerticesByMargin=0);
+	virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
+
+	virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
 
-	const btConvexPolyhedron*	getConvexPolyhedron() const
+	const btConvexPolyhedron* getConvexPolyhedron() const
 	{
 		return m_polyhedron;
 	}
 
 	//brute force implementations
 
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-	
-	
-	virtual int	getNumVertices() const = 0 ;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
+
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
+
+	virtual int getNumVertices() const = 0;
 	virtual int getNumEdges() const = 0;
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
-	virtual void getVertex(int i,btVector3& vtx) const = 0;
-	virtual int	getNumPlanes() const = 0;
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
-//	virtual int getIndex(int i) const = 0 ; 
-
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
-	
-};
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0;
+	virtual void getVertex(int i, btVector3& vtx) const = 0;
+	virtual int getNumPlanes() const = 0;
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0;
+	//	virtual int getIndex(int i) const = 0 ;
 
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
+};
 
 ///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
 class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
 {
+	btVector3 m_localAabbMin;
+	btVector3 m_localAabbMax;
+	bool m_isLocalAabbValid;
 
-	btVector3	m_localAabbMin;
-	btVector3	m_localAabbMax;
-	bool		m_isLocalAabbValid;
-		
 protected:
-
-	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+	void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
 	{
 		m_isLocalAabbValid = true;
 		m_localAabbMin = aabbMin;
 		m_localAabbMax = aabbMax;
 	}
 
-	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+	inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
 	{
 		btAssert(m_isLocalAabbValid);
 		aabbMin = m_localAabbMin;
@@ -94,25 +86,21 @@ protected:
 	}
 
 protected:
-
 	btPolyhedralConvexAabbCachingShape();
-	
+
 public:
-	
-	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+	inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
 	{
-
 		//lazy evaluation of local aabb
 		btAssert(m_isLocalAabbValid);
-		btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+		btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
 	}
 
-	virtual void	setLocalScaling(const btVector3& scaling);
-
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void setLocalScaling(const btVector3& scaling);
 
-	void	recalcLocalAabb();
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
+	void recalcLocalAabb();
 };
 
-#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
+#endif  //BT_POLYHEDRAL_CONVEX_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
index 6a337c786c..f427319974 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
@@ -13,11 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btScaledBvhTriangleMeshShape.h"
 
-btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
-:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
+btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape, const btVector3& localScaling)
+	: m_localScaling(localScaling), m_bvhTriMeshShape(childShape)
 {
 	m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
 }
@@ -26,55 +25,51 @@ btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
 {
 }
 
-
 class btScaledTriangleCallback : public btTriangleCallback
 {
 	btTriangleCallback* m_originalCallback;
 
-	btVector3	m_localScaling;
+	btVector3 m_localScaling;
 
 public:
-
-	btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
-		:m_originalCallback(originalCallback),
-		m_localScaling(localScaling)
+	btScaledTriangleCallback(btTriangleCallback* originalCallback, const btVector3& localScaling)
+		: m_originalCallback(originalCallback),
+		  m_localScaling(localScaling)
 	{
 	}
 
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 	{
 		btVector3 newTriangle[3];
-		newTriangle[0] = triangle[0]*m_localScaling;
-		newTriangle[1] = triangle[1]*m_localScaling;
-		newTriangle[2] = triangle[2]*m_localScaling;
-		m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
+		newTriangle[0] = triangle[0] * m_localScaling;
+		newTriangle[1] = triangle[1] * m_localScaling;
+		newTriangle[2] = triangle[2] * m_localScaling;
+		m_originalCallback->processTriangle(&newTriangle[0], partId, triangleIndex);
 	}
 };
 
-void	btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
-	btScaledTriangleCallback scaledCallback(callback,m_localScaling);
-	
-	btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
-	btVector3 scaledAabbMin,scaledAabbMax;
+	btScaledTriangleCallback scaledCallback(callback, m_localScaling);
+
+	btVector3 invLocalScaling(1.f / m_localScaling.getX(), 1.f / m_localScaling.getY(), 1.f / m_localScaling.getZ());
+	btVector3 scaledAabbMin, scaledAabbMax;
 
 	///support negative scaling
 	scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
 	scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
 	scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
 	scaledAabbMin[3] = 0.f;
-	
+
 	scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
 	scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
 	scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
 	scaledAabbMax[3] = 0.f;
-	
-	
-	m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
-}
 
+	m_bvhTriMeshShape->processAllTriangles(&scaledCallback, scaledAabbMin, scaledAabbMax);
+}
 
-void	btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
 	btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
@@ -89,22 +84,21 @@ void	btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
 	localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
 	localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
 
-	btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
+	btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
 	btScalar margin = m_bvhTriMeshShape->getMargin();
-	localHalfExtents += btVector3(margin,margin,margin);
-	btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
-	
-	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+	localHalfExtents += btVector3(margin, margin, margin);
+	btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
+
+	btMatrix3x3 abs_b = trans.getBasis().absolute();
 
 	btVector3 center = trans(localCenter);
 
-    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center - extent;
 	aabbMax = center + extent;
-
 }
 
-void	btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
 {
 	m_localScaling = scaling;
 }
@@ -114,8 +108,8 @@ const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
 	return m_localScaling;
 }
 
-void	btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	///don't make this a movable object!
-//	btAssert(0);
+	//	btAssert(0);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
index 39049eaf08..4d6feb61af 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@@ -18,78 +18,69 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 
-
 ///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape.
 ///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling'
-ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class)
+btScaledBvhTriangleMeshShape : public btConcaveShape
 {
-	
-	
-	btVector3	m_localScaling;
+	btVector3 m_localScaling;
 
-	btBvhTriangleMeshShape*	m_bvhTriMeshShape;
+	btBvhTriangleMeshShape* m_bvhTriMeshShape;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-
-	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
+	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape * childShape, const btVector3& localScaling);
 
 	virtual ~btScaledBvhTriangleMeshShape();
 
-
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
+	virtual void setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	btBvhTriangleMeshShape*	getChildShape()
+	btBvhTriangleMeshShape* getChildShape()
 	{
 		return m_bvhTriMeshShape;
 	}
 
-	const btBvhTriangleMeshShape*	getChildShape() const
+	const btBvhTriangleMeshShape* getChildShape() const
 	{
 		return m_bvhTriMeshShape;
 	}
 
 	//debugging
-	virtual const char*	getName()const {return "SCALEDBVHTRIANGLEMESH";}
+	virtual const char* getName() const { return "SCALEDBVHTRIANGLEMESH"; }
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btScaledTriangleMeshShapeData
+struct btScaledTriangleMeshShapeData
 {
-	btTriangleMeshShapeData	m_trimeshShapeData;
+	btTriangleMeshShapeData m_trimeshShapeData;
 
-	btVector3FloatData	m_localScaling;
+	btVector3FloatData m_localScaling;
 };
 
-
-SIMD_FORCE_INLINE	int	btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btScaledTriangleMeshShapeData);
 }
 
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*) dataBuffer;
-	m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData,serializer);
+	btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*)dataBuffer;
+	m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData, serializer);
 	scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	m_localScaling.serializeFloat(scaledMeshData->m_localScaling);
 	return "btScaledTriangleMeshShapeData";
 }
 
-
-#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#endif  //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
new file mode 100644
index 0000000000..4a95dbea4f
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
@@ -0,0 +1,92 @@
+#include "btSdfCollisionShape.h"
+#include "btMiniSDF.h"
+#include "LinearMath/btAabbUtil2.h"
+
+struct btSdfCollisionShapeInternalData
+{
+	btVector3 m_localScaling;
+	btScalar m_margin;
+	btMiniSDF m_sdf;
+
+	btSdfCollisionShapeInternalData()
+		: m_localScaling(1, 1, 1),
+		  m_margin(0)
+	{
+	}
+};
+
+bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
+{
+	bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
+	return valid;
+}
+btSdfCollisionShape::btSdfCollisionShape()
+{
+	m_shapeType = SDF_SHAPE_PROXYTYPE;
+	m_data = new btSdfCollisionShapeInternalData();
+
+	//"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
+	/*unsigned int field_id=0;
+	Eigen::Vector3d x (1,10,1);
+	Eigen::Vector3d gradient;
+	double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
+	printf("dist=%g\n", dist);
+	*/
+}
+btSdfCollisionShape::~btSdfCollisionShape()
+{
+	delete m_data;
+}
+
+void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+{
+	btAssert(m_data->m_sdf.isValid());
+	btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
+	btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
+	btScalar margin(0);
+	btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
+}
+
+void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
+{
+	m_data->m_localScaling = scaling;
+}
+const btVector3& btSdfCollisionShape::getLocalScaling() const
+{
+	return m_data->m_localScaling;
+}
+void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
+{
+	inertia.setValue(0, 0, 0);
+}
+const char* btSdfCollisionShape::getName() const
+{
+	return "btSdfCollisionShape";
+}
+void btSdfCollisionShape::setMargin(btScalar margin)
+{
+	m_data->m_margin = margin;
+}
+btScalar btSdfCollisionShape::getMargin() const
+{
+	return m_data->m_margin;
+}
+
+void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
+{
+	//not yet
+}
+
+bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
+{
+	int field = 0;
+	btVector3 grad;
+	double dist;
+	bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
+	if (hasResult)
+	{
+		normal.setValue(grad[0], grad[1], grad[2]);
+		distOut = dist;
+	}
+	return hasResult;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
new file mode 100644
index 0000000000..3989d6245e
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
@@ -0,0 +1,29 @@
+#ifndef BT_SDF_COLLISION_SHAPE_H
+#define BT_SDF_COLLISION_SHAPE_H
+
+#include "btConcaveShape.h"
+
+class btSdfCollisionShape : public btConcaveShape
+{
+	struct btSdfCollisionShapeInternalData* m_data;
+
+public:
+	btSdfCollisionShape();
+	virtual ~btSdfCollisionShape();
+
+	bool initializeSDF(const char* sdfData, int sizeInBytes);
+
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
+	virtual void setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
+	virtual const char* getName() const;
+	virtual void setMargin(btScalar margin);
+	virtual btScalar getMargin() const;
+
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
+
+	bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal);
+};
+
+#endif  //BT_SDF_COLLISION_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
index 3beaf86580..a2c490faf9 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -15,51 +15,48 @@ subject to the following restrictions:
 
 //btShapeHull was implemented by John McCutchan.
 
-
 #include "btShapeHull.h"
 #include "LinearMath/btConvexHull.h"
 
 #define NUM_UNITSPHERE_POINTS 42
+#define NUM_UNITSPHERE_POINTS_HIGHRES 256
 
-btShapeHull::btShapeHull (const btConvexShape* shape)
+btShapeHull::btShapeHull(const btConvexShape* shape)
 {
 	m_shape = shape;
-	m_vertices.clear ();
+	m_vertices.clear();
 	m_indices.clear();
 	m_numIndices = 0;
 }
 
-btShapeHull::~btShapeHull ()
+btShapeHull::~btShapeHull()
 {
-	m_indices.clear();	
-	m_vertices.clear ();
+	m_indices.clear();
+	m_vertices.clear();
 }
 
-bool
-btShapeHull::buildHull (btScalar /*margin*/)
+bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
 {
-	int numSampleDirections = NUM_UNITSPHERE_POINTS;
-	{
-		int numPDA = m_shape->getNumPreferredPenetrationDirections();
-		if (numPDA)
-		{
-			for (int i=0;i<numPDA;i++)
-			{
-				btVector3 norm;
-				m_shape->getPreferredPenetrationDirection(i,norm);
-				getUnitSpherePoints()[numSampleDirections] = norm;
-				numSampleDirections++;
-			}
-		}
-	}
-
-	btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	
+	int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;
+	btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
 	int i;
 	for (i = 0; i < numSampleDirections; i++)
 	{
-		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
+		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
 	}
 
+	int numPDA = m_shape->getNumPreferredPenetrationDirections();
+	if (numPDA)
+	{
+		for (int s = 0; s < numPDA; s++)
+		{
+			btVector3 norm;
+			m_shape->getPreferredPenetrationDirection(s, norm);
+			supportPoints[i++] = m_shape->localGetSupportingVertex(norm);
+			numSampleDirections++;
+		}
+	}
 	HullDesc hd;
 	hd.mFlags = QF_TRIANGLES;
 	hd.mVcount = static_cast<unsigned int>(numSampleDirections);
@@ -69,18 +66,17 @@ btShapeHull::buildHull (btScalar /*margin*/)
 	hd.mVertexStride = sizeof(btVector3);
 #else
 	hd.mVertices = &supportPoints[0];
-	hd.mVertexStride = sizeof (btVector3);
+	hd.mVertexStride = sizeof(btVector3);
 #endif
 
 	HullLibrary hl;
 	HullResult hr;
-	if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
+	if (hl.CreateConvexHull(hd, hr) == QE_FAIL)
 	{
 		return false;
 	}
 
-	m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
-
+	m_vertices.resize(static_cast<int>(hr.mNumOutputVertices));
 
 	for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
 	{
@@ -94,77 +90,332 @@ btShapeHull::buildHull (btScalar /*margin*/)
 	}
 
 	// free temporary hull result that we just copied
-	hl.ReleaseResult (hr);
+	hl.ReleaseResult(hr);
 
 	return true;
 }
 
-int
-btShapeHull::numTriangles () const
+int btShapeHull::numTriangles() const
 {
 	return static_cast<int>(m_numIndices / 3);
 }
 
-int
-btShapeHull::numVertices () const
+int btShapeHull::numVertices() const
 {
-	return m_vertices.size ();
+	return m_vertices.size();
 }
 
-int
-btShapeHull::numIndices () const
+int btShapeHull::numIndices() const
 {
 	return static_cast<int>(m_numIndices);
 }
 
-
-btVector3* btShapeHull::getUnitSpherePoints()
+btVector3* btShapeHull::getUnitSpherePoints(int highres)
 {
-	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
-	{
-		btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
-		btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
-		btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
-		btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
-		btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
-		btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
-		btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
-		btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
-		btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
-		btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
-		btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
-		btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
-		btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
-		btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
-		btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
-		btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
-		btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
-		btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
-		btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
-		btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
-		btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
-		btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
-		btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
-		btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
-		btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-		btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
-		btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-		btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
-		btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
-		btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-		btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
-		btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-		btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
-		btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
-		btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
-		btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
-		btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
-		btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
-		btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
-		btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
-		btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
-		btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
-	};
+	static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
+		{
+			btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
+			btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
+			btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
+			btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
+			btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
+			btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
+			btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
+			btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
+			btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
+			btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
+			btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
+			btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
+			btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
+			btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
+			btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
+			btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
+			btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
+			btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
+			btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
+			btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
+			btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
+			btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
+			btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
+			btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
+			btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
+			btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
+			btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
+			btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
+			btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
+			btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
+			btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
+			btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
+			btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
+			btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
+			btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
+			btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
+			btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
+			btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
+			btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
+			btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
+			btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
+			btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
+			btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
+			btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
+			btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
+			btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
+			btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
+			btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
+			btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
+			btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
+			btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
+			btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
+			btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
+			btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
+			btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
+			btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
+			btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
+			btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
+			btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
+			btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
+			btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
+			btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
+			btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
+			btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
+			btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
+			btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
+			btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
+			btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
+			btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
+			btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
+			btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
+			btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
+			btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
+			btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
+			btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
+			btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
+			btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
+			btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
+			btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
+			btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
+			btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
+			btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
+			btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
+			btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
+			btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
+			btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
+			btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
+			btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
+			btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
+			btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
+			btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
+			btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
+			btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
+			btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
+			btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
+			btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
+			btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
+			btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
+			btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
+			btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
+			btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
+			btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
+			btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
+			btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
+			btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
+			btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
+			btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
+			btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
+			btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
+			btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
+			btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
+			btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
+			btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
+			btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
+			btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
+			btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
+			btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
+			btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
+			btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
+			btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
+			btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
+			btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
+			btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
+			btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
+			btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
+			btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
+			btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
+			btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
+			btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
+			btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
+			btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
+			btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
+			btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
+			btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
+			btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
+			btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
+			btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
+			btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
+			btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
+			btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
+			btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
+			btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
+			btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
+			btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
+			btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
+			btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
+			btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
+			btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
+			btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
+			btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
+			btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
+			btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
+			btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
+			btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
+			btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
+			btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
+			btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
+			btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
+			btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
+			btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
+			btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
+			btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
+			btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
+			btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
+			btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
+			btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
+			btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
+			btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
+			btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
+			btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
+			btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
+			btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
+			btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
+			btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
+			btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
+			btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
+			btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
+			btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
+			btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
+			btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
+			btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
+			btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
+			btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
+			btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
+			btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
+			btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
+			btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
+			btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
+			btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
+			btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
+			btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
+			btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
+			btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
+			btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
+			btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
+			btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
+			btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
+			btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
+			btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
+			btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
+			btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
+			btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
+			btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
+			btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
+			btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
+			btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
+			btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
+			btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
+			btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
+			btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
+			btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
+			btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
+			btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
+			btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
+			btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
+			btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
+			btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
+			btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
+			btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
+			btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
+			btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
+			btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
+			btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
+			btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
+			btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
+			btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
+			btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
+			btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
+			btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
+			btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
+			btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
+			btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
+			btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
+			btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
+			btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
+			btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
+			btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
+			btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
+			btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
+			btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
+			btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
+			btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
+			btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
+			btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
+			btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
+			btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
+			btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
+			btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
+			btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
+			btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
+			btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
+			btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
+			btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
+			btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
+			btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
+			btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
+		};
+	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
+		{
+			btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
+			btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
+			btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
+			btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
+			btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
+			btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
+			btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
+			btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
+			btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
+			btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
+			btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
+			btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
+			btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
+			btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
+			btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
+			btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
+			btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
+			btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
+			btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
+			btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
+			btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
+			btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
+			btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
+			btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
+			btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
+			btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
+			btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
+			btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
+			btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
+			btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
+			btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
+			btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
+			btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
+			btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
+			btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
+			btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
+			btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
+			btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
+			btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
+			btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
+			btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
+			btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
+	if (highres)
+		return sUnitSpherePointsHighres;
 	return sUnitSpherePoints;
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
index e959f198b6..54439f9ca2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
@@ -21,32 +21,31 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
-
 ///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
 ///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
 ///It approximates the convex hull using the supporting vertex of 42 directions.
-ATTRIBUTE_ALIGNED16(class) btShapeHull
+ATTRIBUTE_ALIGNED16(class)
+btShapeHull
 {
 protected:
-
 	btAlignedObjectArray<btVector3> m_vertices;
 	btAlignedObjectArray<unsigned int> m_indices;
 	unsigned int m_numIndices;
 	const btConvexShape* m_shape;
 
-	static btVector3* getUnitSpherePoints();
+	static btVector3* getUnitSpherePoints(int highres = 0);
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btShapeHull (const btConvexShape* shape);
-	~btShapeHull ();
 
-	bool buildHull (btScalar margin);
+	btShapeHull(const btConvexShape* shape);
+	~btShapeHull();
+
+	bool buildHull(btScalar margin, int highres = 0);
 
-	int numTriangles () const;
-	int numVertices () const;
-	int numIndices () const;
+	int numTriangles() const;
+	int numVertices() const;
+	int numIndices() const;
 
 	const btVector3* getVertexPointer() const
 	{
@@ -58,4 +57,4 @@ public:
 	}
 };
 
-#endif //BT_SHAPE_HULL_H
+#endif  //BT_SHAPE_HULL_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
index b9a736c0fd..027db2e104 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
@@ -18,54 +18,48 @@ subject to the following restrictions:
 
 #include "LinearMath/btQuaternion.h"
 
-btVector3	btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
 	(void)vec;
-	return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+	return btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
 }
 
-void	btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
 	(void)vectors;
 
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
-		supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+		supportVerticesOut[i].setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 	}
 }
 
-
-btVector3	btSphereShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex;
 	supVertex = localGetSupportingVertexWithoutMargin(vec);
 
 	btVector3 vecnorm = vec;
-	if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+	if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 	{
-		vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-	} 
+		vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+	}
 	vecnorm.normalize();
-	supVertex+= getMargin() * vecnorm;
+	supVertex += getMargin() * vecnorm;
 	return supVertex;
 }
 
-
 //broken due to scaling
-void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btSphereShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	const btVector3& center = t.getOrigin();
-	btVector3 extent(getMargin(),getMargin(),getMargin());
+	btVector3 extent(getMargin(), getMargin(), getMargin());
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 }
 
-
-
-void	btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
-	btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
-	inertia.setValue(elem,elem,elem);
-
+	btScalar elem = btScalar(0.4) * mass * getMargin() * getMargin();
+	inertia.setValue(elem, elem, elem);
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
index 50561f7f54..75e4fd8e18 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
@@ -16,17 +16,17 @@ subject to the following restrictions:
 #define BT_SPHERE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 ///The btSphereShape implements an implicit sphere, centered around a local origin with radius.
-ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class)
+btSphereShape : public btConvexInternalShape
 
 {
-	
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btSphereShape (btScalar radius) : btConvexInternalShape ()
+	btSphereShape(btScalar radius) : btConvexInternalShape()
 	{
 		m_shapeType = SPHERE_SHAPE_PROXYTYPE;
 		m_localScaling.setValue(1.0, 1.0, 1.0);
@@ -35,42 +35,37 @@ public:
 		m_collisionMargin = radius;
 		m_padding = 0;
 	}
-	
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	//notice that the vectors should be unit length
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	//notice that the vectors should be unit length
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	btScalar	getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
+	btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX(); }
 
-	void	setUnscaledRadius(btScalar	radius)
+	void setUnscaledRadius(btScalar radius)
 	{
 		m_implicitShapeDimensions.setX(radius);
 		btConvexInternalShape::setMargin(radius);
 	}
 
 	//debugging
-	virtual const char*	getName()const {return "SPHERE";}
+	virtual const char* getName() const { return "SPHERE"; }
 
-	virtual void	setMargin(btScalar margin)
+	virtual void setMargin(btScalar margin)
 	{
 		btConvexInternalShape::setMargin(margin);
 	}
-	virtual btScalar	getMargin() const
+	virtual btScalar getMargin() const
 	{
 		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
 		//this means, non-uniform scaling is not supported anymore
 		return getRadius();
 	}
-
-
 };
 
-
-#endif //BT_SPHERE_MINKOWSKI_H
+#endif  //BT_SPHERE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
index d17141e3f2..9238c919d5 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
@@ -17,24 +17,18 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransformUtil.h"
 
-
-btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
-: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
-m_planeConstant(planeConstant),
-m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
+btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant)
+	: btConcaveShape(), m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
 {
 	m_shapeType = STATIC_PLANE_PROXYTYPE;
 	//	btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
 }
 
-
 btStaticPlaneShape::~btStaticPlaneShape()
 {
 }
 
-
-
-void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btStaticPlaneShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
 	(void)t;
 	/*
@@ -47,57 +41,49 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
 	aabbMax.setMax(center - infvec*m_planeNormal); 
 	*/
 
-	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-	aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-
+	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
 }
 
-
-
-
-void	btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
-
 	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
 	btScalar radius = halfExtents.length();
 	btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
-	
+
 	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
 
-	btVector3 tangentDir0,tangentDir1;
+	btVector3 tangentDir0, tangentDir1;
 
 	//tangentDir0/tangentDir1 can be precalculated
-	btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
+	btPlaneSpace1(m_planeNormal, tangentDir0, tangentDir1);
 
-	btVector3 supVertex0,supVertex1;
+	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant) * m_planeNormal;
 
-	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
-	
 	btVector3 triangle[3];
-	triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
-	triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
-	triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
-
-	callback->processTriangle(triangle,0,0);
+	triangle[0] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
+	triangle[1] = projectedCenter + tangentDir0 * radius - tangentDir1 * radius;
+	triangle[2] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
 
-	triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
-	triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
-	triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+	callback->processTriangle(triangle, 0, 0);
 
-	callback->processTriangle(triangle,0,1);
+	triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
+	triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius;
+	triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
 
+	callback->processTriangle(triangle, 0, 1);
 }
 
-void	btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btStaticPlaneShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	(void)mass;
 
 	//moving concave objects not supported
-	
-	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+
+	inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 }
 
-void	btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
+void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
 {
 	m_localScaling = scaling;
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index 5e9eccc77d..1cda8bbc75 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -18,78 +18,74 @@ subject to the following restrictions:
 
 #include "btConcaveShape.h"
 
-
 ///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
-ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class)
+btStaticPlaneShape : public btConcaveShape
 {
 protected:
-	btVector3	m_localAabbMin;
-	btVector3	m_localAabbMax;
-	
-	btVector3	m_planeNormal;
-	btScalar      m_planeConstant;
-	btVector3	m_localScaling;
+	btVector3 m_localAabbMin;
+	btVector3 m_localAabbMax;
+
+	btVector3 m_planeNormal;
+	btScalar m_planeConstant;
+	btVector3 m_localScaling;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
+	btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
 
 	virtual ~btStaticPlaneShape();
 
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
-	
-	const btVector3&	getPlaneNormal() const
+
+	const btVector3& getPlaneNormal() const
 	{
-		return	m_planeNormal;
+		return m_planeNormal;
 	}
 
-	const btScalar&	getPlaneConstant() const
+	const btScalar& getPlaneConstant() const
 	{
-		return	m_planeConstant;
+		return m_planeConstant;
 	}
 
 	//debugging
-	virtual const char*	getName()const {return "STATICPLANE";}
+	virtual const char* getName() const { return "STATICPLANE"; }
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btStaticPlaneShapeData
+struct btStaticPlaneShapeData
 {
-	btCollisionShapeData	m_collisionShapeData;
+	btCollisionShapeData m_collisionShapeData;
 
-	btVector3FloatData	m_localScaling;
-	btVector3FloatData	m_planeNormal;
-	float			m_planeConstant;
-	char	m_pad[4];
+	btVector3FloatData m_localScaling;
+	btVector3FloatData m_planeNormal;
+	float m_planeConstant;
+	char m_pad[4];
 };
 
-
-SIMD_FORCE_INLINE	int	btStaticPlaneShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btStaticPlaneShapeData);
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer;
-	btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer);
+	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)dataBuffer;
+	btCollisionShape::serialize(&planeData->m_collisionShapeData, serializer);
 
 	m_localScaling.serializeFloat(planeData->m_localScaling);
 	m_planeNormal.serializeFloat(planeData->m_planeNormal);
@@ -104,8 +100,4 @@ SIMD_FORCE_INLINE	const char*	btStaticPlaneShape::serialize(void* dataBuffer, bt
 	return "btStaticPlaneShapeData";
 }
 
-
-#endif //BT_STATIC_PLANE_SHAPE_H
-
-
-
+#endif  //BT_STATIC_PLANE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index 78ddeb3704..eb288e99c9 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -18,32 +18,30 @@ subject to the following restrictions:
 
 btStridingMeshInterface::~btStridingMeshInterface()
 {
-
 }
 
-
-void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	(void)aabbMin;
 	(void)aabbMax;
 	int numtotalphysicsverts = 0;
-	int part,graphicssubparts = getNumSubParts();
-	const unsigned char * vertexbase;
-	const unsigned char * indexbase;
+	int part, graphicssubparts = getNumSubParts();
+	const unsigned char* vertexbase;
+	const unsigned char* indexbase;
 	int indexstride;
 	PHY_ScalarType type;
 	PHY_ScalarType gfxindextype;
-	int stride,numverts,numtriangles;
+	int stride, numverts, numtriangles;
 	int gfxindex;
 	btVector3 triangle[3];
 
 	btVector3 meshScaling = getScaling();
 
 	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-	for (part=0;part<graphicssubparts ;part++)
+	for (part = 0; part < graphicssubparts; part++)
 	{
-		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-		numtotalphysicsverts+=numtriangles*3; //upper bound
+		getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
+		numtotalphysicsverts += numtriangles * 3;  //upper bound
 
 		///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
 		///so disable this feature by default
@@ -51,143 +49,141 @@ void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
 
 		switch (type)
 		{
-		case PHY_FLOAT:
-		 {
-
-			 float* graphicsbase;
-
-			 switch (gfxindextype)
-			 {
-			 case PHY_INTEGER:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			 case PHY_SHORT:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			case PHY_UCHAR:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			 default:
-				 btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-			 }
-			 break;
-		 }
-
-		case PHY_DOUBLE:
+			case PHY_FLOAT:
+			{
+				float* graphicsbase;
+
+				switch (gfxindextype)
+				{
+					case PHY_INTEGER:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					case PHY_SHORT:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					case PHY_UCHAR:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					default:
+						btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+				}
+				break;
+			}
+
+			case PHY_DOUBLE:
 			{
 				double* graphicsbase;
 
 				switch (gfxindextype)
 				{
-				case PHY_INTEGER:
+					case PHY_INTEGER:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				case PHY_SHORT:
+					case PHY_SHORT:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				case PHY_UCHAR:
+					case PHY_UCHAR:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((btScalar)graphicsbase[0] * meshScaling.getX(), (btScalar)graphicsbase[1] * meshScaling.getY(), (btScalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				default:
-					btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+					default:
+						btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
 				}
 				break;
 			}
-		default:
-			btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+			default:
+				btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
 		}
 
 		unLockReadOnlyVertexBase(part);
 	}
 }
 
-void	btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
+void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin, btVector3& aabbMax)
 {
-
-	struct	AabbCalculationCallback : public btInternalTriangleIndexCallback
+	struct AabbCalculationCallback : public btInternalTriangleIndexCallback
 	{
-		btVector3	m_aabbMin;
-		btVector3	m_aabbMax;
+		btVector3 m_aabbMin;
+		btVector3 m_aabbMax;
 
 		AabbCalculationCallback()
 		{
-			m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-			m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+			m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+			m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
 		}
 
-		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
 		{
 			(void)partId;
 			(void)triangleIndex;
@@ -202,21 +198,19 @@ void	btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
 	};
 
 	//first calculate the total aabb for all triangles
-	AabbCalculationCallback	aabbCallback;
-	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-	aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-	InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
+	AabbCalculationCallback aabbCallback;
+	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+	InternalProcessAllTriangles(&aabbCallback, aabbMin, aabbMax);
 
 	aabbMin = aabbCallback.m_aabbMin;
 	aabbMax = aabbCallback.m_aabbMax;
 }
 
-
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer;
+	btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*)dataBuffer;
 
 	trimeshData->m_numMeshParts = getNumSubParts();
 
@@ -226,29 +220,28 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 
 	if (trimeshData->m_numMeshParts)
 	{
-		btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts);
+		btChunk* chunk = serializer->allocate(sizeof(btMeshPartData), trimeshData->m_numMeshParts);
 		btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
-		trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr);
-
+		trimeshData->m_meshPartsPtr = (btMeshPartData*)serializer->getUniquePointer(memPtr);
 
-	//	int numtotalphysicsverts = 0;
-		int part,graphicssubparts = getNumSubParts();
-		const unsigned char * vertexbase;
-		const unsigned char * indexbase;
+		//	int numtotalphysicsverts = 0;
+		int part, graphicssubparts = getNumSubParts();
+		const unsigned char* vertexbase;
+		const unsigned char* indexbase;
 		int indexstride;
 		PHY_ScalarType type;
 		PHY_ScalarType gfxindextype;
-		int stride,numverts,numtriangles;
+		int stride, numverts, numtriangles;
 		int gfxindex;
-	//	btVector3 triangle[3];
+		//	btVector3 triangle[3];
 
-	//	btVector3 meshScaling = getScaling();
+		//	btVector3 meshScaling = getScaling();
 
 		///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-		for (part=0;part<graphicssubparts ;part++,memPtr++)
+		for (part = 0; part < graphicssubparts; part++, memPtr++)
 		{
-			getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-			memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles
+			getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
+			memPtr->m_numTriangles = numtriangles;  //indices = 3*numtriangles
 			memPtr->m_numVertices = numverts;
 			memPtr->m_indices16 = 0;
 			memPtr->m_indices32 = 0;
@@ -257,39 +250,38 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 			memPtr->m_vertices3f = 0;
 			memPtr->m_vertices3d = 0;
 
-
 			switch (gfxindextype)
 			{
-			case PHY_INTEGER:
+				case PHY_INTEGER:
 				{
-					int numindices = numtriangles*3;
-				
+					int numindices = numtriangles * 3;
+
 					if (numindices)
 					{
-						btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices);
+						btChunk* chunk = serializer->allocate(sizeof(btIntIndexData), numindices);
 						btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
 						memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-							tmpIndices[gfxindex*3].m_value = tri_indices[0];
-							tmpIndices[gfxindex*3+1].m_value = tri_indices[1];
-							tmpIndices[gfxindex*3+2].m_value = tri_indices[2];
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							tmpIndices[gfxindex * 3].m_value = tri_indices[0];
+							tmpIndices[gfxindex * 3 + 1].m_value = tri_indices[1];
+							tmpIndices[gfxindex * 3 + 2].m_value = tri_indices[2];
 						}
-						serializer->finalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+						serializer->finalizeChunk(chunk, "btIntIndexData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
 					}
 					break;
 				}
-			case PHY_SHORT:
+				case PHY_SHORT:
 				{
 					if (numtriangles)
 					{
-						btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles);
+						btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData), numtriangles);
 						btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
-						memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices);
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						memPtr->m_3indices16 = (btShortIntIndexTripletData*)serializer->getUniquePointer(tmpIndices);
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
 							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
 							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
 							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
@@ -297,7 +289,7 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 							tmpIndices[gfxindex].m_pad[0] = 0;
 							tmpIndices[gfxindex].m_pad[1] = 0;
 						}
-						serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+						serializer->finalizeChunk(chunk, "btShortIntIndexTripletData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
 					}
 					break;
 				}
@@ -305,23 +297,23 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 				{
 					if (numtriangles)
 					{
-						btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles);
+						btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData), numtriangles);
 						btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
-						memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						memPtr->m_3indices8 = (btCharIndexTripletData*)serializer->getUniquePointer(tmpIndices);
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
 							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
 							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
 							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
 							// Fill padding with zeros to appease msan.
 							tmpIndices[gfxindex].m_pad = 0;
 						}
-						serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+						serializer->finalizeChunk(chunk, "btCharIndexTripletData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
 					}
 					break;
 				}
-			default:
+				default:
 				{
 					btAssert(0);
 					//unknown index type
@@ -330,54 +322,54 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 
 			switch (type)
 			{
-			case PHY_FLOAT:
-			 {
-				 float* graphicsbase;
-
-				 if (numverts)
-				 {
-					 btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts);
-					 btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr;
-					 memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices);
-					 for (int i=0;i<numverts;i++)
-					 {
-						 graphicsbase = (float*)(vertexbase+i*stride);
-						 tmpVertices[i].m_floats[0] = graphicsbase[0];
-						 tmpVertices[i].m_floats[1] = graphicsbase[1];
-						 tmpVertices[i].m_floats[2] = graphicsbase[2];
-					 }
-					 serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
-				 }
-				 break;
+				case PHY_FLOAT:
+				{
+					float* graphicsbase;
+
+					if (numverts)
+					{
+						btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData), numverts);
+						btVector3FloatData* tmpVertices = (btVector3FloatData*)chunk->m_oldPtr;
+						memPtr->m_vertices3f = (btVector3FloatData*)serializer->getUniquePointer(tmpVertices);
+						for (int i = 0; i < numverts; i++)
+						{
+							graphicsbase = (float*)(vertexbase + i * stride);
+							tmpVertices[i].m_floats[0] = graphicsbase[0];
+							tmpVertices[i].m_floats[1] = graphicsbase[1];
+							tmpVertices[i].m_floats[2] = graphicsbase[2];
+						}
+						serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
+					}
+					break;
 				}
 
-			case PHY_DOUBLE:
+				case PHY_DOUBLE:
 				{
 					if (numverts)
 					{
-						btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts);
-						btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr;
-						memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices);
-						for (int i=0;i<numverts;i++)
-					 {
-						 double* graphicsbase = (double*)(vertexbase+i*stride);//for now convert to float, might leave it at double
-						 tmpVertices[i].m_floats[0] = graphicsbase[0];
-						 tmpVertices[i].m_floats[1] = graphicsbase[1];
-						 tmpVertices[i].m_floats[2] = graphicsbase[2];
-					 }
-						serializer->finalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+						btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData), numverts);
+						btVector3DoubleData* tmpVertices = (btVector3DoubleData*)chunk->m_oldPtr;
+						memPtr->m_vertices3d = (btVector3DoubleData*)serializer->getUniquePointer(tmpVertices);
+						for (int i = 0; i < numverts; i++)
+						{
+							double* graphicsbase = (double*)(vertexbase + i * stride);  //for now convert to float, might leave it at double
+							tmpVertices[i].m_floats[0] = graphicsbase[0];
+							tmpVertices[i].m_floats[1] = graphicsbase[1];
+							tmpVertices[i].m_floats[2] = graphicsbase[2];
+						}
+						serializer->finalizeChunk(chunk, "btVector3DoubleData", BT_ARRAY_CODE, (void*)chunk->m_oldPtr);
 					}
 					break;
 				}
 
-			default:
-				btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+				default:
+					btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
 			}
 
 			unLockReadOnlyVertexBase(part);
 		}
 
-		serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr);
+		serializer->finalizeChunk(chunk, "btMeshPartData", BT_ARRAY_CODE, chunk->m_oldPtr);
 	}
 
 	// Fill padding with zeros to appease msan.
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
index 9fbe139768..7d729ee0d7 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -20,110 +20,102 @@ subject to the following restrictions:
 #include "btTriangleCallback.h"
 #include "btConcaveShape.h"
 
-
-
-
-
 ///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
 /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
 /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface
+ATTRIBUTE_ALIGNED16(class)
+btStridingMeshInterface
 {
-	protected:
-	
-		btVector3 m_scaling;
-
-	public:
-		BT_DECLARE_ALIGNED_ALLOCATOR();
-		
-		btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
-		{
-
-		}
-
-		virtual ~btStridingMeshInterface();
-
-
-
-		virtual void	InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-
-		///brute force method to calculate aabb
-		void	calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax);
-
-		/// get read and write access to a subpart of a triangle mesh
-		/// this subpart has a continuous array of vertices and indices
-		/// in this way the mesh can be handled as chunks of memory with striding
-		/// very similar to OpenGL vertexarray support
-		/// make a call to unLockVertexBase when the read and write access is finished	
-		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
-		
-		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
-	
-		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-		virtual void	unLockVertexBase(int subpart)=0;
-
-		virtual void	unLockReadOnlyVertexBase(int subpart) const=0;
-
-
-		/// getNumSubParts returns the number of seperate subparts
-		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts() const=0;
-
-		virtual void	preallocateVertices(int numverts)=0;
-		virtual void	preallocateIndices(int numindices)=0;
-
-		virtual bool	hasPremadeAabb() const { return false; }
-		virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
-                {
-                        (void) aabbMin;
-                        (void) aabbMax;
-                }
-		virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
-        {
-            (void) aabbMin;
-            (void) aabbMax;
-        }
-
-		const btVector3&	getScaling() const {
-			return m_scaling;
-		}
-		void	setScaling(const btVector3& scaling)
-		{
-			m_scaling = scaling;
-		}
-
-		virtual	int	calculateSerializeBufferSize() const;
-
-		///fills the dataBuffer and returns the struct name (and 0 on failure)
-		virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+protected:
+	btVector3 m_scaling;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btStridingMeshInterface() : m_scaling(btScalar(1.), btScalar(1.), btScalar(1.))
+	{
+	}
+
+	virtual ~btStridingMeshInterface();
+
+	virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
+
+	///brute force method to calculate aabb
+	void calculateAabbBruteForce(btVector3 & aabbMin, btVector3 & aabbMax);
+
+	/// get read and write access to a subpart of a triangle mesh
+	/// this subpart has a continuous array of vertices and indices
+	/// in this way the mesh can be handled as chunks of memory with striding
+	/// very similar to OpenGL vertexarray support
+	/// make a call to unLockVertexBase when the read and write access is finished
+	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) = 0;
+
+	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& stride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const = 0;
+
+	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+	virtual void unLockVertexBase(int subpart) = 0;
+
+	virtual void unLockReadOnlyVertexBase(int subpart) const = 0;
+
+	/// getNumSubParts returns the number of seperate subparts
+	/// each subpart has a continuous array of vertices and indices
+	virtual int getNumSubParts() const = 0;
+
+	virtual void preallocateVertices(int numverts) = 0;
+	virtual void preallocateIndices(int numindices) = 0;
+
+	virtual bool hasPremadeAabb() const { return false; }
+	virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const
+	{
+		(void)aabbMin;
+		(void)aabbMax;
+	}
+	virtual void getPremadeAabb(btVector3 * aabbMin, btVector3 * aabbMax) const
+	{
+		(void)aabbMin;
+		(void)aabbMax;
+	}
+
+	const btVector3& getScaling() const
+	{
+		return m_scaling;
+	}
+	void setScaling(const btVector3& scaling)
+	{
+		m_scaling = scaling;
+	}
+
+	virtual int calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-struct	btIntIndexData
+struct btIntIndexData
 {
-	int	m_value;
+	int m_value;
 };
 
-struct	btShortIntIndexData
+struct btShortIntIndexData
 {
 	short m_value;
 	char m_pad[2];
 };
 
-struct	btShortIntIndexTripletData
+struct btShortIntIndexTripletData
 {
-	short	m_values[3];
-	char	m_pad[2];
+	short m_values[3];
+	char m_pad[2];
 };
 
-struct	btCharIndexTripletData
+struct btCharIndexTripletData
 {
 	unsigned char m_values[3];
-	char	m_pad;
+	char m_pad;
 };
 
+// clang-format off
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btMeshPartData
@@ -151,14 +143,11 @@ struct	btStridingMeshInterfaceData
 	char m_padding[4];
 };
 
+// clang-format on
 
-
-
-SIMD_FORCE_INLINE	int	btStridingMeshInterface::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const
 {
 	return sizeof(btStridingMeshInterfaceData);
 }
 
-
-
-#endif //BT_STRIDING_MESHINTERFACE_H
+#endif  //BT_STRIDING_MESHINTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
index 52f346bf72..c4d33c429f 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
@@ -16,29 +16,29 @@ subject to the following restrictions:
 #include "btTetrahedronShape.h"
 #include "LinearMath/btMatrix3x3.h"
 
-btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(),
+									   m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(),
+														   m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(),
+																				 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(),
+																									   m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
@@ -46,8 +46,8 @@ m_numVertices(0)
 	addVertex(pt2);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(),
+																															 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
@@ -56,17 +56,16 @@ m_numVertices(0)
 	addVertex(pt3);
 }
 
-
-void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
 #if 1
-	btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
+	btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax);
 #else
-	aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
-	aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+	aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+	aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
 
 	//just transform the vertices in worldspace, and take their AABB
-	for (int i=0;i<m_numVertices;i++)
+	for (int i = 0; i < m_numVertices; i++)
 	{
 		btVector3 worldVertex = t(m_vertices[i]);
 		aabbMin.setMin(worldVertex);
@@ -75,18 +74,13 @@ void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3
 #endif
 }
 
-
-
-
-
 void btBU_Simplex1to4::addVertex(const btVector3& pt)
 {
 	m_vertices[m_numVertices++] = pt;
 	recalcLocalAabb();
 }
 
-
-int	btBU_Simplex1to4::getNumVertices() const
+int btBU_Simplex1to4::getNumVertices() const
 {
 	return m_numVertices;
 }
@@ -97,122 +91,113 @@ int btBU_Simplex1to4::getNumEdges() const
 
 	switch (m_numVertices)
 	{
-	case 0:
-		return 0;
-	case 1: return 0;
-	case 2: return 1;
-	case 3: return 3;
-	case 4: return 6;
-
-
+		case 0:
+			return 0;
+		case 1:
+			return 0;
+		case 2:
+			return 1;
+		case 3:
+			return 3;
+		case 4:
+			return 6;
 	}
 
 	return 0;
 }
 
-void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const
 {
-	
-    switch (m_numVertices)
+	switch (m_numVertices)
 	{
-
-	case 2: 
-		pa = m_vertices[0];
-		pb = m_vertices[1];
-		break;
-	case 3:  
-		switch (i)
-		{
-		case 0:
-			pa = m_vertices[0];
-			pb = m_vertices[1];
-			break;
-		case 1:
-			pa = m_vertices[1];
-			pb = m_vertices[2];
-			break;
 		case 2:
-			pa = m_vertices[2];
-			pb = m_vertices[0];
-			break;
-
-		}
-		break;
-	case 4: 
-		switch (i)
-		{
-		case 0:
 			pa = m_vertices[0];
 			pb = m_vertices[1];
 			break;
-		case 1:
-			pa = m_vertices[1];
-			pb = m_vertices[2];
-			break;
-		case 2:
-			pa = m_vertices[2];
-			pb = m_vertices[0];
-			break;
 		case 3:
-			pa = m_vertices[0];
-			pb = m_vertices[3];
+			switch (i)
+			{
+				case 0:
+					pa = m_vertices[0];
+					pb = m_vertices[1];
+					break;
+				case 1:
+					pa = m_vertices[1];
+					pb = m_vertices[2];
+					break;
+				case 2:
+					pa = m_vertices[2];
+					pb = m_vertices[0];
+					break;
+			}
 			break;
 		case 4:
-			pa = m_vertices[1];
-			pb = m_vertices[3];
-			break;
-		case 5:
-			pa = m_vertices[2];
-			pb = m_vertices[3];
-			break;
-		}
-
+			switch (i)
+			{
+				case 0:
+					pa = m_vertices[0];
+					pb = m_vertices[1];
+					break;
+				case 1:
+					pa = m_vertices[1];
+					pb = m_vertices[2];
+					break;
+				case 2:
+					pa = m_vertices[2];
+					pb = m_vertices[0];
+					break;
+				case 3:
+					pa = m_vertices[0];
+					pb = m_vertices[3];
+					break;
+				case 4:
+					pa = m_vertices[1];
+					pb = m_vertices[3];
+					break;
+				case 5:
+					pa = m_vertices[2];
+					pb = m_vertices[3];
+					break;
+			}
 	}
-
-
-
-
 }
 
-void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const
+void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const
 {
 	vtx = m_vertices[i];
 }
 
-int	btBU_Simplex1to4::getNumPlanes() const
+int btBU_Simplex1to4::getNumPlanes() const
 {
 	switch (m_numVertices)
 	{
-	case 0:
+		case 0:
 			return 0;
-	case 1:
+		case 1:
 			return 0;
-	case 2:
+		case 2:
 			return 0;
-	case 3:
+		case 3:
 			return 2;
-	case 4:
+		case 4:
 			return 4;
-	default:
+		default:
 		{
 		}
 	}
 	return 0;
 }
 
-
-void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const
+void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const
 {
-	
 }
 
-int btBU_Simplex1to4::getIndex(int ) const
+int btBU_Simplex1to4::getIndex(int) const
 {
 	return 0;
 }
 
-bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const
+bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const
 {
 	return false;
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
index b69209835e..f5e2209ed0 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
@@ -16,61 +16,56 @@ subject to the following restrictions:
 #ifndef BT_SIMPLEX_1TO4_SHAPE
 #define BT_SIMPLEX_1TO4_SHAPE
 
-
 #include "btPolyhedralConvexShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 
-
 ///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
-ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class)
+btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
 {
 protected:
-
-	int	m_numVertices;
-	btVector3	m_vertices[4];
+	int m_numVertices;
+	btVector3 m_vertices[4];
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btBU_Simplex1to4();
 
 	btBU_Simplex1to4(const btVector3& pt0);
-	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
-	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
-	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);
+	btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1);
+	btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2);
+	btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3);
 
-    
-	void	reset()
+	void reset()
 	{
 		m_numVertices = 0;
 	}
-	
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
 	void addVertex(const btVector3& pt);
 
 	//PolyhedralConvexShape interface
 
-	virtual int	getNumVertices() const;
+	virtual int getNumVertices() const;
 
 	virtual int getNumEdges() const;
 
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
-	
-	virtual void getVertex(int i,btVector3& vtx) const;
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
 
-	virtual int	getNumPlanes() const;
+	virtual void getVertex(int i, btVector3& vtx) const;
 
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;
+	virtual int getNumPlanes() const;
 
-	virtual int getIndex(int i) const;
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
 
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+	virtual int getIndex(int i) const;
 
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
 
 	///getName is for debugging
-	virtual const char*	getName()const { return "btBU_Simplex1to4";}
-
+	virtual const char* getName() const { return "btBU_Simplex1to4"; }
 };
 
-#endif //BT_SIMPLEX_1TO4_SHAPE
+#endif  //BT_SIMPLEX_1TO4_SHAPE
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
index 3027e65b25..3b6db2b39f 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
@@ -15,21 +15,14 @@ subject to the following restrictions:
 
 #include "btTriangleBuffer.h"
 
-
-
-
-
-
-
-void btTriangleBuffer::processTriangle(btVector3* triangle,int partId,int  triangleIndex)
+void btTriangleBuffer::processTriangle(btVector3* triangle, int partId, int triangleIndex)
 {
-		btTriangle	tri;
-		tri.m_vertex0 = triangle[0];
-		tri.m_vertex1 = triangle[1];
-		tri.m_vertex2 = triangle[2];
-		tri.m_partId = partId;
-		tri.m_triangleIndex = triangleIndex;
-			
-		m_triangleBuffer.push_back(tri);
+	btTriangle tri;
+	tri.m_vertex0 = triangle[0];
+	tri.m_vertex1 = triangle[1];
+	tri.m_vertex2 = triangle[2];
+	tri.m_partId = partId;
+	tri.m_triangleIndex = triangleIndex;
+
+	m_triangleBuffer.push_back(tri);
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
index b71fc8b374..a89b9cd8a4 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
@@ -19,13 +19,13 @@ subject to the following restrictions:
 #include "btTriangleCallback.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-struct	btTriangle
+struct btTriangle
 {
-	btVector3	m_vertex0;
-	btVector3	m_vertex1;
-	btVector3	m_vertex2;
-	int	m_partId;
-	int	m_triangleIndex;
+	btVector3 m_vertex0;
+	btVector3 m_vertex1;
+	btVector3 m_vertex2;
+	int m_partId;
+	int m_triangleIndex;
 };
 
 ///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
@@ -39,31 +39,25 @@ struct	btTriangle
 ///			}
 class btTriangleBuffer : public btTriangleCallback
 {
+	btAlignedObjectArray<btTriangle> m_triangleBuffer;
 
-	btAlignedObjectArray<btTriangle>	m_triangleBuffer;
-	
 public:
-
-
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-	
-	int	getNumTriangles() const
+
+	int getNumTriangles() const
 	{
 		return int(m_triangleBuffer.size());
 	}
-	
-	const btTriangle&	getTriangle(int index) const
+
+	const btTriangle& getTriangle(int index) const
 	{
 		return m_triangleBuffer[index];
 	}
 
-	void	clearBuffer()
+	void clearBuffer()
 	{
 		m_triangleBuffer.clear();
 	}
-	
 };
 
-
-#endif //BT_TRIANGLE_BUFFER_H
-
+#endif  //BT_TRIANGLE_BUFFER_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
index f558bf6d24..5bd2c595fe 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
@@ -17,12 +17,8 @@ subject to the following restrictions:
 
 btTriangleCallback::~btTriangleCallback()
 {
-
 }
 
-
 btInternalTriangleIndexCallback::~btInternalTriangleIndexCallback()
 {
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
index 461c57f877..d3644891ee 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
@@ -18,13 +18,11 @@ subject to the following restrictions:
 
 #include "LinearMath/btVector3.h"
 
-
 ///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
 ///This callback is called by processAllTriangles for all btConcaveShape derived class, such as  btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape.
 class btTriangleCallback
 {
 public:
-
 	virtual ~btTriangleCallback();
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0;
 };
@@ -32,11 +30,8 @@ public:
 class btInternalTriangleIndexCallback
 {
 public:
-
 	virtual ~btInternalTriangleIndexCallback();
-	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex) = 0;
+	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) = 0;
 };
 
-
-
-#endif //BT_TRIANGLE_CALLBACK_H
+#endif  //BT_TRIANGLE_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
index a665024cb6..dae4255194 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
@@ -15,81 +15,76 @@ subject to the following restrictions:
 
 #include "btTriangleIndexVertexArray.h"
 
-btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride)
-: m_hasAabb(0)
+btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, btScalar* vertexBase, int vertexStride)
+	: m_hasAabb(0)
 {
 	btIndexedMesh mesh;
 
 	mesh.m_numTriangles = numTriangles;
-	mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase;
+	mesh.m_triangleIndexBase = (const unsigned char*)triangleIndexBase;
 	mesh.m_triangleIndexStride = triangleIndexStride;
 	mesh.m_numVertices = numVertices;
-	mesh.m_vertexBase = (const unsigned char *)vertexBase;
+	mesh.m_vertexBase = (const unsigned char*)vertexBase;
 	mesh.m_vertexStride = vertexStride;
 
 	addIndexedMesh(mesh);
-
 }
 
 btTriangleIndexVertexArray::~btTriangleIndexVertexArray()
 {
-
 }
 
-void	btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
+void btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart)
 {
-	btAssert(subpart< getNumSubParts() );
+	btAssert(subpart < getNumSubParts());
 
 	btIndexedMesh& mesh = m_indexedMeshes[subpart];
 
 	numverts = mesh.m_numVertices;
-	(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
+	(*vertexbase) = (unsigned char*)mesh.m_vertexBase;
 
-   type = mesh.m_vertexType;
+	type = mesh.m_vertexType;
 
 	vertexStride = mesh.m_vertexStride;
 
 	numfaces = mesh.m_numTriangles;
 
-	(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
+	(*indexbase) = (unsigned char*)mesh.m_triangleIndexBase;
 	indexstride = mesh.m_triangleIndexStride;
 	indicestype = mesh.m_indexType;
 }
 
-void	btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart) const
 {
 	const btIndexedMesh& mesh = m_indexedMeshes[subpart];
 
 	numverts = mesh.m_numVertices;
-	(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
+	(*vertexbase) = (const unsigned char*)mesh.m_vertexBase;
+
+	type = mesh.m_vertexType;
 
-   type = mesh.m_vertexType;
-   
 	vertexStride = mesh.m_vertexStride;
 
 	numfaces = mesh.m_numTriangles;
-	(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
+	(*indexbase) = (const unsigned char*)mesh.m_triangleIndexBase;
 	indexstride = mesh.m_triangleIndexStride;
 	indicestype = mesh.m_indexType;
 }
 
-bool	btTriangleIndexVertexArray::hasPremadeAabb() const
+bool btTriangleIndexVertexArray::hasPremadeAabb() const
 {
 	return (m_hasAabb == 1);
 }
 
-
-void	btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
+void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	m_aabbMin = aabbMin;
 	m_aabbMax = aabbMax;
-	m_hasAabb = 1; // this is intentionally an int see notes in header
+	m_hasAabb = 1;  // this is intentionally an int see notes in header
 }
 
-void	btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
+void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax) const
 {
 	*aabbMin = m_aabbMin;
 	*aabbMax = m_aabbMax;
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index 9e1544e87a..8ebb22baae 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -20,62 +20,59 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btScalar.h"
 
-
 ///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh.
 ///Instead of the number of indices, we pass the number of triangles.
-ATTRIBUTE_ALIGNED16( struct)	btIndexedMesh
+ATTRIBUTE_ALIGNED16(struct)
+btIndexedMesh
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-   int                     m_numTriangles;
-   const unsigned char *   m_triangleIndexBase;
-   // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
-   int                     m_triangleIndexStride;
-   int                     m_numVertices;
-   const unsigned char *   m_vertexBase;
-   // Size of a vertex, in bytes
-   int                     m_vertexStride;
-
-   // The index type is set when adding an indexed mesh to the
-   // btTriangleIndexVertexArray, do not set it manually
-   PHY_ScalarType m_indexType;
-
-   // The vertex type has a default type similar to Bullet's precision mode (float or double)
-   // but can be set manually if you for example run Bullet with double precision but have
-   // mesh data in single precision..
-   PHY_ScalarType m_vertexType;
-
-
-   btIndexedMesh()
-	   :m_indexType(PHY_INTEGER),
+	int m_numTriangles;
+	const unsigned char* m_triangleIndexBase;
+	// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
+	int m_triangleIndexStride;
+	int m_numVertices;
+	const unsigned char* m_vertexBase;
+	// Size of a vertex, in bytes
+	int m_vertexStride;
+
+	// The index type is set when adding an indexed mesh to the
+	// btTriangleIndexVertexArray, do not set it manually
+	PHY_ScalarType m_indexType;
+
+	// The vertex type has a default type similar to Bullet's precision mode (float or double)
+	// but can be set manually if you for example run Bullet with double precision but have
+	// mesh data in single precision..
+	PHY_ScalarType m_vertexType;
+
+	btIndexedMesh()
+		: m_indexType(PHY_INTEGER),
 #ifdef BT_USE_DOUBLE_PRECISION
-      m_vertexType(PHY_DOUBLE)
-#else // BT_USE_DOUBLE_PRECISION
-      m_vertexType(PHY_FLOAT)
-#endif // BT_USE_DOUBLE_PRECISION
-      {
-      }
-}
-;
-
+		  m_vertexType(PHY_DOUBLE)
+#else   // BT_USE_DOUBLE_PRECISION
+		  m_vertexType(PHY_FLOAT)
+#endif  // BT_USE_DOUBLE_PRECISION
+	{
+	}
+};
 
-typedef btAlignedObjectArray<btIndexedMesh>	IndexedMeshArray;
+typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray;
 
 ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
+///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
-ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
+ATTRIBUTE_ALIGNED16(class)
+btTriangleIndexVertexArray : public btStridingMeshInterface
 {
 protected:
-	IndexedMeshArray	m_indexedMeshes;
+	IndexedMeshArray m_indexedMeshes;
 	int m_pad[2];
-	mutable int m_hasAabb; // using int instead of bool to maintain alignment
+	mutable int m_hasAabb;  // using int instead of bool to maintain alignment
 	mutable btVector3 m_aabbMin;
 	mutable btVector3 m_aabbMax;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btTriangleIndexVertexArray() : m_hasAabb(0)
@@ -85,49 +82,47 @@ public:
 	virtual ~btTriangleIndexVertexArray();
 
 	//just to be backwards compatible
-	btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
-	
-	void	addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
+	btTriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, btScalar* vertexBase, int vertexStride);
+
+	void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
 	{
 		m_indexedMeshes.push_back(mesh);
-		m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType;
+		m_indexedMeshes[m_indexedMeshes.size() - 1].m_indexType = indexType;
 	}
-	
-	
-	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
 
-	virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0);
+
+	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const;
 
 	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void	unLockVertexBase(int subpart) {(void)subpart;}
+	virtual void unLockVertexBase(int subpart) { (void)subpart; }
 
-	virtual void	unLockReadOnlyVertexBase(int subpart) const {(void)subpart;}
+	virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; }
 
 	/// getNumSubParts returns the number of seperate subparts
 	/// each subpart has a continuous array of vertices and indices
-	virtual int		getNumSubParts() const { 
+	virtual int getNumSubParts() const
+	{
 		return (int)m_indexedMeshes.size();
 	}
 
-	IndexedMeshArray&	getIndexedMeshArray()
+	IndexedMeshArray& getIndexedMeshArray()
 	{
 		return m_indexedMeshes;
 	}
 
-	const IndexedMeshArray&	getIndexedMeshArray() const
+	const IndexedMeshArray& getIndexedMeshArray() const
 	{
 		return m_indexedMeshes;
 	}
 
-	virtual void	preallocateVertices(int numverts){(void) numverts;}
-	virtual void	preallocateIndices(int numindices){(void) numindices;}
-
-	virtual bool	hasPremadeAabb() const;
-	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
-	virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
+	virtual void preallocateVertices(int numverts) { (void)numverts; }
+	virtual void preallocateIndices(int numindices) { (void)numindices; }
 
-}
-;
+	virtual bool hasPremadeAabb() const;
+	virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const;
+	virtual void getPremadeAabb(btVector3 * aabbMin, btVector3 * aabbMax) const;
+};
 
-#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#endif  //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
index dc562941ad..4bf133d7ac 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
@@ -17,70 +17,68 @@ subject to the following restrictions:
 
 #include "btTriangleIndexVertexMaterialArray.h"
 
-btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
-                                   int numVertices,btScalar* vertexBase,int vertexStride,
-                                   int numMaterials, unsigned char* materialBase, int materialStride,
-                                   int* triangleMaterialsBase, int materialIndexStride) :
-btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
+btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride,
+																	   int numVertices, btScalar* vertexBase, int vertexStride,
+																	   int numMaterials, unsigned char* materialBase, int materialStride,
+																	   int* triangleMaterialsBase, int materialIndexStride) : btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
 {
-    btMaterialProperties mat;
+	btMaterialProperties mat;
 
-    mat.m_numMaterials = numMaterials;
-    mat.m_materialBase = materialBase;
-    mat.m_materialStride = materialStride;
+	mat.m_numMaterials = numMaterials;
+	mat.m_materialBase = materialBase;
+	mat.m_materialStride = materialStride;
 #ifdef BT_USE_DOUBLE_PRECISION
-    mat.m_materialType = PHY_DOUBLE;
+	mat.m_materialType = PHY_DOUBLE;
 #else
-    mat.m_materialType = PHY_FLOAT;
+	mat.m_materialType = PHY_FLOAT;
 #endif
 
-    mat.m_numTriangles = numTriangles;
-    mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase;
-    mat.m_triangleMaterialStride = materialIndexStride;
-    mat.m_triangleType = PHY_INTEGER;
+	mat.m_numTriangles = numTriangles;
+	mat.m_triangleMaterialsBase = (unsigned char*)triangleMaterialsBase;
+	mat.m_triangleMaterialStride = materialIndexStride;
+	mat.m_triangleType = PHY_INTEGER;
 
-    addMaterialProperties(mat);
+	addMaterialProperties(mat);
 }
 
-
-void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-                                   unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
+void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+															   unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
 {
-    btAssert(subpart< getNumSubParts() );
+	btAssert(subpart < getNumSubParts());
 
-    btMaterialProperties& mats = m_materials[subpart];
+	btMaterialProperties& mats = m_materials[subpart];
 
-    numMaterials = mats.m_numMaterials;
-    (*materialBase) = (unsigned char *) mats.m_materialBase;
+	numMaterials = mats.m_numMaterials;
+	(*materialBase) = (unsigned char*)mats.m_materialBase;
 #ifdef BT_USE_DOUBLE_PRECISION
-    materialType = PHY_DOUBLE;
+	materialType = PHY_DOUBLE;
 #else
-    materialType = PHY_FLOAT;
+	materialType = PHY_FLOAT;
 #endif
-    materialStride = mats.m_materialStride;
+	materialStride = mats.m_materialStride;
 
-    numTriangles = mats.m_numTriangles;
-    (*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase;
-    triangleMaterialStride = mats.m_triangleMaterialStride;
-    triangleType = mats.m_triangleType;
+	numTriangles = mats.m_numTriangles;
+	(*triangleMaterialBase) = (unsigned char*)mats.m_triangleMaterialsBase;
+	triangleMaterialStride = mats.m_triangleMaterialStride;
+	triangleType = mats.m_triangleType;
 }
 
-void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-                                           const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
+void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+																	   const unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
 {
-    btMaterialProperties& mats = m_materials[subpart];
+	btMaterialProperties& mats = m_materials[subpart];
 
-    numMaterials = mats.m_numMaterials;
-    (*materialBase) = (const unsigned char *) mats.m_materialBase;
+	numMaterials = mats.m_numMaterials;
+	(*materialBase) = (const unsigned char*)mats.m_materialBase;
 #ifdef BT_USE_DOUBLE_PRECISION
-    materialType = PHY_DOUBLE;
+	materialType = PHY_DOUBLE;
 #else
-    materialType = PHY_FLOAT;
+	materialType = PHY_FLOAT;
 #endif
-    materialStride = mats.m_materialStride;
+	materialStride = mats.m_materialStride;
 
-    numTriangles = mats.m_numTriangles;
-    (*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase;
-    triangleMaterialStride = mats.m_triangleMaterialStride;
-    triangleType = mats.m_triangleType;
+	numTriangles = mats.m_numTriangles;
+	(*triangleMaterialBase) = (const unsigned char*)mats.m_triangleMaterialsBase;
+	triangleMaterialStride = mats.m_triangleMaterialStride;
+	triangleType = mats.m_triangleType;
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
index ba4f7b4607..315b1e21f3 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
@@ -20,26 +20,26 @@ subject to the following restrictions:
 
 #include "btTriangleIndexVertexArray.h"
 
-
-ATTRIBUTE_ALIGNED16( struct)	btMaterialProperties
+ATTRIBUTE_ALIGNED16(struct)
+btMaterialProperties
 {
-    ///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
-    int m_numMaterials;
-    const unsigned char * m_materialBase;
-    int m_materialStride;
-    PHY_ScalarType m_materialType;
-    ///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
-    ///                           padding the structure, it can be reproduced at no real cost
-    ///m_triangleMaterials =====> 1 integer value makes up one entry
-    ///                           eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
-    int m_numTriangles; 
-    const unsigned char * m_triangleMaterialsBase;
-    int m_triangleMaterialStride;
-    ///m_triangleType <========== Automatically set in addMaterialProperties
-    PHY_ScalarType m_triangleType;
+	///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
+	int m_numMaterials;
+	const unsigned char* m_materialBase;
+	int m_materialStride;
+	PHY_ScalarType m_materialType;
+	///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
+	///                           padding the structure, it can be reproduced at no real cost
+	///m_triangleMaterials =====> 1 integer value makes up one entry
+	///                           eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
+	int m_numTriangles;
+	const unsigned char* m_triangleMaterialsBase;
+	int m_triangleMaterialStride;
+	///m_triangleType <========== Automatically set in addMaterialProperties
+	PHY_ScalarType m_triangleType;
 };
 
-typedef btAlignedObjectArray<btMaterialProperties>	MaterialArray;
+typedef btAlignedObjectArray<btMaterialProperties> MaterialArray;
 
 ///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
 ///The addition of a material array allows for the utilization of the partID and
@@ -47,38 +47,37 @@ typedef btAlignedObjectArray<btMaterialProperties>	MaterialArray;
 ///TriangleIndexVertexArray, no duplicate is made of the material data, so it
 ///is the users responsibility to maintain the array during the lifetime of the
 ///TriangleIndexVertexMaterialArray.
-ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
+ATTRIBUTE_ALIGNED16(class)
+btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
 {
 protected:
-    MaterialArray       m_materials;
-		
+	MaterialArray m_materials;
+
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btTriangleIndexVertexMaterialArray()
+	btTriangleIndexVertexMaterialArray()
 	{
 	}
 
-    btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
-        int numVertices,btScalar* vertexBase,int vertexStride,
-        int numMaterials, unsigned char* materialBase, int materialStride,
-        int* triangleMaterialsBase, int materialIndexStride);
-
-    virtual ~btTriangleIndexVertexMaterialArray() {}
+	btTriangleIndexVertexMaterialArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride,
+									   int numVertices, btScalar* vertexBase, int vertexStride,
+									   int numMaterials, unsigned char* materialBase, int materialStride,
+									   int* triangleMaterialsBase, int materialIndexStride);
 
-    void	addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
-    {
-        m_materials.push_back(mat);
-        m_materials[m_materials.size()-1].m_triangleType = triangleType;
-    }
+	virtual ~btTriangleIndexVertexMaterialArray() {}
 
-    virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-        unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0);
+	void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
+	{
+		m_materials.push_back(mat);
+		m_materials[m_materials.size() - 1].m_triangleType = triangleType;
+	}
 
-    virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
-        const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
+	virtual void getLockedMaterialBase(unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+									   unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
 
-}
-;
+	virtual void getLockedReadOnlyMaterialBase(const unsigned char** materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+											   const unsigned char** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
+};
 
-#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#endif  //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
index 6427589590..8ee35ef5fa 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -16,11 +16,9 @@ subject to the following restrictions:
 #ifndef _BT_TRIANGLE_INFO_MAP_H
 #define _BT_TRIANGLE_INFO_MAP_H
 
-
 #include "LinearMath/btHashMap.h"
 #include "LinearMath/btSerializer.h"
 
-
 ///for btTriangleInfo m_flags
 #define TRI_INFO_V0V1_CONVEX 1
 #define TRI_INFO_V1V2_CONVEX 2
@@ -30,61 +28,58 @@ subject to the following restrictions:
 #define TRI_INFO_V1V2_SWAP_NORMALB 16
 #define TRI_INFO_V2V0_SWAP_NORMALB 32
 
-
 ///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
-///it can be generated using 
-struct	btTriangleInfo
+///it can be generated using
+struct btTriangleInfo
 {
 	btTriangleInfo()
 	{
 		m_edgeV0V1Angle = SIMD_2_PI;
 		m_edgeV1V2Angle = SIMD_2_PI;
 		m_edgeV2V0Angle = SIMD_2_PI;
-		m_flags=0;
+		m_flags = 0;
 	}
 
-	int			m_flags;
-
-	btScalar	m_edgeV0V1Angle;
-	btScalar	m_edgeV1V2Angle;
-	btScalar	m_edgeV2V0Angle;
+	int m_flags;
 
+	btScalar m_edgeV0V1Angle;
+	btScalar m_edgeV1V2Angle;
+	btScalar m_edgeV2V0Angle;
 };
 
-typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
-
+typedef btHashMap<btHashInt, btTriangleInfo> btInternalTriangleInfoMap;
 
 ///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
-struct	btTriangleInfoMap : public btInternalTriangleInfoMap
+struct btTriangleInfoMap : public btInternalTriangleInfoMap
 {
-	btScalar	m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
-	btScalar	m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
-	btScalar	m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
-	btScalar	m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
-	btScalar	m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
-	btScalar	m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
-	
-	
+	btScalar m_convexEpsilon;          ///used to determine if an edge or contact normal is convex, using the dot product
+	btScalar m_planarEpsilon;          ///used to determine if a triangle edge is planar with zero angle
+	btScalar m_equalVertexThreshold;   ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
+	btScalar m_edgeDistanceThreshold;  ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+	btScalar m_maxEdgeAngleThreshold;  //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
+	btScalar m_zeroAreaThreshold;      ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
+
 	btTriangleInfoMap()
 	{
 		m_convexEpsilon = 0.00f;
 		m_planarEpsilon = 0.0001f;
-		m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
+		m_equalVertexThreshold = btScalar(0.0001) * btScalar(0.0001);
 		m_edgeDistanceThreshold = btScalar(0.1);
-		m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+		m_zeroAreaThreshold = btScalar(0.0001) * btScalar(0.0001);
 		m_maxEdgeAngleThreshold = SIMD_2_PI;
 	}
 	virtual ~btTriangleInfoMap() {}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	void	deSerialize(struct btTriangleInfoMapData& data);
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
+	void deSerialize(struct btTriangleInfoMapData& data);
 };
 
+// clang-format off
+
 ///those fields have to be float and not btScalar for the serialization to work properly
 struct	btTriangleInfoData
 {
@@ -114,86 +109,86 @@ struct	btTriangleInfoMapData
 	char	m_padding[4];
 };
 
-SIMD_FORCE_INLINE	int	btTriangleInfoMap::calculateSerializeBufferSize() const
+// clang-format on
+
+SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
 {
 	return sizeof(btTriangleInfoMapData);
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
+	btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*)dataBuffer;
 	tmapData->m_convexEpsilon = (float)m_convexEpsilon;
 	tmapData->m_planarEpsilon = (float)m_planarEpsilon;
-	tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
+	tmapData->m_equalVertexThreshold = (float)m_equalVertexThreshold;
 	tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
 	tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
-	
+
 	tmapData->m_hashTableSize = m_hashTable.size();
 
 	tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
 	if (tmapData->m_hashTablePtr)
-	{ 
+	{
 		//serialize an int buffer
 		int sz = sizeof(int);
 		int numElem = tmapData->m_hashTableSize;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		int* memPtr = (int*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			*memPtr = m_hashTable[i];
 		}
-		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]);
-
+		serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_hashTable[0]);
 	}
 
 	tmapData->m_nextSize = m_next.size();
-	tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0;
+	tmapData->m_nextPtr = tmapData->m_nextSize ? (int*)serializer->getUniquePointer((void*)&m_next[0]) : 0;
 	if (tmapData->m_nextPtr)
 	{
 		int sz = sizeof(int);
 		int numElem = tmapData->m_nextSize;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		int* memPtr = (int*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			*memPtr = m_next[i];
 		}
-		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]);
+		serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_next[0]);
 	}
-	
+
 	tmapData->m_numValues = m_valueArray.size();
-	tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0;
+	tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]) : 0;
 	if (tmapData->m_valueArrayPtr)
 	{
 		int sz = sizeof(btTriangleInfoData);
 		int numElem = tmapData->m_numValues;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
 			memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
 			memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
 			memPtr->m_flags = m_valueArray[i].m_flags;
 		}
-		serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
+		serializer->finalizeChunk(chunk, "btTriangleInfoData", BT_ARRAY_CODE, (void*)&m_valueArray[0]);
 	}
-	
+
 	tmapData->m_numKeys = m_keyArray.size();
 	tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
 	if (tmapData->m_keyArrayPtr)
 	{
 		int sz = sizeof(int);
 		int numElem = tmapData->m_numValues;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		int* memPtr = (int*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			*memPtr = m_keyArray[i].getUid1();
 		}
-		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
-
+		serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_keyArray[0]);
 	}
 
 	// Fill padding with zeros to appease msan.
@@ -205,44 +200,39 @@ SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btS
 	return "btTriangleInfoMapData";
 }
 
-
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	void	btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
+SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData)
 {
-
-
 	m_convexEpsilon = tmapData.m_convexEpsilon;
 	m_planarEpsilon = tmapData.m_planarEpsilon;
 	m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
 	m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
 	m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
 	m_hashTable.resize(tmapData.m_hashTableSize);
-	int i =0;
-	for (i=0;i<tmapData.m_hashTableSize;i++)
+	int i = 0;
+	for (i = 0; i < tmapData.m_hashTableSize; i++)
 	{
 		m_hashTable[i] = tmapData.m_hashTablePtr[i];
 	}
 	m_next.resize(tmapData.m_nextSize);
-	for (i=0;i<tmapData.m_nextSize;i++)
+	for (i = 0; i < tmapData.m_nextSize; i++)
 	{
 		m_next[i] = tmapData.m_nextPtr[i];
 	}
 	m_valueArray.resize(tmapData.m_numValues);
-	for (i=0;i<tmapData.m_numValues;i++)
+	for (i = 0; i < tmapData.m_numValues; i++)
 	{
 		m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
 		m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
 		m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
 		m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
 	}
-	
-	m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
-	for (i=0;i<tmapData.m_numKeys;i++)
+
+	m_keyArray.resize(tmapData.m_numKeys, btHashInt(0));
+	for (i = 0; i < tmapData.m_numKeys; i++)
 	{
 		m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
 	}
 }
 
-
-#endif //_BT_TRIANGLE_INFO_MAP_H
+#endif  //_BT_TRIANGLE_INFO_MAP_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
index e4de732093..abd8c22786 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
@@ -13,38 +13,36 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btTriangleMesh.h"
 
-
-
-btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices)
-:m_use32bitIndices(use32bitIndices),
-m_use4componentVertices(use4componentVertices),
-m_weldingThreshold(0.0)
+btTriangleMesh::btTriangleMesh(bool use32bitIndices, bool use4componentVertices)
+	: m_use32bitIndices(use32bitIndices),
+	  m_use4componentVertices(use4componentVertices),
+	  m_weldingThreshold(0.0)
 {
 	btIndexedMesh meshIndex;
 	meshIndex.m_numTriangles = 0;
 	meshIndex.m_numVertices = 0;
 	meshIndex.m_indexType = PHY_INTEGER;
 	meshIndex.m_triangleIndexBase = 0;
-	meshIndex.m_triangleIndexStride = 3*sizeof(int);
+	meshIndex.m_triangleIndexStride = 3 * sizeof(int);
 	meshIndex.m_vertexBase = 0;
 	meshIndex.m_vertexStride = sizeof(btVector3);
 	m_indexedMeshes.push_back(meshIndex);
 
 	if (m_use32bitIndices)
 	{
-		m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3;
+		m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size() / 3;
 		m_indexedMeshes[0].m_triangleIndexBase = 0;
 		m_indexedMeshes[0].m_indexType = PHY_INTEGER;
-		m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int);
-	} else
+		m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(int);
+	}
+	else
 	{
-		m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3;
+		m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size() / 3;
 		m_indexedMeshes[0].m_triangleIndexBase = 0;
 		m_indexedMeshes[0].m_indexType = PHY_SHORT;
-		m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int);
+		m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(short int);
 	}
 
 	if (m_use4componentVertices)
@@ -52,48 +50,48 @@ m_weldingThreshold(0.0)
 		m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
 		m_indexedMeshes[0].m_vertexBase = 0;
 		m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
-	} else
+	}
+	else
 	{
-		m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3;
+		m_indexedMeshes[0].m_numVertices = m_3componentVertices.size() / 3;
 		m_indexedMeshes[0].m_vertexBase = 0;
-		m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar);
+		m_indexedMeshes[0].m_vertexStride = 3 * sizeof(btScalar);
 	}
-
-
 }
 
-void	btTriangleMesh::addIndex(int index)
+void btTriangleMesh::addIndex(int index)
 {
 	if (m_use32bitIndices)
 	{
 		m_32bitIndices.push_back(index);
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
-	} else
+		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_32bitIndices[0];
+	}
+	else
 	{
 		m_16bitIndices.push_back(index);
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
+		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_16bitIndices[0];
 	}
 }
 
-void	btTriangleMesh::addTriangleIndices(int index1, int index2, int index3 )
+void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3)
 {
 	m_indexedMeshes[0].m_numTriangles++;
-	addIndex( index1 );
-	addIndex( index2 );
-	addIndex( index3 );
+	addIndex(index1);
+	addIndex(index2);
+	addIndex(index3);
 }
 
-int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
+int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
 {
 	//return index of new/existing vertex
 	///@todo: could use acceleration structure for this
 	if (m_use4componentVertices)
 	{
 		if (removeDuplicateVertices)
+		{
+			for (int i = 0; i < m_4componentVertices.size(); i++)
 			{
-			for (int i=0;i< m_4componentVertices.size();i++)
-			{
-				if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
+				if ((m_4componentVertices[i] - vertex).length2() <= m_weldingThreshold)
 				{
 					return i;
 				}
@@ -103,19 +101,18 @@ int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicat
 		m_4componentVertices.push_back(vertex);
 		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
 
-		return m_4componentVertices.size()-1;
-		
-	} else
+		return m_4componentVertices.size() - 1;
+	}
+	else
 	{
-		
 		if (removeDuplicateVertices)
 		{
-			for (int i=0;i< m_3componentVertices.size();i+=3)
+			for (int i = 0; i < m_3componentVertices.size(); i += 3)
 			{
-				btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
-				if ((vtx-vertex).length2() <= m_weldingThreshold)
+				btVector3 vtx(m_3componentVertices[i], m_3componentVertices[i + 1], m_3componentVertices[i + 2]);
+				if ((vtx - vertex).length2() <= m_weldingThreshold)
 				{
-					return i/3;
+					return i / 3;
 				}
 			}
 		}
@@ -124,17 +121,16 @@ int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicat
 		m_3componentVertices.push_back(vertex.getZ());
 		m_indexedMeshes[0].m_numVertices++;
 		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
-		return (m_3componentVertices.size()/3)-1;
+		return (m_3componentVertices.size() / 3) - 1;
 	}
-
 }
-		
-void	btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices)
+
+void btTriangleMesh::addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2, bool removeDuplicateVertices)
 {
 	m_indexedMeshes[0].m_numTriangles++;
-	addIndex(findOrAddVertex(vertex0,removeDuplicateVertices));
-	addIndex(findOrAddVertex(vertex1,removeDuplicateVertices));
-	addIndex(findOrAddVertex(vertex2,removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex0, removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex1, removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex2, removeDuplicateVertices));
 }
 
 int btTriangleMesh::getNumTriangles() const
@@ -151,7 +147,8 @@ void btTriangleMesh::preallocateVertices(int numverts)
 	if (m_use4componentVertices)
 	{
 		m_4componentVertices.reserve(numverts);
-	} else
+	}
+	else
 	{
 		m_3componentVertices.reserve(numverts);
 	}
@@ -162,7 +159,8 @@ void btTriangleMesh::preallocateIndices(int numindices)
 	if (m_use32bitIndices)
 	{
 		m_32bitIndices.reserve(numindices);
-	} else
+	}
+	else
 	{
 		m_16bitIndices.reserve(numindices);
 	}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
index ac4afa7f6b..a8a362355c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -26,47 +26,44 @@ subject to the following restrictions:
 ///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same.
 class btTriangleMesh : public btTriangleIndexVertexArray
 {
-	btAlignedObjectArray<btVector3>	m_4componentVertices;
-	btAlignedObjectArray<btScalar>	m_3componentVertices;
+	btAlignedObjectArray<btVector3> m_4componentVertices;
+	btAlignedObjectArray<btScalar> m_3componentVertices;
 
-	btAlignedObjectArray<unsigned int>		m_32bitIndices;
-	btAlignedObjectArray<unsigned short int>		m_16bitIndices;
-	bool	m_use32bitIndices;
-	bool	m_use4componentVertices;
-	
+	btAlignedObjectArray<unsigned int> m_32bitIndices;
+	btAlignedObjectArray<unsigned short int> m_16bitIndices;
+	bool m_use32bitIndices;
+	bool m_use4componentVertices;
 
-	public:
-		btScalar	m_weldingThreshold;
+public:
+	btScalar m_weldingThreshold;
 
-		btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true);
+	btTriangleMesh(bool use32bitIndices = true, bool use4componentVertices = true);
 
-		bool	getUse32bitIndices() const
-		{
-			return m_use32bitIndices;
-		}
+	bool getUse32bitIndices() const
+	{
+		return m_use32bitIndices;
+	}
 
-		bool	getUse4componentVertices() const
-		{
-			return m_use4componentVertices;
-		}
-		///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes.
-		///In general it is better to directly use btTriangleIndexVertexArray instead.
-		void	addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2, bool removeDuplicateVertices=false);
+	bool getUse4componentVertices() const
+	{
+		return m_use4componentVertices;
+	}
+	///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes.
+	///In general it is better to directly use btTriangleIndexVertexArray instead.
+	void addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2, bool removeDuplicateVertices = false);
 
-		///Add a triangle using its indices. Make sure the indices are pointing within the vertices array, so add the vertices first (and to be sure, avoid removal of duplicate vertices)	
-		void	addTriangleIndices(int index1, int index2, int index3 );
-	
-		int getNumTriangles() const;
+	///Add a triangle using its indices. Make sure the indices are pointing within the vertices array, so add the vertices first (and to be sure, avoid removal of duplicate vertices)
+	void addTriangleIndices(int index1, int index2, int index3);
 
-		virtual void	preallocateVertices(int numverts);
-		virtual void	preallocateIndices(int numindices);
+	int getNumTriangles() const;
 
-		///findOrAddVertex is an internal method, use addTriangle instead
-		int		findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
-		///addIndex is an internal method, use addTriangle instead
-		void	addIndex(int index);
-		
-};
+	virtual void preallocateVertices(int numverts);
+	virtual void preallocateIndices(int numindices);
 
-#endif //BT_TRIANGLE_MESH_H
+	///findOrAddVertex is an internal method, use addTriangle instead
+	int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
+	///addIndex is an internal method, use addTriangle instead
+	void addIndex(int index);
+};
 
+#endif  //BT_TRIANGLE_MESH_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
index 0e17951405..aec239063c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -20,12 +20,11 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 
-
 btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
-: btConcaveShape (), m_meshInterface(meshInterface)
+	: btConcaveShape(), m_meshInterface(meshInterface)
 {
 	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	if(meshInterface->hasPremadeAabb())
+	if (meshInterface->hasPremadeAabb())
 	{
 		meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
 	}
@@ -35,69 +34,60 @@ btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
 	}
 }
 
-
 btTriangleMeshShape::~btTriangleMeshShape()
 {
-		
 }
 
-
-
-
-void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
 {
+	btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
+	localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
+	btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
 
-	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
-	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
-	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-	
-	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+	btMatrix3x3 abs_b = trans.getBasis().absolute();
 
 	btVector3 center = trans(localCenter);
 
-    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 }
 
-void	btTriangleMeshShape::recalcLocalAabb()
+void btTriangleMeshShape::recalcLocalAabb()
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 	{
-		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
 		vec[i] = btScalar(1.);
 		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		m_localAabbMax[i] = tmp[i] + m_collisionMargin;
 		vec[i] = btScalar(-1.);
 		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+		m_localAabbMin[i] = tmp[i] - m_collisionMargin;
 	}
 }
 
-
-
 class SupportVertexCallback : public btTriangleCallback
 {
-
 	btVector3 m_supportVertexLocal;
-public:
 
-	btTransform	m_worldTrans;
+public:
+	btTransform m_worldTrans;
 	btScalar m_maxDot;
 	btVector3 m_supportVecLocal;
 
-	SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
-		: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
-		
+	SupportVertexCallback(const btVector3& supportVecWorld, const btTransform& trans)
+		: m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)), m_worldTrans(trans), m_maxDot(btScalar(-BT_LARGE_FLOAT))
+
 	{
 		m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
 	}
 
-	virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex)
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 	{
 		(void)partId;
 		(void)triangleIndex;
-		for (int i=0;i<3;i++)
+		for (int i = 0; i < 3; i++)
 		{
 			btScalar dot = m_supportVecLocal.dot(triangle[i]);
 			if (dot > m_maxDot)
@@ -113,14 +103,12 @@ public:
 		return m_worldTrans(m_supportVertexLocal);
 	}
 
-	btVector3	GetSupportVertexLocal()
+	btVector3 GetSupportVertexLocal()
 	{
 		return m_supportVertexLocal;
 	}
-
 };
 
-	
 void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
 {
 	m_meshInterface->setScaling(scaling);
@@ -132,60 +120,46 @@ const btVector3& btTriangleMeshShape::getLocalScaling() const
 	return m_meshInterface->getScaling();
 }
 
-
-
-
-
-
 //#define DEBUG_TRIANGLE_MESH
 
-
-
-void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
-		struct FilteredCallback : public btInternalTriangleIndexCallback
+	struct FilteredCallback : public btInternalTriangleIndexCallback
 	{
 		btTriangleCallback* m_callback;
 		btVector3 m_aabbMin;
 		btVector3 m_aabbMax;
 
-		FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax)
-			:m_callback(callback),
-			m_aabbMin(aabbMin),
-			m_aabbMax(aabbMax)
+		FilteredCallback(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax)
+			: m_callback(callback),
+			  m_aabbMin(aabbMin),
+			  m_aabbMax(aabbMax)
 		{
 		}
 
-		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
+		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
 		{
-			if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
+			if (TestTriangleAgainstAabb2(&triangle[0], m_aabbMin, m_aabbMax))
 			{
 				//check aabb in triangle-space, before doing this
-				m_callback->processTriangle(triangle,partId,triangleIndex);
+				m_callback->processTriangle(triangle, partId, triangleIndex);
 			}
-			
 		}
-
 	};
 
-	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
+	FilteredCallback filterCallback(callback, aabbMin, aabbMax);
 
-	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
+	m_meshInterface->InternalProcessAllTriangles(&filterCallback, aabbMin, aabbMax);
 }
 
-
-
-
-
-void	btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	(void)mass;
 	//moving concave objects not supported
 	btAssert(0);
-	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 }
 
-
 btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supportVertex;
@@ -193,15 +167,13 @@ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) co
 	btTransform ident;
 	ident.setIdentity();
 
-	SupportVertexCallback supportCallback(vec,ident);
+	SupportVertexCallback supportCallback(vec, ident);
+
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+
+	processAllTriangles(&supportCallback, -aabbMax, aabbMax);
 
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-	
-	processAllTriangles(&supportCallback,-aabbMax,aabbMax);
-		
 	supportVertex = supportCallback.GetSupportVertexLocal();
 
 	return supportVertex;
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index 453e58005a..4a70e283fa 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -19,18 +19,18 @@ subject to the following restrictions:
 #include "btConcaveShape.h"
 #include "btStridingMeshInterface.h"
 
-
 ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
-ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class)
+btTriangleMeshShape : public btConcaveShape
 {
 protected:
-	btVector3	m_localAabbMin;
-	btVector3	m_localAabbMax;
+	btVector3 m_localAabbMin;
+	btVector3 m_localAabbMax;
 	btStridingMeshInterface* m_meshInterface;
 
 	///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class.
 	///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead!
-	btTriangleMeshShape(btStridingMeshInterface* meshInterface);
+	btTriangleMeshShape(btStridingMeshInterface * meshInterface);
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -39,23 +39,23 @@ public:
 
 	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
 
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 	{
 		btAssert(0);
 		return localGetSupportingVertex(vec);
 	}
 
-	void	recalcLocalAabb();
+	void recalcLocalAabb();
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
-	
+
 	btStridingMeshInterface* getMeshInterface()
 	{
 		return m_meshInterface;
@@ -75,16 +75,8 @@ public:
 		return m_localAabbMax;
 	}
 
-
-
 	//debugging
-	virtual const char*	getName()const {return "TRIANGLEMESH";}
-
-	
-
+	virtual const char* getName() const { return "TRIANGLEMESH"; }
 };
 
-
-
-
-#endif //BT_TRIANGLE_MESH_SHAPE_H
+#endif  //BT_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
index a8a80f82fe..190cbdae69 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -19,15 +19,13 @@ subject to the following restrictions:
 #include "btConvexShape.h"
 #include "btBoxShape.h"
 
-ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btTriangleShape : public btPolyhedralConvexShape
 {
-
-
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3	m_vertices1[3];
+	btVector3 m_vertices1[3];
 
 	virtual int getNumVertices() const
 	{
@@ -43,7 +41,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	{
 		return m_vertices1[index];
 	}
-	virtual void getVertex(int index,btVector3& vert) const
+	virtual void getVertex(int index, btVector3& vert) const
 	{
 		vert = m_vertices1[index];
 	}
@@ -52,83 +50,79 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	{
 		return 3;
 	}
-	
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+
+	virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
 	{
-		getVertex(i,pa);
-		getVertex((i+1)%3,pb);
+		getVertex(i, pa);
+		getVertex((i + 1) % 3, pb);
 	}
 
-
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
-//		btAssert(0);
-		getAabbSlow(t,aabbMin,aabbMax);
+		//		btAssert(0);
+		getAabbSlow(t, aabbMin, aabbMax);
 	}
 
-	btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const 
+	btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir) const
 	{
-        btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
-	  	return m_vertices1[dots.maxAxis()];
-
+		btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
+		return m_vertices1[dots.maxAxis()];
 	}
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 	{
-		for (int i=0;i<numVectors;i++)
+		for (int i = 0; i < numVectors; i++)
 		{
 			const btVector3& dir = vectors[i];
-            btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
-  			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
+			btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
+			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
 		}
-
 	}
 
-	btTriangleShape() : btPolyhedralConvexShape ()
-    {
+	btTriangleShape() : btPolyhedralConvexShape()
+	{
 		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
 	}
 
-	btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
-    {
+	btTriangleShape(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btPolyhedralConvexShape()
+	{
 		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
-        m_vertices1[0] = p0;
-        m_vertices1[1] = p1;
-        m_vertices1[2] = p2;
-    }
-
+		m_vertices1[0] = p0;
+		m_vertices1[1] = p1;
+		m_vertices1[2] = p2;
+	}
 
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const
+	virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
 	{
-		getPlaneEquation(i,planeNormal,planeSupport);
+		getPlaneEquation(i, planeNormal, planeSupport);
 	}
 
-	virtual int	getNumPlanes() const
+	virtual int getNumPlanes() const
 	{
 		return 1;
 	}
 
-	void calcNormal(btVector3& normal) const
+	void calcNormal(btVector3 & normal) const
 	{
-		normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
+		normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
 		normal.normalize();
 	}
 
-	virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const
+	virtual void getPlaneEquation(int i, btVector3& planeNormal, btVector3& planeSupport) const
 	{
 		(void)i;
 		calcNormal(planeNormal);
 		planeSupport = m_vertices1[0];
 	}
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
 	{
 		(void)mass;
 		btAssert(0);
-		inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+		inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 	}
 
-		virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	virtual bool isInside(const btVector3& pt, btScalar tolerance) const
 	{
 		btVector3 normal;
 		calcNormal(normal);
@@ -140,45 +134,42 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 		{
 			//inside check on edge-planes
 			int i;
-			for (i=0;i<3;i++)
+			for (i = 0; i < 3; i++)
 			{
-				btVector3 pa,pb;
-				getEdge(i,pa,pb);
-				btVector3 edge = pb-pa;
+				btVector3 pa, pb;
+				getEdge(i, pa, pb);
+				btVector3 edge = pb - pa;
 				btVector3 edgeNormal = edge.cross(normal);
 				edgeNormal.normalize();
-				btScalar dist = pt.dot( edgeNormal);
+				btScalar dist = pt.dot(edgeNormal);
 				btScalar edgeConst = pa.dot(edgeNormal);
 				dist -= edgeConst;
 				if (dist < -tolerance)
 					return false;
 			}
-			
+
 			return true;
 		}
 
 		return false;
 	}
-		//debugging
-		virtual const char*	getName()const
-		{
-			return "Triangle";
-		}
-
-		virtual int		getNumPreferredPenetrationDirections() const
-		{
-			return 2;
-		}
-		
-		virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-		{
-			calcNormal(penetrationVector);
-			if (index)
-				penetrationVector *= btScalar(-1.);
-		}
+	//debugging
+	virtual const char* getName() const
+	{
+		return "Triangle";
+	}
 
+	virtual int getNumPreferredPenetrationDirections() const
+	{
+		return 2;
+	}
 
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		calcNormal(penetrationVector);
+		if (index)
+			penetrationVector *= btScalar(-1.);
+	}
 };
 
-#endif //BT_OBB_TRIANGLE_MINKOWSKI_H
-
+#endif  //BT_OBB_TRIANGLE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
index b148bbd99a..ed3cd2d259 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
@@ -15,122 +15,112 @@ subject to the following restrictions:
 
 #include "btUniformScalingShape.h"
 
-btUniformScalingShape::btUniformScalingShape(	btConvexShape* convexChildShape,btScalar uniformScalingFactor):
-btConvexShape (), m_childConvexShape(convexChildShape),
-m_uniformScalingFactor(uniformScalingFactor)
+btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
 {
 	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
 }
-	
+
 btUniformScalingShape::~btUniformScalingShape()
 {
 }
-	
 
-btVector3	btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
 	btVector3 tmpVertex;
 	tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
-	return tmpVertex*m_uniformScalingFactor;
+	return tmpVertex * m_uniformScalingFactor;
 }
 
-void	btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
+	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
 	int i;
-	for (i=0;i<numVectors;i++)
+	for (i = 0; i < numVectors; i++)
 	{
 		supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
 	}
 }
 
-
-btVector3	btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 tmpVertex;
 	tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
-	return tmpVertex*m_uniformScalingFactor;
+	return tmpVertex * m_uniformScalingFactor;
 }
 
-
-void	btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btUniformScalingShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
-
 	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
 	btVector3 tmpInertia;
-	m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
+	m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
 	inertia = tmpInertia * m_uniformScalingFactor;
 }
 
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
 {
-	getAabbSlow(trans,aabbMin,aabbMax);
-
+	getAabbSlow(trans, aabbMin, aabbMax);
 }
 
-void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
 #if 1
 	btVector3 _directions[] =
-	{
-		btVector3( 1.,  0.,  0.),
-		btVector3( 0.,  1.,  0.),
-		btVector3( 0.,  0.,  1.),
-		btVector3( -1., 0.,  0.),
-		btVector3( 0., -1.,  0.),
-		btVector3( 0.,  0., -1.)
-	};
-	
+		{
+			btVector3(1., 0., 0.),
+			btVector3(0., 1., 0.),
+			btVector3(0., 0., 1.),
+			btVector3(-1., 0., 0.),
+			btVector3(0., -1., 0.),
+			btVector3(0., 0., -1.)};
+
 	btVector3 _supporting[] =
+		{
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.),
+			btVector3(0., 0., 0.)};
+
+	for (int i = 0; i < 6; i++)
 	{
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.),
-		btVector3( 0., 0., 0.)
-	};
-
-	for (int i=0;i<6;i++)
-	{
-		_directions[i] = _directions[i]*t.getBasis();
+		_directions[i] = _directions[i] * t.getBasis();
 	}
-	
+
 	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-	
-	btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
 
-	for ( int i = 0; i < 3; ++i )
+	btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);
+
+	for (int i = 0; i < 3; ++i)
 	{
 		aabbMax1[i] = t(_supporting[i])[i];
 		aabbMin1[i] = t(_supporting[i + 3])[i];
 	}
-	btVector3 marginVec(getMargin(),getMargin(),getMargin());
-	aabbMin = aabbMin1-marginVec;
-	aabbMax = aabbMax1+marginVec;
-	
+	btVector3 marginVec(getMargin(), getMargin(), getMargin());
+	aabbMin = aabbMin1 - marginVec;
+	aabbMax = aabbMax1 + marginVec;
+
 #else
 
 	btScalar margin = getMargin();
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 	{
-		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
 		vec[i] = btScalar(1.);
-		btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
+		btVector3 sv = localGetSupportingVertex(vec * t.getBasis());
 		btVector3 tmp = t(sv);
-		aabbMax[i] = tmp[i]+margin;
+		aabbMax[i] = tmp[i] + margin;
 		vec[i] = btScalar(-1.);
-		sv = localGetSupportingVertex(vec*t.getBasis());
+		sv = localGetSupportingVertex(vec * t.getBasis());
 		tmp = t(sv);
-		aabbMin[i] = tmp[i]-margin;
+		aabbMin[i] = tmp[i] - margin;
 	}
 
 #endif
 }
 
-void	btUniformScalingShape::setLocalScaling(const btVector3& scaling) 
+void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
 {
 	m_childConvexShape->setLocalScaling(scaling);
 }
@@ -140,21 +130,21 @@ const btVector3& btUniformScalingShape::getLocalScaling() const
 	return m_childConvexShape->getLocalScaling();
 }
 
-void	btUniformScalingShape::setMargin(btScalar margin)
+void btUniformScalingShape::setMargin(btScalar margin)
 {
 	m_childConvexShape->setMargin(margin);
 }
-btScalar	btUniformScalingShape::getMargin() const
+btScalar btUniformScalingShape::getMargin() const
 {
 	return m_childConvexShape->getMargin() * m_uniformScalingFactor;
 }
 
-int		btUniformScalingShape::getNumPreferredPenetrationDirections() const
+int btUniformScalingShape::getNumPreferredPenetrationDirections() const
 {
 	return m_childConvexShape->getNumPreferredPenetrationDirections();
 }
-	
-void	btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 {
-	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
+	m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
 }
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
index a10f58d242..4dfe34efbd 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
@@ -17,73 +17,68 @@ subject to the following restrictions:
 #define BT_UNIFORM_SCALING_SHAPE_H
 
 #include "btConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
 ///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
 ///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
-ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btUniformScalingShape : public btConvexShape
 {
-	btConvexShape*	m_childConvexShape;
+	btConvexShape* m_childConvexShape;
 
-	btScalar	m_uniformScalingFactor;
-	
-	public:
-	
+	btScalar m_uniformScalingFactor;
+
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btUniformScalingShape(	btConvexShape* convexChildShape, btScalar uniformScalingFactor);
-	
+
+	btUniformScalingShape(btConvexShape * convexChildShape, btScalar uniformScalingFactor);
+
 	virtual ~btUniformScalingShape();
-	
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
 
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
-	btScalar	getUniformScalingFactor() const
+	btScalar getUniformScalingFactor() const
 	{
 		return m_uniformScalingFactor;
 	}
 
-	btConvexShape*	getChildShape() 
+	btConvexShape* getChildShape()
 	{
 		return m_childConvexShape;
 	}
 
-	const btConvexShape*	getChildShape() const
+	const btConvexShape* getChildShape() const
 	{
 		return m_childConvexShape;
 	}
 
-	virtual const char*	getName()const 
+	virtual const char* getName() const
 	{
 		return "UniformScalingShape";
 	}
-	
-
 
 	///////////////////////////
 
-
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	setLocalScaling(const btVector3& scaling) ;
-	virtual const btVector3& getLocalScaling() const ;
+	virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void	setMargin(btScalar margin);
-	virtual btScalar	getMargin() const;
+	virtual void setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
 
-	virtual int		getNumPreferredPenetrationDirections() const;
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
+	virtual void setMargin(btScalar margin);
+	virtual btScalar getMargin() const;
 
+	virtual int getNumPreferredPenetrationDirections() const;
 
+	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
 };
 
-#endif //BT_UNIFORM_SCALING_SHAPE_H
+#endif  //BT_UNIFORM_SCALING_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h b/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h
index 0a0357e5a8..182835c3b4 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h
@@ -26,27 +26,21 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransform.h"
 
-
 ///Swap numbers
-#define BT_SWAP_NUMBERS(a,b){ \
-    a = a+b; \
-    b = a-b; \
-    a = a-b; \
-}\
-
-
-#define BT_MAX(a,b) (a<b?b:a)
-#define BT_MIN(a,b) (a>b?b:a)
-
-#define BT_GREATER(x, y)	btFabs(x) > (y)
-
-#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c))
-#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c))
-
-
+#define BT_SWAP_NUMBERS(a, b) \
+	{                         \
+		a = a + b;            \
+		b = a - b;            \
+		a = a - b;            \
+	}
 
+#define BT_MAX(a, b) (a < b ? b : a)
+#define BT_MIN(a, b) (a > b ? b : a)
 
+#define BT_GREATER(x, y) btFabs(x) > (y)
 
+#define BT_MAX3(a, b, c) BT_MAX(a, BT_MAX(b, c))
+#define BT_MIN3(a, b, c) BT_MIN(a, BT_MIN(b, c))
 
 enum eBT_PLANE_INTERSECTION_TYPE
 {
@@ -115,152 +109,144 @@ enum eBT_PLANE_INTERSECTION_TYPE
 //	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
 //}
 
+#define TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, i_dir_0, i_dir_1, i_comp_0, i_comp_1) \
+	{                                                                                                               \
+		const btScalar dir0 = -edge[i_dir_0];                                                                       \
+		const btScalar dir1 = edge[i_dir_1];                                                                        \
+		btScalar pmin = pointa[i_comp_0] * dir0 + pointa[i_comp_1] * dir1;                                          \
+		btScalar pmax = pointb[i_comp_0] * dir0 + pointb[i_comp_1] * dir1;                                          \
+		if (pmin > pmax)                                                                                            \
+		{                                                                                                           \
+			BT_SWAP_NUMBERS(pmin, pmax);                                                                            \
+		}                                                                                                           \
+		const btScalar abs_dir0 = absolute_edge[i_dir_0];                                                           \
+		const btScalar abs_dir1 = absolute_edge[i_dir_1];                                                           \
+		const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;                           \
+		if (pmin > rad || -rad > pmax) return false;                                                                \
+	}
 
-#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
-{\
-	const btScalar dir0 = -edge[i_dir_0];\
-	const btScalar dir1 = edge[i_dir_1];\
-	btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
-	btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
-	if(pmin>pmax)\
-	{\
-		BT_SWAP_NUMBERS(pmin,pmax); \
-	}\
-	const btScalar abs_dir0 = absolute_edge[i_dir_0];\
-	const btScalar abs_dir1 = absolute_edge[i_dir_1];\
-	const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
-	if(pmin>rad || -rad>pmax) return false;\
-}\
-
-
-#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
-{\
-	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
-}\
-
-#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
-{\
-	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
-}\
+#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
+	{                                                                                      \
+		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 2, 1, 1, 2); \
+	}
 
-#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
-{\
-	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
-}\
+#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
+	{                                                                                      \
+		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 0, 2, 2, 0); \
+	}
 
+#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
+	{                                                                                      \
+		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 1, 0, 0, 1); \
+	}
 
 //! Returns the dot product between a vec3f and the col of a matrix
 SIMD_FORCE_INLINE btScalar bt_mat3_dot_col(
-const btMatrix3x3 & mat, const btVector3 & vec3, int colindex)
+	const btMatrix3x3 &mat, const btVector3 &vec3, int colindex)
 {
-	return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex];
+	return vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex];
 }
 
-
 //!  Class for transforming a model1 to the space of model0
-ATTRIBUTE_ALIGNED16	(class) BT_BOX_BOX_TRANSFORM_CACHE
+ATTRIBUTE_ALIGNED16(class)
+BT_BOX_BOX_TRANSFORM_CACHE
 {
 public:
-    btVector3  m_T1to0;//!< Transforms translation of model1 to model 0
-	btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
-	btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
+	btVector3 m_T1to0;    //!< Transforms translation of model1 to model 0
+	btMatrix3x3 m_R1to0;  //!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
+	btMatrix3x3 m_AR;     //!< Absolute value of m_R1to0
 
 	SIMD_FORCE_INLINE void calc_absolute_matrix()
 	{
-//		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
-//		m_AR[0] = vepsi + m_R1to0[0].absolute();
-//		m_AR[1] = vepsi + m_R1to0[1].absolute();
-//		m_AR[2] = vepsi + m_R1to0[2].absolute();
-
-		int i,j;
+		//		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
+		//		m_AR[0] = vepsi + m_R1to0[0].absolute();
+		//		m_AR[1] = vepsi + m_R1to0[1].absolute();
+		//		m_AR[2] = vepsi + m_R1to0[2].absolute();
 
-        for(i=0;i<3;i++)
-        {
-            for(j=0;j<3;j++ )
-            {
-            	m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
-            }
-        }
+		int i, j;
 
+		for (i = 0; i < 3; i++)
+		{
+			for (j = 0; j < 3; j++)
+			{
+				m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
+			}
+		}
 	}
 
 	BT_BOX_BOX_TRANSFORM_CACHE()
 	{
 	}
 
-
-
 	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
-	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
+	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform &trans0, const btTransform &trans1)
 	{
-
 		btTransform temp_trans = trans0.inverse();
 		temp_trans = temp_trans * trans1;
 
 		m_T1to0 = temp_trans.getOrigin();
 		m_R1to0 = temp_trans.getBasis();
 
-
 		calc_absolute_matrix();
 	}
 
 	//! Calcs the full invertion of the matrices. Useful for scaling matrices
-	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
+	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform &trans0, const btTransform &trans1)
 	{
 		m_R1to0 = trans0.getBasis().inverse();
 		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
 
-		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_T1to0 += m_R1to0 * trans1.getOrigin();
 		m_R1to0 *= trans1.getBasis();
 
 		calc_absolute_matrix();
 	}
 
-	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
+	SIMD_FORCE_INLINE btVector3 transform(const btVector3 &point) const
 	{
-        return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0;
+		return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
 	}
 };
 
-
 #define BOX_PLANE_EPSILON 0.000001f
 
 //! Axis aligned box
-ATTRIBUTE_ALIGNED16	(class) btAABB
+ATTRIBUTE_ALIGNED16(class)
+btAABB
 {
 public:
 	btVector3 m_min;
 	btVector3 m_max;
 
 	btAABB()
-	{}
-
+	{
+	}
 
-	btAABB(const btVector3 & V1,
-			 const btVector3 & V2,
-			 const btVector3 & V3)
+	btAABB(const btVector3 &V1,
+		   const btVector3 &V2,
+		   const btVector3 &V3)
 	{
-		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
 	}
 
-	btAABB(const btVector3 & V1,
-			 const btVector3 & V2,
-			 const btVector3 & V3,
-			 btScalar margin)
+	btAABB(const btVector3 &V1,
+		   const btVector3 &V2,
+		   const btVector3 &V3,
+		   btScalar margin)
 	{
-		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
 
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -270,13 +256,11 @@ public:
 		m_max[2] += margin;
 	}
 
-	btAABB(const btAABB &other):
-		m_min(other.m_min),m_max(other.m_max)
+	btAABB(const btAABB &other) : m_min(other.m_min), m_max(other.m_max)
 	{
 	}
 
-	btAABB(const btAABB &other,btScalar margin ):
-		m_min(other.m_min),m_max(other.m_max)
+	btAABB(const btAABB &other, btScalar margin) : m_min(other.m_min), m_max(other.m_max)
 	{
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -317,34 +301,34 @@ public:
 		m_max[2] = other.m_max[2] + margin;
 	}
 
-	template<typename CLASS_POINT>
+	template <typename CLASS_POINT>
 	SIMD_FORCE_INLINE void calc_from_triangle(
-							const CLASS_POINT & V1,
-							const CLASS_POINT & V2,
-							const CLASS_POINT & V3)
+		const CLASS_POINT &V1,
+		const CLASS_POINT &V2,
+		const CLASS_POINT &V3)
 	{
-		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
 	}
 
-	template<typename CLASS_POINT>
+	template <typename CLASS_POINT>
 	SIMD_FORCE_INLINE void calc_from_triangle_margin(
-							const CLASS_POINT & V1,
-							const CLASS_POINT & V2,
-							const CLASS_POINT & V3, btScalar margin)
+		const CLASS_POINT &V1,
+		const CLASS_POINT &V2,
+		const CLASS_POINT &V3, btScalar margin)
 	{
-		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
 
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -355,91 +339,89 @@ public:
 	}
 
 	//! Apply a transform to an AABB
-	SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
+	SIMD_FORCE_INLINE void appy_transform(const btTransform &trans)
 	{
-		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 center = (m_max + m_min) * 0.5f;
 		btVector3 extends = m_max - center;
 		// Compute new center
 		center = trans(center);
 
-        btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), 
-                                          trans.getBasis().getRow(1).absolute(), 
-                                          trans.getBasis().getRow(2).absolute());
+		btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
+										  trans.getBasis().getRow(1).absolute(),
+										  trans.getBasis().getRow(2).absolute());
 
 		m_min = center - textends;
 		m_max = center + textends;
 	}
 
-
 	//! Apply a transform to an AABB
-	SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans)
+	SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE &trans)
 	{
-		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 center = (m_max + m_min) * 0.5f;
 		btVector3 extends = m_max - center;
 		// Compute new center
 		center = trans.transform(center);
 
-        btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(), 
-                                          trans.m_R1to0.getRow(1).absolute(), 
-                                          trans.m_R1to0.getRow(2).absolute());
-        
+		btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(),
+										  trans.m_R1to0.getRow(1).absolute(),
+										  trans.m_R1to0.getRow(2).absolute());
+
 		m_min = center - textends;
 		m_max = center + textends;
 	}
 
 	//! Merges a Box
-	SIMD_FORCE_INLINE void merge(const btAABB & box)
+	SIMD_FORCE_INLINE void merge(const btAABB &box)
 	{
-		m_min[0] = BT_MIN(m_min[0],box.m_min[0]);
-		m_min[1] = BT_MIN(m_min[1],box.m_min[1]);
-		m_min[2] = BT_MIN(m_min[2],box.m_min[2]);
+		m_min[0] = BT_MIN(m_min[0], box.m_min[0]);
+		m_min[1] = BT_MIN(m_min[1], box.m_min[1]);
+		m_min[2] = BT_MIN(m_min[2], box.m_min[2]);
 
-		m_max[0] = BT_MAX(m_max[0],box.m_max[0]);
-		m_max[1] = BT_MAX(m_max[1],box.m_max[1]);
-		m_max[2] = BT_MAX(m_max[2],box.m_max[2]);
+		m_max[0] = BT_MAX(m_max[0], box.m_max[0]);
+		m_max[1] = BT_MAX(m_max[1], box.m_max[1]);
+		m_max[2] = BT_MAX(m_max[2], box.m_max[2]);
 	}
 
 	//! Merges a point
-	template<typename CLASS_POINT>
-	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
+	template <typename CLASS_POINT>
+	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT &point)
 	{
-		m_min[0] = BT_MIN(m_min[0],point[0]);
-		m_min[1] = BT_MIN(m_min[1],point[1]);
-		m_min[2] = BT_MIN(m_min[2],point[2]);
+		m_min[0] = BT_MIN(m_min[0], point[0]);
+		m_min[1] = BT_MIN(m_min[1], point[1]);
+		m_min[2] = BT_MIN(m_min[2], point[2]);
 
-		m_max[0] = BT_MAX(m_max[0],point[0]);
-		m_max[1] = BT_MAX(m_max[1],point[1]);
-		m_max[2] = BT_MAX(m_max[2],point[2]);
+		m_max[0] = BT_MAX(m_max[0], point[0]);
+		m_max[1] = BT_MAX(m_max[1], point[1]);
+		m_max[2] = BT_MAX(m_max[2], point[2]);
 	}
 
 	//! Gets the extend and center
-	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend)  const
+	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center, btVector3 & extend) const
 	{
-		center = (m_max+m_min)*0.5f;
+		center = (m_max + m_min) * 0.5f;
 		extend = m_max - center;
 	}
 
 	//! Finds the intersecting box between this box and the other.
-	SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection)  const
+	SIMD_FORCE_INLINE void find_intersection(const btAABB &other, btAABB &intersection) const
 	{
-		intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]);
-		intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]);
-		intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]);
+		intersection.m_min[0] = BT_MAX(other.m_min[0], m_min[0]);
+		intersection.m_min[1] = BT_MAX(other.m_min[1], m_min[1]);
+		intersection.m_min[2] = BT_MAX(other.m_min[2], m_min[2]);
 
-		intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]);
-		intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]);
-		intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]);
+		intersection.m_max[0] = BT_MIN(other.m_max[0], m_max[0]);
+		intersection.m_max[1] = BT_MIN(other.m_max[1], m_max[1]);
+		intersection.m_max[2] = BT_MIN(other.m_max[2], m_max[2]);
 	}
 
-
-	SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const
+	SIMD_FORCE_INLINE bool has_collision(const btAABB &other) const
 	{
-		if(m_min[0] > other.m_max[0] ||
-		   m_max[0] < other.m_min[0] ||
-		   m_min[1] > other.m_max[1] ||
-		   m_max[1] < other.m_min[1] ||
-		   m_min[2] > other.m_max[2] ||
-		   m_max[2] < other.m_min[2])
+		if (m_min[0] > other.m_max[0] ||
+			m_max[0] < other.m_min[0] ||
+			m_min[1] > other.m_max[1] ||
+			m_max[1] < other.m_min[1] ||
+			m_min[2] > other.m_max[2] ||
+			m_max[2] < other.m_min[2])
 		{
 			return false;
 		}
@@ -451,35 +433,34 @@ public:
 	\param vorigin A vec3f with the origin of the ray
 	\param vdir A vec3f with the direction of the ray
 	*/
-	SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)  const
+	SIMD_FORCE_INLINE bool collide_ray(const btVector3 &vorigin, const btVector3 &vdir) const
 	{
-		btVector3 extents,center;
-		this->get_center_extend(center,extents);;
+		btVector3 extents, center;
+		this->get_center_extend(center, extents);
+		;
 
 		btScalar Dx = vorigin[0] - center[0];
-		if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)	return false;
+		if (BT_GREATER(Dx, extents[0]) && Dx * vdir[0] >= 0.0f) return false;
 		btScalar Dy = vorigin[1] - center[1];
-		if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)	return false;
+		if (BT_GREATER(Dy, extents[1]) && Dy * vdir[1] >= 0.0f) return false;
 		btScalar Dz = vorigin[2] - center[2];
-		if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)	return false;
-
+		if (BT_GREATER(Dz, extents[2]) && Dz * vdir[2] >= 0.0f) return false;
 
 		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
-		if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
+		if (btFabs(f) > extents[1] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[1])) return false;
 		f = vdir[2] * Dx - vdir[0] * Dz;
-		if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
+		if (btFabs(f) > extents[0] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[0])) return false;
 		f = vdir[0] * Dy - vdir[1] * Dx;
-		if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
+		if (btFabs(f) > extents[0] * btFabs(vdir[1]) + extents[1] * btFabs(vdir[0])) return false;
 		return true;
 	}
 
-
-	SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
+	SIMD_FORCE_INLINE void projection_interval(const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
 	{
-		btVector3 center = (m_max+m_min)*0.5f;
-		btVector3 extend = m_max-center;
+		btVector3 center = (m_max + m_min) * 0.5f;
+		btVector3 extend = m_max - center;
 
-		btScalar _fOrigin =  direction.dot(center);
+		btScalar _fOrigin = direction.dot(center);
 		btScalar _fMaximumExtent = extend.dot(direction.absolute());
 		vmin = _fOrigin - _fMaximumExtent;
 		vmax = _fOrigin + _fMaximumExtent;
@@ -487,30 +468,30 @@ public:
 
 	SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
 	{
-		btScalar _fmin,_fmax;
-		this->projection_interval(plane,_fmin,_fmax);
+		btScalar _fmin, _fmax;
+		this->projection_interval(plane, _fmin, _fmax);
 
-		if(plane[3] > _fmax + BOX_PLANE_EPSILON)
+		if (plane[3] > _fmax + BOX_PLANE_EPSILON)
 		{
-			return BT_CONST_BACK_PLANE; // 0
+			return BT_CONST_BACK_PLANE;  // 0
 		}
 
-		if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
+		if (plane[3] + BOX_PLANE_EPSILON >= _fmin)
 		{
-			return BT_CONST_COLLIDE_PLANE; //1
+			return BT_CONST_COLLIDE_PLANE;  //1
 		}
-		return BT_CONST_FRONT_PLANE;//2
+		return BT_CONST_FRONT_PLANE;  //2
 	}
 
-	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB &box, btTransform &trans1_to_0) const
 	{
 		btAABB tbox = box;
 		tbox.appy_transform(trans1_to_0);
 		return has_collision(tbox);
 	}
 
-	SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box,
-		const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB &box,
+														   const BT_BOX_BOX_TRANSFORM_CACHE &trans1_to_0) const
 	{
 		btAABB tbox = box;
 		tbox.appy_transform_trans_cache(trans1_to_0);
@@ -519,52 +500,50 @@ public:
 
 	//! transcache is the transformation cache from box to this AABB
 	SIMD_FORCE_INLINE bool overlapping_trans_cache(
-		const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const
+		const btAABB &box, const BT_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest) const
 	{
-
 		//Taken from OPCODE
-		btVector3 ea,eb;//extends
-		btVector3 ca,cb;//extends
-		get_center_extend(ca,ea);
-		box.get_center_extend(cb,eb);
-
+		btVector3 ea, eb;  //extends
+		btVector3 ca, cb;  //extends
+		get_center_extend(ca, ea);
+		box.get_center_extend(cb, eb);
 
 		btVector3 T;
-		btScalar t,t2;
+		btScalar t, t2;
 		int i;
 
 		// Class I : A's basis vectors
-		for(i=0;i<3;i++)
+		for (i = 0; i < 3; i++)
 		{
-			T[i] =  transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
+			T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
 			t = transcache.m_AR[i].dot(eb) + ea[i];
-			if(BT_GREATER(T[i], t))	return false;
+			if (BT_GREATER(T[i], t)) return false;
 		}
 		// Class II : B's basis vectors
-		for(i=0;i<3;i++)
+		for (i = 0; i < 3; i++)
 		{
-			t = bt_mat3_dot_col(transcache.m_R1to0,T,i);
-			t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i];
-			if(BT_GREATER(t,t2))	return false;
+			t = bt_mat3_dot_col(transcache.m_R1to0, T, i);
+			t2 = bt_mat3_dot_col(transcache.m_AR, ea, i) + eb[i];
+			if (BT_GREATER(t, t2)) return false;
 		}
 		// Class III : 9 cross products
-		if(fulltest)
+		if (fulltest)
 		{
-			int j,m,n,o,p,q,r;
-			for(i=0;i<3;i++)
+			int j, m, n, o, p, q, r;
+			for (i = 0; i < 3; i++)
 			{
-				m = (i+1)%3;
-				n = (i+2)%3;
-				o = i==0?1:0;
-				p = i==2?1:2;
-				for(j=0;j<3;j++)
+				m = (i + 1) % 3;
+				n = (i + 2) % 3;
+				o = i == 0 ? 1 : 0;
+				p = i == 2 ? 1 : 2;
+				for (j = 0; j < 3; j++)
 				{
-					q = j==2?1:2;
-					r = j==0?1:0;
-					t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j];
-					t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] +
-						eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r];
-					if(BT_GREATER(t,t2))	return false;
+					q = j == 2 ? 1 : 2;
+					r = j == 0 ? 1 : 0;
+					t = T[n] * transcache.m_R1to0[m][j] - T[m] * transcache.m_R1to0[n][j];
+					t2 = ea[o] * transcache.m_AR[p][j] + ea[p] * transcache.m_AR[o][j] +
+						 eb[r] * transcache.m_AR[i][q] + eb[q] * transcache.m_AR[i][r];
+					if (BT_GREATER(t, t2)) return false;
 				}
 			}
 		}
@@ -573,7 +552,7 @@ public:
 
 	//! Simple test for planes.
 	SIMD_FORCE_INLINE bool collide_plane(
-		const btVector4 & plane) const
+		const btVector4 &plane) const
 	{
 		eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane);
 		return (classify == BT_CONST_COLLIDE_PLANE);
@@ -581,15 +560,15 @@ public:
 
 	//! test for a triangle, with edges
 	SIMD_FORCE_INLINE bool collide_triangle_exact(
-		const btVector3 & p1,
-		const btVector3 & p2,
-		const btVector3 & p3,
-		const btVector4 & triangle_plane) const
+		const btVector3 &p1,
+		const btVector3 &p2,
+		const btVector3 &p3,
+		const btVector4 &triangle_plane) const
 	{
-		if(!collide_plane(triangle_plane)) return false;
+		if (!collide_plane(triangle_plane)) return false;
 
-		btVector3 center,extends;
-		this->get_center_extend(center,extends);
+		btVector3 center, extends;
+		this->get_center_extend(center, extends);
 
 		const btVector3 v1(p1 - center);
 		const btVector3 v2(p2 - center);
@@ -599,47 +578,43 @@ public:
 		btVector3 diff(v2 - v1);
 		btVector3 abs_diff = diff.absolute();
 		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v1, v3, extends);
 		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v1, v3, extends);
 		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
-
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v1, v3, extends);
 
 		diff = v3 - v2;
 		abs_diff = diff.absolute();
 		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v2, v1, extends);
 		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v2, v1, extends);
 		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v2, v1, extends);
 
 		diff = v1 - v3;
 		abs_diff = diff.absolute();
 		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v3, v2, extends);
 		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v3, v2, extends);
 		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v3, v2, extends);
 
 		return true;
 	}
 };
 
-
 //! Compairison of transformation objects
-SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
+SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform &t1, const btTransform &t2)
 {
-	if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
+	if (!(t1.getOrigin() == t2.getOrigin())) return false;
 
-	if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
-	if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
-	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
+	if (!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0))) return false;
+	if (!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1))) return false;
+	if (!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2))) return false;
 	return true;
 }
 
-
-
-#endif // GIM_BOX_COLLISION_H_INCLUDED
+#endif  // GIM_BOX_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h b/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h
index de0a5231ba..38c23e222d 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h
@@ -27,77 +27,74 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btGeometryUtil.h"
 
-
-SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point)
+SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 &plane, const btVector3 &point)
 {
 	return point.dot(plane) - plane[3];
 }
 
 /*! Vector blending
 Takes two vectors a, b, blends them together*/
-SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va,const btVector3 &vb, btScalar blend_factor)
+SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va, const btVector3 &vb, btScalar blend_factor)
 {
-	vr = (1-blend_factor)*va + blend_factor*vb;
+	vr = (1 - blend_factor) * va + blend_factor * vb;
 }
 
 //! This function calcs the distance from a 3D plane
 SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect(
-						const btVector3 & point0,
-						const btVector3 & point1,
-						btScalar dist0,
-						btScalar dist1,
-						btVector3 * clipped,
-						int & clipped_count)
+	const btVector3 &point0,
+	const btVector3 &point1,
+	btScalar dist0,
+	btScalar dist1,
+	btVector3 *clipped,
+	int &clipped_count)
 {
-	bool _prevclassif = (dist0>SIMD_EPSILON);
-	bool _classif = (dist1>SIMD_EPSILON);
-	if(_classif!=_prevclassif)
+	bool _prevclassif = (dist0 > SIMD_EPSILON);
+	bool _classif = (dist1 > SIMD_EPSILON);
+	if (_classif != _prevclassif)
 	{
-		btScalar blendfactor = -dist0/(dist1-dist0);
-		bt_vec_blend(clipped[clipped_count],point0,point1,blendfactor);
+		btScalar blendfactor = -dist0 / (dist1 - dist0);
+		bt_vec_blend(clipped[clipped_count], point0, point1, blendfactor);
 		clipped_count++;
 	}
-	if(!_classif)
+	if (!_classif)
 	{
 		clipped[clipped_count] = point1;
 		clipped_count++;
 	}
 }
 
-
 //! Clips a polygon by a plane
 /*!
 *\return The count of the clipped counts
 */
 SIMD_FORCE_INLINE int bt_plane_clip_polygon(
-						const btVector4 & plane,
-						const btVector3 * polygon_points,
-						int polygon_point_count,
-						btVector3 * clipped)
+	const btVector4 &plane,
+	const btVector3 *polygon_points,
+	int polygon_point_count,
+	btVector3 *clipped)
 {
-    int clipped_count = 0;
-
+	int clipped_count = 0;
 
-    //clip first point
-	btScalar firstdist = bt_distance_point_plane(plane,polygon_points[0]);;
-	if(!(firstdist>SIMD_EPSILON))
+	//clip first point
+	btScalar firstdist = bt_distance_point_plane(plane, polygon_points[0]);
+	;
+	if (!(firstdist > SIMD_EPSILON))
 	{
 		clipped[clipped_count] = polygon_points[0];
 		clipped_count++;
 	}
 
 	btScalar olddist = firstdist;
-	for(int i=1;i<polygon_point_count;i++)
+	for (int i = 1; i < polygon_point_count; i++)
 	{
-		btScalar dist = bt_distance_point_plane(plane,polygon_points[i]);
+		btScalar dist = bt_distance_point_plane(plane, polygon_points[i]);
 
 		bt_plane_clip_polygon_collect(
-						polygon_points[i-1],polygon_points[i],
-						olddist,
-						dist,
-						clipped,
-						clipped_count);
-
+			polygon_points[i - 1], polygon_points[i],
+			olddist,
+			dist,
+			clipped,
+			clipped_count);
 
 		olddist = dist;
 	}
@@ -105,11 +102,11 @@ SIMD_FORCE_INLINE int bt_plane_clip_polygon(
 	//RETURN TO FIRST  point
 
 	bt_plane_clip_polygon_collect(
-					polygon_points[polygon_point_count-1],polygon_points[0],
-					olddist,
-					firstdist,
-					clipped,
-					clipped_count);
+		polygon_points[polygon_point_count - 1], polygon_points[0],
+		olddist,
+		firstdist,
+		clipped,
+		clipped_count);
 
 	return clipped_count;
 }
@@ -120,18 +117,19 @@ SIMD_FORCE_INLINE int bt_plane_clip_polygon(
 *\return The count of the clipped counts
 */
 SIMD_FORCE_INLINE int bt_plane_clip_triangle(
-						const btVector4 & plane,
-						const btVector3 & point0,
-						const btVector3 & point1,
-						const btVector3& point2,
-						btVector3 * clipped // an allocated array of 16 points at least
-						)
+	const btVector4 &plane,
+	const btVector3 &point0,
+	const btVector3 &point1,
+	const btVector3 &point2,
+	btVector3 *clipped  // an allocated array of 16 points at least
+)
 {
-    int clipped_count = 0;
+	int clipped_count = 0;
 
-    //clip first point0
-	btScalar firstdist = bt_distance_point_plane(plane,point0);;
-	if(!(firstdist>SIMD_EPSILON))
+	//clip first point0
+	btScalar firstdist = bt_distance_point_plane(plane, point0);
+	;
+	if (!(firstdist > SIMD_EPSILON))
 	{
 		clipped[clipped_count] = point0;
 		clipped_count++;
@@ -139,44 +137,37 @@ SIMD_FORCE_INLINE int bt_plane_clip_triangle(
 
 	// point 1
 	btScalar olddist = firstdist;
-	btScalar dist = bt_distance_point_plane(plane,point1);
+	btScalar dist = bt_distance_point_plane(plane, point1);
 
 	bt_plane_clip_polygon_collect(
-					point0,point1,
-					olddist,
-					dist,
-					clipped,
-					clipped_count);
+		point0, point1,
+		olddist,
+		dist,
+		clipped,
+		clipped_count);
 
 	olddist = dist;
 
-
 	// point 2
-	dist = bt_distance_point_plane(plane,point2);
+	dist = bt_distance_point_plane(plane, point2);
 
 	bt_plane_clip_polygon_collect(
-					point1,point2,
-					olddist,
-					dist,
-					clipped,
-					clipped_count);
+		point1, point2,
+		olddist,
+		dist,
+		clipped,
+		clipped_count);
 	olddist = dist;
 
-
-
 	//RETURN TO FIRST  point0
 	bt_plane_clip_polygon_collect(
-					point2,point0,
-					olddist,
-					firstdist,
-					clipped,
-					clipped_count);
+		point2, point0,
+		olddist,
+		firstdist,
+		clipped,
+		clipped_count);
 
 	return clipped_count;
 }
 
-
-
-
-
-#endif // GIM_TRI_COLLISION_H_INCLUDED
+#endif  // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h b/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h
index 19f7ecddd0..ede59e8a57 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h
@@ -5,7 +5,8 @@
 #include "btGImpactShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 
-ATTRIBUTE_ALIGNED16(class) btCompoundFromGimpactShape	: public btCompoundShape
+ATTRIBUTE_ALIGNED16(class)
+btCompoundFromGimpactShape : public btCompoundShape
 {
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -18,92 +19,87 @@ public:
 			delete m_children[i].m_childShape;
 		}
 	}
-
 };
 
 struct MyCallback : public btTriangleRaycastCallback
+{
+	int m_ignorePart;
+	int m_ignoreTriangleIndex;
+
+	MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
+		: btTriangleRaycastCallback(from, to),
+		  m_ignorePart(ignorePart),
+		  m_ignoreTriangleIndex(ignoreTriangleIndex)
+	{
+	}
+	virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
+	{
+		if (partId != m_ignorePart || triangleIndex != m_ignoreTriangleIndex)
 		{
-			int	m_ignorePart;
-			int	m_ignoreTriangleIndex;
-			
-
-			MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
-			:btTriangleRaycastCallback(from,to),
-			m_ignorePart(ignorePart),
-			m_ignoreTriangleIndex(ignoreTriangleIndex)
-			{
-				
-			}
-			virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
-			{
-				if (partId!=m_ignorePart || triangleIndex!=m_ignoreTriangleIndex)
-				{
-					if (hitFraction < m_hitFraction)
-						return hitFraction;
-				}
-
-				return m_hitFraction;
-			}
-		};
-		struct MyInternalTriangleIndexCallback :public btInternalTriangleIndexCallback
+			if (hitFraction < m_hitFraction)
+				return hitFraction;
+		}
+
+		return m_hitFraction;
+	}
+};
+struct MyInternalTriangleIndexCallback : public btInternalTriangleIndexCallback
+{
+	const btGImpactMeshShape* m_gimpactShape;
+	btCompoundShape* m_colShape;
+	btScalar m_depth;
+
+	MyInternalTriangleIndexCallback(btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
+		: m_colShape(colShape),
+		  m_gimpactShape(meshShape),
+		  m_depth(depth)
+	{
+	}
+
+	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+	{
+		btVector3 scale = m_gimpactShape->getLocalScaling();
+		btVector3 v0 = triangle[0] * scale;
+		btVector3 v1 = triangle[1] * scale;
+		btVector3 v2 = triangle[2] * scale;
+
+		btVector3 centroid = (v0 + v1 + v2) / 3;
+		btVector3 normal = (v1 - v0).cross(v2 - v0);
+		normal.normalize();
+		btVector3 rayFrom = centroid;
+		btVector3 rayTo = centroid - normal * m_depth;
+
+		MyCallback cb(rayFrom, rayTo, partId, triangleIndex);
+
+		m_gimpactShape->processAllTrianglesRay(&cb, rayFrom, rayTo);
+		if (cb.m_hitFraction < 1)
 		{
-			const btGImpactMeshShape*		m_gimpactShape;
-			btCompoundShape*			m_colShape;
-			btScalar	m_depth;
-
-			MyInternalTriangleIndexCallback (btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
-			:m_colShape(colShape),
-			m_gimpactShape(meshShape),
-			m_depth(depth)
-			{
-			}
-			
-			virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
-			{
-				btVector3 scale = m_gimpactShape->getLocalScaling();
-				btVector3 v0=triangle[0]*scale;
-				btVector3 v1=triangle[1]*scale;
-				btVector3 v2=triangle[2]*scale;
-				
-				btVector3 centroid = (v0+v1+v2)/3;
-				btVector3 normal = (v1-v0).cross(v2-v0);
-				normal.normalize();
-				btVector3 rayFrom = centroid;
-				btVector3 rayTo = centroid-normal*m_depth;
-				
-				MyCallback cb(rayFrom,rayTo,partId,triangleIndex);
-				
-				m_gimpactShape->processAllTrianglesRay(&cb,rayFrom, rayTo);
-				if (cb.m_hitFraction<1)
-				{
-					rayTo.setInterpolate3(cb.m_from,cb.m_to,cb.m_hitFraction);
-					//rayTo = cb.m_from;
-					//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
-					//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
-				}
-				
-
-				
-				btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);
-				btTransform ident;
-				ident.setIdentity();
-				m_colShape->addChildShape(ident,tet);
-			}
-		};
-		
-btCompoundShape*	btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
+			rayTo.setInterpolate3(cb.m_from, cb.m_to, cb.m_hitFraction);
+			//rayTo = cb.m_from;
+			//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
+			//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
+		}
+
+		btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0, v1, v2, rayTo);
+		btTransform ident;
+		ident.setIdentity();
+		m_colShape->addChildShape(ident, tet);
+	}
+};
+
+btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
 {
 	btCompoundShape* colShape = new btCompoundFromGimpactShape();
-		
-		btTransform tr;
-		tr.setIdentity();
-		
-		MyInternalTriangleIndexCallback cb(colShape,gimpactMesh, depth);
-		btVector3 aabbMin,aabbMax;
-		gimpactMesh->getAabb(tr,aabbMin,aabbMax);
-		gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb,aabbMin,aabbMax);
-
-	return colShape;	
-}	
-
-#endif //BT_COMPOUND_FROM_GIMPACT
+
+	btTransform tr;
+	tr.setIdentity();
+
+	MyInternalTriangleIndexCallback cb(colShape, gimpactMesh, depth);
+	btVector3 aabbMin, aabbMax;
+	gimpactMesh->getAabb(tr, aabbMin, aabbMax);
+	gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb, aabbMin, aabbMax);
+
+	return colShape;
+}
+
+#endif  //BT_COMPOUND_FROM_GIMPACT
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp
index eed31d839f..f2e3e18d61 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.cpp
@@ -27,54 +27,50 @@ struct CONTACT_KEY_TOKEN
 	unsigned int m_key;
 	int m_value;
 	CONTACT_KEY_TOKEN()
-    {
-    }
-
-    CONTACT_KEY_TOKEN(unsigned int key,int token)
-    {
-    	m_key = key;
-    	m_value =  token;
-    }
-
-    CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
-    {
-    	m_key = rtoken.m_key;
-    	m_value = rtoken.m_value;
-    }
-
-    inline bool operator <(const CONTACT_KEY_TOKEN& other) const
+	{
+	}
+
+	CONTACT_KEY_TOKEN(unsigned int key, int token)
+	{
+		m_key = key;
+		m_value = token;
+	}
+
+	CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
+	{
+		m_key = rtoken.m_key;
+		m_value = rtoken.m_value;
+	}
+
+	inline bool operator<(const CONTACT_KEY_TOKEN& other) const
 	{
 		return (m_key < other.m_key);
 	}
 
-	inline bool operator >(const CONTACT_KEY_TOKEN& other) const
+	inline bool operator>(const CONTACT_KEY_TOKEN& other) const
 	{
 		return (m_key > other.m_key);
 	}
-
 };
 
 class CONTACT_KEY_TOKEN_COMP
 {
-	public:
-
-		bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) const
-		{
-			return ( a < b );
-		}
+public:
+	bool operator()(const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b) const
+	{
+		return (a < b);
+	}
 };
 
-
 void btContactArray::merge_contacts(
-	const btContactArray & contacts, bool normal_contact_average)
+	const btContactArray& contacts, bool normal_contact_average)
 {
 	clear();
 
 	int i;
-	if(contacts.size()==0) return;
-
+	if (contacts.size() == 0) return;
 
-	if(contacts.size()==1)
+	if (contacts.size() == 1)
 	{
 		push_back(contacts[0]);
 		return;
@@ -86,16 +82,16 @@ void btContactArray::merge_contacts(
 
 	//fill key contacts
 
-	for ( i = 0;i<contacts.size() ;i++ )
+	for (i = 0; i < contacts.size(); i++)
 	{
-		keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i));
+		keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(), i));
 	}
 
 	//sort keys
 	keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
 
 	// Merge contacts
-	int coincident_count=0;
+	int coincident_count = 0;
 	btVector3 coincident_normals[MAX_COINCIDENT];
 
 	unsigned int last_key = keycontacts[0].m_key;
@@ -103,56 +99,56 @@ void btContactArray::merge_contacts(
 
 	push_back(contacts[keycontacts[0].m_value]);
 
-	GIM_CONTACT * pcontact = &(*this)[0];
+	GIM_CONTACT* pcontact = &(*this)[0];
 
-	for( i=1;i<keycontacts.size();i++)
+	for (i = 1; i < keycontacts.size(); i++)
 	{
-	    key = keycontacts[i].m_key;
-		const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+		key = keycontacts[i].m_key;
+		const GIM_CONTACT* scontact = &contacts[keycontacts[i].m_value];
 
-		if(last_key ==  key)//same points
+		if (last_key == key)  //same points
 		{
 			//merge contact
-			if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
+			if (pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)  //)
 			{
 				*pcontact = *scontact;
-                coincident_count = 0;
+				coincident_count = 0;
 			}
-			else if(normal_contact_average)
+			else if (normal_contact_average)
 			{
-				if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
-                {
-                    if(coincident_count<MAX_COINCIDENT)
-                    {
-                    	coincident_normals[coincident_count] = scontact->m_normal;
-                        coincident_count++;
-                    }
-                }
+				if (btFabs(pcontact->m_depth - scontact->m_depth) < CONTACT_DIFF_EPSILON)
+				{
+					if (coincident_count < MAX_COINCIDENT)
+					{
+						coincident_normals[coincident_count] = scontact->m_normal;
+						coincident_count++;
+					}
+				}
 			}
 		}
 		else
-		{//add new contact
+		{  //add new contact
 
-		    if(normal_contact_average && coincident_count>0)
-		    {
-		    	pcontact->interpolate_normals(coincident_normals,coincident_count);
-		        coincident_count = 0;
-		    }
+			if (normal_contact_average && coincident_count > 0)
+			{
+				pcontact->interpolate_normals(coincident_normals, coincident_count);
+				coincident_count = 0;
+			}
 
-		    push_back(*scontact);
-		    pcontact = &(*this)[this->size()-1];
-        }
+			push_back(*scontact);
+			pcontact = &(*this)[this->size() - 1];
+		}
 		last_key = key;
 	}
 }
 
-void btContactArray::merge_contacts_unique(const btContactArray & contacts)
+void btContactArray::merge_contacts_unique(const btContactArray& contacts)
 {
 	clear();
 
-	if(contacts.size()==0) return;
+	if (contacts.size() == 0) return;
 
-	if(contacts.size()==1)
+	if (contacts.size() == 1)
 	{
 		push_back(contacts[0]);
 		return;
@@ -160,14 +156,14 @@ void btContactArray::merge_contacts_unique(const btContactArray & contacts)
 
 	GIM_CONTACT average_contact = contacts[0];
 
-	for (int i=1;i<contacts.size() ;i++ )
+	for (int i = 1; i < contacts.size(); i++)
 	{
 		average_contact.m_point += contacts[i].m_point;
 		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
 	}
 
 	//divide
-	btScalar divide_average = 1.0f/((btScalar)contacts.size());
+	btScalar divide_average = 1.0f / ((btScalar)contacts.size());
 
 	average_contact.m_point *= divide_average;
 
@@ -176,6 +172,4 @@ void btContactArray::merge_contacts_unique(const btContactArray & contacts)
 	average_contact.m_depth = average_contact.m_normal.length();
 
 	average_contact.m_normal /= average_contact.m_depth;
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h
index d1027dbe67..4ff09d7cdd 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessing.h
@@ -29,7 +29,7 @@ subject to the following restrictions:
 #include "btTriangleShapeEx.h"
 #include "btContactProcessingStructs.h"
 
-class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
+class btContactArray : public btAlignedObjectArray<GIM_CONTACT>
 {
 public:
 	btContactArray()
@@ -38,28 +38,28 @@ public:
 	}
 
 	SIMD_FORCE_INLINE void push_contact(
-		const btVector3 &point,const btVector3 & normal,
+		const btVector3 &point, const btVector3 &normal,
 		btScalar depth, int feature1, int feature2)
 	{
-		push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
+		push_back(GIM_CONTACT(point, normal, depth, feature1, feature2));
 	}
 
 	SIMD_FORCE_INLINE void push_triangle_contacts(
-		const GIM_TRIANGLE_CONTACT & tricontact,
-		int feature1,int feature2)
+		const GIM_TRIANGLE_CONTACT &tricontact,
+		int feature1, int feature2)
 	{
-		for(int i = 0;i<tricontact.m_point_count ;i++ )
+		for (int i = 0; i < tricontact.m_point_count; i++)
 		{
 			push_contact(
 				tricontact.m_points[i],
 				tricontact.m_separating_normal,
-				tricontact.m_penetration_depth,feature1,feature2);
+				tricontact.m_penetration_depth, feature1, feature2);
 		}
 	}
 
-	void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true);
+	void merge_contacts(const btContactArray &contacts, bool normal_contact_average = true);
 
-	void merge_contacts_unique(const btContactArray & contacts);
+	void merge_contacts_unique(const btContactArray &contacts);
 };
 
-#endif // GIM_CONTACT_H_INCLUDED
+#endif  // GIM_CONTACT_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h
index efbc4a567a..bc8a709246 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btContactProcessingStructs.h
@@ -28,7 +28,6 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btTriangleShapeEx.h"
 
-
 /**
 Configuration var for applying interpolation of  contact normals
 */
@@ -41,69 +40,66 @@ Configuration var for applying interpolation of  contact normals
 class GIM_CONTACT
 {
 public:
-    btVector3 m_point;
-    btVector3 m_normal;
-    btScalar m_depth;//Positive value indicates interpenetration
-    btScalar m_distance;//Padding not for use
-    int m_feature1;//Face number
-    int m_feature2;//Face number
+	btVector3 m_point;
+	btVector3 m_normal;
+	btScalar m_depth;     //Positive value indicates interpenetration
+	btScalar m_distance;  //Padding not for use
+	int m_feature1;       //Face number
+	int m_feature2;       //Face number
 public:
-    GIM_CONTACT()
-    {
-    }
-
-    GIM_CONTACT(const GIM_CONTACT & contact):
-				m_point(contact.m_point),
-				m_normal(contact.m_normal),
-				m_depth(contact.m_depth),
-				m_feature1(contact.m_feature1),
-				m_feature2(contact.m_feature2)
-    {
-    }
-
-    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
-    	 			btScalar depth, int feature1, int feature2):
-				m_point(point),
-				m_normal(normal),
-				m_depth(depth),
-				m_feature1(feature1),
-				m_feature2(feature2)
-    {
-    }
+	GIM_CONTACT()
+	{
+	}
+
+	GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
+											  m_normal(contact.m_normal),
+											  m_depth(contact.m_depth),
+											  m_feature1(contact.m_feature1),
+											  m_feature2(contact.m_feature2)
+	{
+	}
+
+	GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
+				btScalar depth, int feature1, int feature2) : m_point(point),
+															  m_normal(normal),
+															  m_depth(depth),
+															  m_feature1(feature1),
+															  m_feature2(feature2)
+	{
+	}
 
 	//! Calcs key for coord classification
-    SIMD_FORCE_INLINE unsigned int calc_key_contact() const
-    {
-    	int _coords[] = {
-    		(int)(m_point[0]*1000.0f+1.0f),
-    		(int)(m_point[1]*1333.0f),
-    		(int)(m_point[2]*2133.0f+3.0f)};
-		unsigned int _hash=0;
+	SIMD_FORCE_INLINE unsigned int calc_key_contact() const
+	{
+		int _coords[] = {
+			(int)(m_point[0] * 1000.0f + 1.0f),
+			(int)(m_point[1] * 1333.0f),
+			(int)(m_point[2] * 2133.0f + 3.0f)};
+		unsigned int _hash = 0;
 		unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
 		_hash = *_uitmp;
 		_uitmp++;
-		_hash += (*_uitmp)<<4;
+		_hash += (*_uitmp) << 4;
 		_uitmp++;
-		_hash += (*_uitmp)<<8;
+		_hash += (*_uitmp) << 8;
 		return _hash;
-    }
+	}
 
-    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
-    {
-    	btVector3 vec_sum(m_normal);
-		for(int i=0;i<normal_count;i++)
+	SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, int normal_count)
+	{
+		btVector3 vec_sum(m_normal);
+		for (int i = 0; i < normal_count; i++)
 		{
 			vec_sum += normals[i];
 		}
 
 		btScalar vec_sum_len = vec_sum.length2();
-		if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
+		if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
 
 		//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
 
-		m_normal = vec_sum/btSqrt(vec_sum_len);
-    }
-
+		m_normal = vec_sum / btSqrt(vec_sum_len);
+	}
 };
 
-#endif // BT_CONTACT_H_STRUCTS_INCLUDED
+#endif  // BT_CONTACT_H_STRUCTS_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp
index 863233163a..bb520e061d 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp
@@ -30,7 +30,6 @@ btClock g_tree_clock;
 float g_accum_tree_collision_time = 0;
 int g_count_traversing = 0;
 
-
 void bt_begin_gim02_tree_time()
 {
 	g_tree_clock.reset();
@@ -45,7 +44,7 @@ void bt_end_gim02_tree_time()
 //! Gets the average time in miliseconds of tree collisions
 float btGImpactBvh::getAverageTreeCollisionTime()
 {
-	if(g_count_traversing == 0) return 0;
+	if (g_count_traversing == 0) return 0;
 
 	float avgtime = g_accum_tree_collision_time;
 	avgtime /= (float)g_count_traversing;
@@ -54,80 +53,76 @@ float btGImpactBvh::getAverageTreeCollisionTime()
 	g_count_traversing = 0;
 	return avgtime;
 
-//	float avgtime = g_count_traversing;
-//	g_count_traversing = 0;
-//	return avgtime;
-
+	//	float avgtime = g_count_traversing;
+	//	g_count_traversing = 0;
+	//	return avgtime;
 }
 
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
 /////////////////////// btBvhTree /////////////////////////////////
 
 int btBvhTree::_calc_splitting_axis(
-	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
 {
-
 	int i;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
-	int numIndices = endIndex-startIndex;
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
+	int numIndices = endIndex - startIndex;
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		means+=center;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
+	means *= (btScalar(1.) / (btScalar)numIndices);
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		btVector3 diff2 = center-means;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		btVector3 diff2 = center - means;
 		diff2 = diff2 * diff2;
 		variance += diff2;
 	}
-	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
 
 	return variance.maxAxis();
 }
 
-
 int btBvhTree::_sort_and_calc_splitting_index(
-	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex,
 	int endIndex, int splitAxis)
 {
 	int i;
-	int splitIndex =startIndex;
+	int splitIndex = startIndex;
 	int numIndices = endIndex - startIndex;
 
 	// average of centers
 	btScalar splitValue = 0.0f;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	for (i=startIndex;i<endIndex;i++)
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		means+=center;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
+	means *= (btScalar(1.) / (btScalar)numIndices);
 
 	splitValue = means[splitAxis];
 
-
 	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
 		if (center[splitAxis] > splitValue)
 		{
 			//swap
-			primitive_boxes.swap(i,splitIndex);
+			primitive_boxes.swap(i, splitIndex);
 			//swapLeafNodes(i,splitIndex);
 			splitIndex++;
 		}
@@ -142,32 +137,30 @@ int btBvhTree::_sort_and_calc_splitting_index(
 	//bool unbalanced2 = true;
 
 	//this should be safe too:
-	int rangeBalancedIndices = numIndices/3;
-	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+	int rangeBalancedIndices = numIndices / 3;
+	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
 
 	if (unbalanced)
 	{
-		splitIndex = startIndex+ (numIndices>>1);
+		splitIndex = startIndex + (numIndices >> 1);
 	}
 
-	btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+	btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
 
 	return splitIndex;
-
 }
 
-
-void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
 {
 	int curIndex = m_num_nodes;
 	m_num_nodes++;
 
-	btAssert((endIndex-startIndex)>0);
+	btAssert((endIndex - startIndex) > 0);
 
-	if ((endIndex-startIndex)==1)
+	if ((endIndex - startIndex) == 1)
 	{
-	    //We have a leaf node
-	    setNodeBound(curIndex,primitive_boxes[startIndex].m_bound);
+		//We have a leaf node
+		setNodeBound(curIndex, primitive_boxes[startIndex].m_bound);
 		m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
 
 		return;
@@ -175,47 +168,42 @@ void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startI
 	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
 
 	//split axis
-	int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+	int splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
 
 	splitIndex = _sort_and_calc_splitting_index(
-			primitive_boxes,startIndex,endIndex,
-			splitIndex//split axis
-			);
-
+		primitive_boxes, startIndex, endIndex,
+		splitIndex  //split axis
+	);
 
 	//calc this node bounding box
 
 	btAABB node_bound;
 	node_bound.invalidate();
 
-	for (int i=startIndex;i<endIndex;i++)
+	for (int i = startIndex; i < endIndex; i++)
 	{
 		node_bound.merge(primitive_boxes[i].m_bound);
 	}
 
-	setNodeBound(curIndex,node_bound);
-
+	setNodeBound(curIndex, node_bound);
 
 	//build left branch
-	_build_sub_tree(primitive_boxes, startIndex, splitIndex );
-
+	_build_sub_tree(primitive_boxes, startIndex, splitIndex);
 
 	//build right branch
-	 _build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+	_build_sub_tree(primitive_boxes, splitIndex, endIndex);
 
 	m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
-
-
 }
 
 //! stackless build tree
 void btBvhTree::build_tree(
-	GIM_BVH_DATA_ARRAY & primitive_boxes)
+	GIM_BVH_DATA_ARRAY& primitive_boxes)
 {
 	// initialize node count to 0
 	m_num_nodes = 0;
 	// allocate nodes
-	m_node_array.resize(primitive_boxes.size()*2);
+	m_node_array.resize(primitive_boxes.size() * 2);
 
 	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
 }
@@ -225,13 +213,13 @@ void btBvhTree::build_tree(
 void btGImpactBvh::refit()
 {
 	int nodecount = getNodeCount();
-	while(nodecount--)
+	while (nodecount--)
 	{
-		if(isLeafNode(nodecount))
+		if (isLeafNode(nodecount))
 		{
 			btAABB leafbox;
-			m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox);
-			setNodeBound(nodecount,leafbox);
+			m_primitive_manager->get_primitive_box(getNodeData(nodecount), leafbox);
+			setNodeBound(nodecount, leafbox);
 		}
 		else
 		{
@@ -243,20 +231,20 @@ void btGImpactBvh::refit()
 			btAABB temp_box;
 
 			int child_node = getLeftNode(nodecount);
-			if(child_node)
+			if (child_node)
 			{
-				getNodeBound(child_node,temp_box);
+				getNodeBound(child_node, temp_box);
 				bound.merge(temp_box);
 			}
 
 			child_node = getRightNode(nodecount);
-			if(child_node)
+			if (child_node)
 			{
-				getNodeBound(child_node,temp_box);
+				getNodeBound(child_node, temp_box);
 				bound.merge(temp_box);
 			}
 
-			setNodeBound(nodecount,bound);
+			setNodeBound(nodecount, bound);
 		}
 	}
 }
@@ -268,17 +256,17 @@ void btGImpactBvh::buildSet()
 	GIM_BVH_DATA_ARRAY primitive_boxes;
 	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
 
-	for (int i = 0;i<primitive_boxes.size() ;i++ )
+	for (int i = 0; i < primitive_boxes.size(); i++)
 	{
-		 m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound);
-		 primitive_boxes[i].m_data = i;
+		m_primitive_manager->get_primitive_box(i, primitive_boxes[i].m_bound);
+		primitive_boxes[i].m_data = i;
 	}
 
 	m_box_tree.build_tree(primitive_boxes);
 }
 
 //! returns the indices of the primitives in the m_primitive_manager
-bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const
+bool btGImpactBvh::boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const
 {
 	int curIndex = 0;
 	int numNodes = getNodeCount();
@@ -286,7 +274,7 @@ bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & coll
 	while (curIndex < numNodes)
 	{
 		btAABB bound;
-		getNodeBound(curIndex,bound);
+		getNodeBound(curIndex, bound);
 
 		//catch bugs in tree data
 
@@ -306,19 +294,17 @@ bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & coll
 		else
 		{
 			//skip node
-			curIndex+= getEscapeNodeIndex(curIndex);
+			curIndex += getEscapeNodeIndex(curIndex);
 		}
 	}
-	if(collided_results.size()>0) return true;
+	if (collided_results.size() > 0) return true;
 	return false;
 }
 
-
-
 //! returns the indices of the primitives in the m_primitive_manager
 bool btGImpactBvh::rayQuery(
-	const btVector3 & ray_dir,const btVector3 & ray_origin ,
-	btAlignedObjectArray<int> & collided_results) const
+	const btVector3& ray_dir, const btVector3& ray_origin,
+	btAlignedObjectArray<int>& collided_results) const
 {
 	int curIndex = 0;
 	int numNodes = getNodeCount();
@@ -326,16 +312,16 @@ bool btGImpactBvh::rayQuery(
 	while (curIndex < numNodes)
 	{
 		btAABB bound;
-		getNodeBound(curIndex,bound);
+		getNodeBound(curIndex, bound);
 
 		//catch bugs in tree data
 
-		bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
+		bool aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
 		bool isleafnode = isLeafNode(curIndex);
 
 		if (isleafnode && aabbOverlap)
 		{
-			collided_results.push_back(getNodeData( curIndex));
+			collided_results.push_back(getNodeData(curIndex));
 		}
 
 		if (aabbOverlap || isleafnode)
@@ -346,153 +332,133 @@ bool btGImpactBvh::rayQuery(
 		else
 		{
 			//skip node
-			curIndex+= getEscapeNodeIndex(curIndex);
+			curIndex += getEscapeNodeIndex(curIndex);
 		}
 	}
-	if(collided_results.size()>0) return true;
+	if (collided_results.size() > 0) return true;
 	return false;
 }
 
-
 SIMD_FORCE_INLINE bool _node_collision(
-	btGImpactBvh * boxset0, btGImpactBvh * boxset1,
-	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
-	int node0 ,int node1, bool complete_primitive_tests)
+	btGImpactBvh* boxset0, btGImpactBvh* boxset1,
+	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
+	int node0, int node1, bool complete_primitive_tests)
 {
 	btAABB box0;
-	boxset0->getNodeBound(node0,box0);
+	boxset0->getNodeBound(node0, box0);
 	btAABB box1;
-	boxset1->getNodeBound(node1,box1);
-
-	return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests );
-//	box1.appy_transform_trans_cache(trans_cache_1to0);
-//	return box0.has_collision(box1);
+	boxset1->getNodeBound(node1, box1);
 
+	return box0.overlapping_trans_cache(box1, trans_cache_1to0, complete_primitive_tests);
+	//	box1.appy_transform_trans_cache(trans_cache_1to0);
+	//	return box0.has_collision(box1);
 }
 
-
 //stackless recursive collision routine
 static void _find_collision_pairs_recursive(
-	btGImpactBvh * boxset0, btGImpactBvh * boxset1,
-	btPairSet * collision_pairs,
-	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
+	btGImpactBvh* boxset0, btGImpactBvh* boxset1,
+	btPairSet* collision_pairs,
+	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
 	int node0, int node1, bool complete_primitive_tests)
 {
+	if (_node_collision(
+			boxset0, boxset1, trans_cache_1to0,
+			node0, node1, complete_primitive_tests) == false) return;  //avoid colliding internal nodes
 
-
-
-	if( _node_collision(
-		boxset0,boxset1,trans_cache_1to0,
-		node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes
-
-	if(boxset0->isLeafNode(node0))
+	if (boxset0->isLeafNode(node0))
 	{
-		if(boxset1->isLeafNode(node1))
+		if (boxset1->isLeafNode(node1))
 		{
 			// collision result
 			collision_pairs->push_pair(
-				boxset0->getNodeData(node0),boxset1->getNodeData(node1));
+				boxset0->getNodeData(node0), boxset1->getNodeData(node1));
 			return;
 		}
 		else
 		{
-
 			//collide left recursive
 
 			_find_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								node0,boxset1->getLeftNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				node0, boxset1->getLeftNode(node1), false);
 
 			//collide right recursive
 			_find_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								node0,boxset1->getRightNode(node1),false);
-
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				node0, boxset1->getRightNode(node1), false);
 		}
 	}
 	else
 	{
-		if(boxset1->isLeafNode(node1))
+		if (boxset1->isLeafNode(node1))
 		{
-
 			//collide left recursive
 			_find_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								boxset0->getLeftNode(node0),node1,false);
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getLeftNode(node0), node1, false);
 
 			//collide right recursive
 
 			_find_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								boxset0->getRightNode(node0),node1,false);
-
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getRightNode(node0), node1, false);
 		}
 		else
 		{
 			//collide left0 left1
 
-
-
 			_find_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getLeftNode(node0), boxset1->getLeftNode(node1), false);
 
 			//collide left0 right1
 
 			_find_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false);
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getLeftNode(node0), boxset1->getRightNode(node1), false);
 
 			//collide right0 left1
 
 			_find_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getRightNode(node0), boxset1->getLeftNode(node1), false);
 
 			//collide right0 right1
 
 			_find_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getRightNode(node0),boxset1->getRightNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getRightNode(node0), boxset1->getRightNode(node1), false);
 
-		}// else if node1 is not a leaf
-	}// else if node0 is not a leaf
+		}  // else if node1 is not a leaf
+	}      // else if node0 is not a leaf
 }
 
-
-void btGImpactBvh::find_collision(btGImpactBvh * boxset0, const btTransform & trans0,
-		btGImpactBvh * boxset1, const btTransform & trans1,
-		btPairSet & collision_pairs)
+void btGImpactBvh::find_collision(btGImpactBvh* boxset0, const btTransform& trans0,
+								  btGImpactBvh* boxset1, const btTransform& trans1,
+								  btPairSet& collision_pairs)
 {
-
-	if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return;
+	if (boxset0->getNodeCount() == 0 || boxset1->getNodeCount() == 0) return;
 
 	BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
 
-	trans_cache_1to0.calc_from_homogenic(trans0,trans1);
+	trans_cache_1to0.calc_from_homogenic(trans0, trans1);
 
 #ifdef TRI_COLLISION_PROFILING
 	bt_begin_gim02_tree_time();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
 	_find_collision_pairs_recursive(
-		boxset0,boxset1,
-		&collision_pairs,trans_cache_1to0,0,0,true);
+		boxset0, boxset1,
+		&collision_pairs, trans_cache_1to0, 0, 0, true);
 #ifdef TRI_COLLISION_PROFILING
 	bt_end_gim02_tree_time();
-#endif //TRI_COLLISION_PROFILING
-
+#endif  //TRI_COLLISION_PROFILING
 }
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
index e20e03cc1d..3cd8fa24e7 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
@@ -1,5 +1,5 @@
-#ifndef GIM_BOX_SET_H_INCLUDED
-#define GIM_BOX_SET_H_INCLUDED
+#ifndef BT_GIMPACT_BVH_H_INCLUDED
+#define BT_GIMPACT_BVH_H_INCLUDED
 
 /*! \file gim_box_set.h
 \author Francisco Leon Najera
@@ -24,7 +24,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "LinearMath/btAlignedObjectArray.h"
 
 #include "btBoxCollision.h"
@@ -32,50 +31,48 @@ subject to the following restrictions:
 #include "btGImpactBvhStructs.h"
 
 //! A pairset array
-class btPairSet: public btAlignedObjectArray<GIM_PAIR>
+class btPairSet : public btAlignedObjectArray<GIM_PAIR>
 {
 public:
 	btPairSet()
 	{
 		reserve(32);
 	}
-	inline void push_pair(int index1,int index2)
+	inline void push_pair(int index1, int index2)
 	{
-		push_back(GIM_PAIR(index1,index2));
+		push_back(GIM_PAIR(index1, index2));
 	}
 
-	inline void push_pair_inv(int index1,int index2)
+	inline void push_pair_inv(int index1, int index2)
 	{
-		push_back(GIM_PAIR(index2,index1));
+		push_back(GIM_PAIR(index2, index1));
 	}
 };
 
-class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
+class GIM_BVH_DATA_ARRAY : public btAlignedObjectArray<GIM_BVH_DATA>
 {
 };
 
-
-class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE>
+class GIM_BVH_TREE_NODE_ARRAY : public btAlignedObjectArray<GIM_BVH_TREE_NODE>
 {
 };
 
-
-
-
 //! Basic Box tree structure
 class btBvhTree
 {
 protected:
 	int m_num_nodes;
 	GIM_BVH_TREE_NODE_ARRAY m_node_array;
+
 protected:
 	int _sort_and_calc_splitting_index(
-		GIM_BVH_DATA_ARRAY & primitive_boxes,
-		 int startIndex,  int endIndex, int splitAxis);
+		GIM_BVH_DATA_ARRAY& primitive_boxes,
+		int startIndex, int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
+
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
 
-	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btBvhTree()
 	{
@@ -84,7 +81,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
 
 	SIMD_FORCE_INLINE void clearNodes()
 	{
@@ -109,25 +106,25 @@ public:
 		return m_node_array[nodeindex].getDataIndex();
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
 	{
 		bound = m_node_array[nodeindex].m_bound;
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
 	{
 		m_node_array[nodeindex].m_bound = bound;
 	}
 
 	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
 	{
-		return nodeindex+1;
+		return nodeindex + 1;
 	}
 
 	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
 	{
-		if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
-		return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
+		if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
+		return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
 	}
 
 	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
@@ -135,7 +132,7 @@ public:
 		return m_node_array[nodeindex].getEscapeIndex();
 	}
 
-	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
 	{
 		return &m_node_array[index];
 	}
@@ -143,7 +140,6 @@ public:
 	//!@}
 };
 
-
 //! Prototype Base class for primitive classification
 /*!
 This class is a wrapper for primitive collections.
@@ -153,18 +149,16 @@ This class can manage Compound shapes and trimeshes, and if it is managing trime
 class btPrimitiveManagerBase
 {
 public:
-
 	virtual ~btPrimitiveManagerBase() {}
 
 	//! determines if this manager consist on only triangles, which special case will be optimized
 	virtual bool is_trimesh() const = 0;
 	virtual int get_primitive_count() const = 0;
-	virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0;
+	virtual void get_primitive_box(int prim_index, btAABB& primbox) const = 0;
 	//! retrieves only the points of the triangle, and the collision margin
-	virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0;
+	virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const = 0;
 };
 
-
 //! Structure for containing Boxes
 /*!
 This class offers an structure for managing a box tree of primitives.
@@ -174,13 +168,13 @@ class btGImpactBvh
 {
 protected:
 	btBvhTree m_box_tree;
-	btPrimitiveManagerBase * m_primitive_manager;
+	btPrimitiveManagerBase* m_primitive_manager;
 
 protected:
 	//stackless refit
 	void refit();
-public:
 
+public:
 	//! this constructor doesn't build the tree. you must call	buildSet
 	btGImpactBvh()
 	{
@@ -188,31 +182,30 @@ public:
 	}
 
 	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactBvh(btPrimitiveManagerBase * primitive_manager)
+	btGImpactBvh(btPrimitiveManagerBase* primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE btAABB getGlobalBox()  const
+	SIMD_FORCE_INLINE btAABB getGlobalBox() const
 	{
 		btAABB totalbox;
 		getNodeBound(0, totalbox);
 		return totalbox;
 	}
 
-	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
+	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
+	SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return m_primitive_manager;
 	}
 
-
-//! node manager prototype functions
-///@{
+	//! node manager prototype functions
+	///@{
 
 	//! this attemps to refit the box set.
 	SIMD_FORCE_INLINE void update()
@@ -224,21 +217,21 @@ public:
 	void buildSet();
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
+	bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
-		 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
+	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box,
+										 const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
 	{
-		btAABB transbox=box;
+		btAABB transbox = box;
 		transbox.appy_transform(transform);
-		return boxQuery(transbox,collided_results);
+		return boxQuery(transbox, collided_results);
 	}
 
 	//! returns the indices of the primitives in the m_primitive_manager
 	bool rayQuery(
-		const btVector3 & ray_dir,const btVector3 & ray_origin ,
-		btAlignedObjectArray<int> & collided_results) const;
+		const btVector3& ray_dir, const btVector3& ray_origin,
+		btAlignedObjectArray<int>& collided_results) const;
 
 	//! tells if this set has hierarcht
 	SIMD_FORCE_INLINE bool hasHierarchy() const
@@ -247,7 +240,7 @@ public:
 	}
 
 	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh()  const
+	SIMD_FORCE_INLINE bool isTrimesh() const
 	{
 		return m_primitive_manager->is_trimesh();
 	}
@@ -269,17 +262,16 @@ public:
 		return m_box_tree.getNodeData(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound)  const
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
 	{
 		m_box_tree.getNodeBound(nodeindex, bound);
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
 	{
 		m_box_tree.setNodeBound(nodeindex, bound);
 	}
 
-
 	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
 	{
 		return m_box_tree.getLeftNode(nodeindex);
@@ -295,24 +287,23 @@ public:
 		return m_box_tree.getEscapeNodeIndex(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
+	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
 	{
-		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
+		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle);
 	}
 
-
-	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
 	{
 		return m_box_tree.get_node_pointer(index);
 	}
 
 #ifdef TRI_COLLISION_PROFILING
 	static float getAverageTreeCollisionTime();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
-	static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1,
-		btGImpactBvh * boxset2, const btTransform & trans2,
-		btPairSet & collision_pairs);
+	static void find_collision(btGImpactBvh* boxset1, const btTransform& trans1,
+							   btGImpactBvh* boxset2, const btTransform& trans2,
+							   btPairSet& collision_pairs);
 };
 
-#endif // GIM_BOXPRUNING_H_INCLUDED
+#endif  // BT_GIMPACT_BVH_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h
index 9342a572d0..54888c6757 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h
@@ -24,7 +24,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "LinearMath/btAlignedObjectArray.h"
 
 #include "btBoxCollision.h"
@@ -33,21 +32,22 @@ subject to the following restrictions:
 //! Overlapping pair
 struct GIM_PAIR
 {
-    int m_index1;
-    int m_index2;
-    GIM_PAIR()
-    {}
-
-    GIM_PAIR(const GIM_PAIR & p)
-    {
-    	m_index1 = p.m_index1;
-    	m_index2 = p.m_index2;
+	int m_index1;
+	int m_index2;
+	GIM_PAIR()
+	{
+	}
+
+	GIM_PAIR(const GIM_PAIR& p)
+	{
+		m_index1 = p.m_index1;
+		m_index2 = p.m_index2;
 	}
 
 	GIM_PAIR(int index1, int index2)
-    {
-    	m_index1 = index1;
-    	m_index2 = index2;
+	{
+		m_index1 = index1;
+		m_index2 = index2;
 	}
 };
 
@@ -63,8 +63,10 @@ class GIM_BVH_TREE_NODE
 {
 public:
 	btAABB m_bound;
+
 protected:
-	int	m_escapeIndexOrDataIndex;
+	int m_escapeIndexOrDataIndex;
+
 public:
 	GIM_BVH_TREE_NODE()
 	{
@@ -74,7 +76,7 @@ public:
 	SIMD_FORCE_INLINE bool isLeafNode() const
 	{
 		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrDataIndex>=0);
+		return (m_escapeIndexOrDataIndex >= 0);
 	}
 
 	SIMD_FORCE_INLINE int getEscapeIndex() const
@@ -99,7 +101,6 @@ public:
 	{
 		m_escapeIndexOrDataIndex = index;
 	}
-
 };
 
-#endif // GIM_BOXPRUNING_H_INCLUDED
+#endif  // GIM_BOXPRUNING_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
index 2e87475e39..3d8ab9f520 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
@@ -31,18 +31,16 @@ Concave-Concave Collision
 #include "btContactProcessing.h"
 #include "LinearMath/btQuickprof.h"
 
-
 //! Class for accessing the plane equation
 class btPlaneShape : public btStaticPlaneShape
 {
 public:
-
 	btPlaneShape(const btVector3& v, float f)
-		:btStaticPlaneShape(v,f)
+		: btStaticPlaneShape(v, f)
 	{
 	}
 
-	void get_plane_equation(btVector4 &equation)
+	void get_plane_equation(btVector4& equation)
 	{
 		equation[0] = m_planeNormal[0];
 		equation[1] = m_planeNormal[1];
@@ -50,18 +48,16 @@ public:
 		equation[3] = m_planeConstant;
 	}
 
-
-	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) const 
+	void get_plane_equation_transformed(const btTransform& trans, btVector4& equation) const
 	{
-		equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
-		equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
-		equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
-		equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
+		const btVector3 normal = trans.getBasis() * m_planeNormal;
+		equation[0] = normal[0];
+		equation[1] = normal[1];
+		equation[2] = normal[2];
+		equation[3] = normal.dot(trans * (m_planeConstant * m_planeNormal));
 	}
 };
 
-
-
 //////////////////////////////////////////////////////////////////////////////////////////////
 #ifdef TRI_COLLISION_PROFILING
 
@@ -80,7 +76,7 @@ void bt_end_gim02_tri_time()
 	g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds();
 	g_count_triangle_collision++;
 }
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 //! Retrieving shapes shapes
 /*!
 Declared here due of insuficent space on Pool allocators
@@ -89,7 +85,7 @@ Declared here due of insuficent space on Pool allocators
 class GIM_ShapeRetriever
 {
 public:
-	const btGImpactShapeInterface * m_gim_shape;
+	const btGImpactShapeInterface* m_gim_shape;
 	btTriangleShapeEx m_trishape;
 	btTetrahedronShapeEx m_tetrashape;
 
@@ -97,51 +93,50 @@ public:
 	class ChildShapeRetriever
 	{
 	public:
-		GIM_ShapeRetriever * m_parent;
-		virtual const btCollisionShape * getChildShape(int index)
+		GIM_ShapeRetriever* m_parent;
+		virtual const btCollisionShape* getChildShape(int index)
 		{
 			return m_parent->m_gim_shape->getChildShape(index);
 		}
 		virtual ~ChildShapeRetriever() {}
 	};
 
-	class TriangleShapeRetriever:public ChildShapeRetriever
+	class TriangleShapeRetriever : public ChildShapeRetriever
 	{
 	public:
-
-		virtual btCollisionShape * getChildShape(int index)
+		virtual btCollisionShape* getChildShape(int index)
 		{
-			m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape);
+			m_parent->m_gim_shape->getBulletTriangle(index, m_parent->m_trishape);
 			return &m_parent->m_trishape;
 		}
 		virtual ~TriangleShapeRetriever() {}
 	};
 
-	class TetraShapeRetriever:public ChildShapeRetriever
+	class TetraShapeRetriever : public ChildShapeRetriever
 	{
 	public:
-
-		virtual btCollisionShape * getChildShape(int index)
+		virtual btCollisionShape* getChildShape(int index)
 		{
-			m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape);
+			m_parent->m_gim_shape->getBulletTetrahedron(index, m_parent->m_tetrashape);
 			return &m_parent->m_tetrashape;
 		}
 	};
+
 public:
 	ChildShapeRetriever m_child_retriever;
 	TriangleShapeRetriever m_tri_retriever;
-	TetraShapeRetriever  m_tetra_retriever;
-	ChildShapeRetriever * m_current_retriever;
+	TetraShapeRetriever m_tetra_retriever;
+	ChildShapeRetriever* m_current_retriever;
 
-	GIM_ShapeRetriever(const btGImpactShapeInterface * gim_shape)
+	GIM_ShapeRetriever(const btGImpactShapeInterface* gim_shape)
 	{
 		m_gim_shape = gim_shape;
 		//select retriever
-		if(m_gim_shape->needsRetrieveTriangles())
+		if (m_gim_shape->needsRetrieveTriangles())
 		{
 			m_current_retriever = &m_tri_retriever;
 		}
-		else if(m_gim_shape->needsRetrieveTetrahedrons())
+		else if (m_gim_shape->needsRetrieveTetrahedrons())
 		{
 			m_current_retriever = &m_tetra_retriever;
 		}
@@ -153,32 +148,26 @@ public:
 		m_current_retriever->m_parent = this;
 	}
 
-	const btCollisionShape * getChildShape(int index)
+	const btCollisionShape* getChildShape(int index)
 	{
 		return m_current_retriever->getChildShape(index);
 	}
-
-
 };
 
-
-
 //!@}
 
-
 #ifdef TRI_COLLISION_PROFILING
 
 //! Gets the average time in miliseconds of tree collisions
 float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime()
 {
 	return btGImpactBoxSet::getAverageTreeCollisionTime();
-
 }
 
 //! Gets the average time in miliseconds of triangle collisions
 float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
 {
-	if(g_count_triangle_collision == 0) return 0;
+	if (g_count_triangle_collision == 0) return 0;
 
 	float avgtime = g_accum_triangle_collision_time;
 	avgtime /= (float)g_count_triangle_collision;
@@ -189,12 +178,10 @@ float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
 	return avgtime;
 }
 
-#endif //TRI_COLLISION_PROFILING
-
+#endif  //TRI_COLLISION_PROFILING
 
-
-btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap)
+btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap)
 {
 	m_manifoldPtr = NULL;
 	m_convex_algorithm = NULL;
@@ -205,77 +192,62 @@ btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
 	clearCache();
 }
 
-
-
-
-
-void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper * body0Wrap,
-				const btCollisionObjectWrapper * body1Wrap,
-				const btVector3 & point,
-				const btVector3 & normal,
-				btScalar distance)
+void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper* body0Wrap,
+												  const btCollisionObjectWrapper* body1Wrap,
+												  const btVector3& point,
+												  const btVector3& normal,
+												  btScalar distance)
 {
-	m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
-	m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-	checkManifold(body0Wrap,body1Wrap);
-	m_resultOut->addContactPoint(normal,point,distance);
+	m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
+	m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
+	checkManifold(body0Wrap, body1Wrap);
+	m_resultOut->addContactPoint(normal, point, distance);
 }
 
-
 void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
-					  const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btCollisionShape * shape0,
-					  const btCollisionShape * shape1)
+	const btCollisionObjectWrapper* body0Wrap,
+	const btCollisionObjectWrapper* body1Wrap,
+	const btCollisionShape* shape0,
+	const btCollisionShape* shape1)
 {
-
-
 	{
-		
-		btCollisionAlgorithm* algor = newAlgorithm(body0Wrap,body1Wrap);
+		btCollisionAlgorithm* algor = newAlgorithm(body0Wrap, body1Wrap);
 		// post :	checkManifold is called
 
-		m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
-		m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-		
-		algor->processCollision(body0Wrap,body1Wrap,*m_dispatchInfo,m_resultOut);
-		
+		m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
+		m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
+
+		algor->processCollision(body0Wrap, body1Wrap, *m_dispatchInfo, m_resultOut);
+
 		algor->~btCollisionAlgorithm();
 		m_dispatcher->freeCollisionAlgorithm(algor);
 	}
-
 }
 
 void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
-					  const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btCollisionShape* shape0,
-					  const btCollisionShape* shape1)
+	const btCollisionObjectWrapper* body0Wrap,
+	const btCollisionObjectWrapper* body1Wrap,
+	const btCollisionShape* shape0,
+	const btCollisionShape* shape1)
 {
+	m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
+	m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
 
-	m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
-	m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-
-	btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
-	btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),m_part1,m_triface1);
-	checkConvexAlgorithm(&ob0,&ob1);
-	m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
-
-
+	btCollisionObjectWrapper ob0(body0Wrap, shape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
+	btCollisionObjectWrapper ob1(body1Wrap, shape1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), m_part1, m_triface1);
+	checkConvexAlgorithm(&ob0, &ob1);
+	m_convex_algorithm->processCollision(&ob0, &ob1, *m_dispatchInfo, m_resultOut);
 }
 
-
-
-
 void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
-					  const btTransform & trans0,
-					  const btTransform & trans1,
-					  const btGImpactShapeInterface * shape0,
-					  const btGImpactShapeInterface * shape1,btPairSet & pairset)
+	const btTransform& trans0,
+	const btTransform& trans1,
+	const btGImpactShapeInterface* shape0,
+	const btGImpactShapeInterface* shape1, btPairSet& pairset)
 {
-	if(shape0->hasBoxSet() && shape1->hasBoxSet())
+	if (shape0->hasBoxSet() && shape1->hasBoxSet())
 	{
-		btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset);
+		btGImpactBoxSet::find_collision(shape0->getBoxSet(), trans0, shape1->getBoxSet(), trans1, pairset);
 	}
 	else
 	{
@@ -283,74 +255,66 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
 		btAABB boxshape1;
 		int i = shape0->getNumChildShapes();
 
-		while(i--)
+		while (i--)
 		{
-			shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
+			shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max);
 
 			int j = shape1->getNumChildShapes();
-			while(j--)
+			while (j--)
 			{
-				shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max);
+				shape1->getChildAabb(i, trans1, boxshape1.m_min, boxshape1.m_max);
 
-				if(boxshape1.has_collision(boxshape0))
+				if (boxshape1.has_collision(boxshape0))
 				{
-					pairset.push_pair(i,j);
+					pairset.push_pair(i, j);
 				}
 			}
 		}
 	}
-
-
 }
 
-
 void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
-					  const btTransform & trans0,
-					  const btTransform & trans1,
-					  const btGImpactShapeInterface * shape0,
-					  const btCollisionShape * shape1,
-					  btAlignedObjectArray<int> & collided_primitives)
+	const btTransform& trans0,
+	const btTransform& trans1,
+	const btGImpactShapeInterface* shape0,
+	const btCollisionShape* shape1,
+	btAlignedObjectArray<int>& collided_primitives)
 {
-
 	btAABB boxshape;
 
-
-	if(shape0->hasBoxSet())
+	if (shape0->hasBoxSet())
 	{
 		btTransform trans1to0 = trans0.inverse();
 		trans1to0 *= trans1;
 
-		shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max);
+		shape1->getAabb(trans1to0, boxshape.m_min, boxshape.m_max);
 
 		shape0->getBoxSet()->boxQuery(boxshape, collided_primitives);
 	}
 	else
 	{
-		shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max);
+		shape1->getAabb(trans1, boxshape.m_min, boxshape.m_max);
 
 		btAABB boxshape0;
 		int i = shape0->getNumChildShapes();
 
-		while(i--)
+		while (i--)
 		{
-			shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
+			shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max);
 
-			if(boxshape.has_collision(boxshape0))
+			if (boxshape.has_collision(boxshape0))
 			{
 				collided_primitives.push_back(i);
 			}
 		}
-
 	}
-
 }
 
-
-void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper * body0Wrap,
-				  const btCollisionObjectWrapper * body1Wrap,
-				  const btGImpactMeshShapePart * shape0,
-				  const btGImpactMeshShapePart * shape1,
-				  const int * pairs, int pair_count)
+void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
+														const btCollisionObjectWrapper* body1Wrap,
+														const btGImpactMeshShapePart* shape0,
+														const btGImpactMeshShapePart* shape1,
+														const int* pairs, int pair_count)
 {
 	btTriangleShapeEx tri0;
 	btTriangleShapeEx tri1;
@@ -358,27 +322,22 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectW
 	shape0->lockChildShapes();
 	shape1->lockChildShapes();
 
-	const int * pair_pointer = pairs;
+	const int* pair_pointer = pairs;
 
-	while(pair_count--)
+	while (pair_count--)
 	{
-
 		m_triface0 = *(pair_pointer);
-		m_triface1 = *(pair_pointer+1);
-		pair_pointer+=2;
-
-
-
-		shape0->getBulletTriangle(m_triface0,tri0);
-		shape1->getBulletTriangle(m_triface1,tri1);
+		m_triface1 = *(pair_pointer + 1);
+		pair_pointer += 2;
 
+		shape0->getBulletTriangle(m_triface0, tri0);
+		shape1->getBulletTriangle(m_triface1, tri1);
 
 		//collide two convex shapes
-		if(tri0.overlap_test_conservative(tri1))
+		if (tri0.overlap_test_conservative(tri1))
 		{
-			convex_vs_convex_collision(body0Wrap,body1Wrap,&tri0,&tri1);
+			convex_vs_convex_collision(body0Wrap, body1Wrap, &tri0, &tri1);
 		}
-
 	}
 
 	shape0->unlockChildShapes();
@@ -386,10 +345,10 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectW
 }
 
 void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btGImpactMeshShapePart * shape0,
-					  const btGImpactMeshShapePart * shape1,
-					  const int * pairs, int pair_count)
+														const btCollisionObjectWrapper* body1Wrap,
+														const btGImpactMeshShapePart* shape0,
+														const btGImpactMeshShapePart* shape1,
+														const int* pairs, int pair_count)
 {
 	btTransform orgtrans0 = body0Wrap->getWorldTransform();
 	btTransform orgtrans1 = body1Wrap->getWorldTransform();
@@ -401,119 +360,105 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectW
 	shape0->lockChildShapes();
 	shape1->lockChildShapes();
 
-	const int * pair_pointer = pairs;
+	const int* pair_pointer = pairs;
 
-	while(pair_count--)
+	while (pair_count--)
 	{
-
 		m_triface0 = *(pair_pointer);
-		m_triface1 = *(pair_pointer+1);
-		pair_pointer+=2;
+		m_triface1 = *(pair_pointer + 1);
+		pair_pointer += 2;
 
+		shape0->getPrimitiveTriangle(m_triface0, ptri0);
+		shape1->getPrimitiveTriangle(m_triface1, ptri1);
 
-		shape0->getPrimitiveTriangle(m_triface0,ptri0);
-		shape1->getPrimitiveTriangle(m_triface1,ptri1);
-
-		#ifdef TRI_COLLISION_PROFILING
+#ifdef TRI_COLLISION_PROFILING
 		bt_begin_gim02_tri_time();
-		#endif
+#endif
 
 		ptri0.applyTransform(orgtrans0);
 		ptri1.applyTransform(orgtrans1);
 
-
 		//build planes
 		ptri0.buildTriPlane();
 		ptri1.buildTriPlane();
 		// test conservative
 
-
-
-		if(ptri0.overlap_test_conservative(ptri1))
+		if (ptri0.overlap_test_conservative(ptri1))
 		{
-			if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data))
+			if (ptri0.find_triangle_collision_clip_method(ptri1, contact_data))
 			{
-
 				int j = contact_data.m_point_count;
-				while(j--)
+				while (j--)
 				{
-
 					addContactPoint(body0Wrap, body1Wrap,
-								contact_data.m_points[j],
-								contact_data.m_separating_normal,
-								-contact_data.m_penetration_depth);
+									contact_data.m_points[j],
+									contact_data.m_separating_normal,
+									-contact_data.m_penetration_depth);
 				}
 			}
 		}
 
-		#ifdef TRI_COLLISION_PROFILING
+#ifdef TRI_COLLISION_PROFILING
 		bt_end_gim02_tri_time();
-		#endif
-
+#endif
 	}
 
 	shape0->unlockChildShapes();
 	shape1->unlockChildShapes();
-
 }
 
-
 void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
-						const btCollisionObjectWrapper* body0Wrap,
-					   	const btCollisionObjectWrapper * body1Wrap,
-					  	const btGImpactShapeInterface * shape0,
-					  	const btGImpactShapeInterface * shape1)
+	const btCollisionObjectWrapper* body0Wrap,
+	const btCollisionObjectWrapper* body1Wrap,
+	const btGImpactShapeInterface* shape0,
+	const btGImpactShapeInterface* shape1)
 {
-
-	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
+	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
+		const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0);
 		m_part0 = meshshape0->getMeshPartCount();
 
-		while(m_part0--)
+		while (m_part0--)
 		{
-			gimpact_vs_gimpact(body0Wrap,body1Wrap,meshshape0->getMeshPart(m_part0),shape1);
+			gimpact_vs_gimpact(body0Wrap, body1Wrap, meshshape0->getMeshPart(m_part0), shape1);
 		}
 
 		return;
 	}
 
-	if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
+	if (shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		const btGImpactMeshShape * meshshape1 = static_cast<const btGImpactMeshShape *>(shape1);
+		const btGImpactMeshShape* meshshape1 = static_cast<const btGImpactMeshShape*>(shape1);
 		m_part1 = meshshape1->getMeshPartCount();
 
-		while(m_part1--)
+		while (m_part1--)
 		{
-
-			gimpact_vs_gimpact(body0Wrap,body1Wrap,shape0,meshshape1->getMeshPart(m_part1));
-
+			gimpact_vs_gimpact(body0Wrap, body1Wrap, shape0, meshshape1->getMeshPart(m_part1));
 		}
 
 		return;
 	}
 
-
 	btTransform orgtrans0 = body0Wrap->getWorldTransform();
 	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btPairSet pairset;
 
-	gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset);
+	gimpact_vs_gimpact_find_pairs(orgtrans0, orgtrans1, shape0, shape1, pairset);
 
-	if(pairset.size()== 0) return;
+	if (pairset.size() == 0) return;
 
-	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
+	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
 		shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
 	{
-		const btGImpactMeshShapePart * shapepart0 = static_cast<const btGImpactMeshShapePart * >(shape0);
-		const btGImpactMeshShapePart * shapepart1 = static_cast<const btGImpactMeshShapePart * >(shape1);
-		//specialized function
-		#ifdef BULLET_TRIANGLE_COLLISION
-		collide_gjk_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
-		#else
-		collide_sat_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
-		#endif
+		const btGImpactMeshShapePart* shapepart0 = static_cast<const btGImpactMeshShapePart*>(shape0);
+		const btGImpactMeshShapePart* shapepart1 = static_cast<const btGImpactMeshShapePart*>(shape1);
+//specialized function
+#ifdef BULLET_TRIANGLE_COLLISION
+		collide_gjk_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
+#else
+		collide_sat_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
+#endif
 
 		return;
 	}
@@ -530,32 +475,32 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	bool child_has_transform1 = shape1->childrenHasTransform();
 
 	int i = pairset.size();
-	while(i--)
+	while (i--)
 	{
-		GIM_PAIR * pair = &pairset[i];
+		GIM_PAIR* pair = &pairset[i];
 		m_triface0 = pair->m_index1;
 		m_triface1 = pair->m_index2;
-		const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
-		const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
+		const btCollisionShape* colshape0 = retriever0.getChildShape(m_triface0);
+		const btCollisionShape* colshape1 = retriever1.getChildShape(m_triface1);
 
 		btTransform tr0 = body0Wrap->getWorldTransform();
 		btTransform tr1 = body1Wrap->getWorldTransform();
 
-		if(child_has_transform0)
+		if (child_has_transform0)
 		{
-			tr0 = orgtrans0*shape0->getChildTransform(m_triface0);
+			tr0 = orgtrans0 * shape0->getChildTransform(m_triface0);
 		}
 
-		if(child_has_transform1)
+		if (child_has_transform1)
 		{
-			tr1 = orgtrans1*shape1->getChildTransform(m_triface1);
+			tr1 = orgtrans1 * shape1->getChildTransform(m_triface1);
 		}
 
-		btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0,m_part0,m_triface0);
-		btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1,m_part1,m_triface1);
+		btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), tr0, m_part0, m_triface0);
+		btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), tr1, m_part1, m_triface1);
 
 		//collide two convex shapes
-		convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1);
+		convex_vs_convex_collision(&ob0, &ob1, colshape0, colshape1);
 	}
 
 	shape0->unlockChildShapes();
@@ -563,159 +508,149 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 }
 
 void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
-				  const btCollisionObjectWrapper * body1Wrap,
-				  const btGImpactShapeInterface * shape0,
-				  const btCollisionShape * shape1,bool swapped)
+												   const btCollisionObjectWrapper* body1Wrap,
+												   const btGImpactShapeInterface* shape0,
+												   const btCollisionShape* shape1, bool swapped)
 {
-	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
+	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
+		const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0);
 		int& part = swapped ? m_part1 : m_part0;
 		part = meshshape0->getMeshPartCount();
 
-		while(part--)
+		while (part--)
 		{
-
 			gimpact_vs_shape(body0Wrap,
-				  body1Wrap,
-				  meshshape0->getMeshPart(part),
-				  shape1,swapped);
-
+							 body1Wrap,
+							 meshshape0->getMeshPart(part),
+							 shape1, swapped);
 		}
 
 		return;
 	}
 
-	#ifdef GIMPACT_VS_PLANE_COLLISION
-	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
+#ifdef GIMPACT_VS_PLANE_COLLISION
+	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
 		shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
 	{
-		const btGImpactMeshShapePart * shapepart = static_cast<const btGImpactMeshShapePart *>(shape0);
-		const btStaticPlaneShape * planeshape = static_cast<const btStaticPlaneShape * >(shape1);
-		gimpacttrimeshpart_vs_plane_collision(body0Wrap,body1Wrap,shapepart,planeshape,swapped);
+		const btGImpactMeshShapePart* shapepart = static_cast<const btGImpactMeshShapePart*>(shape0);
+		const btStaticPlaneShape* planeshape = static_cast<const btStaticPlaneShape*>(shape1);
+		gimpacttrimeshpart_vs_plane_collision(body0Wrap, body1Wrap, shapepart, planeshape, swapped);
 		return;
 	}
 
-	#endif
-
+#endif
 
-
-	if(shape1->isCompound())
+	if (shape1->isCompound())
 	{
-		const btCompoundShape * compoundshape = static_cast<const btCompoundShape *>(shape1);
-		gimpact_vs_compoundshape(body0Wrap,body1Wrap,shape0,compoundshape,swapped);
+		const btCompoundShape* compoundshape = static_cast<const btCompoundShape*>(shape1);
+		gimpact_vs_compoundshape(body0Wrap, body1Wrap, shape0, compoundshape, swapped);
 		return;
 	}
-	else if(shape1->isConcave())
+	else if (shape1->isConcave())
 	{
-		const btConcaveShape * concaveshape = static_cast<const btConcaveShape *>(shape1);
-		gimpact_vs_concave(body0Wrap,body1Wrap,shape0,concaveshape,swapped);
+		const btConcaveShape* concaveshape = static_cast<const btConcaveShape*>(shape1);
+		gimpact_vs_concave(body0Wrap, body1Wrap, shape0, concaveshape, swapped);
 		return;
 	}
 
-
 	btTransform orgtrans0 = body0Wrap->getWorldTransform();
 
 	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btAlignedObjectArray<int> collided_results;
 
-	gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results);
-
-	if(collided_results.size() == 0) return;
+	gimpact_vs_shape_find_pairs(orgtrans0, orgtrans1, shape0, shape1, collided_results);
 
+	if (collided_results.size() == 0) return;
 
 	shape0->lockChildShapes();
 
 	GIM_ShapeRetriever retriever0(shape0);
 
-
 	bool child_has_transform0 = shape0->childrenHasTransform();
 
-
 	int i = collided_results.size();
 
-	while(i--)
+	while (i--)
 	{
 		int child_index = collided_results[i];
-        if(swapped)
-    		m_triface1 = child_index;
-        else
-            m_triface0 = child_index;
+		if (swapped)
+			m_triface1 = child_index;
+		else
+			m_triface0 = child_index;
 
-		const btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
+		const btCollisionShape* colshape0 = retriever0.getChildShape(child_index);
 
 		btTransform tr0 = body0Wrap->getWorldTransform();
 
-		if(child_has_transform0)
+		if (child_has_transform0)
 		{
-			tr0 = orgtrans0*shape0->getChildTransform(child_index);
+			tr0 = orgtrans0 * shape0->getChildTransform(child_index);
 		}
 
-		btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
+		btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
 		const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap();
-		
-		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob0.getCollisionObject())
+
+		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject())
 		{
 			m_resultOut->setBody0Wrap(&ob0);
-		} else
+		}
+		else
 		{
 			m_resultOut->setBody1Wrap(&ob0);
 		}
 
 		//collide two shapes
-		if(swapped)
+		if (swapped)
 		{
-			
-			shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0);
+			shape_vs_shape_collision(body1Wrap, &ob0, shape1, colshape0);
 		}
 		else
 		{
-			
-			shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1);
+			shape_vs_shape_collision(&ob0, body1Wrap, colshape0, shape1);
 		}
 		m_resultOut->setBody0Wrap(prevObj0);
-
 	}
 
 	shape0->unlockChildShapes();
-
 }
 
 void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
-				  const btCollisionObjectWrapper* body1Wrap,
-				  const btGImpactShapeInterface * shape0,
-				  const btCompoundShape * shape1,bool swapped)
+														   const btCollisionObjectWrapper* body1Wrap,
+														   const btGImpactShapeInterface* shape0,
+														   const btCompoundShape* shape1, bool swapped)
 {
 	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	int i = shape1->getNumChildShapes();
-	while(i--)
+	while (i--)
 	{
+		const btCollisionShape* colshape1 = shape1->getChildShape(i);
+		btTransform childtrans1 = orgtrans1 * shape1->getChildTransform(i);
 
-		const btCollisionShape * colshape1 = shape1->getChildShape(i);
-		btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
+		btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), childtrans1, -1, i);
 
-		btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1,-1,i);
-		
 		const btCollisionObjectWrapper* tmp = 0;
-		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
+		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
 		{
 			tmp = m_resultOut->getBody0Wrap();
 			m_resultOut->setBody0Wrap(&ob1);
-		} else
+		}
+		else
 		{
 			tmp = m_resultOut->getBody1Wrap();
 			m_resultOut->setBody1Wrap(&ob1);
 		}
 		//collide child shape
 		gimpact_vs_shape(body0Wrap, &ob1,
-					  shape0,colshape1,swapped);
+						 shape0, colshape1, swapped);
 
-		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
+		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
 		{
 			m_resultOut->setBody0Wrap(tmp);
-		} else
+		}
+		else
 		{
 			m_resultOut->setBody1Wrap(tmp);
 		}
@@ -723,27 +658,25 @@ void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObje
 }
 
 void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
-					  const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactMeshShapePart * shape0,
-					  const btStaticPlaneShape * shape1,bool swapped)
+	const btCollisionObjectWrapper* body0Wrap,
+	const btCollisionObjectWrapper* body1Wrap,
+	const btGImpactMeshShapePart* shape0,
+	const btStaticPlaneShape* shape1, bool swapped)
 {
-
-
 	btTransform orgtrans0 = body0Wrap->getWorldTransform();
 	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
-	const btPlaneShape * planeshape = static_cast<const btPlaneShape *>(shape1);
+	const btPlaneShape* planeshape = static_cast<const btPlaneShape*>(shape1);
 	btVector4 plane;
-	planeshape->get_plane_equation_transformed(orgtrans1,plane);
+	planeshape->get_plane_equation_transformed(orgtrans1, plane);
 
 	//test box against plane
 
 	btAABB tribox;
-	shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max);
+	shape0->getAabb(orgtrans0, tribox.m_min, tribox.m_max);
 	tribox.increment_margin(planeshape->getMargin());
 
-	if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return;
+	if (tribox.plane_classify(plane) != BT_CONST_COLLIDE_PLANE) return;
 
 	shape0->lockChildShapes();
 
@@ -751,28 +684,28 @@ void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
 
 	btVector3 vertex;
 	int vi = shape0->getVertexCount();
-	while(vi--)
+	while (vi--)
 	{
-		shape0->getVertex(vi,vertex);
+		shape0->getVertex(vi, vertex);
 		vertex = orgtrans0(vertex);
 
 		btScalar distance = vertex.dot(plane) - plane[3] - margin;
 
-		if(distance<0.0)//add contact
+		if (distance < 0.0)  //add contact
 		{
-			if(swapped)
+			if (swapped)
 			{
 				addContactPoint(body1Wrap, body0Wrap,
-					vertex,
-					-plane,
-					distance);
+								vertex,
+								-plane,
+								distance);
 			}
 			else
 			{
 				addContactPoint(body0Wrap, body1Wrap,
-					vertex,
-					plane,
-					distance);
+								vertex,
+								plane,
+								distance);
 			}
 		}
 	}
@@ -780,69 +713,64 @@ void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
 	shape0->unlockChildShapes();
 }
 
-
-
-
-class btGImpactTriangleCallback: public btTriangleCallback
+class btGImpactTriangleCallback : public btTriangleCallback
 {
 public:
-	btGImpactCollisionAlgorithm * algorithm;
-	const btCollisionObjectWrapper * body0Wrap;
-	const btCollisionObjectWrapper * body1Wrap;
-	const btGImpactShapeInterface * gimpactshape0;
+	btGImpactCollisionAlgorithm* algorithm;
+	const btCollisionObjectWrapper* body0Wrap;
+	const btCollisionObjectWrapper* body1Wrap;
+	const btGImpactShapeInterface* gimpactshape0;
 	bool swapped;
 	btScalar margin;
 
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 	{
-		btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]);
+		btTriangleShapeEx tri1(triangle[0], triangle[1], triangle[2]);
 		tri1.setMargin(margin);
-        if(swapped)
-        {
-            algorithm->setPart0(partId);
-            algorithm->setFace0(triangleIndex);
-        }
-        else
-        {
-            algorithm->setPart1(partId);
-            algorithm->setFace1(triangleIndex);
-        }
-
-		btCollisionObjectWrapper ob1Wrap(body1Wrap,&tri1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),partId,triangleIndex);
-		const btCollisionObjectWrapper * tmp = 0;
-
-		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
+		if (swapped)
+		{
+			algorithm->setPart0(partId);
+			algorithm->setFace0(triangleIndex);
+		}
+		else
+		{
+			algorithm->setPart1(partId);
+			algorithm->setFace1(triangleIndex);
+		}
+
+		btCollisionObjectWrapper ob1Wrap(body1Wrap, &tri1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), partId, triangleIndex);
+		const btCollisionObjectWrapper* tmp = 0;
+
+		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject())
 		{
 			tmp = algorithm->internalGetResultOut()->getBody0Wrap();
 			algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap);
-		} else
+		}
+		else
 		{
 			tmp = algorithm->internalGetResultOut()->getBody1Wrap();
 			algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap);
 		}
-		
+
 		algorithm->gimpact_vs_shape(
-							body0Wrap,&ob1Wrap,gimpactshape0,&tri1,swapped);
+			body0Wrap, &ob1Wrap, gimpactshape0, &tri1, swapped);
 
-		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
+		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject())
 		{
 			algorithm->internalGetResultOut()->setBody0Wrap(tmp);
-		} else
+		}
+		else
 		{
 			algorithm->internalGetResultOut()->setBody1Wrap(tmp);
 		}
-
 	}
 };
 
-
-
-
 void btGImpactCollisionAlgorithm::gimpact_vs_concave(
-				  const btCollisionObjectWrapper* body0Wrap,
-				  const btCollisionObjectWrapper * body1Wrap,
-				  const btGImpactShapeInterface * shape0,
-				  const btConcaveShape * shape1,bool swapped)
+	const btCollisionObjectWrapper* body0Wrap,
+	const btCollisionObjectWrapper* body1Wrap,
+	const btGImpactShapeInterface* shape0,
+	const btConcaveShape* shape1, bool swapped)
 {
 	//create the callback
 	btGImpactTriangleCallback tricallback;
@@ -858,75 +786,71 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
 
 	gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform();
 
-	btVector3 minAABB,maxAABB;
-	shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
-
-	shape1->processAllTriangles(&tricallback,minAABB,maxAABB);
+	btVector3 minAABB, maxAABB;
+	shape0->getAabb(gimpactInConcaveSpace, minAABB, maxAABB);
 
+	shape1->processAllTriangles(&tricallback, minAABB, maxAABB);
 }
 
-
-
-void btGImpactCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-    clearCache();
+	clearCache();
 
-    m_resultOut = resultOut;
+	m_resultOut = resultOut;
 	m_dispatchInfo = &dispatchInfo;
-    const btGImpactShapeInterface * gimpactshape0;
-    const btGImpactShapeInterface * gimpactshape1;
+	const btGImpactShapeInterface* gimpactshape0;
+	const btGImpactShapeInterface* gimpactshape1;
 
-	if (body0Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
+	if (body0Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
 	{
-		gimpactshape0 = static_cast<const btGImpactShapeInterface *>(body0Wrap->getCollisionShape());
+		gimpactshape0 = static_cast<const btGImpactShapeInterface*>(body0Wrap->getCollisionShape());
 
-		if( body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+		if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
 		{
-			gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
+			gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
 
-			gimpact_vs_gimpact(body0Wrap,body1Wrap,gimpactshape0,gimpactshape1);
+			gimpact_vs_gimpact(body0Wrap, body1Wrap, gimpactshape0, gimpactshape1);
 		}
 		else
 		{
-			gimpact_vs_shape(body0Wrap,body1Wrap,gimpactshape0,body1Wrap->getCollisionShape(),false);
+			gimpact_vs_shape(body0Wrap, body1Wrap, gimpactshape0, body1Wrap->getCollisionShape(), false);
 		}
-
 	}
-	else if (body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+	else if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
 	{
-		gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
+		gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
 
-		gimpact_vs_shape(body1Wrap,body0Wrap,gimpactshape1,body0Wrap->getCollisionShape(),true);
+		gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true);
 	}
-}
 
+	// Ensure that gContactProcessedCallback is called for concave shapes.
+	if (getLastManifold())
+	{
+		m_resultOut->refreshContactPoints();
+	}
+}
 
-btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	return 1.f;
-
 }
 
 ///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
 
-
-
 //! Use this function for register the algorithm externally
-void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher)
+void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher* dispatcher)
 {
-
 	static btGImpactCollisionAlgorithm::CreateFunc s_gimpact_cf;
 
 	int i;
 
-	for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
 	{
-		dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&s_gimpact_cf);
+		dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE, i, &s_gimpact_cf);
 	}
 
-	for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
 	{
-		dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&s_gimpact_cf);
+		dispatcher->registerCollisionCreateFunc(i, GIMPACT_SHAPE_PROXYTYPE, &s_gimpact_cf);
 	}
-
 }
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
index 3e5675f729..a368c8a0c0 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
@@ -42,7 +42,6 @@ class btDispatcher;
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-
 //! Collision Algorithm for GImpact Shapes
 /*!
 For register this algorithm in Bullet, proceed as following:
@@ -54,36 +53,35 @@ btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
 class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 protected:
-	btCollisionAlgorithm * m_convex_algorithm;
-    btPersistentManifold * m_manifoldPtr;
+	btCollisionAlgorithm* m_convex_algorithm;
+	btPersistentManifold* m_manifoldPtr;
 	btManifoldResult* m_resultOut;
-	const btDispatcherInfo * m_dispatchInfo;
+	const btDispatcherInfo* m_dispatchInfo;
 	int m_triface0;
 	int m_part0;
 	int m_triface1;
 	int m_part1;
 
-
 	//! Creates a new contact point
-	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
+	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0, const btCollisionObject* body1)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1);
 		return m_manifoldPtr;
 	}
 
 	SIMD_FORCE_INLINE void destroyConvexAlgorithm()
 	{
-		if(m_convex_algorithm)
+		if (m_convex_algorithm)
 		{
 			m_convex_algorithm->~btCollisionAlgorithm();
-			m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
+			m_dispatcher->freeCollisionAlgorithm(m_convex_algorithm);
 			m_convex_algorithm = NULL;
 		}
 	}
 
 	SIMD_FORCE_INLINE void destroyContactManifolds()
 	{
-		if(m_manifoldPtr == NULL) return;
+		if (m_manifoldPtr == NULL) return;
 		m_dispatcher->releaseManifold(m_manifoldPtr);
 		m_manifoldPtr = NULL;
 	}
@@ -104,207 +102,187 @@ protected:
 		return m_manifoldPtr;
 	}
 
-
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		if(getLastManifold() == 0)
+		if (getLastManifold() == 0)
 		{
-			newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+			newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		}
 
 		m_resultOut->setPersistentManifold(getLastManifold());
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	SIMD_FORCE_INLINE btCollisionAlgorithm* newAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		checkManifold(body0Wrap,body1Wrap);
+		checkManifold(body0Wrap, body1Wrap);
 
-		btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
-				body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
-		return convex_algorithm ;
+		btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm(
+			body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
+		return convex_algorithm;
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		if(m_convex_algorithm) return;
-		m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
+		if (m_convex_algorithm) return;
+		m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap);
 	}
 
+	void addContactPoint(const btCollisionObjectWrapper* body0Wrap,
+						 const btCollisionObjectWrapper* body1Wrap,
+						 const btVector3& point,
+						 const btVector3& normal,
+						 btScalar distance);
 
-
-
-	void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
-					const btCollisionObjectWrapper * body1Wrap,
-					const btVector3 & point,
-					const btVector3 & normal,
-					btScalar distance);
-
-//! Collision routines
-//!@{
+	//! Collision routines
+	//!@{
 
 	void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
-				  const btCollisionObjectWrapper* body1Wrap,
-				  const btGImpactMeshShapePart * shape0,
-				  const btGImpactMeshShapePart * shape1,
-				  const int * pairs, int pair_count);
+							   const btCollisionObjectWrapper* body1Wrap,
+							   const btGImpactMeshShapePart* shape0,
+							   const btGImpactMeshShapePart* shape1,
+							   const int* pairs, int pair_count);
 
 	void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btGImpactMeshShapePart * shape0,
-					  const btGImpactMeshShapePart * shape1,
-					  const int * pairs, int pair_count);
-
-
-
+							   const btCollisionObjectWrapper* body1Wrap,
+							   const btGImpactMeshShapePart* shape0,
+							   const btGImpactMeshShapePart* shape1,
+							   const int* pairs, int pair_count);
 
 	void shape_vs_shape_collision(
-					  const btCollisionObjectWrapper* body0,
-					  const btCollisionObjectWrapper* body1,
-					  const btCollisionShape * shape0,
-					  const btCollisionShape * shape1);
+		const btCollisionObjectWrapper* body0,
+		const btCollisionObjectWrapper* body1,
+		const btCollisionShape* shape0,
+		const btCollisionShape* shape1);
 
 	void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btCollisionShape* shape0,
-					  const btCollisionShape* shape1);
-
-
+									const btCollisionObjectWrapper* body1Wrap,
+									const btCollisionShape* shape0,
+									const btCollisionShape* shape1);
 
 	void gimpact_vs_gimpact_find_pairs(
-					  const btTransform & trans0,
-					  const btTransform & trans1,
-					  const btGImpactShapeInterface * shape0,
-					  const btGImpactShapeInterface * shape1,btPairSet & pairset);
+		const btTransform& trans0,
+		const btTransform& trans1,
+		const btGImpactShapeInterface* shape0,
+		const btGImpactShapeInterface* shape1, btPairSet& pairset);
 
 	void gimpact_vs_shape_find_pairs(
-					  const btTransform & trans0,
-					  const btTransform & trans1,
-					  const btGImpactShapeInterface * shape0,
-					  const btCollisionShape * shape1,
-					  btAlignedObjectArray<int> & collided_primitives);
-
+		const btTransform& trans0,
+		const btTransform& trans1,
+		const btGImpactShapeInterface* shape0,
+		const btCollisionShape* shape1,
+		btAlignedObjectArray<int>& collided_primitives);
 
 	void gimpacttrimeshpart_vs_plane_collision(
-					  const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactMeshShapePart * shape0,
-					  const btStaticPlaneShape * shape1,bool swapped);
-
+		const btCollisionObjectWrapper* body0Wrap,
+		const btCollisionObjectWrapper* body1Wrap,
+		const btGImpactMeshShapePart* shape0,
+		const btStaticPlaneShape* shape1, bool swapped);
 
 public:
-
-	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btGImpactCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr)
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
-	btManifoldResult*	internalGetResultOut()
+	btManifoldResult* internalGetResultOut()
 	{
 		return m_resultOut;
 	}
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
-			return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
+			return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap);
 		}
 	};
 
 	//! Use this function for register the algorithm externally
-	static void registerAlgorithm(btCollisionDispatcher * dispatcher);
+	static void registerAlgorithm(btCollisionDispatcher* dispatcher);
 #ifdef TRI_COLLISION_PROFILING
 	//! Gets the average time in miliseconds of tree collisions
 	static float getAverageTreeCollisionTime();
 
 	//! Gets the average time in miliseconds of triangle collisions
 	static float getAverageTriangleCollisionTime();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
 	//! Collides two gimpact shapes
 	/*!
 	\pre shape0 and shape1 couldn't be btGImpactMeshShape objects
 	*/
 
-
 	void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btGImpactShapeInterface * shape1);
+							const btCollisionObjectWrapper* body1Wrap,
+							const btGImpactShapeInterface* shape0,
+							const btGImpactShapeInterface* shape1);
 
 	void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btCollisionShape * shape1,bool swapped);
+						  const btCollisionObjectWrapper* body1Wrap,
+						  const btGImpactShapeInterface* shape0,
+						  const btCollisionShape* shape1, bool swapped);
 
-	void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btCompoundShape * shape1,bool swapped);
+	void gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
+								  const btCollisionObjectWrapper* body1Wrap,
+								  const btGImpactShapeInterface* shape0,
+								  const btCompoundShape* shape1, bool swapped);
 
 	void gimpact_vs_concave(
-					  const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btConcaveShape * shape1,bool swapped);
-
-
-
-
-		/// Accessor/Mutator pairs for Part and triangleID
-    void 	setFace0(int value) 
-    { 
-    	m_triface0 = value; 
-    }
-    int getFace0() 
-    { 
-    	return m_triface0; 
-    }
-    void setFace1(int value) 
-    { 
-    	m_triface1 = value; 
-    }
-    int getFace1() 
-    { 
-    	return m_triface1; 
-    }
-    void setPart0(int value) 
-    { 
-    	m_part0 = value; 
-    }
-    int getPart0() 
-    { 
-    	return m_part0; 
-    }
-    void setPart1(int value) 
-    { 
-    	m_part1 = value; 
-		}
-    int getPart1() 
-    { 
-    	return m_part1; 
-    }
+		const btCollisionObjectWrapper* body0Wrap,
+		const btCollisionObjectWrapper* body1Wrap,
+		const btGImpactShapeInterface* shape0,
+		const btConcaveShape* shape1, bool swapped);
 
+	/// Accessor/Mutator pairs for Part and triangleID
+	void setFace0(int value)
+	{
+		m_triface0 = value;
+	}
+	int getFace0()
+	{
+		return m_triface0;
+	}
+	void setFace1(int value)
+	{
+		m_triface1 = value;
+	}
+	int getFace1()
+	{
+		return m_triface1;
+	}
+	void setPart0(int value)
+	{
+		m_part0 = value;
+	}
+	int getPart0()
+	{
+		return m_part0;
+	}
+	void setPart1(int value)
+	{
+		m_part1 = value;
+	}
+	int getPart1()
+	{
+		return m_part1;
+	}
 };
 
-
 //algorithm details
 //#define BULLET_TRIANGLE_COLLISION 1
 #define GIMPACT_VS_PLANE_COLLISION 1
 
-
-
-#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
+#endif  //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h
index 2543aefcfc..1cde46ed8b 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h
@@ -21,40 +21,36 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef GIMPACT_MASS_UTIL_H
 #define GIMPACT_MASS_UTIL_H
 
 #include "LinearMath/btTransform.h"
 
-
-
 SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed(
-	const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform)
+	const btVector3& source_inertia, const btVector3& added_inertia, const btTransform& transform)
 {
-	btMatrix3x3  rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose();
+	btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose();
 
 	btScalar x2 = transform.getOrigin()[0];
-	x2*= x2;
+	x2 *= x2;
 	btScalar y2 = transform.getOrigin()[1];
-	y2*= y2;
+	y2 *= y2;
 	btScalar z2 = transform.getOrigin()[2];
-	z2*= z2;
+	z2 *= z2;
 
-	btScalar ix = rotatedTensor[0][0]*(y2+z2);
-	btScalar iy = rotatedTensor[1][1]*(x2+z2);
-	btScalar iz = rotatedTensor[2][2]*(x2+y2);
+	btScalar ix = rotatedTensor[0][0] * (y2 + z2);
+	btScalar iy = rotatedTensor[1][1] * (x2 + z2);
+	btScalar iz = rotatedTensor[2][2] * (x2 + y2);
 
-	return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz);
+	return btVector3(source_inertia[0] + ix, source_inertia[1] + iy, source_inertia[2] + iz);
 }
 
-SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass)
+SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3& point, btScalar mass)
 {
-	btScalar x2 = point[0]*point[0];
-	btScalar y2 = point[1]*point[1];
-	btScalar z2 = point[2]*point[2];
-	return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2));
+	btScalar x2 = point[0] * point[0];
+	btScalar y2 = point[1] * point[1];
+	btScalar z2 = point[2] * point[2];
+	return btVector3(mass * (y2 + z2), mass * (x2 + z2), mass * (x2 + y2));
 }
 
-
-#endif //GIMPACT_MESH_SHAPE_H
+#endif  //GIMPACT_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
index 4528758c37..b81fc97044 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
@@ -27,11 +27,9 @@ subject to the following restrictions:
 #ifdef TRI_COLLISION_PROFILING
 btClock g_q_tree_clock;
 
-
 float g_q_accum_tree_collision_time = 0;
 int g_q_count_traversing = 0;
 
-
 void bt_begin_gim02_q_tree_time()
 {
 	g_q_tree_clock.reset();
@@ -43,11 +41,10 @@ void bt_end_gim02_q_tree_time()
 	g_q_count_traversing++;
 }
 
-
 //! Gets the average time in miliseconds of tree collisions
 float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
 {
-	if(g_q_count_traversing == 0) return 0;
+	if (g_q_count_traversing == 0) return 0;
 
 	float avgtime = g_q_accum_tree_collision_time;
 	avgtime /= (float)g_q_count_traversing;
@@ -56,99 +53,92 @@ float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
 	g_q_count_traversing = 0;
 	return avgtime;
 
-//	float avgtime = g_q_count_traversing;
-//	g_q_count_traversing = 0;
-//	return avgtime;
-
+	//	float avgtime = g_q_count_traversing;
+	//	g_q_count_traversing = 0;
+	//	return avgtime;
 }
 
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
 /////////////////////// btQuantizedBvhTree /////////////////////////////////
 
 void btQuantizedBvhTree::calc_quantization(
-	GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
+	GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin)
 {
 	//calc globa box
 	btAABB global_bound;
 	global_bound.invalidate();
 
-	for (int i=0;i<primitive_boxes.size() ;i++ )
+	for (int i = 0; i < primitive_boxes.size(); i++)
 	{
 		global_bound.merge(primitive_boxes[i].m_bound);
 	}
 
 	bt_calc_quantization_parameters(
-		m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization,global_bound.m_min,global_bound.m_max,boundMargin);
-
+		m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization, global_bound.m_min, global_bound.m_max, boundMargin);
 }
 
-
-
 int btQuantizedBvhTree::_calc_splitting_axis(
-	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
 {
-
 	int i;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
-	int numIndices = endIndex-startIndex;
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
+	int numIndices = endIndex - startIndex;
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		means+=center;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
+	means *= (btScalar(1.) / (btScalar)numIndices);
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		btVector3 diff2 = center-means;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		btVector3 diff2 = center - means;
 		diff2 = diff2 * diff2;
 		variance += diff2;
 	}
-	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
 
 	return variance.maxAxis();
 }
 
-
 int btQuantizedBvhTree::_sort_and_calc_splitting_index(
-	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex,
 	int endIndex, int splitAxis)
 {
 	int i;
-	int splitIndex =startIndex;
+	int splitIndex = startIndex;
 	int numIndices = endIndex - startIndex;
 
 	// average of centers
 	btScalar splitValue = 0.0f;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	for (i=startIndex;i<endIndex;i++)
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		means+=center;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
+	means *= (btScalar(1.) / (btScalar)numIndices);
 
 	splitValue = means[splitAxis];
 
-
 	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
 		if (center[splitAxis] > splitValue)
 		{
 			//swap
-			primitive_boxes.swap(i,splitIndex);
+			primitive_boxes.swap(i, splitIndex);
 			//swapLeafNodes(i,splitIndex);
 			splitIndex++;
 		}
@@ -163,32 +153,30 @@ int btQuantizedBvhTree::_sort_and_calc_splitting_index(
 	//bool unbalanced2 = true;
 
 	//this should be safe too:
-	int rangeBalancedIndices = numIndices/3;
-	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+	int rangeBalancedIndices = numIndices / 3;
+	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
 
 	if (unbalanced)
 	{
-		splitIndex = startIndex+ (numIndices>>1);
+		splitIndex = startIndex + (numIndices >> 1);
 	}
 
-	btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+	btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
 
 	return splitIndex;
-
 }
 
-
-void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex)
 {
 	int curIndex = m_num_nodes;
 	m_num_nodes++;
 
-	btAssert((endIndex-startIndex)>0);
+	btAssert((endIndex - startIndex) > 0);
 
-	if ((endIndex-startIndex)==1)
+	if ((endIndex - startIndex) == 1)
 	{
-	    //We have a leaf node
-	    setNodeBound(curIndex,primitive_boxes[startIndex].m_bound);
+		//We have a leaf node
+		setNodeBound(curIndex, primitive_boxes[startIndex].m_bound);
 		m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
 
 		return;
@@ -196,48 +184,43 @@ void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, i
 	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
 
 	//split axis
-	int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+	int splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
 
 	splitIndex = _sort_and_calc_splitting_index(
-			primitive_boxes,startIndex,endIndex,
-			splitIndex//split axis
-			);
-
+		primitive_boxes, startIndex, endIndex,
+		splitIndex  //split axis
+	);
 
 	//calc this node bounding box
 
 	btAABB node_bound;
 	node_bound.invalidate();
 
-	for (int i=startIndex;i<endIndex;i++)
+	for (int i = startIndex; i < endIndex; i++)
 	{
 		node_bound.merge(primitive_boxes[i].m_bound);
 	}
 
-	setNodeBound(curIndex,node_bound);
-
+	setNodeBound(curIndex, node_bound);
 
 	//build left branch
-	_build_sub_tree(primitive_boxes, startIndex, splitIndex );
-
+	_build_sub_tree(primitive_boxes, startIndex, splitIndex);
 
 	//build right branch
-	 _build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+	_build_sub_tree(primitive_boxes, splitIndex, endIndex);
 
 	m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
-
-
 }
 
 //! stackless build tree
 void btQuantizedBvhTree::build_tree(
-	GIM_BVH_DATA_ARRAY & primitive_boxes)
+	GIM_BVH_DATA_ARRAY& primitive_boxes)
 {
 	calc_quantization(primitive_boxes);
 	// initialize node count to 0
 	m_num_nodes = 0;
 	// allocate nodes
-	m_node_array.resize(primitive_boxes.size()*2);
+	m_node_array.resize(primitive_boxes.size() * 2);
 
 	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
 }
@@ -247,13 +230,13 @@ void btQuantizedBvhTree::build_tree(
 void btGImpactQuantizedBvh::refit()
 {
 	int nodecount = getNodeCount();
-	while(nodecount--)
+	while (nodecount--)
 	{
-		if(isLeafNode(nodecount))
+		if (isLeafNode(nodecount))
 		{
 			btAABB leafbox;
-			m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox);
-			setNodeBound(nodecount,leafbox);
+			m_primitive_manager->get_primitive_box(getNodeData(nodecount), leafbox);
+			setNodeBound(nodecount, leafbox);
 		}
 		else
 		{
@@ -265,20 +248,20 @@ void btGImpactQuantizedBvh::refit()
 			btAABB temp_box;
 
 			int child_node = getLeftNode(nodecount);
-			if(child_node)
+			if (child_node)
 			{
-				getNodeBound(child_node,temp_box);
+				getNodeBound(child_node, temp_box);
 				bound.merge(temp_box);
 			}
 
 			child_node = getRightNode(nodecount);
-			if(child_node)
+			if (child_node)
 			{
-				getNodeBound(child_node,temp_box);
+				getNodeBound(child_node, temp_box);
 				bound.merge(temp_box);
 			}
 
-			setNodeBound(nodecount,bound);
+			setNodeBound(nodecount, bound);
 		}
 	}
 }
@@ -290,17 +273,17 @@ void btGImpactQuantizedBvh::buildSet()
 	GIM_BVH_DATA_ARRAY primitive_boxes;
 	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
 
-	for (int i = 0;i<primitive_boxes.size() ;i++ )
+	for (int i = 0; i < primitive_boxes.size(); i++)
 	{
-		 m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound);
-		 primitive_boxes[i].m_data = i;
+		m_primitive_manager->get_primitive_box(i, primitive_boxes[i].m_bound);
+		primitive_boxes[i].m_data = i;
 	}
 
 	m_box_tree.build_tree(primitive_boxes);
 }
 
 //! returns the indices of the primitives in the m_primitive_manager
-bool btGImpactQuantizedBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const
+bool btGImpactQuantizedBvh::boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const
 {
 	int curIndex = 0;
 	int numNodes = getNodeCount();
@@ -310,16 +293,14 @@ bool btGImpactQuantizedBvh::boxQuery(const btAABB & box, btAlignedObjectArray<in
 	unsigned short quantizedMin[3];
 	unsigned short quantizedMax[3];
 
-	m_box_tree.quantizePoint(quantizedMin,box.m_min);
-	m_box_tree.quantizePoint(quantizedMax,box.m_max);
-
+	m_box_tree.quantizePoint(quantizedMin, box.m_min);
+	m_box_tree.quantizePoint(quantizedMax, box.m_max);
 
 	while (curIndex < numNodes)
 	{
-
 		//catch bugs in tree data
 
-		bool aabbOverlap = m_box_tree.testQuantizedBoxOverlapp(curIndex, quantizedMin,quantizedMax);
+		bool aabbOverlap = m_box_tree.testQuantizedBoxOverlapp(curIndex, quantizedMin, quantizedMax);
 		bool isleafnode = isLeafNode(curIndex);
 
 		if (isleafnode && aabbOverlap)
@@ -335,19 +316,17 @@ bool btGImpactQuantizedBvh::boxQuery(const btAABB & box, btAlignedObjectArray<in
 		else
 		{
 			//skip node
-			curIndex+= getEscapeNodeIndex(curIndex);
+			curIndex += getEscapeNodeIndex(curIndex);
 		}
 	}
-	if(collided_results.size()>0) return true;
+	if (collided_results.size() > 0) return true;
 	return false;
 }
 
-
-
 //! returns the indices of the primitives in the m_primitive_manager
 bool btGImpactQuantizedBvh::rayQuery(
-	const btVector3 & ray_dir,const btVector3 & ray_origin ,
-	btAlignedObjectArray<int> & collided_results) const
+	const btVector3& ray_dir, const btVector3& ray_origin,
+	btAlignedObjectArray<int>& collided_results) const
 {
 	int curIndex = 0;
 	int numNodes = getNodeCount();
@@ -355,16 +334,16 @@ bool btGImpactQuantizedBvh::rayQuery(
 	while (curIndex < numNodes)
 	{
 		btAABB bound;
-		getNodeBound(curIndex,bound);
+		getNodeBound(curIndex, bound);
 
 		//catch bugs in tree data
 
-		bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
+		bool aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
 		bool isleafnode = isLeafNode(curIndex);
 
 		if (isleafnode && aabbOverlap)
 		{
-			collided_results.push_back(getNodeData( curIndex));
+			collided_results.push_back(getNodeData(curIndex));
 		}
 
 		if (aabbOverlap || isleafnode)
@@ -375,154 +354,133 @@ bool btGImpactQuantizedBvh::rayQuery(
 		else
 		{
 			//skip node
-			curIndex+= getEscapeNodeIndex(curIndex);
+			curIndex += getEscapeNodeIndex(curIndex);
 		}
 	}
-	if(collided_results.size()>0) return true;
+	if (collided_results.size() > 0) return true;
 	return false;
 }
 
-
 SIMD_FORCE_INLINE bool _quantized_node_collision(
-	const btGImpactQuantizedBvh * boxset0, const btGImpactQuantizedBvh * boxset1,
-	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
-	int node0 ,int node1, bool complete_primitive_tests)
+	const btGImpactQuantizedBvh* boxset0, const btGImpactQuantizedBvh* boxset1,
+	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
+	int node0, int node1, bool complete_primitive_tests)
 {
 	btAABB box0;
-	boxset0->getNodeBound(node0,box0);
+	boxset0->getNodeBound(node0, box0);
 	btAABB box1;
-	boxset1->getNodeBound(node1,box1);
-
-	return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests );
-//	box1.appy_transform_trans_cache(trans_cache_1to0);
-//	return box0.has_collision(box1);
+	boxset1->getNodeBound(node1, box1);
 
+	return box0.overlapping_trans_cache(box1, trans_cache_1to0, complete_primitive_tests);
+	//	box1.appy_transform_trans_cache(trans_cache_1to0);
+	//	return box0.has_collision(box1);
 }
 
-
 //stackless recursive collision routine
 static void _find_quantized_collision_pairs_recursive(
-	const btGImpactQuantizedBvh * boxset0, const btGImpactQuantizedBvh * boxset1,
-	btPairSet * collision_pairs,
-	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
+	const btGImpactQuantizedBvh* boxset0, const btGImpactQuantizedBvh* boxset1,
+	btPairSet* collision_pairs,
+	const BT_BOX_BOX_TRANSFORM_CACHE& trans_cache_1to0,
 	int node0, int node1, bool complete_primitive_tests)
 {
+	if (_quantized_node_collision(
+			boxset0, boxset1, trans_cache_1to0,
+			node0, node1, complete_primitive_tests) == false) return;  //avoid colliding internal nodes
 
-
-
-	if( _quantized_node_collision(
-		boxset0,boxset1,trans_cache_1to0,
-		node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes
-
-	if(boxset0->isLeafNode(node0))
+	if (boxset0->isLeafNode(node0))
 	{
-		if(boxset1->isLeafNode(node1))
+		if (boxset1->isLeafNode(node1))
 		{
 			// collision result
 			collision_pairs->push_pair(
-				boxset0->getNodeData(node0),boxset1->getNodeData(node1));
+				boxset0->getNodeData(node0), boxset1->getNodeData(node1));
 			return;
 		}
 		else
 		{
-
 			//collide left recursive
 
 			_find_quantized_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								node0,boxset1->getLeftNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				node0, boxset1->getLeftNode(node1), false);
 
 			//collide right recursive
 			_find_quantized_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								node0,boxset1->getRightNode(node1),false);
-
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				node0, boxset1->getRightNode(node1), false);
 		}
 	}
 	else
 	{
-		if(boxset1->isLeafNode(node1))
+		if (boxset1->isLeafNode(node1))
 		{
-
 			//collide left recursive
 			_find_quantized_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								boxset0->getLeftNode(node0),node1,false);
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getLeftNode(node0), node1, false);
 
 			//collide right recursive
 
 			_find_quantized_collision_pairs_recursive(
-								boxset0,boxset1,
-								collision_pairs,trans_cache_1to0,
-								boxset0->getRightNode(node0),node1,false);
-
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getRightNode(node0), node1, false);
 		}
 		else
 		{
 			//collide left0 left1
 
-
-
 			_find_quantized_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getLeftNode(node0), boxset1->getLeftNode(node1), false);
 
 			//collide left0 right1
 
 			_find_quantized_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false);
-
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getLeftNode(node0), boxset1->getRightNode(node1), false);
 
 			//collide right0 left1
 
 			_find_quantized_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getRightNode(node0), boxset1->getLeftNode(node1), false);
 
 			//collide right0 right1
 
 			_find_quantized_collision_pairs_recursive(
-				boxset0,boxset1,
-				collision_pairs,trans_cache_1to0,
-				boxset0->getRightNode(node0),boxset1->getRightNode(node1),false);
+				boxset0, boxset1,
+				collision_pairs, trans_cache_1to0,
+				boxset0->getRightNode(node0), boxset1->getRightNode(node1), false);
 
-		}// else if node1 is not a leaf
-	}// else if node0 is not a leaf
+		}  // else if node1 is not a leaf
+	}      // else if node0 is not a leaf
 }
 
-
-void btGImpactQuantizedBvh::find_collision(const btGImpactQuantizedBvh * boxset0, const btTransform & trans0,
-		const btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
-		btPairSet & collision_pairs)
+void btGImpactQuantizedBvh::find_collision(const btGImpactQuantizedBvh* boxset0, const btTransform& trans0,
+										   const btGImpactQuantizedBvh* boxset1, const btTransform& trans1,
+										   btPairSet& collision_pairs)
 {
-
-	if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return;
+	if (boxset0->getNodeCount() == 0 || boxset1->getNodeCount() == 0) return;
 
 	BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
 
-	trans_cache_1to0.calc_from_homogenic(trans0,trans1);
+	trans_cache_1to0.calc_from_homogenic(trans0, trans1);
 
 #ifdef TRI_COLLISION_PROFILING
 	bt_begin_gim02_q_tree_time();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
 	_find_quantized_collision_pairs_recursive(
-		boxset0,boxset1,
-		&collision_pairs,trans_cache_1to0,0,0,true);
+		boxset0, boxset1,
+		&collision_pairs, trans_cache_1to0, 0, 0, true);
 #ifdef TRI_COLLISION_PROFILING
 	bt_end_gim02_q_tree_time();
-#endif //TRI_COLLISION_PROFILING
-
+#endif  //TRI_COLLISION_PROFILING
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
index 42e5520fc0..b231c1e832 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
@@ -28,13 +28,10 @@ subject to the following restrictions:
 #include "btQuantization.h"
 #include "btGImpactQuantizedBvhStructs.h"
 
-class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
+class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
 {
 };
 
-
-
-
 //! Basic Box tree structure
 class btQuantizedBvhTree
 {
@@ -43,16 +40,18 @@ protected:
 	GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
 	btAABB m_global_bound;
 	btVector3 m_bvhQuantization;
+
 protected:
-	void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
+	void calc_quantization(GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin = btScalar(1.0));
 
 	int _sort_and_calc_splitting_index(
-		GIM_BVH_DATA_ARRAY & primitive_boxes,
-		 int startIndex,  int endIndex, int splitAxis);
+		GIM_BVH_DATA_ARRAY& primitive_boxes,
+		int startIndex, int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
+
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
 
-	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btQuantizedBvhTree()
 	{
@@ -61,20 +60,19 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
 
 	SIMD_FORCE_INLINE void quantizePoint(
-		unsigned short * quantizedpoint, const btVector3 & point) const
+		unsigned short* quantizedpoint, const btVector3& point) const
 	{
-		bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization);
+		bt_quantize_clamp(quantizedpoint, point, m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization);
 	}
 
-
 	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
 		int node_index,
-		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+		unsigned short* quantizedMin, unsigned short* quantizedMax) const
 	{
-		return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax);
+		return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax);
 	}
 
 	SIMD_FORCE_INLINE void clearNodes()
@@ -100,41 +98,41 @@ public:
 		return m_node_array[nodeindex].getDataIndex();
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
 	{
 		bound.m_min = bt_unquantize(
 			m_node_array[nodeindex].m_quantizedAabbMin,
-			m_global_bound.m_min,m_bvhQuantization);
+			m_global_bound.m_min, m_bvhQuantization);
 
 		bound.m_max = bt_unquantize(
 			m_node_array[nodeindex].m_quantizedAabbMax,
-			m_global_bound.m_min,m_bvhQuantization);
+			m_global_bound.m_min, m_bvhQuantization);
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
 	{
-		bt_quantize_clamp(	m_node_array[nodeindex].m_quantizedAabbMin,
-							bound.m_min,
-							m_global_bound.m_min,
-							m_global_bound.m_max,
-							m_bvhQuantization);
+		bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMin,
+						  bound.m_min,
+						  m_global_bound.m_min,
+						  m_global_bound.m_max,
+						  m_bvhQuantization);
 
-		bt_quantize_clamp(	m_node_array[nodeindex].m_quantizedAabbMax,
-							bound.m_max,
-							m_global_bound.m_min,
-							m_global_bound.m_max,
-							m_bvhQuantization);
+		bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMax,
+						  bound.m_max,
+						  m_global_bound.m_min,
+						  m_global_bound.m_max,
+						  m_bvhQuantization);
 	}
 
 	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
 	{
-		return nodeindex+1;
+		return nodeindex + 1;
 	}
 
 	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
 	{
-		if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
-		return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
+		if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
+		return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
 	}
 
 	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
@@ -142,7 +140,7 @@ public:
 		return m_node_array[nodeindex].getEscapeIndex();
 	}
 
-	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const
 	{
 		return &m_node_array[index];
 	}
@@ -150,8 +148,6 @@ public:
 	//!@}
 };
 
-
-
 //! Structure for containing Boxes
 /*!
 This class offers an structure for managing a box tree of primitives.
@@ -161,13 +157,13 @@ class btGImpactQuantizedBvh
 {
 protected:
 	btQuantizedBvhTree m_box_tree;
-	btPrimitiveManagerBase * m_primitive_manager;
+	btPrimitiveManagerBase* m_primitive_manager;
 
 protected:
 	//stackless refit
 	void refit();
-public:
 
+public:
 	//! this constructor doesn't build the tree. you must call	buildSet
 	btGImpactQuantizedBvh()
 	{
@@ -175,31 +171,30 @@ public:
 	}
 
 	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager)
+	btGImpactQuantizedBvh(btPrimitiveManagerBase* primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE btAABB getGlobalBox()  const
+	SIMD_FORCE_INLINE btAABB getGlobalBox() const
 	{
 		btAABB totalbox;
 		getNodeBound(0, totalbox);
 		return totalbox;
 	}
 
-	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
+	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
+	SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return m_primitive_manager;
 	}
 
-
-//! node manager prototype functions
-///@{
+	//! node manager prototype functions
+	///@{
 
 	//! this attemps to refit the box set.
 	SIMD_FORCE_INLINE void update()
@@ -211,21 +206,21 @@ public:
 	void buildSet();
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
+	bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
-		 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
+	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box,
+										 const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
 	{
-		btAABB transbox=box;
+		btAABB transbox = box;
 		transbox.appy_transform(transform);
-		return boxQuery(transbox,collided_results);
+		return boxQuery(transbox, collided_results);
 	}
 
 	//! returns the indices of the primitives in the m_primitive_manager
 	bool rayQuery(
-		const btVector3 & ray_dir,const btVector3 & ray_origin ,
-		btAlignedObjectArray<int> & collided_results) const;
+		const btVector3& ray_dir, const btVector3& ray_origin,
+		btAlignedObjectArray<int>& collided_results) const;
 
 	//! tells if this set has hierarcht
 	SIMD_FORCE_INLINE bool hasHierarchy() const
@@ -234,7 +229,7 @@ public:
 	}
 
 	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh()  const
+	SIMD_FORCE_INLINE bool isTrimesh() const
 	{
 		return m_primitive_manager->is_trimesh();
 	}
@@ -256,17 +251,16 @@ public:
 		return m_box_tree.getNodeData(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound)  const
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
 	{
 		m_box_tree.getNodeBound(nodeindex, bound);
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
 	{
 		m_box_tree.setNodeBound(nodeindex, bound);
 	}
 
-
 	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
 	{
 		return m_box_tree.getLeftNode(nodeindex);
@@ -282,24 +276,23 @@ public:
 		return m_box_tree.getEscapeNodeIndex(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
+	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
 	{
-		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
+		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle);
 	}
 
-
-	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const
 	{
 		return m_box_tree.get_node_pointer(index);
 	}
 
 #ifdef TRI_COLLISION_PROFILING
 	static float getAverageTreeCollisionTime();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
-	static void find_collision(const btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
-		const btGImpactQuantizedBvh * boxset2, const btTransform & trans2,
-		btPairSet & collision_pairs);
+	static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1,
+							   const btGImpactQuantizedBvh* boxset2, const btTransform& trans2,
+							   btPairSet& collision_pairs);
 };
 
-#endif // GIM_BOXPRUNING_H_INCLUDED
+#endif  // GIM_BOXPRUNING_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h
index 7dd5a1b9d0..bd50cb5b87 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h
@@ -29,13 +29,14 @@ subject to the following restrictions:
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
+ATTRIBUTE_ALIGNED16(struct)
+BT_QUANTIZED_BVH_NODE
 {
 	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
+	unsigned short int m_quantizedAabbMin[3];
+	unsigned short int m_quantizedAabbMax[3];
 	//4 bytes
-	int	m_escapeIndexOrDataIndex;
+	int m_escapeIndexOrDataIndex;
 
 	BT_QUANTIZED_BVH_NODE()
 	{
@@ -45,7 +46,7 @@ ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
 	SIMD_FORCE_INLINE bool isLeafNode() const
 	{
 		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrDataIndex>=0);
+		return (m_escapeIndexOrDataIndex >= 0);
 	}
 
 	SIMD_FORCE_INLINE int getEscapeIndex() const
@@ -72,20 +73,19 @@ ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
 	}
 
 	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
-		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+		unsigned short* quantizedMin, unsigned short* quantizedMax) const
 	{
-		if(m_quantizedAabbMin[0] > quantizedMax[0] ||
-		   m_quantizedAabbMax[0] < quantizedMin[0] ||
-		   m_quantizedAabbMin[1] > quantizedMax[1] ||
-		   m_quantizedAabbMax[1] < quantizedMin[1] ||
-		   m_quantizedAabbMin[2] > quantizedMax[2] ||
-		   m_quantizedAabbMax[2] < quantizedMin[2])
+		if (m_quantizedAabbMin[0] > quantizedMax[0] ||
+			m_quantizedAabbMax[0] < quantizedMin[0] ||
+			m_quantizedAabbMin[1] > quantizedMax[1] ||
+			m_quantizedAabbMax[1] < quantizedMin[1] ||
+			m_quantizedAabbMin[2] > quantizedMax[2] ||
+			m_quantizedAabbMax[2] < quantizedMin[2])
 		{
 			return false;
 		}
 		return true;
 	}
-
 };
 
-#endif // GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
+#endif  // GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp
index 30c85e3fff..34c229a3ab 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.cpp
@@ -18,178 +18,169 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btGImpactShape.h"
 #include "btGImpactMassUtil.h"
 
-
-btGImpactMeshShapePart::btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part )
+btGImpactMeshShapePart::btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part)
 {
-    // moved from .h to .cpp because of conditional compilation
-    // (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to
-    // avoid using it in h files)
-    m_primitive_manager.m_meshInterface = meshInterface;
-    m_primitive_manager.m_part = part;
-    m_box_set.setPrimitiveManager( &m_primitive_manager );
+	// moved from .h to .cpp because of conditional compilation
+	// (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to
+	// avoid using it in h files)
+	m_primitive_manager.m_meshInterface = meshInterface;
+	m_primitive_manager.m_part = part;
+	m_box_set.setPrimitiveManager(&m_primitive_manager);
 #if BT_THREADSAFE
-    // If threadsafe is requested, this object uses a different lock/unlock
-    //  model with the btStridingMeshInterface -- lock once when the object is constructed
-    //  and unlock once in the destructor.
-    // The other way of locking and unlocking for each collision check in the narrowphase
-    // is not threadsafe.  Note these are not thread-locks, they are calls to the meshInterface's
-    // getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of
-    // pointers.  In theory a client could override the lock function to do all sorts of
-    // things like reading data from GPU memory, or decompressing data on the fly, but such things
-    // do not seem all that likely or useful, given the performance cost.
-    m_primitive_manager.lock();
+	// If threadsafe is requested, this object uses a different lock/unlock
+	//  model with the btStridingMeshInterface -- lock once when the object is constructed
+	//  and unlock once in the destructor.
+	// The other way of locking and unlocking for each collision check in the narrowphase
+	// is not threadsafe.  Note these are not thread-locks, they are calls to the meshInterface's
+	// getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of
+	// pointers.  In theory a client could override the lock function to do all sorts of
+	// things like reading data from GPU memory, or decompressing data on the fly, but such things
+	// do not seem all that likely or useful, given the performance cost.
+	m_primitive_manager.lock();
 #endif
 }
 
 btGImpactMeshShapePart::~btGImpactMeshShapePart()
 {
-    // moved from .h to .cpp because of conditional compilation
+	// moved from .h to .cpp because of conditional compilation
 #if BT_THREADSAFE
-    m_primitive_manager.unlock();
+	m_primitive_manager.unlock();
 #endif
 }
 
 void btGImpactMeshShapePart::lockChildShapes() const
 {
-    // moved from .h to .cpp because of conditional compilation
-#if ! BT_THREADSAFE
-    // called in the narrowphase -- not threadsafe!
-    void * dummy = (void*) ( m_box_set.getPrimitiveManager() );
-    TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>( dummy );
-    dummymanager->lock();
+	// moved from .h to .cpp because of conditional compilation
+#if !BT_THREADSAFE
+	// called in the narrowphase -- not threadsafe!
+	void* dummy = (void*)(m_box_set.getPrimitiveManager());
+	TrimeshPrimitiveManager* dummymanager = static_cast<TrimeshPrimitiveManager*>(dummy);
+	dummymanager->lock();
 #endif
 }
 
-void btGImpactMeshShapePart::unlockChildShapes()  const
+void btGImpactMeshShapePart::unlockChildShapes() const
 {
-    // moved from .h to .cpp because of conditional compilation
-#if ! BT_THREADSAFE
-    // called in the narrowphase -- not threadsafe!
-    void * dummy = (void*) ( m_box_set.getPrimitiveManager() );
-    TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>( dummy );
-    dummymanager->unlock();
+	// moved from .h to .cpp because of conditional compilation
+#if !BT_THREADSAFE
+	// called in the narrowphase -- not threadsafe!
+	void* dummy = (void*)(m_box_set.getPrimitiveManager());
+	TrimeshPrimitiveManager* dummymanager = static_cast<TrimeshPrimitiveManager*>(dummy);
+	dummymanager->unlock();
 #endif
 }
 
-
 #define CALC_EXACT_INERTIA 1
 
-
-void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btGImpactCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	lockChildShapes();
 #ifdef CALC_EXACT_INERTIA
-	inertia.setValue(0.f,0.f,0.f);
+	inertia.setValue(0.f, 0.f, 0.f);
 
 	int i = this->getNumChildShapes();
-	btScalar shapemass = mass/btScalar(i);
+	btScalar shapemass = mass / btScalar(i);
 
-	while(i--)
+	while (i--)
 	{
 		btVector3 temp_inertia;
-		m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);
-		if(childrenHasTransform())
+		m_childShapes[i]->calculateLocalInertia(shapemass, temp_inertia);
+		if (childrenHasTransform())
 		{
-			inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);
+			inertia = gim_inertia_add_transformed(inertia, temp_inertia, m_childTransforms[i]);
 		}
 		else
 		{
-			inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());
+			inertia = gim_inertia_add_transformed(inertia, temp_inertia, btTransform::getIdentity());
 		}
-
 	}
 
 #else
 
 	// Calc box inertia
 
-	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
-	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
-	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
+	btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
+	btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
+	btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
+	const btScalar x2 = lx * lx;
+	const btScalar y2 = ly * ly;
+	const btScalar z2 = lz * lz;
 	const btScalar scaledmass = mass * btScalar(0.08333333);
 
-	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
 
 #endif
 	unlockChildShapes();
 }
 
-
-
-void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
 	lockChildShapes();
 
-
 #ifdef CALC_EXACT_INERTIA
-	inertia.setValue(0.f,0.f,0.f);
+	inertia.setValue(0.f, 0.f, 0.f);
 
 	int i = this->getVertexCount();
-	btScalar pointmass = mass/btScalar(i);
+	btScalar pointmass = mass / btScalar(i);
 
-	while(i--)
+	while (i--)
 	{
 		btVector3 pointintertia;
-		this->getVertex(i,pointintertia);
-		pointintertia = gim_get_point_inertia(pointintertia,pointmass);
-		inertia+=pointintertia;
+		this->getVertex(i, pointintertia);
+		pointintertia = gim_get_point_inertia(pointintertia, pointmass);
+		inertia += pointintertia;
 	}
 
 #else
 
 	// Calc box inertia
 
-	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
-	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
-	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
+	btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
+	btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
+	btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
+	const btScalar x2 = lx * lx;
+	const btScalar y2 = ly * ly;
+	const btScalar z2 = lz * lz;
 	const btScalar scaledmass = mass * btScalar(0.08333333);
 
-	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
 
 #endif
 
 	unlockChildShapes();
 }
 
-void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btGImpactMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
 {
-
 #ifdef CALC_EXACT_INERTIA
-	inertia.setValue(0.f,0.f,0.f);
+	inertia.setValue(0.f, 0.f, 0.f);
 
 	int i = this->getMeshPartCount();
-	btScalar partmass = mass/btScalar(i);
+	btScalar partmass = mass / btScalar(i);
 
-	while(i--)
+	while (i--)
 	{
 		btVector3 partinertia;
-		getMeshPart(i)->calculateLocalInertia(partmass,partinertia);
-		inertia+=partinertia;
+		getMeshPart(i)->calculateLocalInertia(partmass, partinertia);
+		inertia += partinertia;
 	}
 
 #else
 
 	// Calc box inertia
 
-	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
-	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
-	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
+	btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
+	btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
+	btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
+	const btScalar x2 = lx * lx;
+	const btScalar y2 = ly * ly;
+	const btScalar z2 = lz * lz;
 	const btScalar scaledmass = mass * btScalar(0.08333333);
 
-	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+	inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
 
 #endif
 }
@@ -198,7 +189,7 @@ void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayT
 {
 }
 
-void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const
+void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const
 {
 	lockChildShapes();
 
@@ -207,7 +198,7 @@ void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback
 	rayDir.normalize();
 	m_box_set.rayQuery(rayDir, rayFrom, collided);
 
-	if(collided.size()==0)
+	if (collided.size() == 0)
 	{
 		unlockChildShapes();
 		return;
@@ -216,15 +207,15 @@ void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback
 	int part = (int)getPart();
 	btPrimitiveTriangle triangle;
 	int i = collided.size();
-	while(i--)
+	while (i--)
 	{
-		getPrimitiveTriangle(collided[i],triangle);
-		callback->processTriangle(triangle.m_vertices,part,collided[i]);
+		getPrimitiveTriangle(collided[i], triangle);
+		callback->processTriangle(triangle.m_vertices, part, collided[i]);
 	}
 	unlockChildShapes();
 }
 
-void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	lockChildShapes();
 	btAABB box;
@@ -232,9 +223,9 @@ void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,co
 	box.m_max = aabbMax;
 
 	btAlignedObjectArray<int> collided;
-	m_box_set.boxQuery(box,collided);
+	m_box_set.boxQuery(box, collided);
 
-	if(collided.size()==0)
+	if (collided.size() == 0)
 	{
 		unlockChildShapes();
 		return;
@@ -243,40 +234,38 @@ void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,co
 	int part = (int)getPart();
 	btPrimitiveTriangle triangle;
 	int i = collided.size();
-	while(i--)
+	while (i--)
 	{
-		this->getPrimitiveTriangle(collided[i],triangle);
-		callback->processTriangle(triangle.m_vertices,part,collided[i]);
+		this->getPrimitiveTriangle(collided[i], triangle);
+		callback->processTriangle(triangle.m_vertices, part, collided[i]);
 	}
 	unlockChildShapes();
-
 }
 
-void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	int i = m_mesh_parts.size();
-	while(i--)
+	while (i--)
 	{
-		m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax);
+		m_mesh_parts[i]->processAllTriangles(callback, aabbMin, aabbMax);
 	}
 }
 
-void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const
+void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const
 {
 	int i = m_mesh_parts.size();
-	while(i--)
+	while (i--)
 	{
 		m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo);
 	}
 }
 
-
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*) dataBuffer;
+	btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*)dataBuffer;
 
-	btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
+	btCollisionShape::serialize(&trimeshData->m_collisionShapeData, serializer);
 
 	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
 
@@ -288,4 +277,3 @@ const char*	btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serial
 
 	return "btGImpactMeshShapeData";
 }
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
index 9d7e40562c..5b85e87041 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
@@ -21,7 +21,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef GIMPACT_SHAPE_H
 #define GIMPACT_SHAPE_H
 
@@ -37,8 +36,7 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-#include "btGImpactQuantizedBvh.h" // box tree class
-
+#include "btGImpactQuantizedBvh.h"  // box tree class
 
 //! declare Quantized trees, (you can change to float based trees)
 typedef btGImpactQuantizedBvh btGImpactBoxSet;
@@ -50,10 +48,8 @@ enum eGIMPACT_SHAPE_TYPE
 	CONST_GIMPACT_TRIMESH_SHAPE
 };
 
-
-
 //! Helper class for tetrahedrons
-class btTetrahedronShapeEx:public btBU_Simplex1to4
+class btTetrahedronShapeEx : public btBU_Simplex1to4
 {
 public:
 	btTetrahedronShapeEx()
@@ -61,10 +57,9 @@ public:
 		m_numVertices = 4;
 	}
 
-
 	SIMD_FORCE_INLINE void setVertices(
-		const btVector3 & v0,const btVector3 & v1,
-		const btVector3 & v2,const btVector3 & v3)
+		const btVector3& v0, const btVector3& v1,
+		const btVector3& v2, const btVector3& v3)
 	{
 		m_vertices[0] = v0;
 		m_vertices[1] = v1;
@@ -74,45 +69,42 @@ public:
 	}
 };
 
-
 //! Base class for gimpact shapes
 class btGImpactShapeInterface : public btConcaveShape
 {
 protected:
-    btAABB m_localAABB;
-    bool m_needs_update;
-    btVector3  localScaling;
-    btGImpactBoxSet m_box_set;// optionally boxset
+	btAABB m_localAABB;
+	bool m_needs_update;
+	btVector3 localScaling;
+	btGImpactBoxSet m_box_set;  // optionally boxset
 
 	//! use this function for perfofm refit in bounding boxes
-    //! use this function for perfofm refit in bounding boxes
-    virtual void calcLocalAABB()
-    {
+	//! use this function for perfofm refit in bounding boxes
+	virtual void calcLocalAABB()
+	{
 		lockChildShapes();
-    	if(m_box_set.getNodeCount() == 0)
-    	{
-    		m_box_set.buildSet();
-    	}
-    	else
-    	{
-    		m_box_set.update();
-    	}
-    	unlockChildShapes();
-
-    	m_localAABB = m_box_set.getGlobalBox();
-    }
+		if (m_box_set.getNodeCount() == 0)
+		{
+			m_box_set.buildSet();
+		}
+		else
+		{
+			m_box_set.update();
+		}
+		unlockChildShapes();
 
+		m_localAABB = m_box_set.getGlobalBox();
+	}
 
 public:
 	btGImpactShapeInterface()
 	{
-		m_shapeType=GIMPACT_SHAPE_PROXYTYPE;
+		m_shapeType = GIMPACT_SHAPE_PROXYTYPE;
 		m_localAABB.invalidate();
 		m_needs_update = true;
-		localScaling.setValue(1.f,1.f,1.f);
+		localScaling.setValue(1.f, 1.f, 1.f);
 	}
 
-
 	//! performs refit operation
 	/*!
 	Updates the entire Box set of this shape.
@@ -120,47 +112,46 @@ public:
 		will does nothing.
 	\post if m_needs_update == true, then it calls calcLocalAABB();
 	*/
-    SIMD_FORCE_INLINE void updateBound()
-    {
-    	if(!m_needs_update) return;
-    	calcLocalAABB();
-    	m_needs_update  = false;
-    }
-
-    //! If the Bounding box is not updated, then this class attemps to calculate it.
-    /*!
+	SIMD_FORCE_INLINE void updateBound()
+	{
+		if (!m_needs_update) return;
+		calcLocalAABB();
+		m_needs_update = false;
+	}
+
+	//! If the Bounding box is not updated, then this class attemps to calculate it.
+	/*!
     \post Calls updateBound() for update the box set.
     */
-    void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-        btAABB transformedbox = m_localAABB;
-        transformedbox.appy_transform(t);
-        aabbMin = transformedbox.m_min;
-        aabbMax = transformedbox.m_max;
-    }
-
-    //! Tells to this object that is needed to refit the box set
-    virtual void postUpdate()
-    {
-    	m_needs_update = true;
-    }
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAABB transformedbox = m_localAABB;
+		transformedbox.appy_transform(t);
+		aabbMin = transformedbox.m_min;
+		aabbMax = transformedbox.m_max;
+	}
+
+	//! Tells to this object that is needed to refit the box set
+	virtual void postUpdate()
+	{
+		m_needs_update = true;
+	}
 
 	//! Obtains the local box, which is the global calculated box of the total of subshapes
-	SIMD_FORCE_INLINE const btAABB & getLocalBox()
+	SIMD_FORCE_INLINE const btAABB& getLocalBox()
 	{
 		return m_localAABB;
 	}
 
+	virtual int getShapeType() const
+	{
+		return GIMPACT_SHAPE_PROXYTYPE;
+	}
 
-    virtual int	getShapeType() const
-    {
-        return GIMPACT_SHAPE_PROXYTYPE;
-    }
-
-    /*!
+	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
 		localScaling = scaling;
 		postUpdate();
@@ -171,46 +162,43 @@ public:
 		return localScaling;
 	}
 
-
 	virtual void setMargin(btScalar margin)
-    {
-    	m_collisionMargin = margin;
-    	int i = getNumChildShapes();
-    	while(i--)
-    	{
+	{
+		m_collisionMargin = margin;
+		int i = getNumChildShapes();
+		while (i--)
+		{
 			btCollisionShape* child = getChildShape(i);
 			child->setMargin(margin);
-    	}
+		}
 
 		m_needs_update = true;
-    }
-
+	}
 
 	//! Subshape member functions
 	//!@{
 
 	//! Base method for determinig which kind of GIMPACT shape we get
-	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ;
+	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0;
 
 	//! gets boxset
-	SIMD_FORCE_INLINE const btGImpactBoxSet * getBoxSet() const
+	SIMD_FORCE_INLINE const btGImpactBoxSet* getBoxSet() const
 	{
 		return &m_box_set;
 	}
 
 	//! Determines if this class has a hierarchy structure for sorting its primitives
-	SIMD_FORCE_INLINE bool hasBoxSet()  const
+	SIMD_FORCE_INLINE bool hasBoxSet() const
 	{
-		if(m_box_set.getNodeCount() == 0) return false;
+		if (m_box_set.getNodeCount() == 0) return false;
 		return true;
 	}
 
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const = 0;
-
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const = 0;
 
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const  = 0;
+	virtual int getNumChildShapes() const = 0;
 
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const = 0;
@@ -221,11 +209,9 @@ public:
 	//! Determines if this shape has tetrahedrons
 	virtual bool needsRetrieveTetrahedrons() const = 0;
 
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0;
-
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0;
-
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const = 0;
 
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const = 0;
 
 	//! call when reading child shapes
 	virtual void lockChildShapes() const
@@ -237,94 +223,91 @@ public:
 	}
 
 	//! if this trimesh
-	SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const
+	SIMD_FORCE_INLINE void getPrimitiveTriangle(int index, btPrimitiveTriangle& triangle) const
 	{
-		getPrimitiveManager()->get_primitive_triangle(index,triangle);
+		getPrimitiveManager()->get_primitive_triangle(index, triangle);
 	}
 
-
 	//! Retrieves the bound from a child
-    /*!
+	/*!
     */
-    virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-        btAABB child_aabb;
-        getPrimitiveManager()->get_primitive_box(child_index,child_aabb);
-        child_aabb.appy_transform(t);
-        aabbMin = child_aabb.m_min;
-        aabbMax = child_aabb.m_max;
-    }
+	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAABB child_aabb;
+		getPrimitiveManager()->get_primitive_box(child_index, child_aabb);
+		child_aabb.appy_transform(t);
+		aabbMin = child_aabb.m_min;
+		aabbMax = child_aabb.m_max;
+	}
 
 	//! Gets the children
 	virtual btCollisionShape* getChildShape(int index) = 0;
 
-
 	//! Gets the child
 	virtual const btCollisionShape* getChildShape(int index) const = 0;
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const = 0;
+	virtual btTransform getChildTransform(int index) const = 0;
 
 	//! Sets the children transform
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform) = 0;
+	virtual void setChildTransform(int index, const btTransform& transform) = 0;
 
 	//!@}
 
-
 	//! virtual method for ray collision
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback)  const
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
 	{
-        (void) rayFrom; (void) rayTo; (void) resultCallback;
+		(void)rayFrom;
+		(void)rayTo;
+		(void)resultCallback;
 	}
 
 	//! Function for retrieve triangles.
 	/*!
 	It gives the triangles in local space
 	*/
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 	{
-        (void) callback; (void) aabbMin; (void) aabbMax;
+		(void)callback;
+		(void)aabbMin;
+		(void)aabbMax;
 	}
 
 	//! Function for retrieve triangles.
 	/*!
 	It gives the triangles in local space
 	*/
-	virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/,const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
+	virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/, const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
 	{
-		
 	}
 
 	//!@}
-
 };
 
-
 //! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once
 /*!
 This class only can manage Convex subshapes
 */
-class btGImpactCompoundShape	: public btGImpactShapeInterface
+class btGImpactCompoundShape : public btGImpactShapeInterface
 {
 public:
 	//! compound primitive manager
-	class CompoundPrimitiveManager:public btPrimitiveManagerBase
+	class CompoundPrimitiveManager : public btPrimitiveManagerBase
 	{
 	public:
 		virtual ~CompoundPrimitiveManager() {}
-		btGImpactCompoundShape * m_compoundShape;
-
+		btGImpactCompoundShape* m_compoundShape;
 
 		CompoundPrimitiveManager(const CompoundPrimitiveManager& compound)
-            : btPrimitiveManagerBase()
+			: btPrimitiveManagerBase()
 		{
 			m_compoundShape = compound.m_compoundShape;
 		}
 
-		CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape)
+		CompoundPrimitiveManager(btGImpactCompoundShape* compoundShape)
 		{
 			m_compoundShape = compoundShape;
 		}
@@ -341,13 +324,13 @@ public:
 
 		virtual int get_primitive_count() const
 		{
-			return (int )m_compoundShape->getNumChildShapes();
+			return (int)m_compoundShape->getNumChildShapes();
 		}
 
-		virtual void get_primitive_box(int prim_index ,btAABB & primbox) const
+		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
 		{
 			btTransform prim_trans;
-			if(m_compoundShape->childrenHasTransform())
+			if (m_compoundShape->childrenHasTransform())
 			{
 				prim_trans = m_compoundShape->getChildTransform(prim_index);
 			}
@@ -356,30 +339,26 @@ public:
 				prim_trans.setIdentity();
 			}
 			const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index);
-			shape->getAabb(prim_trans,primbox.m_min,primbox.m_max);
+			shape->getAabb(prim_trans, primbox.m_min, primbox.m_max);
 		}
 
-		virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const
+		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
 		{
 			btAssert(0);
-            (void) prim_index; (void) triangle;
+			(void)prim_index;
+			(void)triangle;
 		}
-
 	};
 
-
-
 protected:
 	CompoundPrimitiveManager m_primitive_manager;
-	btAlignedObjectArray<btTransform>		m_childTransforms;
-	btAlignedObjectArray<btCollisionShape*>	m_childShapes;
-
+	btAlignedObjectArray<btTransform> m_childTransforms;
+	btAlignedObjectArray<btCollisionShape*> m_childShapes;
 
 public:
-
 	btGImpactCompoundShape(bool children_has_transform = true)
 	{
-        (void) children_has_transform;
+		(void)children_has_transform;
 		m_primitive_manager.m_compoundShape = this;
 		m_box_set.setPrimitiveManager(&m_primitive_manager);
 	}
@@ -388,36 +367,33 @@ public:
 	{
 	}
 
-
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const
 	{
-		if(m_childTransforms.size()==0) return false;
+		if (m_childTransforms.size() == 0) return false;
 		return true;
 	}
 
-
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return &m_primitive_manager;
 	}
 
 	//! Obtains the compopund primitive manager
-	SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager()
+	SIMD_FORCE_INLINE CompoundPrimitiveManager* getCompoundPrimitiveManager()
 	{
 		return &m_primitive_manager;
 	}
 
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const
+	virtual int getNumChildShapes() const
 	{
 		return m_childShapes.size();
 	}
 
-
 	//! Use this method for adding children. Only Convex shapes are allowed.
-	void addChildShape(const btTransform& localTransform,btCollisionShape* shape)
+	void addChildShape(const btTransform& localTransform, btCollisionShape* shape)
 	{
 		btAssert(shape->isConvex());
 		m_childTransforms.push_back(localTransform);
@@ -444,24 +420,22 @@ public:
 	}
 
 	//! Retrieves the bound from a child
-    /*!
+	/*!
     */
-    virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-
-    	if(childrenHasTransform())
-    	{
-    		m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax);
-    	}
-    	else
-    	{
-    		m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax);
-    	}
-    }
-
+	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		if (childrenHasTransform())
+		{
+			m_childShapes[child_index]->getAabb(t * m_childTransforms[child_index], aabbMin, aabbMax);
+		}
+		else
+		{
+			m_childShapes[child_index]->getAabb(t, aabbMin, aabbMax);
+		}
+	}
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const
+	virtual btTransform getChildTransform(int index) const
 	{
 		btAssert(m_childTransforms.size() == m_childShapes.size());
 		return m_childTransforms[index];
@@ -471,7 +445,7 @@ public:
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform)
+	virtual void setChildTransform(int index, const btTransform& transform)
 	{
 		btAssert(m_childTransforms.size() == m_childShapes.size());
 		m_childTransforms[index] = transform;
@@ -490,24 +464,24 @@ public:
 		return false;
 	}
 
-
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
 	{
-        (void) prim_index; (void) triangle;
+		(void)prim_index;
+		(void)triangle;
 		btAssert(0);
 	}
 
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
 	{
-        (void) prim_index; (void) tetrahedron;
+		(void)prim_index;
+		(void)tetrahedron;
 		btAssert(0);
 	}
 
-
 	//! Calculates the exact inertia tensor for this shape
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "GImpactCompound";
 	}
@@ -516,11 +490,8 @@ public:
 	{
 		return CONST_GIMPACT_COMPOUND_SHAPE;
 	}
-
 };
 
-
-
 //! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
 /*!
 - Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh
@@ -535,21 +506,21 @@ public:
 	/*!
 	Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism
 	*/
-	class TrimeshPrimitiveManager:public btPrimitiveManagerBase
+	class TrimeshPrimitiveManager : public btPrimitiveManagerBase
 	{
 	public:
 		btScalar m_margin;
-		btStridingMeshInterface * m_meshInterface;
+		btStridingMeshInterface* m_meshInterface;
 		btVector3 m_scale;
 		int m_part;
 		int m_lock_count;
-		const unsigned char *vertexbase;
+		const unsigned char* vertexbase;
 		int numverts;
 		PHY_ScalarType type;
 		int stride;
-		const unsigned char *indexbase;
+		const unsigned char* indexbase;
 		int indexstride;
-		int  numfaces;
+		int numfaces;
 		PHY_ScalarType indicestype;
 
 		TrimeshPrimitiveManager()
@@ -557,7 +528,7 @@ public:
 			m_meshInterface = NULL;
 			m_part = 0;
 			m_margin = 0.01f;
-			m_scale = btVector3(1.f,1.f,1.f);
+			m_scale = btVector3(1.f, 1.f, 1.f);
 			m_lock_count = 0;
 			vertexbase = 0;
 			numverts = 0;
@@ -567,8 +538,8 @@ public:
 			numfaces = 0;
 		}
 
- 		TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager)
-            : btPrimitiveManagerBase()
+		TrimeshPrimitiveManager(const TrimeshPrimitiveManager& manager)
+			: btPrimitiveManagerBase()
 		{
 			m_meshInterface = manager.m_meshInterface;
 			m_part = manager.m_part;
@@ -581,11 +552,10 @@ public:
 			indexbase = 0;
 			indexstride = 0;
 			numfaces = 0;
-
 		}
 
 		TrimeshPrimitiveManager(
-			btStridingMeshInterface * meshInterface,	int part)
+			btStridingMeshInterface* meshInterface, int part)
 		{
 			m_meshInterface = meshInterface;
 			m_part = part;
@@ -598,29 +568,28 @@ public:
 			indexbase = 0;
 			indexstride = 0;
 			numfaces = 0;
-
 		}
 
 		virtual ~TrimeshPrimitiveManager() {}
 
 		void lock()
 		{
-			if(m_lock_count>0)
+			if (m_lock_count > 0)
 			{
 				m_lock_count++;
 				return;
 			}
 			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,numverts,
-				type, stride,&indexbase, indexstride, numfaces,indicestype,m_part);
+				&vertexbase, numverts,
+				type, stride, &indexbase, indexstride, numfaces, indicestype, m_part);
 
 			m_lock_count = 1;
 		}
 
 		void unlock()
 		{
-			if(m_lock_count == 0) return;
-			if(m_lock_count>1)
+			if (m_lock_count == 0) return;
+			if (m_lock_count > 1)
 			{
 				--m_lock_count;
 				return;
@@ -637,93 +606,91 @@ public:
 
 		virtual int get_primitive_count() const
 		{
-			return (int )numfaces;
+			return (int)numfaces;
 		}
 
 		SIMD_FORCE_INLINE int get_vertex_count() const
 		{
-			return (int )numverts;
+			return (int)numverts;
 		}
 
-		SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const
+		SIMD_FORCE_INLINE void get_indices(int face_index, unsigned int& i0, unsigned int& i1, unsigned int& i2) const
 		{
-			if(indicestype == PHY_SHORT)
+			if (indicestype == PHY_SHORT)
 			{
-				unsigned short* s_indices = (unsigned short *)(indexbase + face_index * indexstride);
+				unsigned short* s_indices = (unsigned short*)(indexbase + face_index * indexstride);
 				i0 = s_indices[0];
 				i1 = s_indices[1];
 				i2 = s_indices[2];
 			}
 			else
 			{
-				unsigned int * i_indices = (unsigned int *)(indexbase + face_index*indexstride);
+				unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride);
 				i0 = i_indices[0];
 				i1 = i_indices[1];
 				i2 = i_indices[2];
 			}
 		}
 
-		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3 & vertex) const
+		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const
 		{
-			if(type == PHY_DOUBLE)
+			if (type == PHY_DOUBLE)
 			{
-				double * dvertices = (double *)(vertexbase + vertex_index*stride);
-				vertex[0] = btScalar(dvertices[0]*m_scale[0]);
-				vertex[1] = btScalar(dvertices[1]*m_scale[1]);
-				vertex[2] = btScalar(dvertices[2]*m_scale[2]);
+				double* dvertices = (double*)(vertexbase + vertex_index * stride);
+				vertex[0] = btScalar(dvertices[0] * m_scale[0]);
+				vertex[1] = btScalar(dvertices[1] * m_scale[1]);
+				vertex[2] = btScalar(dvertices[2] * m_scale[2]);
 			}
 			else
 			{
-				float * svertices = (float *)(vertexbase + vertex_index*stride);
-				vertex[0] = svertices[0]*m_scale[0];
-				vertex[1] = svertices[1]*m_scale[1];
-				vertex[2] = svertices[2]*m_scale[2];
+				float* svertices = (float*)(vertexbase + vertex_index * stride);
+				vertex[0] = svertices[0] * m_scale[0];
+				vertex[1] = svertices[1] * m_scale[1];
+				vertex[2] = svertices[2] * m_scale[2];
 			}
 		}
 
-		virtual void get_primitive_box(int prim_index ,btAABB & primbox) const
+		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
 		{
-			btPrimitiveTriangle  triangle;
-			get_primitive_triangle(prim_index,triangle);
+			btPrimitiveTriangle triangle;
+			get_primitive_triangle(prim_index, triangle);
 			primbox.calc_from_triangle_margin(
 				triangle.m_vertices[0],
-				triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin);
+				triangle.m_vertices[1], triangle.m_vertices[2], triangle.m_margin);
 		}
 
-		virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const
+		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
 		{
 			unsigned int indices[3];
-			get_indices(prim_index,indices[0],indices[1],indices[2]);
-			get_vertex(indices[0],triangle.m_vertices[0]);
-			get_vertex(indices[1],triangle.m_vertices[1]);
-			get_vertex(indices[2],triangle.m_vertices[2]);
+			get_indices(prim_index, indices[0], indices[1], indices[2]);
+			get_vertex(indices[0], triangle.m_vertices[0]);
+			get_vertex(indices[1], triangle.m_vertices[1]);
+			get_vertex(indices[2], triangle.m_vertices[2]);
 			triangle.m_margin = m_margin;
 		}
 
-		SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const
+		SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index, btTriangleShapeEx& triangle) const
 		{
 			unsigned int indices[3];
-			get_indices(prim_index,indices[0],indices[1],indices[2]);
-			get_vertex(indices[0],triangle.m_vertices1[0]);
-			get_vertex(indices[1],triangle.m_vertices1[1]);
-			get_vertex(indices[2],triangle.m_vertices1[2]);
+			get_indices(prim_index, indices[0], indices[1], indices[2]);
+			get_vertex(indices[0], triangle.m_vertices1[0]);
+			get_vertex(indices[1], triangle.m_vertices1[1]);
+			get_vertex(indices[2], triangle.m_vertices1[2]);
 			triangle.setMargin(m_margin);
 		}
-
 	};
 
-
 protected:
 	TrimeshPrimitiveManager m_primitive_manager;
-public:
 
+public:
 	btGImpactMeshShapePart()
 	{
 		m_box_set.setPrimitiveManager(&m_primitive_manager);
 	}
 
-    btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part );
-    virtual ~btGImpactMeshShapePart();
+	btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part);
+	virtual ~btGImpactMeshShapePart();
 
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const
@@ -731,40 +698,36 @@ public:
 		return false;
 	}
 
-
 	//! call when reading child shapes
-    virtual void lockChildShapes() const;
-    virtual void unlockChildShapes()  const;
+	virtual void lockChildShapes() const;
+	virtual void unlockChildShapes() const;
 
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const
+	virtual int getNumChildShapes() const
 	{
 		return m_primitive_manager.get_primitive_count();
 	}
 
-
 	//! Gets the children
 	virtual btCollisionShape* getChildShape(int index)
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
-
-
 	//! Gets the child
 	virtual const btCollisionShape* getChildShape(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const
+	virtual btTransform getChildTransform(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return btTransform();
 	}
@@ -773,35 +736,27 @@ public:
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform)
+	virtual void setChildTransform(int index, const btTransform& transform)
 	{
-        (void) index;
-        (void) transform;
+		(void)index;
+		(void)transform;
 		btAssert(0);
 	}
 
-
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return &m_primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager()
+	SIMD_FORCE_INLINE TrimeshPrimitiveManager* getTrimeshPrimitiveManager()
 	{
 		return &m_primitive_manager;
 	}
 
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
-
-
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-
-
-
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "GImpactMeshShapePart";
 	}
@@ -823,61 +778,58 @@ public:
 		return false;
 	}
 
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
 	{
-		m_primitive_manager.get_bullet_triangle(prim_index,triangle);
+		m_primitive_manager.get_bullet_triangle(prim_index, triangle);
 	}
 
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
 	{
-        (void) prim_index;
-        (void) tetrahedron;
+		(void)prim_index;
+		(void)tetrahedron;
 		btAssert(0);
 	}
 
-
-
 	SIMD_FORCE_INLINE int getVertexCount() const
 	{
 		return m_primitive_manager.get_vertex_count();
 	}
 
-	SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const
+	SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3& vertex) const
 	{
-		m_primitive_manager.get_vertex(vertex_index,vertex);
+		m_primitive_manager.get_vertex(vertex_index, vertex);
 	}
 
 	SIMD_FORCE_INLINE void setMargin(btScalar margin)
-    {
-    	m_primitive_manager.m_margin = margin;
-    	postUpdate();
-    }
-
-    SIMD_FORCE_INLINE btScalar getMargin() const
-    {
-    	return m_primitive_manager.m_margin;
-    }
-
-    virtual void	setLocalScaling(const btVector3& scaling)
-    {
-    	m_primitive_manager.m_scale = scaling;
-    	postUpdate();
-    }
-
-    virtual const btVector3& getLocalScaling() const
-    {
-    	return m_primitive_manager.m_scale;
-    }
-
-    SIMD_FORCE_INLINE int getPart() const
-    {
-    	return (int)m_primitive_manager.m_part;
-    }
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-	virtual void	processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;
-};
+	{
+		m_primitive_manager.m_margin = margin;
+		postUpdate();
+	}
+
+	SIMD_FORCE_INLINE btScalar getMargin() const
+	{
+		return m_primitive_manager.m_margin;
+	}
+
+	virtual void setLocalScaling(const btVector3& scaling)
+	{
+		m_primitive_manager.m_scale = scaling;
+		postUpdate();
+	}
+
+	virtual const btVector3& getLocalScaling() const
+	{
+		return m_primitive_manager.m_scale;
+	}
 
+	SIMD_FORCE_INLINE int getPart() const
+	{
+		return (int)m_primitive_manager.m_part;
+	}
+
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
+	virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
+};
 
 //! This class manages a mesh supplied by the btStridingMeshInterface interface.
 /*!
@@ -893,29 +845,29 @@ class btGImpactMeshShape : public btGImpactShapeInterface
 
 protected:
 	btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
-	void buildMeshParts(btStridingMeshInterface * meshInterface)
+	void buildMeshParts(btStridingMeshInterface* meshInterface)
 	{
-		for (int i=0;i<meshInterface->getNumSubParts() ;++i )
+		for (int i = 0; i < meshInterface->getNumSubParts(); ++i)
 		{
-			btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i);
+			btGImpactMeshShapePart* newpart = new btGImpactMeshShapePart(meshInterface, i);
 			m_mesh_parts.push_back(newpart);
 		}
 	}
 
 	//! use this function for perfofm refit in bounding boxes
-    virtual void calcLocalAABB()
-    {
-    	m_localAABB.invalidate();
-    	int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-    		m_mesh_parts[i]->updateBound();
-    		m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
-    	}
-    }
+	virtual void calcLocalAABB()
+	{
+		m_localAABB.invalidate();
+		int i = m_mesh_parts.size();
+		while (i--)
+		{
+			m_mesh_parts[i]->updateBound();
+			m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
+		}
+	}
 
 public:
-	btGImpactMeshShape(btStridingMeshInterface * meshInterface)
+	btGImpactMeshShape(btStridingMeshInterface* meshInterface)
 	{
 		m_meshInterface = meshInterface;
 		buildMeshParts(meshInterface);
@@ -924,15 +876,14 @@ public:
 	virtual ~btGImpactMeshShape()
 	{
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			delete part;
-    	}
+		}
 		m_mesh_parts.clear();
 	}
 
-
 	btStridingMeshInterface* getMeshInterface()
 	{
 		return m_meshInterface;
@@ -948,79 +899,73 @@ public:
 		return m_mesh_parts.size();
 	}
 
-	btGImpactMeshShapePart * getMeshPart(int index)
+	btGImpactMeshShapePart* getMeshPart(int index)
 	{
 		return m_mesh_parts[index];
 	}
 
-
-
-	const btGImpactMeshShapePart * getMeshPart(int index) const
+	const btGImpactMeshShapePart* getMeshPart(int index) const
 	{
 		return m_mesh_parts[index];
 	}
 
-
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
 		localScaling = scaling;
 
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			part->setLocalScaling(scaling);
-    	}
+		}
 
 		m_needs_update = true;
 	}
 
 	virtual void setMargin(btScalar margin)
-    {
-    	m_collisionMargin = margin;
+	{
+		m_collisionMargin = margin;
 
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			part->setMargin(margin);
-    	}
+		}
 
 		m_needs_update = true;
-    }
+	}
 
 	//! Tells to this object that is needed to refit all the meshes
-    virtual void postUpdate()
-    {
+	virtual void postUpdate()
+	{
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			part->postUpdate();
-    	}
-
-    	m_needs_update = true;
-    }
+		}
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+		m_needs_update = true;
+	}
 
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		btAssert(0);
 		return NULL;
 	}
 
-
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const
+	virtual int getNumChildShapes() const
 	{
 		btAssert(0);
 		return 0;
 	}
 
-
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const
 	{
@@ -1042,15 +987,17 @@ public:
 		return false;
 	}
 
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
 	{
-        (void) prim_index; (void) triangle;
+		(void)prim_index;
+		(void)triangle;
 		btAssert(0);
 	}
 
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
 	{
-        (void) prim_index; (void) tetrahedron;
+		(void)prim_index;
+		(void)tetrahedron;
 		btAssert(0);
 	}
 
@@ -1065,39 +1012,38 @@ public:
 		btAssert(0);
 	}
 
-
-
-
 	//! Retrieves the bound from a child
-    /*!
+	/*!
     */
-    virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-        (void) child_index; (void) t; (void) aabbMin; (void) aabbMax;
-        btAssert(0);
-    }
+	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		(void)child_index;
+		(void)t;
+		(void)aabbMin;
+		(void)aabbMax;
+		btAssert(0);
+	}
 
 	//! Gets the children
 	virtual btCollisionShape* getChildShape(int index)
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
-
 	//! Gets the child
 	virtual const btCollisionShape* getChildShape(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const
+	virtual btTransform getChildTransform(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return btTransform();
 	}
@@ -1106,59 +1052,56 @@ public:
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform)
+	virtual void setChildTransform(int index, const btTransform& transform)
 	{
-        (void) index; (void) transform;
+		(void)index;
+		(void)transform;
 		btAssert(0);
 	}
 
-
 	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
 	{
 		return CONST_GIMPACT_TRIMESH_SHAPE;
 	}
 
-
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "GImpactMesh";
 	}
 
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback)  const;
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const;
 
 	//! Function for retrieve triangles.
 	/*!
 	It gives the triangles in local space
 	*/
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	virtual void	processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;
+	virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btGImpactMeshShapeData
+struct btGImpactMeshShapeData
 {
-	btCollisionShapeData	m_collisionShapeData;
+	btCollisionShapeData m_collisionShapeData;
 
 	btStridingMeshInterfaceData m_meshInterface;
 
-	btVector3FloatData	m_localScaling;
+	btVector3FloatData m_localScaling;
 
-	float	m_collisionMargin;
+	float m_collisionMargin;
 
-	int		m_gimpactSubType;
+	int m_gimpactSubType;
 };
 
-SIMD_FORCE_INLINE	int	btGImpactMeshShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btGImpactMeshShapeData);
 }
 
-
-#endif //GIMPACT_MESH_SHAPE_H
+#endif  //GIMPACT_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
index 5d07d1adb9..bfdb3db5d0 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
@@ -20,48 +20,45 @@ subject to the following restrictions:
 
 #include "btGenericPoolAllocator.h"
 
-
-
 /// *************** btGenericMemoryPool ******************///////////
 
 size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements)
 {
 	size_t ptr = BT_UINT_MAX;
 
-	if(m_free_nodes_count == 0) return BT_UINT_MAX;
+	if (m_free_nodes_count == 0) return BT_UINT_MAX;
 	// find an avaliable free node with the correct size
 	size_t revindex = m_free_nodes_count;
 
-	while(revindex-- && ptr == BT_UINT_MAX)
+	while (revindex-- && ptr == BT_UINT_MAX)
 	{
-		if(m_allocated_sizes[m_free_nodes[revindex]]>=num_elements)
+		if (m_allocated_sizes[m_free_nodes[revindex]] >= num_elements)
 		{
 			ptr = revindex;
 		}
 	}
-	if(ptr == BT_UINT_MAX) return BT_UINT_MAX; // not found
-
+	if (ptr == BT_UINT_MAX) return BT_UINT_MAX;  // not found
 
 	revindex = ptr;
 	ptr = m_free_nodes[revindex];
 	// post: ptr contains the node index, and revindex the index in m_free_nodes
 
-	size_t  finalsize = m_allocated_sizes[ptr];
+	size_t finalsize = m_allocated_sizes[ptr];
 	finalsize -= num_elements;
 
 	m_allocated_sizes[ptr] = num_elements;
 
 	// post: finalsize>=0, m_allocated_sizes[ptr] has the requested size
 
-	if(finalsize>0) // preserve free node, there are some free memory
+	if (finalsize > 0)  // preserve free node, there are some free memory
 	{
 		m_free_nodes[revindex] = ptr + num_elements;
 		m_allocated_sizes[ptr + num_elements] = finalsize;
 	}
-	else // delete free node
+	else  // delete free node
 	{
 		// swap with end
-		m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count-1];
+		m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count - 1];
 		m_free_nodes_count--;
 	}
 
@@ -70,17 +67,16 @@ size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements)
 
 size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements)
 {
-	if(m_allocated_count+num_elements>m_max_element_count) return BT_UINT_MAX;
+	if (m_allocated_count + num_elements > m_max_element_count) return BT_UINT_MAX;
 
 	size_t ptr = m_allocated_count;
 
 	m_allocated_sizes[m_allocated_count] = num_elements;
-	m_allocated_count+=num_elements;
+	m_allocated_count += num_elements;
 
 	return ptr;
 }
 
-
 void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count)
 {
 	m_allocated_count = 0;
@@ -89,14 +85,11 @@ void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count)
 	m_element_size = element_size;
 	m_max_element_count = element_count;
 
+	m_pool = (unsigned char *)btAlignedAlloc(m_element_size * m_max_element_count, 16);
+	m_free_nodes = (size_t *)btAlignedAlloc(sizeof(size_t) * m_max_element_count, 16);
+	m_allocated_sizes = (size_t *)btAlignedAlloc(sizeof(size_t) * m_max_element_count, 16);
 
-
-
-	m_pool = (unsigned char *) btAlignedAlloc(m_element_size*m_max_element_count,16);
-	m_free_nodes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16);
-	m_allocated_sizes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16);
-
-	for (size_t i = 0;i< m_max_element_count;i++ )
+	for (size_t i = 0; i < m_max_element_count; i++)
 	{
 		m_allocated_sizes[i] = 0;
 	}
@@ -111,150 +104,141 @@ void btGenericMemoryPool::end_pool()
 	m_free_nodes_count = 0;
 }
 
-
 //! Allocates memory in pool
 /*!
 \param size_bytes size in bytes of the buffer
 */
-void * btGenericMemoryPool::allocate(size_t size_bytes)
+void *btGenericMemoryPool::allocate(size_t size_bytes)
 {
-
-	size_t module = size_bytes%m_element_size;
-	size_t element_count = size_bytes/m_element_size;
-	if(module>0) element_count++;
+	size_t module = size_bytes % m_element_size;
+	size_t element_count = size_bytes / m_element_size;
+	if (module > 0) element_count++;
 
 	size_t alloc_pos = allocate_from_free_nodes(element_count);
 	// a free node is found
-	if(alloc_pos != BT_UINT_MAX)
+	if (alloc_pos != BT_UINT_MAX)
 	{
 		return get_element_data(alloc_pos);
 	}
 	// allocate directly on pool
 	alloc_pos = allocate_from_pool(element_count);
 
-	if(alloc_pos == BT_UINT_MAX) return NULL; // not space
+	if (alloc_pos == BT_UINT_MAX) return NULL;  // not space
 	return get_element_data(alloc_pos);
 }
 
-bool btGenericMemoryPool::freeMemory(void * pointer)
+bool btGenericMemoryPool::freeMemory(void *pointer)
 {
-	unsigned char * pointer_pos = (unsigned char *)pointer;
-	unsigned char * pool_pos = (unsigned char *)m_pool;
+	unsigned char *pointer_pos = (unsigned char *)pointer;
+	unsigned char *pool_pos = (unsigned char *)m_pool;
 	// calc offset
-	if(pointer_pos<pool_pos) return false;//other pool
+	if (pointer_pos < pool_pos) return false;  //other pool
 	size_t offset = size_t(pointer_pos - pool_pos);
-	if(offset>=get_pool_capacity()) return false;// far away
+	if (offset >= get_pool_capacity()) return false;  // far away
 
 	// find free position
-	m_free_nodes[m_free_nodes_count] = offset/m_element_size;
+	m_free_nodes[m_free_nodes_count] = offset / m_element_size;
 	m_free_nodes_count++;
 	return true;
 }
 
-
 /// *******************! btGenericPoolAllocator *******************!///
 
-
 btGenericPoolAllocator::~btGenericPoolAllocator()
 {
 	// destroy pools
 	size_t i;
-	for (i=0;i<m_pool_count;i++)
+	for (i = 0; i < m_pool_count; i++)
 	{
 		m_pools[i]->end_pool();
 		btAlignedFree(m_pools[i]);
 	}
 }
 
-
 // creates a pool
-btGenericMemoryPool * btGenericPoolAllocator::push_new_pool()
+btGenericMemoryPool *btGenericPoolAllocator::push_new_pool()
 {
-	if(m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL;
+	if (m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL;
 
-	btGenericMemoryPool * newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool),16);
+	btGenericMemoryPool *newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool), 16);
 
 	m_pools[m_pool_count] = newptr;
 
-	m_pools[m_pool_count]->init_pool(m_pool_element_size,m_pool_element_count);
+	m_pools[m_pool_count]->init_pool(m_pool_element_size, m_pool_element_count);
 
 	m_pool_count++;
 	return newptr;
 }
 
-void * btGenericPoolAllocator::failback_alloc(size_t size_bytes)
+void *btGenericPoolAllocator::failback_alloc(size_t size_bytes)
 {
+	btGenericMemoryPool *pool = NULL;
 
-	btGenericMemoryPool * pool = NULL;
-
-
-	if(size_bytes<=get_pool_capacity())
+	if (size_bytes <= get_pool_capacity())
 	{
-		pool = 	push_new_pool();
+		pool = push_new_pool();
 	}
 
-	if(pool==NULL) // failback
+	if (pool == NULL)  // failback
 	{
-		return btAlignedAlloc(size_bytes,16);
+		return btAlignedAlloc(size_bytes, 16);
 	}
 
 	return pool->allocate(size_bytes);
 }
 
-bool btGenericPoolAllocator::failback_free(void * pointer)
+bool btGenericPoolAllocator::failback_free(void *pointer)
 {
 	btAlignedFree(pointer);
 	return true;
 }
 
-
 //! Allocates memory in pool
 /*!
 \param size_bytes size in bytes of the buffer
 */
-void * btGenericPoolAllocator::allocate(size_t size_bytes)
+void *btGenericPoolAllocator::allocate(size_t size_bytes)
 {
-	void * ptr = NULL;
+	void *ptr = NULL;
 
 	size_t i = 0;
-	while(i<m_pool_count && ptr == NULL)
+	while (i < m_pool_count && ptr == NULL)
 	{
 		ptr = m_pools[i]->allocate(size_bytes);
 		++i;
 	}
 
-	if(ptr) return ptr;
+	if (ptr) return ptr;
 
 	return failback_alloc(size_bytes);
 }
 
-bool btGenericPoolAllocator::freeMemory(void * pointer)
+bool btGenericPoolAllocator::freeMemory(void *pointer)
 {
 	bool result = false;
 
 	size_t i = 0;
-	while(i<m_pool_count && result == false)
+	while (i < m_pool_count && result == false)
 	{
 		result = m_pools[i]->freeMemory(pointer);
 		++i;
 	}
 
-	if(result) return true;
+	if (result) return true;
 
 	return failback_free(pointer);
 }
 
 /// ************** STANDARD ALLOCATOR ***************************///
 
-
 #define BT_DEFAULT_POOL_SIZE 32768
 #define BT_DEFAULT_POOL_ELEMENT_SIZE 8
 
 // main allocator
-class GIM_STANDARD_ALLOCATOR: public btGenericPoolAllocator
+class GIM_STANDARD_ALLOCATOR : public btGenericPoolAllocator
 {
 public:
-	GIM_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
+	GIM_STANDARD_ALLOCATOR() : btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE, BT_DEFAULT_POOL_SIZE)
 	{
 	}
 };
@@ -262,19 +246,18 @@ public:
 // global allocator
 GIM_STANDARD_ALLOCATOR g_main_allocator;
 
-
-void * btPoolAlloc(size_t size)
+void *btPoolAlloc(size_t size)
 {
 	return g_main_allocator.allocate(size);
 }
 
-void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize)
+void *btPoolRealloc(void *ptr, size_t oldsize, size_t newsize)
 {
-	void * newptr = btPoolAlloc(newsize);
-    size_t copysize = oldsize<newsize?oldsize:newsize;
-    memcpy(newptr,ptr,copysize);
-    btPoolFree(ptr);
-    return newptr;
+	void *newptr = btPoolAlloc(newsize);
+	size_t copysize = oldsize < newsize ? oldsize : newsize;
+	memcpy(newptr, ptr, copysize);
+	btPoolFree(ptr);
+	return newptr;
 }
 
 void btPoolFree(void *ptr)
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h b/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h
index b46d851634..a535088e48 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h
@@ -29,16 +29,16 @@ subject to the following restrictions:
 #define BT_UINT_MAX UINT_MAX
 #define BT_DEFAULT_MAX_POOLS 16
 
-
 //! Generic Pool class
 class btGenericMemoryPool
 {
 public:
-	unsigned char * m_pool; //[m_element_size*m_max_element_count];
-	size_t * m_free_nodes; //[m_max_element_count];//! free nodes
-	size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node
+	unsigned char *m_pool;      //[m_element_size*m_max_element_count];
+	size_t *m_free_nodes;       //[m_max_element_count];//! free nodes
+	size_t *m_allocated_sizes;  //[m_max_element_count];//! Number of elements allocated per node
 	size_t m_allocated_count;
 	size_t m_free_nodes_count;
+
 protected:
 	size_t m_element_size;
 	size_t m_max_element_count;
@@ -47,12 +47,10 @@ protected:
 	size_t allocate_from_pool(size_t num_elements);
 
 public:
-
 	void init_pool(size_t element_size, size_t element_count);
 
 	void end_pool();
 
-
 	btGenericMemoryPool(size_t element_size, size_t element_count)
 	{
 		init_pool(element_size, element_count);
@@ -63,10 +61,9 @@ public:
 		end_pool();
 	}
 
-
 	inline size_t get_pool_capacity()
 	{
-		return m_element_size*m_max_element_count;
+		return m_element_size * m_max_element_count;
 	}
 
 	inline size_t gem_element_size()
@@ -89,23 +86,20 @@ public:
 		return m_free_nodes_count;
 	}
 
-	inline void * get_element_data(size_t element_index)
+	inline void *get_element_data(size_t element_index)
 	{
-		return &m_pool[element_index*m_element_size];
+		return &m_pool[element_index * m_element_size];
 	}
 
 	//! Allocates memory in pool
 	/*!
 	\param size_bytes size in bytes of the buffer
 	*/
-	void * allocate(size_t size_bytes);
+	void *allocate(size_t size_bytes);
 
-	bool freeMemory(void * pointer);
+	bool freeMemory(void *pointer);
 };
 
-
-
-
 //! Generic Allocator with pools
 /*!
 General purpose Allocator which can create Memory Pools dynamiacally as needed.
@@ -115,26 +109,25 @@ class btGenericPoolAllocator
 protected:
 	size_t m_pool_element_size;
 	size_t m_pool_element_count;
+
 public:
-	btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS];
+	btGenericMemoryPool *m_pools[BT_DEFAULT_MAX_POOLS];
 	size_t m_pool_count;
 
-
 	inline size_t get_pool_capacity()
 	{
-		return m_pool_element_size*m_pool_element_count;
+		return m_pool_element_size * m_pool_element_count;
 	}
 
-
 protected:
 	// creates a pool
-	btGenericMemoryPool * push_new_pool();
+	btGenericMemoryPool *push_new_pool();
 
-	void * failback_alloc(size_t size_bytes);
+	void *failback_alloc(size_t size_bytes);
 
-	bool failback_free(void * pointer);
-public:
+	bool failback_free(void *pointer);
 
+public:
 	btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count)
 	{
 		m_pool_count = 0;
@@ -148,16 +141,13 @@ public:
 	/*!
 	\param size_bytes size in bytes of the buffer
 	*/
-	void * allocate(size_t size_bytes);
+	void *allocate(size_t size_bytes);
 
-	bool freeMemory(void * pointer);
+	bool freeMemory(void *pointer);
 };
 
-
-
-void * btPoolAlloc(size_t size);
-void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
+void *btPoolAlloc(size_t size);
+void *btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
 void btPoolFree(void *ptr);
 
-
 #endif
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h b/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h
index 60f06510ad..6a1ee6dcf9 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h
@@ -27,52 +27,44 @@ subject to the following restrictions:
 
 #include "btBoxCollision.h"
 
-
-
-
-
 #define PLANEDIREPSILON 0.0000001f
 #define PARALELENORMALS 0.000001f
 
-
-#define BT_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
+#define BT_CLAMP(number, minval, maxval) (number < minval ? minval : (number > maxval ? maxval : number))
 
 /// Calc a plane from a triangle edge an a normal. plane is a vec4f
-SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 &  e2, const btVector3 & normal,btVector4 & plane)
+SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 &e1, const btVector3 &e2, const btVector3 &normal, btVector4 &plane)
 {
-	btVector3 planenormal = (e2-e1).cross(normal);
+	btVector3 planenormal = (e2 - e1).cross(normal);
 	planenormal.normalize();
-	plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal));
+	plane.setValue(planenormal[0], planenormal[1], planenormal[2], e2.dot(planenormal));
 }
 
-
-
 //***************** SEGMENT and LINE FUNCTIONS **********************************///
 
 /*! Finds the closest point(cp) to (v) on a segment (e1,e2)
  */
 SIMD_FORCE_INLINE void bt_closest_point_on_segment(
-	btVector3 & cp, const btVector3 & v,
-	const btVector3  &e1,const btVector3 &e2)
+	btVector3 &cp, const btVector3 &v,
+	const btVector3 &e1, const btVector3 &e2)
 {
-    btVector3 n = e2-e1;
-    cp = v - e1;
-	btScalar _scalar = cp.dot(n)/n.dot(n);
-	if(_scalar <0.0f)
+	btVector3 n = e2 - e1;
+	cp = v - e1;
+	btScalar _scalar = cp.dot(n) / n.dot(n);
+	if (_scalar < 0.0f)
 	{
-	    cp = e1;
+		cp = e1;
 	}
-	else if(_scalar >1.0f)
+	else if (_scalar > 1.0f)
 	{
-	    cp = e2;
+		cp = e2;
 	}
 	else
 	{
-		cp = _scalar*n + e1;
+		cp = _scalar * n + e1;
 	}
 }
 
-
 //! line plane collision
 /*!
 *\return
@@ -82,131 +74,125 @@ SIMD_FORCE_INLINE void bt_closest_point_on_segment(
 */
 
 SIMD_FORCE_INLINE int bt_line_plane_collision(
-	const btVector4 & plane,
-	const btVector3 & vDir,
-	const btVector3 & vPoint,
-	btVector3 & pout,
+	const btVector4 &plane,
+	const btVector3 &vDir,
+	const btVector3 &vPoint,
+	btVector3 &pout,
 	btScalar &tparam,
 	btScalar tmin, btScalar tmax)
 {
-
 	btScalar _dotdir = vDir.dot(plane);
 
-	if(btFabs(_dotdir)<PLANEDIREPSILON)
+	if (btFabs(_dotdir) < PLANEDIREPSILON)
 	{
 		tparam = tmax;
-	    return 0;
+		return 0;
 	}
 
-	btScalar _dis = bt_distance_point_plane(plane,vPoint);
-	char returnvalue = _dis<0.0f? 2:1;
-	tparam = -_dis/_dotdir;
+	btScalar _dis = bt_distance_point_plane(plane, vPoint);
+	char returnvalue = _dis < 0.0f ? 2 : 1;
+	tparam = -_dis / _dotdir;
 
-	if(tparam<tmin)
+	if (tparam < tmin)
 	{
 		returnvalue = 0;
 		tparam = tmin;
 	}
-	else if(tparam>tmax)
+	else if (tparam > tmax)
 	{
 		returnvalue = 0;
 		tparam = tmax;
 	}
-	pout = tparam*vDir + vPoint;
+	pout = tparam * vDir + vPoint;
 	return returnvalue;
 }
 
-
 //! Find closest points on segments
 SIMD_FORCE_INLINE void bt_segment_collision(
-	const btVector3 & vA1,
-	const btVector3 & vA2,
-	const btVector3 & vB1,
-	const btVector3 & vB2,
-	btVector3 & vPointA,
-	btVector3 & vPointB)
+	const btVector3 &vA1,
+	const btVector3 &vA2,
+	const btVector3 &vB1,
+	const btVector3 &vB2,
+	btVector3 &vPointA,
+	btVector3 &vPointB)
 {
-    btVector3 AD = vA2 - vA1;
-    btVector3 BD = vB2 - vB1;
-    btVector3 N = AD.cross(BD);
-    btScalar tp = N.length2();
-
-    btVector4 _M;//plane
-
-    if(tp<SIMD_EPSILON)//ARE PARALELE
-    {
-    	//project B over A
-    	bool invert_b_order = false;
-    	_M[0] = vB1.dot(AD);
-    	_M[1] = vB2.dot(AD);
-
-    	if(_M[0]>_M[1])
-    	{
-    		invert_b_order  = true;
-    		BT_SWAP_NUMBERS(_M[0],_M[1]);
-    	}
-    	_M[2] = vA1.dot(AD);
-    	_M[3] = vA2.dot(AD);
-    	//mid points
-    	N[0] = (_M[0]+_M[1])*0.5f;
-    	N[1] = (_M[2]+_M[3])*0.5f;
-
-    	if(N[0]<N[1])
-    	{
-    		if(_M[1]<_M[2])
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			vPointA = vA1;
-    		}
-    		else if(_M[1]<_M[3])
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
-    		}
-    		else
-    		{
-    			vPointA = vA2;
-    			bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
-    		}
-    	}
-    	else
-    	{
-    		if(_M[3]<_M[0])
-    		{
-    			vPointB = invert_b_order?vB2:vB1;
-    			vPointA = vA2;
-    		}
-    		else if(_M[3]<_M[1])
-    		{
-    			vPointA = vA2;
-    			bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
-    		}
-    		else
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
-    		}
-    	}
-    	return;
-    }
-
-    N = N.cross(BD);
-    _M.setValue(N[0],N[1],N[2],vB1.dot(N));
+	btVector3 AD = vA2 - vA1;
+	btVector3 BD = vB2 - vB1;
+	btVector3 N = AD.cross(BD);
+	btScalar tp = N.length2();
 
-	// get point A as the plane collision point
-    bt_line_plane_collision(_M,AD,vA1,vPointA,tp,btScalar(0), btScalar(1));
-
-    /*Closest point on segment*/
-    vPointB = vPointA - vB1;
-	tp = vPointB.dot(BD);
-	tp/= BD.dot(BD);
-	tp = BT_CLAMP(tp,0.0f,1.0f);
+	btVector4 _M;  //plane
 
-	vPointB = tp*BD + vB1;
-}
+	if (tp < SIMD_EPSILON)  //ARE PARALELE
+	{
+		//project B over A
+		bool invert_b_order = false;
+		_M[0] = vB1.dot(AD);
+		_M[1] = vB2.dot(AD);
+
+		if (_M[0] > _M[1])
+		{
+			invert_b_order = true;
+			BT_SWAP_NUMBERS(_M[0], _M[1]);
+		}
+		_M[2] = vA1.dot(AD);
+		_M[3] = vA2.dot(AD);
+		//mid points
+		N[0] = (_M[0] + _M[1]) * 0.5f;
+		N[1] = (_M[2] + _M[3]) * 0.5f;
+
+		if (N[0] < N[1])
+		{
+			if (_M[1] < _M[2])
+			{
+				vPointB = invert_b_order ? vB1 : vB2;
+				vPointA = vA1;
+			}
+			else if (_M[1] < _M[3])
+			{
+				vPointB = invert_b_order ? vB1 : vB2;
+				bt_closest_point_on_segment(vPointA, vPointB, vA1, vA2);
+			}
+			else
+			{
+				vPointA = vA2;
+				bt_closest_point_on_segment(vPointB, vPointA, vB1, vB2);
+			}
+		}
+		else
+		{
+			if (_M[3] < _M[0])
+			{
+				vPointB = invert_b_order ? vB2 : vB1;
+				vPointA = vA2;
+			}
+			else if (_M[3] < _M[1])
+			{
+				vPointA = vA2;
+				bt_closest_point_on_segment(vPointB, vPointA, vB1, vB2);
+			}
+			else
+			{
+				vPointB = invert_b_order ? vB1 : vB2;
+				bt_closest_point_on_segment(vPointA, vPointB, vA1, vA2);
+			}
+		}
+		return;
+	}
 
+	N = N.cross(BD);
+	_M.setValue(N[0], N[1], N[2], vB1.dot(N));
 
+	// get point A as the plane collision point
+	bt_line_plane_collision(_M, AD, vA1, vPointA, tp, btScalar(0), btScalar(1));
 
+	/*Closest point on segment*/
+	vPointB = vPointA - vB1;
+	tp = vPointB.dot(BD);
+	tp /= BD.dot(BD);
+	tp = BT_CLAMP(tp, 0.0f, 1.0f);
 
+	vPointB = tp * BD + vB1;
+}
 
-#endif // GIM_VECTOR_H_INCLUDED
+#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h b/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h
index bd2633cfc5..19a02a2177 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btQuantization.h
@@ -27,54 +27,47 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransform.h"
 
-
-
-
-
-
 SIMD_FORCE_INLINE void bt_calc_quantization_parameters(
-	btVector3 & outMinBound,
-	btVector3 & outMaxBound,
-	btVector3 & bvhQuantization,
-	const btVector3& srcMinBound,const btVector3& srcMaxBound,
+	btVector3& outMinBound,
+	btVector3& outMaxBound,
+	btVector3& bvhQuantization,
+	const btVector3& srcMinBound, const btVector3& srcMaxBound,
 	btScalar quantizationMargin)
 {
 	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
+	btVector3 clampValue(quantizationMargin, quantizationMargin, quantizationMargin);
 	outMinBound = srcMinBound - clampValue;
 	outMaxBound = srcMaxBound + clampValue;
 	btVector3 aabbSize = outMaxBound - outMinBound;
 	bvhQuantization = btVector3(btScalar(65535.0),
 								btScalar(65535.0),
-								btScalar(65535.0)) / aabbSize;
+								btScalar(65535.0)) /
+					  aabbSize;
 }
 
-
 SIMD_FORCE_INLINE void bt_quantize_clamp(
 	unsigned short* out,
 	const btVector3& point,
-	const btVector3 & min_bound,
-	const btVector3 & max_bound,
-	const btVector3 & bvhQuantization)
+	const btVector3& min_bound,
+	const btVector3& max_bound,
+	const btVector3& bvhQuantization)
 {
-
 	btVector3 clampedPoint(point);
 	clampedPoint.setMax(min_bound);
 	clampedPoint.setMin(max_bound);
 
 	btVector3 v = (clampedPoint - min_bound) * bvhQuantization;
-	out[0] = (unsigned short)(v.getX()+0.5f);
-	out[1] = (unsigned short)(v.getY()+0.5f);
-	out[2] = (unsigned short)(v.getZ()+0.5f);
+	out[0] = (unsigned short)(v.getX() + 0.5f);
+	out[1] = (unsigned short)(v.getY() + 0.5f);
+	out[2] = (unsigned short)(v.getZ() + 0.5f);
 }
 
-
 SIMD_FORCE_INLINE btVector3 bt_unquantize(
 	const unsigned short* vecIn,
-	const btVector3 & offset,
-	const btVector3 & bvhQuantization)
+	const btVector3& offset,
+	const btVector3& bvhQuantization)
 {
-	btVector3	vecOut;
+	btVector3 vecOut;
 	vecOut.setValue(
 		(btScalar)(vecIn[0]) / (bvhQuantization.getX()),
 		(btScalar)(vecIn[1]) / (bvhQuantization.getY()),
@@ -83,6 +76,4 @@ SIMD_FORCE_INLINE btVector3 bt_unquantize(
 	return vecOut;
 }
 
-
-
-#endif // BT_GIMPACT_QUANTIZATION_H_INCLUDED
+#endif  // BT_GIMPACT_QUANTIZATION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp
index ca76cc54a1..292ef8c1ff 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp
@@ -23,196 +23,181 @@ subject to the following restrictions:
 
 #include "btTriangleShapeEx.h"
 
-
-
-void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
-                                       btScalar margin, const btVector3 * points, int point_count)
+void GIM_TRIANGLE_CONTACT::merge_points(const btVector4& plane,
+										btScalar margin, const btVector3* points, int point_count)
 {
-    m_point_count = 0;
-    m_penetration_depth= -1000.0f;
+	m_point_count = 0;
+	m_penetration_depth = -1000.0f;
 
-    int point_indices[MAX_TRI_CLIPPING];
+	int point_indices[MAX_TRI_CLIPPING];
 
 	int _k;
 
-    for ( _k=0;_k<point_count;_k++)
-    {
-        btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin;
-
-        if (_dist>=0.0f)
-        {
-            if (_dist>m_penetration_depth)
-            {
-                m_penetration_depth = _dist;
-                point_indices[0] = _k;
-                m_point_count=1;
-            }
-            else if ((_dist+SIMD_EPSILON)>=m_penetration_depth)
-            {
-                point_indices[m_point_count] = _k;
-                m_point_count++;
-            }
-        }
-    }
-
-    for ( _k=0;_k<m_point_count;_k++)
-    {
-        m_points[_k] = points[point_indices[_k]];
-    }
+	for (_k = 0; _k < point_count; _k++)
+	{
+		btScalar _dist = -bt_distance_point_plane(plane, points[_k]) + margin;
+
+		if (_dist >= 0.0f)
+		{
+			if (_dist > m_penetration_depth)
+			{
+				m_penetration_depth = _dist;
+				point_indices[0] = _k;
+				m_point_count = 1;
+			}
+			else if ((_dist + SIMD_EPSILON) >= m_penetration_depth)
+			{
+				point_indices[m_point_count] = _k;
+				m_point_count++;
+			}
+		}
+	}
+
+	for (_k = 0; _k < m_point_count; _k++)
+	{
+		m_points[_k] = points[point_indices[_k]];
+	}
 }
 
 ///class btPrimitiveTriangle
 bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other)
 {
-    btScalar total_margin = m_margin + other.m_margin;
-    // classify points on other triangle
-    btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin;
+	btScalar total_margin = m_margin + other.m_margin;
+	// classify points on other triangle
+	btScalar dis0 = bt_distance_point_plane(m_plane, other.m_vertices[0]) - total_margin;
 
-    btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin;
+	btScalar dis1 = bt_distance_point_plane(m_plane, other.m_vertices[1]) - total_margin;
 
-    btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin;
+	btScalar dis2 = bt_distance_point_plane(m_plane, other.m_vertices[2]) - total_margin;
 
-    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
 
-    // classify points on this triangle
-    dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin;
+	// classify points on this triangle
+	dis0 = bt_distance_point_plane(other.m_plane, m_vertices[0]) - total_margin;
 
-    dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin;
+	dis1 = bt_distance_point_plane(other.m_plane, m_vertices[1]) - total_margin;
 
-    dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin;
+	dis2 = bt_distance_point_plane(other.m_plane, m_vertices[2]) - total_margin;
 
-    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
 
-    return true;
+	return true;
 }
 
-int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points )
+int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points)
 {
-    // edge 0
-
-    btVector3 temp_points[MAX_TRI_CLIPPING];
-
+	// edge 0
 
-    btVector4 edgeplane;
+	btVector3 temp_points[MAX_TRI_CLIPPING];
 
-    get_edge_plane(0,edgeplane);
+	btVector4 edgeplane;
 
+	get_edge_plane(0, edgeplane);
 
-    int clipped_count = bt_plane_clip_triangle(
-                            edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points);
+	int clipped_count = bt_plane_clip_triangle(
+		edgeplane, other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], temp_points);
 
-    if (clipped_count == 0) return 0;
+	if (clipped_count == 0) return 0;
 
-    btVector3 temp_points1[MAX_TRI_CLIPPING];
+	btVector3 temp_points1[MAX_TRI_CLIPPING];
 
+	// edge 1
+	get_edge_plane(1, edgeplane);
 
-    // edge 1
-    get_edge_plane(1,edgeplane);
+	clipped_count = bt_plane_clip_polygon(edgeplane, temp_points, clipped_count, temp_points1);
 
+	if (clipped_count == 0) return 0;
 
-    clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1);
+	// edge 2
+	get_edge_plane(2, edgeplane);
 
-    if (clipped_count == 0) return 0;
+	clipped_count = bt_plane_clip_polygon(
+		edgeplane, temp_points1, clipped_count, clipped_points);
 
-    // edge 2
-    get_edge_plane(2,edgeplane);
-
-    clipped_count = bt_plane_clip_polygon(
-                        edgeplane,temp_points1,clipped_count,clipped_points);
-
-    return clipped_count;
+	return clipped_count;
 }
 
-bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts)
+bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts)
 {
-    btScalar margin = m_margin + other.m_margin;
-
-    btVector3 clipped_points[MAX_TRI_CLIPPING];
-    int clipped_count;
-    //create planes
-    // plane v vs U points
-
-    GIM_TRIANGLE_CONTACT contacts1;
-
-    contacts1.m_separating_normal = m_plane;
-
-
-    clipped_count = clip_triangle(other,clipped_points);
-
-    if (clipped_count == 0 )
-    {
-        return false;//Reject
-    }
-
-    //find most deep interval face1
-    contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
-    if (contacts1.m_point_count == 0) return false; // too far
-    //Normal pointing to this triangle
-    contacts1.m_separating_normal *= -1.f;
-
-
-    //Clip tri1 by tri2 edges
-    GIM_TRIANGLE_CONTACT contacts2;
-    contacts2.m_separating_normal = other.m_plane;
-
-    clipped_count = other.clip_triangle(*this,clipped_points);
-
-    if (clipped_count == 0 )
-    {
-        return false;//Reject
-    }
-
-    //find most deep interval face1
-    contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
-    if (contacts2.m_point_count == 0) return false; // too far
-
-
-
-
-    ////check most dir for contacts
-    if (contacts2.m_penetration_depth<contacts1.m_penetration_depth)
-    {
-        contacts.copy_from(contacts2);
-    }
-    else
-    {
-        contacts.copy_from(contacts1);
-    }
-    return true;
+	btScalar margin = m_margin + other.m_margin;
+
+	btVector3 clipped_points[MAX_TRI_CLIPPING];
+	int clipped_count;
+	//create planes
+	// plane v vs U points
+
+	GIM_TRIANGLE_CONTACT contacts1;
+
+	contacts1.m_separating_normal = m_plane;
+
+	clipped_count = clip_triangle(other, clipped_points);
+
+	if (clipped_count == 0)
+	{
+		return false;  //Reject
+	}
+
+	//find most deep interval face1
+	contacts1.merge_points(contacts1.m_separating_normal, margin, clipped_points, clipped_count);
+	if (contacts1.m_point_count == 0) return false;  // too far
+	//Normal pointing to this triangle
+	contacts1.m_separating_normal *= -1.f;
+
+	//Clip tri1 by tri2 edges
+	GIM_TRIANGLE_CONTACT contacts2;
+	contacts2.m_separating_normal = other.m_plane;
+
+	clipped_count = other.clip_triangle(*this, clipped_points);
+
+	if (clipped_count == 0)
+	{
+		return false;  //Reject
+	}
+
+	//find most deep interval face1
+	contacts2.merge_points(contacts2.m_separating_normal, margin, clipped_points, clipped_count);
+	if (contacts2.m_point_count == 0) return false;  // too far
+
+	////check most dir for contacts
+	if (contacts2.m_penetration_depth < contacts1.m_penetration_depth)
+	{
+		contacts.copy_from(contacts2);
+	}
+	else
+	{
+		contacts.copy_from(contacts1);
+	}
+	return true;
 }
 
-
-
 ///class btTriangleShapeEx: public btTriangleShape
 
 bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other)
 {
-    btScalar total_margin = getMargin() + other.getMargin();
+	btScalar total_margin = getMargin() + other.getMargin();
 
-    btVector4 plane0;
-    buildTriPlane(plane0);
-    btVector4 plane1;
-    other.buildTriPlane(plane1);
+	btVector4 plane0;
+	buildTriPlane(plane0);
+	btVector4 plane1;
+	other.buildTriPlane(plane1);
 
-    // classify points on other triangle
-    btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin;
+	// classify points on other triangle
+	btScalar dis0 = bt_distance_point_plane(plane0, other.m_vertices1[0]) - total_margin;
 
-    btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin;
+	btScalar dis1 = bt_distance_point_plane(plane0, other.m_vertices1[1]) - total_margin;
 
-    btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin;
+	btScalar dis2 = bt_distance_point_plane(plane0, other.m_vertices1[2]) - total_margin;
 
-    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
 
-    // classify points on this triangle
-    dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin;
+	// classify points on this triangle
+	dis0 = bt_distance_point_plane(plane1, m_vertices1[0]) - total_margin;
 
-    dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin;
+	dis1 = bt_distance_point_plane(plane1, m_vertices1[1]) - total_margin;
 
-    dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin;
+	dis2 = bt_distance_point_plane(plane1, m_vertices1[2]) - total_margin;
 
-    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+	if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
 
-    return true;
+	return true;
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h
index 973c2ed127..568a1ce811 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h
@@ -21,7 +21,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
 #define GIMPACT_TRIANGLE_SHAPE_EX_H
 
@@ -31,16 +30,15 @@ subject to the following restrictions:
 #include "btClipPolygon.h"
 #include "btGeometryOperations.h"
 
-
 #define MAX_TRI_CLIPPING 16
 
 //! Structure for collision
 struct GIM_TRIANGLE_CONTACT
 {
-    btScalar m_penetration_depth;
-    int m_point_count;
-    btVector4 m_separating_normal;
-    btVector3 m_points[MAX_TRI_CLIPPING];
+	btScalar m_penetration_depth;
+	int m_point_count;
+	btVector4 m_separating_normal;
+	btVector3 m_points[MAX_TRI_CLIPPING];
 
 	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
 	{
@@ -48,7 +46,7 @@ struct GIM_TRIANGLE_CONTACT
 		m_separating_normal = other.m_separating_normal;
 		m_point_count = other.m_point_count;
 		int i = m_point_count;
-		while(i--)
+		while (i--)
 		{
 			m_points[i] = other.m_points[i];
 		}
@@ -63,14 +61,11 @@ struct GIM_TRIANGLE_CONTACT
 		copy_from(other);
 	}
 
-    //! classify points that are closer
-    void merge_points(const btVector4 & plane,
-    				btScalar margin, const btVector3 * points, int point_count);
-
+	//! classify points that are closer
+	void merge_points(const btVector4& plane,
+					  btScalar margin, const btVector3* points, int point_count);
 };
 
-
-
 class btPrimitiveTriangle
 {
 public:
@@ -78,17 +73,15 @@ public:
 	btVector4 m_plane;
 	btScalar m_margin;
 	btScalar m_dummy;
-	btPrimitiveTriangle():m_margin(0.01f)
+	btPrimitiveTriangle() : m_margin(0.01f)
 	{
-
 	}
 
-
 	SIMD_FORCE_INLINE void buildTriPlane()
 	{
-		btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);
+		btVector3 normal = (m_vertices[1] - m_vertices[0]).cross(m_vertices[2] - m_vertices[0]);
 		normal.normalize();
-		m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));
+		m_plane.setValue(normal[0], normal[1], normal[2], m_vertices[0].dot(normal));
 	}
 
 	//! Test if triangles could collide
@@ -98,14 +91,14 @@ public:
 	/*!
 	\pre this triangle must have its plane calculated.
 	*/
-	SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane)  const
-    {
-		const btVector3 & e0 = m_vertices[edge_index];
-		const btVector3 & e1 = m_vertices[(edge_index+1)%3];
-		bt_edge_plane(e0,e1,m_plane,plane);
-    }
-
-    void applyTransform(const btTransform& t)
+	SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4& plane) const
+	{
+		const btVector3& e0 = m_vertices[edge_index];
+		const btVector3& e1 = m_vertices[(edge_index + 1) % 3];
+		bt_edge_plane(e0, e1, m_plane, plane);
+	}
+
+	void applyTransform(const btTransform& t)
 	{
 		m_vertices[0] = t(m_vertices[0]);
 		m_vertices[1] = t(m_vertices[1]);
@@ -117,44 +110,41 @@ public:
 	\pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
 	\return the number of clipped points
 	*/
-    int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );
+	int clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points);
 
 	//! Find collision using the clipping method
 	/*!
 	\pre this triangle and other must have their triangles calculated
 	*/
-    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
+	bool find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts);
 };
 
-
-
 //! Helper class for colliding Bullet Triangle Shapes
 /*!
 This class implements a better getAabb method than the previous btTriangleShape class
 */
-class btTriangleShapeEx: public btTriangleShape
+class btTriangleShapeEx : public btTriangleShape
 {
 public:
-
-	btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))
+	btTriangleShapeEx() : btTriangleShape(btVector3(0, 0, 0), btVector3(0, 0, 0), btVector3(0, 0, 0))
 	{
 	}
 
-	btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2):	btTriangleShape(p0,p1,p2)
+	btTriangleShapeEx(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btTriangleShape(p0, p1, p2)
 	{
 	}
 
-	btTriangleShapeEx(const btTriangleShapeEx & other):	btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2])
+	btTriangleShapeEx(const btTriangleShapeEx& other) : btTriangleShape(other.m_vertices1[0], other.m_vertices1[1], other.m_vertices1[2])
 	{
 	}
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 		btVector3 tv0 = t(m_vertices1[0]);
 		btVector3 tv1 = t(m_vertices1[1]);
 		btVector3 tv2 = t(m_vertices1[2]);
 
-		btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);
+		btAABB trianglebox(tv0, tv1, tv2, m_collisionMargin);
 		aabbMin = trianglebox.m_min;
 		aabbMax = trianglebox.m_max;
 	}
@@ -166,15 +156,14 @@ public:
 		m_vertices1[2] = t(m_vertices1[2]);
 	}
 
-	SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const
+	SIMD_FORCE_INLINE void buildTriPlane(btVector4& plane) const
 	{
-		btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
+		btVector3 normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
 		normal.normalize();
-		plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));
+		plane.setValue(normal[0], normal[1], normal[2], m_vertices1[0].dot(normal));
 	}
 
 	bool overlap_test_conservative(const btTriangleShapeEx& other);
 };
 
-
-#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H
+#endif  //GIMPACT_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h
index cda51a5fce..fc2dc38a33 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_array.h
@@ -34,47 +34,46 @@ email: projectileman@yahoo.com
 
 #include "gim_memory.h"
 
-
 #define GIM_ARRAY_GROW_INCREMENT 2
 #define GIM_ARRAY_GROW_FACTOR 2
 
 //!	Very simple array container with fast access and simd memory
-template<typename T>
+template <typename T>
 class gim_array
 {
 public:
-//! properties
-//!@{
-    T *m_data;
-    GUINT m_size;
-    GUINT m_allocated_size;
-//!@}
-//! protected operations
-//!@{
-
-    inline void destroyData()
-	{
-	    m_allocated_size = 0;
-		if(m_data==NULL) return;
+	//! properties
+	//!@{
+	T* m_data;
+	GUINT m_size;
+	GUINT m_allocated_size;
+	//!@}
+	//! protected operations
+	//!@{
+
+	inline void destroyData()
+	{
+		m_allocated_size = 0;
+		if (m_data == NULL) return;
 		gim_free(m_data);
 		m_data = NULL;
 	}
 
 	inline bool resizeData(GUINT newsize)
 	{
-		if(newsize==0)
+		if (newsize == 0)
 		{
 			destroyData();
 			return true;
 		}
 
-		if(m_size>0)
+		if (m_size > 0)
 		{
-            m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T));
+			m_data = (T*)gim_realloc(m_data, m_size * sizeof(T), newsize * sizeof(T));
 		}
 		else
 		{
-		    m_data = (T*)gim_alloc(newsize*sizeof(T));
+			m_data = (T*)gim_alloc(newsize * sizeof(T));
 		}
 		m_allocated_size = newsize;
 		return true;
@@ -82,243 +81,238 @@ public:
 
 	inline bool growingCheck()
 	{
-		if(m_allocated_size<=m_size)
+		if (m_allocated_size <= m_size)
 		{
-		    GUINT requestsize = m_size;
-		    m_size = m_allocated_size;
-			if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false;
+			GUINT requestsize = m_size;
+			m_size = m_allocated_size;
+			if (resizeData((requestsize + GIM_ARRAY_GROW_INCREMENT) * GIM_ARRAY_GROW_FACTOR) == false) return false;
 		}
 		return true;
 	}
 
-//!@}
-//! public operations
-//!@{
-    inline  bool reserve(GUINT size)
-    {
-        if(m_allocated_size>=size) return false;
-        return resizeData(size);
-    }
-
-    inline void clear_range(GUINT start_range)
-    {
-        while(m_size>start_range)
-        {
-            m_data[--m_size].~T();
-        }
-    }
-
-    inline void clear()
-    {
-        if(m_size==0)return;
-        clear_range(0);
-    }
-
-    inline void clear_memory()
-    {
-        clear();
-        destroyData();
-    }
-
-    gim_array()
-    {
-        m_data = 0;
-        m_size = 0;
-        m_allocated_size = 0;
-    }
-
-    gim_array(GUINT reservesize)
-    {
-        m_data = 0;
-        m_size = 0;
-
-        m_allocated_size = 0;
-        reserve(reservesize);
-    }
-
-    ~gim_array()
-    {
-        clear_memory();
-    }
-
-    inline GUINT size() const
-    {
-        return m_size;
-    }
-
-    inline GUINT max_size() const
-    {
-        return m_allocated_size;
-    }
-
-    inline T & operator[](size_t i)
+	//!@}
+	//! public operations
+	//!@{
+	inline bool reserve(GUINT size)
+	{
+		if (m_allocated_size >= size) return false;
+		return resizeData(size);
+	}
+
+	inline void clear_range(GUINT start_range)
+	{
+		while (m_size > start_range)
+		{
+			m_data[--m_size].~T();
+		}
+	}
+
+	inline void clear()
+	{
+		if (m_size == 0) return;
+		clear_range(0);
+	}
+
+	inline void clear_memory()
+	{
+		clear();
+		destroyData();
+	}
+
+	gim_array()
+	{
+		m_data = 0;
+		m_size = 0;
+		m_allocated_size = 0;
+	}
+
+	gim_array(GUINT reservesize)
+	{
+		m_data = 0;
+		m_size = 0;
+
+		m_allocated_size = 0;
+		reserve(reservesize);
+	}
+
+	~gim_array()
+	{
+		clear_memory();
+	}
+
+	inline GUINT size() const
+	{
+		return m_size;
+	}
+
+	inline GUINT max_size() const
+	{
+		return m_allocated_size;
+	}
+
+	inline T& operator[](size_t i)
 	{
 		return m_data[i];
 	}
-	inline  const T & operator[](size_t i) const
+	inline const T& operator[](size_t i) const
 	{
 		return m_data[i];
 	}
 
-    inline T * pointer(){ return m_data;}
-    inline const T * pointer() const
-    { return m_data;}
-
+	inline T* pointer() { return m_data; }
+	inline const T* pointer() const
+	{
+		return m_data;
+	}
 
-    inline T * get_pointer_at(GUINT i)
+	inline T* get_pointer_at(GUINT i)
 	{
 		return m_data + i;
 	}
 
-	inline const T * get_pointer_at(GUINT i) const
+	inline const T* get_pointer_at(GUINT i) const
 	{
 		return m_data + i;
 	}
 
-	inline T & at(GUINT i)
+	inline T& at(GUINT i)
 	{
 		return m_data[i];
 	}
 
-	inline const T & at(GUINT i) const
+	inline const T& at(GUINT i) const
 	{
 		return m_data[i];
 	}
 
-	inline T & front()
+	inline T& front()
 	{
 		return *m_data;
 	}
 
-	inline const T & front() const
+	inline const T& front() const
 	{
 		return *m_data;
 	}
 
-	inline T & back()
+	inline T& back()
 	{
-		return m_data[m_size-1];
+		return m_data[m_size - 1];
 	}
 
-	inline const T & back() const
+	inline const T& back() const
 	{
-		return m_data[m_size-1];
+		return m_data[m_size - 1];
 	}
 
-
 	inline void swap(GUINT i, GUINT j)
 	{
-	    gim_swap_elements(m_data,i,j);
+		gim_swap_elements(m_data, i, j);
 	}
 
-	inline void push_back(const T & obj)
+	inline void push_back(const T& obj)
 	{
-	    this->growingCheck();
-	    m_data[m_size] = obj;
-	    m_size++;
+		this->growingCheck();
+		m_data[m_size] = obj;
+		m_size++;
 	}
 
 	//!Simply increase the m_size, doesn't call the new element constructor
 	inline void push_back_mem()
 	{
-	    this->growingCheck();
-	    m_size++;
+		this->growingCheck();
+		m_size++;
 	}
 
-	inline void push_back_memcpy(const T & obj)
+	inline void push_back_memcpy(const T& obj)
 	{
-	    this->growingCheck();
-	    gim_simd_memcpy(&m_data[m_size],&obj,sizeof(T));
-	    m_size++;
+		this->growingCheck();
+		gim_simd_memcpy(&m_data[m_size], &obj, sizeof(T));
+		m_size++;
 	}
 
 	inline void pop_back()
 	{
-	    m_size--;
-        m_data[m_size].~T();
+		m_size--;
+		m_data[m_size].~T();
 	}
 
 	//!Simply decrease the m_size, doesn't call the deleted element destructor
 	inline void pop_back_mem()
 	{
-	    m_size--;
+		m_size--;
 	}
 
-    //! fast erase
+	//! fast erase
 	inline void erase(GUINT index)
 	{
-	    if(index<m_size-1)
-	    {
-	        swap(index,m_size-1);
-	    }
-	    pop_back();
+		if (index < m_size - 1)
+		{
+			swap(index, m_size - 1);
+		}
+		pop_back();
 	}
 
 	inline void erase_sorted_mem(GUINT index)
 	{
-	    m_size--;
-	    for(GUINT i = index;i<m_size;i++)
-	    {
-	        gim_simd_memcpy(m_data+i,m_data+i+1,sizeof(T));
-	    }
+		m_size--;
+		for (GUINT i = index; i < m_size; i++)
+		{
+			gim_simd_memcpy(m_data + i, m_data + i + 1, sizeof(T));
+		}
 	}
 
 	inline void erase_sorted(GUINT index)
 	{
-	    m_data[index].~T();
-	    erase_sorted_mem(index);
+		m_data[index].~T();
+		erase_sorted_mem(index);
 	}
 
 	inline void insert_mem(GUINT index)
 	{
-	    this->growingCheck();
-	    for(GUINT i = m_size;i>index;i--)
-	    {
-	        gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T));
-	    }
-	    m_size++;
-	}
-
-	inline void insert(const T & obj,GUINT index)
-	{
-	    insert_mem(index);
-	    m_data[index] = obj;
-	}
-
-	inline void resize(GUINT size, bool call_constructor = true, const T& fillData=T())
-	{
-	    if(size>m_size)
-	    {
-            reserve(size);
-            if(call_constructor)
-            {
-                while(m_size<size)
-                {
-                    m_data[m_size] = fillData;
-                    m_size++;
-                }
-            }
-            else
-            {
-            	m_size = size;
-            }
-	    }
-	    else if(size<m_size)
-	    {
-	        if(call_constructor) clear_range(size);
-	        m_size = size;
-	    }
+		this->growingCheck();
+		for (GUINT i = m_size; i > index; i--)
+		{
+			gim_simd_memcpy(m_data + i, m_data + i - 1, sizeof(T));
+		}
+		m_size++;
 	}
 
-	inline void refit()
+	inline void insert(const T& obj, GUINT index)
 	{
-	    resizeData(m_size);
+		insert_mem(index);
+		m_data[index] = obj;
 	}
 
-};
-
-
-
+	inline void resize(GUINT size, bool call_constructor = true, const T& fillData = T())
+	{
+		if (size > m_size)
+		{
+			reserve(size);
+			if (call_constructor)
+			{
+				while (m_size < size)
+				{
+					m_data[m_size] = fillData;
+					m_size++;
+				}
+			}
+			else
+			{
+				m_size = size;
+			}
+		}
+		else if (size < m_size)
+		{
+			if (call_constructor) clear_range(size);
+			m_size = size;
+		}
+	}
 
+	inline void refit()
+	{
+		resizeData(m_size);
+	}
+};
 
-#endif // GIM_CONTAINERS_H_INCLUDED
+#endif  // GIM_CONTAINERS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h
index 0c48cb60fc..7ab783672d 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h
@@ -35,12 +35,8 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_linear_math.h"
 
-
-
-
 #ifndef PLANEDIREPSILON
 #define PLANEDIREPSILON 0.0000001f
 #endif
@@ -49,77 +45,82 @@ email: projectileman@yahoo.com
 #define PARALELENORMALS 0.000001f
 #endif
 
-#define TRIANGLE_NORMAL(v1,v2,v3,n)\
-{\
-	vec3f _dif1,_dif2;\
-    VEC_DIFF(_dif1,v2,v1);\
-    VEC_DIFF(_dif2,v3,v1);\
-    VEC_CROSS(n,_dif1,_dif2);\
-    VEC_NORMALIZE(n);\
-}\
-
-#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\
-    vec3f _dif1,_dif2; \
-    VEC_DIFF(_dif1,v2,v1); \
-    VEC_DIFF(_dif2,v3,v1); \
-    VEC_CROSS(n,_dif1,_dif2); \
-}\
+#define TRIANGLE_NORMAL(v1, v2, v3, n) \
+	{                                  \
+		vec3f _dif1, _dif2;            \
+		VEC_DIFF(_dif1, v2, v1);       \
+		VEC_DIFF(_dif2, v3, v1);       \
+		VEC_CROSS(n, _dif1, _dif2);    \
+		VEC_NORMALIZE(n);              \
+	}
+
+#define TRIANGLE_NORMAL_FAST(v1, v2, v3, n) \
+	{                                       \
+		vec3f _dif1, _dif2;                 \
+		VEC_DIFF(_dif1, v2, v1);            \
+		VEC_DIFF(_dif2, v3, v1);            \
+		VEC_CROSS(n, _dif1, _dif2);         \
+	}
 
 /// plane is a vec4f
-#define TRIANGLE_PLANE(v1,v2,v3,plane) {\
-    TRIANGLE_NORMAL(v1,v2,v3,plane);\
-    plane[3] = VEC_DOT(v1,plane);\
-}\
+#define TRIANGLE_PLANE(v1, v2, v3, plane)   \
+	{                                       \
+		TRIANGLE_NORMAL(v1, v2, v3, plane); \
+		plane[3] = VEC_DOT(v1, plane);      \
+	}
 
 /// plane is a vec4f
-#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\
-    TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\
-    plane[3] = VEC_DOT(v1,plane);\
-}\
+#define TRIANGLE_PLANE_FAST(v1, v2, v3, plane)   \
+	{                                            \
+		TRIANGLE_NORMAL_FAST(v1, v2, v3, plane); \
+		plane[3] = VEC_DOT(v1, plane);           \
+	}
 
 /// Calc a plane from an edge an a normal. plane is a vec4f
-#define EDGE_PLANE(e1,e2,n,plane) {\
-    vec3f _dif; \
-    VEC_DIFF(_dif,e2,e1); \
-    VEC_CROSS(plane,_dif,n); \
-    VEC_NORMALIZE(plane); \
-    plane[3] = VEC_DOT(e1,plane);\
-}\
-
-#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3])
-
-#define PROJECT_POINT_PLANE(point,plane,projected) {\
-	GREAL _dis;\
-	_dis = DISTANCE_PLANE_POINT(plane,point);\
-	VEC_SCALE(projected,-_dis,plane);\
-	VEC_SUM(projected,projected,point);	\
-}\
+#define EDGE_PLANE(e1, e2, n, plane)   \
+	{                                  \
+		vec3f _dif;                    \
+		VEC_DIFF(_dif, e2, e1);        \
+		VEC_CROSS(plane, _dif, n);     \
+		VEC_NORMALIZE(plane);          \
+		plane[3] = VEC_DOT(e1, plane); \
+	}
+
+#define DISTANCE_PLANE_POINT(plane, point) (VEC_DOT(plane, point) - plane[3])
+
+#define PROJECT_POINT_PLANE(point, plane, projected) \
+	{                                                \
+		GREAL _dis;                                  \
+		_dis = DISTANCE_PLANE_POINT(plane, point);   \
+		VEC_SCALE(projected, -_dis, plane);          \
+		VEC_SUM(projected, projected, point);        \
+	}
 
 //! Verifies if a point is in the plane hull
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE bool POINT_IN_HULL(
-	const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count)
+	const CLASS_POINT &point, const CLASS_PLANE *planes, GUINT plane_count)
 {
 	GREAL _dis;
-	for (GUINT _i = 0;_i< plane_count;++_i)
+	for (GUINT _i = 0; _i < plane_count; ++_i)
 	{
-		_dis = DISTANCE_PLANE_POINT(planes[_i],point);
-	    if(_dis>0.0f) return false;
+		_dis = DISTANCE_PLANE_POINT(planes[_i], point);
+		if (_dis > 0.0f) return false;
 	}
 	return true;
 }
 
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
-	const CLASS_POINT& s1,
-	const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped)
+	const CLASS_POINT &s1,
+	const CLASS_POINT &s2, const CLASS_PLANE &plane, CLASS_POINT &clipped)
 {
-	GREAL _dis1,_dis2;
-	_dis1 = DISTANCE_PLANE_POINT(plane,s1);
-	VEC_DIFF(clipped,s2,s1);
-	_dis2 = VEC_DOT(clipped,plane);
-	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
-	VEC_SUM(clipped,clipped,s1);
+	GREAL _dis1, _dis2;
+	_dis1 = DISTANCE_PLANE_POINT(plane, s1);
+	VEC_DIFF(clipped, s2, s1);
+	_dis2 = VEC_DOT(clipped, plane);
+	VEC_SCALE(clipped, -_dis1 / _dis2, clipped);
+	VEC_SUM(clipped, clipped, s1);
 }
 
 enum ePLANE_INTERSECTION_TYPE
@@ -152,30 +153,30 @@ intersection type must have the following values
 </ul>
 */
 
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
-	const CLASS_POINT& s1,
+	const CLASS_POINT &s1,
 	const CLASS_POINT &s2,
-	const CLASS_PLANE &plane,CLASS_POINT &clipped)
+	const CLASS_PLANE &plane, CLASS_POINT &clipped)
 {
-	GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1);
-	GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2);
-	if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)
+	GREAL _dis1 = DISTANCE_PLANE_POINT(plane, s1);
+	GREAL _dis2 = DISTANCE_PLANE_POINT(plane, s2);
+	if (_dis1 > -G_EPSILON && _dis2 > -G_EPSILON)
 	{
-	    if(_dis1<_dis2) return G_FRONT_PLANE_S1;
-	    return G_FRONT_PLANE_S2;
+		if (_dis1 < _dis2) return G_FRONT_PLANE_S1;
+		return G_FRONT_PLANE_S2;
 	}
-	else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON)
+	else if (_dis1 < G_EPSILON && _dis2 < G_EPSILON)
 	{
-	    if(_dis1>_dis2) return G_BACK_PLANE_S1;
-	    return G_BACK_PLANE_S2;
+		if (_dis1 > _dis2) return G_BACK_PLANE_S1;
+		return G_BACK_PLANE_S2;
 	}
 
-	VEC_DIFF(clipped,s2,s1);
-	_dis2 = VEC_DOT(clipped,plane);
-	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
-	VEC_SUM(clipped,clipped,s1);
-	if(_dis1<_dis2) return G_COLLIDE_PLANE_S1;
+	VEC_DIFF(clipped, s2, s1);
+	_dis2 = VEC_DOT(clipped, plane);
+	VEC_SCALE(clipped, -_dis1 / _dis2, clipped);
+	VEC_SUM(clipped, clipped, s1);
+	if (_dis1 < _dis2) return G_COLLIDE_PLANE_S1;
 	return G_COLLIDE_PLANE_S2;
 }
 
@@ -194,43 +195,42 @@ intersection_type must have the following values
 <li> 5 : Segment collides plane, s2 in back
 </ul>
 */
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
-	const CLASS_POINT& s1,
+	const CLASS_POINT &s1,
 	const CLASS_POINT &s2,
 	const CLASS_PLANE &plane,
-	CLASS_POINT &clipped1,CLASS_POINT &clipped2)
+	CLASS_POINT &clipped1, CLASS_POINT &clipped2)
 {
-	eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1);
-	switch(intersection_type)
+	eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1, s2, plane, clipped1);
+	switch (intersection_type)
 	{
-	case G_FRONT_PLANE_S1:
-		VEC_COPY(clipped1,s1);
-	    VEC_COPY(clipped2,s2);
-		break;
-	case G_FRONT_PLANE_S2:
-		VEC_COPY(clipped1,s2);
-	    VEC_COPY(clipped2,s1);
-		break;
-	case G_BACK_PLANE_S1:
-		VEC_COPY(clipped1,s1);
-	    VEC_COPY(clipped2,s2);
-		break;
-	case G_BACK_PLANE_S2:
-		VEC_COPY(clipped1,s2);
-	    VEC_COPY(clipped2,s1);
-		break;
-	case G_COLLIDE_PLANE_S1:
-		VEC_COPY(clipped2,s1);
-		break;
-	case G_COLLIDE_PLANE_S2:
-		VEC_COPY(clipped2,s2);
-		break;
+		case G_FRONT_PLANE_S1:
+			VEC_COPY(clipped1, s1);
+			VEC_COPY(clipped2, s2);
+			break;
+		case G_FRONT_PLANE_S2:
+			VEC_COPY(clipped1, s2);
+			VEC_COPY(clipped2, s1);
+			break;
+		case G_BACK_PLANE_S1:
+			VEC_COPY(clipped1, s1);
+			VEC_COPY(clipped2, s2);
+			break;
+		case G_BACK_PLANE_S2:
+			VEC_COPY(clipped1, s2);
+			VEC_COPY(clipped2, s1);
+			break;
+		case G_COLLIDE_PLANE_S1:
+			VEC_COPY(clipped2, s1);
+			break;
+		case G_COLLIDE_PLANE_S2:
+			VEC_COPY(clipped2, s2);
+			break;
 	}
 	return intersection_type;
 }
 
-
 //! Finds the 2 smallest cartesian coordinates of a plane normal
 #define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
 
@@ -239,23 +239,23 @@ SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
 Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
 It uses the PLANEDIREPSILON constant.
 */
-template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
+template <typename T, typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
-	const CLASS_PLANE & plane,
-	const CLASS_POINT & vDir,
-	const CLASS_POINT & vPoint,
-	CLASS_POINT & pout,T &tparam)
+	const CLASS_PLANE &plane,
+	const CLASS_POINT &vDir,
+	const CLASS_POINT &vPoint,
+	CLASS_POINT &pout, T &tparam)
 {
-	GREAL _dis,_dotdir;
-	_dotdir = VEC_DOT(plane,vDir);
-	if(_dotdir<PLANEDIREPSILON)
+	GREAL _dis, _dotdir;
+	_dotdir = VEC_DOT(plane, vDir);
+	if (_dotdir < PLANEDIREPSILON)
 	{
-	    return false;
+		return false;
 	}
-	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
-	tparam = -_dis/_dotdir;
-	VEC_SCALE(pout,tparam,vDir);
-	VEC_SUM(pout,vPoint,pout);
+	_dis = DISTANCE_PLANE_POINT(plane, vPoint);
+	tparam = -_dis / _dotdir;
+	VEC_SCALE(pout, tparam, vDir);
+	VEC_SUM(pout, vPoint, pout);
 	return true;
 }
 
@@ -266,39 +266,39 @@ SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
 	-1 if the ray collides in front
 	-2 if the ray collides in back
 */
-template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
+template <typename T, typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
-	const CLASS_PLANE & plane,
-	const CLASS_POINT & vDir,
-	const CLASS_POINT & vPoint,
-	CLASS_POINT & pout,
+	const CLASS_PLANE &plane,
+	const CLASS_POINT &vDir,
+	const CLASS_POINT &vPoint,
+	CLASS_POINT &pout,
 	T &tparam,
 	T tmin, T tmax)
 {
-	GREAL _dis,_dotdir;
-	_dotdir = VEC_DOT(plane,vDir);
-	if(btFabs(_dotdir)<PLANEDIREPSILON)
+	GREAL _dis, _dotdir;
+	_dotdir = VEC_DOT(plane, vDir);
+	if (btFabs(_dotdir) < PLANEDIREPSILON)
 	{
 		tparam = tmax;
-	    return 0;
+		return 0;
 	}
-	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
-	char returnvalue = _dis<0.0f?2:1;
-	tparam = -_dis/_dotdir;
+	_dis = DISTANCE_PLANE_POINT(plane, vPoint);
+	char returnvalue = _dis < 0.0f ? 2 : 1;
+	tparam = -_dis / _dotdir;
 
-	if(tparam<tmin)
+	if (tparam < tmin)
 	{
 		returnvalue = 0;
 		tparam = tmin;
 	}
-	else if(tparam>tmax)
+	else if (tparam > tmax)
 	{
 		returnvalue = 0;
 		tparam = tmax;
 	}
 
-	VEC_SCALE(pout,tparam,vDir);
-	VEC_SUM(pout,vPoint,pout);
+	VEC_SCALE(pout, tparam, vDir);
+	VEC_SUM(pout, vPoint, pout);
 	return returnvalue;
 }
 
@@ -312,24 +312,24 @@ SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
   \return true if the planes intersect, 0 if paralell.
 
 */
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE bool INTERSECT_PLANES(
-		const CLASS_PLANE &p1,
-		const CLASS_PLANE &p2,
-		CLASS_POINT &p,
-		CLASS_POINT &d)
+	const CLASS_PLANE &p1,
+	const CLASS_PLANE &p2,
+	CLASS_POINT &p,
+	CLASS_POINT &d)
 {
-	VEC_CROSS(d,p1,p2);
-  	GREAL denom = VEC_DOT(d, d);
-  	if(GIM_IS_ZERO(denom)) return false;
+	VEC_CROSS(d, p1, p2);
+	GREAL denom = VEC_DOT(d, d);
+	if (GIM_IS_ZERO(denom)) return false;
 	vec3f _n;
-	_n[0]=p1[3]*p2[0] - p2[3]*p1[0];
-	_n[1]=p1[3]*p2[1] - p2[3]*p1[1];
-	_n[2]=p1[3]*p2[2] - p2[3]*p1[2];
-	VEC_CROSS(p,_n,d);
-	p[0]/=denom;
-	p[1]/=denom;
-	p[2]/=denom;
+	_n[0] = p1[3] * p2[0] - p2[3] * p1[0];
+	_n[1] = p1[3] * p2[1] - p2[3] * p1[1];
+	_n[2] = p1[3] * p2[2] - p2[3] * p1[2];
+	VEC_CROSS(p, _n, d);
+	p[0] /= denom;
+	p[1] /= denom;
+	p[2] /= denom;
 	return true;
 }
 
@@ -337,32 +337,31 @@ SIMD_FORCE_INLINE bool INTERSECT_PLANES(
 
 /*! Finds the closest point(cp) to (v) on a segment (e1,e2)
  */
-template<typename CLASS_POINT>
+template <typename CLASS_POINT>
 SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
-	CLASS_POINT & cp, const CLASS_POINT & v,
-	const CLASS_POINT &e1,const CLASS_POINT &e2)
+	CLASS_POINT &cp, const CLASS_POINT &v,
+	const CLASS_POINT &e1, const CLASS_POINT &e2)
 {
-    vec3f _n;
-    VEC_DIFF(_n,e2,e1);
-    VEC_DIFF(cp,v,e1);
+	vec3f _n;
+	VEC_DIFF(_n, e2, e1);
+	VEC_DIFF(cp, v, e1);
 	GREAL _scalar = VEC_DOT(cp, _n);
-	_scalar/= VEC_DOT(_n, _n);
-	if(_scalar <0.0f)
+	_scalar /= VEC_DOT(_n, _n);
+	if (_scalar < 0.0f)
 	{
-	    VEC_COPY(cp,e1);
+		VEC_COPY(cp, e1);
 	}
-	else if(_scalar >1.0f)
+	else if (_scalar > 1.0f)
 	{
-	    VEC_COPY(cp,e2);
+		VEC_COPY(cp, e2);
 	}
 	else
 	{
-        VEC_SCALE(cp,_scalar,_n);
-        VEC_SUM(cp,cp,e1);
+		VEC_SCALE(cp, _scalar, _n);
+		VEC_SUM(cp, cp, e1);
 	}
 }
 
-
 /*! \brief Finds the line params where these lines intersect.
 
 \param dir1 Direction of line 1
@@ -374,117 +373,113 @@ SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
 \param dointersect  0  if the lines won't intersect, else 1
 
 */
-template<typename T,typename CLASS_POINT>
+template <typename T, typename CLASS_POINT>
 SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
-	const CLASS_POINT & dir1,
-	CLASS_POINT & point1,
-	const CLASS_POINT & dir2,
-	CLASS_POINT &  point2,
-	T& t1,T& t2)
+	const CLASS_POINT &dir1,
+	CLASS_POINT &point1,
+	const CLASS_POINT &dir2,
+	CLASS_POINT &point2,
+	T &t1, T &t2)
 {
-    GREAL det;
-	GREAL e1e1 = VEC_DOT(dir1,dir1);
-	GREAL e1e2 = VEC_DOT(dir1,dir2);
-	GREAL e2e2 = VEC_DOT(dir2,dir2);
+	GREAL det;
+	GREAL e1e1 = VEC_DOT(dir1, dir1);
+	GREAL e1e2 = VEC_DOT(dir1, dir2);
+	GREAL e2e2 = VEC_DOT(dir2, dir2);
 	vec3f p1p2;
-    VEC_DIFF(p1p2,point1,point2);
-    GREAL p1p2e1 = VEC_DOT(p1p2,dir1);
-	GREAL p1p2e2 = VEC_DOT(p1p2,dir2);
-	det = e1e2*e1e2 - e1e1*e2e2;
-	if(GIM_IS_ZERO(det)) return false;
-	t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;
-	t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;
+	VEC_DIFF(p1p2, point1, point2);
+	GREAL p1p2e1 = VEC_DOT(p1p2, dir1);
+	GREAL p1p2e2 = VEC_DOT(p1p2, dir2);
+	det = e1e2 * e1e2 - e1e1 * e2e2;
+	if (GIM_IS_ZERO(det)) return false;
+	t1 = (e1e2 * p1p2e2 - e2e2 * p1p2e1) / det;
+	t2 = (e1e1 * p1p2e2 - e1e2 * p1p2e1) / det;
 	return true;
 }
 
 //! Find closest points on segments
-template<typename CLASS_POINT>
+template <typename CLASS_POINT>
 SIMD_FORCE_INLINE void SEGMENT_COLLISION(
-	const CLASS_POINT & vA1,
-	const CLASS_POINT & vA2,
-	const CLASS_POINT & vB1,
-	const CLASS_POINT & vB2,
-	CLASS_POINT & vPointA,
-	CLASS_POINT & vPointB)
+	const CLASS_POINT &vA1,
+	const CLASS_POINT &vA2,
+	const CLASS_POINT &vB1,
+	const CLASS_POINT &vB2,
+	CLASS_POINT &vPointA,
+	CLASS_POINT &vPointB)
 {
-    CLASS_POINT _AD,_BD,n;
-    vec4f _M;//plane
-    VEC_DIFF(_AD,vA2,vA1);
-    VEC_DIFF(_BD,vB2,vB1);
-    VEC_CROSS(n,_AD,_BD);
-    GREAL _tp = VEC_DOT(n,n);
-    if(_tp<G_EPSILON)//ARE PARALELE
-    {
-    	//project B over A
-    	bool invert_b_order = false;
-    	_M[0] = VEC_DOT(vB1,_AD);
-    	_M[1] = VEC_DOT(vB2,_AD);
-    	if(_M[0]>_M[1])
-    	{
-    		invert_b_order  = true;
-    		GIM_SWAP_NUMBERS(_M[0],_M[1]);
-    	}
-    	_M[2] = VEC_DOT(vA1,_AD);
-    	_M[3] = VEC_DOT(vA2,_AD);
-    	//mid points
-    	n[0] = (_M[0]+_M[1])*0.5f;
-    	n[1] = (_M[2]+_M[3])*0.5f;
-
-    	if(n[0]<n[1])
-    	{
-    		if(_M[1]<_M[2])
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			vPointA = vA1;
-    		}
-    		else if(_M[1]<_M[3])
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
-    		}
-    		else
-    		{
-    			vPointA = vA2;
-    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
-    		}
-    	}
-    	else
-    	{
-    		if(_M[3]<_M[0])
-    		{
-    			vPointB = invert_b_order?vB2:vB1;
-    			vPointA = vA2;
-    		}
-    		else if(_M[3]<_M[1])
-    		{
-    			vPointA = vA2;
-    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
-    		}
-    		else
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
-    		}
-    	}
-    	return;
-    }
-
-
-    VEC_CROSS(_M,n,_BD);
-    _M[3] = VEC_DOT(_M,vB1);
-
-    LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1));
-    /*Closest point on segment*/
-    VEC_DIFF(vPointB,vPointA,vB1);
-	_tp = VEC_DOT(vPointB, _BD);
-	_tp/= VEC_DOT(_BD, _BD);
-	_tp = GIM_CLAMP(_tp,0.0f,1.0f);
-    VEC_SCALE(vPointB,_tp,_BD);
-    VEC_SUM(vPointB,vPointB,vB1);
-}
-
+	CLASS_POINT _AD, _BD, n;
+	vec4f _M;  //plane
+	VEC_DIFF(_AD, vA2, vA1);
+	VEC_DIFF(_BD, vB2, vB1);
+	VEC_CROSS(n, _AD, _BD);
+	GREAL _tp = VEC_DOT(n, n);
+	if (_tp < G_EPSILON)  //ARE PARALELE
+	{
+		//project B over A
+		bool invert_b_order = false;
+		_M[0] = VEC_DOT(vB1, _AD);
+		_M[1] = VEC_DOT(vB2, _AD);
+		if (_M[0] > _M[1])
+		{
+			invert_b_order = true;
+			GIM_SWAP_NUMBERS(_M[0], _M[1]);
+		}
+		_M[2] = VEC_DOT(vA1, _AD);
+		_M[3] = VEC_DOT(vA2, _AD);
+		//mid points
+		n[0] = (_M[0] + _M[1]) * 0.5f;
+		n[1] = (_M[2] + _M[3]) * 0.5f;
+
+		if (n[0] < n[1])
+		{
+			if (_M[1] < _M[2])
+			{
+				vPointB = invert_b_order ? vB1 : vB2;
+				vPointA = vA1;
+			}
+			else if (_M[1] < _M[3])
+			{
+				vPointB = invert_b_order ? vB1 : vB2;
+				CLOSEST_POINT_ON_SEGMENT(vPointA, vPointB, vA1, vA2);
+			}
+			else
+			{
+				vPointA = vA2;
+				CLOSEST_POINT_ON_SEGMENT(vPointB, vPointA, vB1, vB2);
+			}
+		}
+		else
+		{
+			if (_M[3] < _M[0])
+			{
+				vPointB = invert_b_order ? vB2 : vB1;
+				vPointA = vA2;
+			}
+			else if (_M[3] < _M[1])
+			{
+				vPointA = vA2;
+				CLOSEST_POINT_ON_SEGMENT(vPointB, vPointA, vB1, vB2);
+			}
+			else
+			{
+				vPointB = invert_b_order ? vB1 : vB2;
+				CLOSEST_POINT_ON_SEGMENT(vPointA, vPointB, vA1, vA2);
+			}
+		}
+		return;
+	}
 
+	VEC_CROSS(_M, n, _BD);
+	_M[3] = VEC_DOT(_M, vB1);
 
+	LINE_PLANE_COLLISION(_M, _AD, vA1, vPointA, _tp, btScalar(0), btScalar(1));
+	/*Closest point on segment*/
+	VEC_DIFF(vPointB, vPointA, vB1);
+	_tp = VEC_DOT(vPointB, _BD);
+	_tp /= VEC_DOT(_BD, _BD);
+	_tp = GIM_CLAMP(_tp, 0.0f, 1.0f);
+	VEC_SCALE(vPointB, _tp, _BD);
+	VEC_SUM(vPointB, vPointB, vB1);
+}
 
 //! Line box intersection in one dimension
 /*!
@@ -497,37 +492,36 @@ SIMD_FORCE_INLINE void SEGMENT_COLLISION(
 *\param tlast the maximum projection. Assign to INFINITY at first.
 *\return true if there is an intersection.
 */
-template<typename T>
-SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast)
+template <typename T>
+SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir, T bmin, T bmax, T &tfirst, T &tlast)
 {
-	if(GIM_IS_ZERO(dir))
+	if (GIM_IS_ZERO(dir))
 	{
-        return !(pos < bmin || pos > bmax);
+		return !(pos < bmin || pos > bmax);
 	}
 	GREAL a0 = (bmin - pos) / dir;
 	GREAL a1 = (bmax - pos) / dir;
-	if(a0 > a1)   GIM_SWAP_NUMBERS(a0, a1);
+	if (a0 > a1) GIM_SWAP_NUMBERS(a0, a1);
 	tfirst = GIM_MAX(a0, tfirst);
 	tlast = GIM_MIN(a1, tlast);
 	if (tlast < tfirst) return false;
 	return true;
 }
 
-
 //! Sorts 3 componets
-template<typename T>
+template <typename T>
 SIMD_FORCE_INLINE void SORT_3_INDICES(
-		const T * values,
-		GUINT * order_indices)
+	const T *values,
+	GUINT *order_indices)
 {
 	//get minimum
 	order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
 
 	//get second and third
-	GUINT i0 = (order_indices[0] + 1)%3;
-	GUINT i1 = (i0 + 1)%3;
+	GUINT i0 = (order_indices[0] + 1) % 3;
+	GUINT i1 = (i0 + 1) % 3;
 
-	if(values[i0] < values[i1])
+	if (values[i0] < values[i1])
 	{
 		order_indices[1] = i0;
 		order_indices[2] = i1;
@@ -539,8 +533,4 @@ SIMD_FORCE_INLINE void SORT_3_INDICES(
 	}
 }
 
-
-
-
-
-#endif // GIM_VECTOR_H_INCLUDED
+#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h
index 7dee48a4c7..c1fb41a5c0 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_bitset.h
@@ -34,34 +34,32 @@ email: projectileman@yahoo.com
 
 #include "gim_array.h"
 
-
 #define GUINT_BIT_COUNT 32
 #define GUINT_EXPONENT 5
 
 class gim_bitset
 {
 public:
-    gim_array<GUINT> m_container;
-
-    gim_bitset()
-    {
+	gim_array<GUINT> m_container;
 
-    }
+	gim_bitset()
+	{
+	}
 
-    gim_bitset(GUINT bits_count)
-    {
-        resize(bits_count);
-    }
+	gim_bitset(GUINT bits_count)
+	{
+		resize(bits_count);
+	}
 
-    ~gim_bitset()
-    {
-    }
+	~gim_bitset()
+	{
+	}
 
 	inline bool resize(GUINT newsize)
 	{
 		GUINT oldsize = m_container.size();
-		m_container.resize(newsize/GUINT_BIT_COUNT + 1,false);
-		while(oldsize<m_container.size())
+		m_container.resize(newsize / GUINT_BIT_COUNT + 1, false);
+		while (oldsize < m_container.size())
 		{
 			m_container[oldsize] = 0;
 		}
@@ -70,12 +68,12 @@ public:
 
 	inline GUINT size()
 	{
-		return m_container.size()*GUINT_BIT_COUNT;
+		return m_container.size() * GUINT_BIT_COUNT;
 	}
 
 	inline void set_all()
 	{
-		for(GUINT i = 0;i<m_container.size();++i)
+		for (GUINT i = 0; i < m_container.size(); ++i)
 		{
 			m_container[i] = 0xffffffff;
 		}
@@ -83,7 +81,7 @@ public:
 
 	inline void clear_all()
 	{
-	    for(GUINT i = 0;i<m_container.size();++i)
+		for (GUINT i = 0; i < m_container.size(); ++i)
 		{
 			m_container[i] = 0;
 		}
@@ -91,33 +89,29 @@ public:
 
 	inline void set(GUINT bit_index)
 	{
-		if(bit_index>=size())
+		if (bit_index >= size())
 		{
 			resize(bit_index);
 		}
-		m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1)));
+		m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT - 1)));
 	}
 
 	///Return 0 or 1
 	inline char get(GUINT bit_index)
 	{
-		if(bit_index>=size())
+		if (bit_index >= size())
 		{
 			return 0;
 		}
 		char value = m_container[bit_index >> GUINT_EXPONENT] &
-					 (1 << (bit_index & (GUINT_BIT_COUNT-1)));
+					 (1 << (bit_index & (GUINT_BIT_COUNT - 1)));
 		return value;
 	}
 
 	inline void clear(GUINT bit_index)
 	{
-	    m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1)));
+		m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT - 1)));
 	}
 };
 
-
-
-
-
-#endif // GIM_CONTAINERS_H_INCLUDED
+#endif  // GIM_CONTAINERS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h
index a051b4fdbf..9f7cbe732f 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_collision.h
@@ -35,8 +35,6 @@ email: projectileman@yahoo.com
 #include "gim_basic_geometry_operations.h"
 #include "LinearMath/btTransform.h"
 
-
-
 //SIMD_FORCE_INLINE bool test_cross_edge_box(
 //	const btVector3 & edge,
 //	const btVector3 & absolute_edge,
@@ -99,52 +97,50 @@ email: projectileman@yahoo.com
 
 #ifndef TEST_CROSS_EDGE_BOX_MCR
 
-#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
-{\
-	const btScalar dir0 = -edge[i_dir_0];\
-	const btScalar dir1 = edge[i_dir_1];\
-	btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
-	btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
-	if(pmin>pmax)\
-	{\
-		GIM_SWAP_NUMBERS(pmin,pmax); \
-	}\
-	const btScalar abs_dir0 = absolute_edge[i_dir_0];\
-	const btScalar abs_dir1 = absolute_edge[i_dir_1];\
-	const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
-	if(pmin>rad || -rad>pmax) return false;\
-}\
+#define TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, i_dir_0, i_dir_1, i_comp_0, i_comp_1) \
+	{                                                                                                               \
+		const btScalar dir0 = -edge[i_dir_0];                                                                       \
+		const btScalar dir1 = edge[i_dir_1];                                                                        \
+		btScalar pmin = pointa[i_comp_0] * dir0 + pointa[i_comp_1] * dir1;                                          \
+		btScalar pmax = pointb[i_comp_0] * dir0 + pointb[i_comp_1] * dir1;                                          \
+		if (pmin > pmax)                                                                                            \
+		{                                                                                                           \
+			GIM_SWAP_NUMBERS(pmin, pmax);                                                                           \
+		}                                                                                                           \
+		const btScalar abs_dir0 = absolute_edge[i_dir_0];                                                           \
+		const btScalar abs_dir1 = absolute_edge[i_dir_1];                                                           \
+		const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;                           \
+		if (pmin > rad || -rad > pmax) return false;                                                                \
+	}
 
 #endif
 
-#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
-{\
-	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
-}\
-
-#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
-{\
-	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
-}\
-
-#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
-{\
-	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
-}\
+#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
+	{                                                                                      \
+		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 2, 1, 1, 2); \
+	}
 
+#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
+	{                                                                                      \
+		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 0, 2, 2, 0); \
+	}
 
+#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)       \
+	{                                                                                      \
+		TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 1, 0, 0, 1); \
+	}
 
 //!  Class for transforming a model1 to the space of model0
 class GIM_BOX_BOX_TRANSFORM_CACHE
 {
 public:
-    btVector3  m_T1to0;//!< Transforms translation of model1 to model 0
-	btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
-	btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
+	btVector3 m_T1to0;    //!< Transforms translation of model1 to model 0
+	btMatrix3x3 m_R1to0;  //!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
+	btMatrix3x3 m_AR;     //!< Absolute value of m_R1to0
 
 	SIMD_FORCE_INLINE void calc_absolute_matrix()
 	{
-		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
+		static const btVector3 vepsi(1e-6f, 1e-6f, 1e-6f);
 		m_AR[0] = vepsi + m_R1to0[0].absolute();
 		m_AR[1] = vepsi + m_R1to0[1].absolute();
 		m_AR[2] = vepsi + m_R1to0[2].absolute();
@@ -154,42 +150,40 @@ public:
 	{
 	}
 
-
-	GIM_BOX_BOX_TRANSFORM_CACHE(mat4f  trans1_to_0)
+	GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0)
 	{
-		COPY_MATRIX_3X3(m_R1to0,trans1_to_0)
-        MAT_GET_TRANSLATION(trans1_to_0,m_T1to0)
+		COPY_MATRIX_3X3(m_R1to0, trans1_to_0)
+		MAT_GET_TRANSLATION(trans1_to_0, m_T1to0)
 		calc_absolute_matrix();
 	}
 
 	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
-	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
+	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform &trans0, const btTransform &trans1)
 	{
-
 		m_R1to0 = trans0.getBasis().transpose();
 		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
 
-		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_T1to0 += m_R1to0 * trans1.getOrigin();
 		m_R1to0 *= trans1.getBasis();
 
 		calc_absolute_matrix();
 	}
 
 	//! Calcs the full invertion of the matrices. Useful for scaling matrices
-	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
+	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform &trans0, const btTransform &trans1)
 	{
 		m_R1to0 = trans0.getBasis().inverse();
 		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
 
-		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_T1to0 += m_R1to0 * trans1.getOrigin();
 		m_R1to0 *= trans1.getBasis();
 
 		calc_absolute_matrix();
 	}
 
-	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
+	SIMD_FORCE_INLINE btVector3 transform(const btVector3 &point)
 	{
-        return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
+		return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
 	}
 };
 
@@ -205,34 +199,34 @@ public:
 	btVector3 m_max;
 
 	GIM_AABB()
-	{}
-
+	{
+	}
 
-	GIM_AABB(const btVector3 & V1,
-			 const btVector3 & V2,
-			 const btVector3 & V3)
+	GIM_AABB(const btVector3 &V1,
+			 const btVector3 &V2,
+			 const btVector3 &V3)
 	{
-		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
 	}
 
-	GIM_AABB(const btVector3 & V1,
-			 const btVector3 & V2,
-			 const btVector3 & V3,
+	GIM_AABB(const btVector3 &V1,
+			 const btVector3 &V2,
+			 const btVector3 &V3,
 			 GREAL margin)
 	{
-		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
 
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -242,13 +236,11 @@ public:
 		m_max[2] += margin;
 	}
 
-	GIM_AABB(const GIM_AABB &other):
-		m_min(other.m_min),m_max(other.m_max)
+	GIM_AABB(const GIM_AABB &other) : m_min(other.m_min), m_max(other.m_max)
 	{
 	}
 
-	GIM_AABB(const GIM_AABB &other,btScalar margin ):
-		m_min(other.m_min),m_max(other.m_max)
+	GIM_AABB(const GIM_AABB &other, btScalar margin) : m_min(other.m_min), m_max(other.m_max)
 	{
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -289,34 +281,34 @@ public:
 		m_max[2] = other.m_max[2] + margin;
 	}
 
-	template<typename CLASS_POINT>
+	template <typename CLASS_POINT>
 	SIMD_FORCE_INLINE void calc_from_triangle(
-							const CLASS_POINT & V1,
-							const CLASS_POINT & V2,
-							const CLASS_POINT & V3)
+		const CLASS_POINT &V1,
+		const CLASS_POINT &V2,
+		const CLASS_POINT &V3)
 	{
-		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
 	}
 
-	template<typename CLASS_POINT>
+	template <typename CLASS_POINT>
 	SIMD_FORCE_INLINE void calc_from_triangle_margin(
-							const CLASS_POINT & V1,
-							const CLASS_POINT & V2,
-							const CLASS_POINT & V3, btScalar margin)
+		const CLASS_POINT &V1,
+		const CLASS_POINT &V2,
+		const CLASS_POINT &V3, btScalar margin)
 	{
-		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
-		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
-		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+		m_min[0] = GIM_MIN3(V1[0], V2[0], V3[0]);
+		m_min[1] = GIM_MIN3(V1[1], V2[1], V3[1]);
+		m_min[2] = GIM_MIN3(V1[2], V2[2], V3[2]);
 
-		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
-		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
-		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+		m_max[0] = GIM_MAX3(V1[0], V2[0], V3[0]);
+		m_max[1] = GIM_MAX3(V1[1], V2[1], V3[1]);
+		m_max[2] = GIM_MAX3(V1[2], V2[2], V3[2]);
 
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -327,74 +319,73 @@ public:
 	}
 
 	//! Apply a transform to an AABB
-	SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
+	SIMD_FORCE_INLINE void appy_transform(const btTransform &trans)
 	{
-		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 center = (m_max + m_min) * 0.5f;
 		btVector3 extends = m_max - center;
 		// Compute new center
 		center = trans(center);
 
-        btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), 
-                                          trans.getBasis().getRow(1).absolute(), 
-                                          trans.getBasis().getRow(2).absolute());
-        
+		btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
+										  trans.getBasis().getRow(1).absolute(),
+										  trans.getBasis().getRow(2).absolute());
+
 		m_min = center - textends;
 		m_max = center + textends;
 	}
 
 	//! Merges a Box
-	SIMD_FORCE_INLINE void merge(const GIM_AABB & box)
+	SIMD_FORCE_INLINE void merge(const GIM_AABB &box)
 	{
-		m_min[0] = GIM_MIN(m_min[0],box.m_min[0]);
-		m_min[1] = GIM_MIN(m_min[1],box.m_min[1]);
-		m_min[2] = GIM_MIN(m_min[2],box.m_min[2]);
+		m_min[0] = GIM_MIN(m_min[0], box.m_min[0]);
+		m_min[1] = GIM_MIN(m_min[1], box.m_min[1]);
+		m_min[2] = GIM_MIN(m_min[2], box.m_min[2]);
 
-		m_max[0] = GIM_MAX(m_max[0],box.m_max[0]);
-		m_max[1] = GIM_MAX(m_max[1],box.m_max[1]);
-		m_max[2] = GIM_MAX(m_max[2],box.m_max[2]);
+		m_max[0] = GIM_MAX(m_max[0], box.m_max[0]);
+		m_max[1] = GIM_MAX(m_max[1], box.m_max[1]);
+		m_max[2] = GIM_MAX(m_max[2], box.m_max[2]);
 	}
 
 	//! Merges a point
-	template<typename CLASS_POINT>
-	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
+	template <typename CLASS_POINT>
+	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT &point)
 	{
-		m_min[0] = GIM_MIN(m_min[0],point[0]);
-		m_min[1] = GIM_MIN(m_min[1],point[1]);
-		m_min[2] = GIM_MIN(m_min[2],point[2]);
+		m_min[0] = GIM_MIN(m_min[0], point[0]);
+		m_min[1] = GIM_MIN(m_min[1], point[1]);
+		m_min[2] = GIM_MIN(m_min[2], point[2]);
 
-		m_max[0] = GIM_MAX(m_max[0],point[0]);
-		m_max[1] = GIM_MAX(m_max[1],point[1]);
-		m_max[2] = GIM_MAX(m_max[2],point[2]);
+		m_max[0] = GIM_MAX(m_max[0], point[0]);
+		m_max[1] = GIM_MAX(m_max[1], point[1]);
+		m_max[2] = GIM_MAX(m_max[2], point[2]);
 	}
 
 	//! Gets the extend and center
-	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend)  const
+	SIMD_FORCE_INLINE void get_center_extend(btVector3 &center, btVector3 &extend) const
 	{
-		center = (m_max+m_min)*0.5f;
+		center = (m_max + m_min) * 0.5f;
 		extend = m_max - center;
 	}
 
 	//! Finds the intersecting box between this box and the other.
-	SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection)  const
+	SIMD_FORCE_INLINE void find_intersection(const GIM_AABB &other, GIM_AABB &intersection) const
 	{
-		intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]);
-		intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]);
-		intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]);
+		intersection.m_min[0] = GIM_MAX(other.m_min[0], m_min[0]);
+		intersection.m_min[1] = GIM_MAX(other.m_min[1], m_min[1]);
+		intersection.m_min[2] = GIM_MAX(other.m_min[2], m_min[2]);
 
-		intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]);
-		intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]);
-		intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]);
+		intersection.m_max[0] = GIM_MIN(other.m_max[0], m_max[0]);
+		intersection.m_max[1] = GIM_MIN(other.m_max[1], m_max[1]);
+		intersection.m_max[2] = GIM_MIN(other.m_max[2], m_max[2]);
 	}
 
-
-	SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const
+	SIMD_FORCE_INLINE bool has_collision(const GIM_AABB &other) const
 	{
-		if(m_min[0] > other.m_max[0] ||
-		   m_max[0] < other.m_min[0] ||
-		   m_min[1] > other.m_max[1] ||
-		   m_max[1] < other.m_min[1] ||
-		   m_min[2] > other.m_max[2] ||
-		   m_max[2] < other.m_min[2])
+		if (m_min[0] > other.m_max[0] ||
+			m_max[0] < other.m_min[0] ||
+			m_min[1] > other.m_max[1] ||
+			m_max[1] < other.m_min[1] ||
+			m_min[2] > other.m_max[2] ||
+			m_max[2] < other.m_min[2])
 		{
 			return false;
 		}
@@ -406,35 +397,34 @@ public:
 	\param vorigin A vec3f with the origin of the ray
 	\param vdir A vec3f with the direction of the ray
 	*/
-	SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)
+	SIMD_FORCE_INLINE bool collide_ray(const btVector3 &vorigin, const btVector3 &vdir)
 	{
-		btVector3 extents,center;
-		this->get_center_extend(center,extents);;
+		btVector3 extents, center;
+		this->get_center_extend(center, extents);
+		;
 
 		btScalar Dx = vorigin[0] - center[0];
-		if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)	return false;
+		if (GIM_GREATER(Dx, extents[0]) && Dx * vdir[0] >= 0.0f) return false;
 		btScalar Dy = vorigin[1] - center[1];
-		if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)	return false;
+		if (GIM_GREATER(Dy, extents[1]) && Dy * vdir[1] >= 0.0f) return false;
 		btScalar Dz = vorigin[2] - center[2];
-		if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)	return false;
-
+		if (GIM_GREATER(Dz, extents[2]) && Dz * vdir[2] >= 0.0f) return false;
 
 		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
-		if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
+		if (btFabs(f) > extents[1] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[1])) return false;
 		f = vdir[2] * Dx - vdir[0] * Dz;
-		if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
+		if (btFabs(f) > extents[0] * btFabs(vdir[2]) + extents[2] * btFabs(vdir[0])) return false;
 		f = vdir[0] * Dy - vdir[1] * Dx;
-		if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
+		if (btFabs(f) > extents[0] * btFabs(vdir[1]) + extents[1] * btFabs(vdir[0])) return false;
 		return true;
 	}
 
-
-	SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
+	SIMD_FORCE_INLINE void projection_interval(const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
 	{
-		btVector3 center = (m_max+m_min)*0.5f;
-		btVector3 extend = m_max-center;
+		btVector3 center = (m_max + m_min) * 0.5f;
+		btVector3 extend = m_max - center;
 
-		btScalar _fOrigin =  direction.dot(center);
+		btScalar _fOrigin = direction.dot(center);
 		btScalar _fMaximumExtent = extend.dot(direction.absolute());
 		vmin = _fOrigin - _fMaximumExtent;
 		vmax = _fOrigin + _fMaximumExtent;
@@ -442,22 +432,22 @@ public:
 
 	SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
 	{
-		btScalar _fmin,_fmax;
-		this->projection_interval(plane,_fmin,_fmax);
+		btScalar _fmin, _fmax;
+		this->projection_interval(plane, _fmin, _fmax);
 
-		if(plane[3] > _fmax + BOX_PLANE_EPSILON)
+		if (plane[3] > _fmax + BOX_PLANE_EPSILON)
 		{
-			return G_BACK_PLANE; // 0
+			return G_BACK_PLANE;  // 0
 		}
 
-		if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
+		if (plane[3] + BOX_PLANE_EPSILON >= _fmin)
 		{
-			return G_COLLIDE_PLANE; //1
+			return G_COLLIDE_PLANE;  //1
 		}
-		return G_FRONT_PLANE;//2
+		return G_FRONT_PLANE;  //2
 	}
 
-	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0)
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB &box, btTransform &trans1_to_0)
 	{
 		GIM_AABB tbox = box;
 		tbox.appy_transform(trans1_to_0);
@@ -466,52 +456,50 @@ public:
 
 	//! transcache is the transformation cache from box to this AABB
 	SIMD_FORCE_INLINE bool overlapping_trans_cache(
-		const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest)
+		const GIM_AABB &box, const GIM_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest)
 	{
-
 		//Taken from OPCODE
-		btVector3 ea,eb;//extends
-		btVector3 ca,cb;//extends
-		get_center_extend(ca,ea);
-		box.get_center_extend(cb,eb);
-
+		btVector3 ea, eb;  //extends
+		btVector3 ca, cb;  //extends
+		get_center_extend(ca, ea);
+		box.get_center_extend(cb, eb);
 
 		btVector3 T;
-		btScalar t,t2;
+		btScalar t, t2;
 		int i;
 
 		// Class I : A's basis vectors
-		for(i=0;i<3;i++)
+		for (i = 0; i < 3; i++)
 		{
-			T[i] =  transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
+			T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
 			t = transcache.m_AR[i].dot(eb) + ea[i];
-			if(GIM_GREATER(T[i], t))	return false;
+			if (GIM_GREATER(T[i], t)) return false;
 		}
 		// Class II : B's basis vectors
-		for(i=0;i<3;i++)
+		for (i = 0; i < 3; i++)
 		{
-			t = MAT_DOT_COL(transcache.m_R1to0,T,i);
-			t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i];
-			if(GIM_GREATER(t,t2))	return false;
+			t = MAT_DOT_COL(transcache.m_R1to0, T, i);
+			t2 = MAT_DOT_COL(transcache.m_AR, ea, i) + eb[i];
+			if (GIM_GREATER(t, t2)) return false;
 		}
 		// Class III : 9 cross products
-		if(fulltest)
+		if (fulltest)
 		{
-			int j,m,n,o,p,q,r;
-			for(i=0;i<3;i++)
+			int j, m, n, o, p, q, r;
+			for (i = 0; i < 3; i++)
 			{
-				m = (i+1)%3;
-				n = (i+2)%3;
-				o = i==0?1:0;
-				p = i==2?1:2;
-				for(j=0;j<3;j++)
+				m = (i + 1) % 3;
+				n = (i + 2) % 3;
+				o = i == 0 ? 1 : 0;
+				p = i == 2 ? 1 : 2;
+				for (j = 0; j < 3; j++)
 				{
-					q = j==2?1:2;
-					r = j==0?1:0;
-					t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j];
-					t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] +
-						eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r];
-					if(GIM_GREATER(t,t2))	return false;
+					q = j == 2 ? 1 : 2;
+					r = j == 0 ? 1 : 0;
+					t = T[n] * transcache.m_R1to0[m][j] - T[m] * transcache.m_R1to0[n][j];
+					t2 = ea[o] * transcache.m_AR[p][j] + ea[p] * transcache.m_AR[o][j] +
+						 eb[r] * transcache.m_AR[i][q] + eb[q] * transcache.m_AR[i][r];
+					if (GIM_GREATER(t, t2)) return false;
 				}
 			}
 		}
@@ -520,7 +508,7 @@ public:
 
 	//! Simple test for planes.
 	SIMD_FORCE_INLINE bool collide_plane(
-		const btVector4 & plane)
+		const btVector4 &plane)
 	{
 		ePLANE_INTERSECTION_TYPE classify = plane_classify(plane);
 		return (classify == G_COLLIDE_PLANE);
@@ -528,15 +516,15 @@ public:
 
 	//! test for a triangle, with edges
 	SIMD_FORCE_INLINE bool collide_triangle_exact(
-		const btVector3 & p1,
-		const btVector3 & p2,
-		const btVector3 & p3,
-		const btVector4 & triangle_plane)
+		const btVector3 &p1,
+		const btVector3 &p2,
+		const btVector3 &p3,
+		const btVector4 &triangle_plane)
 	{
-		if(!collide_plane(triangle_plane)) return false;
+		if (!collide_plane(triangle_plane)) return false;
 
-		btVector3 center,extends;
-		this->get_center_extend(center,extends);
+		btVector3 center, extends;
+		this->get_center_extend(center, extends);
 
 		const btVector3 v1(p1 - center);
 		const btVector3 v2(p2 - center);
@@ -546,30 +534,29 @@ public:
 		btVector3 diff(v2 - v1);
 		btVector3 abs_diff = diff.absolute();
 		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v1, v3, extends);
 		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v1, v3, extends);
 		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
-
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v1, v3, extends);
 
 		diff = v3 - v2;
 		abs_diff = diff.absolute();
 		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v2, v1, extends);
 		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v2, v1, extends);
 		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v2, v1, extends);
 
 		diff = v1 - v3;
 		abs_diff = diff.absolute();
 		//Test With X axis
-		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff, abs_diff, v3, v2, extends);
 		//Test With Y axis
-		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff, abs_diff, v3, v2, extends);
 		//Test With Z axis
-		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff, abs_diff, v3, v2, extends);
 
 		return true;
 	}
@@ -577,17 +564,15 @@ public:
 
 #ifndef BT_BOX_COLLISION_H_INCLUDED
 //! Compairison of transformation objects
-SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
+SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform &t1, const btTransform &t2)
 {
-	if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
+	if (!(t1.getOrigin() == t2.getOrigin())) return false;
 
-	if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
-	if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
-	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
+	if (!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0))) return false;
+	if (!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1))) return false;
+	if (!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2))) return false;
 	return true;
 }
 #endif
 
-
-
-#endif // GIM_BOX_COLLISION_H_INCLUDED
+#endif  // GIM_BOX_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp
index 0c3d7ba8db..0c7a6b7fc1 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.cpp
@@ -28,67 +28,64 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_box_set.h"
 
-
 GUINT GIM_BOX_TREE::_calc_splitting_axis(
-	gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex)
+	gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex)
 {
 	GUINT i;
 
-	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
-	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
-	GUINT numIndices = endIndex-startIndex;
+	btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+	btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
+	GUINT numIndices = endIndex - startIndex;
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		means+=center;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		means += center;
 	}
-	means *= (btScalar(1.)/(btScalar)numIndices);
+	means *= (btScalar(1.) / (btScalar)numIndices);
 
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
-					 primitive_boxes[i].m_bound.m_min);
-		btVector3 diff2 = center-means;
+		btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+											primitive_boxes[i].m_bound.m_min);
+		btVector3 diff2 = center - means;
 		diff2 = diff2 * diff2;
 		variance += diff2;
 	}
-	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+	variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
 
 	return variance.maxAxis();
 }
 
-
 GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
-	gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,
+	gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex,
 	GUINT endIndex, GUINT splitAxis)
 {
 	GUINT i;
-	GUINT splitIndex =startIndex;
+	GUINT splitIndex = startIndex;
 	GUINT numIndices = endIndex - startIndex;
 
 	// average of centers
 	btScalar splitValue = 0.0f;
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		splitValue+= 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] +
-					 primitive_boxes[i].m_bound.m_min[splitAxis]);
+		splitValue += 0.5f * (primitive_boxes[i].m_bound.m_max[splitAxis] +
+							  primitive_boxes[i].m_bound.m_min[splitAxis]);
 	}
 	splitValue /= (btScalar)numIndices;
 
 	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i=startIndex;i<endIndex;i++)
+	for (i = startIndex; i < endIndex; i++)
 	{
-		btScalar center = 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] +
-					 primitive_boxes[i].m_bound.m_min[splitAxis]);
+		btScalar center = 0.5f * (primitive_boxes[i].m_bound.m_max[splitAxis] +
+								  primitive_boxes[i].m_bound.m_min[splitAxis]);
 		if (center > splitValue)
 		{
 			//swap
-			primitive_boxes.swap(i,splitIndex);
+			primitive_boxes.swap(i, splitIndex);
 			splitIndex++;
 		}
 	}
@@ -102,28 +99,27 @@ GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
 	//bool unbalanced2 = true;
 
 	//this should be safe too:
-	GUINT rangeBalancedIndices = numIndices/3;
-	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+	GUINT rangeBalancedIndices = numIndices / 3;
+	bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
 
 	if (unbalanced)
 	{
-		splitIndex = startIndex+ (numIndices>>1);
+		splitIndex = startIndex + (numIndices >> 1);
 	}
 
-	btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+	btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
 
 	return splitIndex;
 }
 
-
-void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex)
+void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex)
 {
 	GUINT current_index = m_num_nodes++;
 
-	btAssert((endIndex-startIndex)>0);
+	btAssert((endIndex - startIndex) > 0);
 
-	if((endIndex-startIndex) == 1) //we got a leaf
-	{		
+	if ((endIndex - startIndex) == 1)  //we got a leaf
+	{
 		m_node_array[current_index].m_left = 0;
 		m_node_array[current_index].m_right = 0;
 		m_node_array[current_index].m_escapeIndex = 0;
@@ -138,8 +134,8 @@ void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, G
 	GUINT splitIndex;
 
 	//calc this node bounding box
-	m_node_array[current_index].m_bound.invalidate();	
-	for (splitIndex=startIndex;splitIndex<endIndex;splitIndex++)
+	m_node_array[current_index].m_bound.invalidate();
+	for (splitIndex = startIndex; splitIndex < endIndex; splitIndex++)
 	{
 		m_node_array[current_index].m_bound.merge(primitive_boxes[splitIndex].m_bound);
 	}
@@ -147,36 +143,34 @@ void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, G
 	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
 
 	//split axis
-	splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+	splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
 
 	splitIndex = _sort_and_calc_splitting_index(
-			primitive_boxes,startIndex,endIndex,splitIndex);
+		primitive_boxes, startIndex, endIndex, splitIndex);
 
 	//configure this inner node : the left node index
 	m_node_array[current_index].m_left = m_num_nodes;
 	//build left child tree
-	_build_sub_tree(primitive_boxes, startIndex, splitIndex );
+	_build_sub_tree(primitive_boxes, startIndex, splitIndex);
 
 	//configure this inner node : the right node index
 	m_node_array[current_index].m_right = m_num_nodes;
 
 	//build right child tree
-	_build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+	_build_sub_tree(primitive_boxes, splitIndex, endIndex);
 
 	//configure this inner node : the escape index
-	m_node_array[current_index].m_escapeIndex  = m_num_nodes - current_index;
+	m_node_array[current_index].m_escapeIndex = m_num_nodes - current_index;
 }
 
 //! stackless build tree
 void GIM_BOX_TREE::build_tree(
-	gim_array<GIM_AABB_DATA> & primitive_boxes)
+	gim_array<GIM_AABB_DATA>& primitive_boxes)
 {
 	// initialize node count to 0
 	m_num_nodes = 0;
 	// allocate nodes
-	m_node_array.resize(primitive_boxes.size()*2);
-	
+	m_node_array.resize(primitive_boxes.size() * 2);
+
 	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h
index 61d190a7df..0522007e4f 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h
@@ -33,54 +33,51 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_array.h"
 #include "gim_radixsort.h"
 #include "gim_box_collision.h"
 #include "gim_tri_collision.h"
 
-
-
 //! Overlapping pair
 struct GIM_PAIR
 {
-    GUINT m_index1;
-    GUINT m_index2;
-    GIM_PAIR()
-    {}
+	GUINT m_index1;
+	GUINT m_index2;
+	GIM_PAIR()
+	{
+	}
 
-    GIM_PAIR(const GIM_PAIR & p)
-    {
-    	m_index1 = p.m_index1;
-    	m_index2 = p.m_index2;
+	GIM_PAIR(const GIM_PAIR& p)
+	{
+		m_index1 = p.m_index1;
+		m_index2 = p.m_index2;
 	}
 
 	GIM_PAIR(GUINT index1, GUINT index2)
-    {
-    	m_index1 = index1;
-    	m_index2 = index2;
+	{
+		m_index1 = index1;
+		m_index2 = index2;
 	}
 };
 
 //! A pairset array
-class gim_pair_set: public gim_array<GIM_PAIR>
+class gim_pair_set : public gim_array<GIM_PAIR>
 {
 public:
-	gim_pair_set():gim_array<GIM_PAIR>(32)
+	gim_pair_set() : gim_array<GIM_PAIR>(32)
 	{
 	}
-	inline void push_pair(GUINT index1,GUINT index2)
+	inline void push_pair(GUINT index1, GUINT index2)
 	{
-		push_back(GIM_PAIR(index1,index2));
+		push_back(GIM_PAIR(index1, index2));
 	}
 
-	inline void push_pair_inv(GUINT index1,GUINT index2)
+	inline void push_pair_inv(GUINT index1, GUINT index2)
 	{
-		push_back(GIM_PAIR(index2,index1));
+		push_back(GIM_PAIR(index2, index1));
 	}
 };
 
-
 //! Prototype Base class for primitive classification
 /*!
 This class is a wrapper for primitive collections.
@@ -90,16 +87,14 @@ This class can manage Compound shapes and trimeshes, and if it is managing trime
 class GIM_PRIMITIVE_MANAGER_PROTOTYPE
 {
 public:
-
 	virtual ~GIM_PRIMITIVE_MANAGER_PROTOTYPE() {}
 	//! determines if this manager consist on only triangles, which special case will be optimized
 	virtual bool is_trimesh() = 0;
 	virtual GUINT get_primitive_count() = 0;
-	virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0;
-	virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0;
+	virtual void get_primitive_box(GUINT prim_index, GIM_AABB& primbox) = 0;
+	virtual void get_primitive_triangle(GUINT prim_index, GIM_TRIANGLE& triangle) = 0;
 };
 
-
 struct GIM_AABB_DATA
 {
 	GIM_AABB m_bound;
@@ -110,22 +105,22 @@ struct GIM_AABB_DATA
 struct GIM_BOX_TREE_NODE
 {
 	GIM_AABB m_bound;
-	GUINT m_left;//!< Left subtree
-	GUINT m_right;//!< Right subtree
-	GUINT m_escapeIndex;//!< Scape index for traversing
-	GUINT m_data;//!< primitive index if apply
+	GUINT m_left;         //!< Left subtree
+	GUINT m_right;        //!< Right subtree
+	GUINT m_escapeIndex;  //!< Scape index for traversing
+	GUINT m_data;         //!< primitive index if apply
 
 	GIM_BOX_TREE_NODE()
 	{
-	    m_left = 0;
-	    m_right = 0;
-	    m_escapeIndex = 0;
-	    m_data = 0;
+		m_left = 0;
+		m_right = 0;
+		m_escapeIndex = 0;
+		m_data = 0;
 	}
 
 	SIMD_FORCE_INLINE bool is_leaf_node() const
 	{
-	    return  (!m_left && !m_right);
+		return (!m_left && !m_right);
 	}
 };
 
@@ -135,14 +130,16 @@ class GIM_BOX_TREE
 protected:
 	GUINT m_num_nodes;
 	gim_array<GIM_BOX_TREE_NODE> m_node_array;
+
 protected:
 	GUINT _sort_and_calc_splitting_index(
-		gim_array<GIM_AABB_DATA> & primitive_boxes,
-		 GUINT startIndex,  GUINT endIndex, GUINT splitAxis);
+		gim_array<GIM_AABB_DATA>& primitive_boxes,
+		GUINT startIndex, GUINT endIndex, GUINT splitAxis);
 
-	GUINT _calc_splitting_axis(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex);
+	GUINT _calc_splitting_axis(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex);
+
+	void _build_sub_tree(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex);
 
-	void _build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex);
 public:
 	GIM_BOX_TREE()
 	{
@@ -151,7 +148,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(gim_array<GIM_AABB_DATA> & primitive_boxes);
+	void build_tree(gim_array<GIM_AABB_DATA>& primitive_boxes);
 
 	SIMD_FORCE_INLINE void clearNodes()
 	{
@@ -176,22 +173,22 @@ public:
 		return m_node_array[nodeindex].m_data;
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const
+	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB& bound) const
 	{
 		bound = m_node_array[nodeindex].m_bound;
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB& bound)
 	{
 		m_node_array[nodeindex].m_bound = bound;
 	}
 
-	SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex)  const
+	SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const
 	{
 		return m_node_array[nodeindex].m_left;
 	}
 
-	SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex)  const
+	SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const
 	{
 		return m_node_array[nodeindex].m_right;
 	}
@@ -204,78 +201,78 @@ public:
 	//!@}
 };
 
-
 //! Generic Box Tree Template
 /*!
 This class offers an structure for managing a box tree of primitives.
 Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and
 a Box tree structure ( like GIM_BOX_TREE).
 */
-template<typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE, typename _GIM_BOX_TREE_PROTOTYPE>
+template <typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE, typename _GIM_BOX_TREE_PROTOTYPE>
 class GIM_BOX_TREE_TEMPLATE_SET
 {
 protected:
 	_GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager;
 	_GIM_BOX_TREE_PROTOTYPE m_box_tree;
+
 protected:
 	//stackless refit
 	SIMD_FORCE_INLINE void refit()
 	{
 		GUINT nodecount = getNodeCount();
-		while(nodecount--)
+		while (nodecount--)
 		{
-			if(isLeafNode(nodecount))
+			if (isLeafNode(nodecount))
 			{
 				GIM_AABB leafbox;
-				m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox);
-				setNodeBound(nodecount,leafbox);
+				m_primitive_manager.get_primitive_box(getNodeData(nodecount), leafbox);
+				setNodeBound(nodecount, leafbox);
 			}
 			else
 			{
 				//get left bound
 				GUINT childindex = getLeftNodeIndex(nodecount);
 				GIM_AABB bound;
-				getNodeBound(childindex,bound);
+				getNodeBound(childindex, bound);
 				//get right bound
 				childindex = getRightNodeIndex(nodecount);
 				GIM_AABB bound2;
-				getNodeBound(childindex,bound2);
+				getNodeBound(childindex, bound2);
 				bound.merge(bound2);
 
-				setNodeBound(nodecount,bound);
+				setNodeBound(nodecount, bound);
 			}
 		}
 	}
-public:
 
+public:
 	GIM_BOX_TREE_TEMPLATE_SET()
 	{
 	}
 
-	SIMD_FORCE_INLINE GIM_AABB getGlobalBox()  const
+	SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const
 	{
 		GIM_AABB totalbox;
 		getNodeBound(0, totalbox);
 		return totalbox;
 	}
 
-	SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager)
+	SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE& primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const
+	const _GIM_PRIMITIVE_MANAGER_PROTOTYPE& getPrimitiveManager() const
 	{
 		return m_primitive_manager;
 	}
 
-	_GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager()
+	_GIM_PRIMITIVE_MANAGER_PROTOTYPE& getPrimitiveManager()
 	{
 		return m_primitive_manager;
 	}
 
-//! node manager prototype functions
-///@{
+	//! node manager prototype functions
+	///@{
 
 	//! this attemps to refit the box set.
 	SIMD_FORCE_INLINE void update()
@@ -288,19 +285,19 @@ public:
 	{
 		//obtain primitive boxes
 		gim_array<GIM_AABB_DATA> primitive_boxes;
-		primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false);
+		primitive_boxes.resize(m_primitive_manager.get_primitive_count(), false);
 
-		for (GUINT i = 0;i<primitive_boxes.size() ;i++ )
+		for (GUINT i = 0; i < primitive_boxes.size(); i++)
 		{
-			 m_primitive_manager.get_primitive_box(i,primitive_boxes[i].m_bound);
-			 primitive_boxes[i].m_data = i;
+			m_primitive_manager.get_primitive_box(i, primitive_boxes[i].m_bound);
+			primitive_boxes[i].m_data = i;
 		}
 
 		m_box_tree.build_tree(primitive_boxes);
 	}
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQuery(const GIM_AABB & box, gim_array<GUINT> & collided_results) const
+	SIMD_FORCE_INLINE bool boxQuery(const GIM_AABB& box, gim_array<GUINT>& collided_results) const
 	{
 		GUINT curIndex = 0;
 		GUINT numNodes = getNodeCount();
@@ -308,7 +305,7 @@ public:
 		while (curIndex < numNodes)
 		{
 			GIM_AABB bound;
-			getNodeBound(curIndex,bound);
+			getNodeBound(curIndex, bound);
 
 			//catch bugs in tree data
 
@@ -328,26 +325,26 @@ public:
 			else
 			{
 				//skip node
-				curIndex+= getScapeNodeIndex(curIndex);
+				curIndex += getScapeNodeIndex(curIndex);
 			}
 		}
-		if(collided_results.size()>0) return true;
+		if (collided_results.size() > 0) return true;
 		return false;
 	}
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box,
-		 const btTransform & transform, gim_array<GUINT> & collided_results) const
+	SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB& box,
+										 const btTransform& transform, gim_array<GUINT>& collided_results) const
 	{
-		GIM_AABB transbox=box;
+		GIM_AABB transbox = box;
 		transbox.appy_transform(transform);
-		return boxQuery(transbox,collided_results);
+		return boxQuery(transbox, collided_results);
 	}
 
 	//! returns the indices of the primitives in the m_primitive_manager
 	SIMD_FORCE_INLINE bool rayQuery(
-		const btVector3 & ray_dir,const btVector3 & ray_origin ,
-		gim_array<GUINT> & collided_results) const
+		const btVector3& ray_dir, const btVector3& ray_origin,
+		gim_array<GUINT>& collided_results) const
 	{
 		GUINT curIndex = 0;
 		GUINT numNodes = getNodeCount();
@@ -355,16 +352,16 @@ public:
 		while (curIndex < numNodes)
 		{
 			GIM_AABB bound;
-			getNodeBound(curIndex,bound);
+			getNodeBound(curIndex, bound);
 
 			//catch bugs in tree data
 
-			bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
+			bool aabbOverlap = bound.collide_ray(ray_origin, ray_dir);
 			bool isleafnode = isLeafNode(curIndex);
 
 			if (isleafnode && aabbOverlap)
 			{
-				collided_results.push_back(getNodeData( curIndex));
+				collided_results.push_back(getNodeData(curIndex));
 			}
 
 			if (aabbOverlap || isleafnode)
@@ -375,10 +372,10 @@ public:
 			else
 			{
 				//skip node
-				curIndex+= getScapeNodeIndex(curIndex);
+				curIndex += getScapeNodeIndex(curIndex);
 			}
 		}
-		if(collided_results.size()>0) return true;
+		if (collided_results.size() > 0) return true;
 		return false;
 	}
 
@@ -389,7 +386,7 @@ public:
 	}
 
 	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh()  const
+	SIMD_FORCE_INLINE bool isTrimesh() const
 	{
 		return m_primitive_manager.is_trimesh();
 	}
@@ -411,12 +408,12 @@ public:
 		return m_box_tree.getNodeData(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound)  const
+	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB& bound) const
 	{
 		m_box_tree.getNodeBound(nodeindex, bound);
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB& bound)
 	{
 		m_box_tree.setNodeBound(nodeindex, bound);
 	}
@@ -436,36 +433,30 @@ public:
 		return m_box_tree.getScapeNodeIndex(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const
+	SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex, GIM_TRIANGLE& triangle) const
 	{
-		m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle);
+		m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex), triangle);
 	}
-
 };
 
 //! Class for Box Tree Sets
 /*!
 this has the GIM_BOX_TREE implementation for bounding boxes.
 */
-template<typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE>
-class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE>
+template <typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE>
+class GIM_BOX_TREE_SET : public GIM_BOX_TREE_TEMPLATE_SET<_GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE>
 {
 public:
-
 };
 
-
-
-
-
 /// GIM_BOX_SET collision methods
-template<typename BOX_SET_CLASS0,typename BOX_SET_CLASS1>
+template <typename BOX_SET_CLASS0, typename BOX_SET_CLASS1>
 class GIM_TREE_TREE_COLLIDER
 {
 public:
-	gim_pair_set * m_collision_pairs;
-	BOX_SET_CLASS0 * m_boxset0;
-	BOX_SET_CLASS1 * m_boxset1;
+	gim_pair_set* m_collision_pairs;
+	BOX_SET_CLASS0* m_boxset0;
+	BOX_SET_CLASS1* m_boxset1;
 	GUINT current_node0;
 	GUINT current_node1;
 	bool node0_is_leaf;
@@ -483,18 +474,18 @@ public:
 	GIM_TRIANGLE m_tri1;
 	btVector4 m_tri1_plane;
 
-
 public:
 	GIM_TREE_TREE_COLLIDER()
 	{
 		current_node0 = G_UINT_INFINITY;
 		current_node1 = G_UINT_INFINITY;
 	}
+
 protected:
 	SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0)
 	{
-		if(node0_has_triangle) return;
-		m_boxset0->getNodeTriangle(node0,m_tri0);
+		if (node0_has_triangle) return;
+		m_boxset0->getNodeTriangle(node0, m_tri0);
 		//transform triangle
 		m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]);
 		m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]);
@@ -506,8 +497,8 @@ protected:
 
 	SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1)
 	{
-		if(node1_has_triangle) return;
-		m_boxset1->getNodeTriangle(node1,m_tri1);
+		if (node1_has_triangle) return;
+		m_boxset1->getNodeTriangle(node1, m_tri1);
 		//transform triangle
 		m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]);
 		m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]);
@@ -519,8 +510,8 @@ protected:
 
 	SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0)
 	{
-		if(node0 == current_node0) return;
-		m_boxset0->getNodeBound(node0,m_box0);
+		if (node0 == current_node0) return;
+		m_boxset0->getNodeBound(node0, m_box0);
 		node0_is_leaf = m_boxset0->isLeafNode(node0);
 		node0_has_triangle = false;
 		current_node0 = node0;
@@ -528,21 +519,21 @@ protected:
 
 	SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1)
 	{
-		if(node1 == current_node1) return;
-		m_boxset1->getNodeBound(node1,m_box1);
+		if (node1 == current_node1) return;
+		m_boxset1->getNodeBound(node1, m_box1);
 		node1_is_leaf = m_boxset1->isLeafNode(node1);
 		node1_has_triangle = false;
 		current_node1 = node1;
 	}
 
-	SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1)
+	SIMD_FORCE_INLINE bool node_collision(GUINT node0, GUINT node1)
 	{
 		retrieve_node0_info(node0);
 		retrieve_node1_info(node1);
-		bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true);
-		if(!result) return false;
+		bool result = m_box0.overlapping_trans_cache(m_box1, trans_cache_1to0, true);
+		if (!result) return false;
 
-		if(t0_is_trimesh && node0_is_leaf)
+		if (t0_is_trimesh && node0_is_leaf)
 		{
 			//perform primitive vs box collision
 			retrieve_node0_triangle(node0);
@@ -550,14 +541,14 @@ protected:
 			m_box1.increment_margin(m_tri0.m_margin);
 
 			result = m_box1.collide_triangle_exact(
-				m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane);
+				m_tri0.m_vertices[0], m_tri0.m_vertices[1], m_tri0.m_vertices[2], m_tri0_plane);
 
 			m_box1.increment_margin(-m_tri0.m_margin);
 
-			if(!result) return false;
+			if (!result) return false;
 			return true;
 		}
-		else if(t1_is_trimesh && node1_is_leaf)
+		else if (t1_is_trimesh && node1_is_leaf)
 		{
 			//perform primitive vs box collision
 			retrieve_node1_triangle(node1);
@@ -565,11 +556,11 @@ protected:
 			m_box0.increment_margin(m_tri1.m_margin);
 
 			result = m_box0.collide_triangle_exact(
-				m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane);
+				m_tri1.m_vertices[0], m_tri1.m_vertices[1], m_tri1.m_vertices[2], m_tri1_plane);
 
 			m_box0.increment_margin(-m_tri1.m_margin);
 
-			if(!result) return false;
+			if (!result) return false;
 			return true;
 		}
 		return true;
@@ -582,40 +573,39 @@ protected:
 		stack_collisions.reserve(32);
 
 		//add the first pair
-		stack_collisions.push_pair(0,0);
+		stack_collisions.push_pair(0, 0);
 
-
-		while(stack_collisions.size())
+		while (stack_collisions.size())
 		{
 			//retrieve the last pair and pop
 			GUINT node0 = stack_collisions.back().m_index1;
 			GUINT node1 = stack_collisions.back().m_index2;
 			stack_collisions.pop_back();
-			if(node_collision(node0,node1)) // a collision is found
+			if (node_collision(node0, node1))  // a collision is found
 			{
-				if(node0_is_leaf)
+				if (node0_is_leaf)
 				{
-					if(node1_is_leaf)
+					if (node1_is_leaf)
 					{
-						m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1));
+						m_collision_pairs->push_pair(m_boxset0->getNodeData(node0), m_boxset1->getNodeData(node1));
 					}
 					else
 					{
 						//collide left
-						stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1));
+						stack_collisions.push_pair(node0, m_boxset1->getLeftNodeIndex(node1));
 
 						//collide right
-						stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1));
+						stack_collisions.push_pair(node0, m_boxset1->getRightNodeIndex(node1));
 					}
 				}
 				else
 				{
-					if(node1_is_leaf)
+					if (node1_is_leaf)
 					{
 						//collide left
-						stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1);
+						stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0), node1);
 						//collide right
-						stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1);
+						stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0), node1);
 					}
 					else
 					{
@@ -624,36 +614,36 @@ protected:
 						GUINT left1 = m_boxset1->getLeftNodeIndex(node1);
 						GUINT right1 = m_boxset1->getRightNodeIndex(node1);
 						//collide left
-						stack_collisions.push_pair(left0,left1);
+						stack_collisions.push_pair(left0, left1);
 						//collide right
-						stack_collisions.push_pair(left0,right1);
+						stack_collisions.push_pair(left0, right1);
 						//collide left
-						stack_collisions.push_pair(right0,left1);
+						stack_collisions.push_pair(right0, left1);
 						//collide right
-						stack_collisions.push_pair(right0,right1);
+						stack_collisions.push_pair(right0, right1);
 
-					}// else if node1 is not a leaf
-				}// else if node0 is not a leaf
+					}  // else if node1 is not a leaf
+				}      // else if node0 is not a leaf
 
-			}// if(node_collision(node0,node1))
-		}//while(stack_collisions.size())
+			}  // if(node_collision(node0,node1))
+		}      //while(stack_collisions.size())
 	}
+
 public:
-	void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1,
-		BOX_SET_CLASS1 * boxset2, const btTransform & trans2,
-		gim_pair_set & collision_pairs, bool complete_primitive_tests = true)
+	void find_collision(BOX_SET_CLASS0* boxset1, const btTransform& trans1,
+						BOX_SET_CLASS1* boxset2, const btTransform& trans2,
+						gim_pair_set& collision_pairs, bool complete_primitive_tests = true)
 	{
 		m_collision_pairs = &collision_pairs;
 		m_boxset0 = boxset1;
 		m_boxset1 = boxset2;
 
-		trans_cache_1to0.calc_from_homogenic(trans1,trans2);
+		trans_cache_1to0.calc_from_homogenic(trans1, trans2);
 
-		trans_cache_0to1 =  trans2.inverse();
+		trans_cache_0to1 = trans2.inverse();
 		trans_cache_0to1 *= trans1;
 
-
-		if(complete_primitive_tests)
+		if (complete_primitive_tests)
 		{
 			t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh();
 			t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh();
@@ -668,7 +658,4 @@ public:
 	}
 };
 
-
-#endif // GIM_BOXPRUNING_H_INCLUDED
-
-
+#endif  // GIM_BOXPRUNING_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h
index e342459ce5..57b9c5c91a 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_clip_polygon.h
@@ -33,91 +33,86 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 //! This function calcs the distance from a 3D plane
 class DISTANCE_PLANE_3D_FUNC
 {
 public:
-	template<typename CLASS_POINT,typename CLASS_PLANE>
-	inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point)
+	template <typename CLASS_POINT, typename CLASS_PLANE>
+	inline GREAL operator()(const CLASS_PLANE& plane, const CLASS_POINT& point)
 	{
 		return DISTANCE_PLANE_POINT(plane, point);
 	}
 };
 
-
-
-template<typename CLASS_POINT>
+template <typename CLASS_POINT>
 SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT(
-						const CLASS_POINT & point0,
-						const CLASS_POINT & point1,
-						GREAL dist0,
-						GREAL dist1,
-						CLASS_POINT * clipped,
-						GUINT & clipped_count)
+	const CLASS_POINT& point0,
+	const CLASS_POINT& point1,
+	GREAL dist0,
+	GREAL dist1,
+	CLASS_POINT* clipped,
+	GUINT& clipped_count)
 {
-	GUINT _prevclassif = (dist0>G_EPSILON);
-	GUINT _classif = (dist1>G_EPSILON);
-	if(_classif!=_prevclassif)
+	GUINT _prevclassif = (dist0 > G_EPSILON);
+	GUINT _classif = (dist1 > G_EPSILON);
+	if (_classif != _prevclassif)
 	{
-		GREAL blendfactor = -dist0/(dist1-dist0);
-		VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor);
+		GREAL blendfactor = -dist0 / (dist1 - dist0);
+		VEC_BLEND(clipped[clipped_count], point0, point1, blendfactor);
 		clipped_count++;
 	}
-	if(!_classif)
+	if (!_classif)
 	{
-		VEC_COPY(clipped[clipped_count],point1);
+		VEC_COPY(clipped[clipped_count], point1);
 		clipped_count++;
 	}
 }
 
-
 //! Clips a polygon by a plane
 /*!
 *\return The count of the clipped counts
 */
-template<typename CLASS_POINT,typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
+template <typename CLASS_POINT, typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
 SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC(
-						const CLASS_PLANE & plane,
-						const CLASS_POINT * polygon_points,
-						GUINT polygon_point_count,
-						CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func)
+	const CLASS_PLANE& plane,
+	const CLASS_POINT* polygon_points,
+	GUINT polygon_point_count,
+	CLASS_POINT* clipped, DISTANCE_PLANE_FUNC distance_func)
 {
-    GUINT clipped_count = 0;
+	GUINT clipped_count = 0;
 
-
-    //clip first point
-	GREAL firstdist = distance_func(plane,polygon_points[0]);;
-	if(!(firstdist>G_EPSILON))
+	//clip first point
+	GREAL firstdist = distance_func(plane, polygon_points[0]);
+	;
+	if (!(firstdist > G_EPSILON))
 	{
-		VEC_COPY(clipped[clipped_count],polygon_points[0]);
+		VEC_COPY(clipped[clipped_count], polygon_points[0]);
 		clipped_count++;
 	}
 
 	GREAL olddist = firstdist;
-	for(GUINT _i=1;_i<polygon_point_count;_i++)
-	{		
-		GREAL dist = distance_func(plane,polygon_points[_i]);
+	for (GUINT _i = 1; _i < polygon_point_count; _i++)
+	{
+		GREAL dist = distance_func(plane, polygon_points[_i]);
 
 		PLANE_CLIP_POLYGON_COLLECT(
-						polygon_points[_i-1],polygon_points[_i],
-						olddist,
-						dist,
-						clipped,
-						clipped_count);
+			polygon_points[_i - 1], polygon_points[_i],
+			olddist,
+			dist,
+			clipped,
+			clipped_count);
 
-
-		olddist = dist;		
+		olddist = dist;
 	}
 
-	//RETURN TO FIRST  point	
+	//RETURN TO FIRST  point
 
 	PLANE_CLIP_POLYGON_COLLECT(
-					polygon_points[polygon_point_count-1],polygon_points[0],
-					olddist,
-					firstdist,
-					clipped,
-					clipped_count);
+		polygon_points[polygon_point_count - 1], polygon_points[0],
+		olddist,
+		firstdist,
+		clipped,
+		clipped_count);
 
 	return clipped_count;
 }
@@ -126,85 +121,79 @@ SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC(
 /*!
 *\return The count of the clipped counts
 */
-template<typename CLASS_POINT,typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
+template <typename CLASS_POINT, typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
 SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC(
-						const CLASS_PLANE & plane,
-						const CLASS_POINT & point0,
-						const CLASS_POINT & point1,
-						const CLASS_POINT & point2,
-						CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func)
+	const CLASS_PLANE& plane,
+	const CLASS_POINT& point0,
+	const CLASS_POINT& point1,
+	const CLASS_POINT& point2,
+	CLASS_POINT* clipped, DISTANCE_PLANE_FUNC distance_func)
 {
-    GUINT clipped_count = 0;
+	GUINT clipped_count = 0;
 
-    //clip first point
-	GREAL firstdist = distance_func(plane,point0);;
-	if(!(firstdist>G_EPSILON))
+	//clip first point
+	GREAL firstdist = distance_func(plane, point0);
+	;
+	if (!(firstdist > G_EPSILON))
 	{
-		VEC_COPY(clipped[clipped_count],point0);
+		VEC_COPY(clipped[clipped_count], point0);
 		clipped_count++;
 	}
 
 	// point 1
 	GREAL olddist = firstdist;
-	GREAL dist = distance_func(plane,point1);
+	GREAL dist = distance_func(plane, point1);
 
 	PLANE_CLIP_POLYGON_COLLECT(
-					point0,point1,
-					olddist,
-					dist,
-					clipped,
-					clipped_count);
+		point0, point1,
+		olddist,
+		dist,
+		clipped,
+		clipped_count);
 
 	olddist = dist;
 
-
 	// point 2
-	dist = distance_func(plane,point2);
+	dist = distance_func(plane, point2);
 
 	PLANE_CLIP_POLYGON_COLLECT(
-					point1,point2,
-					olddist,
-					dist,
-					clipped,
-					clipped_count);
+		point1, point2,
+		olddist,
+		dist,
+		clipped,
+		clipped_count);
 	olddist = dist;
 
-
-
 	//RETURN TO FIRST  point
 	PLANE_CLIP_POLYGON_COLLECT(
-					point2,point0,
-					olddist,
-					firstdist,
-					clipped,
-					clipped_count);
+		point2, point0,
+		olddist,
+		firstdist,
+		clipped,
+		clipped_count);
 
 	return clipped_count;
 }
 
-
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D(
-						const CLASS_PLANE & plane,
-						const CLASS_POINT * polygon_points,
-						GUINT polygon_point_count,
-						CLASS_POINT * clipped)
+	const CLASS_PLANE& plane,
+	const CLASS_POINT* polygon_points,
+	GUINT polygon_point_count,
+	CLASS_POINT* clipped)
 {
-	return PLANE_CLIP_POLYGON_GENERIC<CLASS_POINT,CLASS_PLANE>(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC());
+	return PLANE_CLIP_POLYGON_GENERIC<CLASS_POINT, CLASS_PLANE>(plane, polygon_points, polygon_point_count, clipped, DISTANCE_PLANE_3D_FUNC());
 }
 
-
-template<typename CLASS_POINT,typename CLASS_PLANE>
+template <typename CLASS_POINT, typename CLASS_PLANE>
 SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D(
-						const CLASS_PLANE & plane,
-						const CLASS_POINT & point0,
-						const CLASS_POINT & point1,
-						const CLASS_POINT & point2,
-						CLASS_POINT * clipped)
+	const CLASS_PLANE& plane,
+	const CLASS_POINT& point0,
+	const CLASS_POINT& point1,
+	const CLASS_POINT& point2,
+	CLASS_POINT* clipped)
 {
-	return PLANE_CLIP_TRIANGLE_GENERIC<CLASS_POINT,CLASS_PLANE>(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC());
+	return PLANE_CLIP_TRIANGLE_GENERIC<CLASS_POINT, CLASS_PLANE>(plane, point0, point1, point2, clipped, DISTANCE_PLANE_3D_FUNC());
 }
 
-
-
-#endif // GIM_TRI_COLLISION_H_INCLUDED
+#endif  // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp
index 20e41de089..390225709e 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.cpp
@@ -33,91 +33,89 @@ email: projectileman@yahoo.com
 #define MAX_COINCIDENT 8
 
 void gim_contact_array::merge_contacts(
-	const gim_contact_array & contacts, bool normal_contact_average)
+	const gim_contact_array& contacts, bool normal_contact_average)
 {
 	clear();
 
-	if(contacts.size()==1)
+	if (contacts.size() == 1)
 	{
 		push_back(contacts.back());
 		return;
 	}
 
 	gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
-	keycontacts.resize(contacts.size(),false);
+	keycontacts.resize(contacts.size(), false);
 
 	//fill key contacts
 
 	GUINT i;
 
-	for (i = 0;i<contacts.size() ;i++ )
+	for (i = 0; i < contacts.size(); i++)
 	{
 		keycontacts[i].m_key = contacts[i].calc_key_contact();
 		keycontacts[i].m_value = i;
 	}
 
 	//sort keys
-	gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());
+	gim_heap_sort(keycontacts.pointer(), keycontacts.size(), GIM_RSORT_TOKEN_COMPARATOR());
 
 	// Merge contacts
 
-	GUINT coincident_count=0;
+	GUINT coincident_count = 0;
 	btVector3 coincident_normals[MAX_COINCIDENT];
 
 	GUINT last_key = keycontacts[0].m_key;
 	GUINT key = 0;
 
 	push_back(contacts[keycontacts[0].m_value]);
-	GIM_CONTACT * pcontact = &back();
+	GIM_CONTACT* pcontact = &back();
 
-
-
-	for( i=1;i<keycontacts.size();i++)
+	for (i = 1; i < keycontacts.size(); i++)
 	{
-	    key = keycontacts[i].m_key;
-		const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+		key = keycontacts[i].m_key;
+		const GIM_CONTACT* scontact = &contacts[keycontacts[i].m_value];
 
-		if(last_key ==  key)//same points
+		if (last_key == key)  //same points
 		{
 			//merge contact
-			if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
+			if (pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)  //)
 			{
 				*pcontact = *scontact;
-                coincident_count = 0;
+				coincident_count = 0;
 			}
-			else if(normal_contact_average)
+			else if (normal_contact_average)
 			{
-				if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
-                {
-                    if(coincident_count<MAX_COINCIDENT)
-                    {
-                    	coincident_normals[coincident_count] = scontact->m_normal;
-                        coincident_count++;
-                    }
-                }
+				if (btFabs(pcontact->m_depth - scontact->m_depth) < CONTACT_DIFF_EPSILON)
+				{
+					if (coincident_count < MAX_COINCIDENT)
+					{
+						coincident_normals[coincident_count] = scontact->m_normal;
+						coincident_count++;
+					}
+				}
 			}
 		}
 		else
-		{//add new contact
+		{  //add new contact
 
-		    if(normal_contact_average && coincident_count>0)
-		    {
-		    	pcontact->interpolate_normals(coincident_normals,coincident_count);
-		        coincident_count = 0;
-		    }
+			if (normal_contact_average && coincident_count > 0)
+			{
+				pcontact->interpolate_normals(coincident_normals, coincident_count);
+				coincident_count = 0;
+			}
 
-		    push_back(*scontact);
-		    pcontact = &back();
-        }
+			push_back(*scontact);
+			pcontact = &back();
+		}
 		last_key = key;
 	}
 }
 
-void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts)
+void gim_contact_array::merge_contacts_unique(const gim_contact_array& contacts)
 {
 	clear();
 
-	if(contacts.size()==1)
+	if (contacts.size() == 1)
 	{
 		push_back(contacts.back());
 		return;
@@ -125,14 +123,14 @@ void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts
 
 	GIM_CONTACT average_contact = contacts.back();
 
-	for (GUINT i=1;i<contacts.size() ;i++ )
+	for (GUINT i = 1; i < contacts.size(); i++)
 	{
 		average_contact.m_point += contacts[i].m_point;
 		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
 	}
 
 	//divide
-	GREAL divide_average = 1.0f/((GREAL)contacts.size());
+	GREAL divide_average = 1.0f / ((GREAL)contacts.size());
 
 	average_contact.m_point *= divide_average;
 
@@ -141,6 +139,4 @@ void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts
 	average_contact.m_depth = average_contact.m_normal.length();
 
 	average_contact.m_normal /= average_contact.m_depth;
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
index b41c714b5f..9deb28a26e 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_contact.h
@@ -36,7 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_radixsort.h"
 #include "gim_array.h"
 
-
 /**
 Configuration var for applying interpolation of  contact normals
 */
@@ -58,90 +57,87 @@ Configuration var for applying interpolation of  contact normals
 class GIM_CONTACT
 {
 public:
-    btVector3 m_point;
-    btVector3 m_normal;
-    GREAL m_depth;//Positive value indicates interpenetration
-    GREAL m_distance;//Padding not for use
-    GUINT m_feature1;//Face number
-    GUINT m_feature2;//Face number
+	btVector3 m_point;
+	btVector3 m_normal;
+	GREAL m_depth;     //Positive value indicates interpenetration
+	GREAL m_distance;  //Padding not for use
+	GUINT m_feature1;  //Face number
+	GUINT m_feature2;  //Face number
 public:
-    GIM_CONTACT()
-    {
-    }
-
-    GIM_CONTACT(const GIM_CONTACT & contact):
-				m_point(contact.m_point),
-				m_normal(contact.m_normal),
-				m_depth(contact.m_depth),
-				m_feature1(contact.m_feature1),
-				m_feature2(contact.m_feature2)
-    {
-    	m_point = contact.m_point;
-    	m_normal = contact.m_normal;
-    	m_depth = contact.m_depth;
-    	m_feature1 = contact.m_feature1;
-    	m_feature2 = contact.m_feature2;
-    }
-
-    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
-    	 			GREAL depth, GUINT feature1, GUINT feature2):
-				m_point(point),
-				m_normal(normal),
-				m_depth(depth),
-				m_feature1(feature1),
-				m_feature2(feature2)
-    {
-    }
+	GIM_CONTACT()
+	{
+	}
+
+	GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
+											  m_normal(contact.m_normal),
+											  m_depth(contact.m_depth),
+											  m_feature1(contact.m_feature1),
+											  m_feature2(contact.m_feature2)
+	{
+		m_point = contact.m_point;
+		m_normal = contact.m_normal;
+		m_depth = contact.m_depth;
+		m_feature1 = contact.m_feature1;
+		m_feature2 = contact.m_feature2;
+	}
+
+	GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
+				GREAL depth, GUINT feature1, GUINT feature2) : m_point(point),
+															   m_normal(normal),
+															   m_depth(depth),
+															   m_feature1(feature1),
+															   m_feature2(feature2)
+	{
+	}
 
 	//! Calcs key for coord classification
-    SIMD_FORCE_INLINE GUINT calc_key_contact() const
-    {
-    	GINT _coords[] = {
-    		(GINT)(m_point[0]*1000.0f+1.0f),
-    		(GINT)(m_point[1]*1333.0f),
-    		(GINT)(m_point[2]*2133.0f+3.0f)};
-		GUINT _hash=0;
+	SIMD_FORCE_INLINE GUINT calc_key_contact() const
+	{
+		GINT _coords[] = {
+			(GINT)(m_point[0] * 1000.0f + 1.0f),
+			(GINT)(m_point[1] * 1333.0f),
+			(GINT)(m_point[2] * 2133.0f + 3.0f)};
+		GUINT _hash = 0;
 		GUINT *_uitmp = (GUINT *)(&_coords[0]);
 		_hash = *_uitmp;
 		_uitmp++;
-		_hash += (*_uitmp)<<4;
+		_hash += (*_uitmp) << 4;
 		_uitmp++;
-		_hash += (*_uitmp)<<8;
+		_hash += (*_uitmp) << 8;
 		return _hash;
-    }
+	}
 
-    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
-    {
-    	btVector3 vec_sum(m_normal);
-		for(GUINT i=0;i<normal_count;i++)
+	SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count)
+	{
+		btVector3 vec_sum(m_normal);
+		for (GUINT i = 0; i < normal_count; i++)
 		{
 			vec_sum += normals[i];
 		}
 
 		GREAL vec_sum_len = vec_sum.length2();
-		if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
-
-		GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
+		if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
 
-		m_normal = vec_sum*vec_sum_len;
-    }
+		GIM_INV_SQRT(vec_sum_len, vec_sum_len);  // 1/sqrt(vec_sum_len)
 
+		m_normal = vec_sum * vec_sum_len;
+	}
 };
 
 #endif
 
-class gim_contact_array:public gim_array<GIM_CONTACT>
+class gim_contact_array : public gim_array<GIM_CONTACT>
 {
 public:
-	gim_contact_array():gim_array<GIM_CONTACT>(64)
+	gim_contact_array() : gim_array<GIM_CONTACT>(64)
 	{
 	}
 
-	SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
-    	 			GREAL depth, GUINT feature1, GUINT feature2)
+	SIMD_FORCE_INLINE void push_contact(const btVector3 &point, const btVector3 &normal,
+										GREAL depth, GUINT feature1, GUINT feature2)
 	{
 		push_back_mem();
-		GIM_CONTACT & newele = back();
+		GIM_CONTACT &newele = back();
 		newele.m_point = point;
 		newele.m_normal = normal;
 		newele.m_depth = depth;
@@ -150,13 +146,13 @@ public:
 	}
 
 	SIMD_FORCE_INLINE void push_triangle_contacts(
-		const GIM_TRIANGLE_CONTACT_DATA & tricontact,
-		GUINT feature1,GUINT feature2)
+		const GIM_TRIANGLE_CONTACT_DATA &tricontact,
+		GUINT feature1, GUINT feature2)
 	{
-		for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
+		for (GUINT i = 0; i < tricontact.m_point_count; i++)
 		{
 			push_back_mem();
-			GIM_CONTACT & newele = back();
+			GIM_CONTACT &newele = back();
 			newele.m_point = tricontact.m_points[i];
 			newele.m_normal = tricontact.m_separating_normal;
 			newele.m_depth = tricontact.m_penetration_depth;
@@ -165,8 +161,8 @@ public:
 		}
 	}
 
-	void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
-	void merge_contacts_unique(const gim_contact_array & contacts);
+	void merge_contacts(const gim_contact_array &contacts, bool normal_contact_average = true);
+	void merge_contacts_unique(const gim_contact_array &contacts);
 };
 
-#endif // GIM_CONTACT_H_INCLUDED
+#endif  // GIM_CONTACT_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h
index 6b8f9ea6c2..9dc48f354b 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_geom_types.h
@@ -33,11 +33,8 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_math.h"
 
-
-
 //! Short Integer vector 2D
 typedef GSHORT vec2s[2];
 //! Integer vector 3D
@@ -92,6 +89,4 @@ typedef GREAL quatf[4];
 
 //typedef struct _aabb3f aabb3f;
 
-
-
-#endif // GIM_GEOM_TYPES_H_INCLUDED
+#endif  // GIM_GEOM_TYPES_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h
index c67a6991c0..4a7ac3c4d8 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_geometry.h
@@ -39,4 +39,4 @@ email: projectileman@yahoo.com
 #include "gim_box_collision.h"
 #include "gim_tri_collision.h"
 
-#endif // GIM_VECTOR_H_INCLUDED
+#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h
index e4237c2c57..abf88d3108 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_hash_table.h
@@ -34,53 +34,52 @@ email: projectileman@yahoo.com
 
 #include "gim_radixsort.h"
 
-
-#define GIM_INVALID_HASH 0xffffffff //!< A very very high value
+#define GIM_INVALID_HASH 0xffffffff  //!< A very very high value
 #define GIM_DEFAULT_HASH_TABLE_SIZE 380
 #define GIM_DEFAULT_HASH_TABLE_NODE_SIZE 4
 #define GIM_HASH_TABLE_GROW_FACTOR 2
 
-#define GIM_MIN_RADIX_SORT_SIZE 860 //!< calibrated on a PIII
+#define GIM_MIN_RADIX_SORT_SIZE 860  //!< calibrated on a PIII
 
-template<typename T>
+template <typename T>
 struct GIM_HASH_TABLE_NODE
 {
-    GUINT m_key;
-    T m_data;
-    GIM_HASH_TABLE_NODE()
-    {
-    }
-
-    GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value)
-    {
-        m_key = value.m_key;
-        m_data = value.m_data;
-    }
-
-    GIM_HASH_TABLE_NODE(GUINT key, const T & data)
-    {
-        m_key = key;
-        m_data = data;
-    }
-
-    bool operator <(const GIM_HASH_TABLE_NODE<T> & other) const
+	GUINT m_key;
+	T m_data;
+	GIM_HASH_TABLE_NODE()
+	{
+	}
+
+	GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE& value)
+	{
+		m_key = value.m_key;
+		m_data = value.m_data;
+	}
+
+	GIM_HASH_TABLE_NODE(GUINT key, const T& data)
+	{
+		m_key = key;
+		m_data = data;
+	}
+
+	bool operator<(const GIM_HASH_TABLE_NODE<T>& other) const
 	{
 		///inverse order, further objects are first
-		if(m_key <  other.m_key) return true;
+		if (m_key < other.m_key) return true;
 		return false;
 	}
 
-	bool operator >(const GIM_HASH_TABLE_NODE<T> & other) const
+	bool operator>(const GIM_HASH_TABLE_NODE<T>& other) const
 	{
 		///inverse order, further objects are first
-		if(m_key >  other.m_key) return true;
+		if (m_key > other.m_key) return true;
 		return false;
 	}
 
-	bool operator ==(const GIM_HASH_TABLE_NODE<T> & other) const
+	bool operator==(const GIM_HASH_TABLE_NODE<T>& other) const
 	{
 		///inverse order, further objects are first
-		if(m_key ==  other.m_key) return true;
+		if (m_key == other.m_key) return true;
 		return false;
 	}
 };
@@ -89,21 +88,19 @@ struct GIM_HASH_TABLE_NODE
 class GIM_HASH_NODE_GET_KEY
 {
 public:
-	template<class T>
-	inline GUINT operator()( const T& a)
+	template <class T>
+	inline GUINT operator()(const T& a)
 	{
 		return a.m_key;
 	}
 };
 
-
-
 ///Macro for comparing the key and the element
 class GIM_HASH_NODE_CMP_KEY_MACRO
 {
 public:
-	template<class T>
-	inline int operator() ( const T& a, GUINT key)
+	template <class T>
+	inline int operator()(const T& a, GUINT key)
 	{
 		return ((int)(a.m_key - key));
 	}
@@ -113,65 +110,53 @@ public:
 class GIM_HASH_NODE_CMP_MACRO
 {
 public:
-	template<class T>
-	inline int operator() ( const T& a, const T& b )
+	template <class T>
+	inline int operator()(const T& a, const T& b)
 	{
 		return ((int)(a.m_key - b.m_key));
 	}
 };
 
-
-
-
-
 //! Sorting for hash table
 /*!
 switch automatically between quicksort and radixsort
 */
-template<typename T>
-void gim_sort_hash_node_array(T * array, GUINT array_count)
+template <typename T>
+void gim_sort_hash_node_array(T* array, GUINT array_count)
 {
-    if(array_count<GIM_MIN_RADIX_SORT_SIZE)
-    {
-    	gim_heap_sort(array,array_count,GIM_HASH_NODE_CMP_MACRO());
-    }
-    else
-    {
-    	memcopy_elements_func cmpfunc;
-    	gim_radix_sort(array,array_count,GIM_HASH_NODE_GET_KEY(),cmpfunc);
-    }
+	if (array_count < GIM_MIN_RADIX_SORT_SIZE)
+	{
+		gim_heap_sort(array, array_count, GIM_HASH_NODE_CMP_MACRO());
+	}
+	else
+	{
+		memcopy_elements_func cmpfunc;
+		gim_radix_sort(array, array_count, GIM_HASH_NODE_GET_KEY(), cmpfunc);
+	}
 }
 
-
-
-
-
-
 // Note: assumes long is at least 32 bits.
 #define GIM_NUM_PRIME 28
 
 static const GUINT gim_prime_list[GIM_NUM_PRIME] =
-{
-  53ul,         97ul,         193ul,       389ul,       769ul,
-  1543ul,       3079ul,       6151ul,      12289ul,     24593ul,
-  49157ul,      98317ul,      196613ul,    393241ul,    786433ul,
-  1572869ul,    3145739ul,    6291469ul,   12582917ul,  25165843ul,
-  50331653ul,   100663319ul,  201326611ul, 402653189ul, 805306457ul,
-  1610612741ul, 3221225473ul, 4294967291ul
-};
+	{
+		53ul, 97ul, 193ul, 389ul, 769ul,
+		1543ul, 3079ul, 6151ul, 12289ul, 24593ul,
+		49157ul, 98317ul, 196613ul, 393241ul, 786433ul,
+		1572869ul, 3145739ul, 6291469ul, 12582917ul, 25165843ul,
+		50331653ul, 100663319ul, 201326611ul, 402653189ul, 805306457ul,
+		1610612741ul, 3221225473ul, 4294967291ul};
 
 inline GUINT gim_next_prime(GUINT number)
 {
-    //Find nearest upper prime
-    GUINT result_ind = 0;
-    gim_binary_search(gim_prime_list,0,(GIM_NUM_PRIME-2),number,result_ind);
+	//Find nearest upper prime
+	GUINT result_ind = 0;
+	gim_binary_search(gim_prime_list, 0, (GIM_NUM_PRIME - 2), number, result_ind);
 
-    // inv: result_ind < 28
-    return gim_prime_list[result_ind];
+	// inv: result_ind < 28
+	return gim_prime_list[result_ind];
 }
 
-
-
 //! A compact hash table implementation
 /*!
 A memory aligned compact hash table that coud be treated as an array.
@@ -187,129 +172,124 @@ When the array size reaches the size equivalent to 'min_hash_table_size', then i
 </ul>
 
 */
-template<class T>
+template <class T>
 class gim_hash_table
 {
 protected:
-    typedef GIM_HASH_TABLE_NODE<T> _node_type;
-
-    //!The nodes
-    //array< _node_type, SuperAllocator<_node_type> > m_nodes;
-    gim_array< _node_type > m_nodes;
-    //SuperBufferedArray< _node_type > m_nodes;
-    bool m_sorted;
-
-    ///Hash table data management. The hash table has the indices to the corresponding m_nodes array
-    GUINT * m_hash_table;//!<
-    GUINT m_table_size;//!<
-    GUINT m_node_size;//!<
-    GUINT m_min_hash_table_size;
-
-
-
-    //! Returns the cell index
-    inline GUINT _find_cell(GUINT hashkey)
-    {
-        _node_type * nodesptr = m_nodes.pointer();
-        GUINT start_index = (hashkey%m_table_size)*m_node_size;
-        GUINT end_index = start_index + m_node_size;
-
-        while(start_index<end_index)
-        {
-            GUINT value = m_hash_table[start_index];
-            if(value != GIM_INVALID_HASH)
-            {
-                if(nodesptr[value].m_key == hashkey) return start_index;
-            }
-            start_index++;
-        }
-        return GIM_INVALID_HASH;
-    }
-
-    //! Find the avaliable cell for the hashkey, and return an existing cell if it has the same hash key
-    inline GUINT _find_avaliable_cell(GUINT hashkey)
-    {
-        _node_type * nodesptr = m_nodes.pointer();
-        GUINT avaliable_index = GIM_INVALID_HASH;
-        GUINT start_index = (hashkey%m_table_size)*m_node_size;
-        GUINT end_index = start_index + m_node_size;
-
-        while(start_index<end_index)
-        {
-            GUINT value = m_hash_table[start_index];
-            if(value == GIM_INVALID_HASH)
-            {
-                if(avaliable_index==GIM_INVALID_HASH)
-                {
-                    avaliable_index = start_index;
-                }
-            }
-            else if(nodesptr[value].m_key == hashkey)
-            {
-                return start_index;
-            }
-            start_index++;
-        }
-        return avaliable_index;
-    }
-
-
-
-    //! reserves the memory for the hash table.
-    /*!
+	typedef GIM_HASH_TABLE_NODE<T> _node_type;
+
+	//!The nodes
+	//array< _node_type, SuperAllocator<_node_type> > m_nodes;
+	gim_array<_node_type> m_nodes;
+	//SuperBufferedArray< _node_type > m_nodes;
+	bool m_sorted;
+
+	///Hash table data management. The hash table has the indices to the corresponding m_nodes array
+	GUINT* m_hash_table;  //!<
+	GUINT m_table_size;   //!<
+	GUINT m_node_size;    //!<
+	GUINT m_min_hash_table_size;
+
+	//! Returns the cell index
+	inline GUINT _find_cell(GUINT hashkey)
+	{
+		_node_type* nodesptr = m_nodes.pointer();
+		GUINT start_index = (hashkey % m_table_size) * m_node_size;
+		GUINT end_index = start_index + m_node_size;
+
+		while (start_index < end_index)
+		{
+			GUINT value = m_hash_table[start_index];
+			if (value != GIM_INVALID_HASH)
+			{
+				if (nodesptr[value].m_key == hashkey) return start_index;
+			}
+			start_index++;
+		}
+		return GIM_INVALID_HASH;
+	}
+
+	//! Find the avaliable cell for the hashkey, and return an existing cell if it has the same hash key
+	inline GUINT _find_avaliable_cell(GUINT hashkey)
+	{
+		_node_type* nodesptr = m_nodes.pointer();
+		GUINT avaliable_index = GIM_INVALID_HASH;
+		GUINT start_index = (hashkey % m_table_size) * m_node_size;
+		GUINT end_index = start_index + m_node_size;
+
+		while (start_index < end_index)
+		{
+			GUINT value = m_hash_table[start_index];
+			if (value == GIM_INVALID_HASH)
+			{
+				if (avaliable_index == GIM_INVALID_HASH)
+				{
+					avaliable_index = start_index;
+				}
+			}
+			else if (nodesptr[value].m_key == hashkey)
+			{
+				return start_index;
+			}
+			start_index++;
+		}
+		return avaliable_index;
+	}
+
+	//! reserves the memory for the hash table.
+	/*!
     \pre hash table must be empty
     \post reserves the memory for the hash table, an initializes all elements to GIM_INVALID_HASH.
     */
-    inline void _reserve_table_memory(GUINT newtablesize)
-    {
-        if(newtablesize==0) return;
-        if(m_node_size==0) return;
-
-        //Get a Prime size
-
-        m_table_size = gim_next_prime(newtablesize);
-
-        GUINT datasize = m_table_size*m_node_size;
-        //Alloc the data buffer
-        m_hash_table =  (GUINT *)gim_alloc(datasize*sizeof(GUINT));
-    }
-
-    inline void _invalidate_keys()
-    {
-        GUINT datasize = m_table_size*m_node_size;
-        for(GUINT i=0;i<datasize;i++)
-        {
-            m_hash_table[i] = GIM_INVALID_HASH;// invalidate keys
-        }
-    }
-
-    //! Clear all memory for the hash table
-    inline void _clear_table_memory()
-    {
-        if(m_hash_table==NULL) return;
-        gim_free(m_hash_table);
-        m_hash_table = NULL;
-        m_table_size = 0;
-    }
-
-    //! Invalidates the keys (Assigning GIM_INVALID_HASH to all) Reorders the hash keys
-    inline void _rehash()
-    {
-        _invalidate_keys();
-
-        _node_type * nodesptr = m_nodes.pointer();
-        for(GUINT i=0;i<(GUINT)m_nodes.size();i++)
-        {
-            GUINT nodekey = nodesptr[i].m_key;
-            if(nodekey != GIM_INVALID_HASH)
-            {
-                //Search for the avaliable cell in buffer
-                GUINT index = _find_avaliable_cell(nodekey);
-
-
-				if(m_hash_table[index]!=GIM_INVALID_HASH)
-				{//The new index is alreade used... discard this new incomming object, repeated key
-				    btAssert(m_hash_table[index]==nodekey);
+	inline void _reserve_table_memory(GUINT newtablesize)
+	{
+		if (newtablesize == 0) return;
+		if (m_node_size == 0) return;
+
+		//Get a Prime size
+
+		m_table_size = gim_next_prime(newtablesize);
+
+		GUINT datasize = m_table_size * m_node_size;
+		//Alloc the data buffer
+		m_hash_table = (GUINT*)gim_alloc(datasize * sizeof(GUINT));
+	}
+
+	inline void _invalidate_keys()
+	{
+		GUINT datasize = m_table_size * m_node_size;
+		for (GUINT i = 0; i < datasize; i++)
+		{
+			m_hash_table[i] = GIM_INVALID_HASH;  // invalidate keys
+		}
+	}
+
+	//! Clear all memory for the hash table
+	inline void _clear_table_memory()
+	{
+		if (m_hash_table == NULL) return;
+		gim_free(m_hash_table);
+		m_hash_table = NULL;
+		m_table_size = 0;
+	}
+
+	//! Invalidates the keys (Assigning GIM_INVALID_HASH to all) Reorders the hash keys
+	inline void _rehash()
+	{
+		_invalidate_keys();
+
+		_node_type* nodesptr = m_nodes.pointer();
+		for (GUINT i = 0; i < (GUINT)m_nodes.size(); i++)
+		{
+			GUINT nodekey = nodesptr[i].m_key;
+			if (nodekey != GIM_INVALID_HASH)
+			{
+				//Search for the avaliable cell in buffer
+				GUINT index = _find_avaliable_cell(nodekey);
+
+				if (m_hash_table[index] != GIM_INVALID_HASH)
+				{  //The new index is alreade used... discard this new incomming object, repeated key
+					btAssert(m_hash_table[index] == nodekey);
 					nodesptr[i].m_key = GIM_INVALID_HASH;
 				}
 				else
@@ -318,585 +298,560 @@ protected:
 					//Assign the value for alloc
 					m_hash_table[index] = i;
 				}
-            }
-        }
-    }
-
-    //! Resize hash table indices
-    inline void _resize_table(GUINT newsize)
-    {
-        //Clear memory
-        _clear_table_memory();
-        //Alloc the data
-        _reserve_table_memory(newsize);
-        //Invalidate keys and rehash
-        _rehash();
-    }
-
-    //! Destroy hash table memory
-    inline void _destroy()
-    {
-        if(m_hash_table==NULL) return;
-        _clear_table_memory();
-    }
-
-    //! Finds an avaliable hash table cell, and resizes the table if there isn't space
-    inline GUINT _assign_hash_table_cell(GUINT hashkey)
-    {
-        GUINT cell_index = _find_avaliable_cell(hashkey);
-
-        if(cell_index==GIM_INVALID_HASH)
-        {
-            //rehashing
-            _resize_table(m_table_size+1);
-            GUINT cell_index = _find_avaliable_cell(hashkey);
-            btAssert(cell_index!=GIM_INVALID_HASH);
-        }
-        return cell_index;
-    }
-
-    //! erase by index in hash table
-    inline bool _erase_by_index_hash_table(GUINT index)
-    {
-        if(index >= m_nodes.size()) return false;
-        if(m_nodes[index].m_key != GIM_INVALID_HASH)
-        {
-            //Search for the avaliable cell in buffer
-            GUINT cell_index = _find_cell(m_nodes[index].m_key);
-
-            btAssert(cell_index!=GIM_INVALID_HASH);
-            btAssert(m_hash_table[cell_index]==index);
-
-            m_hash_table[cell_index] = GIM_INVALID_HASH;
-        }
-
-        return this->_erase_unsorted(index);
-    }
-
-    //! erase by key in hash table
-    inline bool _erase_hash_table(GUINT hashkey)
-    {
-        if(hashkey == GIM_INVALID_HASH) return false;
-
-        //Search for the avaliable cell in buffer
-        GUINT cell_index = _find_cell(hashkey);
-        if(cell_index ==GIM_INVALID_HASH) return false;
-
-        GUINT index = m_hash_table[cell_index];
-        m_hash_table[cell_index] = GIM_INVALID_HASH;
-
-        return this->_erase_unsorted(index);
-    }
-
-
-
-    //! insert an element in hash table
-    /*!
+			}
+		}
+	}
+
+	//! Resize hash table indices
+	inline void _resize_table(GUINT newsize)
+	{
+		//Clear memory
+		_clear_table_memory();
+		//Alloc the data
+		_reserve_table_memory(newsize);
+		//Invalidate keys and rehash
+		_rehash();
+	}
+
+	//! Destroy hash table memory
+	inline void _destroy()
+	{
+		if (m_hash_table == NULL) return;
+		_clear_table_memory();
+	}
+
+	//! Finds an avaliable hash table cell, and resizes the table if there isn't space
+	inline GUINT _assign_hash_table_cell(GUINT hashkey)
+	{
+		GUINT cell_index = _find_avaliable_cell(hashkey);
+
+		if (cell_index == GIM_INVALID_HASH)
+		{
+			//rehashing
+			_resize_table(m_table_size + 1);
+			GUINT cell_index = _find_avaliable_cell(hashkey);
+			btAssert(cell_index != GIM_INVALID_HASH);
+		}
+		return cell_index;
+	}
+
+	//! erase by index in hash table
+	inline bool _erase_by_index_hash_table(GUINT index)
+	{
+		if (index >= m_nodes.size()) return false;
+		if (m_nodes[index].m_key != GIM_INVALID_HASH)
+		{
+			//Search for the avaliable cell in buffer
+			GUINT cell_index = _find_cell(m_nodes[index].m_key);
+
+			btAssert(cell_index != GIM_INVALID_HASH);
+			btAssert(m_hash_table[cell_index] == index);
+
+			m_hash_table[cell_index] = GIM_INVALID_HASH;
+		}
+
+		return this->_erase_unsorted(index);
+	}
+
+	//! erase by key in hash table
+	inline bool _erase_hash_table(GUINT hashkey)
+	{
+		if (hashkey == GIM_INVALID_HASH) return false;
+
+		//Search for the avaliable cell in buffer
+		GUINT cell_index = _find_cell(hashkey);
+		if (cell_index == GIM_INVALID_HASH) return false;
+
+		GUINT index = m_hash_table[cell_index];
+		m_hash_table[cell_index] = GIM_INVALID_HASH;
+
+		return this->_erase_unsorted(index);
+	}
+
+	//! insert an element in hash table
+	/*!
     If the element exists, this won't insert the element
     \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
     If so, the element has been inserted at the last position of the array.
     */
-    inline GUINT _insert_hash_table(GUINT hashkey, const T & value)
-    {
-        if(hashkey==GIM_INVALID_HASH)
-        {
-            //Insert anyway
-            _insert_unsorted(hashkey,value);
-            return GIM_INVALID_HASH;
-        }
+	inline GUINT _insert_hash_table(GUINT hashkey, const T& value)
+	{
+		if (hashkey == GIM_INVALID_HASH)
+		{
+			//Insert anyway
+			_insert_unsorted(hashkey, value);
+			return GIM_INVALID_HASH;
+		}
 
-        GUINT cell_index = _assign_hash_table_cell(hashkey);
+		GUINT cell_index = _assign_hash_table_cell(hashkey);
 
-        GUINT value_key = m_hash_table[cell_index];
+		GUINT value_key = m_hash_table[cell_index];
 
-        if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited
+		if (value_key != GIM_INVALID_HASH) return value_key;  // Not overrited
 
-        m_hash_table[cell_index] = m_nodes.size();
+		m_hash_table[cell_index] = m_nodes.size();
 
-        _insert_unsorted(hashkey,value);
-        return GIM_INVALID_HASH;
-    }
+		_insert_unsorted(hashkey, value);
+		return GIM_INVALID_HASH;
+	}
 
-    //! insert an element in hash table.
-    /*!
+	//! insert an element in hash table.
+	/*!
     If the element exists, this replaces the element.
     \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
     If so, the element has been inserted at the last position of the array.
     */
-    inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value)
-    {
-        if(hashkey==GIM_INVALID_HASH)
-        {
-            //Insert anyway
-            _insert_unsorted(hashkey,value);
-            return GIM_INVALID_HASH;
-        }
-
-        GUINT cell_index = _assign_hash_table_cell(hashkey);
-
-        GUINT value_key = m_hash_table[cell_index];
-
-        if(value_key!= GIM_INVALID_HASH)
-        {//replaces the existing
-            m_nodes[value_key] = _node_type(hashkey,value);
-            return value_key;// index of the replaced element
-        }
-
-        m_hash_table[cell_index] = m_nodes.size();
-
-        _insert_unsorted(hashkey,value);
-        return GIM_INVALID_HASH;
-
-    }
-
-    
-    ///Sorted array data management. The hash table has the indices to the corresponding m_nodes array
-    inline bool _erase_sorted(GUINT index)
-    {
-        if(index>=(GUINT)m_nodes.size()) return false;
-        m_nodes.erase_sorted(index);
-		if(m_nodes.size()<2) m_sorted = false;
-        return true;
-    }
-
-    //! faster, but unsorted
-    inline bool _erase_unsorted(GUINT index)
-    {
-        if(index>=m_nodes.size()) return false;
-
-        GUINT lastindex = m_nodes.size()-1;
-        if(index<lastindex && m_hash_table!=0)
-        {
-			GUINT hashkey =  m_nodes[lastindex].m_key;
-			if(hashkey!=GIM_INVALID_HASH)
+	inline GUINT _insert_hash_table_replace(GUINT hashkey, const T& value)
+	{
+		if (hashkey == GIM_INVALID_HASH)
+		{
+			//Insert anyway
+			_insert_unsorted(hashkey, value);
+			return GIM_INVALID_HASH;
+		}
+
+		GUINT cell_index = _assign_hash_table_cell(hashkey);
+
+		GUINT value_key = m_hash_table[cell_index];
+
+		if (value_key != GIM_INVALID_HASH)
+		{  //replaces the existing
+			m_nodes[value_key] = _node_type(hashkey, value);
+			return value_key;  // index of the replaced element
+		}
+
+		m_hash_table[cell_index] = m_nodes.size();
+
+		_insert_unsorted(hashkey, value);
+		return GIM_INVALID_HASH;
+	}
+
+	///Sorted array data management. The hash table has the indices to the corresponding m_nodes array
+	inline bool _erase_sorted(GUINT index)
+	{
+		if (index >= (GUINT)m_nodes.size()) return false;
+		m_nodes.erase_sorted(index);
+		if (m_nodes.size() < 2) m_sorted = false;
+		return true;
+	}
+
+	//! faster, but unsorted
+	inline bool _erase_unsorted(GUINT index)
+	{
+		if (index >= m_nodes.size()) return false;
+
+		GUINT lastindex = m_nodes.size() - 1;
+		if (index < lastindex && m_hash_table != 0)
+		{
+			GUINT hashkey = m_nodes[lastindex].m_key;
+			if (hashkey != GIM_INVALID_HASH)
 			{
 				//update the new position of the last element
 				GUINT cell_index = _find_cell(hashkey);
-				btAssert(cell_index!=GIM_INVALID_HASH);
+				btAssert(cell_index != GIM_INVALID_HASH);
 				//new position of the last element which will be swaped
 				m_hash_table[cell_index] = index;
 			}
-        }
-        m_nodes.erase(index);
-        m_sorted = false;
-        return true;
-    }
-
-    //! Insert in position ordered
-    /*!
+		}
+		m_nodes.erase(index);
+		m_sorted = false;
+		return true;
+	}
+
+	//! Insert in position ordered
+	/*!
     Also checks if it is needed to transform this container to a hash table, by calling check_for_switching_to_hashtable
     */
-    inline void _insert_in_pos(GUINT hashkey, const T & value, GUINT pos)
-    {
-        m_nodes.insert(_node_type(hashkey,value),pos);
-        this->check_for_switching_to_hashtable();
-    }
-
-    //! Insert an element in an ordered array
-    inline GUINT _insert_sorted(GUINT hashkey, const T & value)
-    {
-        if(hashkey==GIM_INVALID_HASH || size()==0)
-        {
-            m_nodes.push_back(_node_type(hashkey,value));
-            return GIM_INVALID_HASH;
-        }
-        //Insert at last position
-        //Sort element
-
-
-        GUINT result_ind=0;
-        GUINT last_index = m_nodes.size()-1;
-        _node_type * ptr = m_nodes.pointer();
-
-        bool found = gim_binary_search_ex(
-        	ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO());
-
-
-        //Insert before found index
-        if(found)
-        {
-            return result_ind;
-        }
-        else
-        {
-            _insert_in_pos(hashkey, value, result_ind);
-        }
-        return GIM_INVALID_HASH;
-    }
-
-    inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value)
-    {
-        if(hashkey==GIM_INVALID_HASH || size()==0)
-        {
-            m_nodes.push_back(_node_type(hashkey,value));
-            return GIM_INVALID_HASH;
-        }
-        //Insert at last position
-        //Sort element
-        GUINT result_ind;
-        GUINT last_index = m_nodes.size()-1;
-        _node_type * ptr = m_nodes.pointer();
-
-        bool found = gim_binary_search_ex(
-        	ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO());
-
-        //Insert before found index
-        if(found)
-        {
-            m_nodes[result_ind] = _node_type(hashkey,value);
-        }
-        else
-        {
-            _insert_in_pos(hashkey, value, result_ind);
-        }
-        return result_ind;
-    }
-
-    //! Fast insertion in m_nodes array
-    inline GUINT  _insert_unsorted(GUINT hashkey, const T & value)
-    {
-        m_nodes.push_back(_node_type(hashkey,value));
-        m_sorted = false;
-        return GIM_INVALID_HASH;
-    }
-
-    
+	inline void _insert_in_pos(GUINT hashkey, const T& value, GUINT pos)
+	{
+		m_nodes.insert(_node_type(hashkey, value), pos);
+		this->check_for_switching_to_hashtable();
+	}
 
-public:
+	//! Insert an element in an ordered array
+	inline GUINT _insert_sorted(GUINT hashkey, const T& value)
+	{
+		if (hashkey == GIM_INVALID_HASH || size() == 0)
+		{
+			m_nodes.push_back(_node_type(hashkey, value));
+			return GIM_INVALID_HASH;
+		}
+		//Insert at last position
+		//Sort element
+
+		GUINT result_ind = 0;
+		GUINT last_index = m_nodes.size() - 1;
+		_node_type* ptr = m_nodes.pointer();
+
+		bool found = gim_binary_search_ex(
+			ptr, 0, last_index, result_ind, hashkey, GIM_HASH_NODE_CMP_KEY_MACRO());
+
+		//Insert before found index
+		if (found)
+		{
+			return result_ind;
+		}
+		else
+		{
+			_insert_in_pos(hashkey, value, result_ind);
+		}
+		return GIM_INVALID_HASH;
+	}
 
-    /*!
+	inline GUINT _insert_sorted_replace(GUINT hashkey, const T& value)
+	{
+		if (hashkey == GIM_INVALID_HASH || size() == 0)
+		{
+			m_nodes.push_back(_node_type(hashkey, value));
+			return GIM_INVALID_HASH;
+		}
+		//Insert at last position
+		//Sort element
+		GUINT result_ind;
+		GUINT last_index = m_nodes.size() - 1;
+		_node_type* ptr = m_nodes.pointer();
+
+		bool found = gim_binary_search_ex(
+			ptr, 0, last_index, result_ind, hashkey, GIM_HASH_NODE_CMP_KEY_MACRO());
+
+		//Insert before found index
+		if (found)
+		{
+			m_nodes[result_ind] = _node_type(hashkey, value);
+		}
+		else
+		{
+			_insert_in_pos(hashkey, value, result_ind);
+		}
+		return result_ind;
+	}
+
+	//! Fast insertion in m_nodes array
+	inline GUINT _insert_unsorted(GUINT hashkey, const T& value)
+	{
+		m_nodes.push_back(_node_type(hashkey, value));
+		m_sorted = false;
+		return GIM_INVALID_HASH;
+	}
+
+public:
+	/*!
         <li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes.
         When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable.
         <li> If node_size != 0, then this container becomes a hash table for ever
         </ul>
     */
-    gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE,
-                     GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE,
-                     GUINT min_hash_table_size = GIM_INVALID_HASH)
-    {
-        m_hash_table = NULL;
-        m_table_size = 0;
-        m_sorted = false;
-        m_node_size = node_size;
-        m_min_hash_table_size = min_hash_table_size;
-
-        if(m_node_size!=0)
-        {
-            if(reserve_size!=0)
-            {
-                m_nodes.reserve(reserve_size);
-                _reserve_table_memory(reserve_size);
-                _invalidate_keys();
-            }
-            else
-            {
-                m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE);
-                _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE);
-                _invalidate_keys();
-            }
-        }
-        else if(reserve_size!=0)
-        {
-            m_nodes.reserve(reserve_size);
-        }
-
-    }
-
-    ~gim_hash_table()
-    {
-        _destroy();
-    }
-
-    inline bool is_hash_table()
-    {
-        if(m_hash_table) return true;
-        return false;
-    }
-
-    inline bool is_sorted()
-    {
-        if(size()<2) return true;
-        return m_sorted;
-    }
-
-    bool sort()
-    {
-        if(is_sorted()) return true;
-        if(m_nodes.size()<2) return false;
-
-
-        _node_type * ptr = m_nodes.pointer();
-        GUINT siz = m_nodes.size();
-        gim_sort_hash_node_array(ptr,siz);
-        m_sorted=true;
-
-
-
-        if(m_hash_table)
-        {
-            _rehash();
-        }
-        return true;
-    }
-
-    bool switch_to_hashtable()
-    {
-        if(m_hash_table) return false;
-        if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
-        if(m_nodes.size()<GIM_DEFAULT_HASH_TABLE_SIZE)
-        {
-            _resize_table(GIM_DEFAULT_HASH_TABLE_SIZE);
-        }
-        else
-        {
-            _resize_table(m_nodes.size()+1);
-        }
-
-        return true;
-    }
-
-    bool switch_to_sorted_array()
-    {
-        if(m_hash_table==NULL) return true;
-        _clear_table_memory();
-        return sort();
-    }
-
-    //!If the container reaches the
-    bool check_for_switching_to_hashtable()
-    {
-        if(this->m_hash_table) return true;
-
-        if(!(m_nodes.size()< m_min_hash_table_size))
-        {
-            if(m_node_size == 0)
-            {
-                m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
-            }
-
-            _resize_table(m_nodes.size()+1);
-            return true;
-        }
-        return false;
-    }
-
-    inline void set_sorted(bool value)
-    {
-    	m_sorted = value;
-    }
-
-    //! Retrieves the amount of keys.
-    inline GUINT size() const
-    {
-        return m_nodes.size();
-    }
-
-    //! Retrieves the hash key.
-    inline GUINT get_key(GUINT index) const
-    {
-        return m_nodes[index].m_key;
-    }
-
-    //! Retrieves the value by index
-    /*!
+	gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE,
+				   GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE,
+				   GUINT min_hash_table_size = GIM_INVALID_HASH)
+	{
+		m_hash_table = NULL;
+		m_table_size = 0;
+		m_sorted = false;
+		m_node_size = node_size;
+		m_min_hash_table_size = min_hash_table_size;
+
+		if (m_node_size != 0)
+		{
+			if (reserve_size != 0)
+			{
+				m_nodes.reserve(reserve_size);
+				_reserve_table_memory(reserve_size);
+				_invalidate_keys();
+			}
+			else
+			{
+				m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE);
+				_reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE);
+				_invalidate_keys();
+			}
+		}
+		else if (reserve_size != 0)
+		{
+			m_nodes.reserve(reserve_size);
+		}
+	}
+
+	~gim_hash_table()
+	{
+		_destroy();
+	}
+
+	inline bool is_hash_table()
+	{
+		if (m_hash_table) return true;
+		return false;
+	}
+
+	inline bool is_sorted()
+	{
+		if (size() < 2) return true;
+		return m_sorted;
+	}
+
+	bool sort()
+	{
+		if (is_sorted()) return true;
+		if (m_nodes.size() < 2) return false;
+
+		_node_type* ptr = m_nodes.pointer();
+		GUINT siz = m_nodes.size();
+		gim_sort_hash_node_array(ptr, siz);
+		m_sorted = true;
+
+		if (m_hash_table)
+		{
+			_rehash();
+		}
+		return true;
+	}
+
+	bool switch_to_hashtable()
+	{
+		if (m_hash_table) return false;
+		if (m_node_size == 0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
+		if (m_nodes.size() < GIM_DEFAULT_HASH_TABLE_SIZE)
+		{
+			_resize_table(GIM_DEFAULT_HASH_TABLE_SIZE);
+		}
+		else
+		{
+			_resize_table(m_nodes.size() + 1);
+		}
+
+		return true;
+	}
+
+	bool switch_to_sorted_array()
+	{
+		if (m_hash_table == NULL) return true;
+		_clear_table_memory();
+		return sort();
+	}
+
+	//!If the container reaches the
+	bool check_for_switching_to_hashtable()
+	{
+		if (this->m_hash_table) return true;
+
+		if (!(m_nodes.size() < m_min_hash_table_size))
+		{
+			if (m_node_size == 0)
+			{
+				m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
+			}
+
+			_resize_table(m_nodes.size() + 1);
+			return true;
+		}
+		return false;
+	}
+
+	inline void set_sorted(bool value)
+	{
+		m_sorted = value;
+	}
+
+	//! Retrieves the amount of keys.
+	inline GUINT size() const
+	{
+		return m_nodes.size();
+	}
+
+	//! Retrieves the hash key.
+	inline GUINT get_key(GUINT index) const
+	{
+		return m_nodes[index].m_key;
+	}
+
+	//! Retrieves the value by index
+	/*!
     */
-    inline T * get_value_by_index(GUINT index)
-    {
-        return &m_nodes[index].m_data;
-    }
-
-    inline const T& operator[](GUINT index) const
-    {
-        return m_nodes[index].m_data;
-    }
-
-    inline T& operator[](GUINT index)
-    {
-        return m_nodes[index].m_data;
-    }
-
-    //! Finds the index of the element with the key
-    /*!
+	inline T* get_value_by_index(GUINT index)
+	{
+		return &m_nodes[index].m_data;
+	}
+
+	inline const T& operator[](GUINT index) const
+	{
+		return m_nodes[index].m_data;
+	}
+
+	inline T& operator[](GUINT index)
+	{
+		return m_nodes[index].m_data;
+	}
+
+	//! Finds the index of the element with the key
+	/*!
     \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
     If so, the element has been inserted at the last position of the array.
     */
-    inline GUINT find(GUINT hashkey)
-    {
-        if(m_hash_table)
-        {
-            GUINT cell_index = _find_cell(hashkey);
-            if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH;
-            return m_hash_table[cell_index];
-        }
+	inline GUINT find(GUINT hashkey)
+	{
+		if (m_hash_table)
+		{
+			GUINT cell_index = _find_cell(hashkey);
+			if (cell_index == GIM_INVALID_HASH) return GIM_INVALID_HASH;
+			return m_hash_table[cell_index];
+		}
 		GUINT last_index = m_nodes.size();
-        if(last_index<2)
-        {
-			if(last_index==0) return GIM_INVALID_HASH;
-            if(m_nodes[0].m_key == hashkey) return 0;
-            return GIM_INVALID_HASH;
-        }
-        else if(m_sorted)
-        {
-            //Binary search
-            GUINT result_ind = 0;
+		if (last_index < 2)
+		{
+			if (last_index == 0) return GIM_INVALID_HASH;
+			if (m_nodes[0].m_key == hashkey) return 0;
+			return GIM_INVALID_HASH;
+		}
+		else if (m_sorted)
+		{
+			//Binary search
+			GUINT result_ind = 0;
 			last_index--;
-            _node_type *  ptr =  m_nodes.pointer();
+			_node_type* ptr = m_nodes.pointer();
 
-            bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO());
+			bool found = gim_binary_search_ex(ptr, 0, last_index, result_ind, hashkey, GIM_HASH_NODE_CMP_KEY_MACRO());
 
+			if (found) return result_ind;
+		}
+		return GIM_INVALID_HASH;
+	}
 
-            if(found) return result_ind;
-        }
-        return GIM_INVALID_HASH;
-    }
-
-    //! Retrieves the value associated with the index
-    /*!
+	//! Retrieves the value associated with the index
+	/*!
     \return the found element, or null
     */
-    inline T * get_value(GUINT hashkey)
-    {
-        GUINT index = find(hashkey);
-        if(index == GIM_INVALID_HASH) return NULL;
-        return &m_nodes[index].m_data;
-    }
-
+	inline T* get_value(GUINT hashkey)
+	{
+		GUINT index = find(hashkey);
+		if (index == GIM_INVALID_HASH) return NULL;
+		return &m_nodes[index].m_data;
+	}
 
-    /*!
+	/*!
     */
-    inline bool erase_by_index(GUINT index)
-    {
-        if(index > m_nodes.size()) return false;
-
-        if(m_hash_table == NULL)
-        {
-            if(is_sorted())
-            {
-                return this->_erase_sorted(index);
-            }
-            else
-            {
-                return this->_erase_unsorted(index);
-            }
-        }
-        else
-        {
-            return this->_erase_by_index_hash_table(index);
-        }
-        return false;
-    }
-
-
-
-    inline bool erase_by_index_unsorted(GUINT index)
-    {
-        if(index > m_nodes.size()) return false;
-
-        if(m_hash_table == NULL)
-        {
-            return this->_erase_unsorted(index);
-        }
-        else
-        {
-            return this->_erase_by_index_hash_table(index);
-        }
-        return false;
-    }
-
-
-
-    /*!
+	inline bool erase_by_index(GUINT index)
+	{
+		if (index > m_nodes.size()) return false;
+
+		if (m_hash_table == NULL)
+		{
+			if (is_sorted())
+			{
+				return this->_erase_sorted(index);
+			}
+			else
+			{
+				return this->_erase_unsorted(index);
+			}
+		}
+		else
+		{
+			return this->_erase_by_index_hash_table(index);
+		}
+		return false;
+	}
+
+	inline bool erase_by_index_unsorted(GUINT index)
+	{
+		if (index > m_nodes.size()) return false;
+
+		if (m_hash_table == NULL)
+		{
+			return this->_erase_unsorted(index);
+		}
+		else
+		{
+			return this->_erase_by_index_hash_table(index);
+		}
+		return false;
+	}
+
+	/*!
 
     */
-    inline bool erase_by_key(GUINT hashkey)
-    {
-        if(size()==0) return false;
-
-        if(m_hash_table)
-        {
-            return this->_erase_hash_table(hashkey);
-        }
-        //Binary search
-
-        if(is_sorted()==false) return false;
-
-        GUINT result_ind = find(hashkey);
-        if(result_ind!= GIM_INVALID_HASH)
-        {
-            return this->_erase_sorted(result_ind);
-        }
-        return false;
-    }
-
-    void clear()
-    {
-        m_nodes.clear();
-
-        if(m_hash_table==NULL) return;
-        GUINT datasize = m_table_size*m_node_size;
-        //Initialize the hashkeys.
-        GUINT i;
-        for(i=0;i<datasize;i++)
-        {
-            m_hash_table[i] = GIM_INVALID_HASH;// invalidate keys
-        }
+	inline bool erase_by_key(GUINT hashkey)
+	{
+		if (size() == 0) return false;
+
+		if (m_hash_table)
+		{
+			return this->_erase_hash_table(hashkey);
+		}
+		//Binary search
+
+		if (is_sorted() == false) return false;
+
+		GUINT result_ind = find(hashkey);
+		if (result_ind != GIM_INVALID_HASH)
+		{
+			return this->_erase_sorted(result_ind);
+		}
+		return false;
+	}
+
+	void clear()
+	{
+		m_nodes.clear();
+
+		if (m_hash_table == NULL) return;
+		GUINT datasize = m_table_size * m_node_size;
+		//Initialize the hashkeys.
+		GUINT i;
+		for (i = 0; i < datasize; i++)
+		{
+			m_hash_table[i] = GIM_INVALID_HASH;  // invalidate keys
+		}
 		m_sorted = false;
-    }
+	}
 
-    //! Insert an element into the hash
-    /*!
+	//! Insert an element into the hash
+	/*!
     \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position
     of the existing element.
     */
-    inline GUINT insert(GUINT hashkey, const T & element)
-    {
-        if(m_hash_table)
-        {
-            return this->_insert_hash_table(hashkey,element);
-        }
-        if(this->is_sorted())
-        {
-            return this->_insert_sorted(hashkey,element);
-        }
-        return this->_insert_unsorted(hashkey,element);
-    }
-
-    //! Insert an element into the hash, and could overrite an existing object with the same hash.
-    /*!
+	inline GUINT insert(GUINT hashkey, const T& element)
+	{
+		if (m_hash_table)
+		{
+			return this->_insert_hash_table(hashkey, element);
+		}
+		if (this->is_sorted())
+		{
+			return this->_insert_sorted(hashkey, element);
+		}
+		return this->_insert_unsorted(hashkey, element);
+	}
+
+	//! Insert an element into the hash, and could overrite an existing object with the same hash.
+	/*!
     \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position
     of the replaced element.
     */
-    inline GUINT insert_override(GUINT hashkey, const T & element)
-    {
-        if(m_hash_table)
-        {
-            return this->_insert_hash_table_replace(hashkey,element);
-        }
-        if(this->is_sorted())
-        {
-            return this->_insert_sorted_replace(hashkey,element);
-        }
-        this->_insert_unsorted(hashkey,element);
-        return m_nodes.size();
-    }
-
-
-
-    //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted
-    /*!
-    */
-    inline GUINT insert_unsorted(GUINT hashkey,const T & element)
-    {
-        if(m_hash_table)
-        {
-            return this->_insert_hash_table(hashkey,element);
-        }
-        return this->_insert_unsorted(hashkey,element);
-    }
-
+	inline GUINT insert_override(GUINT hashkey, const T& element)
+	{
+		if (m_hash_table)
+		{
+			return this->_insert_hash_table_replace(hashkey, element);
+		}
+		if (this->is_sorted())
+		{
+			return this->_insert_sorted_replace(hashkey, element);
+		}
+		this->_insert_unsorted(hashkey, element);
+		return m_nodes.size();
+	}
 
+	//! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted
+	/*!
+    */
+	inline GUINT insert_unsorted(GUINT hashkey, const T& element)
+	{
+		if (m_hash_table)
+		{
+			return this->_insert_hash_table(hashkey, element);
+		}
+		return this->_insert_unsorted(hashkey, element);
+	}
 };
 
-
-
-#endif // GIM_CONTAINERS_H_INCLUDED
+#endif  // GIM_CONTAINERS_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
index 64f11b4954..98401a404a 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
@@ -34,962 +34,900 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_math.h"
 #include "gim_geom_types.h"
 
-
-
-
 //! Zero out a 2D vector
-#define VEC_ZERO_2(a)				\
-{						\
-   (a)[0] = (a)[1] = 0.0f;			\
-}\
-
+#define VEC_ZERO_2(a)           \
+	{                           \
+		(a)[0] = (a)[1] = 0.0f; \
+	}
 
 //! Zero out a 3D vector
-#define VEC_ZERO(a)				\
-{						\
-   (a)[0] = (a)[1] = (a)[2] = 0.0f;		\
-}\
-
+#define VEC_ZERO(a)                      \
+	{                                    \
+		(a)[0] = (a)[1] = (a)[2] = 0.0f; \
+	}
 
 /// Zero out a 4D vector
-#define VEC_ZERO_4(a)				\
-{						\
-   (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f;	\
-}\
-
+#define VEC_ZERO_4(a)                             \
+	{                                             \
+		(a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
+	}
 
 /// Vector copy
-#define VEC_COPY_2(b,a)				\
-{						\
-   (b)[0] = (a)[0];				\
-   (b)[1] = (a)[1];				\
-}\
-
+#define VEC_COPY_2(b, a) \
+	{                    \
+		(b)[0] = (a)[0]; \
+		(b)[1] = (a)[1]; \
+	}
 
 /// Copy 3D vector
-#define VEC_COPY(b,a)				\
-{						\
-   (b)[0] = (a)[0];				\
-   (b)[1] = (a)[1];				\
-   (b)[2] = (a)[2];				\
-}\
-
+#define VEC_COPY(b, a)   \
+	{                    \
+		(b)[0] = (a)[0]; \
+		(b)[1] = (a)[1]; \
+		(b)[2] = (a)[2]; \
+	}
 
 /// Copy 4D vector
-#define VEC_COPY_4(b,a)				\
-{						\
-   (b)[0] = (a)[0];				\
-   (b)[1] = (a)[1];				\
-   (b)[2] = (a)[2];				\
-   (b)[3] = (a)[3];				\
-}\
+#define VEC_COPY_4(b, a) \
+	{                    \
+		(b)[0] = (a)[0]; \
+		(b)[1] = (a)[1]; \
+		(b)[2] = (a)[2]; \
+		(b)[3] = (a)[3]; \
+	}
 
 /// VECTOR SWAP
-#define VEC_SWAP(b,a)				\
-{  \
-    GIM_SWAP_NUMBERS((b)[0],(a)[0]);\
-    GIM_SWAP_NUMBERS((b)[1],(a)[1]);\
-    GIM_SWAP_NUMBERS((b)[2],(a)[2]);\
-}\
+#define VEC_SWAP(b, a)                    \
+	{                                     \
+		GIM_SWAP_NUMBERS((b)[0], (a)[0]); \
+		GIM_SWAP_NUMBERS((b)[1], (a)[1]); \
+		GIM_SWAP_NUMBERS((b)[2], (a)[2]); \
+	}
 
 /// Vector difference
-#define VEC_DIFF_2(v21,v2,v1)			\
-{						\
-   (v21)[0] = (v2)[0] - (v1)[0];		\
-   (v21)[1] = (v2)[1] - (v1)[1];		\
-}\
-
+#define VEC_DIFF_2(v21, v2, v1)       \
+	{                                 \
+		(v21)[0] = (v2)[0] - (v1)[0]; \
+		(v21)[1] = (v2)[1] - (v1)[1]; \
+	}
 
 /// Vector difference
-#define VEC_DIFF(v21,v2,v1)			\
-{						\
-   (v21)[0] = (v2)[0] - (v1)[0];		\
-   (v21)[1] = (v2)[1] - (v1)[1];		\
-   (v21)[2] = (v2)[2] - (v1)[2];		\
-}\
-
+#define VEC_DIFF(v21, v2, v1)         \
+	{                                 \
+		(v21)[0] = (v2)[0] - (v1)[0]; \
+		(v21)[1] = (v2)[1] - (v1)[1]; \
+		(v21)[2] = (v2)[2] - (v1)[2]; \
+	}
 
 /// Vector difference
-#define VEC_DIFF_4(v21,v2,v1)			\
-{						\
-   (v21)[0] = (v2)[0] - (v1)[0];		\
-   (v21)[1] = (v2)[1] - (v1)[1];		\
-   (v21)[2] = (v2)[2] - (v1)[2];		\
-   (v21)[3] = (v2)[3] - (v1)[3];		\
-}\
-
+#define VEC_DIFF_4(v21, v2, v1)       \
+	{                                 \
+		(v21)[0] = (v2)[0] - (v1)[0]; \
+		(v21)[1] = (v2)[1] - (v1)[1]; \
+		(v21)[2] = (v2)[2] - (v1)[2]; \
+		(v21)[3] = (v2)[3] - (v1)[3]; \
+	}
 
 /// Vector sum
-#define VEC_SUM_2(v21,v2,v1)			\
-{						\
-   (v21)[0] = (v2)[0] + (v1)[0];		\
-   (v21)[1] = (v2)[1] + (v1)[1];		\
-}\
-
+#define VEC_SUM_2(v21, v2, v1)        \
+	{                                 \
+		(v21)[0] = (v2)[0] + (v1)[0]; \
+		(v21)[1] = (v2)[1] + (v1)[1]; \
+	}
 
 /// Vector sum
-#define VEC_SUM(v21,v2,v1)			\
-{						\
-   (v21)[0] = (v2)[0] + (v1)[0];		\
-   (v21)[1] = (v2)[1] + (v1)[1];		\
-   (v21)[2] = (v2)[2] + (v1)[2];		\
-}\
-
+#define VEC_SUM(v21, v2, v1)          \
+	{                                 \
+		(v21)[0] = (v2)[0] + (v1)[0]; \
+		(v21)[1] = (v2)[1] + (v1)[1]; \
+		(v21)[2] = (v2)[2] + (v1)[2]; \
+	}
 
 /// Vector sum
-#define VEC_SUM_4(v21,v2,v1)			\
-{						\
-   (v21)[0] = (v2)[0] + (v1)[0];		\
-   (v21)[1] = (v2)[1] + (v1)[1];		\
-   (v21)[2] = (v2)[2] + (v1)[2];		\
-   (v21)[3] = (v2)[3] + (v1)[3];		\
-}\
-
+#define VEC_SUM_4(v21, v2, v1)        \
+	{                                 \
+		(v21)[0] = (v2)[0] + (v1)[0]; \
+		(v21)[1] = (v2)[1] + (v1)[1]; \
+		(v21)[2] = (v2)[2] + (v1)[2]; \
+		(v21)[3] = (v2)[3] + (v1)[3]; \
+	}
 
 /// scalar times vector
-#define VEC_SCALE_2(c,a,b)			\
-{						\
-   (c)[0] = (a)*(b)[0];				\
-   (c)[1] = (a)*(b)[1];				\
-}\
-
+#define VEC_SCALE_2(c, a, b)   \
+	{                          \
+		(c)[0] = (a) * (b)[0]; \
+		(c)[1] = (a) * (b)[1]; \
+	}
 
 /// scalar times vector
-#define VEC_SCALE(c,a,b)			\
-{						\
-   (c)[0] = (a)*(b)[0];				\
-   (c)[1] = (a)*(b)[1];				\
-   (c)[2] = (a)*(b)[2];				\
-}\
-
+#define VEC_SCALE(c, a, b)     \
+	{                          \
+		(c)[0] = (a) * (b)[0]; \
+		(c)[1] = (a) * (b)[1]; \
+		(c)[2] = (a) * (b)[2]; \
+	}
 
 /// scalar times vector
-#define VEC_SCALE_4(c,a,b)			\
-{						\
-   (c)[0] = (a)*(b)[0];				\
-   (c)[1] = (a)*(b)[1];				\
-   (c)[2] = (a)*(b)[2];				\
-   (c)[3] = (a)*(b)[3];				\
-}\
-
+#define VEC_SCALE_4(c, a, b)   \
+	{                          \
+		(c)[0] = (a) * (b)[0]; \
+		(c)[1] = (a) * (b)[1]; \
+		(c)[2] = (a) * (b)[2]; \
+		(c)[3] = (a) * (b)[3]; \
+	}
 
 /// accumulate scaled vector
-#define VEC_ACCUM_2(c,a,b)			\
-{						\
-   (c)[0] += (a)*(b)[0];			\
-   (c)[1] += (a)*(b)[1];			\
-}\
-
+#define VEC_ACCUM_2(c, a, b)    \
+	{                           \
+		(c)[0] += (a) * (b)[0]; \
+		(c)[1] += (a) * (b)[1]; \
+	}
 
 /// accumulate scaled vector
-#define VEC_ACCUM(c,a,b)			\
-{						\
-   (c)[0] += (a)*(b)[0];			\
-   (c)[1] += (a)*(b)[1];			\
-   (c)[2] += (a)*(b)[2];			\
-}\
-
+#define VEC_ACCUM(c, a, b)      \
+	{                           \
+		(c)[0] += (a) * (b)[0]; \
+		(c)[1] += (a) * (b)[1]; \
+		(c)[2] += (a) * (b)[2]; \
+	}
 
 /// accumulate scaled vector
-#define VEC_ACCUM_4(c,a,b)			\
-{						\
-   (c)[0] += (a)*(b)[0];			\
-   (c)[1] += (a)*(b)[1];			\
-   (c)[2] += (a)*(b)[2];			\
-   (c)[3] += (a)*(b)[3];			\
-}\
-
+#define VEC_ACCUM_4(c, a, b)    \
+	{                           \
+		(c)[0] += (a) * (b)[0]; \
+		(c)[1] += (a) * (b)[1]; \
+		(c)[2] += (a) * (b)[2]; \
+		(c)[3] += (a) * (b)[3]; \
+	}
 
 /// Vector dot product
-#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1])
-
+#define VEC_DOT_2(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1])
 
 /// Vector dot product
-#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2])
+#define VEC_DOT(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])
 
 /// Vector dot product
-#define VEC_DOT_4(a,b)	((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3])
+#define VEC_DOT_4(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2] + (a)[3] * (b)[3])
 
 /// vector impact parameter (squared)
-#define VEC_IMPACT_SQ(bsq,direction,position) {\
-   GREAL _llel_ = VEC_DOT(direction, position);\
-   bsq = VEC_DOT(position, position) - _llel_*_llel_;\
-}\
-
+#define VEC_IMPACT_SQ(bsq, direction, position)              \
+	{                                                        \
+		GREAL _llel_ = VEC_DOT(direction, position);         \
+		bsq = VEC_DOT(position, position) - _llel_ * _llel_; \
+	}
 
 /// vector impact parameter
-#define VEC_IMPACT(bsq,direction,position)	{\
-   VEC_IMPACT_SQ(bsq,direction,position);		\
-   GIM_SQRT(bsq,bsq);					\
-}\
+#define VEC_IMPACT(bsq, direction, position)     \
+	{                                            \
+		VEC_IMPACT_SQ(bsq, direction, position); \
+		GIM_SQRT(bsq, bsq);                      \
+	}
 
 /// Vector length
-#define VEC_LENGTH_2(a,l)\
-{\
-    GREAL _pp = VEC_DOT_2(a,a);\
-    GIM_SQRT(_pp,l);\
-}\
-
+#define VEC_LENGTH_2(a, l)           \
+	{                                \
+		GREAL _pp = VEC_DOT_2(a, a); \
+		GIM_SQRT(_pp, l);            \
+	}
 
 /// Vector length
-#define VEC_LENGTH(a,l)\
-{\
-    GREAL _pp = VEC_DOT(a,a);\
-    GIM_SQRT(_pp,l);\
-}\
-
+#define VEC_LENGTH(a, l)           \
+	{                              \
+		GREAL _pp = VEC_DOT(a, a); \
+		GIM_SQRT(_pp, l);          \
+	}
 
 /// Vector length
-#define VEC_LENGTH_4(a,l)\
-{\
-    GREAL _pp = VEC_DOT_4(a,a);\
-    GIM_SQRT(_pp,l);\
-}\
+#define VEC_LENGTH_4(a, l)           \
+	{                                \
+		GREAL _pp = VEC_DOT_4(a, a); \
+		GIM_SQRT(_pp, l);            \
+	}
 
 /// Vector inv length
-#define VEC_INV_LENGTH_2(a,l)\
-{\
-    GREAL _pp = VEC_DOT_2(a,a);\
-    GIM_INV_SQRT(_pp,l);\
-}\
-
+#define VEC_INV_LENGTH_2(a, l)       \
+	{                                \
+		GREAL _pp = VEC_DOT_2(a, a); \
+		GIM_INV_SQRT(_pp, l);        \
+	}
 
 /// Vector inv length
-#define VEC_INV_LENGTH(a,l)\
-{\
-    GREAL _pp = VEC_DOT(a,a);\
-    GIM_INV_SQRT(_pp,l);\
-}\
-
+#define VEC_INV_LENGTH(a, l)       \
+	{                              \
+		GREAL _pp = VEC_DOT(a, a); \
+		GIM_INV_SQRT(_pp, l);      \
+	}
 
 /// Vector inv length
-#define VEC_INV_LENGTH_4(a,l)\
-{\
-    GREAL _pp = VEC_DOT_4(a,a);\
-    GIM_INV_SQRT(_pp,l);\
-}\
-
-
+#define VEC_INV_LENGTH_4(a, l)       \
+	{                                \
+		GREAL _pp = VEC_DOT_4(a, a); \
+		GIM_INV_SQRT(_pp, l);        \
+	}
 
 /// distance between two points
-#define VEC_DISTANCE(_len,_va,_vb) {\
-    vec3f _tmp_;				\
-    VEC_DIFF(_tmp_, _vb, _va);			\
-    VEC_LENGTH(_tmp_,_len);			\
-}\
-
+#define VEC_DISTANCE(_len, _va, _vb) \
+	{                                \
+		vec3f _tmp_;                 \
+		VEC_DIFF(_tmp_, _vb, _va);   \
+		VEC_LENGTH(_tmp_, _len);     \
+	}
 
 /// Vector length
-#define VEC_CONJUGATE_LENGTH(a,l)\
-{\
-    GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\
-    GIM_SQRT(_pp,l);\
-}\
-
+#define VEC_CONJUGATE_LENGTH(a, l)                                 \
+	{                                                              \
+		GREAL _pp = 1.0 - a[0] * a[0] - a[1] * a[1] - a[2] * a[2]; \
+		GIM_SQRT(_pp, l);                                          \
+	}
 
 /// Vector length
-#define VEC_NORMALIZE(a) {	\
-    GREAL len;\
-    VEC_INV_LENGTH(a,len); \
-    if(len<G_REAL_INFINITY)\
-    {\
-        a[0] *= len;				\
-        a[1] *= len;				\
-        a[2] *= len;				\
-    }						\
-}\
+#define VEC_NORMALIZE(a)           \
+	{                              \
+		GREAL len;                 \
+		VEC_INV_LENGTH(a, len);    \
+		if (len < G_REAL_INFINITY) \
+		{                          \
+			a[0] *= len;           \
+			a[1] *= len;           \
+			a[2] *= len;           \
+		}                          \
+	}
 
 /// Set Vector size
-#define VEC_RENORMALIZE(a,newlen) {	\
-    GREAL len;\
-    VEC_INV_LENGTH(a,len); \
-    if(len<G_REAL_INFINITY)\
-    {\
-        len *= newlen;\
-        a[0] *= len;				\
-        a[1] *= len;				\
-        a[2] *= len;				\
-    }						\
-}\
+#define VEC_RENORMALIZE(a, newlen) \
+	{                              \
+		GREAL len;                 \
+		VEC_INV_LENGTH(a, len);    \
+		if (len < G_REAL_INFINITY) \
+		{                          \
+			len *= newlen;         \
+			a[0] *= len;           \
+			a[1] *= len;           \
+			a[2] *= len;           \
+		}                          \
+	}
 
 /// Vector cross
-#define VEC_CROSS(c,a,b)		\
-{						\
-   c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1];	\
-   c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2];	\
-   c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0];	\
-}\
-
+#define VEC_CROSS(c, a, b)                        \
+	{                                             \
+		c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
+		c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
+		c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
+	}
 
 /*! Vector perp -- assumes that n is of unit length
  * accepts vector v, subtracts out any component parallel to n */
-#define VEC_PERPENDICULAR(vp,v,n)			\
-{						\
-   GREAL dot = VEC_DOT(v, n);			\
-   vp[0] = (v)[0] - dot*(n)[0];		\
-   vp[1] = (v)[1] - dot*(n)[1];		\
-   vp[2] = (v)[2] - dot*(n)[2];		\
-}\
-
+#define VEC_PERPENDICULAR(vp, v, n)    \
+	{                                  \
+		GREAL dot = VEC_DOT(v, n);     \
+		vp[0] = (v)[0] - dot * (n)[0]; \
+		vp[1] = (v)[1] - dot * (n)[1]; \
+		vp[2] = (v)[2] - dot * (n)[2]; \
+	}
 
 /*! Vector parallel -- assumes that n is of unit length */
-#define VEC_PARALLEL(vp,v,n)			\
-{						\
-   GREAL dot = VEC_DOT(v, n);			\
-   vp[0] = (dot) * (n)[0];			\
-   vp[1] = (dot) * (n)[1];			\
-   vp[2] = (dot) * (n)[2];			\
-}\
+#define VEC_PARALLEL(vp, v, n)     \
+	{                              \
+		GREAL dot = VEC_DOT(v, n); \
+		vp[0] = (dot) * (n)[0];    \
+		vp[1] = (dot) * (n)[1];    \
+		vp[2] = (dot) * (n)[2];    \
+	}
 
 /*! Same as Vector parallel --  n can have any length
  * accepts vector v, subtracts out any component perpendicular to n */
-#define VEC_PROJECT(vp,v,n)			\
-{ \
-	GREAL scalar = VEC_DOT(v, n);			\
-	scalar/= VEC_DOT(n, n); \
-	vp[0] = (scalar) * (n)[0];			\
-    vp[1] = (scalar) * (n)[1];			\
-    vp[2] = (scalar) * (n)[2];			\
-}\
-
+#define VEC_PROJECT(vp, v, n)         \
+	{                                 \
+		GREAL scalar = VEC_DOT(v, n); \
+		scalar /= VEC_DOT(n, n);      \
+		vp[0] = (scalar) * (n)[0];    \
+		vp[1] = (scalar) * (n)[1];    \
+		vp[2] = (scalar) * (n)[2];    \
+	}
 
 /*! accepts vector v*/
-#define VEC_UNPROJECT(vp,v,n)			\
-{ \
-	GREAL scalar = VEC_DOT(v, n);			\
-	scalar = VEC_DOT(n, n)/scalar; \
-	vp[0] = (scalar) * (n)[0];			\
-    vp[1] = (scalar) * (n)[1];			\
-    vp[2] = (scalar) * (n)[2];			\
-}\
-
+#define VEC_UNPROJECT(vp, v, n)          \
+	{                                    \
+		GREAL scalar = VEC_DOT(v, n);    \
+		scalar = VEC_DOT(n, n) / scalar; \
+		vp[0] = (scalar) * (n)[0];       \
+		vp[1] = (scalar) * (n)[1];       \
+		vp[2] = (scalar) * (n)[2];       \
+	}
 
 /*! Vector reflection -- assumes n is of unit length
  Takes vector v, reflects it against reflector n, and returns vr */
-#define VEC_REFLECT(vr,v,n)			\
-{						\
-   GREAL dot = VEC_DOT(v, n);			\
-   vr[0] = (v)[0] - 2.0 * (dot) * (n)[0];	\
-   vr[1] = (v)[1] - 2.0 * (dot) * (n)[1];	\
-   vr[2] = (v)[2] - 2.0 * (dot) * (n)[2];	\
-}\
-
+#define VEC_REFLECT(vr, v, n)                  \
+	{                                          \
+		GREAL dot = VEC_DOT(v, n);             \
+		vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
+		vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
+		vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
+	}
 
 /*! Vector blending
 Takes two vectors a, b, blends them together with two scalars */
-#define VEC_BLEND_AB(vr,sa,a,sb,b)			\
-{						\
-   vr[0] = (sa) * (a)[0] + (sb) * (b)[0];	\
-   vr[1] = (sa) * (a)[1] + (sb) * (b)[1];	\
-   vr[2] = (sa) * (a)[2] + (sb) * (b)[2];	\
-}\
+#define VEC_BLEND_AB(vr, sa, a, sb, b)         \
+	{                                          \
+		vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
+		vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
+		vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
+	}
 
 /*! Vector blending
 Takes two vectors a, b, blends them together with s <=1 */
-#define VEC_BLEND(vr,a,b,s) VEC_BLEND_AB(vr,(1-s),a,s,b)
+#define VEC_BLEND(vr, a, b, s) VEC_BLEND_AB(vr, (1 - s), a, s, b)
 
-#define VEC_SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];
+#define VEC_SET3(a, b, op, c) \
+	a[0] = b[0] op c[0];      \
+	a[1] = b[1] op c[1];      \
+	a[2] = b[2] op c[2];
 
 //! Finds the bigger cartesian coordinate from a vector
-#define VEC_MAYOR_COORD(vec, maxc)\
-{\
-	GREAL A[] = {fabs(vec[0]),fabs(vec[1]),fabs(vec[2])};\
-    maxc =  A[0]>A[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\
-}\
+#define VEC_MAYOR_COORD(vec, maxc)                                          \
+	{                                                                       \
+		GREAL A[] = {fabs(vec[0]), fabs(vec[1]), fabs(vec[2])};             \
+		maxc = A[0] > A[1] ? (A[0] > A[2] ? 0 : 2) : (A[1] > A[2] ? 1 : 2); \
+	}
 
 //! Finds the 2 smallest cartesian coordinates from a vector
-#define VEC_MINOR_AXES(vec, i0, i1)\
-{\
-	VEC_MAYOR_COORD(vec,i0);\
-	i0 = (i0+1)%3;\
-	i1 = (i0+1)%3;\
-}\
-
-
-
+#define VEC_MINOR_AXES(vec, i0, i1) \
+	{                               \
+		VEC_MAYOR_COORD(vec, i0);   \
+		i0 = (i0 + 1) % 3;          \
+		i1 = (i0 + 1) % 3;          \
+	}
 
-#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2])
-
-#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2]))
+#define VEC_EQUAL(v1, v2) (v1[0] == v2[0] && v1[1] == v2[1] && v1[2] == v2[2])
 
+#define VEC_NEAR_EQUAL(v1, v2) (GIM_NEAR_EQUAL(v1[0], v2[0]) && GIM_NEAR_EQUAL(v1[1], v2[1]) && GIM_NEAR_EQUAL(v1[2], v2[2]))
 
 /// Vector cross
-#define X_AXIS_CROSS_VEC(dst,src)\
-{					   \
-	dst[0] = 0.0f;     \
-	dst[1] = -src[2];  \
-	dst[2] = src[1];  \
-}\
-
-#define Y_AXIS_CROSS_VEC(dst,src)\
-{					   \
-	dst[0] = src[2];     \
-	dst[1] = 0.0f;  \
-	dst[2] = -src[0];  \
-}\
-
-#define Z_AXIS_CROSS_VEC(dst,src)\
-{					   \
-	dst[0] = -src[1];     \
-	dst[1] = src[0];  \
-	dst[2] = 0.0f;  \
-}\
-
-
-
-
-
+#define X_AXIS_CROSS_VEC(dst, src) \
+	{                              \
+		dst[0] = 0.0f;             \
+		dst[1] = -src[2];          \
+		dst[2] = src[1];           \
+	}
+
+#define Y_AXIS_CROSS_VEC(dst, src) \
+	{                              \
+		dst[0] = src[2];           \
+		dst[1] = 0.0f;             \
+		dst[2] = -src[0];          \
+	}
+
+#define Z_AXIS_CROSS_VEC(dst, src) \
+	{                              \
+		dst[0] = -src[1];          \
+		dst[1] = src[0];           \
+		dst[2] = 0.0f;             \
+	}
 
 /// initialize matrix
-#define IDENTIFY_MATRIX_3X3(m)			\
-{						\
-   m[0][0] = 1.0;				\
-   m[0][1] = 0.0;				\
-   m[0][2] = 0.0;				\
-						\
-   m[1][0] = 0.0;				\
-   m[1][1] = 1.0;				\
-   m[1][2] = 0.0;				\
-						\
-   m[2][0] = 0.0;				\
-   m[2][1] = 0.0;				\
-   m[2][2] = 1.0;				\
-}\
+#define IDENTIFY_MATRIX_3X3(m) \
+	{                          \
+		m[0][0] = 1.0;         \
+		m[0][1] = 0.0;         \
+		m[0][2] = 0.0;         \
+                               \
+		m[1][0] = 0.0;         \
+		m[1][1] = 1.0;         \
+		m[1][2] = 0.0;         \
+                               \
+		m[2][0] = 0.0;         \
+		m[2][1] = 0.0;         \
+		m[2][2] = 1.0;         \
+	}
 
 /*! initialize matrix */
-#define IDENTIFY_MATRIX_4X4(m)			\
-{						\
-   m[0][0] = 1.0;				\
-   m[0][1] = 0.0;				\
-   m[0][2] = 0.0;				\
-   m[0][3] = 0.0;				\
-						\
-   m[1][0] = 0.0;				\
-   m[1][1] = 1.0;				\
-   m[1][2] = 0.0;				\
-   m[1][3] = 0.0;				\
-						\
-   m[2][0] = 0.0;				\
-   m[2][1] = 0.0;				\
-   m[2][2] = 1.0;				\
-   m[2][3] = 0.0;				\
-						\
-   m[3][0] = 0.0;				\
-   m[3][1] = 0.0;				\
-   m[3][2] = 0.0;				\
-   m[3][3] = 1.0;				\
-}\
+#define IDENTIFY_MATRIX_4X4(m) \
+	{                          \
+		m[0][0] = 1.0;         \
+		m[0][1] = 0.0;         \
+		m[0][2] = 0.0;         \
+		m[0][3] = 0.0;         \
+                               \
+		m[1][0] = 0.0;         \
+		m[1][1] = 1.0;         \
+		m[1][2] = 0.0;         \
+		m[1][3] = 0.0;         \
+                               \
+		m[2][0] = 0.0;         \
+		m[2][1] = 0.0;         \
+		m[2][2] = 1.0;         \
+		m[2][3] = 0.0;         \
+                               \
+		m[3][0] = 0.0;         \
+		m[3][1] = 0.0;         \
+		m[3][2] = 0.0;         \
+		m[3][3] = 1.0;         \
+	}
 
 /*! initialize matrix */
-#define ZERO_MATRIX_4X4(m)			\
-{						\
-   m[0][0] = 0.0;				\
-   m[0][1] = 0.0;				\
-   m[0][2] = 0.0;				\
-   m[0][3] = 0.0;				\
-						\
-   m[1][0] = 0.0;				\
-   m[1][1] = 0.0;				\
-   m[1][2] = 0.0;				\
-   m[1][3] = 0.0;				\
-						\
-   m[2][0] = 0.0;				\
-   m[2][1] = 0.0;				\
-   m[2][2] = 0.0;				\
-   m[2][3] = 0.0;				\
-						\
-   m[3][0] = 0.0;				\
-   m[3][1] = 0.0;				\
-   m[3][2] = 0.0;				\
-   m[3][3] = 0.0;				\
-}\
+#define ZERO_MATRIX_4X4(m) \
+	{                      \
+		m[0][0] = 0.0;     \
+		m[0][1] = 0.0;     \
+		m[0][2] = 0.0;     \
+		m[0][3] = 0.0;     \
+                           \
+		m[1][0] = 0.0;     \
+		m[1][1] = 0.0;     \
+		m[1][2] = 0.0;     \
+		m[1][3] = 0.0;     \
+                           \
+		m[2][0] = 0.0;     \
+		m[2][1] = 0.0;     \
+		m[2][2] = 0.0;     \
+		m[2][3] = 0.0;     \
+                           \
+		m[3][0] = 0.0;     \
+		m[3][1] = 0.0;     \
+		m[3][2] = 0.0;     \
+		m[3][3] = 0.0;     \
+	}
 
 /*! matrix rotation  X */
-#define ROTX_CS(m,cosine,sine)		\
-{					\
-   /* rotation about the x-axis */	\
-					\
-   m[0][0] = 1.0;			\
-   m[0][1] = 0.0;			\
-   m[0][2] = 0.0;			\
-   m[0][3] = 0.0;			\
-					\
-   m[1][0] = 0.0;			\
-   m[1][1] = (cosine);			\
-   m[1][2] = (sine);			\
-   m[1][3] = 0.0;			\
-					\
-   m[2][0] = 0.0;			\
-   m[2][1] = -(sine);			\
-   m[2][2] = (cosine);			\
-   m[2][3] = 0.0;			\
-					\
-   m[3][0] = 0.0;			\
-   m[3][1] = 0.0;			\
-   m[3][2] = 0.0;			\
-   m[3][3] = 1.0;			\
-}\
+#define ROTX_CS(m, cosine, sine)        \
+	{                                   \
+		/* rotation about the x-axis */ \
+                                        \
+		m[0][0] = 1.0;                  \
+		m[0][1] = 0.0;                  \
+		m[0][2] = 0.0;                  \
+		m[0][3] = 0.0;                  \
+                                        \
+		m[1][0] = 0.0;                  \
+		m[1][1] = (cosine);             \
+		m[1][2] = (sine);               \
+		m[1][3] = 0.0;                  \
+                                        \
+		m[2][0] = 0.0;                  \
+		m[2][1] = -(sine);              \
+		m[2][2] = (cosine);             \
+		m[2][3] = 0.0;                  \
+                                        \
+		m[3][0] = 0.0;                  \
+		m[3][1] = 0.0;                  \
+		m[3][2] = 0.0;                  \
+		m[3][3] = 1.0;                  \
+	}
 
 /*! matrix rotation  Y */
-#define ROTY_CS(m,cosine,sine)		\
-{					\
-   /* rotation about the y-axis */	\
-					\
-   m[0][0] = (cosine);			\
-   m[0][1] = 0.0;			\
-   m[0][2] = -(sine);			\
-   m[0][3] = 0.0;			\
-					\
-   m[1][0] = 0.0;			\
-   m[1][1] = 1.0;			\
-   m[1][2] = 0.0;			\
-   m[1][3] = 0.0;			\
-					\
-   m[2][0] = (sine);			\
-   m[2][1] = 0.0;			\
-   m[2][2] = (cosine);			\
-   m[2][3] = 0.0;			\
-					\
-   m[3][0] = 0.0;			\
-   m[3][1] = 0.0;			\
-   m[3][2] = 0.0;			\
-   m[3][3] = 1.0;			\
-}\
+#define ROTY_CS(m, cosine, sine)        \
+	{                                   \
+		/* rotation about the y-axis */ \
+                                        \
+		m[0][0] = (cosine);             \
+		m[0][1] = 0.0;                  \
+		m[0][2] = -(sine);              \
+		m[0][3] = 0.0;                  \
+                                        \
+		m[1][0] = 0.0;                  \
+		m[1][1] = 1.0;                  \
+		m[1][2] = 0.0;                  \
+		m[1][3] = 0.0;                  \
+                                        \
+		m[2][0] = (sine);               \
+		m[2][1] = 0.0;                  \
+		m[2][2] = (cosine);             \
+		m[2][3] = 0.0;                  \
+                                        \
+		m[3][0] = 0.0;                  \
+		m[3][1] = 0.0;                  \
+		m[3][2] = 0.0;                  \
+		m[3][3] = 1.0;                  \
+	}
 
 /*! matrix rotation  Z */
-#define ROTZ_CS(m,cosine,sine)		\
-{					\
-   /* rotation about the z-axis */	\
-					\
-   m[0][0] = (cosine);			\
-   m[0][1] = (sine);			\
-   m[0][2] = 0.0;			\
-   m[0][3] = 0.0;			\
-					\
-   m[1][0] = -(sine);			\
-   m[1][1] = (cosine);			\
-   m[1][2] = 0.0;			\
-   m[1][3] = 0.0;			\
-					\
-   m[2][0] = 0.0;			\
-   m[2][1] = 0.0;			\
-   m[2][2] = 1.0;			\
-   m[2][3] = 0.0;			\
-					\
-   m[3][0] = 0.0;			\
-   m[3][1] = 0.0;			\
-   m[3][2] = 0.0;			\
-   m[3][3] = 1.0;			\
-}\
+#define ROTZ_CS(m, cosine, sine)        \
+	{                                   \
+		/* rotation about the z-axis */ \
+                                        \
+		m[0][0] = (cosine);             \
+		m[0][1] = (sine);               \
+		m[0][2] = 0.0;                  \
+		m[0][3] = 0.0;                  \
+                                        \
+		m[1][0] = -(sine);              \
+		m[1][1] = (cosine);             \
+		m[1][2] = 0.0;                  \
+		m[1][3] = 0.0;                  \
+                                        \
+		m[2][0] = 0.0;                  \
+		m[2][1] = 0.0;                  \
+		m[2][2] = 1.0;                  \
+		m[2][3] = 0.0;                  \
+                                        \
+		m[3][0] = 0.0;                  \
+		m[3][1] = 0.0;                  \
+		m[3][2] = 0.0;                  \
+		m[3][3] = 1.0;                  \
+	}
 
 /*! matrix copy */
-#define COPY_MATRIX_2X2(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[0][1];		\
-				\
-   b[1][0] = a[1][0];		\
-   b[1][1] = a[1][1];		\
-				\
-}\
-
+#define COPY_MATRIX_2X2(b, a) \
+	{                         \
+		b[0][0] = a[0][0];    \
+		b[0][1] = a[0][1];    \
+                              \
+		b[1][0] = a[1][0];    \
+		b[1][1] = a[1][1];    \
+	}
 
 /*! matrix copy */
-#define COPY_MATRIX_2X3(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[0][1];		\
-   b[0][2] = a[0][2];		\
-				\
-   b[1][0] = a[1][0];		\
-   b[1][1] = a[1][1];		\
-   b[1][2] = a[1][2];		\
-}\
-
+#define COPY_MATRIX_2X3(b, a) \
+	{                         \
+		b[0][0] = a[0][0];    \
+		b[0][1] = a[0][1];    \
+		b[0][2] = a[0][2];    \
+                              \
+		b[1][0] = a[1][0];    \
+		b[1][1] = a[1][1];    \
+		b[1][2] = a[1][2];    \
+	}
 
 /*! matrix copy */
-#define COPY_MATRIX_3X3(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[0][1];		\
-   b[0][2] = a[0][2];		\
-				\
-   b[1][0] = a[1][0];		\
-   b[1][1] = a[1][1];		\
-   b[1][2] = a[1][2];		\
-				\
-   b[2][0] = a[2][0];		\
-   b[2][1] = a[2][1];		\
-   b[2][2] = a[2][2];		\
-}\
-
+#define COPY_MATRIX_3X3(b, a) \
+	{                         \
+		b[0][0] = a[0][0];    \
+		b[0][1] = a[0][1];    \
+		b[0][2] = a[0][2];    \
+                              \
+		b[1][0] = a[1][0];    \
+		b[1][1] = a[1][1];    \
+		b[1][2] = a[1][2];    \
+                              \
+		b[2][0] = a[2][0];    \
+		b[2][1] = a[2][1];    \
+		b[2][2] = a[2][2];    \
+	}
 
 /*! matrix copy */
-#define COPY_MATRIX_4X4(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[0][1];		\
-   b[0][2] = a[0][2];		\
-   b[0][3] = a[0][3];		\
-				\
-   b[1][0] = a[1][0];		\
-   b[1][1] = a[1][1];		\
-   b[1][2] = a[1][2];		\
-   b[1][3] = a[1][3];		\
-				\
-   b[2][0] = a[2][0];		\
-   b[2][1] = a[2][1];		\
-   b[2][2] = a[2][2];		\
-   b[2][3] = a[2][3];		\
-				\
-   b[3][0] = a[3][0];		\
-   b[3][1] = a[3][1];		\
-   b[3][2] = a[3][2];		\
-   b[3][3] = a[3][3];		\
-}\
-
+#define COPY_MATRIX_4X4(b, a) \
+	{                         \
+		b[0][0] = a[0][0];    \
+		b[0][1] = a[0][1];    \
+		b[0][2] = a[0][2];    \
+		b[0][3] = a[0][3];    \
+                              \
+		b[1][0] = a[1][0];    \
+		b[1][1] = a[1][1];    \
+		b[1][2] = a[1][2];    \
+		b[1][3] = a[1][3];    \
+                              \
+		b[2][0] = a[2][0];    \
+		b[2][1] = a[2][1];    \
+		b[2][2] = a[2][2];    \
+		b[2][3] = a[2][3];    \
+                              \
+		b[3][0] = a[3][0];    \
+		b[3][1] = a[3][1];    \
+		b[3][2] = a[3][2];    \
+		b[3][3] = a[3][3];    \
+	}
 
 /*! matrix transpose */
-#define TRANSPOSE_MATRIX_2X2(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[1][0];		\
-				\
-   b[1][0] = a[0][1];		\
-   b[1][1] = a[1][1];		\
-}\
-
+#define TRANSPOSE_MATRIX_2X2(b, a) \
+	{                              \
+		b[0][0] = a[0][0];         \
+		b[0][1] = a[1][0];         \
+                                   \
+		b[1][0] = a[0][1];         \
+		b[1][1] = a[1][1];         \
+	}
 
 /*! matrix transpose */
-#define TRANSPOSE_MATRIX_3X3(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[1][0];		\
-   b[0][2] = a[2][0];		\
-				\
-   b[1][0] = a[0][1];		\
-   b[1][1] = a[1][1];		\
-   b[1][2] = a[2][1];		\
-				\
-   b[2][0] = a[0][2];		\
-   b[2][1] = a[1][2];		\
-   b[2][2] = a[2][2];		\
-}\
-
+#define TRANSPOSE_MATRIX_3X3(b, a) \
+	{                              \
+		b[0][0] = a[0][0];         \
+		b[0][1] = a[1][0];         \
+		b[0][2] = a[2][0];         \
+                                   \
+		b[1][0] = a[0][1];         \
+		b[1][1] = a[1][1];         \
+		b[1][2] = a[2][1];         \
+                                   \
+		b[2][0] = a[0][2];         \
+		b[2][1] = a[1][2];         \
+		b[2][2] = a[2][2];         \
+	}
 
 /*! matrix transpose */
-#define TRANSPOSE_MATRIX_4X4(b,a)	\
-{				\
-   b[0][0] = a[0][0];		\
-   b[0][1] = a[1][0];		\
-   b[0][2] = a[2][0];		\
-   b[0][3] = a[3][0];		\
-				\
-   b[1][0] = a[0][1];		\
-   b[1][1] = a[1][1];		\
-   b[1][2] = a[2][1];		\
-   b[1][3] = a[3][1];		\
-				\
-   b[2][0] = a[0][2];		\
-   b[2][1] = a[1][2];		\
-   b[2][2] = a[2][2];		\
-   b[2][3] = a[3][2];		\
-				\
-   b[3][0] = a[0][3];		\
-   b[3][1] = a[1][3];		\
-   b[3][2] = a[2][3];		\
-   b[3][3] = a[3][3];		\
-}\
-
+#define TRANSPOSE_MATRIX_4X4(b, a) \
+	{                              \
+		b[0][0] = a[0][0];         \
+		b[0][1] = a[1][0];         \
+		b[0][2] = a[2][0];         \
+		b[0][3] = a[3][0];         \
+                                   \
+		b[1][0] = a[0][1];         \
+		b[1][1] = a[1][1];         \
+		b[1][2] = a[2][1];         \
+		b[1][3] = a[3][1];         \
+                                   \
+		b[2][0] = a[0][2];         \
+		b[2][1] = a[1][2];         \
+		b[2][2] = a[2][2];         \
+		b[2][3] = a[3][2];         \
+                                   \
+		b[3][0] = a[0][3];         \
+		b[3][1] = a[1][3];         \
+		b[3][2] = a[2][3];         \
+		b[3][3] = a[3][3];         \
+	}
 
 /*! multiply matrix by scalar */
-#define SCALE_MATRIX_2X2(b,s,a)		\
-{					\
-   b[0][0] = (s) * a[0][0];		\
-   b[0][1] = (s) * a[0][1];		\
-					\
-   b[1][0] = (s) * a[1][0];		\
-   b[1][1] = (s) * a[1][1];		\
-}\
-
+#define SCALE_MATRIX_2X2(b, s, a) \
+	{                             \
+		b[0][0] = (s)*a[0][0];    \
+		b[0][1] = (s)*a[0][1];    \
+                                  \
+		b[1][0] = (s)*a[1][0];    \
+		b[1][1] = (s)*a[1][1];    \
+	}
 
 /*! multiply matrix by scalar */
-#define SCALE_MATRIX_3X3(b,s,a)		\
-{					\
-   b[0][0] = (s) * a[0][0];		\
-   b[0][1] = (s) * a[0][1];		\
-   b[0][2] = (s) * a[0][2];		\
-					\
-   b[1][0] = (s) * a[1][0];		\
-   b[1][1] = (s) * a[1][1];		\
-   b[1][2] = (s) * a[1][2];		\
-					\
-   b[2][0] = (s) * a[2][0];		\
-   b[2][1] = (s) * a[2][1];		\
-   b[2][2] = (s) * a[2][2];		\
-}\
-
+#define SCALE_MATRIX_3X3(b, s, a) \
+	{                             \
+		b[0][0] = (s)*a[0][0];    \
+		b[0][1] = (s)*a[0][1];    \
+		b[0][2] = (s)*a[0][2];    \
+                                  \
+		b[1][0] = (s)*a[1][0];    \
+		b[1][1] = (s)*a[1][1];    \
+		b[1][2] = (s)*a[1][2];    \
+                                  \
+		b[2][0] = (s)*a[2][0];    \
+		b[2][1] = (s)*a[2][1];    \
+		b[2][2] = (s)*a[2][2];    \
+	}
 
 /*! multiply matrix by scalar */
-#define SCALE_MATRIX_4X4(b,s,a)		\
-{					\
-   b[0][0] = (s) * a[0][0];		\
-   b[0][1] = (s) * a[0][1];		\
-   b[0][2] = (s) * a[0][2];		\
-   b[0][3] = (s) * a[0][3];		\
-					\
-   b[1][0] = (s) * a[1][0];		\
-   b[1][1] = (s) * a[1][1];		\
-   b[1][2] = (s) * a[1][2];		\
-   b[1][3] = (s) * a[1][3];		\
-					\
-   b[2][0] = (s) * a[2][0];		\
-   b[2][1] = (s) * a[2][1];		\
-   b[2][2] = (s) * a[2][2];		\
-   b[2][3] = (s) * a[2][3];		\
-					\
-   b[3][0] = s * a[3][0];		\
-   b[3][1] = s * a[3][1];		\
-   b[3][2] = s * a[3][2];		\
-   b[3][3] = s * a[3][3];		\
-}\
-
+#define SCALE_MATRIX_4X4(b, s, a) \
+	{                             \
+		b[0][0] = (s)*a[0][0];    \
+		b[0][1] = (s)*a[0][1];    \
+		b[0][2] = (s)*a[0][2];    \
+		b[0][3] = (s)*a[0][3];    \
+                                  \
+		b[1][0] = (s)*a[1][0];    \
+		b[1][1] = (s)*a[1][1];    \
+		b[1][2] = (s)*a[1][2];    \
+		b[1][3] = (s)*a[1][3];    \
+                                  \
+		b[2][0] = (s)*a[2][0];    \
+		b[2][1] = (s)*a[2][1];    \
+		b[2][2] = (s)*a[2][2];    \
+		b[2][3] = (s)*a[2][3];    \
+                                  \
+		b[3][0] = s * a[3][0];    \
+		b[3][1] = s * a[3][1];    \
+		b[3][2] = s * a[3][2];    \
+		b[3][3] = s * a[3][3];    \
+	}
 
 /*! multiply matrix by scalar */
-#define SCALE_VEC_MATRIX_2X2(b,svec,a)		\
-{					\
-   b[0][0] = svec[0] * a[0][0];		\
-   b[1][0] = svec[0] * a[1][0];		\
-					\
-   b[0][1] = svec[1] * a[0][1];		\
-   b[1][1] = svec[1] * a[1][1];		\
-}\
-
+#define SCALE_VEC_MATRIX_2X2(b, svec, a) \
+	{                                    \
+		b[0][0] = svec[0] * a[0][0];     \
+		b[1][0] = svec[0] * a[1][0];     \
+                                         \
+		b[0][1] = svec[1] * a[0][1];     \
+		b[1][1] = svec[1] * a[1][1];     \
+	}
 
 /*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */
-#define SCALE_VEC_MATRIX_3X3(b,svec,a)		\
-{					\
-   b[0][0] = svec[0] * a[0][0];		\
-   b[1][0] = svec[0] * a[1][0];		\
-   b[2][0] = svec[0] * a[2][0];		\
-					\
-   b[0][1] = svec[1] * a[0][1];		\
-   b[1][1] = svec[1] * a[1][1];		\
-   b[2][1] = svec[1] * a[2][1];		\
-					\
-   b[0][2] = svec[2] * a[0][2];		\
-   b[1][2] = svec[2] * a[1][2];		\
-   b[2][2] = svec[2] * a[2][2];		\
-}\
-
+#define SCALE_VEC_MATRIX_3X3(b, svec, a) \
+	{                                    \
+		b[0][0] = svec[0] * a[0][0];     \
+		b[1][0] = svec[0] * a[1][0];     \
+		b[2][0] = svec[0] * a[2][0];     \
+                                         \
+		b[0][1] = svec[1] * a[0][1];     \
+		b[1][1] = svec[1] * a[1][1];     \
+		b[2][1] = svec[1] * a[2][1];     \
+                                         \
+		b[0][2] = svec[2] * a[0][2];     \
+		b[1][2] = svec[2] * a[1][2];     \
+		b[2][2] = svec[2] * a[2][2];     \
+	}
 
 /*! multiply matrix by scalar */
-#define SCALE_VEC_MATRIX_4X4(b,svec,a)		\
-{					\
-   b[0][0] = svec[0] * a[0][0];		\
-   b[1][0] = svec[0] * a[1][0];		\
-   b[2][0] = svec[0] * a[2][0];		\
-   b[3][0] = svec[0] * a[3][0];		\
-					\
-   b[0][1] = svec[1] * a[0][1];		\
-   b[1][1] = svec[1] * a[1][1];		\
-   b[2][1] = svec[1] * a[2][1];		\
-   b[3][1] = svec[1] * a[3][1];		\
-					\
-   b[0][2] = svec[2] * a[0][2];		\
-   b[1][2] = svec[2] * a[1][2];		\
-   b[2][2] = svec[2] * a[2][2];		\
-   b[3][2] = svec[2] * a[3][2];		\
-   \
-   b[0][3] = svec[3] * a[0][3];		\
-   b[1][3] = svec[3] * a[1][3];		\
-   b[2][3] = svec[3] * a[2][3];		\
-   b[3][3] = svec[3] * a[3][3];		\
-}\
-
+#define SCALE_VEC_MATRIX_4X4(b, svec, a) \
+	{                                    \
+		b[0][0] = svec[0] * a[0][0];     \
+		b[1][0] = svec[0] * a[1][0];     \
+		b[2][0] = svec[0] * a[2][0];     \
+		b[3][0] = svec[0] * a[3][0];     \
+                                         \
+		b[0][1] = svec[1] * a[0][1];     \
+		b[1][1] = svec[1] * a[1][1];     \
+		b[2][1] = svec[1] * a[2][1];     \
+		b[3][1] = svec[1] * a[3][1];     \
+                                         \
+		b[0][2] = svec[2] * a[0][2];     \
+		b[1][2] = svec[2] * a[1][2];     \
+		b[2][2] = svec[2] * a[2][2];     \
+		b[3][2] = svec[2] * a[3][2];     \
+                                         \
+		b[0][3] = svec[3] * a[0][3];     \
+		b[1][3] = svec[3] * a[1][3];     \
+		b[2][3] = svec[3] * a[2][3];     \
+		b[3][3] = svec[3] * a[3][3];     \
+	}
 
 /*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_2X2(b,s,a)		\
-{					\
-   b[0][0] += (s) * a[0][0];		\
-   b[0][1] += (s) * a[0][1];		\
-					\
-   b[1][0] += (s) * a[1][0];		\
-   b[1][1] += (s) * a[1][1];		\
-}\
-
+#define ACCUM_SCALE_MATRIX_2X2(b, s, a) \
+	{                                   \
+		b[0][0] += (s)*a[0][0];         \
+		b[0][1] += (s)*a[0][1];         \
+                                        \
+		b[1][0] += (s)*a[1][0];         \
+		b[1][1] += (s)*a[1][1];         \
+	}
 
 /*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_3X3(b,s,a)		\
-{					\
-   b[0][0] += (s) * a[0][0];		\
-   b[0][1] += (s) * a[0][1];		\
-   b[0][2] += (s) * a[0][2];		\
-					\
-   b[1][0] += (s) * a[1][0];		\
-   b[1][1] += (s) * a[1][1];		\
-   b[1][2] += (s) * a[1][2];		\
-					\
-   b[2][0] += (s) * a[2][0];		\
-   b[2][1] += (s) * a[2][1];		\
-   b[2][2] += (s) * a[2][2];		\
-}\
-
+#define ACCUM_SCALE_MATRIX_3X3(b, s, a) \
+	{                                   \
+		b[0][0] += (s)*a[0][0];         \
+		b[0][1] += (s)*a[0][1];         \
+		b[0][2] += (s)*a[0][2];         \
+                                        \
+		b[1][0] += (s)*a[1][0];         \
+		b[1][1] += (s)*a[1][1];         \
+		b[1][2] += (s)*a[1][2];         \
+                                        \
+		b[2][0] += (s)*a[2][0];         \
+		b[2][1] += (s)*a[2][1];         \
+		b[2][2] += (s)*a[2][2];         \
+	}
 
 /*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_4X4(b,s,a)		\
-{					\
-   b[0][0] += (s) * a[0][0];		\
-   b[0][1] += (s) * a[0][1];		\
-   b[0][2] += (s) * a[0][2];		\
-   b[0][3] += (s) * a[0][3];		\
-					\
-   b[1][0] += (s) * a[1][0];		\
-   b[1][1] += (s) * a[1][1];		\
-   b[1][2] += (s) * a[1][2];		\
-   b[1][3] += (s) * a[1][3];		\
-					\
-   b[2][0] += (s) * a[2][0];		\
-   b[2][1] += (s) * a[2][1];		\
-   b[2][2] += (s) * a[2][2];		\
-   b[2][3] += (s) * a[2][3];		\
-					\
-   b[3][0] += (s) * a[3][0];		\
-   b[3][1] += (s) * a[3][1];		\
-   b[3][2] += (s) * a[3][2];		\
-   b[3][3] += (s) * a[3][3];		\
-}\
+#define ACCUM_SCALE_MATRIX_4X4(b, s, a) \
+	{                                   \
+		b[0][0] += (s)*a[0][0];         \
+		b[0][1] += (s)*a[0][1];         \
+		b[0][2] += (s)*a[0][2];         \
+		b[0][3] += (s)*a[0][3];         \
+                                        \
+		b[1][0] += (s)*a[1][0];         \
+		b[1][1] += (s)*a[1][1];         \
+		b[1][2] += (s)*a[1][2];         \
+		b[1][3] += (s)*a[1][3];         \
+                                        \
+		b[2][0] += (s)*a[2][0];         \
+		b[2][1] += (s)*a[2][1];         \
+		b[2][2] += (s)*a[2][2];         \
+		b[2][3] += (s)*a[2][3];         \
+                                        \
+		b[3][0] += (s)*a[3][0];         \
+		b[3][1] += (s)*a[3][1];         \
+		b[3][2] += (s)*a[3][2];         \
+		b[3][3] += (s)*a[3][3];         \
+	}
 
 /*! matrix product */
 /*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
-#define MATRIX_PRODUCT_2X2(c,a,b)		\
-{						\
-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0];	\
-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1];	\
-						\
-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0];	\
-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1];	\
-						\
-}\
+#define MATRIX_PRODUCT_2X2(c, a, b)                      \
+	{                                                    \
+		c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0]; \
+		c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1]; \
+                                                         \
+		c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0]; \
+		c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1]; \
+	}
 
 /*! matrix product */
 /*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
-#define MATRIX_PRODUCT_3X3(c,a,b)				\
-{								\
-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0];	\
-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1];	\
-   c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2];	\
-								\
-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0];	\
-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1];	\
-   c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2];	\
-								\
-   c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0];	\
-   c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1];	\
-   c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2];	\
-}\
-
+#define MATRIX_PRODUCT_3X3(c, a, b)                                          \
+	{                                                                        \
+		c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0]; \
+		c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1]; \
+		c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2]; \
+                                                                             \
+		c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0]; \
+		c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1]; \
+		c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2]; \
+                                                                             \
+		c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0]; \
+		c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1]; \
+		c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2]; \
+	}
 
 /*! matrix product */
 /*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
-#define MATRIX_PRODUCT_4X4(c,a,b)		\
-{						\
-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\
-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\
-   c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\
-   c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\
-						\
-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\
-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\
-   c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\
-   c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\
-						\
-   c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\
-   c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\
-   c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\
-   c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\
-						\
-   c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\
-   c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\
-   c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\
-   c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\
-}\
-
+#define MATRIX_PRODUCT_4X4(c, a, b)                                                              \
+	{                                                                                            \
+		c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0] + a[0][3] * b[3][0]; \
+		c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1] + a[0][3] * b[3][1]; \
+		c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2] + a[0][3] * b[3][2]; \
+		c[0][3] = a[0][0] * b[0][3] + a[0][1] * b[1][3] + a[0][2] * b[2][3] + a[0][3] * b[3][3]; \
+                                                                                                 \
+		c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0] + a[1][3] * b[3][0]; \
+		c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1] + a[1][3] * b[3][1]; \
+		c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2] + a[1][3] * b[3][2]; \
+		c[1][3] = a[1][0] * b[0][3] + a[1][1] * b[1][3] + a[1][2] * b[2][3] + a[1][3] * b[3][3]; \
+                                                                                                 \
+		c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0] + a[2][3] * b[3][0]; \
+		c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1] + a[2][3] * b[3][1]; \
+		c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2] + a[2][3] * b[3][2]; \
+		c[2][3] = a[2][0] * b[0][3] + a[2][1] * b[1][3] + a[2][2] * b[2][3] + a[2][3] * b[3][3]; \
+                                                                                                 \
+		c[3][0] = a[3][0] * b[0][0] + a[3][1] * b[1][0] + a[3][2] * b[2][0] + a[3][3] * b[3][0]; \
+		c[3][1] = a[3][0] * b[0][1] + a[3][1] * b[1][1] + a[3][2] * b[2][1] + a[3][3] * b[3][1]; \
+		c[3][2] = a[3][0] * b[0][2] + a[3][1] * b[1][2] + a[3][2] * b[2][2] + a[3][3] * b[3][2]; \
+		c[3][3] = a[3][0] * b[0][3] + a[3][1] * b[1][3] + a[3][2] * b[2][3] + a[3][3] * b[3][3]; \
+	}
 
 /*! matrix times vector */
-#define MAT_DOT_VEC_2X2(p,m,v)					\
-{								\
-   p[0] = m[0][0]*v[0] + m[0][1]*v[1];				\
-   p[1] = m[1][0]*v[0] + m[1][1]*v[1];				\
-}\
-
+#define MAT_DOT_VEC_2X2(p, m, v)                \
+	{                                           \
+		p[0] = m[0][0] * v[0] + m[0][1] * v[1]; \
+		p[1] = m[1][0] * v[0] + m[1][1] * v[1]; \
+	}
 
 /*! matrix times vector */
-#define MAT_DOT_VEC_3X3(p,m,v)					\
-{								\
-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];		\
-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];		\
-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];		\
-}\
-
+#define MAT_DOT_VEC_3X3(p, m, v)                                 \
+	{                                                            \
+		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2]; \
+		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2]; \
+		p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2]; \
+	}
 
 /*! matrix times vector
 v is a vec4f
 */
-#define MAT_DOT_VEC_4X4(p,m,v)					\
-{								\
-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3];	\
-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3];	\
-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3];	\
-   p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3];	\
-}\
+#define MAT_DOT_VEC_4X4(p, m, v)                                                  \
+	{                                                                             \
+		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3] * v[3]; \
+		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3] * v[3]; \
+		p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3] * v[3]; \
+		p[3] = m[3][0] * v[0] + m[3][1] * v[1] + m[3][2] * v[2] + m[3][3] * v[3]; \
+	}
 
 /*! matrix times vector
 v is a vec3f
 and m is a mat4f<br>
 Last column is added as the position
 */
-#define MAT_DOT_VEC_3X4(p,m,v)					\
-{								\
-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3];	\
-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3];	\
-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3];	\
-}\
-
+#define MAT_DOT_VEC_3X4(p, m, v)                                           \
+	{                                                                      \
+		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3]; \
+		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3]; \
+		p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3]; \
+	}
 
 /*! vector transpose times matrix */
 /*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */
-#define VEC_DOT_MAT_3X3(p,v,m)					\
-{								\
-   p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0];		\
-   p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1];		\
-   p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2];		\
-}\
-
+#define VEC_DOT_MAT_3X3(p, v, m)                                 \
+	{                                                            \
+		p[0] = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0]; \
+		p[1] = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1]; \
+		p[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; \
+	}
 
 /*! affine matrix times vector */
 /** The matrix is assumed to be an affine matrix, with last two
  * entries representing a translation */
-#define MAT_DOT_VEC_2X3(p,m,v)					\
-{								\
-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2];		\
-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2];		\
-}\
+#define MAT_DOT_VEC_2X3(p, m, v)                          \
+	{                                                     \
+		p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2]; \
+		p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2]; \
+	}
 
 //! Transform a plane
-#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\
-{								\
-   pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1]  + m[0][2]*plane[2];\
-   pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1]  + m[1][2]*plane[2];\
-   pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1]  + m[2][2]*plane[2];\
-   pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1]  + m[2][3]*pout[2] + plane[3];\
-}\
-
-
+#define MAT_TRANSFORM_PLANE_4X4(pout, m, plane)                                         \
+	{                                                                                   \
+		pout[0] = m[0][0] * plane[0] + m[0][1] * plane[1] + m[0][2] * plane[2];         \
+		pout[1] = m[1][0] * plane[0] + m[1][1] * plane[1] + m[1][2] * plane[2];         \
+		pout[2] = m[2][0] * plane[0] + m[2][1] * plane[1] + m[2][2] * plane[2];         \
+		pout[3] = m[0][3] * pout[0] + m[1][3] * pout[1] + m[2][3] * pout[2] + plane[3]; \
+	}
 
 /** inverse transpose of matrix times vector
  *
@@ -1000,22 +938,22 @@ Last column is added as the position
  * It will leave normals the wrong length !!!
  * See macro below for use on normals.
  */
-#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v)			\
-{								\
-   GREAL det;						\
-								\
-   det = m[0][0]*m[1][1] - m[0][1]*m[1][0];			\
-   p[0] = m[1][1]*v[0] - m[1][0]*v[1];				\
-   p[1] = - m[0][1]*v[0] + m[0][0]*v[1];			\
-								\
-   /* if matrix not singular, and not orthonormal, then renormalize */ \
-   if ((det!=1.0f) && (det != 0.0f)) {				\
-      det = 1.0f / det;						\
-      p[0] *= det;						\
-      p[1] *= det;						\
-   }								\
-}\
-
+#define INV_TRANSP_MAT_DOT_VEC_2X2(p, m, v)                                 \
+	{                                                                       \
+		GREAL det;                                                          \
+                                                                            \
+		det = m[0][0] * m[1][1] - m[0][1] * m[1][0];                        \
+		p[0] = m[1][1] * v[0] - m[1][0] * v[1];                             \
+		p[1] = -m[0][1] * v[0] + m[0][0] * v[1];                            \
+                                                                            \
+		/* if matrix not singular, and not orthonormal, then renormalize */ \
+		if ((det != 1.0f) && (det != 0.0f))                                 \
+		{                                                                   \
+			det = 1.0f / det;                                               \
+			p[0] *= det;                                                    \
+			p[1] *= det;                                                    \
+		}                                                                   \
+	}
 
 /** transform normal vector by inverse transpose of matrix
  * and then renormalize the vector
@@ -1024,550 +962,527 @@ Last column is added as the position
  * and multiplies vector v into it, to yeild vector p
  * Vector p is then normalized.
  */
-#define NORM_XFORM_2X2(p,m,v)					\
-{								\
-   GREAL len;							\
-								\
-   /* do nothing if off-diagonals are zero and diagonals are 	\
-    * equal */							\
-   if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \
-      p[0] = m[1][1]*v[0] - m[1][0]*v[1];			\
-      p[1] = - m[0][1]*v[0] + m[0][0]*v[1];			\
-								\
-      len = p[0]*p[0] + p[1]*p[1];				\
-      GIM_INV_SQRT(len,len);					\
-      p[0] *= len;						\
-      p[1] *= len;						\
-   } else {							\
-      VEC_COPY_2 (p, v);					\
-   }								\
-}\
-
+#define NORM_XFORM_2X2(p, m, v)                                           \
+	{                                                                     \
+		GREAL len;                                                        \
+                                                                          \
+		/* do nothing if off-diagonals are zero and diagonals are 	\
+    * equal */      \
+		if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) \
+		{                                                                 \
+			p[0] = m[1][1] * v[0] - m[1][0] * v[1];                       \
+			p[1] = -m[0][1] * v[0] + m[0][0] * v[1];                      \
+                                                                          \
+			len = p[0] * p[0] + p[1] * p[1];                              \
+			GIM_INV_SQRT(len, len);                                       \
+			p[0] *= len;                                                  \
+			p[1] *= len;                                                  \
+		}                                                                 \
+		else                                                              \
+		{                                                                 \
+			VEC_COPY_2(p, v);                                             \
+		}                                                                 \
+	}
 
 /** outer product of vector times vector transpose
  *
  * The outer product of vector v and vector transpose t yeilds
  * dyadic matrix m.
  */
-#define OUTER_PRODUCT_2X2(m,v,t)				\
-{								\
-   m[0][0] = v[0] * t[0];					\
-   m[0][1] = v[0] * t[1];					\
-								\
-   m[1][0] = v[1] * t[0];					\
-   m[1][1] = v[1] * t[1];					\
-}\
-
+#define OUTER_PRODUCT_2X2(m, v, t) \
+	{                              \
+		m[0][0] = v[0] * t[0];     \
+		m[0][1] = v[0] * t[1];     \
+                                   \
+		m[1][0] = v[1] * t[0];     \
+		m[1][1] = v[1] * t[1];     \
+	}
 
 /** outer product of vector times vector transpose
  *
  * The outer product of vector v and vector transpose t yeilds
  * dyadic matrix m.
  */
-#define OUTER_PRODUCT_3X3(m,v,t)				\
-{								\
-   m[0][0] = v[0] * t[0];					\
-   m[0][1] = v[0] * t[1];					\
-   m[0][2] = v[0] * t[2];					\
-								\
-   m[1][0] = v[1] * t[0];					\
-   m[1][1] = v[1] * t[1];					\
-   m[1][2] = v[1] * t[2];					\
-								\
-   m[2][0] = v[2] * t[0];					\
-   m[2][1] = v[2] * t[1];					\
-   m[2][2] = v[2] * t[2];					\
-}\
-
+#define OUTER_PRODUCT_3X3(m, v, t) \
+	{                              \
+		m[0][0] = v[0] * t[0];     \
+		m[0][1] = v[0] * t[1];     \
+		m[0][2] = v[0] * t[2];     \
+                                   \
+		m[1][0] = v[1] * t[0];     \
+		m[1][1] = v[1] * t[1];     \
+		m[1][2] = v[1] * t[2];     \
+                                   \
+		m[2][0] = v[2] * t[0];     \
+		m[2][1] = v[2] * t[1];     \
+		m[2][2] = v[2] * t[2];     \
+	}
 
 /** outer product of vector times vector transpose
  *
  * The outer product of vector v and vector transpose t yeilds
  * dyadic matrix m.
  */
-#define OUTER_PRODUCT_4X4(m,v,t)				\
-{								\
-   m[0][0] = v[0] * t[0];					\
-   m[0][1] = v[0] * t[1];					\
-   m[0][2] = v[0] * t[2];					\
-   m[0][3] = v[0] * t[3];					\
-								\
-   m[1][0] = v[1] * t[0];					\
-   m[1][1] = v[1] * t[1];					\
-   m[1][2] = v[1] * t[2];					\
-   m[1][3] = v[1] * t[3];					\
-								\
-   m[2][0] = v[2] * t[0];					\
-   m[2][1] = v[2] * t[1];					\
-   m[2][2] = v[2] * t[2];					\
-   m[2][3] = v[2] * t[3];					\
-								\
-   m[3][0] = v[3] * t[0];					\
-   m[3][1] = v[3] * t[1];					\
-   m[3][2] = v[3] * t[2];					\
-   m[3][3] = v[3] * t[3];					\
-}\
-
+#define OUTER_PRODUCT_4X4(m, v, t) \
+	{                              \
+		m[0][0] = v[0] * t[0];     \
+		m[0][1] = v[0] * t[1];     \
+		m[0][2] = v[0] * t[2];     \
+		m[0][3] = v[0] * t[3];     \
+                                   \
+		m[1][0] = v[1] * t[0];     \
+		m[1][1] = v[1] * t[1];     \
+		m[1][2] = v[1] * t[2];     \
+		m[1][3] = v[1] * t[3];     \
+                                   \
+		m[2][0] = v[2] * t[0];     \
+		m[2][1] = v[2] * t[1];     \
+		m[2][2] = v[2] * t[2];     \
+		m[2][3] = v[2] * t[3];     \
+                                   \
+		m[3][0] = v[3] * t[0];     \
+		m[3][1] = v[3] * t[1];     \
+		m[3][2] = v[3] * t[2];     \
+		m[3][3] = v[3] * t[3];     \
+	}
 
 /** outer product of vector times vector transpose
  *
  * The outer product of vector v and vector transpose t yeilds
  * dyadic matrix m.
  */
-#define ACCUM_OUTER_PRODUCT_2X2(m,v,t)				\
-{								\
-   m[0][0] += v[0] * t[0];					\
-   m[0][1] += v[0] * t[1];					\
-								\
-   m[1][0] += v[1] * t[0];					\
-   m[1][1] += v[1] * t[1];					\
-}\
-
+#define ACCUM_OUTER_PRODUCT_2X2(m, v, t) \
+	{                                    \
+		m[0][0] += v[0] * t[0];          \
+		m[0][1] += v[0] * t[1];          \
+                                         \
+		m[1][0] += v[1] * t[0];          \
+		m[1][1] += v[1] * t[1];          \
+	}
 
 /** outer product of vector times vector transpose
  *
  * The outer product of vector v and vector transpose t yeilds
  * dyadic matrix m.
  */
-#define ACCUM_OUTER_PRODUCT_3X3(m,v,t)				\
-{								\
-   m[0][0] += v[0] * t[0];					\
-   m[0][1] += v[0] * t[1];					\
-   m[0][2] += v[0] * t[2];					\
-								\
-   m[1][0] += v[1] * t[0];					\
-   m[1][1] += v[1] * t[1];					\
-   m[1][2] += v[1] * t[2];					\
-								\
-   m[2][0] += v[2] * t[0];					\
-   m[2][1] += v[2] * t[1];					\
-   m[2][2] += v[2] * t[2];					\
-}\
-
+#define ACCUM_OUTER_PRODUCT_3X3(m, v, t) \
+	{                                    \
+		m[0][0] += v[0] * t[0];          \
+		m[0][1] += v[0] * t[1];          \
+		m[0][2] += v[0] * t[2];          \
+                                         \
+		m[1][0] += v[1] * t[0];          \
+		m[1][1] += v[1] * t[1];          \
+		m[1][2] += v[1] * t[2];          \
+                                         \
+		m[2][0] += v[2] * t[0];          \
+		m[2][1] += v[2] * t[1];          \
+		m[2][2] += v[2] * t[2];          \
+	}
 
 /** outer product of vector times vector transpose
  *
  * The outer product of vector v and vector transpose t yeilds
  * dyadic matrix m.
  */
-#define ACCUM_OUTER_PRODUCT_4X4(m,v,t)				\
-{								\
-   m[0][0] += v[0] * t[0];					\
-   m[0][1] += v[0] * t[1];					\
-   m[0][2] += v[0] * t[2];					\
-   m[0][3] += v[0] * t[3];					\
-								\
-   m[1][0] += v[1] * t[0];					\
-   m[1][1] += v[1] * t[1];					\
-   m[1][2] += v[1] * t[2];					\
-   m[1][3] += v[1] * t[3];					\
-								\
-   m[2][0] += v[2] * t[0];					\
-   m[2][1] += v[2] * t[1];					\
-   m[2][2] += v[2] * t[2];					\
-   m[2][3] += v[2] * t[3];					\
-								\
-   m[3][0] += v[3] * t[0];					\
-   m[3][1] += v[3] * t[1];					\
-   m[3][2] += v[3] * t[2];					\
-   m[3][3] += v[3] * t[3];					\
-}\
-
+#define ACCUM_OUTER_PRODUCT_4X4(m, v, t) \
+	{                                    \
+		m[0][0] += v[0] * t[0];          \
+		m[0][1] += v[0] * t[1];          \
+		m[0][2] += v[0] * t[2];          \
+		m[0][3] += v[0] * t[3];          \
+                                         \
+		m[1][0] += v[1] * t[0];          \
+		m[1][1] += v[1] * t[1];          \
+		m[1][2] += v[1] * t[2];          \
+		m[1][3] += v[1] * t[3];          \
+                                         \
+		m[2][0] += v[2] * t[0];          \
+		m[2][1] += v[2] * t[1];          \
+		m[2][2] += v[2] * t[2];          \
+		m[2][3] += v[2] * t[3];          \
+                                         \
+		m[3][0] += v[3] * t[0];          \
+		m[3][1] += v[3] * t[1];          \
+		m[3][2] += v[3] * t[2];          \
+		m[3][3] += v[3] * t[3];          \
+	}
 
 /** determinant of matrix
  *
  * Computes determinant of matrix m, returning d
  */
-#define DETERMINANT_2X2(d,m)					\
-{								\
-   d = m[0][0] * m[1][1] - m[0][1] * m[1][0];			\
-}\
-
+#define DETERMINANT_2X2(d, m)                      \
+	{                                              \
+		d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
+	}
 
 /** determinant of matrix
  *
  * Computes determinant of matrix m, returning d
  */
-#define DETERMINANT_3X3(d,m)					\
-{								\
-   d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]);		\
-   d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]);	\
-   d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]);	\
-}\
-
+#define DETERMINANT_3X3(d, m)                                   \
+	{                                                           \
+		d = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);  \
+		d -= m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]); \
+		d += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
+	}
 
 /** i,j,th cofactor of a 4x4 matrix
  *
  */
-#define COFACTOR_4X4_IJ(fac,m,i,j) 				\
-{								\
-   GUINT __ii[4], __jj[4], __k;						\
-								\
-   for (__k=0; __k<i; __k++) __ii[__k] = __k;				\
-   for (__k=i; __k<3; __k++) __ii[__k] = __k+1;				\
-   for (__k=0; __k<j; __k++) __jj[__k] = __k;				\
-   for (__k=j; __k<3; __k++) __jj[__k] = __k+1;				\
-								\
-   (fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]] 	\
-                            - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \
-   (fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]]	\
-                             - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\
-   (fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]]	\
-                             - m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\
-								\
-   __k = i+j;							\
-   if ( __k != (__k/2)*2) {						\
-      (fac) = -(fac);						\
-   }								\
-}\
-
+#define COFACTOR_4X4_IJ(fac, m, i, j)                                                                                           \
+	{                                                                                                                           \
+		GUINT __ii[4], __jj[4], __k;                                                                                            \
+                                                                                                                                \
+		for (__k = 0; __k < i; __k++) __ii[__k] = __k;                                                                          \
+		for (__k = i; __k < 3; __k++) __ii[__k] = __k + 1;                                                                      \
+		for (__k = 0; __k < j; __k++) __jj[__k] = __k;                                                                          \
+		for (__k = j; __k < 3; __k++) __jj[__k] = __k + 1;                                                                      \
+                                                                                                                                \
+		(fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[1]]);  \
+		(fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[0]]); \
+		(fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[1]] - m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[0]]); \
+                                                                                                                                \
+		__k = i + j;                                                                                                            \
+		if (__k != (__k / 2) * 2)                                                                                               \
+		{                                                                                                                       \
+			(fac) = -(fac);                                                                                                     \
+		}                                                                                                                       \
+	}
 
 /** determinant of matrix
  *
  * Computes determinant of matrix m, returning d
  */
-#define DETERMINANT_4X4(d,m)					\
-{								\
-   GREAL cofac;						\
-   COFACTOR_4X4_IJ (cofac, m, 0, 0);				\
-   d = m[0][0] * cofac;						\
-   COFACTOR_4X4_IJ (cofac, m, 0, 1);				\
-   d += m[0][1] * cofac;					\
-   COFACTOR_4X4_IJ (cofac, m, 0, 2);				\
-   d += m[0][2] * cofac;					\
-   COFACTOR_4X4_IJ (cofac, m, 0, 3);				\
-   d += m[0][3] * cofac;					\
-}\
-
+#define DETERMINANT_4X4(d, m)            \
+	{                                    \
+		GREAL cofac;                     \
+		COFACTOR_4X4_IJ(cofac, m, 0, 0); \
+		d = m[0][0] * cofac;             \
+		COFACTOR_4X4_IJ(cofac, m, 0, 1); \
+		d += m[0][1] * cofac;            \
+		COFACTOR_4X4_IJ(cofac, m, 0, 2); \
+		d += m[0][2] * cofac;            \
+		COFACTOR_4X4_IJ(cofac, m, 0, 3); \
+		d += m[0][3] * cofac;            \
+	}
 
 /** cofactor of matrix
  *
  * Computes cofactor of matrix m, returning a
  */
-#define COFACTOR_2X2(a,m)					\
-{								\
-   a[0][0] = (m)[1][1];						\
-   a[0][1] = - (m)[1][0];						\
-   a[1][0] = - (m)[0][1];						\
-   a[1][1] = (m)[0][0];						\
-}\
-
+#define COFACTOR_2X2(a, m)    \
+	{                         \
+		a[0][0] = (m)[1][1];  \
+		a[0][1] = -(m)[1][0]; \
+		a[1][0] = -(m)[0][1]; \
+		a[1][1] = (m)[0][0];  \
+	}
 
 /** cofactor of matrix
  *
  * Computes cofactor of matrix m, returning a
  */
-#define COFACTOR_3X3(a,m)					\
-{								\
-   a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];			\
-   a[0][1] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]);		\
-   a[0][2] = m[1][0]*m[2][1] - m[1][1]*m[2][0];			\
-   a[1][0] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]);		\
-   a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];			\
-   a[1][2] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]);		\
-   a[2][0] = m[0][1]*m[1][2] - m[0][2]*m[1][1];			\
-   a[2][1] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]);		\
-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);		\
-}\
-
+#define COFACTOR_3X3(a, m)                                  \
+	{                                                       \
+		a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];    \
+		a[0][1] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
+		a[0][2] = m[1][0] * m[2][1] - m[1][1] * m[2][0];    \
+		a[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
+		a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];    \
+		a[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
+		a[2][0] = m[0][1] * m[1][2] - m[0][2] * m[1][1];    \
+		a[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
+   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);            \
+	}
 
 /** cofactor of matrix
  *
  * Computes cofactor of matrix m, returning a
  */
-#define COFACTOR_4X4(a,m)					\
-{								\
-   int i,j;							\
-								\
-   for (i=0; i<4; i++) {					\
-      for (j=0; j<4; j++) {					\
-         COFACTOR_4X4_IJ (a[i][j], m, i, j);			\
-      }								\
-   }								\
-}\
-
+#define COFACTOR_4X4(a, m)                         \
+	{                                              \
+		int i, j;                                  \
+                                                   \
+		for (i = 0; i < 4; i++)                    \
+		{                                          \
+			for (j = 0; j < 4; j++)                \
+			{                                      \
+				COFACTOR_4X4_IJ(a[i][j], m, i, j); \
+			}                                      \
+		}                                          \
+	}
 
 /** adjoint of matrix
  *
  * Computes adjoint of matrix m, returning a
  * (Note that adjoint is just the transpose of the cofactor matrix)
  */
-#define ADJOINT_2X2(a,m)					\
-{								\
-   a[0][0] = (m)[1][1];						\
-   a[1][0] = - (m)[1][0];						\
-   a[0][1] = - (m)[0][1];						\
-   a[1][1] = (m)[0][0];						\
-}\
-
+#define ADJOINT_2X2(a, m)     \
+	{                         \
+		a[0][0] = (m)[1][1];  \
+		a[1][0] = -(m)[1][0]; \
+		a[0][1] = -(m)[0][1]; \
+		a[1][1] = (m)[0][0];  \
+	}
 
 /** adjoint of matrix
  *
  * Computes adjoint of matrix m, returning a
  * (Note that adjoint is just the transpose of the cofactor matrix)
  */
-#define ADJOINT_3X3(a,m)					\
-{								\
-   a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];			\
-   a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]);		\
-   a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0];			\
-   a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]);		\
-   a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];			\
-   a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]);		\
-   a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1];			\
-   a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]);		\
-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);		\
-}\
-
+#define ADJOINT_3X3(a, m)                                   \
+	{                                                       \
+		a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];    \
+		a[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
+		a[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0];    \
+		a[0][1] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
+		a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];    \
+		a[2][1] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
+		a[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1];    \
+		a[1][2] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
+   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);            \
+	}
 
 /** adjoint of matrix
  *
  * Computes adjoint of matrix m, returning a
  * (Note that adjoint is just the transpose of the cofactor matrix)
  */
-#define ADJOINT_4X4(a,m)					\
-{								\
-   char _i_,_j_;							\
-								\
-   for (_i_=0; _i_<4; _i_++) {					\
-      for (_j_=0; _j_<4; _j_++) {					\
-         COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_);			\
-      }								\
-   }								\
-}\
-
+#define ADJOINT_4X4(a, m)                                  \
+	{                                                      \
+		char _i_, _j_;                                     \
+                                                           \
+		for (_i_ = 0; _i_ < 4; _i_++)                      \
+		{                                                  \
+			for (_j_ = 0; _j_ < 4; _j_++)                  \
+			{                                              \
+				COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
+			}                                              \
+		}                                                  \
+	}
 
 /** compute adjoint of matrix and scale
  *
  * Computes adjoint of matrix m, scales it by s, returning a
  */
-#define SCALE_ADJOINT_2X2(a,s,m)				\
-{								\
-   a[0][0] = (s) * m[1][1];					\
-   a[1][0] = - (s) * m[1][0];					\
-   a[0][1] = - (s) * m[0][1];					\
-   a[1][1] = (s) * m[0][0];					\
-}\
-
+#define SCALE_ADJOINT_2X2(a, s, m) \
+	{                              \
+		a[0][0] = (s)*m[1][1];     \
+		a[1][0] = -(s)*m[1][0];    \
+		a[0][1] = -(s)*m[0][1];    \
+		a[1][1] = (s)*m[0][0];     \
+	}
 
 /** compute adjoint of matrix and scale
  *
  * Computes adjoint of matrix m, scales it by s, returning a
  */
-#define SCALE_ADJOINT_3X3(a,s,m)				\
-{								\
-   a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);	\
-   a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);	\
-   a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);	\
-								\
-   a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]);	\
-   a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]);	\
-   a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]);	\
-								\
-   a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]);	\
-   a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]);	\
-   a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]);	\
-}\
-
+#define SCALE_ADJOINT_3X3(a, s, m)                               \
+	{                                                            \
+		a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
+		a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \
+		a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
+                                                                 \
+		a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \
+		a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \
+		a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \
+                                                                 \
+		a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \
+		a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \
+		a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
+	}
 
 /** compute adjoint of matrix and scale
  *
  * Computes adjoint of matrix m, scales it by s, returning a
  */
-#define SCALE_ADJOINT_4X4(a,s,m)				\
-{								\
-   char _i_,_j_; \
-   for (_i_=0; _i_<4; _i_++) {					\
-      for (_j_=0; _j_<4; _j_++) {					\
-         COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_);			\
-         a[_j_][_i_] *= s;						\
-      }								\
-   }								\
-}\
+#define SCALE_ADJOINT_4X4(a, s, m)                         \
+	{                                                      \
+		char _i_, _j_;                                     \
+		for (_i_ = 0; _i_ < 4; _i_++)                      \
+		{                                                  \
+			for (_j_ = 0; _j_ < 4; _j_++)                  \
+			{                                              \
+				COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
+				a[_j_][_i_] *= s;                          \
+			}                                              \
+		}                                                  \
+	}
 
 /** inverse of matrix
  *
  * Compute inverse of matrix a, returning determinant m and
  * inverse b
  */
-#define INVERT_2X2(b,det,a)			\
-{						\
-   GREAL _tmp_;					\
-   DETERMINANT_2X2 (det, a);			\
-   _tmp_ = 1.0 / (det);				\
-   SCALE_ADJOINT_2X2 (b, _tmp_, a);		\
-}\
-
+#define INVERT_2X2(b, det, a)           \
+	{                                   \
+		GREAL _tmp_;                    \
+		DETERMINANT_2X2(det, a);        \
+		_tmp_ = 1.0 / (det);            \
+		SCALE_ADJOINT_2X2(b, _tmp_, a); \
+	}
 
 /** inverse of matrix
  *
  * Compute inverse of matrix a, returning determinant m and
  * inverse b
  */
-#define INVERT_3X3(b,det,a)			\
-{						\
-   GREAL _tmp_;					\
-   DETERMINANT_3X3 (det, a);			\
-   _tmp_ = 1.0 / (det);				\
-   SCALE_ADJOINT_3X3 (b, _tmp_, a);		\
-}\
-
+#define INVERT_3X3(b, det, a)           \
+	{                                   \
+		GREAL _tmp_;                    \
+		DETERMINANT_3X3(det, a);        \
+		_tmp_ = 1.0 / (det);            \
+		SCALE_ADJOINT_3X3(b, _tmp_, a); \
+	}
 
 /** inverse of matrix
  *
  * Compute inverse of matrix a, returning determinant m and
  * inverse b
  */
-#define INVERT_4X4(b,det,a)			\
-{						\
-   GREAL _tmp_;					\
-   DETERMINANT_4X4 (det, a);			\
-   _tmp_ = 1.0 / (det);				\
-   SCALE_ADJOINT_4X4 (b, _tmp_, a);		\
-}\
+#define INVERT_4X4(b, det, a)           \
+	{                                   \
+		GREAL _tmp_;                    \
+		DETERMINANT_4X4(det, a);        \
+		_tmp_ = 1.0 / (det);            \
+		SCALE_ADJOINT_4X4(b, _tmp_, a); \
+	}
 
 //! Get the triple(3) row of a transform matrix
-#define MAT_GET_ROW(mat,vec3,rowindex)\
-{\
-    vec3[0] = mat[rowindex][0];\
-    vec3[1] = mat[rowindex][1];\
-    vec3[2] = mat[rowindex][2]; \
-}\
+#define MAT_GET_ROW(mat, vec3, rowindex) \
+	{                                    \
+		vec3[0] = mat[rowindex][0];      \
+		vec3[1] = mat[rowindex][1];      \
+		vec3[2] = mat[rowindex][2];      \
+	}
 
 //! Get the tuple(2) row of a transform matrix
-#define MAT_GET_ROW2(mat,vec2,rowindex)\
-{\
-    vec2[0] = mat[rowindex][0];\
-    vec2[1] = mat[rowindex][1];\
-}\
-
+#define MAT_GET_ROW2(mat, vec2, rowindex) \
+	{                                     \
+		vec2[0] = mat[rowindex][0];       \
+		vec2[1] = mat[rowindex][1];       \
+	}
 
 //! Get the quad (4) row of a transform matrix
-#define MAT_GET_ROW4(mat,vec4,rowindex)\
-{\
-    vec4[0] = mat[rowindex][0];\
-    vec4[1] = mat[rowindex][1];\
-    vec4[2] = mat[rowindex][2];\
-    vec4[3] = mat[rowindex][3];\
-}\
+#define MAT_GET_ROW4(mat, vec4, rowindex) \
+	{                                     \
+		vec4[0] = mat[rowindex][0];       \
+		vec4[1] = mat[rowindex][1];       \
+		vec4[2] = mat[rowindex][2];       \
+		vec4[3] = mat[rowindex][3];       \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_GET_COL(mat,vec3,colindex)\
-{\
-    vec3[0] = mat[0][colindex];\
-    vec3[1] = mat[1][colindex];\
-    vec3[2] = mat[2][colindex]; \
-}\
+#define MAT_GET_COL(mat, vec3, colindex) \
+	{                                    \
+		vec3[0] = mat[0][colindex];      \
+		vec3[1] = mat[1][colindex];      \
+		vec3[2] = mat[2][colindex];      \
+	}
 
 //! Get the tuple(2) col of a transform matrix
-#define MAT_GET_COL2(mat,vec2,colindex)\
-{\
-    vec2[0] = mat[0][colindex];\
-    vec2[1] = mat[1][colindex];\
-}\
-
+#define MAT_GET_COL2(mat, vec2, colindex) \
+	{                                     \
+		vec2[0] = mat[0][colindex];       \
+		vec2[1] = mat[1][colindex];       \
+	}
 
 //! Get the quad (4) col of a transform matrix
-#define MAT_GET_COL4(mat,vec4,colindex)\
-{\
-    vec4[0] = mat[0][colindex];\
-    vec4[1] = mat[1][colindex];\
-    vec4[2] = mat[2][colindex];\
-    vec4[3] = mat[3][colindex];\
-}\
+#define MAT_GET_COL4(mat, vec4, colindex) \
+	{                                     \
+		vec4[0] = mat[0][colindex];       \
+		vec4[1] = mat[1][colindex];       \
+		vec4[2] = mat[2][colindex];       \
+		vec4[3] = mat[3][colindex];       \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_GET_X(mat,vec3)\
-{\
-    MAT_GET_COL(mat,vec3,0);\
-}\
+#define MAT_GET_X(mat, vec3)       \
+	{                              \
+		MAT_GET_COL(mat, vec3, 0); \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_GET_Y(mat,vec3)\
-{\
-    MAT_GET_COL(mat,vec3,1);\
-}\
+#define MAT_GET_Y(mat, vec3)       \
+	{                              \
+		MAT_GET_COL(mat, vec3, 1); \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_GET_Z(mat,vec3)\
-{\
-    MAT_GET_COL(mat,vec3,2);\
-}\
-
+#define MAT_GET_Z(mat, vec3)       \
+	{                              \
+		MAT_GET_COL(mat, vec3, 2); \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_SET_X(mat,vec3)\
-{\
-    mat[0][0] = vec3[0];\
-    mat[1][0] = vec3[1];\
-    mat[2][0] = vec3[2];\
-}\
+#define MAT_SET_X(mat, vec3) \
+	{                        \
+		mat[0][0] = vec3[0]; \
+		mat[1][0] = vec3[1]; \
+		mat[2][0] = vec3[2]; \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_SET_Y(mat,vec3)\
-{\
-    mat[0][1] = vec3[0];\
-    mat[1][1] = vec3[1];\
-    mat[2][1] = vec3[2];\
-}\
+#define MAT_SET_Y(mat, vec3) \
+	{                        \
+		mat[0][1] = vec3[0]; \
+		mat[1][1] = vec3[1]; \
+		mat[2][1] = vec3[2]; \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_SET_Z(mat,vec3)\
-{\
-    mat[0][2] = vec3[0];\
-    mat[1][2] = vec3[1];\
-    mat[2][2] = vec3[2];\
-}\
-
+#define MAT_SET_Z(mat, vec3) \
+	{                        \
+		mat[0][2] = vec3[0]; \
+		mat[1][2] = vec3[1]; \
+		mat[2][2] = vec3[2]; \
+	}
 
 //! Get the triple(3) col of a transform matrix
-#define MAT_GET_TRANSLATION(mat,vec3)\
-{\
-    vec3[0] = mat[0][3];\
-    vec3[1] = mat[1][3];\
-    vec3[2] = mat[2][3]; \
-}\
+#define MAT_GET_TRANSLATION(mat, vec3) \
+	{                                  \
+		vec3[0] = mat[0][3];           \
+		vec3[1] = mat[1][3];           \
+		vec3[2] = mat[2][3];           \
+	}
 
 //! Set the triple(3) col of a transform matrix
-#define MAT_SET_TRANSLATION(mat,vec3)\
-{\
-    mat[0][3] = vec3[0];\
-    mat[1][3] = vec3[1];\
-    mat[2][3] = vec3[2]; \
-}\
-
-
+#define MAT_SET_TRANSLATION(mat, vec3) \
+	{                                  \
+		mat[0][3] = vec3[0];           \
+		mat[1][3] = vec3[1];           \
+		mat[2][3] = vec3[2];           \
+	}
 
 //! Returns the dot product between a vec3f and the row of a matrix
-#define MAT_DOT_ROW(mat,vec3,rowindex) (vec3[0]*mat[rowindex][0] + vec3[1]*mat[rowindex][1] + vec3[2]*mat[rowindex][2])
+#define MAT_DOT_ROW(mat, vec3, rowindex) (vec3[0] * mat[rowindex][0] + vec3[1] * mat[rowindex][1] + vec3[2] * mat[rowindex][2])
 
 //! Returns the dot product between a vec2f and the row of a matrix
-#define MAT_DOT_ROW2(mat,vec2,rowindex) (vec2[0]*mat[rowindex][0] + vec2[1]*mat[rowindex][1])
+#define MAT_DOT_ROW2(mat, vec2, rowindex) (vec2[0] * mat[rowindex][0] + vec2[1] * mat[rowindex][1])
 
 //! Returns the dot product between a vec4f and the row of a matrix
-#define MAT_DOT_ROW4(mat,vec4,rowindex) (vec4[0]*mat[rowindex][0] + vec4[1]*mat[rowindex][1] + vec4[2]*mat[rowindex][2] + vec4[3]*mat[rowindex][3])
-
+#define MAT_DOT_ROW4(mat, vec4, rowindex) (vec4[0] * mat[rowindex][0] + vec4[1] * mat[rowindex][1] + vec4[2] * mat[rowindex][2] + vec4[3] * mat[rowindex][3])
 
 //! Returns the dot product between a vec3f and the col of a matrix
-#define MAT_DOT_COL(mat,vec3,colindex) (vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex])
+#define MAT_DOT_COL(mat, vec3, colindex) (vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex])
 
 //! Returns the dot product between a vec2f and the col of a matrix
-#define MAT_DOT_COL2(mat,vec2,colindex) (vec2[0]*mat[0][colindex] + vec2[1]*mat[1][colindex])
+#define MAT_DOT_COL2(mat, vec2, colindex) (vec2[0] * mat[0][colindex] + vec2[1] * mat[1][colindex])
 
 //! Returns the dot product between a vec4f and the col of a matrix
-#define MAT_DOT_COL4(mat,vec4,colindex) (vec4[0]*mat[0][colindex] + vec4[1]*mat[1][colindex] + vec4[2]*mat[2][colindex] + vec4[3]*mat[3][colindex])
+#define MAT_DOT_COL4(mat, vec4, colindex) (vec4[0] * mat[0][colindex] + vec4[1] * mat[1][colindex] + vec4[2] * mat[2][colindex] + vec4[3] * mat[3][colindex])
 
 /*!Transpose matrix times vector
 v is a vec3f
 and m is a mat4f<br>
 */
-#define INV_MAT_DOT_VEC_3X3(p,m,v)					\
-{								\
-   p[0] = MAT_DOT_COL(m,v,0); \
-   p[1] = MAT_DOT_COL(m,v,1);	\
-   p[2] = MAT_DOT_COL(m,v,2);	\
-}\
-
-
-
-#endif // GIM_VECTOR_H_INCLUDED
+#define INV_MAT_DOT_VEC_3X3(p, m, v) \
+	{                                \
+		p[0] = MAT_DOT_COL(m, v, 0); \
+		p[1] = MAT_DOT_COL(m, v, 1); \
+		p[2] = MAT_DOT_COL(m, v, 2); \
+	}
+
+#endif  // GIM_VECTOR_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h
index 939079e104..3c4f821a72 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_math.h
@@ -34,8 +34,6 @@ email: projectileman@yahoo.com
 
 #include "LinearMath/btScalar.h"
 
-
-
 #define GREAL btScalar
 #define GREAL2 double
 #define GINT int
@@ -45,8 +43,6 @@ email: projectileman@yahoo.com
 #define GINT64 long long
 #define GUINT64 unsigned long long
 
-
-
 #define G_PI 3.14159265358979f
 #define G_HALF_PI 1.5707963f
 //267948966
@@ -54,16 +50,14 @@ email: projectileman@yahoo.com
 //71795864
 #define G_ROOT3 1.73205f
 #define G_ROOT2 1.41421f
-#define G_UINT_INFINITY 0xffffffff //!< A very very high value
+#define G_UINT_INFINITY 0xffffffff  //!< A very very high value
 #define G_REAL_INFINITY FLT_MAX
-#define	G_SIGN_BITMASK			0x80000000
+#define G_SIGN_BITMASK 0x80000000
 #define G_EPSILON SIMD_EPSILON
 
-
-
 enum GIM_SCALAR_TYPES
 {
-	G_STYPE_REAL =0,
+	G_STYPE_REAL = 0,
 	G_STYPE_REAL2,
 	G_STYPE_SHORT,
 	G_STYPE_USHORT,
@@ -73,85 +67,82 @@ enum GIM_SCALAR_TYPES
 	G_STYPE_UINT64
 };
 
-
-
-#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)
-#define G_RADTODEG(X) ((X)*180.0f/3.1415926f)
+#define G_DEGTORAD(X) ((X)*3.1415926f / 180.0f)
+#define G_RADTODEG(X) ((X)*180.0f / 3.1415926f)
 
 //! Integer representation of a floating-point value.
-#define GIM_IR(x)					((GUINT&)(x))
+#define GIM_IR(x) ((GUINT&)(x))
 
 //! Signed integer representation of a floating-point value.
-#define GIM_SIR(x)					((GINT&)(x))
+#define GIM_SIR(x) ((GINT&)(x))
 
 //! Absolute integer representation of a floating-point value
-#define GIM_AIR(x)					(GIM_IR(x)&0x7fffffff)
+#define GIM_AIR(x) (GIM_IR(x) & 0x7fffffff)
 
 //! Floating-point representation of an integer value.
-#define GIM_FR(x)					((GREAL&)(x))
+#define GIM_FR(x) ((GREAL&)(x))
 
-#define GIM_MAX(a,b) (a<b?b:a)
-#define GIM_MIN(a,b) (a>b?b:a)
+#define GIM_MAX(a, b) (a < b ? b : a)
+#define GIM_MIN(a, b) (a > b ? b : a)
 
-#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c))
-#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c))
+#define GIM_MAX3(a, b, c) GIM_MAX(a, GIM_MAX(b, c))
+#define GIM_MIN3(a, b, c) GIM_MIN(a, GIM_MIN(b, c))
 
-#define GIM_IS_ZERO(value) (value < G_EPSILON &&  value > -G_EPSILON)
+#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON)
 
 #define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON)
 
 #define GIM_IS_POSISITVE(value) (value >= G_EPSILON)
 
-#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2))
+#define GIM_NEAR_EQUAL(v1, v2) GIM_IS_ZERO((v1 - v2))
 
 ///returns a clamped number
-#define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
+#define GIM_CLAMP(number, minval, maxval) (number < minval ? minval : (number > maxval ? maxval : number))
 
-#define GIM_GREATER(x, y)	btFabs(x) > (y)
+#define GIM_GREATER(x, y) btFabs(x) > (y)
 
 ///Swap numbers
-#define GIM_SWAP_NUMBERS(a,b){ \
-    a = a+b; \
-    b = a-b; \
-    a = a-b; \
-}\
-
-#define GIM_INV_SQRT(va,isva)\
-{\
-    if(va<=0.0000001f)\
-    {\
-        isva = G_REAL_INFINITY;\
-    }\
-    else\
-    {\
-        GREAL _x = va * 0.5f;\
-        GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\
-        isva = GIM_FR(_y);\
-        isva  = isva * ( 1.5f - ( _x * isva * isva ) );\
-    }\
-}\
-
-#define GIM_SQRT(va,sva)\
-{\
-    GIM_INV_SQRT(va,sva);\
-    sva = 1.0f/sva;\
-}\
+#define GIM_SWAP_NUMBERS(a, b) \
+	{                          \
+		a = a + b;             \
+		b = a - b;             \
+		a = a - b;             \
+	}
+
+#define GIM_INV_SQRT(va, isva)                         \
+	{                                                  \
+		if (va <= 0.0000001f)                          \
+		{                                              \
+			isva = G_REAL_INFINITY;                    \
+		}                                              \
+		else                                           \
+		{                                              \
+			GREAL _x = va * 0.5f;                      \
+			GUINT _y = 0x5f3759df - (GIM_IR(va) >> 1); \
+			isva = GIM_FR(_y);                         \
+			isva = isva * (1.5f - (_x * isva * isva)); \
+		}                                              \
+	}
+
+#define GIM_SQRT(va, sva)      \
+	{                          \
+		GIM_INV_SQRT(va, sva); \
+		sva = 1.0f / sva;      \
+	}
 
 //! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html
 inline GREAL gim_inv_sqrt(GREAL f)
 {
-    GREAL r;
-    GIM_INV_SQRT(f,r);
-    return r;
+	GREAL r;
+	GIM_INV_SQRT(f, r);
+	return r;
 }
 
 inline GREAL gim_sqrt(GREAL f)
 {
-    GREAL r;
-    GIM_SQRT(f,r);
-    return r;
+	GREAL r;
+	GIM_SQRT(f, r);
+	return r;
 }
 
-
-
-#endif // GIM_MATH_H_INCLUDED
+#endif  // GIM_MATH_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp
index 1636eb7867..9e29ab91d6 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.cpp
@@ -27,7 +27,6 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_memory.h"
 #include "stdlib.h"
 
@@ -40,52 +39,49 @@ static gim_alloca_function *g_allocafn = 0;
 static gim_realloc_function *g_reallocfn = 0;
 static gim_free_function *g_freefn = 0;
 
-void gim_set_alloc_handler (gim_alloc_function *fn)
+void gim_set_alloc_handler(gim_alloc_function *fn)
 {
-  g_allocfn = fn;
+	g_allocfn = fn;
 }
 
-void gim_set_alloca_handler (gim_alloca_function *fn)
+void gim_set_alloca_handler(gim_alloca_function *fn)
 {
-  g_allocafn = fn;
+	g_allocafn = fn;
 }
 
-void gim_set_realloc_handler (gim_realloc_function *fn)
+void gim_set_realloc_handler(gim_realloc_function *fn)
 {
-  g_reallocfn = fn;
+	g_reallocfn = fn;
 }
 
-void gim_set_free_handler (gim_free_function *fn)
+void gim_set_free_handler(gim_free_function *fn)
 {
-  g_freefn = fn;
+	g_freefn = fn;
 }
 
 gim_alloc_function *gim_get_alloc_handler()
 {
-  return g_allocfn;
+	return g_allocfn;
 }
 
 gim_alloca_function *gim_get_alloca_handler()
 {
-  return g_allocafn;
+	return g_allocafn;
 }
 
-
-gim_realloc_function *gim_get_realloc_handler ()
+gim_realloc_function *gim_get_realloc_handler()
 {
-  return g_reallocfn;
+	return g_reallocfn;
 }
 
-
-gim_free_function  *gim_get_free_handler ()
+gim_free_function *gim_get_free_handler()
 {
-  return g_freefn;
+	return g_freefn;
 }
 
-
-void * gim_alloc(size_t size)
+void *gim_alloc(size_t size)
 {
-	void * ptr;
+	void *ptr;
 	if (g_allocfn)
 	{
 		ptr = g_allocfn(size);
@@ -93,27 +89,29 @@ void * gim_alloc(size_t size)
 	else
 	{
 #ifdef GIM_SIMD_MEMORY
-		ptr = btAlignedAlloc(size,16);
+		ptr = btAlignedAlloc(size, 16);
 #else
 		ptr = malloc(size);
 #endif
 	}
-  	return ptr;
+	return ptr;
 }
 
-void * gim_alloca(size_t size)
+void *gim_alloca(size_t size)
 {
-  if (g_allocafn) return g_allocafn(size); else return gim_alloc(size);
+	if (g_allocafn)
+		return g_allocafn(size);
+	else
+		return gim_alloc(size);
 }
 
-
-void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)
+void *gim_realloc(void *ptr, size_t oldsize, size_t newsize)
 {
- 	void * newptr = gim_alloc(newsize);
-    size_t copysize = oldsize<newsize?oldsize:newsize;
-    gim_simd_memcpy(newptr,ptr,copysize);
-    gim_free(ptr);
-    return newptr;
+	void *newptr = gim_alloc(newsize);
+	size_t copysize = oldsize < newsize ? oldsize : newsize;
+	gim_simd_memcpy(newptr, ptr, copysize);
+	gim_free(ptr);
+	return newptr;
 }
 
 void gim_free(void *ptr)
@@ -121,15 +119,14 @@ void gim_free(void *ptr)
 	if (!ptr) return;
 	if (g_freefn)
 	{
-	   g_freefn(ptr);
+		g_freefn(ptr);
 	}
 	else
 	{
-	#ifdef GIM_SIMD_MEMORY
+#ifdef GIM_SIMD_MEMORY
 		btAlignedFree(ptr);
-	#else
+#else
 		free(ptr);
-	#endif
+#endif
 	}
 }
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h
index e203888a1e..fffbfa23d8 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_memory.h
@@ -32,93 +32,84 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-
 #include "gim_math.h"
 #include <string.h>
 
 #ifdef PREFETCH
-#include <xmmintrin.h>	// for prefetch
-#define pfval	64
-#define pfval2	128
+#include <xmmintrin.h>  // for prefetch
+#define pfval 64
+#define pfval2 128
 //! Prefetch 64
-#define pf(_x,_i)	_mm_prefetch((void *)(_x + _i + pfval), 0)
+#define pf(_x, _i) _mm_prefetch((void *)(_x + _i + pfval), 0)
 //! Prefetch 128
-#define pf2(_x,_i)	_mm_prefetch((void *)(_x + _i + pfval2), 0)
+#define pf2(_x, _i) _mm_prefetch((void *)(_x + _i + pfval2), 0)
 #else
 //! Prefetch 64
-#define pf(_x,_i)
+#define pf(_x, _i)
 //! Prefetch 128
-#define pf2(_x,_i)
+#define pf2(_x, _i)
 #endif
 
-
 ///Functions for manip packed arrays of numbers
-#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\
-{\
-    for (GUINT _i_=0;_i_<element_count ;++_i_)\
-    {\
-    	dest_array[_i_] = source_array[_i_];\
-    }\
-}\
-
-#define GIM_COPY_ARRAYS_1(dest_array,source_array,element_count,copy_macro)\
-{\
-    for (GUINT _i_=0;_i_<element_count ;++_i_)\
-    {\
-    	copy_macro(dest_array[_i_],source_array[_i_]);\
-    }\
-}\
-
-
-#define GIM_ZERO_ARRAY(array,element_count)\
-{\
-    for (GUINT _i_=0;_i_<element_count ;++_i_)\
-    {\
-    	array[_i_] = 0;\
-    }\
-}\
-
-#define GIM_CONSTANT_ARRAY(array,element_count,constant)\
-{\
-    for (GUINT _i_=0;_i_<element_count ;++_i_)\
-    {\
-    	array[_i_] = constant;\
-    }\
-}\
-
+#define GIM_COPY_ARRAYS(dest_array, source_array, element_count) \
+	{                                                            \
+		for (GUINT _i_ = 0; _i_ < element_count; ++_i_)          \
+		{                                                        \
+			dest_array[_i_] = source_array[_i_];                 \
+		}                                                        \
+	}
+
+#define GIM_COPY_ARRAYS_1(dest_array, source_array, element_count, copy_macro) \
+	{                                                                          \
+		for (GUINT _i_ = 0; _i_ < element_count; ++_i_)                        \
+		{                                                                      \
+			copy_macro(dest_array[_i_], source_array[_i_]);                    \
+		}                                                                      \
+	}
+
+#define GIM_ZERO_ARRAY(array, element_count)            \
+	{                                                   \
+		for (GUINT _i_ = 0; _i_ < element_count; ++_i_) \
+		{                                               \
+			array[_i_] = 0;                             \
+		}                                               \
+	}
+
+#define GIM_CONSTANT_ARRAY(array, element_count, constant) \
+	{                                                      \
+		for (GUINT _i_ = 0; _i_ < element_count; ++_i_)    \
+		{                                                  \
+			array[_i_] = constant;                         \
+		}                                                  \
+	}
 
 ///Function prototypes to allocate and free memory.
-typedef void * gim_alloc_function (size_t size);
-typedef void * gim_alloca_function (size_t size);//Allocs on the heap
-typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize);
-typedef void gim_free_function (void *ptr);
-
+typedef void *gim_alloc_function(size_t size);
+typedef void *gim_alloca_function(size_t size);  //Allocs on the heap
+typedef void *gim_realloc_function(void *ptr, size_t oldsize, size_t newsize);
+typedef void gim_free_function(void *ptr);
 
 ///Memory Function Handlers
 ///set new memory management functions. if fn is 0, the default handlers are used.
-void gim_set_alloc_handler (gim_alloc_function *fn);
-void gim_set_alloca_handler (gim_alloca_function *fn);
-void gim_set_realloc_handler (gim_realloc_function *fn);
-void gim_set_free_handler (gim_free_function *fn);
-
+void gim_set_alloc_handler(gim_alloc_function *fn);
+void gim_set_alloca_handler(gim_alloca_function *fn);
+void gim_set_realloc_handler(gim_realloc_function *fn);
+void gim_set_free_handler(gim_free_function *fn);
 
 ///get current memory management functions.
-gim_alloc_function *gim_get_alloc_handler (void);
+gim_alloc_function *gim_get_alloc_handler(void);
 gim_alloca_function *gim_get_alloca_handler(void);
-gim_realloc_function *gim_get_realloc_handler (void);
-gim_free_function  *gim_get_free_handler (void);
-
+gim_realloc_function *gim_get_realloc_handler(void);
+gim_free_function *gim_get_free_handler(void);
 
 ///Standar Memory functions
-void * gim_alloc(size_t size);
-void * gim_alloca(size_t size);
-void * gim_realloc(void *ptr, size_t oldsize, size_t newsize);
+void *gim_alloc(size_t size);
+void *gim_alloca(size_t size);
+void *gim_realloc(void *ptr, size_t oldsize, size_t newsize);
 void gim_free(void *ptr);
 
-
-
-#if defined (_WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)
-    #define GIM_SIMD_MEMORY 1
+#if defined(_WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)
+#define GIM_SIMD_MEMORY 1
 #endif
 
 //! SIMD POINTER INTEGER
@@ -126,11 +117,10 @@ void gim_free(void *ptr);
 //! SIMD INTEGER SIZE
 #define SIMD_T_SIZE sizeof(SIMD_T)
 
-
-inline void gim_simd_memcpy(void * dst, const void * src, size_t copysize)
+inline void gim_simd_memcpy(void *dst, const void *src, size_t copysize)
 {
 #ifdef GIM_SIMD_MEMORY
-/*
+	/*
 //'long long int' is incompatible with visual studio 6...
     //copy words
     SIMD_T * ui_src_ptr = (SIMD_T *)src;
@@ -143,48 +133,45 @@ inline void gim_simd_memcpy(void * dst, const void * src, size_t copysize)
     if(copysize==0) return;
 */
 
-    char * c_src_ptr = (char *)src;
-    char * c_dst_ptr = (char *)dst;
-    while(copysize>0)
-    {
-        *(c_dst_ptr++) = *(c_src_ptr++);
-        copysize--;
-    }
-    return;
+	char *c_src_ptr = (char *)src;
+	char *c_dst_ptr = (char *)dst;
+	while (copysize > 0)
+	{
+		*(c_dst_ptr++) = *(c_src_ptr++);
+		copysize--;
+	}
+	return;
 #else
-    memcpy(dst,src,copysize);
+	memcpy(dst, src, copysize);
 #endif
 }
 
-
-
-template<class T>
-inline void gim_swap_elements(T* _array,size_t _i,size_t _j)
+template <class T>
+inline void gim_swap_elements(T *_array, size_t _i, size_t _j)
 {
 	T _e_tmp_ = _array[_i];
 	_array[_i] = _array[_j];
 	_array[_j] = _e_tmp_;
 }
 
-
-template<class T>
-inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j)
+template <class T>
+inline void gim_swap_elements_memcpy(T *_array, size_t _i, size_t _j)
 {
 	char _e_tmp_[sizeof(T)];
-	gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T));
-	gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T));
-	gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T));
+	gim_simd_memcpy(_e_tmp_, &_array[_i], sizeof(T));
+	gim_simd_memcpy(&_array[_i], &_array[_j], sizeof(T));
+	gim_simd_memcpy(&_array[_j], _e_tmp_, sizeof(T));
 }
 
 template <int SIZE>
-inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j)
+inline void gim_swap_elements_ptr(char *_array, size_t _i, size_t _j)
 {
 	char _e_tmp_[SIZE];
-	_i*=SIZE;
-	_j*=SIZE;
-	gim_simd_memcpy(_e_tmp_,_array+_i,SIZE);
-	gim_simd_memcpy(_array+_i,_array+_j,SIZE);
-	gim_simd_memcpy(_array+_j,_e_tmp_,SIZE);
+	_i *= SIZE;
+	_j *= SIZE;
+	gim_simd_memcpy(_e_tmp_, _array + _i, SIZE);
+	gim_simd_memcpy(_array + _i, _array + _j, SIZE);
+	gim_simd_memcpy(_array + _j, _e_tmp_, SIZE);
 }
 
-#endif // GIM_MEMORY_H_INCLUDED
+#endif  // GIM_MEMORY_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h
index c246ef1254..ff7907adca 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_radixsort.h
@@ -40,24 +40,22 @@ email: projectileman@yahoo.com
 //! Prototype for comparators
 class less_comparator
 {
-	public:
-
-	template<class T,class Z>
-	inline int operator() ( const T& a, const Z& b )
+public:
+	template <class T, class Z>
+	inline int operator()(const T& a, const Z& b)
 	{
-		return ( a<b?-1:(a>b?1:0));
+		return (a < b ? -1 : (a > b ? 1 : 0));
 	}
 };
 
 //! Prototype for comparators
 class integer_comparator
 {
-	public:
-
-	template<class T>
-	inline int operator() ( const T& a, const T& b )
+public:
+	template <class T>
+	inline int operator()(const T& a, const T& b)
 	{
-		return (int)(a-b);
+		return (int)(a - b);
 	}
 };
 
@@ -65,20 +63,19 @@ class integer_comparator
 class uint_key_func
 {
 public:
-	template<class T>
-	inline GUINT operator()( const T& a)
+	template <class T>
+	inline GUINT operator()(const T& a)
 	{
 		return (GUINT)a;
 	}
 };
 
-
 //!Prototype for copying elements
 class copy_elements_func
 {
 public:
-	template<class T>
-	inline void operator()(T& a,T& b)
+	template <class T>
+	inline void operator()(T& a, T& b)
 	{
 		a = b;
 	}
@@ -88,34 +85,33 @@ public:
 class memcopy_elements_func
 {
 public:
-	template<class T>
-	inline void operator()(T& a,T& b)
+	template <class T>
+	inline void operator()(T& a, T& b)
 	{
-		gim_simd_memcpy(&a,&b,sizeof(T));
+		gim_simd_memcpy(&a, &b, sizeof(T));
 	}
 };
 
-
 //! @{
 struct GIM_RSORT_TOKEN
 {
-    GUINT m_key;
-    GUINT m_value;
-    GIM_RSORT_TOKEN()
-    {
-    }
-    GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken)
-    {
-    	m_key = rtoken.m_key;
-    	m_value = rtoken.m_value;
-    }
+	GUINT m_key;
+	GUINT m_value;
+	GIM_RSORT_TOKEN()
+	{
+	}
+	GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken)
+	{
+		m_key = rtoken.m_key;
+		m_value = rtoken.m_value;
+	}
 
-    inline bool operator <(const GIM_RSORT_TOKEN& other) const
+	inline bool operator<(const GIM_RSORT_TOKEN& other) const
 	{
 		return (m_key < other.m_key);
 	}
 
-	inline bool operator >(const GIM_RSORT_TOKEN& other) const
+	inline bool operator>(const GIM_RSORT_TOKEN& other) const
 	{
 		return (m_key > other.m_key);
 	}
@@ -124,33 +120,28 @@ struct GIM_RSORT_TOKEN
 //! Prototype for comparators
 class GIM_RSORT_TOKEN_COMPARATOR
 {
-	public:
-
-	inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b )
+public:
+	inline int operator()(const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b)
 	{
 		return (int)((a.m_key) - (b.m_key));
 	}
 };
 
-
-
 #define kHist 2048
 // ---- utils for accessing 11-bit quantities
-#define D11_0(x)	(x & 0x7FF)
-#define D11_1(x)	(x >> 11 & 0x7FF)
-#define D11_2(x)	(x >> 22 )
-
-
+#define D11_0(x) (x & 0x7FF)
+#define D11_1(x) (x >> 11 & 0x7FF)
+#define D11_2(x) (x >> 22)
 
 ///Radix sort for unsigned integer keys
 inline void gim_radix_sort_rtokens(
-				GIM_RSORT_TOKEN * array,
-				GIM_RSORT_TOKEN * sorted, GUINT element_count)
+	GIM_RSORT_TOKEN* array,
+	GIM_RSORT_TOKEN* sorted, GUINT element_count)
 {
 	GUINT i;
 	GUINT b0[kHist * 3];
-	GUINT *b1 = b0 + kHist;
-	GUINT *b2 = b1 + kHist;
+	GUINT* b1 = b0 + kHist;
+	GUINT* b2 = b1 + kHist;
 	for (i = 0; i < kHist * 3; ++i)
 	{
 		b0[i] = 0;
@@ -159,10 +150,10 @@ inline void gim_radix_sort_rtokens(
 	GUINT pos;
 	for (i = 0; i < element_count; ++i)
 	{
-	    fi = array[i].m_key;
-		b0[D11_0(fi)] ++;
-		b1[D11_1(fi)] ++;
-		b2[D11_2(fi)] ++;
+		fi = array[i].m_key;
+		b0[D11_0(fi)]++;
+		b1[D11_1(fi)]++;
+		b2[D11_2(fi)]++;
 	}
 	{
 		GUINT sum0 = 0, sum1 = 0, sum2 = 0;
@@ -182,7 +173,7 @@ inline void gim_radix_sort_rtokens(
 	}
 	for (i = 0; i < element_count; ++i)
 	{
-        fi = array[i].m_key;
+		fi = array[i].m_key;
 		pos = D11_0(fi);
 		pos = ++b0[pos];
 		sorted[pos].m_key = array[i].m_key;
@@ -190,7 +181,7 @@ inline void gim_radix_sort_rtokens(
 	}
 	for (i = 0; i < element_count; ++i)
 	{
-        fi = sorted[i].m_key;
+		fi = sorted[i].m_key;
 		pos = D11_1(fi);
 		pos = ++b1[pos];
 		array[pos].m_key = sorted[i].m_key;
@@ -198,7 +189,7 @@ inline void gim_radix_sort_rtokens(
 	}
 	for (i = 0; i < element_count; ++i)
 	{
-        fi = array[i].m_key;
+		fi = array[i].m_key;
 		pos = D11_2(fi);
 		pos = ++b2[pos];
 		sorted[pos].m_key = array[i].m_key;
@@ -206,9 +197,6 @@ inline void gim_radix_sort_rtokens(
 	}
 }
 
-
-
-
 /// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN
 /*!
 *\param array Array of elements to sort
@@ -216,21 +204,21 @@ inline void gim_radix_sort_rtokens(
 *\param element_count element count
 *\param uintkey_macro Functor which retrieves the integer representation of an array element
 */
-template<typename T, class GETKEY_CLASS>
+template <typename T, class GETKEY_CLASS>
 void gim_radix_sort_array_tokens(
-			T* array ,
-			GIM_RSORT_TOKEN * sorted_tokens,
-			GUINT element_count,GETKEY_CLASS uintkey_macro)
+	T* array,
+	GIM_RSORT_TOKEN* sorted_tokens,
+	GUINT element_count, GETKEY_CLASS uintkey_macro)
 {
-	GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count);
-    for (GUINT _i=0;_i<element_count;++_i)
-    {
-        _unsorted[_i].m_key = uintkey_macro(array[_i]);
-        _unsorted[_i].m_value = _i;
-    }
-    gim_radix_sort_rtokens(_unsorted,sorted_tokens,element_count);
-    gim_free(_unsorted);
-    gim_free(_unsorted);
+	GIM_RSORT_TOKEN* _unsorted = (GIM_RSORT_TOKEN*)gim_alloc(sizeof(GIM_RSORT_TOKEN) * element_count);
+	for (GUINT _i = 0; _i < element_count; ++_i)
+	{
+		_unsorted[_i].m_key = uintkey_macro(array[_i]);
+		_unsorted[_i].m_value = _i;
+	}
+	gim_radix_sort_rtokens(_unsorted, sorted_tokens, element_count);
+	gim_free(_unsorted);
+	gim_free(_unsorted);
 }
 
 /// Sorts array in place. For generic use
@@ -241,21 +229,21 @@ void gim_radix_sort_array_tokens(
 \param get_uintkey_macro Macro for extract the Integer value of the element. Similar to SIMPLE_GET_UINTKEY
 \param copy_elements_macro Macro for copy elements, similar to SIMPLE_COPY_ELEMENTS
 */
-template<typename T, class GETKEY_CLASS, class COPY_CLASS>
+template <typename T, class GETKEY_CLASS, class COPY_CLASS>
 void gim_radix_sort(
-	T * array, GUINT element_count,
+	T* array, GUINT element_count,
 	GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro)
 {
-	GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN  *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count);
-    gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro);
-    T * _original_array = (T *) gim_alloc(sizeof(T)*element_count);
-    gim_simd_memcpy(_original_array,array,sizeof(T)*element_count);
-    for (GUINT _i=0;_i<element_count;++_i)
-    {
-        copy_elements_macro(array[_i],_original_array[_sorted[_i].m_value]);
-    }
-    gim_free(_original_array);
-    gim_free(_sorted);
+	GIM_RSORT_TOKEN* _sorted = (GIM_RSORT_TOKEN*)gim_alloc(sizeof(GIM_RSORT_TOKEN) * element_count);
+	gim_radix_sort_array_tokens(array, _sorted, element_count, get_uintkey_macro);
+	T* _original_array = (T*)gim_alloc(sizeof(T) * element_count);
+	gim_simd_memcpy(_original_array, array, sizeof(T) * element_count);
+	for (GUINT _i = 0; _i < element_count; ++_i)
+	{
+		copy_elements_macro(array[_i], _original_array[_sorted[_i].m_value]);
+	}
+	gim_free(_original_array);
+	gim_free(_sorted);
 }
 
 //! Failsafe Iterative binary search,
@@ -269,20 +257,20 @@ If the element is not found, it returns the nearest upper element position, may
 \param _found If true the value has found. Boolean
 \param _result_index the index of the found element, or if not found then it will get the index of the  closest bigger value
 */
-template<class T, typename KEYCLASS, typename COMP_CLASS>
-bool  gim_binary_search_ex(
-		const T* _array, GUINT _start_i,
-		GUINT _end_i,GUINT & _result_index,
-		const KEYCLASS & _search_key,
-		COMP_CLASS _comp_macro)
+template <class T, typename KEYCLASS, typename COMP_CLASS>
+bool gim_binary_search_ex(
+	const T* _array, GUINT _start_i,
+	GUINT _end_i, GUINT& _result_index,
+	const KEYCLASS& _search_key,
+	COMP_CLASS _comp_macro)
 {
 	GUINT _k;
 	int _comp_result;
 	GUINT _i = _start_i;
-	GUINT _j = _end_i+1;
+	GUINT _j = _end_i + 1;
 	while (_i < _j)
 	{
-		_k = (_j+_i-1)/2;
+		_k = (_j + _i - 1) / 2;
 		_comp_result = _comp_macro(_array[_k], _search_key);
 		if (_comp_result == 0)
 		{
@@ -291,7 +279,7 @@ bool  gim_binary_search_ex(
 		}
 		else if (_comp_result < 0)
 		{
-			_i = _k+1;
+			_i = _k + 1;
 		}
 		else
 		{
@@ -302,8 +290,6 @@ bool  gim_binary_search_ex(
 	return false;
 }
 
-
-
 //! Failsafe Iterative binary search,Template version
 /*!
 If the element is not found, it returns the nearest upper element position, may be the further position after the last element.
@@ -314,26 +300,26 @@ If the element is not found, it returns the nearest upper element position, may
 \param _result_index the index of the found element, or if not found then it will get the index of the  closest bigger value
 \return true if found, else false
 */
-template<class T>
+template <class T>
 bool gim_binary_search(
-	const T*_array,GUINT _start_i,
-	GUINT _end_i,const T & _search_key,
-	GUINT & _result_index)
+	const T* _array, GUINT _start_i,
+	GUINT _end_i, const T& _search_key,
+	GUINT& _result_index)
 {
 	GUINT _i = _start_i;
-	GUINT _j = _end_i+1;
+	GUINT _j = _end_i + 1;
 	GUINT _k;
-	while(_i < _j)
+	while (_i < _j)
 	{
-		_k = (_j+_i-1)/2;
-		if(_array[_k]==_search_key)
+		_k = (_j + _i - 1) / 2;
+		if (_array[_k] == _search_key)
 		{
 			_result_index = _k;
 			return true;
 		}
-		else if (_array[_k]<_search_key)
+		else if (_array[_k] < _search_key)
 		{
-			_i = _k+1;
+			_i = _k + 1;
 		}
 		else
 		{
@@ -344,27 +330,25 @@ bool gim_binary_search(
 	return false;
 }
 
-
-
 ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
 template <typename T, typename COMP_CLASS>
-void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc)
+void gim_down_heap(T* pArr, GUINT k, GUINT n, COMP_CLASS CompareFunc)
 {
 	/*  PRE: a[k+1..N] is a heap */
 	/* POST:  a[k..N]  is a heap */
 
 	T temp = pArr[k - 1];
 	/* k has child(s) */
-	while (k <= n/2)
+	while (k <= n / 2)
 	{
-		int child = 2*k;
+		int child = 2 * k;
 
-		if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0)
+		if ((child < (int)n) && CompareFunc(pArr[child - 1], pArr[child]) < 0)
 		{
 			child++;
 		}
 		/* pick larger child */
-		if (CompareFunc(temp , pArr[child - 1])<0)
+		if (CompareFunc(temp, pArr[child - 1]) < 0)
 		{
 			/* move child up */
 			pArr[k - 1] = pArr[child - 1];
@@ -378,29 +362,25 @@ void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc)
 	pArr[k - 1] = temp;
 } /*downHeap*/
 
-
 template <typename T, typename COMP_CLASS>
-void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc)
+void gim_heap_sort(T* pArr, GUINT element_count, COMP_CLASS CompareFunc)
 {
 	/* sort a[0..N-1],  N.B. 0 to N-1 */
 	GUINT k;
 	GUINT n = element_count;
-	for (k = n/2; k > 0; k--)
+	for (k = n / 2; k > 0; k--)
 	{
 		gim_down_heap(pArr, k, n, CompareFunc);
 	}
 
 	/* a[1..N] is now a heap */
-	while ( n>=2 )
+	while (n >= 2)
 	{
-		gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */
+		gim_swap_elements(pArr, 0, n - 1); /* largest of a[0..n-1] */
 		--n;
 		/* restore a[1..i-1] heap */
 		gim_down_heap(pArr, 1, n, CompareFunc);
 	}
 }
 
-
-
-
-#endif // GIM_RADIXSORT_H_INCLUDED
+#endif  // GIM_RADIXSORT_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp
index f9727e1d53..8d83e95da4 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.cpp
@@ -33,15 +33,13 @@ email: projectileman@yahoo.com
 
 #include "gim_tri_collision.h"
 
-
 #define TRI_LOCAL_EPSILON 0.000001f
 #define MIN_EDGE_EDGE_DIS 0.00001f
 
-
 class GIM_TRIANGLE_CALCULATION_CACHE
 {
 public:
-	GREAL margin;	
+	GREAL margin;
 	btVector3 tu_vertices[3];
 	btVector3 tv_vertices[3];
 	btVector4 tu_plane;
@@ -55,46 +53,47 @@ public:
 	GREAL du0du2;
 	GREAL dv[4];
 	GREAL dv0dv1;
-	GREAL dv0dv2;	
+	GREAL dv0dv2;
 	btVector3 temp_points[MAX_TRI_CLIPPING];
 	btVector3 temp_points1[MAX_TRI_CLIPPING];
 	btVector3 contact_points[MAX_TRI_CLIPPING];
-	
-
 
 	//! if returns false, the faces are paralele
 	SIMD_FORCE_INLINE bool compute_intervals(
-					const GREAL &D0,
-					const GREAL &D1,
-					const GREAL &D2,
-					const GREAL &D0D1,
-					const GREAL &D0D2,
-					GREAL & scale_edge0,
-					GREAL & scale_edge1,
-					GUINT &edge_index0,
-					GUINT &edge_index1)
+		const GREAL &D0,
+		const GREAL &D1,
+		const GREAL &D2,
+		const GREAL &D0D1,
+		const GREAL &D0D2,
+		GREAL &scale_edge0,
+		GREAL &scale_edge1,
+		GUINT &edge_index0,
+		GUINT &edge_index1)
 	{
-		if(D0D1>0.0f)
+		if (D0D1 > 0.0f)
 		{
 			/* here we know that D0D2<=0.0 */
 			/* that is D0, D1 are on the same side, D2 on the other or on the plane */
-			scale_edge0 = -D2/(D0-D2);
-			scale_edge1 = -D1/(D2-D1);
-			edge_index0 = 2;edge_index1 = 1;
+			scale_edge0 = -D2 / (D0 - D2);
+			scale_edge1 = -D1 / (D2 - D1);
+			edge_index0 = 2;
+			edge_index1 = 1;
 		}
-		else if(D0D2>0.0f)
+		else if (D0D2 > 0.0f)
 		{
 			/* here we know that d0d1<=0.0 */
-			scale_edge0 = -D0/(D1-D0);
-			scale_edge1 = -D1/(D2-D1);
-			edge_index0 = 0;edge_index1 = 1;
+			scale_edge0 = -D0 / (D1 - D0);
+			scale_edge1 = -D1 / (D2 - D1);
+			edge_index0 = 0;
+			edge_index1 = 1;
 		}
-		else if(D1*D2>0.0f || D0!=0.0f)
+		else if (D1 * D2 > 0.0f || D0 != 0.0f)
 		{
 			/* here we know that d0d1<=0.0 or that D0!=0.0 */
-			scale_edge0 = -D0/(D1-D0);
-			scale_edge1 = -D2/(D0-D2);
-			edge_index0 = 0 ;edge_index1 = 2;
+			scale_edge0 = -D0 / (D1 - D0);
+			scale_edge1 = -D2 / (D0 - D2);
+			edge_index0 = 0;
+			edge_index1 = 2;
 		}
 		else
 		{
@@ -103,46 +102,44 @@ public:
 		return true;
 	}
 
-
 	//! clip triangle
 	/*!
 	*/
 	SIMD_FORCE_INLINE GUINT clip_triangle(
-		const btVector4 & tri_plane,
-		const btVector3 * tripoints,
-		const btVector3 * srcpoints,
-		btVector3 * clip_points)
+		const btVector4 &tri_plane,
+		const btVector3 *tripoints,
+		const btVector3 *srcpoints,
+		btVector3 *clip_points)
 	{
 		// edge 0
 
 		btVector4 edgeplane;
 
-		EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
+		EDGE_PLANE(tripoints[0], tripoints[1], tri_plane, edgeplane);
 
 		GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
-			edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
+			edgeplane, srcpoints[0], srcpoints[1], srcpoints[2], temp_points);
 
-		if(clipped_count == 0) return 0;
+		if (clipped_count == 0) return 0;
 
 		// edge 1
 
-		EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
+		EDGE_PLANE(tripoints[1], tripoints[2], tri_plane, edgeplane);
 
 		clipped_count = PLANE_CLIP_POLYGON3D(
-			edgeplane,temp_points,clipped_count,temp_points1);
+			edgeplane, temp_points, clipped_count, temp_points1);
 
-		if(clipped_count == 0) return 0;
+		if (clipped_count == 0) return 0;
 
 		// edge 2
 
-		EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
+		EDGE_PLANE(tripoints[2], tripoints[0], tri_plane, edgeplane);
 
 		clipped_count = PLANE_CLIP_POLYGON3D(
-			edgeplane,temp_points1,clipped_count,clip_points);
+			edgeplane, temp_points1, clipped_count, clip_points);
 
 		return clipped_count;
 
-
 		/*GUINT i0 = (tri_plane.closestAxis()+1)%3;
 		GUINT i1 = (i0+1)%3;
 		// edge 0
@@ -172,13 +169,13 @@ public:
 	}
 
 	SIMD_FORCE_INLINE void sort_isect(
-		GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1)
+		GREAL &isect0, GREAL &isect1, GUINT &e0, GUINT &e1, btVector3 &vec0, btVector3 &vec1)
 	{
-		if(isect1<isect0)
+		if (isect1 < isect0)
 		{
 			//swap
-			GIM_SWAP_NUMBERS(isect0,isect1);
-			GIM_SWAP_NUMBERS(e0,e1);
+			GIM_SWAP_NUMBERS(isect0, isect1);
+			GIM_SWAP_NUMBERS(e0, e1);
 			btVector3 tmp = vec0;
 			vec0 = vec1;
 			vec1 = tmp;
@@ -202,53 +199,52 @@ public:
 		// Compute direction of intersection line
 		edge_edge_dir = tu_plane.cross(tv_plane);
 		GREAL Dlen;
-		VEC_LENGTH(edge_edge_dir,Dlen);
+		VEC_LENGTH(edge_edge_dir, Dlen);
 
-		if(Dlen<0.0001)
+		if (Dlen < 0.0001)
 		{
-			return 0; //faces near paralele
+			return 0;  //faces near paralele
 		}
 
-		edge_edge_dir*= 1/Dlen;//normalize
-
+		edge_edge_dir *= 1 / Dlen;  //normalize
 
 		// Compute interval for triangle 1
-		GUINT tu_e0,tu_e1;//edge indices
-		GREAL tu_scale_e0,tu_scale_e1;//edge scale
-		if(!compute_intervals(du[0],du[1],du[2],
-			du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0;
+		GUINT tu_e0, tu_e1;              //edge indices
+		GREAL tu_scale_e0, tu_scale_e1;  //edge scale
+		if (!compute_intervals(du[0], du[1], du[2],
+							   du0du1, du0du2, tu_scale_e0, tu_scale_e1, tu_e0, tu_e1)) return 0;
 
 		// Compute interval for triangle 2
-		GUINT tv_e0,tv_e1;//edge indices
-		GREAL tv_scale_e0,tv_scale_e1;//edge scale
+		GUINT tv_e0, tv_e1;              //edge indices
+		GREAL tv_scale_e0, tv_scale_e1;  //edge scale
 
-		if(!compute_intervals(dv[0],dv[1],dv[2],
-			dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0;
+		if (!compute_intervals(dv[0], dv[1], dv[2],
+							   dv0dv1, dv0dv2, tv_scale_e0, tv_scale_e1, tv_e0, tv_e1)) return 0;
 
 		//proyected vertices
-		btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0);
-		btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1);
+		btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0 + 1) % 3], tu_scale_e0);
+		btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1 + 1) % 3], tu_scale_e1);
 
-		btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0);
-		btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1);
+		btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0 + 1) % 3], tv_scale_e0);
+		btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1 + 1) % 3], tv_scale_e1);
 
 		//proyected intervals
-		GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)};
-		GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)};
+		GREAL isect_u[] = {up_e0.dot(edge_edge_dir), up_e1.dot(edge_edge_dir)};
+		GREAL isect_v[] = {vp_e0.dot(edge_edge_dir), vp_e1.dot(edge_edge_dir)};
 
-		sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1);
-		sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1);
+		sort_isect(isect_u[0], isect_u[1], tu_e0, tu_e1, up_e0, up_e1);
+		sort_isect(isect_v[0], isect_v[1], tv_e0, tv_e1, vp_e0, vp_e1);
 
-		const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint
-		const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint
+		const GREAL midpoint_u = 0.5f * (isect_u[0] + isect_u[1]);  // midpoint
+		const GREAL midpoint_v = 0.5f * (isect_v[0] + isect_v[1]);  // midpoint
 
-		if(midpoint_u<midpoint_v)
+		if (midpoint_u < midpoint_v)
 		{
-			if(isect_u[1]>=isect_v[1]) // face U casts face V
+			if (isect_u[1] >= isect_v[1])  // face U casts face V
 			{
 				return 1;
 			}
-			else if(isect_v[0]<=isect_u[0]) // face V casts face U
+			else if (isect_v[0] <= isect_u[0])  // face V casts face U
 			{
 				return 2;
 			}
@@ -257,32 +253,31 @@ public:
 			closest_point_v = vp_e0;
 			// calc edges and separation
 
-			if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead
+			if (isect_u[1] + MIN_EDGE_EDGE_DIS < isect_v[0])  //calc distance between two lines instead
 			{
 				SEGMENT_COLLISION(
-					tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3],
-					tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3],
+					tu_vertices[tu_e1], tu_vertices[(tu_e1 + 1) % 3],
+					tv_vertices[tv_e0], tv_vertices[(tv_e0 + 1) % 3],
 					closest_point_u,
 					closest_point_v);
 
-				edge_edge_dir = closest_point_u-closest_point_v;
-				VEC_LENGTH(edge_edge_dir,distances[2]);
-				edge_edge_dir *= 1.0f/distances[2];// normalize
+				edge_edge_dir = closest_point_u - closest_point_v;
+				VEC_LENGTH(edge_edge_dir, distances[2]);
+				edge_edge_dir *= 1.0f / distances[2];  // normalize
 			}
 			else
 			{
-				distances[2] = isect_v[0]-isect_u[1];//distance negative
-				//edge_edge_dir *= -1.0f; //normal pointing from V to U
+				distances[2] = isect_v[0] - isect_u[1];  //distance negative
+														 //edge_edge_dir *= -1.0f; //normal pointing from V to U
 			}
-
 		}
 		else
 		{
-			if(isect_v[1]>=isect_u[1]) // face V casts face U
+			if (isect_v[1] >= isect_u[1])  // face V casts face U
 			{
 				return 2;
 			}
-			else if(isect_u[0]<=isect_v[0]) // face U casts face V
+			else if (isect_u[0] <= isect_v[0])  // face U casts face V
 			{
 				return 1;
 			}
@@ -291,41 +286,39 @@ public:
 			closest_point_v = vp_e1;
 			// calc edges and separation
 
-			if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead
+			if (isect_v[1] + MIN_EDGE_EDGE_DIS < isect_u[0])  //calc distance between two lines instead
 			{
 				SEGMENT_COLLISION(
-					tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3],
-					tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3],
+					tu_vertices[tu_e0], tu_vertices[(tu_e0 + 1) % 3],
+					tv_vertices[tv_e1], tv_vertices[(tv_e1 + 1) % 3],
 					closest_point_u,
 					closest_point_v);
 
-				edge_edge_dir = closest_point_u-closest_point_v;
-				VEC_LENGTH(edge_edge_dir,distances[2]);
-				edge_edge_dir *= 1.0f/distances[2];// normalize
+				edge_edge_dir = closest_point_u - closest_point_v;
+				VEC_LENGTH(edge_edge_dir, distances[2]);
+				edge_edge_dir *= 1.0f / distances[2];  // normalize
 			}
 			else
 			{
-				distances[2] = isect_u[0]-isect_v[1];//distance negative
-				//edge_edge_dir *= -1.0f; //normal pointing from V to U
+				distances[2] = isect_u[0] - isect_v[1];  //distance negative
+														 //edge_edge_dir *= -1.0f; //normal pointing from V to U
 			}
 		}
 		return 3;
 	}
 
-
 	//! collides by two sides
 	SIMD_FORCE_INLINE bool triangle_collision(
-					const btVector3 & u0,
-					const btVector3 & u1,
-					const btVector3 & u2,
-					GREAL margin_u,
-					const btVector3 & v0,
-					const btVector3 & v1,
-					const btVector3 & v2,
-					GREAL margin_v,
-					GIM_TRIANGLE_CONTACT_DATA & contacts)
+		const btVector3 &u0,
+		const btVector3 &u1,
+		const btVector3 &u2,
+		GREAL margin_u,
+		const btVector3 &v0,
+		const btVector3 &v1,
+		const btVector3 &v2,
+		GREAL margin_v,
+		GIM_TRIANGLE_CONTACT_DATA &contacts)
 	{
-
 		margin = margin_u + margin_v;
 
 		tu_vertices[0] = u0;
@@ -339,103 +332,99 @@ public:
 		//create planes
 		// plane v vs U points
 
-		TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],tv_plane);
-
-		du[0] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[0]);
-		du[1] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[1]);
-		du[2] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[2]);
+		TRIANGLE_PLANE(tv_vertices[0], tv_vertices[1], tv_vertices[2], tv_plane);
 
+		du[0] = DISTANCE_PLANE_POINT(tv_plane, tu_vertices[0]);
+		du[1] = DISTANCE_PLANE_POINT(tv_plane, tu_vertices[1]);
+		du[2] = DISTANCE_PLANE_POINT(tv_plane, tu_vertices[2]);
 
 		du0du1 = du[0] * du[1];
 		du0du2 = du[0] * du[2];
 
-
-		if(du0du1>0.0f && du0du2>0.0f)	// same sign on all of them + not equal 0 ?
+		if (du0du1 > 0.0f && du0du2 > 0.0f)  // same sign on all of them + not equal 0 ?
 		{
-			if(du[0]<0) //we need test behind the triangle plane
+			if (du[0] < 0)  //we need test behind the triangle plane
 			{
-				distances[0] = GIM_MAX3(du[0],du[1],du[2]);
+				distances[0] = GIM_MAX3(du[0], du[1], du[2]);
 				distances[0] = -distances[0];
-				if(distances[0]>margin) return false; //never intersect
+				if (distances[0] > margin) return false;  //never intersect
 
 				//reorder triangle v
-				VEC_SWAP(tv_vertices[0],tv_vertices[1]);
-				VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
+				VEC_SWAP(tv_vertices[0], tv_vertices[1]);
+				VEC_SCALE_4(tv_plane, -1.0f, tv_plane);
 			}
 			else
 			{
-				distances[0] = GIM_MIN3(du[0],du[1],du[2]);
-				if(distances[0]>margin) return false; //never intersect
+				distances[0] = GIM_MIN3(du[0], du[1], du[2]);
+				if (distances[0] > margin) return false;  //never intersect
 			}
 		}
 		else
 		{
 			//Look if we need to invert the triangle
-			distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid
+			distances[0] = (du[0] + du[1] + du[2]) / 3.0f;  //centroid
 
-			if(distances[0]<0.0f)
+			if (distances[0] < 0.0f)
 			{
 				//reorder triangle v
-				VEC_SWAP(tv_vertices[0],tv_vertices[1]);
-				VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
+				VEC_SWAP(tv_vertices[0], tv_vertices[1]);
+				VEC_SCALE_4(tv_plane, -1.0f, tv_plane);
 
-				distances[0] = GIM_MAX3(du[0],du[1],du[2]);
+				distances[0] = GIM_MAX3(du[0], du[1], du[2]);
 				distances[0] = -distances[0];
 			}
 			else
 			{
-				distances[0] = GIM_MIN3(du[0],du[1],du[2]);
+				distances[0] = GIM_MIN3(du[0], du[1], du[2]);
 			}
 		}
 
-
 		// plane U vs V points
 
-		TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane);
+		TRIANGLE_PLANE(tu_vertices[0], tu_vertices[1], tu_vertices[2], tu_plane);
 
-		dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]);
-		dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]);
-		dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]);
+		dv[0] = DISTANCE_PLANE_POINT(tu_plane, tv_vertices[0]);
+		dv[1] = DISTANCE_PLANE_POINT(tu_plane, tv_vertices[1]);
+		dv[2] = DISTANCE_PLANE_POINT(tu_plane, tv_vertices[2]);
 
 		dv0dv1 = dv[0] * dv[1];
 		dv0dv2 = dv[0] * dv[2];
 
-
-		if(dv0dv1>0.0f && dv0dv2>0.0f)	// same sign on all of them + not equal 0 ?
+		if (dv0dv1 > 0.0f && dv0dv2 > 0.0f)  // same sign on all of them + not equal 0 ?
 		{
-			if(dv[0]<0) //we need test behind the triangle plane
+			if (dv[0] < 0)  //we need test behind the triangle plane
 			{
-				distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
+				distances[1] = GIM_MAX3(dv[0], dv[1], dv[2]);
 				distances[1] = -distances[1];
-				if(distances[1]>margin) return false; //never intersect
+				if (distances[1] > margin) return false;  //never intersect
 
 				//reorder triangle u
-				VEC_SWAP(tu_vertices[0],tu_vertices[1]);
-				VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
+				VEC_SWAP(tu_vertices[0], tu_vertices[1]);
+				VEC_SCALE_4(tu_plane, -1.0f, tu_plane);
 			}
 			else
 			{
-				distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
-				if(distances[1]>margin) return false; //never intersect
+				distances[1] = GIM_MIN3(dv[0], dv[1], dv[2]);
+				if (distances[1] > margin) return false;  //never intersect
 			}
 		}
 		else
 		{
 			//Look if we need to invert the triangle
-			distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid
+			distances[1] = (dv[0] + dv[1] + dv[2]) / 3.0f;  //centroid
 
-			if(distances[1]<0.0f)
+			if (distances[1] < 0.0f)
 			{
 				//reorder triangle v
-				VEC_SWAP(tu_vertices[0],tu_vertices[1]);
-				VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
+				VEC_SWAP(tu_vertices[0], tu_vertices[1]);
+				VEC_SCALE_4(tu_plane, -1.0f, tu_plane);
 
-				distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
+				distances[1] = GIM_MAX3(dv[0], dv[1], dv[2]);
 				distances[1] = -distances[1];
 			}
 			else
 			{
-				distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
+				distances[1] = GIM_MIN3(dv[0], dv[1], dv[2]);
 			}
 		}
 
@@ -448,47 +437,44 @@ public:
 		}
 		else
 		{*/
-			bl = 0;
-			if(distances[0]<distances[1]) bl = 1;
+		bl = 0;
+		if (distances[0] < distances[1]) bl = 1;
 		//}
 
-		if(bl==2) //edge edge separation
+		if (bl == 2)  //edge edge separation
 		{
-			if(distances[2]>margin) return false;
+			if (distances[2] > margin) return false;
 
 			contacts.m_penetration_depth = -distances[2] + margin;
 			contacts.m_points[0] = closest_point_v;
 			contacts.m_point_count = 1;
-			VEC_COPY(contacts.m_separating_normal,edge_edge_dir);
+			VEC_COPY(contacts.m_separating_normal, edge_edge_dir);
 
 			return true;
 		}
 
 		//clip face against other
 
-		
 		GUINT point_count;
 		//TODO
-		if(bl == 0) //clip U points against V
+		if (bl == 0)  //clip U points against V
 		{
-			point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points);
-			if(point_count == 0) return false;						
-			contacts.merge_points(tv_plane,margin,contact_points,point_count);			
+			point_count = clip_triangle(tv_plane, tv_vertices, tu_vertices, contact_points);
+			if (point_count == 0) return false;
+			contacts.merge_points(tv_plane, margin, contact_points, point_count);
 		}
-		else //clip V points against U
+		else  //clip V points against U
 		{
-			point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points);
-			if(point_count == 0) return false;			
-			contacts.merge_points(tu_plane,margin,contact_points,point_count);
+			point_count = clip_triangle(tu_plane, tu_vertices, tv_vertices, contact_points);
+			if (point_count == 0) return false;
+			contacts.merge_points(tu_plane, margin, contact_points, point_count);
 			contacts.m_separating_normal *= -1.f;
 		}
-		if(contacts.m_point_count == 0) return false;
+		if (contacts.m_point_count == 0) return false;
 		return true;
 	}
-
 };
 
-
 /*class GIM_TRIANGLE_CALCULATION_CACHE
 {
 public:
@@ -621,20 +607,13 @@ public:
 
 };*/
 
-
-
 bool GIM_TRIANGLE::collide_triangle_hard_test(
-		const GIM_TRIANGLE & other,
-		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
+	const GIM_TRIANGLE &other,
+	GIM_TRIANGLE_CONTACT_DATA &contact_data) const
 {
-	GIM_TRIANGLE_CALCULATION_CACHE calc_cache;	
+	GIM_TRIANGLE_CALCULATION_CACHE calc_cache;
 	return calc_cache.triangle_collision(
-					m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
-					other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,
-					contact_data);
-
+		m_vertices[0], m_vertices[1], m_vertices[2], m_margin,
+		other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], other.m_margin,
+		contact_data);
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h
index 267f806e7e..e6d4bf5470 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h
@@ -36,8 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_box_collision.h"
 #include "gim_clip_polygon.h"
 
-
-
 #ifndef MAX_TRI_CLIPPING
 #define MAX_TRI_CLIPPING 16
 #endif
@@ -45,18 +43,18 @@ email: projectileman@yahoo.com
 //! Structure for collision
 struct GIM_TRIANGLE_CONTACT_DATA
 {
-    GREAL m_penetration_depth;
-    GUINT m_point_count;
-    btVector4 m_separating_normal;
-    btVector3 m_points[MAX_TRI_CLIPPING];
+	GREAL m_penetration_depth;
+	GUINT m_point_count;
+	btVector4 m_separating_normal;
+	btVector3 m_points[MAX_TRI_CLIPPING];
 
-	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other)
+	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA &other)
 	{
 		m_penetration_depth = other.m_penetration_depth;
 		m_separating_normal = other.m_separating_normal;
 		m_point_count = other.m_point_count;
 		GUINT i = m_point_count;
-		while(i--)
+		while (i--)
 		{
 			m_points[i] = other.m_points[i];
 		}
@@ -66,39 +64,36 @@ struct GIM_TRIANGLE_CONTACT_DATA
 	{
 	}
 
-	GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other)
+	GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA &other)
 	{
 		copy_from(other);
 	}
 
-	
-	
-
-    //! classify points that are closer
-    template<typename DISTANCE_FUNC,typename CLASS_PLANE>
-    SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane,
-    				GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func)
-    {	
-    	m_point_count = 0;
-    	m_penetration_depth= -1000.0f;
+	//! classify points that are closer
+	template <typename DISTANCE_FUNC, typename CLASS_PLANE>
+	SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE &plane,
+											   GREAL margin, const btVector3 *points, GUINT point_count, DISTANCE_FUNC distance_func)
+	{
+		m_point_count = 0;
+		m_penetration_depth = -1000.0f;
 
 		GUINT point_indices[MAX_TRI_CLIPPING];
 
 		GUINT _k;
 
-		for(_k=0;_k<point_count;_k++)
+		for (_k = 0; _k < point_count; _k++)
 		{
-			GREAL _dist = -distance_func(plane,points[_k]) + margin;
+			GREAL _dist = -distance_func(plane, points[_k]) + margin;
 
-			if(_dist>=0.0f)
+			if (_dist >= 0.0f)
 			{
-				if(_dist>m_penetration_depth)
+				if (_dist > m_penetration_depth)
 				{
 					m_penetration_depth = _dist;
 					point_indices[0] = _k;
-					m_point_count=1;
+					m_point_count = 1;
 				}
-				else if((_dist+G_EPSILON)>=m_penetration_depth)
+				else if ((_dist + G_EPSILON) >= m_penetration_depth)
 				{
 					point_indices[m_point_count] = _k;
 					m_point_count++;
@@ -106,88 +101,87 @@ struct GIM_TRIANGLE_CONTACT_DATA
 			}
 		}
 
-		for( _k=0;_k<m_point_count;_k++)
+		for (_k = 0; _k < m_point_count; _k++)
 		{
 			m_points[_k] = points[point_indices[_k]];
 		}
 	}
 
 	//! classify points that are closer
-	SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin,
-										 const btVector3 * points, GUINT point_count)
+	SIMD_FORCE_INLINE void merge_points(const btVector4 &plane, GREAL margin,
+										const btVector3 *points, GUINT point_count)
 	{
 		m_separating_normal = plane;
 		mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
 	}
 };
 
-
 //! Class for colliding triangles
 class GIM_TRIANGLE
 {
 public:
 	btScalar m_margin;
-    btVector3 m_vertices[3];
-
-    GIM_TRIANGLE():m_margin(0.1f)
-    {
-    }
-
-    SIMD_FORCE_INLINE GIM_AABB get_box()  const
-    {
-    	return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
-    }
-
-    SIMD_FORCE_INLINE void get_normal(btVector3 &normal)  const
-    {
-    	TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal);
-    }
-
-    SIMD_FORCE_INLINE void get_plane(btVector4 &plane)  const
-    {
-    	TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);;
-    }
-
-    SIMD_FORCE_INLINE void apply_transform(const btTransform & trans)
-    {
-    	m_vertices[0] = trans(m_vertices[0]);
-    	m_vertices[1] = trans(m_vertices[1]);
-    	m_vertices[2] = trans(m_vertices[2]);
-    }
-
-    SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane)  const
-    {
-		const btVector3 & e0 = m_vertices[edge_index];
-		const btVector3 & e1 = m_vertices[(edge_index+1)%3];
-		EDGE_PLANE(e0,e1,triangle_normal,plane);
-    }
-
-    //! Gets the relative transformation of this triangle
-    /*!
+	btVector3 m_vertices[3];
+
+	GIM_TRIANGLE() : m_margin(0.1f)
+	{
+	}
+
+	SIMD_FORCE_INLINE GIM_AABB get_box() const
+	{
+		return GIM_AABB(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
+	}
+
+	SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const
+	{
+		TRIANGLE_NORMAL(m_vertices[0], m_vertices[1], m_vertices[2], normal);
+	}
+
+	SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const
+	{
+		TRIANGLE_PLANE(m_vertices[0], m_vertices[1], m_vertices[2], plane);
+		;
+	}
+
+	SIMD_FORCE_INLINE void apply_transform(const btTransform &trans)
+	{
+		m_vertices[0] = trans(m_vertices[0]);
+		m_vertices[1] = trans(m_vertices[1]);
+		m_vertices[2] = trans(m_vertices[2]);
+	}
+
+	SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
+	{
+		const btVector3 &e0 = m_vertices[edge_index];
+		const btVector3 &e1 = m_vertices[(edge_index + 1) % 3];
+		EDGE_PLANE(e0, e1, triangle_normal, plane);
+	}
+
+	//! Gets the relative transformation of this triangle
+	/*!
     The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0:
     - triangle normal corresponds to Z axis.
     - 1st normalized edge corresponds to X axis,
 
     */
-    SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform)  const
-    {
-    	btMatrix3x3 & matrix = triangle_transform.getBasis();
-
-    	btVector3 zaxis;
-    	get_normal(zaxis);
-    	MAT_SET_Z(matrix,zaxis);
+	SIMD_FORCE_INLINE void get_triangle_transform(btTransform &triangle_transform) const
+	{
+		btMatrix3x3 &matrix = triangle_transform.getBasis();
 
-    	btVector3 xaxis = m_vertices[1] - m_vertices[0];
-    	VEC_NORMALIZE(xaxis);
-    	MAT_SET_X(matrix,xaxis);
+		btVector3 zaxis;
+		get_normal(zaxis);
+		MAT_SET_Z(matrix, zaxis);
 
-    	//y axis
-    	xaxis = zaxis.cross(xaxis);
-    	MAT_SET_Y(matrix,xaxis);
+		btVector3 xaxis = m_vertices[1] - m_vertices[0];
+		VEC_NORMALIZE(xaxis);
+		MAT_SET_X(matrix, xaxis);
 
-    	triangle_transform.setOrigin(m_vertices[0]);
-    }
+		//y axis
+		xaxis = zaxis.cross(xaxis);
+		MAT_SET_Y(matrix, xaxis);
 
+		triangle_transform.setOrigin(m_vertices[0]);
+	}
 
 	//! Test triangles by finding separating axis
 	/*!
@@ -195,8 +189,8 @@ public:
 	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
 	*/
 	bool collide_triangle_hard_test(
-		const GIM_TRIANGLE & other,
-		GIM_TRIANGLE_CONTACT_DATA & contact_data) const;
+		const GIM_TRIANGLE &other,
+		GIM_TRIANGLE_CONTACT_DATA &contact_data) const;
 
 	//! Test boxes before doing hard test
 	/*!
@@ -205,16 +199,16 @@ public:
 	\
 	*/
 	SIMD_FORCE_INLINE bool collide_triangle(
-		const GIM_TRIANGLE & other,
-		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
+		const GIM_TRIANGLE &other,
+		GIM_TRIANGLE_CONTACT_DATA &contact_data) const
 	{
 		//test box collisioin
-		GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
-		GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin);
-		if(!boxu.has_collision(boxv)) return false;
+		GIM_AABB boxu(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
+		GIM_AABB boxv(other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], other.m_margin);
+		if (!boxu.has_collision(boxv)) return false;
 
 		//do hard test
-		return collide_triangle_hard_test(other,contact_data);
+		return collide_triangle_hard_test(other, contact_data);
 	}
 
 	/*!
@@ -246,43 +240,43 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 	\return false if the point is outside of triangle.This function  doesn't take the margin
 	*/
 	SIMD_FORCE_INLINE bool get_uv_parameters(
-			const btVector3 & point,
-			const btVector3 & tri_plane,
-			GREAL & u, GREAL & v) const
+		const btVector3 &point,
+		const btVector3 &tri_plane,
+		GREAL &u, GREAL &v) const
 	{
-		btVector3 _axe1 = m_vertices[1]-m_vertices[0];
-		btVector3 _axe2 = m_vertices[2]-m_vertices[0];
+		btVector3 _axe1 = m_vertices[1] - m_vertices[0];
+		btVector3 _axe2 = m_vertices[2] - m_vertices[0];
 		btVector3 _vecproj = point - m_vertices[0];
-		GUINT _i1 = (tri_plane.closestAxis()+1)%3;
-		GUINT _i2 = (_i1+1)%3;
-		if(btFabs(_axe2[_i2])<G_EPSILON)
+		GUINT _i1 = (tri_plane.closestAxis() + 1) % 3;
+		GUINT _i2 = (_i1 + 1) % 3;
+		if (btFabs(_axe2[_i2]) < G_EPSILON)
 		{
-			u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1]  - _axe1[_i1]*_axe2[_i2]);
-			v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
+			u = (_vecproj[_i2] * _axe2[_i1] - _vecproj[_i1] * _axe2[_i2]) / (_axe1[_i2] * _axe2[_i1] - _axe1[_i1] * _axe2[_i2]);
+			v = (_vecproj[_i1] - u * _axe1[_i1]) / _axe2[_i1];
 		}
 		else
 		{
-			u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2]  - _axe1[_i2]*_axe2[_i1]);
-			v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
+			u = (_vecproj[_i1] * _axe2[_i2] - _vecproj[_i2] * _axe2[_i1]) / (_axe1[_i1] * _axe2[_i2] - _axe1[_i2] * _axe2[_i1]);
+			v = (_vecproj[_i2] - u * _axe1[_i2]) / _axe2[_i2];
 		}
 
-		if(u<-G_EPSILON)
+		if (u < -G_EPSILON)
 		{
 			return false;
 		}
-		else if(v<-G_EPSILON)
+		else if (v < -G_EPSILON)
 		{
 			return false;
 		}
 		else
 		{
 			btScalar sumuv;
-			sumuv = u+v;
-			if(sumuv<-G_EPSILON)
+			sumuv = u + v;
+			if (sumuv < -G_EPSILON)
 			{
 				return false;
 			}
-			else if(sumuv-1.0f>G_EPSILON)
+			else if (sumuv - 1.0f > G_EPSILON)
 			{
 				return false;
 			}
@@ -294,50 +288,49 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 	/*!
 	Test if point is in triangle, with m_margin tolerance
 	*/
-	SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const
+	SIMD_FORCE_INLINE bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
 	{
 		//Test with edge 0
 		btVector4 edge_plane;
-		this->get_edge_plane(0,tri_normal,edge_plane);
-		GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point);
-		if(dist-m_margin>0.0f) return false; // outside plane
+		this->get_edge_plane(0, tri_normal, edge_plane);
+		GREAL dist = DISTANCE_PLANE_POINT(edge_plane, point);
+		if (dist - m_margin > 0.0f) return false;  // outside plane
 
-		this->get_edge_plane(1,tri_normal,edge_plane);
-		dist = DISTANCE_PLANE_POINT(edge_plane,point);
-		if(dist-m_margin>0.0f) return false; // outside plane
+		this->get_edge_plane(1, tri_normal, edge_plane);
+		dist = DISTANCE_PLANE_POINT(edge_plane, point);
+		if (dist - m_margin > 0.0f) return false;  // outside plane
 
-		this->get_edge_plane(2,tri_normal,edge_plane);
-		dist = DISTANCE_PLANE_POINT(edge_plane,point);
-		if(dist-m_margin>0.0f) return false; // outside plane
+		this->get_edge_plane(2, tri_normal, edge_plane);
+		dist = DISTANCE_PLANE_POINT(edge_plane, point);
+		if (dist - m_margin > 0.0f) return false;  // outside plane
 		return true;
 	}
 
-
 	//! Bidireccional ray collision
 	SIMD_FORCE_INLINE bool ray_collision(
-		const btVector3 & vPoint,
-		const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
-		GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
+		const btVector3 &vPoint,
+		const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal,
+		GREAL &tparam, GREAL tmax = G_REAL_INFINITY)
 	{
 		btVector4 faceplane;
 		{
 			btVector3 dif1 = m_vertices[1] - m_vertices[0];
 			btVector3 dif2 = m_vertices[2] - m_vertices[0];
-    		VEC_CROSS(faceplane,dif1,dif2);
-    		faceplane[3] = m_vertices[0].dot(faceplane);
+			VEC_CROSS(faceplane, dif1, dif2);
+			faceplane[3] = m_vertices[0].dot(faceplane);
 		}
 
-		GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
-		if(res == 0) return false;
-		if(! is_point_inside(pout,faceplane)) return false;
+		GUINT res = LINE_PLANE_COLLISION(faceplane, vDir, vPoint, pout, tparam, btScalar(0), tmax);
+		if (res == 0) return false;
+		if (!is_point_inside(pout, faceplane)) return false;
 
-		if(res==2) //invert normal
+		if (res == 2)  //invert normal
 		{
-			triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
+			triangle_normal.setValue(-faceplane[0], -faceplane[1], -faceplane[2]);
 		}
 		else
 		{
-			triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
+			triangle_normal.setValue(faceplane[0], faceplane[1], faceplane[2]);
 		}
 
 		VEC_NORMALIZE(triangle_normal);
@@ -345,36 +338,31 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 		return true;
 	}
 
-
 	//! one direccion ray collision
 	SIMD_FORCE_INLINE bool ray_collision_front_side(
-		const btVector3 & vPoint,
-		const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
-		GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
+		const btVector3 &vPoint,
+		const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal,
+		GREAL &tparam, GREAL tmax = G_REAL_INFINITY)
 	{
 		btVector4 faceplane;
 		{
 			btVector3 dif1 = m_vertices[1] - m_vertices[0];
 			btVector3 dif2 = m_vertices[2] - m_vertices[0];
-    		VEC_CROSS(faceplane,dif1,dif2);
-    		faceplane[3] = m_vertices[0].dot(faceplane);
+			VEC_CROSS(faceplane, dif1, dif2);
+			faceplane[3] = m_vertices[0].dot(faceplane);
 		}
 
-		GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
-		if(res != 1) return false;
+		GUINT res = LINE_PLANE_COLLISION(faceplane, vDir, vPoint, pout, tparam, btScalar(0), tmax);
+		if (res != 1) return false;
 
-		if(!is_point_inside(pout,faceplane)) return false;
+		if (!is_point_inside(pout, faceplane)) return false;
 
-		triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
+		triangle_normal.setValue(faceplane[0], faceplane[1], faceplane[2]);
 
 		VEC_NORMALIZE(triangle_normal);
 
 		return true;
 	}
-
 };
 
-
-
-
-#endif // GIM_TRI_COLLISION_H_INCLUDED
+#endif  // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
index 9eb880b8df..c94391d816 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
@@ -16,163 +16,153 @@ subject to the following restrictions:
 #ifndef BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
 #define BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
 
-#include "LinearMath/btTransform.h" // Note that btVector3 might be double precision...
+#include "LinearMath/btTransform.h"  // Note that btVector3 might be double precision...
 #include "btGjkEpa3.h"
 #include "btGjkCollisionDescription.h"
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 
+template <typename btConvexTemplate>
+bool btGjkEpaCalcPenDepth(const btConvexTemplate& a, const btConvexTemplate& b,
+						  const btGjkCollisionDescription& colDesc,
+						  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB)
+{
+	(void)v;
 
+	//	const btScalar				radialmargin(btScalar(0.));
 
+	btVector3 guessVector(b.getWorldTransform().getOrigin() - a.getWorldTransform().getOrigin());  //?? why not use the GJK input?
 
+	btGjkEpaSolver3::sResults results;
 
+	if (btGjkEpaSolver3_Penetration(a, b, guessVector, results))
 
-template <typename btConvexTemplate>
-bool btGjkEpaCalcPenDepth(const btConvexTemplate& a, const btConvexTemplate& b,
-                          const btGjkCollisionDescription& colDesc,
-                          btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB)
-{
-    (void)v;
-    
-    //	const btScalar				radialmargin(btScalar(0.));
-    
-    btVector3	guessVector(b.getWorldTransform().getOrigin()-a.getWorldTransform().getOrigin());//?? why not use the GJK input?
-    
-    btGjkEpaSolver3::sResults	results;
-
-    
-    if(btGjkEpaSolver3_Penetration(a,b,guessVector,results))
-        
-    {
-        //	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-        //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-        wWitnessOnA = results.witnesses[0];
-        wWitnessOnB = results.witnesses[1];
-        v = results.normal;
-        return true;
-    } else
-    {
-        if(btGjkEpaSolver3_Distance(a,b,guessVector,results))
-        {
-            wWitnessOnA = results.witnesses[0];
-            wWitnessOnB = results.witnesses[1];
-            v = results.normal;
-            return false;
-        }
-    }
-    return false;
+	{
+		//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
+		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
+		wWitnessOnA = results.witnesses[0];
+		wWitnessOnB = results.witnesses[1];
+		v = results.normal;
+		return true;
+	}
+	else
+	{
+		if (btGjkEpaSolver3_Distance(a, b, guessVector, results))
+		{
+			wWitnessOnA = results.witnesses[0];
+			wWitnessOnB = results.witnesses[1];
+			v = results.normal;
+			return false;
+		}
+	}
+	return false;
 }
 
 template <typename btConvexTemplate, typename btGjkDistanceTemplate>
-int	btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate& b, const btGjkCollisionDescription& colDesc, btVoronoiSimplexSolver& simplexSolver, btGjkDistanceTemplate* distInfo)
+int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate& b, const btGjkCollisionDescription& colDesc, btVoronoiSimplexSolver& simplexSolver, btGjkDistanceTemplate* distInfo)
 {
-    
-    bool m_catchDegeneracies  = true;
-    btScalar m_cachedSeparatingDistance = 0.f;
-    
-    btScalar distance=btScalar(0.);
-    btVector3	normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
-    
-    btVector3 pointOnA,pointOnB;
-    btTransform	localTransA = a.getWorldTransform();
-    btTransform localTransB = b.getWorldTransform();
-    
-    btScalar marginA = a.getMargin();
-    btScalar marginB = b.getMargin();
-    
-    int m_curIter = 0;
-    int gGjkMaxIter = colDesc.m_maxGjkIterations;//this is to catch invalid input, perhaps check for #NaN?
-    btVector3 m_cachedSeparatingAxis = colDesc.m_firstDir;
-    
-    bool isValid = false;
-    bool checkSimplex = false;
-    bool checkPenetration = true;
-    int m_degenerateSimplex = 0;
-    
-    int m_lastUsedMethod = -1;
-    
-    {
-        btScalar squaredDistance = BT_LARGE_FLOAT;
-        btScalar delta = btScalar(0.);
-        
-        btScalar margin = marginA + marginB;
-        
-        
-        
-        simplexSolver.reset();
-        
-        for ( ; ; )
-            //while (true)
-        {
-            
-            btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* localTransA.getBasis();
-            btVector3 seperatingAxisInB = m_cachedSeparatingAxis* localTransB.getBasis();
-            
-            btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA);
-            btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB);
-            
-            btVector3  pWorld = localTransA(pInA);
-            btVector3  qWorld = localTransB(qInB);
-            
-            
-            
-            btVector3 w	= pWorld - qWorld;
-            delta = m_cachedSeparatingAxis.dot(w);
-            
-            // potential exit, they don't overlap
-            if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * colDesc.m_maximumDistanceSquared))
-            {
-                m_degenerateSimplex = 10;
-                checkSimplex=true;
-                //checkPenetration = false;
-                break;
-            }
-            
-            //exit 0: the new point is already in the simplex, or we didn't come any closer
-            if (simplexSolver.inSimplex(w))
-            {
-                m_degenerateSimplex = 1;
-                checkSimplex = true;
-                break;
-            }
-            // are we getting any closer ?
-            btScalar f0 = squaredDistance - delta;
-            btScalar f1 = squaredDistance * colDesc.m_gjkRelError2;
-            
-            if (f0 <= f1)
-            {
-                if (f0 <= btScalar(0.))
-                {
-                    m_degenerateSimplex = 2;
-                } else
-                {
-                    m_degenerateSimplex = 11;
-                }
-                checkSimplex = true;
-                break;
-            }
-            
-            //add current vertex to simplex
-            simplexSolver.addVertex(w, pWorld, qWorld);
-            btVector3 newCachedSeparatingAxis;
-            
-            //calculate the closest point to the origin (update vector v)
-            if (!simplexSolver.closest(newCachedSeparatingAxis))
-            {
-                m_degenerateSimplex = 3;
-                checkSimplex = true;
-                break;
-            }
-            
-            if(newCachedSeparatingAxis.length2()<colDesc.m_gjkRelError2)
-            {
-                m_cachedSeparatingAxis = newCachedSeparatingAxis;
-                m_degenerateSimplex = 6;
-                checkSimplex = true;
-                break;
-            }
-            
-            btScalar previousSquaredDistance = squaredDistance;
-            squaredDistance = newCachedSeparatingAxis.length2();
+	bool m_catchDegeneracies = true;
+	btScalar m_cachedSeparatingDistance = 0.f;
+
+	btScalar distance = btScalar(0.);
+	btVector3 normalInB(btScalar(0.), btScalar(0.), btScalar(0.));
+
+	btVector3 pointOnA, pointOnB;
+	btTransform localTransA = a.getWorldTransform();
+	btTransform localTransB = b.getWorldTransform();
+
+	btScalar marginA = a.getMargin();
+	btScalar marginB = b.getMargin();
+
+	int m_curIter = 0;
+	int gGjkMaxIter = colDesc.m_maxGjkIterations;  //this is to catch invalid input, perhaps check for #NaN?
+	btVector3 m_cachedSeparatingAxis = colDesc.m_firstDir;
+
+	bool isValid = false;
+	bool checkSimplex = false;
+	bool checkPenetration = true;
+	int m_degenerateSimplex = 0;
+
+	int m_lastUsedMethod = -1;
+
+	{
+		btScalar squaredDistance = BT_LARGE_FLOAT;
+		btScalar delta = btScalar(0.);
+
+		btScalar margin = marginA + marginB;
+
+		simplexSolver.reset();
+
+		for (;;)
+		//while (true)
+		{
+			btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
+			btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
+
+			btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA);
+			btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB);
+
+			btVector3 pWorld = localTransA(pInA);
+			btVector3 qWorld = localTransB(qInB);
+
+			btVector3 w = pWorld - qWorld;
+			delta = m_cachedSeparatingAxis.dot(w);
+
+			// potential exit, they don't overlap
+			if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * colDesc.m_maximumDistanceSquared))
+			{
+				m_degenerateSimplex = 10;
+				checkSimplex = true;
+				//checkPenetration = false;
+				break;
+			}
+
+			//exit 0: the new point is already in the simplex, or we didn't come any closer
+			if (simplexSolver.inSimplex(w))
+			{
+				m_degenerateSimplex = 1;
+				checkSimplex = true;
+				break;
+			}
+			// are we getting any closer ?
+			btScalar f0 = squaredDistance - delta;
+			btScalar f1 = squaredDistance * colDesc.m_gjkRelError2;
+
+			if (f0 <= f1)
+			{
+				if (f0 <= btScalar(0.))
+				{
+					m_degenerateSimplex = 2;
+				}
+				else
+				{
+					m_degenerateSimplex = 11;
+				}
+				checkSimplex = true;
+				break;
+			}
+
+			//add current vertex to simplex
+			simplexSolver.addVertex(w, pWorld, qWorld);
+			btVector3 newCachedSeparatingAxis;
+
+			//calculate the closest point to the origin (update vector v)
+			if (!simplexSolver.closest(newCachedSeparatingAxis))
+			{
+				m_degenerateSimplex = 3;
+				checkSimplex = true;
+				break;
+			}
+
+			if (newCachedSeparatingAxis.length2() < colDesc.m_gjkRelError2)
+			{
+				m_cachedSeparatingAxis = newCachedSeparatingAxis;
+				m_degenerateSimplex = 6;
+				checkSimplex = true;
+				break;
+			}
+
+			btScalar previousSquaredDistance = squaredDistance;
+			squaredDistance = newCachedSeparatingAxis.length2();
 #if 0
             ///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
             if (squaredDistance>previousSquaredDistance)
@@ -182,188 +172,183 @@ int	btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate
                 checkSimplex = false;
                 break;
             }
-#endif //
-            
-            
-            //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
-            
-            //are we getting any closer ?
-            if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
-            {
-                //				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-                checkSimplex = true;
-                m_degenerateSimplex = 12;
-                
-                break;
-            }
-            
-            m_cachedSeparatingAxis = newCachedSeparatingAxis;
-            
-            //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
-            if (m_curIter++ > gGjkMaxIter)
-            {
-#if defined(DEBUG) || defined (_DEBUG)
-                
-                printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
-                printf("sepAxis=(%f,%f,%f), squaredDistance = %f\n",
-                       m_cachedSeparatingAxis.getX(),
-                       m_cachedSeparatingAxis.getY(),
-                       m_cachedSeparatingAxis.getZ(),
-                       squaredDistance);
+#endif  //
+
+			//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
+
+			//are we getting any closer ?
+			if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
+			{
+				//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+				checkSimplex = true;
+				m_degenerateSimplex = 12;
+
+				break;
+			}
+
+			m_cachedSeparatingAxis = newCachedSeparatingAxis;
+
+			//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
+			if (m_curIter++ > gGjkMaxIter)
+			{
+#if defined(DEBUG) || defined(_DEBUG)
+
+				printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter);
+				printf("sepAxis=(%f,%f,%f), squaredDistance = %f\n",
+					   m_cachedSeparatingAxis.getX(),
+					   m_cachedSeparatingAxis.getY(),
+					   m_cachedSeparatingAxis.getZ(),
+					   squaredDistance);
 #endif
-                
-                break;
-                
-            }
-            
-            
-            bool check = (!simplexSolver.fullSimplex());
-            //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
-            
-            if (!check)
-            {
-                //do we need this backup_closest here ?
-                //				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-                m_degenerateSimplex = 13;
-                break;
-            }
-        }
-        
-        if (checkSimplex)
-        {
-            simplexSolver.compute_points(pointOnA, pointOnB);
-            normalInB = m_cachedSeparatingAxis;
-            
-            btScalar lenSqr =m_cachedSeparatingAxis.length2();
-            
-            //valid normal
-            if (lenSqr < 0.0001)
-            {
-                m_degenerateSimplex = 5;
-            }
-            if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
-            {
-                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-                normalInB *= rlen; //normalize
-                
-                btScalar s = btSqrt(squaredDistance);
-                
-                btAssert(s > btScalar(0.0));
-                pointOnA -= m_cachedSeparatingAxis * (marginA / s);
-                pointOnB += m_cachedSeparatingAxis * (marginB / s);
-                distance = ((btScalar(1.)/rlen) - margin);
-                isValid = true;
-                
-                m_lastUsedMethod = 1;
-            } else
-            {
-                m_lastUsedMethod = 2;
-            }
-        }
-        
-        bool catchDegeneratePenetrationCase =
-        (m_catchDegeneracies &&  m_degenerateSimplex && ((distance+margin) < 0.01));
-        
-        //if (checkPenetration && !isValid)
-        if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
-        {
-            //penetration case
-            
-            //if there is no way to handle penetrations, bail out
-            
-            // Penetration depth case.
-            btVector3 tmpPointOnA,tmpPointOnB;
-            
-            m_cachedSeparatingAxis.setZero();
-            
-            bool isValid2 = btGjkEpaCalcPenDepth(a,b,
-                                                 colDesc,
-                                                 m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB);
-            
-            if (isValid2)
-            {
-                btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
-                btScalar lenSqr = tmpNormalInB.length2();
-                if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
-                {
-                    tmpNormalInB = m_cachedSeparatingAxis;
-                    lenSqr = m_cachedSeparatingAxis.length2();
-                }
-                
-                if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
-                {
-                    tmpNormalInB /= btSqrt(lenSqr);
-                    btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
-                    //only replace valid penetrations when the result is deeper (check)
-                    if (!isValid || (distance2 < distance))
-                    {
-                        distance = distance2;
-                        pointOnA = tmpPointOnA;
-                        pointOnB = tmpPointOnB;
-                        normalInB = tmpNormalInB;
-                        
-                        isValid = true;
-                        m_lastUsedMethod = 3;
-                    } else
-                    {
-                        m_lastUsedMethod = 8;
-                    }
-                } else
-                {
-                    m_lastUsedMethod = 9;
-                }
-            } else
-                
-            {
-                ///this is another degenerate case, where the initial GJK calculation reports a degenerate case
-                ///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
-                ///reports a valid positive distance. Use the results of the second GJK instead of failing.
-                ///thanks to Jacob.Langford for the reproduction case
-                ///http://code.google.com/p/bullet/issues/detail?id=250
-                
-                
-                if (m_cachedSeparatingAxis.length2() > btScalar(0.))
-                {
-                    btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
-                    //only replace valid distances when the distance is less
-                    if (!isValid || (distance2 < distance))
-                    {
-                        distance = distance2;
-                        pointOnA = tmpPointOnA;
-                        pointOnB = tmpPointOnB;
-                        pointOnA -= m_cachedSeparatingAxis * marginA ;
-                        pointOnB += m_cachedSeparatingAxis * marginB ;
-                        normalInB = m_cachedSeparatingAxis;
-                        normalInB.normalize();
-                        
-                        isValid = true;
-                        m_lastUsedMethod = 6;
-                    } else
-                    {
-                        m_lastUsedMethod = 5;
-                    }
-                }
-            }
-        }
-    }
-    
-    
-    
-    if (isValid && ((distance < 0) || (distance*distance < colDesc.m_maximumDistanceSquared)))
-    {
-        
-        m_cachedSeparatingAxis = normalInB;
-        m_cachedSeparatingDistance = distance;
-        distInfo->m_distance = distance;
-        distInfo->m_normalBtoA = normalInB;
-        distInfo->m_pointOnB = pointOnB;
-        distInfo->m_pointOnA = pointOnB+normalInB*distance;
-        return 0;
-    }
-    return -m_lastUsedMethod;
-}
 
+				break;
+			}
+
+			bool check = (!simplexSolver.fullSimplex());
+			//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
+
+			if (!check)
+			{
+				//do we need this backup_closest here ?
+				//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+				m_degenerateSimplex = 13;
+				break;
+			}
+		}
+
+		if (checkSimplex)
+		{
+			simplexSolver.compute_points(pointOnA, pointOnB);
+			normalInB = m_cachedSeparatingAxis;
+
+			btScalar lenSqr = m_cachedSeparatingAxis.length2();
+
+			//valid normal
+			if (lenSqr < 0.0001)
+			{
+				m_degenerateSimplex = 5;
+			}
+			if (lenSqr > SIMD_EPSILON * SIMD_EPSILON)
+			{
+				btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
+				normalInB *= rlen;  //normalize
+
+				btScalar s = btSqrt(squaredDistance);
+
+				btAssert(s > btScalar(0.0));
+				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
+				pointOnB += m_cachedSeparatingAxis * (marginB / s);
+				distance = ((btScalar(1.) / rlen) - margin);
+				isValid = true;
+
+				m_lastUsedMethod = 1;
+			}
+			else
+			{
+				m_lastUsedMethod = 2;
+			}
+		}
+
+		bool catchDegeneratePenetrationCase =
+			(m_catchDegeneracies && m_degenerateSimplex && ((distance + margin) < 0.01));
+
+		//if (checkPenetration && !isValid)
+		if (checkPenetration && (!isValid || catchDegeneratePenetrationCase))
+		{
+			//penetration case
 
+			//if there is no way to handle penetrations, bail out
 
+			// Penetration depth case.
+			btVector3 tmpPointOnA, tmpPointOnB;
+
+			m_cachedSeparatingAxis.setZero();
+
+			bool isValid2 = btGjkEpaCalcPenDepth(a, b,
+												 colDesc,
+												 m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB);
+
+			if (isValid2)
+			{
+				btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA;
+				btScalar lenSqr = tmpNormalInB.length2();
+				if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
+				{
+					tmpNormalInB = m_cachedSeparatingAxis;
+					lenSqr = m_cachedSeparatingAxis.length2();
+				}
+
+				if (lenSqr > (SIMD_EPSILON * SIMD_EPSILON))
+				{
+					tmpNormalInB /= btSqrt(lenSqr);
+					btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length();
+					//only replace valid penetrations when the result is deeper (check)
+					if (!isValid || (distance2 < distance))
+					{
+						distance = distance2;
+						pointOnA = tmpPointOnA;
+						pointOnB = tmpPointOnB;
+						normalInB = tmpNormalInB;
+
+						isValid = true;
+						m_lastUsedMethod = 3;
+					}
+					else
+					{
+						m_lastUsedMethod = 8;
+					}
+				}
+				else
+				{
+					m_lastUsedMethod = 9;
+				}
+			}
+			else
+
+			{
+				///this is another degenerate case, where the initial GJK calculation reports a degenerate case
+				///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
+				///reports a valid positive distance. Use the results of the second GJK instead of failing.
+				///thanks to Jacob.Langford for the reproduction case
+				///http://code.google.com/p/bullet/issues/detail?id=250
+
+				if (m_cachedSeparatingAxis.length2() > btScalar(0.))
+				{
+					btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin;
+					//only replace valid distances when the distance is less
+					if (!isValid || (distance2 < distance))
+					{
+						distance = distance2;
+						pointOnA = tmpPointOnA;
+						pointOnB = tmpPointOnB;
+						pointOnA -= m_cachedSeparatingAxis * marginA;
+						pointOnB += m_cachedSeparatingAxis * marginB;
+						normalInB = m_cachedSeparatingAxis;
+						normalInB.normalize();
+
+						isValid = true;
+						m_lastUsedMethod = 6;
+					}
+					else
+					{
+						m_lastUsedMethod = 5;
+					}
+				}
+			}
+		}
+	}
+
+	if (isValid && ((distance < 0) || (distance * distance < colDesc.m_maximumDistanceSquared)))
+	{
+		m_cachedSeparatingAxis = normalInB;
+		m_cachedSeparatingDistance = distance;
+		distInfo->m_distance = distance;
+		distInfo->m_normalBtoA = normalInB;
+		distInfo->m_pointOnB = pointOnB;
+		distInfo->m_pointOnA = pointOnB + normalInB * distance;
+		return 0;
+	}
+	return -m_lastUsedMethod;
+}
 
-#endif //BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
+#endif  //BT_GJK_EPA_PENETATION_CONVEX_COLLISION_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 940282f576..38df8d4808 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btContinuousConvexCollision.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
@@ -24,59 +23,60 @@ subject to the following restrictions:
 #include "btPointCollector.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 
-
-
-btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape*	convexA,const btConvexShape*	convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
-:m_simplexSolver(simplexSolver),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_convexA(convexA),m_convexB1(convexB),m_planeShape(0)
+btContinuousConvexCollision::btContinuousConvexCollision(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
+	: m_simplexSolver(simplexSolver),
+	  m_penetrationDepthSolver(penetrationDepthSolver),
+	  m_convexA(convexA),
+	  m_convexB1(convexB),
+	  m_planeShape(0)
 {
 }
 
-
-btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape*	convexA,const btStaticPlaneShape*	plane)
-:m_simplexSolver(0),
-m_penetrationDepthSolver(0),
-m_convexA(convexA),m_convexB1(0),m_planeShape(plane)
+btContinuousConvexCollision::btContinuousConvexCollision(const btConvexShape* convexA, const btStaticPlaneShape* plane)
+	: m_simplexSolver(0),
+	  m_penetrationDepthSolver(0),
+	  m_convexA(convexA),
+	  m_convexB1(0),
+	  m_planeShape(plane)
 {
 }
 
-
 /// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
 /// You don't want your game ever to lock-up.
 #define MAX_ITERATIONS 64
 
-void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector)
+void btContinuousConvexCollision::computeClosestPoints(const btTransform& transA, const btTransform& transB, btPointCollector& pointCollector)
 {
 	if (m_convexB1)
 	{
 		m_simplexSolver->reset();
-		btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver);		
+		btGjkPairDetector gjk(m_convexA, m_convexB1, m_convexA->getShapeType(), m_convexB1->getShapeType(), m_convexA->getMargin(), m_convexB1->getMargin(), m_simplexSolver, m_penetrationDepthSolver);
 		btGjkPairDetector::ClosestPointInput input;
 		input.m_transformA = transA;
 		input.m_transformB = transB;
-		gjk.getClosestPoints(input,pointCollector,0);
-	} else
+		gjk.getClosestPoints(input, pointCollector, 0);
+	}
+	else
 	{
 		//convex versus plane
 		const btConvexShape* convexShape = m_convexA;
 		const btStaticPlaneShape* planeShape = m_planeShape;
-		
+
 		const btVector3& planeNormal = planeShape->getPlaneNormal();
 		const btScalar& planeConstant = planeShape->getPlaneConstant();
-		
+
 		btTransform convexWorldTransform = transA;
 		btTransform convexInPlaneTrans;
-		convexInPlaneTrans= transB.inverse() * convexWorldTransform;
+		convexInPlaneTrans = transB.inverse() * convexWorldTransform;
 		btTransform planeInConvex;
-		planeInConvex= convexWorldTransform.inverse() * transB;
-		
-		btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+		planeInConvex = convexWorldTransform.inverse() * transB;
+
+		btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
 
 		btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 		btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
-		btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+		btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
 		btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
 		btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
 
@@ -87,41 +87,33 @@ void btContinuousConvexCollision::computeClosestPoints( const btTransform& trans
 	}
 }
 
-bool	btContinuousConvexCollision::calcTimeOfImpact(
-				const btTransform& fromA,
-				const btTransform& toA,
-				const btTransform& fromB,
-				const btTransform& toB,
-				CastResult& result)
+bool btContinuousConvexCollision::calcTimeOfImpact(
+	const btTransform& fromA,
+	const btTransform& toA,
+	const btTransform& fromB,
+	const btTransform& toB,
+	CastResult& result)
 {
-
-
 	/// compute linear and angular velocity for this interval, to interpolate
-	btVector3 linVelA,angVelA,linVelB,angVelB;
-	btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA);
-	btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB);
-
+	btVector3 linVelA, angVelA, linVelB, angVelB;
+	btTransformUtil::calculateVelocity(fromA, toA, btScalar(1.), linVelA, angVelA);
+	btTransformUtil::calculateVelocity(fromB, toB, btScalar(1.), linVelB, angVelB);
 
 	btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
-	btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f;
+	btScalar boundingRadiusB = m_convexB1 ? m_convexB1->getAngularMotionDisc() : 0.f;
 
 	btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
-	btVector3 relLinVel = (linVelB-linVelA);
-
-	btScalar relLinVelocLength = (linVelB-linVelA).length();
-	
-	if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f)
-		return false;
+	btVector3 relLinVel = (linVelB - linVelA);
 
+	btScalar relLinVelocLength = (linVelB - linVelA).length();
 
+	if ((relLinVelocLength + maxAngularProjectedVelocity) == 0.f)
+		return false;
 
 	btScalar lambda = btScalar(0.);
-	btVector3 v(1,0,0);
-
-	int maxIter = MAX_ITERATIONS;
 
 	btVector3 n;
-	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 	bool hasResult = false;
 	btVector3 c;
 
@@ -131,15 +123,13 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 	int numIter = 0;
 	//first solution, using GJK
 
-
 	btScalar radius = 0.001f;
-//	result.drawCoordSystem(sphereTr);
+	//	result.drawCoordSystem(sphereTr);
 
-	btPointCollector	pointCollector1;
+	btPointCollector pointCollector1;
 
 	{
-	
-		computeClosestPoints(fromA,fromB,pointCollector1);
+		computeClosestPoints(fromA, fromB, pointCollector1);
 
 		hasResult = pointCollector1.m_hasResult;
 		c = pointCollector1.m_pointInWorld;
@@ -151,7 +141,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		dist = pointCollector1.m_distance + result.m_allowedPenetration;
 		n = pointCollector1.m_normalOnBInWorld;
 		btScalar projectedLinearVelocity = relLinVel.dot(n);
-		if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
+		if ((projectedLinearVelocity + maxAngularProjectedVelocity) <= SIMD_EPSILON)
 			return false;
 
 		//not close enough
@@ -159,77 +149,69 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		{
 			if (result.m_debugDrawer)
 			{
-				result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
+				result.m_debugDrawer->drawSphere(c, 0.2f, btVector3(1, 1, 1));
 			}
 			btScalar dLambda = btScalar(0.);
 
 			projectedLinearVelocity = relLinVel.dot(n);
 
-			
 			//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-			if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
+			if ((projectedLinearVelocity + maxAngularProjectedVelocity) <= SIMD_EPSILON)
 				return false;
-			
-			dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
 
-			
-			
-			lambda = lambda + dLambda;
+			dLambda = dist / (projectedLinearVelocity + maxAngularProjectedVelocity);
 
-			if (lambda > btScalar(1.))
-				return false;
+			lambda += dLambda;
 
-			if (lambda < btScalar(0.))
+			if (lambda > btScalar(1.) || lambda < btScalar(0.))
 				return false;
 
-
 			//todo: next check with relative epsilon
 			if (lambda <= lastLambda)
 			{
 				return false;
 				//n.setValue(0,0,0);
-				break;
+				//break;
 			}
 			lastLambda = lambda;
 
-			
-
 			//interpolate to next lambda
-			btTransform interpolatedTransA,interpolatedTransB,relativeTrans;
+			btTransform interpolatedTransA, interpolatedTransB, relativeTrans;
 
-			btTransformUtil::integrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA);
-			btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
+			btTransformUtil::integrateTransform(fromA, linVelA, angVelA, lambda, interpolatedTransA);
+			btTransformUtil::integrateTransform(fromB, linVelB, angVelB, lambda, interpolatedTransB);
 			relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
 
 			if (result.m_debugDrawer)
 			{
-				result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0));
+				result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(), 0.2f, btVector3(1, 0, 0));
 			}
 
-			result.DebugDraw( lambda );
+			result.DebugDraw(lambda);
 
-			btPointCollector	pointCollector;
-			computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector);
+			btPointCollector pointCollector;
+			computeClosestPoints(interpolatedTransA, interpolatedTransB, pointCollector);
 
 			if (pointCollector.m_hasResult)
 			{
-				dist = pointCollector.m_distance+result.m_allowedPenetration;
-				c = pointCollector.m_pointInWorld;		
+				dist = pointCollector.m_distance + result.m_allowedPenetration;
+				c = pointCollector.m_pointInWorld;
 				n = pointCollector.m_normalOnBInWorld;
-			} else
+			}
+			else
 			{
 				result.reportFailure(-1, numIter);
 				return false;
 			}
 
 			numIter++;
-			if (numIter > maxIter)
+			if (numIter > MAX_ITERATIONS)
 			{
 				result.reportFailure(-2, numIter);
 				return false;
 			}
 		}
-	
+
 		result.m_fraction = lambda;
 		result.m_normal = n;
 		result.m_hitPoint = c;
@@ -237,6 +219,4 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 	}
 
 	return false;
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
index bdc0572f75..67b2205c36 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
 #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
 
@@ -25,35 +24,30 @@ class btStaticPlaneShape;
 
 /// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
 /// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
-/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
+/// Algorithm operates in worldspace, in order to keep in between motion globally consistent.
 /// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
 class btContinuousConvexCollision : public btConvexCast
 {
 	btSimplexSolverInterface* m_simplexSolver;
-	btConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	const btConvexShape*	m_convexA;
+	btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
+	const btConvexShape* m_convexA;
 	//second object is either a convex or a plane (code sharing)
-	const btConvexShape*	m_convexB1;
-	const btStaticPlaneShape*	m_planeShape;
+	const btConvexShape* m_convexB1;
+	const btStaticPlaneShape* m_planeShape;
 
-	void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
+	void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
 
 public:
+	btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
 
-	btContinuousConvexCollision (const btConvexShape*	shapeA,const btConvexShape*	shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
-
-	btContinuousConvexCollision(const btConvexShape*	shapeA,const btStaticPlaneShape*	plane );
-
-	virtual bool	calcTimeOfImpact(
-				const btTransform& fromA,
-				const btTransform& toA,
-				const btTransform& fromB,
-				const btTransform& toB,
-				CastResult& result);
-
+	btContinuousConvexCollision(const btConvexShape* shapeA, const btStaticPlaneShape* plane);
 
+	virtual bool calcTimeOfImpact(
+		const btTransform& fromA,
+		const btTransform& toA,
+		const btTransform& fromB,
+		const btTransform& toB,
+		CastResult& result);
 };
 
-
-#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
-
+#endif  //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
index bfd79d03be..76f54699c5 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_CONVEX_CAST_H
 #define BT_CONVEX_CAST_H
 
@@ -23,51 +22,69 @@ subject to the following restrictions:
 class btMinkowskiSumShape;
 #include "LinearMath/btIDebugDraw.h"
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define MAX_ITERATIONS 64
+#define MAX_EPSILON (SIMD_EPSILON * 10)
+#else
+#define MAX_ITERATIONS 32
+#define MAX_EPSILON btScalar(0.0001)
+#endif
+///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
+///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
+//will need to digg deeper to make the algorithm more robust
+//since, a large epsilon can cause an early termination with false
+//positive results (ray intersections that shouldn't be there)
+
 /// btConvexCast is an interface for Casting
 class btConvexCast
 {
 public:
-
-
 	virtual ~btConvexCast();
 
 	///RayResult stores the closest result
 	/// alternatively, add a callback method to decide about closest/all results
-	struct	CastResult
+	struct CastResult
 	{
 		//virtual bool	addRayResult(const btVector3& normal,btScalar	fraction) = 0;
-				
-		virtual void	DebugDraw(btScalar	fraction) {(void)fraction;}
-		virtual void	drawCoordSystem(const btTransform& trans) {(void)trans;}
-		virtual void	reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
+
+		virtual void DebugDraw(btScalar fraction) { (void)fraction; }
+		virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
+		virtual void reportFailure(int errNo, int numIterations)
+		{
+			(void)errNo;
+			(void)numIterations;
+		}
 		CastResult()
-			:m_fraction(btScalar(BT_LARGE_FLOAT)),
-			m_debugDrawer(0),
-			m_allowedPenetration(btScalar(0))
+			: m_fraction(btScalar(BT_LARGE_FLOAT)),
+			  m_debugDrawer(0),
+			  m_allowedPenetration(btScalar(0)),
+			  m_subSimplexCastMaxIterations(MAX_ITERATIONS),
+			  m_subSimplexCastEpsilon(MAX_EPSILON)
 		{
 		}
 
+		virtual ~CastResult(){};
 
-		virtual ~CastResult() {};
-
-		btTransform	m_hitTransformA;
-		btTransform	m_hitTransformB;
-		btVector3	m_normal;
-		btVector3   m_hitPoint;
-		btScalar	m_fraction; //input and output
+		btTransform m_hitTransformA;
+		btTransform m_hitTransformB;
+		btVector3 m_normal;
+		btVector3 m_hitPoint;
+		btScalar m_fraction;  //input and output
 		btIDebugDraw* m_debugDrawer;
-		btScalar	m_allowedPenetration;
+		btScalar m_allowedPenetration;
+		
+		int m_subSimplexCastMaxIterations;
+		btScalar m_subSimplexCastEpsilon;
 
 	};
 
-
 	/// cast a convex against another convex object
-	virtual bool	calcTimeOfImpact(
-					const btTransform& fromA,
-					const btTransform& toA,
-					const btTransform& fromB,
-					const btTransform& toB,
-					CastResult& result) = 0;
+	virtual bool calcTimeOfImpact(
+		const btTransform& fromA,
+		const btTransform& toA,
+		const btTransform& fromB,
+		const btTransform& toB,
+		CastResult& result) = 0;
 };
 
-#endif //BT_CONVEX_CAST_H
+#endif  //BT_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
index 29620abffb..65c9df9340 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_CONVEX_PENETRATION_DEPTH_H
 #define BT_CONVEX_PENETRATION_DEPTH_H
 
@@ -25,16 +24,12 @@ class btTransform;
 ///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
 class btConvexPenetrationDepthSolver
 {
-public:	
-	
-	virtual ~btConvexPenetrationDepthSolver() {};
-	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
-		const btConvexShape* convexA,const btConvexShape* convexB,
-					const btTransform& transA,const btTransform& transB,
-				btVector3& v, btVector3& pa, btVector3& pb,
-				class btIDebugDraw* debugDraw) = 0;
-
-
+public:
+	virtual ~btConvexPenetrationDepthSolver(){};
+	virtual bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
+							  const btConvexShape* convexA, const btConvexShape* convexB,
+							  const btTransform& transA, const btTransform& transB,
+							  btVector3& v, btVector3& pa, btVector3& pb,
+							  class btIDebugDraw* debugDraw) = 0;
 };
-#endif //BT_CONVEX_PENETRATION_DEPTH_H
-
+#endif  //BT_CONVEX_PENETRATION_DEPTH_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
index 0ea7b483cf..d1bbb1a46e 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
 #define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
 
@@ -27,64 +26,60 @@ subject to the following restrictions:
 /// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
 struct btDiscreteCollisionDetectorInterface
 {
-	
 	struct Result
 	{
-	
-		virtual ~Result(){}	
+		virtual ~Result() {}
 
 		///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
-		virtual void setShapeIdentifiersA(int partId0,int index0)=0;
-		virtual void setShapeIdentifiersB(int partId1,int index1)=0;
-		virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
+		virtual void setShapeIdentifiersA(int partId0, int index0) = 0;
+		virtual void setShapeIdentifiersB(int partId1, int index1) = 0;
+		virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) = 0;
 	};
 
 	struct ClosestPointInput
 	{
 		ClosestPointInput()
-			:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
+			: m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
 		{
 		}
 
 		btTransform m_transformA;
 		btTransform m_transformB;
-		btScalar	m_maximumDistanceSquared;
+		btScalar m_maximumDistanceSquared;
 	};
 
-	virtual ~btDiscreteCollisionDetectorInterface() {};
+	virtual ~btDiscreteCollisionDetectorInterface(){};
 
 	//
 	// give either closest points (distance > 0) or penetration (distance)
 	// the normal always points from B towards A
 	//
-	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0;
-
+	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false) = 0;
 };
 
 struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
 {
-		btVector3	m_normalOnSurfaceB;
-		btVector3	m_closestPointInB;
-		btScalar	m_distance; //negative means penetration !
+	btVector3 m_normalOnSurfaceB;
+	btVector3 m_closestPointInB;
+	btScalar m_distance;  //negative means penetration !
 
-    protected:
-		btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
-		{
-		}
-		
-	public:
-		virtual ~btStorageResult() {};
+protected:
+	btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
+	{
+	}
+
+public:
+	virtual ~btStorageResult(){};
 
-		virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
+	{
+		if (depth < m_distance)
 		{
-			if (depth < m_distance)
-			{
-				m_normalOnSurfaceB = normalOnBInWorld;
-				m_closestPointInB = pointInWorld;
-				m_distance = depth;
-			}
+			m_normalOnSurfaceB = normalOnBInWorld;
+			m_closestPointInB = pointInWorld;
+			m_distance = depth;
 		}
+	}
 };
 
-#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-
+#endif  //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
index 0b49b0ecc6..c9fd84bebf 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef GJK_COLLISION_DESCRIPTION_H
 #define GJK_COLLISION_DESCRIPTION_H
 
@@ -21,21 +20,20 @@ subject to the following restrictions:
 
 struct btGjkCollisionDescription
 {
-    btVector3	m_firstDir;
-    int			m_maxGjkIterations;
-    btScalar	m_maximumDistanceSquared;
-    btScalar	m_gjkRelError2;
-    btGjkCollisionDescription()
-    :m_firstDir(0,1,0),
-    m_maxGjkIterations(1000),
-    m_maximumDistanceSquared(1e30f),
-    m_gjkRelError2(1.0e-6)
-    {
-    }
-    virtual ~btGjkCollisionDescription()
-    {
-    }
+	btVector3 m_firstDir;
+	int m_maxGjkIterations;
+	btScalar m_maximumDistanceSquared;
+	btScalar m_gjkRelError2;
+	btGjkCollisionDescription()
+		: m_firstDir(0, 1, 0),
+		  m_maxGjkIterations(1000),
+		  m_maximumDistanceSquared(1e30f),
+		  m_gjkRelError2(1.0e-6)
+	{
+	}
+	virtual ~btGjkCollisionDescription()
+	{
+	}
 };
 
-#endif //GJK_COLLISION_DESCRIPTION_H
-
+#endif  //GJK_COLLISION_DESCRIPTION_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
index bef697a0a1..9d61e75dac 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btGjkConvexCast.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "btGjkPairDetector.h"
@@ -27,41 +25,39 @@ subject to the following restrictions:
 #define MAX_ITERATIONS 32
 #endif
 
-btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
-:m_simplexSolver(simplexSolver),
-m_convexA(convexA),
-m_convexB(convexB)
+btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
+	: m_simplexSolver(simplexSolver),
+	  m_convexA(convexA),
+	  m_convexB(convexB)
 {
 }
 
-bool	btGjkConvexCast::calcTimeOfImpact(
-					const btTransform& fromA,
-					const btTransform& toA,
-					const btTransform& fromB,
-					const btTransform& toB,
-					CastResult& result)
+bool btGjkConvexCast::calcTimeOfImpact(
+	const btTransform& fromA,
+	const btTransform& toA,
+	const btTransform& fromB,
+	const btTransform& toB,
+	CastResult& result)
 {
-
-
 	m_simplexSolver->reset();
 
 	/// compute linear velocity for this interval, to interpolate
 	//assume no rotation/angular velocity, assert here?
-	btVector3 linVelA,linVelB;
-	linVelA = toA.getOrigin()-fromA.getOrigin();
-	linVelB = toB.getOrigin()-fromB.getOrigin();
+	btVector3 linVelA, linVelB;
+	linVelA = toA.getOrigin() - fromA.getOrigin();
+	linVelB = toB.getOrigin() - fromB.getOrigin();
 
 	btScalar radius = btScalar(0.001);
 	btScalar lambda = btScalar(0.);
-	btVector3 v(1,0,0);
+	btVector3 v(1, 0, 0);
 
 	int maxIter = MAX_ITERATIONS;
 
 	btVector3 n;
-	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 	bool hasResult = false;
 	btVector3 c;
-	btVector3 r = (linVelA-linVelB);
+	btVector3 r = (linVelA - linVelB);
 
 	btScalar lastLambda = lambda;
 	//btScalar epsilon = btScalar(0.001);
@@ -69,17 +65,14 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 	int numIter = 0;
 	//first solution, using GJK
 
-
 	btTransform identityTrans;
 	identityTrans.setIdentity();
 
+	//	result.drawCoordSystem(sphereTr);
 
-//	result.drawCoordSystem(sphereTr);
-
-	btPointCollector	pointCollector;
+	btPointCollector pointCollector;
 
-		
-	btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,0);//m_penetrationDepthSolver);		
+	btGjkPairDetector gjk(m_convexA, m_convexB, m_simplexSolver, 0);  //m_penetrationDepthSolver);
 	btGjkPairDetector::ClosestPointInput input;
 
 	//we don't use margins during CCD
@@ -87,7 +80,7 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 
 	input.m_transformA = fromA;
 	input.m_transformB = fromB;
-	gjk.getClosestPoints(input,pointCollector,0);
+	gjk.getClosestPoints(input, pointCollector, 0);
 
 	hasResult = pointCollector.m_hasResult;
 	c = pointCollector.m_pointInWorld;
@@ -98,20 +91,18 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 		dist = pointCollector.m_distance;
 		n = pointCollector.m_normalOnBInWorld;
 
-	
-
 		//not close enough
 		while (dist > radius)
 		{
 			numIter++;
 			if (numIter > maxIter)
 			{
-				return false; //todo: report a failure
+				return false;  //todo: report a failure
 			}
 			btScalar dLambda = btScalar(0.);
 
 			btScalar projectedLinearVelocity = r.dot(n);
-			
+
 			dLambda = dist / (projectedLinearVelocity);
 
 			lambda = lambda - dLambda;
@@ -132,35 +123,35 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 			lastLambda = lambda;
 
 			//interpolate to next lambda
-			result.DebugDraw( lambda );
-			input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda);
-			input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda);
-			
-			gjk.getClosestPoints(input,pointCollector,0);
+			result.DebugDraw(lambda);
+			input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
+			input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
+
+			gjk.getClosestPoints(input, pointCollector, 0);
 			if (pointCollector.m_hasResult)
 			{
 				if (pointCollector.m_distance < btScalar(0.))
 				{
 					result.m_fraction = lastLambda;
 					n = pointCollector.m_normalOnBInWorld;
-					result.m_normal=n;
+					result.m_normal = n;
 					result.m_hitPoint = pointCollector.m_pointInWorld;
 					return true;
 				}
-				c = pointCollector.m_pointInWorld;		
+				c = pointCollector.m_pointInWorld;
 				n = pointCollector.m_normalOnBInWorld;
 				dist = pointCollector.m_distance;
-			} else
+			}
+			else
 			{
 				//??
 				return false;
 			}
-
 		}
 
 		//is n normalized?
 		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-		if (n.dot(r)>=-result.m_allowedPenetration)
+		if (n.dot(r) >= -result.m_allowedPenetration)
 			return false;
 
 		result.m_fraction = lambda;
@@ -170,7 +161,4 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 	}
 
 	return false;
-
-
 }
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
index 6a42ee63b0..ef5979173e 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_GJK_CONVEX_CAST_H
 #define BT_GJK_CONVEX_CAST_H
 
@@ -29,22 +27,20 @@ class btMinkowskiSumShape;
 ///GjkConvexCast performs a raycast on a convex object using support mapping.
 class btGjkConvexCast : public btConvexCast
 {
-	btSimplexSolverInterface*	m_simplexSolver;
-	const btConvexShape*	m_convexA;
-	const btConvexShape*	m_convexB;
+	btSimplexSolverInterface* m_simplexSolver;
+	const btConvexShape* m_convexA;
+	const btConvexShape* m_convexB;
 
 public:
-
-	btGjkConvexCast(const btConvexShape*	convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
+	btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver);
 
 	/// cast a convex against another convex object
-	virtual bool	calcTimeOfImpact(
-					const btTransform& fromA,
-					const btTransform& toA,
-					const btTransform& fromB,
-					const btTransform& toB,
-					CastResult& result);
-
+	virtual bool calcTimeOfImpact(
+		const btTransform& fromA,
+		const btTransform& toA,
+		const btTransform& fromB,
+		const btTransform& toB,
+		CastResult& result);
 };
 
-#endif //BT_GJK_CONVEX_CAST_H
+#endif  //BT_GJK_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index eefb974bbd..45d1817135 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -26,1010 +26,1065 @@ GJK-EPA collision solver by Nathanael Presson, 2008
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "btGjkEpa2.h"
 
-#if defined(DEBUG) || defined (_DEBUG)
-#include <stdio.h> //for debug printf
+#if defined(DEBUG) || defined(_DEBUG)
+#include <stdio.h>  //for debug printf
 #ifdef __SPU__
 #include <spu_printf.h>
 #define printf spu_printf
-#endif //__SPU__
+#endif  //__SPU__
 #endif
 
 namespace gjkepa2_impl
 {
+// Config
 
-	// Config
-
-	/* GJK	*/ 
-#define GJK_MAX_ITERATIONS	128
+/* GJK	*/
+#define GJK_MAX_ITERATIONS 128
 
 #ifdef BT_USE_DOUBLE_PRECISION
-	#define GJK_ACCURACY		((btScalar)1e-12)
-	#define GJK_MIN_DISTANCE	((btScalar)1e-12)
-	#define GJK_DUPLICATED_EPS	((btScalar)1e-12)
+#define GJK_ACCURACY ((btScalar)1e-12)
+#define GJK_MIN_DISTANCE ((btScalar)1e-12)
+#define GJK_DUPLICATED_EPS ((btScalar)1e-12)
 #else
-	#define GJK_ACCURACY		((btScalar)0.0001)
-	#define GJK_MIN_DISTANCE	((btScalar)0.0001)
-	#define GJK_DUPLICATED_EPS	((btScalar)0.0001)
-#endif //BT_USE_DOUBLE_PRECISION
-
+#define GJK_ACCURACY ((btScalar)0.0001)
+#define GJK_MIN_DISTANCE ((btScalar)0.0001)
+#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
+#endif  //BT_USE_DOUBLE_PRECISION
 
-#define GJK_SIMPLEX2_EPS	((btScalar)0.0)
-#define GJK_SIMPLEX3_EPS	((btScalar)0.0)
-#define GJK_SIMPLEX4_EPS	((btScalar)0.0)
+#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
+#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
+#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
 
-	/* EPA	*/ 
-#define EPA_MAX_VERTICES	128
-#define EPA_MAX_ITERATIONS	255
+/* EPA	*/
+#define EPA_MAX_VERTICES 128
+#define EPA_MAX_ITERATIONS 255
 
 #ifdef BT_USE_DOUBLE_PRECISION
-	#define EPA_ACCURACY		((btScalar)1e-12)
-	#define EPA_PLANE_EPS		((btScalar)1e-14)
-	#define EPA_INSIDE_EPS		((btScalar)1e-9)
+#define EPA_ACCURACY ((btScalar)1e-12)
+#define EPA_PLANE_EPS ((btScalar)1e-14)
+#define EPA_INSIDE_EPS ((btScalar)1e-9)
 #else
-	#define EPA_ACCURACY		((btScalar)0.0001)
-	#define EPA_PLANE_EPS		((btScalar)0.00001)
-	#define EPA_INSIDE_EPS		((btScalar)0.01)
+#define EPA_ACCURACY ((btScalar)0.0001)
+#define EPA_PLANE_EPS ((btScalar)0.00001)
+#define EPA_INSIDE_EPS ((btScalar)0.01)
 #endif
 
-#define EPA_FALLBACK            (10*EPA_ACCURACY)
-#define EPA_MAX_FACES           (EPA_MAX_VERTICES*2)
-
+#define EPA_FALLBACK (10 * EPA_ACCURACY)
+#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2)
 
-	// Shorthands
-	typedef unsigned int	U;
-	typedef unsigned char	U1;
+// Shorthands
+typedef unsigned int U;
+typedef unsigned char U1;
 
-	// MinkowskiDiff
-	struct	MinkowskiDiff
-	{
-		const btConvexShape*	m_shapes[2];
-		btMatrix3x3				m_toshape1;
-		btTransform				m_toshape0;
+// MinkowskiDiff
+struct MinkowskiDiff
+{
+	const btConvexShape* m_shapes[2];
+	btMatrix3x3 m_toshape1;
+	btTransform m_toshape0;
 #ifdef __SPU__
-		bool					m_enableMargin;
+	bool m_enableMargin;
 #else
-		btVector3				(btConvexShape::*Ls)(const btVector3&) const;
-#endif//__SPU__
-		
+	btVector3 (btConvexShape::*Ls)(const btVector3&) const;
+#endif  //__SPU__
 
-		MinkowskiDiff()
-		{
-
-		}
+	MinkowskiDiff()
+	{
+	}
 #ifdef __SPU__
-			void					EnableMargin(bool enable)
-		{
-			m_enableMargin = enable;
-		}	
-		inline btVector3		Support0(const btVector3& d) const
-		{
-			if (m_enableMargin)
-			{
-				return m_shapes[0]->localGetSupportVertexNonVirtual(d);
-			} else
-			{
-				return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d);
-			}
-		}
-		inline btVector3		Support1(const btVector3& d) const
-		{
-			if (m_enableMargin)
-			{
-				return m_toshape0*(m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1*d));
-			} else
-			{
-				return m_toshape0*(m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1*d));
-			}
-		}
-#else
-		void					EnableMargin(bool enable)
-		{
-			if(enable)
-				Ls=&btConvexShape::localGetSupportVertexNonVirtual;
-			else
-				Ls=&btConvexShape::localGetSupportVertexWithoutMarginNonVirtual;
-		}	
-		inline btVector3		Support0(const btVector3& d) const
+	void EnableMargin(bool enable)
+	{
+		m_enableMargin = enable;
+	}
+	inline btVector3 Support0(const btVector3& d) const
+	{
+		if (m_enableMargin)
 		{
-			return(((m_shapes[0])->*(Ls))(d));
+			return m_shapes[0]->localGetSupportVertexNonVirtual(d);
 		}
-		inline btVector3		Support1(const btVector3& d) const
+		else
 		{
-			return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
+			return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d);
 		}
-#endif //__SPU__
-
-		inline btVector3		Support(const btVector3& d) const
+	}
+	inline btVector3 Support1(const btVector3& d) const
+	{
+		if (m_enableMargin)
 		{
-			return(Support0(d)-Support1(-d));
+			return m_toshape0 * (m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1 * d));
 		}
-		btVector3				Support(const btVector3& d,U index) const
+		else
 		{
-			if(index)
-				return(Support1(d));
-			else
-				return(Support0(d));
+			return m_toshape0 * (m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1 * d));
 		}
-	};
+	}
+#else
+	void EnableMargin(bool enable)
+	{
+		if (enable)
+			Ls = &btConvexShape::localGetSupportVertexNonVirtual;
+		else
+			Ls = &btConvexShape::localGetSupportVertexWithoutMarginNonVirtual;
+	}
+	inline btVector3 Support0(const btVector3& d) const
+	{
+		return (((m_shapes[0])->*(Ls))(d));
+	}
+	inline btVector3 Support1(const btVector3& d) const
+	{
+		return (m_toshape0 * ((m_shapes[1])->*(Ls))(m_toshape1 * d));
+	}
+#endif  //__SPU__
 
-	typedef	MinkowskiDiff	tShape;
+	inline btVector3 Support(const btVector3& d) const
+	{
+		return (Support0(d) - Support1(-d));
+	}
+	btVector3 Support(const btVector3& d, U index) const
+	{
+		if (index)
+			return (Support1(d));
+		else
+			return (Support0(d));
+	}
+};
 
+typedef MinkowskiDiff tShape;
 
-	// GJK
-	struct	GJK
+// GJK
+struct GJK
+{
+	/* Types		*/
+	struct sSV
 	{
-		/* Types		*/ 
-		struct	sSV
-		{
-			btVector3	d,w;
-		};
-		struct	sSimplex
+		btVector3 d, w;
+	};
+	struct sSimplex
+	{
+		sSV* c[4];
+		btScalar p[4];
+		U rank;
+	};
+	struct eStatus
+	{
+		enum _
 		{
-			sSV*		c[4];
-			btScalar	p[4];
-			U			rank;
-		};
-		struct	eStatus	{ enum _ {
 			Valid,
 			Inside,
-			Failed		};};
-			/* Fields		*/ 
-			tShape			m_shape;
-			btVector3		m_ray;
-			btScalar		m_distance;
-			sSimplex		m_simplices[2];
-			sSV				m_store[4];
-			sSV*			m_free[4];
-			U				m_nfree;
-			U				m_current;
-			sSimplex*		m_simplex;
-			eStatus::_		m_status;
-			/* Methods		*/ 
-			GJK()
-			{
-				Initialize();
+			Failed
+		};
+	};
+	/* Fields		*/
+	tShape m_shape;
+	btVector3 m_ray;
+	btScalar m_distance;
+	sSimplex m_simplices[2];
+	sSV m_store[4];
+	sSV* m_free[4];
+	U m_nfree;
+	U m_current;
+	sSimplex* m_simplex;
+	eStatus::_ m_status;
+	/* Methods		*/
+	GJK()
+	{
+		Initialize();
+	}
+	void Initialize()
+	{
+		m_ray = btVector3(0, 0, 0);
+		m_nfree = 0;
+		m_status = eStatus::Failed;
+		m_current = 0;
+		m_distance = 0;
+	}
+	eStatus::_ Evaluate(const tShape& shapearg, const btVector3& guess)
+	{
+		U iterations = 0;
+		btScalar sqdist = 0;
+		btScalar alpha = 0;
+		btVector3 lastw[4];
+		U clastw = 0;
+		/* Initialize solver		*/
+		m_free[0] = &m_store[0];
+		m_free[1] = &m_store[1];
+		m_free[2] = &m_store[2];
+		m_free[3] = &m_store[3];
+		m_nfree = 4;
+		m_current = 0;
+		m_status = eStatus::Valid;
+		m_shape = shapearg;
+		m_distance = 0;
+		/* Initialize simplex		*/
+		m_simplices[0].rank = 0;
+		m_ray = guess;
+		const btScalar sqrl = m_ray.length2();
+		appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : btVector3(1, 0, 0));
+		m_simplices[0].p[0] = 1;
+		m_ray = m_simplices[0].c[0]->w;
+		sqdist = sqrl;
+		lastw[0] =
+			lastw[1] =
+				lastw[2] =
+					lastw[3] = m_ray;
+		/* Loop						*/
+		do
+		{
+			const U next = 1 - m_current;
+			sSimplex& cs = m_simplices[m_current];
+			sSimplex& ns = m_simplices[next];
+			/* Check zero							*/
+			const btScalar rl = m_ray.length();
+			if (rl < GJK_MIN_DISTANCE)
+			{ /* Touching or inside				*/
+				m_status = eStatus::Inside;
+				break;
 			}
-			void				Initialize()
+			/* Append new vertice in -'v' direction	*/
+			appendvertice(cs, -m_ray);
+			const btVector3& w = cs.c[cs.rank - 1]->w;
+			bool found = false;
+			for (U i = 0; i < 4; ++i)
 			{
-				m_ray		=	btVector3(0,0,0);
-				m_nfree		=	0;
-				m_status	=	eStatus::Failed;
-				m_current	=	0;
-				m_distance	=	0;
+				if ((w - lastw[i]).length2() < GJK_DUPLICATED_EPS)
+				{
+					found = true;
+					break;
+				}
+			}
+			if (found)
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			else
+			{ /* Update lastw					*/
+				lastw[clastw = (clastw + 1) & 3] = w;
+			}
+			/* Check for termination				*/
+			const btScalar omega = btDot(m_ray, w) / rl;
+			alpha = btMax(omega, alpha);
+			if (((rl - alpha) - (GJK_ACCURACY * rl)) <= 0)
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
 			}
-			eStatus::_			Evaluate(const tShape& shapearg,const btVector3& guess)
+			/* Reduce simplex						*/
+			btScalar weights[4];
+			U mask = 0;
+			switch (cs.rank)
 			{
-				U			iterations=0;
-				btScalar	sqdist=0;
-				btScalar	alpha=0;
-				btVector3	lastw[4];
-				U			clastw=0;
-				/* Initialize solver		*/ 
-				m_free[0]			=	&m_store[0];
-				m_free[1]			=	&m_store[1];
-				m_free[2]			=	&m_store[2];
-				m_free[3]			=	&m_store[3];
-				m_nfree				=	4;
-				m_current			=	0;
-				m_status			=	eStatus::Valid;
-				m_shape				=	shapearg;
-				m_distance			=	0;
-				/* Initialize simplex		*/ 
-				m_simplices[0].rank	=	0;
-				m_ray				=	guess;
-				const btScalar	sqrl=	m_ray.length2();
-				appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0));
-				m_simplices[0].p[0]	=	1;
-				m_ray				=	m_simplices[0].c[0]->w;	
-				sqdist				=	sqrl;
-				lastw[0]			=
-					lastw[1]			=
-					lastw[2]			=
-					lastw[3]			=	m_ray;
-				/* Loop						*/ 
-				do	{
-					const U		next=1-m_current;
-					sSimplex&	cs=m_simplices[m_current];
-					sSimplex&	ns=m_simplices[next];
-					/* Check zero							*/ 
-					const btScalar	rl=m_ray.length();
-					if(rl<GJK_MIN_DISTANCE)
-					{/* Touching or inside				*/ 
-						m_status=eStatus::Inside;
-						break;
-					}
-					/* Append new vertice in -'v' direction	*/ 
-					appendvertice(cs,-m_ray);
-					const btVector3&	w=cs.c[cs.rank-1]->w;
-					bool				found=false;
-					for(U i=0;i<4;++i)
+				case 2:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   weights, mask);
+					break;
+				case 3:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   cs.c[2]->w,
+										   weights, mask);
+					break;
+				case 4:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   cs.c[2]->w,
+										   cs.c[3]->w,
+										   weights, mask);
+					break;
+			}
+			if (sqdist >= 0)
+			{ /* Valid	*/
+				ns.rank = 0;
+				m_ray = btVector3(0, 0, 0);
+				m_current = next;
+				for (U i = 0, ni = cs.rank; i < ni; ++i)
+				{
+					if (mask & (1 << i))
 					{
-						if((w-lastw[i]).length2()<GJK_DUPLICATED_EPS)
-						{ found=true;break; }
-					}
-					if(found)
-					{/* Return old simplex				*/ 
-						removevertice(m_simplices[m_current]);
-						break;
+						ns.c[ns.rank] = cs.c[i];
+						ns.p[ns.rank++] = weights[i];
+						m_ray += cs.c[i]->w * weights[i];
 					}
 					else
-					{/* Update lastw					*/ 
-						lastw[clastw=(clastw+1)&3]=w;
-					}
-					/* Check for termination				*/ 
-					const btScalar	omega=btDot(m_ray,w)/rl;
-					alpha=btMax(omega,alpha);
-					if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
-					{/* Return old simplex				*/ 
-						removevertice(m_simplices[m_current]);
-						break;
-					}		
-					/* Reduce simplex						*/ 
-					btScalar	weights[4];
-					U			mask=0;
-					switch(cs.rank)
 					{
-					case	2:	sqdist=projectorigin(	cs.c[0]->w,
-									cs.c[1]->w,
-									weights,mask);break;
-					case	3:	sqdist=projectorigin(	cs.c[0]->w,
-									cs.c[1]->w,
-									cs.c[2]->w,
-									weights,mask);break;
-					case	4:	sqdist=projectorigin(	cs.c[0]->w,
-									cs.c[1]->w,
-									cs.c[2]->w,
-									cs.c[3]->w,
-									weights,mask);break;
-					}
-					if(sqdist>=0)
-					{/* Valid	*/ 
-						ns.rank		=	0;
-						m_ray		=	btVector3(0,0,0);
-						m_current	=	next;
-						for(U i=0,ni=cs.rank;i<ni;++i)
-						{
-							if(mask&(1<<i))
-							{
-								ns.c[ns.rank]		=	cs.c[i];
-								ns.p[ns.rank++]		=	weights[i];
-								m_ray				+=	cs.c[i]->w*weights[i];
-							}
-							else
-							{
-								m_free[m_nfree++]	=	cs.c[i];
-							}
-						}
-						if(mask==15) m_status=eStatus::Inside;
+						m_free[m_nfree++] = cs.c[i];
 					}
-					else
-					{/* Return old simplex				*/ 
-						removevertice(m_simplices[m_current]);
-						break;
-					}
-					m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
-				} while(m_status==eStatus::Valid);
-				m_simplex=&m_simplices[m_current];
-				switch(m_status)
+				}
+				if (mask == 15) m_status = eStatus::Inside;
+			}
+			else
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eStatus::Failed;
+		} while (m_status == eStatus::Valid);
+		m_simplex = &m_simplices[m_current];
+		switch (m_status)
+		{
+			case eStatus::Valid:
+				m_distance = m_ray.length();
+				break;
+			case eStatus::Inside:
+				m_distance = 0;
+				break;
+			default:
+			{
+			}
+		}
+		return (m_status);
+	}
+	bool EncloseOrigin()
+	{
+		switch (m_simplex->rank)
+		{
+			case 1:
+			{
+				for (U i = 0; i < 3; ++i)
 				{
-				case	eStatus::Valid:		m_distance=m_ray.length();break;
-				case	eStatus::Inside:	m_distance=0;break;
-				default:
-					{
-					}
-				}	
-				return(m_status);
+					btVector3 axis = btVector3(0, 0, 0);
+					axis[i] = 1;
+					appendvertice(*m_simplex, axis);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+					appendvertice(*m_simplex, -axis);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+				}
 			}
-			bool					EncloseOrigin()
+			break;
+			case 2:
 			{
-				switch(m_simplex->rank)
+				const btVector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w;
+				for (U i = 0; i < 3; ++i)
 				{
-				case	1:
-					{
-						for(U i=0;i<3;++i)
-						{
-							btVector3		axis=btVector3(0,0,0);
-							axis[i]=1;
-							appendvertice(*m_simplex, axis);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-							appendvertice(*m_simplex,-axis);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-						}
-					}
-					break;
-				case	2:
-					{
-						const btVector3	d=m_simplex->c[1]->w-m_simplex->c[0]->w;
-						for(U i=0;i<3;++i)
-						{
-							btVector3		axis=btVector3(0,0,0);
-							axis[i]=1;
-							const btVector3	p=btCross(d,axis);
-							if(p.length2()>0)
-							{
-								appendvertice(*m_simplex, p);
-								if(EncloseOrigin())	return(true);
-								removevertice(*m_simplex);
-								appendvertice(*m_simplex,-p);
-								if(EncloseOrigin())	return(true);
-								removevertice(*m_simplex);
-							}
-						}
-					}
-					break;
-				case	3:
-					{
-						const btVector3	n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w,
-							m_simplex->c[2]->w-m_simplex->c[0]->w);
-						if(n.length2()>0)
-						{
-							appendvertice(*m_simplex,n);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-							appendvertice(*m_simplex,-n);
-							if(EncloseOrigin())	return(true);
-							removevertice(*m_simplex);
-						}
-					}
-					break;
-				case	4:
+					btVector3 axis = btVector3(0, 0, 0);
+					axis[i] = 1;
+					const btVector3 p = btCross(d, axis);
+					if (p.length2() > 0)
 					{
-						if(btFabs(det(	m_simplex->c[0]->w-m_simplex->c[3]->w,
-							m_simplex->c[1]->w-m_simplex->c[3]->w,
-							m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
-							return(true);
+						appendvertice(*m_simplex, p);
+						if (EncloseOrigin()) return (true);
+						removevertice(*m_simplex);
+						appendvertice(*m_simplex, -p);
+						if (EncloseOrigin()) return (true);
+						removevertice(*m_simplex);
 					}
-					break;
 				}
-				return(false);
 			}
-			/* Internals	*/ 
-			void				getsupport(const btVector3& d,sSV& sv) const
+			break;
+			case 3:
 			{
-				sv.d	=	d/d.length();
-				sv.w	=	m_shape.Support(sv.d);
+				const btVector3 n = btCross(m_simplex->c[1]->w - m_simplex->c[0]->w,
+											m_simplex->c[2]->w - m_simplex->c[0]->w);
+				if (n.length2() > 0)
+				{
+					appendvertice(*m_simplex, n);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+					appendvertice(*m_simplex, -n);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+				}
 			}
-			void				removevertice(sSimplex& simplex)
+			break;
+			case 4:
 			{
-				m_free[m_nfree++]=simplex.c[--simplex.rank];
+				if (btFabs(det(m_simplex->c[0]->w - m_simplex->c[3]->w,
+							   m_simplex->c[1]->w - m_simplex->c[3]->w,
+							   m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0)
+					return (true);
 			}
-			void				appendvertice(sSimplex& simplex,const btVector3& v)
+			break;
+		}
+		return (false);
+	}
+	/* Internals	*/
+	void getsupport(const btVector3& d, sSV& sv) const
+	{
+		sv.d = d / d.length();
+		sv.w = m_shape.Support(sv.d);
+	}
+	void removevertice(sSimplex& simplex)
+	{
+		m_free[m_nfree++] = simplex.c[--simplex.rank];
+	}
+	void appendvertice(sSimplex& simplex, const btVector3& v)
+	{
+		simplex.p[simplex.rank] = 0;
+		simplex.c[simplex.rank] = m_free[--m_nfree];
+		getsupport(v, *simplex.c[simplex.rank++]);
+	}
+	static btScalar det(const btVector3& a, const btVector3& b, const btVector3& c)
+	{
+		return (a.y() * b.z() * c.x() + a.z() * b.x() * c.y() -
+				a.x() * b.z() * c.y() - a.y() * b.x() * c.z() +
+				a.x() * b.y() * c.z() - a.z() * b.y() * c.x());
+	}
+	static btScalar projectorigin(const btVector3& a,
+								  const btVector3& b,
+								  btScalar* w, U& m)
+	{
+		const btVector3 d = b - a;
+		const btScalar l = d.length2();
+		if (l > GJK_SIMPLEX2_EPS)
+		{
+			const btScalar t(l > 0 ? -btDot(a, d) / l : 0);
+			if (t >= 1)
 			{
-				simplex.p[simplex.rank]=0;
-				simplex.c[simplex.rank]=m_free[--m_nfree];
-				getsupport(v,*simplex.c[simplex.rank++]);
+				w[0] = 0;
+				w[1] = 1;
+				m = 2;
+				return (b.length2());
 			}
-			static btScalar		det(const btVector3& a,const btVector3& b,const btVector3& c)
+			else if (t <= 0)
 			{
-				return(	a.y()*b.z()*c.x()+a.z()*b.x()*c.y()-
-					a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+
-					a.x()*b.y()*c.z()-a.z()*b.y()*c.x());
+				w[0] = 1;
+				w[1] = 0;
+				m = 1;
+				return (a.length2());
 			}
-			static btScalar		projectorigin(	const btVector3& a,
-				const btVector3& b,
-				btScalar* w,U& m)
+			else
 			{
-				const btVector3	d=b-a;
-				const btScalar	l=d.length2();
-				if(l>GJK_SIMPLEX2_EPS)
-				{
-					const btScalar	t(l>0?-btDot(a,d)/l:0);
-					if(t>=1)		{ w[0]=0;w[1]=1;m=2;return(b.length2()); }
-					else if(t<=0)	{ w[0]=1;w[1]=0;m=1;return(a.length2()); }
-					else			{ w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
-				}
-				return(-1);
+				w[0] = 1 - (w[1] = t);
+				m = 3;
+				return ((a + d * t).length2());
 			}
-			static btScalar		projectorigin(	const btVector3& a,
-				const btVector3& b,
-				const btVector3& c,
-				btScalar* w,U& m)
+		}
+		return (-1);
+	}
+	static btScalar projectorigin(const btVector3& a,
+								  const btVector3& b,
+								  const btVector3& c,
+								  btScalar* w, U& m)
+	{
+		static const U imd3[] = {1, 2, 0};
+		const btVector3* vt[] = {&a, &b, &c};
+		const btVector3 dl[] = {a - b, b - c, c - a};
+		const btVector3 n = btCross(dl[0], dl[1]);
+		const btScalar l = n.length2();
+		if (l > GJK_SIMPLEX3_EPS)
+		{
+			btScalar mindist = -1;
+			btScalar subw[2] = {0.f, 0.f};
+			U subm(0);
+			for (U i = 0; i < 3; ++i)
 			{
-				static const U		imd3[]={1,2,0};
-				const btVector3*	vt[]={&a,&b,&c};
-				const btVector3		dl[]={a-b,b-c,c-a};
-				const btVector3		n=btCross(dl[0],dl[1]);
-				const btScalar		l=n.length2();
-				if(l>GJK_SIMPLEX3_EPS)
+				if (btDot(*vt[i], btCross(dl[i], n)) > 0)
 				{
-					btScalar	mindist=-1;
-					btScalar	subw[2]={0.f,0.f};
-					U			subm(0);
-					for(U i=0;i<3;++i)
+					const U j = imd3[i];
+					const btScalar subd(projectorigin(*vt[i], *vt[j], subw, subm));
+					if ((mindist < 0) || (subd < mindist))
 					{
-						if(btDot(*vt[i],btCross(dl[i],n))>0)
-						{
-							const U			j=imd3[i];
-							const btScalar	subd(projectorigin(*vt[i],*vt[j],subw,subm));
-							if((mindist<0)||(subd<mindist))
-							{
-								mindist		=	subd;
-								m			=	static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
-								w[i]		=	subw[0];
-								w[j]		=	subw[1];
-								w[imd3[j]]	=	0;				
-							}
-						}
+						mindist = subd;
+						m = static_cast<U>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0));
+						w[i] = subw[0];
+						w[j] = subw[1];
+						w[imd3[j]] = 0;
 					}
-					if(mindist<0)
-					{
-						const btScalar	d=btDot(a,n);	
-						const btScalar	s=btSqrt(l);
-						const btVector3	p=n*(d/l);
-						mindist	=	p.length2();
-						m		=	7;
-						w[0]	=	(btCross(dl[1],b-p)).length()/s;
-						w[1]	=	(btCross(dl[2],c-p)).length()/s;
-						w[2]	=	1-(w[0]+w[1]);
-					}
-					return(mindist);
 				}
-				return(-1);
 			}
-			static btScalar		projectorigin(	const btVector3& a,
-				const btVector3& b,
-				const btVector3& c,
-				const btVector3& d,
-				btScalar* w,U& m)
+			if (mindist < 0)
 			{
-				static const U		imd3[]={1,2,0};
-				const btVector3*	vt[]={&a,&b,&c,&d};
-				const btVector3		dl[]={a-d,b-d,c-d};
-				const btScalar		vl=det(dl[0],dl[1],dl[2]);
-				const bool			ng=(vl*btDot(a,btCross(b-c,a-b)))<=0;
-				if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
+				const btScalar d = btDot(a, n);
+				const btScalar s = btSqrt(l);
+				const btVector3 p = n * (d / l);
+				mindist = p.length2();
+				m = 7;
+				w[0] = (btCross(dl[1], b - p)).length() / s;
+				w[1] = (btCross(dl[2], c - p)).length() / s;
+				w[2] = 1 - (w[0] + w[1]);
+			}
+			return (mindist);
+		}
+		return (-1);
+	}
+	static btScalar projectorigin(const btVector3& a,
+								  const btVector3& b,
+								  const btVector3& c,
+								  const btVector3& d,
+								  btScalar* w, U& m)
+	{
+		static const U imd3[] = {1, 2, 0};
+		const btVector3* vt[] = {&a, &b, &c, &d};
+		const btVector3 dl[] = {a - d, b - d, c - d};
+		const btScalar vl = det(dl[0], dl[1], dl[2]);
+		const bool ng = (vl * btDot(a, btCross(b - c, a - b))) <= 0;
+		if (ng && (btFabs(vl) > GJK_SIMPLEX4_EPS))
+		{
+			btScalar mindist = -1;
+			btScalar subw[3] = {0.f, 0.f, 0.f};
+			U subm(0);
+			for (U i = 0; i < 3; ++i)
+			{
+				const U j = imd3[i];
+				const btScalar s = vl * btDot(d, btCross(dl[i], dl[j]));
+				if (s > 0)
 				{
-					btScalar	mindist=-1;
-					btScalar	subw[3]={0.f,0.f,0.f};
-					U			subm(0);
-					for(U i=0;i<3;++i)
-					{
-						const U			j=imd3[i];
-						const btScalar	s=vl*btDot(d,btCross(dl[i],dl[j]));
-						if(s>0)
-						{
-							const btScalar	subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
-							if((mindist<0)||(subd<mindist))
-							{
-								mindist		=	subd;
-								m			=	static_cast<U>((subm&1?1<<i:0)+
-									(subm&2?1<<j:0)+
-									(subm&4?8:0));
-								w[i]		=	subw[0];
-								w[j]		=	subw[1];
-								w[imd3[j]]	=	0;
-								w[3]		=	subw[2];
-							}
-						}
-					}
-					if(mindist<0)
+					const btScalar subd = projectorigin(*vt[i], *vt[j], d, subw, subm);
+					if ((mindist < 0) || (subd < mindist))
 					{
-						mindist	=	0;
-						m		=	15;
-						w[0]	=	det(c,b,d)/vl;
-						w[1]	=	det(a,c,d)/vl;
-						w[2]	=	det(b,a,d)/vl;
-						w[3]	=	1-(w[0]+w[1]+w[2]);
+						mindist = subd;
+						m = static_cast<U>((subm & 1 ? 1 << i : 0) +
+										   (subm & 2 ? 1 << j : 0) +
+										   (subm & 4 ? 8 : 0));
+						w[i] = subw[0];
+						w[j] = subw[1];
+						w[imd3[j]] = 0;
+						w[3] = subw[2];
 					}
-					return(mindist);
 				}
-				return(-1);
 			}
-	};
+			if (mindist < 0)
+			{
+				mindist = 0;
+				m = 15;
+				w[0] = det(c, b, d) / vl;
+				w[1] = det(a, c, d) / vl;
+				w[2] = det(b, a, d) / vl;
+				w[3] = 1 - (w[0] + w[1] + w[2]);
+			}
+			return (mindist);
+		}
+		return (-1);
+	}
+};
 
-	// EPA
-	struct	EPA
+// EPA
+struct EPA
+{
+	/* Types		*/
+	typedef GJK::sSV sSV;
+	struct sFace
 	{
-		/* Types		*/ 
-		typedef	GJK::sSV	sSV;
-		struct	sFace
-		{
-			btVector3	n;
-			btScalar	d;
-			sSV*		c[3];
-			sFace*		f[3];
-			sFace*		l[2];
-			U1			e[3];
-			U1			pass;
-		};
-		struct	sList
-		{
-			sFace*		root;
-			U			count;
-			sList() : root(0),count(0)	{}
-		};
-		struct	sHorizon
+		btVector3 n;
+		btScalar d;
+		sSV* c[3];
+		sFace* f[3];
+		sFace* l[2];
+		U1 e[3];
+		U1 pass;
+	};
+	struct sList
+	{
+		sFace* root;
+		U count;
+		sList() : root(0), count(0) {}
+	};
+	struct sHorizon
+	{
+		sFace* cf;
+		sFace* ff;
+		U nf;
+		sHorizon() : cf(0), ff(0), nf(0) {}
+	};
+	struct eStatus
+	{
+		enum _
 		{
-			sFace*		cf;
-			sFace*		ff;
-			U			nf;
-			sHorizon() : cf(0),ff(0),nf(0)	{}
-		};
-		struct	eStatus { enum _ {
 			Valid,
 			Touching,
 			Degenerated,
 			NonConvex,
-			InvalidHull,		
+			InvalidHull,
 			OutOfFaces,
 			OutOfVertices,
 			AccuraryReached,
 			FallBack,
-			Failed		};};
-			/* Fields		*/ 
-			eStatus::_		m_status;
-			GJK::sSimplex	m_result;
-			btVector3		m_normal;
-			btScalar		m_depth;
-			sSV				m_sv_store[EPA_MAX_VERTICES];
-			sFace			m_fc_store[EPA_MAX_FACES];
-			U				m_nextsv;
-			sList			m_hull;
-			sList			m_stock;
-			/* Methods		*/ 
-			EPA()
-			{
-				Initialize();	
-			}
+			Failed
+		};
+	};
+	/* Fields		*/
+	eStatus::_ m_status;
+	GJK::sSimplex m_result;
+	btVector3 m_normal;
+	btScalar m_depth;
+	sSV m_sv_store[EPA_MAX_VERTICES];
+	sFace m_fc_store[EPA_MAX_FACES];
+	U m_nextsv;
+	sList m_hull;
+	sList m_stock;
+	/* Methods		*/
+	EPA()
+	{
+		Initialize();
+	}
 
+	static inline void bind(sFace* fa, U ea, sFace* fb, U eb)
+	{
+		fa->e[ea] = (U1)eb;
+		fa->f[ea] = fb;
+		fb->e[eb] = (U1)ea;
+		fb->f[eb] = fa;
+	}
+	static inline void append(sList& list, sFace* face)
+	{
+		face->l[0] = 0;
+		face->l[1] = list.root;
+		if (list.root) list.root->l[0] = face;
+		list.root = face;
+		++list.count;
+	}
+	static inline void remove(sList& list, sFace* face)
+	{
+		if (face->l[1]) face->l[1]->l[0] = face->l[0];
+		if (face->l[0]) face->l[0]->l[1] = face->l[1];
+		if (face == list.root) list.root = face->l[1];
+		--list.count;
+	}
 
-			static inline void		bind(sFace* fa,U ea,sFace* fb,U eb)
-			{
-				fa->e[ea]=(U1)eb;fa->f[ea]=fb;
-				fb->e[eb]=(U1)ea;fb->f[eb]=fa;
-			}
-			static inline void		append(sList& list,sFace* face)
+	void Initialize()
+	{
+		m_status = eStatus::Failed;
+		m_normal = btVector3(0, 0, 0);
+		m_depth = 0;
+		m_nextsv = 0;
+		for (U i = 0; i < EPA_MAX_FACES; ++i)
+		{
+			append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]);
+		}
+	}
+	eStatus::_ Evaluate(GJK& gjk, const btVector3& guess)
+	{
+		GJK::sSimplex& simplex = *gjk.m_simplex;
+		if ((simplex.rank > 1) && gjk.EncloseOrigin())
+		{
+			/* Clean up				*/
+			while (m_hull.root)
 			{
-				face->l[0]	=	0;
-				face->l[1]	=	list.root;
-				if(list.root) list.root->l[0]=face;
-				list.root	=	face;
-				++list.count;
+				sFace* f = m_hull.root;
+				remove(m_hull, f);
+				append(m_stock, f);
 			}
-			static inline void		remove(sList& list,sFace* face)
+			m_status = eStatus::Valid;
+			m_nextsv = 0;
+			/* Orient simplex		*/
+			if (gjk.det(simplex.c[0]->w - simplex.c[3]->w,
+						simplex.c[1]->w - simplex.c[3]->w,
+						simplex.c[2]->w - simplex.c[3]->w) < 0)
 			{
-				if(face->l[1]) face->l[1]->l[0]=face->l[0];
-				if(face->l[0]) face->l[0]->l[1]=face->l[1];
-				if(face==list.root) list.root=face->l[1];
-				--list.count;
+				btSwap(simplex.c[0], simplex.c[1]);
+				btSwap(simplex.p[0], simplex.p[1]);
 			}
-
-
-			void				Initialize()
+			/* Build initial hull	*/
+			sFace* tetra[] = {newface(simplex.c[0], simplex.c[1], simplex.c[2], true),
+							  newface(simplex.c[1], simplex.c[0], simplex.c[3], true),
+							  newface(simplex.c[2], simplex.c[1], simplex.c[3], true),
+							  newface(simplex.c[0], simplex.c[2], simplex.c[3], true)};
+			if (m_hull.count == 4)
 			{
-				m_status	=	eStatus::Failed;
-				m_normal	=	btVector3(0,0,0);
-				m_depth		=	0;
-				m_nextsv	=	0;
-				for(U i=0;i<EPA_MAX_FACES;++i)
+				sFace* best = findbest();
+				sFace outer = *best;
+				U pass = 0;
+				U iterations = 0;
+				bind(tetra[0], 0, tetra[1], 0);
+				bind(tetra[0], 1, tetra[2], 0);
+				bind(tetra[0], 2, tetra[3], 0);
+				bind(tetra[1], 1, tetra[3], 2);
+				bind(tetra[1], 2, tetra[2], 1);
+				bind(tetra[2], 2, tetra[3], 1);
+				m_status = eStatus::Valid;
+				for (; iterations < EPA_MAX_ITERATIONS; ++iterations)
 				{
-					append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
-				}
-			}
-			eStatus::_			Evaluate(GJK& gjk,const btVector3& guess)
-			{
-				GJK::sSimplex&	simplex=*gjk.m_simplex;
-				if((simplex.rank>1)&&gjk.EncloseOrigin())
-				{
-
-					/* Clean up				*/ 
-					while(m_hull.root)
-					{
-						sFace*	f = m_hull.root;
-						remove(m_hull,f);
-						append(m_stock,f);
-					}
-					m_status	=	eStatus::Valid;
-					m_nextsv	=	0;
-					/* Orient simplex		*/ 
-					if(gjk.det(	simplex.c[0]->w-simplex.c[3]->w,
-						simplex.c[1]->w-simplex.c[3]->w,
-						simplex.c[2]->w-simplex.c[3]->w)<0)
-					{
-						btSwap(simplex.c[0],simplex.c[1]);
-						btSwap(simplex.p[0],simplex.p[1]);
-					}
-					/* Build initial hull	*/ 
-					sFace*	tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
-						newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
-						newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
-						newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
-					if(m_hull.count==4)
+					if (m_nextsv < EPA_MAX_VERTICES)
 					{
-						sFace*		best=findbest();
-						sFace		outer=*best;
-						U			pass=0;
-						U			iterations=0;
-						bind(tetra[0],0,tetra[1],0);
-						bind(tetra[0],1,tetra[2],0);
-						bind(tetra[0],2,tetra[3],0);
-						bind(tetra[1],1,tetra[3],2);
-						bind(tetra[1],2,tetra[2],1);
-						bind(tetra[2],2,tetra[3],1);
-						m_status=eStatus::Valid;
-						for(;iterations<EPA_MAX_ITERATIONS;++iterations)
+						sHorizon horizon;
+						sSV* w = &m_sv_store[m_nextsv++];
+						bool valid = true;
+						best->pass = (U1)(++pass);
+						gjk.getsupport(best->n, *w);
+						const btScalar wdist = btDot(best->n, w->w) - best->d;
+						if (wdist > EPA_ACCURACY)
 						{
-							if(m_nextsv<EPA_MAX_VERTICES)
-							{	
-								sHorizon		horizon;
-								sSV*			w=&m_sv_store[m_nextsv++];
-								bool			valid=true;					
-								best->pass	=	(U1)(++pass);
-								gjk.getsupport(best->n,*w);
-								const btScalar	wdist=btDot(best->n,w->w)-best->d;
-								if(wdist>EPA_ACCURACY)
-								{
-									for(U j=0;(j<3)&&valid;++j)
-									{
-										valid&=expand(	pass,w,
-											best->f[j],best->e[j],
-											horizon);
-									}
-									if(valid&&(horizon.nf>=3))
-									{
-										bind(horizon.cf,1,horizon.ff,2);
-										remove(m_hull,best);
-										append(m_stock,best);
-										best=findbest();
-										outer=*best;
-									} else { m_status=eStatus::InvalidHull;break; }
-								} else { m_status=eStatus::AccuraryReached;break; }
-							} else { m_status=eStatus::OutOfVertices;break; }
+							for (U j = 0; (j < 3) && valid; ++j)
+							{
+								valid &= expand(pass, w,
+												best->f[j], best->e[j],
+												horizon);
+							}
+							if (valid && (horizon.nf >= 3))
+							{
+								bind(horizon.cf, 1, horizon.ff, 2);
+								remove(m_hull, best);
+								append(m_stock, best);
+								best = findbest();
+								outer = *best;
+							}
+							else
+							{
+								m_status = eStatus::InvalidHull;
+								break;
+							}
+						}
+						else
+						{
+							m_status = eStatus::AccuraryReached;
+							break;
 						}
-						const btVector3	projection=outer.n*outer.d;
-						m_normal	=	outer.n;
-						m_depth		=	outer.d;
-						m_result.rank	=	3;
-						m_result.c[0]	=	outer.c[0];
-						m_result.c[1]	=	outer.c[1];
-						m_result.c[2]	=	outer.c[2];
-						m_result.p[0]	=	btCross(	outer.c[1]->w-projection,
-							outer.c[2]->w-projection).length();
-						m_result.p[1]	=	btCross(	outer.c[2]->w-projection,
-							outer.c[0]->w-projection).length();
-						m_result.p[2]	=	btCross(	outer.c[0]->w-projection,
-							outer.c[1]->w-projection).length();
-						const btScalar	sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
-						m_result.p[0]	/=	sum;
-						m_result.p[1]	/=	sum;
-						m_result.p[2]	/=	sum;
-						return(m_status);
-					}
-				}
-				/* Fallback		*/ 
-				m_status	=	eStatus::FallBack;
-				m_normal	=	-guess;
-				const btScalar	nl=m_normal.length();
-				if(nl>0)
-					m_normal	=	m_normal/nl;
-				else
-					m_normal	=	btVector3(1,0,0);
-				m_depth	=	0;
-				m_result.rank=1;
-				m_result.c[0]=simplex.c[0];
-				m_result.p[0]=1;	
-				return(m_status);
-			}
-			bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist)
-			{
-				const btVector3 ba = b->w - a->w;
-				const btVector3 n_ab = btCross(ba, face->n); // Outward facing edge normal direction, on triangle plane
-				const btScalar a_dot_nab = btDot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required
-
-				if(a_dot_nab < 0)
-				{
-					// Outside of edge a->b
-
-					const btScalar ba_l2 = ba.length2();
-					const btScalar a_dot_ba = btDot(a->w, ba);
-					const btScalar b_dot_ba = btDot(b->w, ba);
-
-					if(a_dot_ba > 0)
-					{
-						// Pick distance vertex a
-						dist = a->w.length();
-					}
-					else if(b_dot_ba < 0)
-					{
-						// Pick distance vertex b
-						dist = b->w.length();
 					}
 					else
 					{
-						// Pick distance to edge a->b
-						const btScalar a_dot_b = btDot(a->w, b->w);
-						dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
+						m_status = eStatus::OutOfVertices;
+						break;
 					}
-
-					return true;
 				}
+				const btVector3 projection = outer.n * outer.d;
+				m_normal = outer.n;
+				m_depth = outer.d;
+				m_result.rank = 3;
+				m_result.c[0] = outer.c[0];
+				m_result.c[1] = outer.c[1];
+				m_result.c[2] = outer.c[2];
+				m_result.p[0] = btCross(outer.c[1]->w - projection,
+										outer.c[2]->w - projection)
+									.length();
+				m_result.p[1] = btCross(outer.c[2]->w - projection,
+										outer.c[0]->w - projection)
+									.length();
+				m_result.p[2] = btCross(outer.c[0]->w - projection,
+										outer.c[1]->w - projection)
+									.length();
+				const btScalar sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
+				m_result.p[0] /= sum;
+				m_result.p[1] /= sum;
+				m_result.p[2] /= sum;
+				return (m_status);
+			}
+		}
+		/* Fallback		*/
+		m_status = eStatus::FallBack;
+		m_normal = -guess;
+		const btScalar nl = m_normal.length();
+		if (nl > 0)
+			m_normal = m_normal / nl;
+		else
+			m_normal = btVector3(1, 0, 0);
+		m_depth = 0;
+		m_result.rank = 1;
+		m_result.c[0] = simplex.c[0];
+		m_result.p[0] = 1;
+		return (m_status);
+	}
+	bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist)
+	{
+		const btVector3 ba = b->w - a->w;
+		const btVector3 n_ab = btCross(ba, face->n);   // Outward facing edge normal direction, on triangle plane
+		const btScalar a_dot_nab = btDot(a->w, n_ab);  // Only care about the sign to determine inside/outside, so not normalization required
 
-				return false;
+		if (a_dot_nab < 0)
+		{
+			// Outside of edge a->b
+
+			const btScalar ba_l2 = ba.length2();
+			const btScalar a_dot_ba = btDot(a->w, ba);
+			const btScalar b_dot_ba = btDot(b->w, ba);
+
+			if (a_dot_ba > 0)
+			{
+				// Pick distance vertex a
+				dist = a->w.length();
 			}
-			sFace*				newface(sSV* a,sSV* b,sSV* c,bool forced)
+			else if (b_dot_ba < 0)
 			{
-				if(m_stock.root)
-				{
-					sFace*	face=m_stock.root;
-					remove(m_stock,face);
-					append(m_hull,face);
-					face->pass	=	0;
-					face->c[0]	=	a;
-					face->c[1]	=	b;
-					face->c[2]	=	c;
-					face->n		=	btCross(b->w-a->w,c->w-a->w);
-					const btScalar	l=face->n.length();
-					const bool		v=l>EPA_ACCURACY;
+				// Pick distance vertex b
+				dist = b->w.length();
+			}
+			else
+			{
+				// Pick distance to edge a->b
+				const btScalar a_dot_b = btDot(a->w, b->w);
+				dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
+			}
 
-					if(v)
-					{
-						if(!(getedgedist(face, a, b, face->d) ||
-							 getedgedist(face, b, c, face->d) ||
-							 getedgedist(face, c, a, face->d)))
-						{
-							// Origin projects to the interior of the triangle
-							// Use distance to triangle plane
-							face->d = btDot(a->w, face->n) / l;
-						}
+			return true;
+		}
 
-						face->n /= l;
-						if(forced || (face->d >= -EPA_PLANE_EPS))
-						{
-							return face;
-						}
-						else
-							m_status=eStatus::NonConvex;
-					}
-					else
-						m_status=eStatus::Degenerated;
+		return false;
+	}
+	sFace* newface(sSV* a, sSV* b, sSV* c, bool forced)
+	{
+		if (m_stock.root)
+		{
+			sFace* face = m_stock.root;
+			remove(m_stock, face);
+			append(m_hull, face);
+			face->pass = 0;
+			face->c[0] = a;
+			face->c[1] = b;
+			face->c[2] = c;
+			face->n = btCross(b->w - a->w, c->w - a->w);
+			const btScalar l = face->n.length();
+			const bool v = l > EPA_ACCURACY;
 
-					remove(m_hull, face);
-					append(m_stock, face);
-					return 0;
+			if (v)
+			{
+				if (!(getedgedist(face, a, b, face->d) ||
+					  getedgedist(face, b, c, face->d) ||
+					  getedgedist(face, c, a, face->d)))
+				{
+					// Origin projects to the interior of the triangle
+					// Use distance to triangle plane
+					face->d = btDot(a->w, face->n) / l;
+				}
 
+				face->n /= l;
+				if (forced || (face->d >= -EPA_PLANE_EPS))
+				{
+					return face;
 				}
-				m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
-				return 0;
+				else
+					m_status = eStatus::NonConvex;
+			}
+			else
+				m_status = eStatus::Degenerated;
+
+			remove(m_hull, face);
+			append(m_stock, face);
+			return 0;
+		}
+		m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
+		return 0;
+	}
+	sFace* findbest()
+	{
+		sFace* minf = m_hull.root;
+		btScalar mind = minf->d * minf->d;
+		for (sFace* f = minf->l[1]; f; f = f->l[1])
+		{
+			const btScalar sqd = f->d * f->d;
+			if (sqd < mind)
+			{
+				minf = f;
+				mind = sqd;
 			}
-			sFace*				findbest()
+		}
+		return (minf);
+	}
+	bool expand(U pass, sSV* w, sFace* f, U e, sHorizon& horizon)
+	{
+		static const U i1m3[] = {1, 2, 0};
+		static const U i2m3[] = {2, 0, 1};
+		if (f->pass != pass)
+		{
+			const U e1 = i1m3[e];
+			if ((btDot(f->n, w->w) - f->d) < -EPA_PLANE_EPS)
 			{
-				sFace*		minf=m_hull.root;
-				btScalar	mind=minf->d*minf->d;
-				for(sFace* f=minf->l[1];f;f=f->l[1])
+				sFace* nf = newface(f->c[e1], f->c[e], w, false);
+				if (nf)
 				{
-					const btScalar	sqd=f->d*f->d;
-					if(sqd<mind)
-					{
-						minf=f;
-						mind=sqd;
-					}
+					bind(nf, 0, f, e);
+					if (horizon.cf)
+						bind(horizon.cf, 1, nf, 2);
+					else
+						horizon.ff = nf;
+					horizon.cf = nf;
+					++horizon.nf;
+					return (true);
 				}
-				return(minf);
 			}
-			bool				expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
+			else
 			{
-				static const U	i1m3[]={1,2,0};
-				static const U	i2m3[]={2,0,1};
-				if(f->pass!=pass)
+				const U e2 = i2m3[e];
+				f->pass = (U1)pass;
+				if (expand(pass, w, f->f[e1], f->e[e1], horizon) &&
+					expand(pass, w, f->f[e2], f->e[e2], horizon))
 				{
-					const U	e1=i1m3[e];
-					if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
-					{
-						sFace*	nf=newface(f->c[e1],f->c[e],w,false);
-						if(nf)
-						{
-							bind(nf,0,f,e);
-							if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
-							horizon.cf=nf;
-							++horizon.nf;
-							return(true);
-						}
-					}
-					else
-					{
-						const U	e2=i2m3[e];
-						f->pass		=	(U1)pass;
-						if(	expand(pass,w,f->f[e1],f->e[e1],horizon)&&
-							expand(pass,w,f->f[e2],f->e[e2],horizon))
-						{
-							remove(m_hull,f);
-							append(m_stock,f);
-							return(true);
-						}
-					}
+					remove(m_hull, f);
+					append(m_stock, f);
+					return (true);
 				}
-				return(false);
 			}
-
-	};
-
-	//
-	static void	Initialize(	const btConvexShape* shape0,const btTransform& wtrs0,
-		const btConvexShape* shape1,const btTransform& wtrs1,
-		btGjkEpaSolver2::sResults& results,
-		tShape& shape,
-		bool withmargins)
-	{
-		/* Results		*/ 
-		results.witnesses[0]	=
-			results.witnesses[1]	=	btVector3(0,0,0);
-		results.status			=	btGjkEpaSolver2::sResults::Separated;
-		/* Shape		*/ 
-		shape.m_shapes[0]		=	shape0;
-		shape.m_shapes[1]		=	shape1;
-		shape.m_toshape1		=	wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
-		shape.m_toshape0		=	wtrs0.inverseTimes(wtrs1);
-		shape.EnableMargin(withmargins);
+		}
+		return (false);
 	}
+};
 
+//
+static void Initialize(const btConvexShape* shape0, const btTransform& wtrs0,
+					   const btConvexShape* shape1, const btTransform& wtrs1,
+					   btGjkEpaSolver2::sResults& results,
+					   tShape& shape,
+					   bool withmargins)
+{
+	/* Results		*/
+	results.witnesses[0] =
+		results.witnesses[1] = btVector3(0, 0, 0);
+	results.status = btGjkEpaSolver2::sResults::Separated;
+	/* Shape		*/
+	shape.m_shapes[0] = shape0;
+	shape.m_shapes[1] = shape1;
+	shape.m_toshape1 = wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
+	shape.m_toshape0 = wtrs0.inverseTimes(wtrs1);
+	shape.EnableMargin(withmargins);
 }
 
+}  // namespace gjkepa2_impl
+
 //
 // Api
 //
 
-using namespace	gjkepa2_impl;
+using namespace gjkepa2_impl;
 
 //
-int			btGjkEpaSolver2::StackSizeRequirement()
+int btGjkEpaSolver2::StackSizeRequirement()
 {
-	return(sizeof(GJK)+sizeof(EPA));
+	return (sizeof(GJK) + sizeof(EPA));
 }
 
 //
-bool		btGjkEpaSolver2::Distance(	const btConvexShape*	shape0,
-									  const btTransform&		wtrs0,
-									  const btConvexShape*	shape1,
-									  const btTransform&		wtrs1,
-									  const btVector3&		guess,
-									  sResults&				results)
+bool btGjkEpaSolver2::Distance(const btConvexShape* shape0,
+							   const btTransform& wtrs0,
+							   const btConvexShape* shape1,
+							   const btTransform& wtrs1,
+							   const btVector3& guess,
+							   sResults& results)
 {
-	tShape			shape;
-	Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
-	GJK				gjk;
-	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,guess);
-	if(gjk_status==GJK::eStatus::Valid)
+	tShape shape;
+	Initialize(shape0, wtrs0, shape1, wtrs1, results, shape, false);
+	GJK gjk;
+	GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess);
+	if (gjk_status == GJK::eStatus::Valid)
 	{
-		btVector3	w0=btVector3(0,0,0);
-		btVector3	w1=btVector3(0,0,0);
-		for(U i=0;i<gjk.m_simplex->rank;++i)
+		btVector3 w0 = btVector3(0, 0, 0);
+		btVector3 w1 = btVector3(0, 0, 0);
+		for (U i = 0; i < gjk.m_simplex->rank; ++i)
 		{
-			const btScalar	p=gjk.m_simplex->p[i];
-			w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
-			w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
+			const btScalar p = gjk.m_simplex->p[i];
+			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p;
+			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p;
 		}
-		results.witnesses[0]	=	wtrs0*w0;
-		results.witnesses[1]	=	wtrs0*w1;
-		results.normal			=	w0-w1;
-		results.distance		=	results.normal.length();
-		results.normal			/=	results.distance>GJK_MIN_DISTANCE?results.distance:1;
-		return(true);
+		results.witnesses[0] = wtrs0 * w0;
+		results.witnesses[1] = wtrs0 * w1;
+		results.normal = w0 - w1;
+		results.distance = results.normal.length();
+		results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
+		return (true);
 	}
 	else
 	{
-		results.status	=	gjk_status==GJK::eStatus::Inside?
-			sResults::Penetrating	:
-		sResults::GJK_Failed	;
-		return(false);
+		results.status = gjk_status == GJK::eStatus::Inside ? sResults::Penetrating : sResults::GJK_Failed;
+		return (false);
 	}
 }
 
 //
-bool	btGjkEpaSolver2::Penetration(	const btConvexShape*	shape0,
-									 const btTransform&		wtrs0,
-									 const btConvexShape*	shape1,
-									 const btTransform&		wtrs1,
-									 const btVector3&		guess,
-									 sResults&				results,
-									 bool					usemargins)
+bool btGjkEpaSolver2::Penetration(const btConvexShape* shape0,
+								  const btTransform& wtrs0,
+								  const btConvexShape* shape1,
+								  const btTransform& wtrs1,
+								  const btVector3& guess,
+								  sResults& results,
+								  bool usemargins)
 {
-	tShape			shape;
-	Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,usemargins);
-	GJK				gjk;	
-	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,-guess);
-	switch(gjk_status)
+	tShape shape;
+	Initialize(shape0, wtrs0, shape1, wtrs1, results, shape, usemargins);
+	GJK gjk;
+	GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, -guess);
+	switch (gjk_status)
 	{
-	case	GJK::eStatus::Inside:
+		case GJK::eStatus::Inside:
 		{
-			EPA				epa;
-			EPA::eStatus::_	epa_status=epa.Evaluate(gjk,-guess);
-			if(epa_status!=EPA::eStatus::Failed)
+			EPA epa;
+			EPA::eStatus::_ epa_status = epa.Evaluate(gjk, -guess);
+			if (epa_status != EPA::eStatus::Failed)
 			{
-				btVector3	w0=btVector3(0,0,0);
-				for(U i=0;i<epa.m_result.rank;++i)
+				btVector3 w0 = btVector3(0, 0, 0);
+				for (U i = 0; i < epa.m_result.rank; ++i)
 				{
-					w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
+					w0 += shape.Support(epa.m_result.c[i]->d, 0) * epa.m_result.p[i];
 				}
-				results.status			=	sResults::Penetrating;
-				results.witnesses[0]	=	wtrs0*w0;
-				results.witnesses[1]	=	wtrs0*(w0-epa.m_normal*epa.m_depth);
-				results.normal			=	-epa.m_normal;
-				results.distance		=	-epa.m_depth;
-				return(true);
-			} else results.status=sResults::EPA_Failed;
+				results.status = sResults::Penetrating;
+				results.witnesses[0] = wtrs0 * w0;
+				results.witnesses[1] = wtrs0 * (w0 - epa.m_normal * epa.m_depth);
+				results.normal = -epa.m_normal;
+				results.distance = -epa.m_depth;
+				return (true);
+			}
+			else
+				results.status = sResults::EPA_Failed;
 		}
 		break;
-	case	GJK::eStatus::Failed:
-		results.status=sResults::GJK_Failed;
-		break;
+		case GJK::eStatus::Failed:
+			results.status = sResults::GJK_Failed;
+			break;
 		default:
-					{
-					}
+		{
+		}
 	}
-	return(false);
+	return (false);
 }
 
 #ifndef __SPU__
 //
-btScalar	btGjkEpaSolver2::SignedDistance(const btVector3& position,
-											btScalar margin,
-											const btConvexShape* shape0,
-											const btTransform& wtrs0,
-											sResults& results)
+btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
+										 btScalar margin,
+										 const btConvexShape* shape0,
+										 const btTransform& wtrs0,
+										 sResults& results)
 {
-	tShape			shape;
-	btSphereShape	shape1(margin);
-	btTransform		wtrs1(btQuaternion(0,0,0,1),position);
-	Initialize(shape0,wtrs0,&shape1,wtrs1,results,shape,false);
-	GJK				gjk;	
-	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,btVector3(1,1,1));
-	if(gjk_status==GJK::eStatus::Valid)
+	tShape shape;
+	btSphereShape shape1(margin);
+	btTransform wtrs1(btQuaternion(0, 0, 0, 1), position);
+	Initialize(shape0, wtrs0, &shape1, wtrs1, results, shape, false);
+	GJK gjk;
+	GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, btVector3(1, 1, 1));
+	if (gjk_status == GJK::eStatus::Valid)
 	{
-		btVector3	w0=btVector3(0,0,0);
-		btVector3	w1=btVector3(0,0,0);
-		for(U i=0;i<gjk.m_simplex->rank;++i)
+		btVector3 w0 = btVector3(0, 0, 0);
+		btVector3 w1 = btVector3(0, 0, 0);
+		for (U i = 0; i < gjk.m_simplex->rank; ++i)
 		{
-			const btScalar	p=gjk.m_simplex->p[i];
-			w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
-			w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
+			const btScalar p = gjk.m_simplex->p[i];
+			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p;
+			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p;
 		}
-		results.witnesses[0]	=	wtrs0*w0;
-		results.witnesses[1]	=	wtrs0*w1;
-		const btVector3	delta=	results.witnesses[1]-
-			results.witnesses[0];
-		const btScalar	margin=	shape0->getMarginNonVirtual()+
-			shape1.getMarginNonVirtual();
-		const btScalar	length=	delta.length();	
-		results.normal			=	delta/length;
-		results.witnesses[0]	+=	results.normal*margin;
-		return(length-margin);
+		results.witnesses[0] = wtrs0 * w0;
+		results.witnesses[1] = wtrs0 * w1;
+		const btVector3 delta = results.witnesses[1] -
+								results.witnesses[0];
+		const btScalar margin = shape0->getMarginNonVirtual() +
+								shape1.getMarginNonVirtual();
+		const btScalar length = delta.length();
+		results.normal = delta / length;
+		results.witnesses[0] += results.normal * margin;
+		return (length - margin);
 	}
 	else
 	{
-		if(gjk_status==GJK::eStatus::Inside)
+		if (gjk_status == GJK::eStatus::Inside)
 		{
-			if(Penetration(shape0,wtrs0,&shape1,wtrs1,gjk.m_ray,results))
+			if (Penetration(shape0, wtrs0, &shape1, wtrs1, gjk.m_ray, results))
 			{
-				const btVector3	delta=	results.witnesses[0]-
-					results.witnesses[1];
-				const btScalar	length=	delta.length();
+				const btVector3 delta = results.witnesses[0] -
+										results.witnesses[1];
+				const btScalar length = delta.length();
 				if (length >= SIMD_EPSILON)
-					results.normal	=	delta/length;			
-				return(-length);
+					results.normal = delta / length;
+				return (-length);
 			}
-		}	
+		}
 	}
-	return(SIMD_INFINITY);
+	return (SIMD_INFINITY);
 }
 
 //
-bool	btGjkEpaSolver2::SignedDistance(const btConvexShape*	shape0,
-										const btTransform&		wtrs0,
-										const btConvexShape*	shape1,
-										const btTransform&		wtrs1,
-										const btVector3&		guess,
-										sResults&				results)
+bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
+									 const btTransform& wtrs0,
+									 const btConvexShape* shape1,
+									 const btTransform& wtrs1,
+									 const btVector3& guess,
+									 sResults& results)
 {
-	if(!Distance(shape0,wtrs0,shape1,wtrs1,guess,results))
-		return(Penetration(shape0,wtrs0,shape1,wtrs1,guess,results,false));
+	if (!Distance(shape0, wtrs0, shape1, wtrs1, guess, results))
+		return (Penetration(shape0, wtrs0, shape1, wtrs1, guess, results, false));
 	else
-		return(true);
+		return (true);
 }
-#endif //__SPU__
+#endif  //__SPU__
 
-/* Symbols cleanup		*/ 
+/* Symbols cleanup		*/
 
 #undef GJK_MAX_ITERATIONS
 #undef GJK_ACCURACY
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
index ac501d5ecf..893daea3f5 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
@@ -28,48 +28,46 @@ GJK-EPA collision solver by Nathanael Presson, 2008
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
 ///btGjkEpaSolver contributed under zlib by Nathanael Presson
-struct	btGjkEpaSolver2
+struct btGjkEpaSolver2
 {
-struct	sResults
+	struct sResults
 	{
-	enum eStatus
+		enum eStatus
 		{
-		Separated,		/* Shapes doesnt penetrate												*/ 
-		Penetrating,	/* Shapes are penetrating												*/ 
-		GJK_Failed,		/* GJK phase fail, no big issue, shapes are probably just 'touching'	*/ 
-		EPA_Failed		/* EPA phase fail, bigger problem, need to save parameters, and debug	*/ 
-		}		status;
-	btVector3	witnesses[2];
-	btVector3	normal;
-	btScalar	distance;
+			Separated,   /* Shapes doesnt penetrate												*/
+			Penetrating, /* Shapes are penetrating												*/
+			GJK_Failed,  /* GJK phase fail, no big issue, shapes are probably just 'touching'	*/
+			EPA_Failed   /* EPA phase fail, bigger problem, need to save parameters, and debug	*/
+		} status;
+		btVector3 witnesses[2];
+		btVector3 normal;
+		btScalar distance;
 	};
 
-static int		StackSizeRequirement();
+	static int StackSizeRequirement();
 
-static bool		Distance(	const btConvexShape* shape0,const btTransform& wtrs0,
-							const btConvexShape* shape1,const btTransform& wtrs1,
-							const btVector3& guess,
-							sResults& results);
+	static bool Distance(const btConvexShape* shape0, const btTransform& wtrs0,
+						 const btConvexShape* shape1, const btTransform& wtrs1,
+						 const btVector3& guess,
+						 sResults& results);
 
-static bool		Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
-							const btConvexShape* shape1,const btTransform& wtrs1,
+	static bool Penetration(const btConvexShape* shape0, const btTransform& wtrs0,
+							const btConvexShape* shape1, const btTransform& wtrs1,
 							const btVector3& guess,
 							sResults& results,
-							bool usemargins=true);
+							bool usemargins = true);
 #ifndef __SPU__
-static btScalar	SignedDistance(	const btVector3& position,
-								btScalar margin,
-								const btConvexShape* shape,
-								const btTransform& wtrs,
-								sResults& results);
-							
-static bool		SignedDistance(	const btConvexShape* shape0,const btTransform& wtrs0,
-								const btConvexShape* shape1,const btTransform& wtrs1,
-								const btVector3& guess,
-								sResults& results);
-#endif //__SPU__
+	static btScalar SignedDistance(const btVector3& position,
+								   btScalar margin,
+								   const btConvexShape* shape,
+								   const btTransform& wtrs,
+								   sResults& results);
 
+	static bool SignedDistance(const btConvexShape* shape0, const btTransform& wtrs0,
+							   const btConvexShape* shape1, const btTransform& wtrs1,
+							   const btVector3& guess,
+							   sResults& results);
+#endif  //__SPU__
 };
 
-#endif //BT_GJK_EPA2_H
-
+#endif  //BT_GJK_EPA2_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
index ce1f24bc50..6fedbbb3e5 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
@@ -29,915 +29,946 @@ Improvements and refactoring by Erwin Coumans, 2008-2014
 #include "LinearMath/btTransform.h"
 #include "btGjkCollisionDescription.h"
 
-
-
-struct	btGjkEpaSolver3
+struct btGjkEpaSolver3
 {
-struct	sResults
+	struct sResults
 	{
-	enum eStatus
+		enum eStatus
 		{
-		Separated,		/* Shapes doesnt penetrate												*/ 
-		Penetrating,	/* Shapes are penetrating												*/ 
-		GJK_Failed,		/* GJK phase fail, no big issue, shapes are probably just 'touching'	*/ 
-		EPA_Failed		/* EPA phase fail, bigger problem, need to save parameters, and debug	*/ 
-		}		status;
-	btVector3	witnesses[2];
-	btVector3	normal;
-	btScalar	distance;
+			Separated,   /* Shapes doesnt penetrate												*/
+			Penetrating, /* Shapes are penetrating												*/
+			GJK_Failed,  /* GJK phase fail, no big issue, shapes are probably just 'touching'	*/
+			EPA_Failed   /* EPA phase fail, bigger problem, need to save parameters, and debug	*/
+		} status;
+		btVector3 witnesses[2];
+		btVector3 normal;
+		btScalar distance;
 	};
-
-
 };
 
-
-
-#if defined(DEBUG) || defined (_DEBUG)
-#include <stdio.h> //for debug printf
+#if defined(DEBUG) || defined(_DEBUG)
+#include <stdio.h>  //for debug printf
 #ifdef __SPU__
 #include <spu_printf.h>
 #define printf spu_printf
-#endif //__SPU__
+#endif  //__SPU__
 #endif
 
+// Config
 
-    
-    // Config
-    
-    /* GJK	*/
-#define GJK_MAX_ITERATIONS	128
-#define GJK_ACCURARY		((btScalar)0.0001)
-#define GJK_MIN_DISTANCE	((btScalar)0.0001)
-#define GJK_DUPLICATED_EPS	((btScalar)0.0001)
-#define GJK_SIMPLEX2_EPS	((btScalar)0.0)
-#define GJK_SIMPLEX3_EPS	((btScalar)0.0)
-#define GJK_SIMPLEX4_EPS	((btScalar)0.0)
-    
-    /* EPA	*/
-#define EPA_MAX_VERTICES	64
-#define EPA_MAX_FACES		(EPA_MAX_VERTICES*2)
-#define EPA_MAX_ITERATIONS	255
-#define EPA_ACCURACY		((btScalar)0.0001)
-#define EPA_FALLBACK		(10*EPA_ACCURACY)
-#define EPA_PLANE_EPS		((btScalar)0.00001)
-#define EPA_INSIDE_EPS		((btScalar)0.01)
-    
-    
-    // Shorthands
-    typedef unsigned int	U;
-    typedef unsigned char	U1;
-    
-    // MinkowskiDiff
-    template <typename btConvexTemplate>
-    struct	MinkowskiDiff
-    {
-        const btConvexTemplate* m_convexAPtr;
-        const btConvexTemplate* m_convexBPtr;
-        
-        btMatrix3x3				m_toshape1;
-        btTransform				m_toshape0;
-        
-        bool					m_enableMargin;
-        
-        
-        MinkowskiDiff(const btConvexTemplate& a, const btConvexTemplate& b)
-        :m_convexAPtr(&a),
-        m_convexBPtr(&b)
-        {
-        }
-        
-        void					EnableMargin(bool enable)
-        {
-            m_enableMargin = enable;
-        }
-        inline btVector3		Support0(const btVector3& d) const
-        {
-            return m_convexAPtr->getLocalSupportWithMargin(d);
-        }
-        inline btVector3		Support1(const btVector3& d) const
-        {
-            return m_toshape0*m_convexBPtr->getLocalSupportWithMargin(m_toshape1*d);
-        }
-        
-        
-        inline btVector3		Support(const btVector3& d) const
-        {
-            return(Support0(d)-Support1(-d));
-        }
-        btVector3				Support(const btVector3& d,U index) const
-        {
-            if(index)
-                return(Support1(d));
-            else
-                return(Support0(d));
-        }
-    };
-    
-enum	eGjkStatus
+/* GJK	*/
+#define GJK_MAX_ITERATIONS 128
+#define GJK_ACCURARY ((btScalar)0.0001)
+#define GJK_MIN_DISTANCE ((btScalar)0.0001)
+#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
+#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
+#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
+#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
+
+/* EPA	*/
+#define EPA_MAX_VERTICES 64
+#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2)
+#define EPA_MAX_ITERATIONS 255
+#define EPA_ACCURACY ((btScalar)0.0001)
+#define EPA_FALLBACK (10 * EPA_ACCURACY)
+#define EPA_PLANE_EPS ((btScalar)0.00001)
+#define EPA_INSIDE_EPS ((btScalar)0.01)
+
+// Shorthands
+typedef unsigned int U;
+typedef unsigned char U1;
+
+// MinkowskiDiff
+template <typename btConvexTemplate>
+struct MinkowskiDiff
 {
-    eGjkValid,
-    eGjkInside,
-    eGjkFailed
+	const btConvexTemplate* m_convexAPtr;
+	const btConvexTemplate* m_convexBPtr;
+
+	btMatrix3x3 m_toshape1;
+	btTransform m_toshape0;
+
+	bool m_enableMargin;
+
+	MinkowskiDiff(const btConvexTemplate& a, const btConvexTemplate& b)
+		: m_convexAPtr(&a),
+		  m_convexBPtr(&b)
+	{
+	}
+
+	void EnableMargin(bool enable)
+	{
+		m_enableMargin = enable;
+	}
+	inline btVector3 Support0(const btVector3& d) const
+	{
+		return m_convexAPtr->getLocalSupportWithMargin(d);
+	}
+	inline btVector3 Support1(const btVector3& d) const
+	{
+		return m_toshape0 * m_convexBPtr->getLocalSupportWithMargin(m_toshape1 * d);
+	}
+
+	inline btVector3 Support(const btVector3& d) const
+	{
+		return (Support0(d) - Support1(-d));
+	}
+	btVector3 Support(const btVector3& d, U index) const
+	{
+		if (index)
+			return (Support1(d));
+		else
+			return (Support0(d));
+	}
 };
 
-    // GJK
-    template <typename btConvexTemplate>
-    struct	GJK
-    {
-        /* Types		*/
-        struct	sSV
-        {
-            btVector3	d,w;
-        };
-        struct	sSimplex
-        {
-            sSV*		c[4];
-            btScalar	p[4];
-            U			rank;
-        };
-        
-        /* Fields		*/
-        
-        MinkowskiDiff<btConvexTemplate>			m_shape;
-        btVector3		m_ray;
-        btScalar		m_distance;
-        sSimplex		m_simplices[2];
-        sSV				m_store[4];
-        sSV*			m_free[4];
-        U				m_nfree;
-        U				m_current;
-        sSimplex*		m_simplex;
-        eGjkStatus      m_status;
-        /* Methods		*/
-        
-        GJK(const btConvexTemplate& a, const btConvexTemplate& b)
-        :m_shape(a,b)
-        {
-            Initialize();
-        }
-        void				Initialize()
-        {
-            m_ray		=	btVector3(0,0,0);
-            m_nfree		=	0;
-            m_status	=	eGjkFailed;
-            m_current	=	0;
-            m_distance	=	0;
-        }
-        eGjkStatus			Evaluate(const MinkowskiDiff<btConvexTemplate>& shapearg,const btVector3& guess)
-        {
-            U			iterations=0;
-            btScalar	sqdist=0;
-            btScalar	alpha=0;
-            btVector3	lastw[4];
-            U			clastw=0;
-            /* Initialize solver		*/
-            m_free[0]			=	&m_store[0];
-            m_free[1]			=	&m_store[1];
-            m_free[2]			=	&m_store[2];
-            m_free[3]			=	&m_store[3];
-            m_nfree				=	4;
-            m_current			=	0;
-            m_status			=	eGjkValid;
-            m_shape				=	shapearg;
-            m_distance			=	0;
-            /* Initialize simplex		*/
-            m_simplices[0].rank	=	0;
-            m_ray				=	guess;
-            const btScalar	sqrl=	m_ray.length2();
-            appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0));
-            m_simplices[0].p[0]	=	1;
-            m_ray				=	m_simplices[0].c[0]->w;
-            sqdist				=	sqrl;
-            lastw[0]			=
-            lastw[1]			=
-            lastw[2]			=
-            lastw[3]			=	m_ray;
-            /* Loop						*/
-            do	{
-                const U		next=1-m_current;
-                sSimplex&	cs=m_simplices[m_current];
-                sSimplex&	ns=m_simplices[next];
-                /* Check zero							*/
-                const btScalar	rl=m_ray.length();
-                if(rl<GJK_MIN_DISTANCE)
-                {/* Touching or inside				*/
-                    m_status=eGjkInside;
-                    break;
-                }
-                /* Append new vertice in -'v' direction	*/
-                appendvertice(cs,-m_ray);
-                const btVector3&	w=cs.c[cs.rank-1]->w;
-                bool				found=false;
-                for(U i=0;i<4;++i)
-                {
-                    if((w-lastw[i]).length2()<GJK_DUPLICATED_EPS)
-                    { found=true;break; }
-                }
-                if(found)
-                {/* Return old simplex				*/
-                    removevertice(m_simplices[m_current]);
-                    break;
-                }
-                else
-                {/* Update lastw					*/
-                    lastw[clastw=(clastw+1)&3]=w;
-                }
-                /* Check for termination				*/
-                const btScalar	omega=btDot(m_ray,w)/rl;
-                alpha=btMax(omega,alpha);
-                if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
-                {/* Return old simplex				*/
-                    removevertice(m_simplices[m_current]);
-                    break;
-                }
-                /* Reduce simplex						*/
-                btScalar	weights[4];
-                U			mask=0;
-                switch(cs.rank)
-                {
-                    case	2:	sqdist=projectorigin(	cs.c[0]->w,
-                                                     cs.c[1]->w,
-                                                     weights,mask);break;
-                    case	3:	sqdist=projectorigin(	cs.c[0]->w,
-                                                     cs.c[1]->w,
-                                                     cs.c[2]->w,
-                                                     weights,mask);break;
-                    case	4:	sqdist=projectorigin(	cs.c[0]->w,
-                                                     cs.c[1]->w,
-                                                     cs.c[2]->w,
-                                                     cs.c[3]->w,
-                                                     weights,mask);break;
-                }
-                if(sqdist>=0)
-                {/* Valid	*/
-                    ns.rank		=	0;
-                    m_ray		=	btVector3(0,0,0);
-                    m_current	=	next;
-                    for(U i=0,ni=cs.rank;i<ni;++i)
-                    {
-                        if(mask&(1<<i))
-                        {
-                            ns.c[ns.rank]		=	cs.c[i];
-                            ns.p[ns.rank++]		=	weights[i];
-                            m_ray				+=	cs.c[i]->w*weights[i];
-                        }
-                        else
-                        {
-                            m_free[m_nfree++]	=	cs.c[i];
-                        }
-                    }
-                    if(mask==15) m_status=eGjkInside;
-                }
-                else
-                {/* Return old simplex				*/
-                    removevertice(m_simplices[m_current]);
-                    break;
-                }
-                m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eGjkFailed;
-            } while(m_status==eGjkValid);
-            m_simplex=&m_simplices[m_current];
-            switch(m_status)
-            {
-                case	eGjkValid:		m_distance=m_ray.length();break;
-                case	eGjkInside:	m_distance=0;break;
-                default:
-                {
-                }
-            }
-            return(m_status);
-        }
-        bool					EncloseOrigin()
-        {
-            switch(m_simplex->rank)
-            {
-                case	1:
-                {
-                    for(U i=0;i<3;++i)
-                    {
-                        btVector3		axis=btVector3(0,0,0);
-                        axis[i]=1;
-                        appendvertice(*m_simplex, axis);
-                        if(EncloseOrigin())	return(true);
-                        removevertice(*m_simplex);
-                        appendvertice(*m_simplex,-axis);
-                        if(EncloseOrigin())	return(true);
-                        removevertice(*m_simplex);
-                    }
-                }
-                    break;
-                case	2:
-                {
-                    const btVector3	d=m_simplex->c[1]->w-m_simplex->c[0]->w;
-                    for(U i=0;i<3;++i)
-                    {
-                        btVector3		axis=btVector3(0,0,0);
-                        axis[i]=1;
-                        const btVector3	p=btCross(d,axis);
-                        if(p.length2()>0)
-                        {
-                            appendvertice(*m_simplex, p);
-                            if(EncloseOrigin())	return(true);
-                            removevertice(*m_simplex);
-                            appendvertice(*m_simplex,-p);
-                            if(EncloseOrigin())	return(true);
-                            removevertice(*m_simplex);
-                        }
-                    }
-                }
-                    break;
-                case	3:
-                {
-                    const btVector3	n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w,
-                                              m_simplex->c[2]->w-m_simplex->c[0]->w);
-                    if(n.length2()>0)
-                    {
-                        appendvertice(*m_simplex,n);
-                        if(EncloseOrigin())	return(true);
-                        removevertice(*m_simplex);
-                        appendvertice(*m_simplex,-n);
-                        if(EncloseOrigin())	return(true);
-                        removevertice(*m_simplex);
-                    }
-                }
-                    break;
-                case	4:
-                {
-                    if(btFabs(det(	m_simplex->c[0]->w-m_simplex->c[3]->w,
-                                  m_simplex->c[1]->w-m_simplex->c[3]->w,
-                                  m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
-                        return(true);
-                }
-                    break;
-            }
-            return(false);
-        }
-        /* Internals	*/
-        void				getsupport(const btVector3& d,sSV& sv) const
-        {
-            sv.d	=	d/d.length();
-            sv.w	=	m_shape.Support(sv.d);
-        }
-        void				removevertice(sSimplex& simplex)
-        {
-            m_free[m_nfree++]=simplex.c[--simplex.rank];
-        }
-        void				appendvertice(sSimplex& simplex,const btVector3& v)
-        {
-            simplex.p[simplex.rank]=0;
-            simplex.c[simplex.rank]=m_free[--m_nfree];
-            getsupport(v,*simplex.c[simplex.rank++]);
-        }
-        static btScalar		det(const btVector3& a,const btVector3& b,const btVector3& c)
-        {
-            return(	a.y()*b.z()*c.x()+a.z()*b.x()*c.y()-
-                   a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+
-                   a.x()*b.y()*c.z()-a.z()*b.y()*c.x());
-        }
-        static btScalar		projectorigin(	const btVector3& a,
-                                          const btVector3& b,
-                                          btScalar* w,U& m)
-        {
-            const btVector3	d=b-a;
-            const btScalar	l=d.length2();
-            if(l>GJK_SIMPLEX2_EPS)
-            {
-                const btScalar	t(l>0?-btDot(a,d)/l:0);
-                if(t>=1)		{ w[0]=0;w[1]=1;m=2;return(b.length2()); }
-                else if(t<=0)	{ w[0]=1;w[1]=0;m=1;return(a.length2()); }
-                else			{ w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
-            }
-            return(-1);
-        }
-        static btScalar		projectorigin(	const btVector3& a,
-                                          const btVector3& b,
-                                          const btVector3& c,
-                                          btScalar* w,U& m)
-        {
-            static const U		imd3[]={1,2,0};
-            const btVector3*	vt[]={&a,&b,&c};
-            const btVector3		dl[]={a-b,b-c,c-a};
-            const btVector3		n=btCross(dl[0],dl[1]);
-            const btScalar		l=n.length2();
-            if(l>GJK_SIMPLEX3_EPS)
-            {
-                btScalar	mindist=-1;
-                btScalar	subw[2]={0.f,0.f};
-                U			subm(0);
-                for(U i=0;i<3;++i)
-                {
-                    if(btDot(*vt[i],btCross(dl[i],n))>0)
-                    {
-                        const U			j=imd3[i];
-                        const btScalar	subd(projectorigin(*vt[i],*vt[j],subw,subm));
-                        if((mindist<0)||(subd<mindist))
-                        {
-                            mindist		=	subd;
-                            m			=	static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
-                            w[i]		=	subw[0];
-                            w[j]		=	subw[1];
-                            w[imd3[j]]	=	0;
-                        }
-                    }
-                }
-                if(mindist<0)
-                {
-                    const btScalar	d=btDot(a,n);
-                    const btScalar	s=btSqrt(l);
-                    const btVector3	p=n*(d/l);
-                    mindist	=	p.length2();
-                    m		=	7;
-                    w[0]	=	(btCross(dl[1],b-p)).length()/s;
-                    w[1]	=	(btCross(dl[2],c-p)).length()/s;
-                    w[2]	=	1-(w[0]+w[1]);
-                }
-                return(mindist);
-            }
-            return(-1);
-        }
-        static btScalar		projectorigin(	const btVector3& a,
-                                          const btVector3& b,
-                                          const btVector3& c,
-                                          const btVector3& d,
-                                          btScalar* w,U& m)
-        {
-            static const U		imd3[]={1,2,0};
-            const btVector3*	vt[]={&a,&b,&c,&d};
-            const btVector3		dl[]={a-d,b-d,c-d};
-            const btScalar		vl=det(dl[0],dl[1],dl[2]);
-            const bool			ng=(vl*btDot(a,btCross(b-c,a-b)))<=0;
-            if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
-            {
-                btScalar	mindist=-1;
-                btScalar	subw[3]={0.f,0.f,0.f};
-                U			subm(0);
-                for(U i=0;i<3;++i)
-                {
-                    const U			j=imd3[i];
-                    const btScalar	s=vl*btDot(d,btCross(dl[i],dl[j]));
-                    if(s>0)
-                    {
-                        const btScalar	subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
-                        if((mindist<0)||(subd<mindist))
-                        {
-                            mindist		=	subd;
-                            m			=	static_cast<U>((subm&1?1<<i:0)+
-                                                           (subm&2?1<<j:0)+
-                                                           (subm&4?8:0));
-                            w[i]		=	subw[0];
-                            w[j]		=	subw[1];
-                            w[imd3[j]]	=	0;
-                            w[3]		=	subw[2];
-                        }
-                    }
-                }
-                if(mindist<0)
-                {
-                    mindist	=	0;
-                    m		=	15;
-                    w[0]	=	det(c,b,d)/vl;
-                    w[1]	=	det(a,c,d)/vl;
-                    w[2]	=	det(b,a,d)/vl;
-                    w[3]	=	1-(w[0]+w[1]+w[2]);
-                }
-                return(mindist);
-            }
-            return(-1);
-        }
-    };
+enum eGjkStatus
+{
+	eGjkValid,
+	eGjkInside,
+	eGjkFailed
+};
+
+// GJK
+template <typename btConvexTemplate>
+struct GJK
+{
+	/* Types		*/
+	struct sSV
+	{
+		btVector3 d, w;
+	};
+	struct sSimplex
+	{
+		sSV* c[4];
+		btScalar p[4];
+		U rank;
+	};
+
+	/* Fields		*/
 
+	MinkowskiDiff<btConvexTemplate> m_shape;
+	btVector3 m_ray;
+	btScalar m_distance;
+	sSimplex m_simplices[2];
+	sSV m_store[4];
+	sSV* m_free[4];
+	U m_nfree;
+	U m_current;
+	sSimplex* m_simplex;
+	eGjkStatus m_status;
+	/* Methods		*/
+
+	GJK(const btConvexTemplate& a, const btConvexTemplate& b)
+		: m_shape(a, b)
+	{
+		Initialize();
+	}
+	void Initialize()
+	{
+		m_ray = btVector3(0, 0, 0);
+		m_nfree = 0;
+		m_status = eGjkFailed;
+		m_current = 0;
+		m_distance = 0;
+	}
+	eGjkStatus Evaluate(const MinkowskiDiff<btConvexTemplate>& shapearg, const btVector3& guess)
+	{
+		U iterations = 0;
+		btScalar sqdist = 0;
+		btScalar alpha = 0;
+		btVector3 lastw[4];
+		U clastw = 0;
+		/* Initialize solver		*/
+		m_free[0] = &m_store[0];
+		m_free[1] = &m_store[1];
+		m_free[2] = &m_store[2];
+		m_free[3] = &m_store[3];
+		m_nfree = 4;
+		m_current = 0;
+		m_status = eGjkValid;
+		m_shape = shapearg;
+		m_distance = 0;
+		/* Initialize simplex		*/
+		m_simplices[0].rank = 0;
+		m_ray = guess;
+		const btScalar sqrl = m_ray.length2();
+		appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : btVector3(1, 0, 0));
+		m_simplices[0].p[0] = 1;
+		m_ray = m_simplices[0].c[0]->w;
+		sqdist = sqrl;
+		lastw[0] =
+			lastw[1] =
+				lastw[2] =
+					lastw[3] = m_ray;
+		/* Loop						*/
+		do
+		{
+			const U next = 1 - m_current;
+			sSimplex& cs = m_simplices[m_current];
+			sSimplex& ns = m_simplices[next];
+			/* Check zero							*/
+			const btScalar rl = m_ray.length();
+			if (rl < GJK_MIN_DISTANCE)
+			{ /* Touching or inside				*/
+				m_status = eGjkInside;
+				break;
+			}
+			/* Append new vertice in -'v' direction	*/
+			appendvertice(cs, -m_ray);
+			const btVector3& w = cs.c[cs.rank - 1]->w;
+			bool found = false;
+			for (U i = 0; i < 4; ++i)
+			{
+				if ((w - lastw[i]).length2() < GJK_DUPLICATED_EPS)
+				{
+					found = true;
+					break;
+				}
+			}
+			if (found)
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			else
+			{ /* Update lastw					*/
+				lastw[clastw = (clastw + 1) & 3] = w;
+			}
+			/* Check for termination				*/
+			const btScalar omega = btDot(m_ray, w) / rl;
+			alpha = btMax(omega, alpha);
+			if (((rl - alpha) - (GJK_ACCURARY * rl)) <= 0)
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			/* Reduce simplex						*/
+			btScalar weights[4];
+			U mask = 0;
+			switch (cs.rank)
+			{
+				case 2:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   weights, mask);
+					break;
+				case 3:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   cs.c[2]->w,
+										   weights, mask);
+					break;
+				case 4:
+					sqdist = projectorigin(cs.c[0]->w,
+										   cs.c[1]->w,
+										   cs.c[2]->w,
+										   cs.c[3]->w,
+										   weights, mask);
+					break;
+			}
+			if (sqdist >= 0)
+			{ /* Valid	*/
+				ns.rank = 0;
+				m_ray = btVector3(0, 0, 0);
+				m_current = next;
+				for (U i = 0, ni = cs.rank; i < ni; ++i)
+				{
+					if (mask & (1 << i))
+					{
+						ns.c[ns.rank] = cs.c[i];
+						ns.p[ns.rank++] = weights[i];
+						m_ray += cs.c[i]->w * weights[i];
+					}
+					else
+					{
+						m_free[m_nfree++] = cs.c[i];
+					}
+				}
+				if (mask == 15) m_status = eGjkInside;
+			}
+			else
+			{ /* Return old simplex				*/
+				removevertice(m_simplices[m_current]);
+				break;
+			}
+			m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eGjkFailed;
+		} while (m_status == eGjkValid);
+		m_simplex = &m_simplices[m_current];
+		switch (m_status)
+		{
+			case eGjkValid:
+				m_distance = m_ray.length();
+				break;
+			case eGjkInside:
+				m_distance = 0;
+				break;
+			default:
+			{
+			}
+		}
+		return (m_status);
+	}
+	bool EncloseOrigin()
+	{
+		switch (m_simplex->rank)
+		{
+			case 1:
+			{
+				for (U i = 0; i < 3; ++i)
+				{
+					btVector3 axis = btVector3(0, 0, 0);
+					axis[i] = 1;
+					appendvertice(*m_simplex, axis);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+					appendvertice(*m_simplex, -axis);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+				}
+			}
+			break;
+			case 2:
+			{
+				const btVector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w;
+				for (U i = 0; i < 3; ++i)
+				{
+					btVector3 axis = btVector3(0, 0, 0);
+					axis[i] = 1;
+					const btVector3 p = btCross(d, axis);
+					if (p.length2() > 0)
+					{
+						appendvertice(*m_simplex, p);
+						if (EncloseOrigin()) return (true);
+						removevertice(*m_simplex);
+						appendvertice(*m_simplex, -p);
+						if (EncloseOrigin()) return (true);
+						removevertice(*m_simplex);
+					}
+				}
+			}
+			break;
+			case 3:
+			{
+				const btVector3 n = btCross(m_simplex->c[1]->w - m_simplex->c[0]->w,
+											m_simplex->c[2]->w - m_simplex->c[0]->w);
+				if (n.length2() > 0)
+				{
+					appendvertice(*m_simplex, n);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+					appendvertice(*m_simplex, -n);
+					if (EncloseOrigin()) return (true);
+					removevertice(*m_simplex);
+				}
+			}
+			break;
+			case 4:
+			{
+				if (btFabs(det(m_simplex->c[0]->w - m_simplex->c[3]->w,
+							   m_simplex->c[1]->w - m_simplex->c[3]->w,
+							   m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0)
+					return (true);
+			}
+			break;
+		}
+		return (false);
+	}
+	/* Internals	*/
+	void getsupport(const btVector3& d, sSV& sv) const
+	{
+		sv.d = d / d.length();
+		sv.w = m_shape.Support(sv.d);
+	}
+	void removevertice(sSimplex& simplex)
+	{
+		m_free[m_nfree++] = simplex.c[--simplex.rank];
+	}
+	void appendvertice(sSimplex& simplex, const btVector3& v)
+	{
+		simplex.p[simplex.rank] = 0;
+		simplex.c[simplex.rank] = m_free[--m_nfree];
+		getsupport(v, *simplex.c[simplex.rank++]);
+	}
+	static btScalar det(const btVector3& a, const btVector3& b, const btVector3& c)
+	{
+		return (a.y() * b.z() * c.x() + a.z() * b.x() * c.y() -
+				a.x() * b.z() * c.y() - a.y() * b.x() * c.z() +
+				a.x() * b.y() * c.z() - a.z() * b.y() * c.x());
+	}
+	static btScalar projectorigin(const btVector3& a,
+								  const btVector3& b,
+								  btScalar* w, U& m)
+	{
+		const btVector3 d = b - a;
+		const btScalar l = d.length2();
+		if (l > GJK_SIMPLEX2_EPS)
+		{
+			const btScalar t(l > 0 ? -btDot(a, d) / l : 0);
+			if (t >= 1)
+			{
+				w[0] = 0;
+				w[1] = 1;
+				m = 2;
+				return (b.length2());
+			}
+			else if (t <= 0)
+			{
+				w[0] = 1;
+				w[1] = 0;
+				m = 1;
+				return (a.length2());
+			}
+			else
+			{
+				w[0] = 1 - (w[1] = t);
+				m = 3;
+				return ((a + d * t).length2());
+			}
+		}
+		return (-1);
+	}
+	static btScalar projectorigin(const btVector3& a,
+								  const btVector3& b,
+								  const btVector3& c,
+								  btScalar* w, U& m)
+	{
+		static const U imd3[] = {1, 2, 0};
+		const btVector3* vt[] = {&a, &b, &c};
+		const btVector3 dl[] = {a - b, b - c, c - a};
+		const btVector3 n = btCross(dl[0], dl[1]);
+		const btScalar l = n.length2();
+		if (l > GJK_SIMPLEX3_EPS)
+		{
+			btScalar mindist = -1;
+			btScalar subw[2] = {0.f, 0.f};
+			U subm(0);
+			for (U i = 0; i < 3; ++i)
+			{
+				if (btDot(*vt[i], btCross(dl[i], n)) > 0)
+				{
+					const U j = imd3[i];
+					const btScalar subd(projectorigin(*vt[i], *vt[j], subw, subm));
+					if ((mindist < 0) || (subd < mindist))
+					{
+						mindist = subd;
+						m = static_cast<U>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0));
+						w[i] = subw[0];
+						w[j] = subw[1];
+						w[imd3[j]] = 0;
+					}
+				}
+			}
+			if (mindist < 0)
+			{
+				const btScalar d = btDot(a, n);
+				const btScalar s = btSqrt(l);
+				const btVector3 p = n * (d / l);
+				mindist = p.length2();
+				m = 7;
+				w[0] = (btCross(dl[1], b - p)).length() / s;
+				w[1] = (btCross(dl[2], c - p)).length() / s;
+				w[2] = 1 - (w[0] + w[1]);
+			}
+			return (mindist);
+		}
+		return (-1);
+	}
+	static btScalar projectorigin(const btVector3& a,
+								  const btVector3& b,
+								  const btVector3& c,
+								  const btVector3& d,
+								  btScalar* w, U& m)
+	{
+		static const U imd3[] = {1, 2, 0};
+		const btVector3* vt[] = {&a, &b, &c, &d};
+		const btVector3 dl[] = {a - d, b - d, c - d};
+		const btScalar vl = det(dl[0], dl[1], dl[2]);
+		const bool ng = (vl * btDot(a, btCross(b - c, a - b))) <= 0;
+		if (ng && (btFabs(vl) > GJK_SIMPLEX4_EPS))
+		{
+			btScalar mindist = -1;
+			btScalar subw[3] = {0.f, 0.f, 0.f};
+			U subm(0);
+			for (U i = 0; i < 3; ++i)
+			{
+				const U j = imd3[i];
+				const btScalar s = vl * btDot(d, btCross(dl[i], dl[j]));
+				if (s > 0)
+				{
+					const btScalar subd = projectorigin(*vt[i], *vt[j], d, subw, subm);
+					if ((mindist < 0) || (subd < mindist))
+					{
+						mindist = subd;
+						m = static_cast<U>((subm & 1 ? 1 << i : 0) +
+										   (subm & 2 ? 1 << j : 0) +
+										   (subm & 4 ? 8 : 0));
+						w[i] = subw[0];
+						w[j] = subw[1];
+						w[imd3[j]] = 0;
+						w[3] = subw[2];
+					}
+				}
+			}
+			if (mindist < 0)
+			{
+				mindist = 0;
+				m = 15;
+				w[0] = det(c, b, d) / vl;
+				w[1] = det(a, c, d) / vl;
+				w[2] = det(b, a, d) / vl;
+				w[3] = 1 - (w[0] + w[1] + w[2]);
+			}
+			return (mindist);
+		}
+		return (-1);
+	}
+};
 
-enum	eEpaStatus
+enum eEpaStatus
 {
-    eEpaValid,
-    eEpaTouching,
-    eEpaDegenerated,
-    eEpaNonConvex,
-    eEpaInvalidHull,
-    eEpaOutOfFaces,
-    eEpaOutOfVertices,
-    eEpaAccuraryReached,
-    eEpaFallBack,
-    eEpaFailed
+	eEpaValid,
+	eEpaTouching,
+	eEpaDegenerated,
+	eEpaNonConvex,
+	eEpaInvalidHull,
+	eEpaOutOfFaces,
+	eEpaOutOfVertices,
+	eEpaAccuraryReached,
+	eEpaFallBack,
+	eEpaFailed
 };
 
+// EPA
+template <typename btConvexTemplate>
+struct EPA
+{
+	/* Types		*/
+
+	struct sFace
+	{
+		btVector3 n;
+		btScalar d;
+		typename GJK<btConvexTemplate>::sSV* c[3];
+		sFace* f[3];
+		sFace* l[2];
+		U1 e[3];
+		U1 pass;
+	};
+	struct sList
+	{
+		sFace* root;
+		U count;
+		sList() : root(0), count(0) {}
+	};
+	struct sHorizon
+	{
+		sFace* cf;
+		sFace* ff;
+		U nf;
+		sHorizon() : cf(0), ff(0), nf(0) {}
+	};
+
+	/* Fields		*/
+	eEpaStatus m_status;
+	typename GJK<btConvexTemplate>::sSimplex m_result;
+	btVector3 m_normal;
+	btScalar m_depth;
+	typename GJK<btConvexTemplate>::sSV m_sv_store[EPA_MAX_VERTICES];
+	sFace m_fc_store[EPA_MAX_FACES];
+	U m_nextsv;
+	sList m_hull;
+	sList m_stock;
+	/* Methods		*/
+	EPA()
+	{
+		Initialize();
+	}
+
+	static inline void bind(sFace* fa, U ea, sFace* fb, U eb)
+	{
+		fa->e[ea] = (U1)eb;
+		fa->f[ea] = fb;
+		fb->e[eb] = (U1)ea;
+		fb->f[eb] = fa;
+	}
+	static inline void append(sList& list, sFace* face)
+	{
+		face->l[0] = 0;
+		face->l[1] = list.root;
+		if (list.root) list.root->l[0] = face;
+		list.root = face;
+		++list.count;
+	}
+	static inline void remove(sList& list, sFace* face)
+	{
+		if (face->l[1]) face->l[1]->l[0] = face->l[0];
+		if (face->l[0]) face->l[0]->l[1] = face->l[1];
+		if (face == list.root) list.root = face->l[1];
+		--list.count;
+	}
+
+	void Initialize()
+	{
+		m_status = eEpaFailed;
+		m_normal = btVector3(0, 0, 0);
+		m_depth = 0;
+		m_nextsv = 0;
+		for (U i = 0; i < EPA_MAX_FACES; ++i)
+		{
+			append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]);
+		}
+	}
+	eEpaStatus Evaluate(GJK<btConvexTemplate>& gjk, const btVector3& guess)
+	{
+		typename GJK<btConvexTemplate>::sSimplex& simplex = *gjk.m_simplex;
+		if ((simplex.rank > 1) && gjk.EncloseOrigin())
+		{
+			/* Clean up				*/
+			while (m_hull.root)
+			{
+				sFace* f = m_hull.root;
+				remove(m_hull, f);
+				append(m_stock, f);
+			}
+			m_status = eEpaValid;
+			m_nextsv = 0;
+			/* Orient simplex		*/
+			if (gjk.det(simplex.c[0]->w - simplex.c[3]->w,
+						simplex.c[1]->w - simplex.c[3]->w,
+						simplex.c[2]->w - simplex.c[3]->w) < 0)
+			{
+				btSwap(simplex.c[0], simplex.c[1]);
+				btSwap(simplex.p[0], simplex.p[1]);
+			}
+			/* Build initial hull	*/
+			sFace* tetra[] = {newface(simplex.c[0], simplex.c[1], simplex.c[2], true),
+							  newface(simplex.c[1], simplex.c[0], simplex.c[3], true),
+							  newface(simplex.c[2], simplex.c[1], simplex.c[3], true),
+							  newface(simplex.c[0], simplex.c[2], simplex.c[3], true)};
+			if (m_hull.count == 4)
+			{
+				sFace* best = findbest();
+				sFace outer = *best;
+				U pass = 0;
+				U iterations = 0;
+				bind(tetra[0], 0, tetra[1], 0);
+				bind(tetra[0], 1, tetra[2], 0);
+				bind(tetra[0], 2, tetra[3], 0);
+				bind(tetra[1], 1, tetra[3], 2);
+				bind(tetra[1], 2, tetra[2], 1);
+				bind(tetra[2], 2, tetra[3], 1);
+				m_status = eEpaValid;
+				for (; iterations < EPA_MAX_ITERATIONS; ++iterations)
+				{
+					if (m_nextsv < EPA_MAX_VERTICES)
+					{
+						sHorizon horizon;
+						typename GJK<btConvexTemplate>::sSV* w = &m_sv_store[m_nextsv++];
+						bool valid = true;
+						best->pass = (U1)(++pass);
+						gjk.getsupport(best->n, *w);
+						const btScalar wdist = btDot(best->n, w->w) - best->d;
+						if (wdist > EPA_ACCURACY)
+						{
+							for (U j = 0; (j < 3) && valid; ++j)
+							{
+								valid &= expand(pass, w,
+												best->f[j], best->e[j],
+												horizon);
+							}
+							if (valid && (horizon.nf >= 3))
+							{
+								bind(horizon.cf, 1, horizon.ff, 2);
+								remove(m_hull, best);
+								append(m_stock, best);
+								best = findbest();
+								outer = *best;
+							}
+							else
+							{
+								m_status = eEpaInvalidHull;
+								break;
+							}
+						}
+						else
+						{
+							m_status = eEpaAccuraryReached;
+							break;
+						}
+					}
+					else
+					{
+						m_status = eEpaOutOfVertices;
+						break;
+					}
+				}
+				const btVector3 projection = outer.n * outer.d;
+				m_normal = outer.n;
+				m_depth = outer.d;
+				m_result.rank = 3;
+				m_result.c[0] = outer.c[0];
+				m_result.c[1] = outer.c[1];
+				m_result.c[2] = outer.c[2];
+				m_result.p[0] = btCross(outer.c[1]->w - projection,
+										outer.c[2]->w - projection)
+									.length();
+				m_result.p[1] = btCross(outer.c[2]->w - projection,
+										outer.c[0]->w - projection)
+									.length();
+				m_result.p[2] = btCross(outer.c[0]->w - projection,
+										outer.c[1]->w - projection)
+									.length();
+				const btScalar sum = m_result.p[0] + m_result.p[1] + m_result.p[2];
+				m_result.p[0] /= sum;
+				m_result.p[1] /= sum;
+				m_result.p[2] /= sum;
+				return (m_status);
+			}
+		}
+		/* Fallback		*/
+		m_status = eEpaFallBack;
+		m_normal = -guess;
+		const btScalar nl = m_normal.length();
+		if (nl > 0)
+			m_normal = m_normal / nl;
+		else
+			m_normal = btVector3(1, 0, 0);
+		m_depth = 0;
+		m_result.rank = 1;
+		m_result.c[0] = simplex.c[0];
+		m_result.p[0] = 1;
+		return (m_status);
+	}
+	bool getedgedist(sFace* face, typename GJK<btConvexTemplate>::sSV* a, typename GJK<btConvexTemplate>::sSV* b, btScalar& dist)
+	{
+		const btVector3 ba = b->w - a->w;
+		const btVector3 n_ab = btCross(ba, face->n);   // Outward facing edge normal direction, on triangle plane
+		const btScalar a_dot_nab = btDot(a->w, n_ab);  // Only care about the sign to determine inside/outside, so not normalization required
+
+		if (a_dot_nab < 0)
+		{
+			// Outside of edge a->b
+
+			const btScalar ba_l2 = ba.length2();
+			const btScalar a_dot_ba = btDot(a->w, ba);
+			const btScalar b_dot_ba = btDot(b->w, ba);
+
+			if (a_dot_ba > 0)
+			{
+				// Pick distance vertex a
+				dist = a->w.length();
+			}
+			else if (b_dot_ba < 0)
+			{
+				// Pick distance vertex b
+				dist = b->w.length();
+			}
+			else
+			{
+				// Pick distance to edge a->b
+				const btScalar a_dot_b = btDot(a->w, b->w);
+				dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+	sFace* newface(typename GJK<btConvexTemplate>::sSV* a, typename GJK<btConvexTemplate>::sSV* b, typename GJK<btConvexTemplate>::sSV* c, bool forced)
+	{
+		if (m_stock.root)
+		{
+			sFace* face = m_stock.root;
+			remove(m_stock, face);
+			append(m_hull, face);
+			face->pass = 0;
+			face->c[0] = a;
+			face->c[1] = b;
+			face->c[2] = c;
+			face->n = btCross(b->w - a->w, c->w - a->w);
+			const btScalar l = face->n.length();
+			const bool v = l > EPA_ACCURACY;
+
+			if (v)
+			{
+				if (!(getedgedist(face, a, b, face->d) ||
+					  getedgedist(face, b, c, face->d) ||
+					  getedgedist(face, c, a, face->d)))
+				{
+					// Origin projects to the interior of the triangle
+					// Use distance to triangle plane
+					face->d = btDot(a->w, face->n) / l;
+				}
+
+				face->n /= l;
+				if (forced || (face->d >= -EPA_PLANE_EPS))
+				{
+					return face;
+				}
+				else
+					m_status = eEpaNonConvex;
+			}
+			else
+				m_status = eEpaDegenerated;
+
+			remove(m_hull, face);
+			append(m_stock, face);
+			return 0;
+		}
+		m_status = m_stock.root ? eEpaOutOfVertices : eEpaOutOfFaces;
+		return 0;
+	}
+	sFace* findbest()
+	{
+		sFace* minf = m_hull.root;
+		btScalar mind = minf->d * minf->d;
+		for (sFace* f = minf->l[1]; f; f = f->l[1])
+		{
+			const btScalar sqd = f->d * f->d;
+			if (sqd < mind)
+			{
+				minf = f;
+				mind = sqd;
+			}
+		}
+		return (minf);
+	}
+	bool expand(U pass, typename GJK<btConvexTemplate>::sSV* w, sFace* f, U e, sHorizon& horizon)
+	{
+		static const U i1m3[] = {1, 2, 0};
+		static const U i2m3[] = {2, 0, 1};
+		if (f->pass != pass)
+		{
+			const U e1 = i1m3[e];
+			if ((btDot(f->n, w->w) - f->d) < -EPA_PLANE_EPS)
+			{
+				sFace* nf = newface(f->c[e1], f->c[e], w, false);
+				if (nf)
+				{
+					bind(nf, 0, f, e);
+					if (horizon.cf)
+						bind(horizon.cf, 1, nf, 2);
+					else
+						horizon.ff = nf;
+					horizon.cf = nf;
+					++horizon.nf;
+					return (true);
+				}
+			}
+			else
+			{
+				const U e2 = i2m3[e];
+				f->pass = (U1)pass;
+				if (expand(pass, w, f->f[e1], f->e[e1], horizon) &&
+					expand(pass, w, f->f[e2], f->e[e2], horizon))
+				{
+					remove(m_hull, f);
+					append(m_stock, f);
+					return (true);
+				}
+			}
+		}
+		return (false);
+	}
+};
 
-    // EPA
 template <typename btConvexTemplate>
-    struct	EPA
-    {
-        /* Types		*/
-       
-        struct	sFace
-        {
-            btVector3	n;
-            btScalar	d;
-            typename GJK<btConvexTemplate>::sSV*		c[3];
-            sFace*		f[3];
-            sFace*		l[2];
-            U1			e[3];
-            U1			pass;
-        };
-        struct	sList
-        {
-            sFace*		root;
-            U			count;
-            sList() : root(0),count(0)	{}
-        };
-        struct	sHorizon
-        {
-            sFace*		cf;
-            sFace*		ff;
-            U			nf;
-            sHorizon() : cf(0),ff(0),nf(0)	{}
-        };
-       
-        /* Fields		*/
-        eEpaStatus		m_status;
-        typename GJK<btConvexTemplate>::sSimplex	m_result;
-        btVector3		m_normal;
-        btScalar		m_depth;
-        typename GJK<btConvexTemplate>::sSV				m_sv_store[EPA_MAX_VERTICES];
-        sFace			m_fc_store[EPA_MAX_FACES];
-        U				m_nextsv;
-        sList			m_hull;
-        sList			m_stock;
-        /* Methods		*/
-        EPA()
-        {
-            Initialize();
-        }
-        
-        
-        static inline void		bind(sFace* fa,U ea,sFace* fb,U eb)
-        {
-            fa->e[ea]=(U1)eb;fa->f[ea]=fb;
-            fb->e[eb]=(U1)ea;fb->f[eb]=fa;
-        }
-        static inline void		append(sList& list,sFace* face)
-        {
-            face->l[0]	=	0;
-            face->l[1]	=	list.root;
-            if(list.root) list.root->l[0]=face;
-            list.root	=	face;
-            ++list.count;
-        }
-        static inline void		remove(sList& list,sFace* face)
-        {
-            if(face->l[1]) face->l[1]->l[0]=face->l[0];
-            if(face->l[0]) face->l[0]->l[1]=face->l[1];
-            if(face==list.root) list.root=face->l[1];
-            --list.count;
-        }
-        
-        
-        void				Initialize()
-        {
-            m_status	=	eEpaFailed;
-            m_normal	=	btVector3(0,0,0);
-            m_depth		=	0;
-            m_nextsv	=	0;
-            for(U i=0;i<EPA_MAX_FACES;++i)
-            {
-                append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
-            }
-        }
-        eEpaStatus			Evaluate(GJK<btConvexTemplate>& gjk,const btVector3& guess)
-        {
-            typename GJK<btConvexTemplate>::sSimplex&	simplex=*gjk.m_simplex;
-            if((simplex.rank>1)&&gjk.EncloseOrigin())
-            {
-                
-                /* Clean up				*/
-                while(m_hull.root)
-                {
-                    sFace*	f = m_hull.root;
-                    remove(m_hull,f);
-                    append(m_stock,f);
-                }
-                m_status	=	eEpaValid;
-                m_nextsv	=	0;
-                /* Orient simplex		*/
-                if(gjk.det(	simplex.c[0]->w-simplex.c[3]->w,
-                           simplex.c[1]->w-simplex.c[3]->w,
-                           simplex.c[2]->w-simplex.c[3]->w)<0)
-                {
-                    btSwap(simplex.c[0],simplex.c[1]);
-                    btSwap(simplex.p[0],simplex.p[1]);
-                }
-                /* Build initial hull	*/
-                sFace*	tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
-                    newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
-                    newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
-                    newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
-                if(m_hull.count==4)
-                {
-                    sFace*		best=findbest();
-                    sFace		outer=*best;
-                    U			pass=0;
-                    U			iterations=0;
-                    bind(tetra[0],0,tetra[1],0);
-                    bind(tetra[0],1,tetra[2],0);
-                    bind(tetra[0],2,tetra[3],0);
-                    bind(tetra[1],1,tetra[3],2);
-                    bind(tetra[1],2,tetra[2],1);
-                    bind(tetra[2],2,tetra[3],1);
-                    m_status=eEpaValid;
-                    for(;iterations<EPA_MAX_ITERATIONS;++iterations)
-                    {
-                        if(m_nextsv<EPA_MAX_VERTICES)
-                        {
-                            sHorizon		horizon;
-                            typename GJK<btConvexTemplate>::sSV*			w=&m_sv_store[m_nextsv++];
-                            bool			valid=true;
-                            best->pass	=	(U1)(++pass);
-                            gjk.getsupport(best->n,*w);
-                            const btScalar	wdist=btDot(best->n,w->w)-best->d;
-                            if(wdist>EPA_ACCURACY)
-                            {
-                                for(U j=0;(j<3)&&valid;++j)
-                                {
-                                    valid&=expand(	pass,w,
-                                                  best->f[j],best->e[j],
-                                                  horizon);
-                                }
-                                if(valid&&(horizon.nf>=3))
-                                {
-                                    bind(horizon.cf,1,horizon.ff,2);
-                                    remove(m_hull,best);
-                                    append(m_stock,best);
-                                    best=findbest();
-                                    outer=*best;
-                                } else { m_status=eEpaInvalidHull;break; }
-                            } else { m_status=eEpaAccuraryReached;break; }
-                        } else { m_status=eEpaOutOfVertices;break; }
-                    }
-                    const btVector3	projection=outer.n*outer.d;
-                    m_normal	=	outer.n;
-                    m_depth		=	outer.d;
-                    m_result.rank	=	3;
-                    m_result.c[0]	=	outer.c[0];
-                    m_result.c[1]	=	outer.c[1];
-                    m_result.c[2]	=	outer.c[2];
-                    m_result.p[0]	=	btCross(	outer.c[1]->w-projection,
-                                                outer.c[2]->w-projection).length();
-                    m_result.p[1]	=	btCross(	outer.c[2]->w-projection,
-                                                outer.c[0]->w-projection).length();
-                    m_result.p[2]	=	btCross(	outer.c[0]->w-projection,
-                                                outer.c[1]->w-projection).length();
-                    const btScalar	sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
-                    m_result.p[0]	/=	sum;
-                    m_result.p[1]	/=	sum;
-                    m_result.p[2]	/=	sum;
-                    return(m_status);
-                }
-            }
-            /* Fallback		*/
-            m_status	=	eEpaFallBack;
-            m_normal	=	-guess;
-            const btScalar	nl=m_normal.length();
-            if(nl>0)
-                m_normal	=	m_normal/nl;
-            else
-                m_normal	=	btVector3(1,0,0);
-            m_depth	=	0;
-            m_result.rank=1;
-            m_result.c[0]=simplex.c[0];
-            m_result.p[0]=1;
-            return(m_status);
-        }
-        bool getedgedist(sFace* face, typename GJK<btConvexTemplate>::sSV* a, typename GJK<btConvexTemplate>::sSV* b, btScalar& dist)
-        {
-            const btVector3 ba = b->w - a->w;
-            const btVector3 n_ab = btCross(ba, face->n); // Outward facing edge normal direction, on triangle plane
-            const btScalar a_dot_nab = btDot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required
-            
-            if(a_dot_nab < 0)
-            {
-                // Outside of edge a->b
-                
-                const btScalar ba_l2 = ba.length2();
-                const btScalar a_dot_ba = btDot(a->w, ba);
-                const btScalar b_dot_ba = btDot(b->w, ba);
-                
-                if(a_dot_ba > 0)
-                {
-                    // Pick distance vertex a
-                    dist = a->w.length();
-                }
-                else if(b_dot_ba < 0)
-                {
-                    // Pick distance vertex b
-                    dist = b->w.length();
-                }
-                else
-                {
-                    // Pick distance to edge a->b
-                    const btScalar a_dot_b = btDot(a->w, b->w);
-                    dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
-                }
-                
-                return true;
-            }
-            
-            return false;
-        }
-        sFace*				newface(typename GJK<btConvexTemplate>::sSV* a,typename GJK<btConvexTemplate>::sSV* b,typename GJK<btConvexTemplate>::sSV* c,bool forced)
-        {
-            if(m_stock.root)
-            {
-                sFace*	face=m_stock.root;
-                remove(m_stock,face);
-                append(m_hull,face);
-                face->pass	=	0;
-                face->c[0]	=	a;
-                face->c[1]	=	b;
-                face->c[2]	=	c;
-                face->n		=	btCross(b->w-a->w,c->w-a->w);
-                const btScalar	l=face->n.length();
-                const bool		v=l>EPA_ACCURACY;
-                
-                if(v)
-                {
-                    if(!(getedgedist(face, a, b, face->d) ||
-                         getedgedist(face, b, c, face->d) ||
-                         getedgedist(face, c, a, face->d)))
-                    {
-                        // Origin projects to the interior of the triangle
-                        // Use distance to triangle plane
-                        face->d = btDot(a->w, face->n) / l;
-                    }
-                    
-                    face->n /= l;
-                    if(forced || (face->d >= -EPA_PLANE_EPS))
-                    {
-                        return face;
-                    }
-                    else
-                        m_status=eEpaNonConvex;
-                }
-                else
-                    m_status=eEpaDegenerated;
-                
-                remove(m_hull, face);
-                append(m_stock, face);
-                return 0;
-                
-            }
-            m_status = m_stock.root ? eEpaOutOfVertices : eEpaOutOfFaces;
-            return 0;
-        }
-        sFace*				findbest()
-        {
-            sFace*		minf=m_hull.root;
-            btScalar	mind=minf->d*minf->d;
-            for(sFace* f=minf->l[1];f;f=f->l[1])
-            {
-                const btScalar	sqd=f->d*f->d;
-                if(sqd<mind)
-                {
-                    minf=f;
-                    mind=sqd;
-                }
-            }
-            return(minf);
-        }
-        bool				expand(U pass,typename GJK<btConvexTemplate>::sSV* w,sFace* f,U e,sHorizon& horizon)
-        {
-            static const U	i1m3[]={1,2,0};
-            static const U	i2m3[]={2,0,1};
-            if(f->pass!=pass)
-            {
-                const U	e1=i1m3[e];
-                if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
-                {
-                    sFace*	nf=newface(f->c[e1],f->c[e],w,false);
-                    if(nf)
-                    {
-                        bind(nf,0,f,e);
-                        if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
-                        horizon.cf=nf;
-                        ++horizon.nf;
-                        return(true);
-                    }
-                }
-                else
-                {
-                    const U	e2=i2m3[e];
-                    f->pass		=	(U1)pass;
-                    if(	expand(pass,w,f->f[e1],f->e[e1],horizon)&&
-                       expand(pass,w,f->f[e2],f->e[e2],horizon))
-                    {
-                        remove(m_hull,f);
-                        append(m_stock,f);
-                        return(true);
-                    }
-                }
-            }
-            return(false);
-        }
-        
-    };
-    
-    template <typename btConvexTemplate>
-    static void	Initialize(	const btConvexTemplate& a, const btConvexTemplate& b,
-                           btGjkEpaSolver3::sResults& results,
-                           MinkowskiDiff<btConvexTemplate>& shape)
-    {
-        /* Results		*/ 
-        results.witnesses[0]	=
-        results.witnesses[1]	=	btVector3(0,0,0);
-        results.status			=	btGjkEpaSolver3::sResults::Separated;
-        /* Shape		*/ 
-       
-        shape.m_toshape1		=	b.getWorldTransform().getBasis().transposeTimes(a.getWorldTransform().getBasis());
-        shape.m_toshape0		=	a.getWorldTransform().inverseTimes(b.getWorldTransform());
-        
-    }
-    
+static void Initialize(const btConvexTemplate& a, const btConvexTemplate& b,
+					   btGjkEpaSolver3::sResults& results,
+					   MinkowskiDiff<btConvexTemplate>& shape)
+{
+	/* Results		*/
+	results.witnesses[0] =
+		results.witnesses[1] = btVector3(0, 0, 0);
+	results.status = btGjkEpaSolver3::sResults::Separated;
+	/* Shape		*/
+
+	shape.m_toshape1 = b.getWorldTransform().getBasis().transposeTimes(a.getWorldTransform().getBasis());
+	shape.m_toshape0 = a.getWorldTransform().inverseTimes(b.getWorldTransform());
+}
 
 //
 // Api
 //
 
-
-
 //
 template <typename btConvexTemplate>
-bool		btGjkEpaSolver3_Distance(const btConvexTemplate& a, const btConvexTemplate& b,
-                                      const btVector3& guess,
-                                      btGjkEpaSolver3::sResults& results)
+bool btGjkEpaSolver3_Distance(const btConvexTemplate& a, const btConvexTemplate& b,
+							  const btVector3& guess,
+							  btGjkEpaSolver3::sResults& results)
 {
-    MinkowskiDiff<btConvexTemplate>			shape(a,b);
-    Initialize(a,b,results,shape);
-    GJK<btConvexTemplate>				gjk(a,b);
-    eGjkStatus	gjk_status=gjk.Evaluate(shape,guess);
-    if(gjk_status==eGjkValid)
-    {
-        btVector3	w0=btVector3(0,0,0);
-        btVector3	w1=btVector3(0,0,0);
-        for(U i=0;i<gjk.m_simplex->rank;++i)
-        {
-            const btScalar	p=gjk.m_simplex->p[i];
-            w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
-            w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
-        }
-        results.witnesses[0]	=	a.getWorldTransform()*w0;
-        results.witnesses[1]	=	a.getWorldTransform()*w1;
-        results.normal			=	w0-w1;
-        results.distance		=	results.normal.length();
-        results.normal			/=	results.distance>GJK_MIN_DISTANCE?results.distance:1;
-        return(true);
-    }
-    else
-    {
-        results.status	=	gjk_status==eGjkInside?
-        btGjkEpaSolver3::sResults::Penetrating	:
-        btGjkEpaSolver3::sResults::GJK_Failed	;
-        return(false);
-    }
+	MinkowskiDiff<btConvexTemplate> shape(a, b);
+	Initialize(a, b, results, shape);
+	GJK<btConvexTemplate> gjk(a, b);
+	eGjkStatus gjk_status = gjk.Evaluate(shape, guess);
+	if (gjk_status == eGjkValid)
+	{
+		btVector3 w0 = btVector3(0, 0, 0);
+		btVector3 w1 = btVector3(0, 0, 0);
+		for (U i = 0; i < gjk.m_simplex->rank; ++i)
+		{
+			const btScalar p = gjk.m_simplex->p[i];
+			w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p;
+			w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p;
+		}
+		results.witnesses[0] = a.getWorldTransform() * w0;
+		results.witnesses[1] = a.getWorldTransform() * w1;
+		results.normal = w0 - w1;
+		results.distance = results.normal.length();
+		results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
+		return (true);
+	}
+	else
+	{
+		results.status = gjk_status == eGjkInside ? btGjkEpaSolver3::sResults::Penetrating : btGjkEpaSolver3::sResults::GJK_Failed;
+		return (false);
+	}
 }
 
-
 template <typename btConvexTemplate>
-bool	btGjkEpaSolver3_Penetration(const btConvexTemplate& a,
-                                     const btConvexTemplate& b,
-                                     const btVector3& guess,
-                                     btGjkEpaSolver3::sResults& results)
+bool btGjkEpaSolver3_Penetration(const btConvexTemplate& a,
+								 const btConvexTemplate& b,
+								 const btVector3& guess,
+								 btGjkEpaSolver3::sResults& results)
 {
-    MinkowskiDiff<btConvexTemplate>			shape(a,b);
-    Initialize(a,b,results,shape);
-    GJK<btConvexTemplate>				gjk(a,b);
-    eGjkStatus	gjk_status=gjk.Evaluate(shape,-guess);
-    switch(gjk_status)
-    {
-        case	eGjkInside:
-        {
-            EPA<btConvexTemplate>				epa;
-            eEpaStatus	epa_status=epa.Evaluate(gjk,-guess);
-            if(epa_status!=eEpaFailed)
-            {
-                btVector3	w0=btVector3(0,0,0);
-                for(U i=0;i<epa.m_result.rank;++i)
-                {
-                    w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
-                }
-                results.status			=	btGjkEpaSolver3::sResults::Penetrating;
-                results.witnesses[0]	=	a.getWorldTransform()*w0;
-                results.witnesses[1]	=	a.getWorldTransform()*(w0-epa.m_normal*epa.m_depth);
-                results.normal			=	-epa.m_normal;
-                results.distance		=	-epa.m_depth;
-                return(true);
-            } else results.status=btGjkEpaSolver3::sResults::EPA_Failed;
-        }
-            break;
-        case	eGjkFailed:
-            results.status=btGjkEpaSolver3::sResults::GJK_Failed;
-            break;
-        default:
-        {
-        }
-    }
-    return(false);
+	MinkowskiDiff<btConvexTemplate> shape(a, b);
+	Initialize(a, b, results, shape);
+	GJK<btConvexTemplate> gjk(a, b);
+	eGjkStatus gjk_status = gjk.Evaluate(shape, -guess);
+	switch (gjk_status)
+	{
+		case eGjkInside:
+		{
+			EPA<btConvexTemplate> epa;
+			eEpaStatus epa_status = epa.Evaluate(gjk, -guess);
+			if (epa_status != eEpaFailed)
+			{
+				btVector3 w0 = btVector3(0, 0, 0);
+				for (U i = 0; i < epa.m_result.rank; ++i)
+				{
+					w0 += shape.Support(epa.m_result.c[i]->d, 0) * epa.m_result.p[i];
+				}
+				results.status = btGjkEpaSolver3::sResults::Penetrating;
+				results.witnesses[0] = a.getWorldTransform() * w0;
+				results.witnesses[1] = a.getWorldTransform() * (w0 - epa.m_normal * epa.m_depth);
+				results.normal = -epa.m_normal;
+				results.distance = -epa.m_depth;
+				return (true);
+			}
+			else
+				results.status = btGjkEpaSolver3::sResults::EPA_Failed;
+		}
+		break;
+		case eGjkFailed:
+			results.status = btGjkEpaSolver3::sResults::GJK_Failed;
+			break;
+		default:
+		{
+		}
+	}
+	return (false);
 }
 
 #if 0
@@ -990,28 +1021,28 @@ int	btComputeGjkEpaPenetration2(const btCollisionDescription& colDesc, btDistanc
 #endif
 
 template <typename btConvexTemplate, typename btDistanceInfoTemplate>
-int	btComputeGjkDistance(const btConvexTemplate& a, const btConvexTemplate& b,
-                         const btGjkCollisionDescription& colDesc, btDistanceInfoTemplate* distInfo)
+int btComputeGjkDistance(const btConvexTemplate& a, const btConvexTemplate& b,
+						 const btGjkCollisionDescription& colDesc, btDistanceInfoTemplate* distInfo)
 {
-    btGjkEpaSolver3::sResults results;
-    btVector3 guess = colDesc.m_firstDir;
-    
-    bool isSeparated = btGjkEpaSolver3_Distance(	a,b,
-                                                 guess,
-                                                 results);
-    if (isSeparated)
-    {
-        distInfo->m_distance = results.distance;
-        distInfo->m_pointOnA= results.witnesses[0];
-        distInfo->m_pointOnB= results.witnesses[1];
-        distInfo->m_normalBtoA= results.normal;
-        return 0;
-    }
-    
-    return -1;
+	btGjkEpaSolver3::sResults results;
+	btVector3 guess = colDesc.m_firstDir;
+
+	bool isSeparated = btGjkEpaSolver3_Distance(a, b,
+												guess,
+												results);
+	if (isSeparated)
+	{
+		distInfo->m_distance = results.distance;
+		distInfo->m_pointOnA = results.witnesses[0];
+		distInfo->m_pointOnB = results.witnesses[1];
+		distInfo->m_normalBtoA = results.normal;
+		return 0;
+	}
+
+	return -1;
 }
 
-/* Symbols cleanup		*/ 
+/* Symbols cleanup		*/
 
 #undef GJK_MAX_ITERATIONS
 #undef GJK_ACCURARY
@@ -1029,7 +1060,4 @@ int	btComputeGjkDistance(const btConvexTemplate& a, const btConvexTemplate& b,
 #undef EPA_PLANE_EPS
 #undef EPA_INSIDE_EPS
 
-
-
-#endif //BT_GJK_EPA3_H
-
+#endif  //BT_GJK_EPA3_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index 572ec36f56..07629229ab 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -18,49 +18,64 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "btGjkEpaPenetrationDepthSolver.h"
 
-
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
-bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
-											  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
-											  const btTransform& transformA, const btTransform& transformB,
-											  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-											  class btIDebugDraw* debugDraw)
+bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
+												  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
+												  const btTransform& transformA, const btTransform& transformB,
+												  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
+												  class btIDebugDraw* debugDraw)
 {
-
 	(void)debugDraw;
 	(void)v;
 	(void)simplexSolver;
 
-//	const btScalar				radialmargin(btScalar(0.));
-	
-	btVector3	guessVector(transformB.getOrigin()-transformA.getOrigin());
-	btGjkEpaSolver2::sResults	results;
-	
+	btVector3 guessVectors[] = {
+		btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
+		btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
+		btVector3(0, 0, 1),
+		btVector3(0, 1, 0),
+		btVector3(1, 0, 0),
+		btVector3(1, 1, 0),
+		btVector3(1, 1, 1),
+		btVector3(0, 1, 1),
+		btVector3(1, 0, 1),
+	};
 
-	if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
-								pConvexB,transformB,
-								guessVector,results))
-	
-		{
-	//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-		wWitnessOnA = results.witnesses[0];
-		wWitnessOnB = results.witnesses[1];
-		v = results.normal;
-		return true;		
-		} else
+	int numVectors = sizeof(guessVectors) / sizeof(btVector3);
+
+	for (int i = 0; i < numVectors; i++)
 	{
-		if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
+		simplexSolver.reset();
+		btVector3 guessVector = guessVectors[i];
+
+		btGjkEpaSolver2::sResults results;
+
+		if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
+										 pConvexB, transformB,
+										 guessVector, results))
+
 		{
 			wWitnessOnA = results.witnesses[0];
 			wWitnessOnB = results.witnesses[1];
 			v = results.normal;
-			return false;
+			return true;
+		}
+		else
+		{
+			if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
+			{
+				wWitnessOnA = results.witnesses[0];
+				wWitnessOnB = results.witnesses[1];
+				v = results.normal;
+				return false;
+			}
 		}
 	}
 
+	//failed to find a distance/penetration
+	wWitnessOnA.setValue(0, 0, 0);
+	wWitnessOnB.setValue(0, 0, 0);
+	v.setValue(0, 0, 0);
 	return false;
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
index 1ed6340af3..92d6df1729 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
@@ -23,21 +23,18 @@ subject to the following restrictions:
 ///calculate the penetration depth between two convex shapes.
 class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 {
-	public :
-
-		btGjkEpaPenetrationDepthSolver()
-		{
-		}
-
-		bool			calcPenDepth( btSimplexSolverInterface& simplexSolver,
-									  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
-									  const btTransform& transformA, const btTransform& transformB,
-									  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-									  class btIDebugDraw* debugDraw);
-
-	private :
-
+public:
+	btGjkEpaPenetrationDepthSolver()
+	{
+	}
+
+	bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
+					  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
+					  const btTransform& transformA, const btTransform& transformB,
+					  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
+					  class btIDebugDraw* debugDraw);
+
+private:
 };
 
-#endif	// BT_GJP_EPA_PENETRATION_DEPTH_H
-
+#endif  // BT_GJP_EPA_PENETRATION_DEPTH_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 257b026d9b..803f6e0671 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -1,4 +1,4 @@
-/*
+/*
 Bullet Continuous Collision Detection and Physics Library
 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
@@ -18,86 +18,685 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
 #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
 
-
-
-#if defined(DEBUG) || defined (_DEBUG)
+#if defined(DEBUG) || defined(_DEBUG)
 //#define TEST_NON_VIRTUAL 1
-#include <stdio.h> //for debug printf
+#include <stdio.h>  //for debug printf
 #ifdef __SPU__
 #include <spu_printf.h>
 #define printf spu_printf
-#endif //__SPU__
+#endif  //__SPU__
 #endif
 
 //must be above the machine epsilon
-#ifdef  BT_USE_DOUBLE_PRECISION
-	#define REL_ERROR2 btScalar(1.0e-12)
-	btScalar gGjkEpaPenetrationTolerance = 1e-7;
+#ifdef BT_USE_DOUBLE_PRECISION
+#define REL_ERROR2 btScalar(1.0e-12)
+btScalar gGjkEpaPenetrationTolerance = 1.0e-12;
 #else
-	#define REL_ERROR2 btScalar(1.0e-6)
-	btScalar gGjkEpaPenetrationTolerance = 0.001;
+#define REL_ERROR2 btScalar(1.0e-6)
+btScalar gGjkEpaPenetrationTolerance = 0.001;
 #endif
 
-//temp globals, to improve GJK/EPA/penetration calculations
-int gNumDeepPenetrationChecks = 0;
-int gNumGjkChecks = 0;
-
-
-btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
-:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_simplexSolver(simplexSolver),
-m_minkowskiA(objectA),
-m_minkowskiB(objectB),
-m_shapeTypeA(objectA->getShapeType()),
-m_shapeTypeB(objectB->getShapeType()),
-m_marginA(objectA->getMargin()),
-m_marginB(objectB->getMargin()),
-m_ignoreMargin(false),
-m_lastUsedMethod(-1),
-m_catchDegeneracies(1),
-m_fixContactNormalDirection(1)
-{
-}
-btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
-:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_simplexSolver(simplexSolver),
-m_minkowskiA(objectA),
-m_minkowskiB(objectB),
-m_shapeTypeA(shapeTypeA),
-m_shapeTypeB(shapeTypeB),
-m_marginA(marginA),
-m_marginB(marginB),
-m_ignoreMargin(false),
-m_lastUsedMethod(-1),
-m_catchDegeneracies(1),
-m_fixContactNormalDirection(1)
-{
-}
-
-void	btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
+
+btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
+	: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
+	  m_penetrationDepthSolver(penetrationDepthSolver),
+	  m_simplexSolver(simplexSolver),
+	  m_minkowskiA(objectA),
+	  m_minkowskiB(objectB),
+	  m_shapeTypeA(objectA->getShapeType()),
+	  m_shapeTypeB(objectB->getShapeType()),
+	  m_marginA(objectA->getMargin()),
+	  m_marginB(objectB->getMargin()),
+	  m_ignoreMargin(false),
+	  m_lastUsedMethod(-1),
+	  m_catchDegeneracies(1),
+	  m_fixContactNormalDirection(1)
+{
+}
+btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
+	: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
+	  m_penetrationDepthSolver(penetrationDepthSolver),
+	  m_simplexSolver(simplexSolver),
+	  m_minkowskiA(objectA),
+	  m_minkowskiB(objectB),
+	  m_shapeTypeA(shapeTypeA),
+	  m_shapeTypeB(shapeTypeB),
+	  m_marginA(marginA),
+	  m_marginB(marginB),
+	  m_ignoreMargin(false),
+	  m_lastUsedMethod(-1),
+	  m_catchDegeneracies(1),
+	  m_fixContactNormalDirection(1)
+{
+}
+
+void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults)
 {
 	(void)swapResults;
 
-	getClosestPointsNonVirtual(input,output,debugDraw);
+	getClosestPointsNonVirtual(input, output, debugDraw);
+}
+
+static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)
+{
+	btVector3 seperatingAxisInA = (dir)*localTransA.getBasis();
+	btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis();
+
+	btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+	btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+	btVector3 pInA = pInANoMargin;
+	btVector3 qInB = qInBNoMargin;
+
+	supAworld = localTransA(pInA);
+	supBworld = localTransB(qInB);
+
+	if (check2d)
+	{
+		supAworld[2] = 0.f;
+		supBworld[2] = 0.f;
+	}
+
+	aMinb = supAworld - supBworld;
+}
+
+struct btSupportVector
+{
+	btVector3 v;   //!< Support point in minkowski sum
+	btVector3 v1;  //!< Support point in obj1
+	btVector3 v2;  //!< Support point in obj2
+};
+
+struct btSimplex
+{
+	btSupportVector ps[4];
+	int last;  //!< index of last added point
+};
+
+static btVector3 ccd_vec3_origin(0, 0, 0);
+
+inline void btSimplexInit(btSimplex *s)
+{
+	s->last = -1;
+}
+
+inline int btSimplexSize(const btSimplex *s)
+{
+	return s->last + 1;
+}
+
+inline const btSupportVector *btSimplexPoint(const btSimplex *s, int idx)
+{
+	// here is no check on boundaries
+	return &s->ps[idx];
+}
+inline void btSupportCopy(btSupportVector *d, const btSupportVector *s)
+{
+	*d = *s;
+}
+
+inline void btVec3Copy(btVector3 *v, const btVector3 *w)
+{
+	*v = *w;
+}
+
+inline void ccdVec3Add(btVector3 *v, const btVector3 *w)
+{
+	v->m_floats[0] += w->m_floats[0];
+	v->m_floats[1] += w->m_floats[1];
+	v->m_floats[2] += w->m_floats[2];
+}
+
+inline void ccdVec3Sub(btVector3 *v, const btVector3 *w)
+{
+	*v -= *w;
+}
+inline void btVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w)
+{
+	*d = (*v) - (*w);
+}
+inline btScalar btVec3Dot(const btVector3 *a, const btVector3 *b)
+{
+	btScalar dot;
+	dot = a->dot(*b);
+
+	return dot;
+}
+
+inline btScalar ccdVec3Dist2(const btVector3 *a, const btVector3 *b)
+{
+	btVector3 ab;
+	btVec3Sub2(&ab, a, b);
+	return btVec3Dot(&ab, &ab);
+}
+
+inline void btVec3Scale(btVector3 *d, btScalar k)
+{
+	d->m_floats[0] *= k;
+	d->m_floats[1] *= k;
+	d->m_floats[2] *= k;
+}
+
+inline void btVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b)
+{
+	d->m_floats[0] = (a->m_floats[1] * b->m_floats[2]) - (a->m_floats[2] * b->m_floats[1]);
+	d->m_floats[1] = (a->m_floats[2] * b->m_floats[0]) - (a->m_floats[0] * b->m_floats[2]);
+	d->m_floats[2] = (a->m_floats[0] * b->m_floats[1]) - (a->m_floats[1] * b->m_floats[0]);
+}
+
+inline void btTripleCross(const btVector3 *a, const btVector3 *b,
+						  const btVector3 *c, btVector3 *d)
+{
+	btVector3 e;
+	btVec3Cross(&e, a, b);
+	btVec3Cross(d, &e, c);
+}
+
+inline int ccdEq(btScalar _a, btScalar _b)
+{
+	btScalar ab;
+	btScalar a, b;
+
+	ab = btFabs(_a - _b);
+	if (btFabs(ab) < SIMD_EPSILON)
+		return 1;
+
+	a = btFabs(_a);
+	b = btFabs(_b);
+	if (b > a)
+	{
+		return ab < SIMD_EPSILON * b;
+	}
+	else
+	{
+		return ab < SIMD_EPSILON * a;
+	}
+}
+
+btScalar ccdVec3X(const btVector3 *v)
+{
+	return v->x();
+}
+
+btScalar ccdVec3Y(const btVector3 *v)
+{
+	return v->y();
+}
+
+btScalar ccdVec3Z(const btVector3 *v)
+{
+	return v->z();
+}
+inline int btVec3Eq(const btVector3 *a, const btVector3 *b)
+{
+	return ccdEq(ccdVec3X(a), ccdVec3X(b)) && ccdEq(ccdVec3Y(a), ccdVec3Y(b)) && ccdEq(ccdVec3Z(a), ccdVec3Z(b));
+}
+
+inline void btSimplexAdd(btSimplex *s, const btSupportVector *v)
+{
+	// here is no check on boundaries in sake of speed
+	++s->last;
+	btSupportCopy(s->ps + s->last, v);
+}
+
+inline void btSimplexSet(btSimplex *s, size_t pos, const btSupportVector *a)
+{
+	btSupportCopy(s->ps + pos, a);
+}
+
+inline void btSimplexSetSize(btSimplex *s, int size)
+{
+	s->last = size - 1;
+}
+
+inline const btSupportVector *ccdSimplexLast(const btSimplex *s)
+{
+	return btSimplexPoint(s, s->last);
+}
+
+inline int ccdSign(btScalar val)
+{
+	if (btFuzzyZero(val))
+	{
+		return 0;
+	}
+	else if (val < btScalar(0))
+	{
+		return -1;
+	}
+	return 1;
+}
+
+inline btScalar btVec3PointSegmentDist2(const btVector3 *P,
+										const btVector3 *x0,
+										const btVector3 *b,
+										btVector3 *witness)
+{
+	// The computation comes from solving equation of segment:
+	//      S(t) = x0 + t.d
+	//          where - x0 is initial point of segment
+	//                - d is direction of segment from x0 (|d| > 0)
+	//                - t belongs to <0, 1> interval
+	//
+	// Than, distance from a segment to some point P can be expressed:
+	//      D(t) = |x0 + t.d - P|^2
+	//          which is distance from any point on segment. Minimization
+	//          of this function brings distance from P to segment.
+	// Minimization of D(t) leads to simple quadratic equation that's
+	// solving is straightforward.
+	//
+	// Bonus of this method is witness point for free.
+
+	btScalar dist, t;
+	btVector3 d, a;
+
+	// direction of segment
+	btVec3Sub2(&d, b, x0);
+
+	// precompute vector from P to x0
+	btVec3Sub2(&a, x0, P);
+
+	t = -btScalar(1.) * btVec3Dot(&a, &d);
+	t /= btVec3Dot(&d, &d);
+
+	if (t < btScalar(0) || btFuzzyZero(t))
+	{
+		dist = ccdVec3Dist2(x0, P);
+		if (witness)
+			btVec3Copy(witness, x0);
+	}
+	else if (t > btScalar(1) || ccdEq(t, btScalar(1)))
+	{
+		dist = ccdVec3Dist2(b, P);
+		if (witness)
+			btVec3Copy(witness, b);
+	}
+	else
+	{
+		if (witness)
+		{
+			btVec3Copy(witness, &d);
+			btVec3Scale(witness, t);
+			ccdVec3Add(witness, x0);
+			dist = ccdVec3Dist2(witness, P);
+		}
+		else
+		{
+			// recycling variables
+			btVec3Scale(&d, t);
+			ccdVec3Add(&d, &a);
+			dist = btVec3Dot(&d, &d);
+		}
+	}
+
+	return dist;
+}
+
+btScalar btVec3PointTriDist2(const btVector3 *P,
+							 const btVector3 *x0, const btVector3 *B,
+							 const btVector3 *C,
+							 btVector3 *witness)
+{
+	// Computation comes from analytic expression for triangle (x0, B, C)
+	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
+	// Then equation for distance is:
+	//      D(s, t) = | T(s, t) - P |^2
+	// This leads to minimization of quadratic function of two variables.
+	// The solution from is taken only if s is between 0 and 1, t is
+	// between 0 and 1 and t + s < 1, otherwise distance from segment is
+	// computed.
+
+	btVector3 d1, d2, a;
+	double u, v, w, p, q, r;
+	double s, t, dist, dist2;
+	btVector3 witness2;
+
+	btVec3Sub2(&d1, B, x0);
+	btVec3Sub2(&d2, C, x0);
+	btVec3Sub2(&a, x0, P);
+
+	u = btVec3Dot(&a, &a);
+	v = btVec3Dot(&d1, &d1);
+	w = btVec3Dot(&d2, &d2);
+	p = btVec3Dot(&a, &d1);
+	q = btVec3Dot(&a, &d2);
+	r = btVec3Dot(&d1, &d2);
+
+	s = (q * r - w * p) / (w * v - r * r);
+	t = (-s * r - q) / w;
+
+	if ((btFuzzyZero(s) || s > btScalar(0)) && (ccdEq(s, btScalar(1)) || s < btScalar(1)) && (btFuzzyZero(t) || t > btScalar(0)) && (ccdEq(t, btScalar(1)) || t < btScalar(1)) && (ccdEq(t + s, btScalar(1)) || t + s < btScalar(1)))
+	{
+		if (witness)
+		{
+			btVec3Scale(&d1, s);
+			btVec3Scale(&d2, t);
+			btVec3Copy(witness, x0);
+			ccdVec3Add(witness, &d1);
+			ccdVec3Add(witness, &d2);
+
+			dist = ccdVec3Dist2(witness, P);
+		}
+		else
+		{
+			dist = s * s * v;
+			dist += t * t * w;
+			dist += btScalar(2.) * s * t * r;
+			dist += btScalar(2.) * s * p;
+			dist += btScalar(2.) * t * q;
+			dist += u;
+		}
+	}
+	else
+	{
+		dist = btVec3PointSegmentDist2(P, x0, B, witness);
+
+		dist2 = btVec3PointSegmentDist2(P, x0, C, &witness2);
+		if (dist2 < dist)
+		{
+			dist = dist2;
+			if (witness)
+				btVec3Copy(witness, &witness2);
+		}
+
+		dist2 = btVec3PointSegmentDist2(P, B, C, &witness2);
+		if (dist2 < dist)
+		{
+			dist = dist2;
+			if (witness)
+				btVec3Copy(witness, &witness2);
+		}
+	}
+
+	return dist;
+}
+
+static int btDoSimplex2(btSimplex *simplex, btVector3 *dir)
+{
+	const btSupportVector *A, *B;
+	btVector3 AB, AO, tmp;
+	btScalar dot;
+
+	// get last added as A
+	A = ccdSimplexLast(simplex);
+	// get the other point
+	B = btSimplexPoint(simplex, 0);
+	// compute AB oriented segment
+	btVec3Sub2(&AB, &B->v, &A->v);
+	// compute AO vector
+	btVec3Copy(&AO, &A->v);
+	btVec3Scale(&AO, -btScalar(1));
+
+	// dot product AB . AO
+	dot = btVec3Dot(&AB, &AO);
+
+	// check if origin doesn't lie on AB segment
+	btVec3Cross(&tmp, &AB, &AO);
+	if (btFuzzyZero(btVec3Dot(&tmp, &tmp)) && dot > btScalar(0))
+	{
+		return 1;
+	}
+
+	// check if origin is in area where AB segment is
+	if (btFuzzyZero(dot) || dot < btScalar(0))
+	{
+		// origin is in outside are of A
+		btSimplexSet(simplex, 0, A);
+		btSimplexSetSize(simplex, 1);
+		btVec3Copy(dir, &AO);
+	}
+	else
+	{
+		// origin is in area where AB segment is
+
+		// keep simplex untouched and set direction to
+		// AB x AO x AB
+		btTripleCross(&AB, &AO, &AB, dir);
+	}
+
+	return 0;
+}
+
+static int btDoSimplex3(btSimplex *simplex, btVector3 *dir)
+{
+	const btSupportVector *A, *B, *C;
+	btVector3 AO, AB, AC, ABC, tmp;
+	btScalar dot, dist;
+
+	// get last added as A
+	A = ccdSimplexLast(simplex);
+	// get the other points
+	B = btSimplexPoint(simplex, 1);
+	C = btSimplexPoint(simplex, 0);
+
+	// check touching contact
+	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0);
+	if (btFuzzyZero(dist))
+	{
+		return 1;
+	}
+
+	// check if triangle is really triangle (has area > 0)
+	// if not simplex can't be expanded and thus no itersection is found
+	if (btVec3Eq(&A->v, &B->v) || btVec3Eq(&A->v, &C->v))
+	{
+		return -1;
+	}
+
+	// compute AO vector
+	btVec3Copy(&AO, &A->v);
+	btVec3Scale(&AO, -btScalar(1));
+
+	// compute AB and AC segments and ABC vector (perpendircular to triangle)
+	btVec3Sub2(&AB, &B->v, &A->v);
+	btVec3Sub2(&AC, &C->v, &A->v);
+	btVec3Cross(&ABC, &AB, &AC);
+
+	btVec3Cross(&tmp, &ABC, &AC);
+	dot = btVec3Dot(&tmp, &AO);
+	if (btFuzzyZero(dot) || dot > btScalar(0))
+	{
+		dot = btVec3Dot(&AC, &AO);
+		if (btFuzzyZero(dot) || dot > btScalar(0))
+		{
+			// C is already in place
+			btSimplexSet(simplex, 1, A);
+			btSimplexSetSize(simplex, 2);
+			btTripleCross(&AC, &AO, &AC, dir);
+		}
+		else
+		{
+			dot = btVec3Dot(&AB, &AO);
+			if (btFuzzyZero(dot) || dot > btScalar(0))
+			{
+				btSimplexSet(simplex, 0, B);
+				btSimplexSet(simplex, 1, A);
+				btSimplexSetSize(simplex, 2);
+				btTripleCross(&AB, &AO, &AB, dir);
+			}
+			else
+			{
+				btSimplexSet(simplex, 0, A);
+				btSimplexSetSize(simplex, 1);
+				btVec3Copy(dir, &AO);
+			}
+		}
+	}
+	else
+	{
+		btVec3Cross(&tmp, &AB, &ABC);
+		dot = btVec3Dot(&tmp, &AO);
+		if (btFuzzyZero(dot) || dot > btScalar(0))
+		{
+			dot = btVec3Dot(&AB, &AO);
+			if (btFuzzyZero(dot) || dot > btScalar(0))
+			{
+				btSimplexSet(simplex, 0, B);
+				btSimplexSet(simplex, 1, A);
+				btSimplexSetSize(simplex, 2);
+				btTripleCross(&AB, &AO, &AB, dir);
+			}
+			else
+			{
+				btSimplexSet(simplex, 0, A);
+				btSimplexSetSize(simplex, 1);
+				btVec3Copy(dir, &AO);
+			}
+		}
+		else
+		{
+			dot = btVec3Dot(&ABC, &AO);
+			if (btFuzzyZero(dot) || dot > btScalar(0))
+			{
+				btVec3Copy(dir, &ABC);
+			}
+			else
+			{
+				btSupportVector tmp;
+				btSupportCopy(&tmp, C);
+				btSimplexSet(simplex, 0, B);
+				btSimplexSet(simplex, 1, &tmp);
+
+				btVec3Copy(dir, &ABC);
+				btVec3Scale(dir, -btScalar(1));
+			}
+		}
+	}
+
+	return 0;
+}
+
+static int btDoSimplex4(btSimplex *simplex, btVector3 *dir)
+{
+	const btSupportVector *A, *B, *C, *D;
+	btVector3 AO, AB, AC, AD, ABC, ACD, ADB;
+	int B_on_ACD, C_on_ADB, D_on_ABC;
+	int AB_O, AC_O, AD_O;
+	btScalar dist;
+
+	// get last added as A
+	A = ccdSimplexLast(simplex);
+	// get the other points
+	B = btSimplexPoint(simplex, 2);
+	C = btSimplexPoint(simplex, 1);
+	D = btSimplexPoint(simplex, 0);
+
+	// check if tetrahedron is really tetrahedron (has volume > 0)
+	// if it is not simplex can't be expanded and thus no intersection is
+	// found
+	dist = btVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, 0);
+	if (btFuzzyZero(dist))
+	{
+		return -1;
+	}
+
+	// check if origin lies on some of tetrahedron's face - if so objects
+	// intersect
+	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0);
+	if (btFuzzyZero(dist))
+		return 1;
+	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &C->v, &D->v, 0);
+	if (btFuzzyZero(dist))
+		return 1;
+	dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &D->v, 0);
+	if (btFuzzyZero(dist))
+		return 1;
+	dist = btVec3PointTriDist2(&ccd_vec3_origin, &B->v, &C->v, &D->v, 0);
+	if (btFuzzyZero(dist))
+		return 1;
+
+	// compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors
+	btVec3Copy(&AO, &A->v);
+	btVec3Scale(&AO, -btScalar(1));
+	btVec3Sub2(&AB, &B->v, &A->v);
+	btVec3Sub2(&AC, &C->v, &A->v);
+	btVec3Sub2(&AD, &D->v, &A->v);
+	btVec3Cross(&ABC, &AB, &AC);
+	btVec3Cross(&ACD, &AC, &AD);
+	btVec3Cross(&ADB, &AD, &AB);
+
+	// side (positive or negative) of B, C, D relative to planes ACD, ADB
+	// and ABC respectively
+	B_on_ACD = ccdSign(btVec3Dot(&ACD, &AB));
+	C_on_ADB = ccdSign(btVec3Dot(&ADB, &AC));
+	D_on_ABC = ccdSign(btVec3Dot(&ABC, &AD));
+
+	// whether origin is on same side of ACD, ADB, ABC as B, C, D
+	// respectively
+	AB_O = ccdSign(btVec3Dot(&ACD, &AO)) == B_on_ACD;
+	AC_O = ccdSign(btVec3Dot(&ADB, &AO)) == C_on_ADB;
+	AD_O = ccdSign(btVec3Dot(&ABC, &AO)) == D_on_ABC;
+
+	if (AB_O && AC_O && AD_O)
+	{
+		// origin is in tetrahedron
+		return 1;
+		// rearrange simplex to triangle and call btDoSimplex3()
+	}
+	else if (!AB_O)
+	{
+		// B is farthest from the origin among all of the tetrahedron's
+		// points, so remove it from the list and go on with the triangle
+		// case
+
+		// D and C are in place
+		btSimplexSet(simplex, 2, A);
+		btSimplexSetSize(simplex, 3);
+	}
+	else if (!AC_O)
+	{
+		// C is farthest
+		btSimplexSet(simplex, 1, D);
+		btSimplexSet(simplex, 0, B);
+		btSimplexSet(simplex, 2, A);
+		btSimplexSetSize(simplex, 3);
+	}
+	else
+	{  // (!AD_O)
+		btSimplexSet(simplex, 0, C);
+		btSimplexSet(simplex, 1, B);
+		btSimplexSet(simplex, 2, A);
+		btSimplexSetSize(simplex, 3);
+	}
+
+	return btDoSimplex3(simplex, dir);
+}
+
+static int btDoSimplex(btSimplex *simplex, btVector3 *dir)
+{
+	if (btSimplexSize(simplex) == 2)
+	{
+		// simplex contains segment only one segment
+		return btDoSimplex2(simplex, dir);
+	}
+	else if (btSimplexSize(simplex) == 3)
+	{
+		// simplex contains triangle
+		return btDoSimplex3(simplex, dir);
+	}
+	else
+	{  // btSimplexSize(simplex) == 4
+		// tetrahedron - this is the only shape which can encapsule origin
+		// so btDoSimplex4() also contains test on it
+		return btDoSimplex4(simplex, dir);
+	}
 }
 
 #ifdef __SPU__
-void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
 #else
-void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw)
+void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
 #endif
 {
 	m_cachedSeparatingDistance = 0.f;
 
-	btScalar distance=btScalar(0.);
-	btVector3	normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar distance = btScalar(0.);
+	btVector3 normalInB(btScalar(0.), btScalar(0.), btScalar(0.));
 
-	btVector3 pointOnA,pointOnB;
-	btTransform	localTransA = input.m_transformA;
+	btVector3 pointOnA, pointOnB;
+	btTransform localTransA = input.m_transformA;
 	btTransform localTransB = input.m_transformB;
-	btVector3 positionOffset=(localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
+	btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
 	localTransA.getOrigin() -= positionOffset;
 	localTransB.getOrigin() -= positionOffset;
 
@@ -106,7 +705,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 	btScalar marginA = m_marginA;
 	btScalar marginB = m_marginB;
 
-	gNumGjkChecks++;
 
 	//for CCD we don't use margins
 	if (m_ignoreMargin)
@@ -116,8 +714,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 	}
 
 	m_curIter = 0;
-	int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
-	m_cachedSeparatingAxis.setValue(0,1,0);
+	int gGjkMaxIter = 1000;  //this is to catch invalid input, perhaps check for #NaN?
+	m_cachedSeparatingAxis.setValue(0, 1, 0);
 
 	bool isValid = false;
 	bool checkSimplex = false;
@@ -125,191 +723,291 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 	m_degenerateSimplex = 0;
 
 	m_lastUsedMethod = -1;
-
+	int status = -2;
+	btVector3 orgNormalInB(0, 0, 0);
+	btScalar margin = marginA + marginB;
+
+	//we add a separate implementation to check if the convex shapes intersect
+	//See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
+	//Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
+	//and remove this temporary code from libCCD
+	//this fixes issue https://github.com/bulletphysics/bullet3/issues/1703
+	//note, for large differences in shapes, use double precision build!
 	{
 		btScalar squaredDistance = BT_LARGE_FLOAT;
 		btScalar delta = btScalar(0.);
-		
-		btScalar margin = marginA + marginB;
-		
-		
 
-		m_simplexSolver->reset();
-		
-		for ( ; ; )
-		//while (true)
-		{
+		btSimplex simplex1;
+		btSimplex *simplex = &simplex1;
+		btSimplexInit(simplex);
 
-			btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
-			btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
+		btVector3 dir(1, 0, 0);
 
+		{
+			btVector3 lastSupV;
+			btVector3 supAworld;
+			btVector3 supBworld;
+			btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV);
 
-			btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-			btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+			btSupportVector last;
+			last.v = lastSupV;
+			last.v1 = supAworld;
+			last.v2 = supBworld;
 
-			btVector3  pWorld = localTransA(pInA);	
-			btVector3  qWorld = localTransB(qInB);
+			btSimplexAdd(simplex, &last);
 
+			dir = -lastSupV;
 
-			if (check2d)
+			// start iterations
+			for (int iterations = 0; iterations < gGjkMaxIter; iterations++)
 			{
-				pWorld[2] = 0.f;
-				qWorld[2] = 0.f;
-			}
+				// obtain support point
+				btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV);
+
+				// check if farthest point in Minkowski difference in direction dir
+				// isn't somewhere before origin (the test on negative dot product)
+				// - because if it is, objects are not intersecting at all.
+				btScalar delta = lastSupV.dot(dir);
+				if (delta < 0)
+				{
+					//no intersection, besides margin
+					status = -1;
+					break;
+				}
 
-			btVector3 w	= pWorld - qWorld;
-			delta = m_cachedSeparatingAxis.dot(w);
+				// add last support vector to simplex
+				last.v = lastSupV;
+				last.v1 = supAworld;
+				last.v2 = supBworld;
 
-			// potential exit, they don't overlap
-			if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
-			{
-				m_degenerateSimplex = 10;
-				checkSimplex=true;
-				//checkPenetration = false;
-				break;
-			}
+				btSimplexAdd(simplex, &last);
 
-			//exit 0: the new point is already in the simplex, or we didn't come any closer
-			if (m_simplexSolver->inSimplex(w))
-			{
-				m_degenerateSimplex = 1;
-				checkSimplex = true;
-				break;
-			}
-			// are we getting any closer ?
-			btScalar f0 = squaredDistance - delta;
-			btScalar f1 = squaredDistance * REL_ERROR2;
+				// if btDoSimplex returns 1 if objects intersect, -1 if objects don't
+				// intersect and 0 if algorithm should continue
 
-			if (f0 <= f1)
-			{
-				if (f0 <= btScalar(0.))
+				btVector3 newDir;
+				int do_simplex_res = btDoSimplex(simplex, &dir);
+
+				if (do_simplex_res == 1)
+				{
+					status = 0;  // intersection found
+					break;
+				}
+				else if (do_simplex_res == -1)
 				{
-					m_degenerateSimplex = 2;
-				} else
+					// intersection not found
+					status = -1;
+					break;
+				}
+
+				if (btFuzzyZero(btVec3Dot(&dir, &dir)))
 				{
-					m_degenerateSimplex = 11;
+					// intersection not found
+					status = -1;
+				}
+
+				if (dir.length2() < SIMD_EPSILON)
+				{
+					//no intersection, besides margin
+					status = -1;
+					break;
+				}
+
+				if (dir.fuzzyZero())
+				{
+					// intersection not found
+					status = -1;
+					break;
 				}
-				checkSimplex = true;
-				break;
 			}
+		}
 
-			//add current vertex to simplex
-			m_simplexSolver->addVertex(w, pWorld, qWorld);
-			btVector3 newCachedSeparatingAxis;
+		m_simplexSolver->reset();
+		if (status == 0)
+		{
+			//status = 0;
+			//printf("Intersect!\n");
+		}
 
-			//calculate the closest point to the origin (update vector v)
-			if (!m_simplexSolver->closest(newCachedSeparatingAxis))
+		if (status == -1)
+		{
+			//printf("not intersect\n");
+		}
+		//printf("dir=%f,%f,%f\n",dir[0],dir[1],dir[2]);
+		if (1)
+		{
+			for (;;)
+			//while (true)
 			{
-				m_degenerateSimplex = 3;
-				checkSimplex = true;
-				break;
-			}
+				btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
+				btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
 
-			if(newCachedSeparatingAxis.length2()<REL_ERROR2)
-            {
-				m_cachedSeparatingAxis = newCachedSeparatingAxis;
-                m_degenerateSimplex = 6;
-                checkSimplex = true;
-                break;
-            }
+				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+				btVector3 pWorld = localTransA(pInA);
+				btVector3 qWorld = localTransB(qInB);
+
+				if (check2d)
+				{
+					pWorld[2] = 0.f;
+					qWorld[2] = 0.f;
+				}
 
-			btScalar previousSquaredDistance = squaredDistance;
-			squaredDistance = newCachedSeparatingAxis.length2();
+				btVector3 w = pWorld - qWorld;
+				delta = m_cachedSeparatingAxis.dot(w);
+
+				// potential exit, they don't overlap
+				if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
+				{
+					m_degenerateSimplex = 10;
+					checkSimplex = true;
+					//checkPenetration = false;
+					break;
+				}
+
+				//exit 0: the new point is already in the simplex, or we didn't come any closer
+				if (m_simplexSolver->inSimplex(w))
+				{
+					m_degenerateSimplex = 1;
+					checkSimplex = true;
+					break;
+				}
+				// are we getting any closer ?
+				btScalar f0 = squaredDistance - delta;
+				btScalar f1 = squaredDistance * REL_ERROR2;
+
+				if (f0 <= f1)
+				{
+					if (f0 <= btScalar(0.))
+					{
+						m_degenerateSimplex = 2;
+					}
+					else
+					{
+						m_degenerateSimplex = 11;
+					}
+					checkSimplex = true;
+					break;
+				}
+
+				//add current vertex to simplex
+				m_simplexSolver->addVertex(w, pWorld, qWorld);
+				btVector3 newCachedSeparatingAxis;
+
+				//calculate the closest point to the origin (update vector v)
+				if (!m_simplexSolver->closest(newCachedSeparatingAxis))
+				{
+					m_degenerateSimplex = 3;
+					checkSimplex = true;
+					break;
+				}
+
+				if (newCachedSeparatingAxis.length2() < REL_ERROR2)
+				{
+					m_cachedSeparatingAxis = newCachedSeparatingAxis;
+					m_degenerateSimplex = 6;
+					checkSimplex = true;
+					break;
+				}
+
+				btScalar previousSquaredDistance = squaredDistance;
+				squaredDistance = newCachedSeparatingAxis.length2();
 #if 0
-///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
-			if (squaredDistance>previousSquaredDistance)
-			{
-				m_degenerateSimplex = 7;
-				squaredDistance = previousSquaredDistance;
-                checkSimplex = false;
-                break;
-			}
-#endif //
-			
-
-			//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
-
-			//are we getting any closer ?
-			if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) 
-			{ 
-//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				checkSimplex = true;
-				m_degenerateSimplex = 12;
-				
-				break;
-			}
+				///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
+				if (squaredDistance > previousSquaredDistance)
+				{
+					m_degenerateSimplex = 7;
+					squaredDistance = previousSquaredDistance;
+					checkSimplex = false;
+					break;
+				}
+#endif  //
 
-			m_cachedSeparatingAxis = newCachedSeparatingAxis;
+				//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
 
-			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
-              if (m_curIter++ > gGjkMaxIter)   
-              {   
-                      #if defined(DEBUG) || defined (_DEBUG)
+				//are we getting any closer ?
+				if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
+				{
+					//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+					checkSimplex = true;
+					m_degenerateSimplex = 12;
+
+					break;
+				}
+
+				m_cachedSeparatingAxis = newCachedSeparatingAxis;
 
-                              printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);   
-                              printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
-                              m_cachedSeparatingAxis.getX(),   
-                              m_cachedSeparatingAxis.getY(),   
-                              m_cachedSeparatingAxis.getZ(),   
-                              squaredDistance,   
-                              m_minkowskiA->getShapeType(),   
-                              m_minkowskiB->getShapeType());   
+				//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
+				if (m_curIter++ > gGjkMaxIter)
+				{
+#if defined(DEBUG) || defined(_DEBUG)
 
-                      #endif   
-                      break;   
+					printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter);
+					printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
+						   m_cachedSeparatingAxis.getX(),
+						   m_cachedSeparatingAxis.getY(),
+						   m_cachedSeparatingAxis.getZ(),
+						   squaredDistance,
+						   m_minkowskiA->getShapeType(),
+						   m_minkowskiB->getShapeType());
 
-              } 
+#endif
+					break;
+				}
 
+				bool check = (!m_simplexSolver->fullSimplex());
+				//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
 
-			bool check = (!m_simplexSolver->fullSimplex());
-			//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
+				if (!check)
+				{
+					//do we need this backup_closest here ?
+					//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+					m_degenerateSimplex = 13;
+					break;
+				}
+			}
 
-			if (!check)
+			if (checkSimplex)
 			{
-				//do we need this backup_closest here ?
-//				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				m_degenerateSimplex = 13;
-				break;
-			}
-		}
+				m_simplexSolver->compute_points(pointOnA, pointOnB);
+				normalInB = m_cachedSeparatingAxis;
 
-		if (checkSimplex)
-		{
-			m_simplexSolver->compute_points(pointOnA, pointOnB);
-			normalInB = m_cachedSeparatingAxis;
+				btScalar lenSqr = m_cachedSeparatingAxis.length2();
 
-			btScalar lenSqr =m_cachedSeparatingAxis.length2();
-			
-			//valid normal
-			if (lenSqr < REL_ERROR2)
-			{
-				m_degenerateSimplex = 5;
-			} 
-			if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
-			{
-				btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-				normalInB *= rlen; //normalize
-
-				btScalar s = btSqrt(squaredDistance);
-			
-				btAssert(s > btScalar(0.0));
-				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
-				pointOnB += m_cachedSeparatingAxis * (marginB / s);
-				distance = ((btScalar(1.)/rlen) - margin);
-				isValid = true;
-				
-				m_lastUsedMethod = 1;
-			} else
-			{
-				m_lastUsedMethod = 2;
+				//valid normal
+				if (lenSqr < REL_ERROR2)
+				{
+					m_degenerateSimplex = 5;
+				}
+				if (lenSqr > SIMD_EPSILON * SIMD_EPSILON)
+				{
+					btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
+					normalInB *= rlen;  //normalize
+
+					btScalar s = btSqrt(squaredDistance);
+
+					btAssert(s > btScalar(0.0));
+					pointOnA -= m_cachedSeparatingAxis * (marginA / s);
+					pointOnB += m_cachedSeparatingAxis * (marginB / s);
+					distance = ((btScalar(1.) / rlen) - margin);
+					isValid = true;
+					orgNormalInB = normalInB;
+
+					m_lastUsedMethod = 1;
+				}
+				else
+				{
+					m_lastUsedMethod = 2;
+				}
 			}
 		}
 
-		bool catchDegeneratePenetrationCase = 
-			(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < gGjkEpaPenetrationTolerance));
+		bool catchDegeneratePenetrationCase =
+			(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance + margin) < gGjkEpaPenetrationTolerance));
 
 		//if (checkPenetration && !isValid)
-		if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
+		if ((checkPenetration && (!isValid || catchDegeneratePenetrationCase)) || (status == 0))
 		{
 			//penetration case
 
@@ -317,151 +1015,169 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 			if (m_penetrationDepthSolver)
 			{
 				// Penetration depth case.
-				btVector3 tmpPointOnA,tmpPointOnB;
-				
-				gNumDeepPenetrationChecks++;
+				btVector3 tmpPointOnA, tmpPointOnB;
+
 				m_cachedSeparatingAxis.setZero();
 
-				bool isValid2 = m_penetrationDepthSolver->calcPenDepth( 
-					*m_simplexSolver, 
-					m_minkowskiA,m_minkowskiB,
-					localTransA,localTransB,
+				bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
+					*m_simplexSolver,
+					m_minkowskiA, m_minkowskiB,
+					localTransA, localTransB,
 					m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
-					debugDraw
-					);
-
+					debugDraw);
 
-				if (isValid2)
+				if (m_cachedSeparatingAxis.length2())
 				{
-					btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
-					btScalar lenSqr = tmpNormalInB.length2();
-					if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
+					if (isValid2)
 					{
-						tmpNormalInB = m_cachedSeparatingAxis;
-						lenSqr = m_cachedSeparatingAxis.length2();
-					}
+						btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA;
+						btScalar lenSqr = tmpNormalInB.length2();
+						if (lenSqr <= (SIMD_EPSILON * SIMD_EPSILON))
+						{
+							tmpNormalInB = m_cachedSeparatingAxis;
+							lenSqr = m_cachedSeparatingAxis.length2();
+						}
 
-					if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
-					{
-						tmpNormalInB /= btSqrt(lenSqr);
-						btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
-						m_lastUsedMethod = 3;
-						//only replace valid penetrations when the result is deeper (check)
-						if (!isValid || (distance2 < distance))
+						if (lenSqr > (SIMD_EPSILON * SIMD_EPSILON))
 						{
-							distance = distance2;
-							pointOnA = tmpPointOnA;
-							pointOnB = tmpPointOnB;
-							normalInB = tmpNormalInB;
-							
-							isValid = true;
-							
-						} else
+							tmpNormalInB /= btSqrt(lenSqr);
+							btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length();
+							m_lastUsedMethod = 3;
+							//only replace valid penetrations when the result is deeper (check)
+							if (!isValid || (distance2 < distance))
+							{
+								distance = distance2;
+								pointOnA = tmpPointOnA;
+								pointOnB = tmpPointOnB;
+								normalInB = tmpNormalInB;
+								isValid = true;
+							}
+							else
+							{
+								m_lastUsedMethod = 8;
+							}
+						}
+						else
 						{
-							m_lastUsedMethod = 8;
+							m_lastUsedMethod = 9;
 						}
-					} else
-					{
-						m_lastUsedMethod = 9;
 					}
-				} else
+					else
 
-				{
-					///this is another degenerate case, where the initial GJK calculation reports a degenerate case
-					///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
-					///reports a valid positive distance. Use the results of the second GJK instead of failing.
-					///thanks to Jacob.Langford for the reproduction case
-					///http://code.google.com/p/bullet/issues/detail?id=250
-
-				
-					if (m_cachedSeparatingAxis.length2() > btScalar(0.))
 					{
-						btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
-						//only replace valid distances when the distance is less
-						if (!isValid || (distance2 < distance))
-						{
-							distance = distance2;
-							pointOnA = tmpPointOnA;
-							pointOnB = tmpPointOnB;
-							pointOnA -= m_cachedSeparatingAxis * marginA ;
-							pointOnB += m_cachedSeparatingAxis * marginB ;
-							normalInB = m_cachedSeparatingAxis;
-							normalInB.normalize();
-
-							isValid = true;
-							m_lastUsedMethod = 6;
-						} else
+						///this is another degenerate case, where the initial GJK calculation reports a degenerate case
+						///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
+						///reports a valid positive distance. Use the results of the second GJK instead of failing.
+						///thanks to Jacob.Langford for the reproduction case
+						///http://code.google.com/p/bullet/issues/detail?id=250
+
+						if (m_cachedSeparatingAxis.length2() > btScalar(0.))
 						{
-							m_lastUsedMethod = 5;
+							btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin;
+							//only replace valid distances when the distance is less
+							if (!isValid || (distance2 < distance))
+							{
+								distance = distance2;
+								pointOnA = tmpPointOnA;
+								pointOnB = tmpPointOnB;
+								pointOnA -= m_cachedSeparatingAxis * marginA;
+								pointOnB += m_cachedSeparatingAxis * marginB;
+								normalInB = m_cachedSeparatingAxis;
+								normalInB.normalize();
+
+								isValid = true;
+								m_lastUsedMethod = 6;
+							}
+							else
+							{
+								m_lastUsedMethod = 5;
+							}
 						}
 					}
 				}
-				
+				else
+				{
+					//printf("EPA didn't return a valid value\n");
+				}
 			}
-
 		}
 	}
 
-	
-
-	if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
+	if (isValid && ((distance < 0) || (distance * distance < input.m_maximumDistanceSquared)))
 	{
-
 		m_cachedSeparatingAxis = normalInB;
 		m_cachedSeparatingDistance = distance;
-
+		if (1)
 		{
-		///todo: need to track down this EPA penetration solver degeneracy
-		///the penetration solver reports penetration but the contact normal
-		///connecting the contact points is pointing in the opposite direction
-		///until then, detect the issue and revert the normal
+			///todo: need to track down this EPA penetration solver degeneracy
+			///the penetration solver reports penetration but the contact normal
+			///connecting the contact points is pointing in the opposite direction
+			///until then, detect the issue and revert the normal
 
-			btScalar d1=0;
+			btScalar d2 = 0.f;
 			{
-				btVector3 seperatingAxisInA = (normalInB)* input.m_transformA.getBasis();
-				btVector3 seperatingAxisInB = -normalInB* input.m_transformB.getBasis();
-			
+				btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis();
+				btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis();
 
 				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
 				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
 
-				btVector3  pWorld = localTransA(pInA);	
-				btVector3  qWorld = localTransB(qInB);
-				btVector3 w	= pWorld - qWorld;
-				d1 = (-normalInB).dot(w);
+				btVector3 pWorld = localTransA(pInA);
+				btVector3 qWorld = localTransB(qInB);
+				btVector3 w = pWorld - qWorld;
+				d2 = orgNormalInB.dot(w) - margin;
+			}
+
+			btScalar d1 = 0;
+			{
+				btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis();
+				btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis();
+
+				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+				btVector3 pWorld = localTransA(pInA);
+				btVector3 qWorld = localTransB(qInB);
+				btVector3 w = pWorld - qWorld;
+				d1 = (-normalInB).dot(w) - margin;
 			}
 			btScalar d0 = 0.f;
 			{
-				btVector3 seperatingAxisInA = (-normalInB)* input.m_transformA.getBasis();
-				btVector3 seperatingAxisInB = normalInB* input.m_transformB.getBasis();
-			
+				btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis();
+				btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis();
 
 				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
 				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
 
-				btVector3  pWorld = localTransA(pInA);	
-				btVector3  qWorld = localTransB(qInB);
-				btVector3 w	= pWorld - qWorld;
-				d0 = normalInB.dot(w);
+				btVector3 pWorld = localTransA(pInA);
+				btVector3 qWorld = localTransB(qInB);
+				btVector3 w = pWorld - qWorld;
+				d0 = normalInB.dot(w) - margin;
 			}
-			if (d1>d0)
+
+			if (d1 > d0)
 			{
 				m_lastUsedMethod = 10;
-				normalInB*=-1;
-			} 
+				normalInB *= -1;
+			}
 
+			if (orgNormalInB.length2())
+			{
+				if (d2 > d0 && d2 > d1 && d2 > distance)
+				{
+					normalInB = orgNormalInB;
+					distance = d2;
+				}
+			}
 		}
+
 		output.addContactPoint(
 			normalInB,
-			pointOnB+positionOffset,
+			pointOnB + positionOffset,
 			distance);
-
 	}
-
-
+	else
+	{
+		//printf("invalid gjk query\n");
+	}
 }
-
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index feeae68621..659b63551e 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -13,9 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
-
 #ifndef BT_GJK_PAIR_DETECTOR_H
 #define BT_GJK_PAIR_DETECTOR_H
 
@@ -29,39 +26,34 @@ class btConvexPenetrationDepthSolver;
 /// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
 class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
 {
-	
-
-	btVector3	m_cachedSeparatingAxis;
-	btConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
+	btVector3 m_cachedSeparatingAxis;
+	btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
 	btSimplexSolverInterface* m_simplexSolver;
 	const btConvexShape* m_minkowskiA;
 	const btConvexShape* m_minkowskiB;
-	int	m_shapeTypeA;
+	int m_shapeTypeA;
 	int m_shapeTypeB;
-	btScalar	m_marginA;
-	btScalar	m_marginB;
+	btScalar m_marginA;
+	btScalar m_marginB;
 
-	bool		m_ignoreMargin;
-	btScalar	m_cachedSeparatingDistance;
-	
+	bool m_ignoreMargin;
+	btScalar m_cachedSeparatingDistance;
 
 public:
-
 	//some debugging to fix degeneracy problems
-	int			m_lastUsedMethod;
-	int			m_curIter;
-	int			m_degenerateSimplex;
-	int			m_catchDegeneracies;
-	int			m_fixContactNormalDirection;
+	int m_lastUsedMethod;
+	int m_curIter;
+	int m_degenerateSimplex;
+	int m_catchDegeneracies;
+	int m_fixContactNormalDirection;
 
-	btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver);
-	btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver);
-	virtual ~btGjkPairDetector() {};
+	btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
+	btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
+	virtual ~btGjkPairDetector(){};
 
-	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
 
-	void	getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
-	
+	void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
 
 	void setMinkowskiA(const btConvexShape* minkA)
 	{
@@ -81,23 +73,21 @@ public:
 	{
 		return m_cachedSeparatingAxis;
 	}
-	btScalar	getCachedSeparatingDistance() const
+	btScalar getCachedSeparatingDistance() const
 	{
 		return m_cachedSeparatingDistance;
 	}
 
-	void	setPenetrationDepthSolver(btConvexPenetrationDepthSolver*	penetrationDepthSolver)
+	void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
 	{
 		m_penetrationDepthSolver = penetrationDepthSolver;
 	}
 
 	///don't use setIgnoreMargin, it's for Bullet's internal use
-	void	setIgnoreMargin(bool ignoreMargin)
+	void setIgnoreMargin(bool ignoreMargin)
 	{
 		m_ignoreMargin = ignoreMargin;
 	}
-
-
 };
 
-#endif //BT_GJK_PAIR_DETECTOR_H
+#endif  //BT_GJK_PAIR_DETECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 571ad2c5f7..6d21f66202 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -20,161 +20,152 @@ subject to the following restrictions:
 #include "LinearMath/btTransformUtil.h"
 
 #ifdef PFX_USE_FREE_VECTORMATH
-	#include "physics_effects/base_level/solver/pfx_constraint_row.h"
+#include "physics_effects/base_level/solver/pfx_constraint_row.h"
 typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
 #else
-	// Don't change following order of parameters
-	ATTRIBUTE_ALIGNED16(struct) btConstraintRow {
-		btScalar m_normal[3];
-		btScalar m_rhs;
-		btScalar m_jacDiagInv;
-		btScalar m_lowerLimit;
-		btScalar m_upperLimit;
-		btScalar m_accumImpulse;
-	};
-	typedef btConstraintRow PfxConstraintRow;
-#endif //PFX_USE_FREE_VECTORMATH
+// Don't change following order of parameters
+ATTRIBUTE_ALIGNED16(struct)
+btConstraintRow
+{
+	btScalar m_normal[3];
+	btScalar m_rhs;
+	btScalar m_jacDiagInv;
+	btScalar m_lowerLimit;
+	btScalar m_upperLimit;
+	btScalar m_accumImpulse;
+};
+typedef btConstraintRow PfxConstraintRow;
+#endif  //PFX_USE_FREE_VECTORMATH
 
 enum btContactPointFlags
 {
-	BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED=1,
-	BT_CONTACT_FLAG_HAS_CONTACT_CFM=2,
-	BT_CONTACT_FLAG_HAS_CONTACT_ERP=4,
-    BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
+	BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED = 1,
+	BT_CONTACT_FLAG_HAS_CONTACT_CFM = 2,
+	BT_CONTACT_FLAG_HAS_CONTACT_ERP = 4,
+	BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
 	BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
 };
 
 /// ManifoldContactPoint collects and maintains persistent contactpoints.
 /// used to improve stability and performance of rigidbody dynamics response.
 class btManifoldPoint
+{
+public:
+	btManifoldPoint()
+		: m_userPersistentData(0),
+		  m_contactPointFlags(0),
+		  m_appliedImpulse(0.f),
+		  m_appliedImpulseLateral1(0.f),
+		  m_appliedImpulseLateral2(0.f),
+		  m_contactMotion1(0.f),
+		  m_contactMotion2(0.f),
+		  m_contactCFM(0.f),
+		  m_contactERP(0.f),
+		  m_frictionCFM(0.f),
+		  m_lifeTime(0)
+	{
+	}
+
+	btManifoldPoint(const btVector3& pointA, const btVector3& pointB,
+					const btVector3& normal,
+					btScalar distance) : m_localPointA(pointA),
+										 m_localPointB(pointB),
+										 m_normalWorldOnB(normal),
+										 m_distance1(distance),
+										 m_combinedFriction(btScalar(0.)),
+										 m_combinedRollingFriction(btScalar(0.)),
+										 m_combinedSpinningFriction(btScalar(0.)),
+										 m_combinedRestitution(btScalar(0.)),
+										 m_userPersistentData(0),
+										 m_contactPointFlags(0),
+										 m_appliedImpulse(0.f),
+										 m_appliedImpulseLateral1(0.f),
+										 m_appliedImpulseLateral2(0.f),
+										 m_contactMotion1(0.f),
+										 m_contactMotion2(0.f),
+										 m_contactCFM(0.f),
+										 m_contactERP(0.f),
+										 m_frictionCFM(0.f),
+										 m_lifeTime(0)
 	{
-		public:
-			btManifoldPoint()
-				:m_userPersistentData(0),
-				m_contactPointFlags(0),
-				m_appliedImpulse(0.f),
-                m_appliedImpulseLateral1(0.f),
-				m_appliedImpulseLateral2(0.f),
-				m_contactMotion1(0.f),
-				m_contactMotion2(0.f),
-				m_contactCFM(0.f),
-				m_contactERP(0.f),
-				m_frictionCFM(0.f),
-				m_lifeTime(0)
-			{
-			}
-
-			btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, 
-					const btVector3 &normal, 
-					btScalar distance ) :
-					m_localPointA( pointA ), 
-					m_localPointB( pointB ), 
-					m_normalWorldOnB( normal ), 
-					m_distance1( distance ),
-					m_combinedFriction(btScalar(0.)),
-					m_combinedRollingFriction(btScalar(0.)),
-                    m_combinedSpinningFriction(btScalar(0.)),
-                    m_combinedRestitution(btScalar(0.)),
-					m_userPersistentData(0),
-					m_contactPointFlags(0),
-					m_appliedImpulse(0.f),
-                    m_appliedImpulseLateral1(0.f),
-					m_appliedImpulseLateral2(0.f),
-					m_contactMotion1(0.f),
-					m_contactMotion2(0.f),
-					m_contactCFM(0.f),
-					m_contactERP(0.f),
-					m_frictionCFM(0.f),
-					m_lifeTime(0)
-			{
-				
-			}
-
-			
-
-			btVector3 m_localPointA;			
-			btVector3 m_localPointB;			
-			btVector3	m_positionWorldOnB;
-			///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
-			btVector3	m_positionWorldOnA;
-			btVector3 m_normalWorldOnB;
-		
-			btScalar	m_distance1;
-			btScalar	m_combinedFriction;
-			btScalar	m_combinedRollingFriction;//torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
-            btScalar	m_combinedSpinningFriction;//torsional friction around contact normal, useful for grasping objects
-            btScalar	m_combinedRestitution;
-
-			//BP mod, store contact triangles.
-			int			m_partId0;
-			int			m_partId1;
-			int			m_index0;
-			int			m_index1;
-				
-			mutable void*	m_userPersistentData;
-			//bool			m_lateralFrictionInitialized;
-			int				m_contactPointFlags;
-			
-			btScalar		m_appliedImpulse;
-			btScalar		m_appliedImpulseLateral1;
-			btScalar		m_appliedImpulseLateral2;
-			btScalar		m_contactMotion1;
-			btScalar		m_contactMotion2;
-			
-			union
-			{
-                btScalar		m_contactCFM;
-                btScalar        m_combinedContactStiffness1;
-			};
-			
-			union
-			{
-                btScalar		m_contactERP;
-                btScalar        m_combinedContactDamping1;
-			};
-
-			btScalar		m_frictionCFM;
-
-			int				m_lifeTime;//lifetime of the contactpoint in frames
-			
-			btVector3		m_lateralFrictionDir1;
-			btVector3		m_lateralFrictionDir2;
-
-
-
-
-			btScalar getDistance() const
-			{
-				return m_distance1;
-			}
-			int	getLifeTime() const
-			{
-				return m_lifeTime;
-			}
-
-			const btVector3& getPositionWorldOnA() const {
-				return m_positionWorldOnA;
-//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
-			}
-
-			const btVector3& getPositionWorldOnB() const
-			{
-				return m_positionWorldOnB;
-			}
-
-			void	setDistance(btScalar dist)
-			{
-				m_distance1 = dist;
-			}
-			
-			///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
-			btScalar	getAppliedImpulse() const
-			{
-				return m_appliedImpulse;
-			}
-
-			
+	}
+
+	btVector3 m_localPointA;
+	btVector3 m_localPointB;
+	btVector3 m_positionWorldOnB;
+	///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
+	btVector3 m_positionWorldOnA;
+	btVector3 m_normalWorldOnB;
+
+	btScalar m_distance1;
+	btScalar m_combinedFriction;
+	btScalar m_combinedRollingFriction;   //torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
+	btScalar m_combinedSpinningFriction;  //torsional friction around contact normal, useful for grasping objects
+	btScalar m_combinedRestitution;
+
+	//BP mod, store contact triangles.
+	int m_partId0;
+	int m_partId1;
+	int m_index0;
+	int m_index1;
+
+	mutable void* m_userPersistentData;
+	//bool			m_lateralFrictionInitialized;
+	int m_contactPointFlags;
+
+	btScalar m_appliedImpulse;
+	btScalar m_appliedImpulseLateral1;
+	btScalar m_appliedImpulseLateral2;
+	btScalar m_contactMotion1;
+	btScalar m_contactMotion2;
+
+	union {
+		btScalar m_contactCFM;
+		btScalar m_combinedContactStiffness1;
+	};
 
+	union {
+		btScalar m_contactERP;
+		btScalar m_combinedContactDamping1;
 	};
 
-#endif //BT_MANIFOLD_CONTACT_POINT_H
+	btScalar m_frictionCFM;
+
+	int m_lifeTime;  //lifetime of the contactpoint in frames
+
+	btVector3 m_lateralFrictionDir1;
+	btVector3 m_lateralFrictionDir2;
+
+	btScalar getDistance() const
+	{
+		return m_distance1;
+	}
+	int getLifeTime() const
+	{
+		return m_lifeTime;
+	}
+
+	const btVector3& getPositionWorldOnA() const
+	{
+		return m_positionWorldOnA;
+		//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
+	}
+
+	const btVector3& getPositionWorldOnB() const
+	{
+		return m_positionWorldOnB;
+	}
+
+	void setDistance(btScalar dist)
+	{
+		m_distance1 = dist;
+	}
+
+	///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
+	btScalar getAppliedImpulse() const
+	{
+		return m_appliedImpulse;
+	}
+};
+
+#endif  //BT_MANIFOLD_CONTACT_POINT_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index fa45f49037..a77449812f 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -21,42 +21,38 @@ subject to the following restrictions:
 
 #define NUM_UNITSPHERE_POINTS 42
 
-
 bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
-												   const btConvexShape* convexA,const btConvexShape* convexB,
-												   const btTransform& transA,const btTransform& transB,
-												   btVector3& v, btVector3& pa, btVector3& pb,
-												   class btIDebugDraw* debugDraw
-												   )
+													 const btConvexShape* convexA, const btConvexShape* convexB,
+													 const btTransform& transA, const btTransform& transB,
+													 btVector3& v, btVector3& pa, btVector3& pb,
+													 class btIDebugDraw* debugDraw)
 {
-
 	(void)v;
-	
-	bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
+
+	bool check2d = convexA->isConvex2d() && convexB->isConvex2d();
 
 	struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
 	{
-
-		btIntermediateResult():m_hasResult(false)
+		btIntermediateResult() : m_hasResult(false)
 		{
 		}
-		
+
 		btVector3 m_normalOnBInWorld;
 		btVector3 m_pointInWorld;
 		btScalar m_depth;
-		bool	m_hasResult;
+		bool m_hasResult;
 
-		virtual void setShapeIdentifiersA(int partId0,int index0)
+		virtual void setShapeIdentifiersA(int partId0, int index0)
 		{
 			(void)partId0;
 			(void)index0;
 		}
-		virtual void setShapeIdentifiersB(int partId1,int index1)
+		virtual void setShapeIdentifiersB(int partId1, int index1)
 		{
 			(void)partId1;
 			(void)index1;
 		}
-		void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+		void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
 		{
 			m_normalOnBInWorld = normalOnBInWorld;
 			m_pointInWorld = pointInWorld;
@@ -68,39 +64,39 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	//just take fixed number of orientation, and sample the penetration depth in that direction
 	btScalar minProj = btScalar(BT_LARGE_FLOAT);
 	btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
-	btVector3 minA,minB;
-	btVector3 seperatingAxisInA,seperatingAxisInB;
-	btVector3 pInA,qInB,pWorld,qWorld,w;
+	btVector3 minA, minB;
+	btVector3 seperatingAxisInA, seperatingAxisInB;
+	btVector3 pInA, qInB, pWorld, qWorld, w;
 
 #ifndef __SPU__
 #define USE_BATCHED_SUPPORT 1
 #endif
 #ifdef USE_BATCHED_SUPPORT
 
-	btVector3	supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
-	btVector3	supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
-	btVector3	seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
-	btVector3	seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
+	btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
+	btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
+	btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
 	int i;
 
 	int numSampleDirections = NUM_UNITSPHERE_POINTS;
 
-	for (i=0;i<numSampleDirections;i++)
+	for (i = 0; i < numSampleDirections; i++)
 	{
 		btVector3 norm = getPenetrationDirections()[i];
-		seperatingAxisInABatch[i] =  (-norm) * transA.getBasis() ;
-		seperatingAxisInBBatch[i] =  norm   * transB.getBasis() ;
+		seperatingAxisInABatch[i] = (-norm) * transA.getBasis();
+		seperatingAxisInBBatch[i] = norm * transB.getBasis();
 	}
 
 	{
 		int numPDA = convexA->getNumPreferredPenetrationDirections();
 		if (numPDA)
 		{
-			for (int i=0;i<numPDA;i++)
+			for (int i = 0; i < numPDA; i++)
 			{
 				btVector3 norm;
-				convexA->getPreferredPenetrationDirection(i,norm);
-				norm  = transA.getBasis() * norm;
+				convexA->getPreferredPenetrationDirection(i, norm);
+				norm = transA.getBasis() * norm;
 				getPenetrationDirections()[numSampleDirections] = norm;
 				seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
 				seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
@@ -113,11 +109,11 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		int numPDB = convexB->getNumPreferredPenetrationDirections();
 		if (numPDB)
 		{
-			for (int i=0;i<numPDB;i++)
+			for (int i = 0; i < numPDB; i++)
 			{
 				btVector3 norm;
-				convexB->getPreferredPenetrationDirection(i,norm);
-				norm  = transB.getBasis() * norm;
+				convexB->getPreferredPenetrationDirection(i, norm);
+				norm = transB.getBasis() * norm;
 				getPenetrationDirections()[numSampleDirections] = norm;
 				seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
 				seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
@@ -126,29 +122,25 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		}
 	}
 
+	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections);
+	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections);
 
-
-
-	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
-	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
-
-	for (i=0;i<numSampleDirections;i++)
+	for (i = 0; i < numSampleDirections; i++)
 	{
 		btVector3 norm = getPenetrationDirections()[i];
 		if (check2d)
 		{
 			norm[2] = 0.f;
 		}
-		if (norm.length2()>0.01)
+		if (norm.length2() > 0.01)
 		{
-
 			seperatingAxisInA = seperatingAxisInABatch[i];
 			seperatingAxisInB = seperatingAxisInBBatch[i];
 
 			pInA = supportVerticesABatch[i];
 			qInB = supportVerticesBBatch[i];
 
-			pWorld = transA(pInA);	
+			pWorld = transA(pInA);
 			qWorld = transB(qInB);
 			if (check2d)
 			{
@@ -156,7 +148,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 				qWorld[2] = 0.f;
 			}
 
-			w	= qWorld - pWorld;
+			w = qWorld - pWorld;
 			btScalar delta = norm.dot(w);
 			//find smallest delta
 			if (delta < minProj)
@@ -167,7 +159,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 				minB = qWorld;
 			}
 		}
-	}	
+	}
 #else
 
 	int numSampleDirections = NUM_UNITSPHERE_POINTS;
@@ -177,11 +169,11 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		int numPDA = convexA->getNumPreferredPenetrationDirections();
 		if (numPDA)
 		{
-			for (int i=0;i<numPDA;i++)
+			for (int i = 0; i < numPDA; i++)
 			{
 				btVector3 norm;
-				convexA->getPreferredPenetrationDirection(i,norm);
-				norm  = transA.getBasis() * norm;
+				convexA->getPreferredPenetrationDirection(i, norm);
+				norm = transA.getBasis() * norm;
 				getPenetrationDirections()[numSampleDirections] = norm;
 				numSampleDirections++;
 			}
@@ -192,28 +184,28 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		int numPDB = convexB->getNumPreferredPenetrationDirections();
 		if (numPDB)
 		{
-			for (int i=0;i<numPDB;i++)
+			for (int i = 0; i < numPDB; i++)
 			{
 				btVector3 norm;
-				convexB->getPreferredPenetrationDirection(i,norm);
-				norm  = transB.getBasis() * norm;
+				convexB->getPreferredPenetrationDirection(i, norm);
+				norm = transB.getBasis() * norm;
 				getPenetrationDirections()[numSampleDirections] = norm;
 				numSampleDirections++;
 			}
 		}
 	}
-#endif // __SPU__
+#endif  // __SPU__
 
-	for (int i=0;i<numSampleDirections;i++)
+	for (int i = 0; i < numSampleDirections; i++)
 	{
 		const btVector3& norm = getPenetrationDirections()[i];
-		seperatingAxisInA = (-norm)* transA.getBasis();
-		seperatingAxisInB = norm* transB.getBasis();
+		seperatingAxisInA = (-norm) * transA.getBasis();
+		seperatingAxisInB = norm * transB.getBasis();
 		pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
 		qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
-		pWorld = transA(pInA);	
+		pWorld = transA(pInA);
 		qWorld = transB(qInB);
-		w	= qWorld - pWorld;
+		w = qWorld - pWorld;
 		btScalar delta = norm.dot(w);
 		//find smallest delta
 		if (delta < minProj)
@@ -224,48 +216,39 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 			minB = qWorld;
 		}
 	}
-#endif //USE_BATCHED_SUPPORT
+#endif  //USE_BATCHED_SUPPORT
 
 	//add the margins
 
-	minA += minNorm*convexA->getMarginNonVirtual();
-	minB -= minNorm*convexB->getMarginNonVirtual();
+	minA += minNorm * convexA->getMarginNonVirtual();
+	minB -= minNorm * convexB->getMarginNonVirtual();
 	//no penetration
 	if (minProj < btScalar(0.))
 		return false;
 
-	btScalar extraSeparation = 0.5f;///scale dependent
-	minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
-
-
-
-
+	btScalar extraSeparation = 0.5f;  ///scale dependent
+	minProj += extraSeparation + (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
 
 //#define DEBUG_DRAW 1
 #ifdef DEBUG_DRAW
 	if (debugDraw)
 	{
-		btVector3 color(0,1,0);
-		debugDraw->drawLine(minA,minB,color);
-		color = btVector3 (1,1,1);
-		btVector3 vec = minB-minA;
+		btVector3 color(0, 1, 0);
+		debugDraw->drawLine(minA, minB, color);
+		color = btVector3(1, 1, 1);
+		btVector3 vec = minB - minA;
 		btScalar prj2 = minNorm.dot(vec);
-		debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
-
+		debugDraw->drawLine(minA, minA + (minNorm * minProj), color);
 	}
-#endif //DEBUG_DRAW
+#endif  //DEBUG_DRAW
 
-	
-
-	btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
+	btGjkPairDetector gjkdet(convexA, convexB, &simplexSolver, 0);
 
 	btScalar offsetDist = minProj;
 	btVector3 offset = minNorm * offsetDist;
-	
-
 
 	btGjkPairDetector::ClosestPointInput input;
-		
+
 	btVector3 newOrg = transA.getOrigin() + offset;
 
 	btTransform displacedTrans = transA;
@@ -273,89 +256,81 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	input.m_transformA = displacedTrans;
 	input.m_transformB = transB;
-	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
-	
+	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);  //minProj;
+
 	btIntermediateResult res;
 	gjkdet.setCachedSeperatingAxis(-minNorm);
-	gjkdet.getClosestPoints(input,res,debugDraw);
+	gjkdet.getClosestPoints(input, res, debugDraw);
 
 	btScalar correctedMinNorm = minProj - res.m_depth;
 
-
 	//the penetration depth is over-estimated, relax it
-	btScalar penetration_relaxation= btScalar(1.);
-	minNorm*=penetration_relaxation;
-	
+	btScalar penetration_relaxation = btScalar(1.);
+	minNorm *= penetration_relaxation;
 
 	if (res.m_hasResult)
 	{
-
 		pa = res.m_pointInWorld - minNorm * correctedMinNorm;
 		pb = res.m_pointInWorld;
 		v = minNorm;
-		
+
 #ifdef DEBUG_DRAW
 		if (debugDraw)
 		{
-			btVector3 color(1,0,0);
-			debugDraw->drawLine(pa,pb,color);
+			btVector3 color(1, 0, 0);
+			debugDraw->drawLine(pa, pb, color);
 		}
-#endif//DEBUG_DRAW
-
-
+#endif  //DEBUG_DRAW
 	}
 	return res.m_hasResult;
 }
 
-btVector3*	btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
+btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
 {
-	static btVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
-	{
-	btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
-	btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
-	btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
-	btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
-	btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
-	btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
-	btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
-	btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
-	btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
-	btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
-	btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
-	btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
-	btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
-	btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
-	btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
-	btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
-	btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
-	btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
-	btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
-	btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
-	btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
-	btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
-	btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
-	btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
-	btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-	btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
-	btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-	btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
-	btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
-	btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-	btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
-	btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-	btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
-	btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
-	btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
-	btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
-	btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
-	btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
-	btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
-	btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
-	btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
-	btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
-	};
+	static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
+		{
+			btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
+			btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
+			btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
+			btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
+			btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
+			btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
+			btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
+			btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
+			btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
+			btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
+			btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
+			btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
+			btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
+			btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
+			btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
+			btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
+			btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
+			btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
+			btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
+			btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
+			btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
+			btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
+			btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
+			btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
+			btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
+			btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
+			btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
+			btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
+			btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
+			btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
+			btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
+			btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
+			btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
+			btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
+			btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
+			btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
+			btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
+			btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
+			btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
+			btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
+			btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
+			btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
 
 	return sPenetrationDirections;
 }
-
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
index fd533b4fc3..8e3e393259 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
@@ -23,18 +23,14 @@ subject to the following restrictions:
 class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 {
 protected:
-
-	static btVector3*	getPenetrationDirections();
+	static btVector3* getPenetrationDirections();
 
 public:
-
-	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
-	const btConvexShape* convexA,const btConvexShape* convexB,
-				const btTransform& transA,const btTransform& transB,
-			btVector3& v, btVector3& pa, btVector3& pb,
-			class btIDebugDraw* debugDraw
-			);
+	virtual bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
+							  const btConvexShape* convexA, const btConvexShape* convexB,
+							  const btTransform& transA, const btTransform& transB,
+							  btVector3& v, btVector3& pa, btVector3& pb,
+							  class btIDebugDraw* debugDraw);
 };
 
-#endif //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
-
+#endif  //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
index a22a0bae66..358bc95d81 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
@@ -28,32 +28,31 @@
 
 //#define MPR_AVERAGE_CONTACT_POSITIONS
 
-
 struct btMprCollisionDescription
 {
-    btVector3	m_firstDir;
-    int			m_maxGjkIterations;
-    btScalar	m_maximumDistanceSquared;
-    btScalar	m_gjkRelError2;
-   
-    btMprCollisionDescription()
-    :	m_firstDir(0,1,0),
-        m_maxGjkIterations(1000),
-        m_maximumDistanceSquared(1e30f),
-        m_gjkRelError2(1.0e-6)
-    {
-    }
-    virtual ~btMprCollisionDescription()
-    {
-    }
+	btVector3 m_firstDir;
+	int m_maxGjkIterations;
+	btScalar m_maximumDistanceSquared;
+	btScalar m_gjkRelError2;
+
+	btMprCollisionDescription()
+		: m_firstDir(0, 1, 0),
+		  m_maxGjkIterations(1000),
+		  m_maximumDistanceSquared(1e30f),
+		  m_gjkRelError2(1.0e-6)
+	{
+	}
+	virtual ~btMprCollisionDescription()
+	{
+	}
 };
 
 struct btMprDistanceInfo
 {
-    btVector3	m_pointOnA;
-    btVector3	m_pointOnB;
-    btVector3	m_normalBtoA;
-    btScalar	m_distance;
+	btVector3 m_pointOnA;
+	btVector3 m_pointOnB;
+	btVector3 m_normalBtoA;
+	btScalar m_distance;
 };
 
 #ifdef __cplusplus
@@ -67,131 +66,112 @@ struct btMprDistanceInfo
 #define BT_MPR_TOLERANCE 1E-6f
 #define BT_MPR_MAX_ITERATIONS 1000
 
-struct _btMprSupport_t 
+struct _btMprSupport_t
 {
-    btVector3 v;  //!< Support point in minkowski sum
-    btVector3 v1; //!< Support point in obj1
-    btVector3 v2; //!< Support point in obj2
+	btVector3 v;   //!< Support point in minkowski sum
+	btVector3 v1;  //!< Support point in obj1
+	btVector3 v2;  //!< Support point in obj2
 };
 typedef struct _btMprSupport_t btMprSupport_t;
 
-struct _btMprSimplex_t 
+struct _btMprSimplex_t
 {
-    btMprSupport_t ps[4];
-    int last; //!< index of last added point
+	btMprSupport_t ps[4];
+	int last;  //!< index of last added point
 };
 typedef struct _btMprSimplex_t btMprSimplex_t;
 
-inline btMprSupport_t* btMprSimplexPointW(btMprSimplex_t *s, int idx)
+inline btMprSupport_t *btMprSimplexPointW(btMprSimplex_t *s, int idx)
 {
-    return &s->ps[idx];
+	return &s->ps[idx];
 }
 
 inline void btMprSimplexSetSize(btMprSimplex_t *s, int size)
 {
-    s->last = size - 1;
+	s->last = size - 1;
 }
 
 #ifdef DEBUG_MPR
-inline void btPrintPortalVertex(_btMprSimplex_t* portal, int index)
+inline void btPrintPortalVertex(_btMprSimplex_t *portal, int index)
 {
-    printf("portal[%d].v = %f,%f,%f, v1=%f,%f,%f, v2=%f,%f,%f\n", index, portal->ps[index].v.x(),portal->ps[index].v.y(),portal->ps[index].v.z(),
-           portal->ps[index].v1.x(),portal->ps[index].v1.y(),portal->ps[index].v1.z(),
-           portal->ps[index].v2.x(),portal->ps[index].v2.y(),portal->ps[index].v2.z());
+	printf("portal[%d].v = %f,%f,%f, v1=%f,%f,%f, v2=%f,%f,%f\n", index, portal->ps[index].v.x(), portal->ps[index].v.y(), portal->ps[index].v.z(),
+		   portal->ps[index].v1.x(), portal->ps[index].v1.y(), portal->ps[index].v1.z(),
+		   portal->ps[index].v2.x(), portal->ps[index].v2.y(), portal->ps[index].v2.z());
 }
-#endif //DEBUG_MPR
-
-
-
+#endif  //DEBUG_MPR
 
 inline int btMprSimplexSize(const btMprSimplex_t *s)
 {
-    return s->last + 1;
+	return s->last + 1;
 }
 
-
-inline const btMprSupport_t* btMprSimplexPoint(const btMprSimplex_t* s, int idx)
+inline const btMprSupport_t *btMprSimplexPoint(const btMprSimplex_t *s, int idx)
 {
-    // here is no check on boundaries
-    return &s->ps[idx];
+	// here is no check on boundaries
+	return &s->ps[idx];
 }
 
 inline void btMprSupportCopy(btMprSupport_t *d, const btMprSupport_t *s)
 {
-    *d = *s;
+	*d = *s;
 }
 
 inline void btMprSimplexSet(btMprSimplex_t *s, size_t pos, const btMprSupport_t *a)
 {
-    btMprSupportCopy(s->ps + pos, a);
+	btMprSupportCopy(s->ps + pos, a);
 }
 
-
 inline void btMprSimplexSwap(btMprSimplex_t *s, size_t pos1, size_t pos2)
 {
-    btMprSupport_t supp;
+	btMprSupport_t supp;
 
-    btMprSupportCopy(&supp, &s->ps[pos1]);
-    btMprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
-    btMprSupportCopy(&s->ps[pos2], &supp);
+	btMprSupportCopy(&supp, &s->ps[pos1]);
+	btMprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
+	btMprSupportCopy(&s->ps[pos2], &supp);
 }
 
-
 inline int btMprIsZero(float val)
 {
-    return BT_MPR_FABS(val) < FLT_EPSILON;
+	return BT_MPR_FABS(val) < FLT_EPSILON;
 }
 
-
-
 inline int btMprEq(float _a, float _b)
 {
-    float ab;
-    float a, b;
+	float ab;
+	float a, b;
 
-    ab = BT_MPR_FABS(_a - _b);
-    if (BT_MPR_FABS(ab) < FLT_EPSILON)
-        return 1;
+	ab = BT_MPR_FABS(_a - _b);
+	if (BT_MPR_FABS(ab) < FLT_EPSILON)
+		return 1;
 
-    a = BT_MPR_FABS(_a);
-    b = BT_MPR_FABS(_b);
-    if (b > a){
-        return ab < FLT_EPSILON * b;
-    }else{
-        return ab < FLT_EPSILON * a;
-    }
+	a = BT_MPR_FABS(_a);
+	b = BT_MPR_FABS(_b);
+	if (b > a)
+	{
+		return ab < FLT_EPSILON * b;
+	}
+	else
+	{
+		return ab < FLT_EPSILON * a;
+	}
 }
 
-
-inline int btMprVec3Eq(const btVector3* a, const btVector3 *b)
+inline int btMprVec3Eq(const btVector3 *a, const btVector3 *b)
 {
-    return btMprEq((*a).x(), (*b).x())
-            && btMprEq((*a).y(), (*b).y())
-            && btMprEq((*a).z(), (*b).z());
+	return btMprEq((*a).x(), (*b).x()) && btMprEq((*a).y(), (*b).y()) && btMprEq((*a).z(), (*b).z());
 }
 
-
-
-
-
-
-
-
-
-
-
 template <typename btConvexTemplate>
-inline void btFindOrigin(const btConvexTemplate& a, const btConvexTemplate& b, const btMprCollisionDescription& colDesc,btMprSupport_t *center)
+inline void btFindOrigin(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprSupport_t *center)
 {
-
 	center->v1 = a.getObjectCenterInWorld();
-    center->v2 = b.getObjectCenterInWorld();
-    center->v = center->v1 - center->v2;
+	center->v2 = b.getObjectCenterInWorld();
+	center->v = center->v1 - center->v2;
 }
 
 inline void btMprVec3Set(btVector3 *v, float x, float y, float z)
 {
-	v->setValue(x,y,z);
+	v->setValue(x, y, z);
 }
 
 inline void btMprVec3Add(btVector3 *v, const btVector3 *w)
@@ -201,41 +181,38 @@ inline void btMprVec3Add(btVector3 *v, const btVector3 *w)
 
 inline void btMprVec3Copy(btVector3 *v, const btVector3 *w)
 {
-    *v = *w;
+	*v = *w;
 }
 
 inline void btMprVec3Scale(btVector3 *d, float k)
 {
-    *d *= k;
+	*d *= k;
 }
 
 inline float btMprVec3Dot(const btVector3 *a, const btVector3 *b)
 {
-    float dot;
+	float dot;
 
-	dot = btDot(*a,*b);
-    return dot;
+	dot = btDot(*a, *b);
+	return dot;
 }
 
-
 inline float btMprVec3Len2(const btVector3 *v)
 {
-    return btMprVec3Dot(v, v);
+	return btMprVec3Dot(v, v);
 }
 
 inline void btMprVec3Normalize(btVector3 *d)
 {
-    float k = 1.f / BT_MPR_SQRT(btMprVec3Len2(d));
-    btMprVec3Scale(d, k);
+	float k = 1.f / BT_MPR_SQRT(btMprVec3Len2(d));
+	btMprVec3Scale(d, k);
 }
 
 inline void btMprVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b)
 {
-	*d = btCross(*a,*b);
-	
+	*d = btCross(*a, *b);
 }
 
-
 inline void btMprVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w)
 {
 	*d = *v - *w;
@@ -243,89 +220,97 @@ inline void btMprVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w)
 
 inline void btPortalDir(const btMprSimplex_t *portal, btVector3 *dir)
 {
-    btVector3 v2v1, v3v1;
+	btVector3 v2v1, v3v1;
 
-    btMprVec3Sub2(&v2v1, &btMprSimplexPoint(portal, 2)->v,
-                       &btMprSimplexPoint(portal, 1)->v);
-    btMprVec3Sub2(&v3v1, &btMprSimplexPoint(portal, 3)->v,
-                       &btMprSimplexPoint(portal, 1)->v);
-    btMprVec3Cross(dir, &v2v1, &v3v1);
-    btMprVec3Normalize(dir);
+	btMprVec3Sub2(&v2v1, &btMprSimplexPoint(portal, 2)->v,
+				  &btMprSimplexPoint(portal, 1)->v);
+	btMprVec3Sub2(&v3v1, &btMprSimplexPoint(portal, 3)->v,
+				  &btMprSimplexPoint(portal, 1)->v);
+	btMprVec3Cross(dir, &v2v1, &v3v1);
+	btMprVec3Normalize(dir);
 }
 
-
 inline int portalEncapsulesOrigin(const btMprSimplex_t *portal,
-                                       const btVector3 *dir)
+								  const btVector3 *dir)
 {
-    float dot;
-    dot = btMprVec3Dot(dir, &btMprSimplexPoint(portal, 1)->v);
-    return btMprIsZero(dot) || dot > 0.f;
+	float dot;
+	dot = btMprVec3Dot(dir, &btMprSimplexPoint(portal, 1)->v);
+	return btMprIsZero(dot) || dot > 0.f;
 }
 
 inline int portalReachTolerance(const btMprSimplex_t *portal,
-                                     const btMprSupport_t *v4,
-                                     const btVector3 *dir)
+								const btMprSupport_t *v4,
+								const btVector3 *dir)
 {
-    float dv1, dv2, dv3, dv4;
-    float dot1, dot2, dot3;
+	float dv1, dv2, dv3, dv4;
+	float dot1, dot2, dot3;
 
-    // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
+	// find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
 
-    dv1 = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, dir);
-    dv2 = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, dir);
-    dv3 = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, dir);
-    dv4 = btMprVec3Dot(&v4->v, dir);
+	dv1 = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, dir);
+	dv2 = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, dir);
+	dv3 = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, dir);
+	dv4 = btMprVec3Dot(&v4->v, dir);
 
-    dot1 = dv4 - dv1;
-    dot2 = dv4 - dv2;
-    dot3 = dv4 - dv3;
+	dot1 = dv4 - dv1;
+	dot2 = dv4 - dv2;
+	dot3 = dv4 - dv3;
 
-    dot1 = BT_MPR_FMIN(dot1, dot2);
-    dot1 = BT_MPR_FMIN(dot1, dot3);
+	dot1 = BT_MPR_FMIN(dot1, dot2);
+	dot1 = BT_MPR_FMIN(dot1, dot3);
 
-    return btMprEq(dot1, BT_MPR_TOLERANCE) || dot1 < BT_MPR_TOLERANCE;
+	return btMprEq(dot1, BT_MPR_TOLERANCE) || dot1 < BT_MPR_TOLERANCE;
 }
 
 inline int portalCanEncapsuleOrigin(const btMprSimplex_t *portal,
-                                         const btMprSupport_t *v4,
-                                         const btVector3 *dir)
+									const btMprSupport_t *v4,
+									const btVector3 *dir)
 {
-    float dot;
-    dot = btMprVec3Dot(&v4->v, dir);
-    return btMprIsZero(dot) || dot > 0.f;
+	float dot;
+	dot = btMprVec3Dot(&v4->v, dir);
+	return btMprIsZero(dot) || dot > 0.f;
 }
 
 inline void btExpandPortal(btMprSimplex_t *portal,
-                              const btMprSupport_t *v4)
-{
-    float dot;
-    btVector3 v4v0;
-
-    btMprVec3Cross(&v4v0, &v4->v, &btMprSimplexPoint(portal, 0)->v);
-    dot = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, &v4v0);
-    if (dot > 0.f){
-        dot = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, &v4v0);
-        if (dot > 0.f){
-            btMprSimplexSet(portal, 1, v4);
-        }else{
-            btMprSimplexSet(portal, 3, v4);
-        }
-    }else{
-        dot = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, &v4v0);
-        if (dot > 0.f){
-            btMprSimplexSet(portal, 2, v4);
-        }else{
-            btMprSimplexSet(portal, 1, v4);
-        }
-    }
+						   const btMprSupport_t *v4)
+{
+	float dot;
+	btVector3 v4v0;
+
+	btMprVec3Cross(&v4v0, &v4->v, &btMprSimplexPoint(portal, 0)->v);
+	dot = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, &v4v0);
+	if (dot > 0.f)
+	{
+		dot = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, &v4v0);
+		if (dot > 0.f)
+		{
+			btMprSimplexSet(portal, 1, v4);
+		}
+		else
+		{
+			btMprSimplexSet(portal, 3, v4);
+		}
+	}
+	else
+	{
+		dot = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, &v4v0);
+		if (dot > 0.f)
+		{
+			btMprSimplexSet(portal, 2, v4);
+		}
+		else
+		{
+			btMprSimplexSet(portal, 1, v4);
+		}
+	}
 }
 template <typename btConvexTemplate>
-inline void btMprSupport(const btConvexTemplate& a, const btConvexTemplate& b,
-                         const btMprCollisionDescription& colDesc,
-													const btVector3& dir, btMprSupport_t *supp)
+inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b,
+						 const btMprCollisionDescription &colDesc,
+						 const btVector3 &dir, btMprSupport_t *supp)
 {
-	btVector3 seperatingAxisInA = dir* a.getWorldTransform().getBasis();
-	btVector3 seperatingAxisInB = -dir* b.getWorldTransform().getBasis();
+	btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis();
+	btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis();
 
 	btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA);
 	btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB);
@@ -335,574 +320,565 @@ inline void btMprSupport(const btConvexTemplate& a, const btConvexTemplate& b,
 	supp->v = supp->v1 - supp->v2;
 }
 
-
 template <typename btConvexTemplate>
-static int btDiscoverPortal(const btConvexTemplate& a, const btConvexTemplate& b,
-                            const btMprCollisionDescription& colDesc,
-													btMprSimplex_t *portal)
-{
-    btVector3 dir, va, vb;
-    float dot;
-    int cont;
-	
-	
-
-    // vertex 0 is center of portal
-    btFindOrigin(a,b,colDesc, btMprSimplexPointW(portal, 0));
-   
-    
-    // vertex 0 is center of portal
-    btMprSimplexSetSize(portal, 1);
-    
-
-
-	btVector3 zero = btVector3(0,0,0);
-	btVector3* org = &zero;
-
-    if (btMprVec3Eq(&btMprSimplexPoint(portal, 0)->v, org)){
-        // Portal's center lies on origin (0,0,0) => we know that objects
-        // intersect but we would need to know penetration info.
-        // So move center little bit...
-        btMprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
-        btMprVec3Add(&btMprSimplexPointW(portal, 0)->v, &va);
-    }
-
-
-    // vertex 1 = support in direction of origin
-    btMprVec3Copy(&dir, &btMprSimplexPoint(portal, 0)->v);
-    btMprVec3Scale(&dir, -1.f);
-    btMprVec3Normalize(&dir);
-
-
-    btMprSupport(a,b,colDesc, dir, btMprSimplexPointW(portal, 1));
- 
-    btMprSimplexSetSize(portal, 2);
-
-    // test if origin isn't outside of v1
-    dot = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, &dir);
-	
-
-    if (btMprIsZero(dot) || dot < 0.f)
-        return -1;
-
-
-    // vertex 2
-    btMprVec3Cross(&dir, &btMprSimplexPoint(portal, 0)->v,
-                       &btMprSimplexPoint(portal, 1)->v);
-    if (btMprIsZero(btMprVec3Len2(&dir))){
-        if (btMprVec3Eq(&btMprSimplexPoint(portal, 1)->v, org)){
-            // origin lies on v1
-            return 1;
-        }else{
-            // origin lies on v0-v1 segment
-            return 2;
-        }
-    }
-
-    btMprVec3Normalize(&dir);
-    btMprSupport(a,b,colDesc, dir, btMprSimplexPointW(portal, 2));
-    
-    
-    
-    dot = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, &dir);
-    if (btMprIsZero(dot) || dot < 0.f)
-        return -1;
-
-    btMprSimplexSetSize(portal, 3);
-
-    // vertex 3 direction
-    btMprVec3Sub2(&va, &btMprSimplexPoint(portal, 1)->v,
-                     &btMprSimplexPoint(portal, 0)->v);
-    btMprVec3Sub2(&vb, &btMprSimplexPoint(portal, 2)->v,
-                     &btMprSimplexPoint(portal, 0)->v);
-    btMprVec3Cross(&dir, &va, &vb);
-    btMprVec3Normalize(&dir);
-
-    // it is better to form portal faces to be oriented "outside" origin
-    dot = btMprVec3Dot(&dir, &btMprSimplexPoint(portal, 0)->v);
-    if (dot > 0.f){
-        btMprSimplexSwap(portal, 1, 2);
-        btMprVec3Scale(&dir, -1.f);
-    }
-
-    while (btMprSimplexSize(portal) < 4){
-		 btMprSupport(a,b,colDesc, dir, btMprSimplexPointW(portal, 3));
-        
-        dot = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, &dir);
-        if (btMprIsZero(dot) || dot < 0.f)
-            return -1;
-
-        cont = 0;
-
-        // test if origin is outside (v1, v0, v3) - set v2 as v3 and
-        // continue
-        btMprVec3Cross(&va, &btMprSimplexPoint(portal, 1)->v,
-                          &btMprSimplexPoint(portal, 3)->v);
-        dot = btMprVec3Dot(&va, &btMprSimplexPoint(portal, 0)->v);
-        if (dot < 0.f && !btMprIsZero(dot)){
-            btMprSimplexSet(portal, 2, btMprSimplexPoint(portal, 3));
-            cont = 1;
-        }
-
-        if (!cont){
-            // test if origin is outside (v3, v0, v2) - set v1 as v3 and
-            // continue
-            btMprVec3Cross(&va, &btMprSimplexPoint(portal, 3)->v,
-                              &btMprSimplexPoint(portal, 2)->v);
-            dot = btMprVec3Dot(&va, &btMprSimplexPoint(portal, 0)->v);
-            if (dot < 0.f && !btMprIsZero(dot)){
-                btMprSimplexSet(portal, 1, btMprSimplexPoint(portal, 3));
-                cont = 1;
-            }
-        }
-
-        if (cont){
-            btMprVec3Sub2(&va, &btMprSimplexPoint(portal, 1)->v,
-                             &btMprSimplexPoint(portal, 0)->v);
-            btMprVec3Sub2(&vb, &btMprSimplexPoint(portal, 2)->v,
-                             &btMprSimplexPoint(portal, 0)->v);
-            btMprVec3Cross(&dir, &va, &vb);
-            btMprVec3Normalize(&dir);
-        }else{
-            btMprSimplexSetSize(portal, 4);
-        }
-    }
-
-    return 0;
+static int btDiscoverPortal(const btConvexTemplate &a, const btConvexTemplate &b,
+							const btMprCollisionDescription &colDesc,
+							btMprSimplex_t *portal)
+{
+	btVector3 dir, va, vb;
+	float dot;
+	int cont;
+
+	// vertex 0 is center of portal
+	btFindOrigin(a, b, colDesc, btMprSimplexPointW(portal, 0));
+
+	// vertex 0 is center of portal
+	btMprSimplexSetSize(portal, 1);
+
+	btVector3 zero = btVector3(0, 0, 0);
+	btVector3 *org = &zero;
+
+	if (btMprVec3Eq(&btMprSimplexPoint(portal, 0)->v, org))
+	{
+		// Portal's center lies on origin (0,0,0) => we know that objects
+		// intersect but we would need to know penetration info.
+		// So move center little bit...
+		btMprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
+		btMprVec3Add(&btMprSimplexPointW(portal, 0)->v, &va);
+	}
+
+	// vertex 1 = support in direction of origin
+	btMprVec3Copy(&dir, &btMprSimplexPoint(portal, 0)->v);
+	btMprVec3Scale(&dir, -1.f);
+	btMprVec3Normalize(&dir);
+
+	btMprSupport(a, b, colDesc, dir, btMprSimplexPointW(portal, 1));
+
+	btMprSimplexSetSize(portal, 2);
+
+	// test if origin isn't outside of v1
+	dot = btMprVec3Dot(&btMprSimplexPoint(portal, 1)->v, &dir);
+
+	if (btMprIsZero(dot) || dot < 0.f)
+		return -1;
+
+	// vertex 2
+	btMprVec3Cross(&dir, &btMprSimplexPoint(portal, 0)->v,
+				   &btMprSimplexPoint(portal, 1)->v);
+	if (btMprIsZero(btMprVec3Len2(&dir)))
+	{
+		if (btMprVec3Eq(&btMprSimplexPoint(portal, 1)->v, org))
+		{
+			// origin lies on v1
+			return 1;
+		}
+		else
+		{
+			// origin lies on v0-v1 segment
+			return 2;
+		}
+	}
+
+	btMprVec3Normalize(&dir);
+	btMprSupport(a, b, colDesc, dir, btMprSimplexPointW(portal, 2));
+
+	dot = btMprVec3Dot(&btMprSimplexPoint(portal, 2)->v, &dir);
+	if (btMprIsZero(dot) || dot < 0.f)
+		return -1;
+
+	btMprSimplexSetSize(portal, 3);
+
+	// vertex 3 direction
+	btMprVec3Sub2(&va, &btMprSimplexPoint(portal, 1)->v,
+				  &btMprSimplexPoint(portal, 0)->v);
+	btMprVec3Sub2(&vb, &btMprSimplexPoint(portal, 2)->v,
+				  &btMprSimplexPoint(portal, 0)->v);
+	btMprVec3Cross(&dir, &va, &vb);
+	btMprVec3Normalize(&dir);
+
+	// it is better to form portal faces to be oriented "outside" origin
+	dot = btMprVec3Dot(&dir, &btMprSimplexPoint(portal, 0)->v);
+	if (dot > 0.f)
+	{
+		btMprSimplexSwap(portal, 1, 2);
+		btMprVec3Scale(&dir, -1.f);
+	}
+
+	while (btMprSimplexSize(portal) < 4)
+	{
+		btMprSupport(a, b, colDesc, dir, btMprSimplexPointW(portal, 3));
+
+		dot = btMprVec3Dot(&btMprSimplexPoint(portal, 3)->v, &dir);
+		if (btMprIsZero(dot) || dot < 0.f)
+			return -1;
+
+		cont = 0;
+
+		// test if origin is outside (v1, v0, v3) - set v2 as v3 and
+		// continue
+		btMprVec3Cross(&va, &btMprSimplexPoint(portal, 1)->v,
+					   &btMprSimplexPoint(portal, 3)->v);
+		dot = btMprVec3Dot(&va, &btMprSimplexPoint(portal, 0)->v);
+		if (dot < 0.f && !btMprIsZero(dot))
+		{
+			btMprSimplexSet(portal, 2, btMprSimplexPoint(portal, 3));
+			cont = 1;
+		}
+
+		if (!cont)
+		{
+			// test if origin is outside (v3, v0, v2) - set v1 as v3 and
+			// continue
+			btMprVec3Cross(&va, &btMprSimplexPoint(portal, 3)->v,
+						   &btMprSimplexPoint(portal, 2)->v);
+			dot = btMprVec3Dot(&va, &btMprSimplexPoint(portal, 0)->v);
+			if (dot < 0.f && !btMprIsZero(dot))
+			{
+				btMprSimplexSet(portal, 1, btMprSimplexPoint(portal, 3));
+				cont = 1;
+			}
+		}
+
+		if (cont)
+		{
+			btMprVec3Sub2(&va, &btMprSimplexPoint(portal, 1)->v,
+						  &btMprSimplexPoint(portal, 0)->v);
+			btMprVec3Sub2(&vb, &btMprSimplexPoint(portal, 2)->v,
+						  &btMprSimplexPoint(portal, 0)->v);
+			btMprVec3Cross(&dir, &va, &vb);
+			btMprVec3Normalize(&dir);
+		}
+		else
+		{
+			btMprSimplexSetSize(portal, 4);
+		}
+	}
+
+	return 0;
 }
 
 template <typename btConvexTemplate>
-static int btRefinePortal(const btConvexTemplate& a, const btConvexTemplate& b,const btMprCollisionDescription& colDesc,
-							btMprSimplex_t *portal)
+static int btRefinePortal(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc,
+						  btMprSimplex_t *portal)
 {
-    btVector3 dir;
-    btMprSupport_t v4;
+	btVector3 dir;
+	btMprSupport_t v4;
 
-	for (int i=0;i<BT_MPR_MAX_ITERATIONS;i++)
-    //while (1)
+	for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++)
+	//while (1)
 	{
-        // compute direction outside the portal (from v0 throught v1,v2,v3
-        // face)
-        btPortalDir(portal, &dir);
+		// compute direction outside the portal (from v0 throught v1,v2,v3
+		// face)
+		btPortalDir(portal, &dir);
 
-        // test if origin is inside the portal
-        if (portalEncapsulesOrigin(portal, &dir))
-            return 0;
+		// test if origin is inside the portal
+		if (portalEncapsulesOrigin(portal, &dir))
+			return 0;
 
-        // get next support point
-        
-		 btMprSupport(a,b,colDesc, dir, &v4);
+		// get next support point
 
+		btMprSupport(a, b, colDesc, dir, &v4);
 
-        // test if v4 can expand portal to contain origin and if portal
-        // expanding doesn't reach given tolerance
-        if (!portalCanEncapsuleOrigin(portal, &v4, &dir)
-                || portalReachTolerance(portal, &v4, &dir))
+		// test if v4 can expand portal to contain origin and if portal
+		// expanding doesn't reach given tolerance
+		if (!portalCanEncapsuleOrigin(portal, &v4, &dir) || portalReachTolerance(portal, &v4, &dir))
 		{
-            return -1;
-        }
+			return -1;
+		}
 
-        // v1-v2-v3 triangle must be rearranged to face outside Minkowski
-        // difference (direction from v0).
-        btExpandPortal(portal, &v4);
-    }
+		// v1-v2-v3 triangle must be rearranged to face outside Minkowski
+		// difference (direction from v0).
+		btExpandPortal(portal, &v4);
+	}
 
-    return -1;
+	return -1;
 }
 
 static void btFindPos(const btMprSimplex_t *portal, btVector3 *pos)
 {
+	btVector3 zero = btVector3(0, 0, 0);
+	btVector3 *origin = &zero;
 
-	btVector3 zero = btVector3(0,0,0);
-	btVector3* origin = &zero;
-
-    btVector3 dir;
-    size_t i;
-    float b[4], sum, inv;
-    btVector3 vec, p1, p2;
+	btVector3 dir;
+	size_t i;
+	float b[4], sum, inv;
+	btVector3 vec, p1, p2;
 
-    btPortalDir(portal, &dir);
+	btPortalDir(portal, &dir);
 
-    // use barycentric coordinates of tetrahedron to find origin
-    btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 1)->v,
-                       &btMprSimplexPoint(portal, 2)->v);
-    b[0] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 3)->v);
+	// use barycentric coordinates of tetrahedron to find origin
+	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 1)->v,
+				   &btMprSimplexPoint(portal, 2)->v);
+	b[0] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 3)->v);
 
-    btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 3)->v,
-                       &btMprSimplexPoint(portal, 2)->v);
-    b[1] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 0)->v);
+	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 3)->v,
+				   &btMprSimplexPoint(portal, 2)->v);
+	b[1] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 0)->v);
 
-    btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 0)->v,
-                       &btMprSimplexPoint(portal, 1)->v);
-    b[2] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 3)->v);
+	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 0)->v,
+				   &btMprSimplexPoint(portal, 1)->v);
+	b[2] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 3)->v);
 
-    btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 2)->v,
-                       &btMprSimplexPoint(portal, 1)->v);
-    b[3] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 0)->v);
+	btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 2)->v,
+				   &btMprSimplexPoint(portal, 1)->v);
+	b[3] = btMprVec3Dot(&vec, &btMprSimplexPoint(portal, 0)->v);
 
 	sum = b[0] + b[1] + b[2] + b[3];
 
-    if (btMprIsZero(sum) || sum < 0.f){
+	if (btMprIsZero(sum) || sum < 0.f)
+	{
 		b[0] = 0.f;
 
-        btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 2)->v,
-                           &btMprSimplexPoint(portal, 3)->v);
-        b[1] = btMprVec3Dot(&vec, &dir);
-        btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 3)->v,
-                           &btMprSimplexPoint(portal, 1)->v);
-        b[2] = btMprVec3Dot(&vec, &dir);
-        btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 1)->v,
-                           &btMprSimplexPoint(portal, 2)->v);
-        b[3] = btMprVec3Dot(&vec, &dir);
+		btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 2)->v,
+					   &btMprSimplexPoint(portal, 3)->v);
+		b[1] = btMprVec3Dot(&vec, &dir);
+		btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 3)->v,
+					   &btMprSimplexPoint(portal, 1)->v);
+		b[2] = btMprVec3Dot(&vec, &dir);
+		btMprVec3Cross(&vec, &btMprSimplexPoint(portal, 1)->v,
+					   &btMprSimplexPoint(portal, 2)->v);
+		b[3] = btMprVec3Dot(&vec, &dir);
 
 		sum = b[1] + b[2] + b[3];
 	}
 
 	inv = 1.f / sum;
 
-    btMprVec3Copy(&p1, origin);
-    btMprVec3Copy(&p2, origin);
-    for (i = 0; i < 4; i++){
-        btMprVec3Copy(&vec, &btMprSimplexPoint(portal, i)->v1);
-        btMprVec3Scale(&vec, b[i]);
-        btMprVec3Add(&p1, &vec);
-
-        btMprVec3Copy(&vec, &btMprSimplexPoint(portal, i)->v2);
-        btMprVec3Scale(&vec, b[i]);
-        btMprVec3Add(&p2, &vec);
-    }
-    btMprVec3Scale(&p1, inv);
-    btMprVec3Scale(&p2, inv);
+	btMprVec3Copy(&p1, origin);
+	btMprVec3Copy(&p2, origin);
+	for (i = 0; i < 4; i++)
+	{
+		btMprVec3Copy(&vec, &btMprSimplexPoint(portal, i)->v1);
+		btMprVec3Scale(&vec, b[i]);
+		btMprVec3Add(&p1, &vec);
+
+		btMprVec3Copy(&vec, &btMprSimplexPoint(portal, i)->v2);
+		btMprVec3Scale(&vec, b[i]);
+		btMprVec3Add(&p2, &vec);
+	}
+	btMprVec3Scale(&p1, inv);
+	btMprVec3Scale(&p2, inv);
 #ifdef MPR_AVERAGE_CONTACT_POSITIONS
-    btMprVec3Copy(pos, &p1);
-    btMprVec3Add(pos, &p2);
-    btMprVec3Scale(pos, 0.5);
+	btMprVec3Copy(pos, &p1);
+	btMprVec3Add(pos, &p2);
+	btMprVec3Scale(pos, 0.5);
 #else
-    btMprVec3Copy(pos, &p2);
-#endif//MPR_AVERAGE_CONTACT_POSITIONS
+	btMprVec3Copy(pos, &p2);
+#endif  //MPR_AVERAGE_CONTACT_POSITIONS
 }
 
 inline float btMprVec3Dist2(const btVector3 *a, const btVector3 *b)
 {
-    btVector3 ab;
-    btMprVec3Sub2(&ab, a, b);
-    return btMprVec3Len2(&ab);
+	btVector3 ab;
+	btMprVec3Sub2(&ab, a, b);
+	return btMprVec3Len2(&ab);
 }
 
 inline float _btMprVec3PointSegmentDist2(const btVector3 *P,
-                                                  const btVector3 *x0,
-                                                  const btVector3 *b,
-                                                  btVector3 *witness)
-{
-    // The computation comes from solving equation of segment:
-    //      S(t) = x0 + t.d
-    //          where - x0 is initial point of segment
-    //                - d is direction of segment from x0 (|d| > 0)
-    //                - t belongs to <0, 1> interval
-    // 
-    // Than, distance from a segment to some point P can be expressed:
-    //      D(t) = |x0 + t.d - P|^2
-    //          which is distance from any point on segment. Minimization
-    //          of this function brings distance from P to segment.
-    // Minimization of D(t) leads to simple quadratic equation that's
-    // solving is straightforward.
-    //
-    // Bonus of this method is witness point for free.
-
-    float dist, t;
-    btVector3 d, a;
-
-    // direction of segment
-    btMprVec3Sub2(&d, b, x0);
-
-    // precompute vector from P to x0
-    btMprVec3Sub2(&a, x0, P);
-
-    t  = -1.f * btMprVec3Dot(&a, &d);
-    t /= btMprVec3Len2(&d);
-
-    if (t < 0.f || btMprIsZero(t)){
-        dist = btMprVec3Dist2(x0, P);
-        if (witness)
-            btMprVec3Copy(witness, x0);
-    }else if (t > 1.f || btMprEq(t, 1.f)){
-        dist = btMprVec3Dist2(b, P);
-        if (witness)
-            btMprVec3Copy(witness, b);
-    }else{
-        if (witness){
-            btMprVec3Copy(witness, &d);
-            btMprVec3Scale(witness, t);
-            btMprVec3Add(witness, x0);
-            dist = btMprVec3Dist2(witness, P);
-        }else{
-            // recycling variables
-            btMprVec3Scale(&d, t);
-            btMprVec3Add(&d, &a);
-            dist = btMprVec3Len2(&d);
-        }
-    }
-
-    return dist;
-}
-
+										 const btVector3 *x0,
+										 const btVector3 *b,
+										 btVector3 *witness)
+{
+	// The computation comes from solving equation of segment:
+	//      S(t) = x0 + t.d
+	//          where - x0 is initial point of segment
+	//                - d is direction of segment from x0 (|d| > 0)
+	//                - t belongs to <0, 1> interval
+	//
+	// Than, distance from a segment to some point P can be expressed:
+	//      D(t) = |x0 + t.d - P|^2
+	//          which is distance from any point on segment. Minimization
+	//          of this function brings distance from P to segment.
+	// Minimization of D(t) leads to simple quadratic equation that's
+	// solving is straightforward.
+	//
+	// Bonus of this method is witness point for free.
+
+	float dist, t;
+	btVector3 d, a;
+
+	// direction of segment
+	btMprVec3Sub2(&d, b, x0);
+
+	// precompute vector from P to x0
+	btMprVec3Sub2(&a, x0, P);
+
+	t = -1.f * btMprVec3Dot(&a, &d);
+	t /= btMprVec3Len2(&d);
+
+	if (t < 0.f || btMprIsZero(t))
+	{
+		dist = btMprVec3Dist2(x0, P);
+		if (witness)
+			btMprVec3Copy(witness, x0);
+	}
+	else if (t > 1.f || btMprEq(t, 1.f))
+	{
+		dist = btMprVec3Dist2(b, P);
+		if (witness)
+			btMprVec3Copy(witness, b);
+	}
+	else
+	{
+		if (witness)
+		{
+			btMprVec3Copy(witness, &d);
+			btMprVec3Scale(witness, t);
+			btMprVec3Add(witness, x0);
+			dist = btMprVec3Dist2(witness, P);
+		}
+		else
+		{
+			// recycling variables
+			btMprVec3Scale(&d, t);
+			btMprVec3Add(&d, &a);
+			dist = btMprVec3Len2(&d);
+		}
+	}
 
+	return dist;
+}
 
 inline float btMprVec3PointTriDist2(const btVector3 *P,
-                                const btVector3 *x0, const btVector3 *B,
-                                const btVector3 *C,
-                                btVector3 *witness)
-{
-    // Computation comes from analytic expression for triangle (x0, B, C)
-    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
-    // Then equation for distance is:
-    //      D(s, t) = | T(s, t) - P |^2
-    // This leads to minimization of quadratic function of two variables.
-    // The solution from is taken only if s is between 0 and 1, t is
-    // between 0 and 1 and t + s < 1, otherwise distance from segment is
-    // computed.
-
-    btVector3 d1, d2, a;
-    float u, v, w, p, q, r;
-    float s, t, dist, dist2;
-    btVector3 witness2;
-
-    btMprVec3Sub2(&d1, B, x0);
-    btMprVec3Sub2(&d2, C, x0);
-    btMprVec3Sub2(&a, x0, P);
-
-    u = btMprVec3Dot(&a, &a);
-    v = btMprVec3Dot(&d1, &d1);
-    w = btMprVec3Dot(&d2, &d2);
-    p = btMprVec3Dot(&a, &d1);
-    q = btMprVec3Dot(&a, &d2);
-    r = btMprVec3Dot(&d1, &d2);
+									const btVector3 *x0, const btVector3 *B,
+									const btVector3 *C,
+									btVector3 *witness)
+{
+	// Computation comes from analytic expression for triangle (x0, B, C)
+	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
+	// Then equation for distance is:
+	//      D(s, t) = | T(s, t) - P |^2
+	// This leads to minimization of quadratic function of two variables.
+	// The solution from is taken only if s is between 0 and 1, t is
+	// between 0 and 1 and t + s < 1, otherwise distance from segment is
+	// computed.
+
+	btVector3 d1, d2, a;
+	float u, v, w, p, q, r;
+	float s, t, dist, dist2;
+	btVector3 witness2;
+
+	btMprVec3Sub2(&d1, B, x0);
+	btMprVec3Sub2(&d2, C, x0);
+	btMprVec3Sub2(&a, x0, P);
+
+	u = btMprVec3Dot(&a, &a);
+	v = btMprVec3Dot(&d1, &d1);
+	w = btMprVec3Dot(&d2, &d2);
+	p = btMprVec3Dot(&a, &d1);
+	q = btMprVec3Dot(&a, &d2);
+	r = btMprVec3Dot(&d1, &d2);
 
 	btScalar div = (w * v - r * r);
 	if (btMprIsZero(div))
 	{
-		s=-1;
-	} else
+		s = -1;
+	}
+	else
 	{
 		s = (q * r - w * p) / div;
 		t = (-s * r - q) / w;
 	}
 
-    if ((btMprIsZero(s) || s > 0.f)
-            && (btMprEq(s, 1.f) || s < 1.f)
-            && (btMprIsZero(t) || t > 0.f)
-            && (btMprEq(t, 1.f) || t < 1.f)
-            && (btMprEq(t + s, 1.f) || t + s < 1.f)){
-
-        if (witness){
-            btMprVec3Scale(&d1, s);
-            btMprVec3Scale(&d2, t);
-            btMprVec3Copy(witness, x0);
-            btMprVec3Add(witness, &d1);
-            btMprVec3Add(witness, &d2);
-
-            dist = btMprVec3Dist2(witness, P);
-        }else{
-            dist  = s * s * v;
-            dist += t * t * w;
-            dist += 2.f * s * t * r;
-            dist += 2.f * s * p;
-            dist += 2.f * t * q;
-            dist += u;
-        }
-    }else{
-        dist = _btMprVec3PointSegmentDist2(P, x0, B, witness);
-
-        dist2 = _btMprVec3PointSegmentDist2(P, x0, C, &witness2);
-        if (dist2 < dist){
-            dist = dist2;
-            if (witness)
-                btMprVec3Copy(witness, &witness2);
-        }
-
-        dist2 = _btMprVec3PointSegmentDist2(P, B, C, &witness2);
-        if (dist2 < dist){
-            dist = dist2;
-            if (witness)
-                btMprVec3Copy(witness, &witness2);
-        }
-    }
-
-    return dist;
+	if ((btMprIsZero(s) || s > 0.f) && (btMprEq(s, 1.f) || s < 1.f) && (btMprIsZero(t) || t > 0.f) && (btMprEq(t, 1.f) || t < 1.f) && (btMprEq(t + s, 1.f) || t + s < 1.f))
+	{
+		if (witness)
+		{
+			btMprVec3Scale(&d1, s);
+			btMprVec3Scale(&d2, t);
+			btMprVec3Copy(witness, x0);
+			btMprVec3Add(witness, &d1);
+			btMprVec3Add(witness, &d2);
+
+			dist = btMprVec3Dist2(witness, P);
+		}
+		else
+		{
+			dist = s * s * v;
+			dist += t * t * w;
+			dist += 2.f * s * t * r;
+			dist += 2.f * s * p;
+			dist += 2.f * t * q;
+			dist += u;
+		}
+	}
+	else
+	{
+		dist = _btMprVec3PointSegmentDist2(P, x0, B, witness);
+
+		dist2 = _btMprVec3PointSegmentDist2(P, x0, C, &witness2);
+		if (dist2 < dist)
+		{
+			dist = dist2;
+			if (witness)
+				btMprVec3Copy(witness, &witness2);
+		}
+
+		dist2 = _btMprVec3PointSegmentDist2(P, B, C, &witness2);
+		if (dist2 < dist)
+		{
+			dist = dist2;
+			if (witness)
+				btMprVec3Copy(witness, &witness2);
+		}
+	}
+
+	return dist;
 }
 
 template <typename btConvexTemplate>
-static void btFindPenetr(const btConvexTemplate& a, const btConvexTemplate& b,
-                         const btMprCollisionDescription& colDesc,
-                         btMprSimplex_t *portal,
-                         float *depth, btVector3 *pdir, btVector3 *pos)
+static void btFindPenetr(const btConvexTemplate &a, const btConvexTemplate &b,
+						 const btMprCollisionDescription &colDesc,
+						 btMprSimplex_t *portal,
+						 float *depth, btVector3 *pdir, btVector3 *pos)
 {
-    btVector3 dir;
-    btMprSupport_t v4;
-    unsigned long iterations;
+	btVector3 dir;
+	btMprSupport_t v4;
+	unsigned long iterations;
 
-	btVector3 zero = btVector3(0,0,0);
-	btVector3* origin = &zero;
+	btVector3 zero = btVector3(0, 0, 0);
+	btVector3 *origin = &zero;
 
-
-    iterations = 1UL;
-	for (int i=0;i<BT_MPR_MAX_ITERATIONS;i++)
-    //while (1)
+	iterations = 1UL;
+	for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++)
+	//while (1)
 	{
-        // compute portal direction and obtain next support point
-        btPortalDir(portal, &dir);
-        
-		 btMprSupport(a,b,colDesc, dir, &v4);
+		// compute portal direction and obtain next support point
+		btPortalDir(portal, &dir);
 
+		btMprSupport(a, b, colDesc, dir, &v4);
 
-        // reached tolerance -> find penetration info
-        if (portalReachTolerance(portal, &v4, &dir)
-                || iterations ==BT_MPR_MAX_ITERATIONS)
+		// reached tolerance -> find penetration info
+		if (portalReachTolerance(portal, &v4, &dir) || iterations == BT_MPR_MAX_ITERATIONS)
 		{
-            *depth = btMprVec3PointTriDist2(origin,&btMprSimplexPoint(portal, 1)->v,&btMprSimplexPoint(portal, 2)->v,&btMprSimplexPoint(portal, 3)->v,pdir);
-            *depth = BT_MPR_SQRT(*depth);
-			
+			*depth = btMprVec3PointTriDist2(origin, &btMprSimplexPoint(portal, 1)->v, &btMprSimplexPoint(portal, 2)->v, &btMprSimplexPoint(portal, 3)->v, pdir);
+			*depth = BT_MPR_SQRT(*depth);
+
 			if (btMprIsZero((*pdir).x()) && btMprIsZero((*pdir).y()) && btMprIsZero((*pdir).z()))
 			{
-				
 				*pdir = dir;
-			} 
+			}
 			btMprVec3Normalize(pdir);
-			
-            // barycentric coordinates:
-            btFindPos(portal, pos);
 
+			// barycentric coordinates:
+			btFindPos(portal, pos);
 
-            return;
-        }
+			return;
+		}
 
-        btExpandPortal(portal, &v4);
+		btExpandPortal(portal, &v4);
 
-        iterations++;
-    }
+		iterations++;
+	}
 }
 
-static void btFindPenetrTouch(btMprSimplex_t *portal,float *depth, btVector3 *dir, btVector3 *pos)
+static void btFindPenetrTouch(btMprSimplex_t *portal, float *depth, btVector3 *dir, btVector3 *pos)
 {
-    // Touching contact on portal's v1 - so depth is zero and direction
-    // is unimportant and pos can be guessed
-    *depth = 0.f;
-    btVector3 zero = btVector3(0,0,0);
-	btVector3* origin = &zero;
-
+	// Touching contact on portal's v1 - so depth is zero and direction
+	// is unimportant and pos can be guessed
+	*depth = 0.f;
+	btVector3 zero = btVector3(0, 0, 0);
+	btVector3 *origin = &zero;
 
 	btMprVec3Copy(dir, origin);
 #ifdef MPR_AVERAGE_CONTACT_POSITIONS
-    btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v1);
-    btMprVec3Add(pos, &btMprSimplexPoint(portal, 1)->v2);
-    btMprVec3Scale(pos, 0.5);
+	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v1);
+	btMprVec3Add(pos, &btMprSimplexPoint(portal, 1)->v2);
+	btMprVec3Scale(pos, 0.5);
 #else
-     btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v2);
+	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v2);
 #endif
 }
 
 static void btFindPenetrSegment(btMprSimplex_t *portal,
-                              float *depth, btVector3 *dir, btVector3 *pos)
+								float *depth, btVector3 *dir, btVector3 *pos)
 {
-    
-    // Origin lies on v0-v1 segment.
-    // Depth is distance to v1, direction also and position must be
-    // computed
+	// Origin lies on v0-v1 segment.
+	// Depth is distance to v1, direction also and position must be
+	// computed
 #ifdef MPR_AVERAGE_CONTACT_POSITIONS
-    btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v1);
-    btMprVec3Add(pos, &btMprSimplexPoint(portal, 1)->v2);
-    btMprVec3Scale(pos, 0.5f);
+	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v1);
+	btMprVec3Add(pos, &btMprSimplexPoint(portal, 1)->v2);
+	btMprVec3Scale(pos, 0.5f);
 #else
-     btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v2);
-#endif//MPR_AVERAGE_CONTACT_POSITIONS
-
-    btMprVec3Copy(dir, &btMprSimplexPoint(portal, 1)->v);
-    *depth = BT_MPR_SQRT(btMprVec3Len2(dir));
-    btMprVec3Normalize(dir);
+	btMprVec3Copy(pos, &btMprSimplexPoint(portal, 1)->v2);
+#endif  //MPR_AVERAGE_CONTACT_POSITIONS
 
-    
+	btMprVec3Copy(dir, &btMprSimplexPoint(portal, 1)->v);
+	*depth = BT_MPR_SQRT(btMprVec3Len2(dir));
+	btMprVec3Normalize(dir);
 }
 
-
 template <typename btConvexTemplate>
-inline int btMprPenetration( const btConvexTemplate& a, const btConvexTemplate& b,
-                            const btMprCollisionDescription& colDesc,
-					float *depthOut, btVector3* dirOut, btVector3* posOut)
+inline int btMprPenetration(const btConvexTemplate &a, const btConvexTemplate &b,
+							const btMprCollisionDescription &colDesc,
+							float *depthOut, btVector3 *dirOut, btVector3 *posOut)
 {
-	
-	 btMprSimplex_t portal;
+	btMprSimplex_t portal;
 
+	// Phase 1: Portal discovery
+	int result = btDiscoverPortal(a, b, colDesc, &portal);
 
-    // Phase 1: Portal discovery
-    int result = btDiscoverPortal(a,b,colDesc, &portal);
-	
-	  
 	//sepAxis[pairIndex] = *pdir;//or -dir?
 
 	switch (result)
 	{
-	case 0:
+		case 0:
 		{
 			// Phase 2: Portal refinement
-		
-			result = btRefinePortal(a,b,colDesc, &portal);
+
+			result = btRefinePortal(a, b, colDesc, &portal);
 			if (result < 0)
 				return -1;
 
 			// Phase 3. Penetration info
-			btFindPenetr(a,b,colDesc, &portal, depthOut, dirOut, posOut);
-			
-			
+			btFindPenetr(a, b, colDesc, &portal, depthOut, dirOut, posOut);
+
 			break;
 		}
-	case 1:
+		case 1:
 		{
-			 // Touching contact on portal's v1.
+			// Touching contact on portal's v1.
 			btFindPenetrTouch(&portal, depthOut, dirOut, posOut);
-			result=0;
+			result = 0;
 			break;
 		}
-	case 2:
+		case 2:
 		{
-			
-			btFindPenetrSegment( &portal, depthOut, dirOut, posOut);
-			result=0;
+			btFindPenetrSegment(&portal, depthOut, dirOut, posOut);
+			result = 0;
 			break;
 		}
-	default:
+		default:
 		{
 			//if (res < 0)
 			//{
-				// Origin isn't inside portal - no collision.
-				result = -1;
+			// Origin isn't inside portal - no collision.
+			result = -1;
 			//}
 		}
 	};
-	
+
 	return result;
 };
 
-
-template<typename btConvexTemplate, typename btMprDistanceTemplate>
-inline int	btComputeMprPenetration( const btConvexTemplate& a, const btConvexTemplate& b, const
-                                    btMprCollisionDescription& colDesc, btMprDistanceTemplate* distInfo)
+template <typename btConvexTemplate, typename btMprDistanceTemplate>
+inline int btComputeMprPenetration(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprDistanceTemplate *distInfo)
 {
-	btVector3 dir,pos;
+	btVector3 dir, pos;
 	float depth;
 
-	int res = btMprPenetration(a,b,colDesc,&depth, &dir, &pos);
-	if (res==0)
+	int res = btMprPenetration(a, b, colDesc, &depth, &dir, &pos);
+	if (res == 0)
 	{
 		distInfo->m_distance = -depth;
 		distInfo->m_pointOnB = pos;
 		distInfo->m_normalBtoA = -dir;
-		distInfo->m_pointOnA = pos-distInfo->m_distance*dir;
+		distInfo->m_pointOnA = pos - distInfo->m_distance * dir;
 		return 0;
 	}
 
 	return -1;
 }
 
-
-
-#endif //BT_MPR_PENETRATION_H
+#endif  //BT_MPR_PENETRATION_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index 23aaece22b..f1422cad4d 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -13,86 +13,86 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btPersistentManifold.h"
 #include "LinearMath/btTransform.h"
+#include "LinearMath/btSerializer.h"
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btCollisionObjectData btCollisionObjectDoubleData
+#else
+#define btCollisionObjectData btCollisionObjectFloatData
+#endif
 
-btScalar					gContactBreakingThreshold = btScalar(0.02);
-ContactDestroyedCallback	gContactDestroyedCallback = 0;
-ContactProcessedCallback	gContactProcessedCallback = 0;
-ContactStartedCallback		gContactStartedCallback = 0;
-ContactEndedCallback		gContactEndedCallback = 0;
+btScalar gContactBreakingThreshold = btScalar(0.02);
+ContactDestroyedCallback gContactDestroyedCallback = 0;
+ContactProcessedCallback gContactProcessedCallback = 0;
+ContactStartedCallback gContactStartedCallback = 0;
+ContactEndedCallback gContactEndedCallback = 0;
 ///gContactCalcArea3Points will approximate the convex hull area using 3 points
 ///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
-bool						gContactCalcArea3Points = true;
-
+bool gContactCalcArea3Points = true;
 
 btPersistentManifold::btPersistentManifold()
-:btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
-m_body0(0),
-m_body1(0),
-m_cachedPoints (0),
-m_index1a(0)
+	: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
+	  m_body0(0),
+	  m_body1(0),
+	  m_cachedPoints(0),
+	  m_companionIdA(0),
+	  m_companionIdB(0),
+	  m_index1a(0)
 {
 }
 
-
-
-
 #ifdef DEBUG_PERSISTENCY
 #include <stdio.h>
-void	btPersistentManifold::DebugPersistency()
+void btPersistentManifold::DebugPersistency()
 {
 	int i;
-	printf("DebugPersistency : numPoints %d\n",m_cachedPoints);
-	for (i=0;i<m_cachedPoints;i++)
+	printf("DebugPersistency : numPoints %d\n", m_cachedPoints);
+	for (i = 0; i < m_cachedPoints; i++)
 	{
-		printf("m_pointCache[%d].m_userPersistentData = %x\n",i,m_pointCache[i].m_userPersistentData);
+		printf("m_pointCache[%d].m_userPersistentData = %x\n", i, m_pointCache[i].m_userPersistentData);
 	}
 }
-#endif //DEBUG_PERSISTENCY
+#endif  //DEBUG_PERSISTENCY
 
 void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
 {
-
 	void* oldPtr = pt.m_userPersistentData;
 	if (oldPtr)
 	{
 #ifdef DEBUG_PERSISTENCY
 		int i;
 		int occurance = 0;
-		for (i=0;i<m_cachedPoints;i++)
+		for (i = 0; i < m_cachedPoints; i++)
 		{
 			if (m_pointCache[i].m_userPersistentData == oldPtr)
 			{
 				occurance++;
-				if (occurance>1)
+				if (occurance > 1)
 					printf("error in clearUserCache\n");
 			}
 		}
-		btAssert(occurance<=0);
-#endif //DEBUG_PERSISTENCY
+		btAssert(occurance <= 0);
+#endif  //DEBUG_PERSISTENCY
 
 		if (pt.m_userPersistentData && gContactDestroyedCallback)
 		{
 			(*gContactDestroyedCallback)(pt.m_userPersistentData);
 			pt.m_userPersistentData = 0;
 		}
-		
+
 #ifdef DEBUG_PERSISTENCY
 		DebugPersistency();
 #endif
 	}
-
-	
 }
 
-static inline btScalar calcArea4Points(const btVector3 &p0,const btVector3 &p1,const btVector3 &p2,const btVector3 &p3)
+static inline btScalar calcArea4Points(const btVector3& p0, const btVector3& p1, const btVector3& p2, const btVector3& p3)
 {
 	// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
 
-	btVector3 a[3],b[3];
+	btVector3 a[3], b[3];
 	a[0] = p0 - p1;
 	a[1] = p0 - p2;
 	a[2] = p0 - p3;
@@ -105,100 +105,102 @@ static inline btScalar calcArea4Points(const btVector3 &p0,const btVector3 &p1,c
 	btVector3 tmp1 = a[1].cross(b[1]);
 	btVector3 tmp2 = a[2].cross(b[2]);
 
-	return btMax(btMax(tmp0.length2(),tmp1.length2()),tmp2.length2());
+	return btMax(btMax(tmp0.length2(), tmp1.length2()), tmp2.length2());
 }
 
-int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt) 
+int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
 {
-		//calculate 4 possible cases areas, and take biggest area
-		//also need to keep 'deepest'
-		
-		int maxPenetrationIndex = -1;
+	//calculate 4 possible cases areas, and take biggest area
+	//also need to keep 'deepest'
+
+	int maxPenetrationIndex = -1;
 #define KEEP_DEEPEST_POINT 1
 #ifdef KEEP_DEEPEST_POINT
-		btScalar maxPenetration = pt.getDistance();
-		for (int i=0;i<4;i++)
+	btScalar maxPenetration = pt.getDistance();
+	for (int i = 0; i < 4; i++)
+	{
+		if (m_pointCache[i].getDistance() < maxPenetration)
 		{
-			if (m_pointCache[i].getDistance() < maxPenetration)
-			{
-				maxPenetrationIndex = i;
-				maxPenetration = m_pointCache[i].getDistance();
-			}
+			maxPenetrationIndex = i;
+			maxPenetration = m_pointCache[i].getDistance();
 		}
-#endif //KEEP_DEEPEST_POINT
-		
-		btScalar res0(btScalar(0.)),res1(btScalar(0.)),res2(btScalar(0.)),res3(btScalar(0.));
+	}
+#endif  //KEEP_DEEPEST_POINT
+
+	btScalar res0(btScalar(0.)), res1(btScalar(0.)), res2(btScalar(0.)), res3(btScalar(0.));
 
 	if (gContactCalcArea3Points)
 	{
 		if (maxPenetrationIndex != 0)
 		{
-			btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
-			btVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
+			btVector3 a0 = pt.m_localPointA - m_pointCache[1].m_localPointA;
+			btVector3 b0 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
 			btVector3 cross = a0.cross(b0);
 			res0 = cross.length2();
 		}
 		if (maxPenetrationIndex != 1)
 		{
-			btVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			btVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
+			btVector3 a1 = pt.m_localPointA - m_pointCache[0].m_localPointA;
+			btVector3 b1 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
 			btVector3 cross = a1.cross(b1);
 			res1 = cross.length2();
 		}
 
 		if (maxPenetrationIndex != 2)
 		{
-			btVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			btVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
+			btVector3 a2 = pt.m_localPointA - m_pointCache[0].m_localPointA;
+			btVector3 b2 = m_pointCache[3].m_localPointA - m_pointCache[1].m_localPointA;
 			btVector3 cross = a2.cross(b2);
 			res2 = cross.length2();
 		}
 
 		if (maxPenetrationIndex != 3)
 		{
-			btVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			btVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
+			btVector3 a3 = pt.m_localPointA - m_pointCache[0].m_localPointA;
+			btVector3 b3 = m_pointCache[2].m_localPointA - m_pointCache[1].m_localPointA;
 			btVector3 cross = a3.cross(b3);
 			res3 = cross.length2();
 		}
-	} 
+	}
 	else
 	{
-		if(maxPenetrationIndex != 0) {
-			res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
+		if (maxPenetrationIndex != 0)
+		{
+			res0 = calcArea4Points(pt.m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
 		}
 
-		if(maxPenetrationIndex != 1) {
-			res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
+		if (maxPenetrationIndex != 1)
+		{
+			res1 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
 		}
 
-		if(maxPenetrationIndex != 2) {
-			res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
+		if (maxPenetrationIndex != 2)
+		{
+			res2 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[3].m_localPointA);
 		}
 
-		if(maxPenetrationIndex != 3) {
-			res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
+		if (maxPenetrationIndex != 3)
+		{
+			res3 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA);
 		}
 	}
-	btVector4 maxvec(res0,res1,res2,res3);
+	btVector4 maxvec(res0, res1, res2, res3);
 	int biggestarea = maxvec.closestAxis4();
 	return biggestarea;
-	
 }
 
-
 int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
 {
-	btScalar shortestDist =  getContactBreakingThreshold() * getContactBreakingThreshold();
+	btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold();
 	int size = getNumContacts();
 	int nearestPoint = -1;
-	for( int i = 0; i < size; i++ )
+	for (int i = 0; i < size; i++)
 	{
-		const btManifoldPoint &mp = m_pointCache[i];
+		const btManifoldPoint& mp = m_pointCache[i];
 
-		btVector3 diffA =  mp.m_localPointA- newPoint.m_localPointA;
+		btVector3 diffA = mp.m_localPointA - newPoint.m_localPointA;
 		const btScalar distToManiPoint = diffA.dot(diffA);
-		if( distToManiPoint < shortestDist )
+		if (distToManiPoint < shortestDist)
 		{
 			shortestDist = distToManiPoint;
 			nearestPoint = i;
@@ -213,7 +215,7 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool
 	{
 		btAssert(validContactDistance(newPoint));
 	}
-	
+
 	int insertIndex = getNumContacts();
 	if (insertIndex == MANIFOLD_CACHE_SIZE)
 	{
@@ -224,85 +226,222 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool
 		insertIndex = 0;
 #endif
 		clearUserCache(m_pointCache[insertIndex]);
-		
-	} else
+	}
+	else
 	{
 		m_cachedPoints++;
-
-		
 	}
-	if (insertIndex<0)
-		insertIndex=0;
+	if (insertIndex < 0)
+		insertIndex = 0;
 
-	btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
+	btAssert(m_pointCache[insertIndex].m_userPersistentData == 0);
 	m_pointCache[insertIndex] = newPoint;
 	return insertIndex;
 }
 
-btScalar	btPersistentManifold::getContactBreakingThreshold() const
+btScalar btPersistentManifold::getContactBreakingThreshold() const
 {
 	return m_contactBreakingThreshold;
 }
 
-
-
-void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB)
+void btPersistentManifold::refreshContactPoints(const btTransform& trA, const btTransform& trB)
 {
 	int i;
 #ifdef DEBUG_PERSISTENCY
 	printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
-		trA.getOrigin().getX(),
-		trA.getOrigin().getY(),
-		trA.getOrigin().getZ(),
-		trB.getOrigin().getX(),
-		trB.getOrigin().getY(),
-		trB.getOrigin().getZ());
-#endif //DEBUG_PERSISTENCY
+		   trA.getOrigin().getX(),
+		   trA.getOrigin().getY(),
+		   trA.getOrigin().getZ(),
+		   trB.getOrigin().getX(),
+		   trB.getOrigin().getY(),
+		   trB.getOrigin().getZ());
+#endif  //DEBUG_PERSISTENCY
 	/// first refresh worldspace positions and distance
-	for (i=getNumContacts()-1;i>=0;i--)
+	for (i = getNumContacts() - 1; i >= 0; i--)
 	{
-		btManifoldPoint &manifoldPoint = m_pointCache[i];
-		manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
-		manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
-		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA -  manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
+		btManifoldPoint& manifoldPoint = m_pointCache[i];
+		manifoldPoint.m_positionWorldOnA = trA(manifoldPoint.m_localPointA);
+		manifoldPoint.m_positionWorldOnB = trB(manifoldPoint.m_localPointB);
+		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
 		manifoldPoint.m_lifeTime++;
 	}
 
-	/// then 
+	/// then
 	btScalar distance2d;
-	btVector3 projectedDifference,projectedPoint;
-	for (i=getNumContacts()-1;i>=0;i--)
+	btVector3 projectedDifference, projectedPoint;
+	for (i = getNumContacts() - 1; i >= 0; i--)
 	{
-		
-		btManifoldPoint &manifoldPoint = m_pointCache[i];
+		btManifoldPoint& manifoldPoint = m_pointCache[i];
 		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
 		if (!validContactDistance(manifoldPoint))
 		{
 			removeContactPoint(i);
-		} else
+		}
+		else
 		{
-            //todo: friction anchor may require the contact to be around a bit longer
+			//todo: friction anchor may require the contact to be around a bit longer
 			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
 			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
 			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
 			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d  > getContactBreakingThreshold()*getContactBreakingThreshold() )
+			if (distance2d > getContactBreakingThreshold() * getContactBreakingThreshold())
 			{
 				removeContactPoint(i);
-			} else
+			}
+			else
 			{
 				//contact point processed callback
 				if (gContactProcessedCallback)
-					(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
+					(*gContactProcessedCallback)(manifoldPoint, (void*)m_body0, (void*)m_body1);
 			}
 		}
 	}
 #ifdef DEBUG_PERSISTENCY
 	DebugPersistency();
-#endif //
+#endif  //
 }
 
+int btPersistentManifold::calculateSerializeBufferSize() const
+{
+	return sizeof(btPersistentManifoldData);
+}
 
+const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const
+{
+	btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer;
+	memset(dataOut, 0, sizeof(btPersistentManifoldData));
+
+	dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
+	dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
+	dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
+	dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
+	dataOut->m_numCachedPoints = manifold->getNumContacts();
+	dataOut->m_companionIdA = manifold->m_companionIdA;
+	dataOut->m_companionIdB = manifold->m_companionIdB;
+	dataOut->m_index1a = manifold->m_index1a;
+	dataOut->m_objectType = manifold->m_objectType;
+
+	for (int i = 0; i < this->getNumContacts(); i++)
+	{
+		const btManifoldPoint& pt = manifold->getContactPoint(i);
+		dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
+		dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
+		dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
+		pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
+		pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);
+		pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]);
+		dataOut->m_pointCacheDistance[i] = pt.m_distance1;
+		dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1;
+		dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1;
+		dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime;
+		dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM;
+		dataOut->m_pointCacheContactERP[i] = pt.m_contactERP;
+		dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM;
+		dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags;
+		dataOut->m_pointCacheIndex0[i] = pt.m_index0;
+		dataOut->m_pointCacheIndex1[i] = pt.m_index1;
+		dataOut->m_pointCachePartId0[i] = pt.m_partId0;
+		dataOut->m_pointCachePartId1[i] = pt.m_partId1;
+		pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]);
+		pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]);
+		dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction;
+		pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]);
+		pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]);
+		dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction;
+		dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction;
+		dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution;
+		dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1;
+		dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2;
+	}
+	return btPersistentManifoldDataName;
+}
 
+void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
+{
+	m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
+	m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
+	m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
+	m_companionIdA = manifoldDataPtr->m_companionIdA;
+	m_companionIdB = manifoldDataPtr->m_companionIdB;
+	//m_index1a = manifoldDataPtr->m_index1a;
+	m_objectType = manifoldDataPtr->m_objectType;
+
+	for (int i = 0; i < this->getNumContacts(); i++)
+	{
+		btManifoldPoint& pt = m_pointCache[i];
+
+		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
+		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
+		pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
+		pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]);
+		pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
+		pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
+		pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
+		pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
+		pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
+		pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
+		pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
+		pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
+		pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
+		pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
+		pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
+		pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
+		pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
+		pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
+		pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
+		pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
+		pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
+		pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
+		pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
+		pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
+		pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
+		pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
+		pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
+	}
+}
 
-
+void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr)
+{
+	m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
+	m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
+	m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
+	m_companionIdA = manifoldDataPtr->m_companionIdA;
+	m_companionIdB = manifoldDataPtr->m_companionIdB;
+	//m_index1a = manifoldDataPtr->m_index1a;
+	m_objectType = manifoldDataPtr->m_objectType;
+
+	for (int i = 0; i < this->getNumContacts(); i++)
+	{
+		btManifoldPoint& pt = m_pointCache[i];
+
+		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
+		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
+		pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
+		pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
+		pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
+		pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
+		pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
+		pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
+		pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
+		pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
+		pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
+		pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
+		pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
+		pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
+		pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
+		pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
+		pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
+		pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
+		pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
+		pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
+		pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
+		pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
+		pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
+		pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
+		pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
+		pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
+		pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
+	}
+}
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index f872c8e1c9..8a9134c95c 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef BT_PERSISTENT_MANIFOLD_H
 #define BT_PERSISTENT_MANIFOLD_H
 
-
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btManifoldPoint.h"
@@ -24,6 +23,8 @@ class btCollisionObject;
 #include "LinearMath/btAlignedAllocator.h"
 
 struct btCollisionResult;
+struct btCollisionObjectDoubleData;
+struct btCollisionObjectFloatData;
 
 ///maximum contact breaking and merging threshold
 extern btScalar gContactBreakingThreshold;
@@ -32,14 +33,14 @@ extern btScalar gContactBreakingThreshold;
 class btPersistentManifold;
 
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
-typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
-typedef void (*ContactStartedCallback)(btPersistentManifold* const &manifold);
-typedef void (*ContactEndedCallback)(btPersistentManifold* const &manifold);
-extern ContactDestroyedCallback	gContactDestroyedCallback;
+typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp, void* body0, void* body1);
+typedef void (*ContactStartedCallback)(btPersistentManifold* const& manifold);
+typedef void (*ContactEndedCallback)(btPersistentManifold* const& manifold);
+extern ContactDestroyedCallback gContactDestroyedCallback;
 extern ContactProcessedCallback gContactProcessedCallback;
 extern ContactStartedCallback gContactStartedCallback;
 extern ContactEndedCallback gContactEndedCallback;
-#endif //SWIG
+#endif  //SWIG
 
 //the enum starts at 1024 to avoid type conflicts with btTypedConstraint
 enum btContactManifoldTypes
@@ -58,70 +59,74 @@ enum btContactManifoldTypes
 ///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
 ///note that some pairs of objects might have more then one contact manifold.
 
-
 //ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
-ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
+ATTRIBUTE_ALIGNED16(class)
+btPersistentManifold : public btTypedObject
 {
-
 	btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
 
 	/// this two body pointers can point to the physics rigidbody class.
 	const btCollisionObject* m_body0;
 	const btCollisionObject* m_body1;
 
-	int	m_cachedPoints;
+	int m_cachedPoints;
 
-	btScalar	m_contactBreakingThreshold;
-	btScalar	m_contactProcessingThreshold;
+	btScalar m_contactBreakingThreshold;
+	btScalar m_contactProcessingThreshold;
 
-	
 	/// sort cached points so most isolated points come first
-	int	sortCachedPoints(const btManifoldPoint& pt);
+	int sortCachedPoints(const btManifoldPoint& pt);
 
-	int		findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);
+	int findContactPoint(const btManifoldPoint* unUsed, int numUnused, const btManifoldPoint& pt);
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	int	m_companionIdA;
-	int	m_companionIdB;
+	int m_companionIdA;
+	int m_companionIdB;
 
 	int m_index1a;
 
 	btPersistentManifold();
 
-	btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
+	btPersistentManifold(const btCollisionObject* body0, const btCollisionObject* body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold)
 		: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
-	m_body0(body0),m_body1(body1),m_cachedPoints(0),
-		m_contactBreakingThreshold(contactBreakingThreshold),
-		m_contactProcessingThreshold(contactProcessingThreshold)
+		  m_body0(body0),
+		  m_body1(body1),
+		  m_cachedPoints(0),
+		  m_contactBreakingThreshold(contactBreakingThreshold),
+		  m_contactProcessingThreshold(contactProcessingThreshold),
+		  m_companionIdA(0),
+		  m_companionIdB(0),
+		  m_index1a(0)
 	{
 	}
 
-	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
-	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0; }
+	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1; }
 
-	void	setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
+	void setBodies(const btCollisionObject* body0, const btCollisionObject* body1)
 	{
 		m_body0 = body0;
 		m_body1 = body1;
 	}
 
-	void clearUserCache(btManifoldPoint& pt);
+	void clearUserCache(btManifoldPoint & pt);
 
 #ifdef DEBUG_PERSISTENCY
-	void	DebugPersistency();
-#endif //
-	
-	SIMD_FORCE_INLINE int	getNumContacts() const { return m_cachedPoints;}
+	void DebugPersistency();
+#endif  //
+
+	SIMD_FORCE_INLINE int getNumContacts() const
+	{
+		return m_cachedPoints;
+	}
 	/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
 	void setNumContacts(int cachedPoints)
 	{
 		m_cachedPoints = cachedPoints;
 	}
 
-
 	SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
 	{
 		btAssert(index < m_cachedPoints);
@@ -135,39 +140,36 @@ public:
 	}
 
 	///@todo: get this margin from the current physics / collision environment
-	btScalar	getContactBreakingThreshold() const;
+	btScalar getContactBreakingThreshold() const;
 
-	btScalar	getContactProcessingThreshold() const
+	btScalar getContactProcessingThreshold() const
 	{
 		return m_contactProcessingThreshold;
 	}
-	
+
 	void setContactBreakingThreshold(btScalar contactBreakingThreshold)
 	{
 		m_contactBreakingThreshold = contactBreakingThreshold;
 	}
 
-	void setContactProcessingThreshold(btScalar	contactProcessingThreshold)
+	void setContactProcessingThreshold(btScalar contactProcessingThreshold)
 	{
 		m_contactProcessingThreshold = contactProcessingThreshold;
 	}
-	
-	
-
 
 	int getCacheEntry(const btManifoldPoint& newPoint) const;
 
-	int addManifoldPoint( const btManifoldPoint& newPoint, bool isPredictive=false);
+	int addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive = false);
 
-	void removeContactPoint (int index)
+	void removeContactPoint(int index)
 	{
 		clearUserCache(m_pointCache[index]);
 
 		int lastUsedIndex = getNumContacts() - 1;
-//		m_pointCache[index] = m_pointCache[lastUsedIndex];
-		if(index != lastUsedIndex) 
+		//		m_pointCache[index] = m_pointCache[lastUsedIndex];
+		if (index != lastUsedIndex)
 		{
-			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
+			m_pointCache[index] = m_pointCache[lastUsedIndex];
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
 			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
@@ -177,7 +179,7 @@ public:
 			m_pointCache[lastUsedIndex].m_lifeTime = 0;
 		}
 
-		btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
+		btAssert(m_pointCache[lastUsedIndex].m_userPersistentData == 0);
 		m_cachedPoints--;
 
 		if (gContactEndedCallback && m_cachedPoints == 0)
@@ -238,13 +240,12 @@ public:
 		return pt.m_distance1 <= getContactBreakingThreshold();
 	}
 	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
-	void	refreshContactPoints(  const btTransform& trA,const btTransform& trB);
+	void refreshContactPoints(const btTransform& trA, const btTransform& trB);
 
-	
-	SIMD_FORCE_INLINE	void	clearManifold()
+	SIMD_FORCE_INLINE void clearManifold()
 	{
 		int i;
-		for (i=0;i<m_cachedPoints;i++)
+		for (i = 0; i < m_cachedPoints; i++)
 		{
 			clearUserCache(m_pointCache[i]);
 		}
@@ -256,13 +257,113 @@ public:
 		m_cachedPoints = 0;
 	}
 
+	int calculateSerializeBufferSize() const;
+	const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const;
+	void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
+	void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr);
+};
+
+// clang-format off
 
+struct btPersistentManifoldDoubleData
+{
+	btVector3DoubleData m_pointCacheLocalPointA[4];
+	btVector3DoubleData m_pointCacheLocalPointB[4];
+	btVector3DoubleData m_pointCachePositionWorldOnA[4];
+	btVector3DoubleData m_pointCachePositionWorldOnB[4];
+	btVector3DoubleData m_pointCacheNormalWorldOnB[4];
+	btVector3DoubleData	m_pointCacheLateralFrictionDir1[4];
+	btVector3DoubleData	m_pointCacheLateralFrictionDir2[4];
+	double m_pointCacheDistance[4];
+	double m_pointCacheAppliedImpulse[4];
+	double m_pointCacheCombinedFriction[4];
+	double m_pointCacheCombinedRollingFriction[4];
+	double m_pointCacheCombinedSpinningFriction[4];
+	double m_pointCacheCombinedRestitution[4];
+	int	m_pointCachePartId0[4];
+	int	m_pointCachePartId1[4];
+	int	m_pointCacheIndex0[4];
+	int	m_pointCacheIndex1[4];
+	int m_pointCacheContactPointFlags[4];
+	double m_pointCacheAppliedImpulseLateral1[4];
+	double m_pointCacheAppliedImpulseLateral2[4];
+	double m_pointCacheContactMotion1[4];
+	double m_pointCacheContactMotion2[4];
+	double m_pointCacheContactCFM[4];
+	double m_pointCacheCombinedContactStiffness1[4];
+	double m_pointCacheContactERP[4];
+	double m_pointCacheCombinedContactDamping1[4];
+	double m_pointCacheFrictionCFM[4];
+	int m_pointCacheLifeTime[4];
+
+	int m_numCachedPoints;
+	int m_companionIdA;
+	int m_companionIdB;
+	int m_index1a;
 
-}
-;
+	int m_objectType;
+	double	m_contactBreakingThreshold;
+	double	m_contactProcessingThreshold;
+	int m_padding;
 
+	btCollisionObjectDoubleData *m_body0;
+	btCollisionObjectDoubleData *m_body1;
+};
 
 
+struct btPersistentManifoldFloatData
+{
+	btVector3FloatData m_pointCacheLocalPointA[4];
+	btVector3FloatData m_pointCacheLocalPointB[4];
+	btVector3FloatData m_pointCachePositionWorldOnA[4];
+	btVector3FloatData m_pointCachePositionWorldOnB[4];
+	btVector3FloatData m_pointCacheNormalWorldOnB[4];
+	btVector3FloatData	m_pointCacheLateralFrictionDir1[4];
+	btVector3FloatData	m_pointCacheLateralFrictionDir2[4];
+	float m_pointCacheDistance[4];
+	float m_pointCacheAppliedImpulse[4];
+	float m_pointCacheCombinedFriction[4];
+	float m_pointCacheCombinedRollingFriction[4];
+	float m_pointCacheCombinedSpinningFriction[4];
+	float m_pointCacheCombinedRestitution[4];
+	int	m_pointCachePartId0[4];
+	int	m_pointCachePartId1[4];
+	int	m_pointCacheIndex0[4];
+	int	m_pointCacheIndex1[4];
+	int m_pointCacheContactPointFlags[4];
+	float m_pointCacheAppliedImpulseLateral1[4];
+	float m_pointCacheAppliedImpulseLateral2[4];
+	float m_pointCacheContactMotion1[4];
+	float m_pointCacheContactMotion2[4];
+	float m_pointCacheContactCFM[4];
+	float m_pointCacheCombinedContactStiffness1[4];
+	float m_pointCacheContactERP[4];
+	float m_pointCacheCombinedContactDamping1[4];
+	float m_pointCacheFrictionCFM[4];
+	int m_pointCacheLifeTime[4];
+
+	int m_numCachedPoints;
+	int m_companionIdA;
+	int m_companionIdB;
+	int m_index1a;
 
+	int m_objectType;
+	float	m_contactBreakingThreshold;
+	float	m_contactProcessingThreshold;
+	int m_padding;
+
+	btCollisionObjectFloatData *m_body0;
+	btCollisionObjectFloatData *m_body1;
+};
+
+// clang-format on
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPersistentManifoldData btPersistentManifoldDoubleData
+#define btPersistentManifoldDataName "btPersistentManifoldDoubleData"
+#else
+#define btPersistentManifoldData btPersistentManifoldFloatData
+#define btPersistentManifoldDataName "btPersistentManifoldFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
-#endif //BT_PERSISTENT_MANIFOLD_H
+#endif  //BT_PERSISTENT_MANIFOLD_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
index 18da171011..0900eb6e85 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
@@ -18,38 +18,33 @@ subject to the following restrictions:
 
 #include "btDiscreteCollisionDetectorInterface.h"
 
-
-
 struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
 {
-	
-	
 	btVector3 m_normalOnBInWorld;
 	btVector3 m_pointInWorld;
-	btScalar	m_distance;//negative means penetration
+	btScalar m_distance;  //negative means penetration
 
-	bool	m_hasResult;
+	bool m_hasResult;
 
-	btPointCollector () 
-		: m_distance(btScalar(BT_LARGE_FLOAT)),m_hasResult(false)
+	btPointCollector()
+		: m_distance(btScalar(BT_LARGE_FLOAT)), m_hasResult(false)
 	{
 	}
 
-	virtual void setShapeIdentifiersA(int partId0,int index0)
+	virtual void setShapeIdentifiersA(int partId0, int index0)
 	{
 		(void)partId0;
 		(void)index0;
-			
 	}
-	virtual void setShapeIdentifiersB(int partId1,int index1)
+	virtual void setShapeIdentifiersB(int partId1, int index1)
 	{
 		(void)partId1;
 		(void)index1;
 	}
 
-	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+	virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
 	{
-		if (depth< m_distance)
+		if (depth < m_distance)
 		{
 			m_hasResult = true;
 			m_normalOnBInWorld = normalOnBInWorld;
@@ -60,5 +55,4 @@ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
 	}
 };
 
-#endif //BT_POINT_COLLECTOR_H
-
+#endif  //BT_POINT_COLLECTOR_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
index ea380bc5f1..9d1836037d 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
@@ -13,45 +13,42 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 ///This file was written by Erwin Coumans
 ///Separating axis rest based on work from Pierre Terdiman, see
 ///And contact clipping based on work from Simon Hobbs
 
-
 #include "btPolyhedralContactClipping.h"
 #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
 
-#include <float.h> //for FLT_MAX
+#include <float.h>  //for FLT_MAX
 
-int gExpectedNbTests=0;
+int gExpectedNbTests = 0;
 int gActualNbTests = 0;
 bool gUseInternalObject = true;
 
 // Clips a face to the back of a plane
-void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
+void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS, btScalar planeEqWS)
 {
-	
 	int ve;
 	btScalar ds, de;
 	int numVerts = pVtxIn.size();
 	if (numVerts < 2)
 		return;
 
-	btVector3 firstVertex=pVtxIn[pVtxIn.size()-1];
+	btVector3 firstVertex = pVtxIn[pVtxIn.size() - 1];
 	btVector3 endVertex = pVtxIn[0];
-	
-	ds = planeNormalWS.dot(firstVertex)+planeEqWS;
+
+	ds = planeNormalWS.dot(firstVertex) + planeEqWS;
 
 	for (ve = 0; ve < numVerts; ve++)
 	{
-		endVertex=pVtxIn[ve];
+		endVertex = pVtxIn[ve];
 
-		de = planeNormalWS.dot(endVertex)+planeEqWS;
+		de = planeNormalWS.dot(endVertex) + planeEqWS;
 
-		if (ds<0)
+		if (ds < 0)
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start < 0, end < 0, so output endVertex
 				ppVtxOut.push_back(endVertex);
@@ -59,15 +56,15 @@ void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertex
 			else
 			{
 				// Start < 0, end >= 0, so output intersection
-				ppVtxOut.push_back( 	firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
+				ppVtxOut.push_back(firstVertex.lerp(endVertex, btScalar(ds * 1.f / (ds - de))));
 			}
 		}
 		else
 		{
-			if (de<0)
+			if (de < 0)
 			{
 				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
+				ppVtxOut.push_back(firstVertex.lerp(endVertex, btScalar(ds * 1.f / (ds - de))));
 				ppVtxOut.push_back(endVertex);
 			}
 		}
@@ -76,47 +73,44 @@ void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertex
 	}
 }
 
-
-static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB)
+static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB)
 {
-	btScalar Min0,Max0;
-	btScalar Min1,Max1;
-	btVector3 witnesPtMinA,witnesPtMaxA;
-	btVector3 witnesPtMinB,witnesPtMaxB;
+	btScalar Min0, Max0;
+	btScalar Min1, Max1;
+	btVector3 witnesPtMinA, witnesPtMaxA;
+	btVector3 witnesPtMinB, witnesPtMaxB;
 
-	hullA.project(transA,sep_axis, Min0, Max0,witnesPtMinA,witnesPtMaxA);
-	hullB.project(transB, sep_axis, Min1, Max1,witnesPtMinB,witnesPtMaxB);
+	hullA.project(transA, sep_axis, Min0, Max0, witnesPtMinA, witnesPtMaxA);
+	hullB.project(transB, sep_axis, Min1, Max1, witnesPtMinB, witnesPtMaxB);
 
-	if(Max0<Min1 || Max1<Min0)
+	if (Max0 < Min1 || Max1 < Min0)
 		return false;
 
 	btScalar d0 = Max0 - Min1;
-	btAssert(d0>=0.0f);
+	btAssert(d0 >= 0.0f);
 	btScalar d1 = Max1 - Min0;
-	btAssert(d1>=0.0f);
-	if (d0<d1)
+	btAssert(d1 >= 0.0f);
+	if (d0 < d1)
 	{
 		depth = d0;
 		witnessPointA = witnesPtMaxA;
 		witnessPointB = witnesPtMinB;
-
-	} else
+	}
+	else
 	{
 		depth = d1;
 		witnessPointA = witnesPtMinA;
 		witnessPointB = witnesPtMaxB;
 	}
-	
+
 	return true;
 }
 
-
-
-static int gActualSATPairTests=0;
+static int gActualSATPairTests = 0;
 
 inline bool IsAlmostZero(const btVector3& v)
 {
-	if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6)	return false;
+	if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false;
 	return true;
 }
 
@@ -125,9 +119,9 @@ inline bool IsAlmostZero(const btVector3& v)
 inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
 {
 	// This version is ~11.000 cycles (4%) faster overall in one of the tests.
-//	IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
-//	IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
-//	IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
+	//	IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
+	//	IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
+	//	IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
 	p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
 	p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
 	p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
@@ -140,90 +134,94 @@ void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTrans
 	const btVector3& r1 = rot[1];
 	const btVector3& r2 = rot[2];
 
-	const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
-	const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
-	const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
+	const btScalar x = r0.x() * in.x() + r1.x() * in.y() + r2.x() * in.z();
+	const btScalar y = r0.y() * in.x() + r1.y() * in.y() + r2.y() * in.z();
+	const btScalar z = r0.z() * in.x() + r1.z() * in.y() + r2.z() * in.z();
 
 	out.setValue(x, y, z);
 }
 
- bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
+bool TestInternalObjects(const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
 {
 	const btScalar dp = delta_c.dot(axis);
 
 	btVector3 localAxis0;
-	InverseTransformPoint3x3(localAxis0, axis,trans0);
+	InverseTransformPoint3x3(localAxis0, axis, trans0);
 	btVector3 localAxis1;
-	InverseTransformPoint3x3(localAxis1, axis,trans1);
+	InverseTransformPoint3x3(localAxis1, axis, trans1);
 
 	btScalar p0[3];
 	BoxSupport(convex0.m_extents, localAxis0, p0);
 	btScalar p1[3];
 	BoxSupport(convex1.m_extents, localAxis1, p1);
 
-	const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
-	const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
+	const btScalar Radius0 = p0[0] * localAxis0.x() + p0[1] * localAxis0.y() + p0[2] * localAxis0.z();
+	const btScalar Radius1 = p1[0] * localAxis1.x() + p1[1] * localAxis1.y() + p1[2] * localAxis1.z();
 
-	const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
-	const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
+	const btScalar MinRadius = Radius0 > convex0.m_radius ? Radius0 : convex0.m_radius;
+	const btScalar MaxRadius = Radius1 > convex1.m_radius ? Radius1 : convex1.m_radius;
 
 	const btScalar MinMaxRadius = MaxRadius + MinRadius;
 	const btScalar d0 = MinMaxRadius + dp;
 	const btScalar d1 = MinMaxRadius - dp;
 
-	const btScalar depth = d0<d1 ? d0:d1;
-	if(depth>dmin)
+	const btScalar depth = d0 < d1 ? d0 : d1;
+	if (depth > dmin)
 		return false;
 	return true;
 }
-#endif //TEST_INTERNAL_OBJECTS
+#endif  //TEST_INTERNAL_OBJECTS
 
- 
- 
- SIMD_FORCE_INLINE void btSegmentsClosestPoints(
+SIMD_FORCE_INLINE void btSegmentsClosestPoints(
 	btVector3& ptsVector,
 	btVector3& offsetA,
 	btVector3& offsetB,
 	btScalar& tA, btScalar& tB,
 	const btVector3& translation,
 	const btVector3& dirA, btScalar hlenA,
-	const btVector3& dirB, btScalar hlenB )
+	const btVector3& dirB, btScalar hlenB)
 {
 	// compute the parameters of the closest points on each line segment
 
-	btScalar dirA_dot_dirB = btDot(dirA,dirB);
-	btScalar dirA_dot_trans = btDot(dirA,translation);
-	btScalar dirB_dot_trans = btDot(dirB,translation);
+	btScalar dirA_dot_dirB = btDot(dirA, dirB);
+	btScalar dirA_dot_trans = btDot(dirA, translation);
+	btScalar dirB_dot_trans = btDot(dirB, translation);
 
 	btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
 
-	if ( denom == 0.0f ) {
+	if (denom == 0.0f)
+	{
 		tA = 0.0f;
-	} else {
-		tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
-		if ( tA < -hlenA )
+	}
+	else
+	{
+		tA = (dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB) / denom;
+		if (tA < -hlenA)
 			tA = -hlenA;
-		else if ( tA > hlenA )
+		else if (tA > hlenA)
 			tA = hlenA;
 	}
 
 	tB = tA * dirA_dot_dirB - dirB_dot_trans;
 
-	if ( tB < -hlenB ) {
+	if (tB < -hlenB)
+	{
 		tB = -hlenB;
 		tA = tB * dirA_dot_dirB + dirA_dot_trans;
 
-		if ( tA < -hlenA )
+		if (tA < -hlenA)
 			tA = -hlenA;
-		else if ( tA > hlenA )
+		else if (tA > hlenA)
 			tA = hlenA;
-	} else if ( tB > hlenB ) {
+	}
+	else if (tB > hlenB)
+	{
 		tB = hlenB;
 		tA = tB * dirA_dot_dirB + dirA_dot_trans;
 
-		if ( tA < -hlenA )
+		if (tA < -hlenA)
 			tA = -hlenA;
-		else if ( tA > hlenA )
+		else if (tA > hlenA)
 			tA = hlenA;
 	}
 
@@ -235,44 +233,42 @@ void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTrans
 	ptsVector = translation - offsetA + offsetB;
 }
 
-
-
-bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
+bool btPolyhedralContactClipping::findSeparatingAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 	gActualSATPairTests++;
 
-//#ifdef TEST_INTERNAL_OBJECTS
+	//#ifdef TEST_INTERNAL_OBJECTS
 	const btVector3 c0 = transA * hullA.m_localCenter;
 	const btVector3 c1 = transB * hullB.m_localCenter;
 	const btVector3 DeltaC2 = c0 - c1;
-//#endif
+	//#endif
 
 	btScalar dmin = FLT_MAX;
-	int curPlaneTests=0;
+	int curPlaneTests = 0;
 
 	int numFacesA = hullA.m_faces.size();
 	// Test normals from hullA
-	for(int i=0;i<numFacesA;i++)
+	for (int i = 0; i < numFacesA; i++)
 	{
 		const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
 		btVector3 faceANormalWS = transA.getBasis() * Normal;
-		if (DeltaC2.dot(faceANormalWS)<0)
-			faceANormalWS*=-1.f;
+		if (DeltaC2.dot(faceANormalWS) < 0)
+			faceANormalWS *= -1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
 		gExpectedNbTests++;
-		if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
+		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
 			continue;
 		gActualNbTests++;
 #endif
 
 		btScalar d;
-		btVector3 wA,wB;
-		if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d,wA,wB))
+		btVector3 wA, wB;
+		if (!TestSepAxis(hullA, hullB, transA, transB, faceANormalWS, d, wA, wB))
 			return false;
 
-		if(d<dmin)
+		if (d < dmin)
 		{
 			dmin = d;
 			sep = faceANormalWS;
@@ -281,92 +277,89 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 
 	int numFacesB = hullB.m_faces.size();
 	// Test normals from hullB
-	for(int i=0;i<numFacesB;i++)
+	for (int i = 0; i < numFacesB; i++)
 	{
 		const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
 		btVector3 WorldNormal = transB.getBasis() * Normal;
-		if (DeltaC2.dot(WorldNormal)<0)
-			WorldNormal *=-1.f;
+		if (DeltaC2.dot(WorldNormal) < 0)
+			WorldNormal *= -1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
 		gExpectedNbTests++;
-		if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
+		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
 			continue;
 		gActualNbTests++;
 #endif
 
 		btScalar d;
-		btVector3 wA,wB;
-		if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d,wA,wB))
+		btVector3 wA, wB;
+		if (!TestSepAxis(hullA, hullB, transA, transB, WorldNormal, d, wA, wB))
 			return false;
 
-		if(d<dmin)
+		if (d < dmin)
 		{
 			dmin = d;
 			sep = WorldNormal;
 		}
 	}
 
-	btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
-	int edgeA=-1;
-	int edgeB=-1;
+	btVector3 edgeAstart, edgeAend, edgeBstart, edgeBend;
+	int edgeA = -1;
+	int edgeB = -1;
 	btVector3 worldEdgeA;
 	btVector3 worldEdgeB;
-	btVector3 witnessPointA(0,0,0),witnessPointB(0,0,0);
-	
+	btVector3 witnessPointA(0, 0, 0), witnessPointB(0, 0, 0);
 
 	int curEdgeEdge = 0;
 	// Test edges
-	for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
+	for (int e0 = 0; e0 < hullA.m_uniqueEdges.size(); e0++)
 	{
 		const btVector3 edge0 = hullA.m_uniqueEdges[e0];
 		const btVector3 WorldEdge0 = transA.getBasis() * edge0;
-		for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
+		for (int e1 = 0; e1 < hullB.m_uniqueEdges.size(); e1++)
 		{
 			const btVector3 edge1 = hullB.m_uniqueEdges[e1];
 			const btVector3 WorldEdge1 = transB.getBasis() * edge1;
 
 			btVector3 Cross = WorldEdge0.cross(WorldEdge1);
 			curEdgeEdge++;
-			if(!IsAlmostZero(Cross))
+			if (!IsAlmostZero(Cross))
 			{
 				Cross = Cross.normalize();
-				if (DeltaC2.dot(Cross)<0)
+				if (DeltaC2.dot(Cross) < 0)
 					Cross *= -1.f;
 
-
 #ifdef TEST_INTERNAL_OBJECTS
 				gExpectedNbTests++;
-				if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
+				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
 					continue;
 				gActualNbTests++;
 #endif
 
 				btScalar dist;
-				btVector3 wA,wB;
-				if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist,wA,wB))
+				btVector3 wA, wB;
+				if (!TestSepAxis(hullA, hullB, transA, transB, Cross, dist, wA, wB))
 					return false;
 
-				if(dist<dmin)
+				if (dist < dmin)
 				{
 					dmin = dist;
 					sep = Cross;
-					edgeA=e0;
-					edgeB=e1;
+					edgeA = e0;
+					edgeB = e1;
 					worldEdgeA = WorldEdge0;
 					worldEdgeB = WorldEdge1;
-					witnessPointA=wA;
-					witnessPointB=wB;
+					witnessPointA = wA;
+					witnessPointB = wB;
 				}
 			}
 		}
-
 	}
 
-	if (edgeA>=0&&edgeB>=0)
+	if (edgeA >= 0 && edgeB >= 0)
 	{
-//		printf("edge-edge\n");
+		//		printf("edge-edge\n");
 		//add an edge-edge contact
 
 		btVector3 ptsVector;
@@ -375,57 +368,55 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 		btScalar tA;
 		btScalar tB;
 
-		btVector3 translation = witnessPointB-witnessPointA;
+		btVector3 translation = witnessPointB - witnessPointA;
 
 		btVector3 dirA = worldEdgeA;
 		btVector3 dirB = worldEdgeB;
-		
+
 		btScalar hlenB = 1e30f;
 		btScalar hlenA = 1e30f;
 
-		btSegmentsClosestPoints(ptsVector,offsetA,offsetB,tA,tB,
-			translation,
-			dirA, hlenA,
-			dirB,hlenB);
+		btSegmentsClosestPoints(ptsVector, offsetA, offsetB, tA, tB,
+								translation,
+								dirA, hlenA,
+								dirB, hlenB);
 
 		btScalar nlSqrt = ptsVector.length2();
-		if (nlSqrt>SIMD_EPSILON)
+		if (nlSqrt > SIMD_EPSILON)
 		{
 			btScalar nl = btSqrt(nlSqrt);
-			ptsVector *= 1.f/nl;
-			if (ptsVector.dot(DeltaC2)<0.f)
+			ptsVector *= 1.f / nl;
+			if (ptsVector.dot(DeltaC2) < 0.f)
 			{
-				ptsVector*=-1.f;
+				ptsVector *= -1.f;
 			}
 			btVector3 ptOnB = witnessPointB + offsetB;
 			btScalar distance = nl;
-			resultOut.addContactPoint(ptsVector, ptOnB,-distance);
+			resultOut.addContactPoint(ptsVector, ptOnB, -distance);
 		}
-
 	}
 
-
-	if((DeltaC2.dot(sep))<0.0f)
+	if ((DeltaC2.dot(sep)) < 0.0f)
 		sep = -sep;
 
 	return true;
 }
 
-void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
+void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 	worldVertsB2.resize(0);
 	btVertexArray* pVtxIn = &worldVertsB1;
 	btVertexArray* pVtxOut = &worldVertsB2;
 	pVtxOut->reserve(pVtxIn->size());
 
-	int closestFaceA=-1;
+	int closestFaceA = -1;
 	{
 		btScalar dmin = FLT_MAX;
-		for(int face=0;face<hullA.m_faces.size();face++)
+		for (int face = 0; face < hullA.m_faces.size(); face++)
 		{
 			const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
 			const btVector3 faceANormalWS = transA.getBasis() * Normal;
-		
+
 			btScalar d = faceANormalWS.dot(separatingNormal);
 			if (d < dmin)
 			{
@@ -434,69 +425,66 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 			}
 		}
 	}
-	if (closestFaceA<0)
+	if (closestFaceA < 0)
 		return;
 
 	const btFace& polyA = hullA.m_faces[closestFaceA];
 
-		// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
+	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
 	int numVerticesA = polyA.m_indices.size();
-	for(int e0=0;e0<numVerticesA;e0++)
+	for (int e0 = 0; e0 < numVerticesA; e0++)
 	{
 		const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
-		const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
+		const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0 + 1) % numVerticesA]];
 		const btVector3 edge0 = a - b;
 		const btVector3 WorldEdge0 = transA.getBasis() * edge0;
-		btVector3 worldPlaneAnormal1 = transA.getBasis()* btVector3(polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
+		btVector3 worldPlaneAnormal1 = transA.getBasis() * btVector3(polyA.m_plane[0], polyA.m_plane[1], polyA.m_plane[2]);
 
-		btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);//.cross(WorldEdge0);
-		btVector3 worldA1 = transA*a;
+		btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);  //.cross(WorldEdge0);
+		btVector3 worldA1 = transA * a;
 		btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
-		
+
 //int otherFace=0;
 #ifdef BLA1
 		int otherFace = polyA.m_connectedFaces[e0];
-		btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
+		btVector3 localPlaneNormal(hullA.m_faces[otherFace].m_plane[0], hullA.m_faces[otherFace].m_plane[1], hullA.m_faces[otherFace].m_plane[2]);
 		btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
 
-		btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
-		btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
-#else 
+		btVector3 planeNormalWS = transA.getBasis() * localPlaneNormal;
+		btScalar planeEqWS = localPlaneEq - planeNormalWS.dot(transA.getOrigin());
+#else
 		btVector3 planeNormalWS = planeNormalWS1;
-		btScalar planeEqWS=planeEqWS1;
-		
+		btScalar planeEqWS = planeEqWS1;
+
 #endif
 		//clip face
 
-		clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		btSwap(pVtxIn,pVtxOut);
+		clipFace(*pVtxIn, *pVtxOut, planeNormalWS, planeEqWS);
+		btSwap(pVtxIn, pVtxOut);
 		pVtxOut->resize(0);
 	}
 
-
-
-//#define ONLY_REPORT_DEEPEST_POINT
+	//#define ONLY_REPORT_DEEPEST_POINT
 
 	btVector3 point;
-	
 
 	// only keep points that are behind the witness face
 	{
-		btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
+		btVector3 localPlaneNormal(polyA.m_plane[0], polyA.m_plane[1], polyA.m_plane[2]);
 		btScalar localPlaneEq = polyA.m_plane[3];
-		btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
-		btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
-		for (int i=0;i<pVtxIn->size();i++)
+		btVector3 planeNormalWS = transA.getBasis() * localPlaneNormal;
+		btScalar planeEqWS = localPlaneEq - planeNormalWS.dot(transA.getOrigin());
+		for (int i = 0; i < pVtxIn->size(); i++)
 		{
 			btVector3 vtx = pVtxIn->at(i);
-			btScalar depth = planeNormalWS.dot(vtx)+planeEqWS;
-			if (depth <=minDist)
+			btScalar depth = planeNormalWS.dot(vtx) + planeEqWS;
+			if (depth <= minDist)
 			{
-//				printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
+				//				printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
 				depth = minDist;
 			}
 
-			if (depth <=maxDist)
+			if (depth <= maxDist)
 			{
 				btVector3 point = pVtxIn->at(i);
 #ifdef ONLY_REPORT_DEEPEST_POINT
@@ -507,40 +495,32 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 				{
 					printf("error in btPolyhedralContactClipping depth = %f\n", depth);
 					printf("likely wrong separatingNormal passed in\n");
-				} 
-#endif				
-				resultOut.addContactPoint(separatingNormal,point,depth);
+				}
+#endif
+				resultOut.addContactPoint(separatingNormal, point, depth);
 #endif
 			}
 		}
 	}
 #ifdef ONLY_REPORT_DEEPEST_POINT
-	if (curMaxDist<maxDist)
+	if (curMaxDist < maxDist)
 	{
-		resultOut.addContactPoint(separatingNormal,point,curMaxDist);
+		resultOut.addContactPoint(separatingNormal, point, curMaxDist);
 	}
-#endif //ONLY_REPORT_DEEPEST_POINT
-
+#endif  //ONLY_REPORT_DEEPEST_POINT
 }
 
-
-
-
-
-void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut)
+void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btScalar minDist, btScalar maxDist, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
-
 	btVector3 separatingNormal = separatingNormal1.normalized();
-//	const btVector3 c0 = transA * hullA.m_localCenter;
-//	const btVector3 c1 = transB * hullB.m_localCenter;
+	//	const btVector3 c0 = transA * hullA.m_localCenter;
+	//	const btVector3 c1 = transB * hullB.m_localCenter;
 	//const btVector3 DeltaC2 = c0 - c1;
 
-
-
-	int closestFaceB=-1;
+	int closestFaceB = -1;
 	btScalar dmax = -FLT_MAX;
 	{
-		for(int face=0;face<hullB.m_faces.size();face++)
+		for (int face = 0; face < hullB.m_faces.size(); face++)
 		{
 			const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
 			const btVector3 WorldNormal = transB.getBasis() * Normal;
@@ -553,18 +533,16 @@ void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatin
 		}
 	}
 	worldVertsB1.resize(0);
-				{
-					const btFace& polyB = hullB.m_faces[closestFaceB];
-					const int numVertices = polyB.m_indices.size();
-					for(int e0=0;e0<numVertices;e0++)
-					{
-						const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
-						worldVertsB1.push_back(transB*b);
-					}
-				}
-
-	
-	if (closestFaceB>=0)
-		clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, worldVertsB2,minDist, maxDist,resultOut);
+	{
+		const btFace& polyB = hullB.m_faces[closestFaceB];
+		const int numVertices = polyB.m_indices.size();
+		for (int e0 = 0; e0 < numVertices; e0++)
+		{
+			const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
+			worldVertsB1.push_back(transB * b);
+		}
+	}
 
+	if (closestFaceB >= 0)
+		clipFaceAgainstHull(separatingNormal, hullA, transA, worldVertsB1, worldVertsB2, minDist, maxDist, resultOut);
 }
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
index 30e3db687b..328f6424bc 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
@@ -13,14 +13,11 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 ///This file was written by Erwin Coumans
 
-
 #ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
 #define BT_POLYHEDRAL_CONTACT_CLIPPING_H
 
-
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btTransform.h"
 #include "btDiscreteCollisionDetectorInterface.h"
@@ -32,18 +29,14 @@ typedef btAlignedObjectArray<btVector3> btVertexArray;
 // Clips a face to the back of a plane
 struct btPolyhedralContactClipping
 {
+	static void clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btScalar minDist, btScalar maxDist, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, btDiscreteCollisionDetectorInterface::Result& resultOut);
 
-	static void	clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut);
-
-	static void	clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
+	static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
 
-
-	static bool findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
+	static bool findSeparatingAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
 
 	///the clipFace method is used internally
-	static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
-
+	static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS, btScalar planeEqWS);
 };
 
-#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
-
+#endif  // BT_POLYHEDRAL_CONTACT_CLIPPING_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index 786efd1820..3d11e5bce5 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -23,39 +23,38 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "btRaycastCallback.h"
 
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
-	:
-	m_from(from),
-	m_to(to),
-   //@BP Mod
-   m_flags(flags),
-	m_hitFraction(btScalar(1.))
+btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags)
+	: m_from(from),
+	  m_to(to),
+	  //@BP Mod
+	  m_flags(flags),
+	  m_hitFraction(btScalar(1.))
 {
-
 }
 
-
-
-void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
+void btTriangleRaycastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
 {
-	const btVector3 &vert0=triangle[0];
-	const btVector3 &vert1=triangle[1];
-	const btVector3 &vert2=triangle[2];
+	const btVector3& vert0 = triangle[0];
+	const btVector3& vert1 = triangle[1];
+	const btVector3& vert2 = triangle[2];
+
+	btVector3 v10;
+	v10 = vert1 - vert0;
+	btVector3 v20;
+	v20 = vert2 - vert0;
 
-	btVector3 v10; v10 = vert1 - vert0 ;
-	btVector3 v20; v20 = vert2 - vert0 ;
+	btVector3 triangleNormal;
+	triangleNormal = v10.cross(v20);
 
-	btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
-	
 	const btScalar dist = vert0.dot(triangleNormal);
-	btScalar dist_a = triangleNormal.dot(m_from) ;
-	dist_a-= dist;
+	btScalar dist_a = triangleNormal.dot(m_from);
+	dist_a -= dist;
 	btScalar dist_b = triangleNormal.dot(m_to);
 	dist_b -= dist;
 
-	if ( dist_a * dist_b >= btScalar(0.0) )
+	if (dist_a * dist_b >= btScalar(0.0))
 	{
-		return ; // same sign
+		return;  // same sign
 	}
 
 	if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
@@ -64,52 +63,52 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 		return;
 	}
 
-	
-	const btScalar proj_length=dist_a-dist_b;
-	const btScalar distance = (dist_a)/(proj_length);
+	const btScalar proj_length = dist_a - dist_b;
+	const btScalar distance = (dist_a) / (proj_length);
 	// Now we have the intersection point on the plane, we'll see if it's inside the triangle
 	// Add an epsilon as a tolerance for the raycast,
 	// in case the ray hits exacly on the edge of the triangle.
 	// It must be scaled for the triangle size.
-	
-	if(distance < m_hitFraction)
-	{
-		
 
-		btScalar edge_tolerance =triangleNormal.length2();		
+	if (distance < m_hitFraction)
+	{
+		btScalar edge_tolerance = triangleNormal.length2();
 		edge_tolerance *= btScalar(-0.0001);
-		btVector3 point; point.setInterpolate3( m_from, m_to, distance);
+		btVector3 point;
+		point.setInterpolate3(m_from, m_to, distance);
 		{
-			btVector3 v0p; v0p = vert0 - point;
-			btVector3 v1p; v1p = vert1 - point;
-			btVector3 cp0; cp0 = v0p.cross( v1p );
-
-			if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance) 
+			btVector3 v0p;
+			v0p = vert0 - point;
+			btVector3 v1p;
+			v1p = vert1 - point;
+			btVector3 cp0;
+			cp0 = v0p.cross(v1p);
+
+			if ((btScalar)(cp0.dot(triangleNormal)) >= edge_tolerance)
 			{
-						
-
-				btVector3 v2p; v2p = vert2 -  point;
+				btVector3 v2p;
+				v2p = vert2 - point;
 				btVector3 cp1;
-				cp1 = v1p.cross( v2p);
-				if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance) 
+				cp1 = v1p.cross(v2p);
+				if ((btScalar)(cp1.dot(triangleNormal)) >= edge_tolerance)
 				{
 					btVector3 cp2;
 					cp2 = v2p.cross(v0p);
-					
-					if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
+
+					if ((btScalar)(cp2.dot(triangleNormal)) >= edge_tolerance)
 					{
-					  //@BP Mod
-					  // Triangle normal isn't normalized
-				      triangleNormal.normalize();
+						//@BP Mod
+						// Triangle normal isn't normalized
+						triangleNormal.normalize();
 
-					 //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+						//@BP Mod - Allow for unflipped normal when raycasting against backfaces
 						if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0)))
 						{
-							m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
+							m_hitFraction = reportHit(-triangleNormal, distance, partId, triangleIndex);
 						}
 						else
 						{
-							m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+							m_hitFraction = reportHit(triangleNormal, distance, partId, triangleIndex);
 						}
 					}
 				}
@@ -118,8 +117,7 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 	}
 }
 
-
-btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
+btTriangleConvexcastCallback::btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
 {
 	m_convexShape = convexShape;
 	m_convexShapeFrom = convexShapeFrom;
@@ -130,14 +128,13 @@ btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape*
 	m_allowedPenetration = 0.f;
 }
 
-void
-btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
+void btTriangleConvexcastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
 {
-	btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
-    triangleShape.setMargin(m_triangleCollisionMargin);
+	btTriangleShape triangleShape(triangle[0], triangle[1], triangle[2]);
+	triangleShape.setMargin(m_triangleCollisionMargin);
 
-	btVoronoiSimplexSolver	simplexSolver;
-	btGjkEpaPenetrationDepthSolver	gjkEpaPenetrationSolver;
+	btVoronoiSimplexSolver simplexSolver;
+	btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
 
 //#define  USE_SUBSIMPLEX_CONVEX_CAST 1
 //if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
@@ -145,21 +142,21 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
 	btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
 #else
 	//btGjkConvexCast	convexCaster(m_convexShape,&triangleShape,&simplexSolver);
-	btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
-#endif //#USE_SUBSIMPLEX_CONVEX_CAST
-	
+	btContinuousConvexCollision convexCaster(m_convexShape, &triangleShape, &simplexSolver, &gjkEpaPenetrationSolver);
+#endif  //#USE_SUBSIMPLEX_CONVEX_CAST
+
 	btConvexCast::CastResult castResult;
 	castResult.m_fraction = btScalar(1.);
 	castResult.m_allowedPenetration = m_allowedPenetration;
-	if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
+	if (convexCaster.calcTimeOfImpact(m_convexShapeFrom, m_convexShapeTo, m_triangleToWorld, m_triangleToWorld, castResult))
 	{
 		//add hit
 		if (castResult.m_normal.length2() > btScalar(0.0001))
-		{					
+		{
 			if (castResult.m_fraction < m_hitFraction)
 			{
-/* btContinuousConvexCast's normal is already in world space */
-/*
+				/* btContinuousConvexCast's normal is already in world space */
+				/*
 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
 				//rotate normal into worldspace
 				castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
@@ -167,11 +164,11 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
 */
 				castResult.m_normal.normalize();
 
-				reportHit (castResult.m_normal,
-							castResult.m_hitPoint,
-							castResult.m_fraction,
-							partId,
-							triangleIndex);
+				reportHit(castResult.m_normal,
+						  castResult.m_hitPoint,
+						  castResult.m_fraction,
+						  partId,
+						  triangleIndex);
 			}
 		}
 	}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
index f2ed0cd39c..2b2dfabec2 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
@@ -21,35 +21,33 @@ subject to the following restrictions:
 struct btBroadphaseProxy;
 class btConvexShape;
 
-class  btTriangleRaycastCallback: public btTriangleCallback
+class btTriangleRaycastCallback : public btTriangleCallback
 {
 public:
-
 	//input
 	btVector3 m_from;
 	btVector3 m_to;
 
-   //@BP Mod - allow backface filtering and unflipped normals
-   enum EFlags
-   {
-	  kF_None                 = 0,
-      kF_FilterBackfaces      = 1 << 0,
-      kF_KeepUnflippedNormal  = 1 << 1,   // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
-		///SubSimplexConvexCastRaytest is the default, even if kF_None is set.
-	  kF_UseSubSimplexConvexCastRaytest = 1 << 2,   // Uses an approximate but faster ray versus convex intersection algorithm
-	  kF_UseGjkConvexCastRaytest = 1 << 3,
-      kF_Terminator        = 0xFFFFFFFF
-   };
-   unsigned int m_flags;
+	//@BP Mod - allow backface filtering and unflipped normals
+	enum EFlags
+	{
+		kF_None = 0,
+		kF_FilterBackfaces = 1 << 0,
+		kF_KeepUnflippedNormal = 1 << 1,             // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
+													 ///SubSimplexConvexCastRaytest is the default, even if kF_None is set.
+		kF_UseSubSimplexConvexCastRaytest = 1 << 2,  // Uses an approximate but faster ray versus convex intersection algorithm
+		kF_UseGjkConvexCastRaytest = 1 << 3,
+		kF_Terminator = 0xFFFFFFFF
+	};
+	unsigned int m_flags;
+
+	btScalar m_hitFraction;
 
-	btScalar	m_hitFraction;
+	btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags = 0);
 
-	btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0);
-	
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
 
-	virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) = 0;
-	
+	virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
 };
 
 class btTriangleConvexcastCallback : public btTriangleCallback
@@ -63,12 +61,11 @@ public:
 	btScalar m_triangleCollisionMargin;
 	btScalar m_allowedPenetration;
 
-	btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin);
+	btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin);
 
-	virtual void processTriangle (btVector3* triangle, int partId, int triangleIndex);
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
 
-	virtual btScalar reportHit (const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
+	virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
 };
 
-#endif //BT_RAYCAST_TRI_CALLBACK_H
-
+#endif  //BT_RAYCAST_TRI_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
index da8a13914c..ccd227109d 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_SIMPLEX_SOLVER_INTERFACE_H
 #define BT_SIMPLEX_SOLVER_INTERFACE_H
 
@@ -31,33 +29,30 @@ subject to the following restrictions:
 /// voronoi regions or barycentric coordinates
 class btSimplexSolverInterface
 {
-	public:
-		virtual ~btSimplexSolverInterface() {};
+public:
+	virtual ~btSimplexSolverInterface(){};
 
 	virtual void reset() = 0;
 
 	virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
-	
+
 	virtual bool closest(btVector3& v) = 0;
 
 	virtual btScalar maxVertex() = 0;
 
 	virtual bool fullSimplex() const = 0;
 
-	virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0;
+	virtual int getSimplex(btVector3* pBuf, btVector3* qBuf, btVector3* yBuf) const = 0;
 
 	virtual bool inSimplex(const btVector3& w) = 0;
-	
+
 	virtual void backup_closest(btVector3& v) = 0;
 
 	virtual bool emptySimplex() const = 0;
 
 	virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
 
-	virtual int numVertices() const =0;
-
-
+	virtual int numVertices() const = 0;
 };
 #endif
-#endif //BT_SIMPLEX_SOLVER_INTERFACE_H
-
+#endif  //BT_SIMPLEX_SOLVER_INTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
index ec638f60ba..37458339e7 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btSubSimplexConvexCast.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
@@ -22,32 +21,26 @@ subject to the following restrictions:
 #include "btPointCollector.h"
 #include "LinearMath/btTransformUtil.h"
 
-btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
-:m_simplexSolver(simplexSolver),
-m_convexA(convexA),m_convexB(convexB)
+btSubsimplexConvexCast::btSubsimplexConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
+	: m_simplexSolver(simplexSolver),
+	  m_convexA(convexA),
+	  m_convexB(convexB)
 {
 }
 
-///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
-///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
-#ifdef BT_USE_DOUBLE_PRECISION
-#define MAX_ITERATIONS 64
-#else
-#define MAX_ITERATIONS 32
-#endif
-bool	btSubsimplexConvexCast::calcTimeOfImpact(
-		const btTransform& fromA,
-		const btTransform& toA,
-		const btTransform& fromB,
-		const btTransform& toB,
-		CastResult& result)
-{
 
+bool btSubsimplexConvexCast::calcTimeOfImpact(
+	const btTransform& fromA,
+	const btTransform& toA,
+	const btTransform& fromB,
+	const btTransform& toB,
+	CastResult& result)
+{
 	m_simplexSolver->reset();
 
-	btVector3 linVelA,linVelB;
-	linVelA = toA.getOrigin()-fromA.getOrigin();
-	linVelB = toB.getOrigin()-fromB.getOrigin();
+	btVector3 linVelA, linVelB;
+	linVelA = toA.getOrigin() - fromA.getOrigin();
+	linVelB = toB.getOrigin() - fromB.getOrigin();
 
 	btScalar lambda = btScalar(0.);
 
@@ -55,36 +48,31 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 	btTransform interpolatedTransB = fromB;
 
 	///take relative motion
-	btVector3 r = (linVelA-linVelB);
+	btVector3 r = (linVelA - linVelB);
 	btVector3 v;
-	
-	btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis()));
-	btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis()));
-	v = supVertexA-supVertexB;
-	int maxIter = MAX_ITERATIONS;
+
+	btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r * fromA.getBasis()));
+	btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r * fromB.getBasis()));
+	v = supVertexA - supVertexB;
+	int maxIter = result.m_subSimplexCastMaxIterations;
 
 	btVector3 n;
-	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	
+	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
+
 	btVector3 c;
 
-	
+	btScalar dist2 = v.length2();
 
 
-	btScalar dist2 = v.length2();
-#ifdef BT_USE_DOUBLE_PRECISION
-	btScalar epsilon = btScalar(0.0001);
-#else
-	btScalar epsilon = btScalar(0.0001);
-#endif //BT_USE_DOUBLE_PRECISION
-	btVector3	w,p;
+
+	btVector3 w, p;
 	btScalar VdotR;
-	
-	while ( (dist2 > epsilon) && maxIter--)
+
+	while ((dist2 > result.m_subSimplexCastEpsilon) && maxIter--)
 	{
-		supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v*interpolatedTransA.getBasis()));
-		supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v*interpolatedTransB.getBasis()));
-		w = supVertexA-supVertexB;
+		supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v * interpolatedTransA.getBasis()));
+		supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v * interpolatedTransB.getBasis()));
+		w = supVertexA - supVertexB;
 
 		btScalar VdotW = v.dot(w);
 
@@ -93,68 +81,63 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 			return false;
 		}
 
-		if ( VdotW > btScalar(0.))
+		if (VdotW > btScalar(0.))
 		{
 			VdotR = v.dot(r);
 
-			if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
+			if (VdotR >= -(SIMD_EPSILON * SIMD_EPSILON))
 				return false;
 			else
 			{
 				lambda = lambda - VdotW / VdotR;
 				//interpolate to next lambda
 				//	x = s + lambda * r;
-				interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda);
-				interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda);
+				interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
+				interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
 				//m_simplexSolver->reset();
 				//check next line
-				 w = supVertexA-supVertexB;
-				
+				w = supVertexA - supVertexB;
+
 				n = v;
-				
 			}
-		} 
+		}
 		///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
 		if (!m_simplexSolver->inSimplex(w))
-			m_simplexSolver->addVertex( w, supVertexA , supVertexB);
+			m_simplexSolver->addVertex(w, supVertexA, supVertexB);
 
 		if (m_simplexSolver->closest(v))
 		{
 			dist2 = v.length2();
-			
+
 			//todo: check this normal for validity
 			//n=v;
 			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
 			//printf("DIST2=%f\n",dist2);
 			//printf("numverts = %i\n",m_simplexSolver->numVertices());
-		} else
+		}
+		else
 		{
 			dist2 = btScalar(0.);
-		} 
+		}
 	}
 
 	//int numiter = MAX_ITERATIONS - maxIter;
-//	printf("number of iterations: %d", numiter);
-	
+	//	printf("number of iterations: %d", numiter);
+
 	//don't report a time of impact when moving 'away' from the hitnormal
-	
 
 	result.m_fraction = lambda;
-	if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON))
+	if (n.length2() >= (SIMD_EPSILON * SIMD_EPSILON))
 		result.m_normal = n.normalized();
 	else
 		result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 
 	//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-	if (result.m_normal.dot(r)>=-result.m_allowedPenetration)
+	if (result.m_normal.dot(r) >= -result.m_allowedPenetration)
 		return false;
 
-	btVector3 hitA,hitB;
-	m_simplexSolver->compute_points(hitA,hitB);
-	result.m_hitPoint=hitB;
+	btVector3 hitA, hitB;
+	m_simplexSolver->compute_points(hitA, hitB);
+	result.m_hitPoint = hitB;
 	return true;
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
index 6c8127983e..0638a30eb1 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_SUBSIMPLEX_CONVEX_CAST_H
 #define BT_SUBSIMPLEX_CONVEX_CAST_H
 
@@ -28,23 +27,21 @@ class btConvexShape;
 class btSubsimplexConvexCast : public btConvexCast
 {
 	btSimplexSolverInterface* m_simplexSolver;
-	const btConvexShape*	m_convexA;
-	const btConvexShape*	m_convexB;
+	const btConvexShape* m_convexA;
+	const btConvexShape* m_convexB;
 
 public:
-
-	btSubsimplexConvexCast (const btConvexShape*	shapeA,const btConvexShape*	shapeB,btSimplexSolverInterface* simplexSolver);
+	btSubsimplexConvexCast(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver);
 
 	//virtual ~btSubsimplexConvexCast();
 	///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
 	///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
-	virtual bool	calcTimeOfImpact(
-			const btTransform& fromA,
-			const btTransform& toA,
-			const btTransform& fromB,
-			const btTransform& toB,
-			CastResult& result);
-
+	virtual bool calcTimeOfImpact(
+		const btTransform& fromA,
+		const btTransform& toA,
+		const btTransform& fromB,
+		const btTransform& toB,
+		CastResult& result);
 };
 
-#endif //BT_SUBSIMPLEX_CONVEX_CAST_H
+#endif  //BT_SUBSIMPLEX_CONVEX_CAST_H
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
index 756373c9b5..8fda94d2ad 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
@@ -23,26 +23,24 @@ subject to the following restrictions:
 		
 */
 
-
 #include "btVoronoiSimplexSolver.h"
 
-#define VERTA  0
-#define VERTB  1
-#define VERTC  2
-#define VERTD  3
+#define VERTA 0
+#define VERTB 1
+#define VERTC 2
+#define VERTD 3
 
 #define CATCH_DEGENERATE_TETRAHEDRON 1
-void	btVoronoiSimplexSolver::removeVertex(int index)
+void btVoronoiSimplexSolver::removeVertex(int index)
 {
-	
-	btAssert(m_numVertices>0);
+	btAssert(m_numVertices > 0);
 	m_numVertices--;
 	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
 	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
 	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
 }
 
-void	btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts)
+void btVoronoiSimplexSolver::reduceVertices(const btUsageBitfield& usedVerts)
 {
 	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
 		removeVertex(3);
@@ -52,29 +50,22 @@ void	btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts)
 
 	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
 		removeVertex(1);
-	
+
 	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
 		removeVertex(0);
-
 }
 
-
-
-
-
 //clear the simplex, remove all the vertices
 void btVoronoiSimplexSolver::reset()
 {
 	m_cachedValidClosest = false;
 	m_numVertices = 0;
 	m_needsUpdate = true;
-	m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	m_lastW = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
 	m_cachedBC.reset();
 }
 
-
-
-	//add a vertex
+//add a vertex
 void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
 {
 	m_lastW = w;
@@ -87,9 +78,8 @@ void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, c
 	m_numVertices++;
 }
 
-bool	btVoronoiSimplexSolver::updateClosestVectorAndPoints()
+bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
 {
-	
 	if (m_needsUpdate)
 	{
 		m_cachedBC.reset();
@@ -98,127 +88,131 @@ bool	btVoronoiSimplexSolver::updateClosestVectorAndPoints()
 
 		switch (numVertices())
 		{
-		case 0:
+			case 0:
 				m_cachedValidClosest = false;
 				break;
-		case 1:
+			case 1:
 			{
 				m_cachedP1 = m_simplexPointsP[0];
 				m_cachedP2 = m_simplexPointsQ[0];
-				m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
+				m_cachedV = m_cachedP1 - m_cachedP2;  //== m_simplexVectorW[0]
 				m_cachedBC.reset();
-				m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.));
+				m_cachedBC.setBarycentricCoordinates(btScalar(1.), btScalar(0.), btScalar(0.), btScalar(0.));
 				m_cachedValidClosest = m_cachedBC.isValid();
 				break;
 			};
-		case 2:
+			case 2:
 			{
-			//closest point origin from line segment
-					const btVector3& from = m_simplexVectorW[0];
-					const btVector3& to = m_simplexVectorW[1];
-					btVector3 nearest;
-
-					btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
-					btVector3 diff = p - from;
-					btVector3 v = to - from;
-					btScalar t = v.dot(diff);
-					
-					if (t > 0) {
-						btScalar dotVV = v.dot(v);
-						if (t < dotVV) {
-							t /= dotVV;
-							diff -= t*v;
-							m_cachedBC.m_usedVertices.usedVertexA = true;
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						} else {
-							t = 1;
-							diff -= v;
-							//reduce to 1 point
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						}
-					} else
+				//closest point origin from line segment
+				const btVector3& from = m_simplexVectorW[0];
+				const btVector3& to = m_simplexVectorW[1];
+				btVector3 nearest;
+
+				btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.));
+				btVector3 diff = p - from;
+				btVector3 v = to - from;
+				btScalar t = v.dot(diff);
+
+				if (t > 0)
+				{
+					btScalar dotVV = v.dot(v);
+					if (t < dotVV)
 					{
-						t = 0;
-						//reduce to 1 point
+						t /= dotVV;
+						diff -= t * v;
 						m_cachedBC.m_usedVertices.usedVertexA = true;
+						m_cachedBC.m_usedVertices.usedVertexB = true;
+					}
+					else
+					{
+						t = 1;
+						diff -= v;
+						//reduce to 1 point
+						m_cachedBC.m_usedVertices.usedVertexB = true;
 					}
-					m_cachedBC.setBarycentricCoordinates(1-t,t);
-					nearest = from + t*v;
+				}
+				else
+				{
+					t = 0;
+					//reduce to 1 point
+					m_cachedBC.m_usedVertices.usedVertexA = true;
+				}
+				m_cachedBC.setBarycentricCoordinates(1 - t, t);
+				nearest = from + t * v;
 
-					m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
-					m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
-					m_cachedV = m_cachedP1 - m_cachedP2;
-					
-					reduceVertices(m_cachedBC.m_usedVertices);
+				m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
+				m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
+				m_cachedV = m_cachedP1 - m_cachedP2;
 
-					m_cachedValidClosest = m_cachedBC.isValid();
-					break;
+				reduceVertices(m_cachedBC.m_usedVertices);
+
+				m_cachedValidClosest = m_cachedBC.isValid();
+				break;
 			}
-		case 3: 
-			{ 
-				//closest point origin from triangle 
-				btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); 
+			case 3:
+			{
+				//closest point origin from triangle
+				btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.));
 
-				const btVector3& a = m_simplexVectorW[0]; 
-				const btVector3& b = m_simplexVectorW[1]; 
-				const btVector3& c = m_simplexVectorW[2]; 
+				const btVector3& a = m_simplexVectorW[0];
+				const btVector3& b = m_simplexVectorW[1];
+				const btVector3& c = m_simplexVectorW[2];
 
-				closestPtPointTriangle(p,a,b,c,m_cachedBC); 
-				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + 
-				m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + 
-				m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2]; 
+				closestPtPointTriangle(p, a, b, c, m_cachedBC);
+				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
+							 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+							 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
 
-				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] + 
-				m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] + 
-				m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2]; 
+				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
+							 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+							 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
 
-				m_cachedV = m_cachedP1-m_cachedP2; 
+				m_cachedV = m_cachedP1 - m_cachedP2;
 
-				reduceVertices (m_cachedBC.m_usedVertices); 
-				m_cachedValidClosest = m_cachedBC.isValid(); 
+				reduceVertices(m_cachedBC.m_usedVertices);
+				m_cachedValidClosest = m_cachedBC.isValid();
 
-				break; 
+				break;
 			}
-		case 4:
+			case 4:
 			{
+				btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.));
 
-				
-				btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
-				
 				const btVector3& a = m_simplexVectorW[0];
 				const btVector3& b = m_simplexVectorW[1];
 				const btVector3& c = m_simplexVectorW[2];
 				const btVector3& d = m_simplexVectorW[3];
 
-				bool hasSeparation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
+				bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC);
 
 				if (hasSeparation)
 				{
-
 					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
+								 m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+								 m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
+								 m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
 
 					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
+								 m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+								 m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
+								 m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
 
-					m_cachedV = m_cachedP1-m_cachedP2;
-					reduceVertices (m_cachedBC.m_usedVertices);
-				} else
+					m_cachedV = m_cachedP1 - m_cachedP2;
+					reduceVertices(m_cachedBC.m_usedVertices);
+				}
+				else
 				{
-//					printf("sub distance got penetration\n");
+					//					printf("sub distance got penetration\n");
 
 					if (m_cachedBC.m_degenerate)
 					{
 						m_cachedValidClosest = false;
-					} else
+					}
+					else
 					{
 						m_cachedValidClosest = true;
 						//degenerate case == false, penetration = true + zero
-						m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+						m_cachedV.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 					}
 					break;
 				}
@@ -228,7 +222,7 @@ bool	btVoronoiSimplexSolver::updateClosestVectorAndPoints()
 				//closest point origin from tetrahedron
 				break;
 			}
-		default:
+			default:
 			{
 				m_cachedValidClosest = false;
 			}
@@ -236,7 +230,6 @@ bool	btVoronoiSimplexSolver::updateClosestVectorAndPoints()
 	}
 
 	return m_cachedValidClosest;
-
 }
 
 //return/calculate the closest vertex
@@ -247,13 +240,11 @@ bool btVoronoiSimplexSolver::closest(btVector3& v)
 	return succes;
 }
 
-
-
 btScalar btVoronoiSimplexSolver::maxVertex()
 {
 	int i, numverts = numVertices();
 	btScalar maxV = btScalar(0.);
-	for (i=0;i<numverts;i++)
+	for (i = 0; i < numverts; i++)
 	{
 		btScalar curLen2 = m_simplexVectorW[i].length2();
 		if (maxV < curLen2)
@@ -262,13 +253,11 @@ btScalar btVoronoiSimplexSolver::maxVertex()
 	return maxV;
 }
 
-
-
-	//return the current simplex
-int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
+//return the current simplex
+int btVoronoiSimplexSolver::getSimplex(btVector3* pBuf, btVector3* qBuf, btVector3* yBuf) const
 {
 	int i;
-	for (i=0;i<numVertices();i++)
+	for (i = 0; i < numVertices(); i++)
 	{
 		yBuf[i] = m_simplexVectorW[i];
 		pBuf[i] = m_simplexPointsP[i];
@@ -277,20 +266,17 @@ int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVecto
 	return numVertices();
 }
 
-
-
-
 bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
 {
 	bool found = false;
 	int i, numverts = numVertices();
 	//btScalar maxV = btScalar(0.);
-	
+
 	//w is in the current (reduced) simplex
-	for (i=0;i<numverts;i++)
+	for (i = 0; i < numverts; i++)
 	{
 #ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
-		if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
+		if (m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
 #else
 		if (m_simplexVectorW[i] == w)
 #endif
@@ -303,199 +289,190 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
 	//check in case lastW is already removed
 	if (w == m_lastW)
 		return true;
-    	
+
 	return found;
 }
 
-void btVoronoiSimplexSolver::backup_closest(btVector3& v) 
+void btVoronoiSimplexSolver::backup_closest(btVector3& v)
 {
 	v = m_cachedV;
 }
 
-
-bool btVoronoiSimplexSolver::emptySimplex() const 
+bool btVoronoiSimplexSolver::emptySimplex() const
 {
 	return (numVertices() == 0);
-
 }
 
-void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2) 
+void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
 {
 	updateClosestVectorAndPoints();
 	p1 = m_cachedP1;
 	p2 = m_cachedP2;
-
 }
 
-
-
-
-bool	btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result)
+bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btSubSimplexClosestResult& result)
 {
 	result.m_usedVertices.reset();
 
-    // Check if P in vertex region outside A
-    btVector3 ab = b - a;
-    btVector3 ac = c - a;
-    btVector3 ap = p - a;
-    btScalar d1 = ab.dot(ap);
-    btScalar d2 = ac.dot(ap);
-    if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0)) 
+	// Check if P in vertex region outside A
+	btVector3 ab = b - a;
+	btVector3 ac = c - a;
+	btVector3 ap = p - a;
+	btScalar d1 = ab.dot(ap);
+	btScalar d2 = ac.dot(ap);
+	if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0))
 	{
 		result.m_closestPointOnSimplex = a;
 		result.m_usedVertices.usedVertexA = true;
-		result.setBarycentricCoordinates(1,0,0);
-		return true;// a; // barycentric coordinates (1,0,0)
+		result.setBarycentricCoordinates(1, 0, 0);
+		return true;  // a; // barycentric coordinates (1,0,0)
 	}
 
-    // Check if P in vertex region outside B
-    btVector3 bp = p - b;
-    btScalar d3 = ab.dot(bp);
-    btScalar d4 = ac.dot(bp);
-    if (d3 >= btScalar(0.0) && d4 <= d3) 
+	// Check if P in vertex region outside B
+	btVector3 bp = p - b;
+	btScalar d3 = ab.dot(bp);
+	btScalar d4 = ac.dot(bp);
+	if (d3 >= btScalar(0.0) && d4 <= d3)
 	{
 		result.m_closestPointOnSimplex = b;
 		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(0,1,0);
+		result.setBarycentricCoordinates(0, 1, 0);
 
-		return true; // b; // barycentric coordinates (0,1,0)
+		return true;  // b; // barycentric coordinates (0,1,0)
 	}
-    // Check if P in edge region of AB, if so return projection of P onto AB
-    btScalar vc = d1*d4 - d3*d2;
-    if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) {
-        btScalar v = d1 / (d1 - d3);
+	// Check if P in edge region of AB, if so return projection of P onto AB
+	btScalar vc = d1 * d4 - d3 * d2;
+	if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0))
+	{
+		btScalar v = d1 / (d1 - d3);
 		result.m_closestPointOnSimplex = a + v * ab;
 		result.m_usedVertices.usedVertexA = true;
 		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(1-v,v,0);
+		result.setBarycentricCoordinates(1 - v, v, 0);
 		return true;
-        //return a + v * ab; // barycentric coordinates (1-v,v,0)
-    }
-
-    // Check if P in vertex region outside C
-    btVector3 cp = p - c;
-    btScalar d5 = ab.dot(cp);
-    btScalar d6 = ac.dot(cp);
-    if (d6 >= btScalar(0.0) && d5 <= d6) 
+		//return a + v * ab; // barycentric coordinates (1-v,v,0)
+	}
+
+	// Check if P in vertex region outside C
+	btVector3 cp = p - c;
+	btScalar d5 = ab.dot(cp);
+	btScalar d6 = ac.dot(cp);
+	if (d6 >= btScalar(0.0) && d5 <= d6)
 	{
 		result.m_closestPointOnSimplex = c;
 		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0,0,1);
-		return true;//c; // barycentric coordinates (0,0,1)
+		result.setBarycentricCoordinates(0, 0, 1);
+		return true;  //c; // barycentric coordinates (0,0,1)
 	}
 
-    // Check if P in edge region of AC, if so return projection of P onto AC
-    btScalar vb = d5*d2 - d1*d6;
-    if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) {
-        btScalar w = d2 / (d2 - d6);
+	// Check if P in edge region of AC, if so return projection of P onto AC
+	btScalar vb = d5 * d2 - d1 * d6;
+	if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0))
+	{
+		btScalar w = d2 / (d2 - d6);
 		result.m_closestPointOnSimplex = a + w * ac;
 		result.m_usedVertices.usedVertexA = true;
 		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(1-w,0,w);
+		result.setBarycentricCoordinates(1 - w, 0, w);
 		return true;
-        //return a + w * ac; // barycentric coordinates (1-w,0,w)
-    }
+		//return a + w * ac; // barycentric coordinates (1-w,0,w)
+	}
+
+	// Check if P in edge region of BC, if so return projection of P onto BC
+	btScalar va = d3 * d6 - d5 * d4;
+	if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0))
+	{
+		btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
 
-    // Check if P in edge region of BC, if so return projection of P onto BC
-    btScalar va = d3*d6 - d5*d4;
-    if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0)) {
-        btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-		
 		result.m_closestPointOnSimplex = b + w * (c - b);
 		result.m_usedVertices.usedVertexB = true;
 		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0,1-w,w);
-		return true;		
-       // return b + w * (c - b); // barycentric coordinates (0,1-w,w)
-    }
-
-    // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-    btScalar denom = btScalar(1.0) / (va + vb + vc);
-    btScalar v = vb * denom;
-    btScalar w = vc * denom;
-    
+		result.setBarycentricCoordinates(0, 1 - w, w);
+		return true;
+		// return b + w * (c - b); // barycentric coordinates (0,1-w,w)
+	}
+
+	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
+	btScalar denom = btScalar(1.0) / (va + vb + vc);
+	btScalar v = vb * denom;
+	btScalar w = vc * denom;
+
 	result.m_closestPointOnSimplex = a + ab * v + ac * w;
 	result.m_usedVertices.usedVertexA = true;
 	result.m_usedVertices.usedVertexB = true;
 	result.m_usedVertices.usedVertexC = true;
-	result.setBarycentricCoordinates(1-v-w,v,w);
-	
-	return true;
-//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w
+	result.setBarycentricCoordinates(1 - v - w, v, w);
 
+	return true;
+	//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w
 }
 
-
-
-
-
 /// Test if point p and d lie on opposite sides of plane through abc
 int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
 {
-	btVector3 normal = (b-a).cross(c-a);
+	btVector3 normal = (b - a).cross(c - a);
 
-    btScalar signp = (p - a).dot(normal); // [AP AB AC]
-    btScalar signd = (d - a).dot( normal); // [AD AB AC]
+	btScalar signp = (p - a).dot(normal);  // [AP AB AC]
+	btScalar signd = (d - a).dot(normal);  // [AD AB AC]
 
 #ifdef CATCH_DEGENERATE_TETRAHEDRON
 #ifdef BT_USE_DOUBLE_PRECISION
-if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
+	if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
 	{
 		return -1;
 	}
 #else
 	if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
 	{
-//		printf("affine dependent/degenerate\n");//
+		//		printf("affine dependent/degenerate\n");//
 		return -1;
 	}
 #endif
 
 #endif
 	// Points on opposite sides if expression signs are opposite
-    return signp * signd < btScalar(0.);
+	return signp * signd < btScalar(0.);
 }
 
-
-bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
+bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
 {
 	btSubSimplexClosestResult tempResult;
 
-    // Start out assuming point inside all halfspaces, so closest to itself
+	// Start out assuming point inside all halfspaces, so closest to itself
 	finalResult.m_closestPointOnSimplex = p;
 	finalResult.m_usedVertices.reset();
-    finalResult.m_usedVertices.usedVertexA = true;
+	finalResult.m_usedVertices.usedVertexA = true;
 	finalResult.m_usedVertices.usedVertexB = true;
 	finalResult.m_usedVertices.usedVertexC = true;
 	finalResult.m_usedVertices.usedVertexD = true;
 
-    int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
+	int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
 	int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
-  	int	pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
-	int	pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
-
-   if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
-   {
-	   finalResult.m_degenerate = true;
-	   return false;
-   }
+	int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
+	int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
 
-   if (!pointOutsideABC  && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
-	 {
-		 return false;
-	 }
+	if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
+	{
+		finalResult.m_degenerate = true;
+		return false;
+	}
 
+	if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
+	{
+		return false;
+	}
 
-    btScalar bestSqDist = FLT_MAX;
-    // If point outside face abc then compute closest point on abc
-	if (pointOutsideABC) 
+	btScalar bestSqDist = FLT_MAX;
+	// If point outside face abc then compute closest point on abc
+	if (pointOutsideABC)
 	{
-        closestPtPointTriangle(p, a, b, c,tempResult);
+		closestPtPointTriangle(p, a, b, c, tempResult);
 		btVector3 q = tempResult.m_closestPointOnSimplex;
-		
-        btScalar sqDist = (q - p).dot( q - p);
-        // Update best closest point if (squared) distance is less than current best
-        if (sqDist < bestSqDist) {
+
+		btScalar sqDist = (q - p).dot(q - p);
+		// Update best closest point if (squared) distance is less than current best
+		if (sqDist < bestSqDist)
+		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
 			//convert result bitmask!
@@ -504,25 +481,22 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const
 			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
 			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
 			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC],
-					0
-			);
-
+				tempResult.m_barycentricCoords[VERTA],
+				tempResult.m_barycentricCoords[VERTB],
+				tempResult.m_barycentricCoords[VERTC],
+				0);
 		}
-    }
-  
+	}
 
 	// Repeat test for face acd
-	if (pointOutsideACD) 
+	if (pointOutsideACD)
 	{
-        closestPtPointTriangle(p, a, c, d,tempResult);
+		closestPtPointTriangle(p, a, c, d, tempResult);
 		btVector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
 
-        btScalar sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
+		btScalar sqDist = (q - p).dot(q - p);
+		if (sqDist < bestSqDist)
 		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
@@ -532,52 +506,46 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const
 			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
 			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
 			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					0,
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC]
-			);
-
+				tempResult.m_barycentricCoords[VERTA],
+				0,
+				tempResult.m_barycentricCoords[VERTB],
+				tempResult.m_barycentricCoords[VERTC]);
 		}
-    }
-    // Repeat test for face adb
+	}
+	// Repeat test for face adb
 
-	
 	if (pointOutsideADB)
 	{
-		closestPtPointTriangle(p, a, d, b,tempResult);
+		closestPtPointTriangle(p, a, d, b, tempResult);
 		btVector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
 
-        btScalar sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
+		btScalar sqDist = (q - p).dot(q - p);
+		if (sqDist < bestSqDist)
 		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
 			finalResult.m_usedVertices.reset();
 			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
 			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-			
+
 			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
 			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					0,
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
+				tempResult.m_barycentricCoords[VERTA],
+				tempResult.m_barycentricCoords[VERTC],
+				0,
+				tempResult.m_barycentricCoords[VERTB]);
 		}
-    }
-    // Repeat test for face bdc
-    
+	}
+	// Repeat test for face bdc
 
 	if (pointOutsideBDC)
 	{
-        closestPtPointTriangle(p, b, d, c,tempResult);
+		closestPtPointTriangle(p, b, d, c, tempResult);
 		btVector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
-        btScalar sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
+		btScalar sqDist = (q - p).dot(q - p);
+		if (sqDist < bestSqDist)
 		{
 			bestSqDist = sqDist;
 			finalResult.m_closestPointOnSimplex = q;
@@ -588,25 +556,22 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const
 			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
 
 			finalResult.setBarycentricCoordinates(
-					0,
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
+				0,
+				tempResult.m_barycentricCoords[VERTA],
+				tempResult.m_barycentricCoords[VERTC],
+				tempResult.m_barycentricCoords[VERTB]);
 		}
-    }
+	}
 
 	//help! we ended up full !
-	
+
 	if (finalResult.m_usedVertices.usedVertexA &&
 		finalResult.m_usedVertices.usedVertexB &&
 		finalResult.m_usedVertices.usedVertexC &&
-		finalResult.m_usedVertices.usedVertexD) 
+		finalResult.m_usedVertices.usedVertexD)
 	{
 		return true;
 	}
 
-    return true;
+	return true;
 }
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
index 80fd490f4e..24a0a8f2df 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
@@ -13,15 +13,11 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_VORONOI_SIMPLEX_SOLVER_H
 #define BT_VORONOI_SIMPLEX_SOLVER_H
 
 #include "btSimplexSolverInterface.h"
 
-
-
 #define VORONOI_SIMPLEX_MAX_VERTS 5
 
 ///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
@@ -31,9 +27,10 @@ subject to the following restrictions:
 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
 #else
 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
-#endif//BT_USE_DOUBLE_PRECISION
+#endif  //BT_USE_DOUBLE_PRECISION
 
-struct btUsageBitfield{
+struct btUsageBitfield
+{
 	btUsageBitfield()
 	{
 		reset();
@@ -46,140 +43,131 @@ struct btUsageBitfield{
 		usedVertexC = false;
 		usedVertexD = false;
 	}
-	unsigned short usedVertexA	: 1;
-	unsigned short usedVertexB	: 1;
-	unsigned short usedVertexC	: 1;
-	unsigned short usedVertexD	: 1;
-	unsigned short unused1		: 1;
-	unsigned short unused2		: 1;
-	unsigned short unused3		: 1;
-	unsigned short unused4		: 1;
+	unsigned short usedVertexA : 1;
+	unsigned short usedVertexB : 1;
+	unsigned short usedVertexC : 1;
+	unsigned short usedVertexD : 1;
+	unsigned short unused1 : 1;
+	unsigned short unused2 : 1;
+	unsigned short unused3 : 1;
+	unsigned short unused4 : 1;
 };
 
-
-struct	btSubSimplexClosestResult
+struct btSubSimplexClosestResult
 {
-	btVector3	m_closestPointOnSimplex;
+	btVector3 m_closestPointOnSimplex;
 	//MASK for m_usedVertices
-	//stores the simplex vertex-usage, using the MASK, 
+	//stores the simplex vertex-usage, using the MASK,
 	// if m_usedVertices & MASK then the related vertex is used
-	btUsageBitfield	m_usedVertices;
-	btScalar	m_barycentricCoords[4];
+	btUsageBitfield m_usedVertices;
+	btScalar m_barycentricCoords[4];
 	bool m_degenerate;
 
-	void	reset()
+	void reset()
 	{
 		m_degenerate = false;
 		setBarycentricCoordinates();
 		m_usedVertices.reset();
 	}
-	bool	isValid()
+	bool isValid()
 	{
 		bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
-			(m_barycentricCoords[1] >= btScalar(0.)) &&
-			(m_barycentricCoords[2] >= btScalar(0.)) &&
-			(m_barycentricCoords[3] >= btScalar(0.));
-
+					 (m_barycentricCoords[1] >= btScalar(0.)) &&
+					 (m_barycentricCoords[2] >= btScalar(0.)) &&
+					 (m_barycentricCoords[3] >= btScalar(0.));
 
 		return valid;
 	}
-	void	setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.))
+	void setBarycentricCoordinates(btScalar a = btScalar(0.), btScalar b = btScalar(0.), btScalar c = btScalar(0.), btScalar d = btScalar(0.))
 	{
 		m_barycentricCoords[0] = a;
 		m_barycentricCoords[1] = b;
 		m_barycentricCoords[2] = c;
 		m_barycentricCoords[3] = d;
 	}
-
 };
 
 /// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
 /// Can be used with GJK, as an alternative to Johnson distance algorithm.
 #ifdef NO_VIRTUAL_INTERFACE
-ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver
+ATTRIBUTE_ALIGNED16(class)
+btVoronoiSimplexSolver
 #else
-ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
+ATTRIBUTE_ALIGNED16(class)
+btVoronoiSimplexSolver : public btSimplexSolverInterface
 #endif
 {
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	int	m_numVertices;
-
-	btVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
-	btVector3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
-	btVector3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+	int m_numVertices;
 
-	
+	btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
+	btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+	btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
 
-	btVector3	m_cachedP1;
-	btVector3	m_cachedP2;
-	btVector3	m_cachedV;
-	btVector3	m_lastW;
-	
-	btScalar	m_equalVertexThreshold;
-	bool		m_cachedValidClosest;
+	btVector3 m_cachedP1;
+	btVector3 m_cachedP2;
+	btVector3 m_cachedV;
+	btVector3 m_lastW;
 
+	btScalar m_equalVertexThreshold;
+	bool m_cachedValidClosest;
 
 	btSubSimplexClosestResult m_cachedBC;
 
-	bool	m_needsUpdate;
-	
-	void	removeVertex(int index);
-	void	reduceVertices (const btUsageBitfield& usedVerts);
-	bool	updateClosestVectorAndPoints();
+	bool m_needsUpdate;
 
-	bool	closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
-	int		pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
-	bool	closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);
+	void removeVertex(int index);
+	void reduceVertices(const btUsageBitfield& usedVerts);
+	bool updateClosestVectorAndPoints();
 
-public:
+	bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
+	int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
+	bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btSubSimplexClosestResult& result);
 
+public:
 	btVoronoiSimplexSolver()
-		:  m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
+		: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
 	{
 	}
-	 void reset();
-
-	 void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
+	void reset();
 
-	 void	setEqualVertexThreshold(btScalar threshold)
-	 {
-		 m_equalVertexThreshold = threshold;
-	 }
+	void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
 
-	 btScalar	getEqualVertexThreshold() const
-	 {
-		 return m_equalVertexThreshold;
-	 }
+	void setEqualVertexThreshold(btScalar threshold)
+	{
+		m_equalVertexThreshold = threshold;
+	}
 
-	 bool closest(btVector3& v);
+	btScalar getEqualVertexThreshold() const
+	{
+		return m_equalVertexThreshold;
+	}
 
-	 btScalar maxVertex();
+	bool closest(btVector3 & v);
 
-	 bool fullSimplex() const
-	 {
-		 return (m_numVertices == 4);
-	 }
+	btScalar maxVertex();
 
-	 int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
+	bool fullSimplex() const
+	{
+		return (m_numVertices == 4);
+	}
 
-	 bool inSimplex(const btVector3& w);
-	
-	 void backup_closest(btVector3& v) ;
+	int getSimplex(btVector3 * pBuf, btVector3 * qBuf, btVector3 * yBuf) const;
 
-	 bool emptySimplex() const ;
+	bool inSimplex(const btVector3& w);
 
-	 void compute_points(btVector3& p1, btVector3& p2) ;
+	void backup_closest(btVector3 & v);
 
-	 int numVertices() const 
-	 {
-		 return m_numVertices;
-	 }
+	bool emptySimplex() const;
 
+	void compute_points(btVector3 & p1, btVector3 & p2);
 
+	int numVertices() const
+	{
+		return m_numVertices;
+	}
 };
 
-#endif //BT_VORONOI_SIMPLEX_SOLVER_H
-
+#endif  //BT_VORONOI_SIMPLEX_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h b/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
index abe24b5ca6..2ccf317b92 100644
--- a/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
+++ b/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
@@ -26,22 +26,21 @@ class btCollisionWorld;
 class btCharacterControllerInterface : public btActionInterface
 {
 public:
-	btCharacterControllerInterface () {};
-	virtual ~btCharacterControllerInterface () {};
-	
-	virtual void	setWalkDirection(const btVector3& walkDirection) = 0;
-	virtual void	setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
-	virtual void	reset ( btCollisionWorld* collisionWorld ) = 0;
-	virtual void	warp (const btVector3& origin) = 0;
-
-	virtual void	preStep ( btCollisionWorld* collisionWorld) = 0;
-	virtual void	playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0;
-	virtual bool	canJump () const = 0;
-	virtual void	jump(const btVector3& dir = btVector3(0, 0, 0)) = 0;
-
-	virtual bool	onGround () const = 0;
-	virtual void	setUpInterpolate (bool value) = 0;
-};
+	btCharacterControllerInterface(){};
+	virtual ~btCharacterControllerInterface(){};
+
+	virtual void setWalkDirection(const btVector3& walkDirection) = 0;
+	virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
+	virtual void reset(btCollisionWorld* collisionWorld) = 0;
+	virtual void warp(const btVector3& origin) = 0;
 
-#endif //BT_CHARACTER_CONTROLLER_INTERFACE_H
+	virtual void preStep(btCollisionWorld* collisionWorld) = 0;
+	virtual void playerStep(btCollisionWorld* collisionWorld, btScalar dt) = 0;
+	virtual bool canJump() const = 0;
+	virtual void jump(const btVector3& dir = btVector3(0, 0, 0)) = 0;
+
+	virtual bool onGround() const = 0;
+	virtual void setUpInterpolate(bool value) = 0;
+};
 
+#endif  //BT_CHARACTER_CONTROLLER_INTERFACE_H
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
index cb1aa71a14..2bbccb291c 100644
--- a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
+++ b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include <stdio.h>
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/CollisionDispatch/btGhostObject.h"
@@ -24,20 +23,19 @@ subject to the following restrictions:
 #include "LinearMath/btDefaultMotionState.h"
 #include "btKinematicCharacterController.h"
 
-
 // static helper method
 static btVector3
 getNormalizedVector(const btVector3& v)
 {
 	btVector3 n(0, 0, 0);
 
-	if (v.length() > SIMD_EPSILON) {
+	if (v.length() > SIMD_EPSILON)
+	{
 		n = v.normalized();
 	}
 	return n;
 }
 
-
 ///@todo Interact with dynamic objects,
 ///Ride kinematicly animated platforms properly
 ///More realistic (or maybe just a config option) falling
@@ -47,18 +45,19 @@ getNormalizedVector(const btVector3& v)
 class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
 {
 public:
-	btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
+	btKinematicClosestNotMeRayResultCallback(btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
 	{
 		m_me = me;
 	}
 
-	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
+	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
 	{
 		if (rayResult.m_collisionObject == m_me)
 			return 1.0;
 
-		return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
+		return ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
 	}
+
 protected:
 	btCollisionObject* m_me;
 };
@@ -66,15 +65,12 @@ protected:
 class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
 {
 public:
-	btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
-	: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
-	, m_me(me)
-	, m_up(up)
-	, m_minSlopeDot(minSlopeDot)
+	btKinematicClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
+		: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)), m_me(me), m_up(up), m_minSlopeDot(minSlopeDot)
 	{
 	}
 
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
+	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
 	{
 		if (convexResult.m_hitCollisionObject == m_me)
 			return btScalar(1.0);
@@ -86,19 +82,22 @@ public:
 		if (normalInWorldSpace)
 		{
 			hitNormalWorld = convexResult.m_hitNormalLocal;
-		} else
+		}
+		else
 		{
 			///need to transform normal into worldspace
-			hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
+			hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
 		}
 
 		btScalar dotUp = m_up.dot(hitNormalWorld);
-		if (dotUp < m_minSlopeDot) {
+		if (dotUp < m_minSlopeDot)
+		{
 			return btScalar(1.0);
 		}
 
-		return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
+		return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
 	}
+
 protected:
 	btCollisionObject* m_me;
 	const btVector3 m_up;
@@ -110,7 +109,7 @@ protected:
  *
  * from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
  */
-btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
+btVector3 btKinematicCharacterController::computeReflectionDirection(const btVector3& direction, const btVector3& normal)
 {
 	return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
 }
@@ -118,7 +117,7 @@ btVector3 btKinematicCharacterController::computeReflectionDirection (const btVe
 /*
  * Returns the portion of 'direction' that is parallel to 'normal'
  */
-btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
+btVector3 btKinematicCharacterController::parallelComponent(const btVector3& direction, const btVector3& normal)
 {
 	btScalar magnitude = direction.dot(normal);
 	return normal * magnitude;
@@ -127,29 +126,29 @@ btVector3 btKinematicCharacterController::parallelComponent (const btVector3& di
 /*
  * Returns the portion of 'direction' that is perpindicular to 'normal'
  */
-btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
+btVector3 btKinematicCharacterController::perpindicularComponent(const btVector3& direction, const btVector3& normal)
 {
 	return direction - parallelComponent(direction, normal);
 }
 
-btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up)
+btKinematicCharacterController::btKinematicCharacterController(btPairCachingGhostObject* ghostObject, btConvexShape* convexShape, btScalar stepHeight, const btVector3& up)
 {
 	m_ghostObject = ghostObject;
 	m_up.setValue(0.0f, 0.0f, 1.0f);
 	m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
 	m_addedMargin = 0.02;
-	m_walkDirection.setValue(0.0,0.0,0.0);
+	m_walkDirection.setValue(0.0, 0.0, 0.0);
 	m_AngVel.setValue(0.0, 0.0, 0.0);
-	m_useGhostObjectSweepTest = true;	
+	m_useGhostObjectSweepTest = true;
 	m_turnAngle = btScalar(0.0);
-	m_convexShape=convexShape;	
-	m_useWalkDirection = true;	// use walk direction by default, legacy behavior
+	m_convexShape = convexShape;
+	m_useWalkDirection = true;  // use walk direction by default, legacy behavior
 	m_velocityTimeInterval = 0.0;
 	m_verticalVelocity = 0.0;
 	m_verticalOffset = 0.0;
-	m_gravity = 9.8 * 3.0 ; // 3G acceleration.
-	m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
-	m_jumpSpeed = 10.0; // ?
+	m_gravity = 9.8 * 3.0;  // 3G acceleration.
+	m_fallSpeed = 55.0;     // Terminal velocity of a sky diver in m/s.
+	m_jumpSpeed = 10.0;     // ?
 	m_SetjumpSpeed = m_jumpSpeed;
 	m_wasOnGround = false;
 	m_wasJumping = false;
@@ -166,7 +165,7 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
 	setMaxSlope(btRadians(45.0));
 }
 
-btKinematicCharacterController::~btKinematicCharacterController ()
+btKinematicCharacterController::~btKinematicCharacterController()
 {
 }
 
@@ -175,7 +174,7 @@ btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
 	return m_ghostObject;
 }
 
-bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
+bool btKinematicCharacterController::recoverFromPenetration(btCollisionWorld* collisionWorld)
 {
 	// Here we must refresh the overlapping paircache as the penetrating movement itself or the
 	// previous recovery iteration might have used setWorldTransform and pushed us into an object
@@ -186,19 +185,19 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
 	// paircache and the ghostobject's internal paircache at the same time.    /BW
 
 	btVector3 minAabb, maxAabb;
-	m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb,maxAabb);
-	collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(), 
-						 minAabb, 
-						 maxAabb, 
-						 collisionWorld->getDispatcher());
-						 
+	m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb, maxAabb);
+	collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(),
+											 minAabb,
+											 maxAabb,
+											 collisionWorld->getDispatcher());
+
 	bool penetration = false;
 
 	collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
 
 	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-	
-//	btScalar maxPen = btScalar(0.0);
+
+	//	btScalar maxPen = btScalar(0.0);
 	for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
 	{
 		m_manifoldArray.resize(0);
@@ -206,25 +205,24 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
 		btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
 
 		btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
-        btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
+		btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
 
 		if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
 			continue;
 
 		if (!needsCollision(obj0, obj1))
 			continue;
-		
+
 		if (collisionPair->m_algorithm)
 			collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
 
-		
-		for (int j=0;j<m_manifoldArray.size();j++)
+		for (int j = 0; j < m_manifoldArray.size(); j++)
 		{
 			btPersistentManifold* manifold = m_manifoldArray[j];
 			btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
-			for (int p=0;p<manifold->getNumContacts();p++)
+			for (int p = 0; p < manifold->getNumContacts(); p++)
 			{
-				const btManifoldPoint&pt = manifold->getContactPoint(p);
+				const btManifoldPoint& pt = manifold->getContactPoint(p);
 
 				btScalar dist = pt.getDistance();
 
@@ -239,22 +237,24 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
 					//}
 					m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
 					penetration = true;
-				} else {
+				}
+				else
+				{
 					//printf("touching %f\n", dist);
 				}
 			}
-			
+
 			//manifold->clearManifold();
 		}
 	}
 	btTransform newTrans = m_ghostObject->getWorldTransform();
 	newTrans.setOrigin(m_currentPosition);
 	m_ghostObject->setWorldTransform(newTrans);
-//	printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
+	//	printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
 	return penetration;
 }
 
-void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
+void btKinematicCharacterController::stepUp(btCollisionWorld* world)
 {
 	btScalar stepHeight = 0.0f;
 	if (m_verticalVelocity < 0.0)
@@ -263,8 +263,8 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 	// phase 1: up
 	btTransform start, end;
 
-	start.setIdentity ();
-	end.setIdentity ();
+	start.setIdentity();
+	end.setIdentity();
 
 	/* FIXME: Handle penetration properly */
 	start.setOrigin(m_currentPosition);
@@ -272,7 +272,7 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 	m_targetPosition = m_currentPosition + m_up * (stepHeight) + m_jumpAxis * ((m_verticalOffset > 0.f ? m_verticalOffset : 0.f));
 	m_currentPosition = m_targetPosition;
 
-	end.setOrigin (m_targetPosition);
+	end.setOrigin(m_targetPosition);
 
 	start.setRotation(m_currentOrientation);
 	end.setRotation(m_targetOrientation);
@@ -280,10 +280,10 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -m_up, m_maxSlopeCosine);
 	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
 	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-	
+
 	if (m_useGhostObjectSweepTest)
 	{
-		m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
+		m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
 	}
 	else
 	{
@@ -298,7 +298,7 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 			// we moved up only a fraction of the step height
 			m_currentStepOffset = stepHeight * callback.m_closestHitFraction;
 			if (m_interpolateUp == true)
-				m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
 			else
 				m_currentPosition = m_targetPosition;
 		}
@@ -329,7 +329,9 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 			m_verticalVelocity = 0.0;
 			m_currentStepOffset = m_stepHeight;
 		}
-	} else {
+	}
+	else
+	{
 		m_currentStepOffset = stepHeight;
 		m_currentPosition = m_targetPosition;
 	}
@@ -342,43 +344,44 @@ bool btKinematicCharacterController::needsCollision(const btCollisionObject* bod
 	return collides;
 }
 
-void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
+void btKinematicCharacterController::updateTargetPositionBasedOnCollision(const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
 {
 	btVector3 movementDirection = m_targetPosition - m_currentPosition;
 	btScalar movementLength = movementDirection.length();
-	if (movementLength>SIMD_EPSILON)
+	if (movementLength > SIMD_EPSILON)
 	{
 		movementDirection.normalize();
 
-		btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
+		btVector3 reflectDir = computeReflectionDirection(movementDirection, hitNormal);
 		reflectDir.normalize();
 
 		btVector3 parallelDir, perpindicularDir;
 
-		parallelDir = parallelComponent (reflectDir, hitNormal);
-		perpindicularDir = perpindicularComponent (reflectDir, hitNormal);
+		parallelDir = parallelComponent(reflectDir, hitNormal);
+		perpindicularDir = perpindicularComponent(reflectDir, hitNormal);
 
 		m_targetPosition = m_currentPosition;
-		if (0)//tangentMag != 0.0)
+		if (0)  //tangentMag != 0.0)
 		{
-			btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
-//			printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
-			m_targetPosition +=  parComponent;
+			btVector3 parComponent = parallelDir * btScalar(tangentMag * movementLength);
+			//			printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
+			m_targetPosition += parComponent;
 		}
 
 		if (normalMag != 0.0)
 		{
-			btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
-//			printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
+			btVector3 perpComponent = perpindicularDir * btScalar(normalMag * movementLength);
+			//			printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
 			m_targetPosition += perpComponent;
 		}
-	} else
+	}
+	else
 	{
-//		printf("movementLength don't normalize a zero vector\n");
+		//		printf("movementLength don't normalize a zero vector\n");
 	}
 }
 
-void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
+void btKinematicCharacterController::stepForwardAndStrafe(btCollisionWorld* collisionWorld, const btVector3& walkMove)
 {
 	// printf("m_normalizedDirection=%f,%f,%f\n",
 	// 	m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
@@ -387,29 +390,28 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
 
 	m_targetPosition = m_currentPosition + walkMove;
 
-	start.setIdentity ();
-	end.setIdentity ();
-	
+	start.setIdentity();
+	end.setIdentity();
+
 	btScalar fraction = 1.0;
-	btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
-//	printf("distance2=%f\n",distance2);
+	btScalar distance2 = (m_currentPosition - m_targetPosition).length2();
+	//	printf("distance2=%f\n",distance2);
 
 	int maxIter = 10;
 
 	while (fraction > btScalar(0.01) && maxIter-- > 0)
 	{
-		start.setOrigin (m_currentPosition);
-		end.setOrigin (m_targetPosition);
+		start.setOrigin(m_currentPosition);
+		end.setOrigin(m_targetPosition);
 		btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
 
 		start.setRotation(m_currentOrientation);
 		end.setRotation(m_targetOrientation);
 
-		btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0));
+		btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, sweepDirNegative, btScalar(0.0));
 		callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
 		callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
 
-
 		btScalar margin = m_convexShape->getMargin();
 		m_convexShape->setMargin(margin + m_addedMargin);
 
@@ -426,18 +428,17 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
 		}
 		m_convexShape->setMargin(margin);
 
-		
 		fraction -= callback.m_closestHitFraction;
 
 		if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
-		{	
+		{
 			// we moved only a fraction
 			//btScalar hitDistance;
 			//hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
 
-//			m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+			//			m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
 
-			updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
+			updateTargetPositionBasedOnCollision(callback.m_hitNormalWorld);
 			btVector3 currentDir = m_targetPosition - m_currentPosition;
 			distance2 = currentDir.length2();
 			if (distance2 > SIMD_EPSILON)
@@ -448,21 +449,21 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
 				{
 					break;
 				}
-			} else
+			}
+			else
 			{
-//				printf("currentDir: don't normalize a zero vector\n");
+				//				printf("currentDir: don't normalize a zero vector\n");
 				break;
 			}
-
 		}
-        else
-        {
-            m_currentPosition = m_targetPosition;
+		else
+		{
+			m_currentPosition = m_targetPosition;
 		}
 	}
 }
 
-void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
+void btKinematicCharacterController::stepDown(btCollisionWorld* collisionWorld, btScalar dt)
 {
 	btTransform start, end, end_double;
 	bool runonce = false;
@@ -475,64 +476,64 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
 	m_targetPosition -= (step_drop + gravity_drop);*/
 
 	btVector3 orig_position = m_targetPosition;
-	
-	btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
+
+	btScalar downVelocity = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
 
 	if (m_verticalVelocity > 0.0)
 		return;
 
-	if(downVelocity > 0.0 && downVelocity > m_fallSpeed
-		&& (m_wasOnGround || !m_wasJumping))
+	if (downVelocity > 0.0 && downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
 		downVelocity = m_fallSpeed;
 
 	btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity);
 	m_targetPosition -= step_drop;
 
 	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, m_up, m_maxSlopeCosine);
-        callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-        callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
+	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
+	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
 
 	btKinematicClosestNotMeConvexResultCallback callback2(m_ghostObject, m_up, m_maxSlopeCosine);
-        callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-        callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
+	callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
+	callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
 
 	while (1)
 	{
-		start.setIdentity ();
-		end.setIdentity ();
+		start.setIdentity();
+		end.setIdentity();
 
-		end_double.setIdentity ();
+		end_double.setIdentity();
 
-		start.setOrigin (m_currentPosition);
-		end.setOrigin (m_targetPosition);
+		start.setOrigin(m_currentPosition);
+		end.setOrigin(m_targetPosition);
 
 		start.setRotation(m_currentOrientation);
 		end.setRotation(m_targetOrientation);
 
 		//set double test for 2x the step drop, to check for a large drop vs small drop
-		end_double.setOrigin (m_targetPosition - step_drop);
+		end_double.setOrigin(m_targetPosition - step_drop);
 
 		if (m_useGhostObjectSweepTest)
 		{
-			m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
+			m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
 
 			if (!callback.hasHit() && m_ghostObject->hasContactResponse())
 			{
 				//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
-				m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
+				m_ghostObject->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
 			}
-		} else
+		}
+		else
 		{
-			collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
+			collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
 
 			if (!callback.hasHit() && m_ghostObject->hasContactResponse())
 			{
 				//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
-				collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
+				collisionWorld->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
 			}
 		}
-	
-		btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
+
+		btScalar downVelocity2 = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
 		bool has_hit;
 		if (bounce_fix == true)
 			has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject);
@@ -543,8 +544,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
 		if (m_verticalVelocity < 0.0)
 			stepHeight = m_stepHeight;
 
-		if (downVelocity2 > 0.0 && downVelocity2 < stepHeight && has_hit == true && runonce == false
-					&& (m_wasOnGround || !m_wasJumping))
+		if (downVelocity2 > 0.0 && downVelocity2 < stepHeight && has_hit == true && runonce == false && (m_wasOnGround || !m_wasJumping))
 		{
 			//redo the velocity calculation when falling a small amount, for fast stairs motion
 			//for larger falls, use the smoother/slower interpolated movement by not touching the target position
@@ -555,7 +555,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
 			step_drop = m_up * (m_currentStepOffset + downVelocity);
 			m_targetPosition -= step_drop;
 			runonce = true;
-			continue; //re-run previous tests
+			continue;  //re-run previous tests
 		}
 		break;
 	}
@@ -570,30 +570,32 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
 		if (bounce_fix == true)
 		{
 			if (full_drop == true)
-				m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-            else
+				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+			else
 				//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
-				m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction);
+				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, fraction);
 		}
 		else
-			m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+			m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
 
 		full_drop = false;
 
 		m_verticalVelocity = 0.0;
 		m_verticalOffset = 0.0;
 		m_wasJumping = false;
-	} else {
+	}
+	else
+	{
 		// we dropped the full height
 
 		full_drop = true;
 
 		if (bounce_fix == true)
 		{
-			downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
+			downVelocity = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
 			if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
 			{
-				m_targetPosition += step_drop; //undo previous target change
+				m_targetPosition += step_drop;  //undo previous target change
 				downVelocity = m_fallSpeed;
 				step_drop = m_up * (m_currentStepOffset + downVelocity);
 				m_targetPosition -= step_drop;
@@ -605,30 +607,22 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
 	}
 }
 
-
-
-void btKinematicCharacterController::setWalkDirection
-(
-const btVector3& walkDirection
-)
+void btKinematicCharacterController::setWalkDirection(
+	const btVector3& walkDirection)
 {
 	m_useWalkDirection = true;
 	m_walkDirection = walkDirection;
 	m_normalizedDirection = getNormalizedVector(m_walkDirection);
 }
 
-
-
-void btKinematicCharacterController::setVelocityForTimeInterval
-(
-const btVector3& velocity,
-btScalar timeInterval
-)
+void btKinematicCharacterController::setVelocityForTimeInterval(
+	const btVector3& velocity,
+	btScalar timeInterval)
 {
-//	printf("setVelocity!\n");
-//	printf("  interval: %f\n", timeInterval);
-//	printf("  velocity: (%f, %f, %f)\n",
-//		 velocity.x(), velocity.y(), velocity.z());
+	//	printf("setVelocity!\n");
+	//	printf("  interval: %f\n", timeInterval);
+	//	printf("  velocity: (%f, %f, %f)\n",
+	//		 velocity.x(), velocity.y(), velocity.z());
 
 	m_useWalkDirection = false;
 	m_walkDirection = velocity;
@@ -661,7 +655,7 @@ void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity
 			btVector3 upComponent = m_up * (btSin(SIMD_HALF_PI - btAcos(c)) * m_walkDirection.length());
 			m_walkDirection -= upComponent;
 			m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length();
-			
+
 			if (c > 0.0f)
 			{
 				m_wasJumping = true;
@@ -678,46 +672,45 @@ btVector3 btKinematicCharacterController::getLinearVelocity() const
 	return m_walkDirection + (m_verticalVelocity * m_up);
 }
 
-void btKinematicCharacterController::reset ( btCollisionWorld* collisionWorld )
+void btKinematicCharacterController::reset(btCollisionWorld* collisionWorld)
 {
-    m_verticalVelocity = 0.0;
-    m_verticalOffset = 0.0;
-    m_wasOnGround = false;
-    m_wasJumping = false;
-    m_walkDirection.setValue(0,0,0);
-    m_velocityTimeInterval = 0.0;
+	m_verticalVelocity = 0.0;
+	m_verticalOffset = 0.0;
+	m_wasOnGround = false;
+	m_wasJumping = false;
+	m_walkDirection.setValue(0, 0, 0);
+	m_velocityTimeInterval = 0.0;
 
-    //clear pair cache
-    btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache();
-    while (cache->getOverlappingPairArray().size() > 0)
-    {
-            cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
-    }
+	//clear pair cache
+	btHashedOverlappingPairCache* cache = m_ghostObject->getOverlappingPairCache();
+	while (cache->getOverlappingPairArray().size() > 0)
+	{
+		cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
+	}
 }
 
-void btKinematicCharacterController::warp (const btVector3& origin)
+void btKinematicCharacterController::warp(const btVector3& origin)
 {
 	btTransform xform;
 	xform.setIdentity();
-	xform.setOrigin (origin);
-	m_ghostObject->setWorldTransform (xform);
+	xform.setOrigin(origin);
+	m_ghostObject->setWorldTransform(xform);
 }
 
-
-void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
+void btKinematicCharacterController::preStep(btCollisionWorld* collisionWorld)
 {
 	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
 	m_targetPosition = m_currentPosition;
 
 	m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
 	m_targetOrientation = m_currentOrientation;
-//	printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
+	//	printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
 }
 
-void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
+void btKinematicCharacterController::playerStep(btCollisionWorld* collisionWorld, btScalar dt)
 {
-//	printf("playerStep(): ");
-//	printf("  dt = %f", dt);
+	//	printf("playerStep(): ");
+	//	printf("  dt = %f", dt);
 
 	if (m_AngVel.length2() > 0.0f)
 	{
@@ -744,16 +737,17 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	}
 
 	// quick check...
-	if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0)) {
-//		printf("\n");
-		return;		// no motion
+	if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0 || m_walkDirection.fuzzyZero())) 
+	{
+		//		printf("\n");
+		return;  // no motion
 	}
 
 	m_wasOnGround = onGround();
 
 	//btVector3 lvel = m_walkDirection;
 	//btScalar c = 0.0f;
-	
+
 	if (m_walkDirection.length2() > 0)
 	{
 		// apply damping
@@ -761,7 +755,7 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	}
 
 	m_verticalVelocity *= btPow(btScalar(1) - m_linearDamping, dt);
-	
+
 	// Update fall velocity.
 	m_verticalVelocity -= m_gravity * dt;
 	if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
@@ -777,12 +771,12 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	btTransform xform;
 	xform = m_ghostObject->getWorldTransform();
 
-//	printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
-//	printf("walkSpeed=%f\n",walkSpeed);
+	//	printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
+	//	printf("walkSpeed=%f\n",walkSpeed);
 
 	stepUp(collisionWorld);
 	//todo: Experimenting with behavior of controller when it hits a ceiling..
-	//bool hitUp = stepUp (collisionWorld);	
+	//bool hitUp = stepUp (collisionWorld);
 	//if (hitUp)
 	//{
 	//	m_verticalVelocity -= m_gravity * dt;
@@ -799,9 +793,12 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	//	xform = m_ghostObject->getWorldTransform();
 	//}
 
-	if (m_useWalkDirection) {
-		stepForwardAndStrafe (collisionWorld, m_walkDirection);
-	} else {
+	if (m_useWalkDirection)
+	{
+		stepForwardAndStrafe(collisionWorld, m_walkDirection);
+	}
+	else
+	{
 		//printf("  time: %f", m_velocityTimeInterval);
 		// still have some time left for moving!
 		btScalar dtMoving =
@@ -816,7 +813,7 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 		// okay, step
 		stepForwardAndStrafe(collisionWorld, move);
 	}
-	stepDown (collisionWorld, dt);
+	stepDown(collisionWorld, dt);
 
 	//todo: Experimenting with max jump height
 	//if (m_wasJumping)
@@ -827,7 +824,7 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	//		// substract the overshoot
 	//		m_currentPosition[m_upAxis] -= ds - m_maxJumpHeight;
 
-	//		// max height was reached, so potential energy is at max 
+	//		// max height was reached, so potential energy is at max
 	//		// and kinematic energy is 0, thus velocity is 0.
 	//		if (m_verticalVelocity > 0.0)
 	//			m_verticalVelocity = 0.0;
@@ -835,8 +832,8 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	//}
 	// printf("\n");
 
-	xform.setOrigin (m_currentPosition);
-	m_ghostObject->setWorldTransform (xform);
+	xform.setOrigin(m_currentPosition);
+	m_ghostObject->setWorldTransform(xform);
 
 	int numPenetrationLoops = 0;
 	m_touchingContact = false;
@@ -852,23 +849,23 @@ void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWo
 	}
 }
 
-void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
+void btKinematicCharacterController::setFallSpeed(btScalar fallSpeed)
 {
 	m_fallSpeed = fallSpeed;
 }
 
-void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
+void btKinematicCharacterController::setJumpSpeed(btScalar jumpSpeed)
 {
 	m_jumpSpeed = jumpSpeed;
 	m_SetjumpSpeed = m_jumpSpeed;
 }
 
-void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
+void btKinematicCharacterController::setMaxJumpHeight(btScalar maxJumpHeight)
 {
 	m_maxJumpHeight = maxJumpHeight;
 }
 
-bool btKinematicCharacterController::canJump () const
+bool btKinematicCharacterController::canJump() const
 {
 	return onGround();
 }
@@ -927,20 +924,20 @@ btScalar btKinematicCharacterController::getMaxPenetrationDepth() const
 	return m_maxPenetrationDepth;
 }
 
-bool btKinematicCharacterController::onGround () const
+bool btKinematicCharacterController::onGround() const
 {
 	return (fabs(m_verticalVelocity) < SIMD_EPSILON) && (fabs(m_verticalOffset) < SIMD_EPSILON);
 }
 
-void btKinematicCharacterController::setStepHeight(btScalar h) 
+void btKinematicCharacterController::setStepHeight(btScalar h)
 {
 	m_stepHeight = h;
 }
 
 btVector3* btKinematicCharacterController::getUpAxisDirections()
 {
-	static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
-	
+	static btVector3 sUpAxisDirection[3] = {btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f)};
+
 	return sUpAxisDirection;
 }
 
@@ -997,4 +994,3 @@ btQuaternion btKinematicCharacterController::getRotation(btVector3& v0, btVector
 
 	return shortestArcQuatNormalize2(v0, v1);
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
index 00c59c0248..ff34fc871a 100644
--- a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
+++ b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
 #define BT_KINEMATIC_CHARACTER_CONTROLLER_H
 
@@ -23,7 +22,6 @@ subject to the following restrictions:
 
 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 
-
 class btCollisionShape;
 class btConvexShape;
 class btRigidBody;
@@ -34,15 +32,15 @@ class btPairCachingGhostObject;
 ///btKinematicCharacterController is an object that supports a sliding motion in a world.
 ///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
 ///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
-ATTRIBUTE_ALIGNED16(class) btKinematicCharacterController : public btCharacterControllerInterface
+ATTRIBUTE_ALIGNED16(class)
+btKinematicCharacterController : public btCharacterControllerInterface
 {
 protected:
-
 	btScalar m_halfHeight;
-	
+
 	btPairCachingGhostObject* m_ghostObject;
-	btConvexShape*	m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
-	
+	btConvexShape* m_convexShape;  //is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
+
 	btScalar m_maxPenetrationDepth;
 	btScalar m_verticalVelocity;
 	btScalar m_verticalOffset;
@@ -50,33 +48,33 @@ protected:
 	btScalar m_jumpSpeed;
 	btScalar m_SetjumpSpeed;
 	btScalar m_maxJumpHeight;
-	btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
-	btScalar m_maxSlopeCosine;  // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
+	btScalar m_maxSlopeRadians;  // Slope angle that is set (used for returning the exact value)
+	btScalar m_maxSlopeCosine;   // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
 	btScalar m_gravity;
 
 	btScalar m_turnAngle;
-	
+
 	btScalar m_stepHeight;
 
-	btScalar	m_addedMargin;//@todo: remove this and fix the code
+	btScalar m_addedMargin;  //@todo: remove this and fix the code
 
 	///this is the desired walk direction, set by the user
-	btVector3	m_walkDirection;
-	btVector3	m_normalizedDirection;
-	btVector3	m_AngVel;
+	btVector3 m_walkDirection;
+	btVector3 m_normalizedDirection;
+	btVector3 m_AngVel;
 
-	btVector3	m_jumpPosition;
+	btVector3 m_jumpPosition;
 
 	//some internal variables
 	btVector3 m_currentPosition;
-	btScalar  m_currentStepOffset;
+	btScalar m_currentStepOffset;
 	btVector3 m_targetPosition;
 
 	btQuaternion m_currentOrientation;
 	btQuaternion m_targetOrientation;
 
 	///keep track of the contact manifolds
-	btManifoldArray	m_manifoldArray;
+	btManifoldArray m_manifoldArray;
 
 	bool m_touchingContact;
 	btVector3 m_touchingNormal;
@@ -84,52 +82,50 @@ protected:
 	btScalar m_linearDamping;
 	btScalar m_angularDamping;
 
-	bool  m_wasOnGround;
-	bool  m_wasJumping;
-	bool	m_useGhostObjectSweepTest;
-	bool	m_useWalkDirection;
-	btScalar	m_velocityTimeInterval;
+	bool m_wasOnGround;
+	bool m_wasJumping;
+	bool m_useGhostObjectSweepTest;
+	bool m_useWalkDirection;
+	btScalar m_velocityTimeInterval;
 	btVector3 m_up;
 	btVector3 m_jumpAxis;
 
 	static btVector3* getUpAxisDirections();
-	bool  m_interpolateUp;
-	bool  full_drop;
-	bool  bounce_fix;
+	bool m_interpolateUp;
+	bool full_drop;
+	bool bounce_fix;
 
-	btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
-	btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
-	btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
+	btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
+	btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
+	btVector3 perpindicularComponent(const btVector3& direction, const btVector3& normal);
 
-	bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
-	void stepUp (btCollisionWorld* collisionWorld);
-	void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
-	void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
-	void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
+	bool recoverFromPenetration(btCollisionWorld * collisionWorld);
+	void stepUp(btCollisionWorld * collisionWorld);
+	void updateTargetPositionBasedOnCollision(const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
+	void stepForwardAndStrafe(btCollisionWorld * collisionWorld, const btVector3& walkMove);
+	void stepDown(btCollisionWorld * collisionWorld, btScalar dt);
 
 	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
 
 	void setUpVector(const btVector3& up);
 
-	btQuaternion getRotation(btVector3& v0, btVector3& v1) const;
+	btQuaternion getRotation(btVector3 & v0, btVector3 & v1) const;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up = btVector3(1.0,0.0,0.0));
-	~btKinematicCharacterController ();
-	
+	btKinematicCharacterController(btPairCachingGhostObject * ghostObject, btConvexShape * convexShape, btScalar stepHeight, const btVector3& up = btVector3(1.0, 0.0, 0.0));
+	~btKinematicCharacterController();
 
 	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
+	virtual void updateAction(btCollisionWorld * collisionWorld, btScalar deltaTime)
 	{
-		preStep ( collisionWorld);
-		playerStep (collisionWorld, deltaTime);
+		preStep(collisionWorld);
+		playerStep(collisionWorld, deltaTime);
 	}
-	
+
 	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
+	void debugDraw(btIDebugDraw * debugDrawer);
 
 	void setUp(const btVector3& up);
 
@@ -140,7 +136,7 @@ public:
 	///	increment the position each simulation iteration, regardless
 	///	of dt.
 	/// This call will reset any velocity set by setVelocityForTimeInterval().
-	virtual void	setWalkDirection(const btVector3& walkDirection);
+	virtual void setWalkDirection(const btVector3& walkDirection);
 
 	/// Caller provides a velocity with which the character should move for
 	///	the given time period.  After the time period, velocity is reset
@@ -148,7 +144,7 @@ public:
 	/// This call will reset any walk direction set by setWalkDirection().
 	/// Negative time intervals will result in no motion.
 	virtual void setVelocityForTimeInterval(const btVector3& velocity,
-				btScalar timeInterval);
+											btScalar timeInterval);
 
 	virtual void setAngularVelocity(const btVector3& velocity);
 	virtual const btVector3& getAngularVelocity() const;
@@ -157,24 +153,24 @@ public:
 	virtual btVector3 getLinearVelocity() const;
 
 	void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
-	btScalar getLinearDamping() const { return  m_linearDamping; }
+	btScalar getLinearDamping() const { return m_linearDamping; }
 	void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
-	btScalar getAngularDamping() const { return  m_angularDamping; }
+	btScalar getAngularDamping() const { return m_angularDamping; }
 
-	void reset ( btCollisionWorld* collisionWorld );
-	void warp (const btVector3& origin);
+	void reset(btCollisionWorld * collisionWorld);
+	void warp(const btVector3& origin);
 
-	void preStep (  btCollisionWorld* collisionWorld);
-	void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
+	void preStep(btCollisionWorld * collisionWorld);
+	void playerStep(btCollisionWorld * collisionWorld, btScalar dt);
 
 	void setStepHeight(btScalar h);
 	btScalar getStepHeight() const { return m_stepHeight; }
-	void setFallSpeed (btScalar fallSpeed);
+	void setFallSpeed(btScalar fallSpeed);
 	btScalar getFallSpeed() const { return m_fallSpeed; }
-	void setJumpSpeed (btScalar jumpSpeed);
+	void setJumpSpeed(btScalar jumpSpeed);
 	btScalar getJumpSpeed() const { return m_jumpSpeed; }
-	void setMaxJumpHeight (btScalar maxJumpHeight);
-	bool canJump () const;
+	void setMaxJumpHeight(btScalar maxJumpHeight);
+	bool canJump() const;
 
 	void jump(const btVector3& v = btVector3(0, 0, 0));
 
@@ -192,13 +188,13 @@ public:
 	btScalar getMaxPenetrationDepth() const;
 
 	btPairCachingGhostObject* getGhostObject();
-	void	setUseGhostSweepTest(bool useGhostObjectSweepTest)
+	void setUseGhostSweepTest(bool useGhostObjectSweepTest)
 	{
 		m_useGhostObjectSweepTest = useGhostObjectSweepTest;
 	}
 
-	bool onGround () const;
-	void setUpInterpolate (bool value);
+	bool onGround() const;
+	void setUpInterpolate(bool value);
 };
 
-#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H
+#endif  // BT_KINEMATIC_CHARACTER_CONTROLLER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
new file mode 100644
index 0000000000..b51dfaad3c
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
@@ -0,0 +1,1080 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btBatchedConstraints.h"
+
+#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btMinMax.h"
+#include "LinearMath/btStackAlloc.h"
+#include "LinearMath/btQuickprof.h"
+
+#include <string.h>  //for memset
+
+const int kNoMerge = -1;
+
+bool btBatchedConstraints::s_debugDrawBatches = false;
+
+struct btBatchedConstraintInfo
+{
+	int constraintIndex;
+	int numConstraintRows;
+	int bodyIds[2];
+};
+
+struct btBatchInfo
+{
+	int numConstraints;
+	int mergeIndex;
+
+	btBatchInfo() : numConstraints(0), mergeIndex(kNoMerge) {}
+};
+
+bool btBatchedConstraints::validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const
+{
+	//
+	// validate: for debugging only. Verify coloring of bodies, that no body is touched by more than one batch in any given phase
+	//
+	int errors = 0;
+	const int kUnassignedBatch = -1;
+
+	btAlignedObjectArray<int> bodyBatchId;
+	for (int iPhase = 0; iPhase < m_phases.size(); ++iPhase)
+	{
+		bodyBatchId.resizeNoInitialize(0);
+		bodyBatchId.resize(bodies.size(), kUnassignedBatch);
+		const Range& phase = m_phases[iPhase];
+		for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
+		{
+			const Range& batch = m_batches[iBatch];
+			for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons)
+			{
+				int iCons = m_constraintIndices[iiCons];
+				const btSolverConstraint& cons = constraints->at(iCons);
+				const btSolverBody& bodyA = bodies[cons.m_solverBodyIdA];
+				const btSolverBody& bodyB = bodies[cons.m_solverBodyIdB];
+				if (!bodyA.internalGetInvMass().isZero())
+				{
+					int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdA];
+					if (thisBodyBatchId == kUnassignedBatch)
+					{
+						bodyBatchId[cons.m_solverBodyIdA] = iBatch;
+					}
+					else if (thisBodyBatchId != iBatch)
+					{
+						btAssert(!"dynamic body is used in 2 different batches in the same phase");
+						errors++;
+					}
+				}
+				if (!bodyB.internalGetInvMass().isZero())
+				{
+					int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdB];
+					if (thisBodyBatchId == kUnassignedBatch)
+					{
+						bodyBatchId[cons.m_solverBodyIdB] = iBatch;
+					}
+					else if (thisBodyBatchId != iBatch)
+					{
+						btAssert(!"dynamic body is used in 2 different batches in the same phase");
+						errors++;
+					}
+				}
+			}
+		}
+	}
+	return errors == 0;
+}
+
+static void debugDrawSingleBatch(const btBatchedConstraints* bc,
+								 btConstraintArray* constraints,
+								 const btAlignedObjectArray<btSolverBody>& bodies,
+								 int iBatch,
+								 const btVector3& color,
+								 const btVector3& offset)
+{
+	if (bc && bc->m_debugDrawer && iBatch < bc->m_batches.size())
+	{
+		const btBatchedConstraints::Range& b = bc->m_batches[iBatch];
+		for (int iiCon = b.begin; iiCon < b.end; ++iiCon)
+		{
+			int iCon = bc->m_constraintIndices[iiCon];
+			const btSolverConstraint& con = constraints->at(iCon);
+			int iBody0 = con.m_solverBodyIdA;
+			int iBody1 = con.m_solverBodyIdB;
+			btVector3 pos0 = bodies[iBody0].getWorldTransform().getOrigin() + offset;
+			btVector3 pos1 = bodies[iBody1].getWorldTransform().getOrigin() + offset;
+			bc->m_debugDrawer->drawLine(pos0, pos1, color);
+		}
+	}
+}
+
+static void debugDrawPhase(const btBatchedConstraints* bc,
+						   btConstraintArray* constraints,
+						   const btAlignedObjectArray<btSolverBody>& bodies,
+						   int iPhase,
+						   const btVector3& color0,
+						   const btVector3& color1,
+						   const btVector3& offset)
+{
+	BT_PROFILE("debugDrawPhase");
+	if (bc && bc->m_debugDrawer && iPhase < bc->m_phases.size())
+	{
+		const btBatchedConstraints::Range& phase = bc->m_phases[iPhase];
+		for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
+		{
+			float tt = float(iBatch - phase.begin) / float(btMax(1, phase.end - phase.begin - 1));
+			btVector3 col = lerp(color0, color1, tt);
+			debugDrawSingleBatch(bc, constraints, bodies, iBatch, col, offset);
+		}
+	}
+}
+
+static void debugDrawAllBatches(const btBatchedConstraints* bc,
+								btConstraintArray* constraints,
+								const btAlignedObjectArray<btSolverBody>& bodies)
+{
+	BT_PROFILE("debugDrawAllBatches");
+	if (bc && bc->m_debugDrawer && bc->m_phases.size() > 0)
+	{
+		btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+		btVector3 bboxMax = -bboxMin;
+		for (int iBody = 0; iBody < bodies.size(); ++iBody)
+		{
+			const btVector3& pos = bodies[iBody].getWorldTransform().getOrigin();
+			bboxMin.setMin(pos);
+			bboxMax.setMax(pos);
+		}
+		btVector3 bboxExtent = bboxMax - bboxMin;
+		btVector3 offsetBase = btVector3(0, bboxExtent.y() * 1.1f, 0);
+		btVector3 offsetStep = btVector3(0, 0, bboxExtent.z() * 1.1f);
+		int numPhases = bc->m_phases.size();
+		for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+		{
+			float b = float(iPhase) / float(numPhases - 1);
+			btVector3 color0 = btVector3(1, 0, b);
+			btVector3 color1 = btVector3(0, 1, b);
+			btVector3 offset = offsetBase + offsetStep * (float(iPhase) - float(numPhases - 1) * 0.5);
+			debugDrawPhase(bc, constraints, bodies, iPhase, color0, color1, offset);
+		}
+	}
+}
+
+static void initBatchedBodyDynamicFlags(btAlignedObjectArray<bool>* outBodyDynamicFlags, const btAlignedObjectArray<btSolverBody>& bodies)
+{
+	BT_PROFILE("initBatchedBodyDynamicFlags");
+	btAlignedObjectArray<bool>& bodyDynamicFlags = *outBodyDynamicFlags;
+	bodyDynamicFlags.resizeNoInitialize(bodies.size());
+	for (int i = 0; i < bodies.size(); ++i)
+	{
+		const btSolverBody& body = bodies[i];
+		bodyDynamicFlags[i] = (body.internalGetInvMass().x() > btScalar(0));
+	}
+}
+
+static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo* outConInfos, int numConstraints)
+{
+	BT_PROFILE("runLengthEncodeConstraintInfo");
+	// detect and run-length encode constraint rows that repeat the same bodies
+	int iDest = 0;
+	int iSrc = 0;
+	while (iSrc < numConstraints)
+	{
+		const btBatchedConstraintInfo& srcConInfo = outConInfos[iSrc];
+		btBatchedConstraintInfo& conInfo = outConInfos[iDest];
+		conInfo.constraintIndex = iSrc;
+		conInfo.bodyIds[0] = srcConInfo.bodyIds[0];
+		conInfo.bodyIds[1] = srcConInfo.bodyIds[1];
+		while (iSrc < numConstraints && outConInfos[iSrc].bodyIds[0] == srcConInfo.bodyIds[0] && outConInfos[iSrc].bodyIds[1] == srcConInfo.bodyIds[1])
+		{
+			++iSrc;
+		}
+		conInfo.numConstraintRows = iSrc - conInfo.constraintIndex;
+		++iDest;
+	}
+	return iDest;
+}
+
+struct ReadSolverConstraintsLoop : public btIParallelForBody
+{
+	btBatchedConstraintInfo* m_outConInfos;
+	btConstraintArray* m_constraints;
+
+	ReadSolverConstraintsLoop(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
+	{
+		m_outConInfos = outConInfos;
+		m_constraints = constraints;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		for (int i = iBegin; i < iEnd; ++i)
+		{
+			btBatchedConstraintInfo& conInfo = m_outConInfos[i];
+			const btSolverConstraint& con = m_constraints->at(i);
+			conInfo.bodyIds[0] = con.m_solverBodyIdA;
+			conInfo.bodyIds[1] = con.m_solverBodyIdB;
+			conInfo.constraintIndex = i;
+			conInfo.numConstraintRows = 1;
+		}
+	}
+};
+
+static int initBatchedConstraintInfo(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
+{
+	BT_PROFILE("initBatchedConstraintInfo");
+	int numConstraints = constraints->size();
+	bool inParallel = true;
+	if (inParallel)
+	{
+		ReadSolverConstraintsLoop loop(outConInfos, constraints);
+		int grainSize = 1200;
+		btParallelFor(0, numConstraints, grainSize, loop);
+	}
+	else
+	{
+		for (int i = 0; i < numConstraints; ++i)
+		{
+			btBatchedConstraintInfo& conInfo = outConInfos[i];
+			const btSolverConstraint& con = constraints->at(i);
+			conInfo.bodyIds[0] = con.m_solverBodyIdA;
+			conInfo.bodyIds[1] = con.m_solverBodyIdB;
+			conInfo.constraintIndex = i;
+			conInfo.numConstraintRows = 1;
+		}
+	}
+	bool useRunLengthEncoding = true;
+	if (useRunLengthEncoding)
+	{
+		numConstraints = runLengthEncodeConstraintInfo(outConInfos, numConstraints);
+	}
+	return numConstraints;
+}
+
+static void expandConstraintRowsInPlace(int* constraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
+{
+	BT_PROFILE("expandConstraintRowsInPlace");
+	if (numConstraintRows > numConstraints)
+	{
+		// we walk the array in reverse to avoid overwriteing
+		for (int iCon = numConstraints - 1; iCon >= 0; --iCon)
+		{
+			const btBatchedConstraintInfo& conInfo = conInfos[iCon];
+			int iBatch = constraintBatchIds[iCon];
+			for (int i = conInfo.numConstraintRows - 1; i >= 0; --i)
+			{
+				int iDest = conInfo.constraintIndex + i;
+				btAssert(iDest >= iCon);
+				btAssert(iDest >= 0 && iDest < numConstraintRows);
+				constraintBatchIds[iDest] = iBatch;
+			}
+		}
+	}
+}
+
+static void expandConstraintRows(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
+{
+	BT_PROFILE("expandConstraintRows");
+	for (int iCon = 0; iCon < numConstraints; ++iCon)
+	{
+		const btBatchedConstraintInfo& conInfo = conInfos[iCon];
+		int iBatch = srcConstraintBatchIds[iCon];
+		for (int i = 0; i < conInfo.numConstraintRows; ++i)
+		{
+			int iDest = conInfo.constraintIndex + i;
+			btAssert(iDest >= iCon);
+			btAssert(iDest >= 0 && iDest < numConstraintRows);
+			destConstraintBatchIds[iDest] = iBatch;
+		}
+	}
+}
+
+struct ExpandConstraintRowsLoop : public btIParallelForBody
+{
+	int* m_destConstraintBatchIds;
+	const int* m_srcConstraintBatchIds;
+	const btBatchedConstraintInfo* m_conInfos;
+	int m_numConstraintRows;
+
+	ExpandConstraintRowsLoop(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraintRows)
+	{
+		m_destConstraintBatchIds = destConstraintBatchIds;
+		m_srcConstraintBatchIds = srcConstraintBatchIds;
+		m_conInfos = conInfos;
+		m_numConstraintRows = numConstraintRows;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		expandConstraintRows(m_destConstraintBatchIds, m_srcConstraintBatchIds + iBegin, m_conInfos + iBegin, iEnd - iBegin, m_numConstraintRows);
+	}
+};
+
+static void expandConstraintRowsMt(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
+{
+	BT_PROFILE("expandConstraintRowsMt");
+	ExpandConstraintRowsLoop loop(destConstraintBatchIds, srcConstraintBatchIds, conInfos, numConstraintRows);
+	int grainSize = 600;
+	btParallelFor(0, numConstraints, grainSize, loop);
+}
+
+static void initBatchedConstraintInfoArray(btAlignedObjectArray<btBatchedConstraintInfo>* outConInfos, btConstraintArray* constraints)
+{
+	BT_PROFILE("initBatchedConstraintInfoArray");
+	btAlignedObjectArray<btBatchedConstraintInfo>& conInfos = *outConInfos;
+	int numConstraints = constraints->size();
+	conInfos.resizeNoInitialize(numConstraints);
+
+	int newSize = initBatchedConstraintInfo(&outConInfos->at(0), constraints);
+	conInfos.resizeNoInitialize(newSize);
+}
+
+static void mergeSmallBatches(btBatchInfo* batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize)
+{
+	BT_PROFILE("mergeSmallBatches");
+	for (int iBatch = iEndBatch - 1; iBatch >= iBeginBatch; --iBatch)
+	{
+		btBatchInfo& batch = batches[iBatch];
+		if (batch.mergeIndex == kNoMerge && batch.numConstraints > 0 && batch.numConstraints < minBatchSize)
+		{
+			for (int iDestBatch = iBatch - 1; iDestBatch >= iBeginBatch; --iDestBatch)
+			{
+				btBatchInfo& destBatch = batches[iDestBatch];
+				if (destBatch.mergeIndex == kNoMerge && (destBatch.numConstraints + batch.numConstraints) < maxBatchSize)
+				{
+					destBatch.numConstraints += batch.numConstraints;
+					batch.numConstraints = 0;
+					batch.mergeIndex = iDestBatch;
+					break;
+				}
+			}
+		}
+	}
+	// flatten mergeIndexes
+	// e.g. in case where A was merged into B and then B was merged into C, we need A to point to C instead of B
+	// Note: loop goes forward through batches because batches always merge from higher indexes to lower,
+	//     so by going from low to high it reduces the amount of trail-following
+	for (int iBatch = iBeginBatch; iBatch < iEndBatch; ++iBatch)
+	{
+		btBatchInfo& batch = batches[iBatch];
+		if (batch.mergeIndex != kNoMerge)
+		{
+			int iMergeDest = batches[batch.mergeIndex].mergeIndex;
+			// follow trail of merges to the end
+			while (iMergeDest != kNoMerge)
+			{
+				int iNext = batches[iMergeDest].mergeIndex;
+				if (iNext == kNoMerge)
+				{
+					batch.mergeIndex = iMergeDest;
+					break;
+				}
+				iMergeDest = iNext;
+			}
+		}
+	}
+}
+
+static void updateConstraintBatchIdsForMerges(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
+{
+	BT_PROFILE("updateConstraintBatchIdsForMerges");
+	// update batchIds to account for merges
+	for (int i = 0; i < numConstraints; ++i)
+	{
+		int iBatch = constraintBatchIds[i];
+		btAssert(iBatch < numBatches);
+		// if this constraint references a batch that was merged into another batch
+		if (batches[iBatch].mergeIndex != kNoMerge)
+		{
+			// update batchId
+			constraintBatchIds[i] = batches[iBatch].mergeIndex;
+		}
+	}
+}
+
+struct UpdateConstraintBatchIdsForMergesLoop : public btIParallelForBody
+{
+	int* m_constraintBatchIds;
+	const btBatchInfo* m_batches;
+	int m_numBatches;
+
+	UpdateConstraintBatchIdsForMergesLoop(int* constraintBatchIds, const btBatchInfo* batches, int numBatches)
+	{
+		m_constraintBatchIds = constraintBatchIds;
+		m_batches = batches;
+		m_numBatches = numBatches;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("UpdateConstraintBatchIdsForMergesLoop");
+		updateConstraintBatchIdsForMerges(m_constraintBatchIds + iBegin, iEnd - iBegin, m_batches, m_numBatches);
+	}
+};
+
+static void updateConstraintBatchIdsForMergesMt(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
+{
+	BT_PROFILE("updateConstraintBatchIdsForMergesMt");
+	UpdateConstraintBatchIdsForMergesLoop loop(constraintBatchIds, batches, numBatches);
+	int grainSize = 800;
+	btParallelFor(0, numConstraints, grainSize, loop);
+}
+
+inline bool BatchCompare(const btBatchedConstraints::Range& a, const btBatchedConstraints::Range& b)
+{
+	int lenA = a.end - a.begin;
+	int lenB = b.end - b.begin;
+	return lenA > lenB;
+}
+
+static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints* bc,
+													   const int* constraintBatchIds,
+													   int numConstraints,
+													   int* constraintIdPerBatch,
+													   int batchBegin,
+													   int batchEnd)
+{
+	BT_PROFILE("writeOutConstraintIndicesForRangeOfBatches");
+	for (int iCon = 0; iCon < numConstraints; ++iCon)
+	{
+		int iBatch = constraintBatchIds[iCon];
+		if (iBatch >= batchBegin && iBatch < batchEnd)
+		{
+			int iDestCon = constraintIdPerBatch[iBatch];
+			constraintIdPerBatch[iBatch] = iDestCon + 1;
+			bc->m_constraintIndices[iDestCon] = iCon;
+		}
+	}
+}
+
+struct WriteOutConstraintIndicesLoop : public btIParallelForBody
+{
+	btBatchedConstraints* m_batchedConstraints;
+	const int* m_constraintBatchIds;
+	int m_numConstraints;
+	int* m_constraintIdPerBatch;
+	int m_maxNumBatchesPerPhase;
+
+	WriteOutConstraintIndicesLoop(btBatchedConstraints* bc, const int* constraintBatchIds, int numConstraints, int* constraintIdPerBatch, int maxNumBatchesPerPhase)
+	{
+		m_batchedConstraints = bc;
+		m_constraintBatchIds = constraintBatchIds;
+		m_numConstraints = numConstraints;
+		m_constraintIdPerBatch = constraintIdPerBatch;
+		m_maxNumBatchesPerPhase = maxNumBatchesPerPhase;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("WriteOutConstraintIndicesLoop");
+		int batchBegin = iBegin * m_maxNumBatchesPerPhase;
+		int batchEnd = iEnd * m_maxNumBatchesPerPhase;
+		writeOutConstraintIndicesForRangeOfBatches(m_batchedConstraints,
+												   m_constraintBatchIds,
+												   m_numConstraints,
+												   m_constraintIdPerBatch,
+												   batchBegin,
+												   batchEnd);
+	}
+};
+
+static void writeOutConstraintIndicesMt(btBatchedConstraints* bc,
+										const int* constraintBatchIds,
+										int numConstraints,
+										int* constraintIdPerBatch,
+										int maxNumBatchesPerPhase,
+										int numPhases)
+{
+	BT_PROFILE("writeOutConstraintIndicesMt");
+	bool inParallel = true;
+	if (inParallel)
+	{
+		WriteOutConstraintIndicesLoop loop(bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase);
+		btParallelFor(0, numPhases, 1, loop);
+	}
+	else
+	{
+		for (int iCon = 0; iCon < numConstraints; ++iCon)
+		{
+			int iBatch = constraintBatchIds[iCon];
+			int iDestCon = constraintIdPerBatch[iBatch];
+			constraintIdPerBatch[iBatch] = iDestCon + 1;
+			bc->m_constraintIndices[iDestCon] = iCon;
+		}
+	}
+}
+
+static void writeGrainSizes(btBatchedConstraints* bc)
+{
+	typedef btBatchedConstraints::Range Range;
+	int numPhases = bc->m_phases.size();
+	bc->m_phaseGrainSize.resizeNoInitialize(numPhases);
+	int numThreads = btGetTaskScheduler()->getNumThreads();
+	for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+	{
+		const Range& phase = bc->m_phases[iPhase];
+		int numBatches = phase.end - phase.begin;
+		float grainSize = floor((0.25f * numBatches / float(numThreads)) + 0.0f);
+		bc->m_phaseGrainSize[iPhase] = btMax(1, int(grainSize));
+	}
+}
+
+static void writeOutBatches(btBatchedConstraints* bc,
+							const int* constraintBatchIds,
+							int numConstraints,
+							const btBatchInfo* batches,
+							int* batchWork,
+							int maxNumBatchesPerPhase,
+							int numPhases)
+{
+	BT_PROFILE("writeOutBatches");
+	typedef btBatchedConstraints::Range Range;
+	bc->m_constraintIndices.reserve(numConstraints);
+	bc->m_batches.resizeNoInitialize(0);
+	bc->m_phases.resizeNoInitialize(0);
+
+	//int maxNumBatches = numPhases * maxNumBatchesPerPhase;
+	{
+		int* constraintIdPerBatch = batchWork;  // for each batch, keep an index into the next available slot in the m_constraintIndices array
+		int iConstraint = 0;
+		for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+		{
+			int curPhaseBegin = bc->m_batches.size();
+			int iBegin = iPhase * maxNumBatchesPerPhase;
+			int iEnd = iBegin + maxNumBatchesPerPhase;
+			for (int i = iBegin; i < iEnd; ++i)
+			{
+				const btBatchInfo& batch = batches[i];
+				int curBatchBegin = iConstraint;
+				constraintIdPerBatch[i] = curBatchBegin;  // record the start of each batch in m_constraintIndices array
+				int numConstraints = batch.numConstraints;
+				iConstraint += numConstraints;
+				if (numConstraints > 0)
+				{
+					bc->m_batches.push_back(Range(curBatchBegin, iConstraint));
+				}
+			}
+			// if any batches were emitted this phase,
+			if (bc->m_batches.size() > curPhaseBegin)
+			{
+				// output phase
+				bc->m_phases.push_back(Range(curPhaseBegin, bc->m_batches.size()));
+			}
+		}
+
+		btAssert(iConstraint == numConstraints);
+		bc->m_constraintIndices.resizeNoInitialize(numConstraints);
+		writeOutConstraintIndicesMt(bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase, numPhases);
+	}
+	// for each phase
+	for (int iPhase = 0; iPhase < bc->m_phases.size(); ++iPhase)
+	{
+		// sort the batches from largest to smallest (can be helpful to some task schedulers)
+		const Range& curBatches = bc->m_phases[iPhase];
+		bc->m_batches.quickSortInternal(BatchCompare, curBatches.begin, curBatches.end - 1);
+	}
+	bc->m_phaseOrder.resize(bc->m_phases.size());
+	for (int i = 0; i < bc->m_phases.size(); ++i)
+	{
+		bc->m_phaseOrder[i] = i;
+	}
+	writeGrainSizes(bc);
+}
+
+//
+// PreallocatedMemoryHelper -- helper object for allocating a number of chunks of memory in a single contiguous block.
+//                             It is generally more efficient to do a single larger allocation than many smaller allocations.
+//
+// Example Usage:
+//
+//  btVector3* bodyPositions = NULL;
+//  btBatchedConstraintInfo* conInfos = NULL;
+//  {
+//    PreallocatedMemoryHelper<8> memHelper;
+//    memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() );
+//    memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints );
+//    void* memPtr = malloc( memHelper.getSizeToAllocate() );  // allocate the memory
+//    memHelper.setChunkPointers( memPtr );  // update pointers to chunks
+//  }
+template <int N>
+class PreallocatedMemoryHelper
+{
+	struct Chunk
+	{
+		void** ptr;
+		size_t size;
+	};
+	Chunk m_chunks[N];
+	int m_numChunks;
+
+public:
+	PreallocatedMemoryHelper() { m_numChunks = 0; }
+	void addChunk(void** ptr, size_t sz)
+	{
+		btAssert(m_numChunks < N);
+		if (m_numChunks < N)
+		{
+			Chunk& chunk = m_chunks[m_numChunks];
+			chunk.ptr = ptr;
+			chunk.size = sz;
+			m_numChunks++;
+		}
+	}
+	size_t getSizeToAllocate() const
+	{
+		size_t totalSize = 0;
+		for (int i = 0; i < m_numChunks; ++i)
+		{
+			totalSize += m_chunks[i].size;
+		}
+		return totalSize;
+	}
+	void setChunkPointers(void* mem) const
+	{
+		size_t totalSize = 0;
+		for (int i = 0; i < m_numChunks; ++i)
+		{
+			const Chunk& chunk = m_chunks[i];
+			char* chunkPtr = static_cast<char*>(mem) + totalSize;
+			*chunk.ptr = chunkPtr;
+			totalSize += chunk.size;
+		}
+	}
+};
+
+static btVector3 findMaxDynamicConstraintExtent(
+	btVector3* bodyPositions,
+	bool* bodyDynamicFlags,
+	btBatchedConstraintInfo* conInfos,
+	int numConstraints,
+	int numBodies)
+{
+	BT_PROFILE("findMaxDynamicConstraintExtent");
+	btVector3 consExtent = btVector3(1, 1, 1) * 0.001;
+	for (int iCon = 0; iCon < numConstraints; ++iCon)
+	{
+		const btBatchedConstraintInfo& con = conInfos[iCon];
+		int iBody0 = con.bodyIds[0];
+		int iBody1 = con.bodyIds[1];
+		btAssert(iBody0 >= 0 && iBody0 < numBodies);
+		btAssert(iBody1 >= 0 && iBody1 < numBodies);
+		// is it a dynamic constraint?
+		if (bodyDynamicFlags[iBody0] && bodyDynamicFlags[iBody1])
+		{
+			btVector3 delta = bodyPositions[iBody1] - bodyPositions[iBody0];
+			consExtent.setMax(delta.absolute());
+		}
+	}
+	return consExtent;
+}
+
+struct btIntVec3
+{
+	int m_ints[3];
+
+	SIMD_FORCE_INLINE const int& operator[](int i) const { return m_ints[i]; }
+	SIMD_FORCE_INLINE int& operator[](int i) { return m_ints[i]; }
+};
+
+struct AssignConstraintsToGridBatchesParams
+{
+	bool* bodyDynamicFlags;
+	btIntVec3* bodyGridCoords;
+	int numBodies;
+	btBatchedConstraintInfo* conInfos;
+	int* constraintBatchIds;
+	btIntVec3 gridChunkDim;
+	int maxNumBatchesPerPhase;
+	int numPhases;
+	int phaseMask;
+
+	AssignConstraintsToGridBatchesParams()
+	{
+		memset(this, 0, sizeof(*this));
+	}
+};
+
+static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams& params, int iConBegin, int iConEnd)
+{
+	BT_PROFILE("assignConstraintsToGridBatches");
+	// (can be done in parallel)
+	for (int iCon = iConBegin; iCon < iConEnd; ++iCon)
+	{
+		const btBatchedConstraintInfo& con = params.conInfos[iCon];
+		int iBody0 = con.bodyIds[0];
+		int iBody1 = con.bodyIds[1];
+		int iPhase = iCon;  //iBody0; // pseudorandom choice to distribute evenly amongst phases
+		iPhase &= params.phaseMask;
+		int gridCoord[3];
+		// is it a dynamic constraint?
+		if (params.bodyDynamicFlags[iBody0] && params.bodyDynamicFlags[iBody1])
+		{
+			const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
+			const btIntVec3& body1Coords = params.bodyGridCoords[iBody1];
+			// for each dimension x,y,z,
+			for (int i = 0; i < 3; ++i)
+			{
+				int coordMin = btMin(body0Coords.m_ints[i], body1Coords.m_ints[i]);
+				int coordMax = btMax(body0Coords.m_ints[i], body1Coords.m_ints[i]);
+				if (coordMin != coordMax)
+				{
+					btAssert(coordMax == coordMin + 1);
+					if ((coordMin & 1) == 0)
+					{
+						iPhase &= ~(1 << i);  // force bit off
+					}
+					else
+					{
+						iPhase |= (1 << i);  // force bit on
+						iPhase &= params.phaseMask;
+					}
+				}
+				gridCoord[i] = coordMin;
+			}
+		}
+		else
+		{
+			if (!params.bodyDynamicFlags[iBody0])
+			{
+				iBody0 = con.bodyIds[1];
+			}
+			btAssert(params.bodyDynamicFlags[iBody0]);
+			const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
+			// for each dimension x,y,z,
+			for (int i = 0; i < 3; ++i)
+			{
+				gridCoord[i] = body0Coords.m_ints[i];
+			}
+		}
+		// calculate chunk coordinates
+		int chunkCoord[3];
+		btIntVec3 gridChunkDim = params.gridChunkDim;
+		// for each dimension x,y,z,
+		for (int i = 0; i < 3; ++i)
+		{
+			int coordOffset = (iPhase >> i) & 1;
+			chunkCoord[i] = (gridCoord[i] - coordOffset) / 2;
+			btClamp(chunkCoord[i], 0, gridChunkDim[i] - 1);
+			btAssert(chunkCoord[i] < gridChunkDim[i]);
+		}
+		int iBatch = iPhase * params.maxNumBatchesPerPhase + chunkCoord[0] + chunkCoord[1] * gridChunkDim[0] + chunkCoord[2] * gridChunkDim[0] * gridChunkDim[1];
+		btAssert(iBatch >= 0 && iBatch < params.maxNumBatchesPerPhase * params.numPhases);
+		params.constraintBatchIds[iCon] = iBatch;
+	}
+}
+
+struct AssignConstraintsToGridBatchesLoop : public btIParallelForBody
+{
+	const AssignConstraintsToGridBatchesParams* m_params;
+
+	AssignConstraintsToGridBatchesLoop(const AssignConstraintsToGridBatchesParams& params)
+	{
+		m_params = &params;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		assignConstraintsToGridBatches(*m_params, iBegin, iEnd);
+	}
+};
+
+//
+// setupSpatialGridBatchesMt -- generate batches using a uniform 3D grid
+//
+/*
+
+Bodies are treated as 3D points at their center of mass. We only consider dynamic bodies at this stage,
+because only dynamic bodies are mutated when a constraint is solved, thus subject to race conditions.
+
+1. Compute a bounding box around all dynamic bodies
+2. Compute the maximum extent of all dynamic constraints. Each dynamic constraint is treated as a line segment, and we need the size of
+   box that will fully enclose any single dynamic constraint
+
+3. Establish the cell size of our grid, the cell size in each dimension must be at least as large as the dynamic constraints max-extent,
+   so that no dynamic constraint can span more than 2 cells of our grid on any axis of the grid. The cell size should be adjusted
+   larger in order to keep the total number of cells from being excessively high
+
+Key idea: Given that each constraint spans 1 or 2 grid cells in each dimension, we can handle all constraints by processing
+          in chunks of 2x2x2 cells with 8 different 1-cell offsets ((0,0,0),(0,0,1),(0,1,0),(0,1,1),(1,0,0)...).
+          For each of the 8 offsets, we create a phase, and for each 2x2x2 chunk with dynamic constraints becomes a batch in that phase.
+
+4. Once the grid is established, we can calculate for each constraint which phase and batch it belongs in.
+
+5. Do a merge small batches on the batches of each phase separately, to try to even out the sizes of batches
+
+Optionally, we can "collapse" one dimension of our 3D grid to turn it into a 2D grid, which reduces the number of phases
+to 4. With fewer phases, there are more constraints per phase and this makes it easier to create batches of a useful size.
+*/
+//
+static void setupSpatialGridBatchesMt(
+	btBatchedConstraints* batchedConstraints,
+	btAlignedObjectArray<char>* scratchMemory,
+	btConstraintArray* constraints,
+	const btAlignedObjectArray<btSolverBody>& bodies,
+	int minBatchSize,
+	int maxBatchSize,
+	bool use2DGrid)
+{
+	BT_PROFILE("setupSpatialGridBatchesMt");
+	const int numPhases = 8;
+	int numConstraints = constraints->size();
+	int numConstraintRows = constraints->size();
+
+	const int maxGridChunkCount = 128;
+	int allocNumBatchesPerPhase = maxGridChunkCount;
+	int minNumBatchesPerPhase = 16;
+	int allocNumBatches = allocNumBatchesPerPhase * numPhases;
+
+	btVector3* bodyPositions = NULL;
+	bool* bodyDynamicFlags = NULL;
+	btIntVec3* bodyGridCoords = NULL;
+	btBatchInfo* batches = NULL;
+	int* batchWork = NULL;
+	btBatchedConstraintInfo* conInfos = NULL;
+	int* constraintBatchIds = NULL;
+	int* constraintRowBatchIds = NULL;
+	{
+		PreallocatedMemoryHelper<10> memHelper;
+		memHelper.addChunk((void**)&bodyPositions, sizeof(btVector3) * bodies.size());
+		memHelper.addChunk((void**)&bodyDynamicFlags, sizeof(bool) * bodies.size());
+		memHelper.addChunk((void**)&bodyGridCoords, sizeof(btIntVec3) * bodies.size());
+		memHelper.addChunk((void**)&batches, sizeof(btBatchInfo) * allocNumBatches);
+		memHelper.addChunk((void**)&batchWork, sizeof(int) * allocNumBatches);
+		memHelper.addChunk((void**)&conInfos, sizeof(btBatchedConstraintInfo) * numConstraints);
+		memHelper.addChunk((void**)&constraintBatchIds, sizeof(int) * numConstraints);
+		memHelper.addChunk((void**)&constraintRowBatchIds, sizeof(int) * numConstraintRows);
+		size_t scratchSize = memHelper.getSizeToAllocate();
+		// if we need to reallocate
+		if (scratchMemory->capacity() < scratchSize)
+		{
+			// allocate 6.25% extra to avoid repeated reallocs
+			scratchMemory->reserve(scratchSize + scratchSize / 16);
+		}
+		scratchMemory->resizeNoInitialize(scratchSize);
+		char* memPtr = &scratchMemory->at(0);
+		memHelper.setChunkPointers(memPtr);
+	}
+
+	numConstraints = initBatchedConstraintInfo(conInfos, constraints);
+
+	// compute bounding box around all dynamic bodies
+	// (could be done in parallel)
+	btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+	btVector3 bboxMax = -bboxMin;
+	//int dynamicBodyCount = 0;
+	for (int i = 0; i < bodies.size(); ++i)
+	{
+		const btSolverBody& body = bodies[i];
+		btVector3 bodyPos = body.getWorldTransform().getOrigin();
+		bool isDynamic = (body.internalGetInvMass().x() > btScalar(0));
+		bodyPositions[i] = bodyPos;
+		bodyDynamicFlags[i] = isDynamic;
+		if (isDynamic)
+		{
+			//dynamicBodyCount++;
+			bboxMin.setMin(bodyPos);
+			bboxMax.setMax(bodyPos);
+		}
+	}
+
+	// find max extent of all dynamic constraints
+	// (could be done in parallel)
+	btVector3 consExtent = findMaxDynamicConstraintExtent(bodyPositions, bodyDynamicFlags, conInfos, numConstraints, bodies.size());
+
+	btVector3 gridExtent = bboxMax - bboxMin;
+
+	btVector3 gridCellSize = consExtent;
+	int gridDim[3];
+	gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x());
+	gridDim[1] = int(1.0 + gridExtent.y() / gridCellSize.y());
+	gridDim[2] = int(1.0 + gridExtent.z() / gridCellSize.z());
+
+	// if we can collapse an axis, it will cut our number of phases in half which could be more efficient
+	int phaseMask = 7;
+	bool collapseAxis = use2DGrid;
+	if (collapseAxis)
+	{
+		// pick the smallest axis to collapse, leaving us with the greatest number of cells in our grid
+		int iAxisToCollapse = 0;
+		int axisDim = gridDim[iAxisToCollapse];
+		//for each dimension
+		for (int i = 0; i < 3; ++i)
+		{
+			if (gridDim[i] < axisDim)
+			{
+				iAxisToCollapse = i;
+				axisDim = gridDim[i];
+			}
+		}
+		// collapse it
+		gridCellSize[iAxisToCollapse] = gridExtent[iAxisToCollapse] * 2.0f;
+		phaseMask &= ~(1 << iAxisToCollapse);
+	}
+
+	int numGridChunks = 0;
+	btIntVec3 gridChunkDim;  // each chunk is 2x2x2 group of cells
+	while (true)
+	{
+		gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x());
+		gridDim[1] = int(1.0 + gridExtent.y() / gridCellSize.y());
+		gridDim[2] = int(1.0 + gridExtent.z() / gridCellSize.z());
+		gridChunkDim[0] = btMax(1, (gridDim[0] + 0) / 2);
+		gridChunkDim[1] = btMax(1, (gridDim[1] + 0) / 2);
+		gridChunkDim[2] = btMax(1, (gridDim[2] + 0) / 2);
+		numGridChunks = gridChunkDim[0] * gridChunkDim[1] * gridChunkDim[2];
+		float nChunks = float(gridChunkDim[0]) * float(gridChunkDim[1]) * float(gridChunkDim[2]);  // suceptible to integer overflow
+		if (numGridChunks <= maxGridChunkCount && nChunks <= maxGridChunkCount)
+		{
+			break;
+		}
+		gridCellSize *= 1.25;  // should roughly cut numCells in half
+	}
+	btAssert(numGridChunks <= maxGridChunkCount);
+	int maxNumBatchesPerPhase = numGridChunks;
+
+	// for each dynamic body, compute grid coords
+	btVector3 invGridCellSize = btVector3(1, 1, 1) / gridCellSize;
+	// (can be done in parallel)
+	for (int iBody = 0; iBody < bodies.size(); ++iBody)
+	{
+		btIntVec3& coords = bodyGridCoords[iBody];
+		if (bodyDynamicFlags[iBody])
+		{
+			btVector3 v = (bodyPositions[iBody] - bboxMin) * invGridCellSize;
+			coords.m_ints[0] = int(v.x());
+			coords.m_ints[1] = int(v.y());
+			coords.m_ints[2] = int(v.z());
+			btAssert(coords.m_ints[0] >= 0 && coords.m_ints[0] < gridDim[0]);
+			btAssert(coords.m_ints[1] >= 0 && coords.m_ints[1] < gridDim[1]);
+			btAssert(coords.m_ints[2] >= 0 && coords.m_ints[2] < gridDim[2]);
+		}
+		else
+		{
+			coords.m_ints[0] = -1;
+			coords.m_ints[1] = -1;
+			coords.m_ints[2] = -1;
+		}
+	}
+
+	for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+	{
+		int batchBegin = iPhase * maxNumBatchesPerPhase;
+		int batchEnd = batchBegin + maxNumBatchesPerPhase;
+		for (int iBatch = batchBegin; iBatch < batchEnd; ++iBatch)
+		{
+			btBatchInfo& batch = batches[iBatch];
+			batch = btBatchInfo();
+		}
+	}
+
+	{
+		AssignConstraintsToGridBatchesParams params;
+		params.bodyDynamicFlags = bodyDynamicFlags;
+		params.bodyGridCoords = bodyGridCoords;
+		params.numBodies = bodies.size();
+		params.conInfos = conInfos;
+		params.constraintBatchIds = constraintBatchIds;
+		params.gridChunkDim = gridChunkDim;
+		params.maxNumBatchesPerPhase = maxNumBatchesPerPhase;
+		params.numPhases = numPhases;
+		params.phaseMask = phaseMask;
+		bool inParallel = true;
+		if (inParallel)
+		{
+			AssignConstraintsToGridBatchesLoop loop(params);
+			int grainSize = 250;
+			btParallelFor(0, numConstraints, grainSize, loop);
+		}
+		else
+		{
+			assignConstraintsToGridBatches(params, 0, numConstraints);
+		}
+	}
+	for (int iCon = 0; iCon < numConstraints; ++iCon)
+	{
+		const btBatchedConstraintInfo& con = conInfos[iCon];
+		int iBatch = constraintBatchIds[iCon];
+		btBatchInfo& batch = batches[iBatch];
+		batch.numConstraints += con.numConstraintRows;
+	}
+
+	for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+	{
+		// if phase is legit,
+		if (iPhase == (iPhase & phaseMask))
+		{
+			int iBeginBatch = iPhase * maxNumBatchesPerPhase;
+			int iEndBatch = iBeginBatch + maxNumBatchesPerPhase;
+			mergeSmallBatches(batches, iBeginBatch, iEndBatch, minBatchSize, maxBatchSize);
+		}
+	}
+	// all constraints have been assigned a batchId
+	updateConstraintBatchIdsForMergesMt(constraintBatchIds, numConstraints, batches, maxNumBatchesPerPhase * numPhases);
+
+	if (numConstraintRows > numConstraints)
+	{
+		expandConstraintRowsMt(&constraintRowBatchIds[0], &constraintBatchIds[0], &conInfos[0], numConstraints, numConstraintRows);
+	}
+	else
+	{
+		constraintRowBatchIds = constraintBatchIds;
+	}
+
+	writeOutBatches(batchedConstraints, constraintRowBatchIds, numConstraintRows, batches, batchWork, maxNumBatchesPerPhase, numPhases);
+	btAssert(batchedConstraints->validate(constraints, bodies));
+}
+
+static void setupSingleBatch(
+	btBatchedConstraints* bc,
+	int numConstraints)
+{
+	BT_PROFILE("setupSingleBatch");
+	typedef btBatchedConstraints::Range Range;
+
+	bc->m_constraintIndices.resize(numConstraints);
+	for (int i = 0; i < numConstraints; ++i)
+	{
+		bc->m_constraintIndices[i] = i;
+	}
+
+	bc->m_batches.resizeNoInitialize(0);
+	bc->m_phases.resizeNoInitialize(0);
+	bc->m_phaseOrder.resizeNoInitialize(0);
+	bc->m_phaseGrainSize.resizeNoInitialize(0);
+
+	if (numConstraints > 0)
+	{
+		bc->m_batches.push_back(Range(0, numConstraints));
+		bc->m_phases.push_back(Range(0, 1));
+		bc->m_phaseOrder.push_back(0);
+		bc->m_phaseGrainSize.push_back(1);
+	}
+}
+
+void btBatchedConstraints::setup(
+	btConstraintArray* constraints,
+	const btAlignedObjectArray<btSolverBody>& bodies,
+	BatchingMethod batchingMethod,
+	int minBatchSize,
+	int maxBatchSize,
+	btAlignedObjectArray<char>* scratchMemory)
+{
+	if (constraints->size() >= minBatchSize * 4)
+	{
+		bool use2DGrid = batchingMethod == BATCHING_METHOD_SPATIAL_GRID_2D;
+		setupSpatialGridBatchesMt(this, scratchMemory, constraints, bodies, minBatchSize, maxBatchSize, use2DGrid);
+		if (s_debugDrawBatches)
+		{
+			debugDrawAllBatches(this, constraints, bodies);
+		}
+	}
+	else
+	{
+		setupSingleBatch(this, constraints->size());
+	}
+}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
new file mode 100644
index 0000000000..5d982ca370
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
@@ -0,0 +1,62 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_BATCHED_CONSTRAINTS_H
+#define BT_BATCHED_CONSTRAINTS_H
+
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
+#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
+
+class btIDebugDraw;
+
+struct btBatchedConstraints
+{
+	enum BatchingMethod
+	{
+		BATCHING_METHOD_SPATIAL_GRID_2D,
+		BATCHING_METHOD_SPATIAL_GRID_3D,
+		BATCHING_METHOD_COUNT
+	};
+	struct Range
+	{
+		int begin;
+		int end;
+
+		Range() : begin(0), end(0) {}
+		Range(int _beg, int _end) : begin(_beg), end(_end) {}
+	};
+
+	btAlignedObjectArray<int> m_constraintIndices;
+	btAlignedObjectArray<Range> m_batches;        // each batch is a range of indices in the m_constraintIndices array
+	btAlignedObjectArray<Range> m_phases;         // each phase is range of indices in the m_batches array
+	btAlignedObjectArray<char> m_phaseGrainSize;  // max grain size for each phase
+	btAlignedObjectArray<int> m_phaseOrder;       // phases can be done in any order, so we can randomize the order here
+	btIDebugDraw* m_debugDrawer;
+
+	static bool s_debugDrawBatches;
+
+	btBatchedConstraints() { m_debugDrawer = NULL; }
+	void setup(btConstraintArray* constraints,
+			   const btAlignedObjectArray<btSolverBody>& bodies,
+			   BatchingMethod batchingMethod,
+			   int minBatchSize,
+			   int maxBatchSize,
+			   btAlignedObjectArray<char>* scratchMemory);
+	bool validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const;
+};
+
+#endif  // BT_BATCHED_CONSTRAINTS_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index 0572256f74..10678b2a61 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -15,49 +15,37 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-
 #include "btConeTwistConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 #include "LinearMath/btMinMax.h"
 #include <new>
 
-
-
 //#define CONETWIST_USE_OBSOLETE_SOLVER true
 #define CONETWIST_USE_OBSOLETE_SOLVER false
 #define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
 
-
 SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis, const btMatrix3x3& invInertiaWorld)
 {
 	btVector3 vec = axis * invInertiaWorld;
 	return axis.dot(vec);
 }
 
-
-
-
-btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB, 
-											 const btTransform& rbAFrame,const btTransform& rbBFrame)
-											 :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
-											 m_angularOnly(false),
-											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
+btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA, btRigidBody& rbB,
+											 const btTransform& rbAFrame, const btTransform& rbBFrame)
+	: btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA, rbB), m_rbAFrame(rbAFrame), m_rbBFrame(rbBFrame), m_angularOnly(false), m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
 {
 	init();
 }
 
-btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
-											:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame),
-											 m_angularOnly(false),
-											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
+btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA, const btTransform& rbAFrame)
+	: btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA), m_rbAFrame(rbAFrame), m_angularOnly(false), m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
 {
 	m_rbBFrame = m_rbAFrame;
 	m_rbBFrame.setOrigin(btVector3(0., 0., 0.));
-	init();	
+	init();
 }
 
-
 void btConeTwistConstraint::init()
 {
 	m_angularOnly = false;
@@ -75,30 +63,29 @@ void btConeTwistConstraint::init()
 	m_angCFM = btScalar(0.f);
 }
 
-
-void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
+void btConeTwistConstraint::getInfo1(btConstraintInfo1* info)
 {
 	if (m_useSolveConstraintObsolete)
 	{
 		info->m_numConstraintRows = 0;
 		info->nub = 0;
-	} 
+	}
 	else
 	{
 		info->m_numConstraintRows = 3;
 		info->nub = 3;
-		calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
-		if(m_solveSwingLimit)
+		calcAngleInfo2(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getInvInertiaTensorWorld(), m_rbB.getInvInertiaTensorWorld());
+		if (m_solveSwingLimit)
 		{
 			info->m_numConstraintRows++;
 			info->nub--;
-			if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
+			if ((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
 			{
 				info->m_numConstraintRows++;
 				info->nub--;
 			}
 		}
-		if(m_solveTwistLimit)
+		if (m_solveTwistLimit)
 		{
 			info->m_numConstraintRows++;
 			info->nub--;
@@ -106,90 +93,88 @@ void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
 	}
 }
 
-void btConeTwistConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+void btConeTwistConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
 {
 	//always reserve 6 rows: object transform is not available on SPU
 	info->m_numConstraintRows = 6;
 	info->nub = 0;
-		
 }
-	
 
-void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
+void btConeTwistConstraint::getInfo2(btConstraintInfo2* info)
 {
-	getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
+	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getInvInertiaTensorWorld(), m_rbB.getInvInertiaTensorWorld());
 }
 
-void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB)
+void btConeTwistConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB)
 {
-	calcAngleInfo2(transA,transB,invInertiaWorldA,invInertiaWorldB);
-	
+	calcAngleInfo2(transA, transB, invInertiaWorldA, invInertiaWorldB);
+
 	btAssert(!m_useSolveConstraintObsolete);
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-    info->m_J1linearAxis[info->rowskip+1] = 1;
-    info->m_J1linearAxis[2*info->rowskip+2] = 1;
+	// set jacobian
+	info->m_J1linearAxis[0] = 1;
+	info->m_J1linearAxis[info->rowskip + 1] = 1;
+	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
 	btVector3 a1 = transA.getBasis() * m_rbAFrame.getOrigin();
 	{
 		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
+		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
 		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    info->m_J2linearAxis[0] = -1;
-    info->m_J2linearAxis[info->rowskip+1] = -1;
-    info->m_J2linearAxis[2*info->rowskip+2] = -1;
+	info->m_J2linearAxis[0] = -1;
+	info->m_J2linearAxis[info->rowskip + 1] = -1;
+	info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
 	btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
 	{
 		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    // set right hand side
+	// set right hand side
 	btScalar linERP = (m_flags & BT_CONETWIST_FLAGS_LIN_ERP) ? m_linERP : info->erp;
-    btScalar k = info->fps * linERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]);
-		info->m_lowerLimit[j*info->rowskip] = -SIMD_INFINITY;
-		info->m_upperLimit[j*info->rowskip] = SIMD_INFINITY;
-		if(m_flags & BT_CONETWIST_FLAGS_LIN_CFM)
+	btScalar k = info->fps * linERP;
+	int j;
+	for (j = 0; j < 3; j++)
+	{
+		info->m_constraintError[j * info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]);
+		info->m_lowerLimit[j * info->rowskip] = -SIMD_INFINITY;
+		info->m_upperLimit[j * info->rowskip] = SIMD_INFINITY;
+		if (m_flags & BT_CONETWIST_FLAGS_LIN_CFM)
 		{
-			info->cfm[j*info->rowskip] = m_linCFM;
+			info->cfm[j * info->rowskip] = m_linCFM;
 		}
-    }
+	}
 	int row = 3;
-    int srow = row * info->rowskip;
+	int srow = row * info->rowskip;
 	btVector3 ax1;
 	// angular limits
-	if(m_solveSwingLimit)
+	if (m_solveSwingLimit)
 	{
-		btScalar *J1 = info->m_J1angularAxis;
-		btScalar *J2 = info->m_J2angularAxis;
-		if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
+		btScalar* J1 = info->m_J1angularAxis;
+		btScalar* J2 = info->m_J2angularAxis;
+		if ((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
 		{
-			btTransform trA = transA*m_rbAFrame;
+			btTransform trA = transA * m_rbAFrame;
 			btVector3 p = trA.getBasis().getColumn(1);
 			btVector3 q = trA.getBasis().getColumn(2);
 			int srow1 = srow + info->rowskip;
-			J1[srow+0] = p[0];
-			J1[srow+1] = p[1];
-			J1[srow+2] = p[2];
-			J1[srow1+0] = q[0];
-			J1[srow1+1] = q[1];
-			J1[srow1+2] = q[2];
-			J2[srow+0] = -p[0];
-			J2[srow+1] = -p[1];
-			J2[srow+2] = -p[2];
-			J2[srow1+0] = -q[0];
-			J2[srow1+1] = -q[1];
-			J2[srow1+2] = -q[2];
+			J1[srow + 0] = p[0];
+			J1[srow + 1] = p[1];
+			J1[srow + 2] = p[2];
+			J1[srow1 + 0] = q[0];
+			J1[srow1 + 1] = q[1];
+			J1[srow1 + 2] = q[2];
+			J2[srow + 0] = -p[0];
+			J2[srow + 1] = -p[1];
+			J2[srow + 2] = -p[2];
+			J2[srow1 + 0] = -q[0];
+			J2[srow1 + 1] = -q[1];
+			J2[srow1 + 2] = -q[2];
 			btScalar fact = info->fps * m_relaxationFactor;
-			info->m_constraintError[srow] =   fact * m_swingAxis.dot(p);
-			info->m_constraintError[srow1] =  fact * m_swingAxis.dot(q);
+			info->m_constraintError[srow] = fact * m_swingAxis.dot(p);
+			info->m_constraintError[srow1] = fact * m_swingAxis.dot(q);
 			info->m_lowerLimit[srow] = -SIMD_INFINITY;
 			info->m_upperLimit[srow] = SIMD_INFINITY;
 			info->m_lowerLimit[srow1] = -SIMD_INFINITY;
@@ -199,16 +184,16 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
 		else
 		{
 			ax1 = m_swingAxis * m_relaxationFactor * m_relaxationFactor;
-			J1[srow+0] = ax1[0];
-			J1[srow+1] = ax1[1];
-			J1[srow+2] = ax1[2];
-			J2[srow+0] = -ax1[0];
-			J2[srow+1] = -ax1[1];
-			J2[srow+2] = -ax1[2];
+			J1[srow + 0] = ax1[0];
+			J1[srow + 1] = ax1[1];
+			J1[srow + 2] = ax1[2];
+			J2[srow + 0] = -ax1[0];
+			J2[srow + 1] = -ax1[1];
+			J2[srow + 2] = -ax1[2];
 			btScalar k = info->fps * m_biasFactor;
 
 			info->m_constraintError[srow] = k * m_swingCorrection;
-			if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
+			if (m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
 			{
 				info->cfm[srow] = m_angCFM;
 			}
@@ -218,36 +203,35 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
 			srow += info->rowskip;
 		}
 	}
-	if(m_solveTwistLimit)
+	if (m_solveTwistLimit)
 	{
 		ax1 = m_twistAxis * m_relaxationFactor * m_relaxationFactor;
-		btScalar *J1 = info->m_J1angularAxis;
-		btScalar *J2 = info->m_J2angularAxis;
-		J1[srow+0] = ax1[0];
-		J1[srow+1] = ax1[1];
-		J1[srow+2] = ax1[2];
-		J2[srow+0] = -ax1[0];
-		J2[srow+1] = -ax1[1];
-		J2[srow+2] = -ax1[2];
+		btScalar* J1 = info->m_J1angularAxis;
+		btScalar* J2 = info->m_J2angularAxis;
+		J1[srow + 0] = ax1[0];
+		J1[srow + 1] = ax1[1];
+		J1[srow + 2] = ax1[2];
+		J2[srow + 0] = -ax1[0];
+		J2[srow + 1] = -ax1[1];
+		J2[srow + 2] = -ax1[2];
 		btScalar k = info->fps * m_biasFactor;
 		info->m_constraintError[srow] = k * m_twistCorrection;
-		if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
+		if (m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
 		{
 			info->cfm[srow] = m_angCFM;
 		}
-		if(m_twistSpan > 0.0f)
+		if (m_twistSpan > 0.0f)
 		{
-
-			if(m_twistCorrection > 0.0f)
+			if (m_twistCorrection > 0.0f)
 			{
 				info->m_lowerLimit[srow] = 0;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
-			} 
+			}
 			else
 			{
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = 0;
-			} 
+			}
 		}
 		else
 		{
@@ -257,22 +241,20 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
 		srow += info->rowskip;
 	}
 }
-	
 
-
-void	btConeTwistConstraint::buildJacobian()
+void btConeTwistConstraint::buildJacobian()
 {
 	if (m_useSolveConstraintObsolete)
 	{
 		m_appliedImpulse = btScalar(0.);
 		m_accTwistLimitImpulse = btScalar(0.);
 		m_accSwingLimitImpulse = btScalar(0.);
-		m_accMotorImpulse = btVector3(0.,0.,0.);
+		m_accMotorImpulse = btVector3(0., 0., 0.);
 
 		if (!m_angularOnly)
 		{
-			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
+			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
 			btVector3 relPos = pivotBInW - pivotAInW;
 
 			btVector3 normal[3];
@@ -282,71 +264,68 @@ void	btConeTwistConstraint::buildJacobian()
 			}
 			else
 			{
-				normal[0].setValue(btScalar(1.0),0,0);
+				normal[0].setValue(btScalar(1.0), 0, 0);
 			}
 
 			btPlaneSpace1(normal[0], normal[1], normal[2]);
 
-			for (int i=0;i<3;i++)
+			for (int i = 0; i < 3; i++)
 			{
 				new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				pivotAInW - m_rbA.getCenterOfMassPosition(),
-				pivotBInW - m_rbB.getCenterOfMassPosition(),
-				normal[i],
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
+					m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+					m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+					pivotAInW - m_rbA.getCenterOfMassPosition(),
+					pivotBInW - m_rbB.getCenterOfMassPosition(),
+					normal[i],
+					m_rbA.getInvInertiaDiagLocal(),
+					m_rbA.getInvMass(),
+					m_rbB.getInvInertiaDiagLocal(),
+					m_rbB.getInvMass());
 			}
 		}
 
-		calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
+		calcAngleInfo2(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getInvInertiaTensorWorld(), m_rbB.getInvInertiaTensorWorld());
 	}
 }
 
-
-
-void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
+void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA, btSolverBody& bodyB, btScalar timeStep)
 {
-	#ifndef __SPU__
+#ifndef __SPU__
 	if (m_useSolveConstraintObsolete)
 	{
-		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
+		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
 
 		btScalar tau = btScalar(0.3);
 
 		//linear part
 		if (!m_angularOnly)
 		{
-			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
 			btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
 
 			btVector3 vel1;
-			bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
+			bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1, vel1);
 			btVector3 vel2;
-			bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
+			bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2, vel2);
 			btVector3 vel = vel1 - vel2;
 
-			for (int i=0;i<3;i++)
-			{		
+			for (int i = 0; i < 3; i++)
+			{
 				const btVector3& normal = m_jac[i].m_linearJointAxis;
 				btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
 
 				btScalar rel_vel;
 				rel_vel = normal.dot(vel);
 				//positional error (zeroth order error)
-				btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-				btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
+				btScalar depth = -(pivotAInW - pivotBInW).dot(normal);  //this is the error projected on the normal
+				btScalar impulse = depth * tau / timeStep * jacDiagABInv - rel_vel * jacDiagABInv;
 				m_appliedImpulse += impulse;
-				
+
 				btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
 				btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
-				bodyA.internalApplyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
-				bodyB.internalApplyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
-		
+				bodyA.internalApplyImpulse(normal * m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld() * ftorqueAxis1, impulse);
+				bodyB.internalApplyImpulse(normal * m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld() * ftorqueAxis2, -impulse);
 			}
 		}
 
@@ -356,13 +335,17 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 			// compute current and predicted transforms
 			btTransform trACur = m_rbA.getCenterOfMassTransform();
 			btTransform trBCur = m_rbB.getCenterOfMassTransform();
-			btVector3 omegaA; bodyA.internalGetAngularVelocity(omegaA);
-			btVector3 omegaB; bodyB.internalGetAngularVelocity(omegaB);
-			btTransform trAPred; trAPred.setIdentity(); 
-			btVector3 zerovec(0,0,0);
+			btVector3 omegaA;
+			bodyA.internalGetAngularVelocity(omegaA);
+			btVector3 omegaB;
+			bodyB.internalGetAngularVelocity(omegaB);
+			btTransform trAPred;
+			trAPred.setIdentity();
+			btVector3 zerovec(0, 0, 0);
 			btTransformUtil::integrateTransform(
 				trACur, zerovec, omegaA, timeStep, trAPred);
-			btTransform trBPred; trBPred.setIdentity(); 
+			btTransform trBPred;
+			trBPred.setIdentity();
 			btTransformUtil::integrateTransform(
 				trBCur, zerovec, omegaB, timeStep, trBPred);
 
@@ -374,7 +357,7 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 
 			// compute desired omegas in world
 			btVector3 omegaADes, omegaBDes;
-			
+
 			btTransformUtil::calculateVelocity(trACur, trADes, timeStep, zerovec, omegaADes);
 			btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, zerovec, omegaBDes);
 
@@ -415,10 +398,10 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 				{
 					btScalar fMaxImpulse = m_maxMotorImpulse;
 					if (m_bNormalizedMotorStrength)
-						fMaxImpulse = fMaxImpulse/kAxisAInv;
+						fMaxImpulse = fMaxImpulse / kAxisAInv;
 
 					btVector3 newUnclampedAccImpulse = m_accMotorImpulse + impulse;
-					btScalar  newUnclampedMag = newUnclampedAccImpulse.length();
+					btScalar newUnclampedMag = newUnclampedAccImpulse.length();
 					if (newUnclampedMag > fMaxImpulse)
 					{
 						newUnclampedAccImpulse.normalize();
@@ -428,31 +411,32 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 					m_accMotorImpulse += impulse;
 				}
 
-				btScalar  impulseMag  = impulse.length();
-				btVector3 impulseAxis =  impulse / impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
+				btScalar impulseMag = impulse.length();
+				btVector3 impulseAxis = impulse / impulseMag;
 
+				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * impulseAxis, impulseMag);
+				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * impulseAxis, -impulseMag);
 			}
 		}
-		else if (m_damping > SIMD_EPSILON) // no motor: do a little damping
+		else if (m_damping > SIMD_EPSILON)  // no motor: do a little damping
 		{
-			btVector3 angVelA; bodyA.internalGetAngularVelocity(angVelA);
-			btVector3 angVelB; bodyB.internalGetAngularVelocity(angVelB);
+			btVector3 angVelA;
+			bodyA.internalGetAngularVelocity(angVelA);
+			btVector3 angVelB;
+			bodyB.internalGetAngularVelocity(angVelB);
 			btVector3 relVel = angVelB - angVelA;
 			if (relVel.length2() > SIMD_EPSILON)
 			{
 				btVector3 relVelAxis = relVel.normalized();
-				btScalar m_kDamping =  btScalar(1.) /
-					(getRigidBodyA().computeAngularImpulseDenominator(relVelAxis) +
-					 getRigidBodyB().computeAngularImpulseDenominator(relVelAxis));
+				btScalar m_kDamping = btScalar(1.) /
+									  (getRigidBodyA().computeAngularImpulseDenominator(relVelAxis) +
+									   getRigidBodyB().computeAngularImpulseDenominator(relVelAxis));
 				btVector3 impulse = m_damping * m_kDamping * relVel;
 
-				btScalar  impulseMag  = impulse.length();
+				btScalar impulseMag = impulse.length();
 				btVector3 impulseAxis = impulse / impulseMag;
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
+				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * impulseAxis, impulseMag);
+				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * impulseAxis, -impulseMag);
 			}
 		}
 
@@ -467,7 +451,7 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 			// solve swing limit
 			if (m_solveSwingLimit)
 			{
-				btScalar amplitude = m_swingLimitRatio * m_swingCorrection*m_biasFactor/timeStep;
+				btScalar amplitude = m_swingLimitRatio * m_swingCorrection * m_biasFactor / timeStep;
 				btScalar relSwingVel = (angVelB - angVelA).dot(m_swingAxis);
 				if (relSwingVel > 0)
 					amplitude += m_swingLimitRatio * relSwingVel * m_relaxationFactor;
@@ -475,7 +459,7 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 
 				// Clamp the accumulated impulse
 				btScalar temp = m_accSwingLimitImpulse;
-				m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) );
+				m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0));
 				impulseMag = m_accSwingLimitImpulse - temp;
 
 				btVector3 impulse = m_swingAxis * impulseMag;
@@ -491,47 +475,41 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 				impulseMag = impulse.length();
 				btVector3 noTwistSwingAxis = impulse / impulseMag;
 
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
+				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * noTwistSwingAxis, impulseMag);
+				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * noTwistSwingAxis, -impulseMag);
 			}
 
-
 			// solve twist limit
 			if (m_solveTwistLimit)
 			{
-				btScalar amplitude = m_twistLimitRatio * m_twistCorrection*m_biasFactor/timeStep;
-				btScalar relTwistVel = (angVelB - angVelA).dot( m_twistAxis );
-				if (relTwistVel > 0) // only damp when moving towards limit (m_twistAxis flipping is important)
+				btScalar amplitude = m_twistLimitRatio * m_twistCorrection * m_biasFactor / timeStep;
+				btScalar relTwistVel = (angVelB - angVelA).dot(m_twistAxis);
+				if (relTwistVel > 0)  // only damp when moving towards limit (m_twistAxis flipping is important)
 					amplitude += m_twistLimitRatio * relTwistVel * m_relaxationFactor;
 				btScalar impulseMag = amplitude * m_kTwist;
 
 				// Clamp the accumulated impulse
 				btScalar temp = m_accTwistLimitImpulse;
-				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
+				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0));
 				impulseMag = m_accTwistLimitImpulse - temp;
 
-		//		btVector3 impulse = m_twistAxis * impulseMag;
+				//		btVector3 impulse = m_twistAxis * impulseMag;
 
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
-			}		
+				bodyA.internalApplyImpulse(btVector3(0, 0, 0), m_rbA.getInvInertiaTensorWorld() * m_twistAxis, impulseMag);
+				bodyB.internalApplyImpulse(btVector3(0, 0, 0), m_rbB.getInvInertiaTensorWorld() * m_twistAxis, -impulseMag);
+			}
 		}
 	}
 #else
-btAssert(0);
-#endif //__SPU__
+	btAssert(0);
+#endif  //__SPU__
 }
 
-
-
-
-void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
+void btConeTwistConstraint::updateRHS(btScalar timeStep)
 {
 	(void)timeStep;
-
 }
 
-
 #ifndef __SPU__
 void btConeTwistConstraint::calcAngleInfo()
 {
@@ -540,15 +518,15 @@ void btConeTwistConstraint::calcAngleInfo()
 	m_solveTwistLimit = false;
 	m_solveSwingLimit = false;
 
-	btVector3 b1Axis1(0,0,0),b1Axis2(0,0,0),b1Axis3(0,0,0);
-	btVector3 b2Axis1(0,0,0),b2Axis2(0,0,0);
+	btVector3 b1Axis1(0, 0, 0), b1Axis2(0, 0, 0), b1Axis3(0, 0, 0);
+	btVector3 b2Axis1(0, 0, 0), b2Axis2(0, 0, 0);
 
 	b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0);
 	b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0);
 
-	btScalar swing1=btScalar(0.),swing2 = btScalar(0.);
+	btScalar swing1 = btScalar(0.), swing2 = btScalar(0.);
 
-	btScalar swx=btScalar(0.),swy = btScalar(0.);
+	btScalar swx = btScalar(0.), swy = btScalar(0.);
 	btScalar thresh = btScalar(10.);
 	btScalar fact;
 
@@ -558,33 +536,33 @@ void btConeTwistConstraint::calcAngleInfo()
 		b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
 		swx = b2Axis1.dot(b1Axis1);
 		swy = b2Axis1.dot(b1Axis2);
-		swing1  = btAtan2Fast(swy, swx);
-		fact = (swy*swy + swx*swx) * thresh * thresh;
+		swing1 = btAtan2Fast(swy, swx);
+		fact = (swy * swy + swx * swx) * thresh * thresh;
 		fact = fact / (fact + btScalar(1.0));
-		swing1 *= fact; 
+		swing1 *= fact;
 	}
 
 	if (m_swingSpan2 >= btScalar(0.05f))
 	{
-		b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);			
+		b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);
 		swx = b2Axis1.dot(b1Axis1);
 		swy = b2Axis1.dot(b1Axis3);
-		swing2  = btAtan2Fast(swy, swx);
-		fact = (swy*swy + swx*swx) * thresh * thresh;
+		swing2 = btAtan2Fast(swy, swx);
+		fact = (swy * swy + swx * swx) * thresh * thresh;
 		fact = fact / (fact + btScalar(1.0));
-		swing2 *= fact; 
+		swing2 *= fact;
 	}
 
-	btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);		
-	btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2);	
-	btScalar EllipseAngle = btFabs(swing1*swing1)* RMaxAngle1Sq + btFabs(swing2*swing2) * RMaxAngle2Sq;
+	btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1 * m_swingSpan1);
+	btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2 * m_swingSpan2);
+	btScalar EllipseAngle = btFabs(swing1 * swing1) * RMaxAngle1Sq + btFabs(swing2 * swing2) * RMaxAngle2Sq;
 
 	if (EllipseAngle > 1.0f)
 	{
-		m_swingCorrection = EllipseAngle-1.0f;
+		m_swingCorrection = EllipseAngle - 1.0f;
 		m_solveSwingLimit = true;
 		// Calculate necessary axis & factors
-		m_swingAxis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3));
+		m_swingAxis = b2Axis1.cross(b1Axis2 * b2Axis1.dot(b1Axis2) + b1Axis3 * b2Axis1.dot(b1Axis3));
 		m_swingAxis.normalize();
 		btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
 		m_swingAxis *= swingAxisSign;
@@ -594,14 +572,14 @@ void btConeTwistConstraint::calcAngleInfo()
 	if (m_twistSpan >= btScalar(0.))
 	{
 		btVector3 b2Axis2 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(1);
-		btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
-		btVector3 TwistRef = quatRotate(rotationArc,b2Axis2); 
-		btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
+		btQuaternion rotationArc = shortestArcQuat(b2Axis1, b1Axis1);
+		btVector3 TwistRef = quatRotate(rotationArc, b2Axis2);
+		btScalar twist = btAtan2Fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));
 		m_twistAngle = twist;
 
-//		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
+		//		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
 		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? btScalar(1.0f) : btScalar(0.);
-		if (twist <= -m_twistSpan*lockedFreeFactor)
+		if (twist <= -m_twistSpan * lockedFreeFactor)
 		{
 			m_twistCorrection = -(twist + m_twistSpan);
 			m_solveTwistLimit = true;
@@ -609,7 +587,7 @@ void btConeTwistConstraint::calcAngleInfo()
 			m_twistAxis.normalize();
 			m_twistAxis *= -1.0f;
 		}
-		else if (twist >  m_twistSpan*lockedFreeFactor)
+		else if (twist > m_twistSpan * lockedFreeFactor)
 		{
 			m_twistCorrection = (twist - m_twistSpan);
 			m_solveTwistLimit = true;
@@ -618,13 +596,11 @@ void btConeTwistConstraint::calcAngleInfo()
 		}
 	}
 }
-#endif //__SPU__
-
-static btVector3 vTwist(1,0,0); // twist axis in constraint's space
+#endif  //__SPU__
 
+static btVector3 vTwist(1, 0, 0);  // twist axis in constraint's space
 
-
-void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB)
+void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB)
 {
 	m_swingCorrection = btScalar(0.);
 	m_twistLimitSign = btScalar(0.);
@@ -632,7 +608,7 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 	m_solveSwingLimit = false;
 	// compute rotation of A wrt B (in constraint space)
 	if (m_bMotorEnabled && (!m_useSolveConstraintObsolete))
-	{	// it is assumed that setMotorTarget() was alredy called 
+	{  // it is assumed that setMotorTarget() was alredy called
 		// and motor target m_qTarget is within constraint limits
 		// TODO : split rotation to pure swing and pure twist
 		// compute desired transforms in world
@@ -641,23 +617,22 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 		btTransform trB = transB * m_rbBFrame;
 		btTransform trDeltaAB = trB * trPose * trA.inverse();
 		btQuaternion qDeltaAB = trDeltaAB.getRotation();
-		btVector3 swingAxis = 	btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
+		btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
 		btScalar swingAxisLen2 = swingAxis.length2();
-		if(btFuzzyZero(swingAxisLen2))
+		if (btFuzzyZero(swingAxisLen2))
 		{
-		   return;
+			return;
 		}
 		m_swingAxis = swingAxis;
 		m_swingAxis.normalize();
 		m_swingCorrection = qDeltaAB.getAngle();
-		if(!btFuzzyZero(m_swingCorrection))
+		if (!btFuzzyZero(m_swingCorrection))
 		{
 			m_solveSwingLimit = true;
 		}
 		return;
 	}
 
-
 	{
 		// compute rotation of A wrt B (in constraint space)
 		btQuaternion qA = transA.getRotation() * m_rbAFrame.getRotation();
@@ -665,13 +640,17 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 		btQuaternion qAB = qB.inverse() * qA;
 		// split rotation into cone and twist
 		// (all this is done from B's perspective. Maybe I should be averaging axes...)
-		btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
-		btQuaternion qABCone  = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize();
-		btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize();
+		btVector3 vConeNoTwist = quatRotate(qAB, vTwist);
+		vConeNoTwist.normalize();
+		btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist);
+		qABCone.normalize();
+		btQuaternion qABTwist = qABCone.inverse() * qAB;
+		qABTwist.normalize();
 
 		if (m_swingSpan1 >= m_fixThresh && m_swingSpan2 >= m_fixThresh)
 		{
-			btScalar swingAngle, swingLimit = 0; btVector3 swingAxis;
+			btScalar swingAngle, swingLimit = 0;
+			btVector3 swingAxis;
 			computeConeLimitInfo(qABCone, swingAngle, swingAxis, swingLimit);
 
 			if (swingAngle > swingLimit * m_limitSoftness)
@@ -684,9 +663,9 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				m_swingLimitRatio = 1.f;
 				if (swingAngle < swingLimit && m_limitSoftness < 1.f - SIMD_EPSILON)
 				{
-					m_swingLimitRatio = (swingAngle - swingLimit * m_limitSoftness)/
+					m_swingLimitRatio = (swingAngle - swingLimit * m_limitSoftness) /
 										(swingLimit - swingLimit * m_limitSoftness);
-				}				
+				}
 
 				// swing correction tries to get back to soft limit
 				m_swingCorrection = swingAngle - (swingLimit * m_limitSoftness);
@@ -694,14 +673,14 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				// adjustment of swing axis (based on ellipse normal)
 				adjustSwingAxisToUseEllipseNormal(swingAxis);
 
-				// Calculate necessary axis & factors		
+				// Calculate necessary axis & factors
 				m_swingAxis = quatRotate(qB, -swingAxis);
 
-				m_twistAxisA.setValue(0,0,0);
+				m_twistAxisA.setValue(0, 0, 0);
 
-				m_kSwing =  btScalar(1.) /
-					(computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) +
-					 computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB));
+				m_kSwing = btScalar(1.) /
+						   (computeAngularImpulseDenominator(m_swingAxis, invInertiaWorldA) +
+							computeAngularImpulseDenominator(m_swingAxis, invInertiaWorldB));
 			}
 		}
 		else
@@ -717,9 +696,9 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 			btScalar x = ivB.dot(ivA);
 			btScalar y = ivB.dot(jvA);
 			btScalar z = ivB.dot(kvA);
-			if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-			{ // fixed. We'll need to add one more row to constraint
-				if((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
+			if ((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
+			{  // fixed. We'll need to add one more row to constraint
+				if ((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
 				{
 					m_solveSwingLimit = true;
 					m_swingAxis = -ivB.cross(ivA);
@@ -727,47 +706,47 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 			}
 			else
 			{
-				if(m_swingSpan1 < m_fixThresh)
-				{ // hinge around Y axis
-//					if(!(btFuzzyZero(y)))
-					if((!(btFuzzyZero(x))) || (!(btFuzzyZero(z))))
+				if (m_swingSpan1 < m_fixThresh)
+				{  // hinge around Y axis
+					//					if(!(btFuzzyZero(y)))
+					if ((!(btFuzzyZero(x))) || (!(btFuzzyZero(z))))
 					{
 						m_solveSwingLimit = true;
-						if(m_swingSpan2 >= m_fixThresh)
+						if (m_swingSpan2 >= m_fixThresh)
 						{
 							y = btScalar(0.f);
 							btScalar span2 = btAtan2(z, x);
-							if(span2 > m_swingSpan2)
+							if (span2 > m_swingSpan2)
 							{
 								x = btCos(m_swingSpan2);
 								z = btSin(m_swingSpan2);
 							}
-							else if(span2 < -m_swingSpan2)
+							else if (span2 < -m_swingSpan2)
 							{
-								x =  btCos(m_swingSpan2);
+								x = btCos(m_swingSpan2);
 								z = -btSin(m_swingSpan2);
 							}
 						}
 					}
 				}
 				else
-				{ // hinge around Z axis
-//					if(!btFuzzyZero(z))
-					if((!(btFuzzyZero(x))) || (!(btFuzzyZero(y))))
+				{  // hinge around Z axis
+					//					if(!btFuzzyZero(z))
+					if ((!(btFuzzyZero(x))) || (!(btFuzzyZero(y))))
 					{
 						m_solveSwingLimit = true;
-						if(m_swingSpan1 >= m_fixThresh)
+						if (m_swingSpan1 >= m_fixThresh)
 						{
 							z = btScalar(0.f);
 							btScalar span1 = btAtan2(y, x);
-							if(span1 > m_swingSpan1)
+							if (span1 > m_swingSpan1)
 							{
 								x = btCos(m_swingSpan1);
 								y = btSin(m_swingSpan1);
 							}
-							else if(span1 < -m_swingSpan1)
+							else if (span1 < -m_swingSpan1)
 							{
-								x =  btCos(m_swingSpan1);
+								x = btCos(m_swingSpan1);
 								y = -btSin(m_swingSpan1);
 							}
 						}
@@ -778,10 +757,10 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2];
 				target.normalize();
 				m_swingAxis = -ivB.cross(target);
-                                m_swingCorrection = m_swingAxis.length();
+				m_swingCorrection = m_swingAxis.length();
 
-                                if (!btFuzzyZero(m_swingCorrection))
-                                    m_swingAxis.normalize();
+				if (!btFuzzyZero(m_swingCorrection))
+					m_swingAxis.normalize();
 			}
 		}
 
@@ -790,15 +769,15 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 			btVector3 twistAxis;
 			computeTwistLimitInfo(qABTwist, m_twistAngle, twistAxis);
 
-			if (m_twistAngle > m_twistSpan*m_limitSoftness)
+			if (m_twistAngle > m_twistSpan * m_limitSoftness)
 			{
 				m_solveTwistLimit = true;
 
 				m_twistLimitRatio = 1.f;
 				if (m_twistAngle < m_twistSpan && m_limitSoftness < 1.f - SIMD_EPSILON)
 				{
-					m_twistLimitRatio = (m_twistAngle - m_twistSpan * m_limitSoftness)/
-										(m_twistSpan  - m_twistSpan * m_limitSoftness);
+					m_twistLimitRatio = (m_twistAngle - m_twistSpan * m_limitSoftness) /
+										(m_twistSpan - m_twistSpan * m_limitSoftness);
 				}
 
 				// twist correction tries to get back to soft limit
@@ -807,8 +786,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				m_twistAxis = quatRotate(qB, -twistAxis);
 
 				m_kTwist = btScalar(1.) /
-					(computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) +
-					 computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB));
+						   (computeAngularImpulseDenominator(m_twistAxis, invInertiaWorldA) +
+							computeAngularImpulseDenominator(m_twistAxis, invInertiaWorldB));
 			}
 
 			if (m_solveSwingLimit)
@@ -821,15 +800,13 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 	}
 }
 
-
-
 // given a cone rotation in constraint space, (pre: twist must already be removed)
 // this method computes its corresponding swing angle and axis.
 // more interestingly, it computes the cone/swing limit (angle) for this cone "pose".
 void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
-												 btScalar& swingAngle, // out
-												 btVector3& vSwingAxis, // out
-												 btScalar& swingLimit) // out
+												 btScalar& swingAngle,   // out
+												 btVector3& vSwingAxis,  // out
+												 btScalar& swingLimit)   // out
 {
 	swingAngle = qCone.getAngle();
 	if (swingAngle > SIMD_EPSILON)
@@ -840,7 +817,7 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
         // non-zero twist?! this should never happen.
        btAssert(fabs(vSwingAxis.x()) <= SIMD_EPSILON));
 #endif
-        
+
 		// Compute limit for given swing. tricky:
 		// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
 		// (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.)
@@ -848,7 +825,7 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 		// For starters, compute the direction from center to surface of ellipse.
 		// This is just the perpendicular (ie. rotate 2D vector by PI/2) of the swing axis.
 		// (vSwingAxis is the cone rotation (in z,y); change vars and rotate to (x,y) coords.)
-		btScalar xEllipse =  vSwingAxis.y();
+		btScalar xEllipse = vSwingAxis.y();
 		btScalar yEllipse = -vSwingAxis.z();
 
 		// Now, we use the slope of the vector (using x/yEllipse) and find the length
@@ -858,10 +835,10 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 		//  a^2   b^2
 		// Do the math and it should be clear.
 
-		swingLimit = m_swingSpan1; // if xEllipse == 0, we have a pure vSwingAxis.z rotation: just use swingspan1
+		swingLimit = m_swingSpan1;  // if xEllipse == 0, we have a pure vSwingAxis.z rotation: just use swingspan1
 		if (fabs(xEllipse) > SIMD_EPSILON)
 		{
-			btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
+			btScalar surfaceSlope2 = (yEllipse * yEllipse) / (xEllipse * xEllipse);
 			btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
 			norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
 			btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
@@ -887,7 +864,7 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 #if 0
         btAssert(0);
 #endif
- 	}
+	}
 }
 
 btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
@@ -903,10 +880,10 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc
 	//  a^2   b^2
 	// Do the math and it should be clear.
 
-	btScalar swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1)
+	btScalar swingLimit = m_swingSpan1;  // if xEllipse == 0, just use axis b (1)
 	if (fabs(xEllipse) > SIMD_EPSILON)
 	{
-		btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
+		btScalar surfaceSlope2 = (yEllipse * yEllipse) / (xEllipse * xEllipse);
 		btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
 		norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
 		btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
@@ -917,20 +894,20 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc
 	// note: twist is x-axis, swing 1 and 2 are along the z and y axes respectively
 	btVector3 vSwingAxis(0, xEllipse, -yEllipse);
 	btQuaternion qSwing(vSwingAxis, swingLimit);
-	btVector3 vPointInConstraintSpace(fLength,0,0);
+	btVector3 vPointInConstraintSpace(fLength, 0, 0);
 	return quatRotate(qSwing, vPointInConstraintSpace);
 }
 
 // given a twist rotation in constraint space, (pre: cone must already be removed)
 // this method computes its corresponding angle and axis.
 void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
-												  btScalar& twistAngle, // out
-												  btVector3& vTwistAxis) // out
+												  btScalar& twistAngle,   // out
+												  btVector3& vTwistAxis)  // out
 {
 	btQuaternion qMinTwist = qTwist;
 	twistAngle = qTwist.getAngle();
 
-	if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
+	if (twistAngle > SIMD_PI)  // long way around. flip quat and recalculate.
 	{
 		qMinTwist = -(qTwist);
 		twistAngle = qMinTwist.getAngle();
@@ -948,80 +925,79 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
 		vTwistAxis.normalize();
 }
 
-
 void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const
 {
 	// the swing axis is computed as the "twist-free" cone rotation,
 	// but the cone limit is not circular, but elliptical (if swingspan1 != swingspan2).
-	// so, if we're outside the limits, the closest way back inside the cone isn't 
+	// so, if we're outside the limits, the closest way back inside the cone isn't
 	// along the vector back to the center. better (and more stable) to use the ellipse normal.
 
 	// convert swing axis to direction from center to surface of ellipse
 	// (ie. rotate 2D vector by PI/2)
 	btScalar y = -vSwingAxis.z();
-	btScalar z =  vSwingAxis.y();
+	btScalar z = vSwingAxis.y();
 
 	// do the math...
-	if (fabs(z) > SIMD_EPSILON) // avoid division by 0. and we don't need an update if z == 0.
+	if (fabs(z) > SIMD_EPSILON)  // avoid division by 0. and we don't need an update if z == 0.
 	{
 		// compute gradient/normal of ellipse surface at current "point"
-		btScalar grad = y/z;
+		btScalar grad = y / z;
 		grad *= m_swingSpan2 / m_swingSpan1;
 
 		// adjust y/z to represent normal at point (instead of vector to point)
 		if (y > 0)
-			y =  fabs(grad * z);
+			y = fabs(grad * z);
 		else
 			y = -fabs(grad * z);
 
 		// convert ellipse direction back to swing axis
 		vSwingAxis.setZ(-y);
-		vSwingAxis.setY( z);
+		vSwingAxis.setY(z);
 		vSwingAxis.normalize();
 	}
 }
 
-
-
-void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
+void btConeTwistConstraint::setMotorTarget(const btQuaternion& q)
 {
 	//btTransform trACur = m_rbA.getCenterOfMassTransform();
 	//btTransform trBCur = m_rbB.getCenterOfMassTransform();
-//	btTransform trABCur = trBCur.inverse() * trACur;
-//	btQuaternion qABCur = trABCur.getRotation();
-//	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
+	//	btTransform trABCur = trBCur.inverse() * trACur;
+	//	btQuaternion qABCur = trABCur.getRotation();
+	//	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
 	//btQuaternion qConstraintCur = trConstraintCur.getRotation();
 
 	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
 	setMotorTargetInConstraintSpace(qConstraint);
 }
 
-
-void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &q)
+void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion& q)
 {
 	m_qTarget = q;
 
 	// clamp motor target to within limits
 	{
-		btScalar softness = 1.f;//m_limitSoftness;
+		btScalar softness = 1.f;  //m_limitSoftness;
 
 		// split into twist and cone
 		btVector3 vTwisted = quatRotate(m_qTarget, vTwist);
-		btQuaternion qTargetCone  = shortestArcQuat(vTwist, vTwisted); qTargetCone.normalize();
-		btQuaternion qTargetTwist = qTargetCone.inverse() * m_qTarget; qTargetTwist.normalize();
+		btQuaternion qTargetCone = shortestArcQuat(vTwist, vTwisted);
+		qTargetCone.normalize();
+		btQuaternion qTargetTwist = qTargetCone.inverse() * m_qTarget;
+		qTargetTwist.normalize();
 
 		// clamp cone
 		if (m_swingSpan1 >= btScalar(0.05f) && m_swingSpan2 >= btScalar(0.05f))
 		{
-			btScalar swingAngle, swingLimit; btVector3 swingAxis;
+			btScalar swingAngle, swingLimit;
+			btVector3 swingAxis;
 			computeConeLimitInfo(qTargetCone, swingAngle, swingAxis, swingLimit);
 
 			if (fabs(swingAngle) > SIMD_EPSILON)
 			{
-				if (swingAngle > swingLimit*softness)
-					swingAngle = swingLimit*softness;
-				else if (swingAngle < -swingLimit*softness)
-					swingAngle = -swingLimit*softness;
+				if (swingAngle > swingLimit * softness)
+					swingAngle = swingLimit * softness;
+				else if (swingAngle < -swingLimit * softness)
+					swingAngle = -swingLimit * softness;
 				qTargetCone = btQuaternion(swingAxis, swingAngle);
 			}
 		}
@@ -1029,16 +1005,17 @@ void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &
 		// clamp twist
 		if (m_twistSpan >= btScalar(0.05f))
 		{
-			btScalar twistAngle; btVector3 twistAxis;
+			btScalar twistAngle;
+			btVector3 twistAxis;
 			computeTwistLimitInfo(qTargetTwist, twistAngle, twistAxis);
 
 			if (fabs(twistAngle) > SIMD_EPSILON)
 			{
 				// eddy todo: limitSoftness used here???
-				if (twistAngle > m_twistSpan*softness)
-					twistAngle = m_twistSpan*softness;
-				else if (twistAngle < -m_twistSpan*softness)
-					twistAngle = -m_twistSpan*softness;
+				if (twistAngle > m_twistSpan * softness)
+					twistAngle = m_twistSpan * softness;
+				else if (twistAngle < -m_twistSpan * softness)
+					twistAngle = -m_twistSpan * softness;
 				qTargetTwist = btQuaternion(twistAxis, twistAngle);
 			}
 		}
@@ -1047,15 +1024,15 @@ void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &
 	}
 }
 
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 ///If no axis is provided, it uses the default axis for this constraint.
 void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
 {
-	switch(num)
+	switch (num)
 	{
-		case BT_CONSTRAINT_ERP :
-		case BT_CONSTRAINT_STOP_ERP :
-			if((axis >= 0) && (axis < 3)) 
+		case BT_CONSTRAINT_ERP:
+		case BT_CONSTRAINT_STOP_ERP:
+			if ((axis >= 0) && (axis < 3))
 			{
 				m_linERP = value;
 				m_flags |= BT_CONETWIST_FLAGS_LIN_ERP;
@@ -1065,9 +1042,9 @@ void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
 				m_biasFactor = value;
 			}
 			break;
-		case BT_CONSTRAINT_CFM :
-		case BT_CONSTRAINT_STOP_CFM :
-			if((axis >= 0) && (axis < 3)) 
+		case BT_CONSTRAINT_CFM:
+		case BT_CONSTRAINT_STOP_CFM:
+			if ((axis >= 0) && (axis < 3))
 			{
 				m_linCFM = value;
 				m_flags |= BT_CONETWIST_FLAGS_LIN_CFM;
@@ -1085,19 +1062,19 @@ void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
 }
 
 ///return the local value of parameter
-btScalar btConeTwistConstraint::getParam(int num, int axis) const 
+btScalar btConeTwistConstraint::getParam(int num, int axis) const
 {
 	btScalar retVal = 0;
-	switch(num)
+	switch (num)
 	{
-		case BT_CONSTRAINT_ERP :
-		case BT_CONSTRAINT_STOP_ERP :
-			if((axis >= 0) && (axis < 3)) 
+		case BT_CONSTRAINT_ERP:
+		case BT_CONSTRAINT_STOP_ERP:
+			if ((axis >= 0) && (axis < 3))
 			{
 				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP);
 				retVal = m_linERP;
 			}
-			else if((axis >= 3) && (axis < 6)) 
+			else if ((axis >= 3) && (axis < 6))
 			{
 				retVal = m_biasFactor;
 			}
@@ -1106,14 +1083,14 @@ btScalar btConeTwistConstraint::getParam(int num, int axis) const
 				btAssertConstrParams(0);
 			}
 			break;
-		case BT_CONSTRAINT_CFM :
-		case BT_CONSTRAINT_STOP_CFM :
-			if((axis >= 0) && (axis < 3)) 
+		case BT_CONSTRAINT_CFM:
+		case BT_CONSTRAINT_STOP_CFM:
+			if ((axis >= 0) && (axis < 3))
 			{
 				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM);
 				retVal = m_linCFM;
 			}
-			else if((axis >= 3) && (axis < 6)) 
+			else if ((axis >= 3) && (axis < 6))
 			{
 				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM);
 				retVal = m_angCFM;
@@ -1123,21 +1100,16 @@ btScalar btConeTwistConstraint::getParam(int num, int axis) const
 				btAssertConstrParams(0);
 			}
 			break;
-		default : 
+		default:
 			btAssertConstrParams(0);
 	}
 	return retVal;
 }
 
-
-void btConeTwistConstraint::setFrames(const btTransform & frameA, const btTransform & frameB)
+void btConeTwistConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
 {
 	m_rbAFrame = frameA;
 	m_rbBFrame = frameB;
 	buildJacobian();
 	//calculateTransforms();
 }
-
- 
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index 7a33d01d1e..64f44df1cb 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -15,8 +15,6 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-
-
 /*
 Overview:
 
@@ -31,8 +29,6 @@ twist is along the x-axis,
 and swing 1 and 2 are along the z and y axes respectively.
 */
 
-
-
 #ifndef BT_CONETWISTCONSTRAINT_H
 #define BT_CONETWISTCONSTRAINT_H
 
@@ -41,13 +37,12 @@ and swing 1 and 2 are along the z and y axes respectively.
 #include "btTypedConstraint.h"
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btConeTwistConstraintData2	btConeTwistConstraintDoubleData
-#define btConeTwistConstraintDataName	"btConeTwistConstraintDoubleData"
+#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData
+#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData"
 #else
-#define btConeTwistConstraintData2	btConeTwistConstraintData 
-#define btConeTwistConstraintDataName	"btConeTwistConstraintData" 
-#endif //BT_USE_DOUBLE_PRECISION
-
+#define btConeTwistConstraintData2 btConeTwistConstraintData
+#define btConeTwistConstraintDataName "btConeTwistConstraintData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 class btRigidBody;
 
@@ -59,103 +54,99 @@ enum btConeTwistFlags
 };
 
 ///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
-ATTRIBUTE_ALIGNED16(class) btConeTwistConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btConeTwistConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	btJacobianEntry m_jac[3];  //3 orthogonal linear constraints
 
-	btTransform m_rbAFrame; 
+	btTransform m_rbAFrame;
 	btTransform m_rbBFrame;
 
-	btScalar	m_limitSoftness;
-	btScalar	m_biasFactor;
-	btScalar	m_relaxationFactor;
+	btScalar m_limitSoftness;
+	btScalar m_biasFactor;
+	btScalar m_relaxationFactor;
 
-	btScalar	m_damping;
+	btScalar m_damping;
 
-	btScalar	m_swingSpan1;
-	btScalar	m_swingSpan2;
-	btScalar	m_twistSpan;
+	btScalar m_swingSpan1;
+	btScalar m_swingSpan2;
+	btScalar m_twistSpan;
 
-	btScalar	m_fixThresh;
+	btScalar m_fixThresh;
 
-	btVector3   m_swingAxis;
-	btVector3	m_twistAxis;
+	btVector3 m_swingAxis;
+	btVector3 m_twistAxis;
 
-	btScalar	m_kSwing;
-	btScalar	m_kTwist;
+	btScalar m_kSwing;
+	btScalar m_kTwist;
 
-	btScalar	m_twistLimitSign;
-	btScalar	m_swingCorrection;
-	btScalar	m_twistCorrection;
+	btScalar m_twistLimitSign;
+	btScalar m_swingCorrection;
+	btScalar m_twistCorrection;
 
-	btScalar	m_twistAngle;
+	btScalar m_twistAngle;
 
-	btScalar	m_accSwingLimitImpulse;
-	btScalar	m_accTwistLimitImpulse;
+	btScalar m_accSwingLimitImpulse;
+	btScalar m_accTwistLimitImpulse;
 
-	bool		m_angularOnly;
-	bool		m_solveTwistLimit;
-	bool		m_solveSwingLimit;
+	bool m_angularOnly;
+	bool m_solveTwistLimit;
+	bool m_solveSwingLimit;
 
-	bool	m_useSolveConstraintObsolete;
+	bool m_useSolveConstraintObsolete;
 
 	// not yet used...
-	btScalar	m_swingLimitRatio;
-	btScalar	m_twistLimitRatio;
-	btVector3   m_twistAxisA;
+	btScalar m_swingLimitRatio;
+	btScalar m_twistLimitRatio;
+	btVector3 m_twistAxisA;
 
 	// motor
-	bool		 m_bMotorEnabled;
-	bool		 m_bNormalizedMotorStrength;
+	bool m_bMotorEnabled;
+	bool m_bNormalizedMotorStrength;
 	btQuaternion m_qTarget;
-	btScalar	 m_maxMotorImpulse;
-	btVector3	 m_accMotorImpulse;
-	
+	btScalar m_maxMotorImpulse;
+	btVector3 m_accMotorImpulse;
+
 	// parameters
-	int			m_flags;
-	btScalar	m_linCFM;
-	btScalar	m_linERP;
-	btScalar	m_angCFM;
-	
-protected:
+	int m_flags;
+	btScalar m_linCFM;
+	btScalar m_linERP;
+	btScalar m_angCFM;
 
+protected:
 	void init();
 
-	void computeConeLimitInfo(const btQuaternion& qCone, // in
-		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+	void computeConeLimitInfo(const btQuaternion& qCone,                                           // in
+							  btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit);  // all outs
 
-	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
-		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
-
-	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+	void computeTwistLimitInfo(const btQuaternion& qTwist,                    // in
+							   btScalar& twistAngle, btVector3& vTwistAxis);  // all outs
 
+	void adjustSwingAxisToUseEllipseNormal(btVector3 & vSwingAxis) const;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
-	
-	btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
+	btConeTwistConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
+
+	btConeTwistConstraint(btRigidBody & rbA, const btTransform& rbAFrame);
+
+	virtual void buildJacobian();
 
-	virtual void	buildJacobian();
+	virtual void getInfo1(btConstraintInfo1 * info);
 
-	virtual void getInfo1 (btConstraintInfo1* info);
+	void getInfo1NonVirtual(btConstraintInfo1 * info);
 
-	void	getInfo1NonVirtual(btConstraintInfo1* info);
-	
-	virtual void getInfo2 (btConstraintInfo2* info);
-	
-	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
-	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
+	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB);
 
-    
-	void	updateRHS(btScalar	timeStep);
+	virtual void solveConstraintObsolete(btSolverBody & bodyA, btSolverBody & bodyB, btScalar timeStep);
 
+	void updateRHS(btScalar timeStep);
 
 	const btRigidBody& getRigidBodyA() const
 	{
@@ -166,64 +157,64 @@ public:
 		return m_rbB;
 	}
 
-	void	setAngularOnly(bool angularOnly)
+	void setAngularOnly(bool angularOnly)
 	{
 		m_angularOnly = angularOnly;
 	}
-	
-	bool    getAngularOnly() const
+
+	bool getAngularOnly() const
 	{
-	    return m_angularOnly;
+		return m_angularOnly;
 	}
 
-	void	setLimit(int limitIndex,btScalar limitValue)
+	void setLimit(int limitIndex, btScalar limitValue)
 	{
 		switch (limitIndex)
 		{
-		case 3:
+			case 3:
 			{
 				m_twistSpan = limitValue;
 				break;
 			}
-		case 4:
+			case 4:
 			{
 				m_swingSpan2 = limitValue;
 				break;
 			}
-		case 5:
+			case 5:
 			{
 				m_swingSpan1 = limitValue;
 				break;
 			}
-		default:
+			default:
 			{
 			}
 		};
 	}
 
-    btScalar getLimit(int limitIndex) const
+	btScalar getLimit(int limitIndex) const
 	{
 		switch (limitIndex)
 		{
-		case 3:
+			case 3:
 			{
 				return m_twistSpan;
 				break;
 			}
-		case 4:
+			case 4:
 			{
 				return m_swingSpan2;
 				break;
 			}
-		case 5:
+			case 5:
 			{
 				return m_swingSpan1;
 				break;
 			}
-		default:
+			default:
 			{
-			    btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
-			    return 0.0;
+				btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
+				return 0.0;
 			}
 		};
 	}
@@ -239,18 +230,18 @@ public:
 	// __relaxationFactor:
 	//		0->1, recommend to stay near 1.
 	//		the lower the value, the less the constraint will fight velocities which violate the angular limits.
-	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	void setLimit(btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
 	{
 		m_swingSpan1 = _swingSpan1;
 		m_swingSpan2 = _swingSpan2;
-		m_twistSpan  = _twistSpan;
+		m_twistSpan = _twistSpan;
 
-		m_limitSoftness =  _softness;
+		m_limitSoftness = _softness;
 		m_biasFactor = _biasFactor;
 		m_relaxationFactor = _relaxationFactor;
 	}
 
-	const btTransform& getAFrame() const { return m_rbAFrame; };	
+	const btTransform& getAFrame() const { return m_rbAFrame; };
 	const btTransform& getBFrame() const { return m_rbBFrame; };
 
 	inline int getSolveTwistLimit()
@@ -269,7 +260,7 @@ public:
 	}
 
 	void calcAngleInfo();
-	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
+	void calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA, const btMatrix3x3& invInertiaWorldB);
 
 	inline btScalar getSwingSpan1() const
 	{
@@ -308,8 +299,16 @@ public:
 	bool isMotorEnabled() const { return m_bMotorEnabled; }
 	btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
 	bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
-	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
-	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
+	void setMaxMotorImpulse(btScalar maxMotorImpulse)
+	{
+		m_maxMotorImpulse = maxMotorImpulse;
+		m_bNormalizedMotorStrength = false;
+	}
+	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse)
+	{
+		m_maxMotorImpulse = maxMotorImpulse;
+		m_bNormalizedMotorStrength = true;
+	}
 
 	btScalar getFixThresh() { return m_fixThresh; }
 	void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
@@ -318,17 +317,17 @@ public:
 	// q: the desired rotation of bodyA wrt bodyB.
 	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
 	// note: don't forget to enableMotor()
-	void setMotorTarget(const btQuaternion &q);
+	void setMotorTarget(const btQuaternion& q);
 	const btQuaternion& getMotorTarget() const { return m_qTarget; }
 
 	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
-	void setMotorTargetInConstraintSpace(const btQuaternion &q);
+	void setMotorTargetInConstraintSpace(const btQuaternion& q);
 
 	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void setParam(int num, btScalar value, int axis = -1);
+	virtual void setParam(int num, btScalar value, int axis = -1);
 
 	virtual void setFrames(const btTransform& frameA, const btTransform& frameB);
 
@@ -342,84 +341,74 @@ public:
 		return m_rbBFrame;
 	}
 
-
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
+	virtual btScalar getParam(int num, int axis = -1) const;
 
 	int getFlags() const
 	{
 		return m_flags;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
-	
-struct	btConeTwistConstraintDoubleData
+struct btConeTwistConstraintDoubleData
 {
-	btTypedConstraintDoubleData	m_typeConstraintData;
+	btTypedConstraintDoubleData m_typeConstraintData;
 	btTransformDoubleData m_rbAFrame;
 	btTransformDoubleData m_rbBFrame;
 
 	//limits
-	double	m_swingSpan1;
-	double	m_swingSpan2;
-	double	m_twistSpan;
-	double	m_limitSoftness;
-	double	m_biasFactor;
-	double	m_relaxationFactor;
-
-	double	m_damping;
-		
-	
-
+	double m_swingSpan1;
+	double m_swingSpan2;
+	double m_twistSpan;
+	double m_limitSoftness;
+	double m_biasFactor;
+	double m_relaxationFactor;
+
+	double m_damping;
 };
 
 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 ///this structure is not used, except for loading pre-2.82 .bullet files
-struct	btConeTwistConstraintData
+struct btConeTwistConstraintData
 {
-	btTypedConstraintData	m_typeConstraintData;
+	btTypedConstraintData m_typeConstraintData;
 	btTransformFloatData m_rbAFrame;
 	btTransformFloatData m_rbBFrame;
 
 	//limits
-	float	m_swingSpan1;
-	float	m_swingSpan2;
-	float	m_twistSpan;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
-	float	m_damping;
-		
-	char m_pad[4];
+	float m_swingSpan1;
+	float m_swingSpan2;
+	float m_twistSpan;
+	float m_limitSoftness;
+	float m_biasFactor;
+	float m_relaxationFactor;
 
+	float m_damping;
+
+	char m_pad[4];
 };
-#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
+#endif  //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 //
 
-SIMD_FORCE_INLINE int	btConeTwistConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btConeTwistConstraintData2);
-
 }
 
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*) dataBuffer;
-	btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
+	btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*)dataBuffer;
+	btTypedConstraint::serialize(&cone->m_typeConstraintData, serializer);
 
 	m_rbAFrame.serialize(cone->m_rbAFrame);
 	m_rbBFrame.serialize(cone->m_rbBFrame);
-	
+
 	cone->m_swingSpan1 = m_swingSpan1;
 	cone->m_swingSpan2 = m_swingSpan2;
 	cone->m_twistSpan = m_twistSpan;
@@ -431,5 +420,4 @@ SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer,
 	return btConeTwistConstraintDataName;
 }
 
-
-#endif //BT_CONETWISTCONSTRAINT_H
+#endif  //BT_CONETWISTCONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
index 890afe6da4..808433477c 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
@@ -26,40 +26,33 @@ struct btContactSolverInfo;
 struct btBroadphaseProxy;
 class btIDebugDraw;
 class btStackAlloc;
-class	btDispatcher;
+class btDispatcher;
 /// btConstraintSolver provides solver interface
 
-
 enum btConstraintSolverType
 {
-	BT_SEQUENTIAL_IMPULSE_SOLVER=1,
-	BT_MLCP_SOLVER=2,
-	BT_NNCG_SOLVER=4
+	BT_SEQUENTIAL_IMPULSE_SOLVER = 1,
+	BT_MLCP_SOLVER = 2,
+	BT_NNCG_SOLVER = 4,
+	BT_MULTIBODY_SOLVER = 8,
 };
 
 class btConstraintSolver
 {
-
 public:
-
 	virtual ~btConstraintSolver() {}
-	
-	virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
+
+	virtual void prepareSolve(int /* numBodies */, int /* numManifolds */) { ; }
 
 	///solve a group of constraints
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
+	virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher) = 0;
 
-	virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
+	virtual void allSolved(const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */) { ; }
 
 	///clear internal cached data and reset random seed
-	virtual	void	reset() = 0;
-
-	virtual btConstraintSolverType	getSolverType() const=0;
-
+	virtual void reset() = 0;
 
+	virtual btConstraintSolverType getSolverType() const = 0;
 };
 
-
-
-
-#endif //BT_CONSTRAINT_SOLVER_H
+#endif  //BT_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 1098d0c96b..4b22b2fff5 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btContactConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btVector3.h"
@@ -22,44 +21,33 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-
-
-btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
-:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
-	m_contactManifold(*contactManifold)
+btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold, btRigidBody& rbA, btRigidBody& rbB)
+	: btTypedConstraint(CONTACT_CONSTRAINT_TYPE, rbA, rbB),
+	  m_contactManifold(*contactManifold)
 {
-
 }
 
 btContactConstraint::~btContactConstraint()
 {
-
 }
 
-void	btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
+void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
 {
 	m_contactManifold = *contactManifold;
 }
 
-void btContactConstraint::getInfo1 (btConstraintInfo1* info)
+void btContactConstraint::getInfo1(btConstraintInfo1* info)
 {
-
 }
 
-void btContactConstraint::getInfo2 (btConstraintInfo2* info)
+void btContactConstraint::getInfo2(btConstraintInfo2* info)
 {
-
 }
 
-void	btContactConstraint::buildJacobian()
+void btContactConstraint::buildJacobian()
 {
-
 }
 
-
-
-
-
 #include "btContactConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btVector3.h"
@@ -68,64 +56,59 @@ void	btContactConstraint::buildJacobian()
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-
-
 //response  between two dynamic objects without friction and no restitution, assuming 0 penetration depth
 btScalar resolveSingleCollision(
-        btRigidBody* body1,
-        btCollisionObject* colObj2,
-		const btVector3& contactPositionWorld,
-		const btVector3& contactNormalOnB,
-        const btContactSolverInfo& solverInfo,
-		btScalar distance)
+	btRigidBody* body1,
+	btCollisionObject* colObj2,
+	const btVector3& contactPositionWorld,
+	const btVector3& contactNormalOnB,
+	const btContactSolverInfo& solverInfo,
+	btScalar distance)
 {
 	btRigidBody* body2 = btRigidBody::upcast(colObj2);
-    
-	
-    const btVector3& normal = contactNormalOnB;
-
-    btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin(); 
-    btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
-    
-    btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-    btVector3 vel = vel1 - vel2;
-    btScalar rel_vel;
-    rel_vel = normal.dot(vel);
-    
-    btScalar combinedRestitution = 0.f;
-    btScalar restitution = combinedRestitution* -rel_vel;
-
-    btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
-    btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
-	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
-	btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
+
+	const btVector3& normal = contactNormalOnB;
+
+	btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
+	btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
+
+	btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
+	btVector3 vel2 = body2 ? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
+	btVector3 vel = vel1 - vel2;
+	btScalar rel_vel;
+	rel_vel = normal.dot(vel);
+
+	btScalar combinedRestitution = 0.f;
+	btScalar restitution = combinedRestitution * -rel_vel;
+
+	btScalar positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
+	btScalar velocityError = -(1.0f + restitution) * rel_vel;  // * damping;
+	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld, normal);
+	btScalar denom1 = body2 ? body2->computeImpulseDenominator(contactPositionWorld, normal) : 0.f;
 	btScalar relaxation = 1.f;
-	btScalar jacDiagABInv = relaxation/(denom0+denom1);
+	btScalar jacDiagABInv = relaxation / (denom0 + denom1);
 
-    btScalar penetrationImpulse = positionalError * jacDiagABInv;
-    btScalar velocityImpulse = velocityError * jacDiagABInv;
+	btScalar penetrationImpulse = positionalError * jacDiagABInv;
+	btScalar velocityImpulse = velocityError * jacDiagABInv;
 
-    btScalar normalImpulse = penetrationImpulse+velocityImpulse;
-    normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
+	btScalar normalImpulse = penetrationImpulse + velocityImpulse;
+	normalImpulse = 0.f > normalImpulse ? 0.f : normalImpulse;
 
-	body1->applyImpulse(normal*(normalImpulse), rel_pos1);
-    if (body2)
-		body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
-    
-    return normalImpulse;
-}
+	body1->applyImpulse(normal * (normalImpulse), rel_pos1);
+	if (body2)
+		body2->applyImpulse(-normal * (normalImpulse), rel_pos2);
 
+	return normalImpulse;
+}
 
 //bilateral constraint between two dynamic objects
 void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
+							btRigidBody& body2, const btVector3& pos2,
+							btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep)
 {
 	(void)timeStep;
 	(void)distance;
 
-
 	btScalar normalLenSqr = normal.length2();
 	btAssert(btFabs(normalLenSqr) < btScalar(1.1));
 	if (normalLenSqr > btScalar(1.1))
@@ -133,45 +116,38 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 		impulse = btScalar(0.);
 		return;
 	}
-	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
 	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
 	//this jacobian entry could be re-used for all iterations
-	
+
 	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
 	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
 	btVector3 vel = vel1 - vel2;
-	
 
-	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-		body2.getCenterOfMassTransform().getBasis().transpose(),
-		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
-		body2.getInvInertiaDiagLocal(),body2.getInvMass());
+	btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+						body2.getCenterOfMassTransform().getBasis().transpose(),
+						rel_pos1, rel_pos2, normal, body1.getInvInertiaDiagLocal(), body1.getInvMass(),
+						body2.getInvInertiaDiagLocal(), body2.getInvMass());
 
 	btScalar jacDiagAB = jac.getDiagonal();
 	btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
-	
-	  btScalar rel_vel = jac.getRelativeVelocity(
+
+	btScalar rel_vel = jac.getRelativeVelocity(
 		body1.getLinearVelocity(),
 		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
 		body2.getLinearVelocity(),
-		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
-
-
+		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
 
 	rel_vel = normal.dot(vel);
-	
+
 	//todo: move this into proper structure
 	btScalar contactDamping = btScalar(0.2);
 
 #ifdef ONLY_USE_LINEAR_MASS
 	btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
-	impulse = - contactDamping * rel_vel * massTerm;
-#else	
+	impulse = -contactDamping * rel_vel * massTerm;
+#else
 	btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
 	impulse = velocityImpulse;
 #endif
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
index adb2268353..255489be99 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
@@ -22,20 +22,17 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 
 ///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
-ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btContactConstraint : public btTypedConstraint
 {
 protected:
-
 	btPersistentManifold m_contactManifold;
 
 protected:
-
-
-	btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
+	btContactConstraint(btPersistentManifold * contactManifold, btRigidBody & rbA, btRigidBody & rbB);
 
 public:
-
-	void	setContactManifold(btPersistentManifold* contactManifold);
+	void setContactManifold(btPersistentManifold * contactManifold);
 
 	btPersistentManifold* getContactManifold()
 	{
@@ -49,25 +46,20 @@ public:
 
 	virtual ~btContactConstraint();
 
-	virtual void getInfo1 (btConstraintInfo1* info);
+	virtual void getInfo1(btConstraintInfo1 * info);
 
-	virtual void getInfo2 (btConstraintInfo2* info);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
 	///obsolete methods
-	virtual void	buildJacobian();
-
-
+	virtual void buildJacobian();
 };
 
 ///very basic collision resolution without friction
-btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
-
+btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld, const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo, btScalar distance);
 
 ///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
 void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
-
-
+							btRigidBody& body2, const btVector3& pos2,
+							btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep);
 
-#endif //BT_CONTACT_CONSTRAINT_H
+#endif  //BT_CONTACT_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 28d0c1dd48..89f8db8b1a 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 #include "LinearMath/btScalar.h"
 
-enum	btSolverMode
+enum btSolverMode
 {
 	SOLVER_RANDMIZE_ORDER = 1,
 	SOLVER_FRICTION_SEPARATE = 2,
@@ -29,139 +29,135 @@ enum	btSolverMode
 	SOLVER_CACHE_FRIENDLY = 128,
 	SOLVER_SIMD = 256,
 	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
-	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
+	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
+	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
 };
 
 struct btContactSolverInfoData
 {
-	
-
-	btScalar	m_tau;
-	btScalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	btScalar	m_friction;
-	btScalar	m_timeStep;
-	btScalar	m_restitution;
-	int		m_numIterations;
-	btScalar	m_maxErrorReduction;
-	btScalar	m_sor;//successive over-relaxation term
-	btScalar	m_erp;//error reduction for non-contact constraints
-	btScalar	m_erp2;//error reduction for contact constraints
-	btScalar	m_globalCfm;//constraint force mixing for contacts and non-contacts
-	btScalar	m_frictionERP;//error reduction for friction constraints
-	btScalar	m_frictionCFM;//constraint force mixing for friction constraints
-
-	int			m_splitImpulse;
-	btScalar	m_splitImpulsePenetrationThreshold;
-	btScalar	m_splitImpulseTurnErp;
-	btScalar	m_linearSlop;
-	btScalar	m_warmstartingFactor;
-
-	int			m_solverMode;
-	int	m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	btScalar	m_maxGyroscopicForce;
-	btScalar	m_singleAxisRollingFrictionThreshold;
-	btScalar	m_leastSquaresResidualThreshold;
-	btScalar	m_restitutionVelocityThreshold;
-
+	btScalar m_tau;
+	btScalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	btScalar m_friction;
+	btScalar m_timeStep;
+	btScalar m_restitution;
+	int m_numIterations;
+	btScalar m_maxErrorReduction;
+	btScalar m_sor;          //successive over-relaxation term
+	btScalar m_erp;          //error reduction for non-contact constraints
+	btScalar m_erp2;         //error reduction for contact constraints
+	btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
+	btScalar m_frictionERP;  //error reduction for friction constraints
+	btScalar m_frictionCFM;  //constraint force mixing for friction constraints
+
+	int m_splitImpulse;
+	btScalar m_splitImpulsePenetrationThreshold;
+	btScalar m_splitImpulseTurnErp;
+	btScalar m_linearSlop;
+	btScalar m_warmstartingFactor;
+
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	btScalar m_maxGyroscopicForce;
+	btScalar m_singleAxisRollingFrictionThreshold;
+	btScalar m_leastSquaresResidualThreshold;
+	btScalar m_restitutionVelocityThreshold;
+	bool m_jointFeedbackInWorldSpace;
+	bool m_jointFeedbackInJointFrame;
 };
 
 struct btContactSolverInfo : public btContactSolverInfoData
 {
-
-	
-
 	inline btContactSolverInfo()
 	{
 		m_tau = btScalar(0.6);
 		m_damping = btScalar(1.0);
 		m_friction = btScalar(0.3);
-		m_timeStep = btScalar(1.f/60.f);
+		m_timeStep = btScalar(1.f / 60.f);
 		m_restitution = btScalar(0.);
 		m_maxErrorReduction = btScalar(20.);
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
 		m_erp2 = btScalar(0.2);
 		m_globalCfm = btScalar(0.);
-		m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
+		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
 		m_frictionCFM = btScalar(0.);
 		m_sor = btScalar(1.);
 		m_splitImpulse = true;
 		m_splitImpulsePenetrationThreshold = -.04f;
 		m_splitImpulseTurnErp = 0.1f;
 		m_linearSlop = btScalar(0.0);
-		m_warmstartingFactor=btScalar(0.85);
+		m_warmstartingFactor = btScalar(0.85);
 		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
-		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
-		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
-		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
+		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
+		m_minimumSolverBatchSize = 128;                        //try to combine islands until the amount of constraints reaches this limit
+		m_maxGyroscopicForce = 100.f;                          ///it is only used for 'explicit' version of gyroscopic force
+		m_singleAxisRollingFrictionThreshold = 1e30f;          ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
 		m_leastSquaresResidualThreshold = 0.f;
-		m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
+		m_restitutionVelocityThreshold = 0.2f;  //if the relative velocity is below this threshold, there is zero restitution
+		m_jointFeedbackInWorldSpace = false;
+		m_jointFeedbackInJointFrame = false;
 	}
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btContactSolverInfoDoubleData
 {
-	double		m_tau;
-	double		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double		m_friction;
-	double		m_timeStep;
-	double		m_restitution;
-	double		m_maxErrorReduction;
-	double		m_sor;
-	double		m_erp;//used as Baumgarte factor
-	double		m_erp2;//used in Split Impulse
-	double		m_globalCfm;//constraint force mixing
-	double		m_splitImpulsePenetrationThreshold;
-	double		m_splitImpulseTurnErp;
-	double		m_linearSlop;
-	double		m_warmstartingFactor;
-	double		m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
-	double		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	int			m_splitImpulse;
-	char		m_padding[4];
-
+	double m_tau;
+	double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	double m_friction;
+	double m_timeStep;
+	double m_restitution;
+	double m_maxErrorReduction;
+	double m_sor;
+	double m_erp;        //used as Baumgarte factor
+	double m_erp2;       //used in Split Impulse
+	double m_globalCfm;  //constraint force mixing
+	double m_splitImpulsePenetrationThreshold;
+	double m_splitImpulseTurnErp;
+	double m_linearSlop;
+	double m_warmstartingFactor;
+	double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
+	double m_singleAxisRollingFrictionThreshold;
+
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	int m_splitImpulse;
+	char m_padding[4];
 };
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btContactSolverInfoFloatData
 {
-	float		m_tau;
-	float		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float		m_friction;
-	float		m_timeStep;
-
-	float		m_restitution;
-	float		m_maxErrorReduction;
-	float		m_sor;
-	float		m_erp;//used as Baumgarte factor
-
-	float		m_erp2;//used in Split Impulse
-	float		m_globalCfm;//constraint force mixing
-	float		m_splitImpulsePenetrationThreshold;
-	float		m_splitImpulseTurnErp;
-
-	float		m_linearSlop;
-	float		m_warmstartingFactor;
-	float		m_maxGyroscopicForce;
-	float		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-
-	int			m_splitImpulse;
-	char		m_padding[4];
+	float m_tau;
+	float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	float m_friction;
+	float m_timeStep;
+
+	float m_restitution;
+	float m_maxErrorReduction;
+	float m_sor;
+	float m_erp;  //used as Baumgarte factor
+
+	float m_erp2;       //used in Split Impulse
+	float m_globalCfm;  //constraint force mixing
+	float m_splitImpulsePenetrationThreshold;
+	float m_splitImpulseTurnErp;
+
+	float m_linearSlop;
+	float m_warmstartingFactor;
+	float m_maxGyroscopicForce;
+	float m_singleAxisRollingFrictionThreshold;
+
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+
+	int m_splitImpulse;
+	char m_padding[4];
 };
 
-
-
-#endif //BT_CONTACT_SOLVER_INFO
+#endif  //BT_CONTACT_SOLVER_INFO
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
index 75d81cc08c..bba102d905 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
@@ -13,25 +13,20 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btFixedConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 #include <new>
 
-
-btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB)
-:btGeneric6DofSpring2Constraint(rbA,rbB,frameInA,frameInB)
+btFixedConstraint::btFixedConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
+	: btGeneric6DofSpring2Constraint(rbA, rbB, frameInA, frameInB)
 {
-	setAngularLowerLimit(btVector3(0,0,0));
-	setAngularUpperLimit(btVector3(0,0,0));
-	setLinearLowerLimit(btVector3(0,0,0));
-	setLinearUpperLimit(btVector3(0,0,0));
+	setAngularLowerLimit(btVector3(0, 0, 0));
+	setAngularUpperLimit(btVector3(0, 0, 0));
+	setLinearLowerLimit(btVector3(0, 0, 0));
+	setLinearUpperLimit(btVector3(0, 0, 0));
 }
 
-
-
-
-btFixedConstraint::~btFixedConstraint ()
+btFixedConstraint::~btFixedConstraint()
 {
 }
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h
index bff2008b28..6d474ea81d 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btFixedConstraint.h
@@ -18,16 +18,13 @@ subject to the following restrictions:
 
 #include "btGeneric6DofSpring2Constraint.h"
 
-
-ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btGeneric6DofSpring2Constraint
+ATTRIBUTE_ALIGNED16(class)
+btFixedConstraint : public btGeneric6DofSpring2Constraint
 {
-
 public:
-	btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB);
+	btFixedConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB);
 
-	
 	virtual ~btFixedConstraint();
-
 };
 
-#endif //BT_FIXED_CONSTRAINT_H
+#endif  //BT_FIXED_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
index bcd457b673..7535c52c05 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
@@ -17,38 +17,36 @@ subject to the following restrictions:
 
 #include "btGearConstraint.h"
 
-btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio)
-:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB),
-m_axisInA(axisInA),
-m_axisInB(axisInB),
-m_ratio(ratio)
+btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio)
+	: btTypedConstraint(GEAR_CONSTRAINT_TYPE, rbA, rbB),
+	  m_axisInA(axisInA),
+	  m_axisInB(axisInB),
+	  m_ratio(ratio)
 {
 }
 
-btGearConstraint::~btGearConstraint ()
+btGearConstraint::~btGearConstraint()
 {
 }
 
-void btGearConstraint::getInfo1 (btConstraintInfo1* info)
+void btGearConstraint::getInfo1(btConstraintInfo1* info)
 {
 	info->m_numConstraintRows = 1;
 	info->nub = 1;
 }
 
-void btGearConstraint::getInfo2 (btConstraintInfo2* info)
+void btGearConstraint::getInfo2(btConstraintInfo2* info)
 {
 	btVector3 globalAxisA, globalAxisB;
 
-	globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA;
-	globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB;
+	globalAxisA = m_rbA.getWorldTransform().getBasis() * this->m_axisInA;
+	globalAxisB = m_rbB.getWorldTransform().getBasis() * this->m_axisInB;
 
 	info->m_J1angularAxis[0] = globalAxisA[0];
 	info->m_J1angularAxis[1] = globalAxisA[1];
 	info->m_J1angularAxis[2] = globalAxisA[2];
 
-	info->m_J2angularAxis[0] = m_ratio*globalAxisB[0];
-	info->m_J2angularAxis[1] = m_ratio*globalAxisB[1];
-	info->m_J2angularAxis[2] = m_ratio*globalAxisB[2];
-
+	info->m_J2angularAxis[0] = m_ratio * globalAxisB[0];
+	info->m_J2angularAxis[1] = m_ratio * globalAxisB[1];
+	info->m_J2angularAxis[2] = m_ratio * globalAxisB[2];
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h
index e4613455a2..64b15dfbce 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGearConstraint.h
@@ -13,45 +13,40 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_GEAR_CONSTRAINT_H
 #define BT_GEAR_CONSTRAINT_H
 
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
 
-
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btGearConstraintData	btGearConstraintDoubleData
-#define btGearConstraintDataName	"btGearConstraintDoubleData"
+#define btGearConstraintData btGearConstraintDoubleData
+#define btGearConstraintDataName "btGearConstraintDoubleData"
 #else
-#define btGearConstraintData	btGearConstraintFloatData
-#define btGearConstraintDataName	"btGearConstraintFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
+#define btGearConstraintData btGearConstraintFloatData
+#define btGearConstraintDataName "btGearConstraintFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 ///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
 ///See Bullet/Demos/ConstraintDemo for an example use.
 class btGearConstraint : public btTypedConstraint
 {
 protected:
-	btVector3	m_axisInA;
-	btVector3	m_axisInB;
-	bool		m_useFrameA;
-	btScalar	m_ratio;
+	btVector3 m_axisInA;
+	btVector3 m_axisInB;
+	bool m_useFrameA;
+	btScalar m_ratio;
 
 public:
-	btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
-	virtual ~btGearConstraint ();
+	btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio = 1.f);
+	virtual ~btGearConstraint();
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1 (btConstraintInfo1* info);
+	virtual void getInfo1(btConstraintInfo1* info);
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (btConstraintInfo2* info);
+	virtual void getInfo2(btConstraintInfo2* info);
 
-	void setAxisA(btVector3& axisA) 
+	void setAxisA(btVector3& axisA)
 	{
 		m_axisInA = axisA;
 	}
@@ -76,68 +71,64 @@ public:
 		return m_ratio;
 	}
 
-
-	virtual	void	setParam(int num, btScalar value, int axis = -1) 
+	virtual void setParam(int num, btScalar value, int axis = -1)
 	{
-		(void) num;
-		(void) value;
-		(void) axis;
+		(void)num;
+		(void)value;
+		(void)axis;
 		btAssert(0);
 	}
 
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const 
-	{ 
-		(void) num;
-		(void) axis;
+	virtual btScalar getParam(int num, int axis = -1) const
+	{
+		(void)num;
+		(void)axis;
 		btAssert(0);
 		return 0.f;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
-
-
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btGearConstraintFloatData
 {
-	btTypedConstraintFloatData	m_typeConstraintData;
+	btTypedConstraintFloatData m_typeConstraintData;
 
-	btVector3FloatData			m_axisInA;
-	btVector3FloatData			m_axisInB;
+	btVector3FloatData m_axisInA;
+	btVector3FloatData m_axisInB;
 
-	float							m_ratio;
-	char							m_padding[4];
+	float m_ratio;
+	char m_padding[4];
 };
 
 struct btGearConstraintDoubleData
 {
-	btTypedConstraintDoubleData	m_typeConstraintData;
+	btTypedConstraintDoubleData m_typeConstraintData;
 
-	btVector3DoubleData			m_axisInA;
-	btVector3DoubleData			m_axisInB;
+	btVector3DoubleData m_axisInA;
+	btVector3DoubleData m_axisInB;
 
-	double						m_ratio;
+	double m_ratio;
 };
 
-SIMD_FORCE_INLINE	int	btGearConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btGearConstraintData);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
-	btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
+	btTypedConstraint::serialize(&gear->m_typeConstraintData, serializer);
 
-	m_axisInA.serialize( gear->m_axisInA );
-	m_axisInB.serialize( gear->m_axisInB );
+	m_axisInA.serialize(gear->m_axisInA);
+	m_axisInB.serialize(gear->m_axisInB);
 
 	gear->m_ratio = m_ratio;
 
@@ -152,9 +143,4 @@ SIMD_FORCE_INLINE	const char*	btGearConstraint::serialize(void* dataBuffer, btSe
 	return btGearConstraintDataName;
 }
 
-
-
-
-
-
-#endif //BT_GEAR_CONSTRAINT_H
+#endif  //BT_GEAR_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index fa17254ec3..1f54203532 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -25,83 +25,61 @@ http://gimpact.sf.net
 #include "LinearMath/btTransformUtil.h"
 #include <new>
 
-
-
 #define D6_USE_OBSOLETE_METHOD false
 #define D6_USE_FRAME_OFFSET true
 
-
-
-
-
-
 btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
-, m_frameInA(frameInA)
-, m_frameInB(frameInB),
-m_useLinearReferenceFrameA(useLinearReferenceFrameA),
-m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
-m_flags(0),
-m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
+	: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_useLinearReferenceFrameA(useLinearReferenceFrameA), m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), m_flags(0), m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
 {
 	calculateTransforms();
 }
 
-
-
 btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
-        : btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
-		m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameB),
-		m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
-		m_flags(0),
-		m_useSolveConstraintObsolete(false)
+	: btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
+	  m_frameInB(frameInB),
+	  m_useLinearReferenceFrameA(useLinearReferenceFrameB),
+	  m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
+	  m_flags(0),
+	  m_useSolveConstraintObsolete(false)
 {
 	///not providing rigidbody A means implicitly using worldspace for body A
 	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
 	calculateTransforms();
 }
 
-
-
-
 #define GENERIC_D6_DISABLE_WARMSTARTING 1
 
-
-
 btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
 btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
 {
-	int i = index%3;
-	int j = index/3;
+	int i = index % 3;
+	int j = index / 3;
 	return mat[i][j];
 }
 
-
-
 ///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
-bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
-bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
+bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz);
+bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz)
 {
 	//	// rot =  cy*cz          -cy*sz           sy
 	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
 	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
 	//
 
-	btScalar fi = btGetMatrixElem(mat,2);
+	btScalar fi = btGetMatrixElem(mat, 2);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
-			xyz[1] = btAsin(btGetMatrixElem(mat,2));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			xyz[0] = btAtan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
+			xyz[1] = btAsin(btGetMatrixElem(mat, 2));
+			xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
 			return true;
 		}
 		else
 		{
 			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[0] = -btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 			xyz[1] = -SIMD_HALF_PI;
 			xyz[2] = btScalar(0.0);
 			return false;
@@ -110,7 +88,7 @@ bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
 	else
 	{
 		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+		xyz[0] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 		xyz[1] = SIMD_HALF_PI;
 		xyz[2] = 0.0;
 	}
@@ -121,52 +99,49 @@ bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
 
 int btRotationalLimitMotor::testLimitValue(btScalar test_value)
 {
-	if(m_loLimit>m_hiLimit)
+	if (m_loLimit > m_hiLimit)
 	{
-		m_currentLimit = 0;//Free from violation
+		m_currentLimit = 0;  //Free from violation
 		return 0;
 	}
 	if (test_value < m_loLimit)
 	{
-		m_currentLimit = 1;//low limit violation
-		m_currentLimitError =  test_value - m_loLimit;
-		if(m_currentLimitError>SIMD_PI) 
-			m_currentLimitError-=SIMD_2_PI;
-		else if(m_currentLimitError<-SIMD_PI) 
-			m_currentLimitError+=SIMD_2_PI;
+		m_currentLimit = 1;  //low limit violation
+		m_currentLimitError = test_value - m_loLimit;
+		if (m_currentLimitError > SIMD_PI)
+			m_currentLimitError -= SIMD_2_PI;
+		else if (m_currentLimitError < -SIMD_PI)
+			m_currentLimitError += SIMD_2_PI;
 		return 1;
 	}
-	else if (test_value> m_hiLimit)
+	else if (test_value > m_hiLimit)
 	{
-		m_currentLimit = 2;//High limit violation
+		m_currentLimit = 2;  //High limit violation
 		m_currentLimitError = test_value - m_hiLimit;
-		if(m_currentLimitError>SIMD_PI) 
-			m_currentLimitError-=SIMD_2_PI;
-		else if(m_currentLimitError<-SIMD_PI) 
-			m_currentLimitError+=SIMD_2_PI;
+		if (m_currentLimitError > SIMD_PI)
+			m_currentLimitError -= SIMD_2_PI;
+		else if (m_currentLimitError < -SIMD_PI)
+			m_currentLimitError += SIMD_2_PI;
 		return 2;
 	};
 
-	m_currentLimit = 0;//Free from violation
+	m_currentLimit = 0;  //Free from violation
 	return 0;
-
 }
 
-
-
 btScalar btRotationalLimitMotor::solveAngularLimits(
-	btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
-	btRigidBody * body0, btRigidBody * body1 )
+	btScalar timeStep, btVector3& axis, btScalar jacDiagABInv,
+	btRigidBody* body0, btRigidBody* body1)
 {
-	if (needApplyTorques()==false) return 0.0f;
+	if (needApplyTorques() == false) return 0.0f;
 
 	btScalar target_velocity = m_targetVelocity;
 	btScalar maxMotorForce = m_maxMotorForce;
 
 	//current error correction
-	if (m_currentLimit!=0)
+	if (m_currentLimit != 0)
 	{
-		target_velocity = -m_stopERP*m_currentLimitError/(timeStep);
+		target_velocity = -m_stopERP * m_currentLimitError / (timeStep);
 		maxMotorForce = m_maxLimitForce;
 	}
 
@@ -178,42 +153,37 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
 	btVector3 angVelB = body1->getAngularVelocity();
 
 	btVector3 vel_diff;
-	vel_diff = angVelA-angVelB;
-
-
+	vel_diff = angVelA - angVelB;
 
 	btScalar rel_vel = axis.dot(vel_diff);
 
 	// correction velocity
-	btScalar motor_relvel = m_limitSoftness*(target_velocity  - m_damping*rel_vel);
+	btScalar motor_relvel = m_limitSoftness * (target_velocity - m_damping * rel_vel);
 
-
-	if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON  )
+	if (motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON)
 	{
-		return 0.0f;//no need for applying force
+		return 0.0f;  //no need for applying force
 	}
 
-
 	// correction impulse
-	btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
+	btScalar unclippedMotorImpulse = (1 + m_bounce) * motor_relvel * jacDiagABInv;
 
 	// clip correction impulse
 	btScalar clippedMotorImpulse;
 
 	///@todo: should clip against accumulated impulse
-	if (unclippedMotorImpulse>0.0f)
+	if (unclippedMotorImpulse > 0.0f)
 	{
-		clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
+		clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce ? maxMotorForce : unclippedMotorImpulse;
 	}
 	else
 	{
-		clippedMotorImpulse =  unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
+		clippedMotorImpulse = unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce : unclippedMotorImpulse;
 	}
 
-
 	// sort with accumulated impulses
-	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
-	btScalar	hi = btScalar(BT_LARGE_FLOAT);
+	btScalar lo = btScalar(-BT_LARGE_FLOAT);
+	btScalar hi = btScalar(BT_LARGE_FLOAT);
 
 	btScalar oldaccumImpulse = m_accumulatedImpulse;
 	btScalar sum = oldaccumImpulse + clippedMotorImpulse;
@@ -227,59 +197,50 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
 	body1->applyTorqueImpulse(-motorImp);
 
 	return clippedMotorImpulse;
-
-
 }
 
 //////////////////////////// End btRotationalLimitMotor ////////////////////////////////////
 
-
-
-
 //////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
 
-
 int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_value)
 {
 	btScalar loLimit = m_lowerLimit[limitIndex];
 	btScalar hiLimit = m_upperLimit[limitIndex];
-	if(loLimit > hiLimit)
+	if (loLimit > hiLimit)
 	{
-		m_currentLimit[limitIndex] = 0;//Free from violation
+		m_currentLimit[limitIndex] = 0;  //Free from violation
 		m_currentLimitError[limitIndex] = btScalar(0.f);
 		return 0;
 	}
 
 	if (test_value < loLimit)
 	{
-		m_currentLimit[limitIndex] = 2;//low limit violation
-		m_currentLimitError[limitIndex] =  test_value - loLimit;
+		m_currentLimit[limitIndex] = 2;  //low limit violation
+		m_currentLimitError[limitIndex] = test_value - loLimit;
 		return 2;
 	}
-	else if (test_value> hiLimit)
+	else if (test_value > hiLimit)
 	{
-		m_currentLimit[limitIndex] = 1;//High limit violation
+		m_currentLimit[limitIndex] = 1;  //High limit violation
 		m_currentLimitError[limitIndex] = test_value - hiLimit;
 		return 1;
 	};
 
-	m_currentLimit[limitIndex] = 0;//Free from violation
+	m_currentLimit[limitIndex] = 0;  //Free from violation
 	m_currentLimitError[limitIndex] = btScalar(0.f);
 	return 0;
 }
 
-
-
 btScalar btTranslationalLimitMotor::solveLinearAxis(
 	btScalar timeStep,
 	btScalar jacDiagABInv,
-	btRigidBody& body1,const btVector3 &pointInA,
-	btRigidBody& body2,const btVector3 &pointInB,
+	btRigidBody& body1, const btVector3& pointInA,
+	btRigidBody& body2, const btVector3& pointInB,
 	int limit_index,
-	const btVector3 & axis_normal_on_a,
-	const btVector3 & anchorPos)
+	const btVector3& axis_normal_on_a,
+	const btVector3& anchorPos)
 {
-
 	///find relative velocity
 	//    btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
 	//    btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
@@ -292,14 +253,12 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 
 	btScalar rel_vel = axis_normal_on_a.dot(vel);
 
-
-
 	/// apply displacement correction
 
 	//positional error (zeroth order error)
 	btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
-	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
-	btScalar	hi = btScalar(BT_LARGE_FLOAT);
+	btScalar lo = btScalar(-BT_LARGE_FLOAT);
+	btScalar hi = btScalar(BT_LARGE_FLOAT);
 
 	btScalar minLimit = m_lowerLimit[limit_index];
 	btScalar maxLimit = m_upperLimit[limit_index];
@@ -312,7 +271,6 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 			{
 				depth -= maxLimit;
 				lo = btScalar(0.);
-
 			}
 			else
 			{
@@ -329,10 +287,7 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 		}
 	}
 
-	btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv;
-
-
-
+	btScalar normalImpulse = m_limitSoftness * (m_restitution * depth / timeStep - m_damping * rel_vel) * jacDiagABInv;
 
 	btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index];
 	btScalar sum = oldNormalImpulse + normalImpulse;
@@ -340,11 +295,9 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
 
 	btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
-	body1.applyImpulse( impulse_vector, rel_pos1);
+	body1.applyImpulse(impulse_vector, rel_pos1);
 	body2.applyImpulse(-impulse_vector, rel_pos2);
 
-	
-
 	return normalImpulse;
 }
 
@@ -352,8 +305,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 
 void btGeneric6DofConstraint::calculateAngleInfo()
 {
-	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
-	matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
+	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
+	matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
 	// in euler angle mode we do not actually constrain the angular velocity
 	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
 	//
@@ -378,31 +331,30 @@ void btGeneric6DofConstraint::calculateAngleInfo()
 	m_calculatedAxis[0].normalize();
 	m_calculatedAxis[1].normalize();
 	m_calculatedAxis[2].normalize();
-
 }
 
 void btGeneric6DofConstraint::calculateTransforms()
 {
-	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 }
 
-void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
 {
 	m_calculatedTransformA = transA * m_frameInA;
 	m_calculatedTransformB = transB * m_frameInB;
 	calculateLinearInfo();
 	calculateAngleInfo();
-	if(m_useOffsetForConstraintFrame)
-	{	//  get weight factors depending on masses
+	if (m_useOffsetForConstraintFrame)
+	{  //  get weight factors depending on masses
 		btScalar miA = getRigidBodyA().getInvMass();
 		btScalar miB = getRigidBodyB().getInvMass();
 		m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
 		btScalar miS = miA + miB;
-		if(miS > btScalar(0.f))
+		if (miS > btScalar(0.f))
 		{
 			m_factA = miB / miS;
 		}
-		else 
+		else
 		{
 			m_factA = btScalar(0.5f);
 		}
@@ -410,39 +362,32 @@ void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,cons
 	}
 }
 
-
-
 void btGeneric6DofConstraint::buildLinearJacobian(
-	btJacobianEntry & jacLinear,const btVector3 & normalWorld,
-	const btVector3 & pivotAInW,const btVector3 & pivotBInW)
+	btJacobianEntry& jacLinear, const btVector3& normalWorld,
+	const btVector3& pivotAInW, const btVector3& pivotBInW)
 {
 	new (&jacLinear) btJacobianEntry(
-        m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-        m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-        pivotAInW - m_rbA.getCenterOfMassPosition(),
-        pivotBInW - m_rbB.getCenterOfMassPosition(),
-        normalWorld,
-        m_rbA.getInvInertiaDiagLocal(),
-        m_rbA.getInvMass(),
-        m_rbB.getInvInertiaDiagLocal(),
-        m_rbB.getInvMass());
+		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+		pivotAInW - m_rbA.getCenterOfMassPosition(),
+		pivotBInW - m_rbB.getCenterOfMassPosition(),
+		normalWorld,
+		m_rbA.getInvInertiaDiagLocal(),
+		m_rbA.getInvMass(),
+		m_rbB.getInvInertiaDiagLocal(),
+		m_rbB.getInvMass());
 }
 
-
-
 void btGeneric6DofConstraint::buildAngularJacobian(
-	btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
+	btJacobianEntry& jacAngular, const btVector3& jointAxisW)
 {
-	 new (&jacAngular)	btJacobianEntry(jointAxisW,
-                                      m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-                                      m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-                                      m_rbA.getInvInertiaDiagLocal(),
-                                      m_rbB.getInvInertiaDiagLocal());
-
+	new (&jacAngular) btJacobianEntry(jointAxisW,
+									  m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+									  m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+									  m_rbA.getInvInertiaDiagLocal(),
+									  m_rbB.getInvInertiaDiagLocal());
 }
 
-
-
 bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
 {
 	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
@@ -453,23 +398,20 @@ bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
 	return m_angularLimits[axis_index].needApplyTorques();
 }
 
-
-
 void btGeneric6DofConstraint::buildJacobian()
 {
 #ifndef __SPU__
 	if (m_useSolveConstraintObsolete)
 	{
-
 		// Clear accumulated impulses for the next simulation step
 		m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 		int i;
-		for(i = 0; i < 3; i++)
+		for (i = 0; i < 3; i++)
 		{
 			m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
 		}
 		//calculates transform
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 
 		//  const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
 		//  const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
@@ -483,7 +425,7 @@ void btGeneric6DofConstraint::buildJacobian()
 
 		btVector3 normalWorld;
 		//linear part
-		for (i=0;i<3;i++)
+		for (i = 0; i < 3; i++)
 		{
 			if (m_linearLimits.isLimited(i))
 			{
@@ -493,56 +435,53 @@ void btGeneric6DofConstraint::buildJacobian()
 					normalWorld = m_calculatedTransformB.getBasis().getColumn(i);
 
 				buildLinearJacobian(
-					m_jacLinear[i],normalWorld ,
-					pivotAInW,pivotBInW);
-
+					m_jacLinear[i], normalWorld,
+					pivotAInW, pivotBInW);
 			}
 		}
 
 		// angular part
-		for (i=0;i<3;i++)
+		for (i = 0; i < 3; i++)
 		{
 			//calculates error angle
 			if (testAngularLimitMotor(i))
 			{
 				normalWorld = this->getAxis(i);
 				// Create angular atom
-				buildAngularJacobian(m_jacAng[i],normalWorld);
+				buildAngularJacobian(m_jacAng[i], normalWorld);
 			}
 		}
-
 	}
-#endif //__SPU__
-
+#endif  //__SPU__
 }
 
-
-void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
+void btGeneric6DofConstraint::getInfo1(btConstraintInfo1* info)
 {
 	if (m_useSolveConstraintObsolete)
 	{
 		info->m_numConstraintRows = 0;
 		info->nub = 0;
-	} else
+	}
+	else
 	{
 		//prepare constraint
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 		info->m_numConstraintRows = 0;
 		info->nub = 6;
 		int i;
 		//test linear limits
-		for(i = 0; i < 3; i++)
+		for (i = 0; i < 3; i++)
 		{
-			if(m_linearLimits.needApplyForce(i))
+			if (m_linearLimits.needApplyForce(i))
 			{
 				info->m_numConstraintRows++;
 				info->nub--;
 			}
 		}
 		//test angular limits
-		for (i=0;i<3 ;i++ )
+		for (i = 0; i < 3; i++)
 		{
-			if(testAngularLimitMotor(i))
+			if (testAngularLimitMotor(i))
 			{
 				info->m_numConstraintRows++;
 				info->nub--;
@@ -551,13 +490,14 @@ void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
 	}
 }
 
-void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+void btGeneric6DofConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
 {
 	if (m_useSolveConstraintObsolete)
 	{
 		info->m_numConstraintRows = 0;
 		info->nub = 0;
-	} else
+	}
+	else
 	{
 		//pre-allocate all 6
 		info->m_numConstraintRows = 6;
@@ -565,8 +505,7 @@ void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
 	}
 }
 
-
-void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
+void btGeneric6DofConstraint::getInfo2(btConstraintInfo2* info)
 {
 	btAssert(!m_useSolveConstraintObsolete);
 
@@ -577,136 +516,124 @@ void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
 	const btVector3& angVelA = m_rbA.getAngularVelocity();
 	const btVector3& angVelB = m_rbB.getAngularVelocity();
 
-	if(m_useOffsetForConstraintFrame)
-	{ // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	if (m_useOffsetForConstraintFrame)
+	{  // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
 	else
-	{ // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	{  // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
-
 }
 
-
-void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+void btGeneric6DofConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
 {
-	
 	btAssert(!m_useSolveConstraintObsolete);
 	//prepare constraint
-	calculateTransforms(transA,transB);
+	calculateTransforms(transA, transB);
 
 	int i;
-	for (i=0;i<3 ;i++ )
+	for (i = 0; i < 3; i++)
 	{
 		testAngularLimitMotor(i);
 	}
 
-	if(m_useOffsetForConstraintFrame)
-	{ // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	if (m_useOffsetForConstraintFrame)
+	{  // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
 	else
-	{ // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	{  // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+		setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 	}
 }
 
-
-
-int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
 {
-//	int row = 0;
+	//	int row = 0;
 	//solve linear limits
 	btRotationalLimitMotor limot;
-	for (int i=0;i<3 ;i++ )
+	for (int i = 0; i < 3; i++)
 	{
-		if(m_linearLimits.needApplyForce(i))
-		{ // re-use rotational motor code
+		if (m_linearLimits.needApplyForce(i))
+		{  // re-use rotational motor code
 			limot.m_bounce = btScalar(0.f);
 			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
 			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
-			limot.m_damping  = m_linearLimits.m_damping;
-			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
-			limot.m_hiLimit  = m_linearLimits.m_upperLimit[i];
-			limot.m_limitSoftness  = m_linearLimits.m_limitSoftness;
-			limot.m_loLimit  = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxLimitForce  = btScalar(0.f);
-			limot.m_maxMotorForce  = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity  = m_linearLimits.m_targetVelocity[i];
+			limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
+			limot.m_damping = m_linearLimits.m_damping;
+			limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
+			limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
+			limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
+			limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
+			limot.m_maxLimitForce = btScalar(0.f);
+			limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
+			limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
 			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
 			int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT);
-			limot.m_normalCFM	= (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
-			limot.m_stopCFM		= (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP		= (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
-			if(m_useOffsetForConstraintFrame)
+			limot.m_normalCFM = (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
+			limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
+			limot.m_stopERP = (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
+			if (m_useOffsetForConstraintFrame)
 			{
 				int indx1 = (i + 1) % 3;
 				int indx2 = (i + 2) % 3;
-				int rotAllowed = 1; // rotations around orthos to current axis
-				if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
+				int rotAllowed = 1;  // rotations around orthos to current axis
+				if (m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
 				{
 					rotAllowed = 0;
 				}
-				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
+				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
 			}
 			else
 			{
-				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
+				row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0);
 			}
 		}
 	}
 	return row;
 }
 
-
-
-int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2* info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
 {
-	btGeneric6DofConstraint * d6constraint = this;
+	btGeneric6DofConstraint* d6constraint = this;
 	int row = row_offset;
 	//solve angular limits
-	for (int i=0;i<3 ;i++ )
+	for (int i = 0; i < 3; i++)
 	{
-		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
+		if (d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
 		{
 			btVector3 axis = d6constraint->getAxis(i);
 			int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT);
-			if(!(flags & BT_6DOF_FLAGS_CFM_NORM))
+			if (!(flags & BT_6DOF_FLAGS_CFM_NORM))
 			{
 				m_angularLimits[i].m_normalCFM = info->cfm[0];
 			}
-			if(!(flags & BT_6DOF_FLAGS_CFM_STOP))
+			if (!(flags & BT_6DOF_FLAGS_CFM_STOP))
 			{
 				m_angularLimits[i].m_stopCFM = info->cfm[0];
 			}
-			if(!(flags & BT_6DOF_FLAGS_ERP_STOP))
+			if (!(flags & BT_6DOF_FLAGS_ERP_STOP))
 			{
 				m_angularLimits[i].m_stopERP = info->erp;
 			}
 			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
-												transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
+										 transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
 		}
 	}
 
 	return row;
 }
 
-
-
-
-void	btGeneric6DofConstraint::updateRHS(btScalar	timeStep)
+void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
 {
 	(void)timeStep;
-
 }
 
-
 void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
 {
 	m_frameInA = frameA;
@@ -715,33 +642,27 @@ void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTrans
 	calculateTransforms();
 }
 
-
-
 btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
 {
 	return m_calculatedAxis[axis_index];
 }
 
-
-btScalar	btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
+btScalar btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
 {
 	return m_calculatedLinearDiff[axisIndex];
 }
 
-
 btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
 {
 	return m_calculatedAxisAngleDiff[axisIndex];
 }
 
-
-
 void btGeneric6DofConstraint::calcAnchorPos(void)
 {
 	btScalar imA = m_rbA.getInvMass();
 	btScalar imB = m_rbB.getInvMass();
 	btScalar weight;
-	if(imB == btScalar(0.0))
+	if (imB == btScalar(0.0))
 	{
 		weight = btScalar(1.0);
 	}
@@ -755,43 +676,39 @@ void btGeneric6DofConstraint::calcAnchorPos(void)
 	return;
 }
 
-
-
 void btGeneric6DofConstraint::calculateLinearInfo()
 {
 	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
 	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for(int i = 0; i < 3; i++)
+	for (int i = 0; i < 3; i++)
 	{
 		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
 		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
 	}
 }
 
-
-
 int btGeneric6DofConstraint::get_limit_motor_info2(
-	btRotationalLimitMotor * limot,
-	const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
-	btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
-{
-    int srow = row * info->rowskip;
-    bool powered = limot->m_enableMotor;
-    int limit = limot->m_currentLimit;
-    if (powered || limit)
-    {   // if the joint is powered, or has joint limits, add in the extra row
-        btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-        btScalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
-        J1[srow+0] = ax1[0];
-        J1[srow+1] = ax1[1];
-        J1[srow+2] = ax1[2];
-
-        J2[srow+0] = -ax1[0];
-        J2[srow+1] = -ax1[1];
-        J2[srow+2] = -ax1[2];
-
-		if((!rotational))
-        {
+	btRotationalLimitMotor* limot,
+	const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
+	btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed)
+{
+	int srow = row * info->rowskip;
+	bool powered = limot->m_enableMotor;
+	int limit = limot->m_currentLimit;
+	if (powered || limit)
+	{  // if the joint is powered, or has joint limits, add in the extra row
+		btScalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
+		btScalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
+		J1[srow + 0] = ax1[0];
+		J1[srow + 1] = ax1[1];
+		J1[srow + 2] = ax1[2];
+
+		J2[srow + 0] = -ax1[0];
+		J2[srow + 1] = -ax1[1];
+		J2[srow + 2] = -ax1[2];
+
+		if ((!rotational))
+		{
 			if (m_useOffsetForConstraintFrame)
 			{
 				btVector3 tmpA, tmpB, relA, relB;
@@ -814,55 +731,56 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
 				relB = orthoB - totalDist * m_factB;
 				tmpA = relA.cross(ax1);
 				tmpB = relB.cross(ax1);
-				if(m_hasStaticBody && (!rotAllowed))
+				if (m_hasStaticBody && (!rotAllowed))
 				{
 					tmpA *= m_factA;
 					tmpB *= m_factB;
 				}
 				int i;
-				for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
-				for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
-			} else
+				for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
+				for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
+			}
+			else
 			{
-				btVector3 ltd;	// Linear Torque Decoupling vector
+				btVector3 ltd;  // Linear Torque Decoupling vector
 				btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
 				ltd = c.cross(ax1);
-				info->m_J1angularAxis[srow+0] = ltd[0];
-				info->m_J1angularAxis[srow+1] = ltd[1];
-				info->m_J1angularAxis[srow+2] = ltd[2];
+				info->m_J1angularAxis[srow + 0] = ltd[0];
+				info->m_J1angularAxis[srow + 1] = ltd[1];
+				info->m_J1angularAxis[srow + 2] = ltd[2];
 
 				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
 				ltd = -c.cross(ax1);
-				info->m_J2angularAxis[srow+0] = ltd[0];
-				info->m_J2angularAxis[srow+1] = ltd[1];
-				info->m_J2angularAxis[srow+2] = ltd[2];
+				info->m_J2angularAxis[srow + 0] = ltd[0];
+				info->m_J2angularAxis[srow + 1] = ltd[1];
+				info->m_J2angularAxis[srow + 2] = ltd[2];
 			}
-        }
-        // if we're limited low and high simultaneously, the joint motor is
-        // ineffective
-        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
-        info->m_constraintError[srow] = btScalar(0.f);
-        if (powered)
-        {
+		}
+		// if we're limited low and high simultaneously, the joint motor is
+		// ineffective
+		if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
+		info->m_constraintError[srow] = btScalar(0.f);
+		if (powered)
+		{
 			info->cfm[srow] = limot->m_normalCFM;
-            if(!limit)
-            {
+			if (!limit)
+			{
 				btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
 
-				btScalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
-													limot->m_loLimit,
-													limot->m_hiLimit, 
-													tag_vel, 
-													info->fps * limot->m_stopERP);
+				btScalar mot_fact = getMotorFactor(limot->m_currentPosition,
+												   limot->m_loLimit,
+												   limot->m_hiLimit,
+												   tag_vel,
+												   info->fps * limot->m_stopERP);
 				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
-                info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
-                info->m_upperLimit[srow] = limot->m_maxMotorForce;
-            }
-        }
-        if(limit)
-        {
-            btScalar k = info->fps * limot->m_stopERP;
-			if(!rotational)
+				info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+				info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
+			}
+		}
+		if (limit)
+		{
+			btScalar k = info->fps * limot->m_stopERP;
+			if (!rotational)
 			{
 				info->m_constraintError[srow] += k * limot->m_currentLimitError;
 			}
@@ -871,116 +789,112 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
 				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
 			}
 			info->cfm[srow] = limot->m_stopCFM;
-            if (limot->m_loLimit == limot->m_hiLimit)
-            {   // limited low and high simultaneously
-                info->m_lowerLimit[srow] = -SIMD_INFINITY;
-                info->m_upperLimit[srow] = SIMD_INFINITY;
-            }
-            else
-            {
-                if (limit == 1)
-                {
-                    info->m_lowerLimit[srow] = 0;
-                    info->m_upperLimit[srow] = SIMD_INFINITY;
-                }
-                else
-                {
-                    info->m_lowerLimit[srow] = -SIMD_INFINITY;
-                    info->m_upperLimit[srow] = 0;
-                }
-                // deal with bounce
-                if (limot->m_bounce > 0)
-                {
-                    // calculate joint velocity
-                    btScalar vel;
-                    if (rotational)
-                    {
-                        vel = angVelA.dot(ax1);
-//make sure that if no body -> angVelB == zero vec
-//                        if (body1)
-                            vel -= angVelB.dot(ax1);
-                    }
-                    else
-                    {
-                        vel = linVelA.dot(ax1);
-//make sure that if no body -> angVelB == zero vec
-//                        if (body1)
-                            vel -= linVelB.dot(ax1);
-                    }
-                    // only apply bounce if the velocity is incoming, and if the
-                    // resulting c[] exceeds what we already have.
-                    if (limit == 1)
-                    {
-                        if (vel < 0)
-                        {
-                            btScalar newc = -limot->m_bounce* vel;
-                            if (newc > info->m_constraintError[srow]) 
+			if (limot->m_loLimit == limot->m_hiLimit)
+			{  // limited low and high simultaneously
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else
+			{
+				if (limit == 1)
+				{
+					info->m_lowerLimit[srow] = 0;
+					info->m_upperLimit[srow] = SIMD_INFINITY;
+				}
+				else
+				{
+					info->m_lowerLimit[srow] = -SIMD_INFINITY;
+					info->m_upperLimit[srow] = 0;
+				}
+				// deal with bounce
+				if (limot->m_bounce > 0)
+				{
+					// calculate joint velocity
+					btScalar vel;
+					if (rotational)
+					{
+						vel = angVelA.dot(ax1);
+						//make sure that if no body -> angVelB == zero vec
+						//                        if (body1)
+						vel -= angVelB.dot(ax1);
+					}
+					else
+					{
+						vel = linVelA.dot(ax1);
+						//make sure that if no body -> angVelB == zero vec
+						//                        if (body1)
+						vel -= linVelB.dot(ax1);
+					}
+					// only apply bounce if the velocity is incoming, and if the
+					// resulting c[] exceeds what we already have.
+					if (limit == 1)
+					{
+						if (vel < 0)
+						{
+							btScalar newc = -limot->m_bounce * vel;
+							if (newc > info->m_constraintError[srow])
 								info->m_constraintError[srow] = newc;
-                        }
-                    }
-                    else
-                    {
-                        if (vel > 0)
-                        {
-                            btScalar newc = -limot->m_bounce * vel;
-                            if (newc < info->m_constraintError[srow]) 
+						}
+					}
+					else
+					{
+						if (vel > 0)
+						{
+							btScalar newc = -limot->m_bounce * vel;
+							if (newc < info->m_constraintError[srow])
 								info->m_constraintError[srow] = newc;
-                        }
-                    }
-                }
-            }
-        }
-        return 1;
-    }
-    else return 0;
+						}
+					}
+				}
+			}
+		}
+		return 1;
+	}
+	else
+		return 0;
 }
 
-
-
-
-
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+///If no axis is provided, it uses the default axis for this constraint.
 void btGeneric6DofConstraint::setParam(int num, btScalar value, int axis)
 {
-	if((axis >= 0) && (axis < 3))
+	if ((axis >= 0) && (axis < 3))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				m_linearLimits.m_stopERP[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				m_linearLimits.m_stopCFM[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				m_linearLimits.m_normalCFM[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
-	else if((axis >=3) && (axis < 6))
+	else if ((axis >= 3) && (axis < 6))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				m_angularLimits[axis - 3].m_stopERP = value;
 				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				m_angularLimits[axis - 3].m_stopCFM = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				m_angularLimits[axis - 3].m_normalCFM = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
@@ -990,47 +904,47 @@ void btGeneric6DofConstraint::setParam(int num, btScalar value, int axis)
 	}
 }
 
-	///return the local value of parameter
-btScalar btGeneric6DofConstraint::getParam(int num, int axis) const 
+///return the local value of parameter
+btScalar btGeneric6DofConstraint::getParam(int num, int axis) const
 {
 	btScalar retVal = 0;
-	if((axis >= 0) && (axis < 3))
+	if ((axis >= 0) && (axis < 3))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_linearLimits.m_stopERP[axis];
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_linearLimits.m_stopCFM[axis];
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_linearLimits.m_normalCFM[axis];
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
-	else if((axis >=3) && (axis < 6))
+	else if ((axis >= 3) && (axis < 6))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_angularLimits[axis - 3].m_stopERP;
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_angularLimits[axis - 3].m_stopCFM;
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
 				retVal = m_angularLimits[axis - 3].m_normalCFM;
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
@@ -1041,23 +955,21 @@ btScalar btGeneric6DofConstraint::getParam(int num, int axis) const
 	return retVal;
 }
 
- 
-
-void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+void btGeneric6DofConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
 {
 	btVector3 zAxis = axis1.normalized();
 	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
-	
+	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
+
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-	                                xAxis[1], yAxis[1], zAxis[1],
-	                               xAxis[2], yAxis[2], zAxis[2]);
-	
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
+
 	// now get constraint frame in local coordinate systems
 	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-	
+
 	calculateTransforms();
 }
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index bea8629c32..b9e762e175 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -23,7 +23,6 @@ email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
-
 #ifndef BT_GENERIC_6DOF_CONSTRAINT_H
 #define BT_GENERIC_6DOF_CONSTRAINT_H
 
@@ -33,96 +32,91 @@ http://gimpact.sf.net
 
 class btRigidBody;
 
-
-
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btGeneric6DofConstraintData2		btGeneric6DofConstraintDoubleData2
-#define btGeneric6DofConstraintDataName	"btGeneric6DofConstraintDoubleData2"
+#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2
+#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2"
 #else
-#define btGeneric6DofConstraintData2		btGeneric6DofConstraintData
-#define btGeneric6DofConstraintDataName	"btGeneric6DofConstraintData"
-#endif //BT_USE_DOUBLE_PRECISION
-
+#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData
+#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 //! Rotation Limit structure for generic joints
 class btRotationalLimitMotor
 {
 public:
-    //! limit_parameters
-    //!@{
-    btScalar m_loLimit;//!< joint limit
-    btScalar m_hiLimit;//!< joint limit
-    btScalar m_targetVelocity;//!< target motor velocity
-    btScalar m_maxMotorForce;//!< max force on motor
-    btScalar m_maxLimitForce;//!< max force on limit
-    btScalar m_damping;//!< Damping.
-    btScalar m_limitSoftness;//! Relaxation factor
-    btScalar m_normalCFM;//!< Constraint force mixing factor
-    btScalar m_stopERP;//!< Error tolerance factor when joint is at limit
-    btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    btScalar m_bounce;//!< restitution factor
-    bool m_enableMotor;
-
-    //!@}
-
-    //! temp_variables
-    //!@{
-    btScalar m_currentLimitError;//!  How much is violated this limit
-    btScalar m_currentPosition;     //!  current value of angle 
-    int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
-    btScalar m_accumulatedImpulse;
-    //!@}
-
-    btRotationalLimitMotor()
-    {
-    	m_accumulatedImpulse = 0.f;
-        m_targetVelocity = 0;
-        m_maxMotorForce = 0.1f;
-        m_maxLimitForce = 300.0f;
-        m_loLimit = 1.0f;
-        m_hiLimit = -1.0f;
+	//! limit_parameters
+	//!@{
+	btScalar m_loLimit;         //!< joint limit
+	btScalar m_hiLimit;         //!< joint limit
+	btScalar m_targetVelocity;  //!< target motor velocity
+	btScalar m_maxMotorForce;   //!< max force on motor
+	btScalar m_maxLimitForce;   //!< max force on limit
+	btScalar m_damping;         //!< Damping.
+	btScalar m_limitSoftness;   //! Relaxation factor
+	btScalar m_normalCFM;       //!< Constraint force mixing factor
+	btScalar m_stopERP;         //!< Error tolerance factor when joint is at limit
+	btScalar m_stopCFM;         //!< Constraint force mixing factor when joint is at limit
+	btScalar m_bounce;          //!< restitution factor
+	bool m_enableMotor;
+
+	//!@}
+
+	//! temp_variables
+	//!@{
+	btScalar m_currentLimitError;  //!  How much is violated this limit
+	btScalar m_currentPosition;    //!  current value of angle
+	int m_currentLimit;            //!< 0=free, 1=at lo limit, 2=at hi limit
+	btScalar m_accumulatedImpulse;
+	//!@}
+
+	btRotationalLimitMotor()
+	{
+		m_accumulatedImpulse = 0.f;
+		m_targetVelocity = 0;
+		m_maxMotorForce = 6.0f;
+		m_maxLimitForce = 300.0f;
+		m_loLimit = 1.0f;
+		m_hiLimit = -1.0f;
 		m_normalCFM = 0.f;
 		m_stopERP = 0.2f;
 		m_stopCFM = 0.f;
-        m_bounce = 0.0f;
-        m_damping = 1.0f;
-        m_limitSoftness = 0.5f;
-        m_currentLimit = 0;
-        m_currentLimitError = 0;
-        m_enableMotor = false;
-    }
-
-    btRotationalLimitMotor(const btRotationalLimitMotor & limot)
-    {
-        m_targetVelocity = limot.m_targetVelocity;
-        m_maxMotorForce = limot.m_maxMotorForce;
-        m_limitSoftness = limot.m_limitSoftness;
-        m_loLimit = limot.m_loLimit;
-        m_hiLimit = limot.m_hiLimit;
+		m_bounce = 0.0f;
+		m_damping = 1.0f;
+		m_limitSoftness = 0.5f;
+		m_currentLimit = 0;
+		m_currentLimitError = 0;
+		m_enableMotor = false;
+	}
+
+	btRotationalLimitMotor(const btRotationalLimitMotor& limot)
+	{
+		m_targetVelocity = limot.m_targetVelocity;
+		m_maxMotorForce = limot.m_maxMotorForce;
+		m_limitSoftness = limot.m_limitSoftness;
+		m_loLimit = limot.m_loLimit;
+		m_hiLimit = limot.m_hiLimit;
 		m_normalCFM = limot.m_normalCFM;
 		m_stopERP = limot.m_stopERP;
-		m_stopCFM =	limot.m_stopCFM;
-        m_bounce = limot.m_bounce;
-        m_currentLimit = limot.m_currentLimit;
-        m_currentLimitError = limot.m_currentLimitError;
-        m_enableMotor = limot.m_enableMotor;
-    }
-
-
+		m_stopCFM = limot.m_stopCFM;
+		m_bounce = limot.m_bounce;
+		m_currentLimit = limot.m_currentLimit;
+		m_currentLimitError = limot.m_currentLimitError;
+		m_enableMotor = limot.m_enableMotor;
+	}
 
 	//! Is limited
-    bool isLimited() const
-    {
-    	if(m_loLimit > m_hiLimit) return false;
-    	return true;
-    }
+	bool isLimited() const
+	{
+		if (m_loLimit > m_hiLimit) return false;
+		return true;
+	}
 
 	//! Need apply correction
-    bool needApplyTorques() const
-    {
-    	if(m_currentLimit == 0 && m_enableMotor == false) return false;
-    	return true;
-    }
+	bool needApplyTorques() const
+	{
+		if (m_currentLimit == 0 && m_enableMotor == false) return false;
+		return true;
+	}
 
 	//! calculates  error
 	/*!
@@ -131,104 +125,98 @@ public:
 	int testLimitValue(btScalar test_value);
 
 	//! apply the correction impulses for two bodies
-    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
-
+	btScalar solveAngularLimits(btScalar timeStep, btVector3& axis, btScalar jacDiagABInv, btRigidBody* body0, btRigidBody* body1);
 };
 
-
-
 class btTranslationalLimitMotor
 {
 public:
-	btVector3 m_lowerLimit;//!< the constraint lower limits
-    btVector3 m_upperLimit;//!< the constraint upper limits
-    btVector3 m_accumulatedImpulse;
-    //! Linear_Limit_parameters
-    //!@{
-    btScalar	m_limitSoftness;//!< Softness for linear limit
-    btScalar	m_damping;//!< Damping for linear limit
-    btScalar	m_restitution;//! Bounce parameter for linear limit
-	btVector3	m_normalCFM;//!< Constraint force mixing factor
-    btVector3	m_stopERP;//!< Error tolerance factor when joint is at limit
-	btVector3	m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    //!@}
-	bool		m_enableMotor[3];
-    btVector3	m_targetVelocity;//!< target motor velocity
-    btVector3	m_maxMotorForce;//!< max force on motor
-    btVector3	m_currentLimitError;//!  How much is violated this limit
-    btVector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
-    int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
-
-    btTranslationalLimitMotor()
-    {
-    	m_lowerLimit.setValue(0.f,0.f,0.f);
-    	m_upperLimit.setValue(0.f,0.f,0.f);
-    	m_accumulatedImpulse.setValue(0.f,0.f,0.f);
+	btVector3 m_lowerLimit;  //!< the constraint lower limits
+	btVector3 m_upperLimit;  //!< the constraint upper limits
+	btVector3 m_accumulatedImpulse;
+	//! Linear_Limit_parameters
+	//!@{
+	btScalar m_limitSoftness;  //!< Softness for linear limit
+	btScalar m_damping;        //!< Damping for linear limit
+	btScalar m_restitution;    //! Bounce parameter for linear limit
+	btVector3 m_normalCFM;     //!< Constraint force mixing factor
+	btVector3 m_stopERP;       //!< Error tolerance factor when joint is at limit
+	btVector3 m_stopCFM;       //!< Constraint force mixing factor when joint is at limit
+							   //!@}
+	bool m_enableMotor[3];
+	btVector3 m_targetVelocity;     //!< target motor velocity
+	btVector3 m_maxMotorForce;      //!< max force on motor
+	btVector3 m_currentLimitError;  //!  How much is violated this limit
+	btVector3 m_currentLinearDiff;  //!  Current relative offset of constraint frames
+	int m_currentLimit[3];          //!< 0=free, 1=at lower limit, 2=at upper limit
+
+	btTranslationalLimitMotor()
+	{
+		m_lowerLimit.setValue(0.f, 0.f, 0.f);
+		m_upperLimit.setValue(0.f, 0.f, 0.f);
+		m_accumulatedImpulse.setValue(0.f, 0.f, 0.f);
 		m_normalCFM.setValue(0.f, 0.f, 0.f);
 		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
 		m_stopCFM.setValue(0.f, 0.f, 0.f);
 
-    	m_limitSoftness = 0.7f;
-    	m_damping = btScalar(1.0f);
-    	m_restitution = btScalar(0.5f);
-		for(int i=0; i < 3; i++) 
+		m_limitSoftness = 0.7f;
+		m_damping = btScalar(1.0f);
+		m_restitution = btScalar(0.5f);
+		for (int i = 0; i < 3; i++)
 		{
 			m_enableMotor[i] = false;
 			m_targetVelocity[i] = btScalar(0.f);
 			m_maxMotorForce[i] = btScalar(0.f);
 		}
-    }
+	}
 
-    btTranslationalLimitMotor(const btTranslationalLimitMotor & other )
-    {
-    	m_lowerLimit = other.m_lowerLimit;
-    	m_upperLimit = other.m_upperLimit;
-    	m_accumulatedImpulse = other.m_accumulatedImpulse;
+	btTranslationalLimitMotor(const btTranslationalLimitMotor& other)
+	{
+		m_lowerLimit = other.m_lowerLimit;
+		m_upperLimit = other.m_upperLimit;
+		m_accumulatedImpulse = other.m_accumulatedImpulse;
 
-    	m_limitSoftness = other.m_limitSoftness ;
-    	m_damping = other.m_damping;
-    	m_restitution = other.m_restitution;
+		m_limitSoftness = other.m_limitSoftness;
+		m_damping = other.m_damping;
+		m_restitution = other.m_restitution;
 		m_normalCFM = other.m_normalCFM;
 		m_stopERP = other.m_stopERP;
 		m_stopCFM = other.m_stopCFM;
 
-		for(int i=0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 		{
 			m_enableMotor[i] = other.m_enableMotor[i];
 			m_targetVelocity[i] = other.m_targetVelocity[i];
 			m_maxMotorForce[i] = other.m_maxMotorForce[i];
 		}
-    }
+	}
 
-    //! Test limit
+	//! Test limit
 	/*!
     - free means upper < lower,
     - locked means upper == lower
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    inline bool	isLimited(int limitIndex) const
-    {
-       return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-    }
-    inline bool needApplyForce(int limitIndex) const
-    {
-    	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
-    	return true;
-    }
+	inline bool isLimited(int limitIndex) const
+	{
+		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
+	}
+	inline bool needApplyForce(int limitIndex) const
+	{
+		if (m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
+		return true;
+	}
 	int testLimitValue(int limitIndex, btScalar test_value);
 
-
-    btScalar solveLinearAxis(
-    	btScalar timeStep,
-        btScalar jacDiagABInv,
-        btRigidBody& body1,const btVector3 &pointInA,
-        btRigidBody& body2,const btVector3 &pointInB,
-        int limit_index,
-        const btVector3 & axis_normal_on_a,
-		const btVector3 & anchorPos);
-
-
+	btScalar solveLinearAxis(
+		btScalar timeStep,
+		btScalar jacDiagABInv,
+		btRigidBody& body1, const btVector3& pointInA,
+		btRigidBody& body2, const btVector3& pointInB,
+		int limit_index,
+		const btVector3& axis_normal_on_a,
+		const btVector3& anchorPos);
 };
 
 enum bt6DofFlags
@@ -237,8 +225,7 @@ enum bt6DofFlags
 	BT_6DOF_FLAGS_CFM_STOP = 2,
 	BT_6DOF_FLAGS_ERP_STOP = 4
 };
-#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
-
+#define BT_6DOF_FLAGS_AXIS_SHIFT 3  // bits per axis
 
 /// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
 /*!
@@ -276,254 +263,245 @@ This brings support for limit parameters and motors. </li>
 </ul>
 
 */
-ATTRIBUTE_ALIGNED16(class) btGeneric6DofConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btGeneric6DofConstraint : public btTypedConstraint
 {
 protected:
-
 	//! relative_frames
-    //!@{
-	btTransform	m_frameInA;//!< the constraint space w.r.t body A
-    btTransform	m_frameInB;//!< the constraint space w.r.t body B
-    //!@}
+	//!@{
+	btTransform m_frameInA;  //!< the constraint space w.r.t body A
+	btTransform m_frameInB;  //!< the constraint space w.r.t body B
+	//!@}
 
-    //! Jacobians
-    //!@{
-    btJacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
-    btJacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
-    //!@}
+	//! Jacobians
+	//!@{
+	btJacobianEntry m_jacLinear[3];  //!< 3 orthogonal linear constraints
+	btJacobianEntry m_jacAng[3];     //!< 3 orthogonal angular constraints
+	//!@}
 
 	//! Linear_Limit_parameters
-    //!@{
-    btTranslationalLimitMotor m_linearLimits;
-    //!@}
-
-
-    //! hinge_parameters
-    //!@{
-    btRotationalLimitMotor m_angularLimits[3];
+	//!@{
+	btTranslationalLimitMotor m_linearLimits;
 	//!@}
 
+	//! hinge_parameters
+	//!@{
+	btRotationalLimitMotor m_angularLimits[3];
+	//!@}
 
 protected:
-    //! temporal variables
-    //!@{
-    btScalar m_timeStep;
-    btTransform m_calculatedTransformA;
-    btTransform m_calculatedTransformB;
-    btVector3 m_calculatedAxisAngleDiff;
-    btVector3 m_calculatedAxis[3];
-    btVector3 m_calculatedLinearDiff;
-	btScalar	m_factA;
-	btScalar	m_factB;
-	bool		m_hasStaticBody;
-    
-	btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
+	//! temporal variables
+	//!@{
+	btScalar m_timeStep;
+	btTransform m_calculatedTransformA;
+	btTransform m_calculatedTransformB;
+	btVector3 m_calculatedAxisAngleDiff;
+	btVector3 m_calculatedAxis[3];
+	btVector3 m_calculatedLinearDiff;
+	btScalar m_factA;
+	btScalar m_factB;
+	bool m_hasStaticBody;
 
-    bool	m_useLinearReferenceFrameA;
-	bool	m_useOffsetForConstraintFrame;
-    
-	int		m_flags;
+	btVector3 m_AnchorPos;  // point betwen pivots of bodies A and B to solve linear axes
 
-    //!@}
+	bool m_useLinearReferenceFrameA;
+	bool m_useOffsetForConstraintFrame;
 
-    btGeneric6DofConstraint&	operator=(btGeneric6DofConstraint&	other)
-    {
-        btAssert(0);
-        (void) other;
-        return *this;
-    }
+	int m_flags;
 
+	//!@}
 
-	int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+	btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
+	{
+		btAssert(0);
+		(void)other;
+		return *this;
+	}
 
-	int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+	int setAngularLimits(btConstraintInfo2 * info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
 
-    void buildLinearJacobian(
-        btJacobianEntry & jacLinear,const btVector3 & normalWorld,
-        const btVector3 & pivotAInW,const btVector3 & pivotBInW);
+	int setLinearLimits(btConstraintInfo2 * info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
 
-    void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
+	void buildLinearJacobian(
+		btJacobianEntry & jacLinear, const btVector3& normalWorld,
+		const btVector3& pivotAInW, const btVector3& pivotBInW);
+
+	void buildAngularJacobian(btJacobianEntry & jacAngular, const btVector3& jointAxisW);
 
 	// tests linear limits
 	void calculateLinearInfo();
 
 	//! calcs the euler angles between the two bodies.
-    void calculateAngleInfo();
-
-
+	void calculateAngleInfo();
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
+	bool m_useSolveConstraintObsolete;
+
+	btGeneric6DofConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
+	btGeneric6DofConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
 
-    btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
-    
 	//! Calcs global transform of the offsets
 	/*!
 	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
 	\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
 	*/
-    void calculateTransforms(const btTransform& transA,const btTransform& transB);
+	void calculateTransforms(const btTransform& transA, const btTransform& transB);
 
 	void calculateTransforms();
 
 	//! Gets the global transform of the offset for body A
-    /*!
+	/*!
     \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
     */
-    const btTransform & getCalculatedTransformA() const
-    {
-    	return m_calculatedTransformA;
-    }
+	const btTransform& getCalculatedTransformA() const
+	{
+		return m_calculatedTransformA;
+	}
 
-    //! Gets the global transform of the offset for body B
-    /*!
+	//! Gets the global transform of the offset for body B
+	/*!
     \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
     */
-    const btTransform & getCalculatedTransformB() const
-    {
-    	return m_calculatedTransformB;
-    }
-
-    const btTransform & getFrameOffsetA() const
-    {
-    	return m_frameInA;
-    }
-
-    const btTransform & getFrameOffsetB() const
-    {
-    	return m_frameInB;
-    }
+	const btTransform& getCalculatedTransformB() const
+	{
+		return m_calculatedTransformB;
+	}
 
+	const btTransform& getFrameOffsetA() const
+	{
+		return m_frameInA;
+	}
 
-    btTransform & getFrameOffsetA()
-    {
-    	return m_frameInA;
-    }
+	const btTransform& getFrameOffsetB() const
+	{
+		return m_frameInB;
+	}
 
-    btTransform & getFrameOffsetB()
-    {
-    	return m_frameInB;
-    }
+	btTransform& getFrameOffsetA()
+	{
+		return m_frameInA;
+	}
 
+	btTransform& getFrameOffsetB()
+	{
+		return m_frameInB;
+	}
 
 	//! performs Jacobian calculation, and also calculates angle differences and axis
-    virtual void	buildJacobian();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
+	virtual void buildJacobian();
 
-	void getInfo1NonVirtual (btConstraintInfo1* info);
+	virtual void getInfo1(btConstraintInfo1 * info);
 
-	virtual void getInfo2 (btConstraintInfo2* info);
+	void getInfo1NonVirtual(btConstraintInfo1 * info);
 
-	void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
+	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
 
-    void	updateRHS(btScalar	timeStep);
+	void updateRHS(btScalar timeStep);
 
 	//! Get the rotation axis in global coordinates
 	/*!
 	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
 	*/
-    btVector3 getAxis(int axis_index) const;
+	btVector3 getAxis(int axis_index) const;
 
-    //! Get the relative Euler angle
-    /*!
+	//! Get the relative Euler angle
+	/*!
 	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
-    btScalar getAngle(int axis_index) const;
+	btScalar getAngle(int axis_index) const;
 
 	//! Get the relative position of the constraint pivot
-    /*!
+	/*!
 	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
 	btScalar getRelativePivotPosition(int axis_index) const;
 
-	void setFrames(const btTransform & frameA, const btTransform & frameB);
+	void setFrames(const btTransform& frameA, const btTransform& frameB);
 
 	//! Test angular limit.
 	/*!
 	Calculates angular correction and returns true if limit needs to be corrected.
 	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
-    bool testAngularLimitMotor(int axis_index);
+	bool testAngularLimitMotor(int axis_index);
 
-    void	setLinearLowerLimit(const btVector3& linearLower)
-    {
-    	m_linearLimits.m_lowerLimit = linearLower;
-    }
+	void setLinearLowerLimit(const btVector3& linearLower)
+	{
+		m_linearLimits.m_lowerLimit = linearLower;
+	}
 
-	void	getLinearLowerLimit(btVector3& linearLower) const
+	void getLinearLowerLimit(btVector3 & linearLower) const
 	{
 		linearLower = m_linearLimits.m_lowerLimit;
 	}
 
-	void	setLinearUpperLimit(const btVector3& linearUpper)
+	void setLinearUpperLimit(const btVector3& linearUpper)
 	{
 		m_linearLimits.m_upperLimit = linearUpper;
 	}
 
-	void	getLinearUpperLimit(btVector3& linearUpper) const
+	void getLinearUpperLimit(btVector3 & linearUpper) const
 	{
 		linearUpper = m_linearLimits.m_upperLimit;
 	}
 
-    void	setAngularLowerLimit(const btVector3& angularLower)
-    {
-		for(int i = 0; i < 3; i++) 
+	void setAngularLowerLimit(const btVector3& angularLower)
+	{
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
-    }
+	}
 
-	void	getAngularLowerLimit(btVector3& angularLower) const
+	void getAngularLowerLimit(btVector3 & angularLower) const
 	{
-		for(int i = 0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 			angularLower[i] = m_angularLimits[i].m_loLimit;
 	}
 
-    void	setAngularUpperLimit(const btVector3& angularUpper)
-    {
-		for(int i = 0; i < 3; i++)
+	void setAngularUpperLimit(const btVector3& angularUpper)
+	{
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
-    }
+	}
 
-	void	getAngularUpperLimit(btVector3& angularUpper) const
+	void getAngularUpperLimit(btVector3 & angularUpper) const
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			angularUpper[i] = m_angularLimits[i].m_hiLimit;
 	}
 
 	//! Retrieves the angular limit informacion
-    btRotationalLimitMotor * getRotationalLimitMotor(int index)
-    {
-    	return &m_angularLimits[index];
-    }
-
-    //! Retrieves the  limit informacion
-    btTranslationalLimitMotor * getTranslationalLimitMotor()
-    {
-    	return &m_linearLimits;
-    }
-
-    //first 3 are linear, next 3 are angular
-    void setLimit(int axis, btScalar lo, btScalar hi)
-    {
-    	if(axis<3)
-    	{
-    		m_linearLimits.m_lowerLimit[axis] = lo;
-    		m_linearLimits.m_upperLimit[axis] = hi;
-    	}
-    	else
-    	{
+	btRotationalLimitMotor* getRotationalLimitMotor(int index)
+	{
+		return &m_angularLimits[index];
+	}
+
+	//! Retrieves the  limit informacion
+	btTranslationalLimitMotor* getTranslationalLimitMotor()
+	{
+		return &m_linearLimits;
+	}
+
+	//first 3 are linear, next 3 are angular
+	void setLimit(int axis, btScalar lo, btScalar hi)
+	{
+		if (axis < 3)
+		{
+			m_linearLimits.m_lowerLimit[axis] = lo;
+			m_linearLimits.m_upperLimit[axis] = hi;
+		}
+		else
+		{
 			lo = btNormalizeAngle(lo);
 			hi = btNormalizeAngle(hi);
-    		m_angularLimits[axis-3].m_loLimit = lo;
-    		m_angularLimits[axis-3].m_hiLimit = hi;
-    	}
-    }
+			m_angularLimits[axis - 3].m_loLimit = lo;
+			m_angularLimits[axis - 3].m_hiLimit = hi;
+		}
+	}
 
 	//! Test limit
 	/*!
@@ -532,116 +510,106 @@ public:
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    bool	isLimited(int limitIndex) const
-    {
-    	if(limitIndex<3)
-    	{
+	bool isLimited(int limitIndex) const
+	{
+		if (limitIndex < 3)
+		{
 			return m_linearLimits.isLimited(limitIndex);
+		}
+		return m_angularLimits[limitIndex - 3].isLimited();
+	}
 
-    	}
-        return m_angularLimits[limitIndex-3].isLimited();
-    }
-
-	virtual void calcAnchorPos(void); // overridable
+	virtual void calcAnchorPos(void);  // overridable
 
-	int get_limit_motor_info2(	btRotationalLimitMotor * limot,
-								const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
-								btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
+	int get_limit_motor_info2(btRotationalLimitMotor * limot,
+							  const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
+							  btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
 
 	// access for UseFrameOffset
 	bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-	
+
 	bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
 	void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void setParam(int num, btScalar value, int axis = -1);
+	virtual void setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
+	virtual btScalar getParam(int num, int axis = -1) const;
 
-	void setAxis( const btVector3& axis1, const btVector3& axis2);
+	void setAxis(const btVector3& axis1, const btVector3& axis2);
 
-    	virtual	int getFlags() const
-    	{
-        	return m_flags;
+	virtual int getFlags() const
+	{
+		return m_flags;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
 struct btGeneric6DofConstraintData
 {
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintData m_typeConstraintData;
+	btTransformFloatData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformFloatData m_rbBFrame;
-	
-	btVector3FloatData	m_linearUpperLimit;
-	btVector3FloatData	m_linearLowerLimit;
-
-	btVector3FloatData	m_angularUpperLimit;
-	btVector3FloatData	m_angularLowerLimit;
-	
-	int	m_useLinearReferenceFrameA;
+
+	btVector3FloatData m_linearUpperLimit;
+	btVector3FloatData m_linearLowerLimit;
+
+	btVector3FloatData m_angularUpperLimit;
+	btVector3FloatData m_angularLowerLimit;
+
+	int m_useLinearReferenceFrameA;
 	int m_useOffsetForConstraintFrame;
 };
 
 struct btGeneric6DofConstraintDoubleData2
 {
-	btTypedConstraintDoubleData	m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintDoubleData m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformDoubleData m_rbBFrame;
-	
-	btVector3DoubleData	m_linearUpperLimit;
-	btVector3DoubleData	m_linearLowerLimit;
-
-	btVector3DoubleData	m_angularUpperLimit;
-	btVector3DoubleData	m_angularLowerLimit;
-	
-	int	m_useLinearReferenceFrameA;
+
+	btVector3DoubleData m_linearUpperLimit;
+	btVector3DoubleData m_linearLowerLimit;
+
+	btVector3DoubleData m_angularUpperLimit;
+	btVector3DoubleData m_angularLowerLimit;
+
+	int m_useLinearReferenceFrameA;
 	int m_useOffsetForConstraintFrame;
 };
 
-SIMD_FORCE_INLINE	int	btGeneric6DofConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btGeneric6DofConstraintData2);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-
 	btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer;
-	btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
+	btTypedConstraint::serialize(&dof->m_typeConstraintData, serializer);
 
 	m_frameInA.serialize(dof->m_rbAFrame);
 	m_frameInB.serialize(dof->m_rbBFrame);
 
-		
 	int i;
-	for (i=0;i<3;i++)
+	for (i = 0; i < 3; i++)
 	{
-		dof->m_angularLowerLimit.m_floats[i] =  m_angularLimits[i].m_loLimit;
-		dof->m_angularUpperLimit.m_floats[i] =  m_angularLimits[i].m_hiLimit;
+		dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
+		dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
 		dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i];
 		dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i];
 	}
-	
-	dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
+
+	dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA ? 1 : 0;
 	dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
 
 	return btGeneric6DofConstraintDataName;
 }
 
-
-
-
-
-#endif //BT_GENERIC_6DOF_CONSTRAINT_H
+#endif  //BT_GENERIC_6DOF_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
index f0976ee493..49c8d9bbf7 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
@@ -37,67 +37,54 @@ email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
-
-
 #include "btGeneric6DofSpring2Constraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 #include <new>
 
-
-
 btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder)
-	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, rbA, rbB)
-	, m_frameInA(frameInA)
-	, m_frameInB(frameInB)
-	, m_rotateOrder(rotOrder)	
-	, m_flags(0)
+	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, rbA, rbB), m_frameInA(frameInA), m_frameInB(frameInB), m_rotateOrder(rotOrder), m_flags(0)
 {
 	calculateTransforms();
 }
 
-
 btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder)
-	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB)
-	, m_frameInB(frameInB)
-	, m_rotateOrder(rotOrder)
-	, m_flags(0)
+	: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB), m_frameInB(frameInB), m_rotateOrder(rotOrder), m_flags(0)
 {
 	///not providing rigidbody A means implicitly using worldspace for body A
 	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
 	calculateTransforms();
 }
 
-
 btScalar btGeneric6DofSpring2Constraint::btGetMatrixElem(const btMatrix3x3& mat, int index)
 {
-	int i = index%3;
-	int j = index/3;
+	int i = index % 3;
+	int j = index / 3;
 	return mat[i][j];
 }
 
 // MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
 
-bool btGeneric6DofSpring2Constraint::matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
+bool btGeneric6DofSpring2Constraint::matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz)
 {
 	// rot =  cy*cz          -cy*sz           sy
 	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
 	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
 
-	btScalar fi = btGetMatrixElem(mat,2);
+	btScalar fi = btGetMatrixElem(mat, 2);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
-			xyz[1] = btAsin(btGetMatrixElem(mat,2));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			xyz[0] = btAtan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 8));
+			xyz[1] = btAsin(btGetMatrixElem(mat, 2));
+			xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
 			return true;
 		}
 		else
 		{
 			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[0] = -btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 			xyz[1] = -SIMD_HALF_PI;
 			xyz[2] = btScalar(0.0);
 			return false;
@@ -106,32 +93,32 @@ bool btGeneric6DofSpring2Constraint::matrixToEulerXYZ(const btMatrix3x3& mat,btV
 	else
 	{
 		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+		xyz[0] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 		xyz[1] = SIMD_HALF_PI;
 		xyz[2] = 0.0;
 	}
 	return false;
 }
 
-bool btGeneric6DofSpring2Constraint::matrixToEulerXZY(const btMatrix3x3& mat,btVector3& xyz)
+bool btGeneric6DofSpring2Constraint::matrixToEulerXZY(const btMatrix3x3& mat, btVector3& xyz)
 {
 	// rot =  cy*cz          -sz           sy*cz
 	//        cy*cx*sz+sx*sy  cx*cz        sy*cx*sz-cy*sx
 	//        cy*sx*sz-cx*sy  sx*cz        sy*sx*sz+cx*cy
 
-	btScalar fi = btGetMatrixElem(mat,1);
+	btScalar fi = btGetMatrixElem(mat, 1);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAtan2(btGetMatrixElem(mat,7),btGetMatrixElem(mat,4));
-			xyz[1] = btAtan2(btGetMatrixElem(mat,2),btGetMatrixElem(mat,0));
-			xyz[2] = btAsin(-btGetMatrixElem(mat,1));
+			xyz[0] = btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 4));
+			xyz[1] = btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 0));
+			xyz[2] = btAsin(-btGetMatrixElem(mat, 1));
 			return true;
 		}
 		else
 		{
-			xyz[0] = -btAtan2(-btGetMatrixElem(mat,6),btGetMatrixElem(mat,8));
+			xyz[0] = -btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 8));
 			xyz[1] = btScalar(0.0);
 			xyz[2] = SIMD_HALF_PI;
 			return false;
@@ -139,33 +126,33 @@ bool btGeneric6DofSpring2Constraint::matrixToEulerXZY(const btMatrix3x3& mat,btV
 	}
 	else
 	{
-		xyz[0] = btAtan2(-btGetMatrixElem(mat,6),btGetMatrixElem(mat,8));
+		xyz[0] = btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 8));
 		xyz[1] = 0.0;
 		xyz[2] = -SIMD_HALF_PI;
 	}
 	return false;
 }
 
-bool btGeneric6DofSpring2Constraint::matrixToEulerYXZ(const btMatrix3x3& mat,btVector3& xyz)
+bool btGeneric6DofSpring2Constraint::matrixToEulerYXZ(const btMatrix3x3& mat, btVector3& xyz)
 {
 	// rot =  cy*cz+sy*sx*sz  cz*sy*sx-cy*sz  cx*sy
 	//        cx*sz           cx*cz           -sx
 	//        cy*sx*sz-cz*sy  sy*sz+cy*cz*sx  cy*cx
 
-	btScalar fi = btGetMatrixElem(mat,5);
+	btScalar fi = btGetMatrixElem(mat, 5);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAsin(-btGetMatrixElem(mat,5));
-			xyz[1] = btAtan2(btGetMatrixElem(mat,2),btGetMatrixElem(mat,8));
-			xyz[2] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[0] = btAsin(-btGetMatrixElem(mat, 5));
+			xyz[1] = btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 8));
+			xyz[2] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 4));
 			return true;
 		}
 		else
 		{
 			xyz[0] = SIMD_HALF_PI;
-			xyz[1] = -btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			xyz[1] = -btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
 			xyz[2] = btScalar(0.0);
 			return false;
 		}
@@ -173,32 +160,32 @@ bool btGeneric6DofSpring2Constraint::matrixToEulerYXZ(const btMatrix3x3& mat,btV
 	else
 	{
 		xyz[0] = -SIMD_HALF_PI;
-		xyz[1] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+		xyz[1] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 0));
 		xyz[2] = 0.0;
 	}
 	return false;
 }
 
-bool btGeneric6DofSpring2Constraint::matrixToEulerYZX(const btMatrix3x3& mat,btVector3& xyz)
+bool btGeneric6DofSpring2Constraint::matrixToEulerYZX(const btMatrix3x3& mat, btVector3& xyz)
 {
 	// rot =  cy*cz   sy*sx-cy*cx*sz   cx*sy+cy*sz*sx
 	//        sz           cz*cx           -cz*sx
 	//        -cz*sy  cy*sx+cx*sy*sz   cy*cx-sy*sz*sx
 
-	btScalar fi = btGetMatrixElem(mat,3);
+	btScalar fi = btGetMatrixElem(mat, 3);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,4));
-			xyz[1] = btAtan2(-btGetMatrixElem(mat,6),btGetMatrixElem(mat,0));
-			xyz[2] = btAsin(btGetMatrixElem(mat,3));
+			xyz[0] = btAtan2(-btGetMatrixElem(mat, 5), btGetMatrixElem(mat, 4));
+			xyz[1] = btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 0));
+			xyz[2] = btAsin(btGetMatrixElem(mat, 3));
 			return true;
 		}
 		else
 		{
 			xyz[0] = btScalar(0.0);
-			xyz[1] = -btAtan2(btGetMatrixElem(mat,7),btGetMatrixElem(mat,8));
+			xyz[1] = -btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 8));
 			xyz[2] = -SIMD_HALF_PI;
 			return false;
 		}
@@ -206,33 +193,33 @@ bool btGeneric6DofSpring2Constraint::matrixToEulerYZX(const btMatrix3x3& mat,btV
 	else
 	{
 		xyz[0] = btScalar(0.0);
-		xyz[1] = btAtan2(btGetMatrixElem(mat,7),btGetMatrixElem(mat,8));
+		xyz[1] = btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 8));
 		xyz[2] = SIMD_HALF_PI;
 	}
 	return false;
 }
 
-bool btGeneric6DofSpring2Constraint::matrixToEulerZXY(const btMatrix3x3& mat,btVector3& xyz)
+bool btGeneric6DofSpring2Constraint::matrixToEulerZXY(const btMatrix3x3& mat, btVector3& xyz)
 {
 	// rot =  cz*cy-sz*sx*sy    -cx*sz   cz*sy+cy*sz*sx
 	//        cy*sz+cz*sx*sy     cz*cx   sz*sy-cz*xy*sx
 	//        -cx*sy              sx     cx*cy
 
-	btScalar fi = btGetMatrixElem(mat,7);
+	btScalar fi = btGetMatrixElem(mat, 7);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAsin(btGetMatrixElem(mat,7));
-			xyz[1] = btAtan2(-btGetMatrixElem(mat,6),btGetMatrixElem(mat,8));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,4));
+			xyz[0] = btAsin(btGetMatrixElem(mat, 7));
+			xyz[1] = btAtan2(-btGetMatrixElem(mat, 6), btGetMatrixElem(mat, 8));
+			xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 4));
 			return true;
 		}
 		else
 		{
 			xyz[0] = -SIMD_HALF_PI;
 			xyz[1] = btScalar(0.0);
-			xyz[2] = -btAtan2(btGetMatrixElem(mat,2),btGetMatrixElem(mat,0));
+			xyz[2] = -btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 0));
 			return false;
 		}
 	}
@@ -240,32 +227,32 @@ bool btGeneric6DofSpring2Constraint::matrixToEulerZXY(const btMatrix3x3& mat,btV
 	{
 		xyz[0] = SIMD_HALF_PI;
 		xyz[1] = btScalar(0.0);
-		xyz[2] = btAtan2(btGetMatrixElem(mat,2),btGetMatrixElem(mat,0));
+		xyz[2] = btAtan2(btGetMatrixElem(mat, 2), btGetMatrixElem(mat, 0));
 	}
 	return false;
 }
 
-bool btGeneric6DofSpring2Constraint::matrixToEulerZYX(const btMatrix3x3& mat,btVector3& xyz)
+bool btGeneric6DofSpring2Constraint::matrixToEulerZYX(const btMatrix3x3& mat, btVector3& xyz)
 {
 	// rot =  cz*cy   cz*sy*sx-cx*sz   sz*sx+cz*cx*sy
 	//        cy*sz   cz*cx+sz*sy*sx   cx*sz*sy-cz*sx
 	//        -sy          cy*sx         cy*cx
 
-	btScalar fi = btGetMatrixElem(mat,6);
+	btScalar fi = btGetMatrixElem(mat, 6);
 	if (fi < btScalar(1.0f))
 	{
 		if (fi > btScalar(-1.0f))
 		{
-			xyz[0] = btAtan2(btGetMatrixElem(mat,7), btGetMatrixElem(mat,8));
-			xyz[1] = btAsin(-btGetMatrixElem(mat,6));
-			xyz[2] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,0));
+			xyz[0] = btAtan2(btGetMatrixElem(mat, 7), btGetMatrixElem(mat, 8));
+			xyz[1] = btAsin(-btGetMatrixElem(mat, 6));
+			xyz[2] = btAtan2(btGetMatrixElem(mat, 3), btGetMatrixElem(mat, 0));
 			return true;
 		}
 		else
 		{
 			xyz[0] = btScalar(0.0);
 			xyz[1] = SIMD_HALF_PI;
-			xyz[2] = -btAtan2(btGetMatrixElem(mat,1),btGetMatrixElem(mat,2));
+			xyz[2] = -btAtan2(btGetMatrixElem(mat, 1), btGetMatrixElem(mat, 2));
 			return false;
 		}
 	}
@@ -273,23 +260,36 @@ bool btGeneric6DofSpring2Constraint::matrixToEulerZYX(const btMatrix3x3& mat,btV
 	{
 		xyz[0] = btScalar(0.0);
 		xyz[1] = -SIMD_HALF_PI;
-		xyz[2] = btAtan2(-btGetMatrixElem(mat,1),-btGetMatrixElem(mat,2));
+		xyz[2] = btAtan2(-btGetMatrixElem(mat, 1), -btGetMatrixElem(mat, 2));
 	}
 	return false;
 }
 
 void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 {
-	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
+	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse() * m_calculatedTransformB.getBasis();
 	switch (m_rotateOrder)
 	{
-		case RO_XYZ : matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff); break;
-		case RO_XZY : matrixToEulerXZY(relative_frame,m_calculatedAxisAngleDiff); break;
-		case RO_YXZ : matrixToEulerYXZ(relative_frame,m_calculatedAxisAngleDiff); break;
-		case RO_YZX : matrixToEulerYZX(relative_frame,m_calculatedAxisAngleDiff); break;
-		case RO_ZXY : matrixToEulerZXY(relative_frame,m_calculatedAxisAngleDiff); break;
-		case RO_ZYX : matrixToEulerZYX(relative_frame,m_calculatedAxisAngleDiff); break;
-		default : btAssert(false);
+		case RO_XYZ:
+			matrixToEulerXYZ(relative_frame, m_calculatedAxisAngleDiff);
+			break;
+		case RO_XZY:
+			matrixToEulerXZY(relative_frame, m_calculatedAxisAngleDiff);
+			break;
+		case RO_YXZ:
+			matrixToEulerYXZ(relative_frame, m_calculatedAxisAngleDiff);
+			break;
+		case RO_YZX:
+			matrixToEulerYZX(relative_frame, m_calculatedAxisAngleDiff);
+			break;
+		case RO_ZXY:
+			matrixToEulerZXY(relative_frame, m_calculatedAxisAngleDiff);
+			break;
+		case RO_ZYX:
+			matrixToEulerZYX(relative_frame, m_calculatedAxisAngleDiff);
+			break;
+		default:
+			btAssert(false);
 	}
 	// in euler angle mode we do not actually constrain the angular velocity
 	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
@@ -307,14 +307,14 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 	// to the components of w and set that to 0.
 	switch (m_rotateOrder)
 	{
-	case RO_XYZ :
+		case RO_XYZ:
 		{
 			//Is this the "line of nodes" calculation choosing planes YZ (B coordinate system) and xy (A coordinate system)? (http://en.wikipedia.org/wiki/Euler_angles)
 			//The two planes are non-homologous, so this is a Tait–Bryan angle formalism and not a proper Euler
 			//Extrinsic rotations are equal to the reversed order intrinsic rotations so the above xyz extrinsic rotations (axes are fixed) are the same as the zy'x" intrinsic rotations (axes are refreshed after each rotation)
 			//that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait–Bryan angles)
 			// x' = Nperp = N.cross(axis2)
-			// y' = N = axis2.cross(axis0)	
+			// y' = N = axis2.cross(axis0)
 			// z' = z
 			//
 			// x" = X
@@ -324,7 +324,7 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			//first rotate around z
 			//second rotate around y'= z.cross(X)
 			//third rotate around x" = X
-			//Original XYZ extrinsic rotation order. 
+			//Original XYZ extrinsic rotation order.
 			//Planes: xy and YZ normals: z, X.  Plane intersection (N) is z.cross(X)
 			btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
 			btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
@@ -333,7 +333,7 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
 			break;
 		}
-	case RO_XZY :
+		case RO_XZY:
 		{
 			//planes: xz,ZY normals: y, X
 			//first rotate around y
@@ -346,7 +346,7 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			m_calculatedAxis[1] = m_calculatedAxis[2].cross(axis0);
 			break;
 		}
-	case RO_YXZ :
+		case RO_YXZ:
 		{
 			//planes: yx,XZ normals: z, Y
 			//first rotate around z
@@ -359,7 +359,7 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			m_calculatedAxis[2] = m_calculatedAxis[0].cross(axis1);
 			break;
 		}
-	case RO_YZX :
+		case RO_YZX:
 		{
 			//planes: yz,ZX normals: x, Y
 			//first rotate around x
@@ -372,7 +372,7 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			m_calculatedAxis[1] = m_calculatedAxis[2].cross(axis0);
 			break;
 		}
-	case RO_ZXY :
+		case RO_ZXY:
 		{
 			//planes: zx,XY normals: y, Z
 			//first rotate around y
@@ -385,7 +385,7 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			m_calculatedAxis[2] = m_calculatedAxis[0].cross(axis1);
 			break;
 		}
-	case RO_ZYX :
+		case RO_ZYX:
 		{
 			//planes: zy,YX normals: x, Z
 			//first rotate around x
@@ -398,22 +398,21 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo()
 			m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
 			break;
 		}
-	default:
-		btAssert(false);
+		default:
+			btAssert(false);
 	}
 
 	m_calculatedAxis[0].normalize();
 	m_calculatedAxis[1].normalize();
 	m_calculatedAxis[2].normalize();
-
 }
 
 void btGeneric6DofSpring2Constraint::calculateTransforms()
 {
-	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 }
 
-void btGeneric6DofSpring2Constraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+void btGeneric6DofSpring2Constraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
 {
 	m_calculatedTransformA = transA * m_frameInA;
 	m_calculatedTransformB = transB * m_frameInB;
@@ -424,18 +423,17 @@ void btGeneric6DofSpring2Constraint::calculateTransforms(const btTransform& tran
 	btScalar miB = getRigidBodyB().getInvMass();
 	m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
 	btScalar miS = miA + miB;
-	if(miS > btScalar(0.f))
+	if (miS > btScalar(0.f))
 	{
 		m_factA = miB / miS;
 	}
-	else 
+	else
 	{
 		m_factA = btScalar(0.5f);
 	}
 	m_factB = btScalar(1.0f) - m_factA;
 }
 
-
 void btGeneric6DofSpring2Constraint::testAngularLimitMotor(int axis_index)
 {
 	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
@@ -444,35 +442,37 @@ void btGeneric6DofSpring2Constraint::testAngularLimitMotor(int axis_index)
 	m_angularLimits[axis_index].testLimitValue(angle);
 }
 
-
-void btGeneric6DofSpring2Constraint::getInfo1 (btConstraintInfo1* info)
+void btGeneric6DofSpring2Constraint::getInfo1(btConstraintInfo1* info)
 {
 	//prepare constraint
-	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 	info->m_numConstraintRows = 0;
 	info->nub = 0;
 	int i;
 	//test linear limits
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
-		     if (m_linearLimits.m_currentLimit[i]==4) info->m_numConstraintRows += 2;
-		else if (m_linearLimits.m_currentLimit[i]!=0) info->m_numConstraintRows += 1;
-		if (m_linearLimits.m_enableMotor[i] ) info->m_numConstraintRows += 1;
+		if (m_linearLimits.m_currentLimit[i] == 4)
+			info->m_numConstraintRows += 2;
+		else if (m_linearLimits.m_currentLimit[i] != 0)
+			info->m_numConstraintRows += 1;
+		if (m_linearLimits.m_enableMotor[i]) info->m_numConstraintRows += 1;
 		if (m_linearLimits.m_enableSpring[i]) info->m_numConstraintRows += 1;
 	}
 	//test angular limits
-	for (i=0;i<3 ;i++ )
+	for (i = 0; i < 3; i++)
 	{
 		testAngularLimitMotor(i);
-		     if (m_angularLimits[i].m_currentLimit==4) info->m_numConstraintRows += 2;
-		else if (m_angularLimits[i].m_currentLimit!=0) info->m_numConstraintRows += 1;
-		if (m_angularLimits[i].m_enableMotor ) info->m_numConstraintRows += 1;
+		if (m_angularLimits[i].m_currentLimit == 4)
+			info->m_numConstraintRows += 2;
+		else if (m_angularLimits[i].m_currentLimit != 0)
+			info->m_numConstraintRows += 1;
+		if (m_angularLimits[i].m_enableMotor) info->m_numConstraintRows += 1;
 		if (m_angularLimits[i].m_enableSpring) info->m_numConstraintRows += 1;
 	}
 }
 
-
-void btGeneric6DofSpring2Constraint::getInfo2 (btConstraintInfo2* info)
+void btGeneric6DofSpring2Constraint::getInfo2(btConstraintInfo2* info)
 {
 	const btTransform& transA = m_rbA.getCenterOfMassTransform();
 	const btTransform& transB = m_rbB.getCenterOfMassTransform();
@@ -482,118 +482,138 @@ void btGeneric6DofSpring2Constraint::getInfo2 (btConstraintInfo2* info)
 	const btVector3& angVelB = m_rbB.getAngularVelocity();
 
 	// for stability better to solve angular limits first
-	int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
-	setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
+	setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
 }
 
-
-int btGeneric6DofSpring2Constraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+int btGeneric6DofSpring2Constraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
 {
 	//solve linear limits
 	btRotationalLimitMotor2 limot;
-	for (int i=0;i<3 ;i++ )
+	for (int i = 0; i < 3; i++)
 	{
-		if(m_linearLimits.m_currentLimit[i] || m_linearLimits.m_enableMotor[i] || m_linearLimits.m_enableSpring[i])
-		{ // re-use rotational motor code
-			limot.m_bounce                 = m_linearLimits.m_bounce[i];
-			limot.m_currentLimit           = m_linearLimits.m_currentLimit[i];
-			limot.m_currentPosition        = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError      = m_linearLimits.m_currentLimitError[i];
-			limot.m_currentLimitErrorHi    = m_linearLimits.m_currentLimitErrorHi[i];
-			limot.m_enableMotor            = m_linearLimits.m_enableMotor[i];
-			limot.m_servoMotor             = m_linearLimits.m_servoMotor[i];
-			limot.m_servoTarget            = m_linearLimits.m_servoTarget[i];
-			limot.m_enableSpring           = m_linearLimits.m_enableSpring[i];
-			limot.m_springStiffness        = m_linearLimits.m_springStiffness[i];
+		if (m_linearLimits.m_currentLimit[i] || m_linearLimits.m_enableMotor[i] || m_linearLimits.m_enableSpring[i])
+		{  // re-use rotational motor code
+			limot.m_bounce = m_linearLimits.m_bounce[i];
+			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
+			limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
+			limot.m_currentLimitErrorHi = m_linearLimits.m_currentLimitErrorHi[i];
+			limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
+			limot.m_servoMotor = m_linearLimits.m_servoMotor[i];
+			limot.m_servoTarget = m_linearLimits.m_servoTarget[i];
+			limot.m_enableSpring = m_linearLimits.m_enableSpring[i];
+			limot.m_springStiffness = m_linearLimits.m_springStiffness[i];
 			limot.m_springStiffnessLimited = m_linearLimits.m_springStiffnessLimited[i];
-			limot.m_springDamping          = m_linearLimits.m_springDamping[i];
-			limot.m_springDampingLimited   = m_linearLimits.m_springDampingLimited[i];
-			limot.m_equilibriumPoint       = m_linearLimits.m_equilibriumPoint[i];
-			limot.m_hiLimit                = m_linearLimits.m_upperLimit[i];
-			limot.m_loLimit                = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxMotorForce          = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity         = m_linearLimits.m_targetVelocity[i];
+			limot.m_springDamping = m_linearLimits.m_springDamping[i];
+			limot.m_springDampingLimited = m_linearLimits.m_springDampingLimited[i];
+			limot.m_equilibriumPoint = m_linearLimits.m_equilibriumPoint[i];
+			limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
+			limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
+			limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
+			limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
 			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
 			int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT2);
-			limot.m_stopCFM  = (flags & BT_6DOF_FLAGS_CFM_STOP2) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP  = (flags & BT_6DOF_FLAGS_ERP_STOP2) ? m_linearLimits.m_stopERP[i] : info->erp;
+			limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP2) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
+			limot.m_stopERP = (flags & BT_6DOF_FLAGS_ERP_STOP2) ? m_linearLimits.m_stopERP[i] : info->erp;
 			limot.m_motorCFM = (flags & BT_6DOF_FLAGS_CFM_MOTO2) ? m_linearLimits.m_motorCFM[i] : info->cfm[0];
 			limot.m_motorERP = (flags & BT_6DOF_FLAGS_ERP_MOTO2) ? m_linearLimits.m_motorERP[i] : info->erp;
 
 			//rotAllowed is a bit of a magic from the original 6dof. The calculation of it here is something that imitates the original behavior as much as possible.
 			int indx1 = (i + 1) % 3;
 			int indx2 = (i + 2) % 3;
-			int rotAllowed = 1; // rotations around orthos to current axis (it is used only when one of the body is static)
-			#define D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION 1.0e-3
+			int rotAllowed = 1;  // rotations around orthos to current axis (it is used only when one of the body is static)
+#define D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION 1.0e-3
 			bool indx1Violated = m_angularLimits[indx1].m_currentLimit == 1 ||
-				m_angularLimits[indx1].m_currentLimit == 2 ||
-				( m_angularLimits[indx1].m_currentLimit == 3 && ( m_angularLimits[indx1].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx1].m_currentLimitError > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION ) ) ||
-				( m_angularLimits[indx1].m_currentLimit == 4 && ( m_angularLimits[indx1].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx1].m_currentLimitErrorHi > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION ) );
+								 m_angularLimits[indx1].m_currentLimit == 2 ||
+								 (m_angularLimits[indx1].m_currentLimit == 3 && (m_angularLimits[indx1].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx1].m_currentLimitError > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION)) ||
+								 (m_angularLimits[indx1].m_currentLimit == 4 && (m_angularLimits[indx1].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx1].m_currentLimitErrorHi > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION));
 			bool indx2Violated = m_angularLimits[indx2].m_currentLimit == 1 ||
-				m_angularLimits[indx2].m_currentLimit == 2 ||
-				( m_angularLimits[indx2].m_currentLimit == 3 && ( m_angularLimits[indx2].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx2].m_currentLimitError > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION ) ) ||
-				( m_angularLimits[indx2].m_currentLimit == 4 && ( m_angularLimits[indx2].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx2].m_currentLimitErrorHi > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION ) );
-			if( indx1Violated && indx2Violated )
+								 m_angularLimits[indx2].m_currentLimit == 2 ||
+								 (m_angularLimits[indx2].m_currentLimit == 3 && (m_angularLimits[indx2].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx2].m_currentLimitError > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION)) ||
+								 (m_angularLimits[indx2].m_currentLimit == 4 && (m_angularLimits[indx2].m_currentLimitError < -D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION || m_angularLimits[indx2].m_currentLimitErrorHi > D6_LIMIT_ERROR_THRESHOLD_FOR_ROTATION));
+			if (indx1Violated && indx2Violated)
 			{
 				rotAllowed = 0;
 			}
-			row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
-
+			row += get_limit_motor_info2(&limot, transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 0, rotAllowed);
 		}
 	}
 	return row;
 }
 
-
-
-int btGeneric6DofSpring2Constraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+int btGeneric6DofSpring2Constraint::setAngularLimits(btConstraintInfo2* info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
 {
 	int row = row_offset;
 
 	//order of rotational constraint rows
 	int cIdx[] = {0, 1, 2};
-	switch(m_rotateOrder)
+	switch (m_rotateOrder)
 	{
-		case RO_XYZ : cIdx[0] = 0; cIdx[1] = 1; cIdx[2] = 2; break;
-		case RO_XZY : cIdx[0] = 0; cIdx[1] = 2; cIdx[2] = 1; break;
-		case RO_YXZ : cIdx[0] = 1; cIdx[1] = 0; cIdx[2] = 2; break;
-		case RO_YZX : cIdx[0] = 1; cIdx[1] = 2; cIdx[2] = 0; break;
-		case RO_ZXY : cIdx[0] = 2; cIdx[1] = 0; cIdx[2] = 1; break;
-		case RO_ZYX : cIdx[0] = 2; cIdx[1] = 1; cIdx[2] = 0; break;
-		default : btAssert(false);
+		case RO_XYZ:
+			cIdx[0] = 0;
+			cIdx[1] = 1;
+			cIdx[2] = 2;
+			break;
+		case RO_XZY:
+			cIdx[0] = 0;
+			cIdx[1] = 2;
+			cIdx[2] = 1;
+			break;
+		case RO_YXZ:
+			cIdx[0] = 1;
+			cIdx[1] = 0;
+			cIdx[2] = 2;
+			break;
+		case RO_YZX:
+			cIdx[0] = 1;
+			cIdx[1] = 2;
+			cIdx[2] = 0;
+			break;
+		case RO_ZXY:
+			cIdx[0] = 2;
+			cIdx[1] = 0;
+			cIdx[2] = 1;
+			break;
+		case RO_ZYX:
+			cIdx[0] = 2;
+			cIdx[1] = 1;
+			cIdx[2] = 0;
+			break;
+		default:
+			btAssert(false);
 	}
 
-	for (int ii = 0; ii < 3 ; ii++ )
+	for (int ii = 0; ii < 3; ii++)
 	{
 		int i = cIdx[ii];
-		if(m_angularLimits[i].m_currentLimit || m_angularLimits[i].m_enableMotor || m_angularLimits[i].m_enableSpring)
+		if (m_angularLimits[i].m_currentLimit || m_angularLimits[i].m_enableMotor || m_angularLimits[i].m_enableSpring)
 		{
 			btVector3 axis = getAxis(i);
 			int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT2);
-			if(!(flags & BT_6DOF_FLAGS_CFM_STOP2))
+			if (!(flags & BT_6DOF_FLAGS_CFM_STOP2))
 			{
 				m_angularLimits[i].m_stopCFM = info->cfm[0];
 			}
-			if(!(flags & BT_6DOF_FLAGS_ERP_STOP2))
+			if (!(flags & BT_6DOF_FLAGS_ERP_STOP2))
 			{
 				m_angularLimits[i].m_stopERP = info->erp;
 			}
-			if(!(flags & BT_6DOF_FLAGS_CFM_MOTO2))
+			if (!(flags & BT_6DOF_FLAGS_CFM_MOTO2))
 			{
 				m_angularLimits[i].m_motorCFM = info->cfm[0];
 			}
-			if(!(flags & BT_6DOF_FLAGS_ERP_MOTO2))
+			if (!(flags & BT_6DOF_FLAGS_ERP_MOTO2))
 			{
 				m_angularLimits[i].m_motorERP = info->erp;
 			}
-			row += get_limit_motor_info2(&m_angularLimits[i],transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
+			row += get_limit_motor_info2(&m_angularLimits[i], transA, transB, linVelA, linVelB, angVelA, angVelB, info, row, axis, 1);
 		}
 	}
 
 	return row;
 }
 
-
 void btGeneric6DofSpring2Constraint::setFrames(const btTransform& frameA, const btTransform& frameB)
 {
 	m_frameInA = frameA;
@@ -602,32 +622,31 @@ void btGeneric6DofSpring2Constraint::setFrames(const btTransform& frameA, const
 	calculateTransforms();
 }
 
-
 void btGeneric6DofSpring2Constraint::calculateLinearInfo()
 {
 	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
 	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for(int i = 0; i < 3; i++)
+	for (int i = 0; i < 3; i++)
 	{
 		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
 		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
 	}
 }
 
-void btGeneric6DofSpring2Constraint::calculateJacobi(btRotationalLimitMotor2 * limot, const btTransform& transA,const btTransform& transB, btConstraintInfo2 *info, int srow, btVector3& ax1, int rotational, int rotAllowed)
+void btGeneric6DofSpring2Constraint::calculateJacobi(btRotationalLimitMotor2* limot, const btTransform& transA, const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed)
 {
-	btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-	btScalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
+	btScalar* J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
+	btScalar* J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
 
-	J1[srow+0] = ax1[0];
-	J1[srow+1] = ax1[1];
-	J1[srow+2] = ax1[2];
+	J1[srow + 0] = ax1[0];
+	J1[srow + 1] = ax1[1];
+	J1[srow + 2] = ax1[2];
 
-	J2[srow+0] = -ax1[0];
-	J2[srow+1] = -ax1[1];
-	J2[srow+2] = -ax1[2];
+	J2[srow + 0] = -ax1[0];
+	J2[srow + 1] = -ax1[1];
+	J2[srow + 2] = -ax1[2];
 
-	if(!rotational)
+	if (!rotational)
 	{
 		btVector3 tmpA, tmpB, relA, relB;
 		// get vector from bodyB to frameB in WCS
@@ -636,40 +655,44 @@ void btGeneric6DofSpring2Constraint::calculateJacobi(btRotationalLimitMotor2 * l
 		relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
 		tmpA = relA.cross(ax1);
 		tmpB = relB.cross(ax1);
-		if(m_hasStaticBody && (!rotAllowed))
+		if (m_hasStaticBody && (!rotAllowed))
 		{
 			tmpA *= m_factA;
 			tmpB *= m_factB;
 		}
 		int i;
-		for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
+		for (i = 0; i < 3; i++) info->m_J1angularAxis[srow + i] = tmpA[i];
+		for (i = 0; i < 3; i++) info->m_J2angularAxis[srow + i] = -tmpB[i];
 	}
 }
 
-
 int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
-	btRotationalLimitMotor2 * limot,
-	const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
-	btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
+	btRotationalLimitMotor2* limot,
+	const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
+	btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed)
 {
 	int count = 0;
 	int srow = row * info->rowskip;
 
-	if (limot->m_currentLimit==4) 
+	if (limot->m_currentLimit == 4)
 	{
 		btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
 
-		calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
+		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
 		info->m_constraintError[srow] = info->fps * limot->m_stopERP * limot->m_currentLimitError * (rotational ? -1 : 1);
-		if (rotational) {
-			if (info->m_constraintError[srow]-vel*limot->m_stopERP > 0) {
-				btScalar bounceerror = -limot->m_bounce* vel;
+		if (rotational)
+		{
+			if (info->m_constraintError[srow] - vel * limot->m_stopERP > 0)
+			{
+				btScalar bounceerror = -limot->m_bounce * vel;
 				if (bounceerror > info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
 			}
-		} else {
-			if (info->m_constraintError[srow]-vel*limot->m_stopERP < 0) {
-				btScalar bounceerror = -limot->m_bounce* vel;
+		}
+		else
+		{
+			if (info->m_constraintError[srow] - vel * limot->m_stopERP < 0)
+			{
+				btScalar bounceerror = -limot->m_bounce * vel;
 				if (bounceerror < info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
 			}
 		}
@@ -679,16 +702,21 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		srow += info->rowskip;
 		++count;
 
-		calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
+		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
 		info->m_constraintError[srow] = info->fps * limot->m_stopERP * limot->m_currentLimitErrorHi * (rotational ? -1 : 1);
-		if (rotational) {
-			if (info->m_constraintError[srow]-vel*limot->m_stopERP < 0) {
-				btScalar bounceerror = -limot->m_bounce* vel;
+		if (rotational)
+		{
+			if (info->m_constraintError[srow] - vel * limot->m_stopERP < 0)
+			{
+				btScalar bounceerror = -limot->m_bounce * vel;
 				if (bounceerror < info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
 			}
-		} else {
-			if (info->m_constraintError[srow]-vel*limot->m_stopERP > 0) {
-				btScalar bounceerror = -limot->m_bounce* vel;
+		}
+		else
+		{
+			if (info->m_constraintError[srow] - vel * limot->m_stopERP > 0)
+			{
+				btScalar bounceerror = -limot->m_bounce * vel;
 				if (bounceerror > info->m_constraintError[srow]) info->m_constraintError[srow] = bounceerror;
 			}
 		}
@@ -697,10 +725,10 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		info->cfm[srow] = limot->m_stopCFM;
 		srow += info->rowskip;
 		++count;
-	} else
-	if (limot->m_currentLimit==3) 
+	}
+	else if (limot->m_currentLimit == 3)
 	{
-		calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
+		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
 		info->m_constraintError[srow] = info->fps * limot->m_stopERP * limot->m_currentLimitError * (rotational ? -1 : 1);
 		info->m_lowerLimit[srow] = -SIMD_INFINITY;
 		info->m_upperLimit[srow] = SIMD_INFINITY;
@@ -711,16 +739,16 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 
 	if (limot->m_enableMotor && !limot->m_servoMotor)
 	{
-		calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
+		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
 		btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
-		btScalar mot_fact = getMotorFactor(limot->m_currentPosition, 
-			limot->m_loLimit,
-			limot->m_hiLimit,
-			tag_vel,
-			info->fps * limot->m_motorERP);
+		btScalar mot_fact = getMotorFactor(limot->m_currentPosition,
+										   limot->m_loLimit,
+										   limot->m_hiLimit,
+										   tag_vel,
+										   info->fps * limot->m_motorERP);
 		info->m_constraintError[srow] = mot_fact * limot->m_targetVelocity;
-		info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
-		info->m_upperLimit[srow] = limot->m_maxMotorForce;
+		info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+		info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
 		info->cfm[srow] = limot->m_motorCFM;
 		srow += info->rowskip;
 		++count;
@@ -735,42 +763,42 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 			if (error > SIMD_PI)
 			{
 				error -= SIMD_2_PI;
-				curServoTarget +=SIMD_2_PI;
+				curServoTarget += SIMD_2_PI;
 			}
 			if (error < -SIMD_PI)
 			{
 				error += SIMD_2_PI;
-				curServoTarget -=SIMD_2_PI;
+				curServoTarget -= SIMD_2_PI;
 			}
 		}
 
-		calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
-		btScalar targetvelocity = error<0 ? -limot->m_targetVelocity : limot->m_targetVelocity;
+		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
+		btScalar targetvelocity = error < 0 ? -limot->m_targetVelocity : limot->m_targetVelocity;
 		btScalar tag_vel = -targetvelocity;
 		btScalar mot_fact;
-		if(error != 0)
+		if (error != 0)
 		{
 			btScalar lowLimit;
 			btScalar hiLimit;
-			if(limot->m_loLimit > limot->m_hiLimit)
+			if (limot->m_loLimit > limot->m_hiLimit)
 			{
 				lowLimit = error > 0 ? curServoTarget : -SIMD_INFINITY;
-				hiLimit  = error < 0 ? curServoTarget :  SIMD_INFINITY;
+				hiLimit = error < 0 ? curServoTarget : SIMD_INFINITY;
 			}
 			else
 			{
-				lowLimit = error > 0 && curServoTarget>limot->m_loLimit ? curServoTarget : limot->m_loLimit;
-				hiLimit  = error < 0 && curServoTarget<limot->m_hiLimit ? curServoTarget : limot->m_hiLimit;
+				lowLimit = error > 0 && curServoTarget > limot->m_loLimit ? curServoTarget : limot->m_loLimit;
+				hiLimit = error < 0 && curServoTarget < limot->m_hiLimit ? curServoTarget : limot->m_hiLimit;
 			}
 			mot_fact = getMotorFactor(limot->m_currentPosition, lowLimit, hiLimit, tag_vel, info->fps * limot->m_motorERP);
-		} 
-		else 
+		}
+		else
 		{
 			mot_fact = 0;
 		}
 		info->m_constraintError[srow] = mot_fact * targetvelocity * (rotational ? -1 : 1);
-		info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
-		info->m_upperLimit[srow] = limot->m_maxMotorForce;
+		info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+		info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
 		info->cfm[srow] = limot->m_motorCFM;
 		srow += info->rowskip;
 		++count;
@@ -779,7 +807,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 	if (limot->m_enableSpring)
 	{
 		btScalar error = limot->m_currentPosition - limot->m_equilibriumPoint;
-		calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
+		calculateJacobi(limot, transA, transB, info, srow, ax1, rotational, rotAllowed);
 
 		//btScalar cfm = 1.0 / ((1.0/info->fps)*limot->m_springStiffness+ limot->m_springDamping);
 		//if(cfm > 0.99999)
@@ -792,34 +820,66 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		btScalar dt = BT_ONE / info->fps;
 		btScalar kd = limot->m_springDamping;
 		btScalar ks = limot->m_springStiffness;
-		btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
-//		btScalar erp = 0.1;
+		btScalar vel;
+		if (rotational)
+		{
+			vel = angVelA.dot(ax1) - angVelB.dot(ax1);
+		}
+		else
+		{
+			btVector3 tanVelA = angVelA.cross(m_calculatedTransformA.getOrigin() - transA.getOrigin());
+			btVector3 tanVelB = angVelB.cross(m_calculatedTransformB.getOrigin() - transB.getOrigin());
+			vel = (linVelA + tanVelA).dot(ax1) - (linVelB + tanVelB).dot(ax1);
+		}
 		btScalar cfm = BT_ZERO;
 		btScalar mA = BT_ONE / m_rbA.getInvMass();
 		btScalar mB = BT_ONE / m_rbB.getInvMass();
-		btScalar m = mA > mB ? mB : mA;
+		if (rotational)
+		{
+			btScalar rrA = (m_calculatedTransformA.getOrigin() - transA.getOrigin()).length2();
+			btScalar rrB = (m_calculatedTransformB.getOrigin() - transB.getOrigin()).length2();
+			if (m_rbA.getInvMass()) mA = mA * rrA + 1 / (m_rbA.getInvInertiaTensorWorld() * ax1).length();
+			if (m_rbB.getInvMass()) mB = mB * rrB + 1 / (m_rbB.getInvInertiaTensorWorld() * ax1).length();
+		}
+		btScalar m;
+		if (m_rbA.getInvMass() == 0) m = mB; else
+		if (m_rbB.getInvMass() == 0) m = mA; else
+			m = mA*mB / (mA + mB);
 		btScalar angularfreq = sqrt(ks / m);
 
-
 		//limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency)
-		if(limot->m_springStiffnessLimited && 0.25 < angularfreq * dt)
+		if (limot->m_springStiffnessLimited && 0.25 < angularfreq * dt)
 		{
 			ks = BT_ONE / dt / dt / btScalar(16.0) * m;
 		}
 		//avoid damping that would blow up the spring
-		if(limot->m_springDampingLimited && kd * dt > m)
+		if (limot->m_springDampingLimited && kd * dt > m)
 		{
 			kd = m / dt;
 		}
 		btScalar fs = ks * error * dt;
 		btScalar fd = -kd * (vel) * (rotational ? -1 : 1) * dt;
-		btScalar f = (fs+fd);
-
-		info->m_constraintError[srow] = (vel + f * (rotational ? -1 : 1)) ;
+		btScalar f = (fs + fd);
+
+		// after the spring force affecting the body(es) the new velocity will be
+		// vel + f / m * (rotational ? -1 : 1)
+		// so in theory this should be set here for m_constraintError
+		// (with m_constraintError we set a desired velocity for the affected body(es))
+		// however in practice any value is fine as long as it is greater then the "proper" velocity,
+		// because the m_lowerLimit and the m_upperLimit will determinate the strength of the final pulling force
+		// so it is much simpler (and more robust) just to simply use inf (with the proper sign)
+		// (Even with our best intent the "new" velocity is only an estimation. If we underestimate
+		// the "proper" velocity that will weaken the spring, however if we overestimate it, it doesn't
+		// matter, because the solver will limit it according the force limit)
+		// you may also wonder what if the current velocity (vel) so high that the pulling force will not change its direction (in this iteration)
+		// will we not request a velocity with the wrong direction ?
+		// and the answer is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
+		// so the sign of the force that is really matters
+		info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
 
 		btScalar minf = f < fd ? f : fd;
 		btScalar maxf = f < fd ? fd : f;
-		if(!rotational)
+		if (!rotational)
 		{
 			info->m_lowerLimit[srow] = minf > 0 ? 0 : minf;
 			info->m_upperLimit[srow] = maxf < 0 ? 0 : maxf;
@@ -838,56 +898,55 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 	return count;
 }
 
-
-//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 //If no axis is provided, it uses the default axis for this constraint.
 void btGeneric6DofSpring2Constraint::setParam(int num, btScalar value, int axis)
 {
-	if((axis >= 0) && (axis < 3))
+	if ((axis >= 0) && (axis < 3))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				m_linearLimits.m_stopERP[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				m_linearLimits.m_stopCFM[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			case BT_CONSTRAINT_ERP : 
+			case BT_CONSTRAINT_ERP:
 				m_linearLimits.m_motorERP[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				m_linearLimits.m_motorCFM[axis] = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
-	else if((axis >=3) && (axis < 6))
+	else if ((axis >= 3) && (axis < 6))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				m_angularLimits[axis - 3].m_stopERP = value;
 				m_flags |= BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				m_angularLimits[axis - 3].m_stopCFM = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			case BT_CONSTRAINT_ERP : 
+			case BT_CONSTRAINT_ERP:
 				m_angularLimits[axis - 3].m_motorERP = value;
 				m_flags |= BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				m_angularLimits[axis - 3].m_motorCFM = value;
 				m_flags |= BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2);
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
@@ -898,54 +957,54 @@ void btGeneric6DofSpring2Constraint::setParam(int num, btScalar value, int axis)
 }
 
 //return the local value of parameter
-btScalar btGeneric6DofSpring2Constraint::getParam(int num, int axis) const 
+btScalar btGeneric6DofSpring2Constraint::getParam(int num, int axis) const
 {
 	btScalar retVal = 0;
-	if((axis >= 0) && (axis < 3))
+	if ((axis >= 0) && (axis < 3))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_linearLimits.m_stopERP[axis];
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_linearLimits.m_stopCFM[axis];
 				break;
-			case BT_CONSTRAINT_ERP : 
+			case BT_CONSTRAINT_ERP:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_linearLimits.m_motorERP[axis];
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_linearLimits.m_motorCFM[axis];
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
-	else if((axis >=3) && (axis < 6))
+	else if ((axis >= 3) && (axis < 6))
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_STOP_ERP : 
+			case BT_CONSTRAINT_STOP_ERP:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_angularLimits[axis - 3].m_stopERP;
 				break;
-			case BT_CONSTRAINT_STOP_CFM : 
+			case BT_CONSTRAINT_STOP_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_angularLimits[axis - 3].m_stopCFM;
 				break;
-			case BT_CONSTRAINT_ERP : 
+			case BT_CONSTRAINT_ERP:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_angularLimits[axis - 3].m_motorERP;
 				break;
-			case BT_CONSTRAINT_CFM : 
+			case BT_CONSTRAINT_CFM:
 				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_MOTO2 << (axis * BT_6DOF_FLAGS_AXIS_SHIFT2)));
 				retVal = m_angularLimits[axis - 3].m_motorCFM;
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
@@ -956,31 +1015,29 @@ btScalar btGeneric6DofSpring2Constraint::getParam(int num, int axis) const
 	return retVal;
 }
 
- 
-
-void btGeneric6DofSpring2Constraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+void btGeneric6DofSpring2Constraint::setAxis(const btVector3& axis1, const btVector3& axis2)
 {
 	btVector3 zAxis = axis1.normalized();
 	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
-	
+	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
+
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
-	                              xAxis[1], yAxis[1], zAxis[1],
-	                              xAxis[2], yAxis[2], zAxis[2]);
-	
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
+
 	// now get constraint frame in local coordinate systems
 	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-	
+
 	calculateTransforms();
 }
 
 void btGeneric6DofSpring2Constraint::setBounce(int index, btScalar bounce)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_bounce[index] = bounce;
 	else
 		m_angularLimits[index - 3].m_bounce = bounce;
@@ -989,7 +1046,7 @@ void btGeneric6DofSpring2Constraint::setBounce(int index, btScalar bounce)
 void btGeneric6DofSpring2Constraint::enableMotor(int index, bool onOff)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_enableMotor[index] = onOff;
 	else
 		m_angularLimits[index - 3].m_enableMotor = onOff;
@@ -998,7 +1055,7 @@ void btGeneric6DofSpring2Constraint::enableMotor(int index, bool onOff)
 void btGeneric6DofSpring2Constraint::setServo(int index, bool onOff)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_servoMotor[index] = onOff;
 	else
 		m_angularLimits[index - 3].m_servoMotor = onOff;
@@ -1007,18 +1064,16 @@ void btGeneric6DofSpring2Constraint::setServo(int index, bool onOff)
 void btGeneric6DofSpring2Constraint::setTargetVelocity(int index, btScalar velocity)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_targetVelocity[index] = velocity;
 	else
 		m_angularLimits[index - 3].m_targetVelocity = velocity;
 }
 
-
-
 void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOrg)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 	{
 		m_linearLimits.m_servoTarget[index] = targetOrg;
 	}
@@ -1027,23 +1082,24 @@ void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOr
 		//wrap between -PI and PI, see also
 		//https://stackoverflow.com/questions/4633177/c-how-to-wrap-a-float-to-the-interval-pi-pi
 
-		btScalar target = targetOrg+SIMD_PI;
+		btScalar target = targetOrg + SIMD_PI;
 		if (1)
 		{
-			btScalar m = target - SIMD_2_PI * floor(target/SIMD_2_PI);
+			btScalar m = target - SIMD_2_PI * floor(target / SIMD_2_PI);
 			// handle boundary cases resulted from floating-point cut off:
 			{
-				if (m>=SIMD_2_PI)
+				if (m >= SIMD_2_PI)
 				{
 					target = 0;
-				} else
+				}
+				else
 				{
-					if (m<0 )
+					if (m < 0)
 					{
-						if (SIMD_2_PI+m == SIMD_2_PI)
+						if (SIMD_2_PI + m == SIMD_2_PI)
 							target = 0;
 						else
-							target = SIMD_2_PI+m;
+							target = SIMD_2_PI + m;
 					}
 					else
 					{
@@ -1053,7 +1109,7 @@ void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOr
 			}
 			target -= SIMD_PI;
 		}
-		
+
 		m_angularLimits[index - 3].m_servoTarget = target;
 	}
 }
@@ -1061,7 +1117,7 @@ void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOr
 void btGeneric6DofSpring2Constraint::setMaxMotorForce(int index, btScalar force)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_maxMotorForce[index] = force;
 	else
 		m_angularLimits[index - 3].m_maxMotorForce = force;
@@ -1070,19 +1126,22 @@ void btGeneric6DofSpring2Constraint::setMaxMotorForce(int index, btScalar force)
 void btGeneric6DofSpring2Constraint::enableSpring(int index, bool onOff)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_enableSpring[index] = onOff;
 	else
-		m_angularLimits[index - 3] .m_enableSpring = onOff;
+		m_angularLimits[index - 3].m_enableSpring = onOff;
 }
 
 void btGeneric6DofSpring2Constraint::setStiffness(int index, btScalar stiffness, bool limitIfNeeded)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3) {
+	if (index < 3)
+	{
 		m_linearLimits.m_springStiffness[index] = stiffness;
 		m_linearLimits.m_springStiffnessLimited[index] = limitIfNeeded;
-	} else {
+	}
+	else
+	{
 		m_angularLimits[index - 3].m_springStiffness = stiffness;
 		m_angularLimits[index - 3].m_springStiffnessLimited = limitIfNeeded;
 	}
@@ -1091,10 +1150,13 @@ void btGeneric6DofSpring2Constraint::setStiffness(int index, btScalar stiffness,
 void btGeneric6DofSpring2Constraint::setDamping(int index, btScalar damping, bool limitIfNeeded)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3) {
+	if (index < 3)
+	{
 		m_linearLimits.m_springDamping[index] = damping;
 		m_linearLimits.m_springDampingLimited[index] = limitIfNeeded;
-	} else {
+	}
+	else
+	{
 		m_angularLimits[index - 3].m_springDamping = damping;
 		m_angularLimits[index - 3].m_springDampingLimited = limitIfNeeded;
 	}
@@ -1104,9 +1166,9 @@ void btGeneric6DofSpring2Constraint::setEquilibriumPoint()
 {
 	calculateTransforms();
 	int i;
-	for( i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 		m_linearLimits.m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 		m_angularLimits[i].m_equilibriumPoint = m_calculatedAxisAngleDiff[i];
 }
 
@@ -1114,35 +1176,38 @@ void btGeneric6DofSpring2Constraint::setEquilibriumPoint(int index)
 {
 	btAssert((index >= 0) && (index < 6));
 	calculateTransforms();
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
 	else
-		m_angularLimits[index - 3] .m_equilibriumPoint = m_calculatedAxisAngleDiff[index - 3];
+		m_angularLimits[index - 3].m_equilibriumPoint = m_calculatedAxisAngleDiff[index - 3];
 }
 
 void btGeneric6DofSpring2Constraint::setEquilibriumPoint(int index, btScalar val)
 {
 	btAssert((index >= 0) && (index < 6));
-	if (index<3)
+	if (index < 3)
 		m_linearLimits.m_equilibriumPoint[index] = val;
 	else
-		m_angularLimits[index - 3] .m_equilibriumPoint = val;
+		m_angularLimits[index - 3].m_equilibriumPoint = val;
 }
 
-
 //////////////////////////// btRotationalLimitMotor2 ////////////////////////////////////
 
 void btRotationalLimitMotor2::testLimitValue(btScalar test_value)
 {
 	//we can't normalize the angles here because we would lost the sign that we use later, but it doesn't seem to be a problem
-	if(m_loLimit > m_hiLimit) {
+	if (m_loLimit > m_hiLimit)
+	{
 		m_currentLimit = 0;
 		m_currentLimitError = btScalar(0.f);
 	}
-	else if(m_loLimit == m_hiLimit) {
+	else if (m_loLimit == m_hiLimit)
+	{
 		m_currentLimitError = test_value - m_loLimit;
 		m_currentLimit = 3;
-	} else {
+	}
+	else
+	{
 		m_currentLimitError = test_value - m_loLimit;
 		m_currentLimitErrorHi = test_value - m_hiLimit;
 		m_currentLimit = 4;
@@ -1155,18 +1220,20 @@ void btTranslationalLimitMotor2::testLimitValue(int limitIndex, btScalar test_va
 {
 	btScalar loLimit = m_lowerLimit[limitIndex];
 	btScalar hiLimit = m_upperLimit[limitIndex];
-	if(loLimit > hiLimit) {
+	if (loLimit > hiLimit)
+	{
 		m_currentLimitError[limitIndex] = 0;
 		m_currentLimit[limitIndex] = 0;
 	}
-	else if(loLimit == hiLimit) {
+	else if (loLimit == hiLimit)
+	{
 		m_currentLimitError[limitIndex] = test_value - loLimit;
 		m_currentLimit[limitIndex] = 3;
-	} else {
+	}
+	else
+	{
 		m_currentLimitError[limitIndex] = test_value - loLimit;
 		m_currentLimitErrorHi[limitIndex] = test_value - hiLimit;
 		m_currentLimit[limitIndex] = 4;
 	}
 }
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
index 66d1769583..bc3ee6d210 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
@@ -37,7 +37,6 @@ email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
-
 #ifndef BT_GENERIC_6DOF_CONSTRAINT2_H
 #define BT_GENERIC_6DOF_CONSTRAINT2_H
 
@@ -47,18 +46,17 @@ http://gimpact.sf.net
 
 class btRigidBody;
 
-
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btGeneric6DofSpring2ConstraintData2		btGeneric6DofSpring2ConstraintDoubleData2
-#define btGeneric6DofSpring2ConstraintDataName	"btGeneric6DofSpring2ConstraintDoubleData2"
+#define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintDoubleData2
+#define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintDoubleData2"
 #else
-#define btGeneric6DofSpring2ConstraintData2		btGeneric6DofSpring2ConstraintData
-#define btGeneric6DofSpring2ConstraintDataName	"btGeneric6DofSpring2ConstraintData"
-#endif //BT_USE_DOUBLE_PRECISION
+#define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintData
+#define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 enum RotateOrder
 {
-	RO_XYZ=0,
+	RO_XYZ = 0,
 	RO_XZY,
 	RO_YXZ,
 	RO_YZX,
@@ -69,9 +67,9 @@ enum RotateOrder
 class btRotationalLimitMotor2
 {
 public:
-// upper < lower means free
-// upper == lower means locked
-// upper > lower means limited
+	// upper < lower means free
+	// upper == lower means locked
+	// upper > lower means limited
 	btScalar m_loLimit;
 	btScalar m_hiLimit;
 	btScalar m_bounce;
@@ -79,95 +77,92 @@ public:
 	btScalar m_stopCFM;
 	btScalar m_motorERP;
 	btScalar m_motorCFM;
-	bool     m_enableMotor;
+	bool m_enableMotor;
 	btScalar m_targetVelocity;
 	btScalar m_maxMotorForce;
-	bool     m_servoMotor;
+	bool m_servoMotor;
 	btScalar m_servoTarget;
-	bool     m_enableSpring;
+	bool m_enableSpring;
 	btScalar m_springStiffness;
-	bool     m_springStiffnessLimited;
+	bool m_springStiffnessLimited;
 	btScalar m_springDamping;
-	bool     m_springDampingLimited;
+	bool m_springDampingLimited;
 	btScalar m_equilibriumPoint;
 
 	btScalar m_currentLimitError;
 	btScalar m_currentLimitErrorHi;
 	btScalar m_currentPosition;
-	int      m_currentLimit;
+	int m_currentLimit;
 
 	btRotationalLimitMotor2()
 	{
-		m_loLimit                = 1.0f;
-		m_hiLimit                = -1.0f;
-		m_bounce                 = 0.0f;
-		m_stopERP                = 0.2f;
-		m_stopCFM                = 0.f;
-		m_motorERP               = 0.9f;
-		m_motorCFM               = 0.f;
-		m_enableMotor            = false;
-		m_targetVelocity         = 0;
-		m_maxMotorForce          = 0.1f;
-		m_servoMotor             = false;
-		m_servoTarget            = 0;
-		m_enableSpring           = false;
-		m_springStiffness        = 0;
+		m_loLimit = 1.0f;
+		m_hiLimit = -1.0f;
+		m_bounce = 0.0f;
+		m_stopERP = 0.2f;
+		m_stopCFM = 0.f;
+		m_motorERP = 0.9f;
+		m_motorCFM = 0.f;
+		m_enableMotor = false;
+		m_targetVelocity = 0;
+		m_maxMotorForce = 6.0f;
+		m_servoMotor = false;
+		m_servoTarget = 0;
+		m_enableSpring = false;
+		m_springStiffness = 0;
 		m_springStiffnessLimited = false;
-		m_springDamping          = 0;
-		m_springDampingLimited   = false;
-		m_equilibriumPoint       = 0;
+		m_springDamping = 0;
+		m_springDampingLimited = false;
+		m_equilibriumPoint = 0;
 
-		m_currentLimitError   = 0;
+		m_currentLimitError = 0;
 		m_currentLimitErrorHi = 0;
-		m_currentPosition     = 0;
-		m_currentLimit        = 0;
+		m_currentPosition = 0;
+		m_currentLimit = 0;
 	}
 
-	btRotationalLimitMotor2(const btRotationalLimitMotor2 & limot)
+	btRotationalLimitMotor2(const btRotationalLimitMotor2& limot)
 	{
-		m_loLimit                = limot.m_loLimit;
-		m_hiLimit                = limot.m_hiLimit;
-		m_bounce                 = limot.m_bounce;
-		m_stopERP                = limot.m_stopERP;
-		m_stopCFM                = limot.m_stopCFM;
-		m_motorERP               = limot.m_motorERP;
-		m_motorCFM               = limot.m_motorCFM;
-		m_enableMotor            = limot.m_enableMotor;
-		m_targetVelocity         = limot.m_targetVelocity;
-		m_maxMotorForce          = limot.m_maxMotorForce;
-		m_servoMotor             = limot.m_servoMotor;
-		m_servoTarget            = limot.m_servoTarget;
-		m_enableSpring           = limot.m_enableSpring;
-		m_springStiffness        = limot.m_springStiffness;
+		m_loLimit = limot.m_loLimit;
+		m_hiLimit = limot.m_hiLimit;
+		m_bounce = limot.m_bounce;
+		m_stopERP = limot.m_stopERP;
+		m_stopCFM = limot.m_stopCFM;
+		m_motorERP = limot.m_motorERP;
+		m_motorCFM = limot.m_motorCFM;
+		m_enableMotor = limot.m_enableMotor;
+		m_targetVelocity = limot.m_targetVelocity;
+		m_maxMotorForce = limot.m_maxMotorForce;
+		m_servoMotor = limot.m_servoMotor;
+		m_servoTarget = limot.m_servoTarget;
+		m_enableSpring = limot.m_enableSpring;
+		m_springStiffness = limot.m_springStiffness;
 		m_springStiffnessLimited = limot.m_springStiffnessLimited;
-		m_springDamping          = limot.m_springDamping;
-		m_springDampingLimited   = limot.m_springDampingLimited;
-		m_equilibriumPoint       = limot.m_equilibriumPoint;
+		m_springDamping = limot.m_springDamping;
+		m_springDampingLimited = limot.m_springDampingLimited;
+		m_equilibriumPoint = limot.m_equilibriumPoint;
 
-		m_currentLimitError   = limot.m_currentLimitError;
+		m_currentLimitError = limot.m_currentLimitError;
 		m_currentLimitErrorHi = limot.m_currentLimitErrorHi;
-		m_currentPosition     = limot.m_currentPosition;
-		m_currentLimit        = limot.m_currentLimit;
+		m_currentPosition = limot.m_currentPosition;
+		m_currentLimit = limot.m_currentLimit;
 	}
 
-
 	bool isLimited()
 	{
-		if(m_loLimit > m_hiLimit) return false;
+		if (m_loLimit > m_hiLimit) return false;
 		return true;
 	}
 
 	void testLimitValue(btScalar test_value);
 };
 
-
-
 class btTranslationalLimitMotor2
 {
 public:
-// upper < lower means free
-// upper == lower means locked
-// upper > lower means limited
+	// upper < lower means free
+	// upper == lower means locked
+	// upper > lower means limited
 	btVector3 m_lowerLimit;
 	btVector3 m_upperLimit;
 	btVector3 m_bounce;
@@ -175,14 +170,14 @@ public:
 	btVector3 m_stopCFM;
 	btVector3 m_motorERP;
 	btVector3 m_motorCFM;
-	bool      m_enableMotor[3];
-	bool      m_servoMotor[3];
-	bool      m_enableSpring[3];
+	bool m_enableMotor[3];
+	bool m_servoMotor[3];
+	bool m_enableSpring[3];
 	btVector3 m_servoTarget;
 	btVector3 m_springStiffness;
-	bool      m_springStiffnessLimited[3];
+	bool m_springStiffnessLimited[3];
 	btVector3 m_springDamping;
-	bool      m_springDampingLimited[3];
+	bool m_springDampingLimited[3];
 	btVector3 m_equilibriumPoint;
 	btVector3 m_targetVelocity;
 	btVector3 m_maxMotorForce;
@@ -190,69 +185,69 @@ public:
 	btVector3 m_currentLimitError;
 	btVector3 m_currentLimitErrorHi;
 	btVector3 m_currentLinearDiff;
-	int       m_currentLimit[3];
+	int m_currentLimit[3];
 
 	btTranslationalLimitMotor2()
 	{
-		m_lowerLimit         .setValue(0.f , 0.f , 0.f );
-		m_upperLimit         .setValue(0.f , 0.f , 0.f );
-		m_bounce             .setValue(0.f , 0.f , 0.f );
-		m_stopERP            .setValue(0.2f, 0.2f, 0.2f);
-		m_stopCFM            .setValue(0.f , 0.f , 0.f );
-		m_motorERP           .setValue(0.9f, 0.9f, 0.9f);
-		m_motorCFM           .setValue(0.f , 0.f , 0.f );
-
-		m_currentLimitError  .setValue(0.f , 0.f , 0.f );
-		m_currentLimitErrorHi.setValue(0.f , 0.f , 0.f );
-		m_currentLinearDiff  .setValue(0.f , 0.f , 0.f );
-
-		for(int i=0; i < 3; i++) 
+		m_lowerLimit.setValue(0.f, 0.f, 0.f);
+		m_upperLimit.setValue(0.f, 0.f, 0.f);
+		m_bounce.setValue(0.f, 0.f, 0.f);
+		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
+		m_stopCFM.setValue(0.f, 0.f, 0.f);
+		m_motorERP.setValue(0.9f, 0.9f, 0.9f);
+		m_motorCFM.setValue(0.f, 0.f, 0.f);
+
+		m_currentLimitError.setValue(0.f, 0.f, 0.f);
+		m_currentLimitErrorHi.setValue(0.f, 0.f, 0.f);
+		m_currentLinearDiff.setValue(0.f, 0.f, 0.f);
+
+		for (int i = 0; i < 3; i++)
 		{
-			m_enableMotor[i]            = false;
-			m_servoMotor[i]             = false;
-			m_enableSpring[i]           = false;
-			m_servoTarget[i]            = btScalar(0.f);
-			m_springStiffness[i]        = btScalar(0.f);
+			m_enableMotor[i] = false;
+			m_servoMotor[i] = false;
+			m_enableSpring[i] = false;
+			m_servoTarget[i] = btScalar(0.f);
+			m_springStiffness[i] = btScalar(0.f);
 			m_springStiffnessLimited[i] = false;
-			m_springDamping[i]          = btScalar(0.f);
-			m_springDampingLimited[i]   = false;
-			m_equilibriumPoint[i]       = btScalar(0.f);
-			m_targetVelocity[i]         = btScalar(0.f);
-			m_maxMotorForce[i]          = btScalar(0.f);
-			
-			m_currentLimit[i]     = 0;
+			m_springDamping[i] = btScalar(0.f);
+			m_springDampingLimited[i] = false;
+			m_equilibriumPoint[i] = btScalar(0.f);
+			m_targetVelocity[i] = btScalar(0.f);
+			m_maxMotorForce[i] = btScalar(0.f);
+
+			m_currentLimit[i] = 0;
 		}
 	}
 
-	btTranslationalLimitMotor2(const btTranslationalLimitMotor2 & other )
+	btTranslationalLimitMotor2(const btTranslationalLimitMotor2& other)
 	{
-		m_lowerLimit          = other.m_lowerLimit;
-		m_upperLimit          = other.m_upperLimit;
-		m_bounce              = other.m_bounce;
-		m_stopERP             = other.m_stopERP;
-		m_stopCFM             = other.m_stopCFM;
-		m_motorERP            = other.m_motorERP;
-		m_motorCFM            = other.m_motorCFM;
-		
-		m_currentLimitError   = other.m_currentLimitError;
+		m_lowerLimit = other.m_lowerLimit;
+		m_upperLimit = other.m_upperLimit;
+		m_bounce = other.m_bounce;
+		m_stopERP = other.m_stopERP;
+		m_stopCFM = other.m_stopCFM;
+		m_motorERP = other.m_motorERP;
+		m_motorCFM = other.m_motorCFM;
+
+		m_currentLimitError = other.m_currentLimitError;
 		m_currentLimitErrorHi = other.m_currentLimitErrorHi;
-		m_currentLinearDiff   = other.m_currentLinearDiff;
+		m_currentLinearDiff = other.m_currentLinearDiff;
 
-		for(int i=0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 		{
-			m_enableMotor[i]            = other.m_enableMotor[i];
-			m_servoMotor[i]             = other.m_servoMotor[i];
-			m_enableSpring[i]           = other.m_enableSpring[i];
-			m_servoTarget[i]            = other.m_servoTarget[i];
-			m_springStiffness[i]        = other.m_springStiffness[i];
+			m_enableMotor[i] = other.m_enableMotor[i];
+			m_servoMotor[i] = other.m_servoMotor[i];
+			m_enableSpring[i] = other.m_enableSpring[i];
+			m_servoTarget[i] = other.m_servoTarget[i];
+			m_springStiffness[i] = other.m_springStiffness[i];
 			m_springStiffnessLimited[i] = other.m_springStiffnessLimited[i];
-			m_springDamping[i]          = other.m_springDamping[i];
-			m_springDampingLimited[i]   = other.m_springDampingLimited[i];
-			m_equilibriumPoint[i]       = other.m_equilibriumPoint[i];
-			m_targetVelocity[i]         = other.m_targetVelocity[i];
-			m_maxMotorForce[i]          = other.m_maxMotorForce[i];
+			m_springDamping[i] = other.m_springDamping[i];
+			m_springDampingLimited[i] = other.m_springDampingLimited[i];
+			m_equilibriumPoint[i] = other.m_equilibriumPoint[i];
+			m_targetVelocity[i] = other.m_targetVelocity[i];
+			m_maxMotorForce[i] = other.m_maxMotorForce[i];
 
-			m_currentLimit[i]     = other.m_currentLimit[i];
+			m_currentLimit[i] = other.m_currentLimit[i];
 		}
 	}
 
@@ -269,15 +264,14 @@ enum bt6DofFlags2
 	BT_6DOF_FLAGS_CFM_STOP2 = 1,
 	BT_6DOF_FLAGS_ERP_STOP2 = 2,
 	BT_6DOF_FLAGS_CFM_MOTO2 = 4,
-	BT_6DOF_FLAGS_ERP_MOTO2 = 8
+	BT_6DOF_FLAGS_ERP_MOTO2 = 8,
 };
-#define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis
+#define BT_6DOF_FLAGS_AXIS_SHIFT2 4  // bits per axis
 
-
-ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpring2Constraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btGeneric6DofSpring2Constraint : public btTypedConstraint
 {
 protected:
-
 	btTransform m_frameInA;
 	btTransform m_frameInB;
 
@@ -290,45 +284,43 @@ protected:
 	RotateOrder m_rotateOrder;
 
 protected:
-
-	btTransform  m_calculatedTransformA;
-	btTransform  m_calculatedTransformB;
-	btVector3    m_calculatedAxisAngleDiff;
-	btVector3    m_calculatedAxis[3];
-	btVector3    m_calculatedLinearDiff;
-	btScalar     m_factA;
-	btScalar     m_factB;
-	bool         m_hasStaticBody;
-	int          m_flags;
-
-	btGeneric6DofSpring2Constraint&	operator=(btGeneric6DofSpring2Constraint&)
+	btTransform m_calculatedTransformA;
+	btTransform m_calculatedTransformB;
+	btVector3 m_calculatedAxisAngleDiff;
+	btVector3 m_calculatedAxis[3];
+	btVector3 m_calculatedLinearDiff;
+	btScalar m_factA;
+	btScalar m_factB;
+	bool m_hasStaticBody;
+	int m_flags;
+
+	btGeneric6DofSpring2Constraint& operator=(btGeneric6DofSpring2Constraint&)
 	{
 		btAssert(0);
 		return *this;
 	}
 
-	int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
-	int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+	int setAngularLimits(btConstraintInfo2 * info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
+	int setLinearLimits(btConstraintInfo2 * info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
 
 	void calculateLinearInfo();
 	void calculateAngleInfo();
 	void testAngularLimitMotor(int axis_index);
 
-	void calculateJacobi(btRotationalLimitMotor2* limot, const btTransform& transA,const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed);
-	int get_limit_motor_info2(btRotationalLimitMotor2* limot,
-		const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
-		btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
+	void calculateJacobi(btRotationalLimitMotor2 * limot, const btTransform& transA, const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed);
+	int get_limit_motor_info2(btRotationalLimitMotor2 * limot,
+							  const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
+							  btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
-    btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
+	btGeneric6DofSpring2Constraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
+	btGeneric6DofSpring2Constraint(btRigidBody & rbB, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
 
 	virtual void buildJacobian() {}
-	virtual void getInfo1 (btConstraintInfo1* info);
-	virtual void getInfo2 (btConstraintInfo2* info);
+	virtual void getInfo1(btConstraintInfo1 * info);
+	virtual void getInfo2(btConstraintInfo2 * info);
 	virtual int calculateSerializeBufferSize() const;
 	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
@@ -336,19 +328,19 @@ public:
 	btTranslationalLimitMotor2* getTranslationalLimitMotor() { return &m_linearLimits; }
 
 	// Calculates the global transform for the joint offset for body A an B, and also calculates the angle differences between the bodies.
-	void calculateTransforms(const btTransform& transA,const btTransform& transB);
+	void calculateTransforms(const btTransform& transA, const btTransform& transB);
 	void calculateTransforms();
 
 	// Gets the global transform of the offset for body A
-	const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
+	const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
 	// Gets the global transform of the offset for body B
-	const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
+	const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
 
-	const btTransform & getFrameOffsetA() const { return m_frameInA; }
-	const btTransform & getFrameOffsetB() const { return m_frameInB; }
+	const btTransform& getFrameOffsetA() const { return m_frameInA; }
+	const btTransform& getFrameOffsetB() const { return m_frameInB; }
 
-	btTransform & getFrameOffsetA() { return m_frameInA; }
-	btTransform & getFrameOffsetB() { return m_frameInB; }
+	btTransform& getFrameOffsetA() { return m_frameInA; }
+	btTransform& getFrameOffsetB() { return m_frameInB; }
 
 	// Get the rotation axis in global coordinates ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
 	btVector3 getAxis(int axis_index) const { return m_calculatedAxis[axis_index]; }
@@ -359,58 +351,58 @@ public:
 	// Get the relative position of the constraint pivot ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
 	btScalar getRelativePivotPosition(int axis_index) const { return m_calculatedLinearDiff[axis_index]; }
 
-	void setFrames(const btTransform & frameA, const btTransform & frameB);
+	void setFrames(const btTransform& frameA, const btTransform& frameB);
 
 	void setLinearLowerLimit(const btVector3& linearLower) { m_linearLimits.m_lowerLimit = linearLower; }
-	void getLinearLowerLimit(btVector3& linearLower) { linearLower = m_linearLimits.m_lowerLimit; }
+	void getLinearLowerLimit(btVector3 & linearLower) { linearLower = m_linearLimits.m_lowerLimit; }
 	void setLinearUpperLimit(const btVector3& linearUpper) { m_linearLimits.m_upperLimit = linearUpper; }
-	void getLinearUpperLimit(btVector3& linearUpper) { linearUpper = m_linearLimits.m_upperLimit; }
+	void getLinearUpperLimit(btVector3 & linearUpper) { linearUpper = m_linearLimits.m_upperLimit; }
 
 	void setAngularLowerLimit(const btVector3& angularLower)
 	{
-		for(int i = 0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
 	}
 
 	void setAngularLowerLimitReversed(const btVector3& angularLower)
 	{
-		for(int i = 0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_hiLimit = btNormalizeAngle(-angularLower[i]);
 	}
 
-	void getAngularLowerLimit(btVector3& angularLower)
+	void getAngularLowerLimit(btVector3 & angularLower)
 	{
-		for(int i = 0; i < 3; i++) 
+		for (int i = 0; i < 3; i++)
 			angularLower[i] = m_angularLimits[i].m_loLimit;
 	}
 
-	void getAngularLowerLimitReversed(btVector3& angularLower)
+	void getAngularLowerLimitReversed(btVector3 & angularLower)
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			angularLower[i] = -m_angularLimits[i].m_hiLimit;
 	}
 
 	void setAngularUpperLimit(const btVector3& angularUpper)
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
 	}
 
 	void setAngularUpperLimitReversed(const btVector3& angularUpper)
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			m_angularLimits[i].m_loLimit = btNormalizeAngle(-angularUpper[i]);
 	}
 
-	void getAngularUpperLimit(btVector3& angularUpper)
+	void getAngularUpperLimit(btVector3 & angularUpper)
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			angularUpper[i] = m_angularLimits[i].m_hiLimit;
 	}
 
-	void getAngularUpperLimitReversed(btVector3& angularUpper)
+	void getAngularUpperLimitReversed(btVector3 & angularUpper)
 	{
-		for(int i = 0; i < 3; i++)
+		for (int i = 0; i < 3; i++)
 			angularUpper[i] = -m_angularLimits[i].m_loLimit;
 	}
 
@@ -418,7 +410,7 @@ public:
 
 	void setLimit(int axis, btScalar lo, btScalar hi)
 	{
-		if(axis<3)
+		if (axis < 3)
 		{
 			m_linearLimits.m_lowerLimit[axis] = lo;
 			m_linearLimits.m_upperLimit[axis] = hi;
@@ -427,14 +419,14 @@ public:
 		{
 			lo = btNormalizeAngle(lo);
 			hi = btNormalizeAngle(hi);
-			m_angularLimits[axis-3].m_loLimit = lo;
-			m_angularLimits[axis-3].m_hiLimit = hi;
+			m_angularLimits[axis - 3].m_loLimit = lo;
+			m_angularLimits[axis - 3].m_hiLimit = hi;
 		}
 	}
 
 	void setLimitReversed(int axis, btScalar lo, btScalar hi)
 	{
-		if(axis<3)
+		if (axis < 3)
 		{
 			m_linearLimits.m_lowerLimit[axis] = lo;
 			m_linearLimits.m_upperLimit[axis] = hi;
@@ -443,54 +435,53 @@ public:
 		{
 			lo = btNormalizeAngle(lo);
 			hi = btNormalizeAngle(hi);
-			m_angularLimits[axis-3].m_hiLimit = -lo;
-			m_angularLimits[axis-3].m_loLimit = -hi;
+			m_angularLimits[axis - 3].m_hiLimit = -lo;
+			m_angularLimits[axis - 3].m_loLimit = -hi;
 		}
 	}
 
 	bool isLimited(int limitIndex)
 	{
-		if(limitIndex<3)
+		if (limitIndex < 3)
 		{
 			return m_linearLimits.isLimited(limitIndex);
 		}
-		return m_angularLimits[limitIndex-3].isLimited();
+		return m_angularLimits[limitIndex - 3].isLimited();
 	}
 
 	void setRotationOrder(RotateOrder order) { m_rotateOrder = order; }
 	RotateOrder getRotationOrder() { return m_rotateOrder; }
 
-	void setAxis( const btVector3& axis1, const btVector3& axis2);
+	void setAxis(const btVector3& axis1, const btVector3& axis2);
 
 	void setBounce(int index, btScalar bounce);
 
 	void enableMotor(int index, bool onOff);
-	void setServo(int index, bool onOff); // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
+	void setServo(int index, bool onOff);  // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
 	void setTargetVelocity(int index, btScalar velocity);
 	void setServoTarget(int index, btScalar target);
 	void setMaxMotorForce(int index, btScalar force);
 
 	void enableSpring(int index, bool onOff);
-	void setStiffness(int index, btScalar stiffness, bool limitIfNeeded = true); // if limitIfNeeded is true the system will automatically limit the stiffness in necessary situations where otherwise the spring would move unrealistically too widely
-	void setDamping(int index, btScalar damping, bool limitIfNeeded = true); // if limitIfNeeded is true the system will automatically limit the damping in necessary situations where otherwise the spring would blow up
-	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
-	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
+	void setStiffness(int index, btScalar stiffness, bool limitIfNeeded = true);  // if limitIfNeeded is true the system will automatically limit the stiffness in necessary situations where otherwise the spring would move unrealistically too widely
+	void setDamping(int index, btScalar damping, bool limitIfNeeded = true);      // if limitIfNeeded is true the system will automatically limit the damping in necessary situations where otherwise the spring would blow up
+	void setEquilibriumPoint();                                                   // set the current constraint position/orientation as an equilibrium point for all DOF
+	void setEquilibriumPoint(int index);                                          // set the current constraint position/orientation as an equilibrium point for given DOF
 	void setEquilibriumPoint(int index, btScalar val);
 
-	//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	//If no axis is provided, it uses the default axis for this constraint.
 	virtual void setParam(int num, btScalar value, int axis = -1);
 	virtual btScalar getParam(int num, int axis = -1) const;
-    
-    static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
-    static bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
-    static bool matrixToEulerXZY(const btMatrix3x3& mat,btVector3& xyz);
-    static bool matrixToEulerYXZ(const btMatrix3x3& mat,btVector3& xyz);
-    static bool matrixToEulerYZX(const btMatrix3x3& mat,btVector3& xyz);
-    static bool matrixToEulerZXY(const btMatrix3x3& mat,btVector3& xyz);
-    static bool matrixToEulerZYX(const btMatrix3x3& mat,btVector3& xyz);
-};
 
+	static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
+	static bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz);
+	static bool matrixToEulerXZY(const btMatrix3x3& mat, btVector3& xyz);
+	static bool matrixToEulerYXZ(const btMatrix3x3& mat, btVector3& xyz);
+	static bool matrixToEulerYZX(const btMatrix3x3& mat, btVector3& xyz);
+	static bool matrixToEulerZXY(const btMatrix3x3& mat, btVector3& xyz);
+	static bool matrixToEulerZYX(const btMatrix3x3& mat, btVector3& xyz);
+};
 
 struct btGeneric6DofSpring2ConstraintData
 {
@@ -511,12 +502,12 @@ struct btGeneric6DofSpring2ConstraintData
 	btVector3FloatData m_linearSpringStiffness;
 	btVector3FloatData m_linearSpringDamping;
 	btVector3FloatData m_linearEquilibriumPoint;
-	char               m_linearEnableMotor[4];
-	char               m_linearServoMotor[4];
-	char               m_linearEnableSpring[4];
-	char               m_linearSpringStiffnessLimited[4];
-	char               m_linearSpringDampingLimited[4];
-	char               m_padding1[4];
+	char m_linearEnableMotor[4];
+	char m_linearServoMotor[4];
+	char m_linearEnableSpring[4];
+	char m_linearSpringStiffnessLimited[4];
+	char m_linearSpringDampingLimited[4];
+	char m_padding1[4];
 
 	btVector3FloatData m_angularUpperLimit;
 	btVector3FloatData m_angularLowerLimit;
@@ -531,13 +522,13 @@ struct btGeneric6DofSpring2ConstraintData
 	btVector3FloatData m_angularSpringStiffness;
 	btVector3FloatData m_angularSpringDamping;
 	btVector3FloatData m_angularEquilibriumPoint;
-	char               m_angularEnableMotor[4];
-	char               m_angularServoMotor[4];
-	char               m_angularEnableSpring[4];
-	char               m_angularSpringStiffnessLimited[4];
-	char               m_angularSpringDampingLimited[4];
+	char m_angularEnableMotor[4];
+	char m_angularServoMotor[4];
+	char m_angularEnableSpring[4];
+	char m_angularSpringStiffnessLimited[4];
+	char m_angularSpringDampingLimited[4];
 
-	int                m_rotateOrder;
+	int m_rotateOrder;
 };
 
 struct btGeneric6DofSpring2ConstraintDoubleData2
@@ -559,12 +550,12 @@ struct btGeneric6DofSpring2ConstraintDoubleData2
 	btVector3DoubleData m_linearSpringStiffness;
 	btVector3DoubleData m_linearSpringDamping;
 	btVector3DoubleData m_linearEquilibriumPoint;
-	char                m_linearEnableMotor[4];
-	char                m_linearServoMotor[4];
-	char                m_linearEnableSpring[4];
-	char                m_linearSpringStiffnessLimited[4];
-	char                m_linearSpringDampingLimited[4];
-	char                m_padding1[4];
+	char m_linearEnableMotor[4];
+	char m_linearServoMotor[4];
+	char m_linearEnableSpring[4];
+	char m_linearSpringStiffnessLimited[4];
+	char m_linearSpringDampingLimited[4];
+	char m_padding1[4];
 
 	btVector3DoubleData m_angularUpperLimit;
 	btVector3DoubleData m_angularLowerLimit;
@@ -579,13 +570,13 @@ struct btGeneric6DofSpring2ConstraintDoubleData2
 	btVector3DoubleData m_angularSpringStiffness;
 	btVector3DoubleData m_angularSpringDamping;
 	btVector3DoubleData m_angularEquilibriumPoint;
-	char                m_angularEnableMotor[4];
-	char                m_angularServoMotor[4];
-	char                m_angularEnableSpring[4];
-	char                m_angularSpringStiffnessLimited[4];
-	char                m_angularSpringDampingLimited[4];
+	char m_angularEnableMotor[4];
+	char m_angularServoMotor[4];
+	char m_angularEnableSpring[4];
+	char m_angularSpringStiffnessLimited[4];
+	char m_angularSpringDampingLimited[4];
 
-	int                 m_rotateOrder;
+	int m_rotateOrder;
 };
 
 SIMD_FORCE_INLINE int btGeneric6DofSpring2Constraint::calculateSerializeBufferSize() const
@@ -596,70 +587,70 @@ SIMD_FORCE_INLINE int btGeneric6DofSpring2Constraint::calculateSerializeBufferSi
 SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btGeneric6DofSpring2ConstraintData2* dof = (btGeneric6DofSpring2ConstraintData2*)dataBuffer;
-	btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
+	btTypedConstraint::serialize(&dof->m_typeConstraintData, serializer);
 
 	m_frameInA.serialize(dof->m_rbAFrame);
 	m_frameInB.serialize(dof->m_rbBFrame);
 
 	int i;
-	for (i=0;i<3;i++)
+	for (i = 0; i < 3; i++)
 	{
-		dof->m_angularLowerLimit.m_floats[i]       = m_angularLimits[i].m_loLimit;
-		dof->m_angularUpperLimit.m_floats[i]       = m_angularLimits[i].m_hiLimit;
-		dof->m_angularBounce.m_floats[i]           = m_angularLimits[i].m_bounce;
-		dof->m_angularStopERP.m_floats[i]          = m_angularLimits[i].m_stopERP;
-		dof->m_angularStopCFM.m_floats[i]          = m_angularLimits[i].m_stopCFM;
-		dof->m_angularMotorERP.m_floats[i]         = m_angularLimits[i].m_motorERP;
-		dof->m_angularMotorCFM.m_floats[i]         = m_angularLimits[i].m_motorCFM;
-		dof->m_angularTargetVelocity.m_floats[i]   = m_angularLimits[i].m_targetVelocity;
-		dof->m_angularMaxMotorForce.m_floats[i]    = m_angularLimits[i].m_maxMotorForce;
-		dof->m_angularServoTarget.m_floats[i]      = m_angularLimits[i].m_servoTarget;
-		dof->m_angularSpringStiffness.m_floats[i]  = m_angularLimits[i].m_springStiffness;
-		dof->m_angularSpringDamping.m_floats[i]    = m_angularLimits[i].m_springDamping;
+		dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
+		dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
+		dof->m_angularBounce.m_floats[i] = m_angularLimits[i].m_bounce;
+		dof->m_angularStopERP.m_floats[i] = m_angularLimits[i].m_stopERP;
+		dof->m_angularStopCFM.m_floats[i] = m_angularLimits[i].m_stopCFM;
+		dof->m_angularMotorERP.m_floats[i] = m_angularLimits[i].m_motorERP;
+		dof->m_angularMotorCFM.m_floats[i] = m_angularLimits[i].m_motorCFM;
+		dof->m_angularTargetVelocity.m_floats[i] = m_angularLimits[i].m_targetVelocity;
+		dof->m_angularMaxMotorForce.m_floats[i] = m_angularLimits[i].m_maxMotorForce;
+		dof->m_angularServoTarget.m_floats[i] = m_angularLimits[i].m_servoTarget;
+		dof->m_angularSpringStiffness.m_floats[i] = m_angularLimits[i].m_springStiffness;
+		dof->m_angularSpringDamping.m_floats[i] = m_angularLimits[i].m_springDamping;
 		dof->m_angularEquilibriumPoint.m_floats[i] = m_angularLimits[i].m_equilibriumPoint;
 	}
-	dof->m_angularLowerLimit.m_floats[3]       = 0;
-	dof->m_angularUpperLimit.m_floats[3]       = 0;
-	dof->m_angularBounce.m_floats[3]           = 0;
-	dof->m_angularStopERP.m_floats[3]          = 0;
-	dof->m_angularStopCFM.m_floats[3]          = 0;
-	dof->m_angularMotorERP.m_floats[3]         = 0;
-	dof->m_angularMotorCFM.m_floats[3]         = 0;
-	dof->m_angularTargetVelocity.m_floats[3]   = 0;
-	dof->m_angularMaxMotorForce.m_floats[3]    = 0;
-	dof->m_angularServoTarget.m_floats[3]      = 0;
-	dof->m_angularSpringStiffness.m_floats[3]  = 0;
-	dof->m_angularSpringDamping.m_floats[3]    = 0;
+	dof->m_angularLowerLimit.m_floats[3] = 0;
+	dof->m_angularUpperLimit.m_floats[3] = 0;
+	dof->m_angularBounce.m_floats[3] = 0;
+	dof->m_angularStopERP.m_floats[3] = 0;
+	dof->m_angularStopCFM.m_floats[3] = 0;
+	dof->m_angularMotorERP.m_floats[3] = 0;
+	dof->m_angularMotorCFM.m_floats[3] = 0;
+	dof->m_angularTargetVelocity.m_floats[3] = 0;
+	dof->m_angularMaxMotorForce.m_floats[3] = 0;
+	dof->m_angularServoTarget.m_floats[3] = 0;
+	dof->m_angularSpringStiffness.m_floats[3] = 0;
+	dof->m_angularSpringDamping.m_floats[3] = 0;
 	dof->m_angularEquilibriumPoint.m_floats[3] = 0;
-	for (i=0;i<4;i++)
+	for (i = 0; i < 4; i++)
 	{
-		dof->m_angularEnableMotor[i]            = i < 3 ? ( m_angularLimits[i].m_enableMotor ? 1 : 0 ) : 0;
-		dof->m_angularServoMotor[i]             = i < 3 ? ( m_angularLimits[i].m_servoMotor ? 1 : 0 ) : 0;
-		dof->m_angularEnableSpring[i]           = i < 3 ? ( m_angularLimits[i].m_enableSpring ? 1 : 0 ) : 0;
-		dof->m_angularSpringStiffnessLimited[i] = i < 3 ? ( m_angularLimits[i].m_springStiffnessLimited ? 1 : 0 ) : 0;
-		dof->m_angularSpringDampingLimited[i]   = i < 3 ? ( m_angularLimits[i].m_springDampingLimited ? 1 : 0 ) : 0;
+		dof->m_angularEnableMotor[i] = i < 3 ? (m_angularLimits[i].m_enableMotor ? 1 : 0) : 0;
+		dof->m_angularServoMotor[i] = i < 3 ? (m_angularLimits[i].m_servoMotor ? 1 : 0) : 0;
+		dof->m_angularEnableSpring[i] = i < 3 ? (m_angularLimits[i].m_enableSpring ? 1 : 0) : 0;
+		dof->m_angularSpringStiffnessLimited[i] = i < 3 ? (m_angularLimits[i].m_springStiffnessLimited ? 1 : 0) : 0;
+		dof->m_angularSpringDampingLimited[i] = i < 3 ? (m_angularLimits[i].m_springDampingLimited ? 1 : 0) : 0;
 	}
 
-	m_linearLimits.m_lowerLimit.serialize( dof->m_linearLowerLimit );
-	m_linearLimits.m_upperLimit.serialize( dof->m_linearUpperLimit );
-	m_linearLimits.m_bounce.serialize( dof->m_linearBounce );
-	m_linearLimits.m_stopERP.serialize( dof->m_linearStopERP );
-	m_linearLimits.m_stopCFM.serialize( dof->m_linearStopCFM );
-	m_linearLimits.m_motorERP.serialize( dof->m_linearMotorERP );
-	m_linearLimits.m_motorCFM.serialize( dof->m_linearMotorCFM );
-	m_linearLimits.m_targetVelocity.serialize( dof->m_linearTargetVelocity );
-	m_linearLimits.m_maxMotorForce.serialize( dof->m_linearMaxMotorForce );
-	m_linearLimits.m_servoTarget.serialize( dof->m_linearServoTarget );
-	m_linearLimits.m_springStiffness.serialize( dof->m_linearSpringStiffness );
-	m_linearLimits.m_springDamping.serialize( dof->m_linearSpringDamping );
-	m_linearLimits.m_equilibriumPoint.serialize( dof->m_linearEquilibriumPoint );
-	for (i=0;i<4;i++)
+	m_linearLimits.m_lowerLimit.serialize(dof->m_linearLowerLimit);
+	m_linearLimits.m_upperLimit.serialize(dof->m_linearUpperLimit);
+	m_linearLimits.m_bounce.serialize(dof->m_linearBounce);
+	m_linearLimits.m_stopERP.serialize(dof->m_linearStopERP);
+	m_linearLimits.m_stopCFM.serialize(dof->m_linearStopCFM);
+	m_linearLimits.m_motorERP.serialize(dof->m_linearMotorERP);
+	m_linearLimits.m_motorCFM.serialize(dof->m_linearMotorCFM);
+	m_linearLimits.m_targetVelocity.serialize(dof->m_linearTargetVelocity);
+	m_linearLimits.m_maxMotorForce.serialize(dof->m_linearMaxMotorForce);
+	m_linearLimits.m_servoTarget.serialize(dof->m_linearServoTarget);
+	m_linearLimits.m_springStiffness.serialize(dof->m_linearSpringStiffness);
+	m_linearLimits.m_springDamping.serialize(dof->m_linearSpringDamping);
+	m_linearLimits.m_equilibriumPoint.serialize(dof->m_linearEquilibriumPoint);
+	for (i = 0; i < 4; i++)
 	{
-		dof->m_linearEnableMotor[i]            = i < 3 ? ( m_linearLimits.m_enableMotor[i] ? 1 : 0 ) : 0;
-		dof->m_linearServoMotor[i]             = i < 3 ? ( m_linearLimits.m_servoMotor[i] ? 1 : 0 ) : 0;
-		dof->m_linearEnableSpring[i]           = i < 3 ? ( m_linearLimits.m_enableSpring[i] ? 1 : 0 ) : 0;
-		dof->m_linearSpringStiffnessLimited[i] = i < 3 ? ( m_linearLimits.m_springStiffnessLimited[i] ? 1 : 0 ) : 0;
-		dof->m_linearSpringDampingLimited[i]   = i < 3 ? ( m_linearLimits.m_springDampingLimited[i] ? 1 : 0 ) : 0;
+		dof->m_linearEnableMotor[i] = i < 3 ? (m_linearLimits.m_enableMotor[i] ? 1 : 0) : 0;
+		dof->m_linearServoMotor[i] = i < 3 ? (m_linearLimits.m_servoMotor[i] ? 1 : 0) : 0;
+		dof->m_linearEnableSpring[i] = i < 3 ? (m_linearLimits.m_enableSpring[i] ? 1 : 0) : 0;
+		dof->m_linearSpringStiffnessLimited[i] = i < 3 ? (m_linearLimits.m_springStiffnessLimited[i] ? 1 : 0) : 0;
+		dof->m_linearSpringDampingLimited[i] = i < 3 ? (m_linearLimits.m_springDampingLimited[i] ? 1 : 0) : 0;
 	}
 
 	dof->m_rotateOrder = m_rotateOrder;
@@ -672,8 +663,4 @@ SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* da
 	return btGeneric6DofSpring2ConstraintDataName;
 }
 
-
-
-
-
-#endif //BT_GENERIC_6DOF_CONSTRAINT_H
+#endif  //BT_GENERIC_6DOF_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
index 6f765884ec..8baf52bcd1 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@@ -17,26 +17,23 @@ subject to the following restrictions:
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 
-
-btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
 	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
 {
-    init();
+	init();
 }
 
-
 btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
-        : btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
+	: btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
 {
-    init();
+	init();
 }
 
-
 void btGeneric6DofSpringConstraint::init()
 {
 	m_objectType = D6_SPRING_CONSTRAINT_TYPE;
 
-	for(int i = 0; i < 6; i++)
+	for (int i = 0; i < 6; i++)
 	{
 		m_springEnabled[i] = false;
 		m_equilibriumPoint[i] = btScalar(0.f);
@@ -45,12 +42,11 @@ void btGeneric6DofSpringConstraint::init()
 	}
 }
 
-
 void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
 {
 	btAssert((index >= 0) && (index < 6));
 	m_springEnabled[index] = onOff;
-	if(index < 3)
+	if (index < 3)
 	{
 		m_linearLimits.m_enableMotor[index] = onOff;
 	}
@@ -60,44 +56,38 @@ void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
 	}
 }
 
-
-
 void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
 {
 	btAssert((index >= 0) && (index < 6));
 	m_springStiffness[index] = stiffness;
 }
 
-
 void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
 {
 	btAssert((index >= 0) && (index < 6));
 	m_springDamping[index] = damping;
 }
 
-
 void btGeneric6DofSpringConstraint::setEquilibriumPoint()
 {
 	calculateTransforms();
 	int i;
 
-	for( i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
 		m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
 	}
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
 		m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
 	}
 }
 
-
-
 void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
 {
 	btAssert((index >= 0) && (index < 6));
 	calculateTransforms();
-	if(index < 3)
+	if (index < 3)
 	{
 		m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
 	}
@@ -113,15 +103,14 @@ void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
 	m_equilibriumPoint[index] = val;
 }
 
-
 void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
 {
 	// it is assumed that calculateTransforms() have been called before this call
 	int i;
 	//btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
-		if(m_springEnabled[i])
+		if (m_springEnabled[i])
 		{
 			// get current position of constraint
 			btScalar currPos = m_calculatedLinearDiff[i];
@@ -130,28 +119,27 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
 			// spring force is (delta * m_stiffness) according to Hooke's Law
 			btScalar force = delta * m_springStiffness[i];
 			btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
-			m_linearLimits.m_targetVelocity[i] =  velFactor * force;
-			m_linearLimits.m_maxMotorForce[i] =  btFabs(force) / info->fps;
+			m_linearLimits.m_targetVelocity[i] = velFactor * force;
+			m_linearLimits.m_maxMotorForce[i] = btFabs(force);
 		}
 	}
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
-		if(m_springEnabled[i + 3])
+		if (m_springEnabled[i + 3])
 		{
 			// get current position of constraint
 			btScalar currPos = m_calculatedAxisAngleDiff[i];
 			// calculate difference
-			btScalar delta = currPos - m_equilibriumPoint[i+3];
+			btScalar delta = currPos - m_equilibriumPoint[i + 3];
 			// spring force is (-delta * m_stiffness) according to Hooke's Law
-			btScalar force = -delta * m_springStiffness[i+3];
-			btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
+			btScalar force = -delta * m_springStiffness[i + 3];
+			btScalar velFactor = info->fps * m_springDamping[i + 3] / btScalar(info->m_numIterations);
 			m_angularLimits[i].m_targetVelocity = velFactor * force;
-			m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
+			m_angularLimits[i].m_maxMotorForce = btFabs(force);
 		}
 	}
 }
 
-
 void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
 {
 	// this will be called by constraint solver at the constraint setup stage
@@ -161,25 +149,21 @@ void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
 	btGeneric6DofConstraint::getInfo2(info);
 }
 
-
-void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
 {
 	btVector3 zAxis = axis1.normalized();
 	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
 
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-                                xAxis[1], yAxis[1], zAxis[1],
-                                xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
 
 	// now get constraint frame in local coordinate systems
 	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
 
-  calculateTransforms();
+	calculateTransforms();
 }
-
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
index dac59c6889..02b9d4d05d 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
@@ -16,20 +16,17 @@ subject to the following restrictions:
 #ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
 #define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
 
-
 #include "LinearMath/btVector3.h"
 #include "btTypedConstraint.h"
 #include "btGeneric6DofConstraint.h"
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btGeneric6DofSpringConstraintData2		btGeneric6DofSpringConstraintDoubleData2
-#define btGeneric6DofSpringConstraintDataName	"btGeneric6DofSpringConstraintDoubleData2"
+#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
+#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
 #else
-#define btGeneric6DofSpringConstraintData2		btGeneric6DofSpringConstraintData
-#define btGeneric6DofSpringConstraintDataName	"btGeneric6DofSpringConstraintData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
+#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
+#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 /// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
 
@@ -41,101 +38,98 @@ subject to the following restrictions:
 /// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
 /// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
 
-ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
+ATTRIBUTE_ALIGNED16(class)
+btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
 {
 protected:
-	bool		m_springEnabled[6];
-	btScalar	m_equilibriumPoint[6];
-	btScalar	m_springStiffness[6];
-	btScalar	m_springDamping[6]; // between 0 and 1 (1 == no damping)
+	bool m_springEnabled[6];
+	btScalar m_equilibriumPoint[6];
+	btScalar m_springStiffness[6];
+	btScalar m_springDamping[6];  // between 0 and 1 (1 == no damping)
 	void init();
-	void internalUpdateSprings(btConstraintInfo2* info);
-public: 
-	
+	void internalUpdateSprings(btConstraintInfo2 * info);
+
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-    btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
+
+	btGeneric6DofSpringConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
+	btGeneric6DofSpringConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
 	void enableSpring(int index, bool onOff);
 	void setStiffness(int index, btScalar stiffness);
 	void setDamping(int index, btScalar damping);
-	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
+	void setEquilibriumPoint();           // set the current constraint position/orientation as an equilibrium point for all DOF
 	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
 	void setEquilibriumPoint(int index, btScalar val);
 
 	bool isSpringEnabled(int index) const
 	{
-	    return m_springEnabled[index];
+		return m_springEnabled[index];
 	}
 
 	btScalar getStiffness(int index) const
 	{
-	    return m_springStiffness[index];
+		return m_springStiffness[index];
 	}
 
 	btScalar getDamping(int index) const
 	{
-	    return m_springDamping[index];
+		return m_springDamping[index];
 	}
 
 	btScalar getEquilibriumPoint(int index) const
 	{
-	    return m_equilibriumPoint[index];
+		return m_equilibriumPoint[index];
 	}
 
-	virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
+	virtual void setAxis(const btVector3& axis1, const btVector3& axis2);
 
-	virtual void getInfo2 (btConstraintInfo2* info);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
 struct btGeneric6DofSpringConstraintData
 {
-	btGeneric6DofConstraintData	m_6dofData;
-	
-	int			m_springEnabled[6];
-	float		m_equilibriumPoint[6];
-	float		m_springStiffness[6];
-	float		m_springDamping[6];
+	btGeneric6DofConstraintData m_6dofData;
+
+	int m_springEnabled[6];
+	float m_equilibriumPoint[6];
+	float m_springStiffness[6];
+	float m_springDamping[6];
 };
 
 struct btGeneric6DofSpringConstraintDoubleData2
 {
-	btGeneric6DofConstraintDoubleData2	m_6dofData;
-	
-	int			m_springEnabled[6];
-	double		m_equilibriumPoint[6];
-	double		m_springStiffness[6];
-	double		m_springDamping[6];
-};
+	btGeneric6DofConstraintDoubleData2 m_6dofData;
 
+	int m_springEnabled[6];
+	double m_equilibriumPoint[6];
+	double m_springStiffness[6];
+	double m_springDamping[6];
+};
 
-SIMD_FORCE_INLINE	int	btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btGeneric6DofSpringConstraintData2);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
-	btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
+	btGeneric6DofConstraint::serialize(&dof->m_6dofData, serializer);
 
 	int i;
-	for (i=0;i<6;i++)
+	for (i = 0; i < 6; i++)
 	{
 		dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
 		dof->m_springDamping[i] = m_springDamping[i];
-		dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
+		dof->m_springEnabled[i] = m_springEnabled[i] ? 1 : 0;
 		dof->m_springStiffness[i] = m_springStiffness[i];
 	}
 	return btGeneric6DofSpringConstraintDataName;
 }
 
-#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
-
+#endif  // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
index 4be2aabe4d..6507e1a0a7 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
@@ -13,54 +13,49 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btHinge2Constraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 
-
-
 // constructor
 // anchor, axis1 and axis2 are in world coordinate system
 // axis1 must be orthogonal to axis2
 btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
-: btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(),RO_XYZ),
- m_anchor(anchor),
- m_axis1(axis1),
- m_axis2(axis2)
+	: btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), RO_XYZ),
+	  m_anchor(anchor),
+	  m_axis1(axis1),
+	  m_axis2(axis2)
 {
 	// build frame basis
 	// 6DOF constraint uses Euler angles and to define limits
 	// it is assumed that rotational order is :
 	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
+	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
 	// used to prevent constraint from instability on poles;
 	// new position of X, allowed limits are (-PI,PI);
 	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
 	// Build the frame in world coordinate system first
 	btVector3 zAxis = axis1.normalize();
 	btVector3 xAxis = axis2.normalize();
-	btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
+	btVector3 yAxis = zAxis.cross(xAxis);  // we want right coordinate system
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-									xAxis[1], yAxis[1], zAxis[1],
-									xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
 	frameInW.setOrigin(anchor);
 	// now get constraint frame in local coordinate systems
 	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
 	// sei limits
 	setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
-	setLinearUpperLimit(btVector3(0.f, 0.f,  1.f));
+	setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
 	// like front wheels of a car
-	setAngularLowerLimit(btVector3(1.f,  0.f, -SIMD_HALF_PI * 0.5f)); 
-	setAngularUpperLimit(btVector3(-1.f, 0.f,  SIMD_HALF_PI * 0.5f));
+	setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
+	setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
 	// enable suspension
 	enableSpring(2, true);
 	setStiffness(2, SIMD_PI * SIMD_PI * 4.f);
 	setDamping(2, 0.01f);
 	setEquilibriumPoint();
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
index 06a8e3ecd1..95f604a890 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
@@ -16,32 +16,30 @@ subject to the following restrictions:
 #ifndef BT_HINGE2_CONSTRAINT_H
 #define BT_HINGE2_CONSTRAINT_H
 
-
-
 #include "LinearMath/btVector3.h"
 #include "btTypedConstraint.h"
 #include "btGeneric6DofSpring2Constraint.h"
 
-
-
 // Constraint similar to ODE Hinge2 Joint
 // has 3 degrees of frredom:
 // 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
 // 1 translational (along axis Z) with suspension spring
 
-ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpring2Constraint
+ATTRIBUTE_ALIGNED16(class)
+btHinge2Constraint : public btGeneric6DofSpring2Constraint
 {
 protected:
-	btVector3	m_anchor;
-	btVector3	m_axis1;
-	btVector3	m_axis2;
+	btVector3 m_anchor;
+	btVector3 m_axis1;
+	btVector3 m_axis2;
+
 public:
-		BT_DECLARE_ALIGNED_ALLOCATOR();
-		
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	// constructor
 	// anchor, axis1 and axis2 are in world coordinate system
 	// axis1 must be orthogonal to axis2
-    btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+	btHinge2Constraint(btRigidBody & rbA, btRigidBody & rbB, btVector3 & anchor, btVector3 & axis1, btVector3 & axis2);
 	// access
 	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
 	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
@@ -51,10 +49,7 @@ public:
 	btScalar getAngle2() { return getAngle(0); }
 	// limits
 	void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
-	void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
+	void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3(1.f, 0.f, ang1min)); }
 };
 
-
-
-#endif // BT_HINGE2_CONSTRAINT_H
-
+#endif  // BT_HINGE2_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 7e5e6f9e54..aa6f69000d 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btHingeConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
@@ -21,8 +20,6 @@ subject to the following restrictions:
 #include <new>
 #include "btSolverBody.h"
 
-
-
 //#define HINGE_USE_OBSOLETE_SOLVER false
 #define HINGE_USE_OBSOLETE_SOLVER false
 
@@ -30,59 +27,60 @@ subject to the following restrictions:
 
 #ifndef __SPU__
 
-
-
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
-									 const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA)
-									 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
+btHingeConstraint::btHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB,
+									 const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA)
+	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA, rbB),
 #ifdef _BT_USE_CENTER_LIMIT_
-									 m_limit(),
+	  m_limit(),
 #endif
-									 m_angularOnly(false),
-									 m_enableAngularMotor(false),
-									 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-									 m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-									 m_useReferenceFrameA(useReferenceFrameA),
-									 m_flags(0),
-									 m_normalCFM(0),
-									 m_normalERP(0),
-									 m_stopCFM(0),
-									 m_stopERP(0)
+	  m_angularOnly(false),
+	  m_enableAngularMotor(false),
+	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+	  m_useReferenceFrameA(useReferenceFrameA),
+	  m_flags(0),
+	  m_normalCFM(0),
+	  m_normalERP(0),
+	  m_stopCFM(0),
+	  m_stopERP(0)
 {
 	m_rbAFrame.getOrigin() = pivotInA;
-	
+
 	// since no frame is given, assume this to be zero angle and just pick rb transform axis
 	btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
 
 	btVector3 rbAxisA2;
 	btScalar projection = axisInA.dot(rbAxisA1);
-	if (projection >= 1.0f - SIMD_EPSILON) {
+	if (projection >= 1.0f - SIMD_EPSILON)
+	{
 		rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
 		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
-	} else if (projection <= -1.0f + SIMD_EPSILON) {
+	}
+	else if (projection <= -1.0f + SIMD_EPSILON)
+	{
 		rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
-		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);      
-	} else {
+		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
+	}
+	else
+	{
 		rbAxisA2 = axisInA.cross(rbAxisA1);
 		rbAxisA1 = rbAxisA2.cross(axisInA);
 	}
 
-	m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
-									rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
-									rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+	m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
+								   rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
+								   rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
+
+	btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
+	btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
+	btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
 
-	btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
-	btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
-	btVector3 rbAxisB2 =  axisInB.cross(rbAxisB1);	
-	
 	m_rbBFrame.getOrigin() = pivotInB;
-	m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
-									rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
-									rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
-	
-#ifndef	_BT_USE_CENTER_LIMIT_
+	m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
+								   rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
+								   rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
+
+#ifndef _BT_USE_CENTER_LIMIT_
 	//start with free
 	m_lowerLimit = btScalar(1.0f);
 	m_upperLimit = btScalar(-1.0f);
@@ -94,47 +92,44 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
 	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),
+btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA)
+	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),
 #ifdef _BT_USE_CENTER_LIMIT_
-m_limit(),
+	  m_limit(),
 #endif
-m_angularOnly(false), m_enableAngularMotor(false), 
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-m_useReferenceFrameA(useReferenceFrameA),
-m_flags(0),
-m_normalCFM(0),
-m_normalERP(0),
-m_stopCFM(0),
-m_stopERP(0)
+	  m_angularOnly(false),
+	  m_enableAngularMotor(false),
+	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+	  m_useReferenceFrameA(useReferenceFrameA),
+	  m_flags(0),
+	  m_normalCFM(0),
+	  m_normalERP(0),
+	  m_stopCFM(0),
+	  m_stopERP(0)
 {
-
 	// since no frame is given, assume this to be zero angle and just pick rb transform axis
 	// fixed axis in worldspace
 	btVector3 rbAxisA1, rbAxisA2;
 	btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
 
 	m_rbAFrame.getOrigin() = pivotInA;
-	m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
-									rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
-									rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+	m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
+								   rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
+								   rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
 
 	btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA;
 
-	btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
-	btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
+	btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
+	btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
 	btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
 
-
 	m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
-	m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
-									rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
-									rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
-	
-#ifndef	_BT_USE_CENTER_LIMIT_
+	m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
+								   rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
+								   rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
+
+#ifndef _BT_USE_CENTER_LIMIT_
 	//start with free
 	m_lowerLimit = btScalar(1.0f);
 	m_upperLimit = btScalar(-1.0f);
@@ -146,26 +141,24 @@ m_stopERP(0)
 	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, 
-								     const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
+btHingeConstraint::btHingeConstraint(btRigidBody& rbA, btRigidBody& rbB,
+									 const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
+	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA, rbB), m_rbAFrame(rbAFrame), m_rbBFrame(rbBFrame),
 #ifdef _BT_USE_CENTER_LIMIT_
-m_limit(),
+	  m_limit(),
 #endif
-m_angularOnly(false),
-m_enableAngularMotor(false),
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-m_useReferenceFrameA(useReferenceFrameA),
-m_flags(0),
-m_normalCFM(0),
-m_normalERP(0),
-m_stopCFM(0),
-m_stopERP(0)
+	  m_angularOnly(false),
+	  m_enableAngularMotor(false),
+	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+	  m_useReferenceFrameA(useReferenceFrameA),
+	  m_flags(0),
+	  m_normalCFM(0),
+	  m_normalERP(0),
+	  m_stopCFM(0),
+	  m_stopERP(0)
 {
-#ifndef	_BT_USE_CENTER_LIMIT_
+#ifndef _BT_USE_CENTER_LIMIT_
 	//start with free
 	m_lowerLimit = btScalar(1.0f);
 	m_upperLimit = btScalar(-1.0f);
@@ -175,30 +168,28 @@ m_stopERP(0)
 	m_solveLimit = false;
 #endif
 	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}			
-
-
+}
 
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
+	: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_rbAFrame(rbAFrame), m_rbBFrame(rbAFrame),
 #ifdef _BT_USE_CENTER_LIMIT_
-m_limit(),
+	  m_limit(),
 #endif
-m_angularOnly(false),
-m_enableAngularMotor(false),
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-m_useReferenceFrameA(useReferenceFrameA),
-m_flags(0),
-m_normalCFM(0),
-m_normalERP(0),
-m_stopCFM(0),
-m_stopERP(0)
+	  m_angularOnly(false),
+	  m_enableAngularMotor(false),
+	  m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+	  m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+	  m_useReferenceFrameA(useReferenceFrameA),
+	  m_flags(0),
+	  m_normalCFM(0),
+	  m_normalERP(0),
+	  m_stopCFM(0),
+	  m_stopERP(0)
 {
 	///not providing rigidbody B means implicitly using worldspace for body B
 
 	m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
-#ifndef	_BT_USE_CENTER_LIMIT_
+#ifndef _BT_USE_CENTER_LIMIT_
 	//start with free
 	m_lowerLimit = btScalar(1.0f);
 	m_upperLimit = btScalar(-1.0f);
@@ -210,9 +201,7 @@ m_stopERP(0)
 	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
-
-
-void	btHingeConstraint::buildJacobian()
+void btHingeConstraint::buildJacobian()
 {
 	if (m_useSolveConstraintObsolete)
 	{
@@ -221,8 +210,8 @@ void	btHingeConstraint::buildJacobian()
 
 		if (!m_angularOnly)
 		{
-			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
+			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
 			btVector3 relPos = pivotBInW - pivotAInW;
 
 			btVector3 normal[3];
@@ -232,23 +221,23 @@ void	btHingeConstraint::buildJacobian()
 			}
 			else
 			{
-				normal[0].setValue(btScalar(1.0),0,0);
+				normal[0].setValue(btScalar(1.0), 0, 0);
 			}
 
 			btPlaneSpace1(normal[0], normal[1], normal[2]);
 
-			for (int i=0;i<3;i++)
+			for (int i = 0; i < 3; i++)
 			{
 				new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				pivotAInW - m_rbA.getCenterOfMassPosition(),
-				pivotBInW - m_rbB.getCenterOfMassPosition(),
-				normal[i],
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
+					m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+					m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+					pivotAInW - m_rbA.getCenterOfMassPosition(),
+					pivotBInW - m_rbB.getCenterOfMassPosition(),
+					normal[i],
+					m_rbA.getInvInertiaDiagLocal(),
+					m_rbA.getInvMass(),
+					m_rbB.getInvInertiaDiagLocal(),
+					m_rbB.getInvMass());
 			}
 		}
 
@@ -258,60 +247,55 @@ void	btHingeConstraint::buildJacobian()
 		//this is unused for now, it's a todo
 		btVector3 jointAxis0local;
 		btVector3 jointAxis1local;
-		
-		btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
+
+		btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2), jointAxis0local, jointAxis1local);
 
 		btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
 		btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
 		btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
-			
-		new (&m_jacAng[0])	btJacobianEntry(jointAxis0,
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbB.getInvInertiaDiagLocal());
-
-		new (&m_jacAng[1])	btJacobianEntry(jointAxis1,
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbB.getInvInertiaDiagLocal());
-
-		new (&m_jacAng[2])	btJacobianEntry(hingeAxisWorld,
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbB.getInvInertiaDiagLocal());
-
-			// clear accumulator
-			m_accLimitImpulse = btScalar(0.);
-
-			// test angular limit
-			testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
 
-		//Compute K = J*W*J' for hinge axis
-		btVector3 axisA =  getRigidBodyA().getCenterOfMassTransform().getBasis() *  m_rbAFrame.getBasis().getColumn(2);
-		m_kHinge =   1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
-							 getRigidBodyB().computeAngularImpulseDenominator(axisA));
+		new (&m_jacAng[0]) btJacobianEntry(jointAxis0,
+										   m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+										   m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+										   m_rbA.getInvInertiaDiagLocal(),
+										   m_rbB.getInvInertiaDiagLocal());
 
-	}
-}
+		new (&m_jacAng[1]) btJacobianEntry(jointAxis1,
+										   m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+										   m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+										   m_rbA.getInvInertiaDiagLocal(),
+										   m_rbB.getInvInertiaDiagLocal());
 
+		new (&m_jacAng[2]) btJacobianEntry(hingeAxisWorld,
+										   m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+										   m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+										   m_rbA.getInvInertiaDiagLocal(),
+										   m_rbB.getInvInertiaDiagLocal());
 
-#endif //__SPU__
+		// clear accumulator
+		m_accLimitImpulse = btScalar(0.);
 
+		// test angular limit
+		testLimit(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 
-static inline btScalar btNormalizeAnglePositive(btScalar angle)
-{
-  return btFmod(btFmod(angle, btScalar(2.0*SIMD_PI)) + btScalar(2.0*SIMD_PI), btScalar(2.0*SIMD_PI));
+		//Compute K = J*W*J' for hinge axis
+		btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
+		m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
+						   getRigidBodyB().computeAngularImpulseDenominator(axisA));
+	}
 }
 
+#endif  //__SPU__
 
+static inline btScalar btNormalizeAnglePositive(btScalar angle)
+{
+	return btFmod(btFmod(angle, btScalar(2.0 * SIMD_PI)) + btScalar(2.0 * SIMD_PI), btScalar(2.0 * SIMD_PI));
+}
 
 static btScalar btShortestAngularDistance(btScalar accAngle, btScalar curAngle)
 {
 	btScalar result = btNormalizeAngle(btNormalizeAnglePositive(btNormalizeAnglePositive(curAngle) -
-	btNormalizeAnglePositive(accAngle)));
+																btNormalizeAnglePositive(accAngle)));
 	return result;
 }
 
@@ -320,41 +304,36 @@ static btScalar btShortestAngleUpdate(btScalar accAngle, btScalar curAngle)
 	btScalar tol(0.3);
 	btScalar result = btShortestAngularDistance(accAngle, curAngle);
 
-	  if (btFabs(result) > tol)
+	if (btFabs(result) > tol)
 		return curAngle;
-	  else
+	else
 		return accAngle + result;
 
 	return curAngle;
 }
 
-
 btScalar btHingeAccumulatedAngleConstraint::getAccumulatedHingeAngle()
 {
 	btScalar hingeAngle = getHingeAngle();
-	m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle,hingeAngle);
+	m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle, hingeAngle);
 	return m_accumulatedAngle;
 }
-void	btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle(btScalar accAngle)
+void btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle(btScalar accAngle)
 {
-	m_accumulatedAngle  = accAngle;
+	m_accumulatedAngle = accAngle;
 }
 
 void btHingeAccumulatedAngleConstraint::getInfo1(btConstraintInfo1* info)
 {
 	//update m_accumulatedAngle
 	btScalar curHingeAngle = getHingeAngle();
-	m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle,curHingeAngle);
+	m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle, curHingeAngle);
 
 	btHingeConstraint::getInfo1(info);
-	
 }
 
-
 void btHingeConstraint::getInfo1(btConstraintInfo1* info)
 {
-
-
 	if (m_useSolveConstraintObsolete)
 	{
 		info->m_numConstraintRows = 0;
@@ -362,17 +341,16 @@ void btHingeConstraint::getInfo1(btConstraintInfo1* info)
 	}
 	else
 	{
-		info->m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
-		info->nub = 1; 
+		info->m_numConstraintRows = 5;  // Fixed 3 linear + 2 angular
+		info->nub = 1;
 		//always add the row, to avoid computation (data is not available yet)
 		//prepare constraint
-		testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-		if(getSolveLimit() || getEnableAngularMotor())
+		testLimit(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
+		if (getSolveLimit() || getEnableAngularMotor())
 		{
-			info->m_numConstraintRows++; // limit 3rd anguar as well
-			info->nub--; 
+			info->m_numConstraintRows++;  // limit 3rd anguar as well
+			info->nub--;
 		}
-
 	}
 }
 
@@ -386,41 +364,38 @@ void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
 	else
 	{
 		//always add the 'limit' row, to avoid computation (data is not available yet)
-		info->m_numConstraintRows = 6; // Fixed 3 linear + 2 angular
-		info->nub = 0; 
+		info->m_numConstraintRows = 6;  // Fixed 3 linear + 2 angular
+		info->nub = 0;
 	}
 }
 
-void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
+void btHingeConstraint::getInfo2(btConstraintInfo2* info)
 {
-	if(m_useOffsetForConstraintFrame)
+	if (m_useOffsetForConstraintFrame)
 	{
-		getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
+		getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
 	}
 	else
 	{
-		getInfo2Internal(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
+		getInfo2Internal(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
 	}
 }
 
-
-void	btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+void btHingeConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
 {
 	///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
-	testLimit(transA,transB);
+	testLimit(transA, transB);
 
-	getInfo2Internal(info,transA,transB,angVelA,angVelB);
+	getInfo2Internal(info, transA, transB, angVelA, angVelB);
 }
 
-
-void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
 {
-
 	btAssert(!m_useSolveConstraintObsolete);
 	int i, skip = info->rowskip;
 	// transforms in world space
-	btTransform trA = transA*m_rbAFrame;
-	btTransform trB = transB*m_rbBFrame;
+	btTransform trA = transA * m_rbAFrame;
+	btTransform trB = transB * m_rbBFrame;
 	// pivot point
 	btVector3 pivotAInW = trA.getOrigin();
 	btVector3 pivotBInW = trB.getOrigin();
@@ -448,7 +423,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 			info->m_constraintError[i*skip]=0.f;
 		}
 	}
-#endif //#if 0
+#endif  //#if 0
 	// linear (all fixed)
 
 	if (!m_angularOnly)
@@ -460,10 +435,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 		info->m_J2linearAxis[0] = -1;
 		info->m_J2linearAxis[skip + 1] = -1;
 		info->m_J2linearAxis[2 * skip + 2] = -1;
-	}	
-
-
-
+	}
 
 	btVector3 a1 = pivotAInW - transA.getOrigin();
 	{
@@ -471,22 +443,22 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip);
 		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip);
 		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
 	btVector3 a2 = pivotBInW - transB.getOrigin();
 	{
 		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
 		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip);
 		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
 	// linear RHS
 	btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
 
-    btScalar k = info->fps * normalErp;
+	btScalar k = info->fps * normalErp;
 	if (!m_angularOnly)
 	{
-		for(i = 0; i < 3; i++)
+		for (i = 0; i < 3; i++)
 		{
 			info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]);
 		}
@@ -504,9 +476,9 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 	// get 2 orthos to hinge axis (X, Y)
 	btVector3 p = trA.getBasis().getColumn(0);
 	btVector3 q = trA.getBasis().getColumn(1);
-	// set the two hinge angular rows 
-    int s3 = 3 * info->rowskip;
-    int s4 = 4 * info->rowskip;
+	// set the two hinge angular rows
+	int s3 = 3 * info->rowskip;
+	int s4 = 4 * info->rowskip;
 
 	info->m_J1angularAxis[s3 + 0] = p[0];
 	info->m_J1angularAxis[s3 + 1] = p[1];
@@ -521,181 +493,172 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 	info->m_J2angularAxis[s4 + 0] = -q[0];
 	info->m_J2angularAxis[s4 + 1] = -q[1];
 	info->m_J2angularAxis[s4 + 2] = -q[2];
-    // compute the right hand side of the constraint equation. set relative
-    // body velocities along p and q to bring the hinge back into alignment.
-    // if ax1,ax2 are the unit length hinge axes as computed from body1 and
-    // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
-    // if `theta' is the angle between ax1 and ax2, we need an angular velocity
-    // along u to cover angle erp*theta in one step :
-    //   |angular_velocity| = angle/time = erp*theta / stepsize
-    //                      = (erp*fps) * theta
-    //    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-    //                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-    // ...as ax1 and ax2 are unit length. if theta is smallish,
-    // theta ~= sin(theta), so
-    //    angular_velocity  = (erp*fps) * (ax1 x ax2)
-    // ax1 x ax2 is in the plane space of ax1, so we project the angular
-    // velocity to p and q to find the right hand side.
-    btVector3 ax2 = trB.getBasis().getColumn(2);
+	// compute the right hand side of the constraint equation. set relative
+	// body velocities along p and q to bring the hinge back into alignment.
+	// if ax1,ax2 are the unit length hinge axes as computed from body1 and
+	// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
+	// if `theta' is the angle between ax1 and ax2, we need an angular velocity
+	// along u to cover angle erp*theta in one step :
+	//   |angular_velocity| = angle/time = erp*theta / stepsize
+	//                      = (erp*fps) * theta
+	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
+	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
+	// ...as ax1 and ax2 are unit length. if theta is smallish,
+	// theta ~= sin(theta), so
+	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
+	// ax1 x ax2 is in the plane space of ax1, so we project the angular
+	// velocity to p and q to find the right hand side.
+	btVector3 ax2 = trB.getBasis().getColumn(2);
 	btVector3 u = ax1.cross(ax2);
 	info->m_constraintError[s3] = k * u.dot(p);
 	info->m_constraintError[s4] = k * u.dot(q);
 	// check angular limits
-	int nrow = 4; // last filled row
+	int nrow = 4;  // last filled row
 	int srow;
 	btScalar limit_err = btScalar(0.0);
 	int limit = 0;
-	if(getSolveLimit())
+	if (getSolveLimit())
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	limit_err = m_limit.getCorrection() * m_referenceSign;
+#ifdef _BT_USE_CENTER_LIMIT_
+		limit_err = m_limit.getCorrection() * m_referenceSign;
 #else
-	limit_err = m_correction * m_referenceSign;
+		limit_err = m_correction * m_referenceSign;
 #endif
-	limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-
+		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
 	}
 	// if the hinge has joint limits or motor, add in the extra row
 	bool powered = getEnableAngularMotor();
-	if(limit || powered)
+	if (limit || powered)
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow+0] = ax1[0];
-		info->m_J1angularAxis[srow+1] = ax1[1];
-		info->m_J1angularAxis[srow+2] = ax1[2];
+		info->m_J1angularAxis[srow + 0] = ax1[0];
+		info->m_J1angularAxis[srow + 1] = ax1[1];
+		info->m_J1angularAxis[srow + 2] = ax1[2];
 
-		info->m_J2angularAxis[srow+0] = -ax1[0];
-		info->m_J2angularAxis[srow+1] = -ax1[1];
-		info->m_J2angularAxis[srow+2] = -ax1[2];
+		info->m_J2angularAxis[srow + 0] = -ax1[0];
+		info->m_J2angularAxis[srow + 1] = -ax1[1];
+		info->m_J2angularAxis[srow + 2] = -ax1[2];
 
 		btScalar lostop = getLowerLimit();
 		btScalar histop = getUpperLimit();
-		if(limit && (lostop == histop))
+		if (limit && (lostop == histop))
 		{  // the joint motor is ineffective
 			powered = false;
 		}
 		info->m_constraintError[srow] = btScalar(0.0f);
 		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
-		if(powered)
+		if (powered)
 		{
-			if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
+			if (m_flags & BT_HINGE_FLAGS_CFM_NORM)
 			{
 				info->cfm[srow] = m_normalCFM;
 			}
 			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
 			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
-			info->m_lowerLimit[srow] = - m_maxMotorImpulse;
-			info->m_upperLimit[srow] =   m_maxMotorImpulse;
+			info->m_lowerLimit[srow] = -m_maxMotorImpulse;
+			info->m_upperLimit[srow] = m_maxMotorImpulse;
 		}
-		if(limit)
+		if (limit)
 		{
 			k = info->fps * currERP;
 			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
+			if (m_flags & BT_HINGE_FLAGS_CFM_STOP)
 			{
 				info->cfm[srow] = m_stopCFM;
 			}
-			if(lostop == histop) 
+			if (lostop == histop)
 			{
 				// limited low and high simultaneously
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else if(limit == 1) 
-			{ // low limit
+			else if (limit == 1)
+			{  // low limit
 				info->m_lowerLimit[srow] = 0;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else 
-			{ // high limit
+			else
+			{  // high limit
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = 0;
 			}
 			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 			btScalar bounce = m_limit.getRelaxationFactor();
 #else
 			btScalar bounce = m_relaxationFactor;
 #endif
-			if(bounce > btScalar(0.0))
+			if (bounce > btScalar(0.0))
 			{
 				btScalar vel = angVelA.dot(ax1);
 				vel -= angVelB.dot(ax1);
 				// only apply bounce if the velocity is incoming, and if the
 				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
+				if (limit == 1)
+				{  // low limit
+					if (vel < 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc > info->m_constraintError[srow])
+						if (newc > info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
 					}
 				}
 				else
-				{	// high limit - all those computations are reversed
-					if(vel > 0)
+				{  // high limit - all those computations are reversed
+					if (vel > 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow])
+						if (newc < info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
 					}
 				}
 			}
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 			info->m_constraintError[srow] *= m_limit.getBiasFactor();
 #else
 			info->m_constraintError[srow] *= m_biasFactor;
 #endif
-		} // if(limit)
-	} // if angular limit or powered
+		}  // if(limit)
+	}      // if angular limit or powered
 }
 
-
-void btHingeConstraint::setFrames(const btTransform & frameA, const btTransform & frameB)
+void btHingeConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
 {
 	m_rbAFrame = frameA;
 	m_rbBFrame = frameB;
 	buildJacobian();
 }
 
-
-void	btHingeConstraint::updateRHS(btScalar	timeStep)
+void btHingeConstraint::updateRHS(btScalar timeStep)
 {
 	(void)timeStep;
-
 }
 
-
-
-
 btScalar btHingeConstraint::getHingeAngle()
 {
-	return getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	return getHingeAngle(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 }
 
-btScalar btHingeConstraint::getHingeAngle(const btTransform& transA,const btTransform& transB)
+btScalar btHingeConstraint::getHingeAngle(const btTransform& transA, const btTransform& transB)
 {
-	const btVector3 refAxis0  = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
-	const btVector3 refAxis1  = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
+	const btVector3 refAxis0 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
+	const btVector3 refAxis1 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
 	const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1);
-//	btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
+	//	btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
 	btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
 	return m_referenceSign * angle;
 }
 
-
-
-void btHingeConstraint::testLimit(const btTransform& transA,const btTransform& transB)
+void btHingeConstraint::testLimit(const btTransform& transA, const btTransform& transB)
 {
 	// Compute limit information
-	m_hingeAngle = getHingeAngle(transA,transB);
-#ifdef	_BT_USE_CENTER_LIMIT_
+	m_hingeAngle = getHingeAngle(transA, transB);
+#ifdef _BT_USE_CENTER_LIMIT_
 	m_limit.test(m_hingeAngle);
 #else
 	m_correction = btScalar(0.);
@@ -709,7 +672,7 @@ void btHingeConstraint::testLimit(const btTransform& transA,const btTransform& t
 			m_correction = (m_lowerLimit - m_hingeAngle);
 			m_limitSign = 1.0f;
 			m_solveLimit = true;
-		} 
+		}
 		else if (m_hingeAngle >= m_upperLimit)
 		{
 			m_correction = m_upperLimit - m_hingeAngle;
@@ -721,7 +684,6 @@ void btHingeConstraint::testLimit(const btTransform& transA,const btTransform& t
 	return;
 }
 
-
 static btVector3 vHinge(0, 0, btScalar(1));
 
 void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
@@ -731,14 +693,15 @@ void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
 	qConstraint.normalize();
 
 	// extract "pure" hinge component
-	btVector3 vNoHinge = quatRotate(qConstraint, vHinge); vNoHinge.normalize();
+	btVector3 vNoHinge = quatRotate(qConstraint, vHinge);
+	vNoHinge.normalize();
 	btQuaternion qNoHinge = shortestArcQuat(vHinge, vNoHinge);
 	btQuaternion qHinge = qNoHinge.inverse() * qConstraint;
 	qHinge.normalize();
 
 	// compute angular target, clamped to limits
 	btScalar targetAngle = qHinge.getAngle();
-	if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate.
+	if (targetAngle > SIMD_PI)  // long way around. flip quat and recalculate.
 	{
 		qHinge = -(qHinge);
 		targetAngle = qHinge.getAngle();
@@ -751,7 +714,7 @@ void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
 
 void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt)
 {
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 	m_limit.fit(targetAngle);
 #else
 	if (m_lowerLimit < m_upperLimit)
@@ -763,20 +726,18 @@ void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt)
 	}
 #endif
 	// compute angular velocity
-	btScalar curAngle  = getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	btScalar curAngle = getHingeAngle(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 	btScalar dAngle = targetAngle - curAngle;
 	m_motorTargetVelocity = dAngle / dt;
 }
 
-
-
-void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
 {
 	btAssert(!m_useSolveConstraintObsolete);
 	int i, s = info->rowskip;
 	// transforms in world space
-	btTransform trA = transA*m_rbAFrame;
-	btTransform trB = transB*m_rbBFrame;
+	btTransform trA = transA * m_rbAFrame;
+	btTransform trB = transB * m_rbBFrame;
 	// pivot point
 //	btVector3 pivotAInW = trA.getOrigin();
 //	btVector3 pivotBInW = trB.getOrigin();
@@ -789,11 +750,11 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
 	btScalar miS = miA + miB;
 	btScalar factA, factB;
-	if(miS > btScalar(0.f))
+	if (miS > btScalar(0.f))
 	{
 		factA = miB / miS;
 	}
-	else 
+	else
 	{
 		factA = btScalar(0.5f);
 	}
@@ -803,15 +764,21 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	btVector3 ax1A = trA.getBasis().getColumn(2);
 	btVector3 ax1B = trB.getBasis().getColumn(2);
 	btVector3 ax1 = ax1A * factA + ax1B * factB;
+	if (ax1.length2()<SIMD_EPSILON)
+	{
+		factA=0.f;
+		factB=1.f;
+		ax1 = ax1A * factA + ax1B * factB;
+	}
 	ax1.normalize();
-	// fill first 3 rows 
+	// fill first 3 rows
 	// we want: velA + wA x relA == velB + wB x relB
 	btTransform bodyA_trans = transA;
 	btTransform bodyB_trans = transB;
 	int s0 = 0;
 	int s1 = s;
 	int s2 = s * 2;
-	int nrow = 2; // last filled row
+	int nrow = 2;  // last filled row
 	btVector3 tmpA, tmpB, relA, relB, p, q;
 	// get vector from bodyB to frameB in WCS
 	relB = trB.getOrigin() - bodyB_trans.getOrigin();
@@ -830,7 +797,7 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	// now choose average ortho to hinge axis
 	p = orthoB * factA + orthoA * factB;
 	btScalar len2 = p.length2();
-	if(len2 > SIMD_EPSILON)
+	if (len2 > SIMD_EPSILON)
 	{
 		p /= btSqrt(len2);
 	}
@@ -843,44 +810,44 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	// fill three rows
 	tmpA = relA.cross(p);
 	tmpB = relB.cross(p);
-    for (i=0; i<3; i++) info->m_J1angularAxis[s0+i] = tmpA[i];
-    for (i=0; i<3; i++) info->m_J2angularAxis[s0+i] = -tmpB[i];
+	for (i = 0; i < 3; i++) info->m_J1angularAxis[s0 + i] = tmpA[i];
+	for (i = 0; i < 3; i++) info->m_J2angularAxis[s0 + i] = -tmpB[i];
 	tmpA = relA.cross(q);
 	tmpB = relB.cross(q);
-	if(hasStaticBody && getSolveLimit())
-	{ // to make constraint between static and dynamic objects more rigid
+	if (hasStaticBody && getSolveLimit())
+	{  // to make constraint between static and dynamic objects more rigid
 		// remove wA (or wB) from equation if angular limit is hit
 		tmpB *= factB;
 		tmpA *= factA;
 	}
-	for (i=0; i<3; i++) info->m_J1angularAxis[s1+i] = tmpA[i];
-    for (i=0; i<3; i++) info->m_J2angularAxis[s1+i] = -tmpB[i];
+	for (i = 0; i < 3; i++) info->m_J1angularAxis[s1 + i] = tmpA[i];
+	for (i = 0; i < 3; i++) info->m_J2angularAxis[s1 + i] = -tmpB[i];
 	tmpA = relA.cross(ax1);
 	tmpB = relB.cross(ax1);
-	if(hasStaticBody)
-	{ // to make constraint between static and dynamic objects more rigid
+	if (hasStaticBody)
+	{  // to make constraint between static and dynamic objects more rigid
 		// remove wA (or wB) from equation
 		tmpB *= factB;
 		tmpA *= factA;
 	}
-	for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
-    for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
+	for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = tmpA[i];
+	for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = -tmpB[i];
 
-	btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM)? m_normalERP : info->erp;
+	btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
 	btScalar k = info->fps * normalErp;
 
 	if (!m_angularOnly)
 	{
-		for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s0 + i] = p[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s1 + i] = q[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = ax1[i];
+
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s0 + i] = -p[i];
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s1 + i] = -q[i];
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -ax1[i];
 
-		for (i=0; i<3; i++) info->m_J2linearAxis[s0+i] = -p[i];
-		for (i=0; i<3; i++) info->m_J2linearAxis[s1+i] = -q[i];
-		for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -ax1[i];
+		// compute three elements of right hand side
 
-	// compute three elements of right hand side
-	
 		btScalar rhs = k * p.dot(ofs);
 		info->m_constraintError[s0] = rhs;
 		rhs = k * q.dot(ofs);
@@ -925,146 +892,144 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
 	// ax1 x ax2 is in the plane space of ax1, so we project the angular
 	// velocity to p and q to find the right hand side.
-	k = info->fps * normalErp;//??
+	k = info->fps * normalErp;  //??
 
 	btVector3 u = ax1A.cross(ax1B);
 	info->m_constraintError[s3] = k * u.dot(p);
 	info->m_constraintError[s4] = k * u.dot(q);
 #endif
 	// check angular limits
-	nrow = 4; // last filled row
+	nrow = 4;  // last filled row
 	int srow;
 	btScalar limit_err = btScalar(0.0);
 	int limit = 0;
-	if(getSolveLimit())
+	if (getSolveLimit())
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	limit_err = m_limit.getCorrection() * m_referenceSign;
+#ifdef _BT_USE_CENTER_LIMIT_
+		limit_err = m_limit.getCorrection() * m_referenceSign;
 #else
-	limit_err = m_correction * m_referenceSign;
+		limit_err = m_correction * m_referenceSign;
 #endif
-	limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-
+		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
 	}
 	// if the hinge has joint limits or motor, add in the extra row
 	bool powered = getEnableAngularMotor();
-	if(limit || powered)
+	if (limit || powered)
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow+0] = ax1[0];
-		info->m_J1angularAxis[srow+1] = ax1[1];
-		info->m_J1angularAxis[srow+2] = ax1[2];
+		info->m_J1angularAxis[srow + 0] = ax1[0];
+		info->m_J1angularAxis[srow + 1] = ax1[1];
+		info->m_J1angularAxis[srow + 2] = ax1[2];
 
-		info->m_J2angularAxis[srow+0] = -ax1[0];
-		info->m_J2angularAxis[srow+1] = -ax1[1];
-		info->m_J2angularAxis[srow+2] = -ax1[2];
+		info->m_J2angularAxis[srow + 0] = -ax1[0];
+		info->m_J2angularAxis[srow + 1] = -ax1[1];
+		info->m_J2angularAxis[srow + 2] = -ax1[2];
 
 		btScalar lostop = getLowerLimit();
 		btScalar histop = getUpperLimit();
-		if(limit && (lostop == histop))
+		if (limit && (lostop == histop))
 		{  // the joint motor is ineffective
 			powered = false;
 		}
 		info->m_constraintError[srow] = btScalar(0.0f);
 		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
-		if(powered)
+		if (powered)
 		{
-			if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
+			if (m_flags & BT_HINGE_FLAGS_CFM_NORM)
 			{
 				info->cfm[srow] = m_normalCFM;
 			}
 			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
 			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
-			info->m_lowerLimit[srow] = - m_maxMotorImpulse;
-			info->m_upperLimit[srow] =   m_maxMotorImpulse;
+			info->m_lowerLimit[srow] = -m_maxMotorImpulse;
+			info->m_upperLimit[srow] = m_maxMotorImpulse;
 		}
-		if(limit)
+		if (limit)
 		{
 			k = info->fps * currERP;
 			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
+			if (m_flags & BT_HINGE_FLAGS_CFM_STOP)
 			{
 				info->cfm[srow] = m_stopCFM;
 			}
-			if(lostop == histop) 
+			if (lostop == histop)
 			{
 				// limited low and high simultaneously
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else if(limit == 1) 
-			{ // low limit
+			else if (limit == 1)
+			{  // low limit
 				info->m_lowerLimit[srow] = 0;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else 
-			{ // high limit
+			else
+			{  // high limit
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = 0;
 			}
 			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 			btScalar bounce = m_limit.getRelaxationFactor();
 #else
 			btScalar bounce = m_relaxationFactor;
 #endif
-			if(bounce > btScalar(0.0))
+			if (bounce > btScalar(0.0))
 			{
 				btScalar vel = angVelA.dot(ax1);
 				vel -= angVelB.dot(ax1);
 				// only apply bounce if the velocity is incoming, and if the
 				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
+				if (limit == 1)
+				{  // low limit
+					if (vel < 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc > info->m_constraintError[srow])
+						if (newc > info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
 					}
 				}
 				else
-				{	// high limit - all those computations are reversed
-					if(vel > 0)
+				{  // high limit - all those computations are reversed
+					if (vel > 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow])
+						if (newc < info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
 					}
 				}
 			}
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 			info->m_constraintError[srow] *= m_limit.getBiasFactor();
 #else
 			info->m_constraintError[srow] *= m_biasFactor;
 #endif
-		} // if(limit)
-	} // if angular limit or powered
+		}  // if(limit)
+	}      // if angular limit or powered
 }
 
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 ///If no axis is provided, it uses the default axis for this constraint.
 void btHingeConstraint::setParam(int num, btScalar value, int axis)
 {
-	if((axis == -1) || (axis == 5))
+	if ((axis == -1) || (axis == 5))
 	{
-		switch(num)
-		{	
-			case BT_CONSTRAINT_STOP_ERP :
+		switch (num)
+		{
+			case BT_CONSTRAINT_STOP_ERP:
 				m_stopERP = value;
 				m_flags |= BT_HINGE_FLAGS_ERP_STOP;
 				break;
-			case BT_CONSTRAINT_STOP_CFM :
+			case BT_CONSTRAINT_STOP_CFM:
 				m_stopCFM = value;
 				m_flags |= BT_HINGE_FLAGS_CFM_STOP;
 				break;
-			case BT_CONSTRAINT_CFM :
+			case BT_CONSTRAINT_CFM:
 				m_normalCFM = value;
 				m_flags |= BT_HINGE_FLAGS_CFM_NORM;
 				break;
@@ -1072,7 +1037,7 @@ void btHingeConstraint::setParam(int num, btScalar value, int axis)
 				m_normalERP = value;
 				m_flags |= BT_HINGE_FLAGS_ERP_NORM;
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
@@ -1083,22 +1048,22 @@ void btHingeConstraint::setParam(int num, btScalar value, int axis)
 }
 
 ///return the local value of parameter
-btScalar btHingeConstraint::getParam(int num, int axis) const 
+btScalar btHingeConstraint::getParam(int num, int axis) const
 {
 	btScalar retVal = 0;
-	if((axis == -1) || (axis == 5))
+	if ((axis == -1) || (axis == 5))
 	{
-		switch(num)
-		{	
-			case BT_CONSTRAINT_STOP_ERP :
+		switch (num)
+		{
+			case BT_CONSTRAINT_STOP_ERP:
 				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
 				retVal = m_stopERP;
 				break;
-			case BT_CONSTRAINT_STOP_CFM :
+			case BT_CONSTRAINT_STOP_CFM:
 				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
 				retVal = m_stopCFM;
 				break;
-			case BT_CONSTRAINT_CFM :
+			case BT_CONSTRAINT_CFM:
 				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
 				retVal = m_normalCFM;
 				break;
@@ -1106,7 +1071,7 @@ btScalar btHingeConstraint::getParam(int num, int axis) const
 				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_NORM);
 				retVal = m_normalERP;
 				break;
-			default : 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
@@ -1116,5 +1081,3 @@ btScalar btHingeConstraint::getParam(int num, int axis) const
 	}
 	return retVal;
 }
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index 3c3df24dba..c7509e30af 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -20,7 +20,6 @@ subject to the following restrictions:
 
 #define _BT_USE_CENTER_LIMIT_ 1
 
-
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
 #include "btTypedConstraint.h"
@@ -28,14 +27,12 @@ subject to the following restrictions:
 class btRigidBody;
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btHingeConstraintData	btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
-#define btHingeConstraintDataName	"btHingeConstraintDoubleData2" 
+#define btHingeConstraintData btHingeConstraintDoubleData2  //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
+#define btHingeConstraintDataName "btHingeConstraintDoubleData2"
 #else
-#define btHingeConstraintData	btHingeConstraintFloatData
-#define btHingeConstraintDataName	"btHingeConstraintFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
+#define btHingeConstraintData btHingeConstraintFloatData
+#define btHingeConstraintDataName "btHingeConstraintFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 enum btHingeFlags
 {
@@ -45,89 +42,83 @@ enum btHingeFlags
 	BT_HINGE_FLAGS_ERP_NORM = 8
 };
 
-
 /// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
 /// axis defines the orientation of the hinge axis
-ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btHingeConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-	btJacobianEntry	m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
+	btJacobianEntry m_jac[3];     //3 orthogonal linear constraints
+	btJacobianEntry m_jacAng[3];  //2 orthogonal angular constraints+ 1 for limit/motor
 
-	btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransform m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransform m_rbBFrame;
 
-	btScalar	m_motorTargetVelocity;
-	btScalar	m_maxMotorImpulse;
-
+	btScalar m_motorTargetVelocity;
+	btScalar m_maxMotorImpulse;
 
-#ifdef	_BT_USE_CENTER_LIMIT_
-	btAngularLimit	m_limit;
+#ifdef _BT_USE_CENTER_LIMIT_
+	btAngularLimit m_limit;
 #else
-	btScalar	m_lowerLimit;	
-	btScalar	m_upperLimit;	
-	btScalar	m_limitSign;
-	btScalar	m_correction;
+	btScalar m_lowerLimit;
+	btScalar m_upperLimit;
+	btScalar m_limitSign;
+	btScalar m_correction;
 
-	btScalar	m_limitSoftness; 
-	btScalar	m_biasFactor; 
-	btScalar	m_relaxationFactor; 
+	btScalar m_limitSoftness;
+	btScalar m_biasFactor;
+	btScalar m_relaxationFactor;
 
-	bool		m_solveLimit;
+	bool m_solveLimit;
 #endif
 
-	btScalar	m_kHinge;
-
+	btScalar m_kHinge;
 
-	btScalar	m_accLimitImpulse;
-	btScalar	m_hingeAngle;
-	btScalar	m_referenceSign;
+	btScalar m_accLimitImpulse;
+	btScalar m_hingeAngle;
+	btScalar m_referenceSign;
 
-	bool		m_angularOnly;
-	bool		m_enableAngularMotor;
-	bool		m_useSolveConstraintObsolete;
-	bool		m_useOffsetForConstraintFrame;
-	bool		m_useReferenceFrameA;
+	bool m_angularOnly;
+	bool m_enableAngularMotor;
+	bool m_useSolveConstraintObsolete;
+	bool m_useOffsetForConstraintFrame;
+	bool m_useReferenceFrameA;
 
-	btScalar	m_accMotorImpulse;
+	btScalar m_accMotorImpulse;
 
-	int			m_flags;
-	btScalar	m_normalCFM;
-	btScalar	m_normalERP;
-	btScalar	m_stopCFM;
-	btScalar	m_stopERP;
+	int m_flags;
+	btScalar m_normalCFM;
+	btScalar m_normalERP;
+	btScalar m_stopCFM;
+	btScalar m_stopERP;
 
-	
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
 
-	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
-	
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
+	btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false);
+
+	btHingeConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false);
 
-	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
+	btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
 
+	btHingeConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false);
 
-	virtual void	buildJacobian();
+	virtual void buildJacobian();
 
-	virtual void getInfo1 (btConstraintInfo1* info);
+	virtual void getInfo1(btConstraintInfo1 * info);
 
-	void getInfo1NonVirtual(btConstraintInfo1* info);
+	void getInfo1NonVirtual(btConstraintInfo1 * info);
 
-	virtual void getInfo2 (btConstraintInfo2* info);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
-	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB);
 
-	void	getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-	void	getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-		
+	void getInfo2Internal(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB);
+	void getInfo2InternalUsingFrameOffset(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB);
 
-	void	updateRHS(btScalar	timeStep);
+	void updateRHS(btScalar timeStep);
 
 	const btRigidBody& getRigidBodyA() const
 	{
@@ -138,19 +129,19 @@ public:
 		return m_rbB;
 	}
 
-	btRigidBody& getRigidBodyA()	
-	{		
-		return m_rbA;	
-	}	
+	btRigidBody& getRigidBodyA()
+	{
+		return m_rbA;
+	}
 
-	btRigidBody& getRigidBodyB()	
-	{		
-		return m_rbB;	
+	btRigidBody& getRigidBodyB()
+	{
+		return m_rbB;
 	}
 
 	btTransform& getFrameOffsetA()
 	{
-	return m_rbAFrame;
+		return m_rbAFrame;
 	}
 
 	btTransform& getFrameOffsetB()
@@ -159,15 +150,15 @@ public:
 	}
 
 	void setFrames(const btTransform& frameA, const btTransform& frameB);
-	
-	void	setAngularOnly(bool angularOnly)
+
+	void setAngularOnly(bool angularOnly)
 	{
 		m_angularOnly = angularOnly;
 	}
 
-	void	enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
+	void enableAngularMotor(bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)
 	{
-		m_enableAngularMotor  = enableMotor;
+		m_enableAngularMotor = enableMotor;
 		m_motorTargetVelocity = targetVelocity;
 		m_maxMotorImpulse = maxMotorImpulse;
 	}
@@ -175,29 +166,28 @@ public:
 	// extra motor API, including ability to set a target rotation (as opposed to angular velocity)
 	// note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
 	//       maintain a given angular target.
-	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
+	void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
 	void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
-	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
+	void setMotorTarget(const btQuaternion& qAinB, btScalar dt);  // qAinB is rotation of body A wrt body B.
 	void setMotorTarget(btScalar targetAngle, btScalar dt);
 
-
-	void	setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	void setLimit(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 		m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
 #else
 		m_lowerLimit = btNormalizeAngle(low);
 		m_upperLimit = btNormalizeAngle(high);
-		m_limitSoftness =  _softness;
+		m_limitSoftness = _softness;
 		m_biasFactor = _biasFactor;
 		m_relaxationFactor = _relaxationFactor;
 #endif
 	}
-	
+
 	btScalar getLimitSoftness() const
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 		return m_limit.getSoftness();
 #else
 		return m_limitSoftness;
@@ -206,7 +196,7 @@ public:
 
 	btScalar getLimitBiasFactor() const
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 		return m_limit.getBiasFactor();
 #else
 		return m_biasFactor;
@@ -215,112 +205,110 @@ public:
 
 	btScalar getLimitRelaxationFactor() const
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 		return m_limit.getRelaxationFactor();
 #else
 		return m_relaxationFactor;
 #endif
 	}
 
-	void	setAxis(btVector3& axisInA)
+	void setAxis(btVector3 & axisInA)
 	{
 		btVector3 rbAxisA1, rbAxisA2;
 		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
 		btVector3 pivotInA = m_rbAFrame.getOrigin();
-//		m_rbAFrame.getOrigin() = pivotInA;
-		m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
-										rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
-										rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+		//		m_rbAFrame.getOrigin() = pivotInA;
+		m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
+									   rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
+									   rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
 
 		btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
 
-		btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
-		btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
+		btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
+		btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
 		btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
 
 		m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
 
-		m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
-										rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
-										rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
+		m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
+									   rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
+									   rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
 		m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
-
 	}
 
-    bool hasLimit() const {
-#ifdef  _BT_USE_CENTER_LIMIT_
-        return m_limit.getHalfRange() > 0;
+	bool hasLimit() const
+	{
+#ifdef _BT_USE_CENTER_LIMIT_
+		return m_limit.getHalfRange() > 0;
 #else
-        return m_lowerLimit <= m_upperLimit;
+		return m_lowerLimit <= m_upperLimit;
 #endif
-    }
+	}
 
-	btScalar	getLowerLimit() const
+	btScalar getLowerLimit() const
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.getLow();
+#ifdef _BT_USE_CENTER_LIMIT_
+		return m_limit.getLow();
 #else
-	return m_lowerLimit;
+		return m_lowerLimit;
 #endif
 	}
 
-	btScalar	getUpperLimit() const
+	btScalar getUpperLimit() const
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.getHigh();
-#else		
-	return m_upperLimit;
+#ifdef _BT_USE_CENTER_LIMIT_
+		return m_limit.getHigh();
+#else
+		return m_upperLimit;
 #endif
 	}
 
-
 	///The getHingeAngle gives the hinge angle in range [-PI,PI]
 	btScalar getHingeAngle();
 
-	btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
-
-	void testLimit(const btTransform& transA,const btTransform& transB);
+	btScalar getHingeAngle(const btTransform& transA, const btTransform& transB);
 
+	void testLimit(const btTransform& transA, const btTransform& transB);
 
-	const btTransform& getAFrame() const { return m_rbAFrame; };	
+	const btTransform& getAFrame() const { return m_rbAFrame; };
 	const btTransform& getBFrame() const { return m_rbBFrame; };
 
-	btTransform& getAFrame() { return m_rbAFrame; };	
+	btTransform& getAFrame() { return m_rbAFrame; };
 	btTransform& getBFrame() { return m_rbBFrame; };
 
 	inline int getSolveLimit()
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.isLimit();
+#ifdef _BT_USE_CENTER_LIMIT_
+		return m_limit.isLimit();
 #else
-	return m_solveLimit;
+		return m_solveLimit;
 #endif
 	}
 
 	inline btScalar getLimitSign()
 	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.getSign();
+#ifdef _BT_USE_CENTER_LIMIT_
+		return m_limit.getSign();
 #else
 		return m_limitSign;
 #endif
 	}
 
-	inline bool getAngularOnly() 
-	{ 
-		return m_angularOnly; 
+	inline bool getAngularOnly()
+	{
+		return m_angularOnly;
 	}
-	inline bool getEnableAngularMotor() 
-	{ 
-		return m_enableAngularMotor; 
+	inline bool getEnableAngularMotor()
+	{
+		return m_enableAngularMotor;
 	}
-	inline btScalar getMotorTargetVelocity() 
-	{ 
-		return m_motorTargetVelocity; 
+	inline btScalar getMotorTargetVelocity()
+	{
+		return m_motorTargetVelocity;
 	}
-	inline btScalar getMaxMotorImpulse() 
-	{ 
-		return m_maxMotorImpulse; 
+	inline btScalar getMaxMotorImpulse()
+	{
+		return m_maxMotorImpulse;
 	}
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
@@ -329,143 +317,132 @@ public:
 	bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
 	void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	virtual void setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-	
-	virtual	int getFlags() const
+	virtual btScalar getParam(int num, int axis = -1) const;
+
+	virtual int getFlags() const
 	{
-  	    return m_flags;
+		return m_flags;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
 //only for backward compatibility
 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 ///this structure is not used, except for loading pre-2.82 .bullet files
-struct	btHingeConstraintDoubleData
+struct btHingeConstraintDoubleData
 {
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintData m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformDoubleData m_rbBFrame;
-	int			m_useReferenceFrameA;
-	int			m_angularOnly;
-	int			m_enableAngularMotor;
-	float	m_motorTargetVelocity;
-	float	m_maxMotorImpulse;
-
-	float	m_lowerLimit;
-	float	m_upperLimit;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
+	int m_useReferenceFrameA;
+	int m_angularOnly;
+	int m_enableAngularMotor;
+	float m_motorTargetVelocity;
+	float m_maxMotorImpulse;
+
+	float m_lowerLimit;
+	float m_upperLimit;
+	float m_limitSoftness;
+	float m_biasFactor;
+	float m_relaxationFactor;
 };
-#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
+#endif  //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 
 ///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account
-ATTRIBUTE_ALIGNED16(class) btHingeAccumulatedAngleConstraint : public btHingeConstraint
+ATTRIBUTE_ALIGNED16(class)
+btHingeAccumulatedAngleConstraint : public btHingeConstraint
 {
 protected:
-	btScalar	m_accumulatedAngle;
-public:
+	btScalar m_accumulatedAngle;
 
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false)
-	:btHingeConstraint(rbA,rbB,pivotInA,pivotInB, axisInA,axisInB, useReferenceFrameA )
+
+	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false)
+		: btHingeConstraint(rbA, rbB, pivotInA, pivotInB, axisInA, axisInB, useReferenceFrameA)
 	{
-		m_accumulatedAngle=getHingeAngle();
+		m_accumulatedAngle = getHingeAngle();
 	}
 
-	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false)
-	:btHingeConstraint(rbA,pivotInA,axisInA, useReferenceFrameA)
+	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false)
+		: btHingeConstraint(rbA, pivotInA, axisInA, useReferenceFrameA)
 	{
-		m_accumulatedAngle=getHingeAngle();
+		m_accumulatedAngle = getHingeAngle();
 	}
-	
-	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false)
-	:btHingeConstraint(rbA,rbB, rbAFrame, rbBFrame, useReferenceFrameA )
+
+	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false)
+		: btHingeConstraint(rbA, rbB, rbAFrame, rbBFrame, useReferenceFrameA)
 	{
-		m_accumulatedAngle=getHingeAngle();
+		m_accumulatedAngle = getHingeAngle();
 	}
 
-	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false)
-	:btHingeConstraint(rbA,rbAFrame, useReferenceFrameA )
+	btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false)
+		: btHingeConstraint(rbA, rbAFrame, useReferenceFrameA)
 	{
-		m_accumulatedAngle=getHingeAngle();
+		m_accumulatedAngle = getHingeAngle();
 	}
 	btScalar getAccumulatedHingeAngle();
-	void	setAccumulatedHingeAngle(btScalar accAngle);
-	virtual void getInfo1 (btConstraintInfo1* info);
-
+	void setAccumulatedHingeAngle(btScalar accAngle);
+	virtual void getInfo1(btConstraintInfo1 * info);
 };
 
-struct	btHingeConstraintFloatData
+struct btHingeConstraintFloatData
 {
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintData m_typeConstraintData;
+	btTransformFloatData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformFloatData m_rbBFrame;
-	int			m_useReferenceFrameA;
-	int			m_angularOnly;
-	
-	int			m_enableAngularMotor;
-	float	m_motorTargetVelocity;
-	float	m_maxMotorImpulse;
-
-	float	m_lowerLimit;
-	float	m_upperLimit;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
+	int m_useReferenceFrameA;
+	int m_angularOnly;
+
+	int m_enableAngularMotor;
+	float m_motorTargetVelocity;
+	float m_maxMotorImpulse;
+
+	float m_lowerLimit;
+	float m_upperLimit;
+	float m_limitSoftness;
+	float m_biasFactor;
+	float m_relaxationFactor;
 };
 
-
-
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btHingeConstraintDoubleData2
+struct btHingeConstraintDoubleData2
 {
-	btTypedConstraintDoubleData	m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintDoubleData m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformDoubleData m_rbBFrame;
-	int			m_useReferenceFrameA;
-	int			m_angularOnly;
-	int			m_enableAngularMotor;
-	double		m_motorTargetVelocity;
-	double		m_maxMotorImpulse;
-
-	double		m_lowerLimit;
-	double		m_upperLimit;
-	double		m_limitSoftness;
-	double		m_biasFactor;
-	double		m_relaxationFactor;
-	char	m_padding1[4];
-
+	int m_useReferenceFrameA;
+	int m_angularOnly;
+	int m_enableAngularMotor;
+	double m_motorTargetVelocity;
+	double m_maxMotorImpulse;
+
+	double m_lowerLimit;
+	double m_upperLimit;
+	double m_limitSoftness;
+	double m_biasFactor;
+	double m_relaxationFactor;
+	char m_padding1[4];
 };
 
-
-
-
-SIMD_FORCE_INLINE	int	btHingeConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btHingeConstraintData);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
-	btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
+	btTypedConstraint::serialize(&hingeData->m_typeConstraintData, serializer);
 
 	m_rbAFrame.serialize(hingeData->m_rbAFrame);
 	m_rbBFrame.serialize(hingeData->m_rbBFrame);
@@ -475,7 +452,7 @@ SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btS
 	hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
 	hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
 	hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
-#ifdef	_BT_USE_CENTER_LIMIT_
+#ifdef _BT_USE_CENTER_LIMIT_
 	hingeData->m_lowerLimit = float(m_limit.getLow());
 	hingeData->m_upperLimit = float(m_limit.getHigh());
 	hingeData->m_limitSoftness = float(m_limit.getSoftness());
@@ -500,4 +477,4 @@ SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btS
 	return btHingeConstraintDataName;
 }
 
-#endif //BT_HINGECONSTRAINT_H
+#endif  //BT_HINGECONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
index 125580d199..438456fe51 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btMatrix3x3.h"
 
-
 //notes:
 // Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
 // which makes the btJacobianEntry memory layout 16 bytes
@@ -27,25 +26,26 @@ subject to the following restrictions:
 /// Jacobian entry is an abstraction that allows to describe constraints
 /// it can be used in combination with a constraint solver
 /// Can be used to relate the effect of an impulse to the constraint error
-ATTRIBUTE_ALIGNED16(class) btJacobianEntry
+ATTRIBUTE_ALIGNED16(class)
+btJacobianEntry
 {
 public:
-	btJacobianEntry() {};
+	btJacobianEntry(){};
 	//constraint between two different rigidbodies
 	btJacobianEntry(
 		const btMatrix3x3& world2A,
 		const btMatrix3x3& world2B,
-		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& rel_pos1, const btVector3& rel_pos2,
 		const btVector3& jointAxis,
-		const btVector3& inertiaInvA, 
+		const btVector3& inertiaInvA,
 		const btScalar massInvA,
 		const btVector3& inertiaInvB,
 		const btScalar massInvB)
-		:m_linearJointAxis(jointAxis)
+		: m_linearJointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_aJ = world2A * (rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B * (rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 
@@ -54,33 +54,31 @@ public:
 
 	//angular constraint between two different rigidbodies
 	btJacobianEntry(const btVector3& jointAxis,
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-		const btVector3& inertiaInvA,
-		const btVector3& inertiaInvB)
-		:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+					const btMatrix3x3& world2A,
+					const btMatrix3x3& world2B,
+					const btVector3& inertiaInvA,
+					const btVector3& inertiaInvB)
+		: m_linearJointAxis(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)))
 	{
-		m_aJ= world2A*jointAxis;
-		m_bJ = world2B*-jointAxis;
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_aJ = world2A * jointAxis;
+		m_bJ = world2B * -jointAxis;
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
 		btAssert(m_Adiag > btScalar(0.0));
 	}
 
 	//angular constraint between two different rigidbodies
 	btJacobianEntry(const btVector3& axisInA,
-		const btVector3& axisInB,
-		const btVector3& inertiaInvA,
-		const btVector3& inertiaInvB)
-		: m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
-		, m_aJ(axisInA)
-		, m_bJ(-axisInB)
+					const btVector3& axisInB,
+					const btVector3& inertiaInvA,
+					const btVector3& inertiaInvB)
+		: m_linearJointAxis(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))), m_aJ(axisInA), m_bJ(-axisInB)
 	{
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
 		btAssert(m_Adiag > btScalar(0.0));
 	}
@@ -88,25 +86,25 @@ public:
 	//constraint on one rigidbody
 	btJacobianEntry(
 		const btMatrix3x3& world2A,
-		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& rel_pos1, const btVector3& rel_pos2,
 		const btVector3& jointAxis,
-		const btVector3& inertiaInvA, 
+		const btVector3& inertiaInvA,
 		const btScalar massInvA)
-		:m_linearJointAxis(jointAxis)
+		: m_linearJointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(jointAxis));
-		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+		m_aJ = world2A * (rel_pos1.cross(jointAxis));
+		m_bJ = world2A * (rel_pos2.cross(-jointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 
 		btAssert(m_Adiag > btScalar(0.0));
 	}
 
-	btScalar	getDiagonal() const { return m_Adiag; }
+	btScalar getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
-	btScalar	getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
+	btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
 	{
 		const btJacobianEntry& jacA = *this;
 		btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
@@ -114,42 +112,39 @@ public:
 		return lin + ang;
 	}
 
-	
-
 	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	btScalar	getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const
+	btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA, const btScalar massInvB) const
 	{
 		const btJacobianEntry& jacA = *this;
 		btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
 		btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
 		btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		btVector3 lin0 = massInvA * lin ;
+		btVector3 lin0 = massInvA * lin;
 		btVector3 lin1 = massInvB * lin;
-		btVector3 sum = ang0+ang1+lin0+lin1;
-		return sum[0]+sum[1]+sum[2];
+		btVector3 sum = ang0 + ang1 + lin0 + lin1;
+		return sum[0] + sum[1] + sum[2];
 	}
 
-	btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
+	btScalar getRelativeVelocity(const btVector3& linvelA, const btVector3& angvelA, const btVector3& linvelB, const btVector3& angvelB)
 	{
 		btVector3 linrel = linvelA - linvelB;
-		btVector3 angvela  = angvelA * m_aJ;
-		btVector3 angvelb  = angvelB * m_bJ;
+		btVector3 angvela = angvelA * m_aJ;
+		btVector3 angvelb = angvelB * m_bJ;
 		linrel *= m_linearJointAxis;
 		angvela += angvelb;
 		angvela += linrel;
-		btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		btScalar rel_vel2 = angvela[0] + angvela[1] + angvela[2];
 		return rel_vel2 + SIMD_EPSILON;
 	}
-//private:
+	//private:
 
-	btVector3	m_linearJointAxis;
-	btVector3	m_aJ;
-	btVector3	m_bJ;
-	btVector3	m_0MinvJt;
-	btVector3	m_1MinvJt;
+	btVector3 m_linearJointAxis;
+	btVector3 m_aJ;
+	btVector3 m_bJ;
+	btVector3 m_0MinvJt;
+	btVector3 m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	btScalar	m_Adiag;
-
+	btScalar m_Adiag;
 };
 
-#endif //BT_JACOBIAN_ENTRY_H
+#endif  //BT_JACOBIAN_ENTRY_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
index f3979be358..ccf8916049 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
@@ -15,14 +15,9 @@ subject to the following restrictions:
 
 #include "btNNCGConstraintSolver.h"
 
-
-
-
-
-
-btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
-	btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
+	btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
 	m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
 	m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
@@ -37,38 +32,39 @@ btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject*
 	return val;
 }
 
-btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
+btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
 {
-
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
 	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
 
 	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
 	{
-		if (1)			// uncomment this for a bit less random ((iteration & 7) == 0)
+		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
 		{
-
-			for (int j=0; j<numNonContactPool; ++j) {
+			for (int j = 0; j < numNonContactPool; ++j)
+			{
 				int tmp = m_orderNonContactConstraintPool[j];
-				int swapi = btRandInt2(j+1);
+				int swapi = btRandInt2(j + 1);
 				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
 				m_orderNonContactConstraintPool[swapi] = tmp;
 			}
 
-			//contact/friction constraints are not solved more than 
-			if (iteration< infoGlobal.m_numIterations)
+			//contact/friction constraints are not solved more than
+			if (iteration < infoGlobal.m_numIterations)
 			{
-				for (int j=0; j<numConstraintPool; ++j) {
+				for (int j = 0; j < numConstraintPool; ++j)
+				{
 					int tmp = m_orderTmpConstraintPool[j];
-					int swapi = btRandInt2(j+1);
+					int swapi = btRandInt2(j + 1);
 					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
 					m_orderTmpConstraintPool[swapi] = tmp;
 				}
 
-				for (int j=0; j<numFrictionPool; ++j) {
+				for (int j = 0; j < numFrictionPool; ++j)
+				{
 					int tmp = m_orderFrictionConstraintPool[j];
-					int swapi = btRandInt2(j+1);
+					int swapi = btRandInt2(j + 1);
 					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
 					m_orderFrictionConstraintPool[swapi] = tmp;
 				}
@@ -76,39 +72,40 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 		}
 	}
 
-
 	btScalar deltaflengthsqr = 0;
 	{
-		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+		for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
 		{
 			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations) 
+			if (iteration < constraint.m_overrideNumSolverIterations)
 			{
-				btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
+				btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
 				m_deltafNC[j] = deltaf;
 				deltaflengthsqr += deltaf * deltaf;
 			}
 		}
 	}
 
-
-	if (m_onlyForNoneContact) 
+	if (m_onlyForNoneContact)
 	{
-		if (iteration==0) 
+		if (iteration == 0)
+		{
+			for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
+		}
+		else
 		{
-			for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
-		} else {
 			// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
-			btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
-			if (beta>1) 
+			btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
+			if (beta > 1)
 			{
-				for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
-			} else 
+				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
+			}
+			else
 			{
-				for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
 				{
 					btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-					if (iteration < constraint.m_overrideNumSolverIterations) 
+					if (iteration < constraint.m_overrideNumSolverIterations)
 					{
 						btScalar additionaldeltaimpulse = beta * m_pNC[j];
 						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
@@ -116,8 +113,8 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
 						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
 						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
 					}
 				}
 			}
@@ -125,21 +122,18 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 		m_deltafLengthSqrPrev = deltaflengthsqr;
 	}
 
-
-
 	{
-
-		if (iteration< infoGlobal.m_numIterations)
+		if (iteration < infoGlobal.m_numIterations)
 		{
-			for (int j=0;j<numConstraints;j++)
+			for (int j = 0; j < numConstraints; j++)
 			{
 				if (constraints[j]->isEnabled())
 				{
-					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
-					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
+					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
 					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
 					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
+					constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
 				}
 			}
 
@@ -147,203 +141,206 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 			{
 				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
+				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
 
-				for (int c=0;c<numPoolConstraints;c++)
+				for (int c = 0; c < numPoolConstraints; c++)
 				{
-					btScalar totalImpulse =0;
+					btScalar totalImpulse = 0;
 
 					{
 						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 						m_deltafC[c] = deltaf;
-						deltaflengthsqr += deltaf*deltaf;
+						deltaflengthsqr += deltaf * deltaf;
 						totalImpulse = solveManifold.m_appliedImpulse;
 					}
 					bool applyFriction = true;
 					if (applyFriction)
 					{
 						{
+							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
 
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
-
-							if (totalImpulse>btScalar(0))
+							if (totalImpulse > btScalar(0))
 							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-								m_deltafCF[c*multiplier] = deltaf;
-								deltaflengthsqr += deltaf*deltaf;
-							} else {
-								m_deltafCF[c*multiplier] = 0;
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
+								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+								m_deltafCF[c * multiplier] = deltaf;
+								deltaflengthsqr += deltaf * deltaf;
+							}
+							else
+							{
+								m_deltafCF[c * multiplier] = 0;
 							}
 						}
 
 						if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
 						{
+							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
 
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
-
-							if (totalImpulse>btScalar(0))
+							if (totalImpulse > btScalar(0))
+							{
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
+								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+								m_deltafCF[c * multiplier + 1] = deltaf;
+								deltaflengthsqr += deltaf * deltaf;
+							}
+							else
 							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-								m_deltafCF[c*multiplier+1] = deltaf;
-								deltaflengthsqr += deltaf*deltaf;
-							} else {
-								m_deltafCF[c*multiplier+1] = 0;
+								m_deltafCF[c * multiplier + 1] = 0;
 							}
 						}
 					}
 				}
-
 			}
-			else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+			else  //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
 			{
 				//solve the friction constraints after all contact constraints, don't interleave them
 				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 				int j;
 
-				for (j=0;j<numPoolConstraints;j++)
+				for (j = 0; j < numPoolConstraints; j++)
 				{
 					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+					btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 					m_deltafC[j] = deltaf;
-					deltaflengthsqr += deltaf*deltaf;
+					deltaflengthsqr += deltaf * deltaf;
 				}
 
-
-
 				///solve all friction constraints
 
 				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-				for (j=0;j<numFrictionPoolConstraints;j++)
+				for (j = 0; j < numFrictionPoolConstraints; j++)
 				{
 					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
 					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 
-					if (totalImpulse>btScalar(0))
+					if (totalImpulse > btScalar(0))
 					{
-						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+						solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+						solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
 						m_deltafCF[j] = deltaf;
-						deltaflengthsqr += deltaf*deltaf;
-					} else {
+						deltaflengthsqr += deltaf * deltaf;
+					}
+					else
+					{
 						m_deltafCF[j] = 0;
 					}
 				}
 			}
 
-            {
+			{
 				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (int j=0;j<numRollingFrictionPoolConstraints;j++)
+				for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
 				{
-
 					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
 					btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-					if (totalImpulse>btScalar(0))
+					if (totalImpulse > btScalar(0))
 					{
-						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-						if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+						if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
 							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
 
 						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
 						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
 
-						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
 						m_deltafCRF[j] = deltaf;
-						deltaflengthsqr += deltaf*deltaf;
-					} else {
+						deltaflengthsqr += deltaf * deltaf;
+					}
+					else
+					{
 						m_deltafCRF[j] = 0;
 					}
 				}
-            }
-
+			}
 		}
-
-
-
 	}
 
-
-
-
-	if (!m_onlyForNoneContact) 
+	if (!m_onlyForNoneContact)
 	{
-		if (iteration==0) 
+		if (iteration == 0)
 		{
-			for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
-			for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j];
-			for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j];
-			for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
-		} else 
+			for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
+			for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = m_deltafC[j];
+			for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = m_deltafCF[j];
+			for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = m_deltafCRF[j];
+		}
+		else
 		{
 			// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
-			btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
-			if (beta>1) {
-				for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
-				for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0;
-				for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0;
-				for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
-			} else {
-				for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+			btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
+			if (beta > 1)
+			{
+				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
+				for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = 0;
+				for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = 0;
+				for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = 0;
+			}
+			else
+			{
+				for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
 				{
 					btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-					if (iteration < constraint.m_overrideNumSolverIterations) {
+					if (iteration < constraint.m_overrideNumSolverIterations)
+					{
 						btScalar additionaldeltaimpulse = beta * m_pNC[j];
 						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
 						m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
 						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
 						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
 						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
 					}
 				}
-				for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++)
+				for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++)
 				{
 					btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					if (iteration< infoGlobal.m_numIterations) {
+					if (iteration < infoGlobal.m_numIterations)
+					{
 						btScalar additionaldeltaimpulse = beta * m_pC[j];
 						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
 						m_pC[j] = beta * m_pC[j] + m_deltafC[j];
 						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
 						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
 						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
 					}
 				}
-				for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++)
+				for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++)
 				{
 					btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					if (iteration< infoGlobal.m_numIterations) {
+					if (iteration < infoGlobal.m_numIterations)
+					{
 						btScalar additionaldeltaimpulse = beta * m_pCF[j];
 						constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
 						m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j];
 						btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
 						btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
 						const btSolverConstraint& c = constraint;
-						body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
-						body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+						body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+						body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
 					}
 				}
 				{
-					for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++)
+					for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++)
 					{
 						btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-						if (iteration< infoGlobal.m_numIterations) {
+						if (iteration < infoGlobal.m_numIterations)
+						{
 							btScalar additionaldeltaimpulse = beta * m_pCRF[j];
 							constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
 							m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j];
 							btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
 							btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
 							const btSolverConstraint& c = constraint;
-							body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
-							body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+							body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+							body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
 						}
 					}
 				}
@@ -355,7 +352,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 	return deltaflengthsqr;
 }
 
-btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
+btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
 {
 	m_pNC.resizeNoInitialize(0);
 	m_pC.resizeNoInitialize(0);
@@ -369,6 +366,3 @@ btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject
 
 	return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
 }
-
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
index a300929cd5..c84f274a99 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
@@ -18,33 +18,30 @@ subject to the following restrictions:
 
 #include "btSequentialImpulseConstraintSolver.h"
 
-ATTRIBUTE_ALIGNED16(class) btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver
+ATTRIBUTE_ALIGNED16(class)
+btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver
 {
 protected:
-
 	btScalar m_deltafLengthSqrPrev;
 
-	btAlignedObjectArray<btScalar> m_pNC;  // p for None Contact constraints
-	btAlignedObjectArray<btScalar> m_pC;   // p for Contact constraints
-	btAlignedObjectArray<btScalar> m_pCF;  // p for ContactFriction constraints
-	btAlignedObjectArray<btScalar> m_pCRF; // p for ContactRollingFriction constraints
+	btAlignedObjectArray<btScalar> m_pNC;   // p for None Contact constraints
+	btAlignedObjectArray<btScalar> m_pC;    // p for Contact constraints
+	btAlignedObjectArray<btScalar> m_pCF;   // p for ContactFriction constraints
+	btAlignedObjectArray<btScalar> m_pCRF;  // p for ContactRollingFriction constraints
 
 	//These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration.
-	btAlignedObjectArray<btScalar> m_deltafNC;  // deltaf for NoneContact constraints
-	btAlignedObjectArray<btScalar> m_deltafC;   // deltaf for Contact constraints
-	btAlignedObjectArray<btScalar> m_deltafCF;  // deltaf for ContactFriction constraints
-	btAlignedObjectArray<btScalar> m_deltafCRF; // deltaf for ContactRollingFriction constraints
+	btAlignedObjectArray<btScalar> m_deltafNC;   // deltaf for NoneContact constraints
+	btAlignedObjectArray<btScalar> m_deltafC;    // deltaf for Contact constraints
+	btAlignedObjectArray<btScalar> m_deltafCF;   // deltaf for ContactFriction constraints
+	btAlignedObjectArray<btScalar> m_deltafCRF;  // deltaf for ContactRollingFriction constraints
 
-		
 protected:
+	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
+	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {}
@@ -57,8 +54,4 @@ public:
 	bool m_onlyForNoneContact;
 };
 
-
-
-
-#endif //BT_NNCG_CONSTRAINT_SOLVER_H
-
+#endif  //BT_NNCG_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
index 3c0430b903..ad399dc57f 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -13,217 +13,193 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btPoint2PointConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include <new>
 
-
-
-
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
-m_flags(0),
-m_useSolveConstraintObsolete(false)
+btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB)
+	: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0), m_useSolveConstraintObsolete(false)
 {
-
 }
 
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
-m_flags(0),
-m_useSolveConstraintObsolete(false)
+btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA)
+	: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA), m_pivotInA(pivotInA), m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), m_flags(0), m_useSolveConstraintObsolete(false)
 {
-	
 }
 
-void	btPoint2PointConstraint::buildJacobian()
+void btPoint2PointConstraint::buildJacobian()
 {
-
 	///we need it for both methods
 	{
 		m_appliedImpulse = btScalar(0.);
 
-		btVector3	normal(0,0,0);
+		btVector3 normal(0, 0, 0);
 
-		for (int i=0;i<3;i++)
+		for (int i = 0; i < 3; i++)
 		{
 			normal[i] = 1;
 			new (&m_jac[i]) btJacobianEntry(
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
-			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
-			normal,
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbA.getInvMass(),
-			m_rbB.getInvInertiaDiagLocal(),
-			m_rbB.getInvMass());
-		normal[i] = 0;
+				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+				m_rbA.getCenterOfMassTransform() * m_pivotInA - m_rbA.getCenterOfMassPosition(),
+				m_rbB.getCenterOfMassTransform() * m_pivotInB - m_rbB.getCenterOfMassPosition(),
+				normal,
+				m_rbA.getInvInertiaDiagLocal(),
+				m_rbA.getInvMass(),
+				m_rbB.getInvInertiaDiagLocal(),
+				m_rbB.getInvMass());
+			normal[i] = 0;
 		}
 	}
-
-
 }
 
-void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
+void btPoint2PointConstraint::getInfo1(btConstraintInfo1* info)
 {
 	getInfo1NonVirtual(info);
 }
 
-void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+void btPoint2PointConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
 {
 	if (m_useSolveConstraintObsolete)
 	{
 		info->m_numConstraintRows = 0;
 		info->nub = 0;
-	} else
+	}
+	else
 	{
 		info->m_numConstraintRows = 3;
 		info->nub = 3;
 	}
 }
 
-
-
-
-void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
+void btPoint2PointConstraint::getInfo2(btConstraintInfo2* info)
 {
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 }
 
-void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
+void btPoint2PointConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
 {
 	btAssert(!m_useSolveConstraintObsolete);
 
-	 //retrieve matrices
+	//retrieve matrices
 
 	// anchor points in global coordinates with respect to body PORs.
-   
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
 
-	btVector3 a1 = body0_trans.getBasis()*getPivotInA();
+	// set jacobian
+	info->m_J1linearAxis[0] = 1;
+	info->m_J1linearAxis[info->rowskip + 1] = 1;
+	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
+
+	btVector3 a1 = body0_trans.getBasis() * getPivotInA();
 	{
 		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
+		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
 		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
+
 	info->m_J2linearAxis[0] = -1;
-    info->m_J2linearAxis[info->rowskip+1] = -1;
-    info->m_J2linearAxis[2*info->rowskip+2] = -1;
-	
-	btVector3 a2 = body1_trans.getBasis()*getPivotInB();
-   
+	info->m_J2linearAxis[info->rowskip + 1] = -1;
+	info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
+
+	btVector3 a2 = body1_trans.getBasis() * getPivotInB();
+
 	{
-	//	btVector3 a2n = -a2;
+		//	btVector3 a2n = -a2;
 		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
 	}
-    
-
 
-    // set right hand side
+	// set right hand side
 	btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
-    btScalar k = info->fps * currERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
+	btScalar k = info->fps * currERP;
+	int j;
+	for (j = 0; j < 3; j++)
+	{
+		info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
 		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
-	if(m_flags & BT_P2P_FLAGS_CFM)
+	}
+	if (m_flags & BT_P2P_FLAGS_CFM)
 	{
-		for (j=0; j<3; j++)
+		for (j = 0; j < 3; j++)
 		{
-			info->cfm[j*info->rowskip] = m_cfm;
+			info->cfm[j * info->rowskip] = m_cfm;
 		}
 	}
 
-	btScalar impulseClamp = m_setting.m_impulseClamp;//
-	for (j=0; j<3; j++)
-    {
+	btScalar impulseClamp = m_setting.m_impulseClamp;  //
+	for (j = 0; j < 3; j++)
+	{
 		if (m_setting.m_impulseClamp > 0)
 		{
-			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j*info->rowskip] = impulseClamp;
+			info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
+			info->m_upperLimit[j * info->rowskip] = impulseClamp;
 		}
 	}
 	info->m_damping = m_setting.m_damping;
-	
 }
 
-
-
-void	btPoint2PointConstraint::updateRHS(btScalar	timeStep)
+void btPoint2PointConstraint::updateRHS(btScalar timeStep)
 {
 	(void)timeStep;
-
 }
 
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 ///If no axis is provided, it uses the default axis for this constraint.
 void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
 {
-	if(axis != -1)
+	if (axis != -1)
 	{
 		btAssertConstrParams(0);
 	}
 	else
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_ERP :
-			case BT_CONSTRAINT_STOP_ERP :
-				m_erp = value; 
+			case BT_CONSTRAINT_ERP:
+			case BT_CONSTRAINT_STOP_ERP:
+				m_erp = value;
 				m_flags |= BT_P2P_FLAGS_ERP;
 				break;
-			case BT_CONSTRAINT_CFM :
-			case BT_CONSTRAINT_STOP_CFM :
-				m_cfm = value; 
+			case BT_CONSTRAINT_CFM:
+			case BT_CONSTRAINT_STOP_CFM:
+				m_cfm = value;
 				m_flags |= BT_P2P_FLAGS_CFM;
 				break;
-			default: 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
 }
 
 ///return the local value of parameter
-btScalar btPoint2PointConstraint::getParam(int num, int axis) const 
+btScalar btPoint2PointConstraint::getParam(int num, int axis) const
 {
 	btScalar retVal(SIMD_INFINITY);
-	if(axis != -1)
+	if (axis != -1)
 	{
 		btAssertConstrParams(0);
 	}
 	else
 	{
-		switch(num)
+		switch (num)
 		{
-			case BT_CONSTRAINT_ERP :
-			case BT_CONSTRAINT_STOP_ERP :
+			case BT_CONSTRAINT_ERP:
+			case BT_CONSTRAINT_STOP_ERP:
 				btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
-				retVal = m_erp; 
+				retVal = m_erp;
 				break;
-			case BT_CONSTRAINT_CFM :
-			case BT_CONSTRAINT_STOP_CFM :
+			case BT_CONSTRAINT_CFM:
+			case BT_CONSTRAINT_STOP_CFM:
 				btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
-				retVal = m_cfm; 
+				retVal = m_cfm;
 				break;
-			default: 
+			default:
 				btAssertConstrParams(0);
 		}
 	}
 	return retVal;
 }
-	
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
index 8fa03d719d..4717e19800 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -22,26 +22,24 @@ subject to the following restrictions:
 
 class btRigidBody;
 
-
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btPoint2PointConstraintData2	btPoint2PointConstraintDoubleData2
-#define btPoint2PointConstraintDataName	"btPoint2PointConstraintDoubleData2"
+#define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
 #else
-#define btPoint2PointConstraintData2	btPoint2PointConstraintFloatData
-#define btPoint2PointConstraintDataName	"btPoint2PointConstraintFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
-struct	btConstraintSetting
+struct btConstraintSetting
 {
-	btConstraintSetting()	:
-		m_tau(btScalar(0.3)),
-		m_damping(btScalar(1.)),
-		m_impulseClamp(btScalar(0.))
+	btConstraintSetting() : m_tau(btScalar(0.3)),
+							m_damping(btScalar(1.)),
+							m_impulseClamp(btScalar(0.))
 	{
 	}
-	btScalar		m_tau;
-	btScalar		m_damping;
-	btScalar		m_impulseClamp;
+	btScalar m_tau;
+	btScalar m_damping;
+	btScalar m_impulseClamp;
 };
 
 enum btPoint2PointFlags
@@ -51,52 +49,51 @@ enum btPoint2PointFlags
 };
 
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btPoint2PointConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-	
-	btVector3	m_pivotInA;
-	btVector3	m_pivotInB;
-	
-	int			m_flags;
-	btScalar	m_erp;
-	btScalar	m_cfm;
-	
-public:
+	btJacobianEntry m_jac[3];  //3 orthogonal linear constraints
+
+	btVector3 m_pivotInA;
+	btVector3 m_pivotInB;
+
+	int m_flags;
+	btScalar m_erp;
+	btScalar m_cfm;
 
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
-
-	btConstraintSetting	m_setting;
+	bool m_useSolveConstraintObsolete;
 
-	btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
+	btConstraintSetting m_setting;
 
-	btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
+	btPoint2PointConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB);
 
+	btPoint2PointConstraint(btRigidBody & rbA, const btVector3& pivotInA);
 
-	virtual void	buildJacobian();
+	virtual void buildJacobian();
 
-	virtual void getInfo1 (btConstraintInfo1* info);
+	virtual void getInfo1(btConstraintInfo1 * info);
 
-	void getInfo1NonVirtual (btConstraintInfo1* info);
+	void getInfo1NonVirtual(btConstraintInfo1 * info);
 
-	virtual void getInfo2 (btConstraintInfo2* info);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
-	void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
+	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& body0_trans, const btTransform& body1_trans);
 
-	void	updateRHS(btScalar	timeStep);
+	void updateRHS(btScalar timeStep);
 
-	void	setPivotA(const btVector3& pivotA)
+	void setPivotA(const btVector3& pivotA)
 	{
 		m_pivotInA = pivotA;
 	}
 
-	void	setPivotB(const btVector3& pivotB)
+	void setPivotB(const btVector3& pivotB)
 	{
 		m_pivotInB = pivotB;
 	}
@@ -111,70 +108,66 @@ public:
 		return m_pivotInB;
 	}
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	virtual void setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-	
-	virtual	int getFlags() const
+	virtual btScalar getParam(int num, int axis = -1) const;
+
+	virtual int getFlags() const
 	{
-        	return m_flags;
-    	}
+		return m_flags;
+	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btPoint2PointConstraintFloatData
+struct btPoint2PointConstraintFloatData
 {
-	btTypedConstraintData	m_typeConstraintData;
-	btVector3FloatData	m_pivotInA;
-	btVector3FloatData	m_pivotInB;
+	btTypedConstraintData m_typeConstraintData;
+	btVector3FloatData m_pivotInA;
+	btVector3FloatData m_pivotInB;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btPoint2PointConstraintDoubleData2
+struct btPoint2PointConstraintDoubleData2
 {
-	btTypedConstraintDoubleData	m_typeConstraintData;
-	btVector3DoubleData	m_pivotInA;
-	btVector3DoubleData	m_pivotInB;
+	btTypedConstraintDoubleData m_typeConstraintData;
+	btVector3DoubleData m_pivotInA;
+	btVector3DoubleData m_pivotInB;
 };
 
 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 ///this structure is not used, except for loading pre-2.82 .bullet files
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btPoint2PointConstraintDoubleData
+struct btPoint2PointConstraintDoubleData
 {
-	btTypedConstraintData	m_typeConstraintData;
-	btVector3DoubleData	m_pivotInA;
-	btVector3DoubleData	m_pivotInB;
+	btTypedConstraintData m_typeConstraintData;
+	btVector3DoubleData m_pivotInA;
+	btVector3DoubleData m_pivotInB;
 };
-#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
+#endif  //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 
-
-SIMD_FORCE_INLINE	int	btPoint2PointConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btPoint2PointConstraintData2);
-
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer;
 
-	btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+	btTypedConstraint::serialize(&p2pData->m_typeConstraintData, serializer);
 	m_pivotInA.serialize(p2pData->m_pivotInA);
 	m_pivotInB.serialize(p2pData->m_pivotInB);
 
 	return btPoint2PointConstraintDataName;
 }
 
-#endif //BT_POINT2POINTCONSTRAINT_H
+#endif  //BT_POINT2POINTCONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index b0d57a3e87..def3227b43 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -33,24 +33,24 @@ subject to the following restrictions:
 //#include "btSolverBody.h"
 //#include "btSolverConstraint.h"
 #include "LinearMath/btAlignedObjectArray.h"
-#include <string.h> //for memset
+#include <string.h>  //for memset
 
-int		gNumSplitImpulseRecoveries = 0;
+int gNumSplitImpulseRecoveries = 0;
 
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
 //#define VERBOSE_RESIDUAL_PRINTF 1
 ///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver
 ///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.
-static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
+	const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity());
+	const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity());
 
 	//	const btScalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
-	deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
 
 	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
 	if (sum < c.m_lowerLimit)
@@ -68,21 +68,20 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolver
 		c.m_appliedImpulse = sum;
 	}
 
-	body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+	bodyA.internalApplyImpulse(c.m_contactNormal1 * bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+	bodyB.internalApplyImpulse(c.m_contactNormal2 * bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 
-	return deltaImpulse;
+	return deltaImpulse * (1. / c.m_jacDiagABInv);
 }
 
-
-static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
+	const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity());
+	const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity());
 
-	deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
-	deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
+	deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
 	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
 	if (sum < c.m_lowerLimit)
 	{
@@ -93,70 +92,67 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSol
 	{
 		c.m_appliedImpulse = sum;
 	}
-	body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
-	body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+	bodyA.internalApplyImpulse(c.m_contactNormal1 * bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+	bodyB.internalApplyImpulse(c.m_contactNormal2 * bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 
-	return deltaImpulse;
+	return deltaImpulse * (1. / c.m_jacDiagABInv);
 }
 
-
-
 #ifdef USE_SIMD
 #include <emmintrin.h>
 
-
-#define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e))
-static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
+#define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e, e, e, e))
+static inline __m128 btSimdDot3(__m128 vec0, __m128 vec1)
 {
-	__m128 result = _mm_mul_ps( vec0, vec1);
-	return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) );
+	__m128 result = _mm_mul_ps(vec0, vec1);
+	return _mm_add_ps(btVecSplat(result, 0), _mm_add_ps(btVecSplat(result, 1), btVecSplat(result, 2)));
 }
 
-#if defined (BT_ALLOW_SSE4)
+#if defined(BT_ALLOW_SSE4)
 #include <intrin.h>
 
-#define USE_FMA					1
-#define USE_FMA3_INSTEAD_FMA4	1
-#define USE_SSE4_DOT			1
+#define USE_FMA 1
+#define USE_FMA3_INSTEAD_FMA4 1
+#define USE_SSE4_DOT 1
 
-#define SSE4_DP(a, b)			_mm_dp_ps(a, b, 0x7f)
-#define SSE4_DP_FP(a, b)		_mm_cvtss_f32(_mm_dp_ps(a, b, 0x7f))
+#define SSE4_DP(a, b) _mm_dp_ps(a, b, 0x7f)
+#define SSE4_DP_FP(a, b) _mm_cvtss_f32(_mm_dp_ps(a, b, 0x7f))
 
 #if USE_SSE4_DOT
-#define DOT_PRODUCT(a, b)		SSE4_DP(a, b)
+#define DOT_PRODUCT(a, b) SSE4_DP(a, b)
 #else
-#define DOT_PRODUCT(a, b)		btSimdDot3(a, b)
+#define DOT_PRODUCT(a, b) btSimdDot3(a, b)
 #endif
 
 #if USE_FMA
 #if USE_FMA3_INSTEAD_FMA4
 // a*b + c
-#define FMADD(a, b, c)		_mm_fmadd_ps(a, b, c)
+#define FMADD(a, b, c) _mm_fmadd_ps(a, b, c)
 // -(a*b) + c
-#define FMNADD(a, b, c)		_mm_fnmadd_ps(a, b, c)
-#else // USE_FMA3
+#define FMNADD(a, b, c) _mm_fnmadd_ps(a, b, c)
+#else  // USE_FMA3
 // a*b + c
-#define FMADD(a, b, c)		_mm_macc_ps(a, b, c)
+#define FMADD(a, b, c) _mm_macc_ps(a, b, c)
 // -(a*b) + c
-#define FMNADD(a, b, c)		_mm_nmacc_ps(a, b, c)
+#define FMNADD(a, b, c) _mm_nmacc_ps(a, b, c)
 #endif
-#else // USE_FMA
+#else  // USE_FMA
 // c + a*b
-#define FMADD(a, b, c)		_mm_add_ps(c, _mm_mul_ps(a, b))
+#define FMADD(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b))
 // c - a*b
-#define FMNADD(a, b, c)		_mm_sub_ps(c, _mm_mul_ps(a, b))
+#define FMNADD(a, b, c) _mm_sub_ps(c, _mm_mul_ps(a, b))
 #endif
 #endif
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
-static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
 	btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
 	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
 	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
 	btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
@@ -169,54 +165,52 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1,
 	__m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp);
 	deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied));
 	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1));
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, body2.internalGetInvMass().mVec128);
+	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
+	__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, bodyB.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-	return deltaImpulse;
+	bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+	bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+	bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+	bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
+	return deltaImpulse.m_floats[0] / c.m_jacDiagABInv;
 }
 
-
 // Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
-static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-#if defined (BT_ALLOW_SSE4)
-	__m128 tmp					= _mm_set_ps1(c.m_jacDiagABInv);
-	__m128 deltaImpulse			= _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm);
-	const __m128 lowerLimit		= _mm_set_ps1(c.m_lowerLimit);
-	const __m128 upperLimit		= _mm_set_ps1(c.m_upperLimit);
-	const __m128 deltaVel1Dotn	= _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
-	const __m128 deltaVel2Dotn	= _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
-	deltaImpulse				= FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
-	deltaImpulse				= FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
-	tmp							= _mm_add_ps(c.m_appliedImpulse, deltaImpulse); // sum
-	const __m128 maskLower		= _mm_cmpgt_ps(tmp, lowerLimit);
-	const __m128 maskUpper		= _mm_cmpgt_ps(upperLimit, tmp);
-	deltaImpulse				= _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower);
-	c.m_appliedImpulse			= _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower);
-	body1.internalGetDeltaLinearVelocity().mVec128	= FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128);
-	body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128);
-	body2.internalGetDeltaLinearVelocity().mVec128	= FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128);
-	body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128);
-	return deltaImpulse;
+#if defined(BT_ALLOW_SSE4)
+	__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
+	__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm);
+	const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
+	const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit);
+	const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+	const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
+	deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
+	deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
+	tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse);  // sum
+	const __m128 maskLower = _mm_cmpgt_ps(tmp, lowerLimit);
+	const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp);
+	deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower);
+	c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower);
+	bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128);
+	bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128);
+	bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128);
+	bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128);
+	btSimdScalar deltaImp = deltaImpulse;
+	return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
 #else
-	return gResolveSingleConstraintRowGeneric_sse2(body1,body2,c);
+	return gResolveSingleConstraintRowGeneric_sse2(bodyA, bodyB, c);
 #endif
 }
 
-
-
-static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
 	btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
 	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
 	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
 	btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
@@ -226,103 +220,98 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bod
 	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
 	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
 	c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128);
+	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
+	__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
-	return deltaImpulse;
+	bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+	bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+	bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+	bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
+	return deltaImpulse.m_floats[0] / c.m_jacDiagABInv;
 }
 
-
 // Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
-static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
 #ifdef BT_ALLOW_SSE4
-	__m128 tmp					= _mm_set_ps1(c.m_jacDiagABInv);
-	__m128 deltaImpulse			= _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm);
-	const __m128 lowerLimit		= _mm_set_ps1(c.m_lowerLimit);
-	const __m128 deltaVel1Dotn	= _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
-	const __m128 deltaVel2Dotn	= _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
-	deltaImpulse				= FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
-	deltaImpulse				= FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
-	tmp							= _mm_add_ps(c.m_appliedImpulse, deltaImpulse);
-	const __m128 mask			= _mm_cmpgt_ps(tmp, lowerLimit);
-	deltaImpulse				= _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask);
-	c.m_appliedImpulse			= _mm_blendv_ps(lowerLimit, tmp, mask);
-	body1.internalGetDeltaLinearVelocity().mVec128	= FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128);
-	body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128);
-	body2.internalGetDeltaLinearVelocity().mVec128	= FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128);
-	body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128);
-	return deltaImpulse;
+	__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
+	__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm);
+	const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
+	const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+	const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
+	deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
+	deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
+	tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse);
+	const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit);
+	deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask);
+	c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask);
+	bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128);
+	bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128);
+	bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128);
+	bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128);
+	btSimdScalar deltaImp = deltaImpulse;
+	return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
 #else
-	return gResolveSingleConstraintRowLowerLimit_sse2(body1,body2,c);
-#endif //BT_ALLOW_SSE4
+	return gResolveSingleConstraintRowLowerLimit_sse2(bodyA, bodyB, c);
+#endif  //BT_ALLOW_SSE4
 }
 
+#endif  //USE_SIMD
 
-#endif //USE_SIMD
-
-
-
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-	return m_resolveSingleConstraintRowGeneric(body1, body2, c);
+	return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c);
 }
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-	return m_resolveSingleConstraintRowGeneric(body1, body2, c);
+	return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c);
 }
 
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-	return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
+	return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c);
 }
 
-
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
-	return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
+	return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c);
 }
 
-
-static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
-        btSolverBody& body1,
-        btSolverBody& body2,
-        const btSolverConstraint& c)
+static btScalar gResolveSplitPenetrationImpulse_scalar_reference(
+	btSolverBody& bodyA,
+	btSolverBody& bodyB,
+	const btSolverConstraint& c)
 {
 	btScalar deltaImpulse = 0.f;
 
-		if (c.m_rhsPenetration)
-        {
-			gNumSplitImpulseRecoveries++;
-			deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
-			const btScalar deltaVel1Dotn	=	c.m_contactNormal1.dot(body1.internalGetPushVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
-			const btScalar deltaVel2Dotn	=	c.m_contactNormal2.dot(body2.internalGetPushVelocity())		+ c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
-
-			deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-			deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
-			const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse;
-			if (sum < c.m_lowerLimit)
-			{
-				deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse;
-				c.m_appliedPushImpulse = c.m_lowerLimit;
-			}
-			else
-			{
-				c.m_appliedPushImpulse = sum;
-			}
-			body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-			body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
-        }
-		return deltaImpulse;
+	if (c.m_rhsPenetration)
+	{
+		gNumSplitImpulseRecoveries++;
+		deltaImpulse = c.m_rhsPenetration - btScalar(c.m_appliedPushImpulse) * c.m_cfm;
+		const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetTurnVelocity());
+		const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetTurnVelocity());
+
+		deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
+		deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
+		const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse;
+		if (sum < c.m_lowerLimit)
+		{
+			deltaImpulse = c.m_lowerLimit - c.m_appliedPushImpulse;
+			c.m_appliedPushImpulse = c.m_lowerLimit;
+		}
+		else
+		{
+			c.m_appliedPushImpulse = sum;
+		}
+		bodyA.internalApplyPushImpulse(c.m_contactNormal1 * bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+		bodyB.internalApplyPushImpulse(c.m_contactNormal2 * bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+	}
+	return deltaImpulse * (1. / c.m_jacDiagABInv);
 }
 
-static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+static btScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
 {
 #ifdef USE_SIMD
 	if (!c.m_rhsPenetration)
@@ -331,112 +320,109 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS
 	gNumSplitImpulseRecoveries++;
 
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	btSimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
+	__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse), _mm_set1_ps(c.m_cfm)));
+	__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetTurnVelocity().mVec128));
+	__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetTurnVelocity().mVec128));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
+	btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
+	btSimdScalar resultLowerLess, resultUpperLess;
+	resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
+	resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
+	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
+	deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
+	c.m_appliedPushImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
+	__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
+	__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
-	return deltaImpulse;
+	bodyA.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyA.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+	bodyA.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyA.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+	bodyB.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyB.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+	bodyB.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyB.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
+	btSimdScalar deltaImp = deltaImpulse;
+	return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
 #else
-	return gResolveSplitPenetrationImpulse_scalar_reference(body1,body2,c);
+	return gResolveSplitPenetrationImpulse_scalar_reference(bodyA, bodyB, c);
 #endif
 }
 
-
 btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
 {
-    m_btSeed2 = 0;
-    m_cachedSolverMode = 0;
-    setupSolverFunctions( false );
+	m_btSeed2 = 0;
+	m_cachedSolverMode = 0;
+	setupSolverFunctions(false);
 }
 
-void btSequentialImpulseConstraintSolver::setupSolverFunctions( bool useSimd )
+void btSequentialImpulseConstraintSolver::setupSolverFunctions(bool useSimd)
 {
-    m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_scalar_reference;
-    m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_scalar_reference;
-    m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_scalar_reference;
+	m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_scalar_reference;
+	m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_scalar_reference;
+	m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_scalar_reference;
 
-    if ( useSimd )
-    {
+	if (useSimd)
+	{
 #ifdef USE_SIMD
-        m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
-        m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse2;
-        m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_sse2;
+		m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
+		m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse2;
+		m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_sse2;
 
 #ifdef BT_ALLOW_SSE4
-        int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
-        if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
-        {
-            m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
-            m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
-        }
-#endif//BT_ALLOW_SSE4
-#endif //USE_SIMD
-    }
+		int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
+		if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
+		{
+			m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
+			m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
+		}
+#endif  //BT_ALLOW_SSE4
+#endif  //USE_SIMD
+	}
 }
 
- btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
- {
- }
-
- btSingleConstraintRowSolver	btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric()
- {
-	 return gResolveSingleConstraintRowGeneric_scalar_reference;
- }
+btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
+{
+}
 
- btSingleConstraintRowSolver	btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit()
- {
-	 return gResolveSingleConstraintRowLowerLimit_scalar_reference;
- }
+btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric()
+{
+	return gResolveSingleConstraintRowGeneric_scalar_reference;
+}
 
+btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit()
+{
+	return gResolveSingleConstraintRowLowerLimit_scalar_reference;
+}
 
 #ifdef USE_SIMD
- btSingleConstraintRowSolver	btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric()
- {
-	 return gResolveSingleConstraintRowGeneric_sse2;
- }
- btSingleConstraintRowSolver	btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit()
- {
-	 return gResolveSingleConstraintRowLowerLimit_sse2;
- }
+btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric()
+{
+	return gResolveSingleConstraintRowGeneric_sse2;
+}
+btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit()
+{
+	return gResolveSingleConstraintRowLowerLimit_sse2;
+}
 #ifdef BT_ALLOW_SSE4
- btSingleConstraintRowSolver	btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric()
- {
-	 return gResolveSingleConstraintRowGeneric_sse4_1_fma3;
- }
- btSingleConstraintRowSolver	btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit()
- {
-	 return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
- }
-#endif //BT_ALLOW_SSE4
-#endif //USE_SIMD
+btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric()
+{
+	return gResolveSingleConstraintRowGeneric_sse4_1_fma3;
+}
+btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit()
+{
+	return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
+}
+#endif  //BT_ALLOW_SSE4
+#endif  //USE_SIMD
 
 unsigned long btSequentialImpulseConstraintSolver::btRand2()
 {
-	m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
+	m_btSeed2 = (1664525L * m_btSeed2 + 1013904223L) & 0xffffffff;
 	return m_btSeed2;
 }
 
-
-
 //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
-int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
+int btSequentialImpulseConstraintSolver::btRandInt2(int n)
 {
 	// seems good; xor-fold and modulus
 	const unsigned long un = static_cast<unsigned long>(n);
@@ -444,15 +430,20 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
 
 	// note: probably more aggressive than it needs to be -- might be
 	//       able to get away without one or two of the innermost branches.
-	if (un <= 0x00010000UL) {
+	if (un <= 0x00010000UL)
+	{
 		r ^= (r >> 16);
-		if (un <= 0x00000100UL) {
+		if (un <= 0x00000100UL)
+		{
 			r ^= (r >> 8);
-			if (un <= 0x00000010UL) {
+			if (un <= 0x00000010UL)
+			{
 				r ^= (r >> 4);
-				if (un <= 0x00000004UL) {
+				if (un <= 0x00000004UL)
+				{
 					r ^= (r >> 2);
-					if (un <= 0x00000002UL) {
+					if (un <= 0x00000002UL)
+					{
 						r ^= (r >> 1);
 					}
 				}
@@ -460,70 +451,56 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
 		}
 	}
 
-	return (int) (r % un);
+	return (int)(r % un);
 }
 
-
-
-void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep)
+void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep)
 {
+	btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0;
 
-	btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
-
-	solverBody->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
+	solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
+	solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
 
 	if (rb)
 	{
 		solverBody->m_worldTransform = rb->getWorldTransform();
-		solverBody->internalSetInvMass(btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor());
+		solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor());
 		solverBody->m_originalBody = rb;
 		solverBody->m_angularFactor = rb->getAngularFactor();
 		solverBody->m_linearFactor = rb->getLinearFactor();
 		solverBody->m_linearVelocity = rb->getLinearVelocity();
 		solverBody->m_angularVelocity = rb->getAngularVelocity();
-		solverBody->m_externalForceImpulse = rb->getTotalForce()*rb->getInvMass()*timeStep;
-		solverBody->m_externalTorqueImpulse = rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*timeStep ;
-
-	} else
+		solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep;
+		solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep;
+	}
+	else
 	{
 		solverBody->m_worldTransform.setIdentity();
-		solverBody->internalSetInvMass(btVector3(0,0,0));
+		solverBody->internalSetInvMass(btVector3(0, 0, 0));
 		solverBody->m_originalBody = 0;
-		solverBody->m_angularFactor.setValue(1,1,1);
-		solverBody->m_linearFactor.setValue(1,1,1);
-		solverBody->m_linearVelocity.setValue(0,0,0);
-		solverBody->m_angularVelocity.setValue(0,0,0);
-		solverBody->m_externalForceImpulse.setValue(0,0,0);
-		solverBody->m_externalTorqueImpulse.setValue(0,0,0);
+		solverBody->m_angularFactor.setValue(1, 1, 1);
+		solverBody->m_linearFactor.setValue(1, 1, 1);
+		solverBody->m_linearVelocity.setValue(0, 0, 0);
+		solverBody->m_angularVelocity.setValue(0, 0, 0);
+		solverBody->m_externalForceImpulse.setValue(0, 0, 0);
+		solverBody->m_externalTorqueImpulse.setValue(0, 0, 0);
 	}
-
-
 }
 
-
-
-
-
-
 btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold)
 {
 	//printf("rel_vel =%f\n", rel_vel);
-	if (btFabs(rel_vel)<velocityThreshold)
+	if (btFabs(rel_vel) < velocityThreshold)
 		return 0.;
 
 	btScalar rest = restitution * -rel_vel;
 	return rest;
 }
 
-
-
-void	btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
+void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode)
 {
-
-
 	if (colObj && colObj->hasAnisotropicFriction(frictionMode))
 	{
 		// transform to local coordinates
@@ -534,21 +511,15 @@ void	btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb
 		// ... and transform it back to global coordinates
 		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
 	}
-
 }
 
-
-
-
-void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,int  solverBodyIdA,int solverBodyIdB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
+void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
 {
-
-
 	btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
 	btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
 
 	btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
-	btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
+	btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
 
 	solverConstraint.m_solverBodyIdA = solverBodyIdA;
 	solverConstraint.m_solverBodyIdB = solverBodyIdB;
@@ -564,21 +535,23 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
 		solverConstraint.m_contactNormal1 = normalAxis;
 		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor();
-	}else
+		solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld() * ftorqueAxis1 * body0->getAngularFactor();
+	}
+	else
 	{
 		solverConstraint.m_contactNormal1.setZero();
 		solverConstraint.m_relpos1CrossNormal.setZero();
-		solverConstraint.m_angularComponentA .setZero();
+		solverConstraint.m_angularComponentA.setZero();
 	}
 
-	if (body1)
+	if (bodyA)
 	{
 		solverConstraint.m_contactNormal2 = -normalAxis;
 		btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor();
-	} else
+		solverConstraint.m_angularComponentB = bodyA->getInvInertiaTensorWorld() * ftorqueAxis1 * bodyA->getAngularFactor();
+	}
+	else
 	{
 		solverConstraint.m_contactNormal2.setZero();
 		solverConstraint.m_relpos2CrossNormal.setZero();
@@ -591,32 +564,28 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
 		btScalar denom1 = 0.f;
 		if (body0)
 		{
-			vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
 			denom0 = body0->getInvMass() + normalAxis.dot(vec);
 		}
-		if (body1)
+		if (bodyA)
 		{
-			vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-			denom1 = body1->getInvMass() + normalAxis.dot(vec);
+			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
+			denom1 = bodyA->getInvMass() + normalAxis.dot(vec);
 		}
-		btScalar denom = relaxation/(denom0+denom1);
+		btScalar denom = relaxation / (denom0 + denom1);
 		solverConstraint.m_jacDiagABInv = denom;
 	}
 
 	{
-
-
 		btScalar rel_vel;
-		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
-			+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
-		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
-			+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
+		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0 ? solverBodyA.m_linearVelocity + solverBodyA.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : btVector3(0, 0, 0));
+		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA ? solverBodyB.m_linearVelocity + solverBodyB.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(bodyA ? solverBodyB.m_angularVelocity : btVector3(0, 0, 0));
 
-		rel_vel = vel1Dotn+vel2Dotn;
+		rel_vel = vel1Dotn + vel2Dotn;
 
-//		btScalar positionalError = 0.f;
+		//		btScalar positionalError = 0.f;
 
-		btScalar velocityError =  desiredVelocity - rel_vel;
+		btScalar velocityError = desiredVelocity - rel_vel;
 		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
 
 		btScalar penetrationImpulse = btScalar(0);
@@ -624,8 +593,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
 		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
 		{
 			btScalar distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(normalAxis);
-			btScalar positionalError = -distance * infoGlobal.m_frictionERP/infoGlobal.m_timeStep;
-			penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
+			btScalar positionalError = -distance * infoGlobal.m_frictionERP / infoGlobal.m_timeStep;
+			penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
 		}
 
 		solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
@@ -633,11 +602,10 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
 		solverConstraint.m_cfm = cfmSlip;
 		solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
 		solverConstraint.m_upperLimit = solverConstraint.m_friction;
-
 	}
 }
 
-btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
+btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
 {
 	btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
 	solverConstraint.m_frictionIndex = frictionIndex;
@@ -646,15 +614,13 @@ btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(c
 	return solverConstraint;
 }
 
-
-void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis1,int solverBodyIdA,int  solverBodyIdB,
-									btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
-									btScalar desiredVelocity, btScalar cfmSlip)
+void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
+																		   btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
+																		   btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
+																		   btScalar desiredVelocity, btScalar cfmSlip)
 
 {
-	btVector3 normalAxis(0,0,0);
-
+	btVector3 normalAxis(0, 0, 0);
 
 	solverConstraint.m_contactNormal1 = normalAxis;
 	solverConstraint.m_contactNormal2 = -normalAxis;
@@ -662,13 +628,13 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(	btSo
 	btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
 
 	btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
-	btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
+	btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
 
 	solverConstraint.m_solverBodyIdA = solverBodyIdA;
 	solverConstraint.m_solverBodyIdB = solverBodyIdB;
 
-    solverConstraint.m_friction = combinedTorsionalFriction;
-    solverConstraint.m_originalContactPoint = 0;
+	solverConstraint.m_friction = combinedTorsionalFriction;
+	solverConstraint.m_originalContactPoint = 0;
 
 	solverConstraint.m_appliedImpulse = 0.f;
 	solverConstraint.m_appliedPushImpulse = 0.f;
@@ -676,134 +642,125 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(	btSo
 	{
 		btVector3 ftorqueAxis1 = -normalAxis1;
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
+		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld() * ftorqueAxis1 * body0->getAngularFactor() : btVector3(0, 0, 0);
 	}
 	{
 		btVector3 ftorqueAxis1 = normalAxis1;
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
+		solverConstraint.m_angularComponentB = bodyA ? bodyA->getInvInertiaTensorWorld() * ftorqueAxis1 * bodyA->getAngularFactor() : btVector3(0, 0, 0);
 	}
 
-
 	{
-		btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0);
-		btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
+		btVector3 iMJaA = body0 ? body0->getInvInertiaTensorWorld() * solverConstraint.m_relpos1CrossNormal : btVector3(0, 0, 0);
+		btVector3 iMJaB = bodyA ? bodyA->getInvInertiaTensorWorld() * solverConstraint.m_relpos2CrossNormal : btVector3(0, 0, 0);
 		btScalar sum = 0;
 		sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
 		sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-		solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
+		solverConstraint.m_jacDiagABInv = btScalar(1.) / sum;
 	}
 
 	{
-
-
 		btScalar rel_vel;
-		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
-			+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
-		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
-			+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
+		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0 ? solverBodyA.m_linearVelocity + solverBodyA.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : btVector3(0, 0, 0));
+		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA ? solverBodyB.m_linearVelocity + solverBodyB.m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(bodyA ? solverBodyB.m_angularVelocity : btVector3(0, 0, 0));
 
-		rel_vel = vel1Dotn+vel2Dotn;
+		rel_vel = vel1Dotn + vel2Dotn;
 
-//		btScalar positionalError = 0.f;
+		//		btScalar positionalError = 0.f;
 
-		btSimdScalar velocityError =  desiredVelocity - rel_vel;
-		btSimdScalar	velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
+		btSimdScalar velocityError = desiredVelocity - rel_vel;
+		btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
 		solverConstraint.m_rhs = velocityImpulse;
 		solverConstraint.m_cfm = cfmSlip;
 		solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
 		solverConstraint.m_upperLimit = solverConstraint.m_friction;
-
 	}
 }
 
-
-
-
-
-
-
-
-btSolverConstraint&	btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
+btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
 {
 	btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
 	solverConstraint.m_frictionIndex = frictionIndex;
-	setupTorsionalFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction,rel_pos1, rel_pos2,
-							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
+	setupTorsionalFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2,
+									 colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
 	return solverConstraint;
 }
 
-
-int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep)
+int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep)
 {
 #if BT_THREADSAFE
-    int solverBodyId = -1;
-    if ( !body.isStaticOrKinematicObject() )
-    {
-        // dynamic body
-        // Dynamic bodies can only be in one island, so it's safe to write to the companionId
-        solverBodyId = body.getCompanionId();
-        if ( solverBodyId < 0 )
-        {
-            if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
-            {
-                solverBodyId = m_tmpSolverBodyPool.size();
-                btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-                initSolverBody( &solverBody, &body, timeStep );
-                body.setCompanionId( solverBodyId );
-            }
-        }
-    }
-    else if (body.isKinematicObject())
-    {
-        //
-        // NOTE: must test for kinematic before static because some kinematic objects also
-        //   identify as "static"
-        //
-        // Kinematic bodies can be in multiple islands at once, so it is a
-        // race condition to write to them, so we use an alternate method
-        // to record the solverBodyId
-        int uniqueId = body.getWorldArrayIndex();
-        const int INVALID_SOLVER_BODY_ID = -1;
-        if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size())
-        {
-            m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
-        }
-        solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ];
-        // if no table entry yet,
-        if ( solverBodyId == INVALID_SOLVER_BODY_ID )
-        {
-            // create a table entry for this body
-            btRigidBody* rb = btRigidBody::upcast( &body );
-            solverBodyId = m_tmpSolverBodyPool.size();
-            btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-            initSolverBody( &solverBody, &body, timeStep );
-            m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId;
-        }
-    }
-    else
-    {
-        // all fixed bodies (inf mass) get mapped to a single solver id
-        if ( m_fixedBodyId < 0 )
-        {
-            m_fixedBodyId = m_tmpSolverBodyPool.size();
-            btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-            initSolverBody( &fixedBody, 0, timeStep );
-        }
-        solverBodyId = m_fixedBodyId;
-    }
-    btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
+	int solverBodyId = -1;
+	bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
+	if (isRigidBodyType && !body.isStaticOrKinematicObject())
+	{
+		// dynamic body
+		// Dynamic bodies can only be in one island, so it's safe to write to the companionId
+		solverBodyId = body.getCompanionId();
+		if (solverBodyId < 0)
+		{
+			solverBodyId = m_tmpSolverBodyPool.size();
+			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+			initSolverBody(&solverBody, &body, timeStep);
+			body.setCompanionId(solverBodyId);
+		}
+	}
+	else if (isRigidBodyType && body.isKinematicObject())
+	{
+		//
+		// NOTE: must test for kinematic before static because some kinematic objects also
+		//   identify as "static"
+		//
+		// Kinematic bodies can be in multiple islands at once, so it is a
+		// race condition to write to them, so we use an alternate method
+		// to record the solverBodyId
+		int uniqueId = body.getWorldArrayIndex();
+		const int INVALID_SOLVER_BODY_ID = -1;
+		if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size())
+		{
+			m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
+		}
+		solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
+		// if no table entry yet,
+		if (solverBodyId == INVALID_SOLVER_BODY_ID)
+		{
+			// create a table entry for this body
+			solverBodyId = m_tmpSolverBodyPool.size();
+			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+			initSolverBody(&solverBody, &body, timeStep);
+			m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId;
+		}
+	}
+	else
+	{
+		bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK);
+		// Incorrectly set collision object flags can degrade performance in various ways.
+		if (!isMultiBodyType)
+		{
+			btAssert(body.isStaticOrKinematicObject());
+		}
+		//it could be a multibody link collider
+		// all fixed bodies (inf mass) get mapped to a single solver id
+		if (m_fixedBodyId < 0)
+		{
+			m_fixedBodyId = m_tmpSolverBodyPool.size();
+			btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+			initSolverBody(&fixedBody, 0, timeStep);
+		}
+		solverBodyId = m_fixedBodyId;
+	}
+	btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size());
 	return solverBodyId;
-#else // BT_THREADSAFE
+#else   // BT_THREADSAFE
 
-    int solverBodyIdA = -1;
+	int solverBodyIdA = -1;
 
 	if (body.getCompanionId() >= 0)
 	{
 		//body has already been converted
 		solverBodyIdA = body.getCompanionId();
-        btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
-	} else
+		btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
+	}
+	else
 	{
 		btRigidBody* rb = btRigidBody::upcast(&body);
 		//convert both active and kinematic objects (for their velocity)
@@ -811,233 +768,216 @@ int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
 		{
 			solverBodyIdA = m_tmpSolverBodyPool.size();
 			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&solverBody,&body,timeStep);
+			initSolverBody(&solverBody, &body, timeStep);
 			body.setCompanionId(solverBodyIdA);
-		} else
+		}
+		else
 		{
-
-			if (m_fixedBodyId<0)
+			if (m_fixedBodyId < 0)
 			{
 				m_fixedBodyId = m_tmpSolverBodyPool.size();
 				btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-				initSolverBody(&fixedBody,0,timeStep);
+				initSolverBody(&fixedBody, 0, timeStep);
 			}
 			return m_fixedBodyId;
-//			return 0;//assume first one is a fixed solver body
+			//			return 0;//assume first one is a fixed solver body
 		}
 	}
 
 	return solverBodyIdA;
-#endif // BT_THREADSAFE
-
+#endif  // BT_THREADSAFE
 }
 #include <stdio.h>
 
-
 void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
 																 int solverBodyIdA, int solverBodyIdB,
 																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
 																 btScalar& relaxation,
 																 const btVector3& rel_pos1, const btVector3& rel_pos2)
 {
+	//	const btVector3& pos1 = cp.getPositionWorldOnA();
+	//	const btVector3& pos2 = cp.getPositionWorldOnB();
 
-		//	const btVector3& pos1 = cp.getPositionWorldOnA();
-		//	const btVector3& pos2 = cp.getPositionWorldOnB();
-
-			btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
-			btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
-
-			btRigidBody* rb0 = bodyA->m_originalBody;
-			btRigidBody* rb1 = bodyB->m_originalBody;
-
-//			btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
-//			btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-			//rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
-			//rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
-
-			relaxation = infoGlobal.m_sor;
-			btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
-
-            //cfm = 1 /       ( dt * kp + kd )
-            //erp = dt * kp / ( dt * kp + kd )
-            
-            btScalar cfm = infoGlobal.m_globalCfm;
-            btScalar erp = infoGlobal.m_erp2;
-
-            if ((cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP))
-            {
-                if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM)
-                    cfm  = cp.m_contactCFM;
-                if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP)
-                    erp = cp.m_contactERP;                
-            } else
-            {
-                if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING)
-                {
-                    btScalar denom = ( infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1 );
-                    if (denom < SIMD_EPSILON)
-                    {
-                        denom = SIMD_EPSILON;
-                    }
-                    cfm = btScalar(1) / denom; 
-                    erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom;
-                }
-            }
-            
-            cfm *= invTimeStep;
-            
-
-			btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-			solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
-			btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
-			solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
-
-				{
-#ifdef COMPUTE_IMPULSE_DENOM
-					btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
-					btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
-#else
-					btVector3 vec;
-					btScalar denom0 = 0.f;
-					btScalar denom1 = 0.f;
-					if (rb0)
-					{
-						vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-						denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-					}
-					if (rb1)
-					{
-						vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-						denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-					}
-#endif //COMPUTE_IMPULSE_DENOM
-
-					btScalar denom = relaxation/(denom0+denom1+cfm);
-					solverConstraint.m_jacDiagABInv = denom;
-				}
-
-				if (rb0)
-				{
-					solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
-					solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-				} else
-				{
-					solverConstraint.m_contactNormal1.setZero();
-					solverConstraint.m_relpos1CrossNormal.setZero();
-				}
-				if (rb1)
-				{
-					solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
-					solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-				}else
-				{
-					solverConstraint.m_contactNormal2.setZero();
-					solverConstraint.m_relpos2CrossNormal.setZero();
-				}
-
-				btScalar restitution = 0.f;
-				btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
-
-				{
-					btVector3 vel1,vel2;
+	btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+	btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
 
-					vel1 = rb0? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
-					vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
+	btRigidBody* rb0 = bodyA->m_originalBody;
+	btRigidBody* rb1 = bodyB->m_originalBody;
 
-	//			btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-					btVector3 vel  = vel1 - vel2;
-					btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
+	//			btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
+	//			btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
+	//rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
+	//rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
 
+	relaxation = infoGlobal.m_sor;
+	btScalar invTimeStep = btScalar(1) / infoGlobal.m_timeStep;
 
+	//cfm = 1 /       ( dt * kp + kd )
+	//erp = dt * kp / ( dt * kp + kd )
 
-					solverConstraint.m_friction = cp.m_combinedFriction;
+	btScalar cfm = infoGlobal.m_globalCfm;
+	btScalar erp = infoGlobal.m_erp2;
 
+	if ((cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP))
+	{
+		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM)
+			cfm = cp.m_contactCFM;
+		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP)
+			erp = cp.m_contactERP;
+	}
+	else
+	{
+		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING)
+		{
+			btScalar denom = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1);
+			if (denom < SIMD_EPSILON)
+			{
+				denom = SIMD_EPSILON;
+			}
+			cfm = btScalar(1) / denom;
+			erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom;
+		}
+	}
 
-					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
-					if (restitution <= btScalar(0.))
-					{
-						restitution = 0.f;
-					};
-				}
+	cfm *= invTimeStep;
 
+	btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
+	solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
+	btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
+	solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
 
-				///warm starting (or zero if disabled)
-				if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-				{
-					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-					if (rb0)
-						bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-					if (rb1)
-						bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
-				} else
-				{
-					solverConstraint.m_appliedImpulse = 0.f;
-				}
+	{
+#ifdef COMPUTE_IMPULSE_DENOM
+		btScalar denom0 = rb0->computeImpulseDenominator(pos1, cp.m_normalWorldOnB);
+		btScalar denom1 = rb1->computeImpulseDenominator(pos2, cp.m_normalWorldOnB);
+#else
+		btVector3 vec;
+		btScalar denom0 = 0.f;
+		btScalar denom1 = 0.f;
+		if (rb0)
+		{
+			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
+			denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+		}
+		if (rb1)
+		{
+			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
+			denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+		}
+#endif  //COMPUTE_IMPULSE_DENOM
 
-				solverConstraint.m_appliedPushImpulse = 0.f;
+		btScalar denom = relaxation / (denom0 + denom1 + cfm);
+		solverConstraint.m_jacDiagABInv = denom;
+	}
 
-				{
+	if (rb0)
+	{
+		solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
+		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+	}
+	else
+	{
+		solverConstraint.m_contactNormal1.setZero();
+		solverConstraint.m_relpos1CrossNormal.setZero();
+	}
+	if (rb1)
+	{
+		solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
+		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
+	}
+	else
+	{
+		solverConstraint.m_contactNormal2.setZero();
+		solverConstraint.m_relpos2CrossNormal.setZero();
+	}
 
-					btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse: btVector3(0,0,0);
-					btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse: btVector3(0,0,0);
-					btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse: btVector3(0,0,0);
-					btVector3 externalTorqueImpulseB = bodyB->m_originalBody ?bodyB->m_externalTorqueImpulse : btVector3(0,0,0);
+	btScalar restitution = 0.f;
+	btScalar penetration = cp.getDistance() + infoGlobal.m_linearSlop;
 
+	{
+		btVector3 vel1, vel2;
 
-					btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity+externalForceImpulseA)
-						+ solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity+externalTorqueImpulseA);
-					btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity+externalForceImpulseB)
-						+ solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity+externalTorqueImpulseB);
-					btScalar rel_vel = vel1Dotn+vel2Dotn;
+		vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0, 0, 0);
+		vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
 
-					btScalar positionalError = 0.f;
-					btScalar	velocityError = restitution - rel_vel;// * damping;
+		//			btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
+		btVector3 vel = vel1 - vel2;
+		btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
 
+		solverConstraint.m_friction = cp.m_combinedFriction;
 
-				
-					if (penetration>0)
-					{
-						positionalError = 0;
+		restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
+		if (restitution <= btScalar(0.))
+		{
+			restitution = 0.f;
+		};
+	}
 
-						velocityError -= penetration *invTimeStep;
-					} else
-					{
-						positionalError = -penetration * erp*invTimeStep;
+	///warm starting (or zero if disabled)
+	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+	{
+		solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
+		if (rb0)
+			bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
+		if (rb1)
+			bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() , -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
+	}
+	else
+	{
+		solverConstraint.m_appliedImpulse = 0.f;
+	}
 
-					}
+	solverConstraint.m_appliedPushImpulse = 0.f;
 
-					btScalar  penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-					btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+	{
+		btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse : btVector3(0, 0, 0);
+		btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse : btVector3(0, 0, 0);
+		btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse : btVector3(0, 0, 0);
+		btVector3 externalTorqueImpulseB = bodyB->m_originalBody ? bodyB->m_externalTorqueImpulse : btVector3(0, 0, 0);
 
-					if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-					{
-						//combine position and velocity into rhs
-						solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv;
-						solverConstraint.m_rhsPenetration = 0.f;
+		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity + externalForceImpulseA) + solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity + externalTorqueImpulseA);
+		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity + externalForceImpulseB) + solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity + externalTorqueImpulseB);
+		btScalar rel_vel = vel1Dotn + vel2Dotn;
 
-					} else
-					{
-						//split position and velocity into rhs and m_rhsPenetration
-						solverConstraint.m_rhs = velocityImpulse;
-						solverConstraint.m_rhsPenetration = penetrationImpulse;
-					}
-					solverConstraint.m_cfm = cfm*solverConstraint.m_jacDiagABInv;
-					solverConstraint.m_lowerLimit = 0;
-					solverConstraint.m_upperLimit = 1e10f;
-				}
+		btScalar positionalError = 0.f;
+		btScalar velocityError = restitution - rel_vel;  // * damping;
 
+		if (penetration > 0)
+		{
+			positionalError = 0;
 
+			velocityError -= penetration * invTimeStep;
+		}
+		else
+		{
+			positionalError = -penetration * erp * invTimeStep;
+		}
 
+		btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
 
+		if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+		{
+			//combine position and velocity into rhs
+			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;  //-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv;
+			solverConstraint.m_rhsPenetration = 0.f;
+		}
+		else
+		{
+			//split position and velocity into rhs and m_rhsPenetration
+			solverConstraint.m_rhs = velocityImpulse;
+			solverConstraint.m_rhsPenetration = penetrationImpulse;
+		}
+		solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
+		solverConstraint.m_lowerLimit = 0;
+		solverConstraint.m_upperLimit = 1e10f;
+	}
 }
 
-
-
-void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint,
-																		int solverBodyIdA, int solverBodyIdB,
-																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
+void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint,
+																	   int solverBodyIdA, int solverBodyIdB,
+																	   btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
 {
-
 	btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
 	btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
 
@@ -1050,10 +990,11 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
 		{
 			frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
 			if (rb0)
-				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
+				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() , frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
 			if (rb1)
-				bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
-		} else
+				bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() , -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
+		}
+		else
 		{
 			frictionConstraint1.m_appliedImpulse = 0.f;
 		}
@@ -1061,50 +1002,45 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
 
 	if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 	{
-		btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
+		btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
 		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 		{
-			frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2  * infoGlobal.m_warmstartingFactor;
+			frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
 			if (rb0)
-				bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
+				bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1 * rb0->getInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse);
 			if (rb1)
-				bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
-		} else
+				bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint2.m_angularComponentB, -(btScalar)frictionConstraint2.m_appliedImpulse);
+		}
+		else
 		{
 			frictionConstraint2.m_appliedImpulse = 0.f;
 		}
 	}
 }
 
-
-
-
-void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
+void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal)
 {
-	btCollisionObject* colObj0=0,*colObj1=0;
+	btCollisionObject *colObj0 = 0, *colObj1 = 0;
 
 	colObj0 = (btCollisionObject*)manifold->getBody0();
 	colObj1 = (btCollisionObject*)manifold->getBody1();
 
-	int solverBodyIdA = getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
-	int solverBodyIdB = getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
+	int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
+	int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
 
-//	btRigidBody* bodyA = btRigidBody::upcast(colObj0);
-//	btRigidBody* bodyB = btRigidBody::upcast(colObj1);
+	//	btRigidBody* bodyA = btRigidBody::upcast(colObj0);
+	//	btRigidBody* bodyB = btRigidBody::upcast(colObj1);
 
 	btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
 	btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
 
-
-
 	///avoid collision response between two static objects
 	if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero())))
 		return;
 
-	int rollingFriction=1;
-	for (int j=0;j<manifold->getNumContacts();j++)
+	int rollingFriction = 1;
+	for (int j = 0; j < manifold->getNumContacts(); j++)
 	{
-
 		btManifoldPoint& cp = manifold->getContactPoint(j);
 
 		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
@@ -1113,7 +1049,6 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 			btVector3 rel_pos2;
 			btScalar relaxation;
 
-
 			int frictionIndex = m_tmpSolverContactConstraintPool.size();
 			btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
 			solverConstraint.m_solverBodyIdA = solverBodyIdA;
@@ -1129,43 +1064,38 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 
 			btVector3 vel1;
 			btVector3 vel2;
-			
-			solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1);
-			solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 );
 
-			btVector3 vel  = vel1 - vel2;
+			solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1, vel1);
+			solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2, vel2);
+
+			btVector3 vel = vel1 - vel2;
 			btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
 
 			setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
 
-
-
-
 			/////setup the friction constraints
 
 			solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
 
-			if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
+			if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0))
 			{
-               
 				{
-					addTorsionalFrictionConstraint(cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,cp.m_combinedSpinningFriction, rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					btVector3 axis0,axis1;
-					btPlaneSpace1(cp.m_normalWorldOnB,axis0,axis1);
+					addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
+					btVector3 axis0, axis1;
+					btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1);
 					axis0.normalize();
 					axis1.normalize();
-					
-					applyAnisotropicFriction(colObj0,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj0,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					if (axis0.length()>0.001)
-						addTorsionalFrictionConstraint(axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,
-                                                       cp.m_combinedRollingFriction, rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					if (axis1.length()>0.001)
-						addTorsionalFrictionConstraint(axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,
-                                                       cp.m_combinedRollingFriction, rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 
+					applyAnisotropicFriction(colObj0, axis0, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1, axis0, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					if (axis0.length() > 0.001)
+						addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
+													   cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
+					if (axis1.length() > 0.001)
+						addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
+													   cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
 				}
 			}
 
@@ -1180,420 +1110,409 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 			///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
 			///
 			///The user can manually override the friction directions for certain contacts using a contact callback,
-			///and set the cp.m_lateralFrictionInitialized to true
+			///and use contactPoint.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
 			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
 			///this will give a conveyor belt effect
 			///
-		
-			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
+
+			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
 			{
 				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
 				btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
 				if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 				{
-					cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,infoGlobal);
+					cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel);
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
 
-					if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
 						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-						cp.m_lateralFrictionDir2.normalize();//??
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal);
+						cp.m_lateralFrictionDir2.normalize();  //??
+						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
 					}
-
-				} else
+				}
+				else
 				{
-					btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+					btPlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
 
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal);
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
 
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal);
+						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
 					}
 
-
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
 					{
-						cp.m_contactPointFlags|=BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
+						cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
 					}
 				}
-
-			} else
+			}
+			else
 			{
-				addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
+				addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
 
 				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
-
+					addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
 			}
-			setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
-
-
-
-
+			setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
 		}
 	}
 }
 
-void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
+void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
 {
 	int i;
 	btPersistentManifold* manifold = 0;
-//			btCollisionObject* colObj0=0,*colObj1=0;
-
+	//			btCollisionObject* colObj0=0,*colObj1=0;
 
-	for (i=0;i<numManifolds;i++)
+	for (i = 0; i < numManifolds; i++)
 	{
 		manifold = manifoldPtr[i];
-		convertContact(manifold,infoGlobal);
+		convertContact(manifold, infoGlobal);
 	}
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow,
+													   btTypedConstraint* constraint,
+													   const btTypedConstraint::btConstraintInfo1& info1,
+													   int solverBodyIdA,
+													   int solverBodyIdB,
+													   const btContactSolverInfo& infoGlobal)
 {
-	m_fixedBodyId = -1;
-	BT_PROFILE("solveGroupCacheFriendlySetup");
-	(void)debugDrawer;
+	const btRigidBody& rbA = constraint->getRigidBodyA();
+	const btRigidBody& rbB = constraint->getRigidBodyB();
 
-    // if solver mode has changed,
-    if ( infoGlobal.m_solverMode != m_cachedSolverMode )
-    {
-        // update solver functions to use SIMD or non-SIMD
-        bool useSimd = !!( infoGlobal.m_solverMode & SOLVER_SIMD );
-        setupSolverFunctions( useSimd );
-        m_cachedSolverMode = infoGlobal.m_solverMode;
-    }
-	m_maxOverrideNumSolverIterations = 0;
+	const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
+	const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
 
-#ifdef BT_ADDITIONAL_DEBUG
-	 //make sure that dynamic bodies exist for all (enabled) constraints
-	for (int i=0;i<numConstraints;i++)
+	int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
+	if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
+		m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
+
+	for (int j = 0; j < info1.m_numConstraintRows; j++)
 	{
-		btTypedConstraint* constraint = constraints[i];
-		if (constraint->isEnabled())
+		memset(&currentConstraintRow[j], 0, sizeof(btSolverConstraint));
+		currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
+		currentConstraintRow[j].m_upperLimit = SIMD_INFINITY;
+		currentConstraintRow[j].m_appliedImpulse = 0.f;
+		currentConstraintRow[j].m_appliedPushImpulse = 0.f;
+		currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
+		currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
+		currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
+	}
+
+	// these vectors are already cleared in initSolverBody, no need to redundantly clear again
+	btAssert(bodyAPtr->getDeltaLinearVelocity().isZero());
+	btAssert(bodyAPtr->getDeltaAngularVelocity().isZero());
+	btAssert(bodyAPtr->getPushVelocity().isZero());
+	btAssert(bodyAPtr->getTurnVelocity().isZero());
+	btAssert(bodyBPtr->getDeltaLinearVelocity().isZero());
+	btAssert(bodyBPtr->getDeltaAngularVelocity().isZero());
+	btAssert(bodyBPtr->getPushVelocity().isZero());
+	btAssert(bodyBPtr->getTurnVelocity().isZero());
+	//bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+	//bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
+	//bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
+	//bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
+	//bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+	//bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
+	//bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
+	//bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
+
+	btTypedConstraint::btConstraintInfo2 info2;
+	info2.fps = 1.f / infoGlobal.m_timeStep;
+	info2.erp = infoGlobal.m_erp;
+	info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
+	info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
+	info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
+	info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
+	info2.rowskip = sizeof(btSolverConstraint) / sizeof(btScalar);  //check this
+	///the size of btSolverConstraint needs be a multiple of btScalar
+	btAssert(info2.rowskip * sizeof(btScalar) == sizeof(btSolverConstraint));
+	info2.m_constraintError = &currentConstraintRow->m_rhs;
+	currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
+	info2.m_damping = infoGlobal.m_damping;
+	info2.cfm = &currentConstraintRow->m_cfm;
+	info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
+	info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
+	info2.m_numIterations = infoGlobal.m_numIterations;
+	constraint->getInfo2(&info2);
+
+	///finalize the constraint setup
+	for (int j = 0; j < info1.m_numConstraintRows; j++)
+	{
+		btSolverConstraint& solverConstraint = currentConstraintRow[j];
+
+		if (solverConstraint.m_upperLimit >= constraint->getBreakingImpulseThreshold())
 		{
-			if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
-			{
-				bool found=false;
-				for (int b=0;b<numBodies;b++)
-				{
+			solverConstraint.m_upperLimit = constraint->getBreakingImpulseThreshold();
+		}
 
-					if (&constraint->getRigidBodyA()==bodies[b])
-					{
-						found = true;
-						break;
-					}
-				}
-				btAssert(found);
-			}
-			if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
-			{
-				bool found=false;
-				for (int b=0;b<numBodies;b++)
-				{
-					if (&constraint->getRigidBodyB()==bodies[b])
-					{
-						found = true;
-						break;
-					}
-				}
-				btAssert(found);
-			}
+		if (solverConstraint.m_lowerLimit <= -constraint->getBreakingImpulseThreshold())
+		{
+			solverConstraint.m_lowerLimit = -constraint->getBreakingImpulseThreshold();
+		}
+
+		solverConstraint.m_originalContactPoint = constraint;
+
+		{
+			const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
+			solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld() * ftorqueAxis1 * constraint->getRigidBodyA().getAngularFactor();
+		}
+		{
+			const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
+			solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld() * ftorqueAxis2 * constraint->getRigidBodyB().getAngularFactor();
+		}
+
+		{
+			btVector3 iMJlA = solverConstraint.m_contactNormal1 * rbA.getInvMass();
+			btVector3 iMJaA = rbA.getInvInertiaTensorWorld() * solverConstraint.m_relpos1CrossNormal;
+			btVector3 iMJlB = solverConstraint.m_contactNormal2 * rbB.getInvMass();  //sign of normal?
+			btVector3 iMJaB = rbB.getInvInertiaTensorWorld() * solverConstraint.m_relpos2CrossNormal;
+
+			btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
+			sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
+			sum += iMJlB.dot(solverConstraint.m_contactNormal2);
+			sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
+			btScalar fsum = btFabs(sum);
+			btAssert(fsum > SIMD_EPSILON);
+			btScalar sorRelaxation = 1.f;  //todo: get from globalInfo?
+			solverConstraint.m_jacDiagABInv = fsum > SIMD_EPSILON ? sorRelaxation / sum : 0.f;
+		}
+
+		{
+			btScalar rel_vel;
+			btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0, 0, 0);
+			btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0, 0, 0);
+
+			btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0, 0, 0);
+			btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalTorqueImpulse : btVector3(0, 0, 0);
+
+			btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity() + externalForceImpulseA) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity() + externalTorqueImpulseA);
+
+			btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity() + externalForceImpulseB) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity() + externalTorqueImpulseB);
+
+			rel_vel = vel1Dotn + vel2Dotn;
+			btScalar restitution = 0.f;
+			btScalar positionalError = solverConstraint.m_rhs;  //already filled in by getConstraintInfo2
+			btScalar velocityError = restitution - rel_vel * info2.m_damping;
+			btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+			btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
+			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
+			solverConstraint.m_appliedImpulse = 0.f;
 		}
 	}
-    //make sure that dynamic bodies exist for all contact manifolds
-    for (int i=0;i<numManifolds;i++)
-    {
-        if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject())
-        {
-            bool found=false;
-            for (int b=0;b<numBodies;b++)
-            {
-
-                if (manifoldPtr[i]->getBody0()==bodies[b])
-                {
-                    found = true;
-                    break;
-                }
-            }
-            btAssert(found);
-        }
-        if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject())
-        {
-            bool found=false;
-            for (int b=0;b<numBodies;b++)
-            {
-                if (manifoldPtr[i]->getBody1()==bodies[b])
-                {
-                    found = true;
-                    break;
-                }
-            }
-            btAssert(found);
-        }
-    }
-#endif //BT_ADDITIONAL_DEBUG
+}
+
+void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("convertJoints");
+	for (int j = 0; j < numConstraints; j++)
+	{
+		btTypedConstraint* constraint = constraints[j];
+		constraint->buildJacobian();
+		constraint->internalSetAppliedImpulse(0.0f);
+	}
+
+	int totalNumRows = 0;
 
+	m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
+	//calculate the total number of contraint rows
+	for (int i = 0; i < numConstraints; i++)
+	{
+		btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+		btJointFeedback* fb = constraints[i]->getJointFeedback();
+		if (fb)
+		{
+			fb->m_appliedForceBodyA.setZero();
+			fb->m_appliedTorqueBodyA.setZero();
+			fb->m_appliedForceBodyB.setZero();
+			fb->m_appliedTorqueBodyB.setZero();
+		}
 
+		if (constraints[i]->isEnabled())
+		{
+			constraints[i]->getInfo1(&info1);
+		}
+		else
+		{
+			info1.m_numConstraintRows = 0;
+			info1.nub = 0;
+		}
+		totalNumRows += info1.m_numConstraintRows;
+	}
+	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
+
+	///setup the btSolverConstraints
+	int currentRow = 0;
+
+	for (int i = 0; i < numConstraints; i++)
+	{
+		const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+
+		if (info1.m_numConstraintRows)
+		{
+			btAssert(currentRow < totalNumRows);
+
+			btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
+			btTypedConstraint* constraint = constraints[i];
+			btRigidBody& rbA = constraint->getRigidBodyA();
+			btRigidBody& rbB = constraint->getRigidBodyB();
+
+			int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep);
+			int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep);
+
+			convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal);
+		}
+		currentRow += info1.m_numConstraintRows;
+	}
+}
+
+void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("convertBodies");
 	for (int i = 0; i < numBodies; i++)
 	{
 		bodies[i]->setCompanionId(-1);
 	}
 #if BT_THREADSAFE
-    m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 );
-#endif // BT_THREADSAFE
+	m_kinematicBodyUniqueIdToSolverBodyTable.resize(0);
+#endif  // BT_THREADSAFE
 
-	m_tmpSolverBodyPool.reserve(numBodies+1);
+	m_tmpSolverBodyPool.reserve(numBodies + 1);
 	m_tmpSolverBodyPool.resize(0);
 
 	//btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
-    //initSolverBody(&fixedBody,0);
-
-	//convert all bodies
+	//initSolverBody(&fixedBody,0);
 
-
-	for (int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 	{
-		int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep);
+		int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
 
 		btRigidBody* body = btRigidBody::upcast(bodies[i]);
 		if (body && body->getInvMass())
 		{
 			btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
-			btVector3 gyroForce (0,0,0);
-			if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
+			btVector3 gyroForce(0, 0, 0);
+			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
 			{
 				gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
-				solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
+				solverBody.m_externalTorqueImpulse -= gyroForce * body->getInvInertiaTensorWorld() * infoGlobal.m_timeStep;
 			}
-			if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
+			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
 			{
 				gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
 				solverBody.m_externalTorqueImpulse += gyroForce;
 			}
-			if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
+			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
 			{
 				gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
 				solverBody.m_externalTorqueImpulse += gyroForce;
-
 			}
-			
-
 		}
 	}
+}
+
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
+{
+	m_fixedBodyId = -1;
+	BT_PROFILE("solveGroupCacheFriendlySetup");
+	(void)debugDrawer;
 
-	if (1)
+	// if solver mode has changed,
+	if (infoGlobal.m_solverMode != m_cachedSolverMode)
 	{
-		int j;
-		for (j=0;j<numConstraints;j++)
-		{
-			btTypedConstraint* constraint = constraints[j];
-			constraint->buildJacobian();
-			constraint->internalSetAppliedImpulse(0.0f);
-		}
+		// update solver functions to use SIMD or non-SIMD
+		bool useSimd = !!(infoGlobal.m_solverMode & SOLVER_SIMD);
+		setupSolverFunctions(useSimd);
+		m_cachedSolverMode = infoGlobal.m_solverMode;
 	}
+	m_maxOverrideNumSolverIterations = 0;
 
-	//btRigidBody* rb0=0,*rb1=0;
-
-	//if (1)
+#ifdef BT_ADDITIONAL_DEBUG
+	//make sure that dynamic bodies exist for all (enabled) constraints
+	for (int i = 0; i < numConstraints; i++)
 	{
+		btTypedConstraint* constraint = constraints[i];
+		if (constraint->isEnabled())
 		{
-
-			int totalNumRows = 0;
-			int i;
-
-			m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
-			//calculate the total number of contraint rows
-			for (i=0;i<numConstraints;i++)
+			if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
 			{
-				btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-				btJointFeedback* fb = constraints[i]->getJointFeedback();
-				if (fb)
+				bool found = false;
+				for (int b = 0; b < numBodies; b++)
 				{
-					fb->m_appliedForceBodyA.setZero();
-					fb->m_appliedTorqueBodyA.setZero();
-					fb->m_appliedForceBodyB.setZero();
-					fb->m_appliedTorqueBodyB.setZero();
+					if (&constraint->getRigidBodyA() == bodies[b])
+					{
+						found = true;
+						break;
+					}
 				}
-
-				if (constraints[i]->isEnabled())
+				btAssert(found);
+			}
+			if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
+			{
+				bool found = false;
+				for (int b = 0; b < numBodies; b++)
 				{
+					if (&constraint->getRigidBodyB() == bodies[b])
+					{
+						found = true;
+						break;
+					}
 				}
-				if (constraints[i]->isEnabled())
-				{
-					constraints[i]->getInfo1(&info1);
-				} else
+				btAssert(found);
+			}
+		}
+	}
+	//make sure that dynamic bodies exist for all contact manifolds
+	for (int i = 0; i < numManifolds; i++)
+	{
+		if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject())
+		{
+			bool found = false;
+			for (int b = 0; b < numBodies; b++)
+			{
+				if (manifoldPtr[i]->getBody0() == bodies[b])
 				{
-					info1.m_numConstraintRows = 0;
-					info1.nub = 0;
+					found = true;
+					break;
 				}
-				totalNumRows += info1.m_numConstraintRows;
 			}
-			m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
-
-
-			///setup the btSolverConstraints
-			int currentRow = 0;
-
-			for (i=0;i<numConstraints;i++)
+			btAssert(found);
+		}
+		if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject())
+		{
+			bool found = false;
+			for (int b = 0; b < numBodies; b++)
 			{
-				const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-
-				if (info1.m_numConstraintRows)
+				if (manifoldPtr[i]->getBody1() == bodies[b])
 				{
-					btAssert(currentRow<totalNumRows);
-
-					btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
-					btTypedConstraint* constraint = constraints[i];
-					btRigidBody& rbA = constraint->getRigidBodyA();
-					btRigidBody& rbB = constraint->getRigidBodyB();
-
-					int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep);
-                    int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep);
-
-                    btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
-                    btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
-
-
-
-
-					int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
-					if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
-						m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
-
-
-					int j;
-					for ( j=0;j<info1.m_numConstraintRows;j++)
-					{
-						memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
-						currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
-						currentConstraintRow[j].m_upperLimit = SIMD_INFINITY;
-						currentConstraintRow[j].m_appliedImpulse = 0.f;
-						currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-						currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
-						currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
-						currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
-					}
-
-					bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-					bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-					bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-					bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-
-
-					btTypedConstraint::btConstraintInfo2 info2;
-					info2.fps = 1.f/infoGlobal.m_timeStep;
-					info2.erp = infoGlobal.m_erp;
-					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
-					info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
-					info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
-					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-					info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
-					///the size of btSolverConstraint needs be a multiple of btScalar
-		            btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
-					info2.m_constraintError = &currentConstraintRow->m_rhs;
-					currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
-					info2.m_damping = infoGlobal.m_damping;
-					info2.cfm = &currentConstraintRow->m_cfm;
-					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
-					info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
-					info2.m_numIterations = infoGlobal.m_numIterations;
-					constraints[i]->getInfo2(&info2);
-
-					///finalize the constraint setup
-					for ( j=0;j<info1.m_numConstraintRows;j++)
-					{
-						btSolverConstraint& solverConstraint = currentConstraintRow[j];
-
-						if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold())
-						{
-							solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
-						}
-
-						if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold())
-						{
-							solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
-						}
-
-						solverConstraint.m_originalContactPoint = constraint;
-
-						{
-							const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-							solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
-						}
-						{
-							const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-							solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
-						}
-
-						{
-							btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
-							btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
-							btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
-							btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
-
-							btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
-							sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-							sum += iMJlB.dot(solverConstraint.m_contactNormal2);
-							sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-							btScalar fsum = btFabs(sum);
-							btAssert(fsum > SIMD_EPSILON);
-							btScalar sorRelaxation = 1.f;//todo: get from globalInfo?
-							solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f;
-						}
-
-
-
-						{
-							btScalar rel_vel;
-							btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0);
-							btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0);
-
-							btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0);
-							btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0);
-
-							btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA)
-												+ solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA);
-
-							btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB)
-																+ solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB);
-
-							rel_vel = vel1Dotn+vel2Dotn;
-							btScalar restitution = 0.f;
-							btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
-							btScalar	velocityError = restitution - rel_vel * info2.m_damping;
-							btScalar	penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-							btScalar	velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
-							solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
-							solverConstraint.m_appliedImpulse = 0.f;
-
-
-						}
-					}
+					found = true;
+					break;
 				}
-				currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
 			}
+			btAssert(found);
 		}
+	}
+#endif  //BT_ADDITIONAL_DEBUG
 
-		convertContacts(manifoldPtr,numManifolds,infoGlobal);
+	//convert all bodies
+	convertBodies(bodies, numBodies, infoGlobal);
 
-	}
+	convertJoints(constraints, numConstraints, infoGlobal);
 
-//	btContactSolverInfo info = infoGlobal;
+	convertContacts(manifoldPtr, numManifolds, infoGlobal);
 
+	//	btContactSolverInfo info = infoGlobal;
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
@@ -1602,34 +1521,33 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
 	m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
 	if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool*2);
+		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
 	else
 		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
 
 	m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
 	{
 		int i;
-		for (i=0;i<numNonContactPool;i++)
+		for (i = 0; i < numNonContactPool; i++)
 		{
 			m_orderNonContactConstraintPool[i] = i;
 		}
-		for (i=0;i<numConstraintPool;i++)
+		for (i = 0; i < numConstraintPool; i++)
 		{
 			m_orderTmpConstraintPool[i] = i;
 		}
-		for (i=0;i<numFrictionPool;i++)
+		for (i = 0; i < numFrictionPool; i++)
 		{
 			m_orderFrictionConstraintPool[i] = i;
 		}
 	}
 
 	return 0.f;
-
 }
 
-
-btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
+btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
 {
+	BT_PROFILE("solveSingleIteration");
 	btScalar leastSquaresResidual = 0.f;
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@@ -1638,29 +1556,31 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 
 	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
 	{
-		if (1)			// uncomment this for a bit less random ((iteration & 7) == 0)
+		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
 		{
-
-			for (int j=0; j<numNonContactPool; ++j) {
+			for (int j = 0; j < numNonContactPool; ++j)
+			{
 				int tmp = m_orderNonContactConstraintPool[j];
-				int swapi = btRandInt2(j+1);
+				int swapi = btRandInt2(j + 1);
 				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
 				m_orderNonContactConstraintPool[swapi] = tmp;
 			}
 
 			//contact/friction constraints are not solved more than
-			if (iteration< infoGlobal.m_numIterations)
+			if (iteration < infoGlobal.m_numIterations)
 			{
-				for (int j=0; j<numConstraintPool; ++j) {
+				for (int j = 0; j < numConstraintPool; ++j)
+				{
 					int tmp = m_orderTmpConstraintPool[j];
-					int swapi = btRandInt2(j+1);
+					int swapi = btRandInt2(j + 1);
 					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
 					m_orderTmpConstraintPool[swapi] = tmp;
 				}
 
-				for (int j=0; j<numFrictionPool; ++j) {
+				for (int j = 0; j < numFrictionPool; ++j)
+				{
 					int tmp = m_orderFrictionConstraintPool[j];
-					int swapi = btRandInt2(j+1);
+					int swapi = btRandInt2(j + 1);
 					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
 					m_orderFrictionConstraintPool[swapi] = tmp;
 				}
@@ -1668,254 +1588,240 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 		}
 	}
 
-		///solve all joint constraints
-		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+	///solve all joint constraints
+	for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
+	{
+		btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
+		if (iteration < constraint.m_overrideNumSolverIterations)
 		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations)
-			{
-				btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
-				leastSquaresResidual += residual*residual;
-			}
+			btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
+			leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
 		}
+	}
 
-		if (iteration< infoGlobal.m_numIterations)
+	if (iteration < infoGlobal.m_numIterations)
+	{
+		for (int j = 0; j < numConstraints; j++)
 		{
-			for (int j=0;j<numConstraints;j++)
+			if (constraints[j]->isEnabled())
 			{
-				if (constraints[j]->isEnabled())
-				{
-					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
-					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
-					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
-				}
+				int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
+				int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
+				btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
+				btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
+				constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
 			}
+		}
 
-			///solve all contact constraints
-			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
+		///solve all contact constraints
+		if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
+		{
+			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+			int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
+
+			for (int c = 0; c < numPoolConstraints; c++)
 			{
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
+				btScalar totalImpulse = 0;
 
-				for (int c=0;c<numPoolConstraints;c++)
 				{
-					btScalar totalImpulse =0;
+					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
+					btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+					leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
 
+					totalImpulse = solveManifold.m_appliedImpulse;
+				}
+				bool applyFriction = true;
+				if (applyFriction)
+				{
 					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-						leastSquaresResidual += residual*residual;
+						btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
 
-						totalImpulse = solveManifold.m_appliedImpulse;
-					}
-					bool applyFriction = true;
-					if (applyFriction)
-					{
+						if (totalImpulse > btScalar(0))
 						{
+							solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+							solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
-
-							if (totalImpulse>btScalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-								btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-								leastSquaresResidual += residual*residual;
-							}
+							btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+							leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
 						}
+					}
 
-						if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
-						{
-
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
+					if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
+					{
+						btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
 
-							if (totalImpulse>btScalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+						if (totalImpulse > btScalar(0))
+						{
+							solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+							solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-								btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-								leastSquaresResidual += residual*residual;
-							}
+							btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+							leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
 						}
 					}
 				}
-
 			}
-			else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
-			{
-				//solve the friction constraints after all contact constraints, don't interleave them
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int j;
-
-				for (j=0;j<numPoolConstraints;j++)
-				{
-					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-					leastSquaresResidual += residual*residual;
-				}
+		}
+		else  //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+		{
+			//solve the friction constraints after all contact constraints, don't interleave them
+			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+			int j;
 
+			for (j = 0; j < numPoolConstraints; j++)
+			{
+				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+				btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+				leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
+			}
 
+			///solve all friction constraints
 
-				///solve all friction constraints
+			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+			for (j = 0; j < numFrictionPoolConstraints; j++)
+			{
+				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 
-				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-				for (j=0;j<numFrictionPoolConstraints;j++)
+				if (totalImpulse > btScalar(0))
 				{
-					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+					solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+					solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
 
-					if (totalImpulse>btScalar(0))
-					{
-						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-						btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-						leastSquaresResidual += residual*residual;
-					}
+					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+					leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
 				}
 			}
+		}
 
+		int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
+		for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
+		{
+			btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
+			btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
+			if (totalImpulse > btScalar(0))
+			{
+				btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+				if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
+					rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
 
-				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (int j=0;j<numRollingFrictionPoolConstraints;j++)
-				{
-
-					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-					btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-					if (totalImpulse>btScalar(0))
-					{
-						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-						if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
-							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-						btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
-						leastSquaresResidual += residual*residual;
-					}
-				}
-
+				rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+				rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
 
+				btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
+				leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
+			}
 		}
+	}
 	return leastSquaresResidual;
 }
 
-
-void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
+	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
 	int iteration;
 	if (infoGlobal.m_splitImpulse)
 	{
 		{
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
+			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
 			{
-				btScalar leastSquaresResidual =0.f;
+				btScalar leastSquaresResidual = 0.f;
 				{
 					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 					int j;
-					for (j=0;j<numPoolConstraints;j++)
+					for (j = 0; j < numPoolConstraints; j++)
 					{
 						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
 
-						btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-						leastSquaresResidual += residual*residual;
+						btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+						leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
 					}
 				}
-				if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1))
+				if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
 				{
 #ifdef VERBOSE_RESIDUAL_PRINTF
-					printf("residual = %f at iteration #%d\n",leastSquaresResidual,iteration);
+					printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
 #endif
 					break;
 				}
 			}
-        }
+		}
 	}
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
 	BT_PROFILE("solveGroupCacheFriendlyIterations");
 
 	{
 		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
+		solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
-		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
+		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
 
-		for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
+		for (int iteration = 0; iteration < maxIterations; iteration++)
 		//for ( int iteration = maxIterations-1  ; iteration >= 0;iteration--)
 		{
-			m_leastSquaresResidual = solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
+			m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
-			if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration>= (maxIterations-1)))
+			if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
 			{
 #ifdef VERBOSE_RESIDUAL_PRINTF
-						printf("residual = %f at iteration #%d\n",m_leastSquaresResidual,iteration);
+				printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
 #endif
 				break;
 			}
 		}
-
 	}
 	return 0.f;
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
+void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
 {
-	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-	int i,j;
-
-	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+	for (int j = iBegin; j < iEnd; j++)
 	{
-		for (j=0;j<numPoolConstraints;j++)
-		{
-			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
-			btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
-			btAssert(pt);
-			pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
+		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
+		btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint;
+		btAssert(pt);
+		pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
 		//	float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-			//	printf("pt->m_appliedImpulseLateral1 = %f\n", f);
-			pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
-			if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-			{
-				pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
-			}
-			//do a callback here?
+		//	printf("pt->m_appliedImpulseLateral1 = %f\n", f);
+		pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+		//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
+		if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+		{
+			pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse;
 		}
+		//do a callback here?
 	}
+}
 
-	numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
-	for (j=0;j<numPoolConstraints;j++)
+void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	for (int j = iBegin; j < iEnd; j++)
 	{
 		const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
 		btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
 		btJointFeedback* fb = constr->getJointFeedback();
 		if (fb)
 		{
-			fb->m_appliedForceBodyA += solverConstr.m_contactNormal1*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
-			fb->m_appliedForceBodyB += solverConstr.m_contactNormal2*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
-			fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
-
+			fb->m_appliedForceBodyA += solverConstr.m_contactNormal1 * solverConstr.m_appliedImpulse * constr->getRigidBodyA().getLinearFactor() / infoGlobal.m_timeStep;
+			fb->m_appliedForceBodyB += solverConstr.m_contactNormal2 * solverConstr.m_appliedImpulse * constr->getRigidBodyB().getLinearFactor() / infoGlobal.m_timeStep;
+			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal * constr->getRigidBodyA().getAngularFactor() * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
+			fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal * constr->getRigidBodyB().getAngularFactor() * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep; /*RGM ???? */
 		}
 
 		constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
-		if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
+		if (btFabs(solverConstr.m_appliedImpulse) >= constr->getBreakingImpulseThreshold())
 		{
 			constr->setEnabled(false);
 		}
 	}
+}
 
-
-
-	for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	for (int i = iBegin; i < iEnd; i++)
 	{
 		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
 		if (body)
@@ -1926,11 +1832,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 				m_tmpSolverBodyPool[i].writebackVelocity();
 
 			m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(
-				m_tmpSolverBodyPool[i].m_linearVelocity+
+				m_tmpSolverBodyPool[i].m_linearVelocity +
 				m_tmpSolverBodyPool[i].m_externalForceImpulse);
 
 			m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(
-				m_tmpSolverBodyPool[i].m_angularVelocity+
+				m_tmpSolverBodyPool[i].m_angularVelocity +
 				m_tmpSolverBodyPool[i].m_externalTorqueImpulse);
 
 			if (infoGlobal.m_splitImpulse)
@@ -1939,6 +1845,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 			m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1);
 		}
 	}
+}
+
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("solveGroupCacheFriendlyFinish");
+
+	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+	{
+		writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal);
+	}
+
+	writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
+	writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal);
 
 	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
 	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
@@ -1949,25 +1868,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 	return 0.f;
 }
 
-
-
 /// btSequentialImpulseConstraintSolver Sequentially applies impulses
-btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/)
+btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/)
 {
-
 	BT_PROFILE("solveGroup");
 	//you need to provide at least some bodies
 
-	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
+	solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
-	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
+	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
 	solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
 
 	return 0.f;
 }
 
-void	btSequentialImpulseConstraintSolver::reset()
+void btSequentialImpulseConstraintSolver::reset()
 {
 	m_btSeed2 = 0;
 }
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 16c7eb74c1..70db83b063 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -27,141 +27,142 @@ class btCollisionObject;
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
 
-typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
+typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
 
 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
-ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
+ATTRIBUTE_ALIGNED16(class)
+btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
 protected:
-	btAlignedObjectArray<btSolverBody>      m_tmpSolverBodyPool;
-	btConstraintArray			m_tmpSolverContactConstraintPool;
-	btConstraintArray			m_tmpSolverNonContactConstraintPool;
-	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
-	btConstraintArray			m_tmpSolverContactRollingFrictionConstraintPool;
-
-	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
-	btAlignedObjectArray<int>	m_orderNonContactConstraintPool;
-	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
+	btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
+	btConstraintArray m_tmpSolverContactConstraintPool;
+	btConstraintArray m_tmpSolverNonContactConstraintPool;
+	btConstraintArray m_tmpSolverContactFrictionConstraintPool;
+	btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
+
+	btAlignedObjectArray<int> m_orderTmpConstraintPool;
+	btAlignedObjectArray<int> m_orderNonContactConstraintPool;
+	btAlignedObjectArray<int> m_orderFrictionConstraintPool;
 	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
-	int							m_maxOverrideNumSolverIterations;
+	int m_maxOverrideNumSolverIterations;
 	int m_fixedBodyId;
-    // When running solvers on multiple threads, a race condition exists for Kinematic objects that
-    // participate in more than one solver.
-    // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
-    // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
-    // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
-    // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
-    // index in this solver-local table, indexed by the uniqueId of the body.
-    btAlignedObjectArray<int>	m_kinematicBodyUniqueIdToSolverBodyTable;  // only used for multithreading
+	// When running solvers on multiple threads, a race condition exists for Kinematic objects that
+	// participate in more than one solver.
+	// The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
+	// for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
+	// (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
+	// To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
+	// index in this solver-local table, indexed by the uniqueId of the body.
+	btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable;  // only used for multithreading
 
 	btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
 	btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
-    btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
-    int m_cachedSolverMode;  // used to check if SOLVER_SIMD flag has been changed
-    void setupSolverFunctions( bool useSimd );
+	btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
+	int m_cachedSolverMode;  // used to check if SOLVER_SIMD flag has been changed
+	void setupSolverFunctions(bool useSimd);
 
-	btScalar	m_leastSquaresResidual;
+	btScalar m_leastSquaresResidual;
 
-	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
-									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
-									const btContactSolverInfo& infoGlobal,
-									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+	void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
+								 btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2,
+								 btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
+								 const btContactSolverInfo& infoGlobal,
+								 btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
 
-	void setupTorsionalFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
-									btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
-									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+	void setupTorsionalFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
+										  btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
+										  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
+										  btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
 
-	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
-	btSolverConstraint&	addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
+	btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
+	btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar torsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.f);
 
-	
-	void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, 
-								const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
+	void setupContactConstraint(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
+								const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
 
-	static void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
+	static void applyAnisotropicFriction(btCollisionObject * colObj, btVector3 & frictionDirection, int frictionMode);
 
-	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 
-										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
+	void setFrictionConstraintImpulse(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB,
+									  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
 
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
-	unsigned long	m_btSeed2;
+	unsigned long m_btSeed2;
 
-	
 	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
 
-	virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+	virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
 
-	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
+	void convertContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
 
+	virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
+	void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
 
-	btSimdScalar	resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
-    {
-        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
-    }
+	virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
 
-	btSimdScalar	resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
-    {
-        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
-    }
+	btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
+	{
+		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
+	}
+
+	btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
+	{
+		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
+	}
 
 	//internal method
-	int		getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
-	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
-
-	btSimdScalar	resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
-    {
-        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
-    }
-		
-protected:
-	
-	
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+	int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
+	void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
+
+	btScalar resolveSingleConstraintRowGeneric(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
+	btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
+	btScalar resolveSingleConstraintRowLowerLimit(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
+	btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
+	btScalar resolveSplitPenetrationImpulse(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
+	{
+		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
+	}
 
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+protected:
+	void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
+	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btSequentialImpulseConstraintSolver();
 	virtual ~btSequentialImpulseConstraintSolver();
 
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
-		
+	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+
 	///clear internal cached data and reset random seed
-	virtual	void	reset();
-	
+	virtual void reset();
+
 	unsigned long btRand2();
 
-	int btRandInt2 (int n);
+	int btRandInt2(int n);
 
-	void	setRandSeed(unsigned long seed)
+	void setRandSeed(unsigned long seed)
 	{
 		m_btSeed2 = seed;
 	}
-	unsigned long	getRandSeed() const
+	unsigned long getRandSeed() const
 	{
 		return m_btSeed2;
 	}
 
-	
-	virtual btConstraintSolverType	getSolverType() const
+	virtual btConstraintSolverType getSolverType() const
 	{
 		return BT_SEQUENTIAL_IMPULSE_SOLVER;
 	}
 
-	btSingleConstraintRowSolver	getActiveConstraintRowSolverGeneric()
+	btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
 	{
 		return m_resolveSingleConstraintRowGeneric;
 	}
@@ -169,7 +170,7 @@ public:
 	{
 		m_resolveSingleConstraintRowGeneric = rowSolver;
 	}
-	btSingleConstraintRowSolver	getActiveConstraintRowSolverLowerLimit()
+	btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
 	{
 		return m_resolveSingleConstraintRowLowerLimit;
 	}
@@ -179,18 +180,14 @@ public:
 	}
 
 	///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
-	btSingleConstraintRowSolver	getScalarConstraintRowSolverGeneric();
-	btSingleConstraintRowSolver	getSSE2ConstraintRowSolverGeneric();
-	btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverGeneric();
+	btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
+	btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
+	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
 
 	///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
-	btSingleConstraintRowSolver	getScalarConstraintRowSolverLowerLimit();
-	btSingleConstraintRowSolver	getSSE2ConstraintRowSolverLowerLimit();
-	btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverLowerLimit();
+	btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
+	btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
+	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
 };
 
-
-
-
-#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-
+#endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
new file mode 100644
index 0000000000..2718da4a50
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
@@ -0,0 +1,1554 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btSequentialImpulseConstraintSolverMt.h"
+
+#include "LinearMath/btQuickprof.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+bool btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops = false;  // some task schedulers don't like nested loops
+int btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching = 250;
+int btSequentialImpulseConstraintSolverMt::s_minBatchSize = 50;
+int btSequentialImpulseConstraintSolverMt::s_maxBatchSize = 100;
+btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D;
+btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D;
+
+btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt()
+{
+	m_numFrictionDirections = 1;
+	m_useBatching = false;
+	m_useObsoleteJointConstraints = false;
+}
+
+btSequentialImpulseConstraintSolverMt::~btSequentialImpulseConstraintSolverMt()
+{
+}
+
+void btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints()
+{
+	BT_PROFILE("setupBatchedContactConstraints");
+	m_batchedContactConstraints.setup(&m_tmpSolverContactConstraintPool,
+									  m_tmpSolverBodyPool,
+									  s_contactBatchingMethod,
+									  s_minBatchSize,
+									  s_maxBatchSize,
+									  &m_scratchMemory);
+}
+
+void btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints()
+{
+	BT_PROFILE("setupBatchedJointConstraints");
+	m_batchedJointConstraints.setup(&m_tmpSolverNonContactConstraintPool,
+									m_tmpSolverBodyPool,
+									s_jointBatchingMethod,
+									s_minBatchSize,
+									s_maxBatchSize,
+									&m_scratchMemory);
+}
+
+void btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal)
+{
+	btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[iContactConstraint];
+
+	btVector3 rel_pos1;
+	btVector3 rel_pos2;
+	btScalar relaxation;
+
+	int solverBodyIdA = contactConstraint.m_solverBodyIdA;
+	int solverBodyIdB = contactConstraint.m_solverBodyIdB;
+
+	btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+	btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
+
+	btRigidBody* colObj0 = solverBodyA->m_originalBody;
+	btRigidBody* colObj1 = solverBodyB->m_originalBody;
+
+	btManifoldPoint& cp = *static_cast<btManifoldPoint*>(contactConstraint.m_originalContactPoint);
+
+	const btVector3& pos1 = cp.getPositionWorldOnA();
+	const btVector3& pos2 = cp.getPositionWorldOnB();
+
+	rel_pos1 = pos1 - solverBodyA->getWorldTransform().getOrigin();
+	rel_pos2 = pos2 - solverBodyB->getWorldTransform().getOrigin();
+
+	btVector3 vel1;
+	btVector3 vel2;
+
+	solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1, vel1);
+	solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2, vel2);
+
+	btVector3 vel = vel1 - vel2;
+	btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
+
+	setupContactConstraint(contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
+
+	// setup rolling friction constraints
+	int rollingFrictionIndex = m_rollingFrictionIndexTable[iContactConstraint];
+	if (rollingFrictionIndex >= 0)
+	{
+		btSolverConstraint& spinningFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[rollingFrictionIndex];
+		btAssert(spinningFrictionConstraint.m_frictionIndex == iContactConstraint);
+		setupTorsionalFrictionConstraint(spinningFrictionConstraint,
+										 cp.m_normalWorldOnB,
+										 solverBodyIdA,
+										 solverBodyIdB,
+										 cp,
+										 cp.m_combinedSpinningFriction,
+										 rel_pos1,
+										 rel_pos2,
+										 colObj0,
+										 colObj1,
+										 relaxation,
+										 0.0f,
+										 0.0f);
+		btVector3 axis[2];
+		btPlaneSpace1(cp.m_normalWorldOnB, axis[0], axis[1]);
+		axis[0].normalize();
+		axis[1].normalize();
+
+		applyAnisotropicFriction(colObj0, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+		applyAnisotropicFriction(colObj1, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+		applyAnisotropicFriction(colObj0, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+		applyAnisotropicFriction(colObj1, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+		// put the largest axis first
+		if (axis[1].length2() > axis[0].length2())
+		{
+			btSwap(axis[0], axis[1]);
+		}
+		const btScalar kRollingFrictionThreshold = 0.001f;
+		for (int i = 0; i < 2; ++i)
+		{
+			int iRollingFric = rollingFrictionIndex + 1 + i;
+			btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[iRollingFric];
+			btAssert(rollingFrictionConstraint.m_frictionIndex == iContactConstraint);
+			btVector3 dir = axis[i];
+			if (dir.length() > kRollingFrictionThreshold)
+			{
+				setupTorsionalFrictionConstraint(rollingFrictionConstraint,
+												 dir,
+												 solverBodyIdA,
+												 solverBodyIdB,
+												 cp,
+												 cp.m_combinedRollingFriction,
+												 rel_pos1,
+												 rel_pos2,
+												 colObj0,
+												 colObj1,
+												 relaxation,
+												 0.0f,
+												 0.0f);
+			}
+			else
+			{
+				rollingFrictionConstraint.m_frictionIndex = -1;  // disable constraint
+			}
+		}
+	}
+
+	// setup friction constraints
+	//	setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
+	{
+		///Bullet has several options to set the friction directions
+		///By default, each contact has only a single friction direction that is recomputed automatically very frame
+		///based on the relative linear velocity.
+		///If the relative velocity it zero, it will automatically compute a friction direction.
+
+		///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
+		///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
+		///
+		///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
+		///
+		///The user can manually override the friction directions for certain contacts using a contact callback,
+		///and set the cp.m_lateralFrictionInitialized to true
+		///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
+		///this will give a conveyor belt effect
+		///
+		btSolverConstraint* frictionConstraint1 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex];
+		btAssert(frictionConstraint1->m_frictionIndex == iContactConstraint);
+
+		btSolverConstraint* frictionConstraint2 = NULL;
+		if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
+		{
+			frictionConstraint2 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex + 1];
+			btAssert(frictionConstraint2->m_frictionIndex == iContactConstraint);
+		}
+
+		if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
+		{
+			cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
+			btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
+			if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
+			{
+				cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel);
+				applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+				applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+				setupFrictionConstraint(*frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
+
+				if (frictionConstraint2)
+				{
+					cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
+					cp.m_lateralFrictionDir2.normalize();  //??
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					setupFrictionConstraint(*frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
+				}
+			}
+			else
+			{
+				btPlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
+
+				applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+				applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+				setupFrictionConstraint(*frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
+
+				if (frictionConstraint2)
+				{
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					setupFrictionConstraint(*frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
+				}
+
+				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
+				{
+					cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
+				}
+			}
+		}
+		else
+		{
+			setupFrictionConstraint(*frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
+			if (frictionConstraint2)
+			{
+				setupFrictionConstraint(*frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
+			}
+		}
+	}
+
+	setFrictionConstraintImpulse(contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
+}
+
+struct SetupContactConstraintsLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+	const btContactSolverInfo* m_infoGlobal;
+
+	SetupContactConstraintsLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, const btContactSolverInfo& infoGlobal)
+	{
+		m_solver = solver;
+		m_bc = bc;
+		m_infoGlobal = &infoGlobal;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("SetupContactConstraintsLoop");
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			for (int i = batch.begin; i < batch.end; ++i)
+			{
+				int iContact = m_bc->m_constraintIndices[i];
+				m_solver->internalSetupContactConstraints(iContact, *m_infoGlobal);
+			}
+		}
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::setupAllContactConstraints(const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("setupAllContactConstraints");
+	if (m_useBatching)
+	{
+		const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+		SetupContactConstraintsLoop loop(this, &batchedCons, infoGlobal);
+		for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+		{
+			int iPhase = batchedCons.m_phaseOrder[iiPhase];
+			const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+			int grainSize = 1;
+			btParallelFor(phase.begin, phase.end, grainSize, loop);
+		}
+	}
+	else
+	{
+		for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); ++i)
+		{
+			internalSetupContactConstraints(i, infoGlobal);
+		}
+	}
+}
+
+int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep)
+{
+	//
+	// getOrInitSolverBody is threadsafe only for a single thread per solver (with potentially multiple solvers)
+	//
+	// getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism)
+	//
+	int solverBodyId = -1;
+	bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
+	if (isRigidBodyType && !body.isStaticOrKinematicObject())
+	{
+		// dynamic body
+		// Dynamic bodies can only be in one island, so it's safe to write to the companionId
+		solverBodyId = body.getCompanionId();
+		if (solverBodyId < 0)
+		{
+			m_bodySolverArrayMutex.lock();
+			// now that we have the lock, check again
+			solverBodyId = body.getCompanionId();
+			if (solverBodyId < 0)
+			{
+				solverBodyId = m_tmpSolverBodyPool.size();
+				btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+				initSolverBody(&solverBody, &body, timeStep);
+				body.setCompanionId(solverBodyId);
+			}
+			m_bodySolverArrayMutex.unlock();
+		}
+	}
+	else if (isRigidBodyType && body.isKinematicObject())
+	{
+		//
+		// NOTE: must test for kinematic before static because some kinematic objects also
+		//   identify as "static"
+		//
+		// Kinematic bodies can be in multiple islands at once, so it is a
+		// race condition to write to them, so we use an alternate method
+		// to record the solverBodyId
+		int uniqueId = body.getWorldArrayIndex();
+		const int INVALID_SOLVER_BODY_ID = -1;
+		if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId)
+		{
+			m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
+			// now that we have the lock, check again
+			if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId)
+			{
+				m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
+			}
+			m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();
+		}
+		solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
+		// if no table entry yet,
+		if (INVALID_SOLVER_BODY_ID == solverBodyId)
+		{
+			// need to acquire both locks
+			m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
+			m_bodySolverArrayMutex.lock();
+			// now that we have the lock, check again
+			solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
+			if (INVALID_SOLVER_BODY_ID == solverBodyId)
+			{
+				// create a table entry for this body
+				solverBodyId = m_tmpSolverBodyPool.size();
+				btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+				initSolverBody(&solverBody, &body, timeStep);
+				m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId;
+			}
+			m_bodySolverArrayMutex.unlock();
+			m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();
+		}
+	}
+	else
+	{
+		// all fixed bodies (inf mass) get mapped to a single solver id
+		if (m_fixedBodyId < 0)
+		{
+			m_bodySolverArrayMutex.lock();
+			// now that we have the lock, check again
+			if (m_fixedBodyId < 0)
+			{
+				m_fixedBodyId = m_tmpSolverBodyPool.size();
+				btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+				initSolverBody(&fixedBody, 0, timeStep);
+			}
+			m_bodySolverArrayMutex.unlock();
+		}
+		solverBodyId = m_fixedBodyId;
+	}
+	btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size());
+	return solverBodyId;
+}
+
+void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("internalCollectContactManifoldCachedInfo");
+	for (int i = 0; i < numManifolds; ++i)
+	{
+		btContactManifoldCachedInfo* cachedInfo = &cachedInfoArray[i];
+		btPersistentManifold* manifold = manifoldPtr[i];
+		btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
+		btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
+
+		int solverBodyIdA = getOrInitSolverBodyThreadsafe(*colObj0, infoGlobal.m_timeStep);
+		int solverBodyIdB = getOrInitSolverBodyThreadsafe(*colObj1, infoGlobal.m_timeStep);
+
+		cachedInfo->solverBodyIds[0] = solverBodyIdA;
+		cachedInfo->solverBodyIds[1] = solverBodyIdB;
+		cachedInfo->numTouchingContacts = 0;
+
+		btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+		btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
+
+		// A contact manifold between 2 static object should not exist!
+		// check the collision flags of your objects if this assert fires.
+		// Incorrectly set collision object flags can degrade performance in various ways.
+		btAssert(!m_tmpSolverBodyPool[solverBodyIdA].m_invMass.isZero() || !m_tmpSolverBodyPool[solverBodyIdB].m_invMass.isZero());
+
+		int iContact = 0;
+		for (int j = 0; j < manifold->getNumContacts(); j++)
+		{
+			btManifoldPoint& cp = manifold->getContactPoint(j);
+
+			if (cp.getDistance() <= manifold->getContactProcessingThreshold())
+			{
+				cachedInfo->contactPoints[iContact] = &cp;
+				cachedInfo->contactHasRollingFriction[iContact] = (cp.m_combinedRollingFriction > 0.f);
+				iContact++;
+			}
+		}
+		cachedInfo->numTouchingContacts = iContact;
+	}
+}
+
+struct CollectContactManifoldCachedInfoLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray;
+	btPersistentManifold** m_manifoldPtr;
+	const btContactSolverInfo* m_infoGlobal;
+
+	CollectContactManifoldCachedInfoLoop(btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, const btContactSolverInfo& infoGlobal)
+	{
+		m_solver = solver;
+		m_cachedInfoArray = cachedInfoArray;
+		m_manifoldPtr = manifoldPtr;
+		m_infoGlobal = &infoGlobal;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalCollectContactManifoldCachedInfo(m_cachedInfoArray + iBegin, m_manifoldPtr + iBegin, iEnd - iBegin, *m_infoGlobal);
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds)
+{
+	BT_PROFILE("internalAllocContactConstraints");
+	// possibly parallel part
+	for (int iManifold = 0; iManifold < numManifolds; ++iManifold)
+	{
+		const btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[iManifold];
+		int contactIndex = cachedInfo.contactIndex;
+		int frictionIndex = contactIndex * m_numFrictionDirections;
+		int rollingFrictionIndex = cachedInfo.rollingFrictionIndex;
+		for (int i = 0; i < cachedInfo.numTouchingContacts; i++)
+		{
+			btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[contactIndex];
+			contactConstraint.m_solverBodyIdA = cachedInfo.solverBodyIds[0];
+			contactConstraint.m_solverBodyIdB = cachedInfo.solverBodyIds[1];
+			contactConstraint.m_originalContactPoint = cachedInfo.contactPoints[i];
+
+			// allocate the friction constraints
+			contactConstraint.m_frictionIndex = frictionIndex;
+			for (int iDir = 0; iDir < m_numFrictionDirections; ++iDir)
+			{
+				btSolverConstraint& frictionConstraint = m_tmpSolverContactFrictionConstraintPool[frictionIndex];
+				frictionConstraint.m_frictionIndex = contactIndex;
+				frictionIndex++;
+			}
+
+			// allocate rolling friction constraints
+			if (cachedInfo.contactHasRollingFriction[i])
+			{
+				m_rollingFrictionIndexTable[contactIndex] = rollingFrictionIndex;
+				// allocate 3 (although we may use only 2 sometimes)
+				for (int i = 0; i < 3; i++)
+				{
+					m_tmpSolverContactRollingFrictionConstraintPool[rollingFrictionIndex].m_frictionIndex = contactIndex;
+					rollingFrictionIndex++;
+				}
+			}
+			else
+			{
+				// indicate there is no rolling friction for this contact point
+				m_rollingFrictionIndexTable[contactIndex] = -1;
+			}
+			contactIndex++;
+		}
+	}
+}
+
+struct AllocContactConstraintsLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray;
+
+	AllocContactConstraintsLoop(btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray)
+	{
+		m_solver = solver;
+		m_cachedInfoArray = cachedInfoArray;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalAllocContactConstraints(m_cachedInfoArray + iBegin, iEnd - iBegin);
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("allocAllContactConstraints");
+	btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray;  // = m_manifoldCachedInfoArray;
+	cachedInfoArray.resizeNoInitialize(numManifolds);
+	if (/* DISABLES CODE */ (false))
+	{
+		// sequential
+		internalCollectContactManifoldCachedInfo(&cachedInfoArray[0], manifoldPtr, numManifolds, infoGlobal);
+	}
+	else
+	{
+		// may alter ordering of bodies which affects determinism
+		CollectContactManifoldCachedInfoLoop loop(this, &cachedInfoArray[0], manifoldPtr, infoGlobal);
+		int grainSize = 200;
+		btParallelFor(0, numManifolds, grainSize, loop);
+	}
+
+	{
+		// serial part
+		int numContacts = 0;
+		int numRollingFrictionConstraints = 0;
+		for (int iManifold = 0; iManifold < numManifolds; ++iManifold)
+		{
+			btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[iManifold];
+			cachedInfo.contactIndex = numContacts;
+			cachedInfo.rollingFrictionIndex = numRollingFrictionConstraints;
+			numContacts += cachedInfo.numTouchingContacts;
+			for (int i = 0; i < cachedInfo.numTouchingContacts; ++i)
+			{
+				if (cachedInfo.contactHasRollingFriction[i])
+				{
+					numRollingFrictionConstraints += 3;
+				}
+			}
+		}
+		{
+			BT_PROFILE("allocPools");
+			if (m_tmpSolverContactConstraintPool.capacity() < numContacts)
+			{
+				// if we need to reallocate, reserve some extra so we don't have to reallocate again next frame
+				int extraReserve = numContacts / 16;
+				m_tmpSolverContactConstraintPool.reserve(numContacts + extraReserve);
+				m_rollingFrictionIndexTable.reserve(numContacts + extraReserve);
+				m_tmpSolverContactFrictionConstraintPool.reserve((numContacts + extraReserve) * m_numFrictionDirections);
+				m_tmpSolverContactRollingFrictionConstraintPool.reserve(numRollingFrictionConstraints + extraReserve);
+			}
+			m_tmpSolverContactConstraintPool.resizeNoInitialize(numContacts);
+			m_rollingFrictionIndexTable.resizeNoInitialize(numContacts);
+			m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(numContacts * m_numFrictionDirections);
+			m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(numRollingFrictionConstraints);
+		}
+	}
+	{
+		AllocContactConstraintsLoop loop(this, &cachedInfoArray[0]);
+		int grainSize = 200;
+		btParallelFor(0, numManifolds, grainSize, loop);
+	}
+}
+
+void btSequentialImpulseConstraintSolverMt::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
+{
+	if (!m_useBatching)
+	{
+		btSequentialImpulseConstraintSolver::convertContacts(manifoldPtr, numManifolds, infoGlobal);
+		return;
+	}
+	BT_PROFILE("convertContacts");
+	if (numManifolds > 0)
+	{
+		if (m_fixedBodyId < 0)
+		{
+			m_fixedBodyId = m_tmpSolverBodyPool.size();
+			btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+			initSolverBody(&fixedBody, 0, infoGlobal.m_timeStep);
+		}
+		allocAllContactConstraints(manifoldPtr, numManifolds, infoGlobal);
+		if (m_useBatching)
+		{
+			setupBatchedContactConstraints();
+		}
+		setupAllContactConstraints(infoGlobal);
+	}
+}
+
+void btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd)
+{
+	BT_PROFILE("internalInitMultipleJoints");
+	for (int i = iBegin; i < iEnd; i++)
+	{
+		btTypedConstraint* constraint = constraints[i];
+		btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+		if (constraint->isEnabled())
+		{
+			constraint->buildJacobian();
+			constraint->internalSetAppliedImpulse(0.0f);
+			btJointFeedback* fb = constraint->getJointFeedback();
+			if (fb)
+			{
+				fb->m_appliedForceBodyA.setZero();
+				fb->m_appliedTorqueBodyA.setZero();
+				fb->m_appliedForceBodyB.setZero();
+				fb->m_appliedTorqueBodyB.setZero();
+			}
+			constraint->getInfo1(&info1);
+		}
+		else
+		{
+			info1.m_numConstraintRows = 0;
+			info1.nub = 0;
+		}
+	}
+}
+
+struct InitJointsLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	btTypedConstraint** m_constraints;
+
+	InitJointsLoop(btSequentialImpulseConstraintSolverMt* solver, btTypedConstraint** constraints)
+	{
+		m_solver = solver;
+		m_constraints = constraints;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalInitMultipleJoints(m_constraints, iBegin, iEnd);
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("internalConvertMultipleJoints");
+	for (int i = iBegin; i < iEnd; ++i)
+	{
+		const JointParams& jointParams = jointParamsArray[i];
+		int currentRow = jointParams.m_solverConstraint;
+		if (currentRow != -1)
+		{
+			const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+			btAssert(currentRow < m_tmpSolverNonContactConstraintPool.size());
+			btAssert(info1.m_numConstraintRows > 0);
+
+			btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
+			btTypedConstraint* constraint = constraints[i];
+
+			convertJoint(currentConstraintRow, constraint, info1, jointParams.m_solverBodyA, jointParams.m_solverBodyB, infoGlobal);
+		}
+	}
+}
+
+struct ConvertJointsLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& m_jointParamsArray;
+	btTypedConstraint** m_srcConstraints;
+	const btContactSolverInfo& m_infoGlobal;
+
+	ConvertJointsLoop(btSequentialImpulseConstraintSolverMt* solver,
+					  const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& jointParamsArray,
+					  btTypedConstraint** srcConstraints,
+					  const btContactSolverInfo& infoGlobal) : m_jointParamsArray(jointParamsArray),
+															   m_infoGlobal(infoGlobal)
+	{
+		m_solver = solver;
+		m_srcConstraints = srcConstraints;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalConvertMultipleJoints(m_jointParamsArray, m_srcConstraints, iBegin, iEnd, m_infoGlobal);
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
+{
+	if (!m_useBatching)
+	{
+		btSequentialImpulseConstraintSolver::convertJoints(constraints, numConstraints, infoGlobal);
+		return;
+	}
+	BT_PROFILE("convertJoints");
+	bool parallelJointSetup = true;
+	m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
+	if (parallelJointSetup)
+	{
+		InitJointsLoop loop(this, constraints);
+		int grainSize = 40;
+		btParallelFor(0, numConstraints, grainSize, loop);
+	}
+	else
+	{
+		internalInitMultipleJoints(constraints, 0, numConstraints);
+	}
+
+	int totalNumRows = 0;
+	btAlignedObjectArray<JointParams> jointParamsArray;
+	jointParamsArray.resizeNoInitialize(numConstraints);
+
+	//calculate the total number of contraint rows
+	for (int i = 0; i < numConstraints; i++)
+	{
+		btTypedConstraint* constraint = constraints[i];
+
+		JointParams& params = jointParamsArray[i];
+		const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+
+		if (info1.m_numConstraintRows)
+		{
+			params.m_solverConstraint = totalNumRows;
+			params.m_solverBodyA = getOrInitSolverBody(constraint->getRigidBodyA(), infoGlobal.m_timeStep);
+			params.m_solverBodyB = getOrInitSolverBody(constraint->getRigidBodyB(), infoGlobal.m_timeStep);
+		}
+		else
+		{
+			params.m_solverConstraint = -1;
+		}
+		totalNumRows += info1.m_numConstraintRows;
+	}
+	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
+
+	///setup the btSolverConstraints
+	if (parallelJointSetup)
+	{
+		ConvertJointsLoop loop(this, jointParamsArray, constraints, infoGlobal);
+		int grainSize = 20;
+		btParallelFor(0, numConstraints, grainSize, loop);
+	}
+	else
+	{
+		internalConvertMultipleJoints(jointParamsArray, constraints, 0, numConstraints, infoGlobal);
+	}
+	setupBatchedJointConstraints();
+}
+
+void btSequentialImpulseConstraintSolverMt::internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("internalConvertBodies");
+	for (int i = iBegin; i < iEnd; i++)
+	{
+		btCollisionObject* obj = bodies[i];
+		obj->setCompanionId(i);
+		btSolverBody& solverBody = m_tmpSolverBodyPool[i];
+		initSolverBody(&solverBody, obj, infoGlobal.m_timeStep);
+
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getInvMass())
+		{
+			btVector3 gyroForce(0, 0, 0);
+			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
+			{
+				gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
+				solverBody.m_externalTorqueImpulse -= gyroForce * body->getInvInertiaTensorWorld() * infoGlobal.m_timeStep;
+			}
+			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
+			{
+				gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
+				solverBody.m_externalTorqueImpulse += gyroForce;
+			}
+			if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
+			{
+				gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
+				solverBody.m_externalTorqueImpulse += gyroForce;
+			}
+		}
+	}
+}
+
+struct ConvertBodiesLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	btCollisionObject** m_bodies;
+	int m_numBodies;
+	const btContactSolverInfo& m_infoGlobal;
+
+	ConvertBodiesLoop(btSequentialImpulseConstraintSolverMt* solver,
+					  btCollisionObject** bodies,
+					  int numBodies,
+					  const btContactSolverInfo& infoGlobal) : m_infoGlobal(infoGlobal)
+	{
+		m_solver = solver;
+		m_bodies = bodies;
+		m_numBodies = numBodies;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalConvertBodies(m_bodies, iBegin, iEnd, m_infoGlobal);
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("convertBodies");
+	m_kinematicBodyUniqueIdToSolverBodyTable.resize(0);
+
+	m_tmpSolverBodyPool.resizeNoInitialize(numBodies + 1);
+
+	m_fixedBodyId = numBodies;
+	{
+		btSolverBody& fixedBody = m_tmpSolverBodyPool[m_fixedBodyId];
+		initSolverBody(&fixedBody, NULL, infoGlobal.m_timeStep);
+	}
+
+	bool parallelBodySetup = true;
+	if (parallelBodySetup)
+	{
+		ConvertBodiesLoop loop(this, bodies, numBodies, infoGlobal);
+		int grainSize = 40;
+		btParallelFor(0, numBodies, grainSize, loop);
+	}
+	else
+	{
+		internalConvertBodies(bodies, 0, numBodies, infoGlobal);
+	}
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup(
+	btCollisionObject** bodies,
+	int numBodies,
+	btPersistentManifold** manifoldPtr,
+	int numManifolds,
+	btTypedConstraint** constraints,
+	int numConstraints,
+	const btContactSolverInfo& infoGlobal,
+	btIDebugDraw* debugDrawer)
+{
+	m_numFrictionDirections = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
+	m_useBatching = false;
+	if (numManifolds >= s_minimumContactManifoldsForBatching &&
+		(s_allowNestedParallelForLoops || !btThreadsAreRunning()))
+	{
+		m_useBatching = true;
+		m_batchedContactConstraints.m_debugDrawer = debugDrawer;
+		m_batchedJointConstraints.m_debugDrawer = debugDrawer;
+	}
+	btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies,
+																	  numBodies,
+																	  manifoldPtr,
+																	  numManifolds,
+																	  constraints,
+																	  numConstraints,
+																	  infoGlobal,
+																	  debugDrawer);
+	return 0.0f;
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
+{
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
+	{
+		int iCons = consIndices[iiCons];
+		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[iCons];
+		btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
+		btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
+		btScalar residual = resolveSplitPenetrationImpulse(bodyA, bodyB, solveManifold);
+		leastSquaresResidual += residual * residual;
+	}
+	return leastSquaresResidual;
+}
+
+struct ContactSplitPenetrationImpulseSolverLoop : public btIParallelSumBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+
+	ContactSplitPenetrationImpulseSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
+	{
+		m_solver = solver;
+		m_bc = bc;
+	}
+	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("ContactSplitPenetrationImpulseSolverLoop");
+		btScalar sum = 0;
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			sum += m_solver->resolveMultipleContactSplitPenetrationImpulseConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
+		}
+		return sum;
+	}
+};
+
+void btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
+{
+	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
+	if (infoGlobal.m_splitImpulse)
+	{
+		for (int iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
+		{
+			btScalar leastSquaresResidual = 0.f;
+			if (m_useBatching)
+			{
+				const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+				ContactSplitPenetrationImpulseSolverLoop loop(this, &batchedCons);
+				btScalar leastSquaresResidual = 0.f;
+				for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+				{
+					int iPhase = batchedCons.m_phaseOrder[iiPhase];
+					const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+					int grainSize = batchedCons.m_phaseGrainSize[iPhase];
+					leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
+				}
+			}
+			else
+			{
+				// non-batched
+				leastSquaresResidual = resolveMultipleContactSplitPenetrationImpulseConstraints(m_orderTmpConstraintPool, 0, m_tmpSolverContactConstraintPool.size());
+			}
+			if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
+			{
+#ifdef VERBOSE_RESIDUAL_PRINTF
+				printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
+#endif
+				break;
+			}
+		}
+	}
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
+{
+	if (!m_useBatching)
+	{
+		return btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
+	}
+	BT_PROFILE("solveSingleIterationMt");
+	btScalar leastSquaresResidual = 0.f;
+
+	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
+	{
+		if (1)  // uncomment this for a bit less random ((iteration & 7) == 0)
+		{
+			randomizeConstraintOrdering(iteration, infoGlobal.m_numIterations);
+		}
+	}
+
+	{
+		///solve all joint constraints
+		leastSquaresResidual += resolveAllJointConstraints(iteration);
+
+		if (iteration < infoGlobal.m_numIterations)
+		{
+			// this loop is only used for cone-twist constraints,
+			// it would be nice to skip this loop if none of the constraints need it
+			if (m_useObsoleteJointConstraints)
+			{
+				for (int j = 0; j < numConstraints; j++)
+				{
+					if (constraints[j]->isEnabled())
+					{
+						int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep);
+						int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep);
+						btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
+						btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
+						constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
+					}
+				}
+			}
+
+			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
+			{
+				// solve all contact, contact-friction, and rolling friction constraints interleaved
+				leastSquaresResidual += resolveAllContactConstraintsInterleaved();
+			}
+			else  //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+			{
+				// don't interleave them
+				// solve all contact constraints
+				leastSquaresResidual += resolveAllContactConstraints();
+
+				// solve all contact friction constraints
+				leastSquaresResidual += resolveAllContactFrictionConstraints();
+
+				// solve all rolling friction constraints
+				leastSquaresResidual += resolveAllRollingFrictionConstraints();
+			}
+		}
+	}
+	return leastSquaresResidual;
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration)
+{
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
+	{
+		int iCons = consIndices[iiCons];
+		const btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[iCons];
+		if (iteration < constraint.m_overrideNumSolverIterations)
+		{
+			btSolverBody& bodyA = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
+			btSolverBody& bodyB = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
+			btScalar residual = resolveSingleConstraintRowGeneric(bodyA, bodyB, constraint);
+			leastSquaresResidual += residual * residual;
+		}
+	}
+	return leastSquaresResidual;
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
+{
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
+	{
+		int iCons = consIndices[iiCons];
+		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[iCons];
+		btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
+		btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
+		btScalar residual = resolveSingleConstraintRowLowerLimit(bodyA, bodyB, solveManifold);
+		leastSquaresResidual += residual * residual;
+	}
+	return leastSquaresResidual;
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
+{
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
+	{
+		int iContact = consIndices[iiCons];
+		btScalar totalImpulse = m_tmpSolverContactConstraintPool[iContact].m_appliedImpulse;
+
+		// apply sliding friction
+		if (totalImpulse > 0.0f)
+		{
+			int iBegin = iContact * m_numFrictionDirections;
+			int iEnd = iBegin + m_numFrictionDirections;
+			for (int iFriction = iBegin; iFriction < iEnd; ++iFriction)
+			{
+				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[iFriction++];
+				btAssert(solveManifold.m_frictionIndex == iContact);
+
+				solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+				solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
+
+				btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
+				btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
+				btScalar residual = resolveSingleConstraintRowGeneric(bodyA, bodyB, solveManifold);
+				leastSquaresResidual += residual * residual;
+			}
+		}
+	}
+	return leastSquaresResidual;
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd)
+{
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiCons = batchBegin; iiCons < batchEnd; ++iiCons)
+	{
+		int iContact = consIndices[iiCons];
+		int iFirstRollingFriction = m_rollingFrictionIndexTable[iContact];
+		if (iFirstRollingFriction >= 0)
+		{
+			btScalar totalImpulse = m_tmpSolverContactConstraintPool[iContact].m_appliedImpulse;
+			// apply rolling friction
+			if (totalImpulse > 0.0f)
+			{
+				int iBegin = iFirstRollingFriction;
+				int iEnd = iBegin + 3;
+				for (int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric)
+				{
+					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[iRollingFric];
+					if (rollingFrictionConstraint.m_frictionIndex != iContact)
+					{
+						break;
+					}
+					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+					if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
+					{
+						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+					}
+
+					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
+					leastSquaresResidual += residual * residual;
+				}
+			}
+		}
+	}
+	return leastSquaresResidual;
+}
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices,
+																							 int batchBegin,
+																							 int batchEnd)
+{
+	btScalar leastSquaresResidual = 0.f;
+	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+
+	for (int iiCons = batchBegin; iiCons < batchEnd; iiCons++)
+	{
+		btScalar totalImpulse = 0;
+		int iContact = contactIndices[iiCons];
+		// apply penetration constraint
+		{
+			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[iContact];
+			btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+			leastSquaresResidual += residual * residual;
+			totalImpulse = solveManifold.m_appliedImpulse;
+		}
+
+		// apply sliding friction
+		if (totalImpulse > 0.0f)
+		{
+			int iBegin = iContact * m_numFrictionDirections;
+			int iEnd = iBegin + m_numFrictionDirections;
+			for (int iFriction = iBegin; iFriction < iEnd; ++iFriction)
+			{
+				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[iFriction];
+				btAssert(solveManifold.m_frictionIndex == iContact);
+
+				solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+				solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
+
+				btSolverBody& bodyA = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA];
+				btSolverBody& bodyB = m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB];
+				btScalar residual = resolveSingleConstraintRowGeneric(bodyA, bodyB, solveManifold);
+				leastSquaresResidual += residual * residual;
+			}
+		}
+
+		// apply rolling friction
+		int iFirstRollingFriction = m_rollingFrictionIndexTable[iContact];
+		if (totalImpulse > 0.0f && iFirstRollingFriction >= 0)
+		{
+			int iBegin = iFirstRollingFriction;
+			int iEnd = iBegin + 3;
+			for (int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric)
+			{
+				btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[iRollingFric];
+				if (rollingFrictionConstraint.m_frictionIndex != iContact)
+				{
+					break;
+				}
+				btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+				if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
+				{
+					rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+				}
+
+				rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+				rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+				btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
+				leastSquaresResidual += residual * residual;
+			}
+		}
+	}
+	return leastSquaresResidual;
+}
+
+void btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering(btBatchedConstraints* batchedConstraints)
+{
+	btBatchedConstraints& bc = *batchedConstraints;
+	// randomize ordering of phases
+	for (int ii = 1; ii < bc.m_phaseOrder.size(); ++ii)
+	{
+		int iSwap = btRandInt2(ii + 1);
+		bc.m_phaseOrder.swap(ii, iSwap);
+	}
+
+	// for each batch,
+	for (int iBatch = 0; iBatch < bc.m_batches.size(); ++iBatch)
+	{
+		// randomize ordering of constraints within the batch
+		const btBatchedConstraints::Range& batch = bc.m_batches[iBatch];
+		for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons)
+		{
+			int iSwap = batch.begin + btRandInt2(iiCons - batch.begin + 1);
+			btAssert(iSwap >= batch.begin && iSwap < batch.end);
+			bc.m_constraintIndices.swap(iiCons, iSwap);
+		}
+	}
+}
+
+void btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering(int iteration, int numIterations)
+{
+	// randomize ordering of joint constraints
+	randomizeBatchedConstraintOrdering(&m_batchedJointConstraints);
+
+	//contact/friction constraints are not solved more than numIterations
+	if (iteration < numIterations)
+	{
+		randomizeBatchedConstraintOrdering(&m_batchedContactConstraints);
+	}
+}
+
+struct JointSolverLoop : public btIParallelSumBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+	int m_iteration;
+
+	JointSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, int iteration)
+	{
+		m_solver = solver;
+		m_bc = bc;
+		m_iteration = iteration;
+	}
+	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("JointSolverLoop");
+		btScalar sum = 0;
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			sum += m_solver->resolveMultipleJointConstraints(m_bc->m_constraintIndices, batch.begin, batch.end, m_iteration);
+		}
+		return sum;
+	}
+};
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints(int iteration)
+{
+	BT_PROFILE("resolveAllJointConstraints");
+	const btBatchedConstraints& batchedCons = m_batchedJointConstraints;
+	JointSolverLoop loop(this, &batchedCons, iteration);
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+	{
+		int iPhase = batchedCons.m_phaseOrder[iiPhase];
+		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+		int grainSize = 1;
+		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
+	}
+	return leastSquaresResidual;
+}
+
+struct ContactSolverLoop : public btIParallelSumBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+
+	ContactSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
+	{
+		m_solver = solver;
+		m_bc = bc;
+	}
+	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("ContactSolverLoop");
+		btScalar sum = 0;
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			sum += m_solver->resolveMultipleContactConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
+		}
+		return sum;
+	}
+};
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints()
+{
+	BT_PROFILE("resolveAllContactConstraints");
+	const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+	ContactSolverLoop loop(this, &batchedCons);
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+	{
+		int iPhase = batchedCons.m_phaseOrder[iiPhase];
+		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+		int grainSize = batchedCons.m_phaseGrainSize[iPhase];
+		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
+	}
+	return leastSquaresResidual;
+}
+
+struct ContactFrictionSolverLoop : public btIParallelSumBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+
+	ContactFrictionSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
+	{
+		m_solver = solver;
+		m_bc = bc;
+	}
+	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("ContactFrictionSolverLoop");
+		btScalar sum = 0;
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			sum += m_solver->resolveMultipleContactFrictionConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
+		}
+		return sum;
+	}
+};
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints()
+{
+	BT_PROFILE("resolveAllContactFrictionConstraints");
+	const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+	ContactFrictionSolverLoop loop(this, &batchedCons);
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+	{
+		int iPhase = batchedCons.m_phaseOrder[iiPhase];
+		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+		int grainSize = batchedCons.m_phaseGrainSize[iPhase];
+		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
+	}
+	return leastSquaresResidual;
+}
+
+struct InterleavedContactSolverLoop : public btIParallelSumBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+
+	InterleavedContactSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
+	{
+		m_solver = solver;
+		m_bc = bc;
+	}
+	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("InterleavedContactSolverLoop");
+		btScalar sum = 0;
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			sum += m_solver->resolveMultipleContactConstraintsInterleaved(m_bc->m_constraintIndices, batch.begin, batch.end);
+		}
+		return sum;
+	}
+};
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved()
+{
+	BT_PROFILE("resolveAllContactConstraintsInterleaved");
+	const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+	InterleavedContactSolverLoop loop(this, &batchedCons);
+	btScalar leastSquaresResidual = 0.f;
+	for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+	{
+		int iPhase = batchedCons.m_phaseOrder[iiPhase];
+		const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+		int grainSize = 1;
+		leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
+	}
+	return leastSquaresResidual;
+}
+
+struct ContactRollingFrictionSolverLoop : public btIParallelSumBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btBatchedConstraints* m_bc;
+
+	ContactRollingFrictionSolverLoop(btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc)
+	{
+		m_solver = solver;
+		m_bc = bc;
+	}
+	btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		BT_PROFILE("ContactFrictionSolverLoop");
+		btScalar sum = 0;
+		for (int iBatch = iBegin; iBatch < iEnd; ++iBatch)
+		{
+			const btBatchedConstraints::Range& batch = m_bc->m_batches[iBatch];
+			sum += m_solver->resolveMultipleContactRollingFrictionConstraints(m_bc->m_constraintIndices, batch.begin, batch.end);
+		}
+		return sum;
+	}
+};
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints()
+{
+	BT_PROFILE("resolveAllRollingFrictionConstraints");
+	btScalar leastSquaresResidual = 0.f;
+	//
+	// We do not generate batches for rolling friction constraints. We assume that
+	// one of two cases is true:
+	//
+	//  1. either most bodies in the simulation have rolling friction, in which case we can use the
+	//     batches for contacts and use a lookup table to translate contact indices to rolling friction
+	//     (ignoring any contact indices that don't map to a rolling friction constraint). As long as
+	//     most contacts have a corresponding rolling friction constraint, this should parallelize well.
+	//
+	//  -OR-
+	//
+	//  2. few bodies in the simulation have rolling friction, so it is not worth trying to use the
+	//     batches from contacts as most of the contacts won't have corresponding rolling friction
+	//     constraints and most threads would end up doing very little work. Most of the time would
+	//     go to threading overhead, so we don't bother with threading.
+	//
+	int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
+	if (numRollingFrictionPoolConstraints >= m_tmpSolverContactConstraintPool.size())
+	{
+		// use batching if there are many rolling friction constraints
+		const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+		ContactRollingFrictionSolverLoop loop(this, &batchedCons);
+		btScalar leastSquaresResidual = 0.f;
+		for (int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase)
+		{
+			int iPhase = batchedCons.m_phaseOrder[iiPhase];
+			const btBatchedConstraints::Range& phase = batchedCons.m_phases[iPhase];
+			int grainSize = 1;
+			leastSquaresResidual += btParallelSum(phase.begin, phase.end, grainSize, loop);
+		}
+	}
+	else
+	{
+		// no batching, also ignores SOLVER_RANDMIZE_ORDER
+		for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
+		{
+			btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
+			if (rollingFrictionConstraint.m_frictionIndex >= 0)
+			{
+				btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
+				if (totalImpulse > 0.0f)
+				{
+					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+					if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
+						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+
+					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
+					leastSquaresResidual += residual * residual;
+				}
+			}
+		}
+	}
+	return leastSquaresResidual;
+}
+
+void btSequentialImpulseConstraintSolverMt::internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("internalWriteBackContacts");
+	writeBackContacts(iBegin, iEnd, infoGlobal);
+	//for ( int iContact = iBegin; iContact < iEnd; ++iContact)
+	//{
+	//    const btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[ iContact ];
+	//    btManifoldPoint* pt = (btManifoldPoint*) contactConstraint.m_originalContactPoint;
+	//    btAssert( pt );
+	//    pt->m_appliedImpulse = contactConstraint.m_appliedImpulse;
+	//    pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex ].m_appliedImpulse;
+	//    if ( m_numFrictionDirections == 2 )
+	//    {
+	//        pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex + 1 ].m_appliedImpulse;
+	//    }
+	//}
+}
+
+void btSequentialImpulseConstraintSolverMt::internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("internalWriteBackJoints");
+	writeBackJoints(iBegin, iEnd, infoGlobal);
+}
+
+void btSequentialImpulseConstraintSolverMt::internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("internalWriteBackBodies");
+	writeBackBodies(iBegin, iEnd, infoGlobal);
+}
+
+struct WriteContactPointsLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btContactSolverInfo* m_infoGlobal;
+
+	WriteContactPointsLoop(btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal)
+	{
+		m_solver = solver;
+		m_infoGlobal = &infoGlobal;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalWriteBackContacts(iBegin, iEnd, *m_infoGlobal);
+	}
+};
+
+struct WriteJointsLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btContactSolverInfo* m_infoGlobal;
+
+	WriteJointsLoop(btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal)
+	{
+		m_solver = solver;
+		m_infoGlobal = &infoGlobal;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalWriteBackJoints(iBegin, iEnd, *m_infoGlobal);
+	}
+};
+
+struct WriteBodiesLoop : public btIParallelForBody
+{
+	btSequentialImpulseConstraintSolverMt* m_solver;
+	const btContactSolverInfo* m_infoGlobal;
+
+	WriteBodiesLoop(btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal)
+	{
+		m_solver = solver;
+		m_infoGlobal = &infoGlobal;
+	}
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		m_solver->internalWriteBackBodies(iBegin, iEnd, *m_infoGlobal);
+	}
+};
+
+btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+	BT_PROFILE("solveGroupCacheFriendlyFinish");
+
+	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+	{
+		WriteContactPointsLoop loop(this, infoGlobal);
+		int grainSize = 500;
+		btParallelFor(0, m_tmpSolverContactConstraintPool.size(), grainSize, loop);
+	}
+
+	{
+		WriteJointsLoop loop(this, infoGlobal);
+		int grainSize = 400;
+		btParallelFor(0, m_tmpSolverNonContactConstraintPool.size(), grainSize, loop);
+	}
+	{
+		WriteBodiesLoop loop(this, infoGlobal);
+		int grainSize = 100;
+		btParallelFor(0, m_tmpSolverBodyPool.size(), grainSize, loop);
+	}
+
+	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
+	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
+	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
+	m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
+
+	m_tmpSolverBodyPool.resizeNoInitialize(0);
+	return 0.f;
+}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
new file mode 100644
index 0000000000..1861ddd7d7
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
@@ -0,0 +1,150 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
+#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
+
+#include "btSequentialImpulseConstraintSolver.h"
+#include "btBatchedConstraints.h"
+#include "LinearMath/btThreads.h"
+
+///
+/// btSequentialImpulseConstraintSolverMt
+///
+///  A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into
+///  batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest.
+///  Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should
+///  have about the same number of constraints.
+///  This method works best on a large island of many constraints.
+///
+///  Supports all of the features of the normal sequential impulse solver such as:
+///    - split penetration impulse
+///    - rolling friction
+///    - interleaving constraints
+///    - warmstarting
+///    - 2 friction directions
+///    - randomized constraint ordering
+///    - early termination when leastSquaresResidualThreshold is satisfied
+///
+///  When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver,
+///  the rolling friction is interleaved as well.
+///  Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done,
+///  which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation,
+///  at least on stacks of blocks.
+///
+///  When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch
+///  is randomized, however it does not swap constraints between batches.
+///  This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance.
+///
+///  Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation
+///  if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic
+///  because floating point addition is not associative due to rounding errors.
+///  The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.
+///
+ATTRIBUTE_ALIGNED16(class)
+btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
+{
+public:
+	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
+	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
+	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+
+	// temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
+	struct btContactManifoldCachedInfo
+	{
+		static const int MAX_NUM_CONTACT_POINTS = 4;
+
+		int numTouchingContacts;
+		int solverBodyIds[2];
+		int contactIndex;
+		int rollingFrictionIndex;
+		bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
+		btManifoldPoint* contactPoints[MAX_NUM_CONTACT_POINTS];
+	};
+	// temp struct used for setting up joint constraints in parallel
+	struct JointParams
+	{
+		int m_solverConstraint;
+		int m_solverBodyA;
+		int m_solverBodyB;
+	};
+	void internalInitMultipleJoints(btTypedConstraint * *constraints, int iBegin, int iEnd);
+	void internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+
+	// parameters to control batching
+	static bool s_allowNestedParallelForLoops;        // whether to allow nested parallel operations
+	static int s_minimumContactManifoldsForBatching;  // don't even try to batch if fewer manifolds than this
+	static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
+	static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
+	static int s_minBatchSize;  // desired number of constraints per batch
+	static int s_maxBatchSize;
+
+protected:
+	static const int CACHE_LINE_SIZE = 64;
+
+	btBatchedConstraints m_batchedContactConstraints;
+	btBatchedConstraints m_batchedJointConstraints;
+	int m_numFrictionDirections;
+	bool m_useBatching;
+	bool m_useObsoleteJointConstraints;
+	btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
+	btAlignedObjectArray<int> m_rollingFrictionIndexTable;  // lookup table mapping contact index to rolling friction index
+	btSpinMutex m_bodySolverArrayMutex;
+	char m_antiFalseSharingPadding[CACHE_LINE_SIZE];  // padding to keep mutexes in separate cachelines
+	btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
+	btAlignedObjectArray<char> m_scratchMemory;
+
+	virtual void randomizeConstraintOrdering(int iteration, int numIterations);
+	virtual btScalar resolveAllJointConstraints(int iteration);
+	virtual btScalar resolveAllContactConstraints();
+	virtual btScalar resolveAllContactFrictionConstraints();
+	virtual btScalar resolveAllContactConstraintsInterleaved();
+	virtual btScalar resolveAllRollingFrictionConstraints();
+
+	virtual void setupBatchedContactConstraints();
+	virtual void setupBatchedJointConstraints();
+	virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+	virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+	virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+
+	int getOrInitSolverBodyThreadsafe(btCollisionObject & body, btScalar timeStep);
+	void allocAllContactConstraints(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+	void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
+	void randomizeBatchedConstraintOrdering(btBatchedConstraints * batchedConstraints);
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btSequentialImpulseConstraintSolverMt();
+	virtual ~btSequentialImpulseConstraintSolverMt();
+
+	btScalar resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration);
+	btScalar resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+	btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+	btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+	btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+	btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd);
+
+	void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo * cachedInfoArray, btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+	void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
+	void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
+	void internalConvertBodies(btCollisionObject * *bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+};
+
+#endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index d63cef0316..cac5302a73 100644..100755
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -18,8 +18,6 @@ Added by Roman Ponomarev (rponom@gmail.com)
 April 04, 2008
 */
 
-
-
 #include "btSliderConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
@@ -29,10 +27,10 @@ April 04, 2008
 
 void btSliderConstraint::initParams()
 {
-    m_lowerLinLimit = btScalar(1.0);
-    m_upperLinLimit = btScalar(-1.0);
-    m_lowerAngLimit = btScalar(0.);
-    m_upperAngLimit = btScalar(0.);
+	m_lowerLinLimit = btScalar(1.0);
+	m_upperLinLimit = btScalar(-1.0);
+	m_lowerAngLimit = btScalar(0.);
+	m_upperAngLimit = btScalar(0.);
 	m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
 	m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
 	m_dampingDirLin = btScalar(0.);
@@ -59,13 +57,13 @@ void btSliderConstraint::initParams()
 	m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
 
 	m_poweredLinMotor = false;
-    m_targetLinMotorVelocity = btScalar(0.);
-    m_maxLinMotorForce = btScalar(0.);
+	m_targetLinMotorVelocity = btScalar(0.);
+	m_maxLinMotorForce = btScalar(0.);
 	m_accumulatedLinMotorImpulse = btScalar(0.0);
 
 	m_poweredAngMotor = false;
-    m_targetAngMotorVelocity = btScalar(0.);
-    m_maxAngMotorForce = btScalar(0.);
+	m_targetAngMotorVelocity = btScalar(0.);
+	m_maxAngMotorForce = btScalar(0.);
 	m_accumulatedAngMotorImpulse = btScalar(0.0);
 
 	m_flags = 0;
@@ -73,43 +71,32 @@ void btSliderConstraint::initParams()
 
 	m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
 
-	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 }
 
-
-
-
-
 btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
-		m_useSolveConstraintObsolete(false),
-		m_frameInA(frameInA),
-        m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
+	: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
+	  m_useSolveConstraintObsolete(false),
+	  m_frameInA(frameInA),
+	  m_frameInB(frameInB),
+	  m_useLinearReferenceFrameA(useLinearReferenceFrameA)
 {
 	initParams();
 }
 
-
-
 btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
-        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
-		m_useSolveConstraintObsolete(false),
-		m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
+	: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
+	  m_useSolveConstraintObsolete(false),
+	  m_frameInB(frameInB),
+	  m_useLinearReferenceFrameA(useLinearReferenceFrameA)
 {
 	///not providing rigidbody A means implicitly using worldspace for body A
 	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
-//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
+	//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
 
 	initParams();
 }
 
-
-
-
-
-
 void btSliderConstraint::getInfo1(btConstraintInfo1* info)
 {
 	if (m_useSolveConstraintObsolete)
@@ -119,46 +106,39 @@ void btSliderConstraint::getInfo1(btConstraintInfo1* info)
 	}
 	else
 	{
-		info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
-		info->nub = 2; 
+		info->m_numConstraintRows = 4;  // Fixed 2 linear + 2 angular
+		info->nub = 2;
 		//prepare constraint
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 		testAngLimits();
 		testLinLimits();
-		if(getSolveLinLimit() || getPoweredLinMotor())
+		if (getSolveLinLimit() || getPoweredLinMotor())
 		{
-			info->m_numConstraintRows++; // limit 3rd linear as well
-			info->nub--; 
+			info->m_numConstraintRows++;  // limit 3rd linear as well
+			info->nub--;
 		}
-		if(getSolveAngLimit() || getPoweredAngMotor())
+		if (getSolveAngLimit() || getPoweredAngMotor())
 		{
-			info->m_numConstraintRows++; // limit 3rd angular as well
-			info->nub--; 
+			info->m_numConstraintRows++;  // limit 3rd angular as well
+			info->nub--;
 		}
 	}
 }
 
 void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
 {
-
-	info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
-	info->nub = 0; 
+	info->m_numConstraintRows = 6;  // Fixed 2 linear + 2 angular + 1 limit (even if not used)
+	info->nub = 0;
 }
 
 void btSliderConstraint::getInfo2(btConstraintInfo2* info)
 {
-	getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
+	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(), m_rbB.getLinearVelocity(), m_rbA.getInvMass(), m_rbB.getInvMass());
 }
 
-
-
-
-
-
-
-void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+void btSliderConstraint::calculateTransforms(const btTransform& transA, const btTransform& transB)
 {
-	if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
+	if (m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
 	{
 		m_calculatedTransformA = transA * m_frameInA;
 		m_calculatedTransformB = transB * m_frameInB;
@@ -170,8 +150,8 @@ void btSliderConstraint::calculateTransforms(const btTransform& transA,const btT
 	}
 	m_realPivotAInW = m_calculatedTransformA.getOrigin();
 	m_realPivotBInW = m_calculatedTransformB.getOrigin();
-	m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
-	if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
+	m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0);  // along X
+	if (m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
 	{
 		m_delta = m_realPivotBInW - m_realPivotAInW;
 	}
@@ -180,30 +160,28 @@ void btSliderConstraint::calculateTransforms(const btTransform& transA,const btT
 		m_delta = m_realPivotAInW - m_realPivotBInW;
 	}
 	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
-    btVector3 normalWorld;
-    int i;
-    //linear part
-    for(i = 0; i < 3; i++)
-    {
+	btVector3 normalWorld;
+	int i;
+	//linear part
+	for (i = 0; i < 3; i++)
+	{
 		normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
 		m_depth[i] = m_delta.dot(normalWorld);
-    }
+	}
 }
- 
-
 
 void btSliderConstraint::testLinLimits(void)
 {
 	m_solveLinLim = false;
 	m_linPos = m_depth[0];
-	if(m_lowerLinLimit <= m_upperLinLimit)
+	if (m_lowerLinLimit <= m_upperLinLimit)
 	{
-		if(m_depth[0] > m_upperLinLimit)
+		if (m_depth[0] > m_upperLinLimit)
 		{
 			m_depth[0] -= m_upperLinLimit;
 			m_solveLinLim = true;
 		}
-		else if(m_depth[0] < m_lowerLinLimit)
+		else if (m_depth[0] < m_lowerLinLimit)
 		{
 			m_depth[0] -= m_lowerLinLimit;
 			m_solveLinLim = true;
@@ -219,27 +197,25 @@ void btSliderConstraint::testLinLimits(void)
 	}
 }
 
-
-
 void btSliderConstraint::testAngLimits(void)
 {
 	m_angDepth = btScalar(0.);
 	m_solveAngLim = false;
-	if(m_lowerAngLimit <= m_upperAngLimit)
+	if (m_lowerAngLimit <= m_upperAngLimit)
 	{
 		const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
 		const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
 		const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
-//		btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));  
-		btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));  
+		//		btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
+		btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));
 		rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
 		m_angPos = rot;
-		if(rot < m_lowerAngLimit)
+		if (rot < m_lowerAngLimit)
 		{
 			m_angDepth = rot - m_lowerAngLimit;
 			m_solveAngLim = true;
-		} 
-		else if(rot > m_upperAngLimit)
+		}
+		else if (rot > m_upperAngLimit)
 		{
 			m_angDepth = rot - m_upperAngLimit;
 			m_solveAngLim = true;
@@ -255,8 +231,6 @@ btVector3 btSliderConstraint::getAncorInA(void)
 	return ancorInA;
 }
 
-
-
 btVector3 btSliderConstraint::getAncorInB(void)
 {
 	btVector3 ancorInB;
@@ -264,17 +238,16 @@ btVector3 btSliderConstraint::getAncorInB(void)
 	return ancorInB;
 }
 
-
-void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass  )
+void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass)
 {
 	const btTransform& trA = getCalculatedTransformA();
 	const btTransform& trB = getCalculatedTransformB();
-	
+
 	btAssert(!m_useSolveConstraintObsolete);
 	int i, s = info->rowskip;
-	
+
 	btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
-	
+
 	// difference between frames in WCS
 	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
 	// now get weight factors depending on masses
@@ -283,11 +256,11 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
 	btScalar miS = miA + miB;
 	btScalar factA, factB;
-	if(miS > btScalar(0.f))
+	if (miS > btScalar(0.f))
 	{
 		factA = miB / miS;
 	}
-	else 
+	else
 	{
 		factA = btScalar(0.5f);
 	}
@@ -295,17 +268,17 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	btVector3 ax1, p, q;
 	btVector3 ax1A = trA.getBasis().getColumn(0);
 	btVector3 ax1B = trB.getBasis().getColumn(0);
-	if(m_useOffsetForConstraintFrame)
+	if (m_useOffsetForConstraintFrame)
 	{
 		// get the desired direction of slider axis
 		// as weighted sum of X-orthos of frameA and frameB in WCS
 		ax1 = ax1A * factA + ax1B * factB;
 		ax1.normalize();
 		// construct two orthos to slider axis
-		btPlaneSpace1 (ax1, p, q);
+		btPlaneSpace1(ax1, p, q);
 	}
 	else
-	{ // old way - use frameA
+	{  // old way - use frameA
 		ax1 = trA.getBasis().getColumn(0);
 		// get 2 orthos to slider axis (Y, Z)
 		p = trA.getBasis().getColumn(1);
@@ -322,16 +295,16 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	info->m_J1angularAxis[0] = p[0];
 	info->m_J1angularAxis[1] = p[1];
 	info->m_J1angularAxis[2] = p[2];
-	info->m_J1angularAxis[s+0] = q[0];
-	info->m_J1angularAxis[s+1] = q[1];
-	info->m_J1angularAxis[s+2] = q[2];
+	info->m_J1angularAxis[s + 0] = q[0];
+	info->m_J1angularAxis[s + 1] = q[1];
+	info->m_J1angularAxis[s + 2] = q[2];
 
 	info->m_J2angularAxis[0] = -p[0];
 	info->m_J2angularAxis[1] = -p[1];
 	info->m_J2angularAxis[2] = -p[2];
-	info->m_J2angularAxis[s+0] = -q[0];
-	info->m_J2angularAxis[s+1] = -q[1];
-	info->m_J2angularAxis[s+2] = -q[2];
+	info->m_J2angularAxis[s + 0] = -q[0];
+	info->m_J2angularAxis[s + 1] = -q[1];
+	info->m_J2angularAxis[s + 2] = -q[2];
 	// compute the right hand side of the constraint equation. set relative
 	// body velocities along p and q to bring the slider back into alignment.
 	// if ax1A,ax1B are the unit length slider axes as computed from bodyA and
@@ -347,25 +320,25 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
 	// ax1 x ax2 is in the plane space of ax1, so we project the angular
 	// velocity to p and q to find the right hand side.
-//	btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
+	//	btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
 	btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
 	btScalar k = info->fps * currERP;
 
 	btVector3 u = ax1A.cross(ax1B);
 	info->m_constraintError[0] = k * u.dot(p);
 	info->m_constraintError[s] = k * u.dot(q);
-	if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
+	if (m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
 	{
 		info->cfm[0] = m_cfmOrthoAng;
 		info->cfm[s] = m_cfmOrthoAng;
 	}
 
-	int nrow = 1; // last filled row
+	int nrow = 1;  // last filled row
 	int srow;
 	btScalar limit_err;
 	int limit;
 
-	// next two rows. 
+	// next two rows.
 	// we want: velA + wA x relA == velB + wB x relB ... but this would
 	// result in three equations, so we project along two orthos to the slider axis
 
@@ -375,8 +348,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	int s2 = nrow * s;
 	nrow++;
 	int s3 = nrow * s;
-	btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
-	if(m_useOffsetForConstraintFrame)
+	btVector3 tmpA(0, 0, 0), tmpB(0, 0, 0), relA(0, 0, 0), relB(0, 0, 0), c(0, 0, 0);
+	if (m_useOffsetForConstraintFrame)
 	{
 		// get vector from bodyB to frameB in WCS
 		relB = trB.getOrigin() - bodyB_trans.getOrigin();
@@ -398,7 +371,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		// now choose average ortho to slider axis
 		p = orthoB * factA + orthoA * factB;
 		btScalar len2 = p.length2();
-		if(len2 > SIMD_EPSILON)
+		if (len2 > SIMD_EPSILON)
 		{
 			p /= btSqrt(len2);
 		}
@@ -411,38 +384,38 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		// fill two rows
 		tmpA = relA.cross(p);
 		tmpB = relB.cross(p);
-		for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
+		for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = tmpA[i];
+		for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = -tmpB[i];
 		tmpA = relA.cross(q);
 		tmpB = relB.cross(q);
-		if(hasStaticBody && getSolveAngLimit())
-		{ // to make constraint between static and dynamic objects more rigid
+		if (hasStaticBody && getSolveAngLimit())
+		{  // to make constraint between static and dynamic objects more rigid
 			// remove wA (or wB) from equation if angular limit is hit
 			tmpB *= factB;
 			tmpA *= factA;
 		}
-		for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
-		for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
-		for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
+		for (i = 0; i < 3; i++) info->m_J1angularAxis[s3 + i] = tmpA[i];
+		for (i = 0; i < 3; i++) info->m_J2angularAxis[s3 + i] = -tmpB[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = p[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s3 + i] = q[i];
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -p[i];
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s3 + i] = -q[i];
 	}
 	else
-	{	// old way - maybe incorrect if bodies are not on the slider axis
+	{  // old way - maybe incorrect if bodies are not on the slider axis
 		// see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
 		c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
 		btVector3 tmp = c.cross(p);
-		for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
+		for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = factA * tmp[i];
+		for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = factB * tmp[i];
 		tmp = c.cross(q);
-		for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
+		for (i = 0; i < 3; i++) info->m_J1angularAxis[s3 + i] = factA * tmp[i];
+		for (i = 0; i < 3; i++) info->m_J2angularAxis[s3 + i] = factB * tmp[i];
 
-		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
-		for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
-		for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = p[i];
+		for (i = 0; i < 3; i++) info->m_J1linearAxis[s3 + i] = q[i];
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -p[i];
+		for (i = 0; i < 3; i++) info->m_J2linearAxis[s3 + i] = -q[i];
 	}
 	// compute two elements of right hand side
 
@@ -454,19 +427,18 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	info->m_constraintError[s2] = rhs;
 	rhs = k * q.dot(ofs);
 	info->m_constraintError[s3] = rhs;
-	if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
+	if (m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
 	{
 		info->cfm[s2] = m_cfmOrthoLin;
 		info->cfm[s3] = m_cfmOrthoLin;
 	}
 
-
 	// check linear limits
 	limit_err = btScalar(0.0);
 	limit = 0;
-	if(getSolveLinLimit())
+	if (getSolveLinLimit())
 	{
-		limit_err = getLinDepth() *  signFact;
+		limit_err = getLinDepth() * signFact;
 		limit = (limit_err > btScalar(0.0)) ? 2 : 1;
 	}
 	bool powered = getPoweredLinMotor();
@@ -475,12 +447,12 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
-		info->m_J1linearAxis[srow+0] = ax1[0];
-		info->m_J1linearAxis[srow+1] = ax1[1];
-		info->m_J1linearAxis[srow+2] = ax1[2];
-		info->m_J2linearAxis[srow+0] = -ax1[0];
-		info->m_J2linearAxis[srow+1] = -ax1[1];
-		info->m_J2linearAxis[srow+2] = -ax1[2];
+		info->m_J1linearAxis[srow + 0] = ax1[0];
+		info->m_J1linearAxis[srow + 1] = ax1[1];
+		info->m_J1linearAxis[srow + 2] = ax1[2];
+		info->m_J2linearAxis[srow + 0] = -ax1[0];
+		info->m_J2linearAxis[srow + 1] = -ax1[1];
+		info->m_J2linearAxis[srow + 2] = -ax1[2];
 		// linear torque decoupling step:
 		//
 		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
@@ -488,36 +460,36 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		// constraint force is applied at must lie along the same ax1 axis.
 		// a torque couple will result in limited slider-jointed free
 		// bodies from gaining angular momentum.
-		if(m_useOffsetForConstraintFrame)
+		if (m_useOffsetForConstraintFrame)
 		{
 			// this is needed only when bodyA and bodyB are both dynamic.
-			if(!hasStaticBody)
+			if (!hasStaticBody)
 			{
 				tmpA = relA.cross(ax1);
 				tmpB = relB.cross(ax1);
-				info->m_J1angularAxis[srow+0] = tmpA[0];
-				info->m_J1angularAxis[srow+1] = tmpA[1];
-				info->m_J1angularAxis[srow+2] = tmpA[2];
-				info->m_J2angularAxis[srow+0] = -tmpB[0];
-				info->m_J2angularAxis[srow+1] = -tmpB[1];
-				info->m_J2angularAxis[srow+2] = -tmpB[2];
+				info->m_J1angularAxis[srow + 0] = tmpA[0];
+				info->m_J1angularAxis[srow + 1] = tmpA[1];
+				info->m_J1angularAxis[srow + 2] = tmpA[2];
+				info->m_J2angularAxis[srow + 0] = -tmpB[0];
+				info->m_J2angularAxis[srow + 1] = -tmpB[1];
+				info->m_J2angularAxis[srow + 2] = -tmpB[2];
 			}
 		}
 		else
-		{ // The old way. May be incorrect if bodies are not on the slider axis
-			btVector3 ltd;	// Linear Torque Decoupling vector (a torque)
+		{                   // The old way. May be incorrect if bodies are not on the slider axis
+			btVector3 ltd;  // Linear Torque Decoupling vector (a torque)
 			ltd = c.cross(ax1);
-			info->m_J1angularAxis[srow+0] = factA*ltd[0];
-			info->m_J1angularAxis[srow+1] = factA*ltd[1];
-			info->m_J1angularAxis[srow+2] = factA*ltd[2];
-			info->m_J2angularAxis[srow+0] = factB*ltd[0];
-			info->m_J2angularAxis[srow+1] = factB*ltd[1];
-			info->m_J2angularAxis[srow+2] = factB*ltd[2];
+			info->m_J1angularAxis[srow + 0] = factA * ltd[0];
+			info->m_J1angularAxis[srow + 1] = factA * ltd[1];
+			info->m_J1angularAxis[srow + 2] = factA * ltd[2];
+			info->m_J2angularAxis[srow + 0] = factB * ltd[0];
+			info->m_J2angularAxis[srow + 1] = factB * ltd[1];
+			info->m_J2angularAxis[srow + 2] = factB * ltd[2];
 		}
 		// right-hand part
 		btScalar lostop = getLowerLinLimit();
 		btScalar histop = getUpperLinLimit();
-		if(limit && (lostop == histop))
+		if (limit && (lostop == histop))
 		{  // the joint motor is ineffective
 			powered = false;
 		}
@@ -525,9 +497,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		info->m_lowerLimit[srow] = 0.;
 		info->m_upperLimit[srow] = 0.;
 		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
-		if(powered)
+		if (powered)
 		{
-			if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
+			if (m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
 			{
 				info->cfm[srow] = m_cfmDirLin;
 			}
@@ -537,41 +509,41 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 			info->m_lowerLimit[srow] += -getMaxLinMotorForce() / info->fps;
 			info->m_upperLimit[srow] += getMaxLinMotorForce() / info->fps;
 		}
-		if(limit)
+		if (limit)
 		{
 			k = info->fps * currERP;
 			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
+			if (m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
 			{
 				info->cfm[srow] = m_cfmLimLin;
 			}
-			if(lostop == histop) 
-			{	// limited low and high simultaneously
+			if (lostop == histop)
+			{  // limited low and high simultaneously
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else if(limit == 1) 
-			{ // low limit
+			else if (limit == 1)
+			{  // low limit
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = 0;
 			}
-			else 
-			{ // high limit
+			else
+			{  // high limit
 				info->m_lowerLimit[srow] = 0;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
 			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
 			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
-			if(bounce > btScalar(0.0))
+			if (bounce > btScalar(0.0))
 			{
 				btScalar vel = linVelA.dot(ax1);
 				vel -= linVelB.dot(ax1);
 				vel *= signFact;
 				// only apply bounce if the velocity is incoming, and if the
 				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
+				if (limit == 1)
+				{  // low limit
+					if (vel < 0)
 					{
 						btScalar newc = -bounce * vel;
 						if (newc > info->m_constraintError[srow])
@@ -581,11 +553,11 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 					}
 				}
 				else
-				{ // high limit - all those computations are reversed
-					if(vel > 0)
+				{  // high limit - all those computations are reversed
+					if (vel > 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow]) 
+						if (newc < info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
@@ -593,40 +565,40 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 				}
 			}
 			info->m_constraintError[srow] *= getSoftnessLimLin();
-		} // if(limit)
-	} // if linear limit
+		}  // if(limit)
+	}      // if linear limit
 	// check angular limits
 	limit_err = btScalar(0.0);
 	limit = 0;
-	if(getSolveAngLimit())
+	if (getSolveAngLimit())
 	{
 		limit_err = getAngDepth();
 		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
 	}
 	// if the slider has joint limits, add in the extra row
 	powered = getPoweredAngMotor();
-	if(limit || powered)
+	if (limit || powered)
 	{
 		nrow++;
 		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow+0] = ax1[0];
-		info->m_J1angularAxis[srow+1] = ax1[1];
-		info->m_J1angularAxis[srow+2] = ax1[2];
+		info->m_J1angularAxis[srow + 0] = ax1[0];
+		info->m_J1angularAxis[srow + 1] = ax1[1];
+		info->m_J1angularAxis[srow + 2] = ax1[2];
 
-		info->m_J2angularAxis[srow+0] = -ax1[0];
-		info->m_J2angularAxis[srow+1] = -ax1[1];
-		info->m_J2angularAxis[srow+2] = -ax1[2];
+		info->m_J2angularAxis[srow + 0] = -ax1[0];
+		info->m_J2angularAxis[srow + 1] = -ax1[1];
+		info->m_J2angularAxis[srow + 2] = -ax1[2];
 
 		btScalar lostop = getLowerAngLimit();
 		btScalar histop = getUpperAngLimit();
-		if(limit && (lostop == histop))
+		if (limit && (lostop == histop))
 		{  // the joint motor is ineffective
 			powered = false;
 		}
 		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
-		if(powered)
+		if (powered)
 		{
-			if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
+			if (m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
 			{
 				info->cfm[srow] = m_cfmDirAng;
 			}
@@ -635,55 +607,55 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 			info->m_lowerLimit[srow] = -getMaxAngMotorForce() / info->fps;
 			info->m_upperLimit[srow] = getMaxAngMotorForce() / info->fps;
 		}
-		if(limit)
+		if (limit)
 		{
 			k = info->fps * currERP;
 			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
+			if (m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
 			{
 				info->cfm[srow] = m_cfmLimAng;
 			}
-			if(lostop == histop) 
+			if (lostop == histop)
 			{
 				// limited low and high simultaneously
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else if(limit == 1) 
-			{ // low limit
+			else if (limit == 1)
+			{  // low limit
 				info->m_lowerLimit[srow] = 0;
 				info->m_upperLimit[srow] = SIMD_INFINITY;
 			}
-			else 
-			{ // high limit
+			else
+			{  // high limit
 				info->m_lowerLimit[srow] = -SIMD_INFINITY;
 				info->m_upperLimit[srow] = 0;
 			}
 			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
 			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
-			if(bounce > btScalar(0.0))
+			if (bounce > btScalar(0.0))
 			{
 				btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
 				vel -= m_rbB.getAngularVelocity().dot(ax1);
 				// only apply bounce if the velocity is incoming, and if the
 				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
+				if (limit == 1)
+				{  // low limit
+					if (vel < 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc > info->m_constraintError[srow])
+						if (newc > info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
 					}
 				}
 				else
-				{	// high limit - all those computations are reversed
-					if(vel > 0)
+				{  // high limit - all those computations are reversed
+					if (vel > 0)
 					{
 						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow])
+						if (newc < info->m_constraintError[srow])
 						{
 							info->m_constraintError[srow] = newc;
 						}
@@ -691,165 +663,161 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 				}
 			}
 			info->m_constraintError[srow] *= getSoftnessLimAng();
-		} // if(limit)
-	} // if angular limit or powered
+		}  // if(limit)
+	}      // if angular limit or powered
 }
 
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 ///If no axis is provided, it uses the default axis for this constraint.
 void btSliderConstraint::setParam(int num, btScalar value, int axis)
 {
-	switch(num)
+	switch (num)
 	{
-	case BT_CONSTRAINT_STOP_ERP :
-		if(axis < 1)
-		{
-			m_softnessLimLin = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
-		}
-		else if(axis < 3)
-		{
-			m_softnessOrthoLin = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
-		}
-		else if(axis == 3)
-		{
-			m_softnessLimAng = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
-		}
-		else if(axis < 6)
-		{
-			m_softnessOrthoAng = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_CFM :
-		if(axis < 1)
-		{
-			m_cfmDirLin = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
-		}
-		else if(axis == 3)
-		{
-			m_cfmDirAng = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_STOP_CFM :
-		if(axis < 1)
-		{
-			m_cfmLimLin = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
-		}
-		else if(axis < 3)
-		{
-			m_cfmOrthoLin = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
-		}
-		else if(axis == 3)
-		{
-			m_cfmLimAng = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
-		}
-		else if(axis < 6)
-		{
-			m_cfmOrthoAng = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
+		case BT_CONSTRAINT_STOP_ERP:
+			if (axis < 1)
+			{
+				m_softnessLimLin = value;
+				m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
+			}
+			else if (axis < 3)
+			{
+				m_softnessOrthoLin = value;
+				m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
+			}
+			else if (axis == 3)
+			{
+				m_softnessLimAng = value;
+				m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
+			}
+			else if (axis < 6)
+			{
+				m_softnessOrthoAng = value;
+				m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
+			}
+			else
+			{
+				btAssertConstrParams(0);
+			}
+			break;
+		case BT_CONSTRAINT_CFM:
+			if (axis < 1)
+			{
+				m_cfmDirLin = value;
+				m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
+			}
+			else if (axis == 3)
+			{
+				m_cfmDirAng = value;
+				m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
+			}
+			else
+			{
+				btAssertConstrParams(0);
+			}
+			break;
+		case BT_CONSTRAINT_STOP_CFM:
+			if (axis < 1)
+			{
+				m_cfmLimLin = value;
+				m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
+			}
+			else if (axis < 3)
+			{
+				m_cfmOrthoLin = value;
+				m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
+			}
+			else if (axis == 3)
+			{
+				m_cfmLimAng = value;
+				m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
+			}
+			else if (axis < 6)
+			{
+				m_cfmOrthoAng = value;
+				m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
+			}
+			else
+			{
+				btAssertConstrParams(0);
+			}
+			break;
 	}
 }
 
 ///return the local value of parameter
-btScalar btSliderConstraint::getParam(int num, int axis) const 
+btScalar btSliderConstraint::getParam(int num, int axis) const
 {
 	btScalar retVal(SIMD_INFINITY);
-	switch(num)
+	switch (num)
 	{
-	case BT_CONSTRAINT_STOP_ERP :
-		if(axis < 1)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
-			retVal = m_softnessLimLin;
-		}
-		else if(axis < 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
-			retVal = m_softnessOrthoLin;
-		}
-		else if(axis == 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
-			retVal = m_softnessLimAng;
-		}
-		else if(axis < 6)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
-			retVal = m_softnessOrthoAng;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_CFM :
-		if(axis < 1)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
-			retVal = m_cfmDirLin;
-		}
-		else if(axis == 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
-			retVal = m_cfmDirAng;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_STOP_CFM :
-		if(axis < 1)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
-			retVal = m_cfmLimLin;
-		}
-		else if(axis < 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
-			retVal = m_cfmOrthoLin;
-		}
-		else if(axis == 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
-			retVal = m_cfmLimAng;
-		}
-		else if(axis < 6)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
-			retVal = m_cfmOrthoAng;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
+		case BT_CONSTRAINT_STOP_ERP:
+			if (axis < 1)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
+				retVal = m_softnessLimLin;
+			}
+			else if (axis < 3)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
+				retVal = m_softnessOrthoLin;
+			}
+			else if (axis == 3)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
+				retVal = m_softnessLimAng;
+			}
+			else if (axis < 6)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
+				retVal = m_softnessOrthoAng;
+			}
+			else
+			{
+				btAssertConstrParams(0);
+			}
+			break;
+		case BT_CONSTRAINT_CFM:
+			if (axis < 1)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
+				retVal = m_cfmDirLin;
+			}
+			else if (axis == 3)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
+				retVal = m_cfmDirAng;
+			}
+			else
+			{
+				btAssertConstrParams(0);
+			}
+			break;
+		case BT_CONSTRAINT_STOP_CFM:
+			if (axis < 1)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
+				retVal = m_cfmLimLin;
+			}
+			else if (axis < 3)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
+				retVal = m_cfmOrthoLin;
+			}
+			else if (axis == 3)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
+				retVal = m_cfmLimAng;
+			}
+			else if (axis < 6)
+			{
+				btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
+				retVal = m_cfmOrthoAng;
+			}
+			else
+			{
+				btAssertConstrParams(0);
+			}
+			break;
 	}
 	return retVal;
 }
-
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 1957f08a96..75ca34e978 100644..100755
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -25,31 +25,26 @@ TODO:
 #ifndef BT_SLIDER_CONSTRAINT_H
 #define BT_SLIDER_CONSTRAINT_H
 
-#include "LinearMath/btScalar.h"//for BT_USE_DOUBLE_PRECISION
+#include "LinearMath/btScalar.h"  //for BT_USE_DOUBLE_PRECISION
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btSliderConstraintData2		btSliderConstraintDoubleData
-#define btSliderConstraintDataName  "btSliderConstraintDoubleData"
+#define btSliderConstraintData2 btSliderConstraintDoubleData
+#define btSliderConstraintDataName "btSliderConstraintDoubleData"
 #else
-#define btSliderConstraintData2		btSliderConstraintData 
-#define btSliderConstraintDataName	"btSliderConstraintData"
-#endif //BT_USE_DOUBLE_PRECISION
+#define btSliderConstraintData2 btSliderConstraintData
+#define btSliderConstraintDataName "btSliderConstraintData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
 #include "btTypedConstraint.h"
 
-
-
 class btRigidBody;
 
-
-
-#define SLIDER_CONSTRAINT_DEF_SOFTNESS		(btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_DAMPING		(btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_RESTITUTION	(btScalar(0.7))
-#define SLIDER_CONSTRAINT_DEF_CFM			(btScalar(0.f))
-
+#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
+#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
+#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
+#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
 
 enum btSliderFlags
 {
@@ -67,15 +62,15 @@ enum btSliderFlags
 	BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
 };
 
-
-ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btSliderConstraint : public btTypedConstraint
 {
 protected:
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
-	bool		m_useOffsetForConstraintFrame;
-	btTransform	m_frameInA;
-    btTransform	m_frameInB;
+	bool m_useSolveConstraintObsolete;
+	bool m_useOffsetForConstraintFrame;
+	btTransform m_frameInA;
+	btTransform m_frameInB;
 	// use frameA fo define limits, if true
 	bool m_useLinearReferenceFrameA;
 	// linear limits
@@ -119,21 +114,21 @@ protected:
 	btScalar m_restitutionOrthoAng;
 	btScalar m_dampingOrthoAng;
 	btScalar m_cfmOrthoAng;
-	
+
 	// for interlal use
 	bool m_solveLinLim;
 	bool m_solveAngLim;
 
 	int m_flags;
 
-	btJacobianEntry	m_jacLin[3];
-	btScalar		m_jacLinDiagABInv[3];
+	btJacobianEntry m_jacLin[3];
+	btScalar m_jacLinDiagABInv[3];
 
-    btJacobianEntry	m_jacAng[3];
+	btJacobianEntry m_jacAng[3];
 
 	btScalar m_timeStep;
-    btTransform m_calculatedTransformA;
-    btTransform m_calculatedTransformB;
+	btTransform m_calculatedTransformA;
+	btTransform m_calculatedTransformB;
 
 	btVector3 m_sliderAxis;
 	btVector3 m_realPivotAInW;
@@ -150,57 +145,57 @@ protected:
 	btScalar m_angDepth;
 	btScalar m_kAngle;
 
-	bool	 m_poweredLinMotor;
-    btScalar m_targetLinMotorVelocity;
-    btScalar m_maxLinMotorForce;
-    btScalar m_accumulatedLinMotorImpulse;
-	
-	bool	 m_poweredAngMotor;
-    btScalar m_targetAngMotorVelocity;
-    btScalar m_maxAngMotorForce;
-    btScalar m_accumulatedAngMotorImpulse;
-
-	//------------------------    
+	bool m_poweredLinMotor;
+	btScalar m_targetLinMotorVelocity;
+	btScalar m_maxLinMotorForce;
+	btScalar m_accumulatedLinMotorImpulse;
+
+	bool m_poweredAngMotor;
+	btScalar m_targetAngMotorVelocity;
+	btScalar m_maxAngMotorForce;
+	btScalar m_accumulatedAngMotorImpulse;
+
+	//------------------------
 	void initParams();
+
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	// constructors
-    btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
+	btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
+	btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
 
 	// overrides
 
-    virtual void getInfo1 (btConstraintInfo1* info);
+	virtual void getInfo1(btConstraintInfo1 * info);
 
-	void getInfo1NonVirtual(btConstraintInfo1* info);
-	
-	virtual void getInfo2 (btConstraintInfo2* info);
+	void getInfo1NonVirtual(btConstraintInfo1 * info);
 
-	void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
+	virtual void getInfo2(btConstraintInfo2 * info);
 
+	void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
 
 	// access
-    const btRigidBody& getRigidBodyA() const { return m_rbA; }
-    const btRigidBody& getRigidBodyB() const { return m_rbB; }
-    const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
-    const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
-    const btTransform & getFrameOffsetA() const { return m_frameInA; }
-    const btTransform & getFrameOffsetB() const { return m_frameInB; }
-    btTransform & getFrameOffsetA() { return m_frameInA; }
-    btTransform & getFrameOffsetB() { return m_frameInB; }
-    btScalar getLowerLinLimit() { return m_lowerLinLimit; }
-    void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
-    btScalar getUpperLinLimit() { return m_upperLinLimit; }
-    void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
-    btScalar getLowerAngLimit() { return m_lowerAngLimit; }
-    void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
-    btScalar getUpperAngLimit() { return m_upperAngLimit; }
-    void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
+	const btRigidBody& getRigidBodyA() const { return m_rbA; }
+	const btRigidBody& getRigidBodyB() const { return m_rbB; }
+	const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
+	const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
+	const btTransform& getFrameOffsetA() const { return m_frameInA; }
+	const btTransform& getFrameOffsetB() const { return m_frameInB; }
+	btTransform& getFrameOffsetA() { return m_frameInA; }
+	btTransform& getFrameOffsetB() { return m_frameInB; }
+	btScalar getLowerLinLimit() { return m_lowerLinLimit; }
+	void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
+	btScalar getUpperLinLimit() { return m_upperLinLimit; }
+	void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
+	btScalar getLowerAngLimit() { return m_lowerAngLimit; }
+	void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
+	btScalar getUpperAngLimit() { return m_upperAngLimit; }
+	void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
 	bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
 	btScalar getSoftnessDirLin() { return m_softnessDirLin; }
 	btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
-	btScalar getDampingDirLin() { return m_dampingDirLin ; }
+	btScalar getDampingDirLin() { return m_dampingDirLin; }
 	btScalar getSoftnessDirAng() { return m_softnessDirAng; }
 	btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
 	btScalar getDampingDirAng() { return m_dampingDirAng; }
@@ -249,8 +244,6 @@ public:
 
 	btScalar getLinearPos() const { return m_linPos; }
 	btScalar getAngularPos() const { return m_angPos; }
-	
-	
 
 	// access for ODE solver
 	bool getSolveLinLimit() { return m_solveLinLim; }
@@ -258,9 +251,9 @@ public:
 	bool getSolveAngLimit() { return m_solveAngLim; }
 	btScalar getAngDepth() { return m_angDepth; }
 	// shared code used by ODE solver
-	void	calculateTransforms(const btTransform& transA,const btTransform& transB);
-	void	testLinLimits();
-	void	testAngLimits();
+	void calculateTransforms(const btTransform& transA, const btTransform& transB);
+	void testLinLimits();
+	void testAngLimits();
 	// access for PE Solver
 	btVector3 getAncorInA();
 	btVector3 getAncorInB();
@@ -268,84 +261,75 @@ public:
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
 
-	void setFrames(const btTransform& frameA, const btTransform& frameB) 
-	{ 
-		m_frameInA=frameA; 
-		m_frameInB=frameB;
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+	void setFrames(const btTransform& frameA, const btTransform& frameB)
+	{
+		m_frameInA = frameA;
+		m_frameInB = frameB;
+		calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
 		buildJacobian();
-	} 
-
+	}
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	virtual void setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-	
-	virtual	int getFlags() const
-    	{
+	virtual btScalar getParam(int num, int axis = -1) const;
+
+	virtual int getFlags() const
+	{
 		return m_flags;
 	}
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 
-
 struct btSliderConstraintData
 {
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintData m_typeConstraintData;
+	btTransformFloatData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformFloatData m_rbBFrame;
-	
-	float	m_linearUpperLimit;
-	float	m_linearLowerLimit;
 
-	float	m_angularUpperLimit;
-	float	m_angularLowerLimit;
+	float m_linearUpperLimit;
+	float m_linearLowerLimit;
 
-	int	m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
+	float m_angularUpperLimit;
+	float m_angularLowerLimit;
 
+	int m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
 };
 
-
 struct btSliderConstraintDoubleData
 {
-	btTypedConstraintDoubleData	m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTypedConstraintDoubleData m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame;  // constraint axii. Assumes z is hinge axis.
 	btTransformDoubleData m_rbBFrame;
-	
-	double	m_linearUpperLimit;
-	double	m_linearLowerLimit;
 
-	double	m_angularUpperLimit;
-	double	m_angularLowerLimit;
+	double m_linearUpperLimit;
+	double m_linearLowerLimit;
 
-	int	m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
+	double m_angularUpperLimit;
+	double m_angularLowerLimit;
 
+	int m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
 };
 
-SIMD_FORCE_INLINE		int	btSliderConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btSliderConstraintData2);
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-
-	btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer;
-	btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
+	btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
+	btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
 
 	m_frameInA.serialize(sliderData->m_rbAFrame);
 	m_frameInB.serialize(sliderData->m_rbBFrame);
@@ -362,7 +346,4 @@ SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, bt
 	return btSliderConstraintDataName;
 }
 
-
-
-#endif //BT_SLIDER_CONSTRAINT_H
-
+#endif  //BT_SLIDER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
index 0c7dbd668b..1ea20edcb2 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
@@ -13,43 +13,38 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btSolve2LinearConstraint.h"
 
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
 
-
 void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
-												   btRigidBody* body1,
-		btRigidBody* body2,
-
-						const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1)
+	btRigidBody* body1,
+	btRigidBody* body2,
+
+	const btMatrix3x3& world2A,
+	const btMatrix3x3& world2B,
+
+	const btVector3& invInertiaADiag,
+	const btScalar invMassA,
+	const btVector3& linvelA, const btVector3& angvelA,
+	const btVector3& rel_posA1,
+	const btVector3& invInertiaBDiag,
+	const btScalar invMassB,
+	const btVector3& linvelB, const btVector3& angvelB,
+	const btVector3& rel_posA2,
+
+	btScalar depthA, const btVector3& normalA,
+	const btVector3& rel_posB1, const btVector3& rel_posB2,
+	btScalar depthB, const btVector3& normalB,
+	btScalar& imp0, btScalar& imp1)
 {
 	(void)linvelA;
 	(void)linvelB;
 	(void)angvelB;
 	(void)angvelA;
 
-
-
 	imp0 = btScalar(0.);
 	imp1 = btScalar(0.);
 
@@ -59,86 +54,76 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
 
 	btAssert(len < SIMD_EPSILON);
 
-
 	//this jacobian entry could be re-used for all iterations
-	btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	
+	btJacobianEntry jacA(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
+						 invInertiaBDiag, invMassB);
+	btJacobianEntry jacB(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
+						 invInertiaBDiag, invMassB);
+
 	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
 	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
 
-	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
-	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1) - body2->getVelocityInLocalPoint(rel_posA1));
+	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1) - body2->getVelocityInLocalPoint(rel_posB1));
 
-//	btScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
+	//	btScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
 	btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
 
-
 	// calculate rhs (or error) terms
-	const btScalar dv0 = depthA  * m_tau * massTerm - vel0 * m_damping;
-	const btScalar dv1 = depthB  * m_tau * massTerm - vel1 * m_damping;
-
+	const btScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
+	const btScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
 
 	// dC/dv * dv = -C
-	
+
 	// jacobian * impulse = -error
 	//
 
 	//impulse = jacobianInverse * -error
 
 	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	// 
+	//
 
+	btScalar nonDiag = jacA.getNonDiagonal(jacB, invMassA, invMassB);
+	btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag);
 
-	btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
-	btScalar	invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
-	
 	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
 	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
 
 	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * -nonDiag * invDet;
 
 	//[a b]								  [d -c]
 	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
 
 	//[jA nD] * [imp0] = [dv0]
 	//[nD jB]   [imp1]   [dv1]
-
 }
 
-
-
 void btSolve2LinearConstraint::resolveBilateralPairConstraint(
-						btRigidBody* body1,
-						btRigidBody* body2,
-						const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1)
+	btRigidBody* body1,
+	btRigidBody* body2,
+	const btMatrix3x3& world2A,
+	const btMatrix3x3& world2B,
+
+	const btVector3& invInertiaADiag,
+	const btScalar invMassA,
+	const btVector3& linvelA, const btVector3& angvelA,
+	const btVector3& rel_posA1,
+	const btVector3& invInertiaBDiag,
+	const btScalar invMassB,
+	const btVector3& linvelB, const btVector3& angvelB,
+	const btVector3& rel_posA2,
+
+	btScalar depthA, const btVector3& normalA,
+	const btVector3& rel_posB1, const btVector3& rel_posB2,
+	btScalar depthB, const btVector3& normalB,
+	btScalar& imp0, btScalar& imp1)
 {
-
 	(void)linvelA;
 	(void)linvelB;
 	(void)angvelA;
 	(void)angvelB;
 
-
-
 	imp0 = btScalar(0.);
 	imp1 = btScalar(0.);
 
@@ -148,42 +133,40 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
 
 	btAssert(len < SIMD_EPSILON);
 
-
 	//this jacobian entry could be re-used for all iterations
-	btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	
+	btJacobianEntry jacA(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
+						 invInertiaBDiag, invMassB);
+	btJacobianEntry jacB(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
+						 invInertiaBDiag, invMassB);
+
 	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
 	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
 
-	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
-	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1) - body2->getVelocityInLocalPoint(rel_posA1));
+	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1) - body2->getVelocityInLocalPoint(rel_posB1));
 
 	// calculate rhs (or error) terms
-	const btScalar dv0 = depthA  * m_tau - vel0 * m_damping;
-	const btScalar dv1 = depthB  * m_tau - vel1 * m_damping;
+	const btScalar dv0 = depthA * m_tau - vel0 * m_damping;
+	const btScalar dv1 = depthB * m_tau - vel1 * m_damping;
 
 	// dC/dv * dv = -C
-	
+
 	// jacobian * impulse = -error
 	//
 
 	//impulse = jacobianInverse * -error
 
 	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	// 
+	//
 
+	btScalar nonDiag = jacA.getNonDiagonal(jacB, invMassA, invMassB);
+	btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag);
 
-	btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
-	btScalar	invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
-	
 	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
 	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
 
 	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * -nonDiag * invDet;
 
 	//[a b]								  [d -c]
 	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
@@ -191,9 +174,9 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
 	//[jA nD] * [imp0] = [dv0]
 	//[nD jB]   [imp1]   [dv1]
 
-	if ( imp0 > btScalar(0.0))
+	if (imp0 > btScalar(0.0))
 	{
-		if ( imp1 > btScalar(0.0) )
+		if (imp1 > btScalar(0.0))
 		{
 			//both positive
 		}
@@ -203,9 +186,10 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
 
 			// now imp0>0 imp1<0
 			imp0 = dv0 / jacA.getDiagonal();
-			if ( imp0 > btScalar(0.0) )
+			if (imp0 > btScalar(0.0))
 			{
-			} else
+			}
+			else
 			{
 				imp0 = btScalar(0.);
 			}
@@ -216,24 +200,25 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
 		imp0 = btScalar(0.);
 
 		imp1 = dv1 / jacB.getDiagonal();
-		if ( imp1 <= btScalar(0.0) )
+		if (imp1 <= btScalar(0.0))
 		{
 			imp1 = btScalar(0.);
 			// now imp0>0 imp1<0
 			imp0 = dv0 / jacA.getDiagonal();
-			if ( imp0 > btScalar(0.0) )
+			if (imp0 > btScalar(0.0))
 			{
-			} else
+			}
+			else
 			{
 				imp0 = btScalar(0.);
 			}
-		} else
+		}
+		else
 		{
 		}
 	}
 }
 
-
 /*
 void btSolve2LinearConstraint::resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
 											const btScalar invMassA,
@@ -252,4 +237,3 @@ void btSolve2LinearConstraint::resolveAngularConstraint(	const btMatrix3x3& invI
 
 }
 */
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
index e8bfabf864..fca8ecec81 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
@@ -19,20 +19,16 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btVector3.h"
 
-
 class btRigidBody;
 
-
-
 /// constraint class used for lateral tyre friction.
-class	btSolve2LinearConstraint
+class btSolve2LinearConstraint
 {
-	btScalar	m_tau;
-	btScalar	m_damping;
+	btScalar m_tau;
+	btScalar m_damping;
 
 public:
-
-	btSolve2LinearConstraint(btScalar tau,btScalar damping)
+	btSolve2LinearConstraint(btScalar tau, btScalar damping)
 	{
 		m_tau = tau;
 		m_damping = damping;
@@ -40,52 +36,51 @@ public:
 	//
 	// solve unilateral constraint (equality, direct method)
 	//
-	void resolveUnilateralPairConstraint(		
-														   btRigidBody* body0,
+	void resolveUnilateralPairConstraint(
+		btRigidBody* body0,
 		btRigidBody* body1,
 
 		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
+		const btMatrix3x3& world2B,
+
+		const btVector3& invInertiaADiag,
+		const btScalar invMassA,
+		const btVector3& linvelA, const btVector3& angvelA,
+		const btVector3& rel_posA1,
+		const btVector3& invInertiaBDiag,
+		const btScalar invMassB,
+		const btVector3& linvelB, const btVector3& angvelB,
+		const btVector3& rel_posA2,
+
+		btScalar depthA, const btVector3& normalA,
+		const btVector3& rel_posB1, const btVector3& rel_posB2,
+		btScalar depthB, const btVector3& normalB,
+		btScalar& imp0, btScalar& imp1);
 
 	//
 	// solving 2x2 lcp problem (inequality, direct solution )
 	//
 	void resolveBilateralPairConstraint(
-			btRigidBody* body0,
-						btRigidBody* body1,
+		btRigidBody* body0,
+		btRigidBody* body1,
 		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-/*
+		const btMatrix3x3& world2B,
+
+		const btVector3& invInertiaADiag,
+		const btScalar invMassA,
+		const btVector3& linvelA, const btVector3& angvelA,
+		const btVector3& rel_posA1,
+		const btVector3& invInertiaBDiag,
+		const btScalar invMassB,
+		const btVector3& linvelB, const btVector3& angvelB,
+		const btVector3& rel_posA2,
+
+		btScalar depthA, const btVector3& normalA,
+		const btVector3& rel_posB1, const btVector3& rel_posB2,
+		btScalar depthB, const btVector3& normalB,
+		btScalar& imp0, btScalar& imp1);
+
+	/*
 	void resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
 						const btScalar invMassA,
 						const btVector3& linvelA,const btVector3& angvelA,
@@ -101,7 +96,6 @@ public:
 					  btScalar& imp0,btScalar& imp1);
 
 */
-
 };
 
-#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H
+#endif  //BT_SOLVE_2LINEAR_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
index 27ccefe416..409aa8a08c 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef BT_SOLVER_BODY_H
 #define BT_SOLVER_BODY_H
 
-class	btRigidBody;
+class btRigidBody;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
 
@@ -26,103 +26,99 @@ class	btRigidBody;
 ///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
 #ifdef BT_USE_SSE
 #define USE_SIMD 1
-#endif //
-
+#endif  //
 
 #ifdef USE_SIMD
 
-struct	btSimdScalar
+struct btSimdScalar
 {
-	SIMD_FORCE_INLINE	btSimdScalar()
+	SIMD_FORCE_INLINE btSimdScalar()
 	{
-
 	}
 
-	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
-	:m_vec128 (_mm_set1_ps(fl))
+	SIMD_FORCE_INLINE btSimdScalar(float fl)
+		: m_vec128(_mm_set1_ps(fl))
 	{
 	}
 
-	SIMD_FORCE_INLINE	btSimdScalar(__m128 v128)
-		:m_vec128(v128)
+	SIMD_FORCE_INLINE btSimdScalar(__m128 v128)
+		: m_vec128(v128)
 	{
 	}
-	union
-	{
-		__m128		m_vec128;
-		float		m_floats[4];
-		int			m_ints[4];
-		btScalar	m_unusedPadding;
+	union {
+		__m128 m_vec128;
+		float m_floats[4];
+		int m_ints[4];
+		btScalar m_unusedPadding;
 	};
-	SIMD_FORCE_INLINE	__m128	get128()
+	SIMD_FORCE_INLINE __m128 get128()
 	{
 		return m_vec128;
 	}
 
-	SIMD_FORCE_INLINE	const __m128	get128() const
+	SIMD_FORCE_INLINE const __m128 get128() const
 	{
 		return m_vec128;
 	}
 
-	SIMD_FORCE_INLINE	void	set128(__m128 v128)
+	SIMD_FORCE_INLINE void set128(__m128 v128)
 	{
 		m_vec128 = v128;
 	}
 
-	SIMD_FORCE_INLINE	operator       __m128()       
-	{ 
-		return m_vec128; 
-	}
-	SIMD_FORCE_INLINE	operator const __m128() const 
-	{ 
-		return m_vec128; 
+	SIMD_FORCE_INLINE operator __m128()
+	{
+		return m_vec128;
 	}
-	
-	SIMD_FORCE_INLINE	operator float() const 
-	{ 
-		return m_floats[0]; 
+	SIMD_FORCE_INLINE operator const __m128() const
+	{
+		return m_vec128;
 	}
 
+	SIMD_FORCE_INLINE operator float() const
+	{
+		return m_floats[0];
+	}
 };
 
 ///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar 
-operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
+SIMD_FORCE_INLINE btSimdScalar
+operator*(const btSimdScalar& v1, const btSimdScalar& v2)
 {
-	return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
+	return btSimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
 }
 
 ///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar 
-operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
+SIMD_FORCE_INLINE btSimdScalar
+operator+(const btSimdScalar& v1, const btSimdScalar& v2)
 {
-	return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
+	return btSimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
 }
 
-
 #else
 #define btSimdScalar btScalar
 #endif
 
 ///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
+ATTRIBUTE_ALIGNED16(struct)
+btSolverBody
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	btTransform		m_worldTransform;
-	btVector3		m_deltaLinearVelocity;
-	btVector3		m_deltaAngularVelocity;
-	btVector3		m_angularFactor;
-	btVector3		m_linearFactor;
-	btVector3		m_invMass;
-	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
-	btVector3		m_linearVelocity;
-	btVector3		m_angularVelocity;
-	btVector3		m_externalForceImpulse;
-	btVector3		m_externalTorqueImpulse;
-
-	btRigidBody*	m_originalBody;
-	void	setWorldTransform(const btTransform& worldTransform)
+	btTransform m_worldTransform;
+	btVector3 m_deltaLinearVelocity;
+	btVector3 m_deltaAngularVelocity;
+	btVector3 m_angularFactor;
+	btVector3 m_linearFactor;
+	btVector3 m_invMass;
+	btVector3 m_pushVelocity;
+	btVector3 m_turnVelocity;
+	btVector3 m_linearVelocity;
+	btVector3 m_angularVelocity;
+	btVector3 m_externalForceImpulse;
+	btVector3 m_externalTorqueImpulse;
+
+	btRigidBody* m_originalBody;
+	void setWorldTransform(const btTransform& worldTransform)
 	{
 		m_worldTransform = worldTransform;
 	}
@@ -131,56 +127,50 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 	{
 		return m_worldTransform;
 	}
-	
-	
 
-	SIMD_FORCE_INLINE void	getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity ) const
+	SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity) const
 	{
 		if (m_originalBody)
-			velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity+m_externalTorqueImpulse).cross(rel_pos);
+			velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity + m_externalTorqueImpulse).cross(rel_pos);
 		else
-			velocity.setValue(0,0,0);
+			velocity.setValue(0, 0, 0);
 	}
 
-
-	SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
+	SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity) const
 	{
 		if (m_originalBody)
-			velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+			velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
 		else
-			velocity.setValue(0,0,0);
+			velocity.setValue(0, 0, 0);
 	}
 
-	SIMD_FORCE_INLINE void	getAngularVelocity(btVector3& angVel) const
+	SIMD_FORCE_INLINE void getAngularVelocity(btVector3 & angVel) const
 	{
 		if (m_originalBody)
-			angVel =m_angularVelocity+m_deltaAngularVelocity;
+			angVel = m_angularVelocity + m_deltaAngularVelocity;
 		else
-			angVel.setValue(0,0,0);
+			angVel.setValue(0, 0, 0);
 	}
 
-
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
+	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent, const btScalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
 
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent, btScalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_pushVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
 
-
-
 	const btVector3& getDeltaLinearVelocity() const
 	{
 		return m_deltaLinearVelocity;
@@ -191,20 +181,19 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 		return m_deltaAngularVelocity;
 	}
 
-	const btVector3& getPushVelocity() const 
+	const btVector3& getPushVelocity() const
 	{
 		return m_pushVelocity;
 	}
 
-	const btVector3& getTurnVelocity() const 
+	const btVector3& getTurnVelocity() const
 	{
 		return m_turnVelocity;
 	}
 
-
 	////////////////////////////////////////////////
 	///some internal methods, don't use them
-		
+
 	btVector3& internalGetDeltaLinearVelocity()
 	{
 		return m_deltaLinearVelocity;
@@ -229,7 +218,7 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 	{
 		m_invMass = invMass;
 	}
-	
+
 	btVector3& internalGetPushVelocity()
 	{
 		return m_pushVelocity;
@@ -240,67 +229,57 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 		return m_turnVelocity;
 	}
 
-	SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
+	SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity) const
 	{
-		velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+		velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
 	}
 
-	SIMD_FORCE_INLINE void	internalGetAngularVelocity(btVector3& angVel) const
+	SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3 & angVel) const
 	{
-		angVel = m_angularVelocity+m_deltaAngularVelocity;
+		angVel = m_angularVelocity + m_deltaAngularVelocity;
 	}
 
-
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
+	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent, const btScalar impulseMagnitude)
 	{
 		if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
+			m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
 		}
 	}
-		
-	
-	
 
-	void	writebackVelocity()
+	void writebackVelocity()
 	{
 		if (m_originalBody)
 		{
-			m_linearVelocity +=m_deltaLinearVelocity;
+			m_linearVelocity += m_deltaLinearVelocity;
 			m_angularVelocity += m_deltaAngularVelocity;
-			
+
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
 
-
-	void	writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
+	void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
 	{
-        (void) timeStep;
+		(void)timeStep;
 		if (m_originalBody)
 		{
 			m_linearVelocity += m_deltaLinearVelocity;
 			m_angularVelocity += m_deltaAngularVelocity;
-			
+
 			//correct the position/orientation based on push/turn recovery
 			btTransform newTransform;
-			if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
+			if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
 			{
-			//	btQuaternion orn = m_worldTransform.getRotation();
-				btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
+				//	btQuaternion orn = m_worldTransform.getRotation();
+				btTransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
 				m_worldTransform = newTransform;
 			}
 			//m_worldTransform.setRotation(orn);
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
-	
-
-
 };
 
-#endif //BT_SOLVER_BODY_H
-
-
+#endif  //BT_SOLVER_BODY_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
index 5515e6b311..c7938df867 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef BT_SOLVER_CONSTRAINT_H
 #define BT_SOLVER_CONSTRAINT_H
 
-class	btRigidBody;
+class btRigidBody;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
 #include "btJacobianEntry.h"
@@ -25,56 +25,50 @@ class	btRigidBody;
 //#define NO_FRICTION_TANGENTIALS 1
 #include "btSolverBody.h"
 
-
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
+ATTRIBUTE_ALIGNED16(struct)
+btSolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal1;
-
-	btVector3		m_relpos2CrossNormal;
-	btVector3		m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
-
-	btVector3		m_angularComponentA;
-	btVector3		m_angularComponentB;
-	
-	mutable btSimdScalar	m_appliedPushImpulse;
-	mutable btSimdScalar	m_appliedImpulse;
-
-	btScalar	m_friction;
-	btScalar	m_jacDiagABInv;
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	
-    btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-	btScalar		m_rhsPenetration;
-    union
-	{
-		void*		m_originalContactPoint;
-		btScalar	m_unusedPadding4;
-		int			m_numRowsForNonContactConstraint;
+	btVector3 m_relpos1CrossNormal;
+	btVector3 m_contactNormal1;
+
+	btVector3 m_relpos2CrossNormal;
+	btVector3 m_contactNormal2;  //usually m_contactNormal2 == -m_contactNormal1, but not always
+
+	btVector3 m_angularComponentA;
+	btVector3 m_angularComponentB;
+
+	mutable btSimdScalar m_appliedPushImpulse;
+	mutable btSimdScalar m_appliedImpulse;
+
+	btScalar m_friction;
+	btScalar m_jacDiagABInv;
+	btScalar m_rhs;
+	btScalar m_cfm;
+
+	btScalar m_lowerLimit;
+	btScalar m_upperLimit;
+	btScalar m_rhsPenetration;
+	union {
+		void* m_originalContactPoint;
+		btScalar m_unusedPadding4;
+		int m_numRowsForNonContactConstraint;
 	};
 
-	int	m_overrideNumSolverIterations;
-    int			m_frictionIndex;
+	int m_overrideNumSolverIterations;
+	int m_frictionIndex;
 	int m_solverBodyIdA;
 	int m_solverBodyIdB;
 
-    
-	enum		btSolverConstraintType
+	enum btSolverConstraintType
 	{
 		BT_SOLVER_CONTACT_1D = 0,
 		BT_SOLVER_FRICTION_1D
 	};
 };
 
-typedef btAlignedObjectArray<btSolverConstraint>	btConstraintArray;
-
-
-#endif //BT_SOLVER_CONSTRAINT_H
-
-
+typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray;
 
+#endif  //BT_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index 9f04f28053..ebe679c449 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -13,69 +13,63 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btTypedConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btSerializer.h"
 
-
 #define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f)
 
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-:btTypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintPtr((void*)-1),
-m_breakingImpulseThreshold(SIMD_INFINITY),
-m_isEnabled(true),
-m_needsFeedback(false),
-m_overrideNumSolverIterations(-1),
-m_rbA(rbA),
-m_rbB(getFixedBody()),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
-m_jointFeedback(0)
+	: btTypedObject(type),
+	  m_userConstraintType(-1),
+	  m_userConstraintPtr((void*)-1),
+	  m_breakingImpulseThreshold(SIMD_INFINITY),
+	  m_isEnabled(true),
+	  m_needsFeedback(false),
+	  m_overrideNumSolverIterations(-1),
+	  m_rbA(rbA),
+	  m_rbB(getFixedBody()),
+	  m_appliedImpulse(btScalar(0.)),
+	  m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+	  m_jointFeedback(0)
 {
 }
 
-
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
-:btTypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintPtr((void*)-1),
-m_breakingImpulseThreshold(SIMD_INFINITY),
-m_isEnabled(true),
-m_needsFeedback(false),
-m_overrideNumSolverIterations(-1),
-m_rbA(rbA),
-m_rbB(rbB),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
-m_jointFeedback(0)
+btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA, btRigidBody& rbB)
+	: btTypedObject(type),
+	  m_userConstraintType(-1),
+	  m_userConstraintPtr((void*)-1),
+	  m_breakingImpulseThreshold(SIMD_INFINITY),
+	  m_isEnabled(true),
+	  m_needsFeedback(false),
+	  m_overrideNumSolverIterations(-1),
+	  m_rbA(rbA),
+	  m_rbB(rbB),
+	  m_appliedImpulse(btScalar(0.)),
+	  m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+	  m_jointFeedback(0)
 {
 }
 
-
-
-
 btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
 {
-	if(lowLim > uppLim)
+	if (lowLim > uppLim)
 	{
 		return btScalar(1.0f);
 	}
-	else if(lowLim == uppLim)
+	else if (lowLim == uppLim)
 	{
 		return btScalar(0.0f);
 	}
 	btScalar lim_fact = btScalar(1.0f);
 	btScalar delta_max = vel / timeFact;
-	if(delta_max < btScalar(0.0f))
+	if (delta_max < btScalar(0.0f))
 	{
-		if((pos >= lowLim) && (pos < (lowLim - delta_max)))
+		if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
 		{
 			lim_fact = (lowLim - pos) / delta_max;
 		}
-		else if(pos  < lowLim)
+		else if (pos < lowLim)
 		{
 			lim_fact = btScalar(0.0f);
 		}
@@ -84,13 +78,13 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
 			lim_fact = btScalar(1.0f);
 		}
 	}
-	else if(delta_max > btScalar(0.0f))
+	else if (delta_max > btScalar(0.0f))
 	{
-		if((pos <= uppLim) && (pos > (uppLim - delta_max)))
+		if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
 		{
 			lim_fact = (uppLim - pos) / delta_max;
 		}
-		else if(pos  > uppLim)
+		else if (pos > uppLim)
 		{
 			lim_fact = btScalar(0.0f);
 		}
@@ -101,19 +95,19 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
 	}
 	else
 	{
-			lim_fact = btScalar(0.0f);
+		lim_fact = btScalar(0.0f);
 	}
 	return lim_fact;
 }
 
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
 {
-	btTypedConstraintData2* tcd = (btTypedConstraintData2*) dataBuffer;
+	btTypedConstraintData2* tcd = (btTypedConstraintData2*)dataBuffer;
 
 	tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
 	tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
-	char* name = (char*) serializer->findNameForPointer(this);
+	char* name = (char*)serializer->findNameForPointer(this);
 	tcd->m_name = (char*)serializer->getUniquePointer(name);
 	if (tcd->m_name)
 	{
@@ -124,10 +118,10 @@ const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
 	tcd->m_needsFeedback = m_needsFeedback;
 	tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
 	tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold;
-	tcd->m_isEnabled = m_isEnabled? 1: 0;
-	
-	tcd->m_userConstraintId =m_userConstraintId;
-	tcd->m_userConstraintType =m_userConstraintType;
+	tcd->m_isEnabled = m_isEnabled ? 1 : 0;
+
+	tcd->m_userConstraintId = m_userConstraintId;
+	tcd->m_userConstraintType = m_userConstraintType;
 
 	tcd->m_appliedImpulse = m_appliedImpulse;
 	tcd->m_dbgDrawSize = m_dbgDrawSize;
@@ -135,10 +129,10 @@ const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
 	tcd->m_disableCollisionsBetweenLinkedBodies = false;
 
 	int i;
-	for (i=0;i<m_rbA.getNumConstraintRefs();i++)
+	for (i = 0; i < m_rbA.getNumConstraintRefs(); i++)
 		if (m_rbA.getConstraintRef(i) == this)
 			tcd->m_disableCollisionsBetweenLinkedBodies = true;
-	for (i=0;i<m_rbB.getNumConstraintRefs();i++)
+	for (i = 0; i < m_rbB.getNumConstraintRefs(); i++)
 		if (m_rbB.getConstraintRef(i) == this)
 			tcd->m_disableCollisionsBetweenLinkedBodies = true;
 
@@ -147,17 +141,16 @@ const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
 
 btRigidBody& btTypedConstraint::getFixedBody()
 {
-	static btRigidBody s_fixed(0, 0,0);
-	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+	static btRigidBody s_fixed(0, 0, 0);
+	s_fixed.setMassProps(btScalar(0.), btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
 	return s_fixed;
 }
 
-
 void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor)
 {
 	m_halfRange = (high - low) / 2.0f;
 	m_center = btNormalizeAngle(low + m_halfRange);
-	m_softness =  _softness;
+	m_softness = _softness;
 	m_biasFactor = _biasFactor;
 	m_relaxationFactor = _relaxationFactor;
 }
@@ -174,7 +167,7 @@ void btAngularLimit::test(const btScalar angle)
 		if (deviation < -m_halfRange)
 		{
 			m_solveLimit = true;
-			m_correction = - (deviation + m_halfRange);
+			m_correction = -(deviation + m_halfRange);
 			m_sign = +1.0f;
 		}
 		else if (deviation > m_halfRange)
@@ -186,7 +179,6 @@ void btAngularLimit::test(const btScalar angle)
 	}
 }
 
-
 btScalar btAngularLimit::getError() const
 {
 	return m_correction * m_sign;
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index 8a2a2d1ae7..d30f3dee5c 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -16,26 +16,24 @@ subject to the following restrictions:
 #ifndef BT_TYPED_CONSTRAINT_H
 #define BT_TYPED_CONSTRAINT_H
 
-
 #include "LinearMath/btScalar.h"
 #include "btSolverConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btTypedConstraintData2		btTypedConstraintDoubleData
-#define btTypedConstraintDataName	"btTypedConstraintDoubleData"
+#define btTypedConstraintData2 btTypedConstraintDoubleData
+#define btTypedConstraintDataName "btTypedConstraintDoubleData"
 #else
-#define btTypedConstraintData2 		btTypedConstraintFloatData
-#define btTypedConstraintDataName  "btTypedConstraintFloatData" 
-#endif //BT_USE_DOUBLE_PRECISION
-
+#define btTypedConstraintData2 btTypedConstraintFloatData
+#define btTypedConstraintDataName "btTypedConstraintFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 class btSerializer;
 
 //Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
 enum btTypedConstraintType
 {
-	POINT2POINT_CONSTRAINT_TYPE=3,
+	POINT2POINT_CONSTRAINT_TYPE = 3,
 	HINGE_CONSTRAINT_TYPE,
 	CONETWIST_CONSTRAINT_TYPE,
 	D6_CONSTRAINT_TYPE,
@@ -48,91 +46,88 @@ enum btTypedConstraintType
 	MAX_CONSTRAINT_TYPE
 };
 
-
 enum btConstraintParams
 {
-	BT_CONSTRAINT_ERP=1,
+	BT_CONSTRAINT_ERP = 1,
 	BT_CONSTRAINT_STOP_ERP,
 	BT_CONSTRAINT_CFM,
 	BT_CONSTRAINT_STOP_CFM
 };
 
 #if 1
-	#define btAssertConstrParams(_par) btAssert(_par) 
+#define btAssertConstrParams(_par) btAssert(_par)
 #else
-	#define btAssertConstrParams(_par)
+#define btAssertConstrParams(_par)
 #endif
 
-
-ATTRIBUTE_ALIGNED16(struct)	btJointFeedback
+ATTRIBUTE_ALIGNED16(struct)
+btJointFeedback
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	btVector3	m_appliedForceBodyA;
-	btVector3	m_appliedTorqueBodyA;
-	btVector3	m_appliedForceBodyB;
-	btVector3	m_appliedTorqueBodyB;
+	btVector3 m_appliedForceBodyA;
+	btVector3 m_appliedTorqueBodyA;
+	btVector3 m_appliedForceBodyB;
+	btVector3 m_appliedTorqueBodyB;
 };
 
-
 ///TypedConstraint is the baseclass for Bullet constraints and vehicles
-ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject
+ATTRIBUTE_ALIGNED16(class)
+btTypedConstraint : public btTypedObject
 {
-	int	m_userConstraintType;
+	int m_userConstraintType;
 
-	union
-	{
-		int	m_userConstraintId;
+	union {
+		int m_userConstraintId;
 		void* m_userConstraintPtr;
 	};
 
-	btScalar	m_breakingImpulseThreshold;
-	bool		m_isEnabled;
-	bool		m_needsFeedback;
-	int			m_overrideNumSolverIterations;
+	btScalar m_breakingImpulseThreshold;
+	bool m_isEnabled;
+	bool m_needsFeedback;
+	int m_overrideNumSolverIterations;
 
-
-	btTypedConstraint&	operator=(btTypedConstraint&	other)
+	btTypedConstraint& operator=(btTypedConstraint& other)
 	{
 		btAssert(0);
-		(void) other;
+		(void)other;
 		return *this;
 	}
 
 protected:
-	btRigidBody&	m_rbA;
-	btRigidBody&	m_rbB;
-	btScalar	m_appliedImpulse;
-	btScalar	m_dbgDrawSize;
-	btJointFeedback*	m_jointFeedback;
+	btRigidBody& m_rbA;
+	btRigidBody& m_rbB;
+	btScalar m_appliedImpulse;
+	btScalar m_dbgDrawSize;
+	btJointFeedback* m_jointFeedback;
 
 	///internal method used by the constraint solver, don't use them directly
 	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
-	
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	virtual ~btTypedConstraint() {};
-	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
-	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
+	virtual ~btTypedConstraint(){};
+	btTypedConstraint(btTypedConstraintType type, btRigidBody & rbA);
+	btTypedConstraint(btTypedConstraintType type, btRigidBody & rbA, btRigidBody & rbB);
 
-	struct btConstraintInfo1 {
-		int m_numConstraintRows,nub;
+	struct btConstraintInfo1
+	{
+		int m_numConstraintRows, nub;
 	};
 
 	static btRigidBody& getFixedBody();
 
-	struct btConstraintInfo2 {
+	struct btConstraintInfo2
+	{
 		// integrator parameters: frames per second (1/stepsize), default error
 		// reduction parameter (0..1).
-		btScalar fps,erp;
+		btScalar fps, erp;
 
 		// for the first and second body, pointers to two (linear and angular)
 		// n*3 jacobian sub matrices, stored by rows. these matrices will have
 		// been initialized to 0 on entry. if the second body is zero then the
 		// J2xx pointers may be 0.
-		btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+		btScalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
 
 		// elements to jump from one row to the next in J's
 		int rowskip;
@@ -140,19 +135,19 @@ public:
 		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
 		// "constraint force mixing" vector. c is set to zero on entry, cfm is
 		// set to a constant value (typically very small or zero) value on entry.
-		btScalar *m_constraintError,*cfm;
+		btScalar *m_constraintError, *cfm;
 
 		// lo and hi limits for variables (set to -/+ infinity on entry).
-		btScalar *m_lowerLimit,*m_upperLimit;
+		btScalar *m_lowerLimit, *m_upperLimit;
 
 		// number of solver iterations
 		int m_numIterations;
 
 		//damping of the velocity
-		btScalar	m_damping;
+		btScalar m_damping;
 	};
 
-	int	getOverrideNumSolverIterations() const
+	int getOverrideNumSolverIterations() const
 	{
 		return m_overrideNumSolverIterations;
 	}
@@ -165,60 +160,57 @@ public:
 	}
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual void	buildJacobian() {};
+	virtual void buildJacobian(){};
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual	void	setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
+	virtual void setupSolverConstraint(btConstraintArray & ca, int solverBodyA, int solverBodyB, btScalar timeStep)
 	{
-        (void)ca;
-        (void)solverBodyA;
-        (void)solverBodyB;
-        (void)timeStep;
+		(void)ca;
+		(void)solverBodyA;
+		(void)solverBodyB;
+		(void)timeStep;
 	}
-	
+
 	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1 (btConstraintInfo1* info)=0;
+	virtual void getInfo1(btConstraintInfo1 * info) = 0;
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (btConstraintInfo2* info)=0;
+	virtual void getInfo2(btConstraintInfo2 * info) = 0;
 
 	///internal method used by the constraint solver, don't use them directly
-	void	internalSetAppliedImpulse(btScalar appliedImpulse)
+	void internalSetAppliedImpulse(btScalar appliedImpulse)
 	{
 		m_appliedImpulse = appliedImpulse;
 	}
 	///internal method used by the constraint solver, don't use them directly
-	btScalar	internalGetAppliedImpulse()
+	btScalar internalGetAppliedImpulse()
 	{
 		return m_appliedImpulse;
 	}
 
-
-	btScalar	getBreakingImpulseThreshold() const
+	btScalar getBreakingImpulseThreshold() const
 	{
-		return 	m_breakingImpulseThreshold;
+		return m_breakingImpulseThreshold;
 	}
 
-	void	setBreakingImpulseThreshold(btScalar threshold)
+	void setBreakingImpulseThreshold(btScalar threshold)
 	{
 		m_breakingImpulseThreshold = threshold;
 	}
 
-	bool	isEnabled() const
+	bool isEnabled() const
 	{
 		return m_isEnabled;
 	}
 
-	void	setEnabled(bool enabled)
+	void setEnabled(bool enabled)
 	{
-		m_isEnabled=enabled;
+		m_isEnabled = enabled;
 	}
 
-
 	///internal method used by the constraint solver, don't use them directly
-	virtual	void	solveConstraintObsolete(btSolverBody& /*bodyA*/,btSolverBody& /*bodyB*/,btScalar	/*timeStep*/) {};
+	virtual void solveConstraintObsolete(btSolverBody& /*bodyA*/, btSolverBody& /*bodyB*/, btScalar /*timeStep*/){};
 
-	
 	const btRigidBody& getRigidBodyA() const
 	{
 		return m_rbA;
@@ -228,7 +220,7 @@ public:
 		return m_rbB;
 	}
 
-	btRigidBody& getRigidBodyA() 
+	btRigidBody& getRigidBodyA()
 	{
 		return m_rbA;
 	}
@@ -239,15 +231,15 @@ public:
 
 	int getUserConstraintType() const
 	{
-		return m_userConstraintType ;
+		return m_userConstraintType;
 	}
 
-	void	setUserConstraintType(int userConstraintType)
+	void setUserConstraintType(int userConstraintType)
 	{
 		m_userConstraintType = userConstraintType;
 	};
 
-	void	setUserConstraintId(int uid)
+	void setUserConstraintId(int uid)
 	{
 		m_userConstraintId = uid;
 	}
@@ -257,17 +249,17 @@ public:
 		return m_userConstraintId;
 	}
 
-	void	setUserConstraintPtr(void* ptr)
+	void setUserConstraintPtr(void* ptr)
 	{
 		m_userConstraintPtr = ptr;
 	}
 
-	void*	getUserConstraintPtr()
+	void* getUserConstraintPtr()
 	{
 		return m_userConstraintPtr;
 	}
 
-	void	setJointFeedback(btJointFeedback* jointFeedback)
+	void setJointFeedback(btJointFeedback * jointFeedback)
 	{
 		m_jointFeedback = jointFeedback;
 	}
@@ -282,37 +274,36 @@ public:
 		return m_jointFeedback;
 	}
 
-
 	int getUid() const
 	{
-		return m_userConstraintId;   
-	} 
+		return m_userConstraintId;
+	}
 
-	bool	needsFeedback() const
+	bool needsFeedback() const
 	{
 		return m_needsFeedback;
 	}
 
 	///enableFeedback will allow to read the applied linear and angular impulse
 	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
-	void	enableFeedback(bool needsFeedback)
+	void enableFeedback(bool needsFeedback)
 	{
 		m_needsFeedback = needsFeedback;
 	}
 
-	///getAppliedImpulse is an estimated total applied impulse. 
+	///getAppliedImpulse is an estimated total applied impulse.
 	///This feedback could be used to determine breaking constraints or playing sounds.
-	btScalar	getAppliedImpulse() const
+	btScalar getAppliedImpulse() const
 	{
 		btAssert(m_needsFeedback);
 		return m_appliedImpulse;
 	}
 
-	btTypedConstraintType getConstraintType () const
+	btTypedConstraintType getConstraintType() const
 	{
 		return btTypedConstraintType(m_objectType);
 	}
-	
+
 	void setDbgDrawSize(btScalar dbgDrawSize)
 	{
 		m_dbgDrawSize = dbgDrawSize;
@@ -322,35 +313,34 @@ public:
 		return m_dbgDrawSize;
 	}
 
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
 	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1) = 0;
+	virtual void setParam(int num, btScalar value, int axis = -1) = 0;
 
 	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const = 0;
-	
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual btScalar getParam(int num, int axis = -1) const = 0;
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+	virtual int calculateSerializeBufferSize() const;
 
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
-// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits 
+// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits
 // all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
 SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
 {
-	if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
+	if (angleLowerLimitInRadians >= angleUpperLimitInRadians)
 	{
 		return angleInRadians;
 	}
-	else if(angleInRadians < angleLowerLimitInRadians)
+	else if (angleInRadians < angleLowerLimitInRadians)
 	{
 		btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
 		btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
 		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
 	}
-	else if(angleInRadians > angleUpperLimitInRadians)
+	else if (angleInRadians > angleUpperLimitInRadians)
 	{
 		btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
 		btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
@@ -362,6 +352,8 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal
 	}
 }
 
+// clang-format off
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct	btTypedConstraintFloatData
 {
@@ -385,6 +377,8 @@ struct	btTypedConstraintFloatData
 	
 };
 
+
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 
 #define BT_BACKWARDS_COMPATIBLE_SERIALIZATION
@@ -436,18 +430,17 @@ struct	btTypedConstraintDoubleData
 	
 };
 
+// clang-format on
 
-SIMD_FORCE_INLINE	int	btTypedConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const
 {
 	return sizeof(btTypedConstraintData2);
 }
 
-
-
 class btAngularLimit
 {
 private:
-	btScalar 
+	btScalar
 		m_center,
 		m_halfRange,
 		m_softness,
@@ -462,15 +455,16 @@ private:
 public:
 	/// Default constructor initializes limit as inactive, allowing free constraint movement
 	btAngularLimit()
-		:m_center(0.0f),
-		m_halfRange(-1.0f),
-		m_softness(0.9f),
-		m_biasFactor(0.3f),
-		m_relaxationFactor(1.0f),
-		m_correction(0.0f),
-		m_sign(0.0f),
-		m_solveLimit(false)
-	{}
+		: m_center(0.0f),
+		  m_halfRange(-1.0f),
+		  m_softness(0.9f),
+		  m_biasFactor(0.3f),
+		  m_relaxationFactor(1.0f),
+		  m_correction(0.0f),
+		  m_sign(0.0f),
+		  m_solveLimit(false)
+	{
+	}
 
 	/// Sets all limit's parameters.
 	/// When low > high limit becomes inactive.
@@ -499,13 +493,13 @@ public:
 		return m_relaxationFactor;
 	}
 
-	/// Returns correction value evaluated when test() was invoked 
+	/// Returns correction value evaluated when test() was invoked
 	inline btScalar getCorrection() const
 	{
 		return m_correction;
 	}
 
-	/// Returns sign value evaluated when test() was invoked 
+	/// Returns sign value evaluated when test() was invoked
 	inline btScalar getSign() const
 	{
 		return m_sign;
@@ -533,9 +527,6 @@ public:
 	btScalar getLow() const;
 
 	btScalar getHigh() const;
-
 };
 
-
-
-#endif //BT_TYPED_CONSTRAINT_H
+#endif  //BT_TYPED_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
index b009f41aec..42ed1fbb87 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
@@ -13,43 +13,38 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btUniversalConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 
-
-
 #define UNIV_EPS btScalar(0.01f)
 
-
 // constructor
 // anchor, axis1 and axis2 are in world coordinate system
 // axis1 must be orthogonal to axis2
 btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
-: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
- m_anchor(anchor),
- m_axis1(axis1),
- m_axis2(axis2)
+	: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
+	  m_anchor(anchor),
+	  m_axis1(axis1),
+	  m_axis2(axis2)
 {
 	// build frame basis
 	// 6DOF constraint uses Euler angles and to define limits
 	// it is assumed that rotational order is :
 	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
+	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
 	// used to prevent constraint from instability on poles;
 	// new position of X, allowed limits are (-PI,PI);
 	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
 	// Build the frame in world coordinate system first
 	btVector3 zAxis = m_axis1.normalize();
 	btVector3 yAxis = m_axis2.normalize();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-									xAxis[1], yAxis[1], zAxis[1],
-									xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
 	frameInW.setOrigin(anchor);
 	// now get constraint frame in local coordinate systems
 	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
@@ -58,30 +53,28 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB,
 	setLinearLowerLimit(btVector3(0., 0., 0.));
 	setLinearUpperLimit(btVector3(0., 0., 0.));
 	setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
-	setAngularUpperLimit(btVector3(0.f,  SIMD_HALF_PI - UNIV_EPS,  SIMD_PI - UNIV_EPS));
+	setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
 }
 
-void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+void btUniversalConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
 {
-  m_axis1 = axis1;
-  m_axis2 = axis2;
+	m_axis1 = axis1;
+	m_axis2 = axis2;
 
 	btVector3 zAxis = axis1.normalized();
 	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
 
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-                                xAxis[1], yAxis[1], zAxis[1],
-                                xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
 	frameInW.setOrigin(m_anchor);
 
 	// now get constraint frame in local coordinate systems
 	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
 
-  calculateTransforms();
+	calculateTransforms();
 }
-
-
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
index 9e70841043..8c24d93a64 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
@@ -16,35 +16,32 @@ subject to the following restrictions:
 #ifndef BT_UNIVERSAL_CONSTRAINT_H
 #define BT_UNIVERSAL_CONSTRAINT_H
 
-
-
 #include "LinearMath/btVector3.h"
 #include "btTypedConstraint.h"
 #include "btGeneric6DofConstraint.h"
 
-
-
 /// Constraint similar to ODE Universal Joint
 /// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
 /// and Y (axis 2)
-/// Description from ODE manual : 
-/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. 
+/// Description from ODE manual :
+/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
 /// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
 
-ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint
+ATTRIBUTE_ALIGNED16(class)
+btUniversalConstraint : public btGeneric6DofConstraint
 {
 protected:
-	btVector3	m_anchor;
-	btVector3	m_axis1;
-	btVector3	m_axis2;
+	btVector3 m_anchor;
+	btVector3 m_axis1;
+	btVector3 m_axis2;
+
 public:
-	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	// constructor
 	// anchor, axis1 and axis2 are in world coordinate system
 	// axis1 must be orthogonal to axis2
-    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
+	btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
 	// access
 	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
 	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
@@ -56,10 +53,7 @@ public:
 	void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
 	void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
 
-	void setAxis( const btVector3& axis1, const btVector3& axis2);
+	void setAxis(const btVector3& axis1, const btVector3& axis2);
 };
 
-
-
-#endif // BT_UNIVERSAL_CONSTRAINT_H
-
+#endif  // BT_UNIVERSAL_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h b/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h
index e1fea3a49c..b5cac56cdc 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btActionInterface.h
@@ -26,21 +26,16 @@ class btCollisionWorld;
 class btActionInterface
 {
 protected:
-
 	static btRigidBody& getFixedBody();
-	
-	
-public:
 
+public:
 	virtual ~btActionInterface()
 	{
 	}
 
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
+	virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTimeStep) = 0;
 
 	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
-
 };
 
-#endif //_BT_ACTION_INTERFACE_H
-
+#endif  //_BT_ACTION_INTERFACE_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index a196d4522e..dfbbdb154f 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btDiscreteDynamicsWorld.h"
 
 //collision detection
@@ -38,11 +37,9 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
-
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
-
 #include "BulletDynamics/Dynamics/btActionInterface.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
@@ -56,57 +53,52 @@ int startHit=2;
 int firstHit=startHit;
 #endif
 
-SIMD_FORCE_INLINE	int	btGetConstraintIslandId(const btTypedConstraint* lhs)
+SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
 {
 	int islandId;
 
 	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
 	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
+	islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
 	return islandId;
-
 }
 
-
 class btSortConstraintOnIslandPredicate
 {
-	public:
-
-		bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const
-		{
-			int rIslandId0,lIslandId0;
-			rIslandId0 = btGetConstraintIslandId(rhs);
-			lIslandId0 = btGetConstraintIslandId(lhs);
-			return lIslandId0 < rIslandId0;
-		}
+public:
+	bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
+	{
+		int rIslandId0, lIslandId0;
+		rIslandId0 = btGetConstraintIslandId(rhs);
+		lIslandId0 = btGetConstraintIslandId(lhs);
+		return lIslandId0 < rIslandId0;
+	}
 };
 
 struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
 {
-	btContactSolverInfo*	m_solverInfo;
-	btConstraintSolver*		m_solver;
-	btTypedConstraint**		m_sortedConstraints;
-	int						m_numConstraints;
-	btIDebugDraw*			m_debugDrawer;
-	btDispatcher*			m_dispatcher;
+	btContactSolverInfo* m_solverInfo;
+	btConstraintSolver* m_solver;
+	btTypedConstraint** m_sortedConstraints;
+	int m_numConstraints;
+	btIDebugDraw* m_debugDrawer;
+	btDispatcher* m_dispatcher;
 
 	btAlignedObjectArray<btCollisionObject*> m_bodies;
 	btAlignedObjectArray<btPersistentManifold*> m_manifolds;
 	btAlignedObjectArray<btTypedConstraint*> m_constraints;
 
-
 	InplaceSolverIslandCallback(
-		btConstraintSolver*	solver,
+		btConstraintSolver* solver,
 		btStackAlloc* stackAlloc,
 		btDispatcher* dispatcher)
-		:m_solverInfo(NULL),
-		m_solver(solver),
-		m_sortedConstraints(NULL),
-		m_numConstraints(0),
-		m_debugDrawer(NULL),
-		m_dispatcher(dispatcher)
+		: m_solverInfo(NULL),
+		  m_solver(solver),
+		  m_sortedConstraints(NULL),
+		  m_numConstraints(0),
+		  m_debugDrawer(NULL),
+		  m_dispatcher(dispatcher)
 	{
-
 	}
 
 	InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
@@ -116,34 +108,34 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		return *this;
 	}
 
-	SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints,	int	numConstraints,	btIDebugDraw* debugDrawer)
+	SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer)
 	{
 		btAssert(solverInfo);
 		m_solverInfo = solverInfo;
 		m_sortedConstraints = sortedConstraints;
 		m_numConstraints = numConstraints;
 		m_debugDrawer = debugDrawer;
-		m_bodies.resize (0);
-		m_manifolds.resize (0);
-		m_constraints.resize (0);
+		m_bodies.resize(0);
+		m_manifolds.resize(0);
+		m_constraints.resize(0);
 	}
 
-
-	virtual	void	processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
+	virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
 	{
-		if (islandId<0)
+		if (islandId < 0)
 		{
 			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-			m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
-		} else
+			m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, &m_sortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
+		}
+		else
 		{
-				//also add all non-contact constraints/joints for this island
+			//also add all non-contact constraints/joints for this island
 			btTypedConstraint** startConstraint = 0;
 			int numCurConstraints = 0;
 			int i;
 
 			//find the first constraint for this island
-			for (i=0;i<m_numConstraints;i++)
+			for (i = 0; i < m_numConstraints; i++)
 			{
 				if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
 				{
@@ -152,7 +144,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 				}
 			}
 			//count the number of constraints in this island
-			for (;i<m_numConstraints;i++)
+			for (; i < m_numConstraints; i++)
 			{
 				if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
 				{
@@ -160,91 +152,87 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 				}
 			}
 
-			if (m_solverInfo->m_minimumSolverBatchSize<=1)
+			if (m_solverInfo->m_minimumSolverBatchSize <= 1)
 			{
-				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
-			} else
+				m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, startConstraint, numCurConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
+			}
+			else
 			{
-
-				for (i=0;i<numBodies;i++)
+				for (i = 0; i < numBodies; i++)
 					m_bodies.push_back(bodies[i]);
-				for (i=0;i<numManifolds;i++)
+				for (i = 0; i < numManifolds; i++)
 					m_manifolds.push_back(manifolds[i]);
-				for (i=0;i<numCurConstraints;i++)
+				for (i = 0; i < numCurConstraints; i++)
 					m_constraints.push_back(startConstraint[i]);
-				if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
+				if ((m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
 				{
 					processConstraints();
-				} else
+				}
+				else
 				{
 					//printf("deferred\n");
 				}
 			}
 		}
 	}
-	void	processConstraints()
+	void processConstraints()
 	{
+		btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
+		btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
+		btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
 
-		btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
-		btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
-		btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
-
-		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
+		m_solver->solveGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
 		m_bodies.resize(0);
 		m_manifolds.resize(0);
 		m_constraints.resize(0);
-
 	}
-
 };
 
-
-
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
-m_sortedConstraints	(),
-m_solverIslandCallback ( NULL ),
-m_constraintSolver(constraintSolver),
-m_gravity(0,-10,0),
-m_localTime(0),
-m_fixedTimeStep(0),
-m_synchronizeAllMotionStates(false),
-m_applySpeculativeContactRestitution(false),
-m_profileTimings(0),
-m_latencyMotionStateInterpolation(true)
+btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
+	: btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
+	  m_sortedConstraints(),
+	  m_solverIslandCallback(NULL),
+	  m_constraintSolver(constraintSolver),
+	  m_gravity(0, -10, 0),
+	  m_localTime(0),
+	  m_fixedTimeStep(0),
+	  m_synchronizeAllMotionStates(false),
+	  m_applySpeculativeContactRestitution(false),
+	  m_profileTimings(0),
+	  m_latencyMotionStateInterpolation(true)
 
 {
 	if (!m_constraintSolver)
 	{
-		void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
+		void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver), 16);
 		m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver;
 		m_ownsConstraintSolver = true;
-	} else
+	}
+	else
 	{
 		m_ownsConstraintSolver = false;
 	}
 
 	{
-		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager),16);
+		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager), 16);
 		m_islandManager = new (mem) btSimulationIslandManager();
 	}
 
 	m_ownsIslandManager = true;
 
 	{
-		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
-		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher);
+		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback), 16);
+		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback(m_constraintSolver, 0, dispatcher);
 	}
 }
 
-
 btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
 {
 	//only delete it when we created it
 	if (m_ownsIslandManager)
 	{
 		m_islandManager->~btSimulationIslandManager();
-		btAlignedFree( m_islandManager);
+		btAlignedFree(m_islandManager);
 	}
 	if (m_solverIslandCallback)
 	{
@@ -253,18 +241,17 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
 	}
 	if (m_ownsConstraintSolver)
 	{
-
 		m_constraintSolver->~btConstraintSolver();
 		btAlignedFree(m_constraintSolver);
 	}
 }
 
-void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
+void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 {
-///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
-///to switch status _after_ adding kinematic objects to the world
-///fix it for Bullet 3.x release
-	for (int i=0;i<m_collisionObjects.size();i++)
+	///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
+	///to switch status _after_ adding kinematic objects to the world
+	///fix it for Bullet 3.x release
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
@@ -277,10 +264,9 @@ void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 			}
 		}
 	}
-
 }
 
-void	btDiscreteDynamicsWorld::debugDrawWorld()
+void btDiscreteDynamicsWorld::debugDrawWorld()
 {
 	BT_PROFILE("debugDrawWorld");
 
@@ -290,43 +276,40 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 	if (getDebugDrawer())
 	{
 		int mode = getDebugDrawer()->getDebugMode();
-		if(mode  & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
+		if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
 		{
 			drawConstraints = true;
 		}
 	}
-	if(drawConstraints)
+	if (drawConstraints)
 	{
-		for(int i = getNumConstraints()-1; i>=0 ;i--)
+		for (int i = getNumConstraints() - 1; i >= 0; i--)
 		{
 			btTypedConstraint* constraint = getConstraint(i);
 			debugDrawConstraint(constraint);
 		}
 	}
 
-
-
-    if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
+	if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
 	{
 		int i;
 
 		if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
 		{
-			for (i=0;i<m_actions.size();i++)
+			for (i = 0; i < m_actions.size(); i++)
 			{
 				m_actions[i]->debugDraw(m_debugDrawer);
 			}
 		}
 	}
-    if (getDebugDrawer())
-        getDebugDrawer()->flushLines();
-
+	if (getDebugDrawer())
+		getDebugDrawer()->flushLines();
 }
 
-void	btDiscreteDynamicsWorld::clearForces()
+void btDiscreteDynamicsWorld::clearForces()
 {
 	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
 	{
 		btRigidBody* body = m_nonStaticRigidBodies[i];
 		//need to check if next line is ok
@@ -336,10 +319,10 @@ void	btDiscreteDynamicsWorld::clearForces()
 }
 
 ///apply gravity, call this once per timestep
-void	btDiscreteDynamicsWorld::applyGravity()
+void btDiscreteDynamicsWorld::applyGravity()
 {
 	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
 	{
 		btRigidBody* body = m_nonStaticRigidBodies[i];
 		if (body->isActive())
@@ -349,8 +332,7 @@ void	btDiscreteDynamicsWorld::applyGravity()
 	}
 }
 
-
-void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
+void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
 {
 	btAssert(body);
 
@@ -363,32 +345,32 @@ void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
 		{
 			btTransform interpolatedTransform;
 			btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-				body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
-				(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
-				interpolatedTransform);
+												body->getInterpolationLinearVelocity(), body->getInterpolationAngularVelocity(),
+												(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime * body->getHitFraction(),
+												interpolatedTransform);
 			body->getMotionState()->setWorldTransform(interpolatedTransform);
 		}
 	}
 }
 
-
-void	btDiscreteDynamicsWorld::synchronizeMotionStates()
+void btDiscreteDynamicsWorld::synchronizeMotionStates()
 {
-//	BT_PROFILE("synchronizeMotionStates");
+	//	BT_PROFILE("synchronizeMotionStates");
 	if (m_synchronizeAllMotionStates)
 	{
 		//iterate  over all collision objects
-		for ( int i=0;i<m_collisionObjects.size();i++)
+		for (int i = 0; i < m_collisionObjects.size(); i++)
 		{
 			btCollisionObject* colObj = m_collisionObjects[i];
 			btRigidBody* body = btRigidBody::upcast(colObj);
 			if (body)
 				synchronizeSingleMotionState(body);
 		}
-	} else
+	}
+	else
 	{
 		//iterate over all active rigid bodies
-		for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+		for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
 		{
 			btRigidBody* body = m_nonStaticRigidBodies[i];
 			if (body->isActive())
@@ -397,12 +379,10 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 	}
 }
 
-
-int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
+int btDiscreteDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
 {
 	startProfiling(timeStep);
 
-
 	int numSimulationSubSteps = 0;
 
 	if (maxSubSteps)
@@ -412,10 +392,11 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 		m_localTime += timeStep;
 		if (m_localTime >= fixedTimeStep)
 		{
-			numSimulationSubSteps = int( m_localTime / fixedTimeStep);
+			numSimulationSubSteps = int(m_localTime / fixedTimeStep);
 			m_localTime -= numSimulationSubSteps * fixedTimeStep;
 		}
-	} else
+	}
+	else
 	{
 		//variable timestep
 		fixedTimeStep = timeStep;
@@ -425,7 +406,8 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 		{
 			numSimulationSubSteps = 0;
 			maxSubSteps = 0;
-		} else
+		}
+		else
 		{
 			numSimulationSubSteps = 1;
 			maxSubSteps = 1;
@@ -435,28 +417,25 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 	//process some debugging flags
 	if (getDebugDrawer())
 	{
-		btIDebugDraw* debugDrawer = getDebugDrawer ();
+		btIDebugDraw* debugDrawer = getDebugDrawer();
 		gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
 	}
 	if (numSimulationSubSteps)
 	{
-
 		//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
-		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
+		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
 
-		saveKinematicState(fixedTimeStep*clampedSimulationSteps);
+		saveKinematicState(fixedTimeStep * clampedSimulationSteps);
 
 		applyGravity();
 
-
-
-		for (int i=0;i<clampedSimulationSteps;i++)
+		for (int i = 0; i < clampedSimulationSteps; i++)
 		{
 			internalSingleStepSimulation(fixedTimeStep);
 			synchronizeMotionStates();
 		}
-
-	} else
+	}
+	else
 	{
 		synchronizeMotionStates();
 	}
@@ -465,17 +444,17 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 
 #ifndef BT_NO_PROFILE
 	CProfileManager::Increment_Frame_Counter();
-#endif //BT_NO_PROFILE
+#endif  //BT_NO_PROFILE
 
 	return numSimulationSubSteps;
 }
 
-void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
+void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 {
-
 	BT_PROFILE("internalSingleStepSimulation");
 
-	if(0 != m_internalPreTickCallback) {
+	if (0 != m_internalPreTickCallback)
+	{
 		(*m_internalPreTickCallback)(this, timeStep);
 	}
 
@@ -488,19 +467,15 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
-
-    createPredictiveContacts(timeStep);
+	createPredictiveContacts(timeStep);
 
 	///perform collision detection
 	performDiscreteCollisionDetection();
 
 	calculateSimulationIslands();
 
-
 	getSolverInfo().m_timeStep = timeStep;
 
-
-
 	///solve contact and other joint constraints
 	solveConstraints(getSolverInfo());
 
@@ -513,37 +488,38 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	///update vehicle simulation
 	updateActions(timeStep);
 
-	updateActivationState( timeStep );
+	updateActivationState(timeStep);
 
-	if(0 != m_internalTickCallback) {
+	if (0 != m_internalTickCallback)
+	{
 		(*m_internalTickCallback)(this, timeStep);
 	}
 }
 
-void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
+void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
 {
 	m_gravity = gravity;
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
 	{
 		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body->isActive() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
+		if (body->isActive() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
 		{
 			body->setGravity(gravity);
 		}
 	}
 }
 
-btVector3 btDiscreteDynamicsWorld::getGravity () const
+btVector3 btDiscreteDynamicsWorld::getGravity() const
 {
 	return m_gravity;
 }
 
-void	btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
+void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
 {
-	btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask);
+	btCollisionWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
 }
 
-void	btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
 {
 	btRigidBody* body = btRigidBody::upcast(collisionObject);
 	if (body)
@@ -552,16 +528,15 @@ void	btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collision
 		btCollisionWorld::removeCollisionObject(collisionObject);
 }
 
-void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
+void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
 {
 	m_nonStaticRigidBodies.remove(body);
 	btCollisionWorld::removeCollisionObject(body);
 }
 
-
-void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
+void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
 {
-	if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
+	if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
 	{
 		body->setGravity(m_gravity);
 	}
@@ -571,22 +546,23 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
 		if (!body->isStaticObject())
 		{
 			m_nonStaticRigidBodies.push_back(body);
-		} else
+		}
+		else
 		{
 			body->setActivationState(ISLAND_SLEEPING);
 		}
 
 		bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
-		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+		int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
-		addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
+		addCollisionObject(body, collisionFilterGroup, collisionFilterMask);
 	}
 }
 
-void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
+void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
 {
-	if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
+	if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
 	{
 		body->setGravity(m_gravity);
 	}
@@ -597,31 +573,29 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mas
 		{
 			m_nonStaticRigidBodies.push_back(body);
 		}
-		 else
+		else
 		{
 			body->setActivationState(ISLAND_SLEEPING);
 		}
-		addCollisionObject(body,group,mask);
+		addCollisionObject(body, group, mask);
 	}
 }
 
-
-void	btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
+void btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
 {
 	BT_PROFILE("updateActions");
 
-	for ( int i=0;i<m_actions.size();i++)
+	for (int i = 0; i < m_actions.size(); i++)
 	{
-		m_actions[i]->updateAction( this, timeStep);
+		m_actions[i]->updateAction(this, timeStep);
 	}
 }
 
-
-void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
+void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 {
 	BT_PROFILE("updateActivationState");
 
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
 	{
 		btRigidBody* body = m_nonStaticRigidBodies[i];
 		if (body)
@@ -633,32 +607,33 @@ void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 				if (body->isStaticOrKinematicObject())
 				{
 					body->setActivationState(ISLAND_SLEEPING);
-				} else
+				}
+				else
 				{
 					if (body->getActivationState() == ACTIVE_TAG)
-						body->setActivationState( WANTS_DEACTIVATION );
+						body->setActivationState(WANTS_DEACTIVATION);
 					if (body->getActivationState() == ISLAND_SLEEPING)
 					{
-						body->setAngularVelocity(btVector3(0,0,0));
-						body->setLinearVelocity(btVector3(0,0,0));
+						body->setAngularVelocity(btVector3(0, 0, 0));
+						body->setLinearVelocity(btVector3(0, 0, 0));
 					}
-
 				}
-			} else
+			}
+			else
 			{
 				if (body->getActivationState() != DISABLE_DEACTIVATION)
-					body->setActivationState( ACTIVE_TAG );
+					body->setActivationState(ACTIVE_TAG);
 			}
 		}
 	}
 }
 
-void	btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
+void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies)
 {
 	m_constraints.push_back(constraint);
-    //Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?)
-    btAssert(&constraint->getRigidBodyA()!=&constraint->getRigidBodyB());
-    
+	//Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?)
+	btAssert(&constraint->getRigidBodyA() != &constraint->getRigidBodyB());
+
 	if (disableCollisionsBetweenLinkedBodies)
 	{
 		constraint->getRigidBodyA().addConstraintRef(constraint);
@@ -666,105 +641,98 @@ void	btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool d
 	}
 }
 
-void	btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
+void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
 {
 	m_constraints.remove(constraint);
 	constraint->getRigidBodyA().removeConstraintRef(constraint);
 	constraint->getRigidBodyB().removeConstraintRef(constraint);
 }
 
-void	btDiscreteDynamicsWorld::addAction(btActionInterface* action)
+void btDiscreteDynamicsWorld::addAction(btActionInterface* action)
 {
 	m_actions.push_back(action);
 }
 
-void	btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
+void btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
 {
 	m_actions.remove(action);
 }
 
-
-void	btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
+void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
 {
 	addAction(vehicle);
 }
 
-void	btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
+void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
 {
 	removeAction(vehicle);
 }
 
-void	btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
+void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
 {
 	addAction(character);
 }
 
-void	btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
+void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
 {
 	removeAction(character);
 }
 
-
-
-
-void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
+void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
 	BT_PROFILE("solveConstraints");
 
-	m_sortedConstraints.resize( m_constraints.size());
+	m_sortedConstraints.resize(m_constraints.size());
 	int i;
-	for (i=0;i<getNumConstraints();i++)
+	for (i = 0; i < getNumConstraints(); i++)
 	{
 		m_sortedConstraints[i] = m_constraints[i];
 	}
 
-//	btAssert(0);
-
-
+	//	btAssert(0);
 
 	m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
 
 	btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
 
-	m_solverIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),getDebugDrawer());
+	m_solverIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), getDebugDrawer());
 	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
 
 	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverIslandCallback);
+	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverIslandCallback);
 
 	m_solverIslandCallback->processConstraints();
 
 	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
 }
 
-
-void	btDiscreteDynamicsWorld::calculateSimulationIslands()
+void btDiscreteDynamicsWorld::calculateSimulationIslands()
 {
 	BT_PROFILE("calculateSimulationIslands");
 
-	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
+	getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
 
-    {
-        //merge islands based on speculative contact manifolds too
-        for (int i=0;i<this->m_predictiveManifolds.size();i++)
-        {
-            btPersistentManifold* manifold = m_predictiveManifolds[i];
+	{
+		//merge islands based on speculative contact manifolds too
+		for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
+		{
+			btPersistentManifold* manifold = m_predictiveManifolds[i];
 
-            const btCollisionObject* colObj0 = manifold->getBody0();
-            const btCollisionObject* colObj1 = manifold->getBody1();
+			const btCollisionObject* colObj0 = manifold->getBody0();
+			const btCollisionObject* colObj1 = manifold->getBody1();
 
-            if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-                ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-            {
-				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
-            }
-        }
-    }
+			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
+				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
+			{
+				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
+			}
+		}
+	}
 
 	{
 		int i;
 		int numConstraints = int(m_constraints.size());
-		for (i=0;i< numConstraints ; i++ )
+		for (i = 0; i < numConstraints; i++)
 		{
 			btTypedConstraint* constraint = m_constraints[i];
 			if (constraint->isEnabled())
@@ -775,7 +743,7 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
 					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
 				{
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
+					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
 				}
 			}
 		}
@@ -783,51 +751,44 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 
 	//Store the island id in each body
 	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
-
-
 }
 
-
-
-
 class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
 {
 public:
-
 	btCollisionObject* m_me;
 	btScalar m_allowedPenetration;
 	btOverlappingPairCache* m_pairCache;
 	btDispatcher* m_dispatcher;
 
 public:
-	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
-	  btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
-		m_me(me),
-		m_allowedPenetration(0.0f),
-		m_pairCache(pairCache),
-		m_dispatcher(dispatcher)
+	btClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btCollisionWorld::ClosestConvexResultCallback(fromA, toA),
+																																										   m_me(me),
+																																										   m_allowedPenetration(0.0f),
+																																										   m_pairCache(pairCache),
+																																										   m_dispatcher(dispatcher)
 	{
 	}
 
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
+	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
 	{
 		if (convexResult.m_hitCollisionObject == m_me)
 			return 1.0f;
 
 		//ignore result if there is no contact response
-		if(!convexResult.m_hitCollisionObject->hasContactResponse())
+		if (!convexResult.m_hitCollisionObject->hasContactResponse())
 			return 1.0f;
 
-		btVector3 linVelA,linVelB;
-		linVelA = m_convexToWorld-m_convexFromWorld;
-		linVelB = btVector3(0,0,0);//toB.getOrigin()-fromB.getOrigin();
+		btVector3 linVelA, linVelB;
+		linVelA = m_convexToWorld - m_convexFromWorld;
+		linVelB = btVector3(0, 0, 0);  //toB.getOrigin()-fromB.getOrigin();
 
-		btVector3 relativeVelocity = (linVelA-linVelB);
+		btVector3 relativeVelocity = (linVelA - linVelB);
 		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-		if (convexResult.m_hitNormalLocal.dot(relativeVelocity)>=-m_allowedPenetration)
+		if (convexResult.m_hitNormalLocal.dot(relativeVelocity) >= -m_allowedPenetration)
 			return 1.f;
 
-		return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
+		return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
 	}
 
 	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
@@ -840,10 +801,13 @@ public:
 		if (!ClosestConvexResultCallback::needsCollision(proxy0))
 			return false;
 
-		btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+		btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
+
+		if (!m_dispatcher->needsCollision(m_me, otherObj))
+			return false;
 
 		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
-		if (m_dispatcher->needsResponse(m_me,otherObj))
+		if (m_dispatcher->needsResponse(m_me, otherObj))
 		{
 #if 0
 			///don't do CCD when there are already contact points (touching contact/penetration)
@@ -869,28 +833,24 @@ public:
 
 		return false;
 	}
-
-
 };
 
 ///internal debugging variable. this value shouldn't be too high
-int gNumClampedCcdMotions=0;
-
+int gNumClampedCcdMotions = 0;
 
-void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep)
+void btDiscreteDynamicsWorld::createPredictiveContactsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
 {
 	btTransform predictedTrans;
-	for ( int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 	{
 		btRigidBody* body = bodies[i];
 		body->setHitFraction(1.f);
 
 		if (body->isActive() && (!body->isStaticOrKinematicObject()))
 		{
-
 			body->predictIntegratedTransform(timeStep, predictedTrans);
 
-			btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
+			btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
 
 			if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
 			{
@@ -902,60 +862,55 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bo
 					class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
 					{
 					public:
-
-						StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
-						  btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
+						StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
 						{
 						}
 
-					  	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+						virtual bool needsCollision(btBroadphaseProxy* proxy0) const
 						{
-							btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+							btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
 							if (!otherObj->isStaticOrKinematicObject())
 								return false;
 							return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
 						}
 					};
 
-					StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+					StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
 #else
-					btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+					btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
 #endif
 					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
+					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());  //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+					sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
 
 					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
-					sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
+					sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
 					btTransform modifiedPredictedTrans = predictedTrans;
 					modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
 
-					convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
+					convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
 					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
 					{
-
-						btVector3 distVec = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin())*sweepResults.m_closestHitFraction;
+						btVector3 distVec = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()) * sweepResults.m_closestHitFraction;
 						btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
 
-
-						btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject);
-                        btMutexLock( &m_predictiveManifoldsMutex );
+						btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body, sweepResults.m_hitCollisionObject);
+						btMutexLock(&m_predictiveManifoldsMutex);
 						m_predictiveManifolds.push_back(manifold);
-                        btMutexUnlock( &m_predictiveManifoldsMutex );
+						btMutexUnlock(&m_predictiveManifoldsMutex);
 
-						btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec;
-						btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB;
+						btVector3 worldPointB = body->getWorldTransform().getOrigin() + distVec;
+						btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse() * worldPointB;
 
-						btManifoldPoint newPoint(btVector3(0,0,0), localPointB,sweepResults.m_hitNormalWorld,distance);
+						btManifoldPoint newPoint(btVector3(0, 0, 0), localPointB, sweepResults.m_hitNormalWorld, distance);
 
 						bool isPredictive = true;
 						int index = manifold->addManifoldPoint(newPoint, isPredictive);
 						btManifoldPoint& pt = manifold->getContactPoint(index);
 						pt.m_combinedRestitution = 0;
-						pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body,sweepResults.m_hitCollisionObject);
+						pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body, sweepResults.m_hitCollisionObject);
 						pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
 						pt.m_positionWorldOnB = worldPointB;
-
 					}
 				}
 			}
@@ -965,42 +920,39 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bo
 
 void btDiscreteDynamicsWorld::releasePredictiveContacts()
 {
-    BT_PROFILE( "release predictive contact manifolds" );
-
-    for ( int i = 0; i < m_predictiveManifolds.size(); i++ )
-    {
-        btPersistentManifold* manifold = m_predictiveManifolds[ i ];
-        this->m_dispatcher1->releaseManifold( manifold );
-    }
-    m_predictiveManifolds.clear();
+	BT_PROFILE("release predictive contact manifolds");
+
+	for (int i = 0; i < m_predictiveManifolds.size(); i++)
+	{
+		btPersistentManifold* manifold = m_predictiveManifolds[i];
+		this->m_dispatcher1->releaseManifold(manifold);
+	}
+	m_predictiveManifolds.clear();
 }
 
 void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
 {
 	BT_PROFILE("createPredictiveContacts");
-    releasePredictiveContacts();
-    if (m_nonStaticRigidBodies.size() > 0)
-    {
-        createPredictiveContactsInternal( &m_nonStaticRigidBodies[ 0 ], m_nonStaticRigidBodies.size(), timeStep );
-    }
+	releasePredictiveContacts();
+	if (m_nonStaticRigidBodies.size() > 0)
+	{
+		createPredictiveContactsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
+	}
 }
 
-void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep )
+void btDiscreteDynamicsWorld::integrateTransformsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
 {
 	btTransform predictedTrans;
-	for (int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 	{
 		btRigidBody* body = bodies[i];
 		body->setHitFraction(1.f);
 
 		if (body->isActive() && (!body->isStaticOrKinematicObject()))
 		{
-
 			body->predictIntegratedTransform(timeStep, predictedTrans);
 
-			btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
-
-
+			btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
 
 			if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
 			{
@@ -1012,43 +964,40 @@ void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies,
 					class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
 					{
 					public:
-
-						StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
-						  btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
+						StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
 						{
 						}
 
-					  	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+						virtual bool needsCollision(btBroadphaseProxy* proxy0) const
 						{
-							btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+							btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
 							if (!otherObj->isStaticOrKinematicObject())
 								return false;
 							return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
 						}
 					};
 
-					StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+					StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
 #else
-					btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+					btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
 #endif
 					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
+					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());  //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+					sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
 
 					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
-					sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
+					sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
 					btTransform modifiedPredictedTrans = predictedTrans;
 					modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
 
-					convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
+					convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
 					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
 					{
-
 						//printf("clamped integration to hit fraction = %f\n",fraction);
 						body->setHitFraction(sweepResults.m_closestHitFraction);
-						body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
+						body->predictIntegratedTransform(timeStep * body->getHitFraction(), predictedTrans);
 						body->setHitFraction(0.f);
-						body->proceedToTransform( predictedTrans);
+						body->proceedToTransform(predictedTrans);
 
 #if 0
 						btVector3 linVel = body->getLinearVelocity();
@@ -1075,50 +1024,45 @@ void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies,
 						//btScalar depth = 0.f;
 						//appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
 
-
 #endif
 
-        				continue;
+						continue;
 					}
 				}
 			}
 
-
-			body->proceedToTransform( predictedTrans);
-
+			body->proceedToTransform(predictedTrans);
 		}
-
 	}
-
 }
 
 void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	BT_PROFILE("integrateTransforms");
-    if (m_nonStaticRigidBodies.size() > 0)
-    {
-        integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
-    }
+	if (m_nonStaticRigidBodies.size() > 0)
+	{
+		integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
+	}
 
-    ///this should probably be switched on by default, but it is not well tested yet
+	///this should probably be switched on by default, but it is not well tested yet
 	if (m_applySpeculativeContactRestitution)
 	{
 		BT_PROFILE("apply speculative contact restitution");
-		for (int i=0;i<m_predictiveManifolds.size();i++)
+		for (int i = 0; i < m_predictiveManifolds.size(); i++)
 		{
 			btPersistentManifold* manifold = m_predictiveManifolds[i];
 			btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0());
 			btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1());
 
-			for (int p=0;p<manifold->getNumContacts();p++)
+			for (int p = 0; p < manifold->getNumContacts(); p++)
 			{
 				const btManifoldPoint& pt = manifold->getContactPoint(p);
 				btScalar combinedRestitution = gCalculateCombinedRestitutionCallback(body0, body1);
 
-				if (combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
+				if (combinedRestitution > 0 && pt.m_appliedImpulse != 0.f)
 				//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
 				{
-					btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse* combinedRestitution;
+					btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse * combinedRestitution;
 
 					const btVector3& pos1 = pt.getPositionWorldOnA();
 					const btVector3& pos2 = pt.getPositionWorldOnB();
@@ -1127,23 +1071,19 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 					btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin();
 
 					if (body0)
-						body0->applyImpulse(imp,rel_pos0);
+						body0->applyImpulse(imp, rel_pos0);
 					if (body1)
-						body1->applyImpulse(-imp,rel_pos1);
+						body1->applyImpulse(-imp, rel_pos1);
 				}
 			}
 		}
 	}
 }
 
-
-
-
-
-void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
 	BT_PROFILE("predictUnconstraintMotion");
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+	for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
 	{
 		btRigidBody* body = m_nonStaticRigidBodies[i];
 		if (!body->isStaticOrKinematicObject())
@@ -1152,179 +1092,171 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 
 			body->applyDamping(timeStep);
 
-			body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
+			body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
 		}
 	}
 }
 
-
-void	btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
+void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
 {
 	(void)timeStep;
 
 #ifndef BT_NO_PROFILE
 	CProfileManager::Reset();
-#endif //BT_NO_PROFILE
-
+#endif  //BT_NO_PROFILE
 }
 
-
-
-
-
-
 void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 {
 	bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
 	bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0;
 	btScalar dbgDrawSize = constraint->getDbgDrawSize();
-	if(dbgDrawSize <= btScalar(0.f))
+	if (dbgDrawSize <= btScalar(0.f))
 	{
 		return;
 	}
 
-	switch(constraint->getConstraintType())
+	switch (constraint->getConstraintType())
 	{
 		case POINT2POINT_CONSTRAINT_TYPE:
+		{
+			btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
+			btTransform tr;
+			tr.setIdentity();
+			btVector3 pivot = p2pC->getPivotInA();
+			pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
+			tr.setOrigin(pivot);
+			getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			// that ideally should draw the same frame
+			pivot = p2pC->getPivotInB();
+			pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
+			tr.setOrigin(pivot);
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+		}
+		break;
+		case HINGE_CONSTRAINT_TYPE:
+		{
+			btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
+			btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			btScalar minAng = pHinge->getLowerLimit();
+			btScalar maxAng = pHinge->getUpperLimit();
+			if (minAng == maxAng)
 			{
-				btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
-				btTransform tr;
-				tr.setIdentity();
-				btVector3 pivot = p2pC->getPivotInA();
-				pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
-				tr.setOrigin(pivot);
-				getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				// that ideally should draw the same frame
-				pivot = p2pC->getPivotInB();
-				pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
-				tr.setOrigin(pivot);
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				break;
 			}
-			break;
-		case HINGE_CONSTRAINT_TYPE:
+			bool drawSect = true;
+			if (!pHinge->hasLimit())
 			{
-				btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
-				btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				btScalar minAng = pHinge->getLowerLimit();
-				btScalar maxAng = pHinge->getUpperLimit();
-				if(minAng == maxAng)
-				{
-					break;
-				}
-				bool drawSect = true;
-				if(!pHinge->hasLimit())
-				{
-					minAng = btScalar(0.f);
-					maxAng = SIMD_2_PI;
-					drawSect = false;
-				}
-				if(drawLimits)
-				{
-					btVector3& center = tr.getOrigin();
-					btVector3 normal = tr.getBasis().getColumn(2);
-					btVector3 axis = tr.getBasis().getColumn(0);
-					getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0,0,0), drawSect);
-				}
+				minAng = btScalar(0.f);
+				maxAng = SIMD_2_PI;
+				drawSect = false;
 			}
-			break;
+			if (drawLimits)
+			{
+				btVector3& center = tr.getOrigin();
+				btVector3 normal = tr.getBasis().getColumn(2);
+				btVector3 axis = tr.getBasis().getColumn(0);
+				getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0, 0, 0), drawSect);
+			}
+		}
+		break;
 		case CONETWIST_CONSTRAINT_TYPE:
+		{
+			btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
+			btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			if (drawLimits)
 			{
-				btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
-				btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if(drawLimits)
+				//const btScalar length = btScalar(5);
+				const btScalar length = dbgDrawSize;
+				static int nSegments = 8 * 4;
+				btScalar fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)(nSegments - 1) / btScalar(nSegments);
+				btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
+				pPrev = tr * pPrev;
+				for (int i = 0; i < nSegments; i++)
 				{
-					//const btScalar length = btScalar(5);
-					const btScalar length = dbgDrawSize;
-					static int nSegments = 8*4;
-					btScalar fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)(nSegments-1)/btScalar(nSegments);
-					btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
-					pPrev = tr * pPrev;
-					for (int i=0; i<nSegments; i++)
-					{
-						fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)i/btScalar(nSegments);
-						btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
-						pCur = tr * pCur;
-						getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0,0,0));
-
-						if (i%(nSegments/8) == 0)
-							getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0));
+					fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)i / btScalar(nSegments);
+					btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
+					pCur = tr * pCur;
+					getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0, 0, 0));
 
-						pPrev = pCur;
-					}
-					btScalar tws = pCT->getTwistSpan();
-					btScalar twa = pCT->getTwistAngle();
-					bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
-					if(useFrameB)
-					{
-						tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
-					}
-					else
-					{
-						tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
-					}
-					btVector3 pivot = tr.getOrigin();
-					btVector3 normal = tr.getBasis().getColumn(0);
-					btVector3 axis1 = tr.getBasis().getColumn(1);
-					getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa-tws, -twa+tws, btVector3(0,0,0), true);
+					if (i % (nSegments / 8) == 0)
+						getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0, 0, 0));
 
+					pPrev = pCur;
 				}
+				btScalar tws = pCT->getTwistSpan();
+				btScalar twa = pCT->getTwistAngle();
+				bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
+				if (useFrameB)
+				{
+					tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
+				}
+				else
+				{
+					tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
+				}
+				btVector3 pivot = tr.getOrigin();
+				btVector3 normal = tr.getBasis().getColumn(0);
+				btVector3 axis1 = tr.getBasis().getColumn(1);
+				getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa - tws, -twa + tws, btVector3(0, 0, 0), true);
 			}
-			break;
+		}
+		break;
 		case D6_SPRING_CONSTRAINT_TYPE:
 		case D6_CONSTRAINT_TYPE:
+		{
+			btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
+			btTransform tr = p6DOF->getCalculatedTransformA();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			tr = p6DOF->getCalculatedTransformB();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			if (drawLimits)
 			{
-				btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
-				btTransform tr = p6DOF->getCalculatedTransformA();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				tr = p6DOF->getCalculatedTransformA();
+				const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
+				btVector3 up = tr.getBasis().getColumn(2);
+				btVector3 axis = tr.getBasis().getColumn(0);
+				btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
+				btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
+				btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
+				btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
+				getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+				axis = tr.getBasis().getColumn(1);
+				btScalar ay = p6DOF->getAngle(1);
+				btScalar az = p6DOF->getAngle(2);
+				btScalar cy = btCos(ay);
+				btScalar sy = btSin(ay);
+				btScalar cz = btCos(az);
+				btScalar sz = btSin(az);
+				btVector3 ref;
+				ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
+				ref[1] = -sz * axis[0] + cz * axis[1];
+				ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
 				tr = p6DOF->getCalculatedTransformB();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if(drawLimits)
+				btVector3 normal = -tr.getBasis().getColumn(0);
+				btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
+				btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
+				if (minFi > maxFi)
 				{
-					tr = p6DOF->getCalculatedTransformA();
-					const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
-					btVector3 up = tr.getBasis().getColumn(2);
-					btVector3 axis = tr.getBasis().getColumn(0);
-					btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
-					btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
-					btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
-					btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
-					getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0,0,0));
-					axis = tr.getBasis().getColumn(1);
-					btScalar ay = p6DOF->getAngle(1);
-					btScalar az = p6DOF->getAngle(2);
-					btScalar cy = btCos(ay);
-					btScalar sy = btSin(ay);
-					btScalar cz = btCos(az);
-					btScalar sz = btSin(az);
-					btVector3 ref;
-					ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2];
-					ref[1] = -sz*axis[0] + cz*axis[1];
-					ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2];
-					tr = p6DOF->getCalculatedTransformB();
-					btVector3 normal = -tr.getBasis().getColumn(0);
-					btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
-					btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
-					if(minFi > maxFi)
-					{
-						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0,0,0), false);
-					}
-					else if(minFi < maxFi)
-					{
-						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0,0,0), true);
-					}
-					tr = p6DOF->getCalculatedTransformA();
-					btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
-					btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
-					getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0,0,0));
+					getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
+				}
+				else if (minFi < maxFi)
+				{
+					getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
 				}
+				tr = p6DOF->getCalculatedTransformA();
+				btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
+				btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
+				getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
 			}
-			break;
+		}
+		break;
 		///note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage
 		case D6_SPRING_2_CONSTRAINT_TYPE:
 		{
@@ -1342,9 +1274,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 					btVector3 axis = tr.getBasis().getColumn(0);
 					btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
 					btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
-					btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
-					btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
-					getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+					if (minTh <= maxTh)
+					{
+						btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
+						btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
+						getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+					}
 					axis = tr.getBasis().getColumn(1);
 					btScalar ay = p6DOF->getAngle(1);
 					btScalar az = p6DOF->getAngle(2);
@@ -1353,9 +1288,9 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 					btScalar cz = btCos(az);
 					btScalar sz = btSin(az);
 					btVector3 ref;
-					ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2];
-					ref[1] = -sz*axis[0] + cz*axis[1];
-					ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2];
+					ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
+					ref[1] = -sz * axis[0] + cz * axis[1];
+					ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
 					tr = p6DOF->getCalculatedTransformB();
 					btVector3 normal = -tr.getBasis().getColumn(0);
 					btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
@@ -1377,42 +1312,38 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 			break;
 		}
 		case SLIDER_CONSTRAINT_TYPE:
+		{
+			btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
+			btTransform tr = pSlider->getCalculatedTransformA();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			tr = pSlider->getCalculatedTransformB();
+			if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			if (drawLimits)
 			{
-				btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
-				btTransform tr = pSlider->getCalculatedTransformA();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = pSlider->getCalculatedTransformB();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if(drawLimits)
-				{
-					btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
-					btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
-					btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
-					getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
-					btVector3 normal = tr.getBasis().getColumn(0);
-					btVector3 axis = tr.getBasis().getColumn(1);
-					btScalar a_min = pSlider->getLowerAngLimit();
-					btScalar a_max = pSlider->getUpperAngLimit();
-					const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
-					getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0,0,0), true);
-				}
+				btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
+				btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
+				btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
+				getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
+				btVector3 normal = tr.getBasis().getColumn(0);
+				btVector3 axis = tr.getBasis().getColumn(1);
+				btScalar a_min = pSlider->getLowerAngLimit();
+				btScalar a_max = pSlider->getUpperAngLimit();
+				const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
+				getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0, 0, 0), true);
 			}
-			break;
-		default :
+		}
+		break;
+		default:
 			break;
 	}
 	return;
 }
 
-
-
-
-
-void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 {
 	if (m_ownsConstraintSolver)
 	{
-		btAlignedFree( m_constraintSolver);
+		btAlignedFree(m_constraintSolver);
 	}
 	m_ownsConstraintSolver = false;
 	m_constraintSolver = solver;
@@ -1424,8 +1355,7 @@ btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
 	return m_constraintSolver;
 }
 
-
-int		btDiscreteDynamicsWorld::getNumConstraints() const
+int btDiscreteDynamicsWorld::getNumConstraints() const
 {
 	return int(m_constraints.size());
 }
@@ -1438,93 +1368,87 @@ const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
 	return m_constraints[index];
 }
 
-
-
-void	btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
+void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
 {
 	int i;
 	//serialize all collision objects
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
 		{
 			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len,1);
+			btChunk* chunk = serializer->allocate(len, 1);
 			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,colObj);
+			serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, colObj);
 		}
 	}
 
-	for (i=0;i<m_constraints.size();i++)
+	for (i = 0; i < m_constraints.size(); i++)
 	{
 		btTypedConstraint* constraint = m_constraints[i];
 		int size = constraint->calculateSerializeBufferSize();
-		btChunk* chunk = serializer->allocate(size,1);
-		const char* structType = constraint->serialize(chunk->m_oldPtr,serializer);
-		serializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,constraint);
+		btChunk* chunk = serializer->allocate(size, 1);
+		const char* structType = constraint->serialize(chunk->m_oldPtr, serializer);
+		serializer->finalizeChunk(chunk, structType, BT_CONSTRAINT_CODE, constraint);
 	}
 }
 
-
-
-
-void	btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
+void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
 {
 #ifdef BT_USE_DOUBLE_PRECISION
-		int len = sizeof(btDynamicsWorldDoubleData);
-		btChunk* chunk = serializer->allocate(len,1);
-		btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
-#else//BT_USE_DOUBLE_PRECISION
-		int len = sizeof(btDynamicsWorldFloatData);
-		btChunk* chunk = serializer->allocate(len,1);
-		btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
-#endif//BT_USE_DOUBLE_PRECISION
-
-		memset(worldInfo ,0x00,len);
-
-		m_gravity.serialize(worldInfo->m_gravity);
-		worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
-		worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
-		worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
-		worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
-
-		worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
-		worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
-		worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
-		worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
-
-		worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
-		worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
-		worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
-		worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
-
-		worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
-		worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
-		worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
-		worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
-
-		worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
-		worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
-		worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
-		worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
-
-		worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
-
-		// Fill padding with zeros to appease msan.
-		memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
+	int len = sizeof(btDynamicsWorldDoubleData);
+	btChunk* chunk = serializer->allocate(len, 1);
+	btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
+#else   //BT_USE_DOUBLE_PRECISION
+	int len = sizeof(btDynamicsWorldFloatData);
+	btChunk* chunk = serializer->allocate(len, 1);
+	btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
+#endif  //BT_USE_DOUBLE_PRECISION
+
+	memset(worldInfo, 0x00, len);
+
+	m_gravity.serialize(worldInfo->m_gravity);
+	worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
+	worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
+	worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
+	worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
+
+	worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
+	worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
+	worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
+	worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
+
+	worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
+	worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
+	worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
+	worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
+
+	worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
+	worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
+	worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
+	worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
+
+	worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
+	worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
+	worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
+	worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
+
+	worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
+
+	// Fill padding with zeros to appease msan.
+	memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
 
 #ifdef BT_USE_DOUBLE_PRECISION
-		const char* structType = "btDynamicsWorldDoubleData";
-#else//BT_USE_DOUBLE_PRECISION
-		const char* structType = "btDynamicsWorldFloatData";
-#endif//BT_USE_DOUBLE_PRECISION
-		serializer->finalizeChunk(chunk,structType,BT_DYNAMICSWORLD_CODE,worldInfo);
+	const char* structType = "btDynamicsWorldDoubleData";
+#else   //BT_USE_DOUBLE_PRECISION
+	const char* structType = "btDynamicsWorldFloatData";
+#endif  //BT_USE_DOUBLE_PRECISION
+	serializer->finalizeChunk(chunk, structType, BT_DYNAMICSWORLD_CODE, worldInfo);
 }
 
-void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
+void btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
 {
-
 	serializer->startSerialization();
 
 	serializeDynamicsWorldInfo(serializer);
@@ -1533,6 +1457,7 @@ void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializeRigidBodies(serializer);
 
+	serializeContactManifolds(serializer);
+
 	serializer->finishSerialization();
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index b0d19f48a3..7fe9619213 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_DISCRETE_DYNAMICS_WORLD_H
 #define BT_DISCRETE_DYNAMICS_WORLD_H
 
@@ -32,159 +31,153 @@ struct InplaceSolverIslandCallback;
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btThreads.h"
 
-
 ///btDiscreteDynamicsWorld provides discrete rigid body simulation
 ///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
-ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
+ATTRIBUTE_ALIGNED16(class)
+btDiscreteDynamicsWorld : public btDynamicsWorld
 {
 protected:
-	
-    btAlignedObjectArray<btTypedConstraint*>	m_sortedConstraints;
-	InplaceSolverIslandCallback* 	m_solverIslandCallback;
+	btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
+	InplaceSolverIslandCallback* m_solverIslandCallback;
 
-	btConstraintSolver*	m_constraintSolver;
+	btConstraintSolver* m_constraintSolver;
 
-	btSimulationIslandManager*	m_islandManager;
+	btSimulationIslandManager* m_islandManager;
 
 	btAlignedObjectArray<btTypedConstraint*> m_constraints;
 
 	btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
 
-	btVector3	m_gravity;
+	btVector3 m_gravity;
 
 	//for variable timesteps
-	btScalar	m_localTime;
-	btScalar	m_fixedTimeStep;
+	btScalar m_localTime;
+	btScalar m_fixedTimeStep;
 	//for variable timesteps
 
-	bool	m_ownsIslandManager;
-	bool	m_ownsConstraintSolver;
-	bool	m_synchronizeAllMotionStates;
-	bool	m_applySpeculativeContactRestitution;
+	bool m_ownsIslandManager;
+	bool m_ownsConstraintSolver;
+	bool m_synchronizeAllMotionStates;
+	bool m_applySpeculativeContactRestitution;
 
-	btAlignedObjectArray<btActionInterface*>	m_actions;
-	
-	int	m_profileTimings;
+	btAlignedObjectArray<btActionInterface*> m_actions;
 
-	bool	m_latencyMotionStateInterpolation;
+	int m_profileTimings;
 
-	btAlignedObjectArray<btPersistentManifold*>	m_predictiveManifolds;
-    btSpinMutex m_predictiveManifoldsMutex;  // used to synchronize threads creating predictive contacts
+	bool m_latencyMotionStateInterpolation;
 
-	virtual void	predictUnconstraintMotion(btScalar timeStep);
-	
-    void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep );  // can be called in parallel
-	virtual void	integrateTransforms(btScalar timeStep);
-		
-	virtual void	calculateSimulationIslands();
+	btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
+	btSpinMutex m_predictiveManifoldsMutex;  // used to synchronize threads creating predictive contacts
 
-	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
-	
-	virtual void	updateActivationState(btScalar timeStep);
+	virtual void predictUnconstraintMotion(btScalar timeStep);
 
-	void	updateActions(btScalar timeStep);
+	void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep);  // can be called in parallel
+	virtual void integrateTransforms(btScalar timeStep);
 
-	void	startProfiling(btScalar timeStep);
+	virtual void calculateSimulationIslands();
 
-	virtual void	internalSingleStepSimulation( btScalar timeStep);
+	virtual void solveConstraints(btContactSolverInfo & solverInfo);
 
-    void releasePredictiveContacts();
-    void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep );  // can be called in parallel
-	virtual void	createPredictiveContacts(btScalar timeStep);
+	virtual void updateActivationState(btScalar timeStep);
 
-	virtual void	saveKinematicState(btScalar timeStep);
+	void updateActions(btScalar timeStep);
 
-	void	serializeRigidBodies(btSerializer* serializer);
+	void startProfiling(btScalar timeStep);
 
-	void	serializeDynamicsWorldInfo(btSerializer* serializer);
+	virtual void internalSingleStepSimulation(btScalar timeStep);
 
-public:
+	void releasePredictiveContacts();
+	void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep);  // can be called in parallel
+	virtual void createPredictiveContacts(btScalar timeStep);
 
+	virtual void saveKinematicState(btScalar timeStep);
 
+	void serializeRigidBodies(btSerializer * serializer);
+
+	void serializeDynamicsWorldInfo(btSerializer * serializer);
+
+public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+	btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
 
 	virtual ~btDiscreteDynamicsWorld();
 
 	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
-	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
+	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
 
-
-	virtual void	synchronizeMotionStates();
+	virtual void synchronizeMotionStates();
 
 	///this can be useful to synchronize a single rigid body -> graphics object
-	void	synchronizeSingleMotionState(btRigidBody* body);
+	void synchronizeSingleMotionState(btRigidBody * body);
+
+	virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
 
-	virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
+	virtual void removeConstraint(btTypedConstraint * constraint);
 
-	virtual void	removeConstraint(btTypedConstraint* constraint);
+	virtual void addAction(btActionInterface*);
 
-	virtual void	addAction(btActionInterface*);
+	virtual void removeAction(btActionInterface*);
 
-	virtual void	removeAction(btActionInterface*);
-	
-	btSimulationIslandManager*	getSimulationIslandManager()
+	btSimulationIslandManager* getSimulationIslandManager()
 	{
 		return m_islandManager;
 	}
 
-	const btSimulationIslandManager*	getSimulationIslandManager() const 
+	const btSimulationIslandManager* getSimulationIslandManager() const
 	{
 		return m_islandManager;
 	}
 
-	btCollisionWorld*	getCollisionWorld()
+	btCollisionWorld* getCollisionWorld()
 	{
 		return this;
 	}
 
-	virtual void	setGravity(const btVector3& gravity);
+	virtual void setGravity(const btVector3& gravity);
 
-	virtual btVector3 getGravity () const;
+	virtual btVector3 getGravity() const;
 
-	virtual void	addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+	virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
-	virtual void	addRigidBody(btRigidBody* body);
+	virtual void addRigidBody(btRigidBody * body);
 
-	virtual void	addRigidBody(btRigidBody* body, int group, int mask);
+	virtual void addRigidBody(btRigidBody * body, int group, int mask);
 
-	virtual void	removeRigidBody(btRigidBody* body);
+	virtual void removeRigidBody(btRigidBody * body);
 
 	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
-
+	virtual void removeCollisionObject(btCollisionObject * collisionObject);
 
-	virtual void	debugDrawConstraint(btTypedConstraint* constraint);
+	virtual void debugDrawConstraint(btTypedConstraint * constraint);
 
-	virtual void	debugDrawWorld();
+	virtual void debugDrawWorld();
 
-	virtual void	setConstraintSolver(btConstraintSolver* solver);
+	virtual void setConstraintSolver(btConstraintSolver * solver);
 
 	virtual btConstraintSolver* getConstraintSolver();
-	
-	virtual	int		getNumConstraints() const;
 
-	virtual btTypedConstraint* getConstraint(int index)	;
+	virtual int getNumConstraints() const;
+
+	virtual btTypedConstraint* getConstraint(int index);
 
 	virtual const btTypedConstraint* getConstraint(int index) const;
 
-	
-	virtual btDynamicsWorldType	getWorldType() const
+	virtual btDynamicsWorldType getWorldType() const
 	{
 		return BT_DISCRETE_DYNAMICS_WORLD;
 	}
-	
+
 	///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
-	virtual void	clearForces();
+	virtual void clearForces();
 
 	///apply gravity, call this once per timestep
-	virtual void	applyGravity();
+	virtual void applyGravity();
 
-	virtual void	setNumTasks(int numTasks)
+	virtual void setNumTasks(int numTasks)
 	{
-        (void) numTasks;
+		(void)numTasks;
 	}
 
 	///obsolete, use updateActions instead
@@ -194,15 +187,15 @@ public:
 	}
 
 	///obsolete, use addAction instead
-	virtual void	addVehicle(btActionInterface* vehicle);
+	virtual void addVehicle(btActionInterface * vehicle);
 	///obsolete, use removeAction instead
-	virtual void	removeVehicle(btActionInterface* vehicle);
+	virtual void removeVehicle(btActionInterface * vehicle);
 	///obsolete, use addAction instead
-	virtual void	addCharacter(btActionInterface* character);
+	virtual void addCharacter(btActionInterface * character);
 	///obsolete, use removeAction instead
-	virtual void	removeCharacter(btActionInterface* character);
+	virtual void removeCharacter(btActionInterface * character);
 
-	void	setSynchronizeAllMotionStates(bool synchronizeAll)
+	void setSynchronizeAllMotionStates(bool synchronizeAll)
 	{
 		m_synchronizeAllMotionStates = synchronizeAll;
 	}
@@ -215,18 +208,18 @@ public:
 	{
 		m_applySpeculativeContactRestitution = enable;
 	}
-	
+
 	bool getApplySpeculativeContactRestitution() const
 	{
 		return m_applySpeculativeContactRestitution;
 	}
 
 	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
-	virtual	void	serialize(btSerializer* serializer);
+	virtual void serialize(btSerializer * serializer);
 
 	///Interpolate motion state between previous and current transform, instead of current and next transform.
 	///This can relieve discontinuities in the rendering, due to penetrations
-	void setLatencyMotionStateInterpolation(bool latencyInterpolation )
+	void setLatencyMotionStateInterpolation(bool latencyInterpolation)
 	{
 		m_latencyMotionStateInterpolation = latencyInterpolation;
 	}
@@ -236,4 +229,4 @@ public:
 	}
 };
 
-#endif //BT_DISCRETE_DYNAMICS_WORLD_H
+#endif  //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
index 1d10bad922..8207b47135 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btDiscreteDynamicsWorldMt.h"
 
 //collision detection
@@ -38,290 +37,227 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
-
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
-
 #include "BulletDynamics/Dynamics/btActionInterface.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
 
 #include "LinearMath/btSerializer.h"
 
-
-struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback
-{
-	btContactSolverInfo*	m_solverInfo;
-	btConstraintSolver*		m_solver;
-	btIDebugDraw*			m_debugDrawer;
-	btDispatcher*			m_dispatcher;
-
-	InplaceSolverIslandCallbackMt(
-		btConstraintSolver*	solver,
-		btStackAlloc* stackAlloc,
-		btDispatcher* dispatcher)
-		:m_solverInfo(NULL),
-		m_solver(solver),
-		m_debugDrawer(NULL),
-		m_dispatcher(dispatcher)
-	{
-
-	}
-
-	InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other)
-	{
-		btAssert(0);
-		(void)other;
-		return *this;
-	}
-
-	SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer)
-	{
-		btAssert(solverInfo);
-		m_solverInfo = solverInfo;
-		m_debugDrawer = debugDrawer;
-	}
-
-
-	virtual	void	processIsland( btCollisionObject** bodies,
-                                   int numBodies,
-                                   btPersistentManifold** manifolds,
-                                   int numManifolds,
-                                   btTypedConstraint** constraints,
-                                   int numConstraints,
-                                   int islandId
-                                   )
-	{
-        m_solver->solveGroup( bodies,
-                              numBodies,
-                              manifolds,
-                              numManifolds,
-                              constraints,
-                              numConstraints,
-                              *m_solverInfo,
-                              m_debugDrawer,
-                              m_dispatcher
-                              );
-    }
-
-};
-
-
 ///
 /// btConstraintSolverPoolMt
 ///
 
 btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
 {
-    int i = 0;
+	int i = 0;
 #if BT_THREADSAFE
-    i = btGetCurrentThreadIndex() % m_solvers.size();
-#endif // #if BT_THREADSAFE
-    while ( true )
-    {
-        ThreadSolver& solver = m_solvers[ i ];
-        if ( solver.mutex.tryLock() )
-        {
-            return &solver;
-        }
-        // failed, try the next one
-        i = ( i + 1 ) % m_solvers.size();
-    }
-    return NULL;
+	i = btGetCurrentThreadIndex() % m_solvers.size();
+#endif  // #if BT_THREADSAFE
+	while (true)
+	{
+		ThreadSolver& solver = m_solvers[i];
+		if (solver.mutex.tryLock())
+		{
+			return &solver;
+		}
+		// failed, try the next one
+		i = (i + 1) % m_solvers.size();
+	}
+	return NULL;
 }
 
-void btConstraintSolverPoolMt::init( btConstraintSolver** solvers, int numSolvers )
+void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers)
 {
-    m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
-    m_solvers.resize( numSolvers );
-    for ( int i = 0; i < numSolvers; ++i )
-    {
-        m_solvers[ i ].solver = solvers[ i ];
-    }
-    if ( numSolvers > 0 )
-    {
-        m_solverType = solvers[ 0 ]->getSolverType();
-    }
+	m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
+	m_solvers.resize(numSolvers);
+	for (int i = 0; i < numSolvers; ++i)
+	{
+		m_solvers[i].solver = solvers[i];
+	}
+	if (numSolvers > 0)
+	{
+		m_solverType = solvers[0]->getSolverType();
+	}
 }
 
 // create the solvers for me
-btConstraintSolverPoolMt::btConstraintSolverPoolMt( int numSolvers )
+btConstraintSolverPoolMt::btConstraintSolverPoolMt(int numSolvers)
 {
-    btAlignedObjectArray<btConstraintSolver*> solvers;
-    solvers.reserve( numSolvers );
-    for ( int i = 0; i < numSolvers; ++i )
-    {
-        btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
-        solvers.push_back( solver );
-    }
-    init( &solvers[ 0 ], numSolvers );
+	btAlignedObjectArray<btConstraintSolver*> solvers;
+	solvers.reserve(numSolvers);
+	for (int i = 0; i < numSolvers; ++i)
+	{
+		btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
+		solvers.push_back(solver);
+	}
+	init(&solvers[0], numSolvers);
 }
 
 // pass in fully constructed solvers (destructor will delete them)
-btConstraintSolverPoolMt::btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers )
+btConstraintSolverPoolMt::btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers)
 {
-    init( solvers, numSolvers );
+	init(solvers, numSolvers);
 }
 
 btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
 {
-    // delete all solvers
-    for ( int i = 0; i < m_solvers.size(); ++i )
-    {
-        ThreadSolver& solver = m_solvers[ i ];
-        delete solver.solver;
-        solver.solver = NULL;
-    }
+	// delete all solvers
+	for (int i = 0; i < m_solvers.size(); ++i)
+	{
+		ThreadSolver& solver = m_solvers[i];
+		delete solver.solver;
+		solver.solver = NULL;
+	}
 }
 
 ///solve a group of constraints
-btScalar btConstraintSolverPoolMt::solveGroup( btCollisionObject** bodies,
-    int numBodies,
-    btPersistentManifold** manifolds,
-    int numManifolds,
-    btTypedConstraint** constraints,
-    int numConstraints,
-    const btContactSolverInfo& info,
-    btIDebugDraw* debugDrawer,
-    btDispatcher* dispatcher
-)
+btScalar btConstraintSolverPoolMt::solveGroup(btCollisionObject** bodies,
+											  int numBodies,
+											  btPersistentManifold** manifolds,
+											  int numManifolds,
+											  btTypedConstraint** constraints,
+											  int numConstraints,
+											  const btContactSolverInfo& info,
+											  btIDebugDraw* debugDrawer,
+											  btDispatcher* dispatcher)
 {
-    ThreadSolver* ts = getAndLockThreadSolver();
-    ts->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher );
-    ts->mutex.unlock();
-    return 0.0f;
+	ThreadSolver* ts = getAndLockThreadSolver();
+	ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
+	ts->mutex.unlock();
+	return 0.0f;
 }
 
 void btConstraintSolverPoolMt::reset()
 {
-    for ( int i = 0; i < m_solvers.size(); ++i )
-    {
-        ThreadSolver& solver = m_solvers[ i ];
-        solver.mutex.lock();
-        solver.solver->reset();
-        solver.mutex.unlock();
-    }
+	for (int i = 0; i < m_solvers.size(); ++i)
+	{
+		ThreadSolver& solver = m_solvers[i];
+		solver.mutex.lock();
+		solver.solver->reset();
+		solver.mutex.unlock();
+	}
 }
 
-
 ///
 /// btDiscreteDynamicsWorldMt
 ///
 
-btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
+btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
+													 btBroadphaseInterface* pairCache,
+													 btConstraintSolverPoolMt* solverPool,
+													 btConstraintSolver* constraintSolverMt,
+													 btCollisionConfiguration* collisionConfiguration)
+	: btDiscreteDynamicsWorld(dispatcher, pairCache, solverPool, collisionConfiguration)
 {
 	if (m_ownsIslandManager)
 	{
 		m_islandManager->~btSimulationIslandManager();
-		btAlignedFree( m_islandManager);
+		btAlignedFree(m_islandManager);
 	}
-    {
-		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16);
-		m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher);
-    }
 	{
-		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16);
+		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16);
 		btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
-        im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize );
-        m_islandManager = im;
+		im->setMinimumSolverBatchSize(m_solverInfo.m_minimumSolverBatchSize);
+		m_islandManager = im;
 	}
+	m_constraintSolverMt = constraintSolverMt;
 }
 
-
 btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
 {
-	if (m_solverIslandCallbackMt)
-	{
-		m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt();
-		btAlignedFree(m_solverIslandCallbackMt);
-	}
-	if (m_ownsConstraintSolver)
-	{
-		m_constraintSolver->~btConstraintSolver();
-		btAlignedFree(m_constraintSolver);
-	}
 }
 
-
 void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
 {
 	BT_PROFILE("solveConstraints");
 
-	m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer());
 	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
 
 	/// solve all the constraints for this island
-    btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
-    im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt );
+	btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
+	btSimulationIslandManagerMt::SolverParams solverParams;
+	solverParams.m_solverPool = m_constraintSolver;
+	solverParams.m_solverMt = m_constraintSolverMt;
+	solverParams.m_solverInfo = &solverInfo;
+	solverParams.m_debugDrawer = m_debugDrawer;
+	solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
+	im->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams);
 
 	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
 }
 
-
 struct UpdaterUnconstrainedMotion : public btIParallelForBody
 {
-    btScalar timeStep;
-    btRigidBody** rigidBodies;
+	btScalar timeStep;
+	btRigidBody** rigidBodies;
 
-    void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
-    {
-        for ( int i = iBegin; i < iEnd; ++i )
-        {
-            btRigidBody* body = rigidBodies[ i ];
-            if ( !body->isStaticOrKinematicObject() )
-            {
-                //don't integrate/update velocities here, it happens in the constraint solver
-                body->applyDamping( timeStep );
-                body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() );
-            }
-        }
-    }
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		for (int i = iBegin; i < iEnd; ++i)
+		{
+			btRigidBody* body = rigidBodies[i];
+			if (!body->isStaticOrKinematicObject())
+			{
+				//don't integrate/update velocities here, it happens in the constraint solver
+				body->applyDamping(timeStep);
+				body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
+			}
+		}
+	}
 };
 
-
-void btDiscreteDynamicsWorldMt::predictUnconstraintMotion( btScalar timeStep )
+void btDiscreteDynamicsWorldMt::predictUnconstraintMotion(btScalar timeStep)
 {
-    BT_PROFILE( "predictUnconstraintMotion" );
-    if ( m_nonStaticRigidBodies.size() > 0 )
-    {
-        UpdaterUnconstrainedMotion update;
-        update.timeStep = timeStep;
-        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        int grainSize = 50;  // num of iterations per task for task scheduler
-        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
-    }
+	BT_PROFILE("predictUnconstraintMotion");
+	if (m_nonStaticRigidBodies.size() > 0)
+	{
+		UpdaterUnconstrainedMotion update;
+		update.timeStep = timeStep;
+		update.rigidBodies = &m_nonStaticRigidBodies[0];
+		int grainSize = 50;  // num of iterations per task for task scheduler
+		btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
+	}
 }
 
-
-void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep )
+void btDiscreteDynamicsWorldMt::createPredictiveContacts(btScalar timeStep)
 {
-    BT_PROFILE( "createPredictiveContacts" );
-    releasePredictiveContacts();
-    if ( m_nonStaticRigidBodies.size() > 0 )
-    {
-        UpdaterCreatePredictiveContacts update;
-        update.world = this;
-        update.timeStep = timeStep;
-        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        int grainSize = 50;  // num of iterations per task for task scheduler
-        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
-    }
+	BT_PROFILE("createPredictiveContacts");
+	releasePredictiveContacts();
+	if (m_nonStaticRigidBodies.size() > 0)
+	{
+		UpdaterCreatePredictiveContacts update;
+		update.world = this;
+		update.timeStep = timeStep;
+		update.rigidBodies = &m_nonStaticRigidBodies[0];
+		int grainSize = 50;  // num of iterations per task for task scheduler
+		btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
+	}
 }
 
-
-void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep )
+void btDiscreteDynamicsWorldMt::integrateTransforms(btScalar timeStep)
 {
-    BT_PROFILE( "integrateTransforms" );
-    if ( m_nonStaticRigidBodies.size() > 0 )
-    {
-        UpdaterIntegrateTransforms update;
-        update.world = this;
-        update.timeStep = timeStep;
-        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        int grainSize = 50;  // num of iterations per task for task scheduler
-        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
-    }
+	BT_PROFILE("integrateTransforms");
+	if (m_nonStaticRigidBodies.size() > 0)
+	{
+		UpdaterIntegrateTransforms update;
+		update.world = this;
+		update.timeStep = timeStep;
+		update.rigidBodies = &m_nonStaticRigidBodies[0];
+		int grainSize = 50;  // num of iterations per task for task scheduler
+		btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
+	}
 }
 
+int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
+{
+	int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
+	if (btITaskScheduler* scheduler = btGetTaskScheduler())
+	{
+		// tell Bullet's threads to sleep, so other threads can run
+		scheduler->sleepWorkerThreadsHint();
+	}
+	return numSubSteps;
+}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
index 2f144cdda4..dccf35d7a7 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
 #define BT_DISCRETE_DYNAMICS_WORLD_MT_H
 
@@ -21,8 +20,6 @@ subject to the following restrictions:
 #include "btSimulationIslandManagerMt.h"
 #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
 
-struct InplaceSolverIslandCallbackMt;
-
 ///
 /// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them.
 ///
@@ -35,46 +32,43 @@ struct InplaceSolverIslandCallbackMt;
 class btConstraintSolverPoolMt : public btConstraintSolver
 {
 public:
-    // create the solvers for me
-    explicit btConstraintSolverPoolMt( int numSolvers );
+	// create the solvers for me
+	explicit btConstraintSolverPoolMt(int numSolvers);
 
-    // pass in fully constructed solvers (destructor will delete them)
-    btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers );
+	// pass in fully constructed solvers (destructor will delete them)
+	btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers);
 
-    virtual ~btConstraintSolverPoolMt();
+	virtual ~btConstraintSolverPoolMt();
 
-    ///solve a group of constraints
-    virtual btScalar solveGroup( btCollisionObject** bodies,
-        int numBodies,
-        btPersistentManifold** manifolds,
-        int numManifolds,
-        btTypedConstraint** constraints,
-        int numConstraints,
-        const btContactSolverInfo& info,
-        btIDebugDraw* debugDrawer,
-        btDispatcher* dispatcher
-    ) BT_OVERRIDE;
+	///solve a group of constraints
+	virtual btScalar solveGroup(btCollisionObject** bodies,
+								int numBodies,
+								btPersistentManifold** manifolds,
+								int numManifolds,
+								btTypedConstraint** constraints,
+								int numConstraints,
+								const btContactSolverInfo& info,
+								btIDebugDraw* debugDrawer,
+								btDispatcher* dispatcher) BT_OVERRIDE;
 
-    virtual	void reset() BT_OVERRIDE;
-    virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
+	virtual void reset() BT_OVERRIDE;
+	virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
 
 private:
-    const static size_t kCacheLineSize = 128;
-    struct ThreadSolver
-    {
-        btConstraintSolver* solver;
-        btSpinMutex mutex;
-        char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ];  // keep mutexes from sharing a cache line
-    };
-    btAlignedObjectArray<ThreadSolver> m_solvers;
-    btConstraintSolverType m_solverType;
-
-    ThreadSolver* getAndLockThreadSolver();
-    void init( btConstraintSolver** solvers, int numSolvers );
+	const static size_t kCacheLineSize = 128;
+	struct ThreadSolver
+	{
+		btConstraintSolver* solver;
+		btSpinMutex mutex;
+		char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)];  // keep mutexes from sharing a cache line
+	};
+	btAlignedObjectArray<ThreadSolver> m_solvers;
+	btConstraintSolverType m_solverType;
+
+	ThreadSolver* getAndLockThreadSolver();
+	void init(btConstraintSolver** solvers, int numSolvers);
 };
 
-
-
 ///
 /// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support
 ///                              solving simulation islands on multiple threads.
@@ -85,50 +79,53 @@ private:
 ///     - integrateTransforms
 ///     - createPredictiveContacts
 ///
-ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
+ATTRIBUTE_ALIGNED16(class)
+btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
 {
 protected:
-    InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt;
-
-    virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE;
-
-    virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE;
-
-    struct UpdaterCreatePredictiveContacts : public btIParallelForBody
-    {
-        btScalar timeStep;
-        btRigidBody** rigidBodies;
-        btDiscreteDynamicsWorldMt* world;
-
-        void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
-        {
-            world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
-        }
-    };
-    virtual void createPredictiveContacts( btScalar timeStep ) BT_OVERRIDE;
-
-    struct UpdaterIntegrateTransforms : public btIParallelForBody
-    {
-        btScalar timeStep;
-        btRigidBody** rigidBodies;
-        btDiscreteDynamicsWorldMt* world;
-
-        void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
-        {
-            world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
-        }
-    };
-    virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE;
+	btConstraintSolver* m_constraintSolverMt;
+
+	virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE;
+
+	virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE;
+
+	struct UpdaterCreatePredictiveContacts : public btIParallelForBody
+	{
+		btScalar timeStep;
+		btRigidBody** rigidBodies;
+		btDiscreteDynamicsWorldMt* world;
+
+		void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+		{
+			world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
+		}
+	};
+	virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE;
+
+	struct UpdaterIntegrateTransforms : public btIParallelForBody
+	{
+		btScalar timeStep;
+		btRigidBody** rigidBodies;
+		btDiscreteDynamicsWorldMt* world;
+
+		void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+		{
+			world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
+		}
+	};
+	virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
-        btBroadphaseInterface* pairCache,
-        btConstraintSolverPoolMt* constraintSolver,   // Note this should be a solver-pool for multi-threading
-        btCollisionConfiguration* collisionConfiguration
-    );
+	btDiscreteDynamicsWorldMt(btDispatcher * dispatcher,
+							  btBroadphaseInterface * pairCache,
+							  btConstraintSolverPoolMt * solverPool,        // Note this should be a solver-pool for multi-threading
+							  btConstraintSolver * constraintSolverMt,      // single multi-threaded solver for large islands (or NULL)
+							  btCollisionConfiguration * collisionConfiguration);
 	virtual ~btDiscreteDynamicsWorldMt();
+
+	virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE;
 };
 
-#endif //BT_DISCRETE_DYNAMICS_WORLD_H
+#endif  //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
index 42d8fc0de3..eadd8c12e7 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -24,150 +24,150 @@ class btActionInterface;
 class btConstraintSolver;
 class btDynamicsWorld;
 
-
 /// Type for the callback for each tick
-typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
+typedef void (*btInternalTickCallback)(btDynamicsWorld* world, btScalar timeStep);
 
 enum btDynamicsWorldType
 {
-	BT_SIMPLE_DYNAMICS_WORLD=1,
-	BT_DISCRETE_DYNAMICS_WORLD=2,
-	BT_CONTINUOUS_DYNAMICS_WORLD=3,
-	BT_SOFT_RIGID_DYNAMICS_WORLD=4,
-	BT_GPU_DYNAMICS_WORLD=5,
-    BT_SOFT_MULTIBODY_DYNAMICS_WORLD=6
+	BT_SIMPLE_DYNAMICS_WORLD = 1,
+	BT_DISCRETE_DYNAMICS_WORLD = 2,
+	BT_CONTINUOUS_DYNAMICS_WORLD = 3,
+	BT_SOFT_RIGID_DYNAMICS_WORLD = 4,
+	BT_GPU_DYNAMICS_WORLD = 5,
+	BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6
 };
 
 ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
 class btDynamicsWorld : public btCollisionWorld
 {
-
 protected:
-		btInternalTickCallback m_internalTickCallback;
-		btInternalTickCallback m_internalPreTickCallback;
-		void*	m_worldUserInfo;
+	btInternalTickCallback m_internalTickCallback;
+	btInternalTickCallback m_internalPreTickCallback;
+	void* m_worldUserInfo;
 
-		btContactSolverInfo	m_solverInfo;
+	btContactSolverInfo m_solverInfo;
 
 public:
-		
+	btDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphase, btCollisionConfiguration* collisionConfiguration)
+		: btCollisionWorld(dispatcher, broadphase, collisionConfiguration), m_internalTickCallback(0), m_internalPreTickCallback(0), m_worldUserInfo(0)
+	{
+	}
 
-		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
-		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
-		{
-		}
+	virtual ~btDynamicsWorld()
+	{
+	}
 
-		virtual ~btDynamicsWorld()
-		{
-		}
-		
-		///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
-		///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
-		///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
-		///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
-		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
-			
-		virtual void	debugDrawWorld() = 0;
-				
-		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 
-		{ 
-			(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
-		}
+	///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
+	///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
+	///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
+	///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
+	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)) = 0;
 
-		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
+	virtual void debugDrawWorld() = 0;
 
-		virtual void	addAction(btActionInterface* action) = 0;
+	virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies = false)
+	{
+		(void)constraint;
+		(void)disableCollisionsBetweenLinkedBodies;
+	}
 
-		virtual void	removeAction(btActionInterface* action) = 0;
+	virtual void removeConstraint(btTypedConstraint* constraint) { (void)constraint; }
 
-		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
-		//existing rigidbodies in the world get gravity assigned too, during this method
-		virtual void	setGravity(const btVector3& gravity) = 0;
-		virtual btVector3 getGravity () const = 0;
+	virtual void addAction(btActionInterface* action) = 0;
 
-		virtual void	synchronizeMotionStates() = 0;
+	virtual void removeAction(btActionInterface* action) = 0;
 
-		virtual void	addRigidBody(btRigidBody* body) = 0;
+	//once a rigidbody is added to the dynamics world, it will get this gravity assigned
+	//existing rigidbodies in the world get gravity assigned too, during this method
+	virtual void setGravity(const btVector3& gravity) = 0;
+	virtual btVector3 getGravity() const = 0;
 
-		virtual void	addRigidBody(btRigidBody* body, int group, int mask) = 0;
+	virtual void synchronizeMotionStates() = 0;
 
-		virtual void	removeRigidBody(btRigidBody* body) = 0;
+	virtual void addRigidBody(btRigidBody* body) = 0;
 
-		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+	virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0;
 
-		virtual btConstraintSolver* getConstraintSolver() = 0;
-		
-		virtual	int		getNumConstraints() const {	return 0;		}
-		
-		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
-		
-		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
+	virtual void removeRigidBody(btRigidBody* body) = 0;
 
-		virtual btDynamicsWorldType	getWorldType() const=0;
+	virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
 
-		virtual void	clearForces() = 0;
+	virtual btConstraintSolver* getConstraintSolver() = 0;
 
-		/// Set the callback for when an internal tick (simulation substep) happens, optional user info
-		void setInternalTickCallback(btInternalTickCallback cb,	void* worldUserInfo=0,bool isPreTick=false) 
-		{ 
-			if (isPreTick)
-			{
-				m_internalPreTickCallback = cb;
-			} else
-			{
-				m_internalTickCallback = cb; 
-			}
-			m_worldUserInfo = worldUserInfo;
-		}
+	virtual int getNumConstraints() const { return 0; }
 
-		void	setWorldUserInfo(void* worldUserInfo)
-		{
-			m_worldUserInfo = worldUserInfo;
-		}
+	virtual btTypedConstraint* getConstraint(int index)
+	{
+		(void)index;
+		return 0;
+	}
 
-		void*	getWorldUserInfo() const
-		{
-			return m_worldUserInfo;
-		}
+	virtual const btTypedConstraint* getConstraint(int index) const
+	{
+		(void)index;
+		return 0;
+	}
+
+	virtual btDynamicsWorldType getWorldType() const = 0;
+
+	virtual void clearForces() = 0;
 
-		btContactSolverInfo& getSolverInfo()
+	/// Set the callback for when an internal tick (simulation substep) happens, optional user info
+	void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo = 0, bool isPreTick = false)
+	{
+		if (isPreTick)
 		{
-			return m_solverInfo;
+			m_internalPreTickCallback = cb;
 		}
-
-		const btContactSolverInfo& getSolverInfo() const
+		else
 		{
-			return m_solverInfo;
+			m_internalTickCallback = cb;
 		}
-
-
-		///obsolete, use addAction instead.
-		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
-		///obsolete, use removeAction instead
-		virtual void	removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
-		///obsolete, use addAction instead.
-		virtual void	addCharacter(btActionInterface* character) {(void)character;}
-		///obsolete, use removeAction instead
-		virtual void	removeCharacter(btActionInterface* character) {(void)character;}
-
-
+		m_worldUserInfo = worldUserInfo;
+	}
+
+	void setWorldUserInfo(void* worldUserInfo)
+	{
+		m_worldUserInfo = worldUserInfo;
+	}
+
+	void* getWorldUserInfo() const
+	{
+		return m_worldUserInfo;
+	}
+
+	btContactSolverInfo& getSolverInfo()
+	{
+		return m_solverInfo;
+	}
+
+	const btContactSolverInfo& getSolverInfo() const
+	{
+		return m_solverInfo;
+	}
+
+	///obsolete, use addAction instead.
+	virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; }
+	///obsolete, use removeAction instead
+	virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; }
+	///obsolete, use addAction instead.
+	virtual void addCharacter(btActionInterface* character) { (void)character; }
+	///obsolete, use removeAction instead
+	virtual void removeCharacter(btActionInterface* character) { (void)character; }
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btDynamicsWorldDoubleData
 {
-	btContactSolverInfoDoubleData	m_solverInfo;
-	btVector3DoubleData	m_gravity;
+	btContactSolverInfoDoubleData m_solverInfo;
+	btVector3DoubleData m_gravity;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btDynamicsWorldFloatData
 {
-	btContactSolverInfoFloatData	m_solverInfo;
-	btVector3FloatData	m_gravity;
+	btContactSolverInfoFloatData m_solverInfo;
+	btVector3FloatData m_gravity;
 };
 
-
-#endif //BT_DYNAMICS_WORLD_H
-
-
+#endif  //BT_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
index ca0714fcfa..f4bcabada2 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -22,36 +22,34 @@ subject to the following restrictions:
 #include "LinearMath/btSerializer.h"
 
 //'temporarily' global variables
-btScalar	gDeactivationTime = btScalar(2.);
-bool	gDisableDeactivation = false;
+btScalar gDeactivationTime = btScalar(2.);
+bool gDisableDeactivation = false;
 static int uniqueId = 0;
 
-
 btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
 {
 	setupRigidBody(constructionInfo);
 }
 
-btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
+btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia)
 {
-	btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
+	btRigidBodyConstructionInfo cinfo(mass, motionState, collisionShape, localInertia);
 	setupRigidBody(cinfo);
 }
 
-void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
+void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
 {
-
-	m_internalType=CO_RIGID_BODY;
+	m_internalType = CO_RIGID_BODY;
 
 	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	m_angularFactor.setValue(1,1,1);
-	m_linearFactor.setValue(1,1,1);
+	m_angularVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
+	m_angularFactor.setValue(1, 1, 1);
+	m_linearFactor.setValue(1, 1, 1);
 	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-    setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
+		setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
 
 	m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
 	m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
@@ -67,48 +65,44 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 	if (m_optionalMotionState)
 	{
 		m_optionalMotionState->getWorldTransform(m_worldTransform);
-	} else
+	}
+	else
 	{
 		m_worldTransform = constructionInfo.m_startWorldTransform;
 	}
 
 	m_interpolationWorldTransform = m_worldTransform;
-	m_interpolationLinearVelocity.setValue(0,0,0);
-	m_interpolationAngularVelocity.setValue(0,0,0);
-	
+	m_interpolationLinearVelocity.setValue(0, 0, 0);
+	m_interpolationAngularVelocity.setValue(0, 0, 0);
+
 	//moved to btCollisionObject
 	m_friction = constructionInfo.m_friction;
 	m_rollingFriction = constructionInfo.m_rollingFriction;
-    m_spinningFriction = constructionInfo.m_spinningFriction;
-    
+	m_spinningFriction = constructionInfo.m_spinningFriction;
+
 	m_restitution = constructionInfo.m_restitution;
 
-	setCollisionShape( constructionInfo.m_collisionShape );
+	setCollisionShape(constructionInfo.m_collisionShape);
 	m_debugBodyId = uniqueId++;
-	
+
 	setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
 	updateInertiaTensor();
 
 	m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;
 
-
 	m_deltaLinearVelocity.setZero();
 	m_deltaAngularVelocity.setZero();
-	m_invMass = m_inverseMass*m_linearFactor;
+	m_invMass = m_inverseMass * m_linearFactor;
 	m_pushVelocity.setZero();
 	m_turnVelocity.setZero();
-
-	
-
 }
 
-
-void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) 
+void btRigidBody::predictIntegratedTransform(btScalar timeStep, btTransform& predictedTransform)
 {
-	btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
+	btTransformUtil::integrateTransform(m_worldTransform, m_linearVelocity, m_angularVelocity, timeStep, predictedTransform);
 }
 
-void			btRigidBody::saveKinematicState(btScalar timeStep)
+void btRigidBody::saveKinematicState(btScalar timeStep)
 {
 	//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
 	if (timeStep != btScalar(0.))
@@ -116,25 +110,22 @@ void			btRigidBody::saveKinematicState(btScalar timeStep)
 		//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
 		if (getMotionState())
 			getMotionState()->getWorldTransform(m_worldTransform);
-		btVector3 linVel,angVel;
-		
-		btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
+		btVector3 linVel, angVel;
+
+		btTransformUtil::calculateVelocity(m_interpolationWorldTransform, m_worldTransform, timeStep, m_linearVelocity, m_angularVelocity);
 		m_interpolationLinearVelocity = m_linearVelocity;
 		m_interpolationAngularVelocity = m_angularVelocity;
 		m_interpolationWorldTransform = m_worldTransform;
 		//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
 	}
 }
-	
-void	btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
+
+void btRigidBody::getAabb(btVector3& aabbMin, btVector3& aabbMax) const
 {
-	getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax);
+	getCollisionShape()->getAabb(m_worldTransform, aabbMin, aabbMax);
 }
 
-
-
-
-void btRigidBody::setGravity(const btVector3& acceleration) 
+void btRigidBody::setGravity(const btVector3& acceleration)
 {
 	if (m_inverseMass != btScalar(0.0))
 	{
@@ -143,22 +134,14 @@ void btRigidBody::setGravity(const btVector3& acceleration)
 	m_gravity_acceleration = acceleration;
 }
 
-
-
-
-
-
 void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
 {
 	m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 	m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 }
 
-
-
-
 ///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
-void			btRigidBody::applyDamping(btScalar timeStep)
+void btRigidBody::applyDamping(btScalar timeStep)
 {
 	//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
 	//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
@@ -168,8 +151,8 @@ void			btRigidBody::applyDamping(btScalar timeStep)
 	m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 	m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 #else
-	m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep);
-	m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep);
+	m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
+	m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
 #endif
 
 	if (m_additionalDamping)
@@ -182,7 +165,6 @@ void			btRigidBody::applyDamping(btScalar timeStep)
 			m_angularVelocity *= m_additionalDampingFactor;
 			m_linearVelocity *= m_additionalDampingFactor;
 		}
-	
 
 		btScalar speed = m_linearVelocity.length();
 		if (speed < m_linearDamping)
@@ -191,10 +173,11 @@ void			btRigidBody::applyDamping(btScalar timeStep)
 			if (speed > dampVel)
 			{
 				btVector3 dir = m_linearVelocity.normalized();
-				m_linearVelocity -=  dir * dampVel;
-			} else
+				m_linearVelocity -= dir * dampVel;
+			}
+			else
 			{
-				m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+				m_linearVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 			}
 		}
 
@@ -205,30 +188,28 @@ void			btRigidBody::applyDamping(btScalar timeStep)
 			if (angSpeed > angDampVel)
 			{
 				btVector3 dir = m_angularVelocity.normalized();
-				m_angularVelocity -=  dir * angDampVel;
-			} else
+				m_angularVelocity -= dir * angDampVel;
+			}
+			else
 			{
-				m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+				m_angularVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 			}
 		}
 	}
 }
 
-
 void btRigidBody::applyGravity()
 {
 	if (isStaticOrKinematicObject())
 		return;
-	
-	applyCentralForce(m_gravity);	
 
+	applyCentralForce(m_gravity);
 }
 
 void btRigidBody::proceedToTransform(const btTransform& newTrans)
 {
-	setCenterOfMassTransform( newTrans );
+	setCenterOfMassTransform(newTrans);
 }
-	
 
 void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
 {
@@ -236,7 +217,8 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
 	{
 		m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
 		m_inverseMass = btScalar(0.);
-	} else
+	}
+	else
 	{
 		m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
 		m_inverseMass = btScalar(1.0) / mass;
@@ -244,50 +226,45 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
 
 	//Fg = m * a
 	m_gravity = mass * m_gravity_acceleration;
-	
-	m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
-				   inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0),
-				   inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
 
-	m_invMass = m_linearFactor*m_inverseMass;
+	m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
+							   inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
+							   inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
+
+	m_invMass = m_linearFactor * m_inverseMass;
 }
 
-	
-void btRigidBody::updateInertiaTensor() 
+void btRigidBody::updateInertiaTensor()
 {
 	m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
 }
 
-
-
 btVector3 btRigidBody::getLocalInertia() const
 {
-
 	btVector3 inertiaLocal;
 	const btVector3 inertia = m_invInertiaLocal;
 	inertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
-		inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
-		inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
+						  inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
+						  inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
 	return inertiaLocal;
 }
 
 inline btVector3 evalEulerEqn(const btVector3& w1, const btVector3& w0, const btVector3& T, const btScalar dt,
-	const btMatrix3x3 &I)
+							  const btMatrix3x3& I)
 {
-	const btVector3 w2 = I*w1 + w1.cross(I*w1)*dt - (T*dt + I*w0);
+	const btVector3 w2 = I * w1 + w1.cross(I * w1) * dt - (T * dt + I * w0);
 	return w2;
 }
 
 inline btMatrix3x3 evalEulerEqnDeriv(const btVector3& w1, const btVector3& w0, const btScalar dt,
-	const btMatrix3x3 &I)
+									 const btMatrix3x3& I)
 {
-
 	btMatrix3x3 w1x, Iw1x;
-	const btVector3 Iwi = (I*w1);
+	const btVector3 Iwi = (I * w1);
 	w1.getSkewSymmetricMatrix(&w1x[0], &w1x[1], &w1x[2]);
 	Iwi.getSkewSymmetricMatrix(&Iw1x[0], &Iw1x[1], &Iw1x[2]);
 
-	const btMatrix3x3 dfw1 = I + (w1x*I - Iw1x)*dt;
+	const btMatrix3x3 dfw1 = I + (w1x * I - Iw1x) * dt;
 	return dfw1;
 }
 
@@ -295,58 +272,55 @@ btVector3 btRigidBody::computeGyroscopicForceExplicit(btScalar maxGyroscopicForc
 {
 	btVector3 inertiaLocal = getLocalInertia();
 	btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose();
-	btVector3 tmp = inertiaTensorWorld*getAngularVelocity();
+	btVector3 tmp = inertiaTensorWorld * getAngularVelocity();
 	btVector3 gf = getAngularVelocity().cross(tmp);
 	btScalar l2 = gf.length2();
-	if (l2>maxGyroscopicForce*maxGyroscopicForce)
+	if (l2 > maxGyroscopicForce * maxGyroscopicForce)
 	{
-		gf *= btScalar(1.)/btSqrt(l2)*maxGyroscopicForce;
+		gf *= btScalar(1.) / btSqrt(l2) * maxGyroscopicForce;
 	}
 	return gf;
 }
 
-
 btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body(btScalar step) const
-{	
+{
 	btVector3 idl = getLocalInertia();
 	btVector3 omega1 = getAngularVelocity();
 	btQuaternion q = getWorldTransform().getRotation();
-	
+
 	// Convert to body coordinates
 	btVector3 omegab = quatRotate(q.inverse(), omega1);
 	btMatrix3x3 Ib;
-	Ib.setValue(idl.x(),0,0,
-				0,idl.y(),0,
-				0,0,idl.z());
-	
-	btVector3 ibo = Ib*omegab;
+	Ib.setValue(idl.x(), 0, 0,
+				0, idl.y(), 0,
+				0, 0, idl.z());
+
+	btVector3 ibo = Ib * omegab;
 
 	// Residual vector
 	btVector3 f = step * omegab.cross(ibo);
-	
+
 	btMatrix3x3 skew0;
 	omegab.getSkewSymmetricMatrix(&skew0[0], &skew0[1], &skew0[2]);
-	btVector3 om = Ib*omegab;
+	btVector3 om = Ib * omegab;
 	btMatrix3x3 skew1;
-	om.getSkewSymmetricMatrix(&skew1[0],&skew1[1],&skew1[2]);
-	
+	om.getSkewSymmetricMatrix(&skew1[0], &skew1[1], &skew1[2]);
+
 	// Jacobian
-	btMatrix3x3 J = Ib +  (skew0*Ib - skew1)*step;
-	
-//	btMatrix3x3 Jinv = J.inverse();
-//	btVector3 omega_div = Jinv*f;
+	btMatrix3x3 J = Ib + (skew0 * Ib - skew1) * step;
+
+	//	btMatrix3x3 Jinv = J.inverse();
+	//	btVector3 omega_div = Jinv*f;
 	btVector3 omega_div = J.solve33(f);
-	
+
 	// Single Newton-Raphson update
-	omegab = omegab - omega_div;//Solve33(J, f);
+	omegab = omegab - omega_div;  //Solve33(J, f);
 	// Back to world coordinates
-	btVector3 omega2 = quatRotate(q,omegab);
-	btVector3 gf = omega2-omega1;
+	btVector3 omega2 = quatRotate(q, omegab);
+	btVector3 gf = omega2 - omega1;
 	return gf;
 }
 
-
-
 btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) const
 {
 	// use full newton-euler equations.  common practice to drop the wxIw term. want it for better tumbling behavior.
@@ -361,7 +335,7 @@ btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) con
 		m_worldTransform.getBasis().transpose();
 
 	// use newtons method to find implicit solution for new angular velocity (w')
-	// f(w') = -(T*step + Iw) + Iw' + w' + w'xIw'*step = 0 
+	// f(w') = -(T*step + Iw) + Iw' + w' + w'xIw'*step = 0
 	// df/dw' = I + 1xIw'*step + w'xI*step
 
 	btVector3 w1 = w0;
@@ -383,8 +357,7 @@ btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) con
 	return gf;
 }
 
-
-void btRigidBody::integrateVelocities(btScalar step) 
+void btRigidBody::integrateVelocities(btScalar step)
 {
 	if (isStaticOrKinematicObject())
 		return;
@@ -393,30 +366,28 @@ void btRigidBody::integrateVelocities(btScalar step)
 	m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
 
 #define MAX_ANGVEL SIMD_HALF_PI
-	/// clamp angular velocity. collision calculations will fail on higher angular velocities	
+	/// clamp angular velocity. collision calculations will fail on higher angular velocities
 	btScalar angvel = m_angularVelocity.length();
-	if (angvel*step > MAX_ANGVEL)
+	if (angvel * step > MAX_ANGVEL)
 	{
-		m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
+		m_angularVelocity *= (MAX_ANGVEL / step) / angvel;
 	}
-
 }
 
 btQuaternion btRigidBody::getOrientation() const
 {
-		btQuaternion orn;
-		m_worldTransform.getBasis().getRotation(orn);
-		return orn;
+	btQuaternion orn;
+	m_worldTransform.getBasis().getRotation(orn);
+	return orn;
 }
-	
-	
+
 void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
 {
-
 	if (isKinematicObject())
 	{
 		m_interpolationWorldTransform = m_worldTransform;
-	} else
+	}
+	else
 	{
 		m_interpolationWorldTransform = xform;
 	}
@@ -426,10 +397,6 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
 	updateInertiaTensor();
 }
 
-
-
-
-
 void btRigidBody::addConstraintRef(btTypedConstraint* c)
 {
 	///disable collision with the 'other' body
@@ -450,39 +417,39 @@ void btRigidBody::addConstraintRef(btTypedConstraint* c)
 		{
 			colObjB->setIgnoreCollisionCheck(colObjA, true);
 		}
-	} 
+	}
 }
 
 void btRigidBody::removeConstraintRef(btTypedConstraint* c)
 {
 	int index = m_constraintRefs.findLinearSearch(c);
 	//don't remove constraints that are not referenced
-	if(index < m_constraintRefs.size())
-    {
-        m_constraintRefs.remove(c);
-        btCollisionObject* colObjA = &c->getRigidBodyA();
-        btCollisionObject* colObjB = &c->getRigidBodyB();
-        if (colObjA == this)
-        {
-            colObjA->setIgnoreCollisionCheck(colObjB, false);
-        }
-        else
-        {
-            colObjB->setIgnoreCollisionCheck(colObjA, false);
-        }
-    }
+	if (index < m_constraintRefs.size())
+	{
+		m_constraintRefs.remove(c);
+		btCollisionObject* colObjA = &c->getRigidBodyA();
+		btCollisionObject* colObjB = &c->getRigidBodyB();
+		if (colObjA == this)
+		{
+			colObjA->setIgnoreCollisionCheck(colObjB, false);
+		}
+		else
+		{
+			colObjB->setIgnoreCollisionCheck(colObjA, false);
+		}
+	}
 }
 
-int	btRigidBody::calculateSerializeBufferSize()	const
+int btRigidBody::calculateSerializeBufferSize() const
 {
 	int sz = sizeof(btRigidBodyData);
 	return sz;
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
 {
-	btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
+	btRigidBodyData* rbd = (btRigidBodyData*)dataBuffer;
 
 	btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
 
@@ -504,7 +471,7 @@ const char*	btRigidBody::serialize(void* dataBuffer, class btSerializer* seriali
 	rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
 	rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
 	rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
-	rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
+	rbd->m_linearSleepingThreshold = m_linearSleepingThreshold;
 	rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
 
 	// Fill padding with zeros to appease msan.
@@ -515,13 +482,9 @@ const char*	btRigidBody::serialize(void* dataBuffer, class btSerializer* seriali
 	return btRigidBodyDataName;
 }
 
-
-
 void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
 {
-	btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1);
+	btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(), 1);
 	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this);
+	serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, (void*)this);
 }
-
-
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
index 372245031b..05f270a4b8 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h
@@ -25,209 +25,195 @@ class btCollisionShape;
 class btMotionState;
 class btTypedConstraint;
 
-
 extern btScalar gDeactivationTime;
 extern bool gDisableDeactivation;
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btRigidBodyData	btRigidBodyDoubleData
-#define btRigidBodyDataName	"btRigidBodyDoubleData"
+#define btRigidBodyData btRigidBodyDoubleData
+#define btRigidBodyDataName "btRigidBodyDoubleData"
 #else
-#define btRigidBodyData	btRigidBodyFloatData
-#define btRigidBodyDataName	"btRigidBodyFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
+#define btRigidBodyData btRigidBodyFloatData
+#define btRigidBodyDataName "btRigidBodyFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
-enum	btRigidBodyFlags
+enum btRigidBodyFlags
 {
 	BT_DISABLE_WORLD_GRAVITY = 1,
 	///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
 	///and it BT_ENABLE_GYROPSCOPIC_FORCE becomes equivalent to BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
 	///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
 	BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
-	BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD=4,
-	BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY=8,
+	BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD = 4,
+	BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY = 8,
 	BT_ENABLE_GYROPSCOPIC_FORCE = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY,
 };
 
-
 ///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
 ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
-///There are 3 types of rigid bodies: 
+///There are 3 types of rigid bodies:
 ///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
 ///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
-///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
+///- C) Kinematic objects, which are objects without mass, but the user can move them. There is one-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
 ///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
 ///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
-class btRigidBody  : public btCollisionObject
+class btRigidBody : public btCollisionObject
 {
-
-	btMatrix3x3	m_invInertiaTensorWorld;
-	btVector3		m_linearVelocity;
-	btVector3		m_angularVelocity;
-	btScalar		m_inverseMass;
-	btVector3		m_linearFactor;
-
-	btVector3		m_gravity;	
-	btVector3		m_gravity_acceleration;
-	btVector3		m_invInertiaLocal;
-	btVector3		m_totalForce;
-	btVector3		m_totalTorque;
-	
-	btScalar		m_linearDamping;
-	btScalar		m_angularDamping;
-
-	bool			m_additionalDamping;
-	btScalar		m_additionalDampingFactor;
-	btScalar		m_additionalLinearDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingFactor;
-
-
-	btScalar		m_linearSleepingThreshold;
-	btScalar		m_angularSleepingThreshold;
+	btMatrix3x3 m_invInertiaTensorWorld;
+	btVector3 m_linearVelocity;
+	btVector3 m_angularVelocity;
+	btScalar m_inverseMass;
+	btVector3 m_linearFactor;
+
+	btVector3 m_gravity;
+	btVector3 m_gravity_acceleration;
+	btVector3 m_invInertiaLocal;
+	btVector3 m_totalForce;
+	btVector3 m_totalTorque;
+
+	btScalar m_linearDamping;
+	btScalar m_angularDamping;
+
+	bool m_additionalDamping;
+	btScalar m_additionalDampingFactor;
+	btScalar m_additionalLinearDampingThresholdSqr;
+	btScalar m_additionalAngularDampingThresholdSqr;
+	btScalar m_additionalAngularDampingFactor;
+
+	btScalar m_linearSleepingThreshold;
+	btScalar m_angularSleepingThreshold;
 
 	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState*	m_optionalMotionState;
+	btMotionState* m_optionalMotionState;
 
 	//keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
 	btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
 
-	int				m_rigidbodyFlags;
-	
-	int				m_debugBodyId;
-	
+	int m_rigidbodyFlags;
 
-protected:
-
-	ATTRIBUTE_ALIGNED16(btVector3		m_deltaLinearVelocity);
-	btVector3		m_deltaAngularVelocity;
-	btVector3		m_angularFactor;
-	btVector3		m_invMass;
-	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
+	int m_debugBodyId;
 
+protected:
+	ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
+	btVector3 m_deltaAngularVelocity;
+	btVector3 m_angularFactor;
+	btVector3 m_invMass;
+	btVector3 m_pushVelocity;
+	btVector3 m_turnVelocity;
 
 public:
-
-
 	///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
 	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
-	///You can use the motion state to synchronize the world transform between physics and graphics objects. 
+	///You can use the motion state to synchronize the world transform between physics and graphics objects.
 	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
 	///m_startWorldTransform is only used when you don't provide a motion state.
-	struct	btRigidBodyConstructionInfo
+	struct btRigidBodyConstructionInfo
 	{
-		btScalar			m_mass;
+		btScalar m_mass;
 
 		///When a motionState is provided, the rigid body will initialize its world transform from the motion state
 		///In this case, m_startWorldTransform is ignored.
-		btMotionState*		m_motionState;
-		btTransform	m_startWorldTransform;
+		btMotionState* m_motionState;
+		btTransform m_startWorldTransform;
 
-		btCollisionShape*	m_collisionShape;
-		btVector3			m_localInertia;
-		btScalar			m_linearDamping;
-		btScalar			m_angularDamping;
+		btCollisionShape* m_collisionShape;
+		btVector3 m_localInertia;
+		btScalar m_linearDamping;
+		btScalar m_angularDamping;
 
 		///best simulation results when friction is non-zero
-		btScalar			m_friction;
+		btScalar m_friction;
 		///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
 		///See Bullet/Demos/RollingFrictionDemo for usage
-		btScalar			m_rollingFriction;
-        btScalar			m_spinningFriction;//torsional friction around contact normal
-        
+		btScalar m_rollingFriction;
+		btScalar m_spinningFriction;  //torsional friction around contact normal
+
 		///best simulation results using zero restitution.
-		btScalar			m_restitution;
+		btScalar m_restitution;
 
-		btScalar			m_linearSleepingThreshold;
-		btScalar			m_angularSleepingThreshold;
+		btScalar m_linearSleepingThreshold;
+		btScalar m_angularSleepingThreshold;
 
 		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
 		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
-		bool				m_additionalDamping;
-		btScalar			m_additionalDampingFactor;
-		btScalar			m_additionalLinearDampingThresholdSqr;
-		btScalar			m_additionalAngularDampingThresholdSqr;
-		btScalar			m_additionalAngularDampingFactor;
-
-		btRigidBodyConstructionInfo(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
-		m_mass(mass),
-			m_motionState(motionState),
-			m_collisionShape(collisionShape),
-			m_localInertia(localInertia),
-			m_linearDamping(btScalar(0.)),
-			m_angularDamping(btScalar(0.)),
-			m_friction(btScalar(0.5)),
-			m_rollingFriction(btScalar(0)),
-            m_spinningFriction(btScalar(0)),
-			m_restitution(btScalar(0.)),
-			m_linearSleepingThreshold(btScalar(0.8)),
-			m_angularSleepingThreshold(btScalar(1.f)),
-			m_additionalDamping(false),
-			m_additionalDampingFactor(btScalar(0.005)),
-			m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
-			m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
-			m_additionalAngularDampingFactor(btScalar(0.01))
+		bool m_additionalDamping;
+		btScalar m_additionalDampingFactor;
+		btScalar m_additionalLinearDampingThresholdSqr;
+		btScalar m_additionalAngularDampingThresholdSqr;
+		btScalar m_additionalAngularDampingFactor;
+
+		btRigidBodyConstructionInfo(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0)) : m_mass(mass),
+																																									   m_motionState(motionState),
+																																									   m_collisionShape(collisionShape),
+																																									   m_localInertia(localInertia),
+																																									   m_linearDamping(btScalar(0.)),
+																																									   m_angularDamping(btScalar(0.)),
+																																									   m_friction(btScalar(0.5)),
+																																									   m_rollingFriction(btScalar(0)),
+																																									   m_spinningFriction(btScalar(0)),
+																																									   m_restitution(btScalar(0.)),
+																																									   m_linearSleepingThreshold(btScalar(0.8)),
+																																									   m_angularSleepingThreshold(btScalar(1.f)),
+																																									   m_additionalDamping(false),
+																																									   m_additionalDampingFactor(btScalar(0.005)),
+																																									   m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
+																																									   m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
+																																									   m_additionalAngularDampingFactor(btScalar(0.01))
 		{
 			m_startWorldTransform.setIdentity();
 		}
 	};
 
 	///btRigidBody constructor using construction info
-	btRigidBody(	const btRigidBodyConstructionInfo& constructionInfo);
+	btRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
 
-	///btRigidBody constructor for backwards compatibility. 
+	///btRigidBody constructor for backwards compatibility.
 	///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
-	btRigidBody(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
-
+	btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0));
 
 	virtual ~btRigidBody()
-        { 
-                //No constraints should point to this rigidbody
-		//Remove constraints from the dynamics world before you delete the related rigidbodies. 
-                btAssert(m_constraintRefs.size()==0); 
-        }
+	{
+		//No constraints should point to this rigidbody
+		//Remove constraints from the dynamics world before you delete the related rigidbodies.
+		btAssert(m_constraintRefs.size() == 0);
+	}
 
 protected:
-
 	///setupRigidBody is only used internally by the constructor
-	void	setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
+	void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
 
 public:
+	void proceedToTransform(const btTransform& newTrans);
 
-	void			proceedToTransform(const btTransform& newTrans); 
-	
 	///to keep collision detection and dynamics separate we don't store a rigidbody pointer
 	///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
-	static const btRigidBody*	upcast(const btCollisionObject* colObj)
+	static const btRigidBody* upcast(const btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
+		if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
 			return (const btRigidBody*)colObj;
 		return 0;
 	}
-	static btRigidBody*	upcast(btCollisionObject* colObj)
+	static btRigidBody* upcast(btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
+		if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
 			return (btRigidBody*)colObj;
 		return 0;
 	}
-	
+
 	/// continuous collision detection needs prediction
-	void			predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ;
-	
-	void			saveKinematicState(btScalar step);
-	
-	void			applyGravity();
-	
-	void			setGravity(const btVector3& acceleration);  
+	void predictIntegratedTransform(btScalar step, btTransform& predictedTransform);
+
+	void saveKinematicState(btScalar step);
+
+	void applyGravity();
+
+	void setGravity(const btVector3& acceleration);
 
-	const btVector3&	getGravity() const
+	const btVector3& getGravity() const
 	{
 		return m_gravity_acceleration;
 	}
 
-	void			setDamping(btScalar lin_damping, btScalar ang_damping);
+	void setDamping(btScalar lin_damping, btScalar ang_damping);
 
 	btScalar getLinearDamping() const
 	{
@@ -249,18 +235,20 @@ public:
 		return m_angularSleepingThreshold;
 	}
 
-	void			applyDamping(btScalar timeStep);
+	void applyDamping(btScalar timeStep);
 
-	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const {
+	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
+	{
 		return m_collisionShape;
 	}
 
-	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape() {
-			return m_collisionShape;
+	SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
+	{
+		return m_collisionShape;
 	}
-	
-	void			setMassProps(btScalar mass, const btVector3& inertia);
-	
+
+	void setMassProps(btScalar mass, const btVector3& inertia);
+
 	const btVector3& getLinearFactor() const
 	{
 		return m_linearFactor;
@@ -268,20 +256,21 @@ public:
 	void setLinearFactor(const btVector3& linearFactor)
 	{
 		m_linearFactor = linearFactor;
-		m_invMass = m_linearFactor*m_inverseMass;
+		m_invMass = m_linearFactor * m_inverseMass;
 	}
-	btScalar		getInvMass() const { return m_inverseMass; }
-	const btMatrix3x3& getInvInertiaTensorWorld() const { 
-		return m_invInertiaTensorWorld; 
+	btScalar getInvMass() const { return m_inverseMass; }
+	const btMatrix3x3& getInvInertiaTensorWorld() const
+	{
+		return m_invInertiaTensorWorld;
 	}
-		
-	void			integrateVelocities(btScalar step);
 
-	void			setCenterOfMassTransform(const btTransform& xform);
+	void integrateVelocities(btScalar step);
+
+	void setCenterOfMassTransform(const btTransform& xform);
 
-	void			applyCentralForce(const btVector3& force)
+	void applyCentralForce(const btVector3& force)
 	{
-		m_totalForce += force*m_linearFactor;
+		m_totalForce += force * m_linearFactor;
 	}
 
 	const btVector3& getTotalForce() const
@@ -293,90 +282,93 @@ public:
 	{
 		return m_totalTorque;
 	};
-    
+
 	const btVector3& getInvInertiaDiagLocal() const
 	{
 		return m_invInertiaLocal;
 	};
 
-	void	setInvInertiaDiagLocal(const btVector3& diagInvInertia)
+	void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
 	{
 		m_invInertiaLocal = diagInvInertia;
 	}
 
-	void	setSleepingThresholds(btScalar linear,btScalar angular)
+	void setSleepingThresholds(btScalar linear, btScalar angular)
 	{
 		m_linearSleepingThreshold = linear;
 		m_angularSleepingThreshold = angular;
 	}
 
-	void	applyTorque(const btVector3& torque)
+	void applyTorque(const btVector3& torque)
 	{
-		m_totalTorque += torque*m_angularFactor;
+		m_totalTorque += torque * m_angularFactor;
 	}
-	
-	void	applyForce(const btVector3& force, const btVector3& rel_pos) 
+
+	void applyForce(const btVector3& force, const btVector3& rel_pos)
 	{
 		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force*m_linearFactor));
+		applyTorque(rel_pos.cross(force * m_linearFactor));
 	}
-	
+
 	void applyCentralImpulse(const btVector3& impulse)
 	{
-		m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
+		m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
 	}
-	
-  	void applyTorqueImpulse(const btVector3& torque)
+
+	void applyTorqueImpulse(const btVector3& torque)
 	{
-			m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
+		m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
 	}
-	
-	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
+
+	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
 	{
 		if (m_inverseMass != btScalar(0.))
 		{
 			applyCentralImpulse(impulse);
 			if (m_angularFactor)
 			{
-				applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
+				applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
 			}
 		}
 	}
 
-	void clearForces() 
+	void clearForces()
 	{
 		m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 		m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	}
-	
-	void updateInertiaTensor();    
-	
-	const btVector3&     getCenterOfMassPosition() const { 
-		return m_worldTransform.getOrigin(); 
+
+	void updateInertiaTensor();
+
+	const btVector3& getCenterOfMassPosition() const
+	{
+		return m_worldTransform.getOrigin();
 	}
 	btQuaternion getOrientation() const;
-	
-	const btTransform&  getCenterOfMassTransform() const { 
-		return m_worldTransform; 
+
+	const btTransform& getCenterOfMassTransform() const
+	{
+		return m_worldTransform;
 	}
-	const btVector3&   getLinearVelocity() const { 
-		return m_linearVelocity; 
+	const btVector3& getLinearVelocity() const
+	{
+		return m_linearVelocity;
 	}
-	const btVector3&    getAngularVelocity() const { 
-		return m_angularVelocity; 
+	const btVector3& getAngularVelocity() const
+	{
+		return m_angularVelocity;
 	}
-	
 
 	inline void setLinearVelocity(const btVector3& lin_vel)
-	{ 
+	{
 		m_updateRevision++;
-		m_linearVelocity = lin_vel; 
+		m_linearVelocity = lin_vel;
 	}
 
-	inline void setAngularVelocity(const btVector3& ang_vel) 
-	{ 
+	inline void setAngularVelocity(const btVector3& ang_vel)
+	{
 		m_updateRevision++;
-		m_angularVelocity = ang_vel; 
+		m_angularVelocity = ang_vel;
 	}
 
 	btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
@@ -388,18 +380,13 @@ public:
 		//		return 	(m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
 	}
 
-	void translate(const btVector3& v) 
+	void translate(const btVector3& v)
 	{
-		m_worldTransform.getOrigin() += v; 
+		m_worldTransform.getOrigin() += v;
 	}
 
-	
-	void	getAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-
+	void getAabb(btVector3& aabbMin, btVector3& aabbMax) const;
 
-
-
-	
 	SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
 	{
 		btVector3 r0 = pos - getCenterOfMassPosition();
@@ -409,7 +396,6 @@ public:
 		btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
 
 		return m_inverseMass + normal.dot(vec);
-
 	}
 
 	SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
@@ -418,26 +404,25 @@ public:
 		return axis.dot(vec);
 	}
 
-	SIMD_FORCE_INLINE void	updateDeactivation(btScalar timeStep)
+	SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
 	{
-		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
+		if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
 			return;
 
-		if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
-			(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
+		if ((getLinearVelocity().length2() < m_linearSleepingThreshold * m_linearSleepingThreshold) &&
+			(getAngularVelocity().length2() < m_angularSleepingThreshold * m_angularSleepingThreshold))
 		{
 			m_deactivationTime += timeStep;
-		} else
+		}
+		else
 		{
-			m_deactivationTime=btScalar(0.);
+			m_deactivationTime = btScalar(0.);
 			setActivationState(0);
 		}
-
 	}
 
-	SIMD_FORCE_INLINE bool	wantsSleeping()
+	SIMD_FORCE_INLINE bool wantsSleeping()
 	{
-
 		if (getActivationState() == DISABLE_DEACTIVATION)
 			return false;
 
@@ -445,41 +430,39 @@ public:
 		if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
 			return false;
 
-		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
+		if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
 			return true;
 
-		if (m_deactivationTime> gDeactivationTime)
+		if (m_deactivationTime > gDeactivationTime)
 		{
 			return true;
 		}
 		return false;
 	}
 
-
-	
-	const btBroadphaseProxy*	getBroadphaseProxy() const
+	const btBroadphaseProxy* getBroadphaseProxy() const
 	{
 		return m_broadphaseHandle;
 	}
-	btBroadphaseProxy*	getBroadphaseProxy() 
+	btBroadphaseProxy* getBroadphaseProxy()
 	{
 		return m_broadphaseHandle;
 	}
-	void	setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
+	void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
 	{
 		m_broadphaseHandle = broadphaseProxy;
 	}
 
 	//btMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState*	getMotionState()
+	btMotionState* getMotionState()
 	{
 		return m_optionalMotionState;
 	}
-	const btMotionState*	getMotionState() const
+	const btMotionState* getMotionState() const
 	{
 		return m_optionalMotionState;
 	}
-	void	setMotionState(btMotionState* motionState)
+	void setMotionState(btMotionState* motionState)
 	{
 		m_optionalMotionState = motionState;
 		if (m_optionalMotionState)
@@ -487,27 +470,27 @@ public:
 	}
 
 	//for experimental overriding of friction/contact solver func
-	int	m_contactSolverType;
-	int	m_frictionSolverType;
+	int m_contactSolverType;
+	int m_frictionSolverType;
 
-	void	setAngularFactor(const btVector3& angFac)
+	void setAngularFactor(const btVector3& angFac)
 	{
 		m_updateRevision++;
 		m_angularFactor = angFac;
 	}
 
-	void	setAngularFactor(btScalar angFac)
+	void setAngularFactor(btScalar angFac)
 	{
 		m_updateRevision++;
-		m_angularFactor.setValue(angFac,angFac,angFac);
+		m_angularFactor.setValue(angFac, angFac, angFac);
 	}
-	const btVector3&	getAngularFactor() const
+	const btVector3& getAngularFactor() const
 	{
 		return m_angularFactor;
 	}
 
 	//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
-	bool	isInWorld() const
+	bool isInWorld() const
 	{
 		return (getBroadphaseProxy() != 0);
 	}
@@ -525,7 +508,7 @@ public:
 		return m_constraintRefs.size();
 	}
 
-	void	setFlags(int flags)
+	void setFlags(int flags)
 	{
 		m_rigidbodyFlags = flags;
 	}
@@ -535,12 +518,9 @@ public:
 		return m_rigidbodyFlags;
 	}
 
-
-	
-
 	///perform implicit force computation in world space
 	btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;
-	
+
 	///perform implicit force computation in body space (inertial frame)
 	btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;
 
@@ -550,70 +530,66 @@ public:
 
 	///////////////////////////////////////////////
 
-	virtual	int	calculateSerializeBufferSize()	const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer,  class btSerializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
 
 	virtual void serializeSingleObject(class btSerializer* serializer) const;
-
 };
 
 //@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btRigidBodyFloatData
+struct btRigidBodyFloatData
 {
-	btCollisionObjectFloatData	m_collisionObjectData;
-	btMatrix3x3FloatData		m_invInertiaTensorWorld;
-	btVector3FloatData		m_linearVelocity;
-	btVector3FloatData		m_angularVelocity;
-	btVector3FloatData		m_angularFactor;
-	btVector3FloatData		m_linearFactor;
-	btVector3FloatData		m_gravity;	
-	btVector3FloatData		m_gravity_acceleration;
-	btVector3FloatData		m_invInertiaLocal;
-	btVector3FloatData		m_totalForce;
-	btVector3FloatData		m_totalTorque;
-	float					m_inverseMass;
-	float					m_linearDamping;
-	float					m_angularDamping;
-	float					m_additionalDampingFactor;
-	float					m_additionalLinearDampingThresholdSqr;
-	float					m_additionalAngularDampingThresholdSqr;
-	float					m_additionalAngularDampingFactor;
-	float					m_linearSleepingThreshold;
-	float					m_angularSleepingThreshold;
-	int						m_additionalDamping;
+	btCollisionObjectFloatData m_collisionObjectData;
+	btMatrix3x3FloatData m_invInertiaTensorWorld;
+	btVector3FloatData m_linearVelocity;
+	btVector3FloatData m_angularVelocity;
+	btVector3FloatData m_angularFactor;
+	btVector3FloatData m_linearFactor;
+	btVector3FloatData m_gravity;
+	btVector3FloatData m_gravity_acceleration;
+	btVector3FloatData m_invInertiaLocal;
+	btVector3FloatData m_totalForce;
+	btVector3FloatData m_totalTorque;
+	float m_inverseMass;
+	float m_linearDamping;
+	float m_angularDamping;
+	float m_additionalDampingFactor;
+	float m_additionalLinearDampingThresholdSqr;
+	float m_additionalAngularDampingThresholdSqr;
+	float m_additionalAngularDampingFactor;
+	float m_linearSleepingThreshold;
+	float m_angularSleepingThreshold;
+	int m_additionalDamping;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btRigidBodyDoubleData
+struct btRigidBodyDoubleData
 {
-	btCollisionObjectDoubleData	m_collisionObjectData;
-	btMatrix3x3DoubleData		m_invInertiaTensorWorld;
-	btVector3DoubleData		m_linearVelocity;
-	btVector3DoubleData		m_angularVelocity;
-	btVector3DoubleData		m_angularFactor;
-	btVector3DoubleData		m_linearFactor;
-	btVector3DoubleData		m_gravity;	
-	btVector3DoubleData		m_gravity_acceleration;
-	btVector3DoubleData		m_invInertiaLocal;
-	btVector3DoubleData		m_totalForce;
-	btVector3DoubleData		m_totalTorque;
-	double					m_inverseMass;
-	double					m_linearDamping;
-	double					m_angularDamping;
-	double					m_additionalDampingFactor;
-	double					m_additionalLinearDampingThresholdSqr;
-	double					m_additionalAngularDampingThresholdSqr;
-	double					m_additionalAngularDampingFactor;
-	double					m_linearSleepingThreshold;
-	double					m_angularSleepingThreshold;
-	int						m_additionalDamping;
-	char	m_padding[4];
+	btCollisionObjectDoubleData m_collisionObjectData;
+	btMatrix3x3DoubleData m_invInertiaTensorWorld;
+	btVector3DoubleData m_linearVelocity;
+	btVector3DoubleData m_angularVelocity;
+	btVector3DoubleData m_angularFactor;
+	btVector3DoubleData m_linearFactor;
+	btVector3DoubleData m_gravity;
+	btVector3DoubleData m_gravity_acceleration;
+	btVector3DoubleData m_invInertiaLocal;
+	btVector3DoubleData m_totalForce;
+	btVector3DoubleData m_totalTorque;
+	double m_inverseMass;
+	double m_linearDamping;
+	double m_angularDamping;
+	double m_additionalDampingFactor;
+	double m_additionalLinearDampingThresholdSqr;
+	double m_additionalAngularDampingThresholdSqr;
+	double m_additionalAngularDampingFactor;
+	double m_linearSleepingThreshold;
+	double m_angularSleepingThreshold;
+	int m_additionalDamping;
+	char m_padding[4];
 };
 
-
-
-#endif //BT_RIGIDBODY_H
-
+#endif  //BT_RIGIDBODY_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index 6f63b87c80..8103390fb1 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -21,47 +21,40 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
-
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
   library is actually installed.
 */
-extern "C" 
+extern "C"
 {
-	void btBulletDynamicsProbe ();
-	void btBulletDynamicsProbe () {}
+	void btBulletDynamicsProbe();
+	void btBulletDynamicsProbe() {}
 }
 
-
-
-
-btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
-m_constraintSolver(constraintSolver),
-m_ownsConstraintSolver(false),
-m_gravity(0,0,-10)
+btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
+	: btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
+	  m_constraintSolver(constraintSolver),
+	  m_ownsConstraintSolver(false),
+	  m_gravity(0, 0, -10)
 {
-
 }
 
-
 btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
 {
 	if (m_ownsConstraintSolver)
-		btAlignedFree( m_constraintSolver);
+		btAlignedFree(m_constraintSolver);
 }
 
-int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
+int btSimpleDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
 {
 	(void)fixedTimeStep;
 	(void)maxSubSteps;
 
-
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
-	btDispatcherInfo&	dispatchInfo = getDispatchInfo();
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_debugDraw = getDebugDrawer();
@@ -74,17 +67,17 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 	if (numManifolds)
 	{
 		btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
-		
+
 		btContactSolverInfo infoGlobal;
 		infoGlobal.m_timeStep = timeStep;
-		m_constraintSolver->prepareSolve(0,numManifolds);
-		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
-		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
+		m_constraintSolver->prepareSolve(0, numManifolds);
+		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0], getNumCollisionObjects(), manifoldPtr, numManifolds, 0, 0, infoGlobal, m_debugDrawer, m_dispatcher1);
+		m_constraintSolver->allSolved(infoGlobal, m_debugDrawer);
 	}
 
 	///integrate transforms
 	integrateTransforms(timeStep);
-		
+
 	updateAabbs();
 
 	synchronizeMotionStates();
@@ -92,29 +85,27 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 	clearForces();
 
 	return 1;
-
 }
 
-void	btSimpleDynamicsWorld::clearForces()
+void btSimpleDynamicsWorld::clearForces()
 {
 	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		
+
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
 			body->clearForces();
 		}
 	}
-}	
-
+}
 
-void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
+void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
 {
 	m_gravity = gravity;
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
@@ -125,17 +116,17 @@ void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
 	}
 }
 
-btVector3 btSimpleDynamicsWorld::getGravity () const
+btVector3 btSimpleDynamicsWorld::getGravity() const
 {
 	return m_gravity;
 }
 
-void	btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
+void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
 {
 	btCollisionWorld::removeCollisionObject(body);
 }
 
-void	btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
 {
 	btRigidBody* body = btRigidBody::upcast(collisionObject);
 	if (body)
@@ -144,8 +135,7 @@ void	btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionOb
 		btCollisionWorld::removeCollisionObject(collisionObject);
 }
 
-
-void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
+void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
 {
 	body->setGravity(m_gravity);
 
@@ -155,37 +145,32 @@ void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
 	}
 }
 
-void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
+void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
 {
 	body->setGravity(m_gravity);
 
 	if (body->getCollisionShape())
 	{
-		addCollisionObject(body,group,mask);
+		addCollisionObject(body, group, mask);
 	}
 }
 
-
-void	btSimpleDynamicsWorld::debugDrawWorld()
+void btSimpleDynamicsWorld::debugDrawWorld()
 {
-
 }
-				
-void	btSimpleDynamicsWorld::addAction(btActionInterface* action)
-{
 
+void btSimpleDynamicsWorld::addAction(btActionInterface* action)
+{
 }
 
-void	btSimpleDynamicsWorld::removeAction(btActionInterface* action)
+void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
 {
-
 }
 
-
-void	btSimpleDynamicsWorld::updateAabbs()
+void btSimpleDynamicsWorld::updateAabbs()
 {
 	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
@@ -193,19 +178,19 @@ void	btSimpleDynamicsWorld::updateAabbs()
 		{
 			if (body->isActive() && (!body->isStaticObject()))
 			{
-				btVector3 minAabb,maxAabb;
-				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+				btVector3 minAabb, maxAabb;
+				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
 				btBroadphaseInterface* bp = getBroadphase();
-				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+				bp->setAabb(body->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
 			}
 		}
 	}
 }
 
-void	btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
+void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
@@ -214,17 +199,15 @@ void	btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
 			if (body->isActive() && (!body->isStaticObject()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
-				body->proceedToTransform( predictedTrans);
+				body->proceedToTransform(predictedTrans);
 			}
 		}
 	}
 }
 
-
-
-void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
@@ -235,20 +218,19 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 				if (body->isActive())
 				{
 					body->applyGravity();
-					body->integrateVelocities( timeStep);
+					body->integrateVelocities(timeStep);
 					body->applyDamping(timeStep);
-					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
+					body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
 				}
 			}
 		}
 	}
 }
 
-
-void	btSimpleDynamicsWorld::synchronizeMotionStates()
+void btSimpleDynamicsWorld::synchronizeMotionStates()
 {
 	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_collisionObjects.size();i++)
+	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
@@ -260,11 +242,9 @@ void	btSimpleDynamicsWorld::synchronizeMotionStates()
 			}
 		}
 	}
-
 }
 
-
-void	btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 {
 	if (m_ownsConstraintSolver)
 	{
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index 44b7e7fb34..12be231c7f 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -27,63 +27,58 @@ class btConstraintSolver;
 class btSimpleDynamicsWorld : public btDynamicsWorld
 {
 protected:
+	btConstraintSolver* m_constraintSolver;
 
-	btConstraintSolver*	m_constraintSolver;
+	bool m_ownsConstraintSolver;
 
-	bool	m_ownsConstraintSolver;
-
-	void	predictUnconstraintMotion(btScalar timeStep);
-	
-	void	integrateTransforms(btScalar timeStep);
-		
-	btVector3	m_gravity;
-	
-public:
+	void predictUnconstraintMotion(btScalar timeStep);
 
+	void integrateTransforms(btScalar timeStep);
 
+	btVector3 m_gravity;
 
+public:
 	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+	btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btSimpleDynamicsWorld();
-		
+
 	///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
-	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
+	virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
 
-	virtual void	setGravity(const btVector3& gravity);
+	virtual void setGravity(const btVector3& gravity);
 
-	virtual btVector3 getGravity () const;
+	virtual btVector3 getGravity() const;
 
-	virtual void	addRigidBody(btRigidBody* body);
+	virtual void addRigidBody(btRigidBody* body);
 
-	virtual void	addRigidBody(btRigidBody* body, int group, int mask);
+	virtual void addRigidBody(btRigidBody* body, int group, int mask);
 
-	virtual void	removeRigidBody(btRigidBody* body);
+	virtual void removeRigidBody(btRigidBody* body);
 
-	virtual void	debugDrawWorld();
-				
-	virtual void	addAction(btActionInterface* action);
+	virtual void debugDrawWorld();
 
-	virtual void	removeAction(btActionInterface* action);
+	virtual void addAction(btActionInterface* action);
+
+	virtual void removeAction(btActionInterface* action);
 
 	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
-	
-	virtual void	updateAabbs();
+	virtual void removeCollisionObject(btCollisionObject* collisionObject);
+
+	virtual void updateAabbs();
 
-	virtual void	synchronizeMotionStates();
+	virtual void synchronizeMotionStates();
 
-	virtual void	setConstraintSolver(btConstraintSolver* solver);
+	virtual void setConstraintSolver(btConstraintSolver* solver);
 
 	virtual btConstraintSolver* getConstraintSolver();
 
-	virtual btDynamicsWorldType	getWorldType() const
+	virtual btDynamicsWorldType getWorldType() const
 	{
 		return BT_SIMPLE_DYNAMICS_WORLD;
 	}
 
-	virtual void	clearForces();
-
+	virtual void clearForces();
 };
 
-#endif //BT_SIMPLE_DYNAMICS_WORLD_H
+#endif  //BT_SIMPLE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
index 99b34353c7..17287aa82a 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "LinearMath/btScalar.h"
 #include "LinearMath/btThreads.h"
 #include "btSimulationIslandManagerMt.h"
@@ -22,277 +21,264 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h"  // for s_minimumContactManifoldsForBatching
 
 //#include <stdio.h>
 #include "LinearMath/btQuickprof.h"
 
-
-SIMD_FORCE_INLINE int calcBatchCost( int bodies, int manifolds, int constraints )
+SIMD_FORCE_INLINE int calcBatchCost(int bodies, int manifolds, int constraints)
 {
-    // rough estimate of the cost of a batch, used for merging
-    int batchCost = bodies + 8 * manifolds + 4 * constraints;
-    return batchCost;
+	// rough estimate of the cost of a batch, used for merging
+	int batchCost = bodies + 8 * manifolds + 4 * constraints;
+	return batchCost;
 }
 
-
-SIMD_FORCE_INLINE int calcBatchCost( const btSimulationIslandManagerMt::Island* island )
+SIMD_FORCE_INLINE int calcBatchCost(const btSimulationIslandManagerMt::Island* island)
 {
-    return calcBatchCost( island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size() );
+	return calcBatchCost(island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size());
 }
 
-
 btSimulationIslandManagerMt::btSimulationIslandManagerMt()
 {
-    m_minimumSolverBatchSize = calcBatchCost(0, 128, 0);
-    m_batchIslandMinBodyCount = 32;
-    m_islandDispatch = parallelIslandDispatch;
-    m_batchIsland = NULL;
+	m_minimumSolverBatchSize = calcBatchCost(0, 128, 0);
+	m_batchIslandMinBodyCount = 32;
+	m_islandDispatch = parallelIslandDispatch;
+	m_batchIsland = NULL;
 }
 
-
 btSimulationIslandManagerMt::~btSimulationIslandManagerMt()
 {
-    for ( int i = 0; i < m_allocatedIslands.size(); ++i )
-    {
-        delete m_allocatedIslands[ i ];
-    }
-    m_allocatedIslands.resize( 0 );
-    m_activeIslands.resize( 0 );
-    m_freeIslands.resize( 0 );
+	for (int i = 0; i < m_allocatedIslands.size(); ++i)
+	{
+		delete m_allocatedIslands[i];
+	}
+	m_allocatedIslands.resize(0);
+	m_activeIslands.resize(0);
+	m_freeIslands.resize(0);
 }
 
-
-inline	int	getIslandId(const btPersistentManifold* lhs)
+inline int getIslandId(const btPersistentManifold* lhs)
 {
 	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
 	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-    int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
+	int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
 	return islandId;
 }
 
-
-SIMD_FORCE_INLINE	int	btGetConstraintIslandId( const btTypedConstraint* lhs )
+SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
 {
-    const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-    const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-    int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
-    return islandId;
+	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
+	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
+	int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
+	return islandId;
 }
 
 /// function object that routes calls to operator<
 class IslandBatchSizeSortPredicate
 {
 public:
-    bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const
-    {
-        int lCost = calcBatchCost( lhs );
-        int rCost = calcBatchCost( rhs );
-        return lCost > rCost;
-    }
+	bool operator()(const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs) const
+	{
+		int lCost = calcBatchCost(lhs);
+		int rCost = calcBatchCost(rhs);
+		return lCost > rCost;
+	}
 };
 
-
 class IslandBodyCapacitySortPredicate
 {
 public:
-    bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const
-    {
-        return lhs->bodyArray.capacity() > rhs->bodyArray.capacity();
-    }
+	bool operator()(const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs) const
+	{
+		return lhs->bodyArray.capacity() > rhs->bodyArray.capacity();
+	}
 };
 
-
-void btSimulationIslandManagerMt::Island::append( const Island& other )
+void btSimulationIslandManagerMt::Island::append(const Island& other)
 {
-    // append bodies
-    for ( int i = 0; i < other.bodyArray.size(); ++i )
-    {
-        bodyArray.push_back( other.bodyArray[ i ] );
-    }
-    // append manifolds
-    for ( int i = 0; i < other.manifoldArray.size(); ++i )
-    {
-        manifoldArray.push_back( other.manifoldArray[ i ] );
-    }
-    // append constraints
-    for ( int i = 0; i < other.constraintArray.size(); ++i )
-    {
-        constraintArray.push_back( other.constraintArray[ i ] );
-    }
+	// append bodies
+	for (int i = 0; i < other.bodyArray.size(); ++i)
+	{
+		bodyArray.push_back(other.bodyArray[i]);
+	}
+	// append manifolds
+	for (int i = 0; i < other.manifoldArray.size(); ++i)
+	{
+		manifoldArray.push_back(other.manifoldArray[i]);
+	}
+	// append constraints
+	for (int i = 0; i < other.constraintArray.size(); ++i)
+	{
+		constraintArray.push_back(other.constraintArray[i]);
+	}
 }
 
-
-bool btIsBodyInIsland( const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj )
+bool btIsBodyInIsland(const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj)
 {
-    for ( int i = 0; i < island.bodyArray.size(); ++i )
-    {
-        if ( island.bodyArray[ i ] == obj )
-        {
-            return true;
-        }
-    }
-    return false;
+	for (int i = 0; i < island.bodyArray.size(); ++i)
+	{
+		if (island.bodyArray[i] == obj)
+		{
+			return true;
+		}
+	}
+	return false;
 }
 
-
 void btSimulationIslandManagerMt::initIslandPools()
 {
-    // reset island pools
-    int numElem = getUnionFind().getNumElements();
-    m_lookupIslandFromId.resize( numElem );
-    for ( int i = 0; i < m_lookupIslandFromId.size(); ++i )
-    {
-        m_lookupIslandFromId[ i ] = NULL;
-    }
-    m_activeIslands.resize( 0 );
-    m_freeIslands.resize( 0 );
-    // check whether allocated islands are sorted by body capacity (largest to smallest)
-    int lastCapacity = 0;
-    bool isSorted = true;
-    for ( int i = 0; i < m_allocatedIslands.size(); ++i )
-    {
-        Island* island = m_allocatedIslands[ i ];
-        int cap = island->bodyArray.capacity();
-        if ( cap > lastCapacity )
-        {
-            isSorted = false;
-            break;
-        }
-        lastCapacity = cap;
-    }
-    if ( !isSorted )
-    {
-        m_allocatedIslands.quickSort( IslandBodyCapacitySortPredicate() );
-    }
-
-    m_batchIsland = NULL;
-    // mark all islands free (but avoid deallocation)
-    for ( int i = 0; i < m_allocatedIslands.size(); ++i )
-    {
-        Island* island = m_allocatedIslands[ i ];
-        island->bodyArray.resize( 0 );
-        island->manifoldArray.resize( 0 );
-        island->constraintArray.resize( 0 );
-        island->id = -1;
-        island->isSleeping = true;
-        m_freeIslands.push_back( island );
-    }
-}
+	// reset island pools
+	int numElem = getUnionFind().getNumElements();
+	m_lookupIslandFromId.resize(numElem);
+	for (int i = 0; i < m_lookupIslandFromId.size(); ++i)
+	{
+		m_lookupIslandFromId[i] = NULL;
+	}
+	m_activeIslands.resize(0);
+	m_freeIslands.resize(0);
+	// check whether allocated islands are sorted by body capacity (largest to smallest)
+	int lastCapacity = 0;
+	bool isSorted = true;
+	for (int i = 0; i < m_allocatedIslands.size(); ++i)
+	{
+		Island* island = m_allocatedIslands[i];
+		int cap = island->bodyArray.capacity();
+		if (cap > lastCapacity)
+		{
+			isSorted = false;
+			break;
+		}
+		lastCapacity = cap;
+	}
+	if (!isSorted)
+	{
+		m_allocatedIslands.quickSort(IslandBodyCapacitySortPredicate());
+	}
 
+	m_batchIsland = NULL;
+	// mark all islands free (but avoid deallocation)
+	for (int i = 0; i < m_allocatedIslands.size(); ++i)
+	{
+		Island* island = m_allocatedIslands[i];
+		island->bodyArray.resize(0);
+		island->manifoldArray.resize(0);
+		island->constraintArray.resize(0);
+		island->id = -1;
+		island->isSleeping = true;
+		m_freeIslands.push_back(island);
+	}
+}
 
-btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland( int id )
+btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland(int id)
 {
-    Island* island = m_lookupIslandFromId[ id ];
-    if ( island == NULL )
-    {
-        // search for existing island
-        for ( int i = 0; i < m_activeIslands.size(); ++i )
-        {
-            if ( m_activeIslands[ i ]->id == id )
-            {
-                island = m_activeIslands[ i ];
-                break;
-            }
-        }
-        m_lookupIslandFromId[ id ] = island;
-    }
-    return island;
+	Island* island = m_lookupIslandFromId[id];
+	if (island == NULL)
+	{
+		// search for existing island
+		for (int i = 0; i < m_activeIslands.size(); ++i)
+		{
+			if (m_activeIslands[i]->id == id)
+			{
+				island = m_activeIslands[i];
+				break;
+			}
+		}
+		m_lookupIslandFromId[id] = island;
+	}
+	return island;
 }
 
-
-btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland( int id, int numBodies )
+btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland(int id, int numBodies)
 {
-    Island* island = NULL;
-    int allocSize = numBodies;
-    if ( numBodies < m_batchIslandMinBodyCount )
-    {
-        if ( m_batchIsland )
-        {
-            island = m_batchIsland;
-            m_lookupIslandFromId[ id ] = island;
-            // if we've made a large enough batch,
-            if ( island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount )
-            {
-                // next time start a new batch
-                m_batchIsland = NULL;
-            }
-            return island;
-        }
-        else
-        {
-            // need to allocate a batch island
-            allocSize = m_batchIslandMinBodyCount * 2;
-        }
-    }
-    btAlignedObjectArray<Island*>& freeIslands = m_freeIslands;
-
-    // search for free island
-    if ( freeIslands.size() > 0 )
-    {
-        // try to reuse a previously allocated island
-        int iFound = freeIslands.size();
-        // linear search for smallest island that can hold our bodies
-        for ( int i = freeIslands.size() - 1; i >= 0; --i )
-        {
-            if ( freeIslands[ i ]->bodyArray.capacity() >= allocSize )
-            {
-                iFound = i;
-                island = freeIslands[ i ];
-                island->id = id;
-                break;
-            }
-        }
-        // if found, shrink array while maintaining ordering
-        if ( island )
-        {
-            int iDest = iFound;
-            int iSrc = iDest + 1;
-            while ( iSrc < freeIslands.size() )
-            {
-                freeIslands[ iDest++ ] = freeIslands[ iSrc++ ];
-            }
-            freeIslands.pop_back();
-        }
-    }
-    if ( island == NULL )
-    {
-        // no free island found, allocate
-        island = new Island();  // TODO: change this to use the pool allocator
-        island->id = id;
-        island->bodyArray.reserve( allocSize );
-        m_allocatedIslands.push_back( island );
-    }
-    m_lookupIslandFromId[ id ] = island;
-    if ( numBodies < m_batchIslandMinBodyCount )
-    {
-        m_batchIsland = island;
-    }
-    m_activeIslands.push_back( island );
-    return island;
-}
+	Island* island = NULL;
+	int allocSize = numBodies;
+	if (numBodies < m_batchIslandMinBodyCount)
+	{
+		if (m_batchIsland)
+		{
+			island = m_batchIsland;
+			m_lookupIslandFromId[id] = island;
+			// if we've made a large enough batch,
+			if (island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount)
+			{
+				// next time start a new batch
+				m_batchIsland = NULL;
+			}
+			return island;
+		}
+		else
+		{
+			// need to allocate a batch island
+			allocSize = m_batchIslandMinBodyCount * 2;
+		}
+	}
+	btAlignedObjectArray<Island*>& freeIslands = m_freeIslands;
 
+	// search for free island
+	if (freeIslands.size() > 0)
+	{
+		// try to reuse a previously allocated island
+		int iFound = freeIslands.size();
+		// linear search for smallest island that can hold our bodies
+		for (int i = freeIslands.size() - 1; i >= 0; --i)
+		{
+			if (freeIslands[i]->bodyArray.capacity() >= allocSize)
+			{
+				iFound = i;
+				island = freeIslands[i];
+				island->id = id;
+				break;
+			}
+		}
+		// if found, shrink array while maintaining ordering
+		if (island)
+		{
+			int iDest = iFound;
+			int iSrc = iDest + 1;
+			while (iSrc < freeIslands.size())
+			{
+				freeIslands[iDest++] = freeIslands[iSrc++];
+			}
+			freeIslands.pop_back();
+		}
+	}
+	if (island == NULL)
+	{
+		// no free island found, allocate
+		island = new Island();  // TODO: change this to use the pool allocator
+		island->id = id;
+		island->bodyArray.reserve(allocSize);
+		m_allocatedIslands.push_back(island);
+	}
+	m_lookupIslandFromId[id] = island;
+	if (numBodies < m_batchIslandMinBodyCount)
+	{
+		m_batchIsland = island;
+	}
+	m_activeIslands.push_back(island);
+	return island;
+}
 
-void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld )
+void btSimulationIslandManagerMt::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
 {
+	BT_PROFILE("buildIslands");
 
-	BT_PROFILE("islandUnionFindAndQuickSort");
-	
 	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 
 	//we are going to sort the unionfind array, and store the element id in the size
 	//afterwards, we clean unionfind, to make sure no-one uses it anymore
-	
+
 	getUnionFind().sortIslands();
 	int numElem = getUnionFind().getNumElements();
 
-	int endIslandIndex=1;
+	int endIslandIndex = 1;
 	int startIslandIndex;
 
 	//update the sleeping state for bodies, if all are sleeping
-	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
 	{
 		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-		for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+		for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
 		{
 		}
 
@@ -301,26 +287,24 @@ void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btColl
 		bool allSleeping = true;
 
 		int idx;
-		for (idx=startIslandIndex;idx<endIslandIndex;idx++)
+		for (idx = startIslandIndex; idx < endIslandIndex; idx++)
 		{
 			int i = getUnionFind().getElement(idx).m_sz;
 
 			btCollisionObject* colObj0 = collisionObjects[i];
 			if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 			{
-//				printf("error in island management\n");
+				//				printf("error in island management\n");
 			}
 
 			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 			if (colObj0->getIslandTag() == islandId)
 			{
-				if (colObj0->getActivationState()== ACTIVE_TAG)
-				{
-					allSleeping = false;
-				}
-				if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
+				if (colObj0->getActivationState() == ACTIVE_TAG ||
+					colObj0->getActivationState() == DISABLE_DEACTIVATION)
 				{
 					allSleeping = false;
+					break;
 				}
 			}
 		}
@@ -328,43 +312,43 @@ void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btColl
 		if (allSleeping)
 		{
 			int idx;
-			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
+			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
 			{
 				int i = getUnionFind().getElement(idx).m_sz;
 				btCollisionObject* colObj0 = collisionObjects[i];
 				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 				{
-//					printf("error in island management\n");
+					//					printf("error in island management\n");
 				}
 
 				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
-					colObj0->setActivationState( ISLAND_SLEEPING );
+					colObj0->setActivationState(ISLAND_SLEEPING);
 				}
 			}
-		} else
+		}
+		else
 		{
-
 			int idx;
-			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
+			for (idx = startIslandIndex; idx < endIslandIndex; idx++)
 			{
 				int i = getUnionFind().getElement(idx).m_sz;
 
 				btCollisionObject* colObj0 = collisionObjects[i];
 				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 				{
-//					printf("error in island management\n");
+					//					printf("error in island management\n");
 				}
 
 				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
-					if ( colObj0->getActivationState() == ISLAND_SLEEPING)
+					if (colObj0->getActivationState() == ISLAND_SLEEPING)
 					{
-						colObj0->setActivationState( WANTS_DEACTIVATION);
+						colObj0->setActivationState(WANTS_DEACTIVATION);
 						colObj0->setDeactivationTime(0.f);
 					}
 				}
@@ -373,306 +357,338 @@ void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btColl
 	}
 }
 
-
-void btSimulationIslandManagerMt::addBodiesToIslands( btCollisionWorld* collisionWorld )
+void btSimulationIslandManagerMt::addBodiesToIslands(btCollisionWorld* collisionWorld)
 {
-    btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-    int endIslandIndex = 1;
-    int startIslandIndex;
-    int numElem = getUnionFind().getNumElements();
-
-    // create explicit islands and add bodies to each
-    for ( startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex )
-    {
-        int islandId = getUnionFind().getElement( startIslandIndex ).m_id;
-
-        // find end index
-        for ( endIslandIndex = startIslandIndex; ( endIslandIndex < numElem ) && ( getUnionFind().getElement( endIslandIndex ).m_id == islandId ); endIslandIndex++ )
-        {
-        }
-        // check if island is sleeping
-        bool islandSleeping = true;
-        for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ )
-        {
-            int i = getUnionFind().getElement( iElem ).m_sz;
-            btCollisionObject* colObj = collisionObjects[ i ];
-            if ( colObj->isActive() )
-            {
-                islandSleeping = false;
-            }
-        }
-        if ( !islandSleeping )
-        {
-            // want to count the number of bodies before allocating the island to optimize memory usage of the Island structures
-            int numBodies = endIslandIndex - startIslandIndex;
-            Island* island = allocateIsland( islandId, numBodies );
-            island->isSleeping = false;
-
-            // add bodies to island
-            for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ )
-            {
-                int i = getUnionFind().getElement( iElem ).m_sz;
-                btCollisionObject* colObj = collisionObjects[ i ];
-                island->bodyArray.push_back( colObj );
-            }
-        }
-    }
+	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
+	int endIslandIndex = 1;
+	int startIslandIndex;
+	int numElem = getUnionFind().getNumElements();
 
-}
+	// create explicit islands and add bodies to each
+	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
+	{
+		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
 
+		// find end index
+		for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
+		{
+		}
+		// check if island is sleeping
+		bool islandSleeping = true;
+		for (int iElem = startIslandIndex; iElem < endIslandIndex; iElem++)
+		{
+			int i = getUnionFind().getElement(iElem).m_sz;
+			btCollisionObject* colObj = collisionObjects[i];
+			if (colObj->isActive())
+			{
+				islandSleeping = false;
+			}
+		}
+		if (!islandSleeping)
+		{
+			// want to count the number of bodies before allocating the island to optimize memory usage of the Island structures
+			int numBodies = endIslandIndex - startIslandIndex;
+			Island* island = allocateIsland(islandId, numBodies);
+			island->isSleeping = false;
 
-void btSimulationIslandManagerMt::addManifoldsToIslands( btDispatcher* dispatcher )
-{
-    // walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island
-    int maxNumManifolds = dispatcher->getNumManifolds();
-    for ( int i = 0; i < maxNumManifolds; i++ )
-    {
-        btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal( i );
-
-        const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>( manifold->getBody0() );
-        const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>( manifold->getBody1() );
-
-        ///@todo: check sleeping conditions!
-        if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) ||
-             ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) )
-        {
-
-            //kinematic objects don't merge islands, but wake up all connected objects
-            if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING )
-            {
-                if ( colObj0->hasContactResponse() )
-                    colObj1->activate();
-            }
-            if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING )
-            {
-                if ( colObj1->hasContactResponse() )
-                    colObj0->activate();
-            }
-            //filtering for response
-            if ( dispatcher->needsResponse( colObj0, colObj1 ) )
-            {
-                // scatter manifolds into various islands
-                int islandId = getIslandId( manifold );
-                // if island not sleeping,
-                if ( Island* island = getIsland( islandId ) )
-                {
-                    island->manifoldArray.push_back( manifold );
-                }
-            }
-        }
-    }
+			// add bodies to island
+			for (int iElem = startIslandIndex; iElem < endIslandIndex; iElem++)
+			{
+				int i = getUnionFind().getElement(iElem).m_sz;
+				btCollisionObject* colObj = collisionObjects[i];
+				island->bodyArray.push_back(colObj);
+			}
+		}
+	}
 }
 
-
-void btSimulationIslandManagerMt::addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints )
+void btSimulationIslandManagerMt::addManifoldsToIslands(btDispatcher* dispatcher)
 {
-    // walk constraints
-    for ( int i = 0; i < constraints.size(); i++ )
-    {
-        // scatter constraints into various islands
-        btTypedConstraint* constraint = constraints[ i ];
-        if ( constraint->isEnabled() )
-        {
-            int islandId = btGetConstraintIslandId( constraint );
-            // if island is not sleeping,
-            if ( Island* island = getIsland( islandId ) )
-            {
-                island->constraintArray.push_back( constraint );
-            }
-        }
-    }
+	// walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island
+	int maxNumManifolds = dispatcher->getNumManifolds();
+	for (int i = 0; i < maxNumManifolds; i++)
+	{
+		btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
+
+		const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
+		const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
+
+		///@todo: check sleeping conditions!
+		if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
+			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
+		{
+			//kinematic objects don't merge islands, but wake up all connected objects
+			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
+			{
+				if (colObj0->hasContactResponse())
+					colObj1->activate();
+			}
+			if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
+			{
+				if (colObj1->hasContactResponse())
+					colObj0->activate();
+			}
+			//filtering for response
+			if (dispatcher->needsResponse(colObj0, colObj1))
+			{
+				// scatter manifolds into various islands
+				int islandId = getIslandId(manifold);
+				// if island not sleeping,
+				if (Island* island = getIsland(islandId))
+				{
+					island->manifoldArray.push_back(manifold);
+				}
+			}
+		}
+	}
 }
 
+void btSimulationIslandManagerMt::addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints)
+{
+	// walk constraints
+	for (int i = 0; i < constraints.size(); i++)
+	{
+		// scatter constraints into various islands
+		btTypedConstraint* constraint = constraints[i];
+		if (constraint->isEnabled())
+		{
+			int islandId = btGetConstraintIslandId(constraint);
+			// if island is not sleeping,
+			if (Island* island = getIsland(islandId))
+			{
+				island->constraintArray.push_back(constraint);
+			}
+		}
+	}
+}
 
 void btSimulationIslandManagerMt::mergeIslands()
 {
-    // sort islands in order of decreasing batch size
-    m_activeIslands.quickSort( IslandBatchSizeSortPredicate() );
-
-    // merge small islands to satisfy minimum batch size
-    // find first small batch island
-    int destIslandIndex = m_activeIslands.size();
-    for ( int i = 0; i < m_activeIslands.size(); ++i )
-    {
-        Island* island = m_activeIslands[ i ];
-        int batchSize = calcBatchCost( island );
-        if ( batchSize < m_minimumSolverBatchSize )
-        {
-            destIslandIndex = i;
-            break;
-        }
-    }
-    int lastIndex = m_activeIslands.size() - 1;
-    while ( destIslandIndex < lastIndex )
-    {
-        // merge islands from the back of the list
-        Island* island = m_activeIslands[ destIslandIndex ];
-        int numBodies = island->bodyArray.size();
-        int numManifolds = island->manifoldArray.size();
-        int numConstraints = island->constraintArray.size();
-        int firstIndex = lastIndex;
-        // figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have
-        while ( true )
-        {
-            Island* src = m_activeIslands[ firstIndex ];
-            numBodies += src->bodyArray.size();
-            numManifolds += src->manifoldArray.size();
-            numConstraints += src->constraintArray.size();
-            int batchCost = calcBatchCost( numBodies, numManifolds, numConstraints );
-            if ( batchCost >= m_minimumSolverBatchSize )
-            {
-                break;
-            }
-            if ( firstIndex - 1 == destIslandIndex )
-            {
-                break;
-            }
-            firstIndex--;
-        }
-        // reserve space for these pointers to minimize reallocation
-        island->bodyArray.reserve( numBodies );
-        island->manifoldArray.reserve( numManifolds );
-        island->constraintArray.reserve( numConstraints );
-        // merge islands
-        for ( int i = firstIndex; i <= lastIndex; ++i )
-        {
-            island->append( *m_activeIslands[ i ] );
-        }
-        // shrink array to exclude the islands that were merged from
-        m_activeIslands.resize( firstIndex );
-        lastIndex = firstIndex - 1;
-        destIslandIndex++;
-    }
+	// sort islands in order of decreasing batch size
+	m_activeIslands.quickSort(IslandBatchSizeSortPredicate());
+
+	// merge small islands to satisfy minimum batch size
+	// find first small batch island
+	int destIslandIndex = m_activeIslands.size();
+	for (int i = 0; i < m_activeIslands.size(); ++i)
+	{
+		Island* island = m_activeIslands[i];
+		int batchSize = calcBatchCost(island);
+		if (batchSize < m_minimumSolverBatchSize)
+		{
+			destIslandIndex = i;
+			break;
+		}
+	}
+	int lastIndex = m_activeIslands.size() - 1;
+	while (destIslandIndex < lastIndex)
+	{
+		// merge islands from the back of the list
+		Island* island = m_activeIslands[destIslandIndex];
+		int numBodies = island->bodyArray.size();
+		int numManifolds = island->manifoldArray.size();
+		int numConstraints = island->constraintArray.size();
+		int firstIndex = lastIndex;
+		// figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have
+		while (true)
+		{
+			Island* src = m_activeIslands[firstIndex];
+			numBodies += src->bodyArray.size();
+			numManifolds += src->manifoldArray.size();
+			numConstraints += src->constraintArray.size();
+			int batchCost = calcBatchCost(numBodies, numManifolds, numConstraints);
+			if (batchCost >= m_minimumSolverBatchSize)
+			{
+				break;
+			}
+			if (firstIndex - 1 == destIslandIndex)
+			{
+				break;
+			}
+			firstIndex--;
+		}
+		// reserve space for these pointers to minimize reallocation
+		island->bodyArray.reserve(numBodies);
+		island->manifoldArray.reserve(numManifolds);
+		island->constraintArray.reserve(numConstraints);
+		// merge islands
+		for (int i = firstIndex; i <= lastIndex; ++i)
+		{
+			island->append(*m_activeIslands[i]);
+		}
+		// shrink array to exclude the islands that were merged from
+		m_activeIslands.resize(firstIndex);
+		lastIndex = firstIndex - 1;
+		destIslandIndex++;
+	}
 }
 
+void btSimulationIslandManagerMt::solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams)
+{
+	btPersistentManifold** manifolds = island.manifoldArray.size() ? &island.manifoldArray[0] : NULL;
+	btTypedConstraint** constraintsPtr = island.constraintArray.size() ? &island.constraintArray[0] : NULL;
+	solver->solveGroup(&island.bodyArray[0],
+					   island.bodyArray.size(),
+					   manifolds,
+					   island.manifoldArray.size(),
+					   constraintsPtr,
+					   island.constraintArray.size(),
+					   *solverParams.m_solverInfo,
+					   solverParams.m_debugDrawer,
+					   solverParams.m_dispatcher);
+}
 
-void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
+void btSimulationIslandManagerMt::serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams)
 {
-    BT_PROFILE( "serialIslandDispatch" );
-    // serial dispatch
-    btAlignedObjectArray<Island*>& islands = *islandsPtr;
-    for ( int i = 0; i < islands.size(); ++i )
-    {
-        Island* island = islands[ i ];
-        btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
-        btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
-        callback->processIsland( &island->bodyArray[ 0 ],
-                                 island->bodyArray.size(),
-                                 manifolds,
-                                 island->manifoldArray.size(),
-                                 constraintsPtr,
-                                 island->constraintArray.size(),
-                                 island->id
-                                 );
-    }
+	BT_PROFILE("serialIslandDispatch");
+	// serial dispatch
+	btAlignedObjectArray<Island*>& islands = *islandsPtr;
+	btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
+	for (int i = 0; i < islands.size(); ++i)
+	{
+		solveIsland(solver, *islands[i], solverParams);
+	}
 }
 
 struct UpdateIslandDispatcher : public btIParallelForBody
 {
-    btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr;
-    btSimulationIslandManagerMt::IslandCallback* callback;
-
-    void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
-    {
-        for ( int i = iBegin; i < iEnd; ++i )
-        {
-            btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ];
-            btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
-            btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
-            callback->processIsland( &island->bodyArray[ 0 ],
-                island->bodyArray.size(),
-                manifolds,
-                island->manifoldArray.size(),
-                constraintsPtr,
-                island->constraintArray.size(),
-                island->id
-            );
-        }
-    }
+	btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& m_islandsPtr;
+	const btSimulationIslandManagerMt::SolverParams& m_solverParams;
+
+	UpdateIslandDispatcher(btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams)
+		: m_islandsPtr(islandsPtr), m_solverParams(solverParams)
+	{
+	}
+
+	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
+	{
+		btConstraintSolver* solver = m_solverParams.m_solverPool;
+		for (int i = iBegin; i < iEnd; ++i)
+		{
+			btSimulationIslandManagerMt::Island* island = m_islandsPtr[i];
+			btSimulationIslandManagerMt::solveIsland(solver, *island, m_solverParams);
+		}
+	}
 };
 
-void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
+void btSimulationIslandManagerMt::parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams)
 {
-    BT_PROFILE( "parallelIslandDispatch" );
-    int grainSize = 1;  // iterations per task
-    UpdateIslandDispatcher dispatcher;
-    dispatcher.islandsPtr = islandsPtr;
-    dispatcher.callback = callback;
-    btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher );
+	BT_PROFILE("parallelIslandDispatch");
+	//
+	// if there are islands with many contacts, it may be faster to submit these
+	// large islands *serially* to a single parallel constraint solver, and then later
+	// submit the remaining smaller islands in parallel to multiple sequential solvers.
+	//
+	// Some task schedulers do not deal well with nested parallelFor loops. One implementation
+	// of OpenMP was actually slower than doing everything single-threaded. Intel TBB
+	// on the other hand, seems to do a pretty respectable job with it.
+	//
+	// When solving islands in parallel, the worst case performance happens when there
+	// is one very large island and then perhaps a smattering of very small
+	// islands -- one worker thread takes the large island and the remaining workers
+	// tear through the smaller islands and then sit idle waiting for the first worker
+	// to finish. Solving islands in parallel works best when there are numerous small
+	// islands, roughly equal in size.
+	//
+	// By contrast, the other approach -- the parallel constraint solver -- is only
+	// able to deliver a worthwhile speedup when the island is large. For smaller islands,
+	// it is difficult to extract a useful amount of parallelism -- the overhead of grouping
+	// the constraints into batches and sending the batches to worker threads can nullify
+	// any gains from parallelism.
+	//
+
+	UpdateIslandDispatcher dispatcher(*islandsPtr, solverParams);
+	// We take advantage of the fact the islands are sorted in order of decreasing size
+	int iBegin = 0;
+	if (solverParams.m_solverMt)
+	{
+		while (iBegin < islandsPtr->size())
+		{
+			btSimulationIslandManagerMt::Island* island = (*islandsPtr)[iBegin];
+			if (island->manifoldArray.size() < btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching)
+			{
+				// OK to submit the rest of the array in parallel
+				break;
+			}
+			// serial dispatch to parallel solver for large islands (if any)
+			solveIsland(solverParams.m_solverMt, *island, solverParams);
+			++iBegin;
+		}
+	}
+	// parallel dispatch to sequential solvers for rest
+	btParallelFor(iBegin, islandsPtr->size(), 1, dispatcher);
 }
 
-
 ///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher,
-                                                        btCollisionWorld* collisionWorld,
-                                                        btAlignedObjectArray<btTypedConstraint*>& constraints,
-                                                        IslandCallback* callback
-                                                        )
+void btSimulationIslandManagerMt::buildAndProcessIslands(btDispatcher* dispatcher,
+														 btCollisionWorld* collisionWorld,
+														 btAlignedObjectArray<btTypedConstraint*>& constraints,
+														 const SolverParams& solverParams)
 {
+	BT_PROFILE("buildAndProcessIslands");
 	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 
-	buildIslands(dispatcher,collisionWorld);
-
-	BT_PROFILE("processIslands");
+	buildIslands(dispatcher, collisionWorld);
 
-	if(!getSplitIslands())
+	if (!getSplitIslands())
 	{
-        btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer();
-        int maxNumManifolds = dispatcher->getNumManifolds();
-
-        for ( int i = 0; i < maxNumManifolds; i++ )
-        {
-            btPersistentManifold* manifold = manifolds[ i ];
-
-            const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>( manifold->getBody0() );
-            const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>( manifold->getBody1() );
-
-            ///@todo: check sleeping conditions!
-            if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) ||
-                 ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) )
-            {
-
-                //kinematic objects don't merge islands, but wake up all connected objects
-                if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING )
-                {
-                    if ( colObj0->hasContactResponse() )
-                        colObj1->activate();
-                }
-                if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING )
-                {
-                    if ( colObj1->hasContactResponse() )
-                        colObj0->activate();
-                }
-            }
-        }
-        btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL;
-		callback->processIsland(&collisionObjects[0],
-                                 collisionObjects.size(),
-                                 manifolds,
-                                 maxNumManifolds,
-                                 constraintsPtr,
-                                 constraints.size(),
-                                 -1
-                                 );
+		btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer();
+		int maxNumManifolds = dispatcher->getNumManifolds();
+
+		for (int i = 0; i < maxNumManifolds; i++)
+		{
+			btPersistentManifold* manifold = manifolds[i];
+
+			const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
+			const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
+
+			///@todo: check sleeping conditions!
+			if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
+				((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
+			{
+				//kinematic objects don't merge islands, but wake up all connected objects
+				if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
+				{
+					if (colObj0->hasContactResponse())
+						colObj1->activate();
+				}
+				if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
+				{
+					if (colObj1->hasContactResponse())
+						colObj0->activate();
+				}
+			}
+		}
+		btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[0] : NULL;
+		btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
+		solver->solveGroup(&collisionObjects[0],
+						   collisionObjects.size(),
+						   manifolds,
+						   maxNumManifolds,
+						   constraintsPtr,
+						   constraints.size(),
+						   *solverParams.m_solverInfo,
+						   solverParams.m_debugDrawer,
+						   solverParams.m_dispatcher);
 	}
 	else
 	{
-        initIslandPools();
-
-        //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-        addBodiesToIslands( collisionWorld );
-        addManifoldsToIslands( dispatcher );
-        addConstraintsToIslands( constraints );
-
-        // m_activeIslands array should now contain all non-sleeping Islands, and each Island should
-        // have all the necessary bodies, manifolds and constraints.
-
-        // if we want to merge islands with small batch counts,
-        if ( m_minimumSolverBatchSize > 1 )
-        {
-            mergeIslands();
-        }
-        // dispatch islands to solver
-        m_islandDispatch( &m_activeIslands, callback );
+		initIslandPools();
+
+		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
+		addBodiesToIslands(collisionWorld);
+		addManifoldsToIslands(dispatcher);
+		addConstraintsToIslands(constraints);
+
+		// m_activeIslands array should now contain all non-sleeping Islands, and each Island should
+		// have all the necessary bodies, manifolds and constraints.
+
+		// if we want to merge islands with small batch counts,
+		if (m_minimumSolverBatchSize > 1)
+		{
+			mergeIslands();
+		}
+		// dispatch islands to solver
+		m_islandDispatch(&m_activeIslands, solverParams);
 	}
 }
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
index 9a781aaef1..ab73a899f1 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
@@ -19,7 +19,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
 
 class btTypedConstraint;
-
+class btConstraintSolver;
+struct btContactSolverInfo;
+class btIDebugDraw;
 
 ///
 /// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager
@@ -33,78 +35,78 @@ class btTypedConstraint;
 class btSimulationIslandManagerMt : public btSimulationIslandManager
 {
 public:
-    struct Island
-    {
-        // a simulation island consisting of bodies, manifolds and constraints,
-        // to be passed into a constraint solver.
-        btAlignedObjectArray<btCollisionObject*> bodyArray;
-        btAlignedObjectArray<btPersistentManifold*> manifoldArray;
-        btAlignedObjectArray<btTypedConstraint*> constraintArray;
-        int id;  // island id
-        bool isSleeping;
+	struct Island
+	{
+		// a simulation island consisting of bodies, manifolds and constraints,
+		// to be passed into a constraint solver.
+		btAlignedObjectArray<btCollisionObject*> bodyArray;
+		btAlignedObjectArray<btPersistentManifold*> manifoldArray;
+		btAlignedObjectArray<btTypedConstraint*> constraintArray;
+		int id;  // island id
+		bool isSleeping;
+
+		void append(const Island& other);  // add bodies, manifolds, constraints to my own
+	};
+	struct SolverParams
+	{
+		btConstraintSolver* m_solverPool;
+		btConstraintSolver* m_solverMt;
+		btContactSolverInfo* m_solverInfo;
+		btIDebugDraw* m_debugDrawer;
+		btDispatcher* m_dispatcher;
+	};
+	static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams);
 
-        void append( const Island& other );  // add bodies, manifolds, constraints to my own
-    };
-    struct	IslandCallback
-    {
-        virtual ~IslandCallback() {};
+	typedef void (*IslandDispatchFunc)(btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams);
+	static void serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
+	static void parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
 
-        virtual	void processIsland( btCollisionObject** bodies,
-                                    int numBodies,
-                                    btPersistentManifold** manifolds,
-                                    int numManifolds,
-                                    btTypedConstraint** constraints,
-                                    int numConstraints,
-                                    int islandId
-                                    ) = 0;
-    };
-    typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
-    static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
-    static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
 protected:
-    btAlignedObjectArray<Island*> m_allocatedIslands;  // owner of all Islands
-    btAlignedObjectArray<Island*> m_activeIslands;  // islands actively in use
-    btAlignedObjectArray<Island*> m_freeIslands;  // islands ready to be reused
-    btAlignedObjectArray<Island*> m_lookupIslandFromId;  // big lookup table to map islandId to Island pointer
-    Island* m_batchIsland;
-    int m_minimumSolverBatchSize;
-    int m_batchIslandMinBodyCount;
-    IslandDispatchFunc m_islandDispatch;
+	btAlignedObjectArray<Island*> m_allocatedIslands;    // owner of all Islands
+	btAlignedObjectArray<Island*> m_activeIslands;       // islands actively in use
+	btAlignedObjectArray<Island*> m_freeIslands;         // islands ready to be reused
+	btAlignedObjectArray<Island*> m_lookupIslandFromId;  // big lookup table to map islandId to Island pointer
+	Island* m_batchIsland;
+	int m_minimumSolverBatchSize;
+	int m_batchIslandMinBodyCount;
+	IslandDispatchFunc m_islandDispatch;
+
+	Island* getIsland(int id);
+	virtual Island* allocateIsland(int id, int numBodies);
+	virtual void initIslandPools();
+	virtual void addBodiesToIslands(btCollisionWorld* collisionWorld);
+	virtual void addManifoldsToIslands(btDispatcher* dispatcher);
+	virtual void addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints);
+	virtual void mergeIslands();
 
-    Island* getIsland( int id );
-    virtual Island* allocateIsland( int id, int numBodies );
-    virtual void initIslandPools();
-    virtual void addBodiesToIslands( btCollisionWorld* collisionWorld );
-    virtual void addManifoldsToIslands( btDispatcher* dispatcher );
-    virtual void addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints );
-    virtual void mergeIslands();
-	
 public:
 	btSimulationIslandManagerMt();
 	virtual ~btSimulationIslandManagerMt();
 
-    virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, IslandCallback* callback );
+	virtual void buildAndProcessIslands(btDispatcher* dispatcher,
+										btCollisionWorld* collisionWorld,
+										btAlignedObjectArray<btTypedConstraint*>& constraints,
+										const SolverParams& solverParams);
 
-	virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
+	virtual void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
 
-    int getMinimumSolverBatchSize() const
-    {
-        return m_minimumSolverBatchSize;
-    }
-    void setMinimumSolverBatchSize( int sz )
-    {
-        m_minimumSolverBatchSize = sz;
-    }
-    IslandDispatchFunc getIslandDispatchFunction() const
-    {
-        return m_islandDispatch;
-    }
-    // allow users to set their own dispatch function for multithreaded dispatch
-    void setIslandDispatchFunction( IslandDispatchFunc func )
-    {
-        m_islandDispatch = func;
-    }
+	int getMinimumSolverBatchSize() const
+	{
+		return m_minimumSolverBatchSize;
+	}
+	void setMinimumSolverBatchSize(int sz)
+	{
+		m_minimumSolverBatchSize = sz;
+	}
+	IslandDispatchFunc getIslandDispatchFunction() const
+	{
+		return m_islandDispatch;
+	}
+	// allow users to set their own dispatch function for multithreaded dispatch
+	void setIslandDispatchFunction(IslandDispatchFunc func)
+	{
+		m_islandDispatch = func;
+	}
 };
 
-#endif //BT_SIMULATION_ISLAND_MANAGER_H
-
+#endif  //BT_SIMULATION_ISLAND_MANAGER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
index 62865e0c78..53fc48d4b9 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -21,7 +21,6 @@
  
  */
 
-
 #include "btMultiBody.h"
 #include "btMultiBodyLink.h"
 #include "btMultiBodyLinkCollider.h"
@@ -29,28 +28,29 @@
 #include "LinearMath/btTransformUtil.h"
 #include "LinearMath/btSerializer.h"
 //#include "Bullet3Common/b3Logging.h"
-// #define INCLUDE_GYRO_TERM 
+// #define INCLUDE_GYRO_TERM
 
-///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
-bool gJointFeedbackInWorldSpace = false;
-bool gJointFeedbackInJointFrame = false;
 
-namespace {
-    const btScalar SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
-    const btScalar SLEEP_TIMEOUT = btScalar(2);     // in seconds
+namespace
+{
+const btScalar SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
+const btScalar SLEEP_TIMEOUT = btScalar(2);     // in seconds
+}  // namespace
+
+void btMultiBody::spatialTransform(const btMatrix3x3 &rotation_matrix,  // rotates vectors in 'from' frame to vectors in 'to' frame
+	const btVector3 &displacement,       // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates
+	const btVector3 &top_in,             // top part of input vector
+	const btVector3 &bottom_in,          // bottom part of input vector
+	btVector3 &top_out,                  // top part of output vector
+	btVector3 &bottom_out)               // bottom part of output vector
+{
+	top_out = rotation_matrix * top_in;
+	bottom_out = -displacement.cross(top_out) + rotation_matrix * bottom_in;
 }
 
-namespace {
-    void SpatialTransform(const btMatrix3x3 &rotation_matrix,  // rotates vectors in 'from' frame to vectors in 'to' frame
-                          const btVector3 &displacement,     // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates
-                          const btVector3 &top_in,       // top part of input vector
-                          const btVector3 &bottom_in,    // bottom part of input vector
-                          btVector3 &top_out,         // top part of output vector
-                          btVector3 &bottom_out)      // bottom part of output vector
-    {
-        top_out = rotation_matrix * top_in;
-        bottom_out = -displacement.cross(top_out) + rotation_matrix * bottom_in;
-    }
+namespace
+{
+
 
 #if 0
     void InverseSpatialTransform(const btMatrix3x3 &rotation_matrix,
@@ -83,59 +83,61 @@ namespace {
 		bottom_out = a_bottom.cross(b_top) + a_top.cross(b_bottom);
 	}
 #endif
-	
-}
 
+}  // namespace
 
 //
 // Implementation of class btMultiBody
 //
 
 btMultiBody::btMultiBody(int n_links,
-                     btScalar mass,
-                     const btVector3 &inertia,
-                     bool fixedBase,
-                     bool canSleep,
-		     bool /*deprecatedUseMultiDof*/)
-    : 
-    	m_baseCollider(0),
-		m_baseName(0),
-    	m_basePos(0,0,0),
-    	m_baseQuat(0, 0, 0, 1),
-      m_baseMass(mass),
-      m_baseInertia(inertia),
-    
-		m_fixedBase(fixedBase),
-		m_awake(true),
-		m_canSleep(canSleep),
-		m_sleepTimer(0),
-		m_userObjectPointer(0),
-		m_userIndex2(-1),
-		m_userIndex(-1),
-		m_linearDamping(0.04f),
-		m_angularDamping(0.04f),
-		m_useGyroTerm(true),
-			m_maxAppliedImpulse(1000.f),
-		m_maxCoordinateVelocity(100.f),
-			m_hasSelfCollision(true),		
-		__posUpdated(false),
-			m_dofCount(0),
-		m_posVarCnt(0),
-		m_useRK4(false), 	
-		m_useGlobalVelocities(false),
-		m_internalNeedsJointFeedback(false)
-{
-	m_cachedInertiaTopLeft.setValue(0,0,0,0,0,0,0,0,0);
-	m_cachedInertiaTopRight.setValue(0,0,0,0,0,0,0,0,0);
-	m_cachedInertiaLowerLeft.setValue(0,0,0,0,0,0,0,0,0);
-	m_cachedInertiaLowerRight.setValue(0,0,0,0,0,0,0,0,0);
-	m_cachedInertiaValid=false;
+						 btScalar mass,
+						 const btVector3 &inertia,
+						 bool fixedBase,
+						 bool canSleep,
+						 bool /*deprecatedUseMultiDof*/)
+	: m_baseCollider(0),
+	  m_baseName(0),
+	  m_basePos(0, 0, 0),
+	  m_baseQuat(0, 0, 0, 1),
+	  m_baseMass(mass),
+	  m_baseInertia(inertia),
+
+	  m_fixedBase(fixedBase),
+	  m_awake(true),
+	  m_canSleep(canSleep),
+	  m_sleepTimer(0),
+	  m_userObjectPointer(0),
+	  m_userIndex2(-1),
+	  m_userIndex(-1),
+	  m_companionId(-1),
+	  m_linearDamping(0.04f),
+	  m_angularDamping(0.04f),
+	  m_useGyroTerm(true),
+	  m_maxAppliedImpulse(1000.f),
+	  m_maxCoordinateVelocity(100.f),
+	  m_hasSelfCollision(true),
+	  __posUpdated(false),
+	  m_dofCount(0),
+	  m_posVarCnt(0),
+	  m_useRK4(false),
+	  m_useGlobalVelocities(false),
+	  m_internalNeedsJointFeedback(false)
+{
+	m_cachedInertiaTopLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
+	m_cachedInertiaTopRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
+	m_cachedInertiaLowerLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
+	m_cachedInertiaLowerRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0);
+	m_cachedInertiaValid = false;
 
 	m_links.resize(n_links);
 	m_matrixBuf.resize(n_links + 1);
 
-    m_baseForce.setValue(0, 0, 0);
-    m_baseTorque.setValue(0, 0, 0);
+	m_baseForce.setValue(0, 0, 0);
+	m_baseTorque.setValue(0, 0, 0);
+
+	clearConstraintForces();
+	clearForcesAndTorques();
 }
 
 btMultiBody::~btMultiBody()
@@ -143,131 +145,125 @@ btMultiBody::~btMultiBody()
 }
 
 void btMultiBody::setupFixed(int i,
-						   btScalar mass,
-						   const btVector3 &inertia,
-						   int parent,
-						   const btQuaternion &rotParentToThis,
-						   const btVector3 &parentComToThisPivotOffset,
-                           const btVector3 &thisPivotToThisComOffset, bool /*deprecatedDisableParentCollision*/)
-{
-	
+							 btScalar mass,
+							 const btVector3 &inertia,
+							 int parent,
+							 const btQuaternion &rotParentToThis,
+							 const btVector3 &parentComToThisPivotOffset,
+							 const btVector3 &thisPivotToThisComOffset, bool /*deprecatedDisableParentCollision*/)
+{
 	m_links[i].m_mass = mass;
-    m_links[i].m_inertiaLocal = inertia;
-    m_links[i].m_parent = parent;
-	 m_links[i].setAxisTop(0, 0., 0., 0.);
-    m_links[i].setAxisBottom(0, btVector3(0,0,0));
-    m_links[i].m_zeroRotParentToThis = rotParentToThis;
+	m_links[i].m_inertiaLocal = inertia;
+	m_links[i].m_parent = parent;
+	m_links[i].setAxisTop(0, 0., 0., 0.);
+	m_links[i].setAxisBottom(0, btVector3(0, 0, 0));
+	m_links[i].m_zeroRotParentToThis = rotParentToThis;
 	m_links[i].m_dVector = thisPivotToThisComOffset;
-    m_links[i].m_eVector = parentComToThisPivotOffset;    
+	m_links[i].m_eVector = parentComToThisPivotOffset;
 
 	m_links[i].m_jointType = btMultibodyLink::eFixed;
 	m_links[i].m_dofCount = 0;
 	m_links[i].m_posVarCount = 0;
 
-	m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;    
-	
+	m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+
 	m_links[i].updateCacheMultiDof();
 
 	updateLinksDofOffsets();
-
 }
 
-
 void btMultiBody::setupPrismatic(int i,
-                               btScalar mass,
-                               const btVector3 &inertia,
-                               int parent,
-                               const btQuaternion &rotParentToThis,
-                               const btVector3 &jointAxis,
-                               const btVector3 &parentComToThisPivotOffset,
-							   const btVector3 &thisPivotToThisComOffset,
-							   bool disableParentCollision)
+								 btScalar mass,
+								 const btVector3 &inertia,
+								 int parent,
+								 const btQuaternion &rotParentToThis,
+								 const btVector3 &jointAxis,
+								 const btVector3 &parentComToThisPivotOffset,
+								 const btVector3 &thisPivotToThisComOffset,
+								 bool disableParentCollision)
 {
 	m_dofCount += 1;
 	m_posVarCnt += 1;
-	
-    m_links[i].m_mass = mass;
-    m_links[i].m_inertiaLocal = inertia;
-    m_links[i].m_parent = parent;
-    m_links[i].m_zeroRotParentToThis = rotParentToThis;
-    m_links[i].setAxisTop(0, 0., 0., 0.);
-    m_links[i].setAxisBottom(0, jointAxis);
-    m_links[i].m_eVector = parentComToThisPivotOffset;
+
+	m_links[i].m_mass = mass;
+	m_links[i].m_inertiaLocal = inertia;
+	m_links[i].m_parent = parent;
+	m_links[i].m_zeroRotParentToThis = rotParentToThis;
+	m_links[i].setAxisTop(0, 0., 0., 0.);
+	m_links[i].setAxisBottom(0, jointAxis);
+	m_links[i].m_eVector = parentComToThisPivotOffset;
 	m_links[i].m_dVector = thisPivotToThisComOffset;
-    m_links[i].m_cachedRotParentToThis = rotParentToThis;
+	m_links[i].m_cachedRotParentToThis = rotParentToThis;
 
 	m_links[i].m_jointType = btMultibodyLink::ePrismatic;
 	m_links[i].m_dofCount = 1;
-	m_links[i].m_posVarCount = 1;	
+	m_links[i].m_posVarCount = 1;
 	m_links[i].m_jointPos[0] = 0.f;
 	m_links[i].m_jointTorque[0] = 0.f;
 
 	if (disableParentCollision)
-		m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
 	//
-	
+
 	m_links[i].updateCacheMultiDof();
-	
+
 	updateLinksDofOffsets();
 }
 
 void btMultiBody::setupRevolute(int i,
-                              btScalar mass,
-                              const btVector3 &inertia,
-                              int parent,
-                              const btQuaternion &rotParentToThis,
-                              const btVector3 &jointAxis,
-                              const btVector3 &parentComToThisPivotOffset,
-                              const btVector3 &thisPivotToThisComOffset,
-							  bool disableParentCollision)
+								btScalar mass,
+								const btVector3 &inertia,
+								int parent,
+								const btQuaternion &rotParentToThis,
+								const btVector3 &jointAxis,
+								const btVector3 &parentComToThisPivotOffset,
+								const btVector3 &thisPivotToThisComOffset,
+								bool disableParentCollision)
 {
 	m_dofCount += 1;
 	m_posVarCnt += 1;
-	
-    m_links[i].m_mass = mass;
-    m_links[i].m_inertiaLocal = inertia;
-    m_links[i].m_parent = parent;
-    m_links[i].m_zeroRotParentToThis = rotParentToThis;
-    m_links[i].setAxisTop(0, jointAxis);
-    m_links[i].setAxisBottom(0, jointAxis.cross(thisPivotToThisComOffset));
-    m_links[i].m_dVector = thisPivotToThisComOffset;
-    m_links[i].m_eVector = parentComToThisPivotOffset;
+
+	m_links[i].m_mass = mass;
+	m_links[i].m_inertiaLocal = inertia;
+	m_links[i].m_parent = parent;
+	m_links[i].m_zeroRotParentToThis = rotParentToThis;
+	m_links[i].setAxisTop(0, jointAxis);
+	m_links[i].setAxisBottom(0, jointAxis.cross(thisPivotToThisComOffset));
+	m_links[i].m_dVector = thisPivotToThisComOffset;
+	m_links[i].m_eVector = parentComToThisPivotOffset;
 
 	m_links[i].m_jointType = btMultibodyLink::eRevolute;
 	m_links[i].m_dofCount = 1;
-	m_links[i].m_posVarCount = 1;	
+	m_links[i].m_posVarCount = 1;
 	m_links[i].m_jointPos[0] = 0.f;
 	m_links[i].m_jointTorque[0] = 0.f;
 
 	if (disableParentCollision)
-		m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-    //
+		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+	//
 	m_links[i].updateCacheMultiDof();
 	//
 	updateLinksDofOffsets();
 }
 
-
-
 void btMultiBody::setupSpherical(int i,
-						   btScalar mass,
-						   const btVector3 &inertia,
-						   int parent,
-						   const btQuaternion &rotParentToThis,
-						   const btVector3 &parentComToThisPivotOffset,
-						   const btVector3 &thisPivotToThisComOffset,
-						   bool disableParentCollision)
-{
-	
+								 btScalar mass,
+								 const btVector3 &inertia,
+								 int parent,
+								 const btQuaternion &rotParentToThis,
+								 const btVector3 &parentComToThisPivotOffset,
+								 const btVector3 &thisPivotToThisComOffset,
+								 bool disableParentCollision)
+{
 	m_dofCount += 3;
 	m_posVarCnt += 4;
 
 	m_links[i].m_mass = mass;
-    m_links[i].m_inertiaLocal = inertia;
-    m_links[i].m_parent = parent;
-    m_links[i].m_zeroRotParentToThis = rotParentToThis;    
-    m_links[i].m_dVector = thisPivotToThisComOffset;
-    m_links[i].m_eVector = parentComToThisPivotOffset;    
+	m_links[i].m_inertiaLocal = inertia;
+	m_links[i].m_parent = parent;
+	m_links[i].m_zeroRotParentToThis = rotParentToThis;
+	m_links[i].m_dVector = thisPivotToThisComOffset;
+	m_links[i].m_eVector = parentComToThisPivotOffset;
 
 	m_links[i].m_jointType = btMultibodyLink::eSpherical;
 	m_links[i].m_dofCount = 3;
@@ -278,281 +274,297 @@ void btMultiBody::setupSpherical(int i,
 	m_links[i].setAxisBottom(0, m_links[i].getAxisTop(0).cross(thisPivotToThisComOffset));
 	m_links[i].setAxisBottom(1, m_links[i].getAxisTop(1).cross(thisPivotToThisComOffset));
 	m_links[i].setAxisBottom(2, m_links[i].getAxisTop(2).cross(thisPivotToThisComOffset));
-	m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f; m_links[i].m_jointPos[3] = 1.f;
+	m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f;
+	m_links[i].m_jointPos[3] = 1.f;
 	m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = 0.f;
 
-
 	if (disableParentCollision)
-		m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;    
+		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
 	//
-	m_links[i].updateCacheMultiDof();	
+	m_links[i].updateCacheMultiDof();
 	//
 	updateLinksDofOffsets();
 }
 
 void btMultiBody::setupPlanar(int i,
-						   btScalar mass,
-						   const btVector3 &inertia,
-						   int parent,
-						   const btQuaternion &rotParentToThis,
-						   const btVector3 &rotationAxis,
-						   const btVector3 &parentComToThisComOffset,						   
-						   bool disableParentCollision)
-{
-	
+							  btScalar mass,
+							  const btVector3 &inertia,
+							  int parent,
+							  const btQuaternion &rotParentToThis,
+							  const btVector3 &rotationAxis,
+							  const btVector3 &parentComToThisComOffset,
+							  bool disableParentCollision)
+{
 	m_dofCount += 3;
 	m_posVarCnt += 3;
 
 	m_links[i].m_mass = mass;
-    m_links[i].m_inertiaLocal = inertia;
-    m_links[i].m_parent = parent;
-    m_links[i].m_zeroRotParentToThis = rotParentToThis;    
+	m_links[i].m_inertiaLocal = inertia;
+	m_links[i].m_parent = parent;
+	m_links[i].m_zeroRotParentToThis = rotParentToThis;
 	m_links[i].m_dVector.setZero();
-    m_links[i].m_eVector = parentComToThisComOffset;
+	m_links[i].m_eVector = parentComToThisComOffset;
 
 	//
 	btVector3 vecNonParallelToRotAxis(1, 0, 0);
-	if(rotationAxis.normalized().dot(vecNonParallelToRotAxis) > 0.999)
+	if (rotationAxis.normalized().dot(vecNonParallelToRotAxis) > 0.999)
 		vecNonParallelToRotAxis.setValue(0, 1, 0);
 	//
 
 	m_links[i].m_jointType = btMultibodyLink::ePlanar;
 	m_links[i].m_dofCount = 3;
 	m_links[i].m_posVarCount = 3;
-	btVector3 n=rotationAxis.normalized();
-	m_links[i].setAxisTop(0, n[0],n[1],n[2]);
-	m_links[i].setAxisTop(1,0,0,0);
-	m_links[i].setAxisTop(2,0,0,0);
-	m_links[i].setAxisBottom(0,0,0,0);
+	btVector3 n = rotationAxis.normalized();
+	m_links[i].setAxisTop(0, n[0], n[1], n[2]);
+	m_links[i].setAxisTop(1, 0, 0, 0);
+	m_links[i].setAxisTop(2, 0, 0, 0);
+	m_links[i].setAxisBottom(0, 0, 0, 0);
 	btVector3 cr = m_links[i].getAxisTop(0).cross(vecNonParallelToRotAxis);
-	m_links[i].setAxisBottom(1,cr[0],cr[1],cr[2]);
+	m_links[i].setAxisBottom(1, cr[0], cr[1], cr[2]);
 	cr = m_links[i].getAxisBottom(1).cross(m_links[i].getAxisTop(0));
-	m_links[i].setAxisBottom(2,cr[0],cr[1],cr[2]);
+	m_links[i].setAxisBottom(2, cr[0], cr[1], cr[2]);
 	m_links[i].m_jointPos[0] = m_links[i].m_jointPos[1] = m_links[i].m_jointPos[2] = 0.f;
 	m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = 0.f;
 
 	if (disableParentCollision)
-		m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
-    //
+		m_links[i].m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+	//
 	m_links[i].updateCacheMultiDof();
 	//
 	updateLinksDofOffsets();
+
+	m_links[i].setAxisBottom(1, m_links[i].getAxisBottom(1).normalized());
+	m_links[i].setAxisBottom(2, m_links[i].getAxisBottom(2).normalized());
 }
 
 void btMultiBody::finalizeMultiDof()
 {
 	m_deltaV.resize(0);
 	m_deltaV.resize(6 + m_dofCount);
-	m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount + 6 + m_dofCount);			//m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
-	m_vectorBuf.resize(2 * m_dofCount);													//two 3-vectors (i.e. one six-vector) for each system dof	("h" matrices)
-	for (int i=0;i<m_vectorBuf.size();i++)
+	m_realBuf.resize(6 + m_dofCount + m_dofCount * m_dofCount + 6 + m_dofCount);  //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
+	m_vectorBuf.resize(2 * m_dofCount);                                           //two 3-vectors (i.e. one six-vector) for each system dof	("h" matrices)
+	for (int i = 0; i < m_vectorBuf.size(); i++)
 	{
-		m_vectorBuf[i].setValue(0,0,0);
+		m_vectorBuf[i].setValue(0, 0, 0);
 	}
 	updateLinksDofOffsets();
 }
-	
+
 int btMultiBody::getParent(int i) const
 {
-    return m_links[i].m_parent;
+	return m_links[i].m_parent;
 }
 
 btScalar btMultiBody::getLinkMass(int i) const
 {
-    return m_links[i].m_mass;
+	return m_links[i].m_mass;
 }
 
-const btVector3 & btMultiBody::getLinkInertia(int i) const
+const btVector3 &btMultiBody::getLinkInertia(int i) const
 {
-    return m_links[i].m_inertiaLocal;
+	return m_links[i].m_inertiaLocal;
 }
 
 btScalar btMultiBody::getJointPos(int i) const
 {
-    return m_links[i].m_jointPos[0];
+	return m_links[i].m_jointPos[0];
 }
 
 btScalar btMultiBody::getJointVel(int i) const
 {
-    return m_realBuf[6 + m_links[i].m_dofOffset];
+	return m_realBuf[6 + m_links[i].m_dofOffset];
 }
 
-btScalar * btMultiBody::getJointPosMultiDof(int i)
+btScalar *btMultiBody::getJointPosMultiDof(int i)
 {
 	return &m_links[i].m_jointPos[0];
 }
 
-btScalar * btMultiBody::getJointVelMultiDof(int i)
+btScalar *btMultiBody::getJointVelMultiDof(int i)
 {
 	return &m_realBuf[6 + m_links[i].m_dofOffset];
 }
 
-const btScalar * btMultiBody::getJointPosMultiDof(int i) const 
+const btScalar *btMultiBody::getJointPosMultiDof(int i) const
 {
 	return &m_links[i].m_jointPos[0];
 }
 
-const btScalar * btMultiBody::getJointVelMultiDof(int i) const 
+const btScalar *btMultiBody::getJointVelMultiDof(int i) const
 {
 	return &m_realBuf[6 + m_links[i].m_dofOffset];
 }
 
-
 void btMultiBody::setJointPos(int i, btScalar q)
 {
-    m_links[i].m_jointPos[0] = q;
-    m_links[i].updateCacheMultiDof();
+	m_links[i].m_jointPos[0] = q;
+	m_links[i].updateCacheMultiDof();
+}
+
+
+void btMultiBody::setJointPosMultiDof(int i, const double *q)
+{
+	for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
+		m_links[i].m_jointPos[pos] = (btScalar)q[pos];
+
+	m_links[i].updateCacheMultiDof();
 }
 
-void btMultiBody::setJointPosMultiDof(int i, btScalar *q)
+void btMultiBody::setJointPosMultiDof(int i, const float *q)
 {
-	for(int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
-		m_links[i].m_jointPos[pos] = q[pos];
+	for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
+		m_links[i].m_jointPos[pos] = (btScalar)q[pos];
 
-    m_links[i].updateCacheMultiDof();
+	m_links[i].updateCacheMultiDof();
 }
 
+
+
 void btMultiBody::setJointVel(int i, btScalar qdot)
 {
-    m_realBuf[6 + m_links[i].m_dofOffset] = qdot;
+	m_realBuf[6 + m_links[i].m_dofOffset] = qdot;
 }
 
-void btMultiBody::setJointVelMultiDof(int i, btScalar *qdot)
+void btMultiBody::setJointVelMultiDof(int i, const double *qdot)
 {
-	for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		m_realBuf[6 + m_links[i].m_dofOffset + dof] = qdot[dof];
+	for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		m_realBuf[6 + m_links[i].m_dofOffset + dof] = (btScalar)qdot[dof];
 }
 
-const btVector3 & btMultiBody::getRVector(int i) const
+void btMultiBody::setJointVelMultiDof(int i, const float* qdot)
 {
-    return m_links[i].m_cachedRVector;
+	for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		m_realBuf[6 + m_links[i].m_dofOffset + dof] = (btScalar)qdot[dof];
 }
 
-const btQuaternion & btMultiBody::getParentToLocalRot(int i) const
+const btVector3 &btMultiBody::getRVector(int i) const
 {
-    return m_links[i].m_cachedRotParentToThis;
+	return m_links[i].m_cachedRVector;
+}
+
+const btQuaternion &btMultiBody::getParentToLocalRot(int i) const
+{
+	return m_links[i].m_cachedRotParentToThis;
 }
 
 btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const
 {
-	btAssert(i>=-1);
-	btAssert(i<m_links.size());
-	if ((i<-1) || (i>=m_links.size()))
+	btAssert(i >= -1);
+	btAssert(i < m_links.size());
+	if ((i < -1) || (i >= m_links.size()))
 	{
-		return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
 	}
 
-    btVector3 result = local_pos;
-    while (i != -1) {
-        // 'result' is in frame i. transform it to frame parent(i)
-        result += getRVector(i);
-        result = quatRotate(getParentToLocalRot(i).inverse(),result);
-        i = getParent(i);
-    }
+	btVector3 result = local_pos;
+	while (i != -1)
+	{
+		// 'result' is in frame i. transform it to frame parent(i)
+		result += getRVector(i);
+		result = quatRotate(getParentToLocalRot(i).inverse(), result);
+		i = getParent(i);
+	}
 
-    // 'result' is now in the base frame. transform it to world frame
-    result = quatRotate(getWorldToBaseRot().inverse() ,result);
-    result += getBasePos();
+	// 'result' is now in the base frame. transform it to world frame
+	result = quatRotate(getWorldToBaseRot().inverse(), result);
+	result += getBasePos();
 
-    return result;
+	return result;
 }
 
 btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const
 {
-	btAssert(i>=-1);
-	btAssert(i<m_links.size());
-	if ((i<-1) || (i>=m_links.size()))
+	btAssert(i >= -1);
+	btAssert(i < m_links.size());
+	if ((i < -1) || (i >= m_links.size()))
 	{
-		return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
 	}
 
-    if (i == -1) {
-        // world to base
-        return quatRotate(getWorldToBaseRot(),(world_pos - getBasePos()));
-    } else {
-        // find position in parent frame, then transform to current frame
-        return quatRotate(getParentToLocalRot(i),worldPosToLocal(getParent(i), world_pos)) - getRVector(i);
-    }
+	if (i == -1)
+	{
+		// world to base
+		return quatRotate(getWorldToBaseRot(), (world_pos - getBasePos()));
+	}
+	else
+	{
+		// find position in parent frame, then transform to current frame
+		return quatRotate(getParentToLocalRot(i), worldPosToLocal(getParent(i), world_pos)) - getRVector(i);
+	}
 }
 
 btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const
 {
-	btAssert(i>=-1);
-	btAssert(i<m_links.size());
-	if ((i<-1) || (i>=m_links.size()))
+	btAssert(i >= -1);
+	btAssert(i < m_links.size());
+	if ((i < -1) || (i >= m_links.size()))
 	{
-		return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
 	}
 
-
-    btVector3 result = local_dir;
-    while (i != -1) {
-        result = quatRotate(getParentToLocalRot(i).inverse() , result);
-        i = getParent(i);
-    }
-    result = quatRotate(getWorldToBaseRot().inverse() , result);
-    return result;
+	btVector3 result = local_dir;
+	while (i != -1)
+	{
+		result = quatRotate(getParentToLocalRot(i).inverse(), result);
+		i = getParent(i);
+	}
+	result = quatRotate(getWorldToBaseRot().inverse(), result);
+	return result;
 }
 
 btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const
 {
-	btAssert(i>=-1);
-	btAssert(i<m_links.size());
-	if ((i<-1) || (i>=m_links.size()))
+	btAssert(i >= -1);
+	btAssert(i < m_links.size());
+	if ((i < -1) || (i >= m_links.size()))
 	{
-		return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+		return btVector3(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
 	}
 
-    if (i == -1) {
-        return quatRotate(getWorldToBaseRot(), world_dir);
-    } else {
-        return quatRotate(getParentToLocalRot(i) ,worldDirToLocal(getParent(i), world_dir));
-    }
+	if (i == -1)
+	{
+		return quatRotate(getWorldToBaseRot(), world_dir);
+	}
+	else
+	{
+		return quatRotate(getParentToLocalRot(i), worldDirToLocal(getParent(i), world_dir));
+	}
 }
 
 btMatrix3x3 btMultiBody::localFrameToWorld(int i, const btMatrix3x3 &local_frame) const
 {
-    btMatrix3x3 result = local_frame;
-    btVector3 frameInWorld0 = localDirToWorld(i, local_frame.getColumn(0));
-    btVector3 frameInWorld1 = localDirToWorld(i, local_frame.getColumn(1));
-    btVector3 frameInWorld2 = localDirToWorld(i, local_frame.getColumn(2));
-    result.setValue(frameInWorld0[0], frameInWorld1[0], frameInWorld2[0], frameInWorld0[1], frameInWorld1[1], frameInWorld2[1], frameInWorld0[2], frameInWorld1[2], frameInWorld2[2]);
-    return result;
+	btMatrix3x3 result = local_frame;
+	btVector3 frameInWorld0 = localDirToWorld(i, local_frame.getColumn(0));
+	btVector3 frameInWorld1 = localDirToWorld(i, local_frame.getColumn(1));
+	btVector3 frameInWorld2 = localDirToWorld(i, local_frame.getColumn(2));
+	result.setValue(frameInWorld0[0], frameInWorld1[0], frameInWorld2[0], frameInWorld0[1], frameInWorld1[1], frameInWorld2[1], frameInWorld0[2], frameInWorld1[2], frameInWorld2[2]);
+	return result;
 }
 
 void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
 {
 	int num_links = getNumLinks();
-    // Calculates the velocities of each link (and the base) in its local frame
-    omega[0] = quatRotate(m_baseQuat ,getBaseOmega());
-    vel[0] = quatRotate(m_baseQuat ,getBaseVel());
-    
-    for (int i = 0; i < num_links; ++i) 
+	// Calculates the velocities of each link (and the base) in its local frame
+	const btQuaternion& base_rot = getWorldToBaseRot();
+	omega[0] = quatRotate(base_rot, getBaseOmega());
+	vel[0] = quatRotate(base_rot, getBaseVel());
+
+	for (int i = 0; i < num_links; ++i)
 	{
-        const int parent = m_links[i].m_parent;
+		const btMultibodyLink& link = getLink(i);
+		const int parent = link.m_parent;
 
-        // transform parent vel into this frame, store in omega[i+1], vel[i+1]
-        SpatialTransform(btMatrix3x3(m_links[i].m_cachedRotParentToThis), m_links[i].m_cachedRVector,
-                         omega[parent+1], vel[parent+1],
-                         omega[i+1], vel[i+1]);
+		// transform parent vel into this frame, store in omega[i+1], vel[i+1]
+		spatialTransform(btMatrix3x3(link.m_cachedRotParentToThis), link.m_cachedRVector,
+			omega[parent + 1], vel[parent + 1],
+			omega[i + 1], vel[i + 1]);
 
-        // now add qidot * shat_i
-		//only supported for revolute/prismatic joints, todo: spherical and planar joints
-		switch(m_links[i].m_jointType)
+		// now add qidot * shat_i
+		const btScalar* jointVel = getJointVelMultiDof(i);
+		for (int dof = 0; dof < link.m_dofCount; ++dof)
 		{
-			case btMultibodyLink::ePrismatic:
-			case btMultibodyLink::eRevolute:
-			{
-				btVector3 axisTop = m_links[i].getAxisTop(0);
-				btVector3 axisBottom = m_links[i].getAxisBottom(0);
-				btScalar jointVel = getJointVel(i);
-				omega[i+1] += jointVel * axisTop;
-				vel[i+1] += jointVel * axisBottom;
-				break;
-			}
-			default:
-			{
-			}
+			omega[i + 1] += jointVel[dof] * link.getAxisTop(dof);
+			vel[i + 1] += jointVel[dof] * link.getAxisBottom(dof);
 		}
 	}
 }
@@ -560,41 +572,48 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
 btScalar btMultiBody::getKineticEnergy() const
 {
 	int num_links = getNumLinks();
-    // TODO: would be better not to allocate memory here
-    btAlignedObjectArray<btVector3> omega;omega.resize(num_links+1);
-	btAlignedObjectArray<btVector3> vel;vel.resize(num_links+1);
-    compTreeLinkVelocities(&omega[0], &vel[0]);
-
-    // we will do the factor of 0.5 at the end
-    btScalar result = m_baseMass * vel[0].dot(vel[0]);
-    result += omega[0].dot(m_baseInertia * omega[0]);
-    
-    for (int i = 0; i < num_links; ++i) {
-        result += m_links[i].m_mass * vel[i+1].dot(vel[i+1]);
-        result += omega[i+1].dot(m_links[i].m_inertiaLocal * omega[i+1]);
-    }
+	// TODO: would be better not to allocate memory here
+	btAlignedObjectArray<btVector3> omega;
+	omega.resize(num_links + 1);
+	btAlignedObjectArray<btVector3> vel;
+	vel.resize(num_links + 1);
+	compTreeLinkVelocities(&omega[0], &vel[0]);
+
+	// we will do the factor of 0.5 at the end
+	btScalar result = m_baseMass * vel[0].dot(vel[0]);
+	result += omega[0].dot(m_baseInertia * omega[0]);
+
+	for (int i = 0; i < num_links; ++i)
+	{
+		result += m_links[i].m_mass * vel[i + 1].dot(vel[i + 1]);
+		result += omega[i + 1].dot(m_links[i].m_inertiaLocal * omega[i + 1]);
+	}
 
-    return 0.5f * result;
+	return 0.5f * result;
 }
 
 btVector3 btMultiBody::getAngularMomentum() const
 {
 	int num_links = getNumLinks();
-    // TODO: would be better not to allocate memory here
-    btAlignedObjectArray<btVector3> omega;omega.resize(num_links+1);
-	btAlignedObjectArray<btVector3> vel;vel.resize(num_links+1);
-    btAlignedObjectArray<btQuaternion> rot_from_world;rot_from_world.resize(num_links+1);
-    compTreeLinkVelocities(&omega[0], &vel[0]);
-
-    rot_from_world[0] = m_baseQuat;
-    btVector3 result = quatRotate(rot_from_world[0].inverse() , (m_baseInertia * omega[0]));
-
-    for (int i = 0; i < num_links; ++i) {
-        rot_from_world[i+1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent+1];
-        result += (quatRotate(rot_from_world[i+1].inverse() , (m_links[i].m_inertiaLocal * omega[i+1])));
-    }
+	// TODO: would be better not to allocate memory here
+	btAlignedObjectArray<btVector3> omega;
+	omega.resize(num_links + 1);
+	btAlignedObjectArray<btVector3> vel;
+	vel.resize(num_links + 1);
+	btAlignedObjectArray<btQuaternion> rot_from_world;
+	rot_from_world.resize(num_links + 1);
+	compTreeLinkVelocities(&omega[0], &vel[0]);
+
+	rot_from_world[0] = m_baseQuat;
+	btVector3 result = quatRotate(rot_from_world[0].inverse(), (m_baseInertia * omega[0]));
+
+	for (int i = 0; i < num_links; ++i)
+	{
+		rot_from_world[i + 1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent + 1];
+		result += (quatRotate(rot_from_world[i + 1].inverse(), (m_links[i].m_inertiaLocal * omega[i + 1])));
+	}
 
-    return result;
+	return result;
 }
 
 void btMultiBody::clearConstraintForces()
@@ -602,57 +621,55 @@ void btMultiBody::clearConstraintForces()
 	m_baseConstraintForce.setValue(0, 0, 0);
 	m_baseConstraintTorque.setValue(0, 0, 0);
 
-
-    for (int i = 0; i < getNumLinks(); ++i) {
-        m_links[i].m_appliedConstraintForce.setValue(0, 0, 0);
-        m_links[i].m_appliedConstraintTorque.setValue(0, 0, 0);
-    }
+	for (int i = 0; i < getNumLinks(); ++i)
+	{
+		m_links[i].m_appliedConstraintForce.setValue(0, 0, 0);
+		m_links[i].m_appliedConstraintTorque.setValue(0, 0, 0);
+	}
 }
 void btMultiBody::clearForcesAndTorques()
 {
-    m_baseForce.setValue(0, 0, 0);
-    m_baseTorque.setValue(0, 0, 0);
+	m_baseForce.setValue(0, 0, 0);
+	m_baseTorque.setValue(0, 0, 0);
 
-	
-    for (int i = 0; i < getNumLinks(); ++i) {
-        m_links[i].m_appliedForce.setValue(0, 0, 0);
-        m_links[i].m_appliedTorque.setValue(0, 0, 0);
+	for (int i = 0; i < getNumLinks(); ++i)
+	{
+		m_links[i].m_appliedForce.setValue(0, 0, 0);
+		m_links[i].m_appliedTorque.setValue(0, 0, 0);
 		m_links[i].m_jointTorque[0] = m_links[i].m_jointTorque[1] = m_links[i].m_jointTorque[2] = m_links[i].m_jointTorque[3] = m_links[i].m_jointTorque[4] = m_links[i].m_jointTorque[5] = 0.f;
-    }
+	}
 }
 
 void btMultiBody::clearVelocities()
 {
-	for (int i = 0; i < 6 + getNumDofs(); ++i) 
+	for (int i = 0; i < 6 + getNumDofs(); ++i)
 	{
 		m_realBuf[i] = 0.f;
 	}
 }
 void btMultiBody::addLinkForce(int i, const btVector3 &f)
 {
-    m_links[i].m_appliedForce += f;
+	m_links[i].m_appliedForce += f;
 }
 
 void btMultiBody::addLinkTorque(int i, const btVector3 &t)
 {
-    m_links[i].m_appliedTorque += t;
+	m_links[i].m_appliedTorque += t;
 }
 
 void btMultiBody::addLinkConstraintForce(int i, const btVector3 &f)
 {
-    m_links[i].m_appliedConstraintForce += f;
+	m_links[i].m_appliedConstraintForce += f;
 }
 
 void btMultiBody::addLinkConstraintTorque(int i, const btVector3 &t)
 {
-    m_links[i].m_appliedConstraintTorque += t;
+	m_links[i].m_appliedConstraintTorque += t;
 }
 
-
-
 void btMultiBody::addJointTorque(int i, btScalar Q)
 {
-    m_links[i].m_jointTorque[0] += Q;
+	m_links[i].m_jointTorque[0] += Q;
 }
 
 void btMultiBody::addJointTorqueMultiDof(int i, int dof, btScalar Q)
@@ -662,70 +679,72 @@ void btMultiBody::addJointTorqueMultiDof(int i, int dof, btScalar Q)
 
 void btMultiBody::addJointTorqueMultiDof(int i, const btScalar *Q)
 {
-	for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+	for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		m_links[i].m_jointTorque[dof] = Q[dof];
 }
 
-const btVector3 & btMultiBody::getLinkForce(int i) const
+const btVector3 &btMultiBody::getLinkForce(int i) const
 {
-    return m_links[i].m_appliedForce;
+	return m_links[i].m_appliedForce;
 }
 
-const btVector3 & btMultiBody::getLinkTorque(int i) const
+const btVector3 &btMultiBody::getLinkTorque(int i) const
 {
-    return m_links[i].m_appliedTorque;
+	return m_links[i].m_appliedTorque;
 }
 
 btScalar btMultiBody::getJointTorque(int i) const
 {
-    return m_links[i].m_jointTorque[0];
+	return m_links[i].m_jointTorque[0];
 }
 
-btScalar * btMultiBody::getJointTorqueMultiDof(int i)
+btScalar *btMultiBody::getJointTorqueMultiDof(int i)
 {
-    return &m_links[i].m_jointTorque[0];
+	return &m_links[i].m_jointTorque[0];
 }
 
-inline btMatrix3x3 outerProduct(const btVector3& v0, const btVector3& v1)				//renamed it from vecMulVecTranspose (http://en.wikipedia.org/wiki/Outer_product); maybe it should be moved to btVector3 like dot and cross?
-{
-		btVector3 row0 = btVector3( 
-			v0.x() * v1.x(),
-			v0.x() * v1.y(),
-			v0.x() * v1.z());
-		btVector3 row1 = btVector3( 
-			v0.y() * v1.x(),
-			v0.y() * v1.y(),
-			v0.y() * v1.z());
-		btVector3 row2 = btVector3( 
-			v0.z() * v1.x(),
-			v0.z() * v1.y(),
-			v0.z() * v1.z());
-
-        btMatrix3x3 m(row0[0],row0[1],row0[2],
-						row1[0],row1[1],row1[2],
-						row2[0],row2[1],row2[2]);
-		return m;
+inline btMatrix3x3 outerProduct(const btVector3 &v0, const btVector3 &v1)  //renamed it from vecMulVecTranspose (http://en.wikipedia.org/wiki/Outer_product); maybe it should be moved to btVector3 like dot and cross?
+{
+	btVector3 row0 = btVector3(
+		v0.x() * v1.x(),
+		v0.x() * v1.y(),
+		v0.x() * v1.z());
+	btVector3 row1 = btVector3(
+		v0.y() * v1.x(),
+		v0.y() * v1.y(),
+		v0.y() * v1.z());
+	btVector3 row2 = btVector3(
+		v0.z() * v1.x(),
+		v0.z() * v1.y(),
+		v0.z() * v1.z());
+
+	btMatrix3x3 m(row0[0], row0[1], row0[2],
+				  row1[0], row1[1], row1[2],
+				  row2[0], row2[1], row2[2]);
+	return m;
 }
 
 #define vecMulVecTranspose(v0, v1Transposed) outerProduct(v0, v1Transposed)
 //
 
 void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
-                               btAlignedObjectArray<btScalar> &scratch_r,
-                               btAlignedObjectArray<btVector3> &scratch_v,
-                               btAlignedObjectArray<btMatrix3x3> &scratch_m,
-				bool isConstraintPass)
+    btAlignedObjectArray<btScalar> &scratch_r,
+    btAlignedObjectArray<btVector3> &scratch_v,
+    btAlignedObjectArray<btMatrix3x3> &scratch_m,
+	bool isConstraintPass,
+	bool jointFeedbackInWorldSpace,
+	bool jointFeedbackInJointFrame)
 {
-    // Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot)
-    // and the base linear & angular accelerations.
+	// Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot)
+	// and the base linear & angular accelerations.
 
-    // We apply damping forces in this routine as well as any external forces specified by the 
-    // caller (via addBaseForce etc).
+	// We apply damping forces in this routine as well as any external forces specified by the
+	// caller (via addBaseForce etc).
+
+	// output should point to an array of 6 + num_links reals.
+	// Format is: 3 angular accelerations (in world frame), 3 linear accelerations (in world frame),
+	// num_links joint acceleration values.
 
-    // output should point to an array of 6 + num_links reals.
-    // Format is: 3 angular accelerations (in world frame), 3 linear accelerations (in world frame),
-    // num_links joint acceleration values.
-    
 	// We added support for multi degree of freedom (multi dof) joints.
 	// In addition we also can compute the joint reaction forces. This is performed in a second pass,
 	// so that we can include the effect of the constraint solver forces (computed in the PGS LCP solver)
@@ -734,96 +753,96 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 
 	int num_links = getNumLinks();
 
-    const btScalar DAMPING_K1_LINEAR = m_linearDamping;
+	const btScalar DAMPING_K1_LINEAR = m_linearDamping;
 	const btScalar DAMPING_K2_LINEAR = m_linearDamping;
 
 	const btScalar DAMPING_K1_ANGULAR = m_angularDamping;
-	const btScalar DAMPING_K2_ANGULAR= m_angularDamping;
+	const btScalar DAMPING_K2_ANGULAR = m_angularDamping;
 
-    btVector3 base_vel = getBaseVel();
-    btVector3 base_omega = getBaseOmega();
+	const btVector3 base_vel = getBaseVel();
+	const btVector3 base_omega = getBaseOmega();
 
-    // Temporary matrices/vectors -- use scratch space from caller
-    // so that we don't have to keep reallocating every frame
+	// Temporary matrices/vectors -- use scratch space from caller
+	// so that we don't have to keep reallocating every frame
 
-    scratch_r.resize(2*m_dofCount + 6);				//multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
-    scratch_v.resize(8*num_links + 6);
-    scratch_m.resize(4*num_links + 4);
+	scratch_r.resize(2 * m_dofCount + 7);  //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
+	scratch_v.resize(8 * num_links + 6);
+	scratch_m.resize(4 * num_links + 4);
 
 	//btScalar * r_ptr = &scratch_r[0];
-    btScalar * output = &scratch_r[m_dofCount];  // "output" holds the q_double_dot results
-    btVector3 * v_ptr = &scratch_v[0];
-    
-    // vhat_i  (top = angular, bottom = linear part)	
+	btScalar *output = &scratch_r[m_dofCount];  // "output" holds the q_double_dot results
+	btVector3 *v_ptr = &scratch_v[0];
+
+	// vhat_i  (top = angular, bottom = linear part)
 	btSpatialMotionVector *spatVel = (btSpatialMotionVector *)v_ptr;
 	v_ptr += num_links * 2 + 2;
 	//
-    // zhat_i^A    
-	btSpatialForceVector * zeroAccSpatFrc = (btSpatialForceVector *)v_ptr;
+	// zhat_i^A
+	btSpatialForceVector *zeroAccSpatFrc = (btSpatialForceVector *)v_ptr;
 	v_ptr += num_links * 2 + 2;
 	//
-    // chat_i  (note NOT defined for the base)    
-	btSpatialMotionVector * spatCoriolisAcc = (btSpatialMotionVector *)v_ptr;
+	// chat_i  (note NOT defined for the base)
+	btSpatialMotionVector *spatCoriolisAcc = (btSpatialMotionVector *)v_ptr;
 	v_ptr += num_links * 2;
 	//
-    // Ihat_i^A.    
-	btSymmetricSpatialDyad * spatInertia = (btSymmetricSpatialDyad *)&scratch_m[num_links + 1];
+	// Ihat_i^A.
+	btSymmetricSpatialDyad *spatInertia = (btSymmetricSpatialDyad *)&scratch_m[num_links + 1];
 
-    // Cached 3x3 rotation matrices from parent frame to this frame.
-    btMatrix3x3 * rot_from_parent = &m_matrixBuf[0];
-    btMatrix3x3 * rot_from_world = &scratch_m[0];
+	// Cached 3x3 rotation matrices from parent frame to this frame.
+	btMatrix3x3 *rot_from_parent = &m_matrixBuf[0];
+	btMatrix3x3 *rot_from_world = &scratch_m[0];
 
-    // hhat_i, ahat_i
-    // hhat is NOT stored for the base (but ahat is)    
-	btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
-	btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr;
+	// hhat_i, ahat_i
+	// hhat is NOT stored for the base (but ahat is)
+	btSpatialForceVector *h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
+	btSpatialMotionVector *spatAcc = (btSpatialMotionVector *)v_ptr;
 	v_ptr += num_links * 2 + 2;
 	//
-    // Y_i, invD_i
-    btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
-	btScalar * Y = &scratch_r[0];
+	// Y_i, invD_i
+	btScalar *invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
+	btScalar *Y = &scratch_r[0];
 	//
-	//aux variables	
-	btSpatialMotionVector spatJointVel;					//spatial velocity due to the joint motion (i.e. without predecessors' influence)
-	btScalar D[36];										//"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do	
-	btScalar invD_times_Y[6];							//D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies	
-	btSpatialMotionVector result;							//holds results of the SolveImatrix op; it is a spatial motion vector (accel)
-	btScalar Y_minus_hT_a[6];							//Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough	
-	btSpatialForceVector spatForceVecTemps[6];				//6 temporary spatial force vectors
-	btSpatialTransformationMatrix fromParent;				//spatial transform from parent to child
-	btSymmetricSpatialDyad dyadTemp;						//inertia matrix temp
+	//aux variables
+	btSpatialMotionVector spatJointVel;         //spatial velocity due to the joint motion (i.e. without predecessors' influence)
+	btScalar D[36];                             //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do
+	btScalar invD_times_Y[6];                   //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
+	btSpatialMotionVector result;               //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
+	btScalar Y_minus_hT_a[6];                   //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
+	btSpatialForceVector spatForceVecTemps[6];  //6 temporary spatial force vectors
+	btSpatialTransformationMatrix fromParent;   //spatial transform from parent to child
+	btSymmetricSpatialDyad dyadTemp;            //inertia matrix temp
 	btSpatialTransformationMatrix fromWorld;
 	fromWorld.m_trnVec.setZero();
 	/////////////////
 
-    // ptr to the joint accel part of the output
-    btScalar * joint_accel = output + 6;
+	// ptr to the joint accel part of the output
+	btScalar *joint_accel = output + 6;
 
-    // Start of the algorithm proper.
-    
-    // First 'upward' loop.
-    // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich.
+	// Start of the algorithm proper.
+
+	// First 'upward' loop.
+	// Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich.
 
-    rot_from_parent[0] = btMatrix3x3(m_baseQuat);				//m_baseQuat assumed to be alias!?
+	rot_from_parent[0] = btMatrix3x3(m_baseQuat);  //m_baseQuat assumed to be alias!?
 
 	//create the vector of spatial velocity of the base by transforming global-coor linear and angular velocities into base-local coordinates
 	spatVel[0].setVector(rot_from_parent[0] * base_omega, rot_from_parent[0] * base_vel);
 
-    if (m_fixedBase) 
-	{        
+	if (m_fixedBase)
+	{
 		zeroAccSpatFrc[0].setZero();
-    }
-	else 
+	}
+	else
 	{
-		btVector3 baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce;
-		btVector3 baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque;
-		//external forces		
-		zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce));	
+		const btVector3 &baseForce = isConstraintPass ? m_baseConstraintForce : m_baseForce;
+		const btVector3 &baseTorque = isConstraintPass ? m_baseConstraintTorque : m_baseTorque;
+		//external forces
+		zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce));
 
 		//adding damping terms (only)
-		btScalar linDampMult = 1., angDampMult = 1.;
+		const btScalar linDampMult = 1., angDampMult = 1.;
 		zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()),
-								   linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm()));
+									linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm()));
 
 		//
 		//p += vhat x Ihat vhat - done in a simpler way
@@ -831,67 +850,66 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 			zeroAccSpatFrc[0].addAngular(spatVel[0].getAngular().cross(m_baseInertia * spatVel[0].getAngular()));
 		//
 		zeroAccSpatFrc[0].addLinear(m_baseMass * spatVel[0].getAngular().cross(spatVel[0].getLinear()));
-    }
-
+	}
 
 	//init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs)
-	spatInertia[0].setMatrix(	btMatrix3x3(0,0,0,0,0,0,0,0,0),
-								//
-								btMatrix3x3(m_baseMass, 0, 0,
-											0, m_baseMass, 0,
-											0, 0, m_baseMass),
-								//
-								btMatrix3x3(m_baseInertia[0], 0, 0,
-											0, m_baseInertia[1], 0,
-											0, 0, m_baseInertia[2])
-							);
-
-    rot_from_world[0] = rot_from_parent[0];
+	spatInertia[0].setMatrix(btMatrix3x3(0, 0, 0, 0, 0, 0, 0, 0, 0),
+							 //
+							 btMatrix3x3(m_baseMass, 0, 0,
+										 0, m_baseMass, 0,
+										 0, 0, m_baseMass),
+							 //
+							 btMatrix3x3(m_baseInertia[0], 0, 0,
+										 0, m_baseInertia[1], 0,
+										 0, 0, m_baseInertia[2]));
+
+	rot_from_world[0] = rot_from_parent[0];
 
 	//
-    for (int i = 0; i < num_links; ++i) {		
-        const int parent = m_links[i].m_parent;
-        rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);
-        rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1];
+	for (int i = 0; i < num_links; ++i)
+	{
+		const int parent = m_links[i].m_parent;
+		rot_from_parent[i + 1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);
+		rot_from_world[i + 1] = rot_from_parent[i + 1] * rot_from_world[parent + 1];
 
-		fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector;
-		fromWorld.m_rotMat = rot_from_world[i+1];
-		fromParent.transform(spatVel[parent+1], spatVel[i+1]);
+		fromParent.m_rotMat = rot_from_parent[i + 1];
+		fromParent.m_trnVec = m_links[i].m_cachedRVector;
+		fromWorld.m_rotMat = rot_from_world[i + 1];
+		fromParent.transform(spatVel[parent + 1], spatVel[i + 1]);
 
 		// now set vhat_i to its true value by doing
-        // vhat_i += qidot * shat_i			
-		if(!m_useGlobalVelocities)
+		// vhat_i += qidot * shat_i
+		if (!m_useGlobalVelocities)
 		{
 			spatJointVel.setZero();
 
-			for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)		
+			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 				spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof];
 
 			// remember vhat_i is really vhat_p(i) (but in current frame) at this point	=> we need to add velocity across the inboard joint
-			spatVel[i+1] += spatJointVel;
+			spatVel[i + 1] += spatJointVel;
 
 			//
 			// vhat_i is vhat_p(i) transformed to local coors + the velocity across the i-th inboard joint
 			//spatVel[i+1] = fromParent * spatVel[parent+1] + spatJointVel;
-
 		}
 		else
 		{
-			fromWorld.transformRotationOnly(m_links[i].m_absFrameTotVelocity, spatVel[i+1]);
+			fromWorld.transformRotationOnly(m_links[i].m_absFrameTotVelocity, spatVel[i + 1]);
 			fromWorld.transformRotationOnly(m_links[i].m_absFrameLocVelocity, spatJointVel);
 		}
 
-		// we can now calculate chat_i 		
-		spatVel[i+1].cross(spatJointVel, spatCoriolisAcc[i]);		
+		// we can now calculate chat_i
+		spatVel[i + 1].cross(spatJointVel, spatCoriolisAcc[i]);
 
-        // calculate zhat_i^A
+		// calculate zhat_i^A
 		//
-		//external forces		
-		btVector3 linkAppliedForce = isConstraintPass? m_links[i].m_appliedConstraintForce : m_links[i].m_appliedForce;
-		btVector3 linkAppliedTorque =isConstraintPass ? m_links[i].m_appliedConstraintTorque : m_links[i].m_appliedTorque;
- 
-		zeroAccSpatFrc[i+1].setVector(-(rot_from_world[i+1] * linkAppliedTorque), -(rot_from_world[i+1] * linkAppliedForce ));
-	
+		//external forces
+		btVector3 linkAppliedForce = isConstraintPass ? m_links[i].m_appliedConstraintForce : m_links[i].m_appliedForce;
+		btVector3 linkAppliedTorque = isConstraintPass ? m_links[i].m_appliedConstraintTorque : m_links[i].m_appliedTorque;
+
+		zeroAccSpatFrc[i + 1].setVector(-(rot_from_world[i + 1] * linkAppliedTorque), -(rot_from_world[i + 1] * linkAppliedForce));
+
 #if 0	
 		{
 
@@ -909,27 +927,26 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 		//
 		//adding damping terms (only)
 		btScalar linDampMult = 1., angDampMult = 1.;
-		zeroAccSpatFrc[i+1].addVector(angDampMult * m_links[i].m_inertiaLocal * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().safeNorm()),
-									 linDampMult * m_links[i].m_mass * spatVel[i+1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i+1].getLinear().safeNorm()));
-		
-        // calculate Ihat_i^A
+		zeroAccSpatFrc[i + 1].addVector(angDampMult * m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i + 1].getAngular().safeNorm()),
+										linDampMult * m_links[i].m_mass * spatVel[i + 1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i + 1].getLinear().safeNorm()));
+
+		// calculate Ihat_i^A
 		//init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs)
-		spatInertia[i+1].setMatrix(	btMatrix3x3(0,0,0,0,0,0,0,0,0),
-									//
-									btMatrix3x3(m_links[i].m_mass, 0, 0,
-												0, m_links[i].m_mass, 0,
-												0, 0, m_links[i].m_mass),
-									//
-									btMatrix3x3(m_links[i].m_inertiaLocal[0], 0, 0,
-												0, m_links[i].m_inertiaLocal[1], 0,
-												0, 0, m_links[i].m_inertiaLocal[2])
-								);
+		spatInertia[i + 1].setMatrix(btMatrix3x3(0, 0, 0, 0, 0, 0, 0, 0, 0),
+									 //
+									 btMatrix3x3(m_links[i].m_mass, 0, 0,
+												 0, m_links[i].m_mass, 0,
+												 0, 0, m_links[i].m_mass),
+									 //
+									 btMatrix3x3(m_links[i].m_inertiaLocal[0], 0, 0,
+												 0, m_links[i].m_inertiaLocal[1], 0,
+												 0, 0, m_links[i].m_inertiaLocal[2]));
 		//
 		//p += vhat x Ihat vhat - done in a simpler way
-		if(m_useGyroTerm)
-			zeroAccSpatFrc[i+1].addAngular(spatVel[i+1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i+1].getAngular()));			
-		//		
-		zeroAccSpatFrc[i+1].addLinear(m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear()));
+		if (m_useGyroTerm)
+			zeroAccSpatFrc[i + 1].addAngular(spatVel[i + 1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular()));
+		//
+		zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear()));
 		//btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());
 		////clamp parent's omega
 		//btScalar parOmegaMod = temp.length();
@@ -940,63 +957,65 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 		//printf("|zeroAccSpatFrc[%d]| = %.4f\n", i+1, temp.length());
 		//temp = spatCoriolisAcc[i].getLinear();
 		//printf("|spatCoriolisAcc[%d]| = %.4f\n", i+1, temp.length());
-		
-		
 
 		//printf("w[%d] = [%.4f %.4f %.4f]\n", i, vel_top_angular[i+1].x(), vel_top_angular[i+1].y(), vel_top_angular[i+1].z());
-		//printf("v[%d] = [%.4f %.4f %.4f]\n", i, vel_bottom_linear[i+1].x(), vel_bottom_linear[i+1].y(), vel_bottom_linear[i+1].z());		
+		//printf("v[%d] = [%.4f %.4f %.4f]\n", i, vel_bottom_linear[i+1].x(), vel_bottom_linear[i+1].y(), vel_bottom_linear[i+1].z());
 		//printf("c[%d] = [%.4f %.4f %.4f]\n", i, coriolis_bottom_linear[i].x(), coriolis_bottom_linear[i].y(), coriolis_bottom_linear[i].z());
-    }
-	
-    // 'Downward' loop.
-    // (part of TreeForwardDynamics in Mirtich.)
-    for (int i = num_links - 1; i >= 0; --i)
+	}
+
+	// 'Downward' loop.
+	// (part of TreeForwardDynamics in Mirtich.)
+	for (int i = num_links - 1; i >= 0; --i)
 	{
 		const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector;
+		fromParent.m_rotMat = rot_from_parent[i + 1];
+		fromParent.m_trnVec = m_links[i].m_cachedRVector;
 
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
 			btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
 			//
-			hDof = spatInertia[i+1] * m_links[i].m_axes[dof];
+			hDof = spatInertia[i + 1] * m_links[i].m_axes[dof];
 			//
-			Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof]
-			- m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
-			- spatCoriolisAcc[i].dot(hDof)
-			;
+			Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i + 1]) - spatCoriolisAcc[i].dot(hDof);
 		}
-
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
-			btScalar *D_row = &D[dof * m_links[i].m_dofCount];			
-			for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
+			btScalar *D_row = &D[dof * m_links[i].m_dofCount];
+			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
 			{
-				btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
+				const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
 				D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2);
 			}
 		}
 
-        btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset];
-		switch(m_links[i].m_jointType)
+		btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
+		switch (m_links[i].m_jointType)
 		{
 			case btMultibodyLink::ePrismatic:
 			case btMultibodyLink::eRevolute:
 			{
-				invDi[0] = 1.0f / D[0];
+				if (D[0] >= SIMD_EPSILON)
+				{
+					invDi[0] = 1.0f / D[0];
+				}
+				else
+				{
+					invDi[0] = 0;
+				}
 				break;
 			}
 			case btMultibodyLink::eSpherical:
 			case btMultibodyLink::ePlanar:
 			{
-				btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
-				btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse();
+				const btMatrix3x3 D3x3(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
+				const btMatrix3x3 invD3x3(D3x3.inverse());
 
 				//unroll the loop?
-				for(int row = 0; row < 3; ++row)
+				for (int row = 0; row < 3; ++row)
 				{
-					for(int col = 0; col < 3; ++col)
-					{						
+					for (int col = 0; col < 3; ++col)
+					{
 						invDi[row * 3 + col] = invD3x3[row][col];
 					}
 				}
@@ -1005,86 +1024,82 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 			}
 			default:
 			{
-			
 			}
 		}
 
 		//determine h*D^{-1}
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
 			spatForceVecTemps[dof].setZero();
 
-			for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
-			{				
-				btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
-				//				
+			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
+			{
+				const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
+				//
 				spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof];
 			}
 		}
 
-		dyadTemp = spatInertia[i+1];
+		dyadTemp = spatInertia[i + 1];
 
 		//determine (h*D^{-1}) * h^{T}
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{			
-			btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		{
+			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
 			//
 			dyadTemp -= symmetricSpatialOuterProduct(hDof, spatForceVecTemps[dof]);
 		}
 
-		fromParent.transformInverse(dyadTemp, spatInertia[parent+1], btSpatialTransformationMatrix::Add);
-        
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		fromParent.transformInverse(dyadTemp, spatInertia[parent + 1], btSpatialTransformationMatrix::Add);
+
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
 			invD_times_Y[dof] = 0.f;
 
-			for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
+			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
 			{
-				invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2];				
-			}	
+				invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2];
+			}
 		}
-		
-		spatForceVecTemps[0] = zeroAccSpatFrc[i+1] + spatInertia[i+1] * spatCoriolisAcc[i];		
 
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		{				
-			btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
+		spatForceVecTemps[0] = zeroAccSpatFrc[i + 1] + spatInertia[i + 1] * spatCoriolisAcc[i];
+
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		{
+			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
 			//
-			spatForceVecTemps[0] += hDof * invD_times_Y[dof];			
+			spatForceVecTemps[0] += hDof * invD_times_Y[dof];
 		}
-		
+
 		fromParent.transformInverse(spatForceVecTemps[0], spatForceVecTemps[1]);
-		
-		zeroAccSpatFrc[parent+1] += spatForceVecTemps[1];
-    }
 
+		zeroAccSpatFrc[parent + 1] += spatForceVecTemps[1];
+	}
 
-    // Second 'upward' loop
-    // (part of TreeForwardDynamics in Mirtich)
+	// Second 'upward' loop
+	// (part of TreeForwardDynamics in Mirtich)
 
-    if (m_fixedBase) 
+	if (m_fixedBase)
 	{
-        spatAcc[0].setZero();
-    } 
-	else 
+		spatAcc[0].setZero();
+	}
+	else
 	{
-        if (num_links > 0) 
+		if (num_links > 0)
 		{
 			m_cachedInertiaValid = true;
 			m_cachedInertiaTopLeft = spatInertia[0].m_topLeftMat;
 			m_cachedInertiaTopRight = spatInertia[0].m_topRightMat;
 			m_cachedInertiaLowerLeft = spatInertia[0].m_bottomLeftMat;
-			m_cachedInertiaLowerRight= spatInertia[0].m_topLeftMat.transpose();
+			m_cachedInertiaLowerRight = spatInertia[0].m_topLeftMat.transpose();
+		}
 
-        }		
-		
 		solveImatrix(zeroAccSpatFrc[0], result);
 		spatAcc[0] = -result;
-    }
-	
-	
-    // now do the loop over the m_links
-    for (int i = 0; i < num_links; ++i) 
+	}
+
+	// now do the loop over the m_links
+	for (int i = 0; i < num_links; ++i)
 	{
 		//	qdd = D^{-1} * (Y - h^{T}*apar) = (S^{T}*I*S)^{-1} * (tau - S^{T}*I*cor - S^{T}*zeroAccFrc - S^{T}*I*apar)
 		//	a = apar + cor + Sqdd
@@ -1092,79 +1107,79 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 		//	qdd = D^{-1} * (Y - h^{T}*(apar+cor))
 		//	a = apar + Sqdd
 
-        const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector;
+		const int parent = m_links[i].m_parent;
+		fromParent.m_rotMat = rot_from_parent[i + 1];
+		fromParent.m_trnVec = m_links[i].m_cachedRVector;
+
+		fromParent.transform(spatAcc[parent + 1], spatAcc[i + 1]);
 
-		fromParent.transform(spatAcc[parent+1], spatAcc[i+1]);
-		
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
-			btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//			
-			Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof);			
+			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
+			//
+			Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i + 1].dot(hDof);
 		}
 
-		btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset];
+		btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
 		//D^{-1} * (Y - h^{T}*apar)
 		mulMatrix(invDi, Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]);
 
-		spatAcc[i+1] += spatCoriolisAcc[i];		
+		spatAcc[i + 1] += spatCoriolisAcc[i];
 
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)		
-			spatAcc[i+1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof];
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+			spatAcc[i + 1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof];
 
 		if (m_links[i].m_jointFeedback)
 		{
 			m_internalNeedsJointFeedback = true;
 
-			btVector3 angularBotVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_bottomVec;
-			btVector3 linearTopVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_topVec;
+			btVector3 angularBotVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_bottomVec;
+			btVector3 linearTopVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_topVec;
 
-			if (gJointFeedbackInJointFrame)
+			if (jointFeedbackInJointFrame)
 			{
 				//shift the reaction forces to the joint frame
 				//linear (force) component is the same
 				//shift the angular (torque, moment) component using the relative position,  m_links[i].m_dVector
-				 angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector);
+				angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector);
 			}
-			
 
-			if (gJointFeedbackInWorldSpace)
+			if (jointFeedbackInWorldSpace)
 			{
 				if (isConstraintPass)
 				{
- m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += m_links[i].m_cachedWorldTransform.getBasis()*angularBotVec;
-                                        m_links[i].m_jointFeedback->m_reactionForces.m_topVec += m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec;
-				} else
+					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += m_links[i].m_cachedWorldTransform.getBasis() * angularBotVec;
+					m_links[i].m_jointFeedback->m_reactionForces.m_topVec += m_links[i].m_cachedWorldTransform.getBasis() * linearTopVec;
+				}
+				else
 				{
-					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = m_links[i].m_cachedWorldTransform.getBasis()*angularBotVec;
-					m_links[i].m_jointFeedback->m_reactionForces.m_topVec = m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec;
+					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = m_links[i].m_cachedWorldTransform.getBasis() * angularBotVec;
+					m_links[i].m_jointFeedback->m_reactionForces.m_topVec = m_links[i].m_cachedWorldTransform.getBasis() * linearTopVec;
 				}
-			} else
+			}
+			else
 			{
 				if (isConstraintPass)
 				{
-					  m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += angularBotVec;                        
-                                m_links[i].m_jointFeedback->m_reactionForces.m_topVec += linearTopVec;
-
+					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec += angularBotVec;
+					m_links[i].m_jointFeedback->m_reactionForces.m_topVec += linearTopVec;
 				}
 				else
 				{
-				m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = angularBotVec;
-				m_links[i].m_jointFeedback->m_reactionForces.m_topVec = linearTopVec;
-				}		
-			}	
+					m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = angularBotVec;
+					m_links[i].m_jointFeedback->m_reactionForces.m_topVec = linearTopVec;
+				}
+			}
+		}
 	}
 
-    }
-
-    // transform base accelerations back to the world frame.
-    btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
+	// transform base accelerations back to the world frame.
+	const btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
 	output[0] = omegadot_out[0];
 	output[1] = omegadot_out[1];
 	output[2] = omegadot_out[2];
 
-    btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear()));
+	const btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear()));
 	output[3] = vdot_out[0];
 	output[4] = vdot_out[1];
 	output[5] = vdot_out[2];
@@ -1187,26 +1202,25 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 	//printf("]\n");
 	/////////////////
 
-    // Final step: add the accelerations (times dt) to the velocities.
+	// Final step: add the accelerations (times dt) to the velocities.
 
 	if (!isConstraintPass)
 	{
-	if(dt > 0.)
-		applyDeltaVeeMultiDof(output, dt);
-
+		if (dt > 0.)
+			applyDeltaVeeMultiDof(output, dt);
 	}
 	/////
 	//btScalar angularThres = 1;
-	//btScalar maxAngVel = 0.;		
+	//btScalar maxAngVel = 0.;
 	//bool scaleDown = 1.;
 	//for(int link = 0; link < m_links.size(); ++link)
-	//{		
+	//{
 	//	if(spatVel[link+1].getAngular().length() > maxAngVel)
 	//	{
 	//		maxAngVel = spatVel[link+1].getAngular().length();
 	//		scaleDown = angularThres / spatVel[link+1].getAngular().length();
 	//		break;
-	//	}		
+	//	}
 	//}
 
 	//if(scaleDown != 1.)
@@ -1223,60 +1237,77 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 	/////
 
 	/////////////////////
-	if(m_useGlobalVelocities)
+	if (m_useGlobalVelocities)
 	{
-		for (int i = 0; i < num_links; ++i) 
+		for (int i = 0; i < num_links; ++i)
 		{
 			const int parent = m_links[i].m_parent;
 			//rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);    /// <- done
 			//rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1];		/// <- done
-		
-			fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector;
-			fromWorld.m_rotMat = rot_from_world[i+1];			
-        
-			// vhat_i = i_xhat_p(i) * vhat_p(i)		
-			fromParent.transform(spatVel[parent+1], spatVel[i+1]);
+
+			fromParent.m_rotMat = rot_from_parent[i + 1];
+			fromParent.m_trnVec = m_links[i].m_cachedRVector;
+			fromWorld.m_rotMat = rot_from_world[i + 1];
+
+			// vhat_i = i_xhat_p(i) * vhat_p(i)
+			fromParent.transform(spatVel[parent + 1], spatVel[i + 1]);
 			//nice alternative below (using operator *) but it generates temps
 			/////////////////////////////////////////////////////////////
 
 			// now set vhat_i to its true value by doing
-			// vhat_i += qidot * shat_i			
+			// vhat_i += qidot * shat_i
 			spatJointVel.setZero();
 
-			for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)		
+			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 				spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof];
-		
-			// remember vhat_i is really vhat_p(i) (but in current frame) at this point	=> we need to add velocity across the inboard joint
-			spatVel[i+1] += spatJointVel;
 
+			// remember vhat_i is really vhat_p(i) (but in current frame) at this point	=> we need to add velocity across the inboard joint
+			spatVel[i + 1] += spatJointVel;
 
-			fromWorld.transformInverseRotationOnly(spatVel[i+1], m_links[i].m_absFrameTotVelocity);
+			fromWorld.transformInverseRotationOnly(spatVel[i + 1], m_links[i].m_absFrameTotVelocity);
 			fromWorld.transformInverseRotationOnly(spatJointVel, m_links[i].m_absFrameLocVelocity);
 		}
 	}
-	
 }
 
-
-
-void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const
+void btMultiBody::solveImatrix(const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const
 {
 	int num_links = getNumLinks();
 	///solve I * x = rhs, so the result = invI * rhs
-    if (num_links == 0) 
+	if (num_links == 0)
 	{
 		// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
-        result[0] = rhs_bot[0] / m_baseInertia[0];
-        result[1] = rhs_bot[1] / m_baseInertia[1];
-        result[2] = rhs_bot[2] / m_baseInertia[2];
-        result[3] = rhs_top[0] / m_baseMass;
-        result[4] = rhs_top[1] / m_baseMass;
-        result[5] = rhs_top[2] / m_baseMass;
-    } else 
+
+		if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
+		{
+			result[0] = rhs_bot[0] / m_baseInertia[0];
+			result[1] = rhs_bot[1] / m_baseInertia[1];
+			result[2] = rhs_bot[2] / m_baseInertia[2];
+		}
+		else
+		{
+			result[0] = 0;
+			result[1] = 0;
+			result[2] = 0;
+		}
+		if (m_baseMass >= SIMD_EPSILON)
+		{
+			result[3] = rhs_top[0] / m_baseMass;
+			result[4] = rhs_top[1] / m_baseMass;
+			result[5] = rhs_top[2] / m_baseMass;
+		}
+		else
+		{
+			result[3] = 0;
+			result[4] = 0;
+			result[5] = 0;
+		}
+	}
+	else
 	{
 		if (!m_cachedInertiaValid)
 		{
-			for (int i=0;i<6;i++)
+			for (int i = 0; i < 6; i++)
 			{
 				result[i] = 0.f;
 			}
@@ -1284,82 +1315,95 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo
 		}
 		/// Special routine for calculating the inverse of a spatial inertia matrix
 		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
-		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse()*-1.f;
+		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse() * -1.f;
 		btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv;
 		btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse();
 		tmp = invIupper_right * m_cachedInertiaLowerRight;
 		btMatrix3x3 invI_upper_left = (tmp * Binv);
 		btMatrix3x3 invI_lower_right = (invI_upper_left).transpose();
-		tmp = m_cachedInertiaTopLeft  * invI_upper_left;
-		tmp[0][0]-= 1.0;
-		tmp[1][1]-= 1.0;
-		tmp[2][2]-= 1.0;
+		tmp = m_cachedInertiaTopLeft * invI_upper_left;
+		tmp[0][0] -= 1.0;
+		tmp[1][1] -= 1.0;
+		tmp[2][2] -= 1.0;
 		btMatrix3x3 invI_lower_left = (Binv * tmp);
 
 		//multiply result = invI * rhs
 		{
-		  btVector3 vtop = invI_upper_left*rhs_top;
-		  btVector3 tmp;
-		  tmp = invIupper_right * rhs_bot;
-		  vtop += tmp;
-		  btVector3 vbot = invI_lower_left*rhs_top;
-		  tmp = invI_lower_right * rhs_bot;
-		  vbot += tmp;
-		  result[0] = vtop[0];
-		  result[1] = vtop[1];
-		  result[2] = vtop[2];
-		  result[3] = vbot[0];
-		  result[4] = vbot[1];
-		  result[5] = vbot[2];
+			btVector3 vtop = invI_upper_left * rhs_top;
+			btVector3 tmp;
+			tmp = invIupper_right * rhs_bot;
+			vtop += tmp;
+			btVector3 vbot = invI_lower_left * rhs_top;
+			tmp = invI_lower_right * rhs_bot;
+			vbot += tmp;
+			result[0] = vtop[0];
+			result[1] = vtop[1];
+			result[2] = vtop[2];
+			result[3] = vbot[0];
+			result[4] = vbot[1];
+			result[5] = vbot[2];
 		}
-		
-    }
+	}
 }
 void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const
 {
 	int num_links = getNumLinks();
 	///solve I * x = rhs, so the result = invI * rhs
-    if (num_links == 0) 
+	if (num_links == 0)
 	{
 		// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
-		result.setAngular(rhs.getAngular() / m_baseInertia);
-		result.setLinear(rhs.getLinear() / m_baseMass);		
-    } else 
+		if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
+		{
+			result.setAngular(rhs.getAngular() / m_baseInertia);
+		}
+		else
+		{
+			result.setAngular(btVector3(0, 0, 0));
+		}
+		if (m_baseMass >= SIMD_EPSILON)
+		{
+			result.setLinear(rhs.getLinear() / m_baseMass);
+		}
+		else
+		{
+			result.setLinear(btVector3(0, 0, 0));
+		}
+	}
+	else
 	{
 		/// Special routine for calculating the inverse of a spatial inertia matrix
 		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
 		if (!m_cachedInertiaValid)
 		{
-			result.setLinear(btVector3(0,0,0));
-			result.setAngular(btVector3(0,0,0));
-			result.setVector(btVector3(0,0,0),btVector3(0,0,0));
+			result.setLinear(btVector3(0, 0, 0));
+			result.setAngular(btVector3(0, 0, 0));
+			result.setVector(btVector3(0, 0, 0), btVector3(0, 0, 0));
 			return;
 		}
-		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse()*-1.f;
+		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse() * -1.f;
 		btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv;
 		btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse();
 		tmp = invIupper_right * m_cachedInertiaLowerRight;
 		btMatrix3x3 invI_upper_left = (tmp * Binv);
 		btMatrix3x3 invI_lower_right = (invI_upper_left).transpose();
-		tmp = m_cachedInertiaTopLeft  * invI_upper_left;
-		tmp[0][0]-= 1.0;
-		tmp[1][1]-= 1.0;
-		tmp[2][2]-= 1.0;
+		tmp = m_cachedInertiaTopLeft * invI_upper_left;
+		tmp[0][0] -= 1.0;
+		tmp[1][1] -= 1.0;
+		tmp[2][2] -= 1.0;
 		btMatrix3x3 invI_lower_left = (Binv * tmp);
 
 		//multiply result = invI * rhs
 		{
-		  btVector3 vtop = invI_upper_left*rhs.getLinear();
-		  btVector3 tmp;
-		  tmp = invIupper_right * rhs.getAngular();
-		  vtop += tmp;
-		  btVector3 vbot = invI_lower_left*rhs.getLinear();
-		  tmp = invI_lower_right * rhs.getAngular();
-		  vbot += tmp;
-		  result.setVector(vtop, vbot);		  
+			btVector3 vtop = invI_upper_left * rhs.getLinear();
+			btVector3 tmp;
+			tmp = invIupper_right * rhs.getAngular();
+			vtop += tmp;
+			btVector3 vbot = invI_lower_left * rhs.getLinear();
+			tmp = invI_lower_right * rhs.getAngular();
+			vbot += tmp;
+			result.setVector(vtop, vbot);
 		}
-		
-    }
+	}
 }
 
 void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
@@ -1378,155 +1422,152 @@ void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, in
 }
 
 void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
-                                       btAlignedObjectArray<btScalar> &scratch_r, btAlignedObjectArray<btVector3> &scratch_v) const
+												 btAlignedObjectArray<btScalar> &scratch_r, btAlignedObjectArray<btVector3> &scratch_v) const
 {
-    // Temporary matrices/vectors -- use scratch space from caller
-    // so that we don't have to keep reallocating every frame
+	// Temporary matrices/vectors -- use scratch space from caller
+	// so that we don't have to keep reallocating every frame
 
-	
-	int num_links = getNumLinks();	
-    scratch_r.resize(m_dofCount);
-    scratch_v.resize(4*num_links + 4);	    
+	int num_links = getNumLinks();
+	scratch_r.resize(m_dofCount);
+	scratch_v.resize(4 * num_links + 4);
 
-    btScalar * r_ptr = m_dofCount ? &scratch_r[0] : 0;
-    btVector3 * v_ptr = &scratch_v[0];
+	btScalar *r_ptr = m_dofCount ? &scratch_r[0] : 0;
+	btVector3 *v_ptr = &scratch_v[0];
 
-    // zhat_i^A (scratch space)
-    btSpatialForceVector * zeroAccSpatFrc = (btSpatialForceVector *)v_ptr;
+	// zhat_i^A (scratch space)
+	btSpatialForceVector *zeroAccSpatFrc = (btSpatialForceVector *)v_ptr;
 	v_ptr += num_links * 2 + 2;
 
-    // rot_from_parent (cached from calcAccelerations)
-    const btMatrix3x3 * rot_from_parent = &m_matrixBuf[0];
+	// rot_from_parent (cached from calcAccelerations)
+	const btMatrix3x3 *rot_from_parent = &m_matrixBuf[0];
 
-    // hhat (cached), accel (scratch)
-    // hhat is NOT stored for the base (but ahat is) 
-	const btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
-	btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr;
+	// hhat (cached), accel (scratch)
+	// hhat is NOT stored for the base (but ahat is)
+	const btSpatialForceVector *h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
+	btSpatialMotionVector *spatAcc = (btSpatialMotionVector *)v_ptr;
 	v_ptr += num_links * 2 + 2;
 
-    // Y_i (scratch), invD_i (cached)
-    const btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
-	btScalar * Y = r_ptr; 
+	// Y_i (scratch), invD_i (cached)
+	const btScalar *invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
+	btScalar *Y = r_ptr;
 	////////////////
 	//aux variables
-	btScalar invD_times_Y[6];							//D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
-	btSpatialMotionVector result;							//holds results of the SolveImatrix op; it is a spatial motion vector (accel)
-	btScalar Y_minus_hT_a[6];							//Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough	
-	btSpatialForceVector spatForceVecTemps[6];				//6 temporary spatial force vectors
-	btSpatialTransformationMatrix fromParent;	
+	btScalar invD_times_Y[6];                   //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
+	btSpatialMotionVector result;               //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
+	btScalar Y_minus_hT_a[6];                   //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
+	btSpatialForceVector spatForceVecTemps[6];  //6 temporary spatial force vectors
+	btSpatialTransformationMatrix fromParent;
 	/////////////////
 
-    // First 'upward' loop.
-    // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich.
-	
+	// First 'upward' loop.
+	// Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich.
+
 	// Fill in zero_acc
-    // -- set to force/torque on the base, zero otherwise
-    if (m_fixedBase) 
+	// -- set to force/torque on the base, zero otherwise
+	if (m_fixedBase)
+	{
+		zeroAccSpatFrc[0].setZero();
+	}
+	else
 	{
-        zeroAccSpatFrc[0].setZero();
-    } else 
-	{	
 		//test forces
 		fromParent.m_rotMat = rot_from_parent[0];
-		fromParent.transformRotationOnly(btSpatialForceVector(-force[0],-force[1],-force[2], -force[3],-force[4],-force[5]), zeroAccSpatFrc[0]);
-    }
-    for (int i = 0; i < num_links; ++i) 
+		fromParent.transformRotationOnly(btSpatialForceVector(-force[0], -force[1], -force[2], -force[3], -force[4], -force[5]), zeroAccSpatFrc[0]);
+	}
+	for (int i = 0; i < num_links; ++i)
 	{
-		zeroAccSpatFrc[i+1].setZero();
-    }    
+		zeroAccSpatFrc[i + 1].setZero();
+	}
 
 	// 'Downward' loop.
-    // (part of TreeForwardDynamics in Mirtich.)
-    for (int i = num_links - 1; i >= 0; --i)
+	// (part of TreeForwardDynamics in Mirtich.)
+	for (int i = num_links - 1; i >= 0; --i)
 	{
 		const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector;
+		fromParent.m_rotMat = rot_from_parent[i + 1];
+		fromParent.m_trnVec = m_links[i].m_cachedRVector;
 
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
-			Y[m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof]
-											- m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
-											;
+			Y[m_links[i].m_dofOffset + dof] = force[6 + m_links[i].m_dofOffset + dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i + 1]);
 		}
 
 		btVector3 in_top, in_bottom, out_top, out_bottom;
-		const btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset];
-		
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		const btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
+
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
 			invD_times_Y[dof] = 0.f;
 
-			for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
+			for (int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
 			{
-				invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2];				
-			}	
+				invD_times_Y[dof] += invDi[dof * m_links[i].m_dofCount + dof2] * Y[m_links[i].m_dofOffset + dof2];
+			}
 		}
-		
-		 // Zp += pXi * (Zi + hi*Yi/Di)
-		spatForceVecTemps[0] = zeroAccSpatFrc[i+1];
 
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		// Zp += pXi * (Zi + hi*Yi/Di)
+		spatForceVecTemps[0] = zeroAccSpatFrc[i + 1];
+
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
 			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
 			//
-			spatForceVecTemps[0] += hDof * invD_times_Y[dof];		
+			spatForceVecTemps[0] += hDof * invD_times_Y[dof];
 		}
-		
 
 		fromParent.transformInverse(spatForceVecTemps[0], spatForceVecTemps[1]);
-			
-		zeroAccSpatFrc[parent+1] += spatForceVecTemps[1];
-    }
-	
-	// ptr to the joint accel part of the output
-    btScalar * joint_accel = output + 6;
 
+		zeroAccSpatFrc[parent + 1] += spatForceVecTemps[1];
+	}
+
+	// ptr to the joint accel part of the output
+	btScalar *joint_accel = output + 6;
 
-    // Second 'upward' loop
-    // (part of TreeForwardDynamics in Mirtich)
+	// Second 'upward' loop
+	// (part of TreeForwardDynamics in Mirtich)
 
-    if (m_fixedBase) 
+	if (m_fixedBase)
 	{
-        spatAcc[0].setZero();
-    } 
-	else 
+		spatAcc[0].setZero();
+	}
+	else
 	{
 		solveImatrix(zeroAccSpatFrc[0], result);
 		spatAcc[0] = -result;
+	}
 
-    }
-	
-    // now do the loop over the m_links
-    for (int i = 0; i < num_links; ++i)
+	// now do the loop over the m_links
+	for (int i = 0; i < num_links; ++i)
 	{
-        const int parent = m_links[i].m_parent;
-		fromParent.m_rotMat = rot_from_parent[i+1]; fromParent.m_trnVec = m_links[i].m_cachedRVector;
+		const int parent = m_links[i].m_parent;
+		fromParent.m_rotMat = rot_from_parent[i + 1];
+		fromParent.m_trnVec = m_links[i].m_cachedRVector;
 
-		fromParent.transform(spatAcc[parent+1], spatAcc[i+1]);
-		
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+		fromParent.transform(spatAcc[parent + 1], spatAcc[i + 1]);
+
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 		{
 			const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
-			//			
-			Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof);
+			//
+			Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i + 1].dot(hDof);
 		}
 
-		const btScalar *invDi = &invD[m_links[i].m_dofOffset*m_links[i].m_dofOffset];
-		mulMatrix(const_cast<btScalar*>(invDi), Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]);
+		const btScalar *invDi = &invD[m_links[i].m_dofOffset * m_links[i].m_dofOffset];
+		mulMatrix(const_cast<btScalar *>(invDi), Y_minus_hT_a, m_links[i].m_dofCount, m_links[i].m_dofCount, m_links[i].m_dofCount, 1, &joint_accel[m_links[i].m_dofOffset]);
 
-		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)		
-			spatAcc[i+1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof];      
-    }
+		for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+			spatAcc[i + 1] += m_links[i].m_axes[dof] * joint_accel[m_links[i].m_dofOffset + dof];
+	}
 
-    // transform base accelerations back to the world frame.
-    btVector3 omegadot_out;
-    omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
+	// transform base accelerations back to the world frame.
+	btVector3 omegadot_out;
+	omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
 	output[0] = omegadot_out[0];
 	output[1] = omegadot_out[1];
 	output[2] = omegadot_out[2];
 
-    btVector3 vdot_out;
-    vdot_out = rot_from_parent[0].transpose() * spatAcc[0].getLinear();
+	btVector3 vdot_out;
+	vdot_out = rot_from_parent[0].transpose() * spatAcc[0].getLinear();
 	output[3] = vdot_out[0];
 	output[4] = vdot_out[1];
 	output[5] = vdot_out[2];
@@ -1539,19 +1580,16 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar
 	/////////////////
 }
 
-
-
-
 void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd)
-{	
+{
 	int num_links = getNumLinks();
-    // step position by adding dt * velocity
-	//btVector3 v = getBaseVel();	
-    //m_basePos += dt * v;
+	// step position by adding dt * velocity
+	//btVector3 v = getBaseVel();
+	//m_basePos += dt * v;
 	//
 	btScalar *pBasePos = (pq ? &pq[4] : m_basePos);
-	btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]);			//note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety)
-	//	
+	btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]);  //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety)
+	//
 	pBasePos[0] += dt * pBaseVel[0];
 	pBasePos[1] += dt * pBaseVel[1];
 	pBasePos[2] += dt * pBaseVel[2];
@@ -1561,92 +1599,98 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
 	struct
 	{
 		//"exponential map" based on btTransformUtil::integrateTransform(..)
-		void operator() (const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt)
+		void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt)
 		{
 			//baseBody	=>	quat is alias and omega is global coor
-			//!baseBody	=>	quat is alibi and omega is local coor	
-			
+			//!baseBody	=>	quat is alibi and omega is local coor
+
 			btVector3 axis;
 			btVector3 angvel;
 
-			if(!baseBody)			
-				angvel = quatRotate(quat, omega);				//if quat is not m_baseQuat, it is alibi => ok			
+			if (!baseBody)
+				angvel = quatRotate(quat, omega);  //if quat is not m_baseQuat, it is alibi => ok
 			else
 				angvel = omega;
-		
-			btScalar fAngle = angvel.length(); 		
+
+			btScalar fAngle = angvel.length();
 			//limit the angular motion
 			if (fAngle * dt > ANGULAR_MOTION_THRESHOLD)
 			{
-				fAngle = btScalar(0.5)*SIMD_HALF_PI / dt;
+				fAngle = btScalar(0.5) * SIMD_HALF_PI / dt;
 			}
 
-			if ( fAngle < btScalar(0.001) )
+			if (fAngle < btScalar(0.001))
 			{
 				// use Taylor's expansions of sync function
-				axis   = angvel*( btScalar(0.5)*dt-(dt*dt*dt)*(btScalar(0.020833333333))*fAngle*fAngle );
+				axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle);
 			}
 			else
 			{
 				// sync(fAngle) = sin(c*fAngle)/t
-				axis   = angvel*( btSin(btScalar(0.5)*fAngle*dt)/fAngle );
+				axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle);
 			}
-			
-			if(!baseBody)				
-				quat = btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat;			
-			else			
-				quat = quat * btQuaternion(-axis.x(),-axis.y(),-axis.z(),btCos( fAngle*dt*btScalar(0.5) ));
-				//equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse();			
-		
+
+			if (!baseBody)
+				quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat;
+			else
+				quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5)));
+			//equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse();
+
 			quat.normalize();
 		}
 	} pQuatUpdateFun;
 	///////////////////////////////
 
 	//pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt);
-	//	
-	btScalar *pBaseQuat = pq ? pq : m_baseQuat;	
-	btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0];		//note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety)
 	//
-	btQuaternion baseQuat; baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
-	btVector3 baseOmega; baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
+	btScalar *pBaseQuat = pq ? pq : m_baseQuat;
+	btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0];  //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety)
+	//
+	btQuaternion baseQuat;
+	baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
+	btVector3 baseOmega;
+	baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
 	pQuatUpdateFun(baseOmega, baseQuat, true, dt);
 	pBaseQuat[0] = baseQuat.x();
 	pBaseQuat[1] = baseQuat.y();
 	pBaseQuat[2] = baseQuat.z();
 	pBaseQuat[3] = baseQuat.w();
 
-
 	//printf("pBaseOmega = %.4f %.4f %.4f\n", pBaseOmega->x(), pBaseOmega->y(), pBaseOmega->z());
 	//printf("pBaseVel = %.4f %.4f %.4f\n", pBaseVel->x(), pBaseVel->y(), pBaseVel->z());
 	//printf("baseQuat = %.4f %.4f %.4f %.4f\n", pBaseQuat->x(), pBaseQuat->y(), pBaseQuat->z(), pBaseQuat->w());
 
-	if(pq)		
+	if (pq)
 		pq += 7;
-	if(pqd)
+	if (pqd)
 		pqd += 6;
 
 	// Finally we can update m_jointPos for each of the m_links
-    for (int i = 0; i < num_links; ++i) 
+	for (int i = 0; i < num_links; ++i)
 	{
-		btScalar *pJointPos = (pq ? pq : &m_links[i].m_jointPos[0]);		
+		btScalar *pJointPos = (pq ? pq : &m_links[i].m_jointPos[0]);
 		btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i));
 
-		switch(m_links[i].m_jointType)
+		switch (m_links[i].m_jointType)
 		{
 			case btMultibodyLink::ePrismatic:
 			case btMultibodyLink::eRevolute:
 			{
-				btScalar jointVel = pJointVel[0];	
+				btScalar jointVel = pJointVel[0];
 				pJointPos[0] += dt * jointVel;
 				break;
 			}
 			case btMultibodyLink::eSpherical:
 			{
-				btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
-				btQuaternion jointOri; jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
+				btVector3 jointVel;
+				jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
+				btQuaternion jointOri;
+				jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
 				pQuatUpdateFun(jointVel, jointOri, false, dt);
-				pJointPos[0] = jointOri.x(); pJointPos[1] = jointOri.y(); pJointPos[2] = jointOri.z(); pJointPos[3] = jointOri.w();
+				pJointPos[0] = jointOri.x();
+				pJointPos[1] = jointOri.y();
+				pJointPos[2] = jointOri.z();
+				pJointPos[3] = jointOri.w();
 				break;
 			}
 			case btMultibodyLink::ePlanar:
@@ -1663,122 +1707,135 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
 			default:
 			{
 			}
-
 		}
 
 		m_links[i].updateCacheMultiDof(pq);
 
-		if(pq)		
+		if (pq)
 			pq += m_links[i].m_posVarCount;
-		if(pqd)
+		if (pqd)
 			pqd += m_links[i].m_dofCount;
-    }
+	}
 }
 
 void btMultiBody::fillConstraintJacobianMultiDof(int link,
-                                    const btVector3 &contact_point,
-									const btVector3 &normal_ang,
-                                    const btVector3 &normal_lin,
-                                    btScalar *jac,
-                                    btAlignedObjectArray<btScalar> &scratch_r,
-                                    btAlignedObjectArray<btVector3> &scratch_v,
-                                    btAlignedObjectArray<btMatrix3x3> &scratch_m) const
-{
-    // temporary space
+												 const btVector3 &contact_point,
+												 const btVector3 &normal_ang,
+												 const btVector3 &normal_lin,
+												 btScalar *jac,
+												 btAlignedObjectArray<btScalar> &scratch_r1,
+												 btAlignedObjectArray<btVector3> &scratch_v,
+												 btAlignedObjectArray<btMatrix3x3> &scratch_m) const
+{
+	// temporary space
 	int num_links = getNumLinks();
 	int m_dofCount = getNumDofs();
-    scratch_v.resize(3*num_links + 3);			//(num_links + base) offsets + (num_links + base) normals_lin + (num_links + base) normals_ang
-    scratch_m.resize(num_links + 1);
-
-    btVector3 * v_ptr = &scratch_v[0];
-    btVector3 * p_minus_com_local = v_ptr; v_ptr += num_links + 1;
-    btVector3 * n_local_lin = v_ptr; v_ptr += num_links + 1;
-	btVector3 * n_local_ang = v_ptr; v_ptr += num_links + 1;
-    btAssert(v_ptr - &scratch_v[0] == scratch_v.size());
-
-    scratch_r.resize(m_dofCount);
-    btScalar * results = m_dofCount > 0 ? &scratch_r[0] : 0;
-
-    btMatrix3x3 * rot_from_world = &scratch_m[0];
+	scratch_v.resize(3 * num_links + 3);  //(num_links + base) offsets + (num_links + base) normals_lin + (num_links + base) normals_ang
+	scratch_m.resize(num_links + 1);
+
+	btVector3 *v_ptr = &scratch_v[0];
+	btVector3 *p_minus_com_local = v_ptr;
+	v_ptr += num_links + 1;
+	btVector3 *n_local_lin = v_ptr;
+	v_ptr += num_links + 1;
+	btVector3 *n_local_ang = v_ptr;
+	v_ptr += num_links + 1;
+	btAssert(v_ptr - &scratch_v[0] == scratch_v.size());
+
+	//scratch_r.resize(m_dofCount);
+	//btScalar *results = m_dofCount > 0 ? &scratch_r[0] : 0;
+
+    scratch_r1.resize(m_dofCount+num_links);
+    btScalar * results = m_dofCount > 0 ? &scratch_r1[0] : 0;
+    btScalar* links = num_links? &scratch_r1[m_dofCount] : 0;
+    int numLinksChildToRoot=0;
+    int l = link;
+    while (l != -1)
+    {
+        links[numLinksChildToRoot++]=l;
+        l = m_links[l].m_parent;
+    }
+    
+	btMatrix3x3 *rot_from_world = &scratch_m[0];
 
-    const btVector3 p_minus_com_world = contact_point - m_basePos;
-	const btVector3 &normal_lin_world = normal_lin;							//convenience
+	const btVector3 p_minus_com_world = contact_point - m_basePos;
+	const btVector3 &normal_lin_world = normal_lin;  //convenience
 	const btVector3 &normal_ang_world = normal_ang;
 
-    rot_from_world[0] = btMatrix3x3(m_baseQuat);    
-    
-    // omega coeffients first.
-    btVector3 omega_coeffs_world;
-    omega_coeffs_world = p_minus_com_world.cross(normal_lin_world);
+	rot_from_world[0] = btMatrix3x3(m_baseQuat);
+
+	// omega coeffients first.
+	btVector3 omega_coeffs_world;
+	omega_coeffs_world = p_minus_com_world.cross(normal_lin_world);
 	jac[0] = omega_coeffs_world[0] + normal_ang_world[0];
 	jac[1] = omega_coeffs_world[1] + normal_ang_world[1];
 	jac[2] = omega_coeffs_world[2] + normal_ang_world[2];
-    // then v coefficients
-    jac[3] = normal_lin_world[0];
-    jac[4] = normal_lin_world[1];
-    jac[5] = normal_lin_world[2];
+	// then v coefficients
+	jac[3] = normal_lin_world[0];
+	jac[4] = normal_lin_world[1];
+	jac[5] = normal_lin_world[2];
 
 	//create link-local versions of p_minus_com and normal
 	p_minus_com_local[0] = rot_from_world[0] * p_minus_com_world;
-    n_local_lin[0] = rot_from_world[0] * normal_lin_world;
+	n_local_lin[0] = rot_from_world[0] * normal_lin_world;
 	n_local_ang[0] = rot_from_world[0] * normal_ang_world;
 
-    // Set remaining jac values to zero for now.
-    for (int i = 6; i < 6 + m_dofCount; ++i) 
+	// Set remaining jac values to zero for now.
+	for (int i = 6; i < 6 + m_dofCount; ++i)
 	{
-        jac[i] = 0;
-    }
-
-    // Qdot coefficients, if necessary.
-    if (num_links > 0 && link > -1) {
-
-        // TODO: speed this up -- don't calculate for m_links we don't need.
-        // (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
-        // which is resulting in repeated work being done...)
-
-        // calculate required normals & positions in the local frames.
-        for (int i = 0; i < num_links; ++i) {
+		jac[i] = 0;
+	}
 
-            // transform to local frame
-            const int parent = m_links[i].m_parent;
-            const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis);
-            rot_from_world[i+1] = mtx * rot_from_world[parent+1];
+	// Qdot coefficients, if necessary.
+	if (num_links > 0 && link > -1)
+	{
+        // TODO: (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
+		// which is resulting in repeated work being done...)
+
+		// calculate required normals & positions in the local frames.
+        for (int a = 0; a < numLinksChildToRoot; a++)
+        {
+            int i = links[numLinksChildToRoot-1-a];
+        	// transform to local frame
+			const int parent = m_links[i].m_parent;
+			const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis);
+			rot_from_world[i + 1] = mtx * rot_from_world[parent + 1];
 
-            n_local_lin[i+1] = mtx * n_local_lin[parent+1];
-			n_local_ang[i+1] = mtx * n_local_ang[parent+1];
-            p_minus_com_local[i+1] = mtx * p_minus_com_local[parent+1] - m_links[i].m_cachedRVector;
+			n_local_lin[i + 1] = mtx * n_local_lin[parent + 1];
+			n_local_ang[i + 1] = mtx * n_local_ang[parent + 1];
+			p_minus_com_local[i + 1] = mtx * p_minus_com_local[parent + 1] - m_links[i].m_cachedRVector;
 
 			// calculate the jacobian entry
-			switch(m_links[i].m_jointType)
+			switch (m_links[i].m_jointType)
 			{
 				case btMultibodyLink::eRevolute:
 				{
-					results[m_links[i].m_dofOffset] = n_local_lin[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(0));
-					results[m_links[i].m_dofOffset] += n_local_ang[i+1].dot(m_links[i].getAxisTop(0));
+					results[m_links[i].m_dofOffset] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(0));
+					results[m_links[i].m_dofOffset] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(0));
 					break;
 				}
 				case btMultibodyLink::ePrismatic:
 				{
-					results[m_links[i].m_dofOffset] = n_local_lin[i+1].dot(m_links[i].getAxisBottom(0));
+					results[m_links[i].m_dofOffset] = n_local_lin[i + 1].dot(m_links[i].getAxisBottom(0));
 					break;
 				}
 				case btMultibodyLink::eSpherical:
 				{
-					results[m_links[i].m_dofOffset + 0] = n_local_lin[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(0));
-					results[m_links[i].m_dofOffset + 1] = n_local_lin[i+1].dot(m_links[i].getAxisTop(1).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(1));
-					results[m_links[i].m_dofOffset + 2] = n_local_lin[i+1].dot(m_links[i].getAxisTop(2).cross(p_minus_com_local[i+1]) + m_links[i].getAxisBottom(2));
-										
-					results[m_links[i].m_dofOffset + 0] += n_local_ang[i+1].dot(m_links[i].getAxisTop(0));
-					results[m_links[i].m_dofOffset + 1] += n_local_ang[i+1].dot(m_links[i].getAxisTop(1));
-					results[m_links[i].m_dofOffset + 2] += n_local_ang[i+1].dot(m_links[i].getAxisTop(2));
+					results[m_links[i].m_dofOffset + 0] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(0));
+					results[m_links[i].m_dofOffset + 1] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(1).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(1));
+					results[m_links[i].m_dofOffset + 2] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(2).cross(p_minus_com_local[i + 1]) + m_links[i].getAxisBottom(2));
+
+					results[m_links[i].m_dofOffset + 0] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(0));
+					results[m_links[i].m_dofOffset + 1] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(1));
+					results[m_links[i].m_dofOffset + 2] += n_local_ang[i + 1].dot(m_links[i].getAxisTop(2));
 
 					break;
 				}
 				case btMultibodyLink::ePlanar:
 				{
-					results[m_links[i].m_dofOffset + 0] = n_local_lin[i+1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i+1]));// + m_links[i].getAxisBottom(0));
-					results[m_links[i].m_dofOffset + 1] = n_local_lin[i+1].dot(m_links[i].getAxisBottom(1));
-					results[m_links[i].m_dofOffset + 2] = n_local_lin[i+1].dot(m_links[i].getAxisBottom(2));
+					results[m_links[i].m_dofOffset + 0] = n_local_lin[i + 1].dot(m_links[i].getAxisTop(0).cross(p_minus_com_local[i + 1]));  // + m_links[i].getAxisBottom(0));
+					results[m_links[i].m_dofOffset + 1] = n_local_lin[i + 1].dot(m_links[i].getAxisBottom(1));
+					results[m_links[i].m_dofOffset + 2] = n_local_lin[i + 1].dot(m_links[i].getAxisBottom(2));
 
 					break;
 				}
@@ -1786,258 +1843,260 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
 				{
 				}
 			}
-            
-        }
+		}
 
-        // Now copy through to output.
+		// Now copy through to output.
 		//printf("jac[%d] = ", link);
-        while (link != -1) 
+		while (link != -1)
 		{
-			for(int dof = 0; dof < m_links[link].m_dofCount; ++dof)
+			for (int dof = 0; dof < m_links[link].m_dofCount; ++dof)
 			{
 				jac[6 + m_links[link].m_dofOffset + dof] = results[m_links[link].m_dofOffset + dof];
 				//printf("%.2f\t", jac[6 + m_links[link].m_dofOffset + dof]);
 			}
-            
+
 			link = m_links[link].m_parent;
-        }
+		}
 		//printf("]\n");
-    }
+	}
 }
 
-
 void btMultiBody::wakeUp()
 {
-    m_awake = true;
+	m_sleepTimer = 0;
+	m_awake = true;
 }
 
 void btMultiBody::goToSleep()
 {
-    m_awake = false;
+	m_awake = false;
 }
 
 void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
 {
 	extern bool gDisableDeactivation;
-    if (!m_canSleep || gDisableDeactivation) 
+	if (!m_canSleep || gDisableDeactivation)
 	{
 		m_awake = true;
 		m_sleepTimer = 0;
 		return;
 	}
 
-    // motion is computed as omega^2 + v^2 + (sum of squares of joint velocities)
-    btScalar motion = 0;
+	// motion is computed as omega^2 + v^2 + (sum of squares of joint velocities)
+	btScalar motion = 0;
 	{
-		for (int i = 0; i < 6 + m_dofCount; ++i) 		
+		for (int i = 0; i < 6 + m_dofCount; ++i)
 			motion += m_realBuf[i] * m_realBuf[i];
 	}
-	
-
-    if (motion < SLEEP_EPSILON) {
-        m_sleepTimer += timestep;
-        if (m_sleepTimer > SLEEP_TIMEOUT) {
-            goToSleep();
-        }
-    } else {
-        m_sleepTimer = 0;
+
+	if (motion < SLEEP_EPSILON)
+	{
+		m_sleepTimer += timestep;
+		if (m_sleepTimer > SLEEP_TIMEOUT)
+		{
+			goToSleep();
+		}
+	}
+	else
+	{
+		m_sleepTimer = 0;
 		if (!m_awake)
 			wakeUp();
-    }
+	}
 }
 
-
-void	btMultiBody::forwardKinematics(btAlignedObjectArray<btQuaternion>& world_to_local,btAlignedObjectArray<btVector3>& local_origin)
+void btMultiBody::forwardKinematics(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin)
 {
-	
 	int num_links = getNumLinks();
 
 	// Cached 3x3 rotation matrices from parent frame to this frame.
-	btMatrix3x3* rot_from_parent =(btMatrix3x3 *) &m_matrixBuf[0];
+	btMatrix3x3 *rot_from_parent = (btMatrix3x3 *)&m_matrixBuf[0];
 
-	rot_from_parent[0] = btMatrix3x3(m_baseQuat);				//m_baseQuat assumed to be alias!?
-	
-	for (int i = 0; i < num_links; ++i) 
+	rot_from_parent[0] = btMatrix3x3(m_baseQuat);  //m_baseQuat assumed to be alias!?
+
+	for (int i = 0; i < num_links; ++i)
 	{
-		rot_from_parent[i+1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);
+		rot_from_parent[i + 1] = btMatrix3x3(m_links[i].m_cachedRotParentToThis);
 	}
-		
+
 	int nLinks = getNumLinks();
 	///base + num m_links
-	world_to_local.resize(nLinks+1);
-	local_origin.resize(nLinks+1);
+	world_to_local.resize(nLinks + 1);
+	local_origin.resize(nLinks + 1);
 
 	world_to_local[0] = getWorldToBaseRot();
 	local_origin[0] = getBasePos();
-	
-	for (int k=0;k<getNumLinks();k++)
+
+	for (int k = 0; k < getNumLinks(); k++)
 	{
 		const int parent = getParent(k);
-		world_to_local[k+1] = getParentToLocalRot(k) * world_to_local[parent+1];
-		local_origin[k+1] = local_origin[parent+1] + (quatRotate(world_to_local[k+1].inverse() , getRVector(k)));
+		world_to_local[k + 1] = getParentToLocalRot(k) * world_to_local[parent + 1];
+		local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getRVector(k)));
 	}
 
-	for (int link=0;link<getNumLinks();link++)
+	for (int link = 0; link < getNumLinks(); link++)
 	{
-		int index = link+1;
+		int index = link + 1;
 
 		btVector3 posr = local_origin[index];
-		btScalar quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
+		btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()};
 		btTransform tr;
 		tr.setIdentity();
 		tr.setOrigin(posr);
-		tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
+		tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
 		getLink(link).m_cachedWorldTransform = tr;
-			
 	}
-
 }
 
-void	btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion>& world_to_local,btAlignedObjectArray<btVector3>& local_origin)
+void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin)
 {
-	world_to_local.resize(getNumLinks()+1);
-	local_origin.resize(getNumLinks()+1);
-	
+	world_to_local.resize(getNumLinks() + 1);
+	local_origin.resize(getNumLinks() + 1);
+
 	world_to_local[0] = getWorldToBaseRot();
 	local_origin[0] = getBasePos();
-	
+
 	if (getBaseCollider())
 	{
 		btVector3 posr = local_origin[0];
 		//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
-		btScalar quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+		btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
 		btTransform tr;
 		tr.setIdentity();
 		tr.setOrigin(posr);
-		tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
-		
+		tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+
 		getBaseCollider()->setWorldTransform(tr);
-		
 	}
-	
-	for (int k=0;k<getNumLinks();k++)
+
+	for (int k = 0; k < getNumLinks(); k++)
 	{
 		const int parent = getParent(k);
-		world_to_local[k+1] = getParentToLocalRot(k) * world_to_local[parent+1];
-		local_origin[k+1] = local_origin[parent+1] + (quatRotate(world_to_local[k+1].inverse() , getRVector(k)));
+		world_to_local[k + 1] = getParentToLocalRot(k) * world_to_local[parent + 1];
+		local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getRVector(k)));
 	}
-	
-	
-	for (int m=0;m<getNumLinks();m++)
+
+	for (int m = 0; m < getNumLinks(); m++)
 	{
-		btMultiBodyLinkCollider* col = getLink(m).m_collider;
+		btMultiBodyLinkCollider *col = getLink(m).m_collider;
 		if (col)
 		{
 			int link = col->m_link;
 			btAssert(link == m);
-			
-			int index = link+1;
-			
+
+			int index = link + 1;
+
 			btVector3 posr = local_origin[index];
 			//			float pos[4]={posr.x(),posr.y(),posr.z(),1};
-			btScalar quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
+			btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()};
 			btTransform tr;
 			tr.setIdentity();
 			tr.setOrigin(posr);
-			tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
-			
+			tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+
 			col->setWorldTransform(tr);
 		}
 	}
 }
 
-int	btMultiBody::calculateSerializeBufferSize()	const
+int btMultiBody::calculateSerializeBufferSize() const
 {
 	int sz = sizeof(btMultiBodyData);
 	return sz;
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btMultiBody::serialize(void* dataBuffer, class btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char *btMultiBody::serialize(void *dataBuffer, class btSerializer *serializer) const
 {
-		btMultiBodyData* mbd = (btMultiBodyData*) dataBuffer;
-		getBaseWorldTransform().serialize(mbd->m_baseWorldTransform);
-		mbd->m_baseMass = this->getBaseMass();
-		getBaseInertia().serialize(mbd->m_baseInertia);
+	btMultiBodyData *mbd = (btMultiBodyData *)dataBuffer;
+	getBasePos().serialize(mbd->m_baseWorldPosition);
+	getWorldToBaseRot().inverse().serialize(mbd->m_baseWorldOrientation);
+	getBaseVel().serialize(mbd->m_baseLinearVelocity);
+	getBaseOmega().serialize(mbd->m_baseAngularVelocity);
+
+	mbd->m_baseMass = this->getBaseMass();
+	getBaseInertia().serialize(mbd->m_baseInertia);
+	{
+		char *name = (char *)serializer->findNameForPointer(m_baseName);
+		mbd->m_baseName = (char *)serializer->getUniquePointer(name);
+		if (mbd->m_baseName)
 		{
-			char* name = (char*) serializer->findNameForPointer(m_baseName);
-			mbd->m_baseName = (char*)serializer->getUniquePointer(name);
-			if (mbd->m_baseName)
-			{
-				serializer->serializeName(name);
-			}
+			serializer->serializeName(name);
 		}
-		mbd->m_numLinks = this->getNumLinks();
-		if (mbd->m_numLinks)
+	}
+	mbd->m_numLinks = this->getNumLinks();
+	if (mbd->m_numLinks)
+	{
+		int sz = sizeof(btMultiBodyLinkData);
+		int numElem = mbd->m_numLinks;
+		btChunk *chunk = serializer->allocate(sz, numElem);
+		btMultiBodyLinkData *memPtr = (btMultiBodyLinkData *)chunk->m_oldPtr;
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
-			int sz = sizeof(btMultiBodyLinkData);
-			int numElem = mbd->m_numLinks;
-			btChunk* chunk = serializer->allocate(sz,numElem);
-			btMultiBodyLinkData* memPtr = (btMultiBodyLinkData*)chunk->m_oldPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			memPtr->m_jointType = getLink(i).m_jointType;
+			memPtr->m_dofCount = getLink(i).m_dofCount;
+			memPtr->m_posVarCount = getLink(i).m_posVarCount;
+
+			getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia);
+
+			getLink(i).m_absFrameTotVelocity.m_topVec.serialize(memPtr->m_absFrameTotVelocityTop);
+			getLink(i).m_absFrameTotVelocity.m_bottomVec.serialize(memPtr->m_absFrameTotVelocityBottom);
+			getLink(i).m_absFrameLocVelocity.m_topVec.serialize(memPtr->m_absFrameLocVelocityTop);
+			getLink(i).m_absFrameLocVelocity.m_bottomVec.serialize(memPtr->m_absFrameLocVelocityBottom);
+
+			memPtr->m_linkMass = getLink(i).m_mass;
+			memPtr->m_parentIndex = getLink(i).m_parent;
+			memPtr->m_jointDamping = getLink(i).m_jointDamping;
+			memPtr->m_jointFriction = getLink(i).m_jointFriction;
+			memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit;
+			memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit;
+			memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
+			memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
+
+			getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset);
+			getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
+			getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis);
+			btAssert(memPtr->m_dofCount <= 3);
+			for (int dof = 0; dof < getLink(i).m_dofCount; dof++)
 			{
+				getLink(i).getAxisBottom(dof).serialize(memPtr->m_jointAxisBottom[dof]);
+				getLink(i).getAxisTop(dof).serialize(memPtr->m_jointAxisTop[dof]);
 
-				memPtr->m_jointType = getLink(i).m_jointType;
-				memPtr->m_dofCount = getLink(i).m_dofCount;
-				memPtr->m_posVarCount = getLink(i).m_posVarCount;
-				
-				getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia);
-				memPtr->m_linkMass = getLink(i).m_mass;
-				memPtr->m_parentIndex = getLink(i).m_parent;
-				memPtr->m_jointDamping = getLink(i).m_jointDamping;
-				memPtr->m_jointFriction = getLink(i).m_jointFriction;
-				memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit;
-				memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit;
-				memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
-				memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
-
-				getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
-				getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
-				getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis);
-				btAssert(memPtr->m_dofCount<=3);
-				for (int dof = 0;dof<getLink(i).m_dofCount;dof++)
-				{
-					getLink(i).getAxisBottom(dof).serialize(memPtr->m_jointAxisBottom[dof]);
-					getLink(i).getAxisTop(dof).serialize(memPtr->m_jointAxisTop[dof]);
-					
-					memPtr->m_jointTorque[dof] = getLink(i).m_jointTorque[dof];
-					memPtr->m_jointVel[dof] = getJointVelMultiDof(i)[dof];
+				memPtr->m_jointTorque[dof] = getLink(i).m_jointTorque[dof];
+				memPtr->m_jointVel[dof] = getJointVelMultiDof(i)[dof];
+			}
+			int numPosVar = getLink(i).m_posVarCount;
+			for (int posvar = 0; posvar < numPosVar; posvar++)
+			{
+				memPtr->m_jointPos[posvar] = getLink(i).m_jointPos[posvar];
+			}
 
-				}
-				int numPosVar = getLink(i).m_posVarCount;
-				for (int posvar = 0; posvar < numPosVar;posvar++)
-				{
-					memPtr->m_jointPos[posvar] = getLink(i).m_jointPos[posvar];
-				}
-				
-				
+			{
+				char *name = (char *)serializer->findNameForPointer(m_links[i].m_linkName);
+				memPtr->m_linkName = (char *)serializer->getUniquePointer(name);
+				if (memPtr->m_linkName)
 				{
-					char* name = (char*) serializer->findNameForPointer(m_links[i].m_linkName);
-					memPtr->m_linkName = (char*)serializer->getUniquePointer(name);
-					if (memPtr->m_linkName)
-					{
-						serializer->serializeName(name);
-					}
+					serializer->serializeName(name);
 				}
+			}
+			{
+				char *name = (char *)serializer->findNameForPointer(m_links[i].m_jointName);
+				memPtr->m_jointName = (char *)serializer->getUniquePointer(name);
+				if (memPtr->m_jointName)
 				{
-					char* name = (char*) serializer->findNameForPointer(m_links[i].m_jointName);
-					memPtr->m_jointName = (char*)serializer->getUniquePointer(name);
-					if (memPtr->m_jointName)
-					{
-						serializer->serializeName(name);
-					}
+					serializer->serializeName(name);
 				}
-				memPtr->m_linkCollider = (btCollisionObjectData*)serializer->getUniquePointer(getLink(i).m_collider);
-
 			}
-			serializer->finalizeChunk(chunk,btMultiBodyLinkDataName,BT_ARRAY_CODE,(void*) &m_links[0]);
+			memPtr->m_linkCollider = (btCollisionObjectData *)serializer->getUniquePointer(getLink(i).m_collider);
 		}
-		mbd->m_links = mbd->m_numLinks? (btMultiBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0;
+		serializer->finalizeChunk(chunk, btMultiBodyLinkDataName, BT_ARRAY_CODE, (void *)&m_links[0]);
+	}
+	mbd->m_links = mbd->m_numLinks ? (btMultiBodyLinkData *)serializer->getUniquePointer((void *)&m_links[0]) : 0;
 
-		// Fill padding with zeros to appease msan.
+	// Fill padding with zeros to appease msan.
 #ifdef BT_USE_DOUBLE_PRECISION
-		memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
+	memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
 #endif
 
-		return btMultiBodyDataName;
+	return btMultiBodyDataName;
 }
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
index 655165ac18..e5c0f1806b 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
@@ -21,7 +21,6 @@
  
  */
 
-
 #ifndef BT_MULTIBODY_H
 #define BT_MULTIBODY_H
 
@@ -31,116 +30,111 @@
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-
 ///serialization data, don't change them if you are not familiar with the details of the serialization mechanisms
 #ifdef BT_USE_DOUBLE_PRECISION
-	#define btMultiBodyData	btMultiBodyDoubleData
-	#define btMultiBodyDataName	"btMultiBodyDoubleData"
-	#define btMultiBodyLinkData btMultiBodyLinkDoubleData
-	#define btMultiBodyLinkDataName	"btMultiBodyLinkDoubleData"
+#define btMultiBodyData btMultiBodyDoubleData
+#define btMultiBodyDataName "btMultiBodyDoubleData"
+#define btMultiBodyLinkData btMultiBodyLinkDoubleData
+#define btMultiBodyLinkDataName "btMultiBodyLinkDoubleData"
 #else
-	#define btMultiBodyData	btMultiBodyFloatData
-	#define btMultiBodyDataName	"btMultiBodyFloatData"
-	#define btMultiBodyLinkData btMultiBodyLinkFloatData
-	#define btMultiBodyLinkDataName	"btMultiBodyLinkFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
+#define btMultiBodyData btMultiBodyFloatData
+#define btMultiBodyDataName "btMultiBodyFloatData"
+#define btMultiBodyLinkData btMultiBodyLinkFloatData
+#define btMultiBodyLinkDataName "btMultiBodyLinkFloatData"
+#endif  //BT_USE_DOUBLE_PRECISION
 
 #include "btMultiBodyLink.h"
 class btMultiBodyLinkCollider;
 
-ATTRIBUTE_ALIGNED16(class) btMultiBody 
+ATTRIBUTE_ALIGNED16(class)
+btMultiBody
 {
 public:
-
-    
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    //
-    // initialization
-    //
-    
-	btMultiBody(int n_links,             // NOT including the base
-		btScalar mass,                // mass of base
-		const btVector3 &inertia,    // inertia of base, in base frame; assumed diagonal
-		bool fixedBase,           // whether the base is fixed (true) or can move (false)
-		bool canSleep, bool deprecatedMultiDof=true);
+	//
+	// initialization
+	//
 
+	btMultiBody(int n_links,               // NOT including the base
+				btScalar mass,             // mass of base
+				const btVector3 &inertia,  // inertia of base, in base frame; assumed diagonal
+				bool fixedBase,            // whether the base is fixed (true) or can move (false)
+				bool canSleep, bool deprecatedMultiDof = true);
 
 	virtual ~btMultiBody();
-    
+
 	//note: fixed link collision with parent is always disabled
 	void setupFixed(int linkIndex,
-						   btScalar mass,
-						   const btVector3 &inertia,
-						   int parent,
-						   const btQuaternion &rotParentToThis,
-						   const btVector3 &parentComToThisPivotOffset,
-                           const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true);
-
-						
+					btScalar mass,
+					const btVector3 &inertia,
+					int parent,
+					const btQuaternion &rotParentToThis,
+					const btVector3 &parentComToThisPivotOffset,
+					const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision = true);
+
 	void setupPrismatic(int i,
-                               btScalar mass,
-                               const btVector3 &inertia,
-                               int parent,
-                               const btQuaternion &rotParentToThis,
-                               const btVector3 &jointAxis,
-                               const btVector3 &parentComToThisPivotOffset,
-							   const btVector3 &thisPivotToThisComOffset,
-							   bool disableParentCollision);
-
-    void setupRevolute(int linkIndex,            // 0 to num_links-1
-                       btScalar mass,
-                       const btVector3 &inertia,
-                       int parentIndex,
-                       const btQuaternion &rotParentToThis,  // rotate points in parent frame to this frame, when q = 0
-                       const btVector3 &jointAxis,    // in my frame
-                       const btVector3 &parentComToThisPivotOffset,    // vector from parent COM to joint axis, in PARENT frame
-                       const btVector3 &thisPivotToThisComOffset,       // vector from joint axis to my COM, in MY frame
-					   bool disableParentCollision=false);
-
-	void setupSpherical(int linkIndex,											// 0 to num_links-1
-                       btScalar mass,
-                       const btVector3 &inertia,
-                       int parent,
-                       const btQuaternion &rotParentToThis,		// rotate points in parent frame to this frame, when q = 0                       
-                       const btVector3 &parentComToThisPivotOffset,			// vector from parent COM to joint axis, in PARENT frame
-                       const btVector3 &thisPivotToThisComOffset,				// vector from joint axis to my COM, in MY frame
-					   bool disableParentCollision=false);		
-
-	void setupPlanar(int i,											// 0 to num_links-1
-                       btScalar mass,
-                       const btVector3 &inertia,
-                       int parent,
-                       const btQuaternion &rotParentToThis,		// rotate points in parent frame to this frame, when q = 0                       
-					   const btVector3 &rotationAxis,
-                       const btVector3 &parentComToThisComOffset,			// vector from parent COM to this COM, in PARENT frame                       
-					   bool disableParentCollision=false);		
-	
-	const btMultibodyLink& getLink(int index) const
+						btScalar mass,
+						const btVector3 &inertia,
+						int parent,
+						const btQuaternion &rotParentToThis,
+						const btVector3 &jointAxis,
+						const btVector3 &parentComToThisPivotOffset,
+						const btVector3 &thisPivotToThisComOffset,
+						bool disableParentCollision);
+
+	void setupRevolute(int linkIndex,  // 0 to num_links-1
+					   btScalar mass,
+					   const btVector3 &inertia,
+					   int parentIndex,
+					   const btQuaternion &rotParentToThis,          // rotate points in parent frame to this frame, when q = 0
+					   const btVector3 &jointAxis,                   // in my frame
+					   const btVector3 &parentComToThisPivotOffset,  // vector from parent COM to joint axis, in PARENT frame
+					   const btVector3 &thisPivotToThisComOffset,    // vector from joint axis to my COM, in MY frame
+					   bool disableParentCollision = false);
+
+	void setupSpherical(int linkIndex,  // 0 to num_links-1
+						btScalar mass,
+						const btVector3 &inertia,
+						int parent,
+						const btQuaternion &rotParentToThis,          // rotate points in parent frame to this frame, when q = 0
+						const btVector3 &parentComToThisPivotOffset,  // vector from parent COM to joint axis, in PARENT frame
+						const btVector3 &thisPivotToThisComOffset,    // vector from joint axis to my COM, in MY frame
+						bool disableParentCollision = false);
+
+	void setupPlanar(int i,  // 0 to num_links-1
+					 btScalar mass,
+					 const btVector3 &inertia,
+					 int parent,
+					 const btQuaternion &rotParentToThis,  // rotate points in parent frame to this frame, when q = 0
+					 const btVector3 &rotationAxis,
+					 const btVector3 &parentComToThisComOffset,  // vector from parent COM to this COM, in PARENT frame
+					 bool disableParentCollision = false);
+
+	const btMultibodyLink &getLink(int index) const
 	{
 		return m_links[index];
 	}
 
-	btMultibodyLink& getLink(int index)
+	btMultibodyLink &getLink(int index)
 	{
 		return m_links[index];
 	}
 
-
-	void setBaseCollider(btMultiBodyLinkCollider* collider)//collider can be NULL to disable collision for the base
+	void setBaseCollider(btMultiBodyLinkCollider * collider)  //collider can be NULL to disable collision for the base
 	{
 		m_baseCollider = collider;
 	}
-	const btMultiBodyLinkCollider* getBaseCollider() const
+	const btMultiBodyLinkCollider *getBaseCollider() const
 	{
 		return m_baseCollider;
 	}
-	btMultiBodyLinkCollider* getBaseCollider()
+	btMultiBodyLinkCollider *getBaseCollider()
 	{
 		return m_baseCollider;
 	}
 
-	btMultiBodyLinkCollider* getLinkCollider(int index)
+	const btMultiBodyLinkCollider *getLinkCollider(int index) const
 	{
 		if (index >= 0 && index < getNumLinks())
 		{
@@ -149,61 +143,65 @@ public:
 		return 0;
 	}
 
-    //
-    // get parent
-    // input: link num from 0 to num_links-1
-    // output: link num from 0 to num_links-1, OR -1 to mean the base.
-    //
-    int getParent(int link_num) const;
-    
-    
-    //
-    // get number of m_links, masses, moments of inertia
-    //
+	btMultiBodyLinkCollider *getLinkCollider(int index)
+	{
+		if (index >= 0 && index < getNumLinks())
+		{
+			return getLink(index).m_collider;
+		}
+		return 0;
+	}
+
+	//
+	// get parent
+	// input: link num from 0 to num_links-1
+	// output: link num from 0 to num_links-1, OR -1 to mean the base.
+	//
+	int getParent(int link_num) const;
+
+	//
+	// get number of m_links, masses, moments of inertia
+	//
 
-    int getNumLinks() const { return m_links.size(); }
+	int getNumLinks() const { return m_links.size(); }
 	int getNumDofs() const { return m_dofCount; }
 	int getNumPosVars() const { return m_posVarCnt; }
-    btScalar getBaseMass() const { return m_baseMass; }
-    const btVector3 & getBaseInertia() const { return m_baseInertia; }
-    btScalar getLinkMass(int i) const;
-    const btVector3 & getLinkInertia(int i) const;
-    
-	
+	btScalar getBaseMass() const { return m_baseMass; }
+	const btVector3 &getBaseInertia() const { return m_baseInertia; }
+	btScalar getLinkMass(int i) const;
+	const btVector3 &getLinkInertia(int i) const;
 
-    //
-    // change mass (incomplete: can only change base mass and inertia at present)
-    //
+	//
+	// change mass (incomplete: can only change base mass and inertia at present)
+	//
 
-    void setBaseMass(btScalar mass) { m_baseMass = mass; }
-    void setBaseInertia(const btVector3 &inertia) { m_baseInertia = inertia; }
+	void setBaseMass(btScalar mass) { m_baseMass = mass; }
+	void setBaseInertia(const btVector3 &inertia) { m_baseInertia = inertia; }
 
+	//
+	// get/set pos/vel/rot/omega for the base link
+	//
 
-    //
-    // get/set pos/vel/rot/omega for the base link
-    //
-
-    const btVector3 & getBasePos() const { return m_basePos; }    // in world frame
-    const btVector3 getBaseVel() const 
-	{ 
-		return btVector3(m_realBuf[3],m_realBuf[4],m_realBuf[5]); 
-	}     // in world frame
-    const btQuaternion & getWorldToBaseRot() const 
-	{ 
-		return m_baseQuat; 
-	}     // rotates world vectors into base frame
-    btVector3 getBaseOmega() const { return btVector3(m_realBuf[0],m_realBuf[1],m_realBuf[2]); }   // in world frame
+	const btVector3 &getBasePos() const { return m_basePos; }  // in world frame
+	const btVector3 getBaseVel() const
+	{
+		return btVector3(m_realBuf[3], m_realBuf[4], m_realBuf[5]);
+	}  // in world frame
+	const btQuaternion &getWorldToBaseRot() const
+	{
+		return m_baseQuat;
+	}                                                                                               // rotates world vectors into base frame
+	btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); }  // in world frame
 
-    void setBasePos(const btVector3 &pos) 
-	{ 
-		m_basePos = pos; 
+	void setBasePos(const btVector3 &pos)
+	{
+		m_basePos = pos;
 	}
 
-	void setBaseWorldTransform(const btTransform& tr)
+	void setBaseWorldTransform(const btTransform &tr)
 	{
 		setBasePos(tr.getOrigin());
 		setWorldToBaseRot(tr.getRotation().inverse());
-
 	}
 
 	btTransform getBaseWorldTransform() const
@@ -214,190 +212,186 @@ public:
 		return tr;
 	}
 
-    void setBaseVel(const btVector3 &vel) 
-	{ 
-
-		m_realBuf[3]=vel[0]; m_realBuf[4]=vel[1]; m_realBuf[5]=vel[2]; 
+	void setBaseVel(const btVector3 &vel)
+	{
+		m_realBuf[3] = vel[0];
+		m_realBuf[4] = vel[1];
+		m_realBuf[5] = vel[2];
 	}
-    void setWorldToBaseRot(const btQuaternion &rot) 
-	{ 
-		m_baseQuat = rot;					//m_baseQuat asumed to ba alias!?
+	void setWorldToBaseRot(const btQuaternion &rot)
+	{
+		m_baseQuat = rot;  //m_baseQuat asumed to ba alias!?
 	}
-    void setBaseOmega(const btVector3 &omega) 
-	{ 
-		m_realBuf[0]=omega[0]; 
-		m_realBuf[1]=omega[1]; 
-		m_realBuf[2]=omega[2]; 
+	void setBaseOmega(const btVector3 &omega)
+	{
+		m_realBuf[0] = omega[0];
+		m_realBuf[1] = omega[1];
+		m_realBuf[2] = omega[2];
 	}
 
+	//
+	// get/set pos/vel for child m_links (i = 0 to num_links-1)
+	//
 
-    //
-    // get/set pos/vel for child m_links (i = 0 to num_links-1)
-    //
-
-    btScalar getJointPos(int i) const;
-    btScalar getJointVel(int i) const;
-
-	btScalar * getJointVelMultiDof(int i);
-	btScalar * getJointPosMultiDof(int i);
+	btScalar getJointPos(int i) const;
+	btScalar getJointVel(int i) const;
 
-	const btScalar * getJointVelMultiDof(int i) const ;
-	const btScalar * getJointPosMultiDof(int i) const ;
+	btScalar *getJointVelMultiDof(int i);
+	btScalar *getJointPosMultiDof(int i);
 
-    void setJointPos(int i, btScalar q);
-    void setJointVel(int i, btScalar qdot);
-	void setJointPosMultiDof(int i, btScalar *q);
-    void setJointVelMultiDof(int i, btScalar *qdot);	
+	const btScalar *getJointVelMultiDof(int i) const;
+	const btScalar *getJointPosMultiDof(int i) const;
 
+	void setJointPos(int i, btScalar q);
+	void setJointVel(int i, btScalar qdot);
+	void setJointPosMultiDof(int i, const double *q);
+	void setJointVelMultiDof(int i, const double *qdot);
+	void setJointPosMultiDof(int i, const float *q);
+	void setJointVelMultiDof(int i, const float *qdot);
 
-
-    //
-    // direct access to velocities as a vector of 6 + num_links elements.
-    // (omega first, then v, then joint velocities.)
-    //
-    const btScalar * getVelocityVector() const 
-	{ 
-		return &m_realBuf[0]; 
+	//
+	// direct access to velocities as a vector of 6 + num_links elements.
+	// (omega first, then v, then joint velocities.)
+	//
+	const btScalar *getVelocityVector() const
+	{
+		return &m_realBuf[0];
 	}
-/*    btScalar * getVelocityVector() 
+	/*    btScalar * getVelocityVector() 
 	{ 
 		return &real_buf[0]; 
 	}
-  */  
-
-    //
-    // get the frames of reference (positions and orientations) of the child m_links
-    // (i = 0 to num_links-1)
-    //
+  */
 
-    const btVector3 & getRVector(int i) const;   // vector from COM(parent(i)) to COM(i), in frame i's coords
-    const btQuaternion & getParentToLocalRot(int i) const;   // rotates vectors in frame parent(i) to vectors in frame i.
+	//
+	// get the frames of reference (positions and orientations) of the child m_links
+	// (i = 0 to num_links-1)
+	//
 
+	const btVector3 &getRVector(int i) const;              // vector from COM(parent(i)) to COM(i), in frame i's coords
+	const btQuaternion &getParentToLocalRot(int i) const;  // rotates vectors in frame parent(i) to vectors in frame i.
 
-    //
-    // transform vectors in local frame of link i to world frame (or vice versa)
-    //
-    btVector3 localPosToWorld(int i, const btVector3 &vec) const;
-    btVector3 localDirToWorld(int i, const btVector3 &vec) const;
-    btVector3 worldPosToLocal(int i, const btVector3 &vec) const;
-    btVector3 worldDirToLocal(int i, const btVector3 &vec) const;
+	//
+	// transform vectors in local frame of link i to world frame (or vice versa)
+	//
+	btVector3 localPosToWorld(int i, const btVector3 &vec) const;
+	btVector3 localDirToWorld(int i, const btVector3 &vec) const;
+	btVector3 worldPosToLocal(int i, const btVector3 &vec) const;
+	btVector3 worldDirToLocal(int i, const btVector3 &vec) const;
 
-    //
-    // transform a frame in local coordinate to a frame in world coordinate
-    //
-    btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const;
+	//
+	// transform a frame in local coordinate to a frame in world coordinate
+	//
+	btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const;
 
-    //
-    // calculate kinetic energy and angular momentum
-    // useful for debugging.
-    //
+	//
+	// calculate kinetic energy and angular momentum
+	// useful for debugging.
+	//
 
-    btScalar getKineticEnergy() const;
-    btVector3 getAngularMomentum() const;
-    
+	btScalar getKineticEnergy() const;
+	btVector3 getAngularMomentum() const;
 
-    //
-    // set external forces and torques. Note all external forces/torques are given in the WORLD frame.
-    //
+	//
+	// set external forces and torques. Note all external forces/torques are given in the WORLD frame.
+	//
 
-    void clearForcesAndTorques();
-   void clearConstraintForces();
+	void clearForcesAndTorques();
+	void clearConstraintForces();
 
 	void clearVelocities();
 
-    void addBaseForce(const btVector3 &f) 
-	{ 
-		m_baseForce += f; 
-	}
-    void addBaseTorque(const btVector3 &t) { m_baseTorque += t; }
-    void addLinkForce(int i, const btVector3 &f);
-    void addLinkTorque(int i, const btVector3 &t);
-
- void addBaseConstraintForce(const btVector3 &f)
-        {
-                m_baseConstraintForce += f;
-        }
-    void addBaseConstraintTorque(const btVector3 &t) { m_baseConstraintTorque += t; }
-    void addLinkConstraintForce(int i, const btVector3 &f);
-    void addLinkConstraintTorque(int i, const btVector3 &t);
-       
-
-void addJointTorque(int i, btScalar Q);
+	void addBaseForce(const btVector3 &f)
+	{
+		m_baseForce += f;
+	}
+	void addBaseTorque(const btVector3 &t) { m_baseTorque += t; }
+	void addLinkForce(int i, const btVector3 &f);
+	void addLinkTorque(int i, const btVector3 &t);
+
+	void addBaseConstraintForce(const btVector3 &f)
+	{
+		m_baseConstraintForce += f;
+	}
+	void addBaseConstraintTorque(const btVector3 &t) { m_baseConstraintTorque += t; }
+	void addLinkConstraintForce(int i, const btVector3 &f);
+	void addLinkConstraintTorque(int i, const btVector3 &t);
+
+	void addJointTorque(int i, btScalar Q);
 	void addJointTorqueMultiDof(int i, int dof, btScalar Q);
 	void addJointTorqueMultiDof(int i, const btScalar *Q);
 
-    const btVector3 & getBaseForce() const { return m_baseForce; }
-    const btVector3 & getBaseTorque() const { return m_baseTorque; }
-    const btVector3 & getLinkForce(int i) const;
-    const btVector3 & getLinkTorque(int i) const;
-    btScalar getJointTorque(int i) const;
-	btScalar * getJointTorqueMultiDof(int i);
-
-
-    //
-    // dynamics routines.
-    //
-
-    // timestep the velocities (given the external forces/torques set using addBaseForce etc).
-    // also sets up caches for calcAccelerationDeltas.
-    //
-    // Note: the caller must provide three vectors which are used as
-    // temporary scratch space. The idea here is to reduce dynamic
-    // memory allocation: the same scratch vectors can be re-used
-    // again and again for different Multibodies, instead of each
-    // btMultiBody allocating (and then deallocating) their own
-    // individual scratch buffers. This gives a considerable speed
-    // improvement, at least on Windows (where dynamic memory
-    // allocation appears to be fairly slow).
-    //
-   
- 
+	const btVector3 &getBaseForce() const { return m_baseForce; }
+	const btVector3 &getBaseTorque() const { return m_baseTorque; }
+	const btVector3 &getLinkForce(int i) const;
+	const btVector3 &getLinkTorque(int i) const;
+	btScalar getJointTorque(int i) const;
+	btScalar *getJointTorqueMultiDof(int i);
+
+	//
+	// dynamics routines.
+	//
+
+	// timestep the velocities (given the external forces/torques set using addBaseForce etc).
+	// also sets up caches for calcAccelerationDeltas.
+	//
+	// Note: the caller must provide three vectors which are used as
+	// temporary scratch space. The idea here is to reduce dynamic
+	// memory allocation: the same scratch vectors can be re-used
+	// again and again for different Multibodies, instead of each
+	// btMultiBody allocating (and then deallocating) their own
+	// individual scratch buffers. This gives a considerable speed
+	// improvement, at least on Windows (where dynamic memory
+	// allocation appears to be fairly slow).
+	//
+
 	void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
-                        btAlignedObjectArray<btScalar> &scratch_r,
-                        btAlignedObjectArray<btVector3> &scratch_v,
-                        btAlignedObjectArray<btMatrix3x3> &scratch_m,
-			bool isConstraintPass=false
-		);
-
-///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
-        void stepVelocitiesMultiDof(btScalar dt,
-                        btAlignedObjectArray<btScalar> &scratch_r,
-                        btAlignedObjectArray<btVector3> &scratch_v,
-                        btAlignedObjectArray<btMatrix3x3> &scratch_m,
-                        bool isConstraintPass=false)
-	{
-		computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt,scratch_r,scratch_v,scratch_m,isConstraintPass);
-        }
-
-    // calcAccelerationDeltasMultiDof
-    // input: force vector (in same format as jacobian, i.e.:
-    //                      3 torque values, 3 force values, num_links joint torque values)
-    // output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
-    // (existing contents of output array are replaced)
-    // calcAccelerationDeltasMultiDof must have been called first.
+															  btAlignedObjectArray<btScalar> & scratch_r,
+															  btAlignedObjectArray<btVector3> & scratch_v,
+															  btAlignedObjectArray<btMatrix3x3> & scratch_m,
+															  bool isConstraintPass,
+                                                              bool jointFeedbackInWorldSpace,
+                                                              bool jointFeedbackInJointFrame
+                                                              );
+
+	///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
+	//void stepVelocitiesMultiDof(btScalar dt,
+	//							btAlignedObjectArray<btScalar> & scratch_r,
+	//							btAlignedObjectArray<btVector3> & scratch_v,
+	//							btAlignedObjectArray<btMatrix3x3> & scratch_m,
+	//							bool isConstraintPass = false)
+	//{
+	//	computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
+	//}
+
+	// calcAccelerationDeltasMultiDof
+	// input: force vector (in same format as jacobian, i.e.:
+	//                      3 torque values, 3 force values, num_links joint torque values)
+	// output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
+	// (existing contents of output array are replaced)
+	// calcAccelerationDeltasMultiDof must have been called first.
 	void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
-                                btAlignedObjectArray<btScalar> &scratch_r,
-                                btAlignedObjectArray<btVector3> &scratch_v) const;
-	
-  
-	void applyDeltaVeeMultiDof2(const btScalar * delta_vee, btScalar multiplier)
+										btAlignedObjectArray<btScalar> &scratch_r,
+										btAlignedObjectArray<btVector3> &scratch_v) const;
+
+	void applyDeltaVeeMultiDof2(const btScalar *delta_vee, btScalar multiplier)
 	{
 		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-                {
-                        m_deltaV[dof] += delta_vee[dof] * multiplier;
-                }
+		{
+			m_deltaV[dof] += delta_vee[dof] * multiplier;
+		}
 	}
 	void processDeltaVeeMultiDof2()
 	{
-		applyDeltaVeeMultiDof(&m_deltaV[0],1);
+		applyDeltaVeeMultiDof(&m_deltaV[0], 1);
 
 		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
-                {
+		{
 			m_deltaV[dof] = 0.f;
 		}
 	}
 
-	void applyDeltaVeeMultiDof(const btScalar * delta_vee, btScalar multiplier) 
+	void applyDeltaVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
 	{
 		//for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
 		//	printf("%.4f ", delta_vee[dof]*multiplier);
@@ -418,65 +412,61 @@ void addJointTorque(int i, btScalar Q);
 		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
 		{
 			m_realBuf[dof] += delta_vee[dof] * multiplier;
-			btClamp(m_realBuf[dof],-m_maxCoordinateVelocity,m_maxCoordinateVelocity);
+			btClamp(m_realBuf[dof], -m_maxCoordinateVelocity, m_maxCoordinateVelocity);
 		}
-    }
+	}
 
-	
-	
-    // timestep the positions (given current velocities).
+	// timestep the positions (given current velocities).
 	void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0);
 
+	//
+	// contacts
+	//
 
-    //
-    // contacts
-    //
+	// This routine fills out a contact constraint jacobian for this body.
+	// the 'normal' supplied must be -n for body1 or +n for body2 of the contact.
+	// 'normal' & 'contact_point' are both given in world coordinates.
 
-    // This routine fills out a contact constraint jacobian for this body.
-    // the 'normal' supplied must be -n for body1 or +n for body2 of the contact.
-    // 'normal' & 'contact_point' are both given in world coordinates.
-	
 	void fillContactJacobianMultiDof(int link,
-                             const btVector3 &contact_point,
-                             const btVector3 &normal,
-                             btScalar *jac,
-                             btAlignedObjectArray<btScalar> &scratch_r,
-                             btAlignedObjectArray<btVector3> &scratch_v,
-							 btAlignedObjectArray<btMatrix3x3> &scratch_m) const { fillConstraintJacobianMultiDof(link, contact_point, btVector3(0, 0, 0), normal, jac, scratch_r, scratch_v, scratch_m); }
+									 const btVector3 &contact_point,
+									 const btVector3 &normal,
+									 btScalar *jac,
+									 btAlignedObjectArray<btScalar> &scratch_r,
+									 btAlignedObjectArray<btVector3> &scratch_v,
+									 btAlignedObjectArray<btMatrix3x3> &scratch_m) const { fillConstraintJacobianMultiDof(link, contact_point, btVector3(0, 0, 0), normal, jac, scratch_r, scratch_v, scratch_m); }
 
 	//a more general version of fillContactJacobianMultiDof which does not assume..
 	//.. that the constraint in question is contact or, to be more precise, constrains linear velocity only
 	void fillConstraintJacobianMultiDof(int link,
-                             const btVector3 &contact_point,
-							 const btVector3 &normal_ang,
-                             const btVector3 &normal_lin,
-                             btScalar *jac,
-                             btAlignedObjectArray<btScalar> &scratch_r,
-                             btAlignedObjectArray<btVector3> &scratch_v,
-                             btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
-
-
-    //
-    // sleeping
-    //
-	void	setCanSleep(bool canSleep)
+										const btVector3 &contact_point,
+										const btVector3 &normal_ang,
+										const btVector3 &normal_lin,
+										btScalar *jac,
+										btAlignedObjectArray<btScalar> &scratch_r,
+										btAlignedObjectArray<btVector3> &scratch_v,
+										btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
+
+	//
+	// sleeping
+	//
+	void setCanSleep(bool canSleep)
 	{
 		m_canSleep = canSleep;
 	}
 
-	bool getCanSleep()const
+	bool getCanSleep() const
 	{
 		return m_canSleep;
 	}
 
-    bool isAwake() const { return m_awake; }
-    void wakeUp();
-    void goToSleep();
-    void checkMotionAndSleepIfRequired(btScalar timestep);
-    
+	bool isAwake() const { return m_awake; }
+	void wakeUp();
+	void goToSleep();
+	void checkMotionAndSleepIfRequired(btScalar timestep);
+
 	bool hasFixedBase() const
 	{
-		    return m_fixedBase;
+		return m_fixedBase;
 	}
 
 	int getCompanionId() const
@@ -489,16 +479,16 @@ void addJointTorque(int i, btScalar Q);
 		m_companionId = id;
 	}
 
-	void setNumLinks(int numLinks)//careful: when changing the number of m_links, make sure to re-initialize or update existing m_links
+	void setNumLinks(int numLinks)  //careful: when changing the number of m_links, make sure to re-initialize or update existing m_links
 	{
 		m_links.resize(numLinks);
 	}
 
 	btScalar getLinearDamping() const
 	{
-			return m_linearDamping;
+		return m_linearDamping;
 	}
-	void setLinearDamping( btScalar damp)
+	void setLinearDamping(btScalar damp)
 	{
 		m_linearDamping = damp;
 	}
@@ -506,11 +496,11 @@ void addJointTorque(int i, btScalar Q);
 	{
 		return m_angularDamping;
 	}
-	void setAngularDamping( btScalar damp)
+	void setAngularDamping(btScalar damp)
 	{
 		m_angularDamping = damp;
 	}
-		
+
 	bool getUseGyroTerm() const
 	{
 		return m_useGyroTerm;
@@ -519,24 +509,24 @@ void addJointTorque(int i, btScalar Q);
 	{
 		m_useGyroTerm = useGyro;
 	}
-	btScalar	getMaxCoordinateVelocity() const
+	btScalar getMaxCoordinateVelocity() const
 	{
-		return m_maxCoordinateVelocity ;
+		return m_maxCoordinateVelocity;
 	}
-	void	setMaxCoordinateVelocity(btScalar maxVel)
+	void setMaxCoordinateVelocity(btScalar maxVel)
 	{
 		m_maxCoordinateVelocity = maxVel;
 	}
 
-	btScalar	getMaxAppliedImpulse() const
+	btScalar getMaxAppliedImpulse() const
 	{
 		return m_maxAppliedImpulse;
 	}
-	void	setMaxAppliedImpulse(btScalar maxImp)
+	void setMaxAppliedImpulse(btScalar maxImp)
 	{
 		m_maxAppliedImpulse = maxImp;
 	}
-	void	setHasSelfCollision(bool hasSelfCollision)
+	void setHasSelfCollision(bool hasSelfCollision)
 	{
 		m_hasSelfCollision = hasSelfCollision;
 	}
@@ -545,7 +535,6 @@ void addJointTorque(int i, btScalar Q);
 		return m_hasSelfCollision;
 	}
 
-	
 	void finalizeMultiDof();
 
 	void useRK4Integration(bool use) { m_useRK4 = use; }
@@ -561,126 +550,132 @@ void addJointTorque(int i, btScalar Q);
 	{
 		__posUpdated = updated;
 	}
-	
+
 	//internalNeedsJointFeedback is for internal use only
 	bool internalNeedsJointFeedback() const
 	{
 		return m_internalNeedsJointFeedback;
 	}
-	void	forwardKinematics(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m);
+	void forwardKinematics(btAlignedObjectArray<btQuaternion> & scratch_q, btAlignedObjectArray<btVector3> & scratch_m);
 
-	void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const;
+	void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const;
 
-	void	updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m);
-	
-	virtual	int	calculateSerializeBufferSize()	const;
+	void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & scratch_q, btAlignedObjectArray<btVector3> & scratch_m);
+
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer,  class btSerializer* serializer) const;
+	virtual const char *serialize(void *dataBuffer, class btSerializer *serializer) const;
 
-	const char*				getBaseName() const
+	const char *getBaseName() const
 	{
 		return m_baseName;
 	}
 	///memory of setBaseName needs to be manager by user
-	void	setBaseName(const char* name)
+	void setBaseName(const char *name)
 	{
 		m_baseName = name;
 	}
 
 	///users can point to their objects, userPointer is not used by Bullet
-	void*	getUserPointer() const
+	void *getUserPointer() const
 	{
 		return m_userObjectPointer;
 	}
 
-	int	getUserIndex() const
+	int getUserIndex() const
 	{
 		return m_userIndex;
 	}
 
-	int	getUserIndex2() const
+	int getUserIndex2() const
 	{
 		return m_userIndex2;
 	}
 	///users can point to their objects, userPointer is not used by Bullet
-	void	setUserPointer(void* userPointer)
+	void setUserPointer(void *userPointer)
 	{
 		m_userObjectPointer = userPointer;
 	}
 
 	///users can point to their objects, userPointer is not used by Bullet
-	void	setUserIndex(int index)
+	void setUserIndex(int index)
 	{
 		m_userIndex = index;
 	}
 
-	void	setUserIndex2(int index)
+	void setUserIndex2(int index)
 	{
 		m_userIndex2 = index;
 	}
 
-private:
-    btMultiBody(const btMultiBody &);  // not implemented
-    void operator=(const btMultiBody &);  // not implemented
+	static void spatialTransform(const btMatrix3x3 &rotation_matrix,  // rotates vectors in 'from' frame to vectors in 'to' frame
+		const btVector3 &displacement,     // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates
+		const btVector3 &top_in,       // top part of input vector
+		const btVector3 &bottom_in,    // bottom part of input vector
+		btVector3 &top_out,         // top part of output vector
+		btVector3 &bottom_out);      // bottom part of output vector
 
 
-	void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const;
+
+private:
+	btMultiBody(const btMultiBody &);     // not implemented
+	void operator=(const btMultiBody &);  // not implemented
+
+	void solveImatrix(const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const;
 	void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const;
-	
+
 	void updateLinksDofOffsets()
 	{
 		int dofOffset = 0, cfgOffset = 0;
-		for(int bidx = 0; bidx < m_links.size(); ++bidx)
+		for (int bidx = 0; bidx < m_links.size(); ++bidx)
 		{
-			m_links[bidx].m_dofOffset = dofOffset; m_links[bidx].m_cfgOffset = cfgOffset;
-			dofOffset += m_links[bidx].m_dofCount; cfgOffset += m_links[bidx].m_posVarCount;
+			m_links[bidx].m_dofOffset = dofOffset;
+			m_links[bidx].m_cfgOffset = cfgOffset;
+			dofOffset += m_links[bidx].m_dofCount;
+			cfgOffset += m_links[bidx].m_posVarCount;
 		}
 	}
 
-	void mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
-	
-	
-private:
-
-	btMultiBodyLinkCollider* m_baseCollider;//can be NULL
-	const char*				m_baseName;//memory needs to be manager by user!
-
-    btVector3 m_basePos;       // position of COM of base (world frame)
-    btQuaternion m_baseQuat;   // rotates world points into base frame
-
-    btScalar m_baseMass;         // mass of the base
-    btVector3 m_baseInertia;   // inertia of the base (in local frame; diagonal)
-
-    btVector3 m_baseForce;     // external force applied to base. World frame.
-    btVector3 m_baseTorque;    // external torque applied to base. World frame.
-   
-    btVector3 m_baseConstraintForce;     // external force applied to base. World frame.
-    btVector3 m_baseConstraintTorque;    // external torque applied to base. World frame.
- 
-    btAlignedObjectArray<btMultibodyLink> m_links;    // array of m_links, excluding the base. index from 0 to num_links-1.
-
-    
-    //
-    // realBuf:
-    //  offset         size            array
-    //   0              6 + num_links   v (base_omega; base_vel; joint_vels)					MULTIDOF [sysdof x sysdof for D matrices (TOO MUCH!) + pos_delta which is sys-cfg sized]
-    //   6+num_links    num_links       D
-    //
-    // vectorBuf:
-    //  offset         size         array
-    //   0              num_links    h_top
-    //   num_links      num_links    h_bottom
-    //
-    // matrixBuf:
-    //  offset         size         array
-    //   0              num_links+1  rot_from_parent
-    //
-   btAlignedObjectArray<btScalar> m_deltaV; 
-    btAlignedObjectArray<btScalar> m_realBuf;
-    btAlignedObjectArray<btVector3> m_vectorBuf;
-    btAlignedObjectArray<btMatrix3x3> m_matrixBuf;
+	void mulMatrix(btScalar * pA, btScalar * pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
 
+private:
+	btMultiBodyLinkCollider *m_baseCollider;  //can be NULL
+	const char *m_baseName;                   //memory needs to be manager by user!
+
+	btVector3 m_basePos;      // position of COM of base (world frame)
+	btQuaternion m_baseQuat;  // rotates world points into base frame
+
+	btScalar m_baseMass;      // mass of the base
+	btVector3 m_baseInertia;  // inertia of the base (in local frame; diagonal)
+
+	btVector3 m_baseForce;   // external force applied to base. World frame.
+	btVector3 m_baseTorque;  // external torque applied to base. World frame.
+
+	btVector3 m_baseConstraintForce;   // external force applied to base. World frame.
+	btVector3 m_baseConstraintTorque;  // external torque applied to base. World frame.
+
+	btAlignedObjectArray<btMultibodyLink> m_links;  // array of m_links, excluding the base. index from 0 to num_links-1.
+
+	//
+	// realBuf:
+	//  offset         size            array
+	//   0              6 + num_links   v (base_omega; base_vel; joint_vels)					MULTIDOF [sysdof x sysdof for D matrices (TOO MUCH!) + pos_delta which is sys-cfg sized]
+	//   6+num_links    num_links       D
+	//
+	// vectorBuf:
+	//  offset         size         array
+	//   0              num_links    h_top
+	//   num_links      num_links    h_bottom
+	//
+	// matrixBuf:
+	//  offset         size         array
+	//   0              num_links+1  rot_from_parent
+	//
+	btAlignedObjectArray<btScalar> m_deltaV;
+	btAlignedObjectArray<btScalar> m_realBuf;
+	btAlignedObjectArray<btVector3> m_vectorBuf;
+	btAlignedObjectArray<btMatrix3x3> m_matrixBuf;
 
 	btMatrix3x3 m_cachedInertiaTopLeft;
 	btMatrix3x3 m_cachedInertiaTopRight;
@@ -688,127 +683,140 @@ private:
 	btMatrix3x3 m_cachedInertiaLowerRight;
 	bool m_cachedInertiaValid;
 
-    bool m_fixedBase;
+	bool m_fixedBase;
 
-    // Sleep parameters.
-    bool m_awake;
-    bool m_canSleep;
-    btScalar m_sleepTimer;
+	// Sleep parameters.
+	bool m_awake;
+	bool m_canSleep;
+	btScalar m_sleepTimer;
 
-	void* m_userObjectPointer;
+	void *m_userObjectPointer;
 	int m_userIndex2;
 	int m_userIndex;
 
-	int	m_companionId;
-	btScalar	m_linearDamping;
-	btScalar	m_angularDamping;
-	bool	m_useGyroTerm;
-	btScalar	m_maxAppliedImpulse;
-	btScalar	m_maxCoordinateVelocity;
-	bool		m_hasSelfCollision;
-	
-		bool __posUpdated;
-		int m_dofCount, m_posVarCnt;
+	int m_companionId;
+	btScalar m_linearDamping;
+	btScalar m_angularDamping;
+	bool m_useGyroTerm;
+	btScalar m_maxAppliedImpulse;
+	btScalar m_maxCoordinateVelocity;
+	bool m_hasSelfCollision;
+
+	bool __posUpdated;
+	int m_dofCount, m_posVarCnt;
+
 	bool m_useRK4, m_useGlobalVelocities;
-	
+	//for global velocities, see 8.3.2B Proposed resolution in Jakub Stepien PhD Thesis
+	//https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
+
 	///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
 	bool m_internalNeedsJointFeedback;
 };
 
 struct btMultiBodyLinkDoubleData
 {
-	btQuaternionDoubleData	m_zeroRotParentToThis;
-	btVector3DoubleData		m_parentComToThisComOffset;
-	btVector3DoubleData		m_thisPivotToThisComOffset;
-	btVector3DoubleData		m_jointAxisTop[6];
-	btVector3DoubleData		m_jointAxisBottom[6];
-
-	btVector3DoubleData		m_linkInertia;   // inertia of the base (in local frame; diagonal)
-	double					m_linkMass;
-	int						m_parentIndex;
-	int						m_jointType;
-
-	int						m_dofCount;
-	int						m_posVarCount;
-	double					m_jointPos[7];
-	double					m_jointVel[6];
-	double					m_jointTorque[6];
-
-	double					m_jointDamping;
-	double					m_jointFriction;
-	double					m_jointLowerLimit;
-	double					m_jointUpperLimit;
-	double					m_jointMaxForce;
-	double					m_jointMaxVelocity;
-	
-	char					*m_linkName;
-	char					*m_jointName;
-	btCollisionObjectDoubleData	*m_linkCollider;
-	char					*m_paddingPtr;
-
+	btQuaternionDoubleData m_zeroRotParentToThis;
+	btVector3DoubleData m_parentComToThisPivotOffset;
+	btVector3DoubleData m_thisPivotToThisComOffset;
+	btVector3DoubleData m_jointAxisTop[6];
+	btVector3DoubleData m_jointAxisBottom[6];
+
+	btVector3DoubleData m_linkInertia;  // inertia of the base (in local frame; diagonal)
+	btVector3DoubleData m_absFrameTotVelocityTop;
+	btVector3DoubleData m_absFrameTotVelocityBottom;
+	btVector3DoubleData m_absFrameLocVelocityTop;
+	btVector3DoubleData m_absFrameLocVelocityBottom;
+
+	double m_linkMass;
+	int m_parentIndex;
+	int m_jointType;
+
+	int m_dofCount;
+	int m_posVarCount;
+	double m_jointPos[7];
+	double m_jointVel[6];
+	double m_jointTorque[6];
+
+	double m_jointDamping;
+	double m_jointFriction;
+	double m_jointLowerLimit;
+	double m_jointUpperLimit;
+	double m_jointMaxForce;
+	double m_jointMaxVelocity;
+
+	char *m_linkName;
+	char *m_jointName;
+	btCollisionObjectDoubleData *m_linkCollider;
+	char *m_paddingPtr;
 };
 
 struct btMultiBodyLinkFloatData
 {
-	btQuaternionFloatData	m_zeroRotParentToThis;
-	btVector3FloatData		m_parentComToThisComOffset;
-	btVector3FloatData		m_thisPivotToThisComOffset;
-	btVector3FloatData		m_jointAxisTop[6];
-	btVector3FloatData		m_jointAxisBottom[6];
-	btVector3FloatData	m_linkInertia;   // inertia of the base (in local frame; diagonal)
-	int						m_dofCount;
-	float				m_linkMass;
-	int					m_parentIndex;
-	int					m_jointType;
-	
-
-		
-	float					m_jointPos[7];
-	float					m_jointVel[6];
-	float					m_jointTorque[6];
-	int						m_posVarCount;
-	float					m_jointDamping;
-	float					m_jointFriction;
-	float					m_jointLowerLimit;
-	float					m_jointUpperLimit;
-	float					m_jointMaxForce;
-	float					m_jointMaxVelocity;
-	
-	char				*m_linkName;
-	char				*m_jointName;
-	btCollisionObjectFloatData	*m_linkCollider;
-	char				*m_paddingPtr;
-
+	btQuaternionFloatData m_zeroRotParentToThis;
+	btVector3FloatData m_parentComToThisPivotOffset;
+	btVector3FloatData m_thisPivotToThisComOffset;
+	btVector3FloatData m_jointAxisTop[6];
+	btVector3FloatData m_jointAxisBottom[6];
+	btVector3FloatData m_linkInertia;  // inertia of the base (in local frame; diagonal)
+	btVector3FloatData m_absFrameTotVelocityTop;
+	btVector3FloatData m_absFrameTotVelocityBottom;
+	btVector3FloatData m_absFrameLocVelocityTop;
+	btVector3FloatData m_absFrameLocVelocityBottom;
+
+	int m_dofCount;
+	float m_linkMass;
+	int m_parentIndex;
+	int m_jointType;
+
+	float m_jointPos[7];
+	float m_jointVel[6];
+	float m_jointTorque[6];
+	int m_posVarCount;
+	float m_jointDamping;
+	float m_jointFriction;
+	float m_jointLowerLimit;
+	float m_jointUpperLimit;
+	float m_jointMaxForce;
+	float m_jointMaxVelocity;
+
+	char *m_linkName;
+	char *m_jointName;
+	btCollisionObjectFloatData *m_linkCollider;
+	char *m_paddingPtr;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btMultiBodyDoubleData
+struct btMultiBodyDoubleData
 {
-	btTransformDoubleData m_baseWorldTransform;
-	btVector3DoubleData m_baseInertia;   // inertia of the base (in local frame; diagonal)
-	double	m_baseMass;
-
-	char	*m_baseName;
-	btMultiBodyLinkDoubleData	*m_links;
-	btCollisionObjectDoubleData	*m_baseCollider;
-	char	*m_paddingPtr;
-	int		m_numLinks;
-	char	m_padding[4];
+	btVector3DoubleData m_baseWorldPosition;
+	btQuaternionDoubleData m_baseWorldOrientation;
+	btVector3DoubleData m_baseLinearVelocity;
+	btVector3DoubleData m_baseAngularVelocity;
+	btVector3DoubleData m_baseInertia;  // inertia of the base (in local frame; diagonal)
+	double m_baseMass;
+	int m_numLinks;
+	char m_padding[4];
+
+	char *m_baseName;
+	btMultiBodyLinkDoubleData *m_links;
+	btCollisionObjectDoubleData *m_baseCollider;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btMultiBodyFloatData
+struct btMultiBodyFloatData
 {
-	char	*m_baseName;
-	btMultiBodyLinkFloatData	*m_links;
-	btCollisionObjectFloatData	*m_baseCollider;
-	btTransformFloatData m_baseWorldTransform;
-	btVector3FloatData m_baseInertia;   // inertia of the base (in local frame; diagonal)
-	
-	float	m_baseMass;
-	int		m_numLinks;
+	btVector3FloatData m_baseWorldPosition;
+	btQuaternionFloatData m_baseWorldOrientation;
+	btVector3FloatData m_baseLinearVelocity;
+	btVector3FloatData m_baseAngularVelocity;
+
+	btVector3FloatData m_baseInertia;  // inertia of the base (in local frame; diagonal)
+	float m_baseMass;
+	int m_numLinks;
+
+	char *m_baseName;
+	btMultiBodyLinkFloatData *m_links;
+	btCollisionObjectFloatData *m_baseCollider;
 };
 
-
-
 #endif
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
index d52852dd8e..e17ab94d98 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -1,32 +1,29 @@
 #include "btMultiBodyConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "btMultiBodyPoint2Point.h"				//for testing (BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST macro)
+#include "btMultiBodyPoint2Point.h"  //for testing (BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST macro)
 
-
-
-btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral)
-	:m_bodyA(bodyA),
-	m_bodyB(bodyB),
-	m_linkA(linkA),
-	m_linkB(linkB),
-	m_numRows(numRows),
-	m_jacSizeA(0),
-	m_jacSizeBoth(0),
-	m_isUnilateral(isUnilateral),
-	m_numDofsFinalized(-1),
-	m_maxAppliedImpulse(100)
+btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA, btMultiBody* bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
+	: m_bodyA(bodyA),
+	  m_bodyB(bodyB),
+	  m_linkA(linkA),
+	  m_linkB(linkB),
+	  m_numRows(numRows),
+	  m_jacSizeA(0),
+	  m_jacSizeBoth(0),
+	  m_isUnilateral(isUnilateral),
+	  m_numDofsFinalized(-1),
+	  m_maxAppliedImpulse(100)
 {
-
 }
 
 void btMultiBodyConstraint::updateJacobianSizes()
 {
-    if(m_bodyA)
+	if (m_bodyA)
 	{
 		m_jacSizeA = (6 + m_bodyA->getNumDofs());
 	}
 
-	if(m_bodyB)
+	if (m_bodyB)
 	{
 		m_jacSizeBoth = m_jacSizeA + 6 + m_bodyB->getNumDofs();
 	}
@@ -38,7 +35,7 @@ void btMultiBodyConstraint::allocateJacobiansMultiDof()
 {
 	updateJacobianSizes();
 
-	m_posOffset = ((1 + m_jacSizeBoth)*m_numRows);
+	m_posOffset = ((1 + m_jacSizeBoth) * m_numRows);
 	m_data.resize((2 + m_jacSizeBoth) * m_numRows);
 }
 
@@ -46,296 +43,307 @@ btMultiBodyConstraint::~btMultiBodyConstraint()
 {
 }
 
-void	btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
+void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
 {
 	for (int i = 0; i < ndof; ++i)
-		data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse;
+		data.m_deltaVelocities[velocityIndex + i] += delta_vee[i] * impulse;
 }
 
-btScalar btMultiBodyConstraint::fillMultiBodyConstraint(	btMultiBodySolverConstraint& solverConstraint,
-                                                        btMultiBodyJacobianData& data,
-                                                        btScalar* jacOrgA, btScalar* jacOrgB,
-                                                        const btVector3& constraintNormalAng,
-                                                        const btVector3& constraintNormalLin,
-                                                        const btVector3& posAworld, const btVector3& posBworld,
-                                                        btScalar posError,
-                                                        const btContactSolverInfo& infoGlobal,
-                                                        btScalar lowerLimit, btScalar upperLimit,
-                                                        bool angConstraint,
-                                                        btScalar relaxation,
-                                                        bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
+btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
+														btMultiBodyJacobianData& data,
+														btScalar* jacOrgA, btScalar* jacOrgB,
+														const btVector3& constraintNormalAng,
+														const btVector3& constraintNormalLin,
+														const btVector3& posAworld, const btVector3& posBworld,
+														btScalar posError,
+														const btContactSolverInfo& infoGlobal,
+														btScalar lowerLimit, btScalar upperLimit,
+														bool angConstraint,
+														btScalar relaxation,
+														bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
 {
-    solverConstraint.m_multiBodyA = m_bodyA;
-    solverConstraint.m_multiBodyB = m_bodyB;
-    solverConstraint.m_linkA = m_linkA;
-    solverConstraint.m_linkB = m_linkB;
-    
-    btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
-    btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
-    
-    btSolverBody* bodyA = multiBodyA ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdA);
-    btSolverBody* bodyB = multiBodyB ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdB);
-    
-    btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
-    btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
-    
-    btVector3 rel_pos1, rel_pos2;				//these two used to be inited to posAworld and posBworld (respectively) but it does not seem necessary
-    if (bodyA)
-        rel_pos1 = posAworld - bodyA->getWorldTransform().getOrigin();
-    if (bodyB)
-        rel_pos2 = posBworld - bodyB->getWorldTransform().getOrigin();
-    
-    if (multiBodyA)
-    {
-        if (solverConstraint.m_linkA<0)
-        {
-            rel_pos1 = posAworld - multiBodyA->getBasePos();
-        } else
-        {
-            rel_pos1 = posAworld - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
-        }
-        
-        const int ndofA  = multiBodyA->getNumDofs() + 6;
-        
-        solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
-        
-        if (solverConstraint.m_deltaVelAindex <0)
-        {
-            solverConstraint.m_deltaVelAindex = data.m_deltaVelocities.size();
-            multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
-            data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA);
-        } else
-        {
-            btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
-        }
-        
-        //determine jacobian of this 1D constraint in terms of multibodyA's degrees of freedom
-        //resize..
-        solverConstraint.m_jacAindex = data.m_jacobians.size();
-        data.m_jacobians.resize(data.m_jacobians.size()+ndofA);
-        //copy/determine
-        if(jacOrgA)
-        {
-            for (int i=0;i<ndofA;i++)
-                data.m_jacobians[solverConstraint.m_jacAindex+i] = jacOrgA[i];
-        }
-        else
-        {
-            btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
-            //multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-            multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalAng, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-        }
-        
-        //determine the velocity response of multibodyA to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
-        //resize..
-        data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA);		//=> each constraint row has the constrained tree dofs allocated in m_deltaVelocitiesUnitImpulse
-        btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
-        btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-        //determine..
-        multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
-        
-        btVector3 torqueAxis0;
-        if (angConstraint) {
-            torqueAxis0 = constraintNormalAng;
-        }
-        else {
-            torqueAxis0 = rel_pos1.cross(constraintNormalLin);
-            
-        }
-        solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-        solverConstraint.m_contactNormal1 = constraintNormalLin;
-    }
-    else //if(rb0)
-    {
-        btVector3 torqueAxis0;
-        if (angConstraint) {
-            torqueAxis0 = constraintNormalAng;
-        }
-        else {
-            torqueAxis0 = rel_pos1.cross(constraintNormalLin);
-        }
-        solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
-        solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-        solverConstraint.m_contactNormal1 = constraintNormalLin;
-    }
-    
-    if (multiBodyB)
-    {
-        if (solverConstraint.m_linkB<0)
-        {
-            rel_pos2 = posBworld - multiBodyB->getBasePos();
-        } else
-        {
-            rel_pos2 = posBworld - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
-        }
-        
-        const int ndofB  = multiBodyB->getNumDofs() + 6;
-        
-        solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
-        if (solverConstraint.m_deltaVelBindex <0)
-        {
-            solverConstraint.m_deltaVelBindex = data.m_deltaVelocities.size();
-            multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
-            data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofB);
-        }
-        
-        //determine jacobian of this 1D constraint in terms of multibodyB's degrees of freedom
-        //resize..
-        solverConstraint.m_jacBindex = data.m_jacobians.size();
-        data.m_jacobians.resize(data.m_jacobians.size()+ndofB);
-        //copy/determine..
-        if(jacOrgB)
-        {
-            for (int i=0;i<ndofB;i++)
-                data.m_jacobians[solverConstraint.m_jacBindex+i] = jacOrgB[i];
-        }
-        else
-        {
-            //multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
-            multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalAng, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
-        }
-        
-        //determine velocity response of multibodyB to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
-        //resize..
-        data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
-        btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
-        btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-        //determine..
-        multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex],delta,data.scratch_r, data.scratch_v);
-        
-        btVector3 torqueAxis1;
-        if (angConstraint) {
-            torqueAxis1 = constraintNormalAng;
-        }
-        else {
-            torqueAxis1 = rel_pos2.cross(constraintNormalLin);
-        }
-        solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-        solverConstraint.m_contactNormal2 = -constraintNormalLin;
-    }
-    else //if(rb1)
-    {
-        btVector3 torqueAxis1;
-        if (angConstraint) {
-            torqueAxis1 = constraintNormalAng;
-        }
-        else {
-            torqueAxis1 = rel_pos2.cross(constraintNormalLin);
-        }
-        solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
-        solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
-        solverConstraint.m_contactNormal2 = -constraintNormalLin;
-    }
-    {
-        
-        btVector3 vec;
-        btScalar denom0 = 0.f;
-        btScalar denom1 = 0.f;
-        btScalar* jacB = 0;
-        btScalar* jacA = 0;
-        btScalar* deltaVelA = 0;
-        btScalar* deltaVelB = 0;
-        int ndofA  = 0;
-        //determine the "effective mass" of the constrained multibodyA with respect to this 1D constraint (i.e. 1/A[i,i])
-        if (multiBodyA)
-        {
-            ndofA = multiBodyA->getNumDofs() + 6;
-            jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
-            deltaVelA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-            for (int i = 0; i < ndofA; ++i)
-            {
-                btScalar j = jacA[i] ;
-                btScalar l = deltaVelA[i];
-                denom0 += j*l;
-            }
-        }
-        else if(rb0)
-        {
-            vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-            if (angConstraint) {
-                denom0 = rb0->getInvMass() + constraintNormalAng.dot(vec);
-            }
-            else {
-                denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
-            }
-        }
-        //
-        if (multiBodyB)
-        {
-            const int ndofB = multiBodyB->getNumDofs() + 6;
-            jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
-            deltaVelB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-            for (int i = 0; i < ndofB; ++i)
-            {
-                btScalar j = jacB[i] ;
-                btScalar l = deltaVelB[i];
-                denom1 += j*l;
-            }
-            
-        }
-        else if(rb1)
-        {
-            vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-            if (angConstraint) {
-                denom1 = rb1->getInvMass() + constraintNormalAng.dot(vec);
-            }
-            else {
-                denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
-            }
-        }
-        
-        //
-        btScalar d = denom0+denom1;
-        if (d>SIMD_EPSILON)
-        {
-            solverConstraint.m_jacDiagABInv = relaxation/(d);
-        }
-        else
-        {
-            //disable the constraint row to handle singularity/redundant constraint
-            solverConstraint.m_jacDiagABInv  = 0.f;
-        }
-    }
-    
-    
-    //compute rhs and remaining solverConstraint fields
-    btScalar penetration = isFriction? 0 : posError;
-    
-    btScalar rel_vel = 0.f;
-    int ndofA  = 0;
-    int ndofB  = 0;
-    {
-        btVector3 vel1,vel2;
-        if (multiBodyA)
-        {
-            ndofA = multiBodyA->getNumDofs() + 6;
-            btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
-            for (int i = 0; i < ndofA ; ++i)
-                rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
-        }
-        else if(rb0)
-        {
-            rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
-        }
-        if (multiBodyB)
-        {
-            ndofB = multiBodyB->getNumDofs() + 6;
-            btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
-            for (int i = 0; i < ndofB ; ++i)
-                rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-            
-        }
-        else if(rb1)
-        {
-            rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
-        }
-        
-        solverConstraint.m_friction = 0.f;//cp.m_combinedFriction;
-    }
-    
-    
-    ///warm starting (or zero if disabled)
-    /*
+	solverConstraint.m_multiBodyA = m_bodyA;
+	solverConstraint.m_multiBodyB = m_bodyB;
+	solverConstraint.m_linkA = m_linkA;
+	solverConstraint.m_linkB = m_linkB;
+
+	btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
+	btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
+
+	btSolverBody* bodyA = multiBodyA ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdA);
+	btSolverBody* bodyB = multiBodyB ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdB);
+
+	btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
+	btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
+
+	btVector3 rel_pos1, rel_pos2;  //these two used to be inited to posAworld and posBworld (respectively) but it does not seem necessary
+	if (bodyA)
+		rel_pos1 = posAworld - bodyA->getWorldTransform().getOrigin();
+	if (bodyB)
+		rel_pos2 = posBworld - bodyB->getWorldTransform().getOrigin();
+
+	if (multiBodyA)
+	{
+		if (solverConstraint.m_linkA < 0)
+		{
+			rel_pos1 = posAworld - multiBodyA->getBasePos();
+		}
+		else
+		{
+			rel_pos1 = posAworld - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
+		}
+
+		const int ndofA = multiBodyA->getNumDofs() + 6;
+
+		solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
+
+		if (solverConstraint.m_deltaVelAindex < 0)
+		{
+			solverConstraint.m_deltaVelAindex = data.m_deltaVelocities.size();
+			multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
+			data.m_deltaVelocities.resize(data.m_deltaVelocities.size() + ndofA);
+		}
+		else
+		{
+			btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
+		}
+
+		//determine jacobian of this 1D constraint in terms of multibodyA's degrees of freedom
+		//resize..
+		solverConstraint.m_jacAindex = data.m_jacobians.size();
+		data.m_jacobians.resize(data.m_jacobians.size() + ndofA);
+		//copy/determine
+		if (jacOrgA)
+		{
+			for (int i = 0; i < ndofA; i++)
+				data.m_jacobians[solverConstraint.m_jacAindex + i] = jacOrgA[i];
+		}
+		else
+		{
+			btScalar* jac1 = &data.m_jacobians[solverConstraint.m_jacAindex];
+			//multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
+			multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, posAworld, constraintNormalAng, constraintNormalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
+		}
+
+		//determine the velocity response of multibodyA to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
+		//resize..
+		data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size() + ndofA);  //=> each constraint row has the constrained tree dofs allocated in m_deltaVelocitiesUnitImpulse
+		btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
+		btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
+		//determine..
+		multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex], delta, data.scratch_r, data.scratch_v);
+
+		btVector3 torqueAxis0;
+		if (angConstraint)
+		{
+			torqueAxis0 = constraintNormalAng;
+		}
+		else
+		{
+			torqueAxis0 = rel_pos1.cross(constraintNormalLin);
+		}
+		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+		solverConstraint.m_contactNormal1 = constraintNormalLin;
+	}
+	else  //if(rb0)
+	{
+		btVector3 torqueAxis0;
+		if (angConstraint)
+		{
+			torqueAxis0 = constraintNormalAng;
+		}
+		else
+		{
+			torqueAxis0 = rel_pos1.cross(constraintNormalLin);
+		}
+		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
+		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+		solverConstraint.m_contactNormal1 = constraintNormalLin;
+	}
+
+	if (multiBodyB)
+	{
+		if (solverConstraint.m_linkB < 0)
+		{
+			rel_pos2 = posBworld - multiBodyB->getBasePos();
+		}
+		else
+		{
+			rel_pos2 = posBworld - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
+		}
+
+		const int ndofB = multiBodyB->getNumDofs() + 6;
+
+		solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
+		if (solverConstraint.m_deltaVelBindex < 0)
+		{
+			solverConstraint.m_deltaVelBindex = data.m_deltaVelocities.size();
+			multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
+			data.m_deltaVelocities.resize(data.m_deltaVelocities.size() + ndofB);
+		}
+
+		//determine jacobian of this 1D constraint in terms of multibodyB's degrees of freedom
+		//resize..
+		solverConstraint.m_jacBindex = data.m_jacobians.size();
+		data.m_jacobians.resize(data.m_jacobians.size() + ndofB);
+		//copy/determine..
+		if (jacOrgB)
+		{
+			for (int i = 0; i < ndofB; i++)
+				data.m_jacobians[solverConstraint.m_jacBindex + i] = jacOrgB[i];
+		}
+		else
+		{
+			//multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
+			multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, posBworld, -constraintNormalAng, -constraintNormalLin, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
+		}
+
+		//determine velocity response of multibodyB to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
+		//resize..
+		data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
+		btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
+		btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
+		//determine..
+		multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex], delta, data.scratch_r, data.scratch_v);
+
+		btVector3 torqueAxis1;
+		if (angConstraint)
+		{
+			torqueAxis1 = constraintNormalAng;
+		}
+		else
+		{
+			torqueAxis1 = rel_pos2.cross(constraintNormalLin);
+		}
+		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
+		solverConstraint.m_contactNormal2 = -constraintNormalLin;
+	}
+	else  //if(rb1)
+	{
+		btVector3 torqueAxis1;
+		if (angConstraint)
+		{
+			torqueAxis1 = constraintNormalAng;
+		}
+		else
+		{
+			torqueAxis1 = rel_pos2.cross(constraintNormalLin);
+		}
+		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
+		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
+		solverConstraint.m_contactNormal2 = -constraintNormalLin;
+	}
+	{
+		btVector3 vec;
+		btScalar denom0 = 0.f;
+		btScalar denom1 = 0.f;
+		btScalar* jacB = 0;
+		btScalar* jacA = 0;
+		btScalar* deltaVelA = 0;
+		btScalar* deltaVelB = 0;
+		int ndofA = 0;
+		//determine the "effective mass" of the constrained multibodyA with respect to this 1D constraint (i.e. 1/A[i,i])
+		if (multiBodyA)
+		{
+			ndofA = multiBodyA->getNumDofs() + 6;
+			jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
+			deltaVelA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
+			for (int i = 0; i < ndofA; ++i)
+			{
+				btScalar j = jacA[i];
+				btScalar l = deltaVelA[i];
+				denom0 += j * l;
+			}
+		}
+		else if (rb0)
+		{
+			vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
+			if (angConstraint)
+			{
+				denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA);
+			}
+			else
+			{
+				denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
+			}
+		}
+		//
+		if (multiBodyB)
+		{
+			const int ndofB = multiBodyB->getNumDofs() + 6;
+			jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
+			deltaVelB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
+			for (int i = 0; i < ndofB; ++i)
+			{
+				btScalar j = jacB[i];
+				btScalar l = deltaVelB[i];
+				denom1 += j * l;
+			}
+		}
+		else if (rb1)
+		{
+			vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
+			if (angConstraint)
+			{
+				denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB);
+			}
+			else
+			{
+				denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
+			}
+		}
+
+		//
+		btScalar d = denom0 + denom1;
+		if (d > SIMD_EPSILON)
+		{
+			solverConstraint.m_jacDiagABInv = relaxation / (d);
+		}
+		else
+		{
+			//disable the constraint row to handle singularity/redundant constraint
+			solverConstraint.m_jacDiagABInv = 0.f;
+		}
+	}
+
+	//compute rhs and remaining solverConstraint fields
+	btScalar penetration = isFriction ? 0 : posError;
+
+	btScalar rel_vel = 0.f;
+	int ndofA = 0;
+	int ndofB = 0;
+	{
+		btVector3 vel1, vel2;
+		if (multiBodyA)
+		{
+			ndofA = multiBodyA->getNumDofs() + 6;
+			btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
+			for (int i = 0; i < ndofA; ++i)
+				rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
+		}
+		else if (rb0)
+		{
+			rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1);
+			rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal);
+		}
+		if (multiBodyB)
+		{
+			ndofB = multiBodyB->getNumDofs() + 6;
+			btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
+			for (int i = 0; i < ndofB; ++i)
+				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
+		}
+		else if (rb1)
+		{
+			rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2);
+			rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal);
+		}
+
+		solverConstraint.m_friction = 0.f;  //cp.m_combinedFriction;
+	}
+
+	///warm starting (or zero if disabled)
+	/*
      if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
      {
      solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
@@ -367,38 +375,35 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(	btMultiBodySolverConstr
      }
      } else
      */
-    
-    solverConstraint.m_appliedImpulse = 0.f;
-    solverConstraint.m_appliedPushImpulse = 0.f;
-    
-    {
-        
-        btScalar positionalError = 0.f;
-        btScalar	velocityError = desiredVelocity - rel_vel;// * damping;
-        
-        
-        btScalar erp = infoGlobal.m_erp2;
-		
+
+	solverConstraint.m_appliedImpulse = 0.f;
+	solverConstraint.m_appliedPushImpulse = 0.f;
+
+	{
+		btScalar positionalError = 0.f;
+		btScalar velocityError = desiredVelocity - rel_vel;  // * damping;
+
+		btScalar erp = infoGlobal.m_erp2;
+
 		//split impulse is not implemented yet for btMultiBody*
 		//if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-        {
-            erp = infoGlobal.m_erp;
-        }
-        
-        positionalError = -penetration * erp/infoGlobal.m_timeStep;
-        
-        btScalar  penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-        btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
-        
+		{
+			erp = infoGlobal.m_erp;
+		}
+
+		positionalError = -penetration * erp / infoGlobal.m_timeStep;
+
+		btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
+
 		//split impulse is not implemented yet for btMultiBody*
 
-      //  if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-        {
-            //combine position and velocity into rhs
-            solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
-            solverConstraint.m_rhsPenetration = 0.f;
-            
-        } 
+		//  if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+		{
+			//combine position and velocity into rhs
+			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
+			solverConstraint.m_rhsPenetration = 0.f;
+		}
 		/*else
         {
             //split position and velocity into rhs and m_rhsPenetration
@@ -407,11 +412,10 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(	btMultiBodySolverConstr
         }
         */
 
-        solverConstraint.m_cfm = 0.f;
-        solverConstraint.m_lowerLimit = lowerLimit;
-        solverConstraint.m_upperLimit = upperLimit;
-    }
-    
-    return rel_vel;
-    
+		solverConstraint.m_cfm = 0.f;
+		solverConstraint.m_lowerLimit = lowerLimit;
+		solverConstraint.m_upperLimit = upperLimit;
+	}
+
+	return rel_vel;
 }
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
index 83521b9501..5c15f3e851 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -27,66 +27,62 @@ struct btSolverInfo;
 
 struct btMultiBodyJacobianData
 {
-	btAlignedObjectArray<btScalar>		m_jacobians;
-	btAlignedObjectArray<btScalar>		m_deltaVelocitiesUnitImpulse;	//holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
-	btAlignedObjectArray<btScalar>		m_deltaVelocities;				//holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
-	btAlignedObjectArray<btScalar>		scratch_r;
-	btAlignedObjectArray<btVector3>		scratch_v;
-	btAlignedObjectArray<btMatrix3x3>	scratch_m;
-	btAlignedObjectArray<btSolverBody>*	m_solverBodyPool;
-	int									m_fixedBodyId;
-
+	btAlignedObjectArray<btScalar> m_jacobians;
+	btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse;  //holds the joint-space response of the corresp. tree to the test impulse in each constraint space dimension
+	btAlignedObjectArray<btScalar> m_deltaVelocities;             //holds joint-space vectors of all the constrained trees accumulating the effect of corrective impulses applied in SI
+	btAlignedObjectArray<btScalar> scratch_r;
+	btAlignedObjectArray<btVector3> scratch_v;
+	btAlignedObjectArray<btMatrix3x3> scratch_m;
+	btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
+	int m_fixedBodyId;
 };
 
-
-ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraint
+ATTRIBUTE_ALIGNED16(class)
+btMultiBodyConstraint
 {
 protected:
-
-	btMultiBody*	m_bodyA;
-    btMultiBody*	m_bodyB;
-    int				m_linkA;
-    int				m_linkB;
-
-    int				m_numRows;
-    int				m_jacSizeA;
-    int				m_jacSizeBoth;
-    int				m_posOffset;
-
-	bool			m_isUnilateral;
-	int				m_numDofsFinalized;
-	btScalar		m_maxAppliedImpulse;
-
-
-    // warning: the data block lay out is not consistent for all constraints
-    // data block laid out as follows:
-    // cached impulses. (one per row.)
-    // jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
-    // positions. (one per row.)
-    btAlignedObjectArray<btScalar> m_data;
-
-	void	applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
-    
-	btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
-																btMultiBodyJacobianData& data,
-                                     btScalar* jacOrgA, btScalar* jacOrgB,
-                                     const btVector3& constraintNormalAng,
-                                     
-																const btVector3& constraintNormalLin,
-																const btVector3& posAworld, const btVector3& posBworld,
-																btScalar posError,
-																const btContactSolverInfo& infoGlobal,
-                                     btScalar lowerLimit, btScalar upperLimit,
-                                     bool angConstraint = false,
-                                     
-																btScalar relaxation = 1.f,
-																bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0);
+	btMultiBody* m_bodyA;
+	btMultiBody* m_bodyB;
+	int m_linkA;
+	int m_linkB;
+
+	int m_numRows;
+	int m_jacSizeA;
+	int m_jacSizeBoth;
+	int m_posOffset;
+
+	bool m_isUnilateral;
+	int m_numDofsFinalized;
+	btScalar m_maxAppliedImpulse;
+
+	// warning: the data block lay out is not consistent for all constraints
+	// data block laid out as follows:
+	// cached impulses. (one per row.)
+	// jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
+	// positions. (one per row.)
+	btAlignedObjectArray<btScalar> m_data;
+
+	void applyDeltaVee(btMultiBodyJacobianData & data, btScalar * delta_vee, btScalar impulse, int velocityIndex, int ndof);
+
+	btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint & solverConstraint,
+									 btMultiBodyJacobianData & data,
+									 btScalar * jacOrgA, btScalar * jacOrgB,
+									 const btVector3& constraintNormalAng,
+
+									 const btVector3& constraintNormalLin,
+									 const btVector3& posAworld, const btVector3& posBworld,
+									 btScalar posError,
+									 const btContactSolverInfo& infoGlobal,
+									 btScalar lowerLimit, btScalar upperLimit,
+									 bool angConstraint = false,
+
+									 btScalar relaxation = 1.f,
+									 bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
+	btMultiBodyConstraint(btMultiBody * bodyA, btMultiBody * bodyB, int linkA, int linkB, int numRows, bool isUnilateral);
 	virtual ~btMultiBodyConstraint();
 
 	void updateJacobianSizes();
@@ -94,102 +90,105 @@ public:
 
 	//many constraints have setFrameInB/setPivotInB. Will use 'getConstraintType' later.
 	virtual void setFrameInB(const btMatrix3x3& frameInB) {}
-	virtual void setPivotInB(const btVector3& pivotInB){}
+	virtual void setPivotInB(const btVector3& pivotInB) {}
 
-	virtual void finalizeMultiDof()=0;
+	virtual void finalizeMultiDof() = 0;
 
-	virtual int getIslandIdA() const =0;
-	virtual int getIslandIdB() const =0;
+	virtual int getIslandIdA() const = 0;
+	virtual int getIslandIdB() const = 0;
 
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal)=0;
+	virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
+									  btMultiBodyJacobianData & data,
+									  const btContactSolverInfo& infoGlobal) = 0;
 
-	int	getNumRows() const
+	int getNumRows() const
 	{
 		return m_numRows;
 	}
 
-	btMultiBody*	getMultiBodyA()
+	btMultiBody* getMultiBodyA()
 	{
 		return m_bodyA;
 	}
-    btMultiBody*	getMultiBodyB()
+	btMultiBody* getMultiBodyB()
 	{
 		return m_bodyB;
 	}
 
-	void	internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
+	int getLinkA() const
+	{
+		return m_linkA;
+	}
+	int getLinkB() const
 	{
-		btAssert(dof>=0);
+		return m_linkB;
+	}
+	void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
+	{
+		btAssert(dof >= 0);
 		btAssert(dof < getNumRows());
 		m_data[dof] = appliedImpulse;
-        
 	}
-	
-	btScalar	getAppliedImpulse(int dof)
+
+	btScalar getAppliedImpulse(int dof)
 	{
-		btAssert(dof>=0);
+		btAssert(dof >= 0);
 		btAssert(dof < getNumRows());
 		return m_data[dof];
 	}
 	// current constraint position
-    // constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
-    // NOTE: ignored position for friction rows.
-    btScalar getPosition(int row) const
+	// constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
+	// NOTE: ignored position for friction rows.
+	btScalar getPosition(int row) const
 	{
 		return m_data[m_posOffset + row];
 	}
 
-    void setPosition(int row, btScalar pos)
+	void setPosition(int row, btScalar pos)
 	{
 		m_data[m_posOffset + row] = pos;
 	}
 
-
 	bool isUnilateral() const
 	{
 		return m_isUnilateral;
 	}
 
 	// jacobian blocks.
-    // each of size 6 + num_links. (jacobian2 is null if no body2.)
-    // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
-    btScalar* jacobianA(int row)
+	// each of size 6 + num_links. (jacobian2 is null if no body2.)
+	// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
+	btScalar* jacobianA(int row)
 	{
 		return &m_data[m_numRows + row * m_jacSizeBoth];
 	}
-    const btScalar* jacobianA(int row) const
+	const btScalar* jacobianA(int row) const
 	{
 		return &m_data[m_numRows + (row * m_jacSizeBoth)];
 	}
-    btScalar* jacobianB(int row)
+	btScalar* jacobianB(int row)
 	{
 		return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
 	}
-    const btScalar* jacobianB(int row) const
+	const btScalar* jacobianB(int row) const
 	{
 		return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
 	}
 
-	btScalar	getMaxAppliedImpulse() const
+	btScalar getMaxAppliedImpulse() const
 	{
 		return m_maxAppliedImpulse;
 	}
-	void	setMaxAppliedImpulse(btScalar maxImp)
+	void setMaxAppliedImpulse(btScalar maxImp)
 	{
 		m_maxAppliedImpulse = maxImp;
 	}
 
-	virtual void debugDraw(class btIDebugDraw* drawer)=0;
+	virtual void debugDraw(class btIDebugDraw * drawer) = 0;
 
 	virtual void setGearRatio(btScalar ratio) {}
 	virtual void setGearAuxLink(int gearAuxLink) {}
-	virtual void setRelativePositionTarget(btScalar relPosTarget){}
-	virtual void setErp(btScalar erp){}
-	
-	
+	virtual void setRelativePositionTarget(btScalar relPosTarget) {}
+	virtual void setErp(btScalar erp) {}
 };
 
-#endif //BT_MULTIBODY_CONSTRAINT_H
-
+#endif  //BT_MULTIBODY_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index 1e2d074096..e97bd71cc4 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btMultiBodyConstraintSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "btMultiBodyLinkCollider.h"
@@ -24,33 +23,33 @@ subject to the following restrictions:
 
 #include "LinearMath/btQuickprof.h"
 
-btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
-	btScalar leastSquaredResidual  = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
-	
+	btScalar leastSquaredResidual = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
+
 	//solve featherstone non-contact constraints
 
 	//printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size());
 
-	for (int j=0;j<m_multiBodyNonContactConstraints.size();j++)
+	for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++)
 	{
-		int index = iteration&1? j : m_multiBodyNonContactConstraints.size()-1-j;
+		int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j;
 
 		btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
-		
+
 		btScalar residual = resolveSingleConstraintRowGeneric(constraint);
-		leastSquaredResidual += residual*residual;
+		leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
 
-		if(constraint.m_multiBodyA) 
+		if (constraint.m_multiBodyA)
 			constraint.m_multiBodyA->setPosUpdated(false);
-		if(constraint.m_multiBodyB) 
+		if (constraint.m_multiBodyB)
 			constraint.m_multiBodyB->setPosUpdated(false);
 	}
 
 	//solve featherstone normal contact
-	for (int j0=0;j0<m_multiBodyNormalContactConstraints.size();j0++)
+	for (int j0 = 0; j0 < m_multiBodyNormalContactConstraints.size(); j0++)
 	{
-		int index = j0;//iteration&1? j0 : m_multiBodyNormalContactConstraints.size()-1-j0;
+		int index = j0;  //iteration&1? j0 : m_multiBodyNormalContactConstraints.size()-1-j0;
 
 		btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[index];
 		btScalar residual = 0.f;
@@ -60,52 +59,117 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 			residual = resolveSingleConstraintRowGeneric(constraint);
 		}
 
-		leastSquaredResidual += residual*residual;
- 
-		if(constraint.m_multiBodyA) 
+		leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
+
+		if (constraint.m_multiBodyA)
 			constraint.m_multiBodyA->setPosUpdated(false);
-		if(constraint.m_multiBodyB) 
+		if (constraint.m_multiBodyB)
 			constraint.m_multiBodyB->setPosUpdated(false);
 	}
-	
-	//solve featherstone frictional contact
 
-	for (int j1=0;j1<this->m_multiBodyFrictionContactConstraints.size();j1++)
+	//solve featherstone frictional contact
+	if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode & SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0))
 	{
-		if (iteration < infoGlobal.m_numIterations)
+		for (int j1 = 0; j1 < this->m_multiBodyTorsionalFrictionContactConstraints.size(); j1++)
 		{
-			int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+			if (iteration < infoGlobal.m_numIterations)
+			{
+				int index = j1;  //iteration&1? j1 : m_multiBodyTorsionalFrictionContactConstraints.size()-1-j1;
+
+				btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index];
+				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+				//adjust friction limits here
+				if (totalImpulse > btScalar(0))
+				{
+					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
+					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
+					btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
+					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
+
+					if (frictionConstraint.m_multiBodyA)
+						frictionConstraint.m_multiBodyA->setPosUpdated(false);
+					if (frictionConstraint.m_multiBodyB)
+						frictionConstraint.m_multiBodyB->setPosUpdated(false);
+				}
+			}
+		}
 
-			btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
-			btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
-			//adjust friction limits here
-			if (totalImpulse>btScalar(0))
+		for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++)
+		{
+			if (iteration < infoGlobal.m_numIterations)
 			{
-				frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
-				frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
-				btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
-				leastSquaredResidual += residual*residual;
-
-				if(frictionConstraint.m_multiBodyA) 
-					frictionConstraint.m_multiBodyA->setPosUpdated(false);
-				if(frictionConstraint.m_multiBodyB) 
-					frictionConstraint.m_multiBodyB->setPosUpdated(false);
+				int index = j1;  //iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+				btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
+
+				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+				j1++;
+				int index2 = j1;  //iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+				btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyFrictionContactConstraints[index2];
+				btAssert(frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex);
+
+				if (frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex)
+				{
+					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
+					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
+					frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction * totalImpulse);
+					frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction * totalImpulse;
+					btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
+					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
+
+					if (frictionConstraintB.m_multiBodyA)
+						frictionConstraintB.m_multiBodyA->setPosUpdated(false);
+					if (frictionConstraintB.m_multiBodyB)
+						frictionConstraintB.m_multiBodyB->setPosUpdated(false);
+
+					if (frictionConstraint.m_multiBodyA)
+						frictionConstraint.m_multiBodyA->setPosUpdated(false);
+					if (frictionConstraint.m_multiBodyB)
+						frictionConstraint.m_multiBodyB->setPosUpdated(false);
+				}
+			}
+		}
+	}
+	else
+	{
+		for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++)
+		{
+			if (iteration < infoGlobal.m_numIterations)
+			{
+				int index = j1;  //iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+
+				btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
+				btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+				//adjust friction limits here
+				if (totalImpulse > btScalar(0))
+				{
+					frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse);
+					frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse;
+					btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
+					leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
+
+					if (frictionConstraint.m_multiBodyA)
+						frictionConstraint.m_multiBodyA->setPosUpdated(false);
+					if (frictionConstraint.m_multiBodyB)
+						frictionConstraint.m_multiBodyB->setPosUpdated(false);
+				}
 			}
 		}
 	}
 	return leastSquaredResidual;
 }
 
-btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
 	m_multiBodyNonContactConstraints.resize(0);
 	m_multiBodyNormalContactConstraints.resize(0);
 	m_multiBodyFrictionContactConstraints.resize(0);
+	m_multiBodyTorsionalFrictionContactConstraints.resize(0);
+
 	m_data.m_jacobians.resize(0);
 	m_data.m_deltaVelocitiesUnitImpulse.resize(0);
 	m_data.m_deltaVelocities.resize(0);
 
-	for (int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 	{
 		const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(bodies[i]);
 		if (fcA)
@@ -114,63 +178,63 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionOb
 		}
 	}
 
-	btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
+	btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
 	return val;
 }
 
-void	btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
+void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
 {
-    for (int i = 0; i < ndof; ++i) 
-		m_data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse;
+	for (int i = 0; i < ndof; ++i)
+		m_data.m_deltaVelocities[velocityIndex + i] += delta_vee[i] * impulse;
 }
 
 btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
 {
-
-	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
-	btScalar deltaVelADotn=0;
-	btScalar deltaVelBDotn=0;
+	btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse) * c.m_cfm;
+	btScalar deltaVelADotn = 0;
+	btScalar deltaVelBDotn = 0;
 	btSolverBody* bodyA = 0;
 	btSolverBody* bodyB = 0;
-	int ndofA=0;
-	int ndofB=0;
+	int ndofA = 0;
+	int ndofB = 0;
 
 	if (c.m_multiBodyA)
 	{
-		ndofA  = c.m_multiBodyA->getNumDofs() + 6;
-		for (int i = 0; i < ndofA; ++i) 
-			deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
-	} else if(c.m_solverBodyIdA >= 0)
+		ndofA = c.m_multiBodyA->getNumDofs() + 6;
+		for (int i = 0; i < ndofA; ++i)
+			deltaVelADotn += m_data.m_jacobians[c.m_jacAindex + i] * m_data.m_deltaVelocities[c.m_deltaVelAindex + i];
+	}
+	else if (c.m_solverBodyIdA >= 0)
 	{
 		bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA];
-		deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
+		deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
 	}
 
 	if (c.m_multiBodyB)
 	{
-		ndofB  = c.m_multiBodyB->getNumDofs() + 6;
-		for (int i = 0; i < ndofB; ++i) 
-			deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
-	} else if(c.m_solverBodyIdB >= 0)
+		ndofB = c.m_multiBodyB->getNumDofs() + 6;
+		for (int i = 0; i < ndofB; ++i)
+			deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex + i] * m_data.m_deltaVelocities[c.m_deltaVelBindex + i];
+	}
+	else if (c.m_solverBodyIdB >= 0)
 	{
 		bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB];
-		deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity())  + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
+		deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
 	}
 
-	
-	deltaImpulse	-=	deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
-	deltaImpulse	-=	deltaVelBDotn*c.m_jacDiagABInv;
+	deltaImpulse -= deltaVelADotn * c.m_jacDiagABInv;  //m_jacDiagABInv = 1./denom
+	deltaImpulse -= deltaVelBDotn * c.m_jacDiagABInv;
 	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-	
+
 	if (sum < c.m_lowerLimit)
 	{
-		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+		deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
 		c.m_appliedImpulse = c.m_lowerLimit;
 	}
-	else if (sum > c.m_upperLimit) 
+	else if (sum > c.m_upperLimit)
 	{
-		deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
+		deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
 		c.m_appliedImpulse = c.m_upperLimit;
 	}
 	else
@@ -180,42 +244,223 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
 
 	if (c.m_multiBodyA)
 	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
+		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
 #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
 		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
 		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
-#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	} else if(c.m_solverBodyIdA >= 0)
+		c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
+#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+	}
+	else if (c.m_solverBodyIdA >= 0)
 	{
-		bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-
+		bodyA->internalApplyImpulse(c.m_contactNormal1 * bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
 	}
 	if (c.m_multiBodyB)
 	{
-		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
+		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
 #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
 		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
 		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
-		c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
-#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-	} else if(c.m_solverBodyIdB >= 0)
+		c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
+#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+	}
+	else if (c.m_solverBodyIdB >= 0)
 	{
-		bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+		bodyB->internalApplyImpulse(c.m_contactNormal2 * bodyB->internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 	}
-	return deltaImpulse;
+	btScalar deltaVel = deltaImpulse / c.m_jacDiagABInv;
+	return deltaVel;
 }
 
+btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB)
+{
+	int ndofA = 0;
+	int ndofB = 0;
+	btSolverBody* bodyA = 0;
+	btSolverBody* bodyB = 0;
+	btScalar deltaImpulseB = 0.f;
+	btScalar sumB = 0.f;
+	{
+		deltaImpulseB = cB.m_rhs - btScalar(cB.m_appliedImpulse) * cB.m_cfm;
+		btScalar deltaVelADotn = 0;
+		btScalar deltaVelBDotn = 0;
+		if (cB.m_multiBodyA)
+		{
+			ndofA = cB.m_multiBodyA->getNumDofs() + 6;
+			for (int i = 0; i < ndofA; ++i)
+				deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex + i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex + i];
+		}
+		else if (cB.m_solverBodyIdA >= 0)
+		{
+			bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA];
+			deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
+		}
 
+		if (cB.m_multiBodyB)
+		{
+			ndofB = cB.m_multiBodyB->getNumDofs() + 6;
+			for (int i = 0; i < ndofB; ++i)
+				deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex + i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex + i];
+		}
+		else if (cB.m_solverBodyIdB >= 0)
+		{
+			bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB];
+			deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
+		}
 
+		deltaImpulseB -= deltaVelADotn * cB.m_jacDiagABInv;  //m_jacDiagABInv = 1./denom
+		deltaImpulseB -= deltaVelBDotn * cB.m_jacDiagABInv;
+		sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB;
+	}
 
-void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, 
-																 const btVector3& contactNormal,
-																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
-																 btScalar& relaxation,
-																 bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
+	btScalar deltaImpulseA = 0.f;
+	btScalar sumA = 0.f;
+	const btMultiBodySolverConstraint& cA = cA1;
+	{
+		{
+			deltaImpulseA = cA.m_rhs - btScalar(cA.m_appliedImpulse) * cA.m_cfm;
+			btScalar deltaVelADotn = 0;
+			btScalar deltaVelBDotn = 0;
+			if (cA.m_multiBodyA)
+			{
+				ndofA = cA.m_multiBodyA->getNumDofs() + 6;
+				for (int i = 0; i < ndofA; ++i)
+					deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex + i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex + i];
+			}
+			else if (cA.m_solverBodyIdA >= 0)
+			{
+				bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA];
+				deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
+			}
+
+			if (cA.m_multiBodyB)
+			{
+				ndofB = cA.m_multiBodyB->getNumDofs() + 6;
+				for (int i = 0; i < ndofB; ++i)
+					deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex + i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex + i];
+			}
+			else if (cA.m_solverBodyIdB >= 0)
+			{
+				bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB];
+				deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
+			}
+
+			deltaImpulseA -= deltaVelADotn * cA.m_jacDiagABInv;  //m_jacDiagABInv = 1./denom
+			deltaImpulseA -= deltaVelBDotn * cA.m_jacDiagABInv;
+			sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA;
+		}
+	}
+
+	if (sumA * sumA + sumB * sumB >= cA.m_lowerLimit * cB.m_lowerLimit)
+	{
+		btScalar angle = btAtan2(sumA, sumB);
+		btScalar sumAclipped = btFabs(cA.m_lowerLimit * btSin(angle));
+		btScalar sumBclipped = btFabs(cB.m_lowerLimit * btCos(angle));
+
+		if (sumA < -sumAclipped)
+		{
+			deltaImpulseA = -sumAclipped - cA.m_appliedImpulse;
+			cA.m_appliedImpulse = -sumAclipped;
+		}
+		else if (sumA > sumAclipped)
+		{
+			deltaImpulseA = sumAclipped - cA.m_appliedImpulse;
+			cA.m_appliedImpulse = sumAclipped;
+		}
+		else
+		{
+			cA.m_appliedImpulse = sumA;
+		}
+
+		if (sumB < -sumBclipped)
+		{
+			deltaImpulseB = -sumBclipped - cB.m_appliedImpulse;
+			cB.m_appliedImpulse = -sumBclipped;
+		}
+		else if (sumB > sumBclipped)
+		{
+			deltaImpulseB = sumBclipped - cB.m_appliedImpulse;
+			cB.m_appliedImpulse = sumBclipped;
+		}
+		else
+		{
+			cB.m_appliedImpulse = sumB;
+		}
+		//deltaImpulseA = sumAclipped-cA.m_appliedImpulse;
+		//cA.m_appliedImpulse = sumAclipped;
+		//deltaImpulseB = sumBclipped-cB.m_appliedImpulse;
+		//cB.m_appliedImpulse = sumBclipped;
+	}
+	else
+	{
+		cA.m_appliedImpulse = sumA;
+		cB.m_appliedImpulse = sumB;
+	}
+
+	if (cA.m_multiBodyA)
+	{
+		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex], deltaImpulseA, cA.m_deltaVelAindex, ndofA);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+		cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex], deltaImpulseA);
+#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+	}
+	else if (cA.m_solverBodyIdA >= 0)
+	{
+		bodyA->internalApplyImpulse(cA.m_contactNormal1 * bodyA->internalGetInvMass(), cA.m_angularComponentA, deltaImpulseA);
+	}
+	if (cA.m_multiBodyB)
+	{
+		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex], deltaImpulseA, cA.m_deltaVelBindex, ndofB);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+		cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex], deltaImpulseA);
+#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+	}
+	else if (cA.m_solverBodyIdB >= 0)
+	{
+		bodyB->internalApplyImpulse(cA.m_contactNormal2 * bodyB->internalGetInvMass(), cA.m_angularComponentB, deltaImpulseA);
+	}
+
+	if (cB.m_multiBodyA)
+	{
+		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex], deltaImpulseB, cB.m_deltaVelAindex, ndofA);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+		cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex], deltaImpulseB);
+#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+	}
+	else if (cB.m_solverBodyIdA >= 0)
+	{
+		bodyA->internalApplyImpulse(cB.m_contactNormal1 * bodyA->internalGetInvMass(), cB.m_angularComponentA, deltaImpulseB);
+	}
+	if (cB.m_multiBodyB)
+	{
+		applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex], deltaImpulseB, cB.m_deltaVelBindex, ndofB);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+		//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+		//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+		cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex], deltaImpulseB);
+#endif  //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+	}
+	else if (cB.m_solverBodyIdB >= 0)
+	{
+		bodyB->internalApplyImpulse(cB.m_contactNormal2 * bodyB->internalGetInvMass(), cB.m_angularComponentB, deltaImpulseB);
+	}
+
+	btScalar deltaVel = deltaImpulseA / cA.m_jacDiagABInv + deltaImpulseB / cB.m_jacDiagABInv;
+	return deltaVel;
+}
+
+void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
+																  const btVector3& contactNormal,
+																  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
+																  btScalar& relaxation,
+																  bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
 {
-			
 	BT_PROFILE("setupMultiBodyContactConstraint");
 	btVector3 rel_pos1;
 	btVector3 rel_pos2;
@@ -233,44 +478,46 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 	btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
 
 	if (bodyA)
-		rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); 
+		rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
 	if (bodyB)
 		rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
 
 	relaxation = infoGlobal.m_sor;
-	
-	btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
-	
-	 //cfm = 1 /       ( dt * kp + kd )
-    //erp = dt * kp / ( dt * kp + kd )
-    
-    btScalar cfm;
+
+	btScalar invTimeStep = btScalar(1) / infoGlobal.m_timeStep;
+
+	//cfm = 1 /       ( dt * kp + kd )
+	//erp = dt * kp / ( dt * kp + kd )
+
+	btScalar cfm;
 	btScalar erp;
 	if (isFriction)
 	{
 		cfm = infoGlobal.m_frictionCFM;
 		erp = infoGlobal.m_frictionERP;
-	} else
+	}
+	else
 	{
 		cfm = infoGlobal.m_globalCfm;
 		erp = infoGlobal.m_erp2;
 
-		if ((cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP))
+		if ((cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP))
 		{
-			if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM)
-				cfm  = cp.m_contactCFM;
-			if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP)
-				erp = cp.m_contactERP;                
-		} else
+			if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_CFM)
+				cfm = cp.m_contactCFM;
+			if (cp.m_contactPointFlags & BT_CONTACT_FLAG_HAS_CONTACT_ERP)
+				erp = cp.m_contactERP;
+		}
+		else
 		{
 			if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING)
 			{
-				btScalar denom = ( infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1 );
+				btScalar denom = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1);
 				if (denom < SIMD_EPSILON)
 				{
 					denom = SIMD_EPSILON;
 				}
-				cfm = btScalar(1) / denom; 
+				cfm = btScalar(1) / denom;
 				erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom;
 			}
 		}
@@ -280,218 +527,217 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 
 	if (multiBodyA)
 	{
-		if (solverConstraint.m_linkA<0)
+		if (solverConstraint.m_linkA < 0)
 		{
 			rel_pos1 = pos1 - multiBodyA->getBasePos();
-		} else
+		}
+		else
 		{
 			rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
 		}
-		const int ndofA  = multiBodyA->getNumDofs() + 6;
+		const int ndofA = multiBodyA->getNumDofs() + 6;
 
 		solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
 
-		if (solverConstraint.m_deltaVelAindex <0)
+		if (solverConstraint.m_deltaVelAindex < 0)
 		{
 			solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
 			multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
-			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA);
-		} else
+			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofA);
+		}
+		else
 		{
-			btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
+			btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
 		}
 
 		solverConstraint.m_jacAindex = m_data.m_jacobians.size();
-		m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA);
-		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
+		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofA);
+		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofA);
 		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
 
-		btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
+		btScalar* jac1 = &m_data.m_jacobians[solverConstraint.m_jacAindex];
 		multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
 		btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-		multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
+		multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v);
 
 		btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
 		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
 		solverConstraint.m_contactNormal1 = contactNormal;
-	} else
+	}
+	else
 	{
 		btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
 		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
 		solverConstraint.m_contactNormal1 = contactNormal;
-		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
+		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
 	}
 
-	
-
 	if (multiBodyB)
 	{
-		if (solverConstraint.m_linkB<0)
+		if (solverConstraint.m_linkB < 0)
 		{
 			rel_pos2 = pos2 - multiBodyB->getBasePos();
-		} else
+		}
+		else
 		{
 			rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
 		}
 
-		const int ndofB  = multiBodyB->getNumDofs() + 6;
+		const int ndofB = multiBodyB->getNumDofs() + 6;
 
 		solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
-		if (solverConstraint.m_deltaVelBindex <0)
+		if (solverConstraint.m_deltaVelBindex < 0)
 		{
 			solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
 			multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
-			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB);
+			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofB);
 		}
 
 		solverConstraint.m_jacBindex = m_data.m_jacobians.size();
 
-		m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB);
-		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
+		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofB);
+		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
 		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
 
 		multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-		multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
-		
-		btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);		
+		multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v);
+
+		btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
 		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
 		solverConstraint.m_contactNormal2 = -contactNormal;
-	
-	} else
+	}
+	else
 	{
-		btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);		
+		btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
 		solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
 		solverConstraint.m_contactNormal2 = -contactNormal;
-	
-		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
+
+		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * -torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
 	}
 
 	{
-						
 		btVector3 vec;
 		btScalar denom0 = 0.f;
 		btScalar denom1 = 0.f;
 		btScalar* jacB = 0;
 		btScalar* jacA = 0;
-		btScalar* lambdaA =0;
-		btScalar* lambdaB =0;
-		int ndofA  = 0;
+		btScalar* lambdaA = 0;
+		btScalar* lambdaB = 0;
+		int ndofA = 0;
 		if (multiBodyA)
 		{
-			ndofA  = multiBodyA->getNumDofs() + 6;
+			ndofA = multiBodyA->getNumDofs() + 6;
 			jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
 			lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
 			for (int i = 0; i < ndofA; ++i)
 			{
-				btScalar j = jacA[i] ;
-				btScalar l =lambdaA[i];
-				denom0 += j*l;
+				btScalar j = jacA[i];
+				btScalar l = lambdaA[i];
+				denom0 += j * l;
 			}
-		} else
+		}
+		else
 		{
 			if (rb0)
 			{
-				vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+				vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
 				denom0 = rb0->getInvMass() + contactNormal.dot(vec);
 			}
 		}
 		if (multiBodyB)
 		{
-			const int ndofB  = multiBodyB->getNumDofs() + 6;
+			const int ndofB = multiBodyB->getNumDofs() + 6;
 			jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
 			lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
 			for (int i = 0; i < ndofB; ++i)
 			{
-				btScalar j = jacB[i] ;
-				btScalar l =lambdaB[i];
-				denom1 += j*l;
+				btScalar j = jacB[i];
+				btScalar l = lambdaB[i];
+				denom1 += j * l;
 			}
-
-		} else
+		}
+		else
 		{
 			if (rb1)
 			{
-				vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
+				vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
 				denom1 = rb1->getInvMass() + contactNormal.dot(vec);
 			}
 		}
 
-		 
-
-		 btScalar d = denom0+denom1+cfm;
-		 if (d>SIMD_EPSILON)
-		 {
-			solverConstraint.m_jacDiagABInv = relaxation/(d);
-		 } else
-		 {
+		btScalar d = denom0 + denom1 + cfm;
+		if (d > SIMD_EPSILON)
+		{
+			solverConstraint.m_jacDiagABInv = relaxation / (d);
+		}
+		else
+		{
 			//disable the constraint row to handle singularity/redundant constraint
-			solverConstraint.m_jacDiagABInv  = 0.f;
-		 }
-		
+			solverConstraint.m_jacDiagABInv = 0.f;
+		}
 	}
 
-	
 	//compute rhs and remaining solverConstraint fields
 
-	
-
 	btScalar restitution = 0.f;
-    btScalar distance = 0;
-    if (!isFriction)
-    {
-        distance = cp.getDistance()+infoGlobal.m_linearSlop;
-    } else
-    {
-        if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
-        {
-          distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal);
-        }
-    }
-  
-    
-	btScalar rel_vel = 0.f;
-	int ndofA  = 0;
-	int ndofB  = 0;
+	btScalar distance = 0;
+	if (!isFriction)
+	{
+		distance = cp.getDistance() + infoGlobal.m_linearSlop;
+	}
+	else
 	{
+		if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
+		{
+			distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal);
+		}
+	}
 
-		btVector3 vel1,vel2;
+	btScalar rel_vel = 0.f;
+	int ndofA = 0;
+	int ndofB = 0;
+	{
+		btVector3 vel1, vel2;
 		if (multiBodyA)
 		{
-			ndofA  = multiBodyA->getNumDofs() + 6;
+			ndofA = multiBodyA->getNumDofs() + 6;
 			btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-			for (int i = 0; i < ndofA ; ++i) 
+			for (int i = 0; i < ndofA; ++i)
 				rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
-		} else
+		}
+		else
 		{
 			if (rb0)
 			{
-				rel_vel += (rb0->getVelocityInLocalPoint(rel_pos1) + 
-							(rb0->getTotalTorque()*rb0->getInvInertiaTensorWorld()*infoGlobal.m_timeStep).cross(rel_pos1)+
-							rb0->getTotalForce()*rb0->getInvMass()*infoGlobal.m_timeStep).dot(solverConstraint.m_contactNormal1);
+				rel_vel += (rb0->getVelocityInLocalPoint(rel_pos1) +
+							(rb0->getTotalTorque() * rb0->getInvInertiaTensorWorld() * infoGlobal.m_timeStep).cross(rel_pos1) +
+							rb0->getTotalForce() * rb0->getInvMass() * infoGlobal.m_timeStep)
+							   .dot(solverConstraint.m_contactNormal1);
 			}
 		}
 		if (multiBodyB)
 		{
-			ndofB  = multiBodyB->getNumDofs() + 6;
+			ndofB = multiBodyB->getNumDofs() + 6;
 			btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-			for (int i = 0; i < ndofB ; ++i) 
+			for (int i = 0; i < ndofB; ++i)
 				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-
-		} else
+		}
+		else
 		{
 			if (rb1)
 			{
-				rel_vel += (rb1->getVelocityInLocalPoint(rel_pos2)+
-					(rb1->getTotalTorque()*rb1->getInvInertiaTensorWorld()*infoGlobal.m_timeStep).cross(rel_pos2) +
-					rb1->getTotalForce()*rb1->getInvMass()*infoGlobal.m_timeStep).dot(solverConstraint.m_contactNormal2);
+				rel_vel += (rb1->getVelocityInLocalPoint(rel_pos2) +
+							(rb1->getTotalTorque() * rb1->getInvInertiaTensorWorld() * infoGlobal.m_timeStep).cross(rel_pos2) +
+							rb1->getTotalForce() * rb1->getInvMass() * infoGlobal.m_timeStep)
+							   .dot(solverConstraint.m_contactNormal2);
 			}
 		}
 
 		solverConstraint.m_friction = cp.m_combinedFriction;
 
-		if(!isFriction)
+		if (!isFriction)
 		{
-			restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);	
+			restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
 			if (restitution <= btScalar(0.))
 			{
 				restitution = 0.f;
@@ -499,10 +745,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 		}
 	}
 
-
 	///warm starting (or zero if disabled)
 	//disable warmstarting for btMultiBody, it has issues gaining energy (==explosion)
-	if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+	if (0)  //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 	{
 		solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
 
@@ -512,27 +757,30 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 			{
 				btScalar impulse = solverConstraint.m_appliedImpulse;
 				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-				multiBodyA->applyDeltaVeeMultiDof(deltaV,impulse);
-				
-				applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
-			} else
+				multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse);
+
+				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
+			}
+			else
 			{
 				if (rb0)
-					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
+					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
 			}
 			if (multiBodyB)
 			{
 				btScalar impulse = solverConstraint.m_appliedImpulse;
 				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-				multiBodyB->applyDeltaVeeMultiDof(deltaV,impulse);
-				applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
-			} else
+				multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse);
+				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
+			}
+			else
 			{
 				if (rb1)
-					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
+					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
 			}
 		}
-	} else
+	}
+	else
 	{
 		solverConstraint.m_appliedImpulse = 0.f;
 	}
@@ -540,38 +788,37 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 	solverConstraint.m_appliedPushImpulse = 0.f;
 
 	{
-
 		btScalar positionalError = 0.f;
-		btScalar velocityError = restitution - rel_vel;// * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
+		btScalar velocityError = restitution - rel_vel;  // * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
 		if (isFriction)
 		{
-			positionalError = -distance * erp/infoGlobal.m_timeStep;
-		} else
+			positionalError = -distance * erp / infoGlobal.m_timeStep;
+		}
+		else
 		{
-    			if (distance>0)
+			if (distance > 0)
 			{
 				positionalError = 0;
 				velocityError -= distance / infoGlobal.m_timeStep;
-
-			} else
+			}
+			else
 			{
-				positionalError = -distance * erp/infoGlobal.m_timeStep;
+				positionalError = -distance * erp / infoGlobal.m_timeStep;
 			}
 		}
 
-		btScalar  penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-		btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+		btScalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
+		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
 
-		if(!isFriction)
+		if (!isFriction)
 		{
-		//	if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+			//	if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
 			{
 				//combine position and velocity into rhs
-				solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+				solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
 				solverConstraint.m_rhsPenetration = 0.f;
-
 			}
-		/*else
+			/*else
 			{
 				//split position and velocity into rhs and m_rhsPenetration
 				solverConstraint.m_rhs = velocityImpulse;
@@ -583,309 +830,288 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 		}
 		else
 		{
-			solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+			solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
 			solverConstraint.m_rhsPenetration = 0.f;
 			solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
 			solverConstraint.m_upperLimit = solverConstraint.m_friction;
 		}
 
-		solverConstraint.m_cfm = cfm*solverConstraint.m_jacDiagABInv;
-		
-
-
+		solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
 	}
-
 }
 
 void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
-                                                                  const btVector3& constraintNormal,
-                                                                  btManifoldPoint& cp,
-                                                                    btScalar combinedTorsionalFriction,
-                                                                    const btContactSolverInfo& infoGlobal,
-                                                                  btScalar& relaxation,
-                                                                  bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
+																			const btVector3& constraintNormal,
+																			btManifoldPoint& cp,
+																			btScalar combinedTorsionalFriction,
+																			const btContactSolverInfo& infoGlobal,
+																			btScalar& relaxation,
+																			bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
 {
-    
-    BT_PROFILE("setupMultiBodyRollingFrictionConstraint");
-    btVector3 rel_pos1;
-    btVector3 rel_pos2;
-    
-    btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
-    btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
-    
-    const btVector3& pos1 = cp.getPositionWorldOnA();
-    const btVector3& pos2 = cp.getPositionWorldOnB();
-    
-    btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
-    btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
-    
-    btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
-    btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
-    
-    if (bodyA)
-        rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
-    if (bodyB)
-        rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
-    
-    relaxation = infoGlobal.m_sor;
-    
-   // btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
-    
-    
-    if (multiBodyA)
-    {
-        if (solverConstraint.m_linkA<0)
-        {
-            rel_pos1 = pos1 - multiBodyA->getBasePos();
-        } else
-        {
-            rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
-        }
-        const int ndofA  = multiBodyA->getNumDofs() + 6;
-        
-        solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
-        
-        if (solverConstraint.m_deltaVelAindex <0)
-        {
-            solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
-            multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
-            m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA);
-        } else
-        {
-            btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
-        }
-        
-        solverConstraint.m_jacAindex = m_data.m_jacobians.size();
-        m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA);
-        m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
-        btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
-        
-        btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
-        multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), constraintNormal, btVector3(0,0,0), jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-        btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-        multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
-        
-        btVector3 torqueAxis0 = -constraintNormal;
-        solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-        solverConstraint.m_contactNormal1 = btVector3(0,0,0);
-    } else
-    {
-        btVector3 torqueAxis0 = -constraintNormal;
-        solverConstraint.m_relpos1CrossNormal = torqueAxis0;
-        solverConstraint.m_contactNormal1 = btVector3(0,0,0);
-        solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
-    }
-    
-    
-    
-    if (multiBodyB)
-    {
-        if (solverConstraint.m_linkB<0)
-        {
-            rel_pos2 = pos2 - multiBodyB->getBasePos();
-        } else
-        {
-            rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
-        }
-        
-        const int ndofB  = multiBodyB->getNumDofs() + 6;
-        
-        solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
-        if (solverConstraint.m_deltaVelBindex <0)
-        {
-            solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
-            multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
-            m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB);
-        }
-        
-        solverConstraint.m_jacBindex = m_data.m_jacobians.size();
-        
-        m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB);
-        m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
-        btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
-        
-        multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0,0,0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
-        multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
-        
-        btVector3 torqueAxis1 = constraintNormal;
-        solverConstraint.m_relpos2CrossNormal = torqueAxis1;
-        solverConstraint.m_contactNormal2 = -btVector3(0,0,0);
-        
-    } else
-    {
-        btVector3 torqueAxis1 = constraintNormal;
-        solverConstraint.m_relpos2CrossNormal = torqueAxis1;
-        solverConstraint.m_contactNormal2 = -btVector3(0,0,0);
-        
-        solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
-    }
-    
-    {
-        
-        btScalar denom0 = 0.f;
-        btScalar denom1 = 0.f;
-        btScalar* jacB = 0;
-        btScalar* jacA = 0;
-        btScalar* lambdaA =0;
-        btScalar* lambdaB =0;
-        int ndofA  = 0;
-        if (multiBodyA)
-        {
-            ndofA  = multiBodyA->getNumDofs() + 6;
-            jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-            lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-            for (int i = 0; i < ndofA; ++i)
-            {
-                btScalar j = jacA[i] ;
-                btScalar l =lambdaA[i];
-                denom0 += j*l;
-            }
-        } else
-        {
-            if (rb0)
-            {
-				btVector3 iMJaA = rb0?rb0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0);
+	BT_PROFILE("setupMultiBodyRollingFrictionConstraint");
+	btVector3 rel_pos1;
+	btVector3 rel_pos2;
+
+	btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
+	btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
+
+	const btVector3& pos1 = cp.getPositionWorldOnA();
+	const btVector3& pos2 = cp.getPositionWorldOnB();
+
+	btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
+	btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
+
+	btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
+	btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
+
+	if (bodyA)
+		rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
+	if (bodyB)
+		rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
+
+	relaxation = infoGlobal.m_sor;
+
+	// btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep;
+
+	if (multiBodyA)
+	{
+		if (solverConstraint.m_linkA < 0)
+		{
+			rel_pos1 = pos1 - multiBodyA->getBasePos();
+		}
+		else
+		{
+			rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
+		}
+		const int ndofA = multiBodyA->getNumDofs() + 6;
+
+		solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
+
+		if (solverConstraint.m_deltaVelAindex < 0)
+		{
+			solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
+			multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
+			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofA);
+		}
+		else
+		{
+			btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex + ndofA);
+		}
+
+		solverConstraint.m_jacAindex = m_data.m_jacobians.size();
+		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofA);
+		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofA);
+		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
+
+		btScalar* jac1 = &m_data.m_jacobians[solverConstraint.m_jacAindex];
+		multiBodyA->fillConstraintJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), constraintNormal, btVector3(0, 0, 0), jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
+		btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
+		multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v);
+
+		btVector3 torqueAxis0 = -constraintNormal;
+		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+		solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
+	}
+	else
+	{
+		btVector3 torqueAxis0 = -constraintNormal;
+		solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+		solverConstraint.m_contactNormal1 = btVector3(0, 0, 0);
+		solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0);
+	}
+
+	if (multiBodyB)
+	{
+		if (solverConstraint.m_linkB < 0)
+		{
+			rel_pos2 = pos2 - multiBodyB->getBasePos();
+		}
+		else
+		{
+			rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
+		}
+
+		const int ndofB = multiBodyB->getNumDofs() + 6;
+
+		solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
+		if (solverConstraint.m_deltaVelBindex < 0)
+		{
+			solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
+			multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
+			m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size() + ndofB);
+		}
+
+		solverConstraint.m_jacBindex = m_data.m_jacobians.size();
+
+		m_data.m_jacobians.resize(m_data.m_jacobians.size() + ndofB);
+		m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size() + ndofB);
+		btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
+
+		multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0, 0, 0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
+		multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v);
+
+		btVector3 torqueAxis1 = constraintNormal;
+		solverConstraint.m_relpos2CrossNormal = torqueAxis1;
+		solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);
+	}
+	else
+	{
+		btVector3 torqueAxis1 = constraintNormal;
+		solverConstraint.m_relpos2CrossNormal = torqueAxis1;
+		solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0);
+
+		solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld() * torqueAxis1 * rb1->getAngularFactor() : btVector3(0, 0, 0);
+	}
+
+	{
+		btScalar denom0 = 0.f;
+		btScalar denom1 = 0.f;
+		btScalar* jacB = 0;
+		btScalar* jacA = 0;
+		btScalar* lambdaA = 0;
+		btScalar* lambdaB = 0;
+		int ndofA = 0;
+		if (multiBodyA)
+		{
+			ndofA = multiBodyA->getNumDofs() + 6;
+			jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
+			lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
+			for (int i = 0; i < ndofA; ++i)
+			{
+				btScalar j = jacA[i];
+				btScalar l = lambdaA[i];
+				denom0 += j * l;
+			}
+		}
+		else
+		{
+			if (rb0)
+			{
+				btVector3 iMJaA = rb0 ? rb0->getInvInertiaTensorWorld() * solverConstraint.m_relpos1CrossNormal : btVector3(0, 0, 0);
 				denom0 = iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-            }
-        }
-        if (multiBodyB)
-        {
-            const int ndofB  = multiBodyB->getNumDofs() + 6;
-            jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-            lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-            for (int i = 0; i < ndofB; ++i)
-            {
-                btScalar j = jacB[i] ;
-                btScalar l =lambdaB[i];
-                denom1 += j*l;
-            }
-            
-        } else
-        {
-            if (rb1)
-            {
-				btVector3 iMJaB = rb1?rb1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
+			}
+		}
+		if (multiBodyB)
+		{
+			const int ndofB = multiBodyB->getNumDofs() + 6;
+			jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
+			lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
+			for (int i = 0; i < ndofB; ++i)
+			{
+				btScalar j = jacB[i];
+				btScalar l = lambdaB[i];
+				denom1 += j * l;
+			}
+		}
+		else
+		{
+			if (rb1)
+			{
+				btVector3 iMJaB = rb1 ? rb1->getInvInertiaTensorWorld() * solverConstraint.m_relpos2CrossNormal : btVector3(0, 0, 0);
 				denom1 = iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-            }
-        }
-        
-        
-        
-        btScalar d = denom0+denom1+infoGlobal.m_globalCfm;
-        if (d>SIMD_EPSILON)
-        {
-            solverConstraint.m_jacDiagABInv = relaxation/(d);
-        } else
-        {
-            //disable the constraint row to handle singularity/redundant constraint
-            solverConstraint.m_jacDiagABInv  = 0.f;
-        }
-        
-    }
-    
-    
-    //compute rhs and remaining solverConstraint fields
-    
-    
-    
-    btScalar restitution = 0.f;
-    btScalar penetration = isFriction? 0 : cp.getDistance();
-    
-    btScalar rel_vel = 0.f;
-    int ndofA  = 0;
-    int ndofB  = 0;
-    {
-        
-        btVector3 vel1,vel2;
-        if (multiBodyA)
-        {
-            ndofA  = multiBodyA->getNumDofs() + 6;
-            btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
-            for (int i = 0; i < ndofA ; ++i)
-                rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
-        } else
-        {
-            if (rb0)
-            {
+			}
+		}
+
+		btScalar d = denom0 + denom1 + infoGlobal.m_globalCfm;
+		if (d > SIMD_EPSILON)
+		{
+			solverConstraint.m_jacDiagABInv = relaxation / (d);
+		}
+		else
+		{
+			//disable the constraint row to handle singularity/redundant constraint
+			solverConstraint.m_jacDiagABInv = 0.f;
+		}
+	}
+
+	//compute rhs and remaining solverConstraint fields
+
+	btScalar restitution = 0.f;
+	btScalar penetration = isFriction ? 0 : cp.getDistance();
+
+	btScalar rel_vel = 0.f;
+	int ndofA = 0;
+	int ndofB = 0;
+	{
+		btVector3 vel1, vel2;
+		if (multiBodyA)
+		{
+			ndofA = multiBodyA->getNumDofs() + 6;
+			btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
+			for (int i = 0; i < ndofA; ++i)
+				rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
+		}
+		else
+		{
+			if (rb0)
+			{
 				btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
-				rel_vel += solverConstraint.m_contactNormal1.dot(rb0?solverBodyA->m_linearVelocity+solverBodyA->m_externalForceImpulse:btVector3(0,0,0))
-				+ solverConstraint.m_relpos1CrossNormal.dot(rb0?solverBodyA->m_angularVelocity:btVector3(0,0,0));
-	
-            }
-        }
-        if (multiBodyB)
-        {
-            ndofB  = multiBodyB->getNumDofs() + 6;
-            btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
-            for (int i = 0; i < ndofB ; ++i)
-                rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
-            
-        } else
-        {
-            if (rb1)
-            {
+				rel_vel += solverConstraint.m_contactNormal1.dot(rb0 ? solverBodyA->m_linearVelocity + solverBodyA->m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(rb0 ? solverBodyA->m_angularVelocity : btVector3(0, 0, 0));
+			}
+		}
+		if (multiBodyB)
+		{
+			ndofB = multiBodyB->getNumDofs() + 6;
+			btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
+			for (int i = 0; i < ndofB; ++i)
+				rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
+		}
+		else
+		{
+			if (rb1)
+			{
 				btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
-				rel_vel += solverConstraint.m_contactNormal2.dot(rb1?solverBodyB->m_linearVelocity+solverBodyB->m_externalForceImpulse:btVector3(0,0,0))
-			+ solverConstraint.m_relpos2CrossNormal.dot(rb1?solverBodyB->m_angularVelocity:btVector3(0,0,0));
-
-            }
-        }
-
-        solverConstraint.m_friction =combinedTorsionalFriction;
-        
-        if(!isFriction)
-        {
-            restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
-            if (restitution <= btScalar(0.))
-            {
-                restitution = 0.f;
-            }
-        }
-    }
-    
-    
-    solverConstraint.m_appliedImpulse = 0.f;
-    solverConstraint.m_appliedPushImpulse = 0.f;
-    
-    {
-        
-        btScalar velocityError = 0 - rel_vel;// * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
-        
-       
-        
-        btScalar velocityImpulse = velocityError*solverConstraint.m_jacDiagABInv;
-        
-        solverConstraint.m_rhs = velocityImpulse;
-        solverConstraint.m_rhsPenetration = 0.f;
-        solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
-        solverConstraint.m_upperLimit = solverConstraint.m_friction;
-        
-        solverConstraint.m_cfm = infoGlobal.m_globalCfm*solverConstraint.m_jacDiagABInv;
-        
-        
-        
-    }
-    
+				rel_vel += solverConstraint.m_contactNormal2.dot(rb1 ? solverBodyB->m_linearVelocity + solverBodyB->m_externalForceImpulse : btVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(rb1 ? solverBodyB->m_angularVelocity : btVector3(0, 0, 0));
+			}
+		}
+
+		solverConstraint.m_friction = combinedTorsionalFriction;
+
+		if (!isFriction)
+		{
+			restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
+			if (restitution <= btScalar(0.))
+			{
+				restitution = 0.f;
+			}
+		}
+	}
+
+	solverConstraint.m_appliedImpulse = 0.f;
+	solverConstraint.m_appliedPushImpulse = 0.f;
+
+	{
+		btScalar velocityError = 0 - rel_vel;  // * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
+
+		btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
+
+		solverConstraint.m_rhs = velocityImpulse;
+		solverConstraint.m_rhsPenetration = 0.f;
+		solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
+		solverConstraint.m_upperLimit = solverConstraint.m_friction;
+
+		solverConstraint.m_cfm = infoGlobal.m_globalCfm * solverConstraint.m_jacDiagABInv;
+	}
 }
 
-btMultiBodySolverConstraint&	btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
+btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
 {
 	BT_PROFILE("addMultiBodyFrictionConstraint");
 	btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
-    solverConstraint.m_orgConstraint = 0;
-    solverConstraint.m_orgDofIndex = -1;
-    
+	solverConstraint.m_orgConstraint = 0;
+	solverConstraint.m_orgDofIndex = -1;
+
 	solverConstraint.m_frictionIndex = frictionIndex;
 	bool isFriction = true;
 
 	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
 	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-	
-	btMultiBody* mbA = fcA? fcA->m_multiBody : 0;
-	btMultiBody* mbB = fcB? fcB->m_multiBody : 0;
 
-	int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
-	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
+	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
+	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
+
+	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
+	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
 
 	solverConstraint.m_solverBodyIdA = solverBodyIdA;
 	solverConstraint.m_solverBodyIdB = solverBodyIdB;
@@ -899,92 +1125,92 @@ btMultiBodySolverConstraint&	btMultiBodyConstraintSolver::addMultiBodyFrictionCo
 
 	solverConstraint.m_originalContactPoint = &cp;
 
-	setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal,relaxation,isFriction, desiredVelocity, cfmSlip);
+	setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
 	return solverConstraint;
 }
 
-btMultiBodySolverConstraint&	btMultiBodyConstraintSolver::addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,
-                                                                btScalar combinedTorsionalFriction,
-                                                                                                     btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
+btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
+																								  btScalar combinedTorsionalFriction,
+																								  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
 {
-    BT_PROFILE("addMultiBodyRollingFrictionConstraint");
-    btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
-    solverConstraint.m_orgConstraint = 0;
-    solverConstraint.m_orgDofIndex = -1;
-    
-    solverConstraint.m_frictionIndex = frictionIndex;
-    bool isFriction = true;
-    
-    const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
-    const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-    
-    btMultiBody* mbA = fcA? fcA->m_multiBody : 0;
-    btMultiBody* mbB = fcB? fcB->m_multiBody : 0;
-    
-    int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
-    int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
-    
-    solverConstraint.m_solverBodyIdA = solverBodyIdA;
-    solverConstraint.m_solverBodyIdB = solverBodyIdB;
-    solverConstraint.m_multiBodyA = mbA;
-    if (mbA)
-        solverConstraint.m_linkA = fcA->m_link;
-    
-    solverConstraint.m_multiBodyB = mbB;
-    if (mbB)
-        solverConstraint.m_linkB = fcB->m_link;
-    
-    solverConstraint.m_originalContactPoint = &cp;
-    
-    setupMultiBodyTorsionalFrictionConstraint(solverConstraint, normalAxis, cp, combinedTorsionalFriction,infoGlobal,relaxation,isFriction, desiredVelocity, cfmSlip);
-    return solverConstraint;
+	BT_PROFILE("addMultiBodyRollingFrictionConstraint");
+
+	bool useTorsionalAndConeFriction = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode & SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0));
+
+	btMultiBodySolverConstraint& solverConstraint = useTorsionalAndConeFriction ? m_multiBodyTorsionalFrictionContactConstraints.expandNonInitializing() : m_multiBodyFrictionContactConstraints.expandNonInitializing();
+	solverConstraint.m_orgConstraint = 0;
+	solverConstraint.m_orgDofIndex = -1;
+
+	solverConstraint.m_frictionIndex = frictionIndex;
+	bool isFriction = true;
+
+	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
+	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
+
+	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
+	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
+
+	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
+	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
+
+	solverConstraint.m_solverBodyIdA = solverBodyIdA;
+	solverConstraint.m_solverBodyIdB = solverBodyIdB;
+	solverConstraint.m_multiBodyA = mbA;
+	if (mbA)
+		solverConstraint.m_linkA = fcA->m_link;
+
+	solverConstraint.m_multiBodyB = mbB;
+	if (mbB)
+		solverConstraint.m_linkB = fcB->m_link;
+
+	solverConstraint.m_originalContactPoint = &cp;
+
+	setupMultiBodyTorsionalFrictionConstraint(solverConstraint, normalAxis, cp, combinedTorsionalFriction, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
+	return solverConstraint;
 }
 
-void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
+void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal)
 {
 	const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
 	const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-	
-	btMultiBody* mbA = fcA? fcA->m_multiBody : 0;
-	btMultiBody* mbB = fcB? fcB->m_multiBody : 0;
 
-	btCollisionObject* colObj0=0,*colObj1=0;
+	btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
+	btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
+
+	btCollisionObject *colObj0 = 0, *colObj1 = 0;
 
 	colObj0 = (btCollisionObject*)manifold->getBody0();
 	colObj1 = (btCollisionObject*)manifold->getBody1();
 
-	int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
-	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
-
-//	btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
-//	btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
+	int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep);
+	int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep);
 
+	//	btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
+	//	btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
 
 	///avoid collision response between two static objects
-//	if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
+	//	if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
 	//	return;
 
-    //only a single rollingFriction per manifold
-    int rollingFriction=1;
-    
-	for (int j=0;j<manifold->getNumContacts();j++)
-	{
+	//only a single rollingFriction per manifold
+	int rollingFriction = 1;
 
+	for (int j = 0; j < manifold->getNumContacts(); j++)
+	{
 		btManifoldPoint& cp = manifold->getContactPoint(j);
 
 		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
 		{
-		
 			btScalar relaxation;
 
 			int frictionIndex = m_multiBodyNormalContactConstraints.size();
 
 			btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing();
 
-	//		btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-	//		btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-            solverConstraint.m_orgConstraint = 0;
-            solverConstraint.m_orgDofIndex = -1;
+			//		btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+			//		btRigidBody* rb1 = btRigidBody::upcast(colObj1);
+			solverConstraint.m_orgConstraint = 0;
+			solverConstraint.m_orgDofIndex = -1;
 			solverConstraint.m_solverBodyIdA = solverBodyIdA;
 			solverConstraint.m_solverBodyIdB = solverBodyIdB;
 			solverConstraint.m_multiBodyA = mbA;
@@ -998,60 +1224,59 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 			solverConstraint.m_originalContactPoint = &cp;
 
 			bool isFriction = false;
-			setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB,cp, infoGlobal, relaxation, isFriction);
+			setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction);
 
-//			const btVector3& pos1 = cp.getPositionWorldOnA();
-//			const btVector3& pos2 = cp.getPositionWorldOnB();
+			//			const btVector3& pos1 = cp.getPositionWorldOnA();
+			//			const btVector3& pos2 = cp.getPositionWorldOnB();
 
 			/////setup the friction constraints
 #define ENABLE_FRICTION
 #ifdef ENABLE_FRICTION
-			solverConstraint.m_frictionIndex = frictionIndex;
+			solverConstraint.m_frictionIndex = m_multiBodyFrictionContactConstraints.size();
 
 			///Bullet has several options to set the friction directions
 			///By default, each contact has only a single friction direction that is recomputed automatically every frame
 			///based on the relative linear velocity.
 			///If the relative velocity is zero, it will automatically compute a friction direction.
-			
+
 			///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
 			///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
 			///
 			///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
 			///
-			///The user can manually override the friction directions for certain contacts using a contact callback, 
+			///The user can manually override the friction directions for certain contacts using a contact callback,
 			///and set the cp.m_lateralFrictionInitialized to true
 			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
 			///this will give a conveyor belt effect
 			///
 
-			btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+			btPlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
 			cp.m_lateralFrictionDir1.normalize();
 			cp.m_lateralFrictionDir2.normalize();
 
-            if (rollingFriction > 0 )
-             {
-                if (cp.m_combinedSpinningFriction>0)
-                {
-                    addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal);
-                }
-                if (cp.m_combinedRollingFriction>0)
-                {
-
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
-					
-					if (cp.m_lateralFrictionDir1.length()>0.001)
-	                    addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
-
-					if (cp.m_lateralFrictionDir2.length()>0.001)
-                    addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
-                }
-              rollingFriction--;
-            }
-			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
-			{/*
+			if (rollingFriction > 0)
+			{
+				if (cp.m_combinedSpinningFriction > 0)
+				{
+					addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB, manifold, frictionIndex, cp, cp.m_combinedSpinningFriction, colObj0, colObj1, relaxation, infoGlobal);
+				}
+				if (cp.m_combinedRollingFriction > 0)
+				{
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+
+					if (cp.m_lateralFrictionDir1.length() > 0.001)
+						addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal);
+
+					if (cp.m_lateralFrictionDir2.length() > 0.001)
+						addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal);
+				}
+				rollingFriction--;
+			}
+			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
+			{ /*
 				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
 				btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
 				if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
@@ -1074,84 +1299,77 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 				} else
 				*/
 				{
-					
-
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
-                    
+					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
 
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
+						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
 					}
 
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
 					{
-						cp.m_contactPointFlags|=BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
+						cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
 					}
 				}
-
-			} else
+			}
+			else
 			{
-				addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal,cp.m_contactMotion1, cp.m_frictionCFM);
+				addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
 
 				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation, infoGlobal,cp.m_contactMotion2, cp.m_frictionCFM);
+					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
 
 				//setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
 				//todo:
 				solverConstraint.m_appliedImpulse = 0.f;
 				solverConstraint.m_appliedPushImpulse = 0.f;
 			}
-		
-
-#endif //ENABLE_FRICTION
 
+#endif  //ENABLE_FRICTION
 		}
 	}
 }
 
-void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
+void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
 {
 	//btPersistentManifold* manifold = 0;
 
-	for (int i=0;i<numManifolds;i++)
+	for (int i = 0; i < numManifolds; i++)
 	{
-		btPersistentManifold* manifold= manifoldPtr[i];
+		btPersistentManifold* manifold = manifoldPtr[i];
 		const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
 		const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
 		if (!fcA && !fcB)
 		{
 			//the contact doesn't involve any Featherstone btMultiBody, so deal with the regular btRigidBody/btCollisionObject case
-			convertContact(manifold,infoGlobal);
-		} else
+			convertContact(manifold, infoGlobal);
+		}
+		else
 		{
-			convertMultiBodyContact(manifold,infoGlobal);
+			convertMultiBodyContact(manifold, infoGlobal);
 		}
 	}
 
 	//also convert the multibody constraints, if any
 
-	
-	for (int i=0;i<m_tmpNumMultiBodyConstraints;i++)
+	for (int i = 0; i < m_tmpNumMultiBodyConstraints; i++)
 	{
 		btMultiBodyConstraint* c = m_tmpMultiBodyConstraints[i];
 		m_data.m_solverBodyPool = &m_tmpSolverBodyPool;
 		m_data.m_fixedBodyId = m_fixedBodyId;
-		
-		c->createConstraintRows(m_multiBodyNonContactConstraints,m_data,	infoGlobal);
-	}
 
+		c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal);
+	}
 }
 
-
-
-btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
+btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
 {
-	return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
+	//printf("btMultiBodyConstraintSolver::solveGroup: numBodies=%d, numConstraints=%d\n", numBodies, numConstraints);
+	return btSequentialImpulseConstraintSolver::solveGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
 }
 
 #if 0
@@ -1175,56 +1393,54 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
 }
 #endif
 
-
 void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
 {
-#if 1 
-	
+#if 1
+
 	//bod->addBaseForce(m_gravity * bod->getBaseMass());
 	//bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
 
 	if (c.m_orgConstraint)
 	{
-		c.m_orgConstraint->internalSetAppliedImpulse(c.m_orgDofIndex,c.m_appliedImpulse);
+		c.m_orgConstraint->internalSetAppliedImpulse(c.m_orgDofIndex, c.m_appliedImpulse);
 	}
-	
 
 	if (c.m_multiBodyA)
 	{
-		
 		c.m_multiBodyA->setCompanionId(-1);
-		btVector3 force = c.m_contactNormal1*(c.m_appliedImpulse/deltaTime);
-		btVector3 torque = c.m_relpos1CrossNormal*(c.m_appliedImpulse/deltaTime);
-		if (c.m_linkA<0)
+		btVector3 force = c.m_contactNormal1 * (c.m_appliedImpulse / deltaTime);
+		btVector3 torque = c.m_relpos1CrossNormal * (c.m_appliedImpulse / deltaTime);
+		if (c.m_linkA < 0)
 		{
 			c.m_multiBodyA->addBaseConstraintForce(force);
 			c.m_multiBodyA->addBaseConstraintTorque(torque);
-		} else
+		}
+		else
 		{
-			c.m_multiBodyA->addLinkConstraintForce(c.m_linkA,force);
-				//b3Printf("force = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
-			c.m_multiBodyA->addLinkConstraintTorque(c.m_linkA,torque);
+			c.m_multiBodyA->addLinkConstraintForce(c.m_linkA, force);
+			//b3Printf("force = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
+			c.m_multiBodyA->addLinkConstraintTorque(c.m_linkA, torque);
 		}
 	}
-	
+
 	if (c.m_multiBodyB)
 	{
 		{
 			c.m_multiBodyB->setCompanionId(-1);
-			btVector3 force = c.m_contactNormal2*(c.m_appliedImpulse/deltaTime);
-			btVector3 torque = c.m_relpos2CrossNormal*(c.m_appliedImpulse/deltaTime);
-			if (c.m_linkB<0)
+			btVector3 force = c.m_contactNormal2 * (c.m_appliedImpulse / deltaTime);
+			btVector3 torque = c.m_relpos2CrossNormal * (c.m_appliedImpulse / deltaTime);
+			if (c.m_linkB < 0)
 			{
 				c.m_multiBodyB->addBaseConstraintForce(force);
 				c.m_multiBodyB->addBaseConstraintTorque(torque);
-			} else
+			}
+			else
 			{
 				{
-					c.m_multiBodyB->addLinkConstraintForce(c.m_linkB,force);
+					c.m_multiBodyB->addLinkConstraintForce(c.m_linkB, force);
 					//b3Printf("t = %f,%f,%f\n",force[0],force[1],force[2]);//[0],torque[1],torque[2]);
-					c.m_multiBodyB->addLinkConstraintTorque(c.m_linkB,torque);
+					c.m_multiBodyB->addLinkConstraintTorque(c.m_linkB, torque);
 				}
-					
 			}
 		}
 	}
@@ -1234,81 +1450,64 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
 
 	if (c.m_multiBodyA)
 	{
-		
-		if(c.m_multiBodyA->isMultiDof())
-		{
-			c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
-		}
-		else
-		{
-			c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
-		}
+		c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], c.m_appliedImpulse);
 	}
-	
+
 	if (c.m_multiBodyB)
 	{
-		if(c.m_multiBodyB->isMultiDof())
-		{
-			c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
-		}
-		else
-		{
-			c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
-		}
+		c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], c.m_appliedImpulse);
 	}
 #endif
-
-
-
 }
 
-btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
+btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
 {
 	BT_PROFILE("btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish");
 	int numPoolConstraints = m_multiBodyNormalContactConstraints.size();
-	
 
-	//write back the delta v to the multi bodies, either as applied impulse (direct velocity change) 
+	//write back the delta v to the multi bodies, either as applied impulse (direct velocity change)
 	//or as applied force, so we can measure the joint reaction forces easier
-	for (int i=0;i<numPoolConstraints;i++)
+	for (int i = 0; i < numPoolConstraints; i++)
 	{
 		btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[i];
-		writeBackSolverBodyToMultiBody(solverConstraint,infoGlobal.m_timeStep);
+		writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
 
-		writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],infoGlobal.m_timeStep);
+		writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex], infoGlobal.m_timeStep);
 
 		if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 		{
-			writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],infoGlobal.m_timeStep);
+			writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1], infoGlobal.m_timeStep);
 		}
 	}
 
-
-	for (int i=0;i<m_multiBodyNonContactConstraints.size();i++)
+	for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
 	{
 		btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
-		writeBackSolverBodyToMultiBody(solverConstraint,infoGlobal.m_timeStep);
+		writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
 	}
 
-	
 	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 	{
 		BT_PROFILE("warm starting write back");
-		for (int j=0;j<numPoolConstraints;j++)
+		for (int j = 0; j < numPoolConstraints; j++)
 		{
 			const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
-			btManifoldPoint* pt = (btManifoldPoint*) solverConstraint.m_originalContactPoint;
+			btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint;
 			btAssert(pt);
 			pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
 			pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
-			
+
 			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
 			if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 			{
-				pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse;
+				pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1].m_appliedImpulse;
+			} else
+			{
+				pt->m_appliedImpulseLateral2 = 0;
 			}
-			//do a callback here?
 		}
+		
+			//do a callback here?
 	}
 #if 0
 	//multibody joint feedback
@@ -1407,23 +1606,22 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
 		}
 
 	}
-#endif 
+#endif
 #endif
 
-	return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies,numBodies,infoGlobal);
+	return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
 }
 
-
-void  btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
+void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
 {
+	//printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints);
+
 	//printf("solveMultiBodyGroup start\n");
 	m_tmpMultiBodyConstraints = multiBodyConstraints;
 	m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
-	
-	btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
+
+	btSequentialImpulseConstraintSolver::solveGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
 
 	m_tmpMultiBodyConstraints = 0;
 	m_tmpNumMultiBodyConstraints = 0;
-	
-
 }
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
index 489347d874..f39f2879fc 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
@@ -25,76 +25,71 @@ class btMultiBody;
 
 #include "btMultiBodyConstraint.h"
 
-
-
-ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
+ATTRIBUTE_ALIGNED16(class)
+btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
 {
-
 protected:
+	btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
 
-	btMultiBodyConstraintArray			m_multiBodyNonContactConstraints;
+	btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
+	btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
+	btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
 
-	btMultiBodyConstraintArray			m_multiBodyNormalContactConstraints;
-	btMultiBodyConstraintArray			m_multiBodyFrictionContactConstraints;
+	btMultiBodyJacobianData m_data;
 
-	btMultiBodyJacobianData				m_data;
-	
 	//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
-	btMultiBodyConstraint**					m_tmpMultiBodyConstraints;
-	int										m_tmpNumMultiBodyConstraints;
+	btMultiBodyConstraint** m_tmpMultiBodyConstraints;
+	int m_tmpNumMultiBodyConstraints;
 
 	btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
-	
-
-	void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
-    
-    btMultiBodySolverConstraint&	addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
-
-    btMultiBodySolverConstraint&	addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,
-                                                            btScalar combinedTorsionalFriction,
-                                                            btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
-
-	void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow, 
-																 btScalar* jacA,btScalar* jacB,
-																 btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
-																 const btContactSolverInfo& infoGlobal);
-
-	void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, 
-																 const btVector3& contactNormal,
-																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
-																 btScalar& relaxation,
-																 bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
-    
-    //either rolling or spinning friction
-    void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
-                                         const btVector3& contactNormal,
-                                         btManifoldPoint& cp,
-                                        btScalar combinedTorsionalFriction,
-                                        const btContactSolverInfo& infoGlobal,
-                                         btScalar& relaxation,
-                                         bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
-
-	void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-//	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	void	applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
-	void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& constraint, btScalar deltaTime);
-public:
 
-	BT_DECLARE_ALIGNED_ALLOCATOR();
+	//solve 2 friction directions and clamp against the implicit friction cone
+	btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
 
-	///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
-	
-	virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
-};
+	void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+
+	btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
+
+	btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
+																		 btScalar combinedTorsionalFriction,
+																		 btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
 
-	
-	
+	void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow,
+											btScalar * jacA, btScalar * jacB,
+											btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
+											const btContactSolverInfo& infoGlobal);
 
+	void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
+										 const btVector3& contactNormal,
+										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
+										 btScalar& relaxation,
+										 bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
 
-#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
+	//either rolling or spinning friction
+	void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint & solverConstraint,
+												   const btVector3& contactNormal,
+												   btManifoldPoint& cp,
+												   btScalar combinedTorsionalFriction,
+												   const btContactSolverInfo& infoGlobal,
+												   btScalar& relaxation,
+												   bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
+
+	void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+	//	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+
+	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+	void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
+	void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
+	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
+
+	virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+};
 
+#endif  //BT_MULTIBODY_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 9eacc22647..1557987bc3 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -23,45 +23,43 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btSerializer.h"
 
-
-void	btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask)
+void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask)
 {
 	m_multiBodies.push_back(body);
-
 }
 
-void	btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
+void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
 {
 	m_multiBodies.remove(body);
 }
 
-void	btMultiBodyDynamicsWorld::calculateSimulationIslands()
+void btMultiBodyDynamicsWorld::calculateSimulationIslands()
 {
 	BT_PROFILE("calculateSimulationIslands");
 
-	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
-
-    {
-        //merge islands based on speculative contact manifolds too
-        for (int i=0;i<this->m_predictiveManifolds.size();i++)
-        {
-            btPersistentManifold* manifold = m_predictiveManifolds[i];
-            
-            const btCollisionObject* colObj0 = manifold->getBody0();
-            const btCollisionObject* colObj1 = manifold->getBody1();
-            
-            if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-                ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-            {
-				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
-            }
-        }
-    }
-    
+	getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
+
+	{
+		//merge islands based on speculative contact manifolds too
+		for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
+		{
+			btPersistentManifold* manifold = m_predictiveManifolds[i];
+
+			const btCollisionObject* colObj0 = manifold->getBody0();
+			const btCollisionObject* colObj1 = manifold->getBody1();
+
+			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
+				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
+			{
+				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
+			}
+		}
+	}
+
 	{
 		int i;
 		int numConstraints = int(m_constraints.size());
-		for (i=0;i< numConstraints ; i++ )
+		for (i = 0; i < numConstraints; i++)
 		{
 			btTypedConstraint* constraint = m_constraints[i];
 			if (constraint->isEnabled())
@@ -72,23 +70,23 @@ void	btMultiBodyDynamicsWorld::calculateSimulationIslands()
 				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
 					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
 				{
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
+					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
 				}
 			}
 		}
 	}
 
 	//merge islands linked by Featherstone link colliders
-	for (int i=0;i<m_multiBodies.size();i++)
+	for (int i = 0; i < m_multiBodies.size(); i++)
 	{
 		btMultiBody* body = m_multiBodies[i];
 		{
 			btMultiBodyLinkCollider* prev = body->getBaseCollider();
 
-			for (int b=0;b<body->getNumLinks();b++)
+			for (int b = 0; b < body->getNumLinks(); b++)
 			{
 				btMultiBodyLinkCollider* cur = body->getLink(b).m_collider;
-				
+
 				if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
 					((prev) && (!(prev)->isStaticOrKinematicObject())))
 				{
@@ -98,36 +96,31 @@ void	btMultiBodyDynamicsWorld::calculateSimulationIslands()
 				}
 				if (cur && !cur->isStaticOrKinematicObject())
 					prev = cur;
-				
 			}
 		}
 	}
 
 	//merge islands linked by multibody constraints
 	{
-		for (int i=0;i<this->m_multiBodyConstraints.size();i++)
+		for (int i = 0; i < this->m_multiBodyConstraints.size(); i++)
 		{
 			btMultiBodyConstraint* c = m_multiBodyConstraints[i];
 			int tagA = c->getIslandIdA();
 			int tagB = c->getIslandIdB();
-			if (tagA>=0 && tagB>=0)
+			if (tagA >= 0 && tagB >= 0)
 				getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
 		}
 	}
 
 	//Store the island id in each body
 	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
-
 }
 
-
-void	btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
+void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
 {
 	BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState");
 
-	
-	
-	for ( int i=0;i<m_multiBodies.size();i++)
+	for (int i = 0; i < m_multiBodies.size(); i++)
 	{
 		btMultiBody* body = m_multiBodies[i];
 		if (body)
@@ -138,119 +131,108 @@ void	btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
 				btMultiBodyLinkCollider* col = body->getBaseCollider();
 				if (col && col->getActivationState() == ACTIVE_TAG)
 				{
-					col->setActivationState( WANTS_DEACTIVATION);
+					col->setActivationState(WANTS_DEACTIVATION);
 					col->setDeactivationTime(0.f);
 				}
-				for (int b=0;b<body->getNumLinks();b++)
+				for (int b = 0; b < body->getNumLinks(); b++)
 				{
 					btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
 					if (col && col->getActivationState() == ACTIVE_TAG)
 					{
-						col->setActivationState( WANTS_DEACTIVATION);
+						col->setActivationState(WANTS_DEACTIVATION);
 						col->setDeactivationTime(0.f);
 					}
 				}
-			} else
+			}
+			else
 			{
 				btMultiBodyLinkCollider* col = body->getBaseCollider();
 				if (col && col->getActivationState() != DISABLE_DEACTIVATION)
-					col->setActivationState( ACTIVE_TAG );
+					col->setActivationState(ACTIVE_TAG);
 
-				for (int b=0;b<body->getNumLinks();b++)
+				for (int b = 0; b < body->getNumLinks(); b++)
 				{
 					btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
 					if (col && col->getActivationState() != DISABLE_DEACTIVATION)
-						col->setActivationState( ACTIVE_TAG );
+						col->setActivationState(ACTIVE_TAG);
 				}
 			}
-
 		}
 	}
 
 	btDiscreteDynamicsWorld::updateActivationState(timeStep);
 }
 
-
-SIMD_FORCE_INLINE	int	btGetConstraintIslandId2(const btTypedConstraint* lhs)
+SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs)
 {
 	int islandId;
-	
+
 	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
 	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
+	islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
 	return islandId;
-
 }
 
-
 class btSortConstraintOnIslandPredicate2
 {
-	public:
-
-		bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const
-		{
-			int rIslandId0,lIslandId0;
-			rIslandId0 = btGetConstraintIslandId2(rhs);
-			lIslandId0 = btGetConstraintIslandId2(lhs);
-			return lIslandId0 < rIslandId0;
-		}
+public:
+	bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
+	{
+		int rIslandId0, lIslandId0;
+		rIslandId0 = btGetConstraintIslandId2(rhs);
+		lIslandId0 = btGetConstraintIslandId2(lhs);
+		return lIslandId0 < rIslandId0;
+	}
 };
 
-
-
-SIMD_FORCE_INLINE	int	btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
+SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
 {
 	int islandId;
-	
+
 	int islandTagA = lhs->getIslandIdA();
 	int islandTagB = lhs->getIslandIdB();
-	islandId= islandTagA>=0?islandTagA:islandTagB;
+	islandId = islandTagA >= 0 ? islandTagA : islandTagB;
 	return islandId;
-
 }
 
-
 class btSortMultiBodyConstraintOnIslandPredicate
 {
-	public:
-
-		bool operator() ( const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs ) const
-		{
-			int rIslandId0,lIslandId0;
-			rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
-			lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
-			return lIslandId0 < rIslandId0;
-		}
+public:
+	bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const
+	{
+		int rIslandId0, lIslandId0;
+		rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
+		lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
+		return lIslandId0 < rIslandId0;
+	}
 };
 
 struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
 {
-	btContactSolverInfo*	m_solverInfo;
-	btMultiBodyConstraintSolver*		m_solver;
-	btMultiBodyConstraint**		m_multiBodySortedConstraints;
-	int							m_numMultiBodyConstraints;
-	
-	btTypedConstraint**		m_sortedConstraints;
-	int						m_numConstraints;
-	btIDebugDraw*			m_debugDrawer;
-	btDispatcher*			m_dispatcher;
-	
+	btContactSolverInfo* m_solverInfo;
+	btMultiBodyConstraintSolver* m_solver;
+	btMultiBodyConstraint** m_multiBodySortedConstraints;
+	int m_numMultiBodyConstraints;
+
+	btTypedConstraint** m_sortedConstraints;
+	int m_numConstraints;
+	btIDebugDraw* m_debugDrawer;
+	btDispatcher* m_dispatcher;
+
 	btAlignedObjectArray<btCollisionObject*> m_bodies;
 	btAlignedObjectArray<btPersistentManifold*> m_manifolds;
 	btAlignedObjectArray<btTypedConstraint*> m_constraints;
 	btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
 
-
-	MultiBodyInplaceSolverIslandCallback(	btMultiBodyConstraintSolver*	solver,
-									btDispatcher* dispatcher)
-		:m_solverInfo(NULL),
-		m_solver(solver),
-		m_multiBodySortedConstraints(NULL),
-		m_numConstraints(0),
-		m_debugDrawer(NULL),
-		m_dispatcher(dispatcher)
+	MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver,
+										 btDispatcher* dispatcher)
+		: m_solverInfo(NULL),
+		  m_solver(solver),
+		  m_multiBodySortedConstraints(NULL),
+		  m_numConstraints(0),
+		  m_debugDrawer(NULL),
+		  m_dispatcher(dispatcher)
 	{
-
 	}
 
 	MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other)
@@ -260,7 +242,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 		return *this;
 	}
 
-	SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints,	int	numMultiBodyConstraints,	btIDebugDraw* debugDrawer)
+	SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
 	{
 		btAssert(solverInfo);
 		m_solverInfo = solverInfo;
@@ -271,22 +253,27 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 		m_numConstraints = numConstraints;
 
 		m_debugDrawer = debugDrawer;
-		m_bodies.resize (0);
-		m_manifolds.resize (0);
-		m_constraints.resize (0);
+		m_bodies.resize(0);
+		m_manifolds.resize(0);
+		m_constraints.resize(0);
 		m_multiBodyConstraints.resize(0);
 	}
 
-	
-	virtual	void	processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
+	void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
+	{
+		m_solver = solver;
+	}
+
+	virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
 	{
-		if (islandId<0)
+		if (islandId < 0)
 		{
 			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-			m_solver->solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
-		} else
+			m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
+		}
+		else
 		{
-				//also add all non-contact constraints/joints for this island
+			//also add all non-contact constraints/joints for this island
 			btTypedConstraint** startConstraint = 0;
 			btMultiBodyConstraint** startMultiBodyConstraint = 0;
 
@@ -294,10 +281,10 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 			int numCurMultiBodyConstraints = 0;
 
 			int i;
-			
+
 			//find the first constraint for this island
 
-			for (i=0;i<m_numConstraints;i++)
+			for (i = 0; i < m_numConstraints; i++)
 			{
 				if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
 				{
@@ -306,7 +293,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 				}
 			}
 			//count the number of constraints in this island
-			for (;i<m_numConstraints;i++)
+			for (; i < m_numConstraints; i++)
 			{
 				if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
 				{
@@ -314,17 +301,16 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 				}
 			}
 
-			for (i=0;i<m_numMultiBodyConstraints;i++)
+			for (i = 0; i < m_numMultiBodyConstraints; i++)
 			{
 				if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
 				{
-					
 					startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
 					break;
 				}
 			}
 			//count the number of multi body constraints in this island
-			for (;i<m_numMultiBodyConstraints;i++)
+			for (; i < m_numMultiBodyConstraints; i++)
 			{
 				if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
 				{
@@ -337,83 +323,94 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 			//	m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
 			//} else
 			{
-				
-				for (i=0;i<numBodies;i++)
+				for (i = 0; i < numBodies; i++)
 					m_bodies.push_back(bodies[i]);
-				for (i=0;i<numManifolds;i++)
+				for (i = 0; i < numManifolds; i++)
 					m_manifolds.push_back(manifolds[i]);
-				for (i=0;i<numCurConstraints;i++)
+				for (i = 0; i < numCurConstraints; i++)
 					m_constraints.push_back(startConstraint[i]);
-				
-				for (i=0;i<numCurMultiBodyConstraints;i++)
+
+				for (i = 0; i < numCurMultiBodyConstraints; i++)
 					m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
-				
-				if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
+
+				if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
 				{
 					processConstraints();
-				} else
+				}
+				else
 				{
 					//printf("deferred\n");
 				}
 			}
 		}
 	}
-	void	processConstraints()
+	void processConstraints()
 	{
-
-		btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
-		btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
-		btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
-		btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;			
+		btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
+		btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
+		btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
+		btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
 
 		//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
-	
-		m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher);
+
+		m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
 		m_bodies.resize(0);
 		m_manifolds.resize(0);
 		m_constraints.resize(0);
 		m_multiBodyConstraints.resize(0);
 	}
-
 };
 
-
-
-btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-	:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
-	m_multiBodyConstraintSolver(constraintSolver)
+btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
+	: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
+	  m_multiBodyConstraintSolver(constraintSolver)
 {
 	//split impulse is not yet supported for Featherstone hierarchies
-//	getSolverInfo().m_splitImpulse = false;
-	getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS;
-	m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher);
+	//	getSolverInfo().m_splitImpulse = false;
+	getSolverInfo().m_solverMode |= SOLVER_USE_2_FRICTION_DIRECTIONS;
+	m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
 }
 
-btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
+btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld()
 {
 	delete m_solverMultiBodyIslandCallback;
 }
 
-void	btMultiBodyDynamicsWorld::forwardKinematics()
+void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
 {
+	m_multiBodyConstraintSolver = solver;
+	m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
+	btDiscreteDynamicsWorld::setConstraintSolver(solver);
+}
 
-	for (int b=0;b<m_multiBodies.size();b++)
+void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+{
+	if (solver->getSolverType() == BT_MULTIBODY_SOLVER)
+	{
+		m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver;
+	}
+	btDiscreteDynamicsWorld::setConstraintSolver(solver);
+}
+
+void btMultiBodyDynamicsWorld::forwardKinematics()
+{
+	for (int b = 0; b < m_multiBodies.size(); b++)
 	{
 		btMultiBody* bod = m_multiBodies[b];
-		bod->forwardKinematics(m_scratch_world_to_local,m_scratch_local_origin);
+		bod->forwardKinematics(m_scratch_world_to_local, m_scratch_local_origin);
 	}
 }
-void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
+void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
 	forwardKinematics();
 
+	BT_PROFILE("solveConstraints");
 
+	clearMultiBodyConstraintForces();
 
-	BT_PROFILE("solveConstraints");
-	
-	m_sortedConstraints.resize( m_constraints.size());
-	int i; 
-	for (i=0;i<getNumConstraints();i++)
+	m_sortedConstraints.resize(m_constraints.size());
+	int i;
+	for (i = 0; i < getNumConstraints(); i++)
 	{
 		m_sortedConstraints[i] = m_constraints[i];
 	}
@@ -421,111 +418,120 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 	btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
 
 	m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
-	for (i=0;i<m_multiBodyConstraints.size();i++)
+	for (i = 0; i < m_multiBodyConstraints.size(); i++)
 	{
 		m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
 	}
 	m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
 
-	btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ?  &m_sortedMultiBodyConstraints[0] : 0;
-	
+	btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
 
-	m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer());
+	m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
 	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
-	
-	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback);
 
 #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
 	{
 		BT_PROFILE("btMultiBody addForce");
-		for (int i=0;i<this->m_multiBodies.size();i++)
+		for (int i = 0; i < this->m_multiBodies.size(); i++)
 		{
 			btMultiBody* bod = m_multiBodies[i];
 
 			bool isSleeping = false;
-			
+
 			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
 			{
 				isSleeping = true;
-			} 
-			for (int b=0;b<bod->getNumLinks();b++)
+			}
+			for (int b = 0; b < bod->getNumLinks(); b++)
 			{
-				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
+				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
 					isSleeping = true;
-			} 
+			}
 
 			if (!isSleeping)
 			{
 				//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-				m_scratch_r.resize(bod->getNumLinks()+1);			//multidof? ("Y"s use it and it is used to store qdd)
-				m_scratch_v.resize(bod->getNumLinks()+1);
-				m_scratch_m.resize(bod->getNumLinks()+1);
+				m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
+				m_scratch_v.resize(bod->getNumLinks() + 1);
+				m_scratch_m.resize(bod->getNumLinks() + 1);
 
 				bod->addBaseForce(m_gravity * bod->getBaseMass());
 
-				for (int j = 0; j < bod->getNumLinks(); ++j) 
+				for (int j = 0; j < bod->getNumLinks(); ++j)
 				{
 					bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
 				}
-			}//if (!isSleeping)
+			}  //if (!isSleeping)
 		}
 	}
-#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-	
+#endif  //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
 
 	{
 		BT_PROFILE("btMultiBody stepVelocities");
-		for (int i=0;i<this->m_multiBodies.size();i++)
+		for (int i = 0; i < this->m_multiBodies.size(); i++)
 		{
 			btMultiBody* bod = m_multiBodies[i];
 
 			bool isSleeping = false;
-			
+
 			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
 			{
 				isSleeping = true;
-			} 
-			for (int b=0;b<bod->getNumLinks();b++)
+			}
+			for (int b = 0; b < bod->getNumLinks(); b++)
 			{
-				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
+				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
 					isSleeping = true;
-			} 
+			}
 
 			if (!isSleeping)
 			{
 				//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-				m_scratch_r.resize(bod->getNumLinks()+1);			//multidof? ("Y"s use it and it is used to store qdd)
-				m_scratch_v.resize(bod->getNumLinks()+1);
-				m_scratch_m.resize(bod->getNumLinks()+1);
+				m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
+				m_scratch_v.resize(bod->getNumLinks() + 1);
+				m_scratch_m.resize(bod->getNumLinks() + 1);
 				bool doNotUpdatePos = false;
-
+                bool isConstraintPass = false;
 				{
-					if(!bod->isUsingRK4Integration())
+					if (!bod->isUsingRK4Integration())
 					{
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
+						m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
+						getSolverInfo().m_jointFeedbackInWorldSpace,
+						getSolverInfo().m_jointFeedbackInJointFrame);
 					}
 					else
-					{						
+					{
 						//
 						int numDofs = bod->getNumDofs() + 6;
 						int numPosVars = bod->getNumPosVars() + 7;
-						btAlignedObjectArray<btScalar> scratch_r2; scratch_r2.resize(2*numPosVars + 8*numDofs);
+						btAlignedObjectArray<btScalar> scratch_r2;
+						scratch_r2.resize(2 * numPosVars + 8 * numDofs);
 						//convenience
-						btScalar *pMem = &scratch_r2[0];
-						btScalar *scratch_q0 = pMem; pMem += numPosVars;
-						btScalar *scratch_qx = pMem; pMem += numPosVars;
-						btScalar *scratch_qd0 = pMem; pMem += numDofs;
-						btScalar *scratch_qd1 = pMem; pMem += numDofs;
-						btScalar *scratch_qd2 = pMem; pMem += numDofs;
-						btScalar *scratch_qd3 = pMem; pMem += numDofs;
-						btScalar *scratch_qdd0 = pMem; pMem += numDofs;
-						btScalar *scratch_qdd1 = pMem; pMem += numDofs;
-						btScalar *scratch_qdd2 = pMem; pMem += numDofs;
-						btScalar *scratch_qdd3 = pMem; pMem += numDofs;
-						btAssert((pMem - (2*numPosVars + 8*numDofs)) == &scratch_r2[0]);
-
-						/////						
+						btScalar* pMem = &scratch_r2[0];
+						btScalar* scratch_q0 = pMem;
+						pMem += numPosVars;
+						btScalar* scratch_qx = pMem;
+						pMem += numPosVars;
+						btScalar* scratch_qd0 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qd1 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qd2 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qd3 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qdd0 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qdd1 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qdd2 = pMem;
+						pMem += numDofs;
+						btScalar* scratch_qdd3 = pMem;
+						pMem += numDofs;
+						btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]);
+
+						/////
 						//copy q0 to scratch_q0 and qd0 to scratch_qd0
 						scratch_q0[0] = bod->getWorldToBaseRot().x();
 						scratch_q0[1] = bod->getWorldToBaseRot().y();
@@ -535,83 +541,88 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						scratch_q0[5] = bod->getBasePos().y();
 						scratch_q0[6] = bod->getBasePos().z();
 						//
-						for(int link = 0; link < bod->getNumLinks(); ++link)
+						for (int link = 0; link < bod->getNumLinks(); ++link)
 						{
-							for(int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
-								scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];							
+							for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof)
+								scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof];
 						}
 						//
-						for(int dof = 0; dof < numDofs; ++dof)								
+						for (int dof = 0; dof < numDofs; ++dof)
 							scratch_qd0[dof] = bod->getVelocityVector()[dof];
 						////
 						struct
 						{
-						    btMultiBody *bod;
-                            btScalar *scratch_qx, *scratch_q0;
-
-						    void operator()()
-						    {
-						        for(int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
-                                    scratch_qx[dof] = scratch_q0[dof];
-						    }
+							btMultiBody* bod;
+							btScalar *scratch_qx, *scratch_q0;
+
+							void operator()()
+							{
+								for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof)
+									scratch_qx[dof] = scratch_q0[dof];
+							}
 						} pResetQx = {bod, scratch_qx, scratch_q0};
 						//
 						struct
 						{
-						    void operator()(btScalar dt, const btScalar *pDer, const btScalar *pCurVal, btScalar *pVal, int size)
-						    {
-						        for(int i = 0; i < size; ++i)
-                                    pVal[i] = pCurVal[i] + dt * pDer[i];
-						    }
+							void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size)
+							{
+								for (int i = 0; i < size; ++i)
+									pVal[i] = pCurVal[i] + dt * pDer[i];
+							}
 
 						} pEulerIntegrate;
 						//
 						struct
-                        {
-                            void operator()(btMultiBody *pBody, const btScalar *pData)
-                            {
-                                btScalar *pVel = const_cast<btScalar*>(pBody->getVelocityVector());
-
-                                for(int i = 0; i < pBody->getNumDofs() + 6; ++i)
-                                    pVel[i] = pData[i];
-
-                            }
-                        } pCopyToVelocityVector;
+						{
+							void operator()(btMultiBody* pBody, const btScalar* pData)
+							{
+								btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector());
+
+								for (int i = 0; i < pBody->getNumDofs() + 6; ++i)
+									pVel[i] = pData[i];
+							}
+						} pCopyToVelocityVector;
 						//
-                        struct
+						struct
 						{
-						    void operator()(const btScalar *pSrc, btScalar *pDst, int start, int size)
-						    {
-						        for(int i = 0; i < size; ++i)
-                                    pDst[i] = pSrc[start + i];
-						    }
+							void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size)
+							{
+								for (int i = 0; i < size; ++i)
+									pDst[i] = pSrc[start + i];
+							}
 						} pCopy;
 						//
 
 						btScalar h = solverInfo.m_timeStep;
-						#define output &m_scratch_r[bod->getNumDofs()]
-						//calc qdd0 from: q0 & qd0	
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
+#define output &m_scratch_r[bod->getNumDofs()]
+						//calc qdd0 from: q0 & qd0
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
+						isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
+						getSolverInfo().m_jointFeedbackInJointFrame);
 						pCopy(output, scratch_qdd0, 0, numDofs);
 						//calc q1 = q0 + h/2 * qd0
 						pResetQx();
-						bod->stepPositionsMultiDof(btScalar(.5)*h, scratch_qx, scratch_qd0);
+						bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0);
 						//calc qd1 = qd0 + h/2 * qdd0
-						pEulerIntegrate(btScalar(.5)*h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
+						pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs);
 						//
 						//calc qdd1 from: q1 & qd1
 						pCopyToVelocityVector(bod, scratch_qd1);
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
+						isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
+						getSolverInfo().m_jointFeedbackInJointFrame);
 						pCopy(output, scratch_qdd1, 0, numDofs);
 						//calc q2 = q0 + h/2 * qd1
 						pResetQx();
-						bod->stepPositionsMultiDof(btScalar(.5)*h, scratch_qx, scratch_qd1);
+						bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1);
 						//calc qd2 = qd0 + h/2 * qdd1
-						pEulerIntegrate(btScalar(.5)*h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
+						pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs);
 						//
 						//calc qdd2 from: q2 & qd2
 						pCopyToVelocityVector(bod, scratch_qd2);
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
+						isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
+						getSolverInfo().m_jointFeedbackInJointFrame);
 						pCopy(output, scratch_qdd2, 0, numDofs);
 						//calc q3 = q0 + h * qd2
 						pResetQx();
@@ -621,154 +632,158 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						//
 						//calc qdd3 from: q3 & qd3
 						pCopyToVelocityVector(bod, scratch_qd3);
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
+						isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
+						getSolverInfo().m_jointFeedbackInJointFrame);
 						pCopy(output, scratch_qdd3, 0, numDofs);
 
 						//
 						//calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3)
-						//calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)						
-						btAlignedObjectArray<btScalar> delta_q; delta_q.resize(numDofs);
-						btAlignedObjectArray<btScalar> delta_qd; delta_qd.resize(numDofs);
-						for(int i = 0; i < numDofs; ++i)
+						//calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3)
+						btAlignedObjectArray<btScalar> delta_q;
+						delta_q.resize(numDofs);
+						btAlignedObjectArray<btScalar> delta_qd;
+						delta_qd.resize(numDofs);
+						for (int i = 0; i < numDofs; ++i)
 						{
-							delta_q[i] = h/btScalar(6.)*(scratch_qd0[i] + 2*scratch_qd1[i] + 2*scratch_qd2[i] + scratch_qd3[i]);
-							delta_qd[i] = h/btScalar(6.)*(scratch_qdd0[i] + 2*scratch_qdd1[i] + 2*scratch_qdd2[i] + scratch_qdd3[i]);							
+							delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]);
+							delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]);
 							//delta_q[i] = h*scratch_qd0[i];
 							//delta_qd[i] = h*scratch_qdd0[i];
 						}
 						//
 						pCopyToVelocityVector(bod, scratch_qd0);
-						bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);						
+						bod->applyDeltaVeeMultiDof(&delta_qd[0], 1);
 						//
-						if(!doNotUpdatePos)
+						if (!doNotUpdatePos)
 						{
-							btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector());
-							pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
+							btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
+							pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
 
-							for(int i = 0; i < numDofs; ++i)
+							for (int i = 0; i < numDofs; ++i)
 								pRealBuf[i] = delta_q[i];
 
 							//bod->stepPositionsMultiDof(1, 0, &delta_q[0]);
-							bod->setPosUpdated(true);							
+							bod->setPosUpdated(true);
 						}
 
 						//ugly hack which resets the cached data to t0 (needed for constraint solver)
 						{
-							for(int link = 0; link < bod->getNumLinks(); ++link)
+							for (int link = 0; link < bod->getNumLinks(); ++link)
 								bod->getLink(link).updateCacheMultiDof();
-							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m);
+							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
+							isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
+							getSolverInfo().m_jointFeedbackInJointFrame);
 						}
-						
 					}
 				}
-				
+
 #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
 				bod->clearForcesAndTorques();
-#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-			}//if (!isSleeping)
+#endif         //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
+			}  //if (!isSleeping)
 		}
 	}
 
-	clearMultiBodyConstraintForces();
+	/// solve all the constraints for this island
+	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
 
 	m_solverMultiBodyIslandCallback->processConstraints();
-	
+
 	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
 
 	{
-                BT_PROFILE("btMultiBody stepVelocities");
-                for (int i=0;i<this->m_multiBodies.size();i++)
-                {
-                        btMultiBody* bod = m_multiBodies[i];
-
-                        bool isSleeping = false;
-
-                        if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-                        {
-                                isSleeping = true;
-                        }
-                        for (int b=0;b<bod->getNumLinks();b++)
-                        {
-                                if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
-                                        isSleeping = true;
-                        }
-
-                        if (!isSleeping)
-                        {
-                                //useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-                                m_scratch_r.resize(bod->getNumLinks()+1);                 //multidof? ("Y"s use it and it is used to store qdd)
-                                m_scratch_v.resize(bod->getNumLinks()+1);
-                                m_scratch_m.resize(bod->getNumLinks()+1);
-
-                                
-                            {
-                                if(!bod->isUsingRK4Integration())
-                                {
-									bool isConstraintPass = true;
-                                    bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass);
-                                }
+		BT_PROFILE("btMultiBody stepVelocities");
+		for (int i = 0; i < this->m_multiBodies.size(); i++)
+		{
+			btMultiBody* bod = m_multiBodies[i];
+
+			bool isSleeping = false;
+
+			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
+			{
+				isSleeping = true;
+			}
+			for (int b = 0; b < bod->getNumLinks(); b++)
+			{
+				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
+					isSleeping = true;
+			}
+
+			if (!isSleeping)
+			{
+				//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
+				m_scratch_r.resize(bod->getNumLinks() + 1);  //multidof? ("Y"s use it and it is used to store qdd)
+				m_scratch_v.resize(bod->getNumLinks() + 1);
+				m_scratch_m.resize(bod->getNumLinks() + 1);
+
+				{
+					if (!bod->isUsingRK4Integration())
+					{
+						bool isConstraintPass = true;
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
+						getSolverInfo().m_jointFeedbackInWorldSpace,
+						getSolverInfo().m_jointFeedbackInJointFrame);
+					}
 				}
 			}
 		}
 	}
 
-	for (int i=0;i<this->m_multiBodies.size();i++)
+	for (int i = 0; i < this->m_multiBodies.size(); i++)
 	{
 		btMultiBody* bod = m_multiBodies[i];
 		bod->processDeltaVeeMultiDof2();
 	}
-
 }
 
-void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
+void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	btDiscreteDynamicsWorld::integrateTransforms(timeStep);
 
 	{
 		BT_PROFILE("btMultiBody stepPositions");
 		//integrate and update the Featherstone hierarchies
-	
-		for (int b=0;b<m_multiBodies.size();b++)
+
+		for (int b = 0; b < m_multiBodies.size(); b++)
 		{
 			btMultiBody* bod = m_multiBodies[b];
 			bool isSleeping = false;
 			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
 			{
 				isSleeping = true;
-			} 
-			for (int b=0;b<bod->getNumLinks();b++)
+			}
+			for (int b = 0; b < bod->getNumLinks(); b++)
 			{
-				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
+				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
 					isSleeping = true;
 			}
 
-
 			if (!isSleeping)
 			{
 				int nLinks = bod->getNumLinks();
 
 				///base + num m_links
-			
-				
+
 				{
-					if(!bod->isPosUpdated())
+					if (!bod->isPosUpdated())
 						bod->stepPositionsMultiDof(timeStep);
 					else
 					{
-						btScalar *pRealBuf = const_cast<btScalar *>(bod->getVelocityVector());
-						pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs()*bod->getNumDofs();
+						btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector());
+						pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs();
 
 						bod->stepPositionsMultiDof(1, 0, pRealBuf);
 						bod->setPosUpdated(false);
 					}
 				}
-				
-				m_scratch_world_to_local.resize(nLinks+1);
-				m_scratch_local_origin.resize(nLinks+1);
 
-				bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local,m_scratch_local_origin);
-				
-			} else
+				m_scratch_world_to_local.resize(nLinks + 1);
+				m_scratch_local_origin.resize(nLinks + 1);
+
+				bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
+			}
+			else
 			{
 				bod->clearVelocities();
 			}
@@ -776,14 +791,12 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 	}
 }
 
-
-
-void	btMultiBodyDynamicsWorld::addMultiBodyConstraint( btMultiBodyConstraint* constraint)
+void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint)
 {
 	m_multiBodyConstraints.push_back(constraint);
 }
 
-void	btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint* constraint)
+void btMultiBodyDynamicsWorld::removeMultiBodyConstraint(btMultiBodyConstraint* constraint)
 {
 	m_multiBodyConstraints.remove(constraint);
 }
@@ -793,8 +806,7 @@ void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstrain
 	constraint->debugDraw(getDebugDrawer());
 }
 
-
-void	btMultiBodyDynamicsWorld::debugDrawWorld()
+void btMultiBodyDynamicsWorld::debugDrawWorld()
 {
 	BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
 
@@ -804,7 +816,7 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 	if (getDebugDrawer())
 	{
 		int mode = getDebugDrawer()->getDebugMode();
-		if (mode  & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
+		if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
 		{
 			drawConstraints = true;
 		}
@@ -812,157 +824,148 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 		if (drawConstraints)
 		{
 			BT_PROFILE("btMultiBody debugDrawWorld");
-			
 
-			for (int c=0;c<m_multiBodyConstraints.size();c++)
+			for (int c = 0; c < m_multiBodyConstraints.size(); c++)
 			{
 				btMultiBodyConstraint* constraint = m_multiBodyConstraints[c];
 				debugDrawMultiBodyConstraint(constraint);
 			}
 
-			for (int b = 0; b<m_multiBodies.size(); b++)
+			for (int b = 0; b < m_multiBodies.size(); b++)
 			{
 				btMultiBody* bod = m_multiBodies[b];
-				bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1);
-				
-				getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
+				bod->forwardKinematics(m_scratch_world_to_local1, m_scratch_local_origin1);
 
+				if (mode & btIDebugDraw::DBG_DrawFrames)
+				{
+					getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
+				}
 
-				for (int m = 0; m<bod->getNumLinks(); m++)
+				for (int m = 0; m < bod->getNumLinks(); m++)
 				{
-					
 					const btTransform& tr = bod->getLink(m).m_cachedWorldTransform;
-
-					getDebugDrawer()->drawTransform(tr, 0.1);
-
-						//draw the joint axis
-					if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute)
+					if (mode & btIDebugDraw::DBG_DrawFrames)
+					{
+						getDebugDrawer()->drawTransform(tr, 0.1);
+					}
+					//draw the joint axis
+					if (bod->getLink(m).m_jointType == btMultibodyLink::eRevolute)
 					{
-						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec);
-					
-						btVector4 color(0,0,0,1);//1,1,1);
-						btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
-						btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
-						getDebugDrawer()->drawLine(from,to,color);
+						btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_topVec) * 0.1;
+
+						btVector4 color(0, 0, 0, 1);  //1,1,1);
+						btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
+						btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
+						getDebugDrawer()->drawLine(from, to, color);
 					}
-					if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed)
+					if (bod->getLink(m).m_jointType == btMultibodyLink::eFixed)
 					{
-						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
-					
-						btVector4 color(0,0,0,1);//1,1,1);
-						btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
-						btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
-						getDebugDrawer()->drawLine(from,to,color);
+						btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1;
+
+						btVector4 color(0, 0, 0, 1);  //1,1,1);
+						btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
+						btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
+						getDebugDrawer()->drawLine(from, to, color);
 					}
-					if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic)
+					if (bod->getLink(m).m_jointType == btMultibodyLink::ePrismatic)
 					{
-						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
-					
-						btVector4 color(0,0,0,1);//1,1,1);
-						btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
-						btVector3 to = tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
-						getDebugDrawer()->drawLine(from,to,color);
+						btVector3 vec = quatRotate(tr.getRotation(), bod->getLink(m).m_axes[0].m_bottomVec) * 0.1;
+
+						btVector4 color(0, 0, 0, 1);  //1,1,1);
+						btVector3 from = vec + tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
+						btVector3 to = tr.getOrigin() - quatRotate(tr.getRotation(), bod->getLink(m).m_dVector);
+						getDebugDrawer()->drawLine(from, to, color);
 					}
-					
 				}
 			}
 		}
 	}
-
-	
 }
 
-
-
 void btMultiBodyDynamicsWorld::applyGravity()
 {
-        btDiscreteDynamicsWorld::applyGravity();
+	btDiscreteDynamicsWorld::applyGravity();
 #ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
-        BT_PROFILE("btMultiBody addGravity");
-        for (int i=0;i<this->m_multiBodies.size();i++)
-        {
-                btMultiBody* bod = m_multiBodies[i];
-
-                bool isSleeping = false;
-
-                if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-                {
-                        isSleeping = true;
-                }
-                for (int b=0;b<bod->getNumLinks();b++)
-                {
-                        if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
-                                isSleeping = true;
-                }
-
-                if (!isSleeping)
-                {
-                        bod->addBaseForce(m_gravity * bod->getBaseMass());
-
-                        for (int j = 0; j < bod->getNumLinks(); ++j)
-                        {
-                                bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
-                        }
-                }//if (!isSleeping)
-        }
-#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
+	BT_PROFILE("btMultiBody addGravity");
+	for (int i = 0; i < this->m_multiBodies.size(); i++)
+	{
+		btMultiBody* bod = m_multiBodies[i];
+
+		bool isSleeping = false;
+
+		if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
+		{
+			isSleeping = true;
+		}
+		for (int b = 0; b < bod->getNumLinks(); b++)
+		{
+			if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
+				isSleeping = true;
+		}
+
+		if (!isSleeping)
+		{
+			bod->addBaseForce(m_gravity * bod->getBaseMass());
+
+			for (int j = 0; j < bod->getNumLinks(); ++j)
+			{
+				bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
+			}
+		}  //if (!isSleeping)
+	}
+#endif  //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
 }
 
 void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
-{ 
-  for (int i=0;i<this->m_multiBodies.size();i++)
-                {       
-                        btMultiBody* bod = m_multiBodies[i];
-			bod->clearConstraintForces();
-                  } 
+{
+	for (int i = 0; i < this->m_multiBodies.size(); i++)
+	{
+		btMultiBody* bod = m_multiBodies[i];
+		bod->clearConstraintForces();
+	}
 }
 void btMultiBodyDynamicsWorld::clearMultiBodyForces()
 {
-              {
-               // BT_PROFILE("clearMultiBodyForces");
-                for (int i=0;i<this->m_multiBodies.size();i++)
-                {
-                        btMultiBody* bod = m_multiBodies[i];
-
-                        bool isSleeping = false;
-
-                        if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
-                        {       
-                                isSleeping = true;
-                        }
-                        for (int b=0;b<bod->getNumLinks();b++)
-                        {       
-                                if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)     
-                                        isSleeping = true;
-                        }
-
-                        if (!isSleeping)
-                        {
-                        btMultiBody* bod = m_multiBodies[i];
-                        bod->clearForcesAndTorques();
-                	}
+	{
+		// BT_PROFILE("clearMultiBodyForces");
+		for (int i = 0; i < this->m_multiBodies.size(); i++)
+		{
+			btMultiBody* bod = m_multiBodies[i];
+
+			bool isSleeping = false;
+
+			if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
+			{
+				isSleeping = true;
+			}
+			for (int b = 0; b < bod->getNumLinks(); b++)
+			{
+				if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
+					isSleeping = true;
+			}
+
+			if (!isSleeping)
+			{
+				btMultiBody* bod = m_multiBodies[i];
+				bod->clearForcesAndTorques();
+			}
 		}
 	}
-
 }
 void btMultiBodyDynamicsWorld::clearForces()
 {
-        btDiscreteDynamicsWorld::clearForces();
+	btDiscreteDynamicsWorld::clearForces();
 
 #ifdef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
 	clearMultiBodyForces();
 #endif
 }
 
-
-
-
-void	btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
+void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
 {
-
 	serializer->startSerialization();
 
-	serializeDynamicsWorldInfo( serializer);
+	serializeDynamicsWorldInfo(serializer);
 
 	serializeMultiBodies(serializer);
 
@@ -970,22 +973,36 @@ void	btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializeCollisionObjects(serializer);
 
+	serializeContactManifolds(serializer);
+
 	serializer->finishSerialization();
 }
 
-void	btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
+void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
 {
 	int i;
 	//serialize all collision objects
-	for (i=0;i<m_multiBodies.size();i++)
+	for (i = 0; i < m_multiBodies.size(); i++)
 	{
 		btMultiBody* mb = m_multiBodies[i];
 		{
 			int len = mb->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len,1);
+			btChunk* chunk = serializer->allocate(len, 1);
 			const char* structType = mb->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
+			serializer->finalizeChunk(chunk, structType, BT_MULTIBODY_CODE, mb);
 		}
 	}
 
-}
\ No newline at end of file
+	//serialize all multibody links (collision objects)
+	for (i = 0; i < m_collisionObjects.size(); i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
+		{
+			int len = colObj->calculateSerializeBufferSize();
+			btChunk* chunk = serializer->allocate(len, 1);
+			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
+			serializer->finalizeChunk(chunk, structType, BT_MB_LINKCOLLIDER_CODE, colObj);
+		}
+	}
+}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
index c0c132bbba..641238f3bb 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -33,8 +33,8 @@ protected:
 	btAlignedObjectArray<btMultiBody*> m_multiBodies;
 	btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
 	btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
-	btMultiBodyConstraintSolver*	m_multiBodyConstraintSolver;
-	MultiBodyInplaceSolverIslandCallback*	m_solverMultiBodyIslandCallback;
+	btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
+	MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
 
 	//cached data to avoid memory allocations
 	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
@@ -45,70 +45,69 @@ protected:
 	btAlignedObjectArray<btVector3> m_scratch_v;
 	btAlignedObjectArray<btMatrix3x3> m_scratch_m;
 
-	
-	virtual void	calculateSimulationIslands();
-	virtual void	updateActivationState(btScalar timeStep);
-	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
-	
-	virtual void	serializeMultiBodies(btSerializer* serializer);
+	virtual void calculateSimulationIslands();
+	virtual void updateActivationState(btScalar timeStep);
+	virtual void solveConstraints(btContactSolverInfo& solverInfo);
 
-public:
+	virtual void serializeMultiBodies(btSerializer* serializer);
 
-	btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+public:
+	btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
 
-	virtual ~btMultiBodyDynamicsWorld ();
+	virtual ~btMultiBodyDynamicsWorld();
 
-	virtual void	addMultiBody(btMultiBody* body, int group= btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter);
+	virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
 
-	virtual void	removeMultiBody(btMultiBody* body);
+	virtual void removeMultiBody(btMultiBody* body);
 
-	virtual int		getNumMultibodies() const
+	virtual int getNumMultibodies() const
 	{
 		return m_multiBodies.size();
 	}
 
-	btMultiBody*	getMultiBody(int mbIndex)
+	btMultiBody* getMultiBody(int mbIndex)
 	{
 		return m_multiBodies[mbIndex];
 	}
 
-	const btMultiBody*	getMultiBody(int mbIndex) const
+	const btMultiBody* getMultiBody(int mbIndex) const
 	{
 		return m_multiBodies[mbIndex];
 	}
 
-	virtual void	addMultiBodyConstraint( btMultiBodyConstraint* constraint);
+	virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
 
-	virtual int     getNumMultiBodyConstraints() const
+	virtual int getNumMultiBodyConstraints() const
 	{
-        return m_multiBodyConstraints.size();
+		return m_multiBodyConstraints.size();
 	}
 
-	virtual btMultiBodyConstraint*	getMultiBodyConstraint( int constraintIndex)
+	virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
 	{
-        return m_multiBodyConstraints[constraintIndex];
+		return m_multiBodyConstraints[constraintIndex];
 	}
 
-	virtual const btMultiBodyConstraint*	getMultiBodyConstraint( int constraintIndex) const
+	virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
 	{
-        return m_multiBodyConstraints[constraintIndex];
+		return m_multiBodyConstraints[constraintIndex];
 	}
 
-	virtual void	removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
+	virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
+
+	virtual void integrateTransforms(btScalar timeStep);
 
-	virtual void	integrateTransforms(btScalar timeStep);
+	virtual void debugDrawWorld();
 
-	virtual void	debugDrawWorld();
+	virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
 
-	virtual void	debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
-	
-	void	forwardKinematics();
+	void forwardKinematics();
 	virtual void clearForces();
 	virtual void clearMultiBodyConstraintForces();
 	virtual void clearMultiBodyForces();
 	virtual void applyGravity();
-	
-	virtual	void	serialize(btSerializer* serializer);
 
+	virtual void serialize(btSerializer* serializer);
+	virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
+	virtual void setConstraintSolver(btConstraintSolver* solver);
 };
-#endif //BT_MULTIBODY_DYNAMICS_WORLD_H
+#endif  //BT_MULTIBODY_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
index 1f94117aa9..5ef9444c2f 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
@@ -24,27 +24,27 @@ subject to the following restrictions:
 #define BTMBFIXEDCONSTRAINT_DIM 6
 
 btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	:btMultiBodyConstraint(body,0,link,-1,BTMBFIXEDCONSTRAINT_DIM,false),
-	m_rigidBodyA(0),
-	m_rigidBodyB(bodyB),
-	m_pivotInA(pivotInA),
-	m_pivotInB(pivotInB),
-    m_frameInA(frameInA),
-    m_frameInB(frameInB)
+	: btMultiBodyConstraint(body, 0, link, -1, BTMBFIXEDCONSTRAINT_DIM, false),
+	  m_rigidBodyA(0),
+	  m_rigidBodyB(bodyB),
+	  m_pivotInA(pivotInA),
+	  m_pivotInB(pivotInB),
+	  m_frameInA(frameInA),
+	  m_frameInB(frameInB)
 {
-    m_data.resize(BTMBFIXEDCONSTRAINT_DIM);//at least store the applied impulses
+	m_data.resize(BTMBFIXEDCONSTRAINT_DIM);  //at least store the applied impulses
 }
 
 btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBFIXEDCONSTRAINT_DIM,false),
-	m_rigidBodyA(0),
-	m_rigidBodyB(0),
-	m_pivotInA(pivotInA),
-	m_pivotInB(pivotInB),
-    m_frameInA(frameInA),
-    m_frameInB(frameInB)
+	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBFIXEDCONSTRAINT_DIM, false),
+	  m_rigidBodyA(0),
+	  m_rigidBodyB(0),
+	  m_pivotInA(pivotInA),
+	  m_pivotInB(pivotInB),
+	  m_frameInA(frameInA),
+	  m_frameInB(frameInB)
 {
-    m_data.resize(BTMBFIXEDCONSTRAINT_DIM);//at least store the applied impulses
+	m_data.resize(BTMBFIXEDCONSTRAINT_DIM);  //at least store the applied impulses
 }
 
 void btMultiBodyFixedConstraint::finalizeMultiDof()
@@ -57,7 +57,6 @@ btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint()
 {
 }
 
-
 int btMultiBodyFixedConstraint::getIslandIdA() const
 {
 	if (m_rigidBodyA)
@@ -65,13 +64,16 @@ int btMultiBodyFixedConstraint::getIslandIdA() const
 
 	if (m_bodyA)
 	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-		for (int i=0;i<m_bodyA->getNumLinks();i++)
+		if (m_linkA < 0)
+		{
+			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+			if (col)
+				return col->getIslandTag();
+		}
+		else
 		{
-			if (m_bodyA->getLink(i).m_collider)
-				return m_bodyA->getLink(i).m_collider->getIslandTag();
+			if (m_bodyA->getLink(m_linkA).m_collider)
+				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
 		}
 	}
 	return -1;
@@ -83,98 +85,100 @@ int btMultiBodyFixedConstraint::getIslandIdB() const
 		return m_rigidBodyB->getIslandTag();
 	if (m_bodyB)
 	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-
-		for (int i=0;i<m_bodyB->getNumLinks();i++)
+		if (m_linkB < 0)
 		{
-			col = m_bodyB->getLink(i).m_collider;
+			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
 			if (col)
 				return col->getIslandTag();
 		}
+		else
+		{
+			if (m_bodyB->getLink(m_linkB).m_collider)
+				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
 	}
 	return -1;
 }
 
 void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
 {
-    int numDim = BTMBFIXEDCONSTRAINT_DIM;
-    for (int i=0;i<numDim;i++)
+	int numDim = BTMBFIXEDCONSTRAINT_DIM;
+	for (int i = 0; i < numDim; i++)
 	{
-        btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-        constraintRow.m_orgConstraint = this;
-        constraintRow.m_orgDofIndex = i;
-        constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
-        constraintRow.m_contactNormal1.setValue(0,0,0);
-        constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
-        constraintRow.m_contactNormal2.setValue(0,0,0);
-        constraintRow.m_angularComponentA.setValue(0,0,0);
-        constraintRow.m_angularComponentB.setValue(0,0,0);
-        
-        constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-        constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-        
-        // Convert local points back to world
-        btVector3 pivotAworld = m_pivotInA;
-        btMatrix3x3 frameAworld = m_frameInA;
-        if (m_rigidBodyA)
-        {
-            
-            constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-            pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
-            frameAworld = frameAworld.transpose()*btMatrix3x3(m_rigidBodyA->getOrientation());
-            
-        } else
-        {
-            if (m_bodyA) {
-                pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-                frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
-            }
-        }
-        btVector3 pivotBworld = m_pivotInB;
-        btMatrix3x3 frameBworld = m_frameInB;
-        if (m_rigidBodyB)
-        {
-            constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-            pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
-            frameBworld = frameBworld.transpose()*btMatrix3x3(m_rigidBodyB->getOrientation());
-             
-        } else
-        {
-            if (m_bodyB) {
-                pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-                frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
-            }
-        }
-        
-        btMatrix3x3 relRot = frameAworld.inverse()*frameBworld;
-        btVector3 angleDiff;
-        btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot,angleDiff);
-        
-        btVector3 constraintNormalLin(0,0,0);
-        btVector3 constraintNormalAng(0,0,0);
-        btScalar posError = 0.0;
-        if (i < 3) {
-            constraintNormalLin[i] = 1;
-            posError = (pivotAworld-pivotBworld).dot(constraintNormalLin);
-            fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-                                    constraintNormalLin, pivotAworld, pivotBworld,
-                                    posError,
-                                    infoGlobal,
-                                    -m_maxAppliedImpulse, m_maxAppliedImpulse
-                                    );
-        }
-        else { //i>=3
-            constraintNormalAng = frameAworld.getColumn(i%3);
-            posError = angleDiff[i%3];
-            fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-                                    constraintNormalLin, pivotAworld, pivotBworld,
-                                    posError,
-                                    infoGlobal,
-                                    -m_maxAppliedImpulse, m_maxAppliedImpulse, true
-                                    );
-        }
+		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+		constraintRow.m_orgConstraint = this;
+		constraintRow.m_orgDofIndex = i;
+		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
+		constraintRow.m_contactNormal1.setValue(0, 0, 0);
+		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
+		constraintRow.m_contactNormal2.setValue(0, 0, 0);
+		constraintRow.m_angularComponentA.setValue(0, 0, 0);
+		constraintRow.m_angularComponentB.setValue(0, 0, 0);
+
+		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
+		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
+
+		// Convert local points back to world
+		btVector3 pivotAworld = m_pivotInA;
+		btMatrix3x3 frameAworld = m_frameInA;
+		if (m_rigidBodyA)
+		{
+			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
+			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+			frameAworld = frameAworld.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
+		}
+		else
+		{
+			if (m_bodyA)
+			{
+				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
+				frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
+			}
+		}
+		btVector3 pivotBworld = m_pivotInB;
+		btMatrix3x3 frameBworld = m_frameInB;
+		if (m_rigidBodyB)
+		{
+			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
+			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+			frameBworld = frameBworld.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
+		}
+		else
+		{
+			if (m_bodyB)
+			{
+				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
+				frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
+			}
+		}
+
+		btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
+		btVector3 angleDiff;
+		btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);
+
+		btVector3 constraintNormalLin(0, 0, 0);
+		btVector3 constraintNormalAng(0, 0, 0);
+		btScalar posError = 0.0;
+		if (i < 3)
+		{
+			constraintNormalLin[i] = 1;
+			posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
+			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+									constraintNormalLin, pivotAworld, pivotBworld,
+									posError,
+									infoGlobal,
+									-m_maxAppliedImpulse, m_maxAppliedImpulse);
+		}
+		else
+		{  //i>=3
+			constraintNormalAng = frameAworld.getColumn(i % 3);
+			posError = angleDiff[i % 3];
+			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+									constraintNormalLin, pivotAworld, pivotBworld,
+									posError,
+									infoGlobal,
+									-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
+		}
 	}
 }
 
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h
index 036025136e..adb1cb47da 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h
@@ -23,16 +23,14 @@ subject to the following restrictions:
 class btMultiBodyFixedConstraint : public btMultiBodyConstraint
 {
 protected:
-
-	btRigidBody*	m_rigidBodyA;
-	btRigidBody*	m_rigidBodyB;
-	btVector3		m_pivotInA;
-	btVector3		m_pivotInB;
-    btMatrix3x3     m_frameInA;
-    btMatrix3x3     m_frameInB;
+	btRigidBody* m_rigidBodyA;
+	btRigidBody* m_rigidBodyB;
+	btVector3 m_pivotInA;
+	btVector3 m_pivotInB;
+	btMatrix3x3 m_frameInA;
+	btMatrix3x3 m_frameInB;
 
 public:
-
 	btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 	btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 
@@ -44,18 +42,18 @@ public:
 	virtual int getIslandIdB() const;
 
 	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal);
-
-    const btVector3& getPivotInA() const
-    {
-        return m_pivotInA;
-    }
-    
-    void setPivotInA(const btVector3& pivotInA)
-    {
-        m_pivotInA = pivotInA;
-    }
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
+
+	const btVector3& getPivotInA() const
+	{
+		return m_pivotInA;
+	}
+
+	void setPivotInA(const btVector3& pivotInA)
+	{
+		m_pivotInA = pivotInA;
+	}
 
 	const btVector3& getPivotInB() const
 	{
@@ -66,29 +64,28 @@ public:
 	{
 		m_pivotInB = pivotInB;
 	}
-    
-    const btMatrix3x3& getFrameInA() const
-    {
-        return m_frameInA;
-    }
-    
-    void setFrameInA(const btMatrix3x3& frameInA)
-    {
-        m_frameInA = frameInA;
-    }
-    
-    const btMatrix3x3& getFrameInB() const
-    {
-        return m_frameInB;
-    }
-    
-    virtual void setFrameInB(const btMatrix3x3& frameInB)
-    {
-        m_frameInB = frameInB;
-    }
 
-	virtual void debugDraw(class btIDebugDraw* drawer);
+	const btMatrix3x3& getFrameInA() const
+	{
+		return m_frameInA;
+	}
 
+	void setFrameInA(const btMatrix3x3& frameInA)
+	{
+		m_frameInA = frameInA;
+	}
+
+	const btMatrix3x3& getFrameInB() const
+	{
+		return m_frameInB;
+	}
+
+	virtual void setFrameInB(const btMatrix3x3& frameInB)
+	{
+		m_frameInB = frameInB;
+	}
+
+	virtual void debugDraw(class btIDebugDraw* drawer);
 };
 
-#endif //BT_MULTIBODY_FIXED_CONSTRAINT_H
+#endif  //BT_MULTIBODY_FIXED_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
index 5fdb7007d8..bf6b811d26 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
@@ -21,20 +21,18 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
 btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false),
-	m_gearRatio(1),
-	m_gearAuxLink(-1),
-	m_erp(0),
-	m_relativePositionTarget(0)
+	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, 1, false),
+	  m_gearRatio(1),
+	  m_gearAuxLink(-1),
+	  m_erp(0),
+	  m_relativePositionTarget(0)
 {
-   
 }
 
 void btMultiBodyGearConstraint::finalizeMultiDof()
 {
-	
 	allocateJacobiansMultiDof();
-	
+
 	m_numDofsFinalized = m_jacSizeBoth;
 }
 
@@ -42,19 +40,20 @@ btMultiBodyGearConstraint::~btMultiBodyGearConstraint()
 {
 }
 
-
 int btMultiBodyGearConstraint::getIslandIdA() const
 {
-
 	if (m_bodyA)
 	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-		for (int i=0;i<m_bodyA->getNumLinks();i++)
+		if (m_linkA < 0)
+		{
+			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+			if (col)
+				return col->getIslandTag();
+		}
+		else
 		{
-			if (m_bodyA->getLink(i).m_collider)
-				return m_bodyA->getLink(i).m_collider->getIslandTag();
+			if (m_bodyA->getLink(m_linkA).m_collider)
+				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
 		}
 	}
 	return -1;
@@ -64,41 +63,40 @@ int btMultiBodyGearConstraint::getIslandIdB() const
 {
 	if (m_bodyB)
 	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-
-		for (int i=0;i<m_bodyB->getNumLinks();i++)
+		if (m_linkB < 0)
 		{
-			col = m_bodyB->getLink(i).m_collider;
+			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
 			if (col)
 				return col->getIslandTag();
 		}
+		else
+		{
+			if (m_bodyB->getLink(m_linkB).m_collider)
+				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
 	}
 	return -1;
 }
 
-
 void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal)
+													 btMultiBodyJacobianData& data,
+													 const btContactSolverInfo& infoGlobal)
 {
-    // only positions need to be updated -- data.m_jacobians and force
-    // directions were set in the ctor and never change.
-	
+	// only positions need to be updated -- data.m_jacobians and force
+	// directions were set in the ctor and never change.
+
 	if (m_numDofsFinalized != m_jacSizeBoth)
 	{
-        finalizeMultiDof();
+		finalizeMultiDof();
 	}
 
 	//don't crash
 	if (m_numDofsFinalized != m_jacSizeBoth)
 		return;
 
-	
-	if (m_maxAppliedImpulse==0.f)
+	if (m_maxAppliedImpulse == 0.f)
 		return;
-	
+
 	// note: we rely on the fact that data.m_jacobians are
 	// always initialized to zero by the Constraint ctor
 	int linkDoF = 0;
@@ -111,63 +109,66 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray&
 
 	btScalar posError = 0;
 	const btVector3 dummy(0, 0, 0);
-	
+
 	btScalar kp = 1;
 	btScalar kd = 1;
 	int numRows = getNumRows();
 
-	for (int row=0;row<numRows;row++)
+	for (int row = 0; row < numRows; row++)
 	{
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
 
-
-        int dof = 0;
-        btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-        btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
+		int dof = 0;
+		btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
+		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
 		btScalar auxVel = 0;
-		
-		if (m_gearAuxLink>=0)
+
+		if (m_gearAuxLink >= 0)
 		{
 			auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
 		}
 		currentVelocity += auxVel;
-		if (m_erp!=0)
+		if (m_erp != 0)
 		{
 			btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-			btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof];
-			btScalar diff = currentPositionB+currentPositionA;
+			if (m_gearAuxLink >= 0)
+			{
+				currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof];
+			}
+			btScalar currentPositionB = m_gearRatio * m_bodyA->getJointPosMultiDof(m_linkB)[dof];
+			btScalar diff = currentPositionB + currentPositionA;
 			btScalar desiredPositionDiff = this->m_relativePositionTarget;
-			posError = -m_erp*(desiredPositionDiff - diff);
+			posError = -m_erp * (desiredPositionDiff - diff);
 		}
-		
-        btScalar desiredRelativeVelocity =   auxVel;
-    
-		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);
+
+		btScalar desiredRelativeVelocity = auxVel;
+
+		fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, desiredRelativeVelocity);
 
 		constraintRow.m_orgConstraint = this;
 		constraintRow.m_orgDofIndex = row;
 		{
 			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
+			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
 			switch (m_bodyA->getLink(m_linkA).m_jointType)
 			{
 				case btMultibodyLink::eRevolute:
 				{
 					constraintRow.m_contactNormal1.setZero();
 					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
-					
+					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
+					constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
+					constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
+
 					break;
 				}
 				case btMultibodyLink::ePrismatic:
 				{
-					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1=prismaticAxisInWorld;
-					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
+					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
+					constraintRow.m_contactNormal1 = prismaticAxisInWorld;
+					constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
 					constraintRow.m_relpos1CrossNormal.setZero();
-					constraintRow.m_relpos2CrossNormal.setZero();					
+					constraintRow.m_relpos2CrossNormal.setZero();
 					break;
 				}
 				default:
@@ -175,10 +176,6 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray&
 					btAssert(0);
 				}
 			};
-			
 		}
-
 	}
-
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
index 0115de6241..31888fbc68 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
@@ -23,20 +23,18 @@ subject to the following restrictions:
 class btMultiBodyGearConstraint : public btMultiBodyConstraint
 {
 protected:
+	btRigidBody* m_rigidBodyA;
+	btRigidBody* m_rigidBodyB;
+	btVector3 m_pivotInA;
+	btVector3 m_pivotInB;
+	btMatrix3x3 m_frameInA;
+	btMatrix3x3 m_frameInB;
+	btScalar m_gearRatio;
+	int m_gearAuxLink;
+	btScalar m_erp;
+	btScalar m_relativePositionTarget;
 
-	btRigidBody*	m_rigidBodyA;
-	btRigidBody*	m_rigidBodyB;
-	btVector3		m_pivotInA;
-	btVector3		m_pivotInB;
-	btMatrix3x3     m_frameInA;
-	btMatrix3x3     m_frameInB;
-	btScalar			m_gearRatio;
-	int			m_gearAuxLink;
-	btScalar	m_erp;
-	btScalar	m_relativePositionTarget;
-	
 public:
-
 	//btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 	btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 
@@ -48,18 +46,18 @@ public:
 	virtual int getIslandIdB() const;
 
 	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal);
-
-    const btVector3& getPivotInA() const
-    {
-        return m_pivotInA;
-    }
-    
-    void setPivotInA(const btVector3& pivotInA)
-    {
-        m_pivotInA = pivotInA;
-    }
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
+
+	const btVector3& getPivotInA() const
+	{
+		return m_pivotInA;
+	}
+
+	void setPivotInA(const btVector3& pivotInA)
+	{
+		m_pivotInA = pivotInA;
+	}
 
 	const btVector3& getPivotInB() const
 	{
@@ -70,32 +68,32 @@ public:
 	{
 		m_pivotInB = pivotInB;
 	}
-    
-    const btMatrix3x3& getFrameInA() const
-    {
-        return m_frameInA;
-    }
-    
-    void setFrameInA(const btMatrix3x3& frameInA)
-    {
-        m_frameInA = frameInA;
-    }
-    
-    const btMatrix3x3& getFrameInB() const
-    {
-        return m_frameInB;
-    }
-    
-    virtual void setFrameInB(const btMatrix3x3& frameInB)
-    {
-        m_frameInB = frameInB;
-    }
+
+	const btMatrix3x3& getFrameInA() const
+	{
+		return m_frameInA;
+	}
+
+	void setFrameInA(const btMatrix3x3& frameInA)
+	{
+		m_frameInA = frameInA;
+	}
+
+	const btMatrix3x3& getFrameInB() const
+	{
+		return m_frameInB;
+	}
+
+	virtual void setFrameInB(const btMatrix3x3& frameInB)
+	{
+		m_frameInB = frameInB;
+	}
 
 	virtual void debugDraw(class btIDebugDraw* drawer)
 	{
 		//todo(erwincoumans)
 	}
-	
+
 	virtual void setGearRatio(btScalar gearRatio)
 	{
 		m_gearRatio = gearRatio;
@@ -114,4 +112,4 @@ public:
 	}
 };
 
-#endif //BT_MULTIBODY_GEAR_CONSTRAINT_H
+#endif  //BT_MULTIBODY_GEAR_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h
index 5c2fa8ed5b..d943019e71 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_MULTIBODY_JOINT_FEEDBACK_H
 #define BT_MULTIBODY_JOINT_FEEDBACK_H
 
@@ -21,7 +19,7 @@ subject to the following restrictions:
 
 struct btMultiBodyJointFeedback
 {
-	btSpatialForceVector	m_reactionForces;
+	btSpatialForceVector m_reactionForces;
 };
 
-#endif //BT_MULTIBODY_JOINT_FEEDBACK_H
+#endif  //BT_MULTIBODY_JOINT_FEEDBACK_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
index 6d173b66a1..8791ad2868 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
@@ -20,21 +20,18 @@ subject to the following restrictions:
 #include "btMultiBodyLinkCollider.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
-
-
 btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper)
 	//:btMultiBodyConstraint(body,0,link,-1,2,true),
-	:btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,2,true),
-	m_lowerBound(lower),
-	m_upperBound(upper)
+	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 2, true),
+	  m_lowerBound(lower),
+	  m_upperBound(upper)
 {
-
 }
 
 void btMultiBodyJointLimitConstraint::finalizeMultiDof()
 {
 	// the data.m_jacobians never change, so may as well
-    // initialize them here
+	// initialize them here
 
 	allocateJacobiansMultiDof();
 
@@ -55,15 +52,18 @@ btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()
 
 int btMultiBodyJointLimitConstraint::getIslandIdA() const
 {
-	if(m_bodyA)
+	if (m_bodyA)
 	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-		for (int i=0;i<m_bodyA->getNumLinks();i++)
+		if (m_linkA < 0)
+		{
+			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+			if (col)
+				return col->getIslandTag();
+		}
+		else
 		{
-			if (m_bodyA->getLink(i).m_collider)
-				return m_bodyA->getLink(i).m_collider->getIslandTag();
+			if (m_bodyA->getLink(m_linkA).m_collider)
+				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
 		}
 	}
 	return -1;
@@ -71,88 +71,86 @@ int btMultiBodyJointLimitConstraint::getIslandIdA() const
 
 int btMultiBodyJointLimitConstraint::getIslandIdB() const
 {
-	if(m_bodyB)
+	if (m_bodyB)
 	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-
-		for (int i=0;i<m_bodyB->getNumLinks();i++)
+		if (m_linkB < 0)
 		{
-			col = m_bodyB->getLink(i).m_collider;
+			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
 			if (col)
 				return col->getIslandTag();
 		}
+		else
+		{
+			if (m_bodyB->getLink(m_linkB).m_collider)
+				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
 	}
 	return -1;
 }
 
-
 void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal)
+														   btMultiBodyJacobianData& data,
+														   const btContactSolverInfo& infoGlobal)
 {
-	
-    // only positions need to be updated -- data.m_jacobians and force
-    // directions were set in the ctor and never change.
+	// only positions need to be updated -- data.m_jacobians and force
+	// directions were set in the ctor and never change.
 
 	if (m_numDofsFinalized != m_jacSizeBoth)
 	{
-        finalizeMultiDof();
+		finalizeMultiDof();
 	}
 
+	// row 0: the lower bound
+	setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);  //multidof: this is joint-type dependent
 
-    // row 0: the lower bound
-    setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);			//multidof: this is joint-type dependent
+	// row 1: the upper bound
+	setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));
 
-    // row 1: the upper bound
-    setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));
-	
-	for (int row=0;row<getNumRows();row++)
+	for (int row = 0; row < getNumRows(); row++)
 	{
 		btScalar penetration = getPosition(row);
 
 		//todo: consider adding some safety threshold here
-		if (penetration>0)
+		if (penetration > 0)
 		{
 			continue;
 		}
-		btScalar direction = row? -1 : 1;
+		btScalar direction = row ? -1 : 1;
 
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-        constraintRow.m_orgConstraint = this;
-        constraintRow.m_orgDofIndex = row;
-        
+		constraintRow.m_orgConstraint = this;
+		constraintRow.m_orgDofIndex = row;
+
 		constraintRow.m_multiBodyA = m_bodyA;
 		constraintRow.m_multiBodyB = m_bodyB;
-		const btScalar posError = 0;						//why assume it's zero?
+		const btScalar posError = 0;  //why assume it's zero?
 		const btVector3 dummy(0, 0, 0);
 
-		btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
+		btScalar rel_vel = fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, 0, m_maxAppliedImpulse);
 
 		{
 			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
+			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
 			switch (m_bodyA->getLink(m_linkA).m_jointType)
 			{
 				case btMultibodyLink::eRevolute:
 				{
 					constraintRow.m_contactNormal1.setZero();
 					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = direction*quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
-					
+					btVector3 revoluteAxisInWorld = direction * quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
+					constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
+					constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
+
 					break;
 				}
 				case btMultibodyLink::ePrismatic:
 				{
-					btVector3 prismaticAxisInWorld = direction* quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1=prismaticAxisInWorld;
-					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
+					btVector3 prismaticAxisInWorld = direction * quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
+					constraintRow.m_contactNormal1 = prismaticAxisInWorld;
+					constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
 					constraintRow.m_relpos1CrossNormal.setZero();
 					constraintRow.m_relpos2CrossNormal.setZero();
-					
+
 					break;
 				}
 				default:
@@ -160,36 +158,35 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
 					btAssert(0);
 				}
 			};
-			
 		}
 
 		{
-			
 			btScalar positionalError = 0.f;
-			btScalar	velocityError =  - rel_vel;// * damping;
+			btScalar velocityError = -rel_vel;  // * damping;
 			btScalar erp = infoGlobal.m_erp2;
 			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
 			{
 				erp = infoGlobal.m_erp;
 			}
-			if (penetration>0)
+			if (penetration > 0)
 			{
 				positionalError = 0;
 				velocityError = -penetration / infoGlobal.m_timeStep;
-			} else
+			}
+			else
 			{
-				positionalError = -penetration * erp/infoGlobal.m_timeStep;
+				positionalError = -penetration * erp / infoGlobal.m_timeStep;
 			}
 
-			btScalar  penetrationImpulse = positionalError*constraintRow.m_jacDiagABInv;
-			btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv;
+			btScalar penetrationImpulse = positionalError * constraintRow.m_jacDiagABInv;
+			btScalar velocityImpulse = velocityError * constraintRow.m_jacDiagABInv;
 			if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
 			{
 				//combine position and velocity into rhs
-				constraintRow.m_rhs = penetrationImpulse+velocityImpulse;
+				constraintRow.m_rhs = penetrationImpulse + velocityImpulse;
 				constraintRow.m_rhsPenetration = 0.f;
-
-			} else
+			}
+			else
 			{
 				//split position and velocity into rhs and m_rhsPenetration
 				constraintRow.m_rhs = velocityImpulse;
@@ -197,9 +194,4 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
 			}
 		}
 	}
-
 }
-
-
-
-
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
index 55b8d122b9..6716ba490f 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
@@ -22,11 +22,10 @@ struct btSolverInfo;
 class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
 {
 protected:
+	btScalar m_lowerBound;
+	btScalar m_upperBound;
 
-	btScalar	m_lowerBound;
-	btScalar	m_upperBound;
 public:
-
 	btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
 	virtual ~btMultiBodyJointLimitConstraint();
 
@@ -36,15 +35,13 @@ public:
 	virtual int getIslandIdB() const;
 
 	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal);
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
 
 	virtual void debugDraw(class btIDebugDraw* drawer)
 	{
 		//todo(erwincoumans)
 	}
-
 };
 
-#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
-
+#endif  //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
index e0921178e9..5c816c4987 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
@@ -20,22 +20,18 @@ subject to the following restrictions:
 #include "btMultiBodyLinkCollider.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
-
 btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
-	:btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true),
-	m_desiredVelocity(desiredVelocity),
-	m_desiredPosition(0),
-	m_kd(1.),
-	m_kp(0),
-	m_erp(1),
-	m_rhsClamp(SIMD_INFINITY)
+	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true),
+	  m_desiredVelocity(desiredVelocity),
+	  m_desiredPosition(0),
+	  m_kd(1.),
+	  m_kp(0),
+	  m_erp(1),
+	  m_rhsClamp(SIMD_INFINITY)
 {
-
 	m_maxAppliedImpulse = maxMotorImpulse;
 	// the data.m_jacobians never change, so may as well
-    // initialize them here
-
-
+	// initialize them here
 }
 
 void btMultiBodyJointMotor::finalizeMultiDof()
@@ -55,18 +51,17 @@ void btMultiBodyJointMotor::finalizeMultiDof()
 
 btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
 	//:btMultiBodyConstraint(body,0,link,-1,1,true),
-	:btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true),
-	m_desiredVelocity(desiredVelocity),
-	m_desiredPosition(0),
-	m_kd(1.),
-	m_kp(0),
-    m_erp(1),
-	m_rhsClamp(SIMD_INFINITY)
+	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true),
+	  m_desiredVelocity(desiredVelocity),
+	  m_desiredPosition(0),
+	  m_kd(1.),
+	  m_kp(0),
+	  m_erp(1),
+	  m_rhsClamp(SIMD_INFINITY)
 {
 	btAssert(linkDoF < body->getLink(link).m_dofCount);
 
 	m_maxAppliedImpulse = maxMotorImpulse;
-
 }
 btMultiBodyJointMotor::~btMultiBodyJointMotor()
 {
@@ -74,102 +69,108 @@ btMultiBodyJointMotor::~btMultiBodyJointMotor()
 
 int btMultiBodyJointMotor::getIslandIdA() const
 {
-	btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-	if (col)
-		return col->getIslandTag();
-	for (int i=0;i<m_bodyA->getNumLinks();i++)
+	if (this->m_linkA < 0)
 	{
-		if (m_bodyA->getLink(i).m_collider)
-			return m_bodyA->getLink(i).m_collider->getIslandTag();
+		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+	}
+	else
+	{
+		if (m_bodyA->getLink(m_linkA).m_collider)
+		{
+			return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
+		}
 	}
 	return -1;
 }
 
 int btMultiBodyJointMotor::getIslandIdB() const
 {
-	btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-	if (col)
-		return col->getIslandTag();
-
-	for (int i=0;i<m_bodyB->getNumLinks();i++)
+	if (m_linkB < 0)
 	{
-		col = m_bodyB->getLink(i).m_collider;
+		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
 		if (col)
 			return col->getIslandTag();
 	}
+	else
+	{
+		if (m_bodyB->getLink(m_linkB).m_collider)
+		{
+			return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
+	}
 	return -1;
 }
 
-
 void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal)
+												 btMultiBodyJacobianData& data,
+												 const btContactSolverInfo& infoGlobal)
 {
-    // only positions need to be updated -- data.m_jacobians and force
-    // directions were set in the ctor and never change.
-	
+	// only positions need to be updated -- data.m_jacobians and force
+	// directions were set in the ctor and never change.
+
 	if (m_numDofsFinalized != m_jacSizeBoth)
 	{
-        finalizeMultiDof();
+		finalizeMultiDof();
 	}
 
 	//don't crash
 	if (m_numDofsFinalized != m_jacSizeBoth)
 		return;
 
-	if (m_maxAppliedImpulse==0.f)
+	if (m_maxAppliedImpulse == 0.f)
 		return;
 
 	const btScalar posError = 0;
 	const btVector3 dummy(0, 0, 0);
 
-	for (int row=0;row<getNumRows();row++)
+	for (int row = 0; row < getNumRows(); row++)
 	{
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
 
-        int dof = 0;
-        btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-        btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-        btScalar positionStabiliationTerm = m_erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
-		
-        btScalar velocityError = (m_desiredVelocity - currentVelocity);
-        btScalar rhs =   m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError;
-		if (rhs>m_rhsClamp)
+		int dof = 0;
+		btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
+		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
+		btScalar positionStabiliationTerm = m_erp * (m_desiredPosition - currentPosition) / infoGlobal.m_timeStep;
+
+		btScalar velocityError = (m_desiredVelocity - currentVelocity);
+		btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity + m_kd * velocityError;
+		if (rhs > m_rhsClamp)
 		{
-			rhs=m_rhsClamp;
+			rhs = m_rhsClamp;
 		}
-		if (rhs<-m_rhsClamp)
+		if (rhs < -m_rhsClamp)
 		{
-			rhs=-m_rhsClamp;
+			rhs = -m_rhsClamp;
 		}
-        
-        
-		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,rhs);
+
+		fillMultiBodyConstraint(constraintRow, data, jacobianA(row), jacobianB(row), dummy, dummy, dummy, dummy, posError, infoGlobal, -m_maxAppliedImpulse, m_maxAppliedImpulse, false, 1, false, rhs);
 		constraintRow.m_orgConstraint = this;
 		constraintRow.m_orgDofIndex = row;
 		{
 			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
+			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute) || (m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
 			switch (m_bodyA->getLink(m_linkA).m_jointType)
 			{
 				case btMultibodyLink::eRevolute:
 				{
 					constraintRow.m_contactNormal1.setZero();
 					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
-					
+					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
+					constraintRow.m_relpos1CrossNormal = revoluteAxisInWorld;
+					constraintRow.m_relpos2CrossNormal = -revoluteAxisInWorld;
+
 					break;
 				}
 				case btMultibodyLink::ePrismatic:
 				{
-					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1=prismaticAxisInWorld;
-					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
+					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(), m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
+					constraintRow.m_contactNormal1 = prismaticAxisInWorld;
+					constraintRow.m_contactNormal2 = -prismaticAxisInWorld;
 					constraintRow.m_relpos1CrossNormal.setZero();
 					constraintRow.m_relpos2CrossNormal.setZero();
-					
+
 					break;
 				}
 				default:
@@ -177,10 +178,6 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
 					btAssert(0);
 				}
 			};
-			
 		}
-
 	}
-
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
index 4063bed79a..1aca36352e 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
@@ -24,41 +24,38 @@ struct btSolverInfo;
 class btMultiBodyJointMotor : public btMultiBodyConstraint
 {
 protected:
-
-	btScalar	m_desiredVelocity;
-	btScalar	m_desiredPosition;
-	btScalar    m_kd;
-	btScalar    m_kp;
-	btScalar	m_erp;
-	btScalar	m_rhsClamp;//maximum error
-	
+	btScalar m_desiredVelocity;
+	btScalar m_desiredPosition;
+	btScalar m_kd;
+	btScalar m_kp;
+	btScalar m_erp;
+	btScalar m_rhsClamp;  //maximum error
 
 public:
-
 	btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse);
 	btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse);
 	virtual ~btMultiBodyJointMotor();
-    virtual void finalizeMultiDof();
+	virtual void finalizeMultiDof();
 
 	virtual int getIslandIdA() const;
 	virtual int getIslandIdB() const;
 
 	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal);
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
+
+	virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f)
+	{
+		m_desiredVelocity = velTarget;
+		m_kd = kd;
+	}
 
-    virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f)
-    {
-        m_desiredVelocity = velTarget;
-        m_kd = kd;
-    }
+	virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f)
+	{
+		m_desiredPosition = posTarget;
+		m_kp = kp;
+	}
 
-    virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f)
-    {
-        m_desiredPosition = posTarget;
-        m_kp = kp;
-    }
-    
 	virtual void setErp(btScalar erp)
 	{
 		m_erp = erp;
@@ -77,5 +74,4 @@ public:
 	}
 };
 
-#endif //BT_MULTIBODY_JOINT_MOTOR_H
-
+#endif  //BT_MULTIBODY_JOINT_MOTOR_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
index 01828e5843..92d41dfac2 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
-enum	btMultiBodyLinkFlags
+enum btMultiBodyLinkFlags
 {
 	BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1,
 	BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2,
@@ -36,7 +36,6 @@ enum	btMultiBodyLinkFlags
 
 //namespace {
 
-
 #include "LinearMath/btSpatialAlgebra.h"
 
 //}
@@ -45,27 +44,26 @@ enum	btMultiBodyLinkFlags
 // Link struct
 //
 
-struct btMultibodyLink 
+struct btMultibodyLink
 {
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btScalar m_mass;         // mass of link
-    btVector3 m_inertiaLocal;   // inertia of link (local frame; diagonal)
+	btScalar m_mass;           // mass of link
+	btVector3 m_inertiaLocal;  // inertia of link (local frame; diagonal)
+
+	int m_parent;  // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
 
-    int m_parent;         // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
+	btQuaternion m_zeroRotParentToThis;  // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
 
-    btQuaternion m_zeroRotParentToThis;    // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
+	btVector3 m_dVector;  // vector from the inboard joint pos to this link's COM. (local frame.) constant.
+						  //this is set to zero for planar joint (see also m_eVector comment)
 
-    btVector3 m_dVector;   // vector from the inboard joint pos to this link's COM. (local frame.) constant.
-	//this is set to zero for planar joint (see also m_eVector comment)
-	
-    // m_eVector is constant, but depends on the joint type:
-    // revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
+	// m_eVector is constant, but depends on the joint type:
+	// revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
 	// planar: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
 	// todo: fix the planar so it is consistent with the other joints
-	
-    btVector3 m_eVector;
+
+	btVector3 m_eVector;
 
 	btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity;
 
@@ -79,13 +77,11 @@ struct btMultibodyLink
 		eInvalid
 	};
 
-	
-
 	// "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant.
-    // for prismatic: m_axesTop[0] = zero;
-    //                m_axesBottom[0] = unit vector along the joint axis.
-    // for revolute: m_axesTop[0] = unit vector along the rotation axis (u);
-    //               m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint)
+	// for prismatic: m_axesTop[0] = zero;
+	//                m_axesBottom[0] = unit vector along the joint axis.
+	// for revolute: m_axesTop[0] = unit vector along the rotation axis (u);
+	//               m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint)
 	//
 	// for spherical: m_axesTop[0][1][2] (u1,u2,u3) form a 3x3 identity matrix (3 rotation axes)
 	//				  m_axesBottom[0][1][2] cross u1,u2,u3 (i.e. COM linear motion due to the rotation at the joint)
@@ -93,141 +89,141 @@ struct btMultibodyLink
 	// for planar: m_axesTop[0] = unit vector along the rotation axis (u); defines the plane of motion
 	//			   m_axesTop[1][2] = zero
 	//			   m_axesBottom[0] = zero
-	//			   m_axesBottom[1][2] = unit vectors along the translational axes on that plane		
+	//			   m_axesBottom[1][2] = unit vectors along the translational axes on that plane
 	btSpatialMotionVector m_axes[6];
 	void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; }
-	void setAxisBottom(int dof, const btVector3 &axis) 
-	{ 
-		m_axes[dof].m_bottomVec = axis; 
+	void setAxisBottom(int dof, const btVector3 &axis)
+	{
+		m_axes[dof].m_bottomVec = axis;
 	}
-	void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) 
+	void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
 	{
-		m_axes[dof].m_topVec.setValue(x, y, z); 
+		m_axes[dof].m_topVec.setValue(x, y, z);
 	}
-	void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) 
-	{ 
-		m_axes[dof].m_bottomVec.setValue(x, y, z); 
+	void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
+	{
+		m_axes[dof].m_bottomVec.setValue(x, y, z);
 	}
-	const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
-	const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
+	const btVector3 &getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
+	const btVector3 &getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
 
 	int m_dofOffset, m_cfgOffset;
 
-    btQuaternion m_cachedRotParentToThis;   // rotates vectors in parent frame to vectors in local frame
-    btVector3 m_cachedRVector;                // vector from COM of parent to COM of this link, in local frame.
+	btQuaternion m_cachedRotParentToThis;  // rotates vectors in parent frame to vectors in local frame
+	btVector3 m_cachedRVector;             // vector from COM of parent to COM of this link, in local frame.
 
-    btVector3 m_appliedForce;    // In WORLD frame
-    btVector3 m_appliedTorque;   // In WORLD frame
+	btVector3 m_appliedForce;   // In WORLD frame
+	btVector3 m_appliedTorque;  // In WORLD frame
 
-btVector3 m_appliedConstraintForce;    // In WORLD frame
-    btVector3 m_appliedConstraintTorque;   // In WORLD frame
+	btVector3 m_appliedConstraintForce;   // In WORLD frame
+	btVector3 m_appliedConstraintTorque;  // In WORLD frame
 
 	btScalar m_jointPos[7];
-    
-    //m_jointTorque is the joint torque applied by the user using 'addJointTorque'.
-    //It gets set to zero after each internal stepSimulation call
+
+	//m_jointTorque is the joint torque applied by the user using 'addJointTorque'.
+	//It gets set to zero after each internal stepSimulation call
 	btScalar m_jointTorque[6];
-    
-	class btMultiBodyLinkCollider* m_collider;
+
+	class btMultiBodyLinkCollider *m_collider;
 	int m_flags;
-	
-	
-	int m_dofCount, m_posVarCount;				//redundant but handy
-	
+
+	int m_dofCount, m_posVarCount;  //redundant but handy
+
 	eFeatherstoneJointType m_jointType;
-	
-	struct btMultiBodyJointFeedback*	m_jointFeedback;
-
-	btTransform	m_cachedWorldTransform;//this cache is updated when calling btMultiBody::forwardKinematics
-
-	const char* m_linkName;//m_linkName memory needs to be managed by the developer/user!
-	const char* m_jointName;//m_jointName memory needs to be managed by the developer/user!
-    const void* m_userPtr;//m_userPtr ptr needs to be managed by the developer/user!
-    
-	btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
-	btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
-	btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. 
-	btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
-	btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader. 
-	btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader. 
-	
+
+	struct btMultiBodyJointFeedback *m_jointFeedback;
+
+	btTransform m_cachedWorldTransform;  //this cache is updated when calling btMultiBody::forwardKinematics
+
+	const char *m_linkName;   //m_linkName memory needs to be managed by the developer/user!
+	const char *m_jointName;  //m_jointName memory needs to be managed by the developer/user!
+	const void *m_userPtr;    //m_userPtr ptr needs to be managed by the developer/user!
+
+	btScalar m_jointDamping;      //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
+	btScalar m_jointFriction;     //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
+	btScalar m_jointLowerLimit;   //todo: implement this internally. It is unused for now, it is set by a URDF loader.
+	btScalar m_jointUpperLimit;   //todo: implement this internally. It is unused for now, it is set by a URDF loader.
+	btScalar m_jointMaxForce;     //todo: implement this internally. It is unused for now, it is set by a URDF loader.
+	btScalar m_jointMaxVelocity;  //todo: implement this internally. It is unused for now, it is set by a URDF loader.
+
 	// ctor: set some sensible defaults
 	btMultibodyLink()
-		: 	m_mass(1),
-			m_parent(-1),
-			m_zeroRotParentToThis(0, 0, 0, 1),
-			m_cachedRotParentToThis(0, 0, 0, 1),
-			m_collider(0),
-			m_flags(0),
-			m_dofCount(0),
-			m_posVarCount(0),
-			m_jointType(btMultibodyLink::eInvalid),
-			m_jointFeedback(0),
-			m_linkName(0),
-			m_jointName(0),
-            m_userPtr(0),
-			m_jointDamping(0),
-			m_jointFriction(0),
-			m_jointLowerLimit(0),
-			m_jointUpperLimit(0),
-			m_jointMaxForce(0),
-			m_jointMaxVelocity(0)
+		: m_mass(1),
+		  m_parent(-1),
+		  m_zeroRotParentToThis(0, 0, 0, 1),
+		  m_cachedRotParentToThis(0, 0, 0, 1),
+		  m_collider(0),
+		  m_flags(0),
+		  m_dofCount(0),
+		  m_posVarCount(0),
+		  m_jointType(btMultibodyLink::eInvalid),
+		  m_jointFeedback(0),
+		  m_linkName(0),
+		  m_jointName(0),
+		  m_userPtr(0),
+		  m_jointDamping(0),
+		  m_jointFriction(0),
+		  m_jointLowerLimit(0),
+		  m_jointUpperLimit(0),
+		  m_jointMaxForce(0),
+		  m_jointMaxVelocity(0)
 	{
-		
 		m_inertiaLocal.setValue(1, 1, 1);
 		setAxisTop(0, 0., 0., 0.);
 		setAxisBottom(0, 1., 0., 0.);
 		m_dVector.setValue(0, 0, 0);
 		m_eVector.setValue(0, 0, 0);
 		m_cachedRVector.setValue(0, 0, 0);
-		m_appliedForce.setValue( 0, 0, 0);
+		m_appliedForce.setValue(0, 0, 0);
 		m_appliedTorque.setValue(0, 0, 0);
-		//		
+		m_appliedConstraintForce.setValue(0, 0, 0);
+		m_appliedConstraintTorque.setValue(0, 0, 0);
+		//
 		m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
-		m_jointPos[3] = 1.f;			//"quat.w"
+		m_jointPos[3] = 1.f;  //"quat.w"
 		m_jointTorque[0] = m_jointTorque[1] = m_jointTorque[2] = m_jointTorque[3] = m_jointTorque[4] = m_jointTorque[5] = 0.f;
 		m_cachedWorldTransform.setIdentity();
 	}
 
-    // routine to update m_cachedRotParentToThis and m_cachedRVector
+	// routine to update m_cachedRotParentToThis and m_cachedRVector
 	void updateCacheMultiDof(btScalar *pq = 0)
 	{
 		btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);
 
-		switch(m_jointType)
+		switch (m_jointType)
 		{
 			case eRevolute:
 			{
-				m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis;
-				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
+				m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
+				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
 
 				break;
 			}
 			case ePrismatic:
 			{
 				// m_cachedRotParentToThis never changes, so no need to update
-				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0);
+				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0);
 
 				break;
 			}
 			case eSpherical:
 			{
 				m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis;
-				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
+				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
 
 				break;
 			}
 			case ePlanar:
 			{
-				m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis;				
-				m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0),-pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis,m_eVector);				
+				m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
+				m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis, m_eVector);
 
 				break;
 			}
 			case eFixed:
 			{
 				m_cachedRotParentToThis = m_zeroRotParentToThis;
-				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
+				m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
 
 				break;
 			}
@@ -240,5 +236,4 @@ btVector3 m_appliedConstraintForce;    // In WORLD frame
 	}
 };
 
-
-#endif //BT_MULTIBODY_LINK_H
+#endif  //BT_MULTIBODY_LINK_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
index 671e15d314..f91c001f12 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
@@ -19,21 +19,28 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
 #include "btMultiBody.h"
+#include "LinearMath/btSerializer.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
+#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
+#else
+#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
+#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
+#endif
 
 class btMultiBodyLinkCollider : public btCollisionObject
 {
-//protected:
+	//protected:
 public:
-
 	btMultiBody* m_multiBody;
 	int m_link;
 
-
-	btMultiBodyLinkCollider (btMultiBody* multiBody,int link)
-		:m_multiBody(multiBody),
-		m_link(link)
+	btMultiBodyLinkCollider(btMultiBody* multiBody, int link)
+		: m_multiBody(multiBody),
+		  m_link(link)
 	{
-		m_checkCollideWith =  true;
+		m_checkCollideWith = true;
 		//we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
 		//this means that some constraints might point to bodies that are not in the islands, causing crashes
 		//if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
@@ -49,18 +56,18 @@ public:
 	}
 	static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
+		if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
 			return (btMultiBodyLinkCollider*)colObj;
 		return 0;
 	}
 	static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
+		if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
 			return (btMultiBodyLinkCollider*)colObj;
 		return 0;
 	}
 
-	virtual bool checkCollideWithOverride(const  btCollisionObject* co) const
+	virtual bool checkCollideWithOverride(const btCollisionObject* co) const
 	{
 		const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
 		if (!other)
@@ -71,47 +78,46 @@ public:
 			return false;
 
 		//check if 'link' has collision disabled
-		if (m_link>=0)
+		if (m_link >= 0)
 		{
 			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
-			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
+			if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
 			{
 				int parent_of_this = m_link;
 				while (1)
 				{
-					if (parent_of_this==-1)
+					if (parent_of_this == -1)
 						break;
 					parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
-					if (parent_of_this==other->m_link)
+					if (parent_of_this == other->m_link)
 					{
 						return false;
 					}
 				}
 			}
-			else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
 			{
-				if ( link.m_parent == other->m_link)
+				if (link.m_parent == other->m_link)
 					return false;
 			}
-
 		}
 
-		if (other->m_link>=0)
+		if (other->m_link >= 0)
 		{
 			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
-			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
+			if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
 			{
 				int parent_of_other = other->m_link;
 				while (1)
 				{
-					if (parent_of_other==-1)
+					if (parent_of_other == -1)
 						break;
 					parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
-					if (parent_of_other==this->m_link)
+					if (parent_of_other == this->m_link)
 						return false;
 				}
 			}
-			else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
 			{
 				if (otherLink.m_parent == this->m_link)
 					return false;
@@ -119,7 +125,50 @@ public:
 		}
 		return true;
 	}
+
+	virtual int calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
+};
+
+// clang-format off
+
+struct	btMultiBodyLinkColliderFloatData
+{
+	btCollisionObjectFloatData m_colObjData;
+	btMultiBodyFloatData	*m_multiBody;
+	int			m_link;
+	char		m_padding[4];
 };
 
-#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
+struct	btMultiBodyLinkColliderDoubleData
+{
+	btCollisionObjectDoubleData m_colObjData;
+	btMultiBodyDoubleData		*m_multiBody;
+	int			m_link;
+	char		m_padding[4];
+};
+
+// clang-format on
+
+SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
+{
+	return sizeof(btMultiBodyLinkColliderData);
+}
+
+SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
+{
+	btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
+	btCollisionObject::serialize(&dataOut->m_colObjData, serializer);
+
+	dataOut->m_link = this->m_link;
+	dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
+
+	// Fill padding with zeros to appease msan.
+	memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
+
+	return btMultiBodyLinkColliderDataName;
+}
 
+#endif  //BT_FEATHERSTONE_LINK_COLLIDER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
new file mode 100644
index 0000000000..338e8af0ab
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
@@ -0,0 +1,966 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
+#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
+
+#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+
+static bool interleaveContactAndFriction = false;
+
+struct btJointNode
+{
+	int jointIndex;          // pointer to enclosing dxJoint object
+	int otherBodyIndex;      // *other* body this joint is connected to
+	int nextJointNodeIndex;  //-1 for null
+	int constraintRowIndex;
+};
+
+// Helper function to compute a delta velocity in the constraint space.
+static btScalar computeDeltaVelocityInConstraintSpace(
+	const btVector3& angularDeltaVelocity,
+	const btVector3& contactNormal,
+	btScalar invMass,
+	const btVector3& angularJacobian,
+	const btVector3& linearJacobian)
+{
+	return angularDeltaVelocity.dot(angularJacobian) + contactNormal.dot(linearJacobian) * invMass;
+}
+
+// Faster version of computeDeltaVelocityInConstraintSpace that can be used when contactNormal and linearJacobian are
+// identical.
+static btScalar computeDeltaVelocityInConstraintSpace(
+	const btVector3& angularDeltaVelocity,
+	btScalar invMass,
+	const btVector3& angularJacobian)
+{
+	return angularDeltaVelocity.dot(angularJacobian) + invMass;
+}
+
+// Helper function to compute a delta velocity in the constraint space.
+static btScalar computeDeltaVelocityInConstraintSpace(const btScalar* deltaVelocity, const btScalar* jacobian, int size)
+{
+	btScalar result = 0;
+	for (int i = 0; i < size; ++i)
+		result += deltaVelocity[i] * jacobian[i];
+
+	return result;
+}
+
+static btScalar computeConstraintMatrixDiagElementMultiBody(
+	const btAlignedObjectArray<btSolverBody>& solverBodyPool,
+	const btMultiBodyJacobianData& data,
+	const btMultiBodySolverConstraint& constraint)
+{
+	btScalar ret = 0;
+
+	const btMultiBody* multiBodyA = constraint.m_multiBodyA;
+	const btMultiBody* multiBodyB = constraint.m_multiBodyB;
+
+	if (multiBodyA)
+	{
+		const btScalar* jacA = &data.m_jacobians[constraint.m_jacAindex];
+		const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
+		const int ndofA = multiBodyA->getNumDofs() + 6;
+		ret += computeDeltaVelocityInConstraintSpace(deltaA, jacA, ndofA);
+	}
+	else
+	{
+		const int solverBodyIdA = constraint.m_solverBodyIdA;
+		btAssert(solverBodyIdA != -1);
+		const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
+		const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
+		ret += computeDeltaVelocityInConstraintSpace(
+			constraint.m_relpos1CrossNormal,
+			invMassA,
+			constraint.m_angularComponentA);
+	}
+
+	if (multiBodyB)
+	{
+		const btScalar* jacB = &data.m_jacobians[constraint.m_jacBindex];
+		const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
+		const int ndofB = multiBodyB->getNumDofs() + 6;
+		ret += computeDeltaVelocityInConstraintSpace(deltaB, jacB, ndofB);
+	}
+	else
+	{
+		const int solverBodyIdB = constraint.m_solverBodyIdB;
+		btAssert(solverBodyIdB != -1);
+		const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
+		const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
+		ret += computeDeltaVelocityInConstraintSpace(
+			constraint.m_relpos2CrossNormal,
+			invMassB,
+			constraint.m_angularComponentB);
+	}
+
+	return ret;
+}
+
+static btScalar computeConstraintMatrixOffDiagElementMultiBody(
+	const btAlignedObjectArray<btSolverBody>& solverBodyPool,
+	const btMultiBodyJacobianData& data,
+	const btMultiBodySolverConstraint& constraint,
+	const btMultiBodySolverConstraint& offDiagConstraint)
+{
+	btScalar offDiagA = btScalar(0);
+
+	const btMultiBody* multiBodyA = constraint.m_multiBodyA;
+	const btMultiBody* multiBodyB = constraint.m_multiBodyB;
+	const btMultiBody* offDiagMultiBodyA = offDiagConstraint.m_multiBodyA;
+	const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB;
+
+	// Assumed at least one system is multibody
+	btAssert(multiBodyA || multiBodyB);
+	btAssert(offDiagMultiBodyA || offDiagMultiBodyB);
+
+	if (offDiagMultiBodyA)
+	{
+		const btScalar* offDiagJacA = &data.m_jacobians[offDiagConstraint.m_jacAindex];
+
+		if (offDiagMultiBodyA == multiBodyA)
+		{
+			const int ndofA = multiBodyA->getNumDofs() + 6;
+			const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
+			offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacA, ndofA);
+		}
+		else if (offDiagMultiBodyA == multiBodyB)
+		{
+			const int ndofB = multiBodyB->getNumDofs() + 6;
+			const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
+			offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacA, ndofB);
+		}
+	}
+	else
+	{
+		const int solverBodyIdA = constraint.m_solverBodyIdA;
+		const int solverBodyIdB = constraint.m_solverBodyIdB;
+
+		const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA;
+		btAssert(offDiagSolverBodyIdA != -1);
+
+		if (offDiagSolverBodyIdA == solverBodyIdA)
+		{
+			btAssert(solverBodyIdA != -1);
+			const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
+			const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
+			offDiagA += computeDeltaVelocityInConstraintSpace(
+				offDiagConstraint.m_relpos1CrossNormal,
+				offDiagConstraint.m_contactNormal1,
+				invMassA, constraint.m_angularComponentA,
+				constraint.m_contactNormal1);
+		}
+		else if (offDiagSolverBodyIdA == solverBodyIdB)
+		{
+			btAssert(solverBodyIdB != -1);
+			const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
+			const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
+			offDiagA += computeDeltaVelocityInConstraintSpace(
+				offDiagConstraint.m_relpos1CrossNormal,
+				offDiagConstraint.m_contactNormal1,
+				invMassB,
+				constraint.m_angularComponentB,
+				constraint.m_contactNormal2);
+		}
+	}
+
+	if (offDiagMultiBodyB)
+	{
+		const btScalar* offDiagJacB = &data.m_jacobians[offDiagConstraint.m_jacBindex];
+
+		if (offDiagMultiBodyB == multiBodyA)
+		{
+			const int ndofA = multiBodyA->getNumDofs() + 6;
+			const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
+			offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacB, ndofA);
+		}
+		else if (offDiagMultiBodyB == multiBodyB)
+		{
+			const int ndofB = multiBodyB->getNumDofs() + 6;
+			const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
+			offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacB, ndofB);
+		}
+	}
+	else
+	{
+		const int solverBodyIdA = constraint.m_solverBodyIdA;
+		const int solverBodyIdB = constraint.m_solverBodyIdB;
+
+		const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB;
+		btAssert(offDiagSolverBodyIdB != -1);
+
+		if (offDiagSolverBodyIdB == solverBodyIdA)
+		{
+			btAssert(solverBodyIdA != -1);
+			const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
+			const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
+			offDiagA += computeDeltaVelocityInConstraintSpace(
+				offDiagConstraint.m_relpos2CrossNormal,
+				offDiagConstraint.m_contactNormal2,
+				invMassA, constraint.m_angularComponentA,
+				constraint.m_contactNormal1);
+		}
+		else if (offDiagSolverBodyIdB == solverBodyIdB)
+		{
+			btAssert(solverBodyIdB != -1);
+			const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
+			const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
+			offDiagA += computeDeltaVelocityInConstraintSpace(
+				offDiagConstraint.m_relpos2CrossNormal,
+				offDiagConstraint.m_contactNormal2,
+				invMassB, constraint.m_angularComponentB,
+				constraint.m_contactNormal2);
+		}
+	}
+
+	return offDiagA;
+}
+
+void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
+{
+	createMLCPFastRigidBody(infoGlobal);
+	createMLCPFastMultiBody(infoGlobal);
+}
+
+void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal)
+{
+	int numContactRows = interleaveContactAndFriction ? 3 : 1;
+
+	int numConstraintRows = m_allConstraintPtrArray.size();
+
+	if (numConstraintRows == 0)
+		return;
+
+	int n = numConstraintRows;
+	{
+		BT_PROFILE("init b (rhs)");
+		m_b.resize(numConstraintRows);
+		m_bSplit.resize(numConstraintRows);
+		m_b.setZero();
+		m_bSplit.setZero();
+		for (int i = 0; i < numConstraintRows; i++)
+		{
+			btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv;
+			if (!btFuzzyZero(jacDiag))
+			{
+				btScalar rhs = m_allConstraintPtrArray[i]->m_rhs;
+				btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration;
+				m_b[i] = rhs / jacDiag;
+				m_bSplit[i] = rhsPenetration / jacDiag;
+			}
+		}
+	}
+
+	//	btScalar* w = 0;
+	//	int nub = 0;
+
+	m_lo.resize(numConstraintRows);
+	m_hi.resize(numConstraintRows);
+
+	{
+		BT_PROFILE("init lo/ho");
+
+		for (int i = 0; i < numConstraintRows; i++)
+		{
+			if (0)  //m_limitDependencies[i]>=0)
+			{
+				m_lo[i] = -BT_INFINITY;
+				m_hi[i] = BT_INFINITY;
+			}
+			else
+			{
+				m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
+				m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
+			}
+		}
+	}
+
+	//
+	int m = m_allConstraintPtrArray.size();
+
+	int numBodies = m_tmpSolverBodyPool.size();
+	btAlignedObjectArray<int> bodyJointNodeArray;
+	{
+		BT_PROFILE("bodyJointNodeArray.resize");
+		bodyJointNodeArray.resize(numBodies, -1);
+	}
+	btAlignedObjectArray<btJointNode> jointNodeArray;
+	{
+		BT_PROFILE("jointNodeArray.reserve");
+		jointNodeArray.reserve(2 * m_allConstraintPtrArray.size());
+	}
+
+	btMatrixXu& J3 = m_scratchJ3;
+	{
+		BT_PROFILE("J3.resize");
+		J3.resize(2 * m, 8);
+	}
+	btMatrixXu& JinvM3 = m_scratchJInvM3;
+	{
+		BT_PROFILE("JinvM3.resize/setZero");
+
+		JinvM3.resize(2 * m, 8);
+		JinvM3.setZero();
+		J3.setZero();
+	}
+	int cur = 0;
+	int rowOffset = 0;
+	btAlignedObjectArray<int>& ofs = m_scratchOfs;
+	{
+		BT_PROFILE("ofs resize");
+		ofs.resize(0);
+		ofs.resizeNoInitialize(m_allConstraintPtrArray.size());
+	}
+	{
+		BT_PROFILE("Compute J and JinvM");
+		int c = 0;
+
+		int numRows = 0;
+
+		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
+		{
+			ofs[c] = rowOffset;
+			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
+			btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+			btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
+			if (orgBodyA)
+			{
+				{
+					int slotA = -1;
+					//find free jointNode slot for sbA
+					slotA = jointNodeArray.size();
+					jointNodeArray.expand();  //NonInitializing();
+					int prevSlot = bodyJointNodeArray[sbA];
+					bodyJointNodeArray[sbA] = slotA;
+					jointNodeArray[slotA].nextJointNodeIndex = prevSlot;
+					jointNodeArray[slotA].jointIndex = c;
+					jointNodeArray[slotA].constraintRowIndex = i;
+					jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1;
+				}
+				for (int row = 0; row < numRows; row++, cur++)
+				{
+					btVector3 normalInvMass = m_allConstraintPtrArray[i + row]->m_contactNormal1 * orgBodyA->getInvMass();
+					btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
+
+					for (int r = 0; r < 3; r++)
+					{
+						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal1[r]);
+						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal[r]);
+						JinvM3.setElem(cur, r, normalInvMass[r]);
+						JinvM3.setElem(cur, r + 4, relPosCrossNormalInvInertia[r]);
+					}
+					J3.setElem(cur, 3, 0);
+					JinvM3.setElem(cur, 3, 0);
+					J3.setElem(cur, 7, 0);
+					JinvM3.setElem(cur, 7, 0);
+				}
+			}
+			else
+			{
+				cur += numRows;
+			}
+			if (orgBodyB)
+			{
+				{
+					int slotB = -1;
+					//find free jointNode slot for sbA
+					slotB = jointNodeArray.size();
+					jointNodeArray.expand();  //NonInitializing();
+					int prevSlot = bodyJointNodeArray[sbB];
+					bodyJointNodeArray[sbB] = slotB;
+					jointNodeArray[slotB].nextJointNodeIndex = prevSlot;
+					jointNodeArray[slotB].jointIndex = c;
+					jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1;
+					jointNodeArray[slotB].constraintRowIndex = i;
+				}
+
+				for (int row = 0; row < numRows; row++, cur++)
+				{
+					btVector3 normalInvMassB = m_allConstraintPtrArray[i + row]->m_contactNormal2 * orgBodyB->getInvMass();
+					btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
+
+					for (int r = 0; r < 3; r++)
+					{
+						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal2[r]);
+						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal[r]);
+						JinvM3.setElem(cur, r, normalInvMassB[r]);
+						JinvM3.setElem(cur, r + 4, relPosInvInertiaB[r]);
+					}
+					J3.setElem(cur, 3, 0);
+					JinvM3.setElem(cur, 3, 0);
+					J3.setElem(cur, 7, 0);
+					JinvM3.setElem(cur, 7, 0);
+				}
+			}
+			else
+			{
+				cur += numRows;
+			}
+			rowOffset += numRows;
+		}
+	}
+
+	//compute JinvM = J*invM.
+	const btScalar* JinvM = JinvM3.getBufferPointer();
+
+	const btScalar* Jptr = J3.getBufferPointer();
+	{
+		BT_PROFILE("m_A.resize");
+		m_A.resize(n, n);
+	}
+
+	{
+		BT_PROFILE("m_A.setZero");
+		m_A.setZero();
+	}
+	int c = 0;
+	{
+		int numRows = 0;
+		BT_PROFILE("Compute A");
+		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
+		{
+			int row__ = ofs[c];
+			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
+			//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+			//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
+
+			const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
+
+			{
+				int startJointNodeA = bodyJointNodeArray[sbA];
+				while (startJointNodeA >= 0)
+				{
+					int j0 = jointNodeArray[startJointNodeA].jointIndex;
+					int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex;
+					if (j0 < c)
+					{
+						int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
+						size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8 * numRowsOther : 0;
+						//printf("%d joint i %d and j0: %d: ",count++,i,j0);
+						m_A.multiplyAdd2_p8r(JinvMrow,
+											 Jptr + 2 * 8 * (size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__, ofs[j0]);
+					}
+					startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex;
+				}
+			}
+
+			{
+				int startJointNodeB = bodyJointNodeArray[sbB];
+				while (startJointNodeB >= 0)
+				{
+					int j1 = jointNodeArray[startJointNodeB].jointIndex;
+					int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex;
+
+					if (j1 < c)
+					{
+						int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
+						size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8 * numRowsOther : 0;
+						m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)numRows,
+											 Jptr + 2 * 8 * (size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__, ofs[j1]);
+					}
+					startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex;
+				}
+			}
+		}
+
+		{
+			BT_PROFILE("compute diagonal");
+			// compute diagonal blocks of m_A
+
+			int row__ = 0;
+			int numJointRows = m_allConstraintPtrArray.size();
+
+			int jj = 0;
+			for (; row__ < numJointRows;)
+			{
+				//int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
+				int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
+				//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+				btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+				const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
+
+				const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
+				const btScalar* Jrow = Jptr + 2 * 8 * (size_t)row__;
+				m_A.multiply2_p8r(JinvMrow, Jrow, infom, infom, row__, row__);
+				if (orgBodyB)
+				{
+					m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)infom, Jrow + 8 * (size_t)infom, infom, infom, row__, row__);
+				}
+				row__ += infom;
+				jj++;
+			}
+		}
+	}
+
+	if (1)
+	{
+		// add cfm to the diagonal of m_A
+		for (int i = 0; i < m_A.rows(); ++i)
+		{
+			m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
+		}
+	}
+
+	///fill the upper triangle of the matrix, to make it symmetric
+	{
+		BT_PROFILE("fill the upper triangle ");
+		m_A.copyLowerToUpperTriangle();
+	}
+
+	{
+		BT_PROFILE("resize/init x");
+		m_x.resize(numConstraintRows);
+		m_xSplit.resize(numConstraintRows);
+
+		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+		{
+			for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
+			{
+				const btSolverConstraint& c = *m_allConstraintPtrArray[i];
+				m_x[i] = c.m_appliedImpulse;
+				m_xSplit[i] = c.m_appliedPushImpulse;
+			}
+		}
+		else
+		{
+			m_x.setZero();
+			m_xSplit.setZero();
+		}
+	}
+}
+
+void btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal)
+{
+	const int multiBodyNumConstraints = m_multiBodyAllConstraintPtrArray.size();
+
+	if (multiBodyNumConstraints == 0)
+		return;
+
+	// 1. Compute b
+	{
+		BT_PROFILE("init b (rhs)");
+
+		m_multiBodyB.resize(multiBodyNumConstraints);
+		m_multiBodyB.setZero();
+
+		for (int i = 0; i < multiBodyNumConstraints; ++i)
+		{
+			const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+			const btScalar jacDiag = constraint.m_jacDiagABInv;
+
+			if (!btFuzzyZero(jacDiag))
+			{
+				// Note that rhsPenetration is currently always zero because the split impulse hasn't been implemented for multibody yet.
+				const btScalar rhs = constraint.m_rhs;
+				m_multiBodyB[i] = rhs / jacDiag;
+			}
+		}
+	}
+
+	// 2. Compute lo and hi
+	{
+		BT_PROFILE("init lo/ho");
+
+		m_multiBodyLo.resize(multiBodyNumConstraints);
+		m_multiBodyHi.resize(multiBodyNumConstraints);
+
+		for (int i = 0; i < multiBodyNumConstraints; ++i)
+		{
+			const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+			m_multiBodyLo[i] = constraint.m_lowerLimit;
+			m_multiBodyHi[i] = constraint.m_upperLimit;
+		}
+	}
+
+	// 3. Construct A matrix by using the impulse testing
+	{
+		BT_PROFILE("Compute A");
+
+		{
+			BT_PROFILE("m_A.resize");
+			m_multiBodyA.resize(multiBodyNumConstraints, multiBodyNumConstraints);
+		}
+
+		for (int i = 0; i < multiBodyNumConstraints; ++i)
+		{
+			// Compute the diagonal of A, which is A(i, i)
+			const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+			const btScalar diagA = computeConstraintMatrixDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint);
+			m_multiBodyA.setElem(i, i, diagA);
+
+			// Computes the off-diagonals of A:
+			//   a. The rest of i-th row of A, from A(i, i+1) to A(i, n)
+			//   b. The rest of i-th column of A, from A(i+1, i) to A(n, i)
+			for (int j = i + 1; j < multiBodyNumConstraints; ++j)
+			{
+				const btMultiBodySolverConstraint& offDiagConstraint = *m_multiBodyAllConstraintPtrArray[j];
+				const btScalar offDiagA = computeConstraintMatrixOffDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint, offDiagConstraint);
+
+				// Set the off-diagonal values of A. Note that A is symmetric.
+				m_multiBodyA.setElem(i, j, offDiagA);
+				m_multiBodyA.setElem(j, i, offDiagA);
+			}
+		}
+	}
+
+	// Add CFM to the diagonal of m_A
+	for (int i = 0; i < m_multiBodyA.rows(); ++i)
+	{
+		m_multiBodyA.setElem(i, i, m_multiBodyA(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
+	}
+
+	// 4. Initialize x
+	{
+		BT_PROFILE("resize/init x");
+
+		m_multiBodyX.resize(multiBodyNumConstraints);
+
+		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+		{
+			for (int i = 0; i < multiBodyNumConstraints; ++i)
+			{
+				const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+				m_multiBodyX[i] = constraint.m_appliedImpulse;
+			}
+		}
+		else
+		{
+			m_multiBodyX.setZero();
+		}
+	}
+}
+
+bool btMultiBodyMLCPConstraintSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
+{
+	bool result = true;
+
+	if (m_A.rows() != 0)
+	{
+		// If using split impulse, we solve 2 separate (M)LCPs
+		if (infoGlobal.m_splitImpulse)
+		{
+			const btMatrixXu Acopy = m_A;
+			const btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies;
+			// TODO(JS): Do we really need these copies when solveMLCP takes them as const?
+
+			result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
+			if (result)
+				result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo, m_hi, limitDependenciesCopy, infoGlobal.m_numIterations);
+		}
+		else
+		{
+			result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
+		}
+	}
+
+	if (!result)
+		return false;
+
+	if (m_multiBodyA.rows() != 0)
+	{
+		result = m_solver->solveMLCP(m_multiBodyA, m_multiBodyB, m_multiBodyX, m_multiBodyLo, m_multiBodyHi, m_multiBodyLimitDependencies, infoGlobal.m_numIterations);
+	}
+
+	return result;
+}
+
+btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup(
+	btCollisionObject** bodies,
+	int numBodies,
+	btPersistentManifold** manifoldPtr,
+	int numManifolds,
+	btTypedConstraint** constraints,
+	int numConstraints,
+	const btContactSolverInfo& infoGlobal,
+	btIDebugDraw* debugDrawer)
+{
+	// 1. Setup for rigid-bodies
+	btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(
+		bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
+
+	// 2. Setup for multi-bodies
+	//   a. Collect all different kinds of constraint as pointers into one array, m_allConstraintPtrArray
+	//   b. Set the index array for frictional contact constraints, m_limitDependencies
+	{
+		BT_PROFILE("gather constraint data");
+
+		int dindex = 0;
+
+		const int numRigidBodyConstraints = m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size();
+		const int numMultiBodyConstraints = m_multiBodyNonContactConstraints.size() + m_multiBodyNormalContactConstraints.size() + m_multiBodyFrictionContactConstraints.size();
+
+		m_allConstraintPtrArray.resize(0);
+		m_multiBodyAllConstraintPtrArray.resize(0);
+
+		// i. Setup for rigid bodies
+
+		m_limitDependencies.resize(numRigidBodyConstraints);
+
+		for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); ++i)
+		{
+			m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]);
+			m_limitDependencies[dindex++] = -1;
+		}
+
+		int firstContactConstraintOffset = dindex;
+
+		// The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
+		if (interleaveContactAndFriction)
+		{
+			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
+			{
+				const int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2;
+
+				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
+				m_limitDependencies[dindex++] = -1;
+				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact]);
+				int findex = (m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact].m_frictionIndex * (1 + numFrictionPerContact));
+				m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
+				if (numFrictionPerContact == 2)
+				{
+					m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact + 1]);
+					m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
+				}
+			}
+		}
+		else
+		{
+			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
+			{
+				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
+				m_limitDependencies[dindex++] = -1;
+			}
+			for (int i = 0; i < m_tmpSolverContactFrictionConstraintPool.size(); i++)
+			{
+				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]);
+				m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex + firstContactConstraintOffset;
+			}
+		}
+
+		if (!m_allConstraintPtrArray.size())
+		{
+			m_A.resize(0, 0);
+			m_b.resize(0);
+			m_x.resize(0);
+			m_lo.resize(0);
+			m_hi.resize(0);
+		}
+
+		// ii. Setup for multibodies
+
+		dindex = 0;
+
+		m_multiBodyLimitDependencies.resize(numMultiBodyConstraints);
+
+		for (int i = 0; i < m_multiBodyNonContactConstraints.size(); ++i)
+		{
+			m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNonContactConstraints[i]);
+			m_multiBodyLimitDependencies[dindex++] = -1;
+		}
+
+		firstContactConstraintOffset = dindex;
+
+		// The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
+		if (interleaveContactAndFriction)
+		{
+			for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i)
+			{
+				const int numtiBodyNumFrictionPerContact = m_multiBodyNormalContactConstraints.size() == m_multiBodyFrictionContactConstraints.size() ? 1 : 2;
+
+				m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]);
+				m_multiBodyLimitDependencies[dindex++] = -1;
+
+				btMultiBodySolverConstraint& frictionContactConstraint1 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact];
+				m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint1);
+
+				const int findex = (frictionContactConstraint1.m_frictionIndex * (1 + numtiBodyNumFrictionPerContact)) + firstContactConstraintOffset;
+
+				m_multiBodyLimitDependencies[dindex++] = findex;
+
+				if (numtiBodyNumFrictionPerContact == 2)
+				{
+					btMultiBodySolverConstraint& frictionContactConstraint2 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact + 1];
+					m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint2);
+
+					m_multiBodyLimitDependencies[dindex++] = findex;
+				}
+			}
+		}
+		else
+		{
+			for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i)
+			{
+				m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]);
+				m_multiBodyLimitDependencies[dindex++] = -1;
+			}
+			for (int i = 0; i < m_multiBodyFrictionContactConstraints.size(); ++i)
+			{
+				m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyFrictionContactConstraints[i]);
+				m_multiBodyLimitDependencies[dindex++] = m_multiBodyFrictionContactConstraints[i].m_frictionIndex + firstContactConstraintOffset;
+			}
+		}
+
+		if (!m_multiBodyAllConstraintPtrArray.size())
+		{
+			m_multiBodyA.resize(0, 0);
+			m_multiBodyB.resize(0);
+			m_multiBodyX.resize(0);
+			m_multiBodyLo.resize(0);
+			m_multiBodyHi.resize(0);
+		}
+	}
+
+	// Construct MLCP terms
+	{
+		BT_PROFILE("createMLCPFast");
+		createMLCPFast(infoGlobal);
+	}
+
+	return btScalar(0);
+}
+
+btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
+{
+	bool result = true;
+	{
+		BT_PROFILE("solveMLCP");
+		result = solveMLCP(infoGlobal);
+	}
+
+	// Fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations if the solution isn't valid.
+	if (!result)
+	{
+		m_fallback++;
+		return btMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
+	}
+
+	{
+		BT_PROFILE("process MLCP results");
+
+		for (int i = 0; i < m_allConstraintPtrArray.size(); ++i)
+		{
+			const btSolverConstraint& c = *m_allConstraintPtrArray[i];
+
+			const btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse;
+			c.m_appliedImpulse = m_x[i];
+
+			int sbA = c.m_solverBodyIdA;
+			int sbB = c.m_solverBodyIdB;
+
+			btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
+			btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
+
+			solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+			solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+
+			if (infoGlobal.m_splitImpulse)
+			{
+				const btScalar deltaPushImpulse = m_xSplit[i] - c.m_appliedPushImpulse;
+				solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaPushImpulse);
+				solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaPushImpulse);
+				c.m_appliedPushImpulse = m_xSplit[i];
+			}
+		}
+
+		for (int i = 0; i < m_multiBodyAllConstraintPtrArray.size(); ++i)
+		{
+			btMultiBodySolverConstraint& c = *m_multiBodyAllConstraintPtrArray[i];
+
+			const btScalar deltaImpulse = m_multiBodyX[i] - c.m_appliedImpulse;
+			c.m_appliedImpulse = m_multiBodyX[i];
+
+			btMultiBody* multiBodyA = c.m_multiBodyA;
+			if (multiBodyA)
+			{
+				const int ndofA = multiBodyA->getNumDofs() + 6;
+				applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+				//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+				//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+				multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
+#endif  // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+			}
+			else
+			{
+				const int sbA = c.m_solverBodyIdA;
+				btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
+				solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+			}
+
+			btMultiBody* multiBodyB = c.m_multiBodyB;
+			if (multiBodyB)
+			{
+				const int ndofB = multiBodyB->getNumDofs() + 6;
+				applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+				//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+				//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+				multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
+#endif  // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+			}
+			else
+			{
+				const int sbB = c.m_solverBodyIdB;
+				btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
+				solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+			}
+		}
+	}
+
+	return btScalar(0);
+}
+
+btMultiBodyMLCPConstraintSolver::btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver)
+	: m_solver(solver), m_fallback(0)
+{
+	// Do nothing
+}
+
+btMultiBodyMLCPConstraintSolver::~btMultiBodyMLCPConstraintSolver()
+{
+	// Do nothing
+}
+
+void btMultiBodyMLCPConstraintSolver::setMLCPSolver(btMLCPSolverInterface* solver)
+{
+	m_solver = solver;
+}
+
+int btMultiBodyMLCPConstraintSolver::getNumFallbacks() const
+{
+	return m_fallback;
+}
+
+void btMultiBodyMLCPConstraintSolver::setNumFallbacks(int num)
+{
+	m_fallback = num;
+}
+
+btConstraintSolverType btMultiBodyMLCPConstraintSolver::getSolverType() const
+{
+	return BT_MLCP_SOLVER;
+}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
new file mode 100644
index 0000000000..6be36ba142
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
@@ -0,0 +1,187 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
+#define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
+
+#include "LinearMath/btMatrixX.h"
+#include "LinearMath/btThreads.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+
+class btMLCPSolverInterface;
+class btMultiBody;
+
+class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver
+{
+protected:
+	/// \name MLCP Formulation for Rigid Bodies
+	/// \{
+
+	/// A matrix in the MLCP formulation
+	btMatrixXu m_A;
+
+	/// b vector in the MLCP formulation.
+	btVectorXu m_b;
+
+	/// Constraint impulse, which is an output of MLCP solving.
+	btVectorXu m_x;
+
+	/// Lower bound of constraint impulse, \c m_x.
+	btVectorXu m_lo;
+
+	/// Upper bound of constraint impulse, \c m_x.
+	btVectorXu m_hi;
+
+	/// \}
+
+	/// \name Cache Variables for Split Impulse for Rigid Bodies
+	/// When using 'split impulse' we solve two separate (M)LCPs
+	/// \{
+
+	/// Split impulse Cache vector corresponding to \c m_b.
+	btVectorXu m_bSplit;
+
+	/// Split impulse cache vector corresponding to \c m_x.
+	btVectorXu m_xSplit;
+
+	/// \}
+
+	/// \name MLCP Formulation for Multibodies
+	/// \{
+
+	/// A matrix in the MLCP formulation
+	btMatrixXu m_multiBodyA;
+
+	/// b vector in the MLCP formulation.
+	btVectorXu m_multiBodyB;
+
+	/// Constraint impulse, which is an output of MLCP solving.
+	btVectorXu m_multiBodyX;
+
+	/// Lower bound of constraint impulse, \c m_x.
+	btVectorXu m_multiBodyLo;
+
+	/// Upper bound of constraint impulse, \c m_x.
+	btVectorXu m_multiBodyHi;
+
+	/// \}
+
+	/// Indices of normal contact constraint associated with frictional contact constraint for rigid bodies.
+	///
+	/// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate
+	/// normal contact impulse. For example, i-th element represents the index of a normal constraint that is
+	/// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint.
+	/// Otherwise, -1.
+	btAlignedObjectArray<int> m_limitDependencies;
+
+	/// Indices of normal contact constraint associated with frictional contact constraint for multibodies.
+	///
+	/// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate
+	/// normal contact impulse. For example, i-th element represents the index of a normal constraint that is
+	/// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint.
+	/// Otherwise, -1.
+	btAlignedObjectArray<int> m_multiBodyLimitDependencies;
+
+	/// Array of all the rigid body constraints
+	btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
+
+	/// Array of all the multibody constraints
+	btAlignedObjectArray<btMultiBodySolverConstraint*> m_multiBodyAllConstraintPtrArray;
+
+	/// MLCP solver
+	btMLCPSolverInterface* m_solver;
+
+	/// Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.
+	int m_fallback;
+
+	/// \name MLCP Scratch Variables
+	/// The following scratch variables are not stateful -- contents are cleared prior to each use.
+	/// They are only cached here to avoid extra memory allocations and deallocations and to ensure
+	/// that multiple instances of the solver can be run in parallel.
+	///
+	/// \{
+
+	/// Cache variable for constraint Jacobian matrix.
+	btMatrixXu m_scratchJ3;
+
+	/// Cache variable for constraint Jacobian times inverse mass matrix.
+	btMatrixXu m_scratchJInvM3;
+
+	/// Cache variable for offsets.
+	btAlignedObjectArray<int> m_scratchOfs;
+
+	/// \}
+
+	/// Constructs MLCP terms, which are \c m_A, \c m_b, \c m_lo, and \c m_hi.
+	virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
+
+	/// Constructs MLCP terms for constraints of two rigid bodies
+	void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal);
+
+	/// Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody
+	void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal);
+
+	/// Solves MLCP and returns the success
+	virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
+
+	// Documentation inherited
+	btScalar solveGroupCacheFriendlySetup(
+		btCollisionObject** bodies,
+		int numBodies,
+		btPersistentManifold** manifoldPtr,
+		int numManifolds,
+		btTypedConstraint** constraints,
+		int numConstraints,
+		const btContactSolverInfo& infoGlobal,
+		btIDebugDraw* debugDrawer) BT_OVERRIDE;
+
+	// Documentation inherited
+	btScalar solveGroupCacheFriendlyIterations(
+		btCollisionObject** bodies,
+		int numBodies,
+		btPersistentManifold** manifoldPtr,
+		int numManifolds,
+		btTypedConstraint** constraints,
+		int numConstraints,
+		const btContactSolverInfo& infoGlobal,
+		btIDebugDraw* debugDrawer) BT_OVERRIDE;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR()
+
+	/// Constructor
+	///
+	/// \param[in] solver MLCP solver. Assumed it's not null.
+	/// \param[in] maxLCPSize Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used.
+	explicit btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver);
+
+	/// Destructor
+	virtual ~btMultiBodyMLCPConstraintSolver();
+
+	/// Sets MLCP solver. Assumed it's not null.
+	void setMLCPSolver(btMLCPSolverInterface* solver);
+
+	/// Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP
+	/// solver fails.
+	int getNumFallbacks() const;
+
+	/// Sets the number of fallbacks. This function may be used to reset the number to zero.
+	void setNumFallbacks(int num);
+
+	/// Returns the constraint solver type.
+	virtual btConstraintSolverType getSolverType() const;
+};
+
+#endif  // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
index 125d52ad0b..37d3aede37 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
@@ -21,29 +21,29 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 
 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-	#define BTMBP2PCONSTRAINT_DIM 3
+#define BTMBP2PCONSTRAINT_DIM 3
 #else
-	#define BTMBP2PCONSTRAINT_DIM 6
+#define BTMBP2PCONSTRAINT_DIM 6
 #endif
 
 btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
-	:btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),
-	m_rigidBodyA(0),
-	m_rigidBodyB(bodyB),
-	m_pivotInA(pivotInA),
-	m_pivotInB(pivotInB)
+	: btMultiBodyConstraint(body, 0, link, -1, BTMBP2PCONSTRAINT_DIM, false),
+	  m_rigidBodyA(0),
+	  m_rigidBodyB(bodyB),
+	  m_pivotInA(pivotInA),
+	  m_pivotInB(pivotInB)
 {
-    m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
+	m_data.resize(BTMBP2PCONSTRAINT_DIM);  //at least store the applied impulses
 }
 
 btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
-	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBP2PCONSTRAINT_DIM,false),
-	m_rigidBodyA(0),
-	m_rigidBodyB(0),
-	m_pivotInA(pivotInA),
-	m_pivotInB(pivotInB)
+	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBP2PCONSTRAINT_DIM, false),
+	  m_rigidBodyA(0),
+	  m_rigidBodyB(0),
+	  m_pivotInA(pivotInA),
+	  m_pivotInB(pivotInB)
 {
-    m_data.resize(BTMBP2PCONSTRAINT_DIM);//at least store the applied impulses
+	m_data.resize(BTMBP2PCONSTRAINT_DIM);  //at least store the applied impulses
 }
 
 void btMultiBodyPoint2Point::finalizeMultiDof()
@@ -56,7 +56,6 @@ btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
 {
 }
 
-
 int btMultiBodyPoint2Point::getIslandIdA() const
 {
 	if (m_rigidBodyA)
@@ -64,13 +63,16 @@ int btMultiBodyPoint2Point::getIslandIdA() const
 
 	if (m_bodyA)
 	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-		for (int i=0;i<m_bodyA->getNumLinks();i++)
+		if (m_linkA < 0)
+		{
+			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+			if (col)
+				return col->getIslandTag();
+		}
+		else
 		{
-			if (m_bodyA->getLink(i).m_collider)
-				return m_bodyA->getLink(i).m_collider->getIslandTag();
+			if (m_bodyA->getLink(m_linkA).m_collider)
+				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
 		}
 	}
 	return -1;
@@ -82,62 +84,58 @@ int btMultiBodyPoint2Point::getIslandIdB() const
 		return m_rigidBodyB->getIslandTag();
 	if (m_bodyB)
 	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-
-		for (int i=0;i<m_bodyB->getNumLinks();i++)
+		if (m_linkB < 0)
 		{
-			col = m_bodyB->getLink(i).m_collider;
+			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
 			if (col)
 				return col->getIslandTag();
 		}
+		else
+		{
+			if (m_bodyB->getLink(m_linkB).m_collider)
+				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
 	}
 	return -1;
 }
 
-
-
 void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal)
+												  btMultiBodyJacobianData& data,
+												  const btContactSolverInfo& infoGlobal)
 {
-
-//	int i=1;
-int numDim = BTMBP2PCONSTRAINT_DIM;
-	for (int i=0;i<numDim;i++)
+	//	int i=1;
+	int numDim = BTMBP2PCONSTRAINT_DIM;
+	for (int i = 0; i < numDim; i++)
 	{
-
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-        //memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
-	constraintRow.m_orgConstraint = this;
-	constraintRow.m_orgDofIndex = i;
-        constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
-        constraintRow.m_contactNormal1.setValue(0,0,0);
-        constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
-        constraintRow.m_contactNormal2.setValue(0,0,0);
-        constraintRow.m_angularComponentA.setValue(0,0,0);
-        constraintRow.m_angularComponentB.setValue(0,0,0);
+		//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
+		constraintRow.m_orgConstraint = this;
+		constraintRow.m_orgDofIndex = i;
+		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
+		constraintRow.m_contactNormal1.setValue(0, 0, 0);
+		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
+		constraintRow.m_contactNormal2.setValue(0, 0, 0);
+		constraintRow.m_angularComponentA.setValue(0, 0, 0);
+		constraintRow.m_angularComponentB.setValue(0, 0, 0);
 
 		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
 		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
 
-		btVector3 contactNormalOnB(0,0,0);
+		btVector3 contactNormalOnB(0, 0, 0);
 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
 		contactNormalOnB[i] = -1;
 #else
-		contactNormalOnB[i%3] = -1;
+		contactNormalOnB[i % 3] = -1;
 #endif
 
-
-		 // Convert local points back to world
+		// Convert local points back to world
 		btVector3 pivotAworld = m_pivotInA;
 		if (m_rigidBodyA)
 		{
-
 			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-			pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
-		} else
+			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+		}
+		else
 		{
 			if (m_bodyA)
 				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
@@ -146,44 +144,41 @@ int numDim = BTMBP2PCONSTRAINT_DIM;
 		if (m_rigidBodyB)
 		{
 			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-			pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
-		} else
+			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+		}
+		else
 		{
 			if (m_bodyB)
 				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-
 		}
 
-		btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
+		btScalar posError = i < 3 ? (pivotAworld - pivotBworld).dot(contactNormalOnB) : 0;
 
 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
 
-
-		fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0,0,0),
-															contactNormalOnB, pivotAworld, pivotBworld,						//sucks but let it be this way "for the time being"
-															posError,
-															infoGlobal,
-															-m_maxAppliedImpulse, m_maxAppliedImpulse
-															);
-    //@todo: support the case of btMultiBody versus btRigidBody,
-    //see btPoint2PointConstraint::getInfo2NonVirtual
+		fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0, 0, 0),
+								contactNormalOnB, pivotAworld, pivotBworld,  //sucks but let it be this way "for the time being"
+								posError,
+								infoGlobal,
+								-m_maxAppliedImpulse, m_maxAppliedImpulse);
+		//@todo: support the case of btMultiBody versus btRigidBody,
+		//see btPoint2PointConstraint::getInfo2NonVirtual
 #else
 		const btVector3 dummy(0, 0, 0);
 
 		btAssert(m_bodyA->isMultiDof());
 
 		btScalar* jac1 = jacobianA(i);
-		const btVector3 &normalAng = i >= 3 ? contactNormalOnB : dummy;
-		const btVector3 &normalLin = i < 3 ? contactNormalOnB : dummy;
+		const btVector3& normalAng = i >= 3 ? contactNormalOnB : dummy;
+		const btVector3& normalLin = i < 3 ? contactNormalOnB : dummy;
 
 		m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
 
 		fillMultiBodyConstraint(constraintRow, data, jac1, 0,
-													dummy, dummy, dummy,						//sucks but let it be this way "for the time being"
-													posError,
-													infoGlobal,
-													-m_maxAppliedImpulse, m_maxAppliedImpulse
-													);
+								dummy, dummy, dummy,  //sucks but let it be this way "for the time being"
+								posError,
+								infoGlobal,
+								-m_maxAppliedImpulse, m_maxAppliedImpulse);
 #endif
 	}
 }
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
index bf39acc5b9..ef03a557ec 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
@@ -22,22 +22,20 @@ subject to the following restrictions:
 
 //#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
 
-ATTRIBUTE_ALIGNED16(class) btMultiBodyPoint2Point : public btMultiBodyConstraint
+ATTRIBUTE_ALIGNED16(class)
+btMultiBodyPoint2Point : public btMultiBodyConstraint
 {
 protected:
-
-	btRigidBody*	m_rigidBodyA;
-	btRigidBody*	m_rigidBodyB;
-	btVector3		m_pivotInA;
-	btVector3		m_pivotInB;
-
+	btRigidBody* m_rigidBodyA;
+	btRigidBody* m_rigidBodyB;
+	btVector3 m_pivotInA;
+	btVector3 m_pivotInB;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
-	btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
+	btMultiBodyPoint2Point(btMultiBody * body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
+	btMultiBodyPoint2Point(btMultiBody * bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
 
 	virtual ~btMultiBodyPoint2Point();
 
@@ -46,9 +44,9 @@ public:
 	virtual int getIslandIdA() const;
 	virtual int getIslandIdB() const;
 
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal);
+	virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
+									  btMultiBodyJacobianData & data,
+									  const btContactSolverInfo& infoGlobal);
 
 	const btVector3& getPivotInB() const
 	{
@@ -60,9 +58,7 @@ public:
 		m_pivotInB = pivotInB;
 	}
 
-
-	virtual void debugDraw(class btIDebugDraw* drawer);
-
+	virtual void debugDraw(class btIDebugDraw * drawer);
 };
 
-#endif //BT_MULTIBODY_POINT2POINT_H
+#endif  //BT_MULTIBODY_POINT2POINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
index 3b64b8183f..e025302ce6 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
@@ -25,29 +25,29 @@ subject to the following restrictions:
 #define EPSILON 0.000001
 
 btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
-	:btMultiBodyConstraint(body,0,link,-1,BTMBSLIDERCONSTRAINT_DIM,false),
-	m_rigidBodyA(0),
-	m_rigidBodyB(bodyB),
-	m_pivotInA(pivotInA),
-	m_pivotInB(pivotInB),
-    m_frameInA(frameInA),
-    m_frameInB(frameInB),
-    m_jointAxis(jointAxis)
+	: btMultiBodyConstraint(body, 0, link, -1, BTMBSLIDERCONSTRAINT_DIM, false),
+	  m_rigidBodyA(0),
+	  m_rigidBodyB(bodyB),
+	  m_pivotInA(pivotInA),
+	  m_pivotInB(pivotInB),
+	  m_frameInA(frameInA),
+	  m_frameInB(frameInB),
+	  m_jointAxis(jointAxis)
 {
-    m_data.resize(BTMBSLIDERCONSTRAINT_DIM);//at least store the applied impulses
+	m_data.resize(BTMBSLIDERCONSTRAINT_DIM);  //at least store the applied impulses
 }
 
 btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)
-	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,BTMBSLIDERCONSTRAINT_DIM,false),
-	m_rigidBodyA(0),
-	m_rigidBodyB(0),
-	m_pivotInA(pivotInA),
-	m_pivotInB(pivotInB),
-    m_frameInA(frameInA),
-    m_frameInB(frameInB),
-    m_jointAxis(jointAxis)
+	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBSLIDERCONSTRAINT_DIM, false),
+	  m_rigidBodyA(0),
+	  m_rigidBodyB(0),
+	  m_pivotInA(pivotInA),
+	  m_pivotInB(pivotInB),
+	  m_frameInA(frameInA),
+	  m_frameInB(frameInB),
+	  m_jointAxis(jointAxis)
 {
-    m_data.resize(BTMBSLIDERCONSTRAINT_DIM);//at least store the applied impulses
+	m_data.resize(BTMBSLIDERCONSTRAINT_DIM);  //at least store the applied impulses
 }
 
 void btMultiBodySliderConstraint::finalizeMultiDof()
@@ -60,7 +60,6 @@ btMultiBodySliderConstraint::~btMultiBodySliderConstraint()
 {
 }
 
-
 int btMultiBodySliderConstraint::getIslandIdA() const
 {
 	if (m_rigidBodyA)
@@ -68,13 +67,16 @@ int btMultiBodySliderConstraint::getIslandIdA() const
 
 	if (m_bodyA)
 	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-		for (int i=0;i<m_bodyA->getNumLinks();i++)
+		if (m_linkA < 0)
+		{
+			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+			if (col)
+				return col->getIslandTag();
+		}
+		else
 		{
-			if (m_bodyA->getLink(i).m_collider)
-				return m_bodyA->getLink(i).m_collider->getIslandTag();
+			if (m_bodyA->getLink(m_linkA).m_collider)
+				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
 		}
 	}
 	return -1;
@@ -86,114 +88,116 @@ int btMultiBodySliderConstraint::getIslandIdB() const
 		return m_rigidBodyB->getIslandTag();
 	if (m_bodyB)
 	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-
-		for (int i=0;i<m_bodyB->getNumLinks();i++)
+		if (m_linkB < 0)
 		{
-			col = m_bodyB->getLink(i).m_collider;
+			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
 			if (col)
 				return col->getIslandTag();
 		}
+		else
+		{
+			if (m_bodyB->getLink(m_linkB).m_collider)
+				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
 	}
 	return -1;
 }
-
 void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
 {
-    // Convert local points back to world
-    btVector3 pivotAworld = m_pivotInA;
-    btMatrix3x3 frameAworld = m_frameInA;
-    btVector3 jointAxis = m_jointAxis;
-    if (m_rigidBodyA)
-    {
-        pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
-        frameAworld = m_frameInA.transpose()*btMatrix3x3(m_rigidBodyA->getOrientation());
-        jointAxis = quatRotate(m_rigidBodyA->getOrientation(),m_jointAxis);
-        
-    } else if (m_bodyA) {
-        pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-        frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA);
-        jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis);
-    }
-    btVector3 pivotBworld = m_pivotInB;
-    btMatrix3x3 frameBworld = m_frameInB;
-    if (m_rigidBodyB)
-    {
-        pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
-        frameBworld = m_frameInB.transpose()*btMatrix3x3(m_rigidBodyB->getOrientation());
-        
-    } else if (m_bodyB) {
-        pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-        frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB);
-    }
-    
-    btVector3 constraintAxis[2];
-    for (int i = 0; i < 3; ++i)
-    {
-        constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis);
-        if (constraintAxis[0].safeNorm() > EPSILON)
-        {
-            constraintAxis[0] = constraintAxis[0].normalized();
-            constraintAxis[1] = jointAxis.cross(constraintAxis[0]);
-            constraintAxis[1] = constraintAxis[1].normalized();
-            break;
-        }
-    }
-    
-    btMatrix3x3 relRot = frameAworld.inverse()*frameBworld;
-    btVector3 angleDiff;
-    btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot,angleDiff);
-    
-    int numDim = BTMBSLIDERCONSTRAINT_DIM;
-    for (int i=0;i<numDim;i++)
+	// Convert local points back to world
+	btVector3 pivotAworld = m_pivotInA;
+	btMatrix3x3 frameAworld = m_frameInA;
+	btVector3 jointAxis = m_jointAxis;
+	if (m_rigidBodyA)
+	{
+		pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
+		frameAworld = m_frameInA.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
+		jointAxis = quatRotate(m_rigidBodyA->getOrientation(), m_jointAxis);
+	}
+	else if (m_bodyA)
+	{
+		pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
+		frameAworld = m_bodyA->localFrameToWorld(m_linkA, m_frameInA);
+		jointAxis = m_bodyA->localDirToWorld(m_linkA, m_jointAxis);
+	}
+	btVector3 pivotBworld = m_pivotInB;
+	btMatrix3x3 frameBworld = m_frameInB;
+	if (m_rigidBodyB)
+	{
+		pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
+		frameBworld = m_frameInB.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
+	}
+	else if (m_bodyB)
 	{
-        btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-        constraintRow.m_orgConstraint = this;
-        constraintRow.m_orgDofIndex = i;
-        constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
-        constraintRow.m_contactNormal1.setValue(0,0,0);
-        constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
-        constraintRow.m_contactNormal2.setValue(0,0,0);
-        constraintRow.m_angularComponentA.setValue(0,0,0);
-        constraintRow.m_angularComponentB.setValue(0,0,0);
-        
-        constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-        constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-        
-        if (m_rigidBodyA)
-        {
-            constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-        }
-        if (m_rigidBodyB)
-        {
-            constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-        }
-        
-        btVector3 constraintNormalLin(0,0,0);
-        btVector3 constraintNormalAng(0,0,0);
-        btScalar posError = 0.0;
-        if (i < 2) {
-            constraintNormalLin = constraintAxis[i];
-            posError = (pivotAworld-pivotBworld).dot(constraintNormalLin);
-            fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-                                    constraintNormalLin, pivotAworld, pivotBworld,
-                                    posError,
-                                    infoGlobal,
-                                    -m_maxAppliedImpulse, m_maxAppliedImpulse
-                                    );
-        }
-        else { //i>=2
-            constraintNormalAng = frameAworld.getColumn(i%3);
-            posError = angleDiff[i%3];
-            fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-                                    constraintNormalLin, pivotAworld, pivotBworld,
-                                    posError,
-                                    infoGlobal,
-                                    -m_maxAppliedImpulse, m_maxAppliedImpulse, true
-                                    );
-        }
+		pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
+		frameBworld = m_bodyB->localFrameToWorld(m_linkB, m_frameInB);
+	}
+
+	btVector3 constraintAxis[2];
+	for (int i = 0; i < 3; ++i)
+	{
+		constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis);
+		if (constraintAxis[0].safeNorm() > EPSILON)
+		{
+			constraintAxis[0] = constraintAxis[0].normalized();
+			constraintAxis[1] = jointAxis.cross(constraintAxis[0]);
+			constraintAxis[1] = constraintAxis[1].normalized();
+			break;
+		}
+	}
+
+	btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
+	btVector3 angleDiff;
+	btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);
+
+	int numDim = BTMBSLIDERCONSTRAINT_DIM;
+	for (int i = 0; i < numDim; i++)
+	{
+		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+		constraintRow.m_orgConstraint = this;
+		constraintRow.m_orgDofIndex = i;
+		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
+		constraintRow.m_contactNormal1.setValue(0, 0, 0);
+		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
+		constraintRow.m_contactNormal2.setValue(0, 0, 0);
+		constraintRow.m_angularComponentA.setValue(0, 0, 0);
+		constraintRow.m_angularComponentB.setValue(0, 0, 0);
+
+		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
+		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
+
+		if (m_rigidBodyA)
+		{
+			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
+		}
+		if (m_rigidBodyB)
+		{
+			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
+		}
+
+		btVector3 constraintNormalLin(0, 0, 0);
+		btVector3 constraintNormalAng(0, 0, 0);
+		btScalar posError = 0.0;
+		if (i < 2)
+		{
+			constraintNormalLin = constraintAxis[i];
+			posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
+			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+									constraintNormalLin, pivotAworld, pivotBworld,
+									posError,
+									infoGlobal,
+									-m_maxAppliedImpulse, m_maxAppliedImpulse);
+		}
+		else
+		{  //i>=2
+			constraintNormalAng = frameAworld.getColumn(i % 3);
+			posError = angleDiff[i % 3];
+			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+									constraintNormalLin, pivotAworld, pivotBworld,
+									posError,
+									infoGlobal,
+									-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
+		}
 	}
 }
 
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h
index 0a6cf3df12..b192b6f8f3 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h
@@ -23,17 +23,15 @@ subject to the following restrictions:
 class btMultiBodySliderConstraint : public btMultiBodyConstraint
 {
 protected:
-
-	btRigidBody*	m_rigidBodyA;
-	btRigidBody*	m_rigidBodyB;
-	btVector3		m_pivotInA;
-	btVector3		m_pivotInB;
-    btMatrix3x3     m_frameInA;
-    btMatrix3x3     m_frameInB;
-    btVector3       m_jointAxis;
+	btRigidBody* m_rigidBodyA;
+	btRigidBody* m_rigidBodyB;
+	btVector3 m_pivotInA;
+	btVector3 m_pivotInB;
+	btMatrix3x3 m_frameInA;
+	btMatrix3x3 m_frameInB;
+	btVector3 m_jointAxis;
 
 public:
-
 	btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
 	btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
 
@@ -45,18 +43,18 @@ public:
 	virtual int getIslandIdB() const;
 
 	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal);
-
-    const btVector3& getPivotInA() const
-    {
-        return m_pivotInA;
-    }
-    
-    void setPivotInA(const btVector3& pivotInA)
-    {
-        m_pivotInA = pivotInA;
-    }
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
+
+	const btVector3& getPivotInA() const
+	{
+		return m_pivotInA;
+	}
+
+	void setPivotInA(const btVector3& pivotInA)
+	{
+		m_pivotInA = pivotInA;
+	}
 
 	const btVector3& getPivotInB() const
 	{
@@ -67,39 +65,38 @@ public:
 	{
 		m_pivotInB = pivotInB;
 	}
-    
-    const btMatrix3x3& getFrameInA() const
-    {
-        return m_frameInA;
-    }
-    
-    void setFrameInA(const btMatrix3x3& frameInA)
-    {
-        m_frameInA = frameInA;
-    }
-    
-    const btMatrix3x3& getFrameInB() const
-    {
-        return m_frameInB;
-    }
-    
-    virtual void setFrameInB(const btMatrix3x3& frameInB)
-    {
-        m_frameInB = frameInB;
-    }
-    
-    const btVector3& getJointAxis() const
-    {
-        return m_jointAxis;
-    }
-    
-    void setJointAxis(const btVector3& jointAxis)
-    {
-        m_jointAxis = jointAxis;
-    }
 
-	virtual void debugDraw(class btIDebugDraw* drawer);
+	const btMatrix3x3& getFrameInA() const
+	{
+		return m_frameInA;
+	}
+
+	void setFrameInA(const btMatrix3x3& frameInA)
+	{
+		m_frameInA = frameInA;
+	}
 
+	const btMatrix3x3& getFrameInB() const
+	{
+		return m_frameInB;
+	}
+
+	virtual void setFrameInB(const btMatrix3x3& frameInB)
+	{
+		m_frameInB = frameInB;
+	}
+
+	const btVector3& getJointAxis() const
+	{
+		return m_jointAxis;
+	}
+
+	void setJointAxis(const btVector3& jointAxis)
+	{
+		m_jointAxis = jointAxis;
+	}
+
+	virtual void debugDraw(class btIDebugDraw* drawer);
 };
 
-#endif //BT_MULTIBODY_SLIDER_CONSTRAINT_H
+#endif  //BT_MULTIBODY_SLIDER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
index 6fa1550e9e..deed3e2a12 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
@@ -25,66 +25,66 @@ class btMultiBodyConstraint;
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16 (struct)	btMultiBodySolverConstraint
+ATTRIBUTE_ALIGNED16(struct)
+btMultiBodySolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1)
-	{}
-
-	int				m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
-	int				m_jacAindex;
-	int				m_deltaVelBindex;
-	int				m_jacBindex;
-
-	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal1;	
-	btVector3		m_relpos2CrossNormal;
-	btVector3		m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
-	
-
-	btVector3		m_angularComponentA;
-	btVector3		m_angularComponentB;
-	
-	mutable btSimdScalar	m_appliedPushImpulse;
-	mutable btSimdScalar	m_appliedImpulse;
-
-	btScalar	m_friction;
-	btScalar	m_jacDiagABInv;
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	
-    btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-	btScalar		m_rhsPenetration;
-    union
+	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1), m_orgConstraint(0), m_orgDofIndex(-1)
 	{
-		void*		m_originalContactPoint;
-		btScalar	m_unusedPadding4;
+	}
+
+	int m_deltaVelAindex;  //more generic version of m_relpos1CrossNormal/m_contactNormal1
+	int m_jacAindex;
+	int m_deltaVelBindex;
+	int m_jacBindex;
+
+	btVector3 m_relpos1CrossNormal;
+	btVector3 m_contactNormal1;
+	btVector3 m_relpos2CrossNormal;
+	btVector3 m_contactNormal2;  //usually m_contactNormal2 == -m_contactNormal1, but not always
+
+	btVector3 m_angularComponentA;
+	btVector3 m_angularComponentB;
+
+	mutable btSimdScalar m_appliedPushImpulse;
+	mutable btSimdScalar m_appliedImpulse;
+
+	btScalar m_friction;
+	btScalar m_jacDiagABInv;
+	btScalar m_rhs;
+	btScalar m_cfm;
+
+	btScalar m_lowerLimit;
+	btScalar m_upperLimit;
+	btScalar m_rhsPenetration;
+	union {
+		void* m_originalContactPoint;
+		btScalar m_unusedPadding4;
 	};
 
-	int	m_overrideNumSolverIterations;
-    int			m_frictionIndex;
+	int m_overrideNumSolverIterations;
+	int m_frictionIndex;
 
 	int m_solverBodyIdA;
 	btMultiBody* m_multiBodyA;
-	int			m_linkA;
-	
+	int m_linkA;
+
 	int m_solverBodyIdB;
 	btMultiBody* m_multiBodyB;
-	int			m_linkB;
+	int m_linkB;
 
 	//for writing back applied impulses
-	btMultiBodyConstraint*	m_orgConstraint;
+	btMultiBodyConstraint* m_orgConstraint;
 	int m_orgDofIndex;
 
-	enum		btSolverConstraintType
+	enum btSolverConstraintType
 	{
 		BT_SOLVER_CONTACT_1D = 0,
 		BT_SOLVER_FRICTION_1D
 	};
 };
 
-typedef btAlignedObjectArray<btMultiBodySolverConstraint>	btMultiBodyConstraintArray;
+typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;
 
-#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
+#endif  //BT_MULTIBODY_SOLVER_CONSTRAINT_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
new file mode 100644
index 0000000000..3e5aa30f28
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
@@ -0,0 +1,172 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#include "btMultiBodySphericalJointMotor.h"
+#include "btMultiBody.h"
+#include "btMultiBodyLinkCollider.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "LinearMath/btTransformUtil.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
+
+btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse)
+	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true),
+	m_desiredVelocity(0, 0, 0),
+	m_desiredPosition(0,0,0,1),
+	m_kd(1.),
+	m_kp(0.2),
+	m_erp(1),
+	m_rhsClamp(SIMD_INFINITY)
+{
+
+	m_maxAppliedImpulse = maxMotorImpulse;
+}
+
+
+void btMultiBodySphericalJointMotor::finalizeMultiDof()
+{
+	allocateJacobiansMultiDof();
+	// note: we rely on the fact that data.m_jacobians are
+	// always initialized to zero by the Constraint ctor
+	int linkDoF = 0;
+	unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
+
+	// row 0: the lower bound
+	// row 0: the lower bound
+	jacobianA(0)[offset] = 1;
+
+	m_numDofsFinalized = m_jacSizeBoth;
+}
+
+
+btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor()
+{
+}
+
+int btMultiBodySphericalJointMotor::getIslandIdA() const
+{
+	if (this->m_linkA < 0)
+	{
+		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+	}
+	else
+	{
+		if (m_bodyA->getLink(m_linkA).m_collider)
+		{
+			return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
+		}
+	}
+	return -1;
+}
+
+int btMultiBodySphericalJointMotor::getIslandIdB() const
+{
+	if (m_linkB < 0)
+	{
+		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+	}
+	else
+	{
+		if (m_bodyB->getLink(m_linkB).m_collider)
+		{
+			return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
+	}
+	return -1;
+}
+
+void btMultiBodySphericalJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+												 btMultiBodyJacobianData& data,
+												 const btContactSolverInfo& infoGlobal)
+{
+	// only positions need to be updated -- data.m_jacobians and force
+	// directions were set in the ctor and never change.
+
+	if (m_numDofsFinalized != m_jacSizeBoth)
+	{
+		finalizeMultiDof();
+	}
+
+	//don't crash
+	if (m_numDofsFinalized != m_jacSizeBoth)
+		return;
+	
+
+	if (m_maxAppliedImpulse == 0.f)
+		return;
+
+	const btScalar posError = 0;
+	const btVector3 dummy(0, 0, 0);
+
+	
+	btVector3 axis[3] = { btVector3(1, 0, 0), btVector3(0, 1, 0), btVector3(0, 0, 1) };
+	
+	btQuaternion desiredQuat = m_desiredPosition;
+	btQuaternion currentQuat(m_bodyA->getJointPosMultiDof(m_linkA)[0],
+		m_bodyA->getJointPosMultiDof(m_linkA)[1],
+		m_bodyA->getJointPosMultiDof(m_linkA)[2],
+		m_bodyA->getJointPosMultiDof(m_linkA)[3]);
+
+btQuaternion relRot = currentQuat.inverse() * desiredQuat;
+	btVector3 angleDiff;
+	btGeneric6DofSpring2Constraint::matrixToEulerXYZ(btMatrix3x3(relRot), angleDiff);
+
+
+
+	for (int row = 0; row < getNumRows(); row++)
+	{
+		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+
+		int dof = row;
+		
+		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
+		btScalar desiredVelocity = this->m_desiredVelocity[row];
+		
+		btScalar velocityError = desiredVelocity - currentVelocity;
+
+		btMatrix3x3 frameAworld;
+		frameAworld.setIdentity();
+		frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
+		btScalar posError = 0;
+		{
+			btAssert(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eSpherical);
+			switch (m_bodyA->getLink(m_linkA).m_jointType)
+			{
+				case btMultibodyLink::eSpherical:
+				{
+					btVector3 constraintNormalAng = frameAworld.getColumn(row % 3);
+					posError = m_kp*angleDiff[row % 3];
+					fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+						btVector3(0,0,0), dummy, dummy,
+						posError,
+						infoGlobal,
+						-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
+					constraintRow.m_orgConstraint = this;
+					constraintRow.m_orgDofIndex = row;
+					break;
+				}
+				default:
+				{
+					btAssert(0);
+				}
+			};
+		}
+	}
+}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
new file mode 100644
index 0000000000..621beab5a4
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
@@ -0,0 +1,77 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#ifndef BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
+#define BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
+
+#include "btMultiBodyConstraint.h"
+struct btSolverInfo;
+
+class btMultiBodySphericalJointMotor : public btMultiBodyConstraint
+{
+protected:
+	btVector3 m_desiredVelocity;
+	btQuaternion m_desiredPosition;
+	btScalar m_kd;
+	btScalar m_kp;
+	btScalar m_erp;
+	btScalar m_rhsClamp;  //maximum error
+
+public:
+	btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse);
+	
+	virtual ~btMultiBodySphericalJointMotor();
+	virtual void finalizeMultiDof();
+
+	virtual int getIslandIdA() const;
+	virtual int getIslandIdB() const;
+
+	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
+
+	virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.f)
+	{
+		m_desiredVelocity = velTarget;
+		m_kd = kd;
+	}
+
+	virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp = 1.f)
+	{
+		m_desiredPosition = posTarget;
+		m_kp = kp;
+	}
+
+	virtual void setErp(btScalar erp)
+	{
+		m_erp = erp;
+	}
+	virtual btScalar getErp() const
+	{
+		return m_erp;
+	}
+	virtual void setRhsClamp(btScalar rhsClamp)
+	{
+		m_rhsClamp = rhsClamp;
+	}
+	virtual void debugDraw(class btIDebugDraw* drawer)
+	{
+		//todo(erwincoumans)
+	}
+};
+
+#endif  //BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
index 986f214870..98ecdc0794 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
@@ -108,18 +108,16 @@ rows/columns and manipulate C.
 
 */
 
-
 #include "btDantzigLCP.h"
 
-#include <string.h>//memcpy
+#include <string.h>  //memcpy
 
 bool s_error = false;
 
 //***************************************************************************
 // code generation parameters
 
-
-#define btLCP_FAST		// use fast btLCP object
+#define btLCP_FAST  // use fast btLCP object
 
 // option 1 : matrix row pointers (less data copying)
 #define BTROWPTRS
@@ -133,8 +131,6 @@ bool s_error = false;
 
 #define BTNUB_OPTIMIZATIONS
 
-
-
 /* solve L*X=B, with B containing 1 right hand sides.
  * L is an n*n lower triangular matrix with ones on the diagonal.
  * L is stored by rows and its leading dimension is lskip.
@@ -145,66 +141,69 @@ bool s_error = false;
  * if this is in the factorizer source file, n must be a multiple of 2.
  */
 
-static void btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  btScalar Z11,m11,Z21,m21,p1,q1,p2,*ex;
-  const btScalar *ell;
-  int i,j;
-  /* compute all 2 x 1 blocks of X */
-  for (i=0; i < n; i+=2) {
-    /* compute all 2 x 1 block of X, from rows i..i+2-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-2; j >= 0; j -= 2) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      Z11 += m11;
-      Z21 += m21;
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[1];
-      q1=ex[1];
-      m11 = p1 * q1;
-      p2=ell[1+lskip1];
-      m21 = p2 * q1;
-      /* advance pointers */
-      ell += 2;
-      ex += 2;
-      Z11 += m11;
-      Z21 += m21;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 2;
-    for (; j > 0; j--) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-      Z11 += m11;
-      Z21 += m21;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    /* end of outer loop */
-  }
+static void btSolveL1_1(const btScalar *L, btScalar *B, int n, int lskip1)
+{
+	/* declare variables - Z matrix, p and q vectors, etc */
+	btScalar Z11, m11, Z21, m21, p1, q1, p2, *ex;
+	const btScalar *ell;
+	int i, j;
+	/* compute all 2 x 1 blocks of X */
+	for (i = 0; i < n; i += 2)
+	{
+		/* compute all 2 x 1 block of X, from rows i..i+2-1 */
+		/* set the Z matrix to 0 */
+		Z11 = 0;
+		Z21 = 0;
+		ell = L + i * lskip1;
+		ex = B;
+		/* the inner loop that computes outer products and adds them to Z */
+		for (j = i - 2; j >= 0; j -= 2)
+		{
+			/* compute outer product and add it to the Z matrix */
+			p1 = ell[0];
+			q1 = ex[0];
+			m11 = p1 * q1;
+			p2 = ell[lskip1];
+			m21 = p2 * q1;
+			Z11 += m11;
+			Z21 += m21;
+			/* compute outer product and add it to the Z matrix */
+			p1 = ell[1];
+			q1 = ex[1];
+			m11 = p1 * q1;
+			p2 = ell[1 + lskip1];
+			m21 = p2 * q1;
+			/* advance pointers */
+			ell += 2;
+			ex += 2;
+			Z11 += m11;
+			Z21 += m21;
+			/* end of inner loop */
+		}
+		/* compute left-over iterations */
+		j += 2;
+		for (; j > 0; j--)
+		{
+			/* compute outer product and add it to the Z matrix */
+			p1 = ell[0];
+			q1 = ex[0];
+			m11 = p1 * q1;
+			p2 = ell[lskip1];
+			m21 = p2 * q1;
+			/* advance pointers */
+			ell += 1;
+			ex += 1;
+			Z11 += m11;
+			Z21 += m21;
+		}
+		/* finish computing the X(i) block */
+		Z11 = ex[0] - Z11;
+		ex[0] = Z11;
+		p1 = ell[lskip1];
+		Z21 = ex[1] - Z21 - p1 * Z11;
+		ex[1] = Z21;
+		/* end of outer loop */
+	}
 }
 
 /* solve L*X=B, with B containing 2 right hand sides.
@@ -217,300 +216,308 @@ static void btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1)
  * if this is in the factorizer source file, n must be a multiple of 2.
  */
 
-static void btSolveL1_2 (const btScalar *L, btScalar *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  btScalar Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex;
-  const btScalar *ell;
-  int i,j;
-  /* compute all 2 x 2 blocks of X */
-  for (i=0; i < n; i+=2) {
-    /* compute all 2 x 2 block of X, from rows i..i+2-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z12=0;
-    Z21=0;
-    Z22=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-2; j >= 0; j -= 2) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      q2=ex[lskip1];
-      m12 = p1 * q2;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[1];
-      q1=ex[1];
-      m11 = p1 * q1;
-      q2=ex[1+lskip1];
-      m12 = p1 * q2;
-      p2=ell[1+lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      /* advance pointers */
-      ell += 2;
-      ex += 2;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 2;
-    for (; j > 0; j--) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      q2=ex[lskip1];
-      m12 = p1 * q2;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    Z12 = ex[lskip1] - Z12;
-    ex[lskip1] = Z12;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    Z22 = ex[1+lskip1] - Z22 - p1*Z12;
-    ex[1+lskip1] = Z22;
-    /* end of outer loop */
-  }
+static void btSolveL1_2(const btScalar *L, btScalar *B, int n, int lskip1)
+{
+	/* declare variables - Z matrix, p and q vectors, etc */
+	btScalar Z11, m11, Z12, m12, Z21, m21, Z22, m22, p1, q1, p2, q2, *ex;
+	const btScalar *ell;
+	int i, j;
+	/* compute all 2 x 2 blocks of X */
+	for (i = 0; i < n; i += 2)
+	{
+		/* compute all 2 x 2 block of X, from rows i..i+2-1 */
+		/* set the Z matrix to 0 */
+		Z11 = 0;
+		Z12 = 0;
+		Z21 = 0;
+		Z22 = 0;
+		ell = L + i * lskip1;
+		ex = B;
+		/* the inner loop that computes outer products and adds them to Z */
+		for (j = i - 2; j >= 0; j -= 2)
+		{
+			/* compute outer product and add it to the Z matrix */
+			p1 = ell[0];
+			q1 = ex[0];
+			m11 = p1 * q1;
+			q2 = ex[lskip1];
+			m12 = p1 * q2;
+			p2 = ell[lskip1];
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z12 += m12;
+			Z21 += m21;
+			Z22 += m22;
+			/* compute outer product and add it to the Z matrix */
+			p1 = ell[1];
+			q1 = ex[1];
+			m11 = p1 * q1;
+			q2 = ex[1 + lskip1];
+			m12 = p1 * q2;
+			p2 = ell[1 + lskip1];
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			/* advance pointers */
+			ell += 2;
+			ex += 2;
+			Z11 += m11;
+			Z12 += m12;
+			Z21 += m21;
+			Z22 += m22;
+			/* end of inner loop */
+		}
+		/* compute left-over iterations */
+		j += 2;
+		for (; j > 0; j--)
+		{
+			/* compute outer product and add it to the Z matrix */
+			p1 = ell[0];
+			q1 = ex[0];
+			m11 = p1 * q1;
+			q2 = ex[lskip1];
+			m12 = p1 * q2;
+			p2 = ell[lskip1];
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			/* advance pointers */
+			ell += 1;
+			ex += 1;
+			Z11 += m11;
+			Z12 += m12;
+			Z21 += m21;
+			Z22 += m22;
+		}
+		/* finish computing the X(i) block */
+		Z11 = ex[0] - Z11;
+		ex[0] = Z11;
+		Z12 = ex[lskip1] - Z12;
+		ex[lskip1] = Z12;
+		p1 = ell[lskip1];
+		Z21 = ex[1] - Z21 - p1 * Z11;
+		ex[1] = Z21;
+		Z22 = ex[1 + lskip1] - Z22 - p1 * Z12;
+		ex[1 + lskip1] = Z22;
+		/* end of outer loop */
+	}
 }
 
+void btFactorLDLT(btScalar *A, btScalar *d, int n, int nskip1)
+{
+	int i, j;
+	btScalar sum, *ell, *dee, dd, p1, p2, q1, q2, Z11, m11, Z21, m21, Z22, m22;
+	if (n < 1) return;
 
-void btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1)
-{  
-  int i,j;
-  btScalar sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22;
-  if (n < 1) return;
-  
-  for (i=0; i<=n-2; i += 2) {
-    /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
-    btSolveL1_2 (A,A+i*nskip1,i,nskip1);
-    /* scale the elements in a 2 x i block at A(i,0), and also */
-    /* compute Z = the outer product matrix that we'll need. */
-    Z11 = 0;
-    Z21 = 0;
-    Z22 = 0;
-    ell = A+i*nskip1;
-    dee = d;
-    for (j=i-6; j >= 0; j -= 6) {
-      p1 = ell[0];
-      p2 = ell[nskip1];
-      dd = dee[0];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[0] = q1;
-      ell[nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[1];
-      p2 = ell[1+nskip1];
-      dd = dee[1];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[1] = q1;
-      ell[1+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[2];
-      p2 = ell[2+nskip1];
-      dd = dee[2];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[2] = q1;
-      ell[2+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[3];
-      p2 = ell[3+nskip1];
-      dd = dee[3];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[3] = q1;
-      ell[3+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[4];
-      p2 = ell[4+nskip1];
-      dd = dee[4];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[4] = q1;
-      ell[4+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[5];
-      p2 = ell[5+nskip1];
-      dd = dee[5];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[5] = q1;
-      ell[5+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      ell += 6;
-      dee += 6;
-    }
-    /* compute left-over iterations */
-    j += 6;
-    for (; j > 0; j--) {
-      p1 = ell[0];
-      p2 = ell[nskip1];
-      dd = dee[0];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[0] = q1;
-      ell[nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      ell++;
-      dee++;
-    }
-    /* solve for diagonal 2 x 2 block at A(i,i) */
-    Z11 = ell[0] - Z11;
-    Z21 = ell[nskip1] - Z21;
-    Z22 = ell[1+nskip1] - Z22;
-    dee = d + i;
-    /* factorize 2 x 2 block Z,dee */
-    /* factorize row 1 */
-    dee[0] = btRecip(Z11);
-    /* factorize row 2 */
-    sum = 0;
-    q1 = Z21;
-    q2 = q1 * dee[0];
-    Z21 = q2;
-    sum += q1*q2;
-    dee[1] = btRecip(Z22 - sum);
-    /* done factorizing 2 x 2 block */
-    ell[nskip1] = Z21;
-  }
-  /* compute the (less than 2) rows at the bottom */
-  switch (n-i) {
-    case 0:
-    break;
-    
-    case 1:
-    btSolveL1_1 (A,A+i*nskip1,i,nskip1);
-    /* scale the elements in a 1 x i block at A(i,0), and also */
-    /* compute Z = the outer product matrix that we'll need. */
-    Z11 = 0;
-    ell = A+i*nskip1;
-    dee = d;
-    for (j=i-6; j >= 0; j -= 6) {
-      p1 = ell[0];
-      dd = dee[0];
-      q1 = p1*dd;
-      ell[0] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[1];
-      dd = dee[1];
-      q1 = p1*dd;
-      ell[1] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[2];
-      dd = dee[2];
-      q1 = p1*dd;
-      ell[2] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[3];
-      dd = dee[3];
-      q1 = p1*dd;
-      ell[3] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[4];
-      dd = dee[4];
-      q1 = p1*dd;
-      ell[4] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[5];
-      dd = dee[5];
-      q1 = p1*dd;
-      ell[5] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      ell += 6;
-      dee += 6;
-    }
-    /* compute left-over iterations */
-    j += 6;
-    for (; j > 0; j--) {
-      p1 = ell[0];
-      dd = dee[0];
-      q1 = p1*dd;
-      ell[0] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      ell++;
-      dee++;
-    }
-    /* solve for diagonal 1 x 1 block at A(i,i) */
-    Z11 = ell[0] - Z11;
-    dee = d + i;
-    /* factorize 1 x 1 block Z,dee */
-    /* factorize row 1 */
-    dee[0] = btRecip(Z11);
-    /* done factorizing 1 x 1 block */
-    break;
-    
-    //default: *((char*)0)=0;  /* this should never happen! */
-  }
+	for (i = 0; i <= n - 2; i += 2)
+	{
+		/* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
+		btSolveL1_2(A, A + i * nskip1, i, nskip1);
+		/* scale the elements in a 2 x i block at A(i,0), and also */
+		/* compute Z = the outer product matrix that we'll need. */
+		Z11 = 0;
+		Z21 = 0;
+		Z22 = 0;
+		ell = A + i * nskip1;
+		dee = d;
+		for (j = i - 6; j >= 0; j -= 6)
+		{
+			p1 = ell[0];
+			p2 = ell[nskip1];
+			dd = dee[0];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[0] = q1;
+			ell[nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			p1 = ell[1];
+			p2 = ell[1 + nskip1];
+			dd = dee[1];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[1] = q1;
+			ell[1 + nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			p1 = ell[2];
+			p2 = ell[2 + nskip1];
+			dd = dee[2];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[2] = q1;
+			ell[2 + nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			p1 = ell[3];
+			p2 = ell[3 + nskip1];
+			dd = dee[3];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[3] = q1;
+			ell[3 + nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			p1 = ell[4];
+			p2 = ell[4 + nskip1];
+			dd = dee[4];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[4] = q1;
+			ell[4 + nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			p1 = ell[5];
+			p2 = ell[5 + nskip1];
+			dd = dee[5];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[5] = q1;
+			ell[5 + nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			ell += 6;
+			dee += 6;
+		}
+		/* compute left-over iterations */
+		j += 6;
+		for (; j > 0; j--)
+		{
+			p1 = ell[0];
+			p2 = ell[nskip1];
+			dd = dee[0];
+			q1 = p1 * dd;
+			q2 = p2 * dd;
+			ell[0] = q1;
+			ell[nskip1] = q2;
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m22 = p2 * q2;
+			Z11 += m11;
+			Z21 += m21;
+			Z22 += m22;
+			ell++;
+			dee++;
+		}
+		/* solve for diagonal 2 x 2 block at A(i,i) */
+		Z11 = ell[0] - Z11;
+		Z21 = ell[nskip1] - Z21;
+		Z22 = ell[1 + nskip1] - Z22;
+		dee = d + i;
+		/* factorize 2 x 2 block Z,dee */
+		/* factorize row 1 */
+		dee[0] = btRecip(Z11);
+		/* factorize row 2 */
+		sum = 0;
+		q1 = Z21;
+		q2 = q1 * dee[0];
+		Z21 = q2;
+		sum += q1 * q2;
+		dee[1] = btRecip(Z22 - sum);
+		/* done factorizing 2 x 2 block */
+		ell[nskip1] = Z21;
+	}
+	/* compute the (less than 2) rows at the bottom */
+	switch (n - i)
+	{
+		case 0:
+			break;
+
+		case 1:
+			btSolveL1_1(A, A + i * nskip1, i, nskip1);
+			/* scale the elements in a 1 x i block at A(i,0), and also */
+			/* compute Z = the outer product matrix that we'll need. */
+			Z11 = 0;
+			ell = A + i * nskip1;
+			dee = d;
+			for (j = i - 6; j >= 0; j -= 6)
+			{
+				p1 = ell[0];
+				dd = dee[0];
+				q1 = p1 * dd;
+				ell[0] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				p1 = ell[1];
+				dd = dee[1];
+				q1 = p1 * dd;
+				ell[1] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				p1 = ell[2];
+				dd = dee[2];
+				q1 = p1 * dd;
+				ell[2] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				p1 = ell[3];
+				dd = dee[3];
+				q1 = p1 * dd;
+				ell[3] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				p1 = ell[4];
+				dd = dee[4];
+				q1 = p1 * dd;
+				ell[4] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				p1 = ell[5];
+				dd = dee[5];
+				q1 = p1 * dd;
+				ell[5] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				ell += 6;
+				dee += 6;
+			}
+			/* compute left-over iterations */
+			j += 6;
+			for (; j > 0; j--)
+			{
+				p1 = ell[0];
+				dd = dee[0];
+				q1 = p1 * dd;
+				ell[0] = q1;
+				m11 = p1 * q1;
+				Z11 += m11;
+				ell++;
+				dee++;
+			}
+			/* solve for diagonal 1 x 1 block at A(i,i) */
+			Z11 = ell[0] - Z11;
+			dee = d + i;
+			/* factorize 1 x 1 block Z,dee */
+			/* factorize row 1 */
+			dee[0] = btRecip(Z11);
+			/* done factorizing 1 x 1 block */
+			break;
+
+			//default: *((char*)0)=0;  /* this should never happen! */
+	}
 }
 
 /* solve L*X=B, with B containing 1 right hand sides.
@@ -523,289 +530,295 @@ void btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1)
  * if this is in the factorizer source file, n must be a multiple of 4.
  */
 
-void btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  btScalar Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex;
-  const btScalar *ell;
-  int lskip2,lskip3,i,j;
-  /* compute lskip values */
-  lskip2 = 2*lskip1;
-  lskip3 = 3*lskip1;
-  /* compute all 4 x 1 blocks of X */
-  for (i=0; i <= n-4; i+=4) {
-    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    Z31=0;
-    Z41=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-12; j >= 0; j -= 12) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[lskip1];
-      p3=ell[lskip2];
-      p4=ell[lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[1];
-      q1=ex[1];
-      p2=ell[1+lskip1];
-      p3=ell[1+lskip2];
-      p4=ell[1+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[2];
-      q1=ex[2];
-      p2=ell[2+lskip1];
-      p3=ell[2+lskip2];
-      p4=ell[2+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[3];
-      q1=ex[3];
-      p2=ell[3+lskip1];
-      p3=ell[3+lskip2];
-      p4=ell[3+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[4];
-      q1=ex[4];
-      p2=ell[4+lskip1];
-      p3=ell[4+lskip2];
-      p4=ell[4+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[5];
-      q1=ex[5];
-      p2=ell[5+lskip1];
-      p3=ell[5+lskip2];
-      p4=ell[5+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[6];
-      q1=ex[6];
-      p2=ell[6+lskip1];
-      p3=ell[6+lskip2];
-      p4=ell[6+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[7];
-      q1=ex[7];
-      p2=ell[7+lskip1];
-      p3=ell[7+lskip2];
-      p4=ell[7+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[8];
-      q1=ex[8];
-      p2=ell[8+lskip1];
-      p3=ell[8+lskip2];
-      p4=ell[8+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[9];
-      q1=ex[9];
-      p2=ell[9+lskip1];
-      p3=ell[9+lskip2];
-      p4=ell[9+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[10];
-      q1=ex[10];
-      p2=ell[10+lskip1];
-      p3=ell[10+lskip2];
-      p4=ell[10+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[11];
-      q1=ex[11];
-      p2=ell[11+lskip1];
-      p3=ell[11+lskip2];
-      p4=ell[11+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* advance pointers */
-      ell += 12;
-      ex += 12;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 12;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[lskip1];
-      p3=ell[lskip2];
-      p4=ell[lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    p1 = ell[lskip2];
-    p2 = ell[1+lskip2];
-    Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21;
-    ex[2] = Z31;
-    p1 = ell[lskip3];
-    p2 = ell[1+lskip3];
-    p3 = ell[2+lskip3];
-    Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
-    ex[3] = Z41;
-    /* end of outer loop */
-  }
-  /* compute rows at end that are not a multiple of block size */
-  for (; i < n; i++) {
-    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-12; j >= 0; j -= 12) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[1];
-      q1=ex[1];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[2];
-      q1=ex[2];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[3];
-      q1=ex[3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[4];
-      q1=ex[4];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[5];
-      q1=ex[5];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[6];
-      q1=ex[6];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[7];
-      q1=ex[7];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[8];
-      q1=ex[8];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[9];
-      q1=ex[9];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[10];
-      q1=ex[10];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[11];
-      q1=ex[11];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* advance pointers */
-      ell += 12;
-      ex += 12;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 12;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-  }
+void btSolveL1(const btScalar *L, btScalar *B, int n, int lskip1)
+{
+	/* declare variables - Z matrix, p and q vectors, etc */
+	btScalar Z11, Z21, Z31, Z41, p1, q1, p2, p3, p4, *ex;
+	const btScalar *ell;
+	int lskip2, lskip3, i, j;
+	/* compute lskip values */
+	lskip2 = 2 * lskip1;
+	lskip3 = 3 * lskip1;
+	/* compute all 4 x 1 blocks of X */
+	for (i = 0; i <= n - 4; i += 4)
+	{
+		/* compute all 4 x 1 block of X, from rows i..i+4-1 */
+		/* set the Z matrix to 0 */
+		Z11 = 0;
+		Z21 = 0;
+		Z31 = 0;
+		Z41 = 0;
+		ell = L + i * lskip1;
+		ex = B;
+		/* the inner loop that computes outer products and adds them to Z */
+		for (j = i - 12; j >= 0; j -= 12)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			p2 = ell[lskip1];
+			p3 = ell[lskip2];
+			p4 = ell[lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[1];
+			q1 = ex[1];
+			p2 = ell[1 + lskip1];
+			p3 = ell[1 + lskip2];
+			p4 = ell[1 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[2];
+			q1 = ex[2];
+			p2 = ell[2 + lskip1];
+			p3 = ell[2 + lskip2];
+			p4 = ell[2 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[3];
+			q1 = ex[3];
+			p2 = ell[3 + lskip1];
+			p3 = ell[3 + lskip2];
+			p4 = ell[3 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[4];
+			q1 = ex[4];
+			p2 = ell[4 + lskip1];
+			p3 = ell[4 + lskip2];
+			p4 = ell[4 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[5];
+			q1 = ex[5];
+			p2 = ell[5 + lskip1];
+			p3 = ell[5 + lskip2];
+			p4 = ell[5 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[6];
+			q1 = ex[6];
+			p2 = ell[6 + lskip1];
+			p3 = ell[6 + lskip2];
+			p4 = ell[6 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[7];
+			q1 = ex[7];
+			p2 = ell[7 + lskip1];
+			p3 = ell[7 + lskip2];
+			p4 = ell[7 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[8];
+			q1 = ex[8];
+			p2 = ell[8 + lskip1];
+			p3 = ell[8 + lskip2];
+			p4 = ell[8 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[9];
+			q1 = ex[9];
+			p2 = ell[9 + lskip1];
+			p3 = ell[9 + lskip2];
+			p4 = ell[9 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[10];
+			q1 = ex[10];
+			p2 = ell[10 + lskip1];
+			p3 = ell[10 + lskip2];
+			p4 = ell[10 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* load p and q values */
+			p1 = ell[11];
+			q1 = ex[11];
+			p2 = ell[11 + lskip1];
+			p3 = ell[11 + lskip2];
+			p4 = ell[11 + lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* advance pointers */
+			ell += 12;
+			ex += 12;
+			/* end of inner loop */
+		}
+		/* compute left-over iterations */
+		j += 12;
+		for (; j > 0; j--)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			p2 = ell[lskip1];
+			p3 = ell[lskip2];
+			p4 = ell[lskip3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			Z21 += p2 * q1;
+			Z31 += p3 * q1;
+			Z41 += p4 * q1;
+			/* advance pointers */
+			ell += 1;
+			ex += 1;
+		}
+		/* finish computing the X(i) block */
+		Z11 = ex[0] - Z11;
+		ex[0] = Z11;
+		p1 = ell[lskip1];
+		Z21 = ex[1] - Z21 - p1 * Z11;
+		ex[1] = Z21;
+		p1 = ell[lskip2];
+		p2 = ell[1 + lskip2];
+		Z31 = ex[2] - Z31 - p1 * Z11 - p2 * Z21;
+		ex[2] = Z31;
+		p1 = ell[lskip3];
+		p2 = ell[1 + lskip3];
+		p3 = ell[2 + lskip3];
+		Z41 = ex[3] - Z41 - p1 * Z11 - p2 * Z21 - p3 * Z31;
+		ex[3] = Z41;
+		/* end of outer loop */
+	}
+	/* compute rows at end that are not a multiple of block size */
+	for (; i < n; i++)
+	{
+		/* compute all 1 x 1 block of X, from rows i..i+1-1 */
+		/* set the Z matrix to 0 */
+		Z11 = 0;
+		ell = L + i * lskip1;
+		ex = B;
+		/* the inner loop that computes outer products and adds them to Z */
+		for (j = i - 12; j >= 0; j -= 12)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[1];
+			q1 = ex[1];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[2];
+			q1 = ex[2];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[3];
+			q1 = ex[3];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[4];
+			q1 = ex[4];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[5];
+			q1 = ex[5];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[6];
+			q1 = ex[6];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[7];
+			q1 = ex[7];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[8];
+			q1 = ex[8];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[9];
+			q1 = ex[9];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[10];
+			q1 = ex[10];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* load p and q values */
+			p1 = ell[11];
+			q1 = ex[11];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* advance pointers */
+			ell += 12;
+			ex += 12;
+			/* end of inner loop */
+		}
+		/* compute left-over iterations */
+		j += 12;
+		for (; j > 0; j--)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			/* compute outer product and add it to the Z matrix */
+			Z11 += p1 * q1;
+			/* advance pointers */
+			ell += 1;
+			ex += 1;
+		}
+		/* finish computing the X(i) block */
+		Z11 = ex[0] - Z11;
+		ex[0] = Z11;
+	}
 }
 
 /* solve L^T * x=b, with b containing 1 right hand side.
@@ -816,215 +829,218 @@ void btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1)
  * this processes blocks of 4.
  */
 
-void btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  btScalar Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex;
-  const btScalar *ell;
-  int lskip2,i,j;
-//  int lskip3;
-  /* special handling for L and B because we're solving L1 *transpose* */
-  L = L + (n-1)*(lskip1+1);
-  B = B + n-1;
-  lskip1 = -lskip1;
-  /* compute lskip values */
-  lskip2 = 2*lskip1;
-  //lskip3 = 3*lskip1;
-  /* compute all 4 x 1 blocks of X */
-  for (i=0; i <= n-4; i+=4) {
-    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    Z31=0;
-    Z41=0;
-    ell = L - i;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-4; j >= 0; j -= 4) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-1];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-2];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-3];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      ex -= 4;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 4;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      ex -= 1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[-1];
-    Z21 = ex[-1] - Z21 - p1*Z11;
-    ex[-1] = Z21;
-    p1 = ell[-2];
-    p2 = ell[-2+lskip1];
-    Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21;
-    ex[-2] = Z31;
-    p1 = ell[-3];
-    p2 = ell[-3+lskip1];
-    p3 = ell[-3+lskip2];
-    Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
-    ex[-3] = Z41;
-    /* end of outer loop */
-  }
-  /* compute rows at end that are not a multiple of block size */
-  for (; i < n; i++) {
-    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    ell = L - i;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-4; j >= 0; j -= 4) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-1];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-2];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      ex -= 4;
-      Z11 += m11;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 4;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      ex -= 1;
-      Z11 += m11;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-  }
+void btSolveL1T(const btScalar *L, btScalar *B, int n, int lskip1)
+{
+	/* declare variables - Z matrix, p and q vectors, etc */
+	btScalar Z11, m11, Z21, m21, Z31, m31, Z41, m41, p1, q1, p2, p3, p4, *ex;
+	const btScalar *ell;
+	int lskip2, i, j;
+	//  int lskip3;
+	/* special handling for L and B because we're solving L1 *transpose* */
+	L = L + (n - 1) * (lskip1 + 1);
+	B = B + n - 1;
+	lskip1 = -lskip1;
+	/* compute lskip values */
+	lskip2 = 2 * lskip1;
+	//lskip3 = 3*lskip1;
+	/* compute all 4 x 1 blocks of X */
+	for (i = 0; i <= n - 4; i += 4)
+	{
+		/* compute all 4 x 1 block of X, from rows i..i+4-1 */
+		/* set the Z matrix to 0 */
+		Z11 = 0;
+		Z21 = 0;
+		Z31 = 0;
+		Z41 = 0;
+		ell = L - i;
+		ex = B;
+		/* the inner loop that computes outer products and adds them to Z */
+		for (j = i - 4; j >= 0; j -= 4)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			p2 = ell[-1];
+			p3 = ell[-2];
+			p4 = ell[-3];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m31 = p3 * q1;
+			m41 = p4 * q1;
+			ell += lskip1;
+			Z11 += m11;
+			Z21 += m21;
+			Z31 += m31;
+			Z41 += m41;
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[-1];
+			p2 = ell[-1];
+			p3 = ell[-2];
+			p4 = ell[-3];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m31 = p3 * q1;
+			m41 = p4 * q1;
+			ell += lskip1;
+			Z11 += m11;
+			Z21 += m21;
+			Z31 += m31;
+			Z41 += m41;
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[-2];
+			p2 = ell[-1];
+			p3 = ell[-2];
+			p4 = ell[-3];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m31 = p3 * q1;
+			m41 = p4 * q1;
+			ell += lskip1;
+			Z11 += m11;
+			Z21 += m21;
+			Z31 += m31;
+			Z41 += m41;
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[-3];
+			p2 = ell[-1];
+			p3 = ell[-2];
+			p4 = ell[-3];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m31 = p3 * q1;
+			m41 = p4 * q1;
+			ell += lskip1;
+			ex -= 4;
+			Z11 += m11;
+			Z21 += m21;
+			Z31 += m31;
+			Z41 += m41;
+			/* end of inner loop */
+		}
+		/* compute left-over iterations */
+		j += 4;
+		for (; j > 0; j--)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			p2 = ell[-1];
+			p3 = ell[-2];
+			p4 = ell[-3];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			m21 = p2 * q1;
+			m31 = p3 * q1;
+			m41 = p4 * q1;
+			ell += lskip1;
+			ex -= 1;
+			Z11 += m11;
+			Z21 += m21;
+			Z31 += m31;
+			Z41 += m41;
+		}
+		/* finish computing the X(i) block */
+		Z11 = ex[0] - Z11;
+		ex[0] = Z11;
+		p1 = ell[-1];
+		Z21 = ex[-1] - Z21 - p1 * Z11;
+		ex[-1] = Z21;
+		p1 = ell[-2];
+		p2 = ell[-2 + lskip1];
+		Z31 = ex[-2] - Z31 - p1 * Z11 - p2 * Z21;
+		ex[-2] = Z31;
+		p1 = ell[-3];
+		p2 = ell[-3 + lskip1];
+		p3 = ell[-3 + lskip2];
+		Z41 = ex[-3] - Z41 - p1 * Z11 - p2 * Z21 - p3 * Z31;
+		ex[-3] = Z41;
+		/* end of outer loop */
+	}
+	/* compute rows at end that are not a multiple of block size */
+	for (; i < n; i++)
+	{
+		/* compute all 1 x 1 block of X, from rows i..i+1-1 */
+		/* set the Z matrix to 0 */
+		Z11 = 0;
+		ell = L - i;
+		ex = B;
+		/* the inner loop that computes outer products and adds them to Z */
+		for (j = i - 4; j >= 0; j -= 4)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			ell += lskip1;
+			Z11 += m11;
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[-1];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			ell += lskip1;
+			Z11 += m11;
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[-2];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			ell += lskip1;
+			Z11 += m11;
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[-3];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			ell += lskip1;
+			ex -= 4;
+			Z11 += m11;
+			/* end of inner loop */
+		}
+		/* compute left-over iterations */
+		j += 4;
+		for (; j > 0; j--)
+		{
+			/* load p and q values */
+			p1 = ell[0];
+			q1 = ex[0];
+			/* compute outer product and add it to the Z matrix */
+			m11 = p1 * q1;
+			ell += lskip1;
+			ex -= 1;
+			Z11 += m11;
+		}
+		/* finish computing the X(i) block */
+		Z11 = ex[0] - Z11;
+		ex[0] = Z11;
+	}
 }
 
-
-
-void btVectorScale (btScalar *a, const btScalar *d, int n)
+void btVectorScale(btScalar *a, const btScalar *d, int n)
 {
-  btAssert (a && d && n >= 0);
-  for (int i=0; i<n; i++) {
-    a[i] *= d[i];
-  }
+	btAssert(a && d && n >= 0);
+	for (int i = 0; i < n; i++)
+	{
+		a[i] *= d[i];
+	}
 }
 
-void btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip)
+void btSolveLDLT(const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip)
 {
-  btAssert (L && d && b && n > 0 && nskip >= n);
-  btSolveL1 (L,b,n,nskip);
-  btVectorScale (b,d,n);
-  btSolveL1T (L,b,n,nskip);
+	btAssert(L && d && b && n > 0 && nskip >= n);
+	btSolveL1(L, b, n, nskip);
+	btVectorScale(b, d, n);
+	btSolveL1T(L, b, n, nskip);
 }
 
-
-
 //***************************************************************************
 
 // swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
@@ -1033,124 +1049,129 @@ void btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int
 // rows will be swapped by exchanging row pointers. otherwise the data will
 // be copied.
 
-static void btSwapRowsAndCols (BTATYPE A, int n, int i1, int i2, int nskip, 
-  int do_fast_row_swaps)
+static void btSwapRowsAndCols(BTATYPE A, int n, int i1, int i2, int nskip,
+							  int do_fast_row_swaps)
 {
-  btAssert (A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
-    nskip >= n && i1 < i2);
-
-# ifdef BTROWPTRS
-  btScalar *A_i1 = A[i1];
-  btScalar *A_i2 = A[i2];
-  for (int i=i1+1; i<i2; ++i) {
-    btScalar *A_i_i1 = A[i] + i1;
-    A_i1[i] = *A_i_i1;
-    *A_i_i1 = A_i2[i];
-  }
-  A_i1[i2] = A_i1[i1];
-  A_i1[i1] = A_i2[i1];
-  A_i2[i1] = A_i2[i2];
-  // swap rows, by swapping row pointers
-  if (do_fast_row_swaps) {
-    A[i1] = A_i2;
-    A[i2] = A_i1;
-  }
-  else {
-    // Only swap till i2 column to match A plain storage variant.
-    for (int k = 0; k <= i2; ++k) {
-      btScalar tmp = A_i1[k];
-      A_i1[k] = A_i2[k];
-      A_i2[k] = tmp;
-    }
-  }
-  // swap columns the hard way
-  for (int j=i2+1; j<n; ++j) {
-    btScalar *A_j = A[j];
-    btScalar tmp = A_j[i1];
-    A_j[i1] = A_j[i2];
-    A_j[i2] = tmp;
-  }
-# else
-  btScalar *A_i1 = A+i1*nskip;
-  btScalar *A_i2 = A+i2*nskip;
-  for (int k = 0; k < i1; ++k) {
-    btScalar tmp = A_i1[k];
-    A_i1[k] = A_i2[k];
-    A_i2[k] = tmp;
-  }
-  btScalar *A_i = A_i1 + nskip;
-  for (int i=i1+1; i<i2; A_i+=nskip, ++i) {
-    btScalar tmp = A_i2[i];
-    A_i2[i] = A_i[i1];
-    A_i[i1] = tmp;
-  }
-  {
-    btScalar tmp = A_i1[i1];
-    A_i1[i1] = A_i2[i2];
-    A_i2[i2] = tmp;
-  }
-  btScalar *A_j = A_i2 + nskip;
-  for (int j=i2+1; j<n; A_j+=nskip, ++j) {
-    btScalar tmp = A_j[i1];
-    A_j[i1] = A_j[i2];
-    A_j[i2] = tmp;
-  }
-# endif
-}
+	btAssert(A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
+			 nskip >= n && i1 < i2);
 
+#ifdef BTROWPTRS
+	btScalar *A_i1 = A[i1];
+	btScalar *A_i2 = A[i2];
+	for (int i = i1 + 1; i < i2; ++i)
+	{
+		btScalar *A_i_i1 = A[i] + i1;
+		A_i1[i] = *A_i_i1;
+		*A_i_i1 = A_i2[i];
+	}
+	A_i1[i2] = A_i1[i1];
+	A_i1[i1] = A_i2[i1];
+	A_i2[i1] = A_i2[i2];
+	// swap rows, by swapping row pointers
+	if (do_fast_row_swaps)
+	{
+		A[i1] = A_i2;
+		A[i2] = A_i1;
+	}
+	else
+	{
+		// Only swap till i2 column to match A plain storage variant.
+		for (int k = 0; k <= i2; ++k)
+		{
+			btScalar tmp = A_i1[k];
+			A_i1[k] = A_i2[k];
+			A_i2[k] = tmp;
+		}
+	}
+	// swap columns the hard way
+	for (int j = i2 + 1; j < n; ++j)
+	{
+		btScalar *A_j = A[j];
+		btScalar tmp = A_j[i1];
+		A_j[i1] = A_j[i2];
+		A_j[i2] = tmp;
+	}
+#else
+	btScalar *A_i1 = A + i1 * nskip;
+	btScalar *A_i2 = A + i2 * nskip;
+	for (int k = 0; k < i1; ++k)
+	{
+		btScalar tmp = A_i1[k];
+		A_i1[k] = A_i2[k];
+		A_i2[k] = tmp;
+	}
+	btScalar *A_i = A_i1 + nskip;
+	for (int i = i1 + 1; i < i2; A_i += nskip, ++i)
+	{
+		btScalar tmp = A_i2[i];
+		A_i2[i] = A_i[i1];
+		A_i[i1] = tmp;
+	}
+	{
+		btScalar tmp = A_i1[i1];
+		A_i1[i1] = A_i2[i2];
+		A_i2[i2] = tmp;
+	}
+	btScalar *A_j = A_i2 + nskip;
+	for (int j = i2 + 1; j < n; A_j += nskip, ++j)
+	{
+		btScalar tmp = A_j[i1];
+		A_j[i1] = A_j[i2];
+		A_j[i2] = tmp;
+	}
+#endif
+}
 
 // swap two indexes in the n*n LCP problem. i1 must be <= i2.
 
-static void btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo,
-                         btScalar *hi, int *p, bool *state, int *findex,
-                         int n, int i1, int i2, int nskip,
-                         int do_fast_row_swaps)
+static void btSwapProblem(BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo,
+						  btScalar *hi, int *p, bool *state, int *findex,
+						  int n, int i1, int i2, int nskip,
+						  int do_fast_row_swaps)
 {
-  btScalar tmpr;
-  int tmpi;
-  bool tmpb;
-  btAssert (n>0 && i1 >=0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n && i1 <= i2);
-  if (i1==i2) return;
-  
-  btSwapRowsAndCols (A,n,i1,i2,nskip,do_fast_row_swaps);
-  
-  tmpr = x[i1];
-  x[i1] = x[i2];
-  x[i2] = tmpr;
-  
-  tmpr = b[i1];
-  b[i1] = b[i2];
-  b[i2] = tmpr;
-  
-  tmpr = w[i1];
-  w[i1] = w[i2];
-  w[i2] = tmpr;
-  
-  tmpr = lo[i1];
-  lo[i1] = lo[i2];
-  lo[i2] = tmpr;
-
-  tmpr = hi[i1];
-  hi[i1] = hi[i2];
-  hi[i2] = tmpr;
-
-  tmpi = p[i1];
-  p[i1] = p[i2];
-  p[i2] = tmpi;
-
-  tmpb = state[i1];
-  state[i1] = state[i2];
-  state[i2] = tmpb;
-
-  if (findex) {
-    tmpi = findex[i1];
-    findex[i1] = findex[i2];
-    findex[i2] = tmpi;
-  }
-}
+	btScalar tmpr;
+	int tmpi;
+	bool tmpb;
+	btAssert(n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n && i1 <= i2);
+	if (i1 == i2) return;
+
+	btSwapRowsAndCols(A, n, i1, i2, nskip, do_fast_row_swaps);
+
+	tmpr = x[i1];
+	x[i1] = x[i2];
+	x[i2] = tmpr;
 
+	tmpr = b[i1];
+	b[i1] = b[i2];
+	b[i2] = tmpr;
 
+	tmpr = w[i1];
+	w[i1] = w[i2];
+	w[i2] = tmpr;
 
+	tmpr = lo[i1];
+	lo[i1] = lo[i2];
+	lo[i2] = tmpr;
+
+	tmpr = hi[i1];
+	hi[i1] = hi[i2];
+	hi[i2] = tmpr;
+
+	tmpi = p[i1];
+	p[i1] = p[i2];
+	p[i2] = tmpi;
+
+	tmpb = state[i1];
+	state[i1] = state[i2];
+	state[i2] = tmpb;
+
+	if (findex)
+	{
+		tmpi = findex[i1];
+		findex[i1] = findex[i2];
+		findex[i2] = tmpi;
+	}
+}
 
 //***************************************************************************
 // btLCP manipulator object. this represents an n*n LCP problem.
@@ -1186,79 +1207,88 @@ static void btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btS
 
 #ifdef btLCP_FAST
 
-struct btLCP 
+struct btLCP
 {
 	const int m_n;
 	const int m_nskip;
 	int m_nub;
-	int m_nC, m_nN;				// size of each index set
-	BTATYPE const m_A;				// A rows
-	btScalar *const m_x, * const m_b, *const m_w, *const m_lo,* const m_hi;	// permuted LCP problem data
-	btScalar *const m_L, *const m_d;				// L*D*L' factorization of set C
+	int m_nC, m_nN;                                                         // size of each index set
+	BTATYPE const m_A;                                                      // A rows
+	btScalar *const m_x, *const m_b, *const m_w, *const m_lo, *const m_hi;  // permuted LCP problem data
+	btScalar *const m_L, *const m_d;                                        // L*D*L' factorization of set C
 	btScalar *const m_Dell, *const m_ell, *const m_tmp;
 	bool *const m_state;
 	int *const m_findex, *const m_p, *const m_C;
 
-	btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w,
-		btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d,
-		btScalar *_Dell, btScalar *_ell, btScalar *_tmp,
-		bool *_state, int *_findex, int *p, int *c, btScalar **Arows);
+	btLCP(int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w,
+		  btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d,
+		  btScalar *_Dell, btScalar *_ell, btScalar *_tmp,
+		  bool *_state, int *_findex, int *p, int *c, btScalar **Arows);
 	int getNub() const { return m_nub; }
-	void transfer_i_to_C (int i);
-	void transfer_i_to_N (int i) { m_nN++; }			// because we can assume C and N span 1:i-1
-	void transfer_i_from_N_to_C (int i);
-	void transfer_i_from_C_to_N (int i, btAlignedObjectArray<btScalar>& scratch);
+	void transfer_i_to_C(int i);
+	void transfer_i_to_N(int i) { m_nN++; }  // because we can assume C and N span 1:i-1
+	void transfer_i_from_N_to_C(int i);
+	void transfer_i_from_C_to_N(int i, btAlignedObjectArray<btScalar> &scratch);
 	int numC() const { return m_nC; }
 	int numN() const { return m_nN; }
-	int indexC (int i) const { return i; }
-	int indexN (int i) const { return i+m_nC; }
-	btScalar Aii (int i) const  { return BTAROW(i)[i]; }
-	btScalar AiC_times_qC (int i, btScalar *q) const { return btLargeDot (BTAROW(i), q, m_nC); }
-	btScalar AiN_times_qN (int i, btScalar *q) const { return btLargeDot (BTAROW(i)+m_nC, q+m_nC, m_nN); }
-	void pN_equals_ANC_times_qC (btScalar *p, btScalar *q);
-	void pN_plusequals_ANi (btScalar *p, int i, int sign=1);
-	void pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q);
-	void pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q);
-	void solve1 (btScalar *a, int i, int dir=1, int only_transfer=0);
+	int indexC(int i) const { return i; }
+	int indexN(int i) const { return i + m_nC; }
+	btScalar Aii(int i) const { return BTAROW(i)[i]; }
+	btScalar AiC_times_qC(int i, btScalar *q) const { return btLargeDot(BTAROW(i), q, m_nC); }
+	btScalar AiN_times_qN(int i, btScalar *q) const { return btLargeDot(BTAROW(i) + m_nC, q + m_nC, m_nN); }
+	void pN_equals_ANC_times_qC(btScalar *p, btScalar *q);
+	void pN_plusequals_ANi(btScalar *p, int i, int sign = 1);
+	void pC_plusequals_s_times_qC(btScalar *p, btScalar s, btScalar *q);
+	void pN_plusequals_s_times_qN(btScalar *p, btScalar s, btScalar *q);
+	void solve1(btScalar *a, int i, int dir = 1, int only_transfer = 0);
 	void unpermute();
 };
 
-
-btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w,
-            btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d,
-            btScalar *_Dell, btScalar *_ell, btScalar *_tmp,
-            bool *_state, int *_findex, int *p, int *c, btScalar **Arows):
-  m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0),
-# ifdef BTROWPTRS
-  m_A(Arows),
+btLCP::btLCP(int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w,
+			 btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d,
+			 btScalar *_Dell, btScalar *_ell, btScalar *_tmp,
+			 bool *_state, int *_findex, int *p, int *c, btScalar **Arows) : m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0),
+#ifdef BTROWPTRS
+																			 m_A(Arows),
 #else
-  m_A(_Adata),
+																			 m_A(_Adata),
 #endif
-  m_x(_x), m_b(_b), m_w(_w), m_lo(_lo), m_hi(_hi),
-  m_L(l), m_d(_d), m_Dell(_Dell), m_ell(_ell), m_tmp(_tmp),
-  m_state(_state), m_findex(_findex), m_p(p), m_C(c)
+																			 m_x(_x),
+																			 m_b(_b),
+																			 m_w(_w),
+																			 m_lo(_lo),
+																			 m_hi(_hi),
+																			 m_L(l),
+																			 m_d(_d),
+																			 m_Dell(_Dell),
+																			 m_ell(_ell),
+																			 m_tmp(_tmp),
+																			 m_state(_state),
+																			 m_findex(_findex),
+																			 m_p(p),
+																			 m_C(c)
 {
-  {
-    btSetZero (m_x,m_n);
-  }
+	{
+		btSetZero(m_x, m_n);
+	}
 
-  {
-# ifdef BTROWPTRS
-    // make matrix row pointers
-    btScalar *aptr = _Adata;
-    BTATYPE A = m_A;
-    const int n = m_n, nskip = m_nskip;
-    for (int k=0; k<n; aptr+=nskip, ++k) A[k] = aptr;
-# endif
-  }
+	{
+#ifdef BTROWPTRS
+		// make matrix row pointers
+		btScalar *aptr = _Adata;
+		BTATYPE A = m_A;
+		const int n = m_n, nskip = m_nskip;
+		for (int k = 0; k < n; aptr += nskip, ++k) A[k] = aptr;
+#endif
+	}
 
-  {
-    int *p = m_p;
-    const int n = m_n;
-    for (int k=0; k<n; ++k) p[k]=k;		// initially unpermuted
-  }
+	{
+		int *p = m_p;
+		const int n = m_n;
+		for (int k = 0; k < n; ++k) p[k] = k;  // initially unpermuted
+	}
 
-  /*
+	/*
   // for testing, we can do some random swaps in the area i > nub
   {
     const int n = m_n;
@@ -1277,63 +1307,69 @@ btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btSc
   }
   */
 
-  // permute the problem so that *all* the unbounded variables are at the
-  // start, i.e. look for unbounded variables not included in `nub'. we can
-  // potentially push up `nub' this way and get a bigger initial factorization.
-  // note that when we swap rows/cols here we must not just swap row pointers,
-  // as the initial factorization relies on the data being all in one chunk.
-  // variables that have findex >= 0 are *not* considered to be unbounded even
-  // if lo=-inf and hi=inf - this is because these limits may change during the
-  // solution process.
-
-  {
-    int *findex = m_findex;
-    btScalar *lo = m_lo, *hi = m_hi;
-    const int n = m_n;
-    for (int k = m_nub; k<n; ++k) {
-      if (findex && findex[k] >= 0) continue;
-      if (lo[k]==-BT_INFINITY && hi[k]==BT_INFINITY) {
-        btSwapProblem (m_A,m_x,m_b,m_w,lo,hi,m_p,m_state,findex,n,m_nub,k,m_nskip,0);
-        m_nub++;
-      }
-    }
-  }
-
-  // if there are unbounded variables at the start, factorize A up to that
-  // point and solve for x. this puts all indexes 0..nub-1 into C.
-  if (m_nub > 0) {
-    const int nub = m_nub;
-    {
-      btScalar *Lrow = m_L;
-      const int nskip = m_nskip;
-      for (int j=0; j<nub; Lrow+=nskip, ++j) memcpy(Lrow,BTAROW(j),(j+1)*sizeof(btScalar));
-    }
-    btFactorLDLT (m_L,m_d,nub,m_nskip);
-    memcpy (m_x,m_b,nub*sizeof(btScalar));
-    btSolveLDLT (m_L,m_d,m_x,nub,m_nskip);
-    btSetZero (m_w,nub);
-    {
-      int *C = m_C;
-      for (int k=0; k<nub; ++k) C[k] = k;
-    }
-    m_nC = nub;
-  }
-
-  // permute the indexes > nub such that all findex variables are at the end
-  if (m_findex) {
-    const int nub = m_nub;
-    int *findex = m_findex;
-    int num_at_end = 0;
-    for (int k=m_n-1; k >= nub; k--) {
-      if (findex[k] >= 0) {
-        btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,findex,m_n,k,m_n-1-num_at_end,m_nskip,1);
-        num_at_end++;
-      }
-    }
-  }
+	// permute the problem so that *all* the unbounded variables are at the
+	// start, i.e. look for unbounded variables not included in `nub'. we can
+	// potentially push up `nub' this way and get a bigger initial factorization.
+	// note that when we swap rows/cols here we must not just swap row pointers,
+	// as the initial factorization relies on the data being all in one chunk.
+	// variables that have findex >= 0 are *not* considered to be unbounded even
+	// if lo=-inf and hi=inf - this is because these limits may change during the
+	// solution process.
 
-  // print info about indexes
-  /*
+	{
+		int *findex = m_findex;
+		btScalar *lo = m_lo, *hi = m_hi;
+		const int n = m_n;
+		for (int k = m_nub; k < n; ++k)
+		{
+			if (findex && findex[k] >= 0) continue;
+			if (lo[k] == -BT_INFINITY && hi[k] == BT_INFINITY)
+			{
+				btSwapProblem(m_A, m_x, m_b, m_w, lo, hi, m_p, m_state, findex, n, m_nub, k, m_nskip, 0);
+				m_nub++;
+			}
+		}
+	}
+
+	// if there are unbounded variables at the start, factorize A up to that
+	// point and solve for x. this puts all indexes 0..nub-1 into C.
+	if (m_nub > 0)
+	{
+		const int nub = m_nub;
+		{
+			btScalar *Lrow = m_L;
+			const int nskip = m_nskip;
+			for (int j = 0; j < nub; Lrow += nskip, ++j) memcpy(Lrow, BTAROW(j), (j + 1) * sizeof(btScalar));
+		}
+		btFactorLDLT(m_L, m_d, nub, m_nskip);
+		memcpy(m_x, m_b, nub * sizeof(btScalar));
+		btSolveLDLT(m_L, m_d, m_x, nub, m_nskip);
+		btSetZero(m_w, nub);
+		{
+			int *C = m_C;
+			for (int k = 0; k < nub; ++k) C[k] = k;
+		}
+		m_nC = nub;
+	}
+
+	// permute the indexes > nub such that all findex variables are at the end
+	if (m_findex)
+	{
+		const int nub = m_nub;
+		int *findex = m_findex;
+		int num_at_end = 0;
+		for (int k = m_n - 1; k >= nub; k--)
+		{
+			if (findex[k] >= 0)
+			{
+				btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, findex, m_n, k, m_n - 1 - num_at_end, m_nskip, 1);
+				num_at_end++;
+			}
+		}
+	}
+
+	// print info about indexes
+	/*
   {
     const int n = m_n;
     const int nub = m_nub;
@@ -1347,734 +1383,776 @@ btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btSc
   */
 }
 
-
-void btLCP::transfer_i_to_C (int i)
+void btLCP::transfer_i_to_C(int i)
 {
-  {
-    if (m_nC > 0) {
-      // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C))
-      {
-        const int nC = m_nC;
-        btScalar *const Ltgt = m_L + nC*m_nskip, *ell = m_ell;
-        for (int j=0; j<nC; ++j) Ltgt[j] = ell[j];
-      }
-      const int nC = m_nC;
-      m_d[nC] = btRecip (BTAROW(i)[i] - btLargeDot(m_ell,m_Dell,nC));
-    }
-    else {
-      m_d[0] = btRecip (BTAROW(i)[i]);
-    }
-
-    btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,m_n,m_nC,i,m_nskip,1);
+	{
+		if (m_nC > 0)
+		{
+			// ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C))
+			{
+				const int nC = m_nC;
+				btScalar *const Ltgt = m_L + nC * m_nskip, *ell = m_ell;
+				for (int j = 0; j < nC; ++j) Ltgt[j] = ell[j];
+			}
+			const int nC = m_nC;
+			m_d[nC] = btRecip(BTAROW(i)[i] - btLargeDot(m_ell, m_Dell, nC));
+		}
+		else
+		{
+			m_d[0] = btRecip(BTAROW(i)[i]);
+		}
 
-    const int nC = m_nC;
-    m_C[nC] = nC;
-    m_nC = nC + 1; // nC value is outdated after this line
-  }
+		btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, m_nC, i, m_nskip, 1);
 
+		const int nC = m_nC;
+		m_C[nC] = nC;
+		m_nC = nC + 1;  // nC value is outdated after this line
+	}
 }
 
-
-void btLCP::transfer_i_from_N_to_C (int i)
+void btLCP::transfer_i_from_N_to_C(int i)
 {
-  {
-    if (m_nC > 0) {
-      {
-        btScalar *const aptr = BTAROW(i);
-        btScalar *Dell = m_Dell;
-        const int *C = m_C;
-#   ifdef BTNUB_OPTIMIZATIONS
-        // if nub>0, initial part of aptr unpermuted
-        const int nub = m_nub;
-        int j=0;
-        for ( ; j<nub; ++j) Dell[j] = aptr[j];
-        const int nC = m_nC;
-        for ( ; j<nC; ++j) Dell[j] = aptr[C[j]];
-#   else
-        const int nC = m_nC;
-        for (int j=0; j<nC; ++j) Dell[j] = aptr[C[j]];
-#   endif
-      }
-      btSolveL1 (m_L,m_Dell,m_nC,m_nskip);
-      {
-        const int nC = m_nC;
-        btScalar *const Ltgt = m_L + nC*m_nskip;
-        btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d;
-        for (int j=0; j<nC; ++j) Ltgt[j] = ell[j] = Dell[j] * d[j];
-      }
-      const int nC = m_nC;
-      m_d[nC] = btRecip (BTAROW(i)[i] - btLargeDot(m_ell,m_Dell,nC));
-    }
-    else {
-      m_d[0] = btRecip (BTAROW(i)[i]);
-    }
-
-    btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,m_n,m_nC,i,m_nskip,1);
-
-    const int nC = m_nC;
-    m_C[nC] = nC;
-    m_nN--;
-    m_nC = nC + 1; // nC value is outdated after this line
-  }
-
-  // @@@ TO DO LATER
-  // if we just finish here then we'll go back and re-solve for
-  // delta_x. but actually we can be more efficient and incrementally
-  // update delta_x here. but if we do this, we wont have ell and Dell
-  // to use in updating the factorization later.
-
+	{
+		if (m_nC > 0)
+		{
+			{
+				btScalar *const aptr = BTAROW(i);
+				btScalar *Dell = m_Dell;
+				const int *C = m_C;
+#ifdef BTNUB_OPTIMIZATIONS
+				// if nub>0, initial part of aptr unpermuted
+				const int nub = m_nub;
+				int j = 0;
+				for (; j < nub; ++j) Dell[j] = aptr[j];
+				const int nC = m_nC;
+				for (; j < nC; ++j) Dell[j] = aptr[C[j]];
+#else
+				const int nC = m_nC;
+				for (int j = 0; j < nC; ++j) Dell[j] = aptr[C[j]];
+#endif
+			}
+			btSolveL1(m_L, m_Dell, m_nC, m_nskip);
+			{
+				const int nC = m_nC;
+				btScalar *const Ltgt = m_L + nC * m_nskip;
+				btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d;
+				for (int j = 0; j < nC; ++j) Ltgt[j] = ell[j] = Dell[j] * d[j];
+			}
+			const int nC = m_nC;
+			m_d[nC] = btRecip(BTAROW(i)[i] - btLargeDot(m_ell, m_Dell, nC));
+		}
+		else
+		{
+			m_d[0] = btRecip(BTAROW(i)[i]);
+		}
+
+		btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, m_nC, i, m_nskip, 1);
+
+		const int nC = m_nC;
+		m_C[nC] = nC;
+		m_nN--;
+		m_nC = nC + 1;  // nC value is outdated after this line
+	}
+
+	// @@@ TO DO LATER
+	// if we just finish here then we'll go back and re-solve for
+	// delta_x. but actually we can be more efficient and incrementally
+	// update delta_x here. but if we do this, we wont have ell and Dell
+	// to use in updating the factorization later.
 }
 
-void btRemoveRowCol (btScalar *A, int n, int nskip, int r)
+void btRemoveRowCol(btScalar *A, int n, int nskip, int r)
 {
-  btAssert(A && n > 0 && nskip >= n && r >= 0 && r < n);
-  if (r >= n-1) return;
-  if (r > 0) {
-    {
-      const size_t move_size = (n-r-1)*sizeof(btScalar);
-      btScalar *Adst = A + r;
-      for (int i=0; i<r; Adst+=nskip,++i) {
-        btScalar *Asrc = Adst + 1;
-        memmove (Adst,Asrc,move_size);
-      }
-    }
-    {
-      const size_t cpy_size = r*sizeof(btScalar);
-      btScalar *Adst = A + r * nskip;
-      for (int i=r; i<(n-1); ++i) {
-        btScalar *Asrc = Adst + nskip;
-        memcpy (Adst,Asrc,cpy_size);
-        Adst = Asrc;
-      }
-    }
-  }
-  {
-    const size_t cpy_size = (n-r-1)*sizeof(btScalar);
-    btScalar *Adst = A + r * (nskip + 1);
-    for (int i=r; i<(n-1); ++i) {
-      btScalar *Asrc = Adst + (nskip + 1);
-      memcpy (Adst,Asrc,cpy_size);
-      Adst = Asrc - 1;
-    }
-  }
+	btAssert(A && n > 0 && nskip >= n && r >= 0 && r < n);
+	if (r >= n - 1) return;
+	if (r > 0)
+	{
+		{
+			const size_t move_size = (n - r - 1) * sizeof(btScalar);
+			btScalar *Adst = A + r;
+			for (int i = 0; i < r; Adst += nskip, ++i)
+			{
+				btScalar *Asrc = Adst + 1;
+				memmove(Adst, Asrc, move_size);
+			}
+		}
+		{
+			const size_t cpy_size = r * sizeof(btScalar);
+			btScalar *Adst = A + r * nskip;
+			for (int i = r; i < (n - 1); ++i)
+			{
+				btScalar *Asrc = Adst + nskip;
+				memcpy(Adst, Asrc, cpy_size);
+				Adst = Asrc;
+			}
+		}
+	}
+	{
+		const size_t cpy_size = (n - r - 1) * sizeof(btScalar);
+		btScalar *Adst = A + r * (nskip + 1);
+		for (int i = r; i < (n - 1); ++i)
+		{
+			btScalar *Asrc = Adst + (nskip + 1);
+			memcpy(Adst, Asrc, cpy_size);
+			Adst = Asrc - 1;
+		}
+	}
 }
 
+void btLDLTAddTL(btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray<btScalar> &scratch)
+{
+	btAssert(L && d && a && n > 0 && nskip >= n);
 
+	if (n < 2) return;
+	scratch.resize(2 * nskip);
+	btScalar *W1 = &scratch[0];
 
+	btScalar *W2 = W1 + nskip;
 
-void btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray<btScalar>& scratch)
-{
-  btAssert (L && d && a && n > 0 && nskip >= n);
-
-  if (n < 2) return;
-  scratch.resize(2*nskip);
-  btScalar *W1 = &scratch[0];
-  
-  btScalar *W2 = W1 + nskip;
-
-  W1[0] = btScalar(0.0);
-  W2[0] = btScalar(0.0);
-  for (int j=1; j<n; ++j) {
-    W1[j] = W2[j] = (btScalar) (a[j] * SIMDSQRT12);
-  }
-  btScalar W11 = (btScalar) ((btScalar(0.5)*a[0]+1)*SIMDSQRT12);
-  btScalar W21 = (btScalar) ((btScalar(0.5)*a[0]-1)*SIMDSQRT12);
-
-  btScalar alpha1 = btScalar(1.0);
-  btScalar alpha2 = btScalar(1.0);
+	W1[0] = btScalar(0.0);
+	W2[0] = btScalar(0.0);
+	for (int j = 1; j < n; ++j)
+	{
+		W1[j] = W2[j] = (btScalar)(a[j] * SIMDSQRT12);
+	}
+	btScalar W11 = (btScalar)((btScalar(0.5) * a[0] + 1) * SIMDSQRT12);
+	btScalar W21 = (btScalar)((btScalar(0.5) * a[0] - 1) * SIMDSQRT12);
 
-  {
-    btScalar dee = d[0];
-    btScalar alphanew = alpha1 + (W11*W11)*dee;
-    btAssert(alphanew != btScalar(0.0));
-    dee /= alphanew;
-    btScalar gamma1 = W11 * dee;
-    dee *= alpha1;
-    alpha1 = alphanew;
-    alphanew = alpha2 - (W21*W21)*dee;
-    dee /= alphanew;
-    //btScalar gamma2 = W21 * dee;
-    alpha2 = alphanew;
-    btScalar k1 = btScalar(1.0) - W21*gamma1;
-    btScalar k2 = W21*gamma1*W11 - W21;
-    btScalar *ll = L + nskip;
-    for (int p=1; p<n; ll+=nskip, ++p) {
-      btScalar Wp = W1[p];
-      btScalar ell = *ll;
-      W1[p] =    Wp - W11*ell;
-      W2[p] = k1*Wp +  k2*ell;
-    }
-  }
+	btScalar alpha1 = btScalar(1.0);
+	btScalar alpha2 = btScalar(1.0);
 
-  btScalar *ll = L + (nskip + 1);
-  for (int j=1; j<n; ll+=nskip+1, ++j) {
-    btScalar k1 = W1[j];
-    btScalar k2 = W2[j];
-
-    btScalar dee = d[j];
-    btScalar alphanew = alpha1 + (k1*k1)*dee;
-    btAssert(alphanew != btScalar(0.0));
-    dee /= alphanew;
-    btScalar gamma1 = k1 * dee;
-    dee *= alpha1;
-    alpha1 = alphanew;
-    alphanew = alpha2 - (k2*k2)*dee;
-    dee /= alphanew;
-    btScalar gamma2 = k2 * dee;
-    dee *= alpha2;
-    d[j] = dee;
-    alpha2 = alphanew;
-
-    btScalar *l = ll + nskip;
-    for (int p=j+1; p<n; l+=nskip, ++p) {
-      btScalar ell = *l;
-      btScalar Wp = W1[p] - k1 * ell;
-      ell += gamma1 * Wp;
-      W1[p] = Wp;
-      Wp = W2[p] - k2 * ell;
-      ell -= gamma2 * Wp;
-      W2[p] = Wp;
-      *l = ell;
-    }
-  }
+	{
+		btScalar dee = d[0];
+		btScalar alphanew = alpha1 + (W11 * W11) * dee;
+		btAssert(alphanew != btScalar(0.0));
+		dee /= alphanew;
+		btScalar gamma1 = W11 * dee;
+		dee *= alpha1;
+		alpha1 = alphanew;
+		alphanew = alpha2 - (W21 * W21) * dee;
+		dee /= alphanew;
+		//btScalar gamma2 = W21 * dee;
+		alpha2 = alphanew;
+		btScalar k1 = btScalar(1.0) - W21 * gamma1;
+		btScalar k2 = W21 * gamma1 * W11 - W21;
+		btScalar *ll = L + nskip;
+		for (int p = 1; p < n; ll += nskip, ++p)
+		{
+			btScalar Wp = W1[p];
+			btScalar ell = *ll;
+			W1[p] = Wp - W11 * ell;
+			W2[p] = k1 * Wp + k2 * ell;
+		}
+	}
+
+	btScalar *ll = L + (nskip + 1);
+	for (int j = 1; j < n; ll += nskip + 1, ++j)
+	{
+		btScalar k1 = W1[j];
+		btScalar k2 = W2[j];
+
+		btScalar dee = d[j];
+		btScalar alphanew = alpha1 + (k1 * k1) * dee;
+		btAssert(alphanew != btScalar(0.0));
+		dee /= alphanew;
+		btScalar gamma1 = k1 * dee;
+		dee *= alpha1;
+		alpha1 = alphanew;
+		alphanew = alpha2 - (k2 * k2) * dee;
+		dee /= alphanew;
+		btScalar gamma2 = k2 * dee;
+		dee *= alpha2;
+		d[j] = dee;
+		alpha2 = alphanew;
+
+		btScalar *l = ll + nskip;
+		for (int p = j + 1; p < n; l += nskip, ++p)
+		{
+			btScalar ell = *l;
+			btScalar Wp = W1[p] - k1 * ell;
+			ell += gamma1 * Wp;
+			W1[p] = Wp;
+			Wp = W2[p] - k2 * ell;
+			ell -= gamma2 * Wp;
+			W2[p] = Wp;
+			*l = ell;
+		}
+	}
 }
 
-
-#define _BTGETA(i,j) (A[i][j])
+#define _BTGETA(i, j) (A[i][j])
 //#define _GETA(i,j) (A[(i)*nskip+(j)])
-#define BTGETA(i,j) ((i > j) ? _BTGETA(i,j) : _BTGETA(j,i))
+#define BTGETA(i, j) ((i > j) ? _BTGETA(i, j) : _BTGETA(j, i))
 
 inline size_t btEstimateLDLTAddTLTmpbufSize(int nskip)
 {
-  return nskip * 2 * sizeof(btScalar);
+	return nskip * 2 * sizeof(btScalar);
 }
 
-
-void btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d,
-    int n1, int n2, int r, int nskip, btAlignedObjectArray<btScalar>& scratch)
+void btLDLTRemove(btScalar **A, const int *p, btScalar *L, btScalar *d,
+				  int n1, int n2, int r, int nskip, btAlignedObjectArray<btScalar> &scratch)
 {
-  btAssert(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
-	   n1 >= n2 && nskip >= n1);
-  #ifdef BT_DEBUG
-	for (int i=0; i<n2; ++i) 
+	btAssert(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
+			 n1 >= n2 && nskip >= n1);
+#ifdef BT_DEBUG
+	for (int i = 0; i < n2; ++i)
 		btAssert(p[i] >= 0 && p[i] < n1);
-  #endif
-
-  if (r==n2-1) {
-    return;		// deleting last row/col is easy
-  }
-  else {
-    size_t LDLTAddTL_size = btEstimateLDLTAddTLTmpbufSize(nskip);
-    btAssert(LDLTAddTL_size % sizeof(btScalar) == 0);
-	scratch.resize(nskip * 2+n2);
-    btScalar *tmp = &scratch[0];
-    if (r==0) {
-      btScalar *a = (btScalar *)((char *)tmp + LDLTAddTL_size);
-      const int p_0 = p[0];
-      for (int i=0; i<n2; ++i) {
-        a[i] = -BTGETA(p[i],p_0);
-      }
-      a[0] += btScalar(1.0);
-      btLDLTAddTL (L,d,a,n2,nskip,scratch);
-    }
-    else {
-      btScalar *t = (btScalar *)((char *)tmp + LDLTAddTL_size);
-      {
-        btScalar *Lcurr = L + r*nskip;
-        for (int i=0; i<r; ++Lcurr, ++i) {
-          btAssert(d[i] != btScalar(0.0));
-          t[i] = *Lcurr / d[i];
-        }
-      }
-      btScalar *a = t + r;
-      {
-        btScalar *Lcurr = L + r*nskip;
-        const int *pp_r = p + r, p_r = *pp_r;
-        const int n2_minus_r = n2-r;
-        for (int i=0; i<n2_minus_r; Lcurr+=nskip,++i) {
-          a[i] = btLargeDot(Lcurr,t,r) - BTGETA(pp_r[i],p_r);
-        }
-      }
-      a[0] += btScalar(1.0);
-      btLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip, scratch);
-    }
-  }
+#endif
 
-  // snip out row/column r from L and d
-  btRemoveRowCol (L,n2,nskip,r);
-  if (r < (n2-1)) memmove (d+r,d+r+1,(n2-r-1)*sizeof(btScalar));
+	if (r == n2 - 1)
+	{
+		return;  // deleting last row/col is easy
+	}
+	else
+	{
+		size_t LDLTAddTL_size = btEstimateLDLTAddTLTmpbufSize(nskip);
+		btAssert(LDLTAddTL_size % sizeof(btScalar) == 0);
+		scratch.resize(nskip * 2 + n2);
+		btScalar *tmp = &scratch[0];
+		if (r == 0)
+		{
+			btScalar *a = (btScalar *)((char *)tmp + LDLTAddTL_size);
+			const int p_0 = p[0];
+			for (int i = 0; i < n2; ++i)
+			{
+				a[i] = -BTGETA(p[i], p_0);
+			}
+			a[0] += btScalar(1.0);
+			btLDLTAddTL(L, d, a, n2, nskip, scratch);
+		}
+		else
+		{
+			btScalar *t = (btScalar *)((char *)tmp + LDLTAddTL_size);
+			{
+				btScalar *Lcurr = L + r * nskip;
+				for (int i = 0; i < r; ++Lcurr, ++i)
+				{
+					btAssert(d[i] != btScalar(0.0));
+					t[i] = *Lcurr / d[i];
+				}
+			}
+			btScalar *a = t + r;
+			{
+				btScalar *Lcurr = L + r * nskip;
+				const int *pp_r = p + r, p_r = *pp_r;
+				const int n2_minus_r = n2 - r;
+				for (int i = 0; i < n2_minus_r; Lcurr += nskip, ++i)
+				{
+					a[i] = btLargeDot(Lcurr, t, r) - BTGETA(pp_r[i], p_r);
+				}
+			}
+			a[0] += btScalar(1.0);
+			btLDLTAddTL(L + r * nskip + r, d + r, a, n2 - r, nskip, scratch);
+		}
+	}
+
+	// snip out row/column r from L and d
+	btRemoveRowCol(L, n2, nskip, r);
+	if (r < (n2 - 1)) memmove(d + r, d + r + 1, (n2 - r - 1) * sizeof(btScalar));
 }
 
-
-void btLCP::transfer_i_from_C_to_N (int i, btAlignedObjectArray<btScalar>& scratch)
+void btLCP::transfer_i_from_C_to_N(int i, btAlignedObjectArray<btScalar> &scratch)
 {
-  {
-    int *C = m_C;
-    // remove a row/column from the factorization, and adjust the
-    // indexes (black magic!)
-    int last_idx = -1;
-    const int nC = m_nC;
-    int j = 0;
-    for ( ; j<nC; ++j) {
-      if (C[j]==nC-1) {
-        last_idx = j;
-      }
-      if (C[j]==i) {
-        btLDLTRemove (m_A,C,m_L,m_d,m_n,nC,j,m_nskip,scratch);
-        int k;
-        if (last_idx == -1) {
-          for (k=j+1 ; k<nC; ++k) {
-            if (C[k]==nC-1) {
-              break;
-            }
-          }
-          btAssert (k < nC);
-        }
-        else {
-          k = last_idx;
-        }
-        C[k] = C[j];
-        if (j < (nC-1)) memmove (C+j,C+j+1,(nC-j-1)*sizeof(int));
-        break;
-      }
-    }
-    btAssert (j < nC);
-
-    btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,m_n,i,nC-1,m_nskip,1);
-
-    m_nN++;
-    m_nC = nC - 1; // nC value is outdated after this line
-  }
-
+	{
+		int *C = m_C;
+		// remove a row/column from the factorization, and adjust the
+		// indexes (black magic!)
+		int last_idx = -1;
+		const int nC = m_nC;
+		int j = 0;
+		for (; j < nC; ++j)
+		{
+			if (C[j] == nC - 1)
+			{
+				last_idx = j;
+			}
+			if (C[j] == i)
+			{
+				btLDLTRemove(m_A, C, m_L, m_d, m_n, nC, j, m_nskip, scratch);
+				int k;
+				if (last_idx == -1)
+				{
+					for (k = j + 1; k < nC; ++k)
+					{
+						if (C[k] == nC - 1)
+						{
+							break;
+						}
+					}
+					btAssert(k < nC);
+				}
+				else
+				{
+					k = last_idx;
+				}
+				C[k] = C[j];
+				if (j < (nC - 1)) memmove(C + j, C + j + 1, (nC - j - 1) * sizeof(int));
+				break;
+			}
+		}
+		btAssert(j < nC);
+
+		btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, i, nC - 1, m_nskip, 1);
+
+		m_nN++;
+		m_nC = nC - 1;  // nC value is outdated after this line
+	}
 }
 
-
-void btLCP::pN_equals_ANC_times_qC (btScalar *p, btScalar *q)
+void btLCP::pN_equals_ANC_times_qC(btScalar *p, btScalar *q)
 {
-  // we could try to make this matrix-vector multiplication faster using
-  // outer product matrix tricks, e.g. with the dMultidotX() functions.
-  // but i tried it and it actually made things slower on random 100x100
-  // problems because of the overhead involved. so we'll stick with the
-  // simple method for now.
-  const int nC = m_nC;
-  btScalar *ptgt = p + nC;
-  const int nN = m_nN;
-  for (int i=0; i<nN; ++i) {
-    ptgt[i] = btLargeDot (BTAROW(i+nC),q,nC);
-  }
+	// we could try to make this matrix-vector multiplication faster using
+	// outer product matrix tricks, e.g. with the dMultidotX() functions.
+	// but i tried it and it actually made things slower on random 100x100
+	// problems because of the overhead involved. so we'll stick with the
+	// simple method for now.
+	const int nC = m_nC;
+	btScalar *ptgt = p + nC;
+	const int nN = m_nN;
+	for (int i = 0; i < nN; ++i)
+	{
+		ptgt[i] = btLargeDot(BTAROW(i + nC), q, nC);
+	}
 }
 
-
-void btLCP::pN_plusequals_ANi (btScalar *p, int i, int sign)
+void btLCP::pN_plusequals_ANi(btScalar *p, int i, int sign)
 {
-  const int nC = m_nC;
-  btScalar *aptr = BTAROW(i) + nC;
-  btScalar *ptgt = p + nC;
-  if (sign > 0) {
-    const int nN = m_nN;
-    for (int j=0; j<nN; ++j) ptgt[j] += aptr[j];
-  }
-  else {
-    const int nN = m_nN;
-    for (int j=0; j<nN; ++j) ptgt[j] -= aptr[j];
-  }
+	const int nC = m_nC;
+	btScalar *aptr = BTAROW(i) + nC;
+	btScalar *ptgt = p + nC;
+	if (sign > 0)
+	{
+		const int nN = m_nN;
+		for (int j = 0; j < nN; ++j) ptgt[j] += aptr[j];
+	}
+	else
+	{
+		const int nN = m_nN;
+		for (int j = 0; j < nN; ++j) ptgt[j] -= aptr[j];
+	}
 }
 
-void btLCP::pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q)
+void btLCP::pC_plusequals_s_times_qC(btScalar *p, btScalar s, btScalar *q)
 {
-  const int nC = m_nC;
-  for (int i=0; i<nC; ++i) {
-    p[i] += s*q[i];
-  }
+	const int nC = m_nC;
+	for (int i = 0; i < nC; ++i)
+	{
+		p[i] += s * q[i];
+	}
 }
 
-void btLCP::pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q)
+void btLCP::pN_plusequals_s_times_qN(btScalar *p, btScalar s, btScalar *q)
 {
-  const int nC = m_nC;
-  btScalar *ptgt = p + nC, *qsrc = q + nC;
-  const int nN = m_nN;
-  for (int i=0; i<nN; ++i) {
-    ptgt[i] += s*qsrc[i];
-  }
+	const int nC = m_nC;
+	btScalar *ptgt = p + nC, *qsrc = q + nC;
+	const int nN = m_nN;
+	for (int i = 0; i < nN; ++i)
+	{
+		ptgt[i] += s * qsrc[i];
+	}
 }
 
-void btLCP::solve1 (btScalar *a, int i, int dir, int only_transfer)
+void btLCP::solve1(btScalar *a, int i, int dir, int only_transfer)
 {
-  // the `Dell' and `ell' that are computed here are saved. if index i is
-  // later added to the factorization then they can be reused.
-  //
-  // @@@ question: do we need to solve for entire delta_x??? yes, but
-  //     only if an x goes below 0 during the step.
-
-  if (m_nC > 0) {
-    {
-      btScalar *Dell = m_Dell;
-      int *C = m_C;
-      btScalar *aptr = BTAROW(i);
-#   ifdef BTNUB_OPTIMIZATIONS
-      // if nub>0, initial part of aptr[] is guaranteed unpermuted
-      const int nub = m_nub;
-      int j=0;
-      for ( ; j<nub; ++j) Dell[j] = aptr[j];
-      const int nC = m_nC;
-      for ( ; j<nC; ++j) Dell[j] = aptr[C[j]];
-#   else
-      const int nC = m_nC;
-      for (int j=0; j<nC; ++j) Dell[j] = aptr[C[j]];
-#   endif
-    }
-    btSolveL1 (m_L,m_Dell,m_nC,m_nskip);
-    {
-      btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d;
-      const int nC = m_nC;
-      for (int j=0; j<nC; ++j) ell[j] = Dell[j] * d[j];
-    }
+	// the `Dell' and `ell' that are computed here are saved. if index i is
+	// later added to the factorization then they can be reused.
+	//
+	// @@@ question: do we need to solve for entire delta_x??? yes, but
+	//     only if an x goes below 0 during the step.
 
-    if (!only_transfer) {
-      btScalar *tmp = m_tmp, *ell = m_ell;
-      {
-        const int nC = m_nC;
-        for (int j=0; j<nC; ++j) tmp[j] = ell[j];
-      }
-      btSolveL1T (m_L,tmp,m_nC,m_nskip);
-      if (dir > 0) {
-        int *C = m_C;
-        btScalar *tmp = m_tmp;
-        const int nC = m_nC;
-        for (int j=0; j<nC; ++j) a[C[j]] = -tmp[j];
-      } else {
-        int *C = m_C;
-        btScalar *tmp = m_tmp;
-        const int nC = m_nC;
-        for (int j=0; j<nC; ++j) a[C[j]] = tmp[j];
-      }
-    }
-  }
-}
+	if (m_nC > 0)
+	{
+		{
+			btScalar *Dell = m_Dell;
+			int *C = m_C;
+			btScalar *aptr = BTAROW(i);
+#ifdef BTNUB_OPTIMIZATIONS
+			// if nub>0, initial part of aptr[] is guaranteed unpermuted
+			const int nub = m_nub;
+			int j = 0;
+			for (; j < nub; ++j) Dell[j] = aptr[j];
+			const int nC = m_nC;
+			for (; j < nC; ++j) Dell[j] = aptr[C[j]];
+#else
+			const int nC = m_nC;
+			for (int j = 0; j < nC; ++j) Dell[j] = aptr[C[j]];
+#endif
+		}
+		btSolveL1(m_L, m_Dell, m_nC, m_nskip);
+		{
+			btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d;
+			const int nC = m_nC;
+			for (int j = 0; j < nC; ++j) ell[j] = Dell[j] * d[j];
+		}
 
+		if (!only_transfer)
+		{
+			btScalar *tmp = m_tmp, *ell = m_ell;
+			{
+				const int nC = m_nC;
+				for (int j = 0; j < nC; ++j) tmp[j] = ell[j];
+			}
+			btSolveL1T(m_L, tmp, m_nC, m_nskip);
+			if (dir > 0)
+			{
+				int *C = m_C;
+				btScalar *tmp = m_tmp;
+				const int nC = m_nC;
+				for (int j = 0; j < nC; ++j) a[C[j]] = -tmp[j];
+			}
+			else
+			{
+				int *C = m_C;
+				btScalar *tmp = m_tmp;
+				const int nC = m_nC;
+				for (int j = 0; j < nC; ++j) a[C[j]] = tmp[j];
+			}
+		}
+	}
+}
 
 void btLCP::unpermute()
 {
-  // now we have to un-permute x and w
-  {
-    memcpy (m_tmp,m_x,m_n*sizeof(btScalar));
-    btScalar *x = m_x, *tmp = m_tmp;
-    const int *p = m_p;
-    const int n = m_n;
-    for (int j=0; j<n; ++j) x[p[j]] = tmp[j];
-  }
-  {
-    memcpy (m_tmp,m_w,m_n*sizeof(btScalar));
-    btScalar *w = m_w, *tmp = m_tmp;
-    const int *p = m_p;
-    const int n = m_n;
-    for (int j=0; j<n; ++j) w[p[j]] = tmp[j];
-  }
+	// now we have to un-permute x and w
+	{
+		memcpy(m_tmp, m_x, m_n * sizeof(btScalar));
+		btScalar *x = m_x, *tmp = m_tmp;
+		const int *p = m_p;
+		const int n = m_n;
+		for (int j = 0; j < n; ++j) x[p[j]] = tmp[j];
+	}
+	{
+		memcpy(m_tmp, m_w, m_n * sizeof(btScalar));
+		btScalar *w = m_w, *tmp = m_tmp;
+		const int *p = m_p;
+		const int n = m_n;
+		for (int j = 0; j < n; ++j) w[p[j]] = tmp[j];
+	}
 }
 
-#endif // btLCP_FAST
-
+#endif  // btLCP_FAST
 
 //***************************************************************************
 // an optimized Dantzig LCP driver routine for the lo-hi LCP problem.
 
-bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b,
-                btScalar* outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory& scratchMem)
+bool btSolveDantzigLCP(int n, btScalar *A, btScalar *x, btScalar *b,
+					   btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem)
 {
 	s_error = false;
 
-//	printf("btSolveDantzigLCP n=%d\n",n);
-  btAssert (n>0 && A && x && b && lo && hi && nub >= 0 && nub <= n);
-  btAssert(outer_w);
+	//	printf("btSolveDantzigLCP n=%d\n",n);
+	btAssert(n > 0 && A && x && b && lo && hi && nub >= 0 && nub <= n);
+	btAssert(outer_w);
 
 #ifdef BT_DEBUG
-  {
-    // check restrictions on lo and hi
-    for (int k=0; k<n; ++k) 
-		btAssert (lo[k] <= 0 && hi[k] >= 0);
-  }
-# endif
-
-
-  // if all the variables are unbounded then we can just factor, solve,
-  // and return
-  if (nub >= n) 
-  {
-   
-
-    int nskip = (n);
-    btFactorLDLT (A, outer_w, n, nskip);
-    btSolveLDLT (A, outer_w, b, n, nskip);
-    memcpy (x, b, n*sizeof(btScalar));
-
-    return !s_error;
-  }
-
-  const int nskip = (n);
-  scratchMem.L.resize(n*nskip);
-
-  scratchMem.d.resize(n);
-
-  btScalar *w = outer_w;
-  scratchMem.delta_w.resize(n);
-  scratchMem.delta_x.resize(n);
-  scratchMem.Dell.resize(n);
-  scratchMem.ell.resize(n);
-  scratchMem.Arows.resize(n);
-  scratchMem.p.resize(n);
-  scratchMem.C.resize(n);
-
-  // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
-  scratchMem.state.resize(n);
-
-
-  // create LCP object. note that tmp is set to delta_w to save space, this
-  // optimization relies on knowledge of how tmp is used, so be careful!
-  btLCP lcp(n,nskip,nub,A,x,b,w,lo,hi,&scratchMem.L[0],&scratchMem.d[0],&scratchMem.Dell[0],&scratchMem.ell[0],&scratchMem.delta_w[0],&scratchMem.state[0],findex,&scratchMem.p[0],&scratchMem.C[0],&scratchMem.Arows[0]);
-  int adj_nub = lcp.getNub();
-
-  // loop over all indexes adj_nub..n-1. for index i, if x(i),w(i) satisfy the
-  // LCP conditions then i is added to the appropriate index set. otherwise
-  // x(i),w(i) is driven either +ve or -ve to force it to the valid region.
-  // as we drive x(i), x(C) is also adjusted to keep w(C) at zero.
-  // while driving x(i) we maintain the LCP conditions on the other variables
-  // 0..i-1. we do this by watching out for other x(i),w(i) values going
-  // outside the valid region, and then switching them between index sets
-  // when that happens.
-
-  bool hit_first_friction_index = false;
-  for (int i=adj_nub; i<n; ++i) 
-  {
-    s_error = false;
-    // the index i is the driving index and indexes i+1..n-1 are "dont care",
-    // i.e. when we make changes to the system those x's will be zero and we
-    // don't care what happens to those w's. in other words, we only consider
-    // an (i+1)*(i+1) sub-problem of A*x=b+w.
-
-    // if we've hit the first friction index, we have to compute the lo and
-    // hi values based on the values of x already computed. we have been
-    // permuting the indexes, so the values stored in the findex vector are
-    // no longer valid. thus we have to temporarily unpermute the x vector. 
-    // for the purposes of this computation, 0*infinity = 0 ... so if the
-    // contact constraint's normal force is 0, there should be no tangential
-    // force applied.
-
-    if (!hit_first_friction_index && findex && findex[i] >= 0) {
-      // un-permute x into delta_w, which is not being used at the moment
-      for (int j=0; j<n; ++j) scratchMem.delta_w[scratchMem.p[j]] = x[j];
-
-      // set lo and hi values
-      for (int k=i; k<n; ++k) {
-        btScalar wfk = scratchMem.delta_w[findex[k]];
-        if (wfk == 0) {
-          hi[k] = 0;
-          lo[k] = 0;
-        }
-        else {
-          hi[k] = btFabs (hi[k] * wfk);
-          lo[k] = -hi[k];
-        }
-      }
-      hit_first_friction_index = true;
-    }
-
-    // thus far we have not even been computing the w values for indexes
-    // greater than i, so compute w[i] now.
-    w[i] = lcp.AiC_times_qC (i,x) + lcp.AiN_times_qN (i,x) - b[i];
-
-    // if lo=hi=0 (which can happen for tangential friction when normals are
-    // 0) then the index will be assigned to set N with some state. however,
-    // set C's line has zero size, so the index will always remain in set N.
-    // with the "normal" switching logic, if w changed sign then the index
-    // would have to switch to set C and then back to set N with an inverted
-    // state. this is pointless, and also computationally expensive. to
-    // prevent this from happening, we use the rule that indexes with lo=hi=0
-    // will never be checked for set changes. this means that the state for
-    // these indexes may be incorrect, but that doesn't matter.
-
-    // see if x(i),w(i) is in a valid region
-    if (lo[i]==0 && w[i] >= 0) {
-      lcp.transfer_i_to_N (i);
-      scratchMem.state[i] = false;
-    }
-    else if (hi[i]==0 && w[i] <= 0) {
-      lcp.transfer_i_to_N (i);
-      scratchMem.state[i] = true;
-    }
-    else if (w[i]==0) {
-      // this is a degenerate case. by the time we get to this test we know
-      // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve,
-      // and similarly that hi > 0. this means that the line segment
-      // corresponding to set C is at least finite in extent, and we are on it.
-      // NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C()
-      lcp.solve1 (&scratchMem.delta_x[0],i,0,1);
-
-      lcp.transfer_i_to_C (i);
-    }
-    else {
-      // we must push x(i) and w(i)
-      for (;;) {
-        int dir;
-        btScalar dirf;
-        // find direction to push on x(i)
-        if (w[i] <= 0) {
-          dir = 1;
-          dirf = btScalar(1.0);
-        }
-        else {
-          dir = -1;
-          dirf = btScalar(-1.0);
-        }
-
-        // compute: delta_x(C) = -dir*A(C,C)\A(C,i)
-        lcp.solve1 (&scratchMem.delta_x[0],i,dir);
-
-        // note that delta_x[i] = dirf, but we wont bother to set it
-
-        // compute: delta_w = A*delta_x ... note we only care about
-        // delta_w(N) and delta_w(i), the rest is ignored
-        lcp.pN_equals_ANC_times_qC (&scratchMem.delta_w[0],&scratchMem.delta_x[0]);
-        lcp.pN_plusequals_ANi (&scratchMem.delta_w[0],i,dir);
-        scratchMem.delta_w[i] = lcp.AiC_times_qC (i,&scratchMem.delta_x[0]) + lcp.Aii(i)*dirf;
-
-        // find largest step we can take (size=s), either to drive x(i),w(i)
-        // to the valid LCP region or to drive an already-valid variable
-        // outside the valid region.
-
-        int cmd = 1;		// index switching command
-        int si = 0;		// si = index to switch if cmd>3
-        btScalar s = -w[i]/scratchMem.delta_w[i];
-        if (dir > 0) {
-          if (hi[i] < BT_INFINITY) {
-            btScalar s2 = (hi[i]-x[i])*dirf;	// was (hi[i]-x[i])/dirf	// step to x(i)=hi(i)
-            if (s2 < s) {
-              s = s2;
-              cmd = 3;
-            }
-          }
-        }
-        else {
-          if (lo[i] > -BT_INFINITY) {
-            btScalar s2 = (lo[i]-x[i])*dirf;	// was (lo[i]-x[i])/dirf	// step to x(i)=lo(i)
-            if (s2 < s) {
-              s = s2;
-              cmd = 2;
-            }
-          }
-        }
-
-        {
-          const int numN = lcp.numN();
-          for (int k=0; k < numN; ++k) {
-            const int indexN_k = lcp.indexN(k);
-            if (!scratchMem.state[indexN_k] ? scratchMem.delta_w[indexN_k] < 0 : scratchMem.delta_w[indexN_k] > 0) {
-                // don't bother checking if lo=hi=0
-                if (lo[indexN_k] == 0 && hi[indexN_k] == 0) continue;
-                btScalar s2 = -w[indexN_k] / scratchMem.delta_w[indexN_k];
-                if (s2 < s) {
-                  s = s2;
-                  cmd = 4;
-                  si = indexN_k;
-                }
-            }
-          }
-        }
-
-        {
-          const int numC = lcp.numC();
-          for (int k=adj_nub; k < numC; ++k) {
-            const int indexC_k = lcp.indexC(k);
-            if (scratchMem.delta_x[indexC_k] < 0 && lo[indexC_k] > -BT_INFINITY) {
-              btScalar s2 = (lo[indexC_k]-x[indexC_k]) / scratchMem.delta_x[indexC_k];
-              if (s2 < s) {
-                s = s2;
-                cmd = 5;
-                si = indexC_k;
-              }
-            }
-            if (scratchMem.delta_x[indexC_k] > 0 && hi[indexC_k] < BT_INFINITY) {
-              btScalar s2 = (hi[indexC_k]-x[indexC_k]) / scratchMem.delta_x[indexC_k];
-              if (s2 < s) {
-                s = s2;
-                cmd = 6;
-                si = indexC_k;
-              }
-            }
-          }
-        }
-
-        //static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C",
-        //			     "C->NL","C->NH"};
-        //printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i);
-
-        // if s <= 0 then we've got a problem. if we just keep going then
-        // we're going to get stuck in an infinite loop. instead, just cross
-        // our fingers and exit with the current solution.
-        if (s <= btScalar(0.0)) 
-		{
-//          printf("LCP internal error, s <= 0 (s=%.4e)",(double)s);
-          if (i < n) {
-            btSetZero (x+i,n-i);
-            btSetZero (w+i,n-i);
-          }
-          s_error = true;
-          break;
-        }
-
-        // apply x = x + s * delta_x
-        lcp.pC_plusequals_s_times_qC (x, s, &scratchMem.delta_x[0]);
-        x[i] += s * dirf;
-
-        // apply w = w + s * delta_w
-        lcp.pN_plusequals_s_times_qN (w, s, &scratchMem.delta_w[0]);
-        w[i] += s * scratchMem.delta_w[i];
-
-//        void *tmpbuf;
-        // switch indexes between sets if necessary
-        switch (cmd) {
-        case 1:		// done
-          w[i] = 0;
-          lcp.transfer_i_to_C (i);
-          break;
-        case 2:		// done
-          x[i] = lo[i];
-          scratchMem.state[i] = false;
-          lcp.transfer_i_to_N (i);
-          break;
-        case 3:		// done
-          x[i] = hi[i];
-          scratchMem.state[i] = true;
-          lcp.transfer_i_to_N (i);
-          break;
-        case 4:		// keep going
-          w[si] = 0;
-          lcp.transfer_i_from_N_to_C (si);
-          break;
-        case 5:		// keep going
-          x[si] = lo[si];
-          scratchMem.state[si] = false;
-		  lcp.transfer_i_from_C_to_N (si, scratchMem.m_scratch);
-          break;
-        case 6:		// keep going
-          x[si] = hi[si];
-          scratchMem.state[si] = true;
-          lcp.transfer_i_from_C_to_N (si, scratchMem.m_scratch);
-          break;
-        }
-
-        if (cmd <= 3) break;
-      } // for (;;)
-    } // else
-
-    if (s_error) 
 	{
-      break;
-    }
-  } // for (int i=adj_nub; i<n; ++i)
+		// check restrictions on lo and hi
+		for (int k = 0; k < n; ++k)
+			btAssert(lo[k] <= 0 && hi[k] >= 0);
+	}
+#endif
 
-  lcp.unpermute();
+	// if all the variables are unbounded then we can just factor, solve,
+	// and return
+	if (nub >= n)
+	{
+		int nskip = (n);
+		btFactorLDLT(A, outer_w, n, nskip);
+		btSolveLDLT(A, outer_w, b, n, nskip);
+		memcpy(x, b, n * sizeof(btScalar));
+
+		return !s_error;
+	}
+
+	const int nskip = (n);
+	scratchMem.L.resize(n * nskip);
+
+	scratchMem.d.resize(n);
+
+	btScalar *w = outer_w;
+	scratchMem.delta_w.resize(n);
+	scratchMem.delta_x.resize(n);
+	scratchMem.Dell.resize(n);
+	scratchMem.ell.resize(n);
+	scratchMem.Arows.resize(n);
+	scratchMem.p.resize(n);
+	scratchMem.C.resize(n);
+
+	// for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
+	scratchMem.state.resize(n);
+
+	// create LCP object. note that tmp is set to delta_w to save space, this
+	// optimization relies on knowledge of how tmp is used, so be careful!
+	btLCP lcp(n, nskip, nub, A, x, b, w, lo, hi, &scratchMem.L[0], &scratchMem.d[0], &scratchMem.Dell[0], &scratchMem.ell[0], &scratchMem.delta_w[0], &scratchMem.state[0], findex, &scratchMem.p[0], &scratchMem.C[0], &scratchMem.Arows[0]);
+	int adj_nub = lcp.getNub();
+
+	// loop over all indexes adj_nub..n-1. for index i, if x(i),w(i) satisfy the
+	// LCP conditions then i is added to the appropriate index set. otherwise
+	// x(i),w(i) is driven either +ve or -ve to force it to the valid region.
+	// as we drive x(i), x(C) is also adjusted to keep w(C) at zero.
+	// while driving x(i) we maintain the LCP conditions on the other variables
+	// 0..i-1. we do this by watching out for other x(i),w(i) values going
+	// outside the valid region, and then switching them between index sets
+	// when that happens.
+
+	bool hit_first_friction_index = false;
+	for (int i = adj_nub; i < n; ++i)
+	{
+		s_error = false;
+		// the index i is the driving index and indexes i+1..n-1 are "dont care",
+		// i.e. when we make changes to the system those x's will be zero and we
+		// don't care what happens to those w's. in other words, we only consider
+		// an (i+1)*(i+1) sub-problem of A*x=b+w.
+
+		// if we've hit the first friction index, we have to compute the lo and
+		// hi values based on the values of x already computed. we have been
+		// permuting the indexes, so the values stored in the findex vector are
+		// no longer valid. thus we have to temporarily unpermute the x vector.
+		// for the purposes of this computation, 0*infinity = 0 ... so if the
+		// contact constraint's normal force is 0, there should be no tangential
+		// force applied.
+
+		if (!hit_first_friction_index && findex && findex[i] >= 0)
+		{
+			// un-permute x into delta_w, which is not being used at the moment
+			for (int j = 0; j < n; ++j) scratchMem.delta_w[scratchMem.p[j]] = x[j];
+
+			// set lo and hi values
+			for (int k = i; k < n; ++k)
+			{
+				btScalar wfk = scratchMem.delta_w[findex[k]];
+				if (wfk == 0)
+				{
+					hi[k] = 0;
+					lo[k] = 0;
+				}
+				else
+				{
+					hi[k] = btFabs(hi[k] * wfk);
+					lo[k] = -hi[k];
+				}
+			}
+			hit_first_friction_index = true;
+		}
+
+		// thus far we have not even been computing the w values for indexes
+		// greater than i, so compute w[i] now.
+		w[i] = lcp.AiC_times_qC(i, x) + lcp.AiN_times_qN(i, x) - b[i];
+
+		// if lo=hi=0 (which can happen for tangential friction when normals are
+		// 0) then the index will be assigned to set N with some state. however,
+		// set C's line has zero size, so the index will always remain in set N.
+		// with the "normal" switching logic, if w changed sign then the index
+		// would have to switch to set C and then back to set N with an inverted
+		// state. this is pointless, and also computationally expensive. to
+		// prevent this from happening, we use the rule that indexes with lo=hi=0
+		// will never be checked for set changes. this means that the state for
+		// these indexes may be incorrect, but that doesn't matter.
+
+		// see if x(i),w(i) is in a valid region
+		if (lo[i] == 0 && w[i] >= 0)
+		{
+			lcp.transfer_i_to_N(i);
+			scratchMem.state[i] = false;
+		}
+		else if (hi[i] == 0 && w[i] <= 0)
+		{
+			lcp.transfer_i_to_N(i);
+			scratchMem.state[i] = true;
+		}
+		else if (w[i] == 0)
+		{
+			// this is a degenerate case. by the time we get to this test we know
+			// that lo != 0, which means that lo < 0 as lo is not allowed to be +ve,
+			// and similarly that hi > 0. this means that the line segment
+			// corresponding to set C is at least finite in extent, and we are on it.
+			// NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C()
+			lcp.solve1(&scratchMem.delta_x[0], i, 0, 1);
+
+			lcp.transfer_i_to_C(i);
+		}
+		else
+		{
+			// we must push x(i) and w(i)
+			for (;;)
+			{
+				int dir;
+				btScalar dirf;
+				// find direction to push on x(i)
+				if (w[i] <= 0)
+				{
+					dir = 1;
+					dirf = btScalar(1.0);
+				}
+				else
+				{
+					dir = -1;
+					dirf = btScalar(-1.0);
+				}
+
+				// compute: delta_x(C) = -dir*A(C,C)\A(C,i)
+				lcp.solve1(&scratchMem.delta_x[0], i, dir);
+
+				// note that delta_x[i] = dirf, but we wont bother to set it
+
+				// compute: delta_w = A*delta_x ... note we only care about
+				// delta_w(N) and delta_w(i), the rest is ignored
+				lcp.pN_equals_ANC_times_qC(&scratchMem.delta_w[0], &scratchMem.delta_x[0]);
+				lcp.pN_plusequals_ANi(&scratchMem.delta_w[0], i, dir);
+				scratchMem.delta_w[i] = lcp.AiC_times_qC(i, &scratchMem.delta_x[0]) + lcp.Aii(i) * dirf;
+
+				// find largest step we can take (size=s), either to drive x(i),w(i)
+				// to the valid LCP region or to drive an already-valid variable
+				// outside the valid region.
+
+				int cmd = 1;  // index switching command
+				int si = 0;   // si = index to switch if cmd>3
+				btScalar s = -w[i] / scratchMem.delta_w[i];
+				if (dir > 0)
+				{
+					if (hi[i] < BT_INFINITY)
+					{
+						btScalar s2 = (hi[i] - x[i]) * dirf;  // was (hi[i]-x[i])/dirf	// step to x(i)=hi(i)
+						if (s2 < s)
+						{
+							s = s2;
+							cmd = 3;
+						}
+					}
+				}
+				else
+				{
+					if (lo[i] > -BT_INFINITY)
+					{
+						btScalar s2 = (lo[i] - x[i]) * dirf;  // was (lo[i]-x[i])/dirf	// step to x(i)=lo(i)
+						if (s2 < s)
+						{
+							s = s2;
+							cmd = 2;
+						}
+					}
+				}
+
+				{
+					const int numN = lcp.numN();
+					for (int k = 0; k < numN; ++k)
+					{
+						const int indexN_k = lcp.indexN(k);
+						if (!scratchMem.state[indexN_k] ? scratchMem.delta_w[indexN_k] < 0 : scratchMem.delta_w[indexN_k] > 0)
+						{
+							// don't bother checking if lo=hi=0
+							if (lo[indexN_k] == 0 && hi[indexN_k] == 0) continue;
+							btScalar s2 = -w[indexN_k] / scratchMem.delta_w[indexN_k];
+							if (s2 < s)
+							{
+								s = s2;
+								cmd = 4;
+								si = indexN_k;
+							}
+						}
+					}
+				}
+
+				{
+					const int numC = lcp.numC();
+					for (int k = adj_nub; k < numC; ++k)
+					{
+						const int indexC_k = lcp.indexC(k);
+						if (scratchMem.delta_x[indexC_k] < 0 && lo[indexC_k] > -BT_INFINITY)
+						{
+							btScalar s2 = (lo[indexC_k] - x[indexC_k]) / scratchMem.delta_x[indexC_k];
+							if (s2 < s)
+							{
+								s = s2;
+								cmd = 5;
+								si = indexC_k;
+							}
+						}
+						if (scratchMem.delta_x[indexC_k] > 0 && hi[indexC_k] < BT_INFINITY)
+						{
+							btScalar s2 = (hi[indexC_k] - x[indexC_k]) / scratchMem.delta_x[indexC_k];
+							if (s2 < s)
+							{
+								s = s2;
+								cmd = 6;
+								si = indexC_k;
+							}
+						}
+					}
+				}
+
+				//static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C",
+				//			     "C->NL","C->NH"};
+				//printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i);
+
+				// if s <= 0 then we've got a problem. if we just keep going then
+				// we're going to get stuck in an infinite loop. instead, just cross
+				// our fingers and exit with the current solution.
+				if (s <= btScalar(0.0))
+				{
+					//          printf("LCP internal error, s <= 0 (s=%.4e)",(double)s);
+					if (i < n)
+					{
+						btSetZero(x + i, n - i);
+						btSetZero(w + i, n - i);
+					}
+					s_error = true;
+					break;
+				}
+
+				// apply x = x + s * delta_x
+				lcp.pC_plusequals_s_times_qC(x, s, &scratchMem.delta_x[0]);
+				x[i] += s * dirf;
+
+				// apply w = w + s * delta_w
+				lcp.pN_plusequals_s_times_qN(w, s, &scratchMem.delta_w[0]);
+				w[i] += s * scratchMem.delta_w[i];
+
+				//        void *tmpbuf;
+				// switch indexes between sets if necessary
+				switch (cmd)
+				{
+					case 1:  // done
+						w[i] = 0;
+						lcp.transfer_i_to_C(i);
+						break;
+					case 2:  // done
+						x[i] = lo[i];
+						scratchMem.state[i] = false;
+						lcp.transfer_i_to_N(i);
+						break;
+					case 3:  // done
+						x[i] = hi[i];
+						scratchMem.state[i] = true;
+						lcp.transfer_i_to_N(i);
+						break;
+					case 4:  // keep going
+						w[si] = 0;
+						lcp.transfer_i_from_N_to_C(si);
+						break;
+					case 5:  // keep going
+						x[si] = lo[si];
+						scratchMem.state[si] = false;
+						lcp.transfer_i_from_C_to_N(si, scratchMem.m_scratch);
+						break;
+					case 6:  // keep going
+						x[si] = hi[si];
+						scratchMem.state[si] = true;
+						lcp.transfer_i_from_C_to_N(si, scratchMem.m_scratch);
+						break;
+				}
+
+				if (cmd <= 3) break;
+			}  // for (;;)
+		}      // else
+
+		if (s_error)
+		{
+			break;
+		}
+	}  // for (int i=adj_nub; i<n; ++i)
 
+	lcp.unpermute();
 
-  return !s_error;
+	return !s_error;
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h
index 903832770a..8d9b2a13e9 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h
@@ -41,7 +41,6 @@ to be implemented. the first `nub' variables are assumed to have findex < 0.
 
 */
 
-
 #ifndef _BT_LCP_H_
 #define _BT_LCP_H_
 
@@ -49,7 +48,6 @@ to be implemented. the first `nub' variables are assumed to have findex < 0.
 #include <stdio.h>
 #include <assert.h>
 
-
 #include "LinearMath/btScalar.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -62,16 +60,14 @@ struct btDantzigScratchMemory
 	btAlignedObjectArray<btScalar> delta_x;
 	btAlignedObjectArray<btScalar> Dell;
 	btAlignedObjectArray<btScalar> ell;
-	btAlignedObjectArray<btScalar*> Arows;
+	btAlignedObjectArray<btScalar *> Arows;
 	btAlignedObjectArray<int> p;
 	btAlignedObjectArray<int> C;
 	btAlignedObjectArray<bool> state;
 };
 
 //return false if solving failed
-bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, btScalar *w,
-	int nub, btScalar *lo, btScalar *hi, int *findex,btDantzigScratchMemory& scratch);
-
-
+bool btSolveDantzigLCP(int n, btScalar *A, btScalar *x, btScalar *b, btScalar *w,
+					   int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratch);
 
-#endif //_BT_LCP_H_
+#endif  //_BT_LCP_H_
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h
index 2a2f2d3d32..1f669751ce 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigSolver.h
@@ -20,30 +20,28 @@ subject to the following restrictions:
 #include "btMLCPSolverInterface.h"
 #include "btDantzigLCP.h"
 
-
 class btDantzigSolver : public btMLCPSolverInterface
 {
 protected:
-
 	btScalar m_acceptableUpperLimitSolution;
 
-	btAlignedObjectArray<char>	m_tempBuffer;
+	btAlignedObjectArray<char> m_tempBuffer;
 
 	btAlignedObjectArray<btScalar> m_A;
 	btAlignedObjectArray<btScalar> m_b;
 	btAlignedObjectArray<btScalar> m_x;
 	btAlignedObjectArray<btScalar> m_lo;
 	btAlignedObjectArray<btScalar> m_hi;
-	btAlignedObjectArray<int>	m_dependencies;
+	btAlignedObjectArray<int> m_dependencies;
 	btDantzigScratchMemory m_scratchMemory;
-public:
 
+public:
 	btDantzigSolver()
-		:m_acceptableUpperLimitSolution(btScalar(1000))
+		: m_acceptableUpperLimitSolution(btScalar(1000))
 	{
 	}
 
-	virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
+	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
 	{
 		bool result = true;
 		int n = b.rows();
@@ -52,14 +50,12 @@ public:
 			int nub = 0;
 			btAlignedObjectArray<btScalar> ww;
 			ww.resize(n);
-	
 
 			const btScalar* Aptr = A.getBufferPointer();
-			m_A.resize(n*n);
-			for (int i=0;i<n*n;i++)
+			m_A.resize(n * n);
+			for (int i = 0; i < n * n; i++)
 			{
 				m_A[i] = Aptr[i];
-
 			}
 
 			m_b.resize(n);
@@ -67,7 +63,7 @@ public:
 			m_lo.resize(n);
 			m_hi.resize(n);
 			m_dependencies.resize(n);
-			for (int i=0;i<n;i++)
+			for (int i = 0; i < n; i++)
 			{
 				m_lo[i] = lo[i];
 				m_hi[i] = hi[i];
@@ -76,13 +72,12 @@ public:
 				m_dependencies[i] = limitDependency[i];
 			}
 
-
-			result = btSolveDantzigLCP (n,&m_A[0],&m_x[0],&m_b[0],&ww[0],nub,&m_lo[0],&m_hi[0],&m_dependencies[0],m_scratchMemory);
+			result = btSolveDantzigLCP(n, &m_A[0], &m_x[0], &m_b[0], &ww[0], nub, &m_lo[0], &m_hi[0], &m_dependencies[0], m_scratchMemory);
 			if (!result)
 				return result;
 
-//			printf("numAllocas = %d\n",numAllocas);
-			for (int i=0;i<n;i++)
+			//			printf("numAllocas = %d\n",numAllocas);
+			for (int i = 0; i < n; i++)
 			{
 				volatile btScalar xx = m_x[i];
 				if (xx != m_x[i])
@@ -98,15 +93,14 @@ public:
 				}
 			}
 
-			for (int i=0;i<n;i++)
+			for (int i = 0; i < n; i++)
 			{
 				x[i] = m_x[i];
 			}
-			
 		}
 
 		return result;
 	}
 };
 
-#endif //BT_DANTZIG_SOLVER_H
+#endif  //BT_DANTZIG_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
index 1f4015c7c7..954ffaed75 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
@@ -19,64 +19,60 @@ subject to the following restrictions:
 //Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h
 //STL/std::vector replaced by btAlignedObjectArray
 
-
-
 #include "btLemkeAlgorithm.h"
 
 #undef BT_DEBUG_OSTREAM
 #ifdef BT_DEBUG_OSTREAM
 using namespace std;
-#endif //BT_DEBUG_OSTREAM
+#endif  //BT_DEBUG_OSTREAM
 
 btScalar btMachEps()
 {
-	static bool calculated=false;
+	static bool calculated = false;
 	static btScalar machEps = btScalar(1.);
 	if (!calculated)
 	{
-		do {
+		do
+		{
 			machEps /= btScalar(2.0);
 			// If next epsilon yields 1, then break, because current
 			// epsilon is the machine epsilon.
-		}
-		while ((btScalar)(1.0 + (machEps/btScalar(2.0))) != btScalar(1.0));
-//		printf( "\nCalculated Machine epsilon: %G\n", machEps );
-		calculated=true;
+		} while ((btScalar)(1.0 + (machEps / btScalar(2.0))) != btScalar(1.0));
+		//		printf( "\nCalculated Machine epsilon: %G\n", machEps );
+		calculated = true;
 	}
 	return machEps;
 }
 
-btScalar btEpsRoot() {
-	
+btScalar btEpsRoot()
+{
 	static btScalar epsroot = 0.;
 	static bool alreadyCalculated = false;
-	
-	if (!alreadyCalculated) {
+
+	if (!alreadyCalculated)
+	{
 		epsroot = btSqrt(btMachEps());
 		alreadyCalculated = true;
 	}
 	return epsroot;
 }
 
-	 
-
-  btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
+btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
 {
-  
-    
-    steps = 0;
+	steps = 0;
 
-    int dim = m_q.size();
+	int dim = m_q.size();
 #ifdef BT_DEBUG_OSTREAM
-    if(DEBUGLEVEL >= 1) {
-      cout << "Dimension = " << dim << endl;
-    }
-#endif //BT_DEBUG_OSTREAM
+	if (DEBUGLEVEL >= 1)
+	{
+		cout << "Dimension = " << dim << endl;
+	}
+#endif  //BT_DEBUG_OSTREAM
 
 	btVectorXu solutionVector(2 * dim);
 	solutionVector.setZero();
-	  
-	  //, INIT, 0.);
+
+	//, INIT, 0.);
 
 	btMatrixXu ident(dim, dim);
 	ident.setIdentity();
@@ -85,287 +81,289 @@ btScalar btEpsRoot() {
 #endif
 
 	btMatrixXu mNeg = m_M.negative();
-	  
-    btMatrixXu A(dim, 2 * dim + 2);
+
+	btMatrixXu A(dim, 2 * dim + 2);
 	//
-	A.setSubMatrix(0, 0, dim - 1, dim - 1,ident);
-	A.setSubMatrix(0, dim, dim - 1, 2 * dim - 1,mNeg);
+	A.setSubMatrix(0, 0, dim - 1, dim - 1, ident);
+	A.setSubMatrix(0, dim, dim - 1, 2 * dim - 1, mNeg);
 	A.setSubMatrix(0, 2 * dim, dim - 1, 2 * dim, -1.f);
-	A.setSubMatrix(0, 2 * dim + 1, dim - 1, 2 * dim + 1,m_q);
+	A.setSubMatrix(0, 2 * dim + 1, dim - 1, 2 * dim + 1, m_q);
 
 #ifdef BT_DEBUG_OSTREAM
 	cout << A << std::endl;
-#endif //BT_DEBUG_OSTREAM
+#endif  //BT_DEBUG_OSTREAM
 
+	//   btVectorXu q_;
+	//   q_ >> A(0, 2 * dim + 1, dim - 1, 2 * dim + 1);
 
- //   btVectorXu q_;
- //   q_ >> A(0, 2 * dim + 1, dim - 1, 2 * dim + 1);
-
-    btAlignedObjectArray<int> basis;
-    //At first, all w-values are in the basis
-    for (int i = 0; i < dim; i++)
-      basis.push_back(i);
+	btAlignedObjectArray<int> basis;
+	//At first, all w-values are in the basis
+	for (int i = 0; i < dim; i++)
+		basis.push_back(i);
 
 	int pivotRowIndex = -1;
 	btScalar minValue = 1e30f;
 	bool greaterZero = true;
-	for (int i=0;i<dim;i++)
+	for (int i = 0; i < dim; i++)
 	{
-		btScalar v =A(i,2*dim+1);
-		if (v<minValue)
+		btScalar v = A(i, 2 * dim + 1);
+		if (v < minValue)
 		{
-			minValue=v;
+			minValue = v;
 			pivotRowIndex = i;
 		}
-		if (v<0)
+		if (v < 0)
 			greaterZero = false;
 	}
-	
 
-	
-  //  int pivotRowIndex = q_.minIndex();//minIndex(q_);     // first row is that with lowest q-value
-    int z0Row = pivotRowIndex;           // remember the col of z0 for ending algorithm afterwards
-    int pivotColIndex = 2 * dim;         // first col is that of z0
+	//  int pivotRowIndex = q_.minIndex();//minIndex(q_);     // first row is that with lowest q-value
+	int z0Row = pivotRowIndex;    // remember the col of z0 for ending algorithm afterwards
+	int pivotColIndex = 2 * dim;  // first col is that of z0
 
 #ifdef BT_DEBUG_OSTREAM
-    if (DEBUGLEVEL >= 3)
+	if (DEBUGLEVEL >= 3)
 	{
-    //  cout << "A: " << A << endl;
-      cout << "pivotRowIndex " << pivotRowIndex << endl;
-      cout << "pivotColIndex " << pivotColIndex << endl;
-      cout << "Basis: ";
-      for (int i = 0; i < basis.size(); i++)
-        cout << basis[i] << " ";
-      cout << endl;
-    }
-#endif //BT_DEBUG_OSTREAM
+		//  cout << "A: " << A << endl;
+		cout << "pivotRowIndex " << pivotRowIndex << endl;
+		cout << "pivotColIndex " << pivotColIndex << endl;
+		cout << "Basis: ";
+		for (int i = 0; i < basis.size(); i++)
+			cout << basis[i] << " ";
+		cout << endl;
+	}
+#endif  //BT_DEBUG_OSTREAM
 
 	if (!greaterZero)
 	{
+		if (maxloops == 0)
+		{
+			maxloops = 100;
+			//        maxloops = UINT_MAX; //TODO: not a really nice way, problem is: maxloops should be 2^dim (=1<<dim), but this could exceed UINT_MAX and thus the result would be 0 and therefore the lemke algorithm wouldn't start but probably would find a solution within less then UINT_MAX steps. Therefore this constant is used as a upper border right now...
+		}
 
-      if (maxloops == 0) {
-		  maxloops = 100;
-//        maxloops = UINT_MAX; //TODO: not a really nice way, problem is: maxloops should be 2^dim (=1<<dim), but this could exceed UINT_MAX and thus the result would be 0 and therefore the lemke algorithm wouldn't start but probably would find a solution within less then UINT_MAX steps. Therefore this constant is used as a upper border right now...
-      }
-
-      /*start looping*/
-      for(steps = 0; steps < maxloops; steps++) {
-
-        GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
-#ifdef BT_DEBUG_OSTREAM
-        if (DEBUGLEVEL >= 3) {
-        //  cout << "A: " << A << endl;
-          cout << "pivotRowIndex " << pivotRowIndex << endl;
-          cout << "pivotColIndex " << pivotColIndex << endl;
-          cout << "Basis: ";
-          for (int i = 0; i < basis.size(); i++)
-            cout << basis[i] << " ";
-          cout << endl;
-        }
-#endif //BT_DEBUG_OSTREAM
-
-        int pivotColIndexOld = pivotColIndex;
-
-        /*find new column index */
-        if (basis[pivotRowIndex] < dim) //if a w-value left the basis get in the correspondent z-value
-          pivotColIndex = basis[pivotRowIndex] + dim;
-        else
-          //else do it the other way round and get in the corresponding w-value
-          pivotColIndex = basis[pivotRowIndex] - dim;
-
-        /*the column becomes part of the basis*/
-        basis[pivotRowIndex] = pivotColIndexOld;
-
-        pivotRowIndex = findLexicographicMinimum(A, pivotColIndex);
-
-        if(z0Row == pivotRowIndex) { //if z0 leaves the basis the solution is found --> one last elimination step is necessary
-          GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
-          basis[pivotRowIndex] = pivotColIndex; //update basis
-          break;
-      }
-
-      }
+		/*start looping*/
+		for (steps = 0; steps < maxloops; steps++)
+		{
+			GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
 #ifdef BT_DEBUG_OSTREAM
-      if(DEBUGLEVEL >= 1) {
-        cout << "Number of loops: " << steps << endl;
-        cout << "Number of maximal loops: " << maxloops << endl;
-      }
-#endif //BT_DEBUG_OSTREAM
-
-      if(!validBasis(basis)) {
-        info = -1;
+			if (DEBUGLEVEL >= 3)
+			{
+				//  cout << "A: " << A << endl;
+				cout << "pivotRowIndex " << pivotRowIndex << endl;
+				cout << "pivotColIndex " << pivotColIndex << endl;
+				cout << "Basis: ";
+				for (int i = 0; i < basis.size(); i++)
+					cout << basis[i] << " ";
+				cout << endl;
+			}
+#endif  //BT_DEBUG_OSTREAM
+
+			int pivotColIndexOld = pivotColIndex;
+
+			/*find new column index */
+			if (basis[pivotRowIndex] < dim)  //if a w-value left the basis get in the correspondent z-value
+				pivotColIndex = basis[pivotRowIndex] + dim;
+			else
+				//else do it the other way round and get in the corresponding w-value
+				pivotColIndex = basis[pivotRowIndex] - dim;
+
+			/*the column becomes part of the basis*/
+			basis[pivotRowIndex] = pivotColIndexOld;
+
+			pivotRowIndex = findLexicographicMinimum(A, pivotColIndex);
+
+			if (z0Row == pivotRowIndex)
+			{  //if z0 leaves the basis the solution is found --> one last elimination step is necessary
+				GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
+				basis[pivotRowIndex] = pivotColIndex;  //update basis
+				break;
+			}
+		}
 #ifdef BT_DEBUG_OSTREAM
-        if(DEBUGLEVEL >= 1)
-          cerr << "Lemke-Algorithm ended with Ray-Termination (no valid solution)." << endl;
-#endif //BT_DEBUG_OSTREAM
+		if (DEBUGLEVEL >= 1)
+		{
+			cout << "Number of loops: " << steps << endl;
+			cout << "Number of maximal loops: " << maxloops << endl;
+		}
+#endif  //BT_DEBUG_OSTREAM
 
-        return solutionVector;
-      }
+		if (!validBasis(basis))
+		{
+			info = -1;
+#ifdef BT_DEBUG_OSTREAM
+			if (DEBUGLEVEL >= 1)
+				cerr << "Lemke-Algorithm ended with Ray-Termination (no valid solution)." << endl;
+#endif  //BT_DEBUG_OSTREAM
 
-    }
+			return solutionVector;
+		}
+	}
 #ifdef BT_DEBUG_OSTREAM
-    if (DEBUGLEVEL >= 2) {
-     // cout << "A: " << A << endl;
-      cout << "pivotRowIndex " << pivotRowIndex << endl;
-      cout << "pivotColIndex " << pivotColIndex << endl;
-    }
-#endif //BT_DEBUG_OSTREAM
-
-    for (int i = 0; i < basis.size(); i++)
+	if (DEBUGLEVEL >= 2)
 	{
-      solutionVector[basis[i]] = A(i,2*dim+1);//q_[i];
+		// cout << "A: " << A << endl;
+		cout << "pivotRowIndex " << pivotRowIndex << endl;
+		cout << "pivotColIndex " << pivotColIndex << endl;
 	}
+#endif  //BT_DEBUG_OSTREAM
 
-    info = 0;
+	for (int i = 0; i < basis.size(); i++)
+	{
+		solutionVector[basis[i]] = A(i, 2 * dim + 1);  //q_[i];
+	}
 
-    return solutionVector;
-  }
+	info = 0;
 
-  int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int & pivotColIndex) {
-	  int RowIndex = 0;
-	  int dim = A.rows();
-	  btAlignedObjectArray<btVectorXu> Rows;
-	  for (int row = 0; row < dim; row++) 
-	  {
+	return solutionVector;
+}
 
-		  btVectorXu vec(dim + 1);
-		  vec.setZero();//, INIT, 0.)
-		  Rows.push_back(vec);
-		  btScalar a = A(row, pivotColIndex);
-		  if (a > 0) {
-			  Rows[row][0] = A(row, 2 * dim + 1) / a;
-			  Rows[row][1] = A(row, 2 * dim) / a;
-			  for (int j = 2; j < dim + 1; j++)
-				  Rows[row][j] = A(row, j - 1) / a;
+int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex)
+{
+	int RowIndex = 0;
+	int dim = A.rows();
+	btAlignedObjectArray<btVectorXu> Rows;
+	for (int row = 0; row < dim; row++)
+	{
+		btVectorXu vec(dim + 1);
+		vec.setZero();  //, INIT, 0.)
+		Rows.push_back(vec);
+		btScalar a = A(row, pivotColIndex);
+		if (a > 0)
+		{
+			Rows[row][0] = A(row, 2 * dim + 1) / a;
+			Rows[row][1] = A(row, 2 * dim) / a;
+			for (int j = 2; j < dim + 1; j++)
+				Rows[row][j] = A(row, j - 1) / a;
 
 #ifdef BT_DEBUG_OSTREAM
-		//		if (DEBUGLEVEL) {
-			//	  cout << "Rows(" << row << ") = " << Rows[row] << endl;
+				//		if (DEBUGLEVEL) {
+				//	  cout << "Rows(" << row << ") = " << Rows[row] << endl;
 				// }
-#endif 
-		  }
-	  }
-
-	  for (int i = 0; i < Rows.size(); i++) 
-	  {
-		  if (Rows[i].nrm2() > 0.) {
-
-			  int j = 0;
-			  for (; j < Rows.size(); j++) 
-			  {
-				  if(i != j)
-				  {
-					  if(Rows[j].nrm2() > 0.)
-					  {
-						  btVectorXu test(dim + 1);
-						  for (int ii=0;ii<dim+1;ii++)
-						  {
-							  test[ii] = Rows[j][ii] - Rows[i][ii];
-						  }
-
-						  //=Rows[j] - Rows[i]
-						  if (! LexicographicPositive(test))
-							  break;
-					  }
-				  }
-			  }
-
-			  if (j == Rows.size()) 
-			  {
-				  RowIndex += i;
-				  break;
-			  }
-		  }
-	  }
-
-	  return RowIndex;
-  }
-
-  bool btLemkeAlgorithm::LexicographicPositive(const btVectorXu & v)
-{
-    int i = 0;
-  //  if (DEBUGLEVEL)
-    //  cout << "v " << v << endl;
+#endif
+		}
+	}
 
-    while(i < v.size()-1 && fabs(v[i]) < btMachEps())
-      i++;
-    if (v[i] > 0)
-      return true;
+	for (int i = 0; i < Rows.size(); i++)
+	{
+		if (Rows[i].nrm2() > 0.)
+		{
+			int j = 0;
+			for (; j < Rows.size(); j++)
+			{
+				if (i != j)
+				{
+					if (Rows[j].nrm2() > 0.)
+					{
+						btVectorXu test(dim + 1);
+						for (int ii = 0; ii < dim + 1; ii++)
+						{
+							test[ii] = Rows[j][ii] - Rows[i][ii];
+						}
+
+						//=Rows[j] - Rows[i]
+						if (!LexicographicPositive(test))
+							break;
+					}
+				}
+			}
+
+			if (j == Rows.size())
+			{
+				RowIndex += i;
+				break;
+			}
+		}
+	}
 
-    return false;
-  }
+	return RowIndex;
+}
 
-void btLemkeAlgorithm::GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis) 
+bool btLemkeAlgorithm::LexicographicPositive(const btVectorXu& v)
 {
+	int i = 0;
+	//  if (DEBUGLEVEL)
+	//  cout << "v " << v << endl;
+
+	while (i < v.size() - 1 && fabs(v[i]) < btMachEps())
+		i++;
+	if (v[i] > 0)
+		return true;
 
+	return false;
+}
+
+void btLemkeAlgorithm::GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis)
+{
 	btScalar a = -1 / A(pivotRowIndex, pivotColumnIndex);
 #ifdef BT_DEBUG_OSTREAM
 	cout << A << std::endl;
 #endif
 
-    for (int i = 0; i < A.rows(); i++)
+	for (int i = 0; i < A.rows(); i++)
 	{
-      if (i != pivotRowIndex)
-	  {
-        for (int j = 0; j < A.cols(); j++)
+		if (i != pivotRowIndex)
 		{
-          if (j != pivotColumnIndex)
-		  {
-			  btScalar v = A(i, j);
-			  v += A(pivotRowIndex, j) * A(i, pivotColumnIndex) * a;
-            A.setElem(i, j, v);
-		  }
+			for (int j = 0; j < A.cols(); j++)
+			{
+				if (j != pivotColumnIndex)
+				{
+					btScalar v = A(i, j);
+					v += A(pivotRowIndex, j) * A(i, pivotColumnIndex) * a;
+					A.setElem(i, j, v);
+				}
+			}
 		}
-	  }
 	}
 
 #ifdef BT_DEBUG_OSTREAM
 	cout << A << std::endl;
-#endif //BT_DEBUG_OSTREAM
-    for (int i = 0; i < A.cols(); i++) 
+#endif  //BT_DEBUG_OSTREAM
+	for (int i = 0; i < A.cols(); i++)
 	{
-      A.mulElem(pivotRowIndex, i,-a);
-    }
+		A.mulElem(pivotRowIndex, i, -a);
+	}
 #ifdef BT_DEBUG_OSTREAM
 	cout << A << std::endl;
-#endif //#ifdef BT_DEBUG_OSTREAM
+#endif  //#ifdef BT_DEBUG_OSTREAM
 
-    for (int i = 0; i < A.rows(); i++)
+	for (int i = 0; i < A.rows(); i++)
 	{
-      if (i != pivotRowIndex)
-	  {
-        A.setElem(i, pivotColumnIndex,0);
-	  }
+		if (i != pivotRowIndex)
+		{
+			A.setElem(i, pivotColumnIndex, 0);
+		}
 	}
 #ifdef BT_DEBUG_OSTREAM
 	cout << A << std::endl;
-#endif //#ifdef BT_DEBUG_OSTREAM
-  }
+#endif  //#ifdef BT_DEBUG_OSTREAM
+}
 
-  bool btLemkeAlgorithm::greaterZero(const btVectorXu & vector)
+bool btLemkeAlgorithm::greaterZero(const btVectorXu& vector)
 {
-    bool isGreater = true;
-    for (int i = 0; i < vector.size(); i++) {
-      if (vector[i] < 0) {
-        isGreater = false;
-        break;
-      }
-    }
-
-    return isGreater;
-  }
-
-  bool btLemkeAlgorithm::validBasis(const btAlignedObjectArray<int>& basis) 
-  {
-    bool isValid = true;
-    for (int i = 0; i < basis.size(); i++) {
-      if (basis[i] >= basis.size() * 2) { //then z0 is in the base
-        isValid = false;
-        break;
-      }
-    }
-
-    return isValid;
-  }
+	bool isGreater = true;
+	for (int i = 0; i < vector.size(); i++)
+	{
+		if (vector[i] < 0)
+		{
+			isGreater = false;
+			break;
+		}
+	}
 
+	return isGreater;
+}
 
+bool btLemkeAlgorithm::validBasis(const btAlignedObjectArray<int>& basis)
+{
+	bool isValid = true;
+	for (int i = 0; i < basis.size(); i++)
+	{
+		if (basis[i] >= basis.size() * 2)
+		{  //then z0 is in the base
+			isValid = false;
+			break;
+		}
+	}
+
+	return isValid;
+}
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
index 7555cd9d20..3c6bf72a23 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
@@ -19,90 +19,84 @@ subject to the following restrictions:
 //Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h
 //STL/std::vector replaced by btAlignedObjectArray
 
-
-
 #ifndef BT_NUMERICS_LEMKE_ALGORITHM_H_
 #define BT_NUMERICS_LEMKE_ALGORITHM_H_
 
 #include "LinearMath/btMatrixX.h"
 
-
-#include <vector> //todo: replace by btAlignedObjectArray
+#include <vector>  //todo: replace by btAlignedObjectArray
 
 class btLemkeAlgorithm
 {
 public:
- 
-
-  btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int & DEBUGLEVEL_ = 0) :
-	  DEBUGLEVEL(DEBUGLEVEL_)
-  {
-	setSystem(M_, q_);
-  }
+	btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int& DEBUGLEVEL_ = 0) : DEBUGLEVEL(DEBUGLEVEL_)
+	{
+		setSystem(M_, q_);
+	}
 
-  /* GETTER / SETTER */
-  /**
+	/* GETTER / SETTER */
+	/**
    * \brief return info of solution process
    */
-  int getInfo() {
-	return info;
-  }
+	int getInfo()
+	{
+		return info;
+	}
 
-  /**
+	/**
    * \brief get the number of steps until the solution was found
    */
-  int getSteps(void) {
-	return steps;
-  }
-
-
+	int getSteps(void)
+	{
+		return steps;
+	}
 
-  /**
+	/**
    * \brief set system with Matrix M and vector q
    */
-  void setSystem(const btMatrixXu & M_, const btVectorXu & q_)
+	void setSystem(const btMatrixXu& M_, const btVectorXu& q_)
 	{
 		m_M = M_;
 		m_q = q_;
-  }
-  /***************************************************/
+	}
+	/***************************************************/
 
-  /**
+	/**
    * \brief solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd)
    */
-  btVectorXu solve(unsigned int maxloops = 0);
+	btVectorXu solve(unsigned int maxloops = 0);
 
-  virtual ~btLemkeAlgorithm() {
-  }
+	virtual ~btLemkeAlgorithm()
+	{
+	}
 
 protected:
-  int findLexicographicMinimum(const btMatrixXu &A, const int & pivotColIndex);
-  bool LexicographicPositive(const btVectorXu & v);
-  void GaussJordanEliminationStep(btMatrixXu &A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
-  bool greaterZero(const btVectorXu & vector);
-  bool validBasis(const btAlignedObjectArray<int>& basis);
+	int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex);
+	bool LexicographicPositive(const btVectorXu& v);
+	void GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
+	bool greaterZero(const btVectorXu& vector);
+	bool validBasis(const btAlignedObjectArray<int>& basis);
 
-  btMatrixXu m_M;
-  btVectorXu m_q;
+	btMatrixXu m_M;
+	btVectorXu m_q;
 
-  /**
+	/**
    * \brief number of steps until the Lemke algorithm found a solution
    */
-  unsigned int steps;
+	unsigned int steps;
 
-  /**
+	/**
    * \brief define level of debug output
    */
-  int DEBUGLEVEL;
+	int DEBUGLEVEL;
 
-  /**
+	/**
    * \brief did the algorithm find a solution
    *
    * -1 : not successful
    *  0 : successful
    */
-  int info;
+	int info;
 };
 
-
 #endif /* BT_NUMERICS_LEMKE_ALGORITHM_H_ */
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h
index 98484c3796..3f215e56bb 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h
@@ -17,334 +17,322 @@ subject to the following restrictions:
 #ifndef BT_LEMKE_SOLVER_H
 #define BT_LEMKE_SOLVER_H
 
-
 #include "btMLCPSolverInterface.h"
 #include "btLemkeAlgorithm.h"
 
-
-
-
 ///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) "
 ///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time.
 ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team
 class btLemkeSolver : public btMLCPSolverInterface
 {
 protected:
-	
 public:
-
-	btScalar	m_maxValue;
-	int			m_debugLevel;
-	int			m_maxLoops;
-	bool		m_useLoHighBounds;
-	
-	
+	btScalar m_maxValue;
+	int m_debugLevel;
+	int m_maxLoops;
+	bool m_useLoHighBounds;
 
 	btLemkeSolver()
-		:m_maxValue(100000),
-		m_debugLevel(0),
-		m_maxLoops(1000),
-		m_useLoHighBounds(true)
+		: m_maxValue(100000),
+		  m_debugLevel(0),
+		  m_maxLoops(1000),
+		  m_useLoHighBounds(true)
 	{
 	}
-	virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
+	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
 	{
-		
 		if (m_useLoHighBounds)
 		{
+			BT_PROFILE("btLemkeSolver::solveMLCP");
+			int n = A.rows();
+			if (0 == n)
+				return true;
 
-		BT_PROFILE("btLemkeSolver::solveMLCP");
-		int n = A.rows();
-		if (0==n)
-			return true;
-		
-		bool fail = false;
-
-		btVectorXu solution(n);
-		btVectorXu q1;
-		q1.resize(n);
-		for (int row=0;row<n;row++)
-		{
-			q1[row] = -b[row];
-		}
+			bool fail = false;
+
+			btVectorXu solution(n);
+			btVectorXu q1;
+			q1.resize(n);
+			for (int row = 0; row < n; row++)
+			{
+				q1[row] = -b[row];
+			}
 
-	//		cout << "A" << endl;
-	//		cout << A << endl;
+			//		cout << "A" << endl;
+			//		cout << A << endl;
 
 			/////////////////////////////////////
 
 			//slow matrix inversion, replace with LU decomposition
 			btMatrixXu A1;
-			btMatrixXu B(n,n);
+			btMatrixXu B(n, n);
 			{
 				BT_PROFILE("inverse(slow)");
-				A1.resize(A.rows(),A.cols());
-				for (int row=0;row<A.rows();row++)
+				A1.resize(A.rows(), A.cols());
+				for (int row = 0; row < A.rows(); row++)
 				{
-					for (int col=0;col<A.cols();col++)
+					for (int col = 0; col < A.cols(); col++)
 					{
-						A1.setElem(row,col,A(row,col));
+						A1.setElem(row, col, A(row, col));
 					}
 				}
 
 				btMatrixXu matrix;
-				matrix.resize(n,2*n);
-				for (int row=0;row<n;row++)
+				matrix.resize(n, 2 * n);
+				for (int row = 0; row < n; row++)
 				{
-					for (int col=0;col<n;col++)
+					for (int col = 0; col < n; col++)
 					{
-						matrix.setElem(row,col,A1(row,col));
+						matrix.setElem(row, col, A1(row, col));
 					}
 				}
 
-
-				btScalar ratio,a;
-				int i,j,k;
-				for(i = 0; i < n; i++){
-				for(j = n; j < 2*n; j++){
-					if(i==(j-n))
-						matrix.setElem(i,j,1.0);
-					else
-						matrix.setElem(i,j,0.0);
+				btScalar ratio, a;
+				int i, j, k;
+				for (i = 0; i < n; i++)
+				{
+					for (j = n; j < 2 * n; j++)
+					{
+						if (i == (j - n))
+							matrix.setElem(i, j, 1.0);
+						else
+							matrix.setElem(i, j, 0.0);
+					}
 				}
-			}
-			for(i = 0; i < n; i++){
-				for(j = 0; j < n; j++){
-					if(i!=j)
+				for (i = 0; i < n; i++)
+				{
+					for (j = 0; j < n; j++)
 					{
-						btScalar v = matrix(i,i);
-						if (btFuzzyZero(v))
+						if (i != j)
 						{
-							a = 0.000001f;
-						}
-						ratio = matrix(j,i)/matrix(i,i);
-						for(k = 0; k < 2*n; k++){
-							matrix.addElem(j,k,- ratio * matrix(i,k));
+							btScalar v = matrix(i, i);
+							if (btFuzzyZero(v))
+							{
+								a = 0.000001f;
+							}
+							ratio = matrix(j, i) / matrix(i, i);
+							for (k = 0; k < 2 * n; k++)
+							{
+								matrix.addElem(j, k, -ratio * matrix(i, k));
+							}
 						}
 					}
 				}
-			}
-			for(i = 0; i < n; i++){
-				a = matrix(i,i);
-				if (btFuzzyZero(a))
+				for (i = 0; i < n; i++)
 				{
-					a = 0.000001f;
-				}
-				btScalar invA = 1.f/a;
-				for(j = 0; j < 2*n; j++){
-					matrix.mulElem(i,j,invA);
+					a = matrix(i, i);
+					if (btFuzzyZero(a))
+					{
+						a = 0.000001f;
+					}
+					btScalar invA = 1.f / a;
+					for (j = 0; j < 2 * n; j++)
+					{
+						matrix.mulElem(i, j, invA);
+					}
 				}
-			}
 
-	
-
-	
-
-			for (int row=0;row<n;row++)
+				for (int row = 0; row < n; row++)
 				{
-					for (int col=0;col<n;col++)
+					for (int col = 0; col < n; col++)
 					{
-						B.setElem(row,col,matrix(row,n+col));
+						B.setElem(row, col, matrix(row, n + col));
 					}
 				}
 			}
 
-		btMatrixXu b1(n,1);
+			btMatrixXu b1(n, 1);
 
-		btMatrixXu M(n*2,n*2);
-		for (int row=0;row<n;row++)
-		{
-			b1.setElem(row,0,-b[row]);
-			for (int col=0;col<n;col++)
+			btMatrixXu M(n * 2, n * 2);
+			for (int row = 0; row < n; row++)
 			{
-				btScalar v =B(row,col);
-				M.setElem(row,col,v);
-				M.setElem(n+row,n+col,v);
-				M.setElem(n+row,col,-v);
-				M.setElem(row,n+col,-v);
-
+				b1.setElem(row, 0, -b[row]);
+				for (int col = 0; col < n; col++)
+				{
+					btScalar v = B(row, col);
+					M.setElem(row, col, v);
+					M.setElem(n + row, n + col, v);
+					M.setElem(n + row, col, -v);
+					M.setElem(row, n + col, -v);
+				}
 			}
-		}
 
-		btMatrixXu Bb1 = B*b1;
-//		q = [ (-B*b1 - lo)'   (hi + B*b1)' ]'
+			btMatrixXu Bb1 = B * b1;
+			//		q = [ (-B*b1 - lo)'   (hi + B*b1)' ]'
 
-		btVectorXu qq;
-		qq.resize(n*2);
-		for (int row=0;row<n;row++)
-		{
-			qq[row] = -Bb1(row,0)-lo[row];
-			qq[n+row] = Bb1(row,0)+hi[row];
-		}
+			btVectorXu qq;
+			qq.resize(n * 2);
+			for (int row = 0; row < n; row++)
+			{
+				qq[row] = -Bb1(row, 0) - lo[row];
+				qq[n + row] = Bb1(row, 0) + hi[row];
+			}
 
-		btVectorXu z1;
+			btVectorXu z1;
 
-		btMatrixXu y1;
-		y1.resize(n,1);
-		btLemkeAlgorithm lemke(M,qq,m_debugLevel);
-		{
-			BT_PROFILE("lemke.solve");
-			lemke.setSystem(M,qq);
-			z1  = lemke.solve(m_maxLoops);
-		}
-		for (int row=0;row<n;row++)
-		{
-			y1.setElem(row,0,z1[2*n+row]-z1[3*n+row]);
-		}
-		btMatrixXu y1_b1(n,1);
-		for (int i=0;i<n;i++)
-		{
-			y1_b1.setElem(i,0,y1(i,0)-b1(i,0));
-		}
+			btMatrixXu y1;
+			y1.resize(n, 1);
+			btLemkeAlgorithm lemke(M, qq, m_debugLevel);
+			{
+				BT_PROFILE("lemke.solve");
+				lemke.setSystem(M, qq);
+				z1 = lemke.solve(m_maxLoops);
+			}
+			for (int row = 0; row < n; row++)
+			{
+				y1.setElem(row, 0, z1[2 * n + row] - z1[3 * n + row]);
+			}
+			btMatrixXu y1_b1(n, 1);
+			for (int i = 0; i < n; i++)
+			{
+				y1_b1.setElem(i, 0, y1(i, 0) - b1(i, 0));
+			}
 
-		btMatrixXu x1;
+			btMatrixXu x1;
 
-		x1 = B*(y1_b1);
-			
-		for (int row=0;row<n;row++)
-		{
-			solution[row] = x1(row,0);//n];
-		}
+			x1 = B * (y1_b1);
 
-		int errorIndexMax = -1;
-		int errorIndexMin = -1;
-		float errorValueMax = -1e30;
-		float errorValueMin = 1e30;
-		
-		for (int i=0;i<n;i++)
-		{
-			x[i] = solution[i];
-			volatile btScalar check = x[i];
-			if (x[i] != check)
+			for (int row = 0; row < n; row++)
 			{
-				//printf("Lemke result is #NAN\n");
-				x.setZero();
-				return false;
+				solution[row] = x1(row, 0);  //n];
 			}
-			
-			//this is some hack/safety mechanism, to discard invalid solutions from the Lemke solver 
-			//we need to figure out why it happens, and fix it, or detect it properly)
-			if (x[i]>m_maxValue)
+
+			int errorIndexMax = -1;
+			int errorIndexMin = -1;
+			float errorValueMax = -1e30;
+			float errorValueMin = 1e30;
+
+			for (int i = 0; i < n; i++)
 			{
-				if (x[i]> errorValueMax)
+				x[i] = solution[i];
+				volatile btScalar check = x[i];
+				if (x[i] != check)
+				{
+					//printf("Lemke result is #NAN\n");
+					x.setZero();
+					return false;
+				}
+
+				//this is some hack/safety mechanism, to discard invalid solutions from the Lemke solver
+				//we need to figure out why it happens, and fix it, or detect it properly)
+				if (x[i] > m_maxValue)
+				{
+					if (x[i] > errorValueMax)
+					{
+						fail = true;
+						errorIndexMax = i;
+						errorValueMax = x[i];
+					}
+					////printf("x[i] = %f,",x[i]);
+				}
+				if (x[i] < -m_maxValue)
 				{
-					fail = true;
-					errorIndexMax = i;
-					errorValueMax = x[i];
+					if (x[i] < errorValueMin)
+					{
+						errorIndexMin = i;
+						errorValueMin = x[i];
+						fail = true;
+						//printf("x[i] = %f,",x[i]);
+					}
 				}
-				////printf("x[i] = %f,",x[i]);
 			}
-			if (x[i]<-m_maxValue)
+			if (fail)
 			{
-				if (x[i]<errorValueMin)
+				int m_errorCountTimes = 0;
+				if (errorIndexMin < 0)
+					errorValueMin = 0.f;
+				if (errorIndexMax < 0)
+					errorValueMax = 0.f;
+				m_errorCountTimes++;
+				//	printf("Error (x[%d] = %f, x[%d] = %f), resetting %d times\n", errorIndexMin,errorValueMin, errorIndexMax, errorValueMax, errorCountTimes++);
+				for (int i = 0; i < n; i++)
 				{
-					errorIndexMin = i;
-					errorValueMin = x[i];
-					fail = true;
-					//printf("x[i] = %f,",x[i]);
+					x[i] = 0.f;
 				}
 			}
+			return !fail;
 		}
-		if (fail)
+		else
+
 		{
-			int m_errorCountTimes = 0;
-			if (errorIndexMin<0)
-				errorValueMin = 0.f;
-			if (errorIndexMax<0)
-				errorValueMax = 0.f;
-			m_errorCountTimes++;
-		//	printf("Error (x[%d] = %f, x[%d] = %f), resetting %d times\n", errorIndexMin,errorValueMin, errorIndexMax, errorValueMax, errorCountTimes++);
-			for (int i=0;i<n;i++)
-			{
-				x[i]=0.f;
-			}
-		}
-		return !fail;
-	} else
-		
-	{
 			int dimension = A.rows();
-		if (0==dimension)
-			return true;
-		
-//		printf("================ solving using Lemke/Newton/Fixpoint\n");
-
-		btVectorXu q;
-		q.resize(dimension);
-		for (int row=0;row<dimension;row++)
-		{
-			q[row] = -b[row];
-		}
-		
-		btLemkeAlgorithm lemke(A,q,m_debugLevel);
-		
-		
-		lemke.setSystem(A,q);
-		
-		btVectorXu solution = lemke.solve(m_maxLoops);
-		
-		//check solution
-		
-		bool fail = false;
-		int errorIndexMax = -1;
-		int errorIndexMin = -1;
-		float errorValueMax = -1e30;
-		float errorValueMin = 1e30;
-		
-		for (int i=0;i<dimension;i++)
-		{
-			x[i] = solution[i+dimension];
-			volatile btScalar check = x[i];
-			if (x[i] != check)
+			if (0 == dimension)
+				return true;
+
+			//		printf("================ solving using Lemke/Newton/Fixpoint\n");
+
+			btVectorXu q;
+			q.resize(dimension);
+			for (int row = 0; row < dimension; row++)
 			{
-				x.setZero();
-				return false;
+				q[row] = -b[row];
 			}
-			
-			//this is some hack/safety mechanism, to discard invalid solutions from the Lemke solver 
-			//we need to figure out why it happens, and fix it, or detect it properly)
-			if (x[i]>m_maxValue)
+
+			btLemkeAlgorithm lemke(A, q, m_debugLevel);
+
+			lemke.setSystem(A, q);
+
+			btVectorXu solution = lemke.solve(m_maxLoops);
+
+			//check solution
+
+			bool fail = false;
+			int errorIndexMax = -1;
+			int errorIndexMin = -1;
+			float errorValueMax = -1e30;
+			float errorValueMin = 1e30;
+
+			for (int i = 0; i < dimension; i++)
 			{
-				if (x[i]> errorValueMax)
+				x[i] = solution[i + dimension];
+				volatile btScalar check = x[i];
+				if (x[i] != check)
 				{
-					fail = true;
-					errorIndexMax = i;
-					errorValueMax = x[i];
+					x.setZero();
+					return false;
 				}
-				////printf("x[i] = %f,",x[i]);
-			}
-			if (x[i]<-m_maxValue)
-			{
-				if (x[i]<errorValueMin)
+
+				//this is some hack/safety mechanism, to discard invalid solutions from the Lemke solver
+				//we need to figure out why it happens, and fix it, or detect it properly)
+				if (x[i] > m_maxValue)
+				{
+					if (x[i] > errorValueMax)
+					{
+						fail = true;
+						errorIndexMax = i;
+						errorValueMax = x[i];
+					}
+					////printf("x[i] = %f,",x[i]);
+				}
+				if (x[i] < -m_maxValue)
 				{
-					errorIndexMin = i;
-					errorValueMin = x[i];
-					fail = true;
-					//printf("x[i] = %f,",x[i]);
+					if (x[i] < errorValueMin)
+					{
+						errorIndexMin = i;
+						errorValueMin = x[i];
+						fail = true;
+						//printf("x[i] = %f,",x[i]);
+					}
 				}
 			}
-		}
-		if (fail)
-		{
-			static int errorCountTimes = 0;
-			if (errorIndexMin<0)
-				errorValueMin = 0.f;
-			if (errorIndexMax<0)
-				errorValueMax = 0.f;
-			printf("Error (x[%d] = %f, x[%d] = %f), resetting %d times\n", errorIndexMin,errorValueMin, errorIndexMax, errorValueMax, errorCountTimes++);
-			for (int i=0;i<dimension;i++)
+			if (fail)
 			{
-				x[i]=0.f;
+				static int errorCountTimes = 0;
+				if (errorIndexMin < 0)
+					errorValueMin = 0.f;
+				if (errorIndexMax < 0)
+					errorValueMax = 0.f;
+				printf("Error (x[%d] = %f, x[%d] = %f), resetting %d times\n", errorIndexMin, errorValueMin, errorIndexMax, errorValueMax, errorCountTimes++);
+				for (int i = 0; i < dimension; i++)
+				{
+					x[i] = 0.f;
+				}
 			}
-		}
-
-
-		return !fail;
-	}
-	return true;
 
+			return !fail;
+		}
+		return true;
 	}
-
 };
 
-#endif //BT_LEMKE_SOLVER_H
+#endif  //BT_LEMKE_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
index 8f54c52626..5d864f2757 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
@@ -19,10 +19,9 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "btSolveProjectedGaussSeidel.h"
 
-
-btMLCPSolver::btMLCPSolver(	 btMLCPSolverInterface* solver)
-:m_solver(solver),
-m_fallback(0)
+btMLCPSolver::btMLCPSolver(btMLCPSolverInterface* solver)
+	: m_solver(solver),
+	  m_fallback(0)
 {
 }
 
@@ -33,67 +32,65 @@ btMLCPSolver::~btMLCPSolver()
 bool gUseMatrixMultiply = false;
 bool interleaveContactAndFriction = false;
 
-btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodiesUnUsed, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodiesUnUsed, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
-	btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies, numBodiesUnUsed, manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
+	btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodiesUnUsed, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
 	{
 		BT_PROFILE("gather constraint data");
 
-		int numFrictionPerContact = m_tmpSolverContactConstraintPool.size()==m_tmpSolverContactFrictionConstraintPool.size()? 1 : 2;
-
+		int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2;
 
-	//	int numBodies = m_tmpSolverBodyPool.size();
+		//	int numBodies = m_tmpSolverBodyPool.size();
 		m_allConstraintPtrArray.resize(0);
-		m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
-		btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
-	//	printf("m_limitDependencies.size() = %d\n",m_limitDependencies.size());
+		m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size());
+		btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size());
+		//	printf("m_limitDependencies.size() = %d\n",m_limitDependencies.size());
 
 		int dindex = 0;
-		for (int i=0;i<m_tmpSolverNonContactConstraintPool.size();i++)
+		for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); i++)
 		{
 			m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]);
 			m_limitDependencies[dindex++] = -1;
 		}
- 
+
 		///The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
-		
-		int firstContactConstraintOffset=dindex;
+
+		int firstContactConstraintOffset = dindex;
 
 		if (interleaveContactAndFriction)
 		{
-			for (int i=0;i<m_tmpSolverContactConstraintPool.size();i++)
+			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
 			{
 				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
 				m_limitDependencies[dindex++] = -1;
-				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact]);
-				int findex = (m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact].m_frictionIndex*(1+numFrictionPerContact));
-				m_limitDependencies[dindex++] = findex +firstContactConstraintOffset;
-				if (numFrictionPerContact==2)
+				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact]);
+				int findex = (m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact].m_frictionIndex * (1 + numFrictionPerContact));
+				m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
+				if (numFrictionPerContact == 2)
 				{
-					m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact+1]);
-					m_limitDependencies[dindex++] = findex+firstContactConstraintOffset;
+					m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact + 1]);
+					m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
 				}
 			}
-		} else
+		}
+		else
 		{
-			for (int i=0;i<m_tmpSolverContactConstraintPool.size();i++)
+			for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
 			{
 				m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
 				m_limitDependencies[dindex++] = -1;
 			}
-			for (int i=0;i<m_tmpSolverContactFrictionConstraintPool.size();i++)
+			for (int i = 0; i < m_tmpSolverContactFrictionConstraintPool.size(); i++)
 			{
 				m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]);
-				m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex+firstContactConstraintOffset;
+				m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex + firstContactConstraintOffset;
 			}
-			
 		}
 
-
 		if (!m_allConstraintPtrArray.size())
 		{
-			m_A.resize(0,0);
+			m_A.resize(0, 0);
 			m_b.resize(0);
 			m_x.resize(0);
 			m_lo.resize(0);
@@ -102,7 +99,6 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
 		}
 	}
 
-	
 	if (gUseMatrixMultiply)
 	{
 		BT_PROFILE("createMLCP");
@@ -121,7 +117,7 @@ bool btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
 {
 	bool result = true;
 
-	if (m_A.rows()==0)
+	if (m_A.rows() == 0)
 		return true;
 
 	//if using split impulse, we solve 2 separate (M)LCPs
@@ -129,28 +125,26 @@ bool btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
 	{
 		btMatrixXu Acopy = m_A;
 		btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies;
-//		printf("solve first LCP\n");
-		result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations );
+		//		printf("solve first LCP\n");
+		result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
 		if (result)
-			result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo,m_hi, limitDependenciesCopy,infoGlobal.m_numIterations );
-
-	} else
+			result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo, m_hi, limitDependenciesCopy, infoGlobal.m_numIterations);
+	}
+	else
 	{
-		result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations );
+		result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
 	}
 	return result;
 }
 
 struct btJointNode
 {
-	int jointIndex;     // pointer to enclosing dxJoint object
-	int otherBodyIndex;       // *other* body this joint is connected to
-	int nextJointNodeIndex;//-1 for null
+	int jointIndex;          // pointer to enclosing dxJoint object
+	int otherBodyIndex;      // *other* body this joint is connected to
+	int nextJointNodeIndex;  //-1 for null
 	int constraintRowIndex;
 };
 
-
-
 void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 {
 	int numContactRows = interleaveContactAndFriction ? 3 : 1;
@@ -163,36 +157,36 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 		m_bSplit.resize(numConstraintRows);
 		m_b.setZero();
 		m_bSplit.setZero();
-		for (int i=0;i<numConstraintRows ;i++)
+		for (int i = 0; i < numConstraintRows; i++)
 		{
 			btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv;
 			if (!btFuzzyZero(jacDiag))
 			{
 				btScalar rhs = m_allConstraintPtrArray[i]->m_rhs;
 				btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration;
-				m_b[i]=rhs/jacDiag;
-				m_bSplit[i] = rhsPenetration/jacDiag;
+				m_b[i] = rhs / jacDiag;
+				m_bSplit[i] = rhsPenetration / jacDiag;
 			}
-
 		}
 	}
 
-//	btScalar* w = 0;
-//	int nub = 0;
+	//	btScalar* w = 0;
+	//	int nub = 0;
 
 	m_lo.resize(numConstraintRows);
 	m_hi.resize(numConstraintRows);
- 
+
 	{
 		BT_PROFILE("init lo/ho");
 
-		for (int i=0;i<numConstraintRows;i++)
+		for (int i = 0; i < numConstraintRows; i++)
 		{
-			if (0)//m_limitDependencies[i]>=0)
+			if (0)  //m_limitDependencies[i]>=0)
 			{
 				m_lo[i] = -BT_INFINITY;
 				m_hi[i] = BT_INFINITY;
-			} else
+			}
+			else
 			{
 				m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
 				m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
@@ -201,48 +195,48 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 	}
 
 	//
-	int m=m_allConstraintPtrArray.size();
+	int m = m_allConstraintPtrArray.size();
 
 	int numBodies = m_tmpSolverBodyPool.size();
 	btAlignedObjectArray<int> bodyJointNodeArray;
 	{
 		BT_PROFILE("bodyJointNodeArray.resize");
-		bodyJointNodeArray.resize(numBodies,-1);
+		bodyJointNodeArray.resize(numBodies, -1);
 	}
 	btAlignedObjectArray<btJointNode> jointNodeArray;
 	{
 		BT_PROFILE("jointNodeArray.reserve");
-		jointNodeArray.reserve(2*m_allConstraintPtrArray.size());
+		jointNodeArray.reserve(2 * m_allConstraintPtrArray.size());
 	}
 
-    btMatrixXu& J3 = m_scratchJ3;
+	btMatrixXu& J3 = m_scratchJ3;
 	{
 		BT_PROFILE("J3.resize");
-		J3.resize(2*m,8);
+		J3.resize(2 * m, 8);
 	}
-    btMatrixXu& JinvM3 = m_scratchJInvM3;
+	btMatrixXu& JinvM3 = m_scratchJInvM3;
 	{
 		BT_PROFILE("JinvM3.resize/setZero");
 
-		JinvM3.resize(2*m,8);
+		JinvM3.resize(2 * m, 8);
 		JinvM3.setZero();
 		J3.setZero();
 	}
-	int cur=0;
+	int cur = 0;
 	int rowOffset = 0;
-    btAlignedObjectArray<int>& ofs = m_scratchOfs;
+	btAlignedObjectArray<int>& ofs = m_scratchOfs;
 	{
 		BT_PROFILE("ofs resize");
 		ofs.resize(0);
 		ofs.resizeNoInitialize(m_allConstraintPtrArray.size());
-	}				
+	}
 	{
 		BT_PROFILE("Compute J and JinvM");
-		int c=0;
+		int c = 0;
 
 		int numRows = 0;
 
-		for (int i=0;i<m_allConstraintPtrArray.size();i+=numRows,c++)
+		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
 		{
 			ofs[c] = rowOffset;
 			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
@@ -250,14 +244,14 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 			btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
 			btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
 
-			numRows = i<m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows ;
+			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
 			if (orgBodyA)
 			{
 				{
-					int slotA=-1;
+					int slotA = -1;
 					//find free jointNode slot for sbA
-					slotA =jointNodeArray.size();
-					jointNodeArray.expand();//NonInitializing();
+					slotA = jointNodeArray.size();
+					jointNodeArray.expand();  //NonInitializing();
 					int prevSlot = bodyJointNodeArray[sbA];
 					bodyJointNodeArray[sbA] = slotA;
 					jointNodeArray[slotA].nextJointNodeIndex = prevSlot;
@@ -265,35 +259,35 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 					jointNodeArray[slotA].constraintRowIndex = i;
 					jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1;
 				}
-				for (int row=0;row<numRows;row++,cur++)
+				for (int row = 0; row < numRows; row++, cur++)
 				{
-					btVector3 normalInvMass =				m_allConstraintPtrArray[i+row]->m_contactNormal1 *		orgBodyA->getInvMass();
-					btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i+row]->m_relpos1CrossNormal *	orgBodyA->getInvInertiaTensorWorld();
+					btVector3 normalInvMass = m_allConstraintPtrArray[i + row]->m_contactNormal1 * orgBodyA->getInvMass();
+					btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
 
-					for (int r=0;r<3;r++)
+					for (int r = 0; r < 3; r++)
 					{
-						J3.setElem(cur,r,m_allConstraintPtrArray[i+row]->m_contactNormal1[r]);
-						J3.setElem(cur,r+4,m_allConstraintPtrArray[i+row]->m_relpos1CrossNormal[r]);
-						JinvM3.setElem(cur,r,normalInvMass[r]);
-						JinvM3.setElem(cur,r+4,relPosCrossNormalInvInertia[r]);
+						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal1[r]);
+						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal[r]);
+						JinvM3.setElem(cur, r, normalInvMass[r]);
+						JinvM3.setElem(cur, r + 4, relPosCrossNormalInvInertia[r]);
 					}
-					J3.setElem(cur,3,0);
-					JinvM3.setElem(cur,3,0);
-					J3.setElem(cur,7,0);
-					JinvM3.setElem(cur,7,0);
+					J3.setElem(cur, 3, 0);
+					JinvM3.setElem(cur, 3, 0);
+					J3.setElem(cur, 7, 0);
+					JinvM3.setElem(cur, 7, 0);
 				}
-			} else
+			}
+			else
 			{
 				cur += numRows;
 			}
 			if (orgBodyB)
 			{
-
 				{
-					int slotB=-1;
+					int slotB = -1;
 					//find free jointNode slot for sbA
-					slotB =jointNodeArray.size();
-					jointNodeArray.expand();//NonInitializing();
+					slotB = jointNodeArray.size();
+					jointNodeArray.expand();  //NonInitializing();
 					int prevSlot = bodyJointNodeArray[sbB];
 					bodyJointNodeArray[sbB] = slotB;
 					jointNodeArray[slotB].nextJointNodeIndex = prevSlot;
@@ -302,78 +296,74 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 					jointNodeArray[slotB].constraintRowIndex = i;
 				}
 
-				for (int row=0;row<numRows;row++,cur++)
+				for (int row = 0; row < numRows; row++, cur++)
 				{
-					btVector3 normalInvMassB = m_allConstraintPtrArray[i+row]->m_contactNormal2*orgBodyB->getInvMass();
-					btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i+row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
+					btVector3 normalInvMassB = m_allConstraintPtrArray[i + row]->m_contactNormal2 * orgBodyB->getInvMass();
+					btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
 
-					for (int r=0;r<3;r++)
+					for (int r = 0; r < 3; r++)
 					{
-						J3.setElem(cur,r,m_allConstraintPtrArray[i+row]->m_contactNormal2[r]);
-						J3.setElem(cur,r+4,m_allConstraintPtrArray[i+row]->m_relpos2CrossNormal[r]);
-						JinvM3.setElem(cur,r,normalInvMassB[r]);
-						JinvM3.setElem(cur,r+4,relPosInvInertiaB[r]);
+						J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal2[r]);
+						J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal[r]);
+						JinvM3.setElem(cur, r, normalInvMassB[r]);
+						JinvM3.setElem(cur, r + 4, relPosInvInertiaB[r]);
 					}
-					J3.setElem(cur,3,0);
-					JinvM3.setElem(cur,3,0);
-					J3.setElem(cur,7,0);
-					JinvM3.setElem(cur,7,0);
+					J3.setElem(cur, 3, 0);
+					JinvM3.setElem(cur, 3, 0);
+					J3.setElem(cur, 7, 0);
+					JinvM3.setElem(cur, 7, 0);
 				}
 			}
 			else
 			{
 				cur += numRows;
 			}
-			rowOffset+=numRows;
-
+			rowOffset += numRows;
 		}
-		
 	}
 
-
 	//compute JinvM = J*invM.
 	const btScalar* JinvM = JinvM3.getBufferPointer();
 
 	const btScalar* Jptr = J3.getBufferPointer();
 	{
 		BT_PROFILE("m_A.resize");
-		m_A.resize(n,n);
+		m_A.resize(n, n);
 	}
-	
+
 	{
 		BT_PROFILE("m_A.setZero");
 		m_A.setZero();
 	}
-	int c=0;
+	int c = 0;
 	{
 		int numRows = 0;
 		BT_PROFILE("Compute A");
-		for (int i=0;i<m_allConstraintPtrArray.size();i+= numRows,c++)
+		for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
 		{
 			int row__ = ofs[c];
 			int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
 			int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
-		//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-		//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+			//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+			//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+			numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
 
-			numRows = i<m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows ;
-					
-			const btScalar *JinvMrow = JinvM + 2*8*(size_t)row__;
+			const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
 
 			{
 				int startJointNodeA = bodyJointNodeArray[sbA];
-				while (startJointNodeA>=0)
+				while (startJointNodeA >= 0)
 				{
 					int j0 = jointNodeArray[startJointNodeA].jointIndex;
 					int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex;
-					if (j0<c)
+					if (j0 < c)
 					{
-								 
 						int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
-						size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8*numRowsOther  : 0;
+						size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8 * numRowsOther : 0;
 						//printf("%d joint i %d and j0: %d: ",count++,i,j0);
-						m_A.multiplyAdd2_p8r ( JinvMrow, 
-						Jptr + 2*8*(size_t)ofs[j0] + ofsother, numRows, numRowsOther,  row__,ofs[j0]);
+						m_A.multiplyAdd2_p8r(JinvMrow,
+											 Jptr + 2 * 8 * (size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__, ofs[j0]);
 					}
 					startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex;
 				}
@@ -381,17 +371,17 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 
 			{
 				int startJointNodeB = bodyJointNodeArray[sbB];
-				while (startJointNodeB>=0)
+				while (startJointNodeB >= 0)
 				{
 					int j1 = jointNodeArray[startJointNodeB].jointIndex;
 					int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex;
 
-					if (j1<c)
+					if (j1 < c)
 					{
-						int numRowsOther =  cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
-						size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8*numRowsOther  : 0;
-						m_A.multiplyAdd2_p8r ( JinvMrow + 8*(size_t)numRows, 
-						Jptr + 2*8*(size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__,ofs[j1]);
+						int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
+						size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8 * numRowsOther : 0;
+						m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)numRows,
+											 Jptr + 2 * 8 * (size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__, ofs[j1]);
 					}
 					startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex;
 				}
@@ -402,27 +392,25 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 			BT_PROFILE("compute diagonal");
 			// compute diagonal blocks of m_A
 
-			int  row__ = 0;
+			int row__ = 0;
 			int numJointRows = m_allConstraintPtrArray.size();
 
-			int jj=0;
-			for (;row__<numJointRows;)
+			int jj = 0;
+			for (; row__ < numJointRows;)
 			{
-
 				//int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
 				int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
-			//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+				//	btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
 				btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
 
+				const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
 
-				const unsigned int infom =  row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
-				
-				const btScalar *JinvMrow = JinvM + 2*8*(size_t)row__;
-				const btScalar *Jrow = Jptr + 2*8*(size_t)row__;
-				m_A.multiply2_p8r (JinvMrow, Jrow, infom, infom, row__,row__);
-				if (orgBodyB) 
+				const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
+				const btScalar* Jrow = Jptr + 2 * 8 * (size_t)row__;
+				m_A.multiply2_p8r(JinvMrow, Jrow, infom, infom, row__, row__);
+				if (orgBodyB)
 				{
-					m_A.multiplyAdd2_p8r (JinvMrow + 8*(size_t)infom, Jrow + 8*(size_t)infom, infom, infom,  row__,row__);
+					m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)infom, Jrow + 8 * (size_t)infom, infom, infom, row__, row__);
 				}
 				row__ += infom;
 				jj++;
@@ -433,12 +421,12 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 	if (1)
 	{
 		// add cfm to the diagonal of m_A
-		for ( int i=0; i<m_A.rows(); ++i) 
+		for (int i = 0; i < m_A.rows(); ++i)
 		{
-			m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm/ infoGlobal.m_timeStep);
+			m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
 		}
 	}
-				   
+
 	///fill the upper triangle of the matrix, to make it symmetric
 	{
 		BT_PROFILE("fill the upper triangle ");
@@ -450,21 +438,21 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
 		m_x.resize(numConstraintRows);
 		m_xSplit.resize(numConstraintRows);
 
-		if (infoGlobal.m_solverMode&SOLVER_USE_WARMSTARTING)
+		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 		{
-			for (int i=0;i<m_allConstraintPtrArray.size();i++)
+			for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
 			{
 				const btSolverConstraint& c = *m_allConstraintPtrArray[i];
-				m_x[i]=c.m_appliedImpulse;
+				m_x[i] = c.m_appliedImpulse;
 				m_xSplit[i] = c.m_appliedPushImpulse;
 			}
-		} else
+		}
+		else
 		{
 			m_x.setZero();
 			m_xSplit.setZero();
 		}
 	}
-
 }
 
 void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
@@ -475,120 +463,116 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
 	m_b.resize(numConstraintRows);
 	if (infoGlobal.m_splitImpulse)
 		m_bSplit.resize(numConstraintRows);
- 
+
 	m_bSplit.setZero();
 	m_b.setZero();
 
-	for (int i=0;i<numConstraintRows ;i++)
+	for (int i = 0; i < numConstraintRows; i++)
 	{
 		if (m_allConstraintPtrArray[i]->m_jacDiagABInv)
 		{
-			m_b[i]=m_allConstraintPtrArray[i]->m_rhs/m_allConstraintPtrArray[i]->m_jacDiagABInv;
+			m_b[i] = m_allConstraintPtrArray[i]->m_rhs / m_allConstraintPtrArray[i]->m_jacDiagABInv;
 			if (infoGlobal.m_splitImpulse)
-				m_bSplit[i] = m_allConstraintPtrArray[i]->m_rhsPenetration/m_allConstraintPtrArray[i]->m_jacDiagABInv;
+				m_bSplit[i] = m_allConstraintPtrArray[i]->m_rhsPenetration / m_allConstraintPtrArray[i]->m_jacDiagABInv;
 		}
 	}
- 
-    btMatrixXu& Minv = m_scratchMInv;
-	Minv.resize(6*numBodies,6*numBodies);
+
+	btMatrixXu& Minv = m_scratchMInv;
+	Minv.resize(6 * numBodies, 6 * numBodies);
 	Minv.setZero();
-	for (int i=0;i<numBodies;i++)
+	for (int i = 0; i < numBodies; i++)
 	{
 		const btSolverBody& rb = m_tmpSolverBodyPool[i];
 		const btVector3& invMass = rb.m_invMass;
-		setElem(Minv,i*6+0,i*6+0,invMass[0]);
-		setElem(Minv,i*6+1,i*6+1,invMass[1]);
-		setElem(Minv,i*6+2,i*6+2,invMass[2]);
+		setElem(Minv, i * 6 + 0, i * 6 + 0, invMass[0]);
+		setElem(Minv, i * 6 + 1, i * 6 + 1, invMass[1]);
+		setElem(Minv, i * 6 + 2, i * 6 + 2, invMass[2]);
 		btRigidBody* orgBody = m_tmpSolverBodyPool[i].m_originalBody;
- 
-		for (int r=0;r<3;r++)
-			for (int c=0;c<3;c++)
-				setElem(Minv,i*6+3+r,i*6+3+c,orgBody? orgBody->getInvInertiaTensorWorld()[r][c] : 0);
+
+		for (int r = 0; r < 3; r++)
+			for (int c = 0; c < 3; c++)
+				setElem(Minv, i * 6 + 3 + r, i * 6 + 3 + c, orgBody ? orgBody->getInvInertiaTensorWorld()[r][c] : 0);
 	}
- 
-    btMatrixXu& J = m_scratchJ;
-	J.resize(numConstraintRows,6*numBodies);
+
+	btMatrixXu& J = m_scratchJ;
+	J.resize(numConstraintRows, 6 * numBodies);
 	J.setZero();
- 
+
 	m_lo.resize(numConstraintRows);
 	m_hi.resize(numConstraintRows);
- 
-	for (int i=0;i<numConstraintRows;i++)
-	{
 
+	for (int i = 0; i < numConstraintRows; i++)
+	{
 		m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
 		m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
- 
+
 		int bodyIndex0 = m_allConstraintPtrArray[i]->m_solverBodyIdA;
 		int bodyIndex1 = m_allConstraintPtrArray[i]->m_solverBodyIdB;
 		if (m_tmpSolverBodyPool[bodyIndex0].m_originalBody)
 		{
-			setElem(J,i,6*bodyIndex0+0,m_allConstraintPtrArray[i]->m_contactNormal1[0]);
-			setElem(J,i,6*bodyIndex0+1,m_allConstraintPtrArray[i]->m_contactNormal1[1]);
-			setElem(J,i,6*bodyIndex0+2,m_allConstraintPtrArray[i]->m_contactNormal1[2]);
-			setElem(J,i,6*bodyIndex0+3,m_allConstraintPtrArray[i]->m_relpos1CrossNormal[0]);
-			setElem(J,i,6*bodyIndex0+4,m_allConstraintPtrArray[i]->m_relpos1CrossNormal[1]);
-			setElem(J,i,6*bodyIndex0+5,m_allConstraintPtrArray[i]->m_relpos1CrossNormal[2]);
+			setElem(J, i, 6 * bodyIndex0 + 0, m_allConstraintPtrArray[i]->m_contactNormal1[0]);
+			setElem(J, i, 6 * bodyIndex0 + 1, m_allConstraintPtrArray[i]->m_contactNormal1[1]);
+			setElem(J, i, 6 * bodyIndex0 + 2, m_allConstraintPtrArray[i]->m_contactNormal1[2]);
+			setElem(J, i, 6 * bodyIndex0 + 3, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[0]);
+			setElem(J, i, 6 * bodyIndex0 + 4, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[1]);
+			setElem(J, i, 6 * bodyIndex0 + 5, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[2]);
 		}
 		if (m_tmpSolverBodyPool[bodyIndex1].m_originalBody)
 		{
-			setElem(J,i,6*bodyIndex1+0,m_allConstraintPtrArray[i]->m_contactNormal2[0]);
-			setElem(J,i,6*bodyIndex1+1,m_allConstraintPtrArray[i]->m_contactNormal2[1]);
-			setElem(J,i,6*bodyIndex1+2,m_allConstraintPtrArray[i]->m_contactNormal2[2]);
-			setElem(J,i,6*bodyIndex1+3,m_allConstraintPtrArray[i]->m_relpos2CrossNormal[0]);
-			setElem(J,i,6*bodyIndex1+4,m_allConstraintPtrArray[i]->m_relpos2CrossNormal[1]);
-			setElem(J,i,6*bodyIndex1+5,m_allConstraintPtrArray[i]->m_relpos2CrossNormal[2]);
+			setElem(J, i, 6 * bodyIndex1 + 0, m_allConstraintPtrArray[i]->m_contactNormal2[0]);
+			setElem(J, i, 6 * bodyIndex1 + 1, m_allConstraintPtrArray[i]->m_contactNormal2[1]);
+			setElem(J, i, 6 * bodyIndex1 + 2, m_allConstraintPtrArray[i]->m_contactNormal2[2]);
+			setElem(J, i, 6 * bodyIndex1 + 3, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[0]);
+			setElem(J, i, 6 * bodyIndex1 + 4, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[1]);
+			setElem(J, i, 6 * bodyIndex1 + 5, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[2]);
 		}
 	}
- 
-    btMatrixXu& J_transpose = m_scratchJTranspose;
-	J_transpose= J.transpose();
 
-    btMatrixXu& tmp = m_scratchTmp;
+	btMatrixXu& J_transpose = m_scratchJTranspose;
+	J_transpose = J.transpose();
+
+	btMatrixXu& tmp = m_scratchTmp;
 
 	{
 		{
 			BT_PROFILE("J*Minv");
-			tmp = J*Minv;
-
+			tmp = J * Minv;
 		}
 		{
 			BT_PROFILE("J*tmp");
-			m_A = tmp*J_transpose;
+			m_A = tmp * J_transpose;
 		}
 	}
 
 	if (1)
 	{
 		// add cfm to the diagonal of m_A
-		for ( int i=0; i<m_A.rows(); ++i) 
+		for (int i = 0; i < m_A.rows(); ++i)
 		{
-			m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
+			m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
 		}
 	}
 
 	m_x.resize(numConstraintRows);
 	if (infoGlobal.m_splitImpulse)
 		m_xSplit.resize(numConstraintRows);
-//	m_x.setZero();
+	//	m_x.setZero();
 
-	for (int i=0;i<m_allConstraintPtrArray.size();i++)
+	for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
 	{
 		const btSolverConstraint& c = *m_allConstraintPtrArray[i];
-		m_x[i]=c.m_appliedImpulse;
+		m_x[i] = c.m_appliedImpulse;
 		if (infoGlobal.m_splitImpulse)
 			m_xSplit[i] = c.m_appliedPushImpulse;
 	}
-
 }
 
-
-btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
 	bool result = true;
 	{
 		BT_PROFILE("solveMLCP");
-//		printf("m_A(%d,%d)\n", m_A.rows(),m_A.cols());
+		//		printf("m_A(%d,%d)\n", m_A.rows(),m_A.cols());
 		result = solveMLCP(infoGlobal);
 	}
 
@@ -596,44 +580,41 @@ btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bod
 	if (result)
 	{
 		BT_PROFILE("process MLCP results");
-		for (int i=0;i<m_allConstraintPtrArray.size();i++)
+		for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
 		{
 			{
 				btSolverConstraint& c = *m_allConstraintPtrArray[i];
 				int sbA = c.m_solverBodyIdA;
 				int sbB = c.m_solverBodyIdB;
 				//btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
-			//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+				//	btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
 
 				btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
 				btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
- 
+
 				{
-					btScalar deltaImpulse = m_x[i]-c.m_appliedImpulse;
+					btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse;
 					c.m_appliedImpulse = m_x[i];
-					solverBodyA.internalApplyImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-					solverBodyB.internalApplyImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+					solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+					solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 				}
 
 				if (infoGlobal.m_splitImpulse)
 				{
 					btScalar deltaImpulse = m_xSplit[i] - c.m_appliedPushImpulse;
-					solverBodyA.internalApplyPushImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-					solverBodyB.internalApplyPushImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+					solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+					solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
 					c.m_appliedPushImpulse = m_xSplit[i];
 				}
-				
 			}
 		}
 	}
 	else
 	{
-	//	printf("m_fallback = %d\n",m_fallback);
+		//	printf("m_fallback = %d\n",m_fallback);
 		m_fallback++;
-		btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
+		btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 	}
 
 	return 0.f;
 }
-
-
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h
index 26b482ddc1..510ae59e58 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h
@@ -23,15 +23,13 @@ subject to the following restrictions:
 
 class btMLCPSolver : public btSequentialImpulseConstraintSolver
 {
-
 protected:
-	
 	btMatrixXu m_A;
 	btVectorXu m_b;
 	btVectorXu m_x;
 	btVectorXu m_lo;
 	btVectorXu m_hi;
-	
+
 	///when using 'split impulse' we solve two separate (M)LCPs
 	btVectorXu m_bSplit;
 	btVectorXu m_xSplit;
@@ -39,24 +37,23 @@ protected:
 	btVectorXu m_xSplit2;
 
 	btAlignedObjectArray<int> m_limitDependencies;
-	btAlignedObjectArray<btSolverConstraint*>	m_allConstraintPtrArray;
+	btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
 	btMLCPSolverInterface* m_solver;
 	int m_fallback;
 
-    /// The following scratch variables are not stateful -- contents are cleared prior to each use.
-    /// They are only cached here to avoid extra memory allocations and deallocations and to ensure
-    /// that multiple instances of the solver can be run in parallel.
-    btMatrixXu m_scratchJ3;
-    btMatrixXu m_scratchJInvM3;
-    btAlignedObjectArray<int> m_scratchOfs;
-    btMatrixXu m_scratchMInv;
-    btMatrixXu m_scratchJ;
-    btMatrixXu m_scratchJTranspose;
-    btMatrixXu m_scratchTmp;
-
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+	/// The following scratch variables are not stateful -- contents are cleared prior to each use.
+	/// They are only cached here to avoid extra memory allocations and deallocations and to ensure
+	/// that multiple instances of the solver can be run in parallel.
+	btMatrixXu m_scratchJ3;
+	btMatrixXu m_scratchJInvM3;
+	btAlignedObjectArray<int> m_scratchOfs;
+	btMatrixXu m_scratchMInv;
+	btMatrixXu m_scratchJ;
+	btMatrixXu m_scratchJTranspose;
+	btMatrixXu m_scratchTmp;
 
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
 	virtual void createMLCP(const btContactSolverInfo& infoGlobal);
 	virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
@@ -65,8 +62,7 @@ protected:
 	virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
 
 public:
-
-	btMLCPSolver(	 btMLCPSolverInterface* solver);
+	btMLCPSolver(btMLCPSolverInterface* solver);
 	virtual ~btMLCPSolver();
 
 	void setMLCPSolver(btMLCPSolverInterface* solver)
@@ -83,12 +79,10 @@ public:
 		m_fallback = num;
 	}
 
-	virtual btConstraintSolverType	getSolverType() const
+	virtual btConstraintSolverType getSolverType() const
 	{
 		return BT_MLCP_SOLVER;
 	}
-
 };
 
-
-#endif //BT_MLCP_SOLVER_H
+#endif  //BT_MLCP_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
index 25bb3f6d32..6b0465b88d 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
@@ -27,7 +27,7 @@ public:
 	}
 
 	//return true is it solves the problem successfully
-	virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)=0;
+	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true) = 0;
 };
 
-#endif //BT_MLCP_SOLVER_INTERFACE_H
+#endif  //BT_MLCP_SOLVER_INTERFACE_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h
index 9ec31a6d4e..7f8eec3f6e 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btPATHSolver.h
@@ -14,38 +14,35 @@ subject to the following restrictions:
 */
 ///original version written by Erwin Coumans, October 2013
 
-
 #ifndef BT_PATH_SOLVER_H
 #define BT_PATH_SOLVER_H
 
 //#define BT_USE_PATH
 #ifdef BT_USE_PATH
 
-extern "C" {
+extern "C"
+{
 #include "PATH/SimpleLCP.h"
 #include "PATH/License.h"
 #include "PATH/Error_Interface.h"
 };
-  void __stdcall MyError(Void *data, Char *msg)
+void __stdcall MyError(Void *data, Char *msg)
 {
-	printf("Path Error: %s\n",msg);
+	printf("Path Error: %s\n", msg);
 }
-  void __stdcall MyWarning(Void *data, Char *msg)
+void __stdcall MyWarning(Void *data, Char *msg)
 {
-	printf("Path Warning: %s\n",msg);
+	printf("Path Warning: %s\n", msg);
 }
 
 Error_Interface e;
 
-
-
 #include "btMLCPSolverInterface.h"
 #include "Dantzig/lcp.h"
 
 class btPathSolver : public btMLCPSolverInterface
 {
 public:
-
 	btPathSolver()
 	{
 		License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
@@ -55,17 +52,15 @@ public:
 		Error_SetInterface(&e);
 	}
 
-
-	virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
+	virtual bool solveMLCP(const btMatrixXu &A, const btVectorXu &b, btVectorXu &x, const btVectorXu &lo, const btVectorXu &hi, const btAlignedObjectArray<int> &limitDependency, int numIterations, bool useSparsity = true)
 	{
 		MCP_Termination status;
-		
 
 		int numVariables = b.rows();
-		if (0==numVariables)
+		if (0 == numVariables)
 			return true;
 
-			/*	 - variables - the number of variables in the problem
+		/*	 - variables - the number of variables in the problem
 			- m_nnz - the number of nonzeros in the M matrix
 			- m_i - a vector of size m_nnz containing the row indices for M
 			- m_j - a vector of size m_nnz containing the column indices for M
@@ -78,16 +73,16 @@ public:
 		btAlignedObjectArray<int> rowIndices;
 		btAlignedObjectArray<int> colIndices;
 
-		for (int i=0;i<A.rows();i++)
+		for (int i = 0; i < A.rows(); i++)
 		{
-			for (int j=0;j<A.cols();j++)
+			for (int j = 0; j < A.cols(); j++)
 			{
-				if (A(i,j)!=0.f)
+				if (A(i, j) != 0.f)
 				{
 					//add 1, because Path starts at 1, instead of 0
-					rowIndices.push_back(i+1);
-					colIndices.push_back(j+1);
-					values.push_back(A(i,j));
+					rowIndices.push_back(i + 1);
+					colIndices.push_back(j + 1);
+					values.push_back(A(i, j));
 				}
 			}
 		}
@@ -97,19 +92,18 @@ public:
 		btAlignedObjectArray<double> rhs;
 		btAlignedObjectArray<double> upperBounds;
 		btAlignedObjectArray<double> lowerBounds;
-		for (int i=0;i<numVariables;i++)
+		for (int i = 0; i < numVariables; i++)
 		{
 			upperBounds.push_back(hi[i]);
 			lowerBounds.push_back(lo[i]);
 			rhs.push_back(-b[i]);
 		}
 
-
-		SimpleLCP(numVariables,numNonZero,&rowIndices[0],&colIndices[0],&values[0],&rhs[0],&lowerBounds[0],&upperBounds[0], &status, &zResult[0]);
+		SimpleLCP(numVariables, numNonZero, &rowIndices[0], &colIndices[0], &values[0], &rhs[0], &lowerBounds[0], &upperBounds[0], &status, &zResult[0]);
 
 		if (status != MCP_Solved)
 		{
-			static const char* gReturnMsgs[] = {
+			static const char *gReturnMsgs[] = {
 				"Invalid return",
 				"MCP_Solved: The problem was solved",
 				"MCP_NoProgress: A stationary point was found",
@@ -122,16 +116,16 @@ public:
 				"MCP_Infeasible: Problem has no solution",
 				"MCP_Error: An error occurred within the code",
 				"MCP_LicenseError: License could not be found",
-				"MCP_OK"
-			};
+				"MCP_OK"};
 
-			printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);// << std::endl;
+			printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);  // << std::endl;
 			printf("using Projected Gauss Seidel fallback\n");
-			
+
 			return false;
-		} else
+		}
+		else
 		{
-			for (int i=0;i<numVariables;i++)
+			for (int i = 0; i < numVariables; i++)
 			{
 				x[i] = zResult[i];
 				//check for #NAN
@@ -139,13 +133,10 @@ public:
 					return false;
 			}
 			return true;
-
 		}
-
 	}
 };
 
-#endif //BT_USE_PATH
-
+#endif  //BT_USE_PATH
 
-#endif //BT_PATH_SOLVER_H
+#endif  //BT_PATH_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
index c0b40ffd9f..c3f4ec3997 100644
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
+++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
@@ -17,25 +17,22 @@ subject to the following restrictions:
 #ifndef BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
 #define BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
 
-
 #include "btMLCPSolverInterface.h"
 
 ///This solver is mainly for debug/learning purposes: it is functionally equivalent to the btSequentialImpulseConstraintSolver solver, but much slower (it builds the full LCP matrix)
 class btSolveProjectedGaussSeidel : public btMLCPSolverInterface
 {
-
 public:
-
 	btScalar m_leastSquaresResidualThreshold;
 	btScalar m_leastSquaresResidual;
 
 	btSolveProjectedGaussSeidel()
-		:m_leastSquaresResidualThreshold(0),
-		m_leastSquaresResidual(0)
+		: m_leastSquaresResidualThreshold(0),
+		  m_leastSquaresResidual(0)
 	{
 	}
 
-	virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
+	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
 	{
 		if (!A.rows())
 			return true;
@@ -46,65 +43,65 @@ public:
 		btAssert(A.rows() == b.rows());
 
 		int i, j, numRows = A.rows();
-	
+
 		btScalar delta;
 
-		for (int k = 0; k <numIterations; k++)
+		for (int k = 0; k < numIterations; k++)
 		{
 			m_leastSquaresResidual = 0.f;
-			for (i = 0; i <numRows; i++)
+			for (i = 0; i < numRows; i++)
 			{
 				delta = 0.0f;
 				if (useSparsity)
 				{
-					for (int h=0;h<A.m_rowNonZeroElements1[i].size();h++)
+					for (int h = 0; h < A.m_rowNonZeroElements1[i].size(); h++)
 					{
-						int j = A.m_rowNonZeroElements1[i][h];
-						if (j != i)//skip main diagonal
+						j = A.m_rowNonZeroElements1[i][h];
+						if (j != i)  //skip main diagonal
 						{
-							delta += A(i,j) * x[j];
+							delta += A(i, j) * x[j];
 						}
 					}
-				} else
+				}
+				else
 				{
-					for (j = 0; j <i; j++) 
-						delta += A(i,j) * x[j];
-					for (j = i+1; j<numRows; j++) 
-						delta += A(i,j) * x[j];
+					for (j = 0; j < i; j++)
+						delta += A(i, j) * x[j];
+					for (j = i + 1; j < numRows; j++)
+						delta += A(i, j) * x[j];
 				}
 
-				btScalar aDiag = A(i,i);
+				btScalar aDiag = A(i, i);
 				btScalar xOld = x[i];
-				x [i] = (b [i] - delta) / aDiag;
+				x[i] = (b[i] - delta) / aDiag;
 				btScalar s = 1.f;
 
-				if (limitDependency[i]>=0)
+				if (limitDependency[i] >= 0)
 				{
 					s = x[limitDependency[i]];
-					if (s<0)
-						s=1;
+					if (s < 0)
+						s = 1;
 				}
-			
-				if (x[i]<lo[i]*s)
-					x[i]=lo[i]*s;
-				if (x[i]>hi[i]*s)
-					x[i]=hi[i]*s;
+
+				if (x[i] < lo[i] * s)
+					x[i] = lo[i] * s;
+				if (x[i] > hi[i] * s)
+					x[i] = hi[i] * s;
 				btScalar diff = x[i] - xOld;
-				m_leastSquaresResidual += diff*diff;
+				m_leastSquaresResidual += diff * diff;
 			}
 
-			btScalar eps  = m_leastSquaresResidualThreshold;
-			if ((m_leastSquaresResidual < eps) || (k >=(numIterations-1)))
+			btScalar eps = m_leastSquaresResidualThreshold;
+			if ((m_leastSquaresResidual < eps) || (k >= (numIterations - 1)))
 			{
 #ifdef VERBOSE_PRINTF_RESIDUAL
-				printf("totalLenSqr = %f at iteration #%d\n", m_leastSquaresResidual,k);
+				printf("totalLenSqr = %f at iteration #%d\n", m_leastSquaresResidual, k);
 #endif
 				break;
 			}
 		}
 		return true;
 	}
-
 };
 
-#endif //BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
+#endif  //BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index a7b1688469..fc70d8e637 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -24,17 +24,16 @@
 
 #define ROLLING_INFLUENCE_FIX
 
-
 btRigidBody& btActionInterface::getFixedBody()
 {
-	static btRigidBody s_fixed(0, 0,0);
-	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+	static btRigidBody s_fixed(0, 0, 0);
+	s_fixed.setMassProps(btScalar(0.), btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
 	return s_fixed;
 }
 
-btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
-:m_vehicleRaycaster(raycaster),
-m_pitchControl(btScalar(0.))
+btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster)
+	: m_vehicleRaycaster(raycaster),
+	  m_pitchControl(btScalar(0.))
 {
 	m_chassisBody = chassis;
 	m_indexRightAxis = 0;
@@ -43,28 +42,22 @@ m_pitchControl(btScalar(0.))
 	defaultInit(tuning);
 }
 
-
 void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
 {
 	(void)tuning;
 	m_currentVehicleSpeedKmHour = btScalar(0.);
 	m_steeringValue = btScalar(0.);
-	
 }
 
-	
-
 btRaycastVehicle::~btRaycastVehicle()
 {
 }
 
-
 //
 // basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
 //
-btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
+btWheelInfo& btRaycastVehicle::addWheel(const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel)
 {
-
 	btWheelInfoConstructionInfo ci;
 
 	ci.m_chassisConnectionCS = connectionPointCS;
@@ -80,76 +73,76 @@ btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, con
 	ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
 	ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
 
-	m_wheelInfo.push_back( btWheelInfo(ci));
-	
-	btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
-	
-	updateWheelTransformsWS( wheel , false );
-	updateWheelTransform(getNumWheels()-1,false);
-	return wheel;
-}
-
+	m_wheelInfo.push_back(btWheelInfo(ci));
 
+	btWheelInfo& wheel = m_wheelInfo[getNumWheels() - 1];
 
+	updateWheelTransformsWS(wheel, false);
+	updateWheelTransform(getNumWheels() - 1, false);
+	return wheel;
+}
 
-const btTransform&	btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
+const btTransform& btRaycastVehicle::getWheelTransformWS(int wheelIndex) const
 {
 	btAssert(wheelIndex < getNumWheels());
 	const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
 	return wheel.m_worldTransform;
-
 }
 
-void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
+void btRaycastVehicle::updateWheelTransform(int wheelIndex, bool interpolatedTransform)
 {
-	
-	btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
-	updateWheelTransformsWS(wheel,interpolatedTransform);
+	btWheelInfo& wheel = m_wheelInfo[wheelIndex];
+	updateWheelTransformsWS(wheel, interpolatedTransform);
 	btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
 	const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
 	btVector3 fwd = up.cross(right);
 	fwd = fwd.normalize();
-//	up = right.cross(fwd);
-//	up.normalize();
+	//	up = right.cross(fwd);
+	//	up.normalize();
 
 	//rotate around steering over de wheelAxleWS
 	btScalar steering = wheel.m_steering;
-	
-	btQuaternion steeringOrn(up,steering);//wheel.m_steering);
+
+	btQuaternion steeringOrn(up, steering);  //wheel.m_steering);
 	btMatrix3x3 steeringMat(steeringOrn);
 
-	btQuaternion rotatingOrn(right,-wheel.m_rotation);
+	btQuaternion rotatingOrn(right, -wheel.m_rotation);
 	btMatrix3x3 rotatingMat(rotatingOrn);
 
-	btMatrix3x3 basis2(
-		right[0],fwd[0],up[0],
-		right[1],fwd[1],up[1],
-		right[2],fwd[2],up[2]
-	);
-	
+	btMatrix3x3 basis2;
+	basis2[0][m_indexRightAxis] = -right[0];
+	basis2[1][m_indexRightAxis] = -right[1];
+	basis2[2][m_indexRightAxis] = -right[2];
+
+	basis2[0][m_indexUpAxis] = up[0];
+	basis2[1][m_indexUpAxis] = up[1];
+	basis2[2][m_indexUpAxis] = up[2];
+
+	basis2[0][m_indexForwardAxis] = fwd[0];
+	basis2[1][m_indexForwardAxis] = fwd[1];
+	basis2[2][m_indexForwardAxis] = fwd[2];
+
 	wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
 	wheel.m_worldTransform.setOrigin(
-		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
-	);
+		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength);
 }
 
 void btRaycastVehicle::resetSuspension()
 {
-
 	int i;
-	for (i=0;i<m_wheelInfo.size();	i++)
+	for (i = 0; i < m_wheelInfo.size(); i++)
 	{
-			btWheelInfo& wheel = m_wheelInfo[i];
-			wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-			
-			wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-			//wheel_info.setContactFriction(btScalar(0.0));
-			wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
+		btWheelInfo& wheel = m_wheelInfo[i];
+		wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
+		wheel.m_suspensionRelativeVelocity = btScalar(0.0);
+
+		wheel.m_raycastInfo.m_contactNormalWS = -wheel.m_raycastInfo.m_wheelDirectionWS;
+		//wheel_info.setContactFriction(btScalar(0.0));
+		wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
 	}
 }
 
-void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
+void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform)
 {
 	wheel.m_raycastInfo.m_isInContact = false;
 
@@ -159,19 +152,18 @@ void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpo
 		getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
 	}
 
-	wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
-	wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *  wheel.m_wheelDirectionCS ;
+	wheel.m_raycastInfo.m_hardPointWS = chassisTrans(wheel.m_chassisConnectionPointCS);
+	wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS;
 	wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
 }
 
 btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 {
-	updateWheelTransformsWS( wheel,false);
+	updateWheelTransformsWS(wheel, false);
 
-	
 	btScalar depth = -1;
-	
-	btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
+
+	btScalar raylen = wheel.getSuspensionRestLength() + wheel.m_wheelsRadius;
 
 	btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
 	const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
@@ -179,12 +171,12 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 	const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
 
 	btScalar param = btScalar(0.);
-	
-	btVehicleRaycaster::btVehicleRaycasterResult	rayResults;
+
+	btVehicleRaycaster::btVehicleRaycasterResult rayResults;
 
 	btAssert(m_vehicleRaycaster);
 
-	void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
+	void* object = m_vehicleRaycaster->castRay(source, target, rayResults);
 
 	wheel.m_raycastInfo.m_groundObject = 0;
 
@@ -192,19 +184,18 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 	{
 		param = rayResults.m_distFraction;
 		depth = raylen * rayResults.m_distFraction;
-		wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
+		wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
 		wheel.m_raycastInfo.m_isInContact = true;
-		
-		wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
-		//wheel.m_raycastInfo.m_groundObject = object;
 
+		wheel.m_raycastInfo.m_groundObject = &getFixedBody();  ///@todo for driving on dynamic/movable objects!;
+		//wheel.m_raycastInfo.m_groundObject = object;
 
-		btScalar hitDistance = param*raylen;
+		btScalar hitDistance = param * raylen;
 		wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
 		//clamp on max suspension travel
 
-		btScalar  minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
-		btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
+		btScalar minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm * btScalar(0.01);
+		btScalar maxSuspensionLength = wheel.getSuspensionRestLength() + wheel.m_maxSuspensionTravelCm * btScalar(0.01);
 		if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
 		{
 			wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
@@ -216,16 +207,16 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 
 		wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
 
-		btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
+		btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(wheel.m_raycastInfo.m_wheelDirectionWS);
 
 		btVector3 chassis_velocity_at_contactPoint;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
+		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
 
 		chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
 
-		btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
+		btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
 
-		if ( denominator >= btScalar(-0.1))
+		if (denominator >= btScalar(-0.1))
 		{
 			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
 			wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
@@ -236,20 +227,19 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 			wheel.m_suspensionRelativeVelocity = projVel * inv;
 			wheel.m_clippedInvContactDotSuspension = inv;
 		}
-			
-	} else
+	}
+	else
 	{
 		//put wheel info as in rest position
 		wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
 		wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-		wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
+		wheel.m_raycastInfo.m_contactNormalWS = -wheel.m_raycastInfo.m_wheelDirectionWS;
 		wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
 	}
 
 	return depth;
 }
 
-
 const btTransform& btRaycastVehicle::getChassisWorldTransform() const
 {
 	/*if (getRigidBody()->getMotionState())
@@ -260,26 +250,23 @@ const btTransform& btRaycastVehicle::getChassisWorldTransform() const
 	}
 	*/
 
-	
 	return getRigidBody()->getCenterOfMassTransform();
 }
 
-
-void btRaycastVehicle::updateVehicle( btScalar step )
+void btRaycastVehicle::updateVehicle(btScalar step)
 {
 	{
-		for (int i=0;i<getNumWheels();i++)
+		for (int i = 0; i < getNumWheels(); i++)
 		{
-			updateWheelTransform(i,false);
+			updateWheelTransform(i, false);
 		}
 	}
 
-
 	m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
-	
+
 	const btTransform& chassisTrans = getChassisWorldTransform();
 
-	btVector3 forwardW (
+	btVector3 forwardW(
 		chassisTrans.getBasis()[0][m_indexForwardAxis],
 		chassisTrans.getBasis()[1][m_indexForwardAxis],
 		chassisTrans.getBasis()[2][m_indexForwardAxis]);
@@ -292,52 +279,47 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 	//
 	// simulate suspension
 	//
-	
-	int i=0;
-	for (i=0;i<m_wheelInfo.size();i++)
+
+	int i = 0;
+	for (i = 0; i < m_wheelInfo.size(); i++)
 	{
-		//btScalar depth; 
-		//depth = 
-		rayCast( m_wheelInfo[i]);
+		//btScalar depth;
+		//depth =
+		rayCast(m_wheelInfo[i]);
 	}
 
 	updateSuspension(step);
 
-	
-	for (i=0;i<m_wheelInfo.size();i++)
+	for (i = 0; i < m_wheelInfo.size(); i++)
 	{
 		//apply suspension force
 		btWheelInfo& wheel = m_wheelInfo[i];
-		
+
 		btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
-		
+
 		if (suspensionForce > wheel.m_maxSuspensionForce)
 		{
 			suspensionForce = wheel.m_maxSuspensionForce;
 		}
 		btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
 		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
-		
+
 		getRigidBody()->applyImpulse(impulse, relpos);
-	
 	}
-	
 
-	
-	updateFriction( step);
+	updateFriction(step);
 
-	
-	for (i=0;i<m_wheelInfo.size();i++)
+	for (i = 0; i < m_wheelInfo.size(); i++)
 	{
 		btWheelInfo& wheel = m_wheelInfo[i];
 		btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
-		btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
+		btVector3 vel = getRigidBody()->getVelocityInLocalPoint(relpos);
 
 		if (wheel.m_raycastInfo.m_isInContact)
 		{
-			const btTransform&	chassisWorldTransform = getChassisWorldTransform();
+			const btTransform& chassisWorldTransform = getChassisWorldTransform();
 
-			btVector3 fwd (
+			btVector3 fwd(
 				chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
 				chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
 				chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
@@ -346,99 +328,88 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 			fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
 
 			btScalar proj2 = fwd.dot(vel);
-			
+
 			wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
 			wheel.m_rotation += wheel.m_deltaRotation;
-
-		} else
+		}
+		else
 		{
 			wheel.m_rotation += wheel.m_deltaRotation;
 		}
-		
-		wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
 
+		wheel.m_deltaRotation *= btScalar(0.99);  //damping of rotation when not in contact
 	}
-
-
-
 }
 
-
-void	btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
+void btRaycastVehicle::setSteeringValue(btScalar steering, int wheel)
 {
-	btAssert(wheel>=0 && wheel < getNumWheels());
+	btAssert(wheel >= 0 && wheel < getNumWheels());
 
 	btWheelInfo& wheelInfo = getWheelInfo(wheel);
 	wheelInfo.m_steering = steering;
 }
 
-
-
-btScalar	btRaycastVehicle::getSteeringValue(int wheel) const
+btScalar btRaycastVehicle::getSteeringValue(int wheel) const
 {
 	return getWheelInfo(wheel).m_steering;
 }
 
-
-void	btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
+void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
 {
-	btAssert(wheel>=0 && wheel < getNumWheels());
+	btAssert(wheel >= 0 && wheel < getNumWheels());
 	btWheelInfo& wheelInfo = getWheelInfo(wheel);
 	wheelInfo.m_engineForce = force;
 }
 
-
-const btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) const
+const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
 {
-	btAssert((index >= 0) && (index < 	getNumWheels()));
-	
+	btAssert((index >= 0) && (index < getNumWheels()));
+
 	return m_wheelInfo[index];
 }
 
-btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) 
+btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
 {
-	btAssert((index >= 0) && (index < 	getNumWheels()));
-	
+	btAssert((index >= 0) && (index < getNumWheels()));
+
 	return m_wheelInfo[index];
 }
 
-void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex)
+void btRaycastVehicle::setBrake(btScalar brake, int wheelIndex)
 {
-	btAssert((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
+	btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
 	getWheelInfo(wheelIndex).m_brake = brake;
 }
 
-
-void	btRaycastVehicle::updateSuspension(btScalar deltaTime)
+void btRaycastVehicle::updateSuspension(btScalar deltaTime)
 {
 	(void)deltaTime;
 
 	btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
-	
-	for (int w_it=0; w_it<getNumWheels(); w_it++)
+
+	for (int w_it = 0; w_it < getNumWheels(); w_it++)
 	{
-		btWheelInfo &wheel_info = m_wheelInfo[w_it];
-		
-		if ( wheel_info.m_raycastInfo.m_isInContact )
+		btWheelInfo& wheel_info = m_wheelInfo[w_it];
+
+		if (wheel_info.m_raycastInfo.m_isInContact)
 		{
 			btScalar force;
 			//	Spring
 			{
-				btScalar	susp_length			= wheel_info.getSuspensionRestLength();
-				btScalar	current_length = wheel_info.m_raycastInfo.m_suspensionLength;
+				btScalar susp_length = wheel_info.getSuspensionRestLength();
+				btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
 
 				btScalar length_diff = (susp_length - current_length);
 
-				force = wheel_info.m_suspensionStiffness
-					* length_diff * wheel_info.m_clippedInvContactDotSuspension;
+				force = wheel_info.m_suspensionStiffness * length_diff * wheel_info.m_clippedInvContactDotSuspension;
 			}
-		
+
 			// Damper
 			{
 				btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
 				{
-					btScalar	susp_damping;
-					if ( projected_rel_vel < btScalar(0.0) )
+					btScalar susp_damping;
+					if (projected_rel_vel < btScalar(0.0))
 					{
 						susp_damping = wheel_info.m_wheelsDampingCompression;
 					}
@@ -462,50 +433,43 @@ void	btRaycastVehicle::updateSuspension(btScalar deltaTime)
 			wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
 		}
 	}
-
 }
 
-
 struct btWheelContactPoint
 {
 	btRigidBody* m_body0;
 	btRigidBody* m_body1;
-	btVector3	m_frictionPositionWorld;
-	btVector3	m_frictionDirectionWorld;
-	btScalar	m_jacDiagABInv;
-	btScalar	m_maxImpulse;
-
-
-	btWheelContactPoint(btRigidBody* body0,btRigidBody* body1,const btVector3& frictionPosWorld,const btVector3& frictionDirectionWorld, btScalar maxImpulse)
-		:m_body0(body0),
-		m_body1(body1),
-		m_frictionPositionWorld(frictionPosWorld),
-		m_frictionDirectionWorld(frictionDirectionWorld),
-		m_maxImpulse(maxImpulse)
+	btVector3 m_frictionPositionWorld;
+	btVector3 m_frictionDirectionWorld;
+	btScalar m_jacDiagABInv;
+	btScalar m_maxImpulse;
+
+	btWheelContactPoint(btRigidBody* body0, btRigidBody* body1, const btVector3& frictionPosWorld, const btVector3& frictionDirectionWorld, btScalar maxImpulse)
+		: m_body0(body0),
+		  m_body1(body1),
+		  m_frictionPositionWorld(frictionPosWorld),
+		  m_frictionDirectionWorld(frictionDirectionWorld),
+		  m_maxImpulse(maxImpulse)
 	{
-		btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
-		btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
-		btScalar	relaxation = 1.f;
-		m_jacDiagABInv = relaxation/(denom0+denom1);
+		btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld, frictionDirectionWorld);
+		btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld, frictionDirectionWorld);
+		btScalar relaxation = 1.f;
+		m_jacDiagABInv = relaxation / (denom0 + denom1);
 	}
-
-
-
 };
 
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
+btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround);
+btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround)
 {
-
-	btScalar j1=0.f;
+	btScalar j1 = 0.f;
 
 	const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
 
-	btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition(); 
+	btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition();
 	btVector3 rel_pos2 = contactPosWorld - contactPoint.m_body1->getCenterOfMassPosition();
-	
-	btScalar maxImpulse  = contactPoint.m_maxImpulse;
-	
+
+	btScalar maxImpulse = contactPoint.m_maxImpulse;
+
 	btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
 	btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
 	btVector3 vel = vel1 - vel2;
@@ -513,252 +477,225 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
 	btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
 
 	// calculate j that moves us to zero relative velocity
-	j1 = -vrel * contactPoint.m_jacDiagABInv;
+	j1 = -vrel * contactPoint.m_jacDiagABInv / btScalar(numWheelsOnGround);
 	btSetMin(j1, maxImpulse);
 	btSetMax(j1, -maxImpulse);
 
 	return j1;
 }
 
+btScalar sideFrictionStiffness2 = btScalar(1.0);
+void btRaycastVehicle::updateFriction(btScalar timeStep)
+{
+	//calculate the impulse, so that the wheels don't move sidewards
+	int numWheel = getNumWheels();
+	if (!numWheel)
+		return;
 
+	m_forwardWS.resize(numWheel);
+	m_axle.resize(numWheel);
+	m_forwardImpulse.resize(numWheel);
+	m_sideImpulse.resize(numWheel);
 
+	int numWheelsOnGround = 0;
 
-btScalar sideFrictionStiffness2 = btScalar(1.0);
-void	btRaycastVehicle::updateFriction(btScalar	timeStep)
-{
+	//collapse all those loops into one!
+	for (int i = 0; i < getNumWheels(); i++)
+	{
+		btWheelInfo& wheelInfo = m_wheelInfo[i];
+		class btRigidBody* groundObject = (class btRigidBody*)wheelInfo.m_raycastInfo.m_groundObject;
+		if (groundObject)
+			numWheelsOnGround++;
+		m_sideImpulse[i] = btScalar(0.);
+		m_forwardImpulse[i] = btScalar(0.);
+	}
 
-		//calculate the impulse, so that the wheels don't move sidewards
-		int numWheel = getNumWheels();
-		if (!numWheel)
-			return;
-
-		m_forwardWS.resize(numWheel);
-		m_axle.resize(numWheel);
-		m_forwardImpulse.resize(numWheel);
-		m_sideImpulse.resize(numWheel);
-		
-		int numWheelsOnGround = 0;
-	
-
-		//collapse all those loops into one!
-		for (int i=0;i<getNumWheels();i++)
+	{
+		for (int i = 0; i < getNumWheels(); i++)
 		{
 			btWheelInfo& wheelInfo = m_wheelInfo[i];
-			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-			if (groundObject)
-				numWheelsOnGround++;
-			m_sideImpulse[i] = btScalar(0.);
-			m_forwardImpulse[i] = btScalar(0.);
 
-		}
-	
-		{
-	
-			for (int i=0;i<getNumWheels();i++)
+			class btRigidBody* groundObject = (class btRigidBody*)wheelInfo.m_raycastInfo.m_groundObject;
+
+			if (groundObject)
 			{
+				const btTransform& wheelTrans = getWheelTransformWS(i);
 
-				btWheelInfo& wheelInfo = m_wheelInfo[i];
-					
-				class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
+				btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
+				m_axle[i] = -btVector3(
+					wheelBasis0[0][m_indexRightAxis],
+					wheelBasis0[1][m_indexRightAxis],
+					wheelBasis0[2][m_indexRightAxis]);
 
-				if (groundObject)
-				{
+				const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
+				btScalar proj = m_axle[i].dot(surfNormalWS);
+				m_axle[i] -= surfNormalWS * proj;
+				m_axle[i] = m_axle[i].normalize();
 
-					const btTransform& wheelTrans = getWheelTransformWS( i );
-
-					btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-					m_axle[i] = btVector3(	
-						wheelBasis0[0][m_indexRightAxis],
-						wheelBasis0[1][m_indexRightAxis],
-						wheelBasis0[2][m_indexRightAxis]);
-					
-					const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
-					btScalar proj = m_axle[i].dot(surfNormalWS);
-					m_axle[i] -= surfNormalWS * proj;
-					m_axle[i] = m_axle[i].normalize();
-					
-					m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
-					m_forwardWS[i].normalize();
-
-				
-					resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep);
-
-					m_sideImpulse[i] *= sideFrictionStiffness2;
-						
-				}
-				
+				m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
+				m_forwardWS[i].normalize();
+
+				resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
+									   *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
+									   btScalar(0.), m_axle[i], m_sideImpulse[i], timeStep);
 
+				m_sideImpulse[i] *= sideFrictionStiffness2;
 			}
 		}
+	}
 
 	btScalar sideFactor = btScalar(1.);
 	btScalar fwdFactor = 0.5;
 
 	bool sliding = false;
 	{
-		for (int wheel =0;wheel <getNumWheels();wheel++)
+		for (int wheel = 0; wheel < getNumWheels(); wheel++)
 		{
 			btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
+			class btRigidBody* groundObject = (class btRigidBody*)wheelInfo.m_raycastInfo.m_groundObject;
 
-			btScalar	rollingFriction = 0.f;
+			btScalar rollingFriction = 0.f;
 
 			if (groundObject)
 			{
 				if (wheelInfo.m_engineForce != 0.f)
 				{
-					rollingFriction = wheelInfo.m_engineForce* timeStep;
-				} else
+					rollingFriction = wheelInfo.m_engineForce * timeStep;
+				}
+				else
 				{
 					btScalar defaultRollingFrictionImpulse = 0.f;
 					btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
-					btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
-					rollingFriction = calcRollingFriction(contactPt);
+					btWheelContactPoint contactPt(m_chassisBody, groundObject, wheelInfo.m_raycastInfo.m_contactPointWS, m_forwardWS[wheel], maxImpulse);
+					btAssert(numWheelsOnGround > 0);
+					rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround);
 				}
 			}
 
 			//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
-			
-
-
 
 			m_forwardImpulse[wheel] = btScalar(0.);
-			m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
+			m_wheelInfo[wheel].m_skidInfo = btScalar(1.);
 
 			if (groundObject)
 			{
-				m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
-				
+				m_wheelInfo[wheel].m_skidInfo = btScalar(1.);
+
 				btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
 				btScalar maximpSide = maximp;
 
 				btScalar maximpSquared = maximp * maximpSide;
-			
 
-				m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
+				m_forwardImpulse[wheel] = rollingFriction;  //wheelInfo.m_engineForce* timeStep;
 
-				btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor;
-				btScalar y = (m_sideImpulse[wheel] ) * sideFactor;
-				
-				btScalar impulseSquared = (x*x + y*y);
+				btScalar x = (m_forwardImpulse[wheel]) * fwdFactor;
+				btScalar y = (m_sideImpulse[wheel]) * sideFactor;
+
+				btScalar impulseSquared = (x * x + y * y);
 
 				if (impulseSquared > maximpSquared)
 				{
 					sliding = true;
-					
+
 					btScalar factor = maximp / btSqrt(impulseSquared);
-					
+
 					m_wheelInfo[wheel].m_skidInfo *= factor;
 				}
-			} 
-
+			}
 		}
 	}
 
-	
-
-
-		if (sliding)
+	if (sliding)
+	{
+		for (int wheel = 0; wheel < getNumWheels(); wheel++)
 		{
-			for (int wheel = 0;wheel < getNumWheels(); wheel++)
+			if (m_sideImpulse[wheel] != btScalar(0.))
 			{
-				if (m_sideImpulse[wheel] != btScalar(0.))
+				if (m_wheelInfo[wheel].m_skidInfo < btScalar(1.))
 				{
-					if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
-					{
-						m_forwardImpulse[wheel] *=	m_wheelInfo[wheel].m_skidInfo;
-						m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					}
+					m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
+					m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
 				}
 			}
 		}
+	}
 
-		// apply the impulses
+	// apply the impulses
+	{
+		for (int wheel = 0; wheel < getNumWheels(); wheel++)
 		{
-			for (int wheel = 0;wheel<getNumWheels() ; wheel++)
-			{
-				btWheelInfo& wheelInfo = m_wheelInfo[wheel];
+			btWheelInfo& wheelInfo = m_wheelInfo[wheel];
 
-				btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						m_chassisBody->getCenterOfMassPosition();
+			btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
+								m_chassisBody->getCenterOfMassPosition();
 
-				if (m_forwardImpulse[wheel] != btScalar(0.))
-				{
-					m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
-				}
-				if (m_sideImpulse[wheel] != btScalar(0.))
-				{
-					class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
+			if (m_forwardImpulse[wheel] != btScalar(0.))
+			{
+				m_chassisBody->applyImpulse(m_forwardWS[wheel] * (m_forwardImpulse[wheel]), rel_pos);
+			}
+			if (m_sideImpulse[wheel] != btScalar(0.))
+			{
+				class btRigidBody* groundObject = (class btRigidBody*)m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
 
-					btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						groundObject->getCenterOfMassPosition();
+				btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
+									 groundObject->getCenterOfMassPosition();
 
-					
-					btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
+				btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
-#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
-					btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
-					rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
+#if defined ROLLING_INFLUENCE_FIX  // fix. It only worked if car's up was along Y - VT.
+				btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
+				rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f - wheelInfo.m_rollInfluence));
 #else
-					rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
+				rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
 #endif
-					m_chassisBody->applyImpulse(sideImp,rel_pos);
+				m_chassisBody->applyImpulse(sideImp, rel_pos);
 
-					//apply friction impulse on the ground
-					groundObject->applyImpulse(-sideImp,rel_pos2);
-				}
+				//apply friction impulse on the ground
+				groundObject->applyImpulse(-sideImp, rel_pos2);
 			}
 		}
-
-	
+	}
 }
 
-
-
-void	btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
+void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
 {
-
-	for (int v=0;v<this->getNumWheels();v++)
+	for (int v = 0; v < this->getNumWheels(); v++)
 	{
-		btVector3 wheelColor(0,1,1);
+		btVector3 wheelColor(0, 1, 1);
 		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
 		{
-			wheelColor.setValue(0,0,1);
-		} else
+			wheelColor.setValue(0, 0, 1);
+		}
+		else
 		{
-			wheelColor.setValue(1,0,1);
+			wheelColor.setValue(1, 0, 1);
 		}
 
 		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
 
-		btVector3 axle = btVector3(	
+		btVector3 axle = btVector3(
 			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
 			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
 			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
 
 		//debug wheels (cylinders)
-		debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-		debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
+		debugDrawer->drawLine(wheelPosWS, wheelPosWS + axle, wheelColor);
+		debugDrawer->drawLine(wheelPosWS, getWheelInfo(v).m_raycastInfo.m_contactPointWS, wheelColor);
 	}
 }
 
-
-void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
+void* btDefaultVehicleRaycaster::castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result)
 {
-//	RayResultCallback& resultCallback;
+	//	RayResultCallback& resultCallback;
 
-	btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
+	btCollisionWorld::ClosestRayResultCallback rayCallback(from, to);
 
 	m_dynamicsWorld->rayTest(from, to, rayCallback);
 
 	if (rayCallback.hasHit())
 	{
-		
 		const btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
-        if (body && body->hasContactResponse())
+		if (body && body->hasContactResponse())
 		{
 			result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
 			result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
@@ -769,4 +706,3 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3&
 	}
 	return 0;
 }
-
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
index 04656b912c..99d6894e56 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -24,122 +24,111 @@ class btDynamicsWorld;
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
 class btRaycastVehicle : public btActionInterface
 {
+	btAlignedObjectArray<btVector3> m_forwardWS;
+	btAlignedObjectArray<btVector3> m_axle;
+	btAlignedObjectArray<btScalar> m_forwardImpulse;
+	btAlignedObjectArray<btScalar> m_sideImpulse;
 
-		btAlignedObjectArray<btVector3>	m_forwardWS;
-		btAlignedObjectArray<btVector3>	m_axle;
-		btAlignedObjectArray<btScalar>	m_forwardImpulse;
-		btAlignedObjectArray<btScalar>	m_sideImpulse;
-	
-		///backwards compatibility
-		int	m_userConstraintType;
-		int	m_userConstraintId;
+	///backwards compatibility
+	int m_userConstraintType;
+	int m_userConstraintId;
 
 public:
 	class btVehicleTuning
+	{
+	public:
+		btVehicleTuning()
+			: m_suspensionStiffness(btScalar(5.88)),
+			  m_suspensionCompression(btScalar(0.83)),
+			  m_suspensionDamping(btScalar(0.88)),
+			  m_maxSuspensionTravelCm(btScalar(500.)),
+			  m_frictionSlip(btScalar(10.5)),
+			  m_maxSuspensionForce(btScalar(6000.))
 		{
-			public:
-
-			btVehicleTuning()
-				:m_suspensionStiffness(btScalar(5.88)),
-				m_suspensionCompression(btScalar(0.83)),
-				m_suspensionDamping(btScalar(0.88)),
-				m_maxSuspensionTravelCm(btScalar(500.)),
-				m_frictionSlip(btScalar(10.5)),
-				m_maxSuspensionForce(btScalar(6000.))
-			{
-			}
-			btScalar	m_suspensionStiffness;
-			btScalar	m_suspensionCompression;
-			btScalar	m_suspensionDamping;
-			btScalar	m_maxSuspensionTravelCm;
-			btScalar	m_frictionSlip;
-			btScalar	m_maxSuspensionForce;
-
-		};
-private:
+		}
+		btScalar m_suspensionStiffness;
+		btScalar m_suspensionCompression;
+		btScalar m_suspensionDamping;
+		btScalar m_maxSuspensionTravelCm;
+		btScalar m_frictionSlip;
+		btScalar m_maxSuspensionForce;
+	};
 
-	btVehicleRaycaster*	m_vehicleRaycaster;
-	btScalar		m_pitchControl;
-	btScalar	m_steeringValue; 
+private:
+	btVehicleRaycaster* m_vehicleRaycaster;
+	btScalar m_pitchControl;
+	btScalar m_steeringValue;
 	btScalar m_currentVehicleSpeedKmHour;
 
 	btRigidBody* m_chassisBody;
 
 	int m_indexRightAxis;
 	int m_indexUpAxis;
-	int	m_indexForwardAxis;
+	int m_indexForwardAxis;
 
 	void defaultInit(const btVehicleTuning& tuning);
 
 public:
-
 	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
-
-	virtual ~btRaycastVehicle() ;
+	btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster);
 
+	virtual ~btRaycastVehicle();
 
 	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+	virtual void updateAction(btCollisionWorld* collisionWorld, btScalar step)
 	{
-        (void) collisionWorld;
+		(void)collisionWorld;
 		updateVehicle(step);
 	}
-	
 
 	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-			
+	void debugDraw(btIDebugDraw* debugDrawer);
+
 	const btTransform& getChassisWorldTransform() const;
-	
+
 	btScalar rayCast(btWheelInfo& wheel);
 
 	virtual void updateVehicle(btScalar step);
-	
-	
+
 	void resetSuspension();
 
-	btScalar	getSteeringValue(int wheel) const;
+	btScalar getSteeringValue(int wheel) const;
 
-	void	setSteeringValue(btScalar steering,int wheel);
+	void setSteeringValue(btScalar steering, int wheel);
 
+	void applyEngineForce(btScalar force, int wheel);
 
-	void	applyEngineForce(btScalar force, int wheel);
+	const btTransform& getWheelTransformWS(int wheelIndex) const;
 
-	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
+	void updateWheelTransform(int wheelIndex, bool interpolatedTransform = true);
 
-	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
-	
-//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
+	//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
 
-	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
+	btWheelInfo& addWheel(const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel);
 
-	inline int		getNumWheels() const {
-		return int (m_wheelInfo.size());
+	inline int getNumWheels() const
+	{
+		return int(m_wheelInfo.size());
 	}
-	
-	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
 
+	btAlignedObjectArray<btWheelInfo> m_wheelInfo;
 
-	const btWheelInfo&	getWheelInfo(int index) const;
+	const btWheelInfo& getWheelInfo(int index) const;
 
-	btWheelInfo&	getWheelInfo(int index);
+	btWheelInfo& getWheelInfo(int index);
 
-	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
+	void updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform = true);
 
-	
-	void setBrake(btScalar brake,int wheelIndex);
+	void setBrake(btScalar brake, int wheelIndex);
 
-	void	setPitchControl(btScalar pitch)
+	void setPitchControl(btScalar pitch)
 	{
 		m_pitchControl = pitch;
 	}
-	
-	void	updateSuspension(btScalar deltaTime);
-
-	virtual void	updateFriction(btScalar	timeStep);
 
+	void updateSuspension(btScalar deltaTime);
 
+	virtual void updateFriction(btScalar timeStep);
 
 	inline btRigidBody* getRigidBody()
 	{
@@ -151,7 +140,7 @@ public:
 		return m_chassisBody;
 	}
 
-	inline int	getRightAxis() const
+	inline int getRightAxis() const
 	{
 		return m_indexRightAxis;
 	}
@@ -165,46 +154,44 @@ public:
 		return m_indexForwardAxis;
 	}
 
-	
 	///Worldspace forward vector
 	btVector3 getForwardVector() const
 	{
-		const btTransform& chassisTrans = getChassisWorldTransform(); 
+		const btTransform& chassisTrans = getChassisWorldTransform();
 
-		btVector3 forwardW ( 
-			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
+		btVector3 forwardW(
+			chassisTrans.getBasis()[0][m_indexForwardAxis],
+			chassisTrans.getBasis()[1][m_indexForwardAxis],
+			chassisTrans.getBasis()[2][m_indexForwardAxis]);
 
 		return forwardW;
 	}
 
 	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar	getCurrentSpeedKmHour() const
+	btScalar getCurrentSpeedKmHour() const
 	{
 		return m_currentVehicleSpeedKmHour;
 	}
 
-	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
 	{
 		m_indexRightAxis = rightIndex;
 		m_indexUpAxis = upIndex;
 		m_indexForwardAxis = forwardIndex;
 	}
 
-
 	///backwards compatibility
 	int getUserConstraintType() const
 	{
-		return m_userConstraintType ;
+		return m_userConstraintType;
 	}
 
-	void	setUserConstraintType(int userConstraintType)
+	void setUserConstraintType(int userConstraintType)
 	{
 		m_userConstraintType = userConstraintType;
 	};
 
-	void	setUserConstraintId(int uid)
+	void setUserConstraintId(int uid)
 	{
 		m_userConstraintId = uid;
 	}
@@ -213,22 +200,19 @@ public:
 	{
 		return m_userConstraintId;
 	}
-
 };
 
 class btDefaultVehicleRaycaster : public btVehicleRaycaster
 {
-	btDynamicsWorld*	m_dynamicsWorld;
+	btDynamicsWorld* m_dynamicsWorld;
+
 public:
 	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		:m_dynamicsWorld(world)
+		: m_dynamicsWorld(world)
 	{
 	}
 
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
-
+	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result);
 };
 
-
-#endif //BT_RAYCASTVEHICLE_H
-
+#endif  //BT_RAYCASTVEHICLE_H
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h b/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h
index 3cc909c653..2c44ce546c 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h
@@ -16,20 +16,18 @@
 /// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
 struct btVehicleRaycaster
 {
-virtual ~btVehicleRaycaster()
-{
-}
+	virtual ~btVehicleRaycaster()
+	{
+	}
 	struct btVehicleRaycasterResult
 	{
-		btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
-		btVector3	m_hitPointInWorld;
-		btVector3	m_hitNormalInWorld;
-		btScalar	m_distFraction;
+		btVehicleRaycasterResult() : m_distFraction(btScalar(-1.)){};
+		btVector3 m_hitPointInWorld;
+		btVector3 m_hitNormalInWorld;
+		btScalar m_distFraction;
 	};
 
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
-
+	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result) = 0;
 };
 
-#endif //BT_VEHICLE_RAYCASTER_H
-
+#endif  //BT_VEHICLE_RAYCASTER_H
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp
index ef93c16fff..d5c12f223b 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp
@@ -9,30 +9,26 @@
  * It is provided "as is" without express or implied warranty.
 */
 #include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
-
+#include "BulletDynamics/Dynamics/btRigidBody.h"  // for pointvelocity
 
 btScalar btWheelInfo::getSuspensionRestLength() const
 {
-
 	return m_suspensionRestLength1;
-
 }
 
-void	btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
+void btWheelInfo::updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo)
 {
 	(void)raycastInfo;
 
-	
 	if (m_raycastInfo.m_isInContact)
 
 	{
-		btScalar	project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
-		btVector3	 chassis_velocity_at_contactPoint;
+		btScalar project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS);
+		btVector3 chassis_velocity_at_contactPoint;
 		btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
-		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
-		btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-		if ( project >= btScalar(-0.1))
+		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint(relpos);
+		btScalar projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
+		if (project >= btScalar(-0.1))
 		{
 			m_suspensionRelativeVelocity = btScalar(0.0);
 			m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
@@ -43,10 +39,9 @@ void	btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
 			m_suspensionRelativeVelocity = projVel * inv;
 			m_clippedInvContactDotSuspension = inv;
 		}
-		
 	}
 
-	else	// Not in contact : position wheel in a nice (rest length) position
+	else  // Not in contact : position wheel in a nice (rest length) position
 	{
 		m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
 		m_suspensionRelativeVelocity = btScalar(0.0);
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h
index f991a57b69..af88b8ff83 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h
@@ -18,20 +18,19 @@ class btRigidBody;
 
 struct btWheelInfoConstructionInfo
 {
-	btVector3	m_chassisConnectionCS;
-	btVector3	m_wheelDirectionCS;
-	btVector3	m_wheelAxleCS;
-	btScalar	m_suspensionRestLength;
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar	m_wheelRadius;
-	
-	btScalar		m_suspensionStiffness;
-	btScalar		m_wheelsDampingCompression;
-	btScalar		m_wheelsDampingRelaxation;
-	btScalar		m_frictionSlip;
-	btScalar		m_maxSuspensionForce;
+	btVector3 m_chassisConnectionCS;
+	btVector3 m_wheelDirectionCS;
+	btVector3 m_wheelAxleCS;
+	btScalar m_suspensionRestLength;
+	btScalar m_maxSuspensionTravelCm;
+	btScalar m_wheelRadius;
+
+	btScalar m_suspensionStiffness;
+	btScalar m_wheelsDampingCompression;
+	btScalar m_wheelsDampingRelaxation;
+	btScalar m_frictionSlip;
+	btScalar m_maxSuspensionForce;
 	bool m_bIsFrontWheel;
-	
 };
 
 /// btWheelInfo contains information per wheel about friction and suspension.
@@ -40,51 +39,50 @@ struct btWheelInfo
 	struct RaycastInfo
 	{
 		//set by raycaster
-		btVector3	m_contactNormalWS;//contactnormal
-		btVector3	m_contactPointWS;//raycast hitpoint
-		btScalar	m_suspensionLength;
-		btVector3	m_hardPointWS;//raycast starting point
-		btVector3	m_wheelDirectionWS; //direction in worldspace
-		btVector3	m_wheelAxleWS; // axle in worldspace
-		bool		m_isInContact;
-		void*		m_groundObject; //could be general void* ptr
+		btVector3 m_contactNormalWS;  //contactnormal
+		btVector3 m_contactPointWS;   //raycast hitpoint
+		btScalar m_suspensionLength;
+		btVector3 m_hardPointWS;       //raycast starting point
+		btVector3 m_wheelDirectionWS;  //direction in worldspace
+		btVector3 m_wheelAxleWS;       // axle in worldspace
+		bool m_isInContact;
+		void* m_groundObject;  //could be general void* ptr
 	};
 
-	RaycastInfo	m_raycastInfo;
+	RaycastInfo m_raycastInfo;
 
-	btTransform	m_worldTransform;
-	
-	btVector3	m_chassisConnectionPointCS; //const
-	btVector3	m_wheelDirectionCS;//const
-	btVector3	m_wheelAxleCS; // const or modified by steering
-	btScalar	m_suspensionRestLength1;//const
-	btScalar	m_maxSuspensionTravelCm;
+	btTransform m_worldTransform;
+
+	btVector3 m_chassisConnectionPointCS;  //const
+	btVector3 m_wheelDirectionCS;          //const
+	btVector3 m_wheelAxleCS;               // const or modified by steering
+	btScalar m_suspensionRestLength1;      //const
+	btScalar m_maxSuspensionTravelCm;
 	btScalar getSuspensionRestLength() const;
-	btScalar	m_wheelsRadius;//const
-	btScalar	m_suspensionStiffness;//const
-	btScalar	m_wheelsDampingCompression;//const
-	btScalar	m_wheelsDampingRelaxation;//const
-	btScalar	m_frictionSlip;
-	btScalar	m_steering;
-	btScalar	m_rotation;
-	btScalar	m_deltaRotation;
-	btScalar	m_rollInfluence;
-	btScalar	m_maxSuspensionForce;
-
-	btScalar	m_engineForce;
-
-	btScalar	m_brake;
-	
+	btScalar m_wheelsRadius;              //const
+	btScalar m_suspensionStiffness;       //const
+	btScalar m_wheelsDampingCompression;  //const
+	btScalar m_wheelsDampingRelaxation;   //const
+	btScalar m_frictionSlip;
+	btScalar m_steering;
+	btScalar m_rotation;
+	btScalar m_deltaRotation;
+	btScalar m_rollInfluence;
+	btScalar m_maxSuspensionForce;
+
+	btScalar m_engineForce;
+
+	btScalar m_brake;
+
 	bool m_bIsFrontWheel;
-	
-	void*		m_clientInfo;//can be used to store pointer to sync transforms...
+
+	void* m_clientInfo;  //can be used to store pointer to sync transforms...
 
 	btWheelInfo() {}
 
 	btWheelInfo(btWheelInfoConstructionInfo& ci)
 
 	{
-
 		m_suspensionRestLength1 = ci.m_suspensionRestLength;
 		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
 
@@ -104,18 +102,15 @@ struct btWheelInfo
 		m_rollInfluence = btScalar(0.1);
 		m_bIsFrontWheel = ci.m_bIsFrontWheel;
 		m_maxSuspensionForce = ci.m_maxSuspensionForce;
-
 	}
 
-	void	updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
+	void updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo);
 
-	btScalar	m_clippedInvContactDotSuspension;
-	btScalar	m_suspensionRelativeVelocity;
+	btScalar m_clippedInvContactDotSuspension;
+	btScalar m_suspensionRelativeVelocity;
 	//calculated by suspension
-	btScalar	m_wheelsSuspensionForce;
-	btScalar	m_skidInfo;
-
+	btScalar m_wheelsSuspensionForce;
+	btScalar m_skidInfo;
 };
 
-#endif //BT_WHEEL_INFO_H
-
+#endif  //BT_WHEEL_INFO_H
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
index ebb10e7a16..b662b80152 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
@@ -32,10 +32,10 @@
 #define BT_ID_POW(x, y) btPow(x, y)
 #define BT_ID_PI SIMD_PI
 #ifdef _WIN32
-	#define BT_ID_SNPRINTF _snprintf
+#define BT_ID_SNPRINTF _snprintf
 #else
-	#define BT_ID_SNPRINTF snprintf
-#endif //
+#define BT_ID_SNPRINTF snprintf
+#endif  //
 #endif
 // error messages
 #include "IDErrorMessages.hpp"
@@ -52,8 +52,8 @@
 #error "custom inverse dynamics config, but no custom namespace defined"
 #endif
 
-#define BT_ID_MAX(a,b) std::max(a,b)
-#define BT_ID_MIN(a,b) std::min(a,b)
+#define BT_ID_MAX(a, b) std::max(a, b)
+#define BT_ID_MIN(a, b) std::min(a, b)
 
 #else
 #define btInverseDynamics btInverseDynamicsBullet3
@@ -62,8 +62,8 @@
 #include "LinearMath/btScalar.h"
 typedef btScalar idScalar;
 #include "LinearMath/btMinMax.h"
-#define BT_ID_MAX(a,b) btMax(a,b)
-#define BT_ID_MIN(a,b) btMin(a,b)
+#define BT_ID_MAX(a, b) btMax(a, b)
+#define BT_ID_MIN(a, b) btMin(a, b)
 
 #ifdef BT_USE_DOUBLE_PRECISION
 #define BT_ID_USE_DOUBLE_PRECISION
@@ -71,31 +71,31 @@ typedef btScalar idScalar;
 
 #ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
 
-
 // use bullet types for arrays and array indices
 #include "Bullet3Common/b3AlignedObjectArray.h"
 // this is to make it work with C++2003, otherwise we could do this:
 // template <typename T>
 // using idArray = b3AlignedObjectArray<T>;
 template <typename T>
-struct idArray {
+struct idArray
+{
 	typedef b3AlignedObjectArray<T> type;
 };
 typedef int idArrayIdx;
 #define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
 
-#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+#else  // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
 
 #include "LinearMath/btAlignedObjectArray.h"
 template <typename T>
-struct idArray {
+struct idArray
+{
 	typedef btAlignedObjectArray<T> type;
 };
 typedef int idArrayIdx;
 #define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
 
-#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
+#endif  // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
 
 // use bullet's allocator functions
 #define idMalloc btAllocFunc
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp
index 130c19c6d6..6392367924 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp
@@ -14,7 +14,8 @@ typedef float idScalar;
 // template <typename T>
 // using idArray = std::vector<T>;
 template <typename T>
-struct idArray {
+struct idArray
+{
 	typedef std::vector<T> type;
 };
 typedef std::vector<int>::size_type idArrayIdx;
@@ -23,14 +24,14 @@ typedef std::vector<int>::size_type idArrayIdx;
 #define idMalloc ::malloc
 #define idFree ::free
 // currently not aligned at all...
-#define ID_DECLARE_ALIGNED_ALLOCATOR()															 \
-	inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); }		   \
-	inline void operator delete(void* ptr) { idFree(ptr); }										\
-	inline void* operator new(std::size_t, void* ptr) { return ptr; }							  \
-	inline void operator delete(void*, void*) {}												   \
-	inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); }		 \
-	inline void operator delete[](void* ptr) { idFree(ptr); }									  \
-	inline void* operator new[](std::size_t, void* ptr) { return ptr; }							\
+#define ID_DECLARE_ALIGNED_ALLOCATOR()                                                     \
+	inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); }   \
+	inline void operator delete(void* ptr) { idFree(ptr); }                                \
+	inline void* operator new(std::size_t, void* ptr) { return ptr; }                      \
+	inline void operator delete(void*, void*) {}                                           \
+	inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
+	inline void operator delete[](void* ptr) { idFree(ptr); }                              \
+	inline void* operator new[](std::size_t, void* ptr) { return ptr; }                    \
 	inline void operator delete[](void*, void*) {}
 
 #include "details/IDMatVec.hpp"
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp
index cbd7e8a9c4..cfb308ee55 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDConfigEigen.hpp
@@ -15,7 +15,8 @@ typedef float idScalar;
 // template <typename T>
 // using idArray = std::vector<T>;
 template <typename T>
-struct idArray {
+struct idArray
+{
 	typedef std::vector<T> type;
 };
 typedef std::vector<int>::size_type idArrayIdx;
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
index 1dc22f860a..5a98f01498 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
@@ -7,22 +7,24 @@
 
 #if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
 #include "Bullet3Common/b3Logging.h"
-#define error_message(...) b3Error(__VA_ARGS__)
-#define warning_message(...) b3Warning(__VA_ARGS__)
+#define bt_id_error_message(...) b3Error(__VA_ARGS__)
+#define bt_id_warning_message(...) b3Warning(__VA_ARGS__)
 #define id_printf(...) b3Printf(__VA_ARGS__)
 #else  // BT_ID_WO_BULLET
 #include <cstdio>
 /// print error message with file/line information
-#define error_message(...)																		 \
-	do {																						   \
-		fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__);					   \
-		fprintf(stderr, __VA_ARGS__);															  \
+#define bt_id_error_message(...)                                             \
+	do                                                                       \
+	{                                                                        \
+		fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
+		fprintf(stderr, __VA_ARGS__);                                        \
 	} while (0)
 /// print warning message with file/line information
-#define warning_message(...)																	   \
-	do {																						   \
-		fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__);					 \
-		fprintf(stderr, __VA_ARGS__);															  \
+#define bt_id_warning_message(...)                                             \
+	do                                                                         \
+	{                                                                          \
+		fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
+		fprintf(stderr, __VA_ARGS__);                                          \
 	} while (0)
 #define id_printf(...) printf(__VA_ARGS__)
 #endif  // BT_ID_WO_BULLET
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
index 99fe20e492..2f120ed489 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
@@ -3,25 +3,30 @@
 #include <cmath>
 #include <limits>
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 static const idScalar kIsZero = 5 * std::numeric_limits<idScalar>::epsilon();
 // requirements for axis length deviation from 1.0
 // experimentally set from random euler angle rotation matrices
 static const idScalar kAxisLengthEpsilon = 10 * kIsZero;
 
-void setZero(vec3 &v) {
+void setZero(vec3 &v)
+{
 	v(0) = 0;
 	v(1) = 0;
 	v(2) = 0;
 }
 
-void setZero(vecx &v) {
-	for (int i = 0; i < v.size(); i++) {
+void setZero(vecx &v)
+{
+	for (int i = 0; i < v.size(); i++)
+	{
 		v(i) = 0;
 	}
 }
 
-void setZero(mat33 &m) {
+void setZero(mat33 &m)
+{
 	m(0, 0) = 0;
 	m(0, 1) = 0;
 	m(0, 2) = 0;
@@ -33,7 +38,8 @@ void setZero(mat33 &m) {
 	m(2, 2) = 0;
 }
 
-void skew(vec3& v, mat33* result) {
+void skew(vec3 &v, mat33 *result)
+{
 	(*result)(0, 0) = 0.0;
 	(*result)(0, 1) = -v(2);
 	(*result)(0, 2) = v(1);
@@ -45,22 +51,28 @@ void skew(vec3& v, mat33* result) {
 	(*result)(2, 2) = 0.0;
 }
 
-idScalar maxAbs(const vecx &v) {
+idScalar maxAbs(const vecx &v)
+{
 	idScalar result = 0.0;
-	for (int i = 0; i < v.size(); i++) {
+	for (int i = 0; i < v.size(); i++)
+	{
 		const idScalar tmp = BT_ID_FABS(v(i));
-		if (tmp > result) {
+		if (tmp > result)
+		{
 			result = tmp;
 		}
 	}
 	return result;
 }
 
-idScalar maxAbs(const vec3 &v) {
+idScalar maxAbs(const vec3 &v)
+{
 	idScalar result = 0.0;
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		const idScalar tmp = BT_ID_FABS(v(i));
-		if (tmp > result) {
+		if (tmp > result)
+		{
 			result = tmp;
 		}
 	}
@@ -68,60 +80,75 @@ idScalar maxAbs(const vec3 &v) {
 }
 
 #if (defined BT_ID_HAVE_MAT3X)
-idScalar maxAbsMat3x(const mat3x &m) {
-    // only used for tests -- so just loop here for portability
-    idScalar result = 0.0;
-    for (idArrayIdx col = 0; col < m.cols(); col++) {
-        for (idArrayIdx row = 0; row < 3; row++) {
-            result = BT_ID_MAX(result, std::fabs(m(row, col)));
-        }
-    }
-    return result;
+idScalar maxAbsMat3x(const mat3x &m)
+{
+	// only used for tests -- so just loop here for portability
+	idScalar result = 0.0;
+	for (idArrayIdx col = 0; col < m.cols(); col++)
+	{
+		for (idArrayIdx row = 0; row < 3; row++)
+		{
+			result = BT_ID_MAX(result, std::fabs(m(row, col)));
+		}
+	}
+	return result;
 }
 
-void mul(const mat33 &a, const mat3x &b, mat3x *result) {
-    if (b.cols() != result->cols()) {
-        error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
-                      static_cast<int>(b.cols()), static_cast<int>(result->cols()));
-        abort();
-    }
-
-    for (idArrayIdx col = 0; col < b.cols(); col++) {
-        const idScalar x = a(0,0)*b(0,col)+a(0,1)*b(1,col)+a(0,2)*b(2,col);
-        const idScalar y = a(1,0)*b(0,col)+a(1,1)*b(1,col)+a(1,2)*b(2,col);
-        const idScalar z = a(2,0)*b(0,col)+a(2,1)*b(1,col)+a(2,2)*b(2,col);
-        setMat3xElem(0, col, x, result);
-        setMat3xElem(1, col, y, result);
-        setMat3xElem(2, col, z, result);
-    }
+void mul(const mat33 &a, const mat3x &b, mat3x *result)
+{
+	if (b.cols() != result->cols())
+	{
+		bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
+							static_cast<int>(b.cols()), static_cast<int>(result->cols()));
+		abort();
+	}
+
+	for (idArrayIdx col = 0; col < b.cols(); col++)
+	{
+		const idScalar x = a(0, 0) * b(0, col) + a(0, 1) * b(1, col) + a(0, 2) * b(2, col);
+		const idScalar y = a(1, 0) * b(0, col) + a(1, 1) * b(1, col) + a(1, 2) * b(2, col);
+		const idScalar z = a(2, 0) * b(0, col) + a(2, 1) * b(1, col) + a(2, 2) * b(2, col);
+		setMat3xElem(0, col, x, result);
+		setMat3xElem(1, col, y, result);
+		setMat3xElem(2, col, z, result);
+	}
 }
-void add(const mat3x &a, const mat3x &b, mat3x *result) {
-    if (a.cols() != b.cols()) {
-        error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
-                      static_cast<int>(a.cols()), static_cast<int>(b.cols()));
-        abort();
-    }
-    for (idArrayIdx col = 0; col < b.cols(); col++) {
-        for (idArrayIdx row = 0; row < 3; row++) {
-            setMat3xElem(row, col, a(row, col) + b(row, col), result);
-        }
-    }
+void add(const mat3x &a, const mat3x &b, mat3x *result)
+{
+	if (a.cols() != b.cols())
+	{
+		bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
+							static_cast<int>(a.cols()), static_cast<int>(b.cols()));
+		abort();
+	}
+	for (idArrayIdx col = 0; col < b.cols(); col++)
+	{
+		for (idArrayIdx row = 0; row < 3; row++)
+		{
+			setMat3xElem(row, col, a(row, col) + b(row, col), result);
+		}
+	}
 }
-void sub(const mat3x &a, const mat3x &b, mat3x *result) {
-    if (a.cols() != b.cols()) {
-        error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
-                      static_cast<int>(a.cols()), static_cast<int>(b.cols()));
-        abort();
-    }
-    for (idArrayIdx col = 0; col < b.cols(); col++) {
-        for (idArrayIdx row = 0; row < 3; row++) {
-            setMat3xElem(row, col, a(row, col) - b(row, col), result);
-        }
-    }
+void sub(const mat3x &a, const mat3x &b, mat3x *result)
+{
+	if (a.cols() != b.cols())
+	{
+		bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
+							static_cast<int>(a.cols()), static_cast<int>(b.cols()));
+		abort();
+	}
+	for (idArrayIdx col = 0; col < b.cols(); col++)
+	{
+		for (idArrayIdx row = 0; row < 3; row++)
+		{
+			setMat3xElem(row, col, a(row, col) - b(row, col), result);
+		}
+	}
 }
 #endif
 
-mat33 transformX(const idScalar &alpha) {
+mat33 transformX(const idScalar &alpha)
+{
 	mat33 T;
 	const idScalar cos_alpha = BT_ID_COS(alpha);
 	const idScalar sin_alpha = BT_ID_SIN(alpha);
@@ -143,7 +170,8 @@ mat33 transformX(const idScalar &alpha) {
 	return T;
 }
 
-mat33 transformY(const idScalar &beta) {
+mat33 transformY(const idScalar &beta)
+{
 	mat33 T;
 	const idScalar cos_beta = BT_ID_COS(beta);
 	const idScalar sin_beta = BT_ID_SIN(beta);
@@ -165,7 +193,8 @@ mat33 transformY(const idScalar &beta) {
 	return T;
 }
 
-mat33 transformZ(const idScalar &gamma) {
+mat33 transformZ(const idScalar &gamma)
+{
 	mat33 T;
 	const idScalar cos_gamma = BT_ID_COS(gamma);
 	const idScalar sin_gamma = BT_ID_SIN(gamma);
@@ -187,7 +216,8 @@ mat33 transformZ(const idScalar &gamma) {
 	return T;
 }
 
-mat33 tildeOperator(const vec3 &v) {
+mat33 tildeOperator(const vec3 &v)
+{
 	mat33 m;
 	m(0, 0) = 0.0;
 	m(0, 1) = -v(2);
@@ -201,7 +231,8 @@ mat33 tildeOperator(const vec3 &v) {
 	return m;
 }
 
-void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T) {
+void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T)
+{
 	const idScalar sa = BT_ID_SIN(alpha);
 	const idScalar ca = BT_ID_COS(alpha);
 	const idScalar st = BT_ID_SIN(theta);
@@ -224,7 +255,8 @@ void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec
 	(*T)(2, 2) = ca;
 }
 
-void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T) {
+void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T)
+{
 	const idScalar c = BT_ID_COS(angle);
 	const idScalar s = -BT_ID_SIN(angle);
 	const idScalar one_m_c = 1.0 - c;
@@ -246,192 +278,233 @@ void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T)
 	(*T)(2, 2) = z * z * one_m_c + c;
 }
 
-bool isPositiveDefinite(const mat33 &m) {
+bool isPositiveDefinite(const mat33 &m)
+{
 	// test if all upper left determinants are positive
-	if (m(0, 0) <= 0) {  // upper 1x1
+	if (m(0, 0) <= 0)
+	{  // upper 1x1
 		return false;
 	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) <= 0) {  // upper 2x2
+	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) <= 0)
+	{  // upper 2x2
 		return false;
 	}
 	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
 		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0) {
+		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0)
+	{
 		return false;
 	}
 	return true;
 }
 
-bool isPositiveSemiDefinite(const mat33 &m) {
+bool isPositiveSemiDefinite(const mat33 &m)
+{
 	// test if all upper left determinants are positive
-	if (m(0, 0) < 0) {  // upper 1x1
+	if (m(0, 0) < 0)
+	{  // upper 1x1
 		return false;
 	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < 0) {  // upper 2x2
+	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < 0)
+	{  // upper 2x2
 		return false;
 	}
 	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
 		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0) {
+		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0)
+	{
 		return false;
 	}
 	return true;
 }
 
-bool isPositiveSemiDefiniteFuzzy(const mat33 &m) {
+bool isPositiveSemiDefiniteFuzzy(const mat33 &m)
+{
 	// test if all upper left determinants are positive
-	if (m(0, 0) < -kIsZero) {  // upper 1x1
+	if (m(0, 0) < -kIsZero)
+	{  // upper 1x1
 		return false;
 	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < -kIsZero) {  // upper 2x2
+	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < -kIsZero)
+	{  // upper 2x2
 		return false;
 	}
 	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
 		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < -kIsZero) {
+		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < -kIsZero)
+	{
 		return false;
 	}
 	return true;
 }
 
-idScalar determinant(const mat33 &m) {
+idScalar determinant(const mat33 &m)
+{
 	return m(0, 0) * m(1, 1) * m(2, 2) + m(0, 1) * m(1, 2) * m(2, 0) + m(0, 2) * m(1, 0) * m(2, 1) -
 		   m(0, 2) * m(1, 1) * m(2, 0) - m(0, 0) * m(1, 2) * m(2, 1) - m(0, 1) * m(1, 0) * m(2, 2);
 }
 
-bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) {
+bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
+{
 	// TODO(Thomas) do we really want this?
 	//			  in cases where the inertia tensor about the center of mass is zero,
 	//			  the determinant of the inertia tensor about the joint axis is almost
 	//			  zero and can have a very small negative value.
-	if (!isPositiveSemiDefiniteFuzzy(I)) {
-		error_message("invalid inertia matrix for body %d, not positive definite "
-					  "(fixed joint)\n",
-					  index);
-		error_message("matrix is:\n"
-					  "[%.20e %.20e %.20e;\n"
-					  "%.20e %.20e %.20e;\n"
-					  "%.20e %.20e %.20e]\n",
-					  I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-					  I(2, 2));
+	if (!isPositiveSemiDefiniteFuzzy(I))
+	{
+		bt_id_error_message(
+			"invalid inertia matrix for body %d, not positive definite "
+			"(fixed joint)\n",
+			index);
+		bt_id_error_message(
+			"matrix is:\n"
+			"[%.20e %.20e %.20e;\n"
+			"%.20e %.20e %.20e;\n"
+			"%.20e %.20e %.20e]\n",
+			I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
+			I(2, 2));
 
 		return false;
 	}
 
 	// check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k)
-	if (!has_fixed_joint) {
-		if (I(0, 0) + I(1, 1) < I(2, 2)) {
-			error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
-			error_message("matrix is:\n"
-						  "[%.20e %.20e %.20e;\n"
-						  "%.20e %.20e %.20e;\n"
-						  "%.20e %.20e %.20e]\n",
-						  I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-						  I(2, 2));
+	if (!has_fixed_joint)
+	{
+		if (I(0, 0) + I(1, 1) < I(2, 2))
+		{
+			bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
+			bt_id_error_message(
+				"matrix is:\n"
+				"[%.20e %.20e %.20e;\n"
+				"%.20e %.20e %.20e;\n"
+				"%.20e %.20e %.20e]\n",
+				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
+				I(2, 2));
 			return false;
 		}
-		if (I(0, 0) + I(1, 1) < I(2, 2)) {
-			error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
-			error_message("matrix is:\n"
-						  "[%.20e %.20e %.20e;\n"
-						  "%.20e %.20e %.20e;\n"
-						  "%.20e %.20e %.20e]\n",
-						  I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-						  I(2, 2));
+		if (I(0, 0) + I(1, 1) < I(2, 2))
+		{
+			bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
+			bt_id_error_message(
+				"matrix is:\n"
+				"[%.20e %.20e %.20e;\n"
+				"%.20e %.20e %.20e;\n"
+				"%.20e %.20e %.20e]\n",
+				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
+				I(2, 2));
 			return false;
 		}
-		if (I(1, 1) + I(2, 2) < I(0, 0)) {
-			error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
-			error_message("matrix is:\n"
-						  "[%.20e %.20e %.20e;\n"
-						  "%.20e %.20e %.20e;\n"
-						  "%.20e %.20e %.20e]\n",
-						  I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-						  I(2, 2));
+		if (I(1, 1) + I(2, 2) < I(0, 0))
+		{
+			bt_id_error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
+			bt_id_error_message(
+				"matrix is:\n"
+				"[%.20e %.20e %.20e;\n"
+				"%.20e %.20e %.20e;\n"
+				"%.20e %.20e %.20e]\n",
+				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
+				I(2, 2));
 			return false;
 		}
 	}
 	// check positive/zero diagonal elements
-	for (int i = 0; i < 3; i++) {
-		if (I(i, i) < 0) {  // accept zero
-			error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
+	for (int i = 0; i < 3; i++)
+	{
+		if (I(i, i) < 0)
+		{  // accept zero
+			bt_id_error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
 			return false;
 		}
 	}
 	// check symmetry
-	if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero) {
-		error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
-					  "%e\n",
-					  index, I(1, 0) - I(0, 1));
+	if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero)
+	{
+		bt_id_error_message(
+			"invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
+			"%e\n",
+			index, I(1, 0) - I(0, 1));
 		return false;
 	}
-	if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero) {
-		error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
-					  "%e\n",
-					  index, I(2, 0) - I(0, 2));
+	if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero)
+	{
+		bt_id_error_message(
+			"invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
+			"%e\n",
+			index, I(2, 0) - I(0, 2));
 		return false;
 	}
-	if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero) {
-		error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
-					  I(1, 2) - I(2, 1));
+	if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero)
+	{
+		bt_id_error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
+							I(1, 2) - I(2, 1));
 		return false;
 	}
 	return true;
 }
 
-bool isValidTransformMatrix(const mat33 &m) {
-#define print_mat(x)																			   \
-	error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2),   \
-				  x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2))
+bool isValidTransformMatrix(const mat33 &m)
+{
+#define print_mat(x)                                                                                   \
+	bt_id_error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \
+						x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2))
 
 	// check for unit length column vectors
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		const idScalar length_minus_1 =
 			BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0);
-		if (length_minus_1 > kAxisLengthEpsilon) {
-			error_message("Not a valid rotation matrix (column %d not unit length)\n"
-						  "column = [%.18e %.18e %.18e]\n"
-						  "length-1.0= %.18e\n",
-						  i, m(0, i), m(1, i), m(2, i), length_minus_1);
+		if (length_minus_1 > kAxisLengthEpsilon)
+		{
+			bt_id_error_message(
+				"Not a valid rotation matrix (column %d not unit length)\n"
+				"column = [%.18e %.18e %.18e]\n"
+				"length-1.0= %.18e\n",
+				i, m(0, i), m(1, i), m(2, i), length_minus_1);
 			print_mat(m);
 			return false;
 		}
 	}
 	// check for orthogonal column vectors
-	if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) {
-		error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
+	if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon)
+	{
+		bt_id_error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
 		print_mat(m);
 		return false;
 	}
-	if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) {
-		error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
+	if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon)
+	{
+		bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
 		print_mat(m);
 		return false;
 	}
-	if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) {
-		error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
+	if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon)
+	{
+		bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
 		print_mat(m);
 		return false;
 	}
 	// check determinant (rotation not reflection)
-	if (determinant(m) <= 0) {
-		error_message("Not a valid rotation matrix (determinant <=0)\n");
+	if (determinant(m) <= 0)
+	{
+		bt_id_error_message("Not a valid rotation matrix (determinant <=0)\n");
 		print_mat(m);
 		return false;
 	}
 	return true;
 }
 
-bool isUnitVector(const vec3 &vector) {
+bool isUnitVector(const vec3 &vector)
+{
 	return BT_ID_FABS(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) <
 		   kIsZero;
 }
 
-vec3 rpyFromMatrix(const mat33 &rot) {
+vec3 rpyFromMatrix(const mat33 &rot)
+{
 	vec3 rpy;
 	rpy(2) = BT_ID_ATAN2(-rot(1, 0), rot(0, 0));
 	rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
 	rpy(0) = BT_ID_ATAN2(-rot(2, 0), rot(2, 2));
 	return rpy;
 }
-}
+}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp
index b355474d44..40bee5302b 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp
@@ -5,7 +5,8 @@
 #define IDMATH_HPP_
 #include "IDConfig.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// set all elements to zero
 void setZero(vec3& v);
 /// set all elements to zero
@@ -23,11 +24,11 @@ idScalar maxAbs(const vec3& v);
 
 #if (defined BT_ID_HAVE_MAT3X)
 idScalar maxAbsMat3x(const mat3x& m);
-void setZero(mat3x&m);
+void setZero(mat3x& m);
 // define math functions on mat3x here to avoid allocations in operators.
-void mul(const mat33&a, const mat3x&b, mat3x* result);
-void add(const mat3x&a, const mat3x&b, mat3x* result);
-void sub(const mat3x&a, const mat3x&b, mat3x* result);
+void mul(const mat33& a, const mat3x& b, mat3x* result);
+void add(const mat3x& a, const mat3x& b, mat3x* result);
+void sub(const mat3x& a, const mat3x& b, mat3x* result);
 #endif
 
 /// get offset vector & transform matrix from DH parameters
@@ -94,6 +95,6 @@ mat33 transformZ(const idScalar& gamma);
 ///calculate rpy angles (x-y-z Euler angles) from a given rotation matrix
 /// @param rot rotation matrix
 /// @returns x-y-z Euler angles
-vec3 rpyFromMatrix(const mat33&rot);
-}
+vec3 rpyFromMatrix(const mat33& rot);
+}  // namespace btInverseDynamics
 #endif  // IDMATH_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
index c67588d49f..f150b5ae4c 100644
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
@@ -8,69 +8,84 @@
 #include "details/MultiBodyTreeImpl.hpp"
 #include "details/MultiBodyTreeInitCache.hpp"
 
-namespace btInverseDynamics {
-
+namespace btInverseDynamics
+{
 MultiBodyTree::MultiBodyTree()
 	: m_is_finalized(false),
 	  m_mass_parameters_are_valid(true),
 	  m_accept_invalid_mass_parameters(false),
 	  m_impl(0x0),
-	  m_init_cache(0x0) {
+	  m_init_cache(0x0)
+{
 	m_init_cache = new InitCache();
 }
 
-MultiBodyTree::~MultiBodyTree() {
+MultiBodyTree::~MultiBodyTree()
+{
 	delete m_impl;
 	delete m_init_cache;
 }
 
-void MultiBodyTree::setAcceptInvalidMassParameters(bool flag) {
+void MultiBodyTree::setAcceptInvalidMassParameters(bool flag)
+{
 	m_accept_invalid_mass_parameters = flag;
 }
 
-bool MultiBodyTree::getAcceptInvalidMassProperties() const {
+bool MultiBodyTree::getAcceptInvalidMassProperties() const
+{
 	return m_accept_invalid_mass_parameters;
 }
 
-int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const {
+int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const
+{
 	return m_impl->getBodyOrigin(body_index, world_origin);
 }
 
-int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const {
+int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const
+{
 	return m_impl->getBodyCoM(body_index, world_com);
 }
 
-int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const {
+int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const
+{
 	return m_impl->getBodyTransform(body_index, world_T_body);
 }
-int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const {
+int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const
+{
 	return m_impl->getBodyAngularVelocity(body_index, world_omega);
 }
-int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const {
+int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const
+{
 	return m_impl->getBodyLinearVelocity(body_index, world_velocity);
 }
 
-int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const {
+int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const
+{
 	return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity);
 }
 
-int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const {
+int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const
+{
 	return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega);
 }
-int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const {
+int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const
+{
 	return m_impl->getBodyLinearAcceleration(body_index, world_acceleration);
 }
 
-int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3* r) const {
-    return m_impl->getParentRParentBodyRef(body_index, r);
+int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3 *r) const
+{
+	return m_impl->getParentRParentBodyRef(body_index, r);
 }
 
-int MultiBodyTree::getBodyTParentRef(const int body_index, mat33* T) const {
-    return m_impl->getBodyTParentRef(body_index, T);
+int MultiBodyTree::getBodyTParentRef(const int body_index, mat33 *T) const
+{
+	return m_impl->getBodyTParentRef(body_index, T);
 }
 
-int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3* axis) const {
-    return m_impl->getBodyAxisOfMotion(body_index, axis);
+int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
+{
+	return m_impl->getBodyAxisOfMotion(body_index, axis);
 }
 
 void MultiBodyTree::printTree() { m_impl->printTree(); }
@@ -81,13 +96,16 @@ int MultiBodyTree::numBodies() const { return m_impl->m_num_bodies; }
 int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
 
 int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
-											vecx *joint_forces) {
-	if (false == m_is_finalized) {
-		error_message("system has not been initialized\n");
+											vecx *joint_forces)
+{
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
 		return -1;
 	}
-	if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) {
-		error_message("error in inverse dynamics calculation\n");
+	if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces))
+	{
+		bt_id_error_message("error in inverse dynamics calculation\n");
 		return -1;
 	}
 	return 0;
@@ -95,142 +113,165 @@ int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const
 
 int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics,
 									   const bool initialize_matrix,
-									   const bool set_lower_triangular_matrix, matxx *mass_matrix) {
-	if (false == m_is_finalized) {
-		error_message("system has not been initialized\n");
+									   const bool set_lower_triangular_matrix, matxx *mass_matrix)
+{
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
 		return -1;
 	}
 	if (-1 ==
 		m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
-									set_lower_triangular_matrix, mass_matrix)) {
-		error_message("error in mass matrix calculation\n");
+									set_lower_triangular_matrix, mass_matrix))
+	{
+		bt_id_error_message("error in mass matrix calculation\n");
 		return -1;
 	}
 	return 0;
 }
 
-int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix) {
+int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix)
+{
 	return calculateMassMatrix(q, true, true, true, mass_matrix);
 }
 
+int MultiBodyTree::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u)
+{
+	vec3 world_gravity(m_impl->m_world_gravity);
+	// temporarily set gravity to zero, to ensure we get the actual accelerations
+	setZero(m_impl->m_world_gravity);
 
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
+		return -1;
+	}
+	if (-1 == m_impl->calculateKinematics(q, u, dot_u,
+										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION))
+	{
+		bt_id_error_message("error in kinematics calculation\n");
+		return -1;
+	}
 
-int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u) {
-    vec3 world_gravity(m_impl->m_world_gravity);
-    // temporarily set gravity to zero, to ensure we get the actual accelerations
-    setZero(m_impl->m_world_gravity);
-
-    if (false == m_is_finalized) {
-        error_message("system has not been initialized\n");
-        return -1;
-    }
-    if (-1 == m_impl->calculateKinematics(q, u, dot_u,
-                                          MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION)) {
-        error_message("error in kinematics calculation\n");
-        return -1;
-    }
-
-    m_impl->m_world_gravity=world_gravity;
-    return 0;
+	m_impl->m_world_gravity = world_gravity;
+	return 0;
 }
 
-
-int MultiBodyTree::calculatePositionKinematics(const vecx& q) {
-	if (false == m_is_finalized) {
-		error_message("system has not been initialized\n");
+int MultiBodyTree::calculatePositionKinematics(const vecx &q)
+{
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
 		return -1;
 	}
 	if (-1 == m_impl->calculateKinematics(q, q, q,
-                                              MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
-		error_message("error in kinematics calculation\n");
+										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
+	{
+		bt_id_error_message("error in kinematics calculation\n");
 		return -1;
 	}
 	return 0;
 }
 
-int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u) {
-	if (false == m_is_finalized) {
-		error_message("system has not been initialized\n");
+int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx &q, const vecx &u)
+{
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
 		return -1;
 	}
 	if (-1 == m_impl->calculateKinematics(q, u, u,
-                                              MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
-		error_message("error in kinematics calculation\n");
+										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
+	{
+		bt_id_error_message("error in kinematics calculation\n");
 		return -1;
 	}
 	return 0;
 }
 
-
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) {
-    if (false == m_is_finalized) {
-        error_message("system has not been initialized\n");
-        return -1;
-    }
-    if (-1 == m_impl->calculateJacobians(q, u,
-                                         MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
-        error_message("error in jacobian calculation\n");
-        return -1;
-    }
-    return 0;
+int MultiBodyTree::calculateJacobians(const vecx &q, const vecx &u)
+{
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
+		return -1;
+	}
+	if (-1 == m_impl->calculateJacobians(q, u,
+										 MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
+	{
+		bt_id_error_message("error in jacobian calculation\n");
+		return -1;
+	}
+	return 0;
 }
 
-int MultiBodyTree::calculateJacobians(const vecx& q){
-    if (false == m_is_finalized) {
-        error_message("system has not been initialized\n");
-        return -1;
-    }
-    if (-1 == m_impl->calculateJacobians(q, q,
-                                         MultiBodyTree::MultiBodyImpl::POSITION_ONLY)) {
-        error_message("error in jacobian calculation\n");
-        return -1;
-    }
-    return 0;
+int MultiBodyTree::calculateJacobians(const vecx &q)
+{
+	if (false == m_is_finalized)
+	{
+		bt_id_error_message("system has not been initialized\n");
+		return -1;
+	}
+	if (-1 == m_impl->calculateJacobians(q, q,
+										 MultiBodyTree::MultiBodyImpl::POSITION_ONLY))
+	{
+		bt_id_error_message("error in jacobian calculation\n");
+		return -1;
+	}
+	return 0;
 }
 
-int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const {
-    return m_impl->getBodyDotJacobianTransU(body_index,world_dot_jac_trans_u);
+int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
+{
+	return m_impl->getBodyDotJacobianTransU(body_index, world_dot_jac_trans_u);
 }
 
-int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const {
-    return m_impl->getBodyDotJacobianRotU(body_index,world_dot_jac_rot_u);
+int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
+{
+	return m_impl->getBodyDotJacobianRotU(body_index, world_dot_jac_rot_u);
 }
 
-int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const {
-    return m_impl->getBodyJacobianTrans(body_index,world_jac_trans);
+int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
+{
+	return m_impl->getBodyJacobianTrans(body_index, world_jac_trans);
 }
 
-int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const  {
-    return m_impl->getBodyJacobianRot(body_index,world_jac_rot);
+int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
+{
+	return m_impl->getBodyJacobianRot(body_index, world_jac_rot);
 }
 
-
 #endif
 
 int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type,
 						   const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
 						   const vec3 &body_axis_of_motion_, idScalar mass,
 						   const vec3 &body_r_body_com, const mat33 &body_I_body,
-						   const int user_int, void *user_ptr) {
-	if (body_index < 0) {
-		error_message("body index must be positive (got %d)\n", body_index);
+						   const int user_int, void *user_ptr)
+{
+	if (body_index < 0)
+	{
+		bt_id_error_message("body index must be positive (got %d)\n", body_index);
 		return -1;
 	}
 	vec3 body_axis_of_motion(body_axis_of_motion_);
-	switch (joint_type) {
+	switch (joint_type)
+	{
 		case REVOLUTE:
 		case PRISMATIC:
 			// check if axis is unit vector
-			if (!isUnitVector(body_axis_of_motion)) {
-				warning_message(
+			if (!isUnitVector(body_axis_of_motion))
+			{
+				bt_id_warning_message(
 					"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
 					body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
 				idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) +
-									   BT_ID_POW(body_axis_of_motion(1), 2) +
-									   BT_ID_POW(body_axis_of_motion(2), 2));
-				if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min())) {
-					error_message("axis of motion vector too short (%e)\n", length);
+											 BT_ID_POW(body_axis_of_motion(1), 2) +
+											 BT_ID_POW(body_axis_of_motion(2), 2));
+				if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min()))
+				{
+					bt_id_error_message("axis of motion vector too short (%e)\n", length);
 					return -1;
 				}
 				body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
@@ -240,29 +281,36 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
 			break;
 		case FLOATING:
 			break;
+		case SPHERICAL:
+			break;
 		default:
-			error_message("unknown joint type %d\n", joint_type);
+			bt_id_error_message("unknown joint type %d\n", joint_type);
 			return -1;
 	}
 
 	// sanity check for mass properties. Zero mass is OK.
-	if (mass < 0) {
+	if (mass < 0)
+	{
 		m_mass_parameters_are_valid = false;
-		error_message("Body %d has invalid mass %e\n", body_index, mass);
-		if (!m_accept_invalid_mass_parameters) {
+		bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass);
+		if (!m_accept_invalid_mass_parameters)
+		{
 			return -1;
 		}
 	}
 
-	if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type)) {
+	if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type))
+	{
 		m_mass_parameters_are_valid = false;
 		// error message printed in function call
-		if (!m_accept_invalid_mass_parameters) {
+		if (!m_accept_invalid_mass_parameters)
+		{
 			return -1;
 		}
 	}
 
-	if (!isValidTransformMatrix(body_T_parent_ref)) {
+	if (!isValidTransformMatrix(body_T_parent_ref))
+	{
 		return -1;
 	}
 
@@ -271,52 +319,63 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
 								 body_I_body, user_int, user_ptr);
 }
 
-int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const {
+int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const
+{
 	return m_impl->getParentIndex(body_index, parent_index);
 }
 
-int MultiBodyTree::getUserInt(const int body_index, int *user_int) const {
+int MultiBodyTree::getUserInt(const int body_index, int *user_int) const
+{
 	return m_impl->getUserInt(body_index, user_int);
 }
 
-int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const {
+int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const
+{
 	return m_impl->getUserPtr(body_index, user_ptr);
 }
 
-int MultiBodyTree::setUserInt(const int body_index, const int user_int) {
+int MultiBodyTree::setUserInt(const int body_index, const int user_int)
+{
 	return m_impl->setUserInt(body_index, user_int);
 }
 
-int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr) {
+int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr)
+{
 	return m_impl->setUserPtr(body_index, user_ptr);
 }
 
-int MultiBodyTree::finalize() {
+int MultiBodyTree::finalize()
+{
 	const int &num_bodies = m_init_cache->numBodies();
 	const int &num_dofs = m_init_cache->numDoFs();
 
-        if(num_dofs<=0) {
-            error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
-            //return -1;
-        }
+	if (num_dofs <= 0)
+	{
+		bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
+		//return -1;
+	}
 
 	// 1 allocate internal MultiBody structure
 	m_impl = new MultiBodyImpl(num_bodies, num_dofs);
 
 	// 2 build new index set assuring index(parent) < index(child)
-	if (-1 == m_init_cache->buildIndexSets()) {
+	if (-1 == m_init_cache->buildIndexSets())
+	{
 		return -1;
 	}
 	m_init_cache->getParentIndexArray(&m_impl->m_parent_index);
 
 	// 3 setup internal kinematic and dynamic data
-	for (int index = 0; index < num_bodies; index++) {
+	for (int index = 0; index < num_bodies; index++)
+	{
 		InertiaData inertia;
 		JointData joint;
-		if (-1 == m_init_cache->getInertiaData(index, &inertia)) {
+		if (-1 == m_init_cache->getInertiaData(index, &inertia))
+		{
 			return -1;
 		}
-		if (-1 == m_init_cache->getJointData(index, &joint)) {
+		if (-1 == m_init_cache->getJointData(index, &joint))
+		{
 			return -1;
 		}
 
@@ -331,9 +390,30 @@ int MultiBodyTree::finalize() {
 		rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
 		rigid_body.m_joint_type = joint.m_type;
 
+		int user_int;
+		if (-1 == m_init_cache->getUserInt(index, &user_int))
+		{
+			return -1;
+		}
+		if (-1 == m_impl->setUserInt(index, user_int))
+		{
+			return -1;
+		}
+
+		void *user_ptr;
+		if (-1 == m_init_cache->getUserPtr(index, &user_ptr))
+		{
+			return -1;
+		}
+		if (-1 == m_impl->setUserPtr(index, user_ptr))
+		{
+			return -1;
+		}
+
 		// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
 		// matrices.
-		switch (rigid_body.m_joint_type) {
+		switch (rigid_body.m_joint_type)
+		{
 			case REVOLUTE:
 				rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0);
 				rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1);
@@ -359,6 +439,16 @@ int MultiBodyTree::finalize() {
 				rigid_body.m_Jac_JT(1) = 0.0;
 				rigid_body.m_Jac_JT(2) = 0.0;
 				break;
+			case SPHERICAL:
+				// NOTE/TODO: this is not really correct.
+				// the Jacobians should be 3x3 matrices here !
+				rigid_body.m_Jac_JR(0) = 0.0;
+				rigid_body.m_Jac_JR(1) = 0.0;
+				rigid_body.m_Jac_JR(2) = 0.0;
+				rigid_body.m_Jac_JT(0) = 0.0;
+				rigid_body.m_Jac_JT(1) = 0.0;
+				rigid_body.m_Jac_JT(2) = 0.0;
+				break;
 			case FLOATING:
 				// NOTE/TODO: this is not really correct.
 				// the Jacobians should be 3x3 matrices here !
@@ -370,14 +460,15 @@ int MultiBodyTree::finalize() {
 				rigid_body.m_Jac_JT(2) = 0.0;
 				break;
 			default:
-				error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
+				bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
 				return -1;
 		}
 	}
 
 	// 4 assign degree of freedom indices & build per-joint-type index arrays
-	if (-1 == m_impl->generateIndexSets()) {
-		error_message("generating index sets\n");
+	if (-1 == m_impl->generateIndexSets())
+	{
+		bt_id_error_message("generating index sets\n");
 		return -1;
 	}
 
@@ -392,54 +483,66 @@ int MultiBodyTree::finalize() {
 	return 0;
 }
 
-int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity) {
+int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity)
+{
 	return m_impl->setGravityInWorldFrame(gravity);
 }
 
-int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const {
+int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const
+{
 	return m_impl->getJointType(body_index, joint_type);
 }
 
-int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const {
+int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const
+{
 	return m_impl->getJointTypeStr(body_index, joint_type);
 }
 
-int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const {
+int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const
+{
 	return m_impl->getDoFOffset(body_index, q_offset);
 }
 
-int MultiBodyTree::setBodyMass(const int body_index, idScalar mass) {
+int MultiBodyTree::setBodyMass(const int body_index, idScalar mass)
+{
 	return m_impl->setBodyMass(body_index, mass);
 }
 
-int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment) {
+int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3 &first_mass_moment)
+{
 	return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
 }
 
-int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment) {
+int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33 &second_mass_moment)
+{
 	return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
 }
 
-int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const {
+int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const
+{
 	return m_impl->getBodyMass(body_index, mass);
 }
 
-int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const {
+int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const
+{
 	return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment);
 }
 
-int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const {
+int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const
+{
 	return m_impl->getBodySecondMassMoment(body_index, second_mass_moment);
 }
 
 void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); }
 
-int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force) {
+int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force)
+{
 	return m_impl->addUserForce(body_index, body_force);
 }
 
-int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment) {
+int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment)
+{
 	return m_impl->addUserMoment(body_index, body_moment);
 }
 
-}
+}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
index d235aa6e76..7b852f976c 100644
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
@@ -4,10 +4,11 @@
 #include "IDConfig.hpp"
 #include "IDMath.hpp"
 
-namespace btInverseDynamics {
-
+namespace btInverseDynamics
+{
 /// Enumeration of supported joint types
-enum JointType {
+enum JointType
+{
 	/// no degree of freedom, moves with parent
 	FIXED = 0,
 	/// one rotational degree of freedom relative to parent
@@ -15,7 +16,9 @@ enum JointType {
 	/// one translational degree of freedom relative to parent
 	PRISMATIC,
 	/// six degrees of freedom relative to parent
-	FLOATING
+	FLOATING,
+	/// three degrees of freedom, relative to parent
+	SPHERICAL
 };
 
 /// Interface class for calculating inverse dynamics for tree structured
@@ -30,12 +33,14 @@ enum JointType {
 ///	- PRISMATIC: displacement [m]
 ///	- FLOATING:  Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m]
 ///				 (in that order)
+/// - SPHERICAL: Euler x-y-z angles [rad]
 /// The u vector contains the generalized speeds, which are
 ///	- FIXED:	 none
 ///	- REVOLUTE:  time derivative of angle of rotation [rad/s]
 ///	- PRISMATIC: time derivative of displacement [m/s]
 ///	- FLOATING:  angular velocity [rad/s] (*not* time derivative of rpy angles)
 ///				 and time derivative of displacement in parent frame [m/s]
+//	- SPHERICAL:  angular velocity [rad/s]
 ///
 /// The q and u vectors are obtained by stacking contributions of all bodies in one
 /// vector in the order of body indices.
@@ -46,12 +51,13 @@ enum JointType {
 ///	 - PRISMATIC: force  [N], along joint axis
 ///	 - FLOATING:  moment vector [Nm] and force vector [N], both in body-fixed frame
 ///				  (in that order)
-///
+///  - SPHERICAL: moment vector [Nm] 
 /// TODO - force element interface (friction, springs, dampers, etc)
 ///	  - gears and motor inertia
-class MultiBodyTree {
+class MultiBodyTree
+{
 public:
-        ID_DECLARE_ALIGNED_ALLOCATOR();
+	ID_DECLARE_ALIGNED_ALLOCATOR();
 	/// The contructor.
 	/// Initialization & allocation is via addBody and buildSystem calls.
 	MultiBodyTree();
@@ -119,9 +125,9 @@ public:
 	/// print tree data to stdout
 	void printTreeData();
 	/// Calculate joint forces for given generalized state & derivatives.
-        /// This also updates kinematic terms computed in calculateKinematics.
-        /// If gravity is not set to zero, acceleration terms will contain
-        /// gravitational acceleration.
+	/// This also updates kinematic terms computed in calculateKinematics.
+	/// If gravity is not set to zero, acceleration terms will contain
+	/// gravitational acceleration.
 	/// @param q generalized coordinates
 	/// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u)
 	/// @param dot_u time derivative of u
@@ -152,30 +158,28 @@ public:
 	/// @return -1 on error, 0 on success
 	int calculateMassMatrix(const vecx& q, matxx* mass_matrix);
 
-
-        /// Calculates kinematics also calculated in calculateInverseDynamics,
-        /// but not dynamics.
-        /// This function ensures that correct accelerations are computed that do not
-        /// contain gravitational acceleration terms.
-        /// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations)
-        int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u);
-        /// Calculate position kinematics
-        int calculatePositionKinematics(const vecx& q);
-         /// Calculate position and velocity kinematics
-        int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u);
+	/// Calculates kinematics also calculated in calculateInverseDynamics,
+	/// but not dynamics.
+	/// This function ensures that correct accelerations are computed that do not
+	/// contain gravitational acceleration terms.
+	/// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations)
+	int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u);
+	/// Calculate position kinematics
+	int calculatePositionKinematics(const vecx& q);
+	/// Calculate position and velocity kinematics
+	int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u);
 
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-        /// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components
-        /// d(Jacobian)/dt*u
-        /// This function assumes that calculateInverseDynamics was called, or calculateKinematics,
-        /// or calculatePositionAndVelocityKinematics
-        int calculateJacobians(const vecx& q, const vecx& u);
-        /// Calculate Jacobians (dvel/du)
-        /// This function assumes that calculateInverseDynamics was called, or
-        /// one of the calculateKineamtics functions
-        int calculateJacobians(const vecx& q);
-#endif // BT_ID_HAVE_MAT3X
-
+	/// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components
+	/// d(Jacobian)/dt*u
+	/// This function assumes that calculateInverseDynamics was called, or calculateKinematics,
+	/// or calculatePositionAndVelocityKinematics
+	int calculateJacobians(const vecx& q, const vecx& u);
+	/// Calculate Jacobians (dvel/du)
+	/// This function assumes that calculateInverseDynamics was called, or
+	/// one of the calculateKineamtics functions
+	int calculateJacobians(const vecx& q);
+#endif  // BT_ID_HAVE_MAT3X
 
 	/// set gravitational acceleration
 	/// the default is [0;0;-9.8] in the world frame
@@ -231,15 +235,15 @@ public:
 	int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
 
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-        // get translational jacobian, in world frame (dworld_velocity/du)
-        int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
-        // get rotational jacobian, in world frame (dworld_omega/du)
-        int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
-        // get product of translational jacobian derivative * generatlized velocities
-        int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
-        // get product of rotational jacobian derivative * generatlized velocities
-        int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
-#endif // BT_ID_HAVE_MAT3X
+	// get translational jacobian, in world frame (dworld_velocity/du)
+	int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
+	// get rotational jacobian, in world frame (dworld_omega/du)
+	int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
+	// get product of translational jacobian derivative * generatlized velocities
+	int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
+	// get product of rotational jacobian derivative * generatlized velocities
+	int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
+#endif  // BT_ID_HAVE_MAT3X
 
 	/// returns the (internal) index of body
 	/// @param body_index is the index of a body
@@ -256,21 +260,21 @@ public:
 	/// @param joint_type string naming the corresponding joint type
 	/// @return 0 on success, -1 on failure
 	int getJointTypeStr(const int body_index, const char** joint_type) const;
-    	/// get offset translation to parent body (see addBody)
+	/// get offset translation to parent body (see addBody)
 	/// @param body_index index of the body
 	/// @param r the offset translation (see above)
 	/// @return 0 on success, -1 on failure
-        int getParentRParentBodyRef(const int body_index, vec3* r) const;
+	int getParentRParentBodyRef(const int body_index, vec3* r) const;
 	/// get offset rotation to parent body (see addBody)
 	/// @param body_index index of the body
 	/// @param T the transform (see above)
 	/// @return 0 on success, -1 on failure
-        int getBodyTParentRef(const int body_index, mat33* T) const;
+	int getBodyTParentRef(const int body_index, mat33* T) const;
 	/// get axis of motion (see addBody)
 	/// @param body_index index of the body
 	/// @param axis the axis (see above)
 	/// @return 0 on success, -1 on failure
-        int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
+	int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
 	/// get offset for degrees of freedom of this body into the q-vector
 	/// @param body_index index of the body
 	/// @param q_offset offset the q vector
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp
index 836395cea2..fe4f102513 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/IDEigenInterface.hpp
@@ -1,8 +1,8 @@
 #ifndef INVDYNEIGENINTERFACE_HPP_
 #define INVDYNEIGENINTERFACE_HPP_
 #include "../IDConfig.hpp"
-namespace btInverseDynamics {
-
+namespace btInverseDynamics
+{
 #define BT_ID_HAVE_MAT3X
 
 #ifdef BT_USE_DOUBLE_PRECISION
@@ -19,18 +19,21 @@ typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign> m
 typedef Eigen::Matrix<float, 3, Eigen::Dynamic, Eigen::DontAlign> mat3x;
 #endif
 
-inline void resize(mat3x &m, Eigen::Index size) {
-    m.resize(3, size);
-    m.setZero();
+inline void resize(mat3x &m, Eigen::Index size)
+{
+	m.resize(3, size);
+	m.setZero();
 }
 
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
-    (*m)(row, col) = val;
+inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx *m)
+{
+	(*m)(row, col) = val;
 }
 
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
-    (*m)(row, col) = val;
+inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x *m)
+{
+	(*m)(row, col) = val;
 }
 
-}
+}  // namespace btInverseDynamics
 #endif  // INVDYNEIGENINTERFACE_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
index 5bb4a33bdd..0c398a3727 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
@@ -10,32 +10,37 @@
 #include "../../LinearMath/btMatrixX.h"
 #define BT_ID_HAVE_MAT3X
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 class vec3;
 class vecx;
 class mat33;
 typedef btMatrixX<idScalar> matxx;
 
-class vec3 : public btVector3 {
+class vec3 : public btVector3
+{
 public:
 	vec3() : btVector3() {}
 	vec3(const btVector3& btv) { *this = btv; }
 	idScalar& operator()(int i) { return (*this)[i]; }
 	const idScalar& operator()(int i) const { return (*this)[i]; }
 	int size() const { return 3; }
-	const vec3& operator=(const btVector3& rhs) {
+	const vec3& operator=(const btVector3& rhs)
+	{
 		*static_cast<btVector3*>(this) = rhs;
 		return *this;
 	}
 };
 
-class mat33 : public btMatrix3x3 {
+class mat33 : public btMatrix3x3
+{
 public:
 	mat33() : btMatrix3x3() {}
 	mat33(const btMatrix3x3& btm) { *this = btm; }
 	idScalar& operator()(int i, int j) { return (*this)[i][j]; }
 	const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
-	const mat33& operator=(const btMatrix3x3& rhs) {
+	const mat33& operator=(const btMatrix3x3& rhs)
+	{
 		*static_cast<btMatrix3x3*>(this) = rhs;
 		return *this;
 	}
@@ -47,11 +52,13 @@ inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s)
 
 inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
 
-class vecx : public btVectorX<idScalar> {
+class vecx : public btVectorX<idScalar>
+{
 public:
-	vecx(int size) : btVectorX(size) {}
-	const vecx& operator=(const btVectorX<idScalar>& rhs) {
-		*static_cast<btVectorX*>(this) = rhs;
+	vecx(int size) : btVectorX<idScalar>(size) {}
+	const vecx& operator=(const btVectorX<idScalar>& rhs)
+	{
+		*static_cast<btVectorX<idScalar>*>(this) = rhs;
 		return *this;
 	}
 
@@ -66,43 +73,53 @@ public:
 	friend vecx operator/(const vecx& a, const idScalar& s);
 };
 
-inline vecx operator*(const vecx& a, const idScalar& s) {
+inline vecx operator*(const vecx& a, const idScalar& s)
+{
 	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
+	for (int i = 0; i < result.size(); i++)
+	{
 		result(i) = a(i) * s;
 	}
 	return result;
 }
 inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b) {
+inline vecx operator+(const vecx& a, const vecx& b)
+{
 	vecx result(a.size());
 	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
-		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+	if (a.size() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
 		abort();
 	}
-	for (int i = 0; i < a.size(); i++) {
+	for (int i = 0; i < a.size(); i++)
+	{
 		result(i) = a(i) + b(i);
 	}
 
 	return result;
 }
 
-inline vecx operator-(const vecx& a, const vecx& b) {
+inline vecx operator-(const vecx& a, const vecx& b)
+{
 	vecx result(a.size());
 	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
-		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+	if (a.size() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
 		abort();
 	}
-	for (int i = 0; i < a.size(); i++) {
+	for (int i = 0; i < a.size(); i++)
+	{
 		result(i) = a(i) - b(i);
 	}
 	return result;
 }
-inline vecx operator/(const vecx& a, const idScalar& s) {
+inline vecx operator/(const vecx& a, const idScalar& s)
+{
 	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
+	for (int i = 0; i < result.size(); i++)
+	{
 		result(i) = a(i) / s;
 	}
 
@@ -110,63 +127,76 @@ inline vecx operator/(const vecx& a, const idScalar& s) {
 }
 
 // use btMatrixX to implement 3xX matrix
-class mat3x : public matxx {
+class mat3x : public matxx
+{
 public:
-    mat3x(){}
-    mat3x(const mat3x&rhs) {
-        matxx::resize(rhs.rows(), rhs.cols());
-        *this = rhs;
-    }
-    mat3x(int rows, int cols): matxx(3,cols) {
-    }
-    void operator=(const mat3x& rhs) {
-	if (m_cols != rhs.m_cols) {
-            error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-            abort();
+	mat3x() {}
+	mat3x(const mat3x& rhs)
+	{
+		matxx::resize(rhs.rows(), rhs.cols());
+		*this = rhs;
+	}
+	mat3x(int rows, int cols) : matxx(3, cols)
+	{
+	}
+	void operator=(const mat3x& rhs)
+	{
+		if (m_cols != rhs.m_cols)
+		{
+			bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
+			abort();
+		}
+		for (int i = 0; i < rows(); i++)
+		{
+			for (int k = 0; k < cols(); k++)
+			{
+				setElem(i, k, rhs(i, k));
+			}
+		}
+	}
+	void setZero()
+	{
+		matxx::setZero();
 	}
-        for(int i=0;i<rows();i++) {
-            for(int k=0;k<cols();k++) {
-                setElem(i,k,rhs(i,k));
-            }
-        }
-    }
-    void setZero() {
-        matxx::setZero();
-    }
 };
 
-
-inline vec3 operator*(const mat3x& a, const vecx& b) {
-    vec3 result;
-    if (a.cols() != b.size()) {
-        error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-        abort();
-    }
-    result(0)=0.0;
-    result(1)=0.0;
-    result(2)=0.0;
-    for(int i=0;i<b.size();i++) {
-        for(int k=0;k<3;k++) {
-            result(k)+=a(k,i)*b(i);
-        }
-    }
-    return result;
+inline vec3 operator*(const mat3x& a, const vecx& b)
+{
+	vec3 result;
+	if (a.cols() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
+		abort();
+	}
+	result(0) = 0.0;
+	result(1) = 0.0;
+	result(2) = 0.0;
+	for (int i = 0; i < b.size(); i++)
+	{
+		for (int k = 0; k < 3; k++)
+		{
+			result(k) += a(k, i) * b(i);
+		}
+	}
+	return result;
 }
 
-
-inline void resize(mat3x &m, idArrayIdx size) {
-    m.resize(3, size);
-    m.setZero();
+inline void resize(mat3x& m, idArrayIdx size)
+{
+	m.resize(3, size);
+	m.setZero();
 }
 
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
-    m->setElem(row, col, val);
+inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx* m)
+{
+	m->setElem(row, col, val);
 }
 
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
-    m->setElem(row, col, val);
+inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x* m)
+{
+	m->setElem(row, col, val);
 }
 
-}
+}  // namespace btInverseDynamics
 
 #endif  // IDLINEARMATHINTERFACE_HPP_
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
index 4d3f6c87e9..1c786095e7 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
@@ -7,7 +7,8 @@
 #include "../IDConfig.hpp"
 #define BT_ID_HAVE_MAT3X
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 class vec3;
 class vecx;
 class mat33;
@@ -17,7 +18,8 @@ class mat3x;
 /// This is a very basic implementation to enable stand-alone use of the library.
 /// The implementation is not really optimized and misses many features that you would
 /// want from a "fully featured" linear math library.
-class vec3 {
+class vec3
+{
 public:
 	idScalar& operator()(int i) { return m_data[i]; }
 	const idScalar& operator()(int i) const { return m_data[i]; }
@@ -40,7 +42,8 @@ private:
 	idScalar m_data[3];
 };
 
-class mat33 {
+class mat33
+{
 public:
 	idScalar& operator()(int i, int j) { return m_data[3 * i + j]; }
 	const idScalar& operator()(int i, int j) const { return m_data[3 * i + j]; }
@@ -62,9 +65,11 @@ private:
 	idScalar m_data[9];
 };
 
-class vecx {
+class vecx
+{
 public:
-	vecx(int size) : m_size(size) {
+	vecx(int size) : m_size(size)
+	{
 		m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * size));
 	}
 	~vecx() { idFree(m_data); }
@@ -85,14 +90,17 @@ private:
 	idScalar* m_data;
 };
 
-class matxx {
+class matxx
+{
 public:
-    matxx() {
-        m_data = 0x0;
-        m_cols=0;
-        m_rows=0;
-    }
-	matxx(int rows, int cols) : m_rows(rows), m_cols(cols) {
+	matxx()
+	{
+		m_data = 0x0;
+		m_cols = 0;
+		m_rows = 0;
+	}
+	matxx(int rows, int cols) : m_rows(rows), m_cols(cols)
+	{
 		m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * rows * cols));
 	}
 	~matxx() { idFree(m_data); }
@@ -107,69 +115,86 @@ private:
 	idScalar* m_data;
 };
 
-class mat3x {
+class mat3x
+{
 public:
-    mat3x() {
-        m_data = 0x0;
-        m_cols=0;
-    }
-    mat3x(const mat3x&rhs) {
-        m_cols=rhs.m_cols;
-        allocate();
-        *this = rhs;
-    }
-    mat3x(int rows, int cols): m_cols(cols) {
-        allocate();
-    };
-    void operator=(const mat3x& rhs) {
-	if (m_cols != rhs.m_cols) {
-            error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-            abort();
-	}
-        for(int i=0;i<3*m_cols;i++) {
-            m_data[i] = rhs.m_data[i];
-        }
-    }
-
-    ~mat3x() {
-        free();
-    }
-    idScalar& operator()(int row, int col) { return m_data[row * m_cols + col]; }
-    const idScalar& operator()(int row, int col) const { return m_data[row * m_cols + col]; }
-    int rows() const { return m_rows; }
-    const int& cols() const { return m_cols; }
-    void resize(int rows, int cols) {
-        m_cols=cols;
-        free();
-        allocate();
-    }
-    void setZero() {
-        memset(m_data,0x0,sizeof(idScalar)*m_rows*m_cols);
-    }
-    // avoid operators that would allocate -- use functions sub/add/mul in IDMath.hpp instead
+	mat3x()
+	{
+		m_data = 0x0;
+		m_cols = 0;
+	}
+	mat3x(const mat3x& rhs)
+	{
+		m_cols = rhs.m_cols;
+		allocate();
+		*this = rhs;
+	}
+	mat3x(int rows, int cols) : m_cols(cols)
+	{
+		allocate();
+	};
+	void operator=(const mat3x& rhs)
+	{
+		if (m_cols != rhs.m_cols)
+		{
+			bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
+			abort();
+		}
+		for (int i = 0; i < 3 * m_cols; i++)
+		{
+			m_data[i] = rhs.m_data[i];
+		}
+	}
+
+	~mat3x()
+	{
+		free();
+	}
+	idScalar& operator()(int row, int col) { return m_data[row * m_cols + col]; }
+	const idScalar& operator()(int row, int col) const { return m_data[row * m_cols + col]; }
+	int rows() const { return m_rows; }
+	const int& cols() const { return m_cols; }
+	void resize(int rows, int cols)
+	{
+		m_cols = cols;
+		free();
+		allocate();
+	}
+	void setZero()
+	{
+		memset(m_data, 0x0, sizeof(idScalar) * m_rows * m_cols);
+	}
+	// avoid operators that would allocate -- use functions sub/add/mul in IDMath.hpp instead
 private:
-    void allocate(){m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * m_rows * m_cols));}
-    void free() { idFree(m_data);}
-    enum {m_rows=3};
-    int m_cols;
-    idScalar* m_data;
+	void allocate() { m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * m_rows * m_cols)); }
+	void free() { idFree(m_data); }
+	enum
+	{
+		m_rows = 3
+	};
+	int m_cols;
+	idScalar* m_data;
 };
 
-inline void resize(mat3x &m, idArrayIdx size) {
-    m.resize(3, size);
-    m.setZero();
+inline void resize(mat3x& m, idArrayIdx size)
+{
+	m.resize(3, size);
+	m.setZero();
 }
 
 //////////////////////////////////////////////////
 // Implementations
-inline const vec3& vec3::operator=(const vec3& rhs) {
-	if (&rhs != this) {
+inline const vec3& vec3::operator=(const vec3& rhs)
+{
+	if (&rhs != this)
+	{
 		memcpy(m_data, rhs.m_data, 3 * sizeof(idScalar));
 	}
 	return *this;
 }
 
-inline vec3 vec3::cross(const vec3& b) const {
+inline vec3 vec3::cross(const vec3& b) const
+{
 	vec3 result;
 	result.m_data[0] = m_data[1] * b.m_data[2] - m_data[2] * b.m_data[1];
 	result.m_data[1] = m_data[2] * b.m_data[0] - m_data[0] * b.m_data[2];
@@ -178,17 +203,21 @@ inline vec3 vec3::cross(const vec3& b) const {
 	return result;
 }
 
-inline idScalar vec3::dot(const vec3& b) const {
+inline idScalar vec3::dot(const vec3& b) const
+{
 	return m_data[0] * b.m_data[0] + m_data[1] * b.m_data[1] + m_data[2] * b.m_data[2];
 }
 
-inline const mat33& mat33::operator=(const mat33& rhs) {
-	if (&rhs != this) {
+inline const mat33& mat33::operator=(const mat33& rhs)
+{
+	if (&rhs != this)
+	{
 		memcpy(m_data, rhs.m_data, 9 * sizeof(idScalar));
 	}
 	return *this;
 }
-inline mat33 mat33::transpose() const {
+inline mat33 mat33::transpose() const
+{
 	mat33 result;
 	result.m_data[0] = m_data[0];
 	result.m_data[1] = m_data[3];
@@ -203,7 +232,8 @@ inline mat33 mat33::transpose() const {
 	return result;
 }
 
-inline mat33 operator*(const mat33& a, const mat33& b) {
+inline mat33 operator*(const mat33& a, const mat33& b)
+{
 	mat33 result;
 	result.m_data[0] =
 		a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[3] + a.m_data[2] * b.m_data[6];
@@ -227,22 +257,27 @@ inline mat33 operator*(const mat33& a, const mat33& b) {
 	return result;
 }
 
-inline const mat33& mat33::operator+=(const mat33& b) {
-	for (int i = 0; i < 9; i++) {
+inline const mat33& mat33::operator+=(const mat33& b)
+{
+	for (int i = 0; i < 9; i++)
+	{
 		m_data[i] += b.m_data[i];
 	}
 
 	return *this;
 }
 
-inline const mat33& mat33::operator-=(const mat33& b) {
-	for (int i = 0; i < 9; i++) {
+inline const mat33& mat33::operator-=(const mat33& b)
+{
+	for (int i = 0; i < 9; i++)
+	{
 		m_data[i] -= b.m_data[i];
 	}
 	return *this;
 }
 
-inline vec3 operator*(const mat33& a, const vec3& b) {
+inline vec3 operator*(const mat33& a, const vec3& b)
+{
 	vec3 result;
 
 	result.m_data[0] =
@@ -255,23 +290,29 @@ inline vec3 operator*(const mat33& a, const vec3& b) {
 	return result;
 }
 
-inline const vec3& vec3::operator+=(const vec3& b) {
-	for (int i = 0; i < 3; i++) {
+inline const vec3& vec3::operator+=(const vec3& b)
+{
+	for (int i = 0; i < 3; i++)
+	{
 		m_data[i] += b.m_data[i];
 	}
 	return *this;
 }
 
-inline const vec3& vec3::operator-=(const vec3& b) {
-	for (int i = 0; i < 3; i++) {
+inline const vec3& vec3::operator-=(const vec3& b)
+{
+	for (int i = 0; i < 3; i++)
+	{
 		m_data[i] -= b.m_data[i];
 	}
 	return *this;
 }
 
-inline mat33 operator*(const mat33& a, const idScalar& s) {
+inline mat33 operator*(const mat33& a, const idScalar& s)
+{
 	mat33 result;
-	for (int i = 0; i < 9; i++) {
+	for (int i = 0; i < 9; i++)
+	{
 		result.m_data[i] = a.m_data[i] * s;
 	}
 	return result;
@@ -279,137 +320,170 @@ inline mat33 operator*(const mat33& a, const idScalar& s) {
 
 inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
 
-inline vec3 operator*(const vec3& a, const idScalar& s) {
+inline vec3 operator*(const vec3& a, const idScalar& s)
+{
 	vec3 result;
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		result.m_data[i] = a.m_data[i] * s;
 	}
 	return result;
 }
 inline vec3 operator*(const idScalar& s, const vec3& a) { return a * s; }
 
-inline mat33 operator+(const mat33& a, const mat33& b) {
+inline mat33 operator+(const mat33& a, const mat33& b)
+{
 	mat33 result;
-	for (int i = 0; i < 9; i++) {
+	for (int i = 0; i < 9; i++)
+	{
 		result.m_data[i] = a.m_data[i] + b.m_data[i];
 	}
 	return result;
 }
-inline vec3 operator+(const vec3& a, const vec3& b) {
+inline vec3 operator+(const vec3& a, const vec3& b)
+{
 	vec3 result;
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		result.m_data[i] = a.m_data[i] + b.m_data[i];
 	}
 	return result;
 }
 
-inline mat33 operator-(const mat33& a, const mat33& b) {
+inline mat33 operator-(const mat33& a, const mat33& b)
+{
 	mat33 result;
-	for (int i = 0; i < 9; i++) {
+	for (int i = 0; i < 9; i++)
+	{
 		result.m_data[i] = a.m_data[i] - b.m_data[i];
 	}
 	return result;
 }
-inline vec3 operator-(const vec3& a, const vec3& b) {
+inline vec3 operator-(const vec3& a, const vec3& b)
+{
 	vec3 result;
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		result.m_data[i] = a.m_data[i] - b.m_data[i];
 	}
 	return result;
 }
 
-inline mat33 operator/(const mat33& a, const idScalar& s) {
+inline mat33 operator/(const mat33& a, const idScalar& s)
+{
 	mat33 result;
-	for (int i = 0; i < 9; i++) {
+	for (int i = 0; i < 9; i++)
+	{
 		result.m_data[i] = a.m_data[i] / s;
 	}
 	return result;
 }
 
-inline vec3 operator/(const vec3& a, const idScalar& s) {
+inline vec3 operator/(const vec3& a, const idScalar& s)
+{
 	vec3 result;
-	for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		result.m_data[i] = a.m_data[i] / s;
 	}
 	return result;
 }
 
-inline const vecx& vecx::operator=(const vecx& rhs) {
-	if (size() != rhs.size()) {
-		error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
+inline const vecx& vecx::operator=(const vecx& rhs)
+{
+	if (size() != rhs.size())
+	{
+		bt_id_error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
 		abort();
 	}
-	if (&rhs != this) {
+	if (&rhs != this)
+	{
 		memcpy(m_data, rhs.m_data, rhs.size() * sizeof(idScalar));
 	}
 	return *this;
 }
-inline vecx operator*(const vecx& a, const idScalar& s) {
+inline vecx operator*(const vecx& a, const idScalar& s)
+{
 	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
+	for (int i = 0; i < result.size(); i++)
+	{
 		result.m_data[i] = a.m_data[i] * s;
 	}
 	return result;
 }
 inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b) {
+inline vecx operator+(const vecx& a, const vecx& b)
+{
 	vecx result(a.size());
 	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
-		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+	if (a.size() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
 		abort();
 	}
-	for (int i = 0; i < a.size(); i++) {
+	for (int i = 0; i < a.size(); i++)
+	{
 		result.m_data[i] = a.m_data[i] + b.m_data[i];
 	}
 
 	return result;
 }
-inline vecx operator-(const vecx& a, const vecx& b) {
+inline vecx operator-(const vecx& a, const vecx& b)
+{
 	vecx result(a.size());
 	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
-		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+	if (a.size() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
 		abort();
 	}
-	for (int i = 0; i < a.size(); i++) {
+	for (int i = 0; i < a.size(); i++)
+	{
 		result.m_data[i] = a.m_data[i] - b.m_data[i];
 	}
 	return result;
 }
-inline vecx operator/(const vecx& a, const idScalar& s) {
+inline vecx operator/(const vecx& a, const idScalar& s)
+{
 	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
+	for (int i = 0; i < result.size(); i++)
+	{
 		result.m_data[i] = a.m_data[i] / s;
 	}
 
 	return result;
 }
 
-inline vec3 operator*(const mat3x& a, const vecx& b) {
-    vec3 result;
-    if (a.cols() != b.size()) {
-        error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-        abort();
-    }
-    result(0)=0.0;
-    result(1)=0.0;
-    result(2)=0.0;
-    for(int i=0;i<b.size();i++) {
-        for(int k=0;k<3;k++) {
-            result(k)+=a(k,i)*b(i);
-        }
-    }
-    return result;
+inline vec3 operator*(const mat3x& a, const vecx& b)
+{
+	vec3 result;
+	if (a.cols() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
+		abort();
+	}
+	result(0) = 0.0;
+	result(1) = 0.0;
+	result(2) = 0.0;
+	for (int i = 0; i < b.size(); i++)
+	{
+		for (int k = 0; k < 3; k++)
+		{
+			result(k) += a(k, i) * b(i);
+		}
+	}
+	return result;
 }
 
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
-    (*m)(row, col) = val;
+inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx* m)
+{
+	(*m)(row, col) = val;
 }
 
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
-    (*m)(row, col) = val;
+inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x* m)
+{
+	(*m)(row, col) = val;
 }
 
-} // namespace btInverseDynamcis
+}  // namespace btInverseDynamics
 #endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
index b35c55df61..befbc2e2a4 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
@@ -1,16 +1,16 @@
 #include "MultiBodyTreeImpl.hpp"
 
-namespace btInverseDynamics {
-
+namespace btInverseDynamics
+{
 MultiBodyTree::MultiBodyImpl::MultiBodyImpl(int num_bodies_, int num_dofs_)
 	: m_num_bodies(num_bodies_), m_num_dofs(num_dofs_)
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-        ,m_m3x(3,m_num_dofs)
+	  ,
+	  m_m3x(3, m_num_dofs)
 #endif
 {
-
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-        resize(m_m3x,m_num_dofs);
+	resize(m_m3x, m_num_dofs);
 #endif
 	m_body_list.resize(num_bodies_);
 	m_parent_index.resize(num_bodies_);
@@ -23,8 +23,10 @@ MultiBodyTree::MultiBodyImpl::MultiBodyImpl(int num_bodies_, int num_dofs_)
 	m_world_gravity(2) = -9.8;
 }
 
-const char *MultiBodyTree::MultiBodyImpl::jointTypeToString(const JointType &type) const {
-	switch (type) {
+const char *MultiBodyTree::MultiBodyImpl::jointTypeToString(const JointType &type) const
+{
+	switch (type)
+	{
 		case FIXED:
 			return "fixed";
 		case REVOLUTE:
@@ -33,22 +35,28 @@ const char *MultiBodyTree::MultiBodyImpl::jointTypeToString(const JointType &typ
 			return "prismatic";
 		case FLOATING:
 			return "floating";
+		case SPHERICAL:
+			return "spherical";
 	}
 	return "error: invalid";
 }
 
-inline void indent(const int &level) {
+inline void indent(const int &level)
+{
 	for (int j = 0; j < level; j++)
 		id_printf("  ");  // indent
 }
 
-void MultiBodyTree::MultiBodyImpl::printTree() {
+void MultiBodyTree::MultiBodyImpl::printTree()
+{
 	id_printf("body %.2d[%s]: root\n", 0, jointTypeToString(m_body_list[0].m_joint_type));
 	printTree(0, 0);
 }
 
-void MultiBodyTree::MultiBodyImpl::printTreeData() {
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++) {
+void MultiBodyTree::MultiBodyImpl::printTreeData()
+{
+	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[i];
 		id_printf("body: %d\n", static_cast<int>(i));
 		id_printf("type: %s\n", jointTypeToString(body.m_joint_type));
@@ -59,19 +67,22 @@ void MultiBodyTree::MultiBodyImpl::printTreeData() {
 		id_printf("mass = %f\n", body.m_mass);
 		id_printf("mass * com = [%f %f %f]\n", body.m_body_mass_com(0), body.m_body_mass_com(1),
 				  body.m_body_mass_com(2));
-		id_printf("I_o= [%f %f %f;\n"
-				  "	  %f %f %f;\n"
-				  "	  %f %f %f]\n",
-				  body.m_body_I_body(0, 0), body.m_body_I_body(0, 1), body.m_body_I_body(0, 2),
-				  body.m_body_I_body(1, 0), body.m_body_I_body(1, 1), body.m_body_I_body(1, 2),
-				  body.m_body_I_body(2, 0), body.m_body_I_body(2, 1), body.m_body_I_body(2, 2));
+		id_printf(
+			"I_o= [%f %f %f;\n"
+			"	  %f %f %f;\n"
+			"	  %f %f %f]\n",
+			body.m_body_I_body(0, 0), body.m_body_I_body(0, 1), body.m_body_I_body(0, 2),
+			body.m_body_I_body(1, 0), body.m_body_I_body(1, 1), body.m_body_I_body(1, 2),
+			body.m_body_I_body(2, 0), body.m_body_I_body(2, 1), body.m_body_I_body(2, 2));
 
 		id_printf("parent_pos_parent_body_ref= [%f %f %f]\n", body.m_parent_pos_parent_body_ref(0),
 				  body.m_parent_pos_parent_body_ref(1), body.m_parent_pos_parent_body_ref(2));
 	}
 }
-int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const {
-	switch (type) {
+int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const
+{
+	switch (type)
+	{
 		case FIXED:
 			return 0;
 		case REVOLUTE:
@@ -79,12 +90,15 @@ int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const {
 			return 1;
 		case FLOATING:
 			return 6;
+		case SPHERICAL:
+			return 3;
 	}
-	error_message("unknown joint type %d\n", type);
+	bt_id_error_message("unknown joint type %d\n", type);
 	return 0;
 }
 
-void MultiBodyTree::MultiBodyImpl::printTree(int index, int indentation) {
+void MultiBodyTree::MultiBodyImpl::printTree(int index, int indentation)
+{
 	// this is adapted from URDF2Bullet.
 	// TODO: fix this and print proper graph (similar to git --log --graph)
 	int num_children = m_child_indices[index].size();
@@ -92,7 +106,8 @@ void MultiBodyTree::MultiBodyImpl::printTree(int index, int indentation) {
 	indentation += 2;
 	int count = 0;
 
-	for (int i = 0; i < num_children; i++) {
+	for (int i = 0; i < num_children; i++)
+	{
 		int child_index = m_child_indices[index][i];
 		indent(indentation);
 		id_printf("body %.2d[%s]: %.2d is child no. %d (qi= %d .. %d) \n", index,
@@ -104,19 +119,23 @@ void MultiBodyTree::MultiBodyImpl::printTree(int index, int indentation) {
 	}
 }
 
-int MultiBodyTree::MultiBodyImpl::setGravityInWorldFrame(const vec3 &gravity) {
+int MultiBodyTree::MultiBodyImpl::setGravityInWorldFrame(const vec3 &gravity)
+{
 	m_world_gravity = gravity;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::generateIndexSets() {
+int MultiBodyTree::MultiBodyImpl::generateIndexSets()
+{
 	m_body_revolute_list.resize(0);
 	m_body_prismatic_list.resize(0);
 	int q_index = 0;
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[i];
 		body.m_q_index = -1;
-		switch (body.m_joint_type) {
+		switch (body.m_joint_type)
+		{
 			case REVOLUTE:
 				m_body_revolute_list.push_back(i);
 				body.m_q_index = q_index;
@@ -135,30 +154,43 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() {
 				body.m_q_index = q_index;
 				q_index += 6;
 				break;
+			case SPHERICAL:
+				m_body_spherical_list.push_back(i);
+				body.m_q_index = q_index;
+				q_index += 3;
+				break;
 			default:
-				error_message("unsupported joint type %d\n", body.m_joint_type);
+				bt_id_error_message("unsupported joint type %d\n", body.m_joint_type);
 				return -1;
 		}
 	}
 	// sanity check
-	if (q_index != m_num_dofs) {
-		error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs);
+	if (q_index != m_num_dofs)
+	{
+		bt_id_error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs);
 		return -1;
 	}
 
 	m_child_indices.resize(m_body_list.size());
 
-	for (idArrayIdx child = 1; child < m_parent_index.size(); child++) {
+	for (idArrayIdx child = 1; child < m_parent_index.size(); child++)
+	{
 		const int &parent = m_parent_index[child];
-		if (parent >= 0 && parent < (static_cast<int>(m_parent_index.size()) - 1)) {
+		if (parent >= 0 && parent < (static_cast<int>(m_parent_index.size()) - 1))
+		{
 			m_child_indices[parent].push_back(child);
-		} else {
-			if (-1 == parent) {
+		}
+		else
+		{
+			if (-1 == parent)
+			{
 				// multiple bodies are directly linked to the environment, ie, not a single root
-				error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child);
-			} else {
+				bt_id_error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child);
+			}
+			else
+			{
 				// should never happen
-				error_message(
+				bt_id_error_message(
 					"building index sets. parent_index[%zu]= %d, but m_parent_index.size()= %d\n",
 					child, parent, static_cast<int>(m_parent_index.size()));
 			}
@@ -169,11 +201,14 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() {
 	return 0;
 }
 
-void MultiBodyTree::MultiBodyImpl::calculateStaticData() {
+void MultiBodyTree::MultiBodyImpl::calculateStaticData()
+{
 	// relative kinematics that are not a function of q, u, dot_u
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[i];
-		switch (body.m_joint_type) {
+		switch (body.m_joint_type)
+		{
 			case REVOLUTE:
 				body.m_parent_vel_rel(0) = 0;
 				body.m_parent_vel_rel(1) = 0;
@@ -212,41 +247,56 @@ void MultiBodyTree::MultiBodyImpl::calculateStaticData() {
 			case FLOATING:
 				// no static data
 				break;
+			case SPHERICAL:
+				//todo: review
+				body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
+				body.m_parent_vel_rel(0) = 0;
+				body.m_parent_vel_rel(1) = 0;
+				body.m_parent_vel_rel(2) = 0;
+				body.m_parent_acc_rel(0) = 0;
+				body.m_parent_acc_rel(1) = 0;
+				body.m_parent_acc_rel(2) = 0;
+				break;
 		}
 
-       // resize & initialize jacobians to zero.
+			// resize & initialize jacobians to zero.
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-        body.m_body_dot_Jac_T_u(0) = 0.0;
-        body.m_body_dot_Jac_T_u(1) = 0.0;
-        body.m_body_dot_Jac_T_u(2) = 0.0;
-        body.m_body_dot_Jac_R_u(0) = 0.0;
-        body.m_body_dot_Jac_R_u(1) = 0.0;
-        body.m_body_dot_Jac_R_u(2) = 0.0;
-        resize(body.m_body_Jac_T,m_num_dofs);
-        resize(body.m_body_Jac_R,m_num_dofs);
-        body.m_body_Jac_T.setZero();
-        body.m_body_Jac_R.setZero();
-#endif //
+		body.m_body_dot_Jac_T_u(0) = 0.0;
+		body.m_body_dot_Jac_T_u(1) = 0.0;
+		body.m_body_dot_Jac_T_u(2) = 0.0;
+		body.m_body_dot_Jac_R_u(0) = 0.0;
+		body.m_body_dot_Jac_R_u(1) = 0.0;
+		body.m_body_dot_Jac_R_u(2) = 0.0;
+		resize(body.m_body_Jac_T, m_num_dofs);
+		resize(body.m_body_Jac_R, m_num_dofs);
+		body.m_body_Jac_T.setZero();
+		body.m_body_Jac_R.setZero();
+#endif  //
 	}
 }
 
 int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const vecx &u,
-														   const vecx &dot_u, vecx *joint_forces) {
+														   const vecx &dot_u, vecx *joint_forces)
+{
 	if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ||
-		joint_forces->size() != m_num_dofs) {
-		error_message("wrong vector dimension. system has %d DOFs,\n"
-					  "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n",
-					  m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
-					  static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size()));
+		joint_forces->size() != m_num_dofs)
+	{
+		bt_id_error_message(
+			"wrong vector dimension. system has %d DOFs,\n"
+			"but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n",
+			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
+			static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size()));
 		return -1;
 	}
 	// 1. relative kinematics
-        if(-1 == calculateKinematics(q,u,dot_u, POSITION_VELOCITY_ACCELERATION)) {
-            error_message("error in calculateKinematics\n");
-            return -1;
-        }
-        // 2. update contributions to equations of motion for every body.
-	for (idArrayIdx i = 0; i < m_body_list.size(); i++) {
+	if (-1 == calculateKinematics(q, u, dot_u, POSITION_VELOCITY_ACCELERATION))
+	{
+		bt_id_error_message("error in calculateKinematics\n");
+		return -1;
+	}
+	// 2. update contributions to equations of motion for every body.
+	for (idArrayIdx i = 0; i < m_body_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[i];
 		// 3.4 update dynamic terms (rate of change of angular & linear momentum)
 		body.m_eom_lhs_rotational =
@@ -268,14 +318,16 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const
 	// Also, this enables adding zero weight bodies as a way to calculate frame poses
 	// for force elements, etc.
 
-	for (int body_idx = m_body_list.size() - 1; body_idx >= 0; body_idx--) {
+	for (int body_idx = m_body_list.size() - 1; body_idx >= 0; body_idx--)
+	{
 		// sum of forces and moments acting on this body from its children
 		vec3 sum_f_children;
 		vec3 sum_m_children;
 		setZero(sum_f_children);
 		setZero(sum_m_children);
 		for (idArrayIdx child_list_idx = 0; child_list_idx < m_child_indices[body_idx].size();
-			 child_list_idx++) {
+			 child_list_idx++)
+		{
 			const RigidBody &child = m_body_list[m_child_indices[body_idx][child_list_idx]];
 			vec3 child_joint_force_in_this_frame =
 				child.m_body_T_parent.transpose() * child.m_force_at_joint;
@@ -293,19 +345,22 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const
 	// These are the components of force_at_joint/moment_at_joint
 	// in the free directions given by Jac_JT/Jac_JR
 	// 4.1 revolute joints
-	for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[m_body_revolute_list[i]];
 		// (*joint_forces)(body.m_q_index) = body.m_Jac_JR.transpose() * body.m_moment_at_joint;
 		(*joint_forces)(body.m_q_index) = body.m_Jac_JR.dot(body.m_moment_at_joint);
 	}
 	// 4.2 for prismatic joints
-	for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[m_body_prismatic_list[i]];
 		// (*joint_forces)(body.m_q_index) = body.m_Jac_JT.transpose() * body.m_force_at_joint;
 		(*joint_forces)(body.m_q_index) = body.m_Jac_JT.dot(body.m_force_at_joint);
 	}
 	// 4.3 floating bodies (6-DoF joints)
-	for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[m_body_floating_list[i]];
 		(*joint_forces)(body.m_q_index + 0) = body.m_moment_at_joint(0);
 		(*joint_forces)(body.m_q_index + 1) = body.m_moment_at_joint(1);
@@ -316,84 +371,133 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const
 		(*joint_forces)(body.m_q_index + 5) = body.m_force_at_joint(2);
 	}
 
+	// 4.4 spherical bodies (3-DoF joints)
+	for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
+	{
+		//todo: review
+		RigidBody &body = m_body_list[m_body_spherical_list[i]];
+		(*joint_forces)(body.m_q_index + 0) = body.m_moment_at_joint(0);
+		(*joint_forces)(body.m_q_index + 1) = body.m_moment_at_joint(1);
+		(*joint_forces)(body.m_q_index + 2) = body.m_moment_at_joint(2);
+	}
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx& dot_u,
-                                                      const KinUpdateType type) {
-    	if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ) {
-		error_message("wrong vector dimension. system has %d DOFs,\n"
-					  "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n",
-					  m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
-					  static_cast<int>(dot_u.size()));
+int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u,
+													  const KinUpdateType type)
+{
+	if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs)
+	{
+		bt_id_error_message(
+			"wrong vector dimension. system has %d DOFs,\n"
+			"but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n",
+			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
+			static_cast<int>(dot_u.size()));
+		return -1;
+	}
+	if (type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION)
+	{
+		bt_id_error_message("invalid type %d\n", type);
 		return -1;
 	}
-        if(type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION) {
-            error_message("invalid type %d\n", type);
-            return -1;
-        }
 
 	// 1. update relative kinematics
 	// 1.1 for revolute
-	for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[m_body_revolute_list[i]];
 		mat33 T;
 		bodyTParentFromAxisAngle(body.m_Jac_JR, q(body.m_q_index), &T);
 		body.m_body_T_parent = T * body.m_body_T_parent_ref;
-                if(type >= POSITION_VELOCITY) {
-                    body.m_body_ang_vel_rel = body.m_Jac_JR * u(body.m_q_index);
-                }
-                if(type >= POSITION_VELOCITY_ACCELERATION) {
-                    body.m_body_ang_acc_rel = body.m_Jac_JR * dot_u(body.m_q_index);
-                }
+		if (type >= POSITION_VELOCITY)
+		{
+			body.m_body_ang_vel_rel = body.m_Jac_JR * u(body.m_q_index);
+		}
+		if (type >= POSITION_VELOCITY_ACCELERATION)
+		{
+			body.m_body_ang_acc_rel = body.m_Jac_JR * dot_u(body.m_q_index);
+		}
 	}
 	// 1.2 for prismatic
-	for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[m_body_prismatic_list[i]];
 		body.m_parent_pos_parent_body =
 			body.m_parent_pos_parent_body_ref + body.m_parent_Jac_JT * q(body.m_q_index);
-                if(type >= POSITION_VELOCITY) {
-                    body.m_parent_vel_rel =
-			body.m_body_T_parent_ref.transpose() * body.m_Jac_JT * u(body.m_q_index);
-                }
-                if(type >= POSITION_VELOCITY_ACCELERATION) {
-                    body.m_parent_acc_rel = body.m_parent_Jac_JT * dot_u(body.m_q_index);
-                }
+		if (type >= POSITION_VELOCITY)
+		{
+			body.m_parent_vel_rel =
+				body.m_body_T_parent_ref.transpose() * body.m_Jac_JT * u(body.m_q_index);
+		}
+		if (type >= POSITION_VELOCITY_ACCELERATION)
+		{
+			body.m_parent_acc_rel = body.m_parent_Jac_JT * dot_u(body.m_q_index);
+		}
 	}
 	// 1.3 fixed joints: nothing to do
 	// 1.4 6dof joints:
-	for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++) {
+	for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[m_body_floating_list[i]];
 
 		body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
-							   transformY(q(body.m_q_index + 1)) * transformX(q(body.m_q_index));
+							   transformY(q(body.m_q_index + 1)) *
+							   transformX(q(body.m_q_index));
 		body.m_parent_pos_parent_body(0) = q(body.m_q_index + 3);
 		body.m_parent_pos_parent_body(1) = q(body.m_q_index + 4);
 		body.m_parent_pos_parent_body(2) = q(body.m_q_index + 5);
 		body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
 
-                if(type >= POSITION_VELOCITY) {
-                    body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
-                    body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
-                    body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
+		if (type >= POSITION_VELOCITY)
+		{
+			body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
+			body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
+			body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
 
-                    body.m_parent_vel_rel(0) = u(body.m_q_index + 3);
-                    body.m_parent_vel_rel(1) = u(body.m_q_index + 4);
-                    body.m_parent_vel_rel(2) = u(body.m_q_index + 5);
+			body.m_parent_vel_rel(0) = u(body.m_q_index + 3);
+			body.m_parent_vel_rel(1) = u(body.m_q_index + 4);
+			body.m_parent_vel_rel(2) = u(body.m_q_index + 5);
 
-                    body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
-                }
-                if(type >= POSITION_VELOCITY_ACCELERATION) {
-                    body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
-                    body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
-                    body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
+			body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
+		}
+		if (type >= POSITION_VELOCITY_ACCELERATION)
+		{
+			body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
+			body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
+			body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
 
-                    body.m_parent_acc_rel(0) = dot_u(body.m_q_index + 3);
-                    body.m_parent_acc_rel(1) = dot_u(body.m_q_index + 4);
-                    body.m_parent_acc_rel(2) = dot_u(body.m_q_index + 5);
+			body.m_parent_acc_rel(0) = dot_u(body.m_q_index + 3);
+			body.m_parent_acc_rel(1) = dot_u(body.m_q_index + 4);
+			body.m_parent_acc_rel(2) = dot_u(body.m_q_index + 5);
 
-                    body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
-                }
+			body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
+		}
+	}
+	
+	for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
+	{
+		//todo: review
+		RigidBody &body = m_body_list[m_body_spherical_list[i]];
+
+		body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
+							   transformY(q(body.m_q_index + 1)) *
+							   transformX(q(body.m_q_index));
+		body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
+
+		if (type >= POSITION_VELOCITY)
+		{
+			body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
+			body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
+			body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
+			body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
+		}
+		if (type >= POSITION_VELOCITY_ACCELERATION)
+		{
+			body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
+			body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
+			body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
+			body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
+		}
 	}
 
 	// 2. absolute kinematic quantities (vector valued)
@@ -410,26 +514,29 @@ int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx
 		body.m_body_pos = body.m_body_T_parent * body.m_parent_pos_parent_body;
 		body.m_body_T_world = body.m_body_T_parent;
 
-                if(type >= POSITION_VELOCITY) {
-                    // 3.2 update absolute velocities
-                    body.m_body_ang_vel = body.m_body_ang_vel_rel;
-                    body.m_body_vel = body.m_parent_vel_rel;
-                }
-                if(type >= POSITION_VELOCITY_ACCELERATION) {
-                    // 3.3 update absolute accelerations
-                    // NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
-                    body.m_body_ang_acc = body.m_body_ang_acc_rel;
-                    body.m_body_acc = body.m_body_T_parent * body.m_parent_acc_rel;
-                    // add gravitational acceleration to root body
-                    // this is an efficient way to add gravitational terms,
-                    // but it does mean that the kinematics are no longer
-                    // correct at the acceleration level
-                    // NOTE: To get correct acceleration kinematics, just set world_gravity to zero
-                    body.m_body_acc = body.m_body_acc - body.m_body_T_parent * m_world_gravity;
-                }
+		if (type >= POSITION_VELOCITY)
+		{
+			// 3.2 update absolute velocities
+			body.m_body_ang_vel = body.m_body_ang_vel_rel;
+			body.m_body_vel = body.m_parent_vel_rel;
+		}
+		if (type >= POSITION_VELOCITY_ACCELERATION)
+		{
+			// 3.3 update absolute accelerations
+			// NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
+			body.m_body_ang_acc = body.m_body_ang_acc_rel;
+			body.m_body_acc = body.m_body_T_parent * body.m_parent_acc_rel;
+			// add gravitational acceleration to root body
+			// this is an efficient way to add gravitational terms,
+			// but it does mean that the kinematics are no longer
+			// correct at the acceleration level
+			// NOTE: To get correct acceleration kinematics, just set world_gravity to zero
+			body.m_body_acc = body.m_body_acc - body.m_body_T_parent * m_world_gravity;
+		}
 	}
 
-	for (idArrayIdx i = 1; i < m_body_list.size(); i++) {
+	for (idArrayIdx i = 1; i < m_body_list.size(); i++)
+	{
 		RigidBody &body = m_body_list[i];
 		RigidBody &parent = m_body_list[m_parent_index[i]];
 		// 2.1 update absolute positions and orientations:
@@ -439,121 +546,159 @@ int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx
 			body.m_body_T_parent * (parent.m_body_pos + body.m_parent_pos_parent_body);
 		body.m_body_T_world = body.m_body_T_parent * parent.m_body_T_world;
 
-                if(type >= POSITION_VELOCITY) {
-                    // 2.2 update absolute velocities
-                    body.m_body_ang_vel =
-			body.m_body_T_parent * parent.m_body_ang_vel + body.m_body_ang_vel_rel;
-
-                    body.m_body_vel =
-			body.m_body_T_parent *
-			(parent.m_body_vel + parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body) +
-			 body.m_parent_vel_rel);
-                }
-                if(type >= POSITION_VELOCITY_ACCELERATION) {
-                    // 2.3 update absolute accelerations
-                    // NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
-                    body.m_body_ang_acc =
-			body.m_body_T_parent * parent.m_body_ang_acc -
-			body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel) +
-			body.m_body_ang_acc_rel;
-                    body.m_body_acc =
-			body.m_body_T_parent *
-			(parent.m_body_acc + parent.m_body_ang_acc.cross(body.m_parent_pos_parent_body) +
-			 parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
-			 2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel) + body.m_parent_acc_rel);
-                }
+		if (type >= POSITION_VELOCITY)
+		{
+			// 2.2 update absolute velocities
+			body.m_body_ang_vel =
+				body.m_body_T_parent * parent.m_body_ang_vel + body.m_body_ang_vel_rel;
+
+			body.m_body_vel =
+				body.m_body_T_parent *
+				(parent.m_body_vel + parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body) +
+				 body.m_parent_vel_rel);
+		}
+		if (type >= POSITION_VELOCITY_ACCELERATION)
+		{
+			// 2.3 update absolute accelerations
+			// NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
+			body.m_body_ang_acc =
+				body.m_body_T_parent * parent.m_body_ang_acc -
+				body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel) +
+				body.m_body_ang_acc_rel;
+			body.m_body_acc =
+				body.m_body_T_parent *
+				(parent.m_body_acc + parent.m_body_ang_acc.cross(body.m_parent_pos_parent_body) +
+				 parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
+				 2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel) + body.m_parent_acc_rel);
+		}
 	}
 
-    return 0;
+	return 0;
 }
 
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
 
-void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody&body) {
-    const int& idx=body.m_q_index;
-    switch(body.m_joint_type) {
-    case FIXED:
-        break;
-    case REVOLUTE:
-        setMat3xElem(0,idx, body.m_Jac_JR(0), &body.m_body_Jac_R);
-        setMat3xElem(1,idx, body.m_Jac_JR(1), &body.m_body_Jac_R);
-        setMat3xElem(2,idx, body.m_Jac_JR(2), &body.m_body_Jac_R);
-        break;
-    case PRISMATIC:
-        setMat3xElem(0,idx, body.m_body_T_parent_ref(0,0)*body.m_Jac_JT(0)
-                     +body.m_body_T_parent_ref(1,0)*body.m_Jac_JT(1)
-                     +body.m_body_T_parent_ref(2,0)*body.m_Jac_JT(2),
-                     &body.m_body_Jac_T);
-        setMat3xElem(1,idx,body.m_body_T_parent_ref(0,1)*body.m_Jac_JT(0)
-                     +body.m_body_T_parent_ref(1,1)*body.m_Jac_JT(1)
-                     +body.m_body_T_parent_ref(2,1)*body.m_Jac_JT(2),
-                     &body.m_body_Jac_T);
-        setMat3xElem(2,idx, body.m_body_T_parent_ref(0,2)*body.m_Jac_JT(0)
-                     +body.m_body_T_parent_ref(1,2)*body.m_Jac_JT(1)
-                     +body.m_body_T_parent_ref(2,2)*body.m_Jac_JT(2),
-                     &body.m_body_Jac_T);
-        break;
-    case FLOATING:
-        setMat3xElem(0,idx+0, 1.0, &body.m_body_Jac_R);
-        setMat3xElem(1,idx+1, 1.0, &body.m_body_Jac_R);
-        setMat3xElem(2,idx+2, 1.0, &body.m_body_Jac_R);
-        // body_Jac_T = body_T_parent.transpose();
-        setMat3xElem(0,idx+3, body.m_body_T_parent(0,0), &body.m_body_Jac_T);
-        setMat3xElem(0,idx+4, body.m_body_T_parent(1,0), &body.m_body_Jac_T);
-        setMat3xElem(0,idx+5, body.m_body_T_parent(2,0), &body.m_body_Jac_T);
-
-        setMat3xElem(1,idx+3, body.m_body_T_parent(0,1), &body.m_body_Jac_T);
-        setMat3xElem(1,idx+4, body.m_body_T_parent(1,1), &body.m_body_Jac_T);
-        setMat3xElem(1,idx+5, body.m_body_T_parent(2,1), &body.m_body_Jac_T);
-
-        setMat3xElem(2,idx+3, body.m_body_T_parent(0,2), &body.m_body_Jac_T);
-        setMat3xElem(2,idx+4, body.m_body_T_parent(1,2), &body.m_body_Jac_T);
-        setMat3xElem(2,idx+5, body.m_body_T_parent(2,2), &body.m_body_Jac_T);
-
-        break;
-    }
+void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody &body)
+{
+	const int &idx = body.m_q_index;
+	switch (body.m_joint_type)
+	{
+		case FIXED:
+			break;
+		case REVOLUTE:
+			setMat3xElem(0, idx, body.m_Jac_JR(0), &body.m_body_Jac_R);
+			setMat3xElem(1, idx, body.m_Jac_JR(1), &body.m_body_Jac_R);
+			setMat3xElem(2, idx, body.m_Jac_JR(2), &body.m_body_Jac_R);
+			break;
+		case PRISMATIC:
+			setMat3xElem(0, idx, body.m_body_T_parent_ref(0, 0) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 0) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 0) * body.m_Jac_JT(2),
+						 &body.m_body_Jac_T);
+			setMat3xElem(1, idx, body.m_body_T_parent_ref(0, 1) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 1) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 1) * body.m_Jac_JT(2),
+						 &body.m_body_Jac_T);
+			setMat3xElem(2, idx, body.m_body_T_parent_ref(0, 2) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 2) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 2) * body.m_Jac_JT(2),
+						 &body.m_body_Jac_T);
+			break;
+		case FLOATING:
+			setMat3xElem(0, idx + 0, 1.0, &body.m_body_Jac_R);
+			setMat3xElem(1, idx + 1, 1.0, &body.m_body_Jac_R);
+			setMat3xElem(2, idx + 2, 1.0, &body.m_body_Jac_R);
+			// body_Jac_T = body_T_parent.transpose();
+			setMat3xElem(0, idx + 3, body.m_body_T_parent(0, 0), &body.m_body_Jac_T);
+			setMat3xElem(0, idx + 4, body.m_body_T_parent(1, 0), &body.m_body_Jac_T);
+			setMat3xElem(0, idx + 5, body.m_body_T_parent(2, 0), &body.m_body_Jac_T);
+
+			setMat3xElem(1, idx + 3, body.m_body_T_parent(0, 1), &body.m_body_Jac_T);
+			setMat3xElem(1, idx + 4, body.m_body_T_parent(1, 1), &body.m_body_Jac_T);
+			setMat3xElem(1, idx + 5, body.m_body_T_parent(2, 1), &body.m_body_Jac_T);
+
+			setMat3xElem(2, idx + 3, body.m_body_T_parent(0, 2), &body.m_body_Jac_T);
+			setMat3xElem(2, idx + 4, body.m_body_T_parent(1, 2), &body.m_body_Jac_T);
+			setMat3xElem(2, idx + 5, body.m_body_T_parent(2, 2), &body.m_body_Jac_T);
+
+			break;
+		case SPHERICAL:
+			//todo: review
+			setMat3xElem(0, idx + 0, 1.0, &body.m_body_Jac_R);
+			setMat3xElem(1, idx + 1, 1.0, &body.m_body_Jac_R);
+			setMat3xElem(2, idx + 2, 1.0, &body.m_body_Jac_R);
+			break;
+	}
 }
 
-int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type) {
-    if (q.size() != m_num_dofs || u.size() != m_num_dofs) {
-        error_message("wrong vector dimension. system has %d DOFs,\n"
-                      "but dim(q)= %d, dim(u)= %d\n",
-                      m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()));
-        return -1;
-    }
-    if(type != POSITION_ONLY && type != POSITION_VELOCITY) {
-        error_message("invalid type %d\n", type);
-        return -1;
-    }
-
-    addRelativeJacobianComponent(m_body_list[0]);
-    for (idArrayIdx i = 1; i < m_body_list.size(); i++) {
-        RigidBody &body = m_body_list[i];
-        RigidBody &parent = m_body_list[m_parent_index[i]];
-
-        mul(body.m_body_T_parent, parent.m_body_Jac_R,& body.m_body_Jac_R);
-        body.m_body_Jac_T = parent.m_body_Jac_T;
-        mul(tildeOperator(body.m_parent_pos_parent_body),parent.m_body_Jac_R,&m_m3x);
-        sub(body.m_body_Jac_T,m_m3x, &body.m_body_Jac_T);
-
-        addRelativeJacobianComponent(body);
-        mul(body.m_body_T_parent, body.m_body_Jac_T,&body.m_body_Jac_T);
-
-        if(type >= POSITION_VELOCITY) {
-            body.m_body_dot_Jac_R_u = body.m_body_T_parent * parent.m_body_dot_Jac_R_u -
-                body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel);
-            body.m_body_dot_Jac_T_u = body.m_body_T_parent *
-                (parent.m_body_dot_Jac_T_u + parent.m_body_dot_Jac_R_u.cross(body.m_parent_pos_parent_body) +
-                 parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
-                 2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel));
-        }
-    }
-    return 0;
+int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx &q, const vecx &u, const KinUpdateType type)
+{
+	if (q.size() != m_num_dofs || u.size() != m_num_dofs)
+	{
+		bt_id_error_message(
+			"wrong vector dimension. system has %d DOFs,\n"
+			"but dim(q)= %d, dim(u)= %d\n",
+			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()));
+		return -1;
+	}
+	if (type != POSITION_ONLY && type != POSITION_VELOCITY)
+	{
+		bt_id_error_message("invalid type %d\n", type);
+		return -1;
+	}
+
+	addRelativeJacobianComponent(m_body_list[0]);
+	for (idArrayIdx i = 1; i < m_body_list.size(); i++)
+	{
+		RigidBody &body = m_body_list[i];
+		RigidBody &parent = m_body_list[m_parent_index[i]];
+
+		mul(body.m_body_T_parent, parent.m_body_Jac_R, &body.m_body_Jac_R);
+		body.m_body_Jac_T = parent.m_body_Jac_T;
+		mul(tildeOperator(body.m_parent_pos_parent_body), parent.m_body_Jac_R, &m_m3x);
+		sub(body.m_body_Jac_T, m_m3x, &body.m_body_Jac_T);
+
+		addRelativeJacobianComponent(body);
+		mul(body.m_body_T_parent, body.m_body_Jac_T, &body.m_body_Jac_T);
+
+		if (type >= POSITION_VELOCITY)
+		{
+			body.m_body_dot_Jac_R_u = body.m_body_T_parent * parent.m_body_dot_Jac_R_u -
+									  body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel);
+			body.m_body_dot_Jac_T_u = body.m_body_T_parent *
+									  (parent.m_body_dot_Jac_T_u + parent.m_body_dot_Jac_R_u.cross(body.m_parent_pos_parent_body) +
+									   parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
+									   2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel));
+		}
+	}
+	return 0;
 }
 #endif
 
-static inline void setSixDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT) {
-	switch (dof) {
+static inline void setThreeDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
+{
+	switch (dof)
+	{
+		// rotational part
+		case 0:
+			Jac_JR(0) = 1;
+			Jac_JR(1) = 0;
+			Jac_JR(2) = 0;
+			setZero(Jac_JT);
+			break;
+		case 1:
+			Jac_JR(0) = 0;
+			Jac_JR(1) = 1;
+			Jac_JR(2) = 0;
+			setZero(Jac_JT);
+			break;
+		case 2:
+			Jac_JR(0) = 0;
+			Jac_JR(1) = 0;
+			Jac_JR(2) = 1;
+			setZero(Jac_JT);
+			break;
+	}
+}
+
+static inline void setSixDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
+{
+	switch (dof)
+	{
 		// rotational part
 		case 0:
 			Jac_JR(0) = 1;
@@ -595,8 +740,10 @@ static inline void setSixDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
 	}
 }
 
-static inline int jointNumDoFs(const JointType &type) {
-	switch (type) {
+static inline int jointNumDoFs(const JointType &type)
+{
+	switch (type)
+	{
 		case FIXED:
 			return 0;
 		case REVOLUTE:
@@ -604,9 +751,11 @@ static inline int jointNumDoFs(const JointType &type) {
 			return 1;
 		case FLOATING:
 			return 6;
+		case SPHERICAL:
+			return 3;
 	}
 	// this should never happen
-	error_message("invalid joint type\n");
+	bt_id_error_message("invalid joint type\n");
 	// TODO add configurable abort/crash function
 	abort();
 	return 0;
@@ -615,37 +764,45 @@ static inline int jointNumDoFs(const JointType &type) {
 int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool update_kinematics,
 													  const bool initialize_matrix,
 													  const bool set_lower_triangular_matrix,
-													  matxx *mass_matrix) {
-// This calculates the joint space mass matrix for the multibody system.
-// The algorithm is essentially an implementation of "method 3"
-// in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
-// (Later named "Composite Rigid Body Algorithm" by Featherstone).
-//
-// This implementation, however, handles branched systems and uses a formulation centered
-// on the origin of the body-fixed frame to avoid re-computing various quantities at the com.
+													  matxx *mass_matrix)
+{
+	// This calculates the joint space mass matrix for the multibody system.
+	// The algorithm is essentially an implementation of "method 3"
+	// in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
+	// (Later named "Composite Rigid Body Algorithm" by Featherstone).
+	//
+	// This implementation, however, handles branched systems and uses a formulation centered
+	// on the origin of the body-fixed frame to avoid re-computing various quantities at the com.
 
 	if (q.size() != m_num_dofs || mass_matrix->rows() != m_num_dofs ||
-		mass_matrix->cols() != m_num_dofs) {
-		error_message("Dimension error. System has %d DOFs,\n"
-					  "but dim(q)= %d, dim(mass_matrix)= %d x %d\n",
-					  m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()),
-					  static_cast<int>(mass_matrix->cols()));
+		mass_matrix->cols() != m_num_dofs)
+	{
+		bt_id_error_message(
+			"Dimension error. System has %d DOFs,\n"
+			"but dim(q)= %d, dim(mass_matrix)= %d x %d\n",
+			m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()),
+			static_cast<int>(mass_matrix->cols()));
 		return -1;
 	}
 
 	// TODO add optimized zeroing function?
-	if (initialize_matrix) {
-		for (int i = 0; i < m_num_dofs; i++) {
-			for (int j = 0; j < m_num_dofs; j++) {
-                            setMatxxElem(i, j, 0.0, mass_matrix);
+	if (initialize_matrix)
+	{
+		for (int i = 0; i < m_num_dofs; i++)
+		{
+			for (int j = 0; j < m_num_dofs; j++)
+			{
+				setMatxxElem(i, j, 0.0, mass_matrix);
 			}
 		}
 	}
 
-	if (update_kinematics) {
+	if (update_kinematics)
+	{
 		// 1. update relative kinematics
 		// 1.1 for revolute joints
-		for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++) {
+		for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
+		{
 			RigidBody &body = m_body_list[m_body_revolute_list[i]];
 			// from reference orientation (q=0) of body-fixed frame to current orientation
 			mat33 body_T_body_ref;
@@ -653,7 +810,8 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 			body.m_body_T_parent = body_T_body_ref * body.m_body_T_parent_ref;
 		}
 		// 1.2 for prismatic joints
-		for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++) {
+		for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
+		{
 			RigidBody &body = m_body_list[m_body_prismatic_list[i]];
 			// body.m_body_T_parent= fixed
 			body.m_parent_pos_parent_body =
@@ -661,7 +819,8 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 		}
 		// 1.3 fixed joints: nothing to do
 		// 1.4 6dof joints:
-		for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++) {
+		for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
+		{
 			RigidBody &body = m_body_list[m_body_floating_list[i]];
 
 			body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
@@ -674,7 +833,8 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 			body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
 		}
 	}
-	for (int i = m_body_list.size() - 1; i >= 0; i--) {
+	for (int i = m_body_list.size() - 1; i >= 0; i--)
+	{
 		RigidBody &body = m_body_list[i];
 		// calculate mass, center of mass and inertia of "composite rigid body",
 		// ie, sub-tree starting at current body
@@ -682,7 +842,8 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 		body.m_body_subtree_mass_com = body.m_body_mass_com;
 		body.m_body_subtree_I_body = body.m_body_I_body;
 
-		for (idArrayIdx c = 0; c < m_child_indices[i].size(); c++) {
+		for (idArrayIdx c = 0; c < m_child_indices[i].size(); c++)
+		{
 			RigidBody &child = m_body_list[m_child_indices[i][c]];
 			mat33 body_T_child = child.m_body_T_parent.transpose();
 
@@ -692,7 +853,8 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 			body.m_body_subtree_I_body +=
 				body_T_child * child.m_body_subtree_I_body * child.m_body_T_parent;
 
-			if (child.m_subtree_mass > 0) {
+			if (child.m_subtree_mass > 0)
+			{
 				// Shift the reference point for the child subtree inertia using the
 				// Huygens-Steiner ("parallel axis") theorem.
 				// (First shift from child origin to child com, then from there to this body's
@@ -707,7 +869,8 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 		}
 	}
 
-	for (int i = m_body_list.size() - 1; i >= 0; i--) {
+	for (int i = m_body_list.size() - 1; i >= 0; i--)
+	{
 		const RigidBody &body = m_body_list[i];
 
 		// determine DoF-range for body
@@ -717,11 +880,18 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 		// local joint jacobians (ok as is for 1-DoF joints)
 		vec3 Jac_JR = body.m_Jac_JR;
 		vec3 Jac_JT = body.m_Jac_JT;
-		for (int col = q_index_max; col >= q_index_min; col--) {
+		for (int col = q_index_max; col >= q_index_min; col--)
+		{
 			// set jacobians for 6-DoF joints
-			if (FLOATING == body.m_joint_type) {
+			if (FLOATING == body.m_joint_type)
+			{
 				setSixDoFJacobians(col - q_index_min, Jac_JR, Jac_JT);
 			}
+			if (SPHERICAL == body.m_joint_type)
+			{
+				//todo: review
+				setThreeDoFJacobians(col - q_index_min, Jac_JR, Jac_JT);
+			}
 
 			vec3 body_eom_rot =
 				body.m_body_subtree_I_body * Jac_JR + body.m_body_subtree_mass_com.cross(Jac_JT);
@@ -732,19 +902,27 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 			// rest of the mass matrix column upwards
 			{
 				// 1. for multi-dof joints, rest of the dofs of this body
-				for (int row = col - 1; row >= q_index_min; row--) {
-					if (FLOATING != body.m_joint_type) {
-						error_message("??\n");
-						return -1;
+				for (int row = col - 1; row >= q_index_min; row--)
+				{
+					if (SPHERICAL == body.m_joint_type)
+					{
+						//todo: review
+						setThreeDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
+						const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
+						setMatxxElem(col, row, Mrc, mass_matrix);
+					}
+					if (FLOATING == body.m_joint_type)
+					{
+						setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
+						const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
+						setMatxxElem(col, row, Mrc, mass_matrix);
 					}
-					setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
-					const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
-					setMatxxElem(col, row, Mrc, mass_matrix);
 				}
 				// 2. ancestor dofs
 				int child_idx = i;
 				int parent_idx = m_parent_index[i];
-				while (parent_idx >= 0) {
+				while (parent_idx >= 0)
+				{
 					const RigidBody &child_body = m_body_list[child_idx];
 					const RigidBody &parent_body = m_body_list[parent_idx];
 
@@ -758,9 +936,16 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 						parent_body_q_index_min + jointNumDoFs(parent_body.m_joint_type) - 1;
 					vec3 Jac_JR = parent_body.m_Jac_JR;
 					vec3 Jac_JT = parent_body.m_Jac_JT;
-					for (int row = parent_body_q_index_max; row >= parent_body_q_index_min; row--) {
+					for (int row = parent_body_q_index_max; row >= parent_body_q_index_min; row--)
+					{
+						if (SPHERICAL == parent_body.m_joint_type)
+						{
+							//todo: review
+							setThreeDoFJacobians(row - parent_body_q_index_min, Jac_JR, Jac_JT);
+						}
 						// set jacobians for 6-DoF joints
-						if (FLOATING == parent_body.m_joint_type) {
+						if (FLOATING == parent_body.m_joint_type)
+						{
 							setSixDoFJacobians(row - parent_body_q_index_min, Jac_JR, Jac_JT);
 						}
 						const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
@@ -774,10 +959,13 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 		}
 	}
 
-	if (set_lower_triangular_matrix) {
-		for (int col = 0; col < m_num_dofs; col++) {
-			for (int row = 0; row < col; row++) {
-                            setMatxxElem(row, col, (*mass_matrix)(col, row), mass_matrix);
+	if (set_lower_triangular_matrix)
+	{
+		for (int col = 0; col < m_num_dofs; col++)
+		{
+			for (int row = 0; row < col; row++)
+			{
+				setMatxxElem(row, col, (*mass_matrix)(col, row), mass_matrix);
 			}
 		}
 	}
@@ -785,76 +973,91 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
 }
 
 // utility macro
-#define CHECK_IF_BODY_INDEX_IS_VALID(index)														\
-	do {																						   \
-		if (index < 0 || index >= m_num_bodies) {												  \
-			error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies);			 \
-			return -1;																			 \
-		}																						  \
+#define CHECK_IF_BODY_INDEX_IS_VALID(index)                                                  \
+	do                                                                                       \
+	{                                                                                        \
+		if (index < 0 || index >= m_num_bodies)                                              \
+		{                                                                                    \
+			bt_id_error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \
+			return -1;                                                                       \
+		}                                                                                    \
 	} while (0)
 
-int MultiBodyTree::MultiBodyImpl::getParentIndex(const int body_index, int *p) {
+int MultiBodyTree::MultiBodyImpl::getParentIndex(const int body_index, int *p)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*p = m_parent_index[body_index];
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getUserInt(const int body_index, int *user_int) const {
+int MultiBodyTree::MultiBodyImpl::getUserInt(const int body_index, int *user_int) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*user_int = m_user_int[body_index];
 	return 0;
 }
-int MultiBodyTree::MultiBodyImpl::getUserPtr(const int body_index, void **user_ptr) const {
+int MultiBodyTree::MultiBodyImpl::getUserPtr(const int body_index, void **user_ptr) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*user_ptr = m_user_ptr[body_index];
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::setUserInt(const int body_index, const int user_int) {
+int MultiBodyTree::MultiBodyImpl::setUserInt(const int body_index, const int user_int)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_user_int[body_index] = user_int;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::setUserPtr(const int body_index, void *const user_ptr) {
+int MultiBodyTree::MultiBodyImpl::setUserPtr(const int body_index, void *const user_ptr)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_user_ptr[body_index] = user_ptr;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getBodyOrigin(int body_index, vec3 *world_origin) const {
+int MultiBodyTree::MultiBodyImpl::getBodyOrigin(int body_index, vec3 *world_origin) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	*world_origin = body.m_body_T_world.transpose() * body.m_body_pos;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getBodyCoM(int body_index, vec3 *world_com) const {
+int MultiBodyTree::MultiBodyImpl::getBodyCoM(int body_index, vec3 *world_com) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
-	if (body.m_mass > 0) {
+	if (body.m_mass > 0)
+	{
 		*world_com = body.m_body_T_world.transpose() *
 					 (body.m_body_pos + body.m_body_mass_com / body.m_mass);
-	} else {
+	}
+	else
+	{
 		*world_com = body.m_body_T_world.transpose() * (body.m_body_pos);
 	}
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getBodyTransform(int body_index, mat33 *world_T_body) const {
+int MultiBodyTree::MultiBodyImpl::getBodyTransform(int body_index, mat33 *world_T_body) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	*world_T_body = body.m_body_T_world.transpose();
 	return 0;
 }
-int MultiBodyTree::MultiBodyImpl::getBodyAngularVelocity(int body_index, vec3 *world_omega) const {
+int MultiBodyTree::MultiBodyImpl::getBodyAngularVelocity(int body_index, vec3 *world_omega) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	*world_omega = body.m_body_T_world.transpose() * body.m_body_ang_vel;
 	return 0;
 }
 int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocity(int body_index,
-														vec3 *world_velocity) const {
+														vec3 *world_velocity) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	*world_velocity = body.m_body_T_world.transpose() * body.m_body_vel;
@@ -862,13 +1065,17 @@ int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocity(int body_index,
 }
 
 int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocityCoM(int body_index,
-														   vec3 *world_velocity) const {
+														   vec3 *world_velocity) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	vec3 com;
-	if (body.m_mass > 0) {
+	if (body.m_mass > 0)
+	{
 		com = body.m_body_mass_com / body.m_mass;
-	} else {
+	}
+	else
+	{
 		com(0) = 0;
 		com(1) = 0;
 		com(2) = 0;
@@ -880,149 +1087,173 @@ int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocityCoM(int body_index,
 }
 
 int MultiBodyTree::MultiBodyImpl::getBodyAngularAcceleration(int body_index,
-															 vec3 *world_dot_omega) const {
+															 vec3 *world_dot_omega) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	*world_dot_omega = body.m_body_T_world.transpose() * body.m_body_ang_acc;
 	return 0;
 }
 int MultiBodyTree::MultiBodyImpl::getBodyLinearAcceleration(int body_index,
-															vec3 *world_acceleration) const {
+															vec3 *world_acceleration) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	const RigidBody &body = m_body_list[body_index];
 	*world_acceleration = body.m_body_T_world.transpose() * body.m_body_acc;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getJointType(const int body_index, JointType *joint_type) const {
+int MultiBodyTree::MultiBodyImpl::getJointType(const int body_index, JointType *joint_type) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*joint_type = m_body_list[body_index].m_joint_type;
 	return 0;
 }
 
 int MultiBodyTree::MultiBodyImpl::getJointTypeStr(const int body_index,
-												  const char **joint_type) const {
+												  const char **joint_type) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*joint_type = jointTypeToString(m_body_list[body_index].m_joint_type);
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getParentRParentBodyRef(const int body_index, vec3* r)  const{
-    CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    *r=m_body_list[body_index].m_parent_pos_parent_body_ref;
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getParentRParentBodyRef(const int body_index, vec3 *r) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	*r = m_body_list[body_index].m_parent_pos_parent_body_ref;
+	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getBodyTParentRef(const int body_index, mat33* T)  const{
-    CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    *T=m_body_list[body_index].m_body_T_parent_ref;
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getBodyTParentRef(const int body_index, mat33 *T) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	*T = m_body_list[body_index].m_body_T_parent_ref;
+	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getBodyAxisOfMotion(const int body_index, vec3* axis)  const{
-    CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    if(m_body_list[body_index].m_joint_type == REVOLUTE) {
-        *axis = m_body_list[body_index].m_Jac_JR;
-        return 0;
-    }
-    if(m_body_list[body_index].m_joint_type == PRISMATIC) {
-        *axis = m_body_list[body_index].m_Jac_JT;
-        return 0;
-    }
-    setZero(*axis);
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	if (m_body_list[body_index].m_joint_type == REVOLUTE)
+	{
+		*axis = m_body_list[body_index].m_Jac_JR;
+		return 0;
+	}
+	if (m_body_list[body_index].m_joint_type == PRISMATIC)
+	{
+		*axis = m_body_list[body_index].m_Jac_JT;
+		return 0;
+	}
+	setZero(*axis);
+	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::getDoFOffset(const int body_index, int *q_index) const {
+int MultiBodyTree::MultiBodyImpl::getDoFOffset(const int body_index, int *q_index) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*q_index = m_body_list[body_index].m_q_index;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::setBodyMass(const int body_index, const idScalar mass) {
+int MultiBodyTree::MultiBodyImpl::setBodyMass(const int body_index, const idScalar mass)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_body_list[body_index].m_mass = mass;
 	return 0;
 }
 
 int MultiBodyTree::MultiBodyImpl::setBodyFirstMassMoment(const int body_index,
-														 const vec3& first_mass_moment) {
+														 const vec3 &first_mass_moment)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_body_list[body_index].m_body_mass_com = first_mass_moment;
 	return 0;
 }
 int MultiBodyTree::MultiBodyImpl::setBodySecondMassMoment(const int body_index,
-														  const mat33& second_mass_moment) {
+														  const mat33 &second_mass_moment)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_body_list[body_index].m_body_I_body = second_mass_moment;
 	return 0;
 }
-int MultiBodyTree::MultiBodyImpl::getBodyMass(const int body_index, idScalar *mass) const {
+int MultiBodyTree::MultiBodyImpl::getBodyMass(const int body_index, idScalar *mass) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*mass = m_body_list[body_index].m_mass;
 	return 0;
 }
 int MultiBodyTree::MultiBodyImpl::getBodyFirstMassMoment(const int body_index,
-														 vec3 *first_mass_moment) const {
+														 vec3 *first_mass_moment) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*first_mass_moment = m_body_list[body_index].m_body_mass_com;
 	return 0;
 }
 int MultiBodyTree::MultiBodyImpl::getBodySecondMassMoment(const int body_index,
-														  mat33 *second_mass_moment) const {
+														  mat33 *second_mass_moment) const
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	*second_mass_moment = m_body_list[body_index].m_body_I_body;
 	return 0;
 }
 
-void MultiBodyTree::MultiBodyImpl::clearAllUserForcesAndMoments() {
-	for (int index = 0; index < m_num_bodies; index++) {
+void MultiBodyTree::MultiBodyImpl::clearAllUserForcesAndMoments()
+{
+	for (int index = 0; index < m_num_bodies; index++)
+	{
 		RigidBody &body = m_body_list[index];
 		setZero(body.m_body_force_user);
 		setZero(body.m_body_moment_user);
 	}
 }
 
-int MultiBodyTree::MultiBodyImpl::addUserForce(const int body_index, const vec3 &body_force) {
+int MultiBodyTree::MultiBodyImpl::addUserForce(const int body_index, const vec3 &body_force)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_body_list[body_index].m_body_force_user += body_force;
 	return 0;
 }
 
-int MultiBodyTree::MultiBodyImpl::addUserMoment(const int body_index, const vec3 &body_moment) {
+int MultiBodyTree::MultiBodyImpl::addUserMoment(const int body_index, const vec3 &body_moment)
+{
 	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
 	m_body_list[body_index].m_body_moment_user += body_moment;
 	return 0;
 }
 
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-int  MultiBodyTree::MultiBodyImpl::getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const {
-    CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    const RigidBody &body = m_body_list[body_index];
-    *world_dot_jac_trans_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_T_u;
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	const RigidBody &body = m_body_list[body_index];
+	*world_dot_jac_trans_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_T_u;
+	return 0;
 }
 
-int  MultiBodyTree::MultiBodyImpl::getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const{
-     CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    const RigidBody &body = m_body_list[body_index];
-    *world_dot_jac_rot_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_R_u;
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	const RigidBody &body = m_body_list[body_index];
+	*world_dot_jac_rot_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_R_u;
+	return 0;
 }
 
-int  MultiBodyTree::MultiBodyImpl::getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const{
-    CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    const RigidBody &body = m_body_list[body_index];
-    mul(body.m_body_T_world.transpose(), body.m_body_Jac_T, world_jac_trans);
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	const RigidBody &body = m_body_list[body_index];
+	mul(body.m_body_T_world.transpose(), body.m_body_Jac_T, world_jac_trans);
+	return 0;
 }
 
-int  MultiBodyTree::MultiBodyImpl::getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const{
-    CHECK_IF_BODY_INDEX_IS_VALID(body_index);
-    const RigidBody &body = m_body_list[body_index];
-    mul(body.m_body_T_world.transpose(), body.m_body_Jac_R,world_jac_rot);
-    return 0;
+int MultiBodyTree::MultiBodyImpl::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
+{
+	CHECK_IF_BODY_INDEX_IS_VALID(body_index);
+	const RigidBody &body = m_body_list[body_index];
+	mul(body.m_body_T_world.transpose(), body.m_body_Jac_R, world_jac_rot);
+	return 0;
 }
 
 #endif
-}
+}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
index 3efe9d0492..eabdbe161b 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.hpp
@@ -8,12 +8,13 @@
 #include "../IDConfig.hpp"
 #include "../MultiBodyTree.hpp"
 
-namespace btInverseDynamics {
-
+namespace btInverseDynamics
+{
 /// Structure for for rigid body mass properties, connectivity and kinematic state
 /// all vectors and matrices are in body-fixed frame, if not indicated otherwise.
 /// The body-fixed frame is located in the joint connecting the body to its parent.
-struct RigidBody {
+struct RigidBody
+{
 	ID_DECLARE_ALIGNED_ALLOCATOR();
 	// 1 Inertial properties
 	/// Mass
@@ -112,31 +113,33 @@ struct RigidBody {
 	mat33 m_body_subtree_I_body;
 
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-    /// translational jacobian in body-fixed frame d(m_body_vel)/du
-    mat3x m_body_Jac_T;
-    /// rotationsl jacobian in body-fixed frame d(m_body_ang_vel)/du
-    mat3x m_body_Jac_R;
-    /// components of linear acceleration depending on u
-    /// (same as is d(m_Jac_T)/dt*u)
-    vec3 m_body_dot_Jac_T_u;
-    /// components of angular acceleration depending on u
-    /// (same as is d(m_Jac_T)/dt*u)
-    vec3 m_body_dot_Jac_R_u;
+	/// translational jacobian in body-fixed frame d(m_body_vel)/du
+	mat3x m_body_Jac_T;
+	/// rotationsl jacobian in body-fixed frame d(m_body_ang_vel)/du
+	mat3x m_body_Jac_R;
+	/// components of linear acceleration depending on u
+	/// (same as is d(m_Jac_T)/dt*u)
+	vec3 m_body_dot_Jac_T_u;
+	/// components of angular acceleration depending on u
+	/// (same as is d(m_Jac_T)/dt*u)
+	vec3 m_body_dot_Jac_R_u;
 #endif
 };
 
 /// The MBS implements a tree structured multibody system
-class MultiBodyTree::MultiBodyImpl {
+class MultiBodyTree::MultiBodyImpl
+{
 	friend class MultiBodyTree;
 
 public:
 	ID_DECLARE_ALIGNED_ALLOCATOR();
 
-        enum KinUpdateType {
-            POSITION_ONLY,
-            POSITION_VELOCITY,
-            POSITION_VELOCITY_ACCELERATION
-        };
+	enum KinUpdateType
+	{
+		POSITION_ONLY,
+		POSITION_VELOCITY,
+		POSITION_VELOCITY_ACCELERATION
+	};
 
 	/// constructor
 	/// @param num_bodies the number of bodies in the system
@@ -150,24 +153,24 @@ public:
 	int calculateMassMatrix(const vecx& q, const bool update_kinematics,
 							const bool initialize_matrix, const bool set_lower_triangular_matrix,
 							matxx* mass_matrix);
-    	/// calculate kinematics (vector quantities)
-        /// Depending on type, update positions only, positions & velocities, or positions, velocities
-        /// and accelerations.
-        int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u, const KinUpdateType type);
+	/// calculate kinematics (vector quantities)
+	/// Depending on type, update positions only, positions & velocities, or positions, velocities
+	/// and accelerations.
+	int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u, const KinUpdateType type);
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-    	/// calculate jacobians and (if type == POSITION_VELOCITY), also velocity-dependent accelration terms.
-    int calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type);
-    /// \copydoc MultiBodyTree::getBodyDotJacobianTransU
-    int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const ;
-    /// \copydoc MultiBodyTree::getBodyDotJacobianRotU
-    int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
-    /// \copydoc MultiBodyTree::getBodyJacobianTrans
-    int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const ;
-    /// \copydoc MultiBodyTree::getBodyJacobianRot
-    int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
-    /// Add relative Jacobian component from motion relative to parent body
-    /// @param body the body to add the Jacobian component for
-    void addRelativeJacobianComponent(RigidBody&body);
+	/// calculate jacobians and (if type == POSITION_VELOCITY), also velocity-dependent accelration terms.
+	int calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type);
+	/// \copydoc MultiBodyTree::getBodyDotJacobianTransU
+	int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
+	/// \copydoc MultiBodyTree::getBodyDotJacobianRotU
+	int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
+	/// \copydoc MultiBodyTree::getBodyJacobianTrans
+	int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
+	/// \copydoc MultiBodyTree::getBodyJacobianRot
+	int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
+	/// Add relative Jacobian component from motion relative to parent body
+	/// @param body the body to add the Jacobian component for
+	void addRelativeJacobianComponent(RigidBody& body);
 #endif
 	/// generate additional index sets from the parent_index array
 	/// @return -1 on error, 0 on success
@@ -190,12 +193,12 @@ public:
 	int getJointType(const int body_index, JointType* joint_type) const;
 	/// \copydoc MultiBodyTree::getJointTypeStr
 	int getJointTypeStr(const int body_index, const char** joint_type) const;
-        /// \copydoc MultiBodyTree::getParentRParentBodyRef
-        int getParentRParentBodyRef(const int body_index, vec3* r) const;
-        /// \copydoc MultiBodyTree::getBodyTParentRef
-        int getBodyTParentRef(const int body_index, mat33* T) const;
-        /// \copydoc MultiBodyTree::getBodyAxisOfMotion
-        int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
+	/// \copydoc MultiBodyTree::getParentRParentBodyRef
+	int getParentRParentBodyRef(const int body_index, vec3* r) const;
+	/// \copydoc MultiBodyTree::getBodyTParentRef
+	int getBodyTParentRef(const int body_index, mat33* T) const;
+	/// \copydoc MultiBodyTree::getBodyAxisOfMotion
+	int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
 	/// \copydoc MultiBodyTree:getDoFOffset
 	int getDoFOffset(const int body_index, int* q_index) const;
 	/// \copydoc MultiBodyTree::getBodyOrigin
@@ -271,13 +274,15 @@ private:
 	idArray<int>::type m_body_prismatic_list;
 	// Indices of floating joints
 	idArray<int>::type m_body_floating_list;
+	// Indices of spherical joints
+	idArray<int>::type m_body_spherical_list;
 	// a user-provided integer
 	idArray<int>::type m_user_int;
 	// a user-provided pointer
 	idArray<void*>::type m_user_ptr;
 #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-        mat3x m_m3x;
+	mat3x m_m3x;
 #endif
 };
-}
+}  // namespace btInverseDynamics
 #endif
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
index 47b4ab3890..a718db051e 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
@@ -1,12 +1,13 @@
 #include "MultiBodyTreeInitCache.hpp"
 
-namespace btInverseDynamics {
-
-MultiBodyTree::InitCache::InitCache() {
+namespace btInverseDynamics
+{
+MultiBodyTree::InitCache::InitCache()
+{
 	m_inertias.resize(0);
 	m_joints.resize(0);
 	m_num_dofs = 0;
-	m_root_index=-1;
+	m_root_index = -1;
 }
 
 int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_index,
@@ -15,8 +16,10 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind
 									  const mat33& body_T_parent_ref,
 									  const vec3& body_axis_of_motion, const idScalar mass,
 									  const vec3& body_r_body_com, const mat33& body_I_body,
-									  const int user_int, void* user_ptr) {
-	switch (joint_type) {
+									  const int user_int, void* user_ptr)
+{
+	switch (joint_type)
+	{
 		case REVOLUTE:
 		case PRISMATIC:
 			m_num_dofs += 1;
@@ -25,21 +28,26 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind
 			// does not add a degree of freedom
 			// m_num_dofs+=0;
 			break;
+		case SPHERICAL:
+			m_num_dofs += 3;
+			break;
 		case FLOATING:
 			m_num_dofs += 6;
 			break;
 		default:
-			error_message("unknown joint type %d\n", joint_type);
+			bt_id_error_message("unknown joint type %d\n", joint_type);
 			return -1;
 	}
 
-	if(-1 == parent_index) {
-		if(m_root_index>=0) {
-			error_message("trying to add body %d as root, but already added %d as root body\n",
-						  body_index, m_root_index);
+	if (-1 == parent_index)
+	{
+		if (m_root_index >= 0)
+		{
+			bt_id_error_message("trying to add body %d as root, but already added %d as root body\n",
+								body_index, m_root_index);
 			return -1;
 		}
-		m_root_index=body_index;
+		m_root_index = body_index;
 	}
 
 	JointData joint;
@@ -61,9 +69,11 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind
 	m_user_ptr.push_back(user_ptr);
 	return 0;
 }
-int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const {
-	if (index < 0 || index > static_cast<int>(m_inertias.size())) {
-		error_message("index out of range\n");
+int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const
+{
+	if (index < 0 || index > static_cast<int>(m_inertias.size()))
+	{
+		bt_id_error_message("index out of range\n");
 		return -1;
 	}
 
@@ -71,43 +81,51 @@ int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inert
 	return 0;
 }
 
-int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const {
-	if (index < 0 || index > static_cast<int>(m_user_int.size())) {
-		error_message("index out of range\n");
+int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const
+{
+	if (index < 0 || index > static_cast<int>(m_user_int.size()))
+	{
+		bt_id_error_message("index out of range\n");
 		return -1;
 	}
 	*user_int = m_user_int[index];
 	return 0;
 }
 
-int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const {
-	if (index < 0 || index > static_cast<int>(m_user_ptr.size())) {
-		error_message("index out of range\n");
+int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const
+{
+	if (index < 0 || index > static_cast<int>(m_user_ptr.size()))
+	{
+		bt_id_error_message("index out of range\n");
 		return -1;
 	}
 	*user_ptr = m_user_ptr[index];
 	return 0;
 }
 
-int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const {
-	if (index < 0 || index > static_cast<int>(m_joints.size())) {
-		error_message("index out of range\n");
+int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const
+{
+	if (index < 0 || index > static_cast<int>(m_joints.size()))
+	{
+		bt_id_error_message("index out of range\n");
 		return -1;
 	}
 	*joint = m_joints[index];
 	return 0;
 }
 
-int MultiBodyTree::InitCache::buildIndexSets() {
+int MultiBodyTree::InitCache::buildIndexSets()
+{
 	// NOTE: This function assumes that proper indices were provided
 	//	   User2InternalIndex from utils can be used to facilitate this.
 
 	m_parent_index.resize(numBodies());
-	for (idArrayIdx j = 0; j < m_joints.size(); j++) {
+	for (idArrayIdx j = 0; j < m_joints.size(); j++)
+	{
 		const JointData& joint = m_joints[j];
 		m_parent_index[joint.m_child] = joint.m_parent;
 	}
 
 	return 0;
 }
-}
+}  // namespace btInverseDynamics
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp
index 0d2aa4a071..dbdb3ff604 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp
@@ -5,9 +5,11 @@
 #include "../IDMath.hpp"
 #include "../MultiBodyTree.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// Mass properties of a rigid body
-struct InertiaData {
+struct InertiaData
+{
 	ID_DECLARE_ALIGNED_ALLOCATOR();
 
 	/// mass
@@ -21,7 +23,8 @@ struct InertiaData {
 };
 
 /// Joint properties
-struct JointData {
+struct JointData
+{
 	ID_DECLARE_ALIGNED_ALLOCATOR();
 
 	/// type of joint
@@ -48,7 +51,8 @@ struct JointData {
 
 /// Data structure to store data passed by the user.
 /// This is used in MultiBodyTree::finalize to build internal data structures.
-class MultiBodyTree::InitCache {
+class MultiBodyTree::InitCache
+{
 public:
 	ID_DECLARE_ALIGNED_ALLOCATOR();
 	/// constructor
@@ -105,5 +109,5 @@ private:
 	// index of root body (or -1 if not set)
 	int m_root_index;
 };
-}
+}  // namespace btInverseDynamics
 #endif  // MULTIBODYTREEINITCACHE_HPP_
diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp
index 9c20403074..8b7ff9abcd 100644
--- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp
@@ -21,11 +21,10 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 #include "BulletSoftBody/btSoftBody.h"
 
-
 btDefaultSoftBodySolver::btDefaultSoftBodySolver()
 {
 	// Initial we will clearly need to update solver constants
-	// For now this is global for the cloths linked with this solver - we should probably make this body specific 
+	// For now this is global for the cloths linked with this solver - we should probably make this body specific
 	// for performance in future once we understand more clearly when constants need to be updated
 	m_updateSolverConstants = true;
 }
@@ -37,67 +36,65 @@ btDefaultSoftBodySolver::~btDefaultSoftBodySolver()
 // In this case the data is already in the soft bodies so there is no need for us to do anything
 void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove)
 {
-
 }
 
-void btDefaultSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate)
+void btDefaultSoftBodySolver::optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate)
 {
-	m_softBodySet.copyFromArray( softBodies );
+	m_softBodySet.copyFromArray(softBodies);
 }
 
-void btDefaultSoftBodySolver::updateSoftBodies( )
+void btDefaultSoftBodySolver::updateSoftBodies()
 {
-	for ( int i=0; i < m_softBodySet.size(); i++)
+	for (int i = 0; i < m_softBodySet.size(); i++)
 	{
-		btSoftBody*	psb=(btSoftBody*)m_softBodySet[i];
+		btSoftBody *psb = (btSoftBody *)m_softBodySet[i];
 		if (psb->isActive())
 		{
-			psb->integrateMotion();	
+			psb->integrateMotion();
 		}
 	}
-} // updateSoftBodies
+}  // updateSoftBodies
 
 bool btDefaultSoftBodySolver::checkInitialized()
 {
 	return true;
 }
 
-void btDefaultSoftBodySolver::solveConstraints( float solverdt )
+void btDefaultSoftBodySolver::solveConstraints(float solverdt)
 {
 	// Solve constraints for non-solver softbodies
-	for(int i=0; i < m_softBodySet.size(); ++i)
+	for (int i = 0; i < m_softBodySet.size(); ++i)
 	{
-		btSoftBody*	psb = static_cast<btSoftBody*>(m_softBodySet[i]);
+		btSoftBody *psb = static_cast<btSoftBody *>(m_softBodySet[i]);
 		if (psb->isActive())
 		{
 			psb->solveConstraints();
 		}
-	}	
-} // btDefaultSoftBodySolver::solveConstraints
-
+	}
+}  // btDefaultSoftBodySolver::solveConstraints
 
-void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer )
+void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)
 {
 	// Currently only support CPU output buffers
 	// TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer
 	// and use them together on a single kernel call if possible by setting up a
 	// per-cloth target buffer array for the copy kernel.
 
-	if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER )
+	if (vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER)
 	{
-		const btAlignedObjectArray<btSoftBody::Node> &clothVertices( softBody->m_nodes );
+		const btAlignedObjectArray<btSoftBody::Node> &clothVertices(softBody->m_nodes);
 		int numVertices = clothVertices.size();
 
-		const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer);						
-		float *basePointer = cpuVertexBuffer->getBasePointer();						
+		const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast<btCPUVertexBufferDescriptor *>(vertexBuffer);
+		float *basePointer = cpuVertexBuffer->getBasePointer();
 
-		if( vertexBuffer->hasVertexPositions() )
+		if (vertexBuffer->hasVertexPositions())
 		{
 			const int vertexOffset = cpuVertexBuffer->getVertexOffset();
 			const int vertexStride = cpuVertexBuffer->getVertexStride();
 			float *vertexPointer = basePointer + vertexOffset;
 
-			for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+			for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex)
 			{
 				btVector3 position = clothVertices[vertexIndex].m_x;
 				*(vertexPointer + 0) = (float)position.getX();
@@ -106,13 +103,13 @@ void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *cons
 				vertexPointer += vertexStride;
 			}
 		}
-		if( vertexBuffer->hasNormals() )
+		if (vertexBuffer->hasNormals())
 		{
 			const int normalOffset = cpuVertexBuffer->getNormalOffset();
 			const int normalStride = cpuVertexBuffer->getNormalStride();
 			float *normalPointer = basePointer + normalOffset;
 
-			for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+			for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex)
 			{
 				btVector3 normal = clothVertices[vertexIndex].m_n;
 				*(normalPointer + 0) = (float)normal.getX();
@@ -122,30 +119,28 @@ void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *cons
 			}
 		}
 	}
-} // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer
+}  // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer
 
-void btDefaultSoftBodySolver::processCollision( btSoftBody* softBody, btSoftBody* otherSoftBody)
+void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, btSoftBody *otherSoftBody)
 {
-	softBody->defaultCollisionHandler( otherSoftBody);
+	softBody->defaultCollisionHandler(otherSoftBody);
 }
 
 // For the default solver just leave the soft body to do its collision processing
-void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObjectWrap )
+void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCollisionObjectWrapper *collisionObjectWrap)
 {
-	softBody->defaultCollisionHandler( collisionObjectWrap );
-} // btDefaultSoftBodySolver::processCollision
-
+	softBody->defaultCollisionHandler(collisionObjectWrap);
+}  // btDefaultSoftBodySolver::processCollision
 
-void btDefaultSoftBodySolver::predictMotion( float timeStep )
+void btDefaultSoftBodySolver::predictMotion(float timeStep)
 {
-	for ( int i=0; i < m_softBodySet.size(); ++i)
+	for (int i = 0; i < m_softBodySet.size(); ++i)
 	{
-		btSoftBody*	psb = m_softBodySet[i];
+		btSoftBody *psb = m_softBodySet[i];
 
 		if (psb->isActive())
 		{
-			psb->predictMotion(timeStep);		
+			psb->predictMotion(timeStep);
 		}
 	}
 }
-
diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h
index 1c17ffcbb2..50bd735165 100644
--- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h
+++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h
@@ -16,25 +16,23 @@ subject to the following restrictions:
 #ifndef BT_SOFT_BODY_DEFAULT_SOLVER_H
 #define BT_SOFT_BODY_DEFAULT_SOLVER_H
 
-
 #include "BulletSoftBody/btSoftBodySolvers.h"
 #include "btSoftBodySolverVertexBuffer.h"
 struct btCollisionObjectWrapper;
 
 class btDefaultSoftBodySolver : public btSoftBodySolver
 {
-protected:		
+protected:
 	/** Variable to define whether we need to update solver constants on the next iteration */
 	bool m_updateSolverConstants;
 
-	btAlignedObjectArray< btSoftBody * > m_softBodySet;
-
+	btAlignedObjectArray<btSoftBody *> m_softBodySet;
 
 public:
 	btDefaultSoftBodySolver();
-	
+
 	virtual ~btDefaultSoftBodySolver();
-	
+
 	virtual SolverTypes getSolverType() const
 	{
 		return DEFAULT_SOLVER;
@@ -42,22 +40,21 @@ public:
 
 	virtual bool checkInitialized();
 
-	virtual void updateSoftBodies( );
+	virtual void updateSoftBodies();
 
-	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies,bool forceUpdate=false );
+	virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false);
 
 	virtual void copyBackToSoftBodies(bool bMove = true);
 
-	virtual void solveConstraints( float solverdt );
-
-	virtual void predictMotion( float solverdt );
+	virtual void solveConstraints(float solverdt);
 
-	virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer );
+	virtual void predictMotion(float solverdt);
 
-	virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
+	virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer);
 
-	virtual void processCollision( btSoftBody*, btSoftBody* );
+	virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *);
 
+	virtual void processCollision(btSoftBody *, btSoftBody *);
 };
 
-#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
+#endif  // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp
index 48efb0d8d4..58796a88d0 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp
@@ -21,97 +21,94 @@ subject to the following restrictions:
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
 
-
 //
-btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btVector3* x,  const btScalar* m)
-:m_softBodySolver(0),m_worldInfo(worldInfo)
-{	
-	/* Init		*/ 
+btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
+	: m_softBodySolver(0), m_worldInfo(worldInfo)
+{
+	/* Init		*/
 	initDefaults();
 
-	/* Default material	*/ 
-	Material*	pm=appendMaterial();
-	pm->m_kLST	=	1;
-	pm->m_kAST	=	1;
-	pm->m_kVST	=	1;
-	pm->m_flags	=	fMaterial::Default;
+	/* Default material	*/
+	Material* pm = appendMaterial();
+	pm->m_kLST = 1;
+	pm->m_kAST = 1;
+	pm->m_kVST = 1;
+	pm->m_flags = fMaterial::Default;
 
-	/* Nodes			*/ 
-	const btScalar		margin=getCollisionShape()->getMargin();
+	/* Nodes			*/
+	const btScalar margin = getCollisionShape()->getMargin();
 	m_nodes.resize(node_count);
-	for(int i=0,ni=node_count;i<ni;++i)
-	{	
-		Node&	n=m_nodes[i];
+	for (int i = 0, ni = node_count; i < ni; ++i)
+	{
+		Node& n = m_nodes[i];
 		ZeroInitialize(n);
-		n.m_x		=	x?*x++:btVector3(0,0,0);
-		n.m_q		=	n.m_x;
-		n.m_im		=	m?*m++:1;
-		n.m_im		=	n.m_im>0?1/n.m_im:0;
-		n.m_leaf	=	m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n);
-		n.m_material=	pm;
+		n.m_x = x ? *x++ : btVector3(0, 0, 0);
+		n.m_q = n.m_x;
+		n.m_im = m ? *m++ : 1;
+		n.m_im = n.m_im > 0 ? 1 / n.m_im : 0;
+		n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
+		n.m_material = pm;
 	}
-	updateBounds();	
-
+	updateBounds();
 }
 
-btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo)
-:m_worldInfo(worldInfo)
+btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo)
+	: m_worldInfo(worldInfo)
 {
 	initDefaults();
 }
 
-
-void	btSoftBody::initDefaults()
-{
-	m_internalType		=	CO_SOFT_BODY;
-	m_cfg.aeromodel		=	eAeroModel::V_Point;
-	m_cfg.kVCF			=	1;
-	m_cfg.kDG			=	0;
-	m_cfg.kLF			=	0;
-	m_cfg.kDP			=	0;
-	m_cfg.kPR			=	0;
-	m_cfg.kVC			=	0;
-	m_cfg.kDF			=	(btScalar)0.2;
-	m_cfg.kMT			=	0;
-	m_cfg.kCHR			=	(btScalar)1.0;
-	m_cfg.kKHR			=	(btScalar)0.1;
-	m_cfg.kSHR			=	(btScalar)1.0;
-	m_cfg.kAHR			=	(btScalar)0.7;
-	m_cfg.kSRHR_CL		=	(btScalar)0.1;
-	m_cfg.kSKHR_CL		=	(btScalar)1;
-	m_cfg.kSSHR_CL		=	(btScalar)0.5;
-	m_cfg.kSR_SPLT_CL	=	(btScalar)0.5;
-	m_cfg.kSK_SPLT_CL	=	(btScalar)0.5;
-	m_cfg.kSS_SPLT_CL	=	(btScalar)0.5;
-	m_cfg.maxvolume		=	(btScalar)1;
-	m_cfg.timescale		=	1;
-	m_cfg.viterations	=	0;
-	m_cfg.piterations	=	1;	
-	m_cfg.diterations	=	0;
-	m_cfg.citerations	=	4;
-	m_cfg.collisions	=	fCollision::Default;
-	m_pose.m_bvolume	=	false;
-	m_pose.m_bframe		=	false;
-	m_pose.m_volume		=	0;
-	m_pose.m_com		=	btVector3(0,0,0);
+void btSoftBody::initDefaults()
+{
+	m_internalType = CO_SOFT_BODY;
+	m_cfg.aeromodel = eAeroModel::V_Point;
+	m_cfg.kVCF = 1;
+	m_cfg.kDG = 0;
+	m_cfg.kLF = 0;
+	m_cfg.kDP = 0;
+	m_cfg.kPR = 0;
+	m_cfg.kVC = 0;
+	m_cfg.kDF = (btScalar)0.2;
+	m_cfg.kMT = 0;
+	m_cfg.kCHR = (btScalar)1.0;
+	m_cfg.kKHR = (btScalar)0.1;
+	m_cfg.kSHR = (btScalar)1.0;
+	m_cfg.kAHR = (btScalar)0.7;
+	m_cfg.kSRHR_CL = (btScalar)0.1;
+	m_cfg.kSKHR_CL = (btScalar)1;
+	m_cfg.kSSHR_CL = (btScalar)0.5;
+	m_cfg.kSR_SPLT_CL = (btScalar)0.5;
+	m_cfg.kSK_SPLT_CL = (btScalar)0.5;
+	m_cfg.kSS_SPLT_CL = (btScalar)0.5;
+	m_cfg.maxvolume = (btScalar)1;
+	m_cfg.timescale = 1;
+	m_cfg.viterations = 0;
+	m_cfg.piterations = 1;
+	m_cfg.diterations = 0;
+	m_cfg.citerations = 4;
+	m_cfg.collisions = fCollision::Default;
+	m_pose.m_bvolume = false;
+	m_pose.m_bframe = false;
+	m_pose.m_volume = 0;
+	m_pose.m_com = btVector3(0, 0, 0);
 	m_pose.m_rot.setIdentity();
 	m_pose.m_scl.setIdentity();
-	m_tag				=	0;
-	m_timeacc			=	0;
-	m_bUpdateRtCst		=	true;
-	m_bounds[0]			=	btVector3(0,0,0);
-	m_bounds[1]			=	btVector3(0,0,0);
+	m_tag = 0;
+	m_timeacc = 0;
+	m_bUpdateRtCst = true;
+	m_bounds[0] = btVector3(0, 0, 0);
+	m_bounds[1] = btVector3(0, 0, 0);
 	m_worldTransform.setIdentity();
 	setSolver(eSolverPresets::Positions);
-	
-	/* Collision shape	*/ 
+
+	/* Collision shape	*/
 	///for now, create a collision shape internally
 	m_collisionShape = new btSoftBodyCollisionShape(this);
 	m_collisionShape->setMargin(0.25f);
-	
+
 	m_initialWorldTransform.setIdentity();
 
-	m_windVelocity = btVector3(0,0,0);
+	m_windVelocity = btVector3(0, 0, 0);
 	m_restLengthScale = btScalar(1.0);
 }
 
@@ -119,343 +116,361 @@ void	btSoftBody::initDefaults()
 btSoftBody::~btSoftBody()
 {
 	//for now, delete the internal shape
-	delete m_collisionShape;	
+	delete m_collisionShape;
 	int i;
 
 	releaseClusters();
-	for(i=0;i<m_materials.size();++i) 
+	for (i = 0; i < m_materials.size(); ++i)
 		btAlignedFree(m_materials[i]);
-	for(i=0;i<m_joints.size();++i) 
+	for (i = 0; i < m_joints.size(); ++i)
 		btAlignedFree(m_joints[i]);
 }
 
 //
-bool			btSoftBody::checkLink(int node0,int node1) const
+bool btSoftBody::checkLink(int node0, int node1) const
 {
-	return(checkLink(&m_nodes[node0],&m_nodes[node1]));
+	return (checkLink(&m_nodes[node0], &m_nodes[node1]));
 }
 
 //
-bool			btSoftBody::checkLink(const Node* node0,const Node* node1) const
+bool btSoftBody::checkLink(const Node* node0, const Node* node1) const
 {
-	const Node*	n[]={node0,node1};
-	for(int i=0,ni=m_links.size();i<ni;++i)
+	const Node* n[] = {node0, node1};
+	for (int i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		const Link&	l=m_links[i];
-		if(	(l.m_n[0]==n[0]&&l.m_n[1]==n[1])||
-			(l.m_n[0]==n[1]&&l.m_n[1]==n[0]))
+		const Link& l = m_links[i];
+		if ((l.m_n[0] == n[0] && l.m_n[1] == n[1]) ||
+			(l.m_n[0] == n[1] && l.m_n[1] == n[0]))
 		{
-			return(true);
+			return (true);
 		}
 	}
-	return(false);
+	return (false);
 }
 
 //
-bool			btSoftBody::checkFace(int node0,int node1,int node2) const
+bool btSoftBody::checkFace(int node0, int node1, int node2) const
 {
-	const Node*	n[]={	&m_nodes[node0],
-		&m_nodes[node1],
-		&m_nodes[node2]};
-	for(int i=0,ni=m_faces.size();i<ni;++i)
+	const Node* n[] = {&m_nodes[node0],
+					   &m_nodes[node1],
+					   &m_nodes[node2]};
+	for (int i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		const Face&	f=m_faces[i];
-		int			c=0;
-		for(int j=0;j<3;++j)
+		const Face& f = m_faces[i];
+		int c = 0;
+		for (int j = 0; j < 3; ++j)
 		{
-			if(	(f.m_n[j]==n[0])||
-				(f.m_n[j]==n[1])||
-				(f.m_n[j]==n[2])) c|=1<<j; else break;
+			if ((f.m_n[j] == n[0]) ||
+				(f.m_n[j] == n[1]) ||
+				(f.m_n[j] == n[2]))
+				c |= 1 << j;
+			else
+				break;
 		}
-		if(c==7) return(true);
+		if (c == 7) return (true);
 	}
-	return(false);
+	return (false);
 }
 
 //
-btSoftBody::Material*		btSoftBody::appendMaterial()
+btSoftBody::Material* btSoftBody::appendMaterial()
 {
-	Material*	pm=new(btAlignedAlloc(sizeof(Material),16)) Material();
-	if(m_materials.size()>0)
-		*pm=*m_materials[0];
+	Material* pm = new (btAlignedAlloc(sizeof(Material), 16)) Material();
+	if (m_materials.size() > 0)
+		*pm = *m_materials[0];
 	else
 		ZeroInitialize(*pm);
 	m_materials.push_back(pm);
-	return(pm);
+	return (pm);
 }
 
 //
-void			btSoftBody::appendNote(	const char* text,
-									   const btVector3& o,
-									   const btVector4& c,
-									   Node* n0,
-									   Node* n1,
-									   Node* n2,
-									   Node* n3)
+void btSoftBody::appendNote(const char* text,
+							const btVector3& o,
+							const btVector4& c,
+							Node* n0,
+							Node* n1,
+							Node* n2,
+							Node* n3)
 {
-	Note	n;
+	Note n;
 	ZeroInitialize(n);
-	n.m_rank		=	0;
-	n.m_text		=	text;
-	n.m_offset		=	o;
-	n.m_coords[0]	=	c.x();
-	n.m_coords[1]	=	c.y();
-	n.m_coords[2]	=	c.z();
-	n.m_coords[3]	=	c.w();
-	n.m_nodes[0]	=	n0;n.m_rank+=n0?1:0;
-	n.m_nodes[1]	=	n1;n.m_rank+=n1?1:0;
-	n.m_nodes[2]	=	n2;n.m_rank+=n2?1:0;
-	n.m_nodes[3]	=	n3;n.m_rank+=n3?1:0;
+	n.m_rank = 0;
+	n.m_text = text;
+	n.m_offset = o;
+	n.m_coords[0] = c.x();
+	n.m_coords[1] = c.y();
+	n.m_coords[2] = c.z();
+	n.m_coords[3] = c.w();
+	n.m_nodes[0] = n0;
+	n.m_rank += n0 ? 1 : 0;
+	n.m_nodes[1] = n1;
+	n.m_rank += n1 ? 1 : 0;
+	n.m_nodes[2] = n2;
+	n.m_rank += n2 ? 1 : 0;
+	n.m_nodes[3] = n3;
+	n.m_rank += n3 ? 1 : 0;
 	m_notes.push_back(n);
 }
 
 //
-void			btSoftBody::appendNote(	const char* text,
-									   const btVector3& o,
-									   Node* feature)
+void btSoftBody::appendNote(const char* text,
+							const btVector3& o,
+							Node* feature)
 {
-	appendNote(text,o,btVector4(1,0,0,0),feature);
+	appendNote(text, o, btVector4(1, 0, 0, 0), feature);
 }
 
 //
-void			btSoftBody::appendNote(	const char* text,
-									   const btVector3& o,
-									   Link* feature)
+void btSoftBody::appendNote(const char* text,
+							const btVector3& o,
+							Link* feature)
 {
-	static const btScalar	w=1/(btScalar)2;
-	appendNote(text,o,btVector4(w,w,0,0),	feature->m_n[0],
-		feature->m_n[1]);
+	static const btScalar w = 1 / (btScalar)2;
+	appendNote(text, o, btVector4(w, w, 0, 0), feature->m_n[0],
+			   feature->m_n[1]);
 }
 
 //
-void			btSoftBody::appendNote(	const char* text,
-									   const btVector3& o,
-									   Face* feature)
+void btSoftBody::appendNote(const char* text,
+							const btVector3& o,
+							Face* feature)
 {
-	static const btScalar	w=1/(btScalar)3;
-	appendNote(text,o,btVector4(w,w,w,0),	feature->m_n[0],
-		feature->m_n[1],
-		feature->m_n[2]);
+	static const btScalar w = 1 / (btScalar)3;
+	appendNote(text, o, btVector4(w, w, w, 0), feature->m_n[0],
+			   feature->m_n[1],
+			   feature->m_n[2]);
 }
 
 //
-void			btSoftBody::appendNode(	const btVector3& x,btScalar m)
+void btSoftBody::appendNode(const btVector3& x, btScalar m)
 {
-	if(m_nodes.capacity()==m_nodes.size())
+	if (m_nodes.capacity() == m_nodes.size())
 	{
 		pointersToIndices();
-		m_nodes.reserve(m_nodes.size()*2+1);
+		m_nodes.reserve(m_nodes.size() * 2 + 1);
 		indicesToPointers();
 	}
-	const btScalar	margin=getCollisionShape()->getMargin();
+	const btScalar margin = getCollisionShape()->getMargin();
 	m_nodes.push_back(Node());
-	Node&			n=m_nodes[m_nodes.size()-1];
+	Node& n = m_nodes[m_nodes.size() - 1];
 	ZeroInitialize(n);
-	n.m_x			=	x;
-	n.m_q			=	n.m_x;
-	n.m_im			=	m>0?1/m:0;
-	n.m_material	=	m_materials[0];
-	n.m_leaf		=	m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n);
+	n.m_x = x;
+	n.m_q = n.m_x;
+	n.m_im = m > 0 ? 1 / m : 0;
+	n.m_material = m_materials[0];
+	n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
 }
 
 //
-void			btSoftBody::appendLink(int model,Material* mat)
+void btSoftBody::appendLink(int model, Material* mat)
 {
-	Link	l;
-	if(model>=0)
-		l=m_links[model];
+	Link l;
+	if (model >= 0)
+		l = m_links[model];
 	else
-	{ ZeroInitialize(l);l.m_material=mat?mat:m_materials[0]; }
+	{
+		ZeroInitialize(l);
+		l.m_material = mat ? mat : m_materials[0];
+	}
 	m_links.push_back(l);
 }
 
 //
-void			btSoftBody::appendLink(	int node0,
-									   int node1,
-									   Material* mat,
-									   bool bcheckexist)
+void btSoftBody::appendLink(int node0,
+							int node1,
+							Material* mat,
+							bool bcheckexist)
 {
-	appendLink(&m_nodes[node0],&m_nodes[node1],mat,bcheckexist);
+	appendLink(&m_nodes[node0], &m_nodes[node1], mat, bcheckexist);
 }
 
 //
-void			btSoftBody::appendLink(	Node* node0,
-									   Node* node1,
-									   Material* mat,
-									   bool bcheckexist)
+void btSoftBody::appendLink(Node* node0,
+							Node* node1,
+							Material* mat,
+							bool bcheckexist)
 {
-	if((!bcheckexist)||(!checkLink(node0,node1)))
+	if ((!bcheckexist) || (!checkLink(node0, node1)))
 	{
-		appendLink(-1,mat);
-		Link&	l=m_links[m_links.size()-1];
-		l.m_n[0]		=	node0;
-		l.m_n[1]		=	node1;
-		l.m_rl			=	(l.m_n[0]->m_x-l.m_n[1]->m_x).length();
-		m_bUpdateRtCst=true;
+		appendLink(-1, mat);
+		Link& l = m_links[m_links.size() - 1];
+		l.m_n[0] = node0;
+		l.m_n[1] = node1;
+		l.m_rl = (l.m_n[0]->m_x - l.m_n[1]->m_x).length();
+		m_bUpdateRtCst = true;
 	}
 }
 
 //
-void			btSoftBody::appendFace(int model,Material* mat)
+void btSoftBody::appendFace(int model, Material* mat)
 {
-	Face	f;
-	if(model>=0)
-	{ f=m_faces[model]; }
+	Face f;
+	if (model >= 0)
+	{
+		f = m_faces[model];
+	}
 	else
-	{ ZeroInitialize(f);f.m_material=mat?mat:m_materials[0]; }
+	{
+		ZeroInitialize(f);
+		f.m_material = mat ? mat : m_materials[0];
+	}
 	m_faces.push_back(f);
 }
 
 //
-void			btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
+void btSoftBody::appendFace(int node0, int node1, int node2, Material* mat)
 {
-	if (node0==node1)
+	if (node0 == node1)
 		return;
-	if (node1==node2)
+	if (node1 == node2)
 		return;
-	if (node2==node0)
+	if (node2 == node0)
 		return;
 
-	appendFace(-1,mat);
-	Face&	f=m_faces[m_faces.size()-1];
-	btAssert(node0!=node1);
-	btAssert(node1!=node2);
-	btAssert(node2!=node0);
-	f.m_n[0]	=	&m_nodes[node0];
-	f.m_n[1]	=	&m_nodes[node1];
-	f.m_n[2]	=	&m_nodes[node2];
-	f.m_ra		=	AreaOf(	f.m_n[0]->m_x,
-		f.m_n[1]->m_x,
-		f.m_n[2]->m_x);	
-	m_bUpdateRtCst=true;
+	appendFace(-1, mat);
+	Face& f = m_faces[m_faces.size() - 1];
+	btAssert(node0 != node1);
+	btAssert(node1 != node2);
+	btAssert(node2 != node0);
+	f.m_n[0] = &m_nodes[node0];
+	f.m_n[1] = &m_nodes[node1];
+	f.m_n[2] = &m_nodes[node2];
+	f.m_ra = AreaOf(f.m_n[0]->m_x,
+					f.m_n[1]->m_x,
+					f.m_n[2]->m_x);
+	m_bUpdateRtCst = true;
 }
 
 //
-void			btSoftBody::appendTetra(int model,Material* mat)
+void btSoftBody::appendTetra(int model, Material* mat)
 {
-Tetra	t;
-if(model>=0)
-	t=m_tetras[model];
+	Tetra t;
+	if (model >= 0)
+		t = m_tetras[model];
 	else
-	{ ZeroInitialize(t);t.m_material=mat?mat:m_materials[0]; }
-m_tetras.push_back(t);
+	{
+		ZeroInitialize(t);
+		t.m_material = mat ? mat : m_materials[0];
+	}
+	m_tetras.push_back(t);
 }
 
 //
-void			btSoftBody::appendTetra(int node0,
-										int node1,
-										int node2,
-										int node3,
-										Material* mat)
+void btSoftBody::appendTetra(int node0,
+							 int node1,
+							 int node2,
+							 int node3,
+							 Material* mat)
 {
-	appendTetra(-1,mat);
-	Tetra&	t=m_tetras[m_tetras.size()-1];
-	t.m_n[0]	=	&m_nodes[node0];
-	t.m_n[1]	=	&m_nodes[node1];
-	t.m_n[2]	=	&m_nodes[node2];
-	t.m_n[3]	=	&m_nodes[node3];
-	t.m_rv		=	VolumeOf(t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x);
-	m_bUpdateRtCst=true;
+	appendTetra(-1, mat);
+	Tetra& t = m_tetras[m_tetras.size() - 1];
+	t.m_n[0] = &m_nodes[node0];
+	t.m_n[1] = &m_nodes[node1];
+	t.m_n[2] = &m_nodes[node2];
+	t.m_n[3] = &m_nodes[node3];
+	t.m_rv = VolumeOf(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x);
+	m_bUpdateRtCst = true;
 }
 
 //
 
-void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies,btScalar influence)
+void btSoftBody::appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies, btScalar influence)
 {
-	btVector3 local = body->getWorldTransform().inverse()*m_nodes[node].m_x;
-	appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies,influence);
+	btVector3 local = body->getWorldTransform().inverse() * m_nodes[node].m_x;
+	appendAnchor(node, body, local, disableCollisionBetweenLinkedBodies, influence);
 }
 
 //
-void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies,btScalar influence)
+void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies, btScalar influence)
 {
 	if (disableCollisionBetweenLinkedBodies)
 	{
-		if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size())
+		if (m_collisionDisabledObjects.findLinearSearch(body) == m_collisionDisabledObjects.size())
 		{
 			m_collisionDisabledObjects.push_back(body);
 		}
 	}
 
-	Anchor	a;
-	a.m_node			=	&m_nodes[node];
-	a.m_body			=	body;
-	a.m_local			=	localPivot;
-	a.m_node->m_battach	=	1;
+	Anchor a;
+	a.m_node = &m_nodes[node];
+	a.m_body = body;
+	a.m_local = localPivot;
+	a.m_node->m_battach = 1;
 	a.m_influence = influence;
 	m_anchors.push_back(a);
 }
 
 //
-void			btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1)
+void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1)
 {
-	LJoint*		pj	=	new(btAlignedAlloc(sizeof(LJoint),16)) LJoint();
-	pj->m_bodies[0]	=	body0;
-	pj->m_bodies[1]	=	body1;
-	pj->m_refs[0]	=	pj->m_bodies[0].xform().inverse()*specs.position;
-	pj->m_refs[1]	=	pj->m_bodies[1].xform().inverse()*specs.position;
-	pj->m_cfm		=	specs.cfm;
-	pj->m_erp		=	specs.erp;
-	pj->m_split		=	specs.split;
+	LJoint* pj = new (btAlignedAlloc(sizeof(LJoint), 16)) LJoint();
+	pj->m_bodies[0] = body0;
+	pj->m_bodies[1] = body1;
+	pj->m_refs[0] = pj->m_bodies[0].xform().inverse() * specs.position;
+	pj->m_refs[1] = pj->m_bodies[1].xform().inverse() * specs.position;
+	pj->m_cfm = specs.cfm;
+	pj->m_erp = specs.erp;
+	pj->m_split = specs.split;
 	m_joints.push_back(pj);
 }
 
 //
-void			btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Body body)
+void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Body body)
 {
-	appendLinearJoint(specs,m_clusters[0],body);
+	appendLinearJoint(specs, m_clusters[0], body);
 }
 
 //
-void			btSoftBody::appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body)
+void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, btSoftBody* body)
 {
-	appendLinearJoint(specs,m_clusters[0],body->m_clusters[0]);
+	appendLinearJoint(specs, m_clusters[0], body->m_clusters[0]);
 }
 
 //
-void			btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1)
+void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, Cluster* body0, Body body1)
 {
-	AJoint*		pj	=	new(btAlignedAlloc(sizeof(AJoint),16)) AJoint();
-	pj->m_bodies[0]	=	body0;
-	pj->m_bodies[1]	=	body1;
-	pj->m_refs[0]	=	pj->m_bodies[0].xform().inverse().getBasis()*specs.axis;
-	pj->m_refs[1]	=	pj->m_bodies[1].xform().inverse().getBasis()*specs.axis;
-	pj->m_cfm		=	specs.cfm;
-	pj->m_erp		=	specs.erp;
-	pj->m_split		=	specs.split;
-	pj->m_icontrol	=	specs.icontrol;
+	AJoint* pj = new (btAlignedAlloc(sizeof(AJoint), 16)) AJoint();
+	pj->m_bodies[0] = body0;
+	pj->m_bodies[1] = body1;
+	pj->m_refs[0] = pj->m_bodies[0].xform().inverse().getBasis() * specs.axis;
+	pj->m_refs[1] = pj->m_bodies[1].xform().inverse().getBasis() * specs.axis;
+	pj->m_cfm = specs.cfm;
+	pj->m_erp = specs.erp;
+	pj->m_split = specs.split;
+	pj->m_icontrol = specs.icontrol;
 	m_joints.push_back(pj);
 }
 
 //
-void			btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Body body)
+void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, Body body)
 {
-	appendAngularJoint(specs,m_clusters[0],body);
+	appendAngularJoint(specs, m_clusters[0], body);
 }
 
 //
-void			btSoftBody::appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body)
+void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, btSoftBody* body)
 {
-	appendAngularJoint(specs,m_clusters[0],body->m_clusters[0]);
+	appendAngularJoint(specs, m_clusters[0], body->m_clusters[0]);
 }
 
 //
-void			btSoftBody::addForce(const btVector3& force)
+void btSoftBody::addForce(const btVector3& force)
 {
-	for(int i=0,ni=m_nodes.size();i<ni;++i) addForce(force,i);
+	for (int i = 0, ni = m_nodes.size(); i < ni; ++i) addForce(force, i);
 }
 
 //
-void			btSoftBody::addForce(const btVector3& force,int node)
+void btSoftBody::addForce(const btVector3& force, int node)
 {
-	Node&	n=m_nodes[node];
-	if(n.m_im>0)
+	Node& n = m_nodes[node];
+	if (n.m_im > 0)
 	{
-		n.m_f	+=	force;
+		n.m_f += force;
 	}
 }
 
-void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeIndex)
+void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex)
 {
 	btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size());
 
@@ -464,51 +479,51 @@ void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
 	const btScalar kDG = m_cfg.kDG;
 	//const btScalar kPR = m_cfg.kPR;
 	//const btScalar kVC = m_cfg.kVC;
-	const bool as_lift = kLF>0;
-	const bool as_drag = kDG>0;
+	const bool as_lift = kLF > 0;
+	const bool as_drag = kDG > 0;
 	const bool as_aero = as_lift || as_drag;
 	const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
 
 	Node& n = m_nodes[nodeIndex];
 
-	if( n.m_im>0 )
+	if (n.m_im > 0)
 	{
-		btSoftBody::sMedium	medium;
+		btSoftBody::sMedium medium;
 
 		EvaluateMedium(m_worldInfo, n.m_x, medium);
 		medium.m_velocity = windVelocity;
 		medium.m_density = m_worldInfo->air_density;
 
-		/* Aerodynamics			*/ 
-		if(as_vaero)
-		{				
-			const btVector3	rel_v = n.m_v - medium.m_velocity;					
+		/* Aerodynamics			*/
+		if (as_vaero)
+		{
+			const btVector3 rel_v = n.m_v - medium.m_velocity;
 			const btScalar rel_v_len = rel_v.length();
-			const btScalar	rel_v2 = rel_v.length2();
+			const btScalar rel_v2 = rel_v.length2();
 
-			if(rel_v2>SIMD_EPSILON)
+			if (rel_v2 > SIMD_EPSILON)
 			{
 				const btVector3 rel_v_nrm = rel_v.normalized();
-				btVector3	nrm = n.m_n;						
+				btVector3 nrm = n.m_n;
 
 				if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
 				{
-					nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+					nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
 					btVector3 fDrag(0, 0, 0);
 					btVector3 fLift(0, 0, 0);
 
 					btScalar n_dot_v = nrm.dot(rel_v_nrm);
 					btScalar tri_area = 0.5f * n.m_area;
-							
+
 					fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
-							
+
 					// Check angle of attack
 					// cos(10º) = 0.98480
-					if ( 0 < n_dot_v && n_dot_v < 0.98480f)
-						fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+					if (0 < n_dot_v && n_dot_v < 0.98480f)
+						fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
 
 					// Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
-					btVector3 del_v_by_fDrag = fDrag*n.m_im*m_sst.sdt;										
+					btVector3 del_v_by_fDrag = fDrag * n.m_im * m_sst.sdt;
 					btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
 					btScalar v_len2 = n.m_v.length2();
 
@@ -516,7 +531,7 @@ void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
 					{
 						btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
 						btScalar v_len = n.m_v.length();
-						fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len);
+						fDrag *= btScalar(0.8) * (v_len / del_v_by_fDrag_len);
 					}
 
 					n.m_f += fDrag;
@@ -525,83 +540,83 @@ void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
 				else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
 				{
 					if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
-						nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+						nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
 
-					const btScalar dvn = btDot(rel_v,nrm);
-					/* Compute forces	*/ 
-					if(dvn>0)
+					const btScalar dvn = btDot(rel_v, nrm);
+					/* Compute forces	*/
+					if (dvn > 0)
 					{
-						btVector3		force(0,0,0);
-						const btScalar	c0	=	n.m_area * dvn * rel_v2/2;
-						const btScalar	c1	=	c0 * medium.m_density;
-						force	+=	nrm*(-c1*kLF);
-						force	+=	rel_v.normalized() * (-c1 * kDG);
+						btVector3 force(0, 0, 0);
+						const btScalar c0 = n.m_area * dvn * rel_v2 / 2;
+						const btScalar c1 = c0 * medium.m_density;
+						force += nrm * (-c1 * kLF);
+						force += rel_v.normalized() * (-c1 * kDG);
 						ApplyClampedForce(n, force, dt);
 					}
-				}	
+				}
 			}
 		}
 	}
 }
 
-void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceIndex)
+void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex)
 {
 	const btScalar dt = m_sst.sdt;
 	const btScalar kLF = m_cfg.kLF;
 	const btScalar kDG = m_cfg.kDG;
-//	const btScalar kPR = m_cfg.kPR;
-//	const btScalar kVC = m_cfg.kVC;
-	const bool as_lift = kLF>0;
-	const bool as_drag = kDG>0;
+	//	const btScalar kPR = m_cfg.kPR;
+	//	const btScalar kVC = m_cfg.kVC;
+	const bool as_lift = kLF > 0;
+	const bool as_drag = kDG > 0;
 	const bool as_aero = as_lift || as_drag;
 	const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
 
-	if(as_faero)
+	if (as_faero)
 	{
-		btSoftBody::Face&	f=m_faces[faceIndex];
+		btSoftBody::Face& f = m_faces[faceIndex];
 
-		btSoftBody::sMedium	medium;
-		
-		const btVector3	v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
-		const btVector3	x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
-		EvaluateMedium(m_worldInfo,x,medium);
+		btSoftBody::sMedium medium;
+
+		const btVector3 v = (f.m_n[0]->m_v + f.m_n[1]->m_v + f.m_n[2]->m_v) / 3;
+		const btVector3 x = (f.m_n[0]->m_x + f.m_n[1]->m_x + f.m_n[2]->m_x) / 3;
+		EvaluateMedium(m_worldInfo, x, medium);
 		medium.m_velocity = windVelocity;
 		medium.m_density = m_worldInfo->air_density;
-		const btVector3	rel_v=v-medium.m_velocity;
+		const btVector3 rel_v = v - medium.m_velocity;
 		const btScalar rel_v_len = rel_v.length();
-		const btScalar	rel_v2=rel_v.length2();
+		const btScalar rel_v2 = rel_v.length2();
 
-		if(rel_v2>SIMD_EPSILON)
+		if (rel_v2 > SIMD_EPSILON)
 		{
 			const btVector3 rel_v_nrm = rel_v.normalized();
-			btVector3	nrm = f.m_normal;
+			btVector3 nrm = f.m_normal;
 
 			if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
 			{
-				nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+				nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
 
 				btVector3 fDrag(0, 0, 0);
 				btVector3 fLift(0, 0, 0);
 
 				btScalar n_dot_v = nrm.dot(rel_v_nrm);
 				btScalar tri_area = 0.5f * f.m_ra;
-					
+
 				fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
 
 				// Check angle of attack
 				// cos(10º) = 0.98480
-				if ( 0 < n_dot_v && n_dot_v < 0.98480f)
-					fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+				if (0 < n_dot_v && n_dot_v < 0.98480f)
+					fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
 
 				fDrag /= 3;
 				fLift /= 3;
 
-				for(int j=0;j<3;++j) 
+				for (int j = 0; j < 3; ++j)
 				{
-					if (f.m_n[j]->m_im>0)
+					if (f.m_n[j]->m_im > 0)
 					{
 						// Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
-						btVector3 del_v_by_fDrag = fDrag*f.m_n[j]->m_im*m_sst.sdt;										
+						btVector3 del_v_by_fDrag = fDrag * f.m_n[j]->m_im * m_sst.sdt;
 						btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
 						btScalar v_len2 = f.m_n[j]->m_v.length2();
 
@@ -609,10 +624,10 @@ void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
 						{
 							btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
 							btScalar v_len = f.m_n[j]->m_v.length();
-							fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len);
+							fDrag *= btScalar(0.8) * (v_len / del_v_by_fDrag_len);
 						}
 
-						f.m_n[j]->m_f += fDrag; 
+						f.m_n[j]->m_f += fDrag;
 						f.m_n[j]->m_f += fLift;
 					}
 				}
@@ -620,183 +635,181 @@ void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
 			else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
 			{
 				if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
-					nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+					nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
 
-				const btScalar	dvn=btDot(rel_v,nrm);
-				/* Compute forces	*/ 
-				if(dvn>0)
+				const btScalar dvn = btDot(rel_v, nrm);
+				/* Compute forces	*/
+				if (dvn > 0)
 				{
-					btVector3		force(0,0,0);
-					const btScalar	c0	=	f.m_ra*dvn*rel_v2;
-					const btScalar	c1	=	c0*medium.m_density;
-					force	+=	nrm*(-c1*kLF);
-					force	+=	rel_v.normalized()*(-c1*kDG);
-					force	/=	3;
-					for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
+					btVector3 force(0, 0, 0);
+					const btScalar c0 = f.m_ra * dvn * rel_v2;
+					const btScalar c1 = c0 * medium.m_density;
+					force += nrm * (-c1 * kLF);
+					force += rel_v.normalized() * (-c1 * kDG);
+					force /= 3;
+					for (int j = 0; j < 3; ++j) ApplyClampedForce(*f.m_n[j], force, dt);
 				}
 			}
 		}
 	}
-
 }
 
 //
-void			btSoftBody::addVelocity(const btVector3& velocity)
+void btSoftBody::addVelocity(const btVector3& velocity)
 {
-	for(int i=0,ni=m_nodes.size();i<ni;++i) addVelocity(velocity,i);
+	for (int i = 0, ni = m_nodes.size(); i < ni; ++i) addVelocity(velocity, i);
 }
 
-/* Set velocity for the entire body										*/ 
-void				btSoftBody::setVelocity(	const btVector3& velocity)
+/* Set velocity for the entire body										*/
+void btSoftBody::setVelocity(const btVector3& velocity)
 {
-	for(int i=0,ni=m_nodes.size();i<ni;++i) 
+	for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		Node&	n=m_nodes[i];
-		if(n.m_im>0)
+		Node& n = m_nodes[i];
+		if (n.m_im > 0)
 		{
-			n.m_v	=	velocity;
+			n.m_v = velocity;
 		}
 	}
 }
 
-
 //
-void			btSoftBody::addVelocity(const btVector3& velocity,int node)
+void btSoftBody::addVelocity(const btVector3& velocity, int node)
 {
-	Node&	n=m_nodes[node];
-	if(n.m_im>0)
+	Node& n = m_nodes[node];
+	if (n.m_im > 0)
 	{
-		n.m_v	+=	velocity;
+		n.m_v += velocity;
 	}
 }
 
 //
-void			btSoftBody::setMass(int node,btScalar mass)
+void btSoftBody::setMass(int node, btScalar mass)
 {
-	m_nodes[node].m_im=mass>0?1/mass:0;
-	m_bUpdateRtCst=true;
+	m_nodes[node].m_im = mass > 0 ? 1 / mass : 0;
+	m_bUpdateRtCst = true;
 }
 
 //
-btScalar		btSoftBody::getMass(int node) const
+btScalar btSoftBody::getMass(int node) const
 {
-	return(m_nodes[node].m_im>0?1/m_nodes[node].m_im:0);
+	return (m_nodes[node].m_im > 0 ? 1 / m_nodes[node].m_im : 0);
 }
 
 //
-btScalar		btSoftBody::getTotalMass() const
+btScalar btSoftBody::getTotalMass() const
 {
-	btScalar	mass=0;
-	for(int i=0;i<m_nodes.size();++i)
+	btScalar mass = 0;
+	for (int i = 0; i < m_nodes.size(); ++i)
 	{
-		mass+=getMass(i);
+		mass += getMass(i);
 	}
-	return(mass);
+	return (mass);
 }
 
 //
-void			btSoftBody::setTotalMass(btScalar mass,bool fromfaces)
+void btSoftBody::setTotalMass(btScalar mass, bool fromfaces)
 {
 	int i;
 
-	if(fromfaces)
+	if (fromfaces)
 	{
-
-		for(i=0;i<m_nodes.size();++i)
+		for (i = 0; i < m_nodes.size(); ++i)
 		{
-			m_nodes[i].m_im=0;
+			m_nodes[i].m_im = 0;
 		}
-		for(i=0;i<m_faces.size();++i)
+		for (i = 0; i < m_faces.size(); ++i)
 		{
-			const Face&		f=m_faces[i];
-			const btScalar	twicearea=AreaOf(	f.m_n[0]->m_x,
-				f.m_n[1]->m_x,
-				f.m_n[2]->m_x);
-			for(int j=0;j<3;++j)
+			const Face& f = m_faces[i];
+			const btScalar twicearea = AreaOf(f.m_n[0]->m_x,
+											  f.m_n[1]->m_x,
+											  f.m_n[2]->m_x);
+			for (int j = 0; j < 3; ++j)
 			{
-				f.m_n[j]->m_im+=twicearea;
+				f.m_n[j]->m_im += twicearea;
 			}
 		}
-		for( i=0;i<m_nodes.size();++i)
+		for (i = 0; i < m_nodes.size(); ++i)
 		{
-			m_nodes[i].m_im=1/m_nodes[i].m_im;
+			m_nodes[i].m_im = 1 / m_nodes[i].m_im;
 		}
 	}
-	const btScalar	tm=getTotalMass();
-	const btScalar	itm=1/tm;
-	for( i=0;i<m_nodes.size();++i)
+	const btScalar tm = getTotalMass();
+	const btScalar itm = 1 / tm;
+	for (i = 0; i < m_nodes.size(); ++i)
 	{
-		m_nodes[i].m_im/=itm*mass;
+		m_nodes[i].m_im /= itm * mass;
 	}
-	m_bUpdateRtCst=true;
+	m_bUpdateRtCst = true;
 }
 
 //
-void			btSoftBody::setTotalDensity(btScalar density)
+void btSoftBody::setTotalDensity(btScalar density)
 {
-	setTotalMass(getVolume()*density,true);
+	setTotalMass(getVolume() * density, true);
 }
 
 //
-void			btSoftBody::setVolumeMass(btScalar mass)
+void btSoftBody::setVolumeMass(btScalar mass)
 {
-btAlignedObjectArray<btScalar>	ranks;
-ranks.resize(m_nodes.size(),0);
-int i;
+	btAlignedObjectArray<btScalar> ranks;
+	ranks.resize(m_nodes.size(), 0);
+	int i;
 
-for(i=0;i<m_nodes.size();++i)
+	for (i = 0; i < m_nodes.size(); ++i)
 	{
-	m_nodes[i].m_im=0;
+		m_nodes[i].m_im = 0;
 	}
-for(i=0;i<m_tetras.size();++i)
+	for (i = 0; i < m_tetras.size(); ++i)
 	{
-	const Tetra& t=m_tetras[i];
-	for(int j=0;j<4;++j)
+		const Tetra& t = m_tetras[i];
+		for (int j = 0; j < 4; ++j)
 		{
-		t.m_n[j]->m_im+=btFabs(t.m_rv);
-		ranks[int(t.m_n[j]-&m_nodes[0])]+=1;
+			t.m_n[j]->m_im += btFabs(t.m_rv);
+			ranks[int(t.m_n[j] - &m_nodes[0])] += 1;
 		}
 	}
-for( i=0;i<m_nodes.size();++i)
+	for (i = 0; i < m_nodes.size(); ++i)
 	{
-	if(m_nodes[i].m_im>0)
+		if (m_nodes[i].m_im > 0)
 		{
-		m_nodes[i].m_im=ranks[i]/m_nodes[i].m_im;
+			m_nodes[i].m_im = ranks[i] / m_nodes[i].m_im;
 		}
 	}
-setTotalMass(mass,false);
+	setTotalMass(mass, false);
 }
 
 //
-void			btSoftBody::setVolumeDensity(btScalar density)
+void btSoftBody::setVolumeDensity(btScalar density)
 {
-btScalar	volume=0;
-for(int i=0;i<m_tetras.size();++i)
+	btScalar volume = 0;
+	for (int i = 0; i < m_tetras.size(); ++i)
 	{
-	const Tetra& t=m_tetras[i];
-	for(int j=0;j<4;++j)
+		const Tetra& t = m_tetras[i];
+		for (int j = 0; j < 4; ++j)
 		{
-		volume+=btFabs(t.m_rv);
+			volume += btFabs(t.m_rv);
 		}
 	}
-setVolumeMass(volume*density/6);
+	setVolumeMass(volume * density / 6);
 }
 
 //
-void			btSoftBody::transform(const btTransform& trs)
+void btSoftBody::transform(const btTransform& trs)
 {
-	const btScalar	margin=getCollisionShape()->getMargin();
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	vol;
-	
-	for(int i=0,ni=m_nodes.size();i<ni;++i)
+	const btScalar margin = getCollisionShape()->getMargin();
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)
+	vol;
+
+	for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		Node&	n=m_nodes[i];
-		n.m_x=trs*n.m_x;
-		n.m_q=trs*n.m_q;
-		n.m_n=trs.getBasis()*n.m_n;
-		vol = btDbvtVolume::FromCR(n.m_x,margin);
-		
-		m_ndbvt.update(n.m_leaf,vol);
+		Node& n = m_nodes[i];
+		n.m_x = trs * n.m_x;
+		n.m_q = trs * n.m_q;
+		n.m_n = trs.getBasis() * n.m_n;
+		vol = btDbvtVolume::FromCR(n.m_x, margin);
+
+		m_ndbvt.update(n.m_leaf, vol);
 	}
 	updateNormals();
 	updateBounds();
@@ -805,37 +818,37 @@ void			btSoftBody::transform(const btTransform& trs)
 }
 
 //
-void			btSoftBody::translate(const btVector3& trs)
+void btSoftBody::translate(const btVector3& trs)
 {
-	btTransform	t;
+	btTransform t;
 	t.setIdentity();
 	t.setOrigin(trs);
 	transform(t);
 }
 
 //
-void			btSoftBody::rotate(	const btQuaternion& rot)
+void btSoftBody::rotate(const btQuaternion& rot)
 {
-	btTransform	t;
+	btTransform t;
 	t.setIdentity();
 	t.setRotation(rot);
 	transform(t);
 }
 
 //
-void			btSoftBody::scale(const btVector3& scl)
+void btSoftBody::scale(const btVector3& scl)
 {
+	const btScalar margin = getCollisionShape()->getMargin();
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)
+	vol;
 
-	const btScalar	margin=getCollisionShape()->getMargin();
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	vol;
-	
-	for(int i=0,ni=m_nodes.size();i<ni;++i)
+	for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		Node&	n=m_nodes[i];
-		n.m_x*=scl;
-		n.m_q*=scl;
-		vol = btDbvtVolume::FromCR(n.m_x,margin);
-		m_ndbvt.update(n.m_leaf,vol);
+		Node& n = m_nodes[i];
+		n.m_x *= scl;
+		n.m_q *= scl;
+		vol = btDbvtVolume::FromCR(n.m_x, margin);
+		m_ndbvt.update(n.m_leaf, vol);
 	}
 	updateNormals();
 	updateBounds();
@@ -851,437 +864,432 @@ btScalar btSoftBody::getRestLengthScale()
 //
 void btSoftBody::setRestLengthScale(btScalar restLengthScale)
 {
-	for(int i=0, ni=m_links.size(); i<ni; ++i)
+	for (int i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		Link&		l=m_links[i];
-		l.m_rl	=	l.m_rl / m_restLengthScale * restLengthScale;
-		l.m_c1	=	l.m_rl*l.m_rl;
+		Link& l = m_links[i];
+		l.m_rl = l.m_rl / m_restLengthScale * restLengthScale;
+		l.m_c1 = l.m_rl * l.m_rl;
 	}
 	m_restLengthScale = restLengthScale;
-	
+
 	if (getActivationState() == ISLAND_SLEEPING)
 		activate();
 }
 
 //
-void			btSoftBody::setPose(bool bvolume,bool bframe)
+void btSoftBody::setPose(bool bvolume, bool bframe)
 {
-	m_pose.m_bvolume	=	bvolume;
-	m_pose.m_bframe		=	bframe;
-	int i,ni;
+	m_pose.m_bvolume = bvolume;
+	m_pose.m_bframe = bframe;
+	int i, ni;
 
-	/* Weights		*/ 
-	const btScalar	omass=getTotalMass();
-	const btScalar	kmass=omass*m_nodes.size()*1000;
-	btScalar		tmass=omass;
+	/* Weights		*/
+	const btScalar omass = getTotalMass();
+	const btScalar kmass = omass * m_nodes.size() * 1000;
+	btScalar tmass = omass;
 	m_pose.m_wgh.resize(m_nodes.size());
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		if(m_nodes[i].m_im<=0) tmass+=kmass;
+		if (m_nodes[i].m_im <= 0) tmass += kmass;
 	}
-	for( i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		Node&	n=m_nodes[i];
-		m_pose.m_wgh[i]=	n.m_im>0					?
-			1/(m_nodes[i].m_im*tmass)	:
-		kmass/tmass;
+		Node& n = m_nodes[i];
+		m_pose.m_wgh[i] = n.m_im > 0 ? 1 / (m_nodes[i].m_im * tmass) : kmass / tmass;
 	}
-	/* Pos		*/ 
-	const btVector3	com=evaluateCom();
+	/* Pos		*/
+	const btVector3 com = evaluateCom();
 	m_pose.m_pos.resize(m_nodes.size());
-	for( i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		m_pose.m_pos[i]=m_nodes[i].m_x-com;
+		m_pose.m_pos[i] = m_nodes[i].m_x - com;
 	}
-	m_pose.m_volume	=	bvolume?getVolume():0;
-	m_pose.m_com	=	com;
+	m_pose.m_volume = bvolume ? getVolume() : 0;
+	m_pose.m_com = com;
 	m_pose.m_rot.setIdentity();
 	m_pose.m_scl.setIdentity();
-	/* Aqq		*/ 
-	m_pose.m_aqq[0]	=
-		m_pose.m_aqq[1]	=
-		m_pose.m_aqq[2]	=	btVector3(0,0,0);
-	for( i=0,ni=m_nodes.size();i<ni;++i)
-	{
-		const btVector3&	q=m_pose.m_pos[i];
-		const btVector3		mq=m_pose.m_wgh[i]*q;
-		m_pose.m_aqq[0]+=mq.x()*q;
-		m_pose.m_aqq[1]+=mq.y()*q;
-		m_pose.m_aqq[2]+=mq.z()*q;
-	}
-	m_pose.m_aqq=m_pose.m_aqq.inverse();
-	
+	/* Aqq		*/
+	m_pose.m_aqq[0] =
+		m_pose.m_aqq[1] =
+			m_pose.m_aqq[2] = btVector3(0, 0, 0);
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
+	{
+		const btVector3& q = m_pose.m_pos[i];
+		const btVector3 mq = m_pose.m_wgh[i] * q;
+		m_pose.m_aqq[0] += mq.x() * q;
+		m_pose.m_aqq[1] += mq.y() * q;
+		m_pose.m_aqq[2] += mq.z() * q;
+	}
+	m_pose.m_aqq = m_pose.m_aqq.inverse();
+
 	updateConstants();
 }
 
-void				btSoftBody::resetLinkRestLengths()
+void btSoftBody::resetLinkRestLengths()
 {
-	for(int i=0, ni=m_links.size();i<ni;++i)
+	for (int i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		Link& l =	m_links[i];
-		l.m_rl	=	(l.m_n[0]->m_x-l.m_n[1]->m_x).length();
-		l.m_c1	=	l.m_rl*l.m_rl;
+		Link& l = m_links[i];
+		l.m_rl = (l.m_n[0]->m_x - l.m_n[1]->m_x).length();
+		l.m_c1 = l.m_rl * l.m_rl;
 	}
 }
 
 //
-btScalar		btSoftBody::getVolume() const
+btScalar btSoftBody::getVolume() const
 {
-	btScalar	vol=0;
-	if(m_nodes.size()>0)
+	btScalar vol = 0;
+	if (m_nodes.size() > 0)
 	{
-		int i,ni;
+		int i, ni;
 
-		const btVector3	org=m_nodes[0].m_x;
-		for(i=0,ni=m_faces.size();i<ni;++i)
+		const btVector3 org = m_nodes[0].m_x;
+		for (i = 0, ni = m_faces.size(); i < ni; ++i)
 		{
-			const Face&	f=m_faces[i];
-			vol+=btDot(f.m_n[0]->m_x-org,btCross(f.m_n[1]->m_x-org,f.m_n[2]->m_x-org));
+			const Face& f = m_faces[i];
+			vol += btDot(f.m_n[0]->m_x - org, btCross(f.m_n[1]->m_x - org, f.m_n[2]->m_x - org));
 		}
-		vol/=(btScalar)6;
+		vol /= (btScalar)6;
 	}
-	return(vol);
+	return (vol);
 }
 
 //
-int				btSoftBody::clusterCount() const
+int btSoftBody::clusterCount() const
 {
-	return(m_clusters.size());
+	return (m_clusters.size());
 }
 
 //
-btVector3		btSoftBody::clusterCom(const Cluster* cluster)
+btVector3 btSoftBody::clusterCom(const Cluster* cluster)
 {
-	btVector3		com(0,0,0);
-	for(int i=0,ni=cluster->m_nodes.size();i<ni;++i)
+	btVector3 com(0, 0, 0);
+	for (int i = 0, ni = cluster->m_nodes.size(); i < ni; ++i)
 	{
-		com+=cluster->m_nodes[i]->m_x*cluster->m_masses[i];
+		com += cluster->m_nodes[i]->m_x * cluster->m_masses[i];
 	}
-	return(com*cluster->m_imass);
+	return (com * cluster->m_imass);
 }
 
 //
-btVector3		btSoftBody::clusterCom(int cluster) const
+btVector3 btSoftBody::clusterCom(int cluster) const
 {
-	return(clusterCom(m_clusters[cluster]));
+	return (clusterCom(m_clusters[cluster]));
 }
 
 //
-btVector3		btSoftBody::clusterVelocity(const Cluster* cluster,const btVector3& rpos)
+btVector3 btSoftBody::clusterVelocity(const Cluster* cluster, const btVector3& rpos)
 {
-	return(cluster->m_lv+btCross(cluster->m_av,rpos));
+	return (cluster->m_lv + btCross(cluster->m_av, rpos));
 }
 
 //
-void			btSoftBody::clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse)
+void btSoftBody::clusterVImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse)
 {
-	const btVector3	li=cluster->m_imass*impulse;
-	const btVector3	ai=cluster->m_invwi*btCross(rpos,impulse);
-	cluster->m_vimpulses[0]+=li;cluster->m_lv+=li;
-	cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
+	const btVector3 li = cluster->m_imass * impulse;
+	const btVector3 ai = cluster->m_invwi * btCross(rpos, impulse);
+	cluster->m_vimpulses[0] += li;
+	cluster->m_lv += li;
+	cluster->m_vimpulses[1] += ai;
+	cluster->m_av += ai;
 	cluster->m_nvimpulses++;
 }
 
 //
-void			btSoftBody::clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse)
+void btSoftBody::clusterDImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse)
 {
-	const btVector3	li=cluster->m_imass*impulse;
-	const btVector3	ai=cluster->m_invwi*btCross(rpos,impulse);
-	cluster->m_dimpulses[0]+=li;
-	cluster->m_dimpulses[1]+=ai;
+	const btVector3 li = cluster->m_imass * impulse;
+	const btVector3 ai = cluster->m_invwi * btCross(rpos, impulse);
+	cluster->m_dimpulses[0] += li;
+	cluster->m_dimpulses[1] += ai;
 	cluster->m_ndimpulses++;
 }
 
 //
-void			btSoftBody::clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse)
+void btSoftBody::clusterImpulse(Cluster* cluster, const btVector3& rpos, const Impulse& impulse)
 {
-	if(impulse.m_asVelocity)	clusterVImpulse(cluster,rpos,impulse.m_velocity);
-	if(impulse.m_asDrift)		clusterDImpulse(cluster,rpos,impulse.m_drift);
+	if (impulse.m_asVelocity) clusterVImpulse(cluster, rpos, impulse.m_velocity);
+	if (impulse.m_asDrift) clusterDImpulse(cluster, rpos, impulse.m_drift);
 }
 
 //
-void			btSoftBody::clusterVAImpulse(Cluster* cluster,const btVector3& impulse)
+void btSoftBody::clusterVAImpulse(Cluster* cluster, const btVector3& impulse)
 {
-	const btVector3	ai=cluster->m_invwi*impulse;
-	cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
+	const btVector3 ai = cluster->m_invwi * impulse;
+	cluster->m_vimpulses[1] += ai;
+	cluster->m_av += ai;
 	cluster->m_nvimpulses++;
 }
 
 //
-void			btSoftBody::clusterDAImpulse(Cluster* cluster,const btVector3& impulse)
+void btSoftBody::clusterDAImpulse(Cluster* cluster, const btVector3& impulse)
 {
-	const btVector3	ai=cluster->m_invwi*impulse;
-	cluster->m_dimpulses[1]+=ai;
+	const btVector3 ai = cluster->m_invwi * impulse;
+	cluster->m_dimpulses[1] += ai;
 	cluster->m_ndimpulses++;
 }
 
 //
-void			btSoftBody::clusterAImpulse(Cluster* cluster,const Impulse& impulse)
+void btSoftBody::clusterAImpulse(Cluster* cluster, const Impulse& impulse)
 {
-	if(impulse.m_asVelocity)	clusterVAImpulse(cluster,impulse.m_velocity);
-	if(impulse.m_asDrift)		clusterDAImpulse(cluster,impulse.m_drift);
+	if (impulse.m_asVelocity) clusterVAImpulse(cluster, impulse.m_velocity);
+	if (impulse.m_asDrift) clusterDAImpulse(cluster, impulse.m_drift);
 }
 
 //
-void			btSoftBody::clusterDCImpulse(Cluster* cluster,const btVector3& impulse)
+void btSoftBody::clusterDCImpulse(Cluster* cluster, const btVector3& impulse)
 {
-	cluster->m_dimpulses[0]+=impulse*cluster->m_imass;
+	cluster->m_dimpulses[0] += impulse * cluster->m_imass;
 	cluster->m_ndimpulses++;
 }
 
 struct NodeLinks
 {
-    btAlignedObjectArray<int> m_links;
+	btAlignedObjectArray<int> m_links;
 };
 
-
-
 //
-int				btSoftBody::generateBendingConstraints(int distance,Material* mat)
+int btSoftBody::generateBendingConstraints(int distance, Material* mat)
 {
-	int i,j;
+	int i, j;
 
-	if(distance>1)
+	if (distance > 1)
 	{
-		/* Build graph	*/ 
-		const int		n=m_nodes.size();
-		const unsigned	inf=(~(unsigned)0)>>1;
-		unsigned*		adj=new unsigned[n*n];
-		
+		/* Build graph	*/
+		const int n = m_nodes.size();
+		const unsigned inf = (~(unsigned)0) >> 1;
+		unsigned* adj = new unsigned[n * n];
 
-#define IDX(_x_,_y_)	((_y_)*n+(_x_))
-		for(j=0;j<n;++j)
+#define IDX(_x_, _y_) ((_y_)*n + (_x_))
+		for (j = 0; j < n; ++j)
 		{
-			for(i=0;i<n;++i)
+			for (i = 0; i < n; ++i)
 			{
-				if(i!=j)
+				if (i != j)
 				{
-					adj[IDX(i,j)]=adj[IDX(j,i)]=inf;
+					adj[IDX(i, j)] = adj[IDX(j, i)] = inf;
 				}
 				else
 				{
-					adj[IDX(i,j)]=adj[IDX(j,i)]=0;
+					adj[IDX(i, j)] = adj[IDX(j, i)] = 0;
 				}
 			}
 		}
-		for( i=0;i<m_links.size();++i)
+		for (i = 0; i < m_links.size(); ++i)
 		{
-			const int	ia=(int)(m_links[i].m_n[0]-&m_nodes[0]);
-			const int	ib=(int)(m_links[i].m_n[1]-&m_nodes[0]);
-			adj[IDX(ia,ib)]=1;
-			adj[IDX(ib,ia)]=1;
+			const int ia = (int)(m_links[i].m_n[0] - &m_nodes[0]);
+			const int ib = (int)(m_links[i].m_n[1] - &m_nodes[0]);
+			adj[IDX(ia, ib)] = 1;
+			adj[IDX(ib, ia)] = 1;
 		}
 
-
 		//special optimized case for distance == 2
 		if (distance == 2)
 		{
-
 			btAlignedObjectArray<NodeLinks> nodeLinks;
 
-
 			/* Build node links */
 			nodeLinks.resize(m_nodes.size());
 
-			for( i=0;i<m_links.size();++i)
+			for (i = 0; i < m_links.size(); ++i)
 			{
-				const int	ia=(int)(m_links[i].m_n[0]-&m_nodes[0]);
-				const int	ib=(int)(m_links[i].m_n[1]-&m_nodes[0]);
-				if (nodeLinks[ia].m_links.findLinearSearch(ib)==nodeLinks[ia].m_links.size())
+				const int ia = (int)(m_links[i].m_n[0] - &m_nodes[0]);
+				const int ib = (int)(m_links[i].m_n[1] - &m_nodes[0]);
+				if (nodeLinks[ia].m_links.findLinearSearch(ib) == nodeLinks[ia].m_links.size())
 					nodeLinks[ia].m_links.push_back(ib);
 
-				if (nodeLinks[ib].m_links.findLinearSearch(ia)==nodeLinks[ib].m_links.size())
+				if (nodeLinks[ib].m_links.findLinearSearch(ia) == nodeLinks[ib].m_links.size())
 					nodeLinks[ib].m_links.push_back(ia);
 			}
-			for (int ii=0;ii<nodeLinks.size();ii++)
+			for (int ii = 0; ii < nodeLinks.size(); ii++)
 			{
-				int i=ii;
+				int i = ii;
 
-				for (int jj=0;jj<nodeLinks[ii].m_links.size();jj++)
+				for (int jj = 0; jj < nodeLinks[ii].m_links.size(); jj++)
 				{
 					int k = nodeLinks[ii].m_links[jj];
-					for (int kk=0;kk<nodeLinks[k].m_links.size();kk++)
+					for (int kk = 0; kk < nodeLinks[k].m_links.size(); kk++)
 					{
 						int j = nodeLinks[k].m_links[kk];
-						if (i!=j)
+						if (i != j)
 						{
-							const unsigned	sum=adj[IDX(i,k)]+adj[IDX(k,j)];
-							btAssert(sum==2);
-							if(adj[IDX(i,j)]>sum)
+							const unsigned sum = adj[IDX(i, k)] + adj[IDX(k, j)];
+							btAssert(sum == 2);
+							if (adj[IDX(i, j)] > sum)
 							{
-								adj[IDX(i,j)]=adj[IDX(j,i)]=sum;
+								adj[IDX(i, j)] = adj[IDX(j, i)] = sum;
 							}
 						}
-
 					}
 				}
 			}
-		} else
+		}
+		else
 		{
 			///generic Floyd's algorithm
-			for(int k=0;k<n;++k)
+			for (int k = 0; k < n; ++k)
 			{
-				for(j=0;j<n;++j)
+				for (j = 0; j < n; ++j)
 				{
-					for(i=j+1;i<n;++i)
+					for (i = j + 1; i < n; ++i)
 					{
-						const unsigned	sum=adj[IDX(i,k)]+adj[IDX(k,j)];
-						if(adj[IDX(i,j)]>sum)
+						const unsigned sum = adj[IDX(i, k)] + adj[IDX(k, j)];
+						if (adj[IDX(i, j)] > sum)
 						{
-							adj[IDX(i,j)]=adj[IDX(j,i)]=sum;
+							adj[IDX(i, j)] = adj[IDX(j, i)] = sum;
 						}
 					}
 				}
 			}
 		}
 
-
-		/* Build links	*/ 
-		int	nlinks=0;
-		for(j=0;j<n;++j)
+		/* Build links	*/
+		int nlinks = 0;
+		for (j = 0; j < n; ++j)
 		{
-			for(i=j+1;i<n;++i)
+			for (i = j + 1; i < n; ++i)
 			{
-				if(adj[IDX(i,j)]==(unsigned)distance)
+				if (adj[IDX(i, j)] == (unsigned)distance)
 				{
-					appendLink(i,j,mat);
-					m_links[m_links.size()-1].m_bbending=1;
+					appendLink(i, j, mat);
+					m_links[m_links.size() - 1].m_bbending = 1;
 					++nlinks;
 				}
 			}
 		}
-		delete[] adj;		
-		return(nlinks);
+		delete[] adj;
+		return (nlinks);
 	}
-	return(0);
+	return (0);
 }
 
 //
-void			btSoftBody::randomizeConstraints()
+void btSoftBody::randomizeConstraints()
 {
-	unsigned long	seed=243703;
-#define NEXTRAND (seed=(1664525L*seed+1013904223L)&0xffffffff)
-	int i,ni;
+	unsigned long seed = 243703;
+#define NEXTRAND (seed = (1664525L * seed + 1013904223L) & 0xffffffff)
+	int i, ni;
 
-	for(i=0,ni=m_links.size();i<ni;++i)
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		btSwap(m_links[i],m_links[NEXTRAND%ni]);
+		btSwap(m_links[i], m_links[NEXTRAND % ni]);
 	}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		btSwap(m_faces[i],m_faces[NEXTRAND%ni]);
+		btSwap(m_faces[i], m_faces[NEXTRAND % ni]);
 	}
 #undef NEXTRAND
 }
 
 //
-void			btSoftBody::releaseCluster(int index)
+void btSoftBody::releaseCluster(int index)
 {
-	Cluster*	c=m_clusters[index];
-	if(c->m_leaf) m_cdbvt.remove(c->m_leaf);
+	Cluster* c = m_clusters[index];
+	if (c->m_leaf) m_cdbvt.remove(c->m_leaf);
 	c->~Cluster();
 	btAlignedFree(c);
 	m_clusters.remove(c);
 }
 
 //
-void			btSoftBody::releaseClusters()
+void btSoftBody::releaseClusters()
 {
-	while(m_clusters.size()>0) releaseCluster(0);
+	while (m_clusters.size() > 0) releaseCluster(0);
 }
 
 //
-int				btSoftBody::generateClusters(int k,int maxiterations)
+int btSoftBody::generateClusters(int k, int maxiterations)
 {
 	int i;
 	releaseClusters();
-	m_clusters.resize(btMin(k,m_nodes.size()));
-	for(i=0;i<m_clusters.size();++i)
-	{
-		m_clusters[i]			=	new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
-		m_clusters[i]->m_collide=	true;
-	}
-	k=m_clusters.size();
-	if(k>0)
-	{
-		/* Initialize		*/ 
-		btAlignedObjectArray<btVector3>	centers;
-		btVector3						cog(0,0,0);
-		int								i;
-		for(i=0;i<m_nodes.size();++i)
-		{
-			cog+=m_nodes[i].m_x;
-			m_clusters[(i*29873)%m_clusters.size()]->m_nodes.push_back(&m_nodes[i]);
-		}
-		cog/=(btScalar)m_nodes.size();
-		centers.resize(k,cog);
-		/* Iterate			*/ 
-		const btScalar	slope=16;
-		bool			changed;
-		int				iterations=0;
-		do	{
-			const btScalar	w=2-btMin<btScalar>(1,iterations/slope);
-			changed=false;
-			iterations++;	
+	m_clusters.resize(btMin(k, m_nodes.size()));
+	for (i = 0; i < m_clusters.size(); ++i)
+	{
+		m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
+		m_clusters[i]->m_collide = true;
+	}
+	k = m_clusters.size();
+	if (k > 0)
+	{
+		/* Initialize		*/
+		btAlignedObjectArray<btVector3> centers;
+		btVector3 cog(0, 0, 0);
+		int i;
+		for (i = 0; i < m_nodes.size(); ++i)
+		{
+			cog += m_nodes[i].m_x;
+			m_clusters[(i * 29873) % m_clusters.size()]->m_nodes.push_back(&m_nodes[i]);
+		}
+		cog /= (btScalar)m_nodes.size();
+		centers.resize(k, cog);
+		/* Iterate			*/
+		const btScalar slope = 16;
+		bool changed;
+		int iterations = 0;
+		do
+		{
+			const btScalar w = 2 - btMin<btScalar>(1, iterations / slope);
+			changed = false;
+			iterations++;
 			int i;
 
-			for(i=0;i<k;++i)
+			for (i = 0; i < k; ++i)
 			{
-				btVector3	c(0,0,0);
-				for(int j=0;j<m_clusters[i]->m_nodes.size();++j)
+				btVector3 c(0, 0, 0);
+				for (int j = 0; j < m_clusters[i]->m_nodes.size(); ++j)
 				{
-					c+=m_clusters[i]->m_nodes[j]->m_x;
+					c += m_clusters[i]->m_nodes[j]->m_x;
 				}
-				if(m_clusters[i]->m_nodes.size())
+				if (m_clusters[i]->m_nodes.size())
 				{
-					c			/=	(btScalar)m_clusters[i]->m_nodes.size();
-					c			=	centers[i]+(c-centers[i])*w;
-					changed		|=	((c-centers[i]).length2()>SIMD_EPSILON);
-					centers[i]	=	c;
+					c /= (btScalar)m_clusters[i]->m_nodes.size();
+					c = centers[i] + (c - centers[i]) * w;
+					changed |= ((c - centers[i]).length2() > SIMD_EPSILON);
+					centers[i] = c;
 					m_clusters[i]->m_nodes.resize(0);
-				}			
+				}
 			}
-			for(i=0;i<m_nodes.size();++i)
+			for (i = 0; i < m_nodes.size(); ++i)
 			{
-				const btVector3	nx=m_nodes[i].m_x;
-				int				kbest=0;
-				btScalar		kdist=ClusterMetric(centers[0],nx);
-				for(int j=1;j<k;++j)
+				const btVector3 nx = m_nodes[i].m_x;
+				int kbest = 0;
+				btScalar kdist = ClusterMetric(centers[0], nx);
+				for (int j = 1; j < k; ++j)
 				{
-					const btScalar	d=ClusterMetric(centers[j],nx);
-					if(d<kdist)
+					const btScalar d = ClusterMetric(centers[j], nx);
+					if (d < kdist)
 					{
-						kbest=j;
-						kdist=d;
+						kbest = j;
+						kdist = d;
 					}
 				}
 				m_clusters[kbest]->m_nodes.push_back(&m_nodes[i]);
-			}		
-		} while(changed&&(iterations<maxiterations));
-		/* Merge		*/ 
-		btAlignedObjectArray<int>	cids;
-		cids.resize(m_nodes.size(),-1);
-		for(i=0;i<m_clusters.size();++i)
+			}
+		} while (changed && (iterations < maxiterations));
+		/* Merge		*/
+		btAlignedObjectArray<int> cids;
+		cids.resize(m_nodes.size(), -1);
+		for (i = 0; i < m_clusters.size(); ++i)
 		{
-			for(int j=0;j<m_clusters[i]->m_nodes.size();++j)
+			for (int j = 0; j < m_clusters[i]->m_nodes.size(); ++j)
 			{
-				cids[int(m_clusters[i]->m_nodes[j]-&m_nodes[0])]=i;
+				cids[int(m_clusters[i]->m_nodes[j] - &m_nodes[0])] = i;
 			}
 		}
-		for(i=0;i<m_faces.size();++i)
+		for (i = 0; i < m_faces.size(); ++i)
 		{
-			const int idx[]={	int(m_faces[i].m_n[0]-&m_nodes[0]),
-				int(m_faces[i].m_n[1]-&m_nodes[0]),
-				int(m_faces[i].m_n[2]-&m_nodes[0])};
-			for(int j=0;j<3;++j)
+			const int idx[] = {int(m_faces[i].m_n[0] - &m_nodes[0]),
+							   int(m_faces[i].m_n[1] - &m_nodes[0]),
+							   int(m_faces[i].m_n[2] - &m_nodes[0])};
+			for (int j = 0; j < 3; ++j)
 			{
-				const int cid=cids[idx[j]];
-				for(int q=1;q<3;++q)
+				const int cid = cids[idx[j]];
+				for (int q = 1; q < 3; ++q)
 				{
-					const int kid=idx[(j+q)%3];
-					if(cids[kid]!=cid)
+					const int kid = idx[(j + q) % 3];
+					if (cids[kid] != cid)
 					{
-						if(m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid])==m_clusters[cid]->m_nodes.size())
+						if (m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid]) == m_clusters[cid]->m_nodes.size())
 						{
 							m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]);
 						}
@@ -1289,55 +1297,56 @@ int				btSoftBody::generateClusters(int k,int maxiterations)
 				}
 			}
 		}
-		/* Master		*/ 
-		if(m_clusters.size()>1)
+		/* Master		*/
+		if (m_clusters.size() > 1)
 		{
-			Cluster*	pmaster=new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
-			pmaster->m_collide	=	false;
+			Cluster* pmaster = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
+			pmaster->m_collide = false;
 			pmaster->m_nodes.reserve(m_nodes.size());
-			for(int i=0;i<m_nodes.size();++i) pmaster->m_nodes.push_back(&m_nodes[i]);
+			for (int i = 0; i < m_nodes.size(); ++i) pmaster->m_nodes.push_back(&m_nodes[i]);
 			m_clusters.push_back(pmaster);
-			btSwap(m_clusters[0],m_clusters[m_clusters.size()-1]);
+			btSwap(m_clusters[0], m_clusters[m_clusters.size() - 1]);
 		}
-		/* Terminate	*/ 
-		for(i=0;i<m_clusters.size();++i)
+		/* Terminate	*/
+		for (i = 0; i < m_clusters.size(); ++i)
 		{
-			if(m_clusters[i]->m_nodes.size()==0)
+			if (m_clusters[i]->m_nodes.size() == 0)
 			{
 				releaseCluster(i--);
 			}
 		}
-	} else
+	}
+	else
 	{
 		//create a cluster for each tetrahedron (if tetrahedra exist) or each face
 		if (m_tetras.size())
 		{
 			m_clusters.resize(m_tetras.size());
-			for(i=0;i<m_clusters.size();++i)
+			for (i = 0; i < m_clusters.size(); ++i)
 			{
-				m_clusters[i]			=	new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
-				m_clusters[i]->m_collide=	true;
+				m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
+				m_clusters[i]->m_collide = true;
 			}
-			for (i=0;i<m_tetras.size();i++)
+			for (i = 0; i < m_tetras.size(); i++)
 			{
-				for (int j=0;j<4;j++)
+				for (int j = 0; j < 4; j++)
 				{
 					m_clusters[i]->m_nodes.push_back(m_tetras[i].m_n[j]);
 				}
 			}
-
-		} else
+		}
+		else
 		{
 			m_clusters.resize(m_faces.size());
-			for(i=0;i<m_clusters.size();++i)
+			for (i = 0; i < m_clusters.size(); ++i)
 			{
-				m_clusters[i]			=	new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
-				m_clusters[i]->m_collide=	true;
+				m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
+				m_clusters[i]->m_collide = true;
 			}
 
-			for(i=0;i<m_faces.size();++i)
+			for (i = 0; i < m_faces.size(); ++i)
 			{
-				for(int j=0;j<3;++j)
+				for (int j = 0; j < 3; ++j)
 				{
 					m_clusters[i]->m_nodes.push_back(m_faces[i].m_n[j]);
 				}
@@ -1350,261 +1359,272 @@ int				btSoftBody::generateClusters(int k,int maxiterations)
 		initializeClusters();
 		updateClusters();
 
-
 		//for self-collision
-		m_clusterConnectivity.resize(m_clusters.size()*m_clusters.size());
+		m_clusterConnectivity.resize(m_clusters.size() * m_clusters.size());
 		{
-			for (int c0=0;c0<m_clusters.size();c0++)
+			for (int c0 = 0; c0 < m_clusters.size(); c0++)
 			{
-				m_clusters[c0]->m_clusterIndex=c0;
-				for (int c1=0;c1<m_clusters.size();c1++)
+				m_clusters[c0]->m_clusterIndex = c0;
+				for (int c1 = 0; c1 < m_clusters.size(); c1++)
 				{
-					
-					bool connected=false;
+					bool connected = false;
 					Cluster* cla = m_clusters[c0];
 					Cluster* clb = m_clusters[c1];
-					for (int i=0;!connected&&i<cla->m_nodes.size();i++)
+					for (int i = 0; !connected && i < cla->m_nodes.size(); i++)
 					{
-						for (int j=0;j<clb->m_nodes.size();j++)
+						for (int j = 0; j < clb->m_nodes.size(); j++)
 						{
 							if (cla->m_nodes[i] == clb->m_nodes[j])
 							{
-								connected=true;
+								connected = true;
 								break;
 							}
 						}
 					}
-					m_clusterConnectivity[c0+c1*m_clusters.size()]=connected;
+					m_clusterConnectivity[c0 + c1 * m_clusters.size()] = connected;
 				}
 			}
 		}
 	}
 
-	return(m_clusters.size());
+	return (m_clusters.size());
 }
 
 //
-void			btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
+void btSoftBody::refine(ImplicitFn* ifn, btScalar accurary, bool cut)
 {
-	const Node*			nbase = &m_nodes[0];
-	int					ncount = m_nodes.size();
-	btSymMatrix<int>	edges(ncount,-2);
-	int					newnodes=0;
-	int i,j,k,ni;
+	const Node* nbase = &m_nodes[0];
+	int ncount = m_nodes.size();
+	btSymMatrix<int> edges(ncount, -2);
+	int newnodes = 0;
+	int i, j, k, ni;
 
-	/* Filter out		*/ 
-	for(i=0;i<m_links.size();++i)
+	/* Filter out		*/
+	for (i = 0; i < m_links.size(); ++i)
 	{
-		Link&	l=m_links[i];
-		if(l.m_bbending)
+		Link& l = m_links[i];
+		if (l.m_bbending)
 		{
-			if(!SameSign(ifn->Eval(l.m_n[0]->m_x),ifn->Eval(l.m_n[1]->m_x)))
+			if (!SameSign(ifn->Eval(l.m_n[0]->m_x), ifn->Eval(l.m_n[1]->m_x)))
 			{
-				btSwap(m_links[i],m_links[m_links.size()-1]);
-				m_links.pop_back();--i;
+				btSwap(m_links[i], m_links[m_links.size() - 1]);
+				m_links.pop_back();
+				--i;
 			}
-		}	
+		}
 	}
-	/* Fill edges		*/ 
-	for(i=0;i<m_links.size();++i)
+	/* Fill edges		*/
+	for (i = 0; i < m_links.size(); ++i)
 	{
-		Link&	l=m_links[i];
-		edges(int(l.m_n[0]-nbase),int(l.m_n[1]-nbase))=-1;
+		Link& l = m_links[i];
+		edges(int(l.m_n[0] - nbase), int(l.m_n[1] - nbase)) = -1;
 	}
-	for(i=0;i<m_faces.size();++i)
-	{	
-		Face&	f=m_faces[i];
-		edges(int(f.m_n[0]-nbase),int(f.m_n[1]-nbase))=-1;
-		edges(int(f.m_n[1]-nbase),int(f.m_n[2]-nbase))=-1;
-		edges(int(f.m_n[2]-nbase),int(f.m_n[0]-nbase))=-1;
+	for (i = 0; i < m_faces.size(); ++i)
+	{
+		Face& f = m_faces[i];
+		edges(int(f.m_n[0] - nbase), int(f.m_n[1] - nbase)) = -1;
+		edges(int(f.m_n[1] - nbase), int(f.m_n[2] - nbase)) = -1;
+		edges(int(f.m_n[2] - nbase), int(f.m_n[0] - nbase)) = -1;
 	}
-	/* Intersect		*/ 
-	for(i=0;i<ncount;++i)
+	/* Intersect		*/
+	for (i = 0; i < ncount; ++i)
 	{
-		for(j=i+1;j<ncount;++j)
+		for (j = i + 1; j < ncount; ++j)
 		{
-			if(edges(i,j)==-1)
+			if (edges(i, j) == -1)
 			{
-				Node&			a=m_nodes[i];
-				Node&			b=m_nodes[j];
-				const btScalar	t=ImplicitSolve(ifn,a.m_x,b.m_x,accurary);
-				if(t>0)
+				Node& a = m_nodes[i];
+				Node& b = m_nodes[j];
+				const btScalar t = ImplicitSolve(ifn, a.m_x, b.m_x, accurary);
+				if (t > 0)
 				{
-					const btVector3	x=Lerp(a.m_x,b.m_x,t);
-					const btVector3	v=Lerp(a.m_v,b.m_v,t);
-					btScalar		m=0;
-					if(a.m_im>0)
+					const btVector3 x = Lerp(a.m_x, b.m_x, t);
+					const btVector3 v = Lerp(a.m_v, b.m_v, t);
+					btScalar m = 0;
+					if (a.m_im > 0)
 					{
-						if(b.m_im>0)
+						if (b.m_im > 0)
 						{
-							const btScalar	ma=1/a.m_im;
-							const btScalar	mb=1/b.m_im;
-							const btScalar	mc=Lerp(ma,mb,t);
-							const btScalar	f=(ma+mb)/(ma+mb+mc);
-							a.m_im=1/(ma*f);
-							b.m_im=1/(mb*f);
-							m=mc*f;
+							const btScalar ma = 1 / a.m_im;
+							const btScalar mb = 1 / b.m_im;
+							const btScalar mc = Lerp(ma, mb, t);
+							const btScalar f = (ma + mb) / (ma + mb + mc);
+							a.m_im = 1 / (ma * f);
+							b.m_im = 1 / (mb * f);
+							m = mc * f;
 						}
 						else
-						{ a.m_im/=0.5f;m=1/a.m_im; }
+						{
+							a.m_im /= 0.5f;
+							m = 1 / a.m_im;
+						}
 					}
 					else
 					{
-						if(b.m_im>0)
-						{ b.m_im/=0.5f;m=1/b.m_im; }
+						if (b.m_im > 0)
+						{
+							b.m_im /= 0.5f;
+							m = 1 / b.m_im;
+						}
 						else
-							m=0;
+							m = 0;
 					}
-					appendNode(x,m);
-					edges(i,j)=m_nodes.size()-1;
-					m_nodes[edges(i,j)].m_v=v;
+					appendNode(x, m);
+					edges(i, j) = m_nodes.size() - 1;
+					m_nodes[edges(i, j)].m_v = v;
 					++newnodes;
 				}
 			}
 		}
 	}
-	nbase=&m_nodes[0];
-	/* Refine links		*/ 
-	for(i=0,ni=m_links.size();i<ni;++i)
+	nbase = &m_nodes[0];
+	/* Refine links		*/
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		Link&		feat=m_links[i];
-		const int	idx[]={	int(feat.m_n[0]-nbase),
-			int(feat.m_n[1]-nbase)};
-		if((idx[0]<ncount)&&(idx[1]<ncount))
+		Link& feat = m_links[i];
+		const int idx[] = {int(feat.m_n[0] - nbase),
+						   int(feat.m_n[1] - nbase)};
+		if ((idx[0] < ncount) && (idx[1] < ncount))
 		{
-			const int ni=edges(idx[0],idx[1]);
-			if(ni>0)
+			const int ni = edges(idx[0], idx[1]);
+			if (ni > 0)
 			{
 				appendLink(i);
-				Link*		pft[]={	&m_links[i],
-					&m_links[m_links.size()-1]};			
-				pft[0]->m_n[0]=&m_nodes[idx[0]];
-				pft[0]->m_n[1]=&m_nodes[ni];
-				pft[1]->m_n[0]=&m_nodes[ni];
-				pft[1]->m_n[1]=&m_nodes[idx[1]];
+				Link* pft[] = {&m_links[i],
+							   &m_links[m_links.size() - 1]};
+				pft[0]->m_n[0] = &m_nodes[idx[0]];
+				pft[0]->m_n[1] = &m_nodes[ni];
+				pft[1]->m_n[0] = &m_nodes[ni];
+				pft[1]->m_n[1] = &m_nodes[idx[1]];
 			}
 		}
 	}
-	/* Refine faces		*/ 
-	for(i=0;i<m_faces.size();++i)
+	/* Refine faces		*/
+	for (i = 0; i < m_faces.size(); ++i)
 	{
-		const Face&	feat=m_faces[i];
-		const int	idx[]={	int(feat.m_n[0]-nbase),
-			int(feat.m_n[1]-nbase),
-			int(feat.m_n[2]-nbase)};
-		for(j=2,k=0;k<3;j=k++)
+		const Face& feat = m_faces[i];
+		const int idx[] = {int(feat.m_n[0] - nbase),
+						   int(feat.m_n[1] - nbase),
+						   int(feat.m_n[2] - nbase)};
+		for (j = 2, k = 0; k < 3; j = k++)
 		{
-			if((idx[j]<ncount)&&(idx[k]<ncount))
+			if ((idx[j] < ncount) && (idx[k] < ncount))
 			{
-				const int ni=edges(idx[j],idx[k]);
-				if(ni>0)
+				const int ni = edges(idx[j], idx[k]);
+				if (ni > 0)
 				{
 					appendFace(i);
-					const int	l=(k+1)%3;
-					Face*		pft[]={	&m_faces[i],
-						&m_faces[m_faces.size()-1]};
-					pft[0]->m_n[0]=&m_nodes[idx[l]];
-					pft[0]->m_n[1]=&m_nodes[idx[j]];
-					pft[0]->m_n[2]=&m_nodes[ni];
-					pft[1]->m_n[0]=&m_nodes[ni];
-					pft[1]->m_n[1]=&m_nodes[idx[k]];
-					pft[1]->m_n[2]=&m_nodes[idx[l]];
-					appendLink(ni,idx[l],pft[0]->m_material);
-					--i;break;
+					const int l = (k + 1) % 3;
+					Face* pft[] = {&m_faces[i],
+								   &m_faces[m_faces.size() - 1]};
+					pft[0]->m_n[0] = &m_nodes[idx[l]];
+					pft[0]->m_n[1] = &m_nodes[idx[j]];
+					pft[0]->m_n[2] = &m_nodes[ni];
+					pft[1]->m_n[0] = &m_nodes[ni];
+					pft[1]->m_n[1] = &m_nodes[idx[k]];
+					pft[1]->m_n[2] = &m_nodes[idx[l]];
+					appendLink(ni, idx[l], pft[0]->m_material);
+					--i;
+					break;
 				}
 			}
 		}
 	}
-	/* Cut				*/ 
-	if(cut)
-	{	
-		btAlignedObjectArray<int>	cnodes;
-		const int					pcount=ncount;
-		int							i;
-		ncount=m_nodes.size();
-		cnodes.resize(ncount,0);
-		/* Nodes		*/ 
-		for(i=0;i<ncount;++i)
+	/* Cut				*/
+	if (cut)
+	{
+		btAlignedObjectArray<int> cnodes;
+		const int pcount = ncount;
+		int i;
+		ncount = m_nodes.size();
+		cnodes.resize(ncount, 0);
+		/* Nodes		*/
+		for (i = 0; i < ncount; ++i)
 		{
-			const btVector3	x=m_nodes[i].m_x;
-			if((i>=pcount)||(btFabs(ifn->Eval(x))<accurary))
+			const btVector3 x = m_nodes[i].m_x;
+			if ((i >= pcount) || (btFabs(ifn->Eval(x)) < accurary))
 			{
-				const btVector3	v=m_nodes[i].m_v;
-				btScalar		m=getMass(i);
-				if(m>0) { m*=0.5f;m_nodes[i].m_im/=0.5f; }
-				appendNode(x,m);
-				cnodes[i]=m_nodes.size()-1;
-				m_nodes[cnodes[i]].m_v=v;
+				const btVector3 v = m_nodes[i].m_v;
+				btScalar m = getMass(i);
+				if (m > 0)
+				{
+					m *= 0.5f;
+					m_nodes[i].m_im /= 0.5f;
+				}
+				appendNode(x, m);
+				cnodes[i] = m_nodes.size() - 1;
+				m_nodes[cnodes[i]].m_v = v;
 			}
 		}
-		nbase=&m_nodes[0];
-		/* Links		*/ 
-		for(i=0,ni=m_links.size();i<ni;++i)
+		nbase = &m_nodes[0];
+		/* Links		*/
+		for (i = 0, ni = m_links.size(); i < ni; ++i)
 		{
-			const int		id[]={	int(m_links[i].m_n[0]-nbase),
-				int(m_links[i].m_n[1]-nbase)};
-			int				todetach=0;
-			if(cnodes[id[0]]&&cnodes[id[1]])
+			const int id[] = {int(m_links[i].m_n[0] - nbase),
+							  int(m_links[i].m_n[1] - nbase)};
+			int todetach = 0;
+			if (cnodes[id[0]] && cnodes[id[1]])
 			{
 				appendLink(i);
-				todetach=m_links.size()-1;
+				todetach = m_links.size() - 1;
 			}
 			else
 			{
-				if((	(ifn->Eval(m_nodes[id[0]].m_x)<accurary)&&
-					(ifn->Eval(m_nodes[id[1]].m_x)<accurary)))
-					todetach=i;
+				if (((ifn->Eval(m_nodes[id[0]].m_x) < accurary) &&
+					 (ifn->Eval(m_nodes[id[1]].m_x) < accurary)))
+					todetach = i;
 			}
-			if(todetach)
+			if (todetach)
 			{
-				Link&	l=m_links[todetach];
-				for(int j=0;j<2;++j)
+				Link& l = m_links[todetach];
+				for (int j = 0; j < 2; ++j)
 				{
-					int cn=cnodes[int(l.m_n[j]-nbase)];
-					if(cn) l.m_n[j]=&m_nodes[cn];
-				}			
+					int cn = cnodes[int(l.m_n[j] - nbase)];
+					if (cn) l.m_n[j] = &m_nodes[cn];
+				}
 			}
 		}
-		/* Faces		*/ 
-		for(i=0,ni=m_faces.size();i<ni;++i)
+		/* Faces		*/
+		for (i = 0, ni = m_faces.size(); i < ni; ++i)
 		{
-			Node**			n=	m_faces[i].m_n;
-			if(	(ifn->Eval(n[0]->m_x)<accurary)&&
-				(ifn->Eval(n[1]->m_x)<accurary)&&
-				(ifn->Eval(n[2]->m_x)<accurary))
+			Node** n = m_faces[i].m_n;
+			if ((ifn->Eval(n[0]->m_x) < accurary) &&
+				(ifn->Eval(n[1]->m_x) < accurary) &&
+				(ifn->Eval(n[2]->m_x) < accurary))
 			{
-				for(int j=0;j<3;++j)
+				for (int j = 0; j < 3; ++j)
 				{
-					int cn=cnodes[int(n[j]-nbase)];
-					if(cn) n[j]=&m_nodes[cn];
+					int cn = cnodes[int(n[j] - nbase)];
+					if (cn) n[j] = &m_nodes[cn];
 				}
 			}
 		}
-		/* Clean orphans	*/ 
-		int							nnodes=m_nodes.size();
-		btAlignedObjectArray<int>	ranks;
-		btAlignedObjectArray<int>	todelete;
-		ranks.resize(nnodes,0);
-		for(i=0,ni=m_links.size();i<ni;++i)
+		/* Clean orphans	*/
+		int nnodes = m_nodes.size();
+		btAlignedObjectArray<int> ranks;
+		btAlignedObjectArray<int> todelete;
+		ranks.resize(nnodes, 0);
+		for (i = 0, ni = m_links.size(); i < ni; ++i)
 		{
-			for(int j=0;j<2;++j) ranks[int(m_links[i].m_n[j]-nbase)]++;
+			for (int j = 0; j < 2; ++j) ranks[int(m_links[i].m_n[j] - nbase)]++;
 		}
-		for(i=0,ni=m_faces.size();i<ni;++i)
+		for (i = 0, ni = m_faces.size(); i < ni; ++i)
 		{
-			for(int j=0;j<3;++j) ranks[int(m_faces[i].m_n[j]-nbase)]++;
+			for (int j = 0; j < 3; ++j) ranks[int(m_faces[i].m_n[j] - nbase)]++;
 		}
-		for(i=0;i<m_links.size();++i)
+		for (i = 0; i < m_links.size(); ++i)
 		{
-			const int	id[]={	int(m_links[i].m_n[0]-nbase),
-				int(m_links[i].m_n[1]-nbase)};
-			const bool	sg[]={	ranks[id[0]]==1,
-				ranks[id[1]]==1};
-			if(sg[0]||sg[1])
+			const int id[] = {int(m_links[i].m_n[0] - nbase),
+							  int(m_links[i].m_n[1] - nbase)};
+			const bool sg[] = {ranks[id[0]] == 1,
+							   ranks[id[1]] == 1};
+			if (sg[0] || sg[1])
 			{
 				--ranks[id[0]];
 				--ranks[id[1]];
-				btSwap(m_links[i],m_links[m_links.size()-1]);
-				m_links.pop_back();--i;
+				btSwap(m_links[i], m_links[m_links.size() - 1]);
+				m_links.pop_back();
+				--i;
 			}
 		}
 #if 0	
@@ -1631,679 +1651,675 @@ void			btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
 		}
 #endif
 	}
-	m_bUpdateRtCst=true;
+	m_bUpdateRtCst = true;
 }
 
 //
-bool			btSoftBody::cutLink(const Node* node0,const Node* node1,btScalar position)
+bool btSoftBody::cutLink(const Node* node0, const Node* node1, btScalar position)
 {
-	return(cutLink(int(node0-&m_nodes[0]),int(node1-&m_nodes[0]),position));
+	return (cutLink(int(node0 - &m_nodes[0]), int(node1 - &m_nodes[0]), position));
 }
 
 //
-bool			btSoftBody::cutLink(int node0,int node1,btScalar position)
+bool btSoftBody::cutLink(int node0, int node1, btScalar position)
 {
-	bool			done=false;
-	int i,ni;
-//	const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
-	const btVector3	x=Lerp(m_nodes[node0].m_x,m_nodes[node1].m_x,position);
-	const btVector3	v=Lerp(m_nodes[node0].m_v,m_nodes[node1].m_v,position);
-	const btScalar	m=1;
-	appendNode(x,m);
-	appendNode(x,m);
-	Node*			pa=&m_nodes[node0];
-	Node*			pb=&m_nodes[node1];
-	Node*			pn[2]={	&m_nodes[m_nodes.size()-2],
-		&m_nodes[m_nodes.size()-1]};
-	pn[0]->m_v=v;
-	pn[1]->m_v=v;
-	for(i=0,ni=m_links.size();i<ni;++i)
+	bool done = false;
+	int i, ni;
+	//	const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
+	const btVector3 x = Lerp(m_nodes[node0].m_x, m_nodes[node1].m_x, position);
+	const btVector3 v = Lerp(m_nodes[node0].m_v, m_nodes[node1].m_v, position);
+	const btScalar m = 1;
+	appendNode(x, m);
+	appendNode(x, m);
+	Node* pa = &m_nodes[node0];
+	Node* pb = &m_nodes[node1];
+	Node* pn[2] = {&m_nodes[m_nodes.size() - 2],
+				   &m_nodes[m_nodes.size() - 1]};
+	pn[0]->m_v = v;
+	pn[1]->m_v = v;
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		const int mtch=MatchEdge(m_links[i].m_n[0],m_links[i].m_n[1],pa,pb);
-		if(mtch!=-1)
+		const int mtch = MatchEdge(m_links[i].m_n[0], m_links[i].m_n[1], pa, pb);
+		if (mtch != -1)
 		{
 			appendLink(i);
-			Link*	pft[]={&m_links[i],&m_links[m_links.size()-1]};
-			pft[0]->m_n[1]=pn[mtch];
-			pft[1]->m_n[0]=pn[1-mtch];
-			done=true;
+			Link* pft[] = {&m_links[i], &m_links[m_links.size() - 1]};
+			pft[0]->m_n[1] = pn[mtch];
+			pft[1]->m_n[0] = pn[1 - mtch];
+			done = true;
 		}
 	}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		for(int k=2,l=0;l<3;k=l++)
+		for (int k = 2, l = 0; l < 3; k = l++)
 		{
-			const int mtch=MatchEdge(m_faces[i].m_n[k],m_faces[i].m_n[l],pa,pb);
-			if(mtch!=-1)
+			const int mtch = MatchEdge(m_faces[i].m_n[k], m_faces[i].m_n[l], pa, pb);
+			if (mtch != -1)
 			{
 				appendFace(i);
-				Face*	pft[]={&m_faces[i],&m_faces[m_faces.size()-1]};
-				pft[0]->m_n[l]=pn[mtch];
-				pft[1]->m_n[k]=pn[1-mtch];
-				appendLink(pn[0],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true);
-				appendLink(pn[1],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true);
+				Face* pft[] = {&m_faces[i], &m_faces[m_faces.size() - 1]};
+				pft[0]->m_n[l] = pn[mtch];
+				pft[1]->m_n[k] = pn[1 - mtch];
+				appendLink(pn[0], pft[0]->m_n[(l + 1) % 3], pft[0]->m_material, true);
+				appendLink(pn[1], pft[0]->m_n[(l + 1) % 3], pft[0]->m_material, true);
 			}
 		}
 	}
-	if(!done)
+	if (!done)
 	{
 		m_ndbvt.remove(pn[0]->m_leaf);
 		m_ndbvt.remove(pn[1]->m_leaf);
 		m_nodes.pop_back();
 		m_nodes.pop_back();
 	}
-	return(done);
+	return (done);
 }
 
 //
-bool			btSoftBody::rayTest(const btVector3& rayFrom,
-									const btVector3& rayTo,
-									sRayCast& results)
+bool btSoftBody::rayTest(const btVector3& rayFrom,
+						 const btVector3& rayTo,
+						 sRayCast& results)
 {
-	if(m_faces.size()&&m_fdbvt.empty()) 
+	if (m_faces.size() && m_fdbvt.empty())
 		initializeFaceTree();
 
-	results.body	=	this;
+	results.body = this;
 	results.fraction = 1.f;
-	results.feature	=	eFeature::None;
-	results.index	=	-1;
+	results.feature = eFeature::None;
+	results.index = -1;
 
-	return(rayTest(rayFrom,rayTo,results.fraction,results.feature,results.index,false)!=0);
+	return (rayTest(rayFrom, rayTo, results.fraction, results.feature, results.index, false) != 0);
 }
 
 //
-void			btSoftBody::setSolver(eSolverPresets::_ preset)
+void btSoftBody::setSolver(eSolverPresets::_ preset)
 {
 	m_cfg.m_vsequence.clear();
 	m_cfg.m_psequence.clear();
 	m_cfg.m_dsequence.clear();
-	switch(preset)
-	{
-	case	eSolverPresets::Positions:
-		m_cfg.m_psequence.push_back(ePSolver::Anchors);
-		m_cfg.m_psequence.push_back(ePSolver::RContacts);
-		m_cfg.m_psequence.push_back(ePSolver::SContacts);
-		m_cfg.m_psequence.push_back(ePSolver::Linear);	
-		break;	
-	case	eSolverPresets::Velocities:
-		m_cfg.m_vsequence.push_back(eVSolver::Linear);
-
-		m_cfg.m_psequence.push_back(ePSolver::Anchors);
-		m_cfg.m_psequence.push_back(ePSolver::RContacts);
-		m_cfg.m_psequence.push_back(ePSolver::SContacts);
-
-		m_cfg.m_dsequence.push_back(ePSolver::Linear);
-		break;
+	switch (preset)
+	{
+		case eSolverPresets::Positions:
+			m_cfg.m_psequence.push_back(ePSolver::Anchors);
+			m_cfg.m_psequence.push_back(ePSolver::RContacts);
+			m_cfg.m_psequence.push_back(ePSolver::SContacts);
+			m_cfg.m_psequence.push_back(ePSolver::Linear);
+			break;
+		case eSolverPresets::Velocities:
+			m_cfg.m_vsequence.push_back(eVSolver::Linear);
+
+			m_cfg.m_psequence.push_back(ePSolver::Anchors);
+			m_cfg.m_psequence.push_back(ePSolver::RContacts);
+			m_cfg.m_psequence.push_back(ePSolver::SContacts);
+
+			m_cfg.m_dsequence.push_back(ePSolver::Linear);
+			break;
 	}
 }
 
 //
-void			btSoftBody::predictMotion(btScalar dt)
+void btSoftBody::predictMotion(btScalar dt)
 {
+	int i, ni;
 
-	int i,ni;
-
-	/* Update				*/ 
-	if(m_bUpdateRtCst)
+	/* Update				*/
+	if (m_bUpdateRtCst)
 	{
-		m_bUpdateRtCst=false;
+		m_bUpdateRtCst = false;
 		updateConstants();
 		m_fdbvt.clear();
-		if(m_cfg.collisions&fCollision::VF_SS)
+		if (m_cfg.collisions & fCollision::VF_SS)
 		{
-			initializeFaceTree();			
+			initializeFaceTree();
 		}
 	}
 
-	/* Prepare				*/ 
-	m_sst.sdt		=	dt*m_cfg.timescale;
-	m_sst.isdt		=	1/m_sst.sdt;
-	m_sst.velmrg	=	m_sst.sdt*3;
-	m_sst.radmrg	=	getCollisionShape()->getMargin();
-	m_sst.updmrg	=	m_sst.radmrg*(btScalar)0.25;
-	/* Forces				*/ 
-	addVelocity(m_worldInfo->m_gravity*m_sst.sdt);
+	/* Prepare				*/
+	m_sst.sdt = dt * m_cfg.timescale;
+	m_sst.isdt = 1 / m_sst.sdt;
+	m_sst.velmrg = m_sst.sdt * 3;
+	m_sst.radmrg = getCollisionShape()->getMargin();
+	m_sst.updmrg = m_sst.radmrg * (btScalar)0.25;
+	/* Forces				*/
+	addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
 	applyForces();
-	/* Integrate			*/ 
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	/* Integrate			*/
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		Node&	n=m_nodes[i];
-		n.m_q	=	n.m_x;
-		btVector3 deltaV = n.m_f*n.m_im*m_sst.sdt;
+		Node& n = m_nodes[i];
+		n.m_q = n.m_x;
+		btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt;
 		{
 			btScalar maxDisplacement = m_worldInfo->m_maxDisplacement;
-			btScalar clampDeltaV = maxDisplacement/m_sst.sdt;
-			for (int c=0;c<3;c++)
+			btScalar clampDeltaV = maxDisplacement / m_sst.sdt;
+			for (int c = 0; c < 3; c++)
 			{
-				if (deltaV[c]>clampDeltaV)
+				if (deltaV[c] > clampDeltaV)
 				{
 					deltaV[c] = clampDeltaV;
 				}
-				if (deltaV[c]<-clampDeltaV)
+				if (deltaV[c] < -clampDeltaV)
 				{
-					deltaV[c]=-clampDeltaV;
+					deltaV[c] = -clampDeltaV;
 				}
 			}
 		}
-		n.m_v	+=	deltaV;
-		n.m_x	+=	n.m_v*m_sst.sdt;
-		n.m_f	=	btVector3(0,0,0);
+		n.m_v += deltaV;
+		n.m_x += n.m_v * m_sst.sdt;
+		n.m_f = btVector3(0, 0, 0);
 	}
-	/* Clusters				*/ 
+	/* Clusters				*/
 	updateClusters();
-	/* Bounds				*/ 
-	updateBounds();	
-	/* Nodes				*/ 
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	vol;
-	for(i=0,ni=m_nodes.size();i<ni;++i)
-	{
-		Node&	n=m_nodes[i];
-		vol = btDbvtVolume::FromCR(n.m_x,m_sst.radmrg);
-		m_ndbvt.update(	n.m_leaf,
-			vol,
-			n.m_v*m_sst.velmrg,
-			m_sst.updmrg);
-	}
-	/* Faces				*/ 
-	if(!m_fdbvt.empty())
-	{
-		for(int i=0;i<m_faces.size();++i)
-		{
-			Face&			f=m_faces[i];
-			const btVector3	v=(	f.m_n[0]->m_v+
-				f.m_n[1]->m_v+
-				f.m_n[2]->m_v)/3;
-			vol = VolumeOf(f,m_sst.radmrg);
-			m_fdbvt.update(	f.m_leaf,
-				vol,
-				v*m_sst.velmrg,
-				m_sst.updmrg);
-		}
-	}
-	/* Pose					*/ 
+	/* Bounds				*/
+	updateBounds();
+	/* Nodes				*/
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)
+	vol;
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
+	{
+		Node& n = m_nodes[i];
+		vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg);
+		m_ndbvt.update(n.m_leaf,
+					   vol,
+					   n.m_v * m_sst.velmrg,
+					   m_sst.updmrg);
+	}
+	/* Faces				*/
+	if (!m_fdbvt.empty())
+	{
+		for (int i = 0; i < m_faces.size(); ++i)
+		{
+			Face& f = m_faces[i];
+			const btVector3 v = (f.m_n[0]->m_v +
+								 f.m_n[1]->m_v +
+								 f.m_n[2]->m_v) /
+								3;
+			vol = VolumeOf(f, m_sst.radmrg);
+			m_fdbvt.update(f.m_leaf,
+						   vol,
+						   v * m_sst.velmrg,
+						   m_sst.updmrg);
+		}
+	}
+	/* Pose					*/
 	updatePose();
-	/* Match				*/ 
-	if(m_pose.m_bframe&&(m_cfg.kMT>0))
+	/* Match				*/
+	if (m_pose.m_bframe && (m_cfg.kMT > 0))
 	{
-		const btMatrix3x3	posetrs=m_pose.m_rot;
-		for(int i=0,ni=m_nodes.size();i<ni;++i)
+		const btMatrix3x3 posetrs = m_pose.m_rot;
+		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			Node&	n=m_nodes[i];
-			if(n.m_im>0)
+			Node& n = m_nodes[i];
+			if (n.m_im > 0)
 			{
-				const btVector3	x=posetrs*m_pose.m_pos[i]+m_pose.m_com;
-				n.m_x=Lerp(n.m_x,x,m_cfg.kMT);
+				const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com;
+				n.m_x = Lerp(n.m_x, x, m_cfg.kMT);
 			}
 		}
 	}
-	/* Clear contacts		*/ 
+	/* Clear contacts		*/
 	m_rcontacts.resize(0);
 	m_scontacts.resize(0);
-	/* Optimize dbvt's		*/ 
+	/* Optimize dbvt's		*/
 	m_ndbvt.optimizeIncremental(1);
 	m_fdbvt.optimizeIncremental(1);
 	m_cdbvt.optimizeIncremental(1);
 }
 
 //
-void			btSoftBody::solveConstraints()
+void btSoftBody::solveConstraints()
 {
-
-	/* Apply clusters		*/ 
+	/* Apply clusters		*/
 	applyClusters(false);
-	/* Prepare links		*/ 
+	/* Prepare links		*/
 
-	int i,ni;
+	int i, ni;
 
-	for(i=0,ni=m_links.size();i<ni;++i)
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		Link&	l=m_links[i];
-		l.m_c3		=	l.m_n[1]->m_q-l.m_n[0]->m_q;
-		l.m_c2		=	1/(l.m_c3.length2()*l.m_c0);
+		Link& l = m_links[i];
+		l.m_c3 = l.m_n[1]->m_q - l.m_n[0]->m_q;
+		l.m_c2 = 1 / (l.m_c3.length2() * l.m_c0);
 	}
-	/* Prepare anchors		*/ 
-	for(i=0,ni=m_anchors.size();i<ni;++i)
+	/* Prepare anchors		*/
+	for (i = 0, ni = m_anchors.size(); i < ni; ++i)
 	{
-		Anchor&			a=m_anchors[i];
-		const btVector3	ra=a.m_body->getWorldTransform().getBasis()*a.m_local;
-		a.m_c0	=	ImpulseMatrix(	m_sst.sdt,
-			a.m_node->m_im,
-			a.m_body->getInvMass(),
-			a.m_body->getInvInertiaTensorWorld(),
-			ra);
-		a.m_c1	=	ra;
-		a.m_c2	=	m_sst.sdt*a.m_node->m_im;
+		Anchor& a = m_anchors[i];
+		const btVector3 ra = a.m_body->getWorldTransform().getBasis() * a.m_local;
+		a.m_c0 = ImpulseMatrix(m_sst.sdt,
+							   a.m_node->m_im,
+							   a.m_body->getInvMass(),
+							   a.m_body->getInvInertiaTensorWorld(),
+							   ra);
+		a.m_c1 = ra;
+		a.m_c2 = m_sst.sdt * a.m_node->m_im;
 		a.m_body->activate();
 	}
-	/* Solve velocities		*/ 
-	if(m_cfg.viterations>0)
+	/* Solve velocities		*/
+	if (m_cfg.viterations > 0)
 	{
-		/* Solve			*/ 
-		for(int isolve=0;isolve<m_cfg.viterations;++isolve)
+		/* Solve			*/
+		for (int isolve = 0; isolve < m_cfg.viterations; ++isolve)
 		{
-			for(int iseq=0;iseq<m_cfg.m_vsequence.size();++iseq)
+			for (int iseq = 0; iseq < m_cfg.m_vsequence.size(); ++iseq)
 			{
-				getSolver(m_cfg.m_vsequence[iseq])(this,1);
+				getSolver(m_cfg.m_vsequence[iseq])(this, 1);
 			}
 		}
-		/* Update			*/ 
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		/* Update			*/
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			Node&	n=m_nodes[i];
-			n.m_x	=	n.m_q+n.m_v*m_sst.sdt;
+			Node& n = m_nodes[i];
+			n.m_x = n.m_q + n.m_v * m_sst.sdt;
 		}
 	}
-	/* Solve positions		*/ 
-	if(m_cfg.piterations>0)
+	/* Solve positions		*/
+	if (m_cfg.piterations > 0)
 	{
-		for(int isolve=0;isolve<m_cfg.piterations;++isolve)
+		for (int isolve = 0; isolve < m_cfg.piterations; ++isolve)
 		{
-			const btScalar ti=isolve/(btScalar)m_cfg.piterations;
-			for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq)
+			const btScalar ti = isolve / (btScalar)m_cfg.piterations;
+			for (int iseq = 0; iseq < m_cfg.m_psequence.size(); ++iseq)
 			{
-				getSolver(m_cfg.m_psequence[iseq])(this,1,ti);
+				getSolver(m_cfg.m_psequence[iseq])(this, 1, ti);
 			}
 		}
-		const btScalar	vc=m_sst.isdt*(1-m_cfg.kDP);
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		const btScalar vc = m_sst.isdt * (1 - m_cfg.kDP);
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			Node&	n=m_nodes[i];
-			n.m_v	=	(n.m_x-n.m_q)*vc;
-			n.m_f	=	btVector3(0,0,0);		
+			Node& n = m_nodes[i];
+			n.m_v = (n.m_x - n.m_q) * vc;
+			n.m_f = btVector3(0, 0, 0);
 		}
 	}
-	/* Solve drift			*/ 
-	if(m_cfg.diterations>0)
+	/* Solve drift			*/
+	if (m_cfg.diterations > 0)
 	{
-		const btScalar	vcf=m_cfg.kVCF*m_sst.isdt;
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		const btScalar vcf = m_cfg.kVCF * m_sst.isdt;
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			Node&	n=m_nodes[i];
-			n.m_q	=	n.m_x;
+			Node& n = m_nodes[i];
+			n.m_q = n.m_x;
 		}
-		for(int idrift=0;idrift<m_cfg.diterations;++idrift)
+		for (int idrift = 0; idrift < m_cfg.diterations; ++idrift)
 		{
-			for(int iseq=0;iseq<m_cfg.m_dsequence.size();++iseq)
+			for (int iseq = 0; iseq < m_cfg.m_dsequence.size(); ++iseq)
 			{
-				getSolver(m_cfg.m_dsequence[iseq])(this,1,0);
+				getSolver(m_cfg.m_dsequence[iseq])(this, 1, 0);
 			}
 		}
-		for(int i=0,ni=m_nodes.size();i<ni;++i)
+		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			Node&	n=m_nodes[i];
-			n.m_v	+=	(n.m_x-n.m_q)*vcf;
+			Node& n = m_nodes[i];
+			n.m_v += (n.m_x - n.m_q) * vcf;
 		}
 	}
-	/* Apply clusters		*/ 
+	/* Apply clusters		*/
 	dampClusters();
 	applyClusters(true);
 }
 
 //
-void			btSoftBody::staticSolve(int iterations)
+void btSoftBody::staticSolve(int iterations)
 {
-	for(int isolve=0;isolve<iterations;++isolve)
+	for (int isolve = 0; isolve < iterations; ++isolve)
 	{
-		for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq)
+		for (int iseq = 0; iseq < m_cfg.m_psequence.size(); ++iseq)
 		{
-			getSolver(m_cfg.m_psequence[iseq])(this,1,0);
+			getSolver(m_cfg.m_psequence[iseq])(this, 1, 0);
 		}
 	}
 }
 
 //
-void			btSoftBody::solveCommonConstraints(btSoftBody** /*bodies*/,int /*count*/,int /*iterations*/)
+void btSoftBody::solveCommonConstraints(btSoftBody** /*bodies*/, int /*count*/, int /*iterations*/)
 {
 	/// placeholder
 }
 
 //
-void			btSoftBody::solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies)
+void btSoftBody::solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies)
 {
-	const int	nb=bodies.size();
-	int			iterations=0;
+	const int nb = bodies.size();
+	int iterations = 0;
 	int i;
 
-	for(i=0;i<nb;++i)
+	for (i = 0; i < nb; ++i)
 	{
-		iterations=btMax(iterations,bodies[i]->m_cfg.citerations);
+		iterations = btMax(iterations, bodies[i]->m_cfg.citerations);
 	}
-	for(i=0;i<nb;++i)
+	for (i = 0; i < nb; ++i)
 	{
 		bodies[i]->prepareClusters(iterations);
 	}
-	for(i=0;i<iterations;++i)
+	for (i = 0; i < iterations; ++i)
 	{
-		const btScalar sor=1;
-		for(int j=0;j<nb;++j)
+		const btScalar sor = 1;
+		for (int j = 0; j < nb; ++j)
 		{
 			bodies[j]->solveClusters(sor);
 		}
 	}
-	for(i=0;i<nb;++i)
+	for (i = 0; i < nb; ++i)
 	{
 		bodies[i]->cleanupClusters();
 	}
 }
 
 //
-void			btSoftBody::integrateMotion()
+void btSoftBody::integrateMotion()
 {
-	/* Update			*/ 
+	/* Update			*/
 	updateNormals();
 }
 
 //
-btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt)
+btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom, const btVector3& rayTo, btScalar mxt)
 {
 	m_rayFrom = rayFrom;
-	m_rayNormalizedDirection = (rayTo-rayFrom);
+	m_rayNormalizedDirection = (rayTo - rayFrom);
 	m_rayTo = rayTo;
-	m_mint	=	mxt;
-	m_face	=	0;
-	m_tests	=	0;
+	m_mint = mxt;
+	m_face = 0;
+	m_tests = 0;
 }
 
 //
-void				btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf)
+void btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf)
 {
-	btSoftBody::Face&	f=*(btSoftBody::Face*)leaf->data;
-	const btScalar		t=rayFromToTriangle(	m_rayFrom,m_rayTo,m_rayNormalizedDirection,
-		f.m_n[0]->m_x,
-		f.m_n[1]->m_x,
-		f.m_n[2]->m_x,
-		m_mint);
-	if((t>0)&&(t<m_mint)) 
-	{ 
-		m_mint=t;m_face=&f; 
+	btSoftBody::Face& f = *(btSoftBody::Face*)leaf->data;
+	const btScalar t = rayFromToTriangle(m_rayFrom, m_rayTo, m_rayNormalizedDirection,
+										 f.m_n[0]->m_x,
+										 f.m_n[1]->m_x,
+										 f.m_n[2]->m_x,
+										 m_mint);
+	if ((t > 0) && (t < m_mint))
+	{
+		m_mint = t;
+		m_face = &f;
 	}
 	++m_tests;
 }
 
 //
-btScalar			btSoftBody::RayFromToCaster::rayFromToTriangle(	const btVector3& rayFrom,
-																   const btVector3& rayTo,
-																   const btVector3& rayNormalizedDirection,
-																   const btVector3& a,
-																   const btVector3& b,
-																   const btVector3& c,
-																   btScalar maxt)
+btScalar btSoftBody::RayFromToCaster::rayFromToTriangle(const btVector3& rayFrom,
+														const btVector3& rayTo,
+														const btVector3& rayNormalizedDirection,
+														const btVector3& a,
+														const btVector3& b,
+														const btVector3& c,
+														btScalar maxt)
 {
-	static const btScalar	ceps=-SIMD_EPSILON*10;
-	static const btScalar	teps=SIMD_EPSILON*10;
+	static const btScalar ceps = -SIMD_EPSILON * 10;
+	static const btScalar teps = SIMD_EPSILON * 10;
 
-	const btVector3			n=btCross(b-a,c-a);
-	const btScalar			d=btDot(a,n);
-	const btScalar			den=btDot(rayNormalizedDirection,n);
-	if(!btFuzzyZero(den))
+	const btVector3 n = btCross(b - a, c - a);
+	const btScalar d = btDot(a, n);
+	const btScalar den = btDot(rayNormalizedDirection, n);
+	if (!btFuzzyZero(den))
 	{
-		const btScalar		num=btDot(rayFrom,n)-d;
-		const btScalar		t=-num/den;
-		if((t>teps)&&(t<maxt))
+		const btScalar num = btDot(rayFrom, n) - d;
+		const btScalar t = -num / den;
+		if ((t > teps) && (t < maxt))
 		{
-			const btVector3	hit=rayFrom+rayNormalizedDirection*t;
-			if(	(btDot(n,btCross(a-hit,b-hit))>ceps)	&&			
-				(btDot(n,btCross(b-hit,c-hit))>ceps)	&&
-				(btDot(n,btCross(c-hit,a-hit))>ceps))
+			const btVector3 hit = rayFrom + rayNormalizedDirection * t;
+			if ((btDot(n, btCross(a - hit, b - hit)) > ceps) &&
+				(btDot(n, btCross(b - hit, c - hit)) > ceps) &&
+				(btDot(n, btCross(c - hit, a - hit)) > ceps))
 			{
-				return(t);
+				return (t);
 			}
 		}
 	}
-	return(-1);
+	return (-1);
 }
 
 //
-void				btSoftBody::pointersToIndices()
+void btSoftBody::pointersToIndices()
 {
-#define	PTR2IDX(_p_,_b_)	reinterpret_cast<btSoftBody::Node*>((_p_)-(_b_))
-	btSoftBody::Node*	base=m_nodes.size() ? &m_nodes[0] : 0;
-	int i,ni;
+#define PTR2IDX(_p_, _b_) reinterpret_cast<btSoftBody::Node*>((_p_) - (_b_))
+	btSoftBody::Node* base = m_nodes.size() ? &m_nodes[0] : 0;
+	int i, ni;
 
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		if(m_nodes[i].m_leaf)
+		if (m_nodes[i].m_leaf)
 		{
-			m_nodes[i].m_leaf->data=*(void**)&i;
+			m_nodes[i].m_leaf->data = *(void**)&i;
 		}
 	}
-	for(i=0,ni=m_links.size();i<ni;++i)
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		m_links[i].m_n[0]=PTR2IDX(m_links[i].m_n[0],base);
-		m_links[i].m_n[1]=PTR2IDX(m_links[i].m_n[1],base);
+		m_links[i].m_n[0] = PTR2IDX(m_links[i].m_n[0], base);
+		m_links[i].m_n[1] = PTR2IDX(m_links[i].m_n[1], base);
 	}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		m_faces[i].m_n[0]=PTR2IDX(m_faces[i].m_n[0],base);
-		m_faces[i].m_n[1]=PTR2IDX(m_faces[i].m_n[1],base);
-		m_faces[i].m_n[2]=PTR2IDX(m_faces[i].m_n[2],base);
-		if(m_faces[i].m_leaf)
+		m_faces[i].m_n[0] = PTR2IDX(m_faces[i].m_n[0], base);
+		m_faces[i].m_n[1] = PTR2IDX(m_faces[i].m_n[1], base);
+		m_faces[i].m_n[2] = PTR2IDX(m_faces[i].m_n[2], base);
+		if (m_faces[i].m_leaf)
 		{
-			m_faces[i].m_leaf->data=*(void**)&i;
+			m_faces[i].m_leaf->data = *(void**)&i;
 		}
 	}
-	for(i=0,ni=m_anchors.size();i<ni;++i)
+	for (i = 0, ni = m_anchors.size(); i < ni; ++i)
 	{
-		m_anchors[i].m_node=PTR2IDX(m_anchors[i].m_node,base);
+		m_anchors[i].m_node = PTR2IDX(m_anchors[i].m_node, base);
 	}
-	for(i=0,ni=m_notes.size();i<ni;++i)
+	for (i = 0, ni = m_notes.size(); i < ni; ++i)
 	{
-		for(int j=0;j<m_notes[i].m_rank;++j)
+		for (int j = 0; j < m_notes[i].m_rank; ++j)
 		{
-			m_notes[i].m_nodes[j]=PTR2IDX(m_notes[i].m_nodes[j],base);
+			m_notes[i].m_nodes[j] = PTR2IDX(m_notes[i].m_nodes[j], base);
 		}
 	}
-#undef	PTR2IDX
+#undef PTR2IDX
 }
 
 //
-void				btSoftBody::indicesToPointers(const int* map)
+void btSoftBody::indicesToPointers(const int* map)
 {
-#define	IDX2PTR(_p_,_b_)	map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]):	\
-	(&(_b_)[(((char*)_p_)-(char*)0)])
-	btSoftBody::Node*	base=m_nodes.size() ? &m_nodes[0]:0;
-	int i,ni;
+#define IDX2PTR(_p_, _b_) map ? (&(_b_)[map[(((char*)_p_) - (char*)0)]]) : (&(_b_)[(((char*)_p_) - (char*)0)])
+	btSoftBody::Node* base = m_nodes.size() ? &m_nodes[0] : 0;
+	int i, ni;
 
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		if(m_nodes[i].m_leaf)
+		if (m_nodes[i].m_leaf)
 		{
-			m_nodes[i].m_leaf->data=&m_nodes[i];
+			m_nodes[i].m_leaf->data = &m_nodes[i];
 		}
 	}
-	for(i=0,ni=m_links.size();i<ni;++i)
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		m_links[i].m_n[0]=IDX2PTR(m_links[i].m_n[0],base);
-		m_links[i].m_n[1]=IDX2PTR(m_links[i].m_n[1],base);
+		m_links[i].m_n[0] = IDX2PTR(m_links[i].m_n[0], base);
+		m_links[i].m_n[1] = IDX2PTR(m_links[i].m_n[1], base);
 	}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		m_faces[i].m_n[0]=IDX2PTR(m_faces[i].m_n[0],base);
-		m_faces[i].m_n[1]=IDX2PTR(m_faces[i].m_n[1],base);
-		m_faces[i].m_n[2]=IDX2PTR(m_faces[i].m_n[2],base);
-		if(m_faces[i].m_leaf)
+		m_faces[i].m_n[0] = IDX2PTR(m_faces[i].m_n[0], base);
+		m_faces[i].m_n[1] = IDX2PTR(m_faces[i].m_n[1], base);
+		m_faces[i].m_n[2] = IDX2PTR(m_faces[i].m_n[2], base);
+		if (m_faces[i].m_leaf)
 		{
-			m_faces[i].m_leaf->data=&m_faces[i];
+			m_faces[i].m_leaf->data = &m_faces[i];
 		}
 	}
-	for(i=0,ni=m_anchors.size();i<ni;++i)
+	for (i = 0, ni = m_anchors.size(); i < ni; ++i)
 	{
-		m_anchors[i].m_node=IDX2PTR(m_anchors[i].m_node,base);
+		m_anchors[i].m_node = IDX2PTR(m_anchors[i].m_node, base);
 	}
-	for(i=0,ni=m_notes.size();i<ni;++i)
+	for (i = 0, ni = m_notes.size(); i < ni; ++i)
 	{
-		for(int j=0;j<m_notes[i].m_rank;++j)
+		for (int j = 0; j < m_notes[i].m_rank; ++j)
 		{
-			m_notes[i].m_nodes[j]=IDX2PTR(m_notes[i].m_nodes[j],base);
+			m_notes[i].m_nodes[j] = IDX2PTR(m_notes[i].m_nodes[j], base);
 		}
 	}
-#undef	IDX2PTR
+#undef IDX2PTR
 }
 
 //
-int					btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
-										btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const
+int btSoftBody::rayTest(const btVector3& rayFrom, const btVector3& rayTo,
+						btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const
 {
-	int	cnt=0;
-	btVector3 dir = rayTo-rayFrom;
-	
+	int cnt = 0;
+	btVector3 dir = rayTo - rayFrom;
+
+	if (bcountonly || m_fdbvt.empty())
+	{ /* Full search	*/
 
-	if(bcountonly||m_fdbvt.empty())
-	{/* Full search	*/ 
-		
-		for(int i=0,ni=m_faces.size();i<ni;++i)
+		for (int i = 0, ni = m_faces.size(); i < ni; ++i)
 		{
-			const btSoftBody::Face&	f=m_faces[i];
+			const btSoftBody::Face& f = m_faces[i];
 
-			const btScalar			t=RayFromToCaster::rayFromToTriangle(	rayFrom,rayTo,dir,
-				f.m_n[0]->m_x,
-				f.m_n[1]->m_x,
-				f.m_n[2]->m_x,
-				mint);
-			if(t>0)
+			const btScalar t = RayFromToCaster::rayFromToTriangle(rayFrom, rayTo, dir,
+																  f.m_n[0]->m_x,
+																  f.m_n[1]->m_x,
+																  f.m_n[2]->m_x,
+																  mint);
+			if (t > 0)
 			{
 				++cnt;
-				if(!bcountonly)
+				if (!bcountonly)
 				{
-					feature=btSoftBody::eFeature::Face;
-					index=i;
-					mint=t;
+					feature = btSoftBody::eFeature::Face;
+					index = i;
+					mint = t;
 				}
 			}
 		}
 	}
 	else
-	{/* Use dbvt	*/ 
-		RayFromToCaster	collider(rayFrom,rayTo,mint);
+	{ /* Use dbvt	*/
+		RayFromToCaster collider(rayFrom, rayTo, mint);
 
-		btDbvt::rayTest(m_fdbvt.m_root,rayFrom,rayTo,collider);
-		if(collider.m_face)
+		btDbvt::rayTest(m_fdbvt.m_root, rayFrom, rayTo, collider);
+		if (collider.m_face)
 		{
-			mint=collider.m_mint;
-			feature=btSoftBody::eFeature::Face;
-			index=(int)(collider.m_face-&m_faces[0]);
-			cnt=1;
+			mint = collider.m_mint;
+			feature = btSoftBody::eFeature::Face;
+			index = (int)(collider.m_face - &m_faces[0]);
+			cnt = 1;
 		}
 	}
 
-	for (int i=0;i<m_tetras.size();i++)
+	for (int i = 0; i < m_tetras.size(); i++)
 	{
 		const btSoftBody::Tetra& tet = m_tetras[i];
-		int tetfaces[4][3] = {{0,1,2},{0,1,3},{1,2,3},{0,2,3}};
-		for (int f=0;f<4;f++)
+		int tetfaces[4][3] = {{0, 1, 2}, {0, 1, 3}, {1, 2, 3}, {0, 2, 3}};
+		for (int f = 0; f < 4; f++)
 		{
+			int index0 = tetfaces[f][0];
+			int index1 = tetfaces[f][1];
+			int index2 = tetfaces[f][2];
+			btVector3 v0 = tet.m_n[index0]->m_x;
+			btVector3 v1 = tet.m_n[index1]->m_x;
+			btVector3 v2 = tet.m_n[index2]->m_x;
 
-			int index0=tetfaces[f][0];
-			int index1=tetfaces[f][1];
-			int index2=tetfaces[f][2];
-			btVector3 v0=tet.m_n[index0]->m_x;
-			btVector3 v1=tet.m_n[index1]->m_x;
-			btVector3 v2=tet.m_n[index2]->m_x;
-
-
-		const btScalar			t=RayFromToCaster::rayFromToTriangle(	rayFrom,rayTo,dir,
-			v0,v1,v2,
-				mint);
-		if(t>0)
+			const btScalar t = RayFromToCaster::rayFromToTriangle(rayFrom, rayTo, dir,
+																  v0, v1, v2,
+																  mint);
+			if (t > 0)
 			{
 				++cnt;
-				if(!bcountonly)
+				if (!bcountonly)
 				{
-					feature=btSoftBody::eFeature::Tetra;
-					index=i;
-					mint=t;
+					feature = btSoftBody::eFeature::Tetra;
+					index = i;
+					mint = t;
 				}
 			}
 		}
 	}
-	return(cnt);
+	return (cnt);
 }
 
 //
-void			btSoftBody::initializeFaceTree()
+void btSoftBody::initializeFaceTree()
 {
 	m_fdbvt.clear();
-	for(int i=0;i<m_faces.size();++i)
+	for (int i = 0; i < m_faces.size(); ++i)
 	{
-		Face&	f=m_faces[i];
-		f.m_leaf=m_fdbvt.insert(VolumeOf(f,0),&f);
+		Face& f = m_faces[i];
+		f.m_leaf = m_fdbvt.insert(VolumeOf(f, 0), &f);
 	}
 }
 
 //
-btVector3		btSoftBody::evaluateCom() const
+btVector3 btSoftBody::evaluateCom() const
 {
-	btVector3	com(0,0,0);
-	if(m_pose.m_bframe)
+	btVector3 com(0, 0, 0);
+	if (m_pose.m_bframe)
 	{
-		for(int i=0,ni=m_nodes.size();i<ni;++i)
+		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			com+=m_nodes[i].m_x*m_pose.m_wgh[i];
+			com += m_nodes[i].m_x * m_pose.m_wgh[i];
 		}
 	}
-	return(com);
+	return (com);
 }
 
 //
-bool				btSoftBody::checkContact(	const btCollisionObjectWrapper* colObjWrap,
-											 const btVector3& x,
-											 btScalar margin,
-											 btSoftBody::sCti& cti) const
+bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
+							  const btVector3& x,
+							  btScalar margin,
+							  btSoftBody::sCti& cti) const
 {
 	btVector3 nrm;
-	const btCollisionShape *shp = colObjWrap->getCollisionShape();
-//	const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
+	const btCollisionShape* shp = colObjWrap->getCollisionShape();
+	//	const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
 	//const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
-	const btTransform &wtr = colObjWrap->getWorldTransform();
+	const btTransform& wtr = colObjWrap->getWorldTransform();
 	//todo: check which transform is needed here
 
-	btScalar dst = 
-		m_worldInfo->m_sparsesdf.Evaluate(	
+	btScalar dst =
+		m_worldInfo->m_sparsesdf.Evaluate(
 			wtr.invXform(x),
 			shp,
 			nrm,
 			margin);
-	if(dst<0)
+	if (dst < 0)
 	{
 		cti.m_colObj = colObjWrap->getCollisionObject();
-		cti.m_normal = wtr.getBasis()*nrm;
-		cti.m_offset = -btDot( cti.m_normal, x - cti.m_normal * dst );
-		return(true);
+		cti.m_normal = wtr.getBasis() * nrm;
+		cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst);
+		return (true);
 	}
-	return(false);
+	return (false);
 }
 
 //
-void					btSoftBody::updateNormals()
+void btSoftBody::updateNormals()
 {
+	const btVector3 zv(0, 0, 0);
+	int i, ni;
 
-	const btVector3	zv(0,0,0);
-	int i,ni;
-
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		m_nodes[i].m_n=zv;
+		m_nodes[i].m_n = zv;
 	}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		btSoftBody::Face&	f=m_faces[i];
-		const btVector3		n=btCross(f.m_n[1]->m_x-f.m_n[0]->m_x,
-			f.m_n[2]->m_x-f.m_n[0]->m_x);
-		f.m_normal=n.normalized();
-		f.m_n[0]->m_n+=n;
-		f.m_n[1]->m_n+=n;
-		f.m_n[2]->m_n+=n;
+		btSoftBody::Face& f = m_faces[i];
+		const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x,
+									f.m_n[2]->m_x - f.m_n[0]->m_x);
+		f.m_normal = n.normalized();
+		f.m_n[0]->m_n += n;
+		f.m_n[1]->m_n += n;
+		f.m_n[2]->m_n += n;
 	}
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
 		btScalar len = m_nodes[i].m_n.length();
-		if (len>SIMD_EPSILON)
+		if (len > SIMD_EPSILON)
 			m_nodes[i].m_n /= len;
 	}
 }
 
 //
-void					btSoftBody::updateBounds()
+void btSoftBody::updateBounds()
 {
 	/*if( m_acceleratedSoftBody )
 	{
@@ -2317,258 +2333,259 @@ void					btSoftBody::updateBounds()
 		m_bounds[1] = btVector3(1000, 1000, 1000);
 
 	} else {*/
-		if(m_ndbvt.m_root)
-		{
-			const btVector3&	mins=m_ndbvt.m_root->volume.Mins();
-			const btVector3&	maxs=m_ndbvt.m_root->volume.Maxs();
-			const btScalar		csm=getCollisionShape()->getMargin();
-			const btVector3		mrg=btVector3(	csm,
-				csm,
-				csm)*1; // ??? to investigate...
-			m_bounds[0]=mins-mrg;
-			m_bounds[1]=maxs+mrg;
-			if(0!=getBroadphaseHandle())
-			{					
-				m_worldInfo->m_broadphase->setAabb(	getBroadphaseHandle(),
-					m_bounds[0],
-					m_bounds[1],
-					m_worldInfo->m_dispatcher);
-			}
-		}
-		else
+	if (m_ndbvt.m_root)
+	{
+		const btVector3& mins = m_ndbvt.m_root->volume.Mins();
+		const btVector3& maxs = m_ndbvt.m_root->volume.Maxs();
+		const btScalar csm = getCollisionShape()->getMargin();
+		const btVector3 mrg = btVector3(csm,
+										csm,
+										csm) *
+							  1;  // ??? to investigate...
+		m_bounds[0] = mins - mrg;
+		m_bounds[1] = maxs + mrg;
+		if (0 != getBroadphaseHandle())
 		{
-			m_bounds[0]=
-				m_bounds[1]=btVector3(0,0,0);
-		}		
+			m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
+											   m_bounds[0],
+											   m_bounds[1],
+											   m_worldInfo->m_dispatcher);
+		}
+	}
+	else
+	{
+		m_bounds[0] =
+			m_bounds[1] = btVector3(0, 0, 0);
+	}
 	//}
 }
 
-
 //
-void					btSoftBody::updatePose()
+void btSoftBody::updatePose()
 {
-	if(m_pose.m_bframe)
+	if (m_pose.m_bframe)
 	{
-		btSoftBody::Pose&	pose=m_pose;
-		const btVector3		com=evaluateCom();
-		/* Com			*/ 
-		pose.m_com	=	com;
-		/* Rotation		*/ 
-		btMatrix3x3		Apq;
-		const btScalar	eps=SIMD_EPSILON;
-		Apq[0]=Apq[1]=Apq[2]=btVector3(0,0,0);
-		Apq[0].setX(eps);Apq[1].setY(eps*2);Apq[2].setZ(eps*3);
-		for(int i=0,ni=m_nodes.size();i<ni;++i)
+		btSoftBody::Pose& pose = m_pose;
+		const btVector3 com = evaluateCom();
+		/* Com			*/
+		pose.m_com = com;
+		/* Rotation		*/
+		btMatrix3x3 Apq;
+		const btScalar eps = SIMD_EPSILON;
+		Apq[0] = Apq[1] = Apq[2] = btVector3(0, 0, 0);
+		Apq[0].setX(eps);
+		Apq[1].setY(eps * 2);
+		Apq[2].setZ(eps * 3);
+		for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			const btVector3		a=pose.m_wgh[i]*(m_nodes[i].m_x-com);
-			const btVector3&	b=pose.m_pos[i];
-			Apq[0]+=a.x()*b;
-			Apq[1]+=a.y()*b;
-			Apq[2]+=a.z()*b;
+			const btVector3 a = pose.m_wgh[i] * (m_nodes[i].m_x - com);
+			const btVector3& b = pose.m_pos[i];
+			Apq[0] += a.x() * b;
+			Apq[1] += a.y() * b;
+			Apq[2] += a.z() * b;
 		}
-		btMatrix3x3		r,s;
-		PolarDecompose(Apq,r,s);
-		pose.m_rot=r;
-		pose.m_scl=pose.m_aqq*r.transpose()*Apq;
-		if(m_cfg.maxvolume>1)
+		btMatrix3x3 r, s;
+		PolarDecompose(Apq, r, s);
+		pose.m_rot = r;
+		pose.m_scl = pose.m_aqq * r.transpose() * Apq;
+		if (m_cfg.maxvolume > 1)
 		{
-			const btScalar	idet=Clamp<btScalar>(	1/pose.m_scl.determinant(),
-				1,m_cfg.maxvolume);
-			pose.m_scl=Mul(pose.m_scl,idet);
+			const btScalar idet = Clamp<btScalar>(1 / pose.m_scl.determinant(),
+												  1, m_cfg.maxvolume);
+			pose.m_scl = Mul(pose.m_scl, idet);
 		}
-
 	}
 }
 
 //
-void				btSoftBody::updateArea(bool averageArea)
+void btSoftBody::updateArea(bool averageArea)
 {
-	int i,ni;
+	int i, ni;
 
-	/* Face area		*/ 
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	/* Face area		*/
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-		Face&		f=m_faces[i];
-		f.m_ra	=	AreaOf(f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x);
+		Face& f = m_faces[i];
+		f.m_ra = AreaOf(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x);
 	}
-	
-	/* Node area		*/ 
+
+	/* Node area		*/
 
 	if (averageArea)
 	{
-		btAlignedObjectArray<int>	counts;
-		counts.resize(m_nodes.size(),0);
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		btAlignedObjectArray<int> counts;
+		counts.resize(m_nodes.size(), 0);
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			m_nodes[i].m_area	=	0;
+			m_nodes[i].m_area = 0;
 		}
-		for(i=0,ni=m_faces.size();i<ni;++i)
+		for (i = 0, ni = m_faces.size(); i < ni; ++i)
 		{
-			btSoftBody::Face&	f=m_faces[i];
-			for(int j=0;j<3;++j)
+			btSoftBody::Face& f = m_faces[i];
+			for (int j = 0; j < 3; ++j)
 			{
-				const int index=(int)(f.m_n[j]-&m_nodes[0]);
+				const int index = (int)(f.m_n[j] - &m_nodes[0]);
 				counts[index]++;
-				f.m_n[j]->m_area+=btFabs(f.m_ra);
+				f.m_n[j]->m_area += btFabs(f.m_ra);
 			}
 		}
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			if(counts[i]>0)
-				m_nodes[i].m_area/=(btScalar)counts[i];
+			if (counts[i] > 0)
+				m_nodes[i].m_area /= (btScalar)counts[i];
 			else
-				m_nodes[i].m_area=0;
+				m_nodes[i].m_area = 0;
 		}
 	}
 	else
 	{
 		// initialize node area as zero
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
-			m_nodes[i].m_area=0;	
+			m_nodes[i].m_area = 0;
 		}
 
-		for(i=0,ni=m_faces.size();i<ni;++i)
+		for (i = 0, ni = m_faces.size(); i < ni; ++i)
 		{
-			btSoftBody::Face&	f=m_faces[i];
+			btSoftBody::Face& f = m_faces[i];
 
-			for(int j=0;j<3;++j)
+			for (int j = 0; j < 3; ++j)
 			{
 				f.m_n[j]->m_area += f.m_ra;
 			}
 		}
 
-		for(i=0,ni=m_nodes.size();i<ni;++i)
+		for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 		{
 			m_nodes[i].m_area *= 0.3333333f;
 		}
 	}
 }
 
+void btSoftBody::updateLinkConstants()
+{
+	int i, ni;
 
-void				btSoftBody::updateLinkConstants()
-{	
-	int i,ni;
-
-	/* Links		*/ 
-	for(i=0,ni=m_links.size();i<ni;++i)
+	/* Links		*/
+	for (i = 0, ni = m_links.size(); i < ni; ++i)
 	{
-		Link&		l=m_links[i];
-		Material&	m=*l.m_material;
-		l.m_c0	=	(l.m_n[0]->m_im+l.m_n[1]->m_im)/m.m_kLST;
+		Link& l = m_links[i];
+		Material& m = *l.m_material;
+		l.m_c0 = (l.m_n[0]->m_im + l.m_n[1]->m_im) / m.m_kLST;
 	}
 }
 
-void				btSoftBody::updateConstants()
+void btSoftBody::updateConstants()
 {
 	resetLinkRestLengths();
 	updateLinkConstants();
 	updateArea();
 }
 
-
-
 //
-void					btSoftBody::initializeClusters()
+void btSoftBody::initializeClusters()
 {
 	int i;
 
-	for( i=0;i<m_clusters.size();++i)
+	for (i = 0; i < m_clusters.size(); ++i)
 	{
-		Cluster&	c=*m_clusters[i];
-		c.m_imass=0;
+		Cluster& c = *m_clusters[i];
+		c.m_imass = 0;
 		c.m_masses.resize(c.m_nodes.size());
-		for(int j=0;j<c.m_nodes.size();++j)
+		for (int j = 0; j < c.m_nodes.size(); ++j)
 		{
-			if (c.m_nodes[j]->m_im==0)
+			if (c.m_nodes[j]->m_im == 0)
 			{
 				c.m_containsAnchor = true;
-				c.m_masses[j]	=	BT_LARGE_FLOAT;
-			} else
+				c.m_masses[j] = BT_LARGE_FLOAT;
+			}
+			else
 			{
-				c.m_masses[j]	=	btScalar(1.)/c.m_nodes[j]->m_im;
+				c.m_masses[j] = btScalar(1.) / c.m_nodes[j]->m_im;
 			}
-			c.m_imass		+=	c.m_masses[j];
+			c.m_imass += c.m_masses[j];
 		}
-		c.m_imass		=	btScalar(1.)/c.m_imass;
-		c.m_com			=	btSoftBody::clusterCom(&c);
-		c.m_lv			=	btVector3(0,0,0);
-		c.m_av			=	btVector3(0,0,0);
-		c.m_leaf		=	0;
-		/* Inertia	*/ 
-		btMatrix3x3&	ii=c.m_locii;
-		ii[0]=ii[1]=ii[2]=btVector3(0,0,0);
+		c.m_imass = btScalar(1.) / c.m_imass;
+		c.m_com = btSoftBody::clusterCom(&c);
+		c.m_lv = btVector3(0, 0, 0);
+		c.m_av = btVector3(0, 0, 0);
+		c.m_leaf = 0;
+		/* Inertia	*/
+		btMatrix3x3& ii = c.m_locii;
+		ii[0] = ii[1] = ii[2] = btVector3(0, 0, 0);
 		{
-			int i,ni;
+			int i, ni;
 
-			for(i=0,ni=c.m_nodes.size();i<ni;++i)
+			for (i = 0, ni = c.m_nodes.size(); i < ni; ++i)
 			{
-				const btVector3	k=c.m_nodes[i]->m_x-c.m_com;
-				const btVector3	q=k*k;
-				const btScalar	m=c.m_masses[i];
-				ii[0][0]	+=	m*(q[1]+q[2]);
-				ii[1][1]	+=	m*(q[0]+q[2]);
-				ii[2][2]	+=	m*(q[0]+q[1]);
-				ii[0][1]	-=	m*k[0]*k[1];
-				ii[0][2]	-=	m*k[0]*k[2];
-				ii[1][2]	-=	m*k[1]*k[2];
+				const btVector3 k = c.m_nodes[i]->m_x - c.m_com;
+				const btVector3 q = k * k;
+				const btScalar m = c.m_masses[i];
+				ii[0][0] += m * (q[1] + q[2]);
+				ii[1][1] += m * (q[0] + q[2]);
+				ii[2][2] += m * (q[0] + q[1]);
+				ii[0][1] -= m * k[0] * k[1];
+				ii[0][2] -= m * k[0] * k[2];
+				ii[1][2] -= m * k[1] * k[2];
 			}
 		}
-		ii[1][0]=ii[0][1];
-		ii[2][0]=ii[0][2];
-		ii[2][1]=ii[1][2];
-		
+		ii[1][0] = ii[0][1];
+		ii[2][0] = ii[0][2];
+		ii[2][1] = ii[1][2];
+
 		ii = ii.inverse();
 
-		/* Frame	*/ 
+		/* Frame	*/
 		c.m_framexform.setIdentity();
 		c.m_framexform.setOrigin(c.m_com);
 		c.m_framerefs.resize(c.m_nodes.size());
 		{
 			int i;
-			for(i=0;i<c.m_framerefs.size();++i)
+			for (i = 0; i < c.m_framerefs.size(); ++i)
 			{
-				c.m_framerefs[i]=c.m_nodes[i]->m_x-c.m_com;
+				c.m_framerefs[i] = c.m_nodes[i]->m_x - c.m_com;
 			}
 		}
 	}
 }
 
 //
-void					btSoftBody::updateClusters()
+void btSoftBody::updateClusters()
 {
 	BT_PROFILE("UpdateClusters");
 	int i;
 
-	for(i=0;i<m_clusters.size();++i)
+	for (i = 0; i < m_clusters.size(); ++i)
 	{
-		btSoftBody::Cluster&	c=*m_clusters[i];
-		const int				n=c.m_nodes.size();
+		btSoftBody::Cluster& c = *m_clusters[i];
+		const int n = c.m_nodes.size();
 		//const btScalar			invn=1/(btScalar)n;
-		if(n)
-		{
-			/* Frame				*/ 
-			const btScalar	eps=btScalar(0.0001);
-			btMatrix3x3		m,r,s;
-			m[0]=m[1]=m[2]=btVector3(0,0,0);
-			m[0][0]=eps*1;
-			m[1][1]=eps*2;
-			m[2][2]=eps*3;
-			c.m_com=clusterCom(&c);
-			for(int i=0;i<c.m_nodes.size();++i)
-			{
-				const btVector3		a=c.m_nodes[i]->m_x-c.m_com;
-				const btVector3&	b=c.m_framerefs[i];
-				m[0]+=a[0]*b;m[1]+=a[1]*b;m[2]+=a[2]*b;
-			}
-			PolarDecompose(m,r,s);
+		if (n)
+		{
+			/* Frame				*/
+			const btScalar eps = btScalar(0.0001);
+			btMatrix3x3 m, r, s;
+			m[0] = m[1] = m[2] = btVector3(0, 0, 0);
+			m[0][0] = eps * 1;
+			m[1][1] = eps * 2;
+			m[2][2] = eps * 3;
+			c.m_com = clusterCom(&c);
+			for (int i = 0; i < c.m_nodes.size(); ++i)
+			{
+				const btVector3 a = c.m_nodes[i]->m_x - c.m_com;
+				const btVector3& b = c.m_framerefs[i];
+				m[0] += a[0] * b;
+				m[1] += a[1] * b;
+				m[2] += a[2] * b;
+			}
+			PolarDecompose(m, r, s);
 			c.m_framexform.setOrigin(c.m_com);
-			c.m_framexform.setBasis(r);		
-			/* Inertia			*/ 
-#if 1/* Constant	*/ 
-			c.m_invwi=c.m_framexform.getBasis()*c.m_locii*c.m_framexform.getBasis().transpose();
+			c.m_framexform.setBasis(r);
+			/* Inertia			*/
+#if 1 /* Constant	*/
+			c.m_invwi = c.m_framexform.getBasis() * c.m_locii * c.m_framexform.getBasis().transpose();
 #else
-#if 0/* Sphere	*/ 
+#if 0 /* Sphere	*/ 
 			const btScalar	rk=(2*c.m_extents.length2())/(5*c.m_imass);
 			const btVector3	inertia(rk,rk,rk);
 			const btVector3	iin(btFabs(inertia[0])>SIMD_EPSILON?1/inertia[0]:0,
@@ -2576,186 +2593,181 @@ void					btSoftBody::updateClusters()
 				btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0);
 
 			c.m_invwi=c.m_xform.getBasis().scaled(iin)*c.m_xform.getBasis().transpose();
-#else/* Actual	*/ 		
-			c.m_invwi[0]=c.m_invwi[1]=c.m_invwi[2]=btVector3(0,0,0);
-			for(int i=0;i<n;++i)
-			{
-				const btVector3	k=c.m_nodes[i]->m_x-c.m_com;
-				const btVector3		q=k*k;
-				const btScalar		m=1/c.m_nodes[i]->m_im;
-				c.m_invwi[0][0]	+=	m*(q[1]+q[2]);
-				c.m_invwi[1][1]	+=	m*(q[0]+q[2]);
-				c.m_invwi[2][2]	+=	m*(q[0]+q[1]);
-				c.m_invwi[0][1]	-=	m*k[0]*k[1];
-				c.m_invwi[0][2]	-=	m*k[0]*k[2];
-				c.m_invwi[1][2]	-=	m*k[1]*k[2];
-			}
-			c.m_invwi[1][0]=c.m_invwi[0][1];
-			c.m_invwi[2][0]=c.m_invwi[0][2];
-			c.m_invwi[2][1]=c.m_invwi[1][2];
-			c.m_invwi=c.m_invwi.inverse();
+#else /* Actual	*/
+			c.m_invwi[0] = c.m_invwi[1] = c.m_invwi[2] = btVector3(0, 0, 0);
+			for (int i = 0; i < n; ++i)
+			{
+				const btVector3 k = c.m_nodes[i]->m_x - c.m_com;
+				const btVector3 q = k * k;
+				const btScalar m = 1 / c.m_nodes[i]->m_im;
+				c.m_invwi[0][0] += m * (q[1] + q[2]);
+				c.m_invwi[1][1] += m * (q[0] + q[2]);
+				c.m_invwi[2][2] += m * (q[0] + q[1]);
+				c.m_invwi[0][1] -= m * k[0] * k[1];
+				c.m_invwi[0][2] -= m * k[0] * k[2];
+				c.m_invwi[1][2] -= m * k[1] * k[2];
+			}
+			c.m_invwi[1][0] = c.m_invwi[0][1];
+			c.m_invwi[2][0] = c.m_invwi[0][2];
+			c.m_invwi[2][1] = c.m_invwi[1][2];
+			c.m_invwi = c.m_invwi.inverse();
 #endif
 #endif
-			/* Velocities			*/ 
-			c.m_lv=btVector3(0,0,0);
-			c.m_av=btVector3(0,0,0);
+			/* Velocities			*/
+			c.m_lv = btVector3(0, 0, 0);
+			c.m_av = btVector3(0, 0, 0);
 			{
 				int i;
 
-				for(i=0;i<n;++i)
+				for (i = 0; i < n; ++i)
 				{
-					const btVector3	v=c.m_nodes[i]->m_v*c.m_masses[i];
-					c.m_lv	+=	v;
-					c.m_av	+=	btCross(c.m_nodes[i]->m_x-c.m_com,v);
+					const btVector3 v = c.m_nodes[i]->m_v * c.m_masses[i];
+					c.m_lv += v;
+					c.m_av += btCross(c.m_nodes[i]->m_x - c.m_com, v);
 				}
 			}
-			c.m_lv=c.m_imass*c.m_lv*(1-c.m_ldamping);
-			c.m_av=c.m_invwi*c.m_av*(1-c.m_adamping);
-			c.m_vimpulses[0]	=
-				c.m_vimpulses[1]	= btVector3(0,0,0);
-			c.m_dimpulses[0]	=
-				c.m_dimpulses[1]	= btVector3(0,0,0);
-			c.m_nvimpulses		= 0;
-			c.m_ndimpulses		= 0;
-			/* Matching				*/ 
-			if(c.m_matching>0)
-			{
-				for(int j=0;j<c.m_nodes.size();++j)
+			c.m_lv = c.m_imass * c.m_lv * (1 - c.m_ldamping);
+			c.m_av = c.m_invwi * c.m_av * (1 - c.m_adamping);
+			c.m_vimpulses[0] =
+				c.m_vimpulses[1] = btVector3(0, 0, 0);
+			c.m_dimpulses[0] =
+				c.m_dimpulses[1] = btVector3(0, 0, 0);
+			c.m_nvimpulses = 0;
+			c.m_ndimpulses = 0;
+			/* Matching				*/
+			if (c.m_matching > 0)
+			{
+				for (int j = 0; j < c.m_nodes.size(); ++j)
 				{
-					Node&			n=*c.m_nodes[j];
-					const btVector3	x=c.m_framexform*c.m_framerefs[j];
-					n.m_x=Lerp(n.m_x,x,c.m_matching);
+					Node& n = *c.m_nodes[j];
+					const btVector3 x = c.m_framexform * c.m_framerefs[j];
+					n.m_x = Lerp(n.m_x, x, c.m_matching);
 				}
-			}			
-			/* Dbvt					*/ 
-			if(c.m_collide)
+			}
+			/* Dbvt					*/
+			if (c.m_collide)
 			{
-				btVector3	mi=c.m_nodes[0]->m_x;
-				btVector3	mx=mi;
-				for(int j=1;j<n;++j)
+				btVector3 mi = c.m_nodes[0]->m_x;
+				btVector3 mx = mi;
+				for (int j = 1; j < n; ++j)
 				{
 					mi.setMin(c.m_nodes[j]->m_x);
 					mx.setMax(c.m_nodes[j]->m_x);
-				}			
-				ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(mi,mx);
-				if(c.m_leaf)
-					m_cdbvt.update(c.m_leaf,bounds,c.m_lv*m_sst.sdt*3,m_sst.radmrg);
+				}
+				ATTRIBUTE_ALIGNED16(btDbvtVolume)
+				bounds = btDbvtVolume::FromMM(mi, mx);
+				if (c.m_leaf)
+					m_cdbvt.update(c.m_leaf, bounds, c.m_lv * m_sst.sdt * 3, m_sst.radmrg);
 				else
-					c.m_leaf=m_cdbvt.insert(bounds,&c);
+					c.m_leaf = m_cdbvt.insert(bounds, &c);
 			}
 		}
 	}
-
-
 }
 
-
-
-
 //
-void					btSoftBody::cleanupClusters()
+void btSoftBody::cleanupClusters()
 {
-	for(int i=0;i<m_joints.size();++i)
+	for (int i = 0; i < m_joints.size(); ++i)
 	{
 		m_joints[i]->Terminate(m_sst.sdt);
-		if(m_joints[i]->m_delete)
+		if (m_joints[i]->m_delete)
 		{
 			btAlignedFree(m_joints[i]);
 			m_joints.remove(m_joints[i--]);
-		}	
+		}
 	}
 }
 
 //
-void					btSoftBody::prepareClusters(int iterations)
+void btSoftBody::prepareClusters(int iterations)
 {
-	for(int i=0;i<m_joints.size();++i)
+	for (int i = 0; i < m_joints.size(); ++i)
 	{
-		m_joints[i]->Prepare(m_sst.sdt,iterations);
+		m_joints[i]->Prepare(m_sst.sdt, iterations);
 	}
 }
 
-
 //
-void					btSoftBody::solveClusters(btScalar sor)
+void btSoftBody::solveClusters(btScalar sor)
 {
-	for(int i=0,ni=m_joints.size();i<ni;++i)
+	for (int i = 0, ni = m_joints.size(); i < ni; ++i)
 	{
-		m_joints[i]->Solve(m_sst.sdt,sor);
+		m_joints[i]->Solve(m_sst.sdt, sor);
 	}
 }
 
 //
-void					btSoftBody::applyClusters(bool drift)
+void btSoftBody::applyClusters(bool drift)
 {
 	BT_PROFILE("ApplyClusters");
-//	const btScalar					f0=m_sst.sdt;
+	//	const btScalar					f0=m_sst.sdt;
 	//const btScalar					f1=f0/2;
 	btAlignedObjectArray<btVector3> deltas;
 	btAlignedObjectArray<btScalar> weights;
-	deltas.resize(m_nodes.size(),btVector3(0,0,0));
-	weights.resize(m_nodes.size(),0);
+	deltas.resize(m_nodes.size(), btVector3(0, 0, 0));
+	weights.resize(m_nodes.size(), 0);
 	int i;
 
-	if(drift)
+	if (drift)
 	{
-		for(i=0;i<m_clusters.size();++i)
+		for (i = 0; i < m_clusters.size(); ++i)
 		{
-			Cluster&	c=*m_clusters[i];
-			if(c.m_ndimpulses)
+			Cluster& c = *m_clusters[i];
+			if (c.m_ndimpulses)
 			{
-				c.m_dimpulses[0]/=(btScalar)c.m_ndimpulses;
-				c.m_dimpulses[1]/=(btScalar)c.m_ndimpulses;
+				c.m_dimpulses[0] /= (btScalar)c.m_ndimpulses;
+				c.m_dimpulses[1] /= (btScalar)c.m_ndimpulses;
 			}
 		}
 	}
-	
-	for(i=0;i<m_clusters.size();++i)
+
+	for (i = 0; i < m_clusters.size(); ++i)
 	{
-		Cluster&	c=*m_clusters[i];	
-		if(0<(drift?c.m_ndimpulses:c.m_nvimpulses))
+		Cluster& c = *m_clusters[i];
+		if (0 < (drift ? c.m_ndimpulses : c.m_nvimpulses))
 		{
-			const btVector3		v=(drift?c.m_dimpulses[0]:c.m_vimpulses[0])*m_sst.sdt;
-			const btVector3		w=(drift?c.m_dimpulses[1]:c.m_vimpulses[1])*m_sst.sdt;
-			for(int j=0;j<c.m_nodes.size();++j)
+			const btVector3 v = (drift ? c.m_dimpulses[0] : c.m_vimpulses[0]) * m_sst.sdt;
+			const btVector3 w = (drift ? c.m_dimpulses[1] : c.m_vimpulses[1]) * m_sst.sdt;
+			for (int j = 0; j < c.m_nodes.size(); ++j)
 			{
-				const int			idx=int(c.m_nodes[j]-&m_nodes[0]);
-				const btVector3&	x=c.m_nodes[j]->m_x;
-				const btScalar		q=c.m_masses[j];
-				deltas[idx]		+=	(v+btCross(w,x-c.m_com))*q;
-				weights[idx]	+=	q;
+				const int idx = int(c.m_nodes[j] - &m_nodes[0]);
+				const btVector3& x = c.m_nodes[j]->m_x;
+				const btScalar q = c.m_masses[j];
+				deltas[idx] += (v + btCross(w, x - c.m_com)) * q;
+				weights[idx] += q;
 			}
 		}
 	}
-	for(i=0;i<deltas.size();++i)
+	for (i = 0; i < deltas.size(); ++i)
 	{
-		if(weights[i]>0) 
+		if (weights[i] > 0)
 		{
-			m_nodes[i].m_x+=deltas[i]/weights[i];
+			m_nodes[i].m_x += deltas[i] / weights[i];
 		}
 	}
 }
 
 //
-void					btSoftBody::dampClusters()
+void btSoftBody::dampClusters()
 {
 	int i;
 
-	for(i=0;i<m_clusters.size();++i)
+	for (i = 0; i < m_clusters.size(); ++i)
 	{
-		Cluster&	c=*m_clusters[i];	
-		if(c.m_ndamping>0)
+		Cluster& c = *m_clusters[i];
+		if (c.m_ndamping > 0)
 		{
-			for(int j=0;j<c.m_nodes.size();++j)
+			for (int j = 0; j < c.m_nodes.size(); ++j)
 			{
-				Node&			n=*c.m_nodes[j];
-				if(n.m_im>0)
+				Node& n = *c.m_nodes[j];
+				if (n.m_im > 0)
 				{
-					const btVector3	vx=c.m_lv+btCross(c.m_av,c.m_nodes[j]->m_q-c.m_com);
-					if(vx.length2()<=n.m_v.length2())
-						{
-						n.m_v	+=	c.m_ndamping*(vx-n.m_v);
-						}
+					const btVector3 vx = c.m_lv + btCross(c.m_av, c.m_nodes[j]->m_q - c.m_com);
+					if (vx.length2() <= n.m_v.length2())
+					{
+						n.m_v += c.m_ndamping * (vx - n.m_v);
+					}
 				}
 			}
 		}
@@ -2763,710 +2775,696 @@ void					btSoftBody::dampClusters()
 }
 
 //
-void				btSoftBody::Joint::Prepare(btScalar dt,int)
+void btSoftBody::Joint::Prepare(btScalar dt, int)
 {
 	m_bodies[0].activate();
 	m_bodies[1].activate();
 }
 
 //
-void				btSoftBody::LJoint::Prepare(btScalar dt,int iterations)
+void btSoftBody::LJoint::Prepare(btScalar dt, int iterations)
 {
-	static const btScalar	maxdrift=4;
-	Joint::Prepare(dt,iterations);
-	m_rpos[0]		=	m_bodies[0].xform()*m_refs[0];
-	m_rpos[1]		=	m_bodies[1].xform()*m_refs[1];
-	m_drift			=	Clamp(m_rpos[0]-m_rpos[1],maxdrift)*m_erp/dt;
-	m_rpos[0]		-=	m_bodies[0].xform().getOrigin();
-	m_rpos[1]		-=	m_bodies[1].xform().getOrigin();
-	m_massmatrix	=	ImpulseMatrix(	m_bodies[0].invMass(),m_bodies[0].invWorldInertia(),m_rpos[0],
-		m_bodies[1].invMass(),m_bodies[1].invWorldInertia(),m_rpos[1]);
-	if(m_split>0)
+	static const btScalar maxdrift = 4;
+	Joint::Prepare(dt, iterations);
+	m_rpos[0] = m_bodies[0].xform() * m_refs[0];
+	m_rpos[1] = m_bodies[1].xform() * m_refs[1];
+	m_drift = Clamp(m_rpos[0] - m_rpos[1], maxdrift) * m_erp / dt;
+	m_rpos[0] -= m_bodies[0].xform().getOrigin();
+	m_rpos[1] -= m_bodies[1].xform().getOrigin();
+	m_massmatrix = ImpulseMatrix(m_bodies[0].invMass(), m_bodies[0].invWorldInertia(), m_rpos[0],
+								 m_bodies[1].invMass(), m_bodies[1].invWorldInertia(), m_rpos[1]);
+	if (m_split > 0)
 	{
-		m_sdrift	=	m_massmatrix*(m_drift*m_split);
-		m_drift		*=	1-m_split;
+		m_sdrift = m_massmatrix * (m_drift * m_split);
+		m_drift *= 1 - m_split;
 	}
-	m_drift	/=(btScalar)iterations;
+	m_drift /= (btScalar)iterations;
 }
 
 //
-void				btSoftBody::LJoint::Solve(btScalar dt,btScalar sor)
+void btSoftBody::LJoint::Solve(btScalar dt, btScalar sor)
 {
-	const btVector3		va=m_bodies[0].velocity(m_rpos[0]);
-	const btVector3		vb=m_bodies[1].velocity(m_rpos[1]);
-	const btVector3		vr=va-vb;
-	btSoftBody::Impulse	impulse;
-	impulse.m_asVelocity	=	1;
-	impulse.m_velocity		=	m_massmatrix*(m_drift+vr*m_cfm)*sor;
-	m_bodies[0].applyImpulse(-impulse,m_rpos[0]);
-	m_bodies[1].applyImpulse( impulse,m_rpos[1]);
+	const btVector3 va = m_bodies[0].velocity(m_rpos[0]);
+	const btVector3 vb = m_bodies[1].velocity(m_rpos[1]);
+	const btVector3 vr = va - vb;
+	btSoftBody::Impulse impulse;
+	impulse.m_asVelocity = 1;
+	impulse.m_velocity = m_massmatrix * (m_drift + vr * m_cfm) * sor;
+	m_bodies[0].applyImpulse(-impulse, m_rpos[0]);
+	m_bodies[1].applyImpulse(impulse, m_rpos[1]);
 }
 
 //
-void				btSoftBody::LJoint::Terminate(btScalar dt)
+void btSoftBody::LJoint::Terminate(btScalar dt)
 {
-	if(m_split>0)
+	if (m_split > 0)
 	{
-		m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]);
-		m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]);
+		m_bodies[0].applyDImpulse(-m_sdrift, m_rpos[0]);
+		m_bodies[1].applyDImpulse(m_sdrift, m_rpos[1]);
 	}
 }
 
 //
-void				btSoftBody::AJoint::Prepare(btScalar dt,int iterations)
+void btSoftBody::AJoint::Prepare(btScalar dt, int iterations)
 {
-	static const btScalar	maxdrift=SIMD_PI/16;
+	static const btScalar maxdrift = SIMD_PI / 16;
 	m_icontrol->Prepare(this);
-	Joint::Prepare(dt,iterations);
-	m_axis[0]	=	m_bodies[0].xform().getBasis()*m_refs[0];
-	m_axis[1]	=	m_bodies[1].xform().getBasis()*m_refs[1];
-	m_drift		=	NormalizeAny(btCross(m_axis[1],m_axis[0]));
-	m_drift		*=	btMin(maxdrift,btAcos(Clamp<btScalar>(btDot(m_axis[0],m_axis[1]),-1,+1)));
-	m_drift		*=	m_erp/dt;
-	m_massmatrix=	AngularImpulseMatrix(m_bodies[0].invWorldInertia(),m_bodies[1].invWorldInertia());
-	if(m_split>0)
+	Joint::Prepare(dt, iterations);
+	m_axis[0] = m_bodies[0].xform().getBasis() * m_refs[0];
+	m_axis[1] = m_bodies[1].xform().getBasis() * m_refs[1];
+	m_drift = NormalizeAny(btCross(m_axis[1], m_axis[0]));
+	m_drift *= btMin(maxdrift, btAcos(Clamp<btScalar>(btDot(m_axis[0], m_axis[1]), -1, +1)));
+	m_drift *= m_erp / dt;
+	m_massmatrix = AngularImpulseMatrix(m_bodies[0].invWorldInertia(), m_bodies[1].invWorldInertia());
+	if (m_split > 0)
 	{
-		m_sdrift	=	m_massmatrix*(m_drift*m_split);
-		m_drift		*=	1-m_split;
+		m_sdrift = m_massmatrix * (m_drift * m_split);
+		m_drift *= 1 - m_split;
 	}
-	m_drift	/=(btScalar)iterations;
+	m_drift /= (btScalar)iterations;
 }
 
 //
-void				btSoftBody::AJoint::Solve(btScalar dt,btScalar sor)
+void btSoftBody::AJoint::Solve(btScalar dt, btScalar sor)
 {
-	const btVector3		va=m_bodies[0].angularVelocity();
-	const btVector3		vb=m_bodies[1].angularVelocity();
-	const btVector3		vr=va-vb;
-	const btScalar		sp=btDot(vr,m_axis[0]);
-	const btVector3		vc=vr-m_axis[0]*m_icontrol->Speed(this,sp);
-	btSoftBody::Impulse	impulse;
-	impulse.m_asVelocity	=	1;
-	impulse.m_velocity		=	m_massmatrix*(m_drift+vc*m_cfm)*sor;
+	const btVector3 va = m_bodies[0].angularVelocity();
+	const btVector3 vb = m_bodies[1].angularVelocity();
+	const btVector3 vr = va - vb;
+	const btScalar sp = btDot(vr, m_axis[0]);
+	const btVector3 vc = vr - m_axis[0] * m_icontrol->Speed(this, sp);
+	btSoftBody::Impulse impulse;
+	impulse.m_asVelocity = 1;
+	impulse.m_velocity = m_massmatrix * (m_drift + vc * m_cfm) * sor;
 	m_bodies[0].applyAImpulse(-impulse);
-	m_bodies[1].applyAImpulse( impulse);
+	m_bodies[1].applyAImpulse(impulse);
 }
 
 //
-void				btSoftBody::AJoint::Terminate(btScalar dt)
+void btSoftBody::AJoint::Terminate(btScalar dt)
 {
-	if(m_split>0)
+	if (m_split > 0)
 	{
 		m_bodies[0].applyDAImpulse(-m_sdrift);
-		m_bodies[1].applyDAImpulse( m_sdrift);
+		m_bodies[1].applyDAImpulse(m_sdrift);
 	}
 }
 
 //
-void				btSoftBody::CJoint::Prepare(btScalar dt,int iterations)
+void btSoftBody::CJoint::Prepare(btScalar dt, int iterations)
 {
-	Joint::Prepare(dt,iterations);
-	const bool	dodrift=(m_life==0);
-	m_delete=(++m_life)>m_maxlife;
-	if(dodrift)
+	Joint::Prepare(dt, iterations);
+	const bool dodrift = (m_life == 0);
+	m_delete = (++m_life) > m_maxlife;
+	if (dodrift)
 	{
-		m_drift=m_drift*m_erp/dt;
-		if(m_split>0)
+		m_drift = m_drift * m_erp / dt;
+		if (m_split > 0)
 		{
-			m_sdrift	=	m_massmatrix*(m_drift*m_split);
-			m_drift		*=	1-m_split;
+			m_sdrift = m_massmatrix * (m_drift * m_split);
+			m_drift *= 1 - m_split;
 		}
-		m_drift/=(btScalar)iterations;
+		m_drift /= (btScalar)iterations;
 	}
 	else
 	{
-		m_drift=m_sdrift=btVector3(0,0,0);
+		m_drift = m_sdrift = btVector3(0, 0, 0);
 	}
 }
 
 //
-void				btSoftBody::CJoint::Solve(btScalar dt,btScalar sor)
+void btSoftBody::CJoint::Solve(btScalar dt, btScalar sor)
 {
-	const btVector3		va=m_bodies[0].velocity(m_rpos[0]);
-	const btVector3		vb=m_bodies[1].velocity(m_rpos[1]);
-	const btVector3		vrel=va-vb;
-	const btScalar		rvac=btDot(vrel,m_normal);
-	btSoftBody::Impulse	impulse;
-	impulse.m_asVelocity	=	1;
-	impulse.m_velocity		=	m_drift;
-	if(rvac<0)
+	const btVector3 va = m_bodies[0].velocity(m_rpos[0]);
+	const btVector3 vb = m_bodies[1].velocity(m_rpos[1]);
+	const btVector3 vrel = va - vb;
+	const btScalar rvac = btDot(vrel, m_normal);
+	btSoftBody::Impulse impulse;
+	impulse.m_asVelocity = 1;
+	impulse.m_velocity = m_drift;
+	if (rvac < 0)
 	{
-		const btVector3	iv=m_normal*rvac;
-		const btVector3	fv=vrel-iv;
-		impulse.m_velocity	+=	iv+fv*m_friction;
+		const btVector3 iv = m_normal * rvac;
+		const btVector3 fv = vrel - iv;
+		impulse.m_velocity += iv + fv * m_friction;
 	}
-	impulse.m_velocity=m_massmatrix*impulse.m_velocity*sor;
-	
-	if (m_bodies[0].m_soft==m_bodies[1].m_soft)
+	impulse.m_velocity = m_massmatrix * impulse.m_velocity * sor;
+
+	if (m_bodies[0].m_soft == m_bodies[1].m_soft)
 	{
-		if ((impulse.m_velocity.getX() ==impulse.m_velocity.getX())&&(impulse.m_velocity.getY() ==impulse.m_velocity.getY())&&
-			(impulse.m_velocity.getZ() ==impulse.m_velocity.getZ()))
+		if ((impulse.m_velocity.getX() == impulse.m_velocity.getX()) && (impulse.m_velocity.getY() == impulse.m_velocity.getY()) &&
+			(impulse.m_velocity.getZ() == impulse.m_velocity.getZ()))
 		{
 			if (impulse.m_asVelocity)
 			{
-				if (impulse.m_velocity.length() <m_bodies[0].m_soft->m_maxSelfCollisionImpulse)
+				if (impulse.m_velocity.length() < m_bodies[0].m_soft->m_maxSelfCollisionImpulse)
 				{
-					
-				} else
+				}
+				else
 				{
-					m_bodies[0].applyImpulse(-impulse*m_bodies[0].m_soft->m_selfCollisionImpulseFactor,m_rpos[0]);
-					m_bodies[1].applyImpulse( impulse*m_bodies[0].m_soft->m_selfCollisionImpulseFactor,m_rpos[1]);
+					m_bodies[0].applyImpulse(-impulse * m_bodies[0].m_soft->m_selfCollisionImpulseFactor, m_rpos[0]);
+					m_bodies[1].applyImpulse(impulse * m_bodies[0].m_soft->m_selfCollisionImpulseFactor, m_rpos[1]);
 				}
 			}
 		}
-	} else
+	}
+	else
 	{
-		m_bodies[0].applyImpulse(-impulse,m_rpos[0]);
-		m_bodies[1].applyImpulse( impulse,m_rpos[1]);
+		m_bodies[0].applyImpulse(-impulse, m_rpos[0]);
+		m_bodies[1].applyImpulse(impulse, m_rpos[1]);
 	}
 }
 
 //
-void				btSoftBody::CJoint::Terminate(btScalar dt)
+void btSoftBody::CJoint::Terminate(btScalar dt)
 {
-	if(m_split>0)
+	if (m_split > 0)
 	{
-		m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]);
-		m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]);
+		m_bodies[0].applyDImpulse(-m_sdrift, m_rpos[0]);
+		m_bodies[1].applyDImpulse(m_sdrift, m_rpos[1]);
 	}
 }
 
 //
-void				btSoftBody::applyForces()
+void btSoftBody::applyForces()
 {
-
 	BT_PROFILE("SoftBody applyForces");
-//	const btScalar					dt =			m_sst.sdt;
-	const btScalar					kLF =			m_cfg.kLF;
-	const btScalar					kDG =			m_cfg.kDG;
-	const btScalar					kPR =			m_cfg.kPR;
-	const btScalar					kVC =			m_cfg.kVC;
-	const bool						as_lift =		kLF>0;
-	const bool						as_drag =		kDG>0;
-	const bool						as_pressure =	kPR!=0;
-	const bool						as_volume =		kVC>0;
-	const bool						as_aero =		as_lift	||
-													as_drag		;
+	//	const btScalar					dt =			m_sst.sdt;
+	const btScalar kLF = m_cfg.kLF;
+	const btScalar kDG = m_cfg.kDG;
+	const btScalar kPR = m_cfg.kPR;
+	const btScalar kVC = m_cfg.kVC;
+	const bool as_lift = kLF > 0;
+	const bool as_drag = kDG > 0;
+	const bool as_pressure = kPR != 0;
+	const bool as_volume = kVC > 0;
+	const bool as_aero = as_lift ||
+						 as_drag;
 	//const bool						as_vaero =		as_aero	&&
 	//												(m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
 	//const bool						as_faero =		as_aero	&&
 	//												(m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
-	const bool						use_medium =	as_aero;
-	const bool						use_volume =	as_pressure	||
-		as_volume	;
-	btScalar						volume =		0;
-	btScalar						ivolumetp =		0;
-	btScalar						dvolumetv =		0;
-	btSoftBody::sMedium	medium;
-	if(use_volume)
+	const bool use_medium = as_aero;
+	const bool use_volume = as_pressure ||
+							as_volume;
+	btScalar volume = 0;
+	btScalar ivolumetp = 0;
+	btScalar dvolumetv = 0;
+	btSoftBody::sMedium medium;
+	if (use_volume)
 	{
-		volume		=	getVolume();
-		ivolumetp	=	1/btFabs(volume)*kPR;
-		dvolumetv	=	(m_pose.m_volume-volume)*kVC;
+		volume = getVolume();
+		ivolumetp = 1 / btFabs(volume) * kPR;
+		dvolumetv = (m_pose.m_volume - volume) * kVC;
 	}
-	/* Per vertex forces			*/ 
-	int i,ni;
+	/* Per vertex forces			*/
+	int i, ni;
 
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	for (i = 0, ni = m_nodes.size(); i < ni; ++i)
 	{
-		btSoftBody::Node&	n=m_nodes[i];
-		if(n.m_im>0)
+		btSoftBody::Node& n = m_nodes[i];
+		if (n.m_im > 0)
 		{
-			if(use_medium)
+			if (use_medium)
 			{
-				/* Aerodynamics			*/ 
+				/* Aerodynamics			*/
 				addAeroForceToNode(m_windVelocity, i);
 			}
-			/* Pressure				*/ 
-			if(as_pressure)
+			/* Pressure				*/
+			if (as_pressure)
 			{
-				n.m_f	+=	n.m_n*(n.m_area*ivolumetp);
+				n.m_f += n.m_n * (n.m_area * ivolumetp);
 			}
-			/* Volume				*/ 
-			if(as_volume)
+			/* Volume				*/
+			if (as_volume)
 			{
-				n.m_f	+=	n.m_n*(n.m_area*dvolumetv);
+				n.m_f += n.m_n * (n.m_area * dvolumetv);
 			}
 		}
 	}
 
-	/* Per face forces				*/ 
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	/* Per face forces				*/
+	for (i = 0, ni = m_faces.size(); i < ni; ++i)
 	{
-	//	btSoftBody::Face&	f=m_faces[i];
+		//	btSoftBody::Face&	f=m_faces[i];
 
-		/* Aerodynamics			*/ 
-		addAeroForceToFace(m_windVelocity, i);	
+		/* Aerodynamics			*/
+		addAeroForceToFace(m_windVelocity, i);
 	}
 }
 
 //
-void				btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
+void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti)
 {
 	BT_PROFILE("PSolve_Anchors");
-	const btScalar	kAHR=psb->m_cfg.kAHR*kst;
-	const btScalar	dt=psb->m_sst.sdt;
-	for(int i=0,ni=psb->m_anchors.size();i<ni;++i)
+	const btScalar kAHR = psb->m_cfg.kAHR * kst;
+	const btScalar dt = psb->m_sst.sdt;
+	for (int i = 0, ni = psb->m_anchors.size(); i < ni; ++i)
 	{
-		const Anchor&		a=psb->m_anchors[i];
-		const btTransform&	t=a.m_body->getWorldTransform();
-		Node&				n=*a.m_node;
-		const btVector3		wa=t*a.m_local;
-		const btVector3		va=a.m_body->getVelocityInLocalPoint(a.m_c1)*dt;
-		const btVector3		vb=n.m_x-n.m_q;
-		const btVector3		vr=(va-vb)+(wa-n.m_x)*kAHR;
-		const btVector3		impulse=a.m_c0*vr*a.m_influence;
-		n.m_x+=impulse*a.m_c2;
-		a.m_body->applyImpulse(-impulse,a.m_c1);
+		const Anchor& a = psb->m_anchors[i];
+		const btTransform& t = a.m_body->getWorldTransform();
+		Node& n = *a.m_node;
+		const btVector3 wa = t * a.m_local;
+		const btVector3 va = a.m_body->getVelocityInLocalPoint(a.m_c1) * dt;
+		const btVector3 vb = n.m_x - n.m_q;
+		const btVector3 vr = (va - vb) + (wa - n.m_x) * kAHR;
+		const btVector3 impulse = a.m_c0 * vr * a.m_influence;
+		n.m_x += impulse * a.m_c2;
+		a.m_body->applyImpulse(-impulse, a.m_c1);
 	}
 }
 
-
 //
 void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
 {
 	BT_PROFILE("PSolve_RContacts");
-	const btScalar	dt = psb->m_sst.sdt;
-	const btScalar	mrg = psb->getCollisionShape()->getMargin();
+	const btScalar dt = psb->m_sst.sdt;
+	const btScalar mrg = psb->getCollisionShape()->getMargin();
 	btMultiBodyJacobianData jacobianData;
-	for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
-	{
-		const RContact&		c = psb->m_rcontacts[i];
-		const sCti&			cti = c.m_cti;	
-		if (cti.m_colObj->hasContactResponse()) 
-		{
-            btVector3 va(0,0,0);
-            btRigidBody* rigidCol=0;
-            btMultiBodyLinkCollider* multibodyLinkCol=0;
-            btScalar* deltaV;
-            
-            if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-            {
-                rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-                va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
-            }
+	for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i)
+	{
+		const RContact& c = psb->m_rcontacts[i];
+		const sCti& cti = c.m_cti;
+		if (cti.m_colObj->hasContactResponse())
+		{
+			btVector3 va(0, 0, 0);
+			btRigidBody* rigidCol = 0;
+			btMultiBodyLinkCollider* multibodyLinkCol = 0;
+			btScalar* deltaV;
+
+			if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
+			{
+				rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
+				va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1) * dt : btVector3(0, 0, 0);
+			}
 			else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-            {
-                multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-                if (multibodyLinkCol)
-                {
-                    const int ndof  = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-                    jacobianData.m_jacobians.resize(ndof);
-                    jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
-                    btScalar* jac=&jacobianData.m_jacobians[0];
-                    
-                    multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
-                    deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0];
-                    multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0],deltaV,jacobianData.scratch_r, jacobianData.scratch_v);
-                    
-                    btScalar vel = 0.0;
-                    for (int j = 0; j < ndof ; ++j) {
-                        vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j];
-                    }
-                    va = cti.m_normal*vel*dt;
-                }
-            }
-            
-			const btVector3		vb = c.m_node->m_x-c.m_node->m_q;
-			const btVector3		vr = vb-va;
-			const btScalar		dn = btDot(vr, cti.m_normal);		
-			if(dn<=SIMD_EPSILON)
-			{
-				const btScalar		dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
-				const btVector3		fv = vr - (cti.m_normal * dn);
+			{
+				multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
+				if (multibodyLinkCol)
+				{
+					const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
+					jacobianData.m_jacobians.resize(ndof);
+					jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
+					btScalar* jac = &jacobianData.m_jacobians[0];
+
+					multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
+					deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0];
+					multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v);
+
+					btScalar vel = 0.0;
+					for (int j = 0; j < ndof; ++j)
+					{
+						vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j];
+					}
+					va = cti.m_normal * vel * dt;
+				}
+			}
+
+			const btVector3 vb = c.m_node->m_x - c.m_node->m_q;
+			const btVector3 vr = vb - va;
+			const btScalar dn = btDot(vr, cti.m_normal);
+			if (dn <= SIMD_EPSILON)
+			{
+				const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg);
+				const btVector3 fv = vr - (cti.m_normal * dn);
 				// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
-				const btVector3		impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
+				const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst);
 				c.m_node->m_x -= impulse * c.m_c2;
-                
-                if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-                {
-                    if (rigidCol)
-                        rigidCol->applyImpulse(impulse,c.m_c1);
-                }
-                else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-                {
-                    if (multibodyLinkCol)
-                    {
-                        double multiplier = 0.5;
-                        multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV,-impulse.length()*multiplier);
-                    }
-                }
+
+				if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
+				{
+					if (rigidCol)
+						rigidCol->applyImpulse(impulse, c.m_c1);
+				}
+				else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
+				{
+					if (multibodyLinkCol)
+					{
+						double multiplier = 0.5;
+						multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
+					}
+				}
 			}
 		}
 	}
 }
 
 //
-void				btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
+void btSoftBody::PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti)
 {
 	BT_PROFILE("PSolve_SContacts");
-	
-	for(int i=0,ni=psb->m_scontacts.size();i<ni;++i)
+
+	for (int i = 0, ni = psb->m_scontacts.size(); i < ni; ++i)
 	{
-		const SContact&		c=psb->m_scontacts[i];
-		const btVector3&	nr=c.m_normal;
-		Node&				n=*c.m_node;
-		Face&				f=*c.m_face;
-		const btVector3		p=BaryEval(	f.m_n[0]->m_x,
-			f.m_n[1]->m_x,
-			f.m_n[2]->m_x,
-			c.m_weights);
-		const btVector3		q=BaryEval(	f.m_n[0]->m_q,
-			f.m_n[1]->m_q,
-			f.m_n[2]->m_q,
-			c.m_weights);											
-		const btVector3		vr=(n.m_x-n.m_q)-(p-q);
-		btVector3			corr(0,0,0);
-		btScalar dot = btDot(vr,nr);
-		if(dot<0)
+		const SContact& c = psb->m_scontacts[i];
+		const btVector3& nr = c.m_normal;
+		Node& n = *c.m_node;
+		Face& f = *c.m_face;
+		const btVector3 p = BaryEval(f.m_n[0]->m_x,
+									 f.m_n[1]->m_x,
+									 f.m_n[2]->m_x,
+									 c.m_weights);
+		const btVector3 q = BaryEval(f.m_n[0]->m_q,
+									 f.m_n[1]->m_q,
+									 f.m_n[2]->m_q,
+									 c.m_weights);
+		const btVector3 vr = (n.m_x - n.m_q) - (p - q);
+		btVector3 corr(0, 0, 0);
+		btScalar dot = btDot(vr, nr);
+		if (dot < 0)
 		{
-			const btScalar	j=c.m_margin-(btDot(nr,n.m_x)-btDot(nr,p));
-			corr+=c.m_normal*j;
+			const btScalar j = c.m_margin - (btDot(nr, n.m_x) - btDot(nr, p));
+			corr += c.m_normal * j;
 		}
-		corr			-=	ProjectOnPlane(vr,nr)*c.m_friction;
-		n.m_x			+=	corr*c.m_cfm[0];
-		f.m_n[0]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.x());
-		f.m_n[1]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.y());
-		f.m_n[2]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.z());
+		corr -= ProjectOnPlane(vr, nr) * c.m_friction;
+		n.m_x += corr * c.m_cfm[0];
+		f.m_n[0]->m_x -= corr * (c.m_cfm[1] * c.m_weights.x());
+		f.m_n[1]->m_x -= corr * (c.m_cfm[1] * c.m_weights.y());
+		f.m_n[2]->m_x -= corr * (c.m_cfm[1] * c.m_weights.z());
 	}
 }
 
 //
-void				btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti)
+void btSoftBody::PSolve_Links(btSoftBody* psb, btScalar kst, btScalar ti)
 {
-BT_PROFILE("PSolve_Links");
-	for(int i=0,ni=psb->m_links.size();i<ni;++i)
-	{			
-		Link&	l=psb->m_links[i];
-		if(l.m_c0>0)
+	BT_PROFILE("PSolve_Links");
+	for (int i = 0, ni = psb->m_links.size(); i < ni; ++i)
+	{
+		Link& l = psb->m_links[i];
+		if (l.m_c0 > 0)
 		{
-			Node&			a=*l.m_n[0];
-			Node&			b=*l.m_n[1];
-			const btVector3	del=b.m_x-a.m_x;
-			const btScalar	len=del.length2();
-			if (l.m_c1+len > SIMD_EPSILON)
+			Node& a = *l.m_n[0];
+			Node& b = *l.m_n[1];
+			const btVector3 del = b.m_x - a.m_x;
+			const btScalar len = del.length2();
+			if (l.m_c1 + len > SIMD_EPSILON)
 			{
-				const btScalar	k=((l.m_c1-len)/(l.m_c0*(l.m_c1+len)))*kst;
-				a.m_x-=del*(k*a.m_im);
-				b.m_x+=del*(k*b.m_im);
+				const btScalar k = ((l.m_c1 - len) / (l.m_c0 * (l.m_c1 + len))) * kst;
+				a.m_x -= del * (k * a.m_im);
+				b.m_x += del * (k * b.m_im);
 			}
 		}
 	}
 }
 
 //
-void				btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst)
+void btSoftBody::VSolve_Links(btSoftBody* psb, btScalar kst)
 {
 	BT_PROFILE("VSolve_Links");
-	for(int i=0,ni=psb->m_links.size();i<ni;++i)
-	{			
-		Link&			l=psb->m_links[i];
-		Node**			n=l.m_n;
-		const btScalar	j=-btDot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst;
-		n[0]->m_v+=	l.m_c3*(j*n[0]->m_im);
-		n[1]->m_v-=	l.m_c3*(j*n[1]->m_im);
+	for (int i = 0, ni = psb->m_links.size(); i < ni; ++i)
+	{
+		Link& l = psb->m_links[i];
+		Node** n = l.m_n;
+		const btScalar j = -btDot(l.m_c3, n[0]->m_v - n[1]->m_v) * l.m_c2 * kst;
+		n[0]->m_v += l.m_c3 * (j * n[0]->m_im);
+		n[1]->m_v -= l.m_c3 * (j * n[1]->m_im);
 	}
 }
 
 //
-btSoftBody::psolver_t	btSoftBody::getSolver(ePSolver::_ solver)
+btSoftBody::psolver_t btSoftBody::getSolver(ePSolver::_ solver)
 {
-	switch(solver)
+	switch (solver)
 	{
-	case	ePSolver::Anchors:		
-		return(&btSoftBody::PSolve_Anchors);
-	case	ePSolver::Linear:		
-		return(&btSoftBody::PSolve_Links);
-	case	ePSolver::RContacts:	
-		return(&btSoftBody::PSolve_RContacts);
-	case	ePSolver::SContacts:	
-		return(&btSoftBody::PSolve_SContacts);	
+		case ePSolver::Anchors:
+			return (&btSoftBody::PSolve_Anchors);
+		case ePSolver::Linear:
+			return (&btSoftBody::PSolve_Links);
+		case ePSolver::RContacts:
+			return (&btSoftBody::PSolve_RContacts);
+		case ePSolver::SContacts:
+			return (&btSoftBody::PSolve_SContacts);
 		default:
 		{
 		}
 	}
-	return(0);
+	return (0);
 }
 
 //
-btSoftBody::vsolver_t	btSoftBody::getSolver(eVSolver::_ solver)
+btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
 {
-	switch(solver)
+	switch (solver)
 	{
-	case	eVSolver::Linear:		return(&btSoftBody::VSolve_Links);
+		case eVSolver::Linear:
+			return (&btSoftBody::VSolve_Links);
 		default:
 		{
 		}
 	}
-	return(0);
+	return (0);
 }
 
 //
-void			btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
+void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
 {
-
-	switch(m_cfg.collisions&fCollision::RVSmask)
+	switch (m_cfg.collisions & fCollision::RVSmask)
 	{
-	case	fCollision::SDF_RS:
+		case fCollision::SDF_RS:
 		{
-			btSoftColliders::CollideSDF_RS	docollide;		
-			btRigidBody*		prb1=(btRigidBody*) btRigidBody::upcast(pcoWrap->getCollisionObject());
-			btTransform	wtr=pcoWrap->getWorldTransform();
+			btSoftColliders::CollideSDF_RS docollide;
+			btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
+			btTransform wtr = pcoWrap->getWorldTransform();
 
-			const btTransform	ctr=pcoWrap->getWorldTransform();
-			const btScalar		timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
-			const btScalar		basemargin=getCollisionShape()->getMargin();
-			btVector3			mins;
-			btVector3			maxs;
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-			pcoWrap->getCollisionShape()->getAabb(	pcoWrap->getWorldTransform(),
-				mins,
-				maxs);
-			volume=btDbvtVolume::FromMM(mins,maxs);
-			volume.Expand(btVector3(basemargin,basemargin,basemargin));		
-			docollide.psb		=	this;
+			const btTransform ctr = pcoWrap->getWorldTransform();
+			const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
+			const btScalar basemargin = getCollisionShape()->getMargin();
+			btVector3 mins;
+			btVector3 maxs;
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)
+			volume;
+			pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(),
+												  mins,
+												  maxs);
+			volume = btDbvtVolume::FromMM(mins, maxs);
+			volume.Expand(btVector3(basemargin, basemargin, basemargin));
+			docollide.psb = this;
 			docollide.m_colObj1Wrap = pcoWrap;
 			docollide.m_rigidBody = prb1;
 
-			docollide.dynmargin	=	basemargin+timemargin;
-			docollide.stamargin	=	basemargin;
-			m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);
+			docollide.dynmargin = basemargin + timemargin;
+			docollide.stamargin = basemargin;
+			m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollide);
 		}
 		break;
-	case	fCollision::CL_RS:
+		case fCollision::CL_RS:
 		{
-			btSoftColliders::CollideCL_RS	collider;
-			collider.ProcessColObj(this,pcoWrap);
+			btSoftColliders::CollideCL_RS collider;
+			collider.ProcessColObj(this, pcoWrap);
 		}
 		break;
 	}
 }
 
 //
-void			btSoftBody::defaultCollisionHandler(btSoftBody* psb)
+void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
 {
-	const int cf=m_cfg.collisions&psb->m_cfg.collisions;
-	switch(cf&fCollision::SVSmask)
+	const int cf = m_cfg.collisions & psb->m_cfg.collisions;
+	switch (cf & fCollision::SVSmask)
 	{
-	case	fCollision::CL_SS:
+		case fCollision::CL_SS:
 		{
-			
 			//support self-collision if CL_SELF flag set
-			if (this!=psb || psb->m_cfg.collisions&fCollision::CL_SELF)
+			if (this != psb || psb->m_cfg.collisions & fCollision::CL_SELF)
 			{
-				btSoftColliders::CollideCL_SS	docollide;
-				docollide.ProcessSoftSoft(this,psb);
+				btSoftColliders::CollideCL_SS docollide;
+				docollide.ProcessSoftSoft(this, psb);
 			}
-			
 		}
 		break;
-	case	fCollision::VF_SS:
+		case fCollision::VF_SS:
 		{
 			//only self-collision for Cluster, not Vertex-Face yet
-			if (this!=psb)
-			{
-				btSoftColliders::CollideVF_SS	docollide;
-				/* common					*/ 
-				docollide.mrg=	getCollisionShape()->getMargin()+
-					psb->getCollisionShape()->getMargin();
-				/* psb0 nodes vs psb1 faces	*/ 
-				docollide.psb[0]=this;
-				docollide.psb[1]=psb;
-				docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
-					docollide.psb[1]->m_fdbvt.m_root,
-					docollide);
-				/* psb1 nodes vs psb0 faces	*/ 
-				docollide.psb[0]=psb;
-				docollide.psb[1]=this;
-				docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
-					docollide.psb[1]->m_fdbvt.m_root,
-					docollide);
+			if (this != psb)
+			{
+				btSoftColliders::CollideVF_SS docollide;
+				/* common					*/
+				docollide.mrg = getCollisionShape()->getMargin() +
+								psb->getCollisionShape()->getMargin();
+				/* psb0 nodes vs psb1 faces	*/
+				docollide.psb[0] = this;
+				docollide.psb[1] = psb;
+				docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
+													docollide.psb[1]->m_fdbvt.m_root,
+													docollide);
+				/* psb1 nodes vs psb0 faces	*/
+				docollide.psb[0] = psb;
+				docollide.psb[1] = this;
+				docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
+													docollide.psb[1]->m_fdbvt.m_root,
+													docollide);
 			}
 		}
 		break;
-	default:
+		default:
 		{
-			
 		}
 	}
 }
 
-
-
-void btSoftBody::setWindVelocity( const btVector3 &velocity )
+void btSoftBody::setWindVelocity(const btVector3& velocity)
 {
 	m_windVelocity = velocity;
 }
 
-
 const btVector3& btSoftBody::getWindVelocity()
 {
 	return m_windVelocity;
 }
 
-
-
-int	btSoftBody::calculateSerializeBufferSize()	const
+int btSoftBody::calculateSerializeBufferSize() const
 {
 	int sz = sizeof(btSoftBodyData);
 	return sz;
 }
 
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializer) const
 {
-	btSoftBodyData* sbd = (btSoftBodyData*) dataBuffer;
+	btSoftBodyData* sbd = (btSoftBodyData*)dataBuffer;
 
 	btCollisionObject::serialize(&sbd->m_collisionObjectData, serializer);
 
-	btHashMap<btHashPtr,int>	m_nodeIndexMap;
+	btHashMap<btHashPtr, int> m_nodeIndexMap;
 
 	sbd->m_numMaterials = m_materials.size();
-	sbd->m_materials = sbd->m_numMaterials? (SoftBodyMaterialData**) serializer->getUniquePointer((void*)&m_materials): 0;
+	sbd->m_materials = sbd->m_numMaterials ? (SoftBodyMaterialData**)serializer->getUniquePointer((void*)&m_materials) : 0;
 
 	if (sbd->m_materials)
 	{
 		int sz = sizeof(SoftBodyMaterialData*);
 		int numElem = sbd->m_numMaterials;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		//SoftBodyMaterialData** memPtr = chunk->m_oldPtr;
 		SoftBodyMaterialData** memPtr = (SoftBodyMaterialData**)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			btSoftBody::Material* mat = m_materials[i];
 			*memPtr = mat ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)mat) : 0;
 			if (!serializer->findPointer(mat))
 			{
 				//serialize it here
-				btChunk* chunk = serializer->allocate(sizeof(SoftBodyMaterialData),1);
+				btChunk* chunk = serializer->allocate(sizeof(SoftBodyMaterialData), 1);
 				SoftBodyMaterialData* memPtr = (SoftBodyMaterialData*)chunk->m_oldPtr;
 				memPtr->m_flags = mat->m_flags;
 				memPtr->m_angularStiffness = mat->m_kAST;
 				memPtr->m_linearStiffness = mat->m_kLST;
 				memPtr->m_volumeStiffness = mat->m_kVST;
-				serializer->finalizeChunk(chunk,"SoftBodyMaterialData",BT_SBMATERIAL_CODE,mat);
+				serializer->finalizeChunk(chunk, "SoftBodyMaterialData", BT_SBMATERIAL_CODE, mat);
 			}
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyMaterialData",BT_ARRAY_CODE,(void*) &m_materials);
+		serializer->finalizeChunk(chunk, "SoftBodyMaterialData", BT_ARRAY_CODE, (void*)&m_materials);
 	}
 
-
-	
-
 	sbd->m_numNodes = m_nodes.size();
-	sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes): 0;
+	sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes) : 0;
 	if (sbd->m_nodes)
 	{
 		int sz = sizeof(SoftBodyNodeData);
 		int numElem = sbd->m_numNodes;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		SoftBodyNodeData* memPtr = (SoftBodyNodeData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
-			m_nodes[i].m_f.serializeFloat( memPtr->m_accumulatedForce);
+			m_nodes[i].m_f.serializeFloat(memPtr->m_accumulatedForce);
 			memPtr->m_area = m_nodes[i].m_area;
 			memPtr->m_attach = m_nodes[i].m_battach;
 			memPtr->m_inverseMass = m_nodes[i].m_im;
-			memPtr->m_material = m_nodes[i].m_material? (SoftBodyMaterialData*)serializer->getUniquePointer((void*) m_nodes[i].m_material):0;
+			memPtr->m_material = m_nodes[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_nodes[i].m_material) : 0;
 			m_nodes[i].m_n.serializeFloat(memPtr->m_normal);
 			m_nodes[i].m_x.serializeFloat(memPtr->m_position);
 			m_nodes[i].m_q.serializeFloat(memPtr->m_previousPosition);
 			m_nodes[i].m_v.serializeFloat(memPtr->m_velocity);
-			m_nodeIndexMap.insert(&m_nodes[i],i);
+			m_nodeIndexMap.insert(&m_nodes[i], i);
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyNodeData",BT_SBNODE_CODE,(void*) &m_nodes);
+		serializer->finalizeChunk(chunk, "SoftBodyNodeData", BT_SBNODE_CODE, (void*)&m_nodes);
 	}
 
 	sbd->m_numLinks = m_links.size();
-	sbd->m_links = sbd->m_numLinks? (SoftBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0;
+	sbd->m_links = sbd->m_numLinks ? (SoftBodyLinkData*)serializer->getUniquePointer((void*)&m_links[0]) : 0;
 	if (sbd->m_links)
 	{
 		int sz = sizeof(SoftBodyLinkData);
 		int numElem = sbd->m_numLinks;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		SoftBodyLinkData* memPtr = (SoftBodyLinkData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			memPtr->m_bbending = m_links[i].m_bbending;
-			memPtr->m_material = m_links[i].m_material? (SoftBodyMaterialData*)serializer->getUniquePointer((void*) m_links[i].m_material):0;
-			memPtr->m_nodeIndices[0] = m_links[i].m_n[0] ? m_links[i].m_n[0] - &m_nodes[0]: -1;
-			memPtr->m_nodeIndices[1] = m_links[i].m_n[1] ? m_links[i].m_n[1] - &m_nodes[0]: -1;
-			btAssert(memPtr->m_nodeIndices[0]<m_nodes.size());
-			btAssert(memPtr->m_nodeIndices[1]<m_nodes.size());
+			memPtr->m_material = m_links[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_links[i].m_material) : 0;
+			memPtr->m_nodeIndices[0] = m_links[i].m_n[0] ? m_links[i].m_n[0] - &m_nodes[0] : -1;
+			memPtr->m_nodeIndices[1] = m_links[i].m_n[1] ? m_links[i].m_n[1] - &m_nodes[0] : -1;
+			btAssert(memPtr->m_nodeIndices[0] < m_nodes.size());
+			btAssert(memPtr->m_nodeIndices[1] < m_nodes.size());
 			memPtr->m_restLength = m_links[i].m_rl;
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyLinkData",BT_ARRAY_CODE,(void*) &m_links[0]);
-
+		serializer->finalizeChunk(chunk, "SoftBodyLinkData", BT_ARRAY_CODE, (void*)&m_links[0]);
 	}
 
-
 	sbd->m_numFaces = m_faces.size();
-	sbd->m_faces = sbd->m_numFaces? (SoftBodyFaceData*) serializer->getUniquePointer((void*)&m_faces[0]):0;
+	sbd->m_faces = sbd->m_numFaces ? (SoftBodyFaceData*)serializer->getUniquePointer((void*)&m_faces[0]) : 0;
 	if (sbd->m_faces)
 	{
 		int sz = sizeof(SoftBodyFaceData);
 		int numElem = sbd->m_numFaces;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		SoftBodyFaceData* memPtr = (SoftBodyFaceData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
-			memPtr->m_material = m_faces[i].m_material ?  (SoftBodyMaterialData*) serializer->getUniquePointer((void*)m_faces[i].m_material): 0;
-			m_faces[i].m_normal.serializeFloat(	memPtr->m_normal);
-			for (int j=0;j<3;j++)
+			memPtr->m_material = m_faces[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_faces[i].m_material) : 0;
+			m_faces[i].m_normal.serializeFloat(memPtr->m_normal);
+			for (int j = 0; j < 3; j++)
 			{
-				memPtr->m_nodeIndices[j] = m_faces[i].m_n[j]? m_faces[i].m_n[j] - &m_nodes[0]: -1;
+				memPtr->m_nodeIndices[j] = m_faces[i].m_n[j] ? m_faces[i].m_n[j] - &m_nodes[0] : -1;
 			}
 			memPtr->m_restArea = m_faces[i].m_ra;
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyFaceData",BT_ARRAY_CODE,(void*) &m_faces[0]);
+		serializer->finalizeChunk(chunk, "SoftBodyFaceData", BT_ARRAY_CODE, (void*)&m_faces[0]);
 	}
 
-
 	sbd->m_numTetrahedra = m_tetras.size();
-	sbd->m_tetrahedra = sbd->m_numTetrahedra ? (SoftBodyTetraData*) serializer->getUniquePointer((void*)&m_tetras[0]):0;
+	sbd->m_tetrahedra = sbd->m_numTetrahedra ? (SoftBodyTetraData*)serializer->getUniquePointer((void*)&m_tetras[0]) : 0;
 	if (sbd->m_tetrahedra)
 	{
 		int sz = sizeof(SoftBodyTetraData);
 		int numElem = sbd->m_numTetrahedra;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		SoftBodyTetraData* memPtr = (SoftBodyTetraData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
-			for (int j=0;j<4;j++)
+			for (int j = 0; j < 4; j++)
 			{
-				m_tetras[i].m_c0[j].serializeFloat(	memPtr->m_c0[j] );
-				memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j]? m_tetras[j].m_n[j]-&m_nodes[0] : -1;
+				m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]);
+				memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j] ? m_tetras[j].m_n[j] - &m_nodes[0] : -1;
 			}
 			memPtr->m_c1 = m_tetras[i].m_c1;
 			memPtr->m_c2 = m_tetras[i].m_c2;
-			memPtr->m_material = m_tetras[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*) m_tetras[i].m_material): 0;
+			memPtr->m_material = m_tetras[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_tetras[i].m_material) : 0;
 			memPtr->m_restVolume = m_tetras[i].m_rv;
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyTetraData",BT_ARRAY_CODE,(void*) &m_tetras[0]);
+		serializer->finalizeChunk(chunk, "SoftBodyTetraData", BT_ARRAY_CODE, (void*)&m_tetras[0]);
 	}
 
 	sbd->m_numAnchors = m_anchors.size();
-	sbd->m_anchors = sbd->m_numAnchors ? (SoftRigidAnchorData*) serializer->getUniquePointer((void*)&m_anchors[0]):0;
+	sbd->m_anchors = sbd->m_numAnchors ? (SoftRigidAnchorData*)serializer->getUniquePointer((void*)&m_anchors[0]) : 0;
 	if (sbd->m_anchors)
 	{
 		int sz = sizeof(SoftRigidAnchorData);
 		int numElem = sbd->m_numAnchors;
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		SoftRigidAnchorData* memPtr = (SoftRigidAnchorData*)chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			m_anchors[i].m_c0.serializeFloat(memPtr->m_c0);
 			m_anchors[i].m_c1.serializeFloat(memPtr->m_c1);
 			memPtr->m_c2 = m_anchors[i].m_c2;
 			m_anchors[i].m_local.serializeFloat(memPtr->m_localFrame);
-			memPtr->m_nodeIndex = m_anchors[i].m_node? m_anchors[i].m_node-&m_nodes[0]: -1;
-			
-			memPtr->m_rigidBody = m_anchors[i].m_body? (btRigidBodyData*)  serializer->getUniquePointer((void*)m_anchors[i].m_body): 0;
+			memPtr->m_nodeIndex = m_anchors[i].m_node ? m_anchors[i].m_node - &m_nodes[0] : -1;
+
+			memPtr->m_rigidBody = m_anchors[i].m_body ? (btRigidBodyData*)serializer->getUniquePointer((void*)m_anchors[i].m_body) : 0;
 			btAssert(memPtr->m_nodeIndex < m_nodes.size());
 		}
-		serializer->finalizeChunk(chunk,"SoftRigidAnchorData",BT_ARRAY_CODE,(void*) &m_anchors[0]);
+		serializer->finalizeChunk(chunk, "SoftRigidAnchorData", BT_ARRAY_CODE, (void*)&m_anchors[0]);
 	}
-	
 
 	sbd->m_config.m_dynamicFriction = m_cfg.kDF;
 	sbd->m_config.m_baumgarte = m_cfg.kVCF;
@@ -3501,64 +3499,63 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 		sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose);
 
 		int sz = sizeof(SoftBodyPoseData);
-		btChunk* chunk = serializer->allocate(sz,1);
+		btChunk* chunk = serializer->allocate(sz, 1);
 		SoftBodyPoseData* memPtr = (SoftBodyPoseData*)chunk->m_oldPtr;
-		
+
 		m_pose.m_aqq.serializeFloat(memPtr->m_aqq);
 		memPtr->m_bframe = m_pose.m_bframe;
 		memPtr->m_bvolume = m_pose.m_bvolume;
 		m_pose.m_com.serializeFloat(memPtr->m_com);
-		
+
 		memPtr->m_numPositions = m_pose.m_pos.size();
-		memPtr->m_positions = memPtr->m_numPositions ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_pose.m_pos[0]): 0;
+		memPtr->m_positions = memPtr->m_numPositions ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_pose.m_pos[0]) : 0;
 		if (memPtr->m_numPositions)
 		{
 			int numElem = memPtr->m_numPositions;
 			int sz = sizeof(btVector3Data);
-			btChunk* chunk = serializer->allocate(sz,numElem);
+			btChunk* chunk = serializer->allocate(sz, numElem);
 			btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				m_pose.m_pos[i].serializeFloat(*memPtr);
 			}
-			serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)&m_pose.m_pos[0]);
+			serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)&m_pose.m_pos[0]);
 		}
 		memPtr->m_restVolume = m_pose.m_volume;
 		m_pose.m_rot.serializeFloat(memPtr->m_rot);
 		m_pose.m_scl.serializeFloat(memPtr->m_scale);
 
 		memPtr->m_numWeigts = m_pose.m_wgh.size();
-		memPtr->m_weights = memPtr->m_numWeigts? (float*) serializer->getUniquePointer((void*) &m_pose.m_wgh[0]) : 0;
+		memPtr->m_weights = memPtr->m_numWeigts ? (float*)serializer->getUniquePointer((void*)&m_pose.m_wgh[0]) : 0;
 		if (memPtr->m_numWeigts)
 		{
-			
 			int numElem = memPtr->m_numWeigts;
 			int sz = sizeof(float);
-			btChunk* chunk = serializer->allocate(sz,numElem);
-			float* memPtr = (float*) chunk->m_oldPtr;
-			for (int i=0;i<numElem;i++,memPtr++)
+			btChunk* chunk = serializer->allocate(sz, numElem);
+			float* memPtr = (float*)chunk->m_oldPtr;
+			for (int i = 0; i < numElem; i++, memPtr++)
 			{
 				*memPtr = m_pose.m_wgh[i];
 			}
-			serializer->finalizeChunk(chunk,"float",BT_ARRAY_CODE,(void*)&m_pose.m_wgh[0]);
+			serializer->finalizeChunk(chunk, "float", BT_ARRAY_CODE, (void*)&m_pose.m_wgh[0]);
 		}
 
-		serializer->finalizeChunk(chunk,"SoftBodyPoseData",BT_ARRAY_CODE,(void*)&m_pose);
+		serializer->finalizeChunk(chunk, "SoftBodyPoseData", BT_ARRAY_CODE, (void*)&m_pose);
 	}
 
 	//clusters for convex-cluster collision detection
 
 	sbd->m_numClusters = m_clusters.size();
-	sbd->m_clusters = sbd->m_numClusters? (SoftBodyClusterData*) serializer->getUniquePointer((void*)m_clusters[0]) : 0;
+	sbd->m_clusters = sbd->m_numClusters ? (SoftBodyClusterData*)serializer->getUniquePointer((void*)m_clusters[0]) : 0;
 	if (sbd->m_numClusters)
 	{
 		int numElem = sbd->m_numClusters;
 		int sz = sizeof(SoftBodyClusterData);
-		btChunk* chunk = serializer->allocate(sz,numElem);
-		SoftBodyClusterData* memPtr = (SoftBodyClusterData*) chunk->m_oldPtr;
-		for (int i=0;i<numElem;i++,memPtr++)
+		btChunk* chunk = serializer->allocate(sz, numElem);
+		SoftBodyClusterData* memPtr = (SoftBodyClusterData*)chunk->m_oldPtr;
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
-			memPtr->m_adamping= m_clusters[i]->m_adamping;
+			memPtr->m_adamping = m_clusters[i]->m_adamping;
 			m_clusters[i]->m_av.serializeFloat(memPtr->m_av);
 			memPtr->m_clusterIndex = m_clusters[i]->m_clusterIndex;
 			memPtr->m_collide = m_clusters[i]->m_collide;
@@ -3589,69 +3586,64 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 			m_clusters[i]->m_vimpulses[1].serializeFloat(memPtr->m_vimpulses[1]);
 			memPtr->m_ndimpulses = m_clusters[i]->m_ndimpulses;
 
-			
-
-			memPtr->m_framerefs = memPtr->m_numFrameRefs? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_clusters[i]->m_framerefs[0]) : 0;
+			memPtr->m_framerefs = memPtr->m_numFrameRefs ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_clusters[i]->m_framerefs[0]) : 0;
 			if (memPtr->m_framerefs)
 			{
 				int numElem = memPtr->m_numFrameRefs;
 				int sz = sizeof(btVector3FloatData);
-				btChunk* chunk = serializer->allocate(sz,numElem);
-				btVector3FloatData* memPtr = (btVector3FloatData*) chunk->m_oldPtr;
-				for (int j=0;j<numElem;j++,memPtr++)
+				btChunk* chunk = serializer->allocate(sz, numElem);
+				btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr;
+				for (int j = 0; j < numElem; j++, memPtr++)
 				{
 					m_clusters[i]->m_framerefs[j].serializeFloat(*memPtr);
 				}
-				serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_framerefs[0]);
+				serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_framerefs[0]);
 			}
-			
-			memPtr->m_masses = memPtr->m_numMasses ? (float*) serializer->getUniquePointer((void*)&m_clusters[i]->m_masses[0]): 0;
+
+			memPtr->m_masses = memPtr->m_numMasses ? (float*)serializer->getUniquePointer((void*)&m_clusters[i]->m_masses[0]) : 0;
 			if (memPtr->m_masses)
 			{
 				int numElem = memPtr->m_numMasses;
 				int sz = sizeof(float);
-				btChunk* chunk = serializer->allocate(sz,numElem);
-				float* memPtr = (float*) chunk->m_oldPtr;
-				for (int j=0;j<numElem;j++,memPtr++)
+				btChunk* chunk = serializer->allocate(sz, numElem);
+				float* memPtr = (float*)chunk->m_oldPtr;
+				for (int j = 0; j < numElem; j++, memPtr++)
 				{
 					*memPtr = m_clusters[i]->m_masses[j];
 				}
-				serializer->finalizeChunk(chunk,"float",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_masses[0]);
+				serializer->finalizeChunk(chunk, "float", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_masses[0]);
 			}
 
-			memPtr->m_nodeIndices  = memPtr->m_numNodes ? (int*) serializer->getUniquePointer((void*) &m_clusters[i]->m_nodes) : 0;
-			if (memPtr->m_nodeIndices )
+			memPtr->m_nodeIndices = memPtr->m_numNodes ? (int*)serializer->getUniquePointer((void*)&m_clusters[i]->m_nodes) : 0;
+			if (memPtr->m_nodeIndices)
 			{
 				int numElem = memPtr->m_numMasses;
 				int sz = sizeof(int);
-				btChunk* chunk = serializer->allocate(sz,numElem);
-				int* memPtr = (int*) chunk->m_oldPtr;
-				for (int j=0;j<numElem;j++,memPtr++)
+				btChunk* chunk = serializer->allocate(sz, numElem);
+				int* memPtr = (int*)chunk->m_oldPtr;
+				for (int j = 0; j < numElem; j++, memPtr++)
 				{
 					int* indexPtr = m_nodeIndexMap.find(m_clusters[i]->m_nodes[j]);
 					btAssert(indexPtr);
 					*memPtr = *indexPtr;
 				}
-				serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_nodes);
+				serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_nodes);
 			}
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyClusterData",BT_ARRAY_CODE,(void*)m_clusters[0]);
-
+		serializer->finalizeChunk(chunk, "SoftBodyClusterData", BT_ARRAY_CODE, (void*)m_clusters[0]);
 	}
-	
 
-	
 	sbd->m_numJoints = m_joints.size();
-	sbd->m_joints = m_joints.size()? (btSoftBodyJointData*) serializer->getUniquePointer((void*)&m_joints[0]) : 0;
+	sbd->m_joints = m_joints.size() ? (btSoftBodyJointData*)serializer->getUniquePointer((void*)&m_joints[0]) : 0;
 
 	if (sbd->m_joints)
 	{
 		int sz = sizeof(btSoftBodyJointData);
 		int numElem = m_joints.size();
-		btChunk* chunk = serializer->allocate(sz,numElem);
+		btChunk* chunk = serializer->allocate(sz, numElem);
 		btSoftBodyJointData* memPtr = (btSoftBodyJointData*)chunk->m_oldPtr;
 
-		for (int i=0;i<numElem;i++,memPtr++)
+		for (int i = 0; i < numElem; i++, memPtr++)
 		{
 			memPtr->m_jointType = (int)m_joints[i]->Type();
 			m_joints[i]->m_refs[0].serializeFloat(memPtr->m_refs[0]);
@@ -3660,8 +3652,8 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 			memPtr->m_erp = float(m_joints[i]->m_erp);
 			memPtr->m_split = float(m_joints[i]->m_split);
 			memPtr->m_delete = m_joints[i]->m_delete;
-			
-			for (int j=0;j<4;j++)
+
+			for (int j = 0; j < 4; j++)
 			{
 				memPtr->m_relPosition[0].m_floats[j] = 0.f;
 				memPtr->m_relPosition[1].m_floats[j] = 0.f;
@@ -3700,10 +3692,8 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 				memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_rigid);
 			}
 		}
-		serializer->finalizeChunk(chunk,"btSoftBodyJointData",BT_ARRAY_CODE,(void*) &m_joints[0]);
+		serializer->finalizeChunk(chunk, "btSoftBodyJointData", BT_ARRAY_CODE, (void*)&m_joints[0]);
 	}
 
-
 	return btSoftBodyDataName;
 }
-
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h
index ada0dfd1a5..9b35b799d8 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.h
@@ -31,862 +31,890 @@ subject to the following restrictions:
 //#define btRigidBodyData	btRigidBodyDoubleData
 //#define btRigidBodyDataName	"btRigidBodyDoubleData"
 //#else
-#define btSoftBodyData	btSoftBodyFloatData
-#define btSoftBodyDataName	"btSoftBodyFloatData"
+#define btSoftBodyData btSoftBodyFloatData
+#define btSoftBodyDataName "btSoftBodyFloatData"
 //#endif //BT_USE_DOUBLE_PRECISION
 
 class btBroadphaseInterface;
 class btDispatcher;
 class btSoftBodySolver;
 
-/* btSoftBodyWorldInfo	*/ 
-struct	btSoftBodyWorldInfo
+/* btSoftBodyWorldInfo	*/
+struct btSoftBodyWorldInfo
 {
-	btScalar				air_density;
-	btScalar				water_density;
-	btScalar				water_offset;
-	btScalar				m_maxDisplacement;
-	btVector3				water_normal;
-	btBroadphaseInterface*	m_broadphase;
-	btDispatcher*	m_dispatcher;
-	btVector3				m_gravity;
-	btSparseSdf<3>			m_sparsesdf;
+	btScalar air_density;
+	btScalar water_density;
+	btScalar water_offset;
+	btScalar m_maxDisplacement;
+	btVector3 water_normal;
+	btBroadphaseInterface* m_broadphase;
+	btDispatcher* m_dispatcher;
+	btVector3 m_gravity;
+	btSparseSdf<3> m_sparsesdf;
 
 	btSoftBodyWorldInfo()
-		:air_density((btScalar)1.2),
-		water_density(0),
-		water_offset(0),
-		m_maxDisplacement(1000.f),//avoid soft body from 'exploding' so use some upper threshold of maximum motion that a node can travel per frame
-		water_normal(0,0,0),
-		m_broadphase(0),
-		m_dispatcher(0),
-		m_gravity(0,-10,0)
+		: air_density((btScalar)1.2),
+		  water_density(0),
+		  water_offset(0),
+		  m_maxDisplacement(1000.f),  //avoid soft body from 'exploding' so use some upper threshold of maximum motion that a node can travel per frame
+		  water_normal(0, 0, 0),
+		  m_broadphase(0),
+		  m_dispatcher(0),
+		  m_gravity(0, -10, 0)
 	{
 	}
-};	
-
+};
 
-///The btSoftBody is an class to simulate cloth and volumetric soft bodies. 
+///The btSoftBody is an class to simulate cloth and volumetric soft bodies.
 ///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.
-class	btSoftBody : public btCollisionObject
+class btSoftBody : public btCollisionObject
 {
 public:
 	btAlignedObjectArray<const class btCollisionObject*> m_collisionDisabledObjects;
 
 	// The solver object that handles this soft body
-	btSoftBodySolver *m_softBodySolver;
+	btSoftBodySolver* m_softBodySolver;
 
 	//
 	// Enumerations
 	//
 
-	///eAeroModel 
-	struct eAeroModel { enum _ {
-		V_Point,			///Vertex normals are oriented toward velocity
-		V_TwoSided,			///Vertex normals are flipped to match velocity	
-		V_TwoSidedLiftDrag, ///Vertex normals are flipped to match velocity and lift and drag forces are applied
-		V_OneSided,			///Vertex normals are taken as it is	
-		F_TwoSided,			///Face normals are flipped to match velocity
-		F_TwoSidedLiftDrag,	///Face normals are flipped to match velocity and lift and drag forces are applied 
-		F_OneSided,			///Face normals are taken as it is		
-		END
-	};};
+	///eAeroModel
+	struct eAeroModel
+	{
+		enum _
+		{
+			V_Point,             ///Vertex normals are oriented toward velocity
+			V_TwoSided,          ///Vertex normals are flipped to match velocity
+			V_TwoSidedLiftDrag,  ///Vertex normals are flipped to match velocity and lift and drag forces are applied
+			V_OneSided,          ///Vertex normals are taken as it is
+			F_TwoSided,          ///Face normals are flipped to match velocity
+			F_TwoSidedLiftDrag,  ///Face normals are flipped to match velocity and lift and drag forces are applied
+			F_OneSided,          ///Face normals are taken as it is
+			END
+		};
+	};
 
 	///eVSolver : velocities solvers
-	struct	eVSolver { enum _ {
-		Linear,		///Linear solver
-		END
-	};};
+	struct eVSolver
+	{
+		enum _
+		{
+			Linear,  ///Linear solver
+			END
+		};
+	};
 
 	///ePSolver : positions solvers
-	struct	ePSolver { enum _ {
-		Linear,		///Linear solver
-		Anchors,	///Anchor solver
-		RContacts,	///Rigid contacts solver
-		SContacts,	///Soft contacts solver
-		END
-	};};
+	struct ePSolver
+	{
+		enum _
+		{
+			Linear,     ///Linear solver
+			Anchors,    ///Anchor solver
+			RContacts,  ///Rigid contacts solver
+			SContacts,  ///Soft contacts solver
+			END
+		};
+	};
 
 	///eSolverPresets
-	struct	eSolverPresets { enum _ {
-		Positions,
-		Velocities,
-		Default	=	Positions,
-		END
-	};};
+	struct eSolverPresets
+	{
+		enum _
+		{
+			Positions,
+			Velocities,
+			Default = Positions,
+			END
+		};
+	};
 
 	///eFeature
-	struct	eFeature { enum _ {
-		None,
-		Node,
-		Link,
-		Face,
-		Tetra,
-		END
-	};};
-
-	typedef btAlignedObjectArray<eVSolver::_>	tVSolverArray;
-	typedef btAlignedObjectArray<ePSolver::_>	tPSolverArray;
+	struct eFeature
+	{
+		enum _
+		{
+			None,
+			Node,
+			Link,
+			Face,
+			Tetra,
+			END
+		};
+	};
+
+	typedef btAlignedObjectArray<eVSolver::_> tVSolverArray;
+	typedef btAlignedObjectArray<ePSolver::_> tPSolverArray;
 
 	//
 	// Flags
 	//
 
 	///fCollision
-	struct fCollision { enum _ {
-		RVSmask	=	0x000f,	///Rigid versus soft mask
-		SDF_RS	=	0x0001,	///SDF based rigid vs soft
-		CL_RS	=	0x0002, ///Cluster vs convex rigid vs soft
-
-		SVSmask	=	0x0030,	///Rigid versus soft mask		
-		VF_SS	=	0x0010,	///Vertex vs face soft vs soft handling
-		CL_SS	=	0x0020, ///Cluster vs cluster soft vs soft handling
-		CL_SELF =	0x0040, ///Cluster soft body self collision
-		/* presets	*/ 
-		Default	=	SDF_RS,
-		END
-	};};
+	struct fCollision
+	{
+		enum _
+		{
+			RVSmask = 0x000f,  ///Rigid versus soft mask
+			SDF_RS = 0x0001,   ///SDF based rigid vs soft
+			CL_RS = 0x0002,    ///Cluster vs convex rigid vs soft
+
+			SVSmask = 0x0030,  ///Rigid versus soft mask
+			VF_SS = 0x0010,    ///Vertex vs face soft vs soft handling
+			CL_SS = 0x0020,    ///Cluster vs cluster soft vs soft handling
+			CL_SELF = 0x0040,  ///Cluster soft body self collision
+			/* presets	*/
+			Default = SDF_RS,
+			END
+		};
+	};
 
 	///fMaterial
-	struct fMaterial { enum _ {
-		DebugDraw	=	0x0001,	/// Enable debug draw
-		/* presets	*/ 
-		Default		=	DebugDraw,
-		END
-	};};
+	struct fMaterial
+	{
+		enum _
+		{
+			DebugDraw = 0x0001,  /// Enable debug draw
+			/* presets	*/
+			Default = DebugDraw,
+			END
+		};
+	};
 
 	//
 	// API Types
 	//
 
-	/* sRayCast		*/ 
+	/* sRayCast		*/
 	struct sRayCast
 	{
-		btSoftBody*	body;		/// soft body
-		eFeature::_	feature;	/// feature type
-		int			index;		/// feature index
-		btScalar	fraction;		/// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
+		btSoftBody* body;     /// soft body
+		eFeature::_ feature;  /// feature type
+		int index;            /// feature index
+		btScalar fraction;    /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
 	};
 
-	/* ImplicitFn	*/ 
-	struct	ImplicitFn
+	/* ImplicitFn	*/
+	struct ImplicitFn
 	{
 		virtual ~ImplicitFn() {}
-		virtual btScalar	Eval(const btVector3& x)=0;
+		virtual btScalar Eval(const btVector3& x) = 0;
 	};
 
 	//
 	// Internal types
 	//
 
-	typedef btAlignedObjectArray<btScalar>	tScalarArray;
-	typedef btAlignedObjectArray<btVector3>	tVector3Array;
+	typedef btAlignedObjectArray<btScalar> tScalarArray;
+	typedef btAlignedObjectArray<btVector3> tVector3Array;
 
-	/* sCti is Softbody contact info	*/ 
-	struct	sCti
+	/* sCti is Softbody contact info	*/
+	struct sCti
 	{
-		const btCollisionObject*	m_colObj;		/* Rigid body			*/ 
-		btVector3		m_normal;	/* Outward normal		*/ 
-		btScalar		m_offset;	/* Offset from origin	*/ 
-	};	
+		const btCollisionObject* m_colObj; /* Rigid body			*/
+		btVector3 m_normal;                /* Outward normal		*/
+		btScalar m_offset;                 /* Offset from origin	*/
+	};
 
-	/* sMedium		*/ 
-	struct	sMedium
+	/* sMedium		*/
+	struct sMedium
 	{
-		btVector3		m_velocity;	/* Velocity				*/ 
-		btScalar		m_pressure;	/* Pressure				*/ 
-		btScalar		m_density;	/* Density				*/ 
+		btVector3 m_velocity; /* Velocity				*/
+		btScalar m_pressure;  /* Pressure				*/
+		btScalar m_density;   /* Density				*/
 	};
 
-	/* Base type	*/ 
-	struct	Element
+	/* Base type	*/
+	struct Element
 	{
-		void*			m_tag;			// User data
+		void* m_tag;  // User data
 		Element() : m_tag(0) {}
 	};
-	/* Material		*/ 
-	struct	Material : Element
+	/* Material		*/
+	struct Material : Element
 	{
-		btScalar				m_kLST;			// Linear stiffness coefficient [0,1]
-		btScalar				m_kAST;			// Area/Angular stiffness coefficient [0,1]
-		btScalar				m_kVST;			// Volume stiffness coefficient [0,1]
-		int						m_flags;		// Flags
+		btScalar m_kLST;  // Linear stiffness coefficient [0,1]
+		btScalar m_kAST;  // Area/Angular stiffness coefficient [0,1]
+		btScalar m_kVST;  // Volume stiffness coefficient [0,1]
+		int m_flags;      // Flags
 	};
 
-	/* Feature		*/ 
-	struct	Feature : Element
+	/* Feature		*/
+	struct Feature : Element
 	{
-		Material*				m_material;		// Material
+		Material* m_material;  // Material
 	};
-	/* Node			*/ 
-	struct	Node : Feature
+	/* Node			*/
+	struct Node : Feature
 	{
-		btVector3				m_x;			// Position
-		btVector3				m_q;			// Previous step position
-		btVector3				m_v;			// Velocity
-		btVector3				m_f;			// Force accumulator
-		btVector3				m_n;			// Normal
-		btScalar				m_im;			// 1/mass
-		btScalar				m_area;			// Area
-		btDbvtNode*				m_leaf;			// Leaf data
-		int						m_battach:1;	// Attached
+		btVector3 m_x;       // Position
+		btVector3 m_q;       // Previous step position
+		btVector3 m_v;       // Velocity
+		btVector3 m_f;       // Force accumulator
+		btVector3 m_n;       // Normal
+		btScalar m_im;       // 1/mass
+		btScalar m_area;     // Area
+		btDbvtNode* m_leaf;  // Leaf data
+		int m_battach : 1;   // Attached
 	};
-	/* Link			*/ 
-	ATTRIBUTE_ALIGNED16(struct)	Link : Feature
+	/* Link			*/
+	ATTRIBUTE_ALIGNED16(struct)
+	Link : Feature
 	{
-		btVector3				m_c3;			// gradient
-		Node*					m_n[2];			// Node pointers
-		btScalar				m_rl;			// Rest length		
-		int						m_bbending:1;	// Bending link
-		btScalar				m_c0;			// (ima+imb)*kLST
-		btScalar				m_c1;			// rl^2
-		btScalar				m_c2;			// |gradient|^2/c0
-	
-		BT_DECLARE_ALIGNED_ALLOCATOR();
+		btVector3 m_c3;      // gradient
+		Node* m_n[2];        // Node pointers
+		btScalar m_rl;       // Rest length
+		int m_bbending : 1;  // Bending link
+		btScalar m_c0;       // (ima+imb)*kLST
+		btScalar m_c1;       // rl^2
+		btScalar m_c2;       // |gradient|^2/c0
 
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+	};
+	/* Face			*/
+	struct Face : Feature
+	{
+		Node* m_n[3];        // Node pointers
+		btVector3 m_normal;  // Normal
+		btScalar m_ra;       // Rest area
+		btDbvtNode* m_leaf;  // Leaf data
+	};
+	/* Tetra		*/
+	struct Tetra : Feature
+	{
+		Node* m_n[4];        // Node pointers
+		btScalar m_rv;       // Rest volume
+		btDbvtNode* m_leaf;  // Leaf data
+		btVector3 m_c0[4];   // gradients
+		btScalar m_c1;       // (4*kVST)/(im0+im1+im2+im3)
+		btScalar m_c2;       // m_c1/sum(|g0..3|^2)
+	};
+	/* RContact		*/
+	struct RContact
+	{
+		sCti m_cti;        // Contact infos
+		Node* m_node;      // Owner node
+		btMatrix3x3 m_c0;  // Impulse matrix
+		btVector3 m_c1;    // Relative anchor
+		btScalar m_c2;     // ima*dt
+		btScalar m_c3;     // Friction
+		btScalar m_c4;     // Hardness
+	};
+	/* SContact		*/
+	struct SContact
+	{
+		Node* m_node;         // Node
+		Face* m_face;         // Face
+		btVector3 m_weights;  // Weigths
+		btVector3 m_normal;   // Normal
+		btScalar m_margin;    // Margin
+		btScalar m_friction;  // Friction
+		btScalar m_cfm[2];    // Constraint force mixing
 	};
-	/* Face			*/ 
-	struct	Face : Feature
-	{
-		Node*					m_n[3];			// Node pointers
-		btVector3				m_normal;		// Normal
-		btScalar				m_ra;			// Rest area
-		btDbvtNode*				m_leaf;			// Leaf data
-	};
-	/* Tetra		*/ 
-	struct	Tetra : Feature
-	{
-		Node*					m_n[4];			// Node pointers		
-		btScalar				m_rv;			// Rest volume
-		btDbvtNode*				m_leaf;			// Leaf data
-		btVector3				m_c0[4];		// gradients
-		btScalar				m_c1;			// (4*kVST)/(im0+im1+im2+im3)
-		btScalar				m_c2;			// m_c1/sum(|g0..3|^2)
-	};
-	/* RContact		*/ 
-	struct	RContact
-	{
-		sCti		m_cti;			// Contact infos
-		Node*					m_node;			// Owner node
-		btMatrix3x3				m_c0;			// Impulse matrix
-		btVector3				m_c1;			// Relative anchor
-		btScalar				m_c2;			// ima*dt
-		btScalar				m_c3;			// Friction
-		btScalar				m_c4;			// Hardness
-	};
-	/* SContact		*/ 
-	struct	SContact
-	{
-		Node*					m_node;			// Node
-		Face*					m_face;			// Face
-		btVector3				m_weights;		// Weigths
-		btVector3				m_normal;		// Normal
-		btScalar				m_margin;		// Margin
-		btScalar				m_friction;		// Friction
-		btScalar				m_cfm[2];		// Constraint force mixing
-	};
-	/* Anchor		*/ 
-	struct	Anchor
-	{
-		Node*					m_node;			// Node pointer
-		btVector3				m_local;		// Anchor position in body space
-		btRigidBody*			m_body;			// Body
-		btScalar				m_influence;
-		btMatrix3x3				m_c0;			// Impulse matrix
-		btVector3				m_c1;			// Relative anchor
-		btScalar				m_c2;			// ima*dt
-	};
-	/* Note			*/ 
-	struct	Note : Element
-	{
-		const char*				m_text;			// Text
-		btVector3				m_offset;		// Offset
-		int						m_rank;			// Rank
-		Node*					m_nodes[4];		// Nodes
-		btScalar				m_coords[4];	// Coordinates
-	};	
-	/* Pose			*/ 
-	struct	Pose
-	{
-		bool					m_bvolume;		// Is valid
-		bool					m_bframe;		// Is frame
-		btScalar				m_volume;		// Rest volume
-		tVector3Array			m_pos;			// Reference positions
-		tScalarArray			m_wgh;			// Weights
-		btVector3				m_com;			// COM
-		btMatrix3x3				m_rot;			// Rotation
-		btMatrix3x3				m_scl;			// Scale
-		btMatrix3x3				m_aqq;			// Base scaling
-	};
-	/* Cluster		*/ 
-	struct	Cluster
-	{
-		tScalarArray				m_masses;
-		btAlignedObjectArray<Node*>	m_nodes;		
-		tVector3Array				m_framerefs;
-		btTransform					m_framexform;
-		btScalar					m_idmass;
-		btScalar					m_imass;
-		btMatrix3x3					m_locii;
-		btMatrix3x3					m_invwi;
-		btVector3					m_com;
-		btVector3					m_vimpulses[2];
-		btVector3					m_dimpulses[2];
-		int							m_nvimpulses;
-		int							m_ndimpulses;
-		btVector3					m_lv;
-		btVector3					m_av;
-		btDbvtNode*					m_leaf;
-		btScalar					m_ndamping;	/* Node damping		*/ 
-		btScalar					m_ldamping;	/* Linear damping	*/ 
-		btScalar					m_adamping;	/* Angular damping	*/ 
-		btScalar					m_matching;
-		btScalar					m_maxSelfCollisionImpulse;
-		btScalar					m_selfCollisionImpulseFactor;
-		bool						m_containsAnchor;
-		bool						m_collide;
-		int							m_clusterIndex;
-		Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) 
-		,m_maxSelfCollisionImpulse(100.f),
-		m_selfCollisionImpulseFactor(0.01f),
-		m_containsAnchor(false)
-		{}
-	};
-	/* Impulse		*/ 
-	struct	Impulse
-	{
-		btVector3					m_velocity;
-		btVector3					m_drift;
-		int							m_asVelocity:1;
-		int							m_asDrift:1;
-		Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0)	{}
-		Impulse						operator -() const
+	/* Anchor		*/
+	struct Anchor
+	{
+		Node* m_node;         // Node pointer
+		btVector3 m_local;    // Anchor position in body space
+		btRigidBody* m_body;  // Body
+		btScalar m_influence;
+		btMatrix3x3 m_c0;  // Impulse matrix
+		btVector3 m_c1;    // Relative anchor
+		btScalar m_c2;     // ima*dt
+	};
+	/* Note			*/
+	struct Note : Element
+	{
+		const char* m_text;    // Text
+		btVector3 m_offset;    // Offset
+		int m_rank;            // Rank
+		Node* m_nodes[4];      // Nodes
+		btScalar m_coords[4];  // Coordinates
+	};
+	/* Pose			*/
+	struct Pose
+	{
+		bool m_bvolume;       // Is valid
+		bool m_bframe;        // Is frame
+		btScalar m_volume;    // Rest volume
+		tVector3Array m_pos;  // Reference positions
+		tScalarArray m_wgh;   // Weights
+		btVector3 m_com;      // COM
+		btMatrix3x3 m_rot;    // Rotation
+		btMatrix3x3 m_scl;    // Scale
+		btMatrix3x3 m_aqq;    // Base scaling
+	};
+	/* Cluster		*/
+	struct Cluster
+	{
+		tScalarArray m_masses;
+		btAlignedObjectArray<Node*> m_nodes;
+		tVector3Array m_framerefs;
+		btTransform m_framexform;
+		btScalar m_idmass;
+		btScalar m_imass;
+		btMatrix3x3 m_locii;
+		btMatrix3x3 m_invwi;
+		btVector3 m_com;
+		btVector3 m_vimpulses[2];
+		btVector3 m_dimpulses[2];
+		int m_nvimpulses;
+		int m_ndimpulses;
+		btVector3 m_lv;
+		btVector3 m_av;
+		btDbvtNode* m_leaf;
+		btScalar m_ndamping; /* Node damping		*/
+		btScalar m_ldamping; /* Linear damping	*/
+		btScalar m_adamping; /* Angular damping	*/
+		btScalar m_matching;
+		btScalar m_maxSelfCollisionImpulse;
+		btScalar m_selfCollisionImpulseFactor;
+		bool m_containsAnchor;
+		bool m_collide;
+		int m_clusterIndex;
+		Cluster() : m_leaf(0), m_ndamping(0), m_ldamping(0), m_adamping(0), m_matching(0), m_maxSelfCollisionImpulse(100.f), m_selfCollisionImpulseFactor(0.01f), m_containsAnchor(false)
+		{
+		}
+	};
+	/* Impulse		*/
+	struct Impulse
+	{
+		btVector3 m_velocity;
+		btVector3 m_drift;
+		int m_asVelocity : 1;
+		int m_asDrift : 1;
+		Impulse() : m_velocity(0, 0, 0), m_drift(0, 0, 0), m_asVelocity(0), m_asDrift(0) {}
+		Impulse operator-() const
 		{
-			Impulse i=*this;
-			i.m_velocity=-i.m_velocity;
-			i.m_drift=-i.m_drift;
-			return(i);
+			Impulse i = *this;
+			i.m_velocity = -i.m_velocity;
+			i.m_drift = -i.m_drift;
+			return (i);
 		}
-		Impulse						operator*(btScalar x) const
+		Impulse operator*(btScalar x) const
 		{
-			Impulse i=*this;
-			i.m_velocity*=x;
-			i.m_drift*=x;
-			return(i);
+			Impulse i = *this;
+			i.m_velocity *= x;
+			i.m_drift *= x;
+			return (i);
 		}
 	};
-	/* Body			*/ 
-	struct	Body
+	/* Body			*/
+	struct Body
 	{
-		Cluster*			m_soft;
-		btRigidBody*		m_rigid;
-		const btCollisionObject*	m_collisionObject;
+		Cluster* m_soft;
+		btRigidBody* m_rigid;
+		const btCollisionObject* m_collisionObject;
 
-		Body() : m_soft(0),m_rigid(0),m_collisionObject(0)				{}
-		Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0)	{}
-		Body(const btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj)
+		Body() : m_soft(0), m_rigid(0), m_collisionObject(0) {}
+		Body(Cluster* p) : m_soft(p), m_rigid(0), m_collisionObject(0) {}
+		Body(const btCollisionObject* colObj) : m_soft(0), m_collisionObject(colObj)
 		{
 			m_rigid = (btRigidBody*)btRigidBody::upcast(m_collisionObject);
 		}
 
-		void						activate() const
+		void activate() const
 		{
-			if(m_rigid) 
+			if (m_rigid)
 				m_rigid->activate();
 			if (m_collisionObject)
 				m_collisionObject->activate();
-
 		}
-		const btMatrix3x3&			invWorldInertia() const
+		const btMatrix3x3& invWorldInertia() const
 		{
-			static const btMatrix3x3	iwi(0,0,0,0,0,0,0,0,0);
-			if(m_rigid) return(m_rigid->getInvInertiaTensorWorld());
-			if(m_soft)	return(m_soft->m_invwi);
-			return(iwi);
+			static const btMatrix3x3 iwi(0, 0, 0, 0, 0, 0, 0, 0, 0);
+			if (m_rigid) return (m_rigid->getInvInertiaTensorWorld());
+			if (m_soft) return (m_soft->m_invwi);
+			return (iwi);
 		}
-		btScalar					invMass() const
+		btScalar invMass() const
 		{
-			if(m_rigid) return(m_rigid->getInvMass());
-			if(m_soft)	return(m_soft->m_imass);
-			return(0);
+			if (m_rigid) return (m_rigid->getInvMass());
+			if (m_soft) return (m_soft->m_imass);
+			return (0);
 		}
-		const btTransform&			xform() const
+		const btTransform& xform() const
 		{
-			static const btTransform	identity=btTransform::getIdentity();		
-			if(m_collisionObject) return(m_collisionObject->getWorldTransform());
-			if(m_soft)	return(m_soft->m_framexform);
-			return(identity);
+			static const btTransform identity = btTransform::getIdentity();
+			if (m_collisionObject) return (m_collisionObject->getWorldTransform());
+			if (m_soft) return (m_soft->m_framexform);
+			return (identity);
 		}
-		btVector3					linearVelocity() const
+		btVector3 linearVelocity() const
 		{
-			if(m_rigid) return(m_rigid->getLinearVelocity());
-			if(m_soft)	return(m_soft->m_lv);
-			return(btVector3(0,0,0));
+			if (m_rigid) return (m_rigid->getLinearVelocity());
+			if (m_soft) return (m_soft->m_lv);
+			return (btVector3(0, 0, 0));
 		}
-		btVector3					angularVelocity(const btVector3& rpos) const
-		{			
-			if(m_rigid) return(btCross(m_rigid->getAngularVelocity(),rpos));
-			if(m_soft)	return(btCross(m_soft->m_av,rpos));
-			return(btVector3(0,0,0));
+		btVector3 angularVelocity(const btVector3& rpos) const
+		{
+			if (m_rigid) return (btCross(m_rigid->getAngularVelocity(), rpos));
+			if (m_soft) return (btCross(m_soft->m_av, rpos));
+			return (btVector3(0, 0, 0));
 		}
-		btVector3					angularVelocity() const
-		{			
-			if(m_rigid) return(m_rigid->getAngularVelocity());
-			if(m_soft)	return(m_soft->m_av);
-			return(btVector3(0,0,0));
+		btVector3 angularVelocity() const
+		{
+			if (m_rigid) return (m_rigid->getAngularVelocity());
+			if (m_soft) return (m_soft->m_av);
+			return (btVector3(0, 0, 0));
 		}
-		btVector3					velocity(const btVector3& rpos) const
+		btVector3 velocity(const btVector3& rpos) const
 		{
-			return(linearVelocity()+angularVelocity(rpos));
+			return (linearVelocity() + angularVelocity(rpos));
 		}
-		void						applyVImpulse(const btVector3& impulse,const btVector3& rpos) const
+		void applyVImpulse(const btVector3& impulse, const btVector3& rpos) const
 		{
-			if(m_rigid)	m_rigid->applyImpulse(impulse,rpos);
-			if(m_soft)	btSoftBody::clusterVImpulse(m_soft,rpos,impulse);
+			if (m_rigid) m_rigid->applyImpulse(impulse, rpos);
+			if (m_soft) btSoftBody::clusterVImpulse(m_soft, rpos, impulse);
 		}
-		void						applyDImpulse(const btVector3& impulse,const btVector3& rpos) const
+		void applyDImpulse(const btVector3& impulse, const btVector3& rpos) const
 		{
-			if(m_rigid)	m_rigid->applyImpulse(impulse,rpos);
-			if(m_soft)	btSoftBody::clusterDImpulse(m_soft,rpos,impulse);
-		}		
-		void						applyImpulse(const Impulse& impulse,const btVector3& rpos) const
+			if (m_rigid) m_rigid->applyImpulse(impulse, rpos);
+			if (m_soft) btSoftBody::clusterDImpulse(m_soft, rpos, impulse);
+		}
+		void applyImpulse(const Impulse& impulse, const btVector3& rpos) const
 		{
-			if(impulse.m_asVelocity)	
+			if (impulse.m_asVelocity)
 			{
-//				printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ());
-				applyVImpulse(impulse.m_velocity,rpos);
+				//				printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ());
+				applyVImpulse(impulse.m_velocity, rpos);
 			}
-			if(impulse.m_asDrift)		
+			if (impulse.m_asDrift)
 			{
-//				printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ());
-				applyDImpulse(impulse.m_drift,rpos);
+				//				printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ());
+				applyDImpulse(impulse.m_drift, rpos);
 			}
 		}
-		void						applyVAImpulse(const btVector3& impulse) const
+		void applyVAImpulse(const btVector3& impulse) const
 		{
-			if(m_rigid)	m_rigid->applyTorqueImpulse(impulse);
-			if(m_soft)	btSoftBody::clusterVAImpulse(m_soft,impulse);
+			if (m_rigid) m_rigid->applyTorqueImpulse(impulse);
+			if (m_soft) btSoftBody::clusterVAImpulse(m_soft, impulse);
 		}
-		void						applyDAImpulse(const btVector3& impulse) const
+		void applyDAImpulse(const btVector3& impulse) const
 		{
-			if(m_rigid)	m_rigid->applyTorqueImpulse(impulse);
-			if(m_soft)	btSoftBody::clusterDAImpulse(m_soft,impulse);
+			if (m_rigid) m_rigid->applyTorqueImpulse(impulse);
+			if (m_soft) btSoftBody::clusterDAImpulse(m_soft, impulse);
 		}
-		void						applyAImpulse(const Impulse& impulse) const
+		void applyAImpulse(const Impulse& impulse) const
 		{
-			if(impulse.m_asVelocity)	applyVAImpulse(impulse.m_velocity);
-			if(impulse.m_asDrift)		applyDAImpulse(impulse.m_drift);
+			if (impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity);
+			if (impulse.m_asDrift) applyDAImpulse(impulse.m_drift);
 		}
-		void						applyDCImpulse(const btVector3& impulse) const
+		void applyDCImpulse(const btVector3& impulse) const
 		{
-			if(m_rigid)	m_rigid->applyCentralImpulse(impulse);
-			if(m_soft)	btSoftBody::clusterDCImpulse(m_soft,impulse);
+			if (m_rigid) m_rigid->applyCentralImpulse(impulse);
+			if (m_soft) btSoftBody::clusterDCImpulse(m_soft, impulse);
 		}
 	};
-	/* Joint		*/ 
-	struct	Joint
+	/* Joint		*/
+	struct Joint
 	{
-		struct eType { enum _ {
-			Linear=0,
-			Angular,
-			Contact
-		};};
+		struct eType
+		{
+			enum _
+			{
+				Linear = 0,
+				Angular,
+				Contact
+			};
+		};
 		struct Specs
 		{
-			Specs() : erp(1),cfm(1),split(1) {}
-			btScalar	erp;
-			btScalar	cfm;
-			btScalar	split;
+			Specs() : erp(1), cfm(1), split(1) {}
+			btScalar erp;
+			btScalar cfm;
+			btScalar split;
 		};
-		Body						m_bodies[2];
-		btVector3					m_refs[2];
-		btScalar					m_cfm;
-		btScalar					m_erp;
-		btScalar					m_split;
-		btVector3					m_drift;
-		btVector3					m_sdrift;
-		btMatrix3x3					m_massmatrix;
-		bool						m_delete;
-		virtual						~Joint() {}
+		Body m_bodies[2];
+		btVector3 m_refs[2];
+		btScalar m_cfm;
+		btScalar m_erp;
+		btScalar m_split;
+		btVector3 m_drift;
+		btVector3 m_sdrift;
+		btMatrix3x3 m_massmatrix;
+		bool m_delete;
+		virtual ~Joint() {}
 		Joint() : m_delete(false) {}
-		virtual void				Prepare(btScalar dt,int iterations);
-		virtual void				Solve(btScalar dt,btScalar sor)=0;
-		virtual void				Terminate(btScalar dt)=0;
-		virtual eType::_			Type() const=0;
+		virtual void Prepare(btScalar dt, int iterations);
+		virtual void Solve(btScalar dt, btScalar sor) = 0;
+		virtual void Terminate(btScalar dt) = 0;
+		virtual eType::_ Type() const = 0;
 	};
-	/* LJoint		*/ 
-	struct	LJoint : Joint
+	/* LJoint		*/
+	struct LJoint : Joint
 	{
 		struct Specs : Joint::Specs
 		{
-			btVector3	position;
-		};		
-		btVector3					m_rpos[2];
-		void						Prepare(btScalar dt,int iterations);
-		void						Solve(btScalar dt,btScalar sor);
-		void						Terminate(btScalar dt);
-		eType::_					Type() const { return(eType::Linear); }
+			btVector3 position;
+		};
+		btVector3 m_rpos[2];
+		void Prepare(btScalar dt, int iterations);
+		void Solve(btScalar dt, btScalar sor);
+		void Terminate(btScalar dt);
+		eType::_ Type() const { return (eType::Linear); }
 	};
-	/* AJoint		*/ 
-	struct	AJoint : Joint
+	/* AJoint		*/
+	struct AJoint : Joint
 	{
 		struct IControl
 		{
 			virtual ~IControl() {}
-			virtual void			Prepare(AJoint*)				{}
-			virtual btScalar		Speed(AJoint*,btScalar current) { return(current); }
-			static IControl*		Default()						{ static IControl def;return(&def); }
+			virtual void Prepare(AJoint*) {}
+			virtual btScalar Speed(AJoint*, btScalar current) { return (current); }
+			static IControl* Default()
+			{
+				static IControl def;
+				return (&def);
+			}
 		};
 		struct Specs : Joint::Specs
 		{
 			Specs() : icontrol(IControl::Default()) {}
-			btVector3	axis;
-			IControl*	icontrol;
-		};		
-		btVector3					m_axis[2];
-		IControl*					m_icontrol;
-		void						Prepare(btScalar dt,int iterations);
-		void						Solve(btScalar dt,btScalar sor);
-		void						Terminate(btScalar dt);
-		eType::_					Type() const { return(eType::Angular); }
-	};
-	/* CJoint		*/ 
-	struct	CJoint : Joint
-	{		
-		int							m_life;
-		int							m_maxlife;
-		btVector3					m_rpos[2];
-		btVector3					m_normal;
-		btScalar					m_friction;
-		void						Prepare(btScalar dt,int iterations);
-		void						Solve(btScalar dt,btScalar sor);
-		void						Terminate(btScalar dt);
-		eType::_					Type() const { return(eType::Contact); }
-	};
-	/* Config		*/ 
-	struct	Config
-	{
-		eAeroModel::_			aeromodel;		// Aerodynamic model (default: V_Point)
-		btScalar				kVCF;			// Velocities correction factor (Baumgarte)
-		btScalar				kDP;			// Damping coefficient [0,1]
-		btScalar				kDG;			// Drag coefficient [0,+inf]
-		btScalar				kLF;			// Lift coefficient [0,+inf]
-		btScalar				kPR;			// Pressure coefficient [-inf,+inf]
-		btScalar				kVC;			// Volume conversation coefficient [0,+inf]
-		btScalar				kDF;			// Dynamic friction coefficient [0,1]
-		btScalar				kMT;			// Pose matching coefficient [0,1]		
-		btScalar				kCHR;			// Rigid contacts hardness [0,1]
-		btScalar				kKHR;			// Kinetic contacts hardness [0,1]
-		btScalar				kSHR;			// Soft contacts hardness [0,1]
-		btScalar				kAHR;			// Anchors hardness [0,1]
-		btScalar				kSRHR_CL;		// Soft vs rigid hardness [0,1] (cluster only)
-		btScalar				kSKHR_CL;		// Soft vs kinetic hardness [0,1] (cluster only)
-		btScalar				kSSHR_CL;		// Soft vs soft hardness [0,1] (cluster only)
-		btScalar				kSR_SPLT_CL;	// Soft vs rigid impulse split [0,1] (cluster only)
-		btScalar				kSK_SPLT_CL;	// Soft vs rigid impulse split [0,1] (cluster only)
-		btScalar				kSS_SPLT_CL;	// Soft vs rigid impulse split [0,1] (cluster only)
-		btScalar				maxvolume;		// Maximum volume ratio for pose
-		btScalar				timescale;		// Time scale
-		int						viterations;	// Velocities solver iterations
-		int						piterations;	// Positions solver iterations
-		int						diterations;	// Drift solver iterations
-		int						citerations;	// Cluster solver iterations
-		int						collisions;		// Collisions flags
-		tVSolverArray			m_vsequence;	// Velocity solvers sequence
-		tPSolverArray			m_psequence;	// Position solvers sequence
-		tPSolverArray			m_dsequence;	// Drift solvers sequence
-	};
-	/* SolverState	*/ 
-	struct	SolverState
-	{
-		btScalar				sdt;			// dt*timescale
-		btScalar				isdt;			// 1/sdt
-		btScalar				velmrg;			// velocity margin
-		btScalar				radmrg;			// radial margin
-		btScalar				updmrg;			// Update margin
-	};	
+			btVector3 axis;
+			IControl* icontrol;
+		};
+		btVector3 m_axis[2];
+		IControl* m_icontrol;
+		void Prepare(btScalar dt, int iterations);
+		void Solve(btScalar dt, btScalar sor);
+		void Terminate(btScalar dt);
+		eType::_ Type() const { return (eType::Angular); }
+	};
+	/* CJoint		*/
+	struct CJoint : Joint
+	{
+		int m_life;
+		int m_maxlife;
+		btVector3 m_rpos[2];
+		btVector3 m_normal;
+		btScalar m_friction;
+		void Prepare(btScalar dt, int iterations);
+		void Solve(btScalar dt, btScalar sor);
+		void Terminate(btScalar dt);
+		eType::_ Type() const { return (eType::Contact); }
+	};
+	/* Config		*/
+	struct Config
+	{
+		eAeroModel::_ aeromodel;    // Aerodynamic model (default: V_Point)
+		btScalar kVCF;              // Velocities correction factor (Baumgarte)
+		btScalar kDP;               // Damping coefficient [0,1]
+		btScalar kDG;               // Drag coefficient [0,+inf]
+		btScalar kLF;               // Lift coefficient [0,+inf]
+		btScalar kPR;               // Pressure coefficient [-inf,+inf]
+		btScalar kVC;               // Volume conversation coefficient [0,+inf]
+		btScalar kDF;               // Dynamic friction coefficient [0,1]
+		btScalar kMT;               // Pose matching coefficient [0,1]
+		btScalar kCHR;              // Rigid contacts hardness [0,1]
+		btScalar kKHR;              // Kinetic contacts hardness [0,1]
+		btScalar kSHR;              // Soft contacts hardness [0,1]
+		btScalar kAHR;              // Anchors hardness [0,1]
+		btScalar kSRHR_CL;          // Soft vs rigid hardness [0,1] (cluster only)
+		btScalar kSKHR_CL;          // Soft vs kinetic hardness [0,1] (cluster only)
+		btScalar kSSHR_CL;          // Soft vs soft hardness [0,1] (cluster only)
+		btScalar kSR_SPLT_CL;       // Soft vs rigid impulse split [0,1] (cluster only)
+		btScalar kSK_SPLT_CL;       // Soft vs rigid impulse split [0,1] (cluster only)
+		btScalar kSS_SPLT_CL;       // Soft vs rigid impulse split [0,1] (cluster only)
+		btScalar maxvolume;         // Maximum volume ratio for pose
+		btScalar timescale;         // Time scale
+		int viterations;            // Velocities solver iterations
+		int piterations;            // Positions solver iterations
+		int diterations;            // Drift solver iterations
+		int citerations;            // Cluster solver iterations
+		int collisions;             // Collisions flags
+		tVSolverArray m_vsequence;  // Velocity solvers sequence
+		tPSolverArray m_psequence;  // Position solvers sequence
+		tPSolverArray m_dsequence;  // Drift solvers sequence
+	};
+	/* SolverState	*/
+	struct SolverState
+	{
+		btScalar sdt;     // dt*timescale
+		btScalar isdt;    // 1/sdt
+		btScalar velmrg;  // velocity margin
+		btScalar radmrg;  // radial margin
+		btScalar updmrg;  // Update margin
+	};
 	/// RayFromToCaster takes a ray from, ray to (instead of direction!)
-	struct	RayFromToCaster : btDbvt::ICollide
-	{
-		btVector3			m_rayFrom;
-		btVector3			m_rayTo;
-		btVector3			m_rayNormalizedDirection;
-		btScalar			m_mint;
-		Face*				m_face;
-		int					m_tests;
-		RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
-		void					Process(const btDbvtNode* leaf);
-
-		static /*inline*/ btScalar	rayFromToTriangle(const btVector3& rayFrom,
-			const btVector3& rayTo,
-			const btVector3& rayNormalizedDirection,
-			const btVector3& a,
-			const btVector3& b,
-			const btVector3& c,
-			btScalar maxt=SIMD_INFINITY);
+	struct RayFromToCaster : btDbvt::ICollide
+	{
+		btVector3 m_rayFrom;
+		btVector3 m_rayTo;
+		btVector3 m_rayNormalizedDirection;
+		btScalar m_mint;
+		Face* m_face;
+		int m_tests;
+		RayFromToCaster(const btVector3& rayFrom, const btVector3& rayTo, btScalar mxt);
+		void Process(const btDbvtNode* leaf);
+
+		static /*inline*/ btScalar rayFromToTriangle(const btVector3& rayFrom,
+													 const btVector3& rayTo,
+													 const btVector3& rayNormalizedDirection,
+													 const btVector3& a,
+													 const btVector3& b,
+													 const btVector3& c,
+													 btScalar maxt = SIMD_INFINITY);
 	};
 
 	//
 	// Typedefs
 	//
 
-	typedef void								(*psolver_t)(btSoftBody*,btScalar,btScalar);
-	typedef void								(*vsolver_t)(btSoftBody*,btScalar);
-	typedef btAlignedObjectArray<Cluster*>		tClusterArray;
-	typedef btAlignedObjectArray<Note>			tNoteArray;
-	typedef btAlignedObjectArray<Node>			tNodeArray;
-	typedef btAlignedObjectArray<btDbvtNode*>	tLeafArray;
-	typedef btAlignedObjectArray<Link>			tLinkArray;
-	typedef btAlignedObjectArray<Face>			tFaceArray;
-	typedef btAlignedObjectArray<Tetra>			tTetraArray;
-	typedef btAlignedObjectArray<Anchor>		tAnchorArray;
-	typedef btAlignedObjectArray<RContact>		tRContactArray;
-	typedef btAlignedObjectArray<SContact>		tSContactArray;
-	typedef btAlignedObjectArray<Material*>		tMaterialArray;
-	typedef btAlignedObjectArray<Joint*>		tJointArray;
-	typedef btAlignedObjectArray<btSoftBody*>	tSoftBodyArray;	
+	typedef void (*psolver_t)(btSoftBody*, btScalar, btScalar);
+	typedef void (*vsolver_t)(btSoftBody*, btScalar);
+	typedef btAlignedObjectArray<Cluster*> tClusterArray;
+	typedef btAlignedObjectArray<Note> tNoteArray;
+	typedef btAlignedObjectArray<Node> tNodeArray;
+	typedef btAlignedObjectArray<btDbvtNode*> tLeafArray;
+	typedef btAlignedObjectArray<Link> tLinkArray;
+	typedef btAlignedObjectArray<Face> tFaceArray;
+	typedef btAlignedObjectArray<Tetra> tTetraArray;
+	typedef btAlignedObjectArray<Anchor> tAnchorArray;
+	typedef btAlignedObjectArray<RContact> tRContactArray;
+	typedef btAlignedObjectArray<SContact> tSContactArray;
+	typedef btAlignedObjectArray<Material*> tMaterialArray;
+	typedef btAlignedObjectArray<Joint*> tJointArray;
+	typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray;
 
 	//
 	// Fields
 	//
 
-	Config					m_cfg;			// Configuration
-	SolverState				m_sst;			// Solver state
-	Pose					m_pose;			// Pose
-	void*					m_tag;			// User data
-	btSoftBodyWorldInfo*	m_worldInfo;	// World info
-	tNoteArray				m_notes;		// Notes
-	tNodeArray				m_nodes;		// Nodes
-	tLinkArray				m_links;		// Links
-	tFaceArray				m_faces;		// Faces
-	tTetraArray				m_tetras;		// Tetras
-	tAnchorArray			m_anchors;		// Anchors
-	tRContactArray			m_rcontacts;	// Rigid contacts
-	tSContactArray			m_scontacts;	// Soft contacts
-	tJointArray				m_joints;		// Joints
-	tMaterialArray			m_materials;	// Materials
-	btScalar				m_timeacc;		// Time accumulator
-	btVector3				m_bounds[2];	// Spatial bounds	
-	bool					m_bUpdateRtCst;	// Update runtime constants
-	btDbvt					m_ndbvt;		// Nodes tree
-	btDbvt					m_fdbvt;		// Faces tree
-	btDbvt					m_cdbvt;		// Clusters tree
-	tClusterArray			m_clusters;		// Clusters
-
-	btAlignedObjectArray<bool>m_clusterConnectivity;//cluster connectivity, for self-collision
-
-	btTransform			m_initialWorldTransform;
-
-	btVector3			m_windVelocity;
-	
-	btScalar        m_restLengthScale;
-	
+	Config m_cfg;                      // Configuration
+	SolverState m_sst;                 // Solver state
+	Pose m_pose;                       // Pose
+	void* m_tag;                       // User data
+	btSoftBodyWorldInfo* m_worldInfo;  // World info
+	tNoteArray m_notes;                // Notes
+	tNodeArray m_nodes;                // Nodes
+	tLinkArray m_links;                // Links
+	tFaceArray m_faces;                // Faces
+	tTetraArray m_tetras;              // Tetras
+	tAnchorArray m_anchors;            // Anchors
+	tRContactArray m_rcontacts;        // Rigid contacts
+	tSContactArray m_scontacts;        // Soft contacts
+	tJointArray m_joints;              // Joints
+	tMaterialArray m_materials;        // Materials
+	btScalar m_timeacc;                // Time accumulator
+	btVector3 m_bounds[2];             // Spatial bounds
+	bool m_bUpdateRtCst;               // Update runtime constants
+	btDbvt m_ndbvt;                    // Nodes tree
+	btDbvt m_fdbvt;                    // Faces tree
+	btDbvt m_cdbvt;                    // Clusters tree
+	tClusterArray m_clusters;          // Clusters
+
+	btAlignedObjectArray<bool> m_clusterConnectivity;  //cluster connectivity, for self-collision
+
+	btTransform m_initialWorldTransform;
+
+	btVector3 m_windVelocity;
+
+	btScalar m_restLengthScale;
+
 	//
 	// Api
 	//
 
-	/* ctor																	*/ 
-	btSoftBody(	btSoftBodyWorldInfo* worldInfo,int node_count,		const btVector3* x,		const btScalar* m);
+	/* ctor																	*/
+	btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m);
 
-	/* ctor																	*/ 
-	btSoftBody(	btSoftBodyWorldInfo* worldInfo);
+	/* ctor																	*/
+	btSoftBody(btSoftBodyWorldInfo* worldInfo);
 
-	void	initDefaults();
+	void initDefaults();
 
-	/* dtor																	*/ 
+	/* dtor																	*/
 	virtual ~btSoftBody();
-	/* Check for existing link												*/ 
+	/* Check for existing link												*/
 
-	btAlignedObjectArray<int>	m_userIndexMapping;
+	btAlignedObjectArray<int> m_userIndexMapping;
 
-	btSoftBodyWorldInfo*	getWorldInfo()
+	btSoftBodyWorldInfo* getWorldInfo()
 	{
 		return m_worldInfo;
 	}
 
 	///@todo: avoid internal softbody shape hack and move collision code to collision library
-	virtual void	setCollisionShape(btCollisionShape* collisionShape)
+	virtual void setCollisionShape(btCollisionShape* collisionShape)
 	{
-		
 	}
 
-	bool				checkLink(	int node0,
-		int node1) const;
-	bool				checkLink(	const Node* node0,
-		const Node* node1) const;
-	/* Check for existring face												*/ 
-	bool				checkFace(	int node0,
-		int node1,
-		int node2) const;
-	/* Append material														*/ 
-	Material*			appendMaterial();
-	/* Append note															*/ 
-	void				appendNote(	const char* text,
-		const btVector3& o,
-		const btVector4& c=btVector4(1,0,0,0),
-		Node* n0=0,
-		Node* n1=0,
-		Node* n2=0,
-		Node* n3=0);
-	void				appendNote(	const char* text,
-		const btVector3& o,
-		Node* feature);
-	void				appendNote(	const char* text,
-		const btVector3& o,
-		Link* feature);
-	void				appendNote(	const char* text,
-		const btVector3& o,
-		Face* feature);
-	/* Append node															*/ 
-	void				appendNode(	const btVector3& x,btScalar m);
-	/* Append link															*/ 
-	void				appendLink(int model=-1,Material* mat=0);
-	void				appendLink(	int node0,
-		int node1,
-		Material* mat=0,
-		bool bcheckexist=false);
-	void				appendLink(	Node* node0,
-		Node* node1,
-		Material* mat=0,
-		bool bcheckexist=false);
-	/* Append face															*/ 
-	void				appendFace(int model=-1,Material* mat=0);
-	void				appendFace(	int node0,
-		int node1,
-		int node2,
-		Material* mat=0);
-	void			appendTetra(int model,Material* mat);
+	bool checkLink(int node0,
+				   int node1) const;
+	bool checkLink(const Node* node0,
+				   const Node* node1) const;
+	/* Check for existring face												*/
+	bool checkFace(int node0,
+				   int node1,
+				   int node2) const;
+	/* Append material														*/
+	Material* appendMaterial();
+	/* Append note															*/
+	void appendNote(const char* text,
+					const btVector3& o,
+					const btVector4& c = btVector4(1, 0, 0, 0),
+					Node* n0 = 0,
+					Node* n1 = 0,
+					Node* n2 = 0,
+					Node* n3 = 0);
+	void appendNote(const char* text,
+					const btVector3& o,
+					Node* feature);
+	void appendNote(const char* text,
+					const btVector3& o,
+					Link* feature);
+	void appendNote(const char* text,
+					const btVector3& o,
+					Face* feature);
+	/* Append node															*/
+	void appendNode(const btVector3& x, btScalar m);
+	/* Append link															*/
+	void appendLink(int model = -1, Material* mat = 0);
+	void appendLink(int node0,
+					int node1,
+					Material* mat = 0,
+					bool bcheckexist = false);
+	void appendLink(Node* node0,
+					Node* node1,
+					Material* mat = 0,
+					bool bcheckexist = false);
+	/* Append face															*/
+	void appendFace(int model = -1, Material* mat = 0);
+	void appendFace(int node0,
+					int node1,
+					int node2,
+					Material* mat = 0);
+	void appendTetra(int model, Material* mat);
 	//
-	void			appendTetra(int node0,
-										int node1,
-										int node2,
-										int node3,
-										Material* mat=0);
-
-
-	/* Append anchor														*/ 
-	void				appendAnchor(	int node,
-		btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false,btScalar influence = 1);
-	void			appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies=false,btScalar influence = 1);
-	/* Append linear joint													*/ 
-	void				appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
-	void				appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
-	void				appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body);
-	/* Append linear joint													*/ 
-	void				appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1);
-	void				appendAngularJoint(const AJoint::Specs& specs,Body body=Body());
-	void				appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body);
-	/* Add force (or gravity) to the entire body							*/ 
-	void				addForce(		const btVector3& force);
-	/* Add force (or gravity) to a node of the body							*/ 
-	void				addForce(		const btVector3& force,
-		int node);
+	void appendTetra(int node0,
+					 int node1,
+					 int node2,
+					 int node3,
+					 Material* mat = 0);
+
+	/* Append anchor														*/
+	void appendAnchor(int node,
+					  btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
+	void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
+	/* Append linear joint													*/
+	void appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1);
+	void appendLinearJoint(const LJoint::Specs& specs, Body body = Body());
+	void appendLinearJoint(const LJoint::Specs& specs, btSoftBody* body);
+	/* Append linear joint													*/
+	void appendAngularJoint(const AJoint::Specs& specs, Cluster* body0, Body body1);
+	void appendAngularJoint(const AJoint::Specs& specs, Body body = Body());
+	void appendAngularJoint(const AJoint::Specs& specs, btSoftBody* body);
+	/* Add force (or gravity) to the entire body							*/
+	void addForce(const btVector3& force);
+	/* Add force (or gravity) to a node of the body							*/
+	void addForce(const btVector3& force,
+				  int node);
 	/* Add aero force to a node of the body */
-	void			    addAeroForceToNode(const btVector3& windVelocity,int nodeIndex);
+	void addAeroForceToNode(const btVector3& windVelocity, int nodeIndex);
 
 	/* Add aero force to a face of the body */
-	void			    addAeroForceToFace(const btVector3& windVelocity,int faceIndex);
-
-	/* Add velocity to the entire body										*/ 
-	void				addVelocity(	const btVector3& velocity);
-
-	/* Set velocity for the entire body										*/ 
-	void				setVelocity(	const btVector3& velocity);
-
-	/* Add velocity to a node of the body									*/ 
-	void				addVelocity(	const btVector3& velocity,
-		int node);
-	/* Set mass																*/ 
-	void				setMass(		int node,
-		btScalar mass);
-	/* Get mass																*/ 
-	btScalar			getMass(		int node) const;
-	/* Get total mass														*/ 
-	btScalar			getTotalMass() const;
-	/* Set total mass (weighted by previous masses)							*/ 
-	void				setTotalMass(	btScalar mass,
-		bool fromfaces=false);
-	/* Set total density													*/ 
-	void				setTotalDensity(btScalar density);
+	void addAeroForceToFace(const btVector3& windVelocity, int faceIndex);
+
+	/* Add velocity to the entire body										*/
+	void addVelocity(const btVector3& velocity);
+
+	/* Set velocity for the entire body										*/
+	void setVelocity(const btVector3& velocity);
+
+	/* Add velocity to a node of the body									*/
+	void addVelocity(const btVector3& velocity,
+					 int node);
+	/* Set mass																*/
+	void setMass(int node,
+				 btScalar mass);
+	/* Get mass																*/
+	btScalar getMass(int node) const;
+	/* Get total mass														*/
+	btScalar getTotalMass() const;
+	/* Set total mass (weighted by previous masses)							*/
+	void setTotalMass(btScalar mass,
+					  bool fromfaces = false);
+	/* Set total density													*/
+	void setTotalDensity(btScalar density);
 	/* Set volume mass (using tetrahedrons)									*/
-	void				setVolumeMass(		btScalar mass);
+	void setVolumeMass(btScalar mass);
 	/* Set volume density (using tetrahedrons)								*/
-	void				setVolumeDensity(	btScalar density);
-	/* Transform															*/ 
-	void				transform(		const btTransform& trs);
-	/* Translate															*/ 
-	void				translate(		const btVector3& trs);
-	/* Rotate															*/ 
-	void				rotate(	const btQuaternion& rot);
-	/* Scale																*/ 
-	void				scale(	const btVector3& scl);
+	void setVolumeDensity(btScalar density);
+	/* Transform															*/
+	void transform(const btTransform& trs);
+	/* Translate															*/
+	void translate(const btVector3& trs);
+	/* Rotate															*/
+	void rotate(const btQuaternion& rot);
+	/* Scale																*/
+	void scale(const btVector3& scl);
 	/* Get link resting lengths scale										*/
-	btScalar			getRestLengthScale();
+	btScalar getRestLengthScale();
 	/* Scale resting length of all springs									*/
-	void				setRestLengthScale(btScalar restLength);
-	/* Set current state as pose											*/ 
-	void				setPose(		bool bvolume,
-		bool bframe);
-	/* Set current link lengths as resting lengths							*/ 
-	void				resetLinkRestLengths();
-	/* Return the volume													*/ 
-	btScalar			getVolume() const;
-	/* Cluster count														*/ 
-	int					clusterCount() const;
-	/* Cluster center of mass												*/ 
-	static btVector3	clusterCom(const Cluster* cluster);
-	btVector3			clusterCom(int cluster) const;
-	/* Cluster velocity at rpos												*/ 
-	static btVector3	clusterVelocity(const Cluster* cluster,const btVector3& rpos);
-	/* Cluster impulse														*/ 
-	static void			clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse);
-	static void			clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse);
-	static void			clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse);
-	static void			clusterVAImpulse(Cluster* cluster,const btVector3& impulse);
-	static void			clusterDAImpulse(Cluster* cluster,const btVector3& impulse);
-	static void			clusterAImpulse(Cluster* cluster,const Impulse& impulse);
-	static void			clusterDCImpulse(Cluster* cluster,const btVector3& impulse);
-	/* Generate bending constraints based on distance in the adjency graph	*/ 
-	int					generateBendingConstraints(	int distance,
-		Material* mat=0);
-	/* Randomize constraints to reduce solver bias							*/ 
-	void				randomizeConstraints();
-	/* Release clusters														*/ 
-	void				releaseCluster(int index);
-	void				releaseClusters();
-	/* Generate clusters (K-mean)											*/ 
+	void setRestLengthScale(btScalar restLength);
+	/* Set current state as pose											*/
+	void setPose(bool bvolume,
+				 bool bframe);
+	/* Set current link lengths as resting lengths							*/
+	void resetLinkRestLengths();
+	/* Return the volume													*/
+	btScalar getVolume() const;
+	/* Cluster count														*/
+	int clusterCount() const;
+	/* Cluster center of mass												*/
+	static btVector3 clusterCom(const Cluster* cluster);
+	btVector3 clusterCom(int cluster) const;
+	/* Cluster velocity at rpos												*/
+	static btVector3 clusterVelocity(const Cluster* cluster, const btVector3& rpos);
+	/* Cluster impulse														*/
+	static void clusterVImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse);
+	static void clusterDImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse);
+	static void clusterImpulse(Cluster* cluster, const btVector3& rpos, const Impulse& impulse);
+	static void clusterVAImpulse(Cluster* cluster, const btVector3& impulse);
+	static void clusterDAImpulse(Cluster* cluster, const btVector3& impulse);
+	static void clusterAImpulse(Cluster* cluster, const Impulse& impulse);
+	static void clusterDCImpulse(Cluster* cluster, const btVector3& impulse);
+	/* Generate bending constraints based on distance in the adjency graph	*/
+	int generateBendingConstraints(int distance,
+								   Material* mat = 0);
+	/* Randomize constraints to reduce solver bias							*/
+	void randomizeConstraints();
+	/* Release clusters														*/
+	void releaseCluster(int index);
+	void releaseClusters();
+	/* Generate clusters (K-mean)											*/
 	///generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle
 	///otherwise an approximation will be used (better performance)
-	int					generateClusters(int k,int maxiterations=8192);
-	/* Refine																*/ 
-	void				refine(ImplicitFn* ifn,btScalar accurary,bool cut);
-	/* CutLink																*/ 
-	bool				cutLink(int node0,int node1,btScalar position);
-	bool				cutLink(const Node* node0,const Node* node1,btScalar position);
+	int generateClusters(int k, int maxiterations = 8192);
+	/* Refine																*/
+	void refine(ImplicitFn* ifn, btScalar accurary, bool cut);
+	/* CutLink																*/
+	bool cutLink(int node0, int node1, btScalar position);
+	bool cutLink(const Node* node0, const Node* node1, btScalar position);
 
 	///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
-	bool				rayTest(const btVector3& rayFrom,
-		const btVector3& rayTo,
-		sRayCast& results);
-	/* Solver presets														*/ 
-	void				setSolver(eSolverPresets::_ preset);
-	/* predictMotion														*/ 
-	void				predictMotion(btScalar dt);
-	/* solveConstraints														*/ 
-	void				solveConstraints();
-	/* staticSolve															*/ 
-	void				staticSolve(int iterations);
-	/* solveCommonConstraints												*/ 
-	static void			solveCommonConstraints(btSoftBody** bodies,int count,int iterations);
-	/* solveClusters														*/ 
-	static void			solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies);
-	/* integrateMotion														*/ 
-	void				integrateMotion();
-	/* defaultCollisionHandlers												*/ 
-	void				defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
-	void				defaultCollisionHandler(btSoftBody* psb);
-
-
+	bool rayTest(const btVector3& rayFrom,
+				 const btVector3& rayTo,
+				 sRayCast& results);
+	/* Solver presets														*/
+	void setSolver(eSolverPresets::_ preset);
+	/* predictMotion														*/
+	void predictMotion(btScalar dt);
+	/* solveConstraints														*/
+	void solveConstraints();
+	/* staticSolve															*/
+	void staticSolve(int iterations);
+	/* solveCommonConstraints												*/
+	static void solveCommonConstraints(btSoftBody** bodies, int count, int iterations);
+	/* solveClusters														*/
+	static void solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies);
+	/* integrateMotion														*/
+	void integrateMotion();
+	/* defaultCollisionHandlers												*/
+	void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
+	void defaultCollisionHandler(btSoftBody* psb);
 
 	//
 	// Functionality to deal with new accelerated solvers.
@@ -895,8 +923,7 @@ public:
 	/**
 	 * Set a wind velocity for interaction with the air.
 	 */
-	void setWindVelocity( const btVector3 &velocity );
-
+	void setWindVelocity(const btVector3& velocity);
 
 	/**
 	 * Return the wind velocity for interaction with the air.
@@ -907,41 +934,40 @@ public:
 	// Set the solver that handles this soft body
 	// Should not be allowed to get out of sync with reality
 	// Currently called internally on addition to the world
-	void setSoftBodySolver( btSoftBodySolver *softBodySolver )
+	void setSoftBodySolver(btSoftBodySolver* softBodySolver)
 	{
 		m_softBodySolver = softBodySolver;
 	}
 
 	//
 	// Return the solver that handles this soft body
-	// 
-	btSoftBodySolver *getSoftBodySolver()
+	//
+	btSoftBodySolver* getSoftBodySolver()
 	{
 		return m_softBodySolver;
 	}
 
 	//
 	// Return the solver that handles this soft body
-	// 
-	btSoftBodySolver *getSoftBodySolver() const
+	//
+	btSoftBodySolver* getSoftBodySolver() const
 	{
 		return m_softBodySolver;
 	}
 
-
 	//
 	// Cast
 	//
 
-	static const btSoftBody*	upcast(const btCollisionObject* colObj)
+	static const btSoftBody* upcast(const btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()==CO_SOFT_BODY)
+		if (colObj->getInternalType() == CO_SOFT_BODY)
 			return (const btSoftBody*)colObj;
 		return 0;
 	}
-	static btSoftBody*			upcast(btCollisionObject* colObj)
+	static btSoftBody* upcast(btCollisionObject* colObj)
 	{
-		if (colObj->getInternalType()==CO_SOFT_BODY)
+		if (colObj->getInternalType() == CO_SOFT_BODY)
 			return (btSoftBody*)colObj;
 		return 0;
 	}
@@ -950,7 +976,7 @@ public:
 	// ::btCollisionObject
 	//
 
-	virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	virtual void getAabb(btVector3& aabbMin, btVector3& aabbMax) const
 	{
 		aabbMin = m_bounds[0];
 		aabbMax = m_bounds[1];
@@ -958,48 +984,42 @@ public:
 	//
 	// Private
 	//
-	void				pointersToIndices();
-	void				indicesToPointers(const int* map=0);
-
-	int					rayTest(const btVector3& rayFrom,const btVector3& rayTo,
-		btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
-	void				initializeFaceTree();
-	btVector3			evaluateCom() const;
-	bool				checkContact(const btCollisionObjectWrapper* colObjWrap,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
-	void				updateNormals();
-	void				updateBounds();
-	void				updatePose();
-	void				updateConstants();
-	void				updateLinkConstants();
-	void				updateArea(bool averageArea = true);
-	void				initializeClusters();
-	void				updateClusters();
-	void				cleanupClusters();
-	void				prepareClusters(int iterations);
-	void				solveClusters(btScalar sor);
-	void				applyClusters(bool drift);
-	void				dampClusters();
-	void				applyForces();	
-	static void			PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti);
-	static void			PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti);
-	static void			PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti);
-	static void			PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti);
-	static void			VSolve_Links(btSoftBody* psb,btScalar kst);
-	static psolver_t	getSolver(ePSolver::_ solver);
-	static vsolver_t	getSolver(eVSolver::_ solver);
-
-
-	virtual	int	calculateSerializeBufferSize()	const;
+	void pointersToIndices();
+	void indicesToPointers(const int* map = 0);
+
+	int rayTest(const btVector3& rayFrom, const btVector3& rayTo,
+				btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const;
+	void initializeFaceTree();
+	btVector3 evaluateCom() const;
+	bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const;
+	void updateNormals();
+	void updateBounds();
+	void updatePose();
+	void updateConstants();
+	void updateLinkConstants();
+	void updateArea(bool averageArea = true);
+	void initializeClusters();
+	void updateClusters();
+	void cleanupClusters();
+	void prepareClusters(int iterations);
+	void solveClusters(btScalar sor);
+	void applyClusters(bool drift);
+	void dampClusters();
+	void applyForces();
+	static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti);
+	static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti);
+	static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti);
+	static void PSolve_Links(btSoftBody* psb, btScalar kst, btScalar ti);
+	static void VSolve_Links(btSoftBody* psb, btScalar kst);
+	static psolver_t getSolver(ePSolver::_ solver);
+	static vsolver_t getSolver(eVSolver::_ solver);
+
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer,  class btSerializer* serializer) const;
+	virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
 
 	//virtual void serializeSingleObject(class btSerializer* serializer) const;
-
-
 };
 
-
-
-
-#endif //_BT_SOFT_BODY_H
+#endif  //_BT_SOFT_BODY_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index ab84bddf2a..750718f57f 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btSoftBodyConcaveCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@@ -27,34 +26,28 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletSoftBody/btSoftBody.h"
 
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
+#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)  //make this configurable
 
-btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
-: btCollisionAlgorithm(ci),
-m_isSwapped(isSwapped),
-m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
+btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
+	: btCollisionAlgorithm(ci),
+	  m_isSwapped(isSwapped),
+	  m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
 {
 }
 
-
-
 btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
 {
 }
 
-
-
-btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher*  dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
-m_dispatcher(dispatcher),
-m_dispatchInfoPtr(0)
+btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
+																																														 m_dispatchInfoPtr(0)
 {
-	m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject());
-	m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject();
+	m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
+	m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
 
 	//
 	// create the manifold from the dispatcher 'manifold pool'
@@ -68,46 +61,42 @@ btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
 {
 	clearCache();
 	//	m_dispatcher->releaseManifold( m_manifoldPtr );
-
 }
 
-
-void	btSoftBodyTriangleCallback::clearCache()
+void btSoftBodyTriangleCallback::clearCache()
 {
-	for (int i=0;i<m_shapeCache.size();i++)
+	for (int i = 0; i < m_shapeCache.size(); i++)
 	{
 		btTriIndex* tmp = m_shapeCache.getAtIndex(i);
 		btAssert(tmp);
 		btAssert(tmp->m_childShape);
-		m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
+		m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);  //necessary?
 		delete tmp->m_childShape;
 	}
 	m_shapeCache.clear();
 }
 
-
-void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
+void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
 {
 	//just for debugging purposes
 	//printf("triangle %d",m_triangleCount++);
-	
+
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
 	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe))
+	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
 	{
-		btVector3 color(1,1,0);
+		btVector3 color(1, 1, 0);
 		const btTransform& tr = m_triBody->getWorldTransform();
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
+		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
+		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
+		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
 	}
 
-	btTriIndex	triIndex(partId,triangleIndex,0);
+	btTriIndex triIndex(partId, triangleIndex, 0);
 	btHashKey<btTriIndex> triKey(triIndex.getUid());
 
-
 	btTriIndex* shapeIndex = m_shapeCache[triKey];
 	if (shapeIndex)
 	{
@@ -117,82 +106,73 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 		//copy over user pointers to temporary shape
 		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
 
-		btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
+		btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
 		//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
-		btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);
+		btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);
 		ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0, algoType);//m_manifoldPtr);
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType);  //m_manifoldPtr);
 
-		colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		
+
 		return;
 	}
 
-	//aabb filter is already applied!	
+	//aabb filter is already applied!
 
 	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
 
 	//	if (m_softBody->getCollisionShape()->getShapeType()==
 	{
 		//		btVector3 other;
-		btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
+		btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
 		normal.normalize();
-		normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
+		normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
 		//		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
 		//		other+=normal*22.f;
-		btVector3	pts[6] = {triangle[0]+normal,
-			triangle[1]+normal,
-			triangle[2]+normal,
-			triangle[0]-normal,
-			triangle[1]-normal,
-			triangle[2]-normal};
-
-		btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
+		btVector3 pts[6] = {triangle[0] + normal,
+							triangle[1] + normal,
+							triangle[2] + normal,
+							triangle[0] - normal,
+							triangle[1] - normal,
+							triangle[2] - normal};
 
+		btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(), 6);
 
 		//		btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
 
-		//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
+		//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
 		//	tm.setMargin(m_collisionMarginTriangle);
 
 		//copy over user pointers to temporary shape
 		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
 
-		
-		btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
-		btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//??
+		btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
+		btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);  //btTransform::getIdentity());//??
 
 		ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0, algoType);//m_manifoldPtr);
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType);  //m_manifoldPtr);
 
-		colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
 
 		triIndex.m_childShape = tm;
-		m_shapeCache.insert(triKey,triIndex);
-
+		m_shapeCache.insert(triKey, triIndex);
 	}
-
-
-
 }
 
-
-
-void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
+	m_collisionMarginTriangle = collisionMarginTriangle + btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
 	m_resultOut = resultOut;
 
-
-	btVector3	aabbWorldSpaceMin,aabbWorldSpaceMax;
-	m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
-	btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
-	btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
+	btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
+	m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
+	btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
+	btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
 
 	btTransform softTransform;
 	softTransform.setIdentity();
@@ -200,56 +180,45 @@ void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
 
 	btTransform convexInTriangleSpace;
 	convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
-	btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
+	btTransformAabb(halfExtents, m_collisionMarginTriangle, convexInTriangleSpace, m_aabbMin, m_aabbMax);
 }
 
 void btSoftBodyConcaveCollisionAlgorithm::clearCache()
 {
 	m_btSoftBodyTriangleCallback.clearCache();
-
 }
 
-void btSoftBodyConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
-
-
 	//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
 	const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
 
 	if (triBody->getCollisionShape()->isConcave())
 	{
-
-
-		const btCollisionObject*	triOb = triBody->getCollisionObject();
-		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triOb->getCollisionShape());
+		const btCollisionObject* triOb = triBody->getCollisionObject();
+		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
 
 		//	if (convexBody->getCollisionShape()->isConvex())
 		{
 			btScalar collisionMarginTriangle = concaveShape->getMargin();
 
 			//			resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
-			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,triBody,dispatchInfo,resultOut);
+			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, triBody, dispatchInfo, resultOut);
 
-		
-			concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
+			concaveShape->processAllTriangles(&m_btSoftBodyTriangleCallback, m_btSoftBodyTriangleCallback.getAabbMin(), m_btSoftBodyTriangleCallback.getAabbMax());
 
 			//	resultOut->refreshContactPoints();
-
 		}
-
 	}
-
 }
 
-
-btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
 	btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
 	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
 
-
 	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
 
 	//only perform CCD above a certain threshold, this prevents blocking on the long run
@@ -268,25 +237,23 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
 	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
 
-	struct LocalTriangleSphereCastCallback	: public btTriangleCallback
+	struct LocalTriangleSphereCastCallback : public btTriangleCallback
 	{
 		btTransform m_ccdSphereFromTrans;
 		btTransform m_ccdSphereToTrans;
-		btTransform	m_meshTransform;
+		btTransform m_meshTransform;
 
-		btScalar	m_ccdSphereRadius;
-		btScalar	m_hitFraction;
+		btScalar m_ccdSphereRadius;
+		btScalar m_hitFraction;
 
-
-		LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
-			:m_ccdSphereFromTrans(from),
-			m_ccdSphereToTrans(to),
-			m_ccdSphereRadius(ccdSphereRadius),
-			m_hitFraction(hitFraction)
-		{			
+		LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
+			: m_ccdSphereFromTrans(from),
+			  m_ccdSphereToTrans(to),
+			  m_ccdSphereRadius(ccdSphereRadius),
+			  m_hitFraction(hitFraction)
+		{
 		}
 
-
 		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 		{
 			(void)partId;
@@ -296,29 +263,23 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 			ident.setIdentity();
 			btConvexCast::CastResult castResult;
 			castResult.m_fraction = m_hitFraction;
-			btSphereShape	pointShape(m_ccdSphereRadius);
-			btTriangleShape	triShape(triangle[0],triangle[1],triangle[2]);
-			btVoronoiSimplexSolver	simplexSolver;
-			btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
+			btSphereShape pointShape(m_ccdSphereRadius);
+			btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
+			btVoronoiSimplexSolver simplexSolver;
+			btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
 			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
 			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
 			//local space?
 
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
-				ident,ident,castResult))
+			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
+											  ident, ident, castResult))
 			{
 				if (m_hitFraction > castResult.m_fraction)
 					m_hitFraction = castResult.m_fraction;
 			}
-
 		}
-
 	};
 
-
-
-
-
 	if (triBody->getCollisionShape()->isConcave())
 	{
 		btVector3 rayAabbMin = convexFromLocal.getOrigin();
@@ -326,33 +287,30 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 		btVector3 rayAabbMax = convexFromLocal.getOrigin();
 		rayAabbMax.setMax(convexToLocal.getOrigin());
 		btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
-		rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
-		rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
+		rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
+		rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
 
-		btScalar curHitFraction = btScalar(1.); //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
-			convexbody->getCcdSweptSphereRadius(),curHitFraction);
+		btScalar curHitFraction = btScalar(1.);  //is this available?
+		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
+														convexbody->getCcdSweptSphereRadius(), curHitFraction);
 
 		raycastCallback.m_hitFraction = convexbody->getHitFraction();
 
 		btCollisionObject* concavebody = triBody;
 
-		btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
+		btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
 
 		if (triangleMesh)
 		{
-			triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
+			triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
 		}
 
-
-
 		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
 		{
-			convexbody->setHitFraction( raycastCallback.m_hitFraction);
+			convexbody->setHitFraction(raycastCallback.m_hitFraction);
 			return raycastCallback.m_hitFraction;
 		}
 	}
 
 	return btScalar(1.);
-
 }
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
index 11c7b88f98..3adedbd805 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
@@ -29,63 +29,62 @@ class btCollisionShape;
 
 #include "LinearMath/btHashMap.h"
 
-#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
+#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"  //for definition of MAX_NUM_PARTS_IN_BITS
 
 struct btTriIndex
 {
 	int m_PartIdTriangleIndex;
-	class btCollisionShape*	m_childShape;
+	class btCollisionShape* m_childShape;
 
-	btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
+	btTriIndex(int partId, int triangleIndex, btCollisionShape* shape)
 	{
-		m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+		m_PartIdTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
 		m_childShape = shape;
 	}
 
-	int	getTriangleIndex() const
+	int getTriangleIndex() const
 	{
 		// Get only the lower bits where the triangle index is stored
 		unsigned int x = 0;
-		unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-		return (m_PartIdTriangleIndex&~(y));
+		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
+		return (m_PartIdTriangleIndex & ~(y));
 	}
-	int	getPartId() const
+	int getPartId() const
 	{
 		// Get only the highest bits where the part index is stored
-		return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+		return (m_PartIdTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
 	}
-	int	getUid() const
+	int getUid() const
 	{
 		return m_PartIdTriangleIndex;
 	}
 };
 
-
 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
 class btSoftBodyTriangleCallback : public btTriangleCallback
 {
 	btSoftBody* m_softBody;
 	const btCollisionObject* m_triBody;
 
-	btVector3	m_aabbMin;
-	btVector3	m_aabbMax ;
+	btVector3 m_aabbMin;
+	btVector3 m_aabbMax;
 
 	btManifoldResult* m_resultOut;
 
-	btDispatcher*	m_dispatcher;
+	btDispatcher* m_dispatcher;
 	const btDispatcherInfo* m_dispatchInfoPtr;
 	btScalar m_collisionMarginTriangle;
 
-	btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
+	btHashMap<btHashKey<btTriIndex>, btTriIndex> m_shapeCache;
 
 public:
-	int	m_triangleCount;
+	int m_triangleCount;
 
 	//	btPersistentManifold*	m_manifoldPtr;
 
-	btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+	btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
-	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triObjWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
 	virtual ~btSoftBodyTriangleCallback();
 
@@ -101,55 +100,48 @@ public:
 	{
 		return m_aabbMax;
 	}
-
 };
 
-
-
-
 /// btSoftBodyConcaveCollisionAlgorithm  supports collision between soft body shapes and (concave) trianges meshes.
-class btSoftBodyConcaveCollisionAlgorithm  : public btCollisionAlgorithm
+class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
 {
-
-	bool	m_isSwapped;
+	bool m_isSwapped;
 
 	btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
 
 public:
-
-	btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+	btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btSoftBodyConcaveCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		//we don't add any manifolds
 	}
 
-	void	clearCache();
+	void clearCache();
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
-			return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
+			return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
 		}
 	};
 
-	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
-			return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
+			return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
 		}
 	};
-
 };
 
-#endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
+#endif  //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
index 87d8841cfa..cec6f401ec 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
@@ -19,199 +19,194 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
-
-struct	SoftBodyMaterialData
+struct SoftBodyMaterialData
 {
-	float	m_linearStiffness;
-	float	m_angularStiffness;
-	float	m_volumeStiffness;
-	int		m_flags;
+	float m_linearStiffness;
+	float m_angularStiffness;
+	float m_volumeStiffness;
+	int m_flags;
 };
 
-struct	SoftBodyNodeData
+struct SoftBodyNodeData
 {
-	SoftBodyMaterialData		*m_material;
-	btVector3FloatData			m_position;
-	btVector3FloatData			m_previousPosition;
-	btVector3FloatData			m_velocity;
-	btVector3FloatData			m_accumulatedForce;
-	btVector3FloatData			m_normal;
-	float						m_inverseMass;
-	float						m_area;
-	int							m_attach;
-	int							m_pad;
+	SoftBodyMaterialData *m_material;
+	btVector3FloatData m_position;
+	btVector3FloatData m_previousPosition;
+	btVector3FloatData m_velocity;
+	btVector3FloatData m_accumulatedForce;
+	btVector3FloatData m_normal;
+	float m_inverseMass;
+	float m_area;
+	int m_attach;
+	int m_pad;
 };
 
-struct	SoftBodyLinkData
+struct SoftBodyLinkData
 {
-	SoftBodyMaterialData	*m_material;
-	int						m_nodeIndices[2];			// Node pointers
-	float					m_restLength;			// Rest length		
-	int						m_bbending;		// Bending link
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[2];  // Node pointers
+	float m_restLength;    // Rest length
+	int m_bbending;        // Bending link
 };
 
-struct	SoftBodyFaceData
+struct SoftBodyFaceData
 {
-	btVector3FloatData		m_normal;		// Normal
-	SoftBodyMaterialData	*m_material;
-	int						m_nodeIndices[3];			// Node pointers
-	float					m_restArea;			// Rest area
-};	
+	btVector3FloatData m_normal;  // Normal
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[3];  // Node pointers
+	float m_restArea;      // Rest area
+};
 
-struct	SoftBodyTetraData
+struct SoftBodyTetraData
 {
-	btVector3FloatData		m_c0[4];		// gradients
-	SoftBodyMaterialData	*m_material;
-	int						m_nodeIndices[4];			// Node pointers		
-	float					m_restVolume;			// Rest volume
-	float					m_c1;			// (4*kVST)/(im0+im1+im2+im3)
-	float					m_c2;			// m_c1/sum(|g0..3|^2)
-	int						m_pad;
+	btVector3FloatData m_c0[4];  // gradients
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[4];  // Node pointers
+	float m_restVolume;    // Rest volume
+	float m_c1;            // (4*kVST)/(im0+im1+im2+im3)
+	float m_c2;            // m_c1/sum(|g0..3|^2)
+	int m_pad;
 };
 
-struct	SoftRigidAnchorData
+struct SoftRigidAnchorData
 {
-	btMatrix3x3FloatData	m_c0;			// Impulse matrix
-	btVector3FloatData		m_c1;			// Relative anchor
-	btVector3FloatData		m_localFrame;		// Anchor position in body space
-	btRigidBodyData			*m_rigidBody;
-	int						m_nodeIndex;			// Node pointer
-	float					m_c2;			// ima*dt
+	btMatrix3x3FloatData m_c0;        // Impulse matrix
+	btVector3FloatData m_c1;          // Relative anchor
+	btVector3FloatData m_localFrame;  // Anchor position in body space
+	btRigidBodyData *m_rigidBody;
+	int m_nodeIndex;  // Node pointer
+	float m_c2;       // ima*dt
 };
 
-
-
-struct	SoftBodyConfigData
+struct SoftBodyConfigData
 {
-	int					m_aeroModel;		// Aerodynamic model (default: V_Point)
-	float				m_baumgarte;			// Velocities correction factor (Baumgarte)
-	float				m_damping;			// Damping coefficient [0,1]
-	float				m_drag;			// Drag coefficient [0,+inf]
-	float				m_lift;			// Lift coefficient [0,+inf]
-	float				m_pressure;			// Pressure coefficient [-inf,+inf]
-	float				m_volume;			// Volume conversation coefficient [0,+inf]
-	float				m_dynamicFriction;			// Dynamic friction coefficient [0,1]
-	float				m_poseMatch;			// Pose matching coefficient [0,1]		
-	float				m_rigidContactHardness;			// Rigid contacts hardness [0,1]
-	float				m_kineticContactHardness;			// Kinetic contacts hardness [0,1]
-	float				m_softContactHardness;			// Soft contacts hardness [0,1]
-	float				m_anchorHardness;			// Anchors hardness [0,1]
-	float				m_softRigidClusterHardness;		// Soft vs rigid hardness [0,1] (cluster only)
-	float				m_softKineticClusterHardness;		// Soft vs kinetic hardness [0,1] (cluster only)
-	float				m_softSoftClusterHardness;		// Soft vs soft hardness [0,1] (cluster only)
-	float				m_softRigidClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
-	float				m_softKineticClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
-	float				m_softSoftClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
-	float				m_maxVolume;		// Maximum volume ratio for pose
-	float				m_timeScale;		// Time scale
-	int					m_velocityIterations;	// Velocities solver iterations
-	int					m_positionIterations;	// Positions solver iterations
-	int					m_driftIterations;	// Drift solver iterations
-	int					m_clusterIterations;	// Cluster solver iterations
-	int					m_collisionFlags;	// Collisions flags
+	int m_aeroModel;                         // Aerodynamic model (default: V_Point)
+	float m_baumgarte;                       // Velocities correction factor (Baumgarte)
+	float m_damping;                         // Damping coefficient [0,1]
+	float m_drag;                            // Drag coefficient [0,+inf]
+	float m_lift;                            // Lift coefficient [0,+inf]
+	float m_pressure;                        // Pressure coefficient [-inf,+inf]
+	float m_volume;                          // Volume conversation coefficient [0,+inf]
+	float m_dynamicFriction;                 // Dynamic friction coefficient [0,1]
+	float m_poseMatch;                       // Pose matching coefficient [0,1]
+	float m_rigidContactHardness;            // Rigid contacts hardness [0,1]
+	float m_kineticContactHardness;          // Kinetic contacts hardness [0,1]
+	float m_softContactHardness;             // Soft contacts hardness [0,1]
+	float m_anchorHardness;                  // Anchors hardness [0,1]
+	float m_softRigidClusterHardness;        // Soft vs rigid hardness [0,1] (cluster only)
+	float m_softKineticClusterHardness;      // Soft vs kinetic hardness [0,1] (cluster only)
+	float m_softSoftClusterHardness;         // Soft vs soft hardness [0,1] (cluster only)
+	float m_softRigidClusterImpulseSplit;    // Soft vs rigid impulse split [0,1] (cluster only)
+	float m_softKineticClusterImpulseSplit;  // Soft vs rigid impulse split [0,1] (cluster only)
+	float m_softSoftClusterImpulseSplit;     // Soft vs rigid impulse split [0,1] (cluster only)
+	float m_maxVolume;                       // Maximum volume ratio for pose
+	float m_timeScale;                       // Time scale
+	int m_velocityIterations;                // Velocities solver iterations
+	int m_positionIterations;                // Positions solver iterations
+	int m_driftIterations;                   // Drift solver iterations
+	int m_clusterIterations;                 // Cluster solver iterations
+	int m_collisionFlags;                    // Collisions flags
 };
 
-struct	SoftBodyPoseData
+struct SoftBodyPoseData
 {
-	btMatrix3x3FloatData	m_rot;			// Rotation
-	btMatrix3x3FloatData	m_scale;			// Scale
-	btMatrix3x3FloatData	m_aqq;			// Base scaling
-	btVector3FloatData		m_com;			// COM
-
-	btVector3FloatData		*m_positions;			// Reference positions
-	float					*m_weights;	// Weights
-	int						m_numPositions;
-	int						m_numWeigts;
-
-	int						m_bvolume;		// Is valid
-	int						m_bframe;		// Is frame
-	float					m_restVolume;		// Rest volume
-	int						m_pad;
+	btMatrix3x3FloatData m_rot;    // Rotation
+	btMatrix3x3FloatData m_scale;  // Scale
+	btMatrix3x3FloatData m_aqq;    // Base scaling
+	btVector3FloatData m_com;      // COM
+
+	btVector3FloatData *m_positions;  // Reference positions
+	float *m_weights;                 // Weights
+	int m_numPositions;
+	int m_numWeigts;
+
+	int m_bvolume;       // Is valid
+	int m_bframe;        // Is frame
+	float m_restVolume;  // Rest volume
+	int m_pad;
 };
 
-struct	SoftBodyClusterData
+struct SoftBodyClusterData
 {
-		btTransformFloatData		m_framexform;
-		btMatrix3x3FloatData		m_locii;
-		btMatrix3x3FloatData		m_invwi;
-		btVector3FloatData			m_com;
-		btVector3FloatData			m_vimpulses[2];
-		btVector3FloatData			m_dimpulses[2];
-		btVector3FloatData			m_lv;
-		btVector3FloatData			m_av;
-		
-		btVector3FloatData			*m_framerefs;
-		int							*m_nodeIndices;
-		float						*m_masses;
-
-		int							m_numFrameRefs;
-		int							m_numNodes;
-		int							m_numMasses;
-
-		float						m_idmass;
-		float						m_imass;
-		int							m_nvimpulses;
-		int							m_ndimpulses;
-		float						m_ndamping;
-		float						m_ldamping;
-		float						m_adamping;
-		float						m_matching;
-		float						m_maxSelfCollisionImpulse;
-		float						m_selfCollisionImpulseFactor;
-		int							m_containsAnchor;
-		int							m_collide;
-		int							m_clusterIndex;
+	btTransformFloatData m_framexform;
+	btMatrix3x3FloatData m_locii;
+	btMatrix3x3FloatData m_invwi;
+	btVector3FloatData m_com;
+	btVector3FloatData m_vimpulses[2];
+	btVector3FloatData m_dimpulses[2];
+	btVector3FloatData m_lv;
+	btVector3FloatData m_av;
+
+	btVector3FloatData *m_framerefs;
+	int *m_nodeIndices;
+	float *m_masses;
+
+	int m_numFrameRefs;
+	int m_numNodes;
+	int m_numMasses;
+
+	float m_idmass;
+	float m_imass;
+	int m_nvimpulses;
+	int m_ndimpulses;
+	float m_ndamping;
+	float m_ldamping;
+	float m_adamping;
+	float m_matching;
+	float m_maxSelfCollisionImpulse;
+	float m_selfCollisionImpulseFactor;
+	int m_containsAnchor;
+	int m_collide;
+	int m_clusterIndex;
 };
 
-
-enum	btSoftJointBodyType
+enum btSoftJointBodyType
 {
-	BT_JOINT_SOFT_BODY_CLUSTER=1,
+	BT_JOINT_SOFT_BODY_CLUSTER = 1,
 	BT_JOINT_RIGID_BODY,
 	BT_JOINT_COLLISION_OBJECT
 };
 
-struct	btSoftBodyJointData
+struct btSoftBodyJointData
 {
-	void						*m_bodyA;
-	void						*m_bodyB;
-	btVector3FloatData			m_refs[2];
-	float						m_cfm;
-	float						m_erp;
-	float						m_split;
-	int							m_delete;
-	btVector3FloatData			m_relPosition[2];//linear
-	int							m_bodyAtype;
-	int							m_bodyBtype;
-	int							m_jointType;
-	int							m_pad;
+	void *m_bodyA;
+	void *m_bodyB;
+	btVector3FloatData m_refs[2];
+	float m_cfm;
+	float m_erp;
+	float m_split;
+	int m_delete;
+	btVector3FloatData m_relPosition[2];  //linear
+	int m_bodyAtype;
+	int m_bodyBtype;
+	int m_jointType;
+	int m_pad;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btSoftBodyFloatData
+struct btSoftBodyFloatData
 {
-	btCollisionObjectFloatData	m_collisionObjectData;
-
-	SoftBodyPoseData		*m_pose;
-	SoftBodyMaterialData	**m_materials;
-	SoftBodyNodeData		*m_nodes;
-	SoftBodyLinkData		*m_links;
-	SoftBodyFaceData		*m_faces;
-	SoftBodyTetraData		*m_tetrahedra;
-	SoftRigidAnchorData		*m_anchors;
-	SoftBodyClusterData		*m_clusters;
-	btSoftBodyJointData		*m_joints;
-
-	int						m_numMaterials;
-	int						m_numNodes;
-	int						m_numLinks;
-	int						m_numFaces;
-	int						m_numTetrahedra;
-	int						m_numAnchors;
-	int						m_numClusters;
-	int						m_numJoints;
-	SoftBodyConfigData		m_config;
+	btCollisionObjectFloatData m_collisionObjectData;
+
+	SoftBodyPoseData *m_pose;
+	SoftBodyMaterialData **m_materials;
+	SoftBodyNodeData *m_nodes;
+	SoftBodyLinkData *m_links;
+	SoftBodyFaceData *m_faces;
+	SoftBodyTetraData *m_tetrahedra;
+	SoftRigidAnchorData *m_anchors;
+	SoftBodyClusterData *m_clusters;
+	btSoftBodyJointData *m_joints;
+
+	int m_numMaterials;
+	int m_numNodes;
+	int m_numLinks;
+	int m_numFaces;
+	int m_numTetrahedra;
+	int m_numAnchors;
+	int m_numClusters;
+	int m_numJoints;
+	SoftBodyConfigData m_config;
 };
 
-#endif //BT_SOFTBODY_FLOAT_DATA
-
+#endif  //BT_SOFTBODY_FLOAT_DATA
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp
index 51fcd16da4..d0a9921d89 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -21,106 +21,111 @@ subject to the following restrictions:
 #include "LinearMath/btConvexHull.h"
 #include "LinearMath/btConvexHullComputer.h"
 
-
 //
-static void				drawVertex(	btIDebugDraw* idraw,
-								   const btVector3& x,btScalar s,const btVector3& c)
+static void drawVertex(btIDebugDraw* idraw,
+					   const btVector3& x, btScalar s, const btVector3& c)
 {
-	idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
-	idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
-	idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
+	idraw->drawLine(x - btVector3(s, 0, 0), x + btVector3(s, 0, 0), c);
+	idraw->drawLine(x - btVector3(0, s, 0), x + btVector3(0, s, 0), c);
+	idraw->drawLine(x - btVector3(0, 0, s), x + btVector3(0, 0, s), c);
 }
 
 //
-static void				drawBox(	btIDebugDraw* idraw,
-								const btVector3& mins,
-								const btVector3& maxs,
-								const btVector3& color)
+static void drawBox(btIDebugDraw* idraw,
+					const btVector3& mins,
+					const btVector3& maxs,
+					const btVector3& color)
 {
-	const btVector3	c[]={	btVector3(mins.x(),mins.y(),mins.z()),
-		btVector3(maxs.x(),mins.y(),mins.z()),
-		btVector3(maxs.x(),maxs.y(),mins.z()),
-		btVector3(mins.x(),maxs.y(),mins.z()),
-		btVector3(mins.x(),mins.y(),maxs.z()),
-		btVector3(maxs.x(),mins.y(),maxs.z()),
-		btVector3(maxs.x(),maxs.y(),maxs.z()),
-		btVector3(mins.x(),maxs.y(),maxs.z())};
-	idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
-	idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
-	idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
-	idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
-	idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
-	idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
+	const btVector3 c[] = {btVector3(mins.x(), mins.y(), mins.z()),
+						   btVector3(maxs.x(), mins.y(), mins.z()),
+						   btVector3(maxs.x(), maxs.y(), mins.z()),
+						   btVector3(mins.x(), maxs.y(), mins.z()),
+						   btVector3(mins.x(), mins.y(), maxs.z()),
+						   btVector3(maxs.x(), mins.y(), maxs.z()),
+						   btVector3(maxs.x(), maxs.y(), maxs.z()),
+						   btVector3(mins.x(), maxs.y(), maxs.z())};
+	idraw->drawLine(c[0], c[1], color);
+	idraw->drawLine(c[1], c[2], color);
+	idraw->drawLine(c[2], c[3], color);
+	idraw->drawLine(c[3], c[0], color);
+	idraw->drawLine(c[4], c[5], color);
+	idraw->drawLine(c[5], c[6], color);
+	idraw->drawLine(c[6], c[7], color);
+	idraw->drawLine(c[7], c[4], color);
+	idraw->drawLine(c[0], c[4], color);
+	idraw->drawLine(c[1], c[5], color);
+	idraw->drawLine(c[2], c[6], color);
+	idraw->drawLine(c[3], c[7], color);
 }
 
 //
-static void				drawTree(	btIDebugDraw* idraw,
-								 const btDbvtNode* node,
-								 int depth,
-								 const btVector3& ncolor,
-								 const btVector3& lcolor,
-								 int mindepth,
-								 int maxdepth)
+static void drawTree(btIDebugDraw* idraw,
+					 const btDbvtNode* node,
+					 int depth,
+					 const btVector3& ncolor,
+					 const btVector3& lcolor,
+					 int mindepth,
+					 int maxdepth)
 {
-	if(node)
+	if (node)
 	{
-		if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
+		if (node->isinternal() && ((depth < maxdepth) || (maxdepth < 0)))
 		{
-			drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
-			drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
+			drawTree(idraw, node->childs[0], depth + 1, ncolor, lcolor, mindepth, maxdepth);
+			drawTree(idraw, node->childs[1], depth + 1, ncolor, lcolor, mindepth, maxdepth);
 		}
-		if(depth>=mindepth)
+		if (depth >= mindepth)
 		{
-			const btScalar	scl=(btScalar)(node->isinternal()?1:1);
-			const btVector3	mi=node->volume.Center()-node->volume.Extents()*scl;
-			const btVector3	mx=node->volume.Center()+node->volume.Extents()*scl;
-			drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
+			const btScalar scl = (btScalar)(node->isinternal() ? 1 : 1);
+			const btVector3 mi = node->volume.Center() - node->volume.Extents() * scl;
+			const btVector3 mx = node->volume.Center() + node->volume.Extents() * scl;
+			drawBox(idraw, mi, mx, node->isleaf() ? lcolor : ncolor);
 		}
 	}
 }
 
 //
 template <typename T>
-static inline T				sum(const btAlignedObjectArray<T>& items)
+static inline T sum(const btAlignedObjectArray<T>& items)
 {
-	T	v;
-	if(items.size())
+	T v;
+	if (items.size())
 	{
-		v=items[0];
-		for(int i=1,ni=items.size();i<ni;++i)
+		v = items[0];
+		for (int i = 1, ni = items.size(); i < ni; ++i)
 		{
-			v+=items[i];
+			v += items[i];
 		}
 	}
-	return(v);
+	return (v);
 }
 
 //
-template <typename T,typename Q>
-static inline void			add(btAlignedObjectArray<T>& items,const Q& value)
+template <typename T, typename Q>
+static inline void add(btAlignedObjectArray<T>& items, const Q& value)
 {
-	for(int i=0,ni=items.size();i<ni;++i)
+	for (int i = 0, ni = items.size(); i < ni; ++i)
 	{
-		items[i]+=value;
+		items[i] += value;
 	}
 }
 
 //
-template <typename T,typename Q>
-static inline void			mul(btAlignedObjectArray<T>& items,const Q& value)
+template <typename T, typename Q>
+static inline void mul(btAlignedObjectArray<T>& items, const Q& value)
 {
-	for(int i=0,ni=items.size();i<ni;++i)
+	for (int i = 0, ni = items.size(); i < ni; ++i)
 	{
-		items[i]*=value;
+		items[i] *= value;
 	}
 }
 
 //
 template <typename T>
-static inline T				average(const btAlignedObjectArray<T>& items)
+static inline T average(const btAlignedObjectArray<T>& items)
 {
-	const btScalar	n=(btScalar)(items.size()>0?items.size():1);
-	return(sum(items)/n);
+	const btScalar n = (btScalar)(items.size() > 0 ? items.size() : 1);
+	return (sum(items) / n);
 }
 
 #if 0
@@ -158,86 +163,84 @@ static btVector3		stresscolor(btScalar stress)
 #endif
 
 //
-void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
-										btIDebugDraw* idraw,
-										int drawflags)
+void btSoftBodyHelpers::Draw(btSoftBody* psb,
+							 btIDebugDraw* idraw,
+							 int drawflags)
 {
-	const btScalar		scl=(btScalar)0.1;
-	const btScalar		nscl=scl*5;
-	const btVector3		lcolor=btVector3(0,0,0);
-	const btVector3		ncolor=btVector3(1,1,1);
-	const btVector3		ccolor=btVector3(1,0,0);
-	int i,j,nj;
-
-		/* Clusters	*/ 
-	if(0!=(drawflags&fDrawFlags::Clusters))
+	const btScalar scl = (btScalar)0.1;
+	const btScalar nscl = scl * 5;
+	const btVector3 lcolor = btVector3(0, 0, 0);
+	const btVector3 ncolor = btVector3(1, 1, 1);
+	const btVector3 ccolor = btVector3(1, 0, 0);
+	int i, j, nj;
+
+	/* Clusters	*/
+	if (0 != (drawflags & fDrawFlags::Clusters))
 	{
 		srand(1806);
-		for(i=0;i<psb->m_clusters.size();++i)
+		for (i = 0; i < psb->m_clusters.size(); ++i)
 		{
-			if(psb->m_clusters[i]->m_collide)
+			if (psb->m_clusters[i]->m_collide)
 			{
-				btVector3						color(	rand()/(btScalar)RAND_MAX,
-					rand()/(btScalar)RAND_MAX,
-					rand()/(btScalar)RAND_MAX);
-				color=color.normalized()*0.75;
-				btAlignedObjectArray<btVector3>	vertices;
+				btVector3 color(rand() / (btScalar)RAND_MAX,
+								rand() / (btScalar)RAND_MAX,
+								rand() / (btScalar)RAND_MAX);
+				color = color.normalized() * 0.75;
+				btAlignedObjectArray<btVector3> vertices;
 				vertices.resize(psb->m_clusters[i]->m_nodes.size());
-				for(j=0,nj=vertices.size();j<nj;++j)
-				{				
-					vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
+				for (j = 0, nj = vertices.size(); j < nj; ++j)
+				{
+					vertices[j] = psb->m_clusters[i]->m_nodes[j]->m_x;
 				}
 #define USE_NEW_CONVEX_HULL_COMPUTER
 #ifdef USE_NEW_CONVEX_HULL_COMPUTER
-				btConvexHullComputer	computer;
+				btConvexHullComputer computer;
 				int stride = sizeof(btVector3);
 				int count = vertices.size();
-				btScalar shrink=0.f;
-				btScalar shrinkClamp=0.f;
-				computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
-				for (int i=0;i<computer.faces.size();i++)
+				btScalar shrink = 0.f;
+				btScalar shrinkClamp = 0.f;
+				computer.compute(&vertices[0].getX(), stride, count, shrink, shrinkClamp);
+				for (int i = 0; i < computer.faces.size(); i++)
 				{
-
 					int face = computer.faces[i];
 					//printf("face=%d\n",face);
-					const btConvexHullComputer::Edge*  firstEdge = &computer.edges[face];
-					const btConvexHullComputer::Edge*  edge = firstEdge->getNextEdgeOfFace();
+					const btConvexHullComputer::Edge* firstEdge = &computer.edges[face];
+					const btConvexHullComputer::Edge* edge = firstEdge->getNextEdgeOfFace();
 
 					int v0 = firstEdge->getSourceVertex();
 					int v1 = firstEdge->getTargetVertex();
-					while (edge!=firstEdge)
+					while (edge != firstEdge)
 					{
 						int v2 = edge->getTargetVertex();
-						idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
+						idraw->drawTriangle(computer.vertices[v0], computer.vertices[v1], computer.vertices[v2], color, 1);
 						edge = edge->getNextEdgeOfFace();
-						v0=v1;
-						v1=v2;
+						v0 = v1;
+						v1 = v2;
 					};
 				}
 #else
 
-				HullDesc		hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
-				HullResult		hres;
-				HullLibrary		hlib;
-				hdsc.mMaxVertices=vertices.size();
-				hlib.CreateConvexHull(hdsc,hres);
-				const btVector3	center=average(hres.m_OutputVertices);
-				add(hres.m_OutputVertices,-center);
-				mul(hres.m_OutputVertices,(btScalar)1);
-				add(hres.m_OutputVertices,center);
-				for(j=0;j<(int)hres.mNumFaces;++j)
+				HullDesc hdsc(QF_TRIANGLES, vertices.size(), &vertices[0]);
+				HullResult hres;
+				HullLibrary hlib;
+				hdsc.mMaxVertices = vertices.size();
+				hlib.CreateConvexHull(hdsc, hres);
+				const btVector3 center = average(hres.m_OutputVertices);
+				add(hres.m_OutputVertices, -center);
+				mul(hres.m_OutputVertices, (btScalar)1);
+				add(hres.m_OutputVertices, center);
+				for (j = 0; j < (int)hres.mNumFaces; ++j)
 				{
-					const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
+					const int idx[] = {hres.m_Indices[j * 3 + 0], hres.m_Indices[j * 3 + 1], hres.m_Indices[j * 3 + 2]};
 					idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
-						hres.m_OutputVertices[idx[1]],
-						hres.m_OutputVertices[idx[2]],
-						color,1);
+										hres.m_OutputVertices[idx[1]],
+										hres.m_OutputVertices[idx[2]],
+										color, 1);
 				}
 				hlib.ReleaseResult(hres);
 #endif
-
 			}
-			/* Velocities	*/ 
+			/* Velocities	*/
 #if 0
 			for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
 			{
@@ -247,273 +250,269 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 				idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
 			}
 #endif
-			/* Frame		*/ 
-	//		btSoftBody::Cluster& c=*psb->m_clusters[i];
-	//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
-	//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
-	//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
+			/* Frame		*/
+			//		btSoftBody::Cluster& c=*psb->m_clusters[i];
+			//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
+			//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
+			//		idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
 		}
 	}
 	else
 	{
-		/* Nodes	*/ 
-		if(0!=(drawflags&fDrawFlags::Nodes))
+		/* Nodes	*/
+		if (0 != (drawflags & fDrawFlags::Nodes))
 		{
-			for(i=0;i<psb->m_nodes.size();++i)
+			for (i = 0; i < psb->m_nodes.size(); ++i)
 			{
-				const btSoftBody::Node&	n=psb->m_nodes[i];
-				if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-				idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
-				idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
-				idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
+				const btSoftBody::Node& n = psb->m_nodes[i];
+				if (0 == (n.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
+				idraw->drawLine(n.m_x - btVector3(scl, 0, 0), n.m_x + btVector3(scl, 0, 0), btVector3(1, 0, 0));
+				idraw->drawLine(n.m_x - btVector3(0, scl, 0), n.m_x + btVector3(0, scl, 0), btVector3(0, 1, 0));
+				idraw->drawLine(n.m_x - btVector3(0, 0, scl), n.m_x + btVector3(0, 0, scl), btVector3(0, 0, 1));
 			}
 		}
-		/* Links	*/ 
-		if(0!=(drawflags&fDrawFlags::Links))
+		/* Links	*/
+		if (0 != (drawflags & fDrawFlags::Links))
 		{
-			for(i=0;i<psb->m_links.size();++i)
+			for (i = 0; i < psb->m_links.size(); ++i)
 			{
-				const btSoftBody::Link&	l=psb->m_links[i];
-				if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-				idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
+				const btSoftBody::Link& l = psb->m_links[i];
+				if (0 == (l.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
+				idraw->drawLine(l.m_n[0]->m_x, l.m_n[1]->m_x, lcolor);
 			}
 		}
-		/* Normals	*/ 
-		if(0!=(drawflags&fDrawFlags::Normals))
+		/* Normals	*/
+		if (0 != (drawflags & fDrawFlags::Normals))
 		{
-			for(i=0;i<psb->m_nodes.size();++i)
+			for (i = 0; i < psb->m_nodes.size(); ++i)
 			{
-				const btSoftBody::Node&	n=psb->m_nodes[i];
-				if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-				const btVector3			d=n.m_n*nscl;
-				idraw->drawLine(n.m_x,n.m_x+d,ncolor);
-				idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
+				const btSoftBody::Node& n = psb->m_nodes[i];
+				if (0 == (n.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
+				const btVector3 d = n.m_n * nscl;
+				idraw->drawLine(n.m_x, n.m_x + d, ncolor);
+				idraw->drawLine(n.m_x, n.m_x - d, ncolor * 0.5);
 			}
 		}
-		/* Contacts	*/ 
-		if(0!=(drawflags&fDrawFlags::Contacts))
+		/* Contacts	*/
+		if (0 != (drawflags & fDrawFlags::Contacts))
 		{
-			static const btVector3		axis[]={btVector3(1,0,0),
-				btVector3(0,1,0),
-				btVector3(0,0,1)};
-			for(i=0;i<psb->m_rcontacts.size();++i)
-			{		
-				const btSoftBody::RContact&	c=psb->m_rcontacts[i];
-				const btVector3				o=	c.m_node->m_x-c.m_cti.m_normal*
-					(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
-				const btVector3				x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
-				const btVector3				y=btCross(x,c.m_cti.m_normal).normalized();
-				idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
-				idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
-				idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
+			static const btVector3 axis[] = {btVector3(1, 0, 0),
+											 btVector3(0, 1, 0),
+											 btVector3(0, 0, 1)};
+			for (i = 0; i < psb->m_rcontacts.size(); ++i)
+			{
+				const btSoftBody::RContact& c = psb->m_rcontacts[i];
+				const btVector3 o = c.m_node->m_x - c.m_cti.m_normal *
+														(btDot(c.m_node->m_x, c.m_cti.m_normal) + c.m_cti.m_offset);
+				const btVector3 x = btCross(c.m_cti.m_normal, axis[c.m_cti.m_normal.minAxis()]).normalized();
+				const btVector3 y = btCross(x, c.m_cti.m_normal).normalized();
+				idraw->drawLine(o - x * nscl, o + x * nscl, ccolor);
+				idraw->drawLine(o - y * nscl, o + y * nscl, ccolor);
+				idraw->drawLine(o, o + c.m_cti.m_normal * nscl * 3, btVector3(1, 1, 0));
 			}
 		}
-		/* Faces	*/ 
-	if(0!=(drawflags&fDrawFlags::Faces))
-	{
-		const btScalar	scl=(btScalar)0.8;
-		const btScalar	alp=(btScalar)1;
-		const btVector3	col(0,(btScalar)0.7,0);
-		for(i=0;i<psb->m_faces.size();++i)
+		/* Faces	*/
+		if (0 != (drawflags & fDrawFlags::Faces))
 		{
-			const btSoftBody::Face&	f=psb->m_faces[i];
-			if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-			const btVector3			x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
-			const btVector3			c=(x[0]+x[1]+x[2])/3;
-			idraw->drawTriangle((x[0]-c)*scl+c,
-				(x[1]-c)*scl+c,
-				(x[2]-c)*scl+c,
-				col,alp);
-		}	
-	}
-	/* Tetras	*/ 
-	if(0!=(drawflags&fDrawFlags::Tetras))
-	{
-		const btScalar	scl=(btScalar)0.8;
-		const btScalar	alp=(btScalar)1;
-		const btVector3	col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7);
-		for(int i=0;i<psb->m_tetras.size();++i)
+			const btScalar scl = (btScalar)0.8;
+			const btScalar alp = (btScalar)1;
+			const btVector3 col(0, (btScalar)0.7, 0);
+			for (i = 0; i < psb->m_faces.size(); ++i)
+			{
+				const btSoftBody::Face& f = psb->m_faces[i];
+				if (0 == (f.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
+				const btVector3 x[] = {f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x};
+				const btVector3 c = (x[0] + x[1] + x[2]) / 3;
+				idraw->drawTriangle((x[0] - c) * scl + c,
+									(x[1] - c) * scl + c,
+									(x[2] - c) * scl + c,
+									col, alp);
+			}
+		}
+		/* Tetras	*/
+		if (0 != (drawflags & fDrawFlags::Tetras))
 		{
-			const btSoftBody::Tetra&	t=psb->m_tetras[i];
-			if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-			const btVector3				x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
-			const btVector3				c=(x[0]+x[1]+x[2]+x[3])/4;
-			idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
-			idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
-			idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
-			idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
-		}	
-	}
+			const btScalar scl = (btScalar)0.8;
+			const btScalar alp = (btScalar)1;
+			const btVector3 col((btScalar)0.3, (btScalar)0.3, (btScalar)0.7);
+			for (int i = 0; i < psb->m_tetras.size(); ++i)
+			{
+				const btSoftBody::Tetra& t = psb->m_tetras[i];
+				if (0 == (t.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
+				const btVector3 x[] = {t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x};
+				const btVector3 c = (x[0] + x[1] + x[2] + x[3]) / 4;
+				idraw->drawTriangle((x[0] - c) * scl + c, (x[1] - c) * scl + c, (x[2] - c) * scl + c, col, alp);
+				idraw->drawTriangle((x[0] - c) * scl + c, (x[1] - c) * scl + c, (x[3] - c) * scl + c, col, alp);
+				idraw->drawTriangle((x[1] - c) * scl + c, (x[2] - c) * scl + c, (x[3] - c) * scl + c, col, alp);
+				idraw->drawTriangle((x[2] - c) * scl + c, (x[0] - c) * scl + c, (x[3] - c) * scl + c, col, alp);
+			}
+		}
 	}
-	/* Anchors	*/ 
-	if(0!=(drawflags&fDrawFlags::Anchors))
+	/* Anchors	*/
+	if (0 != (drawflags & fDrawFlags::Anchors))
 	{
-		for(i=0;i<psb->m_anchors.size();++i)
+		for (i = 0; i < psb->m_anchors.size(); ++i)
 		{
-			const btSoftBody::Anchor&	a=psb->m_anchors[i];
-			const btVector3				q=a.m_body->getWorldTransform()*a.m_local;
-			drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
-			drawVertex(idraw,q,0.25,btVector3(0,1,0));
-			idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
+			const btSoftBody::Anchor& a = psb->m_anchors[i];
+			const btVector3 q = a.m_body->getWorldTransform() * a.m_local;
+			drawVertex(idraw, a.m_node->m_x, 0.25, btVector3(1, 0, 0));
+			drawVertex(idraw, q, 0.25, btVector3(0, 1, 0));
+			idraw->drawLine(a.m_node->m_x, q, btVector3(1, 1, 1));
 		}
-		for(i=0;i<psb->m_nodes.size();++i)
+		for (i = 0; i < psb->m_nodes.size(); ++i)
 		{
-			const btSoftBody::Node&	n=psb->m_nodes[i];		
-			if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
-			if(n.m_im<=0)
+			const btSoftBody::Node& n = psb->m_nodes[i];
+			if (0 == (n.m_material->m_flags & btSoftBody::fMaterial::DebugDraw)) continue;
+			if (n.m_im <= 0)
 			{
-				drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
+				drawVertex(idraw, n.m_x, 0.25, btVector3(1, 0, 0));
 			}
 		}
 	}
-	
 
-	/* Notes	*/ 
-	if(0!=(drawflags&fDrawFlags::Notes))
+	/* Notes	*/
+	if (0 != (drawflags & fDrawFlags::Notes))
 	{
-		for(i=0;i<psb->m_notes.size();++i)
+		for (i = 0; i < psb->m_notes.size(); ++i)
 		{
-			const btSoftBody::Note&	n=psb->m_notes[i];
-			btVector3				p=n.m_offset;
-			for(int j=0;j<n.m_rank;++j)
+			const btSoftBody::Note& n = psb->m_notes[i];
+			btVector3 p = n.m_offset;
+			for (int j = 0; j < n.m_rank; ++j)
 			{
-				p+=n.m_nodes[j]->m_x*n.m_coords[j];
+				p += n.m_nodes[j]->m_x * n.m_coords[j];
 			}
-			idraw->draw3dText(p,n.m_text);
+			idraw->draw3dText(p, n.m_text);
 		}
 	}
-	/* Node tree	*/ 
-	if(0!=(drawflags&fDrawFlags::NodeTree))		DrawNodeTree(psb,idraw);
-	/* Face tree	*/ 
-	if(0!=(drawflags&fDrawFlags::FaceTree))		DrawFaceTree(psb,idraw);
-	/* Cluster tree	*/ 
-	if(0!=(drawflags&fDrawFlags::ClusterTree))	DrawClusterTree(psb,idraw);
-	/* Joints		*/ 
-	if(0!=(drawflags&fDrawFlags::Joints))
+	/* Node tree	*/
+	if (0 != (drawflags & fDrawFlags::NodeTree)) DrawNodeTree(psb, idraw);
+	/* Face tree	*/
+	if (0 != (drawflags & fDrawFlags::FaceTree)) DrawFaceTree(psb, idraw);
+	/* Cluster tree	*/
+	if (0 != (drawflags & fDrawFlags::ClusterTree)) DrawClusterTree(psb, idraw);
+	/* Joints		*/
+	if (0 != (drawflags & fDrawFlags::Joints))
 	{
-		for(i=0;i<psb->m_joints.size();++i)
+		for (i = 0; i < psb->m_joints.size(); ++i)
 		{
-			const btSoftBody::Joint*	pj=psb->m_joints[i];
-			switch(pj->Type())
+			const btSoftBody::Joint* pj = psb->m_joints[i];
+			switch (pj->Type())
 			{
-			case	btSoftBody::Joint::eType::Linear:
+				case btSoftBody::Joint::eType::Linear:
 				{
-					const btSoftBody::LJoint*	pjl=(const btSoftBody::LJoint*)pj;
-					const btVector3	a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
-					const btVector3	a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
-					idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
-					idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
-					drawVertex(idraw,a0,0.25,btVector3(1,1,0));
-					drawVertex(idraw,a1,0.25,btVector3(0,1,1));
+					const btSoftBody::LJoint* pjl = (const btSoftBody::LJoint*)pj;
+					const btVector3 a0 = pj->m_bodies[0].xform() * pjl->m_refs[0];
+					const btVector3 a1 = pj->m_bodies[1].xform() * pjl->m_refs[1];
+					idraw->drawLine(pj->m_bodies[0].xform().getOrigin(), a0, btVector3(1, 1, 0));
+					idraw->drawLine(pj->m_bodies[1].xform().getOrigin(), a1, btVector3(0, 1, 1));
+					drawVertex(idraw, a0, 0.25, btVector3(1, 1, 0));
+					drawVertex(idraw, a1, 0.25, btVector3(0, 1, 1));
 				}
 				break;
-			case	btSoftBody::Joint::eType::Angular:
+				case btSoftBody::Joint::eType::Angular:
 				{
 					//const btSoftBody::AJoint*	pja=(const btSoftBody::AJoint*)pj;
-					const btVector3	o0=pj->m_bodies[0].xform().getOrigin();
-					const btVector3	o1=pj->m_bodies[1].xform().getOrigin();
-					const btVector3	a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
-					const btVector3	a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
-					idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
-					idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
-					idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
-					idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
+					const btVector3 o0 = pj->m_bodies[0].xform().getOrigin();
+					const btVector3 o1 = pj->m_bodies[1].xform().getOrigin();
+					const btVector3 a0 = pj->m_bodies[0].xform().getBasis() * pj->m_refs[0];
+					const btVector3 a1 = pj->m_bodies[1].xform().getBasis() * pj->m_refs[1];
+					idraw->drawLine(o0, o0 + a0 * 10, btVector3(1, 1, 0));
+					idraw->drawLine(o0, o0 + a1 * 10, btVector3(1, 1, 0));
+					idraw->drawLine(o1, o1 + a0 * 10, btVector3(0, 1, 1));
+					idraw->drawLine(o1, o1 + a1 * 10, btVector3(0, 1, 1));
 					break;
 				}
 				default:
 				{
 				}
-					
-			}		
+			}
 		}
 	}
 }
 
 //
-void			btSoftBodyHelpers::DrawInfos(		btSoftBody* psb,
-											 btIDebugDraw* idraw,
-											 bool masses,
-											 bool areas,
-											 bool /*stress*/)
+void btSoftBodyHelpers::DrawInfos(btSoftBody* psb,
+								  btIDebugDraw* idraw,
+								  bool masses,
+								  bool areas,
+								  bool /*stress*/)
 {
-	for(int i=0;i<psb->m_nodes.size();++i)
+	for (int i = 0; i < psb->m_nodes.size(); ++i)
 	{
-		const btSoftBody::Node&	n=psb->m_nodes[i];
-		char					text[2048]={0};
-		char					buff[1024];
-		if(masses)
+		const btSoftBody::Node& n = psb->m_nodes[i];
+		char text[2048] = {0};
+		char buff[1024];
+		if (masses)
 		{
-			sprintf(buff," M(%.2f)",1/n.m_im);
-			strcat(text,buff);
+			sprintf(buff, " M(%.2f)", 1 / n.m_im);
+			strcat(text, buff);
 		}
-		if(areas)
+		if (areas)
 		{
-			sprintf(buff," A(%.2f)",n.m_area);
-			strcat(text,buff);
+			sprintf(buff, " A(%.2f)", n.m_area);
+			strcat(text, buff);
 		}
-		if(text[0]) idraw->draw3dText(n.m_x,text);
+		if (text[0]) idraw->draw3dText(n.m_x, text);
 	}
 }
 
 //
-void			btSoftBodyHelpers::DrawNodeTree(	btSoftBody* psb,
-												btIDebugDraw* idraw,
-												int mindepth,
-												int maxdepth)
+void btSoftBodyHelpers::DrawNodeTree(btSoftBody* psb,
+									 btIDebugDraw* idraw,
+									 int mindepth,
+									 int maxdepth)
 {
-	drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
+	drawTree(idraw, psb->m_ndbvt.m_root, 0, btVector3(1, 0, 1), btVector3(1, 1, 1), mindepth, maxdepth);
 }
 
 //
-void			btSoftBodyHelpers::DrawFaceTree(	btSoftBody* psb,
-												btIDebugDraw* idraw,
-												int mindepth,
-												int maxdepth)
+void btSoftBodyHelpers::DrawFaceTree(btSoftBody* psb,
+									 btIDebugDraw* idraw,
+									 int mindepth,
+									 int maxdepth)
 {
-	drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
+	drawTree(idraw, psb->m_fdbvt.m_root, 0, btVector3(0, 1, 0), btVector3(1, 0, 0), mindepth, maxdepth);
 }
 
 //
-void			btSoftBodyHelpers::DrawClusterTree(	btSoftBody* psb,
-												   btIDebugDraw* idraw,
-												   int mindepth,
-												   int maxdepth)
+void btSoftBodyHelpers::DrawClusterTree(btSoftBody* psb,
+										btIDebugDraw* idraw,
+										int mindepth,
+										int maxdepth)
 {
-	drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
+	drawTree(idraw, psb->m_cdbvt.m_root, 0, btVector3(0, 1, 1), btVector3(1, 0, 0), mindepth, maxdepth);
 }
 
-
 //The btSoftBody object from the BulletSDK includes an array of Nodes and Links. These links appear
-// to be first set up to connect a node to between 5 and 6 of its neighbors [480 links], 
-//and then to the rest of the nodes after the execution of the Floyd-Warshall graph algorithm 
-//[another 930 links]. 
+// to be first set up to connect a node to between 5 and 6 of its neighbors [480 links],
+//and then to the rest of the nodes after the execution of the Floyd-Warshall graph algorithm
+//[another 930 links].
 //The way the links are stored by default, we have a number of cases where adjacent links share a node in common
-// - this leads to the creation of a data dependency through memory. 
-//The PSolve_Links() function reads and writes nodes as it iterates over each link. 
-//So, we now have the possibility of a data dependency between iteration X 
-//that processes link L with iteration X+1 that processes link L+1 
-//because L and L+1 have one node in common, and iteration X updates the positions of that node, 
+// - this leads to the creation of a data dependency through memory.
+//The PSolve_Links() function reads and writes nodes as it iterates over each link.
+//So, we now have the possibility of a data dependency between iteration X
+//that processes link L with iteration X+1 that processes link L+1
+//because L and L+1 have one node in common, and iteration X updates the positions of that node,
 //and iteration X+1 reads in the position of that shared node.
 //
-//Such a memory dependency limits the ability of a modern CPU to speculate beyond 
-//a certain point because it has to respect a possible dependency 
-//- this prevents the CPU from making full use of its out-of-order resources. 
-//If we re-order the links such that we minimize the cases where a link L and L+1 share a common node, 
-//we create a temporal gap between when the node position is written, 
-//and when it is subsequently read. This in turn allows the CPU to continue execution without 
-//risking a dependency violation. Such a reordering would result in significant speedups on 
-//modern CPUs with lots of execution resources. 
-//In our testing, we see it have a tremendous impact not only on the A7, 
-//but also on all x86 cores that ship with modern Macs. 
-//The attached source file includes a single function (ReoptimizeLinkOrder) which can be called on a 
-//btSoftBody object in the solveConstraints() function before the actual solver is invoked, 
+//Such a memory dependency limits the ability of a modern CPU to speculate beyond
+//a certain point because it has to respect a possible dependency
+//- this prevents the CPU from making full use of its out-of-order resources.
+//If we re-order the links such that we minimize the cases where a link L and L+1 share a common node,
+//we create a temporal gap between when the node position is written,
+//and when it is subsequently read. This in turn allows the CPU to continue execution without
+//risking a dependency violation. Such a reordering would result in significant speedups on
+//modern CPUs with lots of execution resources.
+//In our testing, we see it have a tremendous impact not only on the A7,
+//but also on all x86 cores that ship with modern Macs.
+//The attached source file includes a single function (ReoptimizeLinkOrder) which can be called on a
+//btSoftBody object in the solveConstraints() function before the actual solver is invoked,
 //or right after generateBendingConstraints() once we have all 1410 links.
 
-
 //===================================================================
 //
 //
-// This function takes in a list of interdependent Links and tries 
+// This function takes in a list of interdependent Links and tries
 // to maximize the distance between calculation
 // of dependent links.  This increases the amount of parallelism that can
 // be exploited by out-of-order instruction processors with large but
@@ -522,93 +521,103 @@ void			btSoftBodyHelpers::DrawClusterTree(	btSoftBody* psb,
 //===================================================================
 
 // A small structure to track lists of dependent link calculations
-class LinkDeps_t {
-	public:
-	int value;			// A link calculation that is dependent on this one
-		// Positive values = "input A" while negative values = "input B"
-	LinkDeps_t *next;	// Next dependence in the list
+class LinkDeps_t
+{
+public:
+	int value;         // A link calculation that is dependent on this one
+					   // Positive values = "input A" while negative values = "input B"
+	LinkDeps_t* next;  // Next dependence in the list
 };
-typedef LinkDeps_t *LinkDepsPtr_t;
+typedef LinkDeps_t* LinkDepsPtr_t;
 
 // Dependency list constants
-#define REOP_NOT_DEPENDENT	-1
-#define REOP_NODE_COMPLETE	-2	// Must be less than REOP_NOT_DEPENDENT
-
+#define REOP_NOT_DEPENDENT -1
+#define REOP_NODE_COMPLETE -2  // Must be less than REOP_NOT_DEPENDENT
 
-void btSoftBodyHelpers::ReoptimizeLinkOrder(btSoftBody *psb /* This can be replaced by a btSoftBody pointer */)
+void btSoftBodyHelpers::ReoptimizeLinkOrder(btSoftBody* psb /* This can be replaced by a btSoftBody pointer */)
 {
-	int i, nLinks=psb->m_links.size(), nNodes=psb->m_nodes.size();
-	btSoftBody::Link *lr;
+	int i, nLinks = psb->m_links.size(), nNodes = psb->m_nodes.size();
+	btSoftBody::Link* lr;
 	int ar, br;
-	btSoftBody::Node *node0 = &(psb->m_nodes[0]);
-	btSoftBody::Node *node1 = &(psb->m_nodes[1]);
+	btSoftBody::Node* node0 = &(psb->m_nodes[0]);
+	btSoftBody::Node* node1 = &(psb->m_nodes[1]);
 	LinkDepsPtr_t linkDep;
 	int readyListHead, readyListTail, linkNum, linkDepFrees, depLink;
-	
+
 	// Allocate temporary buffers
-	int *nodeWrittenAt = new int[nNodes+1];	// What link calculation produced this node's current values?
-	int *linkDepA = new int[nLinks];			// Link calculation input is dependent upon prior calculation #N
-	int *linkDepB = new int[nLinks];
-	int *readyList = new int[nLinks];		// List of ready-to-process link calculations (# of links, maximum)
-	LinkDeps_t *linkDepFreeList = new LinkDeps_t[2*nLinks];		// Dependent-on-me list elements (2x# of links, maximum)
-	LinkDepsPtr_t *linkDepListStarts = new LinkDepsPtr_t[nLinks];	// Start nodes of dependent-on-me lists, one for each link
-		
+	int* nodeWrittenAt = new int[nNodes + 1];  // What link calculation produced this node's current values?
+	int* linkDepA = new int[nLinks];           // Link calculation input is dependent upon prior calculation #N
+	int* linkDepB = new int[nLinks];
+	int* readyList = new int[nLinks];                              // List of ready-to-process link calculations (# of links, maximum)
+	LinkDeps_t* linkDepFreeList = new LinkDeps_t[2 * nLinks];      // Dependent-on-me list elements (2x# of links, maximum)
+	LinkDepsPtr_t* linkDepListStarts = new LinkDepsPtr_t[nLinks];  // Start nodes of dependent-on-me lists, one for each link
+
 	// Copy the original, unsorted links to a side buffer
-	btSoftBody::Link *linkBuffer = new btSoftBody::Link[nLinks];
-	memcpy(linkBuffer, &(psb->m_links[0]), sizeof(btSoftBody::Link)*nLinks);
+	btSoftBody::Link* linkBuffer = new btSoftBody::Link[nLinks];
+	memcpy(linkBuffer, &(psb->m_links[0]), sizeof(btSoftBody::Link) * nLinks);
 
 	// Clear out the node setup and ready list
-	for (i=0; i < nNodes+1; i++) {
+	for (i = 0; i < nNodes + 1; i++)
+	{
 		nodeWrittenAt[i] = REOP_NOT_DEPENDENT;
 	}
-	for (i=0; i < nLinks; i++) {
+	for (i = 0; i < nLinks; i++)
+	{
 		linkDepListStarts[i] = NULL;
 	}
 	readyListHead = readyListTail = linkDepFrees = 0;
 
 	// Initial link analysis to set up data structures
-	for (i=0; i < nLinks; i++) {
-	
+	for (i = 0; i < nLinks; i++)
+	{
 		// Note which prior link calculations we are dependent upon & build up dependence lists
 		lr = &(psb->m_links[i]);
-		ar = (lr->m_n[0] - node0)/(node1 - node0);
-		br = (lr->m_n[1] - node0)/(node1 - node0);
-		if (nodeWrittenAt[ar] > REOP_NOT_DEPENDENT) {
+		ar = (lr->m_n[0] - node0) / (node1 - node0);
+		br = (lr->m_n[1] - node0) / (node1 - node0);
+		if (nodeWrittenAt[ar] > REOP_NOT_DEPENDENT)
+		{
 			linkDepA[i] = nodeWrittenAt[ar];
 			linkDep = &linkDepFreeList[linkDepFrees++];
 			linkDep->value = i;
 			linkDep->next = linkDepListStarts[nodeWrittenAt[ar]];
 			linkDepListStarts[nodeWrittenAt[ar]] = linkDep;
-		} else {
+		}
+		else
+		{
 			linkDepA[i] = REOP_NOT_DEPENDENT;
 		}
-		if (nodeWrittenAt[br] > REOP_NOT_DEPENDENT) {
+		if (nodeWrittenAt[br] > REOP_NOT_DEPENDENT)
+		{
 			linkDepB[i] = nodeWrittenAt[br];
 			linkDep = &linkDepFreeList[linkDepFrees++];
-			linkDep->value = -(i+1);
+			linkDep->value = -(i + 1);
 			linkDep->next = linkDepListStarts[nodeWrittenAt[br]];
 			linkDepListStarts[nodeWrittenAt[br]] = linkDep;
-		} else {
+		}
+		else
+		{
 			linkDepB[i] = REOP_NOT_DEPENDENT;
 		}
-		
+
 		// Add this link to the initial ready list, if it is not dependent on any other links
-		if ((linkDepA[i] == REOP_NOT_DEPENDENT) && (linkDepB[i] == REOP_NOT_DEPENDENT)) {
+		if ((linkDepA[i] == REOP_NOT_DEPENDENT) && (linkDepB[i] == REOP_NOT_DEPENDENT))
+		{
 			readyList[readyListTail++] = i;
-			linkDepA[i] = linkDepB[i] = REOP_NODE_COMPLETE;	// Probably not needed now
+			linkDepA[i] = linkDepB[i] = REOP_NODE_COMPLETE;  // Probably not needed now
 		}
-		
+
 		// Update the nodes to mark which ones are calculated by this link
 		nodeWrittenAt[ar] = nodeWrittenAt[br] = i;
 	}
-	
+
 	// Process the ready list and create the sorted list of links
 	// -- By treating the ready list as a queue, we maximize the distance between any
 	//    inter-dependent node calculations
 	// -- All other (non-related) nodes in the ready list will automatically be inserted
 	//    in between each set of inter-dependent link calculations by this loop
 	i = 0;
-	while (readyListHead != readyListTail) {
+	while (readyListHead != readyListTail)
+	{
 		// Use ready list to select the next link to process
 		linkNum = readyList[readyListHead++];
 		// Copy the next-to-calculate link back into the original link array
@@ -616,180 +625,183 @@ void btSoftBodyHelpers::ReoptimizeLinkOrder(btSoftBody *psb /* This can be repla
 
 		// Free up any link inputs that are dependent on this one
 		linkDep = linkDepListStarts[linkNum];
-		while (linkDep) {
+		while (linkDep)
+		{
 			depLink = linkDep->value;
-			if (depLink >= 0) {
+			if (depLink >= 0)
+			{
 				linkDepA[depLink] = REOP_NOT_DEPENDENT;
-			} else {
+			}
+			else
+			{
 				depLink = -depLink - 1;
 				linkDepB[depLink] = REOP_NOT_DEPENDENT;
 			}
 			// Add this dependent link calculation to the ready list if *both* inputs are clear
-			if ((linkDepA[depLink] == REOP_NOT_DEPENDENT) && (linkDepB[depLink] == REOP_NOT_DEPENDENT)) {
+			if ((linkDepA[depLink] == REOP_NOT_DEPENDENT) && (linkDepB[depLink] == REOP_NOT_DEPENDENT))
+			{
 				readyList[readyListTail++] = depLink;
-				linkDepA[depLink] = linkDepB[depLink] = REOP_NODE_COMPLETE;	// Probably not needed now
+				linkDepA[depLink] = linkDepB[depLink] = REOP_NODE_COMPLETE;  // Probably not needed now
 			}
 			linkDep = linkDep->next;
 		}
 	}
 
 	// Delete the temporary buffers
-	delete [] nodeWrittenAt;
-	delete [] linkDepA;
-	delete [] linkDepB;
-	delete [] readyList;
-	delete [] linkDepFreeList;
-	delete [] linkDepListStarts;
-	delete [] linkBuffer;
+	delete[] nodeWrittenAt;
+	delete[] linkDepA;
+	delete[] linkDepB;
+	delete[] readyList;
+	delete[] linkDepFreeList;
+	delete[] linkDepListStarts;
+	delete[] linkBuffer;
 }
 
-
 //
-void			btSoftBodyHelpers::DrawFrame(		btSoftBody* psb,
-											 btIDebugDraw* idraw)
+void btSoftBodyHelpers::DrawFrame(btSoftBody* psb,
+								  btIDebugDraw* idraw)
 {
-	if(psb->m_pose.m_bframe)
+	if (psb->m_pose.m_bframe)
 	{
-		static const btScalar	ascl=10;
-		static const btScalar	nscl=(btScalar)0.1;
-		const btVector3			com=psb->m_pose.m_com;
-		const btMatrix3x3		trs=psb->m_pose.m_rot*psb->m_pose.m_scl;
-		const btVector3			Xaxis=(trs*btVector3(1,0,0)).normalized();
-		const btVector3			Yaxis=(trs*btVector3(0,1,0)).normalized();
-		const btVector3			Zaxis=(trs*btVector3(0,0,1)).normalized();
-		idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
-		idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
-		idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
-		for(int i=0;i<psb->m_pose.m_pos.size();++i)
+		static const btScalar ascl = 10;
+		static const btScalar nscl = (btScalar)0.1;
+		const btVector3 com = psb->m_pose.m_com;
+		const btMatrix3x3 trs = psb->m_pose.m_rot * psb->m_pose.m_scl;
+		const btVector3 Xaxis = (trs * btVector3(1, 0, 0)).normalized();
+		const btVector3 Yaxis = (trs * btVector3(0, 1, 0)).normalized();
+		const btVector3 Zaxis = (trs * btVector3(0, 0, 1)).normalized();
+		idraw->drawLine(com, com + Xaxis * ascl, btVector3(1, 0, 0));
+		idraw->drawLine(com, com + Yaxis * ascl, btVector3(0, 1, 0));
+		idraw->drawLine(com, com + Zaxis * ascl, btVector3(0, 0, 1));
+		for (int i = 0; i < psb->m_pose.m_pos.size(); ++i)
 		{
-			const btVector3	x=com+trs*psb->m_pose.m_pos[i];
-			drawVertex(idraw,x,nscl,btVector3(1,0,1));
+			const btVector3 x = com + trs * psb->m_pose.m_pos[i];
+			drawVertex(idraw, x, nscl, btVector3(1, 0, 1));
 		}
 	}
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBodyWorldInfo& worldInfo, const btVector3& from,
-											  const btVector3& to,
-											  int res,
-											  int fixeds)
+btSoftBody* btSoftBodyHelpers::CreateRope(btSoftBodyWorldInfo& worldInfo, const btVector3& from,
+										  const btVector3& to,
+										  int res,
+										  int fixeds)
 {
-	/* Create nodes	*/ 
-	const int		r=res+2;
-	btVector3*		x=new btVector3[r];
-	btScalar*		m=new btScalar[r];
+	/* Create nodes	*/
+	const int r = res + 2;
+	btVector3* x = new btVector3[r];
+	btScalar* m = new btScalar[r];
 	int i;
 
-	for(i=0;i<r;++i)
+	for (i = 0; i < r; ++i)
 	{
-		const btScalar	t=i/(btScalar)(r-1);
-		x[i]=lerp(from,to,t);
-		m[i]=1;
+		const btScalar t = i / (btScalar)(r - 1);
+		x[i] = lerp(from, to, t);
+		m[i] = 1;
 	}
-	btSoftBody*		psb= new btSoftBody(&worldInfo,r,x,m);
-	if(fixeds&1) psb->setMass(0,0);
-	if(fixeds&2) psb->setMass(r-1,0);
+	btSoftBody* psb = new btSoftBody(&worldInfo, r, x, m);
+	if (fixeds & 1) psb->setMass(0, 0);
+	if (fixeds & 2) psb->setMass(r - 1, 0);
 	delete[] x;
 	delete[] m;
-	/* Create links	*/ 
-	for(i=1;i<r;++i)
+	/* Create links	*/
+	for (i = 1; i < r; ++i)
 	{
-		psb->appendLink(i-1,i);
+		psb->appendLink(i - 1, i);
 	}
-	/* Finished		*/ 
-	return(psb);
+	/* Finished		*/
+	return (psb);
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
-											   const btVector3& corner10,
-											   const btVector3& corner01,
-											   const btVector3& corner11,
-											   int resx,
-											   int resy,
-											   int fixeds,
-											   bool gendiags)
+btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const btVector3& corner00,
+										   const btVector3& corner10,
+										   const btVector3& corner01,
+										   const btVector3& corner11,
+										   int resx,
+										   int resy,
+										   int fixeds,
+										   bool gendiags)
 {
-#define IDX(_x_,_y_)	((_y_)*rx+(_x_))
-	/* Create nodes	*/ 
-	if((resx<2)||(resy<2)) return(0);
-	const int	rx=resx;
-	const int	ry=resy;
-	const int	tot=rx*ry;
-	btVector3*	x=new btVector3[tot];
-	btScalar*	m=new btScalar[tot];
+#define IDX(_x_, _y_) ((_y_)*rx + (_x_))
+	/* Create nodes	*/
+	if ((resx < 2) || (resy < 2)) return (0);
+	const int rx = resx;
+	const int ry = resy;
+	const int tot = rx * ry;
+	btVector3* x = new btVector3[tot];
+	btScalar* m = new btScalar[tot];
 	int iy;
 
-	for(iy=0;iy<ry;++iy)
+	for (iy = 0; iy < ry; ++iy)
 	{
-		const btScalar	ty=iy/(btScalar)(ry-1);
-		const btVector3	py0=lerp(corner00,corner01,ty);
-		const btVector3	py1=lerp(corner10,corner11,ty);
-		for(int ix=0;ix<rx;++ix)
+		const btScalar ty = iy / (btScalar)(ry - 1);
+		const btVector3 py0 = lerp(corner00, corner01, ty);
+		const btVector3 py1 = lerp(corner10, corner11, ty);
+		for (int ix = 0; ix < rx; ++ix)
 		{
-			const btScalar	tx=ix/(btScalar)(rx-1);
-			x[IDX(ix,iy)]=lerp(py0,py1,tx);
-			m[IDX(ix,iy)]=1;
+			const btScalar tx = ix / (btScalar)(rx - 1);
+			x[IDX(ix, iy)] = lerp(py0, py1, tx);
+			m[IDX(ix, iy)] = 1;
 		}
 	}
-	btSoftBody*		psb=new btSoftBody(&worldInfo,tot,x,m);
-	if(fixeds&1)	psb->setMass(IDX(0,0),0);
-	if(fixeds&2)	psb->setMass(IDX(rx-1,0),0);
-	if(fixeds&4)	psb->setMass(IDX(0,ry-1),0);
-	if(fixeds&8)	psb->setMass(IDX(rx-1,ry-1),0);
+	btSoftBody* psb = new btSoftBody(&worldInfo, tot, x, m);
+	if (fixeds & 1) psb->setMass(IDX(0, 0), 0);
+	if (fixeds & 2) psb->setMass(IDX(rx - 1, 0), 0);
+	if (fixeds & 4) psb->setMass(IDX(0, ry - 1), 0);
+	if (fixeds & 8) psb->setMass(IDX(rx - 1, ry - 1), 0);
 	delete[] x;
 	delete[] m;
-	/* Create links	and faces */ 
-	for(iy=0;iy<ry;++iy)
+	/* Create links	and faces */
+	for (iy = 0; iy < ry; ++iy)
 	{
-		for(int ix=0;ix<rx;++ix)
+		for (int ix = 0; ix < rx; ++ix)
 		{
-			const int	idx=IDX(ix,iy);
-			const bool	mdx=(ix+1)<rx;
-			const bool	mdy=(iy+1)<ry;
-			if(mdx) psb->appendLink(idx,IDX(ix+1,iy));
-			if(mdy) psb->appendLink(idx,IDX(ix,iy+1));
-			if(mdx&&mdy)
+			const int idx = IDX(ix, iy);
+			const bool mdx = (ix + 1) < rx;
+			const bool mdy = (iy + 1) < ry;
+			if (mdx) psb->appendLink(idx, IDX(ix + 1, iy));
+			if (mdy) psb->appendLink(idx, IDX(ix, iy + 1));
+			if (mdx && mdy)
 			{
-				if((ix+iy)&1)
+				if ((ix + iy) & 1)
 				{
-					psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1));
-					psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1));
-					if(gendiags)
+					psb->appendFace(IDX(ix, iy), IDX(ix + 1, iy), IDX(ix + 1, iy + 1));
+					psb->appendFace(IDX(ix, iy), IDX(ix + 1, iy + 1), IDX(ix, iy + 1));
+					if (gendiags)
 					{
-						psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1));
+						psb->appendLink(IDX(ix, iy), IDX(ix + 1, iy + 1));
 					}
 				}
 				else
 				{
-					psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy));
-					psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1));
-					if(gendiags)
+					psb->appendFace(IDX(ix, iy + 1), IDX(ix, iy), IDX(ix + 1, iy));
+					psb->appendFace(IDX(ix, iy + 1), IDX(ix + 1, iy), IDX(ix + 1, iy + 1));
+					if (gendiags)
 					{
-						psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1));
+						psb->appendLink(IDX(ix + 1, iy), IDX(ix, iy + 1));
 					}
 				}
 			}
 		}
 	}
-	/* Finished		*/ 
+	/* Finished		*/
 #undef IDX
-	return(psb);
+	return (psb);
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
-												 const btVector3& corner00,
-												 const btVector3& corner10,
-												 const btVector3& corner01,
-												 const btVector3& corner11,
-												 int resx,
-												 int resy,
-												 int fixeds,
-												 bool gendiags,
-												 float* tex_coords)
+btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
+											 const btVector3& corner00,
+											 const btVector3& corner10,
+											 const btVector3& corner01,
+											 const btVector3& corner11,
+											 int resx,
+											 int resy,
+											 int fixeds,
+											 bool gendiags,
+											 float* tex_coords)
 {
-
 	/*
 	*
 	*  corners:
@@ -857,92 +869,92 @@ btSoftBody*		btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
 	*
 	*/
 
-#define IDX(_x_,_y_)	((_y_)*rx+(_x_))
-	/* Create nodes		*/ 
-	if((resx<2)||(resy<2)) return(0);
-	const int	rx=resx;
-	const int	ry=resy;
-	const int	tot=rx*ry;
-	btVector3*	x=new btVector3[tot];
-	btScalar*	m=new btScalar[tot];
+#define IDX(_x_, _y_) ((_y_)*rx + (_x_))
+	/* Create nodes		*/
+	if ((resx < 2) || (resy < 2)) return (0);
+	const int rx = resx;
+	const int ry = resy;
+	const int tot = rx * ry;
+	btVector3* x = new btVector3[tot];
+	btScalar* m = new btScalar[tot];
 
 	int iy;
 
-	for(iy=0;iy<ry;++iy)
+	for (iy = 0; iy < ry; ++iy)
 	{
-		const btScalar	ty=iy/(btScalar)(ry-1);
-		const btVector3	py0=lerp(corner00,corner01,ty);
-		const btVector3	py1=lerp(corner10,corner11,ty);
-		for(int ix=0;ix<rx;++ix)
+		const btScalar ty = iy / (btScalar)(ry - 1);
+		const btVector3 py0 = lerp(corner00, corner01, ty);
+		const btVector3 py1 = lerp(corner10, corner11, ty);
+		for (int ix = 0; ix < rx; ++ix)
 		{
-			const btScalar	tx=ix/(btScalar)(rx-1);
-			x[IDX(ix,iy)]=lerp(py0,py1,tx);
-			m[IDX(ix,iy)]=1;
+			const btScalar tx = ix / (btScalar)(rx - 1);
+			x[IDX(ix, iy)] = lerp(py0, py1, tx);
+			m[IDX(ix, iy)] = 1;
 		}
 	}
-	btSoftBody*	psb=new btSoftBody(&worldInfo,tot,x,m);
-	if(fixeds&1)		psb->setMass(IDX(0,0),0);
-	if(fixeds&2)		psb->setMass(IDX(rx-1,0),0);
-	if(fixeds&4)		psb->setMass(IDX(0,ry-1),0);
-	if(fixeds&8)		psb->setMass(IDX(rx-1,ry-1),0);
-	if(fixeds&16)		psb->setMass(IDX((rx-1)/2,0),0);
-	if(fixeds&32)		psb->setMass(IDX(0,(ry-1)/2),0);
-	if(fixeds&64)		psb->setMass(IDX(rx-1,(ry-1)/2),0);
-	if(fixeds&128)		psb->setMass(IDX((rx-1)/2,ry-1),0);
-	if(fixeds&256)		psb->setMass(IDX((rx-1)/2,(ry-1)/2),0);
+	btSoftBody* psb = new btSoftBody(&worldInfo, tot, x, m);
+	if (fixeds & 1) psb->setMass(IDX(0, 0), 0);
+	if (fixeds & 2) psb->setMass(IDX(rx - 1, 0), 0);
+	if (fixeds & 4) psb->setMass(IDX(0, ry - 1), 0);
+	if (fixeds & 8) psb->setMass(IDX(rx - 1, ry - 1), 0);
+	if (fixeds & 16) psb->setMass(IDX((rx - 1) / 2, 0), 0);
+	if (fixeds & 32) psb->setMass(IDX(0, (ry - 1) / 2), 0);
+	if (fixeds & 64) psb->setMass(IDX(rx - 1, (ry - 1) / 2), 0);
+	if (fixeds & 128) psb->setMass(IDX((rx - 1) / 2, ry - 1), 0);
+	if (fixeds & 256) psb->setMass(IDX((rx - 1) / 2, (ry - 1) / 2), 0);
 	delete[] x;
 	delete[] m;
 
-
 	int z = 0;
-	/* Create links	and faces	*/ 
-	for(iy=0;iy<ry;++iy)
+	/* Create links	and faces	*/
+	for (iy = 0; iy < ry; ++iy)
 	{
-		for(int ix=0;ix<rx;++ix)
+		for (int ix = 0; ix < rx; ++ix)
 		{
-			const bool	mdx=(ix+1)<rx;
-			const bool	mdy=(iy+1)<ry;
+			const bool mdx = (ix + 1) < rx;
+			const bool mdy = (iy + 1) < ry;
 
-			int node00=IDX(ix,iy);
-			int node01=IDX(ix+1,iy);
-			int node10=IDX(ix,iy+1);
-			int node11=IDX(ix+1,iy+1);
+			int node00 = IDX(ix, iy);
+			int node01 = IDX(ix + 1, iy);
+			int node10 = IDX(ix, iy + 1);
+			int node11 = IDX(ix + 1, iy + 1);
 
-			if(mdx) psb->appendLink(node00,node01);
-			if(mdy) psb->appendLink(node00,node10);
-			if(mdx&&mdy)
+			if (mdx) psb->appendLink(node00, node01);
+			if (mdy) psb->appendLink(node00, node10);
+			if (mdx && mdy)
 			{
-				psb->appendFace(node00,node10,node11);
-				if (tex_coords) {
-					tex_coords[z+0]=CalculateUV(resx,resy,ix,iy,0);
-					tex_coords[z+1]=CalculateUV(resx,resy,ix,iy,1);
-					tex_coords[z+2]=CalculateUV(resx,resy,ix,iy,0);
-					tex_coords[z+3]=CalculateUV(resx,resy,ix,iy,2);
-					tex_coords[z+4]=CalculateUV(resx,resy,ix,iy,3);
-					tex_coords[z+5]=CalculateUV(resx,resy,ix,iy,2);
+				psb->appendFace(node00, node10, node11);
+				if (tex_coords)
+				{
+					tex_coords[z + 0] = CalculateUV(resx, resy, ix, iy, 0);
+					tex_coords[z + 1] = CalculateUV(resx, resy, ix, iy, 1);
+					tex_coords[z + 2] = CalculateUV(resx, resy, ix, iy, 0);
+					tex_coords[z + 3] = CalculateUV(resx, resy, ix, iy, 2);
+					tex_coords[z + 4] = CalculateUV(resx, resy, ix, iy, 3);
+					tex_coords[z + 5] = CalculateUV(resx, resy, ix, iy, 2);
 				}
-				psb->appendFace(node11,node01,node00);
-				if (tex_coords) {
-					tex_coords[z+6 ]=CalculateUV(resx,resy,ix,iy,3);
-					tex_coords[z+7 ]=CalculateUV(resx,resy,ix,iy,2);
-					tex_coords[z+8 ]=CalculateUV(resx,resy,ix,iy,3);
-					tex_coords[z+9 ]=CalculateUV(resx,resy,ix,iy,1);
-					tex_coords[z+10]=CalculateUV(resx,resy,ix,iy,0);
-					tex_coords[z+11]=CalculateUV(resx,resy,ix,iy,1);
+				psb->appendFace(node11, node01, node00);
+				if (tex_coords)
+				{
+					tex_coords[z + 6] = CalculateUV(resx, resy, ix, iy, 3);
+					tex_coords[z + 7] = CalculateUV(resx, resy, ix, iy, 2);
+					tex_coords[z + 8] = CalculateUV(resx, resy, ix, iy, 3);
+					tex_coords[z + 9] = CalculateUV(resx, resy, ix, iy, 1);
+					tex_coords[z + 10] = CalculateUV(resx, resy, ix, iy, 0);
+					tex_coords[z + 11] = CalculateUV(resx, resy, ix, iy, 1);
 				}
-				if (gendiags) psb->appendLink(node00,node11);
+				if (gendiags) psb->appendLink(node00, node11);
 				z += 12;
 			}
 		}
 	}
-	/* Finished	*/ 
+	/* Finished	*/
 #undef IDX
-	return(psb);
+	return (psb);
 }
 
-float   btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
+float btSoftBodyHelpers::CalculateUV(int resx, int resy, int ix, int iy, int id)
 {
-
 	/*
 	*
 	*
@@ -968,90 +980,93 @@ float   btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
 	*
 	*/
 
-	float tc=0.0f;
-	if (id == 0) {
-		tc = (1.0f/((resx-1))*ix);
+	float tc = 0.0f;
+	if (id == 0)
+	{
+		tc = (1.0f / ((resx - 1)) * ix);
 	}
-	else if (id==1) {
-		tc = (1.0f/((resy-1))*(resy-1-iy));
+	else if (id == 1)
+	{
+		tc = (1.0f / ((resy - 1)) * (resy - 1 - iy));
 	}
-	else if (id==2) {
-		tc = (1.0f/((resy-1))*(resy-1-iy-1));
+	else if (id == 2)
+	{
+		tc = (1.0f / ((resy - 1)) * (resy - 1 - iy - 1));
 	}
-	else if (id==3) {
-		tc = (1.0f/((resx-1))*(ix+1));
+	else if (id == 3)
+	{
+		tc = (1.0f / ((resx - 1)) * (ix + 1));
 	}
 	return tc;
 }
 //
-btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
-												   const btVector3& radius,
-												   int res)
+btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo, const btVector3& center,
+											   const btVector3& radius,
+											   int res)
 {
-	struct	Hammersley
+	struct Hammersley
 	{
-		static void	Generate(btVector3* x,int n)
+		static void Generate(btVector3* x, int n)
 		{
-			for(int i=0;i<n;i++)
+			for (int i = 0; i < n; i++)
 			{
-				btScalar	p=0.5,t=0;
-				for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p;
-				btScalar	w=2*t-1;
-				btScalar	a=(SIMD_PI+2*i*SIMD_PI)/n;
-				btScalar	s=btSqrt(1-w*w);
-				*x++=btVector3(s*btCos(a),s*btSin(a),w);
+				btScalar p = 0.5, t = 0;
+				for (int j = i; j; p *= 0.5, j >>= 1)
+					if (j & 1) t += p;
+				btScalar w = 2 * t - 1;
+				btScalar a = (SIMD_PI + 2 * i * SIMD_PI) / n;
+				btScalar s = btSqrt(1 - w * w);
+				*x++ = btVector3(s * btCos(a), s * btSin(a), w);
 			}
 		}
 	};
-	btAlignedObjectArray<btVector3>	vtx;
-	vtx.resize(3+res);
-	Hammersley::Generate(&vtx[0],vtx.size());
-	for(int i=0;i<vtx.size();++i)
+	btAlignedObjectArray<btVector3> vtx;
+	vtx.resize(3 + res);
+	Hammersley::Generate(&vtx[0], vtx.size());
+	for (int i = 0; i < vtx.size(); ++i)
 	{
-		vtx[i]=vtx[i]*radius+center;
+		vtx[i] = vtx[i] * radius + center;
 	}
-	return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size()));
+	return (CreateFromConvexHull(worldInfo, &vtx[0], vtx.size()));
 }
 
-
-
 //
-btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar*	vertices,
-													 const int* triangles,
-													 int ntriangles, bool randomizeConstraints)
+btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo, const btScalar* vertices,
+												 const int* triangles,
+												 int ntriangles, bool randomizeConstraints)
 {
-	int		maxidx=0;
-	int i,j,ni;
+	int maxidx = 0;
+	int i, j, ni;
 
-	for(i=0,ni=ntriangles*3;i<ni;++i)
+	for (i = 0, ni = ntriangles * 3; i < ni; ++i)
 	{
-		maxidx=btMax(triangles[i],maxidx);
+		maxidx = btMax(triangles[i], maxidx);
 	}
 	++maxidx;
-	btAlignedObjectArray<bool>		chks;
-	btAlignedObjectArray<btVector3>	vtx;
-	chks.resize(maxidx*maxidx,false);
+	btAlignedObjectArray<bool> chks;
+	btAlignedObjectArray<btVector3> vtx;
+	chks.resize(maxidx * maxidx, false);
 	vtx.resize(maxidx);
-	for(i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
+	for (i = 0, j = 0, ni = maxidx * 3; i < ni; ++j, i += 3)
 	{
-		vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
+		vtx[j] = btVector3(vertices[i], vertices[i + 1], vertices[i + 2]);
 	}
-	btSoftBody*		psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0);
-	for( i=0,ni=ntriangles*3;i<ni;i+=3)
+	btSoftBody* psb = new btSoftBody(&worldInfo, vtx.size(), &vtx[0], 0);
+	for (i = 0, ni = ntriangles * 3; i < ni; i += 3)
 	{
-		const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
-#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))
-		for(int j=2,k=0;k<3;j=k++)
+		const int idx[] = {triangles[i], triangles[i + 1], triangles[i + 2]};
+#define IDX(_x_, _y_) ((_y_)*maxidx + (_x_))
+		for (int j = 2, k = 0; k < 3; j = k++)
 		{
-			if(!chks[IDX(idx[j],idx[k])])
+			if (!chks[IDX(idx[j], idx[k])])
 			{
-				chks[IDX(idx[j],idx[k])]=true;
-				chks[IDX(idx[k],idx[j])]=true;
-				psb->appendLink(idx[j],idx[k]);
+				chks[IDX(idx[j], idx[k])] = true;
+				chks[IDX(idx[k], idx[j])] = true;
+				psb->appendLink(idx[j], idx[k]);
 			}
 		}
 #undef IDX
-		psb->appendFace(idx[0],idx[1],idx[2]);
+		psb->appendFace(idx[0], idx[1], idx[2]);
 	}
 
 	if (randomizeConstraints)
@@ -1059,44 +1074,41 @@ btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
 		psb->randomizeConstraints();
 	}
 
-	return(psb);
+	return (psb);
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,	const btVector3* vertices,
-														int nvertices, bool randomizeConstraints)
+btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
+													int nvertices, bool randomizeConstraints)
 {
-	HullDesc		hdsc(QF_TRIANGLES,nvertices,vertices);
-	HullResult		hres;
-	HullLibrary		hlib;/*??*/ 
-	hdsc.mMaxVertices=nvertices;
-	hlib.CreateConvexHull(hdsc,hres);
-	btSoftBody*		psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices,
-		&hres.m_OutputVertices[0],0);
-	for(int i=0;i<(int)hres.mNumFaces;++i)
+	HullDesc hdsc(QF_TRIANGLES, nvertices, vertices);
+	HullResult hres;
+	HullLibrary hlib; /*??*/
+	hdsc.mMaxVertices = nvertices;
+	hlib.CreateConvexHull(hdsc, hres);
+	btSoftBody* psb = new btSoftBody(&worldInfo, (int)hres.mNumOutputVertices,
+									 &hres.m_OutputVertices[0], 0);
+	for (int i = 0; i < (int)hres.mNumFaces; ++i)
 	{
-		const int idx[]={	static_cast<int>(hres.m_Indices[i*3+0]),
-							static_cast<int>(hres.m_Indices[i*3+1]),
-							static_cast<int>(hres.m_Indices[i*3+2])};
-		if(idx[0]<idx[1]) psb->appendLink(	idx[0],idx[1]);
-		if(idx[1]<idx[2]) psb->appendLink(	idx[1],idx[2]);
-		if(idx[2]<idx[0]) psb->appendLink(	idx[2],idx[0]);
-		psb->appendFace(idx[0],idx[1],idx[2]);
+		const int idx[] = {static_cast<int>(hres.m_Indices[i * 3 + 0]),
+						   static_cast<int>(hres.m_Indices[i * 3 + 1]),
+						   static_cast<int>(hres.m_Indices[i * 3 + 2])};
+		if (idx[0] < idx[1]) psb->appendLink(idx[0], idx[1]);
+		if (idx[1] < idx[2]) psb->appendLink(idx[1], idx[2]);
+		if (idx[2] < idx[0]) psb->appendLink(idx[2], idx[0]);
+		psb->appendFace(idx[0], idx[1], idx[2]);
 	}
 	hlib.ReleaseResult(hres);
 	if (randomizeConstraints)
 	{
 		psb->randomizeConstraints();
 	}
-	return(psb);
+	return (psb);
 }
 
-
-
-
 static int nextLine(const char* buffer)
 {
-	int numBytesRead=0;
+	int numBytesRead = 0;
 
 	while (*buffer != '\n')
 	{
@@ -1104,8 +1116,7 @@ static int nextLine(const char* buffer)
 		numBytesRead++;
 	}
 
-	
-	if (buffer[0]==0x0a)
+	if (buffer[0] == 0x0a)
 	{
 		buffer++;
 		numBytesRead++;
@@ -1113,8 +1124,8 @@ static int nextLine(const char* buffer)
 	return numBytesRead;
 }
 
-/* Create from TetGen .ele, .face, .node data							*/ 
-btSoftBody*	btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
+/* Create from TetGen .ele, .face, .node data							*/
+btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
 													const char* ele,
 													const char* face,
 													const char* node,
@@ -1122,38 +1133,38 @@ btSoftBody*	btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldIn
 													bool btetralinks,
 													bool bfacesfromtetras)
 {
-btAlignedObjectArray<btVector3>	pos;
-int								nnode=0;
-int								ndims=0;
-int								nattrb=0;
-int								hasbounds=0;
-int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
-result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
-node += nextLine(node);
-
-pos.resize(nnode);
-for(int i=0;i<pos.size();++i)
+	btAlignedObjectArray<btVector3> pos;
+	int nnode = 0;
+	int ndims = 0;
+	int nattrb = 0;
+	int hasbounds = 0;
+	int result = sscanf(node, "%d %d %d %d", &nnode, &ndims, &nattrb, &hasbounds);
+	result = sscanf(node, "%d %d %d %d", &nnode, &ndims, &nattrb, &hasbounds);
+	node += nextLine(node);
+
+	pos.resize(nnode);
+	for (int i = 0; i < pos.size(); ++i)
 	{
-	int			index=0;
-	//int			bound=0;
-	float	x,y,z;
-	sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
+		int index = 0;
+		//int			bound=0;
+		float x, y, z;
+		sscanf(node, "%d %f %f %f", &index, &x, &y, &z);
 
-//	sn>>index;
-//	sn>>x;sn>>y;sn>>z;
-	node += nextLine(node);
+		//	sn>>index;
+		//	sn>>x;sn>>y;sn>>z;
+		node += nextLine(node);
 
-	//for(int j=0;j<nattrb;++j) 
-	//	sn>>a;
+		//for(int j=0;j<nattrb;++j)
+		//	sn>>a;
 
-	//if(hasbounds) 
-	//	sn>>bound;
+		//if(hasbounds)
+		//	sn>>bound;
 
-	pos[index].setX(btScalar(x));
-	pos[index].setY(btScalar(y));
-	pos[index].setZ(btScalar(z));
+		pos[index].setX(btScalar(x));
+		pos[index].setY(btScalar(y));
+		pos[index].setZ(btScalar(z));
 	}
-btSoftBody*						psb=new btSoftBody(&worldInfo,nnode,&pos[0],0);
+	btSoftBody* psb = new btSoftBody(&worldInfo, nnode, &pos[0], 0);
 #if 0
 if(face&&face[0])
 	{
@@ -1178,42 +1189,41 @@ if(face&&face[0])
 	}
 #endif
 
-if(ele&&ele[0])
+	if (ele && ele[0])
 	{
-	int								ntetra=0;
-	int								ncorner=0;
-	int								neattrb=0;
-	sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
-	ele += nextLine(ele);
-	
-	//se>>ntetra;se>>ncorner;se>>neattrb;
-	for(int i=0;i<ntetra;++i)
+		int ntetra = 0;
+		int ncorner = 0;
+		int neattrb = 0;
+		sscanf(ele, "%d %d %d", &ntetra, &ncorner, &neattrb);
+		ele += nextLine(ele);
+
+		//se>>ntetra;se>>ncorner;se>>neattrb;
+		for (int i = 0; i < ntetra; ++i)
 		{
-		int			index=0;
-		int			ni[4];
-
-		//se>>index;
-		//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
-		sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
-		ele+=nextLine(ele);
-		//for(int j=0;j<neattrb;++j) 
-		//	se>>a;
-		psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
-		if(btetralinks)
+			int index = 0;
+			int ni[4];
+
+			//se>>index;
+			//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
+			sscanf(ele, "%d %d %d %d %d", &index, &ni[0], &ni[1], &ni[2], &ni[3]);
+			ele += nextLine(ele);
+			//for(int j=0;j<neattrb;++j)
+			//	se>>a;
+			psb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
+			if (btetralinks)
 			{
-			psb->appendLink(ni[0],ni[1],0,true);
-			psb->appendLink(ni[1],ni[2],0,true);
-			psb->appendLink(ni[2],ni[0],0,true);
-			psb->appendLink(ni[0],ni[3],0,true);
-			psb->appendLink(ni[1],ni[3],0,true);
-			psb->appendLink(ni[2],ni[3],0,true);
+				psb->appendLink(ni[0], ni[1], 0, true);
+				psb->appendLink(ni[1], ni[2], 0, true);
+				psb->appendLink(ni[2], ni[0], 0, true);
+				psb->appendLink(ni[0], ni[3], 0, true);
+				psb->appendLink(ni[1], ni[3], 0, true);
+				psb->appendLink(ni[2], ni[3], 0, true);
 			}
 		}
 	}
-printf("Nodes:  %u\r\n",psb->m_nodes.size());
-printf("Links:  %u\r\n",psb->m_links.size());
-printf("Faces:  %u\r\n",psb->m_faces.size());
-printf("Tetras: %u\r\n",psb->m_tetras.size());
-return(psb);
+	printf("Nodes:  %u\r\n", psb->m_nodes.size());
+	printf("Links:  %u\r\n", psb->m_links.size());
+	printf("Faces:  %u\r\n", psb->m_faces.size());
+	printf("Tetras: %u\r\n", psb->m_tetras.size());
+	return (psb);
 }
-
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h
index 7271530109..e433558c18 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h
@@ -22,127 +22,130 @@ subject to the following restrictions:
 // Helpers
 //
 
-/* fDrawFlags															*/ 
-struct	fDrawFlags { enum _ {
-	Nodes		=	0x0001,
-	Links		=	0x0002,
-	Faces		=	0x0004,
-	Tetras		=	0x0008,
-	Normals		=	0x0010,
-	Contacts	=	0x0020,
-	Anchors		=	0x0040,
-	Notes		=	0x0080,
-	Clusters	=	0x0100,
-	NodeTree	=	0x0200,
-	FaceTree	=	0x0400,
-	ClusterTree	=	0x0800,
-	Joints		=	0x1000,
-	/* presets	*/ 
-	Std			=	Links+Faces+Tetras+Anchors+Notes+Joints,
-	StdTetra	=	Std-Faces+Tetras
-};};
-
-struct	btSoftBodyHelpers
+/* fDrawFlags															*/
+struct fDrawFlags
 {
-	/* Draw body															*/ 
-	static void				Draw(		btSoftBody* psb,
-		btIDebugDraw* idraw,
-		int drawflags=fDrawFlags::Std);
-	/* Draw body infos														*/ 
-	static	void			DrawInfos(	btSoftBody* psb,
-		btIDebugDraw* idraw,
-		bool masses,
-		bool areas,
-		bool stress);
-	/* Draw node tree														*/ 
-	static void				DrawNodeTree(	btSoftBody* psb,
-		btIDebugDraw* idraw,
-		int mindepth=0,
-		int maxdepth=-1);
-	/* Draw face tree														*/ 
-	static void				DrawFaceTree(	btSoftBody* psb,
-		btIDebugDraw* idraw,
-		int mindepth=0,
-		int maxdepth=-1);
-	/* Draw cluster tree													*/ 
-	static void				DrawClusterTree(btSoftBody* psb,
-		btIDebugDraw* idraw,
-		int mindepth=0,
-		int maxdepth=-1);
-	/* Draw rigid frame														*/ 
-	static	void			DrawFrame(		btSoftBody* psb,
-		btIDebugDraw* idraw);
-	/* Create a rope														*/ 
-	static	btSoftBody*		CreateRope( btSoftBodyWorldInfo& worldInfo,
-		const btVector3& from,
-		const btVector3& to,
-		int res,
-		int fixeds);
-	/* Create a patch														*/ 
-	static	btSoftBody*		CreatePatch(btSoftBodyWorldInfo& worldInfo,
-		const btVector3& corner00,
-		const btVector3& corner10,
-		const btVector3& corner01,
-		const btVector3& corner11,
-		int resx,
-		int resy,
-		int fixeds,
-		bool gendiags);
-	/* Create a patch with UV Texture Coordinates	*/ 
-	static	btSoftBody*		CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
-		const btVector3& corner00,
-		const btVector3& corner10,
-		const btVector3& corner01,
-		const btVector3& corner11,
-		int resx,
-		int resy,
-		int fixeds,
-		bool gendiags,
-		float* tex_coords=0);
-	static	float	CalculateUV(int resx,int resy,int ix,int iy,int id);
-	/* Create an ellipsoid													*/ 
-	static	btSoftBody*		CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
-		const btVector3& center,
-		const btVector3& radius,
-		int res);	
-	/* Create from trimesh													*/ 
-	static	btSoftBody*		CreateFromTriMesh(	btSoftBodyWorldInfo& worldInfo,
-		const btScalar*	vertices,
-		const int* triangles,
-		int ntriangles,
-		bool randomizeConstraints = true);
-	/* Create from convex-hull												*/ 
-	static	btSoftBody*		CreateFromConvexHull(	btSoftBodyWorldInfo& worldInfo,
-		const btVector3* vertices,
-		int nvertices,
-		bool randomizeConstraints = true);
+	enum _
+	{
+		Nodes = 0x0001,
+		Links = 0x0002,
+		Faces = 0x0004,
+		Tetras = 0x0008,
+		Normals = 0x0010,
+		Contacts = 0x0020,
+		Anchors = 0x0040,
+		Notes = 0x0080,
+		Clusters = 0x0100,
+		NodeTree = 0x0200,
+		FaceTree = 0x0400,
+		ClusterTree = 0x0800,
+		Joints = 0x1000,
+		/* presets	*/
+		Std = Links + Faces + Tetras + Anchors + Notes + Joints,
+		StdTetra = Std - Faces + Tetras
+	};
+};
 
+struct btSoftBodyHelpers
+{
+	/* Draw body															*/
+	static void Draw(btSoftBody* psb,
+					 btIDebugDraw* idraw,
+					 int drawflags = fDrawFlags::Std);
+	/* Draw body infos														*/
+	static void DrawInfos(btSoftBody* psb,
+						  btIDebugDraw* idraw,
+						  bool masses,
+						  bool areas,
+						  bool stress);
+	/* Draw node tree														*/
+	static void DrawNodeTree(btSoftBody* psb,
+							 btIDebugDraw* idraw,
+							 int mindepth = 0,
+							 int maxdepth = -1);
+	/* Draw face tree														*/
+	static void DrawFaceTree(btSoftBody* psb,
+							 btIDebugDraw* idraw,
+							 int mindepth = 0,
+							 int maxdepth = -1);
+	/* Draw cluster tree													*/
+	static void DrawClusterTree(btSoftBody* psb,
+								btIDebugDraw* idraw,
+								int mindepth = 0,
+								int maxdepth = -1);
+	/* Draw rigid frame														*/
+	static void DrawFrame(btSoftBody* psb,
+						  btIDebugDraw* idraw);
+	/* Create a rope														*/
+	static btSoftBody* CreateRope(btSoftBodyWorldInfo& worldInfo,
+								  const btVector3& from,
+								  const btVector3& to,
+								  int res,
+								  int fixeds);
+	/* Create a patch														*/
+	static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
+								   const btVector3& corner00,
+								   const btVector3& corner10,
+								   const btVector3& corner01,
+								   const btVector3& corner11,
+								   int resx,
+								   int resy,
+								   int fixeds,
+								   bool gendiags);
+	/* Create a patch with UV Texture Coordinates	*/
+	static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
+									 const btVector3& corner00,
+									 const btVector3& corner10,
+									 const btVector3& corner01,
+									 const btVector3& corner11,
+									 int resx,
+									 int resy,
+									 int fixeds,
+									 bool gendiags,
+									 float* tex_coords = 0);
+	static float CalculateUV(int resx, int resy, int ix, int iy, int id);
+	/* Create an ellipsoid													*/
+	static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
+									   const btVector3& center,
+									   const btVector3& radius,
+									   int res);
+	/* Create from trimesh													*/
+	static btSoftBody* CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,
+										 const btScalar* vertices,
+										 const int* triangles,
+										 int ntriangles,
+										 bool randomizeConstraints = true);
+	/* Create from convex-hull												*/
+	static btSoftBody* CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,
+											const btVector3* vertices,
+											int nvertices,
+											bool randomizeConstraints = true);
 
-	/* Export TetGen compatible .smesh file									*/ 
-//	static void				ExportAsSMeshFile(	btSoftBody* psb,
-//												const char* filename);	
-	/* Create from TetGen .ele, .face, .node files							*/ 
-//	static btSoftBody*		CreateFromTetGenFile(	btSoftBodyWorldInfo& worldInfo,
-//													const char* ele,
-//													const char* face,
-//													const char* node,
-//													bool bfacelinks,
-//													bool btetralinks,
-//													bool bfacesfromtetras);
-	/* Create from TetGen .ele, .face, .node data							*/ 
-	static btSoftBody*		CreateFromTetGenData(	btSoftBodyWorldInfo& worldInfo,
-													const char* ele,
-													const char* face,
-													const char* node,
-													bool bfacelinks,
-													bool btetralinks,
-													bool bfacesfromtetras);
+	/* Export TetGen compatible .smesh file									*/
+	//	static void				ExportAsSMeshFile(	btSoftBody* psb,
+	//												const char* filename);
+	/* Create from TetGen .ele, .face, .node files							*/
+	//	static btSoftBody*		CreateFromTetGenFile(	btSoftBodyWorldInfo& worldInfo,
+	//													const char* ele,
+	//													const char* face,
+	//													const char* node,
+	//													bool bfacelinks,
+	//													bool btetralinks,
+	//													bool bfacesfromtetras);
+	/* Create from TetGen .ele, .face, .node data							*/
+	static btSoftBody* CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
+											const char* ele,
+											const char* face,
+											const char* node,
+											bool bfacelinks,
+											bool btetralinks,
+											bool bfacesfromtetras);
 
 	/// Sort the list of links to move link calculations that are dependent upon earlier
 	/// ones as far as possible away from the calculation of those values
 	/// This tends to make adjacent loop iterations not dependent upon one another,
 	/// so out-of-order processors can execute instructions from multiple iterations at once
-	static void ReoptimizeLinkOrder(btSoftBody *psb );
+	static void ReoptimizeLinkOrder(btSoftBody* psb);
 };
 
-#endif //BT_SOFT_BODY_HELPERS_H
+#endif  //BT_SOFT_BODY_HELPERS_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h
index 1ad82616ea..7efe514f38 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h
@@ -19,29 +19,37 @@ subject to the following restrictions:
 
 #include "btSoftBody.h"
 
-
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btPolarDecomposition.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include <string.h> //for memset
+#include <string.h>  //for memset
 //
 // btSymMatrix
 //
 template <typename T>
 struct btSymMatrix
 {
-	btSymMatrix() : dim(0)					{}
-	btSymMatrix(int n,const T& init=T())	{ resize(n,init); }
-	void					resize(int n,const T& init=T())			{ dim=n;store.resize((n*(n+1))/2,init); }
-	int						index(int c,int r) const				{ if(c>r) btSwap(c,r);btAssert(r<dim);return((r*(r+1))/2+c); }
-	T&						operator()(int c,int r)					{ return(store[index(c,r)]); }
-	const T&				operator()(int c,int r) const			{ return(store[index(c,r)]); }
-	btAlignedObjectArray<T>	store;
-	int						dim;
-};	
+	btSymMatrix() : dim(0) {}
+	btSymMatrix(int n, const T& init = T()) { resize(n, init); }
+	void resize(int n, const T& init = T())
+	{
+		dim = n;
+		store.resize((n * (n + 1)) / 2, init);
+	}
+	int index(int c, int r) const
+	{
+		if (c > r) btSwap(c, r);
+		btAssert(r < dim);
+		return ((r * (r + 1)) / 2 + c);
+	}
+	T& operator()(int c, int r) { return (store[index(c, r)]); }
+	const T& operator()(int c, int r) const { return (store[index(c, r)]); }
+	btAlignedObjectArray<T> store;
+	int dim;
+};
 
 //
 // btSoftBodyCollisionShape
@@ -49,67 +57,64 @@ struct btSymMatrix
 class btSoftBodyCollisionShape : public btConcaveShape
 {
 public:
-	btSoftBody*						m_body;
+	btSoftBody* m_body;
 
 	btSoftBodyCollisionShape(btSoftBody* backptr)
 	{
 		m_shapeType = SOFTBODY_SHAPE_PROXYTYPE;
-		m_body=backptr;
+		m_body = backptr;
 	}
 
 	virtual ~btSoftBodyCollisionShape()
 	{
-
 	}
 
-	void	processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
+	void processAllTriangles(btTriangleCallback* /*callback*/, const btVector3& /*aabbMin*/, const btVector3& /*aabbMax*/) const
 	{
 		//not yet
 		btAssert(0);
 	}
 
 	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 		/* t is usually identity, except when colliding against btCompoundShape. See Issue 512 */
-		const btVector3	mins=m_body->m_bounds[0];
-		const btVector3	maxs=m_body->m_bounds[1];
-		const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
-			t*btVector3(maxs.x(),mins.y(),mins.z()),
-			t*btVector3(maxs.x(),maxs.y(),mins.z()),
-			t*btVector3(mins.x(),maxs.y(),mins.z()),
-			t*btVector3(mins.x(),mins.y(),maxs.z()),
-			t*btVector3(maxs.x(),mins.y(),maxs.z()),
-			t*btVector3(maxs.x(),maxs.y(),maxs.z()),
-			t*btVector3(mins.x(),maxs.y(),maxs.z())};
-		aabbMin=aabbMax=crns[0];
-		for(int i=1;i<8;++i)
+		const btVector3 mins = m_body->m_bounds[0];
+		const btVector3 maxs = m_body->m_bounds[1];
+		const btVector3 crns[] = {t * btVector3(mins.x(), mins.y(), mins.z()),
+								  t * btVector3(maxs.x(), mins.y(), mins.z()),
+								  t * btVector3(maxs.x(), maxs.y(), mins.z()),
+								  t * btVector3(mins.x(), maxs.y(), mins.z()),
+								  t * btVector3(mins.x(), mins.y(), maxs.z()),
+								  t * btVector3(maxs.x(), mins.y(), maxs.z()),
+								  t * btVector3(maxs.x(), maxs.y(), maxs.z()),
+								  t * btVector3(mins.x(), maxs.y(), maxs.z())};
+		aabbMin = aabbMax = crns[0];
+		for (int i = 1; i < 8; ++i)
 		{
 			aabbMin.setMin(crns[i]);
 			aabbMax.setMax(crns[i]);
 		}
 	}
 
-
-	virtual void	setLocalScaling(const btVector3& /*scaling*/)
-	{		
+	virtual void setLocalScaling(const btVector3& /*scaling*/)
+	{
 		///na
 	}
 	virtual const btVector3& getLocalScaling() const
 	{
-		static const btVector3 dummy(1,1,1);
+		static const btVector3 dummy(1, 1, 1);
 		return dummy;
 	}
-	virtual void	calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
+	virtual void calculateLocalInertia(btScalar /*mass*/, btVector3& /*inertia*/) const
 	{
 		///not yet
 		btAssert(0);
 	}
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "SoftBody";
 	}
-
 };
 
 //
@@ -118,48 +123,53 @@ public:
 class btSoftClusterCollisionShape : public btConvexInternalShape
 {
 public:
-	const btSoftBody::Cluster*	m_cluster;
+	const btSoftBody::Cluster* m_cluster;
 
-	btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); }
+	btSoftClusterCollisionShape(const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); }
 
-
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
 	{
-		btSoftBody::Node* const *						n=&m_cluster->m_nodes[0];
-		btScalar										d=btDot(vec,n[0]->m_x);
-		int												j=0;
-		for(int i=1,ni=m_cluster->m_nodes.size();i<ni;++i)
+		btSoftBody::Node* const* n = &m_cluster->m_nodes[0];
+		btScalar d = btDot(vec, n[0]->m_x);
+		int j = 0;
+		for (int i = 1, ni = m_cluster->m_nodes.size(); i < ni; ++i)
 		{
-			const btScalar	k=btDot(vec,n[i]->m_x);
-			if(k>d) { d=k;j=i; }
+			const btScalar k = btDot(vec, n[i]->m_x);
+			if (k > d)
+			{
+				d = k;
+				j = i;
+			}
 		}
-		return(n[j]->m_x);
+		return (n[j]->m_x);
 	}
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 	{
-		return(localGetSupportingVertex(vec));
+		return (localGetSupportingVertex(vec));
 	}
 	//notice that the vectors should be unit length
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-	{}
-
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
+	{
+	}
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
-	{}
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const
+	{
+	}
 
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-	{}
+	virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+	}
 
-	virtual int	getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; }
+	virtual int getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; }
 
 	//debugging
-	virtual const char*	getName()const {return "SOFTCLUSTER";}
+	virtual const char* getName() const { return "SOFTCLUSTER"; }
 
-	virtual void	setMargin(btScalar margin)
+	virtual void setMargin(btScalar margin)
 	{
 		btConvexInternalShape::setMargin(margin);
 	}
-	virtual btScalar	getMargin() const
+	virtual btScalar getMargin() const
 	{
 		return btConvexInternalShape::getMargin();
 	}
@@ -171,229 +181,247 @@ public:
 
 //
 template <typename T>
-static inline void			ZeroInitialize(T& value)
+static inline void ZeroInitialize(T& value)
 {
-	memset(&value,0,sizeof(T));
+	memset(&value, 0, sizeof(T));
 }
 //
 template <typename T>
-static inline bool			CompLess(const T& a,const T& b)
-{ return(a<b); }
+static inline bool CompLess(const T& a, const T& b)
+{
+	return (a < b);
+}
 //
 template <typename T>
-static inline bool			CompGreater(const T& a,const T& b)
-{ return(a>b); }
+static inline bool CompGreater(const T& a, const T& b)
+{
+	return (a > b);
+}
 //
 template <typename T>
-static inline T				Lerp(const T& a,const T& b,btScalar t)
-{ return(a+(b-a)*t); }
+static inline T Lerp(const T& a, const T& b, btScalar t)
+{
+	return (a + (b - a) * t);
+}
 //
 template <typename T>
-static inline T				InvLerp(const T& a,const T& b,btScalar t)
-{ return((b+a*t-b*t)/(a*b)); }
+static inline T InvLerp(const T& a, const T& b, btScalar t)
+{
+	return ((b + a * t - b * t) / (a * b));
+}
 //
-static inline btMatrix3x3	Lerp(	const btMatrix3x3& a,
-								 const btMatrix3x3& b,
-								 btScalar t)
+static inline btMatrix3x3 Lerp(const btMatrix3x3& a,
+							   const btMatrix3x3& b,
+							   btScalar t)
 {
-	btMatrix3x3	r;
-	r[0]=Lerp(a[0],b[0],t);
-	r[1]=Lerp(a[1],b[1],t);
-	r[2]=Lerp(a[2],b[2],t);
-	return(r);
+	btMatrix3x3 r;
+	r[0] = Lerp(a[0], b[0], t);
+	r[1] = Lerp(a[1], b[1], t);
+	r[2] = Lerp(a[2], b[2], t);
+	return (r);
 }
 //
-static inline btVector3		Clamp(const btVector3& v,btScalar maxlength)
+static inline btVector3 Clamp(const btVector3& v, btScalar maxlength)
 {
-	const btScalar sql=v.length2();
-	if(sql>(maxlength*maxlength))
-		return((v*maxlength)/btSqrt(sql));
+	const btScalar sql = v.length2();
+	if (sql > (maxlength * maxlength))
+		return ((v * maxlength) / btSqrt(sql));
 	else
-		return(v);
+		return (v);
 }
 //
 template <typename T>
-static inline T				Clamp(const T& x,const T& l,const T& h)
-{ return(x<l?l:x>h?h:x); }
+static inline T Clamp(const T& x, const T& l, const T& h)
+{
+	return (x < l ? l : x > h ? h : x);
+}
 //
 template <typename T>
-static inline T				Sq(const T& x)
-{ return(x*x); }
+static inline T Sq(const T& x)
+{
+	return (x * x);
+}
 //
 template <typename T>
-static inline T				Cube(const T& x)
-{ return(x*x*x); }
+static inline T Cube(const T& x)
+{
+	return (x * x * x);
+}
 //
 template <typename T>
-static inline T				Sign(const T& x)
-{ return((T)(x<0?-1:+1)); }
+static inline T Sign(const T& x)
+{
+	return ((T)(x < 0 ? -1 : +1));
+}
 //
 template <typename T>
-static inline bool			SameSign(const T& x,const T& y)
-{ return((x*y)>0); }
-//
-static inline btScalar		ClusterMetric(const btVector3& x,const btVector3& y)
+static inline bool SameSign(const T& x, const T& y)
 {
-	const btVector3	d=x-y;
-	return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2]));
+	return ((x * y) > 0);
 }
 //
-static inline btMatrix3x3	ScaleAlongAxis(const btVector3& a,btScalar s)
+static inline btScalar ClusterMetric(const btVector3& x, const btVector3& y)
 {
-	const btScalar	xx=a.x()*a.x();
-	const btScalar	yy=a.y()*a.y();
-	const btScalar	zz=a.z()*a.z();
-	const btScalar	xy=a.x()*a.y();
-	const btScalar	yz=a.y()*a.z();
-	const btScalar	zx=a.z()*a.x();
-	btMatrix3x3		m;
-	m[0]=btVector3(1-xx+xx*s,xy*s-xy,zx*s-zx);
-	m[1]=btVector3(xy*s-xy,1-yy+yy*s,yz*s-yz);
-	m[2]=btVector3(zx*s-zx,yz*s-yz,1-zz+zz*s);
-	return(m);
+	const btVector3 d = x - y;
+	return (btFabs(d[0]) + btFabs(d[1]) + btFabs(d[2]));
+}
+//
+static inline btMatrix3x3 ScaleAlongAxis(const btVector3& a, btScalar s)
+{
+	const btScalar xx = a.x() * a.x();
+	const btScalar yy = a.y() * a.y();
+	const btScalar zz = a.z() * a.z();
+	const btScalar xy = a.x() * a.y();
+	const btScalar yz = a.y() * a.z();
+	const btScalar zx = a.z() * a.x();
+	btMatrix3x3 m;
+	m[0] = btVector3(1 - xx + xx * s, xy * s - xy, zx * s - zx);
+	m[1] = btVector3(xy * s - xy, 1 - yy + yy * s, yz * s - yz);
+	m[2] = btVector3(zx * s - zx, yz * s - yz, 1 - zz + zz * s);
+	return (m);
 }
 //
-static inline btMatrix3x3	Cross(const btVector3& v)
+static inline btMatrix3x3 Cross(const btVector3& v)
 {
-	btMatrix3x3	m;
-	m[0]=btVector3(0,-v.z(),+v.y());
-	m[1]=btVector3(+v.z(),0,-v.x());
-	m[2]=btVector3(-v.y(),+v.x(),0);
-	return(m);
+	btMatrix3x3 m;
+	m[0] = btVector3(0, -v.z(), +v.y());
+	m[1] = btVector3(+v.z(), 0, -v.x());
+	m[2] = btVector3(-v.y(), +v.x(), 0);
+	return (m);
 }
 //
-static inline btMatrix3x3	Diagonal(btScalar x)
+static inline btMatrix3x3 Diagonal(btScalar x)
 {
-	btMatrix3x3	m;
-	m[0]=btVector3(x,0,0);
-	m[1]=btVector3(0,x,0);
-	m[2]=btVector3(0,0,x);
-	return(m);
+	btMatrix3x3 m;
+	m[0] = btVector3(x, 0, 0);
+	m[1] = btVector3(0, x, 0);
+	m[2] = btVector3(0, 0, x);
+	return (m);
 }
 //
-static inline btMatrix3x3	Add(const btMatrix3x3& a,
-								const btMatrix3x3& b)
+static inline btMatrix3x3 Add(const btMatrix3x3& a,
+							  const btMatrix3x3& b)
 {
-	btMatrix3x3	r;
-	for(int i=0;i<3;++i) r[i]=a[i]+b[i];
-	return(r);
+	btMatrix3x3 r;
+	for (int i = 0; i < 3; ++i) r[i] = a[i] + b[i];
+	return (r);
 }
 //
-static inline btMatrix3x3	Sub(const btMatrix3x3& a,
-								const btMatrix3x3& b)
+static inline btMatrix3x3 Sub(const btMatrix3x3& a,
+							  const btMatrix3x3& b)
 {
-	btMatrix3x3	r;
-	for(int i=0;i<3;++i) r[i]=a[i]-b[i];
-	return(r);
+	btMatrix3x3 r;
+	for (int i = 0; i < 3; ++i) r[i] = a[i] - b[i];
+	return (r);
 }
 //
-static inline btMatrix3x3	Mul(const btMatrix3x3& a,
-								btScalar b)
+static inline btMatrix3x3 Mul(const btMatrix3x3& a,
+							  btScalar b)
 {
-	btMatrix3x3	r;
-	for(int i=0;i<3;++i) r[i]=a[i]*b;
-	return(r);
+	btMatrix3x3 r;
+	for (int i = 0; i < 3; ++i) r[i] = a[i] * b;
+	return (r);
 }
 //
-static inline void			Orthogonalize(btMatrix3x3& m)
+static inline void Orthogonalize(btMatrix3x3& m)
 {
-	m[2]=btCross(m[0],m[1]).normalized();
-	m[1]=btCross(m[2],m[0]).normalized();
-	m[0]=btCross(m[1],m[2]).normalized();
+	m[2] = btCross(m[0], m[1]).normalized();
+	m[1] = btCross(m[2], m[0]).normalized();
+	m[0] = btCross(m[1], m[2]).normalized();
 }
 //
-static inline btMatrix3x3	MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r)
+static inline btMatrix3x3 MassMatrix(btScalar im, const btMatrix3x3& iwi, const btVector3& r)
 {
-	const btMatrix3x3	cr=Cross(r);
-	return(Sub(Diagonal(im),cr*iwi*cr));
+	const btMatrix3x3 cr = Cross(r);
+	return (Sub(Diagonal(im), cr * iwi * cr));
 }
 
 //
-static inline btMatrix3x3	ImpulseMatrix(	btScalar dt,
-										  btScalar ima,
-										  btScalar imb,
-										  const btMatrix3x3& iwi,
-										  const btVector3& r)
+static inline btMatrix3x3 ImpulseMatrix(btScalar dt,
+										btScalar ima,
+										btScalar imb,
+										const btMatrix3x3& iwi,
+										const btVector3& r)
 {
-	return(Diagonal(1/dt)*Add(Diagonal(ima),MassMatrix(imb,iwi,r)).inverse());
+	return (Diagonal(1 / dt) * Add(Diagonal(ima), MassMatrix(imb, iwi, r)).inverse());
 }
 
 //
-static inline btMatrix3x3	ImpulseMatrix(	btScalar ima,const btMatrix3x3& iia,const btVector3& ra,
-										  btScalar imb,const btMatrix3x3& iib,const btVector3& rb)	
+static inline btMatrix3x3 ImpulseMatrix(btScalar ima, const btMatrix3x3& iia, const btVector3& ra,
+										btScalar imb, const btMatrix3x3& iib, const btVector3& rb)
 {
-	return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse());
+	return (Add(MassMatrix(ima, iia, ra), MassMatrix(imb, iib, rb)).inverse());
 }
 
 //
-static inline btMatrix3x3	AngularImpulseMatrix(	const btMatrix3x3& iia,
-												 const btMatrix3x3& iib)
+static inline btMatrix3x3 AngularImpulseMatrix(const btMatrix3x3& iia,
+											   const btMatrix3x3& iib)
 {
-	return(Add(iia,iib).inverse());
+	return (Add(iia, iib).inverse());
 }
 
 //
-static inline btVector3		ProjectOnAxis(	const btVector3& v,
-										  const btVector3& a)
+static inline btVector3 ProjectOnAxis(const btVector3& v,
+									  const btVector3& a)
 {
-	return(a*btDot(v,a));
+	return (a * btDot(v, a));
 }
 //
-static inline btVector3		ProjectOnPlane(	const btVector3& v,
-										   const btVector3& a)
+static inline btVector3 ProjectOnPlane(const btVector3& v,
+									   const btVector3& a)
 {
-	return(v-ProjectOnAxis(v,a));
+	return (v - ProjectOnAxis(v, a));
 }
 
 //
-static inline void			ProjectOrigin(	const btVector3& a,
-										  const btVector3& b,
-										  btVector3& prj,
-										  btScalar& sqd)
+static inline void ProjectOrigin(const btVector3& a,
+								 const btVector3& b,
+								 btVector3& prj,
+								 btScalar& sqd)
 {
-	const btVector3	d=b-a;
-	const btScalar	m2=d.length2();
-	if(m2>SIMD_EPSILON)
-	{	
-		const btScalar	t=Clamp<btScalar>(-btDot(a,d)/m2,0,1);
-		const btVector3	p=a+d*t;
-		const btScalar	l2=p.length2();
-		if(l2<sqd)
+	const btVector3 d = b - a;
+	const btScalar m2 = d.length2();
+	if (m2 > SIMD_EPSILON)
+	{
+		const btScalar t = Clamp<btScalar>(-btDot(a, d) / m2, 0, 1);
+		const btVector3 p = a + d * t;
+		const btScalar l2 = p.length2();
+		if (l2 < sqd)
 		{
-			prj=p;
-			sqd=l2;
+			prj = p;
+			sqd = l2;
 		}
 	}
 }
 //
-static inline void			ProjectOrigin(	const btVector3& a,
-										  const btVector3& b,
-										  const btVector3& c,
-										  btVector3& prj,
-										  btScalar& sqd)
+static inline void ProjectOrigin(const btVector3& a,
+								 const btVector3& b,
+								 const btVector3& c,
+								 btVector3& prj,
+								 btScalar& sqd)
 {
-	const btVector3&	q=btCross(b-a,c-a);
-	const btScalar		m2=q.length2();
-	if(m2>SIMD_EPSILON)
+	const btVector3& q = btCross(b - a, c - a);
+	const btScalar m2 = q.length2();
+	if (m2 > SIMD_EPSILON)
 	{
-		const btVector3	n=q/btSqrt(m2);
-		const btScalar	k=btDot(a,n);
-		const btScalar	k2=k*k;
-		if(k2<sqd)
+		const btVector3 n = q / btSqrt(m2);
+		const btScalar k = btDot(a, n);
+		const btScalar k2 = k * k;
+		if (k2 < sqd)
 		{
-			const btVector3	p=n*k;
-			if(	(btDot(btCross(a-p,b-p),q)>0)&&
-				(btDot(btCross(b-p,c-p),q)>0)&&
-				(btDot(btCross(c-p,a-p),q)>0))
-			{			
-				prj=p;
-				sqd=k2;
+			const btVector3 p = n * k;
+			if ((btDot(btCross(a - p, b - p), q) > 0) &&
+				(btDot(btCross(b - p, c - p), q) > 0) &&
+				(btDot(btCross(c - p, a - p), q) > 0))
+			{
+				prj = p;
+				sqd = k2;
 			}
 			else
 			{
-				ProjectOrigin(a,b,prj,sqd);
-				ProjectOrigin(b,c,prj,sqd);
-				ProjectOrigin(c,a,prj,sqd);
+				ProjectOrigin(a, b, prj, sqd);
+				ProjectOrigin(b, c, prj, sqd);
+				ProjectOrigin(c, a, prj, sqd);
 			}
 		}
 	}
@@ -401,155 +429,159 @@ static inline void			ProjectOrigin(	const btVector3& a,
 
 //
 template <typename T>
-static inline T				BaryEval(		const T& a,
-									 const T& b,
-									 const T& c,
-									 const btVector3& coord)
+static inline T BaryEval(const T& a,
+						 const T& b,
+						 const T& c,
+						 const btVector3& coord)
 {
-	return(a*coord.x()+b*coord.y()+c*coord.z());
+	return (a * coord.x() + b * coord.y() + c * coord.z());
 }
 //
-static inline btVector3		BaryCoord(	const btVector3& a,
-									  const btVector3& b,
-									  const btVector3& c,
-									  const btVector3& p)
+static inline btVector3 BaryCoord(const btVector3& a,
+								  const btVector3& b,
+								  const btVector3& c,
+								  const btVector3& p)
 {
-	const btScalar	w[]={	btCross(a-p,b-p).length(),
-		btCross(b-p,c-p).length(),
-		btCross(c-p,a-p).length()};
-	const btScalar	isum=1/(w[0]+w[1]+w[2]);
-	return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum));
+	const btScalar w[] = {btCross(a - p, b - p).length(),
+						  btCross(b - p, c - p).length(),
+						  btCross(c - p, a - p).length()};
+	const btScalar isum = 1 / (w[0] + w[1] + w[2]);
+	return (btVector3(w[1] * isum, w[2] * isum, w[0] * isum));
 }
 
 //
-inline static btScalar				ImplicitSolve(	btSoftBody::ImplicitFn* fn,
-										  const btVector3& a,
-										  const btVector3& b,
-										  const btScalar accuracy,
-										  const int maxiterations=256)
+inline static btScalar ImplicitSolve(btSoftBody::ImplicitFn* fn,
+									 const btVector3& a,
+									 const btVector3& b,
+									 const btScalar accuracy,
+									 const int maxiterations = 256)
 {
-	btScalar	span[2]={0,1};
-	btScalar	values[2]={fn->Eval(a),fn->Eval(b)};
-	if(values[0]>values[1])
+	btScalar span[2] = {0, 1};
+	btScalar values[2] = {fn->Eval(a), fn->Eval(b)};
+	if (values[0] > values[1])
 	{
-		btSwap(span[0],span[1]);
-		btSwap(values[0],values[1]);
+		btSwap(span[0], span[1]);
+		btSwap(values[0], values[1]);
 	}
-	if(values[0]>-accuracy) return(-1);
-	if(values[1]<+accuracy) return(-1);
-	for(int i=0;i<maxiterations;++i)
+	if (values[0] > -accuracy) return (-1);
+	if (values[1] < +accuracy) return (-1);
+	for (int i = 0; i < maxiterations; ++i)
 	{
-		const btScalar	t=Lerp(span[0],span[1],values[0]/(values[0]-values[1]));
-		const btScalar	v=fn->Eval(Lerp(a,b,t));
-		if((t<=0)||(t>=1))		break;
-		if(btFabs(v)<accuracy)	return(t);
-		if(v<0)
-		{ span[0]=t;values[0]=v; }
+		const btScalar t = Lerp(span[0], span[1], values[0] / (values[0] - values[1]));
+		const btScalar v = fn->Eval(Lerp(a, b, t));
+		if ((t <= 0) || (t >= 1)) break;
+		if (btFabs(v) < accuracy) return (t);
+		if (v < 0)
+		{
+			span[0] = t;
+			values[0] = v;
+		}
 		else
-		{ span[1]=t;values[1]=v; }
+		{
+			span[1] = t;
+			values[1] = v;
+		}
 	}
-	return(-1);
+	return (-1);
 }
 
-inline static void					EvaluateMedium(	const btSoftBodyWorldInfo* wfi,
-										   const btVector3& x,
-										   btSoftBody::sMedium& medium)
+inline static void EvaluateMedium(const btSoftBodyWorldInfo* wfi,
+								  const btVector3& x,
+								  btSoftBody::sMedium& medium)
 {
-	medium.m_velocity	=	btVector3(0,0,0);
-	medium.m_pressure	=	0;
-	medium.m_density	=	wfi->air_density;
-	if(wfi->water_density>0)
+	medium.m_velocity = btVector3(0, 0, 0);
+	medium.m_pressure = 0;
+	medium.m_density = wfi->air_density;
+	if (wfi->water_density > 0)
 	{
-		const btScalar	depth=-(btDot(x,wfi->water_normal)+wfi->water_offset);
-		if(depth>0)
+		const btScalar depth = -(btDot(x, wfi->water_normal) + wfi->water_offset);
+		if (depth > 0)
 		{
-			medium.m_density	=	wfi->water_density;
-			medium.m_pressure	=	depth*wfi->water_density*wfi->m_gravity.length();
+			medium.m_density = wfi->water_density;
+			medium.m_pressure = depth * wfi->water_density * wfi->m_gravity.length();
 		}
 	}
 }
 
-
 //
-static inline btVector3		NormalizeAny(const btVector3& v)
+static inline btVector3 NormalizeAny(const btVector3& v)
 {
-	const btScalar l=v.length();
-	if(l>SIMD_EPSILON)
-		return(v/l);
+	const btScalar l = v.length();
+	if (l > SIMD_EPSILON)
+		return (v / l);
 	else
-		return(btVector3(0,0,0));
+		return (btVector3(0, 0, 0));
 }
 
 //
-static inline btDbvtVolume	VolumeOf(	const btSoftBody::Face& f,
-									 btScalar margin)
+static inline btDbvtVolume VolumeOf(const btSoftBody::Face& f,
+									btScalar margin)
 {
-	const btVector3*	pts[]={	&f.m_n[0]->m_x,
-		&f.m_n[1]->m_x,
-		&f.m_n[2]->m_x};
-	btDbvtVolume		vol=btDbvtVolume::FromPoints(pts,3);
-	vol.Expand(btVector3(margin,margin,margin));
-	return(vol);
+	const btVector3* pts[] = {&f.m_n[0]->m_x,
+							  &f.m_n[1]->m_x,
+							  &f.m_n[2]->m_x};
+	btDbvtVolume vol = btDbvtVolume::FromPoints(pts, 3);
+	vol.Expand(btVector3(margin, margin, margin));
+	return (vol);
 }
 
 //
-static inline btVector3			CenterOf(	const btSoftBody::Face& f)
+static inline btVector3 CenterOf(const btSoftBody::Face& f)
 {
-	return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3);
+	return ((f.m_n[0]->m_x + f.m_n[1]->m_x + f.m_n[2]->m_x) / 3);
 }
 
 //
-static inline btScalar			AreaOf(		const btVector3& x0,
-									   const btVector3& x1,
-									   const btVector3& x2)
+static inline btScalar AreaOf(const btVector3& x0,
+							  const btVector3& x1,
+							  const btVector3& x2)
 {
-	const btVector3	a=x1-x0;
-	const btVector3	b=x2-x0;
-	const btVector3	cr=btCross(a,b);
-	const btScalar	area=cr.length();
-	return(area);
+	const btVector3 a = x1 - x0;
+	const btVector3 b = x2 - x0;
+	const btVector3 cr = btCross(a, b);
+	const btScalar area = cr.length();
+	return (area);
 }
 
 //
-static inline btScalar		VolumeOf(	const btVector3& x0,
-									 const btVector3& x1,
-									 const btVector3& x2,
-									 const btVector3& x3)
+static inline btScalar VolumeOf(const btVector3& x0,
+								const btVector3& x1,
+								const btVector3& x2,
+								const btVector3& x3)
 {
-	const btVector3	a=x1-x0;
-	const btVector3	b=x2-x0;
-	const btVector3	c=x3-x0;
-	return(btDot(a,btCross(b,c)));
+	const btVector3 a = x1 - x0;
+	const btVector3 b = x2 - x0;
+	const btVector3 c = x3 - x0;
+	return (btDot(a, btCross(b, c)));
 }
 
 //
 
-
 //
-static inline void			ApplyClampedForce(	btSoftBody::Node& n,
-											  const btVector3& f,
-											  btScalar dt)
+static inline void ApplyClampedForce(btSoftBody::Node& n,
+									 const btVector3& f,
+									 btScalar dt)
 {
-	const btScalar	dtim=dt*n.m_im;
-	if((f*dtim).length2()>n.m_v.length2())
-	{/* Clamp	*/ 
-		n.m_f-=ProjectOnAxis(n.m_v,f.normalized())/dtim;						
+	const btScalar dtim = dt * n.m_im;
+	if ((f * dtim).length2() > n.m_v.length2())
+	{ /* Clamp	*/
+		n.m_f -= ProjectOnAxis(n.m_v, f.normalized()) / dtim;
 	}
 	else
-	{/* Apply	*/ 
-		n.m_f+=f;
+	{ /* Apply	*/
+		n.m_f += f;
 	}
 }
 
 //
-static inline int		MatchEdge(	const btSoftBody::Node* a,
-								  const btSoftBody::Node* b,
-								  const btSoftBody::Node* ma,
-								  const btSoftBody::Node* mb)
+static inline int MatchEdge(const btSoftBody::Node* a,
+							const btSoftBody::Node* b,
+							const btSoftBody::Node* ma,
+							const btSoftBody::Node* mb)
 {
-	if((a==ma)&&(b==mb)) return(0);
-	if((a==mb)&&(b==ma)) return(1);
-	return(-1);
+	if ((a == ma) && (b == mb)) return (0);
+	if ((a == mb) && (b == ma)) return (1);
+	return (-1);
 }
 
 //
@@ -557,58 +589,72 @@ static inline int		MatchEdge(	const btSoftBody::Node* a,
 // straitforward implementation of http://math.fullerton.edu/mathews/n2003/JacobiMethodMod.html
 // outputs are NOT sorted.
 //
-struct	btEigen
+struct btEigen
 {
-	static int			system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0)
+	static int system(btMatrix3x3& a, btMatrix3x3* vectors, btVector3* values = 0)
 	{
-		static const int		maxiterations=16;
-		static const btScalar	accuracy=(btScalar)0.0001;
-		btMatrix3x3&			v=*vectors;
-		int						iterations=0;
+		static const int maxiterations = 16;
+		static const btScalar accuracy = (btScalar)0.0001;
+		btMatrix3x3& v = *vectors;
+		int iterations = 0;
 		vectors->setIdentity();
-		do	{
-			int				p=0,q=1;
-			if(btFabs(a[p][q])<btFabs(a[0][2])) { p=0;q=2; }
-			if(btFabs(a[p][q])<btFabs(a[1][2])) { p=1;q=2; }
-			if(btFabs(a[p][q])>accuracy)
+		do
+		{
+			int p = 0, q = 1;
+			if (btFabs(a[p][q]) < btFabs(a[0][2]))
 			{
-				const btScalar	w=(a[q][q]-a[p][p])/(2*a[p][q]);
-				const btScalar	z=btFabs(w);
-				const btScalar	t=w/(z*(btSqrt(1+w*w)+z));
-				if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */ 
+				p = 0;
+				q = 2;
+			}
+			if (btFabs(a[p][q]) < btFabs(a[1][2]))
+			{
+				p = 1;
+				q = 2;
+			}
+			if (btFabs(a[p][q]) > accuracy)
+			{
+				const btScalar w = (a[q][q] - a[p][p]) / (2 * a[p][q]);
+				const btScalar z = btFabs(w);
+				const btScalar t = w / (z * (btSqrt(1 + w * w) + z));
+				if (t == t) /* [WARNING] let hope that one does not get thrown aways by some compilers... */
 				{
-					const btScalar	c=1/btSqrt(t*t+1);
-					const btScalar	s=c*t;
-					mulPQ(a,c,s,p,q);
-					mulTPQ(a,c,s,p,q);
-					mulPQ(v,c,s,p,q);
-				} else break;
-			} else break;
-		} while((++iterations)<maxiterations);
-		if(values)
+					const btScalar c = 1 / btSqrt(t * t + 1);
+					const btScalar s = c * t;
+					mulPQ(a, c, s, p, q);
+					mulTPQ(a, c, s, p, q);
+					mulPQ(v, c, s, p, q);
+				}
+				else
+					break;
+			}
+			else
+				break;
+		} while ((++iterations) < maxiterations);
+		if (values)
 		{
-			*values=btVector3(a[0][0],a[1][1],a[2][2]);
+			*values = btVector3(a[0][0], a[1][1], a[2][2]);
 		}
-		return(iterations);
+		return (iterations);
 	}
+
 private:
-	static inline void	mulTPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
+	static inline void mulTPQ(btMatrix3x3& a, btScalar c, btScalar s, int p, int q)
 	{
-		const btScalar	m[2][3]={	{a[p][0],a[p][1],a[p][2]},
-		{a[q][0],a[q][1],a[q][2]}};
+		const btScalar m[2][3] = {{a[p][0], a[p][1], a[p][2]},
+								  {a[q][0], a[q][1], a[q][2]}};
 		int i;
 
-		for(i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i];
-		for(i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i];
+		for (i = 0; i < 3; ++i) a[p][i] = c * m[0][i] - s * m[1][i];
+		for (i = 0; i < 3; ++i) a[q][i] = c * m[1][i] + s * m[0][i];
 	}
-	static inline void	mulPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
+	static inline void mulPQ(btMatrix3x3& a, btScalar c, btScalar s, int p, int q)
 	{
-		const btScalar	m[2][3]={	{a[0][p],a[1][p],a[2][p]},
-		{a[0][q],a[1][q],a[2][q]}};
+		const btScalar m[2][3] = {{a[0][p], a[1][p], a[2][p]},
+								  {a[0][q], a[1][q], a[2][q]}};
 		int i;
 
-		for(i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i];
-		for(i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i];
+		for (i = 0; i < 3; ++i) a[i][p] = c * m[0][i] - s * m[1][i];
+		for (i = 0; i < 3; ++i) a[i][q] = c * m[1][i] + s * m[0][i];
 	}
 };
 
@@ -616,9 +662,9 @@ private:
 // Polar decomposition,
 // "Computing the Polar Decomposition with Applications", Nicholas J. Higham, 1986.
 //
-static inline int			PolarDecompose(	const btMatrix3x3& m,btMatrix3x3& q,btMatrix3x3& s)
+static inline int PolarDecompose(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s)
 {
-	static const btPolarDecomposition polar;  
+	static const btPolarDecomposition polar;
 	return polar.decompose(m, q, s);
 }
 
@@ -630,282 +676,284 @@ struct btSoftColliders
 	//
 	// ClusterBase
 	//
-	struct	ClusterBase : btDbvt::ICollide
+	struct ClusterBase : btDbvt::ICollide
 	{
-		btScalar			erp;
-		btScalar			idt;
-		btScalar			m_margin;
-		btScalar			friction;
-		btScalar			threshold;
+		btScalar erp;
+		btScalar idt;
+		btScalar m_margin;
+		btScalar friction;
+		btScalar threshold;
 		ClusterBase()
 		{
-			erp			=(btScalar)1;
-			idt			=0;
-			m_margin		=0;
-			friction	=0;
-			threshold	=(btScalar)0;
+			erp = (btScalar)1;
+			idt = 0;
+			m_margin = 0;
+			friction = 0;
+			threshold = (btScalar)0;
 		}
-		bool				SolveContact(	const btGjkEpaSolver2::sResults& res,
-			btSoftBody::Body ba,const btSoftBody::Body bb,
-			btSoftBody::CJoint& joint)
+		bool SolveContact(const btGjkEpaSolver2::sResults& res,
+						  btSoftBody::Body ba, const btSoftBody::Body bb,
+						  btSoftBody::CJoint& joint)
 		{
-			if(res.distance<m_margin)
+			if (res.distance < m_margin)
 			{
 				btVector3 norm = res.normal;
-				norm.normalize();//is it necessary?
-
-				const btVector3		ra=res.witnesses[0]-ba.xform().getOrigin();
-				const btVector3		rb=res.witnesses[1]-bb.xform().getOrigin();
-				const btVector3		va=ba.velocity(ra);
-				const btVector3		vb=bb.velocity(rb);
-				const btVector3		vrel=va-vb;
-				const btScalar		rvac=btDot(vrel,norm);
-				 btScalar		depth=res.distance-m_margin;
-				
-//				printf("depth=%f\n",depth);
-				const btVector3		iv=norm*rvac;
-				const btVector3		fv=vrel-iv;
-				joint.m_bodies[0]	=	ba;
-				joint.m_bodies[1]	=	bb;
-				joint.m_refs[0]		=	ra*ba.xform().getBasis();
-				joint.m_refs[1]		=	rb*bb.xform().getBasis();
-				joint.m_rpos[0]		=	ra;
-				joint.m_rpos[1]		=	rb;
-				joint.m_cfm			=	1;
-				joint.m_erp			=	1;
-				joint.m_life		=	0;
-				joint.m_maxlife		=	0;
-				joint.m_split		=	1;
-				
-				joint.m_drift		=	depth*norm;
-
-				joint.m_normal		=	norm;
-//				printf("normal=%f,%f,%f\n",res.normal.getX(),res.normal.getY(),res.normal.getZ());
-				joint.m_delete		=	false;
-				joint.m_friction	=	fv.length2()<(rvac*friction*rvac*friction)?1:friction;
-				joint.m_massmatrix	=	ImpulseMatrix(	ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0],
-					bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]);
-
-				return(true);
+				norm.normalize();  //is it necessary?
+
+				const btVector3 ra = res.witnesses[0] - ba.xform().getOrigin();
+				const btVector3 rb = res.witnesses[1] - bb.xform().getOrigin();
+				const btVector3 va = ba.velocity(ra);
+				const btVector3 vb = bb.velocity(rb);
+				const btVector3 vrel = va - vb;
+				const btScalar rvac = btDot(vrel, norm);
+				btScalar depth = res.distance - m_margin;
+
+				//				printf("depth=%f\n",depth);
+				const btVector3 iv = norm * rvac;
+				const btVector3 fv = vrel - iv;
+				joint.m_bodies[0] = ba;
+				joint.m_bodies[1] = bb;
+				joint.m_refs[0] = ra * ba.xform().getBasis();
+				joint.m_refs[1] = rb * bb.xform().getBasis();
+				joint.m_rpos[0] = ra;
+				joint.m_rpos[1] = rb;
+				joint.m_cfm = 1;
+				joint.m_erp = 1;
+				joint.m_life = 0;
+				joint.m_maxlife = 0;
+				joint.m_split = 1;
+
+				joint.m_drift = depth * norm;
+
+				joint.m_normal = norm;
+				//				printf("normal=%f,%f,%f\n",res.normal.getX(),res.normal.getY(),res.normal.getZ());
+				joint.m_delete = false;
+				joint.m_friction = fv.length2() < (rvac * friction * rvac * friction) ? 1 : friction;
+				joint.m_massmatrix = ImpulseMatrix(ba.invMass(), ba.invWorldInertia(), joint.m_rpos[0],
+												   bb.invMass(), bb.invWorldInertia(), joint.m_rpos[1]);
+
+				return (true);
 			}
-			return(false);
+			return (false);
 		}
 	};
 	//
 	// CollideCL_RS
 	//
-	struct	CollideCL_RS : ClusterBase
+	struct CollideCL_RS : ClusterBase
 	{
-		btSoftBody*		psb;
-		const btCollisionObjectWrapper*	m_colObjWrap;
+		btSoftBody* psb;
+		const btCollisionObjectWrapper* m_colObjWrap;
 
-		void		Process(const btDbvtNode* leaf)
+		void Process(const btDbvtNode* leaf)
 		{
-			btSoftBody::Cluster*		cluster=(btSoftBody::Cluster*)leaf->data;
-			btSoftClusterCollisionShape	cshape(cluster);
-			
-			const btConvexShape*		rshape=(const btConvexShape*)m_colObjWrap->getCollisionShape();
+			btSoftBody::Cluster* cluster = (btSoftBody::Cluster*)leaf->data;
+			btSoftClusterCollisionShape cshape(cluster);
+
+			const btConvexShape* rshape = (const btConvexShape*)m_colObjWrap->getCollisionShape();
 
 			///don't collide an anchored cluster with a static/kinematic object
-			if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject() && cluster->m_containsAnchor)
+			if (m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject() && cluster->m_containsAnchor)
 				return;
 
-			btGjkEpaSolver2::sResults	res;		
-			if(btGjkEpaSolver2::SignedDistance(	&cshape,btTransform::getIdentity(),
-				rshape,m_colObjWrap->getWorldTransform(),
-				btVector3(1,0,0),res))
+			btGjkEpaSolver2::sResults res;
+			if (btGjkEpaSolver2::SignedDistance(&cshape, btTransform::getIdentity(),
+												rshape, m_colObjWrap->getWorldTransform(),
+												btVector3(1, 0, 0), res))
 			{
-				btSoftBody::CJoint	joint;
-				if(SolveContact(res,cluster,m_colObjWrap->getCollisionObject(),joint))//prb,joint))
+				btSoftBody::CJoint joint;
+				if (SolveContact(res, cluster, m_colObjWrap->getCollisionObject(), joint))  //prb,joint))
 				{
-					btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
-					*pj=joint;psb->m_joints.push_back(pj);
-					if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject())
+					btSoftBody::CJoint* pj = new (btAlignedAlloc(sizeof(btSoftBody::CJoint), 16)) btSoftBody::CJoint();
+					*pj = joint;
+					psb->m_joints.push_back(pj);
+					if (m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject())
 					{
-						pj->m_erp	*=	psb->m_cfg.kSKHR_CL;
-						pj->m_split	*=	psb->m_cfg.kSK_SPLT_CL;
+						pj->m_erp *= psb->m_cfg.kSKHR_CL;
+						pj->m_split *= psb->m_cfg.kSK_SPLT_CL;
 					}
 					else
 					{
-						pj->m_erp	*=	psb->m_cfg.kSRHR_CL;
-						pj->m_split	*=	psb->m_cfg.kSR_SPLT_CL;
+						pj->m_erp *= psb->m_cfg.kSRHR_CL;
+						pj->m_split *= psb->m_cfg.kSR_SPLT_CL;
 					}
 				}
 			}
 		}
-		void		ProcessColObj(btSoftBody* ps,const btCollisionObjectWrapper* colObWrap)
+		void ProcessColObj(btSoftBody* ps, const btCollisionObjectWrapper* colObWrap)
 		{
-			psb			=	ps;
-			m_colObjWrap			=	colObWrap;
-			idt			=	ps->m_sst.isdt;
-			m_margin		=	m_colObjWrap->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin();
+			psb = ps;
+			m_colObjWrap = colObWrap;
+			idt = ps->m_sst.isdt;
+			m_margin = m_colObjWrap->getCollisionShape()->getMargin() + psb->getCollisionShape()->getMargin();
 			///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful.
-			friction	=	btMin(psb->m_cfg.kDF,m_colObjWrap->getCollisionObject()->getFriction());
-			btVector3			mins;
-			btVector3			maxs;
-
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-			colObWrap->getCollisionShape()->getAabb(colObWrap->getWorldTransform(),mins,maxs);
-			volume=btDbvtVolume::FromMM(mins,maxs);
-			volume.Expand(btVector3(1,1,1)*m_margin);
-			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);
-		}	
+			friction = btMin(psb->m_cfg.kDF, m_colObjWrap->getCollisionObject()->getFriction());
+			btVector3 mins;
+			btVector3 maxs;
+
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)
+			volume;
+			colObWrap->getCollisionShape()->getAabb(colObWrap->getWorldTransform(), mins, maxs);
+			volume = btDbvtVolume::FromMM(mins, maxs);
+			volume.Expand(btVector3(1, 1, 1) * m_margin);
+			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root, volume, *this);
+		}
 	};
 	//
 	// CollideCL_SS
 	//
-	struct	CollideCL_SS : ClusterBase
+	struct CollideCL_SS : ClusterBase
 	{
-		btSoftBody*	bodies[2];
-		void		Process(const btDbvtNode* la,const btDbvtNode* lb)
+		btSoftBody* bodies[2];
+		void Process(const btDbvtNode* la, const btDbvtNode* lb)
 		{
-			btSoftBody::Cluster*		cla=(btSoftBody::Cluster*)la->data;
-			btSoftBody::Cluster*		clb=(btSoftBody::Cluster*)lb->data;
+			btSoftBody::Cluster* cla = (btSoftBody::Cluster*)la->data;
+			btSoftBody::Cluster* clb = (btSoftBody::Cluster*)lb->data;
 
-
-			bool connected=false;
-			if ((bodies[0]==bodies[1])&&(bodies[0]->m_clusterConnectivity.size()))
+			bool connected = false;
+			if ((bodies[0] == bodies[1]) && (bodies[0]->m_clusterConnectivity.size()))
 			{
-				connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex+bodies[0]->m_clusters.size()*clb->m_clusterIndex];
+				connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex + bodies[0]->m_clusters.size() * clb->m_clusterIndex];
 			}
 
 			if (!connected)
 			{
-				btSoftClusterCollisionShape	csa(cla);
-				btSoftClusterCollisionShape	csb(clb);
-				btGjkEpaSolver2::sResults	res;		
-				if(btGjkEpaSolver2::SignedDistance(	&csa,btTransform::getIdentity(),
-					&csb,btTransform::getIdentity(),
-					cla->m_com-clb->m_com,res))
+				btSoftClusterCollisionShape csa(cla);
+				btSoftClusterCollisionShape csb(clb);
+				btGjkEpaSolver2::sResults res;
+				if (btGjkEpaSolver2::SignedDistance(&csa, btTransform::getIdentity(),
+													&csb, btTransform::getIdentity(),
+													cla->m_com - clb->m_com, res))
 				{
-					btSoftBody::CJoint	joint;
-					if(SolveContact(res,cla,clb,joint))
+					btSoftBody::CJoint joint;
+					if (SolveContact(res, cla, clb, joint))
 					{
-						btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
-						*pj=joint;bodies[0]->m_joints.push_back(pj);
-						pj->m_erp	*=	btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL);
-						pj->m_split	*=	(bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2;
+						btSoftBody::CJoint* pj = new (btAlignedAlloc(sizeof(btSoftBody::CJoint), 16)) btSoftBody::CJoint();
+						*pj = joint;
+						bodies[0]->m_joints.push_back(pj);
+						pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL, bodies[1]->m_cfg.kSSHR_CL);
+						pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL + bodies[1]->m_cfg.kSS_SPLT_CL) / 2;
 					}
 				}
-			} else
+			}
+			else
 			{
-				static int count=0;
+				static int count = 0;
 				count++;
 				//printf("count=%d\n",count);
-				
 			}
 		}
-		void		ProcessSoftSoft(btSoftBody* psa,btSoftBody* psb)
+		void ProcessSoftSoft(btSoftBody* psa, btSoftBody* psb)
 		{
-			idt			=	psa->m_sst.isdt;
+			idt = psa->m_sst.isdt;
 			//m_margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
-			m_margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin());
-			friction	=	btMin(psa->m_cfg.kDF,psb->m_cfg.kDF);
-			bodies[0]	=	psa;
-			bodies[1]	=	psb;
-			psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this);
-		}	
+			m_margin = (psa->getCollisionShape()->getMargin() + psb->getCollisionShape()->getMargin());
+			friction = btMin(psa->m_cfg.kDF, psb->m_cfg.kDF);
+			bodies[0] = psa;
+			bodies[1] = psb;
+			psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root, psb->m_cdbvt.m_root, *this);
+		}
 	};
 	//
 	// CollideSDF_RS
 	//
-	struct	CollideSDF_RS : btDbvt::ICollide
+	struct CollideSDF_RS : btDbvt::ICollide
 	{
-		void		Process(const btDbvtNode* leaf)
+		void Process(const btDbvtNode* leaf)
 		{
-			btSoftBody::Node*	node=(btSoftBody::Node*)leaf->data;
+			btSoftBody::Node* node = (btSoftBody::Node*)leaf->data;
 			DoNode(*node);
 		}
-		void		DoNode(btSoftBody::Node& n) const
+		void DoNode(btSoftBody::Node& n) const
 		{
-			const btScalar			m=n.m_im>0?dynmargin:stamargin;
-			btSoftBody::RContact	c;
+			const btScalar m = n.m_im > 0 ? dynmargin : stamargin;
+			btSoftBody::RContact c;
 
-			if(	(!n.m_battach)&&
-				psb->checkContact(m_colObj1Wrap,n.m_x,m,c.m_cti))
+			if ((!n.m_battach) &&
+				psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti))
 			{
-				const btScalar	ima=n.m_im;
-				const btScalar	imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
-				const btScalar	ms=ima+imb;
-				if(ms>0)
+				const btScalar ima = n.m_im;
+				const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
+				const btScalar ms = ima + imb;
+				if (ms > 0)
 				{
-					const btTransform&	wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
-					static const btMatrix3x3	iwiStatic(0,0,0,0,0,0,0,0,0);
-					const btMatrix3x3&	iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
-					const btVector3		ra=n.m_x-wtr.getOrigin();
-					const btVector3		va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0);
-					const btVector3		vb=n.m_x-n.m_q;	
-					const btVector3		vr=vb-va;
-					const btScalar		dn=btDot(vr,c.m_cti.m_normal);
-					const btVector3		fv=vr-c.m_cti.m_normal*dn;
-					const btScalar		fc=psb->m_cfg.kDF*m_colObj1Wrap->getCollisionObject()->getFriction();
-					c.m_node	=	&n;
-					c.m_c0		=	ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
-					c.m_c1		=	ra;
-					c.m_c2		=	ima*psb->m_sst.sdt;
-			        c.m_c3		=	fv.length2()<(dn*fc*dn*fc)?0:1-fc;
-					c.m_c4		=	m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
+					const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
+					static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
+					const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
+					const btVector3 ra = n.m_x - wtr.getOrigin();
+					const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0);
+					const btVector3 vb = n.m_x - n.m_q;
+					const btVector3 vr = vb - va;
+					const btScalar dn = btDot(vr, c.m_cti.m_normal);
+					const btVector3 fv = vr - c.m_cti.m_normal * dn;
+					const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
+					c.m_node = &n;
+					c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra);
+					c.m_c1 = ra;
+					c.m_c2 = ima * psb->m_sst.sdt;
+					c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc;
+					c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
 					psb->m_rcontacts.push_back(c);
 					if (m_rigidBody)
 						m_rigidBody->activate();
 				}
 			}
 		}
-		btSoftBody*		psb;
-		const btCollisionObjectWrapper*	m_colObj1Wrap;
-		btRigidBody*	m_rigidBody;
-		btScalar		dynmargin;
-		btScalar		stamargin;
+		btSoftBody* psb;
+		const btCollisionObjectWrapper* m_colObj1Wrap;
+		btRigidBody* m_rigidBody;
+		btScalar dynmargin;
+		btScalar stamargin;
 	};
 	//
 	// CollideVF_SS
 	//
-	struct	CollideVF_SS : btDbvt::ICollide
+	struct CollideVF_SS : btDbvt::ICollide
 	{
-		void		Process(const btDbvtNode* lnode,
-			const btDbvtNode* lface)
+		void Process(const btDbvtNode* lnode,
+					 const btDbvtNode* lface)
 		{
-			btSoftBody::Node*	node=(btSoftBody::Node*)lnode->data;
-			btSoftBody::Face*	face=(btSoftBody::Face*)lface->data;
-			btVector3			o=node->m_x;
-			btVector3			p;
-			btScalar			d=SIMD_INFINITY;
-			ProjectOrigin(	face->m_n[0]->m_x-o,
-				face->m_n[1]->m_x-o,
-				face->m_n[2]->m_x-o,
-				p,d);
-			const btScalar	m=mrg+(o-node->m_q).length()*2;
-			if(d<(m*m))
+			btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
+			btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
+			btVector3 o = node->m_x;
+			btVector3 p;
+			btScalar d = SIMD_INFINITY;
+			ProjectOrigin(face->m_n[0]->m_x - o,
+						  face->m_n[1]->m_x - o,
+						  face->m_n[2]->m_x - o,
+						  p, d);
+			const btScalar m = mrg + (o - node->m_q).length() * 2;
+			if (d < (m * m))
 			{
-				const btSoftBody::Node*	n[]={face->m_n[0],face->m_n[1],face->m_n[2]};
-				const btVector3			w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o);
-				const btScalar			ma=node->m_im;
-				btScalar				mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w);
-				if(	(n[0]->m_im<=0)||
-					(n[1]->m_im<=0)||
-					(n[2]->m_im<=0))
+				const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]};
+				const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o);
+				const btScalar ma = node->m_im;
+				btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w);
+				if ((n[0]->m_im <= 0) ||
+					(n[1]->m_im <= 0) ||
+					(n[2]->m_im <= 0))
 				{
-					mb=0;
+					mb = 0;
 				}
-				const btScalar	ms=ma+mb;
-				if(ms>0)
+				const btScalar ms = ma + mb;
+				if (ms > 0)
 				{
-					btSoftBody::SContact	c;
-					c.m_normal		=	p/-btSqrt(d);
-					c.m_margin		=	m;
-					c.m_node		=	node;
-					c.m_face		=	face;
-					c.m_weights		=	w;
-					c.m_friction	=	btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF);
-					c.m_cfm[0]		=	ma/ms*psb[0]->m_cfg.kSHR;
-					c.m_cfm[1]		=	mb/ms*psb[1]->m_cfg.kSHR;
+					btSoftBody::SContact c;
+					c.m_normal = p / -btSqrt(d);
+					c.m_margin = m;
+					c.m_node = node;
+					c.m_face = face;
+					c.m_weights = w;
+					c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF);
+					c.m_cfm[0] = ma / ms * psb[0]->m_cfg.kSHR;
+					c.m_cfm[1] = mb / ms * psb[1]->m_cfg.kSHR;
 					psb[0]->m_scontacts.push_back(c);
 				}
-			}	
+			}
 		}
-		btSoftBody*		psb[2];
-		btScalar		mrg;
+		btSoftBody* psb[2];
+		btScalar mrg;
 	};
 };
 
-#endif //_BT_SOFT_BODY_INTERNALS_H
+#endif  //_BT_SOFT_BODY_INTERNALS_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
index f5a67f6d89..3127369ccd 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
@@ -23,27 +23,27 @@ subject to the following restrictions:
 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
 
 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
-:btDefaultCollisionConfiguration(constructionInfo)
+	: btDefaultCollisionConfiguration(constructionInfo)
 {
 	void* mem;
 
-	mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
-	m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc), 16);
+	m_softSoftCreateFunc = new (mem) btSoftSoftCollisionAlgorithm::CreateFunc;
 
-	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
-	m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
+	m_softRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
 
-	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
-	m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
-	m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
+	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
+	m_swappedSoftRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
+	m_swappedSoftRigidConvexCreateFunc->m_swapped = true;
 
 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
-	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
-	m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
+	m_softRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
 
-	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
-	m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
-	m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
+	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
+	m_swappedSoftRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
+	m_swappedSoftRigidConcaveCreateFunc->m_swapped = true;
 #endif
 
 	//replace pool by a new one, with potential larger size
@@ -53,82 +53,79 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
 		int curElemSize = m_collisionAlgorithmPool->getElementSize();
 		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
 
-
 		int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
 		int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
 		int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
 
-		int	collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
-		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
-		
+		int collisionAlgorithmMaxElementSize = btMax(maxSize0, maxSize1);
+		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
+
 		if (collisionAlgorithmMaxElementSize > curElemSize)
 		{
 			m_collisionAlgorithmPool->~btPoolAllocator();
 			btAlignedFree(m_collisionAlgorithmPool);
-			void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
-			m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
+			void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
+			m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
 		}
 	}
-
 }
 
 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
 {
 	m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(	m_softSoftCreateFunc);
+	btAlignedFree(m_softSoftCreateFunc);
 
 	m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(	m_softRigidConvexCreateFunc);
+	btAlignedFree(m_softRigidConvexCreateFunc);
 
 	m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(	m_swappedSoftRigidConvexCreateFunc);
+	btAlignedFree(m_swappedSoftRigidConvexCreateFunc);
 
 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
 	m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(	m_softRigidConcaveCreateFunc);
+	btAlignedFree(m_softRigidConcaveCreateFunc);
 
 	m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
-	btAlignedFree(	m_swappedSoftRigidConcaveCreateFunc);
+	btAlignedFree(m_swappedSoftRigidConcaveCreateFunc);
 #endif
 }
 
 ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
-btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
+btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
 {
-
 	///try to handle the softbody interactions first
 
-	if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE))
+	if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE) && (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE))
 	{
-		return	m_softSoftCreateFunc;
+		return m_softSoftCreateFunc;
 	}
 
 	///softbody versus convex
-	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  && btBroadphaseProxy::isConvex(proxyType1))
+	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
 	{
-		return	m_softRigidConvexCreateFunc;
+		return m_softRigidConvexCreateFunc;
 	}
 
 	///convex versus soft body
-	if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
+	if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
 	{
-		return	m_swappedSoftRigidConvexCreateFunc;
+		return m_swappedSoftRigidConvexCreateFunc;
 	}
 
 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
 	///softbody versus convex
-	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  && btBroadphaseProxy::isConcave(proxyType1))
+	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
 	{
-		return	m_softRigidConcaveCreateFunc;
+		return m_softRigidConcaveCreateFunc;
 	}
 
 	///convex versus soft body
-	if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
+	if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
 	{
-		return	m_swappedSoftRigidConcaveCreateFunc;
+		return m_swappedSoftRigidConcaveCreateFunc;
 	}
 #endif
 
 	///fallback to the regular rigid collision shape
-	return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
+	return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
 }
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
index 21addcfe2e..0396a52dac 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
@@ -21,28 +21,23 @@ subject to the following restrictions:
 class btVoronoiSimplexSolver;
 class btGjkEpaPenetrationDepthSolver;
 
-
 ///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
-class	btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration
+class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration
 {
-
 	//default CreationFunctions, filling the m_doubleDispatch table
-	btCollisionAlgorithmCreateFunc*	m_softSoftCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_softRigidConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_swappedSoftRigidConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_softRigidConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_swappedSoftRigidConcaveCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_softRigidConvexCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
+	btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
 
 public:
-
 	btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
 
 	virtual ~btSoftBodyRigidBodyCollisionConfiguration();
 
 	///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
-
+	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
 };
 
-#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
-
+#endif  //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h
index c4733d6400..bc538db4a2 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
 #define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
 
-
 class btVertexBufferDescriptor
 {
 public:
@@ -27,8 +26,7 @@ public:
 		OPENGL_BUFFER
 	};
 
-protected:	
-
+protected:
 	bool m_hasVertexPositions;
 	bool m_hasNormals;
 
@@ -51,7 +49,6 @@ public:
 
 	virtual ~btVertexBufferDescriptor()
 	{
-
 	}
 
 	virtual bool hasVertexPositions() const
@@ -102,7 +99,6 @@ public:
 	}
 };
 
-
 class btCPUVertexBufferDescriptor : public btVertexBufferDescriptor
 {
 protected:
@@ -114,7 +110,7 @@ public:
 	 * vertexOffset is the offset in floats to the first vertex.
 	 * vertexStride is the stride in floats between vertices.
 	 */
-	btCPUVertexBufferDescriptor( float *basePointer, int vertexOffset, int vertexStride )
+	btCPUVertexBufferDescriptor(float *basePointer, int vertexOffset, int vertexStride)
 	{
 		m_basePointer = basePointer;
 		m_vertexOffset = vertexOffset;
@@ -127,7 +123,7 @@ public:
 	 * vertexOffset is the offset in floats to the first vertex.
 	 * vertexStride is the stride in floats between vertices.
 	 */
-	btCPUVertexBufferDescriptor( float *basePointer, int vertexOffset, int vertexStride, int normalOffset, int normalStride )
+	btCPUVertexBufferDescriptor(float *basePointer, int vertexOffset, int vertexStride, int normalOffset, int normalStride)
 	{
 		m_basePointer = basePointer;
 
@@ -142,7 +138,6 @@ public:
 
 	virtual ~btCPUVertexBufferDescriptor()
 	{
-
 	}
 
 	/**
@@ -162,4 +157,4 @@ public:
 	}
 };
 
-#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
+#endif  // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h
index 6947bc27d2..dcf5082650 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h
@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
 
-
 class btSoftBodyTriangleData;
 class btSoftBodyLinkData;
 class btSoftBodyVertexData;
@@ -26,7 +25,6 @@ class btVertexBufferDescriptor;
 class btCollisionObject;
 class btSoftBody;
 
-
 class btSoftBodySolver
 {
 public:
@@ -40,17 +38,15 @@ public:
 		DX_SIMD_SOLVER
 	};
 
-
 protected:
 	int m_numberOfPositionIterations;
 	int m_numberOfVelocityIterations;
 	// Simulation timescale
 	float m_timeScale;
-	
+
 public:
-	btSoftBodySolver() :
-		m_numberOfPositionIterations( 10 ),
-		m_timeScale( 1 )
+	btSoftBodySolver() : m_numberOfPositionIterations(10),
+						 m_timeScale(1)
 	{
 		m_numberOfVelocityIterations = 0;
 		m_numberOfPositionIterations = 5;
@@ -59,39 +55,38 @@ public:
 	virtual ~btSoftBodySolver()
 	{
 	}
-	
+
 	/**
 	 * Return the type of the solver.
 	 */
 	virtual SolverTypes getSolverType() const = 0;
 
-
 	/** Ensure that this solver is initialized. */
 	virtual bool checkInitialized() = 0;
 
 	/** Optimize soft bodies in this solver. */
-	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false) = 0;
+	virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false) = 0;
 
 	/** Copy necessary data back to the original soft body source objects. */
 	virtual void copyBackToSoftBodies(bool bMove = true) = 0;
 
 	/** Predict motion of soft bodies into next timestep */
-	virtual void predictMotion( float solverdt ) = 0;
+	virtual void predictMotion(float solverdt) = 0;
 
 	/** Solve constraints for a set of soft bodies */
-	virtual void solveConstraints( float solverdt ) = 0;
+	virtual void solveConstraints(float solverdt) = 0;
 
 	/** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */
 	virtual void updateSoftBodies() = 0;
 
 	/** Process a collision between one of the world's soft bodies and another collision object */
-	virtual void processCollision( btSoftBody *, const struct btCollisionObjectWrapper* ) = 0;
+	virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *) = 0;
 
 	/** Process a collision between two soft bodies */
-	virtual void processCollision( btSoftBody*, btSoftBody* ) = 0;
+	virtual void processCollision(btSoftBody *, btSoftBody *) = 0;
 
 	/** Set the number of velocity constraint solver iterations this solver uses. */
-	virtual void setNumberOfPositionIterations( int iterations )
+	virtual void setNumberOfPositionIterations(int iterations)
 	{
 		m_numberOfPositionIterations = iterations;
 	}
@@ -103,7 +98,7 @@ public:
 	}
 
 	/** Set the number of velocity constraint solver iterations this solver uses. */
-	virtual void setNumberOfVelocityIterations( int iterations )
+	virtual void setNumberOfVelocityIterations(int iterations)
 	{
 		m_numberOfVelocityIterations = iterations;
 	}
@@ -135,7 +130,6 @@ public:
 class btSoftBodySolverOutput
 {
 protected:
-
 public:
 	btSoftBodySolverOutput()
 	{
@@ -145,10 +139,8 @@ public:
 	{
 	}
 
-
 	/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
-	virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) = 0;
+	virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) = 0;
 };
 
-
-#endif // #ifndef BT_SOFT_BODY_SOLVERS_H
+#endif  // #ifndef BT_SOFT_BODY_SOLVERS_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
index 4e76dca9db..282dbf75f0 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btSoftMultiBodyDynamicsWorld.h"
 #include "LinearMath/btQuickprof.h"
 
@@ -24,42 +23,38 @@ subject to the following restrictions:
 #include "BulletSoftBody/btDefaultSoftBodySolver.h"
 #include "LinearMath/btSerializer.h"
 
-
 btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld(
 	btDispatcher* dispatcher,
 	btBroadphaseInterface* pairCache,
 	btMultiBodyConstraintSolver* constraintSolver,
 	btCollisionConfiguration* collisionConfiguration,
-	btSoftBodySolver *softBodySolver ) : 
-		btMultiBodyDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
-        m_softBodySolver( softBodySolver ),
-        m_ownsSolver(false)
+	btSoftBodySolver* softBodySolver) : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
+										m_softBodySolver(softBodySolver),
+										m_ownsSolver(false)
 {
-	if( !m_softBodySolver )
+	if (!m_softBodySolver)
 	{
-		void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver),16);
-		m_softBodySolver = new(ptr) btDefaultSoftBodySolver();
+		void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
+		m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
 		m_ownsSolver = true;
 	}
 
-	m_drawFlags			=	fDrawFlags::Std;
-	m_drawNodeTree		=	true;
-	m_drawFaceTree		=	false;
-	m_drawClusterTree	=	false;
+	m_drawFlags = fDrawFlags::Std;
+	m_drawNodeTree = true;
+	m_drawFaceTree = false;
+	m_drawClusterTree = false;
 	m_sbi.m_broadphase = pairCache;
 	m_sbi.m_dispatcher = dispatcher;
 	m_sbi.m_sparsesdf.Initialize();
 	m_sbi.m_sparsesdf.Reset();
 
-	m_sbi.air_density		=	(btScalar)1.2;
-	m_sbi.water_density	=	0;
-	m_sbi.water_offset		=	0;
-	m_sbi.water_normal		=	btVector3(0,0,0);
-	m_sbi.m_gravity.setValue(0,-10,0);
+	m_sbi.air_density = (btScalar)1.2;
+	m_sbi.water_density = 0;
+	m_sbi.water_offset = 0;
+	m_sbi.water_normal = btVector3(0, 0, 0);
+	m_sbi.m_gravity.setValue(0, -10, 0);
 
 	m_sbi.m_sparsesdf.Initialize();
-
-
 }
 
 btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld()
@@ -71,82 +66,78 @@ btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld()
 	}
 }
 
-void	btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
-	btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep );
+	btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
 	{
 		BT_PROFILE("predictUnconstraintMotionSoftBody");
-		m_softBodySolver->predictMotion( float(timeStep) );
+		m_softBodySolver->predictMotion(float(timeStep));
 	}
 }
 
-void	btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation( btScalar timeStep )
+void btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 {
-
 	// Let the solver grab the soft bodies and if necessary optimize for it
-	m_softBodySolver->optimize( getSoftBodyArray() );
+	m_softBodySolver->optimize(getSoftBodyArray());
 
-	if( !m_softBodySolver->checkInitialized() )
+	if (!m_softBodySolver->checkInitialized())
 	{
-		btAssert( "Solver initialization failed\n" );
+		btAssert("Solver initialization failed\n");
 	}
 
-	btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
+	btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
 
 	///solve soft bodies constraints
-	solveSoftBodiesConstraints( timeStep );
+	solveSoftBodiesConstraints(timeStep);
 
 	//self collisions
-	for ( int i=0;i<m_softBodies.size();i++)
+	for (int i = 0; i < m_softBodies.size(); i++)
 	{
-		btSoftBody*	psb=(btSoftBody*)m_softBodies[i];
+		btSoftBody* psb = (btSoftBody*)m_softBodies[i];
 		psb->defaultCollisionHandler(psb);
 	}
 
 	///update soft bodies
-	m_softBodySolver->updateSoftBodies( );
-	
+	m_softBodySolver->updateSoftBodies();
+
 	// End solver-wise simulation step
 	// ///////////////////////////////
-
 }
 
-void	btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep )
+void btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
 {
 	BT_PROFILE("solveSoftConstraints");
 
-	if(m_softBodies.size())
+	if (m_softBodies.size())
 	{
 		btSoftBody::solveClusters(m_softBodies);
 	}
 
 	// Solve constraints solver-wise
-	m_softBodySolver->solveConstraints( timeStep * m_softBodySolver->getTimeScale() );
-
+	m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
 }
 
-void	btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
+void btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
 {
 	m_softBodies.push_back(body);
 
 	// Set the soft body solver that will deal with this body
 	// to be the world's solver
-	body->setSoftBodySolver( m_softBodySolver );
+	body->setSoftBodySolver(m_softBodySolver);
 
 	btCollisionWorld::addCollisionObject(body,
-		collisionFilterGroup,
-		collisionFilterMask);
-
+										 collisionFilterGroup,
+										 collisionFilterMask);
 }
 
-void	btSoftMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
+void btSoftMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
 {
 	m_softBodies.remove(body);
 
 	btCollisionWorld::removeCollisionObject(body);
 }
 
-void	btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
 {
 	btSoftBody* body = btSoftBody::upcast(collisionObject);
 	if (body)
@@ -155,60 +146,57 @@ void	btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* coll
 		btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
 }
 
-void	btSoftMultiBodyDynamicsWorld::debugDrawWorld()
+void btSoftMultiBodyDynamicsWorld::debugDrawWorld()
 {
-	btDiscreteDynamicsWorld::debugDrawWorld();
+	btMultiBodyDynamicsWorld::debugDrawWorld();
 
 	if (getDebugDrawer())
 	{
 		int i;
-		for (  i=0;i<this->m_softBodies.size();i++)
+		for (i = 0; i < this->m_softBodies.size(); i++)
 		{
-			btSoftBody*	psb=(btSoftBody*)this->m_softBodies[i];
+			btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
 			if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
 			{
-				btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
-				btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
+				btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
+				btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
 			}
-			
+
 			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 			{
-				if(m_drawNodeTree)		btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
-				if(m_drawFaceTree)		btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
-				if(m_drawClusterTree)	btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
+				if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
+				if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
+				if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
 			}
-		}		
-	}	
+		}
+	}
 }
 
-
-
-
 struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 {
-	btVector3	m_rayFromWorld;
-	btVector3	m_rayToWorld;
-	btTransform	m_rayFromTrans;
-	btTransform	m_rayToTrans;
-	btVector3	m_hitNormal;
-
-	const btSoftMultiBodyDynamicsWorld*	m_world;
-	btCollisionWorld::RayResultCallback&	m_resultCallback;
-
-	btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftMultiBodyDynamicsWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
-	:m_rayFromWorld(rayFromWorld),
-	m_rayToWorld(rayToWorld),
-	m_world(world),
-	m_resultCallback(resultCallback)
+	btVector3 m_rayFromWorld;
+	btVector3 m_rayToWorld;
+	btTransform m_rayFromTrans;
+	btTransform m_rayToTrans;
+	btVector3 m_hitNormal;
+
+	const btSoftMultiBodyDynamicsWorld* m_world;
+	btCollisionWorld::RayResultCallback& m_resultCallback;
+
+	btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
+		: m_rayFromWorld(rayFromWorld),
+		  m_rayToWorld(rayToWorld),
+		  m_world(world),
+		  m_resultCallback(resultCallback)
 	{
 		m_rayFromTrans.setIdentity();
 		m_rayFromTrans.setOrigin(m_rayFromWorld);
 		m_rayToTrans.setIdentity();
 		m_rayToTrans.setOrigin(m_rayToWorld);
 
-		btVector3 rayDir = (rayToWorld-rayFromWorld);
+		btVector3 rayDir = (rayToWorld - rayFromWorld);
 
-		rayDir.normalize ();
+		rayDir.normalize();
 		///what about division by zero? --> just set rayDirection[i] to INF/1e30
 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
 		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
@@ -217,22 +205,19 @@ struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
 		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
 
-		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
-
+		m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
 	}
 
-	
-
-	virtual bool	process(const btBroadphaseProxy* proxy)
+	virtual bool process(const btBroadphaseProxy* proxy)
 	{
 		///terminate further ray tests, once the closestHitFraction reached zero
 		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
 			return false;
 
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
 
 		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
 		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
 			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
@@ -250,118 +235,116 @@ struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 			//culling already done by broadphase
 			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
 			{
-				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
-					collisionObject,
-						collisionObject->getCollisionShape(),
-						collisionObject->getWorldTransform(),
-						m_resultCallback);
+				m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
+									   collisionObject,
+									   collisionObject->getCollisionShape(),
+									   collisionObject->getWorldTransform(),
+									   m_resultCallback);
 			}
 		}
 		return true;
 	}
 };
 
-void	btSoftMultiBodyDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
+void btSoftMultiBodyDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {
 	BT_PROFILE("rayTest");
 	/// use the broadphase to accelerate the search for objects, based on their aabb
 	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
+	btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
 
 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
+	m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
 #else
-	for (int i=0;i<this->getNumCollisionObjects();i++)
+	for (int i = 0; i < this->getNumCollisionObjects(); i++)
 	{
 		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}	
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
-
+	}
+#endif  //USE_BRUTEFORCE_RAYBROADPHASE
 }
 
-
-void	btSoftMultiBodyDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback)
+void btSoftMultiBodyDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+												 btCollisionObject* collisionObject,
+												 const btCollisionShape* collisionShape,
+												 const btTransform& colObjWorldTransform,
+												 RayResultCallback& resultCallback)
 {
-	if (collisionShape->isSoftBody()) {
+	if (collisionShape->isSoftBody())
+	{
 		btSoftBody* softBody = btSoftBody::upcast(collisionObject);
-		if (softBody) {
+		if (softBody)
+		{
 			btSoftBody::sRayCast softResult;
-			if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult)) 
+			if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
 			{
-				
-				if (softResult.fraction<= resultCallback.m_closestHitFraction)
+				if (softResult.fraction <= resultCallback.m_closestHitFraction)
 				{
-
 					btCollisionWorld::LocalShapeInfo shapeInfo;
 					shapeInfo.m_shapePart = 0;
 					shapeInfo.m_triangleIndex = softResult.index;
 					// get the normal
 					btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
-					btVector3 normal=-rayDir;
+					btVector3 normal = -rayDir;
 					normal.normalize();
 
 					if (softResult.feature == btSoftBody::eFeature::Face)
 					{
 						normal = softBody->m_faces[softResult.index].m_normal;
-						if (normal.dot(rayDir) > 0) {
+						if (normal.dot(rayDir) > 0)
+						{
 							// normal always point toward origin of the ray
 							normal = -normal;
 						}
 					}
-	
-					btCollisionWorld::LocalRayResult rayResult
-						(collisionObject,
-						 &shapeInfo,
-						 normal,
-						 softResult.fraction);
-					bool	normalInWorldSpace = true;
-					resultCallback.addSingleResult(rayResult,normalInWorldSpace);
+
+					btCollisionWorld::LocalRayResult rayResult(collisionObject,
+															   &shapeInfo,
+															   normal,
+															   softResult.fraction);
+					bool normalInWorldSpace = true;
+					resultCallback.addSingleResult(rayResult, normalInWorldSpace);
 				}
 			}
 		}
-	} 
-	else {
-		btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback);
+	}
+	else
+	{
+		btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
 	}
 }
 
-
-void	btSoftMultiBodyDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
+void btSoftMultiBodyDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
 {
 	int i;
 	//serialize all collision objects
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
 		{
 			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len,1);
+			btChunk* chunk = serializer->allocate(len, 1);
 			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_SOFTBODY_CODE,colObj);
+			serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
 		}
 	}
-
 }
 
-void	btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
+void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
 {
-
 	serializer->startSerialization();
 
-	serializeDynamicsWorldInfo( serializer);
+	serializeDynamicsWorldInfo(serializer);
 
 	serializeSoftBodies(serializer);
 
+	serializeMultiBodies(serializer);
+
 	serializeRigidBodies(serializer);
 
 	serializeCollisionObjects(serializer);
 
+	serializeContactManifolds(serializer);
+
 	serializer->finishSerialization();
 }
-
-
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
index 6d46a21db5..f295945a6d 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
@@ -21,64 +21,61 @@ subject to the following restrictions:
 #include "BulletSoftBody/btSoftBody.h"
 
 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
-typedef	btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
+typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
 #endif
 
 class btSoftBodySolver;
 
 class btSoftMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
 {
-
-	btSoftBodyArray	m_softBodies;
-	int				m_drawFlags;
-	bool			m_drawNodeTree;
-	bool			m_drawFaceTree;
-	bool			m_drawClusterTree;
+	btSoftBodyArray m_softBodies;
+	int m_drawFlags;
+	bool m_drawNodeTree;
+	bool m_drawFaceTree;
+	bool m_drawClusterTree;
 	btSoftBodyWorldInfo m_sbi;
 	///Solver classes that encapsulate multiple soft bodies for solving
-	btSoftBodySolver *m_softBodySolver;
-	bool			m_ownsSolver;
+	btSoftBodySolver* m_softBodySolver;
+	bool m_ownsSolver;
 
 protected:
+	virtual void predictUnconstraintMotion(btScalar timeStep);
 
-	virtual void	predictUnconstraintMotion(btScalar timeStep);
-
-	virtual void	internalSingleStepSimulation( btScalar timeStep);
+	virtual void internalSingleStepSimulation(btScalar timeStep);
 
-	void	solveSoftBodiesConstraints( btScalar timeStep );
+	void solveSoftBodiesConstraints(btScalar timeStep);
 
-	void	serializeSoftBodies(btSerializer* serializer);
+	void serializeSoftBodies(btSerializer* serializer);
 
 public:
-
-	btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
+	btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
 
 	virtual ~btSoftMultiBodyDynamicsWorld();
 
-	virtual void	debugDrawWorld();
+	virtual void debugDrawWorld();
 
-	void	addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
+	void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
 
-	void	removeSoftBody(btSoftBody* body);
+	void removeSoftBody(btSoftBody* body);
 
 	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
+	virtual void removeCollisionObject(btCollisionObject* collisionObject);
 
-	int		getDrawFlags() const { return(m_drawFlags); }
-	void	setDrawFlags(int f)	{ m_drawFlags=f; }
+	int getDrawFlags() const { return (m_drawFlags); }
+	void setDrawFlags(int f) { m_drawFlags = f; }
 
-	btSoftBodyWorldInfo&	getWorldInfo()
+	btSoftBodyWorldInfo& getWorldInfo()
 	{
 		return m_sbi;
 	}
-	const btSoftBodyWorldInfo&	getWorldInfo() const
+	const btSoftBodyWorldInfo& getWorldInfo() const
 	{
 		return m_sbi;
 	}
 
-	virtual btDynamicsWorldType	getWorldType() const
+	virtual btDynamicsWorldType getWorldType() const
 	{
-		return	BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
+		return BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
 	}
 
 	btSoftBodyArray& getSoftBodyArray()
@@ -91,20 +88,18 @@ public:
 		return m_softBodies;
 	}
 
-
-	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 
+	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
 	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
 	/// This allows more customization.
-	static void	rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback);
-
-	virtual	void	serialize(btSerializer* serializer);
+	static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+							  btCollisionObject* collisionObject,
+							  const btCollisionShape* collisionShape,
+							  const btTransform& colObjWorldTransform,
+							  RayResultCallback& resultCallback);
 
+	virtual void serialize(btSerializer* serializer);
 };
 
-#endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
+#endif  //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
index 01c148a2ca..56d8083f22 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
@@ -27,18 +27,16 @@ subject to the following restrictions:
 
 //#include <stdio.h>
 
-btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* , bool isSwapped)
-: btCollisionAlgorithm(ci),
-//m_ownManifold(false),
-//m_manifoldPtr(mf),
-m_isSwapped(isSwapped)
+btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*, bool isSwapped)
+	: btCollisionAlgorithm(ci),
+	  //m_ownManifold(false),
+	  //m_manifoldPtr(mf),
+	  m_isSwapped(isSwapped)
 {
 }
 
-
 btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
 {
-
 	//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
 
 	/*if (m_ownManifold)
@@ -47,31 +45,27 @@ btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
 	m_dispatcher->releaseManifold(m_manifoldPtr);
 	}
 	*/
-
 }
 
-
 #include <stdio.h>
 
-void btSoftRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftRigidCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	(void)resultOut;
 	//printf("btSoftRigidCollisionAlgorithm\n");
-//	const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
-//	const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
-	btSoftBody* softBody =  m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
-	const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap;
-	
-	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size())
+	//	const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
+	//	const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
+	btSoftBody* softBody = m_isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
+	const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped ? body0Wrap : body1Wrap;
+
+	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject()) == softBody->m_collisionDisabledObjects.size())
 	{
 		softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
 	}
-
-
 }
 
-btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;
@@ -81,6 +75,3 @@ btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 	//not yet
 	return btScalar(1.);
 }
-
-
-
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
index 93fcc6065b..9773af19a0 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
@@ -35,41 +35,37 @@ class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
 	//btCollisionObject*		m_rigidCollisionObject;
 
 	///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
-	bool	m_isSwapped;
+	bool m_isSwapped;
 
 public:
-
-	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0,const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
+	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0, const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
 
 	virtual ~btSoftRigidCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		//we don't add any manifolds
 	}
 
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
-			} else
+				return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
+			}
+			else
 			{
-				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
+				return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
 			}
 		}
 	};
-
 };
 
-#endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
-
-
+#endif  //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
index 204b4f576d..510b731fc1 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btSoftRigidDynamicsWorld.h"
 #include "LinearMath/btQuickprof.h"
 
@@ -24,42 +23,38 @@ subject to the following restrictions:
 #include "btDefaultSoftBodySolver.h"
 #include "LinearMath/btSerializer.h"
 
-
 btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
 	btDispatcher* dispatcher,
 	btBroadphaseInterface* pairCache,
 	btConstraintSolver* constraintSolver,
 	btCollisionConfiguration* collisionConfiguration,
-	btSoftBodySolver *softBodySolver ) : 
-		btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
-		m_softBodySolver( softBodySolver ),
-		m_ownsSolver(false)
+	btSoftBodySolver* softBodySolver) : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
+										m_softBodySolver(softBodySolver),
+										m_ownsSolver(false)
 {
-	if( !m_softBodySolver )
+	if (!m_softBodySolver)
 	{
-		void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver),16);
-		m_softBodySolver = new(ptr) btDefaultSoftBodySolver();
+		void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
+		m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
 		m_ownsSolver = true;
 	}
 
-	m_drawFlags			=	fDrawFlags::Std;
-	m_drawNodeTree		=	true;
-	m_drawFaceTree		=	false;
-	m_drawClusterTree	=	false;
+	m_drawFlags = fDrawFlags::Std;
+	m_drawNodeTree = true;
+	m_drawFaceTree = false;
+	m_drawClusterTree = false;
 	m_sbi.m_broadphase = pairCache;
 	m_sbi.m_dispatcher = dispatcher;
 	m_sbi.m_sparsesdf.Initialize();
 	m_sbi.m_sparsesdf.Reset();
 
-	m_sbi.air_density		=	(btScalar)1.2;
-	m_sbi.water_density	=	0;
-	m_sbi.water_offset		=	0;
-	m_sbi.water_normal		=	btVector3(0,0,0);
-	m_sbi.m_gravity.setValue(0,-10,0);
+	m_sbi.air_density = (btScalar)1.2;
+	m_sbi.water_density = 0;
+	m_sbi.water_offset = 0;
+	m_sbi.water_normal = btVector3(0, 0, 0);
+	m_sbi.m_gravity.setValue(0, -10, 0);
 
 	m_sbi.m_sparsesdf.Initialize();
-
-
 }
 
 btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
@@ -71,82 +66,78 @@ btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
 	}
 }
 
-void	btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
-	btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep );
+	btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
 	{
 		BT_PROFILE("predictUnconstraintMotionSoftBody");
-		m_softBodySolver->predictMotion( float(timeStep) );
+		m_softBodySolver->predictMotion(float(timeStep));
 	}
 }
 
-void	btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep )
+void btSoftRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 {
-
 	// Let the solver grab the soft bodies and if necessary optimize for it
-	m_softBodySolver->optimize( getSoftBodyArray() );
+	m_softBodySolver->optimize(getSoftBodyArray());
 
-	if( !m_softBodySolver->checkInitialized() )
+	if (!m_softBodySolver->checkInitialized())
 	{
-		btAssert( "Solver initialization failed\n" );
+		btAssert("Solver initialization failed\n");
 	}
 
-	btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
+	btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
 
 	///solve soft bodies constraints
-	solveSoftBodiesConstraints( timeStep );
+	solveSoftBodiesConstraints(timeStep);
 
 	//self collisions
-	for ( int i=0;i<m_softBodies.size();i++)
+	for (int i = 0; i < m_softBodies.size(); i++)
 	{
-		btSoftBody*	psb=(btSoftBody*)m_softBodies[i];
+		btSoftBody* psb = (btSoftBody*)m_softBodies[i];
 		psb->defaultCollisionHandler(psb);
 	}
 
 	///update soft bodies
-	m_softBodySolver->updateSoftBodies( );
-	
+	m_softBodySolver->updateSoftBodies();
+
 	// End solver-wise simulation step
 	// ///////////////////////////////
-
 }
 
-void	btSoftRigidDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep )
+void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
 {
 	BT_PROFILE("solveSoftConstraints");
 
-	if(m_softBodies.size())
+	if (m_softBodies.size())
 	{
 		btSoftBody::solveClusters(m_softBodies);
 	}
 
 	// Solve constraints solver-wise
-	m_softBodySolver->solveConstraints( timeStep * m_softBodySolver->getTimeScale() );
-
+	m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
 }
 
-void	btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
+void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
 {
 	m_softBodies.push_back(body);
 
 	// Set the soft body solver that will deal with this body
 	// to be the world's solver
-	body->setSoftBodySolver( m_softBodySolver );
+	body->setSoftBodySolver(m_softBodySolver);
 
 	btCollisionWorld::addCollisionObject(body,
-		collisionFilterGroup,
-		collisionFilterMask);
-
+										 collisionFilterGroup,
+										 collisionFilterMask);
 }
 
-void	btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
+void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
 {
 	m_softBodies.remove(body);
 
 	btCollisionWorld::removeCollisionObject(body);
 }
 
-void	btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
 {
 	btSoftBody* body = btSoftBody::upcast(collisionObject);
 	if (body)
@@ -155,60 +146,57 @@ void	btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisio
 		btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
 }
 
-void	btSoftRigidDynamicsWorld::debugDrawWorld()
+void btSoftRigidDynamicsWorld::debugDrawWorld()
 {
 	btDiscreteDynamicsWorld::debugDrawWorld();
 
 	if (getDebugDrawer())
 	{
 		int i;
-		for (  i=0;i<this->m_softBodies.size();i++)
+		for (i = 0; i < this->m_softBodies.size(); i++)
 		{
-			btSoftBody*	psb=(btSoftBody*)this->m_softBodies[i];
+			btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
 			if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
 			{
-				btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
-				btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
+				btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
+				btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
 			}
-			
+
 			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 			{
-				if(m_drawNodeTree)		btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
-				if(m_drawFaceTree)		btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
-				if(m_drawClusterTree)	btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
+				if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
+				if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
+				if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
 			}
-		}		
-	}	
+		}
+	}
 }
 
-
-
-
 struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 {
-	btVector3	m_rayFromWorld;
-	btVector3	m_rayToWorld;
-	btTransform	m_rayFromTrans;
-	btTransform	m_rayToTrans;
-	btVector3	m_hitNormal;
-
-	const btSoftRigidDynamicsWorld*	m_world;
-	btCollisionWorld::RayResultCallback&	m_resultCallback;
-
-	btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftRigidDynamicsWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
-	:m_rayFromWorld(rayFromWorld),
-	m_rayToWorld(rayToWorld),
-	m_world(world),
-	m_resultCallback(resultCallback)
+	btVector3 m_rayFromWorld;
+	btVector3 m_rayToWorld;
+	btTransform m_rayFromTrans;
+	btTransform m_rayToTrans;
+	btVector3 m_hitNormal;
+
+	const btSoftRigidDynamicsWorld* m_world;
+	btCollisionWorld::RayResultCallback& m_resultCallback;
+
+	btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftRigidDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
+		: m_rayFromWorld(rayFromWorld),
+		  m_rayToWorld(rayToWorld),
+		  m_world(world),
+		  m_resultCallback(resultCallback)
 	{
 		m_rayFromTrans.setIdentity();
 		m_rayFromTrans.setOrigin(m_rayFromWorld);
 		m_rayToTrans.setIdentity();
 		m_rayToTrans.setOrigin(m_rayToWorld);
 
-		btVector3 rayDir = (rayToWorld-rayFromWorld);
+		btVector3 rayDir = (rayToWorld - rayFromWorld);
 
-		rayDir.normalize ();
+		rayDir.normalize();
 		///what about division by zero? --> just set rayDirection[i] to INF/1e30
 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
 		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
@@ -217,22 +205,19 @@ struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
 		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
 
-		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
-
+		m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
 	}
 
-	
-
-	virtual bool	process(const btBroadphaseProxy* proxy)
+	virtual bool process(const btBroadphaseProxy* proxy)
 	{
 		///terminate further ray tests, once the closestHitFraction reached zero
 		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
 			return false;
 
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+		btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
 
 		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
 		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
 			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
@@ -250,110 +235,106 @@ struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 			//culling already done by broadphase
 			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
 			{
-				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
-					collisionObject,
-						collisionObject->getCollisionShape(),
-						collisionObject->getWorldTransform(),
-						m_resultCallback);
+				m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
+									   collisionObject,
+									   collisionObject->getCollisionShape(),
+									   collisionObject->getWorldTransform(),
+									   m_resultCallback);
 			}
 		}
 		return true;
 	}
 };
 
-void	btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
+void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {
 	BT_PROFILE("rayTest");
 	/// use the broadphase to accelerate the search for objects, based on their aabb
 	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
+	btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
 
 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
+	m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
 #else
-	for (int i=0;i<this->getNumCollisionObjects();i++)
+	for (int i = 0; i < this->getNumCollisionObjects(); i++)
 	{
 		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}	
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
-
+	}
+#endif  //USE_BRUTEFORCE_RAYBROADPHASE
 }
 
-
-void	btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback)
+void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+											 btCollisionObject* collisionObject,
+											 const btCollisionShape* collisionShape,
+											 const btTransform& colObjWorldTransform,
+											 RayResultCallback& resultCallback)
 {
-	if (collisionShape->isSoftBody()) {
+	if (collisionShape->isSoftBody())
+	{
 		btSoftBody* softBody = btSoftBody::upcast(collisionObject);
-		if (softBody) {
+		if (softBody)
+		{
 			btSoftBody::sRayCast softResult;
-			if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult)) 
+			if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
 			{
-				
-				if (softResult.fraction<= resultCallback.m_closestHitFraction)
+				if (softResult.fraction <= resultCallback.m_closestHitFraction)
 				{
-
 					btCollisionWorld::LocalShapeInfo shapeInfo;
 					shapeInfo.m_shapePart = 0;
 					shapeInfo.m_triangleIndex = softResult.index;
 					// get the normal
 					btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
-					btVector3 normal=-rayDir;
+					btVector3 normal = -rayDir;
 					normal.normalize();
 
 					if (softResult.feature == btSoftBody::eFeature::Face)
 					{
 						normal = softBody->m_faces[softResult.index].m_normal;
-						if (normal.dot(rayDir) > 0) {
+						if (normal.dot(rayDir) > 0)
+						{
 							// normal always point toward origin of the ray
 							normal = -normal;
 						}
 					}
-	
-					btCollisionWorld::LocalRayResult rayResult
-						(collisionObject,
-						 &shapeInfo,
-						 normal,
-						 softResult.fraction);
-					bool	normalInWorldSpace = true;
-					resultCallback.addSingleResult(rayResult,normalInWorldSpace);
+
+					btCollisionWorld::LocalRayResult rayResult(collisionObject,
+															   &shapeInfo,
+															   normal,
+															   softResult.fraction);
+					bool normalInWorldSpace = true;
+					resultCallback.addSingleResult(rayResult, normalInWorldSpace);
 				}
 			}
 		}
-	} 
-	else {
-		btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback);
+	}
+	else
+	{
+		btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
 	}
 }
 
-
-void	btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
+void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
 {
 	int i;
 	//serialize all collision objects
-	for (i=0;i<m_collisionObjects.size();i++)
+	for (i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
 		if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
 		{
 			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len,1);
+			btChunk* chunk = serializer->allocate(len, 1);
 			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_SOFTBODY_CODE,colObj);
+			serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
 		}
 	}
-
 }
 
-void	btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
+void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
 {
-
 	serializer->startSerialization();
 
-	serializeDynamicsWorldInfo( serializer);
+	serializeDynamicsWorldInfo(serializer);
 
 	serializeSoftBodies(serializer);
 
@@ -363,5 +344,3 @@ void	btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializer->finishSerialization();
 }
-
-
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h
index d921a6488d..be49c444d7 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h
@@ -19,63 +19,60 @@ subject to the following restrictions:
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 #include "btSoftBody.h"
 
-typedef	btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
+typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
 
 class btSoftBodySolver;
 
 class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
 {
-
-	btSoftBodyArray	m_softBodies;
-	int				m_drawFlags;
-	bool			m_drawNodeTree;
-	bool			m_drawFaceTree;
-	bool			m_drawClusterTree;
+	btSoftBodyArray m_softBodies;
+	int m_drawFlags;
+	bool m_drawNodeTree;
+	bool m_drawFaceTree;
+	bool m_drawClusterTree;
 	btSoftBodyWorldInfo m_sbi;
 	///Solver classes that encapsulate multiple soft bodies for solving
-	btSoftBodySolver *m_softBodySolver;
-	bool			m_ownsSolver;
+	btSoftBodySolver* m_softBodySolver;
+	bool m_ownsSolver;
 
 protected:
+	virtual void predictUnconstraintMotion(btScalar timeStep);
 
-	virtual void	predictUnconstraintMotion(btScalar timeStep);
-
-	virtual void	internalSingleStepSimulation( btScalar timeStep);
+	virtual void internalSingleStepSimulation(btScalar timeStep);
 
-	void	solveSoftBodiesConstraints( btScalar timeStep );
+	void solveSoftBodiesConstraints(btScalar timeStep);
 
-	void	serializeSoftBodies(btSerializer* serializer);
+	void serializeSoftBodies(btSerializer* serializer);
 
 public:
-
-	btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
+	btSoftRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
 
 	virtual ~btSoftRigidDynamicsWorld();
 
-	virtual void	debugDrawWorld();
+	virtual void debugDrawWorld();
 
-	void	addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
+	void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
 
-	void	removeSoftBody(btSoftBody* body);
+	void removeSoftBody(btSoftBody* body);
 
 	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
+	virtual void removeCollisionObject(btCollisionObject* collisionObject);
 
-	int		getDrawFlags() const { return(m_drawFlags); }
-	void	setDrawFlags(int f)	{ m_drawFlags=f; }
+	int getDrawFlags() const { return (m_drawFlags); }
+	void setDrawFlags(int f) { m_drawFlags = f; }
 
-	btSoftBodyWorldInfo&	getWorldInfo()
+	btSoftBodyWorldInfo& getWorldInfo()
 	{
 		return m_sbi;
 	}
-	const btSoftBodyWorldInfo&	getWorldInfo() const
+	const btSoftBodyWorldInfo& getWorldInfo() const
 	{
 		return m_sbi;
 	}
 
-	virtual btDynamicsWorldType	getWorldType() const
+	virtual btDynamicsWorldType getWorldType() const
 	{
-		return	BT_SOFT_RIGID_DYNAMICS_WORLD;
+		return BT_SOFT_RIGID_DYNAMICS_WORLD;
 	}
 
 	btSoftBodyArray& getSoftBodyArray()
@@ -88,20 +85,18 @@ public:
 		return m_softBodies;
 	}
 
-
-	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 
+	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
 	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
 	/// This allows more customization.
-	static void	rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback);
-
-	virtual	void	serialize(btSerializer* serializer);
+	static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
+							  btCollisionObject* collisionObject,
+							  const btCollisionShape* collisionShape,
+							  const btTransform& colObjWorldTransform,
+							  RayResultCallback& resultCallback);
 
+	virtual void serialize(btSerializer* serializer);
 };
 
-#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
+#endif  //BT_SOFT_RIGID_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
index 72043e69e2..9c3e904f64 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
@@ -23,8 +23,8 @@ subject to the following restrictions:
 
 #define USE_PERSISTENT_CONTACTS 1
 
-btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* /*obj0*/,const btCollisionObjectWrapper* /*obj1*/)
-: btCollisionAlgorithm(ci)
+btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* /*obj0*/, const btCollisionObjectWrapper* /*obj1*/)
+	: btCollisionAlgorithm(ci)
 //m_ownManifold(false),
 //m_manifoldPtr(mf)
 {
@@ -34,14 +34,14 @@ btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
 {
 }
 
-void btSoftSoftCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+void btSoftSoftCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
 {
-	btSoftBody* soft0 =	(btSoftBody*)body0Wrap->getCollisionObject();
-	btSoftBody* soft1 =	(btSoftBody*)body1Wrap->getCollisionObject();
+	btSoftBody* soft0 = (btSoftBody*)body0Wrap->getCollisionObject();
+	btSoftBody* soft1 = (btSoftBody*)body1Wrap->getCollisionObject();
 	soft0->getSoftBodySolver()->processCollision(soft0, soft1);
 }
 
-btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
 {
 	//not yet
 	return 1.f;
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
index 4eab7aea2f..6f871f5b85 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
@@ -27,43 +27,39 @@ class btSoftBody;
 ///collision detection between two btSoftBody shapes
 class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
 {
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-
-//	btSoftBody*	m_softBody0;
-//	btSoftBody*	m_softBody1;
+	bool m_ownManifold;
+	btPersistentManifold* m_manifoldPtr;
 
+	//	btSoftBody*	m_softBody0;
+	//	btSoftBody*	m_softBody1;
 
 public:
 	btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
-	btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btSoftSoftCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btSoftSoftCollisionAlgorithm();
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btSoftSoftCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
+			return new (ptr) btSoftSoftCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
 		}
 	};
-
 };
 
-#endif //BT_SOFT_SOFT_COLLISION_ALGORITHM_H
-
-
+#endif  //BT_SOFT_SOFT_COLLISION_ALGORITHM_H
diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
index ba437c28ef..a52b2cb1cc 100644
--- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
+++ b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
@@ -24,296 +24,320 @@ subject to the following restrictions:
 template <const int DWORDLEN>
 unsigned int HsiehHash(const void* pdata)
 {
-	const unsigned short*	data=(const unsigned short*)pdata;
-	unsigned				hash=DWORDLEN<<2,tmp;
-	for(int i=0;i<DWORDLEN;++i)
+	const unsigned short* data = (const unsigned short*)pdata;
+	unsigned hash = DWORDLEN << 2, tmp;
+	for (int i = 0; i < DWORDLEN; ++i)
 	{
-		hash	+=	data[0];
-		tmp		=	(data[1]<<11)^hash;
-		hash	=	(hash<<16)^tmp;
-		data	+=	2;
-		hash	+=	hash>>11;
+		hash += data[0];
+		tmp = (data[1] << 11) ^ hash;
+		hash = (hash << 16) ^ tmp;
+		data += 2;
+		hash += hash >> 11;
 	}
-	hash^=hash<<3;hash+=hash>>5;
-	hash^=hash<<4;hash+=hash>>17;
-	hash^=hash<<25;hash+=hash>>6;
-	return(hash);
+	hash ^= hash << 3;
+	hash += hash >> 5;
+	hash ^= hash << 4;
+	hash += hash >> 17;
+	hash ^= hash << 25;
+	hash += hash >> 6;
+	return (hash);
 }
 
 template <const int CELLSIZE>
-struct	btSparseSdf
+struct btSparseSdf
 {
 	//
 	// Inner types
 	//
 	struct IntFrac
 	{
-		int					b;
-		int					i;
-		btScalar			f;
+		int b;
+		int i;
+		btScalar f;
 	};
-	struct	Cell
+	struct Cell
 	{
-		btScalar			d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
-		int					c[3];
-		int					puid;
-		unsigned			hash;
-		const btCollisionShape*	pclient;
-		Cell*				next;
+		btScalar d[CELLSIZE + 1][CELLSIZE + 1][CELLSIZE + 1];
+		int c[3];
+		int puid;
+		unsigned hash;
+		const btCollisionShape* pclient;
+		Cell* next;
 	};
 	//
 	// Fields
 	//
 
-	btAlignedObjectArray<Cell*>		cells;	
-	btScalar						voxelsz;
-	int								puid;
-	int								ncells;
-	int								m_clampCells;
-	int								nprobes;
-	int								nqueries;	
+	btAlignedObjectArray<Cell*> cells;
+	btScalar voxelsz;
+	int puid;
+	int ncells;
+	int m_clampCells;
+	int nprobes;
+	int nqueries;
 
 	//
 	// Methods
 	//
 
 	//
-	void					Initialize(int hashsize=2383, int clampCells = 256*1024)
+	void Initialize(int hashsize = 2383, int clampCells = 256 * 1024)
 	{
 		//avoid a crash due to running out of memory, so clamp the maximum number of cells allocated
 		//if this limit is reached, the SDF is reset (at the cost of some performance during the reset)
 		m_clampCells = clampCells;
-		cells.resize(hashsize,0);
+		cells.resize(hashsize, 0);
 		Reset();
 	}
 	//
-	void					Reset()
+	void Reset()
 	{
-		for(int i=0,ni=cells.size();i<ni;++i)
+		for (int i = 0, ni = cells.size(); i < ni; ++i)
 		{
-			Cell*	pc=cells[i];
-			cells[i]=0;
-			while(pc)
+			Cell* pc = cells[i];
+			cells[i] = 0;
+			while (pc)
 			{
-				Cell*	pn=pc->next;
+				Cell* pn = pc->next;
 				delete pc;
-				pc=pn;
+				pc = pn;
 			}
 		}
-		voxelsz		=0.25;
-		puid		=0;
-		ncells		=0;
-		nprobes		=1;
-		nqueries	=1;
+		voxelsz = 0.25;
+		puid = 0;
+		ncells = 0;
+		nprobes = 1;
+		nqueries = 1;
 	}
 	//
-	void					GarbageCollect(int lifetime=256)
+	void GarbageCollect(int lifetime = 256)
 	{
-		const int life=puid-lifetime;
-		for(int i=0;i<cells.size();++i)
+		const int life = puid - lifetime;
+		for (int i = 0; i < cells.size(); ++i)
 		{
-			Cell*&	root=cells[i];
-			Cell*	pp=0;
-			Cell*	pc=root;
-			while(pc)
+			Cell*& root = cells[i];
+			Cell* pp = 0;
+			Cell* pc = root;
+			while (pc)
 			{
-				Cell*	pn=pc->next;
-				if(pc->puid<life)
+				Cell* pn = pc->next;
+				if (pc->puid < life)
 				{
-					if(pp) pp->next=pn; else root=pn;
-					delete pc;pc=pp;--ncells;
+					if (pp)
+						pp->next = pn;
+					else
+						root = pn;
+					delete pc;
+					pc = pp;
+					--ncells;
 				}
-				pp=pc;pc=pn;
+				pp = pc;
+				pc = pn;
 			}
 		}
 		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
-		nqueries=1;
-		nprobes=1;
-		++puid;	///@todo: Reset puid's when int range limit is reached	*/ 
-		/* else setup a priority list...						*/ 
+		nqueries = 1;
+		nprobes = 1;
+		++puid;  ///@todo: Reset puid's when int range limit is reached	*/
+				 /* else setup a priority list...						*/
 	}
 	//
-	int						RemoveReferences(btCollisionShape* pcs)
+	int RemoveReferences(btCollisionShape* pcs)
 	{
-		int	refcount=0;
-		for(int i=0;i<cells.size();++i)
+		int refcount = 0;
+		for (int i = 0; i < cells.size(); ++i)
 		{
-			Cell*&	root=cells[i];
-			Cell*	pp=0;
-			Cell*	pc=root;
-			while(pc)
+			Cell*& root = cells[i];
+			Cell* pp = 0;
+			Cell* pc = root;
+			while (pc)
 			{
-				Cell*	pn=pc->next;
-				if(pc->pclient==pcs)
+				Cell* pn = pc->next;
+				if (pc->pclient == pcs)
 				{
-					if(pp) pp->next=pn; else root=pn;
-					delete pc;pc=pp;++refcount;
+					if (pp)
+						pp->next = pn;
+					else
+						root = pn;
+					delete pc;
+					pc = pp;
+					++refcount;
 				}
-				pp=pc;pc=pn;
+				pp = pc;
+				pc = pn;
 			}
 		}
-		return(refcount);
+		return (refcount);
 	}
 	//
-	btScalar				Evaluate(	const btVector3& x,
-		const btCollisionShape* shape,
-		btVector3& normal,
-		btScalar margin)
+	btScalar Evaluate(const btVector3& x,
+					  const btCollisionShape* shape,
+					  btVector3& normal,
+					  btScalar margin)
 	{
-		/* Lookup cell			*/ 
-		const btVector3	scx=x/voxelsz;
-		const IntFrac	ix=Decompose(scx.x());
-		const IntFrac	iy=Decompose(scx.y());
-		const IntFrac	iz=Decompose(scx.z());
-		const unsigned	h=Hash(ix.b,iy.b,iz.b,shape);
-		Cell*&			root=cells[static_cast<int>(h%cells.size())];
-		Cell*			c=root;
+		/* Lookup cell			*/
+		const btVector3 scx = x / voxelsz;
+		const IntFrac ix = Decompose(scx.x());
+		const IntFrac iy = Decompose(scx.y());
+		const IntFrac iz = Decompose(scx.z());
+		const unsigned h = Hash(ix.b, iy.b, iz.b, shape);
+		Cell*& root = cells[static_cast<int>(h % cells.size())];
+		Cell* c = root;
 		++nqueries;
-		while(c)
+		while (c)
 		{
 			++nprobes;
-			if(	(c->hash==h)	&&
-				(c->c[0]==ix.b)	&&
-				(c->c[1]==iy.b)	&&
-				(c->c[2]==iz.b)	&&
-				(c->pclient==shape))
-			{ break; }
+			if ((c->hash == h) &&
+				(c->c[0] == ix.b) &&
+				(c->c[1] == iy.b) &&
+				(c->c[2] == iz.b) &&
+				(c->pclient == shape))
+			{
+				break;
+			}
 			else
-			{ c=c->next; }
+			{
+				c = c->next;
+			}
 		}
-		if(!c)
+		if (!c)
 		{
-			++nprobes;		
+			++nprobes;
 			++ncells;
 			//int sz = sizeof(Cell);
-			if (ncells>m_clampCells)
+			if (ncells > m_clampCells)
 			{
-				static int numResets=0;
+				static int numResets = 0;
 				numResets++;
-//				printf("numResets=%d\n",numResets);
+				//				printf("numResets=%d\n",numResets);
 				Reset();
 			}
 
-			c=new Cell();
-			c->next=root;root=c;
-			c->pclient=shape;
-			c->hash=h;
-			c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
+			c = new Cell();
+			c->next = root;
+			root = c;
+			c->pclient = shape;
+			c->hash = h;
+			c->c[0] = ix.b;
+			c->c[1] = iy.b;
+			c->c[2] = iz.b;
 			BuildCell(*c);
 		}
-		c->puid=puid;
-		/* Extract infos		*/ 
-		const int		o[]={	ix.i,iy.i,iz.i};
-		const btScalar	d[]={	c->d[o[0]+0][o[1]+0][o[2]+0],
-			c->d[o[0]+1][o[1]+0][o[2]+0],
-			c->d[o[0]+1][o[1]+1][o[2]+0],
-			c->d[o[0]+0][o[1]+1][o[2]+0],
-			c->d[o[0]+0][o[1]+0][o[2]+1],
-			c->d[o[0]+1][o[1]+0][o[2]+1],
-			c->d[o[0]+1][o[1]+1][o[2]+1],
-			c->d[o[0]+0][o[1]+1][o[2]+1]};
-		/* Normal	*/ 
+		c->puid = puid;
+		/* Extract infos		*/
+		const int o[] = {ix.i, iy.i, iz.i};
+		const btScalar d[] = {c->d[o[0] + 0][o[1] + 0][o[2] + 0],
+							  c->d[o[0] + 1][o[1] + 0][o[2] + 0],
+							  c->d[o[0] + 1][o[1] + 1][o[2] + 0],
+							  c->d[o[0] + 0][o[1] + 1][o[2] + 0],
+							  c->d[o[0] + 0][o[1] + 0][o[2] + 1],
+							  c->d[o[0] + 1][o[1] + 0][o[2] + 1],
+							  c->d[o[0] + 1][o[1] + 1][o[2] + 1],
+							  c->d[o[0] + 0][o[1] + 1][o[2] + 1]};
+		/* Normal	*/
 #if 1
-		const btScalar	gx[]={	d[1]-d[0],d[2]-d[3],
-			d[5]-d[4],d[6]-d[7]};
-		const btScalar	gy[]={	d[3]-d[0],d[2]-d[1],
-			d[7]-d[4],d[6]-d[5]};
-		const btScalar	gz[]={	d[4]-d[0],d[5]-d[1],
-			d[7]-d[3],d[6]-d[2]};
-		normal.setX(Lerp(	Lerp(gx[0],gx[1],iy.f),
-			Lerp(gx[2],gx[3],iy.f),iz.f));
-		normal.setY(Lerp(	Lerp(gy[0],gy[1],ix.f),
-			Lerp(gy[2],gy[3],ix.f),iz.f));
-		normal.setZ(Lerp(	Lerp(gz[0],gz[1],ix.f),
-			Lerp(gz[2],gz[3],ix.f),iy.f));
-		normal		=	normal.normalized();
+		const btScalar gx[] = {d[1] - d[0], d[2] - d[3],
+							   d[5] - d[4], d[6] - d[7]};
+		const btScalar gy[] = {d[3] - d[0], d[2] - d[1],
+							   d[7] - d[4], d[6] - d[5]};
+		const btScalar gz[] = {d[4] - d[0], d[5] - d[1],
+							   d[7] - d[3], d[6] - d[2]};
+		normal.setX(Lerp(Lerp(gx[0], gx[1], iy.f),
+						 Lerp(gx[2], gx[3], iy.f), iz.f));
+		normal.setY(Lerp(Lerp(gy[0], gy[1], ix.f),
+						 Lerp(gy[2], gy[3], ix.f), iz.f));
+		normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f),
+						 Lerp(gz[2], gz[3], ix.f), iy.f));
+		normal = normal.normalized();
 #else
-		normal		=	btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
+		normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized();
 #endif
-		/* Distance	*/ 
-		const btScalar	d0=Lerp(Lerp(d[0],d[1],ix.f),
-			Lerp(d[3],d[2],ix.f),iy.f);
-		const btScalar	d1=Lerp(Lerp(d[4],d[5],ix.f),
-			Lerp(d[7],d[6],ix.f),iy.f);
-		return(Lerp(d0,d1,iz.f)-margin);
+		/* Distance	*/
+		const btScalar d0 = Lerp(Lerp(d[0], d[1], ix.f),
+								 Lerp(d[3], d[2], ix.f), iy.f);
+		const btScalar d1 = Lerp(Lerp(d[4], d[5], ix.f),
+								 Lerp(d[7], d[6], ix.f), iy.f);
+		return (Lerp(d0, d1, iz.f) - margin);
 	}
 	//
-	void					BuildCell(Cell& c)
+	void BuildCell(Cell& c)
 	{
-		const btVector3	org=btVector3(	(btScalar)c.c[0],
-			(btScalar)c.c[1],
-			(btScalar)c.c[2])	*
-			CELLSIZE*voxelsz;
-		for(int k=0;k<=CELLSIZE;++k)
+		const btVector3 org = btVector3((btScalar)c.c[0],
+										(btScalar)c.c[1],
+										(btScalar)c.c[2]) *
+							  CELLSIZE * voxelsz;
+		for (int k = 0; k <= CELLSIZE; ++k)
 		{
-			const btScalar	z=voxelsz*k+org.z();
-			for(int j=0;j<=CELLSIZE;++j)
+			const btScalar z = voxelsz * k + org.z();
+			for (int j = 0; j <= CELLSIZE; ++j)
 			{
-				const btScalar	y=voxelsz*j+org.y();
-				for(int i=0;i<=CELLSIZE;++i)
+				const btScalar y = voxelsz * j + org.y();
+				for (int i = 0; i <= CELLSIZE; ++i)
 				{
-					const btScalar	x=voxelsz*i+org.x();
-					c.d[i][j][k]=DistanceToShape(	btVector3(x,y,z),
-						c.pclient);
+					const btScalar x = voxelsz * i + org.x();
+					c.d[i][j][k] = DistanceToShape(btVector3(x, y, z),
+												   c.pclient);
 				}
 			}
 		}
 	}
 	//
-	static inline btScalar	DistanceToShape(const btVector3& x,
-		const btCollisionShape* shape)
+	static inline btScalar DistanceToShape(const btVector3& x,
+										   const btCollisionShape* shape)
 	{
-		btTransform	unit;
+		btTransform unit;
 		unit.setIdentity();
-		if(shape->isConvex())
+		if (shape->isConvex())
 		{
-			btGjkEpaSolver2::sResults	res;
-			const btConvexShape*				csh=static_cast<const btConvexShape*>(shape);
-			return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
+			btGjkEpaSolver2::sResults res;
+			const btConvexShape* csh = static_cast<const btConvexShape*>(shape);
+			return (btGjkEpaSolver2::SignedDistance(x, 0, csh, unit, res));
 		}
-		return(0);
+		return (0);
 	}
 	//
-	static inline IntFrac	Decompose(btScalar x)
+	static inline IntFrac Decompose(btScalar x)
 	{
 		/* That one need a lot of improvements...	*/
-		/* Remove test, faster floor...				*/ 
-		IntFrac			r;
-		x/=CELLSIZE;
-		const int		o=x<0?(int)(-x+1):0;
-		x+=o;r.b=(int)x;
-		const btScalar	k=(x-r.b)*CELLSIZE;
-		r.i=(int)k;r.f=k-r.i;r.b-=o;
-		return(r);
+		/* Remove test, faster floor...				*/
+		IntFrac r;
+		x /= CELLSIZE;
+		const int o = x < 0 ? (int)(-x + 1) : 0;
+		x += o;
+		r.b = (int)x;
+		const btScalar k = (x - r.b) * CELLSIZE;
+		r.i = (int)k;
+		r.f = k - r.i;
+		r.b -= o;
+		return (r);
 	}
 	//
-	static inline btScalar	Lerp(btScalar a,btScalar b,btScalar t)
+	static inline btScalar Lerp(btScalar a, btScalar b, btScalar t)
 	{
-		return(a+(b-a)*t);
+		return (a + (b - a) * t);
 	}
 
-
-
 	//
-	static inline unsigned int	Hash(int x,int y,int z,const btCollisionShape* shape)
+	static inline unsigned int Hash(int x, int y, int z, const btCollisionShape* shape)
 	{
 		struct btS
-		{ 
-			int x,y,z;
+		{
+			int x, y, z;
 			void* p;
 		};
 
 		btS myset;
 
-		myset.x=x;myset.y=y;myset.z=z;myset.p=(void*)shape;
+		myset.x = x;
+		myset.y = y;
+		myset.z = z;
+		myset.p = (void*)shape;
 		const void* ptr = &myset;
 
-		unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
-
+		unsigned int result = HsiehHash<sizeof(btS) / 4>(ptr);
 
 		return result;
 	}
 };
 
-
-#endif //BT_SPARSE_SDF_H
+#endif  //BT_SPARSE_SDF_H
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
new file mode 100644
index 0000000000..5f1115c402
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
@@ -0,0 +1,792 @@
+
+#include "LinearMath/btMinMax.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btQuickprof.h"
+#include <stdio.h>
+#include <algorithm>
+
+#if BT_THREADSAFE
+
+#include "btThreadSupportInterface.h"
+
+#if defined(_WIN32)
+
+#define WIN32_LEAN_AND_MEAN
+
+#include <windows.h>
+
+#endif
+
+typedef unsigned long long btU64;
+static const int kCacheLineSize = 64;
+
+void btSpinPause()
+{
+#if defined(_WIN32)
+	YieldProcessor();
+#endif
+}
+
+struct WorkerThreadStatus
+{
+	enum Type
+	{
+		kInvalid,
+		kWaitingForWork,
+		kWorking,
+		kSleeping,
+	};
+};
+
+ATTRIBUTE_ALIGNED64(class)
+WorkerThreadDirectives
+{
+	static const int kMaxThreadCount = BT_MAX_THREAD_COUNT;
+	// directives for all worker threads packed into a single cacheline
+	char m_threadDirs[kMaxThreadCount];
+
+public:
+	enum Type
+	{
+		kInvalid,
+		kGoToSleep,         // go to sleep
+		kStayAwakeButIdle,  // wait for not checking job queue
+		kScanForJobs,       // actively scan job queue for jobs
+	};
+	WorkerThreadDirectives()
+	{
+		for (int i = 0; i < kMaxThreadCount; ++i)
+		{
+			m_threadDirs[i] = 0;
+		}
+	}
+
+	Type getDirective(int threadId)
+	{
+		btAssert(threadId < kMaxThreadCount);
+		return static_cast<Type>(m_threadDirs[threadId]);
+	}
+
+	void setDirectiveByRange(int threadBegin, int threadEnd, Type dir)
+	{
+		btAssert(threadBegin < threadEnd);
+		btAssert(threadEnd <= kMaxThreadCount);
+		char dirChar = static_cast<char>(dir);
+		for (int i = threadBegin; i < threadEnd; ++i)
+		{
+			m_threadDirs[i] = dirChar;
+		}
+	}
+};
+
+class JobQueue;
+
+ATTRIBUTE_ALIGNED64(struct)
+ThreadLocalStorage
+{
+	int m_threadId;
+	WorkerThreadStatus::Type m_status;
+	int m_numJobsFinished;
+	btSpinMutex m_mutex;
+	btScalar m_sumResult;
+	WorkerThreadDirectives* m_directive;
+	JobQueue* m_queue;
+	btClock* m_clock;
+	unsigned int m_cooldownTime;
+};
+
+struct IJob
+{
+	virtual void executeJob(int threadId) = 0;
+};
+
+class ParallelForJob : public IJob
+{
+	const btIParallelForBody* m_body;
+	int m_begin;
+	int m_end;
+
+public:
+	ParallelForJob(int iBegin, int iEnd, const btIParallelForBody& body)
+	{
+		m_body = &body;
+		m_begin = iBegin;
+		m_end = iEnd;
+	}
+	virtual void executeJob(int threadId) BT_OVERRIDE
+	{
+		BT_PROFILE("executeJob");
+
+		// call the functor body to do the work
+		m_body->forLoop(m_begin, m_end);
+	}
+};
+
+class ParallelSumJob : public IJob
+{
+	const btIParallelSumBody* m_body;
+	ThreadLocalStorage* m_threadLocalStoreArray;
+	int m_begin;
+	int m_end;
+
+public:
+	ParallelSumJob(int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls)
+	{
+		m_body = &body;
+		m_threadLocalStoreArray = tls;
+		m_begin = iBegin;
+		m_end = iEnd;
+	}
+	virtual void executeJob(int threadId) BT_OVERRIDE
+	{
+		BT_PROFILE("executeJob");
+
+		// call the functor body to do the work
+		btScalar val = m_body->sumLoop(m_begin, m_end);
+#if BT_PARALLEL_SUM_DETERMINISTISM
+		// by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision)
+		const float TRUNC_SCALE = float(1 << 19);
+		val = floor(val * TRUNC_SCALE + 0.5f) / TRUNC_SCALE;  // truncate some bits
+#endif
+		m_threadLocalStoreArray[threadId].m_sumResult += val;
+	}
+};
+
+ATTRIBUTE_ALIGNED64(class)
+JobQueue
+{
+	btThreadSupportInterface* m_threadSupport;
+	btCriticalSection* m_queueLock;
+	btSpinMutex m_mutex;
+
+	btAlignedObjectArray<IJob*> m_jobQueue;
+	char* m_jobMem;
+	int m_jobMemSize;
+	bool m_queueIsEmpty;
+	int m_tailIndex;
+	int m_headIndex;
+	int m_allocSize;
+	bool m_useSpinMutex;
+	btAlignedObjectArray<JobQueue*> m_neighborContexts;
+	char m_cachePadding[kCacheLineSize];  // prevent false sharing
+
+	void freeJobMem()
+	{
+		if (m_jobMem)
+		{
+			// free old
+			btAlignedFree(m_jobMem);
+			m_jobMem = NULL;
+		}
+	}
+	void resizeJobMem(int newSize)
+	{
+		if (newSize > m_jobMemSize)
+		{
+			freeJobMem();
+			m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize));
+			m_jobMemSize = newSize;
+		}
+	}
+
+public:
+	JobQueue()
+	{
+		m_jobMem = NULL;
+		m_jobMemSize = 0;
+		m_threadSupport = NULL;
+		m_queueLock = NULL;
+		m_headIndex = 0;
+		m_tailIndex = 0;
+		m_useSpinMutex = false;
+	}
+	~JobQueue()
+	{
+		exit();
+	}
+	void exit()
+	{
+		freeJobMem();
+		if (m_queueLock && m_threadSupport)
+		{
+			m_threadSupport->deleteCriticalSection(m_queueLock);
+			m_queueLock = NULL;
+			m_threadSupport = 0;
+		}
+	}
+
+	void init(btThreadSupportInterface * threadSup, btAlignedObjectArray<JobQueue> * contextArray)
+	{
+		m_threadSupport = threadSup;
+		if (threadSup)
+		{
+			m_queueLock = m_threadSupport->createCriticalSection();
+		}
+		setupJobStealing(contextArray, contextArray->size());
+	}
+	void setupJobStealing(btAlignedObjectArray<JobQueue> * contextArray, int numActiveContexts)
+	{
+		btAlignedObjectArray<JobQueue>& contexts = *contextArray;
+		int selfIndex = 0;
+		for (int i = 0; i < contexts.size(); ++i)
+		{
+			if (this == &contexts[i])
+			{
+				selfIndex = i;
+				break;
+			}
+		}
+		int numNeighbors = btMin(2, contexts.size() - 1);
+		int neighborOffsets[] = {-1, 1, -2, 2, -3, 3};
+		int numOffsets = sizeof(neighborOffsets) / sizeof(neighborOffsets[0]);
+		m_neighborContexts.reserve(numNeighbors);
+		m_neighborContexts.resizeNoInitialize(0);
+		for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++)
+		{
+			int neighborIndex = selfIndex + neighborOffsets[i];
+			if (neighborIndex >= 0 && neighborIndex < numActiveContexts)
+			{
+				m_neighborContexts.push_back(&contexts[neighborIndex]);
+			}
+		}
+	}
+
+	bool isQueueEmpty() const { return m_queueIsEmpty; }
+	void lockQueue()
+	{
+		if (m_useSpinMutex)
+		{
+			m_mutex.lock();
+		}
+		else
+		{
+			m_queueLock->lock();
+		}
+	}
+	void unlockQueue()
+	{
+		if (m_useSpinMutex)
+		{
+			m_mutex.unlock();
+		}
+		else
+		{
+			m_queueLock->unlock();
+		}
+	}
+	void clearQueue(int jobCount, int jobSize)
+	{
+		lockQueue();
+		m_headIndex = 0;
+		m_tailIndex = 0;
+		m_allocSize = 0;
+		m_queueIsEmpty = true;
+		int jobBufSize = jobSize * jobCount;
+		// make sure we have enough memory allocated to store jobs
+		if (jobBufSize > m_jobMemSize)
+		{
+			resizeJobMem(jobBufSize);
+		}
+		// make sure job queue is big enough
+		if (jobCount > m_jobQueue.capacity())
+		{
+			m_jobQueue.reserve(jobCount);
+		}
+		unlockQueue();
+		m_jobQueue.resizeNoInitialize(0);
+	}
+	void* allocJobMem(int jobSize)
+	{
+		btAssert(m_jobMemSize >= (m_allocSize + jobSize));
+		void* jobMem = &m_jobMem[m_allocSize];
+		m_allocSize += jobSize;
+		return jobMem;
+	}
+	void submitJob(IJob * job)
+	{
+		btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
+		m_jobQueue.push_back(job);
+		lockQueue();
+		m_tailIndex++;
+		m_queueIsEmpty = false;
+		unlockQueue();
+	}
+	IJob* consumeJobFromOwnQueue()
+	{
+		if (m_queueIsEmpty)
+		{
+			// lock free path. even if this is taken erroneously it isn't harmful
+			return NULL;
+		}
+		IJob* job = NULL;
+		lockQueue();
+		if (!m_queueIsEmpty)
+		{
+			job = m_jobQueue[m_headIndex++];
+			btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
+			if (m_headIndex == m_tailIndex)
+			{
+				m_queueIsEmpty = true;
+			}
+		}
+		unlockQueue();
+		return job;
+	}
+	IJob* consumeJob()
+	{
+		if (IJob* job = consumeJobFromOwnQueue())
+		{
+			return job;
+		}
+		// own queue is empty, try to steal from neighbor
+		for (int i = 0; i < m_neighborContexts.size(); ++i)
+		{
+			JobQueue* otherContext = m_neighborContexts[i];
+			if (IJob* job = otherContext->consumeJobFromOwnQueue())
+			{
+				return job;
+			}
+		}
+		return NULL;
+	}
+};
+
+static void WorkerThreadFunc(void* userPtr)
+{
+	BT_PROFILE("WorkerThreadFunc");
+	ThreadLocalStorage* localStorage = (ThreadLocalStorage*)userPtr;
+	JobQueue* jobQueue = localStorage->m_queue;
+
+	bool shouldSleep = false;
+	int threadId = localStorage->m_threadId;
+	while (!shouldSleep)
+	{
+		// do work
+		localStorage->m_mutex.lock();
+		while (IJob* job = jobQueue->consumeJob())
+		{
+			localStorage->m_status = WorkerThreadStatus::kWorking;
+			job->executeJob(threadId);
+			localStorage->m_numJobsFinished++;
+		}
+		localStorage->m_status = WorkerThreadStatus::kWaitingForWork;
+		localStorage->m_mutex.unlock();
+		btU64 clockStart = localStorage->m_clock->getTimeMicroseconds();
+		// while queue is empty,
+		while (jobQueue->isQueueEmpty())
+		{
+			// todo: spin wait a bit to avoid hammering the empty queue
+			btSpinPause();
+			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep)
+			{
+				shouldSleep = true;
+				break;
+			}
+			// if jobs are incoming,
+			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs)
+			{
+				clockStart = localStorage->m_clock->getTimeMicroseconds();  // reset clock
+			}
+			else
+			{
+				for (int i = 0; i < 50; ++i)
+				{
+					btSpinPause();
+					btSpinPause();
+					btSpinPause();
+					btSpinPause();
+					if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty())
+					{
+						break;
+					}
+				}
+				// if no jobs incoming and queue has been empty for the cooldown time, sleep
+				btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart;
+				if (timeElapsed > localStorage->m_cooldownTime)
+				{
+					shouldSleep = true;
+					break;
+				}
+			}
+		}
+	}
+	{
+		BT_PROFILE("sleep");
+		// go sleep
+		localStorage->m_mutex.lock();
+		localStorage->m_status = WorkerThreadStatus::kSleeping;
+		localStorage->m_mutex.unlock();
+	}
+}
+
+class btTaskSchedulerDefault : public btITaskScheduler
+{
+	btThreadSupportInterface* m_threadSupport;
+	WorkerThreadDirectives* m_workerDirective;
+	btAlignedObjectArray<JobQueue> m_jobQueues;
+	btAlignedObjectArray<JobQueue*> m_perThreadJobQueues;
+	btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage;
+	btSpinMutex m_antiNestingLock;  // prevent nested parallel-for
+	btClock m_clock;
+	int m_numThreads;
+	int m_numWorkerThreads;
+	int m_numActiveJobQueues;
+	int m_maxNumThreads;
+	int m_numJobs;
+	static const int kFirstWorkerThreadId = 1;
+
+public:
+	btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport")
+	{
+		m_threadSupport = NULL;
+		m_workerDirective = NULL;
+	}
+
+	virtual ~btTaskSchedulerDefault()
+	{
+		waitForWorkersToSleep();
+
+		for (int i = 0; i < m_jobQueues.size(); ++i)
+		{
+			m_jobQueues[i].exit();
+		}
+
+		if (m_threadSupport)
+		{
+			delete m_threadSupport;
+			m_threadSupport = NULL;
+		}
+		if (m_workerDirective)
+		{
+			btAlignedFree(m_workerDirective);
+			m_workerDirective = NULL;
+		}
+	}
+
+	void init()
+	{
+		btThreadSupportInterface::ConstructionInfo constructionInfo("TaskScheduler", WorkerThreadFunc);
+		m_threadSupport = btThreadSupportInterface::create(constructionInfo);
+		m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64));
+
+		m_numWorkerThreads = m_threadSupport->getNumWorkerThreads();
+		m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1;
+		m_numThreads = m_maxNumThreads;
+		// ideal to have one job queue for each physical processor (except for the main thread which needs no queue)
+		int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio();
+		int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads - 1) : (m_maxNumThreads / numThreadsPerQueue);
+		m_jobQueues.resize(numJobQueues);
+		m_numActiveJobQueues = numJobQueues;
+		for (int i = 0; i < m_jobQueues.size(); ++i)
+		{
+			m_jobQueues[i].init(m_threadSupport, &m_jobQueues);
+		}
+		m_perThreadJobQueues.resize(m_numThreads);
+		for (int i = 0; i < m_numThreads; i++)
+		{
+			JobQueue* jq = NULL;
+			// only worker threads get a job queue
+			if (i > 0)
+			{
+				if (numThreadsPerQueue == 1)
+				{
+					// one queue per worker thread
+					jq = &m_jobQueues[i - kFirstWorkerThreadId];
+				}
+				else
+				{
+					// 2 threads share each queue
+					jq = &m_jobQueues[i / numThreadsPerQueue];
+				}
+			}
+			m_perThreadJobQueues[i] = jq;
+		}
+		m_threadLocalStorage.resize(m_numThreads);
+		for (int i = 0; i < m_numThreads; i++)
+		{
+			ThreadLocalStorage& storage = m_threadLocalStorage[i];
+			storage.m_threadId = i;
+			storage.m_directive = m_workerDirective;
+			storage.m_status = WorkerThreadStatus::kSleeping;
+			storage.m_cooldownTime = 100;  // 100 microseconds, threads go to sleep after this long if they have nothing to do
+			storage.m_clock = &m_clock;
+			storage.m_queue = m_perThreadJobQueues[i];
+		}
+		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);  // no work for them yet
+		setNumThreads(m_threadSupport->getCacheFriendlyNumThreads());
+	}
+
+	void setWorkerDirectives(WorkerThreadDirectives::Type dir)
+	{
+		m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir);
+	}
+
+	virtual int getMaxNumThreads() const BT_OVERRIDE
+	{
+		return m_maxNumThreads;
+	}
+
+	virtual int getNumThreads() const BT_OVERRIDE
+	{
+		return m_numThreads;
+	}
+
+	virtual void setNumThreads(int numThreads) BT_OVERRIDE
+	{
+		m_numThreads = btMax(btMin(numThreads, int(m_maxNumThreads)), 1);
+		m_numWorkerThreads = m_numThreads - 1;
+		m_numActiveJobQueues = 0;
+		// if there is at least 1 worker,
+		if (m_numWorkerThreads > 0)
+		{
+			// re-setup job stealing between queues to avoid attempting to steal from an inactive job queue
+			JobQueue* lastActiveContext = m_perThreadJobQueues[m_numThreads - 1];
+			int iLastActiveContext = lastActiveContext - &m_jobQueues[0];
+			m_numActiveJobQueues = iLastActiveContext + 1;
+			for (int i = 0; i < m_jobQueues.size(); ++i)
+			{
+				m_jobQueues[i].setupJobStealing(&m_jobQueues, m_numActiveJobQueues);
+			}
+		}
+		m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep);
+	}
+
+	void waitJobs()
+	{
+		BT_PROFILE("waitJobs");
+		// have the main thread work until the job queues are empty
+		int numMainThreadJobsFinished = 0;
+		for (int i = 0; i < m_numActiveJobQueues; ++i)
+		{
+			while (IJob* job = m_jobQueues[i].consumeJob())
+			{
+				job->executeJob(0);
+				numMainThreadJobsFinished++;
+			}
+		}
+
+		// done with jobs for now, tell workers to rest (but not sleep)
+		setWorkerDirectives(WorkerThreadDirectives::kStayAwakeButIdle);
+
+		btU64 clockStart = m_clock.getTimeMicroseconds();
+		// wait for workers to finish any jobs in progress
+		while (true)
+		{
+			int numWorkerJobsFinished = 0;
+			for (int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread)
+			{
+				ThreadLocalStorage* storage = &m_threadLocalStorage[iThread];
+				storage->m_mutex.lock();
+				numWorkerJobsFinished += storage->m_numJobsFinished;
+				storage->m_mutex.unlock();
+			}
+			if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs)
+			{
+				break;
+			}
+			btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart;
+			btAssert(timeElapsed < 1000);
+			if (timeElapsed > 100000)
+			{
+				break;
+			}
+			btSpinPause();
+		}
+	}
+
+	void wakeWorkers(int numWorkersToWake)
+	{
+		BT_PROFILE("wakeWorkers");
+		btAssert(m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs);
+		int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads);
+		int numActiveWorkers = 0;
+		for (int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker)
+		{
+			// note this count of active workers is not necessarily totally reliable, because a worker thread could be
+			// just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare.
+			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
+			if (storage.m_status != WorkerThreadStatus::kSleeping)
+			{
+				numActiveWorkers++;
+			}
+		}
+		for (int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker)
+		{
+			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
+			if (storage.m_status == WorkerThreadStatus::kSleeping)
+			{
+				m_threadSupport->runTask(iWorker, &storage);
+				numActiveWorkers++;
+			}
+		}
+	}
+
+	void waitForWorkersToSleep()
+	{
+		BT_PROFILE("waitForWorkersToSleep");
+		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
+		m_threadSupport->waitForAllTasks();
+		for (int i = kFirstWorkerThreadId; i < m_numThreads; i++)
+		{
+			ThreadLocalStorage& storage = m_threadLocalStorage[i];
+			btAssert(storage.m_status == WorkerThreadStatus::kSleeping);
+		}
+	}
+
+	virtual void sleepWorkerThreadsHint() BT_OVERRIDE
+	{
+		BT_PROFILE("sleepWorkerThreadsHint");
+		// hint the task scheduler that we may not be using these threads for a little while
+		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
+	}
+
+	void prepareWorkerThreads()
+	{
+		for (int i = kFirstWorkerThreadId; i < m_numThreads; ++i)
+		{
+			ThreadLocalStorage& storage = m_threadLocalStorage[i];
+			storage.m_mutex.lock();
+			storage.m_numJobsFinished = 0;
+			storage.m_mutex.unlock();
+		}
+		setWorkerDirectives(WorkerThreadDirectives::kScanForJobs);
+	}
+
+	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelFor_ThreadSupport");
+		btAssert(iEnd >= iBegin);
+		btAssert(grainSize >= 1);
+		int iterationCount = iEnd - iBegin;
+		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
+		{
+			typedef ParallelForJob JobType;
+			int jobCount = (iterationCount + grainSize - 1) / grainSize;
+			m_numJobs = jobCount;
+			btAssert(jobCount >= 2);  // need more than one job for multithreading
+			int jobSize = sizeof(JobType);
+
+			for (int i = 0; i < m_numActiveJobQueues; ++i)
+			{
+				m_jobQueues[i].clearQueue(jobCount, jobSize);
+			}
+			// prepare worker threads for incoming work
+			prepareWorkerThreads();
+			// submit all of the jobs
+			int iJob = 0;
+			int iThread = kFirstWorkerThreadId;  // first worker thread
+			for (int i = iBegin; i < iEnd; i += grainSize)
+			{
+				btAssert(iJob < jobCount);
+				int iE = btMin(i + grainSize, iEnd);
+				JobQueue* jq = m_perThreadJobQueues[iThread];
+				btAssert(jq);
+				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
+				void* jobMem = jq->allocJobMem(jobSize);
+				JobType* job = new (jobMem) ParallelForJob(i, iE, body);  // placement new
+				jq->submitJob(job);
+				iJob++;
+				iThread++;
+				if (iThread >= m_numThreads)
+				{
+					iThread = kFirstWorkerThreadId;  // first worker thread
+				}
+			}
+			wakeWorkers(jobCount - 1);
+
+			// put the main thread to work on emptying the job queue and then wait for all workers to finish
+			waitJobs();
+			m_antiNestingLock.unlock();
+		}
+		else
+		{
+			BT_PROFILE("parallelFor_mainThread");
+			// just run on main thread
+			body.forLoop(iBegin, iEnd);
+		}
+	}
+	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelSum_ThreadSupport");
+		btAssert(iEnd >= iBegin);
+		btAssert(grainSize >= 1);
+		int iterationCount = iEnd - iBegin;
+		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
+		{
+			typedef ParallelSumJob JobType;
+			int jobCount = (iterationCount + grainSize - 1) / grainSize;
+			m_numJobs = jobCount;
+			btAssert(jobCount >= 2);  // need more than one job for multithreading
+			int jobSize = sizeof(JobType);
+			for (int i = 0; i < m_numActiveJobQueues; ++i)
+			{
+				m_jobQueues[i].clearQueue(jobCount, jobSize);
+			}
+
+			// initialize summation
+			for (int iThread = 0; iThread < m_numThreads; ++iThread)
+			{
+				m_threadLocalStorage[iThread].m_sumResult = btScalar(0);
+			}
+
+			// prepare worker threads for incoming work
+			prepareWorkerThreads();
+			// submit all of the jobs
+			int iJob = 0;
+			int iThread = kFirstWorkerThreadId;  // first worker thread
+			for (int i = iBegin; i < iEnd; i += grainSize)
+			{
+				btAssert(iJob < jobCount);
+				int iE = btMin(i + grainSize, iEnd);
+				JobQueue* jq = m_perThreadJobQueues[iThread];
+				btAssert(jq);
+				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
+				void* jobMem = jq->allocJobMem(jobSize);
+				JobType* job = new (jobMem) ParallelSumJob(i, iE, body, &m_threadLocalStorage[0]);  // placement new
+				jq->submitJob(job);
+				iJob++;
+				iThread++;
+				if (iThread >= m_numThreads)
+				{
+					iThread = kFirstWorkerThreadId;  // first worker thread
+				}
+			}
+			wakeWorkers(jobCount - 1);
+
+			// put the main thread to work on emptying the job queue and then wait for all workers to finish
+			waitJobs();
+
+			// add up all the thread sums
+			btScalar sum = btScalar(0);
+			for (int iThread = 0; iThread < m_numThreads; ++iThread)
+			{
+				sum += m_threadLocalStorage[iThread].m_sumResult;
+			}
+			m_antiNestingLock.unlock();
+			return sum;
+		}
+		else
+		{
+			BT_PROFILE("parallelSum_mainThread");
+			// just run on main thread
+			return body.sumLoop(iBegin, iEnd);
+		}
+	}
+};
+
+btITaskScheduler* btCreateDefaultTaskScheduler()
+{
+	btTaskSchedulerDefault* ts = new btTaskSchedulerDefault();
+	ts->init();
+	return ts;
+}
+
+#else  // #if BT_THREADSAFE
+
+btITaskScheduler* btCreateDefaultTaskScheduler()
+{
+	return NULL;
+}
+
+#endif  // #else // #if BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
new file mode 100644
index 0000000000..1fe49335a1
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
@@ -0,0 +1,64 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_THREAD_SUPPORT_INTERFACE_H
+#define BT_THREAD_SUPPORT_INTERFACE_H
+
+class btCriticalSection
+{
+public:
+	btCriticalSection() {}
+	virtual ~btCriticalSection() {}
+
+	virtual void lock() = 0;
+	virtual void unlock() = 0;
+};
+
+class btThreadSupportInterface
+{
+public:
+	virtual ~btThreadSupportInterface() {}
+
+	virtual int getNumWorkerThreads() const = 0;            // number of worker threads (total number of logical processors - 1)
+	virtual int getCacheFriendlyNumThreads() const = 0;     // the number of logical processors sharing a single L3 cache
+	virtual int getLogicalToPhysicalCoreRatio() const = 0;  // the number of logical processors per physical processor (usually 1 or 2)
+	virtual void runTask(int threadIndex, void* userData) = 0;
+	virtual void waitForAllTasks() = 0;
+
+	virtual btCriticalSection* createCriticalSection() = 0;
+	virtual void deleteCriticalSection(btCriticalSection* criticalSection) = 0;
+
+	typedef void (*ThreadFunc)(void* userPtr);
+
+	struct ConstructionInfo
+	{
+		ConstructionInfo(const char* uniqueName,
+						 ThreadFunc userThreadFunc,
+						 int threadStackSize = 65535)
+			: m_uniqueName(uniqueName),
+			  m_userThreadFunc(userThreadFunc),
+			  m_threadStackSize(threadStackSize)
+		{
+		}
+
+		const char* m_uniqueName;
+		ThreadFunc m_userThreadFunc;
+		int m_threadStackSize;
+	};
+
+	static btThreadSupportInterface* create(const ConstructionInfo& info);
+};
+
+#endif  //BT_THREAD_SUPPORT_INTERFACE_H
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
new file mode 100644
index 0000000000..02f4ed1631
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
@@ -0,0 +1,353 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#if BT_THREADSAFE && !defined(_WIN32)
+
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btMinMax.h"
+#include "btThreadSupportInterface.h"
+
+#include <stdio.h>
+#include <errno.h>
+#include <unistd.h>
+
+#ifndef _XOPEN_SOURCE
+#define _XOPEN_SOURCE 600  //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
+#endif                     //_XOPEN_SOURCE
+#include <pthread.h>
+#include <semaphore.h>
+#include <unistd.h>  //for sysconf
+
+///
+/// getNumHardwareThreads()
+///
+///
+/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
+///
+#if __cplusplus >= 201103L
+
+#include <thread>
+
+int btGetNumHardwareThreads()
+{
+	return btMin<int>(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency());
+}
+
+#else
+
+int btGetNumHardwareThreads()
+{
+	return btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN));
+}
+
+#endif
+
+// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class btThreadSupportPosix : public btThreadSupportInterface
+{
+public:
+	struct btThreadStatus
+	{
+		int m_taskId;
+		int m_commandId;
+		int m_status;
+
+		ThreadFunc m_userThreadFunc;
+		void* m_userPtr;  //for taskDesc etc
+
+		pthread_t thread;
+		//each tread will wait until this signal to start its work
+		sem_t* startSemaphore;
+		btCriticalSection* m_cs;
+		// this is a copy of m_mainSemaphore,
+		//each tread will signal once it is finished with its work
+		sem_t* m_mainSemaphore;
+		unsigned long threadUsed;
+	};
+
+private:
+	typedef unsigned long long UINT64;
+
+	btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
+	// m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work
+	sem_t* m_mainSemaphore;
+	int m_numThreads;
+	UINT64 m_startedThreadsMask;
+	void startThreads(const ConstructionInfo& threadInfo);
+	void stopThreads();
+	int waitForResponse();
+	btCriticalSection* m_cs;
+public:
+	btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo);
+	virtual ~btThreadSupportPosix();
+
+	virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
+	// TODO: return the number of logical processors sharing the first L3 cache
+	virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; }
+	// TODO: detect if CPU has hyperthreading enabled
+	virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; }
+
+	virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
+	virtual void waitForAllTasks() BT_OVERRIDE;
+
+	virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
+	virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
+};
+
+#define checkPThreadFunction(returnValue)                                                                 \
+	if (0 != returnValue)                                                                                 \
+	{                                                                                                     \
+		printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
+	}
+
+// The number of threads should be equal to the number of available cores
+// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
+
+btThreadSupportPosix::btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo)
+{
+	m_cs = createCriticalSection();
+	startThreads(threadConstructionInfo);
+}
+
+// cleanup/shutdown Libspe2
+btThreadSupportPosix::~btThreadSupportPosix()
+{
+	stopThreads();
+	deleteCriticalSection(m_cs);
+	m_cs=0;
+}
+
+#if (defined(__APPLE__))
+#define NAMED_SEMAPHORES
+#endif
+
+static sem_t* createSem(const char* baseName)
+{
+	static int semCount = 0;
+#ifdef NAMED_SEMAPHORES
+	/// Named semaphore begin
+	char name[32];
+	snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
+	sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
+
+	if (tempSem != reinterpret_cast<sem_t*>(SEM_FAILED))
+	{
+		//        printf("Created \"%s\" Semaphore %p\n", name, tempSem);
+	}
+	else
+	{
+		//printf("Error creating Semaphore %d\n", errno);
+		exit(-1);
+	}
+	/// Named semaphore end
+#else
+	sem_t* tempSem = new sem_t;
+	checkPThreadFunction(sem_init(tempSem, 0, 0));
+#endif
+	return tempSem;
+}
+
+static void destroySem(sem_t* semaphore)
+{
+#ifdef NAMED_SEMAPHORES
+	checkPThreadFunction(sem_close(semaphore));
+#else
+	checkPThreadFunction(sem_destroy(semaphore));
+	delete semaphore;
+#endif
+}
+
+static void* threadFunction(void* argument)
+{
+	btThreadSupportPosix::btThreadStatus* status = (btThreadSupportPosix::btThreadStatus*)argument;
+
+	while (1)
+	{
+		checkPThreadFunction(sem_wait(status->startSemaphore));
+		void* userPtr = status->m_userPtr;
+
+		if (userPtr)
+		{
+			btAssert(status->m_status);
+			status->m_userThreadFunc(userPtr);
+			status->m_cs->lock();
+			status->m_status = 2;
+			status->m_cs->unlock();
+			checkPThreadFunction(sem_post(status->m_mainSemaphore));
+			status->threadUsed++;
+		}
+		else
+		{
+			//exit Thread
+			status->m_cs->lock();
+			status->m_status = 3;
+			status->m_cs->unlock();
+			checkPThreadFunction(sem_post(status->m_mainSemaphore));
+			break;
+		}
+	}
+
+	return 0;
+}
+
+///send messages to SPUs
+void btThreadSupportPosix::runTask(int threadIndex, void* userData)
+{
+	///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
+	btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
+	btAssert(threadIndex >= 0);
+	btAssert(threadIndex < m_activeThreadStatus.size());
+	threadStatus.m_cs = m_cs;
+	threadStatus.m_commandId = 1;
+	threadStatus.m_status = 1;
+	threadStatus.m_userPtr = userData;
+	m_startedThreadsMask |= UINT64(1) << threadIndex;
+
+	// fire event to start new task
+	checkPThreadFunction(sem_post(threadStatus.startSemaphore));
+}
+
+///check for messages from SPUs
+int btThreadSupportPosix::waitForResponse()
+{
+	///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
+	///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
+
+	btAssert(m_activeThreadStatus.size());
+
+	// wait for any of the threads to finish
+	checkPThreadFunction(sem_wait(m_mainSemaphore));
+	// get at least one thread which has finished
+	size_t last = -1;
+
+	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
+	{
+		m_cs->lock();
+		bool hasFinished = (2 == m_activeThreadStatus[t].m_status);
+		m_cs->unlock(); 
+		if (hasFinished)
+		{
+			last = t;
+			break;
+		}
+	}
+
+	btThreadStatus& threadStatus = m_activeThreadStatus[last];
+
+	btAssert(threadStatus.m_status > 1);
+	threadStatus.m_status = 0;
+
+	// need to find an active spu
+	btAssert(last >= 0);
+	m_startedThreadsMask &= ~(UINT64(1) << last);
+
+	return last;
+}
+
+void btThreadSupportPosix::waitForAllTasks()
+{
+	while (m_startedThreadsMask)
+	{
+		waitForResponse();
+	}
+}
+
+void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructionInfo)
+{
+	m_numThreads = btGetNumHardwareThreads() - 1;  // main thread exists already
+	m_activeThreadStatus.resize(m_numThreads);
+	m_startedThreadsMask = 0;
+
+	m_mainSemaphore = createSem("main");
+	//checkPThreadFunction(sem_wait(mainSemaphore));
+
+	for (int i = 0; i < m_numThreads; i++)
+	{
+		btThreadStatus& threadStatus = m_activeThreadStatus[i];
+		threadStatus.startSemaphore = createSem("threadLocal");
+		threadStatus.m_userPtr = 0;
+		threadStatus.m_cs = m_cs;
+		threadStatus.m_taskId = i;
+		threadStatus.m_commandId = 0;
+		threadStatus.m_status = 0;
+		threadStatus.m_mainSemaphore = m_mainSemaphore;
+		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+		threadStatus.threadUsed = 0;
+		checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
+
+	}
+}
+
+///tell the task scheduler we are done with the SPU tasks
+void btThreadSupportPosix::stopThreads()
+{
+	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
+	{
+		btThreadStatus& threadStatus = m_activeThreadStatus[t];
+
+		threadStatus.m_userPtr = 0;
+		checkPThreadFunction(sem_post(threadStatus.startSemaphore));
+		checkPThreadFunction(sem_wait(m_mainSemaphore));
+
+		destroySem(threadStatus.startSemaphore);
+		checkPThreadFunction(pthread_join(threadStatus.thread, 0));
+	}
+	destroySem(m_mainSemaphore);
+	m_activeThreadStatus.clear();
+}
+
+class btCriticalSectionPosix : public btCriticalSection
+{
+	pthread_mutex_t m_mutex;
+
+public:
+	btCriticalSectionPosix()
+	{
+		pthread_mutex_init(&m_mutex, NULL);
+	}
+	virtual ~btCriticalSectionPosix()
+	{
+		pthread_mutex_destroy(&m_mutex);
+	}
+
+	virtual void lock()
+	{
+		pthread_mutex_lock(&m_mutex);
+	}
+	virtual void unlock()
+	{
+		pthread_mutex_unlock(&m_mutex);
+	}
+};
+
+btCriticalSection* btThreadSupportPosix::createCriticalSection()
+{
+	return new btCriticalSectionPosix();
+}
+
+void btThreadSupportPosix::deleteCriticalSection(btCriticalSection* cs)
+{
+	delete cs;
+}
+
+btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
+{
+	return new btThreadSupportPosix(info);
+}
+
+#endif  // BT_THREADSAFE && !defined( _WIN32 )
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
new file mode 100644
index 0000000000..922e449cce
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
@@ -0,0 +1,452 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2018 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#if defined(_WIN32) && BT_THREADSAFE
+
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btMinMax.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "btThreadSupportInterface.h"
+#include <windows.h>
+#include <stdio.h>
+
+struct btProcessorInfo
+{
+	int numLogicalProcessors;
+	int numCores;
+	int numNumaNodes;
+	int numL1Cache;
+	int numL2Cache;
+	int numL3Cache;
+	int numPhysicalPackages;
+	static const int maxNumTeamMasks = 32;
+	int numTeamMasks;
+	UINT64 processorTeamMasks[maxNumTeamMasks];
+};
+
+UINT64 getProcessorTeamMask(const btProcessorInfo& procInfo, int procId)
+{
+	UINT64 procMask = UINT64(1) << procId;
+	for (int i = 0; i < procInfo.numTeamMasks; ++i)
+	{
+		if (procMask & procInfo.processorTeamMasks[i])
+		{
+			return procInfo.processorTeamMasks[i];
+		}
+	}
+	return 0;
+}
+
+int getProcessorTeamIndex(const btProcessorInfo& procInfo, int procId)
+{
+	UINT64 procMask = UINT64(1) << procId;
+	for (int i = 0; i < procInfo.numTeamMasks; ++i)
+	{
+		if (procMask & procInfo.processorTeamMasks[i])
+		{
+			return i;
+		}
+	}
+	return -1;
+}
+
+int countSetBits(ULONG64 bits)
+{
+	int count = 0;
+	while (bits)
+	{
+		if (bits & 1)
+		{
+			count++;
+		}
+		bits >>= 1;
+	}
+	return count;
+}
+
+typedef BOOL(WINAPI* Pfn_GetLogicalProcessorInformation)(PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD);
+
+void getProcessorInformation(btProcessorInfo* procInfo)
+{
+	memset(procInfo, 0, sizeof(*procInfo));
+	Pfn_GetLogicalProcessorInformation getLogicalProcInfo =
+		(Pfn_GetLogicalProcessorInformation)GetProcAddress(GetModuleHandle(TEXT("kernel32")), "GetLogicalProcessorInformation");
+	if (getLogicalProcInfo == NULL)
+	{
+		// no info
+		return;
+	}
+	PSYSTEM_LOGICAL_PROCESSOR_INFORMATION buf = NULL;
+	DWORD bufSize = 0;
+	while (true)
+	{
+		if (getLogicalProcInfo(buf, &bufSize))
+		{
+			break;
+		}
+		else
+		{
+			if (GetLastError() == ERROR_INSUFFICIENT_BUFFER)
+			{
+				if (buf)
+				{
+					free(buf);
+				}
+				buf = (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION)malloc(bufSize);
+			}
+		}
+	}
+
+	int len = bufSize / sizeof(*buf);
+	for (int i = 0; i < len; ++i)
+	{
+		PSYSTEM_LOGICAL_PROCESSOR_INFORMATION info = buf + i;
+		switch (info->Relationship)
+		{
+			case RelationNumaNode:
+				procInfo->numNumaNodes++;
+				break;
+
+			case RelationProcessorCore:
+				procInfo->numCores++;
+				procInfo->numLogicalProcessors += countSetBits(info->ProcessorMask);
+				break;
+
+			case RelationCache:
+				if (info->Cache.Level == 1)
+				{
+					procInfo->numL1Cache++;
+				}
+				else if (info->Cache.Level == 2)
+				{
+					procInfo->numL2Cache++;
+				}
+				else if (info->Cache.Level == 3)
+				{
+					procInfo->numL3Cache++;
+					// processors that share L3 cache are considered to be on the same team
+					// because they can more easily work together on the same data.
+					// Large performance penalties will occur if 2 or more threads from different
+					// teams attempt to frequently read and modify the same cache lines.
+					//
+					// On the AMD Ryzen 7 CPU for example, the 8 cores on the CPU are split into
+					// 2 CCX units of 4 cores each. Each CCX has a separate L3 cache, so if both
+					// CCXs are operating on the same data, many cycles will be spent keeping the
+					// two caches coherent.
+					if (procInfo->numTeamMasks < btProcessorInfo::maxNumTeamMasks)
+					{
+						procInfo->processorTeamMasks[procInfo->numTeamMasks] = info->ProcessorMask;
+						procInfo->numTeamMasks++;
+					}
+				}
+				break;
+
+			case RelationProcessorPackage:
+				procInfo->numPhysicalPackages++;
+				break;
+		}
+	}
+	free(buf);
+}
+
+///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class btThreadSupportWin32 : public btThreadSupportInterface
+{
+public:
+	struct btThreadStatus
+	{
+		int m_taskId;
+		int m_commandId;
+		int m_status;
+
+		ThreadFunc m_userThreadFunc;
+		void* m_userPtr;  //for taskDesc etc
+
+		void* m_threadHandle;  //this one is calling 'Win32ThreadFunc'
+
+		void* m_eventStartHandle;
+		char m_eventStartHandleName[32];
+
+		void* m_eventCompleteHandle;
+		char m_eventCompleteHandleName[32];
+	};
+
+private:
+	btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
+	btAlignedObjectArray<void*> m_completeHandles;
+	int m_numThreads;
+	DWORD_PTR m_startedThreadMask;
+	btProcessorInfo m_processorInfo;
+
+	void startThreads(const ConstructionInfo& threadInfo);
+	void stopThreads();
+	int waitForResponse();
+
+public:
+	btThreadSupportWin32(const ConstructionInfo& threadConstructionInfo);
+	virtual ~btThreadSupportWin32();
+
+	virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
+	virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return countSetBits(m_processorInfo.processorTeamMasks[0]); }
+	virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return m_processorInfo.numLogicalProcessors / m_processorInfo.numCores; }
+
+	virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
+	virtual void waitForAllTasks() BT_OVERRIDE;
+
+	virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
+	virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
+};
+
+btThreadSupportWin32::btThreadSupportWin32(const ConstructionInfo& threadConstructionInfo)
+{
+	startThreads(threadConstructionInfo);
+}
+
+btThreadSupportWin32::~btThreadSupportWin32()
+{
+	stopThreads();
+}
+
+DWORD WINAPI win32threadStartFunc(LPVOID lpParam)
+{
+	btThreadSupportWin32::btThreadStatus* status = (btThreadSupportWin32::btThreadStatus*)lpParam;
+
+	while (1)
+	{
+		WaitForSingleObject(status->m_eventStartHandle, INFINITE);
+		void* userPtr = status->m_userPtr;
+
+		if (userPtr)
+		{
+			btAssert(status->m_status);
+			status->m_userThreadFunc(userPtr);
+			status->m_status = 2;
+			SetEvent(status->m_eventCompleteHandle);
+		}
+		else
+		{
+			//exit Thread
+			status->m_status = 3;
+			printf("Thread with taskId %i with handle %p exiting\n", status->m_taskId, status->m_threadHandle);
+			SetEvent(status->m_eventCompleteHandle);
+			break;
+		}
+	}
+	printf("Thread TERMINATED\n");
+	return 0;
+}
+
+void btThreadSupportWin32::runTask(int threadIndex, void* userData)
+{
+	btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
+	btAssert(threadIndex >= 0);
+	btAssert(int(threadIndex) < m_activeThreadStatus.size());
+
+	threadStatus.m_commandId = 1;
+	threadStatus.m_status = 1;
+	threadStatus.m_userPtr = userData;
+	m_startedThreadMask |= DWORD_PTR(1) << threadIndex;
+
+	///fire event to start new task
+	SetEvent(threadStatus.m_eventStartHandle);
+}
+
+int btThreadSupportWin32::waitForResponse()
+{
+	btAssert(m_activeThreadStatus.size());
+
+	int last = -1;
+	DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, INFINITE);
+	btAssert(res != WAIT_FAILED);
+	last = res - WAIT_OBJECT_0;
+
+	btThreadStatus& threadStatus = m_activeThreadStatus[last];
+	btAssert(threadStatus.m_threadHandle);
+	btAssert(threadStatus.m_eventCompleteHandle);
+
+	//WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
+	btAssert(threadStatus.m_status > 1);
+	threadStatus.m_status = 0;
+
+	///need to find an active spu
+	btAssert(last >= 0);
+	m_startedThreadMask &= ~(DWORD_PTR(1) << last);
+
+	return last;
+}
+
+void btThreadSupportWin32::waitForAllTasks()
+{
+	while (m_startedThreadMask)
+	{
+		waitForResponse();
+	}
+}
+
+void btThreadSupportWin32::startThreads(const ConstructionInfo& threadConstructionInfo)
+{
+	static int uniqueId = 0;
+	uniqueId++;
+	btProcessorInfo& procInfo = m_processorInfo;
+	getProcessorInformation(&procInfo);
+	DWORD_PTR dwProcessAffinityMask = 0;
+	DWORD_PTR dwSystemAffinityMask = 0;
+	if (!GetProcessAffinityMask(GetCurrentProcess(), &dwProcessAffinityMask, &dwSystemAffinityMask))
+	{
+		dwProcessAffinityMask = 0;
+	}
+	///The number of threads should be equal to the number of available cores - 1
+	m_numThreads = btMin(procInfo.numLogicalProcessors, int(BT_MAX_THREAD_COUNT)) - 1;  // cap to max thread count (-1 because main thread already exists)
+
+	m_activeThreadStatus.resize(m_numThreads);
+	m_completeHandles.resize(m_numThreads);
+	m_startedThreadMask = 0;
+
+	// set main thread affinity
+	if (DWORD_PTR mask = dwProcessAffinityMask & getProcessorTeamMask(procInfo, 0))
+	{
+		SetThreadAffinityMask(GetCurrentThread(), mask);
+		SetThreadIdealProcessor(GetCurrentThread(), 0);
+	}
+
+	for (int i = 0; i < m_numThreads; i++)
+	{
+		printf("starting thread %d\n", i);
+
+		btThreadStatus& threadStatus = m_activeThreadStatus[i];
+
+		LPSECURITY_ATTRIBUTES lpThreadAttributes = NULL;
+		SIZE_T dwStackSize = threadConstructionInfo.m_threadStackSize;
+		LPTHREAD_START_ROUTINE lpStartAddress = &win32threadStartFunc;
+		LPVOID lpParameter = &threadStatus;
+		DWORD dwCreationFlags = 0;
+		LPDWORD lpThreadId = 0;
+
+		threadStatus.m_userPtr = 0;
+
+		sprintf(threadStatus.m_eventStartHandleName, "es%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i);
+		threadStatus.m_eventStartHandle = CreateEventA(0, false, false, threadStatus.m_eventStartHandleName);
+
+		sprintf(threadStatus.m_eventCompleteHandleName, "ec%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i);
+		threadStatus.m_eventCompleteHandle = CreateEventA(0, false, false, threadStatus.m_eventCompleteHandleName);
+
+		m_completeHandles[i] = threadStatus.m_eventCompleteHandle;
+
+		HANDLE handle = CreateThread(lpThreadAttributes, dwStackSize, lpStartAddress, lpParameter, dwCreationFlags, lpThreadId);
+		//SetThreadPriority( handle, THREAD_PRIORITY_HIGHEST );
+		// highest priority -- can cause erratic performance when numThreads > numCores
+		//                     we don't want worker threads to be higher priority than the main thread or the main thread could get
+		//                     totally shut out and unable to tell the workers to stop
+		//SetThreadPriority( handle, THREAD_PRIORITY_BELOW_NORMAL );
+
+		{
+			int processorId = i + 1;  // leave processor 0 for main thread
+			DWORD_PTR teamMask = getProcessorTeamMask(procInfo, processorId);
+			if (teamMask)
+			{
+				// bind each thread to only execute on processors of it's assigned team
+				//  - for single-socket Intel x86 CPUs this has no effect (only a single, shared L3 cache so there is only 1 team)
+				//  - for multi-socket Intel this will keep threads from migrating from one socket to another
+				//  - for AMD Ryzen this will keep threads from migrating from one CCX to another
+				DWORD_PTR mask = teamMask & dwProcessAffinityMask;
+				if (mask)
+				{
+					SetThreadAffinityMask(handle, mask);
+				}
+			}
+			SetThreadIdealProcessor(handle, processorId);
+		}
+
+		threadStatus.m_taskId = i;
+		threadStatus.m_commandId = 0;
+		threadStatus.m_status = 0;
+		threadStatus.m_threadHandle = handle;
+		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+
+		printf("started %s thread %d with threadHandle %p\n", threadConstructionInfo.m_uniqueName, i, handle);
+	}
+}
+
+///tell the task scheduler we are done with the SPU tasks
+void btThreadSupportWin32::stopThreads()
+{
+	for (int i = 0; i < m_activeThreadStatus.size(); i++)
+	{
+		btThreadStatus& threadStatus = m_activeThreadStatus[i];
+		if (threadStatus.m_status > 0)
+		{
+			WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
+		}
+
+		threadStatus.m_userPtr = NULL;
+		SetEvent(threadStatus.m_eventStartHandle);
+		WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
+
+		CloseHandle(threadStatus.m_eventCompleteHandle);
+		CloseHandle(threadStatus.m_eventStartHandle);
+		CloseHandle(threadStatus.m_threadHandle);
+	}
+
+	m_activeThreadStatus.clear();
+	m_completeHandles.clear();
+}
+
+class btWin32CriticalSection : public btCriticalSection
+{
+private:
+	CRITICAL_SECTION mCriticalSection;
+
+public:
+	btWin32CriticalSection()
+	{
+		InitializeCriticalSection(&mCriticalSection);
+	}
+
+	~btWin32CriticalSection()
+	{
+		DeleteCriticalSection(&mCriticalSection);
+	}
+
+	void lock()
+	{
+		EnterCriticalSection(&mCriticalSection);
+	}
+
+	void unlock()
+	{
+		LeaveCriticalSection(&mCriticalSection);
+	}
+};
+
+btCriticalSection* btThreadSupportWin32::createCriticalSection()
+{
+	unsigned char* mem = (unsigned char*)btAlignedAlloc(sizeof(btWin32CriticalSection), 16);
+	btWin32CriticalSection* cs = new (mem) btWin32CriticalSection();
+	return cs;
+}
+
+void btThreadSupportWin32::deleteCriticalSection(btCriticalSection* criticalSection)
+{
+	criticalSection->~btCriticalSection();
+	btAlignedFree(criticalSection);
+}
+
+btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
+{
+	return new btThreadSupportWin32(info);
+}
+
+#endif  //defined(_WIN32) && BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/btAabbUtil2.h b/thirdparty/bullet/LinearMath/btAabbUtil2.h
index d2997b4e65..eea49dd33f 100644
--- a/thirdparty/bullet/LinearMath/btAabbUtil2.h
+++ b/thirdparty/bullet/LinearMath/btAabbUtil2.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_AABB_UTIL2
 #define BT_AABB_UTIL2
 
@@ -21,20 +19,18 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btMinMax.h"
 
-
-
-SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
-								   btVector3& aabbMax,
-								   const btVector3& expansionMin,
-								   const btVector3& expansionMax)
+SIMD_FORCE_INLINE void AabbExpand(btVector3& aabbMin,
+								  btVector3& aabbMax,
+								  const btVector3& expansionMin,
+								  const btVector3& expansionMax)
 {
 	aabbMin = aabbMin + expansionMin;
 	aabbMax = aabbMax + expansionMax;
 }
 
 /// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
-								const btVector3 &point)
+SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
+											 const btVector3& point)
 {
 	bool overlap = true;
 	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
@@ -43,10 +39,9 @@ SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const bt
 	return overlap;
 }
 
-
 /// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
-								const btVector3 &aabbMin2, const btVector3 &aabbMax2)
+SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
+											const btVector3& aabbMin2, const btVector3& aabbMax2)
 {
 	bool overlap = true;
 	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
@@ -56,37 +51,34 @@ SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btV
 }
 
 /// conservative test for overlap between triangle and aabb
-SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
-									const btVector3 &aabbMin, const btVector3 &aabbMax)
+SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3* vertices,
+												const btVector3& aabbMin, const btVector3& aabbMax)
 {
-	const btVector3 &p1 = vertices[0];
-	const btVector3 &p2 = vertices[1];
-	const btVector3 &p3 = vertices[2];
+	const btVector3& p1 = vertices[0];
+	const btVector3& p2 = vertices[1];
+	const btVector3& p3 = vertices[2];
 
 	if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
 	if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
 
 	if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
 	if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-  
+
 	if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
 	if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
 	return true;
 }
 
-
-SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent) 
+SIMD_FORCE_INLINE int btOutcode(const btVector3& p, const btVector3& halfExtent)
 {
-	return (p.getX()  < -halfExtent.getX() ? 0x01 : 0x0) |    
-		   (p.getX() >  halfExtent.getX() ? 0x08 : 0x0) |
-		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |    
-		   (p.getY() >  halfExtent.getY() ? 0x10 : 0x0) |
-		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |    
-		   (p.getZ() >  halfExtent.getZ() ? 0x20 : 0x0);
+	return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
+		   (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
+		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
+		   (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
+		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
+		   (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
 }
 
-
-
 SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 								  const btVector3& rayInvDirection,
 								  const unsigned int raySign[3],
@@ -97,11 +89,11 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 {
 	btScalar tmax, tymin, tymax, tzmin, tzmax;
 	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
+	tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
 	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-	tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
+	tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
 
-	if ( (tmin > tymax) || (tymin > tmax) )
+	if ((tmin > tymax) || (tymin > tmax))
 		return false;
 
 	if (tymin > tmin)
@@ -111,59 +103,59 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 		tmax = tymax;
 
 	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-	tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
+	tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
 
-	if ( (tmin > tzmax) || (tzmin > tmax) )
+	if ((tmin > tzmax) || (tzmin > tmax))
 		return false;
 	if (tzmin > tmin)
 		tmin = tzmin;
 	if (tzmax < tmax)
 		tmax = tzmax;
-	return ( (tmin < lambda_max) && (tmax > lambda_min) );
+	return ((tmin < lambda_max) && (tmax > lambda_min));
 }
 
-SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, 
-								 const btVector3& rayTo, 
-								 const btVector3& aabbMin, 
+SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
+								 const btVector3& rayTo,
+								 const btVector3& aabbMin,
 								 const btVector3& aabbMax,
-					  btScalar& param, btVector3& normal) 
+								 btScalar& param, btVector3& normal)
 {
-	btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5);
-	btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5);
-	btVector3	source = rayFrom - aabbCenter;
-	btVector3	target = rayTo - aabbCenter;
-	int	sourceOutcode = btOutcode(source,aabbHalfExtent);
-	int targetOutcode = btOutcode(target,aabbHalfExtent);
+	btVector3 aabbHalfExtent = (aabbMax - aabbMin) * btScalar(0.5);
+	btVector3 aabbCenter = (aabbMax + aabbMin) * btScalar(0.5);
+	btVector3 source = rayFrom - aabbCenter;
+	btVector3 target = rayTo - aabbCenter;
+	int sourceOutcode = btOutcode(source, aabbHalfExtent);
+	int targetOutcode = btOutcode(target, aabbHalfExtent);
 	if ((sourceOutcode & targetOutcode) == 0x0)
 	{
 		btScalar lambda_enter = btScalar(0.0);
-		btScalar lambda_exit  = param;
+		btScalar lambda_exit = param;
 		btVector3 r = target - source;
 		int i;
-		btScalar	normSign = 1;
-		btVector3	hitNormal(0,0,0);
-		int bit=1;
+		btScalar normSign = 1;
+		btVector3 hitNormal(0, 0, 0);
+		int bit = 1;
 
-		for (int j=0;j<2;j++)
+		for (int j = 0; j < 2; j++)
 		{
 			for (i = 0; i != 3; ++i)
 			{
 				if (sourceOutcode & bit)
 				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+					btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
 					if (lambda_enter <= lambda)
 					{
 						lambda_enter = lambda;
-						hitNormal.setValue(0,0,0);
+						hitNormal.setValue(0, 0, 0);
 						hitNormal[i] = normSign;
 					}
 				}
-				else if (targetOutcode & bit) 
+				else if (targetOutcode & bit)
 				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+					btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
 					btSetMin(lambda_exit, lambda);
 				}
-				bit<<=1;
+				bit <<= 1;
 			}
 			normSign = btScalar(-1.);
 		}
@@ -177,56 +169,49 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
 	return false;
 }
 
-
-
-SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut)
+SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin, const btTransform& t, btVector3& aabbMinOut, btVector3& aabbMaxOut)
 {
-	btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
-	btMatrix3x3 abs_b = t.getBasis().absolute();  
+	btVector3 halfExtentsWithMargin = halfExtents + btVector3(margin, margin, margin);
+	btMatrix3x3 abs_b = t.getBasis().absolute();
 	btVector3 center = t.getOrigin();
-    btVector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
+	btVector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMinOut = center - extent;
 	aabbMaxOut = center + extent;
 }
 
-
-SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut)
+SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin, const btVector3& localAabbMax, btScalar margin, const btTransform& trans, btVector3& aabbMinOut, btVector3& aabbMaxOut)
 {
-		btAssert(localAabbMin.getX() <= localAabbMax.getX());
-		btAssert(localAabbMin.getY() <= localAabbMax.getY());
-		btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
-		btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
-		localHalfExtents+=btVector3(margin,margin,margin);
-
-		btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
-		btMatrix3x3 abs_b = trans.getBasis().absolute();  
-		btVector3 center = trans(localCenter);
-        btVector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
-		aabbMinOut = center-extent;
-		aabbMaxOut = center+extent;
+	btAssert(localAabbMin.getX() <= localAabbMax.getX());
+	btAssert(localAabbMin.getY() <= localAabbMax.getY());
+	btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
+	btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
+	localHalfExtents += btVector3(margin, margin, margin);
+
+	btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
+	btMatrix3x3 abs_b = trans.getBasis().absolute();
+	btVector3 center = trans(localCenter);
+	btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	aabbMinOut = center - extent;
+	aabbMaxOut = center + extent;
 }
 
 #define USE_BANCHLESS 1
 #ifdef USE_BANCHLESS
-	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-	SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
-	{		
-		return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
-			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
-			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-			1, 0));
-	}
+//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
+SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
+{
+	return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+											  1, 0));
+}
 #else
-	SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
-	{
-		bool overlap = true;
-		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-		return overlap;
-	}
-#endif //USE_BANCHLESS
-
-#endif //BT_AABB_UTIL2
-
+SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
+{
+	bool overlap = true;
+	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+	return overlap;
+}
+#endif  //USE_BANCHLESS
 
+#endif  //BT_AABB_UTIL2
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
index e5f6040c43..39b302b600 100644
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
+++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
@@ -15,9 +15,11 @@ subject to the following restrictions:
 
 #include "btAlignedAllocator.h"
 
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 int gNumAlignedAllocs = 0;
 int gNumAlignedFree = 0;
-int gTotalBytesAlignedAllocs = 0;//detect memory leaks
+int gTotalBytesAlignedAllocs = 0;  //detect memory leaks
+#endif                             //BT_DEBUG_MEMORY_ALLOCATIONST_DEBUG_ALLOCATIONS
 
 static void *btAllocDefault(size_t size)
 {
@@ -32,9 +34,7 @@ static void btFreeDefault(void *ptr)
 static btAllocFunc *sAllocFunc = btAllocDefault;
 static btFreeFunc *sFreeFunc = btFreeDefault;
 
-
-
-#if defined (BT_HAS_ALIGNED_ALLOCATOR)
+#if defined(BT_HAS_ALIGNED_ALLOCATOR)
 #include <malloc.h>
 static void *btAlignedAllocDefault(size_t size, int alignment)
 {
@@ -59,49 +59,48 @@ static inline void btAlignedFreeDefault(void *ptr)
 }
 #else
 
-
-
-
-
 static inline void *btAlignedAllocDefault(size_t size, int alignment)
 {
-  void *ret;
-  char *real;
-  real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
-  if (real) {
-	ret = btAlignPointer(real + sizeof(void *),alignment);
-    *((void **)(ret)-1) = (void *)(real);
-  } else {
-    ret = (void *)(real);
-  }
-  return (ret);
+	void *ret;
+	char *real;
+	real = (char *)sAllocFunc(size + sizeof(void *) + (alignment - 1));
+	if (real)
+	{
+		ret = btAlignPointer(real + sizeof(void *), alignment);
+		*((void **)(ret)-1) = (void *)(real);
+	}
+	else
+	{
+		ret = (void *)(real);
+	}
+	return (ret);
 }
 
 static inline void btAlignedFreeDefault(void *ptr)
 {
-  void* real;
+	void *real;
 
-  if (ptr) {
-    real = *((void **)(ptr)-1);
-    sFreeFunc(real);
-  }
+	if (ptr)
+	{
+		real = *((void **)(ptr)-1);
+		sFreeFunc(real);
+	}
 }
 #endif
 
-
 static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault;
 static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault;
 
 void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc)
 {
-  sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault;
-  sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault;
+	sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault;
+	sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault;
 }
 
 void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc)
 {
-  sAllocFunc = allocFunc ? allocFunc : btAllocDefault;
-  sFreeFunc = freeFunc ? freeFunc : btFreeDefault;
+	sAllocFunc = allocFunc ? allocFunc : btAllocDefault;
+	sFreeFunc = freeFunc ? freeFunc : btFreeDefault;
 }
 
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
@@ -114,15 +113,15 @@ static int mynumallocs = 0;
 int btDumpMemoryLeaks()
 {
 	int totalLeak = 0;
-	
-	for (int i=0;i<mynumallocs;i++)
+
+	for (int i = 0; i < mynumallocs; i++)
 	{
 		printf("Error: leaked memory of allocation #%d (%d bytes)\n", allocations_id[i], allocations_bytes[i]);
-		totalLeak+=allocations_bytes[i];
+		totalLeak += allocations_bytes[i];
 	}
 	if (totalLeak)
 	{
-		printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n",mynumallocs,totalLeak);
+		printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n", mynumallocs, totalLeak);
 	}
 	return totalLeak;
 }
@@ -131,139 +130,134 @@ int btDumpMemoryLeaks()
 
 struct btDebugPtrMagic
 {
-	union
-	{
-		void** vptrptr;
-		void* vptr;
-		int* iptr;
-		char* cptr;
+	union {
+		void **vptrptr;
+		void *vptr;
+		int *iptr;
+		char *cptr;
 	};
 };
 
-
-void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filename)
+void *btAlignedAllocInternal(size_t size, int alignment, int line, char *filename)
 {
-	if (size==0)
+	if (size == 0)
 	{
 		printf("Whaat? size==0");
 		return 0;
 	}
 	static int allocId = 0;
-	
- void *ret;
- char *real;
-
-// to find some particular memory leak, you could do something like this:
-//	if (allocId==172)
-//	{
-//		printf("catch me!\n");
-//	}
-//	if (size>1024*1024)
-//	{
-//		printf("big alloc!%d\n", size);
-//	}
-
- gTotalBytesAlignedAllocs += size;
- gNumAlignedAllocs++;
-
- 
-int sz4prt = 4*sizeof(void *);
-	
- real = (char *)sAllocFunc(size + sz4prt + (alignment-1));
- if (real) {
-	 
-   ret = (void*) btAlignPointer(real + sz4prt, alignment);
-	 btDebugPtrMagic p;
-	 p.vptr = ret;
-	 p.cptr-=sizeof(void*);
-	 *p.vptrptr = (void*)real;
-	 p.cptr-=sizeof(void*);
-	 *p.iptr = size;
-	 p.cptr-=sizeof(void*);
-	 *p.iptr = allocId;
-	 
-	 allocations_id[mynumallocs] = allocId;
-	 allocations_bytes[mynumallocs] = size;
-	 mynumallocs++;
-
- } else {
-   ret = (void *)(real);//??
- }
-
- printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n",allocId,real, filename,line,size,gTotalBytesAlignedAllocs);
+
+	void *ret;
+	char *real;
+
+	// to find some particular memory leak, you could do something like this:
+	//	if (allocId==172)
+	//	{
+	//		printf("catch me!\n");
+	//	}
+	//	if (size>1024*1024)
+	//	{
+	//		printf("big alloc!%d\n", size);
+	//	}
+
+	gTotalBytesAlignedAllocs += size;
+	gNumAlignedAllocs++;
+
+	int sz4prt = 4 * sizeof(void *);
+
+	real = (char *)sAllocFunc(size + sz4prt + (alignment - 1));
+	if (real)
+	{
+		ret = (void *)btAlignPointer(real + sz4prt, alignment);
+		btDebugPtrMagic p;
+		p.vptr = ret;
+		p.cptr -= sizeof(void *);
+		*p.vptrptr = (void *)real;
+		p.cptr -= sizeof(void *);
+		*p.iptr = size;
+		p.cptr -= sizeof(void *);
+		*p.iptr = allocId;
+
+		allocations_id[mynumallocs] = allocId;
+		allocations_bytes[mynumallocs] = size;
+		mynumallocs++;
+	}
+	else
+	{
+		ret = (void *)(real);  //??
+	}
+
+	printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n", allocId, real, filename, line, size, gTotalBytesAlignedAllocs);
 	allocId++;
-	
- int* ptr = (int*)ret;
- *ptr = 12;
- return (ret);
+
+	int *ptr = (int *)ret;
+	*ptr = 12;
+	return (ret);
 }
 
-void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
+void btAlignedFreeInternal(void *ptr, int line, char *filename)
 {
+	void *real;
 
- void* real;
-
- if (ptr) {
-	 gNumAlignedFree++;
-
-	 btDebugPtrMagic p;
-	 p.vptr = ptr;
-	 p.cptr-=sizeof(void*);
-	 real = *p.vptrptr;
-	 p.cptr-=sizeof(void*);
-	 int size = *p.iptr;
-	 p.cptr-=sizeof(void*);
-	 int allocId = *p.iptr;
-
-	 bool found = false;
-	 
-	 for (int i=0;i<mynumallocs;i++)
-	 {
-		 if ( allocations_id[i] == allocId)
-		 {
-			 allocations_id[i] = allocations_id[mynumallocs-1];
-			 allocations_bytes[i] = allocations_bytes[mynumallocs-1];
-			 mynumallocs--;
-			 found = true;
-			 break;
-		 }
-	 }
-	 
-	
-	gTotalBytesAlignedAllocs -= size;
-
-	 int diff = gNumAlignedAllocs-gNumAlignedFree;
-	printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n",allocId,real, filename,line,size, gTotalBytesAlignedAllocs, diff);
-
-   sFreeFunc(real);
- } else
- {
-	 //printf("deleting a NULL ptr, no effect\n");
- }
+	if (ptr)
+	{
+		gNumAlignedFree++;
+
+		btDebugPtrMagic p;
+		p.vptr = ptr;
+		p.cptr -= sizeof(void *);
+		real = *p.vptrptr;
+		p.cptr -= sizeof(void *);
+		int size = *p.iptr;
+		p.cptr -= sizeof(void *);
+		int allocId = *p.iptr;
+
+		bool found = false;
+
+		for (int i = 0; i < mynumallocs; i++)
+		{
+			if (allocations_id[i] == allocId)
+			{
+				allocations_id[i] = allocations_id[mynumallocs - 1];
+				allocations_bytes[i] = allocations_bytes[mynumallocs - 1];
+				mynumallocs--;
+				found = true;
+				break;
+			}
+		}
+
+		gTotalBytesAlignedAllocs -= size;
+
+		int diff = gNumAlignedAllocs - gNumAlignedFree;
+		printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n", allocId, real, filename, line, size, gTotalBytesAlignedAllocs, diff);
+
+		sFreeFunc(real);
+	}
+	else
+	{
+		//printf("deleting a NULL ptr, no effect\n");
+	}
 }
 
-#else //BT_DEBUG_MEMORY_ALLOCATIONS
+#else  //BT_DEBUG_MEMORY_ALLOCATIONS
 
-void*	btAlignedAllocInternal	(size_t size, int alignment)
+void *btAlignedAllocInternal(size_t size, int alignment)
 {
-	gNumAlignedAllocs++;
-	void* ptr;
+	void *ptr;
 	ptr = sAlignedAllocFunc(size, alignment);
-//	printf("btAlignedAllocInternal %d, %x\n",size,ptr);
+	//	printf("btAlignedAllocInternal %d, %x\n",size,ptr);
 	return ptr;
 }
 
-void	btAlignedFreeInternal	(void* ptr)
+void btAlignedFreeInternal(void *ptr)
 {
 	if (!ptr)
 	{
 		return;
 	}
 
-	gNumAlignedFree++;
-//	printf("btAlignedFreeInternal %x\n",ptr);
+	//	printf("btAlignedFreeInternal %x\n",ptr);
 	sAlignedFreeFunc(ptr);
 }
 
-#endif //BT_DEBUG_MEMORY_ALLOCATIONS
-
+#endif  //BT_DEBUG_MEMORY_ALLOCATIONS
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.h b/thirdparty/bullet/LinearMath/btAlignedAllocator.h
index 9873b338d9..ce4d3585f1 100644
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.h
+++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.h
@@ -22,7 +22,6 @@ subject to the following restrictions:
 
 #include "btScalar.h"
 
-
 ///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system
 ///for regression tests to detect memory leaks
 ///#define BT_DEBUG_MEMORY_ALLOCATIONS 1
@@ -30,84 +29,87 @@ subject to the following restrictions:
 
 int btDumpMemoryLeaks();
 
-#define btAlignedAlloc(a,b) \
-		btAlignedAllocInternal(a,b,__LINE__,__FILE__)
+#define btAlignedAlloc(a, b) \
+	btAlignedAllocInternal(a, b, __LINE__, __FILE__)
 
 #define btAlignedFree(ptr) \
-		btAlignedFreeInternal(ptr,__LINE__,__FILE__)
+	btAlignedFreeInternal(ptr, __LINE__, __FILE__)
 
-void*	btAlignedAllocInternal	(size_t size, int alignment,int line,char* filename);
+void* btAlignedAllocInternal(size_t size, int alignment, int line, char* filename);
 
-void	btAlignedFreeInternal	(void* ptr,int line,char* filename);
+void btAlignedFreeInternal(void* ptr, int line, char* filename);
 
 #else
-	void*	btAlignedAllocInternal	(size_t size, int alignment);
-	void	btAlignedFreeInternal	(void* ptr);
+void* btAlignedAllocInternal(size_t size, int alignment);
+void btAlignedFreeInternal(void* ptr);
 
-	#define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment)
-	#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
+#define btAlignedAlloc(size, alignment) btAlignedAllocInternal(size, alignment)
+#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
 
 #endif
-typedef int	size_type;
+typedef int size_type;
 
-typedef void *(btAlignedAllocFunc)(size_t size, int alignment);
-typedef void (btAlignedFreeFunc)(void *memblock);
-typedef void *(btAllocFunc)(size_t size);
-typedef void (btFreeFunc)(void *memblock);
+typedef void*(btAlignedAllocFunc)(size_t size, int alignment);
+typedef void(btAlignedFreeFunc)(void* memblock);
+typedef void*(btAllocFunc)(size_t size);
+typedef void(btFreeFunc)(void* memblock);
 
 ///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom
-void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc);
+void btAlignedAllocSetCustom(btAllocFunc* allocFunc, btFreeFunc* freeFunc);
 ///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc);
-
+void btAlignedAllocSetCustomAligned(btAlignedAllocFunc* allocFunc, btAlignedFreeFunc* freeFunc);
 
 ///The btAlignedAllocator is a portable class for aligned memory allocations.
 ///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned.
-template < typename T , unsigned Alignment >
-class btAlignedAllocator {
-	
-	typedef btAlignedAllocator< T , Alignment > self_type;
-	
-public:
+template <typename T, unsigned Alignment>
+class btAlignedAllocator
+{
+	typedef btAlignedAllocator<T, Alignment> self_type;
 
+public:
 	//just going down a list:
 	btAlignedAllocator() {}
 	/*
 	btAlignedAllocator( const self_type & ) {}
 	*/
 
-	template < typename Other >
-	btAlignedAllocator( const btAlignedAllocator< Other , Alignment > & ) {}
+	template <typename Other>
+	btAlignedAllocator(const btAlignedAllocator<Other, Alignment>&)
+	{
+	}
 
-	typedef const T*         const_pointer;
-	typedef const T&         const_reference;
-	typedef T*               pointer;
-	typedef T&               reference;
-	typedef T                value_type;
+	typedef const T* const_pointer;
+	typedef const T& const_reference;
+	typedef T* pointer;
+	typedef T& reference;
+	typedef T value_type;
 
-	pointer       address   ( reference        ref ) const                           { return &ref; }
-	const_pointer address   ( const_reference  ref ) const                           { return &ref; }
-	pointer       allocate  ( size_type        n   , const_pointer *      hint = 0 ) {
+	pointer address(reference ref) const { return &ref; }
+	const_pointer address(const_reference ref) const { return &ref; }
+	pointer allocate(size_type n, const_pointer* hint = 0)
+	{
 		(void)hint;
-		return reinterpret_cast< pointer >(btAlignedAlloc( sizeof(value_type) * n , Alignment ));
+		return reinterpret_cast<pointer>(btAlignedAlloc(sizeof(value_type) * n, Alignment));
 	}
-	void          construct ( pointer          ptr , const value_type &   value    ) { new (ptr) value_type( value ); }
-	void          deallocate( pointer          ptr ) {
-		btAlignedFree( reinterpret_cast< void * >( ptr ) );
+	void construct(pointer ptr, const value_type& value) { new (ptr) value_type(value); }
+	void deallocate(pointer ptr)
+	{
+		btAlignedFree(reinterpret_cast<void*>(ptr));
 	}
-	void          destroy   ( pointer          ptr )                                 { ptr->~value_type(); }
-	
+	void destroy(pointer ptr) { ptr->~value_type(); }
 
-	template < typename O > struct rebind {
-		typedef btAlignedAllocator< O , Alignment > other;
+	template <typename O>
+	struct rebind
+	{
+		typedef btAlignedAllocator<O, Alignment> other;
 	};
-	template < typename O >
-	self_type & operator=( const btAlignedAllocator< O , Alignment > & ) { return *this; }
+	template <typename O>
+	self_type& operator=(const btAlignedAllocator<O, Alignment>&)
+	{
+		return *this;
+	}
 
-	friend bool operator==( const self_type & , const self_type & ) { return true; }
+	friend bool operator==(const self_type&, const self_type&) { return true; }
 };
 
-
-
-#endif //BT_ALIGNED_ALLOCATOR
-
+#endif  //BT_ALIGNED_ALLOCATOR
diff --git a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
index f0b646529a..b4671bc19f 100644
--- a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
+++ b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
@@ -13,11 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_OBJECT_ARRAY__
 #define BT_OBJECT_ARRAY__
 
-#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
 #include "btAlignedAllocator.h"
 
 ///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW
@@ -28,16 +27,16 @@ subject to the following restrictions:
 
 #define BT_USE_PLACEMENT_NEW 1
 //#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise...
-#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful
+#define BT_ALLOW_ARRAY_COPY_OPERATOR  // enabling this can accidently perform deep copies of data if you are not careful
 
 #ifdef BT_USE_MEMCPY
 #include <memory.h>
 #include <string.h>
-#endif //BT_USE_MEMCPY
+#endif  //BT_USE_MEMCPY
 
 #ifdef BT_USE_PLACEMENT_NEW
-#include <new> //for placement new
-#endif //BT_USE_PLACEMENT_NEW
+#include <new>  //for placement new
+#endif          //BT_USE_PLACEMENT_NEW
 
 // The register keyword is deprecated in C++11 so don't use it.
 #if __cplusplus > 199711L
@@ -48,374 +47,358 @@ subject to the following restrictions:
 
 ///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
 ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
-template <typename T> 
-//template <class T> 
+template <typename T>
+//template <class T>
 class btAlignedObjectArray
 {
-	btAlignedAllocator<T , 16>	m_allocator;
+	btAlignedAllocator<T, 16> m_allocator;
 
-	int					m_size;
-	int					m_capacity;
-	T*					m_data;
+	int m_size;
+	int m_capacity;
+	T* m_data;
 	//PCK: added this line
-	bool				m_ownsMemory;
+	bool m_ownsMemory;
 
 #ifdef BT_ALLOW_ARRAY_COPY_OPERATOR
 public:
-	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other)
+	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other)
 	{
 		copyFromArray(other);
 		return *this;
 	}
-#else//BT_ALLOW_ARRAY_COPY_OPERATOR
+#else   //BT_ALLOW_ARRAY_COPY_OPERATOR
 private:
-		SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other);
-#endif//BT_ALLOW_ARRAY_COPY_OPERATOR
+	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other);
+#endif  //BT_ALLOW_ARRAY_COPY_OPERATOR
 
 protected:
-		SIMD_FORCE_INLINE	int	allocSize(int size)
-		{
-			return (size ? size*2 : 1);
-		}
-		SIMD_FORCE_INLINE	void	copy(int start,int end, T* dest) const
-		{
-			int i;
-			for (i=start;i<end;++i)
+	SIMD_FORCE_INLINE int allocSize(int size)
+	{
+		return (size ? size * 2 : 1);
+	}
+	SIMD_FORCE_INLINE void copy(int start, int end, T* dest) const
+	{
+		int i;
+		for (i = start; i < end; ++i)
 #ifdef BT_USE_PLACEMENT_NEW
-				new (&dest[i]) T(m_data[i]);
+			new (&dest[i]) T(m_data[i]);
 #else
-				dest[i] = m_data[i];
-#endif //BT_USE_PLACEMENT_NEW
-		}
+			dest[i] = m_data[i];
+#endif  //BT_USE_PLACEMENT_NEW
+	}
 
-		SIMD_FORCE_INLINE	void	init()
+	SIMD_FORCE_INLINE void init()
+	{
+		//PCK: added this line
+		m_ownsMemory = true;
+		m_data = 0;
+		m_size = 0;
+		m_capacity = 0;
+	}
+	SIMD_FORCE_INLINE void destroy(int first, int last)
+	{
+		int i;
+		for (i = first; i < last; i++)
 		{
-			//PCK: added this line
-			m_ownsMemory = true;
-			m_data = 0;
-			m_size = 0;
-			m_capacity = 0;
+			m_data[i].~T();
 		}
-		SIMD_FORCE_INLINE	void	destroy(int first,int last)
+	}
+
+	SIMD_FORCE_INLINE void* allocate(int size)
+	{
+		if (size)
+			return m_allocator.allocate(size);
+		return 0;
+	}
+
+	SIMD_FORCE_INLINE void deallocate()
+	{
+		if (m_data)
 		{
-			int i;
-			for (i=first; i<last;i++)
+			//PCK: enclosed the deallocation in this block
+			if (m_ownsMemory)
 			{
-				m_data[i].~T();
+				m_allocator.deallocate(m_data);
 			}
+			m_data = 0;
 		}
+	}
 
-		SIMD_FORCE_INLINE	void* allocate(int size)
-		{
-			if (size)
-				return m_allocator.allocate(size);
-			return 0;
-		}
+public:
+	btAlignedObjectArray()
+	{
+		init();
+	}
 
-		SIMD_FORCE_INLINE	void	deallocate()
-		{
-			if(m_data)	{
-				//PCK: enclosed the deallocation in this block
-				if (m_ownsMemory)
-				{
-					m_allocator.deallocate(m_data);
-				}
-				m_data = 0;
-			}
-		}
+	~btAlignedObjectArray()
+	{
+		clear();
+	}
 
-	
+	///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
+	btAlignedObjectArray(const btAlignedObjectArray& otherArray)
+	{
+		init();
 
+		int otherSize = otherArray.size();
+		resize(otherSize);
+		otherArray.copy(0, otherSize, m_data);
+	}
 
-	public:
-		
-		btAlignedObjectArray()
-		{
-			init();
-		}
+	/// return the number of elements in the array
+	SIMD_FORCE_INLINE int size() const
+	{
+		return m_size;
+	}
 
-		~btAlignedObjectArray()
-		{
-			clear();
-		}
+	SIMD_FORCE_INLINE const T& at(int n) const
+	{
+		btAssert(n >= 0);
+		btAssert(n < size());
+		return m_data[n];
+	}
 
-		///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
-		btAlignedObjectArray(const btAlignedObjectArray& otherArray)
-		{
-			init();
+	SIMD_FORCE_INLINE T& at(int n)
+	{
+		btAssert(n >= 0);
+		btAssert(n < size());
+		return m_data[n];
+	}
 
-			int otherSize = otherArray.size();
-			resize (otherSize);
-			otherArray.copy(0, otherSize, m_data);
-		}
+	SIMD_FORCE_INLINE const T& operator[](int n) const
+	{
+		btAssert(n >= 0);
+		btAssert(n < size());
+		return m_data[n];
+	}
 
-		
-		
-		/// return the number of elements in the array
-		SIMD_FORCE_INLINE	int size() const
-		{	
-			return m_size;
-		}
-		
-		SIMD_FORCE_INLINE const T& at(int n) const
-		{
-			btAssert(n>=0);
-			btAssert(n<size());
-			return m_data[n];
-		}
+	SIMD_FORCE_INLINE T& operator[](int n)
+	{
+		btAssert(n >= 0);
+		btAssert(n < size());
+		return m_data[n];
+	}
 
-		SIMD_FORCE_INLINE T& at(int n)
-		{
-			btAssert(n>=0);
-			btAssert(n<size());
-			return m_data[n];
-		}
+	///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
+	SIMD_FORCE_INLINE void clear()
+	{
+		destroy(0, size());
 
-		SIMD_FORCE_INLINE const T& operator[](int n) const
-		{
-			btAssert(n>=0);
-			btAssert(n<size());
-			return m_data[n];
-		}
+		deallocate();
 
-		SIMD_FORCE_INLINE T& operator[](int n)
-		{
-			btAssert(n>=0);
-			btAssert(n<size());
-			return m_data[n];
-		}
-		
+		init();
+	}
 
-		///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
-		SIMD_FORCE_INLINE	void	clear()
-		{
-			destroy(0,size());
-			
-			deallocate();
-			
-			init();
-		}
+	SIMD_FORCE_INLINE void pop_back()
+	{
+		btAssert(m_size > 0);
+		m_size--;
+		m_data[m_size].~T();
+	}
 
-		SIMD_FORCE_INLINE	void	pop_back()
+	///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
+	///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
+	SIMD_FORCE_INLINE void resizeNoInitialize(int newsize)
+	{
+		if (newsize > size())
 		{
-			btAssert(m_size>0);
-			m_size--;
-			m_data[m_size].~T();
+			reserve(newsize);
 		}
+		m_size = newsize;
+	}
 
+	SIMD_FORCE_INLINE void resize(int newsize, const T& fillData = T())
+	{
+		const BT_REGISTER int curSize = size();
 
-		///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
-		///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
-		SIMD_FORCE_INLINE	void	resizeNoInitialize(int newsize)
+		if (newsize < curSize)
 		{
-			if (newsize > size())
+			for (int i = newsize; i < curSize; i++)
 			{
-				reserve(newsize);
+				m_data[i].~T();
 			}
-			m_size = newsize;
 		}
-	
-		SIMD_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
+		else
 		{
-			const BT_REGISTER int curSize = size();
-
-			if (newsize < curSize)
+			if (newsize > curSize)
 			{
-				for(int i = newsize; i < curSize; i++)
-				{
-					m_data[i].~T();
-				}
-			} else
-			{
-				if (newsize > curSize)
-				{
-					reserve(newsize);
-				}
-#ifdef BT_USE_PLACEMENT_NEW
-				for (int i=curSize;i<newsize;i++)
-				{
-					new ( &m_data[i]) T(fillData);
-				}
-#endif //BT_USE_PLACEMENT_NEW
-
+				reserve(newsize);
 			}
-
-			m_size = newsize;
-		}
-		SIMD_FORCE_INLINE	T&  expandNonInitializing( )
-		{	
-			const BT_REGISTER int sz = size();
-			if( sz == capacity() )
+#ifdef BT_USE_PLACEMENT_NEW
+			for (int i = curSize; i < newsize; i++)
 			{
-				reserve( allocSize(size()) );
+				new (&m_data[i]) T(fillData);
 			}
-			m_size++;
+#endif  //BT_USE_PLACEMENT_NEW
+		}
 
-			return m_data[sz];		
+		m_size = newsize;
+	}
+	SIMD_FORCE_INLINE T& expandNonInitializing()
+	{
+		const BT_REGISTER int sz = size();
+		if (sz == capacity())
+		{
+			reserve(allocSize(size()));
 		}
+		m_size++;
 
+		return m_data[sz];
+	}
 
-		SIMD_FORCE_INLINE	T&  expand( const T& fillValue=T())
-		{	
-			const BT_REGISTER int sz = size();
-			if( sz == capacity() )
-			{
-				reserve( allocSize(size()) );
-			}
-			m_size++;
+	SIMD_FORCE_INLINE T& expand(const T& fillValue = T())
+	{
+		const BT_REGISTER int sz = size();
+		if (sz == capacity())
+		{
+			reserve(allocSize(size()));
+		}
+		m_size++;
 #ifdef BT_USE_PLACEMENT_NEW
-			new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory)
+		new (&m_data[sz]) T(fillValue);  //use the in-place new (not really allocating heap memory)
 #endif
 
-			return m_data[sz];		
-		}
+		return m_data[sz];
+	}
 
+	SIMD_FORCE_INLINE void push_back(const T& _Val)
+	{
+		const BT_REGISTER int sz = size();
+		if (sz == capacity())
+		{
+			reserve(allocSize(size()));
+		}
 
-		SIMD_FORCE_INLINE	void push_back(const T& _Val)
-		{	
-			const BT_REGISTER int sz = size();
-			if( sz == capacity() )
-			{
-				reserve( allocSize(size()) );
-			}
-			
 #ifdef BT_USE_PLACEMENT_NEW
-			new ( &m_data[m_size] ) T(_Val);
+		new (&m_data[m_size]) T(_Val);
 #else
-			m_data[size()] = _Val;			
-#endif //BT_USE_PLACEMENT_NEW
-
-			m_size++;
-		}
+		m_data[size()] = _Val;
+#endif  //BT_USE_PLACEMENT_NEW
 
-	
-		/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
-		SIMD_FORCE_INLINE	int capacity() const
-		{	
-			return m_capacity;
-		}
-		
-		SIMD_FORCE_INLINE	void reserve(int _Count)
-		{	// determine new minimum length of allocated storage
-			if (capacity() < _Count)
-			{	// not enough room, reallocate
-				T*	s = (T*)allocate(_Count);
+		m_size++;
+	}
 
-				copy(0, size(), s);
+	/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
+	SIMD_FORCE_INLINE int capacity() const
+	{
+		return m_capacity;
+	}
 
-				destroy(0,size());
+	SIMD_FORCE_INLINE void reserve(int _Count)
+	{  // determine new minimum length of allocated storage
+		if (capacity() < _Count)
+		{  // not enough room, reallocate
+			T* s = (T*)allocate(_Count);
 
-				deallocate();
-				
-				//PCK: added this line
-				m_ownsMemory = true;
+			copy(0, size(), s);
 
-				m_data = s;
-				
-				m_capacity = _Count;
+			destroy(0, size());
 
-			}
-		}
+			deallocate();
 
+			//PCK: added this line
+			m_ownsMemory = true;
 
-		class less
-		{
-			public:
+			m_data = s;
 
-				bool operator() ( const T& a, const T& b ) const
-				{
-					return ( a < b );
-				}
-		};
-	
+			m_capacity = _Count;
+		}
+	}
 
-		template <typename L>
-		void quickSortInternal(const L& CompareFunc,int lo, int hi)
+	class less
+	{
+	public:
+		bool operator()(const T& a, const T& b) const
 		{
-		//  lo is the lower index, hi is the upper index
-		//  of the region of array a that is to be sorted
-			int i=lo, j=hi;
-			T x=m_data[(lo+hi)/2];
-
-			//  partition
-			do
-			{    
-				while (CompareFunc(m_data[i],x)) 
-					i++; 
-				while (CompareFunc(x,m_data[j])) 
-					j--;
-				if (i<=j)
-				{
-					swap(i,j);
-					i++; j--;
-				}
-			} while (i<=j);
-
-			//  recursion
-			if (lo<j) 
-				quickSortInternal( CompareFunc, lo, j);
-			if (i<hi) 
-				quickSortInternal( CompareFunc, i, hi);
+			return (a < b);
 		}
+	};
 
+	template <typename L>
+	void quickSortInternal(const L& CompareFunc, int lo, int hi)
+	{
+		//  lo is the lower index, hi is the upper index
+		//  of the region of array a that is to be sorted
+		int i = lo, j = hi;
+		T x = m_data[(lo + hi) / 2];
 
-		template <typename L>
-		void quickSort(const L& CompareFunc)
+		//  partition
+		do
 		{
-			//don't sort 0 or 1 elements
-			if (size()>1)
+			while (CompareFunc(m_data[i], x))
+				i++;
+			while (CompareFunc(x, m_data[j]))
+				j--;
+			if (i <= j)
 			{
-				quickSortInternal(CompareFunc,0,size()-1);
+				swap(i, j);
+				i++;
+				j--;
 			}
+		} while (i <= j);
+
+		//  recursion
+		if (lo < j)
+			quickSortInternal(CompareFunc, lo, j);
+		if (i < hi)
+			quickSortInternal(CompareFunc, i, hi);
+	}
+
+	template <typename L>
+	void quickSort(const L& CompareFunc)
+	{
+		//don't sort 0 or 1 elements
+		if (size() > 1)
+		{
+			quickSortInternal(CompareFunc, 0, size() - 1);
 		}
+	}
 
+	///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
+	template <typename L>
+	void downHeap(T* pArr, int k, int n, const L& CompareFunc)
+	{
+		/*  PRE: a[k+1..N] is a heap */
+		/* POST:  a[k..N]  is a heap */
 
-		///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
-		template <typename L>
-		void downHeap(T *pArr, int k, int n, const L& CompareFunc)
+		T temp = pArr[k - 1];
+		/* k has child(s) */
+		while (k <= n / 2)
 		{
-			/*  PRE: a[k+1..N] is a heap */
-			/* POST:  a[k..N]  is a heap */
-			
-			T temp = pArr[k - 1];
-			/* k has child(s) */
-			while (k <= n/2) 
+			int child = 2 * k;
+
+			if ((child < n) && CompareFunc(pArr[child - 1], pArr[child]))
+			{
+				child++;
+			}
+			/* pick larger child */
+			if (CompareFunc(temp, pArr[child - 1]))
 			{
-				int child = 2*k;
-				
-				if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child]))
-				{
-					child++;
-				}
-				/* pick larger child */
-				if (CompareFunc(temp , pArr[child - 1]))
-				{
-					/* move child up */
-					pArr[k - 1] = pArr[child - 1];
-					k = child;
-				}
-				else
-				{
-					break;
-				}
+				/* move child up */
+				pArr[k - 1] = pArr[child - 1];
+				k = child;
 			}
-			pArr[k - 1] = temp;
-		} /*downHeap*/
+			else
+			{
+				break;
+			}
+		}
+		pArr[k - 1] = temp;
+	} /*downHeap*/
 
-		void	swap(int index0,int index1)
-		{
+	void swap(int index0, int index1)
+	{
 #ifdef BT_USE_MEMCPY
-			char	temp[sizeof(T)];
-			memcpy(temp,&m_data[index0],sizeof(T));
-			memcpy(&m_data[index0],&m_data[index1],sizeof(T));
-			memcpy(&m_data[index1],temp,sizeof(T));
+		char temp[sizeof(T)];
+		memcpy(temp, &m_data[index0], sizeof(T));
+		memcpy(&m_data[index0], &m_data[index1], sizeof(T));
+		memcpy(&m_data[index1], temp, sizeof(T));
 #else
-			T temp = m_data[index0];
-			m_data[index0] = m_data[index1];
-			m_data[index1] = temp;
-#endif //BT_USE_PLACEMENT_NEW
-
-		}
+		T temp = m_data[index0];
+		m_data[index0] = m_data[index1];
+		m_data[index1] = temp;
+#endif  //BT_USE_PLACEMENT_NEW
+	}
 
 	template <typename L>
 	void heapSort(const L& CompareFunc)
@@ -423,49 +406,66 @@ protected:
 		/* sort a[0..N-1],  N.B. 0 to N-1 */
 		int k;
 		int n = m_size;
-		for (k = n/2; k > 0; k--) 
+		for (k = n / 2; k > 0; k--)
 		{
 			downHeap(m_data, k, n, CompareFunc);
 		}
 
 		/* a[1..N] is now a heap */
-		while ( n>=1 ) 
+		while (n >= 1)
 		{
-			swap(0,n-1); /* largest of a[0..n-1] */
-
+			swap(0, n - 1); /* largest of a[0..n-1] */
 
 			n = n - 1;
 			/* restore a[1..i-1] heap */
 			downHeap(m_data, 1, n, CompareFunc);
-		} 
+		}
 	}
 
 	///non-recursive binary search, assumes sorted array
-	int	findBinarySearch(const T& key) const
+	int findBinarySearch(const T& key) const
 	{
 		int first = 0;
-		int last = size()-1;
+		int last = size() - 1;
 
 		//assume sorted array
-		while (first <= last) {
+		while (first <= last)
+		{
 			int mid = (first + last) / 2;  // compute mid point.
-			if (key > m_data[mid]) 
+			if (key > m_data[mid])
 				first = mid + 1;  // repeat search in top half.
-			else if (key < m_data[mid]) 
-				last = mid - 1; // repeat search in bottom half.
+			else if (key < m_data[mid])
+				last = mid - 1;  // repeat search in bottom half.
 			else
-				return mid;     // found it. return position /////
+				return mid;  // found it. return position /////
 		}
-		return size();    // failed to find key
+		return size();  // failed to find key
 	}
 
+	int findLinearSearch(const T& key) const
+	{
+		int index = size();
+		int i;
 
-	int	findLinearSearch(const T& key) const
+		for (i = 0; i < size(); i++)
+		{
+			if (m_data[i] == key)
+			{
+				index = i;
+				break;
+			}
+		}
+		return index;
+	}
+
+	// If the key is not in the array, return -1 instead of 0,
+	// since 0 also means the first element in the array.
+	int findLinearSearch2(const T& key) const
 	{
-		int index=size();
+		int index = -1;
 		int i;
 
-		for (i=0;i<size();i++)
+		for (i = 0; i < size(); i++)
 		{
 			if (m_data[i] == key)
 			{
@@ -475,41 +475,23 @@ protected:
 		}
 		return index;
 	}
-    
-    // If the key is not in the array, return -1 instead of 0,
-    // since 0 also means the first element in the array.
-    int	findLinearSearch2(const T& key) const
-    {
-        int index=-1;
-        int i;
-        
-        for (i=0;i<size();i++)
-        {
-            if (m_data[i] == key)
-            {
-                index = i;
-                break;
-            }
-        }
-        return index;
-    }
-
-    void removeAtIndex(int index)
-    {
-        if (index<size())
-        {
-            swap( index,size()-1);
-            pop_back();
-        }
-    }
-	void	remove(const T& key)
+
+	void removeAtIndex(int index)
+	{
+		if (index < size())
+		{
+			swap(index, size() - 1);
+			pop_back();
+		}
+	}
+	void remove(const T& key)
 	{
 		int findIndex = findLinearSearch(key);
-        removeAtIndex(findIndex);
+		removeAtIndex(findIndex);
 	}
 
 	//PCK: whole function
-	void initializeFromBuffer(void *buffer, int size, int capacity)
+	void initializeFromBuffer(void* buffer, int size, int capacity)
 	{
 		clear();
 		m_ownsMemory = false;
@@ -521,10 +503,9 @@ protected:
 	void copyFromArray(const btAlignedObjectArray& otherArray)
 	{
 		int otherSize = otherArray.size();
-		resize (otherSize);
+		resize(otherSize);
 		otherArray.copy(0, otherSize, m_data);
 	}
-
 };
 
-#endif //BT_OBJECT_ARRAY__
+#endif  //BT_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.cpp b/thirdparty/bullet/LinearMath/btConvexHull.cpp
index f8b79a1aba..e7de2a3694 100644
--- a/thirdparty/bullet/LinearMath/btConvexHull.cpp
+++ b/thirdparty/bullet/LinearMath/btConvexHull.cpp
@@ -20,51 +20,52 @@ subject to the following restrictions:
 #include "btMinMax.h"
 #include "btVector3.h"
 
-
-
-
-
 //----------------------------------
 
-class int3  
+class int3
 {
 public:
-	int x,y,z;
+	int x, y, z;
 	int3(){};
-	int3(int _x,int _y, int _z){x=_x;y=_y;z=_z;}
-	const int& operator[](int i) const {return (&x)[i];}
-	int& operator[](int i) {return (&x)[i];}
+	int3(int _x, int _y, int _z)
+	{
+		x = _x;
+		y = _y;
+		z = _z;
+	}
+	const int &operator[](int i) const { return (&x)[i]; }
+	int &operator[](int i) { return (&x)[i]; }
 };
 
-
 //------- btPlane ----------
 
-
-inline btPlane PlaneFlip(const btPlane &plane){return btPlane(-plane.normal,-plane.dist);}
-inline int operator==( const btPlane &a, const btPlane &b ) { return (a.normal==b.normal && a.dist==b.dist); }
-inline int coplanar( const btPlane &a, const btPlane &b ) { return (a==b || a==PlaneFlip(b)); }
-
+inline btPlane PlaneFlip(const btPlane &plane) { return btPlane(-plane.normal, -plane.dist); }
+inline int operator==(const btPlane &a, const btPlane &b) { return (a.normal == b.normal && a.dist == b.dist); }
+inline int coplanar(const btPlane &a, const btPlane &b) { return (a == b || a == PlaneFlip(b)); }
 
 //--------- Utility Functions ------
 
-btVector3  PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1);
-btVector3  PlaneProject(const btPlane &plane, const btVector3 &point);
+btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1);
+btVector3 PlaneProject(const btPlane &plane, const btVector3 &point);
 
-btVector3  ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2);
-btVector3  ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2)
+btVector3 ThreePlaneIntersection(const btPlane &p0, const btPlane &p1, const btPlane &p2);
+btVector3 ThreePlaneIntersection(const btPlane &p0, const btPlane &p1, const btPlane &p2)
 {
 	btVector3 N1 = p0.normal;
 	btVector3 N2 = p1.normal;
 	btVector3 N3 = p2.normal;
 
-	btVector3 n2n3; n2n3 = N2.cross(N3);
-	btVector3 n3n1; n3n1 = N3.cross(N1);
-	btVector3 n1n2; n1n2 = N1.cross(N2);
+	btVector3 n2n3;
+	n2n3 = N2.cross(N3);
+	btVector3 n3n1;
+	n3n1 = N3.cross(N1);
+	btVector3 n1n2;
+	n1n2 = N1.cross(N2);
 
 	btScalar quotient = (N1.dot(n2n3));
 
 	btAssert(btFabs(quotient) > btScalar(0.000001));
-	
+
 	quotient = btScalar(-1.) / quotient;
 	n2n3 *= p0.dist;
 	n3n1 *= p1.dist;
@@ -74,105 +75,96 @@ btVector3  ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btP
 	potentialVertex += n1n2;
 	potentialVertex *= quotient;
 
-	btVector3 result(potentialVertex.getX(),potentialVertex.getY(),potentialVertex.getZ());
+	btVector3 result(potentialVertex.getX(), potentialVertex.getY(), potentialVertex.getZ());
 	return result;
-
 }
 
-btScalar   DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint=NULL, btVector3 *vpoint=NULL);
-btVector3  TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2);
-btVector3  NormalOf(const btVector3 *vert, const int n);
-
+btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint = NULL, btVector3 *vpoint = NULL);
+btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2);
+btVector3 NormalOf(const btVector3 *vert, const int n);
 
 btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1)
 {
 	// returns the point where the line p0-p1 intersects the plane n&d
-    btVector3 dif;
-		dif = p1-p0;
-				btScalar dn= btDot(plane.normal,dif);
-				btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn;
-				return p0 + (dif*t);
+	btVector3 dif;
+	dif = p1 - p0;
+	btScalar dn = btDot(plane.normal, dif);
+	btScalar t = -(plane.dist + btDot(plane.normal, p0)) / dn;
+	return p0 + (dif * t);
 }
 
 btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
 {
-	return point - plane.normal * (btDot(point,plane.normal)+plane.dist);
+	return point - plane.normal * (btDot(point, plane.normal) + plane.dist);
 }
 
 btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2)
 {
 	// return the normal of the triangle
 	// inscribed by v0, v1, and v2
-	btVector3 cp=btCross(v1-v0,v2-v1);
-	btScalar m=cp.length();
-	if(m==0) return btVector3(1,0,0);
-	return cp*(btScalar(1.0)/m);
+	btVector3 cp = btCross(v1 - v0, v2 - v1);
+	btScalar m = cp.length();
+	if (m == 0) return btVector3(1, 0, 0);
+	return cp * (btScalar(1.0) / m);
 }
 
-
 btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint)
 {
 	btVector3 cp;
-	cp = btCross(udir,vdir).normalized();
+	cp = btCross(udir, vdir).normalized();
 
-	btScalar distu = -btDot(cp,ustart);
-	btScalar distv = -btDot(cp,vstart);
-	btScalar dist = (btScalar)fabs(distu-distv);
-	if(upoint) 
-		{
+	btScalar distu = -btDot(cp, ustart);
+	btScalar distv = -btDot(cp, vstart);
+	btScalar dist = (btScalar)fabs(distu - distv);
+	if (upoint)
+	{
 		btPlane plane;
-		plane.normal = btCross(vdir,cp).normalized();
-		plane.dist = -btDot(plane.normal,vstart);
-		*upoint = PlaneLineIntersection(plane,ustart,ustart+udir);
+		plane.normal = btCross(vdir, cp).normalized();
+		plane.dist = -btDot(plane.normal, vstart);
+		*upoint = PlaneLineIntersection(plane, ustart, ustart + udir);
 	}
-	if(vpoint) 
-		{
+	if (vpoint)
+	{
 		btPlane plane;
-		plane.normal = btCross(udir,cp).normalized();
-		plane.dist = -btDot(plane.normal,ustart);
-		*vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir);
+		plane.normal = btCross(udir, cp).normalized();
+		plane.dist = -btDot(plane.normal, ustart);
+		*vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir);
 	}
 	return dist;
 }
 
-
-
-
-
-
-
-#define COPLANAR   (0)
-#define UNDER      (1)
-#define OVER       (2)
-#define SPLIT      (OVER|UNDER)
+#define COPLANAR (0)
+#define UNDER (1)
+#define OVER (2)
+#define SPLIT (OVER | UNDER)
 #define PAPERWIDTH (btScalar(0.001))
 
 btScalar planetestepsilon = PAPERWIDTH;
 
-
-
 typedef ConvexH::HalfEdge HalfEdge;
 
-ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size)
+ConvexH::ConvexH(int vertices_size, int edges_size, int facets_size)
 {
 	vertices.resize(vertices_size);
 	edges.resize(edges_size);
 	facets.resize(facets_size);
 }
 
-
 int PlaneTest(const btPlane &p, const btVector3 &v);
-int PlaneTest(const btPlane &p, const btVector3 &v) {
-	btScalar a  = btDot(v,p.normal)+p.dist;
-	int   flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR);
+int PlaneTest(const btPlane &p, const btVector3 &v)
+{
+	btScalar a = btDot(v, p.normal) + p.dist;
+	int flag = (a > planetestepsilon) ? OVER : ((a < -planetestepsilon) ? UNDER : COPLANAR);
 	return flag;
 }
 
-int SplitTest(ConvexH &convex,const btPlane &plane);
-int SplitTest(ConvexH &convex,const btPlane &plane) {
-	int flag=0;
-	for(int i=0;i<convex.vertices.size();i++) {
-		flag |= PlaneTest(plane,convex.vertices[i]);
+int SplitTest(ConvexH &convex, const btPlane &plane);
+int SplitTest(ConvexH &convex, const btPlane &plane)
+{
+	int flag = 0;
+	for (int i = 0; i < convex.vertices.size(); i++)
+	{
+		flag |= PlaneTest(plane, convex.vertices[i]);
 	}
 	return flag;
 }
@@ -185,7 +177,7 @@ public:
 	unsigned char undermap;
 	unsigned char overmap;
 };
-class EdgeFlag 
+class EdgeFlag
 {
 public:
 	unsigned char planetest;
@@ -199,146 +191,135 @@ public:
 	unsigned char undermap;
 	unsigned char overmap;
 };
-class Coplanar{
+class Coplanar
+{
 public:
 	unsigned short ea;
 	unsigned char v0;
 	unsigned char v1;
 };
 
-
-
-
-
-
-
-
-template<class T>
-int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &allow)
+template <class T>
+int maxdirfiltered(const T *p, int count, const T &dir, btAlignedObjectArray<int> &allow)
 {
 	btAssert(count);
-	int m=-1;
-	for(int i=0;i<count;i++) 
-		if(allow[i])
+	int m = -1;
+	for (int i = 0; i < count; i++)
+		if (allow[i])
 		{
-			if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir))
-				m=i;
+			if (m == -1 || btDot(p[i], dir) > btDot(p[m], dir))
+				m = i;
 		}
-	btAssert(m!=-1);
+	btAssert(m != -1);
 	return m;
-} 
+}
 
 btVector3 orth(const btVector3 &v);
 btVector3 orth(const btVector3 &v)
 {
-	btVector3 a=btCross(v,btVector3(0,0,1));
-	btVector3 b=btCross(v,btVector3(0,1,0));
+	btVector3 a = btCross(v, btVector3(0, 0, 1));
+	btVector3 b = btCross(v, btVector3(0, 1, 0));
 	if (a.length() > b.length())
 	{
 		return a.normalized();
-	} else {
+	}
+	else
+	{
 		return b.normalized();
 	}
 }
 
-
-template<class T>
-int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &allow)
+template <class T>
+int maxdirsterid(const T *p, int count, const T &dir, btAlignedObjectArray<int> &allow)
 {
-	int m=-1;
-	while(m==-1)
+	int m = -1;
+	while (m == -1)
 	{
-		m = maxdirfiltered(p,count,dir,allow);
-		if(allow[m]==3) return m;
+		m = maxdirfiltered(p, count, dir, allow);
+		if (allow[m] == 3) return m;
 		T u = orth(dir);
-		T v = btCross(u,dir);
-		int ma=-1;
-		for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
+		T v = btCross(u, dir);
+		int ma = -1;
+		for (btScalar x = btScalar(0.0); x <= btScalar(360.0); x += btScalar(45.0))
 		{
-			btScalar s = btSin(SIMD_RADS_PER_DEG*(x));
-			btScalar c = btCos(SIMD_RADS_PER_DEG*(x));
-			int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow);
-			if(ma==m && mb==m)
+			btScalar s = btSin(SIMD_RADS_PER_DEG * (x));
+			btScalar c = btCos(SIMD_RADS_PER_DEG * (x));
+			int mb = maxdirfiltered(p, count, dir + (u * s + v * c) * btScalar(0.025), allow);
+			if (ma == m && mb == m)
 			{
-				allow[m]=3;
+				allow[m] = 3;
 				return m;
 			}
-			if(ma!=-1 && ma!=mb)  // Yuck - this is really ugly
+			if (ma != -1 && ma != mb)  // Yuck - this is really ugly
 			{
 				int mc = ma;
-				for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0))
+				for (btScalar xx = x - btScalar(40.0); xx <= x; xx += btScalar(5.0))
 				{
-					btScalar s = btSin(SIMD_RADS_PER_DEG*(xx));
-					btScalar c = btCos(SIMD_RADS_PER_DEG*(xx));
-					int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow);
-					if(mc==m && md==m)
+					btScalar s = btSin(SIMD_RADS_PER_DEG * (xx));
+					btScalar c = btCos(SIMD_RADS_PER_DEG * (xx));
+					int md = maxdirfiltered(p, count, dir + (u * s + v * c) * btScalar(0.025), allow);
+					if (mc == m && md == m)
 					{
-						allow[m]=3;
+						allow[m] = 3;
 						return m;
 					}
-					mc=md;
+					mc = md;
 				}
 			}
-			ma=mb;
+			ma = mb;
 		}
-		allow[m]=0;
-		m=-1;
+		allow[m] = 0;
+		m = -1;
 	}
 	btAssert(0);
 	return m;
-} 
-
-
-
+}
 
-int operator ==(const int3 &a,const int3 &b);
-int operator ==(const int3 &a,const int3 &b) 
+int operator==(const int3 &a, const int3 &b);
+int operator==(const int3 &a, const int3 &b)
 {
-	for(int i=0;i<3;i++) 
+	for (int i = 0; i < 3; i++)
 	{
-		if(a[i]!=b[i]) return 0;
+		if (a[i] != b[i]) return 0;
 	}
 	return 1;
 }
 
-
-int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon);
-int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon) 
+int above(btVector3 *vertices, const int3 &t, const btVector3 &p, btScalar epsilon);
+int above(btVector3 *vertices, const int3 &t, const btVector3 &p, btScalar epsilon)
 {
-	btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]);
-	return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
+	btVector3 n = TriNormal(vertices[t[0]], vertices[t[1]], vertices[t[2]]);
+	return (btDot(n, p - vertices[t[0]]) > epsilon);  // EPSILON???
 }
-int hasedge(const int3 &t, int a,int b);
-int hasedge(const int3 &t, int a,int b)
+int hasedge(const int3 &t, int a, int b);
+int hasedge(const int3 &t, int a, int b)
 {
-	for(int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 	{
-		int i1= (i+1)%3;
-		if(t[i]==a && t[i1]==b) return 1;
+		int i1 = (i + 1) % 3;
+		if (t[i] == a && t[i1] == b) return 1;
 	}
 	return 0;
 }
 int hasvert(const int3 &t, int v);
 int hasvert(const int3 &t, int v)
 {
-	return (t[0]==v || t[1]==v || t[2]==v) ;
+	return (t[0] == v || t[1] == v || t[2] == v);
 }
-int shareedge(const int3 &a,const int3 &b);
-int shareedge(const int3 &a,const int3 &b)
+int shareedge(const int3 &a, const int3 &b);
+int shareedge(const int3 &a, const int3 &b)
 {
 	int i;
-	for(i=0;i<3;i++)
+	for (i = 0; i < 3; i++)
 	{
-		int i1= (i+1)%3;
-		if(hasedge(a,b[i1],b[i])) return 1;
+		int i1 = (i + 1) % 3;
+		if (hasedge(a, b[i1], b[i])) return 1;
 	}
 	return 0;
 }
 
 class btHullTriangle;
 
-
-
 class btHullTriangle : public int3
 {
 public:
@@ -346,51 +327,50 @@ public:
 	int id;
 	int vmax;
 	btScalar rise;
-	btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
+	btHullTriangle(int a, int b, int c) : int3(a, b, c), n(-1, -1, -1)
 	{
-		vmax=-1;
+		vmax = -1;
 		rise = btScalar(0.0);
 	}
 	~btHullTriangle()
 	{
 	}
-	int &neib(int a,int b);
+	int &neib(int a, int b);
 };
 
-
-int &btHullTriangle::neib(int a,int b)
+int &btHullTriangle::neib(int a, int b)
 {
-	static int er=-1;
+	static int er = -1;
 	int i;
-	for(i=0;i<3;i++) 
+	for (i = 0; i < 3; i++)
 	{
-		int i1=(i+1)%3;
-		int i2=(i+2)%3;
-		if((*this)[i]==a && (*this)[i1]==b) return n[i2];
-		if((*this)[i]==b && (*this)[i1]==a) return n[i2];
+		int i1 = (i + 1) % 3;
+		int i2 = (i + 2) % 3;
+		if ((*this)[i] == a && (*this)[i1] == b) return n[i2];
+		if ((*this)[i] == b && (*this)[i1] == a) return n[i2];
 	}
 	btAssert(0);
 	return er;
 }
-void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t)
+void HullLibrary::b2bfix(btHullTriangle *s, btHullTriangle *t)
 {
 	int i;
-	for(i=0;i<3;i++) 
+	for (i = 0; i < 3; i++)
 	{
-		int i1=(i+1)%3;
-		int i2=(i+2)%3;
+		int i1 = (i + 1) % 3;
+		int i2 = (i + 2) % 3;
 		int a = (*s)[i1];
 		int b = (*s)[i2];
-		btAssert(m_tris[s->neib(a,b)]->neib(b,a) == s->id);
-		btAssert(m_tris[t->neib(a,b)]->neib(b,a) == t->id);
-		m_tris[s->neib(a,b)]->neib(b,a) = t->neib(b,a);
-		m_tris[t->neib(b,a)]->neib(a,b) = s->neib(a,b);
+		btAssert(m_tris[s->neib(a, b)]->neib(b, a) == s->id);
+		btAssert(m_tris[t->neib(a, b)]->neib(b, a) == t->id);
+		m_tris[s->neib(a, b)]->neib(b, a) = t->neib(b, a);
+		m_tris[t->neib(b, a)]->neib(a, b) = s->neib(a, b);
 	}
 }
 
-void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t)
+void HullLibrary::removeb2b(btHullTriangle *s, btHullTriangle *t)
 {
-	b2bfix(s,t);
+	b2bfix(s, t);
 	deAllocateTriangle(s);
 
 	deAllocateTriangle(t);
@@ -401,11 +381,11 @@ void HullLibrary::checkit(btHullTriangle *t)
 	(void)t;
 
 	int i;
-	btAssert(m_tris[t->id]==t);
-	for(i=0;i<3;i++)
+	btAssert(m_tris[t->id] == t);
+	for (i = 0; i < 3; i++)
 	{
-		int i1=(i+1)%3;
-		int i2=(i+2)%3;
+		int i1 = (i + 1) % 3;
+		int i2 = (i + 2) % 3;
 		int a = (*t)[i1];
 		int b = (*t)[i2];
 
@@ -415,226 +395,233 @@ void HullLibrary::checkit(btHullTriangle *t)
 		(void)a;
 		(void)b;
 
-		btAssert(a!=b);
-		btAssert( m_tris[t->n[i]]->neib(b,a) == t->id);
+		btAssert(a != b);
+		btAssert(m_tris[t->n[i]]->neib(b, a) == t->id);
 	}
 }
 
-btHullTriangle*	HullLibrary::allocateTriangle(int a,int b,int c)
+btHullTriangle *HullLibrary::allocateTriangle(int a, int b, int c)
 {
-	void* mem = btAlignedAlloc(sizeof(btHullTriangle),16);
-	btHullTriangle* tr = new (mem)btHullTriangle(a,b,c);
+	void *mem = btAlignedAlloc(sizeof(btHullTriangle), 16);
+	btHullTriangle *tr = new (mem) btHullTriangle(a, b, c);
 	tr->id = m_tris.size();
 	m_tris.push_back(tr);
 
 	return tr;
 }
 
-void	HullLibrary::deAllocateTriangle(btHullTriangle* tri)
+void HullLibrary::deAllocateTriangle(btHullTriangle *tri)
 {
-	btAssert(m_tris[tri->id]==tri);
-	m_tris[tri->id]=NULL;
+	btAssert(m_tris[tri->id] == tri);
+	m_tris[tri->id] = NULL;
 	tri->~btHullTriangle();
 	btAlignedFree(tri);
 }
 
-
-void HullLibrary::extrude(btHullTriangle *t0,int v)
+void HullLibrary::extrude(btHullTriangle *t0, int v)
 {
-	int3 t= *t0;
+	int3 t = *t0;
 	int n = m_tris.size();
-	btHullTriangle* ta = allocateTriangle(v,t[1],t[2]);
-	ta->n = int3(t0->n[0],n+1,n+2);
-	m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
-	btHullTriangle* tb = allocateTriangle(v,t[2],t[0]);
-	tb->n = int3(t0->n[1],n+2,n+0);
-	m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
-	btHullTriangle* tc = allocateTriangle(v,t[0],t[1]);
-	tc->n = int3(t0->n[2],n+0,n+1);
-	m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
+	btHullTriangle *ta = allocateTriangle(v, t[1], t[2]);
+	ta->n = int3(t0->n[0], n + 1, n + 2);
+	m_tris[t0->n[0]]->neib(t[1], t[2]) = n + 0;
+	btHullTriangle *tb = allocateTriangle(v, t[2], t[0]);
+	tb->n = int3(t0->n[1], n + 2, n + 0);
+	m_tris[t0->n[1]]->neib(t[2], t[0]) = n + 1;
+	btHullTriangle *tc = allocateTriangle(v, t[0], t[1]);
+	tc->n = int3(t0->n[2], n + 0, n + 1);
+	m_tris[t0->n[2]]->neib(t[0], t[1]) = n + 2;
 	checkit(ta);
 	checkit(tb);
 	checkit(tc);
-	if(hasvert(*m_tris[ta->n[0]],v)) removeb2b(ta,m_tris[ta->n[0]]);
-	if(hasvert(*m_tris[tb->n[0]],v)) removeb2b(tb,m_tris[tb->n[0]]);
-	if(hasvert(*m_tris[tc->n[0]],v)) removeb2b(tc,m_tris[tc->n[0]]);
+	if (hasvert(*m_tris[ta->n[0]], v)) removeb2b(ta, m_tris[ta->n[0]]);
+	if (hasvert(*m_tris[tb->n[0]], v)) removeb2b(tb, m_tris[tb->n[0]]);
+	if (hasvert(*m_tris[tc->n[0]], v)) removeb2b(tc, m_tris[tc->n[0]]);
 	deAllocateTriangle(t0);
-
 }
 
-btHullTriangle* HullLibrary::extrudable(btScalar epsilon)
+btHullTriangle *HullLibrary::extrudable(btScalar epsilon)
 {
 	int i;
-	btHullTriangle *t=NULL;
-	for(i=0;i<m_tris.size();i++)
+	btHullTriangle *t = NULL;
+	for (i = 0; i < m_tris.size(); i++)
 	{
-		if(!t || (m_tris[i] && t->rise<m_tris[i]->rise))
+		if (!t || (m_tris[i] && t->rise < m_tris[i]->rise))
 		{
 			t = m_tris[i];
 		}
 	}
-	return (t->rise >epsilon)?t:NULL ;
+	return (t->rise > epsilon) ? t : NULL;
 }
 
-
-
-
-int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray<int> &allow)
+int4 HullLibrary::FindSimplex(btVector3 *verts, int verts_count, btAlignedObjectArray<int> &allow)
 {
 	btVector3 basis[3];
-	basis[0] = btVector3( btScalar(0.01), btScalar(0.02), btScalar(1.0) );      
-	int p0 = maxdirsterid(verts,verts_count, basis[0],allow);   
-	int	p1 = maxdirsterid(verts,verts_count,-basis[0],allow);
-	basis[0] = verts[p0]-verts[p1];
-	if(p0==p1 || basis[0]==btVector3(0,0,0)) 
-		return int4(-1,-1,-1,-1);
-	basis[1] = btCross(btVector3(     btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
-	basis[2] = btCross(btVector3(btScalar(-0.02),     btScalar(1), btScalar(0)),basis[0]);
+	basis[0] = btVector3(btScalar(0.01), btScalar(0.02), btScalar(1.0));
+	int p0 = maxdirsterid(verts, verts_count, basis[0], allow);
+	int p1 = maxdirsterid(verts, verts_count, -basis[0], allow);
+	basis[0] = verts[p0] - verts[p1];
+	if (p0 == p1 || basis[0] == btVector3(0, 0, 0))
+		return int4(-1, -1, -1, -1);
+	basis[1] = btCross(btVector3(btScalar(1), btScalar(0.02), btScalar(0)), basis[0]);
+	basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)), basis[0]);
 	if (basis[1].length() > basis[2].length())
 	{
 		basis[1].normalize();
-	} else {
+	}
+	else
+	{
 		basis[1] = basis[2];
-		basis[1].normalize ();
+		basis[1].normalize();
 	}
-	int p2 = maxdirsterid(verts,verts_count,basis[1],allow);
-	if(p2 == p0 || p2 == p1)
+	int p2 = maxdirsterid(verts, verts_count, basis[1], allow);
+	if (p2 == p0 || p2 == p1)
 	{
-		p2 = maxdirsterid(verts,verts_count,-basis[1],allow);
+		p2 = maxdirsterid(verts, verts_count, -basis[1], allow);
 	}
-	if(p2 == p0 || p2 == p1) 
-		return int4(-1,-1,-1,-1);
+	if (p2 == p0 || p2 == p1)
+		return int4(-1, -1, -1, -1);
 	basis[1] = verts[p2] - verts[p0];
-	basis[2] = btCross(basis[1],basis[0]).normalized();
-	int p3 = maxdirsterid(verts,verts_count,basis[2],allow);
-	if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow);
-	if(p3==p0||p3==p1||p3==p2) 
-		return int4(-1,-1,-1,-1);
-	btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
-	if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {btSwap(p2,p3);}
-	return int4(p0,p1,p2,p3);
+	basis[2] = btCross(basis[1], basis[0]).normalized();
+	int p3 = maxdirsterid(verts, verts_count, basis[2], allow);
+	if (p3 == p0 || p3 == p1 || p3 == p2) p3 = maxdirsterid(verts, verts_count, -basis[2], allow);
+	if (p3 == p0 || p3 == p1 || p3 == p2)
+		return int4(-1, -1, -1, -1);
+	btAssert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
+	if (btDot(verts[p3] - verts[p0], btCross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
+	{
+		btSwap(p2, p3);
+	}
+	return int4(p0, p1, p2, p3);
 }
 
-int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
+int HullLibrary::calchullgen(btVector3 *verts, int verts_count, int vlimit)
 {
-	if(verts_count <4) return 0;
-	if(vlimit==0) vlimit=1000000000;
+	if (verts_count < 4) return 0;
+	if (vlimit == 0) vlimit = 1000000000;
 	int j;
-	btVector3 bmin(*verts),bmax(*verts);
+	btVector3 bmin(*verts), bmax(*verts);
 	btAlignedObjectArray<int> isextreme;
 	isextreme.reserve(verts_count);
 	btAlignedObjectArray<int> allow;
 	allow.reserve(verts_count);
 
-	for(j=0;j<verts_count;j++) 
+	for (j = 0; j < verts_count; j++)
 	{
 		allow.push_back(1);
 		isextreme.push_back(0);
-		bmin.setMin (verts[j]);
-		bmax.setMax (verts[j]);
+		bmin.setMin(verts[j]);
+		bmax.setMax(verts[j]);
 	}
-	btScalar epsilon = (bmax-bmin).length() * btScalar(0.001);
-	btAssert (epsilon != 0.0);
-
-
-	int4 p = FindSimplex(verts,verts_count,allow);
-	if(p.x==-1) return 0; // simplex failed
-
-
-
-	btVector3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) / btScalar(4.0);  // a valid interior point
-	btHullTriangle *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
-	btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
-	btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
-	btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
-	isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
-	checkit(t0);checkit(t1);checkit(t2);checkit(t3);
-
-	for(j=0;j<m_tris.size();j++)
+	btScalar epsilon = (bmax - bmin).length() * btScalar(0.001);
+	btAssert(epsilon != 0.0);
+
+	int4 p = FindSimplex(verts, verts_count, allow);
+	if (p.x == -1) return 0;  // simplex failed
+
+	btVector3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / btScalar(4.0);  // a valid interior point
+	btHullTriangle *t0 = allocateTriangle(p[2], p[3], p[1]);
+	t0->n = int3(2, 3, 1);
+	btHullTriangle *t1 = allocateTriangle(p[3], p[2], p[0]);
+	t1->n = int3(3, 2, 0);
+	btHullTriangle *t2 = allocateTriangle(p[0], p[1], p[3]);
+	t2->n = int3(0, 1, 3);
+	btHullTriangle *t3 = allocateTriangle(p[1], p[0], p[2]);
+	t3->n = int3(1, 0, 2);
+	isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1;
+	checkit(t0);
+	checkit(t1);
+	checkit(t2);
+	checkit(t3);
+
+	for (j = 0; j < m_tris.size(); j++)
 	{
-		btHullTriangle *t=m_tris[j];
+		btHullTriangle *t = m_tris[j];
 		btAssert(t);
-		btAssert(t->vmax<0);
-		btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
-		t->vmax = maxdirsterid(verts,verts_count,n,allow);
-		t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
+		btAssert(t->vmax < 0);
+		btVector3 n = TriNormal(verts[(*t)[0]], verts[(*t)[1]], verts[(*t)[2]]);
+		t->vmax = maxdirsterid(verts, verts_count, n, allow);
+		t->rise = btDot(n, verts[t->vmax] - verts[(*t)[0]]);
 	}
 	btHullTriangle *te;
-	vlimit-=4;
-	while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
+	vlimit -= 4;
+	while (vlimit > 0 && ((te = extrudable(epsilon)) != 0))
 	{
 		//int3 ti=*te;
-		int v=te->vmax;
+		int v = te->vmax;
 		btAssert(v != -1);
 		btAssert(!isextreme[v]);  // wtf we've already done this vertex
-		isextreme[v]=1;
+		isextreme[v] = 1;
 		//if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already
-		j=m_tris.size();
-		while(j--) {
-			if(!m_tris[j]) continue;
-			int3 t=*m_tris[j];
-			if(above(verts,t,verts[v],btScalar(0.01)*epsilon)) 
+		j = m_tris.size();
+		while (j--)
+		{
+			if (!m_tris[j]) continue;
+			int3 t = *m_tris[j];
+			if (above(verts, t, verts[v], btScalar(0.01) * epsilon))
 			{
-				extrude(m_tris[j],v);
+				extrude(m_tris[j], v);
 			}
 		}
 		// now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
-		j=m_tris.size();
-		while(j--)
+		j = m_tris.size();
+		while (j--)
 		{
-			if(!m_tris[j]) continue;
-			if(!hasvert(*m_tris[j],v)) break;
-			int3 nt=*m_tris[j];
-			if(above(verts,nt,center,btScalar(0.01)*epsilon)  || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
+			if (!m_tris[j]) continue;
+			if (!hasvert(*m_tris[j], v)) break;
+			int3 nt = *m_tris[j];
+			if (above(verts, nt, center, btScalar(0.01) * epsilon) || btCross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]]).length() < epsilon * epsilon * btScalar(0.1))
 			{
 				btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
-				btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
-				extrude(nb,v);
-				j=m_tris.size(); 
+				btAssert(nb);
+				btAssert(!hasvert(*nb, v));
+				btAssert(nb->id < j);
+				extrude(nb, v);
+				j = m_tris.size();
 			}
-		} 
-		j=m_tris.size();
-		while(j--)
+		}
+		j = m_tris.size();
+		while (j--)
 		{
-			btHullTriangle *t=m_tris[j];
-			if(!t) continue;
-			if(t->vmax>=0) break;
-			btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
-			t->vmax = maxdirsterid(verts,verts_count,n,allow);
-			if(isextreme[t->vmax]) 
+			btHullTriangle *t = m_tris[j];
+			if (!t) continue;
+			if (t->vmax >= 0) break;
+			btVector3 n = TriNormal(verts[(*t)[0]], verts[(*t)[1]], verts[(*t)[2]]);
+			t->vmax = maxdirsterid(verts, verts_count, n, allow);
+			if (isextreme[t->vmax])
 			{
-				t->vmax=-1; // already done that vertex - algorithm needs to be able to terminate.
+				t->vmax = -1;  // already done that vertex - algorithm needs to be able to terminate.
 			}
 			else
 			{
-				t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
+				t->rise = btDot(n, verts[t->vmax] - verts[(*t)[0]]);
 			}
 		}
-		vlimit --;
+		vlimit--;
 	}
 	return 1;
 }
 
-int HullLibrary::calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit) 
+int HullLibrary::calchull(btVector3 *verts, int verts_count, TUIntArray &tris_out, int &tris_count, int vlimit)
 {
-	int rc=calchullgen(verts,verts_count,  vlimit) ;
-	if(!rc) return 0;
+	int rc = calchullgen(verts, verts_count, vlimit);
+	if (!rc) return 0;
 	btAlignedObjectArray<int> ts;
 	int i;
 
-	for(i=0;i<m_tris.size();i++)
+	for (i = 0; i < m_tris.size(); i++)
 	{
-		if(m_tris[i])
+		if (m_tris[i])
 		{
-			for(int j=0;j<3;j++)
+			for (int j = 0; j < 3; j++)
 				ts.push_back((*m_tris[i])[j]);
 			deAllocateTriangle(m_tris[i]);
 		}
 	}
-	tris_count = ts.size()/3;
+	tris_count = ts.size() / 3;
 	tris_out.resize(ts.size());
-	
-	for (i=0;i<ts.size();i++)
+
+	for (i = 0; i < ts.size(); i++)
 	{
 		tris_out[i] = static_cast<unsigned int>(ts[i]);
 	}
@@ -643,29 +630,22 @@ int HullLibrary::calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out
 	return 1;
 }
 
-
-
-
-
-bool HullLibrary::ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit)
+bool HullLibrary::ComputeHull(unsigned int vcount, const btVector3 *vertices, PHullResult &result, unsigned int vlimit)
 {
-	
-	int    tris_count;
-	int ret = calchull( (btVector3 *) vertices, (int) vcount, result.m_Indices, tris_count, static_cast<int>(vlimit) );
-	if(!ret) return false;
-	result.mIndexCount = (unsigned int) (tris_count*3);
-	result.mFaceCount  = (unsigned int) tris_count;
-	result.mVertices   = (btVector3*) vertices;
-	result.mVcount     = (unsigned int) vcount;
+	int tris_count;
+	int ret = calchull((btVector3 *)vertices, (int)vcount, result.m_Indices, tris_count, static_cast<int>(vlimit));
+	if (!ret) return false;
+	result.mIndexCount = (unsigned int)(tris_count * 3);
+	result.mFaceCount = (unsigned int)tris_count;
+	result.mVertices = (btVector3 *)vertices;
+	result.mVcount = (unsigned int)vcount;
 	return true;
-
 }
 
-
 void ReleaseHull(PHullResult &result);
 void ReleaseHull(PHullResult &result)
 {
-	if ( result.m_Indices.size() )
+	if (result.m_Indices.size())
 	{
 		result.m_Indices.clear();
 	}
@@ -675,7 +655,6 @@ void ReleaseHull(PHullResult &result)
 	result.mVertices = 0;
 }
 
-
 //*********************************************************************
 //*********************************************************************
 //********  HullLib header
@@ -688,16 +667,15 @@ void ReleaseHull(PHullResult &result)
 //*********************************************************************
 //*********************************************************************
 
-HullError HullLibrary::CreateConvexHull(const HullDesc       &desc,           // describes the input request
-																					HullResult           &result)         // contains the resulst
+HullError HullLibrary::CreateConvexHull(const HullDesc &desc,  // describes the input request
+										HullResult &result)    // contains the resulst
 {
 	HullError ret = QE_FAIL;
 
-
 	PHullResult hr;
 
 	unsigned int vcount = desc.mVcount;
-	if ( vcount < 8 ) vcount = 8;
+	if (vcount < 8) vcount = 8;
 
 	btAlignedObjectArray<btVector3> vertexSource;
 	vertexSource.resize(static_cast<int>(vcount));
@@ -706,87 +684,82 @@ HullError HullLibrary::CreateConvexHull(const HullDesc       &desc,           //
 
 	unsigned int ovcount;
 
-	bool ok = CleanupVertices(desc.mVcount,desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale ); // normalize point cloud, remove duplicates!
+	bool ok = CleanupVertices(desc.mVcount, desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale);  // normalize point cloud, remove duplicates!
 
-	if ( ok )
+	if (ok)
 	{
-
-
-//		if ( 1 ) // scale vertices back to their original size.
+		//		if ( 1 ) // scale vertices back to their original size.
 		{
-			for (unsigned int i=0; i<ovcount; i++)
+			for (unsigned int i = 0; i < ovcount; i++)
 			{
-				btVector3& v = vertexSource[static_cast<int>(i)];
-				v[0]*=scale[0];
-				v[1]*=scale[1];
-				v[2]*=scale[2];
+				btVector3 &v = vertexSource[static_cast<int>(i)];
+				v[0] *= scale[0];
+				v[1] *= scale[1];
+				v[2] *= scale[2];
 			}
 		}
 
-		ok = ComputeHull(ovcount,&vertexSource[0],hr,desc.mMaxVertices);
+		ok = ComputeHull(ovcount, &vertexSource[0], hr, desc.mMaxVertices);
 
-		if ( ok )
+		if (ok)
 		{
-
 			// re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table.
-			btAlignedObjectArray<btVector3>	vertexScratch;
+			btAlignedObjectArray<btVector3> vertexScratch;
 			vertexScratch.resize(static_cast<int>(hr.mVcount));
 
-			BringOutYourDead(hr.mVertices,hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount );
+			BringOutYourDead(hr.mVertices, hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount);
 
 			ret = QE_OK;
 
-			if ( desc.HasHullFlag(QF_TRIANGLES) ) // if he wants the results as triangle!
+			if (desc.HasHullFlag(QF_TRIANGLES))  // if he wants the results as triangle!
 			{
-				result.mPolygons          = false;
+				result.mPolygons = false;
 				result.mNumOutputVertices = ovcount;
 				result.m_OutputVertices.resize(static_cast<int>(ovcount));
-				result.mNumFaces          = hr.mFaceCount;
-				result.mNumIndices        = hr.mIndexCount;
+				result.mNumFaces = hr.mFaceCount;
+				result.mNumIndices = hr.mIndexCount;
 
 				result.m_Indices.resize(static_cast<int>(hr.mIndexCount));
 
-				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount );
+				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3) * ovcount);
 
-  			if ( desc.HasHullFlag(QF_REVERSE_ORDER) )
+				if (desc.HasHullFlag(QF_REVERSE_ORDER))
 				{
-
 					const unsigned int *source = &hr.m_Indices[0];
-					unsigned int *dest   = &result.m_Indices[0];
+					unsigned int *dest = &result.m_Indices[0];
 
-					for (unsigned int i=0; i<hr.mFaceCount; i++)
+					for (unsigned int i = 0; i < hr.mFaceCount; i++)
 					{
 						dest[0] = source[2];
 						dest[1] = source[1];
 						dest[2] = source[0];
-						dest+=3;
-						source+=3;
+						dest += 3;
+						source += 3;
 					}
-
 				}
 				else
 				{
-					memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(unsigned int)*hr.mIndexCount);
+					memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(unsigned int) * hr.mIndexCount);
 				}
 			}
 			else
 			{
-				result.mPolygons          = true;
+				result.mPolygons = true;
 				result.mNumOutputVertices = ovcount;
 				result.m_OutputVertices.resize(static_cast<int>(ovcount));
-				result.mNumFaces          = hr.mFaceCount;
-				result.mNumIndices        = hr.mIndexCount+hr.mFaceCount;
+				result.mNumFaces = hr.mFaceCount;
+				result.mNumIndices = hr.mIndexCount + hr.mFaceCount;
 				result.m_Indices.resize(static_cast<int>(result.mNumIndices));
-				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount );
+				memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3) * ovcount);
 
-//				if ( 1 )
+				//				if ( 1 )
 				{
 					const unsigned int *source = &hr.m_Indices[0];
-					unsigned int *dest   = &result.m_Indices[0];
-					for (unsigned int i=0; i<hr.mFaceCount; i++)
+					unsigned int *dest = &result.m_Indices[0];
+					for (unsigned int i = 0; i < hr.mFaceCount; i++)
 					{
 						dest[0] = 3;
-						if ( desc.HasHullFlag(QF_REVERSE_ORDER) )
+						if (desc.HasHullFlag(QF_REVERSE_ORDER))
 						{
 							dest[1] = source[2];
 							dest[2] = source[1];
@@ -799,8 +772,8 @@ HullError HullLibrary::CreateConvexHull(const HullDesc       &desc,           //
 							dest[3] = source[2];
 						}
 
-						dest+=4;
-						source+=3;
+						dest += 4;
+						source += 3;
 					}
 				}
 			}
@@ -811,90 +784,83 @@ HullError HullLibrary::CreateConvexHull(const HullDesc       &desc,           //
 	return ret;
 }
 
-
-
-HullError HullLibrary::ReleaseResult(HullResult &result) // release memory allocated for this result, we are done with it.
+HullError HullLibrary::ReleaseResult(HullResult &result)  // release memory allocated for this result, we are done with it.
 {
-	if ( result.m_OutputVertices.size())
+	if (result.m_OutputVertices.size())
 	{
-		result.mNumOutputVertices=0;
+		result.mNumOutputVertices = 0;
 		result.m_OutputVertices.clear();
 	}
-	if ( result.m_Indices.size() )
+	if (result.m_Indices.size())
 	{
-		result.mNumIndices=0;
+		result.mNumIndices = 0;
 		result.m_Indices.clear();
 	}
 	return QE_OK;
 }
 
-
-static void addPoint(unsigned int &vcount,btVector3 *p,btScalar x,btScalar y,btScalar z)
+static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
 {
 	// XXX, might be broken
-	btVector3& dest = p[vcount];
+	btVector3 &dest = p[vcount];
 	dest[0] = x;
 	dest[1] = y;
 	dest[2] = z;
 	vcount++;
 }
 
-btScalar GetDist(btScalar px,btScalar py,btScalar pz,const btScalar *p2);
-btScalar GetDist(btScalar px,btScalar py,btScalar pz,const btScalar *p2)
+btScalar GetDist(btScalar px, btScalar py, btScalar pz, const btScalar *p2);
+btScalar GetDist(btScalar px, btScalar py, btScalar pz, const btScalar *p2)
 {
-
 	btScalar dx = px - p2[0];
 	btScalar dy = py - p2[1];
 	btScalar dz = pz - p2[2];
 
-	return dx*dx+dy*dy+dz*dz;
+	return dx * dx + dy * dy + dz * dz;
 }
 
-
-
-bool  HullLibrary::CleanupVertices(unsigned int svcount,
-				   const btVector3 *svertices,
-				   unsigned int stride,
-				   unsigned int &vcount,       // output number of vertices
-				   btVector3 *vertices,                 // location to store the results.
-				   btScalar  normalepsilon,
-				   btVector3& scale)
+bool HullLibrary::CleanupVertices(unsigned int svcount,
+								  const btVector3 *svertices,
+								  unsigned int stride,
+								  unsigned int &vcount,  // output number of vertices
+								  btVector3 *vertices,   // location to store the results.
+								  btScalar normalepsilon,
+								  btVector3 &scale)
 {
-	if ( svcount == 0 ) return false;
+	if (svcount == 0) return false;
 
 	m_vertexIndexMapping.resize(0);
 
-
 #define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */
 
 	vcount = 0;
 
-	btScalar recip[3]={0.f,0.f,0.f};
+	btScalar recip[3] = {0.f, 0.f, 0.f};
 
-	if ( scale )
+	if (scale)
 	{
 		scale[0] = 1;
 		scale[1] = 1;
 		scale[2] = 1;
 	}
 
-	btScalar bmin[3] = {  FLT_MAX,  FLT_MAX,  FLT_MAX };
-	btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX };
+	btScalar bmin[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
+	btScalar bmax[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
 
-	const char *vtx = (const char *) svertices;
+	const char *vtx = (const char *)svertices;
 
-//	if ( 1 )
+	//	if ( 1 )
 	{
-		for (unsigned int i=0; i<svcount; i++)
+		for (unsigned int i = 0; i < svcount; i++)
 		{
-			const btScalar *p = (const btScalar *) vtx;
+			const btScalar *p = (const btScalar *)vtx;
 
-			vtx+=stride;
+			vtx += stride;
 
-			for (int j=0; j<3; j++)
+			for (int j = 0; j < 3; j++)
 			{
-				if ( p[j] < bmin[j] ) bmin[j] = p[j];
-				if ( p[j] > bmax[j] ) bmax[j] = p[j];
+				if (p[j] < bmin[j]) bmin[j] = p[j];
+				if (p[j] > bmax[j]) bmax[j] = p[j];
 			}
 		}
 	}
@@ -905,28 +871,27 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 
 	btVector3 center;
 
-	center[0] = dx*btScalar(0.5) + bmin[0];
-	center[1] = dy*btScalar(0.5) + bmin[1];
-	center[2] = dz*btScalar(0.5) + bmin[2];
+	center[0] = dx * btScalar(0.5) + bmin[0];
+	center[1] = dy * btScalar(0.5) + bmin[1];
+	center[2] = dz * btScalar(0.5) + bmin[2];
 
-	if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3 )
+	if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3)
 	{
-
 		btScalar len = FLT_MAX;
 
-		if ( dx > EPSILON && dx < len ) len = dx;
-		if ( dy > EPSILON && dy < len ) len = dy;
-		if ( dz > EPSILON && dz < len ) len = dz;
+		if (dx > EPSILON && dx < len) len = dx;
+		if (dy > EPSILON && dy < len) len = dy;
+		if (dz > EPSILON && dz < len) len = dz;
 
-		if ( len == FLT_MAX )
+		if (len == FLT_MAX)
 		{
-			dx = dy = dz = btScalar(0.01); // one centimeter
+			dx = dy = dz = btScalar(0.01);  // one centimeter
 		}
 		else
 		{
-			if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge.
-			if ( dy < EPSILON ) dy = len * btScalar(0.05);
-			if ( dz < EPSILON ) dz = len * btScalar(0.05);
+			if (dx < EPSILON) dx = len * btScalar(0.05);  // 1/5th the shortest non-zero edge.
+			if (dy < EPSILON) dy = len * btScalar(0.05);
+			if (dz < EPSILON) dz = len * btScalar(0.05);
 		}
 
 		btScalar x1 = center[0] - dx;
@@ -938,22 +903,20 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 		btScalar z1 = center[2] - dz;
 		btScalar z2 = center[2] + dz;
 
-		addPoint(vcount,vertices,x1,y1,z1);
-		addPoint(vcount,vertices,x2,y1,z1);
-		addPoint(vcount,vertices,x2,y2,z1);
-		addPoint(vcount,vertices,x1,y2,z1);
-		addPoint(vcount,vertices,x1,y1,z2);
-		addPoint(vcount,vertices,x2,y1,z2);
-		addPoint(vcount,vertices,x2,y2,z2);
-		addPoint(vcount,vertices,x1,y2,z2);
-
-		return true; // return cube
-
+		addPoint(vcount, vertices, x1, y1, z1);
+		addPoint(vcount, vertices, x2, y1, z1);
+		addPoint(vcount, vertices, x2, y2, z1);
+		addPoint(vcount, vertices, x1, y2, z1);
+		addPoint(vcount, vertices, x1, y1, z2);
+		addPoint(vcount, vertices, x2, y1, z2);
+		addPoint(vcount, vertices, x2, y2, z2);
+		addPoint(vcount, vertices, x1, y2, z2);
 
+		return true;  // return cube
 	}
 	else
 	{
-		if ( scale )
+		if (scale)
 		{
 			scale[0] = dx;
 			scale[1] = dy;
@@ -963,75 +926,70 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 			recip[1] = 1 / dy;
 			recip[2] = 1 / dz;
 
-			center[0]*=recip[0];
-			center[1]*=recip[1];
-			center[2]*=recip[2];
-
+			center[0] *= recip[0];
+			center[1] *= recip[1];
+			center[2] *= recip[2];
 		}
-
 	}
 
+	vtx = (const char *)svertices;
 
-
-	vtx = (const char *) svertices;
-
-	for (unsigned int i=0; i<svcount; i++)
+	for (unsigned int i = 0; i < svcount; i++)
 	{
 		const btVector3 *p = (const btVector3 *)vtx;
-		vtx+=stride;
+		vtx += stride;
 
 		btScalar px = p->getX();
 		btScalar py = p->getY();
 		btScalar pz = p->getZ();
 
-		if ( scale )
+		if (scale)
 		{
-			px = px*recip[0]; // normalize
-			py = py*recip[1]; // normalize
-			pz = pz*recip[2]; // normalize
+			px = px * recip[0];  // normalize
+			py = py * recip[1];  // normalize
+			pz = pz * recip[2];  // normalize
 		}
 
-//		if ( 1 )
+		//		if ( 1 )
 		{
 			unsigned int j;
 
-			for (j=0; j<vcount; j++)
+			for (j = 0; j < vcount; j++)
 			{
 				/// XXX might be broken
-				btVector3& v = vertices[j];
+				btVector3 &v = vertices[j];
 
 				btScalar x = v[0];
 				btScalar y = v[1];
 				btScalar z = v[2];
 
-				btScalar dx = btFabs(x - px );
-				btScalar dy = btFabs(y - py );
-				btScalar dz = btFabs(z - pz );
+				btScalar dx = btFabs(x - px);
+				btScalar dy = btFabs(y - py);
+				btScalar dz = btFabs(z - pz);
 
-				if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
+				if (dx < normalepsilon && dy < normalepsilon && dz < normalepsilon)
 				{
 					// ok, it is close enough to the old one
 					// now let us see if it is further from the center of the point cloud than the one we already recorded.
 					// in which case we keep this one instead.
 
-					btScalar dist1 = GetDist(px,py,pz,center);
-					btScalar dist2 = GetDist(v[0],v[1],v[2],center);
+					btScalar dist1 = GetDist(px, py, pz, center);
+					btScalar dist2 = GetDist(v[0], v[1], v[2], center);
 
-					if ( dist1 > dist2 )
+					if (dist1 > dist2)
 					{
 						v[0] = px;
 						v[1] = py;
 						v[2] = pz;
-						
 					}
 
 					break;
 				}
 			}
 
-			if ( j == vcount )
+			if (j == vcount)
 			{
-				btVector3& dest = vertices[vcount];
+				btVector3 &dest = vertices[vcount];
 				dest[0] = px;
 				dest[1] = py;
 				dest[2] = pz;
@@ -1042,18 +1000,18 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 	}
 
 	// ok..now make sure we didn't prune so many vertices it is now invalid.
-//	if ( 1 )
+	//	if ( 1 )
 	{
-		btScalar bmin[3] = {  FLT_MAX,  FLT_MAX,  FLT_MAX };
-		btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX };
+		btScalar bmin[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
+		btScalar bmax[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
 
-		for (unsigned int i=0; i<vcount; i++)
+		for (unsigned int i = 0; i < vcount; i++)
 		{
-			const btVector3& p = vertices[i];
-			for (int j=0; j<3; j++)
+			const btVector3 &p = vertices[i];
+			for (int j = 0; j < 3; j++)
 			{
-				if ( p[j] < bmin[j] ) bmin[j] = p[j];
-				if ( p[j] > bmax[j] ) bmax[j] = p[j];
+				if (p[j] < bmin[j]) bmin[j] = p[j];
+				if (p[j] > bmax[j]) bmax[j] = p[j];
 			}
 		}
 
@@ -1061,27 +1019,27 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 		btScalar dy = bmax[1] - bmin[1];
 		btScalar dz = bmax[2] - bmin[2];
 
-		if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3)
+		if (dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3)
 		{
-			btScalar cx = dx*btScalar(0.5) + bmin[0];
-			btScalar cy = dy*btScalar(0.5) + bmin[1];
-			btScalar cz = dz*btScalar(0.5) + bmin[2];
+			btScalar cx = dx * btScalar(0.5) + bmin[0];
+			btScalar cy = dy * btScalar(0.5) + bmin[1];
+			btScalar cz = dz * btScalar(0.5) + bmin[2];
 
 			btScalar len = FLT_MAX;
 
-			if ( dx >= EPSILON && dx < len ) len = dx;
-			if ( dy >= EPSILON && dy < len ) len = dy;
-			if ( dz >= EPSILON && dz < len ) len = dz;
+			if (dx >= EPSILON && dx < len) len = dx;
+			if (dy >= EPSILON && dy < len) len = dy;
+			if (dz >= EPSILON && dz < len) len = dz;
 
-			if ( len == FLT_MAX )
+			if (len == FLT_MAX)
 			{
-				dx = dy = dz = btScalar(0.01); // one centimeter
+				dx = dy = dz = btScalar(0.01);  // one centimeter
 			}
 			else
 			{
-				if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge.
-				if ( dy < EPSILON ) dy = len * btScalar(0.05);
-				if ( dz < EPSILON ) dz = len * btScalar(0.05);
+				if (dx < EPSILON) dx = len * btScalar(0.05);  // 1/5th the shortest non-zero edge.
+				if (dy < EPSILON) dy = len * btScalar(0.05);
+				if (dz < EPSILON) dz = len * btScalar(0.05);
 			}
 
 			btScalar x1 = cx - dx;
@@ -1093,16 +1051,16 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 			btScalar z1 = cz - dz;
 			btScalar z2 = cz + dz;
 
-			vcount = 0; // add box
+			vcount = 0;  // add box
 
-			addPoint(vcount,vertices,x1,y1,z1);
-			addPoint(vcount,vertices,x2,y1,z1);
-			addPoint(vcount,vertices,x2,y2,z1);
-			addPoint(vcount,vertices,x1,y2,z1);
-			addPoint(vcount,vertices,x1,y1,z2);
-			addPoint(vcount,vertices,x2,y1,z2);
-			addPoint(vcount,vertices,x2,y2,z2);
-			addPoint(vcount,vertices,x1,y2,z2);
+			addPoint(vcount, vertices, x1, y1, z1);
+			addPoint(vcount, vertices, x2, y1, z1);
+			addPoint(vcount, vertices, x2, y2, z1);
+			addPoint(vcount, vertices, x1, y2, z1);
+			addPoint(vcount, vertices, x1, y1, z2);
+			addPoint(vcount, vertices, x2, y1, z2);
+			addPoint(vcount, vertices, x2, y2, z2);
+			addPoint(vcount, vertices, x1, y2, z2);
 
 			return true;
 		}
@@ -1111,57 +1069,52 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 	return true;
 }
 
-void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount)
+void HullLibrary::BringOutYourDead(const btVector3 *verts, unsigned int vcount, btVector3 *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount)
 {
-	btAlignedObjectArray<int>tmpIndices;
+	btAlignedObjectArray<int> tmpIndices;
 	tmpIndices.resize(m_vertexIndexMapping.size());
 	int i;
 
-	for (i=0;i<m_vertexIndexMapping.size();i++)
+	for (i = 0; i < m_vertexIndexMapping.size(); i++)
 	{
 		tmpIndices[i] = m_vertexIndexMapping[i];
 	}
 
 	TUIntArray usedIndices;
 	usedIndices.resize(static_cast<int>(vcount));
-	memset(&usedIndices[0],0,sizeof(unsigned int)*vcount);
+	memset(&usedIndices[0], 0, sizeof(unsigned int) * vcount);
 
 	ocount = 0;
 
-	for (i=0; i<int (indexcount); i++)
+	for (i = 0; i < int(indexcount); i++)
 	{
-		unsigned int v = indices[i]; // original array index
+		unsigned int v = indices[i];  // original array index
 
-		btAssert( v >= 0 && v < vcount );
+		btAssert(v >= 0 && v < vcount);
 
-		if ( usedIndices[static_cast<int>(v)] ) // if already remapped
+		if (usedIndices[static_cast<int>(v)])  // if already remapped
 		{
-			indices[i] = usedIndices[static_cast<int>(v)]-1; // index to new array
+			indices[i] = usedIndices[static_cast<int>(v)] - 1;  // index to new array
 		}
 		else
 		{
+			indices[i] = ocount;  // new index mapping
 
-			indices[i] = ocount;      // new index mapping
-
-			overts[ocount][0] = verts[v][0]; // copy old vert to new vert array
+			overts[ocount][0] = verts[v][0];  // copy old vert to new vert array
 			overts[ocount][1] = verts[v][1];
 			overts[ocount][2] = verts[v][2];
 
-			for (int k=0;k<m_vertexIndexMapping.size();k++)
+			for (int k = 0; k < m_vertexIndexMapping.size(); k++)
 			{
-				if (tmpIndices[k]==int(v))
-					m_vertexIndexMapping[k]=ocount;
+				if (tmpIndices[k] == int(v))
+					m_vertexIndexMapping[k] = ocount;
 			}
 
-			ocount++; // increment output vert count
-
-			btAssert( ocount >=0 && ocount <= vcount );
+			ocount++;  // increment output vert count
 
-			usedIndices[static_cast<int>(v)] = ocount; // assign new index remapping
+			btAssert(ocount >= 0 && ocount <= vcount);
 
-		
+			usedIndices[static_cast<int>(v)] = ocount;  // assign new index remapping
 		}
 	}
-
-	
 }
diff --git a/thirdparty/bullet/LinearMath/btConvexHull.h b/thirdparty/bullet/LinearMath/btConvexHull.h
index 69c52bc6f8..f890d75ea1 100644
--- a/thirdparty/bullet/LinearMath/btConvexHull.h
+++ b/thirdparty/bullet/LinearMath/btConvexHull.h
@@ -34,106 +34,102 @@ public:
 		mNumFaces = 0;
 		mNumIndices = 0;
 	}
-	bool                    mPolygons;                  // true if indices represents polygons, false indices are triangles
-	unsigned int            mNumOutputVertices;         // number of vertices in the output hull
-	btAlignedObjectArray<btVector3>	m_OutputVertices;            // array of vertices
-	unsigned int            mNumFaces;                  // the number of faces produced
-	unsigned int            mNumIndices;                // the total number of indices
-	btAlignedObjectArray<unsigned int>    m_Indices;                   // pointer to indices.
-
-// If triangles, then indices are array indexes into the vertex list.
-// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
+	bool mPolygons;                                    // true if indices represents polygons, false indices are triangles
+	unsigned int mNumOutputVertices;                   // number of vertices in the output hull
+	btAlignedObjectArray<btVector3> m_OutputVertices;  // array of vertices
+	unsigned int mNumFaces;                            // the number of faces produced
+	unsigned int mNumIndices;                          // the total number of indices
+	btAlignedObjectArray<unsigned int> m_Indices;      // pointer to indices.
+
+	// If triangles, then indices are array indexes into the vertex list.
+	// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
 };
 
 enum HullFlag
 {
-	QF_TRIANGLES         = (1<<0),             // report results as triangles, not polygons.
-	QF_REVERSE_ORDER     = (1<<1),             // reverse order of the triangle indices.
-	QF_DEFAULT           = QF_TRIANGLES
+	QF_TRIANGLES = (1 << 0),      // report results as triangles, not polygons.
+	QF_REVERSE_ORDER = (1 << 1),  // reverse order of the triangle indices.
+	QF_DEFAULT = QF_TRIANGLES
 };
 
-
 class HullDesc
 {
 public:
 	HullDesc(void)
 	{
-		mFlags          = QF_DEFAULT;
-		mVcount         = 0;
-		mVertices       = 0;
-		mVertexStride   = sizeof(btVector3);
-		mNormalEpsilon  = 0.001f;
-		mMaxVertices	= 4096; // maximum number of points to be considered for a convex hull.
-		mMaxFaces	= 4096;
+		mFlags = QF_DEFAULT;
+		mVcount = 0;
+		mVertices = 0;
+		mVertexStride = sizeof(btVector3);
+		mNormalEpsilon = 0.001f;
+		mMaxVertices = 4096;  // maximum number of points to be considered for a convex hull.
+		mMaxFaces = 4096;
 	};
 
 	HullDesc(HullFlag flag,
-		 unsigned int vcount,
-		 const btVector3 *vertices,
-		 unsigned int stride = sizeof(btVector3))
+			 unsigned int vcount,
+			 const btVector3* vertices,
+			 unsigned int stride = sizeof(btVector3))
 	{
-		mFlags          = flag;
-		mVcount         = vcount;
-		mVertices       = vertices;
-		mVertexStride   = stride;
-		mNormalEpsilon  = btScalar(0.001);
-		mMaxVertices    = 4096;
+		mFlags = flag;
+		mVcount = vcount;
+		mVertices = vertices;
+		mVertexStride = stride;
+		mNormalEpsilon = btScalar(0.001);
+		mMaxVertices = 4096;
 	}
 
 	bool HasHullFlag(HullFlag flag) const
 	{
-		if ( mFlags & flag ) return true;
+		if (mFlags & flag) return true;
 		return false;
 	}
 
 	void SetHullFlag(HullFlag flag)
 	{
-		mFlags|=flag;
+		mFlags |= flag;
 	}
 
 	void ClearHullFlag(HullFlag flag)
 	{
-		mFlags&=~flag;
+		mFlags &= ~flag;
 	}
 
-	unsigned int      mFlags;           // flags to use when generating the convex hull.
-	unsigned int      mVcount;          // number of vertices in the input point cloud
-	const btVector3  *mVertices;        // the array of vertices.
-	unsigned int      mVertexStride;    // the stride of each vertex, in bytes.
-	btScalar             mNormalEpsilon;   // the epsilon for removing duplicates.  This is a normalized value, if normalized bit is on.
-	unsigned int      mMaxVertices;     // maximum number of vertices to be considered for the hull!
-	unsigned int      mMaxFaces;
+	unsigned int mFlags;         // flags to use when generating the convex hull.
+	unsigned int mVcount;        // number of vertices in the input point cloud
+	const btVector3* mVertices;  // the array of vertices.
+	unsigned int mVertexStride;  // the stride of each vertex, in bytes.
+	btScalar mNormalEpsilon;     // the epsilon for removing duplicates.  This is a normalized value, if normalized bit is on.
+	unsigned int mMaxVertices;   // maximum number of vertices to be considered for the hull!
+	unsigned int mMaxFaces;
 };
 
 enum HullError
 {
-	QE_OK,            // success!
-	QE_FAIL           // failed.
+	QE_OK,   // success!
+	QE_FAIL  // failed.
 };
 
 class btPlane
 {
-	public:
-	btVector3	normal;
-	btScalar	dist;   // distance below origin - the D from plane equasion Ax+By+Cz+D=0
-			btPlane(const btVector3 &n,btScalar d):normal(n),dist(d){}
-			btPlane():normal(),dist(0){}
-	
+public:
+	btVector3 normal;
+	btScalar dist;  // distance below origin - the D from plane equasion Ax+By+Cz+D=0
+	btPlane(const btVector3& n, btScalar d) : normal(n), dist(d) {}
+	btPlane() : normal(), dist(0) {}
 };
 
-
-
-class ConvexH 
+class ConvexH
 {
-  public:
+public:
 	class HalfEdge
 	{
-	  public:
+	public:
 		short ea;         // the other half of the edge (index into edges list)
 		unsigned char v;  // the vertex at the start of this edge (index into vertices list)
 		unsigned char p;  // the facet on which this edge lies (index into facets list)
-		HalfEdge(){}
-		HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){}
+		HalfEdge() {}
+		HalfEdge(short _ea, unsigned char _v, unsigned char _p) : ea(_ea), v(_v), p(_p) {}
 	};
 	ConvexH()
 	{
@@ -143,25 +139,29 @@ class ConvexH
 	}
 	btAlignedObjectArray<btVector3> vertices;
 	btAlignedObjectArray<HalfEdge> edges;
-	btAlignedObjectArray<btPlane>  facets;
-	ConvexH(int vertices_size,int edges_size,int facets_size);
+	btAlignedObjectArray<btPlane> facets;
+	ConvexH(int vertices_size, int edges_size, int facets_size);
 };
 
-
 class int4
 {
 public:
-	int x,y,z,w;
+	int x, y, z, w;
 	int4(){};
-	int4(int _x,int _y, int _z,int _w){x=_x;y=_y;z=_z;w=_w;}
-	const int& operator[](int i) const {return (&x)[i];}
-	int& operator[](int i) {return (&x)[i];}
+	int4(int _x, int _y, int _z, int _w)
+	{
+		x = _x;
+		y = _y;
+		z = _z;
+		w = _w;
+	}
+	const int& operator[](int i) const { return (&x)[i]; }
+	int& operator[](int i) { return (&x)[i]; }
 };
 
 class PHullResult
 {
 public:
-
 	PHullResult(void)
 	{
 		mVcount = 0;
@@ -173,69 +173,61 @@ public:
 	unsigned int mVcount;
 	unsigned int mIndexCount;
 	unsigned int mFaceCount;
-	btVector3*   mVertices;
+	btVector3* mVertices;
 	TUIntArray m_Indices;
 };
 
-
-
 ///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method.
 ///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape.
 class HullLibrary
 {
-
 	btAlignedObjectArray<class btHullTriangle*> m_tris;
 
 public:
-
 	btAlignedObjectArray<int> m_vertexIndexMapping;
 
-
-	HullError CreateConvexHull(const HullDesc& desc, // describes the input request
-				   HullResult&     result);        // contains the resulst
-	HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
+	HullError CreateConvexHull(const HullDesc& desc,  // describes the input request
+							   HullResult& result);   // contains the resulst
+	HullError ReleaseResult(HullResult& result);      // release memory allocated for this result, we are done with it.
 
 private:
+	bool ComputeHull(unsigned int vcount, const btVector3* vertices, PHullResult& result, unsigned int vlimit);
 
-	bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit);
-
-	class btHullTriangle*	allocateTriangle(int a,int b,int c);
-	void	deAllocateTriangle(btHullTriangle*);
-	void b2bfix(btHullTriangle* s,btHullTriangle*t);
+	class btHullTriangle* allocateTriangle(int a, int b, int c);
+	void deAllocateTriangle(btHullTriangle*);
+	void b2bfix(btHullTriangle* s, btHullTriangle* t);
 
-	void removeb2b(btHullTriangle* s,btHullTriangle*t);
+	void removeb2b(btHullTriangle* s, btHullTriangle* t);
 
-	void checkit(btHullTriangle *t);
+	void checkit(btHullTriangle* t);
 
 	btHullTriangle* extrudable(btScalar epsilon);
 
-	int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit);
+	int calchull(btVector3* verts, int verts_count, TUIntArray& tris_out, int& tris_count, int vlimit);
 
-	int calchullgen(btVector3 *verts,int verts_count, int vlimit);
+	int calchullgen(btVector3* verts, int verts_count, int vlimit);
 
-	int4 FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray<int> &allow);
+	int4 FindSimplex(btVector3* verts, int verts_count, btAlignedObjectArray<int>& allow);
 
-	class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice);
+	class ConvexH* ConvexHCrop(ConvexH& convex, const btPlane& slice);
 
-	void extrude(class btHullTriangle* t0,int v);
+	void extrude(class btHullTriangle* t0, int v);
 
 	ConvexH* test_cube();
 
-	//BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'. 
+	//BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'.
 	//After the hull is generated it give you back a set of polygon faces which index the *original* point cloud.
 	//The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull.
 	//The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation.
-	void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount);
+	void BringOutYourDead(const btVector3* verts, unsigned int vcount, btVector3* overts, unsigned int& ocount, unsigned int* indices, unsigned indexcount);
 
 	bool CleanupVertices(unsigned int svcount,
-			     const btVector3* svertices,
-			     unsigned int stride,
-			     unsigned int &vcount, // output number of vertices
-			     btVector3* vertices, // location to store the results.
-			     btScalar  normalepsilon,
-			     btVector3& scale);
+						 const btVector3* svertices,
+						 unsigned int stride,
+						 unsigned int& vcount,  // output number of vertices
+						 btVector3* vertices,   // location to store the results.
+						 btScalar normalepsilon,
+						 btVector3& scale);
 };
 
-
-#endif //BT_CD_HULL_H
-
+#endif  //BT_CD_HULL_H
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp b/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
index 2ea22cbe3b..8bbfdc5f25 100644
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
+++ b/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
@@ -20,846 +20,847 @@ subject to the following restrictions:
 #include "btVector3.h"
 
 #ifdef __GNUC__
-	#include <stdint.h>
+#include <stdint.h>
 #elif defined(_MSC_VER)
-	typedef __int32 int32_t;
-	typedef __int64 int64_t;
-	typedef unsigned __int32 uint32_t;
-	typedef unsigned __int64 uint64_t;
+typedef __int32 int32_t;
+typedef __int64 int64_t;
+typedef unsigned __int32 uint32_t;
+typedef unsigned __int64 uint64_t;
 #else
-	typedef int int32_t;
-	typedef long long int int64_t;
-	typedef unsigned int uint32_t;
-	typedef unsigned long long int uint64_t;
+typedef int int32_t;
+typedef long long int int64_t;
+typedef unsigned int uint32_t;
+typedef unsigned long long int uint64_t;
 #endif
 
-
 //The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines
 //#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL))  // || (defined(__ICL) && defined(_M_X64))   bug in Intel compiler, disable inline assembly
 //	#define USE_X86_64_ASM
 //#endif
 
-
 //#define DEBUG_CONVEX_HULL
 //#define SHOW_ITERATIONS
 
 #if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS)
-	#include <stdio.h>
+#include <stdio.h>
 #endif
 
 // Convex hull implementation based on Preparata and Hong
 // Ole Kniemeyer, MAXON Computer GmbH
 class btConvexHullInternal
 {
+public:
+	class Point64
+	{
 	public:
-		
-		class Point64
-		{
-			public:
-				int64_t x;
-				int64_t y;
-				int64_t z;
-				
-				Point64(int64_t x, int64_t y, int64_t z): x(x), y(y), z(z)
-				{
-				}
+		int64_t x;
+		int64_t y;
+		int64_t z;
 
-				bool isZero()
-				{
-					return (x == 0) && (y == 0) && (z == 0);
-				}
+		Point64(int64_t x, int64_t y, int64_t z) : x(x), y(y), z(z)
+		{
+		}
 
-				int64_t dot(const Point64& b) const
-				{
-					return x * b.x + y * b.y + z * b.z;
-				}
-		};
-		
-		class Point32
-		{
-			public:
-				int32_t x;
-				int32_t y;
-				int32_t z;
-				int index;
-				
-				Point32()
-				{
-				}
-				
-				Point32(int32_t x, int32_t y, int32_t z): x(x), y(y), z(z), index(-1)
-				{
-				}
-				
-				bool operator==(const Point32& b) const
-				{
-					return (x == b.x) && (y == b.y) && (z == b.z);
-				}
+		bool isZero()
+		{
+			return (x == 0) && (y == 0) && (z == 0);
+		}
 
-				bool operator!=(const Point32& b) const
-				{
-					return (x != b.x) || (y != b.y) || (z != b.z);
-				}
+		int64_t dot(const Point64& b) const
+		{
+			return x * b.x + y * b.y + z * b.z;
+		}
+	};
 
-				bool isZero()
-				{
-					return (x == 0) && (y == 0) && (z == 0);
-				}
+	class Point32
+	{
+	public:
+		int32_t x;
+		int32_t y;
+		int32_t z;
+		int index;
 
-				Point64 cross(const Point32& b) const
-				{
-					return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-				}
+		Point32()
+		{
+		}
 
-				Point64 cross(const Point64& b) const
-				{
-					return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
-				}
+		Point32(int32_t x, int32_t y, int32_t z) : x(x), y(y), z(z), index(-1)
+		{
+		}
 
-				int64_t dot(const Point32& b) const
-				{
-					return x * b.x + y * b.y + z * b.z;
-				}
+		bool operator==(const Point32& b) const
+		{
+			return (x == b.x) && (y == b.y) && (z == b.z);
+		}
 
-				int64_t dot(const Point64& b) const
-				{
-					return x * b.x + y * b.y + z * b.z;
-				}
+		bool operator!=(const Point32& b) const
+		{
+			return (x != b.x) || (y != b.y) || (z != b.z);
+		}
 
-				Point32 operator+(const Point32& b) const
-				{
-					return Point32(x + b.x, y + b.y, z + b.z);
-				}
+		bool isZero()
+		{
+			return (x == 0) && (y == 0) && (z == 0);
+		}
 
-				Point32 operator-(const Point32& b) const
-				{
-					return Point32(x - b.x, y - b.y, z - b.z);
-				}
-		};
+		Point64 cross(const Point32& b) const
+		{
+			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
+		}
 
-		class Int128
+		Point64 cross(const Point64& b) const
 		{
-			public:
-				uint64_t low;
-				uint64_t high;
+			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
+		}
 
-				Int128()
-				{
-				}
+		int64_t dot(const Point32& b) const
+		{
+			return x * b.x + y * b.y + z * b.z;
+		}
 
-				Int128(uint64_t low, uint64_t high): low(low), high(high)
-				{
-				}
+		int64_t dot(const Point64& b) const
+		{
+			return x * b.x + y * b.y + z * b.z;
+		}
 
-				Int128(uint64_t low): low(low), high(0)
-				{
-				}
+		Point32 operator+(const Point32& b) const
+		{
+			return Point32(x + b.x, y + b.y, z + b.z);
+		}
 
-				Int128(int64_t value): low(value), high((value >= 0) ? 0 : (uint64_t) -1LL)
-				{
-				}
+		Point32 operator-(const Point32& b) const
+		{
+			return Point32(x - b.x, y - b.y, z - b.z);
+		}
+	};
 
-				static Int128 mul(int64_t a, int64_t b);
+	class Int128
+	{
+	public:
+		uint64_t low;
+		uint64_t high;
 
-				static Int128 mul(uint64_t a, uint64_t b);
+		Int128()
+		{
+		}
 
-				Int128 operator-() const
-				{
-					return Int128((uint64_t) -(int64_t)low, ~high + (low == 0));
-				}
+		Int128(uint64_t low, uint64_t high) : low(low), high(high)
+		{
+		}
 
-				Int128 operator+(const Int128& b) const
-				{
+		Int128(uint64_t low) : low(low), high(0)
+		{
+		}
+
+		Int128(int64_t value) : low(value), high((value >= 0) ? 0 : (uint64_t)-1LL)
+		{
+		}
+
+		static Int128 mul(int64_t a, int64_t b);
+
+		static Int128 mul(uint64_t a, uint64_t b);
+
+		Int128 operator-() const
+		{
+			return Int128((uint64_t) - (int64_t)low, ~high + (low == 0));
+		}
+
+		Int128 operator+(const Int128& b) const
+		{
 #ifdef USE_X86_64_ASM
-					Int128 result;
-					__asm__ ("addq %[bl], %[rl]\n\t"
-									 "adcq %[bh], %[rh]\n\t"
-									 : [rl] "=r" (result.low), [rh] "=r" (result.high)
-									 : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-									 : "cc" );
-					return result;
+			Int128 result;
+			__asm__(
+				"addq %[bl], %[rl]\n\t"
+				"adcq %[bh], %[rh]\n\t"
+				: [rl] "=r"(result.low), [rh] "=r"(result.high)
+				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
+				: "cc");
+			return result;
 #else
-					uint64_t lo = low + b.low;
-					return Int128(lo, high + b.high + (lo < low));
+			uint64_t lo = low + b.low;
+			return Int128(lo, high + b.high + (lo < low));
 #endif
-				}
+		}
 
-				Int128 operator-(const Int128& b) const
-				{
+		Int128 operator-(const Int128& b) const
+		{
 #ifdef USE_X86_64_ASM
-					Int128 result;
-					__asm__ ("subq %[bl], %[rl]\n\t"
-									 "sbbq %[bh], %[rh]\n\t"
-									 : [rl] "=r" (result.low), [rh] "=r" (result.high)
-									 : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-									 : "cc" );
-					return result;
+			Int128 result;
+			__asm__(
+				"subq %[bl], %[rl]\n\t"
+				"sbbq %[bh], %[rh]\n\t"
+				: [rl] "=r"(result.low), [rh] "=r"(result.high)
+				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
+				: "cc");
+			return result;
 #else
-					return *this + -b;
+			return *this + -b;
 #endif
-				}
+		}
 
-				Int128& operator+=(const Int128& b)
-				{
+		Int128& operator+=(const Int128& b)
+		{
 #ifdef USE_X86_64_ASM
-					__asm__ ("addq %[bl], %[rl]\n\t"
-									 "adcq %[bh], %[rh]\n\t"
-									 : [rl] "=r" (low), [rh] "=r" (high)
-									 : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
-									 : "cc" );
+			__asm__(
+				"addq %[bl], %[rl]\n\t"
+				"adcq %[bh], %[rh]\n\t"
+				: [rl] "=r"(low), [rh] "=r"(high)
+				: "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high)
+				: "cc");
 #else
-					uint64_t lo = low + b.low;
-					if (lo < low)
-					{
-						++high;
-					}
-					low = lo;
-					high += b.high;
+			uint64_t lo = low + b.low;
+			if (lo < low)
+			{
+				++high;
+			}
+			low = lo;
+			high += b.high;
 #endif
-					return *this;
-				}
+			return *this;
+		}
 
-				Int128& operator++()
-				{
-					if (++low == 0)
-					{
-						++high;
-					}
-					return *this;
-				}
+		Int128& operator++()
+		{
+			if (++low == 0)
+			{
+				++high;
+			}
+			return *this;
+		}
 
-				Int128 operator*(int64_t b) const;
+		Int128 operator*(int64_t b) const;
 
-				btScalar toScalar() const
-				{
-					return ((int64_t) high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low)
-						: -(-*this).toScalar();
-				}
+		btScalar toScalar() const
+		{
+			return ((int64_t)high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low)
+										: -(-*this).toScalar();
+		}
 
-				int getSign() const
-				{
-					return ((int64_t) high < 0) ? -1 : (high || low) ? 1 : 0;
-				}
+		int getSign() const
+		{
+			return ((int64_t)high < 0) ? -1 : (high || low) ? 1 : 0;
+		}
 
-				bool operator<(const Int128& b) const
-				{
-					return (high < b.high) || ((high == b.high) && (low < b.low));
-				}
+		bool operator<(const Int128& b) const
+		{
+			return (high < b.high) || ((high == b.high) && (low < b.low));
+		}
 
-				int ucmp(const Int128&b) const
-				{
-					if (high < b.high)
-					{
-						return -1;
-					}
-					if (high > b.high)
-					{
-						return 1;
-					}
-					if (low < b.low)
-					{
-						return -1;
-					}
-					if (low > b.low)
-					{
-						return 1;
-					}
-					return 0;
-				}
-		};
+		int ucmp(const Int128& b) const
+		{
+			if (high < b.high)
+			{
+				return -1;
+			}
+			if (high > b.high)
+			{
+				return 1;
+			}
+			if (low < b.low)
+			{
+				return -1;
+			}
+			if (low > b.low)
+			{
+				return 1;
+			}
+			return 0;
+		}
+	};
 
+	class Rational64
+	{
+	private:
+		uint64_t m_numerator;
+		uint64_t m_denominator;
+		int sign;
 
-		class Rational64
+	public:
+		Rational64(int64_t numerator, int64_t denominator)
 		{
-			private:
-				uint64_t m_numerator;
-				uint64_t m_denominator;
-				int sign;
-				
-			public:
-				Rational64(int64_t numerator, int64_t denominator)
-				{
-					if (numerator > 0)
-					{
-						sign = 1;
-						m_numerator = (uint64_t) numerator;
-					}
-					else if (numerator < 0)
-					{
-						sign = -1;
-						m_numerator = (uint64_t) -numerator;
-					}
-					else
-					{
-						sign = 0;
-						m_numerator = 0;
-					}
-					if (denominator > 0)
-					{
-						m_denominator = (uint64_t) denominator;
-					}
-					else if (denominator < 0)
-					{
-						sign = -sign;
-						m_denominator = (uint64_t) -denominator;
-					}
-					else
-					{
-						m_denominator = 0;
-					}
-				}
-				
-				bool isNegativeInfinity() const
-				{
-					return (sign < 0) && (m_denominator == 0);
-				}
-				
-				bool isNaN() const
-				{
-					return (sign == 0) && (m_denominator == 0);
-				}
-				
-				int compare(const Rational64& b) const;
-				
-				btScalar toScalar() const
-				{
-					return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar) m_numerator / m_denominator);
-				}
-		};
-
+			if (numerator > 0)
+			{
+				sign = 1;
+				m_numerator = (uint64_t)numerator;
+			}
+			else if (numerator < 0)
+			{
+				sign = -1;
+				m_numerator = (uint64_t)-numerator;
+			}
+			else
+			{
+				sign = 0;
+				m_numerator = 0;
+			}
+			if (denominator > 0)
+			{
+				m_denominator = (uint64_t)denominator;
+			}
+			else if (denominator < 0)
+			{
+				sign = -sign;
+				m_denominator = (uint64_t)-denominator;
+			}
+			else
+			{
+				m_denominator = 0;
+			}
+		}
 
-		class Rational128
+		bool isNegativeInfinity() const
 		{
-			private:
-				Int128 numerator;
-				Int128 denominator;
-				int sign;
-				bool isInt64;
+			return (sign < 0) && (m_denominator == 0);
+		}
 
-			public:
-				Rational128(int64_t value)
-				{
-					if (value > 0)
-					{
-						sign = 1;
-						this->numerator = value;
-					}
-					else if (value < 0)
-					{
-						sign = -1;
-						this->numerator = -value;
-					}
-					else
-					{
-						sign = 0;
-						this->numerator = (uint64_t) 0;
-					}
-					this->denominator = (uint64_t) 1;
-					isInt64 = true;
-				}
+		bool isNaN() const
+		{
+			return (sign == 0) && (m_denominator == 0);
+		}
 
-				Rational128(const Int128& numerator, const Int128& denominator)
-				{
-					sign = numerator.getSign();
-					if (sign >= 0)
-					{
-						this->numerator = numerator;
-					}
-					else
-					{
-						this->numerator = -numerator;
-					}
-					int dsign = denominator.getSign();
-					if (dsign >= 0)
-					{
-						this->denominator = denominator;
-					}
-					else
-					{
-						sign = -sign;
-						this->denominator = -denominator;
-					}
-					isInt64 = false;
-				}
+		int compare(const Rational64& b) const;
 
-				int compare(const Rational128& b) const;
+		btScalar toScalar() const
+		{
+			return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar)m_numerator / m_denominator);
+		}
+	};
 
-				int compare(int64_t b) const;
+	class Rational128
+	{
+	private:
+		Int128 numerator;
+		Int128 denominator;
+		int sign;
+		bool isInt64;
 
-				btScalar toScalar() const
-				{
-					return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar());
-				}
-		};
+	public:
+		Rational128(int64_t value)
+		{
+			if (value > 0)
+			{
+				sign = 1;
+				this->numerator = value;
+			}
+			else if (value < 0)
+			{
+				sign = -1;
+				this->numerator = -value;
+			}
+			else
+			{
+				sign = 0;
+				this->numerator = (uint64_t)0;
+			}
+			this->denominator = (uint64_t)1;
+			isInt64 = true;
+		}
 
-		class PointR128
+		Rational128(const Int128& numerator, const Int128& denominator)
 		{
-			public:
-				Int128 x;
-				Int128 y;
-				Int128 z;
-				Int128 denominator;
+			sign = numerator.getSign();
+			if (sign >= 0)
+			{
+				this->numerator = numerator;
+			}
+			else
+			{
+				this->numerator = -numerator;
+			}
+			int dsign = denominator.getSign();
+			if (dsign >= 0)
+			{
+				this->denominator = denominator;
+			}
+			else
+			{
+				sign = -sign;
+				this->denominator = -denominator;
+			}
+			isInt64 = false;
+		}
 
-				PointR128()
-				{
-				}
+		int compare(const Rational128& b) const;
 
-				PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator): x(x), y(y), z(z), denominator(denominator)
-				{
-				}
+		int compare(int64_t b) const;
 
-				btScalar xvalue() const
-				{
-					return x.toScalar() / denominator.toScalar();
-				}
+		btScalar toScalar() const
+		{
+			return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar());
+		}
+	};
 
-				btScalar yvalue() const
-				{
-					return y.toScalar() / denominator.toScalar();
-				}
+	class PointR128
+	{
+	public:
+		Int128 x;
+		Int128 y;
+		Int128 z;
+		Int128 denominator;
 
-				btScalar zvalue() const
-				{
-					return z.toScalar() / denominator.toScalar();
-				}
-		};
+		PointR128()
+		{
+		}
 
+		PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) : x(x), y(y), z(z), denominator(denominator)
+		{
+		}
 
-		class Edge;
-		class Face;
+		btScalar xvalue() const
+		{
+			return x.toScalar() / denominator.toScalar();
+		}
 
-		class Vertex
+		btScalar yvalue() const
 		{
-			public:
-				Vertex* next;
-				Vertex* prev;
-				Edge* edges;
-				Face* firstNearbyFace;
-				Face* lastNearbyFace;
-				PointR128 point128;
-				Point32 point;
-				int copy;
-				
-				Vertex(): next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
-				{
-				}
+			return y.toScalar() / denominator.toScalar();
+		}
 
-#ifdef DEBUG_CONVEX_HULL
-				void print()
-				{
-					printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
-				}
+		btScalar zvalue() const
+		{
+			return z.toScalar() / denominator.toScalar();
+		}
+	};
 
-				void printGraph();
-#endif
+	class Edge;
+	class Face;
 
-				Point32 operator-(const Vertex& b) const
-				{
-					return point - b.point;
-				}
+	class Vertex
+	{
+	public:
+		Vertex* next;
+		Vertex* prev;
+		Edge* edges;
+		Face* firstNearbyFace;
+		Face* lastNearbyFace;
+		PointR128 point128;
+		Point32 point;
+		int copy;
 
-				Rational128 dot(const Point64& b) const
-				{
-					return (point.index >= 0) ? Rational128(point.dot(b))
-						: Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
-				}
+		Vertex() : next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1)
+		{
+		}
 
-				btScalar xvalue() const
-				{
-					return (point.index >= 0) ? btScalar(point.x) : point128.xvalue();
-				}
+#ifdef DEBUG_CONVEX_HULL
+		void print()
+		{
+			printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z);
+		}
 
-				btScalar yvalue() const
-				{
-					return (point.index >= 0) ? btScalar(point.y) : point128.yvalue();
-				}
+		void printGraph();
+#endif
 
-				btScalar zvalue() const
-				{
-					return (point.index >= 0) ? btScalar(point.z) : point128.zvalue();
-				}
+		Point32 operator-(const Vertex& b) const
+		{
+			return point - b.point;
+		}
 
-				void receiveNearbyFaces(Vertex* src)
-				{
-					if (lastNearbyFace)
-					{
-						lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
-					}
-					else
-					{
-						firstNearbyFace = src->firstNearbyFace;
-					}
-					if (src->lastNearbyFace)
-					{
-						lastNearbyFace = src->lastNearbyFace;
-					}
-					for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
-					{
-						btAssert(f->nearbyVertex == src);
-						f->nearbyVertex = this;
-					}
-					src->firstNearbyFace = NULL;
-					src->lastNearbyFace = NULL;
-				}
-		};
+		Rational128 dot(const Point64& b) const
+		{
+			return (point.index >= 0) ? Rational128(point.dot(b))
+									  : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator);
+		}
 
+		btScalar xvalue() const
+		{
+			return (point.index >= 0) ? btScalar(point.x) : point128.xvalue();
+		}
 
-		class Edge
+		btScalar yvalue() const
 		{
-			public:
-				Edge* next;
-				Edge* prev;
-				Edge* reverse;
-				Vertex* target;
-				Face* face;
-				int copy;
+			return (point.index >= 0) ? btScalar(point.y) : point128.yvalue();
+		}
 
-				~Edge()
-				{
-					next = NULL;
-					prev = NULL;
-					reverse = NULL;
-					target = NULL;
-					face = NULL;
-				}
+		btScalar zvalue() const
+		{
+			return (point.index >= 0) ? btScalar(point.z) : point128.zvalue();
+		}
 
-				void link(Edge* n)
-				{
-					btAssert(reverse->target == n->reverse->target);
-					next = n;
-					n->prev = this;
-				}
+		void receiveNearbyFaces(Vertex* src)
+		{
+			if (lastNearbyFace)
+			{
+				lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace;
+			}
+			else
+			{
+				firstNearbyFace = src->firstNearbyFace;
+			}
+			if (src->lastNearbyFace)
+			{
+				lastNearbyFace = src->lastNearbyFace;
+			}
+			for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
+			{
+				btAssert(f->nearbyVertex == src);
+				f->nearbyVertex = this;
+			}
+			src->firstNearbyFace = NULL;
+			src->lastNearbyFace = NULL;
+		}
+	};
 
-#ifdef DEBUG_CONVEX_HULL
-				void print()
-				{
-					printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
-								 reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
-				}
-#endif
-		};
+	class Edge
+	{
+	public:
+		Edge* next;
+		Edge* prev;
+		Edge* reverse;
+		Vertex* target;
+		Face* face;
+		int copy;
+
+		~Edge()
+		{
+			next = NULL;
+			prev = NULL;
+			reverse = NULL;
+			target = NULL;
+			face = NULL;
+		}
 
-		class Face
+		void link(Edge* n)
 		{
-			public:
-				Face* next;
-				Vertex* nearbyVertex;
-				Face* nextWithSameNearbyVertex;
-				Point32 origin;
-				Point32 dir0;
-				Point32 dir1;
+			btAssert(reverse->target == n->reverse->target);
+			next = n;
+			n->prev = this;
+		}
 
-				Face(): next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
-				{
-				}
+#ifdef DEBUG_CONVEX_HULL
+		void print()
+		{
+			printf("E%p : %d -> %d,  n=%p p=%p   (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev,
+				   reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z);
+		}
+#endif
+	};
 
-				void init(Vertex* a, Vertex* b, Vertex* c)
-				{
-					nearbyVertex = a;
-					origin = a->point;
-					dir0 = *b - *a;
-					dir1 = *c - *a;
-					if (a->lastNearbyFace)
-					{
-						a->lastNearbyFace->nextWithSameNearbyVertex = this;
-					}
-					else
-					{
-						a->firstNearbyFace = this;
-					}
-					a->lastNearbyFace = this;
-				}
+	class Face
+	{
+	public:
+		Face* next;
+		Vertex* nearbyVertex;
+		Face* nextWithSameNearbyVertex;
+		Point32 origin;
+		Point32 dir0;
+		Point32 dir1;
 
-				Point64 getNormal()
-				{
-					return dir0.cross(dir1);
-				}
-		};
+		Face() : next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL)
+		{
+		}
 
-		template<typename UWord, typename UHWord> class DMul
+		void init(Vertex* a, Vertex* b, Vertex* c)
 		{
-			private:
-				static uint32_t high(uint64_t value)
-				{
-					return (uint32_t) (value >> 32);
-				}
-				
-				static uint32_t low(uint64_t value)
-				{
-					return (uint32_t) value;
-				}
-				
-				static uint64_t mul(uint32_t a, uint32_t b)
-				{
-					return (uint64_t) a * (uint64_t) b;
-				}
-				
-				static void shlHalf(uint64_t& value)
-				{
-					value <<= 32;
-				}
-				
-				static uint64_t high(Int128 value)
-				{
-					return value.high;
-				}
-				
-				static uint64_t low(Int128 value)
-				{
-					return value.low;
-				}
-				
-				static Int128 mul(uint64_t a, uint64_t b)
-				{
-					return Int128::mul(a, b);
-				}
-				
-				static void shlHalf(Int128& value)
-				{
-					value.high = value.low;
-					value.low = 0;
-				}
-				
-			public:
-				
-				static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
-				{
-					UWord p00 = mul(low(a), low(b));
-					UWord p01 = mul(low(a), high(b));
-					UWord p10 = mul(high(a), low(b));
-					UWord p11 = mul(high(a), high(b));
-					UWord p0110 = UWord(low(p01)) + UWord(low(p10));
-					p11 += high(p01);
-					p11 += high(p10);
-					p11 += high(p0110);
-					shlHalf(p0110);
-					p00 += p0110;
-					if (p00 < p0110)
-					{
-						++p11;
-					}
-					resLow = p00;
-					resHigh = p11;
-				}
-		};
-	
-	private:
+			nearbyVertex = a;
+			origin = a->point;
+			dir0 = *b - *a;
+			dir1 = *c - *a;
+			if (a->lastNearbyFace)
+			{
+				a->lastNearbyFace->nextWithSameNearbyVertex = this;
+			}
+			else
+			{
+				a->firstNearbyFace = this;
+			}
+			a->lastNearbyFace = this;
+		}
 
-		class IntermediateHull
+		Point64 getNormal()
 		{
-			public:
-				Vertex* minXy;
-				Vertex* maxXy;
-				Vertex* minYx;
-				Vertex* maxYx;
-				
-				IntermediateHull(): minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
-				{
-				}
-				
-				void print();
-		};
-	
-		enum Orientation {NONE, CLOCKWISE, COUNTER_CLOCKWISE};
+			return dir0.cross(dir1);
+		}
+	};
 
-		template <typename T> class PoolArray
+	template <typename UWord, typename UHWord>
+	class DMul
+	{
+	private:
+		static uint32_t high(uint64_t value)
 		{
-			private:
-				T* array;
-				int size;
+			return (uint32_t)(value >> 32);
+		}
 
-			public:
-				PoolArray<T>* next;
+		static uint32_t low(uint64_t value)
+		{
+			return (uint32_t)value;
+		}
 
-				PoolArray(int size): size(size), next(NULL)
-				{
-					array = (T*) btAlignedAlloc(sizeof(T) * size, 16);
-				}
+		static uint64_t mul(uint32_t a, uint32_t b)
+		{
+			return (uint64_t)a * (uint64_t)b;
+		}
 
-				~PoolArray()
-				{
-					btAlignedFree(array);
-				}
+		static void shlHalf(uint64_t& value)
+		{
+			value <<= 32;
+		}
 
-				T* init()
-				{
-					T* o = array;
-					for (int i = 0; i < size; i++, o++)
-					{
-						o->next = (i+1 < size) ? o + 1 : NULL;
-					}
-					return array;
-				}
-		};
+		static uint64_t high(Int128 value)
+		{
+			return value.high;
+		}
 
-		template <typename T> class Pool
+		static uint64_t low(Int128 value)
 		{
-			private:
-				PoolArray<T>* arrays;
-				PoolArray<T>* nextArray;
-				T* freeObjects;
-				int arraySize;
+			return value.low;
+		}
 
-			public:
-				Pool(): arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
-				{
-				}
+		static Int128 mul(uint64_t a, uint64_t b)
+		{
+			return Int128::mul(a, b);
+		}
 
-				~Pool()
-				{
-					while (arrays)
-					{
-						PoolArray<T>* p = arrays;
-						arrays = p->next;
-						p->~PoolArray<T>();
-						btAlignedFree(p);
-					}
-				}
+		static void shlHalf(Int128& value)
+		{
+			value.high = value.low;
+			value.low = 0;
+		}
 
-				void reset()
-				{
-					nextArray = arrays;
-					freeObjects = NULL;
-				}
+	public:
+		static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh)
+		{
+			UWord p00 = mul(low(a), low(b));
+			UWord p01 = mul(low(a), high(b));
+			UWord p10 = mul(high(a), low(b));
+			UWord p11 = mul(high(a), high(b));
+			UWord p0110 = UWord(low(p01)) + UWord(low(p10));
+			p11 += high(p01);
+			p11 += high(p10);
+			p11 += high(p0110);
+			shlHalf(p0110);
+			p00 += p0110;
+			if (p00 < p0110)
+			{
+				++p11;
+			}
+			resLow = p00;
+			resHigh = p11;
+		}
+	};
 
-				void setArraySize(int arraySize)
-				{
-					this->arraySize = arraySize;
-				}
+private:
+	class IntermediateHull
+	{
+	public:
+		Vertex* minXy;
+		Vertex* maxXy;
+		Vertex* minYx;
+		Vertex* maxYx;
 
-				T* newObject()
-				{
-					T* o = freeObjects;
-					if (!o)
-					{
-						PoolArray<T>* p = nextArray;
-						if (p)
-						{
-							nextArray = p->next;
-						}
-						else
-						{
-							p = new(btAlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
-							p->next = arrays;
-							arrays = p;
-						}
-						o = p->init();
-					}
-					freeObjects = o->next;
-					return new(o) T();
-				};
+		IntermediateHull() : minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL)
+		{
+		}
 
-				void freeObject(T* object)
-				{
-					object->~T();
-					object->next = freeObjects;
-					freeObjects = object;
-				}
-		};
+		void print();
+	};
 
-		btVector3 scaling;
-		btVector3 center;
-		Pool<Vertex> vertexPool;
-		Pool<Edge> edgePool;
-		Pool<Face> facePool;
-		btAlignedObjectArray<Vertex*> originalVertices;
-		int mergeStamp;
-		int minAxis;
-		int medAxis;
-		int maxAxis;
-		int usedEdgePairs;
-		int maxUsedEdgePairs;
+	enum Orientation
+	{
+		NONE,
+		CLOCKWISE,
+		COUNTER_CLOCKWISE
+	};
 
-		static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
-		Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
-		void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
+	template <typename T>
+	class PoolArray
+	{
+	private:
+		T* array;
+		int size;
 
-		Edge* newEdgePair(Vertex* from, Vertex* to);
+	public:
+		PoolArray<T>* next;
 
-		void removeEdgePair(Edge* edge)
+		PoolArray(int size) : size(size), next(NULL)
 		{
-			Edge* n = edge->next;
-			Edge* r = edge->reverse;
+			array = (T*)btAlignedAlloc(sizeof(T) * size, 16);
+		}
 
-			btAssert(edge->target && r->target);
+		~PoolArray()
+		{
+			btAlignedFree(array);
+		}
 
-			if (n != edge)
-			{
-				n->prev = edge->prev;
-				edge->prev->next = n;
-				r->target->edges = n;
-			}
-			else
+		T* init()
+		{
+			T* o = array;
+			for (int i = 0; i < size; i++, o++)
 			{
-				r->target->edges = NULL;
+				o->next = (i + 1 < size) ? o + 1 : NULL;
 			}
-			
-			n = r->next;
-			
-			if (n != r)
+			return array;
+		}
+	};
+
+	template <typename T>
+	class Pool
+	{
+	private:
+		PoolArray<T>* arrays;
+		PoolArray<T>* nextArray;
+		T* freeObjects;
+		int arraySize;
+
+	public:
+		Pool() : arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256)
+		{
+		}
+
+		~Pool()
+		{
+			while (arrays)
 			{
-				n->prev = r->prev;
-				r->prev->next = n;
-				edge->target->edges = n;
+				PoolArray<T>* p = arrays;
+				arrays = p->next;
+				p->~PoolArray<T>();
+				btAlignedFree(p);
 			}
-			else
+		}
+
+		void reset()
+		{
+			nextArray = arrays;
+			freeObjects = NULL;
+		}
+
+		void setArraySize(int arraySize)
+		{
+			this->arraySize = arraySize;
+		}
+
+		T* newObject()
+		{
+			T* o = freeObjects;
+			if (!o)
 			{
-				edge->target->edges = NULL;
+				PoolArray<T>* p = nextArray;
+				if (p)
+				{
+					nextArray = p->next;
+				}
+				else
+				{
+					p = new (btAlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
+					p->next = arrays;
+					arrays = p;
+				}
+				o = p->init();
 			}
+			freeObjects = o->next;
+			return new (o) T();
+		};
+
+		void freeObject(T* object)
+		{
+			object->~T();
+			object->next = freeObjects;
+			freeObjects = object;
+		}
+	};
+
+	btVector3 scaling;
+	btVector3 center;
+	Pool<Vertex> vertexPool;
+	Pool<Edge> edgePool;
+	Pool<Face> facePool;
+	btAlignedObjectArray<Vertex*> originalVertices;
+	int mergeStamp;
+	int minAxis;
+	int medAxis;
+	int maxAxis;
+	int usedEdgePairs;
+	int maxUsedEdgePairs;
+
+	static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t);
+	Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot);
+	void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1);
+
+	Edge* newEdgePair(Vertex* from, Vertex* to);
 
-			edgePool.freeObject(edge);
-			edgePool.freeObject(r);
-			usedEdgePairs--;
+	void removeEdgePair(Edge* edge)
+	{
+		Edge* n = edge->next;
+		Edge* r = edge->reverse;
+
+		btAssert(edge->target && r->target);
+
+		if (n != edge)
+		{
+			n->prev = edge->prev;
+			edge->prev->next = n;
+			r->target->edges = n;
+		}
+		else
+		{
+			r->target->edges = NULL;
+		}
+
+		n = r->next;
+
+		if (n != r)
+		{
+			n->prev = r->prev;
+			r->prev->next = n;
+			edge->target->edges = n;
+		}
+		else
+		{
+			edge->target->edges = NULL;
 		}
-		
-		void computeInternal(int start, int end, IntermediateHull& result);
-		
-		bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
-		
-		void merge(IntermediateHull& h0, IntermediateHull& h1);
 
-		btVector3 toBtVector(const Point32& v);
+		edgePool.freeObject(edge);
+		edgePool.freeObject(r);
+		usedEdgePairs--;
+	}
 
-		btVector3 getBtNormal(Face* face);
+	void computeInternal(int start, int end, IntermediateHull& result);
 
-		bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack);
+	bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1);
 
-	public:
-		Vertex* vertexList;
+	void merge(IntermediateHull& h0, IntermediateHull& h1);
 
-		void compute(const void* coords, bool doubleCoords, int stride, int count);
+	btVector3 toBtVector(const Point32& v);
 
-		btVector3 getCoordinates(const Vertex* v);
+	btVector3 getBtNormal(Face* face);
 
-		btScalar shrink(btScalar amount, btScalar clampAmount);
-};
+	bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack);
 
+public:
+	Vertex* vertexList;
+
+	void compute(const void* coords, bool doubleCoords, int stride, int count);
+
+	btVector3 getCoordinates(const Vertex* v);
+
+	btScalar shrink(btScalar amount, btScalar clampAmount);
+};
 
 btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const
 {
-	bool negative = (int64_t) high < 0;
+	bool negative = (int64_t)high < 0;
 	Int128 a = negative ? -*this : *this;
 	if (b < 0)
 	{
 		negative = !negative;
 		b = -b;
 	}
-	Int128 result = mul(a.low, (uint64_t) b);
-	result.high += a.high * (uint64_t) b;
+	Int128 result = mul(a.low, (uint64_t)b);
+	result.high += a.high * (uint64_t)b;
 	return negative ? -result : result;
 }
 
 btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b)
 {
 	Int128 result;
-	
+
 #ifdef USE_X86_64_ASM
-	__asm__ ("imulq %[b]"
-					 : "=a" (result.low), "=d" (result.high)
-					 : "0"(a), [b] "r"(b)
-					 : "cc" );
+	__asm__("imulq %[b]"
+			: "=a"(result.low), "=d"(result.high)
+			: "0"(a), [b] "r"(b)
+			: "cc");
 	return result;
-	
+
 #else
 	bool negative = a < 0;
 	if (negative)
@@ -871,7 +872,7 @@ btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_
 		negative = !negative;
 		b = -b;
 	}
-	DMul<uint64_t, uint32_t>::mul((uint64_t) a, (uint64_t) b, result.low, result.high);
+	DMul<uint64_t, uint32_t>::mul((uint64_t)a, (uint64_t)b, result.low, result.high);
 	return negative ? -result : result;
 #endif
 }
@@ -881,10 +882,10 @@ btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint6
 	Int128 result;
 
 #ifdef USE_X86_64_ASM
-	__asm__ ("mulq %[b]"
-					 : "=a" (result.low), "=d" (result.high)
-					 : "0"(a), [b] "r"(b)
-					 : "cc" );
+	__asm__("mulq %[b]"
+			: "=a"(result.low), "=d"(result.high)
+			: "0"(a), [b] "r"(b)
+			: "cc");
 
 #else
 	DMul<uint64_t, uint32_t>::mul(a, b, result.low, result.high);
@@ -911,24 +912,25 @@ int btConvexHullInternal::Rational64::compare(const Rational64& b) const
 	int result;
 	int64_t tmp;
 	int64_t dummy;
-	__asm__ ("mulq %[bn]\n\t"
-					 "movq %%rax, %[tmp]\n\t"
-					 "movq %%rdx, %%rbx\n\t"
-					 "movq %[tn], %%rax\n\t"
-					 "mulq %[bd]\n\t"
-					 "subq %[tmp], %%rax\n\t"
-					 "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
-					 "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise
-					 "orq %%rdx, %%rax\n\t"
-					 "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero
-					 "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
-					 "shll $16, %%ebx\n\t" // ebx has same sign as difference
-					 : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
-					 : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator)
-					 : "%rdx", "cc" );
-	return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
-																// if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
-								: 0;
+	__asm__(
+		"mulq %[bn]\n\t"
+		"movq %%rax, %[tmp]\n\t"
+		"movq %%rdx, %%rbx\n\t"
+		"movq %[tn], %%rax\n\t"
+		"mulq %[bd]\n\t"
+		"subq %[tmp], %%rax\n\t"
+		"sbbq %%rbx, %%rdx\n\t"  // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator"
+		"setnsb %%bh\n\t"        // bh=1 if difference is non-negative, bh=0 otherwise
+		"orq %%rdx, %%rax\n\t"
+		"setnzb %%bl\n\t"      // bl=1 if difference if non-zero, bl=0 if it is zero
+		"decb %%bh\n\t"        // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference)
+		"shll $16, %%ebx\n\t"  // ebx has same sign as difference
+		: "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy)
+		: "a"(m_denominator), [bn] "g"(b.m_numerator), [tn] "g"(m_numerator), [bd] "g"(b.m_denominator)
+		: "%rdx", "cc");
+	return result ? result ^ sign  // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero)
+								   // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero)
+				  : 0;
 
 #else
 
@@ -949,7 +951,7 @@ int btConvexHullInternal::Rational128::compare(const Rational128& b) const
 	}
 	if (isInt64)
 	{
-		return -b.compare(sign * (int64_t) numerator.low);
+		return -b.compare(sign * (int64_t)numerator.low);
 	}
 
 	Int128 nbdLow, nbdHigh, dbnLow, dbnHigh;
@@ -968,7 +970,7 @@ int btConvexHullInternal::Rational128::compare(int64_t b) const
 {
 	if (isInt64)
 	{
-		int64_t a = sign * (int64_t) numerator.low;
+		int64_t a = sign * (int64_t)numerator.low;
 		return (a > b) ? 1 : (a < b) ? -1 : 0;
 	}
 	if (b > 0)
@@ -994,7 +996,6 @@ int btConvexHullInternal::Rational128::compare(int64_t b) const
 	return numerator.ucmp(denominator * b) * sign;
 }
 
-
 btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
 {
 	btAssert(from && to);
@@ -1062,7 +1063,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 			}
 		}
 	}
-	
+
 	v0 = h0.maxXy;
 	v1 = h1.maxXy;
 	Vertex* v00 = NULL;
@@ -1070,7 +1071,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 	int32_t sign = 1;
 
 	for (int side = 0; side <= 1; side++)
-	{		
+	{
 		int32_t dx = (v1->point.x - v0->point.x) * sign;
 		if (dx > 0)
 		{
@@ -1113,7 +1114,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 			while (true)
 			{
 				int32_t dy = v1->point.y - v0->point.y;
-				
+
 				Vertex* w1 = side ? v1->prev : v1->next;
 				if (w1 != v1)
 				{
@@ -1126,7 +1127,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 						continue;
 					}
 				}
-				
+
 				Vertex* w0 = side ? v0->prev : v0->next;
 				if (w0 != v0)
 				{
@@ -1140,7 +1141,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 						continue;
 					}
 				}
-				
+
 				break;
 			}
 		}
@@ -1166,7 +1167,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 			}
 			v1 = w1;
 		}
-		
+
 		if (side == 0)
 		{
 			v00 = v0;
@@ -1192,7 +1193,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
 	{
 		h0.maxXy = h1.maxXy;
 	}
-	
+
 	h0.maxYx = h1.maxYx;
 
 	c0 = v00;
@@ -1279,19 +1280,19 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 			}
 			{
 				Vertex* v = originalVertices[start];
-							v->edges = NULL;
-							v->next = v;
-							v->prev = v;
-
-							result.minXy = v;
-							result.maxXy = v;
-							result.minYx = v;
-							result.maxYx = v;
+				v->edges = NULL;
+				v->next = v;
+				v->prev = v;
+
+				result.minXy = v;
+				result.maxXy = v;
+				result.minYx = v;
+				result.maxYx = v;
 			}
-			
+
 			return;
 		}
-		
+
 		case 1:
 		{
 			Vertex* v = originalVertices[start];
@@ -1309,7 +1310,7 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 	}
 
 	int split0 = start + n / 2;
-	Point32 p = originalVertices[split0-1]->point;
+	Point32 p = originalVertices[split0 - 1]->point;
 	int split1 = split0;
 	while ((split1 < end) && (originalVertices[split1]->point == p))
 	{
@@ -1334,7 +1335,7 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 void btConvexHullInternal::IntermediateHull::print()
 {
 	printf("    Hull\n");
-	for (Vertex* v = minXy; v; )
+	for (Vertex* v = minXy; v;)
 	{
 		printf("      ");
 		v->print();
@@ -1362,7 +1363,7 @@ void btConvexHullInternal::IntermediateHull::print()
 		}
 	}
 	if (minXy)
-	{		
+	{
 		minXy->copy = (minXy->copy == -1) ? -2 : -1;
 		minXy->printGraph();
 	}
@@ -1438,7 +1439,7 @@ btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const V
 				Point32 t = *e->target - *start;
 				Rational64 cot(t.dot(sxrxs), t.dot(rxs));
 #ifdef DEBUG_CONVEX_HULL
-				printf("      Angle is %f (%d) for ", (float) btAtan(cot.toScalar()), (int) cot.isNaN());
+				printf("      Angle is %f (%d) for ", (float)btAtan(cot.toScalar()), (int)cot.isNaN());
 				e->print();
 #endif
 				if (cot.isNaN())
@@ -1485,7 +1486,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 	btAssert(!start1 || (start1->target->point.dot(normal) == dist));
 	Point64 perp = s.cross(normal);
 	btAssert(!perp.isZero());
-	
+
 #ifdef DEBUG_CONVEX_HULL
 	printf("   Advancing %d %d  (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
 #endif
@@ -1515,7 +1516,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 			et0 = e->target->point;
 		}
 	}
-	
+
 	int64_t maxDot1 = et1.dot(perp);
 	if (e1)
 	{
@@ -1552,7 +1553,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 		while (true)
 		{
 			int64_t dy = (et1 - et0).dot(s);
-			
+
 			if (e0 && (e0->target != stop0))
 			{
 				Edge* f0 = e0->next->reverse;
@@ -1569,7 +1570,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 					}
 				}
 			}
-			
+
 			if (e1 && (e1->target != stop1))
 			{
 				Edge* f1 = e1->reverse->next;
@@ -1604,7 +1605,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 		while (true)
 		{
 			int64_t dy = (et1 - et0).dot(s);
-			
+
 			if (e1 && (e1->target != stop1))
 			{
 				Edge* f1 = e1->prev->reverse;
@@ -1621,7 +1622,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 					}
 				}
 			}
-			
+
 			if (e0 && (e0->target != stop0))
 			{
 				Edge* f0 = e0->reverse->prev;
@@ -1656,7 +1657,6 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
 #endif
 }
 
-
 void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 {
 	if (!h1.maxXy)
@@ -1668,7 +1668,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 		h0 = h1;
 		return;
 	}
-	
+
 	mergeStamp--;
 
 	Vertex* c0 = NULL;
@@ -1708,7 +1708,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 				e = e->next;
 			} while (e != c0->edges);
 		}
-		
+
 		e = c1->edges;
 		Edge* start1 = NULL;
 		if (e)
@@ -1760,7 +1760,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 		Point32 r = prevPoint - c0->point;
 		Point64 rxs = r.cross(s);
 		Point64 sxrxs = s.cross(rxs);
-		
+
 #ifdef DEBUG_CONVEX_HULL
 		printf("\n  Checking %d %d\n", c0->point.index, c1->point.index);
 #endif
@@ -1811,7 +1811,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 				e->prev = pendingTail1;
 				pendingTail1 = e;
 			}
-			
+
 			Edge* e0 = min0;
 			Edge* e1 = min1;
 
@@ -1828,7 +1828,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			{
 				if (toPrev1)
 				{
-					for (Edge* e = toPrev1->next, *n = NULL; e != min1; e = n)
+					for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n)
 					{
 						n = e->next;
 						removeEdgePair(e);
@@ -1864,7 +1864,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			{
 				if (toPrev0)
 				{
-					for (Edge* e = toPrev0->prev, *n = NULL; e != min0; e = n)
+					for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n)
 					{
 						n = e->prev;
 						removeEdgePair(e);
@@ -1906,7 +1906,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			}
 			else
 			{
-				for (Edge* e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
+				for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n)
 				{
 					n = e->prev;
 					removeEdgePair(e);
@@ -1925,7 +1925,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 			}
 			else
 			{
-				for (Edge* e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
+				for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n)
 				{
 					n = e->next;
 					removeEdgePair(e);
@@ -1936,7 +1936,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 					pendingTail1->link(firstNew1);
 				}
 			}
-			
+
 			return;
 		}
 
@@ -1946,24 +1946,23 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 
 class pointCmp
 {
-	public:
-
-    bool operator() ( const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q ) const
-		{
-			return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
-		}
+public:
+	bool operator()(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q) const
+	{
+		return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
+	}
 };
 
 void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
 {
 	btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30));
-	const char* ptr = (const char*) coords;
+	const char* ptr = (const char*)coords;
 	if (doubleCoords)
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const double* v = (const double*) ptr;
-			btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]);
+			const double* v = (const double*)ptr;
+			btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]);
 			ptr += stride;
 			min.setMin(p);
 			max.setMax(p);
@@ -1973,7 +1972,7 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const float* v = (const float*) ptr;
+			const float* v = (const float*)ptr;
 			btVector3 p(v[0], v[1], v[2]);
 			ptr += stride;
 			min.setMin(p);
@@ -2014,18 +2013,18 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 
 	btAlignedObjectArray<Point32> points;
 	points.resize(count);
-	ptr = (const char*) coords;
+	ptr = (const char*)coords;
 	if (doubleCoords)
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const double* v = (const double*) ptr;
-			btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]);
+			const double* v = (const double*)ptr;
+			btVector3 p((btScalar)v[0], (btScalar)v[1], (btScalar)v[2]);
 			ptr += stride;
 			p = (p - center) * s;
-			points[i].x = (int32_t) p[medAxis];
-			points[i].y = (int32_t) p[maxAxis];
-			points[i].z = (int32_t) p[minAxis];
+			points[i].x = (int32_t)p[medAxis];
+			points[i].y = (int32_t)p[maxAxis];
+			points[i].z = (int32_t)p[minAxis];
 			points[i].index = i;
 		}
 	}
@@ -2033,13 +2032,13 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 	{
 		for (int i = 0; i < count; i++)
 		{
-			const float* v = (const float*) ptr;
+			const float* v = (const float*)ptr;
 			btVector3 p(v[0], v[1], v[2]);
 			ptr += stride;
 			p = (p - center) * s;
-			points[i].x = (int32_t) p[medAxis];
-			points[i].y = (int32_t) p[maxAxis];
-			points[i].z = (int32_t) p[minAxis];
+			points[i].x = (int32_t)p[medAxis];
+			points[i].y = (int32_t)p[maxAxis];
+			points[i].z = (int32_t)p[minAxis];
 			points[i].index = i;
 		}
 	}
@@ -2193,7 +2192,7 @@ btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount)
 				minDist = dist;
 			}
 		}
-		
+
 		if (minDist <= 0)
 		{
 			return 0;
@@ -2234,7 +2233,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 	{
 		origShift[2] /= scaling[2];
 	}
-	Point32 shift((int32_t) origShift[medAxis], (int32_t) origShift[maxAxis], (int32_t) origShift[minAxis]);
+	Point32 shift((int32_t)origShift[medAxis], (int32_t)origShift[maxAxis], (int32_t)origShift[minAxis]);
 	if (shift.isZero())
 	{
 		return true;
@@ -2242,7 +2241,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 	Point64 normal = face->getNormal();
 #ifdef DEBUG_CONVEX_HULL
 	printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
-				 face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
+		   face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
 #endif
 	int64_t origDot = face->origin.dot(normal);
 	Point32 shiftedOrigin = face->origin + shift;
@@ -2279,7 +2278,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 #ifdef DEBUG_CONVEX_HULL
 			printf("Moving downwards, edge is ");
 			e->print();
-			printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
+			printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
 #endif
 			if (dot.compare(optDot) < 0)
 			{
@@ -2315,7 +2314,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 #ifdef DEBUG_CONVEX_HULL
 			printf("Moving upwards, edge is ");
 			e->print();
-			printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot);
+			printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot);
 #endif
 			if (dot.compare(optDot) > 0)
 			{
@@ -2331,7 +2330,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 			}
 			e = e->prev;
 		} while (e != startEdge);
-		
+
 		if (!intersection)
 		{
 			return true;
@@ -2368,7 +2367,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 		printf("Needed %d iterations to check for complete containment\n", n);
 #endif
 	}
-	
+
 	Edge* firstIntersection = NULL;
 	Edge* faceEdge = NULL;
 	Edge* firstFaceEdge = NULL;
@@ -2477,7 +2476,7 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 #ifdef DEBUG_CONVEX_HULL
 			printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z);
 #endif
-			
+
 			Point64 n0 = intersection->face->getNormal();
 			Point64 n1 = intersection->reverse->face->getNormal();
 			int64_t m00 = face->dir0.dot(n0);
@@ -2491,16 +2490,13 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 			Vertex* v = vertexPool.newObject();
 			v->point.index = -1;
 			v->copy = -1;
-			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01)
-															+ Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
-															Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01)
-															+ Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
-															Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01)
-															+ Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
-															det);
-			v->point.x = (int32_t) v->point128.xvalue();
-			v->point.y = (int32_t) v->point128.yvalue();
-			v->point.z = (int32_t) v->point128.zvalue();
+			v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x,
+									Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y,
+									Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z,
+									det);
+			v->point.x = (int32_t)v->point128.xvalue();
+			v->point.y = (int32_t)v->point128.yvalue();
+			v->point.z = (int32_t)v->point128.zvalue();
 			intersection->target = v;
 			v->edges = e;
 
@@ -2639,7 +2635,6 @@ bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjec
 	return true;
 }
 
-
 static int getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray<btConvexHullInternal::Vertex*>& vertices)
 {
 	int index = vertex->copy;
@@ -2761,8 +2756,3 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 
 	return shift;
 }
-
-
-
-
-
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.h b/thirdparty/bullet/LinearMath/btConvexHullComputer.h
index 7240ac4fb5..cba684f2dc 100644
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.h
+++ b/thirdparty/bullet/LinearMath/btConvexHullComputer.h
@@ -23,58 +23,56 @@ subject to the following restrictions:
 /// Ole Kniemeyer, MAXON Computer GmbH
 class btConvexHullComputer
 {
+private:
+	btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
+
+public:
+	class Edge
+	{
 	private:
-		btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
+		int next;
+		int reverse;
+		int targetVertex;
 
-	public:
+		friend class btConvexHullComputer;
 
-		class Edge
+	public:
+		int getSourceVertex() const
 		{
-			private:
-				int next;
-				int reverse;
-				int targetVertex;
-
-				friend class btConvexHullComputer;
-
-			public:
-				int getSourceVertex() const
-				{
-					return (this + reverse)->targetVertex;
-				}
-
-				int getTargetVertex() const
-				{
-					return targetVertex;
-				}
+			return (this + reverse)->targetVertex;
+		}
 
-				const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex
-				{
-					return this + next;
-				}
+		int getTargetVertex() const
+		{
+			return targetVertex;
+		}
 
-				const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face
-				{
-					return (this + reverse)->getNextEdgeOfVertex();
-				}
+		const Edge* getNextEdgeOfVertex() const  // clockwise list of all edges of a vertex
+		{
+			return this + next;
+		}
 
-				const Edge* getReverseEdge() const
-				{
-					return this + reverse;
-				}
-		};
+		const Edge* getNextEdgeOfFace() const  // counter-clockwise list of all edges of a face
+		{
+			return (this + reverse)->getNextEdgeOfVertex();
+		}
 
+		const Edge* getReverseEdge() const
+		{
+			return this + reverse;
+		}
+	};
 
-		// Vertices of the output hull
-		btAlignedObjectArray<btVector3> vertices;
+	// Vertices of the output hull
+	btAlignedObjectArray<btVector3> vertices;
 
-		// Edges of the output hull
-		btAlignedObjectArray<Edge> edges;
+	// Edges of the output hull
+	btAlignedObjectArray<Edge> edges;
 
-		// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
-		btAlignedObjectArray<int> faces;
+	// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
+	btAlignedObjectArray<int> faces;
 
-		/*
+	/*
 		Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
 		between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
 		by that amount (each face is moved by "shrink" length units towards the center along its normal).
@@ -86,18 +84,16 @@ class btConvexHullComputer
 
 		The output convex hull can be found in the member variables "vertices", "edges", "faces".
 		*/
-		btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-		{
-			return compute(coords, false, stride, count, shrink, shrinkClamp);
-		}
-
-		// same as above, but double precision
-		btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
-		{
-			return compute(coords, true, stride, count, shrink, shrinkClamp);
-		}
+	btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
+	{
+		return compute(coords, false, stride, count, shrink, shrinkClamp);
+	}
+
+	// same as above, but double precision
+	btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
+	{
+		return compute(coords, true, stride, count, shrink, shrinkClamp);
+	}
 };
 
-
-#endif //BT_CONVEX_HULL_COMPUTER_H
-
+#endif  //BT_CONVEX_HULL_COMPUTER_H
diff --git a/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h b/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
index d2cab52d48..5e4b9a313c 100644
--- a/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
+++ b/thirdparty/bullet/LinearMath/btCpuFeatureUtility.h
@@ -4,20 +4,20 @@
 
 #include "LinearMath/btScalar.h"
 
-#include <string.h>//memset
-#ifdef  USE_SIMD
+#include <string.h>  //memset
+#ifdef USE_SIMD
 #include <emmintrin.h>
 #ifdef BT_ALLOW_SSE4
 #include <intrin.h>
-#endif //BT_ALLOW_SSE4
-#endif //USE_SIMD
+#endif  //BT_ALLOW_SSE4
+#endif  //USE_SIMD
 
 #if defined BT_USE_NEON
-#define ARM_NEON_GCC_COMPATIBILITY  1
+#define ARM_NEON_GCC_COMPATIBILITY 1
 #include <arm_neon.h>
 #include <sys/types.h>
-#include <sys/sysctl.h> //for sysctlbyname
-#endif //BT_USE_NEON
+#include <sys/sysctl.h>  //for sysctlbyname
+#endif                   //BT_USE_NEON
 
 ///Rudimentary btCpuFeatureUtility for CPU features: only report the features that Bullet actually uses (SSE4/FMA3, NEON_HPFP)
 ///We assume SSE2 in case BT_USE_SSE2 is defined in LinearMath/btScalar.h
@@ -26,14 +26,13 @@ class btCpuFeatureUtility
 public:
 	enum btCpuFeature
 	{
-		CPU_FEATURE_FMA3=1,
-		CPU_FEATURE_SSE4_1=2,
-		CPU_FEATURE_NEON_HPFP=4
+		CPU_FEATURE_FMA3 = 1,
+		CPU_FEATURE_SSE4_1 = 2,
+		CPU_FEATURE_NEON_HPFP = 4
 	};
 
 	static int getCpuFeatures()
 	{
-
 		static int capabilities = 0;
 		static bool testedCapabilities = false;
 		if (0 != testedCapabilities)
@@ -49,15 +48,15 @@ public:
 			if (0 == err && hasFeature)
 				capabilities |= CPU_FEATURE_NEON_HPFP;
 		}
-#endif //BT_USE_NEON
+#endif  //BT_USE_NEON
 
-#ifdef  BT_ALLOW_SSE4
+#ifdef BT_ALLOW_SSE4
 		{
-			int					cpuInfo[4];
+			int cpuInfo[4];
 			memset(cpuInfo, 0, sizeof(cpuInfo));
-			unsigned long long	sseExt = 0;
+			unsigned long long sseExt = 0;
 			__cpuid(cpuInfo, 1);
-			
+
 			bool osUsesXSAVE_XRSTORE = cpuInfo[2] & (1 << 27) || false;
 			bool cpuAVXSuport = cpuInfo[2] & (1 << 28) || false;
 
@@ -79,14 +78,11 @@ public:
 				capabilities |= btCpuFeatureUtility::CPU_FEATURE_SSE4_1;
 			}
 		}
-#endif//BT_ALLOW_SSE4
+#endif  //BT_ALLOW_SSE4
 
 		testedCapabilities = true;
 		return capabilities;
 	}
-
-
 };
 
-
-#endif //BT_CPU_UTILITY_H
+#endif  //BT_CPU_UTILITY_H
diff --git a/thirdparty/bullet/LinearMath/btDefaultMotionState.h b/thirdparty/bullet/LinearMath/btDefaultMotionState.h
index 01c5f8d932..14c40d36b0 100644
--- a/thirdparty/bullet/LinearMath/btDefaultMotionState.h
+++ b/thirdparty/bullet/LinearMath/btDefaultMotionState.h
@@ -4,39 +4,37 @@
 #include "btMotionState.h"
 
 ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
-ATTRIBUTE_ALIGNED16(struct)	btDefaultMotionState : public btMotionState
+ATTRIBUTE_ALIGNED16(struct)
+btDefaultMotionState : public btMotionState
 {
 	btTransform m_graphicsWorldTrans;
-	btTransform	m_centerOfMassOffset;
+	btTransform m_centerOfMassOffset;
 	btTransform m_startWorldTrans;
-	void*		m_userPointer;
+	void* m_userPointer;
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
+	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(), const btTransform& centerOfMassOffset = btTransform::getIdentity())
 		: m_graphicsWorldTrans(startTrans),
-		m_centerOfMassOffset(centerOfMassOffset),
-		m_startWorldTrans(startTrans),
-		m_userPointer(0)
+		  m_centerOfMassOffset(centerOfMassOffset),
+		  m_startWorldTrans(startTrans),
+		  m_userPointer(0)
 
 	{
 	}
 
 	///synchronizes world transform from user to physics
-	virtual void	getWorldTransform(btTransform& centerOfMassWorldTrans ) const 
+	virtual void getWorldTransform(btTransform & centerOfMassWorldTrans) const
 	{
-			centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ;
+		centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse();
 	}
 
 	///synchronizes world transform from physics to user
 	///Bullet only calls the update of worldtransform for active objects
-	virtual void	setWorldTransform(const btTransform& centerOfMassWorldTrans)
+	virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
 	{
-			m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
+		m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
 	}
-
-	
-
 };
 
-#endif //BT_DEFAULT_MOTION_STATE_H
+#endif  //BT_DEFAULT_MOTION_STATE_H
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp b/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
index 5ac230f712..115e3eab81 100644
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
+++ b/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
@@ -12,49 +12,43 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btGeometryUtil.h"
 
-
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
   library is actually installed.
 */
 extern "C"
-{	
-	void btBulletMathProbe ();
+{
+	void btBulletMathProbe();
 
-	void btBulletMathProbe () {}
+	void btBulletMathProbe() {}
 }
 
-
-bool	btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar	margin)
+bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
 {
 	int numbrushes = planeEquations.size();
-	for (int i=0;i<numbrushes;i++)
+	for (int i = 0; i < numbrushes; i++)
 	{
 		const btVector3& N1 = planeEquations[i];
-		btScalar dist = btScalar(N1.dot(point))+btScalar(N1[3])-margin;
-		if (dist>btScalar(0.))
+		btScalar dist = btScalar(N1.dot(point)) + btScalar(N1[3]) - margin;
+		if (dist > btScalar(0.))
 		{
 			return false;
 		}
 	}
 	return true;
-		
 }
 
-
-bool	btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar	margin)
+bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
 {
 	int numvertices = vertices.size();
-	for (int i=0;i<numvertices;i++)
+	for (int i = 0; i < numvertices; i++)
 	{
 		const btVector3& N1 = vertices[i];
-		btScalar dist = btScalar(planeNormal.dot(N1))+btScalar(planeNormal[3])-margin;
-		if (dist>btScalar(0.))
+		btScalar dist = btScalar(planeNormal.dot(N1)) + btScalar(planeNormal[3]) - margin;
+		if (dist > btScalar(0.))
 		{
 			return false;
 		}
@@ -62,102 +56,98 @@ bool	btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const
 	return true;
 }
 
-bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations);
+bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations);
 
-bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations)
+bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations)
 {
 	int numbrushes = planeEquations.size();
-	for (int i=0;i<numbrushes;i++)
+	for (int i = 0; i < numbrushes; i++)
 	{
 		const btVector3& N1 = planeEquations[i];
 		if (planeEquation.dot(N1) > btScalar(0.999))
 		{
 			return false;
-		} 
+		}
 	}
 	return true;
 }
 
-void	btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut )
+void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut)
 {
-		const int numvertices = vertices.size();
+	const int numvertices = vertices.size();
 	// brute force:
-	for (int i=0;i<numvertices;i++)
+	for (int i = 0; i < numvertices; i++)
 	{
 		const btVector3& N1 = vertices[i];
-		
 
-		for (int j=i+1;j<numvertices;j++)
+		for (int j = i + 1; j < numvertices; j++)
 		{
 			const btVector3& N2 = vertices[j];
-				
-			for (int k=j+1;k<numvertices;k++)
-			{
 
+			for (int k = j + 1; k < numvertices; k++)
+			{
 				const btVector3& N3 = vertices[k];
 
-				btVector3 planeEquation,edge0,edge1;
-				edge0 = N2-N1;
-				edge1 = N3-N1;
+				btVector3 planeEquation, edge0, edge1;
+				edge0 = N2 - N1;
+				edge1 = N3 - N1;
 				btScalar normalSign = btScalar(1.);
-				for (int ww=0;ww<2;ww++)
+				for (int ww = 0; ww < 2; ww++)
 				{
 					planeEquation = normalSign * edge0.cross(edge1);
 					if (planeEquation.length2() > btScalar(0.0001))
 					{
 						planeEquation.normalize();
-						if (notExist(planeEquation,planeEquationsOut))
+						if (notExist(planeEquation, planeEquationsOut))
 						{
 							planeEquation[3] = -planeEquation.dot(N1);
-							
-								//check if inside, and replace supportingVertexOut if needed
-								if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01)))
-								{
-									planeEquationsOut.push_back(planeEquation);
-								}
+
+							//check if inside, and replace supportingVertexOut if needed
+							if (areVerticesBehindPlane(planeEquation, vertices, btScalar(0.01)))
+							{
+								planeEquationsOut.push_back(planeEquation);
+							}
 						}
 					}
 					normalSign = btScalar(-1.);
 				}
-			
 			}
 		}
 	}
-
 }
 
-void	btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut )
+void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut)
 {
 	const int numbrushes = planeEquations.size();
 	// brute force:
-	for (int i=0;i<numbrushes;i++)
+	for (int i = 0; i < numbrushes; i++)
 	{
 		const btVector3& N1 = planeEquations[i];
-		
 
-		for (int j=i+1;j<numbrushes;j++)
+		for (int j = i + 1; j < numbrushes; j++)
 		{
 			const btVector3& N2 = planeEquations[j];
-				
-			for (int k=j+1;k<numbrushes;k++)
-			{
 
+			for (int k = j + 1; k < numbrushes; k++)
+			{
 				const btVector3& N3 = planeEquations[k];
 
-				btVector3 n2n3; n2n3 = N2.cross(N3);
-				btVector3 n3n1; n3n1 = N3.cross(N1);
-				btVector3 n1n2; n1n2 = N1.cross(N2);
-				
-				if ( ( n2n3.length2() > btScalar(0.0001) ) &&
-					 ( n3n1.length2() > btScalar(0.0001) ) &&
-					 ( n1n2.length2() > btScalar(0.0001) ) )
+				btVector3 n2n3;
+				n2n3 = N2.cross(N3);
+				btVector3 n3n1;
+				n3n1 = N3.cross(N1);
+				btVector3 n1n2;
+				n1n2 = N1.cross(N2);
+
+				if ((n2n3.length2() > btScalar(0.0001)) &&
+					(n3n1.length2() > btScalar(0.0001)) &&
+					(n1n2.length2() > btScalar(0.0001)))
 				{
 					//point P out of 3 plane equations:
 
-					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )  
-					//P =  -------------------------------------------------------------------------  
-					//   N1 . ( N2 * N3 )  
-
+					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
+					//P =  -------------------------------------------------------------------------
+					//   N1 . ( N2 * N3 )
 
 					btScalar quotient = (N1.dot(n2n3));
 					if (btFabs(quotient) > btScalar(0.000001))
@@ -172,7 +162,7 @@ void	btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
 						potentialVertex *= quotient;
 
 						//check if inside, and replace supportingVertexOut if needed
-						if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01)))
+						if (isPointInsidePlanes(planeEquations, potentialVertex, btScalar(0.01)))
 						{
 							verticesOut.push_back(potentialVertex);
 						}
@@ -182,4 +172,3 @@ void	btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
 		}
 	}
 }
-
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.h b/thirdparty/bullet/LinearMath/btGeometryUtil.h
index a4b13b4560..0ce5b76d92 100644
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.h
+++ b/thirdparty/bullet/LinearMath/btGeometryUtil.h
@@ -12,7 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_GEOMETRY_UTIL_H
 #define BT_GEOMETRY_UTIL_H
 
@@ -22,21 +21,16 @@ subject to the following restrictions:
 ///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices.
 class btGeometryUtil
 {
-	public:
-	
-	
-		static void	getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut );
-
-		static void	getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut );
-	
-		static bool	isInside(const btAlignedObjectArray<btVector3>& vertices, const btVector3& planeNormal, btScalar	margin);
-		
-		static bool	isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar	margin);
+public:
+	static void getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut);
 
-		static bool	areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar	margin);
+	static void getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut);
 
-};
+	static bool isInside(const btAlignedObjectArray<btVector3>& vertices, const btVector3& planeNormal, btScalar margin);
 
+	static bool isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin);
 
-#endif //BT_GEOMETRY_UTIL_H
+	static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin);
+};
 
+#endif  //BT_GEOMETRY_UTIL_H
diff --git a/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h b/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
index 13a79aa585..0fcb285971 100644
--- a/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
+++ b/thirdparty/bullet/LinearMath/btGrahamScan2dConvexHull.h
@@ -13,41 +13,40 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H
 #define GRAHAM_SCAN_2D_CONVEX_HULL_H
 
-
 #include "btVector3.h"
 #include "btAlignedObjectArray.h"
 
 struct GrahamVector3 : public btVector3
 {
 	GrahamVector3(const btVector3& org, int orgIndex)
-		:btVector3(org),
-			m_orgIndex(orgIndex)
+		: btVector3(org),
+		  m_orgIndex(orgIndex)
 	{
 	}
-	btScalar	m_angle;
+	btScalar m_angle;
 	int m_orgIndex;
 };
 
-
-struct btAngleCompareFunc {
+struct btAngleCompareFunc
+{
 	btVector3 m_anchor;
 	btAngleCompareFunc(const btVector3& anchor)
-	: m_anchor(anchor) 
+		: m_anchor(anchor)
 	{
 	}
-	bool operator()(const GrahamVector3& a, const GrahamVector3& b) const {
+	bool operator()(const GrahamVector3& a, const GrahamVector3& b) const
+	{
 		if (a.m_angle != b.m_angle)
 			return a.m_angle < b.m_angle;
 		else
 		{
-			btScalar al = (a-m_anchor).length2();
-			btScalar bl = (b-m_anchor).length2();
+			btScalar al = (a - m_anchor).length2();
+			btScalar bl = (b - m_anchor).length2();
 			if (al != bl)
-				return  al < bl;
+				return al < bl;
 			else
 			{
 				return a.m_orgIndex < b.m_orgIndex;
@@ -58,73 +57,73 @@ struct btAngleCompareFunc {
 
 inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis)
 {
-	btVector3 axis0,axis1;
-	btPlaneSpace1(normalAxis,axis0,axis1);
-	
+	btVector3 axis0, axis1;
+	btPlaneSpace1(normalAxis, axis0, axis1);
 
-	if (originalPoints.size()<=1)
+	if (originalPoints.size() <= 1)
 	{
-		for (int i=0;i<originalPoints.size();i++)
+		for (int i = 0; i < originalPoints.size(); i++)
 			hull.push_back(originalPoints[0]);
 		return;
 	}
 	//step1 : find anchor point with smallest projection on axis0 and move it to first location
-	for (int i=0;i<originalPoints.size();i++)
+	for (int i = 0; i < originalPoints.size(); i++)
 	{
-//		const btVector3& left = originalPoints[i];
-//		const btVector3& right = originalPoints[0];
+		//		const btVector3& left = originalPoints[i];
+		//		const btVector3& right = originalPoints[0];
 		btScalar projL = originalPoints[i].dot(axis0);
 		btScalar projR = originalPoints[0].dot(axis0);
 		if (projL < projR)
 		{
-			originalPoints.swap(0,i);
+			originalPoints.swap(0, i);
 		}
 	}
 
 	//also precompute angles
 	originalPoints[0].m_angle = -1e30f;
-	for (int i=1;i<originalPoints.size();i++)
+	for (int i = 1; i < originalPoints.size(); i++)
 	{
-	    btVector3 ar = originalPoints[i]-originalPoints[0];
-	    btScalar ar1 = axis1.dot(ar);
-	    btScalar ar0 = axis0.dot(ar);
-	    if( ar1*ar1+ar0*ar0 < FLT_EPSILON ) 
-	    {
-	      originalPoints[i].m_angle = 0.0f;
-	    }
-	    else
-	    {
-	      originalPoints[i].m_angle = btAtan2Fast(ar1, ar0);
-	    }
+		btVector3 ar = originalPoints[i] - originalPoints[0];
+		btScalar ar1 = axis1.dot(ar);
+		btScalar ar0 = axis0.dot(ar);
+		if (ar1 * ar1 + ar0 * ar0 < FLT_EPSILON)
+		{
+			originalPoints[i].m_angle = 0.0f;
+		}
+		else
+		{
+			originalPoints[i].m_angle = btAtan2Fast(ar1, ar0);
+		}
 	}
 
 	//step 2: sort all points, based on 'angle' with this anchor
 	btAngleCompareFunc comp(originalPoints[0]);
-	originalPoints.quickSortInternal(comp,1,originalPoints.size()-1);
+	originalPoints.quickSortInternal(comp, 1, originalPoints.size() - 1);
 
 	int i;
-	for (i = 0; i<2; i++) 
+	for (i = 0; i < 2; i++)
 		hull.push_back(originalPoints[i]);
 
 	//step 3: keep all 'convex' points and discard concave points (using back tracking)
-	for (; i != originalPoints.size(); i++) 
+	for (; i != originalPoints.size(); i++)
 	{
 		bool isConvex = false;
-		while (!isConvex&& hull.size()>1) {
-			btVector3& a = hull[hull.size()-2];
-			btVector3& b = hull[hull.size()-1];
-			isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0;
+		while (!isConvex && hull.size() > 1)
+		{
+			btVector3& a = hull[hull.size() - 2];
+			btVector3& b = hull[hull.size() - 1];
+			isConvex = btCross(a - b, a - originalPoints[i]).dot(normalAxis) > 0;
 			if (!isConvex)
 				hull.pop_back();
-			else 
+			else
 				hull.push_back(originalPoints[i]);
 		}
 
-	    if( hull.size() == 1 )
-	    {
-	      hull.push_back( originalPoints[i] );
-	    }
+		if (hull.size() == 1)
+		{
+			hull.push_back(originalPoints[i]);
+		}
 	}
 }
 
-#endif //GRAHAM_SCAN_2D_CONVEX_HULL_H
+#endif  //GRAHAM_SCAN_2D_CONVEX_HULL_H
diff --git a/thirdparty/bullet/LinearMath/btHashMap.h b/thirdparty/bullet/LinearMath/btHashMap.h
index 5e9cdb6054..1fca0fb73a 100644
--- a/thirdparty/bullet/LinearMath/btHashMap.h
+++ b/thirdparty/bullet/LinearMath/btHashMap.h
@@ -13,87 +13,73 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_HASH_MAP_H
 #define BT_HASH_MAP_H
 
+#include <string>
 #include "btAlignedObjectArray.h"
 
 ///very basic hashable string implementation, compatible with btHashMap
 struct btHashString
 {
-	const char* m_string;
-	unsigned int	m_hash;
+	std::string m_string1;
+	unsigned int m_hash;
 
-	SIMD_FORCE_INLINE	unsigned int getHash()const
+	SIMD_FORCE_INLINE unsigned int getHash() const
 	{
 		return m_hash;
 	}
 
+	btHashString()
+	{
+		m_string1 = "";
+		m_hash = 0;
+	}
 	btHashString(const char* name)
-		:m_string(name)
+		: m_string1(name)
 	{
 		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int InitialFNV = 2166136261u;
 		static const unsigned int FNVMultiple = 16777619u;
 
 		/* Fowler / Noll / Vo (FNV) Hash */
 		unsigned int hash = InitialFNV;
-		
-		for(int i = 0; m_string[i]; i++)
+
+		for (int i = 0; m_string1.c_str()[i]; i++)
 		{
-			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;  /* multiply by the magic number */
+			hash = hash ^ (m_string1.c_str()[i]); /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;            /* multiply by the magic number */
 		}
 		m_hash = hash;
 	}
 
-	int portableStringCompare(const char* src,	const char* dst) const
-	{
-			int ret = 0 ;
-
-			while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst)
-					++src, ++dst;
-
-			if ( ret < 0 )
-					ret = -1 ;
-			else if ( ret > 0 )
-					ret = 1 ;
-
-			return( ret );
-	}
-
 	bool equals(const btHashString& other) const
 	{
-		return (m_string == other.m_string) ||
-			(0==portableStringCompare(m_string,other.m_string));
-
+		return (m_string1 == other.m_string1);
 	}
-
 };
 
-const int BT_HASH_NULL=0xffffffff;
-
+const int BT_HASH_NULL = 0xffffffff;
 
 class btHashInt
 {
-	int	m_uid;
-public:
+	int m_uid;
 
+public:
 	btHashInt()
 	{
 	}
 
-	btHashInt(int uid)	:m_uid(uid)
+	btHashInt(int uid) : m_uid(uid)
 	{
 	}
 
-	int	getUid1() const
+	int getUid1() const
 	{
 		return m_uid;
 	}
 
-	void	setUid1(int uid)
+	void setUid1(int uid)
 	{
 		m_uid = uid;
 	}
@@ -103,35 +89,35 @@ public:
 		return getUid1() == other.getUid1();
 	}
 	//to our success
-	SIMD_FORCE_INLINE	unsigned int getHash()const
+	SIMD_FORCE_INLINE unsigned int getHash() const
 	{
 		unsigned int key = m_uid;
 		// Thomas Wang's hash
-		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
-		
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
+
 		return key;
 	}
 };
 
-
-
 class btHashPtr
 {
-
-	union
-	{
-		const void*	m_pointer;
-		unsigned int	m_hashValues[2];
+	union {
+		const void* m_pointer;
+		unsigned int m_hashValues[2];
 	};
 
 public:
-
 	btHashPtr(const void* ptr)
-		:m_pointer(ptr)
+		: m_pointer(ptr)
 	{
 	}
 
-	const void*	getPointer() const
+	const void* getPointer() const
 	{
 		return m_pointer;
 	}
@@ -142,64 +128,68 @@ public:
 	}
 
 	//to our success
-	SIMD_FORCE_INLINE	unsigned int getHash()const
+	SIMD_FORCE_INLINE unsigned int getHash() const
 	{
-		const bool VOID_IS_8 = ((sizeof(void*)==8));
-		
-		unsigned int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
+		const bool VOID_IS_8 = ((sizeof(void*) == 8));
+
+		unsigned int key = VOID_IS_8 ? m_hashValues[0] + m_hashValues[1] : m_hashValues[0];
 		// Thomas Wang's hash
-		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
 		return key;
 	}
-
-	
 };
 
-
 template <class Value>
 class btHashKeyPtr
 {
-        int     m_uid;
+	int m_uid;
+
 public:
+	btHashKeyPtr(int uid) : m_uid(uid)
+	{
+	}
 
-        btHashKeyPtr(int uid)    :m_uid(uid)
-        {
-        }
-
-        int     getUid1() const
-        {
-                return m_uid;
-        }
-
-        bool equals(const btHashKeyPtr<Value>& other) const
-        {
-                return getUid1() == other.getUid1();
-        }
-
-        //to our success
-        SIMD_FORCE_INLINE       unsigned int getHash()const
-        {
-                unsigned int key = m_uid;
-                // Thomas Wang's hash
-                key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
-                return key;
-        }
-
-        
-};
+	int getUid1() const
+	{
+		return m_uid;
+	}
+
+	bool equals(const btHashKeyPtr<Value>& other) const
+	{
+		return getUid1() == other.getUid1();
+	}
 
+	//to our success
+	SIMD_FORCE_INLINE unsigned int getHash() const
+	{
+		unsigned int key = m_uid;
+		// Thomas Wang's hash
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
+		return key;
+	}
+};
 
 template <class Value>
 class btHashKey
 {
-	int	m_uid;
-public:
+	int m_uid;
 
-	btHashKey(int uid)	:m_uid(uid)
+public:
+	btHashKey(int uid) : m_uid(uid)
 	{
 	}
 
-	int	getUid1() const
+	int getUid1() const
 	{
 		return m_uid;
 	}
@@ -209,30 +199,33 @@ public:
 		return getUid1() == other.getUid1();
 	}
 	//to our success
-	SIMD_FORCE_INLINE	unsigned int getHash()const
+	SIMD_FORCE_INLINE unsigned int getHash() const
 	{
 		unsigned int key = m_uid;
 		// Thomas Wang's hash
-		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		key += ~(key << 15);
+		key ^= (key >> 10);
+		key += (key << 3);
+		key ^= (key >> 6);
+		key += ~(key << 11);
+		key ^= (key >> 16);
 		return key;
 	}
 };
 
-
 ///The btHashMap template class implements a generic and lightweight hashmap.
 ///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp
 template <class Key, class Value>
 class btHashMap
 {
-
 protected:
-	btAlignedObjectArray<int>		m_hashTable;
-	btAlignedObjectArray<int>		m_next;
-	
-	btAlignedObjectArray<Value>		m_valueArray;
-	btAlignedObjectArray<Key>		m_keyArray;
+	btAlignedObjectArray<int> m_hashTable;
+	btAlignedObjectArray<int> m_next;
+
+	btAlignedObjectArray<Value> m_valueArray;
+	btAlignedObjectArray<Key> m_keyArray;
 
-	void	growTables(const Key& /*key*/)
+	void growTables(const Key& /*key*/)
 	{
 		int newCapacity = m_valueArray.capacity();
 
@@ -246,7 +239,7 @@ protected:
 
 			int i;
 
-			for (i= 0; i < newCapacity; ++i)
+			for (i = 0; i < newCapacity; ++i)
 			{
 				m_hashTable[i] = BT_HASH_NULL;
 			}
@@ -255,30 +248,28 @@ protected:
 				m_next[i] = BT_HASH_NULL;
 			}
 
-			for(i=0;i<curHashtableSize;i++)
+			for (i = 0; i < curHashtableSize; i++)
 			{
 				//const Value& value = m_valueArray[i];
 				//const Key& key = m_keyArray[i];
 
-				int	hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity()-1);	// New hash value with new mask
+				int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity() - 1);  // New hash value with new mask
 				m_next[i] = m_hashTable[hashValue];
 				m_hashTable[hashValue] = i;
 			}
-
-
 		}
 	}
 
-	public:
-
-	void insert(const Key& key, const Value& value) {
-		int hash = key.getHash() & (m_valueArray.capacity()-1);
+public:
+	void insert(const Key& key, const Value& value)
+	{
+		int hash = key.getHash() & (m_valueArray.capacity() - 1);
 
 		//replace value if the key is already there
 		int index = findIndex(key);
 		if (index != BT_HASH_NULL)
 		{
-			m_valueArray[index]=value;
+			m_valueArray[index] = value;
 			return;
 		}
 
@@ -292,19 +283,19 @@ protected:
 		{
 			growTables(key);
 			//hash with new capacity
-			hash = key.getHash() & (m_valueArray.capacity()-1);
+			hash = key.getHash() & (m_valueArray.capacity() - 1);
 		}
 		m_next[count] = m_hashTable[hash];
 		m_hashTable[hash] = count;
 	}
 
-	void remove(const Key& key) {
-
-		int hash = key.getHash() & (m_valueArray.capacity()-1);
+	void remove(const Key& key)
+	{
+		int hash = key.getHash() & (m_valueArray.capacity() - 1);
 
 		int pairIndex = findIndex(key);
-		
-		if (pairIndex ==BT_HASH_NULL)
+
+		if (pairIndex == BT_HASH_NULL)
 		{
 			return;
 		}
@@ -345,7 +336,7 @@ protected:
 		}
 
 		// Remove the last pair from the hash table.
-		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity()-1);
+		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity() - 1);
 
 		index = m_hashTable[lastHash];
 		btAssert(index != BT_HASH_NULL);
@@ -377,10 +368,8 @@ protected:
 
 		m_valueArray.pop_back();
 		m_keyArray.pop_back();
-
 	}
 
-
 	int size() const
 	{
 		return m_valueArray.size();
@@ -389,8 +378,8 @@ protected:
 	const Value* getAtIndex(int index) const
 	{
 		btAssert(index < m_valueArray.size());
-		btAssert(index>=0);
-		if (index>=0 && index < m_valueArray.size())
+		btAssert(index >= 0);
+		if (index >= 0 && index < m_valueArray.size())
 		{
 			return &m_valueArray[index];
 		}
@@ -400,38 +389,39 @@ protected:
 	Value* getAtIndex(int index)
 	{
 		btAssert(index < m_valueArray.size());
-		btAssert(index>=0);
-		if (index>=0 && index < m_valueArray.size())
+		btAssert(index >= 0);
+		if (index >= 0 && index < m_valueArray.size())
 		{
 			return &m_valueArray[index];
 		}
 		return 0;
 	}
 
-    Key getKeyAtIndex(int index)
-    {
-        btAssert(index < m_keyArray.size());
-		btAssert(index>=0);
-		return m_keyArray[index];
-    }
-    
-    const Key getKeyAtIndex(int index) const
-    {
-        btAssert(index < m_keyArray.size());
-		btAssert(index>=0);
+	Key getKeyAtIndex(int index)
+	{
+		btAssert(index < m_keyArray.size());
+		btAssert(index >= 0);
 		return m_keyArray[index];
-   }
+	}
 
+	const Key getKeyAtIndex(int index) const
+	{
+		btAssert(index < m_keyArray.size());
+		btAssert(index >= 0);
+		return m_keyArray[index];
+	}
 
-	Value* operator[](const Key& key) {
+	Value* operator[](const Key& key)
+	{
 		return find(key);
 	}
 
-	const Value* operator[](const Key& key) const {
+	const Value* operator[](const Key& key) const
+	{
 		return find(key);
 	}
 
-	const Value*	find(const Key& key) const
+	const Value* find(const Key& key) const
 	{
 		int index = findIndex(key);
 		if (index == BT_HASH_NULL)
@@ -441,7 +431,7 @@ protected:
 		return &m_valueArray[index];
 	}
 
-	Value*	find(const Key& key)
+	Value* find(const Key& key)
 	{
 		int index = findIndex(key);
 		if (index == BT_HASH_NULL)
@@ -451,10 +441,9 @@ protected:
 		return &m_valueArray[index];
 	}
 
-
-	int	findIndex(const Key& key) const
+	int findIndex(const Key& key) const
 	{
-		unsigned int hash = key.getHash() & (m_valueArray.capacity()-1);
+		unsigned int hash = key.getHash() & (m_valueArray.capacity() - 1);
 
 		if (hash >= (unsigned int)m_hashTable.size())
 		{
@@ -469,14 +458,13 @@ protected:
 		return index;
 	}
 
-	void	clear()
+	void clear()
 	{
 		m_hashTable.clear();
 		m_next.clear();
 		m_valueArray.clear();
 		m_keyArray.clear();
 	}
-
 };
 
-#endif //BT_HASH_MAP_H
+#endif  //BT_HASH_MAP_H
diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h
index 936aaa896b..82ec19a69b 100644
--- a/thirdparty/bullet/LinearMath/btIDebugDraw.h
+++ b/thirdparty/bullet/LinearMath/btIDebugDraw.h
@@ -13,86 +13,84 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_IDEBUG_DRAW__H
 #define BT_IDEBUG_DRAW__H
 
 #include "btVector3.h"
 #include "btTransform.h"
 
-
-
 ///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
 ///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
 ///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
 ///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
-class	btIDebugDraw
+class btIDebugDraw
 {
-	public:
-
-	ATTRIBUTE_ALIGNED16(struct) DefaultColors
+public:
+	ATTRIBUTE_ALIGNED16(struct)
+	DefaultColors
 	{
-		btVector3	m_activeObject;
-		btVector3	m_deactivatedObject;
-		btVector3	m_wantsDeactivationObject;
-		btVector3	m_disabledDeactivationObject;
-		btVector3	m_disabledSimulationObject;
-		btVector3	m_aabb;
+		btVector3 m_activeObject;
+		btVector3 m_deactivatedObject;
+		btVector3 m_wantsDeactivationObject;
+		btVector3 m_disabledDeactivationObject;
+		btVector3 m_disabledSimulationObject;
+		btVector3 m_aabb;
 		btVector3 m_contactPoint;
-		
+
 		DefaultColors()
-		:	m_activeObject(1,1,1),
-			m_deactivatedObject(0,1,0),
-			m_wantsDeactivationObject(0,1,1),
-			m_disabledDeactivationObject(1,0,0),
-			m_disabledSimulationObject(1,1,0),
-			m_aabb(1,0,0),
-			m_contactPoint(1,1,0)
+			: m_activeObject(1, 1, 1),
+			  m_deactivatedObject(0, 1, 0),
+			  m_wantsDeactivationObject(0, 1, 1),
+			  m_disabledDeactivationObject(1, 0, 0),
+			  m_disabledSimulationObject(1, 1, 0),
+			  m_aabb(1, 0, 0),
+			  m_contactPoint(1, 1, 0)
 		{
 		}
 	};
 
-	
-	enum	DebugDrawModes
+	enum DebugDrawModes
 	{
-		DBG_NoDebug=0,
+		DBG_NoDebug = 0,
 		DBG_DrawWireframe = 1,
-		DBG_DrawAabb=2,
-		DBG_DrawFeaturesText=4,
-		DBG_DrawContactPoints=8,
-		DBG_NoDeactivation=16,
+		DBG_DrawAabb = 2,
+		DBG_DrawFeaturesText = 4,
+		DBG_DrawContactPoints = 8,
+		DBG_NoDeactivation = 16,
 		DBG_NoHelpText = 32,
-		DBG_DrawText=64,
+		DBG_DrawText = 64,
 		DBG_ProfileTimings = 128,
 		DBG_EnableSatComparison = 256,
 		DBG_DisableBulletLCP = 512,
 		DBG_EnableCCD = 1024,
 		DBG_DrawConstraints = (1 << 11),
 		DBG_DrawConstraintLimits = (1 << 12),
-		DBG_FastWireframe = (1<<13),
-		DBG_DrawNormals = (1<<14),
-		DBG_DrawFrames = (1<<15),
+		DBG_FastWireframe = (1 << 13),
+		DBG_DrawNormals = (1 << 14),
+		DBG_DrawFrames = (1 << 15),
 		DBG_MAX_DEBUG_DRAW_MODE
 	};
 
-	virtual ~btIDebugDraw() {};
+	virtual ~btIDebugDraw(){};
 
-	
-	virtual DefaultColors	getDefaultColors() const	{	DefaultColors colors;	return colors;	}
+	virtual DefaultColors getDefaultColors() const
+	{
+		DefaultColors colors;
+		return colors;
+	}
 	///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
 	virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
-	
-	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
-		
-	virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
+
+	virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& color) = 0;
+
+	virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
 	{
-        (void) toColor;
-		drawLine (from, to, fromColor);
+		(void)toColor;
+		drawLine(from, to, fromColor);
 	}
 
-	virtual void	drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
+	virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
 	{
-		
 		btVector3 center = transform.getOrigin();
 		btVector3 up = transform.getBasis().getColumn(1);
 		btVector3 axis = transform.getBasis().getColumn(0);
@@ -101,103 +99,102 @@ class	btIDebugDraw
 		btScalar minPs = -SIMD_HALF_PI;
 		btScalar maxPs = SIMD_HALF_PI;
 		btScalar stepDegrees = 30.f;
-		drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false);
-		drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false );
+		drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
+		drawSpherePatch(center, up, -axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
 	}
-	
-	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+
+	virtual void drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
 	{
 		btTransform tr;
 		tr.setIdentity();
 		tr.setOrigin(p);
-		drawSphere(radius,tr,color);
+		drawSphere(radius, tr, color);
 	}
-	
-	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
+
+	virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& /*n0*/, const btVector3& /*n1*/, const btVector3& /*n2*/, const btVector3& color, btScalar alpha)
 	{
-		drawTriangle(v0,v1,v2,color,alpha);
+		drawTriangle(v0, v1, v2, color, alpha);
 	}
-	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/)
+	virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& color, btScalar /*alpha*/)
 	{
-		drawLine(v0,v1,color);
-		drawLine(v1,v2,color);
-		drawLine(v2,v0,color);
+		drawLine(v0, v1, color);
+		drawLine(v1, v2, color);
+		drawLine(v2, v0, color);
 	}
 
-	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;
+	virtual void drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color) = 0;
 
-	virtual void	reportErrorWarning(const char* warningString) = 0;
+	virtual void reportErrorWarning(const char* warningString) = 0;
 
-	virtual void	draw3dText(const btVector3& location,const char* textString) = 0;
-	
-	virtual void	setDebugMode(int debugMode) =0;
-	
-	virtual int		getDebugMode() const = 0;
+	virtual void draw3dText(const btVector3& location, const char* textString) = 0;
 
-	virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
-	{
+	virtual void setDebugMode(int debugMode) = 0;
+
+	virtual int getDebugMode() const = 0;
 
-		btVector3 halfExtents = (to-from)* 0.5f;
-		btVector3 center = (to+from) *0.5f;
-		int i,j;
+	virtual void drawAabb(const btVector3& from, const btVector3& to, const btVector3& color)
+	{
+		btVector3 halfExtents = (to - from) * 0.5f;
+		btVector3 center = (to + from) * 0.5f;
+		int i, j;
 
-		btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
-		for (i=0;i<4;i++)
+		btVector3 edgecoord(1.f, 1.f, 1.f), pa, pb;
+		for (i = 0; i < 4; i++)
 		{
-			for (j=0;j<3;j++)
+			for (j = 0; j < 3; j++)
 			{
-				pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
-					edgecoord[2]*halfExtents[2]);
-				pa+=center;
+				pa = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
+							   edgecoord[2] * halfExtents[2]);
+				pa += center;
 
-				int othercoord = j%3;
-				edgecoord[othercoord]*=-1.f;
-				pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
-					edgecoord[2]*halfExtents[2]);
-				pb+=center;
+				int othercoord = j % 3;
+				edgecoord[othercoord] *= -1.f;
+				pb = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
+							   edgecoord[2] * halfExtents[2]);
+				pb += center;
 
-				drawLine(pa,pb,color);
+				drawLine(pa, pb, color);
 			}
-			edgecoord = btVector3(-1.f,-1.f,-1.f);
-			if (i<3)
-				edgecoord[i]*=-1.f;
+			edgecoord = btVector3(-1.f, -1.f, -1.f);
+			if (i < 3)
+				edgecoord[i] *= -1.f;
 		}
 	}
 	virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
 	{
 		btVector3 start = transform.getOrigin();
-		drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
-		drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
-		drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
+		drawLine(start, start + transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3)));
+		drawLine(start, start + transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3)));
+		drawLine(start, start + transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.)));
 	}
 
-	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
-				const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
+	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
+						 const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
 	{
 		const btVector3& vx = axis;
 		btVector3 vy = normal.cross(axis);
 		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
 		int nSteps = (int)btFabs((maxAngle - minAngle) / step);
-		if(!nSteps) nSteps = 1;
+		if (!nSteps) nSteps = 1;
 		btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
-		if(drawSect)
+		if (drawSect)
 		{
 			drawLine(center, prev, color);
 		}
-		for(int i = 1; i <= nSteps; i++)
+		for (int i = 1; i <= nSteps; i++)
 		{
 			btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
 			btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
 			drawLine(prev, next, color);
 			prev = next;
 		}
-		if(drawSect)
+		if (drawSect)
 		{
 			drawLine(center, prev, color);
 		}
 	}
-	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, 
-		btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true)
+	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
+								 btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f), bool drawCenter = true)
 	{
 		btVector3 vA[74];
 		btVector3 vB[74];
@@ -211,33 +208,33 @@ class	btIDebugDraw
 		btVector3 jv = kv.cross(iv);
 		bool drawN = false;
 		bool drawS = false;
-		if(minTh <= -SIMD_HALF_PI)
+		if (minTh <= -SIMD_HALF_PI)
 		{
 			minTh = -SIMD_HALF_PI + step;
 			drawN = true;
 		}
-		if(maxTh >= SIMD_HALF_PI)
+		if (maxTh >= SIMD_HALF_PI)
 		{
 			maxTh = SIMD_HALF_PI - step;
 			drawS = true;
 		}
-		if(minTh > maxTh)
+		if (minTh > maxTh)
 		{
 			minTh = -SIMD_HALF_PI + step;
-			maxTh =  SIMD_HALF_PI - step;
+			maxTh = SIMD_HALF_PI - step;
 			drawN = drawS = true;
 		}
 		int n_hor = (int)((maxTh - minTh) / step) + 1;
-		if(n_hor < 2) n_hor = 2;
+		if (n_hor < 2) n_hor = 2;
 		btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
 		bool isClosed = false;
-		if(minPs > maxPs)
+		if (minPs > maxPs)
 		{
 			minPs = -SIMD_PI + step;
-			maxPs =  SIMD_PI;
+			maxPs = SIMD_PI;
 			isClosed = true;
 		}
-		else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
+		else if ((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
 		{
 			isClosed = true;
 		}
@@ -246,63 +243,64 @@ class	btIDebugDraw
 			isClosed = false;
 		}
 		int n_vert = (int)((maxPs - minPs) / step) + 1;
-		if(n_vert < 2) n_vert = 2;
+		if (n_vert < 2) n_vert = 2;
 		btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
-		for(int i = 0; i < n_hor; i++)
+		for (int i = 0; i < n_hor; i++)
 		{
 			btScalar th = minTh + btScalar(i) * step_h;
 			btScalar sth = radius * btSin(th);
 			btScalar cth = radius * btCos(th);
-			for(int j = 0; j < n_vert; j++)
+			for (int j = 0; j < n_vert; j++)
 			{
 				btScalar psi = minPs + btScalar(j) * step_v;
 				btScalar sps = btSin(psi);
 				btScalar cps = btCos(psi);
 				pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
-				if(i)
+				if (i)
 				{
 					drawLine(pvA[j], pvB[j], color);
 				}
-				else if(drawS)
+				else if (drawS)
 				{
 					drawLine(spole, pvB[j], color);
 				}
-				if(j)
+				if (j)
 				{
-					drawLine(pvB[j-1], pvB[j], color);
+					drawLine(pvB[j - 1], pvB[j], color);
 				}
 				else
 				{
 					arcStart = pvB[j];
 				}
-				if((i == (n_hor - 1)) && drawN)
+				if ((i == (n_hor - 1)) && drawN)
 				{
 					drawLine(npole, pvB[j], color);
 				}
-				
+
 				if (drawCenter)
 				{
-					if(isClosed)
+					if (isClosed)
 					{
-						if(j == (n_vert-1))
+						if (j == (n_vert - 1))
 						{
 							drawLine(arcStart, pvB[j], color);
 						}
 					}
 					else
 					{
-						if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
+						if (((!i) || (i == (n_hor - 1))) && ((!j) || (j == (n_vert - 1))))
 						{
 							drawLine(center, pvB[j], color);
 						}
 					}
 				}
 			}
-			pT = pvA; pvA = pvB; pvB = pT;
+			pT = pvA;
+			pvA = pvB;
+			pvB = pT;
 		}
 	}
-	
-  
+
 	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
 	{
 		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
@@ -338,31 +336,27 @@ class	btIDebugDraw
 	{
 		int stepDegrees = 30;
 
-		btVector3 capStart(0.f,0.f,0.f);
+		btVector3 capStart(0.f, 0.f, 0.f);
 		capStart[upAxis] = -halfHeight;
 
-		btVector3 capEnd(0.f,0.f,0.f);
+		btVector3 capEnd(0.f, 0.f, 0.f);
 		capEnd[upAxis] = halfHeight;
 
 		// Draw the ends
 		{
-
 			btTransform childTransform = transform;
 			childTransform.getOrigin() = transform * capStart;
 			{
 				btVector3 center = childTransform.getOrigin();
-				btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3);
+				btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
 				btVector3 axis = -childTransform.getBasis().getColumn(upAxis);
 				btScalar minTh = -SIMD_HALF_PI;
 				btScalar maxTh = SIMD_HALF_PI;
 				btScalar minPs = -SIMD_HALF_PI;
 				btScalar maxPs = SIMD_HALF_PI;
-				
-				drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false);
-			}
-
-
 
+				drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
+			}
 		}
 
 		{
@@ -370,52 +364,51 @@ class	btIDebugDraw
 			childTransform.getOrigin() = transform * capEnd;
 			{
 				btVector3 center = childTransform.getOrigin();
-				btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3);
+				btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
 				btVector3 axis = childTransform.getBasis().getColumn(upAxis);
 				btScalar minTh = -SIMD_HALF_PI;
 				btScalar maxTh = SIMD_HALF_PI;
 				btScalar minPs = -SIMD_HALF_PI;
 				btScalar maxPs = SIMD_HALF_PI;
-				drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false);
+				drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
 			}
 		}
 
 		// Draw some additional lines
 		btVector3 start = transform.getOrigin();
 
-		for (int i=0;i<360;i+=stepDegrees)
+		for (int i = 0; i < 360; i += stepDegrees)
 		{
-			capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
-			capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3]  = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
-			drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+			capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+			capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+			drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
 		}
-		
 	}
 
 	virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
 	{
 		btVector3 start = transform.getOrigin();
-		btVector3	offsetHeight(0,0,0);
+		btVector3 offsetHeight(0, 0, 0);
 		offsetHeight[upAxis] = halfHeight;
-		int stepDegrees=30;
-		btVector3 capStart(0.f,0.f,0.f);
+		int stepDegrees = 30;
+		btVector3 capStart(0.f, 0.f, 0.f);
 		capStart[upAxis] = -halfHeight;
-		btVector3 capEnd(0.f,0.f,0.f);
+		btVector3 capEnd(0.f, 0.f, 0.f);
 		capEnd[upAxis] = halfHeight;
 
-		for (int i=0;i<360;i+=stepDegrees)
+		for (int i = 0; i < 360; i += stepDegrees)
 		{
-			capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
-			capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3]  = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
-			drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+			capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+			capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+			drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
 		}
 		// Drawing top and bottom caps of the cylinder
-		btVector3 yaxis(0,0,0);
+		btVector3 yaxis(0, 0, 0);
 		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0,0,0);
-		xaxis[(upAxis+1)%3] = btScalar(1.0);
-		drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
-		drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+		btVector3 xaxis(0, 0, 0);
+		xaxis[(upAxis + 1) % 3] = btScalar(1.0);
+		drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
+		drawArc(start + transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
 	}
 
 	virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
@@ -423,50 +416,49 @@ class	btIDebugDraw
 		int stepDegrees = 30;
 		btVector3 start = transform.getOrigin();
 
-		btVector3	offsetHeight(0,0,0);
+		btVector3 offsetHeight(0, 0, 0);
 		btScalar halfHeight = height * btScalar(0.5);
 		offsetHeight[upAxis] = halfHeight;
-		btVector3	offsetRadius(0,0,0);
-		offsetRadius[(upAxis+1)%3] = radius;
-		btVector3	offset2Radius(0,0,0);
-		offset2Radius[(upAxis+2)%3] = radius;
+		btVector3 offsetRadius(0, 0, 0);
+		offsetRadius[(upAxis + 1) % 3] = radius;
+		btVector3 offset2Radius(0, 0, 0);
+		offset2Radius[(upAxis + 2) % 3] = radius;
 
-
-		btVector3 capEnd(0.f,0.f,0.f);
+		btVector3 capEnd(0.f, 0.f, 0.f);
 		capEnd[upAxis] = -halfHeight;
 
-		for (int i=0;i<360;i+=stepDegrees)
+		for (int i = 0; i < 360; i += stepDegrees)
 		{
-			capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
-			capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
-			drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color);
+			capEnd[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+			capEnd[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+			drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * capEnd, color);
 		}
 
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
+		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offsetRadius), color);
+		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offsetRadius), color);
+		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offset2Radius), color);
+		drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offset2Radius), color);
 
 		// Drawing the base of the cone
-		btVector3 yaxis(0,0,0);
+		btVector3 yaxis(0, 0, 0);
 		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0,0,0);
-		xaxis[(upAxis+1)%3] = btScalar(1.0);
-		drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
+		btVector3 xaxis(0, 0, 0);
+		xaxis[(upAxis + 1) % 3] = btScalar(1.0);
+		drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
 	}
 
 	virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
 	{
 		btVector3 planeOrigin = planeNormal * planeConst;
-		btVector3 vec0,vec1;
-		btPlaneSpace1(planeNormal,vec0,vec1);
+		btVector3 vec0, vec1;
+		btPlaneSpace1(planeNormal, vec0, vec1);
 		btScalar vecLen = 100.f;
-		btVector3 pt0 = planeOrigin + vec0*vecLen;
-		btVector3 pt1 = planeOrigin - vec0*vecLen;
-		btVector3 pt2 = planeOrigin + vec1*vecLen;
-		btVector3 pt3 = planeOrigin - vec1*vecLen;
-		drawLine(transform*pt0,transform*pt1,color);
-		drawLine(transform*pt2,transform*pt3,color);
+		btVector3 pt0 = planeOrigin + vec0 * vecLen;
+		btVector3 pt1 = planeOrigin - vec0 * vecLen;
+		btVector3 pt2 = planeOrigin + vec1 * vecLen;
+		btVector3 pt3 = planeOrigin - vec1 * vecLen;
+		drawLine(transform * pt0, transform * pt1, color);
+		drawLine(transform * pt2, transform * pt3, color);
 	}
 
 	virtual void clearLines()
@@ -478,6 +470,4 @@ class	btIDebugDraw
 	}
 };
 
-
-#endif //BT_IDEBUG_DRAW__H
-
+#endif  //BT_IDEBUG_DRAW__H
diff --git a/thirdparty/bullet/LinearMath/btList.h b/thirdparty/bullet/LinearMath/btList.h
index eec80a7064..b255938c30 100644
--- a/thirdparty/bullet/LinearMath/btList.h
+++ b/thirdparty/bullet/LinearMath/btList.h
@@ -12,62 +12,62 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_GEN_LIST_H
 #define BT_GEN_LIST_H
 
-class btGEN_Link {
+class btGEN_Link
+{
 public:
-    btGEN_Link() : m_next(0), m_prev(0) {}
-    btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {}
-    
-    btGEN_Link *getNext() const { return m_next; }  
-    btGEN_Link *getPrev() const { return m_prev; }  
-
-    bool isHead() const { return m_prev == 0; }
-    bool isTail() const { return m_next == 0; }
-
-    void insertBefore(btGEN_Link *link) {
-        m_next         = link;
-        m_prev         = link->m_prev;
-        m_next->m_prev = this;
-        m_prev->m_next = this;
-    } 
-
-    void insertAfter(btGEN_Link *link) {
-        m_next         = link->m_next;
-        m_prev         = link;
-        m_next->m_prev = this;
-        m_prev->m_next = this;
-    } 
-
-    void remove() { 
-        m_next->m_prev = m_prev; 
-        m_prev->m_next = m_next;
-    }
+	btGEN_Link() : m_next(0), m_prev(0) {}
+	btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {}
+
+	btGEN_Link *getNext() const { return m_next; }
+	btGEN_Link *getPrev() const { return m_prev; }
+
+	bool isHead() const { return m_prev == 0; }
+	bool isTail() const { return m_next == 0; }
+
+	void insertBefore(btGEN_Link *link)
+	{
+		m_next = link;
+		m_prev = link->m_prev;
+		m_next->m_prev = this;
+		m_prev->m_next = this;
+	}
+
+	void insertAfter(btGEN_Link *link)
+	{
+		m_next = link->m_next;
+		m_prev = link;
+		m_next->m_prev = this;
+		m_prev->m_next = this;
+	}
+
+	void remove()
+	{
+		m_next->m_prev = m_prev;
+		m_prev->m_next = m_next;
+	}
 
-private:  
-    btGEN_Link  *m_next;
-    btGEN_Link  *m_prev;
+private:
+	btGEN_Link *m_next;
+	btGEN_Link *m_prev;
 };
 
-class btGEN_List {
+class btGEN_List
+{
 public:
-    btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
+	btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
+
+	btGEN_Link *getHead() const { return m_head.getNext(); }
+	btGEN_Link *getTail() const { return m_tail.getPrev(); }
 
-    btGEN_Link *getHead() const { return m_head.getNext(); } 
-    btGEN_Link *getTail() const { return m_tail.getPrev(); } 
+	void addHead(btGEN_Link *link) { link->insertAfter(&m_head); }
+	void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); }
 
-    void addHead(btGEN_Link *link) { link->insertAfter(&m_head); }
-    void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); }
-    
 private:
-    btGEN_Link m_head;
-    btGEN_Link m_tail;
+	btGEN_Link m_head;
+	btGEN_Link m_tail;
 };
 
-#endif //BT_GEN_LIST_H
-
-
-
+#endif  //BT_GEN_LIST_H
diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h
index 9f642a1779..0a08ae409a 100644
--- a/thirdparty/bullet/LinearMath/btMatrix3x3.h
+++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h
@@ -12,8 +12,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-#ifndef	BT_MATRIX3x3_H
+#ifndef BT_MATRIX3x3_H
 #define BT_MATRIX3x3_H
 
 #include "btVector3.h"
@@ -23,13 +22,13 @@ subject to the following restrictions:
 #ifdef BT_USE_SSE
 //const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
 //const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
-#define vMPPP (_mm_set_ps (+0.0f, +0.0f, +0.0f, -0.0f))
+#define vMPPP (_mm_set_ps(+0.0f, +0.0f, +0.0f, -0.0f))
 #endif
 
 #if defined(BT_USE_SSE)
-#define v1000 (_mm_set_ps(0.0f,0.0f,0.0f,1.0f))
-#define v0100 (_mm_set_ps(0.0f,0.0f,1.0f,0.0f))
-#define v0010 (_mm_set_ps(0.0f,1.0f,0.0f,0.0f))
+#define v1000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 1.0f))
+#define v0100 (_mm_set_ps(0.0f, 0.0f, 1.0f, 0.0f))
+#define v0010 (_mm_set_ps(0.0f, 1.0f, 0.0f, 0.0f))
 #elif defined(BT_USE_NEON)
 const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
 const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
@@ -37,22 +36,22 @@ const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
 #endif
 
 #ifdef BT_USE_DOUBLE_PRECISION
-#define btMatrix3x3Data	btMatrix3x3DoubleData 
+#define btMatrix3x3Data btMatrix3x3DoubleData
 #else
-#define btMatrix3x3Data	btMatrix3x3FloatData
-#endif //BT_USE_DOUBLE_PRECISION
-
+#define btMatrix3x3Data btMatrix3x3FloatData
+#endif  //BT_USE_DOUBLE_PRECISION
 
 /**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
 * Make sure to only include a pure orthogonal matrix without scaling. */
-ATTRIBUTE_ALIGNED16(class) btMatrix3x3 {
-
+ATTRIBUTE_ALIGNED16(class)
+btMatrix3x3
+{
 	///Data storage for the matrix, each vector is a row of the matrix
 	btVector3 m_el[3];
 
 public:
 	/** @brief No initializaion constructor */
-	btMatrix3x3 () {}
+	btMatrix3x3() {}
 
 	//		explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
 
@@ -67,27 +66,27 @@ public:
 	*/
 	/** @brief Constructor with row major formatting */
 	btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
-		const btScalar& yx, const btScalar& yy, const btScalar& yz,
-		const btScalar& zx, const btScalar& zy, const btScalar& zz)
-	{ 
-		setValue(xx, xy, xz, 
-			yx, yy, yz, 
-			zx, zy, zz);
+				const btScalar& yx, const btScalar& yy, const btScalar& yz,
+				const btScalar& zx, const btScalar& zy, const btScalar& zz)
+	{
+		setValue(xx, xy, xz,
+				 yx, yy, yz,
+				 zx, zy, zz);
 	}
 
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
-	SIMD_FORCE_INLINE btMatrix3x3 (const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2 ) 
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+	SIMD_FORCE_INLINE btMatrix3x3(const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2)
 	{
-        m_el[0].mVec128 = v0;
-        m_el[1].mVec128 = v1;
-        m_el[2].mVec128 = v2;
+		m_el[0].mVec128 = v0;
+		m_el[1].mVec128 = v1;
+		m_el[2].mVec128 = v2;
 	}
 
-	SIMD_FORCE_INLINE btMatrix3x3 (const btVector3& v0, const btVector3& v1, const btVector3& v2 ) 
+	SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2)
 	{
-        m_el[0] = v0;
-        m_el[1] = v1;
-        m_el[2] = v2;
+		m_el[0] = v0;
+		m_el[1] = v1;
+		m_el[2] = v2;
 	}
 
 	// Copy constructor
@@ -99,25 +98,25 @@ public:
 	}
 
 	// Assignment Operator
-	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m) 
+	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m)
 	{
 		m_el[0].mVec128 = m.m_el[0].mVec128;
 		m_el[1].mVec128 = m.m_el[1].mVec128;
 		m_el[2].mVec128 = m.m_el[2].mVec128;
-		
+
 		return *this;
 	}
 
 #else
 
 	/** @brief Copy constructor */
-	SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
+	SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& other)
 	{
 		m_el[0] = other.m_el[0];
 		m_el[1] = other.m_el[1];
 		m_el[2] = other.m_el[2];
 	}
-    
+
 	/** @brief Assignment Operator */
 	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
 	{
@@ -133,10 +132,9 @@ public:
 	*  @param i Column number 0 indexed */
 	SIMD_FORCE_INLINE btVector3 getColumn(int i) const
 	{
-		return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
+		return btVector3(m_el[0][i], m_el[1][i], m_el[2][i]);
 	}
 
-
 	/** @brief Get a row of the matrix as a vector 
 	*  @param i Row number 0 indexed */
 	SIMD_FORCE_INLINE const btVector3& getRow(int i) const
@@ -147,10 +145,10 @@ public:
 
 	/** @brief Get a mutable reference to a row of the matrix as a vector 
 	*  @param i Row number 0 indexed */
-	SIMD_FORCE_INLINE btVector3&  operator[](int i)
-	{ 
+	SIMD_FORCE_INLINE btVector3& operator[](int i)
+	{
 		btFullAssert(0 <= i && i < 3);
-		return m_el[i]; 
+		return m_el[i];
 	}
 
 	/** @brief Get a const reference to a row of the matrix as a vector 
@@ -158,32 +156,31 @@ public:
 	SIMD_FORCE_INLINE const btVector3& operator[](int i) const
 	{
 		btFullAssert(0 <= i && i < 3);
-		return m_el[i]; 
+		return m_el[i];
 	}
 
 	/** @brief Multiply by the target matrix on the right
 	*  @param m Rotation matrix to be applied 
 	* Equivilant to this = this * m */
-	btMatrix3x3& operator*=(const btMatrix3x3& m); 
+	btMatrix3x3& operator*=(const btMatrix3x3& m);
 
 	/** @brief Adds by the target matrix on the right
 	*  @param m matrix to be applied 
 	* Equivilant to this = this + m */
-	btMatrix3x3& operator+=(const btMatrix3x3& m); 
+	btMatrix3x3& operator+=(const btMatrix3x3& m);
 
 	/** @brief Substractss by the target matrix on the right
 	*  @param m matrix to be applied 
 	* Equivilant to this = this - m */
-	btMatrix3x3& operator-=(const btMatrix3x3& m); 
+	btMatrix3x3& operator-=(const btMatrix3x3& m);
 
 	/** @brief Set from the rotational part of a 4x4 OpenGL matrix
 	*  @param m A pointer to the beginning of the array of scalars*/
-	void setFromOpenGLSubMatrix(const btScalar *m)
+	void setFromOpenGLSubMatrix(const btScalar* m)
 	{
-		m_el[0].setValue(m[0],m[4],m[8]);
-		m_el[1].setValue(m[1],m[5],m[9]);
-		m_el[2].setValue(m[2],m[6],m[10]);
-
+		m_el[0].setValue(m[0], m[4], m[8]);
+		m_el[1].setValue(m[1], m[5], m[9]);
+		m_el[2].setValue(m[2], m[6], m[10]);
 	}
 	/** @brief Set the values of the matrix explicitly (row major)
 	*  @param xx Top left
@@ -195,93 +192,92 @@ public:
 	*  @param zx Bottom Left
 	*  @param zy Bottom Middle
 	*  @param zz Bottom Right*/
-	void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz, 
-		const btScalar& yx, const btScalar& yy, const btScalar& yz, 
-		const btScalar& zx, const btScalar& zy, const btScalar& zz)
+	void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
+				  const btScalar& yx, const btScalar& yy, const btScalar& yz,
+				  const btScalar& zx, const btScalar& zy, const btScalar& zz)
 	{
-		m_el[0].setValue(xx,xy,xz);
-		m_el[1].setValue(yx,yy,yz);
-		m_el[2].setValue(zx,zy,zz);
+		m_el[0].setValue(xx, xy, xz);
+		m_el[1].setValue(yx, yy, yz);
+		m_el[2].setValue(zx, zy, zz);
 	}
 
 	/** @brief Set the matrix from a quaternion
-	*  @param q The Quaternion to match */  
-	void setRotation(const btQuaternion& q) 
+	*  @param q The Quaternion to match */
+	void setRotation(const btQuaternion& q)
 	{
 		btScalar d = q.length2();
 		btFullAssert(d != btScalar(0.0));
 		btScalar s = btScalar(2.0) / d;
-    
-    #if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-        __m128	vs, Q = q.get128();
+
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vs, Q = q.get128();
 		__m128i Qi = btCastfTo128i(Q);
-        __m128	Y, Z;
-        __m128	V1, V2, V3;
-        __m128	V11, V21, V31;
-        __m128	NQ = _mm_xor_ps(Q, btvMzeroMask);
+		__m128 Y, Z;
+		__m128 V1, V2, V3;
+		__m128 V11, V21, V31;
+		__m128 NQ = _mm_xor_ps(Q, btvMzeroMask);
 		__m128i NQi = btCastfTo128i(NQ);
-        
-        V1 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,2,3)));	// Y X Z W
-		V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0,0,1,3));     // -X -X  Y  W
-        V3 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(2,1,0,3)));	// Z Y X W
-        V1 = _mm_xor_ps(V1, vMPPP);	//	change the sign of the first element
-			
-        V11	= btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,1,0,3)));	// Y Y X W
-		V21 = _mm_unpackhi_ps(Q, Q);                    //  Z  Z  W  W
-		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0,2,0,3));	//  X  Z -X -W
-
-		V2 = V2 * V1;	//
-		V1 = V1 * V11;	//
-		V3 = V3 * V31;	//
-
-        V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2,3,1,3));	//	-Z -W  Y  W
-		V11 = V11 * V21;	//
-        V21 = _mm_xor_ps(V21, vMPPP);	//	change the sign of the first element
-		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3,3,1,3));	//	 W  W -Y -W
-        V31 = _mm_xor_ps(V31, vMPPP);	//	change the sign of the first element
-		Y = btCastiTo128f(_mm_shuffle_epi32 (NQi, BT_SHUFFLE(3,2,0,3)));	// -W -Z -X -W
-		Z = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,1,3)));	//  Y  X  Y  W
+
+		V1 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 0, 2, 3)));  // Y X Z W
+		V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0, 0, 1, 3));                 // -X -X  Y  W
+		V3 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(2, 1, 0, 3)));  // Z Y X W
+		V1 = _mm_xor_ps(V1, vMPPP);                                         //	change the sign of the first element
+
+		V11 = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 1, 0, 3)));  // Y Y X W
+		V21 = _mm_unpackhi_ps(Q, Q);                                         //  Z  Z  W  W
+		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0, 2, 0, 3));                 //  X  Z -X -W
+
+		V2 = V2 * V1;   //
+		V1 = V1 * V11;  //
+		V3 = V3 * V31;  //
+
+		V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2, 3, 1, 3));                //	-Z -W  Y  W
+		V11 = V11 * V21;                                                    //
+		V21 = _mm_xor_ps(V21, vMPPP);                                       //	change the sign of the first element
+		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3, 3, 1, 3));                //	 W  W -Y -W
+		V31 = _mm_xor_ps(V31, vMPPP);                                       //	change the sign of the first element
+		Y = btCastiTo128f(_mm_shuffle_epi32(NQi, BT_SHUFFLE(3, 2, 0, 3)));  // -W -Z -X -W
+		Z = btCastiTo128f(_mm_shuffle_epi32(Qi, BT_SHUFFLE(1, 0, 1, 3)));   //  Y  X  Y  W
 
 		vs = _mm_load_ss(&s);
 		V21 = V21 * Y;
 		V31 = V31 * Z;
 
 		V1 = V1 + V11;
-        V2 = V2 + V21;
-        V3 = V3 + V31;
-
-        vs = bt_splat3_ps(vs, 0);
-            //	s ready
-        V1 = V1 * vs;
-        V2 = V2 * vs;
-        V3 = V3 * vs;
-        
-        V1 = V1 + v1000;
-        V2 = V2 + v0100;
-        V3 = V3 + v0010;
-        
-        m_el[0] = V1; 
-        m_el[1] = V2;
-        m_el[2] = V3;
-    #else    
-		btScalar xs = q.x() * s,   ys = q.y() * s,   zs = q.z() * s;
-		btScalar wx = q.w() * xs,  wy = q.w() * ys,  wz = q.w() * zs;
-		btScalar xx = q.x() * xs,  xy = q.x() * ys,  xz = q.x() * zs;
-		btScalar yy = q.y() * ys,  yz = q.y() * zs,  zz = q.z() * zs;
+		V2 = V2 + V21;
+		V3 = V3 + V31;
+
+		vs = bt_splat3_ps(vs, 0);
+		//	s ready
+		V1 = V1 * vs;
+		V2 = V2 * vs;
+		V3 = V3 * vs;
+
+		V1 = V1 + v1000;
+		V2 = V2 + v0100;
+		V3 = V3 + v0010;
+
+		m_el[0] = V1;
+		m_el[1] = V2;
+		m_el[2] = V3;
+#else
+		btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
+		btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
+		btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
+		btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
 		setValue(
-            btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
+			btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
 			xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
 			xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
-	#endif
-    }
-
+#endif
+	}
 
 	/** @brief Set the matrix from euler angles using YPR around YXZ respectively
 	*  @param yaw Yaw about Y axis
 	*  @param pitch Pitch about X axis
 	*  @param roll Roll about Z axis 
 	*/
-	void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) 
+	void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
 	{
 		setEulerZYX(roll, pitch, yaw);
 	}
@@ -289,188 +285,203 @@ public:
 	/** @brief Set the matrix from euler angles YPR around ZYX axes
 	* @param eulerX Roll about X axis
 	* @param eulerY Pitch around Y axis
-	* @param eulerZ Yaw aboud Z axis
+	* @param eulerZ Yaw about Z axis
 	* 
 	* These angles are used to produce a rotation matrix. The euler
 	* angles are applied in ZYX order. I.e a vector is first rotated 
 	* about X then Y and then Z
 	**/
-	void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) { 
+	void setEulerZYX(btScalar eulerX, btScalar eulerY, btScalar eulerZ)
+	{
 		///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
-		btScalar ci ( btCos(eulerX)); 
-		btScalar cj ( btCos(eulerY)); 
-		btScalar ch ( btCos(eulerZ)); 
-		btScalar si ( btSin(eulerX)); 
-		btScalar sj ( btSin(eulerY)); 
-		btScalar sh ( btSin(eulerZ)); 
-		btScalar cc = ci * ch; 
-		btScalar cs = ci * sh; 
-		btScalar sc = si * ch; 
+		btScalar ci(btCos(eulerX));
+		btScalar cj(btCos(eulerY));
+		btScalar ch(btCos(eulerZ));
+		btScalar si(btSin(eulerX));
+		btScalar sj(btSin(eulerY));
+		btScalar sh(btSin(eulerZ));
+		btScalar cc = ci * ch;
+		btScalar cs = ci * sh;
+		btScalar sc = si * ch;
 		btScalar ss = si * sh;
 
 		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
-			cj * sh, sj * ss + cc, sj * cs - sc, 
-			-sj,      cj * si,      cj * ci);
+				 cj * sh, sj * ss + cc, sj * cs - sc,
+				 -sj, cj * si, cj * ci);
 	}
 
 	/**@brief Set the matrix to the identity */
 	void setIdentity()
-	{ 
-#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON)
-			m_el[0] = v1000; 
-			m_el[1] = v0100;
-			m_el[2] = v0010;
+	{
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+		m_el[0] = v1000;
+		m_el[1] = v0100;
+		m_el[2] = v0010;
 #else
-		setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0), 
-			btScalar(0.0), btScalar(1.0), btScalar(0.0), 
-			btScalar(0.0), btScalar(0.0), btScalar(1.0)); 
+		setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
+				 btScalar(0.0), btScalar(1.0), btScalar(0.0),
+				 btScalar(0.0), btScalar(0.0), btScalar(1.0));
 #endif
 	}
 
-	static const btMatrix3x3&	getIdentity()
+	static const btMatrix3x3& getIdentity()
 	{
-#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON)
-        static const btMatrix3x3 
-        identityMatrix(v1000, v0100, v0010);
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+		static const btMatrix3x3
+			identityMatrix(v1000, v0100, v0010);
 #else
-		static const btMatrix3x3 
-        identityMatrix(
-            btScalar(1.0), btScalar(0.0), btScalar(0.0), 
-			btScalar(0.0), btScalar(1.0), btScalar(0.0), 
-			btScalar(0.0), btScalar(0.0), btScalar(1.0));
+		static const btMatrix3x3
+			identityMatrix(
+				btScalar(1.0), btScalar(0.0), btScalar(0.0),
+				btScalar(0.0), btScalar(1.0), btScalar(0.0),
+				btScalar(0.0), btScalar(0.0), btScalar(1.0));
 #endif
 		return identityMatrix;
 	}
 
 	/**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
 	* @param m The array to be filled */
-	void getOpenGLSubMatrix(btScalar *m) const 
+	void getOpenGLSubMatrix(btScalar * m) const
 	{
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-        __m128 v0 = m_el[0].mVec128;
-        __m128 v1 = m_el[1].mVec128;
-        __m128 v2 = m_el[2].mVec128;    //  x2 y2 z2 w2
-        __m128 *vm = (__m128 *)m;
-        __m128 vT;
-        
-        v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
-        
-        vT = _mm_unpackhi_ps(v0, v1);	//	z0 z1 * *
-        v0 = _mm_unpacklo_ps(v0, v1);	//	x0 x1 y0 y1
-
-        v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
-        v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
-        v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));	// z0 z1 z2 0
-
-        vm[0] = v0;
-        vm[1] = v1;
-        vm[2] = v2;
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 v0 = m_el[0].mVec128;
+		__m128 v1 = m_el[1].mVec128;
+		__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
+		__m128* vm = (__m128*)m;
+		__m128 vT;
+
+		v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
+
+		vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
+		v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
+
+		v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
+		v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
+		v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));  // z0 z1 z2 0
+
+		vm[0] = v0;
+		vm[1] = v1;
+		vm[2] = v2;
 #elif defined(BT_USE_NEON)
-        // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-        static const uint32x2_t zMask = (const uint32x2_t) {static_cast<uint32_t>(-1), 0 };
-        float32x4_t *vm = (float32x4_t *)m;
-        float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 );  // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-        float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) );       // {x2  0 }, {y2 0}
-        float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] );
-        float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] );
-        float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask );
-        float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q );       // z0 z1 z2  0
-
-        vm[0] = v0;
-        vm[1] = v1;
-        vm[2] = v2;
+		// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
+		static const uint32x2_t zMask = (const uint32x2_t){static_cast<uint32_t>(-1), 0};
+		float32x4_t* vm = (float32x4_t*)m;
+		float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
+		float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
+		float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
+		float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
+		float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
+		float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
+
+		vm[0] = v0;
+		vm[1] = v1;
+		vm[2] = v2;
 #else
-		m[0]  = btScalar(m_el[0].x()); 
-		m[1]  = btScalar(m_el[1].x());
-		m[2]  = btScalar(m_el[2].x());
-		m[3]  = btScalar(0.0); 
-		m[4]  = btScalar(m_el[0].y());
-		m[5]  = btScalar(m_el[1].y());
-		m[6]  = btScalar(m_el[2].y());
-		m[7]  = btScalar(0.0); 
-		m[8]  = btScalar(m_el[0].z()); 
-		m[9]  = btScalar(m_el[1].z());
+		m[0] = btScalar(m_el[0].x());
+		m[1] = btScalar(m_el[1].x());
+		m[2] = btScalar(m_el[2].x());
+		m[3] = btScalar(0.0);
+		m[4] = btScalar(m_el[0].y());
+		m[5] = btScalar(m_el[1].y());
+		m[6] = btScalar(m_el[2].y());
+		m[7] = btScalar(0.0);
+		m[8] = btScalar(m_el[0].z());
+		m[9] = btScalar(m_el[1].z());
 		m[10] = btScalar(m_el[2].z());
-		m[11] = btScalar(0.0); 
+		m[11] = btScalar(0.0);
 #endif
 	}
 
 	/**@brief Get the matrix represented as a quaternion 
 	* @param q The quaternion which will be set */
-	void getRotation(btQuaternion& q) const
+	void getRotation(btQuaternion & q) const
 	{
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
-        btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
-        btScalar s, x;
-        
-        union {
-            btSimdFloat4 vec;
-            btScalar f[4];
-        } temp;
-        
-        if (trace > btScalar(0.0)) 
-        {
-            x = trace + btScalar(1.0);
-
-            temp.f[0]=m_el[2].y() - m_el[1].z();
-            temp.f[1]=m_el[0].z() - m_el[2].x();
-            temp.f[2]=m_el[1].x() - m_el[0].y();
-            temp.f[3]=x;
-            //temp.f[3]= s * btScalar(0.5);
-        } 
-        else 
-        {
-            int i, j, k;
-            if(m_el[0].x() < m_el[1].y()) 
-            { 
-                if( m_el[1].y() < m_el[2].z() )
-                    { i = 2; j = 0; k = 1; }
-                else
-                    { i = 1; j = 2; k = 0; }
-            }
-            else
-            {
-                if( m_el[0].x() < m_el[2].z())
-                    { i = 2; j = 0; k = 1; }
-                else
-                    { i = 0; j = 1; k = 2; }
-            }
-
-            x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0);
-
-            temp.f[3] = (m_el[k][j] - m_el[j][k]);
-            temp.f[j] = (m_el[j][i] + m_el[i][j]);
-            temp.f[k] = (m_el[k][i] + m_el[i][k]);
-            temp.f[i] = x;
-            //temp.f[i] = s * btScalar(0.5);
-        }
-
-        s = btSqrt(x);
-        q.set128(temp.vec);
-        s = btScalar(0.5) / s;
-
-        q *= s;
-#else    
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
+		btScalar s, x;
+
+		union {
+			btSimdFloat4 vec;
+			btScalar f[4];
+		} temp;
+
+		if (trace > btScalar(0.0))
+		{
+			x = trace + btScalar(1.0);
+
+			temp.f[0] = m_el[2].y() - m_el[1].z();
+			temp.f[1] = m_el[0].z() - m_el[2].x();
+			temp.f[2] = m_el[1].x() - m_el[0].y();
+			temp.f[3] = x;
+			//temp.f[3]= s * btScalar(0.5);
+		}
+		else
+		{
+			int i, j, k;
+			if (m_el[0].x() < m_el[1].y())
+			{
+				if (m_el[1].y() < m_el[2].z())
+				{
+					i = 2;
+					j = 0;
+					k = 1;
+				}
+				else
+				{
+					i = 1;
+					j = 2;
+					k = 0;
+				}
+			}
+			else
+			{
+				if (m_el[0].x() < m_el[2].z())
+				{
+					i = 2;
+					j = 0;
+					k = 1;
+				}
+				else
+				{
+					i = 0;
+					j = 1;
+					k = 2;
+				}
+			}
+
+			x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0);
+
+			temp.f[3] = (m_el[k][j] - m_el[j][k]);
+			temp.f[j] = (m_el[j][i] + m_el[i][j]);
+			temp.f[k] = (m_el[k][i] + m_el[i][k]);
+			temp.f[i] = x;
+			//temp.f[i] = s * btScalar(0.5);
+		}
+
+		s = btSqrt(x);
+		q.set128(temp.vec);
+		s = btScalar(0.5) / s;
+
+		q *= s;
+#else
 		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
 
 		btScalar temp[4];
 
-		if (trace > btScalar(0.0)) 
+		if (trace > btScalar(0.0))
 		{
 			btScalar s = btSqrt(trace + btScalar(1.0));
-			temp[3]=(s * btScalar(0.5));
+			temp[3] = (s * btScalar(0.5));
 			s = btScalar(0.5) / s;
 
-			temp[0]=((m_el[2].y() - m_el[1].z()) * s);
-			temp[1]=((m_el[0].z() - m_el[2].x()) * s);
-			temp[2]=((m_el[1].x() - m_el[0].y()) * s);
-		} 
-		else 
+			temp[0] = ((m_el[2].y() - m_el[1].z()) * s);
+			temp[1] = ((m_el[0].z() - m_el[2].x()) * s);
+			temp[2] = ((m_el[1].x() - m_el[0].y()) * s);
+		}
+		else
 		{
-			int i = m_el[0].x() < m_el[1].y() ? 
-				(m_el[1].y() < m_el[2].z() ? 2 : 1) :
-				(m_el[0].x() < m_el[2].z() ? 2 : 0); 
-			int j = (i + 1) % 3;  
+			int i = m_el[0].x() < m_el[1].y() ? (m_el[1].y() < m_el[2].z() ? 2 : 1) : (m_el[0].x() < m_el[2].z() ? 2 : 0);
+			int j = (i + 1) % 3;
 			int k = (i + 2) % 3;
 
 			btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
@@ -481,44 +492,42 @@ public:
 			temp[j] = (m_el[j][i] + m_el[i][j]) * s;
 			temp[k] = (m_el[k][i] + m_el[i][k]) * s;
 		}
-		q.setValue(temp[0],temp[1],temp[2],temp[3]);
+		q.setValue(temp[0], temp[1], temp[2], temp[3]);
 #endif
 	}
 
 	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
 	* @param yaw Yaw around Y axis
 	* @param pitch Pitch around X axis
-	* @param roll around Z axis */	
-	void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const
+	* @param roll around Z axis */
+	void getEulerYPR(btScalar & yaw, btScalar & pitch, btScalar & roll) const
 	{
-
 		// first use the normal calculus
 		yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
 		pitch = btScalar(btAsin(-m_el[2].x()));
 		roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
 
 		// on pitch = +/-HalfPI
-		if (btFabs(pitch)==SIMD_HALF_PI)
+		if (btFabs(pitch) == SIMD_HALF_PI)
 		{
-			if (yaw>0)
-				yaw-=SIMD_PI;
+			if (yaw > 0)
+				yaw -= SIMD_PI;
 			else
-				yaw+=SIMD_PI;
+				yaw += SIMD_PI;
 
-			if (roll>0)
-				roll-=SIMD_PI;
+			if (roll > 0)
+				roll -= SIMD_PI;
 			else
-				roll+=SIMD_PI;
+				roll += SIMD_PI;
 		}
 	};
 
-
 	/**@brief Get the matrix represented as euler angles around ZYX
-	* @param yaw Yaw around X axis
+	* @param yaw Yaw around Z axis
 	* @param pitch Pitch around Y axis
 	* @param roll around X axis 
-	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/	
-	void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
+	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
+	void getEulerZYX(btScalar & yaw, btScalar & pitch, btScalar & roll, unsigned int solution_number = 1) const
 	{
 		struct Euler
 		{
@@ -528,7 +537,7 @@ public:
 		};
 
 		Euler euler_out;
-		Euler euler_out2; //second solution
+		Euler euler_out2;  //second solution
 		//get the pointer to the raw data
 
 		// Check that pitch is not at a singularity
@@ -538,7 +547,7 @@ public:
 			euler_out2.yaw = 0;
 
 			// From difference of angles formula
-			btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
+			btScalar delta = btAtan2(m_el[0].x(), m_el[0].z());
 			if (m_el[2].x() > 0)  //gimbal locked up
 			{
 				euler_out.pitch = SIMD_PI / btScalar(2.0);
@@ -546,7 +555,7 @@ public:
 				euler_out.roll = euler_out.pitch + delta;
 				euler_out2.roll = euler_out.pitch + delta;
 			}
-			else // gimbal locked down
+			else  // gimbal locked down
 			{
 				euler_out.pitch = -SIMD_PI / btScalar(2.0);
 				euler_out2.pitch = -SIMD_PI / btScalar(2.0);
@@ -556,29 +565,29 @@ public:
 		}
 		else
 		{
-			euler_out.pitch = - btAsin(m_el[2].x());
+			euler_out.pitch = -btAsin(m_el[2].x());
 			euler_out2.pitch = SIMD_PI - euler_out.pitch;
 
-			euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch), 
-				m_el[2].z()/btCos(euler_out.pitch));
-			euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch), 
-				m_el[2].z()/btCos(euler_out2.pitch));
+			euler_out.roll = btAtan2(m_el[2].y() / btCos(euler_out.pitch),
+									 m_el[2].z() / btCos(euler_out.pitch));
+			euler_out2.roll = btAtan2(m_el[2].y() / btCos(euler_out2.pitch),
+									  m_el[2].z() / btCos(euler_out2.pitch));
 
-			euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch), 
-				m_el[0].x()/btCos(euler_out.pitch));
-			euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch), 
-				m_el[0].x()/btCos(euler_out2.pitch));
+			euler_out.yaw = btAtan2(m_el[1].x() / btCos(euler_out.pitch),
+									m_el[0].x() / btCos(euler_out.pitch));
+			euler_out2.yaw = btAtan2(m_el[1].x() / btCos(euler_out2.pitch),
+									 m_el[0].x() / btCos(euler_out2.pitch));
 		}
 
 		if (solution_number == 1)
-		{ 
-			yaw = euler_out.yaw; 
+		{
+			yaw = euler_out.yaw;
 			pitch = euler_out.pitch;
 			roll = euler_out.roll;
 		}
 		else
-		{ 
-			yaw = euler_out2.yaw; 
+		{
+			yaw = euler_out2.yaw;
 			pitch = euler_out2.pitch;
 			roll = euler_out2.roll;
 		}
@@ -589,18 +598,18 @@ public:
 
 	btMatrix3x3 scaled(const btVector3& s) const
 	{
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
 		return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
-#else		
+#else
 		return btMatrix3x3(
-            m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
+			m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
 			m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
 			m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
 #endif
 	}
 
 	/**@brief Return the determinant of the matrix */
-	btScalar            determinant() const;
+	btScalar determinant() const;
 	/**@brief Return the adjoint of the matrix */
 	btMatrix3x3 adjoint() const;
 	/**@brief Return the matrix with all values non negative */
@@ -608,7 +617,7 @@ public:
 	/**@brief Return the transpose of the matrix */
 	btMatrix3x3 transpose() const;
 	/**@brief Return the inverse of the matrix */
-	btMatrix3x3 inverse() const; 
+	btMatrix3x3 inverse() const;
 
 	/// Solve A * x = b, where b is a column vector. This is more efficient
 	/// than computing the inverse in one-shot cases.
@@ -618,9 +627,9 @@ public:
 		btVector3 col1 = getColumn(0);
 		btVector3 col2 = getColumn(1);
 		btVector3 col3 = getColumn(2);
-		
+
 		btScalar det = btDot(col1, btCross(col2, col3));
-		if (btFabs(det)>SIMD_EPSILON)
+		if (btFabs(det) > SIMD_EPSILON)
 		{
 			det = 1.0f / det;
 		}
@@ -634,66 +643,130 @@ public:
 	btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
 	btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
 
-	SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const 
+	SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
 	{
 		return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
 	}
-	SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const 
+	SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
 	{
 		return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
 	}
-	SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const 
+	SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
 	{
 		return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
 	}
 
 	///extractRotation is from "A robust method to extract the rotational part of deformations"
 	///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
-	SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100)
+	///decomposes a matrix A in a orthogonal matrix R and a
+	///symmetric matrix S:
+	///A = R*S.
+	///note that R can include both rotation and scaling.
+	SIMD_FORCE_INLINE void extractRotation(btQuaternion & q, btScalar tolerance = 1.0e-9, int maxIter = 100)
 	{
-		int iter =0;
+		int iter = 0;
 		btScalar w;
-		const btMatrix3x3& A=*this;
-		for(iter = 0; iter < maxIter; iter++)
+		const btMatrix3x3& A = *this;
+		for (iter = 0; iter < maxIter; iter++)
 		{
 			btMatrix3x3 R(q);
-			btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) 
-				+ R.getColumn(2).cross(A.getColumn(2))
-				) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn
-				(1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) +
-					tolerance);
+			btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) + R.getColumn(2).cross(A.getColumn(2))) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn(1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) +
+																																					  tolerance);
 			w = omega.norm();
-			if(w < tolerance)
+			if (w < tolerance)
 				break;
-			q = btQuaternion(btVector3((btScalar(1.0) / w) * omega),w) *
+			q = btQuaternion(btVector3((btScalar(1.0) / w) * omega), w) *
 				q;
 			q.normalize();
 		}
 	}
 
-
-
-	/**@brief diagonalizes this matrix
+	/**@brief diagonalizes this matrix by the Jacobi method.
 	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
-	* coordinate system, i.e., old_this = rot * new_this * rot^T. 
+	* coordinate system, i.e., old_this = rot * new_this * rot^T.
 	* @param threshold See iteration
-	* @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed. 
+	* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
+	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
+	*
+	* Note that this matrix is assumed to be symmetric.
 	*/
-	void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100)
+	void diagonalize(btMatrix3x3 & rot, btScalar threshold, int maxSteps)
 	{
-		btQuaternion r;
-		r = btQuaternion::getIdentity();
-		extractRotation(r,tolerance,maxIter);
-		rot.setRotation(r);
-		btMatrix3x3 rotInv = btMatrix3x3(r.inverse());
-		btMatrix3x3 old = *this;
-		setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]),
-		old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]),
-		old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2]));
-	}
+		rot.setIdentity();
+		for (int step = maxSteps; step > 0; step--)
+		{
+			// find off-diagonal element [p][q] with largest magnitude
+			int p = 0;
+			int q = 1;
+			int r = 2;
+			btScalar max = btFabs(m_el[0][1]);
+			btScalar v = btFabs(m_el[0][2]);
+			if (v > max)
+			{
+				q = 2;
+				r = 1;
+				max = v;
+			}
+			v = btFabs(m_el[1][2]);
+			if (v > max)
+			{
+				p = 1;
+				q = 2;
+				r = 0;
+				max = v;
+			}
 
+			btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
+			if (max <= t)
+			{
+				if (max <= SIMD_EPSILON * t)
+				{
+					return;
+				}
+				step = 1;
+			}
 
+			// compute Jacobi rotation J which leads to a zero for element [p][q]
+			btScalar mpq = m_el[p][q];
+			btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
+			btScalar theta2 = theta * theta;
+			btScalar cos;
+			btScalar sin;
+			if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
+			{
+				t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
+								 : 1 / (theta - btSqrt(1 + theta2));
+				cos = 1 / btSqrt(1 + t * t);
+				sin = cos * t;
+			}
+			else
+			{
+				// approximation for large theta-value, i.e., a nearly diagonal matrix
+				t = 1 / (theta * (2 + btScalar(0.5) / theta2));
+				cos = 1 - btScalar(0.5) * t * t;
+				sin = cos * t;
+			}
 
+			// apply rotation to matrix (this = J^T * this * J)
+			m_el[p][q] = m_el[q][p] = 0;
+			m_el[p][p] -= t * mpq;
+			m_el[q][q] += t * mpq;
+			btScalar mrp = m_el[r][p];
+			btScalar mrq = m_el[r][q];
+			m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
+			m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
+
+			// apply rotation to rot (rot = rot * J)
+			for (int i = 0; i < 3; i++)
+			{
+				btVector3& row = rot[i];
+				mrp = row[p];
+				mrq = row[q];
+				row[p] = cos * mrp - sin * mrq;
+				row[q] = cos * mrq + sin * mrp;
+			}
+		}
+	}
 
 	/**@brief Calculate the matrix cofactor 
 	* @param r1 The first row to use for calculating the cofactor
@@ -702,304 +775,298 @@ public:
 	* @param c1 The second column to use for calculating the cofactor
 	* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
 	*/
-	btScalar cofac(int r1, int c1, int r2, int c2) const 
+	btScalar cofac(int r1, int c1, int r2, int c2) const
 	{
 		return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
 	}
 
-	void	serialize(struct	btMatrix3x3Data& dataOut) const;
-
-	void	serializeFloat(struct	btMatrix3x3FloatData& dataOut) const;
+	void serialize(struct btMatrix3x3Data & dataOut) const;
 
-	void	deSerialize(const struct	btMatrix3x3Data& dataIn);
+	void serializeFloat(struct btMatrix3x3FloatData & dataOut) const;
 
-	void	deSerializeFloat(const struct	btMatrix3x3FloatData& dataIn);
+	void deSerialize(const struct btMatrix3x3Data& dataIn);
 
-	void	deSerializeDouble(const struct	btMatrix3x3DoubleData& dataIn);
+	void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
 
+	void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn);
 };
 
-
-SIMD_FORCE_INLINE btMatrix3x3& 
+SIMD_FORCE_INLINE btMatrix3x3&
 btMatrix3x3::operator*=(const btMatrix3x3& m)
 {
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-    __m128 rv00, rv01, rv02;
-    __m128 rv10, rv11, rv12;
-    __m128 rv20, rv21, rv22;
-    __m128 mv0, mv1, mv2;
-
-    rv02 = m_el[0].mVec128;
-    rv12 = m_el[1].mVec128;
-    rv22 = m_el[2].mVec128;
-
-    mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask); 
-    mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask); 
-    mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask); 
-    
-    // rv0
-    rv00 = bt_splat_ps(rv02, 0);
-    rv01 = bt_splat_ps(rv02, 1);
-    rv02 = bt_splat_ps(rv02, 2);
-    
-    rv00 = _mm_mul_ps(rv00, mv0);
-    rv01 = _mm_mul_ps(rv01, mv1);
-    rv02 = _mm_mul_ps(rv02, mv2);
-    
-    // rv1
-    rv10 = bt_splat_ps(rv12, 0);
-    rv11 = bt_splat_ps(rv12, 1);
-    rv12 = bt_splat_ps(rv12, 2);
-    
-    rv10 = _mm_mul_ps(rv10, mv0);
-    rv11 = _mm_mul_ps(rv11, mv1);
-    rv12 = _mm_mul_ps(rv12, mv2);
-    
-    // rv2
-    rv20 = bt_splat_ps(rv22, 0);
-    rv21 = bt_splat_ps(rv22, 1);
-    rv22 = bt_splat_ps(rv22, 2);
-    
-    rv20 = _mm_mul_ps(rv20, mv0);
-    rv21 = _mm_mul_ps(rv21, mv1);
-    rv22 = _mm_mul_ps(rv22, mv2);
-
-    rv00 = _mm_add_ps(rv00, rv01);
-    rv10 = _mm_add_ps(rv10, rv11);
-    rv20 = _mm_add_ps(rv20, rv21);
-
-    m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
-    m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
-    m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+	__m128 rv00, rv01, rv02;
+	__m128 rv10, rv11, rv12;
+	__m128 rv20, rv21, rv22;
+	__m128 mv0, mv1, mv2;
+
+	rv02 = m_el[0].mVec128;
+	rv12 = m_el[1].mVec128;
+	rv22 = m_el[2].mVec128;
+
+	mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask);
+	mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask);
+	mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask);
+
+	// rv0
+	rv00 = bt_splat_ps(rv02, 0);
+	rv01 = bt_splat_ps(rv02, 1);
+	rv02 = bt_splat_ps(rv02, 2);
+
+	rv00 = _mm_mul_ps(rv00, mv0);
+	rv01 = _mm_mul_ps(rv01, mv1);
+	rv02 = _mm_mul_ps(rv02, mv2);
+
+	// rv1
+	rv10 = bt_splat_ps(rv12, 0);
+	rv11 = bt_splat_ps(rv12, 1);
+	rv12 = bt_splat_ps(rv12, 2);
+
+	rv10 = _mm_mul_ps(rv10, mv0);
+	rv11 = _mm_mul_ps(rv11, mv1);
+	rv12 = _mm_mul_ps(rv12, mv2);
+
+	// rv2
+	rv20 = bt_splat_ps(rv22, 0);
+	rv21 = bt_splat_ps(rv22, 1);
+	rv22 = bt_splat_ps(rv22, 2);
+
+	rv20 = _mm_mul_ps(rv20, mv0);
+	rv21 = _mm_mul_ps(rv21, mv1);
+	rv22 = _mm_mul_ps(rv22, mv2);
+
+	rv00 = _mm_add_ps(rv00, rv01);
+	rv10 = _mm_add_ps(rv10, rv11);
+	rv20 = _mm_add_ps(rv20, rv21);
+
+	m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
+	m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
+	m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
 
 #elif defined(BT_USE_NEON)
 
-    float32x4_t rv0, rv1, rv2;
-    float32x4_t v0, v1, v2;
-    float32x4_t mv0, mv1, mv2;
-
-    v0 = m_el[0].mVec128;
-    v1 = m_el[1].mVec128;
-    v2 = m_el[2].mVec128;
-
-    mv0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask); 
-    mv1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask); 
-    mv2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask); 
-    
-    rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-    rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-    rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-    rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-    rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-    rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-    rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
-
-    m_el[0].mVec128 = rv0;
-    m_el[1].mVec128 = rv1;
-    m_el[2].mVec128 = rv2;
-#else    
+	float32x4_t rv0, rv1, rv2;
+	float32x4_t v0, v1, v2;
+	float32x4_t mv0, mv1, mv2;
+
+	v0 = m_el[0].mVec128;
+	v1 = m_el[1].mVec128;
+	v2 = m_el[2].mVec128;
+
+	mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
+	mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
+	mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
+
+	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
+	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
+	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
+
+	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
+	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
+	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
+
+	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
+	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
+	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
+
+	m_el[0].mVec128 = rv0;
+	m_el[1].mVec128 = rv1;
+	m_el[2].mVec128 = rv2;
+#else
 	setValue(
-        m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
+		m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
 		m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
 		m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
 #endif
 	return *this;
 }
 
-SIMD_FORCE_INLINE btMatrix3x3& 
+SIMD_FORCE_INLINE btMatrix3x3&
 btMatrix3x3::operator+=(const btMatrix3x3& m)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
-    m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
-    m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
-    m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+	m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
+	m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
+	m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
 #else
 	setValue(
-		m_el[0][0]+m.m_el[0][0], 
-		m_el[0][1]+m.m_el[0][1],
-		m_el[0][2]+m.m_el[0][2],
-		m_el[1][0]+m.m_el[1][0], 
-		m_el[1][1]+m.m_el[1][1],
-		m_el[1][2]+m.m_el[1][2],
-		m_el[2][0]+m.m_el[2][0], 
-		m_el[2][1]+m.m_el[2][1],
-		m_el[2][2]+m.m_el[2][2]);
+		m_el[0][0] + m.m_el[0][0],
+		m_el[0][1] + m.m_el[0][1],
+		m_el[0][2] + m.m_el[0][2],
+		m_el[1][0] + m.m_el[1][0],
+		m_el[1][1] + m.m_el[1][1],
+		m_el[1][2] + m.m_el[1][2],
+		m_el[2][0] + m.m_el[2][0],
+		m_el[2][1] + m.m_el[2][1],
+		m_el[2][2] + m.m_el[2][2]);
 #endif
 	return *this;
 }
 
 SIMD_FORCE_INLINE btMatrix3x3
-operator*(const btMatrix3x3& m, const btScalar & k)
+operator*(const btMatrix3x3& m, const btScalar& k)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
-    __m128 vk = bt_splat_ps(_mm_load_ss((float *)&k), 0x80);
-    return btMatrix3x3(
-                _mm_mul_ps(m[0].mVec128, vk), 
-                _mm_mul_ps(m[1].mVec128, vk), 
-                _mm_mul_ps(m[2].mVec128, vk)); 
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+	__m128 vk = bt_splat_ps(_mm_load_ss((float*)&k), 0x80);
+	return btMatrix3x3(
+		_mm_mul_ps(m[0].mVec128, vk),
+		_mm_mul_ps(m[1].mVec128, vk),
+		_mm_mul_ps(m[2].mVec128, vk));
 #elif defined(BT_USE_NEON)
-    return btMatrix3x3(
-                vmulq_n_f32(m[0].mVec128, k),
-                vmulq_n_f32(m[1].mVec128, k),
-                vmulq_n_f32(m[2].mVec128, k)); 
+	return btMatrix3x3(
+		vmulq_n_f32(m[0].mVec128, k),
+		vmulq_n_f32(m[1].mVec128, k),
+		vmulq_n_f32(m[2].mVec128, k));
 #else
 	return btMatrix3x3(
-		m[0].x()*k,m[0].y()*k,m[0].z()*k,
-		m[1].x()*k,m[1].y()*k,m[1].z()*k,
-		m[2].x()*k,m[2].y()*k,m[2].z()*k);
+		m[0].x() * k, m[0].y() * k, m[0].z() * k,
+		m[1].x() * k, m[1].y() * k, m[1].z() * k,
+		m[2].x() * k, m[2].y() * k, m[2].z() * k);
 #endif
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
 	return btMatrix3x3(
-        m1[0].mVec128 + m2[0].mVec128,
-        m1[1].mVec128 + m2[1].mVec128,
-        m1[2].mVec128 + m2[2].mVec128);
+		m1[0].mVec128 + m2[0].mVec128,
+		m1[1].mVec128 + m2[1].mVec128,
+		m1[2].mVec128 + m2[2].mVec128);
 #else
 	return btMatrix3x3(
-        m1[0][0]+m2[0][0], 
-        m1[0][1]+m2[0][1],
-        m1[0][2]+m2[0][2],
-        
-        m1[1][0]+m2[1][0], 
-        m1[1][1]+m2[1][1],
-        m1[1][2]+m2[1][2],
-        
-        m1[2][0]+m2[2][0], 
-        m1[2][1]+m2[2][1],
-        m1[2][2]+m2[2][2]);
-#endif    
+		m1[0][0] + m2[0][0],
+		m1[0][1] + m2[0][1],
+		m1[0][2] + m2[0][2],
+
+		m1[1][0] + m2[1][0],
+		m1[1][1] + m2[1][1],
+		m1[1][2] + m2[1][2],
+
+		m1[2][0] + m2[2][0],
+		m1[2][1] + m2[2][1],
+		m1[2][2] + m2[2][2]);
+#endif
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
 	return btMatrix3x3(
-        m1[0].mVec128 - m2[0].mVec128,
-        m1[1].mVec128 - m2[1].mVec128,
-        m1[2].mVec128 - m2[2].mVec128);
+		m1[0].mVec128 - m2[0].mVec128,
+		m1[1].mVec128 - m2[1].mVec128,
+		m1[2].mVec128 - m2[2].mVec128);
 #else
 	return btMatrix3x3(
-        m1[0][0]-m2[0][0], 
-        m1[0][1]-m2[0][1],
-        m1[0][2]-m2[0][2],
-        
-        m1[1][0]-m2[1][0], 
-        m1[1][1]-m2[1][1],
-        m1[1][2]-m2[1][2],
-        
-        m1[2][0]-m2[2][0], 
-        m1[2][1]-m2[2][1],
-        m1[2][2]-m2[2][2]);
+		m1[0][0] - m2[0][0],
+		m1[0][1] - m2[0][1],
+		m1[0][2] - m2[0][2],
+
+		m1[1][0] - m2[1][0],
+		m1[1][1] - m2[1][1],
+		m1[1][2] - m2[1][2],
+
+		m1[2][0] - m2[2][0],
+		m1[2][1] - m2[2][1],
+		m1[2][2] - m2[2][2]);
 #endif
 }
 
-
-SIMD_FORCE_INLINE btMatrix3x3& 
+SIMD_FORCE_INLINE btMatrix3x3&
 btMatrix3x3::operator-=(const btMatrix3x3& m)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
-    m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
-    m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
-    m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+	m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
+	m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
+	m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
 #else
 	setValue(
-	m_el[0][0]-m.m_el[0][0], 
-	m_el[0][1]-m.m_el[0][1],
-	m_el[0][2]-m.m_el[0][2],
-	m_el[1][0]-m.m_el[1][0], 
-	m_el[1][1]-m.m_el[1][1],
-	m_el[1][2]-m.m_el[1][2],
-	m_el[2][0]-m.m_el[2][0], 
-	m_el[2][1]-m.m_el[2][1],
-	m_el[2][2]-m.m_el[2][2]);
+		m_el[0][0] - m.m_el[0][0],
+		m_el[0][1] - m.m_el[0][1],
+		m_el[0][2] - m.m_el[0][2],
+		m_el[1][0] - m.m_el[1][0],
+		m_el[1][1] - m.m_el[1][1],
+		m_el[1][2] - m.m_el[1][2],
+		m_el[2][0] - m.m_el[2][0],
+		m_el[2][1] - m.m_el[2][1],
+		m_el[2][2] - m.m_el[2][2]);
 #endif
 	return *this;
 }
 
-
-SIMD_FORCE_INLINE btScalar 
+SIMD_FORCE_INLINE btScalar
 btMatrix3x3::determinant() const
-{ 
+{
 	return btTriple((*this)[0], (*this)[1], (*this)[2]);
 }
 
-
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 btMatrix3x3::absolute() const
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
-    return btMatrix3x3(
-            _mm_and_ps(m_el[0].mVec128, btvAbsfMask),
-            _mm_and_ps(m_el[1].mVec128, btvAbsfMask),
-            _mm_and_ps(m_el[2].mVec128, btvAbsfMask));
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+	return btMatrix3x3(
+		_mm_and_ps(m_el[0].mVec128, btvAbsfMask),
+		_mm_and_ps(m_el[1].mVec128, btvAbsfMask),
+		_mm_and_ps(m_el[2].mVec128, btvAbsfMask));
 #elif defined(BT_USE_NEON)
-    return btMatrix3x3(
-            (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask),
-            (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask),
-            (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask));
-#else	
 	return btMatrix3x3(
-            btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
-            btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
-            btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
+		(float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask),
+		(float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask),
+		(float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask));
+#else
+	return btMatrix3x3(
+		btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
+		btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
+		btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
 #endif
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
-btMatrix3x3::transpose() const 
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::transpose() const
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
-    __m128 v0 = m_el[0].mVec128;
-    __m128 v1 = m_el[1].mVec128;
-    __m128 v2 = m_el[2].mVec128;    //  x2 y2 z2 w2
-    __m128 vT;
-    
-    v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
-    
-    vT = _mm_unpackhi_ps(v0, v1);	//	z0 z1 * *
-    v0 = _mm_unpacklo_ps(v0, v1);	//	x0 x1 y0 y1
-
-    v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
-    v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
-    v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));	// z0 z1 z2 0
-
-
-    return btMatrix3x3( v0, v1, v2 );
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+	__m128 v0 = m_el[0].mVec128;
+	__m128 v1 = m_el[1].mVec128;
+	__m128 v2 = m_el[2].mVec128;  //  x2 y2 z2 w2
+	__m128 vT;
+
+	v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
+
+	vT = _mm_unpackhi_ps(v0, v1);  //	z0 z1 * *
+	v0 = _mm_unpacklo_ps(v0, v1);  //	x0 x1 y0 y1
+
+	v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3));                    // y0 y1 y2 0
+	v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3));                    // x0 x1 x2 0
+	v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));  // z0 z1 z2 0
+
+	return btMatrix3x3(v0, v1, v2);
 #elif defined(BT_USE_NEON)
-    // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
-    static const uint32x2_t zMask = (const uint32x2_t) {static_cast<uint32_t>(-1), 0 };
-    float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 );  // {x0 x1 z0 z1}, {y0 y1 w0 w1}
-    float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) );       // {x2  0 }, {y2 0}
-    float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] );
-    float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] );
-    float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask );
-    float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q );       // z0 z1 z2  0
-    return btMatrix3x3( v0, v1, v2 ); 
+	// note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
+	static const uint32x2_t zMask = (const uint32x2_t){static_cast<uint32_t>(-1), 0};
+	float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128);               // {x0 x1 z0 z1}, {y0 y1 w0 w1}
+	float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f));  // {x2  0 }, {y2 0}
+	float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]);
+	float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]);
+	float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask);
+	float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q);  // z0 z1 z2  0
+	return btMatrix3x3(v0, v1, v2);
 #else
-	return btMatrix3x3( m_el[0].x(), m_el[1].x(), m_el[2].x(),
-                        m_el[0].y(), m_el[1].y(), m_el[2].y(),
-                        m_el[0].z(), m_el[1].z(), m_el[2].z());
+	return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
+					   m_el[0].y(), m_el[1].y(), m_el[2].y(),
+					   m_el[0].z(), m_el[1].z(), m_el[2].z());
 #endif
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
-btMatrix3x3::adjoint() const 
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::adjoint() const
 {
 	return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
-		cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
-		cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
+					   cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
+					   cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 btMatrix3x3::inverse() const
 {
 	btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
@@ -1008,54 +1075,54 @@ btMatrix3x3::inverse() const
 	btAssert(det != btScalar(0.0));
 	btScalar s = btScalar(1.0) / det;
 	return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
-		co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
-		co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
+					   co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
+					   co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
-    // zeros w
-//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
-    __m128 row = m_el[0].mVec128;
-    __m128 m0 = _mm_and_ps( m.getRow(0).mVec128, btvFFF0fMask );
-    __m128 m1 = _mm_and_ps( m.getRow(1).mVec128, btvFFF0fMask);
-    __m128 m2 = _mm_and_ps( m.getRow(2).mVec128, btvFFF0fMask );
-    __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
-    __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
-    __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
-    row = m_el[1].mVec128;
-    r0 = _mm_add_ps( r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
-    r1 = _mm_add_ps( r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
-    r2 = _mm_add_ps( r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
-    row = m_el[2].mVec128;
-    r0 = _mm_add_ps( r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
-    r1 = _mm_add_ps( r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
-    r2 = _mm_add_ps( r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
-    return btMatrix3x3( r0, r1, r2 );
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+	// zeros w
+	//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
+	__m128 row = m_el[0].mVec128;
+	__m128 m0 = _mm_and_ps(m.getRow(0).mVec128, btvFFF0fMask);
+	__m128 m1 = _mm_and_ps(m.getRow(1).mVec128, btvFFF0fMask);
+	__m128 m2 = _mm_and_ps(m.getRow(2).mVec128, btvFFF0fMask);
+	__m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
+	__m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
+	__m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
+	row = m_el[1].mVec128;
+	r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
+	row = m_el[2].mVec128;
+	r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
+	return btMatrix3x3(r0, r1, r2);
 
 #elif defined BT_USE_NEON
-    // zeros w
-    static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 };
-    float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask );
-    float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask );
-    float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask );
-    float32x4_t row = m_el[0].mVec128;
-    float32x4_t r0 = vmulq_lane_f32( m0, vget_low_f32(row), 0);
-    float32x4_t r1 = vmulq_lane_f32( m0, vget_low_f32(row), 1);
-    float32x4_t r2 = vmulq_lane_f32( m0, vget_high_f32(row), 0);
-    row = m_el[1].mVec128;
-    r0 = vmlaq_lane_f32( r0, m1, vget_low_f32(row), 0);
-    r1 = vmlaq_lane_f32( r1, m1, vget_low_f32(row), 1);
-    r2 = vmlaq_lane_f32( r2, m1, vget_high_f32(row), 0);
-    row = m_el[2].mVec128;
-    r0 = vmlaq_lane_f32( r0, m2, vget_low_f32(row), 0);
-    r1 = vmlaq_lane_f32( r1, m2, vget_low_f32(row), 1);
-    r2 = vmlaq_lane_f32( r2, m2, vget_high_f32(row), 0);
-    return btMatrix3x3( r0, r1, r2 );
+	// zeros w
+	static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
+	float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask);
+	float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask);
+	float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask);
+	float32x4_t row = m_el[0].mVec128;
+	float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0);
+	float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1);
+	float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0);
+	row = m_el[1].mVec128;
+	r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0);
+	r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1);
+	r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0);
+	row = m_el[2].mVec128;
+	r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0);
+	r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1);
+	r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0);
+	return btMatrix3x3(r0, r1, r2);
 #else
-    return btMatrix3x3(
+	return btMatrix3x3(
 		m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
 		m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
 		m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
@@ -1068,51 +1135,51 @@ btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
 #endif
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
-    __m128 a0 = m_el[0].mVec128;
-    __m128 a1 = m_el[1].mVec128;
-    __m128 a2 = m_el[2].mVec128;
-    
-    btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here
-    __m128 mx = mT[0].mVec128;
-    __m128 my = mT[1].mVec128;
-    __m128 mz = mT[2].mVec128;
-    
-    __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
-    __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
-    __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
-    r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
-    r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
-    r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
-    r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
-    r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
-    r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
-    return btMatrix3x3( r0, r1, r2);
-            
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+	__m128 a0 = m_el[0].mVec128;
+	__m128 a1 = m_el[1].mVec128;
+	__m128 a2 = m_el[2].mVec128;
+
+	btMatrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
+	__m128 mx = mT[0].mVec128;
+	__m128 my = mT[1].mVec128;
+	__m128 mz = mT[2].mVec128;
+
+	__m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
+	__m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
+	__m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
+	r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
+	r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
+	r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
+	r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
+	return btMatrix3x3(r0, r1, r2);
+
 #elif defined BT_USE_NEON
-    float32x4_t a0 = m_el[0].mVec128;
-    float32x4_t a1 = m_el[1].mVec128;
-    float32x4_t a2 = m_el[2].mVec128;
-    
-    btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here
-    float32x4_t mx = mT[0].mVec128;
-    float32x4_t my = mT[1].mVec128;
-    float32x4_t mz = mT[2].mVec128;
-    
-    float32x4_t r0 = vmulq_lane_f32( mx, vget_low_f32(a0), 0);
-    float32x4_t r1 = vmulq_lane_f32( mx, vget_low_f32(a1), 0);
-    float32x4_t r2 = vmulq_lane_f32( mx, vget_low_f32(a2), 0);
-    r0 = vmlaq_lane_f32( r0, my, vget_low_f32(a0), 1);
-    r1 = vmlaq_lane_f32( r1, my, vget_low_f32(a1), 1);
-    r2 = vmlaq_lane_f32( r2, my, vget_low_f32(a2), 1);
-    r0 = vmlaq_lane_f32( r0, mz, vget_high_f32(a0), 0);
-    r1 = vmlaq_lane_f32( r1, mz, vget_high_f32(a1), 0);
-    r2 = vmlaq_lane_f32( r2, mz, vget_high_f32(a2), 0);
-    return btMatrix3x3( r0, r1, r2 );
-    
+	float32x4_t a0 = m_el[0].mVec128;
+	float32x4_t a1 = m_el[1].mVec128;
+	float32x4_t a2 = m_el[2].mVec128;
+
+	btMatrix3x3 mT = m.transpose();  // we rely on transpose() zeroing w channel so that we don't have to do it here
+	float32x4_t mx = mT[0].mVec128;
+	float32x4_t my = mT[1].mVec128;
+	float32x4_t mz = mT[2].mVec128;
+
+	float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0);
+	float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0);
+	float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0);
+	r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1);
+	r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1);
+	r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1);
+	r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0);
+	r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0);
+	r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0);
+	return btMatrix3x3(r0, r1, r2);
+
 #else
 	return btMatrix3x3(
 		m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
@@ -1121,139 +1188,138 @@ btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
 #endif
 }
 
-SIMD_FORCE_INLINE btVector3 
-operator*(const btMatrix3x3& m, const btVector3& v) 
+SIMD_FORCE_INLINE btVector3
+operator*(const btMatrix3x3& m, const btVector3& v)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
-    return v.dot3(m[0], m[1], m[2]);
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+	return v.dot3(m[0], m[1], m[2]);
 #else
 	return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
 #endif
 }
 
-
 SIMD_FORCE_INLINE btVector3
 operator*(const btVector3& v, const btMatrix3x3& m)
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+
+	const __m128 vv = v.mVec128;
 
-    const __m128 vv = v.mVec128;
+	__m128 c0 = bt_splat_ps(vv, 0);
+	__m128 c1 = bt_splat_ps(vv, 1);
+	__m128 c2 = bt_splat_ps(vv, 2);
 
-    __m128 c0 = bt_splat_ps( vv, 0);
-    __m128 c1 = bt_splat_ps( vv, 1);
-    __m128 c2 = bt_splat_ps( vv, 2);
+	c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask));
+	c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask));
+	c0 = _mm_add_ps(c0, c1);
+	c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask));
 
-    c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask) );
-    c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask) );
-    c0 = _mm_add_ps(c0, c1);
-    c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask) );
-    
-    return btVector3(_mm_add_ps(c0, c2));
+	return btVector3(_mm_add_ps(c0, c2));
 #elif defined(BT_USE_NEON)
-    const float32x4_t vv = v.mVec128;
-    const float32x2_t vlo = vget_low_f32(vv);
-    const float32x2_t vhi = vget_high_f32(vv);
-
-    float32x4_t c0, c1, c2;
-
-    c0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
-    c1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
-    c2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
-
-    c0 = vmulq_lane_f32(c0, vlo, 0);
-    c1 = vmulq_lane_f32(c1, vlo, 1);
-    c2 = vmulq_lane_f32(c2, vhi, 0);
-    c0 = vaddq_f32(c0, c1);
-    c0 = vaddq_f32(c0, c2);
-    
-    return btVector3(c0);
+	const float32x4_t vv = v.mVec128;
+	const float32x2_t vlo = vget_low_f32(vv);
+	const float32x2_t vhi = vget_high_f32(vv);
+
+	float32x4_t c0, c1, c2;
+
+	c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
+	c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
+	c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
+
+	c0 = vmulq_lane_f32(c0, vlo, 0);
+	c1 = vmulq_lane_f32(c1, vlo, 1);
+	c2 = vmulq_lane_f32(c2, vhi, 0);
+	c0 = vaddq_f32(c0, c1);
+	c0 = vaddq_f32(c0, c2);
+
+	return btVector3(c0);
 #else
 	return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
 #endif
 }
 
-SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3
 operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
-
-    __m128 m10 = m1[0].mVec128;  
-    __m128 m11 = m1[1].mVec128;
-    __m128 m12 = m1[2].mVec128;
-    
-    __m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask);
-    
-    __m128 c0 = bt_splat_ps( m10, 0);
-    __m128 c1 = bt_splat_ps( m11, 0);
-    __m128 c2 = bt_splat_ps( m12, 0);
-    
-    c0 = _mm_mul_ps(c0, m2v);
-    c1 = _mm_mul_ps(c1, m2v);
-    c2 = _mm_mul_ps(c2, m2v);
-    
-    m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask);
-    
-    __m128 c0_1 = bt_splat_ps( m10, 1);
-    __m128 c1_1 = bt_splat_ps( m11, 1);
-    __m128 c2_1 = bt_splat_ps( m12, 1);
-    
-    c0_1 = _mm_mul_ps(c0_1, m2v);
-    c1_1 = _mm_mul_ps(c1_1, m2v);
-    c2_1 = _mm_mul_ps(c2_1, m2v);
-    
-    m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask);
-    
-    c0 = _mm_add_ps(c0, c0_1);
-    c1 = _mm_add_ps(c1, c1_1);
-    c2 = _mm_add_ps(c2, c2_1);
-    
-    m10 = bt_splat_ps( m10, 2);
-    m11 = bt_splat_ps( m11, 2);
-    m12 = bt_splat_ps( m12, 2);
-    
-    m10 = _mm_mul_ps(m10, m2v);
-    m11 = _mm_mul_ps(m11, m2v);
-    m12 = _mm_mul_ps(m12, m2v);
-    
-    c0 = _mm_add_ps(c0, m10);
-    c1 = _mm_add_ps(c1, m11);
-    c2 = _mm_add_ps(c2, m12);
-    
-    return btMatrix3x3(c0, c1, c2);
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+
+	__m128 m10 = m1[0].mVec128;
+	__m128 m11 = m1[1].mVec128;
+	__m128 m12 = m1[2].mVec128;
+
+	__m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask);
+
+	__m128 c0 = bt_splat_ps(m10, 0);
+	__m128 c1 = bt_splat_ps(m11, 0);
+	__m128 c2 = bt_splat_ps(m12, 0);
+
+	c0 = _mm_mul_ps(c0, m2v);
+	c1 = _mm_mul_ps(c1, m2v);
+	c2 = _mm_mul_ps(c2, m2v);
+
+	m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask);
+
+	__m128 c0_1 = bt_splat_ps(m10, 1);
+	__m128 c1_1 = bt_splat_ps(m11, 1);
+	__m128 c2_1 = bt_splat_ps(m12, 1);
+
+	c0_1 = _mm_mul_ps(c0_1, m2v);
+	c1_1 = _mm_mul_ps(c1_1, m2v);
+	c2_1 = _mm_mul_ps(c2_1, m2v);
+
+	m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask);
+
+	c0 = _mm_add_ps(c0, c0_1);
+	c1 = _mm_add_ps(c1, c1_1);
+	c2 = _mm_add_ps(c2, c2_1);
+
+	m10 = bt_splat_ps(m10, 2);
+	m11 = bt_splat_ps(m11, 2);
+	m12 = bt_splat_ps(m12, 2);
+
+	m10 = _mm_mul_ps(m10, m2v);
+	m11 = _mm_mul_ps(m11, m2v);
+	m12 = _mm_mul_ps(m12, m2v);
+
+	c0 = _mm_add_ps(c0, m10);
+	c1 = _mm_add_ps(c1, m11);
+	c2 = _mm_add_ps(c2, m12);
+
+	return btMatrix3x3(c0, c1, c2);
 
 #elif defined(BT_USE_NEON)
 
-    float32x4_t rv0, rv1, rv2;
-    float32x4_t v0, v1, v2;
-    float32x4_t mv0, mv1, mv2;
-
-    v0 = m1[0].mVec128;
-    v1 = m1[1].mVec128;
-    v2 = m1[2].mVec128;
-
-    mv0 = (float32x4_t) vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask); 
-    mv1 = (float32x4_t) vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask); 
-    mv2 = (float32x4_t) vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask); 
-    
-    rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
-    rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
-    rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
-    rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
-    rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
-    
-    rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
-    rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
-    rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
+	float32x4_t rv0, rv1, rv2;
+	float32x4_t v0, v1, v2;
+	float32x4_t mv0, mv1, mv2;
+
+	v0 = m1[0].mVec128;
+	v1 = m1[1].mVec128;
+	v2 = m1[2].mVec128;
+
+	mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask);
+	mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask);
+	mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask);
+
+	rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
+	rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
+	rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
+
+	rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
+	rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
+	rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
+
+	rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
+	rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
+	rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
 
 	return btMatrix3x3(rv0, rv1, rv2);
-        
-#else	
+
+#else
 	return btMatrix3x3(
-		m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
-		m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
-		m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
+		m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),
+		m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),
+		m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]));
 #endif
 }
 
@@ -1276,73 +1342,67 @@ m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
 * It will test all elements are equal.  */
 SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
+
+	__m128 c0, c1, c2;
 
-    __m128 c0, c1, c2;
+	c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
+	c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
+	c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
 
-    c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
-    c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
-    c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
-    
-    c0 = _mm_and_ps(c0, c1);
-    c0 = _mm_and_ps(c0, c2);
+	c0 = _mm_and_ps(c0, c1);
+	c0 = _mm_and_ps(c0, c2);
 
 	int m = _mm_movemask_ps((__m128)c0);
 	return (0x7 == (m & 0x7));
-	
-#else 
-	return 
-    (   m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
-		m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
-		m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+
+#else
+	return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
+			m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
+			m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]);
 #endif
 }
 
 ///for serialization
-struct	btMatrix3x3FloatData
+struct btMatrix3x3FloatData
 {
 	btVector3FloatData m_el[3];
 };
 
 ///for serialization
-struct	btMatrix3x3DoubleData
+struct btMatrix3x3DoubleData
 {
 	btVector3DoubleData m_el[3];
 };
 
-
-	
-
-SIMD_FORCE_INLINE	void	btMatrix3x3::serialize(struct	btMatrix3x3Data& dataOut) const
+SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].serialize(dataOut.m_el[i]);
 }
 
-SIMD_FORCE_INLINE	void	btMatrix3x3::serializeFloat(struct	btMatrix3x3FloatData& dataOut) const
+SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].serializeFloat(dataOut.m_el[i]);
 }
 
-
-SIMD_FORCE_INLINE	void	btMatrix3x3::deSerialize(const struct	btMatrix3x3Data& dataIn)
+SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].deSerialize(dataIn.m_el[i]);
 }
 
-SIMD_FORCE_INLINE	void	btMatrix3x3::deSerializeFloat(const struct	btMatrix3x3FloatData& dataIn)
+SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn)
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].deSerializeFloat(dataIn.m_el[i]);
 }
 
-SIMD_FORCE_INLINE	void	btMatrix3x3::deSerializeDouble(const struct	btMatrix3x3DoubleData& dataIn)
+SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn)
 {
-	for (int i=0;i<3;i++)
+	for (int i = 0; i < 3; i++)
 		m_el[i].deSerializeDouble(dataIn.m_el[i]);
 }
 
-#endif //BT_MATRIX3x3_H
-
+#endif  //BT_MATRIX3x3_H
diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h
index 42caed42ef..9df9e49469 100644
--- a/thirdparty/bullet/LinearMath/btMatrixX.h
+++ b/thirdparty/bullet/LinearMath/btMatrixX.h
@@ -24,24 +24,23 @@ subject to the following restrictions:
 //#define BT_DEBUG_OSTREAM
 #ifdef BT_DEBUG_OSTREAM
 #include <iostream>
-#include <iomanip>      // std::setw
-#endif //BT_DEBUG_OSTREAM
+#include <iomanip>  // std::setw
+#endif              //BT_DEBUG_OSTREAM
 
 class btIntSortPredicate
 {
-	public:
-		bool operator() ( const int& a, const int& b ) const
-		{
-			 return a < b;
-		}
+public:
+	bool operator()(const int& a, const int& b) const
+	{
+		return a < b;
+	}
 };
 
-
 template <typename T>
 struct btVectorX
 {
-	btAlignedObjectArray<T>	m_storage;
-	
+	btAlignedObjectArray<T> m_storage;
+
 	btVectorX()
 	{
 	}
@@ -49,7 +48,7 @@ struct btVectorX
 	{
 		m_storage.resize(numRows);
 	}
-	
+
 	void resize(int rows)
 	{
 		m_storage.resize(rows);
@@ -66,13 +65,13 @@ struct btVectorX
 	{
 		return rows();
 	}
-	
+
 	T nrm2() const
 	{
 		T norm = T(0);
-		
+
 		int nn = rows();
-		
+
 		{
 			if (nn == 1)
 			{
@@ -82,11 +81,11 @@ struct btVectorX
 			{
 				T scale = 0.0;
 				T ssq = 1.0;
-				
+
 				/* The following loop is equivalent to this call to the LAPACK
 				 auxiliary routine:   CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */
-				
-				for (int ix=0;ix<nn;ix++)
+
+				for (int ix = 0; ix < nn; ix++)
 				{
 					if ((*this)[ix] != 0.0)
 					{
@@ -110,38 +109,36 @@ struct btVectorX
 			}
 		}
 		return norm;
-		
 	}
-	void	setZero()
+	void setZero()
 	{
 		if (m_storage.size())
 		{
 			//	for (int i=0;i<m_storage.size();i++)
 			//		m_storage[i]=0;
 			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
-			btSetZero(&m_storage[0],m_storage.size());
+			btSetZero(&m_storage[0], m_storage.size());
 		}
 	}
-	const T& operator[] (int index) const
+	const T& operator[](int index) const
 	{
 		return m_storage[index];
 	}
-	
-	T& operator[] (int index)
+
+	T& operator[](int index)
 	{
 		return m_storage[index];
 	}
-	
+
 	T* getBufferPointerWritable()
 	{
 		return m_storage.size() ? &m_storage[0] : 0;
 	}
-	
+
 	const T* getBufferPointer() const
 	{
 		return m_storage.size() ? &m_storage[0] : 0;
 	}
-	
 };
 /*
  template <typename T>
@@ -151,8 +148,7 @@ struct btVectorX
  }
  */
 
-
-template <typename T> 
+template <typename T>
 struct btMatrixX
 {
 	int m_rows;
@@ -161,10 +157,10 @@ struct btMatrixX
 	int m_resizeOperations;
 	int m_setElemOperations;
 
-	btAlignedObjectArray<T>	m_storage;
-	mutable btAlignedObjectArray< btAlignedObjectArray<int> > m_rowNonZeroElements1;
+	btAlignedObjectArray<T> m_storage;
+	mutable btAlignedObjectArray<btAlignedObjectArray<int> > m_rowNonZeroElements1;
 
-	T* getBufferPointerWritable() 
+	T* getBufferPointerWritable()
 	{
 		return m_storage.size() ? &m_storage[0] : 0;
 	}
@@ -174,21 +170,21 @@ struct btMatrixX
 		return m_storage.size() ? &m_storage[0] : 0;
 	}
 	btMatrixX()
-		:m_rows(0),
-		m_cols(0),
-		m_operations(0),
-		m_resizeOperations(0),
-		m_setElemOperations(0)
+		: m_rows(0),
+		  m_cols(0),
+		  m_operations(0),
+		  m_resizeOperations(0),
+		  m_setElemOperations(0)
 	{
 	}
-	btMatrixX(int rows,int cols)
-		:m_rows(rows),
-		m_cols(cols),
-		m_operations(0),
-		m_resizeOperations(0),
-		m_setElemOperations(0)
+	btMatrixX(int rows, int cols)
+		: m_rows(rows),
+		  m_cols(cols),
+		  m_operations(0),
+		  m_resizeOperations(0),
+		  m_setElemOperations(0)
 	{
-		resize(rows,cols);
+		resize(rows, cols);
 	}
 	void resize(int rows, int cols)
 	{
@@ -197,7 +193,7 @@ struct btMatrixX
 		m_cols = cols;
 		{
 			BT_PROFILE("m_storage.resize");
-			m_storage.resize(rows*cols);
+			m_storage.resize(rows * cols);
 		}
 	}
 	int cols() const
@@ -215,108 +211,99 @@ struct btMatrixX
 	}
 	*/
 
-	void addElem(int row,int col, T val)
+	void addElem(int row, int col, T val)
 	{
 		if (val)
 		{
-			if (m_storage[col+row*m_cols]==0.f)
+			if (m_storage[col + row * m_cols] == 0.f)
 			{
-				setElem(row,col,val);
-			} else
+				setElem(row, col, val);
+			}
+			else
 			{
-				m_storage[row*m_cols+col] += val;
+				m_storage[row * m_cols + col] += val;
 			}
 		}
 	}
-	
-	
-	void setElem(int row,int col, T val)
+
+	void setElem(int row, int col, T val)
 	{
 		m_setElemOperations++;
-		m_storage[row*m_cols+col] = val;
+		m_storage[row * m_cols + col] = val;
 	}
-	
-	void mulElem(int row,int col, T val)
+
+	void mulElem(int row, int col, T val)
 	{
 		m_setElemOperations++;
 		//mul doesn't change sparsity info
 
-		m_storage[row*m_cols+col] *= val;
+		m_storage[row * m_cols + col] *= val;
 	}
-	
-	
-	
-	
+
 	void copyLowerToUpperTriangle()
 	{
-		int count=0;
-		for (int row=0;row<rows();row++)
+		int count = 0;
+		for (int row = 0; row < rows(); row++)
 		{
-			for (int col=0;col<row;col++)
+			for (int col = 0; col < row; col++)
 			{
-				setElem(col,row, (*this)(row,col));
+				setElem(col, row, (*this)(row, col));
 				count++;
-				
 			}
 		}
 		//printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
 	}
-	
-	const T& operator() (int row,int col) const
+
+	const T& operator()(int row, int col) const
 	{
-		return m_storage[col+row*m_cols];
+		return m_storage[col + row * m_cols];
 	}
 
-
 	void setZero()
 	{
 		{
 			BT_PROFILE("storage=0");
-			btSetZero(&m_storage[0],m_storage.size());
+			btSetZero(&m_storage[0], m_storage.size());
 			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
 			//for (int i=0;i<m_storage.size();i++)
-	//			m_storage[i]=0;
+			//			m_storage[i]=0;
 		}
 	}
-	
+
 	void setIdentity()
 	{
 		btAssert(rows() == cols());
-		
+
 		setZero();
-		for (int row=0;row<rows();row++)
+		for (int row = 0; row < rows(); row++)
 		{
-			setElem(row,row,1);
+			setElem(row, row, 1);
 		}
 	}
 
-	
-
-	void	printMatrix(const char* msg)
+	void printMatrix(const char* msg)
 	{
-		printf("%s ---------------------\n",msg);
-		for (int i=0;i<rows();i++)
+		printf("%s ---------------------\n", msg);
+		for (int i = 0; i < rows(); i++)
 		{
 			printf("\n");
-			for (int j=0;j<cols();j++)
+			for (int j = 0; j < cols(); j++)
 			{
-				printf("%2.1f\t",(*this)(i,j));
+				printf("%2.1f\t", (*this)(i, j));
 			}
 		}
 		printf("\n---------------------\n");
-
 	}
 
-
 	void rowComputeNonZeroElements() const
 	{
 		m_rowNonZeroElements1.resize(rows());
-		for (int i=0;i<rows();i++)
+		for (int i = 0; i < rows(); i++)
 		{
 			m_rowNonZeroElements1[i].resize(0);
-			for (int j=0;j<cols();j++)
+			for (int j = 0; j < cols(); j++)
 			{
-				if ((*this)(i,j)!=0.f)
+				if ((*this)(i, j) != 0.f)
 				{
 					m_rowNonZeroElements1[i].push_back(j);
 				}
@@ -326,54 +313,52 @@ struct btMatrixX
 	btMatrixX transpose() const
 	{
 		//transpose is optimized for sparse matrices
-		btMatrixX tr(m_cols,m_rows);
+		btMatrixX tr(m_cols, m_rows);
 		tr.setZero();
-		for (int i=0;i<m_cols;i++)
-			for (int j=0;j<m_rows;j++)
+		for (int i = 0; i < m_cols; i++)
+			for (int j = 0; j < m_rows; j++)
 			{
-				T v = (*this)(j,i);
+				T v = (*this)(j, i);
 				if (v)
 				{
-					tr.setElem(i,j,v);
+					tr.setElem(i, j, v);
 				}
 			}
 		return tr;
 	}
 
-
 	btMatrixX operator*(const btMatrixX& other)
 	{
 		//btMatrixX*btMatrixX implementation, brute force
 		btAssert(cols() == other.rows());
 
-		btMatrixX res(rows(),other.cols());
+		btMatrixX res(rows(), other.cols());
 		res.setZero();
-//		BT_PROFILE("btMatrixX mul");
-		for (int j=0; j < res.cols(); ++j)
+		//		BT_PROFILE("btMatrixX mul");
+		for (int j = 0; j < res.cols(); ++j)
 		{
 			{
-				for (int i=0; i < res.rows(); ++i)
+				for (int i = 0; i < res.rows(); ++i)
 				{
-					T dotProd=0;
-//					T dotProd2=0;
+					T dotProd = 0;
+					//					T dotProd2=0;
 					//int waste=0,waste2=0;
 
 					{
-//						bool useOtherCol = true;
+						//						bool useOtherCol = true;
 						{
-							for (int v=0;v<rows();v++)
+							for (int v = 0; v < rows(); v++)
 							{
-								T w = (*this)(i,v);
-								if (other(v,j)!=0.f)
+								T w = (*this)(i, v);
+								if (other(v, j) != 0.f)
 								{
-									dotProd+=w*other(v,j);	
+									dotProd += w * other(v, j);
 								}
-						
 							}
 						}
 					}
 					if (dotProd)
-						res.setElem(i,j,dotProd);
+						res.setElem(i, j, dotProd);
 				}
 			}
 		}
@@ -381,174 +366,166 @@ struct btMatrixX
 	}
 
 	// this assumes the 4th and 8th rows of B and C are zero.
-	void multiplyAdd2_p8r (const btScalar *B, const btScalar *C,  int numRows,  int numRowsOther ,int row, int col)
+	void multiplyAdd2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
 	{
-		const btScalar *bb = B;
-		for ( int i = 0;i<numRows;i++)
+		const btScalar* bb = B;
+		for (int i = 0; i < numRows; i++)
 		{
-			const btScalar *cc = C;
-			for ( int j = 0;j<numRowsOther;j++)
+			const btScalar* cc = C;
+			for (int j = 0; j < numRowsOther; j++)
 			{
 				btScalar sum;
-				sum  = bb[0]*cc[0];
-				sum += bb[1]*cc[1];
-				sum += bb[2]*cc[2];
-				sum += bb[4]*cc[4];
-				sum += bb[5]*cc[5];
-				sum += bb[6]*cc[6];
-				addElem(row+i,col+j,sum);
+				sum = bb[0] * cc[0];
+				sum += bb[1] * cc[1];
+				sum += bb[2] * cc[2];
+				sum += bb[4] * cc[4];
+				sum += bb[5] * cc[5];
+				sum += bb[6] * cc[6];
+				addElem(row + i, col + j, sum);
 				cc += 8;
 			}
 			bb += 8;
 		}
 	}
 
-	void multiply2_p8r (const btScalar *B, const btScalar *C,  int numRows,  int numRowsOther, int row, int col)
+	void multiply2_p8r(const btScalar* B, const btScalar* C, int numRows, int numRowsOther, int row, int col)
 	{
-		btAssert (numRows>0 && numRowsOther>0 && B && C);
-		const btScalar *bb = B;
-		for ( int i = 0;i<numRows;i++)
+		btAssert(numRows > 0 && numRowsOther > 0 && B && C);
+		const btScalar* bb = B;
+		for (int i = 0; i < numRows; i++)
 		{
-			const btScalar *cc = C;
-			for ( int j = 0;j<numRowsOther;j++)
+			const btScalar* cc = C;
+			for (int j = 0; j < numRowsOther; j++)
 			{
 				btScalar sum;
-				sum  = bb[0]*cc[0];
-				sum += bb[1]*cc[1];
-				sum += bb[2]*cc[2];
-				sum += bb[4]*cc[4];
-				sum += bb[5]*cc[5];
-				sum += bb[6]*cc[6];
-				setElem(row+i,col+j,sum);
+				sum = bb[0] * cc[0];
+				sum += bb[1] * cc[1];
+				sum += bb[2] * cc[2];
+				sum += bb[4] * cc[4];
+				sum += bb[5] * cc[5];
+				sum += bb[6] * cc[6];
+				setElem(row + i, col + j, sum);
 				cc += 8;
 			}
 			bb += 8;
 		}
 	}
-	
-	void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const T value)
+
+	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const T value)
 	{
-		int numRows = rowend+1-rowstart;
-		int numCols = colend+1-colstart;
-		
-		for (int row=0;row<numRows;row++)
+		int numRows = rowend + 1 - rowstart;
+		int numCols = colend + 1 - colstart;
+
+		for (int row = 0; row < numRows; row++)
 		{
-			for (int col=0;col<numCols;col++)
+			for (int col = 0; col < numCols; col++)
 			{
-				setElem(rowstart+row,colstart+col,value);
+				setElem(rowstart + row, colstart + col, value);
 			}
 		}
 	}
-	
-	void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btMatrixX& block)
+
+	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btMatrixX& block)
 	{
-		btAssert(rowend+1-rowstart == block.rows());
-		btAssert(colend+1-colstart == block.cols());
-		for (int row=0;row<block.rows();row++)
+		btAssert(rowend + 1 - rowstart == block.rows());
+		btAssert(colend + 1 - colstart == block.cols());
+		for (int row = 0; row < block.rows(); row++)
 		{
-			for (int col=0;col<block.cols();col++)
+			for (int col = 0; col < block.cols(); col++)
 			{
-				setElem(rowstart+row,colstart+col,block(row,col));
+				setElem(rowstart + row, colstart + col, block(row, col));
 			}
 		}
 	}
-	void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btVectorX<T>& block)
+	void setSubMatrix(int rowstart, int colstart, int rowend, int colend, const btVectorX<T>& block)
 	{
-		btAssert(rowend+1-rowstart == block.rows());
-		btAssert(colend+1-colstart == block.cols());
-		for (int row=0;row<block.rows();row++)
+		btAssert(rowend + 1 - rowstart == block.rows());
+		btAssert(colend + 1 - colstart == block.cols());
+		for (int row = 0; row < block.rows(); row++)
 		{
-			for (int col=0;col<block.cols();col++)
+			for (int col = 0; col < block.cols(); col++)
 			{
-				setElem(rowstart+row,colstart+col,block[row]);
+				setElem(rowstart + row, colstart + col, block[row]);
 			}
 		}
 	}
-	
-	
+
 	btMatrixX negative()
 	{
-		btMatrixX neg(rows(),cols());
-		for (int i=0;i<rows();i++)
-			for (int j=0;j<cols();j++)
+		btMatrixX neg(rows(), cols());
+		for (int i = 0; i < rows(); i++)
+			for (int j = 0; j < cols(); j++)
 			{
-				T v = (*this)(i,j);
-				neg.setElem(i,j,-v);
+				T v = (*this)(i, j);
+				neg.setElem(i, j, -v);
 			}
 		return neg;
 	}
-
 };
 
-
-
 typedef btMatrixX<float> btMatrixXf;
 typedef btVectorX<float> btVectorXf;
 
 typedef btMatrixX<double> btMatrixXd;
 typedef btVectorX<double> btVectorXd;
 
-
 #ifdef BT_DEBUG_OSTREAM
-template <typename T> 
-std::ostream& operator<< (std::ostream& os, const btMatrixX<T>& mat)
+template <typename T>
+std::ostream& operator<<(std::ostream& os, const btMatrixX<T>& mat)
+{
+	os << " [";
+	//printf("%s ---------------------\n",msg);
+	for (int i = 0; i < mat.rows(); i++)
 	{
-		
-		os << " [";
-		//printf("%s ---------------------\n",msg);
-		for (int i=0;i<mat.rows();i++)
+		for (int j = 0; j < mat.cols(); j++)
 		{
-			for (int j=0;j<mat.cols();j++)
-			{
-				os << std::setw(12) << mat(i,j);
-			}
-			if (i!=mat.rows()-1)
-				os << std::endl << "  ";
+			os << std::setw(12) << mat(i, j);
 		}
-		os << " ]";
-		//printf("\n---------------------\n");
-
-		return os;
+		if (i != mat.rows() - 1)
+			os << std::endl
+			   << "  ";
 	}
-template <typename T> 
-std::ostream& operator<< (std::ostream& os, const btVectorX<T>& mat)
-	{
-		
-		os << " [";
-		//printf("%s ---------------------\n",msg);
-		for (int i=0;i<mat.rows();i++)
-		{
-				os << std::setw(12) << mat[i];
-			if (i!=mat.rows()-1)
-				os << std::endl << "  ";
-		}
-		os << " ]";
-		//printf("\n---------------------\n");
+	os << " ]";
+	//printf("\n---------------------\n");
 
-		return os;
+	return os;
+}
+template <typename T>
+std::ostream& operator<<(std::ostream& os, const btVectorX<T>& mat)
+{
+	os << " [";
+	//printf("%s ---------------------\n",msg);
+	for (int i = 0; i < mat.rows(); i++)
+	{
+		os << std::setw(12) << mat[i];
+		if (i != mat.rows() - 1)
+			os << std::endl
+			   << "  ";
 	}
+	os << " ]";
+	//printf("\n---------------------\n");
 
-#endif //BT_DEBUG_OSTREAM
+	return os;
+}
 
+#endif  //BT_DEBUG_OSTREAM
 
 inline void setElem(btMatrixXd& mat, int row, int col, double val)
 {
-	mat.setElem(row,col,val);
+	mat.setElem(row, col, val);
 }
 
 inline void setElem(btMatrixXf& mat, int row, int col, float val)
 {
-	mat.setElem(row,col,val);
+	mat.setElem(row, col, val);
 }
 
 #ifdef BT_USE_DOUBLE_PRECISION
-	#define btVectorXu btVectorXd
-	#define btMatrixXu btMatrixXd
+#define btVectorXu btVectorXd
+#define btMatrixXu btMatrixXd
 #else
-	#define btVectorXu btVectorXf
-	#define btMatrixXu btMatrixXf
-#endif //BT_USE_DOUBLE_PRECISION
-
-
+#define btVectorXu btVectorXf
+#define btMatrixXu btMatrixXf
+#endif  //BT_USE_DOUBLE_PRECISION
 
-#endif//BT_MATRIX_H_H
+#endif  //BT_MATRIX_H_H
diff --git a/thirdparty/bullet/LinearMath/btMinMax.h b/thirdparty/bullet/LinearMath/btMinMax.h
index 5b436e9ba4..92fea0275a 100644
--- a/thirdparty/bullet/LinearMath/btMinMax.h
+++ b/thirdparty/bullet/LinearMath/btMinMax.h
@@ -12,60 +12,58 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_GEN_MINMAX_H
 #define BT_GEN_MINMAX_H
 
 #include "btScalar.h"
 
 template <class T>
-SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) 
+SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
 {
-  return a < b ? a : b ;
+	return a < b ? a : b;
 }
 
 template <class T>
-SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b) 
+SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
 {
-  return  a > b ? a : b;
+	return a > b ? a : b;
 }
 
 template <class T>
-SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub) 
+SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub)
 {
-	return a < lb ? lb : (ub < a ? ub : a); 
+	return a < lb ? lb : (ub < a ? ub : a);
 }
 
 template <class T>
-SIMD_FORCE_INLINE void btSetMin(T& a, const T& b) 
+SIMD_FORCE_INLINE void btSetMin(T& a, const T& b)
 {
-    if (b < a) 
+	if (b < a)
 	{
 		a = b;
 	}
 }
 
 template <class T>
-SIMD_FORCE_INLINE void btSetMax(T& a, const T& b) 
+SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
 {
-    if (a < b) 
+	if (a < b)
 	{
 		a = b;
 	}
 }
 
 template <class T>
-SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub) 
+SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub)
 {
-	if (a < lb) 
+	if (a < lb)
 	{
-		a = lb; 
+		a = lb;
 	}
-	else if (ub < a) 
+	else if (ub < a)
 	{
 		a = ub;
 	}
 }
 
-#endif //BT_GEN_MINMAX_H
+#endif  //BT_GEN_MINMAX_H
diff --git a/thirdparty/bullet/LinearMath/btMotionState.h b/thirdparty/bullet/LinearMath/btMotionState.h
index 9431814090..ae6a51611d 100644
--- a/thirdparty/bullet/LinearMath/btMotionState.h
+++ b/thirdparty/bullet/LinearMath/btMotionState.h
@@ -20,21 +20,17 @@ subject to the following restrictions:
 
 ///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics
 ///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation)
-class	btMotionState
+class btMotionState
 {
-	public:
-		
-		virtual ~btMotionState()
-		{
-			
-		}
-		
-		virtual void	getWorldTransform(btTransform& worldTrans ) const =0;
-
-		//Bullet only calls the update of worldtransform for active objects
-		virtual void	setWorldTransform(const btTransform& worldTrans)=0;
-		
-	
+public:
+	virtual ~btMotionState()
+	{
+	}
+
+	virtual void getWorldTransform(btTransform& worldTrans) const = 0;
+
+	//Bullet only calls the update of worldtransform for active objects
+	virtual void setWorldTransform(const btTransform& worldTrans) = 0;
 };
 
-#endif //BT_MOTIONSTATE_H
+#endif  //BT_MOTIONSTATE_H
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp b/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
index b3664faa4e..d9c72a8014 100644
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
+++ b/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
@@ -3,96 +3,92 @@
 
 namespace
 {
-  btScalar abs_column_sum(const btMatrix3x3& a, int i)
-  {
-    return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
-  }
-
-  btScalar abs_row_sum(const btMatrix3x3& a, int i)
-  {
-    return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
-  }
-
-  btScalar p1_norm(const btMatrix3x3& a)
-  {
-    const btScalar sum0 = abs_column_sum(a,0);
-    const btScalar sum1 = abs_column_sum(a,1);
-    const btScalar sum2 = abs_column_sum(a,2);
-    return btMax(btMax(sum0, sum1), sum2);
-  }
-
-  btScalar pinf_norm(const btMatrix3x3& a)
-  {
-    const btScalar sum0 = abs_row_sum(a,0);
-    const btScalar sum1 = abs_row_sum(a,1);
-    const btScalar sum2 = abs_row_sum(a,2);
-    return btMax(btMax(sum0, sum1), sum2);
-  }
+btScalar abs_column_sum(const btMatrix3x3& a, int i)
+{
+	return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
 }
 
+btScalar abs_row_sum(const btMatrix3x3& a, int i)
+{
+	return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
+}
 
+btScalar p1_norm(const btMatrix3x3& a)
+{
+	const btScalar sum0 = abs_column_sum(a, 0);
+	const btScalar sum1 = abs_column_sum(a, 1);
+	const btScalar sum2 = abs_column_sum(a, 2);
+	return btMax(btMax(sum0, sum1), sum2);
+}
+
+btScalar pinf_norm(const btMatrix3x3& a)
+{
+	const btScalar sum0 = abs_row_sum(a, 0);
+	const btScalar sum1 = abs_row_sum(a, 1);
+	const btScalar sum2 = abs_row_sum(a, 2);
+	return btMax(btMax(sum0, sum1), sum2);
+}
+}  // namespace
 
 btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations)
-: m_tolerance(tolerance)
-, m_maxIterations(maxIterations)
+	: m_tolerance(tolerance), m_maxIterations(maxIterations)
 {
 }
 
 unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const
 {
-  // Use the 'u' and 'h' matrices for intermediate calculations
-  u = a;
-  h = a.inverse();
-
-  for (unsigned int i = 0; i < m_maxIterations; ++i)
-  {
-    const btScalar h_1 = p1_norm(h);
-    const btScalar h_inf = pinf_norm(h);
-    const btScalar u_1 = p1_norm(u);
-    const btScalar u_inf = pinf_norm(u);
-
-    const btScalar h_norm = h_1 * h_inf;
-    const btScalar u_norm = u_1 * u_inf;
-
-    // The matrix is effectively singular so we cannot invert it
-    if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
-      break;
-
-    const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
-    const btScalar inv_gamma = btScalar(1.0) / gamma;
-
-    // Determine the delta to 'u'
-    const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5);
-
-    // Update the matrices
-    u += delta;
-    h = u.inverse();
-
-    // Check for convergence
-    if (p1_norm(delta) <= m_tolerance * u_1)
-    {
-      h = u.transpose() * a;
-      h = (h + h.transpose()) * 0.5;
-      return i;
-    }
-  }
-
-  // The algorithm has failed to converge to the specified tolerance, but we
-  // want to make sure that the matrices returned are in the right form.
-  h = u.transpose() * a;
-  h = (h + h.transpose()) * 0.5;
-
-  return m_maxIterations;
+	// Use the 'u' and 'h' matrices for intermediate calculations
+	u = a;
+	h = a.inverse();
+
+	for (unsigned int i = 0; i < m_maxIterations; ++i)
+	{
+		const btScalar h_1 = p1_norm(h);
+		const btScalar h_inf = pinf_norm(h);
+		const btScalar u_1 = p1_norm(u);
+		const btScalar u_inf = pinf_norm(u);
+
+		const btScalar h_norm = h_1 * h_inf;
+		const btScalar u_norm = u_1 * u_inf;
+
+		// The matrix is effectively singular so we cannot invert it
+		if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
+			break;
+
+		const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
+		const btScalar inv_gamma = btScalar(1.0) / gamma;
+
+		// Determine the delta to 'u'
+		const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5);
+
+		// Update the matrices
+		u += delta;
+		h = u.inverse();
+
+		// Check for convergence
+		if (p1_norm(delta) <= m_tolerance * u_1)
+		{
+			h = u.transpose() * a;
+			h = (h + h.transpose()) * 0.5;
+			return i;
+		}
+	}
+
+	// The algorithm has failed to converge to the specified tolerance, but we
+	// want to make sure that the matrices returned are in the right form.
+	h = u.transpose() * a;
+	h = (h + h.transpose()) * 0.5;
+
+	return m_maxIterations;
 }
 
 unsigned int btPolarDecomposition::maxIterations() const
 {
-  return m_maxIterations;
+	return m_maxIterations;
 }
 
 unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h)
 {
-  static btPolarDecomposition polar;
-  return polar.decompose(a, u, h);
+	static btPolarDecomposition polar;
+	return polar.decompose(a, u, h);
 }
-
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/LinearMath/btPolarDecomposition.h
index 1feea0f78e..bf29140a14 100644
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.h
+++ b/thirdparty/bullet/LinearMath/btPolarDecomposition.h
@@ -13,10 +13,8 @@
  */
 class btPolarDecomposition
 {
-  public:
-   
-
-    /**
+public:
+	/**
      * Creates an instance with optional parameters.
      *
      * @param tolerance     - the tolerance used to determine convergence of the
@@ -24,10 +22,10 @@ class btPolarDecomposition
      * @param maxIterations - the maximum number of iterations used to achieve
      *                        convergence
      */
-    btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
-      unsigned int maxIterations = 16);
+	btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
+						 unsigned int maxIterations = 16);
 
-    /**
+	/**
      * Decomposes a matrix into orthogonal and symmetric, positive-definite
      * parts. If the number of iterations returned by this function is equal to
      * the maximum number of iterations, the algorithm has failed to converge.
@@ -38,19 +36,19 @@ class btPolarDecomposition
      *
      * @return the number of iterations performed by the algorithm.
      */
-    unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; 
+	unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
 
-    /**
+	/**
      * Returns the maximum number of iterations that this algorithm will perform
      * to achieve convergence.
      *
      * @return maximum number of iterations
      */
-    unsigned int maxIterations() const;
+	unsigned int maxIterations() const;
 
-  private:
-    btScalar m_tolerance;
-    unsigned int m_maxIterations;
+private:
+	btScalar m_tolerance;
+	unsigned int m_maxIterations;
 };
 
 /**
@@ -66,7 +64,6 @@ class btPolarDecomposition
  *
  * @return the number of iterations performed by the algorithm.
  */
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); 
-
-#endif // POLARDECOMPOSITION_H
+unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
 
+#endif  // POLARDECOMPOSITION_H
diff --git a/thirdparty/bullet/LinearMath/btPoolAllocator.h b/thirdparty/bullet/LinearMath/btPoolAllocator.h
index efdeda8ffc..4e7b49660a 100644
--- a/thirdparty/bullet/LinearMath/btPoolAllocator.h
+++ b/thirdparty/bullet/LinearMath/btPoolAllocator.h
@@ -12,7 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef _BT_POOL_ALLOCATOR_H
 #define _BT_POOL_ALLOCATOR_H
 
@@ -23,38 +22,38 @@ subject to the following restrictions:
 ///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately.
 class btPoolAllocator
 {
-	int				m_elemSize;
-	int				m_maxElements;
-	int				m_freeCount;
-	void*			m_firstFree;
-	unsigned char*	m_pool;
-    btSpinMutex     m_mutex;  // only used if BT_THREADSAFE
+	int m_elemSize;
+	int m_maxElements;
+	int m_freeCount;
+	void* m_firstFree;
+	unsigned char* m_pool;
+	btSpinMutex m_mutex;  // only used if BT_THREADSAFE
 
 public:
-
 	btPoolAllocator(int elemSize, int maxElements)
-		:m_elemSize(elemSize),
-		m_maxElements(maxElements)
+		: m_elemSize(elemSize),
+		  m_maxElements(maxElements)
 	{
-		m_pool = (unsigned char*) btAlignedAlloc( static_cast<unsigned int>(m_elemSize*m_maxElements),16);
+		m_pool = (unsigned char*)btAlignedAlloc(static_cast<unsigned int>(m_elemSize * m_maxElements), 16);
 
 		unsigned char* p = m_pool;
-        m_firstFree = p;
-        m_freeCount = m_maxElements;
-        int count = m_maxElements;
-        while (--count) {
-            *(void**)p = (p + m_elemSize);
-            p += m_elemSize;
-        }
-        *(void**)p = 0;
-    }
+		m_firstFree = p;
+		m_freeCount = m_maxElements;
+		int count = m_maxElements;
+		while (--count)
+		{
+			*(void**)p = (p + m_elemSize);
+			p += m_elemSize;
+		}
+		*(void**)p = 0;
+	}
 
 	~btPoolAllocator()
 	{
-		btAlignedFree( m_pool);
+		btAlignedFree(m_pool);
 	}
 
-	int	getFreeCount() const
+	int getFreeCount() const
 	{
 		return m_freeCount;
 	}
@@ -69,26 +68,27 @@ public:
 		return m_maxElements;
 	}
 
-	void*	allocate(int size)
+	void* allocate(int size)
 	{
 		// release mode fix
 		(void)size;
-        btMutexLock(&m_mutex);
-		btAssert(!size || size<=m_elemSize);
+		btMutexLock(&m_mutex);
+		btAssert(!size || size <= m_elemSize);
 		//btAssert(m_freeCount>0);  // should return null if all full
-        void* result = m_firstFree;
-        if (NULL != m_firstFree)
-        {
-            m_firstFree = *(void**)m_firstFree;
-            --m_freeCount;
-        }
-        btMutexUnlock(&m_mutex);
-        return result;
+		void* result = m_firstFree;
+		if (NULL != m_firstFree)
+		{
+			m_firstFree = *(void**)m_firstFree;
+			--m_freeCount;
+		}
+		btMutexUnlock(&m_mutex);
+		return result;
 	}
 
 	bool validPtr(void* ptr)
 	{
-		if (ptr) {
+		if (ptr)
+		{
 			if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize))
 			{
 				return true;
@@ -97,34 +97,34 @@ public:
 		return false;
 	}
 
-	void	freeMemory(void* ptr)
+	void freeMemory(void* ptr)
 	{
-		 if (ptr) {
-            btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
-
-            btMutexLock(&m_mutex);
-            *(void**)ptr = m_firstFree;
-            m_firstFree = ptr;
-            ++m_freeCount;
-            btMutexUnlock(&m_mutex);
-        }
+		if (ptr)
+		{
+			btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
+
+			btMutexLock(&m_mutex);
+			*(void**)ptr = m_firstFree;
+			m_firstFree = ptr;
+			++m_freeCount;
+			btMutexUnlock(&m_mutex);
+		}
 	}
 
-	int	getElementSize() const
+	int getElementSize() const
 	{
 		return m_elemSize;
 	}
 
-	unsigned char*	getPoolAddress()
+	unsigned char* getPoolAddress()
 	{
 		return m_pool;
 	}
 
-	const unsigned char*	getPoolAddress() const
+	const unsigned char* getPoolAddress() const
 	{
 		return m_pool;
 	}
-
 };
 
-#endif //_BT_POOL_ALLOCATOR_H
+#endif  //_BT_POOL_ALLOCATOR_H
diff --git a/thirdparty/bullet/LinearMath/btQuadWord.h b/thirdparty/bullet/LinearMath/btQuadWord.h
index fcfb3be444..ab2d3175ad 100644
--- a/thirdparty/bullet/LinearMath/btQuadWord.h
+++ b/thirdparty/bullet/LinearMath/btQuadWord.h
@@ -12,18 +12,13 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_SIMD_QUADWORD_H
 #define BT_SIMD_QUADWORD_H
 
 #include "btScalar.h"
 #include "btMinMax.h"
 
-
-
-
-
-#if defined (__CELLOS_LV2) && defined (__SPU__)
+#if defined(__CELLOS_LV2) && defined(__SPU__)
 #include <altivec.h>
 #endif
 
@@ -31,51 +26,53 @@ subject to the following restrictions:
  * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
  */
 #ifndef USE_LIBSPE2
-ATTRIBUTE_ALIGNED16(class) btQuadWord
+ATTRIBUTE_ALIGNED16(class)
+btQuadWord
 #else
 class btQuadWord
 #endif
 {
 protected:
-
-#if defined (__SPU__) && defined (__CELLOS_LV2__)
+#if defined(__SPU__) && defined(__CELLOS_LV2__)
 	union {
 		vec_float4 mVec128;
-		btScalar	m_floats[4];
+		btScalar m_floats[4];
 	};
+
 public:
-	vec_float4	get128() const
+	vec_float4 get128() const
 	{
 		return mVec128;
 	}
+
 protected:
-#else //__CELLOS_LV2__ __SPU__
+#else  //__CELLOS_LV2__ __SPU__
 
-#if defined(BT_USE_SSE) || defined(BT_USE_NEON) 
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
 	union {
 		btSimdFloat4 mVec128;
-		btScalar	m_floats[4];
+		btScalar m_floats[4];
 	};
+
 public:
-	SIMD_FORCE_INLINE	btSimdFloat4	get128() const
+	SIMD_FORCE_INLINE btSimdFloat4 get128() const
 	{
 		return mVec128;
 	}
-	SIMD_FORCE_INLINE	void	set128(btSimdFloat4 v128)
+	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
 	{
 		mVec128 = v128;
 	}
 #else
-	btScalar	m_floats[4];
-#endif // BT_USE_SSE
+	btScalar m_floats[4];
+#endif  // BT_USE_SSE
 
-#endif //__CELLOS_LV2__ __SPU__
+#endif  //__CELLOS_LV2__ __SPU__
 
-	public:
-  
+public:
 #if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
 
-	// Set Vector 
+	// Set Vector
 	SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
 	{
 		mVec128 = vec;
@@ -88,157 +85,154 @@ public:
 	}
 
 	// Assignment Operator
-	SIMD_FORCE_INLINE btQuadWord& 
-	operator=(const btQuadWord& v) 
+	SIMD_FORCE_INLINE btQuadWord&
+	operator=(const btQuadWord& v)
 	{
 		mVec128 = v.mVec128;
-		
+
 		return *this;
 	}
-	
+
 #endif
 
-  /**@brief Return the x value */
-		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
-  /**@brief Set the x value */
-		SIMD_FORCE_INLINE void	setX(btScalar _x) { m_floats[0] = _x;};
-  /**@brief Set the y value */
-		SIMD_FORCE_INLINE void	setY(btScalar _y) { m_floats[1] = _y;};
-  /**@brief Set the z value */
-		SIMD_FORCE_INLINE void	setZ(btScalar _z) { m_floats[2] = _z;};
-  /**@brief Set the w value */
-		SIMD_FORCE_INLINE void	setW(btScalar _w) { m_floats[3] = _w;};
-  /**@brief Return the x value */
-		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
-  /**@brief Return the w value */
-		SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
-
-	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	/**@brief Return the x value */
+	SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
+	/**@brief Set the x value */
+	SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
+	/**@brief Set the y value */
+	SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
+	/**@brief Set the z value */
+	SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
+	/**@brief Set the w value */
+	SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
+	/**@brief Return the x value */
+	SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
+	/**@brief Return the w value */
+	SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
+
+	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}
 	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
 	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
-	SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }
+	SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
+	SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
 
-	SIMD_FORCE_INLINE	bool	operator==(const btQuadWord& other) const
+	SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
 	{
 #ifdef BT_USE_SSE
-        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else 
-		return ((m_floats[3]==other.m_floats[3]) && 
-                (m_floats[2]==other.m_floats[2]) && 
-                (m_floats[1]==other.m_floats[1]) && 
-                (m_floats[0]==other.m_floats[0]));
+		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else
+		return ((m_floats[3] == other.m_floats[3]) &&
+				(m_floats[2] == other.m_floats[2]) &&
+				(m_floats[1] == other.m_floats[1]) &&
+				(m_floats[0] == other.m_floats[0]));
 #endif
 	}
 
-	SIMD_FORCE_INLINE	bool	operator!=(const btQuadWord& other) const
+	SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
 	{
 		return !(*this == other);
 	}
 
-  /**@brief Set x,y,z and zero w 
+	/**@brief Set x,y,z and zero w 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		SIMD_FORCE_INLINE void 	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3] = 0.f;
-		}
+	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = 0.f;
+	}
 
-/*		void getValue(btScalar *m) const 
+	/*		void getValue(btScalar *m) const 
 		{
 			m[0] = m_floats[0];
 			m[1] = m_floats[1];
 			m[2] = m_floats[2];
 		}
 */
-/**@brief Set the values 
+	/**@brief Set the values 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE void	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3]=_w;
-		}
-  /**@brief No initialization constructor */
-		SIMD_FORCE_INLINE btQuadWord()
-		//	:m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
-		{
-		}
- 
-  /**@brief Three argument constructor (zeros w)
+	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = _w;
+	}
+	/**@brief No initialization constructor */
+	SIMD_FORCE_INLINE btQuadWord()
+	//	:m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
+	{
+	}
+
+	/**@brief Three argument constructor (zeros w)
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)		
-		{
-			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
-		}
+	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
+	{
+		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
+	}
 
-/**@brief Initializing constructor
+	/**@brief Initializing constructor
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
-		{
-			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
-		}
+	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
+	{
+		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
+	}
 
-  /**@brief Set each element to the max of the current values and the values of another btQuadWord
+	/**@brief Set each element to the max of the current values and the values of another btQuadWord
    * @param other The other btQuadWord to compare with 
    */
-		SIMD_FORCE_INLINE void	setMax(const btQuadWord& other)
-		{
-        #ifdef BT_USE_SSE
-            mVec128 = _mm_max_ps(mVec128, other.mVec128);
-        #elif defined(BT_USE_NEON)
-            mVec128 = vmaxq_f32(mVec128, other.mVec128);
-        #else
-        	btSetMax(m_floats[0], other.m_floats[0]);
-			btSetMax(m_floats[1], other.m_floats[1]);
-			btSetMax(m_floats[2], other.m_floats[2]);
-			btSetMax(m_floats[3], other.m_floats[3]);
-		#endif
-        }
-  /**@brief Set each element to the min of the current values and the values of another btQuadWord
+	SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
+	{
+#ifdef BT_USE_SSE
+		mVec128 = _mm_max_ps(mVec128, other.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vmaxq_f32(mVec128, other.mVec128);
+#else
+		btSetMax(m_floats[0], other.m_floats[0]);
+		btSetMax(m_floats[1], other.m_floats[1]);
+		btSetMax(m_floats[2], other.m_floats[2]);
+		btSetMax(m_floats[3], other.m_floats[3]);
+#endif
+	}
+	/**@brief Set each element to the min of the current values and the values of another btQuadWord
    * @param other The other btQuadWord to compare with 
    */
-		SIMD_FORCE_INLINE void	setMin(const btQuadWord& other)
-		{
-        #ifdef BT_USE_SSE
-            mVec128 = _mm_min_ps(mVec128, other.mVec128);
-        #elif defined(BT_USE_NEON)
-            mVec128 = vminq_f32(mVec128, other.mVec128);
-        #else
-        	btSetMin(m_floats[0], other.m_floats[0]);
-			btSetMin(m_floats[1], other.m_floats[1]);
-			btSetMin(m_floats[2], other.m_floats[2]);
-			btSetMin(m_floats[3], other.m_floats[3]);
-		#endif
-        }
-
-
-
+	SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
+	{
+#ifdef BT_USE_SSE
+		mVec128 = _mm_min_ps(mVec128, other.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vminq_f32(mVec128, other.mVec128);
+#else
+		btSetMin(m_floats[0], other.m_floats[0]);
+		btSetMin(m_floats[1], other.m_floats[1]);
+		btSetMin(m_floats[2], other.m_floats[2]);
+		btSetMin(m_floats[3], other.m_floats[3]);
+#endif
+	}
 };
 
-#endif //BT_SIMD_QUADWORD_H
+#endif  //BT_SIMD_QUADWORD_H
diff --git a/thirdparty/bullet/LinearMath/btQuaternion.h b/thirdparty/bullet/LinearMath/btQuaternion.h
index 7bd39e6a33..53e8169b80 100644
--- a/thirdparty/bullet/LinearMath/btQuaternion.h
+++ b/thirdparty/bullet/LinearMath/btQuaternion.h
@@ -12,25 +12,19 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_SIMD__QUATERNION_H_
 #define BT_SIMD__QUATERNION_H_
 
-
 #include "btVector3.h"
 #include "btQuadWord.h"
 
-
 #ifdef BT_USE_DOUBLE_PRECISION
 #define btQuaternionData btQuaternionDoubleData
 #define btQuaternionDataName "btQuaternionDoubleData"
 #else
 #define btQuaternionData btQuaternionFloatData
 #define btQuaternionDataName "btQuaternionFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
+#endif  //BT_USE_DOUBLE_PRECISION
 
 #ifdef BT_USE_SSE
 
@@ -39,7 +33,7 @@ subject to the following restrictions:
 
 #endif
 
-#if defined(BT_USE_SSE) 
+#if defined(BT_USE_SSE)
 
 #define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f))
 #define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f))
@@ -52,13 +46,14 @@ const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
 #endif
 
 /**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
-class btQuaternion : public btQuadWord {
+class btQuaternion : public btQuadWord
+{
 public:
-  /**@brief No initialization constructor */
+	/**@brief No initialization constructor */
 	btQuaternion() {}
 
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))|| defined(BT_USE_NEON) 
-	// Set Vector 
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+	// Set Vector
 	SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec)
 	{
 		mVec128 = vec;
@@ -71,42 +66,43 @@ public:
 	}
 
 	// Assignment Operator
-	SIMD_FORCE_INLINE btQuaternion& 
-	operator=(const btQuaternion& v) 
+	SIMD_FORCE_INLINE btQuaternion&
+	operator=(const btQuaternion& v)
 	{
 		mVec128 = v.mVec128;
-		
+
 		return *this;
 	}
-	
+
 #endif
 
 	//		template <typename btScalar>
 	//		explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
-  /**@brief Constructor from scalars */
-	btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w) 
-		: btQuadWord(_x, _y, _z, _w) 
-	{}
-  /**@brief Axis angle Constructor
+	/**@brief Constructor from scalars */
+	btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
+		: btQuadWord(_x, _y, _z, _w)
+	{
+	}
+	/**@brief Axis angle Constructor
    * @param axis The axis which the rotation is around
    * @param angle The magnitude of the rotation around the angle (Radians) */
-	btQuaternion(const btVector3& _axis, const btScalar& _angle) 
-	{ 
-		setRotation(_axis, _angle); 
+	btQuaternion(const btVector3& _axis, const btScalar& _angle)
+	{
+		setRotation(_axis, _angle);
 	}
-  /**@brief Constructor from Euler angles
+	/**@brief Constructor from Euler angles
    * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
    * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
    * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */
 	btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
-	{ 
+	{
 #ifndef BT_EULER_DEFAULT_ZYX
-		setEuler(yaw, pitch, roll); 
+		setEuler(yaw, pitch, roll);
 #else
-		setEulerZYX(yaw, pitch, roll); 
-#endif 
+		setEulerZYX(yaw, pitch, roll);
+#endif
 	}
-  /**@brief Set the rotation using axis angle notation 
+	/**@brief Set the rotation using axis angle notation 
    * @param axis The axis around which to rotate
    * @param angle The magnitude of the rotation in Radians */
 	void setRotation(const btVector3& axis, const btScalar& _angle)
@@ -114,18 +110,18 @@ public:
 		btScalar d = axis.length();
 		btAssert(d != btScalar(0.0));
 		btScalar s = btSin(_angle * btScalar(0.5)) / d;
-		setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
-			btCos(_angle * btScalar(0.5)));
+		setValue(axis.x() * s, axis.y() * s, axis.z() * s,
+				 btCos(_angle * btScalar(0.5)));
 	}
-  /**@brief Set the quaternion using Euler angles
+	/**@brief Set the quaternion using Euler angles
    * @param yaw Angle around Y
    * @param pitch Angle around X
    * @param roll Angle around Z */
 	void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
 	{
-		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);  
-		btScalar halfPitch = btScalar(pitch) * btScalar(0.5);  
-		btScalar halfRoll = btScalar(roll) * btScalar(0.5);  
+		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);
+		btScalar halfPitch = btScalar(pitch) * btScalar(0.5);
+		btScalar halfRoll = btScalar(roll) * btScalar(0.5);
 		btScalar cosYaw = btCos(halfYaw);
 		btScalar sinYaw = btSin(halfYaw);
 		btScalar cosPitch = btCos(halfPitch);
@@ -133,32 +129,32 @@ public:
 		btScalar cosRoll = btCos(halfRoll);
 		btScalar sinRoll = btSin(halfRoll);
 		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
-			cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
-			sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
-			cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
+				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
+				 sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
+				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
 	}
-  /**@brief Set the quaternion using euler angles 
+	/**@brief Set the quaternion using euler angles 
    * @param yaw Angle around Z
    * @param pitch Angle around Y
    * @param roll Angle around X */
 	void setEulerZYX(const btScalar& yawZ, const btScalar& pitchY, const btScalar& rollX)
 	{
-		btScalar halfYaw = btScalar(yawZ) * btScalar(0.5);  
-		btScalar halfPitch = btScalar(pitchY) * btScalar(0.5);  
-		btScalar halfRoll = btScalar(rollX) * btScalar(0.5);  
+		btScalar halfYaw = btScalar(yawZ) * btScalar(0.5);
+		btScalar halfPitch = btScalar(pitchY) * btScalar(0.5);
+		btScalar halfRoll = btScalar(rollX) * btScalar(0.5);
 		btScalar cosYaw = btCos(halfYaw);
 		btScalar sinYaw = btSin(halfYaw);
 		btScalar cosPitch = btCos(halfPitch);
 		btScalar sinPitch = btSin(halfPitch);
 		btScalar cosRoll = btCos(halfRoll);
 		btScalar sinRoll = btSin(halfRoll);
-		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x
-                         cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y
-                         cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z
-                         cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx
+		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,   //x
+				 cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,   //y
+				 cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,   //z
+				 cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);  //formerly yzx
 	}
 
-	  /**@brief Get the euler angles from this quaternion
+	/**@brief Get the euler angles from this quaternion
 	   * @param yaw Angle around Z
 	   * @param pitch Angle around Y
 	   * @param roll Angle around X */
@@ -173,184 +169,204 @@ public:
 		sqy = m_floats[1] * m_floats[1];
 		sqz = m_floats[2] * m_floats[2];
 		squ = m_floats[3] * m_floats[3];
-		rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
 		sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
-		pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg));
-		yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
+
+		// If the pitch angle is PI/2 or -PI/2, we can only compute
+		// the sum roll + yaw.  However, any combination that gives
+		// the right sum will produce the correct orientation, so we
+		// set rollX = 0 and compute yawZ.
+		if (sarg <= -btScalar(0.99999))
+		{
+			pitchY = btScalar(-0.5) * SIMD_PI;
+			rollX = 0;
+			yawZ = btScalar(2) * btAtan2(m_floats[0], -m_floats[1]);
+		}
+		else if (sarg >= btScalar(0.99999))
+		{
+			pitchY = btScalar(0.5) * SIMD_PI;
+			rollX = 0;
+			yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]);
+		}
+		else
+		{
+			pitchY = btAsin(sarg);
+			rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
+			yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
+		}
 	}
 
-  /**@brief Add two quaternions
+	/**@brief Add two quaternions
    * @param q The quaternion to add to this one */
-	SIMD_FORCE_INLINE	btQuaternion& operator+=(const btQuaternion& q)
+	SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q)
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_add_ps(mVec128, q.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vaddq_f32(mVec128, q.mVec128);
-#else	
-		m_floats[0] += q.x(); 
-        m_floats[1] += q.y(); 
-        m_floats[2] += q.z(); 
-        m_floats[3] += q.m_floats[3];
+#else
+		m_floats[0] += q.x();
+		m_floats[1] += q.y();
+		m_floats[2] += q.z();
+		m_floats[3] += q.m_floats[3];
 #endif
 		return *this;
 	}
 
-  /**@brief Subtract out a quaternion
+	/**@brief Subtract out a quaternion
    * @param q The quaternion to subtract from this one */
-	btQuaternion& operator-=(const btQuaternion& q) 
+	btQuaternion& operator-=(const btQuaternion& q)
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vsubq_f32(mVec128, q.mVec128);
-#else	
-		m_floats[0] -= q.x(); 
-        m_floats[1] -= q.y(); 
-        m_floats[2] -= q.z(); 
-        m_floats[3] -= q.m_floats[3];
+#else
+		m_floats[0] -= q.x();
+		m_floats[1] -= q.y();
+		m_floats[2] -= q.z();
+		m_floats[3] -= q.m_floats[3];
 #endif
-        return *this;
+		return *this;
 	}
 
-  /**@brief Scale this quaternion
+	/**@brief Scale this quaternion
    * @param s The scalar to scale by */
 	btQuaternion& operator*=(const btScalar& s)
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0);	//	(S S S S)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0);     //	(S S S S)
 		mVec128 = _mm_mul_ps(mVec128, vs);
 #elif defined(BT_USE_NEON)
 		mVec128 = vmulq_n_f32(mVec128, s);
 #else
-		m_floats[0] *= s; 
-        m_floats[1] *= s; 
-        m_floats[2] *= s; 
-        m_floats[3] *= s;
+		m_floats[0] *= s;
+		m_floats[1] *= s;
+		m_floats[2] *= s;
+		m_floats[3] *= s;
 #endif
 		return *this;
 	}
 
-  /**@brief Multiply this quaternion by q on the right
+	/**@brief Multiply this quaternion by q on the right
    * @param q The other quaternion 
    * Equivilant to this = this * q */
 	btQuaternion& operator*=(const btQuaternion& q)
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		__m128 vQ2 = q.get128();
-		
-		__m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0,1,2,0));
-		__m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0));
-		
+
+		__m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0, 1, 2, 0));
+		__m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));
+
 		A1 = A1 * B1;
-		
-		__m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1,2,0,1));
-		__m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
-		
+
+		__m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 1));
+		__m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
+
 		A2 = A2 * B2;
-		
-		B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2,0,1,2));
-		B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
-		
-		B1 = B1 * B2;	//	A3 *= B3
-		
-		mVec128 = bt_splat_ps(mVec128, 3);	//	A0
-		mVec128 = mVec128 * vQ2;	//	A0 * B0
-		
-		A1 = A1 + A2;	//	AB12
-		mVec128 = mVec128 - B1;	//	AB03 = AB0 - AB3 
-		A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
-		mVec128 = mVec128+ A1;	//	AB03 + AB12
-
-#elif defined(BT_USE_NEON)     
-
-        float32x4_t vQ1 = mVec128;
-        float32x4_t vQ2 = q.get128();
-        float32x4_t A0, A1, B1, A2, B2, A3, B3;
-        float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-        
-        {
-        float32x2x2_t tmp;
-        tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-        vQ1zx = tmp.val[0];
-
-        tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-        vQ2zx = tmp.val[0];
-        }
-        vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
-
-        vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
-
-        vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-        vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
-
-        A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
-        B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
-
-        A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-        B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
-
-        A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-        B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
-
-        A1 = vmulq_f32(A1, B1);
-        A2 = vmulq_f32(A2, B2);
-        A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-        A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
-
-        A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-        A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
-        
-        //	change the sign of the last element
-        A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
-        A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
-        
-        mVec128 = A0;
+
+		B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2, 0, 1, 2));
+		B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
+
+		B1 = B1 * B2;  //	A3 *= B3
+
+		mVec128 = bt_splat_ps(mVec128, 3);  //	A0
+		mVec128 = mVec128 * vQ2;            //	A0 * B0
+
+		A1 = A1 + A2;                //	AB12
+		mVec128 = mVec128 - B1;      //	AB03 = AB0 - AB3
+		A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
+		mVec128 = mVec128 + A1;      //	AB03 + AB12
+
+#elif defined(BT_USE_NEON)
+
+		float32x4_t vQ1 = mVec128;
+		float32x4_t vQ2 = q.get128();
+		float32x4_t A0, A1, B1, A2, B2, A3, B3;
+		float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+
+		{
+			float32x2x2_t tmp;
+			tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+			vQ1zx = tmp.val[0];
+
+			tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+			vQ2zx = tmp.val[0];
+		}
+		vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
+
+		vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+		vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+		vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+		A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
+		B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
+
+		A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+		B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+		A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+		B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
+
+		A1 = vmulq_f32(A1, B1);
+		A2 = vmulq_f32(A2, B2);
+		A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
+		A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
+
+		A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+		A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
+
+		//	change the sign of the last element
+		A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
+		A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
+
+		mVec128 = A0;
 #else
 		setValue(
-            m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
+			m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
 			m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
 			m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
 			m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
 #endif
 		return *this;
 	}
-  /**@brief Return the dot product between this quaternion and another
+	/**@brief Return the dot product between this quaternion and another
    * @param q The other quaternion */
 	btScalar dot(const btQuaternion& q) const
 	{
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vd;
-		
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vd;
+
 		vd = _mm_mul_ps(mVec128, q.mVec128);
-		
-        __m128 t = _mm_movehl_ps(vd, vd);
+
+		__m128 t = _mm_movehl_ps(vd, vd);
 		vd = _mm_add_ps(vd, t);
 		t = _mm_shuffle_ps(vd, vd, 0x55);
 		vd = _mm_add_ss(vd, t);
-		
-        return _mm_cvtss_f32(vd);
+
+		return _mm_cvtss_f32(vd);
 #elif defined(BT_USE_NEON)
 		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));  
+		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));
 		x = vpadd_f32(x, x);
 		return vget_lane_f32(x, 0);
-#else    
-		return  m_floats[0] * q.x() + 
-                m_floats[1] * q.y() + 
-                m_floats[2] * q.z() + 
-                m_floats[3] * q.m_floats[3];
+#else
+		return m_floats[0] * q.x() +
+			   m_floats[1] * q.y() +
+			   m_floats[2] * q.z() +
+			   m_floats[3] * q.m_floats[3];
 #endif
 	}
 
-  /**@brief Return the length squared of the quaternion */
+	/**@brief Return the length squared of the quaternion */
 	btScalar length2() const
 	{
 		return dot(*this);
 	}
 
-  /**@brief Return the length of the quaternion */
+	/**@brief Return the length of the quaternion */
 	btScalar length() const
 	{
 		return btSqrt(length2());
@@ -358,46 +374,46 @@ public:
 	btQuaternion& safeNormalize()
 	{
 		btScalar l2 = length2();
-		if (l2>SIMD_EPSILON)
+		if (l2 > SIMD_EPSILON)
 		{
 			normalize();
 		}
 		return *this;
 	}
-  /**@brief Normalize the quaternion 
+	/**@brief Normalize the quaternion 
    * Such that x^2 + y^2 + z^2 +w^2 = 1 */
-	btQuaternion& normalize() 
+	btQuaternion& normalize()
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vd;
-		
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vd;
+
 		vd = _mm_mul_ps(mVec128, mVec128);
-		
-        __m128 t = _mm_movehl_ps(vd, vd);
+
+		__m128 t = _mm_movehl_ps(vd, vd);
 		vd = _mm_add_ps(vd, t);
 		t = _mm_shuffle_ps(vd, vd, 0x55);
 		vd = _mm_add_ss(vd, t);
 
 		vd = _mm_sqrt_ss(vd);
 		vd = _mm_div_ss(vOnes, vd);
-        vd = bt_pshufd_ps(vd, 0); // splat
+		vd = bt_pshufd_ps(vd, 0);  // splat
 		mVec128 = _mm_mul_ps(mVec128, vd);
-    
+
 		return *this;
-#else    
+#else
 		return *this /= length();
 #endif
 	}
 
-  /**@brief Return a scaled version of this quaternion
+	/**@brief Return a scaled version of this quaternion
    * @param s The scale factor */
 	SIMD_FORCE_INLINE btQuaternion
 	operator*(const btScalar& s) const
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
-		
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x00);  //	(S S S S)
+
 		return btQuaternion(_mm_mul_ps(mVec128, vs));
 #elif defined(BT_USE_NEON)
 		return btQuaternion(vmulq_n_f32(mVec128, s));
@@ -406,7 +422,7 @@ public:
 #endif
 	}
 
-  /**@brief Return an inversely scaled versionof this quaternion
+	/**@brief Return an inversely scaled versionof this quaternion
    * @param s The inverse scale factor */
 	btQuaternion operator/(const btScalar& s) const
 	{
@@ -414,49 +430,49 @@ public:
 		return *this * (btScalar(1.0) / s);
 	}
 
-  /**@brief Inversely scale this quaternion
+	/**@brief Inversely scale this quaternion
    * @param s The scale factor */
-	btQuaternion& operator/=(const btScalar& s) 
+	btQuaternion& operator/=(const btScalar& s)
 	{
 		btAssert(s != btScalar(0.0));
 		return *this *= btScalar(1.0) / s;
 	}
 
-  /**@brief Return a normalized version of this quaternion */
-	btQuaternion normalized() const 
+	/**@brief Return a normalized version of this quaternion */
+	btQuaternion normalized() const
 	{
 		return *this / length();
-	} 
+	}
 	/**@brief Return the ***half*** angle between this quaternion and the other
    * @param q The other quaternion */
-	btScalar angle(const btQuaternion& q) const 
+	btScalar angle(const btQuaternion& q) const
 	{
 		btScalar s = btSqrt(length2() * q.length2());
 		btAssert(s != btScalar(0.0));
 		return btAcos(dot(q) / s);
 	}
-	
+
 	/**@brief Return the angle between this quaternion and the other along the shortest path
 	* @param q The other quaternion */
-	btScalar angleShortestPath(const btQuaternion& q) const 
+	btScalar angleShortestPath(const btQuaternion& q) const
 	{
 		btScalar s = btSqrt(length2() * q.length2());
 		btAssert(s != btScalar(0.0));
-		if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+		if (dot(q) < 0)  // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
 			return btAcos(dot(-q) / s) * btScalar(2.0);
-		else 
+		else
 			return btAcos(dot(q) / s) * btScalar(2.0);
 	}
 
 	/**@brief Return the angle [0, 2Pi] of rotation represented by this quaternion */
-	btScalar getAngle() const 
+	btScalar getAngle() const
 	{
 		btScalar s = btScalar(2.) * btAcos(m_floats[3]);
 		return s;
 	}
 
 	/**@brief Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path */
-	btScalar getAngleShortestPath() const 
+	btScalar getAngleShortestPath() const
 	{
 		btScalar s;
 		if (m_floats[3] >= 0)
@@ -466,120 +482,117 @@ public:
 		return s;
 	}
 
-
 	/**@brief Return the axis of the rotation represented by this quaternion */
 	btVector3 getAxis() const
 	{
-		btScalar s_squared = 1.f-m_floats[3]*m_floats[3];
-		
-		if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
-			return btVector3(1.0, 0.0, 0.0);  // Arbitrary
-		btScalar s = 1.f/btSqrt(s_squared);
+		btScalar s_squared = 1.f - m_floats[3] * m_floats[3];
+
+		if (s_squared < btScalar(10.) * SIMD_EPSILON)  //Check for divide by zero
+			return btVector3(1.0, 0.0, 0.0);           // Arbitrary
+		btScalar s = 1.f / btSqrt(s_squared);
 		return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
 	}
 
 	/**@brief Return the inverse of this quaternion */
 	btQuaternion inverse() const
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		return btQuaternion(_mm_xor_ps(mVec128, vQInv));
 #elif defined(BT_USE_NEON)
-        return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
-#else	
+		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
+#else
 		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
 #endif
 	}
 
-  /**@brief Return the sum of this quaternion and the other 
+	/**@brief Return the sum of this quaternion and the other 
    * @param q2 The other quaternion */
 	SIMD_FORCE_INLINE btQuaternion
 	operator+(const btQuaternion& q2) const
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		return btQuaternion(_mm_add_ps(mVec128, q2.mVec128));
 #elif defined(BT_USE_NEON)
-        return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
-#else	
+		return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
+#else
 		const btQuaternion& q1 = *this;
 		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
 #endif
 	}
 
-  /**@brief Return the difference between this quaternion and the other 
+	/**@brief Return the difference between this quaternion and the other 
    * @param q2 The other quaternion */
 	SIMD_FORCE_INLINE btQuaternion
 	operator-(const btQuaternion& q2) const
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128));
 #elif defined(BT_USE_NEON)
-        return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
-#else	
+		return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
+#else
 		const btQuaternion& q1 = *this;
 		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
 #endif
 	}
 
-  /**@brief Return the negative of this quaternion 
+	/**@brief Return the negative of this quaternion 
    * This simply negates each element */
 	SIMD_FORCE_INLINE btQuaternion operator-() const
 	{
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask));
 #elif defined(BT_USE_NEON)
-		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask) );
-#else	
+		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask));
+#else
 		const btQuaternion& q2 = *this;
-		return btQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2.m_floats[3]);
+		return btQuaternion(-q2.x(), -q2.y(), -q2.z(), -q2.m_floats[3]);
 #endif
 	}
-  /**@todo document this and it's use */
-	SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const 
+	/**@todo document this and it's use */
+	SIMD_FORCE_INLINE btQuaternion farthest(const btQuaternion& qd) const
 	{
-		btQuaternion diff,sum;
+		btQuaternion diff, sum;
 		diff = *this - qd;
 		sum = *this + qd;
-		if( diff.dot(diff) > sum.dot(sum) )
+		if (diff.dot(diff) > sum.dot(sum))
 			return qd;
 		return (-qd);
 	}
 
 	/**@todo document this and it's use */
-	SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const 
+	SIMD_FORCE_INLINE btQuaternion nearest(const btQuaternion& qd) const
 	{
-		btQuaternion diff,sum;
+		btQuaternion diff, sum;
 		diff = *this - qd;
 		sum = *this + qd;
-		if( diff.dot(diff) < sum.dot(sum) )
+		if (diff.dot(diff) < sum.dot(sum))
 			return qd;
 		return (-qd);
 	}
 
-
-  /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
+	/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
    * @param q The other quaternion to interpolate with 
    * @param t The ratio between this and q to interpolate.  If t = 0 the result is this, if t=1 the result is q.
    * Slerp interpolates assuming constant velocity.  */
 	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
 	{
-
 		const btScalar magnitude = btSqrt(length2() * q.length2());
 		btAssert(magnitude > btScalar(0));
-		
+
 		const btScalar product = dot(q) / magnitude;
 		const btScalar absproduct = btFabs(product);
-		
-		if(absproduct < btScalar(1.0 - SIMD_EPSILON))
+
+		if (absproduct < btScalar(1.0 - SIMD_EPSILON))
 		{
 			// Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
 			const btScalar theta = btAcos(absproduct);
 			const btScalar d = btSin(theta);
 			btAssert(d > btScalar(0));
-			
+
 			const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
 			const btScalar s0 = btSin((btScalar(1.0) - t) * theta) / d;
 			const btScalar s1 = btSin(sign * t * theta) / d;
-			
+
 			return btQuaternion(
 				(m_floats[0] * s0 + q.x() * s1),
 				(m_floats[1] * s0 + q.y() * s1),
@@ -592,312 +605,308 @@ public:
 		}
 	}
 
-	static const btQuaternion&	getIdentity()
+	static const btQuaternion& getIdentity()
 	{
-		static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.));
+		static const btQuaternion identityQuat(btScalar(0.), btScalar(0.), btScalar(0.), btScalar(1.));
 		return identityQuat;
 	}
 
 	SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
 
-	SIMD_FORCE_INLINE	void	serialize(struct	btQuaternionData& dataOut) const;
+	SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const;
 
-	SIMD_FORCE_INLINE	void	deSerialize(const struct	btQuaternionData& dataIn);
+	SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn);
 
-	SIMD_FORCE_INLINE	void	serializeFloat(struct	btQuaternionFloatData& dataOut) const;
+	SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn);
 
-	SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btQuaternionFloatData& dataIn);
+	SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const;
 
-	SIMD_FORCE_INLINE	void	serializeDouble(struct	btQuaternionDoubleData& dataOut) const;
+	SIMD_FORCE_INLINE void deSerializeFloat(const struct btQuaternionFloatData& dataIn);
 
-	SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btQuaternionDoubleData& dataIn);
+	SIMD_FORCE_INLINE void serializeDouble(struct btQuaternionDoubleData& dataOut) const;
 
+	SIMD_FORCE_INLINE void deSerializeDouble(const struct btQuaternionDoubleData& dataIn);
 };
 
-
-
-
-
 /**@brief Return the product of two quaternions */
 SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q1, const btQuaternion& q2) 
+operator*(const btQuaternion& q1, const btQuaternion& q2)
 {
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 	__m128 vQ1 = q1.get128();
 	__m128 vQ2 = q2.get128();
 	__m128 A0, A1, B1, A2, B2;
-    
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y  z x     //      vtrn
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W  W X     // vdup vext
+
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0, 1, 2, 0));  // X Y  z x     //      vtrn
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));  // W W  W X     // vdup vext
 
 	A1 = A1 * B1;
-	
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); // Y Z  X Y     // vext 
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); // z x  Y Y     // vtrn vdup
+
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));  // Y Z  X Y     // vext
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));  // z x  Y Y     // vtrn vdup
 
 	A2 = A2 * B2;
 
-	B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); // z x Y Z      // vtrn vext
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); // Y Z x z      // vext vtrn
-	
-	B1 = B1 * B2;	//	A3 *= B3
+	B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));  // z x Y Z      // vtrn vext
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));  // Y Z x z      // vext vtrn
 
-	A0 = bt_splat_ps(vQ1, 3);	//	A0
-	A0 = A0 * vQ2;	//	A0 * B0
+	B1 = B1 * B2;  //	A3 *= B3
+
+	A0 = bt_splat_ps(vQ1, 3);  //	A0
+	A0 = A0 * vQ2;             //	A0 * B0
+
+	A1 = A1 + A2;  //	AB12
+	A0 = A0 - B1;  //	AB03 = AB0 - AB3
+
+	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
+	A0 = A0 + A1;                //	AB03 + AB12
 
-	A1 = A1 + A2;	//	AB12
-	A0 =  A0 - B1;	//	AB03 = AB0 - AB3 
-	
-    A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
-	A0 = A0 + A1;	//	AB03 + AB12
-	
 	return btQuaternion(A0);
 
-#elif defined(BT_USE_NEON)     
+#elif defined(BT_USE_NEON)
 
 	float32x4_t vQ1 = q1.get128();
 	float32x4_t vQ2 = q2.get128();
 	float32x4_t A0, A1, B1, A2, B2, A3, B3;
-    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-    
-    {
-    float32x2x2_t tmp;
-    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-    vQ1zx = tmp.val[0];
+	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
 
-    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-    vQ2zx = tmp.val[0];
-    }
-    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+	{
+		float32x2x2_t tmp;
+		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+		vQ1zx = tmp.val[0];
 
-    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+		vQ2zx = tmp.val[0];
+	}
+	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
+
+	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
 
-    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
 
-    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
-    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
+	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
 
 	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
 
-    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
 
 	A1 = vmulq_f32(A1, B1);
 	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
-
-	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-	A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
-	
-    //	change the sign of the last element
-    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
-	A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
-	
+	A3 = vmulq_f32(A3, B3);                           //	A3 *= B3
+	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1);  //	A0 * B0
+
+	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+	A0 = vsubq_f32(A0, A3);  //	AB03 = AB0 - AB3
+
+	//	change the sign of the last element
+	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
+	A0 = vaddq_f32(A0, A1);  //	AB03 + AB12
+
 	return btQuaternion(A0);
 
 #else
 	return btQuaternion(
-        q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
+		q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
 		q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
 		q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
-		q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); 
+		q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
 #endif
 }
 
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btQuaternion& q, const btVector3& w)
 {
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 	__m128 vQ1 = q.get128();
 	__m128 vQ2 = w.get128();
 	__m128 A1, B1, A2, B2, A3, B3;
-	
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3,3,3,0));
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0,1,2,0));
+
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3, 3, 3, 0));
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0, 1, 2, 0));
 
 	A1 = A1 * B1;
-	
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1));
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
 
 	A2 = A2 * B2;
 
-	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2));
-	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
-	
-	A3 = A3 * B3;	//	A3 *= B3
+	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));
+	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
+
+	A3 = A3 * B3;  //	A3 *= B3
+
+	A1 = A1 + A2;                //	AB12
+	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
+	A1 = A1 - A3;                //	AB123 = AB12 - AB3
 
-	A1 = A1 + A2;	//	AB12
-	A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
-    A1 = A1 - A3;	//	AB123 = AB12 - AB3 
-	
 	return btQuaternion(A1);
-    
-#elif defined(BT_USE_NEON)     
+
+#elif defined(BT_USE_NEON)
 
 	float32x4_t vQ1 = q.get128();
 	float32x4_t vQ2 = w.get128();
 	float32x4_t A1, B1, A2, B2, A3, B3;
-    float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
-    
-    vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); 
-    {
-    float32x2x2_t tmp;
+	float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
 
-    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-    vQ2zx = tmp.val[0];
+	vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1);
+	{
+		float32x2x2_t tmp;
 
-    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-    vQ1zx = tmp.val[0];
-    }
+		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+		vQ2zx = tmp.val[0];
 
-    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+		vQ1zx = tmp.val[0];
+	}
 
-    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
 
-    A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W  W X 
-    B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                    // X Y  z x 
+	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+	A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx);  // W W  W X
+	B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                     // X Y  z x
 
 	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
 
-    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
 
 	A1 = vmulq_f32(A1, B1);
 	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-	
-    //	change the sign of the last element
-    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
-	
-    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
-	
+	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+
+	//	change the sign of the last element
+	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
+
+	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
+
 	return btQuaternion(A1);
-    
+
 #else
-	return btQuaternion( 
-         q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
-		 q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
-		 q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
-		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); 
+	return btQuaternion(
+		q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
+		q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
+		q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
+		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
 #endif
 }
 
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btVector3& w, const btQuaternion& q)
 {
-#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 	__m128 vQ1 = w.get128();
 	__m128 vQ2 = q.get128();
 	__m128 A1, B1, A2, B2, A3, B3;
-	
-	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0));  // X Y  z x
-	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0));  // W W  W X 
+
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0, 1, 2, 0));  // X Y  z x
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3, 3, 3, 0));  // W W  W X
 
 	A1 = A1 * B1;
-	
-	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1));
-	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
 
-	A2 = A2 *B2;
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1, 2, 0, 1));
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2, 0, 1, 1));
 
-	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2));
-	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
-	
-	A3 = A3 * B3;	//	A3 *= B3
+	A2 = A2 * B2;
+
+	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2, 0, 1, 2));
+	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1, 2, 0, 2));
+
+	A3 = A3 * B3;  //	A3 *= B3
+
+	A1 = A1 + A2;                //	AB12
+	A1 = _mm_xor_ps(A1, vPPPM);  //	change sign of the last element
+	A1 = A1 - A3;                //	AB123 = AB12 - AB3
 
-	A1 = A1 + A2;	//	AB12
-	A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
-	A1 = A1 - A3;	//	AB123 = AB12 - AB3 
-	
 	return btQuaternion(A1);
 
-#elif defined(BT_USE_NEON)     
+#elif defined(BT_USE_NEON)
 
 	float32x4_t vQ1 = w.get128();
 	float32x4_t vQ2 = q.get128();
-	float32x4_t  A1, B1, A2, B2, A3, B3;
-    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
-    
-    {
-    float32x2x2_t tmp;
-   
-    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
-    vQ1zx = tmp.val[0];
+	float32x4_t A1, B1, A2, B2, A3, B3;
+	float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+
+	{
+		float32x2x2_t tmp;
+
+		tmp = vtrn_f32(vget_high_f32(vQ1), vget_low_f32(vQ1));  // {z x}, {w y}
+		vQ1zx = tmp.val[0];
 
-    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
-    vQ2zx = tmp.val[0];
-    }
-    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+		tmp = vtrn_f32(vget_high_f32(vQ2), vget_low_f32(vQ2));  // {z x}, {w y}
+		vQ2zx = tmp.val[0];
+	}
+	vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1);
 
-    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+	vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
 
-    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
-    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+	vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+	vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
 
-    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
-    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+	A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                     // X Y  z x
+	B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx);  // W W  W X
 
 	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
-    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+	B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
 
-    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
-    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+	A3 = vcombine_f32(vQ1zx, vQ1yz);  // Z X Y Z
+	B3 = vcombine_f32(vQ2yz, vQ2xz);  // Y Z x z
 
 	A1 = vmulq_f32(A1, B1);
 	A2 = vmulq_f32(A2, B2);
-	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
-
-	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
-	
-    //	change the sign of the last element
-    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
-	
-    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
-	
+	A3 = vmulq_f32(A3, B3);  //	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);  //	AB12 = AB1 + AB2
+
+	//	change the sign of the last element
+	A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);
+
+	A1 = vsubq_f32(A1, A3);  //	AB123 = AB12 - AB3
+
 	return btQuaternion(A1);
-    
+
 #else
-	return btQuaternion( 
-        +w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
+	return btQuaternion(
+		+w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
 		+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
 		+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
-		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); 
+		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
 #endif
 }
 
 /**@brief Calculate the dot product between two quaternions */
-SIMD_FORCE_INLINE btScalar 
-dot(const btQuaternion& q1, const btQuaternion& q2) 
-{ 
-	return q1.dot(q2); 
+SIMD_FORCE_INLINE btScalar
+dot(const btQuaternion& q1, const btQuaternion& q2)
+{
+	return q1.dot(q2);
 }
 
-
 /**@brief Return the length of a quaternion */
 SIMD_FORCE_INLINE btScalar
-length(const btQuaternion& q) 
-{ 
-	return q.length(); 
+length(const btQuaternion& q)
+{
+	return q.length();
 }
 
 /**@brief Return the angle between two quaternions*/
 SIMD_FORCE_INLINE btScalar
-btAngle(const btQuaternion& q1, const btQuaternion& q2) 
-{ 
-	return q1.angle(q2); 
+btAngle(const btQuaternion& q1, const btQuaternion& q2)
+{
+	return q1.angle(q2);
 }
 
 /**@brief Return the inverse of a quaternion*/
 SIMD_FORCE_INLINE btQuaternion
-inverse(const btQuaternion& q) 
+inverse(const btQuaternion& q)
 {
 	return q.inverse();
 }
@@ -908,109 +917,105 @@ inverse(const btQuaternion& q)
  * @param t The ration between q1 and q2.  t = 0 return q1, t=1 returns q2 
  * Slerp assumes constant velocity between positions. */
 SIMD_FORCE_INLINE btQuaternion
-slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) 
+slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t)
 {
 	return q1.slerp(q2, t);
 }
 
-SIMD_FORCE_INLINE btVector3 
-quatRotate(const btQuaternion& rotation, const btVector3& v) 
+SIMD_FORCE_INLINE btVector3
+quatRotate(const btQuaternion& rotation, const btVector3& v)
 {
 	btQuaternion q = rotation * v;
 	q *= rotation.inverse();
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 	return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask));
 #elif defined(BT_USE_NEON)
-    return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask));
-#else	
-	return btVector3(q.getX(),q.getY(),q.getZ());
+	return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask));
+#else
+	return btVector3(q.getX(), q.getY(), q.getZ());
 #endif
 }
 
-SIMD_FORCE_INLINE btQuaternion 
-shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
+SIMD_FORCE_INLINE btQuaternion
+shortestArcQuat(const btVector3& v0, const btVector3& v1)  // Game Programming Gems 2.10. make sure v0,v1 are normalized
 {
 	btVector3 c = v0.cross(v1);
-	btScalar  d = v0.dot(v1);
+	btScalar d = v0.dot(v1);
 
 	if (d < -1.0 + SIMD_EPSILON)
 	{
-		btVector3 n,unused;
-		btPlaneSpace1(v0,n,unused);
-		return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
+		btVector3 n, unused;
+		btPlaneSpace1(v0, n, unused);
+		return btQuaternion(n.x(), n.y(), n.z(), 0.0f);  // just pick any vector that is orthogonal to v0
 	}
 
-	btScalar  s = btSqrt((1.0f + d) * 2.0f);
+	btScalar s = btSqrt((1.0f + d) * 2.0f);
 	btScalar rs = 1.0f / s;
 
-	return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
+	return btQuaternion(c.getX() * rs, c.getY() * rs, c.getZ() * rs, s * 0.5f);
 }
 
-SIMD_FORCE_INLINE btQuaternion 
-shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
+SIMD_FORCE_INLINE btQuaternion
+shortestArcQuatNormalize2(btVector3& v0, btVector3& v1)
 {
 	v0.normalize();
 	v1.normalize();
-	return shortestArcQuat(v0,v1);
+	return shortestArcQuat(v0, v1);
 }
 
-
-
-
-struct	btQuaternionFloatData
+struct btQuaternionFloatData
 {
-	float	m_floats[4];
+	float m_floats[4];
 };
 
-struct	btQuaternionDoubleData
+struct btQuaternionDoubleData
 {
-	double	m_floats[4];
-
+	double m_floats[4];
 };
 
-SIMD_FORCE_INLINE	void	btQuaternion::serializeFloat(struct	btQuaternionFloatData& dataOut) const
+SIMD_FORCE_INLINE void btQuaternion::serializeFloat(struct btQuaternionFloatData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = float(m_floats[i]);
 }
 
-SIMD_FORCE_INLINE void	btQuaternion::deSerializeFloat(const struct	btQuaternionFloatData& dataIn)
+SIMD_FORCE_INLINE void btQuaternion::deSerializeFloat(const struct btQuaternionFloatData& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = btScalar(dataIn.m_floats[i]);
 }
 
-
-SIMD_FORCE_INLINE	void	btQuaternion::serializeDouble(struct	btQuaternionDoubleData& dataOut) const
+SIMD_FORCE_INLINE void btQuaternion::serializeDouble(struct btQuaternionDoubleData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = double(m_floats[i]);
 }
 
-SIMD_FORCE_INLINE void	btQuaternion::deSerializeDouble(const struct	btQuaternionDoubleData& dataIn)
+SIMD_FORCE_INLINE void btQuaternion::deSerializeDouble(const struct btQuaternionDoubleData& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = btScalar(dataIn.m_floats[i]);
 }
 
-
-SIMD_FORCE_INLINE	void	btQuaternion::serialize(struct	btQuaternionData& dataOut) const
+SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = m_floats[i];
 }
 
-SIMD_FORCE_INLINE void	btQuaternion::deSerialize(const struct	btQuaternionData& dataIn)
+SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn)
 {
-	for (int i=0;i<4;i++)
-		m_floats[i] = dataIn.m_floats[i];
+	for (int i = 0; i < 4; i++)
+		m_floats[i] = (btScalar)dataIn.m_floats[i];
 }
 
+SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn)
+{
+	for (int i = 0; i < 4; i++)
+		m_floats[i] = (btScalar)dataIn.m_floats[i];
+}
 
-#endif //BT_SIMD__QUATERNION_H_
-
-
-
+#endif  //BT_SIMD__QUATERNION_H_
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp
index aed3104a6e..86fd1d7812 100644
--- a/thirdparty/bullet/LinearMath/btQuickprof.cpp
+++ b/thirdparty/bullet/LinearMath/btQuickprof.cpp
@@ -16,16 +16,13 @@
 #include "btQuickprof.h"
 #include "btThreads.h"
 
-
-
-
 #ifdef __CELLOS_LV2__
 #include <sys/sys_time.h>
 #include <sys/time_util.h>
 #include <stdio.h>
 #endif
 
-#if defined (SUNOS) || defined (__SUNOS__)
+#if defined(SUNOS) || defined(__SUNOS__)
 #include <stdio.h>
 #endif
 #ifdef __APPLE__
@@ -42,49 +39,46 @@
 #define NOIME
 
 #ifdef _XBOX
-	#include <Xtl.h>
-#else //_XBOX
-	#include <windows.h>
+#include <Xtl.h>
+#else  //_XBOX
+#include <windows.h>
 
-#if WINVER <0x0602
+#if WINVER < 0x0602
 #define GetTickCount64 GetTickCount
 #endif
 
-#endif //_XBOX
+#endif  //_XBOX
 
 #include <time.h>
 
-
-#else //_WIN32
+#else  //_WIN32
 #include <sys/time.h>
 
 #ifdef BT_LINUX_REALTIME
 //required linking against rt (librt)
 #include <time.h>
-#endif //BT_LINUX_REALTIME
+#endif  //BT_LINUX_REALTIME
 
-#endif //_WIN32
+#endif  //_WIN32
 
-#define mymin(a,b) (a > b ? a : b)
+#define mymin(a, b) (a > b ? a : b)
 
 struct btClockData
 {
-
 #ifdef BT_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
 	LONGLONG mStartTick;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
-	uint64_t	mStartTime;
+	uint64_t mStartTime;
 #else
 #ifdef __APPLE__
-    uint64_t mStartTimeNano;
+	uint64_t mStartTimeNano;
 #endif
 	struct timeval mStartTime;
 #endif
-#endif //__CELLOS_LV2__
-
+#endif  //__CELLOS_LV2__
 };
 
 ///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
@@ -114,8 +108,7 @@ btClock& btClock::operator=(const btClock& other)
 	return *this;
 }
 
-
-	/// Resets the initial reference time.
+/// Resets the initial reference time.
 void btClock::reset()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
@@ -124,14 +117,14 @@ void btClock::reset()
 #else
 #ifdef __CELLOS_LV2__
 
-	typedef uint64_t  ClockSize;
+	typedef uint64_t ClockSize;
 	ClockSize newTime;
 	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET( newTime );
+	SYS_TIMEBASE_GET(newTime);
 	m_data->mStartTime = newTime;
 #else
 #ifdef __APPLE__
-    m_data->mStartTimeNano = mach_absolute_time();
+	m_data->mStartTimeNano = mach_absolute_time();
 #endif
 	gettimeofday(&m_data->mStartTime, 0);
 #endif
@@ -146,66 +139,66 @@ unsigned long long int btClock::getTimeMilliseconds()
 	LARGE_INTEGER currentTime;
 	QueryPerformanceCounter(&currentTime);
 	LONGLONG elapsedTime = currentTime.QuadPart -
-		m_data->mStartTime.QuadPart;
-		// Compute the number of millisecond ticks elapsed.
+						   m_data->mStartTime.QuadPart;
+	// Compute the number of millisecond ticks elapsed.
 	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
-		m_data->mClockFrequency.QuadPart);
+											  m_data->mClockFrequency.QuadPart);
 
-		return msecTicks;
+	return msecTicks;
 #else
 
 #ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq) / 1000.0;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		SYS_TIMEBASE_GET( newTime );
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
-		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1000.0;
+	typedef uint64_t ClockSize;
+	ClockSize newTime;
+	SYS_TIMEBASE_GET(newTime);
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+
+	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
 #else
 
-		struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
-			(currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
-#endif //__CELLOS_LV2__
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
+		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
+#endif  //__CELLOS_LV2__
 #endif
 }
 
-	/// Returns the time in us since the last call to reset or since
-	/// the Clock was created.
+/// Returns the time in us since the last call to reset or since
+/// the Clock was created.
 unsigned long long int btClock::getTimeMicroseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
-	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx	
-		LARGE_INTEGER currentTime, elapsedTime;
-		
-		QueryPerformanceCounter(&currentTime);
-		elapsedTime.QuadPart = currentTime.QuadPart - 
-			m_data->mStartTime.QuadPart;
-		elapsedTime.QuadPart *= 1000000;
-		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-		return (unsigned long long) elapsedTime.QuadPart;
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
+	LARGE_INTEGER currentTime, elapsedTime;
+
+	QueryPerformanceCounter(&currentTime);
+	elapsedTime.QuadPart = currentTime.QuadPart -
+						   m_data->mStartTime.QuadPart;
+	elapsedTime.QuadPart *= 1000000;
+	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+
+	return (unsigned long long)elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq)/ 1000000.0;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-		SYS_TIMEBASE_GET( newTime );
-
-		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1000000.0;
+	typedef uint64_t ClockSize;
+	ClockSize newTime;
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+	SYS_TIMEBASE_GET(newTime);
+
+	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
 #else
 
-		struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
-			(currentTime.tv_usec - m_data->mStartTime.tv_usec);
-#endif//__CELLOS_LV2__
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
+		   (currentTime.tv_usec - m_data->mStartTime.tv_usec);
+#endif  //__CELLOS_LV2__
 #endif
 }
 
@@ -213,65 +206,63 @@ unsigned long long int btClock::getTimeNanoseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
 	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
-		LARGE_INTEGER currentTime, elapsedTime;
-		
-		QueryPerformanceCounter(&currentTime);
-		elapsedTime.QuadPart = currentTime.QuadPart - 
-			m_data->mStartTime.QuadPart;
-		elapsedTime.QuadPart *= 1000000000;
-		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-		return (unsigned long long) elapsedTime.QuadPart;
+	LARGE_INTEGER currentTime, elapsedTime;
+
+	QueryPerformanceCounter(&currentTime);
+	elapsedTime.QuadPart = currentTime.QuadPart -
+						   m_data->mStartTime.QuadPart;
+	elapsedTime.QuadPart *= 1000000000;
+	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+
+	return (unsigned long long)elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq)/ 1e9;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-		SYS_TIMEBASE_GET( newTime );
-
-		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1e9;
+	typedef uint64_t ClockSize;
+	ClockSize newTime;
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+	SYS_TIMEBASE_GET(newTime);
+
+	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
 #else
 #ifdef __APPLE__
-    uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
-    static long double conversion = 0.0L;
-    if( 0.0L == conversion )
-    {
-        // attempt to get conversion to nanoseconds
-        mach_timebase_info_data_t info;
-        int err = mach_timebase_info( &info );
-        if( err )
-        {
-            btAssert(0);
-            conversion = 1.;
-        }
-        conversion = info.numer / info.denom;
-    }
-    return (ticks * conversion);
-
-    
-#else//__APPLE__
-    
+	uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
+	static long double conversion = 0.0L;
+	if (0.0L == conversion)
+	{
+		// attempt to get conversion to nanoseconds
+		mach_timebase_info_data_t info;
+		int err = mach_timebase_info(&info);
+		if (err)
+		{
+			btAssert(0);
+			conversion = 1.;
+		}
+		conversion = info.numer / info.denom;
+	}
+	return (ticks * conversion);
+
+#else  //__APPLE__
+
 #ifdef BT_LINUX_REALTIME
-    timespec ts;
-    clock_gettime(CLOCK_REALTIME,&ts);
-    return 1000000000*ts.tv_sec + ts.tv_nsec;
+	timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	return 1000000000 * ts.tv_sec + ts.tv_nsec;
 #else
-    	struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
-			(currentTime.tv_usec - m_data->mStartTime.tv_usec)*1000;
-#endif //BT_LINUX_REALTIME
-
-#endif//__APPLE__
-#endif//__CELLOS_LV2__
-#endif 
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
+		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) * 1000;
+#endif  //BT_LINUX_REALTIME
+
+#endif  //__APPLE__
+#endif  //__CELLOS_LV2__
+#endif
 }
 
-
-/// Returns the time in s since the last call to reset or since 
+/// Returns the time in s since the last call to reset or since
 /// the Clock was created.
 btScalar btClock::getTimeSeconds()
 {
@@ -281,23 +272,19 @@ btScalar btClock::getTimeSeconds()
 
 #ifndef BT_NO_PROFILE
 
-
 static btClock gProfileClock;
 
-
-inline void Profile_Get_Ticks(unsigned long int * ticks)
+inline void Profile_Get_Ticks(unsigned long int* ticks)
 {
 	*ticks = (unsigned long int)gProfileClock.getTimeMicroseconds();
 }
 
 inline float Profile_Get_Tick_Rate(void)
 {
-//	return 1000000.f;
+	//	return 1000000.f;
 	return 1000.f;
-
 }
 
-
 /***************************************************************************************************
 **
 ** CProfileNode
@@ -313,35 +300,32 @@ inline float Profile_Get_Tick_Rate(void)
  * The name is assumed to be a static pointer, only the pointer is stored and compared for     *
  * efficiency reasons.                                                                         *
  *=============================================================================================*/
-CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) :
-	Name( name ),
-	TotalCalls( 0 ),
-	TotalTime( 0 ),
-	StartTime( 0 ),
-	RecursionCounter( 0 ),
-	Parent( parent ),
-	Child( NULL ),
-	Sibling( NULL ),
-	m_userPtr(0)
+CProfileNode::CProfileNode(const char* name, CProfileNode* parent) : Name(name),
+																	 TotalCalls(0),
+																	 TotalTime(0),
+																	 StartTime(0),
+																	 RecursionCounter(0),
+																	 Parent(parent),
+																	 Child(NULL),
+																	 Sibling(NULL),
+																	 m_userPtr(0)
 {
 	Reset();
 }
 
-
-void	CProfileNode::CleanupMemory()
+void CProfileNode::CleanupMemory()
 {
-	delete ( Child);
+	delete (Child);
 	Child = NULL;
-	delete ( Sibling);
+	delete (Sibling);
 	Sibling = NULL;
 }
 
-CProfileNode::~CProfileNode( void )
+CProfileNode::~CProfileNode(void)
 {
 	CleanupMemory();
 }
 
-
 /***********************************************************************************************
  * INPUT:                                                                                      *
  * name - static string pointer to the name of the node we are searching for                   *
@@ -350,12 +334,14 @@ CProfileNode::~CProfileNode( void )
  * All profile names are assumed to be static strings so this function uses pointer compares   *
  * to find the named node.                                                                     *
  *=============================================================================================*/
-CProfileNode * CProfileNode::Get_Sub_Node( const char * name )
+CProfileNode* CProfileNode::Get_Sub_Node(const char* name)
 {
 	// Try to find this sub node
-	CProfileNode * child = Child;
-	while ( child ) {
-		if ( child->Name == name ) {
+	CProfileNode* child = Child;
+	while (child)
+	{
+		if (child->Name == name)
+		{
 			return child;
 		}
 		child = child->Sibling;
@@ -363,176 +349,212 @@ CProfileNode * CProfileNode::Get_Sub_Node( const char * name )
 
 	// We didn't find it, so add it
 
-	CProfileNode * node = new CProfileNode( name, this );
+	CProfileNode* node = new CProfileNode(name, this);
 	node->Sibling = Child;
 	Child = node;
 	return node;
 }
 
-
-void	CProfileNode::Reset( void )
+void CProfileNode::Reset(void)
 {
 	TotalCalls = 0;
 	TotalTime = 0.0f;
 
-
-	if ( Child ) {
+	if (Child)
+	{
 		Child->Reset();
 	}
-	if ( Sibling ) {
+	if (Sibling)
+	{
 		Sibling->Reset();
 	}
 }
 
-
-void	CProfileNode::Call( void )
+void CProfileNode::Call(void)
 {
 	TotalCalls++;
-	if (RecursionCounter++ == 0) {
+	if (RecursionCounter++ == 0)
+	{
 		Profile_Get_Ticks(&StartTime);
 	}
 }
 
-
-bool	CProfileNode::Return( void )
+bool CProfileNode::Return(void)
 {
-	if ( --RecursionCounter == 0 && TotalCalls != 0 ) {
+	if (--RecursionCounter == 0 && TotalCalls != 0)
+	{
 		unsigned long int time;
 		Profile_Get_Ticks(&time);
 
-		time-=StartTime;
+		time -= StartTime;
 		TotalTime += (float)time / Profile_Get_Tick_Rate();
 	}
-	return ( RecursionCounter == 0 );
+	return (RecursionCounter == 0);
 }
 
-
 /***************************************************************************************************
 **
 ** CProfileIterator
 **
 ***************************************************************************************************/
-CProfileIterator::CProfileIterator( CProfileNode * start )
+CProfileIterator::CProfileIterator(CProfileNode* start)
 {
 	CurrentParent = start;
 	CurrentChild = CurrentParent->Get_Child();
 }
 
-
-void	CProfileIterator::First(void)
+void CProfileIterator::First(void)
 {
 	CurrentChild = CurrentParent->Get_Child();
 }
 
-
-void	CProfileIterator::Next(void)
+void CProfileIterator::Next(void)
 {
 	CurrentChild = CurrentChild->Get_Sibling();
 }
 
-
-bool	CProfileIterator::Is_Done(void)
+bool CProfileIterator::Is_Done(void)
 {
 	return CurrentChild == NULL;
 }
 
-
-void	CProfileIterator::Enter_Child( int index )
+void CProfileIterator::Enter_Child(int index)
 {
 	CurrentChild = CurrentParent->Get_Child();
-	while ( (CurrentChild != NULL) && (index != 0) ) {
+	while ((CurrentChild != NULL) && (index != 0))
+	{
 		index--;
 		CurrentChild = CurrentChild->Get_Sibling();
 	}
 
-	if ( CurrentChild != NULL ) {
+	if (CurrentChild != NULL)
+	{
 		CurrentParent = CurrentChild;
 		CurrentChild = CurrentParent->Get_Child();
 	}
 }
 
-
-void	CProfileIterator::Enter_Parent( void )
+void CProfileIterator::Enter_Parent(void)
 {
-	if ( CurrentParent->Get_Parent() != NULL ) {
+	if (CurrentParent->Get_Parent() != NULL)
+	{
 		CurrentParent = CurrentParent->Get_Parent();
 	}
 	CurrentChild = CurrentParent->Get_Child();
 }
 
-
 /***************************************************************************************************
 **
 ** CProfileManager
 **
 ***************************************************************************************************/
 
-
-
-
-CProfileNode	gRoots[BT_QUICKPROF_MAX_THREAD_COUNT]={
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL)
-};
-
-
-CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT]=
-{
-	&gRoots[ 0],	&gRoots[ 1],	&gRoots[ 2],	&gRoots[ 3],
-	&gRoots[ 4],	&gRoots[ 5],	&gRoots[ 6],	&gRoots[ 7],
-	&gRoots[ 8],	&gRoots[ 9],	&gRoots[10],	&gRoots[11],
-	&gRoots[12],	&gRoots[13],	&gRoots[14],	&gRoots[15],
-	&gRoots[16],	&gRoots[17],	&gRoots[18],	&gRoots[19],
-	&gRoots[20],	&gRoots[21],	&gRoots[22],	&gRoots[23],
-	&gRoots[24],	&gRoots[25],	&gRoots[26],	&gRoots[27],
-	&gRoots[28],	&gRoots[29],	&gRoots[30],	&gRoots[31],
-	&gRoots[32],	&gRoots[33],	&gRoots[34],	&gRoots[35],
-	&gRoots[36],	&gRoots[37],	&gRoots[38],	&gRoots[39],
-	&gRoots[40],	&gRoots[41],	&gRoots[42],	&gRoots[43],
-	&gRoots[44],	&gRoots[45],	&gRoots[46],	&gRoots[47],
-	&gRoots[48],	&gRoots[49],	&gRoots[50],	&gRoots[51],
-	&gRoots[52],	&gRoots[53],	&gRoots[54],	&gRoots[55],
-	&gRoots[56],	&gRoots[57],	&gRoots[58],	&gRoots[59],
-	&gRoots[60],	&gRoots[61],	&gRoots[62],	&gRoots[63],
+CProfileNode gRoots[BT_QUICKPROF_MAX_THREAD_COUNT] = {
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL)};
+
+CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT] =
+	{
+		&gRoots[0],
+		&gRoots[1],
+		&gRoots[2],
+		&gRoots[3],
+		&gRoots[4],
+		&gRoots[5],
+		&gRoots[6],
+		&gRoots[7],
+		&gRoots[8],
+		&gRoots[9],
+		&gRoots[10],
+		&gRoots[11],
+		&gRoots[12],
+		&gRoots[13],
+		&gRoots[14],
+		&gRoots[15],
+		&gRoots[16],
+		&gRoots[17],
+		&gRoots[18],
+		&gRoots[19],
+		&gRoots[20],
+		&gRoots[21],
+		&gRoots[22],
+		&gRoots[23],
+		&gRoots[24],
+		&gRoots[25],
+		&gRoots[26],
+		&gRoots[27],
+		&gRoots[28],
+		&gRoots[29],
+		&gRoots[30],
+		&gRoots[31],
+		&gRoots[32],
+		&gRoots[33],
+		&gRoots[34],
+		&gRoots[35],
+		&gRoots[36],
+		&gRoots[37],
+		&gRoots[38],
+		&gRoots[39],
+		&gRoots[40],
+		&gRoots[41],
+		&gRoots[42],
+		&gRoots[43],
+		&gRoots[44],
+		&gRoots[45],
+		&gRoots[46],
+		&gRoots[47],
+		&gRoots[48],
+		&gRoots[49],
+		&gRoots[50],
+		&gRoots[51],
+		&gRoots[52],
+		&gRoots[53],
+		&gRoots[54],
+		&gRoots[55],
+		&gRoots[56],
+		&gRoots[57],
+		&gRoots[58],
+		&gRoots[59],
+		&gRoots[60],
+		&gRoots[61],
+		&gRoots[62],
+		&gRoots[63],
 };
 
+int CProfileManager::FrameCounter = 0;
+unsigned long int CProfileManager::ResetTime = 0;
 
-int				CProfileManager::FrameCounter = 0;
-unsigned long int			CProfileManager::ResetTime = 0;
-
-CProfileIterator *	CProfileManager::Get_Iterator( void )
-{ 
-
-		int threadIndex = btQuickprofGetCurrentThreadIndex2();
-		if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-			return 0;
+CProfileIterator* CProfileManager::Get_Iterator(void)
+{
+	int threadIndex = btQuickprofGetCurrentThreadIndex2();
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+		return 0;
 
-		return new CProfileIterator( &gRoots[threadIndex]); 
+	return new CProfileIterator(&gRoots[threadIndex]);
 }
 
-void						CProfileManager::CleanupMemory(void)
+void CProfileManager::CleanupMemory(void)
 {
-	for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
+	for (int i = 0; i < BT_QUICKPROF_MAX_THREAD_COUNT; i++)
 	{
 		gRoots[i].CleanupMemory();
 	}
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Start_Profile -- Begin a named profile                                    *
  *                                                                                             *
@@ -546,51 +568,47 @@ void						CProfileManager::CleanupMemory(void)
  * The string used is assumed to be a static string; pointer compares are used throughout      *
  * the profiling code for efficiency.                                                          *
  *=============================================================================================*/
-void	CProfileManager::Start_Profile( const char * name )
+void CProfileManager::Start_Profile(const char* name)
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
-	if (name != gCurrentNodes[threadIndex]->Get_Name()) {
-		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node( name );
+	if (name != gCurrentNodes[threadIndex]->Get_Name())
+	{
+		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node(name);
 	}
 
 	gCurrentNodes[threadIndex]->Call();
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Stop_Profile -- Stop timing and record the results.                       *
  *=============================================================================================*/
-void	CProfileManager::Stop_Profile( void )
+void CProfileManager::Stop_Profile(void)
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
 	// Return will indicate whether we should back up to our parent (we may
 	// be profiling a recursive function)
-	if (gCurrentNodes[threadIndex]->Return()) {
+	if (gCurrentNodes[threadIndex]->Return())
+	{
 		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent();
 	}
 }
 
-
-
-
-
-
 /***********************************************************************************************
  * CProfileManager::Reset -- Reset the contents of the profiling system                       *
  *                                                                                             *
  *    This resets everything except for the tree structure.  All of the timing data is reset.  *
  *=============================================================================================*/
-void	CProfileManager::Reset( void )
+void CProfileManager::Reset(void)
 {
 	gProfileClock.reset();
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 	gRoots[threadIndex].Reset();
 	gRoots[threadIndex].Call();
@@ -598,20 +616,18 @@ void	CProfileManager::Reset( void )
 	Profile_Get_Ticks(&ResetTime);
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Increment_Frame_Counter -- Increment the frame counter                    *
  *=============================================================================================*/
-void CProfileManager::Increment_Frame_Counter( void )
+void CProfileManager::Increment_Frame_Counter(void)
 {
 	FrameCounter++;
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset         *
  *=============================================================================================*/
-float CProfileManager::Get_Time_Since_Reset( void )
+float CProfileManager::Get_Time_Since_Reset(void)
 {
 	unsigned long int time;
 	Profile_Get_Ticks(&time);
@@ -621,34 +637,34 @@ float CProfileManager::Get_Time_Since_Reset( void )
 
 #include <stdio.h>
 
-void	CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
+void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
 {
 	profileIterator->First();
 	if (profileIterator->Is_Done())
 		return;
 
-	float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
+	float accumulated_time = 0, parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
 	int i;
 	int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
-	for (i=0;i<spacing;i++)	printf(".");
+	for (i = 0; i < spacing; i++) printf(".");
 	printf("----------------------------------\n");
-	for (i=0;i<spacing;i++)	printf(".");
-	printf("Profiling: %s (total running time: %.3f ms) ---\n",	profileIterator->Get_Current_Parent_Name(), parent_time );
+	for (i = 0; i < spacing; i++) printf(".");
+	printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time);
 	float totalTime = 0.f;
 
-
 	int numChildren = 0;
 
-	for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next())
+	for (i = 0; !profileIterator->Is_Done(); i++, profileIterator->Next())
 	{
 		numChildren++;
 		float current_total_time = profileIterator->Get_Current_Total_Time();
 		accumulated_time += current_total_time;
 		float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
 		{
-			int i;	for (i=0;i<spacing;i++)	printf(".");
+			int i;
+			for (i = 0; i < spacing; i++) printf(".");
 		}
-		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n",i, profileIterator->Get_Current_Name(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
+		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n", i, profileIterator->Get_Current_Name(), fraction, (current_total_time / (double)frames_since_reset), profileIterator->Get_Current_Total_Calls());
 		totalTime += current_total_time;
 		//recurse into children
 	}
@@ -657,95 +673,94 @@ void	CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spaci
 	{
 		//printf("what's wrong\n");
 	}
-	for (i=0;i<spacing;i++)	printf(".");
-	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+	for (i = 0; i < spacing; i++) printf(".");
+	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:", parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
 
-	for (i=0;i<numChildren;i++)
+	for (i = 0; i < numChildren; i++)
 	{
 		profileIterator->Enter_Child(i);
-		dumpRecursive(profileIterator,spacing+3);
+		dumpRecursive(profileIterator, spacing + 3);
 		profileIterator->Enter_Parent();
 	}
 }
 
-
-
-void	CProfileManager::dumpAll()
+void CProfileManager::dumpAll()
 {
 	CProfileIterator* profileIterator = 0;
 	profileIterator = CProfileManager::Get_Iterator();
 
-	dumpRecursive(profileIterator,0);
+	dumpRecursive(profileIterator, 0);
 
 	CProfileManager::Release_Iterator(profileIterator);
 }
 
 
+void btEnterProfileZoneDefault(const char* name)
+{
+}
+void btLeaveProfileZoneDefault()
+{
+}
 
+#else
+void btEnterProfileZoneDefault(const char* name)
+{
+}
+void btLeaveProfileZoneDefault()
+{
+}
+#endif  //BT_NO_PROFILE
+
+
+// clang-format off
+#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
+  #define BT_HAVE_TLS 1
+#elif __APPLE__ && !TARGET_OS_IPHONE
+  // TODO: Modern versions of iOS support TLS now with updated version checking.
+  #define BT_HAVE_TLS 1
+#elif __linux__
+  #define BT_HAVE_TLS 1
+#endif
+
+// __thread is broken on Andorid clang until r12b. See
+// https://github.com/android-ndk/ndk/issues/8
+#if defined(__ANDROID__) && defined(__clang__)
+  #if __has_include(<android/ndk-version.h>)
+    #include <android/ndk-version.h>
+  #endif  // __has_include(<android/ndk-version.h>)
+  #if defined(__NDK_MAJOR__) && \
+    ((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1)))
+    #undef BT_HAVE_TLS
+  #endif
+#endif  // defined(__ANDROID__) && defined(__clang__)
+// clang-format on
 
 unsigned int btQuickprofGetCurrentThreadIndex2()
 {
-#if BT_THREADSAFE
-    return btGetCurrentThreadIndex();
-#else // #if BT_THREADSAFE
 	const unsigned int kNullIndex = ~0U;
-#ifdef _WIN32
-    #if defined(__MINGW32__) || defined(__MINGW64__)
-        static __thread unsigned int sThreadIndex = kNullIndex;
-    #else
-        __declspec( thread ) static unsigned int sThreadIndex = kNullIndex;
-    #endif
+
+#if BT_THREADSAFE
+	return btGetCurrentThreadIndex();
 #else
-#ifdef __APPLE__
-	#if TARGET_OS_IPHONE
-		unsigned int sThreadIndex = 0;
-		return -1;
-	#else
-		static __thread unsigned int sThreadIndex = kNullIndex;
-	#endif
-#else//__APPLE__
-#if __linux__
+#if defined(BT_HAVE_TLS)
 	static __thread unsigned int sThreadIndex = kNullIndex;
+#elif defined(_WIN32)
+	__declspec(thread) static unsigned int sThreadIndex = kNullIndex;
 #else
 	unsigned int sThreadIndex = 0;
 	return -1;
 #endif
-#endif//__APPLE__
-	
-#endif
-	static int gThreadCounter=0;
 
-	if ( sThreadIndex == kNullIndex )
+	static int gThreadCounter = 0;
+
+	if (sThreadIndex == kNullIndex)
 	{
 		sThreadIndex = gThreadCounter++;
 	}
 	return sThreadIndex;
-#endif // #else // #if BT_THREADSAFE
-}
-
-void	btEnterProfileZoneDefault(const char* name)
-{
-	CProfileManager::Start_Profile( name ); 
-}
-void	btLeaveProfileZoneDefault()
-{
-	CProfileManager::Stop_Profile(); 
+#endif  //BT_THREADSAFE
 }
 
-
-#else
-void	btEnterProfileZoneDefault(const char* name)
-{
-}
-void	btLeaveProfileZoneDefault()
-{
-}
-#endif //BT_NO_PROFILE
-
-
-
-
-
 static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
 static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;
 
@@ -760,14 +775,13 @@ void btLeaveProfileZone()
 
 btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc()
 {
-	return bts_enterFunc ;
+	return bts_enterFunc;
 }
 btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc()
 {
 	return bts_leaveFunc;
 }
 
-
 void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc)
 {
 	bts_enterFunc = enterFunc;
@@ -777,13 +791,12 @@ void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc)
 	bts_leaveFunc = leaveFunc;
 }
 
-CProfileSample::CProfileSample( const char * name )
-{ 
+CProfileSample::CProfileSample(const char* name)
+{
 	btEnterProfileZone(name);
 }
 
-CProfileSample::~CProfileSample( void )					
-{ 
+CProfileSample::~CProfileSample(void)
+{
 	btLeaveProfileZone();
 }
-
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.h b/thirdparty/bullet/LinearMath/btQuickprof.h
index 7b38d71b90..990d401d50 100644
--- a/thirdparty/bullet/LinearMath/btQuickprof.h
+++ b/thirdparty/bullet/LinearMath/btQuickprof.h
@@ -7,11 +7,9 @@
 **
 ***************************************************************************************************/
 
-// Credits: The Clock class was inspired by the Timer classes in 
+// Credits: The Clock class was inspired by the Timer classes in
 // Ogre (www.ogre3d.org).
 
-
-
 #ifndef BT_QUICK_PROF_H
 #define BT_QUICK_PROF_H
 
@@ -34,96 +32,88 @@ public:
 	/// Resets the initial reference time.
 	void reset();
 
-	/// Returns the time in ms since the last call to reset or since 
+	/// Returns the time in ms since the last call to reset or since
 	/// the btClock was created.
 	unsigned long long int getTimeMilliseconds();
 
-	/// Returns the time in us since the last call to reset or since 
+	/// Returns the time in us since the last call to reset or since
 	/// the Clock was created.
 	unsigned long long int getTimeMicroseconds();
-	
+
 	unsigned long long int getTimeNanoseconds();
 
-	/// Returns the time in s since the last call to reset or since 
+	/// Returns the time in s since the last call to reset or since
 	/// the Clock was created.
 	btScalar getTimeSeconds();
-	
+
 private:
 	struct btClockData* m_data;
 };
 
-#endif //USE_BT_CLOCK
+#endif  //USE_BT_CLOCK
 
-typedef void (btEnterProfileZoneFunc)(const char* msg);
-typedef void (btLeaveProfileZoneFunc)();
+typedef void(btEnterProfileZoneFunc)(const char* msg);
+typedef void(btLeaveProfileZoneFunc)();
 
 btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc();
 btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
 
-
-
 void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
 void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
 
-#ifndef BT_NO_PROFILE // FIX redefinition
-//To disable built-in profiling, please comment out next line
-//#define BT_NO_PROFILE 1
-#endif //BT_NO_PROFILE
+#ifndef BT_ENABLE_PROFILE
+#define BT_NO_PROFILE 1
+#endif  //BT_NO_PROFILE
 
-#ifndef BT_NO_PROFILE
-//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, 
-//otherwise returns thread index in range [0..maxThreads]
-unsigned int btQuickprofGetCurrentThreadIndex2();
 const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
 
-#include <stdio.h>//@todo remove this, backwards compatibility
-
-#include "btAlignedAllocator.h"
-#include <new>
-
-
-
-
+//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
+//otherwise returns thread index in range [0..maxThreads]
+unsigned int btQuickprofGetCurrentThreadIndex2();
 
+#ifndef BT_NO_PROFILE
 
 
+#include <stdio.h>  //@todo remove this, backwards compatibility
 
+#include "btAlignedAllocator.h"
+#include <new>
 
 ///A node in the Profile Hierarchy Tree
-class	CProfileNode {
-
+class CProfileNode
+{
 public:
-	CProfileNode( const char * name, CProfileNode * parent );
-	~CProfileNode( void );
+	CProfileNode(const char* name, CProfileNode* parent);
+	~CProfileNode(void);
 
-	CProfileNode * Get_Sub_Node( const char * name );
+	CProfileNode* Get_Sub_Node(const char* name);
 
-	CProfileNode * Get_Parent( void )		{ return Parent; }
-	CProfileNode * Get_Sibling( void )		{ return Sibling; }
-	CProfileNode * Get_Child( void )			{ return Child; }
+	CProfileNode* Get_Parent(void) { return Parent; }
+	CProfileNode* Get_Sibling(void) { return Sibling; }
+	CProfileNode* Get_Child(void) { return Child; }
 
-	void				CleanupMemory();
-	void				Reset( void );
-	void				Call( void );
-	bool				Return( void );
-
-	const char *	Get_Name( void )				{ return Name; }
-	int				Get_Total_Calls( void )		{ return TotalCalls; }
-	float				Get_Total_Time( void )		{ return TotalTime; }
-	void*			GetUserPointer() const {return m_userPtr;}
-	void			SetUserPointer(void* ptr) { m_userPtr = ptr;}
-protected:
+	void CleanupMemory();
+	void Reset(void);
+	void Call(void);
+	bool Return(void);
 
-	const char *	Name;
-	int				TotalCalls;
-	float				TotalTime;
-	unsigned long int			StartTime;
-	int				RecursionCounter;
+	const char* Get_Name(void) { return Name; }
+	int Get_Total_Calls(void) { return TotalCalls; }
+	float Get_Total_Time(void) { return TotalTime; }
+	void* GetUserPointer() const { return m_userPtr; }
+	void SetUserPointer(void* ptr) { m_userPtr = ptr; }
 
-	CProfileNode *	Parent;
-	CProfileNode *	Child;
-	CProfileNode *	Sibling;
-	void*	m_userPtr;
+protected:
+	const char* Name;
+	int TotalCalls;
+	float TotalTime;
+	unsigned long int StartTime;
+	int RecursionCounter;
+
+	CProfileNode* Parent;
+	CProfileNode* Child;
+	CProfileNode* Sibling;
+	void* m_userPtr;
 };
 
 ///An iterator to navigate through the tree
@@ -131,91 +121,80 @@ class CProfileIterator
 {
 public:
 	// Access all the children of the current parent
-	void				First(void);
-	void				Next(void);
-	bool				Is_Done(void);
-	bool                Is_Root(void) { return (CurrentParent->Get_Parent() == 0); }
+	void First(void);
+	void Next(void);
+	bool Is_Done(void);
+	bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); }
 
-	void				Enter_Child( int index );		// Make the given child the new parent
-	void				Enter_Largest_Child( void );	// Make the largest child the new parent
-	void				Enter_Parent( void );			// Make the current parent's parent the new parent
+	void Enter_Child(int index);     // Make the given child the new parent
+	void Enter_Largest_Child(void);  // Make the largest child the new parent
+	void Enter_Parent(void);         // Make the current parent's parent the new parent
 
 	// Access the current child
-	const char *	Get_Current_Name( void )			{ return CurrentChild->Get_Name(); }
-	int				Get_Current_Total_Calls( void )	{ return CurrentChild->Get_Total_Calls(); }
-	float				Get_Current_Total_Time( void )	{ return CurrentChild->Get_Total_Time(); }
+	const char* Get_Current_Name(void) { return CurrentChild->Get_Name(); }
+	int Get_Current_Total_Calls(void) { return CurrentChild->Get_Total_Calls(); }
+	float Get_Current_Total_Time(void) { return CurrentChild->Get_Total_Time(); }
 
-	void*	Get_Current_UserPointer( void )			{ return CurrentChild->GetUserPointer(); }
-	void	Set_Current_UserPointer(void* ptr) {CurrentChild->SetUserPointer(ptr);}
+	void* Get_Current_UserPointer(void) { return CurrentChild->GetUserPointer(); }
+	void Set_Current_UserPointer(void* ptr) { CurrentChild->SetUserPointer(ptr); }
 	// Access the current parent
-	const char *	Get_Current_Parent_Name( void )			{ return CurrentParent->Get_Name(); }
-	int				Get_Current_Parent_Total_Calls( void )	{ return CurrentParent->Get_Total_Calls(); }
-	float				Get_Current_Parent_Total_Time( void )	{ return CurrentParent->Get_Total_Time(); }
-
-	
+	const char* Get_Current_Parent_Name(void) { return CurrentParent->Get_Name(); }
+	int Get_Current_Parent_Total_Calls(void) { return CurrentParent->Get_Total_Calls(); }
+	float Get_Current_Parent_Total_Time(void) { return CurrentParent->Get_Total_Time(); }
 
 protected:
+	CProfileNode* CurrentParent;
+	CProfileNode* CurrentChild;
 
-	CProfileNode *	CurrentParent;
-	CProfileNode *	CurrentChild;
-	
-
-	CProfileIterator( CProfileNode * start );
-	friend	class		CProfileManager;
+	CProfileIterator(CProfileNode* start);
+	friend class CProfileManager;
 };
 
-
 ///The Manager for the Profile system
-class	CProfileManager {
+class CProfileManager
+{
 public:
-	static	void						Start_Profile( const char * name );
-	static	void						Stop_Profile( void );
+	static void Start_Profile(const char* name);
+	static void Stop_Profile(void);
 
-	static	void						CleanupMemory(void);
-//	{
-//		Root.CleanupMemory();
-//	}
+	static void CleanupMemory(void);
+	//	{
+	//		Root.CleanupMemory();
+	//	}
 
-	static	void						Reset( void );
-	static	void						Increment_Frame_Counter( void );
-	static	int						Get_Frame_Count_Since_Reset( void )		{ return FrameCounter; }
-	static	float						Get_Time_Since_Reset( void );
+	static void Reset(void);
+	static void Increment_Frame_Counter(void);
+	static int Get_Frame_Count_Since_Reset(void) { return FrameCounter; }
+	static float Get_Time_Since_Reset(void);
 
-	static	CProfileIterator *	Get_Iterator( void );	
-//	{ 
-//		
-//		return new CProfileIterator( &Root ); 
-//	}
-	static	void						Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); }
+	static CProfileIterator* Get_Iterator(void);
+	//	{
+	//
+	//		return new CProfileIterator( &Root );
+	//	}
+	static void Release_Iterator(CProfileIterator* iterator) { delete (iterator); }
 
-	static void	dumpRecursive(CProfileIterator* profileIterator, int spacing);
+	static void dumpRecursive(CProfileIterator* profileIterator, int spacing);
 
-	static void	dumpAll();
+	static void dumpAll();
 
 private:
-
-	static	int						FrameCounter;
-	static	unsigned long int					ResetTime;
+	static int FrameCounter;
+	static unsigned long int ResetTime;
 };
 
-
-
-
-#endif //#ifndef BT_NO_PROFILE
+#endif  //#ifndef BT_NO_PROFILE
 
 ///ProfileSampleClass is a simple way to profile a function's scope
 ///Use the BT_PROFILE macro at the start of scope to time
-class	CProfileSample {
+class CProfileSample
+{
 public:
-	CProfileSample( const char * name );
+	CProfileSample(const char* name);
 
-	~CProfileSample( void );
+	~CProfileSample(void);
 };
 
-#define	BT_PROFILE( name )			CProfileSample __profile( name )
-
-
-
-#endif //BT_QUICK_PROF_H
-
+#define BT_PROFILE(name) CProfileSample __profile(name)
 
+#endif  //BT_QUICK_PROF_H
diff --git a/thirdparty/bullet/LinearMath/btRandom.h b/thirdparty/bullet/LinearMath/btRandom.h
index 4cbfc6bfe9..e659af8605 100644
--- a/thirdparty/bullet/LinearMath/btRandom.h
+++ b/thirdparty/bullet/LinearMath/btRandom.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_GEN_RANDOM_H
 #define BT_GEN_RANDOM_H
 
@@ -24,8 +22,8 @@ subject to the following restrictions:
 
 #define GEN_RAND_MAX UINT_MAX
 
-SIMD_FORCE_INLINE void         GEN_srand(unsigned int seed) { init_genrand(seed); }
-SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return genrand_int32(); }
+SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { init_genrand(seed); }
+SIMD_FORCE_INLINE unsigned int GEN_rand() { return genrand_int32(); }
 
 #else
 
@@ -33,10 +31,9 @@ SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return genrand_int
 
 #define GEN_RAND_MAX RAND_MAX
 
-SIMD_FORCE_INLINE void         GEN_srand(unsigned int seed) { srand(seed); } 
-SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return rand(); }
+SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { srand(seed); }
+SIMD_FORCE_INLINE unsigned int GEN_rand() { return rand(); }
 
 #endif
 
-#endif //BT_GEN_RANDOM_H
-
+#endif  //BT_GEN_RANDOM_H
diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h
index bffb2ce274..c198bd4b35 100644
--- a/thirdparty/bullet/LinearMath/btScalar.h
+++ b/thirdparty/bullet/LinearMath/btScalar.h
@@ -25,14 +25,13 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 287
+#define BT_BULLET_VERSION 288
 
 inline int btGetVersion()
 {
 	return BT_BULLET_VERSION;
 }
 
-
 // The following macro "BT_NOT_EMPTY_FILE" can be put into a file
 // in order suppress the MS Visual C++ Linker warning 4221
 //
@@ -44,16 +43,19 @@ inline int btGetVersion()
 //
 // see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422
 
-#if defined (_MSC_VER)
-	#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
-	#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b)
-	#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
-	#define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); }
+#if defined(_MSC_VER)
+#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
+#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a##b)
+#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
+#define BT_NOT_EMPTY_FILE                                      \
+	namespace                                                  \
+	{                                                          \
+	char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); \
+	}
 #else
-	#define BT_NOT_EMPTY_FILE 
+#define BT_NOT_EMPTY_FILE
 #endif
 
-
 // clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
 // clang-format off
 #if defined(DEBUG) || defined (_DEBUG)
diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp
index fcd2255ad5..18683c8fa7 100644
--- a/thirdparty/bullet/LinearMath/btSerializer.cpp
+++ b/thirdparty/bullet/LinearMath/btSerializer.cpp
@@ -1,5 +1,6 @@
+// clang-format off
 char sBulletDNAstr[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
 char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
 char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
 char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@@ -72,528 +73,620 @@ char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),cha
 char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),
 char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83),
 char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117),
-char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121),
-char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),
-char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),
-char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),
-char(109),char(85),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0),char(42),char(109),char(95),char(98),char(114),char(111),char(97),char(100),char(112),char(104),
-char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0),char(42),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),
-char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109),char(95),char(114),char(111),char(111),char(116),char(67),char(111),char(108),char(108),char(105),
-char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(109),char(95),char(119),char(111),char(114),char(108),char(100),char(84),char(114),char(97),
-char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
-char(111),char(110),char(87),char(111),char(114),char(108),char(100),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),
-char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),char(111),char(110),char(76),char(105),char(110),char(101),char(97),char(114),char(86),char(101),
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+char(13),char(0),char(-15),char(0),char(13),char(0),char(-14),char(0),char(13),char(0),char(10),char(1),char(13),char(0),char(11),char(1),char(13),char(0),char(12),char(1),
+char(13),char(0),char(13),char(1),char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),char(13),char(0),char(17),char(1),
+char(13),char(0),char(18),char(1),char(13),char(0),char(19),char(1),char(13),char(0),char(20),char(1),char(0),char(0),char(21),char(1),char(0),char(0),char(22),char(1),
+char(0),char(0),char(23),char(1),char(0),char(0),char(24),char(1),char(0),char(0),char(25),char(1),char(4),char(0),char(26),char(1),char(77),char(0),char(41),char(0),
+char(63),char(0),char(-36),char(0),char(20),char(0),char(-33),char(0),char(20),char(0),char(-32),char(0),char(14),char(0),char(-17),char(0),char(14),char(0),char(-16),char(0),
+char(14),char(0),char(-6),char(0),char(14),char(0),char(-5),char(0),char(14),char(0),char(-4),char(0),char(14),char(0),char(-3),char(0),char(14),char(0),char(-2),char(0),
+char(14),char(0),char(-1),char(0),char(14),char(0),char(0),char(1),char(14),char(0),char(1),char(1),char(14),char(0),char(2),char(1),char(14),char(0),char(3),char(1),
+char(14),char(0),char(4),char(1),char(0),char(0),char(5),char(1),char(0),char(0),char(6),char(1),char(0),char(0),char(7),char(1),char(0),char(0),char(8),char(1),
+char(0),char(0),char(9),char(1),char(0),char(0),char(-21),char(0),char(14),char(0),char(-15),char(0),char(14),char(0),char(-14),char(0),char(14),char(0),char(10),char(1),
+char(14),char(0),char(11),char(1),char(14),char(0),char(12),char(1),char(14),char(0),char(13),char(1),char(14),char(0),char(14),char(1),char(14),char(0),char(15),char(1),
+char(14),char(0),char(16),char(1),char(14),char(0),char(17),char(1),char(14),char(0),char(18),char(1),char(14),char(0),char(19),char(1),char(14),char(0),char(20),char(1),
+char(0),char(0),char(21),char(1),char(0),char(0),char(22),char(1),char(0),char(0),char(23),char(1),char(0),char(0),char(24),char(1),char(0),char(0),char(25),char(1),
+char(4),char(0),char(26),char(1),char(78),char(0),char(9),char(0),char(61),char(0),char(-36),char(0),char(19),char(0),char(-33),char(0),char(19),char(0),char(-32),char(0),
+char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(4),char(0),char(-13),char(0),
+char(4),char(0),char(-12),char(0),char(79),char(0),char(9),char(0),char(63),char(0),char(-36),char(0),char(20),char(0),char(-33),char(0),char(20),char(0),char(-32),char(0),
+char(8),char(0),char(-17),char(0),char(8),char(0),char(-16),char(0),char(8),char(0),char(-15),char(0),char(8),char(0),char(-14),char(0),char(4),char(0),char(-13),char(0),
+char(4),char(0),char(-12),char(0),char(80),char(0),char(5),char(0),char(60),char(0),char(-36),char(0),char(13),char(0),char(27),char(1),char(13),char(0),char(28),char(1),
+char(7),char(0),char(29),char(1),char(0),char(0),char(37),char(0),char(81),char(0),char(4),char(0),char(63),char(0),char(-36),char(0),char(14),char(0),char(27),char(1),
+char(14),char(0),char(28),char(1),char(8),char(0),char(29),char(1),char(82),char(0),char(4),char(0),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),
+char(7),char(0),char(32),char(1),char(4),char(0),char(79),char(0),char(83),char(0),char(10),char(0),char(82),char(0),char(33),char(1),char(13),char(0),char(34),char(1),
+char(13),char(0),char(35),char(1),char(13),char(0),char(36),char(1),char(13),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(-60),char(0),
+char(7),char(0),char(39),char(1),char(4),char(0),char(40),char(1),char(4),char(0),char(53),char(0),char(84),char(0),char(4),char(0),char(82),char(0),char(33),char(1),
+char(4),char(0),char(41),char(1),char(7),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(85),char(0),char(4),char(0),char(13),char(0),char(38),char(1),
+char(82),char(0),char(33),char(1),char(4),char(0),char(44),char(1),char(7),char(0),char(45),char(1),char(86),char(0),char(7),char(0),char(13),char(0),char(46),char(1),
+char(82),char(0),char(33),char(1),char(4),char(0),char(47),char(1),char(7),char(0),char(48),char(1),char(7),char(0),char(49),char(1),char(7),char(0),char(50),char(1),
+char(4),char(0),char(53),char(0),char(87),char(0),char(6),char(0),char(17),char(0),char(51),char(1),char(13),char(0),char(49),char(1),char(13),char(0),char(52),char(1),
+char(62),char(0),char(53),char(1),char(4),char(0),char(54),char(1),char(7),char(0),char(50),char(1),char(88),char(0),char(26),char(0),char(4),char(0),char(55),char(1),
+char(7),char(0),char(56),char(1),char(7),char(0),char(-90),char(0),char(7),char(0),char(57),char(1),char(7),char(0),char(58),char(1),char(7),char(0),char(59),char(1),
+char(7),char(0),char(60),char(1),char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),
+char(7),char(0),char(65),char(1),char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),
+char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),
+char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(-100),char(0),
+char(89),char(0),char(12),char(0),char(17),char(0),char(79),char(1),char(17),char(0),char(80),char(1),char(17),char(0),char(81),char(1),char(13),char(0),char(82),char(1),
+char(13),char(0),char(83),char(1),char(7),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(87),char(1),
+char(4),char(0),char(88),char(1),char(7),char(0),char(48),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0),char(19),char(0),char(89),char(1),
+char(17),char(0),char(90),char(1),char(17),char(0),char(91),char(1),char(13),char(0),char(82),char(1),char(13),char(0),char(92),char(1),char(13),char(0),char(93),char(1),
+char(13),char(0),char(94),char(1),char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(4),char(0),char(97),char(1),char(7),char(0),char(98),char(1),
+char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(7),char(0),char(102),char(1),char(7),char(0),char(103),char(1),
+char(4),char(0),char(104),char(1),char(4),char(0),char(105),char(1),char(7),char(0),char(106),char(1),char(7),char(0),char(107),char(1),char(7),char(0),char(108),char(1),
+char(7),char(0),char(109),char(1),char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),
+char(4),char(0),char(114),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(115),char(1),char(9),char(0),char(116),char(1),char(13),char(0),char(117),char(1),
+char(7),char(0),char(118),char(1),char(7),char(0),char(-86),char(0),char(7),char(0),char(119),char(1),char(4),char(0),char(120),char(1),char(13),char(0),char(121),char(1),
+char(4),char(0),char(122),char(1),char(4),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(53),char(0),char(92),char(0),char(19),char(0),
+char(50),char(0),char(-70),char(0),char(89),char(0),char(125),char(1),char(82),char(0),char(126),char(1),char(83),char(0),char(127),char(1),char(84),char(0),char(-128),char(1),
+char(85),char(0),char(-127),char(1),char(86),char(0),char(-126),char(1),char(87),char(0),char(-125),char(1),char(90),char(0),char(-124),char(1),char(91),char(0),char(-123),char(1),
+char(4),char(0),char(-122),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(-119),char(1),
+char(4),char(0),char(-118),char(1),char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(88),char(0),char(-115),char(1),char(93),char(0),char(28),char(0),
+char(16),char(0),char(-114),char(1),char(14),char(0),char(-113),char(1),char(14),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),
+char(14),char(0),char(-109),char(1),char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),
+char(8),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),
+char(8),char(0),char(-100),char(1),char(8),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),
+char(8),char(0),char(-95),char(1),char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),
+char(0),char(0),char(-90),char(1),char(48),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(94),char(0),char(28),char(0),char(15),char(0),char(-114),char(1),
+char(13),char(0),char(-113),char(1),char(13),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),
+char(13),char(0),char(-108),char(1),char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(4),char(0),char(-102),char(1),
+char(7),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(7),char(0),char(-100),char(1),char(7),char(0),char(-99),char(1),
+char(7),char(0),char(-98),char(1),char(4),char(0),char(-101),char(1),char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(7),char(0),char(-95),char(1),
+char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1),
+char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1),
+char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),
+char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0),
+char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),
+char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1),
+char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+};
 int sBulletDNAlen= sizeof(sBulletDNAstr);
+
+// clang-format on
diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h
index 89b4d74683..ba34441615 100644
--- a/thirdparty/bullet/LinearMath/btSerializer.h
+++ b/thirdparty/bullet/LinearMath/btSerializer.h
@@ -16,126 +16,117 @@ subject to the following restrictions:
 #ifndef BT_SERIALIZER_H
 #define BT_SERIALIZER_H
 
-#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
 #include "btHashMap.h"
 
-#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
 #include <memory.h>
 #endif
 #include <string.h>
 
-
-
-
 extern char sBulletDNAstr[];
 extern int sBulletDNAlen;
 extern char sBulletDNAstr64[];
 extern int sBulletDNAlen64;
 
-SIMD_FORCE_INLINE	int btStrLen(const char* str)
+SIMD_FORCE_INLINE int btStrLen(const char* str)
 {
-    if (!str)
-		return(0);
+	if (!str)
+		return (0);
 	int len = 0;
 
 	while (*str != 0)
 	{
-        str++;
-        len++;
-    }
+		str++;
+		len++;
+	}
 
-    return len;
+	return len;
 }
 
-
 class btChunk
 {
 public:
-	int		m_chunkCode;
-	int		m_length;
-	void	*m_oldPtr;
-	int		m_dna_nr;
-	int		m_number;
+	int m_chunkCode;
+	int m_length;
+	void* m_oldPtr;
+	int m_dna_nr;
+	int m_number;
 };
 
-enum	btSerializationFlags
+enum btSerializationFlags
 {
 	BT_SERIALIZE_NO_BVH = 1,
 	BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
-	BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4
+	BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4,
+	BT_SERIALIZE_CONTACT_MANIFOLDS = 8,
 };
 
-class	btSerializer
+class btSerializer
 {
-
 public:
-
 	virtual ~btSerializer() {}
 
-	virtual	const unsigned char*		getBufferPointer() const = 0;
+	virtual const unsigned char* getBufferPointer() const = 0;
 
-	virtual	int		getCurrentBufferSize() const = 0;
+	virtual int getCurrentBufferSize() const = 0;
 
-	virtual	btChunk*	allocate(size_t size, int numElements) = 0;
+	virtual btChunk* allocate(size_t size, int numElements) = 0;
 
-	virtual	void	finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
+	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr) = 0;
 
-	virtual	 void*	findPointer(void* oldPtr)  = 0;
+	virtual void* findPointer(void* oldPtr) = 0;
 
-	virtual	void*	getUniquePointer(void*oldPtr) = 0;
+	virtual void* getUniquePointer(void* oldPtr) = 0;
 
-	virtual	void	startSerialization() = 0;
+	virtual void startSerialization() = 0;
 
-	virtual	void	finishSerialization() = 0;
+	virtual void finishSerialization() = 0;
 
-	virtual	const char*	findNameForPointer(const void* ptr) const = 0;
+	virtual const char* findNameForPointer(const void* ptr) const = 0;
 
-	virtual	void	registerNameForPointer(const void* ptr, const char* name) = 0;
+	virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
 
-	virtual void	serializeName(const char* ptr) = 0;
+	virtual void serializeName(const char* ptr) = 0;
 
-	virtual int		getSerializationFlags() const = 0;
+	virtual int getSerializationFlags() const = 0;
 
-	virtual void	setSerializationFlags(int flags) = 0;
+	virtual void setSerializationFlags(int flags) = 0;
 
 	virtual int getNumChunks() const = 0;
 
 	virtual const btChunk* getChunk(int chunkIndex) const = 0;
-
 };
 
-
-
 #define BT_HEADER_LENGTH 12
-#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
-#	define BT_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
+#define BT_MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
 #else
-#	define BT_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#define BT_MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
 #endif
 
-
-#define BT_MULTIBODY_CODE       BT_MAKE_ID('M','B','D','Y')
-#define BT_SOFTBODY_CODE		BT_MAKE_ID('S','B','D','Y')
-#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J')
-#define BT_RIGIDBODY_CODE		BT_MAKE_ID('R','B','D','Y')
-#define BT_CONSTRAINT_CODE		BT_MAKE_ID('C','O','N','S')
-#define BT_BOXSHAPE_CODE		BT_MAKE_ID('B','O','X','S')
-#define BT_QUANTIZED_BVH_CODE	BT_MAKE_ID('Q','B','V','H')
-#define BT_TRIANLGE_INFO_MAP	BT_MAKE_ID('T','M','A','P')
-#define BT_SHAPE_CODE			BT_MAKE_ID('S','H','A','P')
-#define BT_ARRAY_CODE			BT_MAKE_ID('A','R','A','Y')
-#define BT_SBMATERIAL_CODE		BT_MAKE_ID('S','B','M','T')
-#define BT_SBNODE_CODE			BT_MAKE_ID('S','B','N','D')
-#define BT_DYNAMICSWORLD_CODE	BT_MAKE_ID('D','W','L','D')
-#define BT_DNA_CODE				BT_MAKE_ID('D','N','A','1')
-
-
-struct	btPointerUid
+#define BT_MULTIBODY_CODE BT_MAKE_ID('M', 'B', 'D', 'Y')
+#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M', 'B', 'L', 'C')
+#define BT_SOFTBODY_CODE BT_MAKE_ID('S', 'B', 'D', 'Y')
+#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C', 'O', 'B', 'J')
+#define BT_RIGIDBODY_CODE BT_MAKE_ID('R', 'B', 'D', 'Y')
+#define BT_CONSTRAINT_CODE BT_MAKE_ID('C', 'O', 'N', 'S')
+#define BT_BOXSHAPE_CODE BT_MAKE_ID('B', 'O', 'X', 'S')
+#define BT_QUANTIZED_BVH_CODE BT_MAKE_ID('Q', 'B', 'V', 'H')
+#define BT_TRIANLGE_INFO_MAP BT_MAKE_ID('T', 'M', 'A', 'P')
+#define BT_SHAPE_CODE BT_MAKE_ID('S', 'H', 'A', 'P')
+#define BT_ARRAY_CODE BT_MAKE_ID('A', 'R', 'A', 'Y')
+#define BT_SBMATERIAL_CODE BT_MAKE_ID('S', 'B', 'M', 'T')
+#define BT_SBNODE_CODE BT_MAKE_ID('S', 'B', 'N', 'D')
+#define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D', 'W', 'L', 'D')
+#define BT_CONTACTMANIFOLD_CODE BT_MAKE_ID('C', 'O', 'N', 'T')
+#define BT_DNA_CODE BT_MAKE_ID('D', 'N', 'A', '1')
+
+struct btPointerUid
 {
-	union
-	{
-		void*	m_ptr;
-		int		m_uniqueIds[2];
+	union {
+		void* m_ptr;
+		int m_uniqueIds[2];
 	};
 };
 
@@ -144,8 +135,8 @@ struct btBulletSerializedArrays
 	btBulletSerializedArrays()
 	{
 	}
-	btAlignedObjectArray<struct btQuantizedBvhDoubleData*>	m_bvhsDouble;
-	btAlignedObjectArray<struct btQuantizedBvhFloatData*>	m_bvhsFloat;
+	btAlignedObjectArray<struct btQuantizedBvhDoubleData*> m_bvhsDouble;
+	btAlignedObjectArray<struct btQuantizedBvhFloatData*> m_bvhsFloat;
 	btAlignedObjectArray<struct btCollisionShapeData*> m_colShapeData;
 	btAlignedObjectArray<struct btDynamicsWorldDoubleData*> m_dynamicWorldInfoDataDouble;
 	btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat;
@@ -155,51 +146,42 @@ struct btBulletSerializedArrays
 	btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionObjectDataFloat;
 	btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat;
 	btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble;
-	btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;//for backwards compatibility
+	btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;  //for backwards compatibility
 	btAlignedObjectArray<struct btSoftBodyFloatData*> m_softBodyFloatData;
 	btAlignedObjectArray<struct btSoftBodyDoubleData*> m_softBodyDoubleData;
-
 };
 
-
 ///The btDefaultSerializer is the main Bullet serialization class.
 ///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
-class btDefaultSerializer	:	public btSerializer
+class btDefaultSerializer : public btSerializer
 {
-
 protected:
+	btAlignedObjectArray<char*> mTypes;
+	btAlignedObjectArray<short*> mStructs;
+	btAlignedObjectArray<short> mTlens;
+	btHashMap<btHashInt, int> mStructReverse;
+	btHashMap<btHashString, int> mTypeLookup;
 
-	btAlignedObjectArray<char*>			mTypes;
-	btAlignedObjectArray<short*>			mStructs;
-	btAlignedObjectArray<short>			mTlens;
-	btHashMap<btHashInt, int>			mStructReverse;
-	btHashMap<btHashString,int>	mTypeLookup;
-	
-
-
-	btHashMap<btHashPtr,void*>	m_chunkP;
-
-	btHashMap<btHashPtr,const char*>	m_nameMap;
+	btHashMap<btHashPtr, void*> m_chunkP;
 
-	btHashMap<btHashPtr,btPointerUid>	m_uniquePointers;
-	int	m_uniqueIdGenerator;
+	btHashMap<btHashPtr, const char*> m_nameMap;
 
-	int					m_totalSize;
-	unsigned char*		m_buffer;
-	bool                m_ownsBuffer;
-	int					m_currentSize;
-	void*				m_dna;
-	int					m_dnaLength;
+	btHashMap<btHashPtr, btPointerUid> m_uniquePointers;
+	int m_uniqueIdGenerator;
 
-	int					m_serializationFlags;
+	int m_totalSize;
+	unsigned char* m_buffer;
+	bool m_ownsBuffer;
+	int m_currentSize;
+	void* m_dna;
+	int m_dnaLength;
 
+	int m_serializationFlags;
 
-	btAlignedObjectArray<btChunk*>	m_chunkPtrs;
+	btAlignedObjectArray<btChunk*> m_chunkPtrs;
 
 protected:
-
-	
-	virtual	void*	findPointer(void* oldPtr)
+	virtual void* findPointer(void* oldPtr)
 	{
 		void** ptr = m_chunkP.find(oldPtr);
 		if (ptr && *ptr)
@@ -207,48 +189,43 @@ protected:
 		return 0;
 	}
 
+	virtual void writeDNA()
+	{
+		btChunk* dnaChunk = allocate(m_dnaLength, 1);
+		memcpy(dnaChunk->m_oldPtr, m_dna, m_dnaLength);
+		finalizeChunk(dnaChunk, "DNA1", BT_DNA_CODE, m_dna);
+	}
 
+	int getReverseType(const char* type) const
+	{
+		btHashString key(type);
+		const int* valuePtr = mTypeLookup.find(key);
+		if (valuePtr)
+			return *valuePtr;
 
+		return -1;
+	}
 
+	void initDNA(const char* bdnaOrg, int dnalen)
+	{
+		///was already initialized
+		if (m_dna)
+			return;
 
-		virtual void	writeDNA()
-		{
-			btChunk* dnaChunk = allocate(m_dnaLength,1);
-			memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength);
-			finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna);
-		}
-
-		int getReverseType(const char *type) const
-		{
-
-			btHashString key(type);
-			const int* valuePtr = mTypeLookup.find(key);
-			if (valuePtr)
-				return *valuePtr;
-
-			return -1;
-		}
-
-		void initDNA(const char* bdnaOrg,int dnalen)
-		{
-			///was already initialized
-			if (m_dna)
-				return;
-
-			int littleEndian= 1;
-			littleEndian= ((char*)&littleEndian)[0];
-
+		int littleEndian = 1;
+		littleEndian = ((char*)&littleEndian)[0];
 
-			m_dna = btAlignedAlloc(dnalen,16);
-			memcpy(m_dna,bdnaOrg,dnalen);
-			m_dnaLength = dnalen;
+		m_dna = btAlignedAlloc(dnalen, 16);
+		memcpy(m_dna, bdnaOrg, dnalen);
+		m_dnaLength = dnalen;
 
-			int *intPtr=0;
-			short *shtPtr=0;
-			char *cp = 0;int dataLen =0;
-			intPtr = (int*)m_dna;
+		int* intPtr = 0;
+		short* shtPtr = 0;
+		char* cp = 0;
+		int dataLen = 0;
+		intPtr = (int*)m_dna;
 
-			/*
+		/*
 				SDNA (4 bytes) (magic number)
 				NAME (4 bytes)
 				<nr> (4 bytes) amount of names (int)
@@ -256,81 +233,81 @@ protected:
 				<string>
 			*/
 
-			if (strncmp((const char*)m_dna, "SDNA", 4)==0)
-			{
-				// skip ++ NAME
-				intPtr++; intPtr++;
-			}
-
-			// Parse names
-			if (!littleEndian)
-				*intPtr = btSwapEndian(*intPtr);
+		if (strncmp((const char*)m_dna, "SDNA", 4) == 0)
+		{
+			// skip ++ NAME
+			intPtr++;
+			intPtr++;
+		}
 
-			dataLen = *intPtr;
+		// Parse names
+		if (!littleEndian)
+			*intPtr = btSwapEndian(*intPtr);
 
-			intPtr++;
+		dataLen = *intPtr;
 
-			cp = (char*)intPtr;
-			int i;
-			for ( i=0; i<dataLen; i++)
-			{
+		intPtr++;
 
-				while (*cp)cp++;
-				cp++;
-			}
-			cp = btAlignPointer(cp,4);
+		cp = (char*)intPtr;
+		int i;
+		for (i = 0; i < dataLen; i++)
+		{
+			while (*cp) cp++;
+			cp++;
+		}
+		cp = btAlignPointer(cp, 4);
 
-			/*
+		/*
 				TYPE (4 bytes)
 				<nr> amount of types (int)
 				<string>
 				<string>
 			*/
 
-			intPtr = (int*)cp;
-			btAssert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+		intPtr = (int*)cp;
+		btAssert(strncmp(cp, "TYPE", 4) == 0);
+		intPtr++;
 
-			if (!littleEndian)
-				*intPtr =  btSwapEndian(*intPtr);
-
-			dataLen = *intPtr;
-			intPtr++;
+		if (!littleEndian)
+			*intPtr = btSwapEndian(*intPtr);
 
+		dataLen = *intPtr;
+		intPtr++;
 
-			cp = (char*)intPtr;
-			for (i=0; i<dataLen; i++)
-			{
-				mTypes.push_back(cp);
-				while (*cp)cp++;
-				cp++;
-			}
-
-			cp = btAlignPointer(cp,4);
+		cp = (char*)intPtr;
+		for (i = 0; i < dataLen; i++)
+		{
+			mTypes.push_back(cp);
+			while (*cp) cp++;
+			cp++;
+		}
 
+		cp = btAlignPointer(cp, 4);
 
-			/*
+		/*
 				TLEN (4 bytes)
 				<len> (short) the lengths of types
 				<len>
 			*/
 
-			// Parse type lens
-			intPtr = (int*)cp;
-			btAssert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+		// Parse type lens
+		intPtr = (int*)cp;
+		btAssert(strncmp(cp, "TLEN", 4) == 0);
+		intPtr++;
 
-			dataLen = (int)mTypes.size();
+		dataLen = (int)mTypes.size();
 
-			shtPtr = (short*)intPtr;
-			for (i=0; i<dataLen; i++, shtPtr++)
-			{
-				if (!littleEndian)
-					shtPtr[0] = btSwapEndian(shtPtr[0]);
-				mTlens.push_back(shtPtr[0]);
-			}
+		shtPtr = (short*)intPtr;
+		for (i = 0; i < dataLen; i++, shtPtr++)
+		{
+			if (!littleEndian)
+				shtPtr[0] = btSwapEndian(shtPtr[0]);
+			mTlens.push_back(shtPtr[0]);
+		}
 
-			if (dataLen & 1) shtPtr++;
+		if (dataLen & 1) shtPtr++;
 
-			/*
+		/*
 				STRC (4 bytes)
 				<nr> amount of structs (int)
 				<typenr>
@@ -341,384 +318,372 @@ protected:
 				<namenr>
 			*/
 
-			intPtr = (int*)shtPtr;
-			cp = (char*)intPtr;
-			btAssert(strncmp(cp, "STRC", 4)==0); intPtr++;
+		intPtr = (int*)shtPtr;
+		cp = (char*)intPtr;
+		btAssert(strncmp(cp, "STRC", 4) == 0);
+		intPtr++;
 
-			if (!littleEndian)
-				*intPtr = btSwapEndian(*intPtr);
-			dataLen = *intPtr ;
-			intPtr++;
+		if (!littleEndian)
+			*intPtr = btSwapEndian(*intPtr);
+		dataLen = *intPtr;
+		intPtr++;
 
+		shtPtr = (short*)intPtr;
+		for (i = 0; i < dataLen; i++)
+		{
+			mStructs.push_back(shtPtr);
 
-			shtPtr = (short*)intPtr;
-			for (i=0; i<dataLen; i++)
+			if (!littleEndian)
 			{
-				mStructs.push_back (shtPtr);
-
-				if (!littleEndian)
-				{
-					shtPtr[0]= btSwapEndian(shtPtr[0]);
-					shtPtr[1]= btSwapEndian(shtPtr[1]);
+				shtPtr[0] = btSwapEndian(shtPtr[0]);
+				shtPtr[1] = btSwapEndian(shtPtr[1]);
 
-					int len = shtPtr[1];
-					shtPtr+= 2;
+				int len = shtPtr[1];
+				shtPtr += 2;
 
-					for (int a=0; a<len; a++, shtPtr+=2)
-					{
-							shtPtr[0]= btSwapEndian(shtPtr[0]);
-							shtPtr[1]= btSwapEndian(shtPtr[1]);
-					}
-
-				} else
+				for (int a = 0; a < len; a++, shtPtr += 2)
 				{
-					shtPtr+= (2*shtPtr[1])+2;
+					shtPtr[0] = btSwapEndian(shtPtr[0]);
+					shtPtr[1] = btSwapEndian(shtPtr[1]);
 				}
 			}
-
-			// build reverse lookups
-			for (i=0; i<(int)mStructs.size(); i++)
+			else
 			{
-				short *strc = mStructs.at(i);
-				mStructReverse.insert(strc[0], i);
-				mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
+				shtPtr += (2 * shtPtr[1]) + 2;
 			}
 		}
 
-public:
-
-	btHashMap<btHashPtr,void*> m_skipPointers;
-
+		// build reverse lookups
+		for (i = 0; i < (int)mStructs.size(); i++)
+		{
+			short* strc = mStructs.at(i);
+			mStructReverse.insert(strc[0], i);
+			mTypeLookup.insert(btHashString(mTypes[strc[0]]), i);
+		}
+	}
 
-		btDefaultSerializer(int totalSize=0, unsigned char*	buffer=0)
-			:m_uniqueIdGenerator(0),
-			m_totalSize(totalSize),
-			m_currentSize(0),
-			m_dna(0),
-			m_dnaLength(0),
-			m_serializationFlags(0)
+public:
+	btHashMap<btHashPtr, void*> m_skipPointers;
+
+	btDefaultSerializer(int totalSize = 0, unsigned char* buffer = 0)
+		: m_uniqueIdGenerator(0),
+		  m_totalSize(totalSize),
+		  m_currentSize(0),
+		  m_dna(0),
+		  m_dnaLength(0),
+		  m_serializationFlags(0)
+	{
+		if (buffer == 0)
 		{
-		    if (buffer==0)
-            {
-                m_buffer = m_totalSize?(unsigned char*)btAlignedAlloc(totalSize,16):0;
-                m_ownsBuffer = true;
-            } else
-            {
-                m_buffer = buffer;
-                m_ownsBuffer = false;
-            }
-
-			const bool VOID_IS_8 = ((sizeof(void*)==8));
+			m_buffer = m_totalSize ? (unsigned char*)btAlignedAlloc(totalSize, 16) : 0;
+			m_ownsBuffer = true;
+		}
+		else
+		{
+			m_buffer = buffer;
+			m_ownsBuffer = false;
+		}
+
+		const bool VOID_IS_8 = ((sizeof(void*) == 8));
 
 #ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-			if (VOID_IS_8)
-			{
+		if (VOID_IS_8)
+		{
 #if _WIN64
-				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+			initDNA((const char*)sBulletDNAstr64, sBulletDNAlen64);
 #else
-				btAssert(0);
+			btAssert(0);
 #endif
-			} else
-			{
+		}
+		else
+		{
 #ifndef _WIN64
-				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+			initDNA((const char*)sBulletDNAstr, sBulletDNAlen);
 #else
-				btAssert(0);
+			btAssert(0);
 #endif
-			}
-
-#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-			if (VOID_IS_8)
-			{
-				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
-			} else
-			{
-				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
-			}
-#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
-
-		}
-
-		virtual ~btDefaultSerializer()
-		{
-			if (m_buffer && m_ownsBuffer)
-				btAlignedFree(m_buffer);
-			if (m_dna)
-				btAlignedFree(m_dna);
 		}
 
-		static int getMemoryDnaSizeInBytes()
+#else   //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+		if (VOID_IS_8)
 		{
-			const bool VOID_IS_8 = ((sizeof(void*) == 8));
-
-			if (VOID_IS_8)
-			{
-				return sBulletDNAlen64;
-			}
-			return sBulletDNAlen;
+			initDNA((const char*)sBulletDNAstr64, sBulletDNAlen64);
 		}
-		static const char* getMemoryDna()
+		else
 		{
-			const bool VOID_IS_8 = ((sizeof(void*) == 8));
-			if (VOID_IS_8)
-			{
-				return (const char*)sBulletDNAstr64;
-			}
-			return (const char*)sBulletDNAstr;
+			initDNA((const char*)sBulletDNAstr, sBulletDNAlen);
 		}
+#endif  //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+	}
 
-		void	insertHeader()
+	virtual ~btDefaultSerializer()
+	{
+		if (m_buffer && m_ownsBuffer)
+			btAlignedFree(m_buffer);
+		if (m_dna)
+			btAlignedFree(m_dna);
+	}
+
+	static int getMemoryDnaSizeInBytes()
+	{
+		const bool VOID_IS_8 = ((sizeof(void*) == 8));
+
+		if (VOID_IS_8)
 		{
-			writeHeader(m_buffer);
-			m_currentSize += BT_HEADER_LENGTH;
+			return sBulletDNAlen64;
 		}
-
-		void	writeHeader(unsigned char* buffer) const
+		return sBulletDNAlen;
+	}
+	static const char* getMemoryDna()
+	{
+		const bool VOID_IS_8 = ((sizeof(void*) == 8));
+		if (VOID_IS_8)
 		{
+			return (const char*)sBulletDNAstr64;
+		}
+		return (const char*)sBulletDNAstr;
+	}
 
+	void insertHeader()
+	{
+		writeHeader(m_buffer);
+		m_currentSize += BT_HEADER_LENGTH;
+	}
 
-#ifdef  BT_USE_DOUBLE_PRECISION
-			memcpy(buffer, "BULLETd", 7);
+	void writeHeader(unsigned char* buffer) const
+	{
+#ifdef BT_USE_DOUBLE_PRECISION
+		memcpy(buffer, "BULLETd", 7);
 #else
-			memcpy(buffer, "BULLETf", 7);
-#endif //BT_USE_DOUBLE_PRECISION
+		memcpy(buffer, "BULLETf", 7);
+#endif  //BT_USE_DOUBLE_PRECISION
 
-			int littleEndian= 1;
-			littleEndian= ((char*)&littleEndian)[0];
-
-			if (sizeof(void*)==8)
-			{
-				buffer[7] = '-';
-			} else
-			{
-				buffer[7] = '_';
-			}
-
-			if (littleEndian)
-			{
-				buffer[8]='v';
-			} else
-			{
-				buffer[8]='V';
-			}
-
-
-			buffer[9] = '2';
-			buffer[10] = '8';
-			buffer[11] = '7';
+		int littleEndian = 1;
+		littleEndian = ((char*)&littleEndian)[0];
 
+		if (sizeof(void*) == 8)
+		{
+			buffer[7] = '-';
 		}
-
-		virtual	void	startSerialization()
+		else
 		{
-			m_uniqueIdGenerator= 1;
-			if (m_totalSize)
-			{
-				unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH);
-				writeHeader(buffer);
-			}
-
+			buffer[7] = '_';
 		}
 
-		virtual	void	finishSerialization()
+		if (littleEndian)
 		{
-			writeDNA();
-
-			//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-			int mysize = 0;
-			if (!m_totalSize)
-			{
-				if (m_buffer)
-					btAlignedFree(m_buffer);
-
-				m_currentSize += BT_HEADER_LENGTH;
-				m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize,16);
+			buffer[8] = 'v';
+		}
+		else
+		{
+			buffer[8] = 'V';
+		}
 
-				unsigned char* currentPtr = m_buffer;
-				writeHeader(m_buffer);
-				currentPtr += BT_HEADER_LENGTH;
-				mysize+=BT_HEADER_LENGTH;
-				for (int i=0;i<	m_chunkPtrs.size();i++)
-				{
-					int curLength = sizeof(btChunk)+m_chunkPtrs[i]->m_length;
-					memcpy(currentPtr,m_chunkPtrs[i], curLength);
-					btAlignedFree(m_chunkPtrs[i]);
-					currentPtr+=curLength;
-					mysize+=curLength;
-				}
-			}
+		buffer[9] = '2';
+		buffer[10] = '8';
+		buffer[11] = '8';
+	}
 
-			mTypes.clear();
-			mStructs.clear();
-			mTlens.clear();
-			mStructReverse.clear();
-			mTypeLookup.clear();
-			m_skipPointers.clear();
-			m_chunkP.clear();
-			m_nameMap.clear();
-			m_uniquePointers.clear();
-			m_chunkPtrs.clear();
+	virtual void startSerialization()
+	{
+		m_uniqueIdGenerator = 1;
+		if (m_totalSize)
+		{
+			unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH);
+			writeHeader(buffer);
 		}
+	}
+
+	virtual void finishSerialization()
+	{
+		writeDNA();
 
-		virtual	void*	getUniquePointer(void*oldPtr)
+		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
+		int mysize = 0;
+		if (!m_totalSize)
 		{
-			btAssert(m_uniqueIdGenerator >= 0);
-			if (!oldPtr)
-				return 0;
+			if (m_buffer)
+				btAlignedFree(m_buffer);
 
-			btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
-			if (uptr)
-			{
-				return uptr->m_ptr;
-			}
+			m_currentSize += BT_HEADER_LENGTH;
+			m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize, 16);
 
-			void** ptr2 = m_skipPointers[oldPtr];
-            if (ptr2)
+			unsigned char* currentPtr = m_buffer;
+			writeHeader(m_buffer);
+			currentPtr += BT_HEADER_LENGTH;
+			mysize += BT_HEADER_LENGTH;
+			for (int i = 0; i < m_chunkPtrs.size(); i++)
 			{
-				return 0;
+				int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
+				memcpy(currentPtr, m_chunkPtrs[i], curLength);
+				btAlignedFree(m_chunkPtrs[i]);
+				currentPtr += curLength;
+				mysize += curLength;
 			}
+		}
 
-			m_uniqueIdGenerator++;
-
-			btPointerUid uid;
-			uid.m_uniqueIds[0] = m_uniqueIdGenerator;
-			uid.m_uniqueIds[1] = m_uniqueIdGenerator;
-			m_uniquePointers.insert(oldPtr,uid);
-			return uid.m_ptr;
+		mTypes.clear();
+		mStructs.clear();
+		mTlens.clear();
+		mStructReverse.clear();
+		mTypeLookup.clear();
+		m_skipPointers.clear();
+		m_chunkP.clear();
+		m_nameMap.clear();
+		m_uniquePointers.clear();
+		m_chunkPtrs.clear();
+	}
 
-		}
+	virtual void* getUniquePointer(void* oldPtr)
+	{
+		btAssert(m_uniqueIdGenerator >= 0);
+		if (!oldPtr)
+			return 0;
 
-		virtual	const unsigned char*		getBufferPointer() const
+		btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
+		if (uptr)
 		{
-			return m_buffer;
+			return uptr->m_ptr;
 		}
 
-		virtual	int					getCurrentBufferSize() const
+		void** ptr2 = m_skipPointers[oldPtr];
+		if (ptr2)
 		{
-			return	m_currentSize;
+			return 0;
 		}
 
-		virtual	void	finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
-		{
-			if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT))
-			{
-				btAssert(!findPointer(oldPtr));
-			}
-
-			chunk->m_dna_nr = getReverseType(structType);
+		m_uniqueIdGenerator++;
 
-			chunk->m_chunkCode = chunkCode;
+		btPointerUid uid;
+		uid.m_uniqueIds[0] = m_uniqueIdGenerator;
+		uid.m_uniqueIds[1] = m_uniqueIdGenerator;
+		m_uniquePointers.insert(oldPtr, uid);
+		return uid.m_ptr;
+	}
 
-			void* uniquePtr = getUniquePointer(oldPtr);
+	virtual const unsigned char* getBufferPointer() const
+	{
+		return m_buffer;
+	}
 
-			m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr);
-			chunk->m_oldPtr = uniquePtr;//oldPtr;
+	virtual int getCurrentBufferSize() const
+	{
+		return m_currentSize;
+	}
 
+	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr)
+	{
+		if (!(m_serializationFlags & BT_SERIALIZE_NO_DUPLICATE_ASSERT))
+		{
+			btAssert(!findPointer(oldPtr));
 		}
 
+		chunk->m_dna_nr = getReverseType(structType);
 
-		virtual unsigned char* internalAlloc(size_t size)
-		{
-			unsigned char* ptr = 0;
+		chunk->m_chunkCode = chunkCode;
 
-			if (m_totalSize)
-			{
-				ptr = m_buffer+m_currentSize;
-				m_currentSize += int(size);
-				btAssert(m_currentSize<m_totalSize);
-			} else
-			{
-				ptr = (unsigned char*)btAlignedAlloc(size,16);
-				m_currentSize += int(size);
-			}
-			return ptr;
-		}
+		void* uniquePtr = getUniquePointer(oldPtr);
 
+		m_chunkP.insert(oldPtr, uniquePtr);  //chunk->m_oldPtr);
+		chunk->m_oldPtr = uniquePtr;         //oldPtr;
+	}
 
+	virtual unsigned char* internalAlloc(size_t size)
+	{
+		unsigned char* ptr = 0;
 
-		virtual	btChunk*	allocate(size_t size, int numElements)
+		if (m_totalSize)
 		{
+			ptr = m_buffer + m_currentSize;
+			m_currentSize += int(size);
+			btAssert(m_currentSize < m_totalSize);
+		}
+		else
+		{
+			ptr = (unsigned char*)btAlignedAlloc(size, 16);
+			m_currentSize += int(size);
+		}
+		return ptr;
+	}
 
-			unsigned char* ptr = internalAlloc(int(size)*numElements+sizeof(btChunk));
-
-			unsigned char* data = ptr + sizeof(btChunk);
+	virtual btChunk* allocate(size_t size, int numElements)
+	{
+		unsigned char* ptr = internalAlloc(int(size) * numElements + sizeof(btChunk));
 
-			btChunk* chunk = (btChunk*)ptr;
-			chunk->m_chunkCode = 0;
-			chunk->m_oldPtr = data;
-			chunk->m_length = int(size)*numElements;
-			chunk->m_number = numElements;
+		unsigned char* data = ptr + sizeof(btChunk);
 
-			m_chunkPtrs.push_back(chunk);
+		btChunk* chunk = (btChunk*)ptr;
+		chunk->m_chunkCode = 0;
+		chunk->m_oldPtr = data;
+		chunk->m_length = int(size) * numElements;
+		chunk->m_number = numElements;
 
+		m_chunkPtrs.push_back(chunk);
 
-			return chunk;
-		}
+		return chunk;
+	}
 
-		virtual	const char*	findNameForPointer(const void* ptr) const
-		{
-			const char*const * namePtr = m_nameMap.find(ptr);
-			if (namePtr && *namePtr)
-				return *namePtr;
-			return 0;
+	virtual const char* findNameForPointer(const void* ptr) const
+	{
+		const char* const* namePtr = m_nameMap.find(ptr);
+		if (namePtr && *namePtr)
+			return *namePtr;
+		return 0;
+	}
 
-		}
+	virtual void registerNameForPointer(const void* ptr, const char* name)
+	{
+		m_nameMap.insert(ptr, name);
+	}
 
-		virtual	void	registerNameForPointer(const void* ptr, const char* name)
+	virtual void serializeName(const char* name)
+	{
+		if (name)
 		{
-			m_nameMap.insert(ptr,name);
-		}
+			//don't serialize name twice
+			if (findPointer((void*)name))
+				return;
 
-		virtual void	serializeName(const char* name)
-		{
-			if (name)
+			int len = btStrLen(name);
+			if (len)
 			{
-				//don't serialize name twice
-				if (findPointer((void*)name))
-					return;
-
-				int len = btStrLen(name);
-				if (len)
+				int newLen = len + 1;
+				int padding = ((newLen + 3) & ~3) - newLen;
+				newLen += padding;
+
+				//serialize name string now
+				btChunk* chunk = allocate(sizeof(char), newLen);
+				char* destinationName = (char*)chunk->m_oldPtr;
+				for (int i = 0; i < len; i++)
 				{
-
-					int newLen = len+1;
-					int padding = ((newLen+3)&~3)-newLen;
-					newLen += padding;
-
-					//serialize name string now
-					btChunk* chunk = allocate(sizeof(char),newLen);
-					char* destinationName = (char*)chunk->m_oldPtr;
-					for (int i=0;i<len;i++)
-					{
-						destinationName[i] = name[i];
-					}
-					destinationName[len] = 0;
-					finalizeChunk(chunk,"char",BT_ARRAY_CODE,(void*)name);
+					destinationName[i] = name[i];
 				}
+				destinationName[len] = 0;
+				finalizeChunk(chunk, "char", BT_ARRAY_CODE, (void*)name);
 			}
 		}
+	}
 
-		virtual int		getSerializationFlags() const
-		{
-			return m_serializationFlags;
-		}
+	virtual int getSerializationFlags() const
+	{
+		return m_serializationFlags;
+	}
 
-		virtual void	setSerializationFlags(int flags)
-		{
-			m_serializationFlags = flags;
-		}
-		int getNumChunks() const
-		{
-			return m_chunkPtrs.size();
-		}
+	virtual void setSerializationFlags(int flags)
+	{
+		m_serializationFlags = flags;
+	}
+	int getNumChunks() const
+	{
+		return m_chunkPtrs.size();
+	}
 
-		const btChunk* getChunk(int chunkIndex) const
-		{
-			return m_chunkPtrs[chunkIndex];
-		}
+	const btChunk* getChunk(int chunkIndex) const
+	{
+		return m_chunkPtrs[chunkIndex];
+	}
 };
 
-
 ///In general it is best to use btDefaultSerializer,
 ///in particular when writing the data to disk or sending it over the network.
 ///The btInMemorySerializer is experimental and only suitable in a few cases.
@@ -728,181 +693,177 @@ public:
 
 struct btInMemorySerializer : public btDefaultSerializer
 {
-    btHashMap<btHashPtr,btChunk*> m_uid2ChunkPtr;
-    btHashMap<btHashPtr,void*> m_orgPtr2UniqueDataPtr;
-    btHashMap<btHashString,const void*> m_names2Ptr;
-    
-
-    btBulletSerializedArrays    m_arrays;
-
-    btInMemorySerializer(int totalSize=0, unsigned char*	buffer=0)
-    :btDefaultSerializer(totalSize,buffer)
-    {
-        
-    }
-
-    virtual void startSerialization()
-    {
-        m_uid2ChunkPtr.clear();
-        //todo: m_arrays.clear();
-        btDefaultSerializer::startSerialization();
-    }
-
-    
-
-    btChunk* findChunkFromUniquePointer(void* uniquePointer)
-    {
-        btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer];
-        if (chkPtr)
-        {
-            return *chkPtr;
-        }
-        return 0;
-    }
-
-	virtual	void	registerNameForPointer(const void* ptr, const char* name)
-    {
-       btDefaultSerializer::registerNameForPointer(ptr,name);
-       m_names2Ptr.insert(name,ptr);
-    }
-
-    virtual void finishSerialization()
-    {
-    }
-
-    virtual void* getUniquePointer(void*oldPtr)
-    {
-        if (oldPtr==0)
-            return 0;
-
-        // void* uniquePtr = getUniquePointer(oldPtr);
-        btChunk* chunk = findChunkFromUniquePointer(oldPtr);
-        if (chunk)
-        {
-            return chunk->m_oldPtr;
-        } else
-        {
-            const char* n = (const char*) oldPtr;
-            const void** ptr = m_names2Ptr[n];
-            if (ptr)
-            {
-                return oldPtr;
-            } else
-            {
-            		void** ptr2 = m_skipPointers[oldPtr];
-            		if (ptr2)
-								{
-									return 0;
-								} else
-								{
-									//If this assert hit, serialization happened in the wrong order
-									// 'getUniquePointer'
-									btAssert(0);
-								}
-
-            }
-            return 0;
-        }
-				return oldPtr;
-    }
+	btHashMap<btHashPtr, btChunk*> m_uid2ChunkPtr;
+	btHashMap<btHashPtr, void*> m_orgPtr2UniqueDataPtr;
+	btHashMap<btHashString, const void*> m_names2Ptr;
 
-    virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
-    {
-        if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT))
-        {
-            btAssert(!findPointer(oldPtr));
-        }
+	btBulletSerializedArrays m_arrays;
 
-        chunk->m_dna_nr = getReverseType(structType);
-        chunk->m_chunkCode = chunkCode;
-        //void* uniquePtr = getUniquePointer(oldPtr);
-        m_chunkP.insert(oldPtr,oldPtr);//chunk->m_oldPtr);
-        // chunk->m_oldPtr = uniquePtr;//oldPtr;
+	btInMemorySerializer(int totalSize = 0, unsigned char* buffer = 0)
+		: btDefaultSerializer(totalSize, buffer)
+	{
+	}
 
-        void* uid = findPointer(oldPtr);
-        m_uid2ChunkPtr.insert(uid,chunk);
+	virtual void startSerialization()
+	{
+		m_uid2ChunkPtr.clear();
+		//todo: m_arrays.clear();
+		btDefaultSerializer::startSerialization();
+	}
 
-        switch (chunk->m_chunkCode)
+	btChunk* findChunkFromUniquePointer(void* uniquePointer)
+	{
+		btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer];
+		if (chkPtr)
+		{
+			return *chkPtr;
+		}
+		return 0;
+	}
+
+	virtual void registerNameForPointer(const void* ptr, const char* name)
+	{
+		btDefaultSerializer::registerNameForPointer(ptr, name);
+		m_names2Ptr.insert(name, ptr);
+	}
+
+	virtual void finishSerialization()
+	{
+	}
+
+	virtual void* getUniquePointer(void* oldPtr)
+	{
+		if (oldPtr == 0)
+			return 0;
+
+		// void* uniquePtr = getUniquePointer(oldPtr);
+		btChunk* chunk = findChunkFromUniquePointer(oldPtr);
+		if (chunk)
+		{
+			return chunk->m_oldPtr;
+		}
+		else
+		{
+			const char* n = (const char*)oldPtr;
+			const void** ptr = m_names2Ptr[n];
+			if (ptr)
 			{
-			case BT_SOFTBODY_CODE:
+				return oldPtr;
+			}
+			else
 			{
-	#ifdef BT_USE_DOUBLE_PRECISION
-					m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*) chunk->m_oldPtr);
-	#else
-					m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*) chunk->m_oldPtr);
-	#endif
-					break;
+				void** ptr2 = m_skipPointers[oldPtr];
+				if (ptr2)
+				{
+					return 0;
 				}
-			case BT_COLLISIONOBJECT_CODE:
+				else
 				{
-	#ifdef BT_USE_DOUBLE_PRECISION
-					m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr);
-	#else//BT_USE_DOUBLE_PRECISION
-					m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr);
-	#endif //BT_USE_DOUBLE_PRECISION
-					break;
+					//If this assert hit, serialization happened in the wrong order
+					// 'getUniquePointer'
+					btAssert(0);
 				}
+			}
+			return 0;
+		}
+		return oldPtr;
+	}
+
+	virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode, void* oldPtr)
+	{
+		if (!(m_serializationFlags & BT_SERIALIZE_NO_DUPLICATE_ASSERT))
+		{
+			btAssert(!findPointer(oldPtr));
+		}
+
+		chunk->m_dna_nr = getReverseType(structType);
+		chunk->m_chunkCode = chunkCode;
+		//void* uniquePtr = getUniquePointer(oldPtr);
+		m_chunkP.insert(oldPtr, oldPtr);  //chunk->m_oldPtr);
+		// chunk->m_oldPtr = uniquePtr;//oldPtr;
+
+		void* uid = findPointer(oldPtr);
+		m_uid2ChunkPtr.insert(uid, chunk);
+
+		switch (chunk->m_chunkCode)
+		{
+			case BT_SOFTBODY_CODE:
+			{
+#ifdef BT_USE_DOUBLE_PRECISION
+				m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*)chunk->m_oldPtr);
+#else
+				m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*)chunk->m_oldPtr);
+#endif
+				break;
+			}
+			case BT_COLLISIONOBJECT_CODE:
+			{
+#ifdef BT_USE_DOUBLE_PRECISION
+				m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr);
+#else   //BT_USE_DOUBLE_PRECISION
+				m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr);
+#endif  //BT_USE_DOUBLE_PRECISION
+				break;
+			}
 			case BT_RIGIDBODY_CODE:
-				{
-	#ifdef BT_USE_DOUBLE_PRECISION
-					m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr);
-	#else
-					m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr);
-	#endif//BT_USE_DOUBLE_PRECISION
-					break;
-				};
+			{
+#ifdef BT_USE_DOUBLE_PRECISION
+				m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr);
+#else
+				m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr);
+#endif  //BT_USE_DOUBLE_PRECISION
+				break;
+			};
 			case BT_CONSTRAINT_CODE:
-				{
-	#ifdef BT_USE_DOUBLE_PRECISION
-					m_arrays.m_constraintDataDouble.push_back((btTypedConstraintDoubleData*)chunk->m_oldPtr);
-	#else
-					m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr);
-	#endif
-					break;
-				}
+			{
+#ifdef BT_USE_DOUBLE_PRECISION
+				m_arrays.m_constraintDataDouble.push_back((btTypedConstraintDoubleData*)chunk->m_oldPtr);
+#else
+				m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr);
+#endif
+				break;
+			}
 			case BT_QUANTIZED_BVH_CODE:
-				{
-	#ifdef BT_USE_DOUBLE_PRECISION
-					m_arrays.m_bvhsDouble.push_back((btQuantizedBvhDoubleData*) chunk->m_oldPtr);
-	#else
-					m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*) chunk->m_oldPtr);
-	#endif
-					break;
-				}
+			{
+#ifdef BT_USE_DOUBLE_PRECISION
+				m_arrays.m_bvhsDouble.push_back((btQuantizedBvhDoubleData*)chunk->m_oldPtr);
+#else
+				m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*)chunk->m_oldPtr);
+#endif
+				break;
+			}
 
 			case BT_SHAPE_CODE:
-				{
-					btCollisionShapeData* shapeData = (btCollisionShapeData*) chunk->m_oldPtr;
-					m_arrays.m_colShapeData.push_back(shapeData);
-					break;
-				}
+			{
+				btCollisionShapeData* shapeData = (btCollisionShapeData*)chunk->m_oldPtr;
+				m_arrays.m_colShapeData.push_back(shapeData);
+				break;
+			}
 			case BT_TRIANLGE_INFO_MAP:
 			case BT_ARRAY_CODE:
 			case BT_SBMATERIAL_CODE:
 			case BT_SBNODE_CODE:
 			case BT_DYNAMICSWORLD_CODE:
 			case BT_DNA_CODE:
-				{
-					break;
-				}
+			{
+				break;
+			}
 			default:
-				{
-				}
-			};
-    }
-
-    int getNumChunks() const
-    {
-        return m_uid2ChunkPtr.size();
-    }
+			{
+			}
+		};
+	}
 
-    const btChunk* getChunk(int chunkIndex) const
-    {
-        return *m_uid2ChunkPtr.getAtIndex(chunkIndex);
-    }
+	int getNumChunks() const
+	{
+		return m_uid2ChunkPtr.size();
+	}
 
+	const btChunk* getChunk(int chunkIndex) const
+	{
+		return *m_uid2ChunkPtr.getAtIndex(chunkIndex);
+	}
 };
-#endif //ENABLE_INMEMORY_SERIALIZER
-
-#endif //BT_SERIALIZER_H
+#endif  //ENABLE_INMEMORY_SERIALIZER
 
+#endif  //BT_SERIALIZER_H
diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp
index 05f59202d7..cf281cdb36 100644
--- a/thirdparty/bullet/LinearMath/btSerializer64.cpp
+++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp
@@ -1,5 +1,6 @@
+// clang-format off
 char sBulletDNAstr64[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
 char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
 char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
 char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@@ -72,528 +73,619 @@ char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),cha
 char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),
 char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83),
 char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117),
-char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121),
-char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),
-char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),
-char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),
-char(109),char(85),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0),char(42),char(109),char(95),char(98),char(114),char(111),char(97),char(100),char(112),char(104),
-char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0),char(42),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),
-char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109),char(95),char(114),char(111),char(111),char(116),char(67),char(111),char(108),char(108),char(105),
-char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(109),char(95),char(119),char(111),char(114),char(108),char(100),char(84),char(114),char(97),
-char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
-char(111),char(110),char(87),char(111),char(114),char(108),char(100),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),
-char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),char(111),char(110),char(76),char(105),char(110),char(101),char(97),char(114),char(86),char(101),
-char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
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+char(13),char(0),char(13),char(1),char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),char(13),char(0),char(17),char(1),
+char(13),char(0),char(18),char(1),char(13),char(0),char(19),char(1),char(13),char(0),char(20),char(1),char(0),char(0),char(21),char(1),char(0),char(0),char(22),char(1),
+char(0),char(0),char(23),char(1),char(0),char(0),char(24),char(1),char(0),char(0),char(25),char(1),char(4),char(0),char(26),char(1),char(77),char(0),char(41),char(0),
+char(63),char(0),char(-36),char(0),char(20),char(0),char(-33),char(0),char(20),char(0),char(-32),char(0),char(14),char(0),char(-17),char(0),char(14),char(0),char(-16),char(0),
+char(14),char(0),char(-6),char(0),char(14),char(0),char(-5),char(0),char(14),char(0),char(-4),char(0),char(14),char(0),char(-3),char(0),char(14),char(0),char(-2),char(0),
+char(14),char(0),char(-1),char(0),char(14),char(0),char(0),char(1),char(14),char(0),char(1),char(1),char(14),char(0),char(2),char(1),char(14),char(0),char(3),char(1),
+char(14),char(0),char(4),char(1),char(0),char(0),char(5),char(1),char(0),char(0),char(6),char(1),char(0),char(0),char(7),char(1),char(0),char(0),char(8),char(1),
+char(0),char(0),char(9),char(1),char(0),char(0),char(-21),char(0),char(14),char(0),char(-15),char(0),char(14),char(0),char(-14),char(0),char(14),char(0),char(10),char(1),
+char(14),char(0),char(11),char(1),char(14),char(0),char(12),char(1),char(14),char(0),char(13),char(1),char(14),char(0),char(14),char(1),char(14),char(0),char(15),char(1),
+char(14),char(0),char(16),char(1),char(14),char(0),char(17),char(1),char(14),char(0),char(18),char(1),char(14),char(0),char(19),char(1),char(14),char(0),char(20),char(1),
+char(0),char(0),char(21),char(1),char(0),char(0),char(22),char(1),char(0),char(0),char(23),char(1),char(0),char(0),char(24),char(1),char(0),char(0),char(25),char(1),
+char(4),char(0),char(26),char(1),char(78),char(0),char(9),char(0),char(61),char(0),char(-36),char(0),char(19),char(0),char(-33),char(0),char(19),char(0),char(-32),char(0),
+char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(4),char(0),char(-13),char(0),
+char(4),char(0),char(-12),char(0),char(79),char(0),char(9),char(0),char(63),char(0),char(-36),char(0),char(20),char(0),char(-33),char(0),char(20),char(0),char(-32),char(0),
+char(8),char(0),char(-17),char(0),char(8),char(0),char(-16),char(0),char(8),char(0),char(-15),char(0),char(8),char(0),char(-14),char(0),char(4),char(0),char(-13),char(0),
+char(4),char(0),char(-12),char(0),char(80),char(0),char(5),char(0),char(60),char(0),char(-36),char(0),char(13),char(0),char(27),char(1),char(13),char(0),char(28),char(1),
+char(7),char(0),char(29),char(1),char(0),char(0),char(37),char(0),char(81),char(0),char(4),char(0),char(63),char(0),char(-36),char(0),char(14),char(0),char(27),char(1),
+char(14),char(0),char(28),char(1),char(8),char(0),char(29),char(1),char(82),char(0),char(4),char(0),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),
+char(7),char(0),char(32),char(1),char(4),char(0),char(79),char(0),char(83),char(0),char(10),char(0),char(82),char(0),char(33),char(1),char(13),char(0),char(34),char(1),
+char(13),char(0),char(35),char(1),char(13),char(0),char(36),char(1),char(13),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(-60),char(0),
+char(7),char(0),char(39),char(1),char(4),char(0),char(40),char(1),char(4),char(0),char(53),char(0),char(84),char(0),char(4),char(0),char(82),char(0),char(33),char(1),
+char(4),char(0),char(41),char(1),char(7),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(85),char(0),char(4),char(0),char(13),char(0),char(38),char(1),
+char(82),char(0),char(33),char(1),char(4),char(0),char(44),char(1),char(7),char(0),char(45),char(1),char(86),char(0),char(7),char(0),char(13),char(0),char(46),char(1),
+char(82),char(0),char(33),char(1),char(4),char(0),char(47),char(1),char(7),char(0),char(48),char(1),char(7),char(0),char(49),char(1),char(7),char(0),char(50),char(1),
+char(4),char(0),char(53),char(0),char(87),char(0),char(6),char(0),char(17),char(0),char(51),char(1),char(13),char(0),char(49),char(1),char(13),char(0),char(52),char(1),
+char(62),char(0),char(53),char(1),char(4),char(0),char(54),char(1),char(7),char(0),char(50),char(1),char(88),char(0),char(26),char(0),char(4),char(0),char(55),char(1),
+char(7),char(0),char(56),char(1),char(7),char(0),char(-90),char(0),char(7),char(0),char(57),char(1),char(7),char(0),char(58),char(1),char(7),char(0),char(59),char(1),
+char(7),char(0),char(60),char(1),char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),
+char(7),char(0),char(65),char(1),char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),
+char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),
+char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(-100),char(0),
+char(89),char(0),char(12),char(0),char(17),char(0),char(79),char(1),char(17),char(0),char(80),char(1),char(17),char(0),char(81),char(1),char(13),char(0),char(82),char(1),
+char(13),char(0),char(83),char(1),char(7),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(87),char(1),
+char(4),char(0),char(88),char(1),char(7),char(0),char(48),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0),char(19),char(0),char(89),char(1),
+char(17),char(0),char(90),char(1),char(17),char(0),char(91),char(1),char(13),char(0),char(82),char(1),char(13),char(0),char(92),char(1),char(13),char(0),char(93),char(1),
+char(13),char(0),char(94),char(1),char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(4),char(0),char(97),char(1),char(7),char(0),char(98),char(1),
+char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(7),char(0),char(102),char(1),char(7),char(0),char(103),char(1),
+char(4),char(0),char(104),char(1),char(4),char(0),char(105),char(1),char(7),char(0),char(106),char(1),char(7),char(0),char(107),char(1),char(7),char(0),char(108),char(1),
+char(7),char(0),char(109),char(1),char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),
+char(4),char(0),char(114),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(115),char(1),char(9),char(0),char(116),char(1),char(13),char(0),char(117),char(1),
+char(7),char(0),char(118),char(1),char(7),char(0),char(-86),char(0),char(7),char(0),char(119),char(1),char(4),char(0),char(120),char(1),char(13),char(0),char(121),char(1),
+char(4),char(0),char(122),char(1),char(4),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(53),char(0),char(92),char(0),char(19),char(0),
+char(50),char(0),char(-70),char(0),char(89),char(0),char(125),char(1),char(82),char(0),char(126),char(1),char(83),char(0),char(127),char(1),char(84),char(0),char(-128),char(1),
+char(85),char(0),char(-127),char(1),char(86),char(0),char(-126),char(1),char(87),char(0),char(-125),char(1),char(90),char(0),char(-124),char(1),char(91),char(0),char(-123),char(1),
+char(4),char(0),char(-122),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(-119),char(1),
+char(4),char(0),char(-118),char(1),char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(88),char(0),char(-115),char(1),char(93),char(0),char(28),char(0),
+char(16),char(0),char(-114),char(1),char(14),char(0),char(-113),char(1),char(14),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),
+char(14),char(0),char(-109),char(1),char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),
+char(8),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),
+char(8),char(0),char(-100),char(1),char(8),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),
+char(8),char(0),char(-95),char(1),char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),
+char(0),char(0),char(-90),char(1),char(48),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(94),char(0),char(28),char(0),char(15),char(0),char(-114),char(1),
+char(13),char(0),char(-113),char(1),char(13),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),
+char(13),char(0),char(-108),char(1),char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(4),char(0),char(-102),char(1),
+char(7),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(7),char(0),char(-100),char(1),char(7),char(0),char(-99),char(1),
+char(7),char(0),char(-98),char(1),char(4),char(0),char(-101),char(1),char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(7),char(0),char(-95),char(1),
+char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1),
+char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1),
+char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),
+char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0),
+char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),
+char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1),
+char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+};
 int sBulletDNAlen64= sizeof(sBulletDNAstr64);
+// clang-format on
diff --git a/thirdparty/bullet/LinearMath/btSpatialAlgebra.h b/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
index 8e59658bca..6ad67a1081 100644
--- a/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
+++ b/thirdparty/bullet/LinearMath/btSpatialAlgebra.h
@@ -12,18 +12,17 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-///These spatial algebra classes are used for btMultiBody, 
+///These spatial algebra classes are used for btMultiBody,
 ///see BulletDynamics/Featherstone
 
 #ifndef BT_SPATIAL_ALGEBRA_H
 #define BT_SPATIAL_ALGEBRA_H
 
-
 #include "btMatrix3x3.h"
 
 struct btSpatialForceVector
-{	
-	btVector3 m_topVec, m_bottomVec;	
+{
+	btVector3 m_topVec, m_bottomVec;
 	//
 	btSpatialForceVector() { setZero(); }
 	btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {}
@@ -32,21 +31,34 @@ struct btSpatialForceVector
 		setValue(ax, ay, az, lx, ly, lz);
 	}
 	//
-	void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = linear; m_bottomVec = angular; }
+	void setVector(const btVector3 &angular, const btVector3 &linear)
+	{
+		m_topVec = linear;
+		m_bottomVec = angular;
+	}
 	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
 	{
-		m_bottomVec.setValue(ax, ay, az); m_topVec.setValue(lx, ly, lz);
+		m_bottomVec.setValue(ax, ay, az);
+		m_topVec.setValue(lx, ly, lz);
 	}
 	//
-	void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; }
+	void addVector(const btVector3 &angular, const btVector3 &linear)
+	{
+		m_topVec += linear;
+		m_bottomVec += angular;
+	}
 	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
 	{
-		m_bottomVec[0] += ax; m_bottomVec[1] += ay; m_bottomVec[2] += az;
-		m_topVec[0] += lx; m_topVec[1] += ly; m_topVec[2] += lz;			
+		m_bottomVec[0] += ax;
+		m_bottomVec[1] += ay;
+		m_bottomVec[2] += az;
+		m_topVec[0] += lx;
+		m_topVec[1] += ly;
+		m_topVec[2] += lz;
 	}
 	//
-	const btVector3 & getLinear()  const { return m_topVec; }
-	const btVector3 & getAngular() const { return m_bottomVec; }
+	const btVector3 &getLinear() const { return m_topVec; }
+	const btVector3 &getAngular() const { return m_bottomVec; }
 	//
 	void setLinear(const btVector3 &linear) { m_topVec = linear; }
 	void setAngular(const btVector3 &angular) { m_bottomVec = angular; }
@@ -54,14 +66,28 @@ struct btSpatialForceVector
 	void addAngular(const btVector3 &angular) { m_bottomVec += angular; }
 	void addLinear(const btVector3 &linear) { m_topVec += linear; }
 	//
-	void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); }
+	void setZero()
+	{
+		m_topVec.setZero();
+		m_bottomVec.setZero();
+	}
 	//
-	btSpatialForceVector & operator += (const btSpatialForceVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; }
-	btSpatialForceVector & operator -= (const btSpatialForceVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; }
-	btSpatialForceVector operator - (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); }
-	btSpatialForceVector operator + (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); }
-	btSpatialForceVector operator - () const { return btSpatialForceVector(-m_bottomVec, -m_topVec); }
-	btSpatialForceVector operator * (const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); }		
+	btSpatialForceVector &operator+=(const btSpatialForceVector &vec)
+	{
+		m_topVec += vec.m_topVec;
+		m_bottomVec += vec.m_bottomVec;
+		return *this;
+	}
+	btSpatialForceVector &operator-=(const btSpatialForceVector &vec)
+	{
+		m_topVec -= vec.m_topVec;
+		m_bottomVec -= vec.m_bottomVec;
+		return *this;
+	}
+	btSpatialForceVector operator-(const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); }
+	btSpatialForceVector operator+(const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); }
+	btSpatialForceVector operator-() const { return btSpatialForceVector(-m_bottomVec, -m_topVec); }
+	btSpatialForceVector operator*(const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); }
 	//btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; }
 };
 
@@ -70,23 +96,36 @@ struct btSpatialMotionVector
 	btVector3 m_topVec, m_bottomVec;
 	//
 	btSpatialMotionVector() { setZero(); }
-	btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {}		
+	btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {}
 	//
-	void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = angular; m_bottomVec = linear; }
+	void setVector(const btVector3 &angular, const btVector3 &linear)
+	{
+		m_topVec = angular;
+		m_bottomVec = linear;
+	}
 	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
 	{
-		m_topVec.setValue(ax, ay, az); m_bottomVec.setValue(lx, ly, lz);
+		m_topVec.setValue(ax, ay, az);
+		m_bottomVec.setValue(lx, ly, lz);
 	}
 	//
-	void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; }
+	void addVector(const btVector3 &angular, const btVector3 &linear)
+	{
+		m_topVec += linear;
+		m_bottomVec += angular;
+	}
 	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
 	{
-		m_topVec[0] += ax; m_topVec[1] += ay; m_topVec[2] += az;
-		m_bottomVec[0] += lx; m_bottomVec[1] += ly; m_bottomVec[2] += lz;			
+		m_topVec[0] += ax;
+		m_topVec[1] += ay;
+		m_topVec[2] += az;
+		m_bottomVec[0] += lx;
+		m_bottomVec[1] += ly;
+		m_bottomVec[2] += lz;
 	}
-	//	
-	const btVector3 & getAngular() const { return m_topVec; }
-	const btVector3 & getLinear() const { return m_bottomVec; }
+	//
+	const btVector3 &getAngular() const { return m_topVec; }
+	const btVector3 &getLinear() const { return m_bottomVec; }
 	//
 	void setAngular(const btVector3 &angular) { m_topVec = angular; }
 	void setLinear(const btVector3 &linear) { m_bottomVec = linear; }
@@ -94,20 +133,24 @@ struct btSpatialMotionVector
 	void addAngular(const btVector3 &angular) { m_topVec += angular; }
 	void addLinear(const btVector3 &linear) { m_bottomVec += linear; }
 	//
-	void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); }
+	void setZero()
+	{
+		m_topVec.setZero();
+		m_bottomVec.setZero();
+	}
 	//
 	btScalar dot(const btSpatialForceVector &b) const
 	{
 		return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec);
 	}
 	//
-	template<typename SpatialVectorType>
+	template <typename SpatialVectorType>
 	void cross(const SpatialVectorType &b, SpatialVectorType &out) const
 	{
 		out.m_topVec = m_topVec.cross(b.m_topVec);
 		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
 	}
-	template<typename SpatialVectorType>
+	template <typename SpatialVectorType>
 	SpatialVectorType cross(const SpatialVectorType &b) const
 	{
 		SpatialVectorType out;
@@ -116,21 +159,36 @@ struct btSpatialMotionVector
 		return out;
 	}
 	//
-	btSpatialMotionVector & operator += (const btSpatialMotionVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; }
-	btSpatialMotionVector & operator -= (const btSpatialMotionVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; }
-	btSpatialMotionVector & operator *= (const btScalar &s) { m_topVec *= s; m_bottomVec *= s; return *this; }
-	btSpatialMotionVector operator - (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); }
-	btSpatialMotionVector operator + (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); }
-	btSpatialMotionVector operator - () const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); }
-	btSpatialMotionVector operator * (const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); }
+	btSpatialMotionVector &operator+=(const btSpatialMotionVector &vec)
+	{
+		m_topVec += vec.m_topVec;
+		m_bottomVec += vec.m_bottomVec;
+		return *this;
+	}
+	btSpatialMotionVector &operator-=(const btSpatialMotionVector &vec)
+	{
+		m_topVec -= vec.m_topVec;
+		m_bottomVec -= vec.m_bottomVec;
+		return *this;
+	}
+	btSpatialMotionVector &operator*=(const btScalar &s)
+	{
+		m_topVec *= s;
+		m_bottomVec *= s;
+		return *this;
+	}
+	btSpatialMotionVector operator-(const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); }
+	btSpatialMotionVector operator+(const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); }
+	btSpatialMotionVector operator-() const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); }
+	btSpatialMotionVector operator*(const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); }
 };
 
 struct btSymmetricSpatialDyad
 {
 	btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat;
-	//		
+	//
 	btSymmetricSpatialDyad() { setIdentity(); }
-	btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); }			
+	btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); }
 	//
 	void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
 	{
@@ -146,17 +204,22 @@ struct btSymmetricSpatialDyad
 		m_bottomLeftMat += bottomLeftMat;
 	}
 	//
-	void setIdentity() { m_topLeftMat.setIdentity(); m_topRightMat.setIdentity(); m_bottomLeftMat.setIdentity();  }
+	void setIdentity()
+	{
+		m_topLeftMat.setIdentity();
+		m_topRightMat.setIdentity();
+		m_bottomLeftMat.setIdentity();
+	}
 	//
-	btSymmetricSpatialDyad & operator -= (const btSymmetricSpatialDyad &mat)
+	btSymmetricSpatialDyad &operator-=(const btSymmetricSpatialDyad &mat)
 	{
 		m_topLeftMat -= mat.m_topLeftMat;
 		m_topRightMat -= mat.m_topRightMat;
 		m_bottomLeftMat -= mat.m_bottomLeftMat;
-		return *this; 
+		return *this;
 	}
 	//
-	btSpatialForceVector operator * (const btSpatialMotionVector &vec)
+	btSpatialForceVector operator*(const btSpatialMotionVector &vec)
 	{
 		return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec);
 	}
@@ -164,7 +227,7 @@ struct btSymmetricSpatialDyad
 
 struct btSpatialTransformationMatrix
 {
-	btMatrix3x3 m_rotMat; //btMatrix3x3 m_trnCrossMat;
+	btMatrix3x3 m_rotMat;  //btMatrix3x3 m_trnCrossMat;
 	btVector3 m_trnVec;
 	//
 	enum eOutputOperation
@@ -174,128 +237,124 @@ struct btSpatialTransformationMatrix
 		Subtract = 2
 	};
 	//
-	template<typename SpatialVectorType>
-	void transform(	const SpatialVectorType &inVec,
-                      SpatialVectorType &outVec,
-					eOutputOperation outOp = None)
+	template <typename SpatialVectorType>
+	void transform(const SpatialVectorType &inVec,
+				   SpatialVectorType &outVec,
+				   eOutputOperation outOp = None)
 	{
-		if(outOp == None)
+		if (outOp == None)
 		{
 			outVec.m_topVec = m_rotMat * inVec.m_topVec;
 			outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
 		}
-		else if(outOp == Add)
+		else if (outOp == Add)
 		{
 			outVec.m_topVec += m_rotMat * inVec.m_topVec;
 			outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
 		}
-		else if(outOp == Subtract)
+		else if (outOp == Subtract)
 		{
 			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
 			outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
 		}
-		
 	}
 
-	template<typename SpatialVectorType>
-	void transformRotationOnly(	const SpatialVectorType &inVec,
-								SpatialVectorType &outVec,
-								eOutputOperation outOp = None)
+	template <typename SpatialVectorType>
+	void transformRotationOnly(const SpatialVectorType &inVec,
+							   SpatialVectorType &outVec,
+							   eOutputOperation outOp = None)
 	{
-		if(outOp == None)
+		if (outOp == None)
 		{
 			outVec.m_topVec = m_rotMat * inVec.m_topVec;
 			outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec;
 		}
-		else if(outOp == Add)
+		else if (outOp == Add)
 		{
 			outVec.m_topVec += m_rotMat * inVec.m_topVec;
 			outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec;
 		}
-		else if(outOp == Subtract)
+		else if (outOp == Subtract)
 		{
 			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
 			outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec;
 		}
-		
 	}
 
-	template<typename SpatialVectorType>
-	void transformInverse(	const SpatialVectorType &inVec,
-							SpatialVectorType &outVec,
-							eOutputOperation outOp = None)
+	template <typename SpatialVectorType>
+	void transformInverse(const SpatialVectorType &inVec,
+						  SpatialVectorType &outVec,
+						  eOutputOperation outOp = None)
 	{
-		if(outOp == None)
+		if (outOp == None)
 		{
 			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
 			outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
 		}
-		else if(outOp == Add)
+		else if (outOp == Add)
 		{
 			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
 			outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
 		}
-		else if(outOp == Subtract)
+		else if (outOp == Subtract)
 		{
 			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
 			outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-		}			
+		}
 	}
 
-	template<typename SpatialVectorType>
-	void transformInverseRotationOnly(	const SpatialVectorType &inVec,
-										SpatialVectorType &outVec,
-										eOutputOperation outOp = None)
+	template <typename SpatialVectorType>
+	void transformInverseRotationOnly(const SpatialVectorType &inVec,
+									  SpatialVectorType &outVec,
+									  eOutputOperation outOp = None)
 	{
-		if(outOp == None)
+		if (outOp == None)
 		{
 			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
 			outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec;
 		}
-		else if(outOp == Add)
+		else if (outOp == Add)
 		{
 			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
 			outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec;
 		}
-		else if(outOp == Subtract)
+		else if (outOp == Subtract)
 		{
 			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
 			outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec;
 		}
-		
 	}
 
-	void transformInverse(	const btSymmetricSpatialDyad &inMat,
-							btSymmetricSpatialDyad &outMat,
-							eOutputOperation outOp = None)
+	void transformInverse(const btSymmetricSpatialDyad &inMat,
+						  btSymmetricSpatialDyad &outMat,
+						  eOutputOperation outOp = None)
 	{
-		const btMatrix3x3 r_cross(	0, -m_trnVec[2], m_trnVec[1],
-								m_trnVec[2], 0, -m_trnVec[0],
-								-m_trnVec[1], m_trnVec[0], 0);
+		const btMatrix3x3 r_cross(0, -m_trnVec[2], m_trnVec[1],
+								  m_trnVec[2], 0, -m_trnVec[0],
+								  -m_trnVec[1], m_trnVec[0], 0);
 
-
-		if(outOp == None)
+		if (outOp == None)
 		{
-			outMat.m_topLeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
+			outMat.m_topLeftMat = m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
 			outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
 			outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
 		}
-		else if(outOp == Add)
+		else if (outOp == Add)
 		{
-			outMat.m_topLeftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
+			outMat.m_topLeftMat += m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
 			outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
 			outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
 		}
-		else if(outOp == Subtract)
+		else if (outOp == Subtract)
 		{
-			outMat.m_topLeftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
+			outMat.m_topLeftMat -= m_rotMat.transpose() * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) * m_rotMat;
 			outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
 			outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
 		}
 	}
 
-	template<typename SpatialVectorType>
-	SpatialVectorType operator * (const SpatialVectorType &vec)
+	template <typename SpatialVectorType>
+	SpatialVectorType operator*(const SpatialVectorType &vec)
 	{
 		SpatialVectorType out;
 		transform(vec, out);
@@ -303,7 +362,7 @@ struct btSpatialTransformationMatrix
 	}
 };
 
-template<typename SpatialVectorType>
+template <typename SpatialVectorType>
 void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out)
 {
 	//output op maybe?
@@ -314,7 +373,7 @@ void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVecto
 	//maybe simple a*spatTranspose(a) would be nicer?
 }
 
-template<typename SpatialVectorType>
+template <typename SpatialVectorType>
 btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b)
 {
 	btSymmetricSpatialDyad out;
@@ -327,5 +386,4 @@ btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a,
 	//maybe simple a*spatTranspose(a) would be nicer?
 }
 
-#endif //BT_SPATIAL_ALGEBRA_H
-
+#endif  //BT_SPATIAL_ALGEBRA_H
diff --git a/thirdparty/bullet/LinearMath/btStackAlloc.h b/thirdparty/bullet/LinearMath/btStackAlloc.h
index 397b084877..3fc2084976 100644
--- a/thirdparty/bullet/LinearMath/btStackAlloc.h
+++ b/thirdparty/bullet/LinearMath/btStackAlloc.h
@@ -20,97 +20,99 @@ Nov.2006
 #ifndef BT_STACK_ALLOC
 #define BT_STACK_ALLOC
 
-#include "btScalar.h" //for btAssert
+#include "btScalar.h"  //for btAssert
 #include "btAlignedAllocator.h"
 
 ///The btBlock class is an internal structure for the btStackAlloc memory allocator.
 struct btBlock
 {
-	btBlock*			previous;
-	unsigned char*		address;
+	btBlock* previous;
+	unsigned char* address;
 };
 
 ///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
 class btStackAlloc
 {
 public:
+	btStackAlloc(unsigned int size)
+	{
+		ctor();
+		create(size);
+	}
+	~btStackAlloc() { destroy(); }
 
-	btStackAlloc(unsigned int size)	{ ctor();create(size); }
-	~btStackAlloc()		{ destroy(); }
-	
-	inline void		create(unsigned int size)
+	inline void create(unsigned int size)
 	{
 		destroy();
-		data		=  (unsigned char*) btAlignedAlloc(size,16);
-		totalsize	=	size;
+		data = (unsigned char*)btAlignedAlloc(size, 16);
+		totalsize = size;
 	}
-	inline void		destroy()
+	inline void destroy()
 	{
-		btAssert(usedsize==0);
+		btAssert(usedsize == 0);
 		//Raise(L"StackAlloc is still in use");
 
-		if(usedsize==0)
+		if (usedsize == 0)
 		{
-			if(!ischild && data)		
+			if (!ischild && data)
 				btAlignedFree(data);
 
-			data				=	0;
-			usedsize			=	0;
+			data = 0;
+			usedsize = 0;
 		}
-		
 	}
 
-	int	getAvailableMemory() const
+	int getAvailableMemory() const
 	{
 		return static_cast<int>(totalsize - usedsize);
 	}
 
-	unsigned char*			allocate(unsigned int size)
+	unsigned char* allocate(unsigned int size)
 	{
-		const unsigned int	nus(usedsize+size);
-		if(nus<totalsize)
+		const unsigned int nus(usedsize + size);
+		if (nus < totalsize)
 		{
-			usedsize=nus;
-			return(data+(usedsize-size));
+			usedsize = nus;
+			return (data + (usedsize - size));
 		}
 		btAssert(0);
 		//&& (L"Not enough memory"));
-		
-		return(0);
+
+		return (0);
 	}
-	SIMD_FORCE_INLINE btBlock*		beginBlock()
+	SIMD_FORCE_INLINE btBlock* beginBlock()
 	{
-		btBlock*	pb = (btBlock*)allocate(sizeof(btBlock));
-		pb->previous	=	current;
-		pb->address		=	data+usedsize;
-		current			=	pb;
-		return(pb);
+		btBlock* pb = (btBlock*)allocate(sizeof(btBlock));
+		pb->previous = current;
+		pb->address = data + usedsize;
+		current = pb;
+		return (pb);
 	}
-	SIMD_FORCE_INLINE void		endBlock(btBlock* block)
+	SIMD_FORCE_INLINE void endBlock(btBlock* block)
 	{
-		btAssert(block==current);
+		btAssert(block == current);
 		//Raise(L"Unmatched blocks");
-		if(block==current)
+		if (block == current)
 		{
-			current		=	block->previous;
-			usedsize	=	(unsigned int)((block->address-data)-sizeof(btBlock));
+			current = block->previous;
+			usedsize = (unsigned int)((block->address - data) - sizeof(btBlock));
 		}
 	}
 
 private:
-	void		ctor()
+	void ctor()
 	{
-		data		=	0;
-		totalsize	=	0;
-		usedsize	=	0;
-		current		=	0;
-		ischild		=	false;
+		data = 0;
+		totalsize = 0;
+		usedsize = 0;
+		current = 0;
+		ischild = false;
 	}
-	unsigned char*		data;
-	unsigned int		totalsize;
-	unsigned int		usedsize;
-	btBlock*	current;
-	bool		ischild;
+	unsigned char* data;
+	unsigned int totalsize;
+	unsigned int usedsize;
+	btBlock* current;
+	bool ischild;
 };
 
-#endif //BT_STACK_ALLOC
+#endif  //BT_STACK_ALLOC
diff --git a/thirdparty/bullet/LinearMath/btThreads.cpp b/thirdparty/bullet/LinearMath/btThreads.cpp
index 59a7ea36e9..69a86799fa 100644
--- a/thirdparty/bullet/LinearMath/btThreads.cpp
+++ b/thirdparty/bullet/LinearMath/btThreads.cpp
@@ -12,18 +12,15 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btThreads.h"
 #include "btQuickprof.h"
 #include <algorithm>  // for min and max
 
-
 #if BT_USE_OPENMP && BT_THREADSAFE
 
 #include <omp.h>
 
-#endif // #if BT_USE_OPENMP && BT_THREADSAFE
-
+#endif  // #if BT_USE_OPENMP && BT_THREADSAFE
 
 #if BT_USE_PPL && BT_THREADSAFE
 
@@ -32,8 +29,7 @@ subject to the following restrictions:
 // Visual Studio 2010 and later should come with it
 #include <concrtrm.h>  // for GetProcessorCount()
 
-#endif // #if BT_USE_PPL && BT_THREADSAFE
-
+#endif  // #if BT_USE_PPL && BT_THREADSAFE
 
 #if BT_USE_TBB && BT_THREADSAFE
 
@@ -44,8 +40,7 @@ subject to the following restrictions:
 #include <tbb/parallel_for.h>
 #include <tbb/blocked_range.h>
 
-#endif // #if BT_USE_TBB && BT_THREADSAFE
-
+#endif  // #if BT_USE_TBB && BT_THREADSAFE
 
 #if BT_THREADSAFE
 //
@@ -53,7 +48,7 @@ subject to the following restrictions:
 // Using ordinary system-provided mutexes like Windows critical sections was noticeably slower
 // presumably because when it fails to lock at first it would sleep the thread and trigger costly
 // context switching.
-// 
+//
 
 #if __cplusplus >= 201103L
 
@@ -61,25 +56,24 @@ subject to the following restrictions:
 // on GCC or Clang you need to compile with -std=c++11
 #define USE_CPP11_ATOMICS 1
 
-#elif defined( _MSC_VER )
+#elif defined(_MSC_VER)
 
 // on MSVC, use intrinsics instead
 #define USE_MSVC_INTRINSICS 1
 
-#elif defined( __GNUC__ ) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7))
+#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7))
 
 // available since GCC 4.7 and some versions of clang
 // todo: check for clang
 #define USE_GCC_BUILTIN_ATOMICS 1
 
-#elif defined( __GNUC__ ) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1)
+#elif defined(__GNUC__) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1)
 
 // available since GCC 4.1
 #define USE_GCC_BUILTIN_ATOMICS_OLD 1
 
 #endif
 
-
 #if USE_CPP11_ATOMICS
 
 #include <atomic>
@@ -89,27 +83,26 @@ subject to the following restrictions:
 
 bool btSpinMutex::tryLock()
 {
-    std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
-    int expected = 0;
-    return std::atomic_compare_exchange_weak_explicit( aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire );
+	std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
+	int expected = 0;
+	return std::atomic_compare_exchange_weak_explicit(aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire);
 }
 
 void btSpinMutex::lock()
 {
-    // note: this lock does not sleep the thread.
-    while (! tryLock())
-    {
-        // spin
-    }
+	// note: this lock does not sleep the thread.
+	while (!tryLock())
+	{
+		// spin
+	}
 }
 
 void btSpinMutex::unlock()
 {
-    std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
-    std::atomic_store_explicit( aDest, int(0), std::memory_order_release );
+	std::atomic<int>* aDest = reinterpret_cast<std::atomic<int>*>(&mLock);
+	std::atomic_store_explicit(aDest, int(0), std::memory_order_release);
 }
 
-
 #elif USE_MSVC_INTRINSICS
 
 #define WIN32_LEAN_AND_MEAN
@@ -117,148 +110,142 @@ void btSpinMutex::unlock()
 #include <windows.h>
 #include <intrin.h>
 
-#define THREAD_LOCAL_STATIC __declspec( thread ) static
-
+#define THREAD_LOCAL_STATIC __declspec(thread) static
 
 bool btSpinMutex::tryLock()
 {
-    volatile long* aDest = reinterpret_cast<long*>(&mLock);
-    return ( 0 == _InterlockedCompareExchange( aDest, 1, 0) );
+	volatile long* aDest = reinterpret_cast<long*>(&mLock);
+	return (0 == _InterlockedCompareExchange(aDest, 1, 0));
 }
 
 void btSpinMutex::lock()
 {
-    // note: this lock does not sleep the thread
-    while (! tryLock())
-    {
-        // spin
-    }
+	// note: this lock does not sleep the thread
+	while (!tryLock())
+	{
+		// spin
+	}
 }
 
 void btSpinMutex::unlock()
 {
-    volatile long* aDest = reinterpret_cast<long*>( &mLock );
-    _InterlockedExchange( aDest, 0 );
+	volatile long* aDest = reinterpret_cast<long*>(&mLock);
+	_InterlockedExchange(aDest, 0);
 }
 
 #elif USE_GCC_BUILTIN_ATOMICS
 
 #define THREAD_LOCAL_STATIC static __thread
 
-
 bool btSpinMutex::tryLock()
 {
-    int expected = 0;
-    bool weak = false;
-    const int memOrderSuccess = __ATOMIC_ACQ_REL;
-    const int memOrderFail = __ATOMIC_ACQUIRE;
-    return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail);
+	int expected = 0;
+	bool weak = false;
+	const int memOrderSuccess = __ATOMIC_ACQ_REL;
+	const int memOrderFail = __ATOMIC_ACQUIRE;
+	return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail);
 }
 
 void btSpinMutex::lock()
 {
-    // note: this lock does not sleep the thread
-    while (! tryLock())
-    {
-        // spin
-    }
+	// note: this lock does not sleep the thread
+	while (!tryLock())
+	{
+		// spin
+	}
 }
 
 void btSpinMutex::unlock()
 {
-    __atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE);
+	__atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE);
 }
 
 #elif USE_GCC_BUILTIN_ATOMICS_OLD
 
-
 #define THREAD_LOCAL_STATIC static __thread
 
 bool btSpinMutex::tryLock()
 {
-    return __sync_bool_compare_and_swap(&mLock, int(0), int(1));
+	return __sync_bool_compare_and_swap(&mLock, int(0), int(1));
 }
 
 void btSpinMutex::lock()
 {
-    // note: this lock does not sleep the thread
-    while (! tryLock())
-    {
-        // spin
-    }
+	// note: this lock does not sleep the thread
+	while (!tryLock())
+	{
+		// spin
+	}
 }
 
 void btSpinMutex::unlock()
 {
-    // write 0
-    __sync_fetch_and_and(&mLock, int(0));
+	// write 0
+	__sync_fetch_and_and(&mLock, int(0));
 }
 
-#else //#elif USE_MSVC_INTRINSICS
+#else  //#elif USE_MSVC_INTRINSICS
 
 #error "no threading primitives defined -- unknown platform"
 
 #endif  //#else //#elif USE_MSVC_INTRINSICS
 
-#else //#if BT_THREADSAFE
+#else  //#if BT_THREADSAFE
 
 // These should not be called ever
 void btSpinMutex::lock()
 {
-    btAssert( !"unimplemented btSpinMutex::lock() called" );
+	btAssert(!"unimplemented btSpinMutex::lock() called");
 }
 
 void btSpinMutex::unlock()
 {
-    btAssert( !"unimplemented btSpinMutex::unlock() called" );
+	btAssert(!"unimplemented btSpinMutex::unlock() called");
 }
 
 bool btSpinMutex::tryLock()
 {
-    btAssert( !"unimplemented btSpinMutex::tryLock() called" );
-    return true;
+	btAssert(!"unimplemented btSpinMutex::tryLock() called");
+	return true;
 }
 
 #define THREAD_LOCAL_STATIC static
 
-#endif // #else //#if BT_THREADSAFE
-
+#endif  // #else //#if BT_THREADSAFE
 
 struct ThreadsafeCounter
 {
-    unsigned int mCounter;
-    btSpinMutex mMutex;
-
-    ThreadsafeCounter()
-    {
-        mCounter = 0;
-        --mCounter; // first count should come back 0
-    }
-
-    unsigned int getNext()
-    {
-        // no need to optimize this with atomics, it is only called ONCE per thread!
-        mMutex.lock();
-        mCounter++;
-        if ( mCounter >= BT_MAX_THREAD_COUNT )
-        {
-            btAssert( !"thread counter exceeded" );
-            // wrap back to the first worker index
-            mCounter = 1;
-        }
-        unsigned int val = mCounter;
-        mMutex.unlock();
-        return val;
-    }
+	unsigned int mCounter;
+	btSpinMutex mMutex;
+
+	ThreadsafeCounter()
+	{
+		mCounter = 0;
+		--mCounter;  // first count should come back 0
+	}
+
+	unsigned int getNext()
+	{
+		// no need to optimize this with atomics, it is only called ONCE per thread!
+		mMutex.lock();
+		mCounter++;
+		if (mCounter >= BT_MAX_THREAD_COUNT)
+		{
+			btAssert(!"thread counter exceeded");
+			// wrap back to the first worker index
+			mCounter = 1;
+		}
+		unsigned int val = mCounter;
+		mMutex.unlock();
+		return val;
+	}
 };
 
-
-static btITaskScheduler* gBtTaskScheduler;
+static btITaskScheduler* gBtTaskScheduler=0;
 static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
 static btSpinMutex gThreadsRunningCounterMutex;
 static ThreadsafeCounter gThreadCounter;
 
-
 //
 // BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index.
 //
@@ -276,7 +263,7 @@ static ThreadsafeCounter gThreadCounter;
 // We allocate thread-indexes as needed with a sequential global thread counter.
 //
 // Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but
-// continues to re-use other threads and the application repeatedly resizes the thread pool of the 
+// continues to re-use other threads and the application repeatedly resizes the thread pool of the
 // task scheduler.
 // In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we
 // wrap the thread counter back to 1. This should only happen if the worker threads have all been
@@ -290,169 +277,191 @@ static ThreadsafeCounter gThreadCounter;
 
 typedef DWORD ThreadId_t;
 const static ThreadId_t kInvalidThreadId = 0;
-ThreadId_t gDebugThreadIds[ BT_MAX_THREAD_COUNT ];
+ThreadId_t gDebugThreadIds[BT_MAX_THREAD_COUNT];
 
 static ThreadId_t getDebugThreadId()
 {
-    return GetCurrentThreadId();
+	return GetCurrentThreadId();
 }
 
-#endif // #if BT_DETECT_BAD_THREAD_INDEX
-
+#endif  // #if BT_DETECT_BAD_THREAD_INDEX
 
 // return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT)
 unsigned int btGetCurrentThreadIndex()
 {
-    const unsigned int kNullIndex = ~0U;
-    THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex;
-    if ( sThreadIndex == kNullIndex )
-    {
-        sThreadIndex = gThreadCounter.getNext();
-        btAssert( sThreadIndex < BT_MAX_THREAD_COUNT );
-    }
+	const unsigned int kNullIndex = ~0U;
+	THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex;
+	if (sThreadIndex == kNullIndex)
+	{
+		sThreadIndex = gThreadCounter.getNext();
+		btAssert(sThreadIndex < BT_MAX_THREAD_COUNT);
+	}
 #if BT_DETECT_BAD_THREAD_INDEX
-    if ( gBtTaskScheduler && sThreadIndex > 0 )
-    {
-        ThreadId_t tid = getDebugThreadId();
-        // if not set
-        if ( gDebugThreadIds[ sThreadIndex ] == kInvalidThreadId )
-        {
-            // set it
-            gDebugThreadIds[ sThreadIndex ] = tid;
-        }
-        else
-        {
-            if ( gDebugThreadIds[ sThreadIndex ] != tid )
-            {
-                // this could indicate the task scheduler is breaking our assumptions about
-                // how threads are managed when threadpool is resized
-                btAssert( !"there are 2 or more threads with the same thread-index!" );
-                __debugbreak();
-            }
-        }
-    }
-#endif // #if BT_DETECT_BAD_THREAD_INDEX
-    return sThreadIndex;
+	if (gBtTaskScheduler && sThreadIndex > 0)
+	{
+		ThreadId_t tid = getDebugThreadId();
+		// if not set
+		if (gDebugThreadIds[sThreadIndex] == kInvalidThreadId)
+		{
+			// set it
+			gDebugThreadIds[sThreadIndex] = tid;
+		}
+		else
+		{
+			if (gDebugThreadIds[sThreadIndex] != tid)
+			{
+				// this could indicate the task scheduler is breaking our assumptions about
+				// how threads are managed when threadpool is resized
+				btAssert(!"there are 2 or more threads with the same thread-index!");
+				__debugbreak();
+			}
+		}
+	}
+#endif  // #if BT_DETECT_BAD_THREAD_INDEX
+	return sThreadIndex;
 }
 
 bool btIsMainThread()
 {
-    return btGetCurrentThreadIndex() == 0;
+	return btGetCurrentThreadIndex() == 0;
 }
 
 void btResetThreadIndexCounter()
 {
-    // for when all current worker threads are destroyed
-    btAssert( btIsMainThread() );
-    gThreadCounter.mCounter = 0;
+	// for when all current worker threads are destroyed
+	btAssert(btIsMainThread());
+	gThreadCounter.mCounter = 0;
 }
 
-btITaskScheduler::btITaskScheduler( const char* name )
+btITaskScheduler::btITaskScheduler(const char* name)
 {
-    m_name = name;
-    m_savedThreadCounter = 0;
-    m_isActive = false;
+	m_name = name;
+	m_savedThreadCounter = 0;
+	m_isActive = false;
 }
 
 void btITaskScheduler::activate()
 {
-    // gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler.
-    // The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1)
-    // The thread-indexes need to be unique amongst the threads that can be running simultaneously.
-    // Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different
-    // task schedulers to share the same thread index because they can't be running at the same time.
-    // So each task scheduler needs to keep its own thread counter value
-    if ( !m_isActive )
-    {
-        gThreadCounter.mCounter = m_savedThreadCounter;  // restore saved thread counter
-        m_isActive = true;
-    }
+	// gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler.
+	// The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1)
+	// The thread-indexes need to be unique amongst the threads that can be running simultaneously.
+	// Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different
+	// task schedulers to share the same thread index because they can't be running at the same time.
+	// So each task scheduler needs to keep its own thread counter value
+	if (!m_isActive)
+	{
+		gThreadCounter.mCounter = m_savedThreadCounter;  // restore saved thread counter
+		m_isActive = true;
+	}
 }
 
 void btITaskScheduler::deactivate()
 {
-    if ( m_isActive )
-    {
-        m_savedThreadCounter = gThreadCounter.mCounter;  // save thread counter
-        m_isActive = false;
-    }
+	if (m_isActive)
+	{
+		m_savedThreadCounter = gThreadCounter.mCounter;  // save thread counter
+		m_isActive = false;
+	}
 }
 
 void btPushThreadsAreRunning()
 {
-    gThreadsRunningCounterMutex.lock();
-    gThreadsRunningCounter++;
-    gThreadsRunningCounterMutex.unlock();
+	gThreadsRunningCounterMutex.lock();
+	gThreadsRunningCounter++;
+	gThreadsRunningCounterMutex.unlock();
 }
 
 void btPopThreadsAreRunning()
 {
-    gThreadsRunningCounterMutex.lock();
-    gThreadsRunningCounter--;
-    gThreadsRunningCounterMutex.unlock();
+	gThreadsRunningCounterMutex.lock();
+	gThreadsRunningCounter--;
+	gThreadsRunningCounterMutex.unlock();
 }
 
 bool btThreadsAreRunning()
 {
-    return gThreadsRunningCounter != 0;
+	return gThreadsRunningCounter != 0;
 }
 
-
-void btSetTaskScheduler( btITaskScheduler* ts )
+void btSetTaskScheduler(btITaskScheduler* ts)
 {
-    int threadId = btGetCurrentThreadIndex();  // make sure we call this on main thread at least once before any workers run
-    if ( threadId != 0 )
-    {
-        btAssert( !"btSetTaskScheduler must be called from the main thread!" );
-        return;
-    }
-    if ( gBtTaskScheduler )
-    {
-        // deactivate old task scheduler
-        gBtTaskScheduler->deactivate();
-    }
-    gBtTaskScheduler = ts;
-    if ( ts )
-    {
-        // activate new task scheduler
-        ts->activate();
-    }
+	int threadId = btGetCurrentThreadIndex();  // make sure we call this on main thread at least once before any workers run
+	if (threadId != 0)
+	{
+		btAssert(!"btSetTaskScheduler must be called from the main thread!");
+		return;
+	}
+	if (gBtTaskScheduler)
+	{
+		// deactivate old task scheduler
+		gBtTaskScheduler->deactivate();
+	}
+	gBtTaskScheduler = ts;
+	if (ts)
+	{
+		// activate new task scheduler
+		ts->activate();
+	}
 }
 
-
 btITaskScheduler* btGetTaskScheduler()
 {
-    return gBtTaskScheduler;
+	return gBtTaskScheduler;
 }
 
-
-void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body )
+void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body)
 {
 #if BT_THREADSAFE
 
 #if BT_DETECT_BAD_THREAD_INDEX
-    if ( !btThreadsAreRunning() )
-    {
-        // clear out thread ids
-        for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i )
-        {
-            gDebugThreadIds[ i ] = kInvalidThreadId;
-        }
-    }
-#endif // #if BT_DETECT_BAD_THREAD_INDEX
+	if (!btThreadsAreRunning())
+	{
+		// clear out thread ids
+		for (int i = 0; i < BT_MAX_THREAD_COUNT; ++i)
+		{
+			gDebugThreadIds[i] = kInvalidThreadId;
+		}
+	}
+#endif  // #if BT_DETECT_BAD_THREAD_INDEX
 
-    btAssert( gBtTaskScheduler != NULL );  // call btSetTaskScheduler() with a valid task scheduler first!
-    gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body );
+	btAssert(gBtTaskScheduler != NULL);  // call btSetTaskScheduler() with a valid task scheduler first!
+	gBtTaskScheduler->parallelFor(iBegin, iEnd, grainSize, body);
 
-#else // #if BT_THREADSAFE
+#else  // #if BT_THREADSAFE
 
-    // non-parallel version of btParallelFor
-    btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" );
-    body.forLoop( iBegin, iEnd );
+	// non-parallel version of btParallelFor
+	btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
+	body.forLoop(iBegin, iEnd);
 
-#endif// #if BT_THREADSAFE
+#endif  // #if BT_THREADSAFE
 }
 
+btScalar btParallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body)
+{
+#if BT_THREADSAFE
+
+#if BT_DETECT_BAD_THREAD_INDEX
+	if (!btThreadsAreRunning())
+	{
+		// clear out thread ids
+		for (int i = 0; i < BT_MAX_THREAD_COUNT; ++i)
+		{
+			gDebugThreadIds[i] = kInvalidThreadId;
+		}
+	}
+#endif  // #if BT_DETECT_BAD_THREAD_INDEX
+
+	btAssert(gBtTaskScheduler != NULL);  // call btSetTaskScheduler() with a valid task scheduler first!
+	return gBtTaskScheduler->parallelSum(iBegin, iEnd, grainSize, body);
+
+#else  // #if BT_THREADSAFE
+
+	// non-parallel version of btParallelSum
+	btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
+	return body.sumLoop(iBegin, iEnd);
+
+#endif  //#else // #if BT_THREADSAFE
+}
 
 ///
 /// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
@@ -461,67 +470,86 @@ void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBod
 class btTaskSchedulerSequential : public btITaskScheduler
 {
 public:
-    btTaskSchedulerSequential() : btITaskScheduler( "Sequential" ) {}
-    virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; }
-    virtual int getNumThreads() const BT_OVERRIDE { return 1; }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE {}
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_sequential" );
-        body.forLoop( iBegin, iEnd );
-    }
+	btTaskSchedulerSequential() : btITaskScheduler("Sequential") {}
+	virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; }
+	virtual int getNumThreads() const BT_OVERRIDE { return 1; }
+	virtual void setNumThreads(int numThreads) BT_OVERRIDE {}
+	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelFor_sequential");
+		body.forLoop(iBegin, iEnd);
+	}
+	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelSum_sequential");
+		return body.sumLoop(iBegin, iEnd);
+	}
 };
 
-
 #if BT_USE_OPENMP && BT_THREADSAFE
 ///
 /// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler
 ///
 class btTaskSchedulerOpenMP : public btITaskScheduler
 {
-    int m_numThreads;
+	int m_numThreads;
+
 public:
-    btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" )
-    {
-        m_numThreads = 0;
-    }
-    virtual int getMaxNumThreads() const BT_OVERRIDE
-    {
-        return omp_get_max_threads();
-    }
-    virtual int getNumThreads() const BT_OVERRIDE
-    {
-        return m_numThreads;
-    }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
-    {
-        // With OpenMP, because it is a standard with various implementations, we can't
-        // know for sure if every implementation has the same behavior of destroying all
-        // previous threads when resizing the threadpool
-        m_numThreads = ( std::max )( 1, ( std::min )( int( BT_MAX_THREAD_COUNT ), numThreads ) );
-        omp_set_num_threads( 1 );  // hopefully, all previous threads get destroyed here
-        omp_set_num_threads( m_numThreads );
-        m_savedThreadCounter = 0;
-        if ( m_isActive )
-        {
-            btResetThreadIndexCounter();
-        }
-    }
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_OpenMP" );
-        btPushThreadsAreRunning();
-#pragma omp parallel for schedule( static, 1 )
-        for ( int i = iBegin; i < iEnd; i += grainSize )
-        {
-            BT_PROFILE( "OpenMP_job" );
-            body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
-        }
-        btPopThreadsAreRunning();
-    }
+	btTaskSchedulerOpenMP() : btITaskScheduler("OpenMP")
+	{
+		m_numThreads = 0;
+	}
+	virtual int getMaxNumThreads() const BT_OVERRIDE
+	{
+		return omp_get_max_threads();
+	}
+	virtual int getNumThreads() const BT_OVERRIDE
+	{
+		return m_numThreads;
+	}
+	virtual void setNumThreads(int numThreads) BT_OVERRIDE
+	{
+		// With OpenMP, because it is a standard with various implementations, we can't
+		// know for sure if every implementation has the same behavior of destroying all
+		// previous threads when resizing the threadpool
+		m_numThreads = (std::max)(1, (std::min)(int(BT_MAX_THREAD_COUNT), numThreads));
+		omp_set_num_threads(1);  // hopefully, all previous threads get destroyed here
+		omp_set_num_threads(m_numThreads);
+		m_savedThreadCounter = 0;
+		if (m_isActive)
+		{
+			btResetThreadIndexCounter();
+		}
+	}
+	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelFor_OpenMP");
+		btPushThreadsAreRunning();
+#pragma omp parallel for schedule(static, 1)
+		for (int i = iBegin; i < iEnd; i += grainSize)
+		{
+			BT_PROFILE("OpenMP_forJob");
+			body.forLoop(i, (std::min)(i + grainSize, iEnd));
+		}
+		btPopThreadsAreRunning();
+	}
+	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelFor_OpenMP");
+		btPushThreadsAreRunning();
+		btScalar sum = btScalar(0);
+#pragma omp parallel for schedule(static, 1) reduction(+ \
+													   : sum)
+		for (int i = iBegin; i < iEnd; i += grainSize)
+		{
+			BT_PROFILE("OpenMP_sumJob");
+			sum += body.sumLoop(i, (std::min)(i + grainSize, iEnd));
+		}
+		btPopThreadsAreRunning();
+		return sum;
+	}
 };
-#endif // #if BT_USE_OPENMP && BT_THREADSAFE
-
+#endif  // #if BT_USE_OPENMP && BT_THREADSAFE
 
 #if BT_USE_TBB && BT_THREADSAFE
 ///
@@ -529,74 +557,94 @@ public:
 ///
 class btTaskSchedulerTBB : public btITaskScheduler
 {
-    int m_numThreads;
-    tbb::task_scheduler_init* m_tbbSchedulerInit;
+	int m_numThreads;
+	tbb::task_scheduler_init* m_tbbSchedulerInit;
 
 public:
-    btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" )
-    {
-        m_numThreads = 0;
-        m_tbbSchedulerInit = NULL;
-    }
-    ~btTaskSchedulerTBB()
-    {
-        if ( m_tbbSchedulerInit )
-        {
-            delete m_tbbSchedulerInit;
-            m_tbbSchedulerInit = NULL;
-        }
-    }
-
-    virtual int getMaxNumThreads() const BT_OVERRIDE
-    {
-        return tbb::task_scheduler_init::default_num_threads();
-    }
-    virtual int getNumThreads() const BT_OVERRIDE
-    {
-        return m_numThreads;
-    }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
-    {
-        m_numThreads = ( std::max )( 1, ( std::min )( int(BT_MAX_THREAD_COUNT), numThreads ) );
-        if ( m_tbbSchedulerInit )
-        {
-            // destroys all previous threads
-            delete m_tbbSchedulerInit;
-            m_tbbSchedulerInit = NULL;
-        }
-        m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads );
-        m_savedThreadCounter = 0;
-        if ( m_isActive )
-        {
-            btResetThreadIndexCounter();
-        }
-    }
-    struct BodyAdapter
-    {
-        const btIParallelForBody* mBody;
-
-        void operator()( const tbb::blocked_range<int>& range ) const
-        {
-            BT_PROFILE( "TBB_job" );
-            mBody->forLoop( range.begin(), range.end() );
-        }
-    };
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_TBB" );
-        // TBB dispatch
-        BodyAdapter tbbBody;
-        tbbBody.mBody = &body;
-        btPushThreadsAreRunning();
-        tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
-            tbbBody,
-            tbb::simple_partitioner()
-        );
-        btPopThreadsAreRunning();
-    }
+	btTaskSchedulerTBB() : btITaskScheduler("IntelTBB")
+	{
+		m_numThreads = 0;
+		m_tbbSchedulerInit = NULL;
+	}
+	~btTaskSchedulerTBB()
+	{
+		if (m_tbbSchedulerInit)
+		{
+			delete m_tbbSchedulerInit;
+			m_tbbSchedulerInit = NULL;
+		}
+	}
+
+	virtual int getMaxNumThreads() const BT_OVERRIDE
+	{
+		return tbb::task_scheduler_init::default_num_threads();
+	}
+	virtual int getNumThreads() const BT_OVERRIDE
+	{
+		return m_numThreads;
+	}
+	virtual void setNumThreads(int numThreads) BT_OVERRIDE
+	{
+		m_numThreads = (std::max)(1, (std::min)(int(BT_MAX_THREAD_COUNT), numThreads));
+		if (m_tbbSchedulerInit)
+		{
+			// destroys all previous threads
+			delete m_tbbSchedulerInit;
+			m_tbbSchedulerInit = NULL;
+		}
+		m_tbbSchedulerInit = new tbb::task_scheduler_init(m_numThreads);
+		m_savedThreadCounter = 0;
+		if (m_isActive)
+		{
+			btResetThreadIndexCounter();
+		}
+	}
+	struct ForBodyAdapter
+	{
+		const btIParallelForBody* mBody;
+
+		ForBodyAdapter(const btIParallelForBody* body) : mBody(body) {}
+		void operator()(const tbb::blocked_range<int>& range) const
+		{
+			BT_PROFILE("TBB_forJob");
+			mBody->forLoop(range.begin(), range.end());
+		}
+	};
+	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelFor_TBB");
+		ForBodyAdapter tbbBody(&body);
+		btPushThreadsAreRunning();
+		tbb::parallel_for(tbb::blocked_range<int>(iBegin, iEnd, grainSize),
+						  tbbBody,
+						  tbb::simple_partitioner());
+		btPopThreadsAreRunning();
+	}
+	struct SumBodyAdapter
+	{
+		const btIParallelSumBody* mBody;
+		btScalar mSum;
+
+		SumBodyAdapter(const btIParallelSumBody* body) : mBody(body), mSum(btScalar(0)) {}
+		SumBodyAdapter(const SumBodyAdapter& src, tbb::split) : mBody(src.mBody), mSum(btScalar(0)) {}
+		void join(const SumBodyAdapter& src) { mSum += src.mSum; }
+		void operator()(const tbb::blocked_range<int>& range)
+		{
+			BT_PROFILE("TBB_sumJob");
+			mSum += mBody->sumLoop(range.begin(), range.end());
+		}
+	};
+	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelSum_TBB");
+		SumBodyAdapter tbbBody(&body);
+		btPushThreadsAreRunning();
+		tbb::parallel_deterministic_reduce(tbb::blocked_range<int>(iBegin, iEnd, grainSize), tbbBody);
+		btPopThreadsAreRunning();
+		return tbbBody.mSum;
+	}
 };
-#endif // #if BT_USE_TBB && BT_THREADSAFE
-
+#endif  // #if BT_USE_TBB && BT_THREADSAFE
 
 #if BT_USE_PPL && BT_THREADSAFE
 ///
@@ -604,119 +652,141 @@ public:
 ///
 class btTaskSchedulerPPL : public btITaskScheduler
 {
-    int m_numThreads;
+	int m_numThreads;
+	concurrency::combinable<btScalar> m_sum;  // for parallelSum
 public:
-    btTaskSchedulerPPL() : btITaskScheduler( "PPL" )
-    {
-        m_numThreads = 0;
-    }
-    virtual int getMaxNumThreads() const BT_OVERRIDE
-    {
-        return concurrency::GetProcessorCount();
-    }
-    virtual int getNumThreads() const BT_OVERRIDE
-    {
-        return m_numThreads;
-    }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
-    {
-        // capping the thread count for PPL due to a thread-index issue
-        const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31);
-        m_numThreads = ( std::max )( 1, ( std::min )( maxThreadCount, numThreads ) );
-        using namespace concurrency;
-        if ( CurrentScheduler::Id() != -1 )
-        {
-            CurrentScheduler::Detach();
-        }
-        SchedulerPolicy policy;
-        {
-            // PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads
-            // force it to destroy old threads
-            policy.SetConcurrencyLimits( 1, 1 );
-            CurrentScheduler::Create( policy );
-            CurrentScheduler::Detach();
-        }
-        policy.SetConcurrencyLimits( m_numThreads, m_numThreads );
-        CurrentScheduler::Create( policy );
-        m_savedThreadCounter = 0;
-        if ( m_isActive )
-        {
-            btResetThreadIndexCounter();
-        }
-    }
-    struct BodyAdapter
-    {
-        const btIParallelForBody* mBody;
-        int mGrainSize;
-        int mIndexEnd;
-
-        void operator()( int i ) const
-        {
-            BT_PROFILE( "PPL_job" );
-            mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
-        }
-    };
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_PPL" );
-        // PPL dispatch
-        BodyAdapter pplBody;
-        pplBody.mBody = &body;
-        pplBody.mGrainSize = grainSize;
-        pplBody.mIndexEnd = iEnd;
-        btPushThreadsAreRunning();
-        // note: MSVC 2010 doesn't support partitioner args, so avoid them
-        concurrency::parallel_for( iBegin,
-            iEnd,
-            grainSize,
-            pplBody
-        );
-        btPopThreadsAreRunning();
-    }
+	btTaskSchedulerPPL() : btITaskScheduler("PPL")
+	{
+		m_numThreads = 0;
+	}
+	virtual int getMaxNumThreads() const BT_OVERRIDE
+	{
+		return concurrency::GetProcessorCount();
+	}
+	virtual int getNumThreads() const BT_OVERRIDE
+	{
+		return m_numThreads;
+	}
+	virtual void setNumThreads(int numThreads) BT_OVERRIDE
+	{
+		// capping the thread count for PPL due to a thread-index issue
+		const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31);
+		m_numThreads = (std::max)(1, (std::min)(maxThreadCount, numThreads));
+		using namespace concurrency;
+		if (CurrentScheduler::Id() != -1)
+		{
+			CurrentScheduler::Detach();
+		}
+		SchedulerPolicy policy;
+		{
+			// PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads
+			// force it to destroy old threads
+			policy.SetConcurrencyLimits(1, 1);
+			CurrentScheduler::Create(policy);
+			CurrentScheduler::Detach();
+		}
+		policy.SetConcurrencyLimits(m_numThreads, m_numThreads);
+		CurrentScheduler::Create(policy);
+		m_savedThreadCounter = 0;
+		if (m_isActive)
+		{
+			btResetThreadIndexCounter();
+		}
+	}
+	struct ForBodyAdapter
+	{
+		const btIParallelForBody* mBody;
+		int mGrainSize;
+		int mIndexEnd;
+
+		ForBodyAdapter(const btIParallelForBody* body, int grainSize, int end) : mBody(body), mGrainSize(grainSize), mIndexEnd(end) {}
+		void operator()(int i) const
+		{
+			BT_PROFILE("PPL_forJob");
+			mBody->forLoop(i, (std::min)(i + mGrainSize, mIndexEnd));
+		}
+	};
+	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelFor_PPL");
+		// PPL dispatch
+		ForBodyAdapter pplBody(&body, grainSize, iEnd);
+		btPushThreadsAreRunning();
+		// note: MSVC 2010 doesn't support partitioner args, so avoid them
+		concurrency::parallel_for(iBegin,
+								  iEnd,
+								  grainSize,
+								  pplBody);
+		btPopThreadsAreRunning();
+	}
+	struct SumBodyAdapter
+	{
+		const btIParallelSumBody* mBody;
+		concurrency::combinable<btScalar>* mSum;
+		int mGrainSize;
+		int mIndexEnd;
+
+		SumBodyAdapter(const btIParallelSumBody* body, concurrency::combinable<btScalar>* sum, int grainSize, int end) : mBody(body), mSum(sum), mGrainSize(grainSize), mIndexEnd(end) {}
+		void operator()(int i) const
+		{
+			BT_PROFILE("PPL_sumJob");
+			mSum->local() += mBody->sumLoop(i, (std::min)(i + mGrainSize, mIndexEnd));
+		}
+	};
+	static btScalar sumFunc(btScalar a, btScalar b) { return a + b; }
+	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
+	{
+		BT_PROFILE("parallelSum_PPL");
+		m_sum.clear();
+		SumBodyAdapter pplBody(&body, &m_sum, grainSize, iEnd);
+		btPushThreadsAreRunning();
+		// note: MSVC 2010 doesn't support partitioner args, so avoid them
+		concurrency::parallel_for(iBegin,
+								  iEnd,
+								  grainSize,
+								  pplBody);
+		btPopThreadsAreRunning();
+		return m_sum.combine(sumFunc);
+	}
 };
-#endif // #if BT_USE_PPL && BT_THREADSAFE
-
+#endif  // #if BT_USE_PPL && BT_THREADSAFE
 
 // create a non-threaded task scheduler (always available)
 btITaskScheduler* btGetSequentialTaskScheduler()
 {
-    static btTaskSchedulerSequential sTaskScheduler;
-    return &sTaskScheduler;
+	static btTaskSchedulerSequential sTaskScheduler;
+	return &sTaskScheduler;
 }
 
-
 // create an OpenMP task scheduler (if available, otherwise returns null)
 btITaskScheduler* btGetOpenMPTaskScheduler()
 {
 #if BT_USE_OPENMP && BT_THREADSAFE
-    static btTaskSchedulerOpenMP sTaskScheduler;
-    return &sTaskScheduler;
+	static btTaskSchedulerOpenMP sTaskScheduler;
+	return &sTaskScheduler;
 #else
-    return NULL;
+	return NULL;
 #endif
 }
 
-
 // create an Intel TBB task scheduler (if available, otherwise returns null)
 btITaskScheduler* btGetTBBTaskScheduler()
 {
 #if BT_USE_TBB && BT_THREADSAFE
-    static btTaskSchedulerTBB sTaskScheduler;
-    return &sTaskScheduler;
+	static btTaskSchedulerTBB sTaskScheduler;
+	return &sTaskScheduler;
 #else
-    return NULL;
+	return NULL;
 #endif
 }
 
-
 // create a PPL task scheduler (if available, otherwise returns null)
 btITaskScheduler* btGetPPLTaskScheduler()
 {
 #if BT_USE_PPL && BT_THREADSAFE
-    static btTaskSchedulerPPL sTaskScheduler;
-    return &sTaskScheduler;
+	static btTaskSchedulerPPL sTaskScheduler;
+	return &sTaskScheduler;
 #else
-    return NULL;
+	return NULL;
 #endif
 }
-
diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h
index 05fd15ec82..b2227e1724 100644
--- a/thirdparty/bullet/LinearMath/btThreads.h
+++ b/thirdparty/bullet/LinearMath/btThreads.h
@@ -12,14 +12,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_THREADS_H
 #define BT_THREADS_H
 
-#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btScalar.h"  // has definitions like SIMD_FORCE_INLINE
 
-#if defined (_MSC_VER) && _MSC_VER >= 1600
+#if defined(_MSC_VER) && _MSC_VER >= 1600
 // give us a compile error if any signatures of overriden methods is changed
 #define BT_OVERRIDE override
 #endif
@@ -28,13 +26,15 @@ subject to the following restrictions:
 #define BT_OVERRIDE
 #endif
 
+// Don't set this to larger than 64, without modifying btThreadSupportPosix
+// and btThreadSupportWin32. They use UINT64 bit-masks.
 const unsigned int BT_MAX_THREAD_COUNT = 64;  // only if BT_THREADSAFE is 1
 
 // for internal use only
 bool btIsMainThread();
 bool btThreadsAreRunning();
 unsigned int btGetCurrentThreadIndex();
-void btResetThreadIndexCounter(); // notify that all worker threads have been destroyed
+void btResetThreadIndexCounter();  // notify that all worker threads have been destroyed
 
 ///
 /// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts
@@ -44,19 +44,18 @@ void btResetThreadIndexCounter(); // notify that all worker threads have been de
 ///
 class btSpinMutex
 {
-    int mLock;
+	int mLock;
 
 public:
-    btSpinMutex()
-    {
-        mLock = 0;
-    }
-    void lock();
-    void unlock();
-    bool tryLock();
+	btSpinMutex()
+	{
+		mLock = 0;
+	}
+	void lock();
+	void unlock();
+	bool tryLock();
 };
 
-
 //
 // NOTE: btMutex* is for internal Bullet use only
 //
@@ -68,38 +67,53 @@ public:
 // of bad because if you call any of these functions from external code
 // (where BT_THREADSAFE is undefined) you will get unexpected race conditions.
 //
-SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex )
+SIMD_FORCE_INLINE void btMutexLock(btSpinMutex* mutex)
 {
 #if BT_THREADSAFE
-    mutex->lock();
-#endif // #if BT_THREADSAFE
+	mutex->lock();
+#else
+	(void)mutex;
+#endif  // #if BT_THREADSAFE
 }
 
-SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex )
+SIMD_FORCE_INLINE void btMutexUnlock(btSpinMutex* mutex)
 {
 #if BT_THREADSAFE
-    mutex->unlock();
-#endif // #if BT_THREADSAFE
+	mutex->unlock();
+#else
+	(void)mutex;
+#endif  // #if BT_THREADSAFE
 }
 
-SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
+SIMD_FORCE_INLINE bool btMutexTryLock(btSpinMutex* mutex)
 {
 #if BT_THREADSAFE
-    return mutex->tryLock();
+	return mutex->tryLock();
 #else
-    return true;
-#endif // #if BT_THREADSAFE
+	(void)mutex;
+	return true;
+#endif  // #if BT_THREADSAFE
 }
 
-
 //
 // btIParallelForBody -- subclass this to express work that can be done in parallel
 //
 class btIParallelForBody
 {
 public:
-    virtual ~btIParallelForBody() {}
-    virtual void forLoop( int iBegin, int iEnd ) const = 0;
+	virtual ~btIParallelForBody() {}
+	virtual void forLoop(int iBegin, int iEnd) const = 0;
+};
+
+//
+// btIParallelSumBody -- subclass this to express work that can be done in parallel
+//                       and produces a sum over all loop elements
+//
+class btIParallelSumBody
+{
+public:
+	virtual ~btIParallelSumBody() {}
+	virtual btScalar sumLoop(int iBegin, int iEnd) const = 0;
 };
 
 //
@@ -109,28 +123,30 @@ public:
 class btITaskScheduler
 {
 public:
-    btITaskScheduler( const char* name );
-    virtual ~btITaskScheduler() {}
-    const char* getName() const { return m_name; }
+	btITaskScheduler(const char* name);
+	virtual ~btITaskScheduler() {}
+	const char* getName() const { return m_name; }
 
-    virtual int getMaxNumThreads() const = 0;
-    virtual int getNumThreads() const = 0;
-    virtual void setNumThreads( int numThreads ) = 0;
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0;
+	virtual int getMaxNumThreads() const = 0;
+	virtual int getNumThreads() const = 0;
+	virtual void setNumThreads(int numThreads) = 0;
+	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) = 0;
+	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) = 0;
+	virtual void sleepWorkerThreadsHint() {}  // hint the task scheduler that we may not be using these threads for a little while
 
-    // internal use only
-    virtual void activate();
-    virtual void deactivate();
+	// internal use only
+	virtual void activate();
+	virtual void deactivate();
 
 protected:
-    const char* m_name;
-    unsigned int m_savedThreadCounter;
-    bool m_isActive;
+	const char* m_name;
+	unsigned int m_savedThreadCounter;
+	bool m_isActive;
 };
 
 // set the task scheduler to use for all calls to btParallelFor()
 // NOTE: you must set this prior to using any of the multi-threaded "Mt" classes
-void btSetTaskScheduler( btITaskScheduler* ts );
+void btSetTaskScheduler(btITaskScheduler* ts);
 
 // get the current task scheduler
 btITaskScheduler* btGetTaskScheduler();
@@ -138,6 +154,9 @@ btITaskScheduler* btGetTaskScheduler();
 // get non-threaded task scheduler (always available)
 btITaskScheduler* btGetSequentialTaskScheduler();
 
+// create a default task scheduler (Win32 or pthreads based)
+btITaskScheduler* btCreateDefaultTaskScheduler();
+
 // get OpenMP task scheduler (if available, otherwise returns null)
 btITaskScheduler* btGetOpenMPTaskScheduler();
 
@@ -149,7 +168,10 @@ btITaskScheduler* btGetPPLTaskScheduler();
 
 // btParallelFor -- call this to dispatch work like a for-loop
 //                 (iterations may be done out of order, so no dependencies are allowed)
-void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
+void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body);
 
+// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations
+//                 (iterations may be done out of order, so no dependencies are allowed)
+btScalar btParallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body);
 
 #endif
diff --git a/thirdparty/bullet/LinearMath/btTransform.h b/thirdparty/bullet/LinearMath/btTransform.h
index d4f939a5d9..6f2f99818c 100644
--- a/thirdparty/bullet/LinearMath/btTransform.h
+++ b/thirdparty/bullet/LinearMath/btTransform.h
@@ -12,12 +12,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_TRANSFORM_H
 #define BT_TRANSFORM_H
 
-
 #include "btMatrix3x3.h"
 
 #ifdef BT_USE_DOUBLE_PRECISION
@@ -26,46 +23,45 @@ subject to the following restrictions:
 #define btTransformData btTransformFloatData
 #endif
 
-
-
-
 /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
  *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
-ATTRIBUTE_ALIGNED16(class) btTransform {
-	
-  ///Storage for the rotation
+ATTRIBUTE_ALIGNED16(class)
+btTransform
+{
+	///Storage for the rotation
 	btMatrix3x3 m_basis;
-  ///Storage for the translation
-	btVector3   m_origin;
+	///Storage for the translation
+	btVector3 m_origin;
 
 public:
-	
-  /**@brief No initialization constructor */
+	/**@brief No initialization constructor */
 	btTransform() {}
-  /**@brief Constructor from btQuaternion (optional btVector3 )
+	/**@brief Constructor from btQuaternion (optional btVector3 )
    * @param q Rotation from quaternion 
    * @param c Translation from Vector (default 0,0,0) */
-	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
-		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
+	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
+										   const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
 		: m_basis(q),
-		m_origin(c)
-	{}
+		  m_origin(c)
+	{
+	}
 
-  /**@brief Constructor from btMatrix3x3 (optional btVector3)
+	/**@brief Constructor from btMatrix3x3 (optional btVector3)
    * @param b Rotation from Matrix 
    * @param c Translation from Vector default (0,0,0)*/
-	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
-		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
+	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
+										   const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
 		: m_basis(b),
-		m_origin(c)
-	{}
-  /**@brief Copy constructor */
-	SIMD_FORCE_INLINE btTransform (const btTransform& other)
+		  m_origin(c)
+	{
+	}
+	/**@brief Copy constructor */
+	SIMD_FORCE_INLINE btTransform(const btTransform& other)
 		: m_basis(other.m_basis),
-		m_origin(other.m_origin)
+		  m_origin(other.m_origin)
 	{
 	}
-  /**@brief Assignment Operator */
+	/**@brief Assignment Operator */
 	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
 	{
 		m_basis = other.m_basis;
@@ -73,70 +69,70 @@ public:
 		return *this;
 	}
 
-
-  /**@brief Set the current transform as the value of the product of two transforms
+	/**@brief Set the current transform as the value of the product of two transforms
    * @param t1 Transform 1
    * @param t2 Transform 2
    * This = Transform1 * Transform2 */
-		SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
-			m_basis = t1.m_basis * t2.m_basis;
-			m_origin = t1(t2.m_origin);
-		}
+	SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
+	{
+		m_basis = t1.m_basis * t2.m_basis;
+		m_origin = t1(t2.m_origin);
+	}
 
-/*		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
+	/*		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
 			btVector3 v = t2.m_origin - t1.m_origin;
 			m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
 			m_origin = v * t1.m_basis;
 		}
 		*/
 
-/**@brief Return the transform of the vector */
+	/**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
 	{
-        return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
+		return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
 	}
 
-  /**@brief Return the transform of the vector */
+	/**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
 	{
 		return (*this)(x);
 	}
 
-  /**@brief Return the transform of the btQuaternion */
+	/**@brief Return the transform of the btQuaternion */
 	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
 	{
 		return getRotation() * q;
 	}
 
-  /**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
-  /**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }
+	/**@brief Return the basis matrix for the rotation */
+	SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
+	/**@brief Return the basis matrix for the rotation */
+	SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
 
-  /**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
-  /**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }
+	/**@brief Return the origin vector translation */
+	SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
+	/**@brief Return the origin vector translation */
+	SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
 
-  /**@brief Return a quaternion representing the rotation */
-	btQuaternion getRotation() const { 
+	/**@brief Return a quaternion representing the rotation */
+	btQuaternion getRotation() const
+	{
 		btQuaternion q;
 		m_basis.getRotation(q);
 		return q;
 	}
-	
-	
-  /**@brief Set from an array 
+
+	/**@brief Set from an array 
    * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void setFromOpenGLMatrix(const btScalar *m)
+	void setFromOpenGLMatrix(const btScalar* m)
 	{
 		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin.setValue(m[12],m[13],m[14]);
+		m_origin.setValue(m[12], m[13], m[14]);
 	}
 
-  /**@brief Fill an array representation
+	/**@brief Fill an array representation
    * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void getOpenGLMatrix(btScalar *m) const 
+	void getOpenGLMatrix(btScalar * m) const
 	{
 		m_basis.getOpenGLSubMatrix(m);
 		m[12] = m_origin.x();
@@ -145,80 +141,76 @@ public:
 		m[15] = btScalar(1.0);
 	}
 
-  /**@brief Set the translational element
+	/**@brief Set the translational element
    * @param origin The vector to set the translation to */
-	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
-	{ 
+	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
+	{
 		m_origin = origin;
 	}
 
 	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
 
-
-  /**@brief Set the rotational element by btMatrix3x3 */
+	/**@brief Set the rotational element by btMatrix3x3 */
 	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
-	{ 
+	{
 		m_basis = basis;
 	}
 
-  /**@brief Set the rotational element by btQuaternion */
+	/**@brief Set the rotational element by btQuaternion */
 	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
 	{
 		m_basis.setRotation(q);
 	}
 
-
-  /**@brief Set this transformation to the identity */
+	/**@brief Set this transformation to the identity */
 	void setIdentity()
 	{
 		m_basis.setIdentity();
 		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	}
 
-  /**@brief Multiply this Transform by another(this = this * another) 
+	/**@brief Multiply this Transform by another(this = this * another) 
    * @param t The other transform */
-	btTransform& operator*=(const btTransform& t) 
+	btTransform& operator*=(const btTransform& t)
 	{
 		m_origin += m_basis * t.m_origin;
 		m_basis *= t.m_basis;
 		return *this;
 	}
 
-  /**@brief Return the inverse of this transform */
+	/**@brief Return the inverse of this transform */
 	btTransform inverse() const
-	{ 
+	{
 		btMatrix3x3 inv = m_basis.transpose();
 		return btTransform(inv, inv * -m_origin);
 	}
 
-  /**@brief Return the inverse of this transform times the other transform
+	/**@brief Return the inverse of this transform times the other transform
    * @param t The other transform 
    * return this.inverse() * the other */
-	btTransform inverseTimes(const btTransform& t) const;  
+	btTransform inverseTimes(const btTransform& t) const;
 
-  /**@brief Return the product of this transform and the other */
+	/**@brief Return the product of this transform and the other */
 	btTransform operator*(const btTransform& t) const;
 
-  /**@brief Return an identity transform */
-	static const btTransform&	getIdentity()
+	/**@brief Return an identity transform */
+	static const btTransform& getIdentity()
 	{
 		static const btTransform identityTransform(btMatrix3x3::getIdentity());
 		return identityTransform;
 	}
 
-	void	serialize(struct	btTransformData& dataOut) const;
-
-	void	serializeFloat(struct	btTransformFloatData& dataOut) const;
+	void serialize(struct btTransformData & dataOut) const;
 
-	void	deSerialize(const struct	btTransformData& dataIn);
+	void serializeFloat(struct btTransformFloatData & dataOut) const;
 
-	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
+	void deSerialize(const struct btTransformData& dataIn);
 
-	void	deSerializeFloat(const struct	btTransformFloatData& dataIn);
+	void deSerializeDouble(const struct btTransformDoubleData& dataIn);
 
+	void deSerializeFloat(const struct btTransformFloatData& dataIn);
 };
 
-
 SIMD_FORCE_INLINE btVector3
 btTransform::invXform(const btVector3& inVec) const
 {
@@ -226,80 +218,69 @@ btTransform::invXform(const btVector3& inVec) const
 	return (m_basis.transpose() * v);
 }
 
-SIMD_FORCE_INLINE btTransform 
-btTransform::inverseTimes(const btTransform& t) const  
+SIMD_FORCE_INLINE btTransform
+btTransform::inverseTimes(const btTransform& t) const
 {
 	btVector3 v = t.getOrigin() - m_origin;
-		return btTransform(m_basis.transposeTimes(t.m_basis),
-			v * m_basis);
+	return btTransform(m_basis.transposeTimes(t.m_basis),
+					   v * m_basis);
 }
 
-SIMD_FORCE_INLINE btTransform 
-btTransform::operator*(const btTransform& t) const
+SIMD_FORCE_INLINE btTransform
+	btTransform::operator*(const btTransform& t) const
 {
-	return btTransform(m_basis * t.m_basis, 
-		(*this)(t.m_origin));
+	return btTransform(m_basis * t.m_basis,
+					   (*this)(t.m_origin));
 }
 
 /**@brief Test if two transforms have all elements equal */
 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
 {
-   return ( t1.getBasis()  == t2.getBasis() &&
-            t1.getOrigin() == t2.getOrigin() );
+	return (t1.getBasis() == t2.getBasis() &&
+			t1.getOrigin() == t2.getOrigin());
 }
 
-
 ///for serialization
-struct	btTransformFloatData
+struct btTransformFloatData
 {
-	btMatrix3x3FloatData	m_basis;
-	btVector3FloatData	m_origin;
+	btMatrix3x3FloatData m_basis;
+	btVector3FloatData m_origin;
 };
 
-struct	btTransformDoubleData
+struct btTransformDoubleData
 {
-	btMatrix3x3DoubleData	m_basis;
-	btVector3DoubleData	m_origin;
+	btMatrix3x3DoubleData m_basis;
+	btVector3DoubleData m_origin;
 };
 
-
-
-SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
+SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
 {
 	m_basis.serialize(dataOut.m_basis);
 	m_origin.serialize(dataOut.m_origin);
 }
 
-SIMD_FORCE_INLINE	void	btTransform::serializeFloat(btTransformFloatData& dataOut) const
+SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
 {
 	m_basis.serializeFloat(dataOut.m_basis);
 	m_origin.serializeFloat(dataOut.m_origin);
 }
 
-
-SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
+SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
 {
 	m_basis.deSerialize(dataIn.m_basis);
 	m_origin.deSerialize(dataIn.m_origin);
 }
 
-SIMD_FORCE_INLINE	void	btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
+SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
 {
 	m_basis.deSerializeFloat(dataIn.m_basis);
 	m_origin.deSerializeFloat(dataIn.m_origin);
 }
 
-SIMD_FORCE_INLINE	void	btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
+SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
 {
 	m_basis.deSerializeDouble(dataIn.m_basis);
 	m_origin.deSerializeDouble(dataIn.m_origin);
 }
 
-
-#endif //BT_TRANSFORM_H
-
-
-
-
-
-
+#endif  //BT_TRANSFORM_H
diff --git a/thirdparty/bullet/LinearMath/btTransformUtil.h b/thirdparty/bullet/LinearMath/btTransformUtil.h
index 182cc43fab..b874dd6807 100644
--- a/thirdparty/bullet/LinearMath/btTransformUtil.h
+++ b/thirdparty/bullet/LinearMath/btTransformUtil.h
@@ -12,77 +12,66 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_TRANSFORM_UTIL_H
 #define BT_TRANSFORM_UTIL_H
 
 #include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
-
-
-
+#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
 
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
+SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents, const btVector3& supportDir)
 {
 	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
-      supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
-      supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); 
+					 supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
+					 supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
 }
 
-
-
-
-
-
 /// Utils related to temporal transforms
 class btTransformUtil
 {
-
 public:
-
-	static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform)
+	static void integrateTransform(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btTransform& predictedTransform)
 	{
 		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-//	#define QUATERNION_DERIVATIVE
-	#ifdef QUATERNION_DERIVATIVE
+		//	#define QUATERNION_DERIVATIVE
+#ifdef QUATERNION_DERIVATIVE
 		btQuaternion predictedOrn = curTrans.getRotation();
 		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
 		predictedOrn.safeNormalize();
-	#else
+#else
 		//Exponential map
 		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
 
 		btVector3 axis;
-		btScalar	fAngle2 = angvel.length2();
-        	btScalar    fAngle = 0;
-        	if (fAngle2>SIMD_EPSILON)
-        	{
-            		fAngle = btSqrt(fAngle2);
-        	}
+		btScalar fAngle2 = angvel.length2();
+		btScalar fAngle = 0;
+		if (fAngle2 > SIMD_EPSILON)
+		{
+			fAngle = btSqrt(fAngle2);
+		}
 
 		//limit the angular motion
-		if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
+		if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
 		{
 			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
 		}
 
-		if ( fAngle < btScalar(0.001) )
+		if (fAngle < btScalar(0.001))
 		{
 			// use Taylor's expansions of sync function
-			axis   = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
+			axis = angvel * (btScalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (btScalar(0.020833333333)) * fAngle * fAngle);
 		}
 		else
 		{
 			// sync(fAngle) = sin(c*fAngle)/t
-			axis   = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
+			axis = angvel * (btSin(btScalar(0.5) * fAngle * timeStep) / fAngle);
 		}
-		btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
+		btQuaternion dorn(axis.x(), axis.y(), axis.z(), btCos(fAngle * timeStep * btScalar(0.5)));
 		btQuaternion orn0 = curTrans.getRotation();
 
 		btQuaternion predictedOrn = dorn * orn0;
 		predictedOrn.safeNormalize();
-	#endif
-		if (predictedOrn.length2()>SIMD_EPSILON)
+#endif
+		if (predictedOrn.length2() > SIMD_EPSILON)
 		{
 			predictedTransform.setRotation(predictedOrn);
 		}
@@ -92,137 +81,133 @@ public:
 		}
 	}
 
-	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	static void calculateVelocityQuaternion(const btVector3& pos0, const btVector3& pos1, const btQuaternion& orn0, const btQuaternion& orn1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
 	{
 		linVel = (pos1 - pos0) / timeStep;
 		btVector3 axis;
-		btScalar  angle;
+		btScalar angle;
 		if (orn0 != orn1)
 		{
-			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
 			angVel = axis * angle / timeStep;
-		} else
+		}
+		else
 		{
-			angVel.setValue(0,0,0);
+			angVel.setValue(0, 0, 0);
 		}
 	}
 
-	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
+	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0, const btQuaternion& orn1a, btVector3& axis, btScalar& angle)
 	{
 		btQuaternion orn1 = orn0.nearest(orn1a);
 		btQuaternion dorn = orn1 * orn0.inverse();
 		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
 		axis[3] = btScalar(0.);
 		//check for axis length
 		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		if (len < SIMD_EPSILON * SIMD_EPSILON)
+			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
 		else
 			axis /= btSqrt(len);
 	}
 
-	static void	calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	static void calculateVelocity(const btTransform& transform0, const btTransform& transform1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
 	{
 		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
 		btVector3 axis;
-		btScalar  angle;
-		calculateDiffAxisAngle(transform0,transform1,axis,angle);
+		btScalar angle;
+		calculateDiffAxisAngle(transform0, transform1, axis, angle);
 		angVel = axis * angle / timeStep;
 	}
 
-	static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
+	static void calculateDiffAxisAngle(const btTransform& transform0, const btTransform& transform1, btVector3& axis, btScalar& angle)
 	{
 		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
 		btQuaternion dorn;
 		dmat.getRotation(dorn);
 
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
+		///floating point inaccuracy can lead to w component > 1..., which breaks
 		dorn.normalize();
-		
+
 		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
 		axis[3] = btScalar(0.);
 		//check for axis length
 		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		if (len < SIMD_EPSILON * SIMD_EPSILON)
+			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
 		else
 			axis /= btSqrt(len);
 	}
-
 };
 
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection 
+///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
 ///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class	btConvexSeparatingDistanceUtil
+class btConvexSeparatingDistanceUtil
 {
-	btQuaternion	m_ornA;
-	btQuaternion	m_ornB;
-	btVector3	m_posA;
-	btVector3	m_posB;
-	
-	btVector3	m_separatingNormal;
+	btQuaternion m_ornA;
+	btQuaternion m_ornB;
+	btVector3 m_posA;
+	btVector3 m_posB;
 
-	btScalar	m_boundingRadiusA;
-	btScalar	m_boundingRadiusB;
-	btScalar	m_separatingDistance;
+	btVector3 m_separatingNormal;
 
-public:
+	btScalar m_boundingRadiusA;
+	btScalar m_boundingRadiusB;
+	btScalar m_separatingDistance;
 
-	btConvexSeparatingDistanceUtil(btScalar	boundingRadiusA,btScalar	boundingRadiusB)
-		:m_boundingRadiusA(boundingRadiusA),
-		m_boundingRadiusB(boundingRadiusB),
-		m_separatingDistance(0.f)
+public:
+	btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
+		: m_boundingRadiusA(boundingRadiusA),
+		  m_boundingRadiusB(boundingRadiusB),
+		  m_separatingDistance(0.f)
 	{
 	}
 
-	btScalar	getConservativeSeparatingDistance()
+	btScalar getConservativeSeparatingDistance()
 	{
 		return m_separatingDistance;
 	}
 
-	void	updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
+	void updateSeparatingDistance(const btTransform& transA, const btTransform& transB)
 	{
 		const btVector3& toPosA = transA.getOrigin();
 		const btVector3& toPosB = transB.getOrigin();
 		btQuaternion toOrnA = transA.getRotation();
 		btQuaternion toOrnB = transB.getRotation();
 
-		if (m_separatingDistance>0.f)
+		if (m_separatingDistance > 0.f)
 		{
-			
-
-			btVector3 linVelA,angVelA,linVelB,angVelB;
-			btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
-			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
+			btVector3 linVelA, angVelA, linVelB, angVelB;
+			btTransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, btScalar(1.), linVelA, angVelA);
+			btTransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, btScalar(1.), linVelB, angVelB);
 			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			btVector3 relLinVel = (linVelB-linVelA);
+			btVector3 relLinVel = (linVelB - linVelA);
 			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength<0.f)
+			if (relLinVelocLength < 0.f)
 			{
 				relLinVelocLength = 0.f;
 			}
-	
-			btScalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+
+			btScalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
 			m_separatingDistance -= projectedMotion;
 		}
-	
+
 		m_posA = toPosA;
 		m_posB = toPosB;
 		m_ornA = toOrnA;
 		m_ornB = toOrnB;
 	}
 
-	void	initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
+	void initSeparatingDistance(const btVector3& separatingVector, btScalar separatingDistance, const btTransform& transA, const btTransform& transB)
 	{
 		m_separatingDistance = separatingDistance;
 
-		if (m_separatingDistance>0.f)
+		if (m_separatingDistance > 0.f)
 		{
 			m_separatingNormal = separatingVector;
-			
+
 			const btVector3& toPosA = transA.getOrigin();
 			const btVector3& toPosB = transB.getOrigin();
 			btQuaternion toOrnA = transA.getRotation();
@@ -233,9 +218,6 @@ public:
 			m_ornB = toOrnB;
 		}
 	}
-
 };
 
-
-#endif //BT_TRANSFORM_UTIL_H
-
+#endif  //BT_TRANSFORM_UTIL_H
diff --git a/thirdparty/bullet/LinearMath/btVector3.cpp b/thirdparty/bullet/LinearMath/btVector3.cpp
index e05bdccd67..13111157af 100644
--- a/thirdparty/bullet/LinearMath/btVector3.cpp
+++ b/thirdparty/bullet/LinearMath/btVector3.cpp
@@ -15,282 +15,285 @@
  This source version has been altered.
  */
 
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
 #define BT_USE_SSE_IN_API
 #endif
 
-
 #include "btVector3.h"
 
-
-
 #if defined BT_USE_SIMD_VECTOR3
 
 #if DEBUG
-#include <string.h>//for memset
+#include <string.h>  //for memset
 #endif
 
-
 #ifdef __APPLE__
 #include <stdint.h>
-typedef  float float4 __attribute__ ((vector_size(16)));
+typedef float float4 __attribute__((vector_size(16)));
 #else
 #define float4 __m128
 #endif
 //typedef  uint32_t uint4 __attribute__ ((vector_size(16)));
 
-
 #if defined BT_USE_SSE || defined _WIN32
 
-#define LOG2_ARRAY_SIZE     6
-#define STACK_ARRAY_COUNT   (1UL << LOG2_ARRAY_SIZE)
+#define LOG2_ARRAY_SIZE 6
+#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE)
 
 #include <emmintrin.h>
 
-long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
-long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long _maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
+long _maxdot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    const float4 *vertices = (const float4*) vv;
-    static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 };
-    float4 dotMax = btAssign128( -BT_INFINITY,  -BT_INFINITY,  -BT_INFINITY,  -BT_INFINITY );
-    float4 vvec = _mm_loadu_ps( vec );
-    float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa ));          /// zzzz
-    float4 vLo = _mm_movelh_ps( vvec, vvec );                               /// xyxy
-    
-    long maxIndex = -1L;
-    
-    size_t segment = 0;
-    float4 stack_array[ STACK_ARRAY_COUNT ];
-    
+	const float4 *vertices = (const float4 *)vv;
+	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
+	float4 dotMax = btAssign128(-BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY);
+	float4 vvec = _mm_loadu_ps(vec);
+	float4 vHi = btCastiTo128f(_mm_shuffle_epi32(btCastfTo128i(vvec), 0xaa));  /// zzzz
+	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
+
+	long maxIndex = -1L;
+
+	size_t segment = 0;
+	float4 stack_array[STACK_ARRAY_COUNT];
+
 #if DEBUG
-    //memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
+	//memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
 #endif
-    
-    size_t index;
-    float4 max;
-    // Faster loop without cleanup code for full tiles
-    for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) 
-    {
-        max = dotMax;
-        
-        for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 )   
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-            
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            // It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-        }
-        
-        // If we found a new max
-        if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax)))
-        { 
-            // copy the new max across all lanes of our max accumulator
-            max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e));
-            max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1));
-            
-            dotMax = max;
-            
-            // find first occurrence of that max  
-            size_t test;
-            for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ )   // local_count must be a multiple of 4
-            {}
-            // record where it is.
-            maxIndex = 4*index + segment + indexTable[test];
-        }
-    }
-    
-    // account for work we've already done
-    count -= segment;
-    
-    // Deal with the last < STACK_ARRAY_COUNT vectors
-    max = dotMax;
-    index = 0;
-    
-    
-    if( btUnlikely( count > 16) )
-    {
-        for( ; index + 4 <= count / 4; index+=4 )   
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-            
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            
-            // It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
-        }
-    }
-    
-    size_t localCount = (count & -4L) - 4*index;
-    if( localCount )
-    {
+
+	size_t index;
+	float4 max;
+	// Faster loop without cleanup code for full tiles
+	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
+	{
+		max = dotMax;
+
+		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
+		}
+
+		// If we found a new max
+		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
+		{
+			// copy the new max across all lanes of our max accumulator
+			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
+			max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
+
+			dotMax = max;
+
+			// find first occurrence of that max
+			size_t test;
+			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
+			{
+			}
+			// record where it is.
+			maxIndex = 4 * index + segment + indexTable[test];
+		}
+	}
+
+	// account for work we've already done
+	count -= segment;
+
+	// Deal with the last < STACK_ARRAY_COUNT vectors
+	max = dotMax;
+	index = 0;
+
+	if (btUnlikely(count > 16))
+	{
+		for (; index + 4 <= count / 4; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+
+			// It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
+		}
+	}
+
+	size_t localCount = (count & -4L) - 4 * index;
+	if (localCount)
+	{
 #ifdef __APPLE__
-        float4 t0, t1, t2, t3, t4;
-        float4 * sap = &stack_array[index + localCount / 4];
-          vertices += localCount;      // counter the offset
-         size_t byteIndex = -(localCount) * sizeof(float);
-        //AT&T Code style assembly
-        asm volatile
-        (   ".align 4                                                                   \n\
+		float4 t0, t1, t2, t3, t4;
+		float4 *sap = &stack_array[index + localCount / 4];
+		vertices += localCount;  // counter the offset
+		size_t byteIndex = -(localCount) * sizeof(float);
+		//AT&T Code style assembly
+		asm volatile(
+			".align 4                                                                   \n\
              0: movaps  %[max], %[t2]                            // move max out of the way to avoid propagating NaNs in max \n\
           movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
           movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
@@ -316,368 +319,374 @@ long _maxdot_large( const float *vv, const float *vec, unsigned long count, floa
          add     $16, %[byteIndex]                           // advance loop counter\n\
          jnz     0b                                          \n\
      "
-         : [max] "+x" (max), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex)
-         : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap)
-         : "memory", "cc"
-         );
-        index += localCount/4;
+			: [max] "+x"(max), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
+			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
+			: "memory", "cc");
+		index += localCount / 4;
 #else
-        {
-            for( unsigned int i=0; i<localCount/4; i++,index++)   
-            { // do four dot products at a time. Carefully avoid touching the w element.
-                float4 v0 = vertices[0];
-                float4 v1 = vertices[1];
-                float4 v2 = vertices[2];
-                float4 v3 = vertices[3];            
-                vertices += 4;
-                
-                float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-                float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-                float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-                float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-                
-                lo0 = lo0*vLo;
-                lo1 = lo1*vLo;
-                float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-                float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-                z = z*vHi;
-                x = x+y;
-                x = x+z;
-                stack_array[index] = x;
-                max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-            }
-        }
-#endif //__APPLE__
-    }
-
-    // process the last few points
-    if( count & 3 )
-    {
-        float4 v0, v1, v2, x, y, z;
-        switch( count & 3 )
-        {
-            case 3:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                v2 = vertices[2];
-                
-                // Calculate 3 dot products, transpose, duplicate v2
-                float4 lo0 = _mm_movelh_ps( v0, v1);        // xyxy.lo
-                float4 hi0 = _mm_movehl_ps( v1, v0);        // z?z?.lo
-                lo0 = lo0*vLo;
-                z = _mm_shuffle_ps(hi0, v2,  0xa8 );           // z0z1z2z2
-                z = z*vHi;
-                float4 lo1 = _mm_movelh_ps(v2, v2);          // xyxy
-                lo1 = lo1*vLo;
-                x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            }
-                break;
-            case 2:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                float4 xy = _mm_movelh_ps(v0, v1);
-                z = _mm_movehl_ps(v1, v0);
-                xy = xy*vLo;
-                z = _mm_shuffle_ps( z, z,  0xa8);
-                x = _mm_shuffle_ps( xy, xy, 0xa8);
-                y = _mm_shuffle_ps( xy, xy, 0xfd);
-                z = z*vHi;
-            }
-                break;
-            case 1:
-            {
-                float4 xy = vertices[0];
-                z =  _mm_shuffle_ps( xy, xy, 0xaa);
-                xy = xy*vLo;
-                z = z*vHi;
-                x = _mm_shuffle_ps(xy, xy, 0);
-                y = _mm_shuffle_ps(xy, xy, 0x55);
-            }
-                break;
-        }
-        x = x+y;
-        x = x+z;
-        stack_array[index] = x;
-        max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
-        index++;
-    }
-    
-    // if we found a new max. 
-    if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax)))
-    { // we found a new max. Search for it
-      // find max across the max vector, place in all elements of max -- big latency hit here
-        max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e));
-        max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1));
-        
-        // It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-        // this where it actually makes a difference is handled in the early out at the top of the function, 
-        // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced 
-        // complexity, and removed it.
-        
-        dotMax = max;
-        
-        // scan for the first occurence of max in the array  
-        size_t test;
-        for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ )   // local_count must be a multiple of 4
-        {}
-        maxIndex = 4*index + segment + indexTable[test];
-    }
-    
-    _mm_store_ss( dotResult, dotMax);
-    return maxIndex;
+		{
+			for (unsigned int i = 0; i < localCount / 4; i++, index++)
+			{  // do four dot products at a time. Carefully avoid touching the w element.
+				float4 v0 = vertices[0];
+				float4 v1 = vertices[1];
+				float4 v2 = vertices[2];
+				float4 v3 = vertices[3];
+				vertices += 4;
+
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+				lo0 = lo0 * vLo;
+				lo1 = lo1 * vLo;
+				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+				z = z * vHi;
+				x = x + y;
+				x = x + z;
+				stack_array[index] = x;
+				max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+			}
+		}
+#endif  //__APPLE__
+	}
+
+	// process the last few points
+	if (count & 3)
+	{
+		float4 v0, v1, v2, x, y, z;
+		switch (count & 3)
+		{
+			case 3:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				v2 = vertices[2];
+
+				// Calculate 3 dot products, transpose, duplicate v2
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
+				lo0 = lo0 * vLo;
+				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
+				z = z * vHi;
+				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
+				lo1 = lo1 * vLo;
+				x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			}
+			break;
+			case 2:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				float4 xy = _mm_movelh_ps(v0, v1);
+				z = _mm_movehl_ps(v1, v0);
+				xy = xy * vLo;
+				z = _mm_shuffle_ps(z, z, 0xa8);
+				x = _mm_shuffle_ps(xy, xy, 0xa8);
+				y = _mm_shuffle_ps(xy, xy, 0xfd);
+				z = z * vHi;
+			}
+			break;
+			case 1:
+			{
+				float4 xy = vertices[0];
+				z = _mm_shuffle_ps(xy, xy, 0xaa);
+				xy = xy * vLo;
+				z = z * vHi;
+				x = _mm_shuffle_ps(xy, xy, 0);
+				y = _mm_shuffle_ps(xy, xy, 0x55);
+			}
+			break;
+		}
+		x = x + y;
+		x = x + z;
+		stack_array[index] = x;
+		max = _mm_max_ps(x, max);  // control the order here so that max is never NaN even if x is nan
+		index++;
+	}
+
+	// if we found a new max.
+	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(max, dotMax)))
+	{  // we found a new max. Search for it
+		// find max across the max vector, place in all elements of max -- big latency hit here
+		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0x4e));
+		max = _mm_max_ps(max, (float4)_mm_shuffle_ps(max, max, 0xb1));
+
+		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
+		// this where it actually makes a difference is handled in the early out at the top of the function,
+		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
+		// complexity, and removed it.
+
+		dotMax = max;
+
+		// scan for the first occurence of max in the array
+		size_t test;
+		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], max))); index++)  // local_count must be a multiple of 4
+		{
+		}
+		maxIndex = 4 * index + segment + indexTable[test];
+	}
+
+	_mm_store_ss(dotResult, dotMax);
+	return maxIndex;
 }
 
-long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
+long _mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult);
 
-long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long _mindot_large(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    const float4 *vertices = (const float4*) vv;
-    static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 };
-    float4 dotmin = btAssign128( BT_INFINITY,  BT_INFINITY,  BT_INFINITY,  BT_INFINITY );
-    float4 vvec = _mm_loadu_ps( vec );
-    float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa ));          /// zzzz
-    float4 vLo = _mm_movelh_ps( vvec, vvec );                               /// xyxy
-    
-    long minIndex = -1L;
-
-    size_t segment = 0;
-    float4 stack_array[ STACK_ARRAY_COUNT ];
-    
+	const float4 *vertices = (const float4 *)vv;
+	static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};
+	float4 dotmin = btAssign128(BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY);
+	float4 vvec = _mm_loadu_ps(vec);
+	float4 vHi = btCastiTo128f(_mm_shuffle_epi32(btCastfTo128i(vvec), 0xaa));  /// zzzz
+	float4 vLo = _mm_movelh_ps(vvec, vvec);                                    /// xyxy
+
+	long minIndex = -1L;
+
+	size_t segment = 0;
+	float4 stack_array[STACK_ARRAY_COUNT];
+
 #if DEBUG
-    //memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
+	//memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
 #endif
-    
-    size_t index;
-    float4 min;
-    // Faster loop without cleanup code for full tiles
-    for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) 
-    {
-        min = dotmin;
-        
-        for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 )   
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-            
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            // It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-        }
-        
-        // If we found a new min
-        if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin)))
-        { 
-            // copy the new min across all lanes of our min accumulator
-            min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e));
-            min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1));
-            
-            dotmin = min;
-            
-            // find first occurrence of that min  
-            size_t test;
-            for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ )   // local_count must be a multiple of 4
-            {}
-            // record where it is.
-            minIndex = 4*index + segment + indexTable[test];
-        }
-    }
-    
-    // account for work we've already done
-    count -= segment;
-    
-    // Deal with the last < STACK_ARRAY_COUNT vectors
-    min = dotmin;
-    index = 0;
-    
-    
-    if(btUnlikely( count > 16) )
-    {
-        for( ; index + 4 <= count / 4; index+=4 )   
-        { // do four dot products at a time. Carefully avoid touching the w element.
-            float4 v0 = vertices[0];
-            float4 v1 = vertices[1];
-            float4 v2 = vertices[2];
-            float4 v3 = vertices[3];            vertices += 4;
-            
-            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+1] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+2] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            v0 = vertices[0];
-            v1 = vertices[1];
-            v2 = vertices[2];
-            v3 = vertices[3];            vertices += 4;
-            
-            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-            
-            lo0 = lo0*vLo;
-            lo1 = lo1*vLo;
-            z = _mm_shuffle_ps(hi0, hi1, 0x88);
-            x = _mm_shuffle_ps(lo0, lo1, 0x88);
-            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            z = z*vHi;
-            x = x+y;
-            x = x+z;
-            stack_array[index+3] = x;
-            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-            
-            // It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
-        }
-    }
-    
-    size_t localCount = (count & -4L) - 4*index;
-    if( localCount )
-    {
-        
-        
+
+	size_t index;
+	float4 min;
+	// Faster loop without cleanup code for full tiles
+	for (segment = 0; segment + STACK_ARRAY_COUNT * 4 <= count; segment += STACK_ARRAY_COUNT * 4)
+	{
+		min = dotmin;
+
+		for (index = 0; index < STACK_ARRAY_COUNT; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
+		}
+
+		// If we found a new min
+		if (0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
+		{
+			// copy the new min across all lanes of our min accumulator
+			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
+			min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
+
+			dotmin = min;
+
+			// find first occurrence of that min
+			size_t test;
+			for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
+			{
+			}
+			// record where it is.
+			minIndex = 4 * index + segment + indexTable[test];
+		}
+	}
+
+	// account for work we've already done
+	count -= segment;
+
+	// Deal with the last < STACK_ARRAY_COUNT vectors
+	min = dotmin;
+	index = 0;
+
+	if (btUnlikely(count > 16))
+	{
+		for (; index + 4 <= count / 4; index += 4)
+		{  // do four dot products at a time. Carefully avoid touching the w element.
+			float4 v0 = vertices[0];
+			float4 v1 = vertices[1];
+			float4 v2 = vertices[2];
+			float4 v3 = vertices[3];
+			vertices += 4;
+
+			float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 1] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 2] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			v0 = vertices[0];
+			v1 = vertices[1];
+			v2 = vertices[2];
+			v3 = vertices[3];
+			vertices += 4;
+
+			lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+			hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+			lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+			hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+			lo0 = lo0 * vLo;
+			lo1 = lo1 * vLo;
+			z = _mm_shuffle_ps(hi0, hi1, 0x88);
+			x = _mm_shuffle_ps(lo0, lo1, 0x88);
+			y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			z = z * vHi;
+			x = x + y;
+			x = x + z;
+			stack_array[index + 3] = x;
+			min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+
+			// It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
+		}
+	}
+
+	size_t localCount = (count & -4L) - 4 * index;
+	if (localCount)
+	{
 #ifdef __APPLE__
-        vertices += localCount;      // counter the offset
-        float4 t0, t1, t2, t3, t4;
-        size_t byteIndex = -(localCount) * sizeof(float);
-        float4 * sap = &stack_array[index + localCount / 4];
-        
-        asm volatile
-        (   ".align 4                                                                   \n\
+		vertices += localCount;  // counter the offset
+		float4 t0, t1, t2, t3, t4;
+		size_t byteIndex = -(localCount) * sizeof(float);
+		float4 *sap = &stack_array[index + localCount / 4];
+
+		asm volatile(
+			".align 4                                                                   \n\
              0: movaps  %[min], %[t2]                            // move min out of the way to avoid propagating NaNs in min \n\
              movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
              movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
@@ -703,968 +712,953 @@ long _mindot_large( const float *vv, const float *vec, unsigned long count, floa
              add     $16, %[byteIndex]                           // advance loop counter\n\
              jnz     0b                                          \n\
              "
-         : [min] "+x" (min), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex)
-         : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap)
-         : "memory", "cc"
-         );
-        index += localCount/4;
+			: [min] "+x"(min), [t0] "=&x"(t0), [t1] "=&x"(t1), [t2] "=&x"(t2), [t3] "=&x"(t3), [t4] "=&x"(t4), [byteIndex] "+r"(byteIndex)
+			: [vLo] "x"(vLo), [vHi] "x"(vHi), [vertices] "r"(vertices), [sap] "r"(sap)
+			: "memory", "cc");
+		index += localCount / 4;
 #else
-        {
-            for( unsigned int i=0; i<localCount/4; i++,index++)   
-            { // do four dot products at a time. Carefully avoid touching the w element.
-                float4 v0 = vertices[0];
-                float4 v1 = vertices[1];
-                float4 v2 = vertices[2];
-                float4 v3 = vertices[3];            
-                vertices += 4;
-                
-                float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
-                float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
-                float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
-                float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
-                
-                lo0 = lo0*vLo;
-                lo1 = lo1*vLo;
-                float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
-                float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-                z = z*vHi;
-                x = x+y;
-                x = x+z;
-                stack_array[index] = x;
-                min = _mm_min_ps( x, min );         // control the order here so that max is never NaN even if x is nan
-            }
-        }
+		{
+			for (unsigned int i = 0; i < localCount / 4; i++, index++)
+			{  // do four dot products at a time. Carefully avoid touching the w element.
+				float4 v0 = vertices[0];
+				float4 v1 = vertices[1];
+				float4 v2 = vertices[2];
+				float4 v3 = vertices[3];
+				vertices += 4;
+
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // x0y0x1y1
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z0?0z1?1
+				float4 lo1 = _mm_movelh_ps(v2, v3);  // x2y2x3y3
+				float4 hi1 = _mm_movehl_ps(v3, v2);  // z2?2z3?3
+
+				lo0 = lo0 * vLo;
+				lo1 = lo1 * vLo;
+				float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+				float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+				z = z * vHi;
+				x = x + y;
+				x = x + z;
+				stack_array[index] = x;
+				min = _mm_min_ps(x, min);  // control the order here so that max is never NaN even if x is nan
+			}
+		}
 
 #endif
-    }
-    
-    // process the last few points
-    if( count & 3 )
-    {
-        float4 v0, v1, v2, x, y, z;
-        switch( count & 3 )
-        {
-            case 3:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                v2 = vertices[2];
-                
-                // Calculate 3 dot products, transpose, duplicate v2
-                float4 lo0 = _mm_movelh_ps( v0, v1);        // xyxy.lo
-                float4 hi0 = _mm_movehl_ps( v1, v0);        // z?z?.lo
-                lo0 = lo0*vLo;
-                z = _mm_shuffle_ps(hi0, v2,  0xa8 );           // z0z1z2z2
-                z = z*vHi;
-                float4 lo1 = _mm_movelh_ps(v2, v2);          // xyxy
-                lo1 = lo1*vLo;
-                x = _mm_shuffle_ps(lo0, lo1, 0x88);
-                y = _mm_shuffle_ps(lo0, lo1, 0xdd);
-            }
-                break;
-            case 2:
-            {
-                v0 = vertices[0];
-                v1 = vertices[1];
-                float4 xy = _mm_movelh_ps(v0, v1);
-                z = _mm_movehl_ps(v1, v0);
-                xy = xy*vLo;
-                z = _mm_shuffle_ps( z, z,  0xa8);
-                x = _mm_shuffle_ps( xy, xy, 0xa8);
-                y = _mm_shuffle_ps( xy, xy, 0xfd);
-                z = z*vHi;
-            }
-                break;
-            case 1:
-            {
-                float4 xy = vertices[0];
-                z =  _mm_shuffle_ps( xy, xy, 0xaa);
-                xy = xy*vLo;
-                z = z*vHi;
-                x = _mm_shuffle_ps(xy, xy, 0);
-                y = _mm_shuffle_ps(xy, xy, 0x55);
-            }
-                break;
-        }
-        x = x+y;
-        x = x+z;
-        stack_array[index] = x;
-        min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
-        index++;
-    }
-    
-    // if we found a new min. 
-    if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin)))
-    { // we found a new min. Search for it
-      // find min across the min vector, place in all elements of min -- big latency hit here
-        min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e));
-        min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1));
-        
-        // It is slightly faster to do this part in scalar code when count < 8. However, the common case for
-        // this where it actually makes a difference is handled in the early out at the top of the function, 
-        // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced 
-        // complexity, and removed it.
-        
-        dotmin = min;
-        
-        // scan for the first occurence of min in the array  
-        size_t test;
-        for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ )   // local_count must be a multiple of 4
-        {}
-        minIndex = 4*index + segment + indexTable[test];
-    }
-    
-    _mm_store_ss( dotResult, dotmin);
-    return minIndex;
-}
+	}
+
+	// process the last few points
+	if (count & 3)
+	{
+		float4 v0, v1, v2, x, y, z;
+		switch (count & 3)
+		{
+			case 3:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				v2 = vertices[2];
+
+				// Calculate 3 dot products, transpose, duplicate v2
+				float4 lo0 = _mm_movelh_ps(v0, v1);  // xyxy.lo
+				float4 hi0 = _mm_movehl_ps(v1, v0);  // z?z?.lo
+				lo0 = lo0 * vLo;
+				z = _mm_shuffle_ps(hi0, v2, 0xa8);  // z0z1z2z2
+				z = z * vHi;
+				float4 lo1 = _mm_movelh_ps(v2, v2);  // xyxy
+				lo1 = lo1 * vLo;
+				x = _mm_shuffle_ps(lo0, lo1, 0x88);
+				y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+			}
+			break;
+			case 2:
+			{
+				v0 = vertices[0];
+				v1 = vertices[1];
+				float4 xy = _mm_movelh_ps(v0, v1);
+				z = _mm_movehl_ps(v1, v0);
+				xy = xy * vLo;
+				z = _mm_shuffle_ps(z, z, 0xa8);
+				x = _mm_shuffle_ps(xy, xy, 0xa8);
+				y = _mm_shuffle_ps(xy, xy, 0xfd);
+				z = z * vHi;
+			}
+			break;
+			case 1:
+			{
+				float4 xy = vertices[0];
+				z = _mm_shuffle_ps(xy, xy, 0xaa);
+				xy = xy * vLo;
+				z = z * vHi;
+				x = _mm_shuffle_ps(xy, xy, 0);
+				y = _mm_shuffle_ps(xy, xy, 0x55);
+			}
+			break;
+		}
+		x = x + y;
+		x = x + z;
+		stack_array[index] = x;
+		min = _mm_min_ps(x, min);  // control the order here so that min is never NaN even if x is nan
+		index++;
+	}
+
+	// if we found a new min.
+	if (0 == segment || 0xf != _mm_movemask_ps((float4)_mm_cmpeq_ps(min, dotmin)))
+	{  // we found a new min. Search for it
+		// find min across the min vector, place in all elements of min -- big latency hit here
+		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0x4e));
+		min = _mm_min_ps(min, (float4)_mm_shuffle_ps(min, min, 0xb1));
+
+		// It is slightly faster to do this part in scalar code when count < 8. However, the common case for
+		// this where it actually makes a difference is handled in the early out at the top of the function,
+		// so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced
+		// complexity, and removed it.
+
+		dotmin = min;
 
+		// scan for the first occurence of min in the array
+		size_t test;
+		for (index = 0; 0 == (test = _mm_movemask_ps(_mm_cmpeq_ps(stack_array[index], min))); index++)  // local_count must be a multiple of 4
+		{
+		}
+		minIndex = 4 * index + segment + indexTable[test];
+	}
+
+	_mm_store_ss(dotResult, dotmin);
+	return minIndex;
+}
 
 #elif defined BT_USE_NEON
 
-#define ARM_NEON_GCC_COMPATIBILITY  1
+#define ARM_NEON_GCC_COMPATIBILITY 1
 #include <arm_neon.h>
 #include <sys/types.h>
-#include <sys/sysctl.h> //for sysctlbyname
+#include <sys/sysctl.h>  //for sysctlbyname
 
-static long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
-static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long _maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long _maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long _maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long _mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long _mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult);
+static long _mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult);
 
-long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel;
-long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel;
+long (*_maxdot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = _maxdot_large_sel;
+long (*_mindot_large)(const float *vv, const float *vec, unsigned long count, float *dotResult) = _mindot_large_sel;
 
-
-static inline uint32_t btGetCpuCapabilities( void )
+static inline uint32_t btGetCpuCapabilities(void)
 {
-    static uint32_t capabilities = 0;
-    static bool testedCapabilities = false;
+	static uint32_t capabilities = 0;
+	static bool testedCapabilities = false;
 
-    if( 0 == testedCapabilities)
-    {
-        uint32_t hasFeature = 0;
-        size_t featureSize = sizeof( hasFeature );
-        int err = sysctlbyname( "hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0 );
+	if (0 == testedCapabilities)
+	{
+		uint32_t hasFeature = 0;
+		size_t featureSize = sizeof(hasFeature);
+		int err = sysctlbyname("hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0);
 
-        if( 0 == err && hasFeature)
-            capabilities |= 0x2000;
+		if (0 == err && hasFeature)
+			capabilities |= 0x2000;
 
 		testedCapabilities = true;
-    }
-    
-    return capabilities;
-}
-
-
+	}
 
+	return capabilities;
+}
 
-static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+static long _maxdot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
+	if (btGetCpuCapabilities() & 0x2000)
+		_maxdot_large = _maxdot_large_v1;
+	else
+		_maxdot_large = _maxdot_large_v0;
 
-    if( btGetCpuCapabilities() & 0x2000 )
-        _maxdot_large = _maxdot_large_v1;
-    else
-        _maxdot_large = _maxdot_large_v0;
-    
-    return _maxdot_large(vv, vec, count, dotResult);
+	return _maxdot_large(vv, vec, count, dotResult);
 }
 
-static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+static long _mindot_large_sel(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
+	if (btGetCpuCapabilities() & 0x2000)
+		_mindot_large = _mindot_large_v1;
+	else
+		_mindot_large = _mindot_large_v0;
 
-    if( btGetCpuCapabilities() & 0x2000 )
-        _mindot_large = _mindot_large_v1;
-    else
-        _mindot_large = _mindot_large_v0;
-    
-    return _mindot_large(vv, vec, count, dotResult);
+	return _mindot_large(vv, vec, count, dotResult);
 }
 
-
-
 #if defined __arm__
-# define vld1q_f32_aligned_postincrement( _ptr ) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
+#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
 #else
 //support 64bit arm
-# define vld1q_f32_aligned_postincrement( _ptr) ({ float32x4_t _r = ((float32x4_t*)(_ptr))[0]; (_ptr) = (const float*) ((const char*)(_ptr) + 16L); /*return*/ _r; })
+#define vld1q_f32_aligned_postincrement(_ptr) ({ float32x4_t _r = ((float32x4_t*)(_ptr))[0]; (_ptr) = (const float*) ((const char*)(_ptr) + 16L); /*return*/ _r; })
 #endif
 
-
-long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long _maxdot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    unsigned long i = 0;
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x2_t vLo = vget_low_f32(vvec);
-    float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-    float32x2_t dotMaxLo = (float32x2_t) { -BT_INFINITY, -BT_INFINITY };
-    float32x2_t dotMaxHi = (float32x2_t) { -BT_INFINITY, -BT_INFINITY };
-    uint32x2_t indexLo = (uint32x2_t) {0, 1};
-    uint32x2_t indexHi = (uint32x2_t) {2, 3};
-    uint32x2_t iLo = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-    uint32x2_t iHi = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-    const uint32x2_t four = (uint32x2_t) {4,4};
-
-    for( ; i+8 <= count; i+= 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-        
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-        
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-        
-        uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-        uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
-        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four); 
-        indexHi = vadd_u32(indexHi, four);
-
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        xy3 = vmul_f32( vget_low_f32(v3), vLo);
-        
-        z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        zLo = vmul_f32( z0.val[0], vHi);
-        zHi = vmul_f32( z1.val[0], vHi);
-        
-        rLo = vpadd_f32( xy0, xy1);
-        rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-        
-        maskLo = vcgt_f32( rLo, dotMaxLo );
-        maskHi = vcgt_f32( rHi, dotMaxHi );
-        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-
-    for( ; i+4 <= count; i+= 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-        
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-        
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-        
-        uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-        uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
-        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-    
-    switch( count & 3 )
-    {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-            
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-            float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-            
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-            float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-            
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            float32x2_t rHi = vpadd_f32( xy2, xy2);
-            rLo = vadd_f32(rLo, zLo);
-            rHi = vadd_f32(rHi, zHi);
-            
-            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-            uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
-            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-            dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-            iHi = vbsl_u32(maskHi, indexHi, iHi);
-        }
-            break;
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-            
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-            
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            rLo = vadd_f32(rLo, zLo);
-            
-            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-            float32x2_t zLo = vmul_f32( z0, vHi);
-            float32x2_t rLo = vpadd_f32( xy0, xy0);
-            rLo = vadd_f32(rLo, zLo);
-            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
-            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-        
-        default:
-            break;
-    }
-    
-    // select best answer between hi and lo results
-    uint32x2_t mask = vcgt_f32( dotMaxHi, dotMaxLo );
-    dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-    
-    // select best answer between even and odd results
-    dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
-    iHi = vdup_lane_u32(iLo, 1);
-    mask = vcgt_f32( dotMaxHi, dotMaxLo );
-    dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-    
-    *dotResult = vget_lane_f32( dotMaxLo, 0);
-    return vget_lane_u32(iLo, 0);
-}
+	unsigned long i = 0;
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x2_t vLo = vget_low_f32(vvec);
+	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
+	float32x2_t dotMaxLo = (float32x2_t){-BT_INFINITY, -BT_INFINITY};
+	float32x2_t dotMaxHi = (float32x2_t){-BT_INFINITY, -BT_INFINITY};
+	uint32x2_t indexLo = (uint32x2_t){0, 1};
+	uint32x2_t indexHi = (uint32x2_t){2, 3};
+	uint32x2_t iLo = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
+	uint32x2_t iHi = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
+	const uint32x2_t four = (uint32x2_t){4, 4};
+
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
+		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		zLo = vmul_f32(z0.val[0], vHi);
+		zHi = vmul_f32(z1.val[0], vHi);
+
+		rLo = vpadd_f32(xy0, xy1);
+		rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		maskLo = vcgt_f32(rLo, dotMaxLo);
+		maskHi = vcgt_f32(rHi, dotMaxHi);
+		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
 
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
 
-long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult )
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+		uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
+		dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+		dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			float32x2_t rHi = vpadd_f32(xy2, xy2);
+			rLo = vadd_f32(rLo, zLo);
+			rHi = vadd_f32(rHi, zHi);
+
+			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+			uint32x2_t maskHi = vcgt_f32(rHi, dotMaxHi);
+			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+			dotMaxHi = vbsl_f32(maskHi, rHi, dotMaxHi);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+			iHi = vbsl_u32(maskHi, indexHi, iHi);
+		}
+		break;
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			rLo = vadd_f32(rLo, zLo);
+
+			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
+			float32x2_t zLo = vmul_f32(z0, vHi);
+			float32x2_t rLo = vpadd_f32(xy0, xy0);
+			rLo = vadd_f32(rLo, zLo);
+			uint32x2_t maskLo = vcgt_f32(rLo, dotMaxLo);
+			dotMaxLo = vbsl_f32(maskLo, rLo, dotMaxLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vcgt_f32(dotMaxHi, dotMaxLo);
+	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	// select best answer between even and odd results
+	dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
+	iHi = vdup_lane_u32(iLo, 1);
+	mask = vcgt_f32(dotMaxHi, dotMaxLo);
+	dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	*dotResult = vget_lane_f32(dotMaxLo, 0);
+	return vget_lane_u32(iLo, 0);
+}
+
+long _maxdot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-    float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-    const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 };
-    uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3};
-    uint32x4_t index = (uint32x4_t) { static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1) };
-    float32x4_t maxDot = (float32x4_t) { -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY };
-    
-    unsigned long i = 0;
-    for( ; i + 8 <= count; i += 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-        
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-        
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-        
-        uint32x4_t mask = vcgtq_f32(x, maxDot);
-        maxDot = vbslq_f32( mask, x, maxDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        // the next two lines should resolve to a single vswp d, d
-        xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-        
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-        
-        zb = vuzpq_f32( z0, z1);
-        z = vmulq_f32( zb.val[0], vHi);
-        xy = vuzpq_f32( xy0, xy1);
-        x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-        
-        mask = vcgtq_f32(x, maxDot);
-        maxDot = vbslq_f32( mask, x, maxDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-
-    for( ; i + 4 <= count; i += 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-        
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-        
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-        
-        uint32x4_t mask = vcgtq_f32(x, maxDot);
-        maxDot = vbslq_f32( mask, x, maxDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-    
-    switch (count & 3) {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-            
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2));
-            
-            xy0 = vmulq_f32(xy0, vLo);
-            xy1 = vmulq_f32(xy1, vLo);
-            
-            float32x4x2_t zb = vuzpq_f32( z0, z1);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-            
-            uint32x4_t mask = vcgtq_f32(x, maxDot);
-            maxDot = vbslq_f32( mask, x, maxDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-            
-            xy0 = vmulq_f32(xy0, vLo);
-            
-            float32x4x2_t zb = vuzpq_f32( z0, z0);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-            
-            uint32x4_t mask = vcgtq_f32(x, maxDot);
-            maxDot = vbslq_f32( mask, x, maxDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); 
-            
-            xy0 = vmulq_f32(xy0, vLo);
-            
-            z = vmulq_f32( z, vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-            
-            uint32x4_t mask = vcgtq_f32(x, maxDot);
-            maxDot = vbslq_f32( mask, x, maxDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-
-        default:
-            break;
-    }
-    
-    
-    // select best answer between hi and lo results
-    uint32x2_t mask = vcgt_f32( vget_high_f32(maxDot), vget_low_f32(maxDot));
-    float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
-    uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-    
-    // select best answer between even and odd results
-    float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
-    uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-    mask = vcgt_f32( maxDotO, maxDot2 );
-    maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
-    index2 = vbsl_u32(mask, indexHi, index2);
-    
-    *dotResult = vget_lane_f32( maxDot2, 0);
-    return vget_lane_u32(index2, 0);
-    
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
+	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
+	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
+	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
+	uint32x4_t index = (uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
+	float32x4_t maxDot = (float32x4_t){-BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY};
+
+	unsigned long i = 0;
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcgtq_f32(x, maxDot);
+		maxDot = vbslq_f32(mask, x, maxDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		zb = vuzpq_f32(z0, z1);
+		z = vmulq_f32(zb.val[0], vHi);
+		xy = vuzpq_f32(xy0, xy1);
+		x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		mask = vcgtq_f32(x, maxDot);
+		maxDot = vbslq_f32(mask, x, maxDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcgtq_f32(x, maxDot);
+		maxDot = vbslq_f32(mask, x, maxDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
+
+			xy0 = vmulq_f32(xy0, vLo);
+			xy1 = vmulq_f32(xy1, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z1);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcgtq_f32(x, maxDot);
+			maxDot = vbslq_f32(mask, x, maxDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z0);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcgtq_f32(x, maxDot);
+			maxDot = vbslq_f32(mask, x, maxDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			z = vmulq_f32(z, vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcgtq_f32(x, maxDot);
+			maxDot = vbslq_f32(mask, x, maxDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vcgt_f32(vget_high_f32(maxDot), vget_low_f32(maxDot));
+	float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
+	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
+
+	// select best answer between even and odd results
+	float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
+	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
+	mask = vcgt_f32(maxDotO, maxDot2);
+	maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
+	index2 = vbsl_u32(mask, indexHi, index2);
+
+	*dotResult = vget_lane_f32(maxDot2, 0);
+	return vget_lane_u32(index2, 0);
 }
 
-long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long _mindot_large_v0(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    unsigned long i = 0;
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x2_t vLo = vget_low_f32(vvec);
-    float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
-    float32x2_t dotMinLo = (float32x2_t) { BT_INFINITY, BT_INFINITY };
-    float32x2_t dotMinHi = (float32x2_t) { BT_INFINITY, BT_INFINITY };
-    uint32x2_t indexLo = (uint32x2_t) {0, 1};
-    uint32x2_t indexHi = (uint32x2_t) {2, 3};
-    uint32x2_t iLo = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-    uint32x2_t iHi = (uint32x2_t) {static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
-    const uint32x2_t four = (uint32x2_t) {4,4};
-    
-    for( ; i+8 <= count; i+= 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-        
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-        
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-        
-        uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-        uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
-        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-        
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        xy3 = vmul_f32( vget_low_f32(v3), vLo);
-        
-        z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        zLo = vmul_f32( z0.val[0], vHi);
-        zHi = vmul_f32( z1.val[0], vHi);
-        
-        rLo = vpadd_f32( xy0, xy1);
-        rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-        
-        maskLo = vclt_f32( rLo, dotMinLo );
-        maskHi = vclt_f32( rHi, dotMinHi );
-        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-
-    for( ; i+4 <= count; i+= 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
-        
-        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
-        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
-        
-        float32x2_t rLo = vpadd_f32( xy0, xy1);
-        float32x2_t rHi = vpadd_f32( xy2, xy3);
-        rLo = vadd_f32(rLo, zLo);
-        rHi = vadd_f32(rHi, zHi);
-        
-        uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-        uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
-        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-        iLo = vbsl_u32(maskLo, indexLo, iLo);
-        iHi = vbsl_u32(maskHi, indexHi, iHi);
-        indexLo = vadd_u32(indexLo, four);
-        indexHi = vadd_u32(indexHi, four);
-    }
-    switch( count & 3 )
-    {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-            
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-            float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
-            
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-            float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi);
-            
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            float32x2_t rHi = vpadd_f32( xy2, xy2);
-            rLo = vadd_f32(rLo, zLo);
-            rHi = vadd_f32(rHi, zHi);
-            
-            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-            uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
-            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-            dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-            iHi = vbsl_u32(maskHi, indexHi, iHi);
-        }
-            break;
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
-            
-            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
-            
-            float32x2_t rLo = vpadd_f32( xy0, xy1);
-            rLo = vadd_f32(rLo, zLo);
-            
-            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
-            float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
-            float32x2_t zLo = vmul_f32( z0, vHi);
-            float32x2_t rLo = vpadd_f32( xy0, xy0);
-            rLo = vadd_f32(rLo, zLo);
-            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
-            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
-            iLo = vbsl_u32(maskLo, indexLo, iLo);
-        }
-            break;
-            
-        default:
-            break;
-    }
-    
-    // select best answer between hi and lo results
-    uint32x2_t mask = vclt_f32( dotMinHi, dotMinLo );
-    dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-    
-    // select best answer between even and odd results
-    dotMinHi = vdup_lane_f32(dotMinLo, 1);
-    iHi = vdup_lane_u32(iLo, 1);
-    mask = vclt_f32( dotMinHi, dotMinLo );
-    dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
-    iLo = vbsl_u32(mask, iHi, iLo);
-    
-    *dotResult = vget_lane_f32( dotMinLo, 0);
-    return vget_lane_u32(iLo, 0);
+	unsigned long i = 0;
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x2_t vLo = vget_low_f32(vvec);
+	float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
+	float32x2_t dotMinLo = (float32x2_t){BT_INFINITY, BT_INFINITY};
+	float32x2_t dotMinHi = (float32x2_t){BT_INFINITY, BT_INFINITY};
+	uint32x2_t indexLo = (uint32x2_t){0, 1};
+	uint32x2_t indexHi = (uint32x2_t){2, 3};
+	uint32x2_t iLo = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
+	uint32x2_t iHi = (uint32x2_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
+	const uint32x2_t four = (uint32x2_t){4, 4};
+
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
+		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		zLo = vmul_f32(z0.val[0], vHi);
+		zHi = vmul_f32(z1.val[0], vHi);
+
+		rLo = vpadd_f32(xy0, xy1);
+		rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		maskLo = vclt_f32(rLo, dotMinLo);
+		maskHi = vclt_f32(rHi, dotMinHi);
+		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+		float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+		float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+		float32x2_t xy3 = vmul_f32(vget_low_f32(v3), vLo);
+
+		float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x2x2_t z1 = vtrn_f32(vget_high_f32(v2), vget_high_f32(v3));
+		float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+		float32x2_t zHi = vmul_f32(z1.val[0], vHi);
+
+		float32x2_t rLo = vpadd_f32(xy0, xy1);
+		float32x2_t rHi = vpadd_f32(xy2, xy3);
+		rLo = vadd_f32(rLo, zLo);
+		rHi = vadd_f32(rHi, zHi);
+
+		uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+		uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
+		dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+		dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+		iLo = vbsl_u32(maskLo, indexLo, iLo);
+		iHi = vbsl_u32(maskHi, indexHi, iHi);
+		indexLo = vadd_u32(indexLo, four);
+		indexHi = vadd_u32(indexHi, four);
+	}
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+			float32x2_t xy2 = vmul_f32(vget_low_f32(v2), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+			float32x2_t zHi = vmul_f32(vdup_lane_f32(vget_high_f32(v2), 0), vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			float32x2_t rHi = vpadd_f32(xy2, xy2);
+			rLo = vadd_f32(rLo, zLo);
+			rHi = vadd_f32(rHi, zHi);
+
+			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+			uint32x2_t maskHi = vclt_f32(rHi, dotMinHi);
+			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+			dotMinHi = vbsl_f32(maskHi, rHi, dotMinHi);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+			iHi = vbsl_u32(maskHi, indexHi, iHi);
+		}
+		break;
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t xy1 = vmul_f32(vget_low_f32(v1), vLo);
+
+			float32x2x2_t z0 = vtrn_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x2_t zLo = vmul_f32(z0.val[0], vHi);
+
+			float32x2_t rLo = vpadd_f32(xy0, xy1);
+			rLo = vadd_f32(rLo, zLo);
+
+			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x2_t xy0 = vmul_f32(vget_low_f32(v0), vLo);
+			float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
+			float32x2_t zLo = vmul_f32(z0, vHi);
+			float32x2_t rLo = vpadd_f32(xy0, xy0);
+			rLo = vadd_f32(rLo, zLo);
+			uint32x2_t maskLo = vclt_f32(rLo, dotMinLo);
+			dotMinLo = vbsl_f32(maskLo, rLo, dotMinLo);
+			iLo = vbsl_u32(maskLo, indexLo, iLo);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vclt_f32(dotMinHi, dotMinLo);
+	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	// select best answer between even and odd results
+	dotMinHi = vdup_lane_f32(dotMinLo, 1);
+	iHi = vdup_lane_u32(iLo, 1);
+	mask = vclt_f32(dotMinHi, dotMinLo);
+	dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
+	iLo = vbsl_u32(mask, iHi, iLo);
+
+	*dotResult = vget_lane_f32(dotMinLo, 0);
+	return vget_lane_u32(iLo, 0);
 }
 
-long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult )
+long _mindot_large_v1(const float *vv, const float *vec, unsigned long count, float *dotResult)
 {
-    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
-    float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
-    float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
-    const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 };
-    uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3};
-    uint32x4_t index = (uint32x4_t) { static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1) };
-    float32x4_t minDot = (float32x4_t) { BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY };
-    
-    unsigned long i = 0;
-    for( ; i + 8 <= count; i += 8 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-        
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-        
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-        
-        uint32x4_t mask = vcltq_f32(x, minDot);
-        minDot = vbslq_f32( mask, x, minDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-        
-        v0 = vld1q_f32_aligned_postincrement( vv );
-        v1 = vld1q_f32_aligned_postincrement( vv );
-        v2 = vld1q_f32_aligned_postincrement( vv );
-        v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        // the next two lines should resolve to a single vswp d, d
-        xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-        
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-        
-        zb = vuzpq_f32( z0, z1);
-        z = vmulq_f32( zb.val[0], vHi);
-        xy = vuzpq_f32( xy0, xy1);
-        x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-        
-        mask = vcltq_f32(x, minDot);
-        minDot = vbslq_f32( mask, x, minDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-    
-    for( ; i + 4 <= count; i += 4 )
-    {
-        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
-        
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
-        // the next two lines should resolve to a single vswp d, d
-        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
-        
-        xy0 = vmulq_f32(xy0, vLo);
-        xy1 = vmulq_f32(xy1, vLo);
-        
-        float32x4x2_t zb = vuzpq_f32( z0, z1);
-        float32x4_t z = vmulq_f32( zb.val[0], vHi);
-        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-        x = vaddq_f32(x, z);
-        
-        uint32x4_t mask = vcltq_f32(x, minDot);
-        minDot = vbslq_f32( mask, x, minDot);
-        index = vbslq_u32(mask, local_index, index);
-        local_index = vaddq_u32(local_index, four);
-    }
-    
-    switch (count & 3) {
-        case 3:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
-            
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-            float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2));
-            
-            xy0 = vmulq_f32(xy0, vLo);
-            xy1 = vmulq_f32(xy1, vLo);
-            
-            float32x4x2_t zb = vuzpq_f32( z0, z1);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy1);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-            
-            uint32x4_t mask = vcltq_f32(x, minDot);
-            minDot = vbslq_f32( mask, x, minDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-            
-        case 2:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
-            
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
-            
-            xy0 = vmulq_f32(xy0, vLo);
-            
-            float32x4x2_t zb = vuzpq_f32( z0, z0);
-            float32x4_t z = vmulq_f32( zb.val[0], vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-            
-            uint32x4_t mask = vcltq_f32(x, minDot);
-            minDot = vbslq_f32( mask, x, minDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-            
-        case 1:
-        {
-            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
-            
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0));
-            // the next two lines should resolve to a single vswp d, d
-            float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); 
-            
-            xy0 = vmulq_f32(xy0, vLo);
-            
-            z = vmulq_f32( z, vHi);
-            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
-            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
-            x = vaddq_f32(x, z);
-            
-            uint32x4_t mask = vcltq_f32(x, minDot);
-            minDot = vbslq_f32( mask, x, minDot);
-            index = vbslq_u32(mask, local_index, index);
-            local_index = vaddq_u32(local_index, four);
-        }
-            break;
-            
-        default:
-            break;
-    }
-    
-    
-    // select best answer between hi and lo results
-    uint32x2_t mask = vclt_f32( vget_high_f32(minDot), vget_low_f32(minDot));
-    float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
-    uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
-    
-    // select best answer between even and odd results
-    float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
-    uint32x2_t indexHi = vdup_lane_u32(index2, 1);
-    mask = vclt_f32( minDotO, minDot2 );
-    minDot2 = vbsl_f32(mask, minDotO, minDot2);
-    index2 = vbsl_u32(mask, indexHi, index2);
-    
-    *dotResult = vget_lane_f32( minDot2, 0);
-    return vget_lane_u32(index2, 0);
-    
+	float32x4_t vvec = vld1q_f32_aligned_postincrement(vec);
+	float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
+	float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
+	const uint32x4_t four = (uint32x4_t){4, 4, 4, 4};
+	uint32x4_t local_index = (uint32x4_t){0, 1, 2, 3};
+	uint32x4_t index = (uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1)};
+	float32x4_t minDot = (float32x4_t){BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY};
+
+	unsigned long i = 0;
+	for (; i + 8 <= count; i += 8)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcltq_f32(x, minDot);
+		minDot = vbslq_f32(mask, x, minDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+
+		v0 = vld1q_f32_aligned_postincrement(vv);
+		v1 = vld1q_f32_aligned_postincrement(vv);
+		v2 = vld1q_f32_aligned_postincrement(vv);
+		v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		zb = vuzpq_f32(z0, z1);
+		z = vmulq_f32(zb.val[0], vHi);
+		xy = vuzpq_f32(xy0, xy1);
+		x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		mask = vcltq_f32(x, minDot);
+		minDot = vbslq_f32(mask, x, minDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	for (; i + 4 <= count; i += 4)
+	{
+		float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+		float32x4_t v3 = vld1q_f32_aligned_postincrement(vv);
+
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+		float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v3));
+		// the next two lines should resolve to a single vswp d, d
+		float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+		float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v3));
+
+		xy0 = vmulq_f32(xy0, vLo);
+		xy1 = vmulq_f32(xy1, vLo);
+
+		float32x4x2_t zb = vuzpq_f32(z0, z1);
+		float32x4_t z = vmulq_f32(zb.val[0], vHi);
+		float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+		float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+		x = vaddq_f32(x, z);
+
+		uint32x4_t mask = vcltq_f32(x, minDot);
+		minDot = vbslq_f32(mask, x, minDot);
+		index = vbslq_u32(mask, local_index, index);
+		local_index = vaddq_u32(local_index, four);
+	}
+
+	switch (count & 3)
+	{
+		case 3:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v2 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			float32x4_t xy1 = vcombine_f32(vget_low_f32(v2), vget_low_f32(v2));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+			float32x4_t z1 = vcombine_f32(vget_high_f32(v2), vget_high_f32(v2));
+
+			xy0 = vmulq_f32(xy0, vLo);
+			xy1 = vmulq_f32(xy1, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z1);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy1);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcltq_f32(x, minDot);
+			minDot = vbslq_f32(mask, x, minDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 2:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+			float32x4_t v1 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v1));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z0 = vcombine_f32(vget_high_f32(v0), vget_high_f32(v1));
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			float32x4x2_t zb = vuzpq_f32(z0, z0);
+			float32x4_t z = vmulq_f32(zb.val[0], vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcltq_f32(x, minDot);
+			minDot = vbslq_f32(mask, x, minDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		case 1:
+		{
+			float32x4_t v0 = vld1q_f32_aligned_postincrement(vv);
+
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t xy0 = vcombine_f32(vget_low_f32(v0), vget_low_f32(v0));
+			// the next two lines should resolve to a single vswp d, d
+			float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0);
+
+			xy0 = vmulq_f32(xy0, vLo);
+
+			z = vmulq_f32(z, vHi);
+			float32x4x2_t xy = vuzpq_f32(xy0, xy0);
+			float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+			x = vaddq_f32(x, z);
+
+			uint32x4_t mask = vcltq_f32(x, minDot);
+			minDot = vbslq_f32(mask, x, minDot);
+			index = vbslq_u32(mask, local_index, index);
+			local_index = vaddq_u32(local_index, four);
+		}
+		break;
+
+		default:
+			break;
+	}
+
+	// select best answer between hi and lo results
+	uint32x2_t mask = vclt_f32(vget_high_f32(minDot), vget_low_f32(minDot));
+	float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
+	uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
+
+	// select best answer between even and odd results
+	float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
+	uint32x2_t indexHi = vdup_lane_u32(index2, 1);
+	mask = vclt_f32(minDotO, minDot2);
+	minDot2 = vbsl_f32(mask, minDotO, minDot2);
+	index2 = vbsl_u32(mask, indexHi, index2);
+
+	*dotResult = vget_lane_f32(minDot2, 0);
+	return vget_lane_u32(index2, 0);
 }
 
 #else
-    #error Unhandled __APPLE__ arch
+#error Unhandled __APPLE__ arch
 #endif
 
-#endif  /* __APPLE__ */
-
-
+#endif /* __APPLE__ */
diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h
index c69effa96e..61fd8d1e46 100644
--- a/thirdparty/bullet/LinearMath/btVector3.h
+++ b/thirdparty/bullet/LinearMath/btVector3.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #ifndef BT_VECTOR3_H
 #define BT_VECTOR3_H
 
@@ -28,25 +26,24 @@ subject to the following restrictions:
 #else
 #define btVector3Data btVector3FloatData
 #define btVector3DataName "btVector3FloatData"
-#endif //BT_USE_DOUBLE_PRECISION
+#endif  //BT_USE_DOUBLE_PRECISION
 
 #if defined BT_USE_SSE
 
 //typedef  uint32_t __m128i __attribute__ ((vector_size(16)));
 
 #ifdef _MSC_VER
-#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
+#pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
 #endif
 
-
-#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
+#define BT_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
 //#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
-#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
-#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) )
-#define bt_splat_ps( _a, _i )  bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) )
+#define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
+#define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))
+#define bt_splat_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, _i))
 
 #define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
-#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
+#define btvAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
 #define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
 #define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
 #define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
@@ -55,9 +52,9 @@ subject to the following restrictions:
 
 //there is an issue with XCode 3.2 (LCx errors)
 #define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f))
-#define v1110		 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
-#define vHalf		 (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
-#define v1_5		 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))
+#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
+#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
+#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))
 
 //const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
 //const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
@@ -70,7 +67,7 @@ subject to the following restrictions:
 
 const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
 const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF),
-	static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
+															   static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
 const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
 const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
 
@@ -80,50 +77,48 @@ const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FF
  * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
  * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
  */
-ATTRIBUTE_ALIGNED16(class) btVector3
+ATTRIBUTE_ALIGNED16(class)
+btVector3
 {
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-#if defined (__SPU__) && defined (__CELLOS_LV2__)
-		btScalar	m_floats[4];
+#if defined(__SPU__) && defined(__CELLOS_LV2__)
+	btScalar m_floats[4];
+
 public:
-	SIMD_FORCE_INLINE const vec_float4&	get128() const
+	SIMD_FORCE_INLINE const vec_float4& get128() const
 	{
 		return *((const vec_float4*)&m_floats[0]);
 	}
+
 public:
-#else //__CELLOS_LV2__ __SPU__
-    #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM
-        union {
-            btSimdFloat4      mVec128;
-            btScalar	m_floats[4];
-        };
-        SIMD_FORCE_INLINE	btSimdFloat4	get128() const
-        {
-            return mVec128;
-        }
-        SIMD_FORCE_INLINE	void	set128(btSimdFloat4 v128)
-        {
-            mVec128 = v128;
-        }
-    #else
-        btScalar	m_floats[4];
-    #endif
-#endif //__CELLOS_LV2__ __SPU__
-
-	public:
-
-  /**@brief No initialization constructor */
-	SIMD_FORCE_INLINE btVector3() 
+#else                                            //__CELLOS_LV2__ __SPU__
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)  // _WIN32 || ARM
+	union {
+		btSimdFloat4 mVec128;
+		btScalar m_floats[4];
+	};
+	SIMD_FORCE_INLINE btSimdFloat4 get128() const
+	{
+		return mVec128;
+	}
+	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
 	{
+		mVec128 = v128;
+	}
+#else
+	btScalar m_floats[4];
+#endif
+#endif  //__CELLOS_LV2__ __SPU__
 
+public:
+	/**@brief No initialization constructor */
+	SIMD_FORCE_INLINE btVector3()
+	{
 	}
 
- 
-	
-  /**@brief Constructor from scalars 
+	/**@brief Constructor from scalars 
    * @param x X value
    * @param y Y value 
    * @param z Z value 
@@ -136,9 +131,9 @@ public:
 		m_floats[3] = btScalar(0.f);
 	}
 
-#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON)
-	// Set Vector 
-	SIMD_FORCE_INLINE btVector3( btSimdFloat4 v)
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
+	// Set Vector
+	SIMD_FORCE_INLINE btVector3(btSimdFloat4 v)
 	{
 		mVec128 = v;
 	}
@@ -150,73 +145,72 @@ public:
 	}
 
 	// Assignment Operator
-	SIMD_FORCE_INLINE btVector3& 
-	operator=(const btVector3& v) 
+	SIMD_FORCE_INLINE btVector3&
+	operator=(const btVector3& v)
 	{
 		mVec128 = v.mVec128;
-		
+
 		return *this;
 	}
-#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 
-    
-/**@brief Add a vector to this one 
+#endif  // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
+
+	/**@brief Add a vector to this one 
  * @param The vector to add to this one */
 	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_add_ps(mVec128, v.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vaddq_f32(mVec128, v.mVec128);
 #else
-		m_floats[0] += v.m_floats[0]; 
+		m_floats[0] += v.m_floats[0];
 		m_floats[1] += v.m_floats[1];
 		m_floats[2] += v.m_floats[2];
 #endif
 		return *this;
 	}
 
-
-  /**@brief Subtract a vector from this one
+	/**@brief Subtract a vector from this one
    * @param The vector to subtract */
-	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
+	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vsubq_f32(mVec128, v.mVec128);
 #else
-		m_floats[0] -= v.m_floats[0]; 
+		m_floats[0] -= v.m_floats[0];
 		m_floats[1] -= v.m_floats[1];
 		m_floats[2] -= v.m_floats[2];
 #endif
 		return *this;
 	}
-	
-  /**@brief Scale the vector
+
+	/**@brief Scale the vector
    * @param s Scale factor */
 	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
 		mVec128 = _mm_mul_ps(mVec128, vs);
 #elif defined(BT_USE_NEON)
 		mVec128 = vmulq_n_f32(mVec128, s);
 #else
-		m_floats[0] *= s; 
+		m_floats[0] *= s;
 		m_floats[1] *= s;
 		m_floats[2] *= s;
 #endif
 		return *this;
 	}
 
-  /**@brief Inversely scale the vector 
+	/**@brief Inversely scale the vector 
    * @param s Scale factor to divide by */
-	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
+	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
 	{
 		btFullAssert(s != btScalar(0.0));
 
-#if 0 //defined(BT_USE_SSE_IN_API)
+#if 0  //defined(BT_USE_SSE_IN_API)
 // this code is not faster !
 		__m128 vs = _mm_load_ss(&s);
 		vs = _mm_div_ss(v1110, vs);
@@ -230,11 +224,11 @@ public:
 #endif
 	}
 
-  /**@brief Return the dot product
+	/**@brief Return the dot product
    * @param v The other vector in the dot product */
 	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
 	{
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
 		__m128 z = _mm_movehl_ps(vd, vd);
 		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
@@ -243,23 +237,23 @@ public:
 		return _mm_cvtss_f32(vd);
 #elif defined(BT_USE_NEON)
 		float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
-		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));  
+		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));
 		x = vadd_f32(x, vget_high_f32(vd));
 		return vget_lane_f32(x, 0);
-#else	
-		return	m_floats[0] * v.m_floats[0] + 
-				m_floats[1] * v.m_floats[1] + 
-				m_floats[2] * v.m_floats[2];
+#else
+		return m_floats[0] * v.m_floats[0] +
+			   m_floats[1] * v.m_floats[1] +
+			   m_floats[2] * v.m_floats[2];
 #endif
 	}
 
-  /**@brief Return the length of the vector squared */
+	/**@brief Return the length of the vector squared */
 	SIMD_FORCE_INLINE btScalar length2() const
 	{
 		return dot(*this);
 	}
 
-  /**@brief Return the length of the vector */
+	/**@brief Return the length of the vector */
 	SIMD_FORCE_INLINE btScalar length() const
 	{
 		return btSqrt(length2());
@@ -267,7 +261,7 @@ public:
 
 	/**@brief Return the norm (length) of the vector */
 	SIMD_FORCE_INLINE btScalar norm() const
-	{		
+	{
 		return length();
 	}
 
@@ -276,24 +270,24 @@ public:
 	{
 		btScalar d = length2();
 		//workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
-		if (d>SIMD_EPSILON)
+		if (d > SIMD_EPSILON)
 			return btSqrt(d);
 		return btScalar(0);
 	}
 
-  /**@brief Return the distance squared between the ends of this and another vector
+	/**@brief Return the distance squared between the ends of this and another vector
    * This is symantically treating the vector like a point */
 	SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;
 
-  /**@brief Return the distance between the ends of this and another vector
+	/**@brief Return the distance between the ends of this and another vector
    * This is symantically treating the vector like a point */
 	SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
 
-	SIMD_FORCE_INLINE btVector3& safeNormalize() 
+	SIMD_FORCE_INLINE btVector3& safeNormalize()
 	{
 		btScalar l2 = length2();
 		//triNormal.normalize();
-		if (l2 >= SIMD_EPSILON*SIMD_EPSILON)
+		if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
 		{
 			(*this) /= btSqrt(l2);
 		}
@@ -304,100 +298,97 @@ public:
 		return *this;
 	}
 
-  /**@brief Normalize this vector 
+	/**@brief Normalize this vector 
    * x^2 + y^2 + z^2 = 1 */
-	SIMD_FORCE_INLINE btVector3& normalize() 
+	SIMD_FORCE_INLINE btVector3& normalize()
 	{
-		
 		btAssert(!fuzzyZero());
 
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)		
-        // dot product first
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		// dot product first
 		__m128 vd = _mm_mul_ps(mVec128, mVec128);
 		__m128 z = _mm_movehl_ps(vd, vd);
 		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
 		vd = _mm_add_ss(vd, y);
 		vd = _mm_add_ss(vd, z);
-		
-        #if 0
+
+#if 0
         vd = _mm_sqrt_ss(vd);
 		vd = _mm_div_ss(v1110, vd);
 		vd = bt_splat_ps(vd, 0x80);
 		mVec128 = _mm_mul_ps(mVec128, vd);
-        #else
-        
-        // NR step 1/sqrt(x) - vd is x, y is output 
-        y = _mm_rsqrt_ss(vd); // estimate 
-        
-        //  one step NR 
-        z = v1_5;
-        vd = _mm_mul_ss(vd, vHalf); // vd * 0.5	
-        //x2 = vd;
-        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0
-        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0
-        z = _mm_sub_ss(z, vd);  // 1.5 - vd * 0.5 * y0 * y0 
-
-        y = _mm_mul_ss(y, z);   // y0 * (1.5 - vd * 0.5 * y0 * y0)
+#else
+
+		// NR step 1/sqrt(x) - vd is x, y is output
+		y = _mm_rsqrt_ss(vd);  // estimate
+
+		//  one step NR
+		z = v1_5;
+		vd = _mm_mul_ss(vd, vHalf);  // vd * 0.5
+		//x2 = vd;
+		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0
+		vd = _mm_mul_ss(vd, y);  // vd * 0.5 * y0 * y0
+		z = _mm_sub_ss(z, vd);   // 1.5 - vd * 0.5 * y0 * y0
+
+		y = _mm_mul_ss(y, z);  // y0 * (1.5 - vd * 0.5 * y0 * y0)
 
 		y = bt_splat_ps(y, 0x80);
 		mVec128 = _mm_mul_ps(mVec128, y);
 
-        #endif
+#endif
 
-		
 		return *this;
-#else	
+#else
 		return *this /= length();
 #endif
 	}
 
-  /**@brief Return a normalized version of this vector */
+	/**@brief Return a normalized version of this vector */
 	SIMD_FORCE_INLINE btVector3 normalized() const;
 
-  /**@brief Return a rotated version of this vector
+	/**@brief Return a rotated version of this vector
    * @param wAxis The axis to rotate about 
    * @param angle The angle to rotate by */
-	SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const;
+	SIMD_FORCE_INLINE btVector3 rotate(const btVector3& wAxis, const btScalar angle) const;
 
-  /**@brief Return the angle between this and another vector
+	/**@brief Return the angle between this and another vector
    * @param v The other vector */
-	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const 
+	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const
 	{
 		btScalar s = btSqrt(length2() * v.length2());
 		btFullAssert(s != btScalar(0.0));
 		return btAcos(dot(v) / s);
 	}
-	
-  /**@brief Return a vector with the absolute values of each element */
-	SIMD_FORCE_INLINE btVector3 absolute() const 
-	{
 
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
+	/**@brief Return a vector with the absolute values of each element */
+	SIMD_FORCE_INLINE btVector3 absolute() const
+	{
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
 #elif defined(BT_USE_NEON)
 		return btVector3(vabsq_f32(mVec128));
-#else	
+#else
 		return btVector3(
-			btFabs(m_floats[0]), 
-			btFabs(m_floats[1]), 
+			btFabs(m_floats[0]),
+			btFabs(m_floats[1]),
 			btFabs(m_floats[2]));
 #endif
 	}
-	
-  /**@brief Return the cross product between this and another vector 
+
+	/**@brief Return the cross product between this and another vector 
    * @param v The other vector */
 	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	T, V;
-		
-		T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
-		V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
-		
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 T, V;
+
+		T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));    //	(Y Z X 0)
+		V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
+
 		V = _mm_mul_ps(V, mVec128);
 		T = _mm_mul_ps(T, v.mVec128);
 		V = _mm_sub_ps(V, T);
-		
+
 		V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
 		return btVector3(V);
 #elif defined(BT_USE_NEON)
@@ -407,7 +398,7 @@ public:
 		float32x2_t Vlow = vget_low_f32(v.mVec128);
 		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
 		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
-		
+
 		V = vmulq_f32(V, mVec128);
 		T = vmulq_f32(T, v.mVec128);
 		V = vsubq_f32(V, T);
@@ -415,7 +406,7 @@ public:
 		// form (Y, Z, X, _);
 		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
 		V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
-		
+
 		return btVector3(V);
 #else
 		return btVector3(
@@ -427,18 +418,18 @@ public:
 
 	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
 	{
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		// cross:
-		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
-		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
-		
+		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
+		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));  //	(Y Z X 0)
+
 		V = _mm_mul_ps(V, v1.mVec128);
 		T = _mm_mul_ps(T, v2.mVec128);
 		V = _mm_sub_ps(V, T);
-		
+
 		V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));
 
-		// dot: 
+		// dot:
 		V = _mm_mul_ps(V, mVec128);
 		__m128 z = _mm_movehl_ps(V, V);
 		__m128 y = _mm_shuffle_ps(V, V, 0x55);
@@ -454,7 +445,7 @@ public:
 		float32x2_t Vlow = vget_low_f32(v2.mVec128);
 		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
 		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
-		
+
 		V = vmulq_f32(V, v1.mVec128);
 		T = vmulq_f32(T, v2.mVec128);
 		V = vsubq_f32(V, T);
@@ -462,31 +453,30 @@ public:
 		// form (Y, Z, X, _);
 		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
 
-		// dot: 
+		// dot:
 		V = vmulq_f32(mVec128, V);
-		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));  
+		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));
 		x = vadd_f32(x, vget_high_f32(V));
 		return vget_lane_f32(x, 0);
 #else
-		return 
-			m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 
-			m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + 
-			m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
+		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
+			   m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
+			   m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
 #endif
 	}
 
-  /**@brief Return the axis with the smallest value 
+	/**@brief Return the axis with the smallest value 
    * Note return values are 0,1,2 for x, y, or z */
 	SIMD_FORCE_INLINE int minAxis() const
 	{
-		return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);
+		return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
 	}
 
-  /**@brief Return the axis with the largest value 
+	/**@brief Return the axis with the largest value 
    * Note return values are 0,1,2 for x, y, or z */
-	SIMD_FORCE_INLINE int maxAxis() const 
+	SIMD_FORCE_INLINE int maxAxis() const
 	{
-		return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);
+		return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
 	}
 
 	SIMD_FORCE_INLINE int furthestAxis() const
@@ -494,23 +484,22 @@ public:
 		return absolute().minAxis();
 	}
 
-	SIMD_FORCE_INLINE int closestAxis() const 
+	SIMD_FORCE_INLINE int closestAxis() const
 	{
 		return absolute().maxAxis();
 	}
 
-	
 	SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vrt = _mm_load_ss(&rt);	//	(rt 0 0 0)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vrt = _mm_load_ss(&rt);  //	(rt 0 0 0)
 		btScalar s = btScalar(1.0) - rt;
-		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-		vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+		__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
 		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
-		vrt = bt_pshufd_ps(vrt, 0x80);	//	(rt rt rt 0.0)
+		vrt = bt_pshufd_ps(vrt, 0x80);  //	(rt rt rt 0.0)
 		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
-		__m128 tmp3 = _mm_add_ps(r0,r1);
+		__m128 tmp3 = _mm_add_ps(r0, r1);
 		mVec128 = tmp3;
 #elif defined(BT_USE_NEON)
 		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
@@ -526,101 +515,100 @@ public:
 #endif
 	}
 
-  /**@brief Return the linear interpolation between this and another vector 
+	/**@brief Return the linear interpolation between this and another vector 
    * @param v The other vector 
    * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
-	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 
+	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-		__m128	vt = _mm_load_ss(&t);	//	(t 0 0 0)
-		vt = bt_pshufd_ps(vt, 0x80);	//	(rt rt rt 0.0)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		__m128 vt = _mm_load_ss(&t);  //	(t 0 0 0)
+		vt = bt_pshufd_ps(vt, 0x80);  //	(rt rt rt 0.0)
 		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
 		vl = _mm_mul_ps(vl, vt);
 		vl = _mm_add_ps(vl, mVec128);
-		
+
 		return btVector3(vl);
 #elif defined(BT_USE_NEON)
 		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
 		vl = vmulq_n_f32(vl, t);
 		vl = vaddq_f32(vl, mVec128);
-		
+
 		return btVector3(vl);
-#else	
-		return 
-			btVector3(	m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
-						m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
-						m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
+#else
+		return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
+						 m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
+						 m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
 #endif
 	}
 
-  /**@brief Elementwise multiply this vector by the other 
+	/**@brief Elementwise multiply this vector by the other 
    * @param v The other vector */
 	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vmulq_f32(mVec128, v.mVec128);
-#else	
-		m_floats[0] *= v.m_floats[0]; 
+#else
+		m_floats[0] *= v.m_floats[0];
 		m_floats[1] *= v.m_floats[1];
 		m_floats[2] *= v.m_floats[2];
 #endif
 		return *this;
 	}
 
-	 /**@brief Return the x value */
-		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
-  /**@brief Set the x value */
-		SIMD_FORCE_INLINE void	setX(btScalar _x) { m_floats[0] = _x;};
-  /**@brief Set the y value */
-		SIMD_FORCE_INLINE void	setY(btScalar _y) { m_floats[1] = _y;};
-  /**@brief Set the z value */
-		SIMD_FORCE_INLINE void	setZ(btScalar _z) { m_floats[2] = _z;};
-  /**@brief Set the w value */
-		SIMD_FORCE_INLINE void	setW(btScalar _w) { m_floats[3] = _w;};
-  /**@brief Return the x value */
-		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
-  /**@brief Return the w value */
-		SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
-
-	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	/**@brief Return the x value */
+	SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
+	/**@brief Set the x value */
+	SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
+	/**@brief Set the y value */
+	SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
+	/**@brief Set the z value */
+	SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
+	/**@brief Set the w value */
+	SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
+	/**@brief Return the x value */
+	SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
+	/**@brief Return the w value */
+	SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
+
+	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}
 	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
 	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
-	SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }
+	SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
+	SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
 
-	SIMD_FORCE_INLINE	bool	operator==(const btVector3& other) const
+	SIMD_FORCE_INLINE bool operator==(const btVector3& other) const
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else 
-		return ((m_floats[3]==other.m_floats[3]) && 
-                (m_floats[2]==other.m_floats[2]) && 
-                (m_floats[1]==other.m_floats[1]) && 
-                (m_floats[0]==other.m_floats[0]));
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else
+		return ((m_floats[3] == other.m_floats[3]) &&
+				(m_floats[2] == other.m_floats[2]) &&
+				(m_floats[1] == other.m_floats[1]) &&
+				(m_floats[0] == other.m_floats[0]));
 #endif
 	}
 
-	SIMD_FORCE_INLINE	bool	operator!=(const btVector3& other) const
+	SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const
 	{
 		return !(*this == other);
 	}
 
-  /**@brief Set each element to the max of the current values and the values of another btVector3
+	/**@brief Set each element to the max of the current values and the values of another btVector3
    * @param other The other btVector3 to compare with 
    */
-	SIMD_FORCE_INLINE void	setMax(const btVector3& other)
+	SIMD_FORCE_INLINE void setMax(const btVector3& other)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_max_ps(mVec128, other.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vmaxq_f32(mVec128, other.mVec128);
@@ -632,12 +620,12 @@ public:
 #endif
 	}
 
-  /**@brief Set each element to the min of the current values and the values of another btVector3
+	/**@brief Set each element to the min of the current values and the values of another btVector3
    * @param other The other btVector3 to compare with 
    */
-	SIMD_FORCE_INLINE void	setMin(const btVector3& other)
+	SIMD_FORCE_INLINE void setMin(const btVector3& other)
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = _mm_min_ps(mVec128, other.mVec128);
 #elif defined(BT_USE_NEON)
 		mVec128 = vminq_f32(mVec128, other.mVec128);
@@ -649,154 +637,155 @@ public:
 #endif
 	}
 
-	SIMD_FORCE_INLINE void 	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
+	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
 	{
-		m_floats[0]=_x;
-		m_floats[1]=_y;
-		m_floats[2]=_z;
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
 		m_floats[3] = btScalar(0.f);
 	}
 
-	void	getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
+	void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const
 	{
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
- 
-		__m128 V  = _mm_and_ps(mVec128, btvFFF0fMask);
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+
+		__m128 V = _mm_and_ps(mVec128, btvFFF0fMask);
 		__m128 V0 = _mm_xor_ps(btvMzeroMask, V);
 		__m128 V2 = _mm_movelh_ps(V0, V);
-		
+
 		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
-		
-        V0 = _mm_shuffle_ps(V0, V, 0xDB);
+
+		V0 = _mm_shuffle_ps(V0, V, 0xDB);
 		V2 = _mm_shuffle_ps(V2, V, 0xF9);
-		
+
 		v0->mVec128 = V0;
 		v1->mVec128 = V1;
 		v2->mVec128 = V2;
 #else
-		v0->setValue(0.		,-z()		,y());
-		v1->setValue(z()	,0.			,-x());
-		v2->setValue(-y()	,x()	,0.);
+		v0->setValue(0., -z(), y());
+		v1->setValue(z(), 0., -x());
+		v2->setValue(-y(), x(), 0.);
 #endif
 	}
 
 	void setZero()
 	{
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
 #elif defined(BT_USE_NEON)
-		int32x4_t vi = vdupq_n_s32(0); 
+		int32x4_t vi = vdupq_n_s32(0);
 		mVec128 = vreinterpretq_f32_s32(vi);
-#else	
-		setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+#else
+		setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 #endif
 	}
 
-	SIMD_FORCE_INLINE bool isZero() const 
+	SIMD_FORCE_INLINE bool isZero() const
 	{
 		return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
 	}
 
-
-	SIMD_FORCE_INLINE bool fuzzyZero() const 
+	SIMD_FORCE_INLINE bool fuzzyZero() const
 	{
-		return length2() < SIMD_EPSILON*SIMD_EPSILON;
+		return length2() < SIMD_EPSILON * SIMD_EPSILON;
 	}
 
-	SIMD_FORCE_INLINE	void	serialize(struct	btVector3Data& dataOut) const;
+	SIMD_FORCE_INLINE void serialize(struct btVector3Data & dataOut) const;
+
+	SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn);
 
-	SIMD_FORCE_INLINE	void	deSerialize(const struct	btVector3Data& dataIn);
+	SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn);
 
-	SIMD_FORCE_INLINE	void	serializeFloat(struct	btVector3FloatData& dataOut) const;
+	SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData & dataOut) const;
 
-	SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btVector3FloatData& dataIn);
+	SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
 
-	SIMD_FORCE_INLINE	void	serializeDouble(struct	btVector3DoubleData& dataOut) const;
+	SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData & dataOut) const;
 
-	SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btVector3DoubleData& dataIn);
-    
-        /**@brief returns index of maximum dot product between this and vectors in array[]
+	SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
+
+	/**@brief returns index of maximum dot product between this and vectors in array[]
          * @param array The other vectors 
          * @param array_count The number of other vectors 
          * @param dotOut The maximum dot product */
-        SIMD_FORCE_INLINE   long    maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 
+	SIMD_FORCE_INLINE long maxDot(const btVector3* array, long array_count, btScalar& dotOut) const;
 
-        /**@brief returns index of minimum dot product between this and vectors in array[]
+	/**@brief returns index of minimum dot product between this and vectors in array[]
          * @param array The other vectors 
          * @param array_count The number of other vectors 
-         * @param dotOut The minimum dot product */    
-        SIMD_FORCE_INLINE   long    minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 
-
-    /* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
-    SIMD_FORCE_INLINE btVector3  dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const
-    {
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-
-        __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 );
-        __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 );
-        __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 );
-        __m128 b0 = _mm_unpacklo_ps( a0, a1 );
-        __m128 b1 = _mm_unpackhi_ps( a0, a1 );
-        __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() );
-        __m128 r = _mm_movelh_ps( b0, b2 );
-        r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 ));
-        a2 = _mm_and_ps( a2, btvxyzMaskf);
-        r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) )));
-        return btVector3(r);
-        
+         * @param dotOut The minimum dot product */
+	SIMD_FORCE_INLINE long minDot(const btVector3* array, long array_count, btScalar& dotOut) const;
+
+	/* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
+	SIMD_FORCE_INLINE btVector3 dot3(const btVector3& v0, const btVector3& v1, const btVector3& v2) const
+	{
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+
+		__m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128);
+		__m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128);
+		__m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128);
+		__m128 b0 = _mm_unpacklo_ps(a0, a1);
+		__m128 b1 = _mm_unpackhi_ps(a0, a1);
+		__m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps());
+		__m128 r = _mm_movelh_ps(b0, b2);
+		r = _mm_add_ps(r, _mm_movehl_ps(b2, b0));
+		a2 = _mm_and_ps(a2, btvxyzMaskf);
+		r = _mm_add_ps(r, btCastdTo128f(_mm_move_sd(btCastfTo128d(a2), btCastfTo128d(b1))));
+		return btVector3(r);
+
 #elif defined(BT_USE_NEON)
-        static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 };
-        float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128);
-        float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128);
-        float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128);
-        float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1));
-        a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask );
-        float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] );
-        float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
-        return btVector3( vcombine_f32(b0, b1) );
-#else	
-		return btVector3( dot(v0), dot(v1), dot(v2));
+		static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
+		float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128);
+		float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128);
+		float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128);
+		float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1));
+		a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask);
+		float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]);
+		float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
+		return btVector3(vcombine_f32(b0, b1));
+#else
+		return btVector3(dot(v0), dot(v1), dot(v2));
 #endif
-    }
+	}
 };
 
 /**@brief Return the sum of two vectors (Point symantics)*/
-SIMD_FORCE_INLINE btVector3 
-operator+(const btVector3& v1, const btVector3& v2) 
+SIMD_FORCE_INLINE btVector3
+operator+(const btVector3& v1, const btVector3& v2)
 {
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 	return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
 #elif defined(BT_USE_NEON)
 	return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
 #else
 	return btVector3(
-			v1.m_floats[0] + v2.m_floats[0], 
-			v1.m_floats[1] + v2.m_floats[1], 
-			v1.m_floats[2] + v2.m_floats[2]);
+		v1.m_floats[0] + v2.m_floats[0],
+		v1.m_floats[1] + v2.m_floats[1],
+		v1.m_floats[2] + v2.m_floats[2]);
 #endif
 }
 
 /**@brief Return the elementwise product of two vectors */
-SIMD_FORCE_INLINE btVector3 
-operator*(const btVector3& v1, const btVector3& v2) 
+SIMD_FORCE_INLINE btVector3
+operator*(const btVector3& v1, const btVector3& v2)
 {
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 	return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
 #elif defined(BT_USE_NEON)
 	return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
 #else
 	return btVector3(
-			v1.m_floats[0] * v2.m_floats[0], 
-			v1.m_floats[1] * v2.m_floats[1], 
-			v1.m_floats[2] * v2.m_floats[2]);
+		v1.m_floats[0] * v2.m_floats[0],
+		v1.m_floats[1] * v2.m_floats[1],
+		v1.m_floats[2] * v2.m_floats[2]);
 #endif
 }
 
 /**@brief Return the difference between two vectors */
-SIMD_FORCE_INLINE btVector3 
+SIMD_FORCE_INLINE btVector3
 operator-(const btVector3& v1, const btVector3& v2)
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)  && defined(BT_USE_SSE))
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
 
 	//	without _mm_and_ps this code causes slowdown in Concave moving
 	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
@@ -806,33 +795,33 @@ operator-(const btVector3& v1, const btVector3& v2)
 	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
 #else
 	return btVector3(
-			v1.m_floats[0] - v2.m_floats[0], 
-			v1.m_floats[1] - v2.m_floats[1], 
-			v1.m_floats[2] - v2.m_floats[2]);
+		v1.m_floats[0] - v2.m_floats[0],
+		v1.m_floats[1] - v2.m_floats[1],
+		v1.m_floats[2] - v2.m_floats[2]);
 #endif
 }
 
 /**@brief Return the negative of the vector */
-SIMD_FORCE_INLINE btVector3 
+SIMD_FORCE_INLINE btVector3
 operator-(const btVector3& v)
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
 	__m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
-	return btVector3(_mm_and_ps(r, btvFFF0fMask)); 
+	return btVector3(_mm_and_ps(r, btvFFF0fMask));
 #elif defined(BT_USE_NEON)
 	return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
-#else	
+#else
 	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
 #endif
 }
 
 /**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3 
+SIMD_FORCE_INLINE btVector3
 operator*(const btVector3& v, const btScalar& s)
 {
-#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
-	__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
-	vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+#if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
+	__m128 vs = _mm_load_ss(&s);  //	(S 0 0 0)
+	vs = bt_pshufd_ps(vs, 0x80);  //	(S S S 0.0)
 	return btVector3(_mm_mul_ps(v.mVec128, vs));
 #elif defined(BT_USE_NEON)
 	float32x4_t r = vmulq_n_f32(v.mVec128, s);
@@ -843,10 +832,10 @@ operator*(const btVector3& v, const btScalar& s)
 }
 
 /**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3 
+SIMD_FORCE_INLINE btVector3
 operator*(const btScalar& s, const btVector3& v)
-{ 
-	return v * s; 
+{
+	return v * s;
 }
 
 /**@brief Return the vector inversely scaled by s */
@@ -854,7 +843,7 @@ SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v, const btScalar& s)
 {
 	btFullAssert(s != btScalar(0.0));
-#if 0 //defined(BT_USE_SSE_IN_API)
+#if 0  //defined(BT_USE_SSE_IN_API)
 // this code is not faster !
 	__m128 vs = _mm_load_ss(&s);
     vs = _mm_div_ss(v1110, vs);
@@ -870,67 +859,65 @@ operator/(const btVector3& v, const btScalar& s)
 SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v1, const btVector3& v2)
 {
-#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE))
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
 	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
 	vec = _mm_and_ps(vec, btvFFF0fMask);
-	return btVector3(vec); 
+	return btVector3(vec);
 #elif defined(BT_USE_NEON)
 	float32x4_t x, y, v, m;
 
 	x = v1.mVec128;
 	y = v2.mVec128;
-	
-	v = vrecpeq_f32(y);			// v ~ 1/y
-	m = vrecpsq_f32(y, v);		// m = (2-v*y)
-	v = vmulq_f32(v, m);		// vv = v*m ~~ 1/y
-	m = vrecpsq_f32(y, v);		// mm = (2-vv*y)
-	v = vmulq_f32(v, x);		// x*vv
-	v = vmulq_f32(v, m);		// (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
+
+	v = vrecpeq_f32(y);     // v ~ 1/y
+	m = vrecpsq_f32(y, v);  // m = (2-v*y)
+	v = vmulq_f32(v, m);    // vv = v*m ~~ 1/y
+	m = vrecpsq_f32(y, v);  // mm = (2-vv*y)
+	v = vmulq_f32(v, x);    // x*vv
+	v = vmulq_f32(v, m);    // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
 
 	return btVector3(v);
 #else
 	return btVector3(
-			v1.m_floats[0] / v2.m_floats[0], 
-			v1.m_floats[1] / v2.m_floats[1],
-			v1.m_floats[2] / v2.m_floats[2]);
+		v1.m_floats[0] / v2.m_floats[0],
+		v1.m_floats[1] / v2.m_floats[1],
+		v1.m_floats[2] / v2.m_floats[2]);
 #endif
 }
 
 /**@brief Return the dot product between two vectors */
-SIMD_FORCE_INLINE btScalar 
-btDot(const btVector3& v1, const btVector3& v2) 
-{ 
-	return v1.dot(v2); 
+SIMD_FORCE_INLINE btScalar
+btDot(const btVector3& v1, const btVector3& v2)
+{
+	return v1.dot(v2);
 }
 
-
 /**@brief Return the distance squared between two vectors */
 SIMD_FORCE_INLINE btScalar
-btDistance2(const btVector3& v1, const btVector3& v2) 
-{ 
-	return v1.distance2(v2); 
+btDistance2(const btVector3& v1, const btVector3& v2)
+{
+	return v1.distance2(v2);
 }
 
-
 /**@brief Return the distance between two vectors */
 SIMD_FORCE_INLINE btScalar
-btDistance(const btVector3& v1, const btVector3& v2) 
-{ 
-	return v1.distance(v2); 
+btDistance(const btVector3& v1, const btVector3& v2)
+{
+	return v1.distance(v2);
 }
 
 /**@brief Return the angle between two vectors */
 SIMD_FORCE_INLINE btScalar
-btAngle(const btVector3& v1, const btVector3& v2) 
-{ 
-	return v1.angle(v2); 
+btAngle(const btVector3& v1, const btVector3& v2)
+{
+	return v1.angle(v2);
 }
 
 /**@brief Return the cross product of two vectors */
-SIMD_FORCE_INLINE btVector3 
-btCross(const btVector3& v1, const btVector3& v2) 
-{ 
-	return v1.cross(v2); 
+SIMD_FORCE_INLINE btVector3
+btCross(const btVector3& v1, const btVector3& v2)
+{
+	return v1.cross(v2);
 }
 
 SIMD_FORCE_INLINE btScalar
@@ -943,14 +930,12 @@ btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
  * @param v1 One vector 
  * @param v2 The other vector 
  * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
-SIMD_FORCE_INLINE btVector3 
+SIMD_FORCE_INLINE btVector3
 lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
 {
 	return v1.lerp(v2, t);
 }
 
-
-
 SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
 {
 	return (v - *this).length2();
@@ -966,140 +951,137 @@ SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
 	btVector3 nrm = *this;
 
 	return nrm.normalize();
-} 
+}
 
-SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const
+SIMD_FORCE_INLINE btVector3 btVector3::rotate(const btVector3& wAxis, const btScalar _angle) const
 {
 	// wAxis must be a unit lenght vector
 
-#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 
-    __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
-	btScalar ssin = btSin( _angle );
-    __m128 C = wAxis.cross( mVec128 ).mVec128;
+	__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
+	btScalar ssin = btSin(_angle);
+	__m128 C = wAxis.cross(mVec128).mVec128;
 	O = _mm_and_ps(O, btvFFF0fMask);
-    btScalar scos = btCos( _angle );
-	
-	__m128 vsin = _mm_load_ss(&ssin);	//	(S 0 0 0)
-    __m128 vcos = _mm_load_ss(&scos);	//	(S 0 0 0)
-	
-	__m128 Y = bt_pshufd_ps(O, 0xC9);	//	(Y Z X 0)
-	__m128 Z = bt_pshufd_ps(O, 0xD2);	//	(Z X Y 0)
+	btScalar scos = btCos(_angle);
+
+	__m128 vsin = _mm_load_ss(&ssin);  //	(S 0 0 0)
+	__m128 vcos = _mm_load_ss(&scos);  //	(S 0 0 0)
+
+	__m128 Y = bt_pshufd_ps(O, 0xC9);  //	(Y Z X 0)
+	__m128 Z = bt_pshufd_ps(O, 0xD2);  //	(Z X Y 0)
 	O = _mm_add_ps(O, Y);
-	vsin = bt_pshufd_ps(vsin, 0x80);	//	(S S S 0)
+	vsin = bt_pshufd_ps(vsin, 0x80);  //	(S S S 0)
 	O = _mm_add_ps(O, Z);
-    vcos = bt_pshufd_ps(vcos, 0x80);	//	(S S S 0)
-	
-    vsin = vsin * C; 
-	O = O * wAxis.mVec128; 
-	__m128 X = mVec128 - O; 
-	
-    O = O + vsin;
+	vcos = bt_pshufd_ps(vcos, 0x80);  //	(S S S 0)
+
+	vsin = vsin * C;
+	O = O * wAxis.mVec128;
+	__m128 X = mVec128 - O;
+
+	O = O + vsin;
 	vcos = vcos * X;
-	O = O + vcos;	
-	
+	O = O + vcos;
+
 	return btVector3(O);
 #else
-	btVector3 o = wAxis * wAxis.dot( *this );
+	btVector3 o = wAxis * wAxis.dot(*this);
 	btVector3 _x = *this - o;
 	btVector3 _y;
 
-	_y = wAxis.cross( *this );
+	_y = wAxis.cross(*this);
 
-	return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) );
+	return (o + _x * btCos(_angle) + _y * btSin(_angle));
 #endif
 }
 
-SIMD_FORCE_INLINE   long    btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
+SIMD_FORCE_INLINE long btVector3::maxDot(const btVector3* array, long array_count, btScalar& dotOut) const
 {
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-    #if defined _WIN32 || defined (BT_USE_SSE)
-        const long scalar_cutoff = 10;
-        long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #elif defined BT_USE_NEON
-        const long scalar_cutoff = 4;
-        extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #endif
-    if( array_count < scalar_cutoff )	
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
+#if defined _WIN32 || defined(BT_USE_SSE)
+	const long scalar_cutoff = 10;
+	long _maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#elif defined BT_USE_NEON
+	const long scalar_cutoff = 4;
+	extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#endif
+	if (array_count < scalar_cutoff)
 #endif
-    {
-        btScalar maxDot1 = -SIMD_INFINITY;
-        int i = 0;
-        int ptIndex = -1;
-        for( i = 0; i < array_count; i++ )
-        {
-            btScalar dot = array[i].dot(*this);
-            
-            if( dot > maxDot1 )
-            {
-                maxDot1 = dot;
-                ptIndex = i;
-            }
-        }
-        
-        dotOut = maxDot1;
-        return ptIndex;
-    }
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-    return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+	{
+		btScalar maxDot1 = -SIMD_INFINITY;
+		int i = 0;
+		int ptIndex = -1;
+		for (i = 0; i < array_count; i++)
+		{
+			btScalar dot = array[i].dot(*this);
+
+			if (dot > maxDot1)
+			{
+				maxDot1 = dot;
+				ptIndex = i;
+			}
+		}
+
+		dotOut = maxDot1;
+		return ptIndex;
+	}
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
+	return _maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
 #endif
 }
 
-SIMD_FORCE_INLINE   long    btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
+SIMD_FORCE_INLINE long btVector3::minDot(const btVector3* array, long array_count, btScalar& dotOut) const
 {
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-    #if defined BT_USE_SSE
-        const long scalar_cutoff = 10;
-        long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #elif defined BT_USE_NEON
-        const long scalar_cutoff = 4;
-        extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
-    #else
-        #error unhandled arch!
-    #endif
-    
-    if( array_count < scalar_cutoff )
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
+#if defined BT_USE_SSE
+	const long scalar_cutoff = 10;
+	long _mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#elif defined BT_USE_NEON
+	const long scalar_cutoff = 4;
+	extern long (*_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
+#else
+#error unhandled arch!
 #endif
-    {
-        btScalar  minDot = SIMD_INFINITY;
-        int i = 0;
-        int ptIndex = -1;
-        
-        for( i = 0; i < array_count; i++ )
-        {
-            btScalar dot = array[i].dot(*this);
-            
-            if( dot < minDot )
-            {
-                minDot = dot;
-                ptIndex = i;
-            }
-        }
-        
-        dotOut = minDot;
-        
-        return ptIndex;
-    }
-#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
-    return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
-#endif//BT_USE_SIMD_VECTOR3
-}
 
+	if (array_count < scalar_cutoff)
+#endif
+	{
+		btScalar minDot = SIMD_INFINITY;
+		int i = 0;
+		int ptIndex = -1;
+
+		for (i = 0; i < array_count; i++)
+		{
+			btScalar dot = array[i].dot(*this);
+
+			if (dot < minDot)
+			{
+				minDot = dot;
+				ptIndex = i;
+			}
+		}
+
+		dotOut = minDot;
+
+		return ptIndex;
+	}
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
+	return _mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
+#endif  //BT_USE_SIMD_VECTOR3
+}
 
 class btVector4 : public btVector3
 {
 public:
-
 	SIMD_FORCE_INLINE btVector4() {}
 
-
-	SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
-		: btVector3(_x,_y,_z)
+	SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
+		: btVector3(_x, _y, _z)
 	{
 		m_floats[3] = _w;
 	}
 
-#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) 
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
 	SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
 	{
 		mVec128 = vec;
@@ -1110,34 +1092,32 @@ public:
 		mVec128 = rhs.mVec128;
 	}
 
-	SIMD_FORCE_INLINE btVector4& 
-	operator=(const btVector4& v) 
+	SIMD_FORCE_INLINE btVector4&
+	operator=(const btVector4& v)
 	{
 		mVec128 = v.mVec128;
 		return *this;
 	}
-#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 
+#endif  // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
 
-	SIMD_FORCE_INLINE btVector4 absolute4() const 
+	SIMD_FORCE_INLINE btVector4 absolute4() const
 	{
-#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
 		return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
 #elif defined(BT_USE_NEON)
 		return btVector4(vabsq_f32(mVec128));
-#else	
+#else
 		return btVector4(
-			btFabs(m_floats[0]), 
-			btFabs(m_floats[1]), 
+			btFabs(m_floats[0]),
+			btFabs(m_floats[1]),
 			btFabs(m_floats[2]),
 			btFabs(m_floats[3]));
 #endif
 	}
 
+	btScalar getW() const { return m_floats[3]; }
 
-	btScalar	getW() const { return m_floats[3];}
-
-
-		SIMD_FORCE_INLINE int maxAxis4() const
+	SIMD_FORCE_INLINE int maxAxis4() const
 	{
 		int maxIndex = -1;
 		btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
@@ -1154,7 +1134,7 @@ public:
 		if (m_floats[2] > maxVal)
 		{
 			maxIndex = 2;
-			maxVal =m_floats[2];
+			maxVal = m_floats[2];
 		}
 		if (m_floats[3] > maxVal)
 		{
@@ -1164,7 +1144,6 @@ public:
 		return maxIndex;
 	}
 
-
 	SIMD_FORCE_INLINE int minAxis4() const
 	{
 		int minIndex = -1;
@@ -1182,182 +1161,176 @@ public:
 		if (m_floats[2] < minVal)
 		{
 			minIndex = 2;
-			minVal =m_floats[2];
+			minVal = m_floats[2];
 		}
 		if (m_floats[3] < minVal)
 		{
 			minIndex = 3;
 		}
-		
+
 		return minIndex;
 	}
 
-
-	SIMD_FORCE_INLINE int closestAxis4() const 
+	SIMD_FORCE_INLINE int closestAxis4() const
 	{
 		return absolute4().maxAxis4();
 	}
 
-	
- 
-
-  /**@brief Set x,y,z and zero w 
+	/**@brief Set x,y,z and zero w 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		
 
-/*		void getValue(btScalar *m) const 
+	/*		void getValue(btScalar *m) const 
 		{
 			m[0] = m_floats[0];
 			m[1] = m_floats[1];
 			m[2] =m_floats[2];
 		}
 */
-/**@brief Set the values 
+	/**@brief Set the values 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE void	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3]=_w;
-		}
-
-
+	SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = _w;
+	}
 };
 
-
 ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void	btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
+SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
 {
-	#ifdef BT_USE_DOUBLE_PRECISION
-	unsigned char* dest = (unsigned char*) &destVal;
-	unsigned char* src  = (unsigned char*) &sourceVal;
+#ifdef BT_USE_DOUBLE_PRECISION
+	unsigned char* dest = (unsigned char*)&destVal;
+	const unsigned char* src = (const unsigned char*)&sourceVal;
 	dest[0] = src[7];
-    dest[1] = src[6];
-    dest[2] = src[5];
-    dest[3] = src[4];
-    dest[4] = src[3];
-    dest[5] = src[2];
-    dest[6] = src[1];
-    dest[7] = src[0];
+	dest[1] = src[6];
+	dest[2] = src[5];
+	dest[3] = src[4];
+	dest[4] = src[3];
+	dest[5] = src[2];
+	dest[6] = src[1];
+	dest[7] = src[0];
 #else
-	unsigned char* dest = (unsigned char*) &destVal;
-	unsigned char* src  = (unsigned char*) &sourceVal;
+	unsigned char* dest = (unsigned char*)&destVal;
+	const unsigned char* src = (const unsigned char*)&sourceVal;
 	dest[0] = src[3];
-    dest[1] = src[2];
-    dest[2] = src[1];
-    dest[3] = src[0];
-#endif //BT_USE_DOUBLE_PRECISION
+	dest[1] = src[2];
+	dest[2] = src[1];
+	dest[3] = src[0];
+#endif  //BT_USE_DOUBLE_PRECISION
 }
 ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void	btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
+SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 	{
-		btSwapScalarEndian(sourceVec[i],destVec[i]);
+		btSwapScalarEndian(sourceVec[i], destVec[i]);
 	}
-
 }
 
 ///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void	btUnSwapVector3Endian(btVector3& vector)
+SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
 {
-
-	btVector3	swappedVec;
-	for (int i=0;i<4;i++)
+	btVector3 swappedVec;
+	for (int i = 0; i < 4; i++)
 	{
-		btSwapScalarEndian(vector[i],swappedVec[i]);
+		btSwapScalarEndian(vector[i], swappedVec[i]);
 	}
 	vector = swappedVec;
 }
 
 template <class T>
-SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
+SIMD_FORCE_INLINE void btPlaneSpace1(const T& n, T& p, T& q)
 {
-  if (btFabs(n[2]) > SIMDSQRT12) {
-    // choose p in y-z plane
-    btScalar a = n[1]*n[1] + n[2]*n[2];
-    btScalar k = btRecipSqrt (a);
-    p[0] = 0;
-	p[1] = -n[2]*k;
-	p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-	q[1] = -n[0]*p[2];
-	q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    btScalar a = n[0]*n[0] + n[1]*n[1];
-    btScalar k = btRecipSqrt (a);
-    p[0] = -n[1]*k;
-	p[1] = n[0]*k;
-	p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-	q[1] = n[2]*p[0];
-	q[2] = a*k;
-  }
+	if (btFabs(n[2]) > SIMDSQRT12)
+	{
+		// choose p in y-z plane
+		btScalar a = n[1] * n[1] + n[2] * n[2];
+		btScalar k = btRecipSqrt(a);
+		p[0] = 0;
+		p[1] = -n[2] * k;
+		p[2] = n[1] * k;
+		// set q = n x p
+		q[0] = a * k;
+		q[1] = -n[0] * p[2];
+		q[2] = n[0] * p[1];
+	}
+	else
+	{
+		// choose p in x-y plane
+		btScalar a = n[0] * n[0] + n[1] * n[1];
+		btScalar k = btRecipSqrt(a);
+		p[0] = -n[1] * k;
+		p[1] = n[0] * k;
+		p[2] = 0;
+		// set q = n x p
+		q[0] = -n[2] * p[1];
+		q[1] = n[2] * p[0];
+		q[2] = a * k;
+	}
 }
 
-
-struct	btVector3FloatData
+struct btVector3FloatData
 {
-	float	m_floats[4];
+	float m_floats[4];
 };
 
-struct	btVector3DoubleData
+struct btVector3DoubleData
 {
-	double	m_floats[4];
-
+	double m_floats[4];
 };
 
-SIMD_FORCE_INLINE	void	btVector3::serializeFloat(struct	btVector3FloatData& dataOut) const
+SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = float(m_floats[i]);
 }
 
-SIMD_FORCE_INLINE void	btVector3::deSerializeFloat(const struct	btVector3FloatData& dataIn)
+SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = btScalar(dataIn.m_floats[i]);
 }
 
-
-SIMD_FORCE_INLINE	void	btVector3::serializeDouble(struct	btVector3DoubleData& dataOut) const
+SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = double(m_floats[i]);
 }
 
-SIMD_FORCE_INLINE void	btVector3::deSerializeDouble(const struct	btVector3DoubleData& dataIn)
+SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
 {
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		m_floats[i] = btScalar(dataIn.m_floats[i]);
 }
 
-
-SIMD_FORCE_INLINE	void	btVector3::serialize(struct	btVector3Data& dataOut) const
+SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it
-	for (int i=0;i<4;i++)
+	for (int i = 0; i < 4; i++)
 		dataOut.m_floats[i] = m_floats[i];
 }
 
-SIMD_FORCE_INLINE void	btVector3::deSerialize(const struct	btVector3Data& dataIn)
+SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn)
+{
+	for (int i = 0; i < 4; i++)
+		m_floats[i] = (btScalar)dataIn.m_floats[i];
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn)
 {
-	for (int i=0;i<4;i++)
-		m_floats[i] = dataIn.m_floats[i];
+	for (int i = 0; i < 4; i++)
+		m_floats[i] = (btScalar)dataIn.m_floats[i];
 }
 
-#endif //BT_VECTOR3_H
+#endif  //BT_VECTOR3_H
diff --git a/thirdparty/bullet/btBulletCollisionCommon.h b/thirdparty/bullet/btBulletCollisionCommon.h
index 948e02eb4c..4f523756a7 100644
--- a/thirdparty/bullet/btBulletCollisionCommon.h
+++ b/thirdparty/bullet/btBulletCollisionCommon.h
@@ -62,6 +62,4 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btSerializer.h"
 
-
-#endif //BULLET_COLLISION_COMMON_H
-
+#endif  //BULLET_COLLISION_COMMON_H
diff --git a/thirdparty/bullet/btBulletDynamicsCommon.h b/thirdparty/bullet/btBulletDynamicsCommon.h
index 50282bf210..a421fa4461 100644
--- a/thirdparty/bullet/btBulletDynamicsCommon.h
+++ b/thirdparty/bullet/btBulletDynamicsCommon.h
@@ -35,17 +35,9 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btGearConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btFixedConstraint.h"
 
-
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 
-
 ///Vehicle simulation, with wheel contact simulated by raycasts
 #include "BulletDynamics/Vehicle/btRaycastVehicle.h"
 
-
-
-
-
-
-#endif //BULLET_DYNAMICS_COMMON_H
-
+#endif  //BULLET_DYNAMICS_COMMON_H
diff --git a/thirdparty/bullet/clew/clew.c b/thirdparty/bullet/clew/clew.c
index a07b0aad75..90caced535 100644
--- a/thirdparty/bullet/clew/clew.c
+++ b/thirdparty/bullet/clew/clew.c
@@ -9,23 +9,23 @@
 #include "clew.h"
 
 #ifdef _WIN32
-    #define WIN32_LEAN_AND_MEAN
-    #define VC_EXTRALEAN
-    #include <windows.h>
+#define WIN32_LEAN_AND_MEAN
+#define VC_EXTRALEAN
+#include <windows.h>
 
-    typedef HMODULE             CLEW_DYNLIB_HANDLE;
+typedef HMODULE CLEW_DYNLIB_HANDLE;
 
-    #define CLEW_DYNLIB_OPEN    LoadLibrary
-    #define CLEW_DYNLIB_CLOSE   FreeLibrary
-    #define CLEW_DYNLIB_IMPORT  GetProcAddress
+#define CLEW_DYNLIB_OPEN LoadLibraryA
+#define CLEW_DYNLIB_CLOSE FreeLibrary
+#define CLEW_DYNLIB_IMPORT GetProcAddress
 #else
-    #include <dlfcn.h>
-    
-    typedef void*                   CLEW_DYNLIB_HANDLE;
+#include <dlfcn.h>
 
-    #define CLEW_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
-    #define CLEW_DYNLIB_CLOSE       dlclose
-    #define CLEW_DYNLIB_IMPORT      dlsym
+typedef void* CLEW_DYNLIB_HANDLE;
+
+#define CLEW_DYNLIB_OPEN(path) dlopen(path, RTLD_NOW | RTLD_GLOBAL)
+#define CLEW_DYNLIB_CLOSE dlclose
+#define CLEW_DYNLIB_IMPORT dlsym
 #endif
 
 #include <stdlib.h>
@@ -34,279 +34,341 @@
 static CLEW_DYNLIB_HANDLE module = NULL;
 
 //  Variables holding function entry points
-PFNCLGETPLATFORMIDS                 __clewGetPlatformIDs                = NULL;
-PFNCLGETPLATFORMINFO                __clewGetPlatformInfo               = NULL;
-PFNCLGETDEVICEIDS                   __clewGetDeviceIDs                  = NULL;
-PFNCLGETDEVICEINFO                  __clewGetDeviceInfo                 = NULL;
-PFNCLCREATECONTEXT                  __clewCreateContext                 = NULL;
-PFNCLCREATECONTEXTFROMTYPE          __clewCreateContextFromType         = NULL;
-PFNCLRETAINCONTEXT                  __clewRetainContext                 = NULL;
-PFNCLRELEASECONTEXT                 __clewReleaseContext                = NULL;
-PFNCLGETCONTEXTINFO                 __clewGetContextInfo                = NULL;
-PFNCLCREATECOMMANDQUEUE             __clewCreateCommandQueue            = NULL;
-PFNCLRETAINCOMMANDQUEUE             __clewRetainCommandQueue            = NULL;
-PFNCLRELEASECOMMANDQUEUE            __clewReleaseCommandQueue           = NULL;
-PFNCLGETCOMMANDQUEUEINFO            __clewGetCommandQueueInfo           = NULL;
+PFNCLGETPLATFORMIDS __clewGetPlatformIDs = NULL;
+PFNCLGETPLATFORMINFO __clewGetPlatformInfo = NULL;
+PFNCLGETDEVICEIDS __clewGetDeviceIDs = NULL;
+PFNCLGETDEVICEINFO __clewGetDeviceInfo = NULL;
+PFNCLCREATECONTEXT __clewCreateContext = NULL;
+PFNCLCREATECONTEXTFROMTYPE __clewCreateContextFromType = NULL;
+PFNCLRETAINCONTEXT __clewRetainContext = NULL;
+PFNCLRELEASECONTEXT __clewReleaseContext = NULL;
+PFNCLGETCONTEXTINFO __clewGetContextInfo = NULL;
+PFNCLCREATECOMMANDQUEUE __clewCreateCommandQueue = NULL;
+PFNCLRETAINCOMMANDQUEUE __clewRetainCommandQueue = NULL;
+PFNCLRELEASECOMMANDQUEUE __clewReleaseCommandQueue = NULL;
+PFNCLGETCOMMANDQUEUEINFO __clewGetCommandQueueInfo = NULL;
 #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-PFNCLSETCOMMANDQUEUEPROPERTY        __clewSetCommandQueueProperty       = NULL;
+PFNCLSETCOMMANDQUEUEPROPERTY __clewSetCommandQueueProperty = NULL;
 #endif
-PFNCLCREATEBUFFER                   __clewCreateBuffer                  = NULL;
-PFNCLCREATESUBBUFFER                __clewCreateSubBuffer               = NULL;
-PFNCLCREATEIMAGE2D                  __clewCreateImage2D                 = NULL;
-PFNCLCREATEIMAGE3D                  __clewCreateImage3D                 = NULL;
-PFNCLRETAINMEMOBJECT                __clewRetainMemObject               = NULL;
-PFNCLRELEASEMEMOBJECT               __clewReleaseMemObject              = NULL;
-PFNCLGETSUPPORTEDIMAGEFORMATS       __clewGetSupportedImageFormats      = NULL;
-PFNCLGETMEMOBJECTINFO               __clewGetMemObjectInfo              = NULL;
-PFNCLGETIMAGEINFO                   __clewGetImageInfo                  = NULL;
+PFNCLCREATEBUFFER __clewCreateBuffer = NULL;
+PFNCLCREATESUBBUFFER __clewCreateSubBuffer = NULL;
+PFNCLCREATEIMAGE2D __clewCreateImage2D = NULL;
+PFNCLCREATEIMAGE3D __clewCreateImage3D = NULL;
+PFNCLRETAINMEMOBJECT __clewRetainMemObject = NULL;
+PFNCLRELEASEMEMOBJECT __clewReleaseMemObject = NULL;
+PFNCLGETSUPPORTEDIMAGEFORMATS __clewGetSupportedImageFormats = NULL;
+PFNCLGETMEMOBJECTINFO __clewGetMemObjectInfo = NULL;
+PFNCLGETIMAGEINFO __clewGetImageInfo = NULL;
 PFNCLSETMEMOBJECTDESTRUCTORCALLBACK __clewSetMemObjectDestructorCallback = NULL;
-PFNCLCREATESAMPLER                  __clewCreateSampler                 = NULL;
-PFNCLRETAINSAMPLER                  __clewRetainSampler                 = NULL;
-PFNCLRELEASESAMPLER                 __clewReleaseSampler                = NULL;
-PFNCLGETSAMPLERINFO                 __clewGetSamplerInfo                = NULL;
-PFNCLCREATEPROGRAMWITHSOURCE        __clewCreateProgramWithSource       = NULL;
-PFNCLCREATEPROGRAMWITHBINARY        __clewCreateProgramWithBinary       = NULL;
-PFNCLRETAINPROGRAM                  __clewRetainProgram                 = NULL;
-PFNCLRELEASEPROGRAM                 __clewReleaseProgram                = NULL;
-PFNCLBUILDPROGRAM                   __clewBuildProgram                  = NULL;
-PFNCLUNLOADCOMPILER                 __clewUnloadCompiler                = NULL;
-PFNCLGETPROGRAMINFO                 __clewGetProgramInfo                = NULL;
-PFNCLGETPROGRAMBUILDINFO            __clewGetProgramBuildInfo           = NULL;
-PFNCLCREATEKERNEL                   __clewCreateKernel                  = NULL;
-PFNCLCREATEKERNELSINPROGRAM         __clewCreateKernelsInProgram        = NULL;
-PFNCLRETAINKERNEL                   __clewRetainKernel                  = NULL;
-PFNCLRELEASEKERNEL                  __clewReleaseKernel                 = NULL;
-PFNCLSETKERNELARG                   __clewSetKernelArg                  = NULL;
-PFNCLGETKERNELINFO                  __clewGetKernelInfo                 = NULL;
-PFNCLGETKERNELWORKGROUPINFO         __clewGetKernelWorkGroupInfo        = NULL;
-PFNCLWAITFOREVENTS                  __clewWaitForEvents                 = NULL;
-PFNCLGETEVENTINFO                   __clewGetEventInfo                  = NULL;
-PFNCLCREATEUSEREVENT                __clewCreateUserEvent               = NULL;
-PFNCLRETAINEVENT                    __clewRetainEvent                   = NULL;
-PFNCLRELEASEEVENT                   __clewReleaseEvent                  = NULL;
-PFNCLSETUSEREVENTSTATUS             __clewSetUserEventStatus            = NULL;
-PFNCLSETEVENTCALLBACK               __clewSetEventCallback              = NULL;
-PFNCLGETEVENTPROFILINGINFO          __clewGetEventProfilingInfo         = NULL;
-PFNCLFLUSH                          __clewFlush                         = NULL;
-PFNCLFINISH                         __clewFinish                        = NULL;
-PFNCLENQUEUEREADBUFFER              __clewEnqueueReadBuffer             = NULL;
-PFNCLENQUEUEREADBUFFERRECT          __clewEnqueueReadBufferRect         = NULL;
-PFNCLENQUEUEWRITEBUFFER             __clewEnqueueWriteBuffer            = NULL;
-PFNCLENQUEUEWRITEBUFFERRECT         __clewEnqueueWriteBufferRect        = NULL;
-PFNCLENQUEUECOPYBUFFER              __clewEnqueueCopyBuffer             = NULL;
-PFNCLENQUEUEREADIMAGE               __clewEnqueueReadImage              = NULL;
-PFNCLENQUEUEWRITEIMAGE              __clewEnqueueWriteImage             = NULL;
-PFNCLENQUEUECOPYIMAGE               __clewEnqueueCopyImage              = NULL;
-PFNCLENQUEUECOPYBUFFERRECT          __clewEnqueueCopyBufferRect         = NULL;
-PFNCLENQUEUECOPYIMAGETOBUFFER       __clewEnqueueCopyImageToBuffer      = NULL;
-PFNCLENQUEUECOPYBUFFERTOIMAGE       __clewEnqueueCopyBufferToImage      = NULL;
-PFNCLENQUEUEMAPBUFFER               __clewEnqueueMapBuffer              = NULL;
-PFNCLENQUEUEMAPIMAGE                __clewEnqueueMapImage               = NULL;
-PFNCLENQUEUEUNMAPMEMOBJECT          __clewEnqueueUnmapMemObject         = NULL;
-PFNCLENQUEUENDRANGEKERNEL           __clewEnqueueNDRangeKernel          = NULL;
-PFNCLENQUEUETASK                    __clewEnqueueTask                   = NULL;
-PFNCLENQUEUENATIVEKERNEL            __clewEnqueueNativeKernel           = NULL;
-PFNCLENQUEUEMARKER                  __clewEnqueueMarker                 = NULL;
-PFNCLENQUEUEWAITFOREVENTS           __clewEnqueueWaitForEvents          = NULL;
-PFNCLENQUEUEBARRIER                 __clewEnqueueBarrier                = NULL;
-PFNCLGETEXTENSIONFUNCTIONADDRESS    __clewGetExtensionFunctionAddress   = NULL;
-
+PFNCLCREATESAMPLER __clewCreateSampler = NULL;
+PFNCLRETAINSAMPLER __clewRetainSampler = NULL;
+PFNCLRELEASESAMPLER __clewReleaseSampler = NULL;
+PFNCLGETSAMPLERINFO __clewGetSamplerInfo = NULL;
+PFNCLCREATEPROGRAMWITHSOURCE __clewCreateProgramWithSource = NULL;
+PFNCLCREATEPROGRAMWITHBINARY __clewCreateProgramWithBinary = NULL;
+PFNCLRETAINPROGRAM __clewRetainProgram = NULL;
+PFNCLRELEASEPROGRAM __clewReleaseProgram = NULL;
+PFNCLBUILDPROGRAM __clewBuildProgram = NULL;
+PFNCLUNLOADCOMPILER __clewUnloadCompiler = NULL;
+PFNCLGETPROGRAMINFO __clewGetProgramInfo = NULL;
+PFNCLGETPROGRAMBUILDINFO __clewGetProgramBuildInfo = NULL;
+PFNCLCREATEKERNEL __clewCreateKernel = NULL;
+PFNCLCREATEKERNELSINPROGRAM __clewCreateKernelsInProgram = NULL;
+PFNCLRETAINKERNEL __clewRetainKernel = NULL;
+PFNCLRELEASEKERNEL __clewReleaseKernel = NULL;
+PFNCLSETKERNELARG __clewSetKernelArg = NULL;
+PFNCLGETKERNELINFO __clewGetKernelInfo = NULL;
+PFNCLGETKERNELWORKGROUPINFO __clewGetKernelWorkGroupInfo = NULL;
+PFNCLWAITFOREVENTS __clewWaitForEvents = NULL;
+PFNCLGETEVENTINFO __clewGetEventInfo = NULL;
+PFNCLCREATEUSEREVENT __clewCreateUserEvent = NULL;
+PFNCLRETAINEVENT __clewRetainEvent = NULL;
+PFNCLRELEASEEVENT __clewReleaseEvent = NULL;
+PFNCLSETUSEREVENTSTATUS __clewSetUserEventStatus = NULL;
+PFNCLSETEVENTCALLBACK __clewSetEventCallback = NULL;
+PFNCLGETEVENTPROFILINGINFO __clewGetEventProfilingInfo = NULL;
+PFNCLFLUSH __clewFlush = NULL;
+PFNCLFINISH __clewFinish = NULL;
+PFNCLENQUEUEREADBUFFER __clewEnqueueReadBuffer = NULL;
+PFNCLENQUEUEREADBUFFERRECT __clewEnqueueReadBufferRect = NULL;
+PFNCLENQUEUEWRITEBUFFER __clewEnqueueWriteBuffer = NULL;
+PFNCLENQUEUEWRITEBUFFERRECT __clewEnqueueWriteBufferRect = NULL;
+PFNCLENQUEUECOPYBUFFER __clewEnqueueCopyBuffer = NULL;
+PFNCLENQUEUEREADIMAGE __clewEnqueueReadImage = NULL;
+PFNCLENQUEUEWRITEIMAGE __clewEnqueueWriteImage = NULL;
+PFNCLENQUEUECOPYIMAGE __clewEnqueueCopyImage = NULL;
+PFNCLENQUEUECOPYBUFFERRECT __clewEnqueueCopyBufferRect = NULL;
+PFNCLENQUEUECOPYIMAGETOBUFFER __clewEnqueueCopyImageToBuffer = NULL;
+PFNCLENQUEUECOPYBUFFERTOIMAGE __clewEnqueueCopyBufferToImage = NULL;
+PFNCLENQUEUEMAPBUFFER __clewEnqueueMapBuffer = NULL;
+PFNCLENQUEUEMAPIMAGE __clewEnqueueMapImage = NULL;
+PFNCLENQUEUEUNMAPMEMOBJECT __clewEnqueueUnmapMemObject = NULL;
+PFNCLENQUEUENDRANGEKERNEL __clewEnqueueNDRangeKernel = NULL;
+PFNCLENQUEUETASK __clewEnqueueTask = NULL;
+PFNCLENQUEUENATIVEKERNEL __clewEnqueueNativeKernel = NULL;
+PFNCLENQUEUEMARKER __clewEnqueueMarker = NULL;
+PFNCLENQUEUEWAITFOREVENTS __clewEnqueueWaitForEvents = NULL;
+PFNCLENQUEUEBARRIER __clewEnqueueBarrier = NULL;
+PFNCLGETEXTENSIONFUNCTIONADDRESS __clewGetExtensionFunctionAddress = NULL;
 
 void clewExit(void)
 {
-    if (module != NULL)
-    {
-        //  Ignore errors
-        CLEW_DYNLIB_CLOSE(module);
-        module = NULL;
-    }
+	if (module != NULL)
+	{
+		//  Ignore errors
+		CLEW_DYNLIB_CLOSE(module);
+		module = NULL;
+	}
 }
 
 int clewInit(const char* path)
 {
-    int error = 0;
+	int error = 0;
 
-    //  Check if already initialized
-    if (module != NULL)
-    {
-        return CLEW_SUCCESS;
-    }
+	//  Check if already initialized
+	if (module != NULL)
+	{
+		return CLEW_SUCCESS;
+	}
 
-    //  Load library
-    module = CLEW_DYNLIB_OPEN(path);
+	//  Load library
+	module = CLEW_DYNLIB_OPEN(path);
 
-    //  Check for errors
-    if (module == NULL)
-    {
-        return CLEW_ERROR_OPEN_FAILED;
-    }
+	//  Check for errors
+	if (module == NULL)
+	{
+		return CLEW_ERROR_OPEN_FAILED;
+	}
 
-    //  Set unloading
-    error = atexit(clewExit);
+	//  Set unloading
+	error = atexit(clewExit);
 
-    if (error)
-    {
-        //  Failure queuing atexit, shutdown with error
-        CLEW_DYNLIB_CLOSE(module);
-        module = NULL;
+	if (error)
+	{
+		//  Failure queuing atexit, shutdown with error
+		CLEW_DYNLIB_CLOSE(module);
+		module = NULL;
 
-        return CLEW_ERROR_ATEXIT_FAILED;
-    }
+		return CLEW_ERROR_ATEXIT_FAILED;
+	}
 
-    //  Determine function entry-points
-    __clewGetPlatformIDs                = (PFNCLGETPLATFORMIDS              )CLEW_DYNLIB_IMPORT(module, "clGetPlatformIDs");
-    __clewGetPlatformInfo               = (PFNCLGETPLATFORMINFO             )CLEW_DYNLIB_IMPORT(module, "clGetPlatformInfo");
-    __clewGetDeviceIDs                  = (PFNCLGETDEVICEIDS                )CLEW_DYNLIB_IMPORT(module, "clGetDeviceIDs");
-    __clewGetDeviceInfo                 = (PFNCLGETDEVICEINFO               )CLEW_DYNLIB_IMPORT(module, "clGetDeviceInfo");
-    __clewCreateContext                 = (PFNCLCREATECONTEXT               )CLEW_DYNLIB_IMPORT(module, "clCreateContext");
-    __clewCreateContextFromType         = (PFNCLCREATECONTEXTFROMTYPE       )CLEW_DYNLIB_IMPORT(module, "clCreateContextFromType");
-    __clewRetainContext                 = (PFNCLRETAINCONTEXT               )CLEW_DYNLIB_IMPORT(module, "clRetainContext");
-    __clewReleaseContext                = (PFNCLRELEASECONTEXT              )CLEW_DYNLIB_IMPORT(module, "clReleaseContext");
-    __clewGetContextInfo                = (PFNCLGETCONTEXTINFO              )CLEW_DYNLIB_IMPORT(module, "clGetContextInfo");
-    __clewCreateCommandQueue            = (PFNCLCREATECOMMANDQUEUE          )CLEW_DYNLIB_IMPORT(module, "clCreateCommandQueue");
-    __clewRetainCommandQueue            = (PFNCLRETAINCOMMANDQUEUE          )CLEW_DYNLIB_IMPORT(module, "clRetainCommandQueue");
-    __clewReleaseCommandQueue           = (PFNCLRELEASECOMMANDQUEUE         )CLEW_DYNLIB_IMPORT(module, "clReleaseCommandQueue");
-    __clewGetCommandQueueInfo           = (PFNCLGETCOMMANDQUEUEINFO         )CLEW_DYNLIB_IMPORT(module, "clGetCommandQueueInfo");
+	//  Determine function entry-points
+	__clewGetPlatformIDs = (PFNCLGETPLATFORMIDS)CLEW_DYNLIB_IMPORT(module, "clGetPlatformIDs");
+	__clewGetPlatformInfo = (PFNCLGETPLATFORMINFO)CLEW_DYNLIB_IMPORT(module, "clGetPlatformInfo");
+	__clewGetDeviceIDs = (PFNCLGETDEVICEIDS)CLEW_DYNLIB_IMPORT(module, "clGetDeviceIDs");
+	__clewGetDeviceInfo = (PFNCLGETDEVICEINFO)CLEW_DYNLIB_IMPORT(module, "clGetDeviceInfo");
+	__clewCreateContext = (PFNCLCREATECONTEXT)CLEW_DYNLIB_IMPORT(module, "clCreateContext");
+	__clewCreateContextFromType = (PFNCLCREATECONTEXTFROMTYPE)CLEW_DYNLIB_IMPORT(module, "clCreateContextFromType");
+	__clewRetainContext = (PFNCLRETAINCONTEXT)CLEW_DYNLIB_IMPORT(module, "clRetainContext");
+	__clewReleaseContext = (PFNCLRELEASECONTEXT)CLEW_DYNLIB_IMPORT(module, "clReleaseContext");
+	__clewGetContextInfo = (PFNCLGETCONTEXTINFO)CLEW_DYNLIB_IMPORT(module, "clGetContextInfo");
+	__clewCreateCommandQueue = (PFNCLCREATECOMMANDQUEUE)CLEW_DYNLIB_IMPORT(module, "clCreateCommandQueue");
+	__clewRetainCommandQueue = (PFNCLRETAINCOMMANDQUEUE)CLEW_DYNLIB_IMPORT(module, "clRetainCommandQueue");
+	__clewReleaseCommandQueue = (PFNCLRELEASECOMMANDQUEUE)CLEW_DYNLIB_IMPORT(module, "clReleaseCommandQueue");
+	__clewGetCommandQueueInfo = (PFNCLGETCOMMANDQUEUEINFO)CLEW_DYNLIB_IMPORT(module, "clGetCommandQueueInfo");
 #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-    __clewSetCommandQueueProperty       = (PFNCLSETCOMMANDQUEUEPROPERTY     )CLEW_DYNLIB_IMPORT(module, "clSetCommandQueueProperty");
+	__clewSetCommandQueueProperty = (PFNCLSETCOMMANDQUEUEPROPERTY)CLEW_DYNLIB_IMPORT(module, "clSetCommandQueueProperty");
 #endif
-    __clewCreateBuffer                  = (PFNCLCREATEBUFFER                )CLEW_DYNLIB_IMPORT(module, "clCreateBuffer");
-    __clewCreateSubBuffer               = (PFNCLCREATESUBBUFFER                )CLEW_DYNLIB_IMPORT(module, "clCreateBuffer");
-    __clewCreateImage2D                 = (PFNCLCREATEIMAGE2D               )CLEW_DYNLIB_IMPORT(module, "clCreateImage2D");
-    __clewCreateImage3D                 = (PFNCLCREATEIMAGE3D               )CLEW_DYNLIB_IMPORT(module, "clCreateImage3D");
-    __clewRetainMemObject               = (PFNCLRETAINMEMOBJECT             )CLEW_DYNLIB_IMPORT(module, "clRetainMemObject");
-    __clewReleaseMemObject              = (PFNCLRELEASEMEMOBJECT            )CLEW_DYNLIB_IMPORT(module, "clReleaseMemObject");
-    __clewGetSupportedImageFormats      = (PFNCLGETSUPPORTEDIMAGEFORMATS    )CLEW_DYNLIB_IMPORT(module, "clGetSupportedImageFormats");
-    __clewGetMemObjectInfo              = (PFNCLGETMEMOBJECTINFO            )CLEW_DYNLIB_IMPORT(module, "clGetMemObjectInfo");
-    __clewGetImageInfo                  = (PFNCLGETIMAGEINFO                )CLEW_DYNLIB_IMPORT(module, "clGetImageInfo");
-    __clewSetMemObjectDestructorCallback = (PFNCLSETMEMOBJECTDESTRUCTORCALLBACK)CLEW_DYNLIB_IMPORT(module, "clSetMemObjectDestructorCallback");
-    __clewCreateSampler                 = (PFNCLCREATESAMPLER               )CLEW_DYNLIB_IMPORT(module, "clCreateSampler");
-    __clewRetainSampler                 = (PFNCLRETAINSAMPLER               )CLEW_DYNLIB_IMPORT(module, "clRetainSampler");
-    __clewReleaseSampler                = (PFNCLRELEASESAMPLER              )CLEW_DYNLIB_IMPORT(module, "clReleaseSampler");
-    __clewGetSamplerInfo                = (PFNCLGETSAMPLERINFO              )CLEW_DYNLIB_IMPORT(module, "clGetSamplerInfo");
-    __clewCreateProgramWithSource       = (PFNCLCREATEPROGRAMWITHSOURCE     )CLEW_DYNLIB_IMPORT(module, "clCreateProgramWithSource");
-    __clewCreateProgramWithBinary       = (PFNCLCREATEPROGRAMWITHBINARY     )CLEW_DYNLIB_IMPORT(module, "clCreateProgramWithBinary");
-    __clewRetainProgram                 = (PFNCLRETAINPROGRAM               )CLEW_DYNLIB_IMPORT(module, "clRetainProgram");
-    __clewReleaseProgram                = (PFNCLRELEASEPROGRAM              )CLEW_DYNLIB_IMPORT(module, "clReleaseProgram");
-    __clewBuildProgram                  = (PFNCLBUILDPROGRAM                )CLEW_DYNLIB_IMPORT(module, "clBuildProgram");
-    __clewUnloadCompiler                = (PFNCLUNLOADCOMPILER              )CLEW_DYNLIB_IMPORT(module, "clUnloadCompiler");
-    __clewGetProgramInfo                = (PFNCLGETPROGRAMINFO              )CLEW_DYNLIB_IMPORT(module, "clGetProgramInfo");
-    __clewGetProgramBuildInfo           = (PFNCLGETPROGRAMBUILDINFO         )CLEW_DYNLIB_IMPORT(module, "clGetProgramBuildInfo");
-    __clewCreateKernel                  = (PFNCLCREATEKERNEL                )CLEW_DYNLIB_IMPORT(module, "clCreateKernel");
-    __clewCreateKernelsInProgram        = (PFNCLCREATEKERNELSINPROGRAM      )CLEW_DYNLIB_IMPORT(module, "clCreateKernelsInProgram");
-    __clewRetainKernel                  = (PFNCLRETAINKERNEL                )CLEW_DYNLIB_IMPORT(module, "clRetainKernel");
-    __clewReleaseKernel                 = (PFNCLRELEASEKERNEL               )CLEW_DYNLIB_IMPORT(module, "clReleaseKernel");
-    __clewSetKernelArg                  = (PFNCLSETKERNELARG                )CLEW_DYNLIB_IMPORT(module, "clSetKernelArg");
-    __clewGetKernelInfo                 = (PFNCLGETKERNELINFO               )CLEW_DYNLIB_IMPORT(module, "clGetKernelInfo");
-    __clewGetKernelWorkGroupInfo        = (PFNCLGETKERNELWORKGROUPINFO      )CLEW_DYNLIB_IMPORT(module, "clGetKernelWorkGroupInfo");
-    __clewWaitForEvents                 = (PFNCLWAITFOREVENTS               )CLEW_DYNLIB_IMPORT(module, "clWaitForEvents");
-    __clewGetEventInfo                  = (PFNCLGETEVENTINFO                )CLEW_DYNLIB_IMPORT(module, "clGetEventInfo");
-    __clewCreateUserEvent               = (PFNCLCREATEUSEREVENT             )CLEW_DYNLIB_IMPORT(module, "clCreateUserEvent");
-    __clewRetainEvent                   = (PFNCLRETAINEVENT                 )CLEW_DYNLIB_IMPORT(module, "clRetainEvent");
-    __clewReleaseEvent                  = (PFNCLRELEASEEVENT                )CLEW_DYNLIB_IMPORT(module, "clReleaseEvent");
-    __clewSetUserEventStatus            = (PFNCLSETUSEREVENTSTATUS          )CLEW_DYNLIB_IMPORT(module, "clSetUserEventStatus");
-    __clewSetEventCallback              = (PFNCLSETEVENTCALLBACK            )CLEW_DYNLIB_IMPORT(module, "clSetEventCallback");
-    __clewGetEventProfilingInfo         = (PFNCLGETEVENTPROFILINGINFO       )CLEW_DYNLIB_IMPORT(module, "clGetEventProfilingInfo");
-    __clewFlush                         = (PFNCLFLUSH                       )CLEW_DYNLIB_IMPORT(module, "clFlush");
-    __clewFinish                        = (PFNCLFINISH                      )CLEW_DYNLIB_IMPORT(module, "clFinish");
-    __clewEnqueueReadBuffer             = (PFNCLENQUEUEREADBUFFER           )CLEW_DYNLIB_IMPORT(module, "clEnqueueReadBuffer");
-    __clewEnqueueReadBufferRect         = (PFNCLENQUEUEREADBUFFERRECT       )CLEW_DYNLIB_IMPORT(module, "clEnqueueReadBufferRect");
-    __clewEnqueueWriteBuffer            = (PFNCLENQUEUEWRITEBUFFER          )CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteBuffer");
-    __clewEnqueueWriteBufferRect        = (PFNCLENQUEUEWRITEBUFFERRECT      )CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteBufferRect");
-    __clewEnqueueCopyBuffer             = (PFNCLENQUEUECOPYBUFFER           )CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBuffer");
-    __clewEnqueueCopyBufferRect         = (PFNCLENQUEUECOPYBUFFERRECT       )CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBufferRect");
-    __clewEnqueueReadImage              = (PFNCLENQUEUEREADIMAGE            )CLEW_DYNLIB_IMPORT(module, "clEnqueueReadImage");
-    __clewEnqueueWriteImage             = (PFNCLENQUEUEWRITEIMAGE           )CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteImage");
-    __clewEnqueueCopyImage              = (PFNCLENQUEUECOPYIMAGE            )CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyImage");
-    __clewEnqueueCopyImageToBuffer      = (PFNCLENQUEUECOPYIMAGETOBUFFER    )CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyImageToBuffer");
-    __clewEnqueueCopyBufferToImage      = (PFNCLENQUEUECOPYBUFFERTOIMAGE    )CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBufferToImage");
-    __clewEnqueueMapBuffer              = (PFNCLENQUEUEMAPBUFFER            )CLEW_DYNLIB_IMPORT(module, "clEnqueueMapBuffer");
-    __clewEnqueueMapImage               = (PFNCLENQUEUEMAPIMAGE             )CLEW_DYNLIB_IMPORT(module, "clEnqueueMapImage");
-    __clewEnqueueUnmapMemObject         = (PFNCLENQUEUEUNMAPMEMOBJECT       )CLEW_DYNLIB_IMPORT(module, "clEnqueueUnmapMemObject");
-    __clewEnqueueNDRangeKernel          = (PFNCLENQUEUENDRANGEKERNEL        )CLEW_DYNLIB_IMPORT(module, "clEnqueueNDRangeKernel");
-    __clewEnqueueTask                   = (PFNCLENQUEUETASK                 )CLEW_DYNLIB_IMPORT(module, "clEnqueueTask");
-    __clewEnqueueNativeKernel           = (PFNCLENQUEUENATIVEKERNEL         )CLEW_DYNLIB_IMPORT(module, "clEnqueueNativeKernel");
-    __clewEnqueueMarker                 = (PFNCLENQUEUEMARKER               )CLEW_DYNLIB_IMPORT(module, "clEnqueueMarker");
-    __clewEnqueueWaitForEvents          = (PFNCLENQUEUEWAITFOREVENTS        )CLEW_DYNLIB_IMPORT(module, "clEnqueueWaitForEvents");
-    __clewEnqueueBarrier                = (PFNCLENQUEUEBARRIER              )CLEW_DYNLIB_IMPORT(module, "clEnqueueBarrier");
-    __clewGetExtensionFunctionAddress   = (PFNCLGETEXTENSIONFUNCTIONADDRESS )CLEW_DYNLIB_IMPORT(module, "clGetExtensionFunctionAddress");
+	__clewCreateBuffer = (PFNCLCREATEBUFFER)CLEW_DYNLIB_IMPORT(module, "clCreateBuffer");
+	__clewCreateSubBuffer = (PFNCLCREATESUBBUFFER)CLEW_DYNLIB_IMPORT(module, "clCreateBuffer");
+	__clewCreateImage2D = (PFNCLCREATEIMAGE2D)CLEW_DYNLIB_IMPORT(module, "clCreateImage2D");
+	__clewCreateImage3D = (PFNCLCREATEIMAGE3D)CLEW_DYNLIB_IMPORT(module, "clCreateImage3D");
+	__clewRetainMemObject = (PFNCLRETAINMEMOBJECT)CLEW_DYNLIB_IMPORT(module, "clRetainMemObject");
+	__clewReleaseMemObject = (PFNCLRELEASEMEMOBJECT)CLEW_DYNLIB_IMPORT(module, "clReleaseMemObject");
+	__clewGetSupportedImageFormats = (PFNCLGETSUPPORTEDIMAGEFORMATS)CLEW_DYNLIB_IMPORT(module, "clGetSupportedImageFormats");
+	__clewGetMemObjectInfo = (PFNCLGETMEMOBJECTINFO)CLEW_DYNLIB_IMPORT(module, "clGetMemObjectInfo");
+	__clewGetImageInfo = (PFNCLGETIMAGEINFO)CLEW_DYNLIB_IMPORT(module, "clGetImageInfo");
+	__clewSetMemObjectDestructorCallback = (PFNCLSETMEMOBJECTDESTRUCTORCALLBACK)CLEW_DYNLIB_IMPORT(module, "clSetMemObjectDestructorCallback");
+	__clewCreateSampler = (PFNCLCREATESAMPLER)CLEW_DYNLIB_IMPORT(module, "clCreateSampler");
+	__clewRetainSampler = (PFNCLRETAINSAMPLER)CLEW_DYNLIB_IMPORT(module, "clRetainSampler");
+	__clewReleaseSampler = (PFNCLRELEASESAMPLER)CLEW_DYNLIB_IMPORT(module, "clReleaseSampler");
+	__clewGetSamplerInfo = (PFNCLGETSAMPLERINFO)CLEW_DYNLIB_IMPORT(module, "clGetSamplerInfo");
+	__clewCreateProgramWithSource = (PFNCLCREATEPROGRAMWITHSOURCE)CLEW_DYNLIB_IMPORT(module, "clCreateProgramWithSource");
+	__clewCreateProgramWithBinary = (PFNCLCREATEPROGRAMWITHBINARY)CLEW_DYNLIB_IMPORT(module, "clCreateProgramWithBinary");
+	__clewRetainProgram = (PFNCLRETAINPROGRAM)CLEW_DYNLIB_IMPORT(module, "clRetainProgram");
+	__clewReleaseProgram = (PFNCLRELEASEPROGRAM)CLEW_DYNLIB_IMPORT(module, "clReleaseProgram");
+	__clewBuildProgram = (PFNCLBUILDPROGRAM)CLEW_DYNLIB_IMPORT(module, "clBuildProgram");
+	__clewUnloadCompiler = (PFNCLUNLOADCOMPILER)CLEW_DYNLIB_IMPORT(module, "clUnloadCompiler");
+	__clewGetProgramInfo = (PFNCLGETPROGRAMINFO)CLEW_DYNLIB_IMPORT(module, "clGetProgramInfo");
+	__clewGetProgramBuildInfo = (PFNCLGETPROGRAMBUILDINFO)CLEW_DYNLIB_IMPORT(module, "clGetProgramBuildInfo");
+	__clewCreateKernel = (PFNCLCREATEKERNEL)CLEW_DYNLIB_IMPORT(module, "clCreateKernel");
+	__clewCreateKernelsInProgram = (PFNCLCREATEKERNELSINPROGRAM)CLEW_DYNLIB_IMPORT(module, "clCreateKernelsInProgram");
+	__clewRetainKernel = (PFNCLRETAINKERNEL)CLEW_DYNLIB_IMPORT(module, "clRetainKernel");
+	__clewReleaseKernel = (PFNCLRELEASEKERNEL)CLEW_DYNLIB_IMPORT(module, "clReleaseKernel");
+	__clewSetKernelArg = (PFNCLSETKERNELARG)CLEW_DYNLIB_IMPORT(module, "clSetKernelArg");
+	__clewGetKernelInfo = (PFNCLGETKERNELINFO)CLEW_DYNLIB_IMPORT(module, "clGetKernelInfo");
+	__clewGetKernelWorkGroupInfo = (PFNCLGETKERNELWORKGROUPINFO)CLEW_DYNLIB_IMPORT(module, "clGetKernelWorkGroupInfo");
+	__clewWaitForEvents = (PFNCLWAITFOREVENTS)CLEW_DYNLIB_IMPORT(module, "clWaitForEvents");
+	__clewGetEventInfo = (PFNCLGETEVENTINFO)CLEW_DYNLIB_IMPORT(module, "clGetEventInfo");
+	__clewCreateUserEvent = (PFNCLCREATEUSEREVENT)CLEW_DYNLIB_IMPORT(module, "clCreateUserEvent");
+	__clewRetainEvent = (PFNCLRETAINEVENT)CLEW_DYNLIB_IMPORT(module, "clRetainEvent");
+	__clewReleaseEvent = (PFNCLRELEASEEVENT)CLEW_DYNLIB_IMPORT(module, "clReleaseEvent");
+	__clewSetUserEventStatus = (PFNCLSETUSEREVENTSTATUS)CLEW_DYNLIB_IMPORT(module, "clSetUserEventStatus");
+	__clewSetEventCallback = (PFNCLSETEVENTCALLBACK)CLEW_DYNLIB_IMPORT(module, "clSetEventCallback");
+	__clewGetEventProfilingInfo = (PFNCLGETEVENTPROFILINGINFO)CLEW_DYNLIB_IMPORT(module, "clGetEventProfilingInfo");
+	__clewFlush = (PFNCLFLUSH)CLEW_DYNLIB_IMPORT(module, "clFlush");
+	__clewFinish = (PFNCLFINISH)CLEW_DYNLIB_IMPORT(module, "clFinish");
+	__clewEnqueueReadBuffer = (PFNCLENQUEUEREADBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueReadBuffer");
+	__clewEnqueueReadBufferRect = (PFNCLENQUEUEREADBUFFERRECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueReadBufferRect");
+	__clewEnqueueWriteBuffer = (PFNCLENQUEUEWRITEBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteBuffer");
+	__clewEnqueueWriteBufferRect = (PFNCLENQUEUEWRITEBUFFERRECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteBufferRect");
+	__clewEnqueueCopyBuffer = (PFNCLENQUEUECOPYBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBuffer");
+	__clewEnqueueCopyBufferRect = (PFNCLENQUEUECOPYBUFFERRECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBufferRect");
+	__clewEnqueueReadImage = (PFNCLENQUEUEREADIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueReadImage");
+	__clewEnqueueWriteImage = (PFNCLENQUEUEWRITEIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueWriteImage");
+	__clewEnqueueCopyImage = (PFNCLENQUEUECOPYIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyImage");
+	__clewEnqueueCopyImageToBuffer = (PFNCLENQUEUECOPYIMAGETOBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyImageToBuffer");
+	__clewEnqueueCopyBufferToImage = (PFNCLENQUEUECOPYBUFFERTOIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueCopyBufferToImage");
+	__clewEnqueueMapBuffer = (PFNCLENQUEUEMAPBUFFER)CLEW_DYNLIB_IMPORT(module, "clEnqueueMapBuffer");
+	__clewEnqueueMapImage = (PFNCLENQUEUEMAPIMAGE)CLEW_DYNLIB_IMPORT(module, "clEnqueueMapImage");
+	__clewEnqueueUnmapMemObject = (PFNCLENQUEUEUNMAPMEMOBJECT)CLEW_DYNLIB_IMPORT(module, "clEnqueueUnmapMemObject");
+	__clewEnqueueNDRangeKernel = (PFNCLENQUEUENDRANGEKERNEL)CLEW_DYNLIB_IMPORT(module, "clEnqueueNDRangeKernel");
+	__clewEnqueueTask = (PFNCLENQUEUETASK)CLEW_DYNLIB_IMPORT(module, "clEnqueueTask");
+	__clewEnqueueNativeKernel = (PFNCLENQUEUENATIVEKERNEL)CLEW_DYNLIB_IMPORT(module, "clEnqueueNativeKernel");
+	__clewEnqueueMarker = (PFNCLENQUEUEMARKER)CLEW_DYNLIB_IMPORT(module, "clEnqueueMarker");
+	__clewEnqueueWaitForEvents = (PFNCLENQUEUEWAITFOREVENTS)CLEW_DYNLIB_IMPORT(module, "clEnqueueWaitForEvents");
+	__clewEnqueueBarrier = (PFNCLENQUEUEBARRIER)CLEW_DYNLIB_IMPORT(module, "clEnqueueBarrier");
+	__clewGetExtensionFunctionAddress = (PFNCLGETEXTENSIONFUNCTIONADDRESS)CLEW_DYNLIB_IMPORT(module, "clGetExtensionFunctionAddress");
 
-    return CLEW_SUCCESS;
+	return CLEW_SUCCESS;
 }
 
 const char* clewErrorString(cl_int error)
 {
-    static const char* strings[] =
-    {
-        // Error Codes
-          "CL_SUCCESS"                                  //   0
-        , "CL_DEVICE_NOT_FOUND"                         //  -1
-        , "CL_DEVICE_NOT_AVAILABLE"                     //  -2
-        , "CL_COMPILER_NOT_AVAILABLE"                   //  -3
-        , "CL_MEM_OBJECT_ALLOCATION_FAILURE"            //  -4
-        , "CL_OUT_OF_RESOURCES"                         //  -5
-        , "CL_OUT_OF_HOST_MEMORY"                       //  -6
-        , "CL_PROFILING_INFO_NOT_AVAILABLE"             //  -7
-        , "CL_MEM_COPY_OVERLAP"                         //  -8
-        , "CL_IMAGE_FORMAT_MISMATCH"                    //  -9
-        , "CL_IMAGE_FORMAT_NOT_SUPPORTED"               //  -10
-        , "CL_BUILD_PROGRAM_FAILURE"                    //  -11
-        , "CL_MAP_FAILURE"                              //  -12
+	static const char* strings[] =
+		{
+			// Error Codes
+			"CL_SUCCESS"  //   0
+			,
+			"CL_DEVICE_NOT_FOUND"  //  -1
+			,
+			"CL_DEVICE_NOT_AVAILABLE"  //  -2
+			,
+			"CL_COMPILER_NOT_AVAILABLE"  //  -3
+			,
+			"CL_MEM_OBJECT_ALLOCATION_FAILURE"  //  -4
+			,
+			"CL_OUT_OF_RESOURCES"  //  -5
+			,
+			"CL_OUT_OF_HOST_MEMORY"  //  -6
+			,
+			"CL_PROFILING_INFO_NOT_AVAILABLE"  //  -7
+			,
+			"CL_MEM_COPY_OVERLAP"  //  -8
+			,
+			"CL_IMAGE_FORMAT_MISMATCH"  //  -9
+			,
+			"CL_IMAGE_FORMAT_NOT_SUPPORTED"  //  -10
+			,
+			"CL_BUILD_PROGRAM_FAILURE"  //  -11
+			,
+			"CL_MAP_FAILURE"  //  -12
 
-        , ""    //  -13
-        , ""    //  -14
-        , ""    //  -15
-        , ""    //  -16
-        , ""    //  -17
-        , ""    //  -18
-        , ""    //  -19
+			,
+			""  //  -13
+			,
+			""  //  -14
+			,
+			""  //  -15
+			,
+			""  //  -16
+			,
+			""  //  -17
+			,
+			""  //  -18
+			,
+			""  //  -19
 
-        , ""    //  -20
-        , ""    //  -21
-        , ""    //  -22
-        , ""    //  -23
-        , ""    //  -24
-        , ""    //  -25
-        , ""    //  -26
-        , ""    //  -27
-        , ""    //  -28
-        , ""    //  -29
+			,
+			""  //  -20
+			,
+			""  //  -21
+			,
+			""  //  -22
+			,
+			""  //  -23
+			,
+			""  //  -24
+			,
+			""  //  -25
+			,
+			""  //  -26
+			,
+			""  //  -27
+			,
+			""  //  -28
+			,
+			""  //  -29
 
-        , "CL_INVALID_VALUE"                            //  -30
-        , "CL_INVALID_DEVICE_TYPE"                      //  -31
-        , "CL_INVALID_PLATFORM"                         //  -32
-        , "CL_INVALID_DEVICE"                           //  -33
-        , "CL_INVALID_CONTEXT"                          //  -34
-        , "CL_INVALID_QUEUE_PROPERTIES"                 //  -35
-        , "CL_INVALID_COMMAND_QUEUE"                    //  -36
-        , "CL_INVALID_HOST_PTR"                         //  -37
-        , "CL_INVALID_MEM_OBJECT"                       //  -38
-        , "CL_INVALID_IMAGE_FORMAT_DESCRIPTOR"          //  -39
-        , "CL_INVALID_IMAGE_SIZE"                       //  -40
-        , "CL_INVALID_SAMPLER"                          //  -41
-        , "CL_INVALID_BINARY"                           //  -42
-        , "CL_INVALID_BUILD_OPTIONS"                    //  -43
-        , "CL_INVALID_PROGRAM"                          //  -44
-        , "CL_INVALID_PROGRAM_EXECUTABLE"               //  -45
-        , "CL_INVALID_KERNEL_NAME"                      //  -46
-        , "CL_INVALID_KERNEL_DEFINITION"                //  -47
-        , "CL_INVALID_KERNEL"                           //  -48
-        , "CL_INVALID_ARG_INDEX"                        //  -49
-        , "CL_INVALID_ARG_VALUE"                        //  -50
-        , "CL_INVALID_ARG_SIZE"                         //  -51
-        , "CL_INVALID_KERNEL_ARGS"                      //  -52
-        , "CL_INVALID_WORK_DIMENSION"                   //  -53
-        , "CL_INVALID_WORK_GROUP_SIZE"                  //  -54
-        , "CL_INVALID_WORK_ITEM_SIZE"                   //  -55
-        , "CL_INVALID_GLOBAL_OFFSET"                    //  -56
-        , "CL_INVALID_EVENT_WAIT_LIST"                  //  -57
-        , "CL_INVALID_EVENT"                            //  -58
-        , "CL_INVALID_OPERATION"                        //  -59
-        , "CL_INVALID_GL_OBJECT"                        //  -60
-        , "CL_INVALID_BUFFER_SIZE"                      //  -61
-        , "CL_INVALID_MIP_LEVEL"                        //  -62
-        , "CL_INVALID_GLOBAL_WORK_SIZE"                 //  -63
-    };
+			,
+			"CL_INVALID_VALUE"  //  -30
+			,
+			"CL_INVALID_DEVICE_TYPE"  //  -31
+			,
+			"CL_INVALID_PLATFORM"  //  -32
+			,
+			"CL_INVALID_DEVICE"  //  -33
+			,
+			"CL_INVALID_CONTEXT"  //  -34
+			,
+			"CL_INVALID_QUEUE_PROPERTIES"  //  -35
+			,
+			"CL_INVALID_COMMAND_QUEUE"  //  -36
+			,
+			"CL_INVALID_HOST_PTR"  //  -37
+			,
+			"CL_INVALID_MEM_OBJECT"  //  -38
+			,
+			"CL_INVALID_IMAGE_FORMAT_DESCRIPTOR"  //  -39
+			,
+			"CL_INVALID_IMAGE_SIZE"  //  -40
+			,
+			"CL_INVALID_SAMPLER"  //  -41
+			,
+			"CL_INVALID_BINARY"  //  -42
+			,
+			"CL_INVALID_BUILD_OPTIONS"  //  -43
+			,
+			"CL_INVALID_PROGRAM"  //  -44
+			,
+			"CL_INVALID_PROGRAM_EXECUTABLE"  //  -45
+			,
+			"CL_INVALID_KERNEL_NAME"  //  -46
+			,
+			"CL_INVALID_KERNEL_DEFINITION"  //  -47
+			,
+			"CL_INVALID_KERNEL"  //  -48
+			,
+			"CL_INVALID_ARG_INDEX"  //  -49
+			,
+			"CL_INVALID_ARG_VALUE"  //  -50
+			,
+			"CL_INVALID_ARG_SIZE"  //  -51
+			,
+			"CL_INVALID_KERNEL_ARGS"  //  -52
+			,
+			"CL_INVALID_WORK_DIMENSION"  //  -53
+			,
+			"CL_INVALID_WORK_GROUP_SIZE"  //  -54
+			,
+			"CL_INVALID_WORK_ITEM_SIZE"  //  -55
+			,
+			"CL_INVALID_GLOBAL_OFFSET"  //  -56
+			,
+			"CL_INVALID_EVENT_WAIT_LIST"  //  -57
+			,
+			"CL_INVALID_EVENT"  //  -58
+			,
+			"CL_INVALID_OPERATION"  //  -59
+			,
+			"CL_INVALID_GL_OBJECT"  //  -60
+			,
+			"CL_INVALID_BUFFER_SIZE"  //  -61
+			,
+			"CL_INVALID_MIP_LEVEL"  //  -62
+			,
+			"CL_INVALID_GLOBAL_WORK_SIZE"  //  -63
+		};
 
-    return strings[-error];
+	return strings[-error];
 }
diff --git a/thirdparty/bullet/clew/clew.h b/thirdparty/bullet/clew/clew.h
index ee0fef18b4..cba8585233 100644
--- a/thirdparty/bullet/clew/clew.h
+++ b/thirdparty/bullet/clew/clew.h
@@ -11,7 +11,7 @@
 //! \file clew.h
 //! \brief OpenCL run-time loader header
 //!
-//! This file contains a copy of the contents of CL.H and CL_PLATFORM.H from the 
+//! This file contains a copy of the contents of CL.H and CL_PLATFORM.H from the
 //! official OpenCL spec. The purpose of this code is to load the OpenCL dynamic
 //! library at run-time and thus allow the executable to function on many
 //! platforms regardless of the vendor of the OpenCL driver actually installed.
@@ -19,11 +19,11 @@
 //! library (http://glew.sourceforge.net/)
 
 //  Run-time dynamic linking functionality based on concepts used in GLEW
-#ifdef  __OPENCL_CL_H
+#ifdef __OPENCL_CL_H
 #error cl.h included before clew.h
 #endif
 
-#ifdef  __OPENCL_CL_PLATFORM_H
+#ifdef __OPENCL_CL_PLATFORM_H
 #error cl_platform.h included before clew.h
 #endif
 
@@ -55,238 +55,239 @@
 * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
 ******************************************************************************/
 #ifdef __APPLE__
-    /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
-    #include <AvailabilityMacros.h>
+/* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
+#include <AvailabilityMacros.h>
 #endif
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
 #if defined(_WIN32)
-    #define CL_API_ENTRY
-    #define CL_API_CALL     __stdcall
-    #define CL_CALLBACK     __stdcall
+#define CL_API_ENTRY
+#define CL_API_CALL __stdcall
+#define CL_CALLBACK __stdcall
 #else
-    #define CL_API_ENTRY
-    #define CL_API_CALL
-    #define CL_CALLBACK
+#define CL_API_ENTRY
+#define CL_API_CALL
+#define CL_CALLBACK
 #endif
-//disabled the APPLE thing, don't know why it is there, is just causes tons of warnings
+	//disabled the APPLE thing, don't know why it is there, is just causes tons of warnings
 
 #ifdef __APPLE1__
-    #define CL_EXTENSION_WEAK_LINK                  __attribute__((weak_import))       
-    #define CL_API_SUFFIX__VERSION_1_0              AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_API_SUFFIX__VERSION_1_1              CL_EXTENSION_WEAK_LINK
-    #define CL_EXT_SUFFIX__VERSION_1_1              CL_EXTENSION_WEAK_LINK
-    #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+#define CL_EXTENSION_WEAK_LINK __attribute__((weak_import))
+#define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+#define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+#define CL_API_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK
+#define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK
+#define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
 #else
-    #define CL_EXTENSION_WEAK_LINK                         
-    #define CL_API_SUFFIX__VERSION_1_0
-    #define CL_EXT_SUFFIX__VERSION_1_0
-    #define CL_API_SUFFIX__VERSION_1_1
-    #define CL_EXT_SUFFIX__VERSION_1_1
-    #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-#endif
-
-#if (defined (_WIN32) && defined(_MSC_VER))
-
-/* scalar types  */
-typedef signed   __int8         cl_char;
-typedef unsigned __int8         cl_uchar;
-typedef signed   __int16        cl_short;
-typedef unsigned __int16        cl_ushort;
-typedef signed   __int32        cl_int;
-typedef unsigned __int32        cl_uint;
-typedef signed   __int64        cl_long;
-typedef unsigned __int64        cl_ulong;
-
-typedef unsigned __int16        cl_half;
-typedef float                   cl_float;
-typedef double                  cl_double;
+#define CL_EXTENSION_WEAK_LINK
+#define CL_API_SUFFIX__VERSION_1_0
+#define CL_EXT_SUFFIX__VERSION_1_0
+#define CL_API_SUFFIX__VERSION_1_1
+#define CL_EXT_SUFFIX__VERSION_1_1
+#define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+#endif
+
+#if (defined(_WIN32) && defined(_MSC_VER))
+
+	/* scalar types  */
+	typedef signed __int8 cl_char;
+	typedef unsigned __int8 cl_uchar;
+	typedef signed __int16 cl_short;
+	typedef unsigned __int16 cl_ushort;
+	typedef signed __int32 cl_int;
+	typedef unsigned __int32 cl_uint;
+	typedef signed __int64 cl_long;
+	typedef unsigned __int64 cl_ulong;
+
+	typedef unsigned __int16 cl_half;
+	typedef float cl_float;
+	typedef double cl_double;
 
 /* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          340282346638528859811704183484516925440.0f
-#define CL_FLT_MIN          1.175494350822287507969e-38f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
-#define CL_DBL_MIN          2.225073858507201383090e-308
-#define CL_DBL_EPSILON      2.220446049250313080847e-16
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#define CL_NAN              (CL_INFINITY - CL_INFINITY)
-#define CL_HUGE_VALF        ((cl_float) 1e50)
-#define CL_HUGE_VAL         ((cl_double) 1e500)
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
+#define CL_CHAR_BIT 8
+#define CL_SCHAR_MAX 127
+#define CL_SCHAR_MIN (-127 - 1)
+#define CL_CHAR_MAX CL_SCHAR_MAX
+#define CL_CHAR_MIN CL_SCHAR_MIN
+#define CL_UCHAR_MAX 255
+#define CL_SHRT_MAX 32767
+#define CL_SHRT_MIN (-32767 - 1)
+#define CL_USHRT_MAX 65535
+#define CL_INT_MAX 2147483647
+#define CL_INT_MIN (-2147483647 - 1)
+#define CL_UINT_MAX 0xffffffffU
+#define CL_LONG_MAX ((cl_long)0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN ((cl_long)-0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX ((cl_ulong)0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG 6
+#define CL_FLT_MANT_DIG 24
+#define CL_FLT_MAX_10_EXP +38
+#define CL_FLT_MAX_EXP +128
+#define CL_FLT_MIN_10_EXP -37
+#define CL_FLT_MIN_EXP -125
+#define CL_FLT_RADIX 2
+#define CL_FLT_MAX 340282346638528859811704183484516925440.0f
+#define CL_FLT_MIN 1.175494350822287507969e-38f
+#define CL_FLT_EPSILON 0x1.0p-23f
+
+#define CL_DBL_DIG 15
+#define CL_DBL_MANT_DIG 53
+#define CL_DBL_MAX_10_EXP +308
+#define CL_DBL_MAX_EXP +1024
+#define CL_DBL_MIN_10_EXP -307
+#define CL_DBL_MIN_EXP -1021
+#define CL_DBL_RADIX 2
+#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
+#define CL_DBL_MIN 2.225073858507201383090e-308
+#define CL_DBL_EPSILON 2.220446049250313080847e-16
+
+#define CL_M_E 2.718281828459045090796
+#define CL_M_LOG2E 1.442695040888963387005
+#define CL_M_LOG10E 0.434294481903251816668
+#define CL_M_LN2 0.693147180559945286227
+#define CL_M_LN10 2.302585092994045901094
+#define CL_M_PI 3.141592653589793115998
+#define CL_M_PI_2 1.570796326794896557999
+#define CL_M_PI_4 0.785398163397448278999
+#define CL_M_1_PI 0.318309886183790691216
+#define CL_M_2_PI 0.636619772367581382433
+#define CL_M_2_SQRTPI 1.128379167095512558561
+#define CL_M_SQRT2 1.414213562373095145475
+#define CL_M_SQRT1_2 0.707106781186547572737
+
+#define CL_M_E_F 2.71828174591064f
+#define CL_M_LOG2E_F 1.44269502162933f
+#define CL_M_LOG10E_F 0.43429449200630f
+#define CL_M_LN2_F 0.69314718246460f
+#define CL_M_LN10_F 2.30258512496948f
+#define CL_M_PI_F 3.14159274101257f
+#define CL_M_PI_2_F 1.57079637050629f
+#define CL_M_PI_4_F 0.78539818525314f
+#define CL_M_1_PI_F 0.31830987334251f
+#define CL_M_2_PI_F 0.63661974668503f
+#define CL_M_2_SQRTPI_F 1.12837922573090f
+#define CL_M_SQRT2_F 1.41421353816986f
+#define CL_M_SQRT1_2_F 0.70710676908493f
+
+#define CL_NAN (CL_INFINITY - CL_INFINITY)
+#define CL_HUGE_VALF ((cl_float)1e50)
+#define CL_HUGE_VAL ((cl_double)1e500)
+#define CL_MAXFLOAT CL_FLT_MAX
+#define CL_INFINITY CL_HUGE_VALF
 
 #else
 
 #include <stdint.h>
 
 /* scalar types  */
-typedef int8_t          cl_char;
-typedef uint8_t         cl_uchar;
-typedef int16_t         cl_short    __attribute__((aligned(2)));
-typedef uint16_t        cl_ushort   __attribute__((aligned(2)));
-typedef int32_t         cl_int      __attribute__((aligned(4)));
-typedef uint32_t        cl_uint     __attribute__((aligned(4)));
-typedef int64_t         cl_long     __attribute__((aligned(8)));
-typedef uint64_t        cl_ulong    __attribute__((aligned(8)));
-
-typedef uint16_t        cl_half     __attribute__((aligned(2)));
-typedef float           cl_float    __attribute__((aligned(4)));
-typedef double          cl_double   __attribute__((aligned(8)));
+typedef int8_t cl_char;
+typedef uint8_t cl_uchar;
+typedef int16_t cl_short __attribute__((aligned(2)));
+typedef uint16_t cl_ushort __attribute__((aligned(2)));
+typedef int32_t cl_int __attribute__((aligned(4)));
+typedef uint32_t cl_uint __attribute__((aligned(4)));
+typedef int64_t cl_long __attribute__((aligned(8)));
+typedef uint64_t cl_ulong __attribute__((aligned(8)));
+
+typedef uint16_t cl_half __attribute__((aligned(2)));
+typedef float cl_float __attribute__((aligned(4)));
+typedef double cl_double __attribute__((aligned(8)));
 
 /* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          0x1.fffffep127f
-#define CL_FLT_MIN          0x1.0p-126f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          0x1.fffffffffffffp1023
-#define CL_DBL_MIN          0x1.0p-1022
-#define CL_DBL_EPSILON      0x1.0p-52
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#if defined( __GNUC__ )
-   #define CL_HUGE_VALF     __builtin_huge_valf()
-   #define CL_HUGE_VAL      __builtin_huge_val()
-   #define CL_NAN           __builtin_nanf( "" )
+#define CL_CHAR_BIT 8
+#define CL_SCHAR_MAX 127
+#define CL_SCHAR_MIN (-127 - 1)
+#define CL_CHAR_MAX CL_SCHAR_MAX
+#define CL_CHAR_MIN CL_SCHAR_MIN
+#define CL_UCHAR_MAX 255
+#define CL_SHRT_MAX 32767
+#define CL_SHRT_MIN (-32767 - 1)
+#define CL_USHRT_MAX 65535
+#define CL_INT_MAX 2147483647
+#define CL_INT_MIN (-2147483647 - 1)
+#define CL_UINT_MAX 0xffffffffU
+#define CL_LONG_MAX ((cl_long)0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN ((cl_long)-0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX ((cl_ulong)0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG 6
+#define CL_FLT_MANT_DIG 24
+#define CL_FLT_MAX_10_EXP +38
+#define CL_FLT_MAX_EXP +128
+#define CL_FLT_MIN_10_EXP -37
+#define CL_FLT_MIN_EXP -125
+#define CL_FLT_RADIX 2
+#define CL_FLT_MAX 0x1.fffffep127f
+#define CL_FLT_MIN 0x1.0p-126f
+#define CL_FLT_EPSILON 0x1.0p-23f
+
+#define CL_DBL_DIG 15
+#define CL_DBL_MANT_DIG 53
+#define CL_DBL_MAX_10_EXP +308
+#define CL_DBL_MAX_EXP +1024
+#define CL_DBL_MIN_10_EXP -307
+#define CL_DBL_MIN_EXP -1021
+#define CL_DBL_RADIX 2
+#define CL_DBL_MAX 0x1.fffffffffffffp1023
+#define CL_DBL_MIN 0x1.0p-1022
+#define CL_DBL_EPSILON 0x1.0p-52
+
+#define CL_M_E 2.718281828459045090796
+#define CL_M_LOG2E 1.442695040888963387005
+#define CL_M_LOG10E 0.434294481903251816668
+#define CL_M_LN2 0.693147180559945286227
+#define CL_M_LN10 2.302585092994045901094
+#define CL_M_PI 3.141592653589793115998
+#define CL_M_PI_2 1.570796326794896557999
+#define CL_M_PI_4 0.785398163397448278999
+#define CL_M_1_PI 0.318309886183790691216
+#define CL_M_2_PI 0.636619772367581382433
+#define CL_M_2_SQRTPI 1.128379167095512558561
+#define CL_M_SQRT2 1.414213562373095145475
+#define CL_M_SQRT1_2 0.707106781186547572737
+
+#define CL_M_E_F 2.71828174591064f
+#define CL_M_LOG2E_F 1.44269502162933f
+#define CL_M_LOG10E_F 0.43429449200630f
+#define CL_M_LN2_F 0.69314718246460f
+#define CL_M_LN10_F 2.30258512496948f
+#define CL_M_PI_F 3.14159274101257f
+#define CL_M_PI_2_F 1.57079637050629f
+#define CL_M_PI_4_F 0.78539818525314f
+#define CL_M_1_PI_F 0.31830987334251f
+#define CL_M_2_PI_F 0.63661974668503f
+#define CL_M_2_SQRTPI_F 1.12837922573090f
+#define CL_M_SQRT2_F 1.41421353816986f
+#define CL_M_SQRT1_2_F 0.70710676908493f
+
+#if defined(__GNUC__)
+#define CL_HUGE_VALF __builtin_huge_valf()
+#define CL_HUGE_VAL __builtin_huge_val()
+#define CL_NAN __builtin_nanf("")
 #else
-   #define CL_HUGE_VALF     ((cl_float) 1e50)
-   #define CL_HUGE_VAL      ((cl_double) 1e500)
-   float nanf( const char * );
-   #define CL_NAN           nanf( "" )  
+#define CL_HUGE_VALF ((cl_float)1e50)
+#define CL_HUGE_VAL ((cl_double)1e500)
+float nanf(const char *);
+#define CL_NAN nanf("")
 #endif
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
+#define CL_MAXFLOAT CL_FLT_MAX
+#define CL_INFINITY CL_HUGE_VALF
 
 #endif
 
 #include <stddef.h>
 
-/* Mirror types to GL types. Mirror types allow us to avoid deciding which headers to load based on whether we are using GL or GLES here. */
-typedef unsigned int cl_GLuint;
-typedef int          cl_GLint;
-typedef unsigned int cl_GLenum;
+	/* Mirror types to GL types. Mirror types allow us to avoid deciding which headers to load based on whether we are using GL or GLES here. */
+	typedef unsigned int cl_GLuint;
+	typedef int cl_GLint;
+	typedef unsigned int cl_GLenum;
 
-/*
+	/*
  * Vector types 
  *
  *  Note:   OpenCL requires that all types be naturally aligned. 
@@ -302,7 +303,6 @@ typedef unsigned int cl_GLenum;
  *          Maintaining proper alignment is the user's responsibility.
  */
 
-
 #ifdef _MSC_VER
 #if defined(_M_IX86)
 #if _M_IX86_FP >= 0
@@ -318,904 +318,1218 @@ typedef unsigned int cl_GLenum;
 #endif
 
 /* Define basic vector types */
-#if defined( __VEC__ )
-   #include <altivec.h>   /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
-   typedef vector unsigned char     __cl_uchar16;
-   typedef vector signed char       __cl_char16;
-   typedef vector unsigned short    __cl_ushort8;
-   typedef vector signed short      __cl_short8;
-   typedef vector unsigned int      __cl_uint4;
-   typedef vector signed int        __cl_int4;
-   typedef vector float             __cl_float4;
-   #define  __CL_UCHAR16__  1
-   #define  __CL_CHAR16__   1
-   #define  __CL_USHORT8__  1
-   #define  __CL_SHORT8__   1
-   #define  __CL_UINT4__    1
-   #define  __CL_INT4__     1
-   #define  __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <xmmintrin.h>
-    #endif
-    #if defined( __GNUC__ ) && !defined( __ICC )
-        typedef float __cl_float4   __attribute__((vector_size(16)));
-    #else
-        typedef __m128 __cl_float4;
-    #endif
-    #define __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE2__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <emmintrin.h>
-    #endif
-    #if defined( __GNUC__ ) && !defined( __ICC )
-        typedef cl_uchar    __cl_uchar16    __attribute__((vector_size(16)));
-        typedef cl_char     __cl_char16     __attribute__((vector_size(16)));
-        typedef cl_ushort   __cl_ushort8    __attribute__((vector_size(16)));
-        typedef cl_short    __cl_short8     __attribute__((vector_size(16)));
-        typedef cl_uint     __cl_uint4      __attribute__((vector_size(16)));
-        typedef cl_int      __cl_int4       __attribute__((vector_size(16)));
-        typedef cl_ulong    __cl_ulong2     __attribute__((vector_size(16)));
-        typedef cl_long     __cl_long2      __attribute__((vector_size(16)));
-        typedef cl_double   __cl_double2    __attribute__((vector_size(16)));
-    #else
-        typedef __m128i __cl_uchar16;
-        typedef __m128i __cl_char16;
-        typedef __m128i __cl_ushort8;
-        typedef __m128i __cl_short8;
-        typedef __m128i __cl_uint4;
-        typedef __m128i __cl_int4;
-        typedef __m128i __cl_ulong2;
-        typedef __m128i __cl_long2;
-        typedef __m128d __cl_double2;
-    #endif
-    #define __CL_UCHAR16__  1
-    #define __CL_CHAR16__   1
-    #define __CL_USHORT8__  1
-    #define __CL_SHORT8__   1
-    #define __CL_INT4__     1
-    #define __CL_UINT4__    1
-    #define __CL_ULONG2__   1
-    #define __CL_LONG2__    1
-    #define __CL_DOUBLE2__  1
-#endif
-
-#if defined( __MMX__ )
-    #include <mmintrin.h>
-    #if defined( __GNUC__ ) && !defined( __ICC )
-        typedef cl_uchar    __cl_uchar8     __attribute__((vector_size(8)));
-        typedef cl_char     __cl_char8      __attribute__((vector_size(8)));
-        typedef cl_ushort   __cl_ushort4    __attribute__((vector_size(8)));
-        typedef cl_short    __cl_short4     __attribute__((vector_size(8)));
-        typedef cl_uint     __cl_uint2      __attribute__((vector_size(8)));
-        typedef cl_int      __cl_int2       __attribute__((vector_size(8)));
-        typedef cl_ulong    __cl_ulong1     __attribute__((vector_size(8)));
-        typedef cl_long     __cl_long1      __attribute__((vector_size(8)));
-        typedef cl_float    __cl_float2     __attribute__((vector_size(8)));
-    #else
-        typedef __m64       __cl_uchar8;
-        typedef __m64       __cl_char8;
-        typedef __m64       __cl_ushort4;
-        typedef __m64       __cl_short4;
-        typedef __m64       __cl_uint2;
-        typedef __m64       __cl_int2;
-        typedef __m64       __cl_ulong1;
-        typedef __m64       __cl_long1;
-        typedef __m64       __cl_float2;
-    #endif
-    #define __CL_UCHAR8__   1
-    #define __CL_CHAR8__    1
-    #define __CL_USHORT4__  1
-    #define __CL_SHORT4__   1
-    #define __CL_INT2__     1
-    #define __CL_UINT2__    1
-    #define __CL_ULONG1__   1
-    #define __CL_LONG1__    1
-    #define __CL_FLOAT2__   1
-#endif
-
-#if defined( __AVX__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <immintrin.h> 
-    #endif
-    #if defined( __GNUC__ ) && !defined( __ICC )
-        typedef cl_float    __cl_float8     __attribute__((vector_size(32)));
-        typedef cl_double   __cl_double4    __attribute__((vector_size(32)));
-    #else
-        typedef __m256      __cl_float8;
-        typedef __m256d     __cl_double4;
-    #endif
-    #define __CL_FLOAT8__   1
-    #define __CL_DOUBLE4__  1
-#endif
-
-/* Define alignment keys */
-#if defined( __GNUC__ )
-    #define CL_ALIGNED(_x)          __attribute__ ((aligned(_x)))
-#elif defined( _WIN32) && (_MSC_VER)
-    /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
-    /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
-    /* #include <crtdefs.h>                                                                                             */
-    /* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
-    #define CL_ALIGNED(_x)
+#if defined(__VEC__)
+#include <altivec.h> /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
+	typedef vector unsigned char __cl_uchar16;
+	typedef vector signed char __cl_char16;
+	typedef vector unsigned short __cl_ushort8;
+	typedef vector signed short __cl_short8;
+	typedef vector unsigned int __cl_uint4;
+	typedef vector signed int __cl_int4;
+	typedef vector float __cl_float4;
+#define __CL_UCHAR16__ 1
+#define __CL_CHAR16__ 1
+#define __CL_USHORT8__ 1
+#define __CL_SHORT8__ 1
+#define __CL_UINT4__ 1
+#define __CL_INT4__ 1
+#define __CL_FLOAT4__ 1
+#endif
+
+#if defined(__SSE__)
+#if defined(__MINGW64__)
+#include <intrin.h>
 #else
-   #warning  Need to implement some method to align data here
-   #define  CL_ALIGNED(_x)
-#endif
-
-/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
-#if (defined( __GNUC__) && ! defined( __STRICT_ANSI__ )) || (defined( _MSC_VER ) && ! defined( __STDC__ ))
-    /* .xyzw and .s0123...{f|F} are supported */
-    #define CL_HAS_NAMED_VECTOR_FIELDS 1
-    /* .hi and .lo are supported */
-    #define CL_HAS_HI_LO_VECTOR_FIELDS 1
-
-    #define CL_NAMED_STRUCT_SUPPORTED
-#endif
-
-#if defined( CL_NAMED_STRUCT_SUPPORTED) && defined( _MSC_VER )
-#define __extension__ __pragma(warning(suppress:4201))
-#endif
-
-/* Define cl_vector types */
-
-/* ---- cl_charn ---- */
-typedef union
-{
-    cl_char  CL_ALIGNED(2) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_char  x, y; };
-   __extension__ struct{ cl_char  s0, s1; };
-   __extension__ struct{ cl_char  lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2;
-#endif
-}cl_char2;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(4) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_char  x, y, z, w; };
-   __extension__ struct{ cl_char  s0, s1, s2, s3; };
-   __extension__ struct{ cl_char2 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[2];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4;
-#endif
-}cl_char4;
-
-/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
-typedef  cl_char4  cl_char3;
-
-typedef union
-{
-    cl_char   CL_ALIGNED(8) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_char  x, y, z, w; };
-   __extension__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_char4 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[4];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[2];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8;
-#endif
-}cl_char8;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(16) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_char  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_char8 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[8];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[4];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8[2];
-#endif
-#if defined( __CL_CHAR16__ )
-    __cl_char16    v16;
-#endif
-}cl_char16;
-
-
-/* ---- cl_ucharn ---- */
-typedef union
-{
-    cl_uchar  CL_ALIGNED(2) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uchar  x, y; };
-   __extension__ struct{ cl_uchar  s0, s1; };
-   __extension__ struct{ cl_uchar  lo, hi; };
-#endif
-#if defined( __cl_uchar2__) 
-    __cl_uchar2     v2;
-#endif
-}cl_uchar2;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(4) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uchar  x, y, z, w; };
-   __extension__ struct{ cl_uchar  s0, s1, s2, s3; };
-   __extension__ struct{ cl_uchar2 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[2];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4;
-#endif
-}cl_uchar4;
-
-/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
-typedef  cl_uchar4  cl_uchar3;
-
-typedef union
-{
-    cl_uchar   CL_ALIGNED(8) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uchar  x, y, z, w; };
-   __extension__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_uchar4 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[4];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[2];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8;
-#endif
-}cl_uchar8;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(16) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uchar  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_uchar8 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[8];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[4];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8[2];
-#endif
-#if defined( __CL_UCHAR16__ )
-    __cl_uchar16    v16;
-#endif
-}cl_uchar16;
-
-
-/* ---- cl_shortn ---- */
-typedef union
-{
-    cl_short  CL_ALIGNED(4) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_short  x, y; };
-   __extension__ struct{ cl_short  s0, s1; };
-   __extension__ struct{ cl_short  lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2;
-#endif
-}cl_short2;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(8) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_short  x, y, z, w; };
-   __extension__ struct{ cl_short  s0, s1, s2, s3; };
-   __extension__ struct{ cl_short2 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[2];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4;
-#endif
-}cl_short4;
-
-/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
-typedef  cl_short4  cl_short3;
-
-typedef union
-{
-    cl_short   CL_ALIGNED(16) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_short  x, y, z, w; };
-   __extension__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_short4 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[4];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[2];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8;
-#endif
-}cl_short8;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(32) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_short  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_short8 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[8];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[4];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8[2];
-#endif
-#if defined( __CL_SHORT16__ )
-    __cl_short16    v16;
-#endif
-}cl_short16;
-
-
-/* ---- cl_ushortn ---- */
-typedef union
-{
-    cl_ushort  CL_ALIGNED(4) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ushort  x, y; };
-   __extension__ struct{ cl_ushort  s0, s1; };
-   __extension__ struct{ cl_ushort  lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2;
-#endif
-}cl_ushort2;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(8) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ushort  x, y, z, w; };
-   __extension__ struct{ cl_ushort  s0, s1, s2, s3; };
-   __extension__ struct{ cl_ushort2 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[2];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4;
-#endif
-}cl_ushort4;
-
-/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
-typedef  cl_ushort4  cl_ushort3;
-
-typedef union
-{
-    cl_ushort   CL_ALIGNED(16) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ushort  x, y, z, w; };
-   __extension__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_ushort4 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[4];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[2];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8;
-#endif
-}cl_ushort8;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(32) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ushort  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_ushort8 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[8];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[4];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8[2];
-#endif
-#if defined( __CL_USHORT16__ )
-    __cl_ushort16    v16;
-#endif
-}cl_ushort16;
-
-/* ---- cl_intn ---- */
-typedef union
-{
-    cl_int  CL_ALIGNED(8) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_int  x, y; };
-   __extension__ struct{ cl_int  s0, s1; };
-   __extension__ struct{ cl_int  lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2;
-#endif
-}cl_int2;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(16) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_int  x, y, z, w; };
-   __extension__ struct{ cl_int  s0, s1, s2, s3; };
-   __extension__ struct{ cl_int2 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[2];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4;
-#endif
-}cl_int4;
-
-/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
-typedef  cl_int4  cl_int3;
-
-typedef union
-{
-    cl_int   CL_ALIGNED(32) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_int  x, y, z, w; };
-   __extension__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_int4 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[4];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[2];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8;
-#endif
-}cl_int8;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(64) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_int  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_int8 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[8];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[4];
+#include <xmmintrin.h>
 #endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8[2];
-#endif
-#if defined( __CL_INT16__ )
-    __cl_int16    v16;
-#endif
-}cl_int16;
-
-
-/* ---- cl_uintn ---- */
-typedef union
-{
-    cl_uint  CL_ALIGNED(8) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uint  x, y; };
-   __extension__ struct{ cl_uint  s0, s1; };
-   __extension__ struct{ cl_uint  lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2;
-#endif
-}cl_uint2;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(16) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uint  x, y, z, w; };
-   __extension__ struct{ cl_uint  s0, s1, s2, s3; };
-   __extension__ struct{ cl_uint2 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[2];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4;
-#endif
-}cl_uint4;
-
-/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
-typedef  cl_uint4  cl_uint3;
-
-typedef union
-{
-    cl_uint   CL_ALIGNED(32) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uint  x, y, z, w; };
-   __extension__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_uint4 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[4];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[2];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8;
-#endif
-}cl_uint8;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(64) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_uint  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_uint8 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[8];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[4];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8[2];
-#endif
-#if defined( __CL_UINT16__ )
-    __cl_uint16    v16;
-#endif
-}cl_uint16;
-
-/* ---- cl_longn ---- */
-typedef union
-{
-    cl_long  CL_ALIGNED(16) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_long  x, y; };
-   __extension__ struct{ cl_long  s0, s1; };
-   __extension__ struct{ cl_long  lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2;
-#endif
-}cl_long2;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(32) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_long  x, y, z, w; };
-   __extension__ struct{ cl_long  s0, s1, s2, s3; };
-   __extension__ struct{ cl_long2 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[2];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4;
-#endif
-}cl_long4;
-
-/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
-typedef  cl_long4  cl_long3;
-
-typedef union
-{
-    cl_long   CL_ALIGNED(64) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_long  x, y, z, w; };
-   __extension__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_long4 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[4];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[2];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8;
-#endif
-}cl_long8;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(128) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_long  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_long8 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[8];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[4];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8[2];
-#endif
-#if defined( __CL_LONG16__ )
-    __cl_long16    v16;
-#endif
-}cl_long16;
-
-
-/* ---- cl_ulongn ---- */
-typedef union
-{
-    cl_ulong  CL_ALIGNED(16) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ulong  x, y; };
-   __extension__ struct{ cl_ulong  s0, s1; };
-   __extension__ struct{ cl_ulong  lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2;
-#endif
-}cl_ulong2;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(32) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ulong  x, y, z, w; };
-   __extension__ struct{ cl_ulong  s0, s1, s2, s3; };
-   __extension__ struct{ cl_ulong2 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[2];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4;
-#endif
-}cl_ulong4;
-
-/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
-typedef  cl_ulong4  cl_ulong3;
-
-typedef union
-{
-    cl_ulong   CL_ALIGNED(64) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ulong  x, y, z, w; };
-   __extension__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_ulong4 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[4];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[2];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8;
-#endif
-}cl_ulong8;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(128) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_ulong  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_ulong8 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[8];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[4];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8[2];
-#endif
-#if defined( __CL_ULONG16__ )
-    __cl_ulong16    v16;
-#endif
-}cl_ulong16;
-
-
-/* --- cl_floatn ---- */
-
-typedef union
-{
-    cl_float  CL_ALIGNED(8) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_float  x, y; };
-   __extension__ struct{ cl_float  s0, s1; };
-   __extension__ struct{ cl_float  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2;
-#endif
-}cl_float2;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(16) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_float   x, y, z, w; };
-   __extension__ struct{ cl_float   s0, s1, s2, s3; };
-   __extension__ struct{ cl_float2  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[2];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4;
-#endif
-}cl_float4;
-
-/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
-typedef  cl_float4  cl_float3;
-
-typedef union
-{
-    cl_float   CL_ALIGNED(32) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_float   x, y, z, w; };
-   __extension__ struct{ cl_float   s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_float4  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[4];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[2];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8;
-#endif
-}cl_float8;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(64) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_float  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_float  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_float8 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[8];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[4];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8[2];
-#endif
-#if defined( __CL_FLOAT16__ )
-    __cl_float16    v16;
-#endif
-}cl_float16;
-
-/* --- cl_doublen ---- */
-
-typedef union
-{
-    cl_double  CL_ALIGNED(16) s[2];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_double  x, y; };
-   __extension__ struct{ cl_double s0, s1; };
-   __extension__ struct{ cl_double lo, hi; };
+#if defined(__GNUC__) && !defined(__ICC)
+	typedef float __cl_float4 __attribute__((vector_size(16)));
+#else
+	typedef __m128 __cl_float4;
 #endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2;
+#define __CL_FLOAT4__ 1
 #endif
-}cl_double2;
 
-typedef union
-{
-    cl_double  CL_ALIGNED(32) s[4];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_double  x, y, z, w; };
-   __extension__ struct{ cl_double  s0, s1, s2, s3; };
-   __extension__ struct{ cl_double2 lo, hi; };
+#if defined(__SSE2__)
+#if defined(__MINGW64__)
+#include <intrin.h>
+#else
+#include <emmintrin.h>
+#endif
+#if defined(__GNUC__) && !defined(__ICC)
+	typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16)));
+	typedef cl_char __cl_char16 __attribute__((vector_size(16)));
+	typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16)));
+	typedef cl_short __cl_short8 __attribute__((vector_size(16)));
+	typedef cl_uint __cl_uint4 __attribute__((vector_size(16)));
+	typedef cl_int __cl_int4 __attribute__((vector_size(16)));
+	typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16)));
+	typedef cl_long __cl_long2 __attribute__((vector_size(16)));
+	typedef cl_double __cl_double2 __attribute__((vector_size(16)));
+#else
+	typedef __m128i __cl_uchar16;
+	typedef __m128i __cl_char16;
+	typedef __m128i __cl_ushort8;
+	typedef __m128i __cl_short8;
+	typedef __m128i __cl_uint4;
+	typedef __m128i __cl_int4;
+	typedef __m128i __cl_ulong2;
+	typedef __m128i __cl_long2;
+	typedef __m128d __cl_double2;
+#endif
+#define __CL_UCHAR16__ 1
+#define __CL_CHAR16__ 1
+#define __CL_USHORT8__ 1
+#define __CL_SHORT8__ 1
+#define __CL_INT4__ 1
+#define __CL_UINT4__ 1
+#define __CL_ULONG2__ 1
+#define __CL_LONG2__ 1
+#define __CL_DOUBLE2__ 1
+#endif
+
+#if defined(__MMX__)
+#include <mmintrin.h>
+#if defined(__GNUC__) && !defined(__ICC)
+	typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8)));
+	typedef cl_char __cl_char8 __attribute__((vector_size(8)));
+	typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8)));
+	typedef cl_short __cl_short4 __attribute__((vector_size(8)));
+	typedef cl_uint __cl_uint2 __attribute__((vector_size(8)));
+	typedef cl_int __cl_int2 __attribute__((vector_size(8)));
+	typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8)));
+	typedef cl_long __cl_long1 __attribute__((vector_size(8)));
+	typedef cl_float __cl_float2 __attribute__((vector_size(8)));
+#else
+	typedef __m64 __cl_uchar8;
+	typedef __m64 __cl_char8;
+	typedef __m64 __cl_ushort4;
+	typedef __m64 __cl_short4;
+	typedef __m64 __cl_uint2;
+	typedef __m64 __cl_int2;
+	typedef __m64 __cl_ulong1;
+	typedef __m64 __cl_long1;
+	typedef __m64 __cl_float2;
+#endif
+#define __CL_UCHAR8__ 1
+#define __CL_CHAR8__ 1
+#define __CL_USHORT4__ 1
+#define __CL_SHORT4__ 1
+#define __CL_INT2__ 1
+#define __CL_UINT2__ 1
+#define __CL_ULONG1__ 1
+#define __CL_LONG1__ 1
+#define __CL_FLOAT2__ 1
+#endif
+
+#if defined(__AVX__)
+#if defined(__MINGW64__)
+#include <intrin.h>
+#else
+#include <immintrin.h>
 #endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[2];
+#if defined(__GNUC__) && !defined(__ICC)
+	typedef cl_float __cl_float8 __attribute__((vector_size(32)));
+	typedef cl_double __cl_double4 __attribute__((vector_size(32)));
+#else
+	typedef __m256 __cl_float8;
+	typedef __m256d __cl_double4;
 #endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4;
+#define __CL_FLOAT8__ 1
+#define __CL_DOUBLE4__ 1
 #endif
-}cl_double4;
 
-/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
-typedef  cl_double4  cl_double3;
-
-typedef union
-{
-    cl_double   CL_ALIGNED(64) s[8];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_double  x, y, z, w; };
-   __extension__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __extension__ struct{ cl_double4 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[4];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[2];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8;
+/* Define alignment keys */
+#if defined(__GNUC__)
+#define CL_ALIGNED(_x) __attribute__((aligned(_x)))
+#elif defined(_WIN32) && (_MSC_VER)
+/* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
+/* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
+/* #include <crtdefs.h>                                                                                             */
+/* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
+#define CL_ALIGNED(_x)
+#else
+#warning Need to implement some method to align data here
+#define CL_ALIGNED(_x)
 #endif
-}cl_double8;
 
-typedef union
-{
-    cl_double  CL_ALIGNED(128) s[16];
-#if defined( CL_NAMED_STRUCT_SUPPORTED )
-   __extension__ struct{ cl_double  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __extension__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __extension__ struct{ cl_double8 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[8];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[4];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8[2];
-#endif
-#if defined( __CL_DOUBLE16__ )
-    __cl_double16    v16;
-#endif
-}cl_double16;
+/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
+#if (defined(__GNUC__) && !defined(__STRICT_ANSI__)) || (defined(_MSC_VER) && !defined(__STDC__))
+/* .xyzw and .s0123...{f|F} are supported */
+#define CL_HAS_NAMED_VECTOR_FIELDS 1
+/* .hi and .lo are supported */
+#define CL_HAS_HI_LO_VECTOR_FIELDS 1
+
+#define CL_NAMED_STRUCT_SUPPORTED
+#endif
+
+#if defined(CL_NAMED_STRUCT_SUPPORTED) && defined(_MSC_VER)
+#define __extension__ __pragma(warning(suppress : 4201))
+#endif
+
+	/* Define cl_vector types */
+
+	/* ---- cl_charn ---- */
+	typedef union {
+		cl_char CL_ALIGNED(2) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_char x, y;
+		};
+		__extension__ struct
+		{
+			cl_char s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_char lo, hi;
+		};
+#endif
+#if defined(__CL_CHAR2__)
+		__cl_char2 v2;
+#endif
+	} cl_char2;
+
+	typedef union {
+		cl_char CL_ALIGNED(4) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_char x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_char s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_char2 lo, hi;
+		};
+#endif
+#if defined(__CL_CHAR2__)
+		__cl_char2 v2[2];
+#endif
+#if defined(__CL_CHAR4__)
+		__cl_char4 v4;
+#endif
+	} cl_char4;
+
+	/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
+	typedef cl_char4 cl_char3;
+
+	typedef union {
+		cl_char CL_ALIGNED(8) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_char x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_char s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_char4 lo, hi;
+		};
+#endif
+#if defined(__CL_CHAR2__)
+		__cl_char2 v2[4];
+#endif
+#if defined(__CL_CHAR4__)
+		__cl_char4 v4[2];
+#endif
+#if defined(__CL_CHAR8__)
+		__cl_char8 v8;
+#endif
+	} cl_char8;
+
+	typedef union {
+		cl_char CL_ALIGNED(16) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_char8 lo, hi;
+		};
+#endif
+#if defined(__CL_CHAR2__)
+		__cl_char2 v2[8];
+#endif
+#if defined(__CL_CHAR4__)
+		__cl_char4 v4[4];
+#endif
+#if defined(__CL_CHAR8__)
+		__cl_char8 v8[2];
+#endif
+#if defined(__CL_CHAR16__)
+		__cl_char16 v16;
+#endif
+	} cl_char16;
+
+	/* ---- cl_ucharn ---- */
+	typedef union {
+		cl_uchar CL_ALIGNED(2) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uchar x, y;
+		};
+		__extension__ struct
+		{
+			cl_uchar s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_uchar lo, hi;
+		};
+#endif
+#if defined(__cl_uchar2__)
+		__cl_uchar2 v2;
+#endif
+	} cl_uchar2;
+
+	typedef union {
+		cl_uchar CL_ALIGNED(4) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uchar x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_uchar s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_uchar2 lo, hi;
+		};
+#endif
+#if defined(__CL_UCHAR2__)
+		__cl_uchar2 v2[2];
+#endif
+#if defined(__CL_UCHAR4__)
+		__cl_uchar4 v4;
+#endif
+	} cl_uchar4;
+
+	/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
+	typedef cl_uchar4 cl_uchar3;
+
+	typedef union {
+		cl_uchar CL_ALIGNED(8) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uchar x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_uchar s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_uchar4 lo, hi;
+		};
+#endif
+#if defined(__CL_UCHAR2__)
+		__cl_uchar2 v2[4];
+#endif
+#if defined(__CL_UCHAR4__)
+		__cl_uchar4 v4[2];
+#endif
+#if defined(__CL_UCHAR8__)
+		__cl_uchar8 v8;
+#endif
+	} cl_uchar8;
+
+	typedef union {
+		cl_uchar CL_ALIGNED(16) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_uchar8 lo, hi;
+		};
+#endif
+#if defined(__CL_UCHAR2__)
+		__cl_uchar2 v2[8];
+#endif
+#if defined(__CL_UCHAR4__)
+		__cl_uchar4 v4[4];
+#endif
+#if defined(__CL_UCHAR8__)
+		__cl_uchar8 v8[2];
+#endif
+#if defined(__CL_UCHAR16__)
+		__cl_uchar16 v16;
+#endif
+	} cl_uchar16;
+
+	/* ---- cl_shortn ---- */
+	typedef union {
+		cl_short CL_ALIGNED(4) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_short x, y;
+		};
+		__extension__ struct
+		{
+			cl_short s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_short lo, hi;
+		};
+#endif
+#if defined(__CL_SHORT2__)
+		__cl_short2 v2;
+#endif
+	} cl_short2;
+
+	typedef union {
+		cl_short CL_ALIGNED(8) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_short x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_short s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_short2 lo, hi;
+		};
+#endif
+#if defined(__CL_SHORT2__)
+		__cl_short2 v2[2];
+#endif
+#if defined(__CL_SHORT4__)
+		__cl_short4 v4;
+#endif
+	} cl_short4;
+
+	/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
+	typedef cl_short4 cl_short3;
+
+	typedef union {
+		cl_short CL_ALIGNED(16) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_short x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_short s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_short4 lo, hi;
+		};
+#endif
+#if defined(__CL_SHORT2__)
+		__cl_short2 v2[4];
+#endif
+#if defined(__CL_SHORT4__)
+		__cl_short4 v4[2];
+#endif
+#if defined(__CL_SHORT8__)
+		__cl_short8 v8;
+#endif
+	} cl_short8;
+
+	typedef union {
+		cl_short CL_ALIGNED(32) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_short8 lo, hi;
+		};
+#endif
+#if defined(__CL_SHORT2__)
+		__cl_short2 v2[8];
+#endif
+#if defined(__CL_SHORT4__)
+		__cl_short4 v4[4];
+#endif
+#if defined(__CL_SHORT8__)
+		__cl_short8 v8[2];
+#endif
+#if defined(__CL_SHORT16__)
+		__cl_short16 v16;
+#endif
+	} cl_short16;
+
+	/* ---- cl_ushortn ---- */
+	typedef union {
+		cl_ushort CL_ALIGNED(4) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ushort x, y;
+		};
+		__extension__ struct
+		{
+			cl_ushort s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_ushort lo, hi;
+		};
+#endif
+#if defined(__CL_USHORT2__)
+		__cl_ushort2 v2;
+#endif
+	} cl_ushort2;
+
+	typedef union {
+		cl_ushort CL_ALIGNED(8) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ushort x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_ushort s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_ushort2 lo, hi;
+		};
+#endif
+#if defined(__CL_USHORT2__)
+		__cl_ushort2 v2[2];
+#endif
+#if defined(__CL_USHORT4__)
+		__cl_ushort4 v4;
+#endif
+	} cl_ushort4;
+
+	/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
+	typedef cl_ushort4 cl_ushort3;
+
+	typedef union {
+		cl_ushort CL_ALIGNED(16) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ushort x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_ushort s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_ushort4 lo, hi;
+		};
+#endif
+#if defined(__CL_USHORT2__)
+		__cl_ushort2 v2[4];
+#endif
+#if defined(__CL_USHORT4__)
+		__cl_ushort4 v4[2];
+#endif
+#if defined(__CL_USHORT8__)
+		__cl_ushort8 v8;
+#endif
+	} cl_ushort8;
+
+	typedef union {
+		cl_ushort CL_ALIGNED(32) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_ushort8 lo, hi;
+		};
+#endif
+#if defined(__CL_USHORT2__)
+		__cl_ushort2 v2[8];
+#endif
+#if defined(__CL_USHORT4__)
+		__cl_ushort4 v4[4];
+#endif
+#if defined(__CL_USHORT8__)
+		__cl_ushort8 v8[2];
+#endif
+#if defined(__CL_USHORT16__)
+		__cl_ushort16 v16;
+#endif
+	} cl_ushort16;
+
+	/* ---- cl_intn ---- */
+	typedef union {
+		cl_int CL_ALIGNED(8) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_int x, y;
+		};
+		__extension__ struct
+		{
+			cl_int s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_int lo, hi;
+		};
+#endif
+#if defined(__CL_INT2__)
+		__cl_int2 v2;
+#endif
+	} cl_int2;
+
+	typedef union {
+		cl_int CL_ALIGNED(16) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_int x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_int s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_int2 lo, hi;
+		};
+#endif
+#if defined(__CL_INT2__)
+		__cl_int2 v2[2];
+#endif
+#if defined(__CL_INT4__)
+		__cl_int4 v4;
+#endif
+	} cl_int4;
+
+	/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
+	typedef cl_int4 cl_int3;
+
+	typedef union {
+		cl_int CL_ALIGNED(32) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_int x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_int s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_int4 lo, hi;
+		};
+#endif
+#if defined(__CL_INT2__)
+		__cl_int2 v2[4];
+#endif
+#if defined(__CL_INT4__)
+		__cl_int4 v4[2];
+#endif
+#if defined(__CL_INT8__)
+		__cl_int8 v8;
+#endif
+	} cl_int8;
+
+	typedef union {
+		cl_int CL_ALIGNED(64) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_int8 lo, hi;
+		};
+#endif
+#if defined(__CL_INT2__)
+		__cl_int2 v2[8];
+#endif
+#if defined(__CL_INT4__)
+		__cl_int4 v4[4];
+#endif
+#if defined(__CL_INT8__)
+		__cl_int8 v8[2];
+#endif
+#if defined(__CL_INT16__)
+		__cl_int16 v16;
+#endif
+	} cl_int16;
+
+	/* ---- cl_uintn ---- */
+	typedef union {
+		cl_uint CL_ALIGNED(8) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uint x, y;
+		};
+		__extension__ struct
+		{
+			cl_uint s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_uint lo, hi;
+		};
+#endif
+#if defined(__CL_UINT2__)
+		__cl_uint2 v2;
+#endif
+	} cl_uint2;
+
+	typedef union {
+		cl_uint CL_ALIGNED(16) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uint x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_uint s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_uint2 lo, hi;
+		};
+#endif
+#if defined(__CL_UINT2__)
+		__cl_uint2 v2[2];
+#endif
+#if defined(__CL_UINT4__)
+		__cl_uint4 v4;
+#endif
+	} cl_uint4;
+
+	/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
+	typedef cl_uint4 cl_uint3;
+
+	typedef union {
+		cl_uint CL_ALIGNED(32) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uint x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_uint s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_uint4 lo, hi;
+		};
+#endif
+#if defined(__CL_UINT2__)
+		__cl_uint2 v2[4];
+#endif
+#if defined(__CL_UINT4__)
+		__cl_uint4 v4[2];
+#endif
+#if defined(__CL_UINT8__)
+		__cl_uint8 v8;
+#endif
+	} cl_uint8;
+
+	typedef union {
+		cl_uint CL_ALIGNED(64) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_uint8 lo, hi;
+		};
+#endif
+#if defined(__CL_UINT2__)
+		__cl_uint2 v2[8];
+#endif
+#if defined(__CL_UINT4__)
+		__cl_uint4 v4[4];
+#endif
+#if defined(__CL_UINT8__)
+		__cl_uint8 v8[2];
+#endif
+#if defined(__CL_UINT16__)
+		__cl_uint16 v16;
+#endif
+	} cl_uint16;
+
+	/* ---- cl_longn ---- */
+	typedef union {
+		cl_long CL_ALIGNED(16) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_long x, y;
+		};
+		__extension__ struct
+		{
+			cl_long s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_long lo, hi;
+		};
+#endif
+#if defined(__CL_LONG2__)
+		__cl_long2 v2;
+#endif
+	} cl_long2;
+
+	typedef union {
+		cl_long CL_ALIGNED(32) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_long x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_long s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_long2 lo, hi;
+		};
+#endif
+#if defined(__CL_LONG2__)
+		__cl_long2 v2[2];
+#endif
+#if defined(__CL_LONG4__)
+		__cl_long4 v4;
+#endif
+	} cl_long4;
+
+	/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
+	typedef cl_long4 cl_long3;
+
+	typedef union {
+		cl_long CL_ALIGNED(64) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_long x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_long s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_long4 lo, hi;
+		};
+#endif
+#if defined(__CL_LONG2__)
+		__cl_long2 v2[4];
+#endif
+#if defined(__CL_LONG4__)
+		__cl_long4 v4[2];
+#endif
+#if defined(__CL_LONG8__)
+		__cl_long8 v8;
+#endif
+	} cl_long8;
+
+	typedef union {
+		cl_long CL_ALIGNED(128) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_long8 lo, hi;
+		};
+#endif
+#if defined(__CL_LONG2__)
+		__cl_long2 v2[8];
+#endif
+#if defined(__CL_LONG4__)
+		__cl_long4 v4[4];
+#endif
+#if defined(__CL_LONG8__)
+		__cl_long8 v8[2];
+#endif
+#if defined(__CL_LONG16__)
+		__cl_long16 v16;
+#endif
+	} cl_long16;
+
+	/* ---- cl_ulongn ---- */
+	typedef union {
+		cl_ulong CL_ALIGNED(16) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ulong x, y;
+		};
+		__extension__ struct
+		{
+			cl_ulong s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_ulong lo, hi;
+		};
+#endif
+#if defined(__CL_ULONG2__)
+		__cl_ulong2 v2;
+#endif
+	} cl_ulong2;
+
+	typedef union {
+		cl_ulong CL_ALIGNED(32) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ulong x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_ulong s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_ulong2 lo, hi;
+		};
+#endif
+#if defined(__CL_ULONG2__)
+		__cl_ulong2 v2[2];
+#endif
+#if defined(__CL_ULONG4__)
+		__cl_ulong4 v4;
+#endif
+	} cl_ulong4;
+
+	/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
+	typedef cl_ulong4 cl_ulong3;
+
+	typedef union {
+		cl_ulong CL_ALIGNED(64) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ulong x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_ulong s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_ulong4 lo, hi;
+		};
+#endif
+#if defined(__CL_ULONG2__)
+		__cl_ulong2 v2[4];
+#endif
+#if defined(__CL_ULONG4__)
+		__cl_ulong4 v4[2];
+#endif
+#if defined(__CL_ULONG8__)
+		__cl_ulong8 v8;
+#endif
+	} cl_ulong8;
+
+	typedef union {
+		cl_ulong CL_ALIGNED(128) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_ulong8 lo, hi;
+		};
+#endif
+#if defined(__CL_ULONG2__)
+		__cl_ulong2 v2[8];
+#endif
+#if defined(__CL_ULONG4__)
+		__cl_ulong4 v4[4];
+#endif
+#if defined(__CL_ULONG8__)
+		__cl_ulong8 v8[2];
+#endif
+#if defined(__CL_ULONG16__)
+		__cl_ulong16 v16;
+#endif
+	} cl_ulong16;
+
+	/* --- cl_floatn ---- */
+
+	typedef union {
+		cl_float CL_ALIGNED(8) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_float x, y;
+		};
+		__extension__ struct
+		{
+			cl_float s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_float lo, hi;
+		};
+#endif
+#if defined(__CL_FLOAT2__)
+		__cl_float2 v2;
+#endif
+	} cl_float2;
+
+	typedef union {
+		cl_float CL_ALIGNED(16) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_float x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_float s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_float2 lo, hi;
+		};
+#endif
+#if defined(__CL_FLOAT2__)
+		__cl_float2 v2[2];
+#endif
+#if defined(__CL_FLOAT4__)
+		__cl_float4 v4;
+#endif
+	} cl_float4;
+
+	/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
+	typedef cl_float4 cl_float3;
+
+	typedef union {
+		cl_float CL_ALIGNED(32) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_float x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_float s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_float4 lo, hi;
+		};
+#endif
+#if defined(__CL_FLOAT2__)
+		__cl_float2 v2[4];
+#endif
+#if defined(__CL_FLOAT4__)
+		__cl_float4 v4[2];
+#endif
+#if defined(__CL_FLOAT8__)
+		__cl_float8 v8;
+#endif
+	} cl_float8;
+
+	typedef union {
+		cl_float CL_ALIGNED(64) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_float8 lo, hi;
+		};
+#endif
+#if defined(__CL_FLOAT2__)
+		__cl_float2 v2[8];
+#endif
+#if defined(__CL_FLOAT4__)
+		__cl_float4 v4[4];
+#endif
+#if defined(__CL_FLOAT8__)
+		__cl_float8 v8[2];
+#endif
+#if defined(__CL_FLOAT16__)
+		__cl_float16 v16;
+#endif
+	} cl_float16;
+
+	/* --- cl_doublen ---- */
+
+	typedef union {
+		cl_double CL_ALIGNED(16) s[2];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_double x, y;
+		};
+		__extension__ struct
+		{
+			cl_double s0, s1;
+		};
+		__extension__ struct
+		{
+			cl_double lo, hi;
+		};
+#endif
+#if defined(__CL_DOUBLE2__)
+		__cl_double2 v2;
+#endif
+	} cl_double2;
+
+	typedef union {
+		cl_double CL_ALIGNED(32) s[4];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_double x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_double s0, s1, s2, s3;
+		};
+		__extension__ struct
+		{
+			cl_double2 lo, hi;
+		};
+#endif
+#if defined(__CL_DOUBLE2__)
+		__cl_double2 v2[2];
+#endif
+#if defined(__CL_DOUBLE4__)
+		__cl_double4 v4;
+#endif
+	} cl_double4;
+
+	/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
+	typedef cl_double4 cl_double3;
+
+	typedef union {
+		cl_double CL_ALIGNED(64) s[8];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_double x, y, z, w;
+		};
+		__extension__ struct
+		{
+			cl_double s0, s1, s2, s3, s4, s5, s6, s7;
+		};
+		__extension__ struct
+		{
+			cl_double4 lo, hi;
+		};
+#endif
+#if defined(__CL_DOUBLE2__)
+		__cl_double2 v2[4];
+#endif
+#if defined(__CL_DOUBLE4__)
+		__cl_double4 v4[2];
+#endif
+#if defined(__CL_DOUBLE8__)
+		__cl_double8 v8;
+#endif
+	} cl_double8;
+
+	typedef union {
+		cl_double CL_ALIGNED(128) s[16];
+#if defined(CL_NAMED_STRUCT_SUPPORTED)
+		__extension__ struct
+		{
+			cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf;
+		};
+		__extension__ struct
+		{
+			cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF;
+		};
+		__extension__ struct
+		{
+			cl_double8 lo, hi;
+		};
+#endif
+#if defined(__CL_DOUBLE2__)
+		__cl_double2 v2[8];
+#endif
+#if defined(__CL_DOUBLE4__)
+		__cl_double4 v4[4];
+#endif
+#if defined(__CL_DOUBLE8__)
+		__cl_double8 v8[2];
+#endif
+#if defined(__CL_DOUBLE16__)
+		__cl_double16 v16;
+#endif
+	} cl_double16;
 
 /* Macro to facilitate debugging 
  * Usage:
@@ -1237,967 +1551,967 @@ typedef union
  * This should correctly set up the line, (column) and file information for your source 
  * string so you can do source level debugging.
  */
-#define  __CL_STRINGIFY( _x )               # _x
-#define  _CL_STRINGIFY( _x )                __CL_STRINGIFY( _x )
-#define  CL_PROGRAM_STRING_DEBUG_INFO       "#line "  _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" 
-
-//  CL.h contents
-/******************************************************************************/
-
-typedef struct _cl_platform_id *    cl_platform_id;
-typedef struct _cl_device_id *      cl_device_id;
-typedef struct _cl_context *        cl_context;
-typedef struct _cl_command_queue *  cl_command_queue;
-typedef struct _cl_mem *            cl_mem;
-typedef struct _cl_program *        cl_program;
-typedef struct _cl_kernel *         cl_kernel;
-typedef struct _cl_event *          cl_event;
-typedef struct _cl_sampler *        cl_sampler;
-
-typedef cl_uint             cl_bool;                     /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ 
-typedef cl_ulong            cl_bitfield;
-typedef cl_bitfield         cl_device_type;
-typedef cl_uint             cl_platform_info;
-typedef cl_uint             cl_device_info;
-typedef cl_bitfield         cl_device_fp_config;
-typedef cl_uint             cl_device_mem_cache_type;
-typedef cl_uint             cl_device_local_mem_type;
-typedef cl_bitfield         cl_device_exec_capabilities;
-typedef cl_bitfield         cl_command_queue_properties;
-
-typedef intptr_t			cl_context_properties;
-typedef cl_uint             cl_context_info;
-typedef cl_uint             cl_command_queue_info;
-typedef cl_uint             cl_channel_order;
-typedef cl_uint             cl_channel_type;
-typedef cl_bitfield         cl_mem_flags;
-typedef cl_uint             cl_mem_object_type;
-typedef cl_uint             cl_mem_info;
-typedef cl_uint             cl_image_info;
-typedef cl_uint             cl_buffer_create_type;
-typedef cl_uint             cl_addressing_mode;
-typedef cl_uint             cl_filter_mode;
-typedef cl_uint             cl_sampler_info;
-typedef cl_bitfield         cl_map_flags;
-typedef cl_uint             cl_program_info;
-typedef cl_uint             cl_program_build_info;
-typedef cl_int              cl_build_status;
-typedef cl_uint             cl_kernel_info;
-typedef cl_uint             cl_kernel_work_group_info;
-typedef cl_uint             cl_event_info;
-typedef cl_uint             cl_command_type;
-typedef cl_uint             cl_profiling_info;
-
-typedef struct _cl_image_format {
-    cl_channel_order        image_channel_order;
-    cl_channel_type         image_channel_data_type;
-} cl_image_format;
-
-
-typedef struct _cl_buffer_region {
-    size_t                  origin;
-    size_t                  size;
-} cl_buffer_region;
+#define __CL_STRINGIFY(_x) #_x
+#define _CL_STRINGIFY(_x) __CL_STRINGIFY(_x)
+#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n"
+
+	//  CL.h contents
+	/******************************************************************************/
+
+	typedef struct _cl_platform_id *cl_platform_id;
+	typedef struct _cl_device_id *cl_device_id;
+	typedef struct _cl_context *cl_context;
+	typedef struct _cl_command_queue *cl_command_queue;
+	typedef struct _cl_mem *cl_mem;
+	typedef struct _cl_program *cl_program;
+	typedef struct _cl_kernel *cl_kernel;
+	typedef struct _cl_event *cl_event;
+	typedef struct _cl_sampler *cl_sampler;
+
+	typedef cl_uint cl_bool; /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */
+	typedef cl_ulong cl_bitfield;
+	typedef cl_bitfield cl_device_type;
+	typedef cl_uint cl_platform_info;
+	typedef cl_uint cl_device_info;
+	typedef cl_bitfield cl_device_fp_config;
+	typedef cl_uint cl_device_mem_cache_type;
+	typedef cl_uint cl_device_local_mem_type;
+	typedef cl_bitfield cl_device_exec_capabilities;
+	typedef cl_bitfield cl_command_queue_properties;
+
+	typedef intptr_t cl_context_properties;
+	typedef cl_uint cl_context_info;
+	typedef cl_uint cl_command_queue_info;
+	typedef cl_uint cl_channel_order;
+	typedef cl_uint cl_channel_type;
+	typedef cl_bitfield cl_mem_flags;
+	typedef cl_uint cl_mem_object_type;
+	typedef cl_uint cl_mem_info;
+	typedef cl_uint cl_image_info;
+	typedef cl_uint cl_buffer_create_type;
+	typedef cl_uint cl_addressing_mode;
+	typedef cl_uint cl_filter_mode;
+	typedef cl_uint cl_sampler_info;
+	typedef cl_bitfield cl_map_flags;
+	typedef cl_uint cl_program_info;
+	typedef cl_uint cl_program_build_info;
+	typedef cl_int cl_build_status;
+	typedef cl_uint cl_kernel_info;
+	typedef cl_uint cl_kernel_work_group_info;
+	typedef cl_uint cl_event_info;
+	typedef cl_uint cl_command_type;
+	typedef cl_uint cl_profiling_info;
+
+	typedef struct _cl_image_format
+	{
+		cl_channel_order image_channel_order;
+		cl_channel_type image_channel_data_type;
+	} cl_image_format;
+
+	typedef struct _cl_buffer_region
+	{
+		size_t origin;
+		size_t size;
+	} cl_buffer_region;
 
 /******************************************************************************/
 
 /* Error Codes */
-#define CL_SUCCESS                                  0
-#define CL_DEVICE_NOT_FOUND                         -1
-#define CL_DEVICE_NOT_AVAILABLE                     -2
-#define CL_COMPILER_NOT_AVAILABLE                   -3
-#define CL_MEM_OBJECT_ALLOCATION_FAILURE            -4
-#define CL_OUT_OF_RESOURCES                         -5
-#define CL_OUT_OF_HOST_MEMORY                       -6
-#define CL_PROFILING_INFO_NOT_AVAILABLE             -7
-#define CL_MEM_COPY_OVERLAP                         -8
-#define CL_IMAGE_FORMAT_MISMATCH                    -9
-#define CL_IMAGE_FORMAT_NOT_SUPPORTED               -10
-#define CL_BUILD_PROGRAM_FAILURE                    -11
-#define CL_MAP_FAILURE                              -12
-#define CL_MISALIGNED_SUB_BUFFER_OFFSET             -13
+#define CL_SUCCESS 0
+#define CL_DEVICE_NOT_FOUND -1
+#define CL_DEVICE_NOT_AVAILABLE -2
+#define CL_COMPILER_NOT_AVAILABLE -3
+#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4
+#define CL_OUT_OF_RESOURCES -5
+#define CL_OUT_OF_HOST_MEMORY -6
+#define CL_PROFILING_INFO_NOT_AVAILABLE -7
+#define CL_MEM_COPY_OVERLAP -8
+#define CL_IMAGE_FORMAT_MISMATCH -9
+#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10
+#define CL_BUILD_PROGRAM_FAILURE -11
+#define CL_MAP_FAILURE -12
+#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13
 #define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
 
-#define CL_INVALID_VALUE                            -30
-#define CL_INVALID_DEVICE_TYPE                      -31
-#define CL_INVALID_PLATFORM                         -32
-#define CL_INVALID_DEVICE                           -33
-#define CL_INVALID_CONTEXT                          -34
-#define CL_INVALID_QUEUE_PROPERTIES                 -35
-#define CL_INVALID_COMMAND_QUEUE                    -36
-#define CL_INVALID_HOST_PTR                         -37
-#define CL_INVALID_MEM_OBJECT                       -38
-#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR          -39
-#define CL_INVALID_IMAGE_SIZE                       -40
-#define CL_INVALID_SAMPLER                          -41
-#define CL_INVALID_BINARY                           -42
-#define CL_INVALID_BUILD_OPTIONS                    -43
-#define CL_INVALID_PROGRAM                          -44
-#define CL_INVALID_PROGRAM_EXECUTABLE               -45
-#define CL_INVALID_KERNEL_NAME                      -46
-#define CL_INVALID_KERNEL_DEFINITION                -47
-#define CL_INVALID_KERNEL                           -48
-#define CL_INVALID_ARG_INDEX                        -49
-#define CL_INVALID_ARG_VALUE                        -50
-#define CL_INVALID_ARG_SIZE                         -51
-#define CL_INVALID_KERNEL_ARGS                      -52
-#define CL_INVALID_WORK_DIMENSION                   -53
-#define CL_INVALID_WORK_GROUP_SIZE                  -54
-#define CL_INVALID_WORK_ITEM_SIZE                   -55
-#define CL_INVALID_GLOBAL_OFFSET                    -56
-#define CL_INVALID_EVENT_WAIT_LIST                  -57
-#define CL_INVALID_EVENT                            -58
-#define CL_INVALID_OPERATION                        -59
-#define CL_INVALID_GL_OBJECT                        -60
-#define CL_INVALID_BUFFER_SIZE                      -61
-#define CL_INVALID_MIP_LEVEL                        -62
-#define CL_INVALID_GLOBAL_WORK_SIZE                 -63
-#define CL_INVALID_PROPERTY                         -64
+#define CL_INVALID_VALUE -30
+#define CL_INVALID_DEVICE_TYPE -31
+#define CL_INVALID_PLATFORM -32
+#define CL_INVALID_DEVICE -33
+#define CL_INVALID_CONTEXT -34
+#define CL_INVALID_QUEUE_PROPERTIES -35
+#define CL_INVALID_COMMAND_QUEUE -36
+#define CL_INVALID_HOST_PTR -37
+#define CL_INVALID_MEM_OBJECT -38
+#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39
+#define CL_INVALID_IMAGE_SIZE -40
+#define CL_INVALID_SAMPLER -41
+#define CL_INVALID_BINARY -42
+#define CL_INVALID_BUILD_OPTIONS -43
+#define CL_INVALID_PROGRAM -44
+#define CL_INVALID_PROGRAM_EXECUTABLE -45
+#define CL_INVALID_KERNEL_NAME -46
+#define CL_INVALID_KERNEL_DEFINITION -47
+#define CL_INVALID_KERNEL -48
+#define CL_INVALID_ARG_INDEX -49
+#define CL_INVALID_ARG_VALUE -50
+#define CL_INVALID_ARG_SIZE -51
+#define CL_INVALID_KERNEL_ARGS -52
+#define CL_INVALID_WORK_DIMENSION -53
+#define CL_INVALID_WORK_GROUP_SIZE -54
+#define CL_INVALID_WORK_ITEM_SIZE -55
+#define CL_INVALID_GLOBAL_OFFSET -56
+#define CL_INVALID_EVENT_WAIT_LIST -57
+#define CL_INVALID_EVENT -58
+#define CL_INVALID_OPERATION -59
+#define CL_INVALID_GL_OBJECT -60
+#define CL_INVALID_BUFFER_SIZE -61
+#define CL_INVALID_MIP_LEVEL -62
+#define CL_INVALID_GLOBAL_WORK_SIZE -63
+#define CL_INVALID_PROPERTY -64
 
 /* OpenCL Version */
-#define CL_VERSION_1_0                              1
-#define CL_VERSION_1_1                              1
+#define CL_VERSION_1_0 1
+#define CL_VERSION_1_1 1
 
 /* cl_bool */
-#define CL_FALSE                                    0
-#define CL_TRUE                                     1
+#define CL_FALSE 0
+#define CL_TRUE 1
 
 /* cl_platform_info */
-#define CL_PLATFORM_PROFILE                         0x0900
-#define CL_PLATFORM_VERSION                         0x0901
-#define CL_PLATFORM_NAME                            0x0902
-#define CL_PLATFORM_VENDOR                          0x0903
-#define CL_PLATFORM_EXTENSIONS                      0x0904
+#define CL_PLATFORM_PROFILE 0x0900
+#define CL_PLATFORM_VERSION 0x0901
+#define CL_PLATFORM_NAME 0x0902
+#define CL_PLATFORM_VENDOR 0x0903
+#define CL_PLATFORM_EXTENSIONS 0x0904
 
 /* cl_device_type - bitfield */
-#define CL_DEVICE_TYPE_DEFAULT                      (1 << 0)
-#define CL_DEVICE_TYPE_CPU                          (1 << 1)
-#define CL_DEVICE_TYPE_GPU                          (1 << 2)
-#define CL_DEVICE_TYPE_ACCELERATOR                  (1 << 3)
-#define CL_DEVICE_TYPE_ALL                          0xFFFFFFFF
+#define CL_DEVICE_TYPE_DEFAULT (1 << 0)
+#define CL_DEVICE_TYPE_CPU (1 << 1)
+#define CL_DEVICE_TYPE_GPU (1 << 2)
+#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3)
+#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF
 
 /* cl_device_info */
-#define CL_DEVICE_TYPE                              0x1000
-#define CL_DEVICE_VENDOR_ID                         0x1001
-#define CL_DEVICE_MAX_COMPUTE_UNITS                 0x1002
-#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS          0x1003
-#define CL_DEVICE_MAX_WORK_GROUP_SIZE               0x1004
-#define CL_DEVICE_MAX_WORK_ITEM_SIZES               0x1005
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR       0x1006
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT      0x1007
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT        0x1008
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG       0x1009
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT      0x100A
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE     0x100B
-#define CL_DEVICE_MAX_CLOCK_FREQUENCY               0x100C
-#define CL_DEVICE_ADDRESS_BITS                      0x100D
-#define CL_DEVICE_MAX_READ_IMAGE_ARGS               0x100E
-#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS              0x100F
-#define CL_DEVICE_MAX_MEM_ALLOC_SIZE                0x1010
-#define CL_DEVICE_IMAGE2D_MAX_WIDTH                 0x1011
-#define CL_DEVICE_IMAGE2D_MAX_HEIGHT                0x1012
-#define CL_DEVICE_IMAGE3D_MAX_WIDTH                 0x1013
-#define CL_DEVICE_IMAGE3D_MAX_HEIGHT                0x1014
-#define CL_DEVICE_IMAGE3D_MAX_DEPTH                 0x1015
-#define CL_DEVICE_IMAGE_SUPPORT                     0x1016
-#define CL_DEVICE_MAX_PARAMETER_SIZE                0x1017
-#define CL_DEVICE_MAX_SAMPLERS                      0x1018
-#define CL_DEVICE_MEM_BASE_ADDR_ALIGN               0x1019
-#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE          0x101A
-#define CL_DEVICE_SINGLE_FP_CONFIG                  0x101B
-#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE             0x101C
-#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE         0x101D
-#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE             0x101E
-#define CL_DEVICE_GLOBAL_MEM_SIZE                   0x101F
-#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE          0x1020
-#define CL_DEVICE_MAX_CONSTANT_ARGS                 0x1021
-#define CL_DEVICE_LOCAL_MEM_TYPE                    0x1022
-#define CL_DEVICE_LOCAL_MEM_SIZE                    0x1023
-#define CL_DEVICE_ERROR_CORRECTION_SUPPORT          0x1024
-#define CL_DEVICE_PROFILING_TIMER_RESOLUTION        0x1025
-#define CL_DEVICE_ENDIAN_LITTLE                     0x1026
-#define CL_DEVICE_AVAILABLE                         0x1027
-#define CL_DEVICE_COMPILER_AVAILABLE                0x1028
-#define CL_DEVICE_EXECUTION_CAPABILITIES            0x1029
-#define CL_DEVICE_QUEUE_PROPERTIES                  0x102A
-#define CL_DEVICE_NAME                              0x102B
-#define CL_DEVICE_VENDOR                            0x102C
-#define CL_DRIVER_VERSION                           0x102D
-#define CL_DEVICE_PROFILE                           0x102E
-#define CL_DEVICE_VERSION                           0x102F
-#define CL_DEVICE_EXTENSIONS                        0x1030
-#define CL_DEVICE_PLATFORM                          0x1031
+#define CL_DEVICE_TYPE 0x1000
+#define CL_DEVICE_VENDOR_ID 0x1001
+#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002
+#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003
+#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004
+#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B
+#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C
+#define CL_DEVICE_ADDRESS_BITS 0x100D
+#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E
+#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F
+#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010
+#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011
+#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012
+#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013
+#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014
+#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015
+#define CL_DEVICE_IMAGE_SUPPORT 0x1016
+#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017
+#define CL_DEVICE_MAX_SAMPLERS 0x1018
+#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019
+#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A
+#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B
+#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C
+#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D
+#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E
+#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F
+#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020
+#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021
+#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022
+#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023
+#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024
+#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025
+#define CL_DEVICE_ENDIAN_LITTLE 0x1026
+#define CL_DEVICE_AVAILABLE 0x1027
+#define CL_DEVICE_COMPILER_AVAILABLE 0x1028
+#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029
+#define CL_DEVICE_QUEUE_PROPERTIES 0x102A
+#define CL_DEVICE_NAME 0x102B
+#define CL_DEVICE_VENDOR 0x102C
+#define CL_DRIVER_VERSION 0x102D
+#define CL_DEVICE_PROFILE 0x102E
+#define CL_DEVICE_VERSION 0x102F
+#define CL_DEVICE_EXTENSIONS 0x1030
+#define CL_DEVICE_PLATFORM 0x1031
 /* 0x1032 reserved for CL_DEVICE_DOUBLE_FP_CONFIG */
 /* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF       0x1034
-#define CL_DEVICE_HOST_UNIFIED_MEMORY               0x1035
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR          0x1036
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT         0x1037
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT           0x1038
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG          0x1039
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT         0x103A
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE        0x103B
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF          0x103C
-#define CL_DEVICE_OPENCL_C_VERSION                  0x103D
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034
+#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C
+#define CL_DEVICE_OPENCL_C_VERSION 0x103D
 
 /* cl_device_fp_config - bitfield */
-#define CL_FP_DENORM                                (1 << 0)
-#define CL_FP_INF_NAN                               (1 << 1)
-#define CL_FP_ROUND_TO_NEAREST                      (1 << 2)
-#define CL_FP_ROUND_TO_ZERO                         (1 << 3)
-#define CL_FP_ROUND_TO_INF                          (1 << 4)
-#define CL_FP_FMA                                   (1 << 5)
-#define CL_FP_SOFT_FLOAT                            (1 << 6)
+#define CL_FP_DENORM (1 << 0)
+#define CL_FP_INF_NAN (1 << 1)
+#define CL_FP_ROUND_TO_NEAREST (1 << 2)
+#define CL_FP_ROUND_TO_ZERO (1 << 3)
+#define CL_FP_ROUND_TO_INF (1 << 4)
+#define CL_FP_FMA (1 << 5)
+#define CL_FP_SOFT_FLOAT (1 << 6)
 
 /* cl_device_mem_cache_type */
-#define CL_NONE                                     0x0
-#define CL_READ_ONLY_CACHE                          0x1
-#define CL_READ_WRITE_CACHE                         0x2
+#define CL_NONE 0x0
+#define CL_READ_ONLY_CACHE 0x1
+#define CL_READ_WRITE_CACHE 0x2
 
 /* cl_device_local_mem_type */
-#define CL_LOCAL                                    0x1
-#define CL_GLOBAL                                   0x2
+#define CL_LOCAL 0x1
+#define CL_GLOBAL 0x2
 
 /* cl_device_exec_capabilities - bitfield */
-#define CL_EXEC_KERNEL                              (1 << 0)
-#define CL_EXEC_NATIVE_KERNEL                       (1 << 1)
+#define CL_EXEC_KERNEL (1 << 0)
+#define CL_EXEC_NATIVE_KERNEL (1 << 1)
 
 /* cl_command_queue_properties - bitfield */
-#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE      (1 << 0)
-#define CL_QUEUE_PROFILING_ENABLE                   (1 << 1)
+#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0)
+#define CL_QUEUE_PROFILING_ENABLE (1 << 1)
 
 /* cl_context_info  */
-#define CL_CONTEXT_REFERENCE_COUNT                  0x1080
-#define CL_CONTEXT_DEVICES                          0x1081
-#define CL_CONTEXT_PROPERTIES                       0x1082
-#define CL_CONTEXT_NUM_DEVICES                      0x1083
+#define CL_CONTEXT_REFERENCE_COUNT 0x1080
+#define CL_CONTEXT_DEVICES 0x1081
+#define CL_CONTEXT_PROPERTIES 0x1082
+#define CL_CONTEXT_NUM_DEVICES 0x1083
 
 /* cl_context_info + cl_context_properties */
-#define CL_CONTEXT_PLATFORM                         0x1084
+#define CL_CONTEXT_PLATFORM 0x1084
 
 /* cl_command_queue_info */
-#define CL_QUEUE_CONTEXT                            0x1090
-#define CL_QUEUE_DEVICE                             0x1091
-#define CL_QUEUE_REFERENCE_COUNT                    0x1092
-#define CL_QUEUE_PROPERTIES                         0x1093
+#define CL_QUEUE_CONTEXT 0x1090
+#define CL_QUEUE_DEVICE 0x1091
+#define CL_QUEUE_REFERENCE_COUNT 0x1092
+#define CL_QUEUE_PROPERTIES 0x1093
 
 /* cl_mem_flags - bitfield */
-#define CL_MEM_READ_WRITE                           (1 << 0)
-#define CL_MEM_WRITE_ONLY                           (1 << 1)
-#define CL_MEM_READ_ONLY                            (1 << 2)
-#define CL_MEM_USE_HOST_PTR                         (1 << 3)
-#define CL_MEM_ALLOC_HOST_PTR                       (1 << 4)
-#define CL_MEM_COPY_HOST_PTR                        (1 << 5)
+#define CL_MEM_READ_WRITE (1 << 0)
+#define CL_MEM_WRITE_ONLY (1 << 1)
+#define CL_MEM_READ_ONLY (1 << 2)
+#define CL_MEM_USE_HOST_PTR (1 << 3)
+#define CL_MEM_ALLOC_HOST_PTR (1 << 4)
+#define CL_MEM_COPY_HOST_PTR (1 << 5)
 
 /* cl_channel_order */
-#define CL_R                                        0x10B0
-#define CL_A                                        0x10B1
-#define CL_RG                                       0x10B2
-#define CL_RA                                       0x10B3
-#define CL_RGB                                      0x10B4
-#define CL_RGBA                                     0x10B5
-#define CL_BGRA                                     0x10B6
-#define CL_ARGB                                     0x10B7
-#define CL_INTENSITY                                0x10B8
-#define CL_LUMINANCE                                0x10B9
-#define CL_Rx                                       0x10BA
-#define CL_RGx                                      0x10BB
-#define CL_RGBx                                     0x10BC
+#define CL_R 0x10B0
+#define CL_A 0x10B1
+#define CL_RG 0x10B2
+#define CL_RA 0x10B3
+#define CL_RGB 0x10B4
+#define CL_RGBA 0x10B5
+#define CL_BGRA 0x10B6
+#define CL_ARGB 0x10B7
+#define CL_INTENSITY 0x10B8
+#define CL_LUMINANCE 0x10B9
+#define CL_Rx 0x10BA
+#define CL_RGx 0x10BB
+#define CL_RGBx 0x10BC
 
 /* cl_channel_type */
-#define CL_SNORM_INT8                               0x10D0
-#define CL_SNORM_INT16                              0x10D1
-#define CL_UNORM_INT8                               0x10D2
-#define CL_UNORM_INT16                              0x10D3
-#define CL_UNORM_SHORT_565                          0x10D4
-#define CL_UNORM_SHORT_555                          0x10D5
-#define CL_UNORM_INT_101010                         0x10D6
-#define CL_SIGNED_INT8                              0x10D7
-#define CL_SIGNED_INT16                             0x10D8
-#define CL_SIGNED_INT32                             0x10D9
-#define CL_UNSIGNED_INT8                            0x10DA
-#define CL_UNSIGNED_INT16                           0x10DB
-#define CL_UNSIGNED_INT32                           0x10DC
-#define CL_HALF_FLOAT                               0x10DD
-#define CL_FLOAT                                    0x10DE
+#define CL_SNORM_INT8 0x10D0
+#define CL_SNORM_INT16 0x10D1
+#define CL_UNORM_INT8 0x10D2
+#define CL_UNORM_INT16 0x10D3
+#define CL_UNORM_SHORT_565 0x10D4
+#define CL_UNORM_SHORT_555 0x10D5
+#define CL_UNORM_INT_101010 0x10D6
+#define CL_SIGNED_INT8 0x10D7
+#define CL_SIGNED_INT16 0x10D8
+#define CL_SIGNED_INT32 0x10D9
+#define CL_UNSIGNED_INT8 0x10DA
+#define CL_UNSIGNED_INT16 0x10DB
+#define CL_UNSIGNED_INT32 0x10DC
+#define CL_HALF_FLOAT 0x10DD
+#define CL_FLOAT 0x10DE
 
 /* cl_mem_object_type */
-#define CL_MEM_OBJECT_BUFFER                        0x10F0
-#define CL_MEM_OBJECT_IMAGE2D                       0x10F1
-#define CL_MEM_OBJECT_IMAGE3D                       0x10F2
+#define CL_MEM_OBJECT_BUFFER 0x10F0
+#define CL_MEM_OBJECT_IMAGE2D 0x10F1
+#define CL_MEM_OBJECT_IMAGE3D 0x10F2
 
 /* cl_mem_info */
-#define CL_MEM_TYPE                                 0x1100
-#define CL_MEM_FLAGS                                0x1101
-#define CL_MEM_SIZE                                 0x1102
-#define CL_MEM_HOST_PTR                             0x1103
-#define CL_MEM_MAP_COUNT                            0x1104
-#define CL_MEM_REFERENCE_COUNT                      0x1105
-#define CL_MEM_CONTEXT                              0x1106
-#define CL_MEM_ASSOCIATED_MEMOBJECT                 0x1107
-#define CL_MEM_OFFSET                               0x1108
+#define CL_MEM_TYPE 0x1100
+#define CL_MEM_FLAGS 0x1101
+#define CL_MEM_SIZE 0x1102
+#define CL_MEM_HOST_PTR 0x1103
+#define CL_MEM_MAP_COUNT 0x1104
+#define CL_MEM_REFERENCE_COUNT 0x1105
+#define CL_MEM_CONTEXT 0x1106
+#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107
+#define CL_MEM_OFFSET 0x1108
 
 /* cl_image_info */
-#define CL_IMAGE_FORMAT                             0x1110
-#define CL_IMAGE_ELEMENT_SIZE                       0x1111
-#define CL_IMAGE_ROW_PITCH                          0x1112
-#define CL_IMAGE_SLICE_PITCH                        0x1113
-#define CL_IMAGE_WIDTH                              0x1114
-#define CL_IMAGE_HEIGHT                             0x1115
-#define CL_IMAGE_DEPTH                              0x1116
+#define CL_IMAGE_FORMAT 0x1110
+#define CL_IMAGE_ELEMENT_SIZE 0x1111
+#define CL_IMAGE_ROW_PITCH 0x1112
+#define CL_IMAGE_SLICE_PITCH 0x1113
+#define CL_IMAGE_WIDTH 0x1114
+#define CL_IMAGE_HEIGHT 0x1115
+#define CL_IMAGE_DEPTH 0x1116
 
 /* cl_addressing_mode */
-#define CL_ADDRESS_NONE                             0x1130
-#define CL_ADDRESS_CLAMP_TO_EDGE                    0x1131
-#define CL_ADDRESS_CLAMP                            0x1132
-#define CL_ADDRESS_REPEAT                           0x1133
-#define CL_ADDRESS_MIRRORED_REPEAT                  0x1134
+#define CL_ADDRESS_NONE 0x1130
+#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131
+#define CL_ADDRESS_CLAMP 0x1132
+#define CL_ADDRESS_REPEAT 0x1133
+#define CL_ADDRESS_MIRRORED_REPEAT 0x1134
 
 /* cl_filter_mode */
-#define CL_FILTER_NEAREST                           0x1140
-#define CL_FILTER_LINEAR                            0x1141
+#define CL_FILTER_NEAREST 0x1140
+#define CL_FILTER_LINEAR 0x1141
 
 /* cl_sampler_info */
-#define CL_SAMPLER_REFERENCE_COUNT                  0x1150
-#define CL_SAMPLER_CONTEXT                          0x1151
-#define CL_SAMPLER_NORMALIZED_COORDS                0x1152
-#define CL_SAMPLER_ADDRESSING_MODE                  0x1153
-#define CL_SAMPLER_FILTER_MODE                      0x1154
+#define CL_SAMPLER_REFERENCE_COUNT 0x1150
+#define CL_SAMPLER_CONTEXT 0x1151
+#define CL_SAMPLER_NORMALIZED_COORDS 0x1152
+#define CL_SAMPLER_ADDRESSING_MODE 0x1153
+#define CL_SAMPLER_FILTER_MODE 0x1154
 
 /* cl_map_flags - bitfield */
-#define CL_MAP_READ                                 (1 << 0)
-#define CL_MAP_WRITE                                (1 << 1)
+#define CL_MAP_READ (1 << 0)
+#define CL_MAP_WRITE (1 << 1)
 
 /* cl_program_info */
-#define CL_PROGRAM_REFERENCE_COUNT                  0x1160
-#define CL_PROGRAM_CONTEXT                          0x1161
-#define CL_PROGRAM_NUM_DEVICES                      0x1162
-#define CL_PROGRAM_DEVICES                          0x1163
-#define CL_PROGRAM_SOURCE                           0x1164
-#define CL_PROGRAM_BINARY_SIZES                     0x1165
-#define CL_PROGRAM_BINARIES                         0x1166
+#define CL_PROGRAM_REFERENCE_COUNT 0x1160
+#define CL_PROGRAM_CONTEXT 0x1161
+#define CL_PROGRAM_NUM_DEVICES 0x1162
+#define CL_PROGRAM_DEVICES 0x1163
+#define CL_PROGRAM_SOURCE 0x1164
+#define CL_PROGRAM_BINARY_SIZES 0x1165
+#define CL_PROGRAM_BINARIES 0x1166
 
 /* cl_program_build_info */
-#define CL_PROGRAM_BUILD_STATUS                     0x1181
-#define CL_PROGRAM_BUILD_OPTIONS                    0x1182
-#define CL_PROGRAM_BUILD_LOG                        0x1183
+#define CL_PROGRAM_BUILD_STATUS 0x1181
+#define CL_PROGRAM_BUILD_OPTIONS 0x1182
+#define CL_PROGRAM_BUILD_LOG 0x1183
 
 /* cl_build_status */
-#define CL_BUILD_SUCCESS                            0
-#define CL_BUILD_NONE                               -1
-#define CL_BUILD_ERROR                              -2
-#define CL_BUILD_IN_PROGRESS                        -3
+#define CL_BUILD_SUCCESS 0
+#define CL_BUILD_NONE -1
+#define CL_BUILD_ERROR -2
+#define CL_BUILD_IN_PROGRESS -3
 
 /* cl_kernel_info */
-#define CL_KERNEL_FUNCTION_NAME                     0x1190
-#define CL_KERNEL_NUM_ARGS                          0x1191
-#define CL_KERNEL_REFERENCE_COUNT                   0x1192
-#define CL_KERNEL_CONTEXT                           0x1193
-#define CL_KERNEL_PROGRAM                           0x1194
+#define CL_KERNEL_FUNCTION_NAME 0x1190
+#define CL_KERNEL_NUM_ARGS 0x1191
+#define CL_KERNEL_REFERENCE_COUNT 0x1192
+#define CL_KERNEL_CONTEXT 0x1193
+#define CL_KERNEL_PROGRAM 0x1194
 
 /* cl_kernel_work_group_info */
-#define CL_KERNEL_WORK_GROUP_SIZE                   0x11B0
-#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE           0x11B1
-#define CL_KERNEL_LOCAL_MEM_SIZE                    0x11B2
+#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0
+#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1
+#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2
 #define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
-#define CL_KERNEL_PRIVATE_MEM_SIZE                  0x11B4
+#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4
 
 /* cl_event_info  */
-#define CL_EVENT_COMMAND_QUEUE                      0x11D0
-#define CL_EVENT_COMMAND_TYPE                       0x11D1
-#define CL_EVENT_REFERENCE_COUNT                    0x11D2
-#define CL_EVENT_COMMAND_EXECUTION_STATUS           0x11D3
-#define CL_EVENT_CONTEXT                            0x11D4
+#define CL_EVENT_COMMAND_QUEUE 0x11D0
+#define CL_EVENT_COMMAND_TYPE 0x11D1
+#define CL_EVENT_REFERENCE_COUNT 0x11D2
+#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3
+#define CL_EVENT_CONTEXT 0x11D4
 
 /* cl_command_type */
-#define CL_COMMAND_NDRANGE_KERNEL                   0x11F0
-#define CL_COMMAND_TASK                             0x11F1
-#define CL_COMMAND_NATIVE_KERNEL                    0x11F2
-#define CL_COMMAND_READ_BUFFER                      0x11F3
-#define CL_COMMAND_WRITE_BUFFER                     0x11F4
-#define CL_COMMAND_COPY_BUFFER                      0x11F5
-#define CL_COMMAND_READ_IMAGE                       0x11F6
-#define CL_COMMAND_WRITE_IMAGE                      0x11F7
-#define CL_COMMAND_COPY_IMAGE                       0x11F8
-#define CL_COMMAND_COPY_IMAGE_TO_BUFFER             0x11F9
-#define CL_COMMAND_COPY_BUFFER_TO_IMAGE             0x11FA
-#define CL_COMMAND_MAP_BUFFER                       0x11FB
-#define CL_COMMAND_MAP_IMAGE                        0x11FC
-#define CL_COMMAND_UNMAP_MEM_OBJECT                 0x11FD
-#define CL_COMMAND_MARKER                           0x11FE
-#define CL_COMMAND_ACQUIRE_GL_OBJECTS               0x11FF
-#define CL_COMMAND_RELEASE_GL_OBJECTS               0x1200
-#define CL_COMMAND_READ_BUFFER_RECT                 0x1201
-#define CL_COMMAND_WRITE_BUFFER_RECT                0x1202
-#define CL_COMMAND_COPY_BUFFER_RECT                 0x1203
-#define CL_COMMAND_USER                             0x1204
+#define CL_COMMAND_NDRANGE_KERNEL 0x11F0
+#define CL_COMMAND_TASK 0x11F1
+#define CL_COMMAND_NATIVE_KERNEL 0x11F2
+#define CL_COMMAND_READ_BUFFER 0x11F3
+#define CL_COMMAND_WRITE_BUFFER 0x11F4
+#define CL_COMMAND_COPY_BUFFER 0x11F5
+#define CL_COMMAND_READ_IMAGE 0x11F6
+#define CL_COMMAND_WRITE_IMAGE 0x11F7
+#define CL_COMMAND_COPY_IMAGE 0x11F8
+#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9
+#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA
+#define CL_COMMAND_MAP_BUFFER 0x11FB
+#define CL_COMMAND_MAP_IMAGE 0x11FC
+#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD
+#define CL_COMMAND_MARKER 0x11FE
+#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF
+#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200
+#define CL_COMMAND_READ_BUFFER_RECT 0x1201
+#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202
+#define CL_COMMAND_COPY_BUFFER_RECT 0x1203
+#define CL_COMMAND_USER 0x1204
 
 /* command execution status */
-#define CL_COMPLETE                                 0x0
-#define CL_RUNNING                                  0x1
-#define CL_SUBMITTED                                0x2
-#define CL_QUEUED                                   0x3
-  
+#define CL_COMPLETE 0x0
+#define CL_RUNNING 0x1
+#define CL_SUBMITTED 0x2
+#define CL_QUEUED 0x3
+
 /* cl_buffer_create_type  */
-#define CL_BUFFER_CREATE_TYPE_REGION                0x1220
+#define CL_BUFFER_CREATE_TYPE_REGION 0x1220
 
 /* cl_profiling_info  */
-#define CL_PROFILING_COMMAND_QUEUED                 0x1280
-#define CL_PROFILING_COMMAND_SUBMIT                 0x1281
-#define CL_PROFILING_COMMAND_START                  0x1282
-#define CL_PROFILING_COMMAND_END                    0x1283
-
-/********************************************************************************************************/
-
-/********************************************************************************************************/
-
-/*  Function signature typedef's */
-
-/* Platform API */
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETPLATFORMIDS)(cl_uint          /* num_entries */,
-                 cl_platform_id * /* platforms */,
-                 cl_uint *        /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL * 
-PFNCLGETPLATFORMINFO)(cl_platform_id   /* platform */, 
-                  cl_platform_info /* param_name */,
-                  size_t           /* param_value_size */, 
-                  void *           /* param_value */,
-                  size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Device APIs */
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETDEVICEIDS)(cl_platform_id   /* platform */,
-               cl_device_type   /* device_type */, 
-               cl_uint          /* num_entries */, 
-               cl_device_id *   /* devices */, 
-               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETDEVICEINFO)(cl_device_id    /* device */,
-                cl_device_info  /* param_name */, 
-                size_t          /* param_value_size */, 
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-// Context APIs  
-typedef CL_API_ENTRY cl_context (CL_API_CALL *
-PFNCLCREATECONTEXT)(const cl_context_properties * /* properties */,
-                cl_uint                       /* num_devices */,
-                const cl_device_id *          /* devices */,
-                void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
-                void *                        /* user_data */,
-                cl_int *                      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_context (CL_API_CALL *
-PFNCLCREATECONTEXTFROMTYPE)(const cl_context_properties * /* properties */,
-                        cl_device_type                /* device_type */,
-                        void (CL_CALLBACK *     /* pfn_notify*/ )(const char *, const void *, size_t, void *),
-                        void *                        /* user_data */,
-                        cl_int *                      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINCONTEXT)(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASECONTEXT)(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETCONTEXTINFO)(cl_context         /* context */, 
-                 cl_context_info    /* param_name */, 
-                 size_t             /* param_value_size */, 
-                 void *             /* param_value */, 
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Command Queue APIs */
-typedef CL_API_ENTRY cl_command_queue (CL_API_CALL *
-PFNCLCREATECOMMANDQUEUE)(cl_context                     /* context */, 
-                     cl_device_id                   /* device */, 
-                     cl_command_queue_properties    /* properties */,
-                     cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINCOMMANDQUEUE)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASECOMMANDQUEUE)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETCOMMANDQUEUEINFO)(cl_command_queue      /* command_queue */,
-                      cl_command_queue_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLSETCOMMANDQUEUEPROPERTY)(cl_command_queue              /* command_queue */,
-                          cl_command_queue_properties   /* properties */, 
-                          cl_bool                        /* enable */,
-                          cl_command_queue_properties * /* old_properties */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Memory Object APIs */
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *
-PFNCLCREATEBUFFER)(cl_context   /* context */,
-               cl_mem_flags /* flags */,
-               size_t       /* size */,
-               void *       /* host_ptr */,
-               cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *
-PFNCLCREATESUBBUFFER)(cl_mem   			/* buffer */,
-               cl_mem_flags 			/* flags */,
-               cl_buffer_create_type    /* buffer_create_type */,
-               const void *       		/* buffer_create_info */,
-               cl_int *     			/* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *
-PFNCLCREATEIMAGE2D)(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */,
-                size_t                  /* image_height */,
-                size_t                  /* image_row_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *
-PFNCLCREATEIMAGE3D)(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */, 
-                size_t                  /* image_height */,
-                size_t                  /* image_depth */, 
-                size_t                  /* image_row_pitch */, 
-                size_t                  /* image_slice_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINMEMOBJECT)(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASEMEMOBJECT)(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETSUPPORTEDIMAGEFORMATS)(cl_context           /* context */,
-                           cl_mem_flags         /* flags */,
-                           cl_mem_object_type   /* image_type */,
-                           cl_uint              /* num_entries */,
-                           cl_image_format *    /* image_formats */,
-                           cl_uint *            /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETMEMOBJECTINFO)(cl_mem           /* memobj */,
-                   cl_mem_info      /* param_name */, 
-                   size_t           /* param_value_size */,
-                   void *           /* param_value */,
-                   size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETIMAGEINFO)(cl_mem           /* image */,
-               cl_image_info    /* param_name */, 
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLSETMEMOBJECTDESTRUCTORCALLBACK)(  cl_mem /* memobj */, 
-                                    void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), 
-                                    void * /*user_data */ )             CL_API_SUFFIX__VERSION_1_1;  
-
-/* Sampler APIs  */
-typedef CL_API_ENTRY cl_sampler (CL_API_CALL *
-PFNCLCREATESAMPLER)(cl_context          /* context */,
-                cl_bool             /* normalized_coords */, 
-                cl_addressing_mode  /* addressing_mode */, 
-                cl_filter_mode      /* filter_mode */,
-                cl_int *            /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINSAMPLER)(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASESAMPLER)(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETSAMPLERINFO)(cl_sampler         /* sampler */,
-                 cl_sampler_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
- 
-/* Program Object APIs  */
-typedef CL_API_ENTRY cl_program (CL_API_CALL *
-PFNCLCREATEPROGRAMWITHSOURCE)(cl_context        /* context */,
-                          cl_uint           /* count */,
-                          const char **     /* strings */,
-                          const size_t *    /* lengths */,
-                          cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_program (CL_API_CALL *
-PFNCLCREATEPROGRAMWITHBINARY)(cl_context                     /* context */,
-                          cl_uint                        /* num_devices */,
-                          const cl_device_id *           /* device_list */,
-                          const size_t *                 /* lengths */,
-                          const unsigned char **         /* binaries */,
-                          cl_int *                       /* binary_status */,
-                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINPROGRAM)(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASEPROGRAM)(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLBUILDPROGRAM)(cl_program           /* program */,
-               cl_uint              /* num_devices */,
-               const cl_device_id * /* device_list */,
-               const char *         /* options */, 
-               void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLUNLOADCOMPILER)(void) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETPROGRAMINFO)(cl_program         /* program */,
-                 cl_program_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETPROGRAMBUILDINFO)(cl_program            /* program */,
-                      cl_device_id          /* device */,
-                      cl_program_build_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Kernel Object APIs */
-typedef CL_API_ENTRY cl_kernel (CL_API_CALL *
-PFNCLCREATEKERNEL)(cl_program      /* program */,
-               const char *    /* kernel_name */,
-               cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLCREATEKERNELSINPROGRAM)(cl_program     /* program */,
-                         cl_uint        /* num_kernels */,
-                         cl_kernel *    /* kernels */,
-                         cl_uint *      /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINKERNEL)(cl_kernel    /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASEKERNEL)(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLSETKERNELARG)(cl_kernel    /* kernel */,
-               cl_uint      /* arg_index */,
-               size_t       /* arg_size */,
-               const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETKERNELINFO)(cl_kernel       /* kernel */,
-                cl_kernel_info  /* param_name */,
-                size_t          /* param_value_size */,
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETKERNELWORKGROUPINFO)(cl_kernel                  /* kernel */,
-                         cl_device_id               /* device */,
-                         cl_kernel_work_group_info  /* param_name */,
-                         size_t                     /* param_value_size */,
-                         void *                     /* param_value */,
-                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-// Event Object APIs
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLWAITFOREVENTS)(cl_uint             /* num_events */,
-                const cl_event *    /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETEVENTINFO)(cl_event         /* event */,
-               cl_event_info    /* param_name */,
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_event (CL_API_CALL *
-PFNCLCREATEUSEREVENT)(cl_context    /* context */,
-                  	  cl_int *      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;               
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRETAINEVENT)(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLRELEASEEVENT)(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLSETUSEREVENTSTATUS)(cl_event   /* event */,
-                     cl_int     /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
-                     
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLSETEVENTCALLBACK)( cl_event    /* event */,
-                    cl_int      /* command_exec_callback_type */,
-                    void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
-                    void *      /* user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-/* Profiling APIs  */
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLGETEVENTPROFILINGINFO)(cl_event            /* event */,
-                        cl_profiling_info   /* param_name */,
-                        size_t              /* param_value_size */,
-                        void *              /* param_value */,
-                        size_t *            /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-// Flush and Finish APIs
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLFLUSH)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLFINISH)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Enqueued Commands APIs */
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEREADBUFFER)(cl_command_queue    /* command_queue */,
-                    cl_mem              /* buffer */,
-                    cl_bool             /* blocking_read */,
-                    size_t              /* offset */,
-                    size_t              /* cb */, 
-                    void *              /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEREADBUFFERRECT)(cl_command_queue    /* command_queue */,
-                        cl_mem              /* buffer */,
-                        cl_bool             /* blocking_read */,
-                        const size_t *      /* buffer_origin */,
-                        const size_t *      /* host_origin */, 
-                        const size_t *      /* region */,
-                        size_t              /* buffer_row_pitch */,
-                        size_t              /* buffer_slice_pitch */,
-                        size_t              /* host_row_pitch */,
-                        size_t              /* host_slice_pitch */,                        
-                        void *              /* ptr */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEWRITEBUFFER)(cl_command_queue   /* command_queue */, 
-                     cl_mem             /* buffer */, 
-                     cl_bool            /* blocking_write */, 
-                     size_t             /* offset */, 
-                     size_t             /* cb */, 
-                     const void *       /* ptr */, 
-                     cl_uint            /* num_events_in_wait_list */, 
-                     const cl_event *   /* event_wait_list */, 
-                     cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEWRITEBUFFERRECT)(cl_command_queue    /* command_queue */,
-                         cl_mem              /* buffer */,
-                         cl_bool             /* blocking_write */,
-                         const size_t *      /* buffer_origin */,
-                         const size_t *      /* host_origin */, 
-                         const size_t *      /* region */,
-                         size_t              /* buffer_row_pitch */,
-                         size_t              /* buffer_slice_pitch */,
-                         size_t              /* host_row_pitch */,
-                         size_t              /* host_slice_pitch */,                        
-                         const void *        /* ptr */,
-                         cl_uint             /* num_events_in_wait_list */,
-                         const cl_event *    /* event_wait_list */,
-                         cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUECOPYBUFFER)(cl_command_queue    /* command_queue */, 
-                    cl_mem              /* src_buffer */,
-                    cl_mem              /* dst_buffer */, 
-                    size_t              /* src_offset */,
-                    size_t              /* dst_offset */,
-                    size_t              /* cb */, 
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUECOPYBUFFERRECT)(cl_command_queue    /* command_queue */, 
-                        cl_mem              /* src_buffer */,
-                        cl_mem              /* dst_buffer */, 
-                        const size_t *      /* src_origin */,
-                        const size_t *      /* dst_origin */,
-                        const size_t *      /* region */, 
-                        size_t              /* src_row_pitch */,
-                        size_t              /* src_slice_pitch */,
-                        size_t              /* dst_row_pitch */,
-                        size_t              /* dst_slice_pitch */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEREADIMAGE)(cl_command_queue     /* command_queue */,
-                   cl_mem               /* image */,
-                   cl_bool              /* blocking_read */, 
-                   const size_t *       /* origin[3] */,
-                   const size_t *       /* region[3] */,
-                   size_t               /* row_pitch */,
-                   size_t               /* slice_pitch */, 
-                   void *               /* ptr */,
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEWRITEIMAGE)(cl_command_queue    /* command_queue */,
-                    cl_mem              /* image */,
-                    cl_bool             /* blocking_write */, 
-                    const size_t *      /* origin[3] */,
-                    const size_t *      /* region[3] */,
-                    size_t              /* input_row_pitch */,
-                    size_t              /* input_slice_pitch */, 
-                    const void *        /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUECOPYIMAGE)(cl_command_queue     /* command_queue */,
-                   cl_mem               /* src_image */,
-                   cl_mem               /* dst_image */, 
-                   const size_t *       /* src_origin[3] */,
-                   const size_t *       /* dst_origin[3] */,
-                   const size_t *       /* region[3] */, 
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUECOPYIMAGETOBUFFER)(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_image */,
-                           cl_mem           /* dst_buffer */, 
-                           const size_t *   /* src_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           size_t           /* dst_offset */,
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUECOPYBUFFERTOIMAGE)(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_buffer */,
-                           cl_mem           /* dst_image */, 
-                           size_t           /* src_offset */,
-                           const size_t *   /* dst_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY void * (CL_API_CALL *
-PFNCLENQUEUEMAPBUFFER)(cl_command_queue /* command_queue */,
-                   cl_mem           /* buffer */,
-                   cl_bool          /* blocking_map */, 
-                   cl_map_flags     /* map_flags */,
-                   size_t           /* offset */,
-                   size_t           /* cb */,
-                   cl_uint          /* num_events_in_wait_list */,
-                   const cl_event * /* event_wait_list */,
-                   cl_event *       /* event */,
-                   cl_int *         /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY void * (CL_API_CALL *
-PFNCLENQUEUEMAPIMAGE)(cl_command_queue  /* command_queue */,
-                  cl_mem            /* image */, 
-                  cl_bool           /* blocking_map */, 
-                  cl_map_flags      /* map_flags */, 
-                  const size_t *    /* origin[3] */,
-                  const size_t *    /* region[3] */,
-                  size_t *          /* image_row_pitch */,
-                  size_t *          /* image_slice_pitch */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */,
-                  cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEUNMAPMEMOBJECT)(cl_command_queue /* command_queue */,
-                        cl_mem           /* memobj */,
-                        void *           /* mapped_ptr */,
-                        cl_uint          /* num_events_in_wait_list */,
-                        const cl_event *  /* event_wait_list */,
-                        cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUENDRANGEKERNEL)(cl_command_queue /* command_queue */,
-                       cl_kernel        /* kernel */,
-                       cl_uint          /* work_dim */,
-                       const size_t *   /* global_work_offset */,
-                       const size_t *   /* global_work_size */,
-                       const size_t *   /* local_work_size */,
-                       cl_uint          /* num_events_in_wait_list */,
-                       const cl_event * /* event_wait_list */,
-                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUETASK)(cl_command_queue  /* command_queue */,
-              cl_kernel         /* kernel */,
-              cl_uint           /* num_events_in_wait_list */,
-              const cl_event *  /* event_wait_list */,
-              cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUENATIVEKERNEL)(cl_command_queue  /* command_queue */,
-                      void (*user_func)(void *), 
-                      void *            /* args */,
-                      size_t            /* cb_args */, 
-                      cl_uint           /* num_mem_objects */,
-                      const cl_mem *    /* mem_list */,
-                      const void **     /* args_mem_loc */,
-                      cl_uint           /* num_events_in_wait_list */,
-                      const cl_event *  /* event_wait_list */,
-                      cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEMARKER)(cl_command_queue    /* command_queue */,
-                cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEWAITFOREVENTS)(cl_command_queue /* command_queue */,
-                       cl_uint          /* num_events */,
-                       const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *
-PFNCLENQUEUEBARRIER)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-// Extension function access
-//
-// Returns the extension function address for the given function name,
-// or NULL if a valid function can not be found.  The client must
-// check to make sure the address is not NULL, before using or 
-// calling the returned function address.
-//
-typedef CL_API_ENTRY void * (CL_API_CALL * PFNCLGETEXTENSIONFUNCTIONADDRESS)(const char * /* func_name */) CL_API_SUFFIX__VERSION_1_0;
-
+#define CL_PROFILING_COMMAND_QUEUED 0x1280
+#define CL_PROFILING_COMMAND_SUBMIT 0x1281
+#define CL_PROFILING_COMMAND_START 0x1282
+#define CL_PROFILING_COMMAND_END 0x1283
+
+	/********************************************************************************************************/
+
+	/********************************************************************************************************/
+
+	/*  Function signature typedef's */
+
+	/* Platform API */
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETPLATFORMIDS)(cl_uint /* num_entries */,
+														 cl_platform_id * /* platforms */,
+														 cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETPLATFORMINFO)(cl_platform_id /* platform */,
+														  cl_platform_info /* param_name */,
+														  size_t /* param_value_size */,
+														  void * /* param_value */,
+														  size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	/* Device APIs */
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETDEVICEIDS)(cl_platform_id /* platform */,
+													   cl_device_type /* device_type */,
+													   cl_uint /* num_entries */,
+													   cl_device_id * /* devices */,
+													   cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETDEVICEINFO)(cl_device_id /* device */,
+														cl_device_info /* param_name */,
+														size_t /* param_value_size */,
+														void * /* param_value */,
+														size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	// Context APIs
+	typedef CL_API_ENTRY cl_context(CL_API_CALL *
+										PFNCLCREATECONTEXT)(const cl_context_properties * /* properties */,
+															cl_uint /* num_devices */,
+															const cl_device_id * /* devices */,
+															void(CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
+															void * /* user_data */,
+															cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_context(CL_API_CALL *
+										PFNCLCREATECONTEXTFROMTYPE)(const cl_context_properties * /* properties */,
+																	cl_device_type /* device_type */,
+																	void(CL_CALLBACK * /* pfn_notify*/)(const char *, const void *, size_t, void *),
+																	void * /* user_data */,
+																	cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINCONTEXT)(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASECONTEXT)(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETCONTEXTINFO)(cl_context /* context */,
+														 cl_context_info /* param_name */,
+														 size_t /* param_value_size */,
+														 void * /* param_value */,
+														 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	/* Command Queue APIs */
+	typedef CL_API_ENTRY cl_command_queue(CL_API_CALL *
+											  PFNCLCREATECOMMANDQUEUE)(cl_context /* context */,
+																	   cl_device_id /* device */,
+																	   cl_command_queue_properties /* properties */,
+																	   cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINCOMMANDQUEUE)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASECOMMANDQUEUE)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETCOMMANDQUEUEINFO)(cl_command_queue /* command_queue */,
+															  cl_command_queue_info /* param_name */,
+															  size_t /* param_value_size */,
+															  void * /* param_value */,
+															  size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLSETCOMMANDQUEUEPROPERTY)(cl_command_queue /* command_queue */,
+																  cl_command_queue_properties /* properties */,
+																  cl_bool /* enable */,
+																  cl_command_queue_properties * /* old_properties */) CL_API_SUFFIX__VERSION_1_0;
+
+	/* Memory Object APIs */
+	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
+									PFNCLCREATEBUFFER)(cl_context /* context */,
+													   cl_mem_flags /* flags */,
+													   size_t /* size */,
+													   void * /* host_ptr */,
+													   cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
+									PFNCLCREATESUBBUFFER)(cl_mem /* buffer */,
+														  cl_mem_flags /* flags */,
+														  cl_buffer_create_type /* buffer_create_type */,
+														  const void * /* buffer_create_info */,
+														  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
+
+	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
+									PFNCLCREATEIMAGE2D)(cl_context /* context */,
+														cl_mem_flags /* flags */,
+														const cl_image_format * /* image_format */,
+														size_t /* image_width */,
+														size_t /* image_height */,
+														size_t /* image_row_pitch */,
+														void * /* host_ptr */,
+														cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_mem(CL_API_CALL *
+									PFNCLCREATEIMAGE3D)(cl_context /* context */,
+														cl_mem_flags /* flags */,
+														const cl_image_format * /* image_format */,
+														size_t /* image_width */,
+														size_t /* image_height */,
+														size_t /* image_depth */,
+														size_t /* image_row_pitch */,
+														size_t /* image_slice_pitch */,
+														void * /* host_ptr */,
+														cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINMEMOBJECT)(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASEMEMOBJECT)(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETSUPPORTEDIMAGEFORMATS)(cl_context /* context */,
+																   cl_mem_flags /* flags */,
+																   cl_mem_object_type /* image_type */,
+																   cl_uint /* num_entries */,
+																   cl_image_format * /* image_formats */,
+																   cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETMEMOBJECTINFO)(cl_mem /* memobj */,
+														   cl_mem_info /* param_name */,
+														   size_t /* param_value_size */,
+														   void * /* param_value */,
+														   size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETIMAGEINFO)(cl_mem /* image */,
+													   cl_image_info /* param_name */,
+													   size_t /* param_value_size */,
+													   void * /* param_value */,
+													   size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLSETMEMOBJECTDESTRUCTORCALLBACK)(cl_mem /* memobj */,
+																		 void(CL_CALLBACK * /*pfn_notify*/)(cl_mem /* memobj */, void * /*user_data*/),
+																		 void * /*user_data */) CL_API_SUFFIX__VERSION_1_1;
+
+	/* Sampler APIs  */
+	typedef CL_API_ENTRY cl_sampler(CL_API_CALL *
+										PFNCLCREATESAMPLER)(cl_context /* context */,
+															cl_bool /* normalized_coords */,
+															cl_addressing_mode /* addressing_mode */,
+															cl_filter_mode /* filter_mode */,
+															cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINSAMPLER)(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASESAMPLER)(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETSAMPLERINFO)(cl_sampler /* sampler */,
+														 cl_sampler_info /* param_name */,
+														 size_t /* param_value_size */,
+														 void * /* param_value */,
+														 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	/* Program Object APIs  */
+	typedef CL_API_ENTRY cl_program(CL_API_CALL *
+										PFNCLCREATEPROGRAMWITHSOURCE)(cl_context /* context */,
+																	  cl_uint /* count */,
+																	  const char ** /* strings */,
+																	  const size_t * /* lengths */,
+																	  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_program(CL_API_CALL *
+										PFNCLCREATEPROGRAMWITHBINARY)(cl_context /* context */,
+																	  cl_uint /* num_devices */,
+																	  const cl_device_id * /* device_list */,
+																	  const size_t * /* lengths */,
+																	  const unsigned char ** /* binaries */,
+																	  cl_int * /* binary_status */,
+																	  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINPROGRAM)(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASEPROGRAM)(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLBUILDPROGRAM)(cl_program /* program */,
+													   cl_uint /* num_devices */,
+													   const cl_device_id * /* device_list */,
+													   const char * /* options */,
+													   void(CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+													   void * /* user_data */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLUNLOADCOMPILER)(void) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETPROGRAMINFO)(cl_program /* program */,
+														 cl_program_info /* param_name */,
+														 size_t /* param_value_size */,
+														 void * /* param_value */,
+														 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETPROGRAMBUILDINFO)(cl_program /* program */,
+															  cl_device_id /* device */,
+															  cl_program_build_info /* param_name */,
+															  size_t /* param_value_size */,
+															  void * /* param_value */,
+															  size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	/* Kernel Object APIs */
+	typedef CL_API_ENTRY cl_kernel(CL_API_CALL *
+									   PFNCLCREATEKERNEL)(cl_program /* program */,
+														  const char * /* kernel_name */,
+														  cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLCREATEKERNELSINPROGRAM)(cl_program /* program */,
+																 cl_uint /* num_kernels */,
+																 cl_kernel * /* kernels */,
+																 cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINKERNEL)(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASEKERNEL)(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLSETKERNELARG)(cl_kernel /* kernel */,
+													   cl_uint /* arg_index */,
+													   size_t /* arg_size */,
+													   const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETKERNELINFO)(cl_kernel /* kernel */,
+														cl_kernel_info /* param_name */,
+														size_t /* param_value_size */,
+														void * /* param_value */,
+														size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETKERNELWORKGROUPINFO)(cl_kernel /* kernel */,
+																 cl_device_id /* device */,
+																 cl_kernel_work_group_info /* param_name */,
+																 size_t /* param_value_size */,
+																 void * /* param_value */,
+																 size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	// Event Object APIs
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLWAITFOREVENTS)(cl_uint /* num_events */,
+														const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETEVENTINFO)(cl_event /* event */,
+													   cl_event_info /* param_name */,
+													   size_t /* param_value_size */,
+													   void * /* param_value */,
+													   size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_event(CL_API_CALL *
+									  PFNCLCREATEUSEREVENT)(cl_context /* context */,
+															cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRETAINEVENT)(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLRELEASEEVENT)(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLSETUSEREVENTSTATUS)(cl_event /* event */,
+															 cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLSETEVENTCALLBACK)(cl_event /* event */,
+														   cl_int /* command_exec_callback_type */,
+														   void(CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
+														   void * /* user_data */) CL_API_SUFFIX__VERSION_1_1;
+
+	/* Profiling APIs  */
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLGETEVENTPROFILINGINFO)(cl_event /* event */,
+																cl_profiling_info /* param_name */,
+																size_t /* param_value_size */,
+																void * /* param_value */,
+																size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+	// Flush and Finish APIs
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLFLUSH)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLFINISH)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+	/* Enqueued Commands APIs */
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEREADBUFFER)(cl_command_queue /* command_queue */,
+															cl_mem /* buffer */,
+															cl_bool /* blocking_read */,
+															size_t /* offset */,
+															size_t /* cb */,
+															void * /* ptr */,
+															cl_uint /* num_events_in_wait_list */,
+															const cl_event * /* event_wait_list */,
+															cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEREADBUFFERRECT)(cl_command_queue /* command_queue */,
+																cl_mem /* buffer */,
+																cl_bool /* blocking_read */,
+																const size_t * /* buffer_origin */,
+																const size_t * /* host_origin */,
+																const size_t * /* region */,
+																size_t /* buffer_row_pitch */,
+																size_t /* buffer_slice_pitch */,
+																size_t /* host_row_pitch */,
+																size_t /* host_slice_pitch */,
+																void * /* ptr */,
+																cl_uint /* num_events_in_wait_list */,
+																const cl_event * /* event_wait_list */,
+																cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEWRITEBUFFER)(cl_command_queue /* command_queue */,
+															 cl_mem /* buffer */,
+															 cl_bool /* blocking_write */,
+															 size_t /* offset */,
+															 size_t /* cb */,
+															 const void * /* ptr */,
+															 cl_uint /* num_events_in_wait_list */,
+															 const cl_event * /* event_wait_list */,
+															 cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEWRITEBUFFERRECT)(cl_command_queue /* command_queue */,
+																 cl_mem /* buffer */,
+																 cl_bool /* blocking_write */,
+																 const size_t * /* buffer_origin */,
+																 const size_t * /* host_origin */,
+																 const size_t * /* region */,
+																 size_t /* buffer_row_pitch */,
+																 size_t /* buffer_slice_pitch */,
+																 size_t /* host_row_pitch */,
+																 size_t /* host_slice_pitch */,
+																 const void * /* ptr */,
+																 cl_uint /* num_events_in_wait_list */,
+																 const cl_event * /* event_wait_list */,
+																 cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUECOPYBUFFER)(cl_command_queue /* command_queue */,
+															cl_mem /* src_buffer */,
+															cl_mem /* dst_buffer */,
+															size_t /* src_offset */,
+															size_t /* dst_offset */,
+															size_t /* cb */,
+															cl_uint /* num_events_in_wait_list */,
+															const cl_event * /* event_wait_list */,
+															cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUECOPYBUFFERRECT)(cl_command_queue /* command_queue */,
+																cl_mem /* src_buffer */,
+																cl_mem /* dst_buffer */,
+																const size_t * /* src_origin */,
+																const size_t * /* dst_origin */,
+																const size_t * /* region */,
+																size_t /* src_row_pitch */,
+																size_t /* src_slice_pitch */,
+																size_t /* dst_row_pitch */,
+																size_t /* dst_slice_pitch */,
+																cl_uint /* num_events_in_wait_list */,
+																const cl_event * /* event_wait_list */,
+																cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEREADIMAGE)(cl_command_queue /* command_queue */,
+														   cl_mem /* image */,
+														   cl_bool /* blocking_read */,
+														   const size_t * /* origin[3] */,
+														   const size_t * /* region[3] */,
+														   size_t /* row_pitch */,
+														   size_t /* slice_pitch */,
+														   void * /* ptr */,
+														   cl_uint /* num_events_in_wait_list */,
+														   const cl_event * /* event_wait_list */,
+														   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEWRITEIMAGE)(cl_command_queue /* command_queue */,
+															cl_mem /* image */,
+															cl_bool /* blocking_write */,
+															const size_t * /* origin[3] */,
+															const size_t * /* region[3] */,
+															size_t /* input_row_pitch */,
+															size_t /* input_slice_pitch */,
+															const void * /* ptr */,
+															cl_uint /* num_events_in_wait_list */,
+															const cl_event * /* event_wait_list */,
+															cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUECOPYIMAGE)(cl_command_queue /* command_queue */,
+														   cl_mem /* src_image */,
+														   cl_mem /* dst_image */,
+														   const size_t * /* src_origin[3] */,
+														   const size_t * /* dst_origin[3] */,
+														   const size_t * /* region[3] */,
+														   cl_uint /* num_events_in_wait_list */,
+														   const cl_event * /* event_wait_list */,
+														   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUECOPYIMAGETOBUFFER)(cl_command_queue /* command_queue */,
+																   cl_mem /* src_image */,
+																   cl_mem /* dst_buffer */,
+																   const size_t * /* src_origin[3] */,
+																   const size_t * /* region[3] */,
+																   size_t /* dst_offset */,
+																   cl_uint /* num_events_in_wait_list */,
+																   const cl_event * /* event_wait_list */,
+																   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUECOPYBUFFERTOIMAGE)(cl_command_queue /* command_queue */,
+																   cl_mem /* src_buffer */,
+																   cl_mem /* dst_image */,
+																   size_t /* src_offset */,
+																   const size_t * /* dst_origin[3] */,
+																   const size_t * /* region[3] */,
+																   cl_uint /* num_events_in_wait_list */,
+																   const cl_event * /* event_wait_list */,
+																   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY void *(CL_API_CALL *
+									PFNCLENQUEUEMAPBUFFER)(cl_command_queue /* command_queue */,
+														   cl_mem /* buffer */,
+														   cl_bool /* blocking_map */,
+														   cl_map_flags /* map_flags */,
+														   size_t /* offset */,
+														   size_t /* cb */,
+														   cl_uint /* num_events_in_wait_list */,
+														   const cl_event * /* event_wait_list */,
+														   cl_event * /* event */,
+														   cl_int * /* errcode_ret */)CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY void *(CL_API_CALL *
+									PFNCLENQUEUEMAPIMAGE)(cl_command_queue /* command_queue */,
+														  cl_mem /* image */,
+														  cl_bool /* blocking_map */,
+														  cl_map_flags /* map_flags */,
+														  const size_t * /* origin[3] */,
+														  const size_t * /* region[3] */,
+														  size_t * /* image_row_pitch */,
+														  size_t * /* image_slice_pitch */,
+														  cl_uint /* num_events_in_wait_list */,
+														  const cl_event * /* event_wait_list */,
+														  cl_event * /* event */,
+														  cl_int * /* errcode_ret */)CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEUNMAPMEMOBJECT)(cl_command_queue /* command_queue */,
+																cl_mem /* memobj */,
+																void * /* mapped_ptr */,
+																cl_uint /* num_events_in_wait_list */,
+																const cl_event * /* event_wait_list */,
+																cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUENDRANGEKERNEL)(cl_command_queue /* command_queue */,
+															   cl_kernel /* kernel */,
+															   cl_uint /* work_dim */,
+															   const size_t * /* global_work_offset */,
+															   const size_t * /* global_work_size */,
+															   const size_t * /* local_work_size */,
+															   cl_uint /* num_events_in_wait_list */,
+															   const cl_event * /* event_wait_list */,
+															   cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUETASK)(cl_command_queue /* command_queue */,
+													  cl_kernel /* kernel */,
+													  cl_uint /* num_events_in_wait_list */,
+													  const cl_event * /* event_wait_list */,
+													  cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUENATIVEKERNEL)(cl_command_queue /* command_queue */,
+															  void (*user_func)(void *),
+															  void * /* args */,
+															  size_t /* cb_args */,
+															  cl_uint /* num_mem_objects */,
+															  const cl_mem * /* mem_list */,
+															  const void ** /* args_mem_loc */,
+															  cl_uint /* num_events_in_wait_list */,
+															  const cl_event * /* event_wait_list */,
+															  cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEMARKER)(cl_command_queue /* command_queue */,
+														cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEWAITFOREVENTS)(cl_command_queue /* command_queue */,
+															   cl_uint /* num_events */,
+															   const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
+
+	typedef CL_API_ENTRY cl_int(CL_API_CALL *
+									PFNCLENQUEUEBARRIER)(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+	// Extension function access
+	//
+	// Returns the extension function address for the given function name,
+	// or NULL if a valid function can not be found.  The client must
+	// check to make sure the address is not NULL, before using or
+	// calling the returned function address.
+	//
+	typedef CL_API_ENTRY void *(CL_API_CALL *PFNCLGETEXTENSIONFUNCTIONADDRESS)(const char * /* func_name */)CL_API_SUFFIX__VERSION_1_0;
 
 #define CLEW_STATIC
 
 #ifdef CLEW_STATIC
-#  define CLEWAPI extern
+#define CLEWAPI extern
+#else
+#ifdef CLEW_BUILD
+#define CLEWAPI extern __declspec(dllexport)
 #else
-#  ifdef CLEW_BUILD
-#    define CLEWAPI extern __declspec(dllexport)
-#  else
-#    define CLEWAPI extern __declspec(dllimport)
-#  endif
+#define CLEWAPI extern __declspec(dllimport)
+#endif
 #endif
 
 #if defined(_WIN32)
@@ -2208,99 +2522,97 @@ typedef CL_API_ENTRY void * (CL_API_CALL * PFNCLGETEXTENSIONFUNCTIONADDRESS)(con
 
 #define CLEW_GET_FUN(x) x
 
-
-//  Variables holding function entry points
-CLEW_FUN_EXPORT     PFNCLGETPLATFORMIDS                 __clewGetPlatformIDs                ;
-CLEW_FUN_EXPORT     PFNCLGETPLATFORMINFO                __clewGetPlatformInfo               ;
-CLEW_FUN_EXPORT     PFNCLGETDEVICEIDS                   __clewGetDeviceIDs                  ;
-CLEW_FUN_EXPORT     PFNCLGETDEVICEINFO                  __clewGetDeviceInfo                 ;
-CLEW_FUN_EXPORT     PFNCLCREATECONTEXT                  __clewCreateContext                 ;
-CLEW_FUN_EXPORT     PFNCLCREATECONTEXTFROMTYPE          __clewCreateContextFromType         ;
-CLEW_FUN_EXPORT     PFNCLRETAINCONTEXT                  __clewRetainContext                 ;
-CLEW_FUN_EXPORT     PFNCLRELEASECONTEXT                 __clewReleaseContext                ;
-CLEW_FUN_EXPORT     PFNCLGETCONTEXTINFO                 __clewGetContextInfo                ;
-CLEW_FUN_EXPORT     PFNCLCREATECOMMANDQUEUE             __clewCreateCommandQueue            ;
-CLEW_FUN_EXPORT     PFNCLRETAINCOMMANDQUEUE             __clewRetainCommandQueue            ;
-CLEW_FUN_EXPORT     PFNCLRELEASECOMMANDQUEUE            __clewReleaseCommandQueue           ;
-CLEW_FUN_EXPORT     PFNCLGETCOMMANDQUEUEINFO            __clewGetCommandQueueInfo           ;
+	//  Variables holding function entry points
+	CLEW_FUN_EXPORT PFNCLGETPLATFORMIDS __clewGetPlatformIDs;
+	CLEW_FUN_EXPORT PFNCLGETPLATFORMINFO __clewGetPlatformInfo;
+	CLEW_FUN_EXPORT PFNCLGETDEVICEIDS __clewGetDeviceIDs;
+	CLEW_FUN_EXPORT PFNCLGETDEVICEINFO __clewGetDeviceInfo;
+	CLEW_FUN_EXPORT PFNCLCREATECONTEXT __clewCreateContext;
+	CLEW_FUN_EXPORT PFNCLCREATECONTEXTFROMTYPE __clewCreateContextFromType;
+	CLEW_FUN_EXPORT PFNCLRETAINCONTEXT __clewRetainContext;
+	CLEW_FUN_EXPORT PFNCLRELEASECONTEXT __clewReleaseContext;
+	CLEW_FUN_EXPORT PFNCLGETCONTEXTINFO __clewGetContextInfo;
+	CLEW_FUN_EXPORT PFNCLCREATECOMMANDQUEUE __clewCreateCommandQueue;
+	CLEW_FUN_EXPORT PFNCLRETAINCOMMANDQUEUE __clewRetainCommandQueue;
+	CLEW_FUN_EXPORT PFNCLRELEASECOMMANDQUEUE __clewReleaseCommandQueue;
+	CLEW_FUN_EXPORT PFNCLGETCOMMANDQUEUEINFO __clewGetCommandQueueInfo;
 #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-CLEW_FUN_EXPORT     PFNCLSETCOMMANDQUEUEPROPERTY        __clewSetCommandQueueProperty       ;
-#endif
-CLEW_FUN_EXPORT     PFNCLCREATEBUFFER                   __clewCreateBuffer                  ;
-CLEW_FUN_EXPORT     PFNCLCREATESUBBUFFER                __clewCreateSubBuffer               ;
-CLEW_FUN_EXPORT     PFNCLCREATEIMAGE2D                  __clewCreateImage2D                 ;
-CLEW_FUN_EXPORT     PFNCLCREATEIMAGE3D                  __clewCreateImage3D                 ;
-CLEW_FUN_EXPORT     PFNCLRETAINMEMOBJECT                __clewRetainMemObject               ;
-CLEW_FUN_EXPORT     PFNCLRELEASEMEMOBJECT               __clewReleaseMemObject              ;
-CLEW_FUN_EXPORT     PFNCLGETSUPPORTEDIMAGEFORMATS       __clewGetSupportedImageFormats      ;
-CLEW_FUN_EXPORT     PFNCLGETMEMOBJECTINFO               __clewGetMemObjectInfo              ;
-CLEW_FUN_EXPORT     PFNCLGETIMAGEINFO                   __clewGetImageInfo                  ;
-CLEW_FUN_EXPORT     PFNCLSETMEMOBJECTDESTRUCTORCALLBACK __clewSetMemObjectDestructorCallback;
-CLEW_FUN_EXPORT     PFNCLCREATESAMPLER                  __clewCreateSampler                 ;
-CLEW_FUN_EXPORT     PFNCLRETAINSAMPLER                  __clewRetainSampler                 ;
-CLEW_FUN_EXPORT     PFNCLRELEASESAMPLER                 __clewReleaseSampler                ;
-CLEW_FUN_EXPORT     PFNCLGETSAMPLERINFO                 __clewGetSamplerInfo                ;
-CLEW_FUN_EXPORT     PFNCLCREATEPROGRAMWITHSOURCE        __clewCreateProgramWithSource       ;
-CLEW_FUN_EXPORT     PFNCLCREATEPROGRAMWITHBINARY        __clewCreateProgramWithBinary       ;
-CLEW_FUN_EXPORT     PFNCLRETAINPROGRAM                  __clewRetainProgram                 ;
-CLEW_FUN_EXPORT     PFNCLRELEASEPROGRAM                 __clewReleaseProgram                ;
-CLEW_FUN_EXPORT     PFNCLBUILDPROGRAM                   __clewBuildProgram                  ;
-CLEW_FUN_EXPORT     PFNCLUNLOADCOMPILER                 __clewUnloadCompiler                ;
-CLEW_FUN_EXPORT     PFNCLGETPROGRAMINFO                 __clewGetProgramInfo                ;
-CLEW_FUN_EXPORT     PFNCLGETPROGRAMBUILDINFO            __clewGetProgramBuildInfo           ;
-CLEW_FUN_EXPORT     PFNCLCREATEKERNEL                   __clewCreateKernel                  ;
-CLEW_FUN_EXPORT     PFNCLCREATEKERNELSINPROGRAM         __clewCreateKernelsInProgram        ;
-CLEW_FUN_EXPORT     PFNCLRETAINKERNEL                   __clewRetainKernel                  ;
-CLEW_FUN_EXPORT     PFNCLRELEASEKERNEL                  __clewReleaseKernel                 ;
-CLEW_FUN_EXPORT     PFNCLSETKERNELARG                   __clewSetKernelArg                  ;
-CLEW_FUN_EXPORT     PFNCLGETKERNELINFO                  __clewGetKernelInfo                 ;
-CLEW_FUN_EXPORT     PFNCLGETKERNELWORKGROUPINFO         __clewGetKernelWorkGroupInfo        ;
-CLEW_FUN_EXPORT     PFNCLWAITFOREVENTS                  __clewWaitForEvents                 ;
-CLEW_FUN_EXPORT     PFNCLGETEVENTINFO                   __clewGetEventInfo                  ;
-CLEW_FUN_EXPORT     PFNCLCREATEUSEREVENT                __clewCreateUserEvent               ;
-CLEW_FUN_EXPORT     PFNCLRETAINEVENT                    __clewRetainEvent                   ;
-CLEW_FUN_EXPORT     PFNCLRELEASEEVENT                   __clewReleaseEvent                  ;
-CLEW_FUN_EXPORT     PFNCLSETUSEREVENTSTATUS             __clewSetUserEventStatus            ;
-CLEW_FUN_EXPORT     PFNCLSETEVENTCALLBACK               __clewSetEventCallback              ;
-CLEW_FUN_EXPORT     PFNCLGETEVENTPROFILINGINFO          __clewGetEventProfilingInfo         ;
-CLEW_FUN_EXPORT     PFNCLFLUSH                          __clewFlush                         ;
-CLEW_FUN_EXPORT     PFNCLFINISH                         __clewFinish                        ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEREADBUFFER              __clewEnqueueReadBuffer             ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEREADBUFFERRECT          __clewEnqueueReadBufferRect         ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEWRITEBUFFER             __clewEnqueueWriteBuffer            ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEWRITEBUFFERRECT         __clewEnqueueWriteBufferRect        ;
-CLEW_FUN_EXPORT     PFNCLENQUEUECOPYBUFFER              __clewEnqueueCopyBuffer             ;
-CLEW_FUN_EXPORT     PFNCLENQUEUECOPYBUFFERRECT          __clewEnqueueCopyBufferRect         ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEREADIMAGE               __clewEnqueueReadImage              ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEWRITEIMAGE              __clewEnqueueWriteImage             ;
-CLEW_FUN_EXPORT     PFNCLENQUEUECOPYIMAGE               __clewEnqueueCopyImage              ;
-CLEW_FUN_EXPORT     PFNCLENQUEUECOPYIMAGETOBUFFER       __clewEnqueueCopyImageToBuffer      ;
-CLEW_FUN_EXPORT     PFNCLENQUEUECOPYBUFFERTOIMAGE       __clewEnqueueCopyBufferToImage      ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEMAPBUFFER               __clewEnqueueMapBuffer              ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEMAPIMAGE                __clewEnqueueMapImage               ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEUNMAPMEMOBJECT          __clewEnqueueUnmapMemObject         ;
-CLEW_FUN_EXPORT     PFNCLENQUEUENDRANGEKERNEL           __clewEnqueueNDRangeKernel          ;
-CLEW_FUN_EXPORT     PFNCLENQUEUETASK                    __clewEnqueueTask                   ;
-CLEW_FUN_EXPORT     PFNCLENQUEUENATIVEKERNEL            __clewEnqueueNativeKernel           ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEMARKER                  __clewEnqueueMarker                 ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEWAITFOREVENTS           __clewEnqueueWaitForEvents          ;
-CLEW_FUN_EXPORT     PFNCLENQUEUEBARRIER                 __clewEnqueueBarrier                ;
-CLEW_FUN_EXPORT     PFNCLGETEXTENSIONFUNCTIONADDRESS    __clewGetExtensionFunctionAddress   ;
-
-
-#define	clGetPlatformIDs                CLEW_GET_FUN(__clewGetPlatformIDs                )
-#define	clGetPlatformInfo               CLEW_GET_FUN(__clewGetPlatformInfo               )
-#define	clGetDeviceIDs                  CLEW_GET_FUN(__clewGetDeviceIDs                  )
-#define	clGetDeviceInfo                 CLEW_GET_FUN(__clewGetDeviceInfo                 )
-#define	clCreateContext                 CLEW_GET_FUN(__clewCreateContext                 )
-#define	clCreateContextFromType         CLEW_GET_FUN(__clewCreateContextFromType         )
-#define	clRetainContext                 CLEW_GET_FUN(__clewRetainContext                 )
-#define	clReleaseContext                CLEW_GET_FUN(__clewReleaseContext                )
-#define	clGetContextInfo                CLEW_GET_FUN(__clewGetContextInfo                )
-#define	clCreateCommandQueue            CLEW_GET_FUN(__clewCreateCommandQueue            )
-#define	clRetainCommandQueue            CLEW_GET_FUN(__clewRetainCommandQueue            )
-#define	clReleaseCommandQueue           CLEW_GET_FUN(__clewReleaseCommandQueue           )
-#define	clGetCommandQueueInfo           CLEW_GET_FUN(__clewGetCommandQueueInfo           )
+	CLEW_FUN_EXPORT PFNCLSETCOMMANDQUEUEPROPERTY __clewSetCommandQueueProperty;
+#endif
+	CLEW_FUN_EXPORT PFNCLCREATEBUFFER __clewCreateBuffer;
+	CLEW_FUN_EXPORT PFNCLCREATESUBBUFFER __clewCreateSubBuffer;
+	CLEW_FUN_EXPORT PFNCLCREATEIMAGE2D __clewCreateImage2D;
+	CLEW_FUN_EXPORT PFNCLCREATEIMAGE3D __clewCreateImage3D;
+	CLEW_FUN_EXPORT PFNCLRETAINMEMOBJECT __clewRetainMemObject;
+	CLEW_FUN_EXPORT PFNCLRELEASEMEMOBJECT __clewReleaseMemObject;
+	CLEW_FUN_EXPORT PFNCLGETSUPPORTEDIMAGEFORMATS __clewGetSupportedImageFormats;
+	CLEW_FUN_EXPORT PFNCLGETMEMOBJECTINFO __clewGetMemObjectInfo;
+	CLEW_FUN_EXPORT PFNCLGETIMAGEINFO __clewGetImageInfo;
+	CLEW_FUN_EXPORT PFNCLSETMEMOBJECTDESTRUCTORCALLBACK __clewSetMemObjectDestructorCallback;
+	CLEW_FUN_EXPORT PFNCLCREATESAMPLER __clewCreateSampler;
+	CLEW_FUN_EXPORT PFNCLRETAINSAMPLER __clewRetainSampler;
+	CLEW_FUN_EXPORT PFNCLRELEASESAMPLER __clewReleaseSampler;
+	CLEW_FUN_EXPORT PFNCLGETSAMPLERINFO __clewGetSamplerInfo;
+	CLEW_FUN_EXPORT PFNCLCREATEPROGRAMWITHSOURCE __clewCreateProgramWithSource;
+	CLEW_FUN_EXPORT PFNCLCREATEPROGRAMWITHBINARY __clewCreateProgramWithBinary;
+	CLEW_FUN_EXPORT PFNCLRETAINPROGRAM __clewRetainProgram;
+	CLEW_FUN_EXPORT PFNCLRELEASEPROGRAM __clewReleaseProgram;
+	CLEW_FUN_EXPORT PFNCLBUILDPROGRAM __clewBuildProgram;
+	CLEW_FUN_EXPORT PFNCLUNLOADCOMPILER __clewUnloadCompiler;
+	CLEW_FUN_EXPORT PFNCLGETPROGRAMINFO __clewGetProgramInfo;
+	CLEW_FUN_EXPORT PFNCLGETPROGRAMBUILDINFO __clewGetProgramBuildInfo;
+	CLEW_FUN_EXPORT PFNCLCREATEKERNEL __clewCreateKernel;
+	CLEW_FUN_EXPORT PFNCLCREATEKERNELSINPROGRAM __clewCreateKernelsInProgram;
+	CLEW_FUN_EXPORT PFNCLRETAINKERNEL __clewRetainKernel;
+	CLEW_FUN_EXPORT PFNCLRELEASEKERNEL __clewReleaseKernel;
+	CLEW_FUN_EXPORT PFNCLSETKERNELARG __clewSetKernelArg;
+	CLEW_FUN_EXPORT PFNCLGETKERNELINFO __clewGetKernelInfo;
+	CLEW_FUN_EXPORT PFNCLGETKERNELWORKGROUPINFO __clewGetKernelWorkGroupInfo;
+	CLEW_FUN_EXPORT PFNCLWAITFOREVENTS __clewWaitForEvents;
+	CLEW_FUN_EXPORT PFNCLGETEVENTINFO __clewGetEventInfo;
+	CLEW_FUN_EXPORT PFNCLCREATEUSEREVENT __clewCreateUserEvent;
+	CLEW_FUN_EXPORT PFNCLRETAINEVENT __clewRetainEvent;
+	CLEW_FUN_EXPORT PFNCLRELEASEEVENT __clewReleaseEvent;
+	CLEW_FUN_EXPORT PFNCLSETUSEREVENTSTATUS __clewSetUserEventStatus;
+	CLEW_FUN_EXPORT PFNCLSETEVENTCALLBACK __clewSetEventCallback;
+	CLEW_FUN_EXPORT PFNCLGETEVENTPROFILINGINFO __clewGetEventProfilingInfo;
+	CLEW_FUN_EXPORT PFNCLFLUSH __clewFlush;
+	CLEW_FUN_EXPORT PFNCLFINISH __clewFinish;
+	CLEW_FUN_EXPORT PFNCLENQUEUEREADBUFFER __clewEnqueueReadBuffer;
+	CLEW_FUN_EXPORT PFNCLENQUEUEREADBUFFERRECT __clewEnqueueReadBufferRect;
+	CLEW_FUN_EXPORT PFNCLENQUEUEWRITEBUFFER __clewEnqueueWriteBuffer;
+	CLEW_FUN_EXPORT PFNCLENQUEUEWRITEBUFFERRECT __clewEnqueueWriteBufferRect;
+	CLEW_FUN_EXPORT PFNCLENQUEUECOPYBUFFER __clewEnqueueCopyBuffer;
+	CLEW_FUN_EXPORT PFNCLENQUEUECOPYBUFFERRECT __clewEnqueueCopyBufferRect;
+	CLEW_FUN_EXPORT PFNCLENQUEUEREADIMAGE __clewEnqueueReadImage;
+	CLEW_FUN_EXPORT PFNCLENQUEUEWRITEIMAGE __clewEnqueueWriteImage;
+	CLEW_FUN_EXPORT PFNCLENQUEUECOPYIMAGE __clewEnqueueCopyImage;
+	CLEW_FUN_EXPORT PFNCLENQUEUECOPYIMAGETOBUFFER __clewEnqueueCopyImageToBuffer;
+	CLEW_FUN_EXPORT PFNCLENQUEUECOPYBUFFERTOIMAGE __clewEnqueueCopyBufferToImage;
+	CLEW_FUN_EXPORT PFNCLENQUEUEMAPBUFFER __clewEnqueueMapBuffer;
+	CLEW_FUN_EXPORT PFNCLENQUEUEMAPIMAGE __clewEnqueueMapImage;
+	CLEW_FUN_EXPORT PFNCLENQUEUEUNMAPMEMOBJECT __clewEnqueueUnmapMemObject;
+	CLEW_FUN_EXPORT PFNCLENQUEUENDRANGEKERNEL __clewEnqueueNDRangeKernel;
+	CLEW_FUN_EXPORT PFNCLENQUEUETASK __clewEnqueueTask;
+	CLEW_FUN_EXPORT PFNCLENQUEUENATIVEKERNEL __clewEnqueueNativeKernel;
+	CLEW_FUN_EXPORT PFNCLENQUEUEMARKER __clewEnqueueMarker;
+	CLEW_FUN_EXPORT PFNCLENQUEUEWAITFOREVENTS __clewEnqueueWaitForEvents;
+	CLEW_FUN_EXPORT PFNCLENQUEUEBARRIER __clewEnqueueBarrier;
+	CLEW_FUN_EXPORT PFNCLGETEXTENSIONFUNCTIONADDRESS __clewGetExtensionFunctionAddress;
+
+#define clGetPlatformIDs CLEW_GET_FUN(__clewGetPlatformIDs)
+#define clGetPlatformInfo CLEW_GET_FUN(__clewGetPlatformInfo)
+#define clGetDeviceIDs CLEW_GET_FUN(__clewGetDeviceIDs)
+#define clGetDeviceInfo CLEW_GET_FUN(__clewGetDeviceInfo)
+#define clCreateContext CLEW_GET_FUN(__clewCreateContext)
+#define clCreateContextFromType CLEW_GET_FUN(__clewCreateContextFromType)
+#define clRetainContext CLEW_GET_FUN(__clewRetainContext)
+#define clReleaseContext CLEW_GET_FUN(__clewReleaseContext)
+#define clGetContextInfo CLEW_GET_FUN(__clewGetContextInfo)
+#define clCreateCommandQueue CLEW_GET_FUN(__clewCreateCommandQueue)
+#define clRetainCommandQueue CLEW_GET_FUN(__clewRetainCommandQueue)
+#define clReleaseCommandQueue CLEW_GET_FUN(__clewReleaseCommandQueue)
+#define clGetCommandQueueInfo CLEW_GET_FUN(__clewGetCommandQueueInfo)
 #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
 #warning CL_USE_DEPRECATED_OPENCL_1_0_APIS is defined. These APIs are unsupported and untested in OpenCL 1.1!
 /* 
@@ -2313,82 +2625,81 @@ CLEW_FUN_EXPORT     PFNCLGETEXTENSIONFUNCTIONADDRESS    __clewGetExtensionFuncti
  *  Software developers previously relying on this API are instructed to set the command queue 
  *  properties when creating the queue, instead. 
  */
-#define	clSetCommandQueueProperty       CLEW_GET_FUN(__clewSetCommandQueueProperty       )
+#define clSetCommandQueueProperty CLEW_GET_FUN(__clewSetCommandQueueProperty)
 #endif /* CL_USE_DEPRECATED_OPENCL_1_0_APIS */
-#define	clCreateBuffer                  CLEW_GET_FUN(__clewCreateBuffer                  )
-#define	clCreateSubBuffer               CLEW_GET_FUN(__clewCreateSubBuffer               )
-#define	clCreateImage2D                 CLEW_GET_FUN(__clewCreateImage2D                 )
-#define	clCreateImage3D                 CLEW_GET_FUN(__clewCreateImage3D                 )
-#define	clRetainMemObject               CLEW_GET_FUN(__clewRetainMemObject               )
-#define	clReleaseMemObject              CLEW_GET_FUN(__clewReleaseMemObject              )
-#define	clGetSupportedImageFormats      CLEW_GET_FUN(__clewGetSupportedImageFormats      )
-#define	clGetMemObjectInfo              CLEW_GET_FUN(__clewGetMemObjectInfo              )
-#define	clGetImageInfo                  CLEW_GET_FUN(__clewGetImageInfo                  )
-#define	clSetMemObjectDestructorCallback CLEW_GET_FUN(__clewSetMemObjectDestructorCallback)
-#define	clCreateSampler                 CLEW_GET_FUN(__clewCreateSampler                 )
-#define	clRetainSampler                 CLEW_GET_FUN(__clewRetainSampler                 )
-#define	clReleaseSampler                CLEW_GET_FUN(__clewReleaseSampler                )
-#define	clGetSamplerInfo                CLEW_GET_FUN(__clewGetSamplerInfo                )
-#define	clCreateProgramWithSource       CLEW_GET_FUN(__clewCreateProgramWithSource       )
-#define	clCreateProgramWithBinary       CLEW_GET_FUN(__clewCreateProgramWithBinary       )
-#define	clRetainProgram                 CLEW_GET_FUN(__clewRetainProgram                 )
-#define	clReleaseProgram                CLEW_GET_FUN(__clewReleaseProgram                )
-#define	clBuildProgram                  CLEW_GET_FUN(__clewBuildProgram                  )
-#define	clUnloadCompiler                CLEW_GET_FUN(__clewUnloadCompiler                )
-#define	clGetProgramInfo                CLEW_GET_FUN(__clewGetProgramInfo                )
-#define	clGetProgramBuildInfo           CLEW_GET_FUN(__clewGetProgramBuildInfo           )
-#define	clCreateKernel                  CLEW_GET_FUN(__clewCreateKernel                  )
-#define	clCreateKernelsInProgram        CLEW_GET_FUN(__clewCreateKernelsInProgram        )
-#define	clRetainKernel                  CLEW_GET_FUN(__clewRetainKernel                  )
-#define	clReleaseKernel                 CLEW_GET_FUN(__clewReleaseKernel                 )
-#define	clSetKernelArg                  CLEW_GET_FUN(__clewSetKernelArg                  )
-#define	clGetKernelInfo                 CLEW_GET_FUN(__clewGetKernelInfo                 )
-#define	clGetKernelWorkGroupInfo        CLEW_GET_FUN(__clewGetKernelWorkGroupInfo        )
-#define	clWaitForEvents                 CLEW_GET_FUN(__clewWaitForEvents                 )
-#define	clGetEventInfo                  CLEW_GET_FUN(__clewGetEventInfo                  )
-#define	clCreateUserEvent               CLEW_GET_FUN(__clewCreateUserEvent               )
-#define	clRetainEvent                   CLEW_GET_FUN(__clewRetainEvent                   )
-#define	clReleaseEvent                  CLEW_GET_FUN(__clewReleaseEvent                  )
-#define	clSetUserEventStatus            CLEW_GET_FUN(__clewSetUserEventStatus            )
-#define	clSetEventCallback              CLEW_GET_FUN(__clewSetEventCallback              )
-#define	clGetEventProfilingInfo         CLEW_GET_FUN(__clewGetEventProfilingInfo         )
-#define	clFlush                         CLEW_GET_FUN(__clewFlush                         )
-#define	clFinish                        CLEW_GET_FUN(__clewFinish                        )
-#define	clEnqueueReadBuffer             CLEW_GET_FUN(__clewEnqueueReadBuffer             )
-#define	clEnqueueReadBufferRect         CLEW_GET_FUN(__clewEnqueueReadBufferRect         )
-#define	clEnqueueWriteBuffer            CLEW_GET_FUN(__clewEnqueueWriteBuffer            )
-#define	clEnqueueWriteBufferRect        CLEW_GET_FUN(__clewEnqueueWriteBufferRect        )
-#define	clEnqueueCopyBuffer             CLEW_GET_FUN(__clewEnqueueCopyBuffer             )
-#define	clEnqueueCopyBufferRect         CLEW_GET_FUN(__clewEnqueueCopyBufferRect         )
-#define	clEnqueueReadImage              CLEW_GET_FUN(__clewEnqueueReadImage              )
-#define	clEnqueueWriteImage             CLEW_GET_FUN(__clewEnqueueWriteImage             )
-#define	clEnqueueCopyImage              CLEW_GET_FUN(__clewEnqueueCopyImage              )
-#define	clEnqueueCopyImageToBuffer      CLEW_GET_FUN(__clewEnqueueCopyImageToBuffer      )
-#define	clEnqueueCopyBufferToImage      CLEW_GET_FUN(__clewEnqueueCopyBufferToImage      )
-#define	clEnqueueMapBuffer              CLEW_GET_FUN(__clewEnqueueMapBuffer              )
-#define	clEnqueueMapImage               CLEW_GET_FUN(__clewEnqueueMapImage               )
-#define	clEnqueueUnmapMemObject         CLEW_GET_FUN(__clewEnqueueUnmapMemObject         )
-#define	clEnqueueNDRangeKernel          CLEW_GET_FUN(__clewEnqueueNDRangeKernel          )
-#define	clEnqueueTask                   CLEW_GET_FUN(__clewEnqueueTask                   )
-#define	clEnqueueNativeKernel           CLEW_GET_FUN(__clewEnqueueNativeKernel           )
-#define	clEnqueueMarker                 CLEW_GET_FUN(__clewEnqueueMarker                 )
-#define	clEnqueueWaitForEvents          CLEW_GET_FUN(__clewEnqueueWaitForEvents          )
-#define	clEnqueueBarrier                CLEW_GET_FUN(__clewEnqueueBarrier                )
-#define	clGetExtensionFunctionAddress   CLEW_GET_FUN(__clewGetExtensionFunctionAddress   )
-
-
-#define CLEW_SUCCESS                0       //!<    Success error code
-#define CLEW_ERROR_OPEN_FAILED      -1      //!<    Error code for failing to open the dynamic library
-#define CLEW_ERROR_ATEXIT_FAILED    -2      //!<    Error code for failing to queue the closing of the dynamic library to atexit()
-
-//! \brief Load OpenCL dynamic library and set function entry points
-int         clewInit        (const char*);
-
-//! \brief Exit clew and unload OpenCL dynamic library
-void		clewExit();
-
-//! \brief Convert an OpenCL error code to its string equivalent
-const char* clewErrorString (cl_int error);
+#define clCreateBuffer CLEW_GET_FUN(__clewCreateBuffer)
+#define clCreateSubBuffer CLEW_GET_FUN(__clewCreateSubBuffer)
+#define clCreateImage2D CLEW_GET_FUN(__clewCreateImage2D)
+#define clCreateImage3D CLEW_GET_FUN(__clewCreateImage3D)
+#define clRetainMemObject CLEW_GET_FUN(__clewRetainMemObject)
+#define clReleaseMemObject CLEW_GET_FUN(__clewReleaseMemObject)
+#define clGetSupportedImageFormats CLEW_GET_FUN(__clewGetSupportedImageFormats)
+#define clGetMemObjectInfo CLEW_GET_FUN(__clewGetMemObjectInfo)
+#define clGetImageInfo CLEW_GET_FUN(__clewGetImageInfo)
+#define clSetMemObjectDestructorCallback CLEW_GET_FUN(__clewSetMemObjectDestructorCallback)
+#define clCreateSampler CLEW_GET_FUN(__clewCreateSampler)
+#define clRetainSampler CLEW_GET_FUN(__clewRetainSampler)
+#define clReleaseSampler CLEW_GET_FUN(__clewReleaseSampler)
+#define clGetSamplerInfo CLEW_GET_FUN(__clewGetSamplerInfo)
+#define clCreateProgramWithSource CLEW_GET_FUN(__clewCreateProgramWithSource)
+#define clCreateProgramWithBinary CLEW_GET_FUN(__clewCreateProgramWithBinary)
+#define clRetainProgram CLEW_GET_FUN(__clewRetainProgram)
+#define clReleaseProgram CLEW_GET_FUN(__clewReleaseProgram)
+#define clBuildProgram CLEW_GET_FUN(__clewBuildProgram)
+#define clUnloadCompiler CLEW_GET_FUN(__clewUnloadCompiler)
+#define clGetProgramInfo CLEW_GET_FUN(__clewGetProgramInfo)
+#define clGetProgramBuildInfo CLEW_GET_FUN(__clewGetProgramBuildInfo)
+#define clCreateKernel CLEW_GET_FUN(__clewCreateKernel)
+#define clCreateKernelsInProgram CLEW_GET_FUN(__clewCreateKernelsInProgram)
+#define clRetainKernel CLEW_GET_FUN(__clewRetainKernel)
+#define clReleaseKernel CLEW_GET_FUN(__clewReleaseKernel)
+#define clSetKernelArg CLEW_GET_FUN(__clewSetKernelArg)
+#define clGetKernelInfo CLEW_GET_FUN(__clewGetKernelInfo)
+#define clGetKernelWorkGroupInfo CLEW_GET_FUN(__clewGetKernelWorkGroupInfo)
+#define clWaitForEvents CLEW_GET_FUN(__clewWaitForEvents)
+#define clGetEventInfo CLEW_GET_FUN(__clewGetEventInfo)
+#define clCreateUserEvent CLEW_GET_FUN(__clewCreateUserEvent)
+#define clRetainEvent CLEW_GET_FUN(__clewRetainEvent)
+#define clReleaseEvent CLEW_GET_FUN(__clewReleaseEvent)
+#define clSetUserEventStatus CLEW_GET_FUN(__clewSetUserEventStatus)
+#define clSetEventCallback CLEW_GET_FUN(__clewSetEventCallback)
+#define clGetEventProfilingInfo CLEW_GET_FUN(__clewGetEventProfilingInfo)
+#define clFlush CLEW_GET_FUN(__clewFlush)
+#define clFinish CLEW_GET_FUN(__clewFinish)
+#define clEnqueueReadBuffer CLEW_GET_FUN(__clewEnqueueReadBuffer)
+#define clEnqueueReadBufferRect CLEW_GET_FUN(__clewEnqueueReadBufferRect)
+#define clEnqueueWriteBuffer CLEW_GET_FUN(__clewEnqueueWriteBuffer)
+#define clEnqueueWriteBufferRect CLEW_GET_FUN(__clewEnqueueWriteBufferRect)
+#define clEnqueueCopyBuffer CLEW_GET_FUN(__clewEnqueueCopyBuffer)
+#define clEnqueueCopyBufferRect CLEW_GET_FUN(__clewEnqueueCopyBufferRect)
+#define clEnqueueReadImage CLEW_GET_FUN(__clewEnqueueReadImage)
+#define clEnqueueWriteImage CLEW_GET_FUN(__clewEnqueueWriteImage)
+#define clEnqueueCopyImage CLEW_GET_FUN(__clewEnqueueCopyImage)
+#define clEnqueueCopyImageToBuffer CLEW_GET_FUN(__clewEnqueueCopyImageToBuffer)
+#define clEnqueueCopyBufferToImage CLEW_GET_FUN(__clewEnqueueCopyBufferToImage)
+#define clEnqueueMapBuffer CLEW_GET_FUN(__clewEnqueueMapBuffer)
+#define clEnqueueMapImage CLEW_GET_FUN(__clewEnqueueMapImage)
+#define clEnqueueUnmapMemObject CLEW_GET_FUN(__clewEnqueueUnmapMemObject)
+#define clEnqueueNDRangeKernel CLEW_GET_FUN(__clewEnqueueNDRangeKernel)
+#define clEnqueueTask CLEW_GET_FUN(__clewEnqueueTask)
+#define clEnqueueNativeKernel CLEW_GET_FUN(__clewEnqueueNativeKernel)
+#define clEnqueueMarker CLEW_GET_FUN(__clewEnqueueMarker)
+#define clEnqueueWaitForEvents CLEW_GET_FUN(__clewEnqueueWaitForEvents)
+#define clEnqueueBarrier CLEW_GET_FUN(__clewEnqueueBarrier)
+#define clGetExtensionFunctionAddress CLEW_GET_FUN(__clewGetExtensionFunctionAddress)
+
+#define CLEW_SUCCESS 0               //!<    Success error code
+#define CLEW_ERROR_OPEN_FAILED -1    //!<    Error code for failing to open the dynamic library
+#define CLEW_ERROR_ATEXIT_FAILED -2  //!<    Error code for failing to queue the closing of the dynamic library to atexit()
+
+	//! \brief Load OpenCL dynamic library and set function entry points
+	int clewInit(const char *);
+
+	//! \brief Exit clew and unload OpenCL dynamic library
+	void clewExit();
+
+	//! \brief Convert an OpenCL error code to its string equivalent
+	const char *clewErrorString(cl_int error);
 
 #ifdef __cplusplus
 }
diff --git a/thirdparty/certs/ca-certificates.crt b/thirdparty/certs/ca-certificates.crt
index 01dd29097e..613456b6d3 100644
--- a/thirdparty/certs/ca-certificates.crt
+++ b/thirdparty/certs/ca-certificates.crt
@@ -695,55 +695,6 @@ kJtN3X3n57LNXMhqlfil9o3EXXgIvnsG1knPGTZQIy4I5p4FTUcY1Rbpsda2ENW7
 l7+ijrRU
 -----END CERTIFICATE-----
 
-# Certplus Root CA G1
------BEGIN CERTIFICATE-----
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------END CERTIFICATE-----
-
-# Certplus Root CA G2
------BEGIN CERTIFICATE-----
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------END CERTIFICATE-----
-
 # Certum Trusted Network CA
 -----BEGIN CERTIFICATE-----
 MIIDuzCCAqOgAwIBAgIDBETAMA0GCSqGSIb3DQEBBQUAMH4xCzAJBgNVBAYTAlBM
@@ -1679,6 +1630,40 @@ Mx86OyXShkDOOyyGeMlhLxS67ttVb9+E7gUJTb0o2HLO02JQZR7rkpeDMdmztcpH
 WD9f
 -----END CERTIFICATE-----
 
+# GlobalSign Root CA - R6
+-----BEGIN CERTIFICATE-----
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+-----END CERTIFICATE-----
+
 # Global Chambersign Root - 2008
 -----BEGIN CERTIFICATE-----
 MIIHSTCCBTGgAwIBAgIJAMnN0+nVfSPOMA0GCSqGSIb3DQEBBQUAMIGsMQswCQYD
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 Nc1MaRVUGpCY3useX8p3x8uOPUNpnJpY0CQ73xtAln41rYHHTnG6iBM=
 -----END CERTIFICATE-----
 
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------END CERTIFICATE-----
-
-# OpenTrust Root CA G2
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-WKGVyasvc0rQLW6aWQ9VGHgtPFGml4vmu7JwqkwR3v98KzfUetF3NI/n+UL3PIEM
-S1IK
------END CERTIFICATE-----
-
-# OpenTrust Root CA G3
------BEGIN CERTIFICATE-----
-MIICITCCAaagAwIBAgISESDm+Ez8JLC+BUCs2oMbNGA/MAoGCCqGSM49BAMDMEAx
-CzAJBgNVBAYTAkZSMRIwEAYDVQQKDAlPcGVuVHJ1c3QxHTAbBgNVBAMMFE9wZW5U
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-4nxp5V2a+EEfOzmTk51V6s2N8fvB
+# OISTE WISeKey Global Root GC CA
+-----BEGIN CERTIFICATE-----
+MIICaTCCAe+gAwIBAgIQISpWDK7aDKtARb8roi066jAKBggqhkjOPQQDAzBtMQsw
+CQYDVQQGEwJDSDEQMA4GA1UEChMHV0lTZUtleTEiMCAGA1UECxMZT0lTVEUgRm91
+bmRhdGlvbiBFbmRvcnNlZDEoMCYGA1UEAxMfT0lTVEUgV0lTZUtleSBHbG9iYWwg
+Um9vdCBHQyBDQTAeFw0xNzA1MDkwOTQ4MzRaFw00MjA1MDkwOTU4MzNaMG0xCzAJ
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+BAMCAQYwDwYDVR0TAQH/BAUwAwEB/zAdBgNVHQ4EFgQUSIcUrOPDnpBgOtfKie7T
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+Mgj/mkkCtojeFK9dbJlxjRo/i9fgojaGHAeCOnZT/cKi7e97sIBPWA9LUzm9
 -----END CERTIFICATE-----
 
 # QuoVadis Root CA
@@ -3302,33 +3220,6 @@ jZBf3+6f9L/uHfuY5H+QK4R4EA5sSVPvFVtlRkpdr7r7OnIdzfYliB6XzCGcKQEN
 ZetX2fNXlrtIzYE=
 -----END CERTIFICATE-----
 
-# TÜRKTRUST Elektronik Sertifika Hizmet Sağlayıcısı H5
------BEGIN CERTIFICATE-----
-MIIEJzCCAw+gAwIBAgIHAI4X/iQggTANBgkqhkiG9w0BAQsFADCBsTELMAkGA1UE
-BhMCVFIxDzANBgNVBAcMBkFua2FyYTFNMEsGA1UECgxEVMOcUktUUlVTVCBCaWxn
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-/4NZzkQqL/7hzmAD/I0Dpe3/a6i6zDQGn1k19uwsu537jVJp45wnEFPzpALFp/kR
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-Yv4HAqGEVka+lgqaE9chTLd8B59OTj+RdPsnnRHM3eaxynFNExc5JsUpISuTKWqW
-+qtB4Uu2NQvAmxU=
------END CERTIFICATE-----
-
 # USERTrust ECC Certification Authority
 -----BEGIN CERTIFICATE-----
 MIICjzCCAhWgAwIBAgIQXIuZxVqUxdJxVt7NiYDMJjAKBggqhkjOPQQDAzCBiDEL
diff --git a/thirdparty/enet/enet/godot.h b/thirdparty/enet/enet/godot.h
index 7e2be12b22..9230af428b 100644
--- a/thirdparty/enet/enet/godot.h
+++ b/thirdparty/enet/enet/godot.h
@@ -5,8 +5,8 @@
 /*                           GODOT ENGINE                                */
 /*                      https://godotengine.org                          */
 /*************************************************************************/
-/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md)    */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md)    */
 /*                                                                       */
 /* Permission is hereby granted, free of charge, to any person obtaining */
 /* a copy of this software and associated documentation files (the       */
diff --git a/thirdparty/enet/godot.cpp b/thirdparty/enet/godot.cpp
index 7813b70286..2e1519b7b2 100644
--- a/thirdparty/enet/godot.cpp
+++ b/thirdparty/enet/godot.cpp
@@ -5,8 +5,8 @@
 /*                           GODOT ENGINE                                */
 /*                      https://godotengine.org                          */
 /*************************************************************************/
-/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md)    */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md)    */
 /*                                                                       */
 /* Permission is hereby granted, free of charge, to any person obtaining */
 /* a copy of this software and associated documentation files (the       */
@@ -33,7 +33,7 @@
 */
 
 #include "core/io/ip.h"
-#include "core/io/packet_peer_udp.h"
+#include "core/io/net_socket.h"
 #include "core/os/os.h"
 
 // This must be last for windows to compile (tested with MinGW)
@@ -90,6 +90,16 @@ int enet_address_get_host(const ENetAddress *address, char *name, size_t nameLen
 	return -1;
 }
 
+ENetSocket enet_socket_create(ENetSocketType type) {
+
+	NetSocket *socket = NetSocket::create();
+	IP::Type ip_type = IP::TYPE_ANY;
+	socket->open(NetSocket::TYPE_UDP, ip_type);
+	socket->set_blocking_enabled(false);
+
+	return socket;
+}
+
 int enet_socket_bind(ENetSocket socket, const ENetAddress *address) {
 
 	IP_Address ip;
@@ -99,23 +109,15 @@ int enet_socket_bind(ENetSocket socket, const ENetAddress *address) {
 		ip.set_ipv6(address->host);
 	}
 
-	PacketPeerUDP *sock = (PacketPeerUDP *)socket;
-	if (sock->listen(address->port, ip) != OK) {
+	NetSocket *sock = (NetSocket *)socket;
+	if (sock->bind(ip, address->port) != OK) {
 		return -1;
 	}
 	return 0;
 }
 
-ENetSocket enet_socket_create(ENetSocketType type) {
-
-	PacketPeerUDP *socket = PacketPeerUDP::create();
-	socket->set_blocking_mode(false);
-
-	return socket;
-}
-
 void enet_socket_destroy(ENetSocket socket) {
-	PacketPeerUDP *sock = (PacketPeerUDP *)socket;
+	NetSocket *sock = (NetSocket *)socket;
 	sock->close();
 	memdelete(sock);
 }
@@ -124,13 +126,12 @@ int enet_socket_send(ENetSocket socket, const ENetAddress *address, const ENetBu
 
 	ERR_FAIL_COND_V(address == NULL, -1);
 
-	PacketPeerUDP *sock = (PacketPeerUDP *)socket;
+	NetSocket *sock = (NetSocket *)socket;
 	IP_Address dest;
 	Error err;
 	size_t i = 0;
 
 	dest.set_ipv6(address->host);
-	sock->set_dest_address(dest, address->port);
 
 	// Create a single packet.
 	PoolVector<uint8_t> out;
@@ -148,10 +149,11 @@ int enet_socket_send(ENetSocket socket, const ENetAddress *address, const ENetBu
 		pos += buffers[i].dataLength;
 	}
 
-	err = sock->put_packet((const uint8_t *)&w[0], size);
+	int sent = 0;
+	err = sock->sendto((const uint8_t *)&w[0], size, sent, dest, address->port);
 	if (err != OK) {
 
-		if (err == ERR_UNAVAILABLE) { // blocking call
+		if (err == ERR_BUSY) { // Blocking call
 			return 0;
 		}
 
@@ -159,31 +161,36 @@ int enet_socket_send(ENetSocket socket, const ENetAddress *address, const ENetBu
 		return -1;
 	}
 
-	return size;
+	return sent;
 }
 
 int enet_socket_receive(ENetSocket socket, ENetAddress *address, ENetBuffer *buffers, size_t bufferCount) {
 
 	ERR_FAIL_COND_V(bufferCount != 1, -1);
 
-	PacketPeerUDP *sock = (PacketPeerUDP *)socket;
+	NetSocket *sock = (NetSocket *)socket;
+
+	Error ret = sock->poll(NetSocket::POLL_TYPE_IN, 0);
 
-	if (sock->get_available_packet_count() == 0) {
+	if (ret == ERR_BUSY)
 		return 0;
-	}
 
-	const uint8_t *buffer;
-	int buffer_size;
-	Error err = sock->get_packet(&buffer, buffer_size);
-	if (err)
+	if (ret != OK)
 		return -1;
 
-	copymem(buffers[0].data, buffer, buffer_size);
+	int read;
+	IP_Address ip;
+
+	Error err = sock->recvfrom((uint8_t *)buffers[0].data, buffers[0].dataLength, read, ip, address->port);
+	if (err == ERR_BUSY)
+		return 0;
 
-	enet_address_set_ip(address, sock->get_packet_address().get_ipv6(), 16);
-	address->port = sock->get_packet_port();
+	if (err != OK)
+		return -1;
+
+	enet_address_set_ip(address, ip.get_ipv6(), 16);
 
-	return buffer_size;
+	return read;
 }
 
 // Not implemented
diff --git a/thirdparty/fonts/NotoSansDevanagariUI_Regular.ttf b/thirdparty/fonts/NotoSansDevanagariUI_Regular.ttf
new file mode 100644
index 0000000000..1f9fb2e857
--- /dev/null
+++ b/thirdparty/fonts/NotoSansDevanagariUI_Regular.ttf
diff --git a/thirdparty/freetype/include/freetype/config/ftoption.h b/thirdparty/freetype/include/freetype/config/ftoption.h
index 4bcab2af5c..1fc7295a2c 100644
--- a/thirdparty/freetype/include/freetype/config/ftoption.h
+++ b/thirdparty/freetype/include/freetype/config/ftoption.h
@@ -178,7 +178,7 @@ FT_BEGIN_HEADER
   /*                                                                       */
   /*   Define this macro if you want to enable this `feature'.             */
   /*                                                                       */
-#define FT_CONFIG_OPTION_USE_LZW
+/* #define FT_CONFIG_OPTION_USE_LZW */ // -GODOT-
 
 
   /*************************************************************************/
@@ -193,7 +193,7 @@ FT_BEGIN_HEADER
   /*   Define this macro if you want to enable this `feature'.  See also   */
   /*   the macro FT_CONFIG_OPTION_SYSTEM_ZLIB below.                       */
   /*                                                                       */
-#define FT_CONFIG_OPTION_USE_ZLIB
+/* #define FT_CONFIG_OPTION_USE_ZLIB */ // -GODOT-
 
 
   /*************************************************************************/
diff --git a/thirdparty/glad/LICENSE b/thirdparty/glad/LICENSE
new file mode 100644
index 0000000000..b6e2ca25b0
--- /dev/null
+++ b/thirdparty/glad/LICENSE
@@ -0,0 +1,20 @@
+The MIT License (MIT)
+
+Copyright (c) 2013-2018 David Herberth
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/thirdparty/glad/glad.c b/thirdparty/glad/glad.c
index 35469e9031..e7c64a7e17 100644
--- a/thirdparty/glad/glad.c
+++ b/thirdparty/glad/glad.c
@@ -1,6 +1,6 @@
 /*
 
-    OpenGL loader generated by glad 0.1.25 on Sat Jul 28 10:59:43 2018.
+    OpenGL loader generated by glad 0.1.29 on Mon Mar  4 12:47:22 2019.
 
     Language/Generator: C/C++
     Specification: gl
@@ -13,11 +13,12 @@
     Loader: True
     Local files: False
     Omit khrplatform: False
+    Reproducible: False
 
     Commandline:
         --profile="compatibility" --api="gl=3.3" --generator="c" --spec="gl" --extensions="GL_ARB_debug_output,GL_ARB_framebuffer_object,GL_EXT_framebuffer_object"
     Online:
-        http://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D3.3&extensions=GL_ARB_debug_output&extensions=GL_ARB_framebuffer_object&extensions=GL_EXT_framebuffer_object
+        https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D3.3&extensions=GL_ARB_debug_output&extensions=GL_ARB_framebuffer_object&extensions=GL_EXT_framebuffer_object
 */
 
 #include <stdio.h>
@@ -154,7 +155,7 @@ int gladLoadGL(void) {
     return status;
 }
 
-struct gladGLversionStruct GLVersion;
+struct gladGLversionStruct GLVersion = { 0, 0 };
 
 #if defined(GL_ES_VERSION_3_0) || defined(GL_VERSION_3_0)
 #define _GLAD_IS_SOME_NEW_VERSION 1
@@ -179,7 +180,7 @@ static int get_exts(void) {
         num_exts_i = 0;
         glGetIntegerv(GL_NUM_EXTENSIONS, &num_exts_i);
         if (num_exts_i > 0) {
-            exts_i = (char **)realloc((void *)exts_i, (size_t)num_exts_i * (sizeof *exts_i));
+            exts_i = (char **)malloc((size_t)num_exts_i * (sizeof *exts_i));
         }
 
         if (exts_i == NULL) {
@@ -253,766 +254,766 @@ static int has_ext(const char *ext) {
 
     return 0;
 }
-int GLAD_GL_VERSION_1_0;
-int GLAD_GL_VERSION_1_1;
-int GLAD_GL_VERSION_1_2;
-int GLAD_GL_VERSION_1_3;
-int GLAD_GL_VERSION_1_4;
-int GLAD_GL_VERSION_1_5;
-int GLAD_GL_VERSION_2_0;
-int GLAD_GL_VERSION_2_1;
-int GLAD_GL_VERSION_3_0;
-int GLAD_GL_VERSION_3_1;
-int GLAD_GL_VERSION_3_2;
-int GLAD_GL_VERSION_3_3;
-PFNGLCOPYTEXIMAGE1DPROC glad_glCopyTexImage1D;
-PFNGLVERTEXATTRIBI3UIPROC glad_glVertexAttribI3ui;
-PFNGLWINDOWPOS2SPROC glad_glWindowPos2s;
-PFNGLWINDOWPOS2IPROC glad_glWindowPos2i;
-PFNGLWINDOWPOS2FPROC glad_glWindowPos2f;
-PFNGLWINDOWPOS2DPROC glad_glWindowPos2d;
-PFNGLVERTEX2FVPROC glad_glVertex2fv;
-PFNGLINDEXIPROC glad_glIndexi;
-PFNGLFRAMEBUFFERRENDERBUFFERPROC glad_glFramebufferRenderbuffer;
-PFNGLRECTDVPROC glad_glRectdv;
-PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC glad_glCompressedTexSubImage3D;
-PFNGLEVALCOORD2DPROC glad_glEvalCoord2d;
-PFNGLEVALCOORD2FPROC glad_glEvalCoord2f;
-PFNGLINDEXDPROC glad_glIndexd;
-PFNGLVERTEXATTRIB1SVPROC glad_glVertexAttrib1sv;
-PFNGLINDEXFPROC glad_glIndexf;
-PFNGLBINDSAMPLERPROC glad_glBindSampler;
-PFNGLLINEWIDTHPROC glad_glLineWidth;
-PFNGLCOLORP3UIVPROC glad_glColorP3uiv;
-PFNGLGETINTEGERI_VPROC glad_glGetIntegeri_v;
-PFNGLGETMAPFVPROC glad_glGetMapfv;
-PFNGLINDEXSPROC glad_glIndexs;
-PFNGLCOMPILESHADERPROC glad_glCompileShader;
-PFNGLGETTRANSFORMFEEDBACKVARYINGPROC glad_glGetTransformFeedbackVarying;
-PFNGLWINDOWPOS2IVPROC glad_glWindowPos2iv;
-PFNGLINDEXFVPROC glad_glIndexfv;
-PFNGLFOGIVPROC glad_glFogiv;
-PFNGLSTENCILMASKSEPARATEPROC glad_glStencilMaskSeparate;
-PFNGLRASTERPOS2FVPROC glad_glRasterPos2fv;
-PFNGLLIGHTMODELIVPROC glad_glLightModeliv;
-PFNGLCOLOR4UIPROC glad_glColor4ui;
-PFNGLSECONDARYCOLOR3FVPROC glad_glSecondaryColor3fv;
-PFNGLMULTITEXCOORDP3UIPROC glad_glMultiTexCoordP3ui;
-PFNGLFOGFVPROC glad_glFogfv;
-PFNGLVERTEXP4UIPROC glad_glVertexP4ui;
-PFNGLENABLEIPROC glad_glEnablei;
-PFNGLVERTEX4IVPROC glad_glVertex4iv;
-PFNGLEVALCOORD1FVPROC glad_glEvalCoord1fv;
-PFNGLWINDOWPOS2SVPROC glad_glWindowPos2sv;
-PFNGLVERTEXATTRIBP4UIPROC glad_glVertexAttribP4ui;
-PFNGLCREATESHADERPROC glad_glCreateShader;
-PFNGLISBUFFERPROC glad_glIsBuffer;
-PFNGLGETMULTISAMPLEFVPROC glad_glGetMultisamplefv;
-PFNGLGENRENDERBUFFERSPROC glad_glGenRenderbuffers;
-PFNGLCOPYTEXSUBIMAGE2DPROC glad_glCopyTexSubImage2D;
-PFNGLCOMPRESSEDTEXIMAGE2DPROC glad_glCompressedTexImage2D;
-PFNGLVERTEXATTRIB1FPROC glad_glVertexAttrib1f;
-PFNGLBLENDFUNCSEPARATEPROC glad_glBlendFuncSeparate;
-PFNGLVERTEX4FVPROC glad_glVertex4fv;
-PFNGLBINDTEXTUREPROC glad_glBindTexture;
-PFNGLVERTEXATTRIB1SPROC glad_glVertexAttrib1s;
-PFNGLTEXCOORD2FVPROC glad_glTexCoord2fv;
-PFNGLSAMPLEMASKIPROC glad_glSampleMaski;
-PFNGLVERTEXP2UIPROC glad_glVertexP2ui;
-PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC glad_glDrawRangeElementsBaseVertex;
-PFNGLTEXCOORD4FVPROC glad_glTexCoord4fv;
-PFNGLUNIFORMMATRIX3X2FVPROC glad_glUniformMatrix3x2fv;
-PFNGLPOINTSIZEPROC glad_glPointSize;
-PFNGLVERTEXATTRIB2DVPROC glad_glVertexAttrib2dv;
-PFNGLDELETEPROGRAMPROC glad_glDeleteProgram;
-PFNGLCOLOR4BVPROC glad_glColor4bv;
-PFNGLRASTERPOS2FPROC glad_glRasterPos2f;
-PFNGLRASTERPOS2DPROC glad_glRasterPos2d;
-PFNGLLOADIDENTITYPROC glad_glLoadIdentity;
-PFNGLRASTERPOS2IPROC glad_glRasterPos2i;
-PFNGLRENDERBUFFERSTORAGEPROC glad_glRenderbufferStorage;
-PFNGLUNIFORMMATRIX4X3FVPROC glad_glUniformMatrix4x3fv;
-PFNGLCOLOR3BPROC glad_glColor3b;
-PFNGLCLEARBUFFERFVPROC glad_glClearBufferfv;
-PFNGLEDGEFLAGPROC glad_glEdgeFlag;
-PFNGLDELETESAMPLERSPROC glad_glDeleteSamplers;
-PFNGLVERTEX3DPROC glad_glVertex3d;
-PFNGLVERTEX3FPROC glad_glVertex3f;
-PFNGLVERTEX3IPROC glad_glVertex3i;
-PFNGLCOLOR3IPROC glad_glColor3i;
-PFNGLUNIFORM3FPROC glad_glUniform3f;
-PFNGLVERTEXATTRIB4UBVPROC glad_glVertexAttrib4ubv;
-PFNGLCOLOR3SPROC glad_glColor3s;
-PFNGLVERTEX3SPROC glad_glVertex3s;
-PFNGLTEXCOORDP2UIPROC glad_glTexCoordP2ui;
-PFNGLCOLORMASKIPROC glad_glColorMaski;
-PFNGLCLEARBUFFERFIPROC glad_glClearBufferfi;
-PFNGLTEXCOORD1IVPROC glad_glTexCoord1iv;
-PFNGLBLITFRAMEBUFFERPROC glad_glBlitFramebuffer;
-PFNGLMULTITEXCOORDP2UIPROC glad_glMultiTexCoordP2ui;
-PFNGLGETSAMPLERPARAMETERIIVPROC glad_glGetSamplerParameterIiv;
-PFNGLGETFRAGDATAINDEXPROC glad_glGetFragDataIndex;
-PFNGLVERTEXATTRIB3FPROC glad_glVertexAttrib3f;
-PFNGLVERTEX2IVPROC glad_glVertex2iv;
-PFNGLCOLOR3SVPROC glad_glColor3sv;
-PFNGLGETVERTEXATTRIBDVPROC glad_glGetVertexAttribdv;
-PFNGLUNIFORMMATRIX3X4FVPROC glad_glUniformMatrix3x4fv;
-PFNGLNORMALPOINTERPROC glad_glNormalPointer;
-PFNGLTEXCOORDP3UIVPROC glad_glTexCoordP3uiv;
-PFNGLVERTEX4SVPROC glad_glVertex4sv;
-PFNGLPASSTHROUGHPROC glad_glPassThrough;
-PFNGLMULTITEXCOORDP4UIPROC glad_glMultiTexCoordP4ui;
-PFNGLFOGIPROC glad_glFogi;
-PFNGLBEGINPROC glad_glBegin;
-PFNGLEVALCOORD2DVPROC glad_glEvalCoord2dv;
-PFNGLCOLOR3UBVPROC glad_glColor3ubv;
-PFNGLVERTEXPOINTERPROC glad_glVertexPointer;
-PFNGLSECONDARYCOLOR3UIVPROC glad_glSecondaryColor3uiv;
-PFNGLDELETEFRAMEBUFFERSPROC glad_glDeleteFramebuffers;
-PFNGLDRAWARRAYSPROC glad_glDrawArrays;
-PFNGLUNIFORM1UIPROC glad_glUniform1ui;
-PFNGLMULTITEXCOORD1DPROC glad_glMultiTexCoord1d;
-PFNGLMULTITEXCOORD1FPROC glad_glMultiTexCoord1f;
-PFNGLLIGHTFVPROC glad_glLightfv;
-PFNGLTEXCOORDP3UIPROC glad_glTexCoordP3ui;
-PFNGLVERTEXATTRIB3DPROC glad_glVertexAttrib3d;
-PFNGLCLEARPROC glad_glClear;
-PFNGLMULTITEXCOORD1IPROC glad_glMultiTexCoord1i;
-PFNGLGETACTIVEUNIFORMNAMEPROC glad_glGetActiveUniformName;
-PFNGLMULTITEXCOORD1SPROC glad_glMultiTexCoord1s;
-PFNGLISENABLEDPROC glad_glIsEnabled;
-PFNGLSTENCILOPPROC glad_glStencilOp;
-PFNGLGETQUERYOBJECTUIVPROC glad_glGetQueryObjectuiv;
-PFNGLFRAMEBUFFERTEXTURE2DPROC glad_glFramebufferTexture2D;
-PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC glad_glGetFramebufferAttachmentParameteriv;
-PFNGLTRANSLATEFPROC glad_glTranslatef;
-PFNGLVERTEXATTRIB4NUBPROC glad_glVertexAttrib4Nub;
-PFNGLTRANSLATEDPROC glad_glTranslated;
-PFNGLTEXCOORD3SVPROC glad_glTexCoord3sv;
-PFNGLGETFRAGDATALOCATIONPROC glad_glGetFragDataLocation;
-PFNGLTEXIMAGE1DPROC glad_glTexImage1D;
-PFNGLVERTEXP3UIVPROC glad_glVertexP3uiv;
-PFNGLTEXPARAMETERIVPROC glad_glTexParameteriv;
-PFNGLSECONDARYCOLOR3BVPROC glad_glSecondaryColor3bv;
-PFNGLGETMATERIALFVPROC glad_glGetMaterialfv;
-PFNGLGETTEXIMAGEPROC glad_glGetTexImage;
-PFNGLFOGCOORDFVPROC glad_glFogCoordfv;
-PFNGLPIXELMAPUIVPROC glad_glPixelMapuiv;
-PFNGLGETSHADERINFOLOGPROC glad_glGetShaderInfoLog;
-PFNGLGETQUERYOBJECTI64VPROC glad_glGetQueryObjecti64v;
-PFNGLGENFRAMEBUFFERSPROC glad_glGenFramebuffers;
-PFNGLINDEXSVPROC glad_glIndexsv;
-PFNGLGETATTACHEDSHADERSPROC glad_glGetAttachedShaders;
-PFNGLISRENDERBUFFERPROC glad_glIsRenderbuffer;
-PFNGLVERTEX3IVPROC glad_glVertex3iv;
-PFNGLBITMAPPROC glad_glBitmap;
-PFNGLMATERIALIPROC glad_glMateriali;
-PFNGLISVERTEXARRAYPROC glad_glIsVertexArray;
-PFNGLDISABLEVERTEXATTRIBARRAYPROC glad_glDisableVertexAttribArray;
-PFNGLGETQUERYIVPROC glad_glGetQueryiv;
-PFNGLTEXCOORD4FPROC glad_glTexCoord4f;
-PFNGLTEXCOORD4DPROC glad_glTexCoord4d;
-PFNGLGETSAMPLERPARAMETERFVPROC glad_glGetSamplerParameterfv;
-PFNGLTEXCOORD4IPROC glad_glTexCoord4i;
-PFNGLMATERIALFPROC glad_glMaterialf;
-PFNGLTEXCOORD4SPROC glad_glTexCoord4s;
-PFNGLGETUNIFORMINDICESPROC glad_glGetUniformIndices;
-PFNGLISSHADERPROC glad_glIsShader;
-PFNGLMULTITEXCOORD2SPROC glad_glMultiTexCoord2s;
-PFNGLVERTEXATTRIBI4UBVPROC glad_glVertexAttribI4ubv;
-PFNGLVERTEX3DVPROC glad_glVertex3dv;
-PFNGLGETINTEGER64VPROC glad_glGetInteger64v;
-PFNGLPOINTPARAMETERIVPROC glad_glPointParameteriv;
-PFNGLENABLEPROC glad_glEnable;
-PFNGLGETACTIVEUNIFORMSIVPROC glad_glGetActiveUniformsiv;
-PFNGLCOLOR4FVPROC glad_glColor4fv;
-PFNGLTEXCOORD1FVPROC glad_glTexCoord1fv;
-PFNGLTEXCOORD2SVPROC glad_glTexCoord2sv;
-PFNGLVERTEXATTRIB4DVPROC glad_glVertexAttrib4dv;
-PFNGLMULTITEXCOORD1DVPROC glad_glMultiTexCoord1dv;
-PFNGLMULTITEXCOORD2IPROC glad_glMultiTexCoord2i;
-PFNGLTEXCOORD3FVPROC glad_glTexCoord3fv;
-PFNGLSECONDARYCOLOR3USVPROC glad_glSecondaryColor3usv;
-PFNGLTEXGENFPROC glad_glTexGenf;
-PFNGLMULTITEXCOORDP3UIVPROC glad_glMultiTexCoordP3uiv;
-PFNGLVERTEXATTRIBP3UIPROC glad_glVertexAttribP3ui;
-PFNGLMULTITEXCOORDP1UIPROC glad_glMultiTexCoordP1ui;
-PFNGLGETPOINTERVPROC glad_glGetPointerv;
-PFNGLPOLYGONOFFSETPROC glad_glPolygonOffset;
-PFNGLGETUNIFORMUIVPROC glad_glGetUniformuiv;
-PFNGLNORMAL3FVPROC glad_glNormal3fv;
-PFNGLSECONDARYCOLOR3SPROC glad_glSecondaryColor3s;
-PFNGLDEPTHRANGEPROC glad_glDepthRange;
-PFNGLFRUSTUMPROC glad_glFrustum;
-PFNGLMULTITEXCOORD4SVPROC glad_glMultiTexCoord4sv;
-PFNGLDRAWBUFFERPROC glad_glDrawBuffer;
-PFNGLPUSHMATRIXPROC glad_glPushMatrix;
-PFNGLRASTERPOS3FVPROC glad_glRasterPos3fv;
-PFNGLORTHOPROC glad_glOrtho;
-PFNGLDRAWELEMENTSINSTANCEDPROC glad_glDrawElementsInstanced;
-PFNGLWINDOWPOS3SVPROC glad_glWindowPos3sv;
-PFNGLCLEARINDEXPROC glad_glClearIndex;
-PFNGLMAP1DPROC glad_glMap1d;
-PFNGLMAP1FPROC glad_glMap1f;
-PFNGLFLUSHPROC glad_glFlush;
-PFNGLGETRENDERBUFFERPARAMETERIVPROC glad_glGetRenderbufferParameteriv;
-PFNGLINDEXIVPROC glad_glIndexiv;
-PFNGLRASTERPOS3SVPROC glad_glRasterPos3sv;
-PFNGLGETVERTEXATTRIBPOINTERVPROC glad_glGetVertexAttribPointerv;
-PFNGLPIXELZOOMPROC glad_glPixelZoom;
-PFNGLFENCESYNCPROC glad_glFenceSync;
-PFNGLDELETEVERTEXARRAYSPROC glad_glDeleteVertexArrays;
-PFNGLCOLORP3UIPROC glad_glColorP3ui;
-PFNGLVERTEXATTRIB3SVPROC glad_glVertexAttrib3sv;
-PFNGLBEGINCONDITIONALRENDERPROC glad_glBeginConditionalRender;
-PFNGLDRAWELEMENTSBASEVERTEXPROC glad_glDrawElementsBaseVertex;
-PFNGLGETTEXLEVELPARAMETERIVPROC glad_glGetTexLevelParameteriv;
-PFNGLLIGHTIPROC glad_glLighti;
-PFNGLMULTITEXCOORDP4UIVPROC glad_glMultiTexCoordP4uiv;
-PFNGLLIGHTFPROC glad_glLightf;
-PFNGLGETATTRIBLOCATIONPROC glad_glGetAttribLocation;
-PFNGLSTENCILFUNCSEPARATEPROC glad_glStencilFuncSeparate;
-PFNGLGENSAMPLERSPROC glad_glGenSamplers;
-PFNGLCLAMPCOLORPROC glad_glClampColor;
-PFNGLUNIFORM4IVPROC glad_glUniform4iv;
-PFNGLCLEARSTENCILPROC glad_glClearStencil;
-PFNGLTEXCOORDP1UIVPROC glad_glTexCoordP1uiv;
-PFNGLMULTITEXCOORD3FVPROC glad_glMultiTexCoord3fv;
-PFNGLGETPIXELMAPUIVPROC glad_glGetPixelMapuiv;
-PFNGLGENTEXTURESPROC glad_glGenTextures;
-PFNGLTEXCOORD4IVPROC glad_glTexCoord4iv;
-PFNGLGETTEXPARAMETERIUIVPROC glad_glGetTexParameterIuiv;
-PFNGLINDEXPOINTERPROC glad_glIndexPointer;
-PFNGLVERTEXATTRIB4NBVPROC glad_glVertexAttrib4Nbv;
-PFNGLISSYNCPROC glad_glIsSync;
-PFNGLVERTEX2FPROC glad_glVertex2f;
-PFNGLVERTEX2DPROC glad_glVertex2d;
-PFNGLDELETERENDERBUFFERSPROC glad_glDeleteRenderbuffers;
-PFNGLUNIFORM2IPROC glad_glUniform2i;
-PFNGLMAPGRID2DPROC glad_glMapGrid2d;
-PFNGLMAPGRID2FPROC glad_glMapGrid2f;
-PFNGLTEXCOORDP4UIPROC glad_glTexCoordP4ui;
-PFNGLVERTEX2IPROC glad_glVertex2i;
-PFNGLVERTEXATTRIBPOINTERPROC glad_glVertexAttribPointer;
-PFNGLFRAMEBUFFERTEXTURELAYERPROC glad_glFramebufferTextureLayer;
-PFNGLVERTEX2SPROC glad_glVertex2s;
-PFNGLNORMAL3BVPROC glad_glNormal3bv;
-PFNGLVERTEXATTRIB4NUIVPROC glad_glVertexAttrib4Nuiv;
-PFNGLFLUSHMAPPEDBUFFERRANGEPROC glad_glFlushMappedBufferRange;
-PFNGLSECONDARYCOLOR3SVPROC glad_glSecondaryColor3sv;
-PFNGLVERTEX3SVPROC glad_glVertex3sv;
-PFNGLGENQUERIESPROC glad_glGenQueries;
-PFNGLGETPIXELMAPFVPROC glad_glGetPixelMapfv;
-PFNGLTEXENVFPROC glad_glTexEnvf;
-PFNGLVERTEXATTRIBP1UIPROC glad_glVertexAttribP1ui;
-PFNGLTEXSUBIMAGE3DPROC glad_glTexSubImage3D;
-PFNGLGETINTEGER64I_VPROC glad_glGetInteger64i_v;
-PFNGLFOGCOORDDPROC glad_glFogCoordd;
-PFNGLFOGCOORDFPROC glad_glFogCoordf;
-PFNGLCOPYTEXIMAGE2DPROC glad_glCopyTexImage2D;
-PFNGLTEXENVIPROC glad_glTexEnvi;
-PFNGLMULTITEXCOORD1IVPROC glad_glMultiTexCoord1iv;
-PFNGLISENABLEDIPROC glad_glIsEnabledi;
-PFNGLSECONDARYCOLORP3UIPROC glad_glSecondaryColorP3ui;
-PFNGLVERTEXATTRIBI2IPROC glad_glVertexAttribI2i;
-PFNGLBINDFRAGDATALOCATIONINDEXEDPROC glad_glBindFragDataLocationIndexed;
-PFNGLMULTITEXCOORD2DVPROC glad_glMultiTexCoord2dv;
-PFNGLUNIFORM2IVPROC glad_glUniform2iv;
-PFNGLVERTEXATTRIB1FVPROC glad_glVertexAttrib1fv;
-PFNGLUNIFORM4UIVPROC glad_glUniform4uiv;
-PFNGLMATRIXMODEPROC glad_glMatrixMode;
-PFNGLFEEDBACKBUFFERPROC glad_glFeedbackBuffer;
-PFNGLGETMAPIVPROC glad_glGetMapiv;
-PFNGLFRAMEBUFFERTEXTURE1DPROC glad_glFramebufferTexture1D;
-PFNGLGETSHADERIVPROC glad_glGetShaderiv;
-PFNGLMULTITEXCOORD2DPROC glad_glMultiTexCoord2d;
-PFNGLMULTITEXCOORD2FPROC glad_glMultiTexCoord2f;
-PFNGLBINDFRAGDATALOCATIONPROC glad_glBindFragDataLocation;
-PFNGLPRIORITIZETEXTURESPROC glad_glPrioritizeTextures;
-PFNGLCALLLISTPROC glad_glCallList;
-PFNGLSECONDARYCOLOR3UBVPROC glad_glSecondaryColor3ubv;
-PFNGLGETDOUBLEVPROC glad_glGetDoublev;
-PFNGLMULTITEXCOORD3IVPROC glad_glMultiTexCoord3iv;
-PFNGLVERTEXATTRIB1DPROC glad_glVertexAttrib1d;
-PFNGLLIGHTMODELFPROC glad_glLightModelf;
-PFNGLGETUNIFORMIVPROC glad_glGetUniformiv;
-PFNGLVERTEX2SVPROC glad_glVertex2sv;
-PFNGLLIGHTMODELIPROC glad_glLightModeli;
-PFNGLWINDOWPOS3IVPROC glad_glWindowPos3iv;
-PFNGLMULTITEXCOORDP1UIVPROC glad_glMultiTexCoordP1uiv;
-PFNGLUNIFORM3FVPROC glad_glUniform3fv;
-PFNGLPIXELSTOREIPROC glad_glPixelStorei;
-PFNGLCALLLISTSPROC glad_glCallLists;
-PFNGLMAPBUFFERPROC glad_glMapBuffer;
-PFNGLSECONDARYCOLOR3DPROC glad_glSecondaryColor3d;
-PFNGLTEXCOORD3IPROC glad_glTexCoord3i;
-PFNGLMULTITEXCOORD4FVPROC glad_glMultiTexCoord4fv;
-PFNGLRASTERPOS3IPROC glad_glRasterPos3i;
-PFNGLSECONDARYCOLOR3BPROC glad_glSecondaryColor3b;
-PFNGLRASTERPOS3DPROC glad_glRasterPos3d;
-PFNGLRASTERPOS3FPROC glad_glRasterPos3f;
-PFNGLCOMPRESSEDTEXIMAGE3DPROC glad_glCompressedTexImage3D;
-PFNGLTEXCOORD3FPROC glad_glTexCoord3f;
-PFNGLDELETESYNCPROC glad_glDeleteSync;
-PFNGLTEXCOORD3DPROC glad_glTexCoord3d;
-PFNGLTEXIMAGE2DMULTISAMPLEPROC glad_glTexImage2DMultisample;
-PFNGLGETVERTEXATTRIBIVPROC glad_glGetVertexAttribiv;
-PFNGLMULTIDRAWELEMENTSPROC glad_glMultiDrawElements;
-PFNGLVERTEXATTRIB3FVPROC glad_glVertexAttrib3fv;
-PFNGLTEXCOORD3SPROC glad_glTexCoord3s;
-PFNGLUNIFORM3IVPROC glad_glUniform3iv;
-PFNGLRASTERPOS3SPROC glad_glRasterPos3s;
-PFNGLPOLYGONMODEPROC glad_glPolygonMode;
-PFNGLDRAWBUFFERSPROC glad_glDrawBuffers;
-PFNGLGETACTIVEUNIFORMBLOCKIVPROC glad_glGetActiveUniformBlockiv;
-PFNGLARETEXTURESRESIDENTPROC glad_glAreTexturesResident;
-PFNGLISLISTPROC glad_glIsList;
-PFNGLRASTERPOS2SVPROC glad_glRasterPos2sv;
-PFNGLRASTERPOS4SVPROC glad_glRasterPos4sv;
-PFNGLCOLOR4SPROC glad_glColor4s;
-PFNGLUSEPROGRAMPROC glad_glUseProgram;
-PFNGLLINESTIPPLEPROC glad_glLineStipple;
-PFNGLMULTITEXCOORD1SVPROC glad_glMultiTexCoord1sv;
-PFNGLGETPROGRAMINFOLOGPROC glad_glGetProgramInfoLog;
-PFNGLGETBUFFERPARAMETERIVPROC glad_glGetBufferParameteriv;
-PFNGLMULTITEXCOORD2IVPROC glad_glMultiTexCoord2iv;
-PFNGLUNIFORMMATRIX2X4FVPROC glad_glUniformMatrix2x4fv;
-PFNGLBINDVERTEXARRAYPROC glad_glBindVertexArray;
-PFNGLCOLOR4BPROC glad_glColor4b;
-PFNGLSECONDARYCOLOR3FPROC glad_glSecondaryColor3f;
-PFNGLCOLOR4FPROC glad_glColor4f;
-PFNGLCOLOR4DPROC glad_glColor4d;
-PFNGLCOLOR4IPROC glad_glColor4i;
-PFNGLSAMPLERPARAMETERIIVPROC glad_glSamplerParameterIiv;
-PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC glad_glMultiDrawElementsBaseVertex;
-PFNGLRASTERPOS3IVPROC glad_glRasterPos3iv;
-PFNGLVERTEX2DVPROC glad_glVertex2dv;
-PFNGLTEXCOORD4SVPROC glad_glTexCoord4sv;
-PFNGLUNIFORM2UIVPROC glad_glUniform2uiv;
-PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC glad_glCompressedTexSubImage1D;
-PFNGLFINISHPROC glad_glFinish;
-PFNGLGETBOOLEANVPROC glad_glGetBooleanv;
-PFNGLDELETESHADERPROC glad_glDeleteShader;
-PFNGLDRAWELEMENTSPROC glad_glDrawElements;
-PFNGLRASTERPOS2SPROC glad_glRasterPos2s;
-PFNGLGETMAPDVPROC glad_glGetMapdv;
-PFNGLVERTEXATTRIB4NSVPROC glad_glVertexAttrib4Nsv;
-PFNGLMATERIALFVPROC glad_glMaterialfv;
-PFNGLVIEWPORTPROC glad_glViewport;
-PFNGLUNIFORM1UIVPROC glad_glUniform1uiv;
-PFNGLTRANSFORMFEEDBACKVARYINGSPROC glad_glTransformFeedbackVaryings;
-PFNGLINDEXDVPROC glad_glIndexdv;
-PFNGLCOPYTEXSUBIMAGE3DPROC glad_glCopyTexSubImage3D;
-PFNGLTEXCOORD3IVPROC glad_glTexCoord3iv;
-PFNGLVERTEXATTRIBI3IPROC glad_glVertexAttribI3i;
-PFNGLCLEARDEPTHPROC glad_glClearDepth;
-PFNGLVERTEXATTRIBI4USVPROC glad_glVertexAttribI4usv;
-PFNGLTEXPARAMETERFPROC glad_glTexParameterf;
-PFNGLTEXPARAMETERIPROC glad_glTexParameteri;
-PFNGLGETSHADERSOURCEPROC glad_glGetShaderSource;
-PFNGLTEXBUFFERPROC glad_glTexBuffer;
-PFNGLPOPNAMEPROC glad_glPopName;
-PFNGLVALIDATEPROGRAMPROC glad_glValidateProgram;
-PFNGLPIXELSTOREFPROC glad_glPixelStoref;
-PFNGLUNIFORM3UIVPROC glad_glUniform3uiv;
-PFNGLRASTERPOS4FVPROC glad_glRasterPos4fv;
-PFNGLEVALCOORD1DVPROC glad_glEvalCoord1dv;
-PFNGLMULTITEXCOORDP2UIVPROC glad_glMultiTexCoordP2uiv;
-PFNGLRECTIPROC glad_glRecti;
-PFNGLCOLOR4UBPROC glad_glColor4ub;
-PFNGLMULTTRANSPOSEMATRIXFPROC glad_glMultTransposeMatrixf;
-PFNGLRECTFPROC glad_glRectf;
-PFNGLRECTDPROC glad_glRectd;
-PFNGLNORMAL3SVPROC glad_glNormal3sv;
-PFNGLNEWLISTPROC glad_glNewList;
-PFNGLCOLOR4USPROC glad_glColor4us;
-PFNGLVERTEXATTRIBP1UIVPROC glad_glVertexAttribP1uiv;
-PFNGLLINKPROGRAMPROC glad_glLinkProgram;
-PFNGLHINTPROC glad_glHint;
-PFNGLRECTSPROC glad_glRects;
-PFNGLTEXCOORD2DVPROC glad_glTexCoord2dv;
-PFNGLRASTERPOS4IVPROC glad_glRasterPos4iv;
-PFNGLGETSTRINGPROC glad_glGetString;
-PFNGLVERTEXATTRIBP2UIVPROC glad_glVertexAttribP2uiv;
-PFNGLEDGEFLAGVPROC glad_glEdgeFlagv;
-PFNGLDETACHSHADERPROC glad_glDetachShader;
-PFNGLSCALEFPROC glad_glScalef;
-PFNGLENDQUERYPROC glad_glEndQuery;
-PFNGLSCALEDPROC glad_glScaled;
-PFNGLEDGEFLAGPOINTERPROC glad_glEdgeFlagPointer;
-PFNGLCOPYPIXELSPROC glad_glCopyPixels;
-PFNGLVERTEXATTRIBI2UIPROC glad_glVertexAttribI2ui;
-PFNGLPOPATTRIBPROC glad_glPopAttrib;
-PFNGLDELETETEXTURESPROC glad_glDeleteTextures;
-PFNGLSTENCILOPSEPARATEPROC glad_glStencilOpSeparate;
-PFNGLDELETEQUERIESPROC glad_glDeleteQueries;
-PFNGLNORMALP3UIVPROC glad_glNormalP3uiv;
-PFNGLVERTEXATTRIB4FPROC glad_glVertexAttrib4f;
-PFNGLVERTEXATTRIB4DPROC glad_glVertexAttrib4d;
-PFNGLINITNAMESPROC glad_glInitNames;
-PFNGLGETBUFFERPARAMETERI64VPROC glad_glGetBufferParameteri64v;
-PFNGLCOLOR3DVPROC glad_glColor3dv;
-PFNGLVERTEXATTRIBI1IPROC glad_glVertexAttribI1i;
-PFNGLGETTEXPARAMETERIVPROC glad_glGetTexParameteriv;
-PFNGLWAITSYNCPROC glad_glWaitSync;
-PFNGLVERTEXATTRIB4SPROC glad_glVertexAttrib4s;
-PFNGLCOLORMATERIALPROC glad_glColorMaterial;
-PFNGLSAMPLECOVERAGEPROC glad_glSampleCoverage;
-PFNGLSAMPLERPARAMETERIPROC glad_glSamplerParameteri;
-PFNGLSAMPLERPARAMETERFPROC glad_glSamplerParameterf;
-PFNGLUNIFORM1FPROC glad_glUniform1f;
-PFNGLGETVERTEXATTRIBFVPROC glad_glGetVertexAttribfv;
-PFNGLRENDERMODEPROC glad_glRenderMode;
-PFNGLGETCOMPRESSEDTEXIMAGEPROC glad_glGetCompressedTexImage;
-PFNGLWINDOWPOS2DVPROC glad_glWindowPos2dv;
-PFNGLUNIFORM1IPROC glad_glUniform1i;
-PFNGLGETACTIVEATTRIBPROC glad_glGetActiveAttrib;
-PFNGLUNIFORM3IPROC glad_glUniform3i;
-PFNGLPIXELTRANSFERIPROC glad_glPixelTransferi;
-PFNGLTEXSUBIMAGE2DPROC glad_glTexSubImage2D;
-PFNGLDISABLEPROC glad_glDisable;
-PFNGLLOGICOPPROC glad_glLogicOp;
-PFNGLEVALPOINT2PROC glad_glEvalPoint2;
-PFNGLPIXELTRANSFERFPROC glad_glPixelTransferf;
-PFNGLSECONDARYCOLOR3IPROC glad_glSecondaryColor3i;
-PFNGLUNIFORM4UIPROC glad_glUniform4ui;
-PFNGLCOLOR3FPROC glad_glColor3f;
-PFNGLBINDFRAMEBUFFERPROC glad_glBindFramebuffer;
-PFNGLGETTEXENVFVPROC glad_glGetTexEnvfv;
-PFNGLRECTFVPROC glad_glRectfv;
-PFNGLCULLFACEPROC glad_glCullFace;
-PFNGLGETLIGHTFVPROC glad_glGetLightfv;
-PFNGLCOLOR3DPROC glad_glColor3d;
-PFNGLTEXGENDPROC glad_glTexGend;
-PFNGLTEXGENIPROC glad_glTexGeni;
-PFNGLMULTITEXCOORD3SPROC glad_glMultiTexCoord3s;
-PFNGLGETSTRINGIPROC glad_glGetStringi;
-PFNGLMULTITEXCOORD3IPROC glad_glMultiTexCoord3i;
-PFNGLMULTITEXCOORD3FPROC glad_glMultiTexCoord3f;
-PFNGLMULTITEXCOORD3DPROC glad_glMultiTexCoord3d;
-PFNGLATTACHSHADERPROC glad_glAttachShader;
-PFNGLFOGCOORDDVPROC glad_glFogCoorddv;
-PFNGLUNIFORMMATRIX2X3FVPROC glad_glUniformMatrix2x3fv;
-PFNGLGETTEXGENFVPROC glad_glGetTexGenfv;
-PFNGLQUERYCOUNTERPROC glad_glQueryCounter;
-PFNGLFOGCOORDPOINTERPROC glad_glFogCoordPointer;
-PFNGLPROVOKINGVERTEXPROC glad_glProvokingVertex;
-PFNGLFRAMEBUFFERTEXTURE3DPROC glad_glFramebufferTexture3D;
-PFNGLTEXGENIVPROC glad_glTexGeniv;
-PFNGLRASTERPOS2DVPROC glad_glRasterPos2dv;
-PFNGLSECONDARYCOLOR3DVPROC glad_glSecondaryColor3dv;
-PFNGLCLIENTACTIVETEXTUREPROC glad_glClientActiveTexture;
-PFNGLVERTEXATTRIBI4SVPROC glad_glVertexAttribI4sv;
-PFNGLSECONDARYCOLOR3USPROC glad_glSecondaryColor3us;
-PFNGLNORMALP3UIPROC glad_glNormalP3ui;
-PFNGLTEXENVFVPROC glad_glTexEnvfv;
-PFNGLREADBUFFERPROC glad_glReadBuffer;
-PFNGLTEXPARAMETERIUIVPROC glad_glTexParameterIuiv;
-PFNGLDRAWARRAYSINSTANCEDPROC glad_glDrawArraysInstanced;
-PFNGLGENERATEMIPMAPPROC glad_glGenerateMipmap;
-PFNGLWINDOWPOS3FVPROC glad_glWindowPos3fv;
-PFNGLLIGHTMODELFVPROC glad_glLightModelfv;
-PFNGLSAMPLERPARAMETERIVPROC glad_glSamplerParameteriv;
-PFNGLDELETELISTSPROC glad_glDeleteLists;
-PFNGLGETCLIPPLANEPROC glad_glGetClipPlane;
-PFNGLVERTEX4DVPROC glad_glVertex4dv;
-PFNGLTEXCOORD2DPROC glad_glTexCoord2d;
-PFNGLPOPMATRIXPROC glad_glPopMatrix;
-PFNGLTEXCOORD2FPROC glad_glTexCoord2f;
-PFNGLCOLOR4IVPROC glad_glColor4iv;
-PFNGLINDEXUBVPROC glad_glIndexubv;
-PFNGLUNMAPBUFFERPROC glad_glUnmapBuffer;
-PFNGLTEXCOORD2IPROC glad_glTexCoord2i;
-PFNGLRASTERPOS4DPROC glad_glRasterPos4d;
-PFNGLRASTERPOS4FPROC glad_glRasterPos4f;
-PFNGLVERTEXATTRIB3SPROC glad_glVertexAttrib3s;
-PFNGLTEXCOORD2SPROC glad_glTexCoord2s;
-PFNGLBINDRENDERBUFFERPROC glad_glBindRenderbuffer;
-PFNGLVERTEX3FVPROC glad_glVertex3fv;
-PFNGLTEXCOORD4DVPROC glad_glTexCoord4dv;
-PFNGLMATERIALIVPROC glad_glMaterialiv;
-PFNGLVERTEXATTRIBP4UIVPROC glad_glVertexAttribP4uiv;
-PFNGLISPROGRAMPROC glad_glIsProgram;
-PFNGLVERTEXATTRIB4BVPROC glad_glVertexAttrib4bv;
-PFNGLVERTEX4SPROC glad_glVertex4s;
-PFNGLVERTEXATTRIB4FVPROC glad_glVertexAttrib4fv;
-PFNGLNORMAL3DVPROC glad_glNormal3dv;
-PFNGLUNIFORM4IPROC glad_glUniform4i;
-PFNGLACTIVETEXTUREPROC glad_glActiveTexture;
-PFNGLENABLEVERTEXATTRIBARRAYPROC glad_glEnableVertexAttribArray;
-PFNGLROTATEDPROC glad_glRotated;
-PFNGLROTATEFPROC glad_glRotatef;
-PFNGLVERTEX4IPROC glad_glVertex4i;
-PFNGLREADPIXELSPROC glad_glReadPixels;
-PFNGLVERTEXATTRIBI3IVPROC glad_glVertexAttribI3iv;
-PFNGLLOADNAMEPROC glad_glLoadName;
-PFNGLUNIFORM4FPROC glad_glUniform4f;
-PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC glad_glRenderbufferStorageMultisample;
-PFNGLGENVERTEXARRAYSPROC glad_glGenVertexArrays;
-PFNGLSHADEMODELPROC glad_glShadeModel;
-PFNGLMAPGRID1DPROC glad_glMapGrid1d;
-PFNGLGETUNIFORMFVPROC glad_glGetUniformfv;
-PFNGLMAPGRID1FPROC glad_glMapGrid1f;
-PFNGLSAMPLERPARAMETERFVPROC glad_glSamplerParameterfv;
-PFNGLDISABLECLIENTSTATEPROC glad_glDisableClientState;
-PFNGLMULTITEXCOORD3SVPROC glad_glMultiTexCoord3sv;
-PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC glad_glDrawElementsInstancedBaseVertex;
-PFNGLSECONDARYCOLORPOINTERPROC glad_glSecondaryColorPointer;
-PFNGLALPHAFUNCPROC glad_glAlphaFunc;
-PFNGLUNIFORM1IVPROC glad_glUniform1iv;
-PFNGLMULTITEXCOORD4IVPROC glad_glMultiTexCoord4iv;
-PFNGLGETQUERYOBJECTIVPROC glad_glGetQueryObjectiv;
-PFNGLSTENCILFUNCPROC glad_glStencilFunc;
-PFNGLMULTITEXCOORD1FVPROC glad_glMultiTexCoord1fv;
-PFNGLUNIFORMBLOCKBINDINGPROC glad_glUniformBlockBinding;
-PFNGLCOLOR4UIVPROC glad_glColor4uiv;
-PFNGLRECTIVPROC glad_glRectiv;
-PFNGLCOLORP4UIPROC glad_glColorP4ui;
-PFNGLRASTERPOS3DVPROC glad_glRasterPos3dv;
-PFNGLEVALMESH2PROC glad_glEvalMesh2;
-PFNGLEVALMESH1PROC glad_glEvalMesh1;
-PFNGLTEXCOORDPOINTERPROC glad_glTexCoordPointer;
-PFNGLVERTEXATTRIB4NUBVPROC glad_glVertexAttrib4Nubv;
-PFNGLVERTEXATTRIBI4IVPROC glad_glVertexAttribI4iv;
-PFNGLEVALCOORD2FVPROC glad_glEvalCoord2fv;
-PFNGLCOLOR4UBVPROC glad_glColor4ubv;
-PFNGLLOADTRANSPOSEMATRIXDPROC glad_glLoadTransposeMatrixd;
-PFNGLLOADTRANSPOSEMATRIXFPROC glad_glLoadTransposeMatrixf;
-PFNGLVERTEXATTRIBI4IPROC glad_glVertexAttribI4i;
-PFNGLRASTERPOS2IVPROC glad_glRasterPos2iv;
-PFNGLGETBUFFERSUBDATAPROC glad_glGetBufferSubData;
-PFNGLTEXENVIVPROC glad_glTexEnviv;
-PFNGLBLENDEQUATIONSEPARATEPROC glad_glBlendEquationSeparate;
-PFNGLVERTEXATTRIBI1UIPROC glad_glVertexAttribI1ui;
-PFNGLGENBUFFERSPROC glad_glGenBuffers;
-PFNGLSELECTBUFFERPROC glad_glSelectBuffer;
-PFNGLVERTEXATTRIB2SVPROC glad_glVertexAttrib2sv;
-PFNGLPUSHATTRIBPROC glad_glPushAttrib;
-PFNGLVERTEXATTRIBIPOINTERPROC glad_glVertexAttribIPointer;
-PFNGLBLENDFUNCPROC glad_glBlendFunc;
-PFNGLCREATEPROGRAMPROC glad_glCreateProgram;
-PFNGLTEXIMAGE3DPROC glad_glTexImage3D;
-PFNGLISFRAMEBUFFERPROC glad_glIsFramebuffer;
-PFNGLLIGHTIVPROC glad_glLightiv;
-PFNGLPRIMITIVERESTARTINDEXPROC glad_glPrimitiveRestartIndex;
-PFNGLTEXGENFVPROC glad_glTexGenfv;
-PFNGLENDPROC glad_glEnd;
-PFNGLDELETEBUFFERSPROC glad_glDeleteBuffers;
-PFNGLSCISSORPROC glad_glScissor;
-PFNGLTEXCOORDP4UIVPROC glad_glTexCoordP4uiv;
-PFNGLCLIPPLANEPROC glad_glClipPlane;
-PFNGLPUSHNAMEPROC glad_glPushName;
-PFNGLTEXGENDVPROC glad_glTexGendv;
-PFNGLINDEXUBPROC glad_glIndexub;
-PFNGLVERTEXP2UIVPROC glad_glVertexP2uiv;
-PFNGLSECONDARYCOLOR3IVPROC glad_glSecondaryColor3iv;
-PFNGLRASTERPOS4IPROC glad_glRasterPos4i;
-PFNGLMULTTRANSPOSEMATRIXDPROC glad_glMultTransposeMatrixd;
-PFNGLCLEARCOLORPROC glad_glClearColor;
-PFNGLVERTEXATTRIB4UIVPROC glad_glVertexAttrib4uiv;
-PFNGLNORMAL3SPROC glad_glNormal3s;
-PFNGLVERTEXATTRIB4NIVPROC glad_glVertexAttrib4Niv;
-PFNGLCLEARBUFFERIVPROC glad_glClearBufferiv;
-PFNGLPOINTPARAMETERIPROC glad_glPointParameteri;
-PFNGLCOLORP4UIVPROC glad_glColorP4uiv;
-PFNGLBLENDCOLORPROC glad_glBlendColor;
-PFNGLWINDOWPOS3DPROC glad_glWindowPos3d;
-PFNGLVERTEXATTRIBI2UIVPROC glad_glVertexAttribI2uiv;
-PFNGLSAMPLERPARAMETERIUIVPROC glad_glSamplerParameterIuiv;
-PFNGLUNIFORM3UIPROC glad_glUniform3ui;
-PFNGLCOLOR4DVPROC glad_glColor4dv;
-PFNGLVERTEXATTRIBI4UIVPROC glad_glVertexAttribI4uiv;
-PFNGLPOINTPARAMETERFVPROC glad_glPointParameterfv;
-PFNGLUNIFORM2FVPROC glad_glUniform2fv;
-PFNGLSECONDARYCOLOR3UBPROC glad_glSecondaryColor3ub;
-PFNGLSECONDARYCOLOR3UIPROC glad_glSecondaryColor3ui;
-PFNGLTEXCOORD3DVPROC glad_glTexCoord3dv;
-PFNGLGETSAMPLERPARAMETERIUIVPROC glad_glGetSamplerParameterIuiv;
-PFNGLBINDBUFFERRANGEPROC glad_glBindBufferRange;
-PFNGLNORMAL3IVPROC glad_glNormal3iv;
-PFNGLWINDOWPOS3SPROC glad_glWindowPos3s;
-PFNGLPOINTPARAMETERFPROC glad_glPointParameterf;
-PFNGLGETVERTEXATTRIBIUIVPROC glad_glGetVertexAttribIuiv;
-PFNGLWINDOWPOS3IPROC glad_glWindowPos3i;
-PFNGLMULTITEXCOORD4SPROC glad_glMultiTexCoord4s;
-PFNGLWINDOWPOS3FPROC glad_glWindowPos3f;
-PFNGLCOLOR3USPROC glad_glColor3us;
-PFNGLCOLOR3UIVPROC glad_glColor3uiv;
-PFNGLVERTEXATTRIB4NUSVPROC glad_glVertexAttrib4Nusv;
-PFNGLGETLIGHTIVPROC glad_glGetLightiv;
-PFNGLDEPTHFUNCPROC glad_glDepthFunc;
-PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC glad_glCompressedTexSubImage2D;
-PFNGLLISTBASEPROC glad_glListBase;
-PFNGLMULTITEXCOORD4FPROC glad_glMultiTexCoord4f;
-PFNGLCOLOR3UBPROC glad_glColor3ub;
-PFNGLMULTITEXCOORD4DPROC glad_glMultiTexCoord4d;
-PFNGLVERTEXATTRIBI4BVPROC glad_glVertexAttribI4bv;
-PFNGLGETTEXPARAMETERFVPROC glad_glGetTexParameterfv;
-PFNGLCOLOR3UIPROC glad_glColor3ui;
-PFNGLMULTITEXCOORD4IPROC glad_glMultiTexCoord4i;
-PFNGLGETPOLYGONSTIPPLEPROC glad_glGetPolygonStipple;
-PFNGLCLIENTWAITSYNCPROC glad_glClientWaitSync;
-PFNGLVERTEXATTRIBI4UIPROC glad_glVertexAttribI4ui;
-PFNGLMULTITEXCOORD4DVPROC glad_glMultiTexCoord4dv;
-PFNGLCOLORMASKPROC glad_glColorMask;
-PFNGLTEXPARAMETERIIVPROC glad_glTexParameterIiv;
-PFNGLBLENDEQUATIONPROC glad_glBlendEquation;
-PFNGLGETUNIFORMLOCATIONPROC glad_glGetUniformLocation;
-PFNGLGETSAMPLERPARAMETERIVPROC glad_glGetSamplerParameteriv;
-PFNGLRASTERPOS4SPROC glad_glRasterPos4s;
-PFNGLENDTRANSFORMFEEDBACKPROC glad_glEndTransformFeedback;
-PFNGLVERTEXATTRIB4USVPROC glad_glVertexAttrib4usv;
-PFNGLMULTITEXCOORD3DVPROC glad_glMultiTexCoord3dv;
-PFNGLCOLOR4SVPROC glad_glColor4sv;
-PFNGLPOPCLIENTATTRIBPROC glad_glPopClientAttrib;
-PFNGLBEGINTRANSFORMFEEDBACKPROC glad_glBeginTransformFeedback;
-PFNGLFOGFPROC glad_glFogf;
-PFNGLVERTEXATTRIBI1IVPROC glad_glVertexAttribI1iv;
-PFNGLISSAMPLERPROC glad_glIsSampler;
-PFNGLVERTEXP3UIPROC glad_glVertexP3ui;
-PFNGLVERTEXATTRIBDIVISORPROC glad_glVertexAttribDivisor;
-PFNGLCOLOR3IVPROC glad_glColor3iv;
-PFNGLCOMPRESSEDTEXIMAGE1DPROC glad_glCompressedTexImage1D;
-PFNGLCOPYTEXSUBIMAGE1DPROC glad_glCopyTexSubImage1D;
-PFNGLTEXCOORD1IPROC glad_glTexCoord1i;
-PFNGLCHECKFRAMEBUFFERSTATUSPROC glad_glCheckFramebufferStatus;
-PFNGLTEXCOORD1DPROC glad_glTexCoord1d;
-PFNGLTEXCOORD1FPROC glad_glTexCoord1f;
-PFNGLENDCONDITIONALRENDERPROC glad_glEndConditionalRender;
-PFNGLENABLECLIENTSTATEPROC glad_glEnableClientState;
-PFNGLBINDATTRIBLOCATIONPROC glad_glBindAttribLocation;
-PFNGLUNIFORMMATRIX4X2FVPROC glad_glUniformMatrix4x2fv;
-PFNGLMULTITEXCOORD2SVPROC glad_glMultiTexCoord2sv;
-PFNGLVERTEXATTRIB1DVPROC glad_glVertexAttrib1dv;
-PFNGLDRAWRANGEELEMENTSPROC glad_glDrawRangeElements;
-PFNGLTEXCOORD1SPROC glad_glTexCoord1s;
-PFNGLBINDBUFFERBASEPROC glad_glBindBufferBase;
-PFNGLBUFFERSUBDATAPROC glad_glBufferSubData;
-PFNGLVERTEXATTRIB4IVPROC glad_glVertexAttrib4iv;
-PFNGLGENLISTSPROC glad_glGenLists;
-PFNGLCOLOR3BVPROC glad_glColor3bv;
-PFNGLMAPBUFFERRANGEPROC glad_glMapBufferRange;
-PFNGLFRAMEBUFFERTEXTUREPROC glad_glFramebufferTexture;
-PFNGLGETTEXGENDVPROC glad_glGetTexGendv;
-PFNGLMULTIDRAWARRAYSPROC glad_glMultiDrawArrays;
-PFNGLENDLISTPROC glad_glEndList;
-PFNGLVERTEXP4UIVPROC glad_glVertexP4uiv;
-PFNGLUNIFORM2UIPROC glad_glUniform2ui;
-PFNGLVERTEXATTRIBI2IVPROC glad_glVertexAttribI2iv;
-PFNGLCOLOR3USVPROC glad_glColor3usv;
-PFNGLWINDOWPOS2FVPROC glad_glWindowPos2fv;
-PFNGLDISABLEIPROC glad_glDisablei;
-PFNGLINDEXMASKPROC glad_glIndexMask;
-PFNGLPUSHCLIENTATTRIBPROC glad_glPushClientAttrib;
-PFNGLSHADERSOURCEPROC glad_glShaderSource;
-PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC glad_glGetActiveUniformBlockName;
-PFNGLVERTEXATTRIBI3UIVPROC glad_glVertexAttribI3uiv;
-PFNGLCLEARACCUMPROC glad_glClearAccum;
-PFNGLGETSYNCIVPROC glad_glGetSynciv;
-PFNGLTEXCOORDP2UIVPROC glad_glTexCoordP2uiv;
-PFNGLUNIFORM2FPROC glad_glUniform2f;
-PFNGLBEGINQUERYPROC glad_glBeginQuery;
-PFNGLGETUNIFORMBLOCKINDEXPROC glad_glGetUniformBlockIndex;
-PFNGLBINDBUFFERPROC glad_glBindBuffer;
-PFNGLMAP2DPROC glad_glMap2d;
-PFNGLMAP2FPROC glad_glMap2f;
-PFNGLVERTEX4DPROC glad_glVertex4d;
-PFNGLUNIFORMMATRIX2FVPROC glad_glUniformMatrix2fv;
-PFNGLTEXCOORD1SVPROC glad_glTexCoord1sv;
-PFNGLBUFFERDATAPROC glad_glBufferData;
-PFNGLEVALPOINT1PROC glad_glEvalPoint1;
-PFNGLGETTEXPARAMETERIIVPROC glad_glGetTexParameterIiv;
-PFNGLTEXCOORD1DVPROC glad_glTexCoord1dv;
-PFNGLTEXCOORDP1UIPROC glad_glTexCoordP1ui;
-PFNGLGETERRORPROC glad_glGetError;
-PFNGLGETTEXENVIVPROC glad_glGetTexEnviv;
-PFNGLGETPROGRAMIVPROC glad_glGetProgramiv;
-PFNGLVERTEXATTRIBP2UIPROC glad_glVertexAttribP2ui;
-PFNGLGETFLOATVPROC glad_glGetFloatv;
-PFNGLTEXSUBIMAGE1DPROC glad_glTexSubImage1D;
-PFNGLMULTITEXCOORD2FVPROC glad_glMultiTexCoord2fv;
-PFNGLVERTEXATTRIB2FVPROC glad_glVertexAttrib2fv;
-PFNGLEVALCOORD1DPROC glad_glEvalCoord1d;
-PFNGLGETTEXLEVELPARAMETERFVPROC glad_glGetTexLevelParameterfv;
-PFNGLEVALCOORD1FPROC glad_glEvalCoord1f;
-PFNGLPIXELMAPFVPROC glad_glPixelMapfv;
-PFNGLVERTEXATTRIBP3UIVPROC glad_glVertexAttribP3uiv;
-PFNGLGETPIXELMAPUSVPROC glad_glGetPixelMapusv;
-PFNGLSECONDARYCOLORP3UIVPROC glad_glSecondaryColorP3uiv;
-PFNGLGETINTEGERVPROC glad_glGetIntegerv;
-PFNGLACCUMPROC glad_glAccum;
-PFNGLGETBUFFERPOINTERVPROC glad_glGetBufferPointerv;
-PFNGLGETVERTEXATTRIBIIVPROC glad_glGetVertexAttribIiv;
-PFNGLRASTERPOS4DVPROC glad_glRasterPos4dv;
-PFNGLTEXCOORD2IVPROC glad_glTexCoord2iv;
-PFNGLISQUERYPROC glad_glIsQuery;
-PFNGLVERTEXATTRIB4SVPROC glad_glVertexAttrib4sv;
-PFNGLWINDOWPOS3DVPROC glad_glWindowPos3dv;
-PFNGLTEXIMAGE2DPROC glad_glTexImage2D;
-PFNGLSTENCILMASKPROC glad_glStencilMask;
-PFNGLDRAWPIXELSPROC glad_glDrawPixels;
-PFNGLMULTMATRIXDPROC glad_glMultMatrixd;
-PFNGLMULTMATRIXFPROC glad_glMultMatrixf;
-PFNGLISTEXTUREPROC glad_glIsTexture;
-PFNGLGETMATERIALIVPROC glad_glGetMaterialiv;
-PFNGLUNIFORM1FVPROC glad_glUniform1fv;
-PFNGLLOADMATRIXFPROC glad_glLoadMatrixf;
-PFNGLLOADMATRIXDPROC glad_glLoadMatrixd;
-PFNGLTEXPARAMETERFVPROC glad_glTexParameterfv;
-PFNGLUNIFORMMATRIX3FVPROC glad_glUniformMatrix3fv;
-PFNGLVERTEX4FPROC glad_glVertex4f;
-PFNGLRECTSVPROC glad_glRectsv;
-PFNGLCOLOR4USVPROC glad_glColor4usv;
-PFNGLPOLYGONSTIPPLEPROC glad_glPolygonStipple;
-PFNGLINTERLEAVEDARRAYSPROC glad_glInterleavedArrays;
-PFNGLNORMAL3IPROC glad_glNormal3i;
-PFNGLNORMAL3FPROC glad_glNormal3f;
-PFNGLNORMAL3DPROC glad_glNormal3d;
-PFNGLNORMAL3BPROC glad_glNormal3b;
-PFNGLPIXELMAPUSVPROC glad_glPixelMapusv;
-PFNGLGETTEXGENIVPROC glad_glGetTexGeniv;
-PFNGLARRAYELEMENTPROC glad_glArrayElement;
-PFNGLCOPYBUFFERSUBDATAPROC glad_glCopyBufferSubData;
-PFNGLVERTEXATTRIBI1UIVPROC glad_glVertexAttribI1uiv;
-PFNGLVERTEXATTRIB2DPROC glad_glVertexAttrib2d;
-PFNGLVERTEXATTRIB2FPROC glad_glVertexAttrib2f;
-PFNGLVERTEXATTRIB3DVPROC glad_glVertexAttrib3dv;
-PFNGLGETQUERYOBJECTUI64VPROC glad_glGetQueryObjectui64v;
-PFNGLDEPTHMASKPROC glad_glDepthMask;
-PFNGLVERTEXATTRIB2SPROC glad_glVertexAttrib2s;
-PFNGLCOLOR3FVPROC glad_glColor3fv;
-PFNGLTEXIMAGE3DMULTISAMPLEPROC glad_glTexImage3DMultisample;
-PFNGLUNIFORMMATRIX4FVPROC glad_glUniformMatrix4fv;
-PFNGLUNIFORM4FVPROC glad_glUniform4fv;
-PFNGLGETACTIVEUNIFORMPROC glad_glGetActiveUniform;
-PFNGLCOLORPOINTERPROC glad_glColorPointer;
-PFNGLFRONTFACEPROC glad_glFrontFace;
-PFNGLGETBOOLEANI_VPROC glad_glGetBooleani_v;
-PFNGLCLEARBUFFERUIVPROC glad_glClearBufferuiv;
-int GLAD_GL_ARB_framebuffer_object;
-int GLAD_GL_EXT_framebuffer_object;
-int GLAD_GL_ARB_debug_output;
-PFNGLDEBUGMESSAGECONTROLARBPROC glad_glDebugMessageControlARB;
-PFNGLDEBUGMESSAGEINSERTARBPROC glad_glDebugMessageInsertARB;
-PFNGLDEBUGMESSAGECALLBACKARBPROC glad_glDebugMessageCallbackARB;
-PFNGLGETDEBUGMESSAGELOGARBPROC glad_glGetDebugMessageLogARB;
-PFNGLISRENDERBUFFEREXTPROC glad_glIsRenderbufferEXT;
-PFNGLBINDRENDERBUFFEREXTPROC glad_glBindRenderbufferEXT;
-PFNGLDELETERENDERBUFFERSEXTPROC glad_glDeleteRenderbuffersEXT;
-PFNGLGENRENDERBUFFERSEXTPROC glad_glGenRenderbuffersEXT;
-PFNGLRENDERBUFFERSTORAGEEXTPROC glad_glRenderbufferStorageEXT;
-PFNGLGETRENDERBUFFERPARAMETERIVEXTPROC glad_glGetRenderbufferParameterivEXT;
-PFNGLISFRAMEBUFFEREXTPROC glad_glIsFramebufferEXT;
-PFNGLBINDFRAMEBUFFEREXTPROC glad_glBindFramebufferEXT;
-PFNGLDELETEFRAMEBUFFERSEXTPROC glad_glDeleteFramebuffersEXT;
-PFNGLGENFRAMEBUFFERSEXTPROC glad_glGenFramebuffersEXT;
-PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC glad_glCheckFramebufferStatusEXT;
-PFNGLFRAMEBUFFERTEXTURE1DEXTPROC glad_glFramebufferTexture1DEXT;
-PFNGLFRAMEBUFFERTEXTURE2DEXTPROC glad_glFramebufferTexture2DEXT;
-PFNGLFRAMEBUFFERTEXTURE3DEXTPROC glad_glFramebufferTexture3DEXT;
-PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC glad_glFramebufferRenderbufferEXT;
-PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC glad_glGetFramebufferAttachmentParameterivEXT;
-PFNGLGENERATEMIPMAPEXTPROC glad_glGenerateMipmapEXT;
+int GLAD_GL_VERSION_1_0 = 0;
+int GLAD_GL_VERSION_1_1 = 0;
+int GLAD_GL_VERSION_1_2 = 0;
+int GLAD_GL_VERSION_1_3 = 0;
+int GLAD_GL_VERSION_1_4 = 0;
+int GLAD_GL_VERSION_1_5 = 0;
+int GLAD_GL_VERSION_2_0 = 0;
+int GLAD_GL_VERSION_2_1 = 0;
+int GLAD_GL_VERSION_3_0 = 0;
+int GLAD_GL_VERSION_3_1 = 0;
+int GLAD_GL_VERSION_3_2 = 0;
+int GLAD_GL_VERSION_3_3 = 0;
+PFNGLACCUMPROC glad_glAccum = NULL;
+PFNGLACTIVETEXTUREPROC glad_glActiveTexture = NULL;
+PFNGLALPHAFUNCPROC glad_glAlphaFunc = NULL;
+PFNGLARETEXTURESRESIDENTPROC glad_glAreTexturesResident = NULL;
+PFNGLARRAYELEMENTPROC glad_glArrayElement = NULL;
+PFNGLATTACHSHADERPROC glad_glAttachShader = NULL;
+PFNGLBEGINPROC glad_glBegin = NULL;
+PFNGLBEGINCONDITIONALRENDERPROC glad_glBeginConditionalRender = NULL;
+PFNGLBEGINQUERYPROC glad_glBeginQuery = NULL;
+PFNGLBEGINTRANSFORMFEEDBACKPROC glad_glBeginTransformFeedback = NULL;
+PFNGLBINDATTRIBLOCATIONPROC glad_glBindAttribLocation = NULL;
+PFNGLBINDBUFFERPROC glad_glBindBuffer = NULL;
+PFNGLBINDBUFFERBASEPROC glad_glBindBufferBase = NULL;
+PFNGLBINDBUFFERRANGEPROC glad_glBindBufferRange = NULL;
+PFNGLBINDFRAGDATALOCATIONPROC glad_glBindFragDataLocation = NULL;
+PFNGLBINDFRAGDATALOCATIONINDEXEDPROC glad_glBindFragDataLocationIndexed = NULL;
+PFNGLBINDFRAMEBUFFERPROC glad_glBindFramebuffer = NULL;
+PFNGLBINDRENDERBUFFERPROC glad_glBindRenderbuffer = NULL;
+PFNGLBINDSAMPLERPROC glad_glBindSampler = NULL;
+PFNGLBINDTEXTUREPROC glad_glBindTexture = NULL;
+PFNGLBINDVERTEXARRAYPROC glad_glBindVertexArray = NULL;
+PFNGLBITMAPPROC glad_glBitmap = NULL;
+PFNGLBLENDCOLORPROC glad_glBlendColor = NULL;
+PFNGLBLENDEQUATIONPROC glad_glBlendEquation = NULL;
+PFNGLBLENDEQUATIONSEPARATEPROC glad_glBlendEquationSeparate = NULL;
+PFNGLBLENDFUNCPROC glad_glBlendFunc = NULL;
+PFNGLBLENDFUNCSEPARATEPROC glad_glBlendFuncSeparate = NULL;
+PFNGLBLITFRAMEBUFFERPROC glad_glBlitFramebuffer = NULL;
+PFNGLBUFFERDATAPROC glad_glBufferData = NULL;
+PFNGLBUFFERSUBDATAPROC glad_glBufferSubData = NULL;
+PFNGLCALLLISTPROC glad_glCallList = NULL;
+PFNGLCALLLISTSPROC glad_glCallLists = NULL;
+PFNGLCHECKFRAMEBUFFERSTATUSPROC glad_glCheckFramebufferStatus = NULL;
+PFNGLCLAMPCOLORPROC glad_glClampColor = NULL;
+PFNGLCLEARPROC glad_glClear = NULL;
+PFNGLCLEARACCUMPROC glad_glClearAccum = NULL;
+PFNGLCLEARBUFFERFIPROC glad_glClearBufferfi = NULL;
+PFNGLCLEARBUFFERFVPROC glad_glClearBufferfv = NULL;
+PFNGLCLEARBUFFERIVPROC glad_glClearBufferiv = NULL;
+PFNGLCLEARBUFFERUIVPROC glad_glClearBufferuiv = NULL;
+PFNGLCLEARCOLORPROC glad_glClearColor = NULL;
+PFNGLCLEARDEPTHPROC glad_glClearDepth = NULL;
+PFNGLCLEARINDEXPROC glad_glClearIndex = NULL;
+PFNGLCLEARSTENCILPROC glad_glClearStencil = NULL;
+PFNGLCLIENTACTIVETEXTUREPROC glad_glClientActiveTexture = NULL;
+PFNGLCLIENTWAITSYNCPROC glad_glClientWaitSync = NULL;
+PFNGLCLIPPLANEPROC glad_glClipPlane = NULL;
+PFNGLCOLOR3BPROC glad_glColor3b = NULL;
+PFNGLCOLOR3BVPROC glad_glColor3bv = NULL;
+PFNGLCOLOR3DPROC glad_glColor3d = NULL;
+PFNGLCOLOR3DVPROC glad_glColor3dv = NULL;
+PFNGLCOLOR3FPROC glad_glColor3f = NULL;
+PFNGLCOLOR3FVPROC glad_glColor3fv = NULL;
+PFNGLCOLOR3IPROC glad_glColor3i = NULL;
+PFNGLCOLOR3IVPROC glad_glColor3iv = NULL;
+PFNGLCOLOR3SPROC glad_glColor3s = NULL;
+PFNGLCOLOR3SVPROC glad_glColor3sv = NULL;
+PFNGLCOLOR3UBPROC glad_glColor3ub = NULL;
+PFNGLCOLOR3UBVPROC glad_glColor3ubv = NULL;
+PFNGLCOLOR3UIPROC glad_glColor3ui = NULL;
+PFNGLCOLOR3UIVPROC glad_glColor3uiv = NULL;
+PFNGLCOLOR3USPROC glad_glColor3us = NULL;
+PFNGLCOLOR3USVPROC glad_glColor3usv = NULL;
+PFNGLCOLOR4BPROC glad_glColor4b = NULL;
+PFNGLCOLOR4BVPROC glad_glColor4bv = NULL;
+PFNGLCOLOR4DPROC glad_glColor4d = NULL;
+PFNGLCOLOR4DVPROC glad_glColor4dv = NULL;
+PFNGLCOLOR4FPROC glad_glColor4f = NULL;
+PFNGLCOLOR4FVPROC glad_glColor4fv = NULL;
+PFNGLCOLOR4IPROC glad_glColor4i = NULL;
+PFNGLCOLOR4IVPROC glad_glColor4iv = NULL;
+PFNGLCOLOR4SPROC glad_glColor4s = NULL;
+PFNGLCOLOR4SVPROC glad_glColor4sv = NULL;
+PFNGLCOLOR4UBPROC glad_glColor4ub = NULL;
+PFNGLCOLOR4UBVPROC glad_glColor4ubv = NULL;
+PFNGLCOLOR4UIPROC glad_glColor4ui = NULL;
+PFNGLCOLOR4UIVPROC glad_glColor4uiv = NULL;
+PFNGLCOLOR4USPROC glad_glColor4us = NULL;
+PFNGLCOLOR4USVPROC glad_glColor4usv = NULL;
+PFNGLCOLORMASKPROC glad_glColorMask = NULL;
+PFNGLCOLORMASKIPROC glad_glColorMaski = NULL;
+PFNGLCOLORMATERIALPROC glad_glColorMaterial = NULL;
+PFNGLCOLORP3UIPROC glad_glColorP3ui = NULL;
+PFNGLCOLORP3UIVPROC glad_glColorP3uiv = NULL;
+PFNGLCOLORP4UIPROC glad_glColorP4ui = NULL;
+PFNGLCOLORP4UIVPROC glad_glColorP4uiv = NULL;
+PFNGLCOLORPOINTERPROC glad_glColorPointer = NULL;
+PFNGLCOMPILESHADERPROC glad_glCompileShader = NULL;
+PFNGLCOMPRESSEDTEXIMAGE1DPROC glad_glCompressedTexImage1D = NULL;
+PFNGLCOMPRESSEDTEXIMAGE2DPROC glad_glCompressedTexImage2D = NULL;
+PFNGLCOMPRESSEDTEXIMAGE3DPROC glad_glCompressedTexImage3D = NULL;
+PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC glad_glCompressedTexSubImage1D = NULL;
+PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC glad_glCompressedTexSubImage2D = NULL;
+PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC glad_glCompressedTexSubImage3D = NULL;
+PFNGLCOPYBUFFERSUBDATAPROC glad_glCopyBufferSubData = NULL;
+PFNGLCOPYPIXELSPROC glad_glCopyPixels = NULL;
+PFNGLCOPYTEXIMAGE1DPROC glad_glCopyTexImage1D = NULL;
+PFNGLCOPYTEXIMAGE2DPROC glad_glCopyTexImage2D = NULL;
+PFNGLCOPYTEXSUBIMAGE1DPROC glad_glCopyTexSubImage1D = NULL;
+PFNGLCOPYTEXSUBIMAGE2DPROC glad_glCopyTexSubImage2D = NULL;
+PFNGLCOPYTEXSUBIMAGE3DPROC glad_glCopyTexSubImage3D = NULL;
+PFNGLCREATEPROGRAMPROC glad_glCreateProgram = NULL;
+PFNGLCREATESHADERPROC glad_glCreateShader = NULL;
+PFNGLCULLFACEPROC glad_glCullFace = NULL;
+PFNGLDELETEBUFFERSPROC glad_glDeleteBuffers = NULL;
+PFNGLDELETEFRAMEBUFFERSPROC glad_glDeleteFramebuffers = NULL;
+PFNGLDELETELISTSPROC glad_glDeleteLists = NULL;
+PFNGLDELETEPROGRAMPROC glad_glDeleteProgram = NULL;
+PFNGLDELETEQUERIESPROC glad_glDeleteQueries = NULL;
+PFNGLDELETERENDERBUFFERSPROC glad_glDeleteRenderbuffers = NULL;
+PFNGLDELETESAMPLERSPROC glad_glDeleteSamplers = NULL;
+PFNGLDELETESHADERPROC glad_glDeleteShader = NULL;
+PFNGLDELETESYNCPROC glad_glDeleteSync = NULL;
+PFNGLDELETETEXTURESPROC glad_glDeleteTextures = NULL;
+PFNGLDELETEVERTEXARRAYSPROC glad_glDeleteVertexArrays = NULL;
+PFNGLDEPTHFUNCPROC glad_glDepthFunc = NULL;
+PFNGLDEPTHMASKPROC glad_glDepthMask = NULL;
+PFNGLDEPTHRANGEPROC glad_glDepthRange = NULL;
+PFNGLDETACHSHADERPROC glad_glDetachShader = NULL;
+PFNGLDISABLEPROC glad_glDisable = NULL;
+PFNGLDISABLECLIENTSTATEPROC glad_glDisableClientState = NULL;
+PFNGLDISABLEVERTEXATTRIBARRAYPROC glad_glDisableVertexAttribArray = NULL;
+PFNGLDISABLEIPROC glad_glDisablei = NULL;
+PFNGLDRAWARRAYSPROC glad_glDrawArrays = NULL;
+PFNGLDRAWARRAYSINSTANCEDPROC glad_glDrawArraysInstanced = NULL;
+PFNGLDRAWBUFFERPROC glad_glDrawBuffer = NULL;
+PFNGLDRAWBUFFERSPROC glad_glDrawBuffers = NULL;
+PFNGLDRAWELEMENTSPROC glad_glDrawElements = NULL;
+PFNGLDRAWELEMENTSBASEVERTEXPROC glad_glDrawElementsBaseVertex = NULL;
+PFNGLDRAWELEMENTSINSTANCEDPROC glad_glDrawElementsInstanced = NULL;
+PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC glad_glDrawElementsInstancedBaseVertex = NULL;
+PFNGLDRAWPIXELSPROC glad_glDrawPixels = NULL;
+PFNGLDRAWRANGEELEMENTSPROC glad_glDrawRangeElements = NULL;
+PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC glad_glDrawRangeElementsBaseVertex = NULL;
+PFNGLEDGEFLAGPROC glad_glEdgeFlag = NULL;
+PFNGLEDGEFLAGPOINTERPROC glad_glEdgeFlagPointer = NULL;
+PFNGLEDGEFLAGVPROC glad_glEdgeFlagv = NULL;
+PFNGLENABLEPROC glad_glEnable = NULL;
+PFNGLENABLECLIENTSTATEPROC glad_glEnableClientState = NULL;
+PFNGLENABLEVERTEXATTRIBARRAYPROC glad_glEnableVertexAttribArray = NULL;
+PFNGLENABLEIPROC glad_glEnablei = NULL;
+PFNGLENDPROC glad_glEnd = NULL;
+PFNGLENDCONDITIONALRENDERPROC glad_glEndConditionalRender = NULL;
+PFNGLENDLISTPROC glad_glEndList = NULL;
+PFNGLENDQUERYPROC glad_glEndQuery = NULL;
+PFNGLENDTRANSFORMFEEDBACKPROC glad_glEndTransformFeedback = NULL;
+PFNGLEVALCOORD1DPROC glad_glEvalCoord1d = NULL;
+PFNGLEVALCOORD1DVPROC glad_glEvalCoord1dv = NULL;
+PFNGLEVALCOORD1FPROC glad_glEvalCoord1f = NULL;
+PFNGLEVALCOORD1FVPROC glad_glEvalCoord1fv = NULL;
+PFNGLEVALCOORD2DPROC glad_glEvalCoord2d = NULL;
+PFNGLEVALCOORD2DVPROC glad_glEvalCoord2dv = NULL;
+PFNGLEVALCOORD2FPROC glad_glEvalCoord2f = NULL;
+PFNGLEVALCOORD2FVPROC glad_glEvalCoord2fv = NULL;
+PFNGLEVALMESH1PROC glad_glEvalMesh1 = NULL;
+PFNGLEVALMESH2PROC glad_glEvalMesh2 = NULL;
+PFNGLEVALPOINT1PROC glad_glEvalPoint1 = NULL;
+PFNGLEVALPOINT2PROC glad_glEvalPoint2 = NULL;
+PFNGLFEEDBACKBUFFERPROC glad_glFeedbackBuffer = NULL;
+PFNGLFENCESYNCPROC glad_glFenceSync = NULL;
+PFNGLFINISHPROC glad_glFinish = NULL;
+PFNGLFLUSHPROC glad_glFlush = NULL;
+PFNGLFLUSHMAPPEDBUFFERRANGEPROC glad_glFlushMappedBufferRange = NULL;
+PFNGLFOGCOORDPOINTERPROC glad_glFogCoordPointer = NULL;
+PFNGLFOGCOORDDPROC glad_glFogCoordd = NULL;
+PFNGLFOGCOORDDVPROC glad_glFogCoorddv = NULL;
+PFNGLFOGCOORDFPROC glad_glFogCoordf = NULL;
+PFNGLFOGCOORDFVPROC glad_glFogCoordfv = NULL;
+PFNGLFOGFPROC glad_glFogf = NULL;
+PFNGLFOGFVPROC glad_glFogfv = NULL;
+PFNGLFOGIPROC glad_glFogi = NULL;
+PFNGLFOGIVPROC glad_glFogiv = NULL;
+PFNGLFRAMEBUFFERRENDERBUFFERPROC glad_glFramebufferRenderbuffer = NULL;
+PFNGLFRAMEBUFFERTEXTUREPROC glad_glFramebufferTexture = NULL;
+PFNGLFRAMEBUFFERTEXTURE1DPROC glad_glFramebufferTexture1D = NULL;
+PFNGLFRAMEBUFFERTEXTURE2DPROC glad_glFramebufferTexture2D = NULL;
+PFNGLFRAMEBUFFERTEXTURE3DPROC glad_glFramebufferTexture3D = NULL;
+PFNGLFRAMEBUFFERTEXTURELAYERPROC glad_glFramebufferTextureLayer = NULL;
+PFNGLFRONTFACEPROC glad_glFrontFace = NULL;
+PFNGLFRUSTUMPROC glad_glFrustum = NULL;
+PFNGLGENBUFFERSPROC glad_glGenBuffers = NULL;
+PFNGLGENFRAMEBUFFERSPROC glad_glGenFramebuffers = NULL;
+PFNGLGENLISTSPROC glad_glGenLists = NULL;
+PFNGLGENQUERIESPROC glad_glGenQueries = NULL;
+PFNGLGENRENDERBUFFERSPROC glad_glGenRenderbuffers = NULL;
+PFNGLGENSAMPLERSPROC glad_glGenSamplers = NULL;
+PFNGLGENTEXTURESPROC glad_glGenTextures = NULL;
+PFNGLGENVERTEXARRAYSPROC glad_glGenVertexArrays = NULL;
+PFNGLGENERATEMIPMAPPROC glad_glGenerateMipmap = NULL;
+PFNGLGETACTIVEATTRIBPROC glad_glGetActiveAttrib = NULL;
+PFNGLGETACTIVEUNIFORMPROC glad_glGetActiveUniform = NULL;
+PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC glad_glGetActiveUniformBlockName = NULL;
+PFNGLGETACTIVEUNIFORMBLOCKIVPROC glad_glGetActiveUniformBlockiv = NULL;
+PFNGLGETACTIVEUNIFORMNAMEPROC glad_glGetActiveUniformName = NULL;
+PFNGLGETACTIVEUNIFORMSIVPROC glad_glGetActiveUniformsiv = NULL;
+PFNGLGETATTACHEDSHADERSPROC glad_glGetAttachedShaders = NULL;
+PFNGLGETATTRIBLOCATIONPROC glad_glGetAttribLocation = NULL;
+PFNGLGETBOOLEANI_VPROC glad_glGetBooleani_v = NULL;
+PFNGLGETBOOLEANVPROC glad_glGetBooleanv = NULL;
+PFNGLGETBUFFERPARAMETERI64VPROC glad_glGetBufferParameteri64v = NULL;
+PFNGLGETBUFFERPARAMETERIVPROC glad_glGetBufferParameteriv = NULL;
+PFNGLGETBUFFERPOINTERVPROC glad_glGetBufferPointerv = NULL;
+PFNGLGETBUFFERSUBDATAPROC glad_glGetBufferSubData = NULL;
+PFNGLGETCLIPPLANEPROC glad_glGetClipPlane = NULL;
+PFNGLGETCOMPRESSEDTEXIMAGEPROC glad_glGetCompressedTexImage = NULL;
+PFNGLGETDOUBLEVPROC glad_glGetDoublev = NULL;
+PFNGLGETERRORPROC glad_glGetError = NULL;
+PFNGLGETFLOATVPROC glad_glGetFloatv = NULL;
+PFNGLGETFRAGDATAINDEXPROC glad_glGetFragDataIndex = NULL;
+PFNGLGETFRAGDATALOCATIONPROC glad_glGetFragDataLocation = NULL;
+PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC glad_glGetFramebufferAttachmentParameteriv = NULL;
+PFNGLGETINTEGER64I_VPROC glad_glGetInteger64i_v = NULL;
+PFNGLGETINTEGER64VPROC glad_glGetInteger64v = NULL;
+PFNGLGETINTEGERI_VPROC glad_glGetIntegeri_v = NULL;
+PFNGLGETINTEGERVPROC glad_glGetIntegerv = NULL;
+PFNGLGETLIGHTFVPROC glad_glGetLightfv = NULL;
+PFNGLGETLIGHTIVPROC glad_glGetLightiv = NULL;
+PFNGLGETMAPDVPROC glad_glGetMapdv = NULL;
+PFNGLGETMAPFVPROC glad_glGetMapfv = NULL;
+PFNGLGETMAPIVPROC glad_glGetMapiv = NULL;
+PFNGLGETMATERIALFVPROC glad_glGetMaterialfv = NULL;
+PFNGLGETMATERIALIVPROC glad_glGetMaterialiv = NULL;
+PFNGLGETMULTISAMPLEFVPROC glad_glGetMultisamplefv = NULL;
+PFNGLGETPIXELMAPFVPROC glad_glGetPixelMapfv = NULL;
+PFNGLGETPIXELMAPUIVPROC glad_glGetPixelMapuiv = NULL;
+PFNGLGETPIXELMAPUSVPROC glad_glGetPixelMapusv = NULL;
+PFNGLGETPOINTERVPROC glad_glGetPointerv = NULL;
+PFNGLGETPOLYGONSTIPPLEPROC glad_glGetPolygonStipple = NULL;
+PFNGLGETPROGRAMINFOLOGPROC glad_glGetProgramInfoLog = NULL;
+PFNGLGETPROGRAMIVPROC glad_glGetProgramiv = NULL;
+PFNGLGETQUERYOBJECTI64VPROC glad_glGetQueryObjecti64v = NULL;
+PFNGLGETQUERYOBJECTIVPROC glad_glGetQueryObjectiv = NULL;
+PFNGLGETQUERYOBJECTUI64VPROC glad_glGetQueryObjectui64v = NULL;
+PFNGLGETQUERYOBJECTUIVPROC glad_glGetQueryObjectuiv = NULL;
+PFNGLGETQUERYIVPROC glad_glGetQueryiv = NULL;
+PFNGLGETRENDERBUFFERPARAMETERIVPROC glad_glGetRenderbufferParameteriv = NULL;
+PFNGLGETSAMPLERPARAMETERIIVPROC glad_glGetSamplerParameterIiv = NULL;
+PFNGLGETSAMPLERPARAMETERIUIVPROC glad_glGetSamplerParameterIuiv = NULL;
+PFNGLGETSAMPLERPARAMETERFVPROC glad_glGetSamplerParameterfv = NULL;
+PFNGLGETSAMPLERPARAMETERIVPROC glad_glGetSamplerParameteriv = NULL;
+PFNGLGETSHADERINFOLOGPROC glad_glGetShaderInfoLog = NULL;
+PFNGLGETSHADERSOURCEPROC glad_glGetShaderSource = NULL;
+PFNGLGETSHADERIVPROC glad_glGetShaderiv = NULL;
+PFNGLGETSTRINGPROC glad_glGetString = NULL;
+PFNGLGETSTRINGIPROC glad_glGetStringi = NULL;
+PFNGLGETSYNCIVPROC glad_glGetSynciv = NULL;
+PFNGLGETTEXENVFVPROC glad_glGetTexEnvfv = NULL;
+PFNGLGETTEXENVIVPROC glad_glGetTexEnviv = NULL;
+PFNGLGETTEXGENDVPROC glad_glGetTexGendv = NULL;
+PFNGLGETTEXGENFVPROC glad_glGetTexGenfv = NULL;
+PFNGLGETTEXGENIVPROC glad_glGetTexGeniv = NULL;
+PFNGLGETTEXIMAGEPROC glad_glGetTexImage = NULL;
+PFNGLGETTEXLEVELPARAMETERFVPROC glad_glGetTexLevelParameterfv = NULL;
+PFNGLGETTEXLEVELPARAMETERIVPROC glad_glGetTexLevelParameteriv = NULL;
+PFNGLGETTEXPARAMETERIIVPROC glad_glGetTexParameterIiv = NULL;
+PFNGLGETTEXPARAMETERIUIVPROC glad_glGetTexParameterIuiv = NULL;
+PFNGLGETTEXPARAMETERFVPROC glad_glGetTexParameterfv = NULL;
+PFNGLGETTEXPARAMETERIVPROC glad_glGetTexParameteriv = NULL;
+PFNGLGETTRANSFORMFEEDBACKVARYINGPROC glad_glGetTransformFeedbackVarying = NULL;
+PFNGLGETUNIFORMBLOCKINDEXPROC glad_glGetUniformBlockIndex = NULL;
+PFNGLGETUNIFORMINDICESPROC glad_glGetUniformIndices = NULL;
+PFNGLGETUNIFORMLOCATIONPROC glad_glGetUniformLocation = NULL;
+PFNGLGETUNIFORMFVPROC glad_glGetUniformfv = NULL;
+PFNGLGETUNIFORMIVPROC glad_glGetUniformiv = NULL;
+PFNGLGETUNIFORMUIVPROC glad_glGetUniformuiv = NULL;
+PFNGLGETVERTEXATTRIBIIVPROC glad_glGetVertexAttribIiv = NULL;
+PFNGLGETVERTEXATTRIBIUIVPROC glad_glGetVertexAttribIuiv = NULL;
+PFNGLGETVERTEXATTRIBPOINTERVPROC glad_glGetVertexAttribPointerv = NULL;
+PFNGLGETVERTEXATTRIBDVPROC glad_glGetVertexAttribdv = NULL;
+PFNGLGETVERTEXATTRIBFVPROC glad_glGetVertexAttribfv = NULL;
+PFNGLGETVERTEXATTRIBIVPROC glad_glGetVertexAttribiv = NULL;
+PFNGLHINTPROC glad_glHint = NULL;
+PFNGLINDEXMASKPROC glad_glIndexMask = NULL;
+PFNGLINDEXPOINTERPROC glad_glIndexPointer = NULL;
+PFNGLINDEXDPROC glad_glIndexd = NULL;
+PFNGLINDEXDVPROC glad_glIndexdv = NULL;
+PFNGLINDEXFPROC glad_glIndexf = NULL;
+PFNGLINDEXFVPROC glad_glIndexfv = NULL;
+PFNGLINDEXIPROC glad_glIndexi = NULL;
+PFNGLINDEXIVPROC glad_glIndexiv = NULL;
+PFNGLINDEXSPROC glad_glIndexs = NULL;
+PFNGLINDEXSVPROC glad_glIndexsv = NULL;
+PFNGLINDEXUBPROC glad_glIndexub = NULL;
+PFNGLINDEXUBVPROC glad_glIndexubv = NULL;
+PFNGLINITNAMESPROC glad_glInitNames = NULL;
+PFNGLINTERLEAVEDARRAYSPROC glad_glInterleavedArrays = NULL;
+PFNGLISBUFFERPROC glad_glIsBuffer = NULL;
+PFNGLISENABLEDPROC glad_glIsEnabled = NULL;
+PFNGLISENABLEDIPROC glad_glIsEnabledi = NULL;
+PFNGLISFRAMEBUFFERPROC glad_glIsFramebuffer = NULL;
+PFNGLISLISTPROC glad_glIsList = NULL;
+PFNGLISPROGRAMPROC glad_glIsProgram = NULL;
+PFNGLISQUERYPROC glad_glIsQuery = NULL;
+PFNGLISRENDERBUFFERPROC glad_glIsRenderbuffer = NULL;
+PFNGLISSAMPLERPROC glad_glIsSampler = NULL;
+PFNGLISSHADERPROC glad_glIsShader = NULL;
+PFNGLISSYNCPROC glad_glIsSync = NULL;
+PFNGLISTEXTUREPROC glad_glIsTexture = NULL;
+PFNGLISVERTEXARRAYPROC glad_glIsVertexArray = NULL;
+PFNGLLIGHTMODELFPROC glad_glLightModelf = NULL;
+PFNGLLIGHTMODELFVPROC glad_glLightModelfv = NULL;
+PFNGLLIGHTMODELIPROC glad_glLightModeli = NULL;
+PFNGLLIGHTMODELIVPROC glad_glLightModeliv = NULL;
+PFNGLLIGHTFPROC glad_glLightf = NULL;
+PFNGLLIGHTFVPROC glad_glLightfv = NULL;
+PFNGLLIGHTIPROC glad_glLighti = NULL;
+PFNGLLIGHTIVPROC glad_glLightiv = NULL;
+PFNGLLINESTIPPLEPROC glad_glLineStipple = NULL;
+PFNGLLINEWIDTHPROC glad_glLineWidth = NULL;
+PFNGLLINKPROGRAMPROC glad_glLinkProgram = NULL;
+PFNGLLISTBASEPROC glad_glListBase = NULL;
+PFNGLLOADIDENTITYPROC glad_glLoadIdentity = NULL;
+PFNGLLOADMATRIXDPROC glad_glLoadMatrixd = NULL;
+PFNGLLOADMATRIXFPROC glad_glLoadMatrixf = NULL;
+PFNGLLOADNAMEPROC glad_glLoadName = NULL;
+PFNGLLOADTRANSPOSEMATRIXDPROC glad_glLoadTransposeMatrixd = NULL;
+PFNGLLOADTRANSPOSEMATRIXFPROC glad_glLoadTransposeMatrixf = NULL;
+PFNGLLOGICOPPROC glad_glLogicOp = NULL;
+PFNGLMAP1DPROC glad_glMap1d = NULL;
+PFNGLMAP1FPROC glad_glMap1f = NULL;
+PFNGLMAP2DPROC glad_glMap2d = NULL;
+PFNGLMAP2FPROC glad_glMap2f = NULL;
+PFNGLMAPBUFFERPROC glad_glMapBuffer = NULL;
+PFNGLMAPBUFFERRANGEPROC glad_glMapBufferRange = NULL;
+PFNGLMAPGRID1DPROC glad_glMapGrid1d = NULL;
+PFNGLMAPGRID1FPROC glad_glMapGrid1f = NULL;
+PFNGLMAPGRID2DPROC glad_glMapGrid2d = NULL;
+PFNGLMAPGRID2FPROC glad_glMapGrid2f = NULL;
+PFNGLMATERIALFPROC glad_glMaterialf = NULL;
+PFNGLMATERIALFVPROC glad_glMaterialfv = NULL;
+PFNGLMATERIALIPROC glad_glMateriali = NULL;
+PFNGLMATERIALIVPROC glad_glMaterialiv = NULL;
+PFNGLMATRIXMODEPROC glad_glMatrixMode = NULL;
+PFNGLMULTMATRIXDPROC glad_glMultMatrixd = NULL;
+PFNGLMULTMATRIXFPROC glad_glMultMatrixf = NULL;
+PFNGLMULTTRANSPOSEMATRIXDPROC glad_glMultTransposeMatrixd = NULL;
+PFNGLMULTTRANSPOSEMATRIXFPROC glad_glMultTransposeMatrixf = NULL;
+PFNGLMULTIDRAWARRAYSPROC glad_glMultiDrawArrays = NULL;
+PFNGLMULTIDRAWELEMENTSPROC glad_glMultiDrawElements = NULL;
+PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC glad_glMultiDrawElementsBaseVertex = NULL;
+PFNGLMULTITEXCOORD1DPROC glad_glMultiTexCoord1d = NULL;
+PFNGLMULTITEXCOORD1DVPROC glad_glMultiTexCoord1dv = NULL;
+PFNGLMULTITEXCOORD1FPROC glad_glMultiTexCoord1f = NULL;
+PFNGLMULTITEXCOORD1FVPROC glad_glMultiTexCoord1fv = NULL;
+PFNGLMULTITEXCOORD1IPROC glad_glMultiTexCoord1i = NULL;
+PFNGLMULTITEXCOORD1IVPROC glad_glMultiTexCoord1iv = NULL;
+PFNGLMULTITEXCOORD1SPROC glad_glMultiTexCoord1s = NULL;
+PFNGLMULTITEXCOORD1SVPROC glad_glMultiTexCoord1sv = NULL;
+PFNGLMULTITEXCOORD2DPROC glad_glMultiTexCoord2d = NULL;
+PFNGLMULTITEXCOORD2DVPROC glad_glMultiTexCoord2dv = NULL;
+PFNGLMULTITEXCOORD2FPROC glad_glMultiTexCoord2f = NULL;
+PFNGLMULTITEXCOORD2FVPROC glad_glMultiTexCoord2fv = NULL;
+PFNGLMULTITEXCOORD2IPROC glad_glMultiTexCoord2i = NULL;
+PFNGLMULTITEXCOORD2IVPROC glad_glMultiTexCoord2iv = NULL;
+PFNGLMULTITEXCOORD2SPROC glad_glMultiTexCoord2s = NULL;
+PFNGLMULTITEXCOORD2SVPROC glad_glMultiTexCoord2sv = NULL;
+PFNGLMULTITEXCOORD3DPROC glad_glMultiTexCoord3d = NULL;
+PFNGLMULTITEXCOORD3DVPROC glad_glMultiTexCoord3dv = NULL;
+PFNGLMULTITEXCOORD3FPROC glad_glMultiTexCoord3f = NULL;
+PFNGLMULTITEXCOORD3FVPROC glad_glMultiTexCoord3fv = NULL;
+PFNGLMULTITEXCOORD3IPROC glad_glMultiTexCoord3i = NULL;
+PFNGLMULTITEXCOORD3IVPROC glad_glMultiTexCoord3iv = NULL;
+PFNGLMULTITEXCOORD3SPROC glad_glMultiTexCoord3s = NULL;
+PFNGLMULTITEXCOORD3SVPROC glad_glMultiTexCoord3sv = NULL;
+PFNGLMULTITEXCOORD4DPROC glad_glMultiTexCoord4d = NULL;
+PFNGLMULTITEXCOORD4DVPROC glad_glMultiTexCoord4dv = NULL;
+PFNGLMULTITEXCOORD4FPROC glad_glMultiTexCoord4f = NULL;
+PFNGLMULTITEXCOORD4FVPROC glad_glMultiTexCoord4fv = NULL;
+PFNGLMULTITEXCOORD4IPROC glad_glMultiTexCoord4i = NULL;
+PFNGLMULTITEXCOORD4IVPROC glad_glMultiTexCoord4iv = NULL;
+PFNGLMULTITEXCOORD4SPROC glad_glMultiTexCoord4s = NULL;
+PFNGLMULTITEXCOORD4SVPROC glad_glMultiTexCoord4sv = NULL;
+PFNGLMULTITEXCOORDP1UIPROC glad_glMultiTexCoordP1ui = NULL;
+PFNGLMULTITEXCOORDP1UIVPROC glad_glMultiTexCoordP1uiv = NULL;
+PFNGLMULTITEXCOORDP2UIPROC glad_glMultiTexCoordP2ui = NULL;
+PFNGLMULTITEXCOORDP2UIVPROC glad_glMultiTexCoordP2uiv = NULL;
+PFNGLMULTITEXCOORDP3UIPROC glad_glMultiTexCoordP3ui = NULL;
+PFNGLMULTITEXCOORDP3UIVPROC glad_glMultiTexCoordP3uiv = NULL;
+PFNGLMULTITEXCOORDP4UIPROC glad_glMultiTexCoordP4ui = NULL;
+PFNGLMULTITEXCOORDP4UIVPROC glad_glMultiTexCoordP4uiv = NULL;
+PFNGLNEWLISTPROC glad_glNewList = NULL;
+PFNGLNORMAL3BPROC glad_glNormal3b = NULL;
+PFNGLNORMAL3BVPROC glad_glNormal3bv = NULL;
+PFNGLNORMAL3DPROC glad_glNormal3d = NULL;
+PFNGLNORMAL3DVPROC glad_glNormal3dv = NULL;
+PFNGLNORMAL3FPROC glad_glNormal3f = NULL;
+PFNGLNORMAL3FVPROC glad_glNormal3fv = NULL;
+PFNGLNORMAL3IPROC glad_glNormal3i = NULL;
+PFNGLNORMAL3IVPROC glad_glNormal3iv = NULL;
+PFNGLNORMAL3SPROC glad_glNormal3s = NULL;
+PFNGLNORMAL3SVPROC glad_glNormal3sv = NULL;
+PFNGLNORMALP3UIPROC glad_glNormalP3ui = NULL;
+PFNGLNORMALP3UIVPROC glad_glNormalP3uiv = NULL;
+PFNGLNORMALPOINTERPROC glad_glNormalPointer = NULL;
+PFNGLORTHOPROC glad_glOrtho = NULL;
+PFNGLPASSTHROUGHPROC glad_glPassThrough = NULL;
+PFNGLPIXELMAPFVPROC glad_glPixelMapfv = NULL;
+PFNGLPIXELMAPUIVPROC glad_glPixelMapuiv = NULL;
+PFNGLPIXELMAPUSVPROC glad_glPixelMapusv = NULL;
+PFNGLPIXELSTOREFPROC glad_glPixelStoref = NULL;
+PFNGLPIXELSTOREIPROC glad_glPixelStorei = NULL;
+PFNGLPIXELTRANSFERFPROC glad_glPixelTransferf = NULL;
+PFNGLPIXELTRANSFERIPROC glad_glPixelTransferi = NULL;
+PFNGLPIXELZOOMPROC glad_glPixelZoom = NULL;
+PFNGLPOINTPARAMETERFPROC glad_glPointParameterf = NULL;
+PFNGLPOINTPARAMETERFVPROC glad_glPointParameterfv = NULL;
+PFNGLPOINTPARAMETERIPROC glad_glPointParameteri = NULL;
+PFNGLPOINTPARAMETERIVPROC glad_glPointParameteriv = NULL;
+PFNGLPOINTSIZEPROC glad_glPointSize = NULL;
+PFNGLPOLYGONMODEPROC glad_glPolygonMode = NULL;
+PFNGLPOLYGONOFFSETPROC glad_glPolygonOffset = NULL;
+PFNGLPOLYGONSTIPPLEPROC glad_glPolygonStipple = NULL;
+PFNGLPOPATTRIBPROC glad_glPopAttrib = NULL;
+PFNGLPOPCLIENTATTRIBPROC glad_glPopClientAttrib = NULL;
+PFNGLPOPMATRIXPROC glad_glPopMatrix = NULL;
+PFNGLPOPNAMEPROC glad_glPopName = NULL;
+PFNGLPRIMITIVERESTARTINDEXPROC glad_glPrimitiveRestartIndex = NULL;
+PFNGLPRIORITIZETEXTURESPROC glad_glPrioritizeTextures = NULL;
+PFNGLPROVOKINGVERTEXPROC glad_glProvokingVertex = NULL;
+PFNGLPUSHATTRIBPROC glad_glPushAttrib = NULL;
+PFNGLPUSHCLIENTATTRIBPROC glad_glPushClientAttrib = NULL;
+PFNGLPUSHMATRIXPROC glad_glPushMatrix = NULL;
+PFNGLPUSHNAMEPROC glad_glPushName = NULL;
+PFNGLQUERYCOUNTERPROC glad_glQueryCounter = NULL;
+PFNGLRASTERPOS2DPROC glad_glRasterPos2d = NULL;
+PFNGLRASTERPOS2DVPROC glad_glRasterPos2dv = NULL;
+PFNGLRASTERPOS2FPROC glad_glRasterPos2f = NULL;
+PFNGLRASTERPOS2FVPROC glad_glRasterPos2fv = NULL;
+PFNGLRASTERPOS2IPROC glad_glRasterPos2i = NULL;
+PFNGLRASTERPOS2IVPROC glad_glRasterPos2iv = NULL;
+PFNGLRASTERPOS2SPROC glad_glRasterPos2s = NULL;
+PFNGLRASTERPOS2SVPROC glad_glRasterPos2sv = NULL;
+PFNGLRASTERPOS3DPROC glad_glRasterPos3d = NULL;
+PFNGLRASTERPOS3DVPROC glad_glRasterPos3dv = NULL;
+PFNGLRASTERPOS3FPROC glad_glRasterPos3f = NULL;
+PFNGLRASTERPOS3FVPROC glad_glRasterPos3fv = NULL;
+PFNGLRASTERPOS3IPROC glad_glRasterPos3i = NULL;
+PFNGLRASTERPOS3IVPROC glad_glRasterPos3iv = NULL;
+PFNGLRASTERPOS3SPROC glad_glRasterPos3s = NULL;
+PFNGLRASTERPOS3SVPROC glad_glRasterPos3sv = NULL;
+PFNGLRASTERPOS4DPROC glad_glRasterPos4d = NULL;
+PFNGLRASTERPOS4DVPROC glad_glRasterPos4dv = NULL;
+PFNGLRASTERPOS4FPROC glad_glRasterPos4f = NULL;
+PFNGLRASTERPOS4FVPROC glad_glRasterPos4fv = NULL;
+PFNGLRASTERPOS4IPROC glad_glRasterPos4i = NULL;
+PFNGLRASTERPOS4IVPROC glad_glRasterPos4iv = NULL;
+PFNGLRASTERPOS4SPROC glad_glRasterPos4s = NULL;
+PFNGLRASTERPOS4SVPROC glad_glRasterPos4sv = NULL;
+PFNGLREADBUFFERPROC glad_glReadBuffer = NULL;
+PFNGLREADPIXELSPROC glad_glReadPixels = NULL;
+PFNGLRECTDPROC glad_glRectd = NULL;
+PFNGLRECTDVPROC glad_glRectdv = NULL;
+PFNGLRECTFPROC glad_glRectf = NULL;
+PFNGLRECTFVPROC glad_glRectfv = NULL;
+PFNGLRECTIPROC glad_glRecti = NULL;
+PFNGLRECTIVPROC glad_glRectiv = NULL;
+PFNGLRECTSPROC glad_glRects = NULL;
+PFNGLRECTSVPROC glad_glRectsv = NULL;
+PFNGLRENDERMODEPROC glad_glRenderMode = NULL;
+PFNGLRENDERBUFFERSTORAGEPROC glad_glRenderbufferStorage = NULL;
+PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC glad_glRenderbufferStorageMultisample = NULL;
+PFNGLROTATEDPROC glad_glRotated = NULL;
+PFNGLROTATEFPROC glad_glRotatef = NULL;
+PFNGLSAMPLECOVERAGEPROC glad_glSampleCoverage = NULL;
+PFNGLSAMPLEMASKIPROC glad_glSampleMaski = NULL;
+PFNGLSAMPLERPARAMETERIIVPROC glad_glSamplerParameterIiv = NULL;
+PFNGLSAMPLERPARAMETERIUIVPROC glad_glSamplerParameterIuiv = NULL;
+PFNGLSAMPLERPARAMETERFPROC glad_glSamplerParameterf = NULL;
+PFNGLSAMPLERPARAMETERFVPROC glad_glSamplerParameterfv = NULL;
+PFNGLSAMPLERPARAMETERIPROC glad_glSamplerParameteri = NULL;
+PFNGLSAMPLERPARAMETERIVPROC glad_glSamplerParameteriv = NULL;
+PFNGLSCALEDPROC glad_glScaled = NULL;
+PFNGLSCALEFPROC glad_glScalef = NULL;
+PFNGLSCISSORPROC glad_glScissor = NULL;
+PFNGLSECONDARYCOLOR3BPROC glad_glSecondaryColor3b = NULL;
+PFNGLSECONDARYCOLOR3BVPROC glad_glSecondaryColor3bv = NULL;
+PFNGLSECONDARYCOLOR3DPROC glad_glSecondaryColor3d = NULL;
+PFNGLSECONDARYCOLOR3DVPROC glad_glSecondaryColor3dv = NULL;
+PFNGLSECONDARYCOLOR3FPROC glad_glSecondaryColor3f = NULL;
+PFNGLSECONDARYCOLOR3FVPROC glad_glSecondaryColor3fv = NULL;
+PFNGLSECONDARYCOLOR3IPROC glad_glSecondaryColor3i = NULL;
+PFNGLSECONDARYCOLOR3IVPROC glad_glSecondaryColor3iv = NULL;
+PFNGLSECONDARYCOLOR3SPROC glad_glSecondaryColor3s = NULL;
+PFNGLSECONDARYCOLOR3SVPROC glad_glSecondaryColor3sv = NULL;
+PFNGLSECONDARYCOLOR3UBPROC glad_glSecondaryColor3ub = NULL;
+PFNGLSECONDARYCOLOR3UBVPROC glad_glSecondaryColor3ubv = NULL;
+PFNGLSECONDARYCOLOR3UIPROC glad_glSecondaryColor3ui = NULL;
+PFNGLSECONDARYCOLOR3UIVPROC glad_glSecondaryColor3uiv = NULL;
+PFNGLSECONDARYCOLOR3USPROC glad_glSecondaryColor3us = NULL;
+PFNGLSECONDARYCOLOR3USVPROC glad_glSecondaryColor3usv = NULL;
+PFNGLSECONDARYCOLORP3UIPROC glad_glSecondaryColorP3ui = NULL;
+PFNGLSECONDARYCOLORP3UIVPROC glad_glSecondaryColorP3uiv = NULL;
+PFNGLSECONDARYCOLORPOINTERPROC glad_glSecondaryColorPointer = NULL;
+PFNGLSELECTBUFFERPROC glad_glSelectBuffer = NULL;
+PFNGLSHADEMODELPROC glad_glShadeModel = NULL;
+PFNGLSHADERSOURCEPROC glad_glShaderSource = NULL;
+PFNGLSTENCILFUNCPROC glad_glStencilFunc = NULL;
+PFNGLSTENCILFUNCSEPARATEPROC glad_glStencilFuncSeparate = NULL;
+PFNGLSTENCILMASKPROC glad_glStencilMask = NULL;
+PFNGLSTENCILMASKSEPARATEPROC glad_glStencilMaskSeparate = NULL;
+PFNGLSTENCILOPPROC glad_glStencilOp = NULL;
+PFNGLSTENCILOPSEPARATEPROC glad_glStencilOpSeparate = NULL;
+PFNGLTEXBUFFERPROC glad_glTexBuffer = NULL;
+PFNGLTEXCOORD1DPROC glad_glTexCoord1d = NULL;
+PFNGLTEXCOORD1DVPROC glad_glTexCoord1dv = NULL;
+PFNGLTEXCOORD1FPROC glad_glTexCoord1f = NULL;
+PFNGLTEXCOORD1FVPROC glad_glTexCoord1fv = NULL;
+PFNGLTEXCOORD1IPROC glad_glTexCoord1i = NULL;
+PFNGLTEXCOORD1IVPROC glad_glTexCoord1iv = NULL;
+PFNGLTEXCOORD1SPROC glad_glTexCoord1s = NULL;
+PFNGLTEXCOORD1SVPROC glad_glTexCoord1sv = NULL;
+PFNGLTEXCOORD2DPROC glad_glTexCoord2d = NULL;
+PFNGLTEXCOORD2DVPROC glad_glTexCoord2dv = NULL;
+PFNGLTEXCOORD2FPROC glad_glTexCoord2f = NULL;
+PFNGLTEXCOORD2FVPROC glad_glTexCoord2fv = NULL;
+PFNGLTEXCOORD2IPROC glad_glTexCoord2i = NULL;
+PFNGLTEXCOORD2IVPROC glad_glTexCoord2iv = NULL;
+PFNGLTEXCOORD2SPROC glad_glTexCoord2s = NULL;
+PFNGLTEXCOORD2SVPROC glad_glTexCoord2sv = NULL;
+PFNGLTEXCOORD3DPROC glad_glTexCoord3d = NULL;
+PFNGLTEXCOORD3DVPROC glad_glTexCoord3dv = NULL;
+PFNGLTEXCOORD3FPROC glad_glTexCoord3f = NULL;
+PFNGLTEXCOORD3FVPROC glad_glTexCoord3fv = NULL;
+PFNGLTEXCOORD3IPROC glad_glTexCoord3i = NULL;
+PFNGLTEXCOORD3IVPROC glad_glTexCoord3iv = NULL;
+PFNGLTEXCOORD3SPROC glad_glTexCoord3s = NULL;
+PFNGLTEXCOORD3SVPROC glad_glTexCoord3sv = NULL;
+PFNGLTEXCOORD4DPROC glad_glTexCoord4d = NULL;
+PFNGLTEXCOORD4DVPROC glad_glTexCoord4dv = NULL;
+PFNGLTEXCOORD4FPROC glad_glTexCoord4f = NULL;
+PFNGLTEXCOORD4FVPROC glad_glTexCoord4fv = NULL;
+PFNGLTEXCOORD4IPROC glad_glTexCoord4i = NULL;
+PFNGLTEXCOORD4IVPROC glad_glTexCoord4iv = NULL;
+PFNGLTEXCOORD4SPROC glad_glTexCoord4s = NULL;
+PFNGLTEXCOORD4SVPROC glad_glTexCoord4sv = NULL;
+PFNGLTEXCOORDP1UIPROC glad_glTexCoordP1ui = NULL;
+PFNGLTEXCOORDP1UIVPROC glad_glTexCoordP1uiv = NULL;
+PFNGLTEXCOORDP2UIPROC glad_glTexCoordP2ui = NULL;
+PFNGLTEXCOORDP2UIVPROC glad_glTexCoordP2uiv = NULL;
+PFNGLTEXCOORDP3UIPROC glad_glTexCoordP3ui = NULL;
+PFNGLTEXCOORDP3UIVPROC glad_glTexCoordP3uiv = NULL;
+PFNGLTEXCOORDP4UIPROC glad_glTexCoordP4ui = NULL;
+PFNGLTEXCOORDP4UIVPROC glad_glTexCoordP4uiv = NULL;
+PFNGLTEXCOORDPOINTERPROC glad_glTexCoordPointer = NULL;
+PFNGLTEXENVFPROC glad_glTexEnvf = NULL;
+PFNGLTEXENVFVPROC glad_glTexEnvfv = NULL;
+PFNGLTEXENVIPROC glad_glTexEnvi = NULL;
+PFNGLTEXENVIVPROC glad_glTexEnviv = NULL;
+PFNGLTEXGENDPROC glad_glTexGend = NULL;
+PFNGLTEXGENDVPROC glad_glTexGendv = NULL;
+PFNGLTEXGENFPROC glad_glTexGenf = NULL;
+PFNGLTEXGENFVPROC glad_glTexGenfv = NULL;
+PFNGLTEXGENIPROC glad_glTexGeni = NULL;
+PFNGLTEXGENIVPROC glad_glTexGeniv = NULL;
+PFNGLTEXIMAGE1DPROC glad_glTexImage1D = NULL;
+PFNGLTEXIMAGE2DPROC glad_glTexImage2D = NULL;
+PFNGLTEXIMAGE2DMULTISAMPLEPROC glad_glTexImage2DMultisample = NULL;
+PFNGLTEXIMAGE3DPROC glad_glTexImage3D = NULL;
+PFNGLTEXIMAGE3DMULTISAMPLEPROC glad_glTexImage3DMultisample = NULL;
+PFNGLTEXPARAMETERIIVPROC glad_glTexParameterIiv = NULL;
+PFNGLTEXPARAMETERIUIVPROC glad_glTexParameterIuiv = NULL;
+PFNGLTEXPARAMETERFPROC glad_glTexParameterf = NULL;
+PFNGLTEXPARAMETERFVPROC glad_glTexParameterfv = NULL;
+PFNGLTEXPARAMETERIPROC glad_glTexParameteri = NULL;
+PFNGLTEXPARAMETERIVPROC glad_glTexParameteriv = NULL;
+PFNGLTEXSUBIMAGE1DPROC glad_glTexSubImage1D = NULL;
+PFNGLTEXSUBIMAGE2DPROC glad_glTexSubImage2D = NULL;
+PFNGLTEXSUBIMAGE3DPROC glad_glTexSubImage3D = NULL;
+PFNGLTRANSFORMFEEDBACKVARYINGSPROC glad_glTransformFeedbackVaryings = NULL;
+PFNGLTRANSLATEDPROC glad_glTranslated = NULL;
+PFNGLTRANSLATEFPROC glad_glTranslatef = NULL;
+PFNGLUNIFORM1FPROC glad_glUniform1f = NULL;
+PFNGLUNIFORM1FVPROC glad_glUniform1fv = NULL;
+PFNGLUNIFORM1IPROC glad_glUniform1i = NULL;
+PFNGLUNIFORM1IVPROC glad_glUniform1iv = NULL;
+PFNGLUNIFORM1UIPROC glad_glUniform1ui = NULL;
+PFNGLUNIFORM1UIVPROC glad_glUniform1uiv = NULL;
+PFNGLUNIFORM2FPROC glad_glUniform2f = NULL;
+PFNGLUNIFORM2FVPROC glad_glUniform2fv = NULL;
+PFNGLUNIFORM2IPROC glad_glUniform2i = NULL;
+PFNGLUNIFORM2IVPROC glad_glUniform2iv = NULL;
+PFNGLUNIFORM2UIPROC glad_glUniform2ui = NULL;
+PFNGLUNIFORM2UIVPROC glad_glUniform2uiv = NULL;
+PFNGLUNIFORM3FPROC glad_glUniform3f = NULL;
+PFNGLUNIFORM3FVPROC glad_glUniform3fv = NULL;
+PFNGLUNIFORM3IPROC glad_glUniform3i = NULL;
+PFNGLUNIFORM3IVPROC glad_glUniform3iv = NULL;
+PFNGLUNIFORM3UIPROC glad_glUniform3ui = NULL;
+PFNGLUNIFORM3UIVPROC glad_glUniform3uiv = NULL;
+PFNGLUNIFORM4FPROC glad_glUniform4f = NULL;
+PFNGLUNIFORM4FVPROC glad_glUniform4fv = NULL;
+PFNGLUNIFORM4IPROC glad_glUniform4i = NULL;
+PFNGLUNIFORM4IVPROC glad_glUniform4iv = NULL;
+PFNGLUNIFORM4UIPROC glad_glUniform4ui = NULL;
+PFNGLUNIFORM4UIVPROC glad_glUniform4uiv = NULL;
+PFNGLUNIFORMBLOCKBINDINGPROC glad_glUniformBlockBinding = NULL;
+PFNGLUNIFORMMATRIX2FVPROC glad_glUniformMatrix2fv = NULL;
+PFNGLUNIFORMMATRIX2X3FVPROC glad_glUniformMatrix2x3fv = NULL;
+PFNGLUNIFORMMATRIX2X4FVPROC glad_glUniformMatrix2x4fv = NULL;
+PFNGLUNIFORMMATRIX3FVPROC glad_glUniformMatrix3fv = NULL;
+PFNGLUNIFORMMATRIX3X2FVPROC glad_glUniformMatrix3x2fv = NULL;
+PFNGLUNIFORMMATRIX3X4FVPROC glad_glUniformMatrix3x4fv = NULL;
+PFNGLUNIFORMMATRIX4FVPROC glad_glUniformMatrix4fv = NULL;
+PFNGLUNIFORMMATRIX4X2FVPROC glad_glUniformMatrix4x2fv = NULL;
+PFNGLUNIFORMMATRIX4X3FVPROC glad_glUniformMatrix4x3fv = NULL;
+PFNGLUNMAPBUFFERPROC glad_glUnmapBuffer = NULL;
+PFNGLUSEPROGRAMPROC glad_glUseProgram = NULL;
+PFNGLVALIDATEPROGRAMPROC glad_glValidateProgram = NULL;
+PFNGLVERTEX2DPROC glad_glVertex2d = NULL;
+PFNGLVERTEX2DVPROC glad_glVertex2dv = NULL;
+PFNGLVERTEX2FPROC glad_glVertex2f = NULL;
+PFNGLVERTEX2FVPROC glad_glVertex2fv = NULL;
+PFNGLVERTEX2IPROC glad_glVertex2i = NULL;
+PFNGLVERTEX2IVPROC glad_glVertex2iv = NULL;
+PFNGLVERTEX2SPROC glad_glVertex2s = NULL;
+PFNGLVERTEX2SVPROC glad_glVertex2sv = NULL;
+PFNGLVERTEX3DPROC glad_glVertex3d = NULL;
+PFNGLVERTEX3DVPROC glad_glVertex3dv = NULL;
+PFNGLVERTEX3FPROC glad_glVertex3f = NULL;
+PFNGLVERTEX3FVPROC glad_glVertex3fv = NULL;
+PFNGLVERTEX3IPROC glad_glVertex3i = NULL;
+PFNGLVERTEX3IVPROC glad_glVertex3iv = NULL;
+PFNGLVERTEX3SPROC glad_glVertex3s = NULL;
+PFNGLVERTEX3SVPROC glad_glVertex3sv = NULL;
+PFNGLVERTEX4DPROC glad_glVertex4d = NULL;
+PFNGLVERTEX4DVPROC glad_glVertex4dv = NULL;
+PFNGLVERTEX4FPROC glad_glVertex4f = NULL;
+PFNGLVERTEX4FVPROC glad_glVertex4fv = NULL;
+PFNGLVERTEX4IPROC glad_glVertex4i = NULL;
+PFNGLVERTEX4IVPROC glad_glVertex4iv = NULL;
+PFNGLVERTEX4SPROC glad_glVertex4s = NULL;
+PFNGLVERTEX4SVPROC glad_glVertex4sv = NULL;
+PFNGLVERTEXATTRIB1DPROC glad_glVertexAttrib1d = NULL;
+PFNGLVERTEXATTRIB1DVPROC glad_glVertexAttrib1dv = NULL;
+PFNGLVERTEXATTRIB1FPROC glad_glVertexAttrib1f = NULL;
+PFNGLVERTEXATTRIB1FVPROC glad_glVertexAttrib1fv = NULL;
+PFNGLVERTEXATTRIB1SPROC glad_glVertexAttrib1s = NULL;
+PFNGLVERTEXATTRIB1SVPROC glad_glVertexAttrib1sv = NULL;
+PFNGLVERTEXATTRIB2DPROC glad_glVertexAttrib2d = NULL;
+PFNGLVERTEXATTRIB2DVPROC glad_glVertexAttrib2dv = NULL;
+PFNGLVERTEXATTRIB2FPROC glad_glVertexAttrib2f = NULL;
+PFNGLVERTEXATTRIB2FVPROC glad_glVertexAttrib2fv = NULL;
+PFNGLVERTEXATTRIB2SPROC glad_glVertexAttrib2s = NULL;
+PFNGLVERTEXATTRIB2SVPROC glad_glVertexAttrib2sv = NULL;
+PFNGLVERTEXATTRIB3DPROC glad_glVertexAttrib3d = NULL;
+PFNGLVERTEXATTRIB3DVPROC glad_glVertexAttrib3dv = NULL;
+PFNGLVERTEXATTRIB3FPROC glad_glVertexAttrib3f = NULL;
+PFNGLVERTEXATTRIB3FVPROC glad_glVertexAttrib3fv = NULL;
+PFNGLVERTEXATTRIB3SPROC glad_glVertexAttrib3s = NULL;
+PFNGLVERTEXATTRIB3SVPROC glad_glVertexAttrib3sv = NULL;
+PFNGLVERTEXATTRIB4NBVPROC glad_glVertexAttrib4Nbv = NULL;
+PFNGLVERTEXATTRIB4NIVPROC glad_glVertexAttrib4Niv = NULL;
+PFNGLVERTEXATTRIB4NSVPROC glad_glVertexAttrib4Nsv = NULL;
+PFNGLVERTEXATTRIB4NUBPROC glad_glVertexAttrib4Nub = NULL;
+PFNGLVERTEXATTRIB4NUBVPROC glad_glVertexAttrib4Nubv = NULL;
+PFNGLVERTEXATTRIB4NUIVPROC glad_glVertexAttrib4Nuiv = NULL;
+PFNGLVERTEXATTRIB4NUSVPROC glad_glVertexAttrib4Nusv = NULL;
+PFNGLVERTEXATTRIB4BVPROC glad_glVertexAttrib4bv = NULL;
+PFNGLVERTEXATTRIB4DPROC glad_glVertexAttrib4d = NULL;
+PFNGLVERTEXATTRIB4DVPROC glad_glVertexAttrib4dv = NULL;
+PFNGLVERTEXATTRIB4FPROC glad_glVertexAttrib4f = NULL;
+PFNGLVERTEXATTRIB4FVPROC glad_glVertexAttrib4fv = NULL;
+PFNGLVERTEXATTRIB4IVPROC glad_glVertexAttrib4iv = NULL;
+PFNGLVERTEXATTRIB4SPROC glad_glVertexAttrib4s = NULL;
+PFNGLVERTEXATTRIB4SVPROC glad_glVertexAttrib4sv = NULL;
+PFNGLVERTEXATTRIB4UBVPROC glad_glVertexAttrib4ubv = NULL;
+PFNGLVERTEXATTRIB4UIVPROC glad_glVertexAttrib4uiv = NULL;
+PFNGLVERTEXATTRIB4USVPROC glad_glVertexAttrib4usv = NULL;
+PFNGLVERTEXATTRIBDIVISORPROC glad_glVertexAttribDivisor = NULL;
+PFNGLVERTEXATTRIBI1IPROC glad_glVertexAttribI1i = NULL;
+PFNGLVERTEXATTRIBI1IVPROC glad_glVertexAttribI1iv = NULL;
+PFNGLVERTEXATTRIBI1UIPROC glad_glVertexAttribI1ui = NULL;
+PFNGLVERTEXATTRIBI1UIVPROC glad_glVertexAttribI1uiv = NULL;
+PFNGLVERTEXATTRIBI2IPROC glad_glVertexAttribI2i = NULL;
+PFNGLVERTEXATTRIBI2IVPROC glad_glVertexAttribI2iv = NULL;
+PFNGLVERTEXATTRIBI2UIPROC glad_glVertexAttribI2ui = NULL;
+PFNGLVERTEXATTRIBI2UIVPROC glad_glVertexAttribI2uiv = NULL;
+PFNGLVERTEXATTRIBI3IPROC glad_glVertexAttribI3i = NULL;
+PFNGLVERTEXATTRIBI3IVPROC glad_glVertexAttribI3iv = NULL;
+PFNGLVERTEXATTRIBI3UIPROC glad_glVertexAttribI3ui = NULL;
+PFNGLVERTEXATTRIBI3UIVPROC glad_glVertexAttribI3uiv = NULL;
+PFNGLVERTEXATTRIBI4BVPROC glad_glVertexAttribI4bv = NULL;
+PFNGLVERTEXATTRIBI4IPROC glad_glVertexAttribI4i = NULL;
+PFNGLVERTEXATTRIBI4IVPROC glad_glVertexAttribI4iv = NULL;
+PFNGLVERTEXATTRIBI4SVPROC glad_glVertexAttribI4sv = NULL;
+PFNGLVERTEXATTRIBI4UBVPROC glad_glVertexAttribI4ubv = NULL;
+PFNGLVERTEXATTRIBI4UIPROC glad_glVertexAttribI4ui = NULL;
+PFNGLVERTEXATTRIBI4UIVPROC glad_glVertexAttribI4uiv = NULL;
+PFNGLVERTEXATTRIBI4USVPROC glad_glVertexAttribI4usv = NULL;
+PFNGLVERTEXATTRIBIPOINTERPROC glad_glVertexAttribIPointer = NULL;
+PFNGLVERTEXATTRIBP1UIPROC glad_glVertexAttribP1ui = NULL;
+PFNGLVERTEXATTRIBP1UIVPROC glad_glVertexAttribP1uiv = NULL;
+PFNGLVERTEXATTRIBP2UIPROC glad_glVertexAttribP2ui = NULL;
+PFNGLVERTEXATTRIBP2UIVPROC glad_glVertexAttribP2uiv = NULL;
+PFNGLVERTEXATTRIBP3UIPROC glad_glVertexAttribP3ui = NULL;
+PFNGLVERTEXATTRIBP3UIVPROC glad_glVertexAttribP3uiv = NULL;
+PFNGLVERTEXATTRIBP4UIPROC glad_glVertexAttribP4ui = NULL;
+PFNGLVERTEXATTRIBP4UIVPROC glad_glVertexAttribP4uiv = NULL;
+PFNGLVERTEXATTRIBPOINTERPROC glad_glVertexAttribPointer = NULL;
+PFNGLVERTEXP2UIPROC glad_glVertexP2ui = NULL;
+PFNGLVERTEXP2UIVPROC glad_glVertexP2uiv = NULL;
+PFNGLVERTEXP3UIPROC glad_glVertexP3ui = NULL;
+PFNGLVERTEXP3UIVPROC glad_glVertexP3uiv = NULL;
+PFNGLVERTEXP4UIPROC glad_glVertexP4ui = NULL;
+PFNGLVERTEXP4UIVPROC glad_glVertexP4uiv = NULL;
+PFNGLVERTEXPOINTERPROC glad_glVertexPointer = NULL;
+PFNGLVIEWPORTPROC glad_glViewport = NULL;
+PFNGLWAITSYNCPROC glad_glWaitSync = NULL;
+PFNGLWINDOWPOS2DPROC glad_glWindowPos2d = NULL;
+PFNGLWINDOWPOS2DVPROC glad_glWindowPos2dv = NULL;
+PFNGLWINDOWPOS2FPROC glad_glWindowPos2f = NULL;
+PFNGLWINDOWPOS2FVPROC glad_glWindowPos2fv = NULL;
+PFNGLWINDOWPOS2IPROC glad_glWindowPos2i = NULL;
+PFNGLWINDOWPOS2IVPROC glad_glWindowPos2iv = NULL;
+PFNGLWINDOWPOS2SPROC glad_glWindowPos2s = NULL;
+PFNGLWINDOWPOS2SVPROC glad_glWindowPos2sv = NULL;
+PFNGLWINDOWPOS3DPROC glad_glWindowPos3d = NULL;
+PFNGLWINDOWPOS3DVPROC glad_glWindowPos3dv = NULL;
+PFNGLWINDOWPOS3FPROC glad_glWindowPos3f = NULL;
+PFNGLWINDOWPOS3FVPROC glad_glWindowPos3fv = NULL;
+PFNGLWINDOWPOS3IPROC glad_glWindowPos3i = NULL;
+PFNGLWINDOWPOS3IVPROC glad_glWindowPos3iv = NULL;
+PFNGLWINDOWPOS3SPROC glad_glWindowPos3s = NULL;
+PFNGLWINDOWPOS3SVPROC glad_glWindowPos3sv = NULL;
+int GLAD_GL_ARB_debug_output = 0;
+int GLAD_GL_ARB_framebuffer_object = 0;
+int GLAD_GL_EXT_framebuffer_object = 0;
+PFNGLDEBUGMESSAGECONTROLARBPROC glad_glDebugMessageControlARB = NULL;
+PFNGLDEBUGMESSAGEINSERTARBPROC glad_glDebugMessageInsertARB = NULL;
+PFNGLDEBUGMESSAGECALLBACKARBPROC glad_glDebugMessageCallbackARB = NULL;
+PFNGLGETDEBUGMESSAGELOGARBPROC glad_glGetDebugMessageLogARB = NULL;
+PFNGLISRENDERBUFFEREXTPROC glad_glIsRenderbufferEXT = NULL;
+PFNGLBINDRENDERBUFFEREXTPROC glad_glBindRenderbufferEXT = NULL;
+PFNGLDELETERENDERBUFFERSEXTPROC glad_glDeleteRenderbuffersEXT = NULL;
+PFNGLGENRENDERBUFFERSEXTPROC glad_glGenRenderbuffersEXT = NULL;
+PFNGLRENDERBUFFERSTORAGEEXTPROC glad_glRenderbufferStorageEXT = NULL;
+PFNGLGETRENDERBUFFERPARAMETERIVEXTPROC glad_glGetRenderbufferParameterivEXT = NULL;
+PFNGLISFRAMEBUFFEREXTPROC glad_glIsFramebufferEXT = NULL;
+PFNGLBINDFRAMEBUFFEREXTPROC glad_glBindFramebufferEXT = NULL;
+PFNGLDELETEFRAMEBUFFERSEXTPROC glad_glDeleteFramebuffersEXT = NULL;
+PFNGLGENFRAMEBUFFERSEXTPROC glad_glGenFramebuffersEXT = NULL;
+PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC glad_glCheckFramebufferStatusEXT = NULL;
+PFNGLFRAMEBUFFERTEXTURE1DEXTPROC glad_glFramebufferTexture1DEXT = NULL;
+PFNGLFRAMEBUFFERTEXTURE2DEXTPROC glad_glFramebufferTexture2DEXT = NULL;
+PFNGLFRAMEBUFFERTEXTURE3DEXTPROC glad_glFramebufferTexture3DEXT = NULL;
+PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC glad_glFramebufferRenderbufferEXT = NULL;
+PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC glad_glGetFramebufferAttachmentParameterivEXT = NULL;
+PFNGLGENERATEMIPMAPEXTPROC glad_glGenerateMipmapEXT = NULL;
 static void load_GL_VERSION_1_0(GLADloadproc load) {
 	if(!GLAD_GL_VERSION_1_0) return;
 	glad_glCullFace = (PFNGLCULLFACEPROC)load("glCullFace");
diff --git a/thirdparty/glad/glad/glad.h b/thirdparty/glad/glad/glad.h
index 4d92d33b37..6345de6f7a 100644
--- a/thirdparty/glad/glad/glad.h
+++ b/thirdparty/glad/glad/glad.h
@@ -1,6 +1,6 @@
 /*
 
-    OpenGL loader generated by glad 0.1.25 on Sat Jul 28 10:59:43 2018.
+    OpenGL loader generated by glad 0.1.29 on Mon Mar  4 12:47:22 2019.
 
     Language/Generator: C/C++
     Specification: gl
@@ -13,11 +13,12 @@
     Loader: True
     Local files: False
     Omit khrplatform: False
+    Reproducible: False
 
     Commandline:
         --profile="compatibility" --api="gl=3.3" --generator="c" --spec="gl" --extensions="GL_ARB_debug_output,GL_ARB_framebuffer_object,GL_EXT_framebuffer_object"
     Online:
-        http://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D3.3&extensions=GL_ARB_debug_output&extensions=GL_ARB_framebuffer_object&extensions=GL_EXT_framebuffer_object
+        https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D3.3&extensions=GL_ARB_debug_output&extensions=GL_ARB_framebuffer_object&extensions=GL_EXT_framebuffer_object
 */
 
 
@@ -46,6 +47,10 @@
 #define APIENTRYP APIENTRY *
 #endif
 
+#ifndef GLAPIENTRY
+#define GLAPIENTRY APIENTRY
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -89,59 +94,21 @@ GLAPI int gladLoadGL(void);
 
 GLAPI int gladLoadGLLoader(GLADloadproc);
 
-#include <stddef.h>
 #include <KHR/khrplatform.h>
-#ifndef GLEXT_64_TYPES_DEFINED
-/* This code block is duplicated in glxext.h, so must be protected */
-#define GLEXT_64_TYPES_DEFINED
-/* Define int32_t, int64_t, and uint64_t types for UST/MSC */
-/* (as used in the GL_EXT_timer_query extension). */
-#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
-#include <inttypes.h>
-#elif defined(__sun__) || defined(__digital__)
-#include <inttypes.h>
-#if defined(__STDC__)
-#if defined(__arch64__) || defined(_LP64)
-typedef long int int64_t;
-typedef unsigned long int uint64_t;
-#else
-typedef long long int int64_t;
-typedef unsigned long long int uint64_t;
-#endif /* __arch64__ */
-#endif /* __STDC__ */
-#elif defined( __VMS ) || defined(__sgi)
-#include <inttypes.h>
-#elif defined(__SCO__) || defined(__USLC__)
-#include <stdint.h>
-#elif defined(__UNIXOS2__) || defined(__SOL64__)
-typedef long int int32_t;
-typedef long long int int64_t;
-typedef unsigned long long int uint64_t;
-#elif defined(_WIN32) && defined(__GNUC__)
-#include <stdint.h>
-#elif defined(_WIN32)
-typedef __int32 int32_t;
-typedef __int64 int64_t;
-typedef unsigned __int64 uint64_t;
-#else
-/* Fallback if nothing above works */
-#include <inttypes.h>
-#endif
-#endif
 typedef unsigned int GLenum;
 typedef unsigned char GLboolean;
 typedef unsigned int GLbitfield;
 typedef void GLvoid;
-typedef signed char GLbyte;
-typedef short GLshort;
+typedef khronos_int8_t GLbyte;
+typedef khronos_uint8_t GLubyte;
+typedef khronos_int16_t GLshort;
+typedef khronos_uint16_t GLushort;
 typedef int GLint;
-typedef int GLclampx;
-typedef unsigned char GLubyte;
-typedef unsigned short GLushort;
 typedef unsigned int GLuint;
+typedef khronos_int32_t GLclampx;
 typedef int GLsizei;
-typedef float GLfloat;
-typedef float GLclampf;
+typedef khronos_float_t GLfloat;
+typedef khronos_float_t GLclampf;
 typedef double GLdouble;
 typedef double GLclampd;
 typedef void *GLeglClientBufferEXT;
@@ -153,25 +120,17 @@ typedef void *GLhandleARB;
 #else
 typedef unsigned int GLhandleARB;
 #endif
-typedef unsigned short GLhalfARB;
-typedef unsigned short GLhalf;
-typedef GLint GLfixed;
+typedef khronos_uint16_t GLhalf;
+typedef khronos_uint16_t GLhalfARB;
+typedef khronos_int32_t GLfixed;
 typedef khronos_intptr_t GLintptr;
+typedef khronos_intptr_t GLintptrARB;
 typedef khronos_ssize_t GLsizeiptr;
-typedef int64_t GLint64;
-typedef uint64_t GLuint64;
-#if defined(__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__) && (__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__ > 1060)
-typedef long GLintptrARB;
-#else
-typedef ptrdiff_t GLintptrARB;
-#endif
-#if defined(__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__) && (__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__ > 1060)
-typedef long GLsizeiptrARB;
-#else
-typedef ptrdiff_t GLsizeiptrARB;
-#endif
-typedef int64_t GLint64EXT;
-typedef uint64_t GLuint64EXT;
+typedef khronos_ssize_t GLsizeiptrARB;
+typedef khronos_int64_t GLint64;
+typedef khronos_int64_t GLint64EXT;
+typedef khronos_uint64_t GLuint64;
+typedef khronos_uint64_t GLuint64EXT;
 typedef struct __GLsync *GLsync;
 struct _cl_context;
 struct _cl_event;
diff --git a/thirdparty/libogg/ogg/config_types.h b/thirdparty/libogg/ogg/config_types.h
index 5ea49b8abd..e630657547 100644
--- a/thirdparty/libogg/ogg/config_types.h
+++ b/thirdparty/libogg/ogg/config_types.h
@@ -1,7 +1,7 @@
 #ifndef __CONFIG_TYPES_H__
 #define __CONFIG_TYPES_H__
 
-#include "int_types.h"
+#include "core/int_types.h"
 
 typedef int16_t ogg_int16_t;
 typedef uint16_t ogg_uint16_t;
diff --git a/thirdparty/libpng/LICENSE b/thirdparty/libpng/LICENSE
index 6ee9c8f554..62ab8e48dc 100644
--- a/thirdparty/libpng/LICENSE
+++ b/thirdparty/libpng/LICENSE
@@ -1,14 +1,43 @@
+COPYRIGHT NOTICE, DISCLAIMER, and LICENSE
+=========================================
 
-This copy of the libpng notices is provided for your convenience.  In case of
-any discrepancy between this copy and the notices in the file png.h that is
-included in the libpng distribution, the latter shall prevail.
+PNG Reference Library License version 2
+---------------------------------------
 
-COPYRIGHT NOTICE, DISCLAIMER, and LICENSE:
+ * Copyright (c) 1995-2018 The PNG Reference Library Authors.
+ * Copyright (c) 2018 Cosmin Truta.
+ * Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson.
+ * Copyright (c) 1996-1997 Andreas Dilger.
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
 
-If you modify libpng you may insert additional notices immediately following
-this sentence.
+The software is supplied "as is", without warranty of any kind,
+express or implied, including, without limitation, the warranties
+of merchantability, fitness for a particular purpose, title, and
+non-infringement.  In no even shall the Copyright owners, or
+anyone distributing the software, be liable for any damages or
+other liability, whether in contract, tort or otherwise, arising
+from, out of, or in connection with the software, or the use or
+other dealings in the software, even if advised of the possibility
+of such damage.
 
-This code is released under the libpng license.
+Permission is hereby granted to use, copy, modify, and distribute
+this software, or portions hereof, for any purpose, without fee,
+subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you
+    must not claim that you wrote the original software.  If you
+    use this software in a product, an acknowledgment in the product
+    documentation would be appreciated, but is not required.
+
+ 2. Altered source versions must be plainly marked as such, and must
+    not be misrepresented as being the original software.
+
+ 3. This Copyright notice may not be removed or altered from any
+    source or altered source distribution.
+
+
+PNG Reference Library License version 1 (for libpng 0.5 through 1.6.35)
+-----------------------------------------------------------------------
 
 libpng versions 1.0.7, July 1, 2000 through 1.6.35, July 15, 2018 are
 Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson, are
@@ -16,38 +45,38 @@ derived from libpng-1.0.6, and are distributed according to the same
 disclaimer and license as libpng-1.0.6 with the following individuals
 added to the list of Contributing Authors:
 
-   Simon-Pierre Cadieux
-   Eric S. Raymond
-   Mans Rullgard
-   Cosmin Truta
-   Gilles Vollant
-   James Yu
-   Mandar Sahastrabuddhe
-   Google Inc.
-   Vadim Barkov
+    Simon-Pierre Cadieux
+    Eric S. Raymond
+    Mans Rullgard
+    Cosmin Truta
+    Gilles Vollant
+    James Yu
+    Mandar Sahastrabuddhe
+    Google Inc.
+    Vadim Barkov
 
 and with the following additions to the disclaimer:
 
-   There is no warranty against interference with your enjoyment of the
-   library or against infringement.  There is no warranty that our
-   efforts or the library will fulfill any of your particular purposes
-   or needs.  This library is provided with all faults, and the entire
-   risk of satisfactory quality, performance, accuracy, and effort is with
-   the user.
+    There is no warranty against interference with your enjoyment of
+    the library or against infringement.  There is no warranty that our
+    efforts or the library will fulfill any of your particular purposes
+    or needs.  This library is provided with all faults, and the entire
+    risk of satisfactory quality, performance, accuracy, and effort is
+    with the user.
 
 Some files in the "contrib" directory and some configure-generated
-files that are distributed with libpng have other copyright owners and
+files that are distributed with libpng have other copyright owners, and
 are released under other open source licenses.
 
 libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
 Copyright (c) 1998-2000 Glenn Randers-Pehrson, are derived from
 libpng-0.96, and are distributed according to the same disclaimer and
-license as libpng-0.96, with the following individuals added to the list
-of Contributing Authors:
+license as libpng-0.96, with the following individuals added to the
+list of Contributing Authors:
 
-   Tom Lane
-   Glenn Randers-Pehrson
-   Willem van Schaik
+    Tom Lane
+    Glenn Randers-Pehrson
+    Willem van Schaik
 
 libpng versions 0.89, June 1996, through 0.96, May 1997, are
 Copyright (c) 1996-1997 Andreas Dilger, are derived from libpng-0.88,
@@ -55,14 +84,14 @@ and are distributed according to the same disclaimer and license as
 libpng-0.88, with the following individuals added to the list of
 Contributing Authors:
 
-   John Bowler
-   Kevin Bracey
-   Sam Bushell
-   Magnus Holmgren
-   Greg Roelofs
-   Tom Tanner
+    John Bowler
+    Kevin Bracey
+    Sam Bushell
+    Magnus Holmgren
+    Greg Roelofs
+    Tom Tanner
 
-Some files in the "scripts" directory have other copyright owners
+Some files in the "scripts" directory have other copyright owners,
 but are released under this license.
 
 libpng versions 0.5, May 1995, through 0.88, January 1996, are
@@ -71,63 +100,35 @@ Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
 For the purposes of this copyright and license, "Contributing Authors"
 is defined as the following set of individuals:
 
-   Andreas Dilger
-   Dave Martindale
-   Guy Eric Schalnat
-   Paul Schmidt
-   Tim Wegner
-
-The PNG Reference Library is supplied "AS IS".  The Contributing Authors
-and Group 42, Inc. disclaim all warranties, expressed or implied,
-including, without limitation, the warranties of merchantability and of
-fitness for any purpose.  The Contributing Authors and Group 42, Inc.
-assume no liability for direct, indirect, incidental, special, exemplary,
-or consequential damages, which may result from the use of the PNG
-Reference Library, even if advised of the possibility of such damage.
+    Andreas Dilger
+    Dave Martindale
+    Guy Eric Schalnat
+    Paul Schmidt
+    Tim Wegner
+
+The PNG Reference Library is supplied "AS IS".  The Contributing
+Authors and Group 42, Inc. disclaim all warranties, expressed or
+implied, including, without limitation, the warranties of
+merchantability and of fitness for any purpose.  The Contributing
+Authors and Group 42, Inc. assume no liability for direct, indirect,
+incidental, special, exemplary, or consequential damages, which may
+result from the use of the PNG Reference Library, even if advised of
+the possibility of such damage.
 
 Permission is hereby granted to use, copy, modify, and distribute this
 source code, or portions hereof, for any purpose, without fee, subject
 to the following restrictions:
 
-  1. The origin of this source code must not be misrepresented.
-
-  2. Altered versions must be plainly marked as such and must not
-     be misrepresented as being the original source.
-
-  3. This Copyright notice may not be removed or altered from any
-     source or altered source distribution.
-
-The Contributing Authors and Group 42, Inc. specifically permit, without
-fee, and encourage the use of this source code as a component to
-supporting the PNG file format in commercial products.  If you use this
-source code in a product, acknowledgment is not required but would be
-appreciated.
-
-END OF COPYRIGHT NOTICE, DISCLAIMER, and LICENSE.
-
-TRADEMARK:
-
-The name "libpng" has not been registered by the Copyright owner
-as a trademark in any jurisdiction.  However, because libpng has
-been distributed and maintained world-wide, continually since 1995,
-the Copyright owner claims "common-law trademark protection" in any
-jurisdiction where common-law trademark is recognized.
-
-OSI CERTIFICATION:
-
-Libpng is OSI Certified Open Source Software.  OSI Certified Open Source is
-a certification mark of the Open Source Initiative. OSI has not addressed
-the additional disclaimers inserted at version 1.0.7.
+ 1. The origin of this source code must not be misrepresented.
 
-EXPORT CONTROL:
+ 2. Altered versions must be plainly marked as such and must not
+    be misrepresented as being the original source.
 
-The Copyright owner believes that the Export Control Classification
-Number (ECCN) for libpng is EAR99, which means not subject to export
-controls or International Traffic in Arms Regulations (ITAR) because
-it is open source, publicly available software, that does not contain
-any encryption software.  See the EAR, paragraphs 734.3(b)(3) and
-734.7(b).
+ 3. This Copyright notice may not be removed or altered from any
+    source or altered source distribution.
 
-Glenn Randers-Pehrson
-glennrp at users.sourceforge.net
-July 15, 2018
+The Contributing Authors and Group 42, Inc. specifically permit,
+without fee, and encourage the use of this source code as a component
+to supporting the PNG file format in commercial products.  If you use
+this source code in a product, acknowledgment is not required but would
+be appreciated.
diff --git a/thirdparty/libpng/arm/arm_init.c b/thirdparty/libpng/arm/arm_init.c
index 02df812e77..a34ecdbef7 100644
--- a/thirdparty/libpng/arm/arm_init.c
+++ b/thirdparty/libpng/arm/arm_init.c
@@ -1,14 +1,15 @@
 
 /* arm_init.c - NEON optimised filter functions
  *
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 2014,2016 Glenn Randers-Pehrson
  * Written by Mans Rullgard, 2011.
- * Last changed in libpng 1.6.22 [May 26, 2016]
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
  * and license in png.h
  */
+
 /* Below, after checking __linux__, various non-C90 POSIX 1003.1 functions are
  * called.
  */
diff --git a/thirdparty/libpng/arm/filter_neon.S b/thirdparty/libpng/arm/filter_neon.S
index 000764cd21..2308aad13e 100644
--- a/thirdparty/libpng/arm/filter_neon.S
+++ b/thirdparty/libpng/arm/filter_neon.S
@@ -1,9 +1,9 @@
 
 /* filter_neon.S - NEON optimised filter functions
  *
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 2014,2017 Glenn Randers-Pehrson
  * Written by Mans Rullgard, 2011.
- * Last changed in libpng 1.6.31 [July 27, 2017]
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/arm/filter_neon_intrinsics.c b/thirdparty/libpng/arm/filter_neon_intrinsics.c
index ea7e356bcc..553c0be21c 100644
--- a/thirdparty/libpng/arm/filter_neon_intrinsics.c
+++ b/thirdparty/libpng/arm/filter_neon_intrinsics.c
@@ -1,12 +1,11 @@
 
 /* filter_neon_intrinsics.c - NEON optimised filter functions
  *
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 2014,2016 Glenn Randers-Pehrson
  * Written by James Yu <james.yu at linaro.org>, October 2013.
  * Based on filter_neon.S, written by Mans Rullgard, 2011.
  *
- * Last changed in libpng 1.6.22 [May 26, 2016]
- *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
  * and license in png.h
@@ -19,7 +18,11 @@
 /* This code requires -mfpu=neon on the command line: */
 #if PNG_ARM_NEON_IMPLEMENTATION == 1 /* intrinsics code from pngpriv.h */
 
-#include <arm_neon.h>
+#if defined(_MSC_VER) && defined(_M_ARM64)
+#  include <arm64_neon.h>
+#else
+#  include <arm_neon.h>
+#endif
 
 /* libpng row pointers are not necessarily aligned to any particular boundary,
  * however this code will only work with appropriate alignment.  arm/arm_init.c
@@ -33,6 +36,11 @@
  * 'type'.  This is written this way just to hide the GCC strict aliasing
  * warning; note that the code is safe because there never is an alias between
  * the input and output pointers.
+ *
+ * When compiling with MSVC ARM64, the png_ldr macro can't be passed directly
+ * to vst4_lane_u32, because of an internal compiler error inside MSVC.
+ * To avoid this compiler bug, we use a temporary variable (vdest_val) to store
+ * the result of png_ldr.
  */
 #define png_ldr(type,pointer)\
    (temp_pointer = png_ptr(type,pointer), *temp_pointer)
@@ -125,12 +133,15 @@ png_read_filter_row_sub4_neon(png_row_infop row_info, png_bytep row,
       uint8x8x4_t *vrpt = png_ptr(uint8x8x4_t,&vtmp);
       uint8x8x4_t vrp = *vrpt;
       uint32x2x4_t *temp_pointer;
+      uint32x2x4_t vdest_val;
 
       vdest.val[0] = vadd_u8(vdest.val[3], vrp.val[0]);
       vdest.val[1] = vadd_u8(vdest.val[0], vrp.val[1]);
       vdest.val[2] = vadd_u8(vdest.val[1], vrp.val[2]);
       vdest.val[3] = vadd_u8(vdest.val[2], vrp.val[3]);
-      vst4_lane_u32(png_ptr(uint32_t,rp), png_ldr(uint32x2x4_t,&vdest), 0);
+
+      vdest_val = png_ldr(uint32x2x4_t, &vdest);
+      vst4_lane_u32(png_ptr(uint32_t,rp), vdest_val, 0);
    }
 
    PNG_UNUSED(prev_row)
@@ -223,6 +234,7 @@ png_read_filter_row_avg4_neon(png_row_infop row_info, png_bytep row,
       uint8x8x4_t *vrpt, *vppt;
       uint8x8x4_t vrp, vpp;
       uint32x2x4_t *temp_pointer;
+      uint32x2x4_t vdest_val;
 
       vtmp = vld4_u32(png_ptr(uint32_t,rp));
       vrpt = png_ptr(uint8x8x4_t,&vtmp);
@@ -240,7 +252,8 @@ png_read_filter_row_avg4_neon(png_row_infop row_info, png_bytep row,
       vdest.val[3] = vhadd_u8(vdest.val[2], vpp.val[3]);
       vdest.val[3] = vadd_u8(vdest.val[3], vrp.val[3]);
 
-      vst4_lane_u32(png_ptr(uint32_t,rp), png_ldr(uint32x2x4_t,&vdest), 0);
+      vdest_val = png_ldr(uint32x2x4_t, &vdest);
+      vst4_lane_u32(png_ptr(uint32_t,rp), vdest_val, 0);
    }
 }
 
@@ -359,6 +372,7 @@ png_read_filter_row_paeth4_neon(png_row_infop row_info, png_bytep row,
       uint8x8x4_t *vrpt, *vppt;
       uint8x8x4_t vrp, vpp;
       uint32x2x4_t *temp_pointer;
+      uint32x2x4_t vdest_val;
 
       vtmp = vld4_u32(png_ptr(uint32_t,rp));
       vrpt = png_ptr(uint8x8x4_t,&vtmp);
@@ -378,7 +392,8 @@ png_read_filter_row_paeth4_neon(png_row_infop row_info, png_bytep row,
 
       vlast = vpp.val[3];
 
-      vst4_lane_u32(png_ptr(uint32_t,rp), png_ldr(uint32x2x4_t,&vdest), 0);
+      vdest_val = png_ldr(uint32x2x4_t, &vdest);
+      vst4_lane_u32(png_ptr(uint32_t,rp), vdest_val, 0);
    }
 }
 
diff --git a/thirdparty/libpng/arm/palette_neon_intrinsics.c b/thirdparty/libpng/arm/palette_neon_intrinsics.c
new file mode 100644
index 0000000000..fa02d6a8b3
--- /dev/null
+++ b/thirdparty/libpng/arm/palette_neon_intrinsics.c
@@ -0,0 +1,149 @@
+
+/* palette_neon_intrinsics.c - NEON optimised palette expansion functions
+ *
+ * Copyright (c) 2018 Cosmin Truta
+ * Copyright (c) 2017-2018 Arm Holdings. All rights reserved.
+ * Written by Richard Townsend <Richard.Townsend@arm.com>, February 2017.
+ *
+ * This code is released under the libpng license.
+ * For conditions of distribution and use, see the disclaimer
+ * and license in png.h
+ */
+
+#include "../pngpriv.h"
+
+#if PNG_ARM_NEON_IMPLEMENTATION == 1
+
+#if defined(_MSC_VER) && defined(_M_ARM64)
+#  include <arm64_neon.h>
+#else
+#  include <arm_neon.h>
+#endif
+
+/* Build an RGBA palette from the RGB and separate alpha palettes. */
+void
+png_riffle_palette_rgba(png_structrp png_ptr, png_row_infop row_info)
+{
+   png_const_colorp palette = png_ptr->palette;
+   png_bytep riffled_palette = png_ptr->riffled_palette;
+   png_const_bytep trans_alpha = png_ptr->trans_alpha;
+   int num_trans = png_ptr->num_trans;
+   int i;
+
+   /* Initially black, opaque. */
+   uint8x16x4_t w = {{
+      vdupq_n_u8(0x00),
+      vdupq_n_u8(0x00),
+      vdupq_n_u8(0x00),
+      vdupq_n_u8(0xff),
+   }};
+
+   if (row_info->bit_depth != 8)
+   {
+      png_error(png_ptr, "bit_depth must be 8 for png_riffle_palette_rgba");
+      return;
+   }
+
+   /* First, riffle the RGB colours into a RGBA palette, the A value is
+    * set to opaque for now.
+    */
+   for (i = 0; i < (1 << row_info->bit_depth); i += 16)
+   {
+      uint8x16x3_t v = vld3q_u8((png_const_bytep)(palette + i));
+      w.val[0] = v.val[0];
+      w.val[1] = v.val[1];
+      w.val[2] = v.val[2];
+      vst4q_u8(riffled_palette + (i << 2), w);
+   }
+
+   /* Fix up the missing transparency values. */
+   for (i = 0; i < num_trans; i++)
+      riffled_palette[(i << 2) + 3] = trans_alpha[i];
+}
+
+/* Expands a palettized row into RGBA. */
+int
+png_do_expand_palette_neon_rgba(png_structrp png_ptr, png_row_infop row_info,
+    png_const_bytep row, png_bytepp ssp, png_bytepp ddp)
+{
+   png_uint_32 row_width = row_info->width;
+   const png_uint_32 *riffled_palette =
+      (const png_uint_32 *)png_ptr->riffled_palette;
+   const png_int_32 pixels_per_chunk = 4;
+   int i;
+
+   if (row_width < pixels_per_chunk)
+      return 0;
+
+   /* This function originally gets the last byte of the output row.
+    * The NEON part writes forward from a given position, so we have
+    * to seek this back by 4 pixels x 4 bytes.
+    */
+   *ddp = *ddp - ((pixels_per_chunk * sizeof(png_uint_32)) - 1);
+
+   for (i = 0; i < row_width; i += pixels_per_chunk)
+   {
+      uint32x4_t cur;
+      png_bytep sp = *ssp - i, dp = *ddp - (i << 2);
+      cur = vld1q_dup_u32 (riffled_palette + *(sp - 3));
+      cur = vld1q_lane_u32(riffled_palette + *(sp - 2), cur, 1);
+      cur = vld1q_lane_u32(riffled_palette + *(sp - 1), cur, 2);
+      cur = vld1q_lane_u32(riffled_palette + *(sp - 0), cur, 3);
+      vst1q_u32((void *)dp, cur);
+   }
+   if (i != row_width)
+   {
+      /* Remove the amount that wasn't processed. */
+      i -= pixels_per_chunk;
+   }
+
+   /* Decrement output pointers. */
+   *ssp = *ssp - i;
+   *ddp = *ddp - (i << 2);
+   return i;
+}
+
+/* Expands a palettized row into RGB format. */
+int
+png_do_expand_palette_neon_rgb(png_structrp png_ptr, png_row_infop row_info,
+    png_const_bytep row, png_bytepp ssp, png_bytepp ddp)
+{
+   png_uint_32 row_width = row_info->width;
+   png_const_bytep palette = (png_const_bytep)png_ptr->palette;
+   const png_uint_32 pixels_per_chunk = 8;
+   int i;
+
+   if (row_width <= pixels_per_chunk)
+      return 0;
+
+   /* Seeking this back by 8 pixels x 3 bytes. */
+   *ddp = *ddp - ((pixels_per_chunk * sizeof(png_color)) - 1);
+
+   for (i = 0; i < row_width; i += pixels_per_chunk)
+   {
+      uint8x8x3_t cur;
+      png_bytep sp = *ssp - i, dp = *ddp - ((i << 1) + i);
+      cur = vld3_dup_u8(palette + sizeof(png_color) * (*(sp - 7)));
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 6)), cur, 1);
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 5)), cur, 2);
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 4)), cur, 3);
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 3)), cur, 4);
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 2)), cur, 5);
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 1)), cur, 6);
+      cur = vld3_lane_u8(palette + sizeof(png_color) * (*(sp - 0)), cur, 7);
+      vst3_u8((void *)dp, cur);
+   }
+
+   if (i != row_width)
+   {
+      /* Remove the amount that wasn't processed. */
+      i -= pixels_per_chunk;
+   }
+
+   /* Decrement output pointers. */
+   *ssp = *ssp - i;
+   *ddp = *ddp - ((i << 1) + i);
+   return i;
+}
+
+#endif /* PNG_ARM_NEON_IMPLEMENTATION */
diff --git a/thirdparty/libpng/png.c b/thirdparty/libpng/png.c
index a25afebcc8..3dce191d17 100644
--- a/thirdparty/libpng/png.c
+++ b/thirdparty/libpng/png.c
@@ -1,10 +1,10 @@
 
 /* png.c - location for general purpose libpng functions
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -14,7 +14,7 @@
 #include "pngpriv.h"
 
 /* Generate a compiler error if there is an old png.h in the search path. */
-typedef png_libpng_version_1_6_35 Your_png_h_is_not_version_1_6_35;
+typedef png_libpng_version_1_6_36 Your_png_h_is_not_version_1_6_36;
 
 #ifdef __GNUC__
 /* The version tests may need to be added to, but the problem warning has
@@ -736,7 +736,7 @@ png_save_int_32(png_bytep buf, png_int_32 i)
 int PNGAPI
 png_convert_to_rfc1123_buffer(char out[29], png_const_timep ptime)
 {
-   static PNG_CONST char short_months[12][4] =
+   static const char short_months[12][4] =
         {"Jan", "Feb", "Mar", "Apr", "May", "Jun",
          "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
 
@@ -814,20 +814,14 @@ png_get_copyright(png_const_structrp png_ptr)
 #ifdef PNG_STRING_COPYRIGHT
    return PNG_STRING_COPYRIGHT
 #else
-#  ifdef __STDC__
    return PNG_STRING_NEWLINE \
-      "libpng version 1.6.35 - July 15, 2018" PNG_STRING_NEWLINE \
+      "libpng version 1.6.36" PNG_STRING_NEWLINE \
+      "Copyright (c) 2018 Cosmin Truta" PNG_STRING_NEWLINE \
       "Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson" \
       PNG_STRING_NEWLINE \
       "Copyright (c) 1996-1997 Andreas Dilger" PNG_STRING_NEWLINE \
       "Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc." \
       PNG_STRING_NEWLINE;
-#  else
-   return "libpng version 1.6.35 - July 15, 2018\
-      Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson\
-      Copyright (c) 1996-1997 Andreas Dilger\
-      Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.";
-#  endif
 #endif
 }
 
@@ -1121,7 +1115,7 @@ png_colorspace_set_gamma(png_const_structrp png_ptr,
     png_colorspacerp colorspace, png_fixed_point gAMA)
 {
    /* Changed in libpng-1.5.4 to limit the values to ensure overflow can't
-    * occur.  Since the fixed point representation is asymetrical it is
+    * occur.  Since the fixed point representation is asymmetrical it is
     * possible for 1/gamma to overflow the limit of 21474 and this means the
     * gamma value must be at least 5/100000 and hence at most 20000.0.  For
     * safety the limits here are a little narrower.  The values are 0.00016 to
@@ -3134,11 +3128,11 @@ png_ascii_from_fp(png_const_structrp png_ptr, png_charp ascii, size_t size,
             /* The total output count (max) is now 4+precision */
 
             /* Check for an exponent, if we don't need one we are
-             * done and just need to terminate the string.  At
-             * this point exp_b10==(-1) is effectively a flag - it got
-             * to '-1' because of the decrement after outputting
-             * the decimal point above (the exponent required is
-             * *not* -1!)
+             * done and just need to terminate the string.  At this
+             * point, exp_b10==(-1) is effectively a flag: it got
+             * to '-1' because of the decrement, after outputting
+             * the decimal point above. (The exponent required is
+             * *not* -1.)
              */
             if (exp_b10 >= (-1) && exp_b10 <= 2)
             {
@@ -3976,18 +3970,18 @@ png_gamma_correct(png_structrp png_ptr, unsigned int value,
  */
 static void
 png_build_16bit_table(png_structrp png_ptr, png_uint_16pp *ptable,
-    PNG_CONST unsigned int shift, PNG_CONST png_fixed_point gamma_val)
+    unsigned int shift, png_fixed_point gamma_val)
 {
    /* Various values derived from 'shift': */
-   PNG_CONST unsigned int num = 1U << (8U - shift);
+   unsigned int num = 1U << (8U - shift);
 #ifdef PNG_FLOATING_ARITHMETIC_SUPPORTED
    /* CSE the division and work round wacky GCC warnings (see the comments
     * in png_gamma_8bit_correct for where these come from.)
     */
-   PNG_CONST double fmax = 1./(((png_int_32)1 << (16U - shift))-1);
+   double fmax = 1.0 / (((png_int_32)1 << (16U - shift)) - 1);
 #endif
-   PNG_CONST unsigned int max = (1U << (16U - shift))-1U;
-   PNG_CONST unsigned int max_by_2 = 1U << (15U-shift);
+   unsigned int max = (1U << (16U - shift)) - 1U;
+   unsigned int max_by_2 = 1U << (15U - shift);
    unsigned int i;
 
    png_uint_16pp table = *ptable =
@@ -4053,10 +4047,10 @@ png_build_16bit_table(png_structrp png_ptr, png_uint_16pp *ptable,
  */
 static void
 png_build_16to8_table(png_structrp png_ptr, png_uint_16pp *ptable,
-    PNG_CONST unsigned int shift, PNG_CONST png_fixed_point gamma_val)
+    unsigned int shift, png_fixed_point gamma_val)
 {
-   PNG_CONST unsigned int num = 1U << (8U - shift);
-   PNG_CONST unsigned int max = (1U << (16U - shift))-1U;
+   unsigned int num = 1U << (8U - shift);
+   unsigned int max = (1U << (16U - shift))-1U;
    unsigned int i;
    png_uint_32 last;
 
@@ -4121,7 +4115,7 @@ png_build_16to8_table(png_structrp png_ptr, png_uint_16pp *ptable,
  */
 static void
 png_build_8bit_table(png_structrp png_ptr, png_bytepp ptable,
-    PNG_CONST png_fixed_point gamma_val)
+    png_fixed_point gamma_val)
 {
    unsigned int i;
    png_bytep table = *ptable = (png_bytep)png_malloc(png_ptr, 256);
diff --git a/thirdparty/libpng/png.h b/thirdparty/libpng/png.h
index 19e464cc17..8e272a0553 100644
--- a/thirdparty/libpng/png.h
+++ b/thirdparty/libpng/png.h
@@ -1,29 +1,65 @@
 
 /* png.h - header file for PNG reference library
  *
- * libpng version 1.6.35, July 15, 2018
+ * libpng version 1.6.36 - December 1, 2018
  *
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
- * This code is released under the libpng license (See LICENSE, below)
+ * This code is released under the libpng license. (See LICENSE, below.)
  *
  * Authors and maintainers:
  *   libpng versions 0.71, May 1995, through 0.88, January 1996: Guy Schalnat
  *   libpng versions 0.89, June 1996, through 0.96, May 1997: Andreas Dilger
- *   libpng versions 0.97, January 1998, through 1.6.35, July 15, 2018:
+ *   libpng versions 0.97, January 1998, through 1.6.35, July 2018:
  *     Glenn Randers-Pehrson.
+ *   libpng version 1.6.36, December 1, 2018: Cosmin Truta
  *   See also "Contributing Authors", below.
  */
 
 /*
- * COPYRIGHT NOTICE, DISCLAIMER, and LICENSE:
+ * COPYRIGHT NOTICE, DISCLAIMER, and LICENSE
+ * =========================================
+ *
+ * PNG Reference Library License version 2
+ * ---------------------------------------
+ *
+ *  * Copyright (c) 1995-2018 The PNG Reference Library Authors.
+ *  * Copyright (c) 2018 Cosmin Truta.
+ *  * Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson.
+ *  * Copyright (c) 1996-1997 Andreas Dilger.
+ *  * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
+ *
+ * The software is supplied "as is", without warranty of any kind,
+ * express or implied, including, without limitation, the warranties
+ * of merchantability, fitness for a particular purpose, title, and
+ * non-infringement.  In no even shall the Copyright owners, or
+ * anyone distributing the software, be liable for any damages or
+ * other liability, whether in contract, tort or otherwise, arising
+ * from, out of, or in connection with the software, or the use or
+ * other dealings in the software, even if advised of the possibility
+ * of such damage.
+ *
+ * Permission is hereby granted to use, copy, modify, and distribute
+ * this software, or portions hereof, for any purpose, without fee,
+ * subject to the following restrictions:
  *
- * If you modify libpng you may insert additional notices immediately following
- * this sentence.
+ *  1. The origin of this software must not be misrepresented; you
+ *     must not claim that you wrote the original software.  If you
+ *     use this software in a product, an acknowledgment in the product
+ *     documentation would be appreciated, but is not required.
  *
- * This code is released under the libpng license.
+ *  2. Altered source versions must be plainly marked as such, and must
+ *     not be misrepresented as being the original software.
+ *
+ *  3. This Copyright notice may not be removed or altered from any
+ *     source or altered source distribution.
+ *
+ *
+ * PNG Reference Library License version 1 (for libpng 0.5 through 1.6.35)
+ * -----------------------------------------------------------------------
  *
  * libpng versions 1.0.7, July 1, 2000 through 1.6.35, July 15, 2018 are
  * Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson, are
@@ -31,38 +67,38 @@
  * disclaimer and license as libpng-1.0.6 with the following individuals
  * added to the list of Contributing Authors:
  *
- *    Simon-Pierre Cadieux
- *    Eric S. Raymond
- *    Mans Rullgard
- *    Cosmin Truta
- *    Gilles Vollant
- *    James Yu
- *    Mandar Sahastrabuddhe
- *    Google Inc.
- *    Vadim Barkov
+ *     Simon-Pierre Cadieux
+ *     Eric S. Raymond
+ *     Mans Rullgard
+ *     Cosmin Truta
+ *     Gilles Vollant
+ *     James Yu
+ *     Mandar Sahastrabuddhe
+ *     Google Inc.
+ *     Vadim Barkov
  *
  * and with the following additions to the disclaimer:
  *
- *    There is no warranty against interference with your enjoyment of the
- *    library or against infringement.  There is no warranty that our
- *    efforts or the library will fulfill any of your particular purposes
- *    or needs.  This library is provided with all faults, and the entire
- *    risk of satisfactory quality, performance, accuracy, and effort is with
- *    the user.
+ *     There is no warranty against interference with your enjoyment of
+ *     the library or against infringement.  There is no warranty that our
+ *     efforts or the library will fulfill any of your particular purposes
+ *     or needs.  This library is provided with all faults, and the entire
+ *     risk of satisfactory quality, performance, accuracy, and effort is
+ *     with the user.
  *
  * Some files in the "contrib" directory and some configure-generated
- * files that are distributed with libpng have other copyright owners and
+ * files that are distributed with libpng have other copyright owners, and
  * are released under other open source licenses.
  *
  * libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
  * Copyright (c) 1998-2000 Glenn Randers-Pehrson, are derived from
  * libpng-0.96, and are distributed according to the same disclaimer and
- * license as libpng-0.96, with the following individuals added to the list
- * of Contributing Authors:
+ * license as libpng-0.96, with the following individuals added to the
+ * list of Contributing Authors:
  *
- *    Tom Lane
- *    Glenn Randers-Pehrson
- *    Willem van Schaik
+ *     Tom Lane
+ *     Glenn Randers-Pehrson
+ *     Willem van Schaik
  *
  * libpng versions 0.89, June 1996, through 0.96, May 1997, are
  * Copyright (c) 1996-1997 Andreas Dilger, are derived from libpng-0.88,
@@ -70,14 +106,14 @@
  * libpng-0.88, with the following individuals added to the list of
  * Contributing Authors:
  *
- *    John Bowler
- *    Kevin Bracey
- *    Sam Bushell
- *    Magnus Holmgren
- *    Greg Roelofs
- *    Tom Tanner
+ *     John Bowler
+ *     Kevin Bracey
+ *     Sam Bushell
+ *     Magnus Holmgren
+ *     Greg Roelofs
+ *     Tom Tanner
  *
- * Some files in the "scripts" directory have other copyright owners
+ * Some files in the "scripts" directory have other copyright owners,
  * but are released under this license.
  *
  * libpng versions 0.5, May 1995, through 0.88, January 1996, are
@@ -86,62 +122,49 @@
  * For the purposes of this copyright and license, "Contributing Authors"
  * is defined as the following set of individuals:
  *
- *    Andreas Dilger
- *    Dave Martindale
- *    Guy Eric Schalnat
- *    Paul Schmidt
- *    Tim Wegner
- *
- * The PNG Reference Library is supplied "AS IS".  The Contributing Authors
- * and Group 42, Inc. disclaim all warranties, expressed or implied,
- * including, without limitation, the warranties of merchantability and of
- * fitness for any purpose.  The Contributing Authors and Group 42, Inc.
- * assume no liability for direct, indirect, incidental, special, exemplary,
- * or consequential damages, which may result from the use of the PNG
- * Reference Library, even if advised of the possibility of such damage.
+ *     Andreas Dilger
+ *     Dave Martindale
+ *     Guy Eric Schalnat
+ *     Paul Schmidt
+ *     Tim Wegner
+ *
+ * The PNG Reference Library is supplied "AS IS".  The Contributing
+ * Authors and Group 42, Inc. disclaim all warranties, expressed or
+ * implied, including, without limitation, the warranties of
+ * merchantability and of fitness for any purpose.  The Contributing
+ * Authors and Group 42, Inc. assume no liability for direct, indirect,
+ * incidental, special, exemplary, or consequential damages, which may
+ * result from the use of the PNG Reference Library, even if advised of
+ * the possibility of such damage.
  *
  * Permission is hereby granted to use, copy, modify, and distribute this
  * source code, or portions hereof, for any purpose, without fee, subject
  * to the following restrictions:
  *
- *   1. The origin of this source code must not be misrepresented.
+ *  1. The origin of this source code must not be misrepresented.
  *
- *   2. Altered versions must be plainly marked as such and must not
- *      be misrepresented as being the original source.
+ *  2. Altered versions must be plainly marked as such and must not
+ *     be misrepresented as being the original source.
  *
- *   3. This Copyright notice may not be removed or altered from any
- *      source or altered source distribution.
+ *  3. This Copyright notice may not be removed or altered from any
+ *     source or altered source distribution.
  *
- * The Contributing Authors and Group 42, Inc. specifically permit, without
- * fee, and encourage the use of this source code as a component to
- * supporting the PNG file format in commercial products.  If you use this
- * source code in a product, acknowledgment is not required but would be
- * appreciated.
+ * The Contributing Authors and Group 42, Inc. specifically permit,
+ * without fee, and encourage the use of this source code as a component
+ * to supporting the PNG file format in commercial products.  If you use
+ * this source code in a product, acknowledgment is not required but would
+ * be appreciated.
  *
  * END OF COPYRIGHT NOTICE, DISCLAIMER, and LICENSE.
  *
- * TRADEMARK:
+ * TRADEMARK
+ * =========
  *
- * The name "libpng" has not been registered by the Copyright owner
+ * The name "libpng" has not been registered by the Copyright owners
  * as a trademark in any jurisdiction.  However, because libpng has
  * been distributed and maintained world-wide, continually since 1995,
- * the Copyright owner claims "common-law trademark protection" in any
+ * the Copyright owners claim "common-law trademark protection" in any
  * jurisdiction where common-law trademark is recognized.
- *
- * OSI CERTIFICATION:
- *
- * Libpng is OSI Certified Open Source Software.  OSI Certified Open Source is
- * a certification mark of the Open Source Initiative. OSI has not addressed
- * the additional disclaimers inserted at version 1.0.7.
- *
- * EXPORT CONTROL:
- *
- * The Copyright owner believes that the Export Control Classification
- * Number (ECCN) for libpng is EAR99, which means not subject to export
- * controls or International Traffic in Arms Regulations (ITAR) because
- * it is open source, publicly available software, that does not contain
- * any encryption software.  See the EAR, paragraphs 734.3(b)(3) and
- * 734.7(b).
  */
 
 /*
@@ -207,23 +230,25 @@
  *    1.0.7rc1-2               1    10007  2.1.0.7rc1-2 (binary compatible)
  *    1.0.7                    1    10007  (still compatible)
  *    ...
- *    1.0.19                  10    10019  10.so.0.19[.0]
+ *    1.0.69                  10    10069  10.so.0.69[.0]
  *    ...
- *    1.2.59                  13    10257  12.so.0.59[.0]
+ *    1.2.59                  13    10259  12.so.0.59[.0]
  *    ...
- *    1.5.30                  15    10527  15.so.15.30[.0]
+ *    1.4.20                  14    10420  14.so.0.20[.0]
  *    ...
- *    1.6.35                  16    10635  16.so.16.35[.0]
- *
- *    Henceforth the source version will match the shared-library major
- *    and minor numbers; the shared-library major version number will be
- *    used for changes in backward compatibility, as it is intended.  The
- *    PNG_LIBPNG_VER macro, which is not used within libpng but is available
- *    for applications, is an unsigned integer of the form xyyzz corresponding
- *    to the source version x.y.z (leading zeros in y and z).  Beta versions
- *    were given the previous public release number plus a letter, until
- *    version 1.0.6j; from then on they were given the upcoming public
- *    release number plus "betaNN" or "rcNN".
+ *    1.5.30                  15    10530  15.so.15.30[.0]
+ *    ...
+ *    1.6.36                  16    10636  16.so.16.36[.0]
+ *
+ *    Henceforth the source version will match the shared-library major and
+ *    minor numbers; the shared-library major version number will be used for
+ *    changes in backward compatibility, as it is intended.
+ *    The PNG_LIBPNG_VER macro, which is not used within libpng but is
+ *    available for applications, is an unsigned integer of the form XYYZZ
+ *    corresponding to the source version X.Y.Z (leading zeros in Y and Z).
+ *    Beta versions were given the previous public release number plus a
+ *    letter, until version 1.0.6j; from then on they were given the upcoming
+ *    public release number plus "betaNN" or "rcNN".
  *
  *    Binary incompatibility exists only when applications make direct access
  *    to the info_ptr or png_ptr members through png.h, and the compiled
@@ -233,65 +258,8 @@
  *    in binary compatibility (e.g., when a new feature is added).
  *
  * See libpng.txt or libpng.3 for more information.  The PNG specification
- * is available as a W3C Recommendation and as an ISO Specification,
- * <https://www.w3.org/TR/2003/REC-PNG-20031110/
- */
-
-/*
- * Y2K compliance in libpng:
- * =========================
- *
- *    July 15, 2018
- *
- *    Since the PNG Development group is an ad-hoc body, we can't make
- *    an official declaration.
- *
- *    This is your unofficial assurance that libpng from version 0.71 and
- *    upward through 1.6.35 are Y2K compliant.  It is my belief that
- *    earlier versions were also Y2K compliant.
- *
- *    Libpng only has two year fields.  One is a 2-byte unsigned integer
- *    that will hold years up to 65535.  The other, which is deprecated,
- *    holds the date in text format, and will hold years up to 9999.
- *
- *    The integer is
- *        "png_uint_16 year" in png_time_struct.
- *
- *    The string is
- *        "char time_buffer[29]" in png_struct.  This is no longer used
- *    in libpng-1.6.x and will be removed from libpng-1.7.0.
- *
- *    There are seven time-related functions:
- *        png.c: png_convert_to_rfc_1123_buffer() in png.c
- *          (formerly png_convert_to_rfc_1123() prior to libpng-1.5.x and
- *          png_convert_to_rfc_1152() in error prior to libpng-0.98)
- *        png_convert_from_struct_tm() in pngwrite.c, called in pngwrite.c
- *        png_convert_from_time_t() in pngwrite.c
- *        png_get_tIME() in pngget.c
- *        png_handle_tIME() in pngrutil.c, called in pngread.c
- *        png_set_tIME() in pngset.c
- *        png_write_tIME() in pngwutil.c, called in pngwrite.c
- *
- *    All handle dates properly in a Y2K environment.  The
- *    png_convert_from_time_t() function calls gmtime() to convert from system
- *    clock time, which returns (year - 1900), which we properly convert to
- *    the full 4-digit year.  There is a possibility that libpng applications
- *    are not passing 4-digit years into the png_convert_to_rfc_1123_buffer()
- *    function, or that they are incorrectly passing only a 2-digit year
- *    instead of "year - 1900" into the png_convert_from_struct_tm() function,
- *    but this is not under our control.  The libpng documentation has always
- *    stated that it works with 4-digit years, and the APIs have been
- *    documented as such.
- *
- *    The tIME chunk itself is also Y2K compliant.  It uses a 2-byte unsigned
- *    integer to hold the year, and can hold years as large as 65535.
- *
- *    zlib, upon which libpng depends, is also Y2K compliant.  It contains
- *    no date-related code.
- *
- *       Glenn Randers-Pehrson
- *       libpng maintainer
- *       PNG Development Group
+ * is available as a W3C Recommendation and as an ISO/IEC Standard; see
+ * <https://www.w3.org/TR/2003/REC-PNG-20031110/>
  */
 
 #ifndef PNG_H
@@ -309,8 +277,8 @@
  */
 
 /* Version information for png.h - this should match the version in png.c */
-#define PNG_LIBPNG_VER_STRING "1.6.35"
-#define PNG_HEADER_VERSION_STRING " libpng version 1.6.35 - July 15, 2018\n"
+#define PNG_LIBPNG_VER_STRING "1.6.36"
+#define PNG_HEADER_VERSION_STRING " libpng version 1.6.36 - December 1, 2018\n"
 
 #define PNG_LIBPNG_VER_SONUM   16
 #define PNG_LIBPNG_VER_DLLNUM  16
@@ -318,13 +286,13 @@
 /* These should match the first 3 components of PNG_LIBPNG_VER_STRING: */
 #define PNG_LIBPNG_VER_MAJOR   1
 #define PNG_LIBPNG_VER_MINOR   6
-#define PNG_LIBPNG_VER_RELEASE 35
+#define PNG_LIBPNG_VER_RELEASE 36
 
 /* This should match the numeric part of the final component of
  * PNG_LIBPNG_VER_STRING, omitting any leading zero:
  */
 
-#define PNG_LIBPNG_VER_BUILD  02
+#define PNG_LIBPNG_VER_BUILD  0
 
 /* Release Status */
 #define PNG_LIBPNG_BUILD_ALPHA    1
@@ -341,15 +309,16 @@
 #define PNG_LIBPNG_BUILD_SPECIAL 32 /* Cannot be OR'ed with
                                        PNG_LIBPNG_BUILD_PRIVATE */
 
-#define PNG_LIBPNG_BUILD_BASE_TYPE PNG_LIBPNG_BUILD_BETA
+#define PNG_LIBPNG_BUILD_BASE_TYPE PNG_LIBPNG_BUILD_STABLE
 
-/* Careful here.  At one time, Guy wanted to use 082, but that would be octal.
- * We must not include leading zeros.
- * Versions 0.7 through 1.0.0 were in the range 0 to 100 here (only
- * version 1.0.0 was mis-numbered 100 instead of 10000).  From
- * version 1.0.1 it's    xxyyzz, where x=major, y=minor, z=release
+/* Careful here.  At one time, Guy wanted to use 082, but that
+ * would be octal.  We must not include leading zeros.
+ * Versions 0.7 through 1.0.0 were in the range 0 to 100 here
+ * (only version 1.0.0 was mis-numbered 100 instead of 10000).
+ * From version 1.0.1 it is:
+ * XXYYZZ, where XX=major, YY=minor, ZZ=release
  */
-#define PNG_LIBPNG_VER 10635 /* 1.6.35 */
+#define PNG_LIBPNG_VER 10636 /* 1.6.36 */
 
 /* Library configuration: these options cannot be changed after
  * the library has been built.
@@ -459,7 +428,7 @@ extern "C" {
 /* This triggers a compiler error in png.c, if png.c and png.h
  * do not agree upon the version number.
  */
-typedef char* png_libpng_version_1_6_35;
+typedef char* png_libpng_version_1_6_36;
 
 /* Basic control structions.  Read libpng-manual.txt or libpng.3 for more info.
  *
@@ -2013,12 +1982,12 @@ PNG_FIXED_EXPORT(233, void, png_set_cHRM_XYZ_fixed, (png_const_structrp png_ptr,
 PNG_EXPORT(246, png_uint_32, png_get_eXIf, (png_const_structrp png_ptr,
     png_inforp info_ptr, png_bytep *exif));
 PNG_EXPORT(247, void, png_set_eXIf, (png_const_structrp png_ptr,
-    png_inforp info_ptr, const png_bytep exif));
+    png_inforp info_ptr, png_bytep exif));
 
 PNG_EXPORT(248, png_uint_32, png_get_eXIf_1, (png_const_structrp png_ptr,
     png_const_inforp info_ptr, png_uint_32 *num_exif, png_bytep *exif));
 PNG_EXPORT(249, void, png_set_eXIf_1, (png_const_structrp png_ptr,
-    png_inforp info_ptr, const png_uint_32 num_exif, const png_bytep exif));
+    png_inforp info_ptr, png_uint_32 num_exif, png_bytep exif));
 #endif
 
 #ifdef PNG_gAMA_SUPPORTED
@@ -2764,7 +2733,7 @@ typedef struct
  *
  * When the simplified API needs to convert between sRGB and linear colorspaces,
  * the actual sRGB transfer curve defined in the sRGB specification (see the
- * article at https://en.wikipedia.org/wiki/SRGB) is used, not the gamma=1/2.2
+ * article at <https://en.wikipedia.org/wiki/SRGB>) is used, not the gamma=1/2.2
  * approximation used elsewhere in libpng.
  *
  * When an alpha channel is present it is expected to denote pixel coverage
@@ -2967,7 +2936,7 @@ typedef struct
  * 'flags' field of png_image.
  */
 #define PNG_IMAGE_FLAG_COLORSPACE_NOT_sRGB 0x01
-   /* This indicates the the RGB values of the in-memory bitmap do not
+   /* This indicates that the RGB values of the in-memory bitmap do not
     * correspond to the red, green and blue end-points defined by sRGB.
     */
 
diff --git a/thirdparty/libpng/pngconf.h b/thirdparty/libpng/pngconf.h
index a4646bab85..5e641b2509 100644
--- a/thirdparty/libpng/pngconf.h
+++ b/thirdparty/libpng/pngconf.h
@@ -1,11 +1,12 @@
 
 /* pngconf.h - machine configurable file for libpng
  *
- * libpng version 1.6.35, July 15, 2018
+ * libpng version 1.6.36
  *
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2016,2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -57,14 +58,13 @@
 
 #endif /* PNG_BUILDING_SYMBOL_TABLE */
 
-/* Prior to 1.6.0 it was possible to turn off 'const' in declarations using
- * PNG_NO_CONST; this is no longer supported except for data declarations which
- * apparently still cause problems in 2011 on some compilers.
+/* Prior to 1.6.0, it was possible to turn off 'const' in declarations,
+ * using PNG_NO_CONST.  This is no longer supported.
  */
 #define PNG_CONST const /* backward compatibility only */
 
-/* This controls optimization of the reading of 16-bit and 32-bit values
- * from PNG files.  It can be set on a per-app-file basis - it
+/* This controls optimization of the reading of 16-bit and 32-bit
+ * values from PNG files.  It can be set on a per-app-file basis: it
  * just changes whether a macro is used when the function is called.
  * The library builder sets the default; if read functions are not
  * built into the library the macro implementation is forced on.
diff --git a/thirdparty/libpng/pngdebug.h b/thirdparty/libpng/pngdebug.h
index 15a7ed0c95..00d5a4569e 100644
--- a/thirdparty/libpng/pngdebug.h
+++ b/thirdparty/libpng/pngdebug.h
@@ -1,10 +1,10 @@
 
 /* pngdebug.h - Debugging macros for libpng, also used in pngtest.c
  *
- * Last changed in libpng 1.6.8 [December 19, 2013]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2013 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/pngerror.c b/thirdparty/libpng/pngerror.c
index ad48bfb986..ec3a709b9d 100644
--- a/thirdparty/libpng/pngerror.c
+++ b/thirdparty/libpng/pngerror.c
@@ -1,10 +1,10 @@
 
 /* pngerror.c - stub functions for i/o and memory allocation
  *
- * Last changed in libpng 1.6.31 [July 27, 2017]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2017 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -425,7 +425,7 @@ png_app_error(png_const_structrp png_ptr, png_const_charp error_message)
  * if the character is invalid.
  */
 #define isnonalpha(c) ((c) < 65 || (c) > 122 || ((c) > 90 && (c) < 97))
-static PNG_CONST char png_digit[16] = {
+static const char png_digit[16] = {
    '0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
    'A', 'B', 'C', 'D', 'E', 'F'
 };
@@ -885,7 +885,7 @@ PNG_FUNCTION(void /* PRIVATE */, (PNGCBAPI
 png_safe_error),(png_structp png_nonconst_ptr, png_const_charp error_message),
     PNG_NORETURN)
 {
-   const png_const_structrp png_ptr = png_nonconst_ptr;
+   png_const_structrp png_ptr = png_nonconst_ptr;
    png_imagep image = png_voidcast(png_imagep, png_ptr->error_ptr);
 
    /* An error is always logged here, overwriting anything (typically a warning)
@@ -920,7 +920,7 @@ png_safe_error),(png_structp png_nonconst_ptr, png_const_charp error_message),
 void /* PRIVATE */ PNGCBAPI
 png_safe_warning(png_structp png_nonconst_ptr, png_const_charp warning_message)
 {
-   const png_const_structrp png_ptr = png_nonconst_ptr;
+   png_const_structrp png_ptr = png_nonconst_ptr;
    png_imagep image = png_voidcast(png_imagep, png_ptr->error_ptr);
 
    /* A warning is only logged if there is no prior warning or error. */
diff --git a/thirdparty/libpng/pngget.c b/thirdparty/libpng/pngget.c
index 2325508f1d..5abf1efd9f 100644
--- a/thirdparty/libpng/pngget.c
+++ b/thirdparty/libpng/pngget.c
@@ -1,10 +1,10 @@
 
 /* pngget.c - retrieval of values from info struct
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/pnginfo.h b/thirdparty/libpng/pnginfo.h
index 2fcf868dac..1f98dedc42 100644
--- a/thirdparty/libpng/pnginfo.h
+++ b/thirdparty/libpng/pnginfo.h
@@ -1,10 +1,10 @@
 
 /* pnginfo.h - header file for PNG reference library
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2013,2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/pnglibconf.h b/thirdparty/libpng/pnglibconf.h
index 00acecc69b..00340c678b 100644
--- a/thirdparty/libpng/pnglibconf.h
+++ b/thirdparty/libpng/pnglibconf.h
@@ -1,10 +1,9 @@
-/* libpng 1.6.35 STANDARD API DEFINITION */
-
 /* pnglibconf.h - library build configuration */
 
-/* Libpng version 1.6.35 - July 15, 2018 */
+/* libpng version 1.6.36 */
 
-/* Copyright (c) 1998-2018 Glenn Randers-Pehrson */
+/* Copyright (c) 2018 Cosmin Truta */
+/* Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson */
 
 /* This code is released under the libpng license. */
 /* For conditions of distribution and use, see the disclaimer */
@@ -20,8 +19,6 @@
 #define PNG_ALIGNED_MEMORY_SUPPORTED
 /*#undef PNG_ARM_NEON_API_SUPPORTED*/
 /*#undef PNG_ARM_NEON_CHECK_SUPPORTED*/
-/*#undef PNG_POWERPC_VSX_API_SUPPORTED*/
-/*#undef PNG_POWERPC_VSX_CHECK_SUPPORTED*/
 #define PNG_BENIGN_ERRORS_SUPPORTED
 #define PNG_BENIGN_READ_ERRORS_SUPPORTED
 /*#undef PNG_BENIGN_WRITE_ERRORS_SUPPORTED*/
@@ -46,6 +43,8 @@
 #define PNG_IO_STATE_SUPPORTED
 #define PNG_MNG_FEATURES_SUPPORTED
 #define PNG_POINTER_INDEXING_SUPPORTED
+/*#undef PNG_POWERPC_VSX_API_SUPPORTED*/
+/*#undef PNG_POWERPC_VSX_CHECK_SUPPORTED*/
 #define PNG_PROGRESSIVE_READ_SUPPORTED
 #define PNG_READ_16BIT_SUPPORTED
 #define PNG_READ_ALPHA_MODE_SUPPORTED
diff --git a/thirdparty/libpng/pngmem.c b/thirdparty/libpng/pngmem.c
index ff3ef7e88c..09ed9c1c99 100644
--- a/thirdparty/libpng/pngmem.c
+++ b/thirdparty/libpng/pngmem.c
@@ -1,10 +1,10 @@
 
 /* pngmem.c - stub functions for memory allocation
  *
- * Last changed in libpng 1.6.26 [October 20, 2016]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2014,2016 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/pngpread.c b/thirdparty/libpng/pngpread.c
index c4ba51c4d4..e283627b77 100644
--- a/thirdparty/libpng/pngpread.c
+++ b/thirdparty/libpng/pngpread.c
@@ -1,10 +1,10 @@
 
 /* pngpread.c - read a png file in push mode
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -972,20 +972,20 @@ png_read_push_finish_row(png_structrp png_ptr)
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
 
    /* Start of interlace block */
-   static PNG_CONST png_byte png_pass_start[] = {0, 4, 0, 2, 0, 1, 0};
+   static const png_byte png_pass_start[] = {0, 4, 0, 2, 0, 1, 0};
 
    /* Offset to next interlace block */
-   static PNG_CONST png_byte png_pass_inc[] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_inc[] = {8, 8, 4, 4, 2, 2, 1};
 
    /* Start of interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_ystart[] = {0, 0, 4, 0, 2, 0, 1};
+   static const png_byte png_pass_ystart[] = {0, 0, 4, 0, 2, 0, 1};
 
    /* Offset to next interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_yinc[] = {8, 8, 8, 4, 4, 2, 2};
+   static const png_byte png_pass_yinc[] = {8, 8, 8, 4, 4, 2, 2};
 
    /* Height of interlace block.  This is not currently used - if you need
     * it, uncomment it here and in png.h
-   static PNG_CONST png_byte png_pass_height[] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_height[] = {8, 8, 4, 4, 2, 2, 1};
    */
 #endif
 
diff --git a/thirdparty/libpng/pngpriv.h b/thirdparty/libpng/pngpriv.h
index 3581f67919..973c3eac1f 100644
--- a/thirdparty/libpng/pngpriv.h
+++ b/thirdparty/libpng/pngpriv.h
@@ -1,10 +1,10 @@
 
 /* pngpriv.h - private declarations for use inside libpng
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -174,7 +174,10 @@
 #     else /* !defined __ARM_NEON__ */
          /* The 'intrinsics' code simply won't compile without this -mfpu=neon:
           */
-#        define PNG_ARM_NEON_IMPLEMENTATION 2
+#        if !defined(__aarch64__)
+            /* The assembler code currently does not work on ARM64 */
+#          define PNG_ARM_NEON_IMPLEMENTATION 2
+#        endif /* __aarch64__ */
 #     endif /* __ARM_NEON__ */
 #  endif /* !PNG_ARM_NEON_IMPLEMENTATION */
 
@@ -1534,10 +1537,10 @@ PNG_INTERNAL_FUNCTION(void,png_handle_zTXt,(png_structrp png_ptr,
 #endif
 
 PNG_INTERNAL_FUNCTION(void,png_check_chunk_name,(png_const_structrp png_ptr,
-    const png_uint_32 chunk_name),PNG_EMPTY);
+    png_uint_32 chunk_name),PNG_EMPTY);
 
 PNG_INTERNAL_FUNCTION(void,png_check_chunk_length,(png_const_structrp png_ptr,
-    const png_uint_32 chunk_length),PNG_EMPTY);
+    png_uint_32 chunk_length),PNG_EMPTY);
 
 PNG_INTERNAL_FUNCTION(void,png_handle_unknown,(png_structrp png_ptr,
     png_inforp info_ptr, png_uint_32 length, int keep),PNG_EMPTY);
@@ -2114,6 +2117,29 @@ PNG_INTERNAL_FUNCTION(void, png_init_filter_functions_sse2,
 PNG_INTERNAL_FUNCTION(png_uint_32, png_check_keyword, (png_structrp png_ptr,
    png_const_charp key, png_bytep new_key), PNG_EMPTY);
 
+#if PNG_ARM_NEON_IMPLEMENTATION == 1
+PNG_INTERNAL_FUNCTION(void,
+                      png_riffle_palette_rgba,
+                      (png_structrp, png_row_infop),
+                      PNG_EMPTY);
+PNG_INTERNAL_FUNCTION(int,
+                      png_do_expand_palette_neon_rgba,
+                      (png_structrp,
+                       png_row_infop,
+                       png_const_bytep,
+                       const png_bytepp,
+                       const png_bytepp),
+                      PNG_EMPTY);
+PNG_INTERNAL_FUNCTION(int,
+                      png_do_expand_palette_neon_rgb,
+                      (png_structrp,
+                       png_row_infop,
+                       png_const_bytep,
+                       const png_bytepp,
+                       const png_bytepp),
+                      PNG_EMPTY);
+#endif
+
 /* Maintainer: Put new private prototypes here ^ */
 
 #include "pngdebug.h"
diff --git a/thirdparty/libpng/pngread.c b/thirdparty/libpng/pngread.c
index bff7503ee3..f8e762196e 100644
--- a/thirdparty/libpng/pngread.c
+++ b/thirdparty/libpng/pngread.c
@@ -1,10 +1,10 @@
 
 /* pngread.c - read a PNG file
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -1621,7 +1621,7 @@ png_image_skip_unused_chunks(png_structrp png_ptr)
     * errors (which are unfortunately quite common.)
     */
    {
-         static PNG_CONST png_byte chunks_to_process[] = {
+         static const png_byte chunks_to_process[] = {
             98,  75,  71,  68, '\0',  /* bKGD */
             99,  72,  82,  77, '\0',  /* cHRM */
            103,  65,  77,  65, '\0',  /* gAMA */
@@ -1758,9 +1758,9 @@ png_create_colormap_entry(png_image_read_control *display,
     png_uint_32 alpha, int encoding)
 {
    png_imagep image = display->image;
-   const int output_encoding = (image->format & PNG_FORMAT_FLAG_LINEAR) != 0 ?
+   int output_encoding = (image->format & PNG_FORMAT_FLAG_LINEAR) != 0 ?
        P_LINEAR : P_sRGB;
-   const int convert_to_Y = (image->format & PNG_FORMAT_FLAG_COLOR) == 0 &&
+   int convert_to_Y = (image->format & PNG_FORMAT_FLAG_COLOR) == 0 &&
        (red != green || green != blue);
 
    if (ip > 255)
@@ -1869,13 +1869,13 @@ png_create_colormap_entry(png_image_read_control *display,
    /* Store the value. */
    {
 #     ifdef PNG_FORMAT_AFIRST_SUPPORTED
-         const int afirst = (image->format & PNG_FORMAT_FLAG_AFIRST) != 0 &&
+         int afirst = (image->format & PNG_FORMAT_FLAG_AFIRST) != 0 &&
             (image->format & PNG_FORMAT_FLAG_ALPHA) != 0;
 #     else
 #        define afirst 0
 #     endif
 #     ifdef PNG_FORMAT_BGR_SUPPORTED
-         const int bgr = (image->format & PNG_FORMAT_FLAG_BGR) != 0 ? 2 : 0;
+         int bgr = (image->format & PNG_FORMAT_FLAG_BGR) != 0 ? 2 : 0;
 #     else
 #        define bgr 0
 #     endif
@@ -2085,11 +2085,11 @@ png_image_read_colormap(png_voidp argument)
 {
    png_image_read_control *display =
       png_voidcast(png_image_read_control*, argument);
-   const png_imagep image = display->image;
+   png_imagep image = display->image;
 
-   const png_structrp png_ptr = image->opaque->png_ptr;
-   const png_uint_32 output_format = image->format;
-   const int output_encoding = (output_format & PNG_FORMAT_FLAG_LINEAR) != 0 ?
+   png_structrp png_ptr = image->opaque->png_ptr;
+   png_uint_32 output_format = image->format;
+   int output_encoding = (output_format & PNG_FORMAT_FLAG_LINEAR) != 0 ?
       P_LINEAR : P_sRGB;
 
    unsigned int cmap_entries;
@@ -2802,7 +2802,7 @@ png_image_read_colormap(png_voidp argument)
             unsigned int num_trans = png_ptr->num_trans;
             png_const_bytep trans = num_trans > 0 ? png_ptr->trans_alpha : NULL;
             png_const_colorp colormap = png_ptr->palette;
-            const int do_background = trans != NULL &&
+            int do_background = trans != NULL &&
                (output_format & PNG_FORMAT_FLAG_ALPHA) == 0;
             unsigned int i;
 
@@ -3946,7 +3946,7 @@ png_image_read_direct(png_voidp argument)
        */
       if (linear != 0)
       {
-         PNG_CONST png_uint_16 le = 0x0001;
+         png_uint_16 le = 0x0001;
 
          if ((*(png_const_bytep) & le) != 0)
             png_set_swap(png_ptr);
@@ -4108,7 +4108,7 @@ png_image_finish_read(png_imagep image, png_const_colorp background,
        * original PNG format because it may not occur in the output PNG format
        * and libpng deals with the issues of reading the original.
        */
-      const unsigned int channels = PNG_IMAGE_PIXEL_CHANNELS(image->format);
+      unsigned int channels = PNG_IMAGE_PIXEL_CHANNELS(image->format);
 
       /* The following checks just the 'row_stride' calculation to ensure it
        * fits in a signed 32-bit value.  Because channels/components can be
@@ -4119,7 +4119,7 @@ png_image_finish_read(png_imagep image, png_const_colorp background,
       if (image->width <= 0x7fffffffU/channels) /* no overflow */
       {
          png_uint_32 check;
-         const png_uint_32 png_row_stride = image->width * channels;
+         png_uint_32 png_row_stride = image->width * channels;
 
          if (row_stride == 0)
             row_stride = (png_int_32)/*SAFE*/png_row_stride;
diff --git a/thirdparty/libpng/pngrio.c b/thirdparty/libpng/pngrio.c
index 372221483f..7946358101 100644
--- a/thirdparty/libpng/pngrio.c
+++ b/thirdparty/libpng/pngrio.c
@@ -1,10 +1,10 @@
 
 /* pngrio.c - functions for data input
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2016,2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/pngrtran.c b/thirdparty/libpng/pngrtran.c
index 67d1f249a6..ccc58ce6f1 100644
--- a/thirdparty/libpng/pngrtran.c
+++ b/thirdparty/libpng/pngrtran.c
@@ -1,10 +1,10 @@
 
 /* pngrtran.c - transforms the data in a row for PNG readers
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -18,6 +18,17 @@
 
 #include "pngpriv.h"
 
+#ifdef PNG_ARM_NEON_IMPLEMENTATION
+#  if PNG_ARM_NEON_IMPLEMENTATION == 1
+#    define PNG_ARM_NEON_INTRINSICS_AVAILABLE
+#    if defined(_MSC_VER) && defined(_M_ARM64)
+#      include <arm64_neon.h>
+#    else
+#      include <arm_neon.h>
+#    endif
+#  endif
+#endif
+
 #ifdef PNG_READ_SUPPORTED
 
 /* Set the action on getting a CRC error for an ancillary or critical chunk. */
@@ -2986,7 +2997,6 @@ png_do_gray_to_rgb(png_row_infop row_info, png_bytep row)
  */
 static int
 png_do_rgb_to_gray(png_structrp png_ptr, png_row_infop row_info, png_bytep row)
-
 {
    int rgb_error = 0;
 
@@ -2995,12 +3005,11 @@ png_do_rgb_to_gray(png_structrp png_ptr, png_row_infop row_info, png_bytep row)
    if ((row_info->color_type & PNG_COLOR_MASK_PALETTE) == 0 &&
        (row_info->color_type & PNG_COLOR_MASK_COLOR) != 0)
    {
-      PNG_CONST png_uint_32 rc = png_ptr->rgb_to_gray_red_coeff;
-      PNG_CONST png_uint_32 gc = png_ptr->rgb_to_gray_green_coeff;
-      PNG_CONST png_uint_32 bc = 32768 - rc - gc;
-      PNG_CONST png_uint_32 row_width = row_info->width;
-      PNG_CONST int have_alpha =
-         (row_info->color_type & PNG_COLOR_MASK_ALPHA) != 0;
+      png_uint_32 rc = png_ptr->rgb_to_gray_red_coeff;
+      png_uint_32 gc = png_ptr->rgb_to_gray_green_coeff;
+      png_uint_32 bc = 32768 - rc - gc;
+      png_uint_32 row_width = row_info->width;
+      int have_alpha = (row_info->color_type & PNG_COLOR_MASK_ALPHA) != 0;
 
       if (row_info->bit_depth == 8)
       {
@@ -4143,12 +4152,11 @@ png_do_encode_alpha(png_row_infop row_info, png_bytep row, png_structrp png_ptr)
    {
       if (row_info->bit_depth == 8)
       {
-         PNG_CONST png_bytep table = png_ptr->gamma_from_1;
+         png_bytep table = png_ptr->gamma_from_1;
 
          if (table != NULL)
          {
-            PNG_CONST int step =
-               (row_info->color_type & PNG_COLOR_MASK_COLOR) ? 4 : 2;
+            int step = (row_info->color_type & PNG_COLOR_MASK_COLOR) ? 4 : 2;
 
             /* The alpha channel is the last component: */
             row += step - 1;
@@ -4162,13 +4170,12 @@ png_do_encode_alpha(png_row_infop row_info, png_bytep row, png_structrp png_ptr)
 
       else if (row_info->bit_depth == 16)
       {
-         PNG_CONST png_uint_16pp table = png_ptr->gamma_16_from_1;
-         PNG_CONST int gamma_shift = png_ptr->gamma_shift;
+         png_uint_16pp table = png_ptr->gamma_16_from_1;
+         int gamma_shift = png_ptr->gamma_shift;
 
          if (table != NULL)
          {
-            PNG_CONST int step =
-               (row_info->color_type & PNG_COLOR_MASK_COLOR) ? 8 : 4;
+            int step = (row_info->color_type & PNG_COLOR_MASK_COLOR) ? 8 : 4;
 
             /* The alpha channel is the last component: */
             row += step - 2;
@@ -4199,8 +4206,9 @@ png_do_encode_alpha(png_row_infop row_info, png_bytep row, png_structrp png_ptr)
  * upon whether you supply trans and num_trans.
  */
 static void
-png_do_expand_palette(png_row_infop row_info, png_bytep row,
-    png_const_colorp palette, png_const_bytep trans_alpha, int num_trans)
+png_do_expand_palette(png_structrp png_ptr, png_row_infop row_info,
+    png_bytep row, png_const_colorp palette, png_const_bytep trans_alpha,
+    int num_trans)
 {
    int shift, value;
    png_bytep sp, dp;
@@ -4304,14 +4312,25 @@ png_do_expand_palette(png_row_infop row_info, png_bytep row,
                sp = row + (size_t)row_width - 1;
                dp = row + ((size_t)row_width << 2) - 1;
 
-               for (i = 0; i < row_width; i++)
+               i = 0;
+#ifdef PNG_ARM_NEON_INTRINSICS_AVAILABLE
+               if (png_ptr->riffled_palette != NULL)
+               {
+                  /* The RGBA optimization works with png_ptr->bit_depth == 8
+                   * but sometimes row_info->bit_depth has been changed to 8.
+                   * In these cases, the palette hasn't been riffled.
+                   */
+                  i = png_do_expand_palette_neon_rgba(png_ptr, row_info, row,
+                      &sp, &dp);
+               }
+#endif
+
+               for (; i < row_width; i++)
                {
                   if ((int)(*sp) >= num_trans)
                      *dp-- = 0xff;
-
                   else
                      *dp-- = trans_alpha[*sp];
-
                   *dp-- = palette[*sp].blue;
                   *dp-- = palette[*sp].green;
                   *dp-- = palette[*sp].red;
@@ -4328,8 +4347,13 @@ png_do_expand_palette(png_row_infop row_info, png_bytep row,
             {
                sp = row + (size_t)row_width - 1;
                dp = row + (size_t)(row_width * 3) - 1;
+               i = 0;
+#ifdef PNG_ARM_NEON_INTRINSICS_AVAILABLE
+               i = png_do_expand_palette_neon_rgb(png_ptr, row_info, row,
+                   &sp, &dp);
+#endif
 
-               for (i = 0; i < row_width; i++)
+               for (; i < row_width; i++)
                {
                   *dp-- = palette[*sp].blue;
                   *dp-- = palette[*sp].green;
@@ -4743,8 +4767,22 @@ png_do_read_transformations(png_structrp png_ptr, png_row_infop row_info)
    {
       if (row_info->color_type == PNG_COLOR_TYPE_PALETTE)
       {
-         png_do_expand_palette(row_info, png_ptr->row_buf + 1,
-             png_ptr->palette, png_ptr->trans_alpha, png_ptr->num_trans);
+#ifdef PNG_ARM_NEON_INTRINSICS_AVAILABLE
+         if ((png_ptr->num_trans > 0) && (png_ptr->bit_depth == 8))
+         {
+            /* Allocate space for the decompressed full palette. */
+            if (png_ptr->riffled_palette == NULL)
+            {
+               png_ptr->riffled_palette = png_malloc(png_ptr, 256*4);
+               if (png_ptr->riffled_palette == NULL)
+                  png_error(png_ptr, "NULL row buffer");
+               /* Build the RGBA palette. */
+               png_riffle_palette_rgba(png_ptr, row_info);
+            }
+         }
+#endif
+         png_do_expand_palette(png_ptr, row_info, png_ptr->row_buf + 1,
+            png_ptr->palette, png_ptr->trans_alpha, png_ptr->num_trans);
       }
 
       else
diff --git a/thirdparty/libpng/pngrutil.c b/thirdparty/libpng/pngrutil.c
index 7001f1976e..d5fa08c397 100644
--- a/thirdparty/libpng/pngrutil.c
+++ b/thirdparty/libpng/pngrutil.c
@@ -1,10 +1,10 @@
 
 /* pngrutil.c - utilities to read a PNG file
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -1461,8 +1461,7 @@ png_handle_iCCP(png_structrp png_ptr, png_inforp info_ptr, png_uint_32 length)
                {
                   /* We have the ICC profile header; do the basic header checks.
                    */
-                  const png_uint_32 profile_length =
-                     png_get_uint_32(profile_header);
+                  png_uint_32 profile_length = png_get_uint_32(profile_header);
 
                   if (png_icc_check_length(png_ptr, &png_ptr->colorspace,
                       keyword, profile_length) != 0)
@@ -1479,8 +1478,8 @@ png_handle_iCCP(png_structrp png_ptr, png_inforp info_ptr, png_uint_32 length)
                          * profile.  The header check has already validated
                          * that none of this stuff will overflow.
                          */
-                        const png_uint_32 tag_count = png_get_uint_32(
-                            profile_header+128);
+                        png_uint_32 tag_count =
+                           png_get_uint_32(profile_header + 128);
                         png_bytep profile = png_read_buffer(png_ptr,
                             profile_length, 2/*silent*/);
 
@@ -3132,7 +3131,7 @@ png_handle_unknown(png_structrp png_ptr, png_inforp info_ptr,
  */
 
 void /* PRIVATE */
-png_check_chunk_name(png_const_structrp png_ptr, const png_uint_32 chunk_name)
+png_check_chunk_name(png_const_structrp png_ptr, png_uint_32 chunk_name)
 {
    int i;
    png_uint_32 cn=chunk_name;
@@ -3151,7 +3150,7 @@ png_check_chunk_name(png_const_structrp png_ptr, const png_uint_32 chunk_name)
 }
 
 void /* PRIVATE */
-png_check_chunk_length(png_const_structrp png_ptr, const png_uint_32 length)
+png_check_chunk_length(png_const_structrp png_ptr, png_uint_32 length)
 {
    png_alloc_size_t limit = PNG_UINT_31_MAX;
 
@@ -3363,7 +3362,7 @@ png_combine_row(png_const_structrp png_ptr, png_bytep dp, int display)
          /* Hence the pre-compiled masks indexed by PACKSWAP (or not), depth and
           * then pass:
           */
-         static PNG_CONST png_uint_32 row_mask[2/*PACKSWAP*/][3/*depth*/][6] =
+         static const png_uint_32 row_mask[2/*PACKSWAP*/][3/*depth*/][6] =
          {
             /* Little-endian byte masks for PACKSWAP */
             { S_MASKS(1,0), S_MASKS(2,0), S_MASKS(4,0) },
@@ -3374,7 +3373,7 @@ png_combine_row(png_const_structrp png_ptr, png_bytep dp, int display)
          /* display_mask has only three entries for the odd passes, so index by
           * pass>>1.
           */
-         static PNG_CONST png_uint_32 display_mask[2][3][3] =
+         static const png_uint_32 display_mask[2][3][3] =
          {
             /* Little-endian byte masks for PACKSWAP */
             { B_MASKS(1,0), B_MASKS(2,0), B_MASKS(4,0) },
@@ -3687,7 +3686,7 @@ png_do_read_interlace(png_row_infop row_info, png_bytep row, int pass,
 {
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
    /* Offset to next interlace block */
-   static PNG_CONST unsigned int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+   static const unsigned int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
 
    png_debug(1, "in png_do_read_interlace");
    if (row != NULL && row_info != NULL)
@@ -4329,16 +4328,16 @@ png_read_finish_row(png_structrp png_ptr)
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
 
    /* Start of interlace block */
-   static PNG_CONST png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+   static const png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
 
    /* Offset to next interlace block */
-   static PNG_CONST png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
 
    /* Start of interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+   static const png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
 
    /* Offset to next interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+   static const png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
 
    png_debug(1, "in png_read_finish_row");
    png_ptr->row_number++;
@@ -4394,16 +4393,16 @@ png_read_start_row(png_structrp png_ptr)
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
 
    /* Start of interlace block */
-   static PNG_CONST png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+   static const png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
 
    /* Offset to next interlace block */
-   static PNG_CONST png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
 
    /* Start of interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+   static const png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
 
    /* Offset to next interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+   static const png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
 
    unsigned int max_pixel_depth;
    size_t row_bytes;
diff --git a/thirdparty/libpng/pngset.c b/thirdparty/libpng/pngset.c
index 7cf54d9248..ec75dbe369 100644
--- a/thirdparty/libpng/pngset.c
+++ b/thirdparty/libpng/pngset.c
@@ -1,10 +1,10 @@
 
 /* pngset.c - storage of image information into info struct
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -137,7 +137,7 @@ png_set_cHRM_XYZ(png_const_structrp png_ptr, png_inforp info_ptr, double red_X,
 #ifdef PNG_eXIf_SUPPORTED
 void PNGAPI
 png_set_eXIf(png_const_structrp png_ptr, png_inforp info_ptr,
-    const png_bytep eXIf_buf)
+    png_bytep eXIf_buf)
 {
   png_warning(png_ptr, "png_set_eXIf does not work; use png_set_eXIf_1");
   PNG_UNUSED(info_ptr)
@@ -146,7 +146,7 @@ png_set_eXIf(png_const_structrp png_ptr, png_inforp info_ptr,
 
 void PNGAPI
 png_set_eXIf_1(png_const_structrp png_ptr, png_inforp info_ptr,
-    const png_uint_32 num_exif, const png_bytep eXIf_buf)
+    png_uint_32 num_exif, png_bytep eXIf_buf)
 {
    int i;
 
@@ -1399,7 +1399,7 @@ png_set_keep_unknown_chunks(png_structrp png_ptr, int keep,
       /* Ignore all unknown chunks and all chunks recognized by
        * libpng except for IHDR, PLTE, tRNS, IDAT, and IEND
        */
-      static PNG_CONST png_byte chunks_to_ignore[] = {
+      static const png_byte chunks_to_ignore[] = {
          98,  75,  71,  68, '\0',  /* bKGD */
          99,  72,  82,  77, '\0',  /* cHRM */
         101,  88,  73, 102, '\0',  /* eXIf */
diff --git a/thirdparty/libpng/pngstruct.h b/thirdparty/libpng/pngstruct.h
index 699e8ac68a..94a6d041ff 100644
--- a/thirdparty/libpng/pngstruct.h
+++ b/thirdparty/libpng/pngstruct.h
@@ -1,10 +1,10 @@
 
 /* pngstruct.h - header file for PNG reference library
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -228,6 +228,10 @@ struct png_struct_def
                                * big_row_buf; while writing it is separately
                                * allocated.
                                */
+#ifdef PNG_READ_EXPAND_SUPPORTED
+   /* Buffer to accelerate palette transformations. */
+   png_bytep riffled_palette;
+#endif
 #ifdef PNG_WRITE_FILTER_SUPPORTED
    png_bytep try_row;    /* buffer to save trial row when filtering */
    png_bytep tst_row;    /* buffer to save best trial row when filtering */
diff --git a/thirdparty/libpng/pngtrans.c b/thirdparty/libpng/pngtrans.c
index de84aa6d6b..1100f46ebe 100644
--- a/thirdparty/libpng/pngtrans.c
+++ b/thirdparty/libpng/pngtrans.c
@@ -1,10 +1,10 @@
 
 /* pngtrans.c - transforms the data in a row (used by both readers and writers)
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -345,7 +345,7 @@ png_do_swap(png_row_infop row_info, png_bytep row)
 #endif
 
 #if defined(PNG_READ_PACKSWAP_SUPPORTED)||defined(PNG_WRITE_PACKSWAP_SUPPORTED)
-static PNG_CONST png_byte onebppswaptable[256] = {
+static const png_byte onebppswaptable[256] = {
    0x00, 0x80, 0x40, 0xC0, 0x20, 0xA0, 0x60, 0xE0,
    0x10, 0x90, 0x50, 0xD0, 0x30, 0xB0, 0x70, 0xF0,
    0x08, 0x88, 0x48, 0xC8, 0x28, 0xA8, 0x68, 0xE8,
@@ -380,7 +380,7 @@ static PNG_CONST png_byte onebppswaptable[256] = {
    0x1F, 0x9F, 0x5F, 0xDF, 0x3F, 0xBF, 0x7F, 0xFF
 };
 
-static PNG_CONST png_byte twobppswaptable[256] = {
+static const png_byte twobppswaptable[256] = {
    0x00, 0x40, 0x80, 0xC0, 0x10, 0x50, 0x90, 0xD0,
    0x20, 0x60, 0xA0, 0xE0, 0x30, 0x70, 0xB0, 0xF0,
    0x04, 0x44, 0x84, 0xC4, 0x14, 0x54, 0x94, 0xD4,
@@ -415,7 +415,7 @@ static PNG_CONST png_byte twobppswaptable[256] = {
    0x2F, 0x6F, 0xAF, 0xEF, 0x3F, 0x7F, 0xBF, 0xFF
 };
 
-static PNG_CONST png_byte fourbppswaptable[256] = {
+static const png_byte fourbppswaptable[256] = {
    0x00, 0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70,
    0x80, 0x90, 0xA0, 0xB0, 0xC0, 0xD0, 0xE0, 0xF0,
    0x01, 0x11, 0x21, 0x31, 0x41, 0x51, 0x61, 0x71,
diff --git a/thirdparty/libpng/pngwio.c b/thirdparty/libpng/pngwio.c
index e5391687a2..10e919dd03 100644
--- a/thirdparty/libpng/pngwio.c
+++ b/thirdparty/libpng/pngwio.c
@@ -1,10 +1,10 @@
 
 /* pngwio.c - functions for data output
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2014,2016,2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
diff --git a/thirdparty/libpng/pngwrite.c b/thirdparty/libpng/pngwrite.c
index 5bd87f373e..160c877d38 100644
--- a/thirdparty/libpng/pngwrite.c
+++ b/thirdparty/libpng/pngwrite.c
@@ -1,10 +1,10 @@
 
 /* pngwrite.c - general routines to write a PNG file
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -469,7 +469,7 @@ png_write_end(png_structrp png_ptr, png_inforp info_ptr)
 
 #ifdef PNG_CONVERT_tIME_SUPPORTED
 void PNGAPI
-png_convert_from_struct_tm(png_timep ptime, PNG_CONST struct tm * ttime)
+png_convert_from_struct_tm(png_timep ptime, const struct tm * ttime)
 {
    png_debug(1, "in png_convert_from_struct_tm");
 
@@ -948,6 +948,10 @@ png_write_destroy(png_structrp png_ptr)
    png_free_buffer_list(png_ptr, &png_ptr->zbuffer_list);
    png_free(png_ptr, png_ptr->row_buf);
    png_ptr->row_buf = NULL;
+#ifdef PNG_READ_EXPANDED_SUPPORTED
+   png_free(png_ptr, png_ptr->riffled_palette);
+   png_ptr->riffled_palette = NULL;
+#endif
 #ifdef PNG_WRITE_FILTER_SUPPORTED
    png_free(png_ptr, png_ptr->prev_row);
    png_free(png_ptr, png_ptr->try_row);
@@ -1536,7 +1540,7 @@ png_write_image_16bit(png_voidp argument)
        display->first_row);
    png_uint_16p output_row = png_voidcast(png_uint_16p, display->local_row);
    png_uint_16p row_end;
-   const unsigned int channels = (image->format & PNG_FORMAT_FLAG_COLOR) != 0 ?
+   unsigned int channels = (image->format & PNG_FORMAT_FLAG_COLOR) != 0 ?
        3 : 1;
    int aindex = 0;
    png_uint_32 y = image->height;
@@ -1573,7 +1577,7 @@ png_write_image_16bit(png_voidp argument)
 
       while (out_ptr < row_end)
       {
-         const png_uint_16 alpha = in_ptr[aindex];
+         png_uint_16 alpha = in_ptr[aindex];
          png_uint_32 reciprocal = 0;
          int c;
 
@@ -1695,7 +1699,7 @@ png_write_image_8bit(png_voidp argument)
        display->first_row);
    png_bytep output_row = png_voidcast(png_bytep, display->local_row);
    png_uint_32 y = image->height;
-   const unsigned int channels = (image->format & PNG_FORMAT_FLAG_COLOR) != 0 ?
+   unsigned int channels = (image->format & PNG_FORMAT_FLAG_COLOR) != 0 ?
        3 : 1;
 
    if ((image->format & PNG_FORMAT_FLAG_ALPHA) != 0)
@@ -1783,25 +1787,25 @@ png_write_image_8bit(png_voidp argument)
 static void
 png_image_set_PLTE(png_image_write_control *display)
 {
-   const png_imagep image = display->image;
+   png_imagep image = display->image;
    const void *cmap = display->colormap;
-   const int entries = image->colormap_entries > 256 ? 256 :
+   int entries = image->colormap_entries > 256 ? 256 :
        (int)image->colormap_entries;
 
    /* NOTE: the caller must check for cmap != NULL and entries != 0 */
-   const png_uint_32 format = image->format;
-   const unsigned int channels = PNG_IMAGE_SAMPLE_CHANNELS(format);
+   png_uint_32 format = image->format;
+   unsigned int channels = PNG_IMAGE_SAMPLE_CHANNELS(format);
 
 #   if defined(PNG_FORMAT_BGR_SUPPORTED) &&\
       defined(PNG_SIMPLIFIED_WRITE_AFIRST_SUPPORTED)
-      const int afirst = (format & PNG_FORMAT_FLAG_AFIRST) != 0 &&
+      int afirst = (format & PNG_FORMAT_FLAG_AFIRST) != 0 &&
           (format & PNG_FORMAT_FLAG_ALPHA) != 0;
 #   else
 #     define afirst 0
 #   endif
 
 #   ifdef PNG_FORMAT_BGR_SUPPORTED
-      const int bgr = (format & PNG_FORMAT_FLAG_BGR) != 0 ? 2 : 0;
+      int bgr = (format & PNG_FORMAT_FLAG_BGR) != 0 ? 2 : 0;
 #   else
 #     define bgr 0
 #   endif
@@ -1951,12 +1955,12 @@ png_image_write_main(png_voidp argument)
     * and total image size to ensure that they are within the system limits.
     */
    {
-      const unsigned int channels = PNG_IMAGE_PIXEL_CHANNELS(image->format);
+      unsigned int channels = PNG_IMAGE_PIXEL_CHANNELS(image->format);
 
       if (image->width <= 0x7fffffffU/channels) /* no overflow */
       {
          png_uint_32 check;
-         const png_uint_32 png_row_stride = image->width * channels;
+         png_uint_32 png_row_stride = image->width * channels;
 
          if (display->row_stride == 0)
             display->row_stride = (png_int_32)/*SAFE*/png_row_stride;
@@ -2052,7 +2056,7 @@ png_image_write_main(png_voidp argument)
     */
    if (write_16bit != 0)
    {
-      PNG_CONST png_uint_16 le = 0x0001;
+      png_uint_16 le = 0x0001;
 
       if ((*(png_const_bytep) & le) != 0)
          png_set_swap(png_ptr);
@@ -2166,7 +2170,7 @@ image_memory_write)(png_structp png_ptr, png_bytep/*const*/ data, size_t size)
 {
    png_image_write_control *display = png_voidcast(png_image_write_control*,
        png_ptr->io_ptr/*backdoor: png_get_io_ptr(png_ptr)*/);
-   const png_alloc_size_t ob = display->output_bytes;
+   png_alloc_size_t ob = display->output_bytes;
 
    /* Check for overflow; this should never happen: */
    if (size <= ((png_alloc_size_t)-1) - ob)
diff --git a/thirdparty/libpng/pngwtran.c b/thirdparty/libpng/pngwtran.c
index 3a1e0a21d2..49a13c1e98 100644
--- a/thirdparty/libpng/pngwtran.c
+++ b/thirdparty/libpng/pngwtran.c
@@ -1,10 +1,10 @@
 
 /* pngwtran.c - transforms the data in a row for PNG writers
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2016,2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -254,8 +254,7 @@ png_do_shift(png_row_infop row_info, png_bytep row,
 
          for (i = 0; i < istop; i++, bp++)
          {
-
-            const unsigned int c = i%channels;
+            unsigned int c = i%channels;
             int j;
             unsigned int v, out;
 
@@ -283,7 +282,7 @@ png_do_shift(png_row_infop row_info, png_bytep row,
 
          for (bp = row, i = 0; i < istop; i++)
          {
-            const unsigned int c = i%channels;
+            unsigned int c = i%channels;
             int j;
             unsigned int value, v;
 
diff --git a/thirdparty/libpng/pngwutil.c b/thirdparty/libpng/pngwutil.c
index ab431e712c..16345e4c0b 100644
--- a/thirdparty/libpng/pngwutil.c
+++ b/thirdparty/libpng/pngwutil.c
@@ -1,10 +1,10 @@
 
 /* pngwutil.c - utilities to write a PNG file
  *
- * Last changed in libpng 1.6.35 [July 15, 2018]
+ * Copyright (c) 2018 Cosmin Truta
  * Copyright (c) 1998-2002,2004,2006-2018 Glenn Randers-Pehrson
- * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
- * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ * Copyright (c) 1996-1997 Andreas Dilger
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
  *
  * This code is released under the libpng license.
  * For conditions of distribution and use, see the disclaimer
@@ -1893,16 +1893,16 @@ png_write_start_row(png_structrp png_ptr)
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
 
    /* Start of interlace block */
-   static PNG_CONST png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+   static const png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
 
    /* Offset to next interlace block */
-   static PNG_CONST png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
 
    /* Start of interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+   static const png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
 
    /* Offset to next interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+   static const png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
 #endif
 
    png_alloc_size_t buf_size;
@@ -2008,16 +2008,16 @@ png_write_finish_row(png_structrp png_ptr)
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
 
    /* Start of interlace block */
-   static PNG_CONST png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+   static const png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
 
    /* Offset to next interlace block */
-   static PNG_CONST png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
 
    /* Start of interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+   static const png_byte png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
 
    /* Offset to next interlace block in the y direction */
-   static PNG_CONST png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+   static const png_byte png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
 #endif
 
    png_debug(1, "in png_write_finish_row");
@@ -2098,10 +2098,10 @@ png_do_write_interlace(png_row_infop row_info, png_bytep row, int pass)
    /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
 
    /* Start of interlace block */
-   static PNG_CONST png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+   static const png_byte png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
 
    /* Offset to next interlace block */
-   static PNG_CONST png_byte  png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+   static const png_byte png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
 
    png_debug(1, "in png_do_write_interlace");
 
@@ -2276,7 +2276,7 @@ png_write_filtered_row(png_structrp png_ptr, png_bytep filtered_row,
 
 #ifdef PNG_WRITE_FILTER_SUPPORTED
 static size_t /* PRIVATE */
-png_setup_sub_row(png_structrp png_ptr, const png_uint_32 bpp,
+png_setup_sub_row(png_structrp png_ptr, png_uint_32 bpp,
     size_t row_bytes, size_t lmins)
 {
    png_bytep rp, dp, lp;
@@ -2315,7 +2315,7 @@ png_setup_sub_row(png_structrp png_ptr, const png_uint_32 bpp,
 }
 
 static void /* PRIVATE */
-png_setup_sub_row_only(png_structrp png_ptr, const png_uint_32 bpp,
+png_setup_sub_row_only(png_structrp png_ptr, png_uint_32 bpp,
     size_t row_bytes)
 {
    png_bytep rp, dp, lp;
@@ -2380,7 +2380,7 @@ png_setup_up_row_only(png_structrp png_ptr, size_t row_bytes)
 }
 
 static size_t /* PRIVATE */
-png_setup_avg_row(png_structrp png_ptr, const png_uint_32 bpp,
+png_setup_avg_row(png_structrp png_ptr, png_uint_32 bpp,
     size_t row_bytes, size_t lmins)
 {
    png_bytep rp, dp, pp, lp;
@@ -2420,7 +2420,7 @@ png_setup_avg_row(png_structrp png_ptr, const png_uint_32 bpp,
    return (sum);
 }
 static void /* PRIVATE */
-png_setup_avg_row_only(png_structrp png_ptr, const png_uint_32 bpp,
+png_setup_avg_row_only(png_structrp png_ptr, png_uint_32 bpp,
     size_t row_bytes)
 {
    png_bytep rp, dp, pp, lp;
@@ -2442,7 +2442,7 @@ png_setup_avg_row_only(png_structrp png_ptr, const png_uint_32 bpp,
 }
 
 static size_t /* PRIVATE */
-png_setup_paeth_row(png_structrp png_ptr, const png_uint_32 bpp,
+png_setup_paeth_row(png_structrp png_ptr, png_uint_32 bpp,
     size_t row_bytes, size_t lmins)
 {
    png_bytep rp, dp, pp, cp, lp;
@@ -2503,7 +2503,7 @@ png_setup_paeth_row(png_structrp png_ptr, const png_uint_32 bpp,
    return (sum);
 }
 static void /* PRIVATE */
-png_setup_paeth_row_only(png_structrp png_ptr, const png_uint_32 bpp,
+png_setup_paeth_row_only(png_structrp png_ptr, png_uint_32 bpp,
     size_t row_bytes)
 {
    png_bytep rp, dp, pp, cp, lp;
diff --git a/thirdparty/libtheora/decode.c b/thirdparty/libtheora/decode.c
index 7be66463d8..bde967b794 100644
--- a/thirdparty/libtheora/decode.c
+++ b/thirdparty/libtheora/decode.c
@@ -397,10 +397,10 @@ static int oc_dec_init(oc_dec_ctx *_dec,const th_info *_info,
     int qsum;
     qsum=0;
     for(qti=0;qti<2;qti++)for(pli=0;pli<3;pli++){
-      qsum+=_dec->state.dequant_tables[qti][pli][qi][12]+
-       _dec->state.dequant_tables[qti][pli][qi][17]+
-       _dec->state.dequant_tables[qti][pli][qi][18]+
-       _dec->state.dequant_tables[qti][pli][qi][24]<<(pli==0);
+      qsum+=_dec->state.dequant_tables[qi][pli][qti][12]+
+       _dec->state.dequant_tables[qi][pli][qti][17]+
+       _dec->state.dequant_tables[qi][pli][qti][18]+
+       _dec->state.dequant_tables[qi][pli][qti][24]<<(pli==0);
     }
     _dec->pp_sharp_mod[qi]=-(qsum>>11);
   }
diff --git a/thirdparty/libtheora/patches/theora.git-0ae66d565e6bead8604d312bc1a4e9dccf245c88.patch b/thirdparty/libtheora/patches/theora.git-0ae66d565e6bead8604d312bc1a4e9dccf245c88.patch
new file mode 100644
index 0000000000..1b9c8e20be
--- /dev/null
+++ b/thirdparty/libtheora/patches/theora.git-0ae66d565e6bead8604d312bc1a4e9dccf245c88.patch
@@ -0,0 +1,38 @@
+From 0ae66d565e6bead8604d312bc1a4e9dccf245c88 Mon Sep 17 00:00:00 2001
+From: Tim Terriberry <tterribe@xiph.org>
+Date: Tue, 8 May 2012 02:51:57 +0000
+Subject: [PATCH] Fix pp_sharp_mod calculation.
+
+This was broken when the dequant_tables indexing changed in commit
+ r16102, but it only affected post-processing quality, so we never
+ noticed.
+With gcc 4.8.0, this can now trigger a segfault during decoder
+ initialization.
+
+svn path=/trunk/theora/; revision=18268
+---
+ decode.c | 8 ++++----
+ 1 file changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/decode.c b/decode.c
+index b803505..9f2516a 100644
+--- a/decode.c
++++ b/decode.c
+@@ -400,10 +400,10 @@ static int oc_dec_init(oc_dec_ctx *_dec,const th_info *_info,
+     int qsum;
+     qsum=0;
+     for(qti=0;qti<2;qti++)for(pli=0;pli<3;pli++){
+-      qsum+=_dec->state.dequant_tables[qti][pli][qi][12]+
+-       _dec->state.dequant_tables[qti][pli][qi][17]+
+-       _dec->state.dequant_tables[qti][pli][qi][18]+
+-       _dec->state.dequant_tables[qti][pli][qi][24]<<(pli==0);
++      qsum+=_dec->state.dequant_tables[qi][pli][qti][12]+
++       _dec->state.dequant_tables[qi][pli][qti][17]+
++       _dec->state.dequant_tables[qi][pli][qti][18]+
++       _dec->state.dequant_tables[qi][pli][qti][24]<<(pli==0);
+     }
+     _dec->pp_sharp_mod[qi]=-(qsum>>11);
+   }
+-- 
+2.11.0
+
diff --git a/thirdparty/libvpx/rtcd/vpx_dsp_rtcd_x86.h b/thirdparty/libvpx/rtcd/vpx_dsp_rtcd_x86.h
index 82574e096c..c2a68330ac 100644
--- a/thirdparty/libvpx/rtcd/vpx_dsp_rtcd_x86.h
+++ b/thirdparty/libvpx/rtcd/vpx_dsp_rtcd_x86.h
@@ -22,7 +22,6 @@ extern "C" {
 void vpx_convolve8_c(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 void vpx_convolve8_sse2(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 void vpx_convolve8_ssse3(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
-void vpx_convolve8_avx2(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 RTCD_EXTERN void (*vpx_convolve8)(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 
 void vpx_convolve8_avg_c(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
@@ -43,13 +42,11 @@ RTCD_EXTERN void (*vpx_convolve8_avg_vert)(const uint8_t *src, ptrdiff_t src_str
 void vpx_convolve8_horiz_c(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 void vpx_convolve8_horiz_sse2(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 void vpx_convolve8_horiz_ssse3(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
-void vpx_convolve8_horiz_avx2(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 RTCD_EXTERN void (*vpx_convolve8_horiz)(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 
 void vpx_convolve8_vert_c(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 void vpx_convolve8_vert_sse2(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 void vpx_convolve8_vert_ssse3(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
-void vpx_convolve8_vert_avx2(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 RTCD_EXTERN void (*vpx_convolve8_vert)(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
 
 void vpx_convolve_avg_c(const uint8_t *src, ptrdiff_t src_stride, uint8_t *dst, ptrdiff_t dst_stride, const int16_t *filter_x, int x_step_q4, const int16_t *filter_y, int y_step_q4, int w, int h);
@@ -343,12 +340,10 @@ RTCD_EXTERN void (*vpx_lpf_horizontal_8_dual)(uint8_t *s, int pitch, const uint8
 
 void vpx_lpf_horizontal_edge_16_c(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
 void vpx_lpf_horizontal_edge_16_sse2(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
-void vpx_lpf_horizontal_edge_16_avx2(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
 RTCD_EXTERN void (*vpx_lpf_horizontal_edge_16)(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
 
 void vpx_lpf_horizontal_edge_8_c(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
 void vpx_lpf_horizontal_edge_8_sse2(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
-void vpx_lpf_horizontal_edge_8_avx2(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
 RTCD_EXTERN void (*vpx_lpf_horizontal_edge_8)(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
 
 void vpx_lpf_vertical_16_c(uint8_t *s, int pitch, const uint8_t *blimit, const uint8_t *limit, const uint8_t *thresh);
@@ -440,7 +435,6 @@ static void setup_rtcd_internal(void)
     vpx_convolve8 = vpx_convolve8_c;
     if (flags & HAS_SSE2) vpx_convolve8 = vpx_convolve8_sse2;
     if (flags & HAS_SSSE3) vpx_convolve8 = vpx_convolve8_ssse3;
-    if (flags & HAS_AVX2) vpx_convolve8 = vpx_convolve8_avx2;
     vpx_convolve8_avg = vpx_convolve8_avg_c;
     if (flags & HAS_SSE2) vpx_convolve8_avg = vpx_convolve8_avg_sse2;
     if (flags & HAS_SSSE3) vpx_convolve8_avg = vpx_convolve8_avg_ssse3;
@@ -453,11 +447,9 @@ static void setup_rtcd_internal(void)
     vpx_convolve8_horiz = vpx_convolve8_horiz_c;
     if (flags & HAS_SSE2) vpx_convolve8_horiz = vpx_convolve8_horiz_sse2;
     if (flags & HAS_SSSE3) vpx_convolve8_horiz = vpx_convolve8_horiz_ssse3;
-    if (flags & HAS_AVX2) vpx_convolve8_horiz = vpx_convolve8_horiz_avx2;
     vpx_convolve8_vert = vpx_convolve8_vert_c;
     if (flags & HAS_SSE2) vpx_convolve8_vert = vpx_convolve8_vert_sse2;
     if (flags & HAS_SSSE3) vpx_convolve8_vert = vpx_convolve8_vert_ssse3;
-    if (flags & HAS_AVX2) vpx_convolve8_vert = vpx_convolve8_vert_avx2;
     vpx_convolve_avg = vpx_convolve_avg_c;
     if (flags & HAS_SSE2) vpx_convolve_avg = vpx_convolve_avg_sse2;
     vpx_convolve_copy = vpx_convolve_copy_c;
@@ -570,10 +562,8 @@ static void setup_rtcd_internal(void)
     if (flags & HAS_SSE2) vpx_lpf_horizontal_8_dual = vpx_lpf_horizontal_8_dual_sse2;
     vpx_lpf_horizontal_edge_16 = vpx_lpf_horizontal_edge_16_c;
     if (flags & HAS_SSE2) vpx_lpf_horizontal_edge_16 = vpx_lpf_horizontal_edge_16_sse2;
-    if (flags & HAS_AVX2) vpx_lpf_horizontal_edge_16 = vpx_lpf_horizontal_edge_16_avx2;
     vpx_lpf_horizontal_edge_8 = vpx_lpf_horizontal_edge_8_c;
     if (flags & HAS_SSE2) vpx_lpf_horizontal_edge_8 = vpx_lpf_horizontal_edge_8_sse2;
-    if (flags & HAS_AVX2) vpx_lpf_horizontal_edge_8 = vpx_lpf_horizontal_edge_8_avx2;
     vpx_lpf_vertical_16 = vpx_lpf_vertical_16_c;
     if (flags & HAS_SSE2) vpx_lpf_vertical_16 = vpx_lpf_vertical_16_sse2;
     vpx_lpf_vertical_16_dual = vpx_lpf_vertical_16_dual_c;
diff --git a/thirdparty/libvpx/third_party/android/cpu-features.c b/thirdparty/libvpx/third_party/android/cpu-features.c
new file mode 100644
index 0000000000..e2bd749b01
--- /dev/null
+++ b/thirdparty/libvpx/third_party/android/cpu-features.c
@@ -0,0 +1,1313 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+/* ChangeLog for this library:
+ *
+ * NDK r10e?: Add MIPS MSA feature.
+ *
+ * NDK r10: Support for 64-bit CPUs (Intel, ARM & MIPS).
+ *
+ * NDK r8d: Add android_setCpu().
+ *
+ * NDK r8c: Add new ARM CPU features: VFPv2, VFP_D32, VFP_FP16,
+ *          VFP_FMA, NEON_FMA, IDIV_ARM, IDIV_THUMB2 and iWMMXt.
+ *
+ *          Rewrite the code to parse /proc/self/auxv instead of
+ *          the "Features" field in /proc/cpuinfo.
+ *
+ *          Dynamically allocate the buffer that hold the content
+ *          of /proc/cpuinfo to deal with newer hardware.
+ *
+ * NDK r7c: Fix CPU count computation. The old method only reported the
+ *           number of _active_ CPUs when the library was initialized,
+ *           which could be less than the real total.
+ *
+ * NDK r5: Handle buggy kernels which report a CPU Architecture number of 7
+ *         for an ARMv6 CPU (see below).
+ *
+ *         Handle kernels that only report 'neon', and not 'vfpv3'
+ *         (VFPv3 is mandated by the ARM architecture is Neon is implemented)
+ *
+ *         Handle kernels that only report 'vfpv3d16', and not 'vfpv3'
+ *
+ *         Fix x86 compilation. Report ANDROID_CPU_FAMILY_X86 in
+ *         android_getCpuFamily().
+ *
+ * NDK r4: Initial release
+ */
+
+#include "cpu-features.h"
+
+#include <dlfcn.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/system_properties.h>
+#include <unistd.h>
+
+static  pthread_once_t     g_once;
+static  int                g_inited;
+static  AndroidCpuFamily   g_cpuFamily;
+static  uint64_t           g_cpuFeatures;
+static  int                g_cpuCount;
+
+#ifdef __arm__
+static  uint32_t           g_cpuIdArm;
+#endif
+
+static const int android_cpufeatures_debug = 0;
+
+#define  D(...) \
+    do { \
+        if (android_cpufeatures_debug) { \
+            printf(__VA_ARGS__); fflush(stdout); \
+        } \
+    } while (0)
+
+#ifdef __i386__
+static __inline__ void x86_cpuid(int func, int values[4])
+{
+    int a, b, c, d;
+    /* We need to preserve ebx since we're compiling PIC code */
+    /* this means we can't use "=b" for the second output register */
+    __asm__ __volatile__ ( \
+      "push %%ebx\n"
+      "cpuid\n" \
+      "mov %%ebx, %1\n"
+      "pop %%ebx\n"
+      : "=a" (a), "=r" (b), "=c" (c), "=d" (d) \
+      : "a" (func) \
+    );
+    values[0] = a;
+    values[1] = b;
+    values[2] = c;
+    values[3] = d;
+}
+#elif defined(__x86_64__)
+static __inline__ void x86_cpuid(int func, int values[4])
+{
+    int64_t a, b, c, d;
+    /* We need to preserve ebx since we're compiling PIC code */
+    /* this means we can't use "=b" for the second output register */
+    __asm__ __volatile__ ( \
+      "push %%rbx\n"
+      "cpuid\n" \
+      "mov %%rbx, %1\n"
+      "pop %%rbx\n"
+      : "=a" (a), "=r" (b), "=c" (c), "=d" (d) \
+      : "a" (func) \
+    );
+    values[0] = a;
+    values[1] = b;
+    values[2] = c;
+    values[3] = d;
+}
+#endif
+
+/* Get the size of a file by reading it until the end. This is needed
+ * because files under /proc do not always return a valid size when
+ * using fseek(0, SEEK_END) + ftell(). Nor can they be mmap()-ed.
+ */
+static int
+get_file_size(const char* pathname)
+{
+
+   int fd, result = 0;
+    char buffer[256];
+
+    fd = open(pathname, O_RDONLY);
+    if (fd < 0) {
+        D("Can't open %s: %s\n", pathname, strerror(errno));
+        return -1;
+    }
+
+    for (;;) {
+        int ret = read(fd, buffer, sizeof buffer);
+        if (ret < 0) {
+            if (errno == EINTR)
+                continue;
+            D("Error while reading %s: %s\n", pathname, strerror(errno));
+            break;
+        }
+        if (ret == 0)
+            break;
+
+        result += ret;
+    }
+    close(fd);
+    return result;
+}
+
+/* Read the content of /proc/cpuinfo into a user-provided buffer.
+ * Return the length of the data, or -1 on error. Does *not*
+ * zero-terminate the content. Will not read more
+ * than 'buffsize' bytes.
+ */
+static int
+read_file(const char*  pathname, char*  buffer, size_t  buffsize)
+{
+    int  fd, count;
+
+    fd = open(pathname, O_RDONLY);
+    if (fd < 0) {
+        D("Could not open %s: %s\n", pathname, strerror(errno));
+        return -1;
+    }
+    count = 0;
+    while (count < (int)buffsize) {
+        int ret = read(fd, buffer + count, buffsize - count);
+        if (ret < 0) {
+            if (errno == EINTR)
+                continue;
+            D("Error while reading from %s: %s\n", pathname, strerror(errno));
+            if (count == 0)
+                count = -1;
+            break;
+        }
+        if (ret == 0)
+            break;
+        count += ret;
+    }
+    close(fd);
+    return count;
+}
+
+#ifdef __arm__
+/* Extract the content of a the first occurence of a given field in
+ * the content of /proc/cpuinfo and return it as a heap-allocated
+ * string that must be freed by the caller.
+ *
+ * Return NULL if not found
+ */
+static char*
+extract_cpuinfo_field(const char* buffer, int buflen, const char* field)
+{
+    int  fieldlen = strlen(field);
+    const char* bufend = buffer + buflen;
+    char* result = NULL;
+    int len;
+    const char *p, *q;
+
+    /* Look for first field occurence, and ensures it starts the line. */
+    p = buffer;
+    for (;;) {
+        p = memmem(p, bufend-p, field, fieldlen);
+        if (p == NULL)
+            goto EXIT;
+
+        if (p == buffer || p[-1] == '\n')
+            break;
+
+        p += fieldlen;
+    }
+
+    /* Skip to the first column followed by a space */
+    p += fieldlen;
+    p  = memchr(p, ':', bufend-p);
+    if (p == NULL || p[1] != ' ')
+        goto EXIT;
+
+    /* Find the end of the line */
+    p += 2;
+    q = memchr(p, '\n', bufend-p);
+    if (q == NULL)
+        q = bufend;
+
+    /* Copy the line into a heap-allocated buffer */
+    len = q-p;
+    result = malloc(len+1);
+    if (result == NULL)
+        goto EXIT;
+
+    memcpy(result, p, len);
+    result[len] = '\0';
+
+EXIT:
+    return result;
+}
+
+/* Checks that a space-separated list of items contains one given 'item'.
+ * Returns 1 if found, 0 otherwise.
+ */
+static int
+has_list_item(const char* list, const char* item)
+{
+    const char*  p = list;
+    int itemlen = strlen(item);
+
+    if (list == NULL)
+        return 0;
+
+    while (*p) {
+        const char*  q;
+
+        /* skip spaces */
+        while (*p == ' ' || *p == '\t')
+            p++;
+
+        /* find end of current list item */
+        q = p;
+        while (*q && *q != ' ' && *q != '\t')
+            q++;
+
+        if (itemlen == q-p && !memcmp(p, item, itemlen))
+            return 1;
+
+        /* skip to next item */
+        p = q;
+    }
+    return 0;
+}
+#endif /* __arm__ */
+
+/* Parse a number starting from 'input', but not going further
+ * than 'limit'. Return the value into '*result'.
+ *
+ * NOTE: Does not skip over leading spaces, or deal with sign characters.
+ * NOTE: Ignores overflows.
+ *
+ * The function returns NULL in case of error (bad format), or the new
+ * position after the decimal number in case of success (which will always
+ * be <= 'limit').
+ */
+static const char*
+parse_number(const char* input, const char* limit, int base, int* result)
+{
+    const char* p = input;
+    int val = 0;
+    while (p < limit) {
+        int d = (*p - '0');
+        if ((unsigned)d >= 10U) {
+            d = (*p - 'a');
+            if ((unsigned)d >= 6U)
+              d = (*p - 'A');
+            if ((unsigned)d >= 6U)
+              break;
+            d += 10;
+        }
+        if (d >= base)
+          break;
+        val = val*base + d;
+        p++;
+    }
+    if (p == input)
+        return NULL;
+
+    *result = val;
+    return p;
+}
+
+static const char*
+parse_decimal(const char* input, const char* limit, int* result)
+{
+    return parse_number(input, limit, 10, result);
+}
+
+#ifdef __arm__
+static const char*
+parse_hexadecimal(const char* input, const char* limit, int* result)
+{
+    return parse_number(input, limit, 16, result);
+}
+#endif /* __arm__ */
+
+/* This small data type is used to represent a CPU list / mask, as read
+ * from sysfs on Linux. See http://www.kernel.org/doc/Documentation/cputopology.txt
+ *
+ * For now, we don't expect more than 32 cores on mobile devices, so keep
+ * everything simple.
+ */
+typedef struct {
+    uint32_t mask;
+} CpuList;
+
+static __inline__ void
+cpulist_init(CpuList* list) {
+    list->mask = 0;
+}
+
+static __inline__ void
+cpulist_and(CpuList* list1, CpuList* list2) {
+    list1->mask &= list2->mask;
+}
+
+static __inline__ void
+cpulist_set(CpuList* list, int index) {
+    if ((unsigned)index < 32) {
+        list->mask |= (uint32_t)(1U << index);
+    }
+}
+
+static __inline__ int
+cpulist_count(CpuList* list) {
+    return __builtin_popcount(list->mask);
+}
+
+/* Parse a textual list of cpus and store the result inside a CpuList object.
+ * Input format is the following:
+ * - comma-separated list of items (no spaces)
+ * - each item is either a single decimal number (cpu index), or a range made
+ *   of two numbers separated by a single dash (-). Ranges are inclusive.
+ *
+ * Examples:   0
+ *             2,4-127,128-143
+ *             0-1
+ */
+static void
+cpulist_parse(CpuList* list, const char* line, int line_len)
+{
+    const char* p = line;
+    const char* end = p + line_len;
+    const char* q;
+
+    /* NOTE: the input line coming from sysfs typically contains a
+     * trailing newline, so take care of it in the code below
+     */
+    while (p < end && *p != '\n')
+    {
+        int val, start_value, end_value;
+
+        /* Find the end of current item, and put it into 'q' */
+        q = memchr(p, ',', end-p);
+        if (q == NULL) {
+            q = end;
+        }
+
+        /* Get first value */
+        p = parse_decimal(p, q, &start_value);
+        if (p == NULL)
+            goto BAD_FORMAT;
+
+        end_value = start_value;
+
+        /* If we're not at the end of the item, expect a dash and
+         * and integer; extract end value.
+         */
+        if (p < q && *p == '-') {
+            p = parse_decimal(p+1, q, &end_value);
+            if (p == NULL)
+                goto BAD_FORMAT;
+        }
+
+        /* Set bits CPU list bits */
+        for (val = start_value; val <= end_value; val++) {
+            cpulist_set(list, val);
+        }
+
+        /* Jump to next item */
+        p = q;
+        if (p < end)
+            p++;
+    }
+
+BAD_FORMAT:
+    ;
+}
+
+/* Read a CPU list from one sysfs file */
+static void
+cpulist_read_from(CpuList* list, const char* filename)
+{
+    char   file[64];
+    int    filelen;
+
+    cpulist_init(list);
+
+    filelen = read_file(filename, file, sizeof file);
+    if (filelen < 0) {
+        D("Could not read %s: %s\n", filename, strerror(errno));
+        return;
+    }
+
+    cpulist_parse(list, file, filelen);
+}
+#if defined(__aarch64__)
+// see <uapi/asm/hwcap.h> kernel header
+#define HWCAP_FP                (1 << 0)
+#define HWCAP_ASIMD             (1 << 1)
+#define HWCAP_AES               (1 << 3)
+#define HWCAP_PMULL             (1 << 4)
+#define HWCAP_SHA1              (1 << 5)
+#define HWCAP_SHA2              (1 << 6)
+#define HWCAP_CRC32             (1 << 7)
+#endif
+
+#if defined(__arm__)
+
+// See <asm/hwcap.h> kernel header.
+#define HWCAP_VFP       (1 << 6)
+#define HWCAP_IWMMXT    (1 << 9)
+#define HWCAP_NEON      (1 << 12)
+#define HWCAP_VFPv3     (1 << 13)
+#define HWCAP_VFPv3D16  (1 << 14)
+#define HWCAP_VFPv4     (1 << 16)
+#define HWCAP_IDIVA     (1 << 17)
+#define HWCAP_IDIVT     (1 << 18)
+
+// see <uapi/asm/hwcap.h> kernel header
+#define HWCAP2_AES     (1 << 0)
+#define HWCAP2_PMULL   (1 << 1)
+#define HWCAP2_SHA1    (1 << 2)
+#define HWCAP2_SHA2    (1 << 3)
+#define HWCAP2_CRC32   (1 << 4)
+
+// This is the list of 32-bit ARMv7 optional features that are _always_
+// supported by ARMv8 CPUs, as mandated by the ARM Architecture Reference
+// Manual.
+#define HWCAP_SET_FOR_ARMV8  \
+  ( HWCAP_VFP | \
+    HWCAP_NEON | \
+    HWCAP_VFPv3 | \
+    HWCAP_VFPv4 | \
+    HWCAP_IDIVA | \
+    HWCAP_IDIVT )
+#endif
+
+#if defined(__mips__)
+// see <uapi/asm/hwcap.h> kernel header
+#define HWCAP_MIPS_R6           (1 << 0)
+#define HWCAP_MIPS_MSA          (1 << 1)
+#endif
+
+#if defined(__arm__) || defined(__aarch64__) || defined(__mips__)
+
+#define AT_HWCAP 16
+#define AT_HWCAP2 26
+
+// Probe the system's C library for a 'getauxval' function and call it if
+// it exits, or return 0 for failure. This function is available since API
+// level 20.
+//
+// This code does *NOT* check for '__ANDROID_API__ >= 20' to support the
+// edge case where some NDK developers use headers for a platform that is
+// newer than the one really targetted by their application.
+// This is typically done to use newer native APIs only when running on more
+// recent Android versions, and requires careful symbol management.
+//
+// Note that getauxval() can't really be re-implemented here, because
+// its implementation does not parse /proc/self/auxv. Instead it depends
+// on values  that are passed by the kernel at process-init time to the
+// C runtime initialization layer.
+static uint32_t
+get_elf_hwcap_from_getauxval(int hwcap_type) {
+    typedef unsigned long getauxval_func_t(unsigned long);
+
+    dlerror();
+    void* libc_handle = dlopen("libc.so", RTLD_NOW);
+    if (!libc_handle) {
+        D("Could not dlopen() C library: %s\n", dlerror());
+        return 0;
+    }
+
+    uint32_t ret = 0;
+    getauxval_func_t* func = (getauxval_func_t*)
+            dlsym(libc_handle, "getauxval");
+    if (!func) {
+        D("Could not find getauxval() in C library\n");
+    } else {
+        // Note: getauxval() returns 0 on failure. Doesn't touch errno.
+        ret = (uint32_t)(*func)(hwcap_type);
+    }
+    dlclose(libc_handle);
+    return ret;
+}
+#endif
+
+#if defined(__arm__)
+// Parse /proc/self/auxv to extract the ELF HW capabilities bitmap for the
+// current CPU. Note that this file is not accessible from regular
+// application processes on some Android platform releases.
+// On success, return new ELF hwcaps, or 0 on failure.
+static uint32_t
+get_elf_hwcap_from_proc_self_auxv(void) {
+    const char filepath[] = "/proc/self/auxv";
+    int fd = TEMP_FAILURE_RETRY(open(filepath, O_RDONLY));
+    if (fd < 0) {
+        D("Could not open %s: %s\n", filepath, strerror(errno));
+        return 0;
+    }
+
+    struct { uint32_t tag; uint32_t value; } entry;
+
+    uint32_t result = 0;
+    for (;;) {
+        int ret = TEMP_FAILURE_RETRY(read(fd, (char*)&entry, sizeof entry));
+        if (ret < 0) {
+            D("Error while reading %s: %s\n", filepath, strerror(errno));
+            break;
+        }
+        // Detect end of list.
+        if (ret == 0 || (entry.tag == 0 && entry.value == 0))
+          break;
+        if (entry.tag == AT_HWCAP) {
+          result = entry.value;
+          break;
+        }
+    }
+    close(fd);
+    return result;
+}
+
+/* Compute the ELF HWCAP flags from the content of /proc/cpuinfo.
+ * This works by parsing the 'Features' line, which lists which optional
+ * features the device's CPU supports, on top of its reference
+ * architecture.
+ */
+static uint32_t
+get_elf_hwcap_from_proc_cpuinfo(const char* cpuinfo, int cpuinfo_len) {
+    uint32_t hwcaps = 0;
+    long architecture = 0;
+    char* cpuArch = extract_cpuinfo_field(cpuinfo, cpuinfo_len, "CPU architecture");
+    if (cpuArch) {
+        architecture = strtol(cpuArch, NULL, 10);
+        free(cpuArch);
+
+        if (architecture >= 8L) {
+            // This is a 32-bit ARM binary running on a 64-bit ARM64 kernel.
+            // The 'Features' line only lists the optional features that the
+            // device's CPU supports, compared to its reference architecture
+            // which are of no use for this process.
+            D("Faking 32-bit ARM HWCaps on ARMv%ld CPU\n", architecture);
+            return HWCAP_SET_FOR_ARMV8;
+        }
+    }
+
+    char* cpuFeatures = extract_cpuinfo_field(cpuinfo, cpuinfo_len, "Features");
+    if (cpuFeatures != NULL) {
+        D("Found cpuFeatures = '%s'\n", cpuFeatures);
+
+        if (has_list_item(cpuFeatures, "vfp"))
+            hwcaps |= HWCAP_VFP;
+        if (has_list_item(cpuFeatures, "vfpv3"))
+            hwcaps |= HWCAP_VFPv3;
+        if (has_list_item(cpuFeatures, "vfpv3d16"))
+            hwcaps |= HWCAP_VFPv3D16;
+        if (has_list_item(cpuFeatures, "vfpv4"))
+            hwcaps |= HWCAP_VFPv4;
+        if (has_list_item(cpuFeatures, "neon"))
+            hwcaps |= HWCAP_NEON;
+        if (has_list_item(cpuFeatures, "idiva"))
+            hwcaps |= HWCAP_IDIVA;
+        if (has_list_item(cpuFeatures, "idivt"))
+            hwcaps |= HWCAP_IDIVT;
+        if (has_list_item(cpuFeatures, "idiv"))
+            hwcaps |= HWCAP_IDIVA | HWCAP_IDIVT;
+        if (has_list_item(cpuFeatures, "iwmmxt"))
+            hwcaps |= HWCAP_IWMMXT;
+
+        free(cpuFeatures);
+    }
+    return hwcaps;
+}
+#endif  /* __arm__ */
+
+/* Return the number of cpus present on a given device.
+ *
+ * To handle all weird kernel configurations, we need to compute the
+ * intersection of the 'present' and 'possible' CPU lists and count
+ * the result.
+ */
+static int
+get_cpu_count(void)
+{
+    CpuList cpus_present[1];
+    CpuList cpus_possible[1];
+
+    cpulist_read_from(cpus_present, "/sys/devices/system/cpu/present");
+    cpulist_read_from(cpus_possible, "/sys/devices/system/cpu/possible");
+
+    /* Compute the intersection of both sets to get the actual number of
+     * CPU cores that can be used on this device by the kernel.
+     */
+    cpulist_and(cpus_present, cpus_possible);
+
+    return cpulist_count(cpus_present);
+}
+
+static void
+android_cpuInitFamily(void)
+{
+#if defined(__arm__)
+    g_cpuFamily = ANDROID_CPU_FAMILY_ARM;
+#elif defined(__i386__)
+    g_cpuFamily = ANDROID_CPU_FAMILY_X86;
+#elif defined(__mips64)
+/* Needs to be before __mips__ since the compiler defines both */
+    g_cpuFamily = ANDROID_CPU_FAMILY_MIPS64;
+#elif defined(__mips__)
+    g_cpuFamily = ANDROID_CPU_FAMILY_MIPS;
+#elif defined(__aarch64__)
+    g_cpuFamily = ANDROID_CPU_FAMILY_ARM64;
+#elif defined(__x86_64__)
+    g_cpuFamily = ANDROID_CPU_FAMILY_X86_64;
+#else
+    g_cpuFamily = ANDROID_CPU_FAMILY_UNKNOWN;
+#endif
+}
+
+static void
+android_cpuInit(void)
+{
+    char* cpuinfo = NULL;
+    int   cpuinfo_len;
+
+    android_cpuInitFamily();
+
+    g_cpuFeatures = 0;
+    g_cpuCount    = 1;
+    g_inited      = 1;
+
+    cpuinfo_len = get_file_size("/proc/cpuinfo");
+    if (cpuinfo_len < 0) {
+      D("cpuinfo_len cannot be computed!");
+      return;
+    }
+    cpuinfo = malloc(cpuinfo_len);
+    if (cpuinfo == NULL) {
+      D("cpuinfo buffer could not be allocated");
+      return;
+    }
+    cpuinfo_len = read_file("/proc/cpuinfo", cpuinfo, cpuinfo_len);
+    D("cpuinfo_len is (%d):\n%.*s\n", cpuinfo_len,
+      cpuinfo_len >= 0 ? cpuinfo_len : 0, cpuinfo);
+
+    if (cpuinfo_len < 0)  /* should not happen */ {
+        free(cpuinfo);
+        return;
+    }
+
+    /* Count the CPU cores, the value may be 0 for single-core CPUs */
+    g_cpuCount = get_cpu_count();
+    if (g_cpuCount == 0) {
+        g_cpuCount = 1;
+    }
+
+    D("found cpuCount = %d\n", g_cpuCount);
+
+#ifdef __arm__
+    {
+        /* Extract architecture from the "CPU Architecture" field.
+         * The list is well-known, unlike the the output of
+         * the 'Processor' field which can vary greatly.
+         *
+         * See the definition of the 'proc_arch' array in
+         * $KERNEL/arch/arm/kernel/setup.c and the 'c_show' function in
+         * same file.
+         */
+        char* cpuArch = extract_cpuinfo_field(cpuinfo, cpuinfo_len, "CPU architecture");
+
+        if (cpuArch != NULL) {
+            char*  end;
+            long   archNumber;
+            int    hasARMv7 = 0;
+
+            D("found cpuArch = '%s'\n", cpuArch);
+
+            /* read the initial decimal number, ignore the rest */
+            archNumber = strtol(cpuArch, &end, 10);
+
+            /* Note that ARMv8 is upwards compatible with ARMv7. */
+            if (end > cpuArch && archNumber >= 7) {
+                hasARMv7 = 1;
+            }
+
+            /* Unfortunately, it seems that certain ARMv6-based CPUs
+             * report an incorrect architecture number of 7!
+             *
+             * See http://code.google.com/p/android/issues/detail?id=10812
+             *
+             * We try to correct this by looking at the 'elf_format'
+             * field reported by the 'Processor' field, which is of the
+             * form of "(v7l)" for an ARMv7-based CPU, and "(v6l)" for
+             * an ARMv6-one.
+             */
+            if (hasARMv7) {
+                char* cpuProc = extract_cpuinfo_field(cpuinfo, cpuinfo_len,
+                                                      "Processor");
+                if (cpuProc != NULL) {
+                    D("found cpuProc = '%s'\n", cpuProc);
+                    if (has_list_item(cpuProc, "(v6l)")) {
+                        D("CPU processor and architecture mismatch!!\n");
+                        hasARMv7 = 0;
+                    }
+                    free(cpuProc);
+                }
+            }
+
+            if (hasARMv7) {
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_ARMv7;
+            }
+
+            /* The LDREX / STREX instructions are available from ARMv6 */
+            if (archNumber >= 6) {
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_LDREX_STREX;
+            }
+
+            free(cpuArch);
+        }
+
+        /* Extract the list of CPU features from ELF hwcaps */
+        uint32_t hwcaps = 0;
+        hwcaps = get_elf_hwcap_from_getauxval(AT_HWCAP);
+        if (!hwcaps) {
+            D("Parsing /proc/self/auxv to extract ELF hwcaps!\n");
+            hwcaps = get_elf_hwcap_from_proc_self_auxv();
+        }
+        if (!hwcaps) {
+            // Parsing /proc/self/auxv will fail from regular application
+            // processes on some Android platform versions, when this happens
+            // parse proc/cpuinfo instead.
+            D("Parsing /proc/cpuinfo to extract ELF hwcaps!\n");
+            hwcaps = get_elf_hwcap_from_proc_cpuinfo(cpuinfo, cpuinfo_len);
+        }
+
+        if (hwcaps != 0) {
+            int has_vfp = (hwcaps & HWCAP_VFP);
+            int has_vfpv3 = (hwcaps & HWCAP_VFPv3);
+            int has_vfpv3d16 = (hwcaps & HWCAP_VFPv3D16);
+            int has_vfpv4 = (hwcaps & HWCAP_VFPv4);
+            int has_neon = (hwcaps & HWCAP_NEON);
+            int has_idiva = (hwcaps & HWCAP_IDIVA);
+            int has_idivt = (hwcaps & HWCAP_IDIVT);
+            int has_iwmmxt = (hwcaps & HWCAP_IWMMXT);
+
+            // The kernel does a poor job at ensuring consistency when
+            // describing CPU features. So lots of guessing is needed.
+
+            // 'vfpv4' implies VFPv3|VFP_FMA|FP16
+            if (has_vfpv4)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_VFPv3    |
+                                 ANDROID_CPU_ARM_FEATURE_VFP_FP16 |
+                                 ANDROID_CPU_ARM_FEATURE_VFP_FMA;
+
+            // 'vfpv3' or 'vfpv3d16' imply VFPv3. Note that unlike GCC,
+            // a value of 'vfpv3' doesn't necessarily mean that the D32
+            // feature is present, so be conservative. All CPUs in the
+            // field that support D32 also support NEON, so this should
+            // not be a problem in practice.
+            if (has_vfpv3 || has_vfpv3d16)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_VFPv3;
+
+            // 'vfp' is super ambiguous. Depending on the kernel, it can
+            // either mean VFPv2 or VFPv3. Make it depend on ARMv7.
+            if (has_vfp) {
+              if (g_cpuFeatures & ANDROID_CPU_ARM_FEATURE_ARMv7)
+                  g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_VFPv3;
+              else
+                  g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_VFPv2;
+            }
+
+            // Neon implies VFPv3|D32, and if vfpv4 is detected, NEON_FMA
+            if (has_neon) {
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_VFPv3 |
+                                 ANDROID_CPU_ARM_FEATURE_NEON |
+                                 ANDROID_CPU_ARM_FEATURE_VFP_D32;
+              if (has_vfpv4)
+                  g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_NEON_FMA;
+            }
+
+            // VFPv3 implies VFPv2 and ARMv7
+            if (g_cpuFeatures & ANDROID_CPU_ARM_FEATURE_VFPv3)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_VFPv2 |
+                                 ANDROID_CPU_ARM_FEATURE_ARMv7;
+
+            if (has_idiva)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_IDIV_ARM;
+            if (has_idivt)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_IDIV_THUMB2;
+
+            if (has_iwmmxt)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_iWMMXt;
+        }
+
+        /* Extract the list of CPU features from ELF hwcaps2 */
+        uint32_t hwcaps2 = 0;
+        hwcaps2 = get_elf_hwcap_from_getauxval(AT_HWCAP2);
+        if (hwcaps2 != 0) {
+            int has_aes     = (hwcaps2 & HWCAP2_AES);
+            int has_pmull   = (hwcaps2 & HWCAP2_PMULL);
+            int has_sha1    = (hwcaps2 & HWCAP2_SHA1);
+            int has_sha2    = (hwcaps2 & HWCAP2_SHA2);
+            int has_crc32   = (hwcaps2 & HWCAP2_CRC32);
+
+            if (has_aes)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_AES;
+            if (has_pmull)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_PMULL;
+            if (has_sha1)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_SHA1;
+            if (has_sha2)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_SHA2;
+            if (has_crc32)
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_CRC32;
+        }
+        /* Extract the cpuid value from various fields */
+        // The CPUID value is broken up in several entries in /proc/cpuinfo.
+        // This table is used to rebuild it from the entries.
+        static const struct CpuIdEntry {
+            const char* field;
+            char        format;
+            char        bit_lshift;
+            char        bit_length;
+        } cpu_id_entries[] = {
+            { "CPU implementer", 'x', 24, 8 },
+            { "CPU variant", 'x', 20, 4 },
+            { "CPU part", 'x', 4, 12 },
+            { "CPU revision", 'd', 0, 4 },
+        };
+        size_t i;
+        D("Parsing /proc/cpuinfo to recover CPUID\n");
+        for (i = 0;
+             i < sizeof(cpu_id_entries)/sizeof(cpu_id_entries[0]);
+             ++i) {
+            const struct CpuIdEntry* entry = &cpu_id_entries[i];
+            char* value = extract_cpuinfo_field(cpuinfo,
+                                                cpuinfo_len,
+                                                entry->field);
+            if (value == NULL)
+                continue;
+
+            D("field=%s value='%s'\n", entry->field, value);
+            char* value_end = value + strlen(value);
+            int val = 0;
+            const char* start = value;
+            const char* p;
+            if (value[0] == '0' && (value[1] == 'x' || value[1] == 'X')) {
+              start += 2;
+              p = parse_hexadecimal(start, value_end, &val);
+            } else if (entry->format == 'x')
+              p = parse_hexadecimal(value, value_end, &val);
+            else
+              p = parse_decimal(value, value_end, &val);
+
+            if (p > (const char*)start) {
+              val &= ((1 << entry->bit_length)-1);
+              val <<= entry->bit_lshift;
+              g_cpuIdArm |= (uint32_t) val;
+            }
+
+            free(value);
+        }
+
+        // Handle kernel configuration bugs that prevent the correct
+        // reporting of CPU features.
+        static const struct CpuFix {
+            uint32_t  cpuid;
+            uint64_t  or_flags;
+        } cpu_fixes[] = {
+            /* The Nexus 4 (Qualcomm Krait) kernel configuration
+             * forgets to report IDIV support. */
+            { 0x510006f2, ANDROID_CPU_ARM_FEATURE_IDIV_ARM |
+                          ANDROID_CPU_ARM_FEATURE_IDIV_THUMB2 },
+            { 0x510006f3, ANDROID_CPU_ARM_FEATURE_IDIV_ARM |
+                          ANDROID_CPU_ARM_FEATURE_IDIV_THUMB2 },
+        };
+        size_t n;
+        for (n = 0; n < sizeof(cpu_fixes)/sizeof(cpu_fixes[0]); ++n) {
+            const struct CpuFix* entry = &cpu_fixes[n];
+
+            if (g_cpuIdArm == entry->cpuid)
+                g_cpuFeatures |= entry->or_flags;
+        }
+
+        // Special case: The emulator-specific Android 4.2 kernel fails
+        // to report support for the 32-bit ARM IDIV instruction.
+        // Technically, this is a feature of the virtual CPU implemented
+        // by the emulator. Note that it could also support Thumb IDIV
+        // in the future, and this will have to be slightly updated.
+        char* hardware = extract_cpuinfo_field(cpuinfo,
+                                               cpuinfo_len,
+                                               "Hardware");
+        if (hardware) {
+            if (!strcmp(hardware, "Goldfish") &&
+                g_cpuIdArm == 0x4100c080 &&
+                (g_cpuFamily & ANDROID_CPU_ARM_FEATURE_ARMv7) != 0) {
+                g_cpuFeatures |= ANDROID_CPU_ARM_FEATURE_IDIV_ARM;
+            }
+            free(hardware);
+        }
+    }
+#endif /* __arm__ */
+#ifdef __aarch64__
+    {
+        /* Extract the list of CPU features from ELF hwcaps */
+        uint32_t hwcaps = 0;
+        hwcaps = get_elf_hwcap_from_getauxval(AT_HWCAP);
+        if (hwcaps != 0) {
+            int has_fp      = (hwcaps & HWCAP_FP);
+            int has_asimd   = (hwcaps & HWCAP_ASIMD);
+            int has_aes     = (hwcaps & HWCAP_AES);
+            int has_pmull   = (hwcaps & HWCAP_PMULL);
+            int has_sha1    = (hwcaps & HWCAP_SHA1);
+            int has_sha2    = (hwcaps & HWCAP_SHA2);
+            int has_crc32   = (hwcaps & HWCAP_CRC32);
+
+            if(has_fp == 0) {
+                D("ERROR: Floating-point unit missing, but is required by Android on AArch64 CPUs\n");
+            }
+            if(has_asimd == 0) {
+                D("ERROR: ASIMD unit missing, but is required by Android on AArch64 CPUs\n");
+            }
+
+            if (has_fp)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_FP;
+            if (has_asimd)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_ASIMD;
+            if (has_aes)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_AES;
+            if (has_pmull)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_PMULL;
+            if (has_sha1)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_SHA1;
+            if (has_sha2)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_SHA2;
+            if (has_crc32)
+                g_cpuFeatures |= ANDROID_CPU_ARM64_FEATURE_CRC32;
+        }
+    }
+#endif /* __aarch64__ */
+
+#if defined(__i386__) || defined(__x86_64__)
+    int regs[4];
+
+/* According to http://en.wikipedia.org/wiki/CPUID */
+#define VENDOR_INTEL_b  0x756e6547
+#define VENDOR_INTEL_c  0x6c65746e
+#define VENDOR_INTEL_d  0x49656e69
+
+    x86_cpuid(0, regs);
+    int vendorIsIntel = (regs[1] == VENDOR_INTEL_b &&
+                         regs[2] == VENDOR_INTEL_c &&
+                         regs[3] == VENDOR_INTEL_d);
+
+    x86_cpuid(1, regs);
+    if ((regs[2] & (1 << 9)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_SSSE3;
+    }
+    if ((regs[2] & (1 << 23)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_POPCNT;
+    }
+    if ((regs[2] & (1 << 19)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_SSE4_1;
+    }
+    if ((regs[2] & (1 << 20)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_SSE4_2;
+    }
+    if (vendorIsIntel && (regs[2] & (1 << 22)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_MOVBE;
+    }
+    if ((regs[2] & (1 << 25)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_AES_NI;
+    }
+    if ((regs[2] & (1 << 28)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_AVX;
+    }
+    if ((regs[2] & (1 << 30)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_RDRAND;
+    }
+
+    x86_cpuid(7, regs);
+    if ((regs[1] & (1 << 5)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_AVX2;
+    }
+    if ((regs[1] & (1 << 29)) != 0) {
+        g_cpuFeatures |= ANDROID_CPU_X86_FEATURE_SHA_NI;
+    }
+
+
+#endif
+#if defined( __mips__)
+    {   /* MIPS and MIPS64 */
+        /* Extract the list of CPU features from ELF hwcaps */
+        uint32_t hwcaps = 0;
+        hwcaps = get_elf_hwcap_from_getauxval(AT_HWCAP);
+        if (hwcaps != 0) {
+            int has_r6      = (hwcaps & HWCAP_MIPS_R6);
+            int has_msa     = (hwcaps & HWCAP_MIPS_MSA);
+            if (has_r6)
+                g_cpuFeatures |= ANDROID_CPU_MIPS_FEATURE_R6;
+            if (has_msa)
+                g_cpuFeatures |= ANDROID_CPU_MIPS_FEATURE_MSA;
+        }
+    }
+#endif /* __mips__ */
+
+    free(cpuinfo);
+}
+
+
+AndroidCpuFamily
+android_getCpuFamily(void)
+{
+    pthread_once(&g_once, android_cpuInit);
+    return g_cpuFamily;
+}
+
+
+uint64_t
+android_getCpuFeatures(void)
+{
+    pthread_once(&g_once, android_cpuInit);
+    return g_cpuFeatures;
+}
+
+
+int
+android_getCpuCount(void)
+{
+    pthread_once(&g_once, android_cpuInit);
+    return g_cpuCount;
+}
+
+static void
+android_cpuInitDummy(void)
+{
+    g_inited = 1;
+}
+
+int
+android_setCpu(int cpu_count, uint64_t cpu_features)
+{
+    /* Fail if the library was already initialized. */
+    if (g_inited)
+        return 0;
+
+    android_cpuInitFamily();
+    g_cpuCount = (cpu_count <= 0 ? 1 : cpu_count);
+    g_cpuFeatures = cpu_features;
+    pthread_once(&g_once, android_cpuInitDummy);
+
+    return 1;
+}
+
+#ifdef __arm__
+uint32_t
+android_getCpuIdArm(void)
+{
+    pthread_once(&g_once, android_cpuInit);
+    return g_cpuIdArm;
+}
+
+int
+android_setCpuArm(int cpu_count, uint64_t cpu_features, uint32_t cpu_id)
+{
+    if (!android_setCpu(cpu_count, cpu_features))
+        return 0;
+
+    g_cpuIdArm = cpu_id;
+    return 1;
+}
+#endif  /* __arm__ */
+
+/*
+ * Technical note: Making sense of ARM's FPU architecture versions.
+ *
+ * FPA was ARM's first attempt at an FPU architecture. There is no Android
+ * device that actually uses it since this technology was already obsolete
+ * when the project started. If you see references to FPA instructions
+ * somewhere, you can be sure that this doesn't apply to Android at all.
+ *
+ * FPA was followed by "VFP", soon renamed "VFPv1" due to the emergence of
+ * new versions / additions to it. ARM considers this obsolete right now,
+ * and no known Android device implements it either.
+ *
+ * VFPv2 added a few instructions to VFPv1, and is an *optional* extension
+ * supported by some ARMv5TE, ARMv6 and ARMv6T2 CPUs. Note that a device
+ * supporting the 'armeabi' ABI doesn't necessarily support these.
+ *
+ * VFPv3-D16 adds a few instructions on top of VFPv2 and is typically used
+ * on ARMv7-A CPUs which implement a FPU. Note that it is also mandated
+ * by the Android 'armeabi-v7a' ABI. The -D16 suffix in its name means
+ * that it provides 16 double-precision FPU registers (d0-d15) and 32
+ * single-precision ones (s0-s31) which happen to be mapped to the same
+ * register banks.
+ *
+ * VFPv3-D32 is the name of an extension to VFPv3-D16 that provides 16
+ * additional double precision registers (d16-d31). Note that there are
+ * still only 32 single precision registers.
+ *
+ * VFPv3xD is a *subset* of VFPv3-D16 that only provides single-precision
+ * registers. It is only used on ARMv7-M (i.e. on micro-controllers) which
+ * are not supported by Android. Note that it is not compatible with VFPv2.
+ *
+ * NOTE: The term 'VFPv3' usually designate either VFPv3-D16 or VFPv3-D32
+ *       depending on context. For example GCC uses it for VFPv3-D32, but
+ *       the Linux kernel code uses it for VFPv3-D16 (especially in
+ *       /proc/cpuinfo). Always try to use the full designation when
+ *       possible.
+ *
+ * NEON, a.k.a. "ARM Advanced SIMD" is an extension that provides
+ * instructions to perform parallel computations on vectors of 8, 16,
+ * 32, 64 and 128 bit quantities. NEON requires VFPv32-D32 since all
+ * NEON registers are also mapped to the same register banks.
+ *
+ * VFPv4-D16, adds a few instructions on top of VFPv3-D16 in order to
+ * perform fused multiply-accumulate on VFP registers, as well as
+ * half-precision (16-bit) conversion operations.
+ *
+ * VFPv4-D32 is VFPv4-D16 with 32, instead of 16, FPU double precision
+ * registers.
+ *
+ * VPFv4-NEON is VFPv4-D32 with NEON instructions. It also adds fused
+ * multiply-accumulate instructions that work on the NEON registers.
+ *
+ * NOTE: Similarly, "VFPv4" might either reference VFPv4-D16 or VFPv4-D32
+ *       depending on context.
+ *
+ * The following information was determined by scanning the binutils-2.22
+ * sources:
+ *
+ * Basic VFP instruction subsets:
+ *
+ * #define FPU_VFP_EXT_V1xD 0x08000000     // Base VFP instruction set.
+ * #define FPU_VFP_EXT_V1   0x04000000     // Double-precision insns.
+ * #define FPU_VFP_EXT_V2   0x02000000     // ARM10E VFPr1.
+ * #define FPU_VFP_EXT_V3xD 0x01000000     // VFPv3 single-precision.
+ * #define FPU_VFP_EXT_V3   0x00800000     // VFPv3 double-precision.
+ * #define FPU_NEON_EXT_V1  0x00400000     // Neon (SIMD) insns.
+ * #define FPU_VFP_EXT_D32  0x00200000     // Registers D16-D31.
+ * #define FPU_VFP_EXT_FP16 0x00100000     // Half-precision extensions.
+ * #define FPU_NEON_EXT_FMA 0x00080000     // Neon fused multiply-add
+ * #define FPU_VFP_EXT_FMA  0x00040000     // VFP fused multiply-add
+ *
+ * FPU types (excluding NEON)
+ *
+ * FPU_VFP_V1xD (EXT_V1xD)
+ *    |
+ *    +--------------------------+
+ *    |                          |
+ * FPU_VFP_V1 (+EXT_V1)       FPU_VFP_V3xD (+EXT_V2+EXT_V3xD)
+ *    |                          |
+ *    |                          |
+ * FPU_VFP_V2 (+EXT_V2)       FPU_VFP_V4_SP_D16 (+EXT_FP16+EXT_FMA)
+ *    |
+ * FPU_VFP_V3D16 (+EXT_Vx3D+EXT_V3)
+ *    |
+ *    +--------------------------+
+ *    |                          |
+ * FPU_VFP_V3 (+EXT_D32)     FPU_VFP_V4D16 (+EXT_FP16+EXT_FMA)
+ *    |                          |
+ *    |                      FPU_VFP_V4 (+EXT_D32)
+ *    |
+ * FPU_VFP_HARD (+EXT_FMA+NEON_EXT_FMA)
+ *
+ * VFP architectures:
+ *
+ * ARCH_VFP_V1xD  (EXT_V1xD)
+ *   |
+ *   +------------------+
+ *   |                  |
+ *   |             ARCH_VFP_V3xD (+EXT_V2+EXT_V3xD)
+ *   |                  |
+ *   |             ARCH_VFP_V3xD_FP16 (+EXT_FP16)
+ *   |                  |
+ *   |             ARCH_VFP_V4_SP_D16 (+EXT_FMA)
+ *   |
+ * ARCH_VFP_V1 (+EXT_V1)
+ *   |
+ * ARCH_VFP_V2 (+EXT_V2)
+ *   |
+ * ARCH_VFP_V3D16 (+EXT_V3xD+EXT_V3)
+ *   |
+ *   +-------------------+
+ *   |                   |
+ *   |         ARCH_VFP_V3D16_FP16  (+EXT_FP16)
+ *   |
+ *   +-------------------+
+ *   |                   |
+ *   |         ARCH_VFP_V4_D16 (+EXT_FP16+EXT_FMA)
+ *   |                   |
+ *   |         ARCH_VFP_V4 (+EXT_D32)
+ *   |                   |
+ *   |         ARCH_NEON_VFP_V4 (+EXT_NEON+EXT_NEON_FMA)
+ *   |
+ * ARCH_VFP_V3 (+EXT_D32)
+ *   |
+ *   +-------------------+
+ *   |                   |
+ *   |         ARCH_VFP_V3_FP16 (+EXT_FP16)
+ *   |
+ * ARCH_VFP_V3_PLUS_NEON_V1 (+EXT_NEON)
+ *   |
+ * ARCH_NEON_FP16 (+EXT_FP16)
+ *
+ * -fpu=<name> values and their correspondance with FPU architectures above:
+ *
+ *   {"vfp",               FPU_ARCH_VFP_V2},
+ *   {"vfp9",              FPU_ARCH_VFP_V2},
+ *   {"vfp3",              FPU_ARCH_VFP_V3}, // For backwards compatbility.
+ *   {"vfp10",             FPU_ARCH_VFP_V2},
+ *   {"vfp10-r0",          FPU_ARCH_VFP_V1},
+ *   {"vfpxd",             FPU_ARCH_VFP_V1xD},
+ *   {"vfpv2",             FPU_ARCH_VFP_V2},
+ *   {"vfpv3",             FPU_ARCH_VFP_V3},
+ *   {"vfpv3-fp16",        FPU_ARCH_VFP_V3_FP16},
+ *   {"vfpv3-d16",         FPU_ARCH_VFP_V3D16},
+ *   {"vfpv3-d16-fp16",    FPU_ARCH_VFP_V3D16_FP16},
+ *   {"vfpv3xd",           FPU_ARCH_VFP_V3xD},
+ *   {"vfpv3xd-fp16",      FPU_ARCH_VFP_V3xD_FP16},
+ *   {"neon",              FPU_ARCH_VFP_V3_PLUS_NEON_V1},
+ *   {"neon-fp16",         FPU_ARCH_NEON_FP16},
+ *   {"vfpv4",             FPU_ARCH_VFP_V4},
+ *   {"vfpv4-d16",         FPU_ARCH_VFP_V4D16},
+ *   {"fpv4-sp-d16",       FPU_ARCH_VFP_V4_SP_D16},
+ *   {"neon-vfpv4",        FPU_ARCH_NEON_VFP_V4},
+ *
+ *
+ * Simplified diagram that only includes FPUs supported by Android:
+ * Only ARCH_VFP_V3D16 is actually mandated by the armeabi-v7a ABI,
+ * all others are optional and must be probed at runtime.
+ *
+ * ARCH_VFP_V3D16 (EXT_V1xD+EXT_V1+EXT_V2+EXT_V3xD+EXT_V3)
+ *   |
+ *   +-------------------+
+ *   |                   |
+ *   |         ARCH_VFP_V3D16_FP16  (+EXT_FP16)
+ *   |
+ *   +-------------------+
+ *   |                   |
+ *   |         ARCH_VFP_V4_D16 (+EXT_FP16+EXT_FMA)
+ *   |                   |
+ *   |         ARCH_VFP_V4 (+EXT_D32)
+ *   |                   |
+ *   |         ARCH_NEON_VFP_V4 (+EXT_NEON+EXT_NEON_FMA)
+ *   |
+ * ARCH_VFP_V3 (+EXT_D32)
+ *   |
+ *   +-------------------+
+ *   |                   |
+ *   |         ARCH_VFP_V3_FP16 (+EXT_FP16)
+ *   |
+ * ARCH_VFP_V3_PLUS_NEON_V1 (+EXT_NEON)
+ *   |
+ * ARCH_NEON_FP16 (+EXT_FP16)
+ *
+ */
diff --git a/thirdparty/libvpx/third_party/android/cpu-features.h b/thirdparty/libvpx/third_party/android/cpu-features.h
new file mode 100644
index 0000000000..1e9724197a
--- /dev/null
+++ b/thirdparty/libvpx/third_party/android/cpu-features.h
@@ -0,0 +1,323 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+#ifndef CPU_FEATURES_H
+#define CPU_FEATURES_H
+
+#include <sys/cdefs.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* A list of valid values returned by android_getCpuFamily().
+ * They describe the CPU Architecture of the current process.
+ */
+typedef enum {
+    ANDROID_CPU_FAMILY_UNKNOWN = 0,
+    ANDROID_CPU_FAMILY_ARM,
+    ANDROID_CPU_FAMILY_X86,
+    ANDROID_CPU_FAMILY_MIPS,
+    ANDROID_CPU_FAMILY_ARM64,
+    ANDROID_CPU_FAMILY_X86_64,
+    ANDROID_CPU_FAMILY_MIPS64,
+
+    ANDROID_CPU_FAMILY_MAX  /* do not remove */
+
+} AndroidCpuFamily;
+
+/* Return the CPU family of the current process.
+ *
+ * Note that this matches the bitness of the current process. I.e. when
+ * running a 32-bit binary on a 64-bit capable CPU, this will return the
+ * 32-bit CPU family value.
+ */
+extern AndroidCpuFamily android_getCpuFamily(void);
+
+/* Return a bitmap describing a set of optional CPU features that are
+ * supported by the current device's CPU. The exact bit-flags returned
+ * depend on the value returned by android_getCpuFamily(). See the
+ * documentation for the ANDROID_CPU_*_FEATURE_* flags below for details.
+ */
+extern uint64_t android_getCpuFeatures(void);
+
+/* The list of feature flags for ANDROID_CPU_FAMILY_ARM that can be
+ * recognized by the library (see note below for 64-bit ARM). Value details
+ * are:
+ *
+ *   VFPv2:
+ *     CPU supports the VFPv2 instruction set. Many, but not all, ARMv6 CPUs
+ *     support these instructions. VFPv2 is a subset of VFPv3 so this will
+ *     be set whenever VFPv3 is set too.
+ *
+ *   ARMv7:
+ *     CPU supports the ARMv7-A basic instruction set.
+ *     This feature is mandated by the 'armeabi-v7a' ABI.
+ *
+ *   VFPv3:
+ *     CPU supports the VFPv3-D16 instruction set, providing hardware FPU
+ *     support for single and double precision floating point registers.
+ *     Note that only 16 FPU registers are available by default, unless
+ *     the D32 bit is set too. This feature is also mandated by the
+ *     'armeabi-v7a' ABI.
+ *
+ *   VFP_D32:
+ *     CPU VFP optional extension that provides 32 FPU registers,
+ *     instead of 16. Note that ARM mandates this feature is the 'NEON'
+ *     feature is implemented by the CPU.
+ *
+ *   NEON:
+ *     CPU FPU supports "ARM Advanced SIMD" instructions, also known as
+ *     NEON. Note that this mandates the VFP_D32 feature as well, per the
+ *     ARM Architecture specification.
+ *
+ *   VFP_FP16:
+ *     Half-width floating precision VFP extension. If set, the CPU
+ *     supports instructions to perform floating-point operations on
+ *     16-bit registers. This is part of the VFPv4 specification, but
+ *     not mandated by any Android ABI.
+ *
+ *   VFP_FMA:
+ *     Fused multiply-accumulate VFP instructions extension. Also part of
+ *     the VFPv4 specification, but not mandated by any Android ABI.
+ *
+ *   NEON_FMA:
+ *     Fused multiply-accumulate NEON instructions extension. Optional
+ *     extension from the VFPv4 specification, but not mandated by any
+ *     Android ABI.
+ *
+ *   IDIV_ARM:
+ *     Integer division available in ARM mode. Only available
+ *     on recent CPUs (e.g. Cortex-A15).
+ *
+ *   IDIV_THUMB2:
+ *     Integer division available in Thumb-2 mode. Only available
+ *     on recent CPUs (e.g. Cortex-A15).
+ *
+ *   iWMMXt:
+ *     Optional extension that adds MMX registers and operations to an
+ *     ARM CPU. This is only available on a few XScale-based CPU designs
+ *     sold by Marvell. Pretty rare in practice.
+ *
+ *   AES:
+ *     CPU supports AES instructions. These instructions are only
+ *     available for 32-bit applications running on ARMv8 CPU.
+ *
+ *   CRC32:
+ *     CPU supports CRC32 instructions. These instructions are only
+ *     available for 32-bit applications running on ARMv8 CPU.
+ *
+ *   SHA2:
+ *     CPU supports SHA2 instructions. These instructions are only
+ *     available for 32-bit applications running on ARMv8 CPU.
+ *
+ *   SHA1:
+ *     CPU supports SHA1 instructions. These instructions are only
+ *     available for 32-bit applications running on ARMv8 CPU.
+ *
+ *   PMULL:
+ *     CPU supports 64-bit PMULL and PMULL2 instructions. These
+ *     instructions are only available for 32-bit applications
+ *     running on ARMv8 CPU.
+ *
+ * If you want to tell the compiler to generate code that targets one of
+ * the feature set above, you should probably use one of the following
+ * flags (for more details, see technical note at the end of this file):
+ *
+ *   -mfpu=vfp
+ *   -mfpu=vfpv2
+ *     These are equivalent and tell GCC to use VFPv2 instructions for
+ *     floating-point operations. Use this if you want your code to
+ *     run on *some* ARMv6 devices, and any ARMv7-A device supported
+ *     by Android.
+ *
+ *     Generated code requires VFPv2 feature.
+ *
+ *   -mfpu=vfpv3-d16
+ *     Tell GCC to use VFPv3 instructions (using only 16 FPU registers).
+ *     This should be generic code that runs on any CPU that supports the
+ *     'armeabi-v7a' Android ABI. Note that no ARMv6 CPU supports this.
+ *
+ *     Generated code requires VFPv3 feature.
+ *
+ *   -mfpu=vfpv3
+ *     Tell GCC to use VFPv3 instructions with 32 FPU registers.
+ *     Generated code requires VFPv3|VFP_D32 features.
+ *
+ *   -mfpu=neon
+ *     Tell GCC to use VFPv3 instructions with 32 FPU registers, and
+ *     also support NEON intrinsics (see <arm_neon.h>).
+ *     Generated code requires VFPv3|VFP_D32|NEON features.
+ *
+ *   -mfpu=vfpv4-d16
+ *     Generated code requires VFPv3|VFP_FP16|VFP_FMA features.
+ *
+ *   -mfpu=vfpv4
+ *     Generated code requires VFPv3|VFP_FP16|VFP_FMA|VFP_D32 features.
+ *
+ *   -mfpu=neon-vfpv4
+ *     Generated code requires VFPv3|VFP_FP16|VFP_FMA|VFP_D32|NEON|NEON_FMA
+ *     features.
+ *
+ *   -mcpu=cortex-a7
+ *   -mcpu=cortex-a15
+ *     Generated code requires VFPv3|VFP_FP16|VFP_FMA|VFP_D32|
+ *                             NEON|NEON_FMA|IDIV_ARM|IDIV_THUMB2
+ *     This flag implies -mfpu=neon-vfpv4.
+ *
+ *   -mcpu=iwmmxt
+ *     Allows the use of iWMMXt instrinsics with GCC.
+ *
+ * IMPORTANT NOTE: These flags should only be tested when
+ * android_getCpuFamily() returns ANDROID_CPU_FAMILY_ARM, i.e. this is a
+ * 32-bit process.
+ *
+ * When running a 64-bit ARM process on an ARMv8 CPU,
+ * android_getCpuFeatures() will return a different set of bitflags
+ */
+enum {
+    ANDROID_CPU_ARM_FEATURE_ARMv7       = (1 << 0),
+    ANDROID_CPU_ARM_FEATURE_VFPv3       = (1 << 1),
+    ANDROID_CPU_ARM_FEATURE_NEON        = (1 << 2),
+    ANDROID_CPU_ARM_FEATURE_LDREX_STREX = (1 << 3),
+    ANDROID_CPU_ARM_FEATURE_VFPv2       = (1 << 4),
+    ANDROID_CPU_ARM_FEATURE_VFP_D32     = (1 << 5),
+    ANDROID_CPU_ARM_FEATURE_VFP_FP16    = (1 << 6),
+    ANDROID_CPU_ARM_FEATURE_VFP_FMA     = (1 << 7),
+    ANDROID_CPU_ARM_FEATURE_NEON_FMA    = (1 << 8),
+    ANDROID_CPU_ARM_FEATURE_IDIV_ARM    = (1 << 9),
+    ANDROID_CPU_ARM_FEATURE_IDIV_THUMB2 = (1 << 10),
+    ANDROID_CPU_ARM_FEATURE_iWMMXt      = (1 << 11),
+    ANDROID_CPU_ARM_FEATURE_AES         = (1 << 12),
+    ANDROID_CPU_ARM_FEATURE_PMULL       = (1 << 13),
+    ANDROID_CPU_ARM_FEATURE_SHA1        = (1 << 14),
+    ANDROID_CPU_ARM_FEATURE_SHA2        = (1 << 15),
+    ANDROID_CPU_ARM_FEATURE_CRC32       = (1 << 16),
+};
+
+/* The bit flags corresponding to the output of android_getCpuFeatures()
+ * when android_getCpuFamily() returns ANDROID_CPU_FAMILY_ARM64. Value details
+ * are:
+ *
+ *   FP:
+ *     CPU has Floating-point unit.
+ *
+ *   ASIMD:
+ *     CPU has Advanced SIMD unit.
+ *
+ *   AES:
+ *     CPU supports AES instructions.
+ *
+ *   CRC32:
+ *     CPU supports CRC32 instructions.
+ *
+ *   SHA2:
+ *     CPU supports SHA2 instructions.
+ *
+ *   SHA1:
+ *     CPU supports SHA1 instructions.
+ *
+ *   PMULL:
+ *     CPU supports 64-bit PMULL and PMULL2 instructions.
+ */
+enum {
+    ANDROID_CPU_ARM64_FEATURE_FP      = (1 << 0),
+    ANDROID_CPU_ARM64_FEATURE_ASIMD   = (1 << 1),
+    ANDROID_CPU_ARM64_FEATURE_AES     = (1 << 2),
+    ANDROID_CPU_ARM64_FEATURE_PMULL   = (1 << 3),
+    ANDROID_CPU_ARM64_FEATURE_SHA1    = (1 << 4),
+    ANDROID_CPU_ARM64_FEATURE_SHA2    = (1 << 5),
+    ANDROID_CPU_ARM64_FEATURE_CRC32   = (1 << 6),
+};
+
+/* The bit flags corresponding to the output of android_getCpuFeatures()
+ * when android_getCpuFamily() returns ANDROID_CPU_FAMILY_X86 or
+ * ANDROID_CPU_FAMILY_X86_64.
+ */
+enum {
+    ANDROID_CPU_X86_FEATURE_SSSE3  = (1 << 0),
+    ANDROID_CPU_X86_FEATURE_POPCNT = (1 << 1),
+    ANDROID_CPU_X86_FEATURE_MOVBE  = (1 << 2),
+    ANDROID_CPU_X86_FEATURE_SSE4_1 = (1 << 3),
+    ANDROID_CPU_X86_FEATURE_SSE4_2 = (1 << 4),
+    ANDROID_CPU_X86_FEATURE_AES_NI = (1 << 5),
+    ANDROID_CPU_X86_FEATURE_AVX =    (1 << 6),
+    ANDROID_CPU_X86_FEATURE_RDRAND = (1 << 7),
+    ANDROID_CPU_X86_FEATURE_AVX2 =   (1 << 8),
+    ANDROID_CPU_X86_FEATURE_SHA_NI = (1 << 9),
+};
+
+/* The bit flags corresponding to the output of android_getCpuFeatures()
+ * when android_getCpuFamily() returns ANDROID_CPU_FAMILY_MIPS
+ * or ANDROID_CPU_FAMILY_MIPS64.  Values are:
+ *
+ *   R6:
+ *     CPU executes MIPS Release 6 instructions natively, and
+ *     supports obsoleted R1..R5 instructions only via kernel traps.
+ *
+ *   MSA:
+ *     CPU supports Mips SIMD Architecture instructions.
+ */
+enum {
+    ANDROID_CPU_MIPS_FEATURE_R6    = (1 << 0),
+    ANDROID_CPU_MIPS_FEATURE_MSA   = (1 << 1),
+};
+
+
+/* Return the number of CPU cores detected on this device. */
+extern int android_getCpuCount(void);
+
+/* The following is used to force the CPU count and features
+ * mask in sandboxed processes. Under 4.1 and higher, these processes
+ * cannot access /proc, which is the only way to get information from
+ * the kernel about the current hardware (at least on ARM).
+ *
+ * It _must_ be called only once, and before any android_getCpuXXX
+ * function, any other case will fail.
+ *
+ * This function return 1 on success, and 0 on failure.
+ */
+extern int android_setCpu(int      cpu_count,
+                          uint64_t cpu_features);
+
+#ifdef __arm__
+/* Retrieve the ARM 32-bit CPUID value from the kernel.
+ * Note that this cannot work on sandboxed processes under 4.1 and
+ * higher, unless you called android_setCpuArm() before.
+ */
+extern uint32_t android_getCpuIdArm(void);
+
+/* An ARM-specific variant of android_setCpu() that also allows you
+ * to set the ARM CPUID field.
+ */
+extern int android_setCpuArm(int      cpu_count,
+                             uint64_t cpu_features,
+                             uint32_t cpu_id);
+#endif
+
+__END_DECLS
+
+#endif /* CPU_FEATURES_H */
diff --git a/thirdparty/libvpx/vpx_config.h b/thirdparty/libvpx/vpx_config.h
index 6caec50c81..e8e91fa6ef 100644
--- a/thirdparty/libvpx/vpx_config.h
+++ b/thirdparty/libvpx/vpx_config.h
@@ -29,7 +29,7 @@
 	#define HAVE_MMX 1
 	#define HAVE_SSE2 1
 	#define HAVE_SSSE3 1
-	#define HAVE_AVX2 1
+	#define HAVE_AVX2 0
 #elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64)
 	#define ARCH_X86 0
 	#define ARCH_X86_64 1
@@ -41,7 +41,7 @@
 	#define HAVE_MMX 1
 	#define HAVE_SSE2 1
 	#define HAVE_SSSE3 1
-	#define HAVE_AVX2 1
+	#define HAVE_AVX2 0
 #elif defined(__arm__) || defined(__TARGET_ARCH_ARM) || defined(_M_ARM)
 	#define ARCH_X86 0
 	#define ARCH_X86_64 0
diff --git a/thirdparty/libwebp/AUTHORS b/thirdparty/libwebp/AUTHORS
index 83c7b9c5eb..0d70b7fb2a 100644
--- a/thirdparty/libwebp/AUTHORS
+++ b/thirdparty/libwebp/AUTHORS
@@ -1,4 +1,5 @@
 Contributors:
+- Alan Browning (browning at google dot com)
 - Charles Munger (clm at google dot com)
 - Christian Duvivier (cduvivier at google dot com)
 - Djordje Pesut (djordje dot pesut at imgtec dot com)
@@ -6,9 +7,10 @@ Contributors:
 - James Zern (jzern at google dot com)
 - Jan Engelhardt (jengelh at medozas dot de)
 - Jehan (jehan at girinstud dot io)
-- Johann (johann dot koenig at duck dot com)
+- Johann Koenig (johann dot koenig at duck dot com)
 - Jovan Zelincevic (jovan dot zelincevic at imgtec dot com)
 - Jyrki Alakuijala (jyrki at google dot com)
+- Konstantin Ivlev (tomskside at gmail dot com)
 - Lode Vandevenne (lode at google dot com)
 - Lou Quillio (louquillio at google dot com)
 - Mans Rullgard (mans at mansr dot com)
@@ -37,3 +39,4 @@ Contributors:
 - Vincent Rabaud (vrabaud at google dot com)
 - Vlad Tsyrklevich (vtsyrklevich at chromium dot org)
 - Yang Zhang (yang dot zhang at arm dot com)
+- Yannis Guyon (yguyon at google dot com)
diff --git a/thirdparty/libwebp/src/dec/alphai_dec.h b/thirdparty/libwebp/src/dec/alphai_dec.h
index e0fa281a55..a64104abeb 100644
--- a/thirdparty/libwebp/src/dec/alphai_dec.h
+++ b/thirdparty/libwebp/src/dec/alphai_dec.h
@@ -51,4 +51,4 @@ void WebPDeallocateAlphaMemory(VP8Decoder* const dec);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DEC_ALPHAI_DEC_H_ */
+#endif  // WEBP_DEC_ALPHAI_DEC_H_
diff --git a/thirdparty/libwebp/src/dec/buffer_dec.c b/thirdparty/libwebp/src/dec/buffer_dec.c
index 75eb3c40b4..3cd94eb4d9 100644
--- a/thirdparty/libwebp/src/dec/buffer_dec.c
+++ b/thirdparty/libwebp/src/dec/buffer_dec.c
@@ -74,7 +74,8 @@ static VP8StatusCode CheckDecBuffer(const WebPDecBuffer* const buffer) {
   } else {    // RGB checks
     const WebPRGBABuffer* const buf = &buffer->u.RGBA;
     const int stride = abs(buf->stride);
-    const uint64_t size = MIN_BUFFER_SIZE(width, height, stride);
+    const uint64_t size =
+        MIN_BUFFER_SIZE(width * kModeBpp[mode], height, stride);
     ok &= (size <= buf->size);
     ok &= (stride >= width * kModeBpp[mode]);
     ok &= (buf->rgba != NULL);
diff --git a/thirdparty/libwebp/src/dec/common_dec.h b/thirdparty/libwebp/src/dec/common_dec.h
index 9995f1a51a..b158550a80 100644
--- a/thirdparty/libwebp/src/dec/common_dec.h
+++ b/thirdparty/libwebp/src/dec/common_dec.h
@@ -51,4 +51,4 @@ enum { MB_FEATURE_TREE_PROBS = 3,
        NUM_PROBAS = 11
      };
 
-#endif    // WEBP_DEC_COMMON_DEC_H_
+#endif  // WEBP_DEC_COMMON_DEC_H_
diff --git a/thirdparty/libwebp/src/dec/frame_dec.c b/thirdparty/libwebp/src/dec/frame_dec.c
index a9d5430d00..bda9e1a6f6 100644
--- a/thirdparty/libwebp/src/dec/frame_dec.c
+++ b/thirdparty/libwebp/src/dec/frame_dec.c
@@ -338,7 +338,6 @@ void VP8InitDithering(const WebPDecoderOptions* const options,
       for (s = 0; s < NUM_MB_SEGMENTS; ++s) {
         VP8QuantMatrix* const dqm = &dec->dqm_[s];
         if (dqm->uv_quant_ < DITHER_AMP_TAB_SIZE) {
-          // TODO(skal): should we specially dither more for uv_quant_ < 0?
           const int idx = (dqm->uv_quant_ < 0) ? 0 : dqm->uv_quant_;
           dqm->dither_ = (f * kQuantToDitherAmp[idx]) >> 3;
         }
@@ -669,15 +668,9 @@ int VP8GetThreadMethod(const WebPDecoderOptions* const options,
   (void)height;
   assert(headers == NULL || !headers->is_lossless);
 #if defined(WEBP_USE_THREAD)
-  if (width < MIN_WIDTH_FOR_THREADS) return 0;
-  // TODO(skal): tune the heuristic further
-#if 0
-  if (height < 2 * width) return 2;
+  if (width >= MIN_WIDTH_FOR_THREADS) return 2;
 #endif
-  return 2;
-#else   // !WEBP_USE_THREAD
   return 0;
-#endif
 }
 
 #undef MT_CACHE_LINES
diff --git a/thirdparty/libwebp/src/dec/idec_dec.c b/thirdparty/libwebp/src/dec/idec_dec.c
index a371ed7500..9bc9166808 100644
--- a/thirdparty/libwebp/src/dec/idec_dec.c
+++ b/thirdparty/libwebp/src/dec/idec_dec.c
@@ -140,10 +140,9 @@ static void DoRemap(WebPIDecoder* const idec, ptrdiff_t offset) {
       if (NeedCompressedAlpha(idec)) {
         ALPHDecoder* const alph_dec = dec->alph_dec_;
         dec->alpha_data_ += offset;
-        if (alph_dec != NULL) {
+        if (alph_dec != NULL && alph_dec->vp8l_dec_ != NULL) {
           if (alph_dec->method_ == ALPHA_LOSSLESS_COMPRESSION) {
             VP8LDecoder* const alph_vp8l_dec = alph_dec->vp8l_dec_;
-            assert(alph_vp8l_dec != NULL);
             assert(dec->alpha_data_size_ >= ALPHA_HEADER_LEN);
             VP8LBitReaderSetBuffer(&alph_vp8l_dec->br_,
                                    dec->alpha_data_ + ALPHA_HEADER_LEN,
@@ -283,10 +282,8 @@ static void RestoreContext(const MBContext* context, VP8Decoder* const dec,
 
 static VP8StatusCode IDecError(WebPIDecoder* const idec, VP8StatusCode error) {
   if (idec->state_ == STATE_VP8_DATA) {
-    VP8Io* const io = &idec->io_;
-    if (io->teardown != NULL) {
-      io->teardown(io);
-    }
+    // Synchronize the thread, clean-up and check for errors.
+    VP8ExitCritical((VP8Decoder*)idec->dec_, &idec->io_);
   }
   idec->state_ = STATE_ERROR;
   return error;
@@ -451,7 +448,10 @@ static VP8StatusCode DecodeRemaining(WebPIDecoder* const idec) {
   VP8Decoder* const dec = (VP8Decoder*)idec->dec_;
   VP8Io* const io = &idec->io_;
 
-  assert(dec->ready_);
+  // Make sure partition #0 has been read before, to set dec to ready_.
+  if (!dec->ready_) {
+    return IDecError(idec, VP8_STATUS_BITSTREAM_ERROR);
+  }
   for (; dec->mb_y_ < dec->mb_h_; ++dec->mb_y_) {
     if (idec->last_mb_y_ != dec->mb_y_) {
       if (!VP8ParseIntraModeRow(&dec->br_, dec)) {
@@ -473,6 +473,12 @@ static VP8StatusCode DecodeRemaining(WebPIDecoder* const idec) {
             MemDataSize(&idec->mem_) > MAX_MB_SIZE) {
           return IDecError(idec, VP8_STATUS_BITSTREAM_ERROR);
         }
+        // Synchronize the threads.
+        if (dec->mt_method_ > 0) {
+          if (!WebPGetWorkerInterface()->Sync(&dec->worker_)) {
+            return IDecError(idec, VP8_STATUS_BITSTREAM_ERROR);
+          }
+        }
         RestoreContext(&context, dec, token_br);
         return VP8_STATUS_SUSPENDED;
       }
@@ -491,6 +497,7 @@ static VP8StatusCode DecodeRemaining(WebPIDecoder* const idec) {
   }
   // Synchronize the thread and check for errors.
   if (!VP8ExitCritical(dec, io)) {
+    idec->state_ = STATE_ERROR;  // prevent re-entry in IDecError
     return IDecError(idec, VP8_STATUS_USER_ABORT);
   }
   dec->ready_ = 0;
@@ -571,6 +578,10 @@ static VP8StatusCode IDecode(WebPIDecoder* idec) {
     status = DecodePartition0(idec);
   }
   if (idec->state_ == STATE_VP8_DATA) {
+    const VP8Decoder* const dec = (VP8Decoder*)idec->dec_;
+    if (dec == NULL) {
+      return VP8_STATUS_SUSPENDED;  // can't continue if we have no decoder.
+    }
     status = DecodeRemaining(idec);
   }
   if (idec->state_ == STATE_VP8L_HEADER) {
diff --git a/thirdparty/libwebp/src/dec/vp8_dec.h b/thirdparty/libwebp/src/dec/vp8_dec.h
index ca85b340cf..a05405df72 100644
--- a/thirdparty/libwebp/src/dec/vp8_dec.h
+++ b/thirdparty/libwebp/src/dec/vp8_dec.h
@@ -182,4 +182,4 @@ WEBP_EXTERN int VP8LGetInfo(
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DEC_VP8_DEC_H_ */
+#endif  // WEBP_DEC_VP8_DEC_H_
diff --git a/thirdparty/libwebp/src/dec/vp8i_dec.h b/thirdparty/libwebp/src/dec/vp8i_dec.h
index c929933e1c..2d7900aae1 100644
--- a/thirdparty/libwebp/src/dec/vp8i_dec.h
+++ b/thirdparty/libwebp/src/dec/vp8i_dec.h
@@ -32,7 +32,7 @@ extern "C" {
 // version numbers
 #define DEC_MAJ_VERSION 1
 #define DEC_MIN_VERSION 0
-#define DEC_REV_VERSION 0
+#define DEC_REV_VERSION 2
 
 // YUV-cache parameters. Cache is 32-bytes wide (= one cacheline).
 // Constraints are: We need to store one 16x16 block of luma samples (y),
@@ -316,4 +316,4 @@ const uint8_t* VP8DecompressAlphaRows(VP8Decoder* const dec,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DEC_VP8I_DEC_H_ */
+#endif  // WEBP_DEC_VP8I_DEC_H_
diff --git a/thirdparty/libwebp/src/dec/vp8l_dec.c b/thirdparty/libwebp/src/dec/vp8l_dec.c
index 0570f53a77..333bb3e80d 100644
--- a/thirdparty/libwebp/src/dec/vp8l_dec.c
+++ b/thirdparty/libwebp/src/dec/vp8l_dec.c
@@ -362,12 +362,19 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize,
   VP8LMetadata* const hdr = &dec->hdr_;
   uint32_t* huffman_image = NULL;
   HTreeGroup* htree_groups = NULL;
+  // When reading htrees, some might be unused, as the format allows it.
+  // We will still read them but put them in this htree_group_bogus.
+  HTreeGroup htree_group_bogus;
   HuffmanCode* huffman_tables = NULL;
+  HuffmanCode* huffman_tables_bogus = NULL;
   HuffmanCode* next = NULL;
   int num_htree_groups = 1;
+  int num_htree_groups_max = 1;
   int max_alphabet_size = 0;
   int* code_lengths = NULL;
   const int table_size = kTableSize[color_cache_bits];
+  int* mapping = NULL;
+  int ok = 0;
 
   if (allow_recursion && VP8LReadBits(br, 1)) {
     // use meta Huffman codes.
@@ -384,9 +391,41 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize,
       // The huffman data is stored in red and green bytes.
       const int group = (huffman_image[i] >> 8) & 0xffff;
       huffman_image[i] = group;
-      if (group >= num_htree_groups) {
-        num_htree_groups = group + 1;
+      if (group >= num_htree_groups_max) {
+        num_htree_groups_max = group + 1;
+      }
+    }
+    // Check the validity of num_htree_groups_max. If it seems too big, use a
+    // smaller value for later. This will prevent big memory allocations to end
+    // up with a bad bitstream anyway.
+    // The value of 1000 is totally arbitrary. We know that num_htree_groups_max
+    // is smaller than (1 << 16) and should be smaller than the number of pixels
+    // (though the format allows it to be bigger).
+    if (num_htree_groups_max > 1000 || num_htree_groups_max > xsize * ysize) {
+      // Create a mapping from the used indices to the minimal set of used
+      // values [0, num_htree_groups)
+      mapping = (int*)WebPSafeMalloc(num_htree_groups_max, sizeof(*mapping));
+      if (mapping == NULL) {
+        dec->status_ = VP8_STATUS_OUT_OF_MEMORY;
+        goto Error;
+      }
+      // -1 means a value is unmapped, and therefore unused in the Huffman
+      // image.
+      memset(mapping, 0xff, num_htree_groups_max * sizeof(*mapping));
+      for (num_htree_groups = 0, i = 0; i < huffman_pixs; ++i) {
+        // Get the current mapping for the group and remap the Huffman image.
+        int* const mapped_group = &mapping[huffman_image[i]];
+        if (*mapped_group == -1) *mapped_group = num_htree_groups++;
+        huffman_image[i] = *mapped_group;
+      }
+      huffman_tables_bogus = (HuffmanCode*)WebPSafeMalloc(
+          table_size, sizeof(*huffman_tables_bogus));
+      if (huffman_tables_bogus == NULL) {
+        dec->status_ = VP8_STATUS_OUT_OF_MEMORY;
+        goto Error;
       }
+    } else {
+      num_htree_groups = num_htree_groups_max;
     }
   }
 
@@ -403,11 +442,11 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize,
     }
   }
 
+  code_lengths = (int*)WebPSafeCalloc((uint64_t)max_alphabet_size,
+                                      sizeof(*code_lengths));
   huffman_tables = (HuffmanCode*)WebPSafeMalloc(num_htree_groups * table_size,
                                                 sizeof(*huffman_tables));
   htree_groups = VP8LHtreeGroupsNew(num_htree_groups);
-  code_lengths = (int*)WebPSafeCalloc((uint64_t)max_alphabet_size,
-                                      sizeof(*code_lengths));
 
   if (htree_groups == NULL || code_lengths == NULL || huffman_tables == NULL) {
     dec->status_ = VP8_STATUS_OUT_OF_MEMORY;
@@ -415,28 +454,35 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize,
   }
 
   next = huffman_tables;
-  for (i = 0; i < num_htree_groups; ++i) {
-    HTreeGroup* const htree_group = &htree_groups[i];
+  for (i = 0; i < num_htree_groups_max; ++i) {
+    // If the index "i" is unused in the Huffman image, read the coefficients
+    // but store them to a bogus htree_group.
+    const int is_bogus = (mapping != NULL && mapping[i] == -1);
+    HTreeGroup* const htree_group =
+        is_bogus ? &htree_group_bogus :
+        &htree_groups[(mapping == NULL) ? i : mapping[i]];
     HuffmanCode** const htrees = htree_group->htrees;
+    HuffmanCode* huffman_tables_i = is_bogus ? huffman_tables_bogus : next;
     int size;
     int total_size = 0;
     int is_trivial_literal = 1;
     int max_bits = 0;
     for (j = 0; j < HUFFMAN_CODES_PER_META_CODE; ++j) {
       int alphabet_size = kAlphabetSize[j];
-      htrees[j] = next;
+      htrees[j] = huffman_tables_i;
       if (j == 0 && color_cache_bits > 0) {
         alphabet_size += 1 << color_cache_bits;
       }
-      size = ReadHuffmanCode(alphabet_size, dec, code_lengths, next);
+      size =
+          ReadHuffmanCode(alphabet_size, dec, code_lengths, huffman_tables_i);
       if (size == 0) {
         goto Error;
       }
       if (is_trivial_literal && kLiteralMap[j] == 1) {
-        is_trivial_literal = (next->bits == 0);
+        is_trivial_literal = (huffman_tables_i->bits == 0);
       }
-      total_size += next->bits;
-      next += size;
+      total_size += huffman_tables_i->bits;
+      huffman_tables_i += size;
       if (j <= ALPHA) {
         int local_max_bits = code_lengths[0];
         int k;
@@ -448,38 +494,41 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize,
         max_bits += local_max_bits;
       }
     }
+    if (!is_bogus) next = huffman_tables_i;
     htree_group->is_trivial_literal = is_trivial_literal;
     htree_group->is_trivial_code = 0;
     if (is_trivial_literal) {
       const int red = htrees[RED][0].value;
       const int blue = htrees[BLUE][0].value;
       const int alpha = htrees[ALPHA][0].value;
-      htree_group->literal_arb =
-          ((uint32_t)alpha << 24) | (red << 16) | blue;
+      htree_group->literal_arb = ((uint32_t)alpha << 24) | (red << 16) | blue;
       if (total_size == 0 && htrees[GREEN][0].value < NUM_LITERAL_CODES) {
         htree_group->is_trivial_code = 1;
         htree_group->literal_arb |= htrees[GREEN][0].value << 8;
       }
     }
-    htree_group->use_packed_table = !htree_group->is_trivial_code &&
-                                    (max_bits < HUFFMAN_PACKED_BITS);
+    htree_group->use_packed_table =
+        !htree_group->is_trivial_code && (max_bits < HUFFMAN_PACKED_BITS);
     if (htree_group->use_packed_table) BuildPackedTable(htree_group);
   }
-  WebPSafeFree(code_lengths);
+  ok = 1;
 
-  // All OK. Finalize pointers and return.
+  // All OK. Finalize pointers.
   hdr->huffman_image_ = huffman_image;
   hdr->num_htree_groups_ = num_htree_groups;
   hdr->htree_groups_ = htree_groups;
   hdr->huffman_tables_ = huffman_tables;
-  return 1;
 
  Error:
   WebPSafeFree(code_lengths);
-  WebPSafeFree(huffman_image);
-  WebPSafeFree(huffman_tables);
-  VP8LHtreeGroupsFree(htree_groups);
-  return 0;
+  WebPSafeFree(huffman_tables_bogus);
+  WebPSafeFree(mapping);
+  if (!ok) {
+    WebPSafeFree(huffman_image);
+    WebPSafeFree(huffman_tables);
+    VP8LHtreeGroupsFree(htree_groups);
+  }
+  return ok;
 }
 
 //------------------------------------------------------------------------------
@@ -884,7 +933,11 @@ static WEBP_INLINE void CopyBlock8b(uint8_t* const dst, int dist, int length) {
 #endif
         break;
       case 2:
+#if !defined(WORDS_BIGENDIAN)
         memcpy(&pattern, src, sizeof(uint16_t));
+#else
+        pattern = ((uint32_t)src[0] << 8) | src[1];
+#endif
 #if defined(__arm__) || defined(_M_ARM)
         pattern |= pattern << 16;
 #elif defined(WEBP_USE_MIPS_DSP_R2)
@@ -1523,7 +1576,6 @@ int VP8LDecodeAlphaHeader(ALPHDecoder* const alph_dec,
   if (dec == NULL) return 0;
 
   assert(alph_dec != NULL);
-  alph_dec->vp8l_dec_ = dec;
 
   dec->width_ = alph_dec->width_;
   dec->height_ = alph_dec->height_;
@@ -1555,11 +1607,12 @@ int VP8LDecodeAlphaHeader(ALPHDecoder* const alph_dec,
 
   if (!ok) goto Err;
 
+  // Only set here, once we are sure it is valid (to avoid thread races).
+  alph_dec->vp8l_dec_ = dec;
   return 1;
 
  Err:
-  VP8LDelete(alph_dec->vp8l_dec_);
-  alph_dec->vp8l_dec_ = NULL;
+  VP8LDelete(dec);
   return 0;
 }
 
diff --git a/thirdparty/libwebp/src/dec/vp8li_dec.h b/thirdparty/libwebp/src/dec/vp8li_dec.h
index 8e500cf9ff..0a4d613f99 100644
--- a/thirdparty/libwebp/src/dec/vp8li_dec.h
+++ b/thirdparty/libwebp/src/dec/vp8li_dec.h
@@ -132,4 +132,4 @@ void VP8LDelete(VP8LDecoder* const dec);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DEC_VP8LI_DEC_H_ */
+#endif  // WEBP_DEC_VP8LI_DEC_H_
diff --git a/thirdparty/libwebp/src/dec/webpi_dec.h b/thirdparty/libwebp/src/dec/webpi_dec.h
index c378ba6fc3..24baff5d27 100644
--- a/thirdparty/libwebp/src/dec/webpi_dec.h
+++ b/thirdparty/libwebp/src/dec/webpi_dec.h
@@ -130,4 +130,4 @@ int WebPAvoidSlowMemory(const WebPDecBuffer* const output,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DEC_WEBPI_DEC_H_ */
+#endif  // WEBP_DEC_WEBPI_DEC_H_
diff --git a/thirdparty/libwebp/src/demux/demux.c b/thirdparty/libwebp/src/demux/demux.c
index 684215e3de..d8f7a40a56 100644
--- a/thirdparty/libwebp/src/demux/demux.c
+++ b/thirdparty/libwebp/src/demux/demux.c
@@ -25,7 +25,7 @@
 
 #define DMUX_MAJ_VERSION 1
 #define DMUX_MIN_VERSION 0
-#define DMUX_REV_VERSION 0
+#define DMUX_REV_VERSION 2
 
 typedef struct {
   size_t start_;        // start location of the data
diff --git a/thirdparty/libwebp/src/dsp/cost.c b/thirdparty/libwebp/src/dsp/cost.c
index 634ccc2085..cc681cdd4b 100644
--- a/thirdparty/libwebp/src/dsp/cost.c
+++ b/thirdparty/libwebp/src/dsp/cost.c
@@ -377,6 +377,7 @@ VP8SetResidualCoeffsFunc VP8SetResidualCoeffs;
 extern void VP8EncDspCostInitMIPS32(void);
 extern void VP8EncDspCostInitMIPSdspR2(void);
 extern void VP8EncDspCostInitSSE2(void);
+extern void VP8EncDspCostInitNEON(void);
 
 WEBP_DSP_INIT_FUNC(VP8EncDspCostInit) {
   VP8GetResidualCost = GetResidualCost_C;
@@ -399,6 +400,11 @@ WEBP_DSP_INIT_FUNC(VP8EncDspCostInit) {
       VP8EncDspCostInitSSE2();
     }
 #endif
+#if defined(WEBP_USE_NEON)
+    if (VP8GetCPUInfo(kNEON)) {
+      VP8EncDspCostInitNEON();
+    }
+#endif
   }
 }
 
diff --git a/thirdparty/libwebp/src/dsp/cost_neon.c b/thirdparty/libwebp/src/dsp/cost_neon.c
new file mode 100644
index 0000000000..8cc8ce58aa
--- /dev/null
+++ b/thirdparty/libwebp/src/dsp/cost_neon.c
@@ -0,0 +1,122 @@
+// Copyright 2018 Google Inc. All Rights Reserved.
+//
+// Use of this source code is governed by a BSD-style license
+// that can be found in the COPYING file in the root of the source
+// tree. An additional intellectual property rights grant can be found
+// in the file PATENTS. All contributing project authors may
+// be found in the AUTHORS file in the root of the source tree.
+// -----------------------------------------------------------------------------
+//
+// ARM NEON version of cost functions
+
+#include "src/dsp/dsp.h"
+
+#if defined(WEBP_USE_NEON)
+
+#include "src/dsp/neon.h"
+#include "src/enc/cost_enc.h"
+
+static const uint8_t position[16] = { 1, 2,  3,  4,  5,  6,  7,  8,
+                                      9, 10, 11, 12, 13, 14, 15, 16 };
+
+static void SetResidualCoeffs_NEON(const int16_t* const coeffs,
+                                   VP8Residual* const res) {
+  const int16x8_t minus_one = vdupq_n_s16(-1);
+  const int16x8_t coeffs_0 = vld1q_s16(coeffs);
+  const int16x8_t coeffs_1 = vld1q_s16(coeffs + 8);
+  const uint16x8_t eob_0 = vtstq_s16(coeffs_0, minus_one);
+  const uint16x8_t eob_1 = vtstq_s16(coeffs_1, minus_one);
+  const uint8x16_t eob = vcombine_u8(vqmovn_u16(eob_0), vqmovn_u16(eob_1));
+  const uint8x16_t masked = vandq_u8(eob, vld1q_u8(position));
+
+#ifdef __aarch64__
+  res->last = vmaxvq_u8(masked) - 1;
+#else
+  const uint8x8_t eob_8x8 = vmax_u8(vget_low_u8(masked), vget_high_u8(masked));
+  const uint16x8_t eob_16x8 = vmovl_u8(eob_8x8);
+  const uint16x4_t eob_16x4 =
+      vmax_u16(vget_low_u16(eob_16x8), vget_high_u16(eob_16x8));
+  const uint32x4_t eob_32x4 = vmovl_u16(eob_16x4);
+  uint32x2_t eob_32x2 =
+      vmax_u32(vget_low_u32(eob_32x4), vget_high_u32(eob_32x4));
+  eob_32x2 = vpmax_u32(eob_32x2, eob_32x2);
+
+  vst1_lane_s32(&res->last, vreinterpret_s32_u32(eob_32x2), 0);
+  --res->last;
+#endif  // __aarch64__
+
+  res->coeffs = coeffs;
+}
+
+static int GetResidualCost_NEON(int ctx0, const VP8Residual* const res) {
+  uint8_t levels[16], ctxs[16];
+  uint16_t abs_levels[16];
+  int n = res->first;
+  // should be prob[VP8EncBands[n]], but it's equivalent for n=0 or 1
+  const int p0 = res->prob[n][ctx0][0];
+  CostArrayPtr const costs = res->costs;
+  const uint16_t* t = costs[n][ctx0];
+  // bit_cost(1, p0) is already incorporated in t[] tables, but only if ctx != 0
+  // (as required by the syntax). For ctx0 == 0, we need to add it here or it'll
+  // be missing during the loop.
+  int cost = (ctx0 == 0) ? VP8BitCost(1, p0) : 0;
+
+  if (res->last < 0) {
+    return VP8BitCost(0, p0);
+  }
+
+  {   // precompute clamped levels and contexts, packed to 8b.
+    const uint8x16_t kCst2 = vdupq_n_u8(2);
+    const uint8x16_t kCst67 = vdupq_n_u8(MAX_VARIABLE_LEVEL);
+    const int16x8_t c0 = vld1q_s16(res->coeffs);
+    const int16x8_t c1 = vld1q_s16(res->coeffs + 8);
+    const uint16x8_t E0 = vreinterpretq_u16_s16(vabsq_s16(c0));
+    const uint16x8_t E1 = vreinterpretq_u16_s16(vabsq_s16(c1));
+    const uint8x16_t F = vcombine_u8(vqmovn_u16(E0), vqmovn_u16(E1));
+    const uint8x16_t G = vminq_u8(F, kCst2);   // context = 0,1,2
+    const uint8x16_t H = vminq_u8(F, kCst67);  // clamp_level in [0..67]
+
+    vst1q_u8(ctxs, G);
+    vst1q_u8(levels, H);
+
+    vst1q_u16(abs_levels, E0);
+    vst1q_u16(abs_levels + 8, E1);
+  }
+  for (; n < res->last; ++n) {
+    const int ctx = ctxs[n];
+    const int level = levels[n];
+    const int flevel = abs_levels[n];   // full level
+    cost += VP8LevelFixedCosts[flevel] + t[level];  // simplified VP8LevelCost()
+    t = costs[n + 1][ctx];
+  }
+  // Last coefficient is always non-zero
+  {
+    const int level = levels[n];
+    const int flevel = abs_levels[n];
+    assert(flevel != 0);
+    cost += VP8LevelFixedCosts[flevel] + t[level];
+    if (n < 15) {
+      const int b = VP8EncBands[n + 1];
+      const int ctx = ctxs[n];
+      const int last_p0 = res->prob[b][ctx][0];
+      cost += VP8BitCost(0, last_p0);
+    }
+  }
+  return cost;
+}
+
+//------------------------------------------------------------------------------
+// Entry point
+
+extern void VP8EncDspCostInitNEON(void);
+
+WEBP_TSAN_IGNORE_FUNCTION void VP8EncDspCostInitNEON(void) {
+  VP8SetResidualCoeffs = SetResidualCoeffs_NEON;
+  VP8GetResidualCost = GetResidualCost_NEON;
+}
+
+#else  // !WEBP_USE_NEON
+
+WEBP_DSP_INIT_STUB(VP8EncDspCostInitNEON)
+
+#endif  // WEBP_USE_NEON
diff --git a/thirdparty/libwebp/src/dsp/dsp.h b/thirdparty/libwebp/src/dsp/dsp.h
index 4ab77a5130..fafc2d05d3 100644
--- a/thirdparty/libwebp/src/dsp/dsp.h
+++ b/thirdparty/libwebp/src/dsp/dsp.h
@@ -76,10 +76,6 @@ extern "C" {
 #define WEBP_USE_SSE41
 #endif
 
-#if defined(__AVX2__) || defined(WEBP_HAVE_AVX2)
-#define WEBP_USE_AVX2
-#endif
-
 // The intrinsics currently cause compiler errors with arm-nacl-gcc and the
 // inline assembly would need to be modified for use with Native Client.
 #if (defined(__ARM_NEON__) || \
@@ -679,4 +675,4 @@ void VP8FiltersInit(void);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DSP_DSP_H_ */
+#endif  // WEBP_DSP_DSP_H_
diff --git a/thirdparty/libwebp/src/dsp/enc.c b/thirdparty/libwebp/src/dsp/enc.c
index fa23b40a30..2fddbc4c52 100644
--- a/thirdparty/libwebp/src/dsp/enc.c
+++ b/thirdparty/libwebp/src/dsp/enc.c
@@ -734,7 +734,6 @@ VP8BlockCopy VP8Copy16x8;
 
 extern void VP8EncDspInitSSE2(void);
 extern void VP8EncDspInitSSE41(void);
-extern void VP8EncDspInitAVX2(void);
 extern void VP8EncDspInitNEON(void);
 extern void VP8EncDspInitMIPS32(void);
 extern void VP8EncDspInitMIPSdspR2(void);
@@ -784,11 +783,6 @@ WEBP_DSP_INIT_FUNC(VP8EncDspInit) {
 #endif
     }
 #endif
-#if defined(WEBP_USE_AVX2)
-    if (VP8GetCPUInfo(kAVX2)) {
-      VP8EncDspInitAVX2();
-    }
-#endif
 #if defined(WEBP_USE_MIPS32)
     if (VP8GetCPUInfo(kMIPS32)) {
       VP8EncDspInitMIPS32();
diff --git a/thirdparty/libwebp/src/dsp/enc_avx2.c b/thirdparty/libwebp/src/dsp/enc_avx2.c
deleted file mode 100644
index 8bc5798fee..0000000000
--- a/thirdparty/libwebp/src/dsp/enc_avx2.c
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright 2014 Google Inc. All Rights Reserved.
-//
-// Use of this source code is governed by a BSD-style license
-// that can be found in the COPYING file in the root of the source
-// tree. An additional intellectual property rights grant can be found
-// in the file PATENTS. All contributing project authors may
-// be found in the AUTHORS file in the root of the source tree.
-// -----------------------------------------------------------------------------
-//
-// AVX2 version of speed-critical encoding functions.
-
-#include "src/dsp/dsp.h"
-
-#if defined(WEBP_USE_AVX2)
-
-#endif  // WEBP_USE_AVX2
-
-//------------------------------------------------------------------------------
-// Entry point
-
-WEBP_DSP_INIT_STUB(VP8EncDspInitAVX2)
diff --git a/thirdparty/libwebp/src/dsp/lossless.c b/thirdparty/libwebp/src/dsp/lossless.c
index f9b3c182d3..d21aa6a0a0 100644
--- a/thirdparty/libwebp/src/dsp/lossless.c
+++ b/thirdparty/libwebp/src/dsp/lossless.c
@@ -23,8 +23,6 @@
 #include "src/dsp/lossless.h"
 #include "src/dsp/lossless_common.h"
 
-#define MAX_DIFF_COST (1e30f)
-
 //------------------------------------------------------------------------------
 // Image transforms.
 
diff --git a/thirdparty/libwebp/src/dsp/lossless.h b/thirdparty/libwebp/src/dsp/lossless.h
index b2bbdfc93c..f709cc86b2 100644
--- a/thirdparty/libwebp/src/dsp/lossless.h
+++ b/thirdparty/libwebp/src/dsp/lossless.h
@@ -163,7 +163,7 @@ extern VP8LCostCombinedFunc VP8LExtraCostCombined;
 extern VP8LCombinedShannonEntropyFunc VP8LCombinedShannonEntropy;
 
 typedef struct {        // small struct to hold counters
-  int counts[2];        // index: 0=zero steak, 1=non-zero streak
+  int counts[2];        // index: 0=zero streak, 1=non-zero streak
   int streaks[2][2];    // [zero/non-zero][streak<3 / streak>=3]
 } VP8LStreaks;
 
@@ -194,10 +194,14 @@ extern VP8LGetEntropyUnrefinedFunc VP8LGetEntropyUnrefined;
 void VP8LBitsEntropyUnrefined(const uint32_t* const array, int n,
                               VP8LBitEntropy* const entropy);
 
-typedef void (*VP8LHistogramAddFunc)(const VP8LHistogram* const a,
-                                     const VP8LHistogram* const b,
-                                     VP8LHistogram* const out);
-extern VP8LHistogramAddFunc VP8LHistogramAdd;
+typedef void (*VP8LAddVectorFunc)(const uint32_t* a, const uint32_t* b,
+                                  uint32_t* out, int size);
+extern VP8LAddVectorFunc VP8LAddVector;
+typedef void (*VP8LAddVectorEqFunc)(const uint32_t* a, uint32_t* out, int size);
+extern VP8LAddVectorEqFunc VP8LAddVectorEq;
+void VP8LHistogramAdd(const VP8LHistogram* const a,
+                      const VP8LHistogram* const b,
+                      VP8LHistogram* const out);
 
 // -----------------------------------------------------------------------------
 // PrefixEncode()
diff --git a/thirdparty/libwebp/src/dsp/lossless_enc.c b/thirdparty/libwebp/src/dsp/lossless_enc.c
index d608326fef..1408fbf580 100644
--- a/thirdparty/libwebp/src/dsp/lossless_enc.c
+++ b/thirdparty/libwebp/src/dsp/lossless_enc.c
@@ -632,38 +632,67 @@ static double ExtraCostCombined_C(const uint32_t* X, const uint32_t* Y,
 
 //------------------------------------------------------------------------------
 
-static void HistogramAdd_C(const VP8LHistogram* const a,
-                           const VP8LHistogram* const b,
-                           VP8LHistogram* const out) {
+static void AddVector_C(const uint32_t* a, const uint32_t* b, uint32_t* out,
+                        int size) {
+  int i;
+  for (i = 0; i < size; ++i) out[i] = a[i] + b[i];
+}
+
+static void AddVectorEq_C(const uint32_t* a, uint32_t* out, int size) {
+  int i;
+  for (i = 0; i < size; ++i) out[i] += a[i];
+}
+
+#define ADD(X, ARG, LEN) do {                                                  \
+  if (a->is_used_[X]) {                                                        \
+    if (b->is_used_[X]) {                                                      \
+      VP8LAddVector(a->ARG, b->ARG, out->ARG, (LEN));                          \
+    } else {                                                                   \
+      memcpy(&out->ARG[0], &a->ARG[0], (LEN) * sizeof(out->ARG[0]));           \
+    }                                                                          \
+  } else if (b->is_used_[X]) {                                                 \
+    memcpy(&out->ARG[0], &b->ARG[0], (LEN) * sizeof(out->ARG[0]));             \
+  } else {                                                                     \
+    memset(&out->ARG[0], 0, (LEN) * sizeof(out->ARG[0]));                      \
+  }                                                                            \
+} while (0)
+
+#define ADD_EQ(X, ARG, LEN) do {                                               \
+  if (a->is_used_[X]) {                                                        \
+    if (out->is_used_[X]) {                                                    \
+      VP8LAddVectorEq(a->ARG, out->ARG, (LEN));                                \
+    } else {                                                                   \
+      memcpy(&out->ARG[0], &a->ARG[0], (LEN) * sizeof(out->ARG[0]));           \
+    }                                                                          \
+  }                                                                            \
+} while (0)
+
+void VP8LHistogramAdd(const VP8LHistogram* const a,
+                      const VP8LHistogram* const b, VP8LHistogram* const out) {
   int i;
   const int literal_size = VP8LHistogramNumCodes(a->palette_code_bits_);
   assert(a->palette_code_bits_ == b->palette_code_bits_);
+
   if (b != out) {
-    for (i = 0; i < literal_size; ++i) {
-      out->literal_[i] = a->literal_[i] + b->literal_[i];
-    }
-    for (i = 0; i < NUM_DISTANCE_CODES; ++i) {
-      out->distance_[i] = a->distance_[i] + b->distance_[i];
-    }
-    for (i = 0; i < NUM_LITERAL_CODES; ++i) {
-      out->red_[i] = a->red_[i] + b->red_[i];
-      out->blue_[i] = a->blue_[i] + b->blue_[i];
-      out->alpha_[i] = a->alpha_[i] + b->alpha_[i];
+    ADD(0, literal_, literal_size);
+    ADD(1, red_, NUM_LITERAL_CODES);
+    ADD(2, blue_, NUM_LITERAL_CODES);
+    ADD(3, alpha_, NUM_LITERAL_CODES);
+    ADD(4, distance_, NUM_DISTANCE_CODES);
+    for (i = 0; i < 5; ++i) {
+      out->is_used_[i] = (a->is_used_[i] | b->is_used_[i]);
     }
   } else {
-    for (i = 0; i < literal_size; ++i) {
-      out->literal_[i] += a->literal_[i];
-    }
-    for (i = 0; i < NUM_DISTANCE_CODES; ++i) {
-      out->distance_[i] += a->distance_[i];
-    }
-    for (i = 0; i < NUM_LITERAL_CODES; ++i) {
-      out->red_[i] += a->red_[i];
-      out->blue_[i] += a->blue_[i];
-      out->alpha_[i] += a->alpha_[i];
-    }
+    ADD_EQ(0, literal_, literal_size);
+    ADD_EQ(1, red_, NUM_LITERAL_CODES);
+    ADD_EQ(2, blue_, NUM_LITERAL_CODES);
+    ADD_EQ(3, alpha_, NUM_LITERAL_CODES);
+    ADD_EQ(4, distance_, NUM_DISTANCE_CODES);
+    for (i = 0; i < 5; ++i) out->is_used_[i] |= a->is_used_[i];
   }
 }
+#undef ADD
+#undef ADD_EQ
 
 //------------------------------------------------------------------------------
 // Image transforms.
@@ -848,7 +877,8 @@ VP8LCombinedShannonEntropyFunc VP8LCombinedShannonEntropy;
 VP8LGetEntropyUnrefinedFunc VP8LGetEntropyUnrefined;
 VP8LGetCombinedEntropyUnrefinedFunc VP8LGetCombinedEntropyUnrefined;
 
-VP8LHistogramAddFunc VP8LHistogramAdd;
+VP8LAddVectorFunc VP8LAddVector;
+VP8LAddVectorEqFunc VP8LAddVectorEq;
 
 VP8LVectorMismatchFunc VP8LVectorMismatch;
 VP8LBundleColorMapFunc VP8LBundleColorMap;
@@ -885,7 +915,8 @@ WEBP_DSP_INIT_FUNC(VP8LEncDspInit) {
   VP8LGetEntropyUnrefined = GetEntropyUnrefined_C;
   VP8LGetCombinedEntropyUnrefined = GetCombinedEntropyUnrefined_C;
 
-  VP8LHistogramAdd = HistogramAdd_C;
+  VP8LAddVector = AddVector_C;
+  VP8LAddVectorEq = AddVectorEq_C;
 
   VP8LVectorMismatch = VectorMismatch_C;
   VP8LBundleColorMap = VP8LBundleColorMap_C;
@@ -971,7 +1002,8 @@ WEBP_DSP_INIT_FUNC(VP8LEncDspInit) {
   assert(VP8LCombinedShannonEntropy != NULL);
   assert(VP8LGetEntropyUnrefined != NULL);
   assert(VP8LGetCombinedEntropyUnrefined != NULL);
-  assert(VP8LHistogramAdd != NULL);
+  assert(VP8LAddVector != NULL);
+  assert(VP8LAddVectorEq != NULL);
   assert(VP8LVectorMismatch != NULL);
   assert(VP8LBundleColorMap != NULL);
   assert(VP8LPredictorsSub[0] != NULL);
diff --git a/thirdparty/libwebp/src/dsp/lossless_enc_mips32.c b/thirdparty/libwebp/src/dsp/lossless_enc_mips32.c
index e7b58f4e8c..0412a093cf 100644
--- a/thirdparty/libwebp/src/dsp/lossless_enc_mips32.c
+++ b/thirdparty/libwebp/src/dsp/lossless_enc_mips32.c
@@ -344,65 +344,29 @@ static void GetCombinedEntropyUnrefined_MIPS32(const uint32_t X[],
     ASM_END_COMMON_0                                    \
     ASM_END_COMMON_1
 
-#define ADD_VECTOR(A, B, OUT, SIZE, EXTRA_SIZE)  do {   \
-  const uint32_t* pa = (const uint32_t*)(A);            \
-  const uint32_t* pb = (const uint32_t*)(B);            \
-  uint32_t* pout = (uint32_t*)(OUT);                    \
-  const uint32_t* const LoopEnd = pa + (SIZE);          \
-  assert((SIZE) % 4 == 0);                              \
-  ASM_START                                             \
-  ADD_TO_OUT(0, 4, 8, 12, 1, pa, pb, pout)              \
-  ASM_END_0                                             \
-  if ((EXTRA_SIZE) > 0) {                               \
-    const int last = (EXTRA_SIZE);                      \
-    int i;                                              \
-    for (i = 0; i < last; ++i) pout[i] = pa[i] + pb[i]; \
-  }                                                     \
-} while (0)
-
-#define ADD_VECTOR_EQ(A, OUT, SIZE, EXTRA_SIZE)  do {   \
-  const uint32_t* pa = (const uint32_t*)(A);            \
-  uint32_t* pout = (uint32_t*)(OUT);                    \
-  const uint32_t* const LoopEnd = pa + (SIZE);          \
-  assert((SIZE) % 4 == 0);                              \
-  ASM_START                                             \
-  ADD_TO_OUT(0, 4, 8, 12, 0, pa, pout, pout)            \
-  ASM_END_1                                             \
-  if ((EXTRA_SIZE) > 0) {                               \
-    const int last = (EXTRA_SIZE);                      \
-    int i;                                              \
-    for (i = 0; i < last; ++i) pout[i] += pa[i];        \
-  }                                                     \
-} while (0)
-
-static void HistogramAdd_MIPS32(const VP8LHistogram* const a,
-                                const VP8LHistogram* const b,
-                                VP8LHistogram* const out) {
+static void AddVector_MIPS32(const uint32_t* pa, const uint32_t* pb,
+                             uint32_t* pout, int size) {
   uint32_t temp0, temp1, temp2, temp3, temp4, temp5, temp6, temp7;
-  const int extra_cache_size = VP8LHistogramNumCodes(a->palette_code_bits_)
-                             - (NUM_LITERAL_CODES + NUM_LENGTH_CODES);
-  assert(a->palette_code_bits_ == b->palette_code_bits_);
-
-  if (b != out) {
-    ADD_VECTOR(a->literal_, b->literal_, out->literal_,
-               NUM_LITERAL_CODES + NUM_LENGTH_CODES, extra_cache_size);
-    ADD_VECTOR(a->distance_, b->distance_, out->distance_,
-               NUM_DISTANCE_CODES, 0);
-    ADD_VECTOR(a->red_, b->red_, out->red_, NUM_LITERAL_CODES, 0);
-    ADD_VECTOR(a->blue_, b->blue_, out->blue_, NUM_LITERAL_CODES, 0);
-    ADD_VECTOR(a->alpha_, b->alpha_, out->alpha_, NUM_LITERAL_CODES, 0);
-  } else {
-    ADD_VECTOR_EQ(a->literal_, out->literal_,
-                  NUM_LITERAL_CODES + NUM_LENGTH_CODES, extra_cache_size);
-    ADD_VECTOR_EQ(a->distance_, out->distance_, NUM_DISTANCE_CODES, 0);
-    ADD_VECTOR_EQ(a->red_, out->red_, NUM_LITERAL_CODES, 0);
-    ADD_VECTOR_EQ(a->blue_, out->blue_, NUM_LITERAL_CODES, 0);
-    ADD_VECTOR_EQ(a->alpha_, out->alpha_, NUM_LITERAL_CODES, 0);
-  }
+  const uint32_t end = ((size) / 4) * 4;
+  const uint32_t* const LoopEnd = pa + end;
+  int i;
+  ASM_START
+  ADD_TO_OUT(0, 4, 8, 12, 1, pa, pb, pout)
+  ASM_END_0
+  for (i = end; i < size; ++i) pout[i] = pa[i] + pb[i];
+}
+
+static void AddVectorEq_MIPS32(const uint32_t* pa, uint32_t* pout, int size) {
+  uint32_t temp0, temp1, temp2, temp3, temp4, temp5, temp6, temp7;
+  const uint32_t end = ((size) / 4) * 4;
+  const uint32_t* const LoopEnd = pa + end;
+  int i;
+  ASM_START
+  ADD_TO_OUT(0, 4, 8, 12, 0, pa, pout, pout)
+  ASM_END_1
+  for (i = end; i < size; ++i) pout[i] += pa[i];
 }
 
-#undef ADD_VECTOR_EQ
-#undef ADD_VECTOR
 #undef ASM_END_1
 #undef ASM_END_0
 #undef ASM_END_COMMON_1
@@ -422,7 +386,8 @@ WEBP_TSAN_IGNORE_FUNCTION void VP8LEncDspInitMIPS32(void) {
   VP8LExtraCostCombined = ExtraCostCombined_MIPS32;
   VP8LGetEntropyUnrefined = GetEntropyUnrefined_MIPS32;
   VP8LGetCombinedEntropyUnrefined = GetCombinedEntropyUnrefined_MIPS32;
-  VP8LHistogramAdd = HistogramAdd_MIPS32;
+  VP8LAddVector = AddVector_MIPS32;
+  VP8LAddVectorEq = AddVectorEq_MIPS32;
 }
 
 #else  // !WEBP_USE_MIPS32
diff --git a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c
index f84a9909e1..36478c4912 100644
--- a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c
+++ b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c
@@ -170,12 +170,13 @@ static void CollectColorRedTransforms_SSE2(const uint32_t* argb, int stride,
 
 //------------------------------------------------------------------------------
 
+// Note we are adding uint32_t's as *signed* int32's (using _mm_add_epi32). But
+// that's ok since the histogram values are less than 1<<28 (max picture size).
 #define LINE_SIZE 16    // 8 or 16
 static void AddVector_SSE2(const uint32_t* a, const uint32_t* b, uint32_t* out,
                            int size) {
   int i;
-  assert(size % LINE_SIZE == 0);
-  for (i = 0; i < size; i += LINE_SIZE) {
+  for (i = 0; i + LINE_SIZE <= size; i += LINE_SIZE) {
     const __m128i a0 = _mm_loadu_si128((const __m128i*)&a[i +  0]);
     const __m128i a1 = _mm_loadu_si128((const __m128i*)&a[i +  4]);
 #if (LINE_SIZE == 16)
@@ -195,12 +196,14 @@ static void AddVector_SSE2(const uint32_t* a, const uint32_t* b, uint32_t* out,
     _mm_storeu_si128((__m128i*)&out[i + 12], _mm_add_epi32(a3, b3));
 #endif
   }
+  for (; i < size; ++i) {
+    out[i] = a[i] + b[i];
+  }
 }
 
 static void AddVectorEq_SSE2(const uint32_t* a, uint32_t* out, int size) {
   int i;
-  assert(size % LINE_SIZE == 0);
-  for (i = 0; i < size; i += LINE_SIZE) {
+  for (i = 0; i + LINE_SIZE <= size; i += LINE_SIZE) {
     const __m128i a0 = _mm_loadu_si128((const __m128i*)&a[i +  0]);
     const __m128i a1 = _mm_loadu_si128((const __m128i*)&a[i +  4]);
 #if (LINE_SIZE == 16)
@@ -220,35 +223,11 @@ static void AddVectorEq_SSE2(const uint32_t* a, uint32_t* out, int size) {
     _mm_storeu_si128((__m128i*)&out[i + 12], _mm_add_epi32(a3, b3));
 #endif
   }
-}
-#undef LINE_SIZE
-
-// Note we are adding uint32_t's as *signed* int32's (using _mm_add_epi32). But
-// that's ok since the histogram values are less than 1<<28 (max picture size).
-static void HistogramAdd_SSE2(const VP8LHistogram* const a,
-                              const VP8LHistogram* const b,
-                              VP8LHistogram* const out) {
-  int i;
-  const int literal_size = VP8LHistogramNumCodes(a->palette_code_bits_);
-  assert(a->palette_code_bits_ == b->palette_code_bits_);
-  if (b != out) {
-    AddVector_SSE2(a->literal_, b->literal_, out->literal_, NUM_LITERAL_CODES);
-    AddVector_SSE2(a->red_, b->red_, out->red_, NUM_LITERAL_CODES);
-    AddVector_SSE2(a->blue_, b->blue_, out->blue_, NUM_LITERAL_CODES);
-    AddVector_SSE2(a->alpha_, b->alpha_, out->alpha_, NUM_LITERAL_CODES);
-  } else {
-    AddVectorEq_SSE2(a->literal_, out->literal_, NUM_LITERAL_CODES);
-    AddVectorEq_SSE2(a->red_, out->red_, NUM_LITERAL_CODES);
-    AddVectorEq_SSE2(a->blue_, out->blue_, NUM_LITERAL_CODES);
-    AddVectorEq_SSE2(a->alpha_, out->alpha_, NUM_LITERAL_CODES);
-  }
-  for (i = NUM_LITERAL_CODES; i < literal_size; ++i) {
-    out->literal_[i] = a->literal_[i] + b->literal_[i];
-  }
-  for (i = 0; i < NUM_DISTANCE_CODES; ++i) {
-    out->distance_[i] = a->distance_[i] + b->distance_[i];
+  for (; i < size; ++i) {
+    out[i] += a[i];
   }
 }
+#undef LINE_SIZE
 
 //------------------------------------------------------------------------------
 // Entropy
@@ -675,7 +654,8 @@ WEBP_TSAN_IGNORE_FUNCTION void VP8LEncDspInitSSE2(void) {
   VP8LTransformColor = TransformColor_SSE2;
   VP8LCollectColorBlueTransforms = CollectColorBlueTransforms_SSE2;
   VP8LCollectColorRedTransforms = CollectColorRedTransforms_SSE2;
-  VP8LHistogramAdd = HistogramAdd_SSE2;
+  VP8LAddVector = AddVector_SSE2;
+  VP8LAddVectorEq = AddVectorEq_SSE2;
   VP8LCombinedShannonEntropy = CombinedShannonEntropy_SSE2;
   VP8LVectorMismatch = VectorMismatch_SSE2;
   VP8LBundleColorMap = BundleColorMap_SSE2;
diff --git a/thirdparty/libwebp/src/dsp/msa_macro.h b/thirdparty/libwebp/src/dsp/msa_macro.h
index dfacda6ccd..de026a1d9e 100644
--- a/thirdparty/libwebp/src/dsp/msa_macro.h
+++ b/thirdparty/libwebp/src/dsp/msa_macro.h
@@ -1389,4 +1389,4 @@ static WEBP_INLINE uint32_t func_hadd_uh_u32(v8u16 in) {
 } while (0)
 #define AVER_UB2_UB(...) AVER_UB2(v16u8, __VA_ARGS__)
 
-#endif  /* WEBP_DSP_MSA_MACRO_H_ */
+#endif  // WEBP_DSP_MSA_MACRO_H_
diff --git a/thirdparty/libwebp/src/dsp/quant.h b/thirdparty/libwebp/src/dsp/quant.h
new file mode 100644
index 0000000000..5ba6f9c377
--- /dev/null
+++ b/thirdparty/libwebp/src/dsp/quant.h
@@ -0,0 +1,70 @@
+// Copyright 2018 Google Inc. All Rights Reserved.
+//
+// Use of this source code is governed by a BSD-style license
+// that can be found in the COPYING file in the root of the source
+// tree. An additional intellectual property rights grant can be found
+// in the file PATENTS. All contributing project authors may
+// be found in the AUTHORS file in the root of the source tree.
+// -----------------------------------------------------------------------------
+
+#ifndef WEBP_DSP_QUANT_H_
+#define WEBP_DSP_QUANT_H_
+
+#include "src/dsp/dsp.h"
+#include "src/webp/types.h"
+
+#if defined(WEBP_USE_NEON) && !defined(WEBP_ANDROID_NEON) && \
+    !defined(WEBP_HAVE_NEON_RTCD)
+#include <arm_neon.h>
+
+#define IsFlat IsFlat_NEON
+
+static uint32x2_t horizontal_add_uint32x4(const uint32x4_t a) {
+  const uint64x2_t b = vpaddlq_u32(a);
+  return vadd_u32(vreinterpret_u32_u64(vget_low_u64(b)),
+                  vreinterpret_u32_u64(vget_high_u64(b)));
+}
+
+static WEBP_INLINE int IsFlat(const int16_t* levels, int num_blocks,
+                              int thresh) {
+  const int16x8_t tst_ones = vdupq_n_s16(-1);
+  uint32x4_t sum = vdupq_n_u32(0);
+
+  for (int i = 0; i < num_blocks; ++i) {
+    // Set DC to zero.
+    const int16x8_t a_0 = vsetq_lane_s16(0, vld1q_s16(levels), 0);
+    const int16x8_t a_1 = vld1q_s16(levels + 8);
+
+    const uint16x8_t b_0 = vshrq_n_u16(vtstq_s16(a_0, tst_ones), 15);
+    const uint16x8_t b_1 = vshrq_n_u16(vtstq_s16(a_1, tst_ones), 15);
+
+    sum = vpadalq_u16(sum, b_0);
+    sum = vpadalq_u16(sum, b_1);
+
+    levels += 16;
+  }
+  return thresh >= (int32_t)vget_lane_u32(horizontal_add_uint32x4(sum), 0);
+}
+
+#else
+
+#define IsFlat IsFlat_C
+
+static WEBP_INLINE int IsFlat(const int16_t* levels, int num_blocks,
+                              int thresh) {
+  int score = 0;
+  while (num_blocks-- > 0) {      // TODO(skal): refine positional scoring?
+    int i;
+    for (i = 1; i < 16; ++i) {    // omit DC, we're only interested in AC
+      score += (levels[i] != 0);
+      if (score > thresh) return 0;
+    }
+    levels += 16;
+  }
+  return 1;
+}
+
+#endif  // defined(WEBP_USE_NEON) && !defined(WEBP_ANDROID_NEON) &&
+        // !defined(WEBP_HAVE_NEON_RTCD)
+
+#endif  // WEBP_DSP_QUANT_H_
diff --git a/thirdparty/libwebp/src/dsp/rescaler.c b/thirdparty/libwebp/src/dsp/rescaler.c
index f307d35056..753f84fcf4 100644
--- a/thirdparty/libwebp/src/dsp/rescaler.c
+++ b/thirdparty/libwebp/src/dsp/rescaler.c
@@ -21,6 +21,7 @@
 
 #define ROUNDER (WEBP_RESCALER_ONE >> 1)
 #define MULT_FIX(x, y) (((uint64_t)(x) * (y) + ROUNDER) >> WEBP_RESCALER_RFIX)
+#define MULT_FIX_FLOOR(x, y) (((uint64_t)(x) * (y)) >> WEBP_RESCALER_RFIX)
 
 //------------------------------------------------------------------------------
 // Row import
@@ -138,7 +139,7 @@ void WebPRescalerExportRowShrink_C(WebPRescaler* const wrk) {
   if (yscale) {
     for (x_out = 0; x_out < x_out_max; ++x_out) {
       const uint32_t frac = (uint32_t)MULT_FIX(frow[x_out], yscale);
-      const int v = (int)MULT_FIX(irow[x_out] - frac, wrk->fxy_scale);
+      const int v = (int)MULT_FIX_FLOOR(irow[x_out] - frac, wrk->fxy_scale);
       assert(v >= 0 && v <= 255);
       dst[x_out] = v;
       irow[x_out] = frac;   // new fractional start
@@ -153,6 +154,7 @@ void WebPRescalerExportRowShrink_C(WebPRescaler* const wrk) {
   }
 }
 
+#undef MULT_FIX_FLOOR
 #undef MULT_FIX
 #undef ROUNDER
 
diff --git a/thirdparty/libwebp/src/dsp/rescaler_mips32.c b/thirdparty/libwebp/src/dsp/rescaler_mips32.c
index 542f7e5970..61f63c616c 100644
--- a/thirdparty/libwebp/src/dsp/rescaler_mips32.c
+++ b/thirdparty/libwebp/src/dsp/rescaler_mips32.c
@@ -209,6 +209,7 @@ static void ExportRowExpand_MIPS32(WebPRescaler* const wrk) {
   }
 }
 
+#if 0  // disabled for now. TODO(skal): make match the C-code
 static void ExportRowShrink_MIPS32(WebPRescaler* const wrk) {
   const int x_out_max = wrk->dst_width * wrk->num_channels;
   uint8_t* dst = wrk->dst;
@@ -273,6 +274,7 @@ static void ExportRowShrink_MIPS32(WebPRescaler* const wrk) {
     );
   }
 }
+#endif  // 0
 
 //------------------------------------------------------------------------------
 // Entry point
@@ -283,7 +285,7 @@ WEBP_TSAN_IGNORE_FUNCTION void WebPRescalerDspInitMIPS32(void) {
   WebPRescalerImportRowExpand = ImportRowExpand_MIPS32;
   WebPRescalerImportRowShrink = ImportRowShrink_MIPS32;
   WebPRescalerExportRowExpand = ExportRowExpand_MIPS32;
-  WebPRescalerExportRowShrink = ExportRowShrink_MIPS32;
+//  WebPRescalerExportRowShrink = ExportRowShrink_MIPS32;
 }
 
 #else  // !WEBP_USE_MIPS32
diff --git a/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c b/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c
index b78aac15e6..ce9e64862e 100644
--- a/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c
+++ b/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c
@@ -20,10 +20,12 @@
 
 #define ROUNDER (WEBP_RESCALER_ONE >> 1)
 #define MULT_FIX(x, y) (((uint64_t)(x) * (y) + ROUNDER) >> WEBP_RESCALER_RFIX)
+#define MULT_FIX_FLOOR(x, y) (((uint64_t)(x) * (y)) >> WEBP_RESCALER_RFIX)
 
 //------------------------------------------------------------------------------
 // Row export
 
+#if 0  // disabled for now. TODO(skal): make match the C-code
 static void ExportRowShrink_MIPSdspR2(WebPRescaler* const wrk) {
   int i;
   const int x_out_max = wrk->dst_width * wrk->num_channels;
@@ -106,7 +108,7 @@ static void ExportRowShrink_MIPSdspR2(WebPRescaler* const wrk) {
     }
     for (i = 0; i < (x_out_max & 0x3); ++i) {
       const uint32_t frac = (uint32_t)MULT_FIX(*frow++, yscale);
-      const int v = (int)MULT_FIX(*irow - frac, wrk->fxy_scale);
+      const int v = (int)MULT_FIX_FLOOR(*irow - frac, wrk->fxy_scale);
       assert(v >= 0 && v <= 255);
       *dst++ = v;
       *irow++ = frac;   // new fractional start
@@ -154,13 +156,14 @@ static void ExportRowShrink_MIPSdspR2(WebPRescaler* const wrk) {
       );
     }
     for (i = 0; i < (x_out_max & 0x3); ++i) {
-      const int v = (int)MULT_FIX(*irow, wrk->fxy_scale);
+      const int v = (int)MULT_FIX_FLOOR(*irow, wrk->fxy_scale);
       assert(v >= 0 && v <= 255);
       *dst++ = v;
       *irow++ = 0;
     }
   }
 }
+#endif  // 0
 
 static void ExportRowExpand_MIPSdspR2(WebPRescaler* const wrk) {
   int i;
@@ -294,6 +297,7 @@ static void ExportRowExpand_MIPSdspR2(WebPRescaler* const wrk) {
   }
 }
 
+#undef MULT_FIX_FLOOR
 #undef MULT_FIX
 #undef ROUNDER
 
@@ -304,7 +308,7 @@ extern void WebPRescalerDspInitMIPSdspR2(void);
 
 WEBP_TSAN_IGNORE_FUNCTION void WebPRescalerDspInitMIPSdspR2(void) {
   WebPRescalerExportRowExpand = ExportRowExpand_MIPSdspR2;
-  WebPRescalerExportRowShrink = ExportRowShrink_MIPSdspR2;
+//  WebPRescalerExportRowShrink = ExportRowShrink_MIPSdspR2;
 }
 
 #else  // !WEBP_USE_MIPS_DSP_R2
diff --git a/thirdparty/libwebp/src/dsp/rescaler_msa.c b/thirdparty/libwebp/src/dsp/rescaler_msa.c
index f3bc99f1cd..c559254836 100644
--- a/thirdparty/libwebp/src/dsp/rescaler_msa.c
+++ b/thirdparty/libwebp/src/dsp/rescaler_msa.c
@@ -22,6 +22,7 @@
 
 #define ROUNDER (WEBP_RESCALER_ONE >> 1)
 #define MULT_FIX(x, y) (((uint64_t)(x) * (y) + ROUNDER) >> WEBP_RESCALER_RFIX)
+#define MULT_FIX_FLOOR(x, y) (((uint64_t)(x) * (y)) >> WEBP_RESCALER_RFIX)
 
 #define CALC_MULT_FIX_16(in0, in1, in2, in3, scale, shift, dst) do {  \
   v4u32 tmp0, tmp1, tmp2, tmp3;                                       \
@@ -262,6 +263,7 @@ static void RescalerExportRowExpand_MIPSdspR2(WebPRescaler* const wrk) {
   }
 }
 
+#if 0  // disabled for now. TODO(skal): make match the C-code
 static WEBP_INLINE void ExportRowShrink_0(const uint32_t* frow, uint32_t* irow,
                                           uint8_t* dst, int length,
                                           const uint32_t yscale,
@@ -341,7 +343,7 @@ static WEBP_INLINE void ExportRowShrink_0(const uint32_t* frow, uint32_t* irow,
     }
     for (x_out = 0; x_out < length; ++x_out) {
       const uint32_t frac = (uint32_t)MULT_FIX(frow[x_out], yscale);
-      const int v = (int)MULT_FIX(irow[x_out] - frac, wrk->fxy_scale);
+      const int v = (int)MULT_FIX_FLOOR(irow[x_out] - frac, wrk->fxy_scale);
       assert(v >= 0 && v <= 255);
       dst[x_out] = v;
       irow[x_out] = frac;
@@ -426,6 +428,7 @@ static void RescalerExportRowShrink_MIPSdspR2(WebPRescaler* const wrk) {
     ExportRowShrink_1(irow, dst, x_out_max, wrk);
   }
 }
+#endif  // 0
 
 //------------------------------------------------------------------------------
 // Entry point
@@ -434,7 +437,7 @@ extern void WebPRescalerDspInitMSA(void);
 
 WEBP_TSAN_IGNORE_FUNCTION void WebPRescalerDspInitMSA(void) {
   WebPRescalerExportRowExpand = RescalerExportRowExpand_MIPSdspR2;
-  WebPRescalerExportRowShrink = RescalerExportRowShrink_MIPSdspR2;
+//  WebPRescalerExportRowShrink = RescalerExportRowShrink_MIPSdspR2;
 }
 
 #else     // !WEBP_USE_MSA
diff --git a/thirdparty/libwebp/src/dsp/rescaler_neon.c b/thirdparty/libwebp/src/dsp/rescaler_neon.c
index 3eff9fbaf4..a553f06f79 100644
--- a/thirdparty/libwebp/src/dsp/rescaler_neon.c
+++ b/thirdparty/libwebp/src/dsp/rescaler_neon.c
@@ -22,6 +22,7 @@
 
 #define ROUNDER (WEBP_RESCALER_ONE >> 1)
 #define MULT_FIX_C(x, y) (((uint64_t)(x) * (y) + ROUNDER) >> WEBP_RESCALER_RFIX)
+#define MULT_FIX_FLOOR_C(x, y) (((uint64_t)(x) * (y)) >> WEBP_RESCALER_RFIX)
 
 #define LOAD_32x4(SRC, DST) const uint32x4_t DST = vld1q_u32((SRC))
 #define LOAD_32x8(SRC, DST0, DST1)                                    \
@@ -35,8 +36,11 @@
 
 #if (WEBP_RESCALER_RFIX == 32)
 #define MAKE_HALF_CST(C) vdupq_n_s32((int32_t)((C) >> 1))
-#define MULT_FIX(A, B) /* note: B is actualy scale>>1. See MAKE_HALF_CST */ \
+// note: B is actualy scale>>1. See MAKE_HALF_CST
+#define MULT_FIX(A, B) \
     vreinterpretq_u32_s32(vqrdmulhq_s32(vreinterpretq_s32_u32((A)), (B)))
+#define MULT_FIX_FLOOR(A, B) \
+    vreinterpretq_u32_s32(vqdmulhq_s32(vreinterpretq_s32_u32((A)), (B)))
 #else
 #error "MULT_FIX/WEBP_RESCALER_RFIX need some more work"
 #endif
@@ -135,8 +139,8 @@ static void RescalerExportRowShrink_NEON(WebPRescaler* const wrk) {
       const uint32x4_t A1 = MULT_FIX(in1, yscale_half);
       const uint32x4_t B0 = vqsubq_u32(in2, A0);
       const uint32x4_t B1 = vqsubq_u32(in3, A1);
-      const uint32x4_t C0 = MULT_FIX(B0, fxy_scale_half);
-      const uint32x4_t C1 = MULT_FIX(B1, fxy_scale_half);
+      const uint32x4_t C0 = MULT_FIX_FLOOR(B0, fxy_scale_half);
+      const uint32x4_t C1 = MULT_FIX_FLOOR(B1, fxy_scale_half);
       const uint16x4_t D0 = vmovn_u32(C0);
       const uint16x4_t D1 = vmovn_u32(C1);
       const uint8x8_t E = vmovn_u16(vcombine_u16(D0, D1));
@@ -145,7 +149,7 @@ static void RescalerExportRowShrink_NEON(WebPRescaler* const wrk) {
     }
     for (; x_out < x_out_max; ++x_out) {
       const uint32_t frac = (uint32_t)MULT_FIX_C(frow[x_out], yscale);
-      const int v = (int)MULT_FIX_C(irow[x_out] - frac, wrk->fxy_scale);
+      const int v = (int)MULT_FIX_FLOOR_C(irow[x_out] - frac, fxy_scale);
       assert(v >= 0 && v <= 255);
       dst[x_out] = v;
       irow[x_out] = frac;   // new fractional start
@@ -170,6 +174,12 @@ static void RescalerExportRowShrink_NEON(WebPRescaler* const wrk) {
   }
 }
 
+#undef MULT_FIX_FLOOR_C
+#undef MULT_FIX_C
+#undef MULT_FIX_FLOOR
+#undef MULT_FIX
+#undef ROUNDER
+
 //------------------------------------------------------------------------------
 
 extern void WebPRescalerDspInitNEON(void);
diff --git a/thirdparty/libwebp/src/dsp/rescaler_sse2.c b/thirdparty/libwebp/src/dsp/rescaler_sse2.c
index 64c50deab5..f7461a452c 100644
--- a/thirdparty/libwebp/src/dsp/rescaler_sse2.c
+++ b/thirdparty/libwebp/src/dsp/rescaler_sse2.c
@@ -25,6 +25,7 @@
 
 #define ROUNDER (WEBP_RESCALER_ONE >> 1)
 #define MULT_FIX(x, y) (((uint64_t)(x) * (y) + ROUNDER) >> WEBP_RESCALER_RFIX)
+#define MULT_FIX_FLOOR(x, y) (((uint64_t)(x) * (y)) >> WEBP_RESCALER_RFIX)
 
 // input: 8 bytes ABCDEFGH -> output: A0E0B0F0C0G0D0H0
 static void LoadTwoPixels_SSE2(const uint8_t* const src, __m128i* out) {
@@ -224,6 +225,35 @@ static WEBP_INLINE void ProcessRow_SSE2(const __m128i* const A0,
   _mm_storel_epi64((__m128i*)dst, G);
 }
 
+static WEBP_INLINE void ProcessRow_Floor_SSE2(const __m128i* const A0,
+                                              const __m128i* const A1,
+                                              const __m128i* const A2,
+                                              const __m128i* const A3,
+                                              const __m128i* const mult,
+                                              uint8_t* const dst) {
+  const __m128i mask = _mm_set_epi32(0xffffffffu, 0, 0xffffffffu, 0);
+  const __m128i B0 = _mm_mul_epu32(*A0, *mult);
+  const __m128i B1 = _mm_mul_epu32(*A1, *mult);
+  const __m128i B2 = _mm_mul_epu32(*A2, *mult);
+  const __m128i B3 = _mm_mul_epu32(*A3, *mult);
+  const __m128i D0 = _mm_srli_epi64(B0, WEBP_RESCALER_RFIX);
+  const __m128i D1 = _mm_srli_epi64(B1, WEBP_RESCALER_RFIX);
+#if (WEBP_RESCALER_RFIX < 32)
+  const __m128i D2 =
+      _mm_and_si128(_mm_slli_epi64(B2, 32 - WEBP_RESCALER_RFIX), mask);
+  const __m128i D3 =
+      _mm_and_si128(_mm_slli_epi64(B3, 32 - WEBP_RESCALER_RFIX), mask);
+#else
+  const __m128i D2 = _mm_and_si128(B2, mask);
+  const __m128i D3 = _mm_and_si128(B3, mask);
+#endif
+  const __m128i E0 = _mm_or_si128(D0, D2);
+  const __m128i E1 = _mm_or_si128(D1, D3);
+  const __m128i F = _mm_packs_epi32(E0, E1);
+  const __m128i G = _mm_packus_epi16(F, F);
+  _mm_storel_epi64((__m128i*)dst, G);
+}
+
 static void RescalerExportRowExpand_SSE2(WebPRescaler* const wrk) {
   int x_out;
   uint8_t* const dst = wrk->dst;
@@ -322,12 +352,12 @@ static void RescalerExportRowShrink_SSE2(WebPRescaler* const wrk) {
         const __m128i G1 = _mm_or_si128(D1, F3);
         _mm_storeu_si128((__m128i*)(irow + x_out + 0), G0);
         _mm_storeu_si128((__m128i*)(irow + x_out + 4), G1);
-        ProcessRow_SSE2(&E0, &E1, &E2, &E3, &mult_xy, dst + x_out);
+        ProcessRow_Floor_SSE2(&E0, &E1, &E2, &E3, &mult_xy, dst + x_out);
       }
     }
     for (; x_out < x_out_max; ++x_out) {
       const uint32_t frac = (int)MULT_FIX(frow[x_out], yscale);
-      const int v = (int)MULT_FIX(irow[x_out] - frac, wrk->fxy_scale);
+      const int v = (int)MULT_FIX_FLOOR(irow[x_out] - frac, wrk->fxy_scale);
       assert(v >= 0 && v <= 255);
       dst[x_out] = v;
       irow[x_out] = frac;   // new fractional start
@@ -352,6 +382,7 @@ static void RescalerExportRowShrink_SSE2(WebPRescaler* const wrk) {
   }
 }
 
+#undef MULT_FIX_FLOOR
 #undef MULT_FIX
 #undef ROUNDER
 
diff --git a/thirdparty/libwebp/src/dsp/yuv.h b/thirdparty/libwebp/src/dsp/yuv.h
index eb787270d2..c12be1d094 100644
--- a/thirdparty/libwebp/src/dsp/yuv.h
+++ b/thirdparty/libwebp/src/dsp/yuv.h
@@ -207,4 +207,4 @@ static WEBP_INLINE int VP8RGBToV(int r, int g, int b, int rounding) {
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_DSP_YUV_H_ */
+#endif  // WEBP_DSP_YUV_H_
diff --git a/thirdparty/libwebp/src/enc/analysis_enc.c b/thirdparty/libwebp/src/enc/analysis_enc.c
index a47ff7d4e8..687757ae03 100644
--- a/thirdparty/libwebp/src/enc/analysis_enc.c
+++ b/thirdparty/libwebp/src/enc/analysis_enc.c
@@ -458,7 +458,7 @@ static void MergeJobs(const SegmentJob* const src, SegmentJob* const dst) {
   dst->uv_alpha += src->uv_alpha;
 }
 
-// initialize the job struct with some TODOs
+// initialize the job struct with some tasks to perform
 static void InitSegmentJob(VP8Encoder* const enc, SegmentJob* const job,
                            int start_row, int end_row) {
   WebPGetWorkerInterface()->Init(&job->worker);
diff --git a/thirdparty/libwebp/src/enc/backward_references_cost_enc.c b/thirdparty/libwebp/src/enc/backward_references_cost_enc.c
index 7175496c7f..516abd73eb 100644
--- a/thirdparty/libwebp/src/enc/backward_references_cost_enc.c
+++ b/thirdparty/libwebp/src/enc/backward_references_cost_enc.c
@@ -67,7 +67,7 @@ static int CostModelBuild(CostModel* const m, int xsize, int cache_bits,
 
   // The following code is similar to VP8LHistogramCreate but converts the
   // distance to plane code.
-  VP8LHistogramInit(histo, cache_bits);
+  VP8LHistogramInit(histo, cache_bits, /*init_arrays=*/ 1);
   while (VP8LRefsCursorOk(&c)) {
     VP8LHistogramAddSinglePixOrCopy(histo, c.cur_pos, VP8LDistanceToPlaneCode,
                                     xsize);
diff --git a/thirdparty/libwebp/src/enc/backward_references_enc.c b/thirdparty/libwebp/src/enc/backward_references_enc.c
index 39230188b9..3ab7b0ac7d 100644
--- a/thirdparty/libwebp/src/enc/backward_references_enc.c
+++ b/thirdparty/libwebp/src/enc/backward_references_enc.c
@@ -715,6 +715,7 @@ static int CalculateBestCacheSize(const uint32_t* argb, int quality,
   for (i = 0; i <= cache_bits_max; ++i) {
     histos[i] = VP8LAllocateHistogram(i);
     if (histos[i] == NULL) goto Error;
+    VP8LHistogramInit(histos[i], i, /*init_arrays=*/ 1);
     if (i == 0) continue;
     cc_init[i] = VP8LColorCacheInit(&hashers[i], i);
     if (!cc_init[i]) goto Error;
diff --git a/thirdparty/libwebp/src/enc/cost_enc.h b/thirdparty/libwebp/src/enc/cost_enc.h
index bdce1e6a3b..a4b177b342 100644
--- a/thirdparty/libwebp/src/enc/cost_enc.h
+++ b/thirdparty/libwebp/src/enc/cost_enc.h
@@ -79,4 +79,4 @@ extern const uint16_t VP8FixedCostsI4[NUM_BMODES][NUM_BMODES][NUM_BMODES];
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_ENC_COST_ENC_H_ */
+#endif  // WEBP_ENC_COST_ENC_H_
diff --git a/thirdparty/libwebp/src/enc/delta_palettization_enc.c b/thirdparty/libwebp/src/enc/delta_palettization_enc.c
deleted file mode 100644
index a61c8e6c93..0000000000
--- a/thirdparty/libwebp/src/enc/delta_palettization_enc.c
+++ /dev/null
@@ -1,455 +0,0 @@
-// Copyright 2015 Google Inc. All Rights Reserved.
-//
-// Use of this source code is governed by a BSD-style license
-// that can be found in the COPYING file in the root of the source
-// tree. An additional intellectual property rights grant can be found
-// in the file PATENTS. All contributing project authors may
-// be found in the AUTHORS file in the root of the source tree.
-// -----------------------------------------------------------------------------
-//
-// Author: Mislav Bradac (mislavm@google.com)
-//
-
-#include "src/enc/delta_palettization_enc.h"
-
-#ifdef WEBP_EXPERIMENTAL_FEATURES
-#include "src/webp/types.h"
-#include "src/dsp/lossless.h"
-
-#define MK_COL(r, g, b) (((r) << 16) + ((g) << 8) + (b))
-
-// Format allows palette up to 256 entries, but more palette entries produce
-// bigger entropy. In the future it will probably be useful to add more entries
-// that are far from the origin of the palette or choose remaining entries
-// dynamically.
-#define DELTA_PALETTE_SIZE 226
-
-// Palette used for delta_palettization. Entries are roughly sorted by distance
-// of their signed equivalents from the origin.
-static const uint32_t kDeltaPalette[DELTA_PALETTE_SIZE] = {
-  MK_COL(0u, 0u, 0u),
-  MK_COL(255u, 255u, 255u),
-  MK_COL(1u, 1u, 1u),
-  MK_COL(254u, 254u, 254u),
-  MK_COL(2u, 2u, 2u),
-  MK_COL(4u, 4u, 4u),
-  MK_COL(252u, 252u, 252u),
-  MK_COL(250u, 0u, 0u),
-  MK_COL(0u, 250u, 0u),
-  MK_COL(0u, 0u, 250u),
-  MK_COL(6u, 0u, 0u),
-  MK_COL(0u, 6u, 0u),
-  MK_COL(0u, 0u, 6u),
-  MK_COL(0u, 0u, 248u),
-  MK_COL(0u, 0u, 8u),
-  MK_COL(0u, 248u, 0u),
-  MK_COL(0u, 248u, 248u),
-  MK_COL(0u, 248u, 8u),
-  MK_COL(0u, 8u, 0u),
-  MK_COL(0u, 8u, 248u),
-  MK_COL(0u, 8u, 8u),
-  MK_COL(8u, 8u, 8u),
-  MK_COL(248u, 0u, 0u),
-  MK_COL(248u, 0u, 248u),
-  MK_COL(248u, 0u, 8u),
-  MK_COL(248u, 248u, 0u),
-  MK_COL(248u, 8u, 0u),
-  MK_COL(8u, 0u, 0u),
-  MK_COL(8u, 0u, 248u),
-  MK_COL(8u, 0u, 8u),
-  MK_COL(8u, 248u, 0u),
-  MK_COL(8u, 8u, 0u),
-  MK_COL(23u, 23u, 23u),
-  MK_COL(13u, 13u, 13u),
-  MK_COL(232u, 232u, 232u),
-  MK_COL(244u, 244u, 244u),
-  MK_COL(245u, 245u, 250u),
-  MK_COL(50u, 50u, 50u),
-  MK_COL(204u, 204u, 204u),
-  MK_COL(236u, 236u, 236u),
-  MK_COL(16u, 16u, 16u),
-  MK_COL(240u, 16u, 16u),
-  MK_COL(16u, 240u, 16u),
-  MK_COL(240u, 240u, 16u),
-  MK_COL(16u, 16u, 240u),
-  MK_COL(240u, 16u, 240u),
-  MK_COL(16u, 240u, 240u),
-  MK_COL(240u, 240u, 240u),
-  MK_COL(0u, 0u, 232u),
-  MK_COL(0u, 232u, 0u),
-  MK_COL(232u, 0u, 0u),
-  MK_COL(0u, 0u, 24u),
-  MK_COL(0u, 24u, 0u),
-  MK_COL(24u, 0u, 0u),
-  MK_COL(32u, 32u, 32u),
-  MK_COL(224u, 32u, 32u),
-  MK_COL(32u, 224u, 32u),
-  MK_COL(224u, 224u, 32u),
-  MK_COL(32u, 32u, 224u),
-  MK_COL(224u, 32u, 224u),
-  MK_COL(32u, 224u, 224u),
-  MK_COL(224u, 224u, 224u),
-  MK_COL(0u, 0u, 176u),
-  MK_COL(0u, 0u, 80u),
-  MK_COL(0u, 176u, 0u),
-  MK_COL(0u, 176u, 176u),
-  MK_COL(0u, 176u, 80u),
-  MK_COL(0u, 80u, 0u),
-  MK_COL(0u, 80u, 176u),
-  MK_COL(0u, 80u, 80u),
-  MK_COL(176u, 0u, 0u),
-  MK_COL(176u, 0u, 176u),
-  MK_COL(176u, 0u, 80u),
-  MK_COL(176u, 176u, 0u),
-  MK_COL(176u, 80u, 0u),
-  MK_COL(80u, 0u, 0u),
-  MK_COL(80u, 0u, 176u),
-  MK_COL(80u, 0u, 80u),
-  MK_COL(80u, 176u, 0u),
-  MK_COL(80u, 80u, 0u),
-  MK_COL(0u, 0u, 152u),
-  MK_COL(0u, 0u, 104u),
-  MK_COL(0u, 152u, 0u),
-  MK_COL(0u, 152u, 152u),
-  MK_COL(0u, 152u, 104u),
-  MK_COL(0u, 104u, 0u),
-  MK_COL(0u, 104u, 152u),
-  MK_COL(0u, 104u, 104u),
-  MK_COL(152u, 0u, 0u),
-  MK_COL(152u, 0u, 152u),
-  MK_COL(152u, 0u, 104u),
-  MK_COL(152u, 152u, 0u),
-  MK_COL(152u, 104u, 0u),
-  MK_COL(104u, 0u, 0u),
-  MK_COL(104u, 0u, 152u),
-  MK_COL(104u, 0u, 104u),
-  MK_COL(104u, 152u, 0u),
-  MK_COL(104u, 104u, 0u),
-  MK_COL(216u, 216u, 216u),
-  MK_COL(216u, 216u, 40u),
-  MK_COL(216u, 216u, 176u),
-  MK_COL(216u, 216u, 80u),
-  MK_COL(216u, 40u, 216u),
-  MK_COL(216u, 40u, 40u),
-  MK_COL(216u, 40u, 176u),
-  MK_COL(216u, 40u, 80u),
-  MK_COL(216u, 176u, 216u),
-  MK_COL(216u, 176u, 40u),
-  MK_COL(216u, 176u, 176u),
-  MK_COL(216u, 176u, 80u),
-  MK_COL(216u, 80u, 216u),
-  MK_COL(216u, 80u, 40u),
-  MK_COL(216u, 80u, 176u),
-  MK_COL(216u, 80u, 80u),
-  MK_COL(40u, 216u, 216u),
-  MK_COL(40u, 216u, 40u),
-  MK_COL(40u, 216u, 176u),
-  MK_COL(40u, 216u, 80u),
-  MK_COL(40u, 40u, 216u),
-  MK_COL(40u, 40u, 40u),
-  MK_COL(40u, 40u, 176u),
-  MK_COL(40u, 40u, 80u),
-  MK_COL(40u, 176u, 216u),
-  MK_COL(40u, 176u, 40u),
-  MK_COL(40u, 176u, 176u),
-  MK_COL(40u, 176u, 80u),
-  MK_COL(40u, 80u, 216u),
-  MK_COL(40u, 80u, 40u),
-  MK_COL(40u, 80u, 176u),
-  MK_COL(40u, 80u, 80u),
-  MK_COL(80u, 216u, 216u),
-  MK_COL(80u, 216u, 40u),
-  MK_COL(80u, 216u, 176u),
-  MK_COL(80u, 216u, 80u),
-  MK_COL(80u, 40u, 216u),
-  MK_COL(80u, 40u, 40u),
-  MK_COL(80u, 40u, 176u),
-  MK_COL(80u, 40u, 80u),
-  MK_COL(80u, 176u, 216u),
-  MK_COL(80u, 176u, 40u),
-  MK_COL(80u, 176u, 176u),
-  MK_COL(80u, 176u, 80u),
-  MK_COL(80u, 80u, 216u),
-  MK_COL(80u, 80u, 40u),
-  MK_COL(80u, 80u, 176u),
-  MK_COL(80u, 80u, 80u),
-  MK_COL(0u, 0u, 192u),
-  MK_COL(0u, 0u, 64u),
-  MK_COL(0u, 0u, 128u),
-  MK_COL(0u, 192u, 0u),
-  MK_COL(0u, 192u, 192u),
-  MK_COL(0u, 192u, 64u),
-  MK_COL(0u, 192u, 128u),
-  MK_COL(0u, 64u, 0u),
-  MK_COL(0u, 64u, 192u),
-  MK_COL(0u, 64u, 64u),
-  MK_COL(0u, 64u, 128u),
-  MK_COL(0u, 128u, 0u),
-  MK_COL(0u, 128u, 192u),
-  MK_COL(0u, 128u, 64u),
-  MK_COL(0u, 128u, 128u),
-  MK_COL(176u, 216u, 216u),
-  MK_COL(176u, 216u, 40u),
-  MK_COL(176u, 216u, 176u),
-  MK_COL(176u, 216u, 80u),
-  MK_COL(176u, 40u, 216u),
-  MK_COL(176u, 40u, 40u),
-  MK_COL(176u, 40u, 176u),
-  MK_COL(176u, 40u, 80u),
-  MK_COL(176u, 176u, 216u),
-  MK_COL(176u, 176u, 40u),
-  MK_COL(176u, 176u, 176u),
-  MK_COL(176u, 176u, 80u),
-  MK_COL(176u, 80u, 216u),
-  MK_COL(176u, 80u, 40u),
-  MK_COL(176u, 80u, 176u),
-  MK_COL(176u, 80u, 80u),
-  MK_COL(192u, 0u, 0u),
-  MK_COL(192u, 0u, 192u),
-  MK_COL(192u, 0u, 64u),
-  MK_COL(192u, 0u, 128u),
-  MK_COL(192u, 192u, 0u),
-  MK_COL(192u, 192u, 192u),
-  MK_COL(192u, 192u, 64u),
-  MK_COL(192u, 192u, 128u),
-  MK_COL(192u, 64u, 0u),
-  MK_COL(192u, 64u, 192u),
-  MK_COL(192u, 64u, 64u),
-  MK_COL(192u, 64u, 128u),
-  MK_COL(192u, 128u, 0u),
-  MK_COL(192u, 128u, 192u),
-  MK_COL(192u, 128u, 64u),
-  MK_COL(192u, 128u, 128u),
-  MK_COL(64u, 0u, 0u),
-  MK_COL(64u, 0u, 192u),
-  MK_COL(64u, 0u, 64u),
-  MK_COL(64u, 0u, 128u),
-  MK_COL(64u, 192u, 0u),
-  MK_COL(64u, 192u, 192u),
-  MK_COL(64u, 192u, 64u),
-  MK_COL(64u, 192u, 128u),
-  MK_COL(64u, 64u, 0u),
-  MK_COL(64u, 64u, 192u),
-  MK_COL(64u, 64u, 64u),
-  MK_COL(64u, 64u, 128u),
-  MK_COL(64u, 128u, 0u),
-  MK_COL(64u, 128u, 192u),
-  MK_COL(64u, 128u, 64u),
-  MK_COL(64u, 128u, 128u),
-  MK_COL(128u, 0u, 0u),
-  MK_COL(128u, 0u, 192u),
-  MK_COL(128u, 0u, 64u),
-  MK_COL(128u, 0u, 128u),
-  MK_COL(128u, 192u, 0u),
-  MK_COL(128u, 192u, 192u),
-  MK_COL(128u, 192u, 64u),
-  MK_COL(128u, 192u, 128u),
-  MK_COL(128u, 64u, 0u),
-  MK_COL(128u, 64u, 192u),
-  MK_COL(128u, 64u, 64u),
-  MK_COL(128u, 64u, 128u),
-  MK_COL(128u, 128u, 0u),
-  MK_COL(128u, 128u, 192u),
-  MK_COL(128u, 128u, 64u),
-  MK_COL(128u, 128u, 128u),
-};
-
-#undef MK_COL
-
-//------------------------------------------------------------------------------
-// TODO(skal): move the functions to dsp/lossless.c when the correct
-// granularity is found. For now, we'll just copy-paste some useful bits
-// here instead.
-
-// In-place sum of each component with mod 256.
-static WEBP_INLINE void AddPixelsEq(uint32_t* a, uint32_t b) {
-  const uint32_t alpha_and_green = (*a & 0xff00ff00u) + (b & 0xff00ff00u);
-  const uint32_t red_and_blue = (*a & 0x00ff00ffu) + (b & 0x00ff00ffu);
-  *a = (alpha_and_green & 0xff00ff00u) | (red_and_blue & 0x00ff00ffu);
-}
-
-static WEBP_INLINE uint32_t Clip255(uint32_t a) {
-  if (a < 256) {
-    return a;
-  }
-  // return 0, when a is a negative integer.
-  // return 255, when a is positive.
-  return ~a >> 24;
-}
-
-// Delta palettization functions.
-static WEBP_INLINE int Square(int x) {
-  return x * x;
-}
-
-static WEBP_INLINE uint32_t Intensity(uint32_t a) {
-  return
-      30 * ((a >> 16) & 0xff) +
-      59 * ((a >>  8) & 0xff) +
-      11 * ((a >>  0) & 0xff);
-}
-
-static uint32_t CalcDist(uint32_t predicted_value, uint32_t actual_value,
-                         uint32_t palette_entry) {
-  int i;
-  uint32_t distance = 0;
-  AddPixelsEq(&predicted_value, palette_entry);
-  for (i = 0; i < 32; i += 8) {
-    const int32_t av = (actual_value >> i) & 0xff;
-    const int32_t pv = (predicted_value >> i) & 0xff;
-    distance += Square(pv - av);
-  }
-  // We sum square of intensity difference with factor 10, but because Intensity
-  // returns 100 times real intensity we need to multiply differences of colors
-  // by 1000.
-  distance *= 1000u;
-  distance += Square(Intensity(predicted_value)
-                     - Intensity(actual_value));
-  return distance;
-}
-
-static uint32_t Predict(int x, int y, uint32_t* image) {
-  const uint32_t t = (y == 0) ? ARGB_BLACK : image[x];
-  const uint32_t l = (x == 0) ? ARGB_BLACK : image[x - 1];
-  const uint32_t p =
-      (((((t >> 24) & 0xff) + ((l >> 24) & 0xff)) / 2) << 24) +
-      (((((t >> 16) & 0xff) + ((l >> 16) & 0xff)) / 2) << 16) +
-      (((((t >>  8) & 0xff) + ((l >>  8) & 0xff)) / 2) <<  8) +
-      (((((t >>  0) & 0xff) + ((l >>  0) & 0xff)) / 2) <<  0);
-  if (x == 0 && y == 0) return ARGB_BLACK;
-  if (x == 0) return t;
-  if (y == 0) return l;
-  return p;
-}
-
-static WEBP_INLINE int AddSubtractComponentFullWithCoefficient(
-    int a, int b, int c) {
-  return Clip255(a + ((b - c) >> 2));
-}
-
-static WEBP_INLINE uint32_t ClampedAddSubtractFullWithCoefficient(
-    uint32_t c0, uint32_t c1, uint32_t c2) {
-  const int a = AddSubtractComponentFullWithCoefficient(
-      c0 >> 24, c1 >> 24, c2 >> 24);
-  const int r = AddSubtractComponentFullWithCoefficient((c0 >> 16) & 0xff,
-                                                       (c1 >> 16) & 0xff,
-                                                       (c2 >> 16) & 0xff);
-  const int g = AddSubtractComponentFullWithCoefficient((c0 >> 8) & 0xff,
-                                                       (c1 >> 8) & 0xff,
-                                                       (c2 >> 8) & 0xff);
-  const int b = AddSubtractComponentFullWithCoefficient(
-      c0 & 0xff, c1 & 0xff, c2 & 0xff);
-  return ((uint32_t)a << 24) | (r << 16) | (g << 8) | b;
-}
-
-//------------------------------------------------------------------------------
-
-// Find palette entry with minimum error from difference of actual pixel value
-// and predicted pixel value. Propagate error of pixel to its top and left pixel
-// in src array. Write predicted_value + palette_entry to new_image. Return
-// index of best palette entry.
-static int FindBestPaletteEntry(uint32_t src, uint32_t predicted_value,
-                                const uint32_t palette[], int palette_size) {
-  int i;
-  int idx = 0;
-  uint32_t best_distance = CalcDist(predicted_value, src, palette[0]);
-  for (i = 1; i < palette_size; ++i) {
-    const uint32_t distance = CalcDist(predicted_value, src, palette[i]);
-    if (distance < best_distance) {
-      best_distance = distance;
-      idx = i;
-    }
-  }
-  return idx;
-}
-
-static void ApplyBestPaletteEntry(int x, int y,
-                                  uint32_t new_value, uint32_t palette_value,
-                                  uint32_t* src, int src_stride,
-                                  uint32_t* new_image) {
-  AddPixelsEq(&new_value, palette_value);
-  if (x > 0) {
-    src[x - 1] = ClampedAddSubtractFullWithCoefficient(src[x - 1],
-                                                       new_value, src[x]);
-  }
-  if (y > 0) {
-    src[x - src_stride] =
-        ClampedAddSubtractFullWithCoefficient(src[x - src_stride],
-                                              new_value, src[x]);
-  }
-  new_image[x] = new_value;
-}
-
-//------------------------------------------------------------------------------
-// Main entry point
-
-static WebPEncodingError ApplyDeltaPalette(uint32_t* src, uint32_t* dst,
-                                           uint32_t src_stride,
-                                           uint32_t dst_stride,
-                                           const uint32_t* palette,
-                                           int palette_size,
-                                           int width, int height,
-                                           int num_passes) {
-  int x, y;
-  WebPEncodingError err = VP8_ENC_OK;
-  uint32_t* new_image = (uint32_t*)WebPSafeMalloc(width, sizeof(*new_image));
-  uint8_t* const tmp_row = (uint8_t*)WebPSafeMalloc(width, sizeof(*tmp_row));
-  if (new_image == NULL || tmp_row == NULL) {
-    err = VP8_ENC_ERROR_OUT_OF_MEMORY;
-    goto Error;
-  }
-
-  while (num_passes--) {
-    uint32_t* cur_src = src;
-    uint32_t* cur_dst = dst;
-    for (y = 0; y < height; ++y) {
-      for (x = 0; x < width; ++x) {
-        const uint32_t predicted_value = Predict(x, y, new_image);
-        tmp_row[x] = FindBestPaletteEntry(cur_src[x], predicted_value,
-                                          palette, palette_size);
-        ApplyBestPaletteEntry(x, y, predicted_value, palette[tmp_row[x]],
-                              cur_src, src_stride, new_image);
-      }
-      for (x = 0; x < width; ++x) {
-        cur_dst[x] = palette[tmp_row[x]];
-      }
-      cur_src += src_stride;
-      cur_dst += dst_stride;
-    }
-  }
- Error:
-  WebPSafeFree(new_image);
-  WebPSafeFree(tmp_row);
-  return err;
-}
-
-// replaces enc->argb_ by a palettizable approximation of it,
-// and generates optimal enc->palette_[]
-WebPEncodingError WebPSearchOptimalDeltaPalette(VP8LEncoder* const enc) {
-  const WebPPicture* const pic = enc->pic_;
-  uint32_t* src = pic->argb;
-  uint32_t* dst = enc->argb_;
-  const int width = pic->width;
-  const int height = pic->height;
-
-  WebPEncodingError err = VP8_ENC_OK;
-  memcpy(enc->palette_, kDeltaPalette, sizeof(kDeltaPalette));
-  enc->palette_[DELTA_PALETTE_SIZE - 1] = src[0] - 0xff000000u;
-  enc->palette_size_ = DELTA_PALETTE_SIZE;
-  err = ApplyDeltaPalette(src, dst, pic->argb_stride, enc->current_width_,
-                          enc->palette_, enc->palette_size_,
-                          width, height, 2);
-  if (err != VP8_ENC_OK) goto Error;
-
- Error:
-  return err;
-}
-
-#else  // !WEBP_EXPERIMENTAL_FEATURES
-
-WebPEncodingError WebPSearchOptimalDeltaPalette(VP8LEncoder* const enc) {
-  (void)enc;
-  return VP8_ENC_ERROR_INVALID_CONFIGURATION;
-}
-
-#endif  // WEBP_EXPERIMENTAL_FEATURES
diff --git a/thirdparty/libwebp/src/enc/delta_palettization_enc.h b/thirdparty/libwebp/src/enc/delta_palettization_enc.h
deleted file mode 100644
index b15e2cd487..0000000000
--- a/thirdparty/libwebp/src/enc/delta_palettization_enc.h
+++ /dev/null
@@ -1,25 +0,0 @@
-// Copyright 2015 Google Inc. All Rights Reserved.
-//
-// Use of this source code is governed by a BSD-style license
-// that can be found in the COPYING file in the root of the source
-// tree. An additional intellectual property rights grant can be found
-// in the file PATENTS. All contributing project authors may
-// be found in the AUTHORS file in the root of the source tree.
-// -----------------------------------------------------------------------------
-//
-// Author: Mislav Bradac (mislavm@google.com)
-//
-
-#ifndef WEBP_ENC_DELTA_PALETTIZATION_ENC_H_
-#define WEBP_ENC_DELTA_PALETTIZATION_ENC_H_
-
-#include "src/webp/encode.h"
-#include "src/enc/vp8li_enc.h"
-
-// Replaces enc->argb_[] input by a palettizable approximation of it,
-// and generates optimal enc->palette_[].
-// This function can revert enc->use_palette_ / enc->use_predict_ flag
-// if delta-palettization is not producing expected saving.
-WebPEncodingError WebPSearchOptimalDeltaPalette(VP8LEncoder* const enc);
-
-#endif  // WEBP_ENC_DELTA_PALETTIZATION_ENC_H_
diff --git a/thirdparty/libwebp/src/enc/histogram_enc.c b/thirdparty/libwebp/src/enc/histogram_enc.c
index 9fdbc627a1..8ac6fa8e02 100644
--- a/thirdparty/libwebp/src/enc/histogram_enc.c
+++ b/thirdparty/libwebp/src/enc/histogram_enc.c
@@ -51,10 +51,12 @@ static void HistogramCopy(const VP8LHistogram* const src,
                           VP8LHistogram* const dst) {
   uint32_t* const dst_literal = dst->literal_;
   const int dst_cache_bits = dst->palette_code_bits_;
+  const int literal_size = VP8LHistogramNumCodes(dst_cache_bits);
   const int histo_size = VP8LGetHistogramSize(dst_cache_bits);
   assert(src->palette_code_bits_ == dst_cache_bits);
   memcpy(dst, src, histo_size);
   dst->literal_ = dst_literal;
+  memcpy(dst->literal_, src->literal_, literal_size * sizeof(*dst->literal_));
 }
 
 int VP8LGetHistogramSize(int cache_bits) {
@@ -91,9 +93,19 @@ void VP8LHistogramCreate(VP8LHistogram* const p,
   VP8LHistogramStoreRefs(refs, p);
 }
 
-void VP8LHistogramInit(VP8LHistogram* const p, int palette_code_bits) {
+void VP8LHistogramInit(VP8LHistogram* const p, int palette_code_bits,
+                       int init_arrays) {
   p->palette_code_bits_ = palette_code_bits;
-  HistogramClear(p);
+  if (init_arrays) {
+    HistogramClear(p);
+  } else {
+    p->trivial_symbol_ = 0;
+    p->bit_cost_ = 0.;
+    p->literal_cost_ = 0.;
+    p->red_cost_ = 0.;
+    p->blue_cost_ = 0.;
+    memset(p->is_used_, 0, sizeof(p->is_used_));
+  }
 }
 
 VP8LHistogram* VP8LAllocateHistogram(int cache_bits) {
@@ -104,37 +116,84 @@ VP8LHistogram* VP8LAllocateHistogram(int cache_bits) {
   histo = (VP8LHistogram*)memory;
   // literal_ won't necessary be aligned.
   histo->literal_ = (uint32_t*)(memory + sizeof(VP8LHistogram));
-  VP8LHistogramInit(histo, cache_bits);
+  VP8LHistogramInit(histo, cache_bits, /*init_arrays=*/ 0);
   return histo;
 }
 
+// Resets the pointers of the histograms to point to the bit buffer in the set.
+static void HistogramSetResetPointers(VP8LHistogramSet* const set,
+                                      int cache_bits) {
+  int i;
+  const int histo_size = VP8LGetHistogramSize(cache_bits);
+  uint8_t* memory = (uint8_t*) (set->histograms);
+  memory += set->max_size * sizeof(*set->histograms);
+  for (i = 0; i < set->max_size; ++i) {
+    memory = (uint8_t*) WEBP_ALIGN(memory);
+    set->histograms[i] = (VP8LHistogram*) memory;
+    // literal_ won't necessary be aligned.
+    set->histograms[i]->literal_ = (uint32_t*)(memory + sizeof(VP8LHistogram));
+    memory += histo_size;
+  }
+}
+
+// Returns the total size of the VP8LHistogramSet.
+static size_t HistogramSetTotalSize(int size, int cache_bits) {
+  const int histo_size = VP8LGetHistogramSize(cache_bits);
+  return (sizeof(VP8LHistogramSet) + size * (sizeof(VP8LHistogram*) +
+          histo_size + WEBP_ALIGN_CST));
+}
+
 VP8LHistogramSet* VP8LAllocateHistogramSet(int size, int cache_bits) {
   int i;
   VP8LHistogramSet* set;
-  const int histo_size = VP8LGetHistogramSize(cache_bits);
-  const size_t total_size =
-      sizeof(*set) + size * (sizeof(*set->histograms) +
-      histo_size + WEBP_ALIGN_CST);
+  const size_t total_size = HistogramSetTotalSize(size, cache_bits);
   uint8_t* memory = (uint8_t*)WebPSafeMalloc(total_size, sizeof(*memory));
   if (memory == NULL) return NULL;
 
   set = (VP8LHistogramSet*)memory;
   memory += sizeof(*set);
   set->histograms = (VP8LHistogram**)memory;
-  memory += size * sizeof(*set->histograms);
   set->max_size = size;
   set->size = size;
+  HistogramSetResetPointers(set, cache_bits);
   for (i = 0; i < size; ++i) {
-    memory = (uint8_t*)WEBP_ALIGN(memory);
-    set->histograms[i] = (VP8LHistogram*)memory;
-    // literal_ won't necessary be aligned.
-    set->histograms[i]->literal_ = (uint32_t*)(memory + sizeof(VP8LHistogram));
-    VP8LHistogramInit(set->histograms[i], cache_bits);
-    memory += histo_size;
+    VP8LHistogramInit(set->histograms[i], cache_bits, /*init_arrays=*/ 0);
   }
   return set;
 }
 
+void VP8LHistogramSetClear(VP8LHistogramSet* const set) {
+  int i;
+  const int cache_bits = set->histograms[0]->palette_code_bits_;
+  const int size = set->max_size;
+  const size_t total_size = HistogramSetTotalSize(size, cache_bits);
+  uint8_t* memory = (uint8_t*)set;
+
+  memset(memory, 0, total_size);
+  memory += sizeof(*set);
+  set->histograms = (VP8LHistogram**)memory;
+  set->max_size = size;
+  set->size = size;
+  HistogramSetResetPointers(set, cache_bits);
+  for (i = 0; i < size; ++i) {
+    set->histograms[i]->palette_code_bits_ = cache_bits;
+  }
+}
+
+// Removes the histogram 'i' from 'set' by setting it to NULL.
+static void HistogramSetRemoveHistogram(VP8LHistogramSet* const set, int i,
+                                        int* const num_used) {
+  assert(set->histograms[i] != NULL);
+  set->histograms[i] = NULL;
+  --*num_used;
+  // If we remove the last valid one, shrink until the next valid one.
+  if (i == set->size - 1) {
+    while (set->size >= 1 && set->histograms[set->size - 1] == NULL) {
+      --set->size;
+    }
+  }
+}
+
 // -----------------------------------------------------------------------------
 
 void VP8LHistogramAddSinglePixOrCopy(VP8LHistogram* const histo,
@@ -237,7 +296,8 @@ static double FinalHuffmanCost(const VP8LStreaks* const stats) {
 // Get the symbol entropy for the distribution 'population'.
 // Set 'trivial_sym', if there's only one symbol present in the distribution.
 static double PopulationCost(const uint32_t* const population, int length,
-                             uint32_t* const trivial_sym) {
+                             uint32_t* const trivial_sym,
+                             uint8_t* const is_used) {
   VP8LBitEntropy bit_entropy;
   VP8LStreaks stats;
   VP8LGetEntropyUnrefined(population, length, &bit_entropy, &stats);
@@ -245,6 +305,8 @@ static double PopulationCost(const uint32_t* const population, int length,
     *trivial_sym = (bit_entropy.nonzeros == 1) ? bit_entropy.nonzero_code
                                                : VP8L_NON_TRIVIAL_SYM;
   }
+  // The histogram is used if there is at least one non-zero streak.
+  *is_used = (stats.streaks[1][0] != 0 || stats.streaks[1][1] != 0);
 
   return BitsEntropyRefine(&bit_entropy) + FinalHuffmanCost(&stats);
 }
@@ -253,7 +315,9 @@ static double PopulationCost(const uint32_t* const population, int length,
 // non-zero: both the zero-th one, or both the last one.
 static WEBP_INLINE double GetCombinedEntropy(const uint32_t* const X,
                                              const uint32_t* const Y,
-                                             int length, int trivial_at_end) {
+                                             int length, int is_X_used,
+                                             int is_Y_used,
+                                             int trivial_at_end) {
   VP8LStreaks stats;
   if (trivial_at_end) {
     // This configuration is due to palettization that transforms an indexed
@@ -262,28 +326,43 @@ static WEBP_INLINE double GetCombinedEntropy(const uint32_t* const X,
     // Only FinalHuffmanCost needs to be evaluated.
     memset(&stats, 0, sizeof(stats));
     // Deal with the non-zero value at index 0 or length-1.
-    stats.streaks[1][0] += 1;
+    stats.streaks[1][0] = 1;
     // Deal with the following/previous zero streak.
-    stats.counts[0] += 1;
-    stats.streaks[0][1] += length - 1;
+    stats.counts[0] = 1;
+    stats.streaks[0][1] = length - 1;
     return FinalHuffmanCost(&stats);
   } else {
     VP8LBitEntropy bit_entropy;
-    VP8LGetCombinedEntropyUnrefined(X, Y, length, &bit_entropy, &stats);
+    if (is_X_used) {
+      if (is_Y_used) {
+        VP8LGetCombinedEntropyUnrefined(X, Y, length, &bit_entropy, &stats);
+      } else {
+        VP8LGetEntropyUnrefined(X, length, &bit_entropy, &stats);
+      }
+    } else {
+      if (is_Y_used) {
+        VP8LGetEntropyUnrefined(Y, length, &bit_entropy, &stats);
+      } else {
+        memset(&stats, 0, sizeof(stats));
+        stats.counts[0] = 1;
+        stats.streaks[0][length > 3] = length;
+        VP8LBitEntropyInit(&bit_entropy);
+      }
+    }
 
     return BitsEntropyRefine(&bit_entropy) + FinalHuffmanCost(&stats);
   }
 }
 
 // Estimates the Entropy + Huffman + other block overhead size cost.
-double VP8LHistogramEstimateBits(const VP8LHistogram* const p) {
+double VP8LHistogramEstimateBits(VP8LHistogram* const p) {
   return
-      PopulationCost(
-          p->literal_, VP8LHistogramNumCodes(p->palette_code_bits_), NULL)
-      + PopulationCost(p->red_, NUM_LITERAL_CODES, NULL)
-      + PopulationCost(p->blue_, NUM_LITERAL_CODES, NULL)
-      + PopulationCost(p->alpha_, NUM_LITERAL_CODES, NULL)
-      + PopulationCost(p->distance_, NUM_DISTANCE_CODES, NULL)
+      PopulationCost(p->literal_, VP8LHistogramNumCodes(p->palette_code_bits_),
+                     NULL, &p->is_used_[0])
+      + PopulationCost(p->red_, NUM_LITERAL_CODES, NULL, &p->is_used_[1])
+      + PopulationCost(p->blue_, NUM_LITERAL_CODES, NULL, &p->is_used_[2])
+      + PopulationCost(p->alpha_, NUM_LITERAL_CODES, NULL, &p->is_used_[3])
+      + PopulationCost(p->distance_, NUM_DISTANCE_CODES, NULL, &p->is_used_[4])
       + VP8LExtraCost(p->literal_ + NUM_LITERAL_CODES, NUM_LENGTH_CODES)
       + VP8LExtraCost(p->distance_, NUM_DISTANCE_CODES);
 }
@@ -299,7 +378,8 @@ static int GetCombinedHistogramEntropy(const VP8LHistogram* const a,
   int trivial_at_end = 0;
   assert(a->palette_code_bits_ == b->palette_code_bits_);
   *cost += GetCombinedEntropy(a->literal_, b->literal_,
-                              VP8LHistogramNumCodes(palette_code_bits), 0);
+                              VP8LHistogramNumCodes(palette_code_bits),
+                              a->is_used_[0], b->is_used_[0], 0);
   *cost += VP8LExtraCostCombined(a->literal_ + NUM_LITERAL_CODES,
                                  b->literal_ + NUM_LITERAL_CODES,
                                  NUM_LENGTH_CODES);
@@ -319,19 +399,23 @@ static int GetCombinedHistogramEntropy(const VP8LHistogram* const a,
   }
 
   *cost +=
-      GetCombinedEntropy(a->red_, b->red_, NUM_LITERAL_CODES, trivial_at_end);
+      GetCombinedEntropy(a->red_, b->red_, NUM_LITERAL_CODES, a->is_used_[1],
+                         b->is_used_[1], trivial_at_end);
   if (*cost > cost_threshold) return 0;
 
   *cost +=
-      GetCombinedEntropy(a->blue_, b->blue_, NUM_LITERAL_CODES, trivial_at_end);
+      GetCombinedEntropy(a->blue_, b->blue_, NUM_LITERAL_CODES, a->is_used_[2],
+                         b->is_used_[2], trivial_at_end);
   if (*cost > cost_threshold) return 0;
 
-  *cost += GetCombinedEntropy(a->alpha_, b->alpha_, NUM_LITERAL_CODES,
-                              trivial_at_end);
+  *cost +=
+      GetCombinedEntropy(a->alpha_, b->alpha_, NUM_LITERAL_CODES,
+                         a->is_used_[3], b->is_used_[3], trivial_at_end);
   if (*cost > cost_threshold) return 0;
 
   *cost +=
-      GetCombinedEntropy(a->distance_, b->distance_, NUM_DISTANCE_CODES, 0);
+      GetCombinedEntropy(a->distance_, b->distance_, NUM_DISTANCE_CODES,
+                         a->is_used_[4], b->is_used_[4], 0);
   *cost +=
       VP8LExtraCostCombined(a->distance_, b->distance_, NUM_DISTANCE_CODES);
   if (*cost > cost_threshold) return 0;
@@ -377,7 +461,9 @@ static double HistogramAddEval(const VP8LHistogram* const a,
 static double HistogramAddThresh(const VP8LHistogram* const a,
                                  const VP8LHistogram* const b,
                                  double cost_threshold) {
-  double cost = -a->bit_cost_;
+  double cost;
+  assert(a != NULL && b != NULL);
+  cost = -a->bit_cost_;
   GetCombinedHistogramEntropy(a, b, cost_threshold, &cost);
   return cost;
 }
@@ -419,16 +505,19 @@ static void UpdateDominantCostRange(
 static void UpdateHistogramCost(VP8LHistogram* const h) {
   uint32_t alpha_sym, red_sym, blue_sym;
   const double alpha_cost =
-      PopulationCost(h->alpha_, NUM_LITERAL_CODES, &alpha_sym);
+      PopulationCost(h->alpha_, NUM_LITERAL_CODES, &alpha_sym,
+                     &h->is_used_[3]);
   const double distance_cost =
-      PopulationCost(h->distance_, NUM_DISTANCE_CODES, NULL) +
+      PopulationCost(h->distance_, NUM_DISTANCE_CODES, NULL, &h->is_used_[4]) +
       VP8LExtraCost(h->distance_, NUM_DISTANCE_CODES);
   const int num_codes = VP8LHistogramNumCodes(h->palette_code_bits_);
-  h->literal_cost_ = PopulationCost(h->literal_, num_codes, NULL) +
-                     VP8LExtraCost(h->literal_ + NUM_LITERAL_CODES,
-                                   NUM_LENGTH_CODES);
-  h->red_cost_ = PopulationCost(h->red_, NUM_LITERAL_CODES, &red_sym);
-  h->blue_cost_ = PopulationCost(h->blue_, NUM_LITERAL_CODES, &blue_sym);
+  h->literal_cost_ =
+      PopulationCost(h->literal_, num_codes, NULL, &h->is_used_[0]) +
+          VP8LExtraCost(h->literal_ + NUM_LITERAL_CODES, NUM_LENGTH_CODES);
+  h->red_cost_ =
+      PopulationCost(h->red_, NUM_LITERAL_CODES, &red_sym, &h->is_used_[1]);
+  h->blue_cost_ =
+      PopulationCost(h->blue_, NUM_LITERAL_CODES, &blue_sym, &h->is_used_[2]);
   h->bit_cost_ = h->literal_cost_ + h->red_cost_ + h->blue_cost_ +
                  alpha_cost + distance_cost;
   if ((alpha_sym | red_sym | blue_sym) == VP8L_NON_TRIVIAL_SYM) {
@@ -473,6 +562,7 @@ static void HistogramBuild(
   VP8LHistogram** const histograms = image_histo->histograms;
   VP8LRefsCursor c = VP8LRefsCursorInit(backward_refs);
   assert(histo_bits > 0);
+  VP8LHistogramSetClear(image_histo);
   while (VP8LRefsCursorOk(&c)) {
     const PixOrCopy* const v = c.cur_pos;
     const int ix = (y >> histo_bits) * histo_xsize + (x >> histo_bits);
@@ -487,17 +577,37 @@ static void HistogramBuild(
 }
 
 // Copies the histograms and computes its bit_cost.
-static void HistogramCopyAndAnalyze(
-    VP8LHistogramSet* const orig_histo, VP8LHistogramSet* const image_histo) {
-  int i;
-  const int histo_size = orig_histo->size;
+static const uint16_t kInvalidHistogramSymbol = (uint16_t)(-1);
+static void HistogramCopyAndAnalyze(VP8LHistogramSet* const orig_histo,
+                                    VP8LHistogramSet* const image_histo,
+                                    int* const num_used,
+                                    uint16_t* const histogram_symbols) {
+  int i, cluster_id;
+  int num_used_orig = *num_used;
   VP8LHistogram** const orig_histograms = orig_histo->histograms;
   VP8LHistogram** const histograms = image_histo->histograms;
-  for (i = 0; i < histo_size; ++i) {
+  assert(image_histo->max_size == orig_histo->max_size);
+  for (cluster_id = 0, i = 0; i < orig_histo->max_size; ++i) {
     VP8LHistogram* const histo = orig_histograms[i];
     UpdateHistogramCost(histo);
-    // Copy histograms from orig_histo[] to image_histo[].
-    HistogramCopy(histo, histograms[i]);
+
+    // Skip the histogram if it is completely empty, which can happen for tiles
+    // with no information (when they are skipped because of LZ77).
+    if (!histo->is_used_[0] && !histo->is_used_[1] && !histo->is_used_[2]
+        && !histo->is_used_[3] && !histo->is_used_[4]) {
+      // The first histogram is always used. If an histogram is empty, we set
+      // its id to be the same as the previous one: this will improve
+      // compressibility for later LZ77.
+      assert(i > 0);
+      HistogramSetRemoveHistogram(image_histo, i, num_used);
+      HistogramSetRemoveHistogram(orig_histo, i, &num_used_orig);
+      histogram_symbols[i] = kInvalidHistogramSymbol;
+    } else {
+      // Copy histograms from orig_histo[] to image_histo[].
+      HistogramCopy(histo, histograms[i]);
+      histogram_symbols[i] = cluster_id++;
+      assert(cluster_id <= image_histo->max_size);
+    }
   }
 }
 
@@ -514,29 +624,33 @@ static void HistogramAnalyzeEntropyBin(VP8LHistogramSet* const image_histo,
 
   // Analyze the dominant (literal, red and blue) entropy costs.
   for (i = 0; i < histo_size; ++i) {
+    if (histograms[i] == NULL) continue;
     UpdateDominantCostRange(histograms[i], &cost_range);
   }
 
   // bin-hash histograms on three of the dominant (literal, red and blue)
   // symbol costs and store the resulting bin_id for each histogram.
   for (i = 0; i < histo_size; ++i) {
+    // bin_map[i] is not set to a special value as its use will later be guarded
+    // by another (histograms[i] == NULL).
+    if (histograms[i] == NULL) continue;
     bin_map[i] = GetHistoBinIndex(histograms[i], &cost_range, low_effort);
   }
 }
 
-// Compact image_histo[] by merging some histograms with same bin_id together if
-// it's advantageous.
+// Merges some histograms with same bin_id together if it's advantageous.
+// Sets the remaining histograms to NULL.
 static void HistogramCombineEntropyBin(VP8LHistogramSet* const image_histo,
+                                       int *num_used,
+                                       const uint16_t* const clusters,
+                                       uint16_t* const cluster_mappings,
                                        VP8LHistogram* cur_combo,
                                        const uint16_t* const bin_map,
-                                       int bin_map_size, int num_bins,
+                                       int num_bins,
                                        double combine_cost_factor,
                                        int low_effort) {
   VP8LHistogram** const histograms = image_histo->histograms;
   int idx;
-  // Work in-place: processed histograms are put at the beginning of
-  // image_histo[]. At the end, we just have to truncate the array.
-  int size = 0;
   struct {
     int16_t first;    // position of the histogram that accumulates all
                       // histograms with the same bin_id
@@ -549,16 +663,19 @@ static void HistogramCombineEntropyBin(VP8LHistogramSet* const image_histo,
     bin_info[idx].num_combine_failures = 0;
   }
 
-  for (idx = 0; idx < bin_map_size; ++idx) {
-    const int bin_id = bin_map[idx];
-    const int first = bin_info[bin_id].first;
-    assert(size <= idx);
+  // By default, a cluster matches itself.
+  for (idx = 0; idx < *num_used; ++idx) cluster_mappings[idx] = idx;
+  for (idx = 0; idx < image_histo->size; ++idx) {
+    int bin_id, first;
+    if (histograms[idx] == NULL) continue;
+    bin_id = bin_map[idx];
+    first = bin_info[bin_id].first;
     if (first == -1) {
-      // just move histogram #idx to its final position
-      histograms[size] = histograms[idx];
-      bin_info[bin_id].first = size++;
+      bin_info[bin_id].first = idx;
     } else if (low_effort) {
       HistogramAdd(histograms[idx], histograms[first], histograms[first]);
+      HistogramSetRemoveHistogram(image_histo, idx, num_used);
+      cluster_mappings[clusters[idx]] = clusters[first];
     } else {
       // try to merge #idx into #first (both share the same bin_id)
       const double bit_cost = histograms[idx]->bit_cost_;
@@ -581,19 +698,18 @@ static void HistogramCombineEntropyBin(VP8LHistogramSet* const image_histo,
             bin_info[bin_id].num_combine_failures >= max_combine_failures) {
           // move the (better) merged histogram to its final slot
           HistogramSwap(&cur_combo, &histograms[first]);
+          HistogramSetRemoveHistogram(image_histo, idx, num_used);
+          cluster_mappings[clusters[idx]] = clusters[first];
         } else {
-          histograms[size++] = histograms[idx];
           ++bin_info[bin_id].num_combine_failures;
         }
-      } else {
-        histograms[size++] = histograms[idx];
       }
     }
   }
-  image_histo->size = size;
   if (low_effort) {
     // for low_effort case, update the final cost when everything is merged
-    for (idx = 0; idx < size; ++idx) {
+    for (idx = 0; idx < image_histo->size; ++idx) {
+      if (histograms[idx] == NULL) continue;
       UpdateHistogramCost(histograms[idx]);
     }
   }
@@ -624,16 +740,9 @@ typedef struct {
   int max_size;
 } HistoQueue;
 
-static int HistoQueueInit(HistoQueue* const histo_queue, const int max_index) {
+static int HistoQueueInit(HistoQueue* const histo_queue, const int max_size) {
   histo_queue->size = 0;
-  // max_index^2 for the queue size is safe. If you look at
-  // HistogramCombineGreedy, and imagine that UpdateQueueFront always pushes
-  // data to the queue, you insert at most:
-  // - max_index*(max_index-1)/2 (the first two for loops)
-  // - max_index - 1 in the last for loop at the first iteration of the while
-  //   loop, max_index - 2 at the second iteration ... therefore
-  //   max_index*(max_index-1)/2 overall too
-  histo_queue->max_size = max_index * max_index;
+  histo_queue->max_size = max_size;
   // We allocate max_size + 1 because the last element at index "size" is
   // used as temporary data (and it could be up to max_size).
   histo_queue->queue = (HistogramPair*)WebPSafeMalloc(
@@ -674,6 +783,18 @@ static void HistoQueueUpdateHead(HistoQueue* const histo_queue,
   }
 }
 
+// Update the cost diff and combo of a pair of histograms. This needs to be
+// called when the the histograms have been merged with a third one.
+static void HistoQueueUpdatePair(const VP8LHistogram* const h1,
+                                 const VP8LHistogram* const h2,
+                                 double threshold,
+                                 HistogramPair* const pair) {
+  const double sum_cost = h1->bit_cost_ + h2->bit_cost_;
+  pair->cost_combo = 0.;
+  GetCombinedHistogramEntropy(h1, h2, sum_cost + threshold, &pair->cost_combo);
+  pair->cost_diff = pair->cost_combo - sum_cost;
+}
+
 // Create a pair from indices "idx1" and "idx2" provided its cost
 // is inferior to "threshold", a negative entropy.
 // It returns the cost of the pair, or 0. if it superior to threshold.
@@ -683,8 +804,9 @@ static double HistoQueuePush(HistoQueue* const histo_queue,
   const VP8LHistogram* h1;
   const VP8LHistogram* h2;
   HistogramPair pair;
-  double sum_cost;
 
+  // Stop here if the queue is full.
+  if (histo_queue->size == histo_queue->max_size) return 0.;
   assert(threshold <= 0.);
   if (idx1 > idx2) {
     const int tmp = idx2;
@@ -695,16 +817,12 @@ static double HistoQueuePush(HistoQueue* const histo_queue,
   pair.idx2 = idx2;
   h1 = histograms[idx1];
   h2 = histograms[idx2];
-  sum_cost = h1->bit_cost_ + h2->bit_cost_;
-  pair.cost_combo = 0.;
-  GetCombinedHistogramEntropy(h1, h2, sum_cost + threshold, &pair.cost_combo);
-  pair.cost_diff = pair.cost_combo - sum_cost;
+
+  HistoQueueUpdatePair(h1, h2, threshold, &pair);
 
   // Do not even consider the pair if it does not improve the entropy.
   if (pair.cost_diff >= threshold) return 0.;
 
-  // We cannot add more elements than the capacity.
-  assert(histo_queue->size < histo_queue->max_size);
   histo_queue->queue[histo_queue->size++] = pair;
   HistoQueueUpdateHead(histo_queue, &histo_queue->queue[histo_queue->size - 1]);
 
@@ -715,42 +833,43 @@ static double HistoQueuePush(HistoQueue* const histo_queue,
 
 // Combines histograms by continuously choosing the one with the highest cost
 // reduction.
-static int HistogramCombineGreedy(VP8LHistogramSet* const image_histo) {
+static int HistogramCombineGreedy(VP8LHistogramSet* const image_histo,
+                                  int* const num_used) {
   int ok = 0;
-  int image_histo_size = image_histo->size;
+  const int image_histo_size = image_histo->size;
   int i, j;
   VP8LHistogram** const histograms = image_histo->histograms;
-  // Indexes of remaining histograms.
-  int* const clusters =
-      (int*)WebPSafeMalloc(image_histo_size, sizeof(*clusters));
   // Priority queue of histogram pairs.
   HistoQueue histo_queue;
 
-  if (!HistoQueueInit(&histo_queue, image_histo_size) || clusters == NULL) {
+  // image_histo_size^2 for the queue size is safe. If you look at
+  // HistogramCombineGreedy, and imagine that UpdateQueueFront always pushes
+  // data to the queue, you insert at most:
+  // - image_histo_size*(image_histo_size-1)/2 (the first two for loops)
+  // - image_histo_size - 1 in the last for loop at the first iteration of
+  //   the while loop, image_histo_size - 2 at the second iteration ...
+  //   therefore image_histo_size*(image_histo_size-1)/2 overall too
+  if (!HistoQueueInit(&histo_queue, image_histo_size * image_histo_size)) {
     goto End;
   }
 
   for (i = 0; i < image_histo_size; ++i) {
-    // Initialize clusters indexes.
-    clusters[i] = i;
+    if (image_histo->histograms[i] == NULL) continue;
     for (j = i + 1; j < image_histo_size; ++j) {
-      // Initialize positions array.
+      // Initialize queue.
+      if (image_histo->histograms[j] == NULL) continue;
       HistoQueuePush(&histo_queue, histograms, i, j, 0.);
     }
   }
 
-  while (image_histo_size > 1 && histo_queue.size > 0) {
+  while (histo_queue.size > 0) {
     const int idx1 = histo_queue.queue[0].idx1;
     const int idx2 = histo_queue.queue[0].idx2;
     HistogramAdd(histograms[idx2], histograms[idx1], histograms[idx1]);
     histograms[idx1]->bit_cost_ = histo_queue.queue[0].cost_combo;
+
     // Remove merged histogram.
-    for (i = 0; i + 1 < image_histo_size; ++i) {
-      if (clusters[i] >= idx2) {
-        clusters[i] = clusters[i + 1];
-      }
-    }
-    --image_histo_size;
+    HistogramSetRemoveHistogram(image_histo, idx2, num_used);
 
     // Remove pairs intersecting the just combined best pair.
     for (i = 0; i < histo_queue.size;) {
@@ -765,24 +884,15 @@ static int HistogramCombineGreedy(VP8LHistogramSet* const image_histo) {
     }
 
     // Push new pairs formed with combined histogram to the queue.
-    for (i = 0; i < image_histo_size; ++i) {
-      if (clusters[i] != idx1) {
-        HistoQueuePush(&histo_queue, histograms, idx1, clusters[i], 0.);
-      }
-    }
-  }
-  // Move remaining histograms to the beginning of the array.
-  for (i = 0; i < image_histo_size; ++i) {
-    if (i != clusters[i]) {  // swap the two histograms
-      HistogramSwap(&histograms[i], &histograms[clusters[i]]);
+    for (i = 0; i < image_histo->size; ++i) {
+      if (i == idx1 || image_histo->histograms[i] == NULL) continue;
+      HistoQueuePush(&histo_queue, image_histo->histograms, idx1, i, 0.);
     }
   }
 
-  image_histo->size = image_histo_size;
   ok = 1;
 
  End:
-  WebPSafeFree(clusters);
   HistoQueueClear(&histo_queue);
   return ok;
 }
@@ -790,47 +900,69 @@ static int HistogramCombineGreedy(VP8LHistogramSet* const image_histo) {
 // Perform histogram aggregation using a stochastic approach.
 // 'do_greedy' is set to 1 if a greedy approach needs to be performed
 // afterwards, 0 otherwise.
+static int PairComparison(const void* idx1, const void* idx2) {
+  // To be used with bsearch: <0 when *idx1<*idx2, >0 if >, 0 when ==.
+  return (*(int*) idx1 - *(int*) idx2);
+}
 static int HistogramCombineStochastic(VP8LHistogramSet* const image_histo,
-                                      int min_cluster_size,
+                                      int* const num_used, int min_cluster_size,
                                       int* const do_greedy) {
-  int iter;
+  int j, iter;
   uint32_t seed = 1;
   int tries_with_no_success = 0;
-  int image_histo_size = image_histo->size;
-  const int outer_iters = image_histo_size;
+  const int outer_iters = *num_used;
   const int num_tries_no_success = outer_iters / 2;
   VP8LHistogram** const histograms = image_histo->histograms;
-  // Priority queue of histogram pairs. Its size of "kCostHeapSizeSqrt"^2
+  // Priority queue of histogram pairs. Its size of 'kHistoQueueSize'
   // impacts the quality of the compression and the speed: the smaller the
   // faster but the worse for the compression.
   HistoQueue histo_queue;
-  const int kHistoQueueSizeSqrt = 3;
+  const int kHistoQueueSize = 9;
   int ok = 0;
+  // mapping from an index in image_histo with no NULL histogram to the full
+  // blown image_histo.
+  int* mappings;
+
+  if (*num_used < min_cluster_size) {
+    *do_greedy = 1;
+    return 1;
+  }
 
-  if (!HistoQueueInit(&histo_queue, kHistoQueueSizeSqrt)) {
+  mappings = (int*) WebPSafeMalloc(*num_used, sizeof(*mappings));
+  if (mappings == NULL || !HistoQueueInit(&histo_queue, kHistoQueueSize)) {
     goto End;
   }
+  // Fill the initial mapping.
+  for (j = 0, iter = 0; iter < image_histo->size; ++iter) {
+    if (histograms[iter] == NULL) continue;
+    mappings[j++] = iter;
+  }
+  assert(j == *num_used);
+
   // Collapse similar histograms in 'image_histo'.
-  ++min_cluster_size;
-  for (iter = 0; iter < outer_iters && image_histo_size >= min_cluster_size &&
-                 ++tries_with_no_success < num_tries_no_success;
+  for (iter = 0;
+       iter < outer_iters && *num_used >= min_cluster_size &&
+           ++tries_with_no_success < num_tries_no_success;
        ++iter) {
+    int* mapping_index;
     double best_cost =
         (histo_queue.size == 0) ? 0. : histo_queue.queue[0].cost_diff;
     int best_idx1 = -1, best_idx2 = 1;
-    int j;
-    const uint32_t rand_range = (image_histo_size - 1) * image_histo_size;
-    // image_histo_size / 2 was chosen empirically. Less means faster but worse
+    const uint32_t rand_range = (*num_used - 1) * (*num_used);
+    // (*num_used) / 2 was chosen empirically. Less means faster but worse
     // compression.
-    const int num_tries = image_histo_size / 2;
+    const int num_tries = (*num_used) / 2;
 
-    for (j = 0; j < num_tries; ++j) {
+    // Pick random samples.
+    for (j = 0; *num_used >= 2 && j < num_tries; ++j) {
       double curr_cost;
       // Choose two different histograms at random and try to combine them.
       const uint32_t tmp = MyRand(&seed) % rand_range;
-      const uint32_t idx1 = tmp / (image_histo_size - 1);
-      uint32_t idx2 = tmp % (image_histo_size - 1);
+      uint32_t idx1 = tmp / (*num_used - 1);
+      uint32_t idx2 = tmp % (*num_used - 1);
       if (idx2 >= idx1) ++idx2;
+      idx1 = mappings[idx1];
+      idx2 = mappings[idx2];
 
       // Calculate cost reduction on combination.
       curr_cost =
@@ -843,18 +975,21 @@ static int HistogramCombineStochastic(VP8LHistogramSet* const image_histo,
     }
     if (histo_queue.size == 0) continue;
 
-    // Merge the two best histograms.
+    // Get the best histograms.
     best_idx1 = histo_queue.queue[0].idx1;
     best_idx2 = histo_queue.queue[0].idx2;
     assert(best_idx1 < best_idx2);
-    HistogramAddEval(histograms[best_idx1], histograms[best_idx2],
-                     histograms[best_idx1], 0);
-    // Swap the best_idx2 histogram with the last one (which is now unused).
-    --image_histo_size;
-    if (best_idx2 != image_histo_size) {
-      HistogramSwap(&histograms[image_histo_size], &histograms[best_idx2]);
-    }
-    histograms[image_histo_size] = NULL;
+    // Pop best_idx2 from mappings.
+    mapping_index = (int*) bsearch(&best_idx2, mappings, *num_used,
+                                   sizeof(best_idx2), &PairComparison);
+    assert(mapping_index != NULL);
+    memmove(mapping_index, mapping_index + 1, sizeof(*mapping_index) *
+        ((*num_used) - (mapping_index - mappings) - 1));
+    // Merge the histograms and remove best_idx2 from the queue.
+    HistogramAdd(histograms[best_idx2], histograms[best_idx1],
+                 histograms[best_idx1]);
+    histograms[best_idx1]->bit_cost_ = histo_queue.queue[0].cost_combo;
+    HistogramSetRemoveHistogram(image_histo, best_idx2, num_used);
     // Parse the queue and update each pair that deals with best_idx1,
     // best_idx2 or image_histo_size.
     for (j = 0; j < histo_queue.size;) {
@@ -877,12 +1012,6 @@ static int HistogramCombineStochastic(VP8LHistogramSet* const image_histo,
         p->idx2 = best_idx1;
         do_eval = 1;
       }
-      if (p->idx2 == image_histo_size) {
-        // No need to re-evaluate here as it does not involve a pair
-        // containing best_idx1 or best_idx2.
-        p->idx2 = best_idx2;
-      }
-      assert(p->idx2 < image_histo_size);
       // Make sure the index order is respected.
       if (p->idx1 > p->idx2) {
         const int tmp = p->idx2;
@@ -891,8 +1020,7 @@ static int HistogramCombineStochastic(VP8LHistogramSet* const image_histo,
       }
       if (do_eval) {
         // Re-evaluate the cost of an updated pair.
-        GetCombinedHistogramEntropy(histograms[p->idx1], histograms[p->idx2], 0,
-                                    &p->cost_diff);
+        HistoQueueUpdatePair(histograms[p->idx1], histograms[p->idx2], 0., p);
         if (p->cost_diff >= 0.) {
           HistoQueuePopPair(&histo_queue, p);
           continue;
@@ -901,15 +1029,14 @@ static int HistogramCombineStochastic(VP8LHistogramSet* const image_histo,
       HistoQueueUpdateHead(&histo_queue, p);
       ++j;
     }
-
     tries_with_no_success = 0;
   }
-  image_histo->size = image_histo_size;
-  *do_greedy = (image_histo->size <= min_cluster_size);
+  *do_greedy = (*num_used <= min_cluster_size);
   ok = 1;
 
 End:
   HistoQueueClear(&histo_queue);
+  WebPSafeFree(mappings);
   return ok;
 }
 
@@ -917,23 +1044,29 @@ End:
 // Histogram refinement
 
 // Find the best 'out' histogram for each of the 'in' histograms.
+// At call-time, 'out' contains the histograms of the clusters.
 // Note: we assume that out[]->bit_cost_ is already up-to-date.
 static void HistogramRemap(const VP8LHistogramSet* const in,
-                           const VP8LHistogramSet* const out,
+                           VP8LHistogramSet* const out,
                            uint16_t* const symbols) {
   int i;
   VP8LHistogram** const in_histo = in->histograms;
   VP8LHistogram** const out_histo = out->histograms;
-  const int in_size = in->size;
+  const int in_size = out->max_size;
   const int out_size = out->size;
   if (out_size > 1) {
     for (i = 0; i < in_size; ++i) {
       int best_out = 0;
       double best_bits = MAX_COST;
       int k;
+      if (in_histo[i] == NULL) {
+        // Arbitrarily set to the previous value if unused to help future LZ77.
+        symbols[i] = symbols[i - 1];
+        continue;
+      }
       for (k = 0; k < out_size; ++k) {
-        const double cur_bits =
-            HistogramAddThresh(out_histo[k], in_histo[i], best_bits);
+        double cur_bits;
+        cur_bits = HistogramAddThresh(out_histo[k], in_histo[i], best_bits);
         if (k == 0 || cur_bits < best_bits) {
           best_bits = cur_bits;
           best_out = k;
@@ -949,12 +1082,13 @@ static void HistogramRemap(const VP8LHistogramSet* const in,
   }
 
   // Recompute each out based on raw and symbols.
-  for (i = 0; i < out_size; ++i) {
-    HistogramClear(out_histo[i]);
-  }
+  VP8LHistogramSetClear(out);
+  out->size = out_size;
 
   for (i = 0; i < in_size; ++i) {
-    const int idx = symbols[i];
+    int idx;
+    if (in_histo[i] == NULL) continue;
+    idx = symbols[i];
     HistogramAdd(in_histo[i], out_histo[idx], out_histo[idx]);
   }
 }
@@ -970,6 +1104,70 @@ static double GetCombineCostFactor(int histo_size, int quality) {
   return combine_cost_factor;
 }
 
+// Given a HistogramSet 'set', the mapping of clusters 'cluster_mapping' and the
+// current assignment of the cells in 'symbols', merge the clusters and
+// assign the smallest possible clusters values.
+static void OptimizeHistogramSymbols(const VP8LHistogramSet* const set,
+                                     uint16_t* const cluster_mappings,
+                                     int num_clusters,
+                                     uint16_t* const cluster_mappings_tmp,
+                                     uint16_t* const symbols) {
+  int i, cluster_max;
+  int do_continue = 1;
+  // First, assign the lowest cluster to each pixel.
+  while (do_continue) {
+    do_continue = 0;
+    for (i = 0; i < num_clusters; ++i) {
+      int k;
+      k = cluster_mappings[i];
+      while (k != cluster_mappings[k]) {
+        cluster_mappings[k] = cluster_mappings[cluster_mappings[k]];
+        k = cluster_mappings[k];
+      }
+      if (k != cluster_mappings[i]) {
+        do_continue = 1;
+        cluster_mappings[i] = k;
+      }
+    }
+  }
+  // Create a mapping from a cluster id to its minimal version.
+  cluster_max = 0;
+  memset(cluster_mappings_tmp, 0,
+         set->max_size * sizeof(*cluster_mappings_tmp));
+  assert(cluster_mappings[0] == 0);
+  // Re-map the ids.
+  for (i = 0; i < set->max_size; ++i) {
+    int cluster;
+    if (symbols[i] == kInvalidHistogramSymbol) continue;
+    cluster = cluster_mappings[symbols[i]];
+    assert(symbols[i] < num_clusters);
+    if (cluster > 0 && cluster_mappings_tmp[cluster] == 0) {
+      ++cluster_max;
+      cluster_mappings_tmp[cluster] = cluster_max;
+    }
+    symbols[i] = cluster_mappings_tmp[cluster];
+  }
+
+  // Make sure all cluster values are used.
+  cluster_max = 0;
+  for (i = 0; i < set->max_size; ++i) {
+    if (symbols[i] == kInvalidHistogramSymbol) continue;
+    if (symbols[i] <= cluster_max) continue;
+    ++cluster_max;
+    assert(symbols[i] == cluster_max);
+  }
+}
+
+static void RemoveEmptyHistograms(VP8LHistogramSet* const image_histo) {
+  uint32_t size;
+  int i;
+  for (i = 0, size = 0; i < image_histo->size; ++i) {
+    if (image_histo->histograms[i] == NULL) continue;
+    image_histo->histograms[size++] = image_histo->histograms[i];
+  }
+  image_histo->size = size;
+}
+
 int VP8LGetHistoImageSymbols(int xsize, int ysize,
                              const VP8LBackwardRefs* const refs,
                              int quality, int low_effort,
@@ -987,28 +1185,37 @@ int VP8LGetHistoImageSymbols(int xsize, int ysize,
   // histograms of small sizes (as bin_map will be very sparse) and
   // maximum quality q==100 (to preserve the compression gains at that level).
   const int entropy_combine_num_bins = low_effort ? NUM_PARTITIONS : BIN_SIZE;
-  const int entropy_combine =
-      (orig_histo->size > entropy_combine_num_bins * 2) && (quality < 100);
-
-  if (orig_histo == NULL) goto Error;
+  int entropy_combine;
+  uint16_t* const map_tmp =
+      WebPSafeMalloc(2 * image_histo_raw_size, sizeof(map_tmp));
+  uint16_t* const cluster_mappings = map_tmp + image_histo_raw_size;
+  int num_used = image_histo_raw_size;
+  if (orig_histo == NULL || map_tmp == NULL) goto Error;
 
   // Construct the histograms from backward references.
   HistogramBuild(xsize, histo_bits, refs, orig_histo);
   // Copies the histograms and computes its bit_cost.
-  HistogramCopyAndAnalyze(orig_histo, image_histo);
+  // histogram_symbols is optimized
+  HistogramCopyAndAnalyze(orig_histo, image_histo, &num_used,
+                          histogram_symbols);
+
+  entropy_combine =
+      (num_used > entropy_combine_num_bins * 2) && (quality < 100);
 
   if (entropy_combine) {
-    const int bin_map_size = orig_histo->size;
-    // Reuse histogram_symbols storage. By definition, it's guaranteed to be ok.
-    uint16_t* const bin_map = histogram_symbols;
+    uint16_t* const bin_map = map_tmp;
     const double combine_cost_factor =
         GetCombineCostFactor(image_histo_raw_size, quality);
+    const uint32_t num_clusters = num_used;
 
-    HistogramAnalyzeEntropyBin(orig_histo, bin_map, low_effort);
+    HistogramAnalyzeEntropyBin(image_histo, bin_map, low_effort);
     // Collapse histograms with similar entropy.
-    HistogramCombineEntropyBin(image_histo, tmp_histo, bin_map, bin_map_size,
+    HistogramCombineEntropyBin(image_histo, &num_used, histogram_symbols,
+                               cluster_mappings, tmp_histo, bin_map,
                                entropy_combine_num_bins, combine_cost_factor,
                                low_effort);
+    OptimizeHistogramSymbols(image_histo, cluster_mappings, num_clusters,
+                             map_tmp, histogram_symbols);
   }
 
   // Don't combine the histograms using stochastic and greedy heuristics for
@@ -1018,21 +1225,26 @@ int VP8LGetHistoImageSymbols(int xsize, int ysize,
     // cubic ramp between 1 and MAX_HISTO_GREEDY:
     const int threshold_size = (int)(1 + (x * x * x) * (MAX_HISTO_GREEDY - 1));
     int do_greedy;
-    if (!HistogramCombineStochastic(image_histo, threshold_size, &do_greedy)) {
+    if (!HistogramCombineStochastic(image_histo, &num_used, threshold_size,
+                                    &do_greedy)) {
       goto Error;
     }
-    if (do_greedy && !HistogramCombineGreedy(image_histo)) {
-      goto Error;
+    if (do_greedy) {
+      RemoveEmptyHistograms(image_histo);
+      if (!HistogramCombineGreedy(image_histo, &num_used)) {
+        goto Error;
+      }
     }
   }
 
-  // TODO(vrabaud): Optimize HistogramRemap for low-effort compression mode.
   // Find the optimal map from original histograms to the final ones.
+  RemoveEmptyHistograms(image_histo);
   HistogramRemap(orig_histo, image_histo, histogram_symbols);
 
   ok = 1;
 
  Error:
   VP8LFreeHistogramSet(orig_histo);
+  WebPSafeFree(map_tmp);
   return ok;
 }
diff --git a/thirdparty/libwebp/src/enc/histogram_enc.h b/thirdparty/libwebp/src/enc/histogram_enc.h
index e8c4c83f6f..54c2d21783 100644
--- a/thirdparty/libwebp/src/enc/histogram_enc.h
+++ b/thirdparty/libwebp/src/enc/histogram_enc.h
@@ -44,6 +44,7 @@ typedef struct {
   double literal_cost_;      // Cached values of dominant entropy costs:
   double red_cost_;          // literal, red & blue.
   double blue_cost_;
+  uint8_t is_used_[5];       // 5 for literal, red, blue, alpha, distance
 } VP8LHistogram;
 
 // Collection of histograms with fixed capacity, allocated as one
@@ -67,7 +68,9 @@ void VP8LHistogramCreate(VP8LHistogram* const p,
 int VP8LGetHistogramSize(int palette_code_bits);
 
 // Set the palette_code_bits and reset the stats.
-void VP8LHistogramInit(VP8LHistogram* const p, int palette_code_bits);
+// If init_arrays is true, the arrays are also filled with 0's.
+void VP8LHistogramInit(VP8LHistogram* const p, int palette_code_bits,
+                       int init_arrays);
 
 // Collect all the references into a histogram (without reset)
 void VP8LHistogramStoreRefs(const VP8LBackwardRefs* const refs,
@@ -83,6 +86,9 @@ void VP8LFreeHistogramSet(VP8LHistogramSet* const histo);
 // using 'cache_bits'. Return NULL in case of memory error.
 VP8LHistogramSet* VP8LAllocateHistogramSet(int size, int cache_bits);
 
+// Set the histograms in set to 0.
+void VP8LHistogramSetClear(VP8LHistogramSet* const set);
+
 // Allocate and initialize histogram object with specified 'cache_bits'.
 // Returns NULL in case of memory error.
 // Special case of VP8LAllocateHistogramSet, with size equals 1.
@@ -113,7 +119,7 @@ double VP8LBitsEntropy(const uint32_t* const array, int n);
 
 // Estimate how many bits the combined entropy of literals and distance
 // approximately maps to.
-double VP8LHistogramEstimateBits(const VP8LHistogram* const p);
+double VP8LHistogramEstimateBits(VP8LHistogram* const p);
 
 #ifdef __cplusplus
 }
diff --git a/thirdparty/libwebp/src/enc/iterator_enc.c b/thirdparty/libwebp/src/enc/iterator_enc.c
index 7c47d51272..29f91d8315 100644
--- a/thirdparty/libwebp/src/enc/iterator_enc.c
+++ b/thirdparty/libwebp/src/enc/iterator_enc.c
@@ -128,7 +128,7 @@ static void ImportLine(const uint8_t* src, int src_stride,
   for (; i < total_len; ++i) dst[i] = dst[len - 1];
 }
 
-void VP8IteratorImport(VP8EncIterator* const it, uint8_t* tmp_32) {
+void VP8IteratorImport(VP8EncIterator* const it, uint8_t* const tmp_32) {
   const VP8Encoder* const enc = it->enc_;
   const int x = it->x_, y = it->y_;
   const WebPPicture* const pic = enc->pic_;
diff --git a/thirdparty/libwebp/src/enc/picture_tools_enc.c b/thirdparty/libwebp/src/enc/picture_tools_enc.c
index be292d4391..d0e8a495da 100644
--- a/thirdparty/libwebp/src/enc/picture_tools_enc.c
+++ b/thirdparty/libwebp/src/enc/picture_tools_enc.c
@@ -16,10 +16,6 @@
 #include "src/enc/vp8i_enc.h"
 #include "src/dsp/yuv.h"
 
-static WEBP_INLINE uint32_t MakeARGB32(int r, int g, int b) {
-  return (0xff000000u | (r << 16) | (g << 8) | b);
-}
-
 //------------------------------------------------------------------------------
 // Helper: clean up fully transparent area to help compressibility.
 
@@ -195,6 +191,10 @@ void WebPCleanupTransparentAreaLossless(WebPPicture* const pic) {
 #define BLEND_10BIT(V0, V1, ALPHA) \
     ((((V0) * (1020 - (ALPHA)) + (V1) * (ALPHA)) * 0x101 + 1024) >> 18)
 
+static WEBP_INLINE uint32_t MakeARGB32(int r, int g, int b) {
+  return (0xff000000u | (r << 16) | (g << 8) | b);
+}
+
 void WebPBlendAlpha(WebPPicture* pic, uint32_t background_rgb) {
   const int red = (background_rgb >> 16) & 0xff;
   const int green = (background_rgb >> 8) & 0xff;
@@ -208,39 +208,44 @@ void WebPBlendAlpha(WebPPicture* pic, uint32_t background_rgb) {
     const int U0 = VP8RGBToU(4 * red, 4 * green, 4 * blue, 4 * YUV_HALF);
     const int V0 = VP8RGBToV(4 * red, 4 * green, 4 * blue, 4 * YUV_HALF);
     const int has_alpha = pic->colorspace & WEBP_CSP_ALPHA_BIT;
-    if (!has_alpha || pic->a == NULL) return;    // nothing to do
+    uint8_t* y_ptr = pic->y;
+    uint8_t* u_ptr = pic->u;
+    uint8_t* v_ptr = pic->v;
+    uint8_t* a_ptr = pic->a;
+    if (!has_alpha || a_ptr == NULL) return;    // nothing to do
     for (y = 0; y < pic->height; ++y) {
       // Luma blending
-      uint8_t* const y_ptr = pic->y + y * pic->y_stride;
-      uint8_t* const a_ptr = pic->a + y * pic->a_stride;
       for (x = 0; x < pic->width; ++x) {
-        const int alpha = a_ptr[x];
+        const uint8_t alpha = a_ptr[x];
         if (alpha < 0xff) {
-          y_ptr[x] = BLEND(Y0, y_ptr[x], a_ptr[x]);
+          y_ptr[x] = BLEND(Y0, y_ptr[x], alpha);
         }
       }
       // Chroma blending every even line
       if ((y & 1) == 0) {
-        uint8_t* const u = pic->u + (y >> 1) * pic->uv_stride;
-        uint8_t* const v = pic->v + (y >> 1) * pic->uv_stride;
         uint8_t* const a_ptr2 =
             (y + 1 == pic->height) ? a_ptr : a_ptr + pic->a_stride;
         for (x = 0; x < uv_width; ++x) {
           // Average four alpha values into a single blending weight.
           // TODO(skal): might lead to visible contouring. Can we do better?
-          const int alpha =
+          const uint32_t alpha =
               a_ptr[2 * x + 0] + a_ptr[2 * x + 1] +
               a_ptr2[2 * x + 0] + a_ptr2[2 * x + 1];
-          u[x] = BLEND_10BIT(U0, u[x], alpha);
-          v[x] = BLEND_10BIT(V0, v[x], alpha);
+          u_ptr[x] = BLEND_10BIT(U0, u_ptr[x], alpha);
+          v_ptr[x] = BLEND_10BIT(V0, v_ptr[x], alpha);
         }
         if (pic->width & 1) {   // rightmost pixel
-          const int alpha = 2 * (a_ptr[2 * x + 0] + a_ptr2[2 * x + 0]);
-          u[x] = BLEND_10BIT(U0, u[x], alpha);
-          v[x] = BLEND_10BIT(V0, v[x], alpha);
+          const uint32_t alpha = 2 * (a_ptr[2 * x + 0] + a_ptr2[2 * x + 0]);
+          u_ptr[x] = BLEND_10BIT(U0, u_ptr[x], alpha);
+          v_ptr[x] = BLEND_10BIT(V0, v_ptr[x], alpha);
         }
+      } else {
+        u_ptr += pic->uv_stride;
+        v_ptr += pic->uv_stride;
       }
-      memset(a_ptr, 0xff, pic->width);
+      memset(a_ptr, 0xff, pic->width);  // reset alpha value to opaque
+      a_ptr += pic->a_stride;
+      y_ptr += pic->y_stride;
     }
   } else {
     uint32_t* argb = pic->argb;
diff --git a/thirdparty/libwebp/src/enc/predictor_enc.c b/thirdparty/libwebp/src/enc/predictor_enc.c
index f3715f515e..802e89693e 100644
--- a/thirdparty/libwebp/src/enc/predictor_enc.c
+++ b/thirdparty/libwebp/src/enc/predictor_enc.c
@@ -177,12 +177,15 @@ static uint8_t NearLosslessComponent(uint8_t value, uint8_t predict,
   }
 }
 
+static WEBP_INLINE uint8_t NearLosslessDiff(uint8_t a, uint8_t b) {
+  return (uint8_t)((((int)(a) - (int)(b))) & 0xff);
+}
+
 // Quantize every component of the difference between the actual pixel value and
 // its prediction to a multiple of a quantization (a power of 2, not larger than
 // max_quantization which is a power of 2, smaller than max_diff). Take care if
 // value and predict have undergone subtract green, which means that red and
 // blue are represented as offsets from green.
-#define NEAR_LOSSLESS_DIFF(a, b) (uint8_t)((((int)(a) - (int)(b))) & 0xff)
 static uint32_t NearLossless(uint32_t value, uint32_t predict,
                              int max_quantization, int max_diff,
                              int used_subtract_green) {
@@ -199,7 +202,7 @@ static uint32_t NearLossless(uint32_t value, uint32_t predict,
   }
   if ((value >> 24) == 0 || (value >> 24) == 0xff) {
     // Preserve transparency of fully transparent or fully opaque pixels.
-    a = NEAR_LOSSLESS_DIFF(value >> 24, predict >> 24);
+    a = NearLosslessDiff(value >> 24, predict >> 24);
   } else {
     a = NearLosslessComponent(value >> 24, predict >> 24, 0xff, quantization);
   }
@@ -212,16 +215,15 @@ static uint32_t NearLossless(uint32_t value, uint32_t predict,
     // The amount by which green has been adjusted during quantization. It is
     // subtracted from red and blue for compensation, to avoid accumulating two
     // quantization errors in them.
-    green_diff = NEAR_LOSSLESS_DIFF(new_green, value >> 8);
+    green_diff = NearLosslessDiff(new_green, value >> 8);
   }
-  r = NearLosslessComponent(NEAR_LOSSLESS_DIFF(value >> 16, green_diff),
+  r = NearLosslessComponent(NearLosslessDiff(value >> 16, green_diff),
                             (predict >> 16) & 0xff, 0xff - new_green,
                             quantization);
-  b = NearLosslessComponent(NEAR_LOSSLESS_DIFF(value, green_diff),
+  b = NearLosslessComponent(NearLosslessDiff(value, green_diff),
                             predict & 0xff, 0xff - new_green, quantization);
   return ((uint32_t)a << 24) | ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
 }
-#undef NEAR_LOSSLESS_DIFF
 #endif  // (WEBP_NEAR_LOSSLESS == 1)
 
 // Stores the difference between the pixel and its prediction in "out".
diff --git a/thirdparty/libwebp/src/enc/quant_enc.c b/thirdparty/libwebp/src/enc/quant_enc.c
index 35bfaf21ef..03c682e3ae 100644
--- a/thirdparty/libwebp/src/enc/quant_enc.c
+++ b/thirdparty/libwebp/src/enc/quant_enc.c
@@ -15,6 +15,7 @@
 #include <math.h>
 #include <stdlib.h>  // for abs()
 
+#include "src/dsp/quant.h"
 #include "src/enc/vp8i_enc.h"
 #include "src/enc/cost_enc.h"
 
@@ -977,19 +978,6 @@ static void SwapOut(VP8EncIterator* const it) {
   SwapPtr(&it->yuv_out_, &it->yuv_out2_);
 }
 
-static score_t IsFlat(const int16_t* levels, int num_blocks, score_t thresh) {
-  score_t score = 0;
-  while (num_blocks-- > 0) {      // TODO(skal): refine positional scoring?
-    int i;
-    for (i = 1; i < 16; ++i) {    // omit DC, we're only interested in AC
-      score += (levels[i] != 0);
-      if (score > thresh) return 0;
-    }
-    levels += 16;
-  }
-  return 1;
-}
-
 static void PickBestIntra16(VP8EncIterator* const it, VP8ModeScore* rd) {
   const int kNumBlocks = 16;
   VP8SegmentInfo* const dqm = &it->enc_->dqm_[it->mb_->segment_];
diff --git a/thirdparty/libwebp/src/enc/vp8i_enc.h b/thirdparty/libwebp/src/enc/vp8i_enc.h
index 624e8f8e66..3a1967da88 100644
--- a/thirdparty/libwebp/src/enc/vp8i_enc.h
+++ b/thirdparty/libwebp/src/enc/vp8i_enc.h
@@ -32,7 +32,7 @@ extern "C" {
 // version numbers
 #define ENC_MAJ_VERSION 1
 #define ENC_MIN_VERSION 0
-#define ENC_REV_VERSION 0
+#define ENC_REV_VERSION 2
 
 enum { MAX_LF_LEVELS = 64,       // Maximum loop filter level
        MAX_VARIABLE_LEVEL = 67,  // last (inclusive) level with variable cost
@@ -278,7 +278,7 @@ int VP8IteratorIsDone(const VP8EncIterator* const it);
 // Import uncompressed samples from source.
 // If tmp_32 is not NULL, import boundary samples too.
 // tmp_32 is a 32-bytes scratch buffer that must be aligned in memory.
-void VP8IteratorImport(VP8EncIterator* const it, uint8_t* tmp_32);
+void VP8IteratorImport(VP8EncIterator* const it, uint8_t* const tmp_32);
 // export decimated samples
 void VP8IteratorExport(const VP8EncIterator* const it);
 // go to next macroblock. Returns false if not finished.
@@ -515,4 +515,4 @@ void WebPCleanupTransparentAreaLossless(WebPPicture* const pic);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_ENC_VP8I_ENC_H_ */
+#endif  // WEBP_ENC_VP8I_ENC_H_
diff --git a/thirdparty/libwebp/src/enc/vp8l_enc.c b/thirdparty/libwebp/src/enc/vp8l_enc.c
index a89184eb08..2efd403f77 100644
--- a/thirdparty/libwebp/src/enc/vp8l_enc.c
+++ b/thirdparty/libwebp/src/enc/vp8l_enc.c
@@ -462,6 +462,7 @@ static int GetHuffBitLengthsAndCodes(
   for (i = 0; i < histogram_image_size; ++i) {
     const VP8LHistogram* const histo = histogram_image->histograms[i];
     HuffmanTreeCode* const codes = &huffman_codes[5 * i];
+    assert(histo != NULL);
     for (k = 0; k < 5; ++k) {
       const int num_symbols =
           (k == 0) ? VP8LHistogramNumCodes(histo->palette_code_bits_) :
@@ -809,6 +810,7 @@ static WebPEncodingError EncodeImageNoHuffman(VP8LBitWriter* const bw,
     err = VP8_ENC_ERROR_OUT_OF_MEMORY;
     goto Error;
   }
+  VP8LHistogramSetClear(histogram_image);
 
   // Build histogram image and symbols from backward references.
   VP8LHistogramStoreRefs(refs, histogram_image->histograms[0]);
@@ -1248,14 +1250,20 @@ static WebPEncodingError MakeInputImageCopy(VP8LEncoder* const enc) {
   const WebPPicture* const picture = enc->pic_;
   const int width = picture->width;
   const int height = picture->height;
-  int y;
+
   err = AllocateTransformBuffer(enc, width, height);
   if (err != VP8_ENC_OK) return err;
   if (enc->argb_content_ == kEncoderARGB) return VP8_ENC_OK;
-  for (y = 0; y < height; ++y) {
-    memcpy(enc->argb_ + y * width,
-           picture->argb + y * picture->argb_stride,
-           width * sizeof(*enc->argb_));
+
+  {
+    uint32_t* dst = enc->argb_;
+    const uint32_t* src = picture->argb;
+    int y;
+    for (y = 0; y < height; ++y) {
+      memcpy(dst, src, width * sizeof(*dst));
+      dst += width;
+      src += picture->argb_stride;
+    }
   }
   enc->argb_content_ = kEncoderARGB;
   assert(enc->current_width_ == width);
diff --git a/thirdparty/libwebp/src/enc/vp8li_enc.h b/thirdparty/libwebp/src/enc/vp8li_enc.h
index 298a4a0014..d2d0fc509c 100644
--- a/thirdparty/libwebp/src/enc/vp8li_enc.h
+++ b/thirdparty/libwebp/src/enc/vp8li_enc.h
@@ -115,4 +115,4 @@ void VP8LColorSpaceTransform(int width, int height, int bits, int quality,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_ENC_VP8LI_ENC_H_ */
+#endif  // WEBP_ENC_VP8LI_ENC_H_
diff --git a/thirdparty/libwebp/src/mux/animi.h b/thirdparty/libwebp/src/mux/animi.h
index 88899532aa..34c45ba4da 100644
--- a/thirdparty/libwebp/src/mux/animi.h
+++ b/thirdparty/libwebp/src/mux/animi.h
@@ -40,4 +40,4 @@ int WebPAnimEncoderRefineRect(
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_MUX_ANIMI_H_ */
+#endif  // WEBP_MUX_ANIMI_H_
diff --git a/thirdparty/libwebp/src/mux/muxedit.c b/thirdparty/libwebp/src/mux/muxedit.c
index 7a027b3cb4..ccf14b2a0c 100644
--- a/thirdparty/libwebp/src/mux/muxedit.c
+++ b/thirdparty/libwebp/src/mux/muxedit.c
@@ -69,12 +69,12 @@ void WebPMuxDelete(WebPMux* mux) {
   if (idx == (INDEX)) {                                                        \
     err = ChunkAssignData(&chunk, data, copy_data, tag);                       \
     if (err == WEBP_MUX_OK) {                                                  \
-      err = ChunkSetNth(&chunk, (LIST), nth);                                  \
+      err = ChunkSetHead(&chunk, (LIST));                                      \
     }                                                                          \
     return err;                                                                \
   }
 
-static WebPMuxError MuxSet(WebPMux* const mux, uint32_t tag, uint32_t nth,
+static WebPMuxError MuxSet(WebPMux* const mux, uint32_t tag,
                            const WebPData* const data, int copy_data) {
   WebPChunk chunk;
   WebPMuxError err = WEBP_MUX_NOT_FOUND;
@@ -190,7 +190,7 @@ WebPMuxError WebPMuxSetChunk(WebPMux* mux, const char fourcc[4],
   if (err != WEBP_MUX_OK && err != WEBP_MUX_NOT_FOUND) return err;
 
   // Add the given chunk.
-  return MuxSet(mux, tag, 1, chunk_data, copy_data);
+  return MuxSet(mux, tag, chunk_data, copy_data);
 }
 
 // Creates a chunk from given 'data' and sets it as 1st chunk in 'chunk_list'.
@@ -202,7 +202,7 @@ static WebPMuxError AddDataToChunkList(
   ChunkInit(&chunk);
   err = ChunkAssignData(&chunk, data, copy_data, tag);
   if (err != WEBP_MUX_OK) goto Err;
-  err = ChunkSetNth(&chunk, chunk_list, 1);
+  err = ChunkSetHead(&chunk, chunk_list);
   if (err != WEBP_MUX_OK) goto Err;
   return WEBP_MUX_OK;
  Err:
@@ -266,14 +266,14 @@ WebPMuxError WebPMuxPushFrame(WebPMux* mux, const WebPMuxFrameInfo* info,
                               int copy_data) {
   WebPMuxImage wpi;
   WebPMuxError err;
-  const WebPData* const bitstream = &info->bitstream;
 
   // Sanity checks.
   if (mux == NULL || info == NULL) return WEBP_MUX_INVALID_ARGUMENT;
 
   if (info->id != WEBP_CHUNK_ANMF) return WEBP_MUX_INVALID_ARGUMENT;
 
-  if (bitstream->bytes == NULL || bitstream->size > MAX_CHUNK_PAYLOAD) {
+  if (info->bitstream.bytes == NULL ||
+      info->bitstream.size > MAX_CHUNK_PAYLOAD) {
     return WEBP_MUX_INVALID_ARGUMENT;
   }
 
@@ -287,7 +287,7 @@ WebPMuxError WebPMuxPushFrame(WebPMux* mux, const WebPMuxFrameInfo* info,
   }
 
   MuxImageInit(&wpi);
-  err = SetAlphaAndImageChunks(bitstream, copy_data, &wpi);
+  err = SetAlphaAndImageChunks(&info->bitstream, copy_data, &wpi);
   if (err != WEBP_MUX_OK) goto Err;
   assert(wpi.img_ != NULL);  // As SetAlphaAndImageChunks() was successful.
 
@@ -342,7 +342,7 @@ WebPMuxError WebPMuxSetAnimationParams(WebPMux* mux,
   // Set the animation parameters.
   PutLE32(data, params->bgcolor);
   PutLE16(data + 4, params->loop_count);
-  return MuxSet(mux, kChunks[IDX_ANIM].tag, 1, &anim, 1);
+  return MuxSet(mux, kChunks[IDX_ANIM].tag, &anim, 1);
 }
 
 WebPMuxError WebPMuxSetCanvasSize(WebPMux* mux,
@@ -540,7 +540,7 @@ static WebPMuxError CreateVP8XChunk(WebPMux* const mux) {
   PutLE24(data + 4, width - 1);   // canvas width.
   PutLE24(data + 7, height - 1);  // canvas height.
 
-  return MuxSet(mux, kChunks[IDX_VP8X].tag, 1, &vp8x, 1);
+  return MuxSet(mux, kChunks[IDX_VP8X].tag, &vp8x, 1);
 }
 
 // Cleans up 'mux' by removing any unnecessary chunks.
diff --git a/thirdparty/libwebp/src/mux/muxi.h b/thirdparty/libwebp/src/mux/muxi.h
index 6b57eea30f..3e9d8c48d8 100644
--- a/thirdparty/libwebp/src/mux/muxi.h
+++ b/thirdparty/libwebp/src/mux/muxi.h
@@ -14,6 +14,7 @@
 #ifndef WEBP_MUX_MUXI_H_
 #define WEBP_MUX_MUXI_H_
 
+#include <assert.h>
 #include <stdlib.h>
 #include "src/dec/vp8i_dec.h"
 #include "src/dec/vp8li_dec.h"
@@ -28,7 +29,7 @@ extern "C" {
 
 #define MUX_MAJ_VERSION 1
 #define MUX_MIN_VERSION 0
-#define MUX_REV_VERSION 0
+#define MUX_REV_VERSION 2
 
 // Chunk object.
 typedef struct WebPChunk WebPChunk;
@@ -126,11 +127,14 @@ WebPChunk* ChunkSearchList(WebPChunk* first, uint32_t nth, uint32_t tag);
 WebPMuxError ChunkAssignData(WebPChunk* chunk, const WebPData* const data,
                              int copy_data, uint32_t tag);
 
-// Sets 'chunk' at nth position in the 'chunk_list'.
-// nth = 0 has the special meaning "last of the list".
+// Sets 'chunk' as the only element in 'chunk_list' if it is empty.
 // On success ownership is transferred from 'chunk' to the 'chunk_list'.
-WebPMuxError ChunkSetNth(WebPChunk* chunk, WebPChunk** chunk_list,
-                         uint32_t nth);
+WebPMuxError ChunkSetHead(WebPChunk* const chunk, WebPChunk** const chunk_list);
+// Sets 'chunk' at last position in the 'chunk_list'.
+// On success ownership is transferred from 'chunk' to the 'chunk_list'.
+// *chunk_list also points towards the last valid element of the initial
+// *chunk_list.
+WebPMuxError ChunkAppend(WebPChunk* const chunk, WebPChunk*** const chunk_list);
 
 // Releases chunk and returns chunk->next_.
 WebPChunk* ChunkRelease(WebPChunk* const chunk);
@@ -143,13 +147,13 @@ void ChunkListDelete(WebPChunk** const chunk_list);
 
 // Returns size of the chunk including chunk header and padding byte (if any).
 static WEBP_INLINE size_t SizeWithPadding(size_t chunk_size) {
+  assert(chunk_size <= MAX_CHUNK_PAYLOAD);
   return CHUNK_HEADER_SIZE + ((chunk_size + 1) & ~1U);
 }
 
 // Size of a chunk including header and padding.
 static WEBP_INLINE size_t ChunkDiskSize(const WebPChunk* chunk) {
   const size_t data_size = chunk->data_.size;
-  assert(data_size < MAX_CHUNK_PAYLOAD);
   return SizeWithPadding(data_size);
 }
 
@@ -227,4 +231,4 @@ WebPMuxError MuxValidate(const WebPMux* const mux);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_MUX_MUXI_H_ */
+#endif  // WEBP_MUX_MUXI_H_
diff --git a/thirdparty/libwebp/src/mux/muxinternal.c b/thirdparty/libwebp/src/mux/muxinternal.c
index 1473f100e5..b9ee6717d3 100644
--- a/thirdparty/libwebp/src/mux/muxinternal.c
+++ b/thirdparty/libwebp/src/mux/muxinternal.c
@@ -111,27 +111,6 @@ WebPChunk* ChunkSearchList(WebPChunk* first, uint32_t nth, uint32_t tag) {
   return ((nth > 0) && (iter > 0)) ? NULL : first;
 }
 
-// Outputs a pointer to 'prev_chunk->next_',
-//   where 'prev_chunk' is the pointer to the chunk at position (nth - 1).
-// Returns true if nth chunk was found.
-static int ChunkSearchListToSet(WebPChunk** chunk_list, uint32_t nth,
-                                WebPChunk*** const location) {
-  uint32_t count = 0;
-  assert(chunk_list != NULL);
-  *location = chunk_list;
-
-  while (*chunk_list != NULL) {
-    WebPChunk* const cur_chunk = *chunk_list;
-    ++count;
-    if (count == nth) return 1;  // Found.
-    chunk_list = &cur_chunk->next_;
-    *location = chunk_list;
-  }
-
-  // *chunk_list is ok to be NULL if adding at last location.
-  return (nth == 0 || (count == nth - 1)) ? 1 : 0;
-}
-
 //------------------------------------------------------------------------------
 // Chunk writer methods.
 
@@ -156,11 +135,12 @@ WebPMuxError ChunkAssignData(WebPChunk* chunk, const WebPData* const data,
   return WEBP_MUX_OK;
 }
 
-WebPMuxError ChunkSetNth(WebPChunk* chunk, WebPChunk** chunk_list,
-                         uint32_t nth) {
+WebPMuxError ChunkSetHead(WebPChunk* const chunk,
+                          WebPChunk** const chunk_list) {
   WebPChunk* new_chunk;
 
-  if (!ChunkSearchListToSet(chunk_list, nth, &chunk_list)) {
+  assert(chunk_list != NULL);
+  if (*chunk_list != NULL) {
     return WEBP_MUX_NOT_FOUND;
   }
 
@@ -168,11 +148,26 @@ WebPMuxError ChunkSetNth(WebPChunk* chunk, WebPChunk** chunk_list,
   if (new_chunk == NULL) return WEBP_MUX_MEMORY_ERROR;
   *new_chunk = *chunk;
   chunk->owner_ = 0;
-  new_chunk->next_ = *chunk_list;
+  new_chunk->next_ = NULL;
   *chunk_list = new_chunk;
   return WEBP_MUX_OK;
 }
 
+WebPMuxError ChunkAppend(WebPChunk* const chunk,
+                         WebPChunk*** const chunk_list) {
+  assert(chunk_list != NULL && *chunk_list != NULL);
+
+  if (**chunk_list == NULL) {
+    ChunkSetHead(chunk, *chunk_list);
+  } else {
+    WebPChunk* last_chunk = **chunk_list;
+    while (last_chunk->next_ != NULL) last_chunk = last_chunk->next_;
+    ChunkSetHead(chunk, &last_chunk->next_);
+    *chunk_list = &last_chunk->next_;
+  }
+  return WEBP_MUX_OK;
+}
+
 //------------------------------------------------------------------------------
 // Chunk deletion method(s).
 
@@ -232,9 +227,11 @@ void MuxImageInit(WebPMuxImage* const wpi) {
 WebPMuxImage* MuxImageRelease(WebPMuxImage* const wpi) {
   WebPMuxImage* next;
   if (wpi == NULL) return NULL;
-  ChunkDelete(wpi->header_);
-  ChunkDelete(wpi->alpha_);
-  ChunkDelete(wpi->img_);
+  // There should be at most one chunk of header_, alpha_, img_ but we call
+  // ChunkListDelete to be safe
+  ChunkListDelete(&wpi->header_);
+  ChunkListDelete(&wpi->alpha_);
+  ChunkListDelete(&wpi->img_);
   ChunkListDelete(&wpi->unknown_);
 
   next = wpi->next_;
diff --git a/thirdparty/libwebp/src/mux/muxread.c b/thirdparty/libwebp/src/mux/muxread.c
index 0b55286862..268f6acb53 100644
--- a/thirdparty/libwebp/src/mux/muxread.c
+++ b/thirdparty/libwebp/src/mux/muxread.c
@@ -59,6 +59,7 @@ static WebPMuxError ChunkVerifyAndAssign(WebPChunk* chunk,
   // Sanity checks.
   if (data_size < CHUNK_HEADER_SIZE) return WEBP_MUX_NOT_ENOUGH_DATA;
   chunk_size = GetLE32(data + TAG_SIZE);
+  if (chunk_size > MAX_CHUNK_PAYLOAD) return WEBP_MUX_BAD_DATA;
 
   {
     const size_t chunk_disk_size = SizeWithPadding(chunk_size);
@@ -102,6 +103,7 @@ static int MuxImageParse(const WebPChunk* const chunk, int copy_data,
   const uint8_t* const last = bytes + size;
   WebPChunk subchunk;
   size_t subchunk_size;
+  WebPChunk** unknown_chunk_list = &wpi->unknown_;
   ChunkInit(&subchunk);
 
   assert(chunk->tag_ == kChunks[IDX_ANMF].tag);
@@ -116,7 +118,7 @@ static int MuxImageParse(const WebPChunk* const chunk, int copy_data,
     if (size < hdr_size) goto Fail;
     ChunkAssignData(&subchunk, &temp, copy_data, chunk->tag_);
   }
-  ChunkSetNth(&subchunk, &wpi->header_, 1);
+  ChunkSetHead(&subchunk, &wpi->header_);
   wpi->is_partial_ = 1;  // Waiting for ALPH and/or VP8/VP8L chunks.
 
   // Rest of the chunks.
@@ -133,18 +135,23 @@ static int MuxImageParse(const WebPChunk* const chunk, int copy_data,
     switch (ChunkGetIdFromTag(subchunk.tag_)) {
       case WEBP_CHUNK_ALPHA:
         if (wpi->alpha_ != NULL) goto Fail;  // Consecutive ALPH chunks.
-        if (ChunkSetNth(&subchunk, &wpi->alpha_, 1) != WEBP_MUX_OK) goto Fail;
+        if (ChunkSetHead(&subchunk, &wpi->alpha_) != WEBP_MUX_OK) goto Fail;
         wpi->is_partial_ = 1;  // Waiting for a VP8 chunk.
         break;
       case WEBP_CHUNK_IMAGE:
-        if (ChunkSetNth(&subchunk, &wpi->img_, 1) != WEBP_MUX_OK) goto Fail;
+        if (wpi->img_ != NULL) goto Fail;  // Only 1 image chunk allowed.
+        if (ChunkSetHead(&subchunk, &wpi->img_) != WEBP_MUX_OK) goto Fail;
         if (!MuxImageFinalize(wpi)) goto Fail;
         wpi->is_partial_ = 0;  // wpi is completely filled.
         break;
       case WEBP_CHUNK_UNKNOWN:
-        if (wpi->is_partial_) goto Fail;  // Encountered an unknown chunk
-                                          // before some image chunks.
-        if (ChunkSetNth(&subchunk, &wpi->unknown_, 0) != WEBP_MUX_OK) goto Fail;
+        if (wpi->is_partial_) {
+          goto Fail;  // Encountered an unknown chunk
+                      // before some image chunks.
+        }
+        if (ChunkAppend(&subchunk, &unknown_chunk_list) != WEBP_MUX_OK) {
+          goto Fail;
+        }
         break;
       default:
         goto Fail;
@@ -175,6 +182,9 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
   const uint8_t* data;
   size_t size;
   WebPChunk chunk;
+  // Stores the end of the chunk lists so that it is faster to append data to
+  // their ends.
+  WebPChunk** chunk_list_ends[WEBP_CHUNK_NIL + 1] = { NULL };
   ChunkInit(&chunk);
 
   // Sanity checks.
@@ -187,7 +197,7 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
   size = bitstream->size;
 
   if (data == NULL) return NULL;
-  if (size < RIFF_HEADER_SIZE) return NULL;
+  if (size < RIFF_HEADER_SIZE + CHUNK_HEADER_SIZE) return NULL;
   if (GetLE32(data + 0) != MKFOURCC('R', 'I', 'F', 'F') ||
       GetLE32(data + CHUNK_HEADER_SIZE) != MKFOURCC('W', 'E', 'B', 'P')) {
     return NULL;
@@ -196,8 +206,6 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
   mux = WebPMuxNew();
   if (mux == NULL) return NULL;
 
-  if (size < RIFF_HEADER_SIZE + TAG_SIZE) goto Err;
-
   tag = GetLE32(data + RIFF_HEADER_SIZE);
   if (tag != kChunks[IDX_VP8].tag &&
       tag != kChunks[IDX_VP8L].tag &&
@@ -205,13 +213,17 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
     goto Err;  // First chunk should be VP8, VP8L or VP8X.
   }
 
-  riff_size = SizeWithPadding(GetLE32(data + TAG_SIZE));
-  if (riff_size > MAX_CHUNK_PAYLOAD || riff_size > size) {
-    goto Err;
-  } else {
-    if (riff_size < size) {  // Redundant data after last chunk.
-      size = riff_size;  // To make sure we don't read any data beyond mux_size.
-    }
+  riff_size = GetLE32(data + TAG_SIZE);
+  if (riff_size > MAX_CHUNK_PAYLOAD) goto Err;
+
+  // Note this padding is historical and differs from demux.c which does not
+  // pad the file size.
+  riff_size = SizeWithPadding(riff_size);
+  if (riff_size < CHUNK_HEADER_SIZE) goto Err;
+  if (riff_size > size) goto Err;
+  // There's no point in reading past the end of the RIFF chunk.
+  if (size > riff_size + CHUNK_HEADER_SIZE) {
+    size = riff_size + CHUNK_HEADER_SIZE;
   }
 
   end = data + size;
@@ -226,7 +238,6 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
   while (data != end) {
     size_t data_size;
     WebPChunkId id;
-    WebPChunk** chunk_list;
     if (ChunkVerifyAndAssign(&chunk, data, size, riff_size,
                              copy_data) != WEBP_MUX_OK) {
       goto Err;
@@ -236,11 +247,11 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
     switch (id) {
       case WEBP_CHUNK_ALPHA:
         if (wpi->alpha_ != NULL) goto Err;  // Consecutive ALPH chunks.
-        if (ChunkSetNth(&chunk, &wpi->alpha_, 1) != WEBP_MUX_OK) goto Err;
+        if (ChunkSetHead(&chunk, &wpi->alpha_) != WEBP_MUX_OK) goto Err;
         wpi->is_partial_ = 1;  // Waiting for a VP8 chunk.
         break;
       case WEBP_CHUNK_IMAGE:
-        if (ChunkSetNth(&chunk, &wpi->img_, 1) != WEBP_MUX_OK) goto Err;
+        if (ChunkSetHead(&chunk, &wpi->img_) != WEBP_MUX_OK) goto Err;
         if (!MuxImageFinalize(wpi)) goto Err;
         wpi->is_partial_ = 0;  // wpi is completely filled.
  PushImage:
@@ -257,9 +268,13 @@ WebPMux* WebPMuxCreateInternal(const WebPData* bitstream, int copy_data,
       default:  // A non-image chunk.
         if (wpi->is_partial_) goto Err;  // Encountered a non-image chunk before
                                          // getting all chunks of an image.
-        chunk_list = MuxGetChunkListFromId(mux, id);  // List to add this chunk.
-        if (ChunkSetNth(&chunk, chunk_list, 0) != WEBP_MUX_OK) goto Err;
+        if (chunk_list_ends[id] == NULL) {
+          chunk_list_ends[id] =
+              MuxGetChunkListFromId(mux, id);  // List to add this chunk.
+        }
+        if (ChunkAppend(&chunk, &chunk_list_ends[id]) != WEBP_MUX_OK) goto Err;
         if (id == WEBP_CHUNK_VP8X) {  // grab global specs
+          if (data_size < CHUNK_HEADER_SIZE + VP8X_CHUNK_SIZE) goto Err;
           mux->canvas_width_ = GetLE24(data + 12) + 1;
           mux->canvas_height_ = GetLE24(data + 15) + 1;
         }
@@ -385,6 +400,10 @@ static WebPMuxError SynthesizeBitstream(const WebPMuxImage* const wpi,
   uint8_t* const data = (uint8_t*)WebPSafeMalloc(1ULL, size);
   if (data == NULL) return WEBP_MUX_MEMORY_ERROR;
 
+  // There should be at most one alpha_ chunk and exactly one img_ chunk.
+  assert(wpi->alpha_ == NULL || wpi->alpha_->next_ == NULL);
+  assert(wpi->img_ != NULL && wpi->img_->next_ == NULL);
+
   // Main RIFF header.
   dst = MuxEmitRiffHeader(data, size);
 
diff --git a/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h b/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h
index 2ccc6ed326..7e607f370a 100644
--- a/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h
+++ b/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h
@@ -187,4 +187,4 @@ static WEBP_INLINE int VP8GetBitAlt(VP8BitReader* const br, int prob) {
 }    // extern "C"
 #endif
 
-#endif   // WEBP_UTILS_BIT_READER_INL_UTILS_H_
+#endif  // WEBP_UTILS_BIT_READER_INL_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/bit_reader_utils.h b/thirdparty/libwebp/src/utils/bit_reader_utils.h
index 04f9804409..de810d402a 100644
--- a/thirdparty/libwebp/src/utils/bit_reader_utils.h
+++ b/thirdparty/libwebp/src/utils/bit_reader_utils.h
@@ -182,4 +182,4 @@ static WEBP_INLINE void VP8LFillBitWindow(VP8LBitReader* const br) {
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_BIT_READER_UTILS_H_ */
+#endif  // WEBP_UTILS_BIT_READER_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/bit_writer_utils.c b/thirdparty/libwebp/src/utils/bit_writer_utils.c
index f4f476ce3f..7f83b4c8a2 100644
--- a/thirdparty/libwebp/src/utils/bit_writer_utils.c
+++ b/thirdparty/libwebp/src/utils/bit_writer_utils.c
@@ -248,6 +248,7 @@ int VP8LBitWriterClone(const VP8LBitWriter* const src,
   dst->bits_ = src->bits_;
   dst->used_ = src->used_;
   dst->error_ = src->error_;
+  dst->cur_ = dst->buf_ + current_size;
   return 1;
 }
 
diff --git a/thirdparty/libwebp/src/utils/bit_writer_utils.h b/thirdparty/libwebp/src/utils/bit_writer_utils.h
index 2cf5976fe3..b9d5102a5a 100644
--- a/thirdparty/libwebp/src/utils/bit_writer_utils.h
+++ b/thirdparty/libwebp/src/utils/bit_writer_utils.h
@@ -151,4 +151,4 @@ static WEBP_INLINE void VP8LPutBits(VP8LBitWriter* const bw,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_BIT_WRITER_UTILS_H_ */
+#endif  // WEBP_UTILS_BIT_WRITER_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/filters_utils.h b/thirdparty/libwebp/src/utils/filters_utils.h
index 410f2fcdf2..61da66e212 100644
--- a/thirdparty/libwebp/src/utils/filters_utils.h
+++ b/thirdparty/libwebp/src/utils/filters_utils.h
@@ -29,4 +29,4 @@ WEBP_FILTER_TYPE WebPEstimateBestFilter(const uint8_t* data,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_FILTERS_UTILS_H_ */
+#endif  // WEBP_UTILS_FILTERS_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/quant_levels_dec_utils.c b/thirdparty/libwebp/src/utils/quant_levels_dec_utils.c
index 3818a78b93..f65b6cdbb6 100644
--- a/thirdparty/libwebp/src/utils/quant_levels_dec_utils.c
+++ b/thirdparty/libwebp/src/utils/quant_levels_dec_utils.c
@@ -261,9 +261,15 @@ static void CleanupParams(SmoothParams* const p) {
 
 int WebPDequantizeLevels(uint8_t* const data, int width, int height, int stride,
                          int strength) {
-  const int radius = 4 * strength / 100;
+  int radius = 4 * strength / 100;
+
   if (strength < 0 || strength > 100) return 0;
   if (data == NULL || width <= 0 || height <= 0) return 0;  // bad params
+
+  // limit the filter size to not exceed the image dimensions
+  if (2 * radius + 1 > width) radius = (width - 1) >> 1;
+  if (2 * radius + 1 > height) radius = (height - 1) >> 1;
+
   if (radius > 0) {
     SmoothParams p;
     memset(&p, 0, sizeof(p));
diff --git a/thirdparty/libwebp/src/utils/quant_levels_dec_utils.h b/thirdparty/libwebp/src/utils/quant_levels_dec_utils.h
index f822107a72..327f19f336 100644
--- a/thirdparty/libwebp/src/utils/quant_levels_dec_utils.h
+++ b/thirdparty/libwebp/src/utils/quant_levels_dec_utils.h
@@ -32,4 +32,4 @@ int WebPDequantizeLevels(uint8_t* const data, int width, int height, int stride,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_QUANT_LEVELS_DEC_UTILS_H_ */
+#endif  // WEBP_UTILS_QUANT_LEVELS_DEC_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/quant_levels_utils.h b/thirdparty/libwebp/src/utils/quant_levels_utils.h
index 75df2ba6a4..9ee3ea0075 100644
--- a/thirdparty/libwebp/src/utils/quant_levels_utils.h
+++ b/thirdparty/libwebp/src/utils/quant_levels_utils.h
@@ -33,4 +33,4 @@ int QuantizeLevels(uint8_t* const data, int width, int height, int num_levels,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_QUANT_LEVELS_UTILS_H_ */
+#endif  // WEBP_UTILS_QUANT_LEVELS_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/random_utils.h b/thirdparty/libwebp/src/utils/random_utils.h
index 6d36c667e7..a5006f84f7 100644
--- a/thirdparty/libwebp/src/utils/random_utils.h
+++ b/thirdparty/libwebp/src/utils/random_utils.h
@@ -60,4 +60,4 @@ static WEBP_INLINE int VP8RandomBits(VP8Random* const rg, int num_bits) {
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_RANDOM_UTILS_H_ */
+#endif  // WEBP_UTILS_RANDOM_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/rescaler_utils.h b/thirdparty/libwebp/src/utils/rescaler_utils.h
index 8890e6fa13..ca41e42c4a 100644
--- a/thirdparty/libwebp/src/utils/rescaler_utils.h
+++ b/thirdparty/libwebp/src/utils/rescaler_utils.h
@@ -98,4 +98,4 @@ int WebPRescalerHasPendingOutput(const WebPRescaler* const rescaler) {
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_RESCALER_UTILS_H_ */
+#endif  // WEBP_UTILS_RESCALER_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/thread_utils.h b/thirdparty/libwebp/src/utils/thread_utils.h
index c8ae6c9033..29ad49f74b 100644
--- a/thirdparty/libwebp/src/utils/thread_utils.h
+++ b/thirdparty/libwebp/src/utils/thread_utils.h
@@ -87,4 +87,4 @@ WEBP_EXTERN const WebPWorkerInterface* WebPGetWorkerInterface(void);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_THREAD_UTILS_H_ */
+#endif  // WEBP_UTILS_THREAD_UTILS_H_
diff --git a/thirdparty/libwebp/src/utils/utils.h b/thirdparty/libwebp/src/utils/utils.h
index 52921bf24e..c7620f91ec 100644
--- a/thirdparty/libwebp/src/utils/utils.h
+++ b/thirdparty/libwebp/src/utils/utils.h
@@ -107,19 +107,6 @@ static WEBP_INLINE void PutLE32(uint8_t* const data, uint32_t val) {
   PutLE16(data + 2, (int)(val >> 16));
 }
 
-// Returns 31 ^ clz(n) = log2(n). This is the default C-implementation, either
-// based on table or not. Can be used as fallback if clz() is not available.
-#define WEBP_NEED_LOG_TABLE_8BIT
-extern const uint8_t WebPLogTable8bit[256];
-static WEBP_INLINE int WebPLog2FloorC(uint32_t n) {
-  int log_value = 0;
-  while (n >= 256) {
-    log_value += 8;
-    n >>= 8;
-  }
-  return log_value + WebPLogTable8bit[n];
-}
-
 // Returns (int)floor(log2(n)). n must be > 0.
 // use GNU builtins where available.
 #if defined(__GNUC__) && \
@@ -138,6 +125,19 @@ static WEBP_INLINE int BitsLog2Floor(uint32_t n) {
   return first_set_bit;
 }
 #else   // default: use the C-version.
+// Returns 31 ^ clz(n) = log2(n). This is the default C-implementation, either
+// based on table or not. Can be used as fallback if clz() is not available.
+#define WEBP_NEED_LOG_TABLE_8BIT
+extern const uint8_t WebPLogTable8bit[256];
+static WEBP_INLINE int WebPLog2FloorC(uint32_t n) {
+  int log_value = 0;
+  while (n >= 256) {
+    log_value += 8;
+    n >>= 8;
+  }
+  return log_value + WebPLogTable8bit[n];
+}
+
 static WEBP_INLINE int BitsLog2Floor(uint32_t n) { return WebPLog2FloorC(n); }
 #endif
 
@@ -175,4 +175,4 @@ WEBP_EXTERN int WebPGetColorPalette(const struct WebPPicture* const pic,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_UTILS_UTILS_H_ */
+#endif  // WEBP_UTILS_UTILS_H_
diff --git a/thirdparty/libwebp/src/webp/decode.h b/thirdparty/libwebp/src/webp/decode.h
index 2165e96c95..ae8bfe840e 100644
--- a/thirdparty/libwebp/src/webp/decode.h
+++ b/thirdparty/libwebp/src/webp/decode.h
@@ -42,6 +42,12 @@ WEBP_EXTERN int WebPGetDecoderVersion(void);
 // This function will also validate the header, returning true on success,
 // false otherwise. '*width' and '*height' are only valid on successful return.
 // Pointers 'width' and 'height' can be passed NULL if deemed irrelevant.
+// Note: The following chunk sequences (before the raw VP8/VP8L data) are
+// considered valid by this function:
+// RIFF + VP8(L)
+// RIFF + VP8X + (optional chunks) + VP8(L)
+// ALPH + VP8 <-- Not a valid WebP format: only allowed for internal purpose.
+// VP8(L)     <-- Not a valid WebP format: only allowed for internal purpose.
 WEBP_EXTERN int WebPGetInfo(const uint8_t* data, size_t data_size,
                             int* width, int* height);
 
@@ -425,6 +431,12 @@ WEBP_EXTERN VP8StatusCode WebPGetFeaturesInternal(
 // Returns VP8_STATUS_OK when the features are successfully retrieved. Returns
 // VP8_STATUS_NOT_ENOUGH_DATA when more data is needed to retrieve the
 // features from headers. Returns error in other cases.
+// Note: The following chunk sequences (before the raw VP8/VP8L data) are
+// considered valid by this function:
+// RIFF + VP8(L)
+// RIFF + VP8X + (optional chunks) + VP8(L)
+// ALPH + VP8 <-- Not a valid WebP format: only allowed for internal purpose.
+// VP8(L)     <-- Not a valid WebP format: only allowed for internal purpose.
 static WEBP_INLINE VP8StatusCode WebPGetFeatures(
     const uint8_t* data, size_t data_size,
     WebPBitstreamFeatures* features) {
@@ -491,4 +503,4 @@ WEBP_EXTERN VP8StatusCode WebPDecode(const uint8_t* data, size_t data_size,
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_WEBP_DECODE_H_ */
+#endif  // WEBP_WEBP_DECODE_H_
diff --git a/thirdparty/libwebp/src/webp/demux.h b/thirdparty/libwebp/src/webp/demux.h
index 555d641338..846eeb15a9 100644
--- a/thirdparty/libwebp/src/webp/demux.h
+++ b/thirdparty/libwebp/src/webp/demux.h
@@ -360,4 +360,4 @@ WEBP_EXTERN void WebPAnimDecoderDelete(WebPAnimDecoder* dec);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_WEBP_DEMUX_H_ */
+#endif  // WEBP_WEBP_DEMUX_H_
diff --git a/thirdparty/libwebp/src/webp/encode.h b/thirdparty/libwebp/src/webp/encode.h
index 7ec3543dc2..549cf07730 100644
--- a/thirdparty/libwebp/src/webp/encode.h
+++ b/thirdparty/libwebp/src/webp/encode.h
@@ -542,4 +542,4 @@ WEBP_EXTERN int WebPEncode(const WebPConfig* config, WebPPicture* picture);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_WEBP_ENCODE_H_ */
+#endif  // WEBP_WEBP_ENCODE_H_
diff --git a/thirdparty/libwebp/src/webp/format_constants.h b/thirdparty/libwebp/src/webp/format_constants.h
index 329fc8a3b0..eca6981a47 100644
--- a/thirdparty/libwebp/src/webp/format_constants.h
+++ b/thirdparty/libwebp/src/webp/format_constants.h
@@ -84,4 +84,4 @@ typedef enum {
 // overflow a uint32_t.
 #define MAX_CHUNK_PAYLOAD (~0U - CHUNK_HEADER_SIZE - 1)
 
-#endif  /* WEBP_WEBP_FORMAT_CONSTANTS_H_ */
+#endif  // WEBP_WEBP_FORMAT_CONSTANTS_H_
diff --git a/thirdparty/libwebp/src/webp/mux.h b/thirdparty/libwebp/src/webp/mux.h
index 28bb4a41c9..66096a92e0 100644
--- a/thirdparty/libwebp/src/webp/mux.h
+++ b/thirdparty/libwebp/src/webp/mux.h
@@ -527,4 +527,4 @@ WEBP_EXTERN void WebPAnimEncoderDelete(WebPAnimEncoder* enc);
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_WEBP_MUX_H_ */
+#endif  // WEBP_WEBP_MUX_H_
diff --git a/thirdparty/libwebp/src/webp/mux_types.h b/thirdparty/libwebp/src/webp/mux_types.h
index b37e2c67aa..ceea77dfc6 100644
--- a/thirdparty/libwebp/src/webp/mux_types.h
+++ b/thirdparty/libwebp/src/webp/mux_types.h
@@ -95,4 +95,4 @@ static WEBP_INLINE int WebPDataCopy(const WebPData* src, WebPData* dst) {
 }    // extern "C"
 #endif
 
-#endif  /* WEBP_WEBP_MUX_TYPES_H_ */
+#endif  // WEBP_WEBP_MUX_TYPES_H_
diff --git a/thirdparty/libwebp/src/webp/types.h b/thirdparty/libwebp/src/webp/types.h
index 989a763f0d..0ce2622e41 100644
--- a/thirdparty/libwebp/src/webp/types.h
+++ b/thirdparty/libwebp/src/webp/types.h
@@ -49,4 +49,4 @@ typedef long long int int64_t;
 // Macro to check ABI compatibility (same major revision number)
 #define WEBP_ABI_IS_INCOMPATIBLE(a, b) (((a) >> 8) != ((b) >> 8))
 
-#endif  /* WEBP_WEBP_TYPES_H_ */
+#endif  // WEBP_WEBP_TYPES_H_
diff --git a/thirdparty/libwebsockets/include/libwebsockets.h b/thirdparty/libwebsockets/include/libwebsockets.h
new file mode 100644
index 0000000000..7cc5c28b78
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets.h
@@ -0,0 +1,435 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+/** @file */
+
+#ifndef LIBWEBSOCKET_H_3060898B846849FF9F88F5DB59B5950C
+#define LIBWEBSOCKET_H_3060898B846849FF9F88F5DB59B5950C
+
+#ifdef __cplusplus
+#include <cstddef>
+#include <cstdarg>
+
+extern "C" {
+#else
+#include <stdarg.h>
+#endif
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "lws_config.h"
+
+/*
+ * CARE: everything using cmake defines needs to be below here
+ */
+
+#if defined(LWS_HAS_INTPTR_T)
+#include <stdint.h>
+#define lws_intptr_t intptr_t
+#else
+typedef unsigned long long lws_intptr_t;
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#include <stddef.h>
+#include <basetsd.h>
+#include <io.h>
+#ifndef _WIN32_WCE
+#include <fcntl.h>
+#else
+#define _O_RDONLY	0x0000
+#define O_RDONLY	_O_RDONLY
+#endif
+
+#define LWS_INLINE __inline
+#define LWS_VISIBLE
+#define LWS_WARN_UNUSED_RESULT
+#define LWS_WARN_DEPRECATED
+#define LWS_FORMAT(string_index)
+
+#if !defined(LWS_EXTERN)
+#ifdef LWS_DLL
+#ifdef LWS_INTERNAL
+#define LWS_EXTERN extern __declspec(dllexport)
+#else
+#define LWS_EXTERN extern __declspec(dllimport)
+#endif
+#else
+#define LWS_EXTERN
+#endif
+#endif
+
+#define LWS_INVALID_FILE INVALID_HANDLE_VALUE
+#define LWS_O_RDONLY _O_RDONLY
+#define LWS_O_WRONLY _O_WRONLY
+#define LWS_O_CREAT _O_CREAT
+#define LWS_O_TRUNC _O_TRUNC
+
+#ifndef __func__
+#define __func__ __FUNCTION__
+#endif
+
+#else /* NOT WIN32 */
+#include <unistd.h>
+#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
+#include <sys/capability.h>
+#endif
+
+#if defined(__NetBSD__) || defined(__FreeBSD__) || defined(__QNX__) || defined(__OpenBSD__)
+#include <sys/socket.h>
+#include <netinet/in.h>
+#endif
+
+#define LWS_INLINE inline
+#define LWS_O_RDONLY O_RDONLY
+#define LWS_O_WRONLY O_WRONLY
+#define LWS_O_CREAT O_CREAT
+#define LWS_O_TRUNC O_TRUNC
+
+#if !defined(LWS_PLAT_OPTEE) && !defined(OPTEE_TA) && !defined(LWS_WITH_ESP32)
+#include <poll.h>
+#include <netdb.h>
+#define LWS_INVALID_FILE -1
+#else
+#define getdtablesize() (30)
+#if defined(LWS_WITH_ESP32)
+#define LWS_INVALID_FILE NULL
+#else
+#define LWS_INVALID_FILE NULL
+#endif
+#endif
+
+#if defined(__GNUC__)
+
+/* warn_unused_result attribute only supported by GCC 3.4 or later */
+#if __GNUC__ >= 4 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)
+#define LWS_WARN_UNUSED_RESULT __attribute__((warn_unused_result))
+#else
+#define LWS_WARN_UNUSED_RESULT
+#endif
+
+#define LWS_VISIBLE __attribute__((visibility("default")))
+#define LWS_WARN_DEPRECATED __attribute__ ((deprecated))
+#define LWS_FORMAT(string_index) __attribute__ ((format(printf, string_index, string_index+1)))
+#else
+#define LWS_VISIBLE
+#define LWS_WARN_UNUSED_RESULT
+#define LWS_WARN_DEPRECATED
+#define LWS_FORMAT(string_index)
+#endif
+
+#if defined(__ANDROID__)
+#include <netinet/in.h>
+#include <unistd.h>
+#define getdtablesize() sysconf(_SC_OPEN_MAX)
+#endif
+
+#endif
+
+#if defined(LWS_WITH_LIBEV)
+#include <ev.h>
+#endif /* LWS_WITH_LIBEV */
+#ifdef LWS_WITH_LIBUV
+#include <uv.h>
+#ifdef LWS_HAVE_UV_VERSION_H
+#include <uv-version.h>
+#endif
+#ifdef LWS_HAVE_NEW_UV_VERSION_H
+#include <uv/version.h>
+#endif
+#endif /* LWS_WITH_LIBUV */
+#if defined(LWS_WITH_LIBEVENT)
+#include <event2/event.h>
+#endif /* LWS_WITH_LIBEVENT */
+
+#ifndef LWS_EXTERN
+#define LWS_EXTERN extern
+#endif
+
+#ifdef _WIN32
+#define random rand
+#else
+#if !defined(OPTEE_TA)
+#include <sys/time.h>
+#include <unistd.h>
+#endif
+#endif
+
+#if defined(LWS_WITH_TLS)
+
+#ifdef USE_WOLFSSL
+#ifdef USE_OLD_CYASSL
+#ifdef _WIN32
+/*
+ * Include user-controlled settings for windows from
+ * <wolfssl-root>/IDE/WIN/user_settings.h
+ */
+#include <IDE/WIN/user_settings.h>
+#include <cyassl/ctaocrypt/settings.h>
+#else
+#include <cyassl/options.h>
+#endif
+#include <cyassl/openssl/ssl.h>
+#include <cyassl/error-ssl.h>
+
+#else
+#ifdef _WIN32
+/*
+ * Include user-controlled settings for windows from
+ * <wolfssl-root>/IDE/WIN/user_settings.h
+ */
+#include <IDE/WIN/user_settings.h>
+#include <wolfssl/wolfcrypt/settings.h>
+#else
+#include <wolfssl/options.h>
+#endif
+#include <wolfssl/openssl/ssl.h>
+#include <wolfssl/error-ssl.h>
+#endif /* not USE_OLD_CYASSL */
+#else
+#if defined(LWS_WITH_MBEDTLS)
+#if defined(LWS_WITH_ESP32)
+/* this filepath is passed to us but without quotes or <> */
+#undef MBEDTLS_CONFIG_FILE
+#define MBEDTLS_CONFIG_FILE <mbedtls/esp_config.h>
+#endif
+#include <mbedtls/ssl.h>
+#else
+#include <openssl/ssl.h>
+#if !defined(LWS_WITH_MBEDTLS)
+#include <openssl/err.h>
+#endif
+#endif
+#endif /* not USE_WOLFSSL */
+#endif
+
+/*
+ * Helpers for pthread mutex in user code... if lws is built for
+ * multiple service threads, these resolve to pthread mutex
+ * operations.  In the case LWS_MAX_SMP is 1 (the default), they
+ * are all NOPs and no pthread type or api is referenced.
+ */
+
+#if LWS_MAX_SMP > 1
+
+#include <pthread.h>
+
+#define lws_pthread_mutex(name) pthread_mutex_t name;
+
+static LWS_INLINE void
+lws_pthread_mutex_init(pthread_mutex_t *lock)
+{
+	pthread_mutex_init(lock, NULL);
+}
+
+static LWS_INLINE void
+lws_pthread_mutex_destroy(pthread_mutex_t *lock)
+{
+	pthread_mutex_destroy(lock);
+}
+
+static LWS_INLINE void
+lws_pthread_mutex_lock(pthread_mutex_t *lock)
+{
+	pthread_mutex_lock(lock);
+}
+
+static LWS_INLINE void
+lws_pthread_mutex_unlock(pthread_mutex_t *lock)
+{
+	pthread_mutex_unlock(lock);
+}
+
+#else
+#define lws_pthread_mutex(name)
+#define lws_pthread_mutex_init(_a)
+#define lws_pthread_mutex_destroy(_a)
+#define lws_pthread_mutex_lock(_a)
+#define lws_pthread_mutex_unlock(_a)
+#endif
+
+
+#define CONTEXT_PORT_NO_LISTEN -1
+#define CONTEXT_PORT_NO_LISTEN_SERVER -2
+
+#include <libwebsockets/lws-logs.h>
+
+
+#include <stddef.h>
+
+#ifndef lws_container_of
+#define lws_container_of(P,T,M)	((T *)((char *)(P) - offsetof(T, M)))
+#endif
+
+struct lws;
+
+typedef int64_t lws_usec_t;
+
+/* api change list for user code to test against */
+
+#define LWS_FEATURE_SERVE_HTTP_FILE_HAS_OTHER_HEADERS_ARG
+
+/* the struct lws_protocols has the id field present */
+#define LWS_FEATURE_PROTOCOLS_HAS_ID_FIELD
+
+/* you can call lws_get_peer_write_allowance */
+#define LWS_FEATURE_PROTOCOLS_HAS_PEER_WRITE_ALLOWANCE
+
+/* extra parameter introduced in 917f43ab821 */
+#define LWS_FEATURE_SERVE_HTTP_FILE_HAS_OTHER_HEADERS_LEN
+
+/* File operations stuff exists */
+#define LWS_FEATURE_FOPS
+
+
+#if defined(_WIN32)
+#if !defined(LWS_WIN32_HANDLE_TYPES)
+typedef SOCKET lws_sockfd_type;
+typedef HANDLE lws_filefd_type;
+#endif
+
+struct lws_pollfd {
+	lws_sockfd_type fd; /**< file descriptor */
+	SHORT events; /**< which events to respond to */
+	SHORT revents; /**< which events happened */
+};
+#define LWS_POLLHUP (FD_CLOSE)
+#define LWS_POLLIN (FD_READ | FD_ACCEPT)
+#define LWS_POLLOUT (FD_WRITE)
+#else
+
+
+#if defined(LWS_WITH_ESP32)
+#include <libwebsockets/lws-esp32.h>
+#else
+typedef int lws_sockfd_type;
+typedef int lws_filefd_type;
+#endif
+
+#define lws_pollfd pollfd
+#define LWS_POLLHUP (POLLHUP|POLLERR)
+#define LWS_POLLIN (POLLIN)
+#define LWS_POLLOUT (POLLOUT)
+#endif
+
+
+#if (defined(WIN32) || defined(_WIN32)) && !defined(__MINGW32__)
+/* ... */
+#define ssize_t SSIZE_T
+#endif
+
+#if defined(WIN32) && defined(LWS_HAVE__STAT32I64)
+#include <sys/types.h>
+#include <sys/stat.h>
+#endif
+
+#if defined(LWS_HAVE_STDINT_H)
+#include <stdint.h>
+#else
+#if defined(WIN32) || defined(_WIN32)
+/* !!! >:-[  */
+typedef unsigned __int32 uint32_t;
+typedef unsigned __int16 uint16_t;
+typedef unsigned __int8 uint8_t;
+#else
+typedef unsigned int uint32_t;
+typedef unsigned short uint16_t;
+typedef unsigned char uint8_t;
+#endif
+#endif
+
+typedef unsigned long long lws_filepos_t;
+typedef long long lws_fileofs_t;
+typedef uint32_t lws_fop_flags_t;
+
+/** struct lws_pollargs - argument structure for all external poll related calls
+ * passed in via 'in' */
+struct lws_pollargs {
+	lws_sockfd_type fd;	/**< applicable socket descriptor */
+	int events;		/**< the new event mask */
+	int prev_events;	/**< the previous event mask */
+};
+
+struct lws_extension; /* needed even with ws exts disabled for create context */
+struct lws_token_limits;
+struct lws_context;
+struct lws_tokens;
+struct lws_vhost;
+struct lws;
+
+#include <libwebsockets/lws-ws-close.h>
+#include <libwebsockets/lws-callbacks.h>
+#include <libwebsockets/lws-ws-state.h>
+#include <libwebsockets/lws-ws-ext.h>
+#include <libwebsockets/lws-protocols-plugins.h>
+#include <libwebsockets/lws-plugin-generic-sessions.h>
+#include <libwebsockets/lws-context-vhost.h>
+#include <libwebsockets/lws-client.h>
+#include <libwebsockets/lws-http.h>
+#include <libwebsockets/lws-spa.h>
+#include <libwebsockets/lws-purify.h>
+#include <libwebsockets/lws-timeout-timer.h>
+#include <libwebsockets/lws-service.h>
+#include <libwebsockets/lws-write.h>
+#include <libwebsockets/lws-writeable.h>
+#include <libwebsockets/lws-adopt.h>
+#include <libwebsockets/lws-network-helper.h>
+#include <libwebsockets/lws-misc.h>
+#include <libwebsockets/lws-ring.h>
+#include <libwebsockets/lws-sha1-base64.h>
+#include <libwebsockets/lws-x509.h>
+#include <libwebsockets/lws-cgi.h>
+#include <libwebsockets/lws-vfs.h>
+#include <libwebsockets/lws-lejp.h>
+#include <libwebsockets/lws-stats.h>
+#include <libwebsockets/lws-threadpool.h>
+#include <libwebsockets/lws-tokenize.h>
+#include <libwebsockets/lws-lwsac.h>
+#include <libwebsockets/lws-fts.h>
+#include <libwebsockets/lws-diskcache.h>
+
+#if defined(LWS_WITH_TLS)
+
+#if defined(LWS_WITH_MBEDTLS)
+#include <mbedtls/sha1.h>
+#include <mbedtls/sha256.h>
+#include <mbedtls/sha512.h>
+#endif
+
+#include <libwebsockets/lws-genhash.h>
+#include <libwebsockets/lws-genrsa.h>
+#include <libwebsockets/lws-jwk.h>
+#include <libwebsockets/lws-jws.h>
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-adopt.h b/thirdparty/libwebsockets/include/libwebsockets/lws-adopt.h
new file mode 100644
index 0000000000..256e3f9fdf
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-adopt.h
@@ -0,0 +1,185 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup sock-adopt Socket adoption helpers
+ * ##Socket adoption helpers
+ *
+ * When integrating with an external app with its own event loop, these can
+ * be used to accept connections from someone else's listening socket.
+ *
+ * When using lws own event loop, these are not needed.
+ */
+///@{
+
+/**
+ * lws_adopt_socket() - adopt foreign socket as if listen socket accepted it
+ * for the default vhost of context.
+ *
+ * \param context: lws context
+ * \param accept_fd: fd of already-accepted socket to adopt
+ *
+ * Either returns new wsi bound to accept_fd, or closes accept_fd and
+ * returns NULL, having cleaned up any new wsi pieces.
+ *
+ * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
+ * to ws or just serve http.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_adopt_socket(struct lws_context *context, lws_sockfd_type accept_fd);
+/**
+ * lws_adopt_socket_vhost() - adopt foreign socket as if listen socket accepted
+ * it for vhost
+ *
+ * \param vh: lws vhost
+ * \param accept_fd: fd of already-accepted socket to adopt
+ *
+ * Either returns new wsi bound to accept_fd, or closes accept_fd and
+ * returns NULL, having cleaned up any new wsi pieces.
+ *
+ * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
+ * to ws or just serve http.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_adopt_socket_vhost(struct lws_vhost *vh, lws_sockfd_type accept_fd);
+
+typedef enum {
+	LWS_ADOPT_RAW_FILE_DESC = 0,	/* convenience constant */
+	LWS_ADOPT_HTTP = 1,		/* flag: absent implies RAW */
+	LWS_ADOPT_SOCKET = 2,		/* flag: absent implies file descr */
+	LWS_ADOPT_ALLOW_SSL = 4,	/* flag: if set requires LWS_ADOPT_SOCKET */
+	LWS_ADOPT_FLAG_UDP = 16,	/* flag: socket is UDP */
+
+	LWS_ADOPT_RAW_SOCKET_UDP = LWS_ADOPT_SOCKET | LWS_ADOPT_FLAG_UDP,
+} lws_adoption_type;
+
+typedef union {
+	lws_sockfd_type sockfd;
+	lws_filefd_type filefd;
+} lws_sock_file_fd_type;
+
+#if !defined(LWS_WITH_ESP32)
+struct lws_udp {
+	struct sockaddr sa;
+	socklen_t salen;
+
+	struct sockaddr sa_pending;
+	socklen_t salen_pending;
+};
+#endif
+
+/*
+* lws_adopt_descriptor_vhost() - adopt foreign socket or file descriptor
+* if socket descriptor, should already have been accepted from listen socket
+*
+* \param vhost: lws vhost
+* \param type: OR-ed combinations of lws_adoption_type flags
+* \param fd: union with either .sockfd or .filefd set
+* \param vh_prot_name: NULL or vh protocol name to bind raw connection to
+* \param parent: NULL or struct lws to attach new_wsi to as a child
+*
+* Either returns new wsi bound to accept_fd, or closes accept_fd and
+* returns NULL, having cleaned up any new wsi pieces.
+*
+* If LWS_ADOPT_SOCKET is set, LWS adopts the socket in http serving mode, it's
+* ready to accept an upgrade to ws or just serve http.
+*
+* parent may be NULL, if given it should be an existing wsi that will become the
+* parent of the new wsi created by this call.
+*/
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_adopt_descriptor_vhost(struct lws_vhost *vh, lws_adoption_type type,
+			   lws_sock_file_fd_type fd, const char *vh_prot_name,
+			   struct lws *parent);
+
+/**
+ * lws_adopt_socket_readbuf() - adopt foreign socket and first rx as if listen socket accepted it
+ * for the default vhost of context.
+ * \param context:	lws context
+ * \param accept_fd:	fd of already-accepted socket to adopt
+ * \param readbuf:	NULL or pointer to data that must be drained before reading from
+ *		accept_fd
+ * \param len:	The length of the data held at \param readbuf
+ *
+ * Either returns new wsi bound to accept_fd, or closes accept_fd and
+ * returns NULL, having cleaned up any new wsi pieces.
+ *
+ * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
+ * to ws or just serve http.
+ *
+ * If your external code did not already read from the socket, you can use
+ * lws_adopt_socket() instead.
+ *
+ * This api is guaranteed to use the data at \param readbuf first, before reading from
+ * the socket.
+ *
+ * readbuf is limited to the size of the ah rx buf, currently 2048 bytes.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_adopt_socket_readbuf(struct lws_context *context, lws_sockfd_type accept_fd,
+                         const char *readbuf, size_t len);
+/**
+ * lws_adopt_socket_vhost_readbuf() - adopt foreign socket and first rx as if listen socket
+ * accepted it for vhost.
+ * \param vhost:	lws vhost
+ * \param accept_fd:	fd of already-accepted socket to adopt
+ * \param readbuf:	NULL or pointer to data that must be drained before
+ * 			reading from accept_fd
+ * \param len:		The length of the data held at \param readbuf
+ *
+ * Either returns new wsi bound to accept_fd, or closes accept_fd and
+ * returns NULL, having cleaned up any new wsi pieces.
+ *
+ * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
+ * to ws or just serve http.
+ *
+ * If your external code did not already read from the socket, you can use
+ * lws_adopt_socket() instead.
+ *
+ * This api is guaranteed to use the data at \param readbuf first, before reading from
+ * the socket.
+ *
+ * readbuf is limited to the size of the ah rx buf, currently 2048 bytes.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_adopt_socket_vhost_readbuf(struct lws_vhost *vhost,
+			       lws_sockfd_type accept_fd, const char *readbuf,
+			       size_t len);
+
+#define LWS_CAUDP_BIND 1
+
+/**
+ * lws_create_adopt_udp() - create, bind and adopt a UDP socket
+ *
+ * \param vhost:	 lws vhost
+ * \param port:		 UDP port to bind to, -1 means unbound
+ * \param flags:	 0 or LWS_CAUDP_NO_BIND
+ * \param protocol_name: Name of protocol on vhost to bind wsi to
+ * \param parent_wsi:	 NULL or parent wsi new wsi will be a child of
+ *
+ * Either returns new wsi bound to accept_fd, or closes accept_fd and
+ * returns NULL, having cleaned up any new wsi pieces.
+ * */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_create_adopt_udp(struct lws_vhost *vhost, int port, int flags,
+		     const char *protocol_name, struct lws *parent_wsi);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-callbacks.h b/thirdparty/libwebsockets/include/libwebsockets/lws-callbacks.h
new file mode 100644
index 0000000000..8b49218e9c
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-callbacks.h
@@ -0,0 +1,807 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup usercb User Callback
+ *
+ * ##User protocol callback
+ *
+ * The protocol callback is the primary way lws interacts with
+ * user code.  For one of a list of a few dozen reasons the callback gets
+ * called at some event to be handled.
+ *
+ * All of the events can be ignored, returning 0 is taken as "OK" and returning
+ * nonzero in most cases indicates that the connection should be closed.
+ */
+///@{
+
+struct lws_ssl_info {
+	int where;
+	int ret;
+};
+
+enum lws_cert_update_state {
+	LWS_CUS_IDLE,
+	LWS_CUS_STARTING,
+	LWS_CUS_SUCCESS,
+	LWS_CUS_FAILED,
+
+	LWS_CUS_CREATE_KEYS,
+	LWS_CUS_REG,
+	LWS_CUS_AUTH,
+	LWS_CUS_CHALLENGE,
+	LWS_CUS_CREATE_REQ,
+	LWS_CUS_REQ,
+	LWS_CUS_CONFIRM,
+	LWS_CUS_ISSUE,
+};
+
+enum {
+	LWS_TLS_REQ_ELEMENT_COUNTRY,
+	LWS_TLS_REQ_ELEMENT_STATE,
+	LWS_TLS_REQ_ELEMENT_LOCALITY,
+	LWS_TLS_REQ_ELEMENT_ORGANIZATION,
+	LWS_TLS_REQ_ELEMENT_COMMON_NAME,
+	LWS_TLS_REQ_ELEMENT_EMAIL,
+
+	LWS_TLS_REQ_ELEMENT_COUNT,
+
+	LWS_TLS_SET_DIR_URL = LWS_TLS_REQ_ELEMENT_COUNT,
+	LWS_TLS_SET_AUTH_PATH,
+	LWS_TLS_SET_CERT_PATH,
+	LWS_TLS_SET_KEY_PATH,
+
+	LWS_TLS_TOTAL_COUNT
+};
+
+struct lws_acme_cert_aging_args {
+	struct lws_vhost *vh;
+	const char *element_overrides[LWS_TLS_TOTAL_COUNT]; /* NULL = use pvo */
+};
+
+/*
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+/** enum lws_callback_reasons - reason you're getting a protocol callback */
+enum lws_callback_reasons {
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to wsi and protocol binding lifecycle -----
+	 */
+
+	LWS_CALLBACK_PROTOCOL_INIT				= 27,
+	/**< One-time call per protocol, per-vhost using it, so it can
+	 * do initial setup / allocations etc */
+
+	LWS_CALLBACK_PROTOCOL_DESTROY				= 28,
+	/**< One-time call per protocol, per-vhost using it, indicating
+	 * this protocol won't get used at all after this callback, the
+	 * vhost is getting destroyed.  Take the opportunity to
+	 * deallocate everything that was allocated by the protocol. */
+
+	LWS_CALLBACK_WSI_CREATE					= 29,
+	/**< outermost (earliest) wsi create notification to protocols[0] */
+
+	LWS_CALLBACK_WSI_DESTROY				= 30,
+	/**< outermost (latest) wsi destroy notification to protocols[0] */
+
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to Server TLS -----
+	 */
+
+	LWS_CALLBACK_OPENSSL_LOAD_EXTRA_CLIENT_VERIFY_CERTS	= 21,
+	/**< if configured for
+	 * including OpenSSL support, this callback allows your user code
+	 * to perform extra SSL_CTX_load_verify_locations() or similar
+	 * calls to direct OpenSSL where to find certificates the client
+	 * can use to confirm the remote server identity.  user is the
+	 * OpenSSL SSL_CTX* */
+
+	LWS_CALLBACK_OPENSSL_LOAD_EXTRA_SERVER_VERIFY_CERTS	= 22,
+	/**< if configured for
+	 * including OpenSSL support, this callback allows your user code
+	 * to load extra certificates into the server which allow it to
+	 * verify the validity of certificates returned by clients.  user
+	 * is the server's OpenSSL SSL_CTX* and in is the lws_vhost */
+
+	LWS_CALLBACK_OPENSSL_PERFORM_CLIENT_CERT_VERIFICATION	= 23,
+	/**< if the libwebsockets vhost was created with the option
+	 * LWS_SERVER_OPTION_REQUIRE_VALID_OPENSSL_CLIENT_CERT, then this
+	 * callback is generated during OpenSSL verification of the cert
+	 * sent from the client.  It is sent to protocol[0] callback as
+	 * no protocol has been negotiated on the connection yet.
+	 * Notice that the libwebsockets context and wsi are both NULL
+	 * during this callback.  See
+	 *  http://www.openssl.org/docs/ssl/SSL_CTX_set_verify.html
+	 * to understand more detail about the OpenSSL callback that
+	 * generates this libwebsockets callback and the meanings of the
+	 * arguments passed.  In this callback, user is the x509_ctx,
+	 * in is the ssl pointer and len is preverify_ok
+	 * Notice that this callback maintains libwebsocket return
+	 * conventions, return 0 to mean the cert is OK or 1 to fail it.
+	 * This also means that if you don't handle this callback then
+	 * the default callback action of returning 0 allows the client
+	 * certificates. */
+
+	LWS_CALLBACK_OPENSSL_CONTEXT_REQUIRES_PRIVATE_KEY	= 37,
+	/**< if configured for including OpenSSL support but no private key
+	 * file has been specified (ssl_private_key_filepath is NULL), this is
+	 * called to allow the user to set the private key directly via
+	 * libopenssl and perform further operations if required; this might be
+	 * useful in situations where the private key is not directly accessible
+	 * by the OS, for example if it is stored on a smartcard.
+	 * user is the server's OpenSSL SSL_CTX* */
+
+	LWS_CALLBACK_SSL_INFO					= 67,
+	/**< SSL connections only.  An event you registered an
+	 * interest in at the vhost has occurred on a connection
+	 * using the vhost.  in is a pointer to a
+	 * struct lws_ssl_info containing information about the
+	 * event*/
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to Client TLS -----
+	 */
+
+	LWS_CALLBACK_OPENSSL_PERFORM_SERVER_CERT_VERIFICATION = 58,
+	/**< Similar to LWS_CALLBACK_OPENSSL_PERFORM_CLIENT_CERT_VERIFICATION
+	 * this callback is called during OpenSSL verification of the cert
+	 * sent from the server to the client. It is sent to protocol[0]
+	 * callback as no protocol has been negotiated on the connection yet.
+	 * Notice that the wsi is set because lws_client_connect_via_info was
+	 * successful.
+	 *
+	 * See http://www.openssl.org/docs/ssl/SSL_CTX_set_verify.html
+	 * to understand more detail about the OpenSSL callback that
+	 * generates this libwebsockets callback and the meanings of the
+	 * arguments passed. In this callback, user is the x509_ctx,
+	 * in is the ssl pointer and len is preverify_ok.
+	 *
+	 * THIS IS NOT RECOMMENDED BUT if a cert validation error shall be
+	 * overruled and cert shall be accepted as ok,
+	 * X509_STORE_CTX_set_error((X509_STORE_CTX*)user, X509_V_OK); must be
+	 * called and return value must be 0 to mean the cert is OK;
+	 * returning 1 will fail the cert in any case.
+	 *
+	 * This also means that if you don't handle this callback then
+	 * the default callback action of returning 0 will not accept the
+	 * certificate in case of a validation error decided by the SSL lib.
+	 *
+	 * This is expected and secure behaviour when validating certificates.
+	 *
+	 * Note: LCCSCF_ALLOW_SELFSIGNED and
+	 * LCCSCF_SKIP_SERVER_CERT_HOSTNAME_CHECK still work without this
+	 * callback being implemented.
+	 */
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to HTTP Server  -----
+	 */
+
+	LWS_CALLBACK_SERVER_NEW_CLIENT_INSTANTIATED		= 19,
+	/**< A new client has been accepted by the ws server.  This
+	 * callback allows setting any relevant property to it. Because this
+	 * happens immediately after the instantiation of a new client,
+	 * there's no websocket protocol selected yet so this callback is
+	 * issued only to protocol 0. Only wsi is defined, pointing to the
+	 * new client, and the return value is ignored. */
+
+	LWS_CALLBACK_HTTP					= 12,
+	/**< an http request has come from a client that is not
+	 * asking to upgrade the connection to a websocket
+	 * one.  This is a chance to serve http content,
+	 * for example, to send a script to the client
+	 * which will then open the websockets connection.
+	 * in points to the URI path requested and
+	 * lws_serve_http_file() makes it very
+	 * simple to send back a file to the client.
+	 * Normally after sending the file you are done
+	 * with the http connection, since the rest of the
+	 * activity will come by websockets from the script
+	 * that was delivered by http, so you will want to
+	 * return 1; to close and free up the connection. */
+
+	LWS_CALLBACK_HTTP_BODY					= 13,
+	/**< the next len bytes data from the http
+	 * request body HTTP connection is now available in in. */
+
+	LWS_CALLBACK_HTTP_BODY_COMPLETION			= 14,
+	/**< the expected amount of http request body has been delivered */
+
+	LWS_CALLBACK_HTTP_FILE_COMPLETION			= 15,
+	/**< a file requested to be sent down http link has completed. */
+
+	LWS_CALLBACK_HTTP_WRITEABLE				= 16,
+	/**< you can write more down the http protocol link now. */
+
+	LWS_CALLBACK_CLOSED_HTTP				=  5,
+	/**< when a HTTP (non-websocket) session ends */
+
+	LWS_CALLBACK_FILTER_HTTP_CONNECTION			= 18,
+	/**< called when the request has
+	 * been received and parsed from the client, but the response is
+	 * not sent yet.  Return non-zero to disallow the connection.
+	 * user is a pointer to the connection user space allocation,
+	 * in is the URI, eg, "/"
+	 * In your handler you can use the public APIs
+	 * lws_hdr_total_length() / lws_hdr_copy() to access all of the
+	 * headers using the header enums lws_token_indexes from
+	 * libwebsockets.h to check for and read the supported header
+	 * presence and content before deciding to allow the http
+	 * connection to proceed or to kill the connection. */
+
+	LWS_CALLBACK_ADD_HEADERS				= 53,
+	/**< This gives your user code a chance to add headers to a server
+	 * transaction bound to your protocol.  `in` points to a
+	 * `struct lws_process_html_args` describing a buffer and length
+	 * you can add headers into using the normal lws apis.
+	 *
+	 * (see LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER to add headers to
+	 * a client transaction)
+	 *
+	 * Only `args->p` and `args->len` are valid, and `args->p` should
+	 * be moved on by the amount of bytes written, if any.  Eg
+	 *
+	 * 	case LWS_CALLBACK_ADD_HEADERS:
+	 *
+	 *          struct lws_process_html_args *args =
+	 *          		(struct lws_process_html_args *)in;
+	 *
+	 *	    if (lws_add_http_header_by_name(wsi,
+	 *			(unsigned char *)"set-cookie:",
+	 *			(unsigned char *)cookie, cookie_len,
+	 *			(unsigned char **)&args->p,
+	 *			(unsigned char *)args->p + args->max_len))
+	 *		return 1;
+	 *
+	 *          break;
+	 */
+
+	LWS_CALLBACK_CHECK_ACCESS_RIGHTS			= 51,
+	/**< This gives the user code a chance to forbid an http access.
+	 * `in` points to a `struct lws_process_html_args`, which
+	 * describes the URL, and a bit mask describing the type of
+	 * authentication required.  If the callback returns nonzero,
+	 * the transaction ends with HTTP_STATUS_UNAUTHORIZED. */
+
+	LWS_CALLBACK_PROCESS_HTML				= 52,
+	/**< This gives your user code a chance to mangle outgoing
+	 * HTML.  `in` points to a `struct lws_process_html_args`
+	 * which describes the buffer containing outgoing HTML.
+	 * The buffer may grow up to `.max_len` (currently +128
+	 * bytes per buffer).
+	 */
+
+	LWS_CALLBACK_HTTP_BIND_PROTOCOL				= 49,
+	/**< By default, all HTTP handling is done in protocols[0].
+	 * However you can bind different protocols (by name) to
+	 * different parts of the URL space using callback mounts.  This
+	 * callback occurs in the new protocol when a wsi is bound
+	 * to that protocol.  Any protocol allocation related to the
+	 * http transaction processing should be created then.
+	 * These specific callbacks are necessary because with HTTP/1.1,
+	 * a single connection may perform at series of different
+	 * transactions at different URLs, thus the lifetime of the
+	 * protocol bind is just for one transaction, not connection. */
+
+	LWS_CALLBACK_HTTP_DROP_PROTOCOL				= 50,
+	/**< This is called when a transaction is unbound from a protocol.
+	 * It indicates the connection completed its transaction and may
+	 * do something different now.  Any protocol allocation related
+	 * to the http transaction processing should be destroyed. */
+
+	LWS_CALLBACK_HTTP_CONFIRM_UPGRADE			= 86,
+	/**< This is your chance to reject an HTTP upgrade action.  The
+	 * name of the protocol being upgraded to is in 'in', and the ah
+	 * is still bound to the wsi, so you can look at the headers.
+	 *
+	 * The default of returning 0 (ie, also if not handled) means the
+	 * upgrade may proceed.  Return <0 to just hang up the connection,
+	 * or >0 if you have rejected the connection by returning http headers
+	 * and response code yourself.
+	 *
+	 * There is no need for you to call transaction_completed() as the
+	 * caller will take care of it when it sees you returned >0.
+	 */
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to HTTP Client  -----
+	 */
+
+	LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP			= 44,
+	/**< The HTTP client connection has succeeded, and is now
+	 * connected to the server */
+
+	LWS_CALLBACK_CLOSED_CLIENT_HTTP				= 45,
+	/**< The HTTP client connection is closing */
+
+	LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ			= 48,
+	/**< This is generated by lws_http_client_read() used to drain
+	 * incoming data.  In the case the incoming data was chunked, it will
+	 * be split into multiple smaller callbacks for each chunk block,
+	 * removing the chunk headers. If not chunked, it will appear all in
+	 * one callback. */
+
+	LWS_CALLBACK_RECEIVE_CLIENT_HTTP			= 46,
+	/**< This simply indicates data was received on the HTTP client
+	 * connection.  It does NOT drain or provide the data.
+	 * This exists to neatly allow a proxying type situation,
+	 * where this incoming data will go out on another connection.
+	 * If the outgoing connection stalls, we should stall processing
+	 * the incoming data.  So a handler for this in that case should
+	 * simply set a flag to indicate there is incoming data ready
+	 * and ask for a writeable callback on the outgoing connection.
+	 * In the writable callback he can check the flag and then get
+	 * and drain the waiting incoming data using lws_http_client_read().
+	 * This will use callbacks to LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ
+	 * to get and drain the incoming data, where it should be sent
+	 * back out on the outgoing connection. */
+	LWS_CALLBACK_COMPLETED_CLIENT_HTTP			= 47,
+	/**< The client transaction completed... at the moment this
+	 * is the same as closing since transaction pipelining on
+	 * client side is not yet supported.  */
+
+	LWS_CALLBACK_CLIENT_HTTP_WRITEABLE			= 57,
+	/**< when doing an HTTP type client connection, you can call
+	 * lws_client_http_body_pending(wsi, 1) from
+	 * LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER to get these callbacks
+	 * sending the HTTP headers.
+	 *
+	 * From this callback, when you have sent everything, you should let
+	 * lws know by calling lws_client_http_body_pending(wsi, 0)
+	 */
+
+	LWS_CALLBACK_CLIENT_HTTP_BIND_PROTOCOL			= 85,
+	LWS_CALLBACK_CLIENT_HTTP_DROP_PROTOCOL			= 76,
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to Websocket Server -----
+	 */
+
+	LWS_CALLBACK_ESTABLISHED				=  0,
+	/**< (VH) after the server completes a handshake with an incoming
+	 * client.  If you built the library with ssl support, in is a
+	 * pointer to the ssl struct associated with the connection or NULL.
+	 *
+	 * b0 of len is set if the connection was made using ws-over-h2
+	 */
+
+	LWS_CALLBACK_CLOSED					=  4,
+	/**< when the websocket session ends */
+
+	LWS_CALLBACK_SERVER_WRITEABLE				= 11,
+	/**< See LWS_CALLBACK_CLIENT_WRITEABLE */
+
+	LWS_CALLBACK_RECEIVE					=  6,
+	/**< data has appeared for this server endpoint from a
+	 * remote client, it can be found at *in and is
+	 * len bytes long */
+
+	LWS_CALLBACK_RECEIVE_PONG				=  7,
+	/**< servers receive PONG packets with this callback reason */
+
+	LWS_CALLBACK_WS_PEER_INITIATED_CLOSE			= 38,
+	/**< The peer has sent an unsolicited Close WS packet.  in and
+	 * len are the optional close code (first 2 bytes, network
+	 * order) and the optional additional information which is not
+	 * defined in the standard, and may be a string or non human-readable
+	 * data.
+	 * If you return 0 lws will echo the close and then close the
+	 * connection.  If you return nonzero lws will just close the
+	 * connection. */
+
+	LWS_CALLBACK_FILTER_PROTOCOL_CONNECTION			= 20,
+	/**< called when the handshake has
+	 * been received and parsed from the client, but the response is
+	 * not sent yet.  Return non-zero to disallow the connection.
+	 * user is a pointer to the connection user space allocation,
+	 * in is the requested protocol name
+	 * In your handler you can use the public APIs
+	 * lws_hdr_total_length() / lws_hdr_copy() to access all of the
+	 * headers using the header enums lws_token_indexes from
+	 * libwebsockets.h to check for and read the supported header
+	 * presence and content before deciding to allow the handshake
+	 * to proceed or to kill the connection. */
+
+	LWS_CALLBACK_CONFIRM_EXTENSION_OKAY			= 25,
+	/**< When the server handshake code
+	 * sees that it does support a requested extension, before
+	 * accepting the extension by additing to the list sent back to
+	 * the client it gives this callback just to check that it's okay
+	 * to use that extension.  It calls back to the requested protocol
+	 * and with in being the extension name, len is 0 and user is
+	 * valid.  Note though at this time the ESTABLISHED callback hasn't
+	 * happened yet so if you initialize user content there, user
+	 * content during this callback might not be useful for anything. */
+
+	LWS_CALLBACK_WS_SERVER_BIND_PROTOCOL			= 77,
+	LWS_CALLBACK_WS_SERVER_DROP_PROTOCOL			= 78,
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to Websocket Client -----
+	 */
+
+	LWS_CALLBACK_CLIENT_CONNECTION_ERROR			=  1,
+	/**< the request client connection has been unable to complete a
+	 * handshake with the remote server.  If in is non-NULL, you can
+	 * find an error string of length len where it points to
+	 *
+	 * Diagnostic strings that may be returned include
+	 *
+	 *     	"getaddrinfo (ipv6) failed"
+	 *     	"unknown address family"
+	 *     	"getaddrinfo (ipv4) failed"
+	 *     	"set socket opts failed"
+	 *     	"insert wsi failed"
+	 *     	"lws_ssl_client_connect1 failed"
+	 *     	"lws_ssl_client_connect2 failed"
+	 *     	"Peer hung up"
+	 *     	"read failed"
+	 *     	"HS: URI missing"
+	 *     	"HS: Redirect code but no Location"
+	 *     	"HS: URI did not parse"
+	 *     	"HS: Redirect failed"
+	 *     	"HS: Server did not return 200"
+	 *     	"HS: OOM"
+	 *     	"HS: disallowed by client filter"
+	 *     	"HS: disallowed at ESTABLISHED"
+	 *     	"HS: ACCEPT missing"
+	 *     	"HS: ws upgrade response not 101"
+	 *     	"HS: UPGRADE missing"
+	 *     	"HS: Upgrade to something other than websocket"
+	 *     	"HS: CONNECTION missing"
+	 *     	"HS: UPGRADE malformed"
+	 *     	"HS: PROTOCOL malformed"
+	 *     	"HS: Cannot match protocol"
+	 *     	"HS: EXT: list too big"
+	 *     	"HS: EXT: failed setting defaults"
+	 *     	"HS: EXT: failed parsing defaults"
+	 *     	"HS: EXT: failed parsing options"
+	 *     	"HS: EXT: Rejects server options"
+	 *     	"HS: EXT: unknown ext"
+	 *     	"HS: Accept hash wrong"
+	 *     	"HS: Rejected by filter cb"
+	 *     	"HS: OOM"
+	 *     	"HS: SO_SNDBUF failed"
+	 *     	"HS: Rejected at CLIENT_ESTABLISHED"
+	 */
+
+	LWS_CALLBACK_CLIENT_FILTER_PRE_ESTABLISH		=  2,
+	/**< this is the last chance for the client user code to examine the
+	 * http headers and decide to reject the connection.  If the
+	 * content in the headers is interesting to the
+	 * client (url, etc) it needs to copy it out at
+	 * this point since it will be destroyed before
+	 * the CLIENT_ESTABLISHED call */
+
+	LWS_CALLBACK_CLIENT_ESTABLISHED				=  3,
+	/**< after your client connection completed the websocket upgrade
+	 * handshake with the remote server */
+
+	LWS_CALLBACK_CLIENT_CLOSED				= 75,
+	/**< when a client websocket session ends */
+
+	LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER		= 24,
+	/**< this callback happens
+	 * when a client handshake is being compiled.  user is NULL,
+	 * in is a char **, it's pointing to a char * which holds the
+	 * next location in the header buffer where you can add
+	 * headers, and len is the remaining space in the header buffer,
+	 * which is typically some hundreds of bytes.  So, to add a canned
+	 * cookie, your handler code might look similar to:
+	 *
+	 *	char **p = (char **)in, *end = (*p) + len;
+	 *
+	 *	if (lws_add_http_header_by_token(wsi, WSI_TOKEN_HTTP_COOKIE,
+	 *			(unsigned char)"a=b", 3, p, end))
+	 *		return -1;
+	 *
+	 * See LWS_CALLBACK_ADD_HEADERS for adding headers to server
+	 * transactions.
+	 */
+
+	LWS_CALLBACK_CLIENT_RECEIVE				=  8,
+	/**< data has appeared from the server for the client connection, it
+	 * can be found at *in and is len bytes long */
+
+	LWS_CALLBACK_CLIENT_RECEIVE_PONG			=  9,
+	/**< clients receive PONG packets with this callback reason */
+
+	LWS_CALLBACK_CLIENT_WRITEABLE				= 10,
+	/**<  If you call lws_callback_on_writable() on a connection, you will
+	 * get one of these callbacks coming when the connection socket
+	 * is able to accept another write packet without blocking.
+	 * If it already was able to take another packet without blocking,
+	 * you'll get this callback at the next call to the service loop
+	 * function.  Notice that CLIENTs get LWS_CALLBACK_CLIENT_WRITEABLE
+	 * and servers get LWS_CALLBACK_SERVER_WRITEABLE. */
+
+	LWS_CALLBACK_CLIENT_CONFIRM_EXTENSION_SUPPORTED		= 26,
+	/**< When a ws client
+	 * connection is being prepared to start a handshake to a server,
+	 * each supported extension is checked with protocols[0] callback
+	 * with this reason, giving the user code a chance to suppress the
+	 * claim to support that extension by returning non-zero.  If
+	 * unhandled, by default 0 will be returned and the extension
+	 * support included in the header to the server.  Notice this
+	 * callback comes to protocols[0]. */
+
+	LWS_CALLBACK_WS_EXT_DEFAULTS				= 39,
+	/**< Gives client connections an opportunity to adjust negotiated
+	 * extension defaults.  `user` is the extension name that was
+	 * negotiated (eg, "permessage-deflate").  `in` points to a
+	 * buffer and `len` is the buffer size.  The user callback can
+	 * set the buffer to a string describing options the extension
+	 * should parse.  Or just ignore for defaults. */
+
+
+	LWS_CALLBACK_FILTER_NETWORK_CONNECTION			= 17,
+	/**< called when a client connects to
+	 * the server at network level; the connection is accepted but then
+	 * passed to this callback to decide whether to hang up immediately
+	 * or not, based on the client IP.  in contains the connection
+	 * socket's descriptor. Since the client connection information is
+	 * not available yet, wsi still pointing to the main server socket.
+	 * Return non-zero to terminate the connection before sending or
+	 * receiving anything. Because this happens immediately after the
+	 * network connection from the client, there's no websocket protocol
+	 * selected yet so this callback is issued only to protocol 0. */
+
+	LWS_CALLBACK_WS_CLIENT_BIND_PROTOCOL			= 79,
+	LWS_CALLBACK_WS_CLIENT_DROP_PROTOCOL			= 80,
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to external poll loop integration  -----
+	 */
+
+	LWS_CALLBACK_GET_THREAD_ID				= 31,
+	/**< lws can accept callback when writable requests from other
+	 * threads, if you implement this callback and return an opaque
+	 * current thread ID integer. */
+
+	/* external poll() management support */
+	LWS_CALLBACK_ADD_POLL_FD				= 32,
+	/**< lws normally deals with its poll() or other event loop
+	 * internally, but in the case you are integrating with another
+	 * server you will need to have lws sockets share a
+	 * polling array with the other server.  This and the other
+	 * POLL_FD related callbacks let you put your specialized
+	 * poll array interface code in the callback for protocol 0, the
+	 * first protocol you support, usually the HTTP protocol in the
+	 * serving case.
+	 * This callback happens when a socket needs to be
+	 * added to the polling loop: in points to a struct
+	 * lws_pollargs; the fd member of the struct is the file
+	 * descriptor, and events contains the active events
+	 *
+	 * If you are using the internal lws polling / event loop
+	 * you can just ignore these callbacks. */
+
+	LWS_CALLBACK_DEL_POLL_FD				= 33,
+	/**< This callback happens when a socket descriptor
+	 * needs to be removed from an external polling array.  in is
+	 * again the struct lws_pollargs containing the fd member
+	 * to be removed.  If you are using the internal polling
+	 * loop, you can just ignore it. */
+
+	LWS_CALLBACK_CHANGE_MODE_POLL_FD			= 34,
+	/**< This callback happens when lws wants to modify the events for
+	 * a connection.
+	 * in is the struct lws_pollargs with the fd to change.
+	 * The new event mask is in events member and the old mask is in
+	 * the prev_events member.
+	 * If you are using the internal polling loop, you can just ignore
+	 * it. */
+
+	LWS_CALLBACK_LOCK_POLL					= 35,
+	/**< These allow the external poll changes driven
+	 * by lws to participate in an external thread locking
+	 * scheme around the changes, so the whole thing is threadsafe.
+	 * These are called around three activities in the library,
+	 *	- inserting a new wsi in the wsi / fd table (len=1)
+	 *	- deleting a wsi from the wsi / fd table (len=1)
+	 *	- changing a wsi's POLLIN/OUT state (len=0)
+	 * Locking and unlocking external synchronization objects when
+	 * len == 1 allows external threads to be synchronized against
+	 * wsi lifecycle changes if it acquires the same lock for the
+	 * duration of wsi dereference from the other thread context. */
+
+	LWS_CALLBACK_UNLOCK_POLL				= 36,
+	/**< See LWS_CALLBACK_LOCK_POLL, ignore if using lws internal poll */
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to CGI serving -----
+	 */
+
+	LWS_CALLBACK_CGI					= 40,
+	/**< CGI: CGI IO events on stdin / out / err are sent here on
+	 * protocols[0].  The provided `lws_callback_http_dummy()`
+	 * handles this and the callback should be directed there if
+	 * you use CGI. */
+
+	LWS_CALLBACK_CGI_TERMINATED				= 41,
+	/**< CGI: The related CGI process ended, this is called before
+	 * the wsi is closed.  Used to, eg, terminate chunking.
+	 * The provided `lws_callback_http_dummy()`
+	 * handles this and the callback should be directed there if
+	 * you use CGI.  The child PID that terminated is in len. */
+
+	LWS_CALLBACK_CGI_STDIN_DATA				= 42,
+	/**< CGI: Data is, to be sent to the CGI process stdin, eg from
+	 * a POST body.  The provided `lws_callback_http_dummy()`
+	 * handles this and the callback should be directed there if
+	 * you use CGI. */
+
+	LWS_CALLBACK_CGI_STDIN_COMPLETED			= 43,
+	/**< CGI: no more stdin is coming.  The provided
+	 * `lws_callback_http_dummy()` handles this and the callback
+	 * should be directed there if you use CGI. */
+
+	LWS_CALLBACK_CGI_PROCESS_ATTACH				= 70,
+	/**< CGI: Sent when the CGI process is spawned for the wsi.  The
+	 * len parameter is the PID of the child process */
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to Generic Sessions -----
+	 */
+
+	LWS_CALLBACK_SESSION_INFO				= 54,
+	/**< This is only generated by user code using generic sessions.
+	 * It's used to get a `struct lws_session_info` filled in by
+	 * generic sessions with information about the logged-in user.
+	 * See the messageboard sample for an example of how to use. */
+
+	LWS_CALLBACK_GS_EVENT					= 55,
+	/**< Indicates an event happened to the Generic Sessions session.
+	 * `in` contains a `struct lws_gs_event_args` describing the event. */
+
+	LWS_CALLBACK_HTTP_PMO					= 56,
+	/**< per-mount options for this connection, called before
+	 * the normal LWS_CALLBACK_HTTP when the mount has per-mount
+	 * options.
+	 */
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to RAW sockets -----
+	 */
+
+	LWS_CALLBACK_RAW_RX					= 59,
+	/**< RAW mode connection RX */
+
+	LWS_CALLBACK_RAW_CLOSE					= 60,
+	/**< RAW mode connection is closing */
+
+	LWS_CALLBACK_RAW_WRITEABLE				= 61,
+	/**< RAW mode connection may be written */
+
+	LWS_CALLBACK_RAW_ADOPT					= 62,
+	/**< RAW mode connection was adopted (equivalent to 'wsi created') */
+
+	LWS_CALLBACK_RAW_SKT_BIND_PROTOCOL			= 81,
+	LWS_CALLBACK_RAW_SKT_DROP_PROTOCOL			= 82,
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to RAW file handles -----
+	 */
+
+	LWS_CALLBACK_RAW_ADOPT_FILE				= 63,
+	/**< RAW mode file was adopted (equivalent to 'wsi created') */
+
+	LWS_CALLBACK_RAW_RX_FILE				= 64,
+	/**< This is the indication the RAW mode file has something to read.
+	 *   This doesn't actually do the read of the file and len is always
+	 *   0... your code should do the read having been informed there is
+	 *   something to read now. */
+
+	LWS_CALLBACK_RAW_WRITEABLE_FILE				= 65,
+	/**< RAW mode file is writeable */
+
+	LWS_CALLBACK_RAW_CLOSE_FILE				= 66,
+	/**< RAW mode wsi that adopted a file is closing */
+
+	LWS_CALLBACK_RAW_FILE_BIND_PROTOCOL			= 83,
+	LWS_CALLBACK_RAW_FILE_DROP_PROTOCOL			= 84,
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to generic wsi events -----
+	 */
+
+	LWS_CALLBACK_TIMER					= 73,
+	/**< When the time elapsed after a call to
+	 * lws_set_timer_usecs(wsi, usecs) is up, the wsi will get one of
+	 * these callbacks.  The deadline can be continuously extended into the
+	 * future by later calls to lws_set_timer_usecs() before the deadline
+	 * expires, or cancelled by lws_set_timer_usecs(wsi, -1);
+	 */
+
+	LWS_CALLBACK_EVENT_WAIT_CANCELLED			= 71,
+	/**< This is sent to every protocol of every vhost in response
+	 * to lws_cancel_service() or lws_cancel_service_pt().  This
+	 * callback is serialized in the lws event loop normally, even
+	 * if the lws_cancel_service[_pt]() call was from a different
+	 * thread. */
+
+	LWS_CALLBACK_CHILD_CLOSING				= 69,
+	/**< Sent to parent to notify them a child is closing / being
+	 * destroyed.  in is the child wsi.
+	 */
+
+	/* ---------------------------------------------------------------------
+	 * ----- Callbacks related to TLS certificate management -----
+	 */
+
+	LWS_CALLBACK_VHOST_CERT_AGING				= 72,
+	/**< When a vhost TLS cert has its expiry checked, this callback
+	 * is broadcast to every protocol of every vhost in case the
+	 * protocol wants to take some action with this information.
+	 * \p in is a pointer to a struct lws_acme_cert_aging_args,
+	 * and \p len is the number of days left before it expires, as
+	 * a (ssize_t).  In the struct lws_acme_cert_aging_args, vh
+	 * points to the vhost the cert aging information applies to,
+	 * and element_overrides[] is an optional way to update information
+	 * from the pvos... NULL in an index means use the information from
+	 * from the pvo for the cert renewal, non-NULL in the array index
+	 * means use that pointer instead for the index. */
+
+	LWS_CALLBACK_VHOST_CERT_UPDATE				= 74,
+	/**< When a vhost TLS cert is being updated, progress is
+	 * reported to the vhost in question here, including completion
+	 * and failure.  in points to optional JSON, and len represents the
+	 * connection state using enum lws_cert_update_state */
+
+
+	/****** add new things just above ---^ ******/
+
+	LWS_CALLBACK_USER = 1000,
+	/**<  user code can use any including above without fear of clashes */
+};
+
+
+
+/**
+ * typedef lws_callback_function() - User server actions
+ * \param wsi:	Opaque websocket instance pointer
+ * \param reason:	The reason for the call
+ * \param user:	Pointer to per-session user data allocated by library
+ * \param in:		Pointer used for some callback reasons
+ * \param len:	Length set for some callback reasons
+ *
+ *	This callback is the way the user controls what is served.  All the
+ *	protocol detail is hidden and handled by the library.
+ *
+ *	For each connection / session there is user data allocated that is
+ *	pointed to by "user".  You set the size of this user data area when
+ *	the library is initialized with lws_create_server.
+ */
+typedef int
+lws_callback_function(struct lws *wsi, enum lws_callback_reasons reason,
+		    void *user, void *in, size_t len);
+
+#define LWS_CB_REASON_AUX_BF__CGI		1
+#define LWS_CB_REASON_AUX_BF__PROXY		2
+#define LWS_CB_REASON_AUX_BF__CGI_CHUNK_END	4
+#define LWS_CB_REASON_AUX_BF__CGI_HEADERS	8
+#define LWS_CB_REASON_AUX_BF__PROXY_TRANS_END	16
+#define LWS_CB_REASON_AUX_BF__PROXY_HEADERS	32
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-cgi.h b/thirdparty/libwebsockets/include/libwebsockets/lws-cgi.h
new file mode 100644
index 0000000000..7a5eca2855
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-cgi.h
@@ -0,0 +1,103 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup cgi cgi handling
+ *
+ * ##CGI handling
+ *
+ * These functions allow low-level control over stdin/out/err of the cgi.
+ *
+ * However for most cases, binding the cgi to http in and out, the default
+ * lws implementation already does the right thing.
+ */
+
+enum lws_enum_stdinouterr {
+	LWS_STDIN = 0,
+	LWS_STDOUT = 1,
+	LWS_STDERR = 2,
+};
+
+enum lws_cgi_hdr_state {
+	LCHS_HEADER,
+	LCHS_CR1,
+	LCHS_LF1,
+	LCHS_CR2,
+	LCHS_LF2,
+	LHCS_RESPONSE,
+	LHCS_DUMP_HEADERS,
+	LHCS_PAYLOAD,
+	LCHS_SINGLE_0A,
+};
+
+struct lws_cgi_args {
+	struct lws **stdwsi; /**< get fd with lws_get_socket_fd() */
+	enum lws_enum_stdinouterr ch; /**< channel index */
+	unsigned char *data; /**< for messages with payload */
+	enum lws_cgi_hdr_state hdr_state; /**< track where we are in cgi headers */
+	int len; /**< length */
+};
+
+#ifdef LWS_WITH_CGI
+/**
+ * lws_cgi: spawn network-connected cgi process
+ *
+ * \param wsi: connection to own the process
+ * \param exec_array: array of "exec-name" "arg1" ... "argn" NULL
+ * \param script_uri_path_len: how many chars on the left of the uri are the
+ *        path to the cgi, or -1 to spawn without URL-related env vars
+ * \param timeout_secs: seconds script should be allowed to run
+ * \param mp_cgienv: pvo list with per-vhost cgi options to put in env
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_cgi(struct lws *wsi, const char * const *exec_array,
+	int script_uri_path_len, int timeout_secs,
+	const struct lws_protocol_vhost_options *mp_cgienv);
+
+/**
+ * lws_cgi_write_split_stdout_headers: write cgi output accounting for header part
+ *
+ * \param wsi: connection to own the process
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_cgi_write_split_stdout_headers(struct lws *wsi);
+
+/**
+ * lws_cgi_kill: terminate cgi process associated with wsi
+ *
+ * \param wsi: connection to own the process
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_cgi_kill(struct lws *wsi);
+
+/**
+ * lws_cgi_get_stdwsi: get wsi for stdin, stdout, or stderr
+ *
+ * \param wsi: parent wsi that has cgi
+ * \param ch: which of LWS_STDIN, LWS_STDOUT or LWS_STDERR
+ */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_cgi_get_stdwsi(struct lws *wsi, enum lws_enum_stdinouterr ch);
+
+#endif
+///@}
+
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-client.h b/thirdparty/libwebsockets/include/libwebsockets/lws-client.h
new file mode 100644
index 0000000000..a1661b0a9f
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-client.h
@@ -0,0 +1,231 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup client Client related functions
+ * ##Client releated functions
+ * \ingroup lwsapi
+ *
+ * */
+///@{
+
+/** enum lws_client_connect_ssl_connection_flags - flags that may be used
+ * with struct lws_client_connect_info ssl_connection member to control if
+ * and how SSL checks apply to the client connection being created
+ */
+
+enum lws_client_connect_ssl_connection_flags {
+	LCCSCF_USE_SSL 				= (1 << 0),
+	LCCSCF_ALLOW_SELFSIGNED			= (1 << 1),
+	LCCSCF_SKIP_SERVER_CERT_HOSTNAME_CHECK	= (1 << 2),
+	LCCSCF_ALLOW_EXPIRED			= (1 << 3),
+
+	LCCSCF_PIPELINE				= (1 << 16),
+		/**< Serialize / pipeline multiple client connections
+		 * on a single connection where possible.
+		 *
+		 * HTTP/1.0: possible if Keep-Alive: yes sent by server
+		 * HTTP/1.1: always possible... uses pipelining
+		 * HTTP/2:   always possible... uses parallel streams
+		 * */
+};
+
+/** struct lws_client_connect_info - parameters to connect with when using
+ *				    lws_client_connect_via_info() */
+
+struct lws_client_connect_info {
+	struct lws_context *context;
+	/**< lws context to create connection in */
+	const char *address;
+	/**< remote address to connect to */
+	int port;
+	/**< remote port to connect to */
+	int ssl_connection;
+	/**< 0, or a combination of LCCSCF_ flags */
+	const char *path;
+	/**< uri path */
+	const char *host;
+	/**< content of host header */
+	const char *origin;
+	/**< content of origin header */
+	const char *protocol;
+	/**< list of ws protocols we could accept */
+	int ietf_version_or_minus_one;
+	/**< deprecated: currently leave at 0 or -1 */
+	void *userdata;
+	/**< if non-NULL, use this as wsi user_data instead of malloc it */
+	const void *client_exts;
+	/**< UNUSED... provide in info.extensions at context creation time */
+	const char *method;
+	/**< if non-NULL, do this http method instead of ws[s] upgrade.
+	 * use "GET" to be a simple http client connection.  "RAW" gets
+	 * you a connected socket that lws itself will leave alone once
+	 * connected. */
+	struct lws *parent_wsi;
+	/**< if another wsi is responsible for this connection, give it here.
+	 * this is used to make sure if the parent closes so do any
+	 * child connections first. */
+	const char *uri_replace_from;
+	/**< if non-NULL, when this string is found in URIs in
+	 * text/html content-encoding, it's replaced with uri_replace_to */
+	const char *uri_replace_to;
+	/**< see uri_replace_from */
+	struct lws_vhost *vhost;
+	/**< vhost to bind to (used to determine related SSL_CTX) */
+	struct lws **pwsi;
+	/**< if not NULL, store the new wsi here early in the connection
+	 * process.  Although we return the new wsi, the call to create the
+	 * client connection does progress the connection somewhat and may
+	 * meet an error that will result in the connection being scrubbed and
+	 * NULL returned.  While the wsi exists though, he may process a
+	 * callback like CLIENT_CONNECTION_ERROR with his wsi: this gives the
+	 * user callback a way to identify which wsi it is that faced the error
+	 * even before the new wsi is returned and even if ultimately no wsi
+	 * is returned.
+	 */
+	const char *iface;
+	/**< NULL to allow routing on any interface, or interface name or IP
+	 * to bind the socket to */
+	const char *local_protocol_name;
+	/**< NULL: .protocol is used both to select the local protocol handler
+	 *         to bind to and as the list of remote ws protocols we could
+	 *         accept.
+	 *   non-NULL: this protocol name is used to bind the connection to
+	 *             the local protocol handler.  .protocol is used for the
+	 *             list of remote ws protocols we could accept */
+	const char *alpn;
+	/**< NULL: allow lws default ALPN list, from vhost if present or from
+	 *       list of roles built into lws
+	 * non-NULL: require one from provided comma-separated list of alpn
+	 *           tokens
+	 */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility
+	 *
+	 * The below is to ensure later library versions with new
+	 * members added above will see 0 (default) even if the app
+	 * was not built against the newer headers.
+	 */
+
+	void *_unused[4]; /**< dummy */
+};
+
+/**
+ * lws_client_connect_via_info() - Connect to another websocket server
+ * \param ccinfo: pointer to lws_client_connect_info struct
+ *
+ *	This function creates a connection to a remote server using the
+ *	information provided in ccinfo.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws *
+lws_client_connect_via_info(const struct lws_client_connect_info *ccinfo);
+
+/**
+ * lws_init_vhost_client_ssl() - also enable client SSL on an existing vhost
+ *
+ * \param info: client ssl related info
+ * \param vhost: which vhost to initialize client ssl operations on
+ *
+ * You only need to call this if you plan on using SSL client connections on
+ * the vhost.  For non-SSL client connections, it's not necessary to call this.
+ *
+ * The following members of info are used during the call
+ *
+ *	 - options must have LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT set,
+ *	     otherwise the call does nothing
+ *	 - provided_client_ssl_ctx must be NULL to get a generated client
+ *	     ssl context, otherwise you can pass a prepared one in by setting it
+ *	 - ssl_cipher_list may be NULL or set to the client valid cipher list
+ *	 - ssl_ca_filepath may be NULL or client cert filepath
+ *	 - ssl_cert_filepath may be NULL or client cert filepath
+ *	 - ssl_private_key_filepath may be NULL or client cert private key
+ *
+ * You must create your vhost explicitly if you want to use this, so you have
+ * a pointer to the vhost.  Create the context first with the option flag
+ * LWS_SERVER_OPTION_EXPLICIT_VHOSTS and then call lws_create_vhost() with
+ * the same info struct.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_init_vhost_client_ssl(const struct lws_context_creation_info *info,
+			  struct lws_vhost *vhost);
+/**
+ * lws_http_client_read() - consume waiting received http client data
+ *
+ * \param wsi: client connection
+ * \param buf: pointer to buffer pointer - fill with pointer to your buffer
+ * \param len: pointer to chunk length - fill with max length of buffer
+ *
+ * This is called when the user code is notified client http data has arrived.
+ * The user code may choose to delay calling it to consume the data, for example
+ * waiting until an onward connection is writeable.
+ *
+ * For non-chunked connections, up to len bytes of buf are filled with the
+ * received content.  len is set to the actual amount filled before return.
+ *
+ * For chunked connections, the linear buffer content contains the chunking
+ * headers and it cannot be passed in one lump.  Instead, this function will
+ * call back LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ with in pointing to the
+ * chunk start and len set to the chunk length.  There will be as many calls
+ * as there are chunks or partial chunks in the buffer.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_http_client_read(struct lws *wsi, char **buf, int *len);
+
+/**
+ * lws_http_client_http_response() - get last HTTP response code
+ *
+ * \param wsi: client connection
+ *
+ * Returns the last server response code, eg, 200 for client http connections.
+ *
+ * You should capture this during the LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP
+ * callback, because after that the memory reserved for storing the related
+ * headers is freed and this value is lost.
+ */
+LWS_VISIBLE LWS_EXTERN unsigned int
+lws_http_client_http_response(struct lws *wsi);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_client_http_body_pending(struct lws *wsi, int something_left_to_send);
+
+/**
+ * lws_client_http_body_pending() - control if client connection neeeds to send body
+ *
+ * \param wsi: client connection
+ * \param something_left_to_send: nonzero if need to send more body, 0 (default)
+ * 				if nothing more to send
+ *
+ * If you will send payload data with your HTTP client connection, eg, for POST,
+ * when you set the related http headers in
+ * LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER callback you should also call
+ * this API with something_left_to_send nonzero, and call
+ * lws_callback_on_writable(wsi);
+ *
+ * After sending the headers, lws will call your callback with
+ * LWS_CALLBACK_CLIENT_HTTP_WRITEABLE reason when writable.  You can send the
+ * next part of the http body payload, calling lws_callback_on_writable(wsi);
+ * if there is more to come, or lws_client_http_body_pending(wsi, 0); to
+ * let lws know the last part is sent and the connection can move on.
+ */
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-context-vhost.h b/thirdparty/libwebsockets/include/libwebsockets/lws-context-vhost.h
new file mode 100644
index 0000000000..a63d708629
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-context-vhost.h
@@ -0,0 +1,927 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup context-and-vhost context and vhost related functions
+ * ##Context and Vhost releated functions
+ * \ingroup lwsapi
+ *
+ *
+ *  LWS requires that there is one context, in which you may define multiple
+ *  vhosts.  Each vhost is a virtual host, with either its own listen port
+ *  or sharing an existing one.  Each vhost has its own SSL context that can
+ *  be set up individually or left disabled.
+ *
+ *  If you don't care about multiple "site" support, you can ignore it and
+ *  lws will create a single default vhost at context creation time.
+ */
+///@{
+
+/*
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+
+/** enum lws_context_options - context and vhost options */
+enum lws_context_options {
+	LWS_SERVER_OPTION_REQUIRE_VALID_OPENSSL_CLIENT_CERT	= (1 << 1) |
+								  (1 << 12),
+	/**< (VH) Don't allow the connection unless the client has a
+	 * client cert that we recognize; provides
+	 * LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT */
+	LWS_SERVER_OPTION_SKIP_SERVER_CANONICAL_NAME		= (1 << 2),
+	/**< (CTX) Don't try to get the server's hostname */
+	LWS_SERVER_OPTION_ALLOW_NON_SSL_ON_SSL_PORT		= (1 << 3) |
+								  (1 << 12),
+	/**< (VH) Allow non-SSL (plaintext) connections on the same
+	 * port as SSL is listening... undermines the security of SSL;
+	 * provides  LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT */
+	LWS_SERVER_OPTION_LIBEV					= (1 << 4),
+	/**< (CTX) Use libev event loop */
+	LWS_SERVER_OPTION_DISABLE_IPV6				= (1 << 5),
+	/**< (VH) Disable IPV6 support */
+	LWS_SERVER_OPTION_DISABLE_OS_CA_CERTS			= (1 << 6),
+	/**< (VH) Don't load OS CA certs, you will need to load your
+	 * own CA cert(s) */
+	LWS_SERVER_OPTION_PEER_CERT_NOT_REQUIRED		= (1 << 7),
+	/**< (VH) Accept connections with no valid Cert (eg, selfsigned) */
+	LWS_SERVER_OPTION_VALIDATE_UTF8				= (1 << 8),
+	/**< (VH) Check UT-8 correctness */
+	LWS_SERVER_OPTION_SSL_ECDH				= (1 << 9) |
+								  (1 << 12),
+	/**< (VH)  initialize ECDH ciphers */
+	LWS_SERVER_OPTION_LIBUV					= (1 << 10),
+	/**< (CTX)  Use libuv event loop */
+	LWS_SERVER_OPTION_REDIRECT_HTTP_TO_HTTPS		= (1 << 11) |
+								  (1 << 12),
+	/**< (VH) Use http redirect to force http to https
+	 * (deprecated: use mount redirection) */
+	LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT			= (1 << 12),
+	/**< (CTX) Initialize the SSL library at all */
+	LWS_SERVER_OPTION_EXPLICIT_VHOSTS			= (1 << 13),
+	/**< (CTX) Only create the context when calling context
+	 * create api, implies user code will create its own vhosts */
+	LWS_SERVER_OPTION_UNIX_SOCK				= (1 << 14),
+	/**< (VH) Use Unix socket */
+	LWS_SERVER_OPTION_STS					= (1 << 15),
+	/**< (VH) Send Strict Transport Security header, making
+	 * clients subsequently go to https even if user asked for http */
+	LWS_SERVER_OPTION_IPV6_V6ONLY_MODIFY			= (1 << 16),
+	/**< (VH) Enable LWS_SERVER_OPTION_IPV6_V6ONLY_VALUE to take effect */
+	LWS_SERVER_OPTION_IPV6_V6ONLY_VALUE			= (1 << 17),
+	/**< (VH) if set, only ipv6 allowed on the vhost */
+	LWS_SERVER_OPTION_UV_NO_SIGSEGV_SIGFPE_SPIN		= (1 << 18),
+	/**< (CTX) Libuv only: Do not spin on SIGSEGV / SIGFPE.  A segfault
+	 * normally makes the lib spin so you can attach a debugger to it
+	 * even if it happened without a debugger in place.  You can disable
+	 * that by giving this option.
+	 */
+	LWS_SERVER_OPTION_JUST_USE_RAW_ORIGIN			= (1 << 19),
+	/**< For backwards-compatibility reasons, by default
+	 * lws prepends "http://" to the origin you give in the client
+	 * connection info struct.  If you give this flag when you create
+	 * the context, only the string you give in the client connect
+	 * info for .origin (if any) will be used directly.
+	 */
+	LWS_SERVER_OPTION_FALLBACK_TO_RAW			= (1 << 20),
+	/**< (VH) if invalid http is coming in the first line,  */
+	LWS_SERVER_OPTION_LIBEVENT				= (1 << 21),
+	/**< (CTX) Use libevent event loop */
+	LWS_SERVER_OPTION_ONLY_RAW				= (1 << 22),
+	/**< (VH) All connections to this vhost / port are RAW as soon as
+	 * the connection is accepted, no HTTP is going to be coming.
+	 */
+	LWS_SERVER_OPTION_ALLOW_LISTEN_SHARE			= (1 << 23),
+	/**< (VH) Set to allow multiple listen sockets on one interface +
+	 * address + port.  The default is to strictly allow only one
+	 * listen socket at a time.  This is automatically selected if you
+	 * have multiple service threads.
+	 */
+	LWS_SERVER_OPTION_CREATE_VHOST_SSL_CTX			= (1 << 24),
+	/**< (VH) Force setting up the vhost SSL_CTX, even though the user
+	 * code doesn't explicitly provide a cert in the info struct.  It
+	 * implies the user code is going to provide a cert at the
+	 * LWS_CALLBACK_OPENSSL_LOAD_EXTRA_SERVER_VERIFY_CERTS callback, which
+	 * provides the vhost SSL_CTX * in the user parameter.
+	 */
+	LWS_SERVER_OPTION_SKIP_PROTOCOL_INIT			= (1 << 25),
+	/**< (VH) You probably don't want this.  It forces this vhost to not
+	 * call LWS_CALLBACK_PROTOCOL_INIT on its protocols.  It's used in the
+	 * special case of a temporary vhost bound to a single protocol.
+	 */
+	LWS_SERVER_OPTION_IGNORE_MISSING_CERT			= (1 << 26),
+	/**< (VH) Don't fail if the vhost TLS cert or key are missing, just
+	 * continue.  The vhost won't be able to serve anything, but if for
+	 * example the ACME plugin was configured to fetch a cert, this lets
+	 * you bootstrap your vhost from having no cert to start with.
+	 */
+	LWS_SERVER_OPTION_VHOST_UPG_STRICT_HOST_CHECK		= (1 << 27),
+	/**< (VH) On this vhost, if the connection is being upgraded, insist
+	 * that there's a Host: header and that the contents match the vhost
+	 * name + port (443 / 80 are assumed if no :port given based on if the
+	 * connection is using TLS).
+	 *
+	 * By default, without this flag, on upgrade lws just checks that the
+	 * Host: header was given without checking the contents... this is to
+	 * allow lax hostname mappings like localhost / 127.0.0.1, and CNAME
+	 * mappings like www.mysite.com / mysite.com
+	 */
+	LWS_SERVER_OPTION_HTTP_HEADERS_SECURITY_BEST_PRACTICES_ENFORCE	= (1 << 28),
+	/**< (VH) Send lws default HTTP headers recommended by Mozilla
+	 * Observatory for security.  This is a helper option that sends canned
+	 * headers on each http response enabling a VERY strict Content Security
+	 * Policy.  The policy is so strict, for example it won't let the page
+	 * run its own inline JS nor show images or take CSS from a different
+	 * server.  In many cases your JS only comes from your server as do the
+	 * image sources and CSS, so that is what you want... attackers hoping
+	 * to inject JS into your DOM are completely out of luck since even if
+	 * they succeed, it will be rejected for execution by the browser
+	 * according to the strict CSP.  In other cases you have to deviate from
+	 * the complete strictness, in which case don't use this flag: use the
+	 * .headers member in the vhost init described in struct
+	 * lws_context_creation_info instead to send the adapted headers
+	 * yourself.
+	 */
+
+	/****** add new things just above ---^ ******/
+};
+
+#define lws_check_opt(c, f) (((c) & (f)) == (f))
+
+struct lws_plat_file_ops;
+
+/** struct lws_context_creation_info - parameters to create context and /or vhost with
+ *
+ * This is also used to create vhosts.... if LWS_SERVER_OPTION_EXPLICIT_VHOSTS
+ * is not given, then for backwards compatibility one vhost is created at
+ * context-creation time using the info from this struct.
+ *
+ * If LWS_SERVER_OPTION_EXPLICIT_VHOSTS is given, then no vhosts are created
+ * at the same time as the context, they are expected to be created afterwards.
+ */
+struct lws_context_creation_info {
+	int port;
+	/**< VHOST: Port to listen on. Use CONTEXT_PORT_NO_LISTEN to suppress
+	 * listening for a client. Use CONTEXT_PORT_NO_LISTEN_SERVER if you are
+	 * writing a server but you are using \ref sock-adopt instead of the
+	 * built-in listener.
+	 *
+	 * You can also set port to 0, in which case the kernel will pick
+	 * a random port that is not already in use.  You can find out what
+	 * port the vhost is listening on using lws_get_vhost_listen_port() */
+	const char *iface;
+	/**< VHOST: NULL to bind the listen socket to all interfaces, or the
+	 * interface name, eg, "eth2"
+	 * If options specifies LWS_SERVER_OPTION_UNIX_SOCK, this member is
+	 * the pathname of a UNIX domain socket. you can use the UNIX domain
+	 * sockets in abstract namespace, by prepending an at symbol to the
+	 * socket name. */
+	const struct lws_protocols *protocols;
+	/**< VHOST: Array of structures listing supported protocols and a
+	 * protocol-specific callback for each one.  The list is ended with an
+	 * entry that has a NULL callback pointer. */
+	const struct lws_extension *extensions;
+	/**< VHOST: NULL or array of lws_extension structs listing the
+	 * extensions this context supports. */
+	const struct lws_token_limits *token_limits;
+	/**< CONTEXT: NULL or struct lws_token_limits pointer which is
+	 * initialized with a token length limit for each possible WSI_TOKEN_ */
+	const char *ssl_private_key_password;
+	/**< VHOST: NULL or the passphrase needed for the private key. (For
+	 * backwards compatibility, this can also be used to pass the client
+	 * cert passphrase when setting up a vhost client SSL context, but it is
+	 * preferred to use .client_ssl_private_key_password for that.) */
+	const char *ssl_cert_filepath;
+	/**< VHOST: If libwebsockets was compiled to use ssl, and you want
+	 * to listen using SSL, set to the filepath to fetch the
+	 * server cert from, otherwise NULL for unencrypted.  (For backwards
+	 * compatibility, this can also be used to pass the client certificate
+	 * when setting up a vhost client SSL context, but it is preferred to
+	 * use .client_ssl_cert_filepath for that.) */
+	const char *ssl_private_key_filepath;
+	/**<  VHOST: filepath to private key if wanting SSL mode;
+	 * if this is set to NULL but ssl_cert_filepath is set, the
+	 * OPENSSL_CONTEXT_REQUIRES_PRIVATE_KEY callback is called
+	 * to allow setting of the private key directly via openSSL
+	 * library calls.   (For backwards compatibility, this can also be used
+	 * to pass the client cert private key filepath when setting up a
+	 * vhost client SSL context, but it is preferred to use
+	 * .client_ssl_private_key_filepath for that.) */
+	const char *ssl_ca_filepath;
+	/**< VHOST: CA certificate filepath or NULL.  (For backwards
+	 * compatibility, this can also be used to pass the client CA
+	 * filepath when setting up a vhost client SSL context,
+	 * but it is preferred to use .client_ssl_ca_filepath for that.) */
+	const char *ssl_cipher_list;
+	/**< VHOST: List of valid ciphers to use ON TLS1.2 AND LOWER ONLY (eg,
+	 * "RC4-MD5:RC4-SHA:AES128-SHA:AES256-SHA:HIGH:!DSS:!aNULL"
+	 * or you can leave it as NULL to get "DEFAULT" (For backwards
+	 * compatibility, this can also be used to pass the client cipher
+	 * list when setting up a vhost client SSL context,
+	 * but it is preferred to use .client_ssl_cipher_list for that.)
+	 * SEE .tls1_3_plus_cipher_list and .client_tls_1_3_plus_cipher_list
+	 * for the equivalent for tls1.3.
+	 */
+	const char *http_proxy_address;
+	/**< VHOST: If non-NULL, attempts to proxy via the given address.
+	 * If proxy auth is required, use format
+	 * "username:password\@server:port" */
+	unsigned int http_proxy_port;
+	/**< VHOST: If http_proxy_address was non-NULL, uses this port */
+	int gid;
+	/**< CONTEXT: group id to change to after setting listen socket,
+	 *   or -1. */
+	int uid;
+	/**< CONTEXT: user id to change to after setting listen socket,
+	 *   or -1. */
+	unsigned int options;
+	/**< VHOST + CONTEXT: 0, or LWS_SERVER_OPTION_... bitfields */
+	void *user;
+	/**< VHOST + CONTEXT: optional user pointer that will be associated
+	 * with the context when creating the context (and can be retrieved by
+	 * lws_context_user(context), or with the vhost when creating the vhost
+	 * (and can be retrieved by lws_vhost_user(vhost)).  You will need to
+	 * use LWS_SERVER_OPTION_EXPLICIT_VHOSTS and create the vhost separately
+	 * if you care about giving the context and vhost different user pointer
+	 * values.
+	 */
+	int ka_time;
+	/**< CONTEXT: 0 for no TCP keepalive, otherwise apply this keepalive
+	 * timeout to all libwebsocket sockets, client or server */
+	int ka_probes;
+	/**< CONTEXT: if ka_time was nonzero, after the timeout expires how many
+	 * times to try to get a response from the peer before giving up
+	 * and killing the connection */
+	int ka_interval;
+	/**< CONTEXT: if ka_time was nonzero, how long to wait before each ka_probes
+	 * attempt */
+#if defined(LWS_WITH_TLS) && !defined(LWS_WITH_MBEDTLS)
+	SSL_CTX *provided_client_ssl_ctx;
+	/**< CONTEXT: If non-null, swap out libwebsockets ssl
+	  * implementation for the one provided by provided_ssl_ctx.
+	  * Libwebsockets no longer is responsible for freeing the context
+	  * if this option is selected. */
+#else /* maintain structure layout either way */
+	void *provided_client_ssl_ctx; /**< dummy if ssl disabled */
+#endif
+
+	unsigned short max_http_header_data;
+	/**< CONTEXT: The max amount of header payload that can be handled
+	 * in an http request (unrecognized header payload is dropped) */
+	unsigned short max_http_header_pool;
+	/**< CONTEXT: The max number of connections with http headers that
+	 * can be processed simultaneously (the corresponding memory is
+	 * allocated and deallocated dynamically as needed).  If the pool is
+	 * fully busy new incoming connections must wait for accept until one
+	 * becomes free. 0 = allow as many ah as number of availble fds for
+	 * the process */
+
+	unsigned int count_threads;
+	/**< CONTEXT: how many contexts to create in an array, 0 = 1 */
+	unsigned int fd_limit_per_thread;
+	/**< CONTEXT: nonzero means restrict each service thread to this
+	 * many fds, 0 means the default which is divide the process fd
+	 * limit by the number of threads. */
+	unsigned int timeout_secs;
+	/**< VHOST: various processes involving network roundtrips in the
+	 * library are protected from hanging forever by timeouts.  If
+	 * nonzero, this member lets you set the timeout used in seconds.
+	 * Otherwise a default timeout is used. */
+	const char *ecdh_curve;
+	/**< VHOST: if NULL, defaults to initializing server with
+	 *   "prime256v1" */
+	const char *vhost_name;
+	/**< VHOST: name of vhost, must match external DNS name used to
+	 * access the site, like "warmcat.com" as it's used to match
+	 * Host: header and / or SNI name for SSL. */
+	const char * const *plugin_dirs;
+	/**< CONTEXT: NULL, or NULL-terminated array of directories to
+	 * scan for lws protocol plugins at context creation time */
+	const struct lws_protocol_vhost_options *pvo;
+	/**< VHOST: pointer to optional linked list of per-vhost
+	 * options made accessible to protocols */
+	int keepalive_timeout;
+	/**< VHOST: (default = 0 = 5s) seconds to allow remote
+	 * client to hold on to an idle HTTP/1.1 connection */
+	const char *log_filepath;
+	/**< VHOST: filepath to append logs to... this is opened before
+	 *		any dropping of initial privileges */
+	const struct lws_http_mount *mounts;
+	/**< VHOST: optional linked list of mounts for this vhost */
+	const char *server_string;
+	/**< CONTEXT: string used in HTTP headers to identify server
+ *		software, if NULL, "libwebsockets". */
+	unsigned int pt_serv_buf_size;
+	/**< CONTEXT: 0 = default of 4096.  This buffer is used by
+	 * various service related features including file serving, it
+	 * defines the max chunk of file that can be sent at once.
+	 * At the risk of lws having to buffer failed large sends, it
+	 * can be increased to, eg, 128KiB to improve throughput. */
+	unsigned int max_http_header_data2;
+	/**< CONTEXT: if max_http_header_data is 0 and this
+	 * is nonzero, this will be used in place of the default.  It's
+	 * like this for compatibility with the original short version,
+	 * this is unsigned int length. */
+	long ssl_options_set;
+	/**< VHOST: Any bits set here will be set as server SSL options */
+	long ssl_options_clear;
+	/**< VHOST: Any bits set here will be cleared as server SSL options */
+	unsigned short ws_ping_pong_interval;
+	/**< CONTEXT: 0 for none, else interval in seconds between sending
+	 * PINGs on idle websocket connections.  When the PING is sent,
+	 * the PONG must come within the normal timeout_secs timeout period
+	 * or the connection will be dropped.
+	 * Any RX or TX traffic on the connection restarts the interval timer,
+	 * so a connection which always sends or receives something at intervals
+	 * less than the interval given here will never send PINGs / expect
+	 * PONGs.  Conversely as soon as the ws connection is established, an
+	 * idle connection will do the PING / PONG roundtrip as soon as
+	 * ws_ping_pong_interval seconds has passed without traffic
+	 */
+	const struct lws_protocol_vhost_options *headers;
+		/**< VHOST: pointer to optional linked list of per-vhost
+		 * canned headers that are added to server responses */
+
+	const struct lws_protocol_vhost_options *reject_service_keywords;
+	/**< CONTEXT: Optional list of keywords and rejection codes + text.
+	 *
+	 * The keywords are checked for existing in the user agent string.
+	 *
+	 * Eg, "badrobot" "404 Not Found"
+	 */
+	void *external_baggage_free_on_destroy;
+	/**< CONTEXT: NULL, or pointer to something externally malloc'd, that
+	 * should be freed when the context is destroyed.  This allows you to
+	 * automatically sync the freeing action to the context destruction
+	 * action, so there is no need for an external free() if the context
+	 * succeeded to create.
+	 */
+
+	const char *client_ssl_private_key_password;
+	/**< VHOST: Client SSL context init: NULL or the passphrase needed
+	 * for the private key */
+	const char *client_ssl_cert_filepath;
+	/**< VHOST: Client SSL context init:T he certificate the client
+	 * should present to the peer on connection */
+	const char *client_ssl_private_key_filepath;
+	/**<  VHOST: Client SSL context init: filepath to client private key
+	 * if this is set to NULL but client_ssl_cert_filepath is set, you
+	 * can handle the LWS_CALLBACK_OPENSSL_LOAD_EXTRA_CLIENT_VERIFY_CERTS
+	 * callback of protocols[0] to allow setting of the private key directly
+	 * via openSSL library calls */
+	const char *client_ssl_ca_filepath;
+	/**< VHOST: Client SSL context init: CA certificate filepath or NULL */
+	const void *client_ssl_ca_mem;
+	/**< VHOST: Client SSL context init: CA certificate memory buffer or
+	 * NULL... use this to load CA cert from memory instead of file */
+	unsigned int client_ssl_ca_mem_len;
+	/**< VHOST: Client SSL context init: length of client_ssl_ca_mem in
+	 * bytes */
+
+	const char *client_ssl_cipher_list;
+	/**< VHOST: Client SSL context init: List of valid ciphers to use (eg,
+	* "RC4-MD5:RC4-SHA:AES128-SHA:AES256-SHA:HIGH:!DSS:!aNULL"
+	* or you can leave it as NULL to get "DEFAULT" */
+
+	const struct lws_plat_file_ops *fops;
+	/**< CONTEXT: NULL, or pointer to an array of fops structs, terminated
+	 * by a sentinel with NULL .open.
+	 *
+	 * If NULL, lws provides just the platform file operations struct for
+	 * backwards compatibility.
+	 */
+	int simultaneous_ssl_restriction;
+	/**< CONTEXT: 0 (no limit) or limit of simultaneous SSL sessions
+	 * possible.*/
+	const char *socks_proxy_address;
+	/**< VHOST: If non-NULL, attempts to proxy via the given address.
+	 * If proxy auth is required, use format
+	 * "username:password\@server:port" */
+	unsigned int socks_proxy_port;
+	/**< VHOST: If socks_proxy_address was non-NULL, uses this port */
+#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
+	cap_value_t caps[4];
+	/**< CONTEXT: array holding Linux capabilities you want to
+	 * continue to be available to the server after it transitions
+	 * to a noprivileged user.  Usually none are needed but for, eg,
+	 * .bind_iface, CAP_NET_RAW is required.  This gives you a way
+	 * to still have the capability but drop root.
+	 */
+	char count_caps;
+	/**< CONTEXT: count of Linux capabilities in .caps[].  0 means
+	 * no capabilities will be inherited from root (the default) */
+#endif
+	int bind_iface;
+	/**< VHOST: nonzero to strictly bind sockets to the interface name in
+	 * .iface (eg, "eth2"), using SO_BIND_TO_DEVICE.
+	 *
+	 * Requires SO_BINDTODEVICE support from your OS and CAP_NET_RAW
+	 * capability.
+	 *
+	 * Notice that common things like access network interface IP from
+	 * your local machine use your lo / loopback interface and will be
+	 * disallowed by this.
+	 */
+	int ssl_info_event_mask;
+	/**< VHOST: mask of ssl events to be reported on LWS_CALLBACK_SSL_INFO
+	 * callback for connections on this vhost.  The mask values are of
+	 * the form SSL_CB_ALERT, defined in openssl/ssl.h.  The default of
+	 * 0 means no info events will be reported.
+	 */
+	unsigned int timeout_secs_ah_idle;
+	/**< VHOST: seconds to allow a client to hold an ah without using it.
+	 * 0 defaults to 10s. */
+	unsigned short ip_limit_ah;
+	/**< CONTEXT: max number of ah a single IP may use simultaneously
+	 *	      0 is no limit. This is a soft limit: if the limit is
+	 *	      reached, connections from that IP will wait in the ah
+	 *	      waiting list and not be able to acquire an ah until
+	 *	      a connection belonging to the IP relinquishes one it
+	 *	      already has.
+	 */
+	unsigned short ip_limit_wsi;
+	/**< CONTEXT: max number of wsi a single IP may use simultaneously.
+	 *	      0 is no limit.  This is a hard limit, connections from
+	 *	      the same IP will simply be dropped once it acquires the
+	 *	      amount of simultaneous wsi / accepted connections
+	 *	      given here.
+	 */
+	uint32_t	http2_settings[7];
+	/**< VHOST:  if http2_settings[0] is nonzero, the values given in
+	 *	      http2_settings[1]..[6] are used instead of the lws
+	 *	      platform default values.
+	 *	      Just leave all at 0 if you don't care.
+	 */
+	const char *error_document_404;
+	/**< VHOST: If non-NULL, when asked to serve a non-existent file,
+	 *          lws attempts to server this url path instead.  Eg,
+	 *          "/404.html" */
+	const char *alpn;
+	/**< CONTEXT: If non-NULL, default list of advertised alpn, comma-
+	 *	      separated
+	 *
+	 *     VHOST: If non-NULL, per-vhost list of advertised alpn, comma-
+	 *	      separated
+	 */
+	void **foreign_loops;
+	/**< CONTEXT: This is ignored if the context is not being started with
+	 *		an event loop, ie, .options has a flag like
+	 *		LWS_SERVER_OPTION_LIBUV.
+	 *
+	 *		NULL indicates lws should start its own even loop for
+	 *		each service thread, and deal with closing the loops
+	 *		when the context is destroyed.
+	 *
+	 *		Non-NULL means it points to an array of external
+	 *		("foreign") event loops that are to be used in turn for
+	 *		each service thread.  In the default case of 1 service
+	 *		thread, it can just point to one foreign event loop.
+	 */
+	void (*signal_cb)(void *event_lib_handle, int signum);
+	/**< CONTEXT: NULL: default signal handling.  Otherwise this receives
+	 *		the signal handler callback.  event_lib_handle is the
+	 *		native event library signal handle, eg uv_signal_t *
+	 *		for libuv.
+	 */
+	struct lws_context **pcontext;
+	/**< CONTEXT: if non-NULL, at the end of context destroy processing,
+	 * the pointer pointed to by pcontext is written with NULL.  You can
+	 * use this to let foreign event loops know that lws context destruction
+	 * is fully completed.
+	 */
+	void (*finalize)(struct lws_vhost *vh, void *arg);
+	/**< VHOST: NULL, or pointer to function that will be called back
+	 *	    when the vhost is just about to be freed.  The arg parameter
+	 *	    will be set to whatever finalize_arg is below.
+	 */
+	void *finalize_arg;
+	/**< VHOST: opaque pointer lws ignores but passes to the finalize
+	 *	    callback.  If you don't care, leave it NULL.
+	 */
+	unsigned int max_http_header_pool2;
+	/**< CONTEXT: if max_http_header_pool is 0 and this
+	 * is nonzero, this will be used in place of the default.  It's
+	 * like this for compatibility with the original short version:
+	 * this is unsigned int length. */
+
+	long ssl_client_options_set;
+	/**< VHOST: Any bits set here will be set as CLIENT SSL options */
+	long ssl_client_options_clear;
+	/**< VHOST: Any bits set here will be cleared as CLIENT SSL options */
+
+	const char *tls1_3_plus_cipher_list;
+	/**< VHOST: List of valid ciphers to use for incoming server connections
+	 * ON TLS1.3 AND ABOVE (eg, "TLS_CHACHA20_POLY1305_SHA256" on this vhost
+	 * or you can leave it as NULL to get "DEFAULT".
+	 * SEE .client_tls_1_3_plus_cipher_list to do the same on the vhost
+	 * client SSL_CTX.
+	 */
+	const char *client_tls_1_3_plus_cipher_list;
+	/**< VHOST: List of valid ciphers to use for outgoing client connections
+	 * ON TLS1.3 AND ABOVE on this vhost (eg,
+	 * "TLS_CHACHA20_POLY1305_SHA256") or you can leave it as NULL to get
+	 * "DEFAULT".
+	 */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility
+	 *
+	 * The below is to ensure later library versions with new
+	 * members added above will see 0 (default) even if the app
+	 * was not built against the newer headers.
+	 */
+
+	void *_unused[4]; /**< dummy */
+};
+
+/**
+ * lws_create_context() - Create the websocket handler
+ * \param info:	pointer to struct with parameters
+ *
+ *	This function creates the listening socket (if serving) and takes care
+ *	of all initialization in one step.
+ *
+ *	If option LWS_SERVER_OPTION_EXPLICIT_VHOSTS is given, no vhost is
+ *	created; you're expected to create your own vhosts afterwards using
+ *	lws_create_vhost().  Otherwise a vhost named "default" is also created
+ *	using the information in the vhost-related members, for compatibility.
+ *
+ *	After initialization, it returns a struct lws_context * that
+ *	represents this server.  After calling, user code needs to take care
+ *	of calling lws_service() with the context pointer to get the
+ *	server's sockets serviced.  This must be done in the same process
+ *	context as the initialization call.
+ *
+ *	The protocol callback functions are called for a handful of events
+ *	including http requests coming in, websocket connections becoming
+ *	established, and data arriving; it's also called periodically to allow
+ *	async transmission.
+ *
+ *	HTTP requests are sent always to the FIRST protocol in protocol, since
+ *	at that time websocket protocol has not been negotiated.  Other
+ *	protocols after the first one never see any HTTP callback activity.
+ *
+ *	The server created is a simple http server by default; part of the
+ *	websocket standard is upgrading this http connection to a websocket one.
+ *
+ *	This allows the same server to provide files like scripts and favicon /
+ *	images or whatever over http and dynamic data over websockets all in
+ *	one place; they're all handled in the user callback.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_context *
+lws_create_context(const struct lws_context_creation_info *info);
+
+
+/**
+ * lws_context_destroy() - Destroy the websocket context
+ * \param context:	Websocket context
+ *
+ *	This function closes any active connections and then frees the
+ *	context.  After calling this, any further use of the context is
+ *	undefined.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_context_destroy(struct lws_context *context);
+
+typedef int (*lws_reload_func)(void);
+
+/**
+ * lws_context_deprecate() - Deprecate the websocket context
+ *
+ * \param context:	Websocket context
+ * \param cb: Callback notified when old context listen sockets are closed
+ *
+ *	This function is used on an existing context before superceding it
+ *	with a new context.
+ *
+ *	It closes any listen sockets in the context, so new connections are
+ *	not possible.
+ *
+ *	And it marks the context to be deleted when the number of active
+ *	connections into it falls to zero.
+ *
+ *	This is aimed at allowing seamless configuration reloads.
+ *
+ *	The callback cb will be called after the listen sockets are actually
+ *	closed and may be reopened.  In the callback the new context should be
+ *	configured and created.  (With libuv, socket close happens async after
+ *	more loop events).
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_context_deprecate(struct lws_context *context, lws_reload_func cb);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_context_is_deprecated(struct lws_context *context);
+
+/**
+ * lws_set_proxy() - Setups proxy to lws_context.
+ * \param vhost:	pointer to struct lws_vhost you want set proxy for
+ * \param proxy: pointer to c string containing proxy in format address:port
+ *
+ * Returns 0 if proxy string was parsed and proxy was setup.
+ * Returns -1 if proxy is NULL or has incorrect format.
+ *
+ * This is only required if your OS does not provide the http_proxy
+ * environment variable (eg, OSX)
+ *
+ *   IMPORTANT! You should call this function right after creation of the
+ *   lws_context and before call to connect. If you call this
+ *   function after connect behavior is undefined.
+ *   This function will override proxy settings made on lws_context
+ *   creation with genenv() call.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_set_proxy(struct lws_vhost *vhost, const char *proxy);
+
+/**
+ * lws_set_socks() - Setup socks to lws_context.
+ * \param vhost:	pointer to struct lws_vhost you want set socks for
+ * \param socks: pointer to c string containing socks in format address:port
+ *
+ * Returns 0 if socks string was parsed and socks was setup.
+ * Returns -1 if socks is NULL or has incorrect format.
+ *
+ * This is only required if your OS does not provide the socks_proxy
+ * environment variable (eg, OSX)
+ *
+ *   IMPORTANT! You should call this function right after creation of the
+ *   lws_context and before call to connect. If you call this
+ *   function after connect behavior is undefined.
+ *   This function will override proxy settings made on lws_context
+ *   creation with genenv() call.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_set_socks(struct lws_vhost *vhost, const char *socks);
+
+struct lws_vhost;
+
+/**
+ * lws_create_vhost() - Create a vhost (virtual server context)
+ * \param context:	pointer to result of lws_create_context()
+ * \param info:		pointer to struct with parameters
+ *
+ * This function creates a virtual server (vhost) using the vhost-related
+ * members of the info struct.  You can create many vhosts inside one context
+ * if you created the context with the option LWS_SERVER_OPTION_EXPLICIT_VHOSTS
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_vhost *
+lws_create_vhost(struct lws_context *context,
+		 const struct lws_context_creation_info *info);
+
+/**
+ * lws_vhost_destroy() - Destroy a vhost (virtual server context)
+ *
+ * \param vh:		pointer to result of lws_create_vhost()
+ *
+ * This function destroys a vhost.  Normally, if you just want to exit,
+ * then lws_destroy_context() will take care of everything.  If you want
+ * to destroy an individual vhost and all connections and allocations, you
+ * can do it with this.
+ *
+ * If the vhost has a listen sockets shared by other vhosts, it will be given
+ * to one of the vhosts sharing it rather than closed.
+ *
+ * The vhost close is staged according to the needs of the event loop, and if
+ * there are multiple service threads.  At the point the vhost itself if
+ * about to be freed, if you provided a finalize callback and optional arg at
+ * vhost creation time, it will be called just before the vhost is freed.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_vhost_destroy(struct lws_vhost *vh);
+
+/**
+ * lwsws_get_config_globals() - Parse a JSON server config file
+ * \param info:		pointer to struct with parameters
+ * \param d:		filepath of the config file
+ * \param config_strings: storage for the config strings extracted from JSON,
+ * 			  the pointer is incremented as strings are stored
+ * \param len:		pointer to the remaining length left in config_strings
+ *			  the value is decremented as strings are stored
+ *
+ * This function prepares a n lws_context_creation_info struct with global
+ * settings from a file d.
+ *
+ * Requires CMake option LWS_WITH_LEJP_CONF to have been enabled
+ */
+LWS_VISIBLE LWS_EXTERN int
+lwsws_get_config_globals(struct lws_context_creation_info *info, const char *d,
+			 char **config_strings, int *len);
+
+/**
+ * lwsws_get_config_vhosts() - Create vhosts from a JSON server config file
+ * \param context:	pointer to result of lws_create_context()
+ * \param info:		pointer to struct with parameters
+ * \param d:		filepath of the config file
+ * \param config_strings: storage for the config strings extracted from JSON,
+ * 			  the pointer is incremented as strings are stored
+ * \param len:		pointer to the remaining length left in config_strings
+ *			  the value is decremented as strings are stored
+ *
+ * This function creates vhosts into a context according to the settings in
+ *JSON files found in directory d.
+ *
+ * Requires CMake option LWS_WITH_LEJP_CONF to have been enabled
+ */
+LWS_VISIBLE LWS_EXTERN int
+lwsws_get_config_vhosts(struct lws_context *context,
+			struct lws_context_creation_info *info, const char *d,
+			char **config_strings, int *len);
+
+/** lws_vhost_get() - \deprecated deprecated: use lws_get_vhost() */
+LWS_VISIBLE LWS_EXTERN struct lws_vhost *
+lws_vhost_get(struct lws *wsi) LWS_WARN_DEPRECATED;
+
+/**
+ * lws_get_vhost() - return the vhost a wsi belongs to
+ *
+ * \param wsi: which connection
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_vhost *
+lws_get_vhost(struct lws *wsi);
+
+/**
+ * lws_get_vhost_name() - returns the name of a vhost
+ *
+ * \param vhost: which vhost
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_get_vhost_name(struct lws_vhost *vhost);
+
+/**
+ * lws_get_vhost_port() - returns the port a vhost listens on, or -1
+ *
+ * \param vhost: which vhost
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_get_vhost_port(struct lws_vhost *vhost);
+
+/**
+ * lws_get_vhost_user() - returns the user pointer for the vhost
+ *
+ * \param vhost: which vhost
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_get_vhost_user(struct lws_vhost *vhost);
+
+/**
+ * lws_get_vhost_iface() - returns the binding for the vhost listen socket
+ *
+ * \param vhost: which vhost
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_get_vhost_iface(struct lws_vhost *vhost);
+
+/**
+ * lws_json_dump_vhost() - describe vhost state and stats in JSON
+ *
+ * \param vh: the vhost
+ * \param buf: buffer to fill with JSON
+ * \param len: max length of buf
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_json_dump_vhost(const struct lws_vhost *vh, char *buf, int len);
+
+/**
+ * lws_json_dump_context() - describe context state and stats in JSON
+ *
+ * \param context: the context
+ * \param buf: buffer to fill with JSON
+ * \param len: max length of buf
+ * \param hide_vhosts: nonzero to not provide per-vhost mount etc information
+ *
+ * Generates a JSON description of vhost state into buf
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_json_dump_context(const struct lws_context *context, char *buf, int len,
+		      int hide_vhosts);
+
+/**
+ * lws_vhost_user() - get the user data associated with the vhost
+ * \param vhost: Websocket vhost
+ *
+ * This returns the optional user pointer that can be attached to
+ * a vhost when it was created.  Lws never dereferences this pointer, it only
+ * sets it when the vhost is created, and returns it using this api.
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_vhost_user(struct lws_vhost *vhost);
+
+/**
+ * lws_context_user() - get the user data associated with the context
+ * \param context: Websocket context
+ *
+ * This returns the optional user allocation that can be attached to
+ * the context the sockets live in at context_create time.  It's a way
+ * to let all sockets serviced in the same context share data without
+ * using globals statics in the user code.
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_context_user(struct lws_context *context);
+
+/*! \defgroup vhost-mounts Vhost mounts and options
+ * \ingroup context-and-vhost-creation
+ *
+ * ##Vhost mounts and options
+ */
+///@{
+/** struct lws_protocol_vhost_options - linked list of per-vhost protocol
+ * 					name=value options
+ *
+ * This provides a general way to attach a linked-list of name=value pairs,
+ * which can also have an optional child link-list using the options member.
+ */
+struct lws_protocol_vhost_options {
+	const struct lws_protocol_vhost_options *next; /**< linked list */
+	const struct lws_protocol_vhost_options *options; /**< child linked-list of more options for this node */
+	const char *name; /**< name of name=value pair */
+	const char *value; /**< value of name=value pair */
+};
+
+/** enum lws_mount_protocols
+ * This specifies the mount protocol for a mountpoint, whether it is to be
+ * served from a filesystem, or it is a cgi etc.
+ */
+enum lws_mount_protocols {
+	LWSMPRO_HTTP		= 0, /**< http reverse proxy */
+	LWSMPRO_HTTPS		= 1, /**< https reverse proxy */
+	LWSMPRO_FILE		= 2, /**< serve from filesystem directory */
+	LWSMPRO_CGI		= 3, /**< pass to CGI to handle */
+	LWSMPRO_REDIR_HTTP	= 4, /**< redirect to http:// url */
+	LWSMPRO_REDIR_HTTPS	= 5, /**< redirect to https:// url */
+	LWSMPRO_CALLBACK	= 6, /**< hand by named protocol's callback */
+};
+
+/** struct lws_http_mount
+ *
+ * arguments for mounting something in a vhost's url namespace
+ */
+struct lws_http_mount {
+	const struct lws_http_mount *mount_next;
+	/**< pointer to next struct lws_http_mount */
+	const char *mountpoint;
+	/**< mountpoint in http pathspace, eg, "/" */
+	const char *origin;
+	/**< path to be mounted, eg, "/var/www/warmcat.com" */
+	const char *def;
+	/**< default target, eg, "index.html" */
+	const char *protocol;
+	/**<"protocol-name" to handle mount */
+
+	const struct lws_protocol_vhost_options *cgienv;
+	/**< optional linked-list of cgi options.  These are created
+	 * as environment variables for the cgi process
+	 */
+	const struct lws_protocol_vhost_options *extra_mimetypes;
+	/**< optional linked-list of mimetype mappings */
+	const struct lws_protocol_vhost_options *interpret;
+	/**< optional linked-list of files to be interpreted */
+
+	int cgi_timeout;
+	/**< seconds cgi is allowed to live, if cgi://mount type */
+	int cache_max_age;
+	/**< max-age for reuse of client cache of files, seconds */
+	unsigned int auth_mask;
+	/**< bits set here must be set for authorized client session */
+
+	unsigned int cache_reusable:1; /**< set if client cache may reuse this */
+	unsigned int cache_revalidate:1; /**< set if client cache should revalidate on use */
+	unsigned int cache_intermediaries:1; /**< set if intermediaries are allowed to cache */
+
+	unsigned char origin_protocol; /**< one of enum lws_mount_protocols */
+	unsigned char mountpoint_len; /**< length of mountpoint string */
+
+	const char *basic_auth_login_file;
+	/**<NULL, or filepath to use to check basic auth logins against */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility
+	 *
+	 * The below is to ensure later library versions with new
+	 * members added above will see 0 (default) even if the app
+	 * was not built against the newer headers.
+	 */
+
+	void *_unused[2]; /**< dummy */
+};
+
+///@}
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-dbus.h b/thirdparty/libwebsockets/include/libwebsockets/lws-dbus.h
new file mode 100644
index 0000000000..63cfd15f18
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-dbus.h
@@ -0,0 +1,90 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * must be included manually as
+ *
+ *  #include <libwebsockets/lws-dbus.h>
+ *
+ * if dbus apis needed
+ */
+
+#if !defined(__LWS_DBUS_H__)
+#define __LWS_DBUS_H__
+
+#include <dbus/dbus.h>
+
+/* helper type to simplify implementing methods as individual functions */
+typedef DBusHandlerResult (*lws_dbus_message_handler)(DBusConnection *conn,
+			   DBusMessage *message, DBusMessage **reply, void *d);
+
+struct lws_dbus_ctx;
+typedef void (*lws_dbus_closing_t)(struct lws_dbus_ctx *ctx);
+
+struct lws_dbus_ctx {
+	struct lws_dll next; /* dbusserver ctx: HEAD of accepted list */
+	struct lws_vhost *vh; /* the vhost we logically bind to in lws */
+	int tsi;	/* the lws thread service index (0 if only one service
+			   thread as is the default */
+	DBusConnection *conn;
+	DBusServer *dbs;
+	DBusWatch *w[4];
+ 	DBusPendingCall *pc;
+
+ 	char hup;
+ 	char timeouts;
+
+ 	/* cb_closing callback will be called after the connection and this
+ 	 * related ctx struct have effectively gone out of scope.
+ 	 *
+ 	 * The callback should close and clean up the connection and free the
+ 	 * ctx.
+ 	 */
+ 	lws_dbus_closing_t cb_closing;
+};
+
+/**
+ * lws_dbus_connection_setup() - bind dbus connection object to lws event loop
+ *
+ * \param ctx: additional information about the connection
+ * \param conn: the DBusConnection object to bind
+ *
+ * This configures a DBusConnection object to use lws for watchers and timeout
+ * operations.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_dbus_connection_setup(struct lws_dbus_ctx *ctx, DBusConnection *conn,
+			  lws_dbus_closing_t cb_closing);
+
+/**
+ * lws_dbus_server_listen() - bind dbus connection object to lws event loop
+ *
+ * \param ctx: additional information about the connection
+ * \param ads: the DBUS address to listen on, eg, "unix:abstract=mysocket"
+ * \param err: a DBusError object to take any extra error information
+ * \param new_conn: a callback function to prepare new accepted connections
+ *
+ * This creates a DBusServer and binds it to the lws event loop, and your
+ * callback to accept new connections.
+ */
+LWS_VISIBLE LWS_EXTERN DBusServer *
+lws_dbus_server_listen(struct lws_dbus_ctx *ctx, const char *ads,
+		       DBusError *err, DBusNewConnectionFunction new_conn);
+
+#endif
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-diskcache.h b/thirdparty/libwebsockets/include/libwebsockets/lws-diskcache.h
new file mode 100644
index 0000000000..eb63fdd855
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-diskcache.h
@@ -0,0 +1,185 @@
+/*
+ * libwebsockets - disk cache helpers
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup diskcache LWS disk cache
+ * ## Disk cache API
+ *
+ * Lws provides helper apis useful if you need a disk cache containing hashed
+ * files and need to delete files from it on an LRU basis to keep it below some
+ * size limit.
+ *
+ * The API `lws_diskcache_prepare()` deals with creating the cache dir and
+ * 256 subdirs, which are used according to the first two chars of the hex
+ * hash of the cache file.
+ *
+ * `lws_diskcache_create()` and `lws_diskcache_destroy()` allocate and free
+ * an opaque struct that represents the disk cache.
+ *
+ * `lws_diskcache_trim()` should be called at eg, 1s intervals to perform the
+ * cache dir monitoring and LRU autodelete in the background lazily.  It can
+ * be done in its own thread or on a timer... it monitors the directories in a
+ * stateful way that stats one or more file in the cache per call, and keeps
+ * a list of the oldest files as it goes.  When it completes a scan, if the
+ * aggregate size is over the limit, it will delete oldest files first to try
+ * to keep it under the limit.
+ *
+ * The cache size monitoring is extremely efficient in time and memory even when
+ * the cache directory becomes huge.
+ *
+ * `lws_diskcache_query()` is used to determine if the file already exists in
+ * the cache, or if it must be created.  If it must be created, then the file
+ * is opened using a temp name that must be converted to a findable name with
+ * `lws_diskcache_finalize_name()` when the generation of the file contents are
+ * complete.  Aborted cached files that did not complete generation will be
+ * flushed by the LRU eventually.  If the file already exists, it is 'touched'
+ * to make it new again and the fd returned.
+ *
+ */
+///@{
+
+struct lws_diskcache_scan;
+
+/**
+ * lws_diskcache_create() - creates an opaque struct representing the disk cache
+ *
+ * \param cache_dir_base: The cache dir path, eg `/var/cache/mycache`
+ * \param cache_size_limit: maximum size on disk the cache is allowed to use
+ *
+ * This returns an opaque `struct lws_diskcache_scan *` which represents the
+ * disk cache, the trim scanning state and so on.  You should use
+ * `lws_diskcache_destroy()` to free it to destroy it.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_diskcache_scan *
+lws_diskcache_create(const char *cache_dir_base, uint64_t cache_size_limit);
+
+/**
+ * lws_diskcache_destroy() - destroys the pointer returned by ...create()
+ *
+ * \param lds: pointer to the pointer returned by lws_diskcache_create()
+ *
+ * Frees *lds and any allocations it did, and then sets *lds to NULL and
+ * returns.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_diskcache_destroy(struct lws_diskcache_scan **lds);
+
+/**
+ * lws_diskcache_prepare() - ensures the cache dir structure exists on disk
+ *
+ * \param cache_base_dir: The cache dir path, eg `/var/cache/mycache`
+ * \param mode: octal dir mode to enforce, like 0700
+ * \param uid: uid the cache dir should belong to
+ *
+ * This should be called while your app is still privileged.  It will create
+ * the cache directory structure on disk as necessary, enforce the given access
+ * mode on it and set the given uid as the owner.  It won't make any trouble
+ * if the cache already exists.
+ *
+ * Typically the mode is 0700 and the owner is the user that your application
+ * will transition to use when it drops root privileges.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_diskcache_prepare(const char *cache_base_dir, int mode, int uid);
+
+#define LWS_DISKCACHE_QUERY_NO_CACHE	0
+#define LWS_DISKCACHE_QUERY_EXISTS	1
+#define LWS_DISKCACHE_QUERY_CREATING	2
+#define LWS_DISKCACHE_QUERY_ONGOING	3 /* something else is creating it */
+
+/**
+ * lws_diskcache_query() - ensures the cache dir structure exists on disk
+ *
+ * \param lds: The opaque struct representing the disk cache
+ * \param is_bot: nonzero means the request is from a bot.  Don't create new cache contents if so.
+ * \param hash_hex: hex string representation of the cache object hash
+ * \param _fd: pointer to the fd to be set
+ * \param cache: destination string to take the cache filepath
+ * \param cache_len: length of the buffer at `cache`
+ * \param extant_cache_len: pointer to a size_t to take any extant cached file size
+ *
+ * This function is called when you want to find if the hashed name already
+ * exists in the cache.  The possibilities for the return value are
+ *
+ *  - LWS_DISKCACHE_QUERY_NO_CACHE: It's not in the cache and you can't create
+ *    it in the cache for whatever reason.
+ *  - LWS_DISKCACHE_QUERY_EXISTS: It exists in the cache.  It's open RDONLY and
+ *    *_fd has been set to the file descriptor.  *extant_cache_len has been set
+ *    to the size of the cached file in bytes.  cache has been set to the
+ *    full filepath of the cached file.  Closing _fd is your responsibility.
+ *  - LWS_DISKCACHE_QUERY_CREATING: It didn't exist, but a temp file has been
+ *    created in the cache and *_fd set to a file descriptor opened on it RDWR.
+ *    You should create the contents, and call `lws_diskcache_finalize_name()`
+ *    when it is done.  Closing _fd is your responsibility.
+ *  - LWS_DISKCACHE_QUERY_ONGOING: not returned by this api, but you may find it
+ *    desirable to make a wrapper function which can handle another asynchronous
+ *    process that is already creating the cached file.  This can be used to
+ *    indicate that situation externally... how to determine the same thing is
+ *    already being generated is out of scope of this api.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_diskcache_query(struct lws_diskcache_scan *lds, int is_bot,
+		    const char *hash_hex, int *_fd, char *cache, int cache_len,
+		    size_t *extant_cache_len);
+
+/**
+ * lws_diskcache_query() - ensures the cache dir structure exists on disk
+ *
+ * \param cache: The cache file temp name returned with LWS_DISKCACHE_QUERY_CREATING
+ *
+ * This renames the cache file you are creating to its final name.  It should
+ * be called on the temp name returned by `lws_diskcache_query()` if it gave a
+ * LWS_DISKCACHE_QUERY_CREATING return, after you have filled the cache file and
+ * closed it.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_diskcache_finalize_name(char *cache);
+
+/**
+ * lws_diskcache_trim() - performs one or more file checks in the cache for size management
+ *
+ * \param lds: The opaque object representing the cache
+ *
+ * This should be called periodically to statefully walk the cache on disk
+ * collecting the oldest files.  When it has visited every file, if the cache
+ * is oversize it will delete the oldest files until it's back under size again.
+ *
+ * Each time it's called, it will look at one or more dir in the cache.  If
+ * called when the cache is oversize, it increases the amount of work done each
+ * call until it is reduced again.  Typically it will take 256 calls before it
+ * deletes anything, so if called once per second, it will delete files once
+ * every 4 minutes.  Each call is very inexpensive both in memory and time.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_diskcache_trim(struct lws_diskcache_scan *lds);
+
+
+/**
+ * lws_diskcache_secs_to_idle() - see how long to idle before calling trim
+ *
+ * \param lds: The opaque object representing the cache
+ *
+ * If the cache is undersize, there's no need to monitor it immediately.  This
+ * suggests how long to "sleep" before calling `lws_diskcache_trim()` again.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_diskcache_secs_to_idle(struct lws_diskcache_scan *lds);
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-esp32.h b/thirdparty/libwebsockets/include/libwebsockets/lws-esp32.h
new file mode 100644
index 0000000000..2d1c0f42bb
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-esp32.h
@@ -0,0 +1,226 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+typedef int lws_sockfd_type;
+typedef int lws_filefd_type;
+
+struct pollfd {
+	lws_sockfd_type fd; /**< fd related to */
+	short events; /**< which POLL... events to respond to */
+	short revents; /**< which POLL... events occurred */
+};
+#define POLLIN		0x0001
+#define POLLPRI		0x0002
+#define POLLOUT		0x0004
+#define POLLERR		0x0008
+#define POLLHUP		0x0010
+#define POLLNVAL	0x0020
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/event_groups.h>
+#include <string.h>
+#include "esp_wifi.h"
+#include "esp_system.h"
+#include "esp_event.h"
+#include "esp_event_loop.h"
+#include "nvs.h"
+#include "driver/gpio.h"
+#include "esp_spi_flash.h"
+#include "freertos/timers.h"
+
+#if !defined(CONFIG_FREERTOS_HZ)
+#define CONFIG_FREERTOS_HZ 100
+#endif
+
+typedef TimerHandle_t uv_timer_t;
+typedef void uv_cb_t(uv_timer_t *);
+typedef void * uv_handle_t;
+
+struct timer_mapping {
+	uv_cb_t *cb;
+	uv_timer_t *t;
+};
+
+#define UV_VERSION_MAJOR 1
+
+#define lws_uv_getloop(a, b) (NULL)
+
+static LWS_INLINE void uv_timer_init(void *l, uv_timer_t *t)
+{
+	(void)l;
+	*t = NULL;
+}
+
+extern void esp32_uvtimer_cb(TimerHandle_t t);
+
+static LWS_INLINE void uv_timer_start(uv_timer_t *t, uv_cb_t *cb, int first, int rep)
+{
+	struct timer_mapping *tm = (struct timer_mapping *)malloc(sizeof(*tm));
+
+	if (!tm)
+		return;
+
+	tm->t = t;
+	tm->cb = cb;
+
+	*t = xTimerCreate("x", pdMS_TO_TICKS(first), !!rep, tm,
+			  (TimerCallbackFunction_t)esp32_uvtimer_cb);
+	xTimerStart(*t, 0);
+}
+
+static LWS_INLINE void uv_timer_stop(uv_timer_t *t)
+{
+	xTimerStop(*t, 0);
+}
+
+static LWS_INLINE void uv_close(uv_handle_t *h, void *v)
+{
+	free(pvTimerGetTimerID((uv_timer_t)h));
+	xTimerDelete(*(uv_timer_t *)h, 0);
+}
+
+/* ESP32 helper declarations */
+
+#include <mdns.h>
+#include <esp_partition.h>
+
+#define LWS_PLUGIN_STATIC
+#define LWS_MAGIC_REBOOT_TYPE_ADS 0x50001ffc
+#define LWS_MAGIC_REBOOT_TYPE_REQ_FACTORY 0xb00bcafe
+#define LWS_MAGIC_REBOOT_TYPE_FORCED_FACTORY 0xfaceb00b
+#define LWS_MAGIC_REBOOT_TYPE_FORCED_FACTORY_BUTTON 0xf0cedfac
+#define LWS_MAGIC_REBOOT_TYPE_REQ_FACTORY_ERASE_OTA 0xfac0eeee
+
+/* user code provides these */
+
+extern void
+lws_esp32_identify_physical_device(void);
+
+/* lws-plat-esp32 provides these */
+
+typedef void (*lws_cb_scan_done)(uint16_t count, wifi_ap_record_t *recs, void *arg);
+
+enum genled_state {
+	LWSESP32_GENLED__INIT,
+	LWSESP32_GENLED__LOST_NETWORK,
+	LWSESP32_GENLED__NO_NETWORK,
+	LWSESP32_GENLED__CONN_AP,
+	LWSESP32_GENLED__GOT_IP,
+	LWSESP32_GENLED__OK,
+};
+
+struct lws_group_member {
+	struct lws_group_member *next;
+	uint64_t last_seen;
+	char model[16];
+	char role[16];
+	char host[32];
+	char mac[20];
+	int width, height;
+	struct ip4_addr addr;
+	struct ip6_addr addrv6;
+	uint8_t	flags;
+};
+
+#define LWS_SYSTEM_GROUP_MEMBER_ADD		1
+#define LWS_SYSTEM_GROUP_MEMBER_CHANGE		2
+#define LWS_SYSTEM_GROUP_MEMBER_REMOVE		3
+
+#define LWS_GROUP_FLAG_SELF 1
+
+struct lws_esp32 {
+	char sta_ip[16];
+	char sta_mask[16];
+	char sta_gw[16];
+	char serial[16];
+	char opts[16];
+	char model[16];
+	char group[16];
+	char role[16];
+	char ssid[4][64];
+	char password[4][64];
+	char active_ssid[64];
+	char access_pw[16];
+	char hostname[32];
+	char mac[20];
+	char le_dns[64];
+	char le_email[64];
+       	char region;
+       	char inet;
+	char conn_ap;
+
+	enum genled_state genled;
+	uint64_t genled_t;
+
+	lws_cb_scan_done scan_consumer;
+	void *scan_consumer_arg;
+	struct lws_group_member *first;
+	int extant_group_members;
+
+	char acme;
+	char upload;
+
+	volatile char button_is_down;
+};
+
+struct lws_esp32_image {
+	uint32_t romfs;
+	uint32_t romfs_len;
+	uint32_t json;
+	uint32_t json_len;
+};
+
+extern struct lws_esp32 lws_esp32;
+struct lws_vhost;
+
+extern esp_err_t
+lws_esp32_event_passthru(void *ctx, system_event_t *event);
+extern void
+lws_esp32_wlan_config(void);
+extern void
+lws_esp32_wlan_start_ap(void);
+extern void
+lws_esp32_wlan_start_station(void);
+struct lws_context_creation_info;
+extern void
+lws_esp32_set_creation_defaults(struct lws_context_creation_info *info);
+extern struct lws_context *
+lws_esp32_init(struct lws_context_creation_info *, struct lws_vhost **pvh);
+extern int
+lws_esp32_wlan_nvs_get(int retry);
+extern esp_err_t
+lws_nvs_set_str(nvs_handle handle, const char* key, const char* value);
+extern void
+lws_esp32_restart_guided(uint32_t type);
+extern const esp_partition_t *
+lws_esp_ota_get_boot_partition(void);
+extern int
+lws_esp32_get_image_info(const esp_partition_t *part, struct lws_esp32_image *i, char *json, int json_len);
+extern int
+lws_esp32_leds_network_indication(void);
+
+extern uint32_t lws_esp32_get_reboot_type(void);
+extern uint16_t lws_esp32_sine_interp(int n);
+
+/* required in external code by esp32 plat (may just return if no leds) */
+extern void lws_esp32_leds_timer_cb(TimerHandle_t th);
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-fts.h b/thirdparty/libwebsockets/include/libwebsockets/lws-fts.h
new file mode 100644
index 0000000000..29405bd6fd
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-fts.h
@@ -0,0 +1,214 @@
+/*
+ * libwebsockets - fulltext search
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup search Search
+ *
+ * ##Full-text search
+ *
+ * Lws provides superfast indexing and fulltext searching from index files on
+ * storage.
+ */
+///@{
+
+struct lws_fts;
+struct lws_fts_file;
+
+/*
+ * Queries produce their results in an lwsac, using these public API types.
+ * The first thing in the lwsac is always a struct lws_fts_result (see below)
+ * containing heads for linked-lists of the other result types.
+ */
+
+/* one filepath's results */
+
+struct lws_fts_result_filepath {
+	struct lws_fts_result_filepath *next;
+	int matches;	/* logical number of matches */
+	int matches_length;	/* bytes in length table (may be zero) */
+	int lines_in_file;
+	int filepath_length;
+
+	/* - uint32_t line table follows (first for alignment) */
+	/* - filepath (of filepath_length) follows */
+};
+
+/* autocomplete result */
+
+struct lws_fts_result_autocomplete {
+	struct lws_fts_result_autocomplete *next;
+	int instances;
+	int agg_instances;
+	int ac_length;
+	char elided; /* children skipped in interest of antecedent children */
+	char has_children;
+
+	/* - autocomplete suggestion (of length ac_length) follows */
+};
+
+/*
+ * The results lwsac always starts with this.  If no results and / or no
+ * autocomplete the members may be NULL.  This implies the symbol nor any
+ * suffix on it exists in the trie file.
+ */
+struct lws_fts_result {
+	struct lws_fts_result_filepath *filepath_head;
+	struct lws_fts_result_autocomplete *autocomplete_head;
+	int duration_ms;
+	int effective_flags; /* the search flags that were used */
+};
+
+/*
+ * index creation functions
+ */
+
+/**
+ * lws_fts_create() - Create a new index file
+ *
+ * \param fd: The fd opened for write
+ *
+ * Inits a new index file, returning a struct lws_fts to represent it
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_fts *
+lws_fts_create(int fd);
+
+/**
+ * lws_fts_destroy() - Finalize a new index file / destroy the trie lwsac
+ *
+ * \param trie: The previously opened index being finalized
+ *
+ * Finalizes an index file that was being created, and frees the memory involved
+ * *trie is set to NULL afterwards.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_fts_destroy(struct lws_fts **trie);
+
+/**
+ * lws_fts_file_index() - Create a new entry in the trie file for an input path
+ *
+ * \param t: The previously opened index being written
+ * \param filepath: The filepath (which may be virtual) associated with this file
+ * \param filepath_len: The number of chars in the filepath
+ * \param priority: not used yet
+ *
+ * Returns an ordinal that represents this new filepath in the index file.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_fts_file_index(struct lws_fts *t, const char *filepath, int filepath_len,
+		   int priority);
+
+/**
+ * lws_fts_fill() - Process all or a bufferload of input file
+ *
+ * \param t: The previously opened index being written
+ * \param file_index: The ordinal representing this input filepath
+ * \param buf: A bufferload of data from the input file
+ * \param len: The number of bytes in buf
+ *
+ * Indexes a buffer of data from the input file.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_fts_fill(struct lws_fts *t, uint32_t file_index, const char *buf,
+	     size_t len);
+
+/**
+ * lws_fts_serialize() - Store the in-memory trie into the index file
+ *
+ * \param t: The previously opened index being written
+ *
+ * The trie is held in memory where it can be added to... after all the input
+ * filepaths and data have been processed, this is called to serialize /
+ * write the trie data into the index file.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_fts_serialize(struct lws_fts *t);
+
+/*
+ * index search functions
+ */
+
+/**
+ * lws_fts_open() - Open an existing index file to search it
+ *
+ * \param filepath: The filepath to the index file to open
+ *
+ * Opening the index file returns an opaque struct lws_fts_file * that is
+ * used to perform other operations on it, or NULL if it can't be opened.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_fts_file *
+lws_fts_open(const char *filepath);
+
+#define LWSFTS_F_QUERY_AUTOCOMPLETE	(1 << 0)
+#define LWSFTS_F_QUERY_FILES		(1 << 1)
+#define LWSFTS_F_QUERY_FILE_LINES	(1 << 2)
+#define LWSFTS_F_QUERY_QUOTE_LINE	(1 << 3)
+
+struct lws_fts_search_params {
+	/* the actual search term */
+	const char *needle;
+	 /* if non-NULL, FILE results for this filepath only */
+	const char *only_filepath;
+	/* will be set to the results lwsac */
+	struct lwsac *results_head;
+	/* combination of LWSFTS_F_QUERY_* flags */
+	int flags;
+	/* maximum number of autocomplete suggestions to return */
+	int max_autocomplete;
+	/* maximum number of filepaths to return */
+	int max_files;
+	/* maximum number of line number results to return per filepath */
+	int max_lines;
+};
+
+/**
+ * lws_fts_search() - Perform a search operation on an index
+ *
+ * \param jtf: The index file struct returned by lws_fts_open
+ * \param ftsp: The struct lws_fts_search_params filled in by the caller
+ *
+ * The caller should memset the ftsp struct to 0 to ensure members that may be
+ * introduced in later versions contain known values, then set the related
+ * members to describe the kind of search action required.
+ *
+ * ftsp->results_head is the results lwsac, or NULL.  It should be freed with
+ * lwsac_free() when the results are finished with.
+ *
+ * Returns a pointer into the results lwsac that is a struct lws_fts_result
+ * containing the head pointers into linked-lists of results for autocomplete
+ * and filepath data, along with some sundry information.  This does not need
+ * to be freed since freeing the lwsac will also remove this and everything it
+ * points to.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_fts_result *
+lws_fts_search(struct lws_fts_file *jtf, struct lws_fts_search_params *ftsp);
+
+/**
+ * lws_fts_close() - Close a previously-opened index file
+ *
+ * \param jtf: The pointer returned from the open
+ *
+ * Closes the file handle on the index and frees any allocations
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_fts_close(struct lws_fts_file *jtf);
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-genhash.h b/thirdparty/libwebsockets/include/libwebsockets/lws-genhash.h
new file mode 100644
index 0000000000..a2e4f8ab6a
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-genhash.h
@@ -0,0 +1,171 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup generic hash
+ * ## Generic Hash related functions
+ *
+ * Lws provides generic hash / digest accessors that abstract the ones
+ * provided by whatever OpenSSL library you are linking against.
+ *
+ * It lets you use the same code if you build against mbedtls or OpenSSL
+ * for example.
+ */
+///@{
+
+enum lws_genhash_types {
+	LWS_GENHASH_TYPE_SHA1,
+	LWS_GENHASH_TYPE_SHA256,
+	LWS_GENHASH_TYPE_SHA384,
+	LWS_GENHASH_TYPE_SHA512,
+};
+
+enum lws_genhmac_types {
+	LWS_GENHMAC_TYPE_SHA256,
+	LWS_GENHMAC_TYPE_SHA384,
+	LWS_GENHMAC_TYPE_SHA512,
+};
+
+#define LWS_GENHASH_LARGEST 64
+
+struct lws_genhash_ctx {
+        uint8_t type;
+#if defined(LWS_WITH_MBEDTLS)
+        union {
+		mbedtls_sha1_context sha1;
+		mbedtls_sha256_context sha256;
+		mbedtls_sha512_context sha512; /* 384 also uses this */
+		const mbedtls_md_info_t *hmac;
+        } u;
+#else
+        const EVP_MD *evp_type;
+        EVP_MD_CTX *mdctx;
+#endif
+};
+
+struct lws_genhmac_ctx {
+        uint8_t type;
+#if defined(LWS_WITH_MBEDTLS)
+	const mbedtls_md_info_t *hmac;
+	mbedtls_md_context_t ctx;
+#else
+        const EVP_MD *evp_type;
+        EVP_MD_CTX *ctx;
+#endif
+};
+
+/** lws_genhash_size() - get hash size in bytes
+ *
+ * \param type:	one of LWS_GENHASH_TYPE_...
+ *
+ * Returns number of bytes in this type of hash
+ */
+LWS_VISIBLE LWS_EXTERN size_t LWS_WARN_UNUSED_RESULT
+lws_genhash_size(enum lws_genhash_types type);
+
+/** lws_genhmac_size() - get hash size in bytes
+ *
+ * \param type:	one of LWS_GENHASH_TYPE_...
+ *
+ * Returns number of bytes in this type of hmac
+ */
+LWS_VISIBLE LWS_EXTERN size_t LWS_WARN_UNUSED_RESULT
+lws_genhmac_size(enum lws_genhmac_types type);
+
+/** lws_genhash_init() - prepare your struct lws_genhash_ctx for use
+ *
+ * \param ctx: your struct lws_genhash_ctx
+ * \param type:	one of LWS_GENHASH_TYPE_...
+ *
+ * Initializes the hash context for the type you requested
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_genhash_init(struct lws_genhash_ctx *ctx, enum lws_genhash_types type);
+
+/** lws_genhash_update() - digest len bytes of the buffer starting at in
+ *
+ * \param ctx: your struct lws_genhash_ctx
+ * \param in: start of the bytes to digest
+ * \param len: count of bytes to digest
+ *
+ * Updates the state of your hash context to reflect digesting len bytes from in
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_genhash_update(struct lws_genhash_ctx *ctx, const void *in, size_t len);
+
+/** lws_genhash_destroy() - copy out the result digest and destroy the ctx
+ *
+ * \param ctx: your struct lws_genhash_ctx
+ * \param result: NULL, or where to copy the result hash
+ *
+ * Finalizes the hash and copies out the digest.  Destroys any allocations such
+ * that ctx can safely go out of scope after calling this.
+ *
+ * NULL result is supported so that you can destroy the ctx cleanly on error
+ * conditions, where there is no valid result.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genhash_destroy(struct lws_genhash_ctx *ctx, void *result);
+
+/** lws_genhmac_init() - prepare your struct lws_genhmac_ctx for use
+ *
+ * \param ctx: your struct lws_genhmac_ctx
+ * \param type:	one of LWS_GENHMAC_TYPE_...
+ * \param key: pointer to the start of the HMAC key
+ * \param key_len: length of the HMAC key
+ *
+ * Initializes the hash context for the type you requested
+ *
+ * If the return is nonzero, it failed and there is nothing needing to be
+ * destroyed.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_genhmac_init(struct lws_genhmac_ctx *ctx, enum lws_genhmac_types type,
+		 const uint8_t *key, size_t key_len);
+
+/** lws_genhmac_update() - digest len bytes of the buffer starting at in
+ *
+ * \param ctx: your struct lws_genhmac_ctx
+ * \param in: start of the bytes to digest
+ * \param len: count of bytes to digest
+ *
+ * Updates the state of your hash context to reflect digesting len bytes from in
+ *
+ * If the return is nonzero, it failed and needs destroying.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_genhmac_update(struct lws_genhmac_ctx *ctx, const void *in, size_t len);
+
+/** lws_genhmac_destroy() - copy out the result digest and destroy the ctx
+ *
+ * \param ctx: your struct lws_genhmac_ctx
+ * \param result: NULL, or where to copy the result hash
+ *
+ * Finalizes the hash and copies out the digest.  Destroys any allocations such
+ * that ctx can safely go out of scope after calling this.
+ *
+ * NULL result is supported so that you can destroy the ctx cleanly on error
+ * conditions, where there is no valid result.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genhmac_destroy(struct lws_genhmac_ctx *ctx, void *result);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-genrsa.h b/thirdparty/libwebsockets/include/libwebsockets/lws-genrsa.h
new file mode 100644
index 0000000000..3e427e2927
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-genrsa.h
@@ -0,0 +1,190 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup generic RSA
+ * ## Generic RSA related functions
+ *
+ * Lws provides generic RSA functions that abstract the ones
+ * provided by whatever OpenSSL library you are linking against.
+ *
+ * It lets you use the same code if you build against mbedtls or OpenSSL
+ * for example.
+ */
+///@{
+
+enum enum_jwk_tok {
+	JWK_KEY_E,
+	JWK_KEY_N,
+	JWK_KEY_D,
+	JWK_KEY_P,
+	JWK_KEY_Q,
+	JWK_KEY_DP,
+	JWK_KEY_DQ,
+	JWK_KEY_QI,
+	JWK_KTY, /* also serves as count of real elements */
+	JWK_KEY,
+};
+
+#define LWS_COUNT_RSA_ELEMENTS JWK_KTY
+
+struct lws_genrsa_ctx {
+#if defined(LWS_WITH_MBEDTLS)
+	mbedtls_rsa_context *ctx;
+#else
+	BIGNUM *bn[LWS_COUNT_RSA_ELEMENTS];
+	RSA *rsa;
+#endif
+};
+
+struct lws_genrsa_element {
+	uint8_t *buf;
+	uint16_t len;
+};
+
+struct lws_genrsa_elements {
+	struct lws_genrsa_element e[LWS_COUNT_RSA_ELEMENTS];
+};
+
+/** lws_jwk_destroy_genrsa_elements() - Free allocations in genrsa_elements
+ *
+ * \param el: your struct lws_genrsa_elements
+ *
+ * This is a helper for user code making use of struct lws_genrsa_elements
+ * where the elements are allocated on the heap, it frees any non-NULL
+ * buf element and sets the buf to NULL.
+ *
+ * NB: lws_genrsa_public_... apis do not need this as they take care of the key
+ * creation and destruction themselves.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_jwk_destroy_genrsa_elements(struct lws_genrsa_elements *el);
+
+/** lws_genrsa_public_decrypt_create() - Create RSA public decrypt context
+ *
+ * \param ctx: your struct lws_genrsa_ctx
+ * \param el: struct prepared with key element data
+ *
+ * Creates an RSA context with a public key associated with it, formed from
+ * the key elements in \p el.
+ *
+ * Returns 0 for OK or nonzero for error.
+ *
+ * This and related APIs operate identically with OpenSSL or mbedTLS backends.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genrsa_create(struct lws_genrsa_ctx *ctx, struct lws_genrsa_elements *el);
+
+/** lws_genrsa_new_keypair() - Create new RSA keypair
+ *
+ * \param context: your struct lws_context (may be used for RNG)
+ * \param ctx: your struct lws_genrsa_ctx
+ * \param el: struct to get the new key element data allocated into it
+ * \param bits: key size, eg, 4096
+ *
+ * Creates a new RSA context and generates a new keypair into it, with \p bits
+ * bits.
+ *
+ * Returns 0 for OK or nonzero for error.
+ *
+ * This and related APIs operate identically with OpenSSL or mbedTLS backends.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genrsa_new_keypair(struct lws_context *context, struct lws_genrsa_ctx *ctx,
+		       struct lws_genrsa_elements *el, int bits);
+
+/** lws_genrsa_public_decrypt() - Perform RSA public decryption
+ *
+ * \param ctx: your struct lws_genrsa_ctx
+ * \param in: encrypted input
+ * \param in_len: length of encrypted input
+ * \param out: decrypted output
+ * \param out_max: size of output buffer
+ *
+ * Performs the decryption.
+ *
+ * Returns <0 for error, or length of decrypted data.
+ *
+ * This and related APIs operate identically with OpenSSL or mbedTLS backends.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genrsa_public_decrypt(struct lws_genrsa_ctx *ctx, const uint8_t *in,
+			  size_t in_len, uint8_t *out, size_t out_max);
+
+/** lws_genrsa_public_verify() - Perform RSA public verification
+ *
+ * \param ctx: your struct lws_genrsa_ctx
+ * \param in: unencrypted payload (usually a recomputed hash)
+ * \param hash_type: one of LWS_GENHASH_TYPE_
+ * \param sig: pointer to the signature we received with the payload
+ * \param sig_len: length of the signature we are checking in bytes
+ *
+ * Returns <0 for error, or 0 if signature matches the payload + key.
+ *
+ * This and related APIs operate identically with OpenSSL or mbedTLS backends.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genrsa_public_verify(struct lws_genrsa_ctx *ctx, const uint8_t *in,
+			 enum lws_genhash_types hash_type,
+			 const uint8_t *sig, size_t sig_len);
+
+/** lws_genrsa_public_sign() - Create RSA signature
+ *
+ * \param ctx: your struct lws_genrsa_ctx
+ * \param in: precomputed hash
+ * \param hash_type: one of LWS_GENHASH_TYPE_
+ * \param sig: pointer to buffer to take signature
+ * \param sig_len: length of the buffer (must be >= length of key N)
+ *
+ * Returns <0 for error, or 0 for success.
+ *
+ * This and related APIs operate identically with OpenSSL or mbedTLS backends.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genrsa_public_sign(struct lws_genrsa_ctx *ctx, const uint8_t *in,
+		       enum lws_genhash_types hash_type, uint8_t *sig,
+		       size_t sig_len);
+
+/** lws_genrsa_public_decrypt_destroy() - Destroy RSA public decrypt context
+ *
+ * \param ctx: your struct lws_genrsa_ctx
+ *
+ * Destroys any allocations related to \p ctx.
+ *
+ * This and related APIs operate identically with OpenSSL or mbedTLS backends.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_genrsa_destroy(struct lws_genrsa_ctx *ctx);
+
+/** lws_genrsa_render_pkey_asn1() - Exports public or private key to ASN1/DER
+ *
+ * \param ctx: your struct lws_genrsa_ctx
+ * \param _private: 0 = public part only, 1 = all parts of the key
+ * \param pkey_asn1: pointer to buffer to take the ASN1
+ * \param pkey_asn1_len: max size of the pkey_asn1_len
+ *
+ * Returns length of pkey_asn1 written, or -1 for error.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_genrsa_render_pkey_asn1(struct lws_genrsa_ctx *ctx, int _private,
+			    uint8_t *pkey_asn1, size_t pkey_asn1_len);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-http.h b/thirdparty/libwebsockets/include/libwebsockets/lws-http.h
new file mode 100644
index 0000000000..eb3d826ebd
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-http.h
@@ -0,0 +1,685 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/* minimal space for typical headers and CSP stuff */
+
+#define LWS_RECOMMENDED_MIN_HEADER_SPACE 2048
+
+/*! \defgroup http HTTP
+
+    Modules related to handling HTTP
+*/
+//@{
+
+/*! \defgroup httpft HTTP File transfer
+ * \ingroup http
+
+    APIs for sending local files in response to HTTP requests
+*/
+//@{
+
+/**
+ * lws_get_mimetype() - Determine mimetype to use from filename
+ *
+ * \param file:		filename
+ * \param m:		NULL, or mount context
+ *
+ * This uses a canned list of known filetypes first, if no match and m is
+ * non-NULL, then tries a list of per-mount file suffix to mimtype mappings.
+ *
+ * Returns either NULL or a pointer to the mimetype matching the file.
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_get_mimetype(const char *file, const struct lws_http_mount *m);
+
+/**
+ * lws_serve_http_file() - Send a file back to the client using http
+ * \param wsi:		Websocket instance (available from user callback)
+ * \param file:		The file to issue over http
+ * \param content_type:	The http content type, eg, text/html
+ * \param other_headers:	NULL or pointer to header string
+ * \param other_headers_len:	length of the other headers if non-NULL
+ *
+ *	This function is intended to be called from the callback in response
+ *	to http requests from the client.  It allows the callback to issue
+ *	local files down the http link in a single step.
+ *
+ *	Returning <0 indicates error and the wsi should be closed.  Returning
+ *	>0 indicates the file was completely sent and
+ *	lws_http_transaction_completed() called on the wsi (and close if != 0)
+ *	==0 indicates the file transfer is started and needs more service later,
+ *	the wsi should be left alone.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
+		    const char *other_headers, int other_headers_len);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_serve_http_file_fragment(struct lws *wsi);
+//@}
+
+
+enum http_status {
+	HTTP_STATUS_CONTINUE					= 100,
+
+	HTTP_STATUS_OK						= 200,
+	HTTP_STATUS_NO_CONTENT					= 204,
+	HTTP_STATUS_PARTIAL_CONTENT				= 206,
+
+	HTTP_STATUS_MOVED_PERMANENTLY				= 301,
+	HTTP_STATUS_FOUND					= 302,
+	HTTP_STATUS_SEE_OTHER					= 303,
+	HTTP_STATUS_NOT_MODIFIED				= 304,
+
+	HTTP_STATUS_BAD_REQUEST					= 400,
+	HTTP_STATUS_UNAUTHORIZED,
+	HTTP_STATUS_PAYMENT_REQUIRED,
+	HTTP_STATUS_FORBIDDEN,
+	HTTP_STATUS_NOT_FOUND,
+	HTTP_STATUS_METHOD_NOT_ALLOWED,
+	HTTP_STATUS_NOT_ACCEPTABLE,
+	HTTP_STATUS_PROXY_AUTH_REQUIRED,
+	HTTP_STATUS_REQUEST_TIMEOUT,
+	HTTP_STATUS_CONFLICT,
+	HTTP_STATUS_GONE,
+	HTTP_STATUS_LENGTH_REQUIRED,
+	HTTP_STATUS_PRECONDITION_FAILED,
+	HTTP_STATUS_REQ_ENTITY_TOO_LARGE,
+	HTTP_STATUS_REQ_URI_TOO_LONG,
+	HTTP_STATUS_UNSUPPORTED_MEDIA_TYPE,
+	HTTP_STATUS_REQ_RANGE_NOT_SATISFIABLE,
+	HTTP_STATUS_EXPECTATION_FAILED,
+
+	HTTP_STATUS_INTERNAL_SERVER_ERROR			= 500,
+	HTTP_STATUS_NOT_IMPLEMENTED,
+	HTTP_STATUS_BAD_GATEWAY,
+	HTTP_STATUS_SERVICE_UNAVAILABLE,
+	HTTP_STATUS_GATEWAY_TIMEOUT,
+	HTTP_STATUS_HTTP_VERSION_NOT_SUPPORTED,
+};
+/*! \defgroup html-chunked-substitution HTML Chunked Substitution
+ * \ingroup http
+ *
+ * ##HTML chunked Substitution
+ *
+ * APIs for receiving chunks of text, replacing a set of variable names via
+ * a callback, and then prepending and appending HTML chunked encoding
+ * headers.
+ */
+//@{
+
+struct lws_process_html_args {
+	char *p; /**< pointer to the buffer containing the data */
+	int len; /**< length of the original data at p */
+	int max_len; /**< maximum length we can grow the data to */
+	int final; /**< set if this is the last chunk of the file */
+	int chunked; /**< 0 == unchunked, 1 == produce chunk headers
+			(incompatible with HTTP/2) */
+};
+
+typedef const char *(*lws_process_html_state_cb)(void *data, int index);
+
+struct lws_process_html_state {
+	char *start; /**< pointer to start of match */
+	char swallow[16]; /**< matched character buffer */
+	int pos; /**< position in match */
+	void *data; /**< opaque pointer */
+	const char * const *vars; /**< list of variable names */
+	int count_vars; /**< count of variable names */
+
+	lws_process_html_state_cb replace;
+		/**< called on match to perform substitution */
+};
+
+/*! lws_chunked_html_process() - generic chunked substitution
+ * \param args: buffer to process using chunked encoding
+ * \param s: current processing state
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_chunked_html_process(struct lws_process_html_args *args,
+			 struct lws_process_html_state *s);
+//@}
+
+/** \defgroup HTTP-headers-read HTTP headers: read
+ * \ingroup http
+ *
+ * ##HTTP header releated functions
+ *
+ *  In lws the client http headers are temporarily stored in a pool, only for the
+ *  duration of the http part of the handshake.  It's because in most cases,
+ *  the header content is ignored for the whole rest of the connection lifetime
+ *  and would then just be taking up space needlessly.
+ *
+ *  During LWS_CALLBACK_HTTP when the URI path is delivered is the last time
+ *  the http headers are still allocated, you can use these apis then to
+ *  look at and copy out interesting header content (cookies, etc)
+ *
+ *  Notice that the header total length reported does not include a terminating
+ *  '\0', however you must allocate for it when using the _copy apis.  So the
+ *  length reported for a header containing "123" is 3, but you must provide
+ *  a buffer of length 4 so that "123\0" may be copied into it, or the copy
+ *  will fail with a nonzero return code.
+ *
+ *  In the special case of URL arguments, like ?x=1&y=2, the arguments are
+ *  stored in a token named for the method, eg,  WSI_TOKEN_GET_URI if it
+ *  was a GET or WSI_TOKEN_POST_URI if POST.  You can check the total
+ *  length to confirm the method.
+ *
+ *  For URL arguments, each argument is stored urldecoded in a "fragment", so
+ *  you can use the fragment-aware api lws_hdr_copy_fragment() to access each
+ *  argument in turn: the fragments contain urldecoded strings like x=1 or y=2.
+ *
+ *  As a convenience, lws has an api that will find the fragment with a
+ *  given name= part, lws_get_urlarg_by_name().
+ */
+///@{
+
+/** struct lws_tokens
+ * you need these to look at headers that have been parsed if using the
+ * LWS_CALLBACK_FILTER_CONNECTION callback.  If a header from the enum
+ * list below is absent, .token = NULL and len = 0.  Otherwise .token
+ * points to .len chars containing that header content.
+ */
+struct lws_tokens {
+	char *token; /**< pointer to start of the token */
+	int len; /**< length of the token's value */
+};
+
+/* enum lws_token_indexes
+ * these have to be kept in sync with lextable.h / minilex.c
+ *
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+enum lws_token_indexes {
+	WSI_TOKEN_GET_URI					=  0,
+	WSI_TOKEN_POST_URI					=  1,
+	WSI_TOKEN_OPTIONS_URI					=  2,
+	WSI_TOKEN_HOST						=  3,
+	WSI_TOKEN_CONNECTION					=  4,
+	WSI_TOKEN_UPGRADE					=  5,
+	WSI_TOKEN_ORIGIN					=  6,
+	WSI_TOKEN_DRAFT						=  7,
+	WSI_TOKEN_CHALLENGE					=  8,
+	WSI_TOKEN_EXTENSIONS					=  9,
+	WSI_TOKEN_KEY1						= 10,
+	WSI_TOKEN_KEY2						= 11,
+	WSI_TOKEN_PROTOCOL					= 12,
+	WSI_TOKEN_ACCEPT					= 13,
+	WSI_TOKEN_NONCE						= 14,
+	WSI_TOKEN_HTTP						= 15,
+	WSI_TOKEN_HTTP2_SETTINGS				= 16,
+	WSI_TOKEN_HTTP_ACCEPT					= 17,
+	WSI_TOKEN_HTTP_AC_REQUEST_HEADERS			= 18,
+	WSI_TOKEN_HTTP_IF_MODIFIED_SINCE			= 19,
+	WSI_TOKEN_HTTP_IF_NONE_MATCH				= 20,
+	WSI_TOKEN_HTTP_ACCEPT_ENCODING				= 21,
+	WSI_TOKEN_HTTP_ACCEPT_LANGUAGE				= 22,
+	WSI_TOKEN_HTTP_PRAGMA					= 23,
+	WSI_TOKEN_HTTP_CACHE_CONTROL				= 24,
+	WSI_TOKEN_HTTP_AUTHORIZATION				= 25,
+	WSI_TOKEN_HTTP_COOKIE					= 26,
+	WSI_TOKEN_HTTP_CONTENT_LENGTH				= 27,
+	WSI_TOKEN_HTTP_CONTENT_TYPE				= 28,
+	WSI_TOKEN_HTTP_DATE					= 29,
+	WSI_TOKEN_HTTP_RANGE					= 30,
+	WSI_TOKEN_HTTP_REFERER					= 31,
+	WSI_TOKEN_KEY						= 32,
+	WSI_TOKEN_VERSION					= 33,
+	WSI_TOKEN_SWORIGIN					= 34,
+
+	WSI_TOKEN_HTTP_COLON_AUTHORITY				= 35,
+	WSI_TOKEN_HTTP_COLON_METHOD				= 36,
+	WSI_TOKEN_HTTP_COLON_PATH				= 37,
+	WSI_TOKEN_HTTP_COLON_SCHEME				= 38,
+	WSI_TOKEN_HTTP_COLON_STATUS				= 39,
+
+	WSI_TOKEN_HTTP_ACCEPT_CHARSET				= 40,
+	WSI_TOKEN_HTTP_ACCEPT_RANGES				= 41,
+	WSI_TOKEN_HTTP_ACCESS_CONTROL_ALLOW_ORIGIN		= 42,
+	WSI_TOKEN_HTTP_AGE					= 43,
+	WSI_TOKEN_HTTP_ALLOW					= 44,
+	WSI_TOKEN_HTTP_CONTENT_DISPOSITION			= 45,
+	WSI_TOKEN_HTTP_CONTENT_ENCODING				= 46,
+	WSI_TOKEN_HTTP_CONTENT_LANGUAGE				= 47,
+	WSI_TOKEN_HTTP_CONTENT_LOCATION				= 48,
+	WSI_TOKEN_HTTP_CONTENT_RANGE				= 49,
+	WSI_TOKEN_HTTP_ETAG					= 50,
+	WSI_TOKEN_HTTP_EXPECT					= 51,
+	WSI_TOKEN_HTTP_EXPIRES					= 52,
+	WSI_TOKEN_HTTP_FROM					= 53,
+	WSI_TOKEN_HTTP_IF_MATCH					= 54,
+	WSI_TOKEN_HTTP_IF_RANGE					= 55,
+	WSI_TOKEN_HTTP_IF_UNMODIFIED_SINCE			= 56,
+	WSI_TOKEN_HTTP_LAST_MODIFIED				= 57,
+	WSI_TOKEN_HTTP_LINK					= 58,
+	WSI_TOKEN_HTTP_LOCATION					= 59,
+	WSI_TOKEN_HTTP_MAX_FORWARDS				= 60,
+	WSI_TOKEN_HTTP_PROXY_AUTHENTICATE			= 61,
+	WSI_TOKEN_HTTP_PROXY_AUTHORIZATION			= 62,
+	WSI_TOKEN_HTTP_REFRESH					= 63,
+	WSI_TOKEN_HTTP_RETRY_AFTER				= 64,
+	WSI_TOKEN_HTTP_SERVER					= 65,
+	WSI_TOKEN_HTTP_SET_COOKIE				= 66,
+	WSI_TOKEN_HTTP_STRICT_TRANSPORT_SECURITY		= 67,
+	WSI_TOKEN_HTTP_TRANSFER_ENCODING			= 68,
+	WSI_TOKEN_HTTP_USER_AGENT				= 69,
+	WSI_TOKEN_HTTP_VARY					= 70,
+	WSI_TOKEN_HTTP_VIA					= 71,
+	WSI_TOKEN_HTTP_WWW_AUTHENTICATE				= 72,
+
+	WSI_TOKEN_PATCH_URI					= 73,
+	WSI_TOKEN_PUT_URI					= 74,
+	WSI_TOKEN_DELETE_URI					= 75,
+
+	WSI_TOKEN_HTTP_URI_ARGS					= 76,
+	WSI_TOKEN_PROXY						= 77,
+	WSI_TOKEN_HTTP_X_REAL_IP				= 78,
+	WSI_TOKEN_HTTP1_0					= 79,
+	WSI_TOKEN_X_FORWARDED_FOR				= 80,
+	WSI_TOKEN_CONNECT					= 81,
+	WSI_TOKEN_HEAD_URI					= 82,
+	WSI_TOKEN_TE						= 83,
+	WSI_TOKEN_REPLAY_NONCE					= 84,
+	WSI_TOKEN_COLON_PROTOCOL				= 85,
+	WSI_TOKEN_X_AUTH_TOKEN					= 86,
+
+	/****** add new things just above ---^ ******/
+
+	/* use token storage to stash these internally, not for
+	 * user use */
+
+	_WSI_TOKEN_CLIENT_SENT_PROTOCOLS,
+	_WSI_TOKEN_CLIENT_PEER_ADDRESS,
+	_WSI_TOKEN_CLIENT_URI,
+	_WSI_TOKEN_CLIENT_HOST,
+	_WSI_TOKEN_CLIENT_ORIGIN,
+	_WSI_TOKEN_CLIENT_METHOD,
+	_WSI_TOKEN_CLIENT_IFACE,
+	_WSI_TOKEN_CLIENT_ALPN,
+
+	/* always last real token index*/
+	WSI_TOKEN_COUNT,
+
+	/* parser state additions, no storage associated */
+	WSI_TOKEN_NAME_PART,
+	WSI_TOKEN_SKIPPING,
+	WSI_TOKEN_SKIPPING_SAW_CR,
+	WSI_PARSING_COMPLETE,
+	WSI_INIT_TOKEN_MUXURL,
+};
+
+struct lws_token_limits {
+	unsigned short token_limit[WSI_TOKEN_COUNT]; /**< max chars for this token */
+};
+
+/**
+ * lws_token_to_string() - returns a textual representation of a hdr token index
+ *
+ * \param token: token index
+ */
+LWS_VISIBLE LWS_EXTERN const unsigned char *
+lws_token_to_string(enum lws_token_indexes token);
+
+/**
+ * lws_hdr_total_length: report length of all fragments of a header totalled up
+ *		The returned length does not include the space for a
+ *		terminating '\0'
+ *
+ * \param wsi: websocket connection
+ * \param h: which header index we are interested in
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_hdr_total_length(struct lws *wsi, enum lws_token_indexes h);
+
+/**
+ * lws_hdr_fragment_length: report length of a single fragment of a header
+ *		The returned length does not include the space for a
+ *		terminating '\0'
+ *
+ * \param wsi: websocket connection
+ * \param h: which header index we are interested in
+ * \param frag_idx: which fragment of h we want to get the length of
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_hdr_fragment_length(struct lws *wsi, enum lws_token_indexes h,
+			int frag_idx);
+
+/**
+ * lws_hdr_copy() - copy all fragments of the given header to a buffer
+ *		The buffer length len must include space for an additional
+ *		terminating '\0', or it will fail returning -1.
+ *
+ * \param wsi: websocket connection
+ * \param dest: destination buffer
+ * \param len: length of destination buffer
+ * \param h: which header index we are interested in
+ *
+ * copies the whole, aggregated header, even if it was delivered in
+ * several actual headers piece by piece.  Returns -1 or length of the whole
+ * header.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_hdr_copy(struct lws *wsi, char *dest, int len, enum lws_token_indexes h);
+
+/**
+ * lws_hdr_copy_fragment() - copy a single fragment of the given header to a buffer
+ *		The buffer length len must include space for an additional
+ *		terminating '\0', or it will fail returning -1.
+ *		If the requested fragment index is not present, it fails
+ *		returning -1.
+ *
+ * \param wsi: websocket connection
+ * \param dest: destination buffer
+ * \param len: length of destination buffer
+ * \param h: which header index we are interested in
+ * \param frag_idx: which fragment of h we want to copy
+ *
+ * Normally this is only useful
+ * to parse URI arguments like ?x=1&y=2, token index WSI_TOKEN_HTTP_URI_ARGS
+ * fragment 0 will contain "x=1" and fragment 1 "y=2"
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_hdr_copy_fragment(struct lws *wsi, char *dest, int len,
+		      enum lws_token_indexes h, int frag_idx);
+
+/**
+ * lws_get_urlarg_by_name() - return pointer to arg value if present
+ * \param wsi: the connection to check
+ * \param name: the arg name, like "token="
+ * \param buf: the buffer to receive the urlarg (including the name= part)
+ * \param len: the length of the buffer to receive the urlarg
+ *
+ *     Returns NULL if not found or a pointer inside buf to just after the
+ *     name= part.
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_get_urlarg_by_name(struct lws *wsi, const char *name, char *buf, int len);
+///@}
+
+/*! \defgroup HTTP-headers-create HTTP headers: create
+ *
+ * ## HTTP headers: Create
+ *
+ * These apis allow you to create HTTP response headers in a way compatible with
+ * both HTTP/1.x and HTTP/2.
+ *
+ * They each append to a buffer taking care about the buffer end, which is
+ * passed in as a pointer.  When data is written to the buffer, the current
+ * position p is updated accordingly.
+ *
+ * All of these apis are LWS_WARN_UNUSED_RESULT as they can run out of space
+ * and fail with nonzero return.
+ */
+///@{
+
+#define LWSAHH_CODE_MASK			((1 << 16) - 1)
+#define LWSAHH_FLAG_NO_SERVER_NAME		(1 << 30)
+
+/**
+ * lws_add_http_header_status() - add the HTTP response status code
+ *
+ * \param wsi: the connection to check
+ * \param code: an HTTP code like 200, 404 etc (see enum http_status)
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Adds the initial response code, so should be called first.
+ *
+ * Code may additionally take OR'd flags:
+ *
+ *    LWSAHH_FLAG_NO_SERVER_NAME:  don't apply server name header this time
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_add_http_header_status(struct lws *wsi,
+			   unsigned int code, unsigned char **p,
+			   unsigned char *end);
+/**
+ * lws_add_http_header_by_name() - append named header and value
+ *
+ * \param wsi: the connection to check
+ * \param name: the hdr name, like "my-header"
+ * \param value: the value after the = for this header
+ * \param length: the length of the value
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Appends name: value to the headers
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_add_http_header_by_name(struct lws *wsi, const unsigned char *name,
+			    const unsigned char *value, int length,
+			    unsigned char **p, unsigned char *end);
+/**
+ * lws_add_http_header_by_token() - append given header and value
+ *
+ * \param wsi: the connection to check
+ * \param token: the token index for the hdr
+ * \param value: the value after the = for this header
+ * \param length: the length of the value
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Appends name=value to the headers, but is able to take advantage of better
+ * HTTP/2 coding mechanisms where possible.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_add_http_header_by_token(struct lws *wsi, enum lws_token_indexes token,
+			     const unsigned char *value, int length,
+			     unsigned char **p, unsigned char *end);
+/**
+ * lws_add_http_header_content_length() - append content-length helper
+ *
+ * \param wsi: the connection to check
+ * \param content_length: the content length to use
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Appends content-length: content_length to the headers
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_add_http_header_content_length(struct lws *wsi,
+				   lws_filepos_t content_length,
+				   unsigned char **p, unsigned char *end);
+/**
+ * lws_finalize_http_header() - terminate header block
+ *
+ * \param wsi: the connection to check
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Indicates no more headers will be added
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_finalize_http_header(struct lws *wsi, unsigned char **p,
+			 unsigned char *end);
+
+/**
+ * lws_finalize_write_http_header() - Helper finializing and writing http headers
+ *
+ * \param wsi: the connection to check
+ * \param start: pointer to the start of headers in the buffer, eg &buf[LWS_PRE]
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Terminates the headers correctly accoring to the protocol in use (h1 / h2)
+ * and writes the headers.  Returns nonzero for error.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_finalize_write_http_header(struct lws *wsi, unsigned char *start,
+			       unsigned char **p, unsigned char *end);
+
+#define LWS_ILLEGAL_HTTP_CONTENT_LEN ((lws_filepos_t)-1ll)
+
+/**
+ * lws_add_http_common_headers() - Helper preparing common http headers
+ *
+ * \param wsi: the connection to check
+ * \param code: an HTTP code like 200, 404 etc (see enum http_status)
+ * \param content_type: the content type, like "text/html"
+ * \param content_len: the content length, in bytes
+ * \param p: pointer to current position in buffer pointer
+ * \param end: pointer to end of buffer
+ *
+ * Adds the initial response code, so should be called first.
+ *
+ * Code may additionally take OR'd flags:
+ *
+ *    LWSAHH_FLAG_NO_SERVER_NAME:  don't apply server name header this time
+ *
+ * This helper just calls public apis to simplify adding headers that are
+ * commonly needed.  If it doesn't fit your case, or you want to add additional
+ * headers just call the public apis directly yourself for what you want.
+ *
+ * You can miss out the content length header by providing the constant
+ * LWS_ILLEGAL_HTTP_CONTENT_LEN for the content_len.
+ *
+ * It does not call lws_finalize_http_header(), to allow you to add further
+ * headers after calling this.  You will need to call that yourself at the end.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_add_http_common_headers(struct lws *wsi, unsigned int code,
+			    const char *content_type, lws_filepos_t content_len,
+			    unsigned char **p, unsigned char *end);
+
+///@}
+
+/*! \defgroup urlendec Urlencode and Urldecode
+ * \ingroup http
+ *
+ * ##HTML chunked Substitution
+ *
+ * APIs for receiving chunks of text, replacing a set of variable names via
+ * a callback, and then prepending and appending HTML chunked encoding
+ * headers.
+ */
+//@{
+
+/**
+ * lws_urlencode() - like strncpy but with urlencoding
+ *
+ * \param escaped: output buffer
+ * \param string: input buffer ('/0' terminated)
+ * \param len: output buffer max length
+ *
+ * Because urlencoding expands the output string, it's not
+ * possible to do it in-place, ie, with escaped == string
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_urlencode(char *escaped, const char *string, int len);
+
+/*
+ * URLDECODE 1 / 2
+ *
+ * This simple urldecode only operates until the first '\0' and requires the
+ * data to exist all at once
+ */
+/**
+ * lws_urldecode() - like strncpy but with urldecoding
+ *
+ * \param string: output buffer
+ * \param escaped: input buffer ('\0' terminated)
+ * \param len: output buffer max length
+ *
+ * This is only useful for '\0' terminated strings
+ *
+ * Since urldecoding only shrinks the output string, it is possible to
+ * do it in-place, ie, string == escaped
+ *
+ * Returns 0 if completed OK or nonzero for urldecode violation (non-hex chars
+ * where hex required, etc)
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_urldecode(char *string, const char *escaped, int len);
+///@}
+
+/**
+ * lws_return_http_status() - Return simple http status
+ * \param wsi:		Websocket instance (available from user callback)
+ * \param code:		Status index, eg, 404
+ * \param html_body:		User-readable HTML description < 1KB, or NULL
+ *
+ *	Helper to report HTTP errors back to the client cleanly and
+ *	consistently
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_return_http_status(struct lws *wsi, unsigned int code,
+		       const char *html_body);
+
+/**
+ * lws_http_redirect() - write http redirect out on wsi
+ *
+ * \param wsi:	websocket connection
+ * \param code:	HTTP response code (eg, 301)
+ * \param loc:	where to redirect to
+ * \param len:	length of loc
+ * \param p:	pointer current position in buffer (updated as we write)
+ * \param end:	pointer to end of buffer
+ *
+ * Returns amount written, or < 0 indicating fatal write failure.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_http_redirect(struct lws *wsi, int code, const unsigned char *loc, int len,
+		  unsigned char **p, unsigned char *end);
+
+/**
+ * lws_http_transaction_completed() - wait for new http transaction or close
+ * \param wsi:	websocket connection
+ *
+ *	Returns 1 if the HTTP connection must close now
+ *	Returns 0 and resets connection to wait for new HTTP header /
+ *	  transaction if possible
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_http_transaction_completed(struct lws *wsi);
+
+/**
+ * lws_http_compression_apply() - apply an http compression transform
+ *
+ * \param wsi: the wsi to apply the compression transform to
+ * \param name: NULL, or the name of the compression transform, eg, "deflate"
+ * \param p: pointer to pointer to headers buffer
+ * \param end: pointer to end of headers buffer
+ * \param decomp: 0 = add compressor to wsi, 1 = add decompressor
+ *
+ * This allows transparent compression of dynamically generated HTTP.  The
+ * requested compression (eg, "deflate") is only applied if the client headers
+ * indicated it was supported (and it has support in lws), otherwise it's a NOP.
+ *
+ * If the requested compression method is NULL, then the supported compression
+ * formats are tried, and for non-decompression (server) mode the first that's
+ * found on the client's accept-encoding header is chosen.
+ *
+ * NOTE: the compression transform, same as h2 support, relies on the user
+ * code using LWS_WRITE_HTTP and then LWS_WRITE_HTTP_FINAL on the last part
+ * written.  The internal lws fileserving code already does this.
+ *
+ * If the library was built without the cmake option
+ * LWS_WITH_HTTP_STREAM_COMPRESSION set, then a NOP is provided for this api,
+ * allowing user code to build either way and use compression if available.
+ */
+LWS_VISIBLE int
+lws_http_compression_apply(struct lws *wsi, const char *name,
+			   unsigned char **p, unsigned char *end, char decomp);
+///@}
+
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-jwk.h b/thirdparty/libwebsockets/include/libwebsockets/lws-jwk.h
new file mode 100644
index 0000000000..2e2eabd73e
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-jwk.h
@@ -0,0 +1,110 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+
+/*! \defgroup jwk JSON Web Keys
+ * ## JSON Web Keys API
+ *
+ * Lws provides an API to parse JSON Web Keys into a struct lws_genrsa_elements.
+ *
+ * "oct" and "RSA" type keys are supported.  For "oct" keys, they are held in
+ * the "e" member of the struct lws_genrsa_elements.
+ *
+ * Keys elements are allocated on the heap.  You must destroy the allocations
+ * in the struct lws_genrsa_elements by calling
+ * lws_jwk_destroy_genrsa_elements() when you are finished with it.
+ */
+///@{
+
+struct lws_jwk {
+	char keytype[5];		/**< "oct" or "RSA" */
+	struct lws_genrsa_elements el;	/**< OCTet key is in el.e */
+};
+
+/** lws_jwk_import() - Create a JSON Web key from the textual representation
+ *
+ * \param s: the JWK object to create
+ * \param in: a single JWK JSON stanza in utf-8
+ * \param len: the length of the JWK JSON stanza in bytes
+ *
+ * Creates an lws_jwk struct filled with data from the JSON representation.
+ * "oct" and "rsa" key types are supported.
+ *
+ * For "oct" type keys, it is loaded into el.e.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_jwk_import(struct lws_jwk *s, const char *in, size_t len);
+
+/** lws_jwk_destroy() - Destroy a JSON Web key
+ *
+ * \param s: the JWK object to destroy
+ *
+ * All allocations in the lws_jwk are destroyed
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_jwk_destroy(struct lws_jwk *s);
+
+/** lws_jwk_export() - Export a JSON Web key to a textual representation
+ *
+ * \param s: the JWK object to export
+ * \param _private: 0 = just export public parts, 1 = export everything
+ * \param p: the buffer to write the exported JWK to
+ * \param len: the length of the buffer \p p in bytes
+ *
+ * Returns length of the used part of the buffer if OK, or -1 for error.
+ *
+ * Serializes the content of the JWK into a char buffer.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_jwk_export(struct lws_jwk *s, int _private, char *p, size_t len);
+
+/** lws_jwk_load() - Import a JSON Web key from a file
+ *
+ * \param s: the JWK object to load into
+ * \param filename: filename to load from
+ *
+ * Returns 0 for OK or -1 for failure
+ */
+LWS_VISIBLE int
+lws_jwk_load(struct lws_jwk *s, const char *filename);
+
+/** lws_jwk_save() - Export a JSON Web key to a file
+ *
+ * \param s: the JWK object to save from
+ * \param filename: filename to save to
+ *
+ * Returns 0 for OK or -1 for failure
+ */
+LWS_VISIBLE int
+lws_jwk_save(struct lws_jwk *s, const char *filename);
+
+/** lws_jwk_rfc7638_fingerprint() - jwk to RFC7638 compliant fingerprint
+ *
+ * \param s: the JWK object to fingerprint
+ * \param digest32: buffer to take 32-byte digest
+ *
+ * Returns 0 for OK or -1 for failure
+ */
+LWS_VISIBLE int
+lws_jwk_rfc7638_fingerprint(struct lws_jwk *s, char *digest32);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-jws.h b/thirdparty/libwebsockets/include/libwebsockets/lws-jws.h
new file mode 100644
index 0000000000..7112fc3dba
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-jws.h
@@ -0,0 +1,101 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup jws JSON Web Signature
+ * ## JSON Web Signature API
+ *
+ * Lws provides an API to check and create RFC7515 JSON Web Signatures
+ *
+ * SHA256/384/512 HMAC, and RSA 256/384/512 are supported.
+ *
+ * The API uses your TLS library crypto, but works exactly the same no matter
+ * what you TLS backend is.
+ */
+///@{
+
+LWS_VISIBLE LWS_EXTERN int
+lws_jws_confirm_sig(const char *in, size_t len, struct lws_jwk *jwk);
+
+/**
+ * lws_jws_sign_from_b64() - add b64 sig to b64 hdr + payload
+ *
+ * \param b64_hdr: protected header encoded in b64, may be NULL
+ * \param hdr_len: bytes in b64 coding of protected header
+ * \param b64_pay: payload encoded in b64
+ * \param pay_len: bytes in b64 coding of payload
+ * \param b64_sig: buffer to write the b64 encoded signature into
+ * \param sig_len: max bytes we can write at b64_sig
+ * \param hash_type: one of LWS_GENHASH_TYPE_SHA[256|384|512]
+ * \param jwk: the struct lws_jwk containing the signing key
+ *
+ * This adds a b64-coded JWS signature of the b64-encoded protected header
+ * and b64-encoded payload, at \p b64_sig.  The signature will be as large
+ * as the N element of the RSA key when the RSA key is used, eg, 512 bytes for
+ * a 4096-bit key, and then b64-encoding on top.
+ *
+ * In some special cases, there is only payload to sign and no header, in that
+ * case \p b64_hdr may be NULL, and only the payload will be hashed before
+ * signing.
+ *
+ * Returns the length of the encoded signature written to \p b64_sig, or -1.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_jws_sign_from_b64(const char *b64_hdr, size_t hdr_len, const char *b64_pay,
+		      size_t pay_len, char *b64_sig, size_t sig_len,
+		      enum lws_genhash_types hash_type, struct lws_jwk *jwk);
+
+/**
+ * lws_jws_create_packet() - add b64 sig to b64 hdr + payload
+ *
+ * \param jwk: the struct lws_jwk containing the signing key
+ * \param payload: unencoded payload JSON
+ * \param len: length of unencoded payload JSON
+ * \param nonce: Nonse string to include in protected header
+ * \param out: buffer to take signed packet
+ * \param out_len: size of \p out buffer
+ *
+ * This creates a "flattened" JWS packet from the jwk and the plaintext
+ * payload, and signs it.  The packet is written into \p out.
+ *
+ * This does the whole packet assembly and signing, calling through to
+ * lws_jws_sign_from_b64() as part of the process.
+ *
+ * Returns the length written to \p out, or -1.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_jws_create_packet(struct lws_jwk *jwk, const char *payload, size_t len,
+		      const char *nonce, char *out, size_t out_len);
+
+/**
+ * lws_jws_base64_enc() - encode input data into b64url data
+ *
+ * \param in: the incoming plaintext
+ * \param in_len: the length of the incoming plaintext in bytes
+ * \param out: the buffer to store the b64url encoded data to
+ * \param out_max: the length of \p out in bytes
+ *
+ * Returns either -1 if problems, or the number of bytes written to \p out.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_jws_base64_enc(const char *in, size_t in_len, char *out, size_t out_max);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-lejp.h b/thirdparty/libwebsockets/include/libwebsockets/lws-lejp.h
new file mode 100644
index 0000000000..f3f7e59a64
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-lejp.h
@@ -0,0 +1,262 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup lejp JSON parser
+ * ##JSON parsing related functions
+ * \ingroup lwsapi
+ *
+ * LEJP is an extremely lightweight JSON stream parser included in lws.
+ */
+//@{
+struct lejp_ctx;
+
+#if !defined(LWS_ARRAY_SIZE)
+#define LWS_ARRAY_SIZE(_x) (sizeof(_x) / sizeof(_x[0]))
+#endif
+#define LEJP_FLAG_WS_KEEP 64
+#define LEJP_FLAG_WS_COMMENTLINE 32
+
+enum lejp_states {
+	LEJP_IDLE = 0,
+	LEJP_MEMBERS = 1,
+	LEJP_M_P = 2,
+	LEJP_MP_STRING = LEJP_FLAG_WS_KEEP | 3,
+	LEJP_MP_STRING_ESC = LEJP_FLAG_WS_KEEP | 4,
+	LEJP_MP_STRING_ESC_U1 = LEJP_FLAG_WS_KEEP | 5,
+	LEJP_MP_STRING_ESC_U2 = LEJP_FLAG_WS_KEEP | 6,
+	LEJP_MP_STRING_ESC_U3 = LEJP_FLAG_WS_KEEP | 7,
+	LEJP_MP_STRING_ESC_U4 = LEJP_FLAG_WS_KEEP | 8,
+	LEJP_MP_DELIM = 9,
+	LEJP_MP_VALUE = 10,
+	LEJP_MP_VALUE_NUM_INT = LEJP_FLAG_WS_KEEP | 11,
+	LEJP_MP_VALUE_NUM_EXP = LEJP_FLAG_WS_KEEP | 12,
+	LEJP_MP_VALUE_TOK = LEJP_FLAG_WS_KEEP | 13,
+	LEJP_MP_COMMA_OR_END = 14,
+	LEJP_MP_ARRAY_END = 15,
+};
+
+enum lejp_reasons {
+	LEJP_CONTINUE = -1,
+	LEJP_REJECT_IDLE_NO_BRACE = -2,
+	LEJP_REJECT_MEMBERS_NO_CLOSE = -3,
+	LEJP_REJECT_MP_NO_OPEN_QUOTE = -4,
+	LEJP_REJECT_MP_STRING_UNDERRUN = -5,
+	LEJP_REJECT_MP_ILLEGAL_CTRL = -6,
+	LEJP_REJECT_MP_STRING_ESC_ILLEGAL_ESC = -7,
+	LEJP_REJECT_ILLEGAL_HEX = -8,
+	LEJP_REJECT_MP_DELIM_MISSING_COLON = -9,
+	LEJP_REJECT_MP_DELIM_BAD_VALUE_START = -10,
+	LEJP_REJECT_MP_VAL_NUM_INT_NO_FRAC = -11,
+	LEJP_REJECT_MP_VAL_NUM_FORMAT = -12,
+	LEJP_REJECT_MP_VAL_NUM_EXP_BAD_EXP = -13,
+	LEJP_REJECT_MP_VAL_TOK_UNKNOWN = -14,
+	LEJP_REJECT_MP_C_OR_E_UNDERF = -15,
+	LEJP_REJECT_MP_C_OR_E_NOTARRAY = -16,
+	LEJP_REJECT_MP_ARRAY_END_MISSING = -17,
+	LEJP_REJECT_STACK_OVERFLOW = -18,
+	LEJP_REJECT_MP_DELIM_ISTACK = -19,
+	LEJP_REJECT_NUM_TOO_LONG = -20,
+	LEJP_REJECT_MP_C_OR_E_NEITHER = -21,
+	LEJP_REJECT_UNKNOWN = -22,
+	LEJP_REJECT_CALLBACK = -23
+};
+
+#define LEJP_FLAG_CB_IS_VALUE 64
+
+enum lejp_callbacks {
+	LEJPCB_CONSTRUCTED	= 0,
+	LEJPCB_DESTRUCTED	= 1,
+
+	LEJPCB_START		= 2,
+	LEJPCB_COMPLETE		= 3,
+	LEJPCB_FAILED		= 4,
+
+	LEJPCB_PAIR_NAME	= 5,
+
+	LEJPCB_VAL_TRUE		= LEJP_FLAG_CB_IS_VALUE | 6,
+	LEJPCB_VAL_FALSE	= LEJP_FLAG_CB_IS_VALUE | 7,
+	LEJPCB_VAL_NULL		= LEJP_FLAG_CB_IS_VALUE | 8,
+	LEJPCB_VAL_NUM_INT	= LEJP_FLAG_CB_IS_VALUE | 9,
+	LEJPCB_VAL_NUM_FLOAT	= LEJP_FLAG_CB_IS_VALUE | 10,
+	LEJPCB_VAL_STR_START	= 11, /* notice handle separately */
+	LEJPCB_VAL_STR_CHUNK	= LEJP_FLAG_CB_IS_VALUE | 12,
+	LEJPCB_VAL_STR_END	= LEJP_FLAG_CB_IS_VALUE | 13,
+
+	LEJPCB_ARRAY_START	= 14,
+	LEJPCB_ARRAY_END	= 15,
+
+	LEJPCB_OBJECT_START	= 16,
+	LEJPCB_OBJECT_END	= 17
+};
+
+/**
+ * _lejp_callback() - User parser actions
+ * \param ctx:	LEJP context
+ * \param reason:	Callback reason
+ *
+ *	Your user callback is associated with the context at construction time,
+ *	and receives calls as the parsing progresses.
+ *
+ *	All of the callbacks may be ignored and just return 0.
+ *
+ *	The reasons it might get called, found in @reason, are:
+ *
+ *  LEJPCB_CONSTRUCTED:  The context was just constructed... you might want to
+ *		perform one-time allocation for the life of the context.
+ *
+ *  LEJPCB_DESTRUCTED:	The context is being destructed... if you made any
+ *		allocations at construction-time, you can free them now
+ *
+ *  LEJPCB_START:	Parsing is beginning at the first byte of input
+ *
+ *  LEJPCB_COMPLETE:	Parsing has completed successfully.  You'll get a 0 or
+ *			positive return code from lejp_parse indicating the
+ *			amount of unused bytes left in the input buffer
+ *
+ *  LEJPCB_FAILED:	Parsing failed.  You'll get a negative error code
+ *  			returned from lejp_parse
+ *
+ *  LEJPCB_PAIR_NAME:	When a "name":"value" pair has had the name parsed,
+ *			this callback occurs.  You can find the new name at
+ *			the end of ctx->path[]
+ *
+ *  LEJPCB_VAL_TRUE:	The "true" value appeared
+ *
+ *  LEJPCB_VAL_FALSE:	The "false" value appeared
+ *
+ *  LEJPCB_VAL_NULL:	The "null" value appeared
+ *
+ *  LEJPCB_VAL_NUM_INT:	A string representing an integer is in ctx->buf
+ *
+ *  LEJPCB_VAL_NUM_FLOAT: A string representing a float is in ctx->buf
+ *
+ *  LEJPCB_VAL_STR_START: We are starting to parse a string, no data yet
+ *
+ *  LEJPCB_VAL_STR_CHUNK: We parsed LEJP_STRING_CHUNK -1 bytes of string data in
+ *			ctx->buf, which is as much as we can buffer, so we are
+ *			spilling it.  If all your strings are less than
+ *			LEJP_STRING_CHUNK - 1 bytes, you will never see this
+ *			callback.
+ *
+ *  LEJPCB_VAL_STR_END:	String parsing has completed, the last chunk of the
+ *			string is in ctx->buf.
+ *
+ *  LEJPCB_ARRAY_START:	An array started
+ *
+ *  LEJPCB_ARRAY_END:	An array ended
+ *
+ *  LEJPCB_OBJECT_START: An object started
+ *
+ *  LEJPCB_OBJECT_END:	An object ended
+ */
+LWS_EXTERN signed char _lejp_callback(struct lejp_ctx *ctx, char reason);
+
+typedef signed char (*lejp_callback)(struct lejp_ctx *ctx, char reason);
+
+#ifndef LEJP_MAX_DEPTH
+#define LEJP_MAX_DEPTH 12
+#endif
+#ifndef LEJP_MAX_INDEX_DEPTH
+#define LEJP_MAX_INDEX_DEPTH 5
+#endif
+#ifndef LEJP_MAX_PATH
+#define LEJP_MAX_PATH 128
+#endif
+#ifndef LEJP_STRING_CHUNK
+/* must be >= 30 to assemble floats */
+#define LEJP_STRING_CHUNK 254
+#endif
+
+enum num_flags {
+	LEJP_SEEN_MINUS = (1 << 0),
+	LEJP_SEEN_POINT = (1 << 1),
+	LEJP_SEEN_POST_POINT = (1 << 2),
+	LEJP_SEEN_EXP = (1 << 3)
+};
+
+struct _lejp_stack {
+	char s; /* lejp_state stack*/
+	char p;	/* path length */
+	char i; /* index array length */
+	char b; /* user bitfield */
+};
+
+struct lejp_ctx {
+
+	/* sorted by type for most compact alignment
+	 *
+	 * pointers
+	 */
+
+	signed char (*callback)(struct lejp_ctx *ctx, char reason);
+	void *user;
+	const char * const *paths;
+
+	/* arrays */
+
+	struct _lejp_stack st[LEJP_MAX_DEPTH];
+	uint16_t i[LEJP_MAX_INDEX_DEPTH]; /* index array */
+	uint16_t wild[LEJP_MAX_INDEX_DEPTH]; /* index array */
+	char path[LEJP_MAX_PATH];
+	char buf[LEJP_STRING_CHUNK + 1];
+
+	/* int */
+
+	uint32_t line;
+
+	/* short */
+
+	uint16_t uni;
+
+	/* char */
+
+	uint8_t npos;
+	uint8_t dcount;
+	uint8_t f;
+	uint8_t sp; /* stack head */
+	uint8_t ipos; /* index stack depth */
+	uint8_t ppos;
+	uint8_t count_paths;
+	uint8_t path_match;
+	uint8_t path_match_len;
+	uint8_t wildcount;
+};
+
+LWS_VISIBLE LWS_EXTERN void
+lejp_construct(struct lejp_ctx *ctx,
+	       signed char (*callback)(struct lejp_ctx *ctx, char reason),
+	       void *user, const char * const *paths, unsigned char paths_count);
+
+LWS_VISIBLE LWS_EXTERN void
+lejp_destruct(struct lejp_ctx *ctx);
+
+LWS_VISIBLE LWS_EXTERN int
+lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len);
+
+LWS_VISIBLE LWS_EXTERN void
+lejp_change_callback(struct lejp_ctx *ctx,
+		     signed char (*callback)(struct lejp_ctx *ctx, char reason));
+
+LWS_VISIBLE LWS_EXTERN int
+lejp_get_wildcard(struct lejp_ctx *ctx, int wildcard, char *dest, int len);
+//@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-logs.h b/thirdparty/libwebsockets/include/libwebsockets/lws-logs.h
new file mode 100644
index 0000000000..9317dcc70c
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-logs.h
@@ -0,0 +1,224 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup log Logging
+ *
+ * ##Logging
+ *
+ * Lws provides flexible and filterable logging facilities, which can be
+ * used inside lws and in user code.
+ *
+ * Log categories may be individually filtered bitwise, and directed to built-in
+ * sinks for syslog-compatible logging, or a user-defined function.
+ */
+///@{
+
+enum lws_log_levels {
+	LLL_ERR		= 1 << 0,
+	LLL_WARN	= 1 << 1,
+	LLL_NOTICE	= 1 << 2,
+	LLL_INFO	= 1 << 3,
+	LLL_DEBUG	= 1 << 4,
+	LLL_PARSER	= 1 << 5,
+	LLL_HEADER	= 1 << 6,
+	LLL_EXT		= 1 << 7,
+	LLL_CLIENT	= 1 << 8,
+	LLL_LATENCY	= 1 << 9,
+	LLL_USER	= 1 << 10,
+	LLL_THREAD	= 1 << 11,
+
+	LLL_COUNT	= 12 /* set to count of valid flags */
+};
+
+LWS_VISIBLE LWS_EXTERN void _lws_log(int filter, const char *format, ...) LWS_FORMAT(2);
+LWS_VISIBLE LWS_EXTERN void _lws_logv(int filter, const char *format, va_list vl);
+/**
+ * lwsl_timestamp: generate logging timestamp string
+ *
+ * \param level:	logging level
+ * \param p:		char * buffer to take timestamp
+ * \param len:	length of p
+ *
+ * returns length written in p
+ */
+LWS_VISIBLE LWS_EXTERN int
+lwsl_timestamp(int level, char *p, int len);
+
+/* these guys are unconditionally included */
+
+#define lwsl_err(...) _lws_log(LLL_ERR, __VA_ARGS__)
+#define lwsl_user(...) _lws_log(LLL_USER, __VA_ARGS__)
+
+#if !defined(LWS_WITH_NO_LOGS)
+/* notice and warn are usually included by being compiled in */
+#define lwsl_warn(...) _lws_log(LLL_WARN, __VA_ARGS__)
+#define lwsl_notice(...) _lws_log(LLL_NOTICE, __VA_ARGS__)
+#endif
+/*
+ *  weaker logging can be deselected by telling CMake to build in RELEASE mode
+ *  that gets rid of the overhead of checking while keeping _warn and _err
+ *  active
+ */
+
+#ifdef _DEBUG
+#if defined(LWS_WITH_NO_LOGS)
+/* notice, warn and log are always compiled in */
+#define lwsl_warn(...) _lws_log(LLL_WARN, __VA_ARGS__)
+#define lwsl_notice(...) _lws_log(LLL_NOTICE, __VA_ARGS__)
+#endif
+#define lwsl_info(...) _lws_log(LLL_INFO, __VA_ARGS__)
+#define lwsl_debug(...) _lws_log(LLL_DEBUG, __VA_ARGS__)
+#define lwsl_parser(...) _lws_log(LLL_PARSER, __VA_ARGS__)
+#define lwsl_header(...)  _lws_log(LLL_HEADER, __VA_ARGS__)
+#define lwsl_ext(...)  _lws_log(LLL_EXT, __VA_ARGS__)
+#define lwsl_client(...) _lws_log(LLL_CLIENT, __VA_ARGS__)
+#define lwsl_latency(...) _lws_log(LLL_LATENCY, __VA_ARGS__)
+#define lwsl_thread(...) _lws_log(LLL_THREAD, __VA_ARGS__)
+
+#else /* no debug */
+#if defined(LWS_WITH_NO_LOGS)
+#define lwsl_warn(...) do {} while(0)
+#define lwsl_notice(...) do {} while(0)
+#endif
+#define lwsl_info(...) do {} while(0)
+#define lwsl_debug(...) do {} while(0)
+#define lwsl_parser(...) do {} while(0)
+#define lwsl_header(...) do {} while(0)
+#define lwsl_ext(...) do {} while(0)
+#define lwsl_client(...) do {} while(0)
+#define lwsl_latency(...) do {} while(0)
+#define lwsl_thread(...) do {} while(0)
+
+#endif
+
+#define lwsl_hexdump_err(...) lwsl_hexdump_level(LLL_ERR, __VA_ARGS__)
+#define lwsl_hexdump_warn(...) lwsl_hexdump_level(LLL_WARN, __VA_ARGS__)
+#define lwsl_hexdump_notice(...) lwsl_hexdump_level(LLL_NOTICE, __VA_ARGS__)
+#define lwsl_hexdump_info(...) lwsl_hexdump_level(LLL_INFO, __VA_ARGS__)
+#define lwsl_hexdump_debug(...) lwsl_hexdump_level(LLL_DEBUG, __VA_ARGS__)
+
+/**
+ * lwsl_hexdump_level() - helper to hexdump a buffer at a selected debug level
+ *
+ * \param level: one of LLL_ constants
+ * \param vbuf: buffer start to dump
+ * \param len: length of buffer to dump
+ *
+ * If \p level is visible, does a nice hexdump -C style dump of \p vbuf for
+ * \p len bytes.  This can be extremely convenient while debugging.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsl_hexdump_level(int level, const void *vbuf, size_t len);
+
+/**
+ * lwsl_hexdump() - helper to hexdump a buffer (DEBUG builds only)
+ *
+ * \param buf: buffer start to dump
+ * \param len: length of buffer to dump
+ *
+ * Calls through to lwsl_hexdump_level(LLL_DEBUG, ... for compatability.
+ * It's better to use lwsl_hexdump_level(level, ... directly so you can control
+ * the visibility.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsl_hexdump(const void *buf, size_t len);
+
+/**
+ * lws_is_be() - returns nonzero if the platform is Big Endian
+ */
+static LWS_INLINE int lws_is_be(void) {
+	const int probe = ~0xff;
+
+	return *(const char *)&probe;
+}
+
+/**
+ * lws_set_log_level() - Set the logging bitfield
+ * \param level:	OR together the LLL_ debug contexts you want output from
+ * \param log_emit_function:	NULL to leave it as it is, or a user-supplied
+ *			function to perform log string emission instead of
+ *			the default stderr one.
+ *
+ *	log level defaults to "err", "warn" and "notice" contexts enabled and
+ *	emission on stderr.  If stderr is a tty (according to isatty()) then
+ *	the output is coloured according to the log level using ANSI escapes.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_set_log_level(int level,
+		  void (*log_emit_function)(int level, const char *line));
+
+/**
+ * lwsl_emit_syslog() - helper log emit function writes to system log
+ *
+ * \param level: one of LLL_ log level indexes
+ * \param line: log string
+ *
+ * You use this by passing the function pointer to lws_set_log_level(), to set
+ * it as the log emit function, it is not called directly.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsl_emit_syslog(int level, const char *line);
+
+/**
+ * lwsl_emit_stderr() - helper log emit function writes to stderr
+ *
+ * \param level: one of LLL_ log level indexes
+ * \param line: log string
+ *
+ * You use this by passing the function pointer to lws_set_log_level(), to set
+ * it as the log emit function, it is not called directly.
+ *
+ * It prepends a system timestamp like [2018/11/13 07:41:57:3989]
+ *
+ * If stderr is a tty, then ansi colour codes are added.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsl_emit_stderr(int level, const char *line);
+
+/**
+ * lwsl_emit_stderr_notimestamp() - helper log emit function writes to stderr
+ *
+ * \param level: one of LLL_ log level indexes
+ * \param line: log string
+ *
+ * You use this by passing the function pointer to lws_set_log_level(), to set
+ * it as the log emit function, it is not called directly.
+ *
+ * If stderr is a tty, then ansi colour codes are added.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsl_emit_stderr_notimestamp(int level, const char *line);
+
+/**
+ * lwsl_visible() - returns true if the log level should be printed
+ *
+ * \param level: one of LLL_ log level indexes
+ *
+ * This is useful if you have to do work to generate the log content, you
+ * can skip the work if the log level used to print it is not actually
+ * enabled at runtime.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lwsl_visible(int level);
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-lwsac.h b/thirdparty/libwebsockets/include/libwebsockets/lws-lwsac.h
new file mode 100644
index 0000000000..1f914b66a6
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-lwsac.h
@@ -0,0 +1,191 @@
+/*
+ * libwebsockets - lws alloc chunk
+ *
+ * Copyright (C) 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup log lwsac
+ *
+ * ##Allocated Chunks
+ *
+ * If you know you will be allocating a large, unknown number of same or
+ * differently sized objects, it's certainly possible to do it with libc
+ * malloc.  However the allocation cost in time and memory overhead can
+ * add up, and deallocation means walking the structure of every object and
+ * freeing them in turn.
+ *
+ * lwsac (LWS Allocated Chunks) allocates chunks intended to be larger
+ * than your objects (4000 bytes by default) which you linearly allocate from
+ * using lwsac_use().
+ *
+ * If your next request won't fit in the current chunk, a new chunk is added
+ * to the chain of chunks and the allocaton done from there.  If the request
+ * is larger than the chunk size, an oversize chunk is created to satisfy it.
+ *
+ * When you are finished with the allocations, you call lwsac_free() and
+ * free all the *chunks*.  So you may have thousands of objects in the chunks,
+ * but they are all destroyed with the chunks without having to deallocate them
+ * one by one pointlessly.
+ */
+///@{
+
+struct lwsac;
+typedef unsigned char * lwsac_cached_file_t;
+
+
+#define lws_list_ptr_container(P,T,M) ((T *)((char *)(P) - offsetof(T, M)))
+
+/*
+ * linked-list helper that's commonly useful to manage lists of things
+ * allocated using lwsac.
+ *
+ * These lists point to their corresponding "next" member in the target, NOT
+ * the original containing struct.  To get the containing struct, you must use
+ * lws_list_ptr_container() to convert.
+ *
+ * It's like that because it means we no longer have to have the next pointer
+ * at the start of the struct, and we can have the same struct on multiple
+ * linked-lists with everything held in the struct itself.
+ */
+typedef void * lws_list_ptr;
+
+/*
+ * optional sorting callback called by lws_list_ptr_insert() to sort the right
+ * things inside the opqaue struct being sorted / inserted on the list.
+ */
+typedef int (*lws_list_ptr_sort_func_t)(lws_list_ptr a, lws_list_ptr b);
+
+#define lws_list_ptr_advance(_lp) _lp = *((void **)_lp)
+
+/* sort may be NULL if you don't care about order */
+LWS_VISIBLE LWS_EXTERN void
+lws_list_ptr_insert(lws_list_ptr *phead, lws_list_ptr *add,
+		    lws_list_ptr_sort_func_t sort);
+
+
+/**
+ * lwsac_use - allocate / use some memory from a lwsac
+ *
+ * \param head: pointer to the lwsac list object
+ * \param ensure: the number of bytes we want to use
+ * \param chunk_size: 0, or the size of the chunk to (over)allocate if
+ *			what we want won't fit in the current tail chunk.  If
+ *			0, the default value of 4000 is used. If ensure is
+ *			larger, it is used instead.
+ *
+ * This also serves to init the lwsac if *head is NULL.  Basically it does
+ * whatever is necessary to return you a pointer to ensure bytes of memory
+ * reserved for the caller.
+ *
+ * Returns NULL if OOM.
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lwsac_use(struct lwsac **head, size_t ensure, size_t chunk_size);
+
+/**
+ * lwsac_free - deallocate all chunks in the lwsac and set head NULL
+ *
+ * \param head: pointer to the lwsac list object
+ *
+ * This deallocates all chunks in the lwsac, then sets *head to NULL.  All
+ * lwsac_use() pointers are invalidated in one hit without individual frees.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsac_free(struct lwsac **head);
+
+/*
+ * Optional helpers useful for where consumers may need to defer destruction
+ * until all consumers are finished with the lwsac
+ */
+
+/**
+ * lwsac_detach() - destroy an lwsac unless somebody else is referencing it
+ *
+ * \param head: pointer to the lwsac list object
+ *
+ * The creator of the lwsac can all this instead of lwsac_free() when it itself
+ * has finished with the lwsac, but other code may be consuming it.
+ *
+ * If there are no other references, the lwsac is destroyed, *head is set to
+ * NULL and that's the end; however if something else has called
+ * lwsac_reference() on the lwsac, it simply returns.  When lws_unreference()
+ * is called and no references are left, it will be destroyed then.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsac_detach(struct lwsac **head);
+
+/**
+ * lwsac_reference() - increase the lwsac reference count
+ *
+ * \param head: pointer to the lwsac list object
+ *
+ * Increment the reference count on the lwsac to defer destruction.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsac_reference(struct lwsac *head);
+
+/**
+ * lwsac_reference() - increase the lwsac reference count
+ *
+ * \param head: pointer to the lwsac list object
+ *
+ * Decrement the reference count on the lwsac... if it reached 0 on a detached
+ * lwsac then the lwsac is immediately destroyed and *head set to NULL.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lwsac_unreference(struct lwsac **head);
+
+
+/* helpers to keep a file cached in memory */
+
+LWS_VISIBLE LWS_EXTERN void
+lwsac_use_cached_file_start(lwsac_cached_file_t cache);
+
+LWS_VISIBLE LWS_EXTERN void
+lwsac_use_cached_file_end(lwsac_cached_file_t *cache);
+
+LWS_VISIBLE LWS_EXTERN void
+lwsac_use_cached_file_detach(lwsac_cached_file_t *cache);
+
+LWS_VISIBLE LWS_EXTERN int
+lwsac_cached_file(const char *filepath, lwsac_cached_file_t *cache,
+		  size_t *len);
+
+/* more advanced helpers */
+
+LWS_VISIBLE LWS_EXTERN size_t
+lwsac_sizeof(void);
+
+LWS_VISIBLE LWS_EXTERN size_t
+lwsac_get_tail_pos(struct lwsac *lac);
+
+LWS_VISIBLE LWS_EXTERN struct lwsac *
+lwsac_get_next(struct lwsac *lac);
+
+LWS_VISIBLE LWS_EXTERN size_t
+lwsac_align(size_t length);
+
+LWS_VISIBLE LWS_EXTERN void
+lwsac_info(struct lwsac *head);
+
+LWS_VISIBLE LWS_EXTERN uint64_t
+lwsac_total_alloc(struct lwsac *head);
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-misc.h b/thirdparty/libwebsockets/include/libwebsockets/lws-misc.h
new file mode 100644
index 0000000000..02fe432d5b
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-misc.h
@@ -0,0 +1,836 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup misc Miscellaneous APIs
+* ##Miscellaneous APIs
+*
+* Various APIs outside of other categories
+*/
+///@{
+
+/**
+ * lws_start_foreach_ll(): linkedlist iterator helper start
+ *
+ * \param type: type of iteration, eg, struct xyz *
+ * \param it: iterator var name to create
+ * \param start: start of list
+ *
+ * This helper creates an iterator and starts a while (it) {
+ * loop.  The iterator runs through the linked list starting at start and
+ * ends when it gets a NULL.
+ * The while loop should be terminated using lws_start_foreach_ll().
+ */
+#define lws_start_foreach_ll(type, it, start)\
+{ \
+	type it = start; \
+	while (it) {
+
+/**
+ * lws_end_foreach_ll(): linkedlist iterator helper end
+ *
+ * \param it: same iterator var name given when starting
+ * \param nxt: member name in the iterator pointing to next list element
+ *
+ * This helper is the partner for lws_start_foreach_ll() that ends the
+ * while loop.
+ */
+
+#define lws_end_foreach_ll(it, nxt) \
+		it = it->nxt; \
+	} \
+}
+
+/**
+ * lws_start_foreach_ll_safe(): linkedlist iterator helper start safe against delete
+ *
+ * \param type: type of iteration, eg, struct xyz *
+ * \param it: iterator var name to create
+ * \param start: start of list
+ * \param nxt: member name in the iterator pointing to next list element
+ *
+ * This helper creates an iterator and starts a while (it) {
+ * loop.  The iterator runs through the linked list starting at start and
+ * ends when it gets a NULL.
+ * The while loop should be terminated using lws_end_foreach_ll_safe().
+ * Performs storage of next increment for situations where iterator can become invalidated
+ * during iteration.
+ */
+#define lws_start_foreach_ll_safe(type, it, start, nxt)\
+{ \
+	type it = start; \
+	while (it) { \
+		type next_##it = it->nxt;
+
+/**
+ * lws_end_foreach_ll_safe(): linkedlist iterator helper end (pre increment storage)
+ *
+ * \param it: same iterator var name given when starting
+ *
+ * This helper is the partner for lws_start_foreach_ll_safe() that ends the
+ * while loop. It uses the precreated next_ variable already stored during
+ * start.
+ */
+
+#define lws_end_foreach_ll_safe(it) \
+		it = next_##it; \
+	} \
+}
+
+/**
+ * lws_start_foreach_llp(): linkedlist pointer iterator helper start
+ *
+ * \param type: type of iteration, eg, struct xyz **
+ * \param it: iterator var name to create
+ * \param start: start of list
+ *
+ * This helper creates an iterator and starts a while (it) {
+ * loop.  The iterator runs through the linked list starting at the
+ * address of start and ends when it gets a NULL.
+ * The while loop should be terminated using lws_start_foreach_llp().
+ *
+ * This helper variant iterates using a pointer to the previous linked-list
+ * element.  That allows you to easily delete list members by rewriting the
+ * previous pointer to the element's next pointer.
+ */
+#define lws_start_foreach_llp(type, it, start)\
+{ \
+	type it = &(start); \
+	while (*(it)) {
+
+#define lws_start_foreach_llp_safe(type, it, start, nxt)\
+{ \
+	type it = &(start); \
+	type next; \
+	while (*(it)) { \
+		next = &((*(it))->nxt); \
+
+/**
+ * lws_end_foreach_llp(): linkedlist pointer iterator helper end
+ *
+ * \param it: same iterator var name given when starting
+ * \param nxt: member name in the iterator pointing to next list element
+ *
+ * This helper is the partner for lws_start_foreach_llp() that ends the
+ * while loop.
+ */
+
+#define lws_end_foreach_llp(it, nxt) \
+		it = &(*(it))->nxt; \
+	} \
+}
+
+#define lws_end_foreach_llp_safe(it) \
+		it = next; \
+	} \
+}
+
+#define lws_ll_fwd_insert(\
+	___new_object,	/* pointer to new object */ \
+	___m_list,	/* member for next list object ptr */ \
+	___list_head	/* list head */ \
+		) {\
+		___new_object->___m_list = ___list_head; \
+		___list_head = ___new_object; \
+	}
+
+#define lws_ll_fwd_remove(\
+	___type,	/* type of listed object */ \
+	___m_list,	/* member for next list object ptr */ \
+	___target,	/* object to remove from list */ \
+	___list_head	/* list head */ \
+	) { \
+                lws_start_foreach_llp(___type **, ___ppss, ___list_head) { \
+                        if (*___ppss == ___target) { \
+                                *___ppss = ___target->___m_list; \
+                                break; \
+                        } \
+                } lws_end_foreach_llp(___ppss, ___m_list); \
+	}
+
+/*
+ * doubly linked-list
+ */
+
+struct lws_dll { /* abstract */
+	struct lws_dll *prev;
+	struct lws_dll *next;
+};
+
+/*
+ * these all point to the composed list objects... you have to use the
+ * lws_container_of() helper to recover the start of the containing struct
+ */
+
+LWS_VISIBLE LWS_EXTERN void
+lws_dll_add_front(struct lws_dll *d, struct lws_dll *phead);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_dll_remove(struct lws_dll *d);
+
+struct lws_dll_lws { /* typed as struct lws * */
+	struct lws_dll_lws *prev;
+	struct lws_dll_lws *next;
+};
+
+#define lws_dll_is_null(___dll) (!(___dll)->prev && !(___dll)->next)
+
+static LWS_INLINE void
+lws_dll_lws_add_front(struct lws_dll_lws *_a, struct lws_dll_lws *_head)
+{
+	lws_dll_add_front((struct lws_dll *)_a, (struct lws_dll *)_head);
+}
+
+static LWS_INLINE void
+lws_dll_lws_remove(struct lws_dll_lws *_a)
+{
+	lws_dll_remove((struct lws_dll *)_a);
+}
+
+/*
+ * these are safe against the current container object getting deleted,
+ * since the hold his next in a temp and go to that next.  ___tmp is
+ * the temp.
+ */
+
+#define lws_start_foreach_dll_safe(___type, ___it, ___tmp, ___start) \
+{ \
+	___type ___it = ___start; \
+	while (___it) { \
+		___type ___tmp = (___it)->next;
+
+#define lws_end_foreach_dll_safe(___it, ___tmp) \
+		___it = ___tmp; \
+	} \
+}
+
+#define lws_start_foreach_dll(___type, ___it, ___start) \
+{ \
+	___type ___it = ___start; \
+	while (___it) {
+
+#define lws_end_foreach_dll(___it) \
+		___it = (___it)->next; \
+	} \
+}
+
+struct lws_buflist;
+
+/**
+ * lws_buflist_append_segment(): add buffer to buflist at head
+ *
+ * \param head: list head
+ * \param buf: buffer to stash
+ * \param len: length of buffer to stash
+ *
+ * Returns -1 on OOM, 1 if this was the first segment on the list, and 0 if
+ * it was a subsequent segment.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_buflist_append_segment(struct lws_buflist **head, const uint8_t *buf,
+			   size_t len);
+/**
+ * lws_buflist_next_segment_len(): number of bytes left in current segment
+ *
+ * \param head: list head
+ * \param buf: if non-NULL, *buf is written with the address of the start of
+ *		the remaining data in the segment
+ *
+ * Returns the number of bytes left in the current segment.  0 indicates
+ * that the buflist is empty (there are no segments on the buflist).
+ */
+LWS_VISIBLE LWS_EXTERN size_t
+lws_buflist_next_segment_len(struct lws_buflist **head, uint8_t **buf);
+/**
+ * lws_buflist_use_segment(): remove len bytes from the current segment
+ *
+ * \param head: list head
+ * \param len: number of bytes to mark as used
+ *
+ * If len is less than the remaining length of the current segment, the position
+ * in the current segment is simply advanced and it returns.
+ *
+ * If len uses up the remaining length of the current segment, then the segment
+ * is deleted and the list head moves to the next segment if any.
+ *
+ * Returns the number of bytes left in the current segment.  0 indicates
+ * that the buflist is empty (there are no segments on the buflist).
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_buflist_use_segment(struct lws_buflist **head, size_t len);
+/**
+ * lws_buflist_destroy_all_segments(): free all segments on the list
+ *
+ * \param head: list head
+ *
+ * This frees everything on the list unconditionally.  *head is always
+ * NULL after this.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_buflist_destroy_all_segments(struct lws_buflist **head);
+
+void
+lws_buflist_describe(struct lws_buflist **head, void *id);
+
+/**
+ * lws_ptr_diff(): helper to report distance between pointers as an int
+ *
+ * \param head: the pointer with the larger address
+ * \param tail: the pointer with the smaller address
+ *
+ * This helper gives you an int representing the number of bytes further
+ * forward the first pointer is compared to the second pointer.
+ */
+#define lws_ptr_diff(head, tail) \
+			((int)((char *)(head) - (char *)(tail)))
+
+/**
+ * lws_snprintf(): snprintf that truncates the returned length too
+ *
+ * \param str: destination buffer
+ * \param size: bytes left in destination buffer
+ * \param format: format string
+ * \param ...: args for format
+ *
+ * This lets you correctly truncate buffers by concatenating lengths, if you
+ * reach the limit the reported length doesn't exceed the limit.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_snprintf(char *str, size_t size, const char *format, ...) LWS_FORMAT(3);
+
+/**
+ * lws_strncpy(): strncpy that guarantees NUL on truncated copy
+ *
+ * \param dest: destination buffer
+ * \param src: source buffer
+ * \param size: bytes left in destination buffer
+ *
+ * This lets you correctly truncate buffers by concatenating lengths, if you
+ * reach the limit the reported length doesn't exceed the limit.
+ */
+LWS_VISIBLE LWS_EXTERN char *
+lws_strncpy(char *dest, const char *src, size_t size);
+
+/**
+ * lws_get_random(): fill a buffer with platform random data
+ *
+ * \param context: the lws context
+ * \param buf: buffer to fill
+ * \param len: how much to fill
+ *
+ * This is intended to be called from the LWS_CALLBACK_RECEIVE callback if
+ * it's interested to see if the frame it's dealing with was sent in binary
+ * mode.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_get_random(struct lws_context *context, void *buf, int len);
+/**
+ * lws_daemonize(): make current process run in the background
+ *
+ * \param _lock_path: the filepath to write the lock file
+ *
+ * Spawn lws as a background process, taking care of various things
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_daemonize(const char *_lock_path);
+/**
+ * lws_get_library_version(): return string describing the version of lws
+ *
+ * On unix, also includes the git describe
+ */
+LWS_VISIBLE LWS_EXTERN const char * LWS_WARN_UNUSED_RESULT
+lws_get_library_version(void);
+
+/**
+ * lws_wsi_user() - get the user data associated with the connection
+ * \param wsi: lws connection
+ *
+ * Not normally needed since it's passed into the callback
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_wsi_user(struct lws *wsi);
+
+/**
+ * lws_wsi_set_user() - set the user data associated with the client connection
+ * \param wsi: lws connection
+ * \param user: user data
+ *
+ * By default lws allocates this and it's not legal to externally set it
+ * yourself.  However client connections may have it set externally when the
+ * connection is created... if so, this api can be used to modify it at
+ * runtime additionally.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_set_wsi_user(struct lws *wsi, void *user);
+
+/**
+ * lws_parse_uri:	cut up prot:/ads:port/path into pieces
+ *			Notice it does so by dropping '\0' into input string
+ *			and the leading / on the path is consequently lost
+ *
+ * \param p:			incoming uri string.. will get written to
+ * \param prot:		result pointer for protocol part (https://)
+ * \param ads:		result pointer for address part
+ * \param port:		result pointer for port part
+ * \param path:		result pointer for path part
+ *
+ * You may also refer to unix socket addresses, using a '+' at the start of
+ * the address.  In this case, the address should end with ':', which is
+ * treated as the separator between the address and path (the normal separator
+ * '/' is a valid part of the socket path).  Eg,
+ *
+ * http://+/var/run/mysocket:/my/path
+ *
+ * If the first character after the + is '@', it's interpreted by lws client
+ * processing as meaning to use linux abstract namespace sockets, the @ is
+ * replaced with a '\0' before use.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_parse_uri(char *p, const char **prot, const char **ads, int *port,
+	      const char **path);
+/**
+ * lws_cmdline_option():	simple commandline parser
+ *
+ * \param argc:		count of argument strings
+ * \param argv:		argument strings
+ * \param val:		string to find
+ *
+ * Returns NULL if the string \p val is not found in the arguments.
+ *
+ * If it is found, then it returns a pointer to the next character after \p val.
+ * So if \p val is "-d", then for the commandlines "myapp -d15" and
+ * "myapp -d 15", in both cases the return will point to the "15".
+ *
+ * In the case there is no argument, like "myapp -d", the return will
+ * either point to the '\\0' at the end of -d, or to the start of the
+ * next argument, ie, will be non-NULL.
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_cmdline_option(int argc, const char **argv, const char *val);
+
+/**
+ * lws_now_secs(): return seconds since 1970-1-1
+ */
+LWS_VISIBLE LWS_EXTERN unsigned long
+lws_now_secs(void);
+
+/**
+ * lws_now_usecs(): return useconds since 1970-1-1
+ */
+LWS_VISIBLE LWS_EXTERN lws_usec_t
+lws_now_usecs(void);
+
+/**
+ * lws_compare_time_t(): return relationship between two time_t
+ *
+ * \param context: struct lws_context
+ * \param t1: time_t 1
+ * \param t2: time_t 2
+ *
+ * returns <0 if t2 > t1; >0 if t1 > t2; or == 0 if t1 == t2.
+ *
+ * This is aware of clock discontiguities that may have affected either t1 or
+ * t2 and adapts the comparison for them.
+ *
+ * For the discontiguity detection to work, you must avoid any arithmetic on
+ * the times being compared.  For example to have a timeout that triggers
+ * 15s from when it was set, store the time it was set and compare like
+ * `if (lws_compare_time_t(context, now, set_time) > 15)`
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_compare_time_t(struct lws_context *context, time_t t1, time_t t2);
+
+/**
+ * lws_get_context - Allow getting lws_context from a Websocket connection
+ * instance
+ *
+ * With this function, users can access context in the callback function.
+ * Otherwise users may have to declare context as a global variable.
+ *
+ * \param wsi:	Websocket connection instance
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_context * LWS_WARN_UNUSED_RESULT
+lws_get_context(const struct lws *wsi);
+
+/**
+ * lws_get_vhost_listen_port - Find out the port number a vhost is listening on
+ *
+ * In the case you passed 0 for the port number at context creation time, you
+ * can discover the port number that was actually chosen for the vhost using
+ * this api.
+ *
+ * \param vhost:	Vhost to get listen port from
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_get_vhost_listen_port(struct lws_vhost *vhost);
+
+/**
+ * lws_get_count_threads(): how many service threads the context uses
+ *
+ * \param context: the lws context
+ *
+ * By default this is always 1, if you asked for more than lws can handle it
+ * will clip the number of threads.  So you can use this to find out how many
+ * threads are actually in use.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_get_count_threads(struct lws_context *context);
+
+/**
+ * lws_get_parent() - get parent wsi or NULL
+ * \param wsi: lws connection
+ *
+ * Specialized wsi like cgi stdin/out/err are associated to a parent wsi,
+ * this allows you to get their parent.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws * LWS_WARN_UNUSED_RESULT
+lws_get_parent(const struct lws *wsi);
+
+/**
+ * lws_get_child() - get child wsi or NULL
+ * \param wsi: lws connection
+ *
+ * Allows you to find a related wsi from the parent wsi.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws * LWS_WARN_UNUSED_RESULT
+lws_get_child(const struct lws *wsi);
+
+/**
+ * lws_get_effective_uid_gid() - find out eventual uid and gid while still root
+ *
+ * \param context: lws context
+ * \param uid: pointer to uid result
+ * \param gid: pointer to gid result
+ *
+ * This helper allows you to find out what the uid and gid for the process will
+ * be set to after the privileges are dropped, beforehand.  So while still root,
+ * eg in LWS_CALLBACK_PROTOCOL_INIT, you can arrange things like cache dir
+ * and subdir creation / permissions down /var/cache dynamically.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_get_effective_uid_gid(struct lws_context *context, int *uid, int *gid);
+
+/**
+ * lws_get_udp() - get wsi's udp struct
+ *
+ * \param wsi: lws connection
+ *
+ * Returns NULL or pointer to the wsi's UDP-specific information
+ */
+LWS_VISIBLE LWS_EXTERN const struct lws_udp * LWS_WARN_UNUSED_RESULT
+lws_get_udp(const struct lws *wsi);
+
+LWS_VISIBLE LWS_EXTERN void *
+lws_get_opaque_parent_data(const struct lws *wsi);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_set_opaque_parent_data(struct lws *wsi, void *data);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_get_child_pending_on_writable(const struct lws *wsi);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_clear_child_pending_on_writable(struct lws *wsi);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_get_close_length(struct lws *wsi);
+
+LWS_VISIBLE LWS_EXTERN unsigned char *
+lws_get_close_payload(struct lws *wsi);
+
+/**
+ * lws_get_network_wsi() - Returns wsi that has the tcp connection for this wsi
+ *
+ * \param wsi: wsi you have
+ *
+ * Returns wsi that has the tcp connection (which may be the incoming wsi)
+ *
+ * HTTP/1 connections will always return the incoming wsi
+ * HTTP/2 connections may return a different wsi that has the tcp connection
+ */
+LWS_VISIBLE LWS_EXTERN
+struct lws *lws_get_network_wsi(struct lws *wsi);
+
+/**
+ * lws_set_allocator() - custom allocator support
+ *
+ * \param realloc
+ *
+ * Allows you to replace the allocator (and deallocator) used by lws
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_set_allocator(void *(*realloc)(void *ptr, size_t size, const char *reason));
+
+enum {
+	/*
+	 * Flags for enable and disable rxflow with reason bitmap and with
+	 * backwards-compatible single bool
+	 */
+	LWS_RXFLOW_REASON_USER_BOOL		= (1 << 0),
+	LWS_RXFLOW_REASON_HTTP_RXBUFFER		= (1 << 6),
+	LWS_RXFLOW_REASON_H2_PPS_PENDING	= (1 << 7),
+
+	LWS_RXFLOW_REASON_APPLIES		= (1 << 14),
+	LWS_RXFLOW_REASON_APPLIES_ENABLE_BIT	= (1 << 13),
+	LWS_RXFLOW_REASON_APPLIES_ENABLE	= LWS_RXFLOW_REASON_APPLIES |
+						  LWS_RXFLOW_REASON_APPLIES_ENABLE_BIT,
+	LWS_RXFLOW_REASON_APPLIES_DISABLE	= LWS_RXFLOW_REASON_APPLIES,
+	LWS_RXFLOW_REASON_FLAG_PROCESS_NOW	= (1 << 12),
+
+};
+
+/**
+ * lws_rx_flow_control() - Enable and disable socket servicing for
+ *				received packets.
+ *
+ * If the output side of a server process becomes choked, this allows flow
+ * control for the input side.
+ *
+ * \param wsi:	Websocket connection instance to get callback for
+ * \param enable:	0 = disable read servicing for this connection, 1 = enable
+ *
+ * If you need more than one additive reason for rxflow control, you can give
+ * iLWS_RXFLOW_REASON_APPLIES_ENABLE or _DISABLE together with one or more of
+ * b5..b0 set to idicate which bits to enable or disable.  If any bits are
+ * enabled, rx on the connection is suppressed.
+ *
+ * LWS_RXFLOW_REASON_FLAG_PROCESS_NOW  flag may also be given to force any change
+ * in rxflowbstatus to benapplied immediately, this should be used when you are
+ * changing a wsi flow control state from outside a callback on that wsi.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_rx_flow_control(struct lws *wsi, int enable);
+
+/**
+ * lws_rx_flow_allow_all_protocol() - Allow all connections with this protocol to receive
+ *
+ * When the user server code realizes it can accept more input, it can
+ * call this to have the RX flow restriction removed from all connections using
+ * the given protocol.
+ * \param context:	lws_context
+ * \param protocol:	all connections using this protocol will be allowed to receive
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_rx_flow_allow_all_protocol(const struct lws_context *context,
+			       const struct lws_protocols *protocol);
+
+/**
+ * lws_remaining_packet_payload() - Bytes to come before "overall"
+ *					      rx fragment is complete
+ * \param wsi:		Websocket instance (available from user callback)
+ *
+ * This tracks how many bytes are left in the current ws fragment, according
+ * to the ws length given in the fragment header.
+ *
+ * If the message was in a single fragment, and there is no compression, this
+ * is the same as "how much data is left to read for this message".
+ *
+ * However, if the message is being sent in multiple fragments, this will
+ * reflect the unread amount of the current **fragment**, not the message.  With
+ * ws, it is legal to not know the length of the message before it completes.
+ *
+ * Additionally if the message is sent via the negotiated permessage-deflate
+ * extension, this number only tells the amount of **compressed** data left to
+ * be read, since that is the only information available at the ws layer.
+ */
+LWS_VISIBLE LWS_EXTERN size_t
+lws_remaining_packet_payload(struct lws *wsi);
+
+
+
+/**
+ * lws_is_ssl() - Find out if connection is using SSL
+ * \param wsi:	websocket connection to check
+ *
+ *	Returns 0 if the connection is not using SSL, 1 if using SSL and
+ *	using verified cert, and 2 if using SSL but the cert was not
+ *	checked (appears for client wsi told to skip check on connection)
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_is_ssl(struct lws *wsi);
+/**
+ * lws_is_cgi() - find out if this wsi is running a cgi process
+ * \param wsi: lws connection
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_is_cgi(struct lws *wsi);
+
+/**
+ * lws_open() - platform-specific wrapper for open that prepares the fd
+ *
+ * \param file: the filepath to open
+ * \param oflag: option flags
+ * \param mode: optional mode of any created file
+ *
+ * This is a wrapper around platform open() that sets options on the fd
+ * according to lws policy.  Currently that is FD_CLOEXEC to stop the opened
+ * fd being available to any child process forked by user code.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_open(const char *__file, int __oflag, ...);
+
+struct lws_wifi_scan { /* generic wlan scan item */
+	struct lws_wifi_scan *next;
+	char ssid[32];
+	int32_t rssi; /* divide by .count to get db */
+	uint8_t bssid[6];
+	uint8_t count;
+	uint8_t channel;
+	uint8_t authmode;
+};
+
+#if defined(LWS_WITH_TLS) && !defined(LWS_WITH_MBEDTLS)
+/**
+ * lws_get_ssl() - Return wsi's SSL context structure
+ * \param wsi:	websocket connection
+ *
+ * Returns pointer to the SSL library's context structure
+ */
+LWS_VISIBLE LWS_EXTERN SSL*
+lws_get_ssl(struct lws *wsi);
+#endif
+
+/** \defgroup smtp SMTP related functions
+ * ##SMTP related functions
+ * \ingroup lwsapi
+ *
+ * These apis let you communicate with a local SMTP server to send email from
+ * lws.  It handles all the SMTP sequencing and protocol actions.
+ *
+ * Your system should have postfix, sendmail or another MTA listening on port
+ * 25 and able to send email using the "mail" commandline app.  Usually distro
+ * MTAs are configured for this by default.
+ *
+ * It runs via its own libuv events if initialized (which requires giving it
+ * a libuv loop to attach to).
+ *
+ * It operates using three callbacks, on_next() queries if there is a new email
+ * to send, on_get_body() asks for the body of the email, and on_sent() is
+ * called after the email is successfully sent.
+ *
+ * To use it
+ *
+ *  - create an lws_email struct
+ *
+ *  - initialize data, loop, the email_* strings, max_content_size and
+ *    the callbacks
+ *
+ *  - call lws_email_init()
+ *
+ *  When you have at least one email to send, call lws_email_check() to
+ *  schedule starting to send it.
+ */
+//@{
+#ifdef LWS_WITH_SMTP
+
+/** enum lwsgs_smtp_states - where we are in SMTP protocol sequence */
+enum lwsgs_smtp_states {
+	LGSSMTP_IDLE, /**< awaiting new email */
+	LGSSMTP_CONNECTING, /**< opening tcp connection to MTA */
+	LGSSMTP_CONNECTED, /**< tcp connection to MTA is connected */
+	LGSSMTP_SENT_HELO, /**< sent the HELO */
+	LGSSMTP_SENT_FROM, /**< sent FROM */
+	LGSSMTP_SENT_TO, /**< sent TO */
+	LGSSMTP_SENT_DATA, /**< sent DATA request */
+	LGSSMTP_SENT_BODY, /**< sent the email body */
+	LGSSMTP_SENT_QUIT, /**< sent the session quit */
+};
+
+/** struct lws_email - abstract context for performing SMTP operations */
+struct lws_email {
+	void *data;
+	/**< opaque pointer set by user code and available to the callbacks */
+	uv_loop_t *loop;
+	/**< the libuv loop we will work on */
+
+	char email_smtp_ip[32]; /**< Fill before init, eg, "127.0.0.1" */
+	char email_helo[32];	/**< Fill before init, eg, "myserver.com" */
+	char email_from[100];	/**< Fill before init or on_next */
+	char email_to[100];	/**< Fill before init or on_next */
+
+	unsigned int max_content_size;
+	/**< largest possible email body size */
+
+	/* Fill all the callbacks before init */
+
+	int (*on_next)(struct lws_email *email);
+	/**< (Fill in before calling lws_email_init)
+	 * called when idle, 0 = another email to send, nonzero is idle.
+	 * If you return 0, all of the email_* char arrays must be set
+	 * to something useful. */
+	int (*on_sent)(struct lws_email *email);
+	/**< (Fill in before calling lws_email_init)
+	 * called when transfer of the email to the SMTP server was
+	 * successful, your callback would remove the current email
+	 * from its queue */
+	int (*on_get_body)(struct lws_email *email, char *buf, int len);
+	/**< (Fill in before calling lws_email_init)
+	 * called when the body part of the queued email is about to be
+	 * sent to the SMTP server. */
+
+
+	/* private things */
+	uv_timer_t timeout_email; /**< private */
+	enum lwsgs_smtp_states estate; /**< private */
+	uv_connect_t email_connect_req; /**< private */
+	uv_tcp_t email_client; /**< private */
+	time_t email_connect_started; /**< private */
+	char email_buf[256]; /**< private */
+	char *content; /**< private */
+};
+
+/**
+ * lws_email_init() - Initialize a struct lws_email
+ *
+ * \param email: struct lws_email to init
+ * \param loop: libuv loop to use
+ * \param max_content: max email content size
+ *
+ * Prepares a struct lws_email for use ending SMTP
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_email_init(struct lws_email *email, uv_loop_t *loop, int max_content);
+
+/**
+ * lws_email_check() - Request check for new email
+ *
+ * \param email: struct lws_email context to check
+ *
+ * Schedules a check for new emails in 1s... call this when you have queued an
+ * email for send.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_email_check(struct lws_email *email);
+/**
+ * lws_email_destroy() - stop using the struct lws_email
+ *
+ * \param email: the struct lws_email context
+ *
+ * Stop sending email using email and free allocations
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_email_destroy(struct lws_email *email);
+
+#endif
+//@}
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-network-helper.h b/thirdparty/libwebsockets/include/libwebsockets/lws-network-helper.h
new file mode 100644
index 0000000000..94ee8d9a5d
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-network-helper.h
@@ -0,0 +1,105 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup net Network related helper APIs
+ * ##Network related helper APIs
+ *
+ * These wrap miscellaneous useful network-related functions
+ */
+///@{
+
+/**
+ * lws_canonical_hostname() - returns this host's hostname
+ *
+ * This is typically used by client code to fill in the host parameter
+ * when making a client connection.  You can only call it after the context
+ * has been created.
+ *
+ * \param context:	Websocket context
+ */
+LWS_VISIBLE LWS_EXTERN const char * LWS_WARN_UNUSED_RESULT
+lws_canonical_hostname(struct lws_context *context);
+
+/**
+ * lws_get_peer_addresses() - Get client address information
+ * \param wsi:	Local struct lws associated with
+ * \param fd:		Connection socket descriptor
+ * \param name:	Buffer to take client address name
+ * \param name_len:	Length of client address name buffer
+ * \param rip:	Buffer to take client address IP dotted quad
+ * \param rip_len:	Length of client address IP buffer
+ *
+ *	This function fills in name and rip with the name and IP of
+ *	the client connected with socket descriptor fd.  Names may be
+ *	truncated if there is not enough room.  If either cannot be
+ *	determined, they will be returned as valid zero-length strings.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_get_peer_addresses(struct lws *wsi, lws_sockfd_type fd, char *name,
+		       int name_len, char *rip, int rip_len);
+
+/**
+ * lws_get_peer_simple() - Get client address information without RDNS
+ *
+ * \param wsi:	Local struct lws associated with
+ * \param name:	Buffer to take client address name
+ * \param namelen:	Length of client address name buffer
+ *
+ * This provides a 123.123.123.123 type IP address in name from the
+ * peer that has connected to wsi
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_get_peer_simple(struct lws *wsi, char *name, int namelen);
+
+#define LWS_ITOSA_USABLE	0
+#define LWS_ITOSA_NOT_EXIST	-1
+#define LWS_ITOSA_NOT_USABLE	-2
+#define LWS_ITOSA_BUSY		-3 /* only returned by lws_socket_bind() on
+					EADDRINUSE */
+
+#if !defined(LWS_WITH_ESP32)
+/**
+ * lws_interface_to_sa() - Convert interface name or IP to sockaddr struct
+ *
+ * \param ipv6:		Allow IPV6 addresses
+ * \param ifname:	Interface name or IP
+ * \param addr:		struct sockaddr_in * to be written
+ * \param addrlen:	Length of addr
+ *
+ * This converts a textual network interface name to a sockaddr usable by
+ * other network functions.
+ *
+ * If the network interface doesn't exist, it will return LWS_ITOSA_NOT_EXIST.
+ *
+ * If the network interface is not usable, eg ethernet cable is removed, it
+ * may logically exist but not have any IP address.  As such it will return
+ * LWS_ITOSA_NOT_USABLE.
+ *
+ * If the network interface exists and is usable, it will return
+ * LWS_ITOSA_USABLE.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_interface_to_sa(int ipv6, const char *ifname, struct sockaddr_in *addr,
+		    size_t addrlen);
+#endif
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-plugin-generic-sessions.h b/thirdparty/libwebsockets/include/libwebsockets/lws-plugin-generic-sessions.h
new file mode 100644
index 0000000000..7f46f854ec
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-plugin-generic-sessions.h
@@ -0,0 +1,74 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup generic-sessions plugin: generic-sessions
+ * \ingroup Protocols-and-Plugins
+ *
+ * ##Plugin Generic-sessions related
+ *
+ * generic-sessions plugin provides a reusable, generic session and login /
+ * register / forgot password framework including email verification.
+ */
+///@{
+
+#define LWSGS_EMAIL_CONTENT_SIZE 16384
+/**< Maximum size of email we might send */
+
+/* SHA-1 binary and hexified versions */
+/** typedef struct lwsgw_hash_bin */
+typedef struct { unsigned char bin[20]; /**< binary representation of hash */} lwsgw_hash_bin;
+/** typedef struct lwsgw_hash */
+typedef struct { char id[41]; /**< ascii hex representation of hash */ } lwsgw_hash;
+
+/** enum lwsgs_auth_bits */
+enum lwsgs_auth_bits {
+	LWSGS_AUTH_LOGGED_IN	= 1, /**< user is logged in as somebody */
+	LWSGS_AUTH_ADMIN	= 2, /**< logged in as the admin user */
+	LWSGS_AUTH_VERIFIED	= 4, /**< user has verified his email */
+	LWSGS_AUTH_FORGOT_FLOW	= 8, /**< just completed "forgot password" */
+};
+
+/** struct lws_session_info - information about user session status */
+struct lws_session_info {
+	char username[32]; /**< username logged in as, or empty string */
+	char email[100]; /**< email address associated with login, or empty string */
+	char ip[72]; /**< ip address session was started from */
+	unsigned int mask; /**< access rights mask associated with session
+	 	 	    * see enum lwsgs_auth_bits */
+	char session[42]; /**< session id string, usable as opaque uid when not logged in */
+};
+
+/** enum lws_gs_event */
+enum lws_gs_event {
+	LWSGSE_CREATED, /**< a new user was created */
+	LWSGSE_DELETED  /**< an existing user was deleted */
+};
+
+/** struct lws_gs_event_args */
+struct lws_gs_event_args {
+	enum lws_gs_event event; /**< which event happened */
+	const char *username; /**< which username the event happened to */
+	const char *email; /**< the email address of that user */
+};
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-protocols-plugins.h b/thirdparty/libwebsockets/include/libwebsockets/lws-protocols-plugins.h
new file mode 100644
index 0000000000..b6cc44e27f
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-protocols-plugins.h
@@ -0,0 +1,229 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup Protocols-and-Plugins Protocols and Plugins
+ * \ingroup lwsapi
+ *
+ * ##Protocol and protocol plugin -related apis
+ *
+ * Protocols bind ws protocol names to a custom callback specific to that
+ * protocol implementaion.
+ *
+ * A list of protocols can be passed in at context creation time, but it is
+ * also legal to leave that NULL and add the protocols and their callback code
+ * using plugins.
+ *
+ * Plugins are much preferable compared to cut and pasting code into an
+ * application each time, since they can be used standalone.
+ */
+///@{
+/** struct lws_protocols -	List of protocols and handlers client or server
+ *					supports. */
+
+struct lws_protocols {
+	const char *name;
+	/**< Protocol name that must match the one given in the client
+	 * Javascript new WebSocket(url, 'protocol') name. */
+	lws_callback_function *callback;
+	/**< The service callback used for this protocol.  It allows the
+	 * service action for an entire protocol to be encapsulated in
+	 * the protocol-specific callback */
+	size_t per_session_data_size;
+	/**< Each new connection using this protocol gets
+	 * this much memory allocated on connection establishment and
+	 * freed on connection takedown.  A pointer to this per-connection
+	 * allocation is passed into the callback in the 'user' parameter */
+	size_t rx_buffer_size;
+	/**< lws allocates this much space for rx data and informs callback
+	 * when something came.  Due to rx flow control, the callback may not
+	 * be able to consume it all without having to return to the event
+	 * loop.  That is supported in lws.
+	 *
+	 * If .tx_packet_size is 0, this also controls how much may be sent at
+	 * once for backwards compatibility.
+	 */
+	unsigned int id;
+	/**< ignored by lws, but useful to contain user information bound
+	 * to the selected protocol.  For example if this protocol was
+	 * called "myprotocol-v2", you might set id to 2, and the user
+	 * code that acts differently according to the version can do so by
+	 * switch (wsi->protocol->id), user code might use some bits as
+	 * capability flags based on selected protocol version, etc. */
+	void *user; /**< ignored by lws, but user code can pass a pointer
+			here it can later access from the protocol callback */
+	size_t tx_packet_size;
+	/**< 0 indicates restrict send() size to .rx_buffer_size for backwards-
+	 * compatibility.
+	 * If greater than zero, a single send() is restricted to this amount
+	 * and any remainder is buffered by lws and sent afterwards also in
+	 * these size chunks.  Since that is expensive, it's preferable
+	 * to restrict one fragment you are trying to send to match this
+	 * size.
+	 */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility */
+};
+
+/**
+ * lws_vhost_name_to_protocol() - get vhost's protocol object from its name
+ *
+ * \param vh: vhost to search
+ * \param name: protocol name
+ *
+ * Returns NULL or a pointer to the vhost's protocol of the requested name
+ */
+LWS_VISIBLE LWS_EXTERN const struct lws_protocols *
+lws_vhost_name_to_protocol(struct lws_vhost *vh, const char *name);
+
+/**
+ * lws_get_protocol() - Returns a protocol pointer from a websocket
+ *				  connection.
+ * \param wsi:	pointer to struct websocket you want to know the protocol of
+ *
+ *
+ *	Some apis can act on all live connections of a given protocol,
+ *	this is how you can get a pointer to the active protocol if needed.
+ */
+LWS_VISIBLE LWS_EXTERN const struct lws_protocols *
+lws_get_protocol(struct lws *wsi);
+
+/** lws_protocol_get() -  deprecated: use lws_get_protocol */
+LWS_VISIBLE LWS_EXTERN const struct lws_protocols *
+lws_protocol_get(struct lws *wsi) LWS_WARN_DEPRECATED;
+
+/**
+ * lws_protocol_vh_priv_zalloc() - Allocate and zero down a protocol's per-vhost
+ *				   storage
+ * \param vhost:	vhost the instance is related to
+ * \param prot:		protocol the instance is related to
+ * \param size:		bytes to allocate
+ *
+ * Protocols often find it useful to allocate a per-vhost struct, this is a
+ * helper to be called in the per-vhost init LWS_CALLBACK_PROTOCOL_INIT
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_protocol_vh_priv_zalloc(struct lws_vhost *vhost,
+			    const struct lws_protocols *prot, int size);
+
+/**
+ * lws_protocol_vh_priv_get() - retreive a protocol's per-vhost storage
+ *
+ * \param vhost:	vhost the instance is related to
+ * \param prot:		protocol the instance is related to
+ *
+ * Recover a pointer to the allocated per-vhost storage for the protocol created
+ * by lws_protocol_vh_priv_zalloc() earlier
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_protocol_vh_priv_get(struct lws_vhost *vhost,
+			 const struct lws_protocols *prot);
+
+/**
+ * lws_adjust_protocol_psds - change a vhost protocol's per session data size
+ *
+ * \param wsi: a connection with the protocol to change
+ * \param new_size: the new size of the per session data size for the protocol
+ *
+ * Returns user_space for the wsi, after allocating
+ *
+ * This should not be used except to initalize a vhost protocol's per session
+ * data size one time, before any connections are accepted.
+ *
+ * Sometimes the protocol wraps another protocol and needs to discover and set
+ * its per session data size at runtime.
+ */
+LWS_VISIBLE LWS_EXTERN void *
+lws_adjust_protocol_psds(struct lws *wsi, size_t new_size);
+
+/**
+ * lws_finalize_startup() - drop initial process privileges
+ *
+ * \param context:	lws context
+ *
+ * This is called after the end of the vhost protocol initializations, but
+ * you may choose to call it earlier
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_finalize_startup(struct lws_context *context);
+
+/**
+ * lws_pvo_search() - helper to find a named pvo in a linked-list
+ *
+ * \param pvo:	the first pvo in the linked-list
+ * \param name: the name of the pvo to return if found
+ *
+ * Returns NULL, or a pointer to the name pvo in the linked-list
+ */
+LWS_VISIBLE LWS_EXTERN const struct lws_protocol_vhost_options *
+lws_pvo_search(const struct lws_protocol_vhost_options *pvo, const char *name);
+
+/**
+ * lws_pvo_get_str() - retreive a string pvo value
+ *
+ * \param pvo:	the first pvo in the linked-list
+ * \param name: the name of the pvo to return if found
+ * \param result: pointer to a const char * to get the result if any
+ *
+ * Returns 0 if found and *result set, or nonzero if not found
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_pvo_get_str(void *in, const char *name, const char **result);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_protocol_init(struct lws_context *context);
+
+#ifdef LWS_WITH_PLUGINS
+
+/* PLUGINS implies LIBUV */
+
+#define LWS_PLUGIN_API_MAGIC 180
+
+/** struct lws_plugin_capability - how a plugin introduces itself to lws */
+struct lws_plugin_capability {
+	unsigned int api_magic;	/**< caller fills this in, plugin fills rest */
+	const struct lws_protocols *protocols; /**< array of supported protocols provided by plugin */
+	int count_protocols; /**< how many protocols */
+	const struct lws_extension *extensions; /**< array of extensions provided by plugin */
+	int count_extensions; /**< how many extensions */
+};
+
+typedef int (*lws_plugin_init_func)(struct lws_context *,
+				    struct lws_plugin_capability *);
+typedef int (*lws_plugin_destroy_func)(struct lws_context *);
+
+/** struct lws_plugin */
+struct lws_plugin {
+	struct lws_plugin *list; /**< linked list */
+#if (UV_VERSION_MAJOR > 0)
+	uv_lib_t lib; /**< shared library pointer */
+#else
+	void *l; /**< so we can compile on ancient libuv */
+#endif
+	char name[64]; /**< name of the plugin */
+	struct lws_plugin_capability caps; /**< plugin capabilities */
+};
+
+#endif
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-purify.h b/thirdparty/libwebsockets/include/libwebsockets/lws-purify.h
new file mode 100644
index 0000000000..0ae35ce33c
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-purify.h
@@ -0,0 +1,81 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+
+/*! \defgroup pur Sanitize / purify SQL and JSON helpers
+ *
+ * ##Sanitize / purify SQL and JSON helpers
+ *
+ * APIs for escaping untrusted JSON and SQL safely before use
+ */
+//@{
+
+/**
+ * lws_sql_purify() - like strncpy but with escaping for sql quotes
+ *
+ * \param escaped: output buffer
+ * \param string: input buffer ('/0' terminated)
+ * \param len: output buffer max length
+ *
+ * Because escaping expands the output string, it's not
+ * possible to do it in-place, ie, with escaped == string
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_sql_purify(char *escaped, const char *string, int len);
+
+/**
+ * lws_json_purify() - like strncpy but with escaping for json chars
+ *
+ * \param escaped: output buffer
+ * \param string: input buffer ('/0' terminated)
+ * \param len: output buffer max length
+ *
+ * Because escaping expands the output string, it's not
+ * possible to do it in-place, ie, with escaped == string
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_json_purify(char *escaped, const char *string, int len);
+
+/**
+ * lws_filename_purify_inplace() - replace scary filename chars with underscore
+ *
+ * \param filename: filename to be purified
+ *
+ * Replace scary characters in the filename (it should not be a path)
+ * with underscore, so it's safe to use.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_filename_purify_inplace(char *filename);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_plat_write_cert(struct lws_vhost *vhost, int is_key, int fd, void *buf,
+			int len);
+LWS_VISIBLE LWS_EXTERN int
+lws_plat_write_file(const char *filename, void *buf, int len);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_plat_read_file(const char *filename, void *buf, int len);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_plat_recommended_rsa_bits(void);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-ring.h b/thirdparty/libwebsockets/include/libwebsockets/lws-ring.h
new file mode 100644
index 0000000000..9a5ec2e10b
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-ring.h
@@ -0,0 +1,305 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup lws_ring LWS Ringbuffer APIs
+ * ##lws_ring: generic ringbuffer struct
+ *
+ * Provides an abstract ringbuffer api supporting one head and one or an
+ * unlimited number of tails.
+ *
+ * All of the members are opaque and manipulated by lws_ring_...() apis.
+ *
+ * The lws_ring and its buffer is allocated at runtime on the heap, using
+ *
+ *  - lws_ring_create()
+ *  - lws_ring_destroy()
+ *
+ * It may contain any type, the size of the "element" stored in the ring
+ * buffer and the number of elements is given at creation time.
+ *
+ * When you create the ringbuffer, you can optionally provide an element
+ * destroy callback that frees any allocations inside the element.  This is then
+ * automatically called for elements with no tail behind them, ie, elements
+ * which don't have any pending consumer are auto-freed.
+ *
+ * Whole elements may be inserted into the ringbuffer and removed from it, using
+ *
+ *  - lws_ring_insert()
+ *  - lws_ring_consume()
+ *
+ * You can find out how many whole elements are free or waiting using
+ *
+ *  - lws_ring_get_count_free_elements()
+ *  - lws_ring_get_count_waiting_elements()
+ *
+ * In addition there are special purpose optional byte-centric apis
+ *
+ *  - lws_ring_next_linear_insert_range()
+ *  - lws_ring_bump_head()
+ *
+ *  which let you, eg, read() directly into the ringbuffer without needing
+ *  an intermediate bounce buffer.
+ *
+ *  The accessors understand that the ring wraps, and optimizes insertion and
+ *  consumption into one or two memcpy()s depending on if the head or tail
+ *  wraps.
+ *
+ *  lws_ring only supports a single head, but optionally multiple tails with
+ *  an API to inform it when the "oldest" tail has moved on.  You can give
+ *  NULL where-ever an api asks for a tail pointer, and it will use an internal
+ *  single tail pointer for convenience.
+ *
+ *  The "oldest tail", which is the only tail if you give it NULL instead of
+ *  some other tail, is used to track which elements in the ringbuffer are
+ *  still unread by anyone.
+ *
+ *   - lws_ring_update_oldest_tail()
+ */
+///@{
+struct lws_ring;
+
+/**
+ * lws_ring_create(): create a new ringbuffer
+ *
+ * \param element_len: the size in bytes of one element in the ringbuffer
+ * \param count: the number of elements the ringbuffer can contain
+ * \param destroy_element: NULL, or callback to be called for each element
+ *			   that is removed from the ringbuffer due to the
+ *			   oldest tail moving beyond it
+ *
+ * Creates the ringbuffer and allocates the storage.  Returns the new
+ * lws_ring *, or NULL if the allocation failed.
+ *
+ * If non-NULL, destroy_element will get called back for every element that is
+ * retired from the ringbuffer after the oldest tail has gone past it, and for
+ * any element still left in the ringbuffer when it is destroyed.  It replaces
+ * all other element destruction code in your user code.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_ring *
+lws_ring_create(size_t element_len, size_t count,
+		void (*destroy_element)(void *element));
+
+/**
+ * lws_ring_destroy():  destroy a previously created ringbuffer
+ *
+ * \param ring: the struct lws_ring to destroy
+ *
+ * Destroys the ringbuffer allocation and the struct lws_ring itself.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_ring_destroy(struct lws_ring *ring);
+
+/**
+ * lws_ring_get_count_free_elements():  return how many elements can fit
+ *				      in the free space
+ *
+ * \param ring: the struct lws_ring to report on
+ *
+ * Returns how much room is left in the ringbuffer for whole element insertion.
+ */
+LWS_VISIBLE LWS_EXTERN size_t
+lws_ring_get_count_free_elements(struct lws_ring *ring);
+
+/**
+ * lws_ring_get_count_waiting_elements():  return how many elements can be consumed
+ *
+ * \param ring: the struct lws_ring to report on
+ * \param tail: a pointer to the tail struct to use, or NULL for single tail
+ *
+ * Returns how many elements are waiting to be consumed from the perspective
+ * of the tail pointer given.
+ */
+LWS_VISIBLE LWS_EXTERN size_t
+lws_ring_get_count_waiting_elements(struct lws_ring *ring, uint32_t *tail);
+
+/**
+ * lws_ring_insert():  attempt to insert up to max_count elements from src
+ *
+ * \param ring: the struct lws_ring to report on
+ * \param src: the array of elements to be inserted
+ * \param max_count: the number of available elements at src
+ *
+ * Attempts to insert as many of the elements at src as possible, up to the
+ * maximum max_count.  Returns the number of elements actually inserted.
+ */
+LWS_VISIBLE LWS_EXTERN size_t
+lws_ring_insert(struct lws_ring *ring, const void *src, size_t max_count);
+
+/**
+ * lws_ring_consume():  attempt to copy out and remove up to max_count elements
+ *		        to src
+ *
+ * \param ring: the struct lws_ring to report on
+ * \param tail: a pointer to the tail struct to use, or NULL for single tail
+ * \param dest: the array of elements to be inserted. or NULL for no copy
+ * \param max_count: the number of available elements at src
+ *
+ * Attempts to copy out as many waiting elements as possible into dest, from
+ * the perspective of the given tail, up to max_count.  If dest is NULL, the
+ * copying out is not done but the elements are logically consumed as usual.
+ * NULL dest is useful in combination with lws_ring_get_element(), where you
+ * can use the element direct from the ringbuffer and then call this with NULL
+ * dest to logically consume it.
+ *
+ * Increments the tail position according to how many elements could be
+ * consumed.
+ *
+ * Returns the number of elements consumed.
+ */
+LWS_VISIBLE LWS_EXTERN size_t
+lws_ring_consume(struct lws_ring *ring, uint32_t *tail, void *dest,
+		 size_t max_count);
+
+/**
+ * lws_ring_get_element():  get a pointer to the next waiting element for tail
+ *
+ * \param ring: the struct lws_ring to report on
+ * \param tail: a pointer to the tail struct to use, or NULL for single tail
+ *
+ * Points to the next element that tail would consume, directly in the
+ * ringbuffer.  This lets you write() or otherwise use the element without
+ * having to copy it out somewhere first.
+ *
+ * After calling this, you must call lws_ring_consume(ring, &tail, NULL, 1)
+ * which will logically consume the element you used up and increment your
+ * tail (tail may also be NULL there if you use a single tail).
+ *
+ * Returns NULL if no waiting element, or a const void * pointing to it.
+ */
+LWS_VISIBLE LWS_EXTERN const void *
+lws_ring_get_element(struct lws_ring *ring, uint32_t *tail);
+
+/**
+ * lws_ring_update_oldest_tail():  free up elements older than tail for reuse
+ *
+ * \param ring: the struct lws_ring to report on
+ * \param tail: a pointer to the tail struct to use, or NULL for single tail
+ *
+ * If you are using multiple tails, you must use this API to inform the
+ * lws_ring when none of the tails still need elements in the fifo any more,
+ * by updating it when the "oldest" tail has moved on.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_ring_update_oldest_tail(struct lws_ring *ring, uint32_t tail);
+
+/**
+ * lws_ring_get_oldest_tail():  get current oldest available data index
+ *
+ * \param ring: the struct lws_ring to report on
+ *
+ * If you are initializing a new ringbuffer consumer, you can set its tail to
+ * this to start it from the oldest ringbuffer entry still available.
+ */
+LWS_VISIBLE LWS_EXTERN uint32_t
+lws_ring_get_oldest_tail(struct lws_ring *ring);
+
+/**
+ * lws_ring_next_linear_insert_range():  used to write directly into the ring
+ *
+ * \param ring: the struct lws_ring to report on
+ * \param start: pointer to a void * set to the start of the next ringbuffer area
+ * \param bytes: pointer to a size_t set to the max length you may use from *start
+ *
+ * This provides a low-level, bytewise access directly into the ringbuffer
+ * allowing direct insertion of data without having to use a bounce buffer.
+ *
+ * The api reports the position and length of the next linear range that can
+ * be written in the ringbuffer, ie, up to the point it would wrap, and sets
+ * *start and *bytes accordingly.  You can then, eg, directly read() into
+ * *start for up to *bytes, and use lws_ring_bump_head() to update the lws_ring
+ * with what you have done.
+ *
+ * Returns nonzero if no insertion is currently possible.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_ring_next_linear_insert_range(struct lws_ring *ring, void **start,
+				  size_t *bytes);
+
+/**
+ * lws_ring_bump_head():  used to write directly into the ring
+ *
+ * \param ring: the struct lws_ring to operate on
+ * \param bytes: the number of bytes you inserted at the current head
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_ring_bump_head(struct lws_ring *ring, size_t bytes);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_ring_dump(struct lws_ring *ring, uint32_t *tail);
+
+/*
+ * This is a helper that combines the common pattern of needing to consume
+ * some ringbuffer elements, move the consumer tail on, and check if that
+ * has moved any ringbuffer elements out of scope, because it was the last
+ * consumer that had not already consumed them.
+ *
+ * Elements that go out of scope because the oldest tail is now after them
+ * get garbage-collected by calling the destroy_element callback on them
+ * defined when the ringbuffer was created.
+ */
+
+#define lws_ring_consume_and_update_oldest_tail(\
+		___ring,    /* the lws_ring object */ \
+		___type,    /* type of objects with tails */ \
+		___ptail,   /* ptr to tail of obj with tail doing consuming */ \
+		___count,   /* count of payload objects being consumed */ \
+		___list_head,	/* head of list of objects with tails */ \
+		___mtail,   /* member name of tail in ___type */ \
+		___mlist  /* member name of next list member ptr in ___type */ \
+	) { \
+		int ___n, ___m; \
+	\
+	___n = lws_ring_get_oldest_tail(___ring) == *(___ptail); \
+	lws_ring_consume(___ring, ___ptail, NULL, ___count); \
+	if (___n) { \
+		uint32_t ___oldest; \
+		___n = 0; \
+		___oldest = *(___ptail); \
+		lws_start_foreach_llp(___type **, ___ppss, ___list_head) { \
+			___m = lws_ring_get_count_waiting_elements( \
+					___ring, &(*___ppss)->tail); \
+			if (___m >= ___n) { \
+				___n = ___m; \
+				___oldest = (*___ppss)->tail; \
+			} \
+		} lws_end_foreach_llp(___ppss, ___mlist); \
+	\
+		lws_ring_update_oldest_tail(___ring, ___oldest); \
+	} \
+}
+
+/*
+ * This does the same as the lws_ring_consume_and_update_oldest_tail()
+ * helper, but for the simpler case there is only one consumer, so one
+ * tail, and that tail is always the oldest tail.
+ */
+
+#define lws_ring_consume_single_tail(\
+		___ring,  /* the lws_ring object */ \
+		___ptail, /* ptr to tail of obj with tail doing consuming */ \
+		___count  /* count of payload objects being consumed */ \
+	) { \
+	lws_ring_consume(___ring, ___ptail, NULL, ___count); \
+	lws_ring_update_oldest_tail(___ring, *(___ptail)); \
+}
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-service.h b/thirdparty/libwebsockets/include/libwebsockets/lws-service.h
new file mode 100644
index 0000000000..f4109f0431
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-service.h
@@ -0,0 +1,215 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup service Built-in service loop entry
+ *
+ * ##Built-in service loop entry
+ *
+ * If you're not using libev / libuv, these apis are needed to enter the poll()
+ * wait in lws and service any connections with pending events.
+ */
+///@{
+
+/**
+ * lws_service() - Service any pending websocket activity
+ * \param context:	Websocket context
+ * \param timeout_ms:	Timeout for poll; 0 means return immediately if nothing needed
+ *		service otherwise block and service immediately, returning
+ *		after the timeout if nothing needed service.
+ *
+ *	This function deals with any pending websocket traffic, for three
+ *	kinds of event.  It handles these events on both server and client
+ *	types of connection the same.
+ *
+ *	1) Accept new connections to our context's server
+ *
+ *	2) Call the receive callback for incoming frame data received by
+ *	    server or client connections.
+ *
+ *	You need to call this service function periodically to all the above
+ *	functions to happen; if your application is single-threaded you can
+ *	just call it in your main event loop.
+ *
+ *	Alternatively you can fork a new process that asynchronously handles
+ *	calling this service in a loop.  In that case you are happy if this
+ *	call blocks your thread until it needs to take care of something and
+ *	would call it with a large nonzero timeout.  Your loop then takes no
+ *	CPU while there is nothing happening.
+ *
+ *	If you are calling it in a single-threaded app, you don't want it to
+ *	wait around blocking other things in your loop from happening, so you
+ *	would call it with a timeout_ms of 0, so it returns immediately if
+ *	nothing is pending, or as soon as it services whatever was pending.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_service(struct lws_context *context, int timeout_ms);
+
+/**
+ * lws_service_tsi() - Service any pending websocket activity
+ *
+ * \param context:	Websocket context
+ * \param timeout_ms:	Timeout for poll; 0 means return immediately if nothing needed
+ *		service otherwise block and service immediately, returning
+ *		after the timeout if nothing needed service.
+ * \param tsi:		Thread service index, starting at 0
+ *
+ * Same as lws_service(), but for a specific thread service index.  Only needed
+ * if you are spawning multiple service threads.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_service_tsi(struct lws_context *context, int timeout_ms, int tsi);
+
+/**
+ * lws_cancel_service_pt() - Cancel servicing of pending socket activity
+ *				on one thread
+ * \param wsi:	Cancel service on the thread this wsi is serviced by
+ *
+ * Same as lws_cancel_service(), but targets a single service thread, the one
+ * the wsi belongs to.  You probably want to use lws_cancel_service() instead.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_cancel_service_pt(struct lws *wsi);
+
+/**
+ * lws_cancel_service() - Cancel wait for new pending socket activity
+ * \param context:	Websocket context
+ *
+ * This function creates an immediate "synchronous interrupt" to the lws poll()
+ * wait or event loop.  As soon as possible in the serialzed service sequencing,
+ * a LWS_CALLBACK_EVENT_WAIT_CANCELLED callback is sent to every protocol on
+ * every vhost.
+ *
+ * lws_cancel_service() may be called from another thread while the context
+ * exists, and its effect will be immediately serialized.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_cancel_service(struct lws_context *context);
+
+/**
+ * lws_service_fd() - Service polled socket with something waiting
+ * \param context:	Websocket context
+ * \param pollfd:	The pollfd entry describing the socket fd and which events
+ *		happened, or NULL to tell lws to do only timeout servicing.
+ *
+ * This function takes a pollfd that has POLLIN or POLLOUT activity and
+ * services it according to the state of the associated
+ * struct lws.
+ *
+ * The one call deals with all "service" that might happen on a socket
+ * including listen accepts, http files as well as websocket protocol.
+ *
+ * If a pollfd says it has something, you can just pass it to
+ * lws_service_fd() whether it is a socket handled by lws or not.
+ * If it sees it is a lws socket, the traffic will be handled and
+ * pollfd->revents will be zeroed now.
+ *
+ * If the socket is foreign to lws, it leaves revents alone.  So you can
+ * see if you should service yourself by checking the pollfd revents
+ * after letting lws try to service it.
+ *
+ * You should also call this with pollfd = NULL to just allow the
+ * once-per-second global timeout checks; if less than a second since the last
+ * check it returns immediately then.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_service_fd(struct lws_context *context, struct lws_pollfd *pollfd);
+
+/**
+ * lws_service_fd_tsi() - Service polled socket in specific service thread
+ * \param context:	Websocket context
+ * \param pollfd:	The pollfd entry describing the socket fd and which events
+ *		happened.
+ * \param tsi: thread service index
+ *
+ * Same as lws_service_fd() but used with multiple service threads
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_service_fd_tsi(struct lws_context *context, struct lws_pollfd *pollfd,
+		   int tsi);
+
+/**
+ * lws_service_adjust_timeout() - Check for any connection needing forced service
+ * \param context:	Websocket context
+ * \param timeout_ms:	The original poll timeout value.  You can just set this
+ *			to 1 if you don't really have a poll timeout.
+ * \param tsi: thread service index
+ *
+ * Under some conditions connections may need service even though there is no
+ * pending network action on them, this is "forced service".  For default
+ * poll() and libuv / libev, the library takes care of calling this and
+ * dealing with it for you.  But for external poll() integration, you need
+ * access to the apis.
+ *
+ * If anybody needs "forced service", returned timeout is zero.  In that case,
+ * you can call lws_service_tsi() with a timeout of -1 to only service
+ * guys who need forced service.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_service_adjust_timeout(struct lws_context *context, int timeout_ms, int tsi);
+
+/* Backwards compatibility */
+#define lws_plat_service_tsi lws_service_tsi
+
+LWS_VISIBLE LWS_EXTERN int
+lws_handle_POLLOUT_event(struct lws *wsi, struct lws_pollfd *pollfd);
+
+///@}
+
+/*! \defgroup uv libuv helpers
+ *
+ * ##libuv helpers
+ *
+ * APIs specific to libuv event loop itegration
+ */
+///@{
+#ifdef LWS_WITH_LIBUV
+/*
+ * Any direct libuv allocations in lws protocol handlers must participate in the
+ * lws reference counting scheme.  Two apis are provided:
+ *
+ * - lws_libuv_static_refcount_add(handle, context) to mark the handle with
+ *  a pointer to the context and increment the global uv object counter
+ *
+ * - lws_libuv_static_refcount_del() which should be used as the close callback
+ *   for your own libuv objects declared in the protocol scope.
+ *
+ * Using the apis allows lws to detach itself from a libuv loop completely
+ * cleanly and at the moment all of its libuv objects have completed close.
+ */
+
+LWS_VISIBLE LWS_EXTERN uv_loop_t *
+lws_uv_getloop(struct lws_context *context, int tsi);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_libuv_static_refcount_add(uv_handle_t *, struct lws_context *context);
+
+LWS_VISIBLE LWS_EXTERN void
+lws_libuv_static_refcount_del(uv_handle_t *);
+
+#endif /* LWS_WITH_LIBUV */
+
+#if defined(LWS_WITH_ESP32)
+#define lws_libuv_static_refcount_add(_a, _b)
+#define lws_libuv_static_refcount_del NULL
+#endif
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-sha1-base64.h b/thirdparty/libwebsockets/include/libwebsockets/lws-sha1-base64.h
new file mode 100644
index 0000000000..5a2bfdbbb0
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-sha1-base64.h
@@ -0,0 +1,93 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup sha SHA and B64 helpers
+ * ##SHA and B64 helpers
+ *
+ * These provide SHA-1 and B64 helper apis
+ */
+///@{
+#ifdef LWS_SHA1_USE_OPENSSL_NAME
+#define lws_SHA1 SHA1
+#else
+/**
+ * lws_SHA1(): make a SHA-1 digest of a buffer
+ *
+ * \param d: incoming buffer
+ * \param n: length of incoming buffer
+ * \param md: buffer for message digest (must be >= 20 bytes)
+ *
+ * Reduces any size buffer into a 20-byte SHA-1 hash.
+ */
+LWS_VISIBLE LWS_EXTERN unsigned char *
+lws_SHA1(const unsigned char *d, size_t n, unsigned char *md);
+#endif
+/**
+ * lws_b64_encode_string(): encode a string into base 64
+ *
+ * \param in: incoming buffer
+ * \param in_len: length of incoming buffer
+ * \param out: result buffer
+ * \param out_size: length of result buffer
+ *
+ * Encodes a string using b64
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_b64_encode_string(const char *in, int in_len, char *out, int out_size);
+/**
+ * lws_b64_encode_string_url(): encode a string into base 64
+ *
+ * \param in: incoming buffer
+ * \param in_len: length of incoming buffer
+ * \param out: result buffer
+ * \param out_size: length of result buffer
+ *
+ * Encodes a string using b64 with the "URL" variant (+ -> -, and / -> _)
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_b64_encode_string_url(const char *in, int in_len, char *out, int out_size);
+/**
+ * lws_b64_decode_string(): decode a string from base 64
+ *
+ * \param in: incoming buffer
+ * \param out: result buffer
+ * \param out_size: length of result buffer
+ *
+ * Decodes a NUL-terminated string using b64
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_b64_decode_string(const char *in, char *out, int out_size);
+/**
+ * lws_b64_decode_string_len(): decode a string from base 64
+ *
+ * \param in: incoming buffer
+ * \param in_len: length of incoming buffer
+ * \param out: result buffer
+ * \param out_size: length of result buffer
+ *
+ * Decodes a range of chars using b64
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_b64_decode_string_len(const char *in, int in_len, char *out, int out_size);
+///@}
+
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-spa.h b/thirdparty/libwebsockets/include/libwebsockets/lws-spa.h
new file mode 100644
index 0000000000..fcaf3889f5
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-spa.h
@@ -0,0 +1,140 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup form-parsing  Form Parsing
+ * \ingroup http
+ * ##POSTed form parsing functions
+ *
+ * These lws_spa (stateful post arguments) apis let you parse and urldecode
+ * POSTed form arguments, both using simple urlencoded and multipart transfer
+ * encoding.
+ *
+ * It's capable of handling file uploads as well a named input parsing,
+ * and the apis are the same for both form upload styles.
+ *
+ * You feed it a list of parameter names and it creates pointers to the
+ * urldecoded arguments: file upload parameters pass the file data in chunks to
+ * a user-supplied callback as they come.
+ *
+ * Since it's stateful, it handles the incoming data needing more than one
+ * POST_BODY callback and has no limit on uploaded file size.
+ */
+///@{
+
+/** enum lws_spa_fileupload_states */
+enum lws_spa_fileupload_states {
+	LWS_UFS_CONTENT,
+	/**< a chunk of file content has arrived */
+	LWS_UFS_FINAL_CONTENT,
+	/**< the last chunk (possibly zero length) of file content has arrived */
+	LWS_UFS_OPEN
+	/**< a new file is starting to arrive */
+};
+
+/**
+ * lws_spa_fileupload_cb() - callback to receive file upload data
+ *
+ * \param data: opt_data pointer set in lws_spa_create
+ * \param name: name of the form field being uploaded
+ * \param filename: original filename from client
+ * \param buf: start of data to receive
+ * \param len: length of data to receive
+ * \param state: information about how this call relates to file
+ *
+ * Notice name and filename shouldn't be trusted, as they are passed from
+ * HTTP provided by the client.
+ */
+typedef int (*lws_spa_fileupload_cb)(void *data, const char *name,
+				     const char *filename, char *buf, int len,
+				     enum lws_spa_fileupload_states state);
+
+/** struct lws_spa - opaque urldecode parser capable of handling multipart
+ *			and file uploads */
+struct lws_spa;
+
+/**
+ * lws_spa_create() - create urldecode parser
+ *
+ * \param wsi: lws connection (used to find Content Type)
+ * \param param_names: array of form parameter names, like "username"
+ * \param count_params: count of param_names
+ * \param max_storage: total amount of form parameter values we can store
+ * \param opt_cb: NULL, or callback to receive file upload data.
+ * \param opt_data: NULL, or user pointer provided to opt_cb.
+ *
+ * Creates a urldecode parser and initializes it.
+ *
+ * opt_cb can be NULL if you just want normal name=value parsing, however
+ * if one or more entries in your form are bulk data (file transfer), you
+ * can provide this callback and filter on the name callback parameter to
+ * treat that urldecoded data separately.  The callback should return -1
+ * in case of fatal error, and 0 if OK.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_spa *
+lws_spa_create(struct lws *wsi, const char * const *param_names,
+	       int count_params, int max_storage, lws_spa_fileupload_cb opt_cb,
+	       void *opt_data);
+
+/**
+ * lws_spa_process() - parses a chunk of input data
+ *
+ * \param spa: the parser object previously created
+ * \param in: incoming, urlencoded data
+ * \param len: count of bytes valid at \param in
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_spa_process(struct lws_spa *spa, const char *in, int len);
+
+/**
+ * lws_spa_finalize() - indicate incoming data completed
+ *
+ * \param spa: the parser object previously created
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_spa_finalize(struct lws_spa *spa);
+
+/**
+ * lws_spa_get_length() - return length of parameter value
+ *
+ * \param spa: the parser object previously created
+ * \param n: parameter ordinal to return length of value for
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_spa_get_length(struct lws_spa *spa, int n);
+
+/**
+ * lws_spa_get_string() - return pointer to parameter value
+ * \param spa: the parser object previously created
+ * \param n: parameter ordinal to return pointer to value for
+ */
+LWS_VISIBLE LWS_EXTERN const char *
+lws_spa_get_string(struct lws_spa *spa, int n);
+
+/**
+ * lws_spa_destroy() - destroy parser object
+ *
+ * \param spa: the parser object previously created
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_spa_destroy(struct lws_spa *spa);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-stats.h b/thirdparty/libwebsockets/include/libwebsockets/lws-stats.h
new file mode 100644
index 0000000000..b0031ca3e5
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-stats.h
@@ -0,0 +1,75 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*
+ * Stats are all uint64_t numbers that start at 0.
+ * Index names here have the convention
+ *
+ *  _C_ counter
+ *  _B_ byte count
+ *  _MS_ millisecond count
+ */
+
+enum {
+	LWSSTATS_C_CONNECTIONS, /**< count incoming connections */
+	LWSSTATS_C_API_CLOSE, /**< count calls to close api */
+	LWSSTATS_C_API_READ, /**< count calls to read from socket api */
+	LWSSTATS_C_API_LWS_WRITE, /**< count calls to lws_write API */
+	LWSSTATS_C_API_WRITE, /**< count calls to write API */
+	LWSSTATS_C_WRITE_PARTIALS, /**< count of partial writes */
+	LWSSTATS_C_WRITEABLE_CB_REQ, /**< count of writable callback requests */
+	LWSSTATS_C_WRITEABLE_CB_EFF_REQ, /**< count of effective writable callback requests */
+	LWSSTATS_C_WRITEABLE_CB, /**< count of writable callbacks */
+	LWSSTATS_C_SSL_CONNECTIONS_FAILED, /**< count of failed SSL connections */
+	LWSSTATS_C_SSL_CONNECTIONS_ACCEPTED, /**< count of accepted SSL connections */
+	LWSSTATS_C_SSL_CONNECTIONS_ACCEPT_SPIN, /**< count of SSL_accept() attempts */
+	LWSSTATS_C_SSL_CONNS_HAD_RX, /**< count of accepted SSL conns that have had some RX */
+	LWSSTATS_C_TIMEOUTS, /**< count of timed-out connections */
+	LWSSTATS_C_SERVICE_ENTRY, /**< count of entries to lws service loop */
+	LWSSTATS_B_READ, /**< aggregate bytes read */
+	LWSSTATS_B_WRITE, /**< aggregate bytes written */
+	LWSSTATS_B_PARTIALS_ACCEPTED_PARTS, /**< aggreate of size of accepted write data from new partials */
+	LWSSTATS_MS_SSL_CONNECTIONS_ACCEPTED_DELAY, /**< aggregate delay in accepting connection */
+	LWSSTATS_MS_WRITABLE_DELAY, /**< aggregate delay between asking for writable and getting cb */
+	LWSSTATS_MS_WORST_WRITABLE_DELAY, /**< single worst delay between asking for writable and getting cb */
+	LWSSTATS_MS_SSL_RX_DELAY, /**< aggregate delay between ssl accept complete and first RX */
+	LWSSTATS_C_PEER_LIMIT_AH_DENIED, /**< number of times we would have given an ah but for the peer limit */
+	LWSSTATS_C_PEER_LIMIT_WSI_DENIED, /**< number of times we would have given a wsi but for the peer limit */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility */
+	LWSSTATS_SIZE
+};
+
+#if defined(LWS_WITH_STATS)
+
+LWS_VISIBLE LWS_EXTERN uint64_t
+lws_stats_get(struct lws_context *context, int index);
+LWS_VISIBLE LWS_EXTERN void
+lws_stats_log_dump(struct lws_context *context);
+#else
+static LWS_INLINE uint64_t
+lws_stats_get(struct lws_context *context, int index) { (void)context; (void)index;  return 0; }
+static LWS_INLINE void
+lws_stats_log_dump(struct lws_context *context) { (void)context; }
+#endif
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-threadpool.h b/thirdparty/libwebsockets/include/libwebsockets/lws-threadpool.h
new file mode 100644
index 0000000000..eb6c6e1a16
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-threadpool.h
@@ -0,0 +1,231 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup threadpool Threadpool related functions
+ * ##Threadpool
+ * \ingroup lwsapi
+ *
+ * This allows you to create one or more pool of threads which can run tasks
+ * associated with a wsi.  If the pool is busy, tasks wait on a queue.
+ *
+ * Tasks don't have to be atomic, if they will take more than a few tens of ms
+ * they should return back to the threadpool worker with a return of 0.  This
+ * will allow them to abort cleanly.
+ */
+//@{
+
+struct lws_threadpool;
+struct lws_threadpool_task;
+
+enum lws_threadpool_task_status {
+	LWS_TP_STATUS_QUEUED,
+	LWS_TP_STATUS_RUNNING,
+	LWS_TP_STATUS_SYNCING,
+	LWS_TP_STATUS_STOPPING,
+	LWS_TP_STATUS_FINISHED, /* lws_threadpool_task_status() frees task */
+	LWS_TP_STATUS_STOPPED, /* lws_threadpool_task_status() frees task */
+};
+
+enum lws_threadpool_task_return {
+	/** Still work to do, just confirming not being stopped */
+	LWS_TP_RETURN_CHECKING_IN,
+	/** Still work to do, enter cond_wait until service thread syncs.  This
+	 * is used if you have filled your buffer(s) of data to the service
+	 * thread and are blocked until the service thread completes sending at
+	 * least one.
+	 */
+	LWS_TP_RETURN_SYNC,
+	/** No more work to do... */
+	LWS_TP_RETURN_FINISHED,
+	/** Responding to request to stop */
+	LWS_TP_RETURN_STOPPED,
+
+	/* OR on to indicate this task wishes to outlive its wsi */
+	LWS_TP_RETURN_FLAG_OUTLIVE = 64
+};
+
+struct lws_threadpool_create_args {
+	int threads;
+	int max_queue_depth;
+};
+
+struct lws_threadpool_task_args {
+	struct lws *wsi;	/**< user must set to wsi task is bound to */
+	void *user;		/**< user may set (user-private pointer) */
+	const char *name;	/**< user may set to describe task */
+	char async_task;	/**< set to allow the task to shrug off the loss
+				     of the associated wsi and continue to
+				     completion */
+	enum lws_threadpool_task_return (*task)(void *user,
+					enum lws_threadpool_task_status s);
+	/**< user must set to actual task function */
+	void (*cleanup)(struct lws *wsi, void *user);
+	/**< socket lifecycle may end while task is not stoppable, so the task
+	 * must be able to detach from any wsi and clean itself up when it does
+	 * stop.  If NULL, no cleanup necessary, otherwise point to a user-
+	 * supplied function that destroys the stuff in \p user.
+	 *
+	 * wsi may be NULL on entry, indicating the task got detached due to the
+	 * wsi closing before.
+	 */
+};
+
+/**
+ * lws_threadpool_create() - create a pool of worker threads
+ *
+ * \param context: the lws_context the threadpool will exist inside
+ * \param args: argument struct prepared by caller
+ * \param format: printf-type format for the task name
+ * \param ...: printf type args for the task name format
+ *
+ * Creates a pool of worker threads with \p threads and a queue of up to
+ * \p max_queue_depth waiting tasks if all the threads are busy.
+ *
+ * Returns NULL if OOM, or a struct lws_threadpool pointer that must be
+ * destroyed by lws_threadpool_destroy().
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_threadpool *
+lws_threadpool_create(struct lws_context *context,
+		      const struct lws_threadpool_create_args *args,
+		      const char *format, ...) LWS_FORMAT(3);
+
+/**
+ * lws_threadpool_finish() - Stop all pending and running tasks
+ *
+ * \param tp: the threadpool object
+ *
+ * Marks the threadpool as under destruction.  Removes everything from the
+ * pending queue and completes those tasks as LWS_TP_STATUS_STOPPED.
+ *
+ * Running tasks will also get LWS_TP_STATUS_STOPPED as soon as they
+ * "resurface".
+ *
+ * This doesn't reap tasks or free the threadpool, the reaping is done by the
+ * lws_threadpool_task_status() on the done task.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_threadpool_finish(struct lws_threadpool *tp);
+
+/**
+ * lws_threadpool_destroy() - Destroy a threadpool
+ *
+ * \param tp: the threadpool object
+ *
+ * Waits for all worker threads to stop, ends the threads and frees the tp.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_threadpool_destroy(struct lws_threadpool *tp);
+
+/**
+ * lws_threadpool_enqueue() - Queue the task and run it on a worker thread when possible
+ *
+ * \param tp: the threadpool to queue / run on
+ * \param args: information about what to run
+ * \param format: printf-type format for the task name
+ * \param ...: printf type args for the task name format
+ *
+ * This asks for a task to run ASAP on a worker thread in threadpool \p tp.
+ *
+ * The args defines the wsi, a user-private pointer, a timeout in secs and
+ * a pointer to the task function.
+ *
+ * Returns NULL or an opaque pointer to the queued (or running, or completed)
+ * task.
+ *
+ * Once a task is created and enqueued, it can only be destroyed by calling
+ * lws_threadpool_task_status() on it after it has reached the state
+ * LWS_TP_STATUS_FINISHED or LWS_TP_STATUS_STOPPED.
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_threadpool_task *
+lws_threadpool_enqueue(struct lws_threadpool *tp,
+		       const struct lws_threadpool_task_args *args,
+		       const char *format, ...) LWS_FORMAT(3);
+
+/**
+ * lws_threadpool_dequeue() - Dequeue or try to stop a running task
+ *
+ * \param wsi: the wsi whose current task we want to eliminate
+ *
+ * Returns 0 is the task was dequeued or already compeleted, or 1 if the task
+ * has been asked to stop asynchronously.
+ *
+ * This doesn't free the task.  It only shortcuts it to state
+ * LWS_TP_STATUS_STOPPED.  lws_threadpool_task_status() must be performed on
+ * the task separately once it is in LWS_TP_STATUS_STOPPED to free the task.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_threadpool_dequeue(struct lws *wsi);
+
+/**
+ * lws_threadpool_task_status() - Dequeue or try to stop a running task
+ *
+ * \param wsi: the wsi to query the current task of
+ * \param task: receives a pointer to the opaque task
+ * \param user: receives a void * pointer to the task user data
+ *
+ * This is the equivalent of posix waitpid()... it returns the status of the
+ * task, and if the task is in state LWS_TP_STATUS_FINISHED or
+ * LWS_TP_STATUS_STOPPED, frees \p task.  If in another state, the task
+ * continues to exist.
+ *
+ * This is designed to be called from the service thread.
+ *
+ * Its use is to make sure the service thread has seen the state of the task
+ * before deleting it.
+ */
+LWS_VISIBLE LWS_EXTERN enum lws_threadpool_task_status
+lws_threadpool_task_status_wsi(struct lws *wsi,
+			       struct lws_threadpool_task **task, void **user);
+
+/**
+ * lws_threadpool_task_sync() - Indicate to a stalled task it may continue
+ *
+ * \param task: the task to unblock
+ * \param stop: 0 = run after unblock, 1 = when he unblocks, stop him
+ *
+ * Inform the task that the service thread has finished with the shared data
+ * and that the task, if blocked in LWS_TP_RETURN_SYNC, may continue.
+ *
+ * If the lws service context determined that the task must be aborted, it
+ * should still call this but with stop = 1, causing the task to finish.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_threadpool_task_sync(struct lws_threadpool_task *task, int stop);
+
+/**
+ * lws_threadpool_dump() - dump the state of a threadpool to the log
+ *
+ * \param tp: The threadpool to dump
+ *
+ * This locks the threadpool and then dumps the pending queue, the worker
+ * threads and the done queue, together with time information for how long
+ * the tasks have been in their current state, how long they have occupied a
+ * thread, etc.
+ *
+ * This only does anything on lws builds with CMAKE_BUILD_TYPE=DEBUG, otherwise
+ * while it still exists, it's a NOP.
+ */
+
+LWS_VISIBLE LWS_EXTERN void
+lws_threadpool_dump(struct lws_threadpool *tp);
+//@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-timeout-timer.h b/thirdparty/libwebsockets/include/libwebsockets/lws-timeout-timer.h
new file mode 100644
index 0000000000..e715ba15a3
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-timeout-timer.h
@@ -0,0 +1,164 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup timeout Connection timeouts
+
+    APIs related to setting connection timeouts
+*/
+//@{
+
+/*
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+enum pending_timeout {
+	NO_PENDING_TIMEOUT					=  0,
+	PENDING_TIMEOUT_AWAITING_PROXY_RESPONSE			=  1,
+	PENDING_TIMEOUT_AWAITING_CONNECT_RESPONSE		=  2,
+	PENDING_TIMEOUT_ESTABLISH_WITH_SERVER			=  3,
+	PENDING_TIMEOUT_AWAITING_SERVER_RESPONSE		=  4,
+	PENDING_TIMEOUT_AWAITING_PING				=  5,
+	PENDING_TIMEOUT_CLOSE_ACK				=  6,
+	PENDING_TIMEOUT_UNUSED1					=  7,
+	PENDING_TIMEOUT_SENT_CLIENT_HANDSHAKE			=  8,
+	PENDING_TIMEOUT_SSL_ACCEPT				=  9,
+	PENDING_TIMEOUT_HTTP_CONTENT				= 10,
+	PENDING_TIMEOUT_AWAITING_CLIENT_HS_SEND			= 11,
+	PENDING_FLUSH_STORED_SEND_BEFORE_CLOSE			= 12,
+	PENDING_TIMEOUT_SHUTDOWN_FLUSH				= 13,
+	PENDING_TIMEOUT_CGI					= 14,
+	PENDING_TIMEOUT_HTTP_KEEPALIVE_IDLE			= 15,
+	PENDING_TIMEOUT_WS_PONG_CHECK_SEND_PING			= 16,
+	PENDING_TIMEOUT_WS_PONG_CHECK_GET_PONG			= 17,
+	PENDING_TIMEOUT_CLIENT_ISSUE_PAYLOAD			= 18,
+	PENDING_TIMEOUT_AWAITING_SOCKS_GREETING_REPLY	        = 19,
+	PENDING_TIMEOUT_AWAITING_SOCKS_CONNECT_REPLY		= 20,
+	PENDING_TIMEOUT_AWAITING_SOCKS_AUTH_REPLY		= 21,
+	PENDING_TIMEOUT_KILLED_BY_SSL_INFO			= 22,
+	PENDING_TIMEOUT_KILLED_BY_PARENT			= 23,
+	PENDING_TIMEOUT_CLOSE_SEND				= 24,
+	PENDING_TIMEOUT_HOLDING_AH				= 25,
+	PENDING_TIMEOUT_UDP_IDLE				= 26,
+	PENDING_TIMEOUT_CLIENT_CONN_IDLE			= 27,
+	PENDING_TIMEOUT_LAGGING					= 28,
+	PENDING_TIMEOUT_THREADPOOL				= 29,
+	PENDING_TIMEOUT_THREADPOOL_TASK				= 30,
+	PENDING_TIMEOUT_KILLED_BY_PROXY_CLIENT_CLOSE		= 31,
+
+	/****** add new things just above ---^ ******/
+
+	PENDING_TIMEOUT_USER_REASON_BASE			= 1000
+};
+
+/**
+ * lws_time_in_microseconds() - Returns the unix time in microseconds
+ */
+LWS_VISIBLE LWS_EXTERN uint64_t
+lws_time_in_microseconds(void);
+
+#define LWS_TO_KILL_ASYNC -1
+/**< If LWS_TO_KILL_ASYNC is given as the timeout sec in a lws_set_timeout()
+ * call, then the connection is marked to be killed at the next timeout
+ * check.  This is how you should force-close the wsi being serviced if
+ * you are doing it outside the callback (where you should close by nonzero
+ * return).
+ */
+#define LWS_TO_KILL_SYNC -2
+/**< If LWS_TO_KILL_SYNC is given as the timeout sec in a lws_set_timeout()
+ * call, then the connection is closed before returning (which may delete
+ * the wsi).  This should only be used where the wsi being closed is not the
+ * wsi currently being serviced.
+ */
+/**
+ * lws_set_timeout() - marks the wsi as subject to a timeout
+ *
+ * You will not need this unless you are doing something special
+ *
+ * \param wsi:	Websocket connection instance
+ * \param reason:	timeout reason
+ * \param secs:	how many seconds.  You may set to LWS_TO_KILL_ASYNC to
+ *		force the connection to timeout at the next opportunity, or
+ *		LWS_TO_KILL_SYNC to close it synchronously if you know the
+ *		wsi is not the one currently being serviced.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_set_timeout(struct lws *wsi, enum pending_timeout reason, int secs);
+
+#define LWS_SET_TIMER_USEC_CANCEL ((lws_usec_t)-1ll)
+#define LWS_USEC_PER_SEC (1000000ll)
+
+/**
+ * lws_set_timer_usecs() - schedules a callback on the wsi in the future
+ *
+ * \param wsi:	Websocket connection instance
+ * \param usecs:  LWS_SET_TIMER_USEC_CANCEL removes any existing scheduled
+ *		  callback, otherwise number of microseconds in the future
+ *		  the callback will occur at.
+ *
+ * NOTE: event loop support for this:
+ *
+ *  default poll() loop:   yes
+ *  libuv event loop:      yes
+ *  libev:    not implemented (patch welcome)
+ *  libevent: not implemented (patch welcome)
+ *
+ * After the deadline expires, the wsi will get a callback of type
+ * LWS_CALLBACK_TIMER and the timer is exhausted.  The deadline may be
+ * continuously deferred by further calls to lws_set_timer_usecs() with a later
+ * deadline, or cancelled by lws_set_timer_usecs(wsi, -1).
+ *
+ * If the timer should repeat, lws_set_timer_usecs() must be called again from
+ * LWS_CALLBACK_TIMER.
+ *
+ * Accuracy depends on the platform and the load on the event loop or system...
+ * all that's guaranteed is the callback will come after the requested wait
+ * period.
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_set_timer_usecs(struct lws *wsi, lws_usec_t usecs);
+
+/*
+ * lws_timed_callback_vh_protocol() - calls back a protocol on a vhost after
+ * 					the specified delay
+ *
+ * \param vh:	 the vhost to call back
+ * \param protocol: the protocol to call back
+ * \param reason: callback reason
+ * \param secs:	how many seconds in the future to do the callback.  Set to
+ *		-1 to cancel the timer callback.
+ *
+ * Callback the specified protocol with a fake wsi pointing to the specified
+ * vhost and protocol, with the specified reason, at the specified time in the
+ * future.
+ *
+ * Returns 0 if OK.
+ *
+ * In the multithreaded service case, the callback will occur in the same
+ * service thread context as the call to this api that requested it.  If it is
+ * called from a non-service thread, tsi 0 will handle it.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_timed_callback_vh_protocol(struct lws_vhost *vh,
+			       const struct lws_protocols *prot,
+			       int reason, int secs);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-tokenize.h b/thirdparty/libwebsockets/include/libwebsockets/lws-tokenize.h
new file mode 100644
index 0000000000..26a57dfbaf
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-tokenize.h
@@ -0,0 +1,136 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/* Do not treat - as a terminal character, so "my-token" is one token */
+#define LWS_TOKENIZE_F_MINUS_NONTERM	(1 << 0)
+/* Separately report aggregate colon-delimited tokens */
+#define LWS_TOKENIZE_F_AGG_COLON	(1 << 1)
+/* Enforce sequencing for a simple token , token , token ... list */
+#define LWS_TOKENIZE_F_COMMA_SEP_LIST	(1 << 2)
+/* Allow more characters in the tokens and less delimiters... default is
+ * only alphanumeric + underscore in tokens */
+#define LWS_TOKENIZE_F_RFC7230_DELIMS	(1 << 3)
+/* Do not treat . as a terminal character, so "warmcat.com" is one token */
+#define LWS_TOKENIZE_F_DOT_NONTERM	(1 << 4)
+/* If something starts looking like a float, like 1.2, force to be string token.
+ * This lets you receive dotted-quads like 192.168.0.1 as string tokens, and
+ * avoids illegal float format detection like 1.myserver.com */
+#define LWS_TOKENIZE_F_NO_FLOATS	(1 << 5)
+
+typedef enum {
+
+	LWS_TOKZE_ERRS			=  5, /* the number of errors defined */
+
+	LWS_TOKZE_ERR_BROKEN_UTF8	= -5,	/* malformed or partial utf8 */
+	LWS_TOKZE_ERR_UNTERM_STRING	= -4,	/* ended while we were in "" */
+	LWS_TOKZE_ERR_MALFORMED_FLOAT	= -3,	/* like 0..1 or 0.1.1 */
+	LWS_TOKZE_ERR_NUM_ON_LHS	= -2,	/* like 123= or 0.1= */
+	LWS_TOKZE_ERR_COMMA_LIST	= -1,	/* like ",tok", or, "tok,," */
+
+	LWS_TOKZE_ENDED = 0,		/* no more content */
+
+	/* Note: results have ordinal 1+, EOT is 0 and errors are < 0 */
+
+	LWS_TOKZE_DELIMITER,		/* a delimiter appeared */
+	LWS_TOKZE_TOKEN,		/* a token appeared */
+	LWS_TOKZE_INTEGER,		/* an integer appeared */
+	LWS_TOKZE_FLOAT,		/* a float appeared */
+	LWS_TOKZE_TOKEN_NAME_EQUALS,	/* token [whitespace] = */
+	LWS_TOKZE_TOKEN_NAME_COLON,	/* token [whitespace] : (only with
+					   LWS_TOKENIZE_F_AGG_COLON flag) */
+	LWS_TOKZE_QUOTED_STRING,	/* "*", where * may have any char */
+
+} lws_tokenize_elem;
+
+/*
+ * helper enums to allow caller to enforce legal delimiter sequencing, eg
+ * disallow "token,,token", "token,", and ",token"
+ */
+
+enum lws_tokenize_delimiter_tracking {
+	LWSTZ_DT_NEED_FIRST_CONTENT,
+	LWSTZ_DT_NEED_DELIM,
+	LWSTZ_DT_NEED_NEXT_CONTENT,
+};
+
+struct lws_tokenize {
+	const char *start; /**< set to the start of the string to tokenize */
+	const char *token; /**< the start of an identified token or delimiter */
+	int len;	/**< set to the length of the string to tokenize */
+	int token_len;	/**< the length of the identied token or delimiter */
+
+	int flags;	/**< optional LWS_TOKENIZE_F_ flags, or 0 */
+	int delim;
+};
+
+/**
+ * lws_tokenize() - breaks down a string into tokens and delimiters in-place
+ *
+ * \param ts: the lws_tokenize struct to init
+ * \param start: the string to tokenize
+ * \param flags: LWS_TOKENIZE_F_ option flags
+ *
+ * This initializes the tokenize struct to point to the given string, and
+ * sets the length to 2GiB - 1 (so there must be a terminating NUL)... you can
+ * override this requirement by setting ts.len yourself before using it.
+ *
+ * .delim is also initialized to LWSTZ_DT_NEED_FIRST_CONTENT.
+ */
+
+LWS_VISIBLE LWS_EXTERN void
+lws_tokenize_init(struct lws_tokenize *ts, const char *start, int flags);
+
+/**
+ * lws_tokenize() - breaks down a string into tokens and delimiters in-place
+ *
+ * \param ts: the lws_tokenize struct with information and state on what to do
+ *
+ * The \p ts struct should have its start, len and flags members initialized to
+ * reflect the string to be tokenized and any options.
+ *
+ * Then `lws_tokenize()` may be called repeatedly on the struct, returning one
+ * of `lws_tokenize_elem` each time, and with the struct's `token` and
+ * `token_len` members set to describe the content of the delimiter or token
+ * payload each time.
+ *
+ * There are no allocations during the process.
+ *
+ * returns lws_tokenize_elem that was identified (LWS_TOKZE_ENDED means reached
+ * the end of the string).
+ */
+
+LWS_VISIBLE LWS_EXTERN lws_tokenize_elem
+lws_tokenize(struct lws_tokenize *ts);
+
+/**
+ * lws_tokenize_cstr() - copy token string to NUL-terminated buffer
+ *
+ * \param ts: pointer to lws_tokenize struct to operate on
+ * \param str: destination buffer
+ * \pparam max: bytes in destination buffer
+ *
+ * returns 0 if OK or nonzero if the string + NUL won't fit.
+ */
+
+LWS_VISIBLE LWS_EXTERN int
+lws_tokenize_cstr(struct lws_tokenize *ts, char *str, int max);
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-vfs.h b/thirdparty/libwebsockets/include/libwebsockets/lws-vfs.h
new file mode 100644
index 0000000000..00e2fda5d3
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-vfs.h
@@ -0,0 +1,269 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup fops file operation wrapping
+ *
+ * ##File operation wrapping
+ *
+ * Use these helper functions if you want to access a file from the perspective
+ * of a specific wsi, which is usually the case.  If you just want contextless
+ * file access, use the fops callbacks directly with NULL wsi instead of these
+ * helpers.
+ *
+ * If so, then it calls the platform handler or user overrides where present
+ * (as defined in info->fops)
+ *
+ * The advantage from all this is user code can be portable for file operations
+ * without having to deal with differences between platforms.
+ */
+//@{
+
+/** struct lws_plat_file_ops - Platform-specific file operations
+ *
+ * These provide platform-agnostic ways to deal with filesystem access in the
+ * library and in the user code.
+ */
+
+#if defined(LWS_WITH_ESP32)
+/* sdk preprocessor defs? compiler issue? gets confused with member names */
+#define LWS_FOP_OPEN		_open
+#define LWS_FOP_CLOSE		_close
+#define LWS_FOP_SEEK_CUR	_seek_cur
+#define LWS_FOP_READ		_read
+#define LWS_FOP_WRITE		_write
+#else
+#define LWS_FOP_OPEN		open
+#define LWS_FOP_CLOSE		close
+#define LWS_FOP_SEEK_CUR	seek_cur
+#define LWS_FOP_READ		read
+#define LWS_FOP_WRITE		write
+#endif
+
+#define LWS_FOP_FLAGS_MASK		   ((1 << 23) - 1)
+#define LWS_FOP_FLAG_COMPR_ACCEPTABLE_GZIP (1 << 24)
+#define LWS_FOP_FLAG_COMPR_IS_GZIP	   (1 << 25)
+#define LWS_FOP_FLAG_MOD_TIME_VALID	   (1 << 26)
+#define LWS_FOP_FLAG_VIRTUAL		   (1 << 27)
+
+struct lws_plat_file_ops;
+
+struct lws_fop_fd {
+	lws_filefd_type			fd;
+	/**< real file descriptor related to the file... */
+	const struct lws_plat_file_ops	*fops;
+	/**< fops that apply to this fop_fd */
+	void				*filesystem_priv;
+	/**< ignored by lws; owned by the fops handlers */
+	lws_filepos_t			pos;
+	/**< generic "position in file" */
+	lws_filepos_t			len;
+	/**< generic "length of file" */
+	lws_fop_flags_t			flags;
+	/**< copy of the returned flags */
+	uint32_t			mod_time;
+	/**< optional "modification time of file", only valid if .open()
+	 * set the LWS_FOP_FLAG_MOD_TIME_VALID flag */
+};
+typedef struct lws_fop_fd *lws_fop_fd_t;
+
+struct lws_fops_index {
+	const char *sig;	/* NULL or vfs signature, eg, ".zip/" */
+	uint8_t len;		/* length of above string */
+};
+
+struct lws_plat_file_ops {
+	lws_fop_fd_t (*LWS_FOP_OPEN)(const struct lws_plat_file_ops *fops,
+				     const char *filename, const char *vpath,
+				     lws_fop_flags_t *flags);
+	/**< Open file (always binary access if plat supports it)
+	 * vpath may be NULL, or if the fops understands it, the point at which
+	 * the filename's virtual part starts.
+	 * *flags & LWS_FOP_FLAGS_MASK should be set to O_RDONLY or O_RDWR.
+	 * If the file may be gzip-compressed,
+	 * LWS_FOP_FLAG_COMPR_ACCEPTABLE_GZIP is set.  If it actually is
+	 * gzip-compressed, then the open handler should OR
+	 * LWS_FOP_FLAG_COMPR_IS_GZIP on to *flags before returning.
+	 */
+	int (*LWS_FOP_CLOSE)(lws_fop_fd_t *fop_fd);
+	/**< close file AND set the pointer to NULL */
+	lws_fileofs_t (*LWS_FOP_SEEK_CUR)(lws_fop_fd_t fop_fd,
+					  lws_fileofs_t offset_from_cur_pos);
+	/**< seek from current position */
+	int (*LWS_FOP_READ)(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+			    uint8_t *buf, lws_filepos_t len);
+	/**< Read from file, on exit *amount is set to amount actually read */
+	int (*LWS_FOP_WRITE)(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+			     uint8_t *buf, lws_filepos_t len);
+	/**< Write to file, on exit *amount is set to amount actually written */
+
+	struct lws_fops_index fi[3];
+	/**< vfs path signatures implying use of this fops */
+
+	const struct lws_plat_file_ops *next;
+	/**< NULL or next fops in list */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility */
+};
+
+/**
+ * lws_get_fops() - get current file ops
+ *
+ * \param context: context
+ */
+LWS_VISIBLE LWS_EXTERN struct lws_plat_file_ops * LWS_WARN_UNUSED_RESULT
+lws_get_fops(struct lws_context *context);
+LWS_VISIBLE LWS_EXTERN void
+lws_set_fops(struct lws_context *context, const struct lws_plat_file_ops *fops);
+/**
+ * lws_vfs_tell() - get current file position
+ *
+ * \param fop_fd: fop_fd we are asking about
+ */
+LWS_VISIBLE LWS_EXTERN lws_filepos_t LWS_WARN_UNUSED_RESULT
+lws_vfs_tell(lws_fop_fd_t fop_fd);
+/**
+ * lws_vfs_get_length() - get current file total length in bytes
+ *
+ * \param fop_fd: fop_fd we are asking about
+ */
+LWS_VISIBLE LWS_EXTERN lws_filepos_t LWS_WARN_UNUSED_RESULT
+lws_vfs_get_length(lws_fop_fd_t fop_fd);
+/**
+ * lws_vfs_get_mod_time() - get time file last modified
+ *
+ * \param fop_fd: fop_fd we are asking about
+ */
+LWS_VISIBLE LWS_EXTERN uint32_t LWS_WARN_UNUSED_RESULT
+lws_vfs_get_mod_time(lws_fop_fd_t fop_fd);
+/**
+ * lws_vfs_file_seek_set() - seek relative to start of file
+ *
+ * \param fop_fd: fop_fd we are seeking in
+ * \param offset: offset from start of file
+ */
+LWS_VISIBLE LWS_EXTERN lws_fileofs_t
+lws_vfs_file_seek_set(lws_fop_fd_t fop_fd, lws_fileofs_t offset);
+/**
+ * lws_vfs_file_seek_end() - seek relative to end of file
+ *
+ * \param fop_fd: fop_fd we are seeking in
+ * \param offset: offset from start of file
+ */
+LWS_VISIBLE LWS_EXTERN lws_fileofs_t
+lws_vfs_file_seek_end(lws_fop_fd_t fop_fd, lws_fileofs_t offset);
+
+extern struct lws_plat_file_ops fops_zip;
+
+/**
+ * lws_plat_file_open() - open vfs filepath
+ *
+ * \param fops: file ops struct that applies to this descriptor
+ * \param vfs_path: filename to open
+ * \param flags: pointer to open flags
+ *
+ * The vfs_path is scanned for known fops signatures, and the open directed
+ * to any matching fops open.
+ *
+ * User code should use this api to perform vfs opens.
+ *
+ * returns semi-opaque handle
+ */
+LWS_VISIBLE LWS_EXTERN lws_fop_fd_t LWS_WARN_UNUSED_RESULT
+lws_vfs_file_open(const struct lws_plat_file_ops *fops, const char *vfs_path,
+		  lws_fop_flags_t *flags);
+
+/**
+ * lws_plat_file_close() - close file
+ *
+ * \param fop_fd: file handle to close
+ */
+static LWS_INLINE int
+lws_vfs_file_close(lws_fop_fd_t *fop_fd)
+{
+	return (*fop_fd)->fops->LWS_FOP_CLOSE(fop_fd);
+}
+
+/**
+ * lws_plat_file_seek_cur() - close file
+ *
+ *
+ * \param fop_fd: file handle
+ * \param offset: position to seek to
+ */
+static LWS_INLINE lws_fileofs_t
+lws_vfs_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset)
+{
+	return fop_fd->fops->LWS_FOP_SEEK_CUR(fop_fd, offset);
+}
+/**
+ * lws_plat_file_read() - read from file
+ *
+ * \param fop_fd: file handle
+ * \param amount: how much to read (rewritten by call)
+ * \param buf: buffer to write to
+ * \param len: max length
+ */
+static LWS_INLINE int LWS_WARN_UNUSED_RESULT
+lws_vfs_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		   uint8_t *buf, lws_filepos_t len)
+{
+	return fop_fd->fops->LWS_FOP_READ(fop_fd, amount, buf, len);
+}
+/**
+ * lws_plat_file_write() - write from file
+ *
+ * \param fop_fd: file handle
+ * \param amount: how much to write (rewritten by call)
+ * \param buf: buffer to read from
+ * \param len: max length
+ */
+static LWS_INLINE int LWS_WARN_UNUSED_RESULT
+lws_vfs_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		    uint8_t *buf, lws_filepos_t len)
+{
+	return fop_fd->fops->LWS_FOP_WRITE(fop_fd, amount, buf, len);
+}
+
+/* these are the platform file operations implementations... they can
+ * be called directly and used in fops arrays
+ */
+
+LWS_VISIBLE LWS_EXTERN lws_fop_fd_t
+_lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
+		    const char *vpath, lws_fop_flags_t *flags);
+LWS_VISIBLE LWS_EXTERN int
+_lws_plat_file_close(lws_fop_fd_t *fop_fd);
+LWS_VISIBLE LWS_EXTERN lws_fileofs_t
+_lws_plat_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset);
+LWS_VISIBLE LWS_EXTERN int
+_lws_plat_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		    uint8_t *buf, lws_filepos_t len);
+LWS_VISIBLE LWS_EXTERN int
+_lws_plat_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		     uint8_t *buf, lws_filepos_t len);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_alloc_vfs_file(struct lws_context *context, const char *filename,
+		   uint8_t **buf, lws_filepos_t *amount);
+//@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-write.h b/thirdparty/libwebsockets/include/libwebsockets/lws-write.h
new file mode 100644
index 0000000000..b73e51c789
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-write.h
@@ -0,0 +1,235 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup sending-data Sending data
+
+    APIs related to writing data on a connection
+*/
+//@{
+#if !defined(LWS_SIZEOFPTR)
+#define LWS_SIZEOFPTR ((int)sizeof (void *))
+#endif
+
+#if defined(__x86_64__)
+#define _LWS_PAD_SIZE 16	/* Intel recommended for best performance */
+#else
+#define _LWS_PAD_SIZE LWS_SIZEOFPTR   /* Size of a pointer on the target arch */
+#endif
+#define _LWS_PAD(n) (((n) % _LWS_PAD_SIZE) ? \
+		((n) + (_LWS_PAD_SIZE - ((n) % _LWS_PAD_SIZE))) : (n))
+/* last 2 is for lws-meta */
+#define LWS_PRE _LWS_PAD(4 + 10 + 2)
+/* used prior to 1.7 and retained for backward compatibility */
+#define LWS_SEND_BUFFER_PRE_PADDING LWS_PRE
+#define LWS_SEND_BUFFER_POST_PADDING 0
+
+#define LWS_WRITE_RAW LWS_WRITE_HTTP
+
+/*
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+enum lws_write_protocol {
+	LWS_WRITE_TEXT						= 0,
+	/**< Send a ws TEXT message,the pointer must have LWS_PRE valid
+	 * memory behind it.
+	 *
+	 * The receiver expects only valid utf-8 in the payload */
+	LWS_WRITE_BINARY					= 1,
+	/**< Send a ws BINARY message, the pointer must have LWS_PRE valid
+	 * memory behind it.
+	 *
+	 * Any sequence of bytes is valid */
+	LWS_WRITE_CONTINUATION					= 2,
+	/**< Continue a previous ws message, the pointer must have LWS_PRE valid
+	 * memory behind it */
+	LWS_WRITE_HTTP						= 3,
+	/**< Send HTTP content */
+
+	/* LWS_WRITE_CLOSE is handled by lws_close_reason() */
+	LWS_WRITE_PING						= 5,
+	LWS_WRITE_PONG						= 6,
+
+	/* Same as write_http but we know this write ends the transaction */
+	LWS_WRITE_HTTP_FINAL					= 7,
+
+	/* HTTP2 */
+
+	LWS_WRITE_HTTP_HEADERS					= 8,
+	/**< Send http headers (http2 encodes this payload and LWS_WRITE_HTTP
+	 * payload differently, http 1.x links also handle this correctly. so
+	 * to be compatible with both in the future,header response part should
+	 * be sent using this regardless of http version expected)
+	 */
+	LWS_WRITE_HTTP_HEADERS_CONTINUATION			= 9,
+	/**< Continuation of http/2 headers
+	 */
+
+	/****** add new things just above ---^ ******/
+
+	/* flags */
+
+	LWS_WRITE_BUFLIST = 0x20,
+	/**< Don't actually write it... stick it on the output buflist and
+	 *   write it as soon as possible.  Useful if you learn you have to
+	 *   write something, have the data to write to hand but the timing is
+	 *   unrelated as to whether the connection is writable or not, and were
+	 *   otherwise going to have to allocate a temp buffer and write it
+	 *   later anyway */
+
+	LWS_WRITE_NO_FIN = 0x40,
+	/**< This part of the message is not the end of the message */
+
+	LWS_WRITE_H2_STREAM_END = 0x80,
+	/**< Flag indicates this packet should go out with STREAM_END if h2
+	 * STREAM_END is allowed on DATA or HEADERS.
+	 */
+
+	LWS_WRITE_CLIENT_IGNORE_XOR_MASK = 0x80
+	/**< client packet payload goes out on wire unmunged
+	 * only useful for security tests since normal servers cannot
+	 * decode the content if used */
+};
+
+/* used with LWS_CALLBACK_CHILD_WRITE_VIA_PARENT */
+
+struct lws_write_passthru {
+	struct lws *wsi;
+	unsigned char *buf;
+	size_t len;
+	enum lws_write_protocol wp;
+};
+
+
+/**
+ * lws_write() - Apply protocol then write data to client
+ * \param wsi:	Websocket instance (available from user callback)
+ * \param buf:	The data to send.  For data being sent on a websocket
+ *		connection (ie, not default http), this buffer MUST have
+ *		LWS_PRE bytes valid BEFORE the pointer.
+ *		This is so the protocol header data can be added in-situ.
+ * \param len:	Count of the data bytes in the payload starting from buf
+ * \param protocol:	Use LWS_WRITE_HTTP to reply to an http connection, and one
+ *		of LWS_WRITE_BINARY or LWS_WRITE_TEXT to send appropriate
+ *		data on a websockets connection.  Remember to allow the extra
+ *		bytes before and after buf if LWS_WRITE_BINARY or LWS_WRITE_TEXT
+ *		are used.
+ *
+ *	This function provides the way to issue data back to the client
+ *	for both http and websocket protocols.
+ *
+ * IMPORTANT NOTICE!
+ *
+ * When sending with websocket protocol
+ *
+ * LWS_WRITE_TEXT,
+ * LWS_WRITE_BINARY,
+ * LWS_WRITE_CONTINUATION,
+ * LWS_WRITE_PING,
+ * LWS_WRITE_PONG,
+ *
+ * or sending on http/2,
+ *
+ * the send buffer has to have LWS_PRE bytes valid BEFORE the buffer pointer you
+ * pass to lws_write().  Since you'll probably want to use http/2 before too
+ * long, it's wise to just always do this with lws_write buffers... LWS_PRE is
+ * typically 16 bytes it's not going to hurt usually.
+ *
+ * start of alloc       ptr passed to lws_write      end of allocation
+ *       |                         |                         |
+ *       v  <-- LWS_PRE bytes -->  v                         v
+ *       [----------------  allocated memory  ---------------]
+ *              (for lws use)      [====== user buffer ======]
+ *
+ * This allows us to add protocol info before and after the data, and send as
+ * one packet on the network without payload copying, for maximum efficiency.
+ *
+ * So for example you need this kind of code to use lws_write with a
+ * 128-byte payload
+ *
+ *   char buf[LWS_PRE + 128];
+ *
+ *   // fill your part of the buffer... for example here it's all zeros
+ *   memset(&buf[LWS_PRE], 0, 128);
+ *
+ *   lws_write(wsi, &buf[LWS_PRE], 128, LWS_WRITE_TEXT);
+ *
+ * LWS_PRE is at least the frame nonce + 2 header + 8 length
+ * LWS_SEND_BUFFER_POST_PADDING is deprecated, it's now 0 and can be left off.
+ * The example apps no longer use it.
+ *
+ * Pad LWS_PRE to the CPU word size, so that word references
+ * to the address immediately after the padding won't cause an unaligned access
+ * error. Sometimes for performance reasons the recommended padding is even
+ * larger than sizeof(void *).
+ *
+ *	In the case of sending using websocket protocol, be sure to allocate
+ *	valid storage before and after buf as explained above.  This scheme
+ *	allows maximum efficiency of sending data and protocol in a single
+ *	packet while not burdening the user code with any protocol knowledge.
+ *
+ *	Return may be -1 for a fatal error needing connection close, or the
+ *	number of bytes sent.
+ *
+ * Truncated Writes
+ * ================
+ *
+ * The OS may not accept everything you asked to write on the connection.
+ *
+ * Posix defines POLLOUT indication from poll() to show that the connection
+ * will accept more write data, but it doesn't specifiy how much.  It may just
+ * accept one byte of whatever you wanted to send.
+ *
+ * LWS will buffer the remainder automatically, and send it out autonomously.
+ *
+ * During that time, WRITABLE callbacks will be suppressed.
+ *
+ * This is to handle corner cases where unexpectedly the OS refuses what we
+ * usually expect it to accept.  You should try to send in chunks that are
+ * almost always accepted in order to avoid the inefficiency of the buffering.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_write(struct lws *wsi, unsigned char *buf, size_t len,
+	  enum lws_write_protocol protocol);
+
+/* helper for case where buffer may be const */
+#define lws_write_http(wsi, buf, len) \
+	lws_write(wsi, (unsigned char *)(buf), len, LWS_WRITE_HTTP)
+
+/* helper for multi-frame ws message flags */
+static LWS_INLINE int
+lws_write_ws_flags(int initial, int is_start, int is_end)
+{
+	int r;
+
+	if (is_start)
+		r = initial;
+	else
+		r = LWS_WRITE_CONTINUATION;
+
+	if (!is_end)
+		r |= LWS_WRITE_NO_FIN;
+
+	return r;
+}
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-writeable.h b/thirdparty/libwebsockets/include/libwebsockets/lws-writeable.h
new file mode 100644
index 0000000000..dd5659c3f0
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-writeable.h
@@ -0,0 +1,225 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup callback-when-writeable Callback when writeable
+ *
+ * ##Callback When Writeable
+ *
+ * lws can only write data on a connection when it is able to accept more
+ * data without blocking.
+ *
+ * So a basic requirement is we should only use the lws_write() apis when the
+ * connection we want to write on says that he can accept more data.
+ *
+ * When lws cannot complete your send at the time, it will buffer the data
+ * and send it in the background, suppressing any further WRITEABLE callbacks
+ * on that connection until it completes.  So it is important to write new
+ * things in a new writeable callback.
+ *
+ * These apis reflect the various ways we can indicate we would like to be
+ * called back when one or more connections is writeable.
+ */
+///@{
+
+/**
+ * lws_callback_on_writable() - Request a callback when this socket
+ *					 becomes able to be written to without
+ *					 blocking
+ *
+ * \param wsi:	Websocket connection instance to get callback for
+ *
+ * - Which:  only this wsi
+ * - When:   when the individual connection becomes writeable
+ * - What: LWS_CALLBACK_*_WRITEABLE
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_on_writable(struct lws *wsi);
+
+/**
+ * lws_callback_on_writable_all_protocol() - Request a callback for all
+ *			connections using the given protocol when it
+ *			becomes possible to write to each socket without
+ *			blocking in turn.
+ *
+ * \param context:	lws_context
+ * \param protocol:	Protocol whose connections will get callbacks
+ *
+ * - Which:  connections using this protocol on ANY VHOST
+ * - When:   when the individual connection becomes writeable
+ * - What: LWS_CALLBACK_*_WRITEABLE
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_on_writable_all_protocol(const struct lws_context *context,
+				      const struct lws_protocols *protocol);
+
+/**
+ * lws_callback_on_writable_all_protocol_vhost() - Request a callback for
+ *			all connections on same vhost using the given protocol
+ *			when it becomes possible to write to each socket without
+ *			blocking in turn.
+ *
+ * \param vhost:	Only consider connections on this lws_vhost
+ * \param protocol:	Protocol whose connections will get callbacks
+ *
+ * - Which:  connections using this protocol on GIVEN VHOST ONLY
+ * - When:   when the individual connection becomes writeable
+ * - What: LWS_CALLBACK_*_WRITEABLE
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_on_writable_all_protocol_vhost(const struct lws_vhost *vhost,
+				      const struct lws_protocols *protocol);
+
+/**
+ * lws_callback_all_protocol() - Callback all connections using
+ *				the given protocol with the given reason
+ *
+ * \param context:	lws_context
+ * \param protocol:	Protocol whose connections will get callbacks
+ * \param reason:	Callback reason index
+ *
+ * - Which:  connections using this protocol on ALL VHOSTS
+ * - When:   before returning
+ * - What:   reason
+ *
+ * This isn't normally what you want... normally any update of connection-
+ * specific information can wait until a network-related callback like rx,
+ * writable, or close.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_all_protocol(struct lws_context *context,
+			  const struct lws_protocols *protocol, int reason);
+
+/**
+ * lws_callback_all_protocol_vhost() - Callback all connections using
+ *			the given protocol with the given reason.  This is
+ *			deprecated since v2.4: use lws_callback_all_protocol_vhost_args
+ *
+ * \param vh:		Vhost whose connections will get callbacks
+ * \param protocol:	Which protocol to match.  NULL means all.
+ * \param reason:	Callback reason index
+ *
+ * - Which:  connections using this protocol on GIVEN VHOST ONLY
+ * - When:   now
+ * - What:   reason
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_all_protocol_vhost(struct lws_vhost *vh,
+				const struct lws_protocols *protocol,
+				int reason)
+LWS_WARN_DEPRECATED;
+
+/**
+ * lws_callback_all_protocol_vhost_args() - Callback all connections using
+ *			the given protocol with the given reason and args
+ *
+ * \param vh:		Vhost whose connections will get callbacks
+ * \param protocol:	Which protocol to match.  NULL means all.
+ * \param reason:	Callback reason index
+ * \param argp:		Callback "in" parameter
+ * \param len:		Callback "len" parameter
+ *
+ * - Which:  connections using this protocol on GIVEN VHOST ONLY
+ * - When:   now
+ * - What:   reason
+ */
+LWS_VISIBLE int
+lws_callback_all_protocol_vhost_args(struct lws_vhost *vh,
+				     const struct lws_protocols *protocol,
+				     int reason, void *argp, size_t len);
+
+/**
+ * lws_callback_vhost_protocols() - Callback all protocols enabled on a vhost
+ *					with the given reason
+ *
+ * \param wsi:	wsi whose vhost will get callbacks
+ * \param reason:	Callback reason index
+ * \param in:		in argument to callback
+ * \param len:	len argument to callback
+ *
+ * - Which:  connections using this protocol on same VHOST as wsi ONLY
+ * - When:   now
+ * - What:   reason
+ *
+ * This is deprecated since v2.5, use lws_callback_vhost_protocols_vhost()
+ * which takes the pointer to the vhost directly without using or needing the
+ * wsi.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_vhost_protocols(struct lws *wsi, int reason, void *in, int len)
+LWS_WARN_DEPRECATED;
+
+/**
+ * lws_callback_vhost_protocols_vhost() - Callback all protocols enabled on a vhost
+ *					with the given reason
+ *
+ * \param vh:		vhost that will get callbacks
+ * \param reason:	Callback reason index
+ * \param in:		in argument to callback
+ * \param len:		len argument to callback
+ *
+ * - Which:  connections using this protocol on same VHOST as wsi ONLY
+ * - When:   now
+ * - What:   reason
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_vhost_protocols_vhost(struct lws_vhost *vh, int reason, void *in,
+				   size_t len);
+
+LWS_VISIBLE LWS_EXTERN int
+lws_callback_http_dummy(struct lws *wsi, enum lws_callback_reasons reason,
+			void *user, void *in, size_t len);
+
+/**
+ * lws_get_socket_fd() - returns the socket file descriptor
+ *
+ * This is needed to use sendto() on UDP raw sockets
+ *
+ * \param wsi:	Websocket connection instance
+ */
+LWS_VISIBLE LWS_EXTERN lws_sockfd_type
+lws_get_socket_fd(struct lws *wsi);
+
+/**
+ * lws_get_peer_write_allowance() - get the amount of data writeable to peer
+ * 					if known
+ *
+ * \param wsi:	Websocket connection instance
+ *
+ * if the protocol does not have any guidance, returns -1.  Currently only
+ * http2 connections get send window information from this API.  But your code
+ * should use it so it can work properly with any protocol.
+ *
+ * If nonzero return is the amount of payload data the peer or intermediary has
+ * reported it has buffer space for.  That has NO relationship with the amount
+ * of buffer space your OS can accept on this connection for a write action.
+ *
+ * This number represents the maximum you could send to the peer or intermediary
+ * on this connection right now without the protocol complaining.
+ *
+ * lws manages accounting for send window updates and payload writes
+ * automatically, so this number reflects the situation at the peer or
+ * intermediary dynamically.
+ */
+LWS_VISIBLE LWS_EXTERN lws_fileofs_t
+lws_get_peer_write_allowance(struct lws *wsi);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-ws-close.h b/thirdparty/libwebsockets/include/libwebsockets/lws-ws-close.h
new file mode 100644
index 0000000000..9721e29233
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-ws-close.h
@@ -0,0 +1,124 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup wsclose Websocket Close
+ *
+ * ##Websocket close frame control
+ *
+ * When we close a ws connection, we can send a reason code and a short
+ * UTF-8 description back with the close packet.
+ */
+///@{
+
+/*
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+/** enum lws_close_status - RFC6455 close status codes */
+enum lws_close_status {
+	LWS_CLOSE_STATUS_NOSTATUS				=    0,
+	LWS_CLOSE_STATUS_NORMAL					= 1000,
+	/**< 1000 indicates a normal closure, meaning that the purpose for
+      which the connection was established has been fulfilled. */
+	LWS_CLOSE_STATUS_GOINGAWAY				= 1001,
+	/**< 1001 indicates that an endpoint is "going away", such as a server
+      going down or a browser having navigated away from a page. */
+	LWS_CLOSE_STATUS_PROTOCOL_ERR				= 1002,
+	/**< 1002 indicates that an endpoint is terminating the connection due
+      to a protocol error. */
+	LWS_CLOSE_STATUS_UNACCEPTABLE_OPCODE			= 1003,
+	/**< 1003 indicates that an endpoint is terminating the connection
+      because it has received a type of data it cannot accept (e.g., an
+      endpoint that understands only text data MAY send this if it
+      receives a binary message). */
+	LWS_CLOSE_STATUS_RESERVED				= 1004,
+	/**< Reserved.  The specific meaning might be defined in the future. */
+	LWS_CLOSE_STATUS_NO_STATUS				= 1005,
+	/**< 1005 is a reserved value and MUST NOT be set as a status code in a
+      Close control frame by an endpoint.  It is designated for use in
+      applications expecting a status code to indicate that no status
+      code was actually present. */
+	LWS_CLOSE_STATUS_ABNORMAL_CLOSE				= 1006,
+	/**< 1006 is a reserved value and MUST NOT be set as a status code in a
+      Close control frame by an endpoint.  It is designated for use in
+      applications expecting a status code to indicate that the
+      connection was closed abnormally, e.g., without sending or
+      receiving a Close control frame. */
+	LWS_CLOSE_STATUS_INVALID_PAYLOAD			= 1007,
+	/**< 1007 indicates that an endpoint is terminating the connection
+      because it has received data within a message that was not
+      consistent with the type of the message (e.g., non-UTF-8 [RFC3629]
+      data within a text message). */
+	LWS_CLOSE_STATUS_POLICY_VIOLATION			= 1008,
+	/**< 1008 indicates that an endpoint is terminating the connection
+      because it has received a message that violates its policy.  This
+      is a generic status code that can be returned when there is no
+      other more suitable status code (e.g., 1003 or 1009) or if there
+      is a need to hide specific details about the policy. */
+	LWS_CLOSE_STATUS_MESSAGE_TOO_LARGE			= 1009,
+	/**< 1009 indicates that an endpoint is terminating the connection
+      because it has received a message that is too big for it to
+      process. */
+	LWS_CLOSE_STATUS_EXTENSION_REQUIRED			= 1010,
+	/**< 1010 indicates that an endpoint (client) is terminating the
+      connection because it has expected the server to negotiate one or
+      more extension, but the server didn't return them in the response
+      message of the WebSocket handshake.  The list of extensions that
+      are needed SHOULD appear in the /reason/ part of the Close frame.
+      Note that this status code is not used by the server, because it
+      can fail the WebSocket handshake instead */
+	LWS_CLOSE_STATUS_UNEXPECTED_CONDITION			= 1011,
+	/**< 1011 indicates that a server is terminating the connection because
+      it encountered an unexpected condition that prevented it from
+      fulfilling the request. */
+	LWS_CLOSE_STATUS_TLS_FAILURE				= 1015,
+	/**< 1015 is a reserved value and MUST NOT be set as a status code in a
+      Close control frame by an endpoint.  It is designated for use in
+      applications expecting a status code to indicate that the
+      connection was closed due to a failure to perform a TLS handshake
+      (e.g., the server certificate can't be verified). */
+
+	LWS_CLOSE_STATUS_CLIENT_TRANSACTION_DONE		= 2000,
+
+	/****** add new things just above ---^ ******/
+
+	LWS_CLOSE_STATUS_NOSTATUS_CONTEXT_DESTROY		= 9999,
+};
+
+/**
+ * lws_close_reason - Set reason and aux data to send with Close packet
+ *		If you are going to return nonzero from the callback
+ *		requesting the connection to close, you can optionally
+ *		call this to set the reason the peer will be told if
+ *		possible.
+ *
+ * \param wsi:	The websocket connection to set the close reason on
+ * \param status:	A valid close status from websocket standard
+ * \param buf:	NULL or buffer containing up to 124 bytes of auxiliary data
+ * \param len:	Length of data in \param buf to send
+ */
+LWS_VISIBLE LWS_EXTERN void
+lws_close_reason(struct lws *wsi, enum lws_close_status status,
+		 unsigned char *buf, size_t len);
+
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-ws-ext.h b/thirdparty/libwebsockets/include/libwebsockets/lws-ws-ext.h
new file mode 100644
index 0000000000..3face4f344
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-ws-ext.h
@@ -0,0 +1,197 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/*! \defgroup extensions Extension related functions
+ * ##Extension releated functions
+ *
+ *  Ws defines optional extensions, lws provides the ability to implement these
+ *  in user code if so desired.
+ *
+ *  We provide one extensions permessage-deflate.
+ */
+///@{
+
+/*
+ * NOTE: These public enums are part of the abi.  If you want to add one,
+ * add it at where specified so existing users are unaffected.
+ */
+enum lws_extension_callback_reasons {
+	LWS_EXT_CB_CONSTRUCT				=  4,
+	LWS_EXT_CB_CLIENT_CONSTRUCT			=  5,
+	LWS_EXT_CB_DESTROY				=  8,
+	LWS_EXT_CB_PACKET_TX_PRESEND			= 12,
+	LWS_EXT_CB_PAYLOAD_TX				= 21,
+	LWS_EXT_CB_PAYLOAD_RX				= 22,
+	LWS_EXT_CB_OPTION_DEFAULT			= 23,
+	LWS_EXT_CB_OPTION_SET				= 24,
+	LWS_EXT_CB_OPTION_CONFIRM			= 25,
+	LWS_EXT_CB_NAMED_OPTION_SET			= 26,
+
+	/****** add new things just above ---^ ******/
+};
+
+/** enum lws_ext_options_types */
+enum lws_ext_options_types {
+	EXTARG_NONE, /**< does not take an argument */
+	EXTARG_DEC,  /**< requires a decimal argument */
+	EXTARG_OPT_DEC /**< may have an optional decimal argument */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility */
+};
+
+/** struct lws_ext_options -	Option arguments to the extension.  These are
+ *				used in the negotiation at ws upgrade time.
+ *				The helper function lws_ext_parse_options()
+ *				uses these to generate callbacks */
+struct lws_ext_options {
+	const char *name; /**< Option name, eg, "server_no_context_takeover" */
+	enum lws_ext_options_types type; /**< What kind of args the option can take */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility */
+};
+
+/** struct lws_ext_option_arg */
+struct lws_ext_option_arg {
+	const char *option_name; /**< may be NULL, option_index used then */
+	int option_index; /**< argument ordinal to use if option_name missing */
+	const char *start; /**< value */
+	int len; /**< length of value */
+};
+
+/**
+ * typedef lws_extension_callback_function() - Hooks to allow extensions to operate
+ * \param context:	Websockets context
+ * \param ext:	This extension
+ * \param wsi:	Opaque websocket instance pointer
+ * \param reason:	The reason for the call
+ * \param user:	Pointer to ptr to per-session user data allocated by library
+ * \param in:		Pointer used for some callback reasons
+ * \param len:	Length set for some callback reasons
+ *
+ *	Each extension that is active on a particular connection receives
+ *	callbacks during the connection lifetime to allow the extension to
+ *	operate on websocket data and manage itself.
+ *
+ *	Libwebsockets takes care of allocating and freeing "user" memory for
+ *	each active extension on each connection.  That is what is pointed to
+ *	by the user parameter.
+ *
+ *	LWS_EXT_CB_CONSTRUCT:  called when the server has decided to
+ *		select this extension from the list provided by the client,
+ *		just before the server will send back the handshake accepting
+ *		the connection with this extension active.  This gives the
+ *		extension a chance to initialize its connection context found
+ *		in user.
+ *
+ *	LWS_EXT_CB_CLIENT_CONSTRUCT: same as LWS_EXT_CB_CONSTRUCT
+ *		but called when client is instantiating this extension.  Some
+ *		extensions will work the same on client and server side and then
+ *		you can just merge handlers for both CONSTRUCTS.
+ *
+ *	LWS_EXT_CB_DESTROY:  called when the connection the extension was
+ *		being used on is about to be closed and deallocated.  It's the
+ *		last chance for the extension to deallocate anything it has
+ *		allocated in the user data (pointed to by user) before the
+ *		user data is deleted.  This same callback is used whether you
+ *		are in client or server instantiation context.
+ *
+ *	LWS_EXT_CB_PACKET_TX_PRESEND: this works the same way as
+ *		LWS_EXT_CB_PACKET_RX_PREPARSE above, except it gives the
+ *		extension a chance to change websocket data just before it will
+ *		be sent out.  Using the same lws_token pointer scheme in in,
+ *		the extension can change the buffer and the length to be
+ *		transmitted how it likes.  Again if it wants to grow the
+ *		buffer safely, it should copy the data into its own buffer and
+ *		set the lws_tokens token pointer to it.
+ *
+ *	LWS_EXT_CB_ARGS_VALIDATE:
+ */
+typedef int
+lws_extension_callback_function(struct lws_context *context,
+			      const struct lws_extension *ext, struct lws *wsi,
+			      enum lws_extension_callback_reasons reason,
+			      void *user, void *in, size_t len);
+
+/** struct lws_extension -	An extension we support */
+struct lws_extension {
+	const char *name; /**< Formal extension name, eg, "permessage-deflate" */
+	lws_extension_callback_function *callback; /**< Service callback */
+	const char *client_offer; /**< String containing exts and options client offers */
+
+	/* Add new things just above here ---^
+	 * This is part of the ABI, don't needlessly break compatibility */
+};
+
+/**
+ * lws_set_extension_option(): set extension option if possible
+ *
+ * \param wsi:	websocket connection
+ * \param ext_name:	name of ext, like "permessage-deflate"
+ * \param opt_name:	name of option, like "rx_buf_size"
+ * \param opt_val:	value to set option to
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_set_extension_option(struct lws *wsi, const char *ext_name,
+			 const char *opt_name, const char *opt_val);
+
+/**
+ * lws_ext_parse_options() - deal with parsing negotiated extension options
+ *
+ * \param ext: related extension struct
+ * \param wsi:	websocket connection
+ * \param ext_user: per-connection extension private data
+ * \param opts: list of supported options
+ * \param o: option string to parse
+ * \param len: length
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_ext_parse_options(const struct lws_extension *ext, struct lws *wsi,
+		      void *ext_user, const struct lws_ext_options *opts,
+		      const char *o, int len);
+
+/** lws_extension_callback_pm_deflate() - extension for RFC7692
+ *
+ * \param context:	lws context
+ * \param ext:	related lws_extension struct
+ * \param wsi:	websocket connection
+ * \param reason:	incoming callback reason
+ * \param user:	per-connection extension private data
+ * \param in:	pointer parameter
+ * \param len:	length parameter
+ *
+ * Built-in callback implementing RFC7692 permessage-deflate
+ */
+LWS_EXTERN int
+lws_extension_callback_pm_deflate(struct lws_context *context,
+				  const struct lws_extension *ext,
+				  struct lws *wsi,
+				  enum lws_extension_callback_reasons reason,
+				  void *user, void *in, size_t len);
+
+/*
+ * The internal exts are part of the public abi
+ * If we add more extensions, publish the callback here  ------v
+ */
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-ws-state.h b/thirdparty/libwebsockets/include/libwebsockets/lws-ws-state.h
new file mode 100644
index 0000000000..3f65724a7a
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-ws-state.h
@@ -0,0 +1,92 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+/** \defgroup wsstatus Websocket status APIs
+ * ##Websocket connection status APIs
+ *
+ * These provide information about ws connection or message status
+ */
+///@{
+/**
+ * lws_send_pipe_choked() - tests if socket is writable or not
+ * \param wsi: lws connection
+ *
+ * Allows you to check if you can write more on the socket
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_send_pipe_choked(struct lws *wsi);
+
+/**
+ * lws_is_final_fragment() - tests if last part of ws message
+ *
+ * \param wsi: lws connection
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_is_final_fragment(struct lws *wsi);
+
+/**
+ * lws_is_first_fragment() - tests if first part of ws message
+ *
+ * \param wsi: lws connection
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_is_first_fragment(struct lws *wsi);
+
+/**
+ * lws_get_reserved_bits() - access reserved bits of ws frame
+ * \param wsi: lws connection
+ */
+LWS_VISIBLE LWS_EXTERN unsigned char
+lws_get_reserved_bits(struct lws *wsi);
+
+/**
+ * lws_partial_buffered() - find out if lws buffered the last write
+ * \param wsi:	websocket connection to check
+ *
+ * Returns 1 if you cannot use lws_write because the last
+ * write on this connection is still buffered, and can't be cleared without
+ * returning to the service loop and waiting for the connection to be
+ * writeable again.
+ *
+ * If you will try to do >1 lws_write call inside a single
+ * WRITEABLE callback, you must check this after every write and bail if
+ * set, ask for a new writeable callback and continue writing from there.
+ *
+ * This is never set at the start of a writeable callback, but any write
+ * may set it.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_partial_buffered(struct lws *wsi);
+
+/**
+ * lws_frame_is_binary(): true if the current frame was sent in binary mode
+ *
+ * \param wsi: the connection we are inquiring about
+ *
+ * This is intended to be called from the LWS_CALLBACK_RECEIVE callback if
+ * it's interested to see if the frame it's dealing with was sent in binary
+ * mode.
+ */
+LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
+lws_frame_is_binary(struct lws *wsi);
+///@}
diff --git a/thirdparty/libwebsockets/include/libwebsockets/lws-x509.h b/thirdparty/libwebsockets/include/libwebsockets/lws-x509.h
new file mode 100644
index 0000000000..f8e5cb0fad
--- /dev/null
+++ b/thirdparty/libwebsockets/include/libwebsockets/lws-x509.h
@@ -0,0 +1,177 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ * included from libwebsockets.h
+ */
+
+enum lws_tls_cert_info {
+	LWS_TLS_CERT_INFO_VALIDITY_FROM,
+	/**< fills .time with the time_t the cert validity started from */
+	LWS_TLS_CERT_INFO_VALIDITY_TO,
+	/**< fills .time with the time_t the cert validity ends at */
+	LWS_TLS_CERT_INFO_COMMON_NAME,
+	/**< fills up to len bytes of .ns.name with the cert common name */
+	LWS_TLS_CERT_INFO_ISSUER_NAME,
+	/**< fills up to len bytes of .ns.name with the cert issuer name */
+	LWS_TLS_CERT_INFO_USAGE,
+	/**< fills verified with a bitfield asserting the valid uses */
+	LWS_TLS_CERT_INFO_VERIFIED,
+	/**< fills .verified with a bool representing peer cert validity,
+	 *   call returns -1 if no cert */
+	LWS_TLS_CERT_INFO_OPAQUE_PUBLIC_KEY,
+	/**< the certificate's public key, as an opaque bytestream.  These
+	 * opaque bytestreams can only be compared with each other using the
+	 * same tls backend, ie, OpenSSL or mbedTLS.  The different backends
+	 * produce different, incompatible representations for the same cert.
+	 */
+};
+
+union lws_tls_cert_info_results {
+	unsigned int verified;
+	time_t time;
+	unsigned int usage;
+	struct {
+		int len;
+		/* KEEP LAST... notice the [64] is only there because
+		 * name[] is not allowed in a union.  The actual length of
+		 * name[] is arbitrary and is passed into the api using the
+		 * len parameter.  Eg
+		 *
+		 * char big[1024];
+		 * union lws_tls_cert_info_results *buf =
+		 * 	(union lws_tls_cert_info_results *)big;
+		 *
+		 * lws_tls_peer_cert_info(wsi, type, buf, sizeof(big) -
+		 *			  sizeof(*buf) + sizeof(buf->ns.name));
+		 */
+		char name[64];
+	} ns;
+};
+
+/**
+ * lws_tls_peer_cert_info() - get information from the peer's TLS cert
+ *
+ * \param wsi: the connection to query
+ * \param type: one of LWS_TLS_CERT_INFO_
+ * \param buf: pointer to union to take result
+ * \param len: when result is a string, the true length of buf->ns.name[]
+ *
+ * lws_tls_peer_cert_info() lets you get hold of information from the peer
+ * certificate.
+ *
+ * Return 0 if there is a result in \p buf, or -1 indicating there was no cert
+ * or another problem.
+ *
+ * This function works the same no matter if the TLS backend is OpenSSL or
+ * mbedTLS.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_tls_peer_cert_info(struct lws *wsi, enum lws_tls_cert_info type,
+		       union lws_tls_cert_info_results *buf, size_t len);
+
+/**
+ * lws_tls_vhost_cert_info() - get information from the vhost's own TLS cert
+ *
+ * \param vhost: the vhost to query
+ * \param type: one of LWS_TLS_CERT_INFO_
+ * \param buf: pointer to union to take result
+ * \param len: when result is a string, the true length of buf->ns.name[]
+ *
+ * lws_tls_vhost_cert_info() lets you get hold of information from the vhost
+ * certificate.
+ *
+ * Return 0 if there is a result in \p buf, or -1 indicating there was no cert
+ * or another problem.
+ *
+ * This function works the same no matter if the TLS backend is OpenSSL or
+ * mbedTLS.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_tls_vhost_cert_info(struct lws_vhost *vhost, enum lws_tls_cert_info type,
+		        union lws_tls_cert_info_results *buf, size_t len);
+
+/**
+ * lws_tls_acme_sni_cert_create() - creates a temp selfsigned cert
+ *				    and attaches to a vhost
+ *
+ * \param vhost: the vhost to acquire the selfsigned cert
+ * \param san_a: SAN written into the certificate
+ * \param san_b: second SAN written into the certificate
+ *
+ *
+ * Returns 0 if created and attached to the vhost.  Returns -1 if problems and
+ * frees all allocations before returning.
+ *
+ * On success, any allocations are destroyed at vhost destruction automatically.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_tls_acme_sni_cert_create(struct lws_vhost *vhost, const char *san_a,
+			     const char *san_b);
+
+/**
+ * lws_tls_acme_sni_csr_create() - creates a CSR and related private key PEM
+ *
+ * \param context: lws_context used for random
+ * \param elements: array of LWS_TLS_REQ_ELEMENT_COUNT const char *
+ * \param csr: buffer that will get the b64URL(ASN-1 CSR)
+ * \param csr_len: max length of the csr buffer
+ * \param privkey_pem: pointer to pointer allocated to hold the privkey_pem
+ * \param privkey_len: pointer to size_t set to the length of the privkey_pem
+ *
+ * Creates a CSR according to the information in \p elements, and a private
+ * RSA key used to sign the CSR.
+ *
+ * The outputs are the b64URL(ASN-1 CSR) into csr, and the PEM private key into
+ * privkey_pem.
+ *
+ * Notice that \p elements points to an array of const char *s pointing to the
+ * information listed in the enum above.  If an entry is NULL or an empty
+ * string, the element is set to "none" in the CSR.
+ *
+ * Returns 0 on success or nonzero for failure.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_tls_acme_sni_csr_create(struct lws_context *context, const char *elements[],
+			    uint8_t *csr, size_t csr_len, char **privkey_pem,
+			    size_t *privkey_len);
+
+/**
+ * lws_tls_cert_updated() - update every vhost using the given cert path
+ *
+ * \param context: our lws_context
+ * \param certpath: the filepath to the certificate
+ * \param keypath: the filepath to the private key of the certificate
+ * \param mem_cert: copy of the cert in memory
+ * \param len_mem_cert: length of the copy of the cert in memory
+ * \param mem_privkey: copy of the private key in memory
+ * \param len_mem_privkey: length of the copy of the private key in memory
+ *
+ * Checks every vhost to see if it is the using certificate described by the
+ * the given filepaths.  If so, it attempts to update the vhost ssl_ctx to use
+ * the new certificate.
+ *
+ * Returns 0 on success or nonzero for failure.
+ */
+LWS_VISIBLE LWS_EXTERN int
+lws_tls_cert_updated(struct lws_context *context, const char *certpath,
+		     const char *keypath,
+		     const char *mem_cert, size_t len_mem_cert,
+		     const char *mem_privkey, size_t len_mem_privkey);
+
diff --git a/thirdparty/libwebsockets/lws_config.h b/thirdparty/libwebsockets/include/lws_config.h
index e5e15cc2fd..fdf02157cc 100644
--- a/thirdparty/libwebsockets/lws_config.h
+++ b/thirdparty/libwebsockets/include/lws_config.h
@@ -77,7 +77,10 @@
 /* #undef LWS_WITH_LIBEVENT */
 
 /* Build with support for ipv6 */
-/* #undef LWS_WITH_IPV6 */
+/* Everywhere, except in OpenBSD which does not support dual stacking */
+#if !defined(__OpenBSD__)
+#define LWS_WITH_IPV6
+#endif
 
 /* Build with support for UNIX domain socket */
 /* #undef LWS_WITH_UNIX_SOCK */
@@ -174,7 +177,7 @@
 #define LWS_HAVE_MALLOC_H
 #endif
 
-#if !defined(IPHONE_ENABLED) && !defined(OSX_ENABLED) && !defined(__HAIKU__)
+#if !defined(__APPLE__) && !defined(__HAIKU__)
 #define LWS_HAVE_PIPE2
 #endif
 
diff --git a/thirdparty/libwebsockets/ipv6_fixes.diff b/thirdparty/libwebsockets/ipv6_fixes.diff
new file mode 100644
index 0000000000..5fa1e5c520
--- /dev/null
+++ b/thirdparty/libwebsockets/ipv6_fixes.diff
@@ -0,0 +1,32 @@
+diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c b/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c
+index 693efd28e..192dddee6 100644
+--- a/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c
++++ b/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c
+@@ -73,6 +73,11 @@ lws_plat_set_socket_options(struct lws_vhost *vhost, int fd, int unix_skt)
+ 	int optval = 1;
+ 	socklen_t optlen = sizeof(optval);
+ 
++#ifdef LWS_WITH_IPV6
++	optval = 0;
++	setsockopt(fd, IPPROTO_IPV6, IPV6_V6ONLY, (const void*)&optval, optlen);
++#endif
++
+ #if defined(__APPLE__) || \
+     defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || \
+     defined(__NetBSD__) || \
+diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c b/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c
+index bf0935057..62a0a4984 100644
+--- a/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c
++++ b/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c
+@@ -56,6 +56,11 @@ lws_plat_set_socket_options(struct lws_vhost *vhost, lws_sockfd_type fd,
+ 	struct protoent *tcp_proto;
+ #endif
+ 
++#ifdef LWS_WITH_IPV6
++	optval = 0;
++	setsockopt(fd, IPPROTO_IPV6, IPV6_V6ONLY, (const void*)&optval, optlen);
++#endif
++
+ 	if (vhost->ka_time) {
+ 		/* enable keepalive on this socket */
+ 		optval = 1;
diff --git a/thirdparty/libwebsockets/lib/core/adopt.c b/thirdparty/libwebsockets/lib/core/adopt.c
new file mode 100644
index 0000000000..49ac5af161
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/core/adopt.c
@@ -0,0 +1,414 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#include "core/private.h"
+
+
+static int
+lws_get_idlest_tsi(struct lws_context *context)
+{
+	unsigned int lowest = ~0;
+	int n = 0, hit = -1;
+
+	for (; n < context->count_threads; n++) {
+		if ((unsigned int)context->pt[n].fds_count !=
+		    context->fd_limit_per_thread - 1 &&
+		    (unsigned int)context->pt[n].fds_count < lowest) {
+			lowest = context->pt[n].fds_count;
+			hit = n;
+		}
+	}
+
+	return hit;
+}
+
+struct lws *
+lws_create_new_server_wsi(struct lws_vhost *vhost, int fixed_tsi)
+{
+	struct lws *new_wsi;
+	int n = fixed_tsi;
+
+	if (n < 0)
+		n = lws_get_idlest_tsi(vhost->context);
+
+	if (n < 0) {
+		lwsl_err("no space for new conn\n");
+		return NULL;
+	}
+
+	new_wsi = lws_zalloc(sizeof(struct lws), "new server wsi");
+	if (new_wsi == NULL) {
+		lwsl_err("Out of memory for new connection\n");
+		return NULL;
+	}
+
+	new_wsi->tsi = n;
+	lwsl_debug("new wsi %p joining vhost %s, tsi %d\n", new_wsi,
+		   vhost->name, new_wsi->tsi);
+
+	lws_vhost_bind_wsi(vhost, new_wsi);
+	new_wsi->context = vhost->context;
+	new_wsi->pending_timeout = NO_PENDING_TIMEOUT;
+	new_wsi->rxflow_change_to = LWS_RXFLOW_ALLOW;
+
+	/* initialize the instance struct */
+
+	lwsi_set_state(new_wsi, LRS_UNCONNECTED);
+	new_wsi->hdr_parsing_completed = 0;
+
+#ifdef LWS_WITH_TLS
+	new_wsi->tls.use_ssl = LWS_SSL_ENABLED(vhost);
+#endif
+
+	/*
+	 * these can only be set once the protocol is known
+	 * we set an un-established connection's protocol pointer
+	 * to the start of the supported list, so it can look
+	 * for matching ones during the handshake
+	 */
+	new_wsi->protocol = vhost->protocols;
+	new_wsi->user_space = NULL;
+	new_wsi->desc.sockfd = LWS_SOCK_INVALID;
+	new_wsi->position_in_fds_table = LWS_NO_FDS_POS;
+
+	vhost->context->count_wsi_allocated++;
+
+	/*
+	 * outermost create notification for wsi
+	 * no user_space because no protocol selection
+	 */
+	vhost->protocols[0].callback(new_wsi, LWS_CALLBACK_WSI_CREATE, NULL,
+				     NULL, 0);
+
+	return new_wsi;
+}
+
+
+/* if not a socket, it's a raw, non-ssl file descriptor */
+
+LWS_VISIBLE struct lws *
+lws_adopt_descriptor_vhost(struct lws_vhost *vh, lws_adoption_type type,
+			   lws_sock_file_fd_type fd, const char *vh_prot_name,
+			   struct lws *parent)
+{
+	struct lws_context *context = vh->context;
+	struct lws *new_wsi;
+	struct lws_context_per_thread *pt;
+	int n;
+
+#if defined(LWS_WITH_PEER_LIMITS)
+	struct lws_peer *peer = NULL;
+
+	if (type & LWS_ADOPT_SOCKET) {
+		peer = lws_get_or_create_peer(vh, fd.sockfd);
+
+		if (peer && context->ip_limit_wsi &&
+		    peer->count_wsi >= context->ip_limit_wsi) {
+			lwsl_notice("Peer reached wsi limit %d\n",
+					context->ip_limit_wsi);
+			lws_stats_atomic_bump(context, &context->pt[0],
+					      LWSSTATS_C_PEER_LIMIT_WSI_DENIED,
+					      1);
+			return NULL;
+		}
+	}
+#endif
+
+	n = -1;
+	if (parent)
+		n = parent->tsi;
+	new_wsi = lws_create_new_server_wsi(vh, n);
+	if (!new_wsi) {
+		if (type & LWS_ADOPT_SOCKET)
+			compatible_close(fd.sockfd);
+		return NULL;
+	}
+#if defined(LWS_WITH_PEER_LIMITS)
+	if (peer)
+		lws_peer_add_wsi(context, peer, new_wsi);
+#endif
+	pt = &context->pt[(int)new_wsi->tsi];
+	lws_stats_atomic_bump(context, pt, LWSSTATS_C_CONNECTIONS, 1);
+
+	if (parent) {
+		new_wsi->parent = parent;
+		new_wsi->sibling_list = parent->child_list;
+		parent->child_list = new_wsi;
+	}
+
+	new_wsi->desc = fd;
+
+	if (vh_prot_name) {
+		new_wsi->protocol = lws_vhost_name_to_protocol(new_wsi->vhost,
+							       vh_prot_name);
+		if (!new_wsi->protocol) {
+			lwsl_err("Protocol %s not enabled on vhost %s\n",
+				 vh_prot_name, new_wsi->vhost->name);
+			goto bail;
+		}
+		if (lws_ensure_user_space(new_wsi)) {
+		       lwsl_notice("OOM trying to get user_space\n");
+			goto bail;
+		}
+	}
+
+	if (!LWS_SSL_ENABLED(new_wsi->vhost) || !(type & LWS_ADOPT_SOCKET))
+		type &= ~LWS_ADOPT_ALLOW_SSL;
+
+	if (lws_role_call_adoption_bind(new_wsi, type, vh_prot_name)) {
+		lwsl_err("Unable to find a role that can adopt descriptor\n");
+		goto bail;
+	}
+
+	/*
+	 * A new connection was accepted. Give the user a chance to
+	 * set properties of the newly created wsi. There's no protocol
+	 * selected yet so we issue this to the vhosts's default protocol,
+	 * itself by default protocols[0]
+	 */
+	n = LWS_CALLBACK_SERVER_NEW_CLIENT_INSTANTIATED;
+	if (!(type & LWS_ADOPT_HTTP)) {
+		if (!(type & LWS_ADOPT_SOCKET))
+			n = LWS_CALLBACK_RAW_ADOPT_FILE;
+		else
+			n = LWS_CALLBACK_RAW_ADOPT;
+	}
+
+	lwsl_debug("new wsi wsistate 0x%x\n", new_wsi->wsistate);
+
+	if (context->event_loop_ops->accept)
+		if (context->event_loop_ops->accept(new_wsi))
+			goto fail;
+
+	if (!(type & LWS_ADOPT_ALLOW_SSL)) {
+		lws_pt_lock(pt, __func__);
+		if (__insert_wsi_socket_into_fds(context, new_wsi)) {
+			lws_pt_unlock(pt);
+			lwsl_err("%s: fail inserting socket\n", __func__);
+			goto fail;
+		}
+		lws_pt_unlock(pt);
+	} else
+		if (lws_server_socket_service_ssl(new_wsi, fd.sockfd)) {
+			lwsl_info("%s: fail ssl negotiation\n", __func__);
+			goto fail;
+		}
+
+	/*
+	 *  by deferring callback to this point, after insertion to fds,
+	 * lws_callback_on_writable() can work from the callback
+	 */
+	if ((new_wsi->protocol->callback)(new_wsi, n, new_wsi->user_space,
+					  NULL, 0))
+		goto fail;
+
+	/* role may need to do something after all adoption completed */
+
+	lws_role_call_adoption_bind(new_wsi, type | _LWS_ADOPT_FINISH,
+				    vh_prot_name);
+
+	lws_cancel_service_pt(new_wsi);
+
+	return new_wsi;
+
+fail:
+	if (type & LWS_ADOPT_SOCKET)
+		lws_close_free_wsi(new_wsi, LWS_CLOSE_STATUS_NOSTATUS,
+				   "adopt skt fail");
+
+	return NULL;
+
+bail:
+       lwsl_notice("%s: exiting on bail\n", __func__);
+	if (parent)
+		parent->child_list = new_wsi->sibling_list;
+	if (new_wsi->user_space)
+		lws_free(new_wsi->user_space);
+
+	vh->context->count_wsi_allocated--;
+
+	lws_vhost_unbind_wsi(new_wsi);
+	lws_free(new_wsi);
+
+	compatible_close(fd.sockfd);
+
+	return NULL;
+}
+
+LWS_VISIBLE struct lws *
+lws_adopt_socket_vhost(struct lws_vhost *vh, lws_sockfd_type accept_fd)
+{
+	lws_sock_file_fd_type fd;
+
+	fd.sockfd = accept_fd;
+	return lws_adopt_descriptor_vhost(vh, LWS_ADOPT_SOCKET |
+			LWS_ADOPT_HTTP | LWS_ADOPT_ALLOW_SSL, fd, NULL, NULL);
+}
+
+LWS_VISIBLE struct lws *
+lws_adopt_socket(struct lws_context *context, lws_sockfd_type accept_fd)
+{
+	return lws_adopt_socket_vhost(context->vhost_list, accept_fd);
+}
+
+/* Common read-buffer adoption for lws_adopt_*_readbuf */
+static struct lws*
+adopt_socket_readbuf(struct lws *wsi, const char *readbuf, size_t len)
+{
+	struct lws_context_per_thread *pt;
+	struct lws_pollfd *pfd;
+	int n;
+
+	if (!wsi)
+		return NULL;
+
+	if (!readbuf || len == 0)
+		return wsi;
+
+	if (wsi->position_in_fds_table == LWS_NO_FDS_POS)
+		return wsi;
+
+	pt = &wsi->context->pt[(int)wsi->tsi];
+
+	n = lws_buflist_append_segment(&wsi->buflist, (const uint8_t *)readbuf,
+				       len);
+	if (n < 0)
+		goto bail;
+	if (n)
+		lws_dll_lws_add_front(&wsi->dll_buflist, &pt->dll_head_buflist);
+
+	/*
+	 * we can't process the initial read data until we can attach an ah.
+	 *
+	 * if one is available, get it and place the data in his ah rxbuf...
+	 * wsi with ah that have pending rxbuf get auto-POLLIN service.
+	 *
+	 * no autoservice because we didn't get a chance to attach the
+	 * readbuf data to wsi or ah yet, and we will do it next if we get
+	 * the ah.
+	 */
+	if (wsi->http.ah || !lws_header_table_attach(wsi, 0)) {
+
+		lwsl_notice("%s: calling service on readbuf ah\n", __func__);
+
+		/*
+		 * unlike a normal connect, we have the headers already
+		 * (or the first part of them anyway).
+		 * libuv won't come back and service us without a network
+		 * event, so we need to do the header service right here.
+		 */
+		pfd = &pt->fds[wsi->position_in_fds_table];
+		pfd->revents |= LWS_POLLIN;
+		lwsl_err("%s: calling service\n", __func__);
+		if (lws_service_fd_tsi(wsi->context, pfd, wsi->tsi))
+			/* service closed us */
+			return NULL;
+
+		return wsi;
+	}
+	lwsl_err("%s: deferring handling ah\n", __func__);
+
+	return wsi;
+
+bail:
+	lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS,
+			   "adopt skt readbuf fail");
+
+	return NULL;
+}
+
+LWS_EXTERN struct lws *
+lws_create_adopt_udp(struct lws_vhost *vhost, int port, int flags,
+		     const char *protocol_name, struct lws *parent_wsi)
+{
+	lws_sock_file_fd_type sock;
+	struct addrinfo h, *r, *rp;
+	struct lws *wsi = NULL;
+	char buf[16];
+	int n;
+
+	memset(&h, 0, sizeof(h));
+	h.ai_family = AF_UNSPEC;    /* Allow IPv4 or IPv6 */
+	h.ai_socktype = SOCK_DGRAM;
+	h.ai_protocol = IPPROTO_UDP;
+	h.ai_flags = AI_PASSIVE | AI_ADDRCONFIG;
+
+	lws_snprintf(buf, sizeof(buf), "%u", port);
+	n = getaddrinfo(NULL, buf, &h, &r);
+	if (n) {
+		lwsl_info("%s: getaddrinfo error: %s\n", __func__,
+			  gai_strerror(n));
+		goto bail;
+	}
+
+	for (rp = r; rp; rp = rp->ai_next) {
+		sock.sockfd = socket(rp->ai_family, rp->ai_socktype,
+				     rp->ai_protocol);
+		if (sock.sockfd != LWS_SOCK_INVALID)
+			break;
+	}
+	if (!rp) {
+		lwsl_err("%s: unable to create INET socket\n", __func__);
+		goto bail1;
+	}
+
+	if ((flags & LWS_CAUDP_BIND) && bind(sock.sockfd, rp->ai_addr,
+#if defined(_WIN32)
+			    (int)rp->ai_addrlen
+#else
+			    rp->ai_addrlen
+#endif
+	   ) == -1) {
+		lwsl_err("%s: bind failed\n", __func__);
+		goto bail2;
+	}
+
+	wsi = lws_adopt_descriptor_vhost(vhost, LWS_ADOPT_RAW_SOCKET_UDP, sock,
+				        protocol_name, parent_wsi);
+	if (!wsi)
+		lwsl_err("%s: udp adoption failed\n", __func__);
+
+bail2:
+	if (!wsi)
+		compatible_close((int)sock.sockfd);
+bail1:
+	freeaddrinfo(r);
+
+bail:
+	return wsi;
+}
+
+LWS_VISIBLE struct lws *
+lws_adopt_socket_readbuf(struct lws_context *context, lws_sockfd_type accept_fd,
+			 const char *readbuf, size_t len)
+{
+        return adopt_socket_readbuf(lws_adopt_socket(context, accept_fd),
+				    readbuf, len);
+}
+
+LWS_VISIBLE struct lws *
+lws_adopt_socket_vhost_readbuf(struct lws_vhost *vhost,
+			       lws_sockfd_type accept_fd,
+			       const char *readbuf, size_t len)
+{
+        return adopt_socket_readbuf(lws_adopt_socket_vhost(vhost, accept_fd),
+				    readbuf, len);
+}
diff --git a/thirdparty/libwebsockets/core/alloc.c b/thirdparty/libwebsockets/lib/core/alloc.c
index f169fc3767..f169fc3767 100644
--- a/thirdparty/libwebsockets/core/alloc.c
+++ b/thirdparty/libwebsockets/lib/core/alloc.c
diff --git a/thirdparty/libwebsockets/lib/core/connect.c b/thirdparty/libwebsockets/lib/core/connect.c
new file mode 100644
index 0000000000..daffc193c8
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/core/connect.c
@@ -0,0 +1,287 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#include "core/private.h"
+
+void
+lws_client_stash_destroy(struct lws *wsi)
+{
+	if (!wsi || !wsi->stash)
+		return;
+
+	lws_free_set_NULL(wsi->stash->address);
+	lws_free_set_NULL(wsi->stash->path);
+	lws_free_set_NULL(wsi->stash->host);
+	lws_free_set_NULL(wsi->stash->origin);
+	lws_free_set_NULL(wsi->stash->protocol);
+	lws_free_set_NULL(wsi->stash->method);
+	lws_free_set_NULL(wsi->stash->iface);
+	lws_free_set_NULL(wsi->stash->alpn);
+
+	lws_free_set_NULL(wsi->stash);
+}
+
+LWS_VISIBLE struct lws *
+lws_client_connect_via_info(const struct lws_client_connect_info *i)
+{
+	struct lws *wsi, *safe = NULL;
+	const struct lws_protocols *p;
+	const char *local = i->protocol;
+#if LWS_MAX_SMP > 1
+	int n, tid;
+#endif
+
+	if (i->context->requested_kill)
+		return NULL;
+
+	if (!i->context->protocol_init_done)
+		lws_protocol_init(i->context);
+	/*
+	 * If we have .local_protocol_name, use it to select the local protocol
+	 * handler to bind to.  Otherwise use .protocol if http[s].
+	 */
+	if (i->local_protocol_name)
+		local = i->local_protocol_name;
+
+	/* PHASE 1: create a bare wsi */
+
+	wsi = lws_zalloc(sizeof(struct lws), "client wsi");
+	if (wsi == NULL)
+		goto bail;
+
+	wsi->context = i->context;
+	wsi->desc.sockfd = LWS_SOCK_INVALID;
+
+	wsi->vhost = NULL;
+	if (!i->vhost)
+		lws_vhost_bind_wsi(i->context->vhost_list, wsi);
+	else
+		lws_vhost_bind_wsi(i->vhost, wsi);
+
+	if (!wsi->vhost) {
+		lwsl_err("%s: No vhost in the context\n", __func__);
+
+		goto bail;
+	}
+
+	/*
+	 * PHASE 2: if SMP, bind the client to whatever tsi the current thread
+	 * represents
+	 */
+
+#if LWS_MAX_SMP > 1
+	tid = wsi->vhost->protocols[0].callback(wsi, LWS_CALLBACK_GET_THREAD_ID,
+						NULL, NULL, 0);
+
+	lws_context_lock(i->context, "client find tsi");
+
+	for (n = 0; n < i->context->count_threads; n++)
+		if (i->context->pt[n].service_tid == tid) {
+			lwsl_info("%s: client binds to caller tsi %d\n",
+				  __func__, n);
+			wsi->tsi = n;
+			break;
+		}
+
+	/*
+	 * this binding is sort of provisional, since when we try to insert
+	 * into the pt fds, there may be no space and it will fail
+	 */
+
+	lws_context_unlock(i->context);
+#endif
+
+	/*
+	 * PHASE 3: Choose an initial role for the wsi and do role-specific init
+	 *
+	 * Note the initial role may not reflect the final role, eg,
+	 * we may want ws, but first we have to go through h1 to get that
+	 */
+
+	lws_role_call_client_bind(wsi, i);
+
+	/*
+	 * PHASE 4: fill up the wsi with stuff from the connect_info as far as
+	 * it can go.  It's uncertain because not only is our connection
+	 * going to complete asynchronously, we might have bound to h1 and not
+	 * even be able to get ahold of an ah immediately.
+	 */
+
+	wsi->user_space = NULL;
+	wsi->pending_timeout = NO_PENDING_TIMEOUT;
+	wsi->position_in_fds_table = LWS_NO_FDS_POS;
+	wsi->c_port = i->port;
+
+	wsi->protocol = &wsi->vhost->protocols[0];
+	wsi->client_pipeline = !!(i->ssl_connection & LCCSCF_PIPELINE);
+
+	/*
+	 * PHASE 5: handle external user_space now, generic alloc is done in
+	 * role finalization
+	 */
+
+	if (!wsi->user_space && i->userdata) {
+		wsi->user_space_externally_allocated = 1;
+		wsi->user_space = i->userdata;
+	}
+
+	if (local) {
+		lwsl_info("%s: protocol binding to %s\n", __func__, local);
+		p = lws_vhost_name_to_protocol(wsi->vhost, local);
+		if (p)
+			lws_bind_protocol(wsi, p, __func__);
+	}
+
+	/*
+	 * PHASE 5: handle external user_space now, generic alloc is done in
+	 * role finalization
+	 */
+
+	if (!wsi->user_space && i->userdata) {
+		wsi->user_space_externally_allocated = 1;
+		wsi->user_space = i->userdata;
+	}
+
+#if defined(LWS_WITH_TLS)
+	wsi->tls.use_ssl = i->ssl_connection;
+#else
+	if (i->ssl_connection & LCCSCF_USE_SSL) {
+		lwsl_err("%s: lws not configured for tls\n", __func__);
+		goto bail;
+	}
+#endif
+
+	/*
+	 * PHASE 6: stash the things from connect_info that we can't process
+	 * right now, eg, if http binding, without an ah.  If h1 and no ah, we
+	 * will go on the ah waiting list and process those things later (after
+	 * the connect_info and maybe the things pointed to have gone out of
+	 * scope)
+	 *
+	 * However these things are stashed in a generic way at this point,
+	 * with no relationship to http or ah
+	 */
+
+	wsi->stash = lws_zalloc(sizeof(*wsi->stash), "client stash");
+	if (!wsi->stash) {
+		lwsl_err("%s: OOM\n", __func__);
+		goto bail1;
+	}
+
+	wsi->stash->address = lws_strdup(i->address);
+	wsi->stash->path = lws_strdup(i->path);
+	wsi->stash->host = lws_strdup(i->host);
+
+	if (!wsi->stash->address || !wsi->stash->path || !wsi->stash->host)
+		goto bail1;
+
+	if (i->origin) {
+		wsi->stash->origin = lws_strdup(i->origin);
+		if (!wsi->stash->origin)
+			goto bail1;
+	}
+	if (i->protocol) {
+		wsi->stash->protocol = lws_strdup(i->protocol);
+		if (!wsi->stash->protocol)
+			goto bail1;
+	}
+	if (i->method) {
+		wsi->stash->method = lws_strdup(i->method);
+		if (!wsi->stash->method)
+			goto bail1;
+	}
+	if (i->iface) {
+		wsi->stash->iface = lws_strdup(i->iface);
+		if (!wsi->stash->iface)
+			goto bail1;
+	}
+	if (i->alpn) {
+		wsi->stash->alpn = lws_strdup(i->alpn);
+		if (!wsi->stash->alpn)
+			goto bail1;
+	}
+
+	/*
+	 * at this point user callbacks like
+	 * LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER will be interested to
+	 * know the parent... eg for proxying we can grab extra headers from
+	 * the parent's incoming ah and add them to the child client handshake
+	 */
+
+	if (i->parent_wsi) {
+		lwsl_info("%s: created child %p of parent %p\n", __func__,
+			  wsi, i->parent_wsi);
+		wsi->parent = i->parent_wsi;
+		safe = wsi->sibling_list = i->parent_wsi->child_list;
+		i->parent_wsi->child_list = wsi;
+	}
+
+	/*
+	 * PHASE 7: Do any role-specific finalization processing.  We can still
+	 * see important info things via wsi->stash
+	 */
+
+	if (wsi->role_ops->client_bind) {
+		int n = wsi->role_ops->client_bind(wsi, NULL);
+
+		if (n && i->parent_wsi) {
+			/* unpick from parent */
+
+			i->parent_wsi->child_list = safe;
+		}
+
+		if (n < 0)
+			/* we didn't survive, wsi is freed */
+			goto bail2;
+
+		if (n)
+			/* something else failed, wsi needs freeing */
+			goto bail;
+	}
+
+	/* let the caller's optional wsi storage have the wsi we created */
+
+	if (i->pwsi)
+		*i->pwsi = wsi;
+
+
+#if defined(LWS_WITH_HUBBUB)
+	if (i->uri_replace_to)
+		wsi->http.rw = lws_rewrite_create(wsi, html_parser_cb,
+					     i->uri_replace_from,
+					     i->uri_replace_to);
+#endif
+
+	return wsi;
+
+bail1:
+	lws_client_stash_destroy(wsi);
+
+bail:
+	lws_free(wsi);
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
+bail2:
+#endif
+	if (i->pwsi)
+		*i->pwsi = NULL;
+
+	return NULL;
+}
diff --git a/thirdparty/libwebsockets/core/context.c b/thirdparty/libwebsockets/lib/core/context.c
index db9151b95f..94b2d86339 100644
--- a/thirdparty/libwebsockets/core/context.c
+++ b/thirdparty/libwebsockets/lib/core/context.c
@@ -35,6 +35,9 @@ const struct lws_role_ops *available_roles[] = {
 #if defined(LWS_ROLE_WS)
 	&role_ops_ws,
 #endif
+#if defined(LWS_ROLE_DBUS)
+	&role_ops_dbus,
+#endif
 	NULL
 };
 
@@ -86,6 +89,57 @@ lws_role_call_alpn_negotiated(struct lws *wsi, const char *alpn)
 	return 0;
 }
 
+#if !defined(LWS_WITHOUT_SERVER)
+int
+lws_role_call_adoption_bind(struct lws *wsi, int type, const char *prot)
+{
+	LWS_FOR_EVERY_AVAILABLE_ROLE_START(ar)
+		if (ar->adoption_bind)
+			if (ar->adoption_bind(wsi, type, prot))
+				return 0;
+	LWS_FOR_EVERY_AVAILABLE_ROLE_END;
+
+	/* fall back to raw socket role if, eg, h1 not configured */
+
+	if (role_ops_raw_skt.adoption_bind &&
+	    role_ops_raw_skt.adoption_bind(wsi, type, prot))
+		return 0;
+
+	/* fall back to raw file role if, eg, h1 not configured */
+
+	if (role_ops_raw_file.adoption_bind &&
+	    role_ops_raw_file.adoption_bind(wsi, type, prot))
+		return 0;
+
+	return 1;
+}
+#endif
+
+#if !defined(LWS_WITHOUT_CLIENT)
+int
+lws_role_call_client_bind(struct lws *wsi,
+			  const struct lws_client_connect_info *i)
+{
+	LWS_FOR_EVERY_AVAILABLE_ROLE_START(ar)
+		if (ar->client_bind) {
+			int m = ar->client_bind(wsi, i);
+			if (m < 0)
+				return m;
+			if (m)
+				return 0;
+		}
+	LWS_FOR_EVERY_AVAILABLE_ROLE_END;
+
+	/* fall back to raw socket role if, eg, h1 not configured */
+
+	if (role_ops_raw_skt.client_bind &&
+	    role_ops_raw_skt.client_bind(wsi, i))
+		return 0;
+
+	return 1;
+}
+#endif
+
 static const char * const mount_protocols[] = {
 	"http://",
 	"https://",
@@ -134,7 +188,7 @@ lws_protocol_vh_priv_get(struct lws_vhost *vhost,
 {
 	int n = 0;
 
-	if (!vhost || !vhost->protocol_vh_privs)
+	if (!vhost || !vhost->protocol_vh_privs || !prot)
 		return NULL;
 
 	while (n < vhost->count_protocols && &vhost->protocols[n] != prot)
@@ -263,8 +317,10 @@ lws_protocol_init(struct lws_context *context)
 					(void *)pvo, 0)) {
 				lws_free(vh->protocol_vh_privs[n]);
 				vh->protocol_vh_privs[n] = NULL;
-				lwsl_err("%s: protocol %s failed init\n", __func__,
-					 vh->protocols[n].name);
+				lwsl_err("%s: protocol %s failed init\n",
+					 __func__, vh->protocols[n].name);
+
+				return 1;
 			}
 		}
 
@@ -286,229 +342,6 @@ next:
 	return 0;
 }
 
-LWS_VISIBLE int
-lws_callback_http_dummy(struct lws *wsi, enum lws_callback_reasons reason,
-		    void *user, void *in, size_t len)
-{
-	struct lws_ssl_info *si;
-#ifdef LWS_WITH_CGI
-	struct lws_cgi_args *args;
-#endif
-#if defined(LWS_WITH_CGI) || defined(LWS_WITH_HTTP_PROXY)
-	char buf[512];
-	int n;
-#endif
-
-	switch (reason) {
-#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
-	case LWS_CALLBACK_HTTP:
-#ifndef LWS_NO_SERVER
-		if (lws_return_http_status(wsi, HTTP_STATUS_NOT_FOUND, NULL))
-			return -1;
-
-		if (lws_http_transaction_completed(wsi))
-#endif
-			return -1;
-		break;
-#if !defined(LWS_NO_SERVER)
-	case LWS_CALLBACK_HTTP_FILE_COMPLETION:
-		if (lws_http_transaction_completed(wsi))
-			return -1;
-		break;
-#endif
-
-	case LWS_CALLBACK_HTTP_WRITEABLE:
-#ifdef LWS_WITH_CGI
-		if (wsi->reason_bf & (LWS_CB_REASON_AUX_BF__CGI_HEADERS |
-				      LWS_CB_REASON_AUX_BF__CGI)) {
-			n = lws_cgi_write_split_stdout_headers(wsi);
-			if (n < 0) {
-				lwsl_debug("AUX_BF__CGI forcing close\n");
-				return -1;
-			}
-			if (!n)
-				lws_rx_flow_control(
-					wsi->http.cgi->stdwsi[LWS_STDOUT], 1);
-
-			if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__CGI_HEADERS)
-				wsi->reason_bf &=
-					~LWS_CB_REASON_AUX_BF__CGI_HEADERS;
-			else
-				wsi->reason_bf &= ~LWS_CB_REASON_AUX_BF__CGI;
-			break;
-		}
-
-		if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__CGI_CHUNK_END) {
-			if (!wsi->http2_substream) {
-				memcpy(buf + LWS_PRE, "0\x0d\x0a\x0d\x0a", 5);
-				lwsl_debug("writing chunk term and exiting\n");
-				n = lws_write(wsi, (unsigned char *)buf +
-						   LWS_PRE, 5, LWS_WRITE_HTTP);
-			} else
-				n = lws_write(wsi, (unsigned char *)buf +
-						   LWS_PRE, 0,
-						   LWS_WRITE_HTTP_FINAL);
-
-			/* always close after sending it */
-			return -1;
-		}
-#endif
-#if defined(LWS_WITH_HTTP_PROXY)
-		if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__PROXY) {
-			char *px = buf + LWS_PRE;
-			int lenx = sizeof(buf) - LWS_PRE;
-
-			/*
-			 * our sink is writeable and our source has something
-			 * to read.  So read a lump of source material of
-			 * suitable size to send or what's available, whichever
-			 * is the smaller.
-			 */
-			wsi->reason_bf &= ~LWS_CB_REASON_AUX_BF__PROXY;
-			if (!lws_get_child(wsi))
-				break;
-			if (lws_http_client_read(lws_get_child(wsi), &px,
-						 &lenx) < 0)
-				return -1;
-			break;
-		}
-#endif
-		break;
-
-#if defined(LWS_WITH_HTTP_PROXY)
-	case LWS_CALLBACK_RECEIVE_CLIENT_HTTP:
-		assert(lws_get_parent(wsi));
-		if (!lws_get_parent(wsi))
-			break;
-		lws_get_parent(wsi)->reason_bf |= LWS_CB_REASON_AUX_BF__PROXY;
-		lws_callback_on_writable(lws_get_parent(wsi));
-		break;
-
-	case LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ:
-		assert(lws_get_parent(wsi));
-		n = lws_write(lws_get_parent(wsi), (unsigned char *)in,
-				len, LWS_WRITE_HTTP);
-		if (n < 0)
-			return -1;
-		break;
-
-	case LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP: {
-		unsigned char *p, *end;
-		char ctype[64], ctlen = 0;
-	
-		p = (unsigned char *)buf + LWS_PRE;
-		end = p + sizeof(buf) - LWS_PRE;
-
-		if (lws_add_http_header_status(lws_get_parent(wsi),
-					       HTTP_STATUS_OK, &p, end))
-			return 1;
-		if (lws_add_http_header_by_token(lws_get_parent(wsi),
-				WSI_TOKEN_HTTP_SERVER,
-			    	(unsigned char *)"libwebsockets",
-				13, &p, end))
-			return 1;
-
-		ctlen = lws_hdr_copy(wsi, ctype, sizeof(ctype),
-				     WSI_TOKEN_HTTP_CONTENT_TYPE);
-		if (ctlen > 0) {
-			if (lws_add_http_header_by_token(lws_get_parent(wsi),
-				WSI_TOKEN_HTTP_CONTENT_TYPE,
-				(unsigned char *)ctype, ctlen, &p, end))
-				return 1;
-		}
-
-		if (lws_finalize_http_header(lws_get_parent(wsi), &p, end))
-			return 1;
-
-		*p = '\0';
-		n = lws_write(lws_get_parent(wsi),
-			      (unsigned char *)buf + LWS_PRE,
-			      p - ((unsigned char *)buf + LWS_PRE),
-			      LWS_WRITE_HTTP_HEADERS);
-		if (n < 0)
-			return -1;
-
-		break; }
-
-#endif
-
-#ifdef LWS_WITH_CGI
-	/* CGI IO events (POLLIN/OUT) appear here, our default policy is:
-	 *
-	 *  - POST data goes on subprocess stdin
-	 *  - subprocess stdout goes on http via writeable callback
-	 *  - subprocess stderr goes to the logs
-	 */
-	case LWS_CALLBACK_CGI:
-		args = (struct lws_cgi_args *)in;
-		switch (args->ch) { /* which of stdin/out/err ? */
-		case LWS_STDIN:
-			/* TBD stdin rx flow control */
-			break;
-		case LWS_STDOUT:
-			/* quench POLLIN on STDOUT until MASTER got writeable */
-			lws_rx_flow_control(args->stdwsi[LWS_STDOUT], 0);
-			wsi->reason_bf |= LWS_CB_REASON_AUX_BF__CGI;
-			/* when writing to MASTER would not block */
-			lws_callback_on_writable(wsi);
-			break;
-		case LWS_STDERR:
-			n = lws_get_socket_fd(args->stdwsi[LWS_STDERR]);
-			if (n < 0)
-				break;
-			n = read(n, buf, sizeof(buf) - 2);
-			if (n > 0) {
-				if (buf[n - 1] != '\n')
-					buf[n++] = '\n';
-				buf[n] = '\0';
-				lwsl_notice("CGI-stderr: %s\n", buf);
-			}
-			break;
-		}
-		break;
-
-	case LWS_CALLBACK_CGI_TERMINATED:
-		lwsl_debug("LWS_CALLBACK_CGI_TERMINATED: %d %" PRIu64 "\n",
-				wsi->http.cgi->explicitly_chunked,
-				(uint64_t)wsi->http.cgi->content_length);
-		if (!wsi->http.cgi->explicitly_chunked &&
-		    !wsi->http.cgi->content_length) {
-			/* send terminating chunk */
-			lwsl_debug("LWS_CALLBACK_CGI_TERMINATED: ending\n");
-			wsi->reason_bf |= LWS_CB_REASON_AUX_BF__CGI_CHUNK_END;
-			lws_callback_on_writable(wsi);
-			lws_set_timeout(wsi, PENDING_TIMEOUT_CGI, 3);
-			break;
-		}
-		return -1;
-
-	case LWS_CALLBACK_CGI_STDIN_DATA:  /* POST body for stdin */
-		args = (struct lws_cgi_args *)in;
-		args->data[args->len] = '\0';
-		n = lws_get_socket_fd(args->stdwsi[LWS_STDIN]);
-		if (n < 0)
-			return -1;
-		n = write(n, args->data, args->len);
-		if (n < args->len)
-			lwsl_notice("LWS_CALLBACK_CGI_STDIN_DATA: "
-				    "sent %d only %d went", n, args->len);
-		return n;
-#endif
-#endif
-	case LWS_CALLBACK_SSL_INFO:
-		si = in;
-
-		(void)si;
-		lwsl_notice("LWS_CALLBACK_SSL_INFO: where: 0x%x, ret: 0x%x\n",
-			    si->where, si->ret);
-		break;
-
-	default:
-		break;
-	}
-
-	return 0;
-}
 
 /* list of supported protocols and callbacks */
 
@@ -534,9 +367,6 @@ static const struct lws_protocols protocols_dummy[] = {
 #undef LWS_HAVE_GETENV
 #endif
 
-static void
-lws_vhost_destroy2(struct lws_vhost *vh);
-
 LWS_VISIBLE struct lws_vhost *
 lws_create_vhost(struct lws_context *context,
 		 const struct lws_context_creation_info *info)
@@ -595,6 +425,8 @@ lws_create_vhost(struct lws_context *context,
 	vh->pvo = info->pvo;
 	vh->headers = info->headers;
 	vh->user = info->user;
+	vh->finalize = info->finalize;
+	vh->finalize_arg = info->finalize_arg;
 
 	LWS_FOR_EVERY_AVAILABLE_ROLE_START(ar)
 		if (ar->init_vhost)
@@ -630,10 +462,12 @@ lws_create_vhost(struct lws_context *context,
 		n += (int)strlen(info->ssl_private_key_filepath) + 1;
 
 	if (n) {
-		vh->tls.key_path = vh->tls.alloc_cert_path = lws_malloc(n, "vh paths");
+		vh->tls.key_path = vh->tls.alloc_cert_path =
+					lws_malloc(n, "vh paths");
 		if (info->ssl_cert_filepath) {
 			n = (int)strlen(info->ssl_cert_filepath) + 1;
-			memcpy(vh->tls.alloc_cert_path, info->ssl_cert_filepath, n);
+			memcpy(vh->tls.alloc_cert_path,
+			       info->ssl_cert_filepath, n);
 			vh->tls.key_path += n;
 		}
 		if (info->ssl_private_key_filepath)
@@ -648,7 +482,7 @@ lws_create_vhost(struct lws_context *context,
 	 */
 	lwsp = lws_zalloc(sizeof(struct lws_protocols) * (vh->count_protocols +
 				   context->plugin_protocol_count + 1),
-				   "vhost-specific plugin table");
+			  "vhost-specific plugin table");
 	if (!lwsp) {
 		lwsl_err("OOM\n");
 		return NULL;
@@ -699,15 +533,15 @@ lws_create_vhost(struct lws_context *context,
 		lws_free(lwsp);
 	}
 
-	vh->same_vh_protocol_list = (struct lws **)
-			lws_zalloc(sizeof(struct lws *) * vh->count_protocols,
-				   "same vh list");
+	vh->same_vh_protocol_heads = (struct lws_dll_lws *)
+			lws_zalloc(sizeof(struct lws_dll_lws) *
+				   vh->count_protocols, "same vh list");
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 	vh->http.mount_list = info->mounts;
 #endif
 
 #ifdef LWS_WITH_UNIX_SOCK
-	if (LWS_UNIX_SOCK_ENABLED(context)) {
+	if (LWS_UNIX_SOCK_ENABLED(vh)) {
 		lwsl_notice("Creating Vhost '%s' path \"%s\", %d protocols\n",
 				vh->name, vh->iface, vh->count_protocols);
 	} else
@@ -725,8 +559,8 @@ lws_create_vhost(struct lws_context *context,
 			break;
 		}
 		lwsl_notice("Creating Vhost '%s' %s, %d protocols, IPv6 %s\n",
-				vh->name, buf, vh->count_protocols,
-				LWS_IPV6_ENABLED(vh) ? "on" : "off");
+			    vh->name, buf, vh->count_protocols,
+			    LWS_IPV6_ENABLED(vh) ? "on" : "off");
 	}
 	mounts = info->mounts;
 	while (mounts) {
@@ -808,7 +642,7 @@ lws_create_vhost(struct lws_context *context,
 
 #ifdef LWS_WITH_ACCESS_LOG
 	if (info->log_filepath) {
-		vh->log_fd = open(info->log_filepath,
+		vh->log_fd = lws_open(info->log_filepath,
 				  O_CREAT | O_APPEND | O_RDWR, 0600);
 		if (vh->log_fd == (int)LWS_INVALID_FILE) {
 			lwsl_err("unable to open log filepath %s\n",
@@ -833,7 +667,7 @@ lws_create_vhost(struct lws_context *context,
 		lwsl_err("%s: lws_context_init_client_ssl failed\n", __func__);
 		goto bail1;
 	}
-	lws_context_lock(context);
+	lws_context_lock(context, "create_vhost");
 	n = _lws_vhost_init_server(info, vh);
 	lws_context_unlock(context);
 	if (n < 0) {
@@ -841,7 +675,6 @@ lws_create_vhost(struct lws_context *context,
 		goto bail1;
 	}
 
-
 	while (1) {
 		if (!(*vh1)) {
 			*vh1 = vh;
@@ -862,7 +695,6 @@ lws_create_vhost(struct lws_context *context,
 
 bail1:
 	lws_vhost_destroy(vh);
-	lws_vhost_destroy2(vh);
 
 	return NULL;
 
@@ -927,7 +759,7 @@ lws_create_event_pipes(struct lws_context *context)
 
 		wsi = lws_zalloc(sizeof(*wsi), "event pipe wsi");
 		if (!wsi) {
-			lwsl_err("Out of mem\n");
+			lwsl_err("%s: Out of mem\n", __func__);
 			return 1;
 		}
 		wsi->context = context;
@@ -936,24 +768,30 @@ lws_create_event_pipes(struct lws_context *context)
 		wsi->tsi = n;
 		wsi->vhost = NULL;
 		wsi->event_pipe = 1;
+		wsi->desc.sockfd = LWS_SOCK_INVALID;
+		context->pt[n].pipe_wsi = wsi;
+		context->count_wsi_allocated++;
 
-		if (lws_plat_pipe_create(wsi)) {
-			lws_free(wsi);
+		if (lws_plat_pipe_create(wsi))
+			/*
+			 * platform code returns 0 if it actually created pipes
+			 * and initialized pt->dummy_pipe_fds[].  If it used
+			 * some other mechanism outside of signaling in the
+			 * normal event loop, we skip treating the pipe as
+			 * related to dummy_pipe_fds[], adding it to the fds,
+			 * etc.
+			 */
 			continue;
-		}
+
 		wsi->desc.sockfd = context->pt[n].dummy_pipe_fds[0];
 		lwsl_debug("event pipe fd %d\n", wsi->desc.sockfd);
 
-		context->pt[n].pipe_wsi = wsi;
-
 		if (context->event_loop_ops->accept)
-			context->event_loop_ops->accept(wsi);
+			if (context->event_loop_ops->accept(wsi))
+				return 1;
 
 		if (__insert_wsi_socket_into_fds(context, wsi))
 			return 1;
-
-		//lws_change_pollfd(context->pt[n].pipe_wsi, 0, LWS_POLLIN);
-		context->count_wsi_allocated++;
 	}
 
 	return 0;
@@ -968,6 +806,7 @@ lws_destroy_event_pipe(struct lws *wsi)
 	if (wsi->context->event_loop_ops->wsi_logical_close) {
 		wsi->context->event_loop_ops->wsi_logical_close(wsi);
 		lws_plat_pipe_close(wsi);
+		wsi->context->count_wsi_allocated--;
 		return;
 	}
 
@@ -991,13 +830,8 @@ lws_create_context(const struct lws_context_creation_info *info)
 	struct rlimit rt;
 #endif
 
-
-
 	lwsl_info("Initial logging level %d\n", log_level);
 	lwsl_info("Libwebsockets version: %s\n", library_version);
-#if defined(GCC_VER)
-	lwsl_info("Compiled with  %s\n", GCC_VER);
-#endif
 
 #ifdef LWS_WITH_IPV6
 	if (!lws_check_opt(info->options, LWS_SERVER_OPTION_DISABLE_IPV6))
@@ -1048,7 +882,7 @@ lws_create_context(const struct lws_context_creation_info *info)
 #endif
 
 #if LWS_MAX_SMP > 1
-	pthread_mutex_init(&context->lock, NULL);
+	lws_mutex_refcount_init(&context->mr);
 #endif
 
 #if defined(LWS_WITH_ESP32)
@@ -1208,7 +1042,11 @@ lws_create_context(const struct lws_context_creation_info *info)
 	if (info->max_http_header_pool)
 		context->max_http_header_pool = info->max_http_header_pool;
 	else
-		context->max_http_header_pool = context->max_fds;
+		if (info->max_http_header_pool2)
+			context->max_http_header_pool =
+					info->max_http_header_pool2;
+		else
+			context->max_http_header_pool = context->max_fds;
 
 	if (info->fd_limit_per_thread)
 		context->fd_limit_per_thread = info->fd_limit_per_thread;
@@ -1246,16 +1084,17 @@ lws_create_context(const struct lws_context_creation_info *info)
 		return NULL;
 	}
 
-
 #if defined(LWS_WITH_PEER_LIMITS)
 	/* scale the peer hash table according to the max fds for the process,
 	 * so that the max list depth averages 16.  Eg, 1024 fd -> 64,
 	 * 102400 fd -> 6400
 	 */
+
 	context->pl_hash_elements =
 		(context->count_threads * context->fd_limit_per_thread) / 16;
 	context->pl_hash_table = lws_zalloc(sizeof(struct lws_peer *) *
 			context->pl_hash_elements, "peer limits hash table");
+
 	context->ip_limit_ah = info->ip_limit_ah;
 	context->ip_limit_wsi = info->ip_limit_wsi;
 #endif
@@ -1399,7 +1238,6 @@ LWS_VISIBLE LWS_EXTERN void
 lws_context_deprecate(struct lws_context *context, lws_reload_func cb)
 {
 	struct lws_vhost *vh = context->vhost_list, *vh1;
-	struct lws *wsi;
 
 	/*
 	 * "deprecation" means disable the context from accepting any new
@@ -1413,7 +1251,8 @@ lws_context_deprecate(struct lws_context *context, lws_reload_func cb)
 	/* for each vhost, close his listen socket */
 
 	while (vh) {
-		wsi = vh->lserv_wsi;
+		struct lws *wsi = vh->lserv_wsi;
+
 		if (wsi) {
 			wsi->socket_is_permanently_unusable = 1;
 			lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS, "ctx deprecate");
@@ -1445,24 +1284,29 @@ lws_context_is_deprecated(struct lws_context *context)
 void
 lws_vhost_destroy1(struct lws_vhost *vh)
 {
-	const struct lws_protocols *protocol = NULL;
-	struct lws_context_per_thread *pt;
-	int n, m = vh->context->count_threads;
 	struct lws_context *context = vh->context;
-	struct lws wsi;
 
 	lwsl_info("%s\n", __func__);
 
+	lws_context_lock(context, "vhost destroy 1"); /* ---------- context { */
+
 	if (vh->being_destroyed)
-		return;
+		goto out;
+
+	lws_vhost_lock(vh); /* -------------- vh { */
 
 	vh->being_destroyed = 1;
 
 	/*
+	 * PHASE 1: take down or reassign any listen wsi
+	 *
 	 * Are there other vhosts that are piggybacking on our listen socket?
 	 * If so we need to hand the listen socket off to one of the others
-	 * so it will remain open.  If not, leave it attached to the closing
-	 * vhost and it will get closed.
+	 * so it will remain open.
+	 *
+	 * If not, leave it attached to the closing vhost, the vh being marked
+	 * being_destroyed will defeat any service and it will get closed in
+	 * later phases.
 	 */
 
 	if (vh->lserv_wsi)
@@ -1483,46 +1327,48 @@ lws_vhost_destroy1(struct lws_vhost *vh)
 				 */
 				assert(v->lserv_wsi == NULL);
 				v->lserv_wsi = vh->lserv_wsi;
-				vh->lserv_wsi = NULL;
-				if (v->lserv_wsi)
-					v->lserv_wsi->vhost = v;
 
 				lwsl_notice("%s: listen skt from %s to %s\n",
 					    __func__, vh->name, v->name);
+
+				if (v->lserv_wsi) {
+					lws_vhost_unbind_wsi(vh->lserv_wsi);
+					lws_vhost_bind_wsi(v, v->lserv_wsi);
+				}
+
 				break;
 			}
 		} lws_end_foreach_ll(v, vhost_next);
 
+	lws_vhost_unlock(vh); /* } vh -------------- */
+
 	/*
-	 * Forcibly close every wsi assoicated with this vhost.  That will
-	 * include the listen socket if it is still associated with the closing
-	 * vhost.
+	 * lws_check_deferred_free() will notice there is a vhost that is
+	 * marked for destruction during the next 1s, for all tsi.
+	 *
+	 * It will start closing all wsi on this vhost.  When the last wsi
+	 * is closed, it will trigger lws_vhost_destroy2()
 	 */
 
-	while (m--) {
-		pt = &context->pt[m];
-
-		for (n = 0; (unsigned int)n < context->pt[m].fds_count; n++) {
-			struct lws *wsi = wsi_from_fd(context, pt->fds[n].fd);
-			if (!wsi)
-				continue;
-			if (wsi->vhost != vh)
-				continue;
+out:
+	lws_context_unlock(context); /* --------------------------- context { */
+}
 
-			lws_close_free_wsi(wsi,
-				LWS_CLOSE_STATUS_NOSTATUS_CONTEXT_DESTROY,
-				"vh destroy"
-				/* no protocol close */);
-			n--;
-		}
-	}
+void
+__lws_vhost_destroy2(struct lws_vhost *vh)
+{
+	const struct lws_protocols *protocol = NULL;
+	struct lws_context *context = vh->context;
+	struct lws_deferred_free *df;
+	struct lws wsi;
+	int n;
 
 	/*
 	 * destroy any pending timed events
 	 */
 
 	while (vh->timed_vh_protocol_list)
-		lws_timed_callback_remove(vh, vh->timed_vh_protocol_list);
+		__lws_timed_callback_remove(vh, vh->timed_vh_protocol_list);
 
 	/*
 	 * let the protocols destroy the per-vhost protocol objects
@@ -1530,7 +1376,7 @@ lws_vhost_destroy1(struct lws_vhost *vh)
 
 	memset(&wsi, 0, sizeof(wsi));
 	wsi.context = vh->context;
-	wsi.vhost = vh;
+	wsi.vhost = vh; /* not a real bound wsi */
 	protocol = vh->protocols;
 	if (protocol && vh->created_vhost_protocols) {
 		n = 0;
@@ -1558,15 +1404,6 @@ lws_vhost_destroy1(struct lws_vhost *vh)
 
 	vh->vhost_next = vh->context->vhost_pending_destruction_list;
 	vh->context->vhost_pending_destruction_list = vh;
-}
-
-static void
-lws_vhost_destroy2(struct lws_vhost *vh)
-{
-	const struct lws_protocols *protocol = NULL;
-	struct lws_context *context = vh->context;
-	struct lws_deferred_free *df;
-	int n;
 
 	lwsl_info("%s: %p\n", __func__, vh);
 
@@ -1612,7 +1449,7 @@ lws_vhost_destroy2(struct lws_vhost *vh)
 	if (vh->protocol_vh_privs)
 		lws_free(vh->protocol_vh_privs);
 	lws_ssl_SSL_CTX_destroy(vh);
-	lws_free(vh->same_vh_protocol_list);
+	lws_free(vh->same_vh_protocol_heads);
 
 	if (context->plugin_list ||
 	    (context->options & LWS_SERVER_OPTION_EXPLICIT_VHOSTS))
@@ -1637,7 +1474,7 @@ lws_vhost_destroy2(struct lws_vhost *vh)
 #endif
 
 #if defined(LWS_WITH_UNIX_SOCK)
-	if (LWS_UNIX_SOCK_ENABLED(context)) {
+	if (LWS_UNIX_SOCK_ENABLED(vh)) {
 		n = unlink(vh->iface);
 		if (n)
 			lwsl_info("Closing unix socket %s: errno %d\n",
@@ -1650,31 +1487,74 @@ lws_vhost_destroy2(struct lws_vhost *vh)
 	 * they do not refer to the vhost.  So it's safe to free.
 	 */
 
+	if (vh->finalize)
+		vh->finalize(vh, vh->finalize_arg);
+
 	lwsl_info("  %s: Freeing vhost %p\n", __func__, vh);
 
 	memset(vh, 0, sizeof(*vh));
 	lws_free(vh);
 }
 
+/*
+ * each service thread calls this once a second or so
+ */
+
 int
-lws_check_deferred_free(struct lws_context *context, int force)
+lws_check_deferred_free(struct lws_context *context, int tsi, int force)
 {
-	struct lws_deferred_free *df;
-	time_t now = lws_now_secs();
+	struct lws_context_per_thread *pt;
+	int n;
 
-	lws_start_foreach_llp(struct lws_deferred_free **, pdf,
-			      context->deferred_free_list) {
-		if (force ||
-		    lws_compare_time_t(context, now, (*pdf)->deadline) > 5) {
-			df = *pdf;
-			*pdf = df->next;
-			/* finalize vh destruction */
-			lwsl_notice("deferred vh %p destroy\n", df->payload);
-			lws_vhost_destroy2(df->payload);
-			lws_free(df);
-			continue; /* after deletion we already point to next */
+	/*
+	 * If we see a vhost is being destroyed, forcibly close every wsi on
+	 * this tsi associated with this vhost.  That will include the listen
+	 * socket if it is still associated with the closing vhost.
+	 *
+	 * For SMP, we do this once per tsi per destroyed vhost.  The reference
+	 * counting on the vhost as the bound wsi close will notice that there
+	 * are no bound wsi left, that vhost destruction can complete,
+	 * and perform it.  It doesn't matter which service thread does that
+	 * because there is nothing left using the vhost to conflict.
+	 */
+
+	lws_context_lock(context, "check deferred free"); /* ------ context { */
+
+	lws_start_foreach_ll_safe(struct lws_vhost *, v, context->vhost_list, vhost_next) {
+		if (v->being_destroyed
+#if LWS_MAX_SMP > 1
+			&& !v->close_flow_vs_tsi[tsi]
+#endif
+		) {
+
+			pt = &context->pt[tsi];
+
+			lws_pt_lock(pt, "vhost removal"); /* -------------- pt { */
+
+#if LWS_MAX_SMP > 1
+			v->close_flow_vs_tsi[tsi] = 1;
+#endif
+
+			for (n = 0; (unsigned int)n < pt->fds_count; n++) {
+				struct lws *wsi = wsi_from_fd(context, pt->fds[n].fd);
+				if (!wsi)
+					continue;
+				if (wsi->vhost != v)
+					continue;
+
+				__lws_close_free_wsi(wsi,
+					LWS_CLOSE_STATUS_NOSTATUS_CONTEXT_DESTROY,
+					"vh destroy"
+					/* no protocol close */);
+				n--;
+			}
+
+			lws_pt_unlock(pt); /* } pt -------------- */
 		}
-	} lws_end_foreach_llp(pdf, next);
+	} lws_end_foreach_ll_safe(v);
+
+
+	lws_context_unlock(context); /* } context ------------------- */
 
 	return 0;
 }
@@ -1683,18 +1563,38 @@ LWS_VISIBLE void
 lws_vhost_destroy(struct lws_vhost *vh)
 {
 	struct lws_deferred_free *df = lws_malloc(sizeof(*df), "deferred free");
+	struct lws_context *context = vh->context;
 
 	if (!df)
 		return;
 
+	lws_context_lock(context, __func__); /* ------ context { */
+
 	lws_vhost_destroy1(vh);
 
+	if (!vh->count_bound_wsi) {
+		/*
+		 * After listen handoff, there are already no wsi bound to this
+		 * vhost by any pt: nothing can be servicing any wsi belonging
+		 * to it any more.
+		 *
+		 * Finalize the vh destruction immediately
+		 */
+		__lws_vhost_destroy2(vh);
+		lws_free(df);
+
+		goto out;
+	}
+
 	/* part 2 is deferred to allow all the handle closes to complete */
 
 	df->next = vh->context->deferred_free_list;
 	df->deadline = lws_now_secs();
 	df->payload = vh;
 	vh->context->deferred_free_list = df;
+
+out:
+	lws_context_unlock(context); /* } context ------------------- */
 }
 
 /*
@@ -1728,11 +1628,12 @@ static void
 lws_context_destroy3(struct lws_context *context)
 {
 	struct lws_context **pcontext_finalize = context->pcontext_finalize;
-	struct lws_context_per_thread *pt;
 	int n;
 
 	for (n = 0; n < context->count_threads; n++) {
-		pt = &context->pt[n];
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
+		struct lws_context_per_thread *pt = &context->pt[n];
+#endif
 
 		if (context->event_loop_ops->destroy_pt)
 			context->event_loop_ops->destroy_pt(context, n);
@@ -1745,6 +1646,9 @@ lws_context_destroy3(struct lws_context *context)
 #endif
 	}
 
+	if (context->pt[0].fds)
+		lws_free_set_NULL(context->pt[0].fds);
+
 	lws_free(context);
 	lwsl_info("%s: ctx %p freed\n", __func__, context);
 
@@ -1763,14 +1667,12 @@ lws_context_destroy2(struct lws_context *context)
 #if defined(LWS_WITH_PEER_LIMITS)
 	uint32_t nu;
 #endif
-	int n;
 
 	lwsl_info("%s: ctx %p\n", __func__, context);
 
-	context->being_destroyed2 = 1;
+	lws_context_lock(context, "context destroy 2"); /* ------ context { */
 
-	if (context->pt[0].fds)
-		lws_free_set_NULL(context->pt[0].fds);
+	context->being_destroyed2 = 1;
 
 	/*
 	 * free all the per-vhost allocations
@@ -1779,7 +1681,7 @@ lws_context_destroy2(struct lws_context *context)
 	vh = context->vhost_list;
 	while (vh) {
 		vh1 = vh->vhost_next;
-		lws_vhost_destroy2(vh);
+		__lws_vhost_destroy2(vh);
 		vh = vh1;
 	}
 
@@ -1787,7 +1689,7 @@ lws_context_destroy2(struct lws_context *context)
 
 	while (context->vhost_pending_destruction_list)
 		/* removes itself from list */
-		lws_vhost_destroy2(context->vhost_pending_destruction_list);
+		__lws_vhost_destroy2(context->vhost_pending_destruction_list);
 
 
 	lws_stats_log_dump(context);
@@ -1811,22 +1713,29 @@ lws_context_destroy2(struct lws_context *context)
 	if (context->external_baggage_free_on_destroy)
 		free(context->external_baggage_free_on_destroy);
 
-	lws_check_deferred_free(context, 1);
+	lws_check_deferred_free(context, 0, 1);
 
 #if LWS_MAX_SMP > 1
-	pthread_mutex_destroy(&context->lock);
+	lws_mutex_refcount_destroy(&context->mr);
 #endif
 
 	if (context->event_loop_ops->destroy_context2)
 		if (context->event_loop_ops->destroy_context2(context)) {
+			lws_context_unlock(context); /* } context ----------- */
 			context->finalize_destroy_after_internal_loops_stopped = 1;
 			return;
 		}
 
-	if (!context->pt[0].event_loop_foreign)
+	if (!context->pt[0].event_loop_foreign) {
+		int n;
 		for (n = 0; n < context->count_threads; n++)
-			if (context->pt[n].inside_service)
+			if (context->pt[n].inside_service) {
+				lws_context_unlock(context); /* } context --- */
 				return;
+			}
+	}
+
+	lws_context_unlock(context); /* } context ------------------- */
 
 	lws_context_destroy3(context);
 }
@@ -1840,7 +1749,6 @@ lws_context_destroy(struct lws_context *context)
 {
 	volatile struct lws_foreign_thread_pollfd *ftp, *next;
 	volatile struct lws_context_per_thread *vpt;
-	struct lws_context_per_thread *pt;
 	struct lws_vhost *vh = NULL;
 	struct lws wsi;
 	int n, m;
@@ -1886,7 +1794,7 @@ lws_context_destroy(struct lws_context *context)
 #endif
 
 	while (m--) {
-		pt = &context->pt[m];
+		struct lws_context_per_thread *pt = &context->pt[m];
 		vpt = (volatile struct lws_context_per_thread *)pt;
 
 		ftp = vpt->foreign_pfd_list;
diff --git a/thirdparty/libwebsockets/lib/core/dummy-callback.c b/thirdparty/libwebsockets/lib/core/dummy-callback.c
new file mode 100644
index 0000000000..8fd18be9c5
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/core/dummy-callback.c
@@ -0,0 +1,611 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#include "core/private.h"
+
+#if defined(LWS_WITH_HTTP_PROXY)
+static int
+proxy_header(struct lws *wsi, struct lws *par, unsigned char *temp,
+	     int temp_len, int index, unsigned char **p, unsigned char *end)
+{
+	int n = lws_hdr_total_length(par, index);
+
+	if (n < 1) {
+		lwsl_debug("%s: no index %d:\n", __func__, index);
+		return 0;
+	}
+
+	if (lws_hdr_copy(par, (char *)temp, temp_len, index) < 0)
+		return -1;
+
+	lwsl_debug("%s: index %d: %s\n", __func__, index, (char *)temp);
+
+	if (lws_add_http_header_by_token(wsi, index, temp, n, p, end))
+		return -1;
+
+	return 0;
+}
+
+static int
+stream_close(struct lws *wsi)
+{
+	char buf[LWS_PRE + 6], *out = buf + LWS_PRE;
+
+	if (wsi->http.did_stream_close)
+		return 0;
+
+	wsi->http.did_stream_close = 1;
+
+	if (wsi->http2_substream) {
+		if (lws_write(wsi, (unsigned char *)buf + LWS_PRE, 0,
+			      LWS_WRITE_HTTP_FINAL) < 0) {
+			lwsl_info("%s: COMPL_CLIENT_HTTP: h2 fin wr failed\n",
+				  __func__);
+
+			return -1;
+		}
+	} else {
+		*out++ = '0';
+		*out++ = '\x0d';
+		*out++ = '\x0a';
+		*out++ = '\x0d';
+		*out++ = '\x0a';
+
+		if (lws_write(wsi, (unsigned char *)buf + LWS_PRE, 5,
+			      LWS_WRITE_HTTP_FINAL) < 0) {
+			lwsl_err("%s: COMPL_CLIENT_HTTP: "
+				 "h2 final write failed\n", __func__);
+
+			return -1;
+		}
+	}
+
+	return 0;
+}
+
+#endif
+
+LWS_VISIBLE int
+lws_callback_http_dummy(struct lws *wsi, enum lws_callback_reasons reason,
+			void *user, void *in, size_t len)
+{
+	struct lws_ssl_info *si;
+#ifdef LWS_WITH_CGI
+	struct lws_cgi_args *args;
+#endif
+#if defined(LWS_WITH_CGI) || defined(LWS_WITH_HTTP_PROXY)
+	char buf[8192];
+	int n;
+#endif
+#if defined(LWS_WITH_HTTP_PROXY)
+	unsigned char **p, *end;
+	struct lws *parent;
+#endif
+
+	switch (reason) {
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
+	case LWS_CALLBACK_HTTP:
+#ifndef LWS_NO_SERVER
+		if (lws_return_http_status(wsi, HTTP_STATUS_NOT_FOUND, NULL))
+			return -1;
+
+		if (lws_http_transaction_completed(wsi))
+#endif
+			return -1;
+		break;
+#if !defined(LWS_NO_SERVER)
+	case LWS_CALLBACK_HTTP_BODY_COMPLETION:
+	case LWS_CALLBACK_HTTP_FILE_COMPLETION:
+		if (lws_http_transaction_completed(wsi))
+			return -1;
+		break;
+#endif
+
+	case LWS_CALLBACK_HTTP_WRITEABLE:
+#ifdef LWS_WITH_CGI
+		if (wsi->reason_bf & (LWS_CB_REASON_AUX_BF__CGI_HEADERS |
+				      LWS_CB_REASON_AUX_BF__CGI)) {
+			n = lws_cgi_write_split_stdout_headers(wsi);
+			if (n < 0) {
+				lwsl_debug("AUX_BF__CGI forcing close\n");
+				return -1;
+			}
+			if (!n)
+				lws_rx_flow_control(
+					wsi->http.cgi->stdwsi[LWS_STDOUT], 1);
+
+			if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__CGI_HEADERS)
+				wsi->reason_bf &=
+					~LWS_CB_REASON_AUX_BF__CGI_HEADERS;
+			else
+				wsi->reason_bf &= ~LWS_CB_REASON_AUX_BF__CGI;
+
+			if (wsi->http.cgi && wsi->http.cgi->cgi_transaction_over)
+				return -1;
+			break;
+		}
+
+		if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__CGI_CHUNK_END) {
+			if (!wsi->http2_substream) {
+				memcpy(buf + LWS_PRE, "0\x0d\x0a\x0d\x0a", 5);
+				lwsl_debug("writing chunk term and exiting\n");
+				n = lws_write(wsi, (unsigned char *)buf +
+						   LWS_PRE, 5, LWS_WRITE_HTTP);
+			} else
+				n = lws_write(wsi, (unsigned char *)buf +
+						   LWS_PRE, 0,
+						   LWS_WRITE_HTTP_FINAL);
+
+			/* always close after sending it */
+			return -1;
+		}
+#endif
+#if defined(LWS_WITH_HTTP_PROXY)
+
+		if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__PROXY_HEADERS) {
+
+			wsi->reason_bf &= ~LWS_CB_REASON_AUX_BF__PROXY_HEADERS;
+
+			lwsl_debug("%s: %p: issuing proxy headers\n",
+				    __func__, wsi);
+			n = lws_write(wsi, wsi->http.pending_return_headers +
+					   LWS_PRE,
+				      wsi->http.pending_return_headers_len,
+				      LWS_WRITE_HTTP_HEADERS);
+
+			lws_free_set_NULL(wsi->http.pending_return_headers);
+
+			if (n < 0) {
+				lwsl_err("%s: EST_CLIENT_HTTP: write failed\n",
+					 __func__);
+				return -1;
+			}
+			lws_callback_on_writable(wsi);
+			break;
+		}
+
+		if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__PROXY) {
+			char *px = buf + LWS_PRE;
+			int lenx = sizeof(buf) - LWS_PRE - 32;
+
+			/*
+			 * our sink is writeable and our source has something
+			 * to read.  So read a lump of source material of
+			 * suitable size to send or what's available, whichever
+			 * is the smaller.
+			 */
+			wsi->reason_bf &= ~LWS_CB_REASON_AUX_BF__PROXY;
+			if (!lws_get_child(wsi))
+				break;
+
+			/* this causes LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ */
+			if (lws_http_client_read(lws_get_child(wsi), &px,
+						 &lenx) < 0) {
+				lwsl_info("%s: LWS_CB_REASON_AUX_BF__PROXY: "
+					   "client closed\n", __func__);
+
+				stream_close(wsi);
+
+				return -1;
+			}
+			break;
+		}
+
+		if (wsi->reason_bf & LWS_CB_REASON_AUX_BF__PROXY_TRANS_END) {
+			lwsl_info("%s: LWS_CB_REASON_AUX_BF__PROXY_TRANS_END\n",
+				   __func__);
+
+			wsi->reason_bf &= ~LWS_CB_REASON_AUX_BF__PROXY_TRANS_END;
+
+			if (stream_close(wsi))
+				return -1;
+
+			if (lws_http_transaction_completed(wsi))
+				return -1;
+		}
+#endif
+		break;
+
+#if defined(LWS_WITH_HTTP_PROXY)
+	case LWS_CALLBACK_RECEIVE_CLIENT_HTTP:
+		assert(lws_get_parent(wsi));
+		if (!lws_get_parent(wsi))
+			break;
+		lws_get_parent(wsi)->reason_bf |= LWS_CB_REASON_AUX_BF__PROXY;
+		lws_callback_on_writable(lws_get_parent(wsi));
+		break;
+
+	case LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ: {
+		char *out = buf + LWS_PRE;
+
+		assert(lws_get_parent(wsi));
+
+		if (wsi->http.proxy_parent_chunked) {
+
+			if (len > sizeof(buf) - LWS_PRE - 16) {
+				lwsl_err("oversize buf %d %d\n", (int)len,
+						(int)sizeof(buf) - LWS_PRE - 16);
+				return -1;
+			}
+
+			/*
+			 * this only needs dealing with on http/1.1 to allow
+			 * pipelining
+			 */
+			n = lws_snprintf(out, 14, "%X\x0d\x0a", (int)len);
+			out += n;
+			memcpy(out, in, len);
+			out += len;
+			*out++ = '\x0d';
+			*out++ = '\x0a';
+
+			n = lws_write(lws_get_parent(wsi),
+				      (unsigned char *)buf + LWS_PRE,
+				      len + n + 2, LWS_WRITE_HTTP);
+		} else
+			n = lws_write(lws_get_parent(wsi), (unsigned char *)in,
+				      len, LWS_WRITE_HTTP);
+		if (n < 0)
+			return -1;
+		break; }
+
+
+	/* this handles the proxy case... */
+	case LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP: {
+		unsigned char *start, *p, *end;
+
+		/*
+		 * We want to proxy these headers, but we are being called
+		 * at the point the onward client was established, which is
+		 * unrelated to the state or writability of our proxy
+		 * connection.
+		 *
+		 * Therefore produce the headers using the onward client ah
+		 * while we have it, and stick them on the output buflist to be
+		 * written on the proxy connection as soon as convenient.
+		 */
+
+		parent = lws_get_parent(wsi);
+
+		if (!parent)
+			return 0;
+
+		start = p = (unsigned char *)buf + LWS_PRE;
+		end = p + sizeof(buf) - LWS_PRE - 256;
+
+		if (lws_add_http_header_status(lws_get_parent(wsi),
+				lws_http_client_http_response(wsi), &p, end))
+			return 1;
+
+		/*
+		 * copy these headers from the client connection to the parent
+		 */
+
+		proxy_header(parent, wsi, end, 256,
+				WSI_TOKEN_HTTP_CONTENT_LENGTH, &p, end);
+		proxy_header(parent, wsi, end, 256,
+				WSI_TOKEN_HTTP_CONTENT_TYPE, &p, end);
+		proxy_header(parent, wsi, end, 256,
+				WSI_TOKEN_HTTP_ETAG, &p, end);
+		proxy_header(parent, wsi, end, 256,
+				WSI_TOKEN_HTTP_ACCEPT_LANGUAGE, &p, end);
+		proxy_header(parent, wsi, end, 256,
+				WSI_TOKEN_HTTP_CONTENT_ENCODING, &p, end);
+		proxy_header(parent, wsi, end, 256,
+				WSI_TOKEN_HTTP_CACHE_CONTROL, &p, end);
+
+		if (!parent->http2_substream)
+			if (lws_add_http_header_by_token(parent,
+				WSI_TOKEN_CONNECTION, (unsigned char *)"close",
+				5, &p, end))
+			return -1;
+
+		/*
+		 * We proxy using h1 only atm, and strip any chunking so it
+		 * can go back out on h2 just fine.
+		 *
+		 * However if we are actually going out on h1, we need to add
+		 * our own chunking since we still don't know the size.
+		 */
+
+		if (!parent->http2_substream &&
+		    !lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_CONTENT_LENGTH)) {
+			lwsl_debug("downstream parent chunked\n");
+			if (lws_add_http_header_by_token(parent,
+					WSI_TOKEN_HTTP_TRANSFER_ENCODING,
+					(unsigned char *)"chunked", 7, &p, end))
+				return -1;
+
+			wsi->http.proxy_parent_chunked = 1;
+		}
+
+		if (lws_finalize_http_header(parent, &p, end))
+			return 1;
+
+		parent->http.pending_return_headers_len =
+					lws_ptr_diff(p, start);
+		parent->http.pending_return_headers =
+			lws_malloc(parent->http.pending_return_headers_len +
+				    LWS_PRE, "return proxy headers");
+		if (!parent->http.pending_return_headers)
+			return -1;
+
+		memcpy(parent->http.pending_return_headers + LWS_PRE, start,
+		       parent->http.pending_return_headers_len);
+
+		parent->reason_bf |= LWS_CB_REASON_AUX_BF__PROXY_HEADERS;
+
+		lwsl_debug("%s: LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP: "
+			   "prepared headers\n", __func__);
+		lws_callback_on_writable(parent);
+
+		break; }
+
+	case LWS_CALLBACK_COMPLETED_CLIENT_HTTP:
+		lwsl_info("%s: COMPLETED_CLIENT_HTTP: %p (parent %p)\n",
+					__func__, wsi, lws_get_parent(wsi));
+		if (!lws_get_parent(wsi))
+			break;
+		lws_get_parent(wsi)->reason_bf |=
+				LWS_CB_REASON_AUX_BF__PROXY_TRANS_END;
+		lws_callback_on_writable(lws_get_parent(wsi));
+		break;
+
+	case LWS_CALLBACK_CLOSED_CLIENT_HTTP:
+		if (!lws_get_parent(wsi))
+			break;
+		lwsl_err("%s: LWS_CALLBACK_CLOSED_CLIENT_HTTP\n", __func__);
+		lws_set_timeout(lws_get_parent(wsi), LWS_TO_KILL_ASYNC,
+				PENDING_TIMEOUT_KILLED_BY_PROXY_CLIENT_CLOSE);
+		break;
+
+	case LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER:
+		parent = lws_get_parent(wsi);
+
+		if (!parent)
+			break;
+
+		p = (unsigned char **)in;
+		end = (*p) + len;
+
+		/*
+		 * copy these headers from the parent request to the client
+		 * connection's request
+		 */
+
+		proxy_header(wsi, parent, (unsigned char *)buf, sizeof(buf),
+				WSI_TOKEN_HOST, p, end);
+		proxy_header(wsi, parent, (unsigned char *)buf, sizeof(buf),
+				WSI_TOKEN_HTTP_ETAG, p, end);
+		proxy_header(wsi, parent, (unsigned char *)buf, sizeof(buf),
+				WSI_TOKEN_HTTP_IF_MODIFIED_SINCE, p, end);
+		proxy_header(wsi, parent, (unsigned char *)buf, sizeof(buf),
+				WSI_TOKEN_HTTP_ACCEPT_LANGUAGE, p, end);
+		proxy_header(wsi, parent, (unsigned char *)buf, sizeof(buf),
+				WSI_TOKEN_HTTP_ACCEPT_ENCODING, p, end);
+		proxy_header(wsi, parent, (unsigned char *)buf, sizeof(buf),
+				WSI_TOKEN_HTTP_CACHE_CONTROL, p, end);
+
+		buf[0] = '\0';
+		lws_get_peer_simple(parent, buf, sizeof(buf));
+		if (lws_add_http_header_by_token(wsi, WSI_TOKEN_X_FORWARDED_FOR,
+				(unsigned char *)buf, (int)strlen(buf), p, end))
+			return -1;
+
+		break;
+
+#endif
+
+#ifdef LWS_WITH_CGI
+	/* CGI IO events (POLLIN/OUT) appear here, our default policy is:
+	 *
+	 *  - POST data goes on subprocess stdin
+	 *  - subprocess stdout goes on http via writeable callback
+	 *  - subprocess stderr goes to the logs
+	 */
+	case LWS_CALLBACK_CGI:
+		args = (struct lws_cgi_args *)in;
+		switch (args->ch) { /* which of stdin/out/err ? */
+		case LWS_STDIN:
+			/* TBD stdin rx flow control */
+			break;
+		case LWS_STDOUT:
+			/* quench POLLIN on STDOUT until MASTER got writeable */
+			lws_rx_flow_control(args->stdwsi[LWS_STDOUT], 0);
+			wsi->reason_bf |= LWS_CB_REASON_AUX_BF__CGI;
+			/* when writing to MASTER would not block */
+			lws_callback_on_writable(wsi);
+			break;
+		case LWS_STDERR:
+			n = lws_get_socket_fd(args->stdwsi[LWS_STDERR]);
+			if (n < 0)
+				break;
+			n = read(n, buf, sizeof(buf) - 2);
+			if (n > 0) {
+				if (buf[n - 1] != '\n')
+					buf[n++] = '\n';
+				buf[n] = '\0';
+				lwsl_notice("CGI-stderr: %s\n", buf);
+			}
+			break;
+		}
+		break;
+
+	case LWS_CALLBACK_CGI_TERMINATED:
+		lwsl_debug("LWS_CALLBACK_CGI_TERMINATED: %d %" PRIu64 "\n",
+				wsi->http.cgi->explicitly_chunked,
+				(uint64_t)wsi->http.cgi->content_length);
+		if (!wsi->http.cgi->explicitly_chunked &&
+		    !wsi->http.cgi->content_length) {
+			/* send terminating chunk */
+			lwsl_debug("LWS_CALLBACK_CGI_TERMINATED: ending\n");
+			wsi->reason_bf |= LWS_CB_REASON_AUX_BF__CGI_CHUNK_END;
+			lws_callback_on_writable(wsi);
+			lws_set_timeout(wsi, PENDING_TIMEOUT_CGI, 3);
+			break;
+		}
+		return -1;
+
+	case LWS_CALLBACK_CGI_STDIN_DATA:  /* POST body for stdin */
+		args = (struct lws_cgi_args *)in;
+		args->data[args->len] = '\0';
+		if (!args->stdwsi[LWS_STDIN])
+			return -1;
+		n = lws_get_socket_fd(args->stdwsi[LWS_STDIN]);
+		if (n < 0)
+			return -1;
+
+#if defined(LWS_WITH_ZLIB)
+		if (wsi->http.cgi->gzip_inflate) {
+			/* gzip handling */
+
+			if (!wsi->http.cgi->gzip_init) {
+				lwsl_info("inflating gzip\n");
+
+				memset(&wsi->http.cgi->inflate, 0,
+				       sizeof(wsi->http.cgi->inflate));
+
+				if (inflateInit2(&wsi->http.cgi->inflate,
+						 16 + 15) != Z_OK) {
+					lwsl_err("%s: iniflateInit failed\n",
+						 __func__);
+					return -1;
+				}
+
+				wsi->http.cgi->gzip_init = 1;
+			}
+
+			wsi->http.cgi->inflate.next_in = args->data;
+			wsi->http.cgi->inflate.avail_in = args->len;
+
+			do {
+
+				wsi->http.cgi->inflate.next_out =
+						wsi->http.cgi->inflate_buf;
+				wsi->http.cgi->inflate.avail_out =
+					sizeof(wsi->http.cgi->inflate_buf);
+
+				n = inflate(&wsi->http.cgi->inflate,
+					    Z_SYNC_FLUSH);
+
+				switch (n) {
+				case Z_NEED_DICT:
+				case Z_STREAM_ERROR:
+				case Z_DATA_ERROR:
+				case Z_MEM_ERROR:
+					inflateEnd(&wsi->http.cgi->inflate);
+					wsi->http.cgi->gzip_init = 0;
+					lwsl_err("zlib error inflate %d\n", n);
+					return -1;
+				}
+
+				if (wsi->http.cgi->inflate.avail_out !=
+					   sizeof(wsi->http.cgi->inflate_buf)) {
+					int written;
+
+					written = write(args->stdwsi[LWS_STDIN]->desc.filefd,
+						wsi->http.cgi->inflate_buf,
+						sizeof(wsi->http.cgi->inflate_buf) -
+						wsi->http.cgi->inflate.avail_out);
+
+					if (written != (int)(
+						sizeof(wsi->http.cgi->inflate_buf) -
+						wsi->http.cgi->inflate.avail_out)) {
+						lwsl_notice("LWS_CALLBACK_CGI_STDIN_DATA: "
+							"sent %d only %d went", n, args->len);
+					}
+
+					if (n == Z_STREAM_END) {
+						lwsl_err("gzip inflate end\n");
+						inflateEnd(&wsi->http.cgi->inflate);
+						wsi->http.cgi->gzip_init = 0;
+						break;
+					}
+
+				} else
+					break;
+
+				if (wsi->http.cgi->inflate.avail_out)
+					break;
+
+			} while (1);
+
+			return args->len;
+		}
+#endif /* WITH_ZLIB */
+
+		n = write(n, args->data, args->len);
+//		lwsl_hexdump_notice(args->data, args->len);
+		if (n < args->len)
+			lwsl_notice("LWS_CALLBACK_CGI_STDIN_DATA: "
+				    "sent %d only %d went", n, args->len);
+
+		if (wsi->http.cgi->post_in_expected && args->stdwsi[LWS_STDIN] &&
+		    args->stdwsi[LWS_STDIN]->desc.filefd > 0) {
+			wsi->http.cgi->post_in_expected -= n;
+			if (!wsi->http.cgi->post_in_expected) {
+				struct lws *siwsi = args->stdwsi[LWS_STDIN];
+
+				lwsl_debug("%s: expected POST in end: "
+					   "closing stdin wsi %p, fd %d\n",
+					   __func__, siwsi, siwsi->desc.sockfd);
+
+				__remove_wsi_socket_from_fds(siwsi);
+				lwsi_set_state(siwsi, LRS_DEAD_SOCKET);
+				siwsi->socket_is_permanently_unusable = 1;
+				lws_remove_child_from_any_parent(siwsi);
+				if (wsi->context->event_loop_ops->
+							close_handle_manually) {
+					wsi->context->event_loop_ops->
+						close_handle_manually(siwsi);
+					siwsi->told_event_loop_closed = 1;
+				} else {
+					compatible_close(siwsi->desc.sockfd);
+					__lws_free_wsi(siwsi);
+				}
+				wsi->http.cgi->pipe_fds[LWS_STDIN][1] = -1;
+
+				args->stdwsi[LWS_STDIN] = NULL;
+			}
+		}
+
+		return n;
+#endif /* WITH_CGI */
+#endif /* ROLE_ H1 / H2 */
+	case LWS_CALLBACK_SSL_INFO:
+		si = in;
+
+		(void)si;
+		lwsl_notice("LWS_CALLBACK_SSL_INFO: where: 0x%x, ret: 0x%x\n",
+			    si->where, si->ret);
+		break;
+
+#if LWS_MAX_SMP > 1
+	case LWS_CALLBACK_GET_THREAD_ID:
+		return (int)(unsigned long long)pthread_self();
+#endif
+
+	default:
+		break;
+	}
+
+	return 0;
+}
diff --git a/thirdparty/libwebsockets/core/libwebsockets.c b/thirdparty/libwebsockets/lib/core/libwebsockets.c
index 0da02b17e4..972422114a 100644
--- a/thirdparty/libwebsockets/core/libwebsockets.c
+++ b/thirdparty/libwebsockets/lib/core/libwebsockets.c
@@ -28,7 +28,7 @@
 #ifdef LWS_WITH_IPV6
 #if defined(WIN32) || defined(_WIN32)
 #include <wincrypt.h>
-#include <Iphlpapi.h>
+#include <iphlpapi.h>
 #else
 #include <net/if.h>
 #endif
@@ -53,6 +53,7 @@ static const char * const log_level_names[] = {
 	"CLIENT",
 	"LATENCY",
 	"USER",
+	"THREAD",
 	"?",
 	"?"
 };
@@ -88,6 +89,75 @@ signed char char_to_hex(const char c)
 	return -1;
 }
 
+int lws_open(const char *__file, int __oflag, ...)
+{
+	va_list ap;
+	int n;
+
+	va_start(ap, __oflag);
+	if (((__oflag & O_CREAT) == O_CREAT)
+#if defined(O_TMPFILE)
+		|| ((__oflag & O_TMPFILE) == O_TMPFILE)
+#endif
+	)
+		/* last arg is really a mode_t.  But windows... */
+		n = open(__file, __oflag, va_arg(ap, uint32_t));
+	else
+		n = open(__file, __oflag);
+	va_end(ap);
+
+	if (n != -1 && lws_plat_apply_FD_CLOEXEC(n)) {
+		close(n);
+
+		return -1;
+	}
+
+	return n;
+}
+
+void
+lws_vhost_bind_wsi(struct lws_vhost *vh, struct lws *wsi)
+{
+	if (wsi->vhost == vh)
+		return;
+	lws_context_lock(vh->context, __func__); /* ---------- context { */
+	wsi->vhost = vh;
+	vh->count_bound_wsi++;
+	lws_context_unlock(vh->context); /* } context ---------- */
+	lwsl_info("%s: vh %s: count_bound_wsi %d\n",
+		    __func__, vh->name, vh->count_bound_wsi);
+	assert(wsi->vhost->count_bound_wsi > 0);
+}
+
+void
+lws_vhost_unbind_wsi(struct lws *wsi)
+{
+	if (!wsi->vhost)
+		return;
+
+	lws_context_lock(wsi->context, __func__); /* ---------- context { */
+
+	assert(wsi->vhost->count_bound_wsi > 0);
+	wsi->vhost->count_bound_wsi--;
+	lwsl_info("%s: vh %s: count_bound_wsi %d\n", __func__,
+		  wsi->vhost->name, wsi->vhost->count_bound_wsi);
+
+	if (!wsi->vhost->count_bound_wsi &&
+	    wsi->vhost->being_destroyed) {
+		/*
+		 * We have closed all wsi that were bound to this vhost
+		 * by any pt: nothing can be servicing any wsi belonging
+		 * to it any more.
+		 *
+		 * Finalize the vh destruction
+		 */
+		__lws_vhost_destroy2(wsi->vhost);
+	}
+	wsi->vhost = NULL;
+
+	lws_context_unlock(wsi->context); /* } context ---------- */
+}
+
 void
 __lws_free_wsi(struct lws *wsi)
 {
@@ -103,13 +173,24 @@ __lws_free_wsi(struct lws *wsi)
 		lws_free(wsi->user_space);
 
 	lws_buflist_destroy_all_segments(&wsi->buflist);
-	lws_free_set_NULL(wsi->trunc_alloc);
+	lws_buflist_destroy_all_segments(&wsi->buflist_out);
 	lws_free_set_NULL(wsi->udp);
 
 	if (wsi->vhost && wsi->vhost->lserv_wsi == wsi)
 		wsi->vhost->lserv_wsi = NULL;
+#if !defined(LWS_NO_CLIENT)
+	lws_dll_lws_remove(&wsi->dll_active_client_conns);
+#endif
+	wsi->context->count_wsi_allocated--;
 
-	// lws_peer_dump_from_wsi(wsi);
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
+	__lws_header_table_detach(wsi, 0);
+#endif
+	__lws_same_vh_protocol_remove(wsi);
+#if !defined(LWS_NO_CLIENT)
+	lws_client_stash_destroy(wsi);
+	lws_free_set_NULL(wsi->client_hostname_copy);
+#endif
 
 	if (wsi->role_ops->destroy_role)
 		wsi->role_ops->destroy_role(wsi);
@@ -129,7 +210,8 @@ __lws_free_wsi(struct lws *wsi)
 	if (wsi->context->event_loop_ops->destroy_wsi)
 		wsi->context->event_loop_ops->destroy_wsi(wsi);
 
-	wsi->context->count_wsi_allocated--;
+	lws_vhost_unbind_wsi(wsi);
+
 	lwsl_debug("%s: %p, remaining wsi %d\n", __func__, wsi,
 			wsi->context->count_wsi_allocated);
 
@@ -305,6 +387,15 @@ __lws_set_timer_usecs(struct lws *wsi, lws_usec_t usecs)
 //	lws_dll_dump(&pt->dll_head_hrtimer, "after set_timer_usec");
 }
 
+LWS_VISIBLE lws_usec_t
+lws_now_usecs(void)
+{
+	struct timeval now;
+
+	gettimeofday(&now, NULL);
+	return (now.tv_sec * 1000000ll) + now.tv_usec;
+}
+
 LWS_VISIBLE void
 lws_set_timer_usecs(struct lws *wsi, lws_usec_t usecs)
 {
@@ -348,7 +439,8 @@ __lws_hrtimer_service(struct lws_context_per_thread *pt)
 	if (!pt->dll_head_hrtimer.next)
 		return LWS_HRTIMER_NOWAIT;
 
-	wsi = lws_container_of(pt->dll_head_hrtimer.next, struct lws, dll_hrtimer);
+	wsi = lws_container_of(pt->dll_head_hrtimer.next, struct lws,
+			       dll_hrtimer);
 
 	gettimeofday(&now, NULL);
 	t = (now.tv_sec * 1000000ll) + now.tv_usec;
@@ -367,7 +459,7 @@ __lws_set_timeout(struct lws *wsi, enum pending_timeout reason, int secs)
 
 	time(&now);
 
-	lwsl_debug("%s: %p: %d secs\n", __func__, wsi, secs);
+	lwsl_debug("%s: %p: %d secs (reason %d)\n", __func__, wsi, secs, reason);
 	wsi->pending_timeout_limit = secs;
 	wsi->pending_timeout_set = now;
 	wsi->pending_timeout = reason;
@@ -386,7 +478,8 @@ lws_set_timeout(struct lws *wsi, enum pending_timeout reason, int secs)
 	if (secs == LWS_TO_KILL_SYNC) {
 		lws_remove_from_timeout_list(wsi);
 		lwsl_debug("synchronously killing %p\n", wsi);
-		lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS, "to sync kill");
+		lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS,
+				   "to sync kill");
 		return;
 	}
 
@@ -398,8 +491,10 @@ lws_set_timeout(struct lws *wsi, enum pending_timeout reason, int secs)
 	lws_pt_unlock(pt);
 }
 
+/* requires context + vh lock */
+
 int
-lws_timed_callback_remove(struct lws_vhost *vh, struct lws_timed_vh_protocol *p)
+__lws_timed_callback_remove(struct lws_vhost *vh, struct lws_timed_vh_protocol *p)
 {
 	lws_start_foreach_llp(struct lws_timed_vh_protocol **, pt,
 			      vh->timed_vh_protocol_list) {
@@ -414,9 +509,30 @@ lws_timed_callback_remove(struct lws_vhost *vh, struct lws_timed_vh_protocol *p)
 	return 1;
 }
 
+int
+lws_pthread_self_to_tsi(struct lws_context *context)
+{
+#if LWS_MAX_SMP > 1
+	pthread_t ps = pthread_self();
+	struct lws_context_per_thread *pt = &context->pt[0];
+	int n;
+
+	for (n = 0; n < context->count_threads; n++) {
+		if (pthread_equal(ps, pt->self))
+			return n;
+		pt++;
+	}
+
+	return -1;
+#else
+	return 0;
+#endif
+}
+
 LWS_VISIBLE LWS_EXTERN int
-lws_timed_callback_vh_protocol(struct lws_vhost *vh, const struct lws_protocols *prot,
-			       int reason, int secs)
+lws_timed_callback_vh_protocol(struct lws_vhost *vh,
+			       const struct lws_protocols *prot, int reason,
+			       int secs)
 {
 	struct lws_timed_vh_protocol *p = (struct lws_timed_vh_protocol *)
 			lws_malloc(sizeof(*p), "timed_vh");
@@ -424,17 +540,27 @@ lws_timed_callback_vh_protocol(struct lws_vhost *vh, const struct lws_protocols
 	if (!p)
 		return 1;
 
+	p->tsi_req = lws_pthread_self_to_tsi(vh->context);
+	if (p->tsi_req < 0) /* not called from a service thread --> tsi 0 */
+		p->tsi_req = 0;
+
+	lws_context_lock(vh->context, __func__); /* context ----------------- */
+
 	p->protocol = prot;
 	p->reason = reason;
 	p->time = lws_now_secs() + secs;
-	p->next = vh->timed_vh_protocol_list;
 
+	lws_vhost_lock(vh); /* vhost ---------------------------------------- */
+	p->next = vh->timed_vh_protocol_list;
 	vh->timed_vh_protocol_list = p;
+	lws_vhost_unlock(vh); /* -------------------------------------- vhost */
+
+	lws_context_unlock(vh->context); /* ------------------------- context */
 
 	return 0;
 }
 
-static void
+void
 lws_remove_child_from_any_parent(struct lws *wsi)
 {
 	struct lws **pwsi;
@@ -468,15 +594,17 @@ lws_remove_child_from_any_parent(struct lws *wsi)
 }
 
 int
-lws_bind_protocol(struct lws *wsi, const struct lws_protocols *p)
+lws_bind_protocol(struct lws *wsi, const struct lws_protocols *p,
+		  const char *reason)
 {
 //	if (wsi->protocol == p)
 //		return 0;
 	const struct lws_protocols *vp = wsi->vhost->protocols, *vpo;
 
 	if (wsi->protocol && wsi->protocol_bind_balance) {
-		wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP_DROP_PROTOCOL,
-					wsi->user_space, NULL, 0);
+		wsi->protocol->callback(wsi,
+		       wsi->role_ops->protocol_unbind_cb[!!lwsi_role_server(wsi)],
+					wsi->user_space, (void *)reason, 0);
 		wsi->protocol_bind_balance = 0;
 	}
 	if (!wsi->user_space_externally_allocated)
@@ -512,7 +640,8 @@ lws_bind_protocol(struct lws *wsi, const struct lws_protocols *p)
 				 __func__, p, wsi->vhost->name);
 	}
 
-	if (wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP_BIND_PROTOCOL,
+	if (wsi->protocol->callback(wsi, wsi->role_ops->protocol_bind_cb[
+				    !!lwsi_role_server(wsi)],
 				    wsi->user_space, NULL, 0))
 		return 1;
 
@@ -522,7 +651,8 @@ lws_bind_protocol(struct lws *wsi, const struct lws_protocols *p)
 }
 
 void
-__lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason, const char *caller)
+__lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason,
+		     const char *caller)
 {
 	struct lws_context_per_thread *pt;
 	struct lws *wsi1, *wsi2;
@@ -554,20 +684,21 @@ __lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason, const char *
 		if ((int)reason != -1)
 			lws_vhost_lock(wsi->vhost);
 		lws_start_foreach_dll_safe(struct lws_dll_lws *, d, d1,
-					wsi->dll_client_transaction_queue_head.next) {
+				wsi->dll_client_transaction_queue_head.next) {
 			struct lws *w = lws_container_of(d, struct lws,
-							 dll_client_transaction_queue);
+						dll_client_transaction_queue);
 
 			__lws_close_free_wsi(w, -1, "trans q leader closing");
 		} lws_end_foreach_dll_safe(d, d1);
 
 		/*
-		 * !!! If we are closing, but we have pending pipelined transaction
-		 * results we already sent headers for, that's going to destroy sync
-		 * for HTTP/1 and leave H2 stream with no live swsi.
+		 * !!! If we are closing, but we have pending pipelined
+		 * transaction results we already sent headers for, that's going
+		 * to destroy sync for HTTP/1 and leave H2 stream with no live
+		 * swsi.
 		 *
-		 * However this is normal if we are being closed because the transaction
-		 * queue leader is closing.
+		 * However this is normal if we are being closed because the
+		 * transaction queue leader is closing.
 		 */
 		lws_dll_lws_remove(&wsi->dll_client_transaction_queue);
 		if ((int)reason !=-1)
@@ -583,7 +714,8 @@ __lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason, const char *
 			wsi2->parent = NULL;
 			/* stop it doing shutdown processing */
 			wsi2->socket_is_permanently_unusable = 1;
-			__lws_close_free_wsi(wsi2, reason, "general child recurse");
+			__lws_close_free_wsi(wsi2, reason,
+					     "general child recurse");
 			wsi2 = wsi1;
 		}
 		wsi->child_list = NULL;
@@ -608,7 +740,8 @@ __lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason, const char *
 				lws_cgi_remove_and_kill(wsi->parent);
 
 			/* end the binding between us and master */
-			wsi->parent->http.cgi->stdwsi[(int)wsi->cgi_channel] = NULL;
+			wsi->parent->http.cgi->stdwsi[(int)wsi->cgi_channel] =
+									NULL;
 		}
 		wsi->socket_is_permanently_unusable = 1;
 
@@ -652,14 +785,24 @@ __lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason, const char *
 		goto just_kill_connection;
 
 	case LRS_FLUSHING_BEFORE_CLOSE:
-		if (wsi->trunc_len) {
+		if (lws_has_buffered_out(wsi)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+		    || wsi->http.comp_ctx.buflist_comp ||
+		    wsi->http.comp_ctx.may_have_more
+#endif
+		 ) {
 			lws_callback_on_writable(wsi);
 			return;
 		}
 		lwsl_info("%p: end LRS_FLUSHING_BEFORE_CLOSE\n", wsi);
 		goto just_kill_connection;
 	default:
-		if (wsi->trunc_len) {
+		if (lws_has_buffered_out(wsi)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+				|| wsi->http.comp_ctx.buflist_comp ||
+		    wsi->http.comp_ctx.may_have_more
+#endif
+		) {
 			lwsl_info("%p: LRS_FLUSHING_BEFORE_CLOSE\n", wsi);
 			lwsi_set_state(wsi, LRS_FLUSHING_BEFORE_CLOSE);
 			__lws_set_timeout(wsi,
@@ -673,15 +816,13 @@ __lws_close_free_wsi(struct lws *wsi, enum lws_close_status reason, const char *
 	    lwsi_state(wsi) == LRS_H1C_ISSUE_HANDSHAKE)
 		goto just_kill_connection;
 
-	if (!wsi->told_user_closed && lwsi_role_http(wsi) &&
-	    lwsi_role_server(wsi)) {
-		if (wsi->user_space && wsi->protocol &&
-		    wsi->protocol_bind_balance) {
-			wsi->protocol->callback(wsi,
-						LWS_CALLBACK_HTTP_DROP_PROTOCOL,
-					       wsi->user_space, NULL, 0);
-			wsi->protocol_bind_balance = 0;
-		}
+	if (!wsi->told_user_closed && wsi->user_space && wsi->protocol &&
+	    wsi->protocol_bind_balance) {
+		wsi->protocol->callback(wsi,
+				wsi->role_ops->protocol_unbind_cb[
+				       !!lwsi_role_server(wsi)],
+				       wsi->user_space, (void *)__func__, 0);
+		wsi->protocol_bind_balance = 0;
 	}
 
 	/*
@@ -712,8 +853,10 @@ just_kill_connection:
 	    wsi->protocol_bind_balance) {
 		lwsl_debug("%s: %p: DROP_PROTOCOL %s\n", __func__, wsi,
 		       wsi->protocol->name);
-		wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP_DROP_PROTOCOL,
-				        wsi->user_space, NULL, 0);
+		wsi->protocol->callback(wsi,
+				wsi->role_ops->protocol_unbind_cb[
+				       !!lwsi_role_server(wsi)],
+				       wsi->user_space, (void *)__func__, 0);
 		wsi->protocol_bind_balance = 0;
 	}
 
@@ -750,7 +893,7 @@ just_kill_connection:
 	} else
 #endif
 		{
-			lwsl_info("%s: shutdown conn: %p (sock %d, state 0x%x)\n",
+			lwsl_info("%s: shutdown conn: %p (sk %d, state 0x%x)\n",
 				  __func__, wsi, (int)(long)wsi->desc.sockfd,
 				  lwsi_state(wsi));
 			if (!wsi->socket_is_permanently_unusable &&
@@ -786,12 +929,16 @@ just_kill_connection:
 	lwsl_debug("%s: real just_kill_connection: %p (sockfd %d)\n", __func__,
 		   wsi, wsi->desc.sockfd);
 	
-#ifdef LWS_WITH_HTTP_PROXY
+#ifdef LWS_WITH_HUBBUB
 	if (wsi->http.rw) {
 		lws_rewrite_destroy(wsi->http.rw);
 		wsi->http.rw = NULL;
 	}
 #endif
+
+	if (wsi->http.pending_return_headers)
+		lws_free_set_NULL(wsi->http.pending_return_headers);
+
 	/*
 	 * we won't be servicing or receiving anything further from this guy
 	 * delete socket from the internal poll list if still present
@@ -808,7 +955,7 @@ just_kill_connection:
 	if (wsi->desc.sockfd != LWS_SOCK_INVALID)
 		__remove_wsi_socket_from_fds(wsi);
 	else
-		lws_same_vh_protocol_remove(wsi);
+		__lws_same_vh_protocol_remove(wsi);
 
 	lwsi_set_state(wsi, LRS_DEAD_SOCKET);
 	lws_buflist_destroy_all_segments(&wsi->buflist);
@@ -819,14 +966,24 @@ just_kill_connection:
 
 	/* tell the user it's all over for this guy */
 
-	if (lwsi_state_est_PRE_CLOSE(wsi) && !wsi->told_user_closed &&
+	if ((lwsi_state_est_PRE_CLOSE(wsi) ||
+	     lwsi_state_PRE_CLOSE(wsi) == LRS_WAITING_SERVER_REPLY) &&
+	    !wsi->told_user_closed &&
 	    wsi->role_ops->close_cb[lwsi_role_server(wsi)]) {
 		const struct lws_protocols *pro = wsi->protocol;
 
 		if (!wsi->protocol)
 			pro = &wsi->vhost->protocols[0];
 
-		pro->callback(wsi,
+		if (!wsi->upgraded_to_http2 || !lwsi_role_client(wsi))
+			/*
+			 * The network wsi for a client h2 connection shouldn't
+			 * call back for its role: the child stream connections
+			 * own the role.  Otherwise h2 will call back closed
+			 * one too many times as the children do it and then
+			 * the closing network stream.
+			 */
+			pro->callback(wsi,
 			      wsi->role_ops->close_cb[lwsi_role_server(wsi)],
 			      wsi->user_space, NULL, 0);
 		wsi->told_user_closed = 1;
@@ -847,7 +1004,9 @@ __lws_close_free_wsi_final(struct lws *wsi)
 {
 	int n;
 
-	if (lws_socket_is_valid(wsi->desc.sockfd) && !lws_ssl_close(wsi)) {
+	if (!wsi->shadow &&
+	    lws_socket_is_valid(wsi->desc.sockfd) && !lws_ssl_close(wsi)) {
+		lwsl_debug("%s: wsi %p: fd %d\n", __func__, wsi, wsi->desc.sockfd);
 		n = compatible_close(wsi->desc.sockfd);
 		if (n)
 			lwsl_debug("closing: close ret %d\n", LWS_ERRNO);
@@ -914,8 +1073,7 @@ lws_buflist_append_segment(struct lws_buflist **head, const uint8_t *buf,
 
 	lwsl_info("%s: len %u first %d %p\n", __func__, (uint32_t)len, first, p);
 
-	nbuf = (struct lws_buflist *)
-			lws_malloc(sizeof(**head) + len, __func__);
+	nbuf = (struct lws_buflist *)lws_malloc(sizeof(**head) + len, __func__);
 	if (!nbuf) {
 		lwsl_err("%s: OOM\n", __func__);
 		return -1;
@@ -1149,9 +1307,6 @@ lws_get_peer_simple(struct lws *wsi, char *name, int namelen)
 
 	wsi = lws_get_network_wsi(wsi);
 
-	if (wsi->parent_carries_io)
-		wsi = wsi->parent;
-
 #ifdef LWS_WITH_IPV6
 	if (LWS_IPV6_ENABLED(wsi->vhost)) {
 		len = sizeof(sin6);
@@ -1268,7 +1423,11 @@ lws_get_network_wsi(struct lws *wsi)
 		return NULL;
 
 #if defined(LWS_WITH_HTTP2)
-	if (!wsi->http2_substream && !wsi->client_h2_substream)
+	if (!wsi->http2_substream
+#if !defined(LWS_NO_CLIENT)
+			&& !wsi->client_h2_substream
+#endif
+	)
 		return wsi;
 
 	while (wsi->h2.parent_wsi)
@@ -1366,7 +1525,7 @@ lws_callback_vhost_protocols_vhost(struct lws_vhost *vh, int reason, void *in,
 	struct lws *wsi = lws_zalloc(sizeof(*wsi), "fake wsi");
 
 	wsi->context = vh->context;
-	wsi->vhost = vh;
+	lws_vhost_bind_wsi(vh, wsi);
 
 	for (n = 0; n < wsi->vhost->count_protocols; n++) {
 		wsi->protocol = &vh->protocols[n];
@@ -1453,11 +1612,11 @@ lws_vfs_select_fops(const struct lws_plat_file_ops *fops, const char *vfs_path,
 		pf = fops->next;
 		while (pf) {
 			n = 0;
-			while (n < (int)ARRAY_SIZE(pf->fi) && pf->fi[n].sig) {
+			while (n < (int)LWS_ARRAY_SIZE(pf->fi) && pf->fi[n].sig) {
 				if (p >= vfs_path + pf->fi[n].len)
 					if (!strncmp(p - (pf->fi[n].len - 1),
-						    pf->fi[n].sig,
-						    pf->fi[n].len - 1)) {
+						     pf->fi[n].sig,
+						     pf->fi[n].len - 1)) {
 						*vpath = p + 1;
 						return pf;
 					}
@@ -1527,7 +1686,7 @@ lws_latency(struct lws_context *context, struct lws *wsi, const char *action,
 	unsigned long long u;
 	char buf[256];
 
-	u = time_in_microseconds();
+	u = lws_time_in_microseconds();
 
 	if (!action) {
 		wsi->latency_start = u;
@@ -1595,7 +1754,8 @@ lws_rx_flow_control(struct lws *wsi, int _enable)
 	    wsi->rxflow_change_to)
 		goto skip;
 
-	wsi->rxflow_change_to = LWS_RXFLOW_PENDING_CHANGE | !wsi->rxflow_bitmap;
+	wsi->rxflow_change_to = LWS_RXFLOW_PENDING_CHANGE |
+				(!wsi->rxflow_bitmap);
 
 	lwsl_info("%s: %p: bitmap 0x%x: en 0x%x, ch 0x%x\n", __func__, wsi,
 		  wsi->rxflow_bitmap, en, wsi->rxflow_change_to);
@@ -1646,7 +1806,7 @@ lws_broadcast(struct lws_context *context, int reason, void *in, size_t len)
 
 	while (v) {
 		const struct lws_protocols *p = v->protocols;
-		wsi.vhost = v;
+		wsi.vhost = v; /* not a real bound wsi */
 
 		for (n = 0; n < v->count_protocols; n++) {
 			wsi.protocol = p;
@@ -1736,7 +1896,9 @@ lws_set_proxy(struct lws_vhost *vhost, const char *proxy)
 
 		lwsl_info(" Proxy auth in use\n");
 
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 		proxy = p + 1;
+#endif
 	} else
 		vhost->proxy_basic_auth_token[0] = '\0';
 
@@ -1883,7 +2045,9 @@ LWS_VISIBLE int
 lwsl_timestamp(int level, char *p, int len)
 {
 #ifndef LWS_PLAT_OPTEE
+#ifndef _WIN32_WCE
 	time_t o_now = time(NULL);
+#endif
 	unsigned long long now;
 	struct tm *ptm = NULL;
 #ifndef WIN32
@@ -1903,7 +2067,7 @@ lwsl_timestamp(int level, char *p, int len)
 	for (n = 0; n < LLL_COUNT; n++) {
 		if (level != (1 << n))
 			continue;
-		now = time_in_microseconds() / 100;
+		now = lws_time_in_microseconds() / 100;
 		if (ptm)
 			n = lws_snprintf(p, len,
 				"[%04d/%02d/%02d %02d:%02d:%02d:%04d] %s: ",
@@ -1935,25 +2099,28 @@ static const char * const colours[] = {
 	"[32;1m", /* LLL_INFO */
 	"[34;1m", /* LLL_DEBUG */
 	"[33;1m", /* LLL_PARSER */
-	"[33;1m", /* LLL_HEADER */
-	"[33;1m", /* LLL_EXT */
-	"[33;1m", /* LLL_CLIENT */
+	"[33m", /* LLL_HEADER */
+	"[33m", /* LLL_EXT */
+	"[33m", /* LLL_CLIENT */
 	"[33;1m", /* LLL_LATENCY */
 	"[30;1m", /* LLL_USER */
+	"[31m", /* LLL_THREAD */
 };
 
-LWS_VISIBLE void lwsl_emit_stderr(int level, const char *line)
+static char tty;
+
+LWS_VISIBLE void
+lwsl_emit_stderr(int level, const char *line)
 {
 	char buf[50];
-	static char tty = 3;
-	int n, m = ARRAY_SIZE(colours) - 1;
+	int n, m = LWS_ARRAY_SIZE(colours) - 1;
 
 	if (!tty)
 		tty = isatty(2) | 2;
 	lwsl_timestamp(level, buf, sizeof(buf));
 
 	if (tty == 3) {
-		n = 1 << (ARRAY_SIZE(colours) - 1);
+		n = 1 << (LWS_ARRAY_SIZE(colours) - 1);
 		while (n) {
 			if (level & n)
 				break;
@@ -1964,6 +2131,28 @@ LWS_VISIBLE void lwsl_emit_stderr(int level, const char *line)
 	} else
 		fprintf(stderr, "%s%s", buf, line);
 }
+
+LWS_VISIBLE void
+lwsl_emit_stderr_notimestamp(int level, const char *line)
+{
+	int n, m = LWS_ARRAY_SIZE(colours) - 1;
+
+	if (!tty)
+		tty = isatty(2) | 2;
+
+	if (tty == 3) {
+		n = 1 << (LWS_ARRAY_SIZE(colours) - 1);
+		while (n) {
+			if (level & n)
+				break;
+			m--;
+			n >>= 1;
+		}
+		fprintf(stderr, "%c%s%s%c[0m", 27, colours[m], line, 27);
+	} else
+		fprintf(stderr, "%s", line);
+}
+
 #endif
 
 LWS_VISIBLE void _lws_logv(int filter, const char *format, va_list vl)
@@ -1977,8 +2166,14 @@ LWS_VISIBLE void _lws_logv(int filter, const char *format, va_list vl)
 	n = vsnprintf(buf, sizeof(buf) - 1, format, vl);
 	(void)n;
 	/* vnsprintf returns what it would have written, even if truncated */
-	if (n > (int)sizeof(buf) - 1)
-		n = sizeof(buf) - 1;
+	if (n > (int)sizeof(buf) - 1) {
+		n = sizeof(buf) - 5;
+		buf[n++] = '.';
+		buf[n++] = '.';
+		buf[n++] = '.';
+		buf[n++] = '\n';
+		buf[n] = '\0';
+	}
 	if (n > 0)
 		buf[n] = '\0';
 
@@ -2011,9 +2206,7 @@ LWS_VISIBLE void
 lwsl_hexdump_level(int hexdump_level, const void *vbuf, size_t len)
 {
 	unsigned char *buf = (unsigned char *)vbuf;
-	unsigned int n, m, start;
-	char line[80];
-	char *p;
+	unsigned int n;
 
 	if (!lwsl_visible(hexdump_level))
 		return;
@@ -2027,8 +2220,8 @@ lwsl_hexdump_level(int hexdump_level, const void *vbuf, size_t len)
 	_lws_log(hexdump_level, "\n");
 
 	for (n = 0; n < len;) {
-		start = n;
-		p = line;
+		unsigned int start = n, m;
+		char line[80], *p = line;
 
 		p += sprintf(p, "%04X: ", start);
 
@@ -2060,7 +2253,9 @@ lwsl_hexdump_level(int hexdump_level, const void *vbuf, size_t len)
 LWS_VISIBLE void
 lwsl_hexdump(const void *vbuf, size_t len)
 {
+#if defined(_DEBUG)
 	lwsl_hexdump_level(LLL_DEBUG, vbuf, len);
+#endif
 }
 
 LWS_VISIBLE int
@@ -2085,18 +2280,20 @@ lws_get_ssl(struct lws *wsi)
 LWS_VISIBLE int
 lws_partial_buffered(struct lws *wsi)
 {
-	return !!wsi->trunc_len;
+	return lws_has_buffered_out(wsi);
 }
 
 LWS_VISIBLE lws_fileofs_t
 lws_get_peer_write_allowance(struct lws *wsi)
 {
+	if (!wsi->role_ops->tx_credit)
+		return -1;
 	return wsi->role_ops->tx_credit(wsi);
 }
 
 LWS_VISIBLE void
 lws_role_transition(struct lws *wsi, enum lwsi_role role, enum lwsi_state state,
-		struct lws_role_ops *ops)
+		    struct lws_role_ops *ops)
 {
 #if defined(_DEBUG)
 	const char *name = "(unset)";
@@ -2158,12 +2355,6 @@ lws_get_child(const struct lws *wsi)
 	return wsi->child_list;
 }
 
-LWS_VISIBLE LWS_EXTERN void
-lws_set_parent_carries_io(struct lws *wsi)
-{
-	wsi->parent_carries_io = 1;
-}
-
 LWS_VISIBLE LWS_EXTERN void *
 lws_get_opaque_parent_data(const struct lws *wsi)
 {
@@ -2223,7 +2414,7 @@ __lws_rx_flow_control(struct lws *wsi)
 	wsi->rxflow_change_to &= ~LWS_RXFLOW_PENDING_CHANGE;
 
 	lwsl_info("rxflow: wsi %p change_to %d\n", wsi,
-			      wsi->rxflow_change_to & LWS_RXFLOW_ALLOW);
+		  wsi->rxflow_change_to & LWS_RXFLOW_ALLOW);
 
 	/* adjust the pollfd for this wsi */
 
@@ -2239,36 +2430,60 @@ __lws_rx_flow_control(struct lws *wsi)
 	return 0;
 }
 
+static const unsigned char e0f4[] = {
+	0xa0 | ((2 - 1) << 2) | 1, /* e0 */
+	0x80 | ((4 - 1) << 2) | 1, /* e1 */
+	0x80 | ((4 - 1) << 2) | 1, /* e2 */
+	0x80 | ((4 - 1) << 2) | 1, /* e3 */
+	0x80 | ((4 - 1) << 2) | 1, /* e4 */
+	0x80 | ((4 - 1) << 2) | 1, /* e5 */
+	0x80 | ((4 - 1) << 2) | 1, /* e6 */
+	0x80 | ((4 - 1) << 2) | 1, /* e7 */
+	0x80 | ((4 - 1) << 2) | 1, /* e8 */
+	0x80 | ((4 - 1) << 2) | 1, /* e9 */
+	0x80 | ((4 - 1) << 2) | 1, /* ea */
+	0x80 | ((4 - 1) << 2) | 1, /* eb */
+	0x80 | ((4 - 1) << 2) | 1, /* ec */
+	0x80 | ((2 - 1) << 2) | 1, /* ed */
+	0x80 | ((4 - 1) << 2) | 1, /* ee */
+	0x80 | ((4 - 1) << 2) | 1, /* ef */
+	0x90 | ((3 - 1) << 2) | 2, /* f0 */
+	0x80 | ((4 - 1) << 2) | 2, /* f1 */
+	0x80 | ((4 - 1) << 2) | 2, /* f2 */
+	0x80 | ((4 - 1) << 2) | 2, /* f3 */
+	0x80 | ((1 - 1) << 2) | 2, /* f4 */
+
+	0,			   /* s0 */
+	0x80 | ((4 - 1) << 2) | 0, /* s2 */
+	0x80 | ((4 - 1) << 2) | 1, /* s3 */
+};
+
+LWS_EXTERN int
+lws_check_byte_utf8(unsigned char state, unsigned char c)
+{
+	unsigned char s = state;
+
+	if (!s) {
+		if (c >= 0x80) {
+			if (c < 0xc2 || c > 0xf4)
+				return -1;
+			if (c < 0xe0)
+				return 0x80 | ((4 - 1) << 2);
+			else
+				return e0f4[c - 0xe0];
+		}
+
+		return s;
+	}
+	if (c < (s & 0xf0) || c >= (s & 0xf0) + 0x10 + ((s << 2) & 0x30))
+		return -1;
+
+	return e0f4[21 + (s & 3)];
+}
+
 LWS_EXTERN int
 lws_check_utf8(unsigned char *state, unsigned char *buf, size_t len)
 {
-	static const unsigned char e0f4[] = {
-		0xa0 | ((2 - 1) << 2) | 1, /* e0 */
-		0x80 | ((4 - 1) << 2) | 1, /* e1 */
-		0x80 | ((4 - 1) << 2) | 1, /* e2 */
-		0x80 | ((4 - 1) << 2) | 1, /* e3 */
-		0x80 | ((4 - 1) << 2) | 1, /* e4 */
-		0x80 | ((4 - 1) << 2) | 1, /* e5 */
-		0x80 | ((4 - 1) << 2) | 1, /* e6 */
-		0x80 | ((4 - 1) << 2) | 1, /* e7 */
-		0x80 | ((4 - 1) << 2) | 1, /* e8 */
-		0x80 | ((4 - 1) << 2) | 1, /* e9 */
-		0x80 | ((4 - 1) << 2) | 1, /* ea */
-		0x80 | ((4 - 1) << 2) | 1, /* eb */
-		0x80 | ((4 - 1) << 2) | 1, /* ec */
-		0x80 | ((2 - 1) << 2) | 1, /* ed */
-		0x80 | ((4 - 1) << 2) | 1, /* ee */
-		0x80 | ((4 - 1) << 2) | 1, /* ef */
-		0x90 | ((3 - 1) << 2) | 2, /* f0 */
-		0x80 | ((4 - 1) << 2) | 2, /* f1 */
-		0x80 | ((4 - 1) << 2) | 2, /* f2 */
-		0x80 | ((4 - 1) << 2) | 2, /* f3 */
-		0x80 | ((1 - 1) << 2) | 2, /* f4 */
-
-		0,			   /* s0 */
-		0x80 | ((4 - 1) << 2) | 0, /* s2 */
-		0x80 | ((4 - 1) << 2) | 1, /* s3 */
-	};
 	unsigned char s = *state;
 
 	while (len--) {
@@ -2301,7 +2516,7 @@ lws_parse_uri(char *p, const char **prot, const char **ads, int *port,
 	      const char **path)
 {
 	const char *end;
-	static const char *slash = "/";
+	char unix_skt = 0;
 
 	/* cut up the location into address, port and path */
 	*prot = p;
@@ -2315,32 +2530,32 @@ lws_parse_uri(char *p, const char **prot, const char **ads, int *port,
 		*p = '\0';
 		p += 3;
 	}
+	if (*p == '+') /* unix skt */
+		unix_skt = 1;
+
 	*ads = p;
 	if (!strcmp(*prot, "http") || !strcmp(*prot, "ws"))
 		*port = 80;
 	else if (!strcmp(*prot, "https") || !strcmp(*prot, "wss"))
 		*port = 443;
 
-       if (*p == '[')
-       {
-               ++(*ads);
-               while (*p && *p != ']')
-                       p++;
-               if (*p)
-                       *p++ = '\0';
-       }
-       else
-       {
-               while (*p && *p != ':' && *p != '/')
-                       p++;
-       }
+	if (*p == '[') {
+		++(*ads);
+		while (*p && *p != ']')
+			p++;
+		if (*p)
+			*p++ = '\0';
+	} else
+		while (*p && *p != ':' && (unix_skt || *p != '/'))
+			p++;
+
 	if (*p == ':') {
 		*p++ = '\0';
 		*port = atoi(p);
 		while (*p && *p != '/')
 			p++;
 	}
-	*path = slash;
+	*path = "/";
 	if (*p) {
 		*p++ = '\0';
 		if (*p)
@@ -2350,6 +2565,17 @@ lws_parse_uri(char *p, const char **prot, const char **ads, int *port,
 	return 0;
 }
 
+char *
+lws_strdup(const char *s)
+{
+	char *d = lws_malloc(strlen(s) + 1, "strdup");
+
+	if (d)
+		strcpy(d, s);
+
+	return d;
+}
+
 #if defined(LWS_WITHOUT_EXTENSIONS)
 
 /* we need to provide dummy callbacks for internal exts
@@ -2383,6 +2609,14 @@ lws_set_extension_option(struct lws *wsi, const char *ext_name,
 }
 #endif
 
+/* note: this returns a random port, or one of these <= 0 return codes:
+ *
+ * LWS_ITOSA_USABLE:     the interface is usable, returned if so and sockfd invalid
+ * LWS_ITOSA_NOT_EXIST:  the requested iface does not even exist
+ * LWS_ITOSA_NOT_USABLE: the requested iface exists but is not usable (eg, no IP)
+ * LWS_ITOSA_BUSY:       the port at the requested iface + port is already in use
+ */
+
 LWS_EXTERN int
 lws_socket_bind(struct lws_vhost *vhost, lws_sockfd_type sockfd, int port,
 		const char *iface)
@@ -2404,22 +2638,26 @@ lws_socket_bind(struct lws_vhost *vhost, lws_sockfd_type sockfd, int port,
 	struct sockaddr_storage sin;
 	struct sockaddr *v;
 
-#ifdef LWS_WITH_UNIX_SOCK
+	memset(&sin, 0, sizeof(sin));
+
+#if defined(LWS_WITH_UNIX_SOCK)
 	if (LWS_UNIX_SOCK_ENABLED(vhost)) {
 		v = (struct sockaddr *)&serv_unix;
 		n = sizeof(struct sockaddr_un);
 		bzero((char *) &serv_unix, sizeof(serv_unix));
 		serv_unix.sun_family = AF_UNIX;
 		if (!iface)
-			return -1;
+			return LWS_ITOSA_NOT_EXIST;
 		if (sizeof(serv_unix.sun_path) <= strlen(iface)) {
 			lwsl_err("\"%s\" too long for UNIX domain socket\n",
 			         iface);
-			return -1;
+			return LWS_ITOSA_NOT_EXIST;
 		}
 		strcpy(serv_unix.sun_path, iface);
 		if (serv_unix.sun_path[0] == '@')
 			serv_unix.sun_path[0] = '\0';
+		else
+			unlink(serv_unix.sun_path);
 
 	} else
 #endif
@@ -2454,8 +2692,8 @@ lws_socket_bind(struct lws_vhost *vhost, lws_sockfd_type sockfd, int port,
 		bzero((char *) &serv_addr4, sizeof(serv_addr4));
 		serv_addr4.sin_addr.s_addr = INADDR_ANY;
 		serv_addr4.sin_family = AF_INET;
-#if !defined(LWS_WITH_ESP32)
 
+#if !defined(LWS_WITH_ESP32)
 		if (iface) {
 		    m = interface_to_sa(vhost, iface,
 				    (struct sockaddr_in *)v, n);
@@ -2476,22 +2714,38 @@ lws_socket_bind(struct lws_vhost *vhost, lws_sockfd_type sockfd, int port,
 
 	/* just checking for the interface extant */
 	if (sockfd == LWS_SOCK_INVALID)
-		return 0;
+		return LWS_ITOSA_USABLE;
 
 	n = bind(sockfd, v, n);
 #ifdef LWS_WITH_UNIX_SOCK
 	if (n < 0 && LWS_UNIX_SOCK_ENABLED(vhost)) {
 		lwsl_err("ERROR on binding fd %d to \"%s\" (%d %d)\n",
-				sockfd, iface, n, LWS_ERRNO);
-		return -1;
+			 sockfd, iface, n, LWS_ERRNO);
+		return LWS_ITOSA_NOT_EXIST;
 	} else
 #endif
 	if (n < 0) {
 		lwsl_err("ERROR on binding fd %d to port %d (%d %d)\n",
-				sockfd, port, n, LWS_ERRNO);
-		return -1;
+			 sockfd, port, n, LWS_ERRNO);
+
+		/* if something already listening, tell caller to fail permanently */
+
+		if (LWS_ERRNO == LWS_EADDRINUSE)
+			return LWS_ITOSA_BUSY;
+
+		/* otherwise ask caller to retry later */
+
+		return LWS_ITOSA_NOT_EXIST;
 	}
 
+#if defined(LWS_WITH_UNIX_SOCK)
+	if (LWS_UNIX_SOCK_ENABLED(vhost) && vhost->context->uid)
+		if (chown(serv_unix.sun_path, vhost->context->uid,
+			  vhost->context->gid))
+			lwsl_notice("%s: chown for unix skt %s failed\n",
+				    __func__, serv_unix.sun_path);
+#endif
+
 #ifndef LWS_PLAT_OPTEE
 	if (getsockname(sockfd, (struct sockaddr *)&sin, &len) == -1)
 		lwsl_warn("getsockname: %s\n", strerror(LWS_ERRNO));
@@ -2566,7 +2820,7 @@ lws_get_addr_scope(const char *ipaddr)
 	for (i = 0; i < 5; i++)
 	{
 		ret = GetAdaptersAddresses(AF_INET6, GAA_FLAG_INCLUDE_PREFIX,
-				NULL, addrs, &size);
+					   NULL, addrs, &size);
 		if ((ret == NO_ERROR) || (ret == ERROR_NO_DATA)) {
 			break;
 		} else if (ret == ERROR_BUFFER_OVERFLOW)
@@ -2619,73 +2873,6 @@ lws_get_addr_scope(const char *ipaddr)
 }
 #endif
 
-#if !defined(LWS_NO_SERVER)
-
-LWS_EXTERN struct lws *
-lws_create_adopt_udp(struct lws_vhost *vhost, int port, int flags,
-		     const char *protocol_name, struct lws *parent_wsi)
-{
-	lws_sock_file_fd_type sock;
-	struct addrinfo h, *r, *rp;
-	struct lws *wsi = NULL;
-	char buf[16];
-	int n;
-
-	memset(&h, 0, sizeof(h));
-	h.ai_family = AF_UNSPEC;    /* Allow IPv4 or IPv6 */
-	h.ai_socktype = SOCK_DGRAM;
-	h.ai_protocol = IPPROTO_UDP;
-	h.ai_flags = AI_PASSIVE | AI_ADDRCONFIG;
-
-	lws_snprintf(buf, sizeof(buf), "%u", port);
-	n = getaddrinfo(NULL, buf, &h, &r);
-	if (n) {
-		lwsl_info("%s: getaddrinfo error: %s\n", __func__,
-			  gai_strerror(n));
-		goto bail;
-	}
-
-	for (rp = r; rp; rp = rp->ai_next) {
-		sock.sockfd = socket(rp->ai_family, rp->ai_socktype,
-				     rp->ai_protocol);
-		if (sock.sockfd >= 0)
-			break;
-	}
-	if (!rp) {
-		lwsl_err("%s: unable to create INET socket\n", __func__);
-		goto bail1;
-	}
-
-	if ((flags & LWS_CAUDP_BIND) && bind(sock.sockfd, rp->ai_addr,
-#if defined(_WIN32)
-			    (int)rp->ai_addrlen
-#else
-			    rp->ai_addrlen
-#endif
-	   ) == -1) {
-		lwsl_err("%s: bind failed\n", __func__);
-		goto bail2;
-	}
-
-	wsi = lws_adopt_descriptor_vhost(vhost, LWS_ADOPT_RAW_SOCKET_UDP, sock,
-				        protocol_name, parent_wsi);
-	if (!wsi)
-		lwsl_err("%s: udp adoption failed\n", __func__);
-
-bail2:
-	if (!wsi)
-		close((int)sock.sockfd);
-bail1:
-	freeaddrinfo(r);
-
-bail:
-	return wsi;
-}
-
-#endif
-
-
-
 static const char *hex = "0123456789ABCDEF";
 
 LWS_VISIBLE LWS_EXTERN const char *
@@ -2720,6 +2907,27 @@ lws_json_purify(char *escaped, const char *string, int len)
 	}
 
 	while (*p && len-- > 6) {
+		if (*p == '\t') {
+			p++;
+			*q++ = '\\';
+			*q++ = 't';
+			continue;
+		}
+
+		if (*p == '\n') {
+			p++;
+			*q++ = '\\';
+			*q++ = 'n';
+			continue;
+		}
+
+		if (*p == '\r') {
+			p++;
+			*q++ = '\\';
+			*q++ = 'r';
+			continue;
+		}
+
 		if (*p == '\"' || *p == '\\' || *p < 0x20) {
 			*q++ = '\\';
 			*q++ = 'u';
@@ -2856,6 +3064,13 @@ lws_finalize_startup(struct lws_context *context)
 	return 0;
 }
 
+LWS_VISIBLE LWS_EXTERN void
+lws_get_effective_uid_gid(struct lws_context *context, int *uid, int *gid)
+{
+	*uid = context->uid;
+	*gid = context->gid;
+}
+
 int
 lws_snprintf(char *str, size_t size, const char *format, ...)
 {
@@ -2885,6 +3100,316 @@ lws_strncpy(char *dest, const char *src, size_t size)
 }
 
 
+typedef enum {
+	LWS_TOKZS_LEADING_WHITESPACE,
+	LWS_TOKZS_QUOTED_STRING,
+	LWS_TOKZS_TOKEN,
+	LWS_TOKZS_TOKEN_POST_TERMINAL
+} lws_tokenize_state;
+
+int
+lws_tokenize(struct lws_tokenize *ts)
+{
+	const char *rfc7230_delims = "(),/:;<=>?@[\\]{}";
+	lws_tokenize_state state = LWS_TOKZS_LEADING_WHITESPACE;
+	char c, flo = 0, d_minus = '-', d_dot = '.', s_minus = '\0',
+	     s_dot = '\0';
+	signed char num = -1;
+	int utf8 = 0;
+
+	/* for speed, compute the effect of the flags outside the loop */
+
+	if (ts->flags & LWS_TOKENIZE_F_MINUS_NONTERM) {
+		d_minus = '\0';
+		s_minus = '-';
+	}
+	if (ts->flags & LWS_TOKENIZE_F_DOT_NONTERM) {
+		d_dot = '\0';
+		s_dot = '.';
+	}
+
+	ts->token = NULL;
+	ts->token_len = 0;
+
+	while (ts->len) {
+		c = *ts->start++;
+		ts->len--;
+
+		utf8 = lws_check_byte_utf8((unsigned char)utf8, c);
+		if (utf8 < 0)
+			return LWS_TOKZE_ERR_BROKEN_UTF8;
+
+		if (!c)
+			break;
+
+		/* whitespace */
+
+		if (c == ' ' || c == '\t' || c == '\n' || c == '\r' ||
+		    c == '\f') {
+			switch (state) {
+			case LWS_TOKZS_LEADING_WHITESPACE:
+			case LWS_TOKZS_TOKEN_POST_TERMINAL:
+				continue;
+			case LWS_TOKZS_QUOTED_STRING:
+				ts->token_len++;
+				continue;
+			case LWS_TOKZS_TOKEN:
+				/* we want to scan forward to look for = */
+
+				state = LWS_TOKZS_TOKEN_POST_TERMINAL;
+				continue;
+			}
+		}
+
+		/* quoted string */
+
+		if (c == '\"') {
+			if (state == LWS_TOKZS_QUOTED_STRING)
+				return LWS_TOKZE_QUOTED_STRING;
+
+			/* starting a quoted string */
+
+			if (ts->flags & LWS_TOKENIZE_F_COMMA_SEP_LIST) {
+				if (ts->delim == LWSTZ_DT_NEED_DELIM)
+					return LWS_TOKZE_ERR_COMMA_LIST;
+				ts->delim = LWSTZ_DT_NEED_DELIM;
+			}
+
+			state = LWS_TOKZS_QUOTED_STRING;
+			ts->token = ts->start;
+			ts->token_len = 0;
+
+			continue;
+		}
+
+		/* token= aggregation */
+
+		if (c == '=' && (state == LWS_TOKZS_TOKEN_POST_TERMINAL ||
+				 state == LWS_TOKZS_TOKEN)) {
+			if (num == 1)
+				return LWS_TOKZE_ERR_NUM_ON_LHS;
+			/* swallow the = */
+			return LWS_TOKZE_TOKEN_NAME_EQUALS;
+		}
+
+		/* optional token: aggregation */
+
+		if ((ts->flags & LWS_TOKENIZE_F_AGG_COLON) && c == ':' &&
+		    (state == LWS_TOKZS_TOKEN_POST_TERMINAL ||
+		     state == LWS_TOKZS_TOKEN))
+			/* swallow the : */
+			return LWS_TOKZE_TOKEN_NAME_COLON;
+
+		/* aggregate . in a number as a float */
+
+		if (c == '.' && !(ts->flags & LWS_TOKENIZE_F_NO_FLOATS) &&
+		    state == LWS_TOKZS_TOKEN && num == 1) {
+			if (flo)
+				return LWS_TOKZE_ERR_MALFORMED_FLOAT;
+			flo = 1;
+			ts->token_len++;
+			continue;
+		}
+
+		/*
+		 * Delimiter... by default anything that:
+		 *
+		 *  - isn't matched earlier, or
+		 *  - is [A-Z, a-z, 0-9, _], and
+		 *  - is not a partial utf8 char
+		 *
+		 * is a "delimiter", it marks the end of a token and is itself
+		 * reported as a single LWS_TOKZE_DELIMITER each time.
+		 *
+		 * However with LWS_TOKENIZE_F_RFC7230_DELIMS flag, tokens may
+		 * contain any noncontrol character that isn't defined in
+		 * rfc7230_delims, and only characters listed there are treated
+		 * as delimiters.
+		 */
+
+		if (!utf8 &&
+		     ((ts->flags & LWS_TOKENIZE_F_RFC7230_DELIMS &&
+		     strchr(rfc7230_delims, c) && c > 32) ||
+		    ((!(ts->flags & LWS_TOKENIZE_F_RFC7230_DELIMS) &&
+		     (c < '0' || c > '9') && (c < 'A' || c > 'Z') &&
+		     (c < 'a' || c > 'z') && c != '_') &&
+		     c != s_minus && c != s_dot) ||
+		    c == d_minus || c == d_dot
+		    )) {
+			switch (state) {
+			case LWS_TOKZS_LEADING_WHITESPACE:
+				if (ts->flags & LWS_TOKENIZE_F_COMMA_SEP_LIST) {
+					if (c != ',' ||
+					    ts->delim != LWSTZ_DT_NEED_DELIM)
+						return LWS_TOKZE_ERR_COMMA_LIST;
+					ts->delim = LWSTZ_DT_NEED_NEXT_CONTENT;
+				}
+
+				ts->token = ts->start - 1;
+				ts->token_len = 1;
+				return LWS_TOKZE_DELIMITER;
+
+			case LWS_TOKZS_QUOTED_STRING:
+				ts->token_len++;
+				continue;
+
+			case LWS_TOKZS_TOKEN_POST_TERMINAL:
+			case LWS_TOKZS_TOKEN:
+				/* report the delimiter next time */
+				ts->start--;
+				ts->len++;
+				goto token_or_numeric;
+			}
+		}
+
+		/* anything that's not whitespace or delimiter is payload */
+
+		switch (state) {
+		case LWS_TOKZS_LEADING_WHITESPACE:
+
+			if (ts->flags & LWS_TOKENIZE_F_COMMA_SEP_LIST) {
+				if (ts->delim == LWSTZ_DT_NEED_DELIM)
+					return LWS_TOKZE_ERR_COMMA_LIST;
+				ts->delim = LWSTZ_DT_NEED_DELIM;
+			}
+
+			state = LWS_TOKZS_TOKEN;
+			ts->token = ts->start - 1;
+			ts->token_len = 1;
+			if (c < '0' || c > '9')
+				num = 0;
+			else
+				if (num < 0)
+					num = 1;
+			continue;
+		case LWS_TOKZS_QUOTED_STRING:
+		case LWS_TOKZS_TOKEN:
+			if (c < '0' || c > '9')
+				num = 0;
+			else
+				if (num < 0)
+					num = 1;
+			ts->token_len++;
+			continue;
+		case LWS_TOKZS_TOKEN_POST_TERMINAL:
+			/* report the new token next time */
+			ts->start--;
+			ts->len++;
+			goto token_or_numeric;
+		}
+	}
+
+	/* we ran out of content */
+
+	if (utf8) /* ended partway through a multibyte char */
+		return LWS_TOKZE_ERR_BROKEN_UTF8;
+
+	if (state == LWS_TOKZS_QUOTED_STRING)
+		return LWS_TOKZE_ERR_UNTERM_STRING;
+
+	if (state != LWS_TOKZS_TOKEN_POST_TERMINAL &&
+	    state != LWS_TOKZS_TOKEN) {
+		if ((ts->flags & LWS_TOKENIZE_F_COMMA_SEP_LIST) &&
+		     ts->delim == LWSTZ_DT_NEED_NEXT_CONTENT)
+			return LWS_TOKZE_ERR_COMMA_LIST;
+
+		return LWS_TOKZE_ENDED;
+	}
+
+	/* report the pending token */
+
+token_or_numeric:
+
+	if (num != 1)
+		return LWS_TOKZE_TOKEN;
+	if (flo)
+		return LWS_TOKZE_FLOAT;
+
+	return LWS_TOKZE_INTEGER;
+}
+
+
+LWS_VISIBLE LWS_EXTERN int
+lws_tokenize_cstr(struct lws_tokenize *ts, char *str, int max)
+{
+	if (ts->token_len + 1 >= max)
+		return 1;
+
+	memcpy(str, ts->token, ts->token_len);
+	str[ts->token_len] = '\0';
+
+	return 0;
+}
+
+LWS_VISIBLE LWS_EXTERN void
+lws_tokenize_init(struct lws_tokenize *ts, const char *start, int flags)
+{
+	ts->start = start;
+	ts->len = 0x7fffffff;
+	ts->flags = flags;
+	ts->delim = LWSTZ_DT_NEED_FIRST_CONTENT;
+}
+
+#if LWS_MAX_SMP > 1
+
+void
+lws_mutex_refcount_init(struct lws_mutex_refcount *mr)
+{
+	pthread_mutex_init(&mr->lock, NULL);
+	mr->last_lock_reason = NULL;
+	mr->lock_depth = 0;
+	mr->metadata = 0;
+	mr->lock_owner = 0;
+}
+
+void
+lws_mutex_refcount_destroy(struct lws_mutex_refcount *mr)
+{
+	pthread_mutex_destroy(&mr->lock);
+}
+
+void
+lws_mutex_refcount_lock(struct lws_mutex_refcount *mr, const char *reason)
+{
+	/* if true, this sequence is atomic because our thread has the lock
+	 *
+	 *  - if true, only guy who can race to make it untrue is our thread,
+	 *    and we are here.
+	 *
+	 *  - if false, only guy who could race to make it true is our thread,
+	 *    and we are here
+	 *
+	 *  - it can be false and change to a different tid that is also false
+	 */
+	if (mr->lock_owner == pthread_self()) {
+		/* atomic because we only change it if we own the lock */
+		mr->lock_depth++;
+		return;
+	}
+
+	pthread_mutex_lock(&mr->lock);
+	/* atomic because only we can have the lock */
+	mr->last_lock_reason = reason;
+	mr->lock_owner = pthread_self();
+	mr->lock_depth = 1;
+	//lwsl_notice("tid %d: lock %s\n", mr->tid, reason);
+}
+
+void
+lws_mutex_refcount_unlock(struct lws_mutex_refcount *mr)
+{
+	if (--mr->lock_depth)
+		/* atomic because only thread that has the lock can unlock */
+		return;
+
+	mr->last_lock_reason = "free";
+	mr->lock_owner = 0;
+	//lwsl_notice("tid %d: unlock %s\n", mr->tid, mr->last_lock_reason);
+	pthread_mutex_unlock(&mr->lock);
+}
+
+#endif /* SMP */
+
 LWS_VISIBLE LWS_EXTERN int
 lws_is_cgi(struct lws *wsi) {
 #ifdef LWS_WITH_CGI
@@ -2907,6 +3432,21 @@ lws_pvo_search(const struct lws_protocol_vhost_options *pvo, const char *name)
 	return pvo;
 }
 
+int
+lws_pvo_get_str(void *in, const char *name, const char **result)
+{
+	const struct lws_protocol_vhost_options *pv =
+		lws_pvo_search((const struct lws_protocol_vhost_options *)in,
+				name);
+
+	if (!pv)
+		return 1;
+
+	*result = (const char *)pv->value;
+
+	return 0;
+}
+
 void
 lws_sum_stats(const struct lws_context *ctx, struct lws_conn_stats *cs)
 {
@@ -3221,9 +3761,10 @@ LWS_VISIBLE LWS_EXTERN void
 lws_stats_log_dump(struct lws_context *context)
 {
 	struct lws_vhost *v = context->vhost_list;
-	int n, m;
-
-	(void)m;
+	int n;
+#if defined(LWS_WITH_PEER_LIMITS)
+	int m;
+#endif
 
 	if (!context->updated)
 		return;
@@ -3364,7 +3905,7 @@ lws_stats_log_dump(struct lws_context *context)
 		wl = pt->http.ah_wait_list;
 		while (wl) {
 			m++;
-			wl = wl->ah_wait_list;
+			wl = wl->http.ah_wait_list;
 		}
 
 		lwsl_notice("  AH wait list count / actual:      %d / %d\n",
@@ -3401,7 +3942,8 @@ lws_stats_log_dump(struct lws_context *context)
 					strcpy(buf, "unknown");
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 				lwsl_notice("  peer %s: count wsi: %d, count ah: %d\n",
-					    buf, df->count_wsi, df->count_ah);
+					    buf, df->count_wsi,
+					    df->http.count_ah);
 #else
 				lwsl_notice("  peer %s: count wsi: %d\n",
 					    buf, df->count_wsi);
diff --git a/thirdparty/libwebsockets/core/output.c b/thirdparty/libwebsockets/lib/core/output.c
index e2ff18ef27..49d289db40 100644
--- a/thirdparty/libwebsockets/core/output.c
+++ b/thirdparty/libwebsockets/lib/core/output.c
@@ -1,7 +1,7 @@
 /*
  * libwebsockets - small server side websockets and web server implementation
  *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
  *
  *  This library is free software; you can redistribute it and/or
  *  modify it under the terms of the GNU Lesser General Public
@@ -29,49 +29,65 @@ int lws_issue_raw(struct lws *wsi, unsigned char *buf, size_t len)
 	struct lws_context *context = lws_get_context(wsi);
 	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
 	size_t real_len = len;
-	unsigned int n;
+	unsigned int n, m;
 
-	// lwsl_hexdump_err(buf, len);
+	// lwsl_notice("%s: len %d\n", __func__, (int)len);
+	// lwsl_hexdump_level(LLL_NOTICE, buf, len);
 
 	/*
 	 * Detect if we got called twice without going through the
-	 * event loop to handle pending.  This would be caused by either
-	 * back-to-back writes in one WRITABLE (illegal) or calling lws_write()
-	 * from outside the WRITABLE callback (illegal).
+	 * event loop to handle pending.  Since that guarantees extending any
+	 * existing buflist_out it's inefficient.
 	 */
-	if (wsi->could_have_pending) {
-		lwsl_hexdump_level(LLL_ERR, buf, len);
-		lwsl_err("** %p: vh: %s, prot: %s, role %s: "
-			 "Illegal back-to-back write of %lu detected...\n",
+	if (0 && buf && wsi->could_have_pending) {
+		lwsl_hexdump_level(LLL_INFO, buf, len);
+		lwsl_info("** %p: vh: %s, prot: %s, role %s: "
+			 "Inefficient back-to-back write of %lu detected...\n",
 			 wsi, wsi->vhost->name, wsi->protocol->name,
 			 wsi->role_ops->name,
 			 (unsigned long)len);
-		// assert(0);
-
-		return -1;
 	}
 
 	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_API_WRITE, 1);
 
-	if (!len)
-		return 0;
 	/* just ignore sends after we cleared the truncation buffer */
-	if (lwsi_state(wsi) == LRS_FLUSHING_BEFORE_CLOSE && !wsi->trunc_len)
+	if (lwsi_state(wsi) == LRS_FLUSHING_BEFORE_CLOSE &&
+	    !lws_has_buffered_out(wsi)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	    && !wsi->http.comp_ctx.may_have_more
+#endif
+	    )
 		return (int)len;
 
-	if (wsi->trunc_len && (buf < wsi->trunc_alloc ||
-	    buf > (wsi->trunc_alloc + wsi->trunc_len + wsi->trunc_offset))) {
-		lwsl_hexdump_level(LLL_ERR, buf, len);
-		lwsl_err("** %p: vh: %s, prot: %s, Sending new %lu, pending truncated ...\n"
-			 "   It's illegal to do an lws_write outside of\n"
-			 "   the writable callback: fix your code\n",
+	if (buf && lws_has_buffered_out(wsi)) {
+		lwsl_info("** %p: vh: %s, prot: %s, incr buflist_out by %lu\n",
 			 wsi, wsi->vhost->name, wsi->protocol->name,
 			 (unsigned long)len);
-		assert(0);
 
-		return -1;
+		/*
+		 * already buflist ahead of this, add it on the tail of the
+		 * buflist, then ignore it for now and act like we're flushing
+		 * the buflist...
+		 */
+
+		lws_buflist_append_segment(&wsi->buflist_out, buf, len);
+
+		buf = NULL;
+		len = 0;
 	}
 
+	if (wsi->buflist_out) {
+		/* we have to drain the earliest buflist_out stuff first */
+
+		len = lws_buflist_next_segment_len(&wsi->buflist_out, &buf);
+		real_len = len;
+
+		lwsl_debug("%s: draining %d\n", __func__, (int)len);
+	}
+
+	if (!len || !buf)
+		return 0;
+
 	if (!wsi->http2_substream && !lws_socket_is_valid(wsi->desc.sockfd))
 		lwsl_warn("** error invalid sock but expected to send\n");
 
@@ -89,13 +105,15 @@ int lws_issue_raw(struct lws *wsi, unsigned char *buf, size_t len)
 
 	/* nope, send it on the socket directly */
 	lws_latency_pre(context, wsi);
-	n = lws_ssl_capable_write(wsi, buf, n);
-	lws_latency(context, wsi, "send lws_issue_raw", n, n == len);
+	m = lws_ssl_capable_write(wsi, buf, n);
+	lws_latency(context, wsi, "send lws_issue_raw", n, n == m);
+
+	lwsl_info("%s: ssl_capable_write (%d) says %d\n", __func__, n, m);
 
 	/* something got written, it can have been truncated now */
 	wsi->could_have_pending = 1;
 
-	switch (n) {
+	switch (m) {
 	case LWS_SSL_CAPABLE_ERROR:
 		/* we're going to close, let close know sends aren't possible */
 		wsi->socket_is_permanently_unusable = 1;
@@ -106,67 +124,74 @@ int lws_issue_raw(struct lws *wsi, unsigned char *buf, size_t len)
 		 * ie, implying treat it was a truncated send so it gets
 		 * retried
 		 */
-		n = 0;
+		m = 0;
 		break;
 	}
 
 	/*
-	 * we were already handling a truncated send?
+	 * we were sending this from buflist_out?  Then not sending everything
+	 * is a small matter of advancing ourselves only by the amount we did
+	 * send in the buflist.
 	 */
-	if (wsi->trunc_len) {
-		lwsl_info("%p partial adv %d (vs %ld)\n", wsi, n, (long)real_len);
-		wsi->trunc_offset += n;
-		wsi->trunc_len -= n;
-
-		if (!wsi->trunc_len) {
-			lwsl_info("** %p partial send completed\n", wsi);
-			/* done with it, but don't free it */
-			n = (int)real_len;
+	if (lws_has_buffered_out(wsi)) {
+		if (m) {
+			lwsl_info("%p partial adv %d (vs %ld)\n", wsi, m,
+					(long)real_len);
+			lws_buflist_use_segment(&wsi->buflist_out, m);
+		}
+
+		if (!lws_has_buffered_out(wsi)) {
+			lwsl_info("%s: wsi %p: buflist_out flushed\n",
+				  __func__, wsi);
+
+			m = (int)real_len;
 			if (lwsi_state(wsi) == LRS_FLUSHING_BEFORE_CLOSE) {
-				lwsl_info("** %p signalling to close now\n", wsi);
+				lwsl_info("*%p signalling to close now\n", wsi);
 				return -1; /* retry closing now */
 			}
+
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
+#if !defined(LWS_WITHOUT_SERVER)
+			if (wsi->http.deferred_transaction_completed) {
+				lwsl_notice("%s: partial completed, doing "
+					    "deferred transaction completed\n",
+					    __func__);
+				wsi->http.deferred_transaction_completed = 0;
+				return lws_http_transaction_completed(wsi) ?
+							-1 : (int)real_len;
+			}
+#endif
+#endif
 		}
 		/* always callback on writeable */
 		lws_callback_on_writable(wsi);
 
-		return n;
+		return m;
 	}
 
-	if ((unsigned int)n == real_len)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (wsi->http.comp_ctx.may_have_more)
+		lws_callback_on_writable(wsi);
+#endif
+
+	if (m == real_len)
 		/* what we just sent went out cleanly */
-		return n;
+		return m;
 
 	/*
-	 * Newly truncated send.  Buffer the remainder (it will get
-	 * first priority next time the socket is writable).
+	 * We were not able to send everything... and we were not sending from
+	 * an existing buflist_out.  So we are starting a fresh buflist_out, by
+	 * buffering the unsent remainder on it.
+	 * (it will get first priority next time the socket is writable).
 	 */
-	lwsl_debug("%p new partial sent %d from %lu total\n", wsi, n,
+	lwsl_debug("%p new partial sent %d from %lu total\n", wsi, m,
 		    (unsigned long)real_len);
 
-	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_WRITE_PARTIALS, 1);
-	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_B_PARTIALS_ACCEPTED_PARTS, n);
+	lws_buflist_append_segment(&wsi->buflist_out, buf + m, real_len - m);
 
-	/*
-	 *  - if we still have a suitable malloc lying around, use it
-	 *  - or, if too small, reallocate it
-	 *  - or, if no buffer, create it
-	 */
-	if (!wsi->trunc_alloc || real_len - n > wsi->trunc_alloc_len) {
-		lws_free(wsi->trunc_alloc);
-
-		wsi->trunc_alloc_len = (unsigned int)(real_len - n);
-		wsi->trunc_alloc = lws_malloc(real_len - n,
-					      "truncated send alloc");
-		if (!wsi->trunc_alloc) {
-			lwsl_err("truncated send: unable to malloc %lu\n",
-				 (unsigned long)(real_len - n));
-			return -1;
-		}
-	}
-	wsi->trunc_offset = 0;
-	wsi->trunc_len = (unsigned int)(real_len - n);
-	memcpy(wsi->trunc_alloc, buf + n, real_len - n);
+	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_WRITE_PARTIALS, 1);
+	lws_stats_atomic_bump(wsi->context, pt,
+			      LWSSTATS_B_PARTIALS_ACCEPTED_PARTS, m);
 
 #if !defined(LWS_WITH_ESP32)
 	if (lws_wsi_is_udp(wsi)) {
@@ -187,23 +212,6 @@ LWS_VISIBLE int lws_write(struct lws *wsi, unsigned char *buf, size_t len,
 {
 	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
 
-	if (wsi->parent_carries_io) {
-		struct lws_write_passthru pas;
-
-		pas.buf = buf;
-		pas.len = len;
-		pas.wp = wp;
-		pas.wsi = wsi;
-
-		if (wsi->parent->protocol->callback(wsi->parent,
-				LWS_CALLBACK_CHILD_WRITE_VIA_PARENT,
-				wsi->parent->user_space,
-				(void *)&pas, 0))
-			return 1;
-
-		return (int)len;
-	}
-
 	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_API_LWS_WRITE, 1);
 
 	if ((int)len < 0) {
@@ -246,6 +254,10 @@ lws_ssl_capable_read_no_ssl(struct lws *wsi, unsigned char *buf, int len)
 		n = recv(wsi->desc.sockfd, (char *)buf, len, 0);
 
 	if (n >= 0) {
+
+		if (!n && wsi->unix_skt)
+			return LWS_SSL_CAPABLE_ERROR;
+
 		if (wsi->vhost)
 			wsi->vhost->conn_stats.rx += n;
 		lws_stats_atomic_bump(context, pt, LWSSTATS_B_READ, n);
@@ -258,7 +270,7 @@ lws_ssl_capable_read_no_ssl(struct lws *wsi, unsigned char *buf, int len)
 	    LWS_ERRNO == LWS_EINTR)
 		return LWS_SSL_CAPABLE_MORE_SERVICE;
 
-	lwsl_notice("error on reading from skt : %d\n", LWS_ERRNO);
+	lwsl_info("error on reading from skt : %d\n", LWS_ERRNO);
 	return LWS_SSL_CAPABLE_ERROR;
 }
 
@@ -269,10 +281,13 @@ lws_ssl_capable_write_no_ssl(struct lws *wsi, unsigned char *buf, int len)
 
 	if (lws_wsi_is_udp(wsi)) {
 #if !defined(LWS_WITH_ESP32)
-		if (wsi->trunc_len)
-			n = sendto(wsi->desc.sockfd, buf, len, 0, &wsi->udp->sa_pending, wsi->udp->salen_pending);
+		if (lws_has_buffered_out(wsi))
+			n = sendto(wsi->desc.sockfd, (const char *)buf,
+				   len, 0, &wsi->udp->sa_pending,
+				   wsi->udp->salen_pending);
 		else
-			n = sendto(wsi->desc.sockfd, buf, len, 0, &wsi->udp->sa, wsi->udp->salen);
+			n = sendto(wsi->desc.sockfd, (const char *)buf,
+				   len, 0, &wsi->udp->sa, wsi->udp->salen);
 #endif
 	} else
 		n = send(wsi->desc.sockfd, (char *)buf, len, MSG_NOSIGNAL);
@@ -291,7 +306,7 @@ lws_ssl_capable_write_no_ssl(struct lws *wsi, unsigned char *buf, int len)
 	}
 
 	lwsl_debug("ERROR writing len %d to skt fd %d err %d / errno %d\n",
-			len, wsi->desc.sockfd, n, LWS_ERRNO);
+		   len, wsi->desc.sockfd, n, LWS_ERRNO);
 
 	return LWS_SSL_CAPABLE_ERROR;
 }
diff --git a/thirdparty/libwebsockets/core/pollfd.c b/thirdparty/libwebsockets/lib/core/pollfd.c
index 2a632ce8ec..834298577a 100644
--- a/thirdparty/libwebsockets/core/pollfd.c
+++ b/thirdparty/libwebsockets/lib/core/pollfd.c
@@ -134,7 +134,8 @@ _lws_change_pollfd(struct lws *wsi, int _and, int _or, struct lws_pollargs *pa)
 
 	pfd = &pt->fds[wsi->position_in_fds_table];
 	pa->fd = wsi->desc.sockfd;
-	lwsl_debug("%s: wsi %p: fd %d events %d -> %d\n", __func__, wsi, pa->fd, pfd->events, (pfd->events & ~_and) | _or);
+	lwsl_debug("%s: wsi %p: fd %d events %d -> %d\n", __func__, wsi,
+		   pa->fd, pfd->events, (pfd->events & ~_and) | _or);
 	pa->prev_events = pfd->events;
 	pa->events = pfd->events = (pfd->events & ~_and) | _or;
 
@@ -182,7 +183,7 @@ _lws_change_pollfd(struct lws *wsi, int _and, int _or, struct lws_pollargs *pa)
 			ret = -1;
 			goto bail;
 		}
-		sampled_tid = context->service_tid;
+		sampled_tid = pt->service_tid;
 		if (sampled_tid && wsi->vhost) {
 			tid = wsi->vhost->protocols[0].callback(wsi,
 				     LWS_CALLBACK_GET_THREAD_ID, NULL, NULL, 0);
@@ -245,7 +246,8 @@ __insert_wsi_socket_into_fds(struct lws_context *context, struct lws *wsi)
 #if !defined(_WIN32)
 	if (wsi->desc.sockfd - lws_plat_socket_offset() >= context->max_fds) {
 		lwsl_err("Socket fd %d is too high (%d) offset %d\n",
-			 wsi->desc.sockfd, context->max_fds, lws_plat_socket_offset());
+			 wsi->desc.sockfd, context->max_fds,
+			 lws_plat_socket_offset());
 		return 1;
 	}
 #endif
@@ -298,11 +300,6 @@ __remove_wsi_socket_from_fds(struct lws *wsi)
 	int v;
 	int m, ret = 0;
 
-	if (wsi->parent_carries_io) {
-		lws_same_vh_protocol_remove(wsi);
-		return 0;
-	}
-
 #if !defined(_WIN32)
 	if (wsi->desc.sockfd - lws_plat_socket_offset() > context->max_fds) {
 		lwsl_err("fd %d too high (%d)\n", wsi->desc.sockfd,
@@ -330,7 +327,7 @@ __remove_wsi_socket_from_fds(struct lws *wsi)
 				  LWS_EV_STOP | LWS_EV_READ | LWS_EV_WRITE |
 				  LWS_EV_PREPARE_DELETION);
 
-	lwsl_debug("%s: wsi=%p, sock=%d, fds pos=%d, end guy pos=%d, endfd=%d\n",
+	lwsl_debug("%s: wsi=%p, skt=%d, fds pos=%d, end guy pos=%d, endfd=%d\n",
 		  __func__, wsi, wsi->desc.sockfd, wsi->position_in_fds_table,
 		  pt->fds_count, pt->fds[pt->fds_count].fd);
 
@@ -340,11 +337,13 @@ __remove_wsi_socket_from_fds(struct lws *wsi)
 		pt->fds[m] = pt->fds[pt->fds_count - 1];
 		/* this decrements pt->fds_count */
 		lws_plat_delete_socket_from_fds(context, wsi, m);
+		pt->count_conns--;
 		v = (int) pt->fds[m].fd;
-		/* end guy's "position in fds table" is now the deletion guy's old one */
+		/* end guy's "position in fds table" is now the deletion
+		 * guy's old one */
 		end_wsi = wsi_from_fd(context, v);
 		if (!end_wsi) {
-			lwsl_err("no wsi for fd %d at pos %d, pt->fds_count=%d\n",
+			lwsl_err("no wsi for fd %d pos %d, pt->fds_count=%d\n",
 				 (int)pt->fds[m].fd, m, pt->fds_count);
 			assert(0);
 		} else
@@ -426,7 +425,6 @@ LWS_VISIBLE int
 lws_callback_on_writable(struct lws *wsi)
 {
 	struct lws_context_per_thread *pt;
-	int n;
 
 	if (lwsi_state(wsi) == LRS_SHUTDOWN)
 		return 0;
@@ -436,26 +434,10 @@ lws_callback_on_writable(struct lws *wsi)
 
 	pt = &wsi->context->pt[(int)wsi->tsi];
 
-	if (wsi->parent_carries_io) {
-#if defined(LWS_WITH_STATS)
-		if (!wsi->active_writable_req_us) {
-			wsi->active_writable_req_us = time_in_microseconds();
-			lws_stats_atomic_bump(wsi->context, pt,
-					      LWSSTATS_C_WRITEABLE_CB_EFF_REQ, 1);
-		}
-#endif
-		n = lws_callback_on_writable(wsi->parent);
-		if (n < 0)
-			return n;
-
-		wsi->parent_pending_cb_on_writable = 1;
-		return 1;
-	}
-
 	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_WRITEABLE_CB_REQ, 1);
 #if defined(LWS_WITH_STATS)
 	if (!wsi->active_writable_req_us) {
-		wsi->active_writable_req_us = time_in_microseconds();
+		wsi->active_writable_req_us = lws_time_in_microseconds();
 		lws_stats_atomic_bump(wsi->context, pt,
 				      LWSSTATS_C_WRITEABLE_CB_EFF_REQ, 1);
 	}
@@ -493,64 +475,33 @@ lws_callback_on_writable(struct lws *wsi)
 void
 lws_same_vh_protocol_insert(struct lws *wsi, int n)
 {
-	if (wsi->same_vh_protocol_prev || wsi->same_vh_protocol_next) {
-		lws_same_vh_protocol_remove(wsi);
-		lwsl_notice("Attempted to attach wsi twice to same vh prot\n");
-	}
-
 	lws_vhost_lock(wsi->vhost);
 
-	wsi->same_vh_protocol_prev = &wsi->vhost->same_vh_protocol_list[n];
-	/* old first guy is our next */
-	wsi->same_vh_protocol_next =  wsi->vhost->same_vh_protocol_list[n];
-	/* we become the new first guy */
-	wsi->vhost->same_vh_protocol_list[n] = wsi;
+	if (!lws_dll_is_null(&wsi->same_vh_protocol))
+		lws_dll_lws_remove(&wsi->same_vh_protocol);
 
-	if (wsi->same_vh_protocol_next)
-		/* old first guy points back to us now */
-		wsi->same_vh_protocol_next->same_vh_protocol_prev =
-				&wsi->same_vh_protocol_next;
-
-	wsi->on_same_vh_list = 1;
+	lws_dll_lws_add_front(&wsi->same_vh_protocol,
+			      &wsi->vhost->same_vh_protocol_heads[n]);
 
 	lws_vhost_unlock(wsi->vhost);
 }
 
 void
-lws_same_vh_protocol_remove(struct lws *wsi)
+__lws_same_vh_protocol_remove(struct lws *wsi)
 {
-	/*
-	 * detach ourselves from vh protocol list if we're on one
-	 * A -> B -> C
-	 * A -> C , or, B -> C, or A -> B
-	 *
-	 * OK to call on already-detached wsi
-	 */
-	lwsl_info("%s: removing same prot wsi %p\n", __func__, wsi);
+	if (!lws_dll_is_null(&wsi->same_vh_protocol))
+		lws_dll_lws_remove(&wsi->same_vh_protocol);
+}
 
-	if (!wsi->vhost || !wsi->on_same_vh_list)
+void
+lws_same_vh_protocol_remove(struct lws *wsi)
+{
+	if (!wsi->vhost)
 		return;
 
 	lws_vhost_lock(wsi->vhost);
 
-	if (wsi->same_vh_protocol_prev) {
-		assert (*(wsi->same_vh_protocol_prev) == wsi);
-		lwsl_info("have prev %p, setting him to our next %p\n",
-			 wsi->same_vh_protocol_prev,
-			 wsi->same_vh_protocol_next);
-
-		/* guy who pointed to us should point to our next */
-		*(wsi->same_vh_protocol_prev) = wsi->same_vh_protocol_next;
-	}
-
-	/* our next should point back to our prev */
-	if (wsi->same_vh_protocol_next)
-		wsi->same_vh_protocol_next->same_vh_protocol_prev =
-				wsi->same_vh_protocol_prev;
-
-	wsi->same_vh_protocol_prev = NULL;
-	wsi->same_vh_protocol_next = NULL;
-	wsi->on_same_vh_list = 0;
+	__lws_same_vh_protocol_remove(wsi);
 
 	lws_vhost_unlock(wsi->vhost);
 }
@@ -558,9 +509,10 @@ lws_same_vh_protocol_remove(struct lws *wsi)
 
 LWS_VISIBLE int
 lws_callback_on_writable_all_protocol_vhost(const struct lws_vhost *vhost,
-				      const struct lws_protocols *protocol)
+				           const struct lws_protocols *protocol)
 {
 	struct lws *wsi;
+	int n;
 
 	if (protocol < vhost->protocols ||
 	    protocol >= (vhost->protocols + vhost->count_protocols)) {
@@ -571,18 +523,16 @@ lws_callback_on_writable_all_protocol_vhost(const struct lws_vhost *vhost,
 		return -1;
 	}
 
-	wsi = vhost->same_vh_protocol_list[protocol - vhost->protocols];
-	while (wsi) {
-		assert(wsi->protocol == protocol);
-		assert(*wsi->same_vh_protocol_prev == wsi);
-		if (wsi->same_vh_protocol_next)
-			assert(wsi->same_vh_protocol_next->
-					same_vh_protocol_prev ==
-					&wsi->same_vh_protocol_next);
+	n = (int)(protocol - vhost->protocols);
 
+	lws_start_foreach_dll_safe(struct lws_dll_lws *, d, d1,
+				   vhost->same_vh_protocol_heads[n].next) {
+		wsi = lws_container_of(d, struct lws, same_vh_protocol);
+
+		assert(wsi->protocol == protocol);
 		lws_callback_on_writable(wsi);
-		wsi = wsi->same_vh_protocol_next;
-	}
+
+	} lws_end_foreach_dll_safe(d, d1);
 
 	return 0;
 }
@@ -602,7 +552,7 @@ lws_callback_on_writable_all_protocol(const struct lws_context *context,
 	while (vhost) {
 		for (n = 0; n < vhost->count_protocols; n++)
 			if (protocol->callback ==
-			    vhost->protocols[n].callback &&
+			     vhost->protocols[n].callback &&
 			    !strcmp(protocol->name, vhost->protocols[n].name))
 				break;
 		if (n != vhost->count_protocols)
diff --git a/thirdparty/libwebsockets/core/private.h b/thirdparty/libwebsockets/lib/core/private.h
index d6b494ac8c..c1a0a661b1 100644
--- a/thirdparty/libwebsockets/core/private.h
+++ b/thirdparty/libwebsockets/lib/core/private.h
@@ -36,10 +36,6 @@
  typedef float _Float128x;
 #endif
 
-#ifdef LWS_HAVE_SYS_TYPES_H
- #include <sys/types.h>
-#endif
-
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -48,271 +44,17 @@
 #include <limits.h>
 #include <stdarg.h>
 #include <inttypes.h>
-
-#if defined(LWS_WITH_ESP32)
- #define MSG_NOSIGNAL 0
- #define SOMAXCONN 3
-#endif
-
-#define STORE_IN_ROM
 #include <assert.h>
-#if LWS_MAX_SMP > 1
- #include <pthread.h>
-#endif
-
-#ifdef LWS_HAVE_SYS_STAT_H
- #include <sys/stat.h>
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-
- #ifndef WIN32_LEAN_AND_MEAN
-  #define WIN32_LEAN_AND_MEAN
- #endif
-
- #if (WINVER < 0x0501)
-  #undef WINVER
-  #undef _WIN32_WINNT
-  #define WINVER 0x0501
-  #define _WIN32_WINNT WINVER
- #endif
-
- #define LWS_NO_DAEMONIZE
- #define LWS_ERRNO WSAGetLastError()
- #define LWS_EAGAIN WSAEWOULDBLOCK
- #define LWS_EALREADY WSAEALREADY
- #define LWS_EINPROGRESS WSAEINPROGRESS
- #define LWS_EINTR WSAEINTR
- #define LWS_EISCONN WSAEISCONN
- #define LWS_EWOULDBLOCK WSAEWOULDBLOCK
- #define MSG_NOSIGNAL 0
- #define SHUT_RDWR SD_BOTH
- #define SOL_TCP IPPROTO_TCP
- #define SHUT_WR SD_SEND
-
- #define compatible_close(fd) closesocket(fd)
- #define lws_set_blocking_send(wsi) wsi->sock_send_blocking = 1
- #define LWS_SOCK_INVALID (INVALID_SOCKET)
-
- #include <winsock2.h>
- #include <ws2tcpip.h>
- #include <windows.h>
- #include <tchar.h>
- #ifdef LWS_HAVE_IN6ADDR_H
-  #include <in6addr.h>
- #endif
- #include <mstcpip.h>
- #include <io.h>
-
- #if !defined(LWS_HAVE_ATOLL)
-  #if defined(LWS_HAVE__ATOI64)
-   #define atoll _atoi64
-  #else
-   #warning No atoll or _atoi64 available, using atoi
-   #define atoll atoi
-  #endif
- #endif
-
- #ifndef __func__
-  #define __func__ __FUNCTION__
- #endif
-
- #ifdef LWS_HAVE__VSNPRINTF
-  #define vsnprintf _vsnprintf
- #endif
 
- /* we don't have an implementation for this on windows... */
- int kill(int pid, int sig);
- int fork(void);
- #ifndef SIGINT
-  #define SIGINT 2
- #endif
-
-#else /* not windows --> */
-
- #include <fcntl.h>
- #include <strings.h>
- #include <unistd.h>
+#ifdef LWS_HAVE_SYS_TYPES_H
  #include <sys/types.h>
-
- #ifndef __cplusplus
-  #include <errno.h>
- #endif
- #include <netdb.h>
- #include <signal.h>
- #include <sys/socket.h>
-
- #if defined(LWS_BUILTIN_GETIFADDRS)
-  #include "./misc/getifaddrs.h"
- #else
-  #if !defined(LWS_WITH_ESP32)
-   #if defined(__HAIKU__)
-    #define _BSD_SOURCE
-   #endif
-   #include <ifaddrs.h>
-  #endif
- #endif
- #if defined (__ANDROID__)
-  #include <syslog.h>
-  #include <sys/resource.h>
- #elif defined (__sun) || defined(__HAIKU__) || defined(__QNX__)
-  #include <syslog.h>
- #else
-  #if !defined(LWS_WITH_ESP32)
-   #include <sys/syslog.h>
-  #endif
- #endif
- #include <netdb.h>
- #if !defined(LWS_WITH_ESP32)
-  #include <sys/mman.h>
-  #include <sys/un.h>
-  #include <netinet/in.h>
-  #include <netinet/tcp.h>
-  #include <arpa/inet.h>
-  #include <poll.h>
- #endif
- #ifndef LWS_NO_FORK
-  #ifdef LWS_HAVE_SYS_PRCTL_H
-   #include <sys/prctl.h>
-  #endif
- #endif
-
- #include <sys/time.h>
-
- #define LWS_ERRNO errno
- #define LWS_EAGAIN EAGAIN
- #define LWS_EALREADY EALREADY
- #define LWS_EINPROGRESS EINPROGRESS
- #define LWS_EINTR EINTR
- #define LWS_EISCONN EISCONN
- #define LWS_EWOULDBLOCK EWOULDBLOCK
-
- #define lws_set_blocking_send(wsi)
-
- #define LWS_SOCK_INVALID (-1)
-#endif /* not windows */
-
-#ifndef LWS_HAVE_BZERO
- #ifndef bzero
-  #define bzero(b, len) (memset((b), '\0', (len)), (void) 0)
- #endif
 #endif
-
-#ifndef LWS_HAVE_STRERROR
- #define strerror(x) ""
-#endif
-
-
-#define lws_socket_is_valid(x) (x != LWS_SOCK_INVALID)
-
-#include "libwebsockets.h"
-
-#include "tls/private.h"
-
-#if defined(WIN32) || defined(_WIN32)
- #include <gettimeofday.h>
-
- #ifndef BIG_ENDIAN
-  #define BIG_ENDIAN    4321  /* to show byte order (taken from gcc) */
- #endif
- #ifndef LITTLE_ENDIAN
-  #define LITTLE_ENDIAN 1234
- #endif
- #ifndef BYTE_ORDER
-  #define BYTE_ORDER LITTLE_ENDIAN
- #endif
-
- #undef __P
- #ifndef __P
-  #if __STDC__
-   #define __P(protos) protos
-  #else
-   #define __P(protos) ()
-  #endif
- #endif
-
-#else /* not windows */
- static inline int compatible_close(int fd) { return close(fd); }
-
+#ifdef LWS_HAVE_SYS_STAT_H
  #include <sys/stat.h>
- #include <sys/time.h>
-
- #if defined(__APPLE__)
-  #include <machine/endian.h>
- #elif defined(__FreeBSD__)
-  #include <sys/endian.h>
- #elif defined(__linux__)
-  #include <endian.h>
- #endif
-#endif
-
-#ifdef __cplusplus
-extern "C" {
 #endif
 
-#if defined(__QNX__)
-	#include <gulliver.h>
-	#if defined(__LITTLEENDIAN__)
-		#define BYTE_ORDER __LITTLEENDIAN__
-		#define LITTLE_ENDIAN __LITTLEENDIAN__
-		#define BIG_ENDIAN 4321  /* to show byte order (taken from gcc); for suppres warning that BIG_ENDIAN is not defined. */
-	#endif
-	#if defined(__BIGENDIAN__)
-		#define BYTE_ORDER __BIGENDIAN__
-		#define LITTLE_ENDIAN 1234  /* to show byte order (taken from gcc); for suppres warning that LITTLE_ENDIAN is not defined. */
-		#define BIG_ENDIAN __BIGENDIAN__
-	#endif
-#endif
-
-#if defined(__sun) && defined(__GNUC__)
-
- #include <arpa/nameser_compat.h>
-
- #if !defined (BYTE_ORDER)
-  #define BYTE_ORDER __BYTE_ORDER__
- #endif
-
- #if !defined(LITTLE_ENDIAN)
-  #define LITTLE_ENDIAN __ORDER_LITTLE_ENDIAN__
- #endif
-
- #if !defined(BIG_ENDIAN)
-  #define BIG_ENDIAN __ORDER_BIG_ENDIAN__
- #endif
-
-#endif /* sun + GNUC */
-
-#if !defined(BYTE_ORDER)
- #define BYTE_ORDER __BYTE_ORDER
-#endif
-#if !defined(LITTLE_ENDIAN)
- #define LITTLE_ENDIAN __LITTLE_ENDIAN
-#endif
-#if !defined(BIG_ENDIAN)
- #define BIG_ENDIAN __BIG_ENDIAN
-#endif
-
-
-/*
- * Mac OSX as well as iOS do not define the MSG_NOSIGNAL flag,
- * but happily have something equivalent in the SO_NOSIGPIPE flag.
- */
-#ifdef __APPLE__
-#define MSG_NOSIGNAL SO_NOSIGPIPE
-#endif
-
-/*
- * Solaris 11.X only supports POSIX 2001, MSG_NOSIGNAL appears in
- * POSIX 2008.
- */
-#ifdef __sun
- #define MSG_NOSIGNAL 0
-#endif
-
-#ifdef _WIN32
- #ifndef FD_HASHTABLE_MODULUS
-  #define FD_HASHTABLE_MODULUS 32
- #endif
+#if LWS_MAX_SMP > 1
+ #include <pthread.h>
 #endif
 
 #ifndef LWS_DEF_HEADER_LEN
@@ -351,7 +93,66 @@ extern "C" {
 
 #define LWS_H2_RX_SCRATCH_SIZE 512
 
+#define lws_socket_is_valid(x) (x != LWS_SOCK_INVALID)
 
+#ifndef LWS_HAVE_STRERROR
+ #define strerror(x) ""
+#endif
+
+ /*
+  *
+  *  ------ private platform defines ------
+  *
+  */
+
+#if defined(LWS_WITH_ESP32)
+ #include "plat/esp32/private.h"
+#else
+ #if defined(WIN32) || defined(_WIN32)
+  #include "plat/windows/private.h"
+ #else
+  #if defined(LWS_PLAT_OPTEE)
+   #include "plat/optee/private.h"
+  #else
+   #include "plat/unix/private.h"
+  #endif
+ #endif
+#endif
+
+#ifndef LWS_HAVE_BZERO
+ #ifndef bzero
+  #define bzero(b, len) (memset((b), '\0', (len)), (void) 0)
+ #endif
+#endif
+
+ /*
+  *
+  *  ------ public api ------
+  *
+  */
+
+#include "libwebsockets.h"
+
+
+#include "tls/private.h"
+
+#if defined(WIN32) || defined(_WIN32)
+	 // Visual studio older than 2015 and WIN_CE has only _stricmp
+	#if (defined(_MSC_VER) && _MSC_VER < 1900) || defined(_WIN32_WCE)
+	#define strcasecmp _stricmp
+	#elif !defined(__MINGW32__)
+	#define strcasecmp stricmp
+	#endif
+	#define getdtablesize() 30000
+#endif
+
+#ifndef LWS_ARRAY_SIZE
+#define LWS_ARRAY_SIZE(x) (sizeof(x) / sizeof(x[0]))
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /*
  * All lws_tls...() functions must return this type, converting the
@@ -363,11 +164,11 @@ extern "C" {
  * Non-SSL mode also uses these types.
  */
 enum lws_ssl_capable_status {
-	LWS_SSL_CAPABLE_ERROR = -1,		 /* it failed */
-	LWS_SSL_CAPABLE_DONE = 0,		 /* it succeeded */
-	LWS_SSL_CAPABLE_MORE_SERVICE_READ = -2,	 /* retry WANT_READ */
-	LWS_SSL_CAPABLE_MORE_SERVICE_WRITE = -3,  /* retry WANT_WRITE */
-	LWS_SSL_CAPABLE_MORE_SERVICE = -4,	 /* general retry */
+	LWS_SSL_CAPABLE_ERROR			= -1, /* it failed */
+	LWS_SSL_CAPABLE_DONE			= 0,  /* it succeeded */
+	LWS_SSL_CAPABLE_MORE_SERVICE_READ	= -2, /* retry WANT_READ */
+	LWS_SSL_CAPABLE_MORE_SERVICE_WRITE	= -3, /* retry WANT_WRITE */
+	LWS_SSL_CAPABLE_MORE_SERVICE		= -4, /* general retry */
 };
 
 #if defined(__clang__)
@@ -509,14 +310,6 @@ struct lws_signal_watcher {
 	struct lws_context *context;
 };
 
-#ifdef _WIN32
-#define LWS_FD_HASH(fd) ((fd ^ (fd >> 8) ^ (fd >> 16)) % FD_HASHTABLE_MODULUS)
-struct lws_fd_hashtable {
-	struct lws **wsi;
-	int length;
-};
-#endif
-
 struct lws_foreign_thread_pollfd {
 	struct lws_foreign_thread_pollfd *next;
 	int fd_index;
@@ -524,6 +317,28 @@ struct lws_foreign_thread_pollfd {
 	int _or;
 };
 
+#if LWS_MAX_SMP > 1
+
+struct lws_mutex_refcount {
+	pthread_mutex_t lock;
+	pthread_t lock_owner;
+	const char *last_lock_reason;
+	char lock_depth;
+	char metadata;
+};
+
+void
+lws_mutex_refcount_init(struct lws_mutex_refcount *mr);
+
+void
+lws_mutex_refcount_destroy(struct lws_mutex_refcount *mr);
+
+void
+lws_mutex_refcount_lock(struct lws_mutex_refcount *mr, const char *reason);
+
+void
+lws_mutex_refcount_unlock(struct lws_mutex_refcount *mr);
+#endif
 
 #define LWS_HRTIMER_NOWAIT (0x7fffffffffffffffll)
 
@@ -534,10 +349,9 @@ struct lws_foreign_thread_pollfd {
 
 struct lws_context_per_thread {
 #if LWS_MAX_SMP > 1
-	pthread_mutex_t lock;
 	pthread_mutex_t lock_stats;
-	pthread_t lock_owner;
-	const char *last_lock_reason;
+	struct lws_mutex_refcount mr;
+	pthread_t self;
 #endif
 
 	struct lws_context *context;
@@ -560,7 +374,7 @@ struct lws_context_per_thread {
 	struct lws_pollfd *fds;
 	volatile struct lws_foreign_thread_pollfd * volatile foreign_pfd_list;
 #ifdef _WIN32
-	WSAEVENT *events;
+	WSAEVENT events;
 #endif
 	lws_sockfd_type dummy_pipe_fds[2];
 	struct lws *pipe_wsi;
@@ -573,6 +387,9 @@ struct lws_context_per_thread {
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 	struct lws_pt_role_http http;
 #endif
+#if defined(LWS_ROLE_DBUS)
+	struct lws_pt_role_dbus dbus;
+#endif
 
 	/* --- event library based members --- */
 
@@ -586,7 +403,8 @@ struct lws_context_per_thread {
 	struct lws_pt_eventlibs_libevent event;
 #endif
 
-#if defined(LWS_WITH_LIBEV) || defined(LWS_WITH_LIBUV) || defined(LWS_WITH_LIBEVENT)
+#if defined(LWS_WITH_LIBEV) || defined(LWS_WITH_LIBUV) || \
+    defined(LWS_WITH_LIBEVENT)
 	struct lws_signal_watcher w_sigint;
 #endif
 
@@ -595,12 +413,20 @@ struct lws_context_per_thread {
 	unsigned long count_conns;
 	unsigned int fds_count;
 
+	/*
+	 * set to the Thread ID that's doing the service loop just before entry
+	 * to poll indicates service thread likely idling in poll()
+	 * volatile because other threads may check it as part of processing
+	 * for pollfd event change.
+	 */
+	volatile int service_tid;
+	int service_tid_detected;
+
 	volatile unsigned char inside_poll;
 	volatile unsigned char foreign_spinlock;
 
 	unsigned char tid;
 
-	unsigned char lock_depth;
 	unsigned char inside_service:1;
 	unsigned char event_loop_foreign:1;
 	unsigned char event_loop_destroy_processing_done:1;
@@ -618,8 +444,10 @@ lws_sum_stats(const struct lws_context *ctx, struct lws_conn_stats *cs);
 struct lws_timed_vh_protocol {
 	struct lws_timed_vh_protocol *next;
 	const struct lws_protocols *protocol;
+	struct lws_vhost *vhost; /* only used for pending processing */
 	time_t time;
 	int reason;
+	int tsi_req;
 };
 
 /*
@@ -647,6 +475,7 @@ struct lws_vhost {
 #endif
 #if LWS_MAX_SMP > 1
 	pthread_mutex_t lock;
+	char close_flow_vs_tsi[LWS_MAX_SMP];
 #endif
 
 #if defined(LWS_ROLE_H2)
@@ -675,6 +504,9 @@ struct lws_vhost {
 	const char *name;
 	const char *iface;
 
+	void (*finalize)(struct lws_vhost *vh, void *arg);
+	void *finalize_arg;
+
 #if !defined(LWS_WITH_ESP32) && !defined(OPTEE_TA) && !defined(WIN32)
 	int bind_iface;
 #endif
@@ -682,7 +514,7 @@ struct lws_vhost {
 	void **protocol_vh_privs;
 	const struct lws_protocol_vhost_options *pvo;
 	const struct lws_protocol_vhost_options *headers;
-	struct lws **same_vh_protocol_list;
+	struct lws_dll_lws *same_vh_protocol_heads;
 	struct lws_vhost *no_listener_vhost_list;
 #if !defined(LWS_NO_CLIENT)
 	struct lws_dll_lws dll_active_client_conns;
@@ -708,6 +540,8 @@ struct lws_vhost {
 	int keepalive_timeout;
 	int timeout_secs_ah_idle;
 
+	int count_bound_wsi;
+
 #ifdef LWS_WITH_ACCESS_LOG
 	int log_fd;
 #endif
@@ -719,6 +553,13 @@ struct lws_vhost {
 	unsigned char raw_protocol_index;
 };
 
+void
+lws_vhost_bind_wsi(struct lws_vhost *vh, struct lws *wsi);
+void
+lws_vhost_unbind_wsi(struct lws *wsi);
+void
+__lws_vhost_destroy2(struct lws_vhost *vh);
+
 struct lws_deferred_free
 {
 	struct lws_deferred_free *next;
@@ -783,8 +624,7 @@ struct lws_context {
 	struct lws_context_per_thread pt[LWS_MAX_SMP];
 	struct lws_conn_stats conn_stats;
 #if LWS_MAX_SMP > 1
-	pthread_mutex_t lock;
-	int lock_depth;
+	struct lws_mutex_refcount mr;
 #endif
 #ifdef _WIN32
 /* different implementation between unix and windows */
@@ -797,6 +637,11 @@ struct lws_context {
 	struct lws_vhost *vhost_pending_destruction_list;
 	struct lws_plugin *plugin_list;
 	struct lws_deferred_free *deferred_free_list;
+
+#if defined(LWS_WITH_THREADPOOL)
+	struct lws_threadpool *tp_list_head;
+#endif
+
 #if defined(LWS_WITH_PEER_LIMITS)
 	struct lws_peer **pl_hash_table;
 	struct lws_peer *peer_wait_list;
@@ -863,6 +708,7 @@ struct lws_context {
 	unsigned int timeout_secs;
 	unsigned int pt_serv_buf_size;
 	int max_http_header_data;
+	int max_http_header_pool;
 	int simultaneous_ssl_restriction;
 	int simultaneous_ssl;
 #if defined(LWS_WITH_PEER_LIMITS)
@@ -880,16 +726,7 @@ struct lws_context {
 	unsigned int doing_protocol_init:1;
 	unsigned int done_protocol_destroy_cb:1;
 	unsigned int finalize_destroy_after_internal_loops_stopped:1;
-	/*
-	 * set to the Thread ID that's doing the service loop just before entry
-	 * to poll indicates service thread likely idling in poll()
-	 * volatile because other threads may check it as part of processing
-	 * for pollfd event change.
-	 */
-	volatile int service_tid;
-	int service_tid_detected;
 
-	short max_http_header_pool;
 	short count_threads;
 	short plugin_protocol_count;
 	short plugin_extension_count;
@@ -901,7 +738,7 @@ struct lws_context {
 };
 
 int
-lws_check_deferred_free(struct lws_context *context, int force);
+lws_check_deferred_free(struct lws_context *context, int tsi, int force);
 
 #define lws_get_context_protocol(ctx, x) ctx->vhost_list->protocols[x]
 #define lws_get_vh_protocol(vh, x) vh->protocols[x]
@@ -937,13 +774,13 @@ enum {
 	LWS_EV_START = (1 << 2),
 	LWS_EV_STOP = (1 << 3),
 
-	LWS_EV_PREPARE_DELETION = (1 << 31),
+	LWS_EV_PREPARE_DELETION = (1u << 31),
 };
 
 
 #if defined(LWS_WITH_ESP32)
 LWS_EXTERN int
-lws_find_string_in_file(const char *filename, const char *string, int stringlen);
+lws_find_string_in_file(const char *filename, const char *str, int stringlen);
 #endif
 
 #ifdef LWS_WITH_IPV6
@@ -1018,6 +855,9 @@ struct lws {
 #if defined(LWS_ROLE_WS)
 	struct _lws_websocket_related *ws; /* allocated if we upgrade to ws */
 #endif
+#if defined(LWS_ROLE_DBUS)
+	struct _lws_dbus_mode_related dbus;
+#endif
 
 	const struct lws_role_ops *role_ops;
 	lws_wsi_state_t	wsistate;
@@ -1025,7 +865,8 @@ struct lws {
 
 	/* lifetime members */
 
-#if defined(LWS_WITH_LIBEV) || defined(LWS_WITH_LIBUV) || defined(LWS_WITH_LIBEVENT)
+#if defined(LWS_WITH_LIBEV) || defined(LWS_WITH_LIBUV) || \
+    defined(LWS_WITH_LIBEVENT)
 	struct lws_io_watcher w_read;
 #endif
 #if defined(LWS_WITH_LIBEV) || defined(LWS_WITH_LIBEVENT)
@@ -1041,12 +882,16 @@ struct lws {
 	struct lws *sibling_list; /* subsequent children at same level */
 
 	const struct lws_protocols *protocol;
-	struct lws **same_vh_protocol_prev, *same_vh_protocol_next;
+	struct lws_dll_lws same_vh_protocol;
 
 	struct lws_dll_lws dll_timeout;
 	struct lws_dll_lws dll_hrtimer;
 	struct lws_dll_lws dll_buflist; /* guys with pending rxflow */
 
+#if defined(LWS_WITH_THREADPOOL)
+	struct lws_threadpool_task *tp_task;
+#endif
+
 #if defined(LWS_WITH_PEER_LIMITS)
 	struct lws_peer *peer;
 #endif
@@ -1062,10 +907,8 @@ struct lws {
 	void *user_space;
 	void *opaque_parent_data;
 
-	struct lws_buflist *buflist;
-
-	/* truncated send handling */
-	unsigned char *trunc_alloc; /* non-NULL means buffering in progress */
+	struct lws_buflist *buflist;		/* input-side buflist */
+	struct lws_buflist *buflist_out;	/* output-side buflist */
 
 #if defined(LWS_WITH_TLS)
 	struct lws_lws_tls tls;
@@ -1090,9 +933,7 @@ struct lws {
 	/* ints */
 #define LWS_NO_FDS_POS (-1)
 	int position_in_fds_table;
-	unsigned int trunc_alloc_len; /* size of malloc */
-	unsigned int trunc_offset; /* where we are in terms of spilling */
-	unsigned int trunc_len; /* how much is buffered */
+
 #ifndef LWS_NO_CLIENT
 	int chunk_remaining;
 #endif
@@ -1120,18 +961,18 @@ struct lws {
 	unsigned int waiting_to_send_close_frame:1;
 	unsigned int close_needs_ack:1;
 	unsigned int ipv6:1;
-	unsigned int parent_carries_io:1;
 	unsigned int parent_pending_cb_on_writable:1;
 	unsigned int cgi_stdout_zero_length:1;
 	unsigned int seen_zero_length_recv:1;
 	unsigned int rxflow_will_be_applied:1;
 	unsigned int event_pipe:1;
-	unsigned int on_same_vh_list:1;
 	unsigned int handling_404:1;
 	unsigned int protocol_bind_balance:1;
+	unsigned int unix_skt:1;
 
 	unsigned int could_have_pending:1; /* detect back-to-back writes */
 	unsigned int outer_will_close:1;
+	unsigned int shadow:1; /* we do not control fd lifecycle at all */
 
 #ifdef LWS_WITH_ACCESS_LOG
 	unsigned int access_log_pending:1;
@@ -1186,6 +1027,9 @@ struct lws {
 	volatile char leave_pollout_active;
 };
 
+LWS_EXTERN char *
+lws_strdup(const char *s);
+
 #define lws_is_flowcontrolled(w) (!!(wsi->rxflow_bitmap))
 
 void
@@ -1216,7 +1060,7 @@ LWS_EXTERN int
 lws_rxflow_cache(struct lws *wsi, unsigned char *buf, int n, int len);
 
 #ifndef LWS_LATENCY
-static inline void
+static LWS_INLINE void
 lws_latency(struct lws_context *context, struct lws *wsi, const char *action,
 	    int ret, int completion) {
 	do {
@@ -1224,7 +1068,7 @@ lws_latency(struct lws_context *context, struct lws *wsi, const char *action,
 		(void)completion;
 	} while (0);
 }
-static inline void
+static LWS_INLINE void
 lws_latency_pre(struct lws_context *context, struct lws *wsi) {
 	do { (void)context; (void)wsi; } while (0);
 }
@@ -1235,6 +1079,9 @@ lws_latency(struct lws_context *context, struct lws *wsi, const char *action,
 	    int ret, int completion);
 #endif
 
+static LWS_INLINE int
+lws_has_buffered_out(struct lws *wsi) { return !!wsi->buflist_out; }
+
 LWS_EXTERN int LWS_WARN_UNUSED_RESULT
 lws_ws_client_rx_sm(struct lws *wsi, unsigned char c);
 
@@ -1254,22 +1101,7 @@ LWS_EXTERN int
 lws_service_flag_pending(struct lws_context *context, int tsi);
 
 LWS_EXTERN int
-lws_timed_callback_remove(struct lws_vhost *vh, struct lws_timed_vh_protocol *p);
-
-#if defined(_WIN32)
-LWS_EXTERN struct lws *
-wsi_from_fd(const struct lws_context *context, lws_sockfd_type fd);
-
-LWS_EXTERN int
-insert_wsi(struct lws_context *context, struct lws *wsi);
-
-LWS_EXTERN int
-delete_from_fd(struct lws_context *context, lws_sockfd_type fd);
-#else
-#define wsi_from_fd(A,B)  A->lws_lookup[B - lws_plat_socket_offset()]
-#define insert_wsi(A,B)   assert(A->lws_lookup[B->desc.sockfd - lws_plat_socket_offset()] == 0); A->lws_lookup[B->desc.sockfd - lws_plat_socket_offset()]=B
-#define delete_from_fd(A,B) A->lws_lookup[B - lws_plat_socket_offset()]=0
-#endif
+__lws_timed_callback_remove(struct lws_vhost *vh, struct lws_timed_vh_protocol *p);
 
 LWS_EXTERN int LWS_WARN_UNUSED_RESULT
 __insert_wsi_socket_into_fds(struct lws_context *context, struct lws *wsi);
@@ -1297,7 +1129,7 @@ LWS_EXTERN int
 lws_handle_POLLOUT_event(struct lws *wsi, struct lws_pollfd *pollfd);
 
 LWS_EXTERN struct lws *
-lws_client_connect_via_info2(struct lws *wsi);
+lws_http_client_connect_via_info2(struct lws *wsi);
 
 
 
@@ -1335,10 +1167,8 @@ user_callback_handle_rxflow(lws_callback_function, struct lws *wsi,
 			    void *in, size_t len);
 
 LWS_EXTERN int
-lws_plat_socket_offset(void);
-
-LWS_EXTERN int
-lws_plat_set_socket_options(struct lws_vhost *vhost, lws_sockfd_type fd);
+lws_plat_set_socket_options(struct lws_vhost *vhost, lws_sockfd_type fd,
+			    int unix_skt);
 
 LWS_EXTERN int
 lws_plat_check_connection_error(struct lws *wsi);
@@ -1421,7 +1251,7 @@ LWS_EXTERN void lwsl_emit_stderr(int level, const char *line);
 static LWS_INLINE void
 lws_pt_mutex_init(struct lws_context_per_thread *pt)
 {
-	pthread_mutex_init(&pt->lock, NULL);
+	lws_mutex_refcount_init(&pt->mr);
 	pthread_mutex_init(&pt->lock_stats, NULL);
 }
 
@@ -1429,34 +1259,11 @@ static LWS_INLINE void
 lws_pt_mutex_destroy(struct lws_context_per_thread *pt)
 {
 	pthread_mutex_destroy(&pt->lock_stats);
-	pthread_mutex_destroy(&pt->lock);
+	lws_mutex_refcount_destroy(&pt->mr);
 }
 
-static LWS_INLINE void
-lws_pt_lock(struct lws_context_per_thread *pt, const char *reason)
-{
-	if (pt->lock_owner == pthread_self()) {
-		pt->lock_depth++;
-		return;
-	}
-	pthread_mutex_lock(&pt->lock);
-	pt->last_lock_reason = reason;
-	pt->lock_owner = pthread_self();
-	//lwsl_notice("tid %d: lock %s\n", pt->tid, reason);
-}
-
-static LWS_INLINE void
-lws_pt_unlock(struct lws_context_per_thread *pt)
-{
-	if (pt->lock_depth) {
-		pt->lock_depth--;
-		return;
-	}
-	pt->last_lock_reason = "free";
-	pt->lock_owner = 0;
-	//lwsl_notice("tid %d: unlock %s\n", pt->tid, pt->last_lock_reason);
-	pthread_mutex_unlock(&pt->lock);
-}
+#define lws_pt_lock(pt, reason) lws_mutex_refcount_lock(&pt->mr, reason)
+#define lws_pt_unlock(pt) lws_mutex_refcount_unlock(&pt->mr)
 
 static LWS_INLINE void
 lws_pt_stats_lock(struct lws_context_per_thread *pt)
@@ -1470,17 +1277,8 @@ lws_pt_stats_unlock(struct lws_context_per_thread *pt)
 	pthread_mutex_unlock(&pt->lock_stats);
 }
 
-static LWS_INLINE void
-lws_context_lock(struct lws_context *context)
-{
-	pthread_mutex_lock(&context->lock);
-}
-
-static LWS_INLINE void
-lws_context_unlock(struct lws_context *context)
-{
-	pthread_mutex_unlock(&context->lock);
-}
+#define lws_context_lock(c, reason) lws_mutex_refcount_lock(&c->mr, reason)
+#define lws_context_unlock(c) lws_mutex_refcount_unlock(&c->mr)
 
 static LWS_INLINE void
 lws_vhost_lock(struct lws_vhost *vhost)
@@ -1500,7 +1298,7 @@ lws_vhost_unlock(struct lws_vhost *vhost)
 #define lws_pt_mutex_destroy(_a) (void)(_a)
 #define lws_pt_lock(_a, b) (void)(_a)
 #define lws_pt_unlock(_a) (void)(_a)
-#define lws_context_lock(_a) (void)(_a)
+#define lws_context_lock(_a, _b) (void)(_a)
 #define lws_context_unlock(_a) (void)(_a)
 #define lws_vhost_lock(_a) (void)(_a)
 #define lws_vhost_unlock(_a) (void)(_a)
@@ -1558,7 +1356,7 @@ lws_handshake_server(struct lws *wsi, unsigned char **buf, size_t len);
 LWS_EXTERN int
 lws_access_log(struct lws *wsi);
 LWS_EXTERN void
-lws_prepare_access_log_info(struct lws *wsi, char *uri_ptr, int meth);
+lws_prepare_access_log_info(struct lws *wsi, char *uri_ptr, int len, int meth);
 #else
 #define lws_access_log(_a)
 #endif
@@ -1573,7 +1371,8 @@ int
 lws_protocol_init(struct lws_context *context);
 
 int
-lws_bind_protocol(struct lws *wsi, const struct lws_protocols *p);
+lws_bind_protocol(struct lws *wsi, const struct lws_protocols *p,
+		  const char *reason);
 
 const struct lws_http_mount *
 lws_find_mount(struct lws *wsi, const char *uri_ptr, int uri_len);
@@ -1606,6 +1405,9 @@ lws_plat_pipe_close(struct lws *wsi);
 int
 lws_create_event_pipes(struct lws_context *context);
 
+int
+lws_plat_apply_FD_CLOEXEC(int n);
+
 const struct lws_plat_file_ops *
 lws_vfs_select_fops(const struct lws_plat_file_ops *fops, const char *vfs_path,
 		    const char **vpath);
@@ -1639,27 +1441,33 @@ LWS_EXTERN int
 lws_plat_service(struct lws_context *context, int timeout_ms);
 LWS_EXTERN LWS_VISIBLE int
 _lws_plat_service_tsi(struct lws_context *context, int timeout_ms, int tsi);
+
+LWS_EXTERN int
+lws_pthread_self_to_tsi(struct lws_context *context);
+
 LWS_EXTERN int
 lws_plat_init(struct lws_context *context,
 	      const struct lws_context_creation_info *info);
 LWS_EXTERN void
 lws_plat_drop_app_privileges(const struct lws_context_creation_info *info);
-LWS_EXTERN unsigned long long
-time_in_microseconds(void);
 LWS_EXTERN const char * LWS_WARN_UNUSED_RESULT
 lws_plat_inet_ntop(int af, const void *src, char *dst, int cnt);
 LWS_EXTERN int LWS_WARN_UNUSED_RESULT
 lws_plat_inet_pton(int af, const char *src, void *dst);
 
+LWS_EXTERN int
+lws_check_byte_utf8(unsigned char state, unsigned char c);
 LWS_EXTERN int LWS_WARN_UNUSED_RESULT
 lws_check_utf8(unsigned char *state, unsigned char *buf, size_t len);
-LWS_EXTERN int alloc_file(struct lws_context *context, const char *filename, uint8_t **buf,
-		                lws_filepos_t *amount);
+LWS_EXTERN int alloc_file(struct lws_context *context, const char *filename,
+			  uint8_t **buf, lws_filepos_t *amount);
 
 
 LWS_EXTERN void
 lws_same_vh_protocol_remove(struct lws *wsi);
 LWS_EXTERN void
+__lws_same_vh_protocol_remove(struct lws *wsi);
+LWS_EXTERN void
 lws_same_vh_protocol_insert(struct lws *wsi, int n);
 
 LWS_EXTERN int
@@ -1673,10 +1481,10 @@ lws_broadcast(struct lws_context *context, int reason, void *in, size_t len);
  lws_stats_atomic_max(struct lws_context * context,
 		struct lws_context_per_thread *pt, int index, uint64_t val);
 #else
- static inline uint64_t lws_stats_atomic_bump(struct lws_context * context,
+ static LWS_INLINE uint64_t lws_stats_atomic_bump(struct lws_context * context,
 		struct lws_context_per_thread *pt, int index, uint64_t bump) {
 	(void)context; (void)pt; (void)index; (void)bump; return 0; }
- static inline uint64_t lws_stats_atomic_max(struct lws_context * context,
+ static LWS_INLINE uint64_t lws_stats_atomic_max(struct lws_context * context,
 		struct lws_context_per_thread *pt, int index, uint64_t val) {
 	(void)context; (void)pt; (void)index; (void)val; return 0; }
 #endif
@@ -1689,7 +1497,8 @@ void socks_generate_msg(struct lws *wsi, enum socks_msg_type type,
 void
 lws_peer_track_wsi_close(struct lws_context *context, struct lws_peer *peer);
 int
-lws_peer_confirm_ah_attach_ok(struct lws_context *context, struct lws_peer *peer);
+lws_peer_confirm_ah_attach_ok(struct lws_context *context,
+			      struct lws_peer *peer);
 void
 lws_peer_track_ah_detach(struct lws_context *context, struct lws_peer *peer);
 void
@@ -1703,6 +1512,13 @@ void
 lws_peer_dump_from_wsi(struct lws *wsi);
 #endif
 
+#ifdef LWS_WITH_HUBBUB
+hubbub_error
+html_parser_cb(const hubbub_token *token, void *pw);
+#endif
+
+int
+lws_threadpool_tsi_context(struct lws_context *context, int tsi);
 
 void
 __lws_remove_from_timeout_list(struct lws *wsi);
@@ -1727,11 +1543,12 @@ lws_buflist_aware_consume(struct lws *wsi, struct lws_tokens *ebuf, int used,
 
 
 char *
-lws_generate_client_ws_handshake(struct lws *wsi, char *p);
+lws_generate_client_ws_handshake(struct lws *wsi, char *p, const char *conn1);
 int
 lws_client_ws_upgrade(struct lws *wsi, const char **cce);
 int
-lws_create_client_ws_object(struct lws_client_connect_info *i, struct lws *wsi);
+lws_create_client_ws_object(const struct lws_client_connect_info *i,
+			    struct lws *wsi);
 int
 lws_alpn_comma_to_openssl(const char *comma, uint8_t *os, int len);
 int
@@ -1745,6 +1562,11 @@ void
 lws_destroy_event_pipe(struct lws *wsi);
 void
 lws_context_destroy2(struct lws_context *context);
+int
+lws_role_call_client_bind(struct lws *wsi,
+			  const struct lws_client_connect_info *i);
+void
+lws_remove_child_from_any_parent(struct lws *wsi);
 
 #ifdef __cplusplus
 };
diff --git a/thirdparty/libwebsockets/core/service.c b/thirdparty/libwebsockets/lib/core/service.c
index 6523058814..ef251409cb 100644
--- a/thirdparty/libwebsockets/core/service.c
+++ b/thirdparty/libwebsockets/lib/core/service.c
@@ -30,7 +30,7 @@ lws_callback_as_writeable(struct lws *wsi)
 	lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_WRITEABLE_CB, 1);
 #if defined(LWS_WITH_STATS)
 	if (wsi->active_writable_req_us) {
-		uint64_t ul = time_in_microseconds() -
+		uint64_t ul = lws_time_in_microseconds() -
 			      wsi->active_writable_req_us;
 
 		lws_stats_atomic_bump(wsi->context, pt,
@@ -74,12 +74,13 @@ lws_handle_POLLOUT_event(struct lws *wsi, struct lws_pollfd *pollfd)
 	 * Priority 1: pending truncated sends are incomplete ws fragments
 	 *	       If anything else sent first the protocol would be
 	 *	       corrupted.
+	 *
+	 *	       These are post- any compression transform
 	 */
 
-	if (wsi->trunc_len) {
+	if (lws_has_buffered_out(wsi)) {
 		//lwsl_notice("%s: completing partial\n", __func__);
-		if (lws_issue_raw(wsi, wsi->trunc_alloc + wsi->trunc_offset,
-				  wsi->trunc_len) < 0) {
+		if (lws_issue_raw(wsi, NULL, 0) < 0) {
 			lwsl_info("%s signalling to close\n", __func__);
 			goto bail_die;
 		}
@@ -91,6 +92,28 @@ lws_handle_POLLOUT_event(struct lws *wsi, struct lws_pollfd *pollfd)
 			goto bail_die; /* retry closing now */
 		}
 
+	/* Priority 2: pre- compression transform */
+
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (wsi->http.comp_ctx.buflist_comp ||
+	    wsi->http.comp_ctx.may_have_more) {
+		enum lws_write_protocol wp = LWS_WRITE_HTTP;
+
+		lwsl_info("%s: completing comp partial (buflist_comp %p, may %d)\n",
+				__func__, wsi->http.comp_ctx.buflist_comp,
+				wsi->http.comp_ctx.may_have_more
+				);
+
+		if (wsi->role_ops->write_role_protocol(wsi, NULL, 0, &wp) < 0) {
+			lwsl_info("%s signalling to close\n", __func__);
+			goto bail_die;
+		}
+		lws_callback_on_writable(wsi);
+
+		goto bail_ok;
+	}
+#endif
+
 #ifdef LWS_WITH_CGI
 	/*
 	 * A cgi master's wire protocol remains h1 or h2.  He is just getting
@@ -126,13 +149,6 @@ lws_handle_POLLOUT_event(struct lws *wsi, struct lws_pollfd *pollfd)
 
 	/* one shot */
 
-	if (wsi->parent_carries_io) {
-		vwsi->handling_pollout = 0;
-		vwsi->leave_pollout_active = 0;
-
-		return lws_callback_as_writeable(wsi);
-	}
-
 	if (pollfd) {
 		int eff = vwsi->leave_pollout_active;
 
@@ -216,7 +232,9 @@ static int
 __lws_service_timeout_check(struct lws *wsi, time_t sec)
 {
 	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 	int n = 0;
+#endif
 
 	(void)n;
 
@@ -228,9 +246,11 @@ __lws_service_timeout_check(struct lws *wsi, time_t sec)
 	    lws_compare_time_t(wsi->context, sec, wsi->pending_timeout_set) >
 			       wsi->pending_timeout_limit) {
 
+#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 		if (wsi->desc.sockfd != LWS_SOCK_INVALID &&
 		    wsi->position_in_fds_table >= 0)
 			n = pt->fds[wsi->position_in_fds_table].events;
+#endif
 
 		lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_TIMEOUTS, 1);
 
@@ -318,9 +338,10 @@ lws_service_adjust_timeout(struct lws_context *context, int timeout_ms, int tsi)
 {
 	struct lws_context_per_thread *pt = &context->pt[tsi];
 
-	/* Figure out if we really want to wait in poll()
-	 * We only need to wait if really nothing already to do and we have
-	 * to wait for something from network
+	/*
+	 * Figure out if we really want to wait in poll()... we only need to
+	 * wait if really nothing already to do and we have to wait for
+	 * something from network
 	 */
 #if defined(LWS_ROLE_WS) && !defined(LWS_WITHOUT_EXTENSIONS)
 	/* 1) if we know we are draining rx ext, do not wait in poll */
@@ -328,23 +349,31 @@ lws_service_adjust_timeout(struct lws_context *context, int timeout_ms, int tsi)
 		return 0;
 #endif
 
-	/* 2) if we know we have non-network pending data, do not wait in poll */
+	/* 2) if we know we have non-network pending data,
+	 *    do not wait in poll */
 
 	if (pt->context->tls_ops &&
-	    pt->context->tls_ops->fake_POLLIN_for_buffered)
-		if (pt->context->tls_ops->fake_POLLIN_for_buffered(pt))
+	    pt->context->tls_ops->fake_POLLIN_for_buffered &&
+	    pt->context->tls_ops->fake_POLLIN_for_buffered(pt))
 			return 0;
 
-	/* 3) If there is any wsi with rxflow buffered and in a state to process
+	/*
+	 * 3) If there is any wsi with rxflow buffered and in a state to process
 	 *    it, we should not wait in poll
 	 */
 
-	lws_start_foreach_dll(struct lws_dll_lws *, d, pt->dll_head_buflist.next) {
+	lws_start_foreach_dll(struct lws_dll_lws *, d,
+			      pt->dll_head_buflist.next) {
 		struct lws *wsi = lws_container_of(d, struct lws, dll_buflist);
 
 		if (lwsi_state(wsi) != LRS_DEFERRING_ACTION)
 			return 0;
 
+	/*
+	 * 4) If any guys with http compression to spill, we shouldn't wait in
+	 *    poll but hurry along and service them
+	 */
+
 	} lws_end_foreach_dll(d);
 
 	return timeout_ms;
@@ -431,8 +460,10 @@ lws_buflist_aware_consume(struct lws *wsi, struct lws_tokens *ebuf, int used,
 		if (m < 0)
 			return 1; /* OOM */
 		if (m) {
-			lwsl_debug("%s: added %p to rxflow list\n", __func__, wsi);
-			lws_dll_lws_add_front(&wsi->dll_buflist, &pt->dll_head_buflist);
+			lwsl_debug("%s: added %p to rxflow list\n",
+				   __func__, wsi);
+			lws_dll_lws_add_front(&wsi->dll_buflist,
+					      &pt->dll_head_buflist);
 		}
 	}
 
@@ -487,10 +518,6 @@ int
 lws_service_flag_pending(struct lws_context *context, int tsi)
 {
 	struct lws_context_per_thread *pt = &context->pt[tsi];
-
-#if defined(LWS_WITH_TLS)
-	struct lws *wsi, *wsi_next;
-#endif
 	int forced = 0;
 
 	lws_pt_lock(pt, __func__);
@@ -520,9 +547,11 @@ lws_service_flag_pending(struct lws_context *context, int tsi)
 	 * service to use up the buffered incoming data, even though their
 	 * network socket may have nothing
 	 */
-	wsi = pt->tls.pending_read_list;
-	while (wsi) {
-		wsi_next = wsi->tls.pending_read_list_next;
+	lws_start_foreach_dll_safe(struct lws_dll_lws *, p, p1,
+				   pt->tls.pending_tls_head.next) {
+		struct lws *wsi = lws_container_of(p, struct lws,
+						   tls.pending_tls_list);
+
 		pt->fds[wsi->position_in_fds_table].revents |=
 			pt->fds[wsi->position_in_fds_table].events & LWS_POLLIN;
 		if (pt->fds[wsi->position_in_fds_table].revents & LWS_POLLIN) {
@@ -536,8 +565,7 @@ lws_service_flag_pending(struct lws_context *context, int tsi)
 			__lws_ssl_remove_wsi_from_buffered_list(wsi);
 		}
 
-		wsi = wsi_next;
-	}
+	} lws_end_foreach_dll_safe(p, p1);
 #endif
 
 	lws_pt_unlock(pt);
@@ -550,18 +578,21 @@ lws_service_periodic_checks(struct lws_context *context,
 			    struct lws_pollfd *pollfd, int tsi)
 {
 	struct lws_context_per_thread *pt = &context->pt[tsi];
+	struct lws_timed_vh_protocol *tmr;
 	lws_sockfd_type our_fd = 0, tmp_fd;
 	struct lws *wsi;
 	int timed_out = 0;
 	time_t now;
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 	struct allocated_headers *ah;
-	int m;
+	int n, m;
 #endif
 
 	if (!context->protocol_init_done)
-		if (lws_protocol_init(context))
+		if (lws_protocol_init(context)) {
+			lwsl_err("%s: lws_protocol_init failed\n", __func__);
 			return -1;
+		}
 
 	time(&now);
 
@@ -609,7 +640,7 @@ lws_service_periodic_checks(struct lws_context *context,
 #endif
 
 	lws_plat_service_periodic(context);
-	lws_check_deferred_free(context, 0);
+	lws_check_deferred_free(context, tsi, 0);
 
 #if defined(LWS_WITH_PEER_LIMITS)
 	lws_peer_cull_peer_wait_list(context);
@@ -631,7 +662,7 @@ lws_service_periodic_checks(struct lws_context *context,
 		our_fd = pollfd->fd;
 
 	/*
-	 * Phase 1: check every wsi on the timeout check list
+	 * Phase 1: check every wsi on our pt's timeout check list
 	 */
 
 	lws_pt_lock(pt, __func__);
@@ -701,8 +732,7 @@ lws_service_periodic_checks(struct lws_context *context,
 				continue;
 			}
 
-			if (lws_hdr_copy(wsi, buf,
-					 sizeof buf, m) > 0) {
+			if (lws_hdr_copy(wsi, buf, sizeof buf, m) > 0) {
 				buf[sizeof(buf) - 1] = '\0';
 
 				lwsl_notice("   %s = %s\n",
@@ -749,37 +779,126 @@ lws_service_periodic_checks(struct lws_context *context,
 	 * Phase 3: vhost / protocol timer callbacks
 	 */
 
-	wsi = NULL;
+	/* 3a: lock, collect, and remove vh timers that are pending */
+
+	lws_context_lock(context, "expired vh timers"); /* context ---------- */
+
+	n = 0;
+
+	/*
+	 * first, under the context lock, get a count of the number of
+	 * expired timers so we can allocate for them (or not, cleanly)
+	 */
+
 	lws_start_foreach_ll(struct lws_vhost *, v, context->vhost_list) {
-		struct lws_timed_vh_protocol *nx;
+
 		if (v->timed_vh_protocol_list) {
-			lws_start_foreach_ll(struct lws_timed_vh_protocol *,
-					q, v->timed_vh_protocol_list) {
-				if (now >= q->time) {
-					if (!wsi)
-						wsi = lws_zalloc(sizeof(*wsi), "cbwsi");
-					wsi->context = context;
-					wsi->vhost = v;
-					wsi->protocol = q->protocol;
-					lwsl_debug("timed cb: vh %s, protocol %s, reason %d\n", v->name, q->protocol->name, q->reason);
-					q->protocol->callback(wsi, q->reason, NULL, NULL, 0);
-					nx = q->next;
-					lws_timed_callback_remove(v, q);
-					q = nx;
-					continue; /* we pointed ourselves to the next from the now-deleted guy */
-				}
-			} lws_end_foreach_ll(q, next);
+
+			lws_start_foreach_ll_safe(struct lws_timed_vh_protocol *,
+					q, v->timed_vh_protocol_list, next) {
+				if (now >= q->time && q->tsi_req == tsi)
+					n++;
+			} lws_end_foreach_ll_safe(q);
 		}
+
 	} lws_end_foreach_ll(v, vhost_next);
-	if (wsi)
+
+	/* if nothing to do, unlock and move on to the next vhost */
+
+	if (!n) {
+		lws_context_unlock(context); /* ----------- context */
+		goto vh_timers_done;
+	}
+
+	/*
+	 * attempt to do the wsi and timer info allocation
+	 * first en bloc.  If it fails, we can just skip the rest and
+	 * the timers will still be pending next time.
+	 */
+
+	wsi = lws_zalloc(sizeof(*wsi), "cbwsi");
+	if (!wsi) {
+		/*
+		 * at this point, we haven't cleared any vhost
+		 * timers.  We can fail out and retry cleanly
+		 * next periodic check
+		 */
+		lws_context_unlock(context); /* ----------- context */
+		goto vh_timers_done;
+	}
+	wsi->context = context;
+
+	tmr = lws_zalloc(sizeof(*tmr) * n, "cbtmr");
+	if (!tmr) {
+		/* again OOM here can be handled cleanly */
 		lws_free(wsi);
+		lws_context_unlock(context); /* ----------- context */
+		goto vh_timers_done;
+	}
+
+	/* so we have the allocation for n pending timers... */
+
+	m = 0;
+	lws_start_foreach_ll(struct lws_vhost *, v, context->vhost_list) {
+
+		if (v->timed_vh_protocol_list) {
+
+			lws_vhost_lock(v); /* vhost ------------------------- */
+
+			lws_start_foreach_ll_safe(struct lws_timed_vh_protocol *,
+					q, v->timed_vh_protocol_list, next) {
+
+				/* only do n */
+				if (m == n)
+					break;
+
+				if (now >= q->time && q->tsi_req == tsi) {
+
+					/*
+					 * tmr is an allocated array.
+					 * Ignore the linked-list.
+					 */
+					tmr[m].vhost = v;
+					tmr[m].protocol = q->protocol;
+					tmr[m++].reason = q->reason;
+
+					/* take the timer out now we took
+					 * responsibility */
+					__lws_timed_callback_remove(v, q);
+				}
+
+			} lws_end_foreach_ll_safe(q);
+
+			lws_vhost_unlock(v); /* ----------------------- vhost */
+		}
+
+	} lws_end_foreach_ll(v, vhost_next);
+	lws_context_unlock(context); /* ---------------------------- context */
+
+	/* 3b: call the vh timer callbacks outside any lock */
+
+	for (m = 0; m < n; m++) {
+
+		wsi->vhost = tmr[m].vhost; /* not a real bound wsi */
+		wsi->protocol = tmr[m].protocol;
+
+		lwsl_debug("%s: timed cb: vh %s, protocol %s, reason %d\n",
+			   __func__, tmr[m].vhost->name, tmr[m].protocol->name,
+			   tmr[m].reason);
+		tmr[m].protocol->callback(wsi, tmr[m].reason, NULL, NULL, 0);
+	}
+
+	lws_free(tmr);
+	lws_free(wsi);
+
+vh_timers_done:
 
 	/*
 	 * Phase 4: check for unconfigured vhosts due to required
 	 *	    interface missing before
 	 */
 
-	lws_context_lock(context);
+	lws_context_lock(context, "periodic checks");
 	lws_start_foreach_llp(struct lws_vhost **, pv,
 			      context->no_listener_vhost_list) {
 		struct lws_vhost *v = *pv;
@@ -812,7 +931,7 @@ lws_service_periodic_checks(struct lws_context *context,
 	    context->tls_ops->periodic_housekeeping)
 		context->tls_ops->periodic_housekeeping(context, now);
 
-	return timed_out;
+	return 0;
 }
 
 LWS_VISIBLE int
@@ -825,9 +944,11 @@ lws_service_fd_tsi(struct lws_context *context, struct lws_pollfd *pollfd,
 	if (!context || context->being_destroyed1)
 		return -1;
 
-	/* the socket we came to service timed out, nothing to do */
-	if (lws_service_periodic_checks(context, pollfd, tsi) || !pollfd)
-		return 0;
+	/* the case there's no pollfd to service, we just want to do periodic */
+	if (!pollfd) {
+		lws_service_periodic_checks(context, pollfd, tsi);
+		return -2;
+	}
 
 	/* no, here to service a socket descriptor */
 	wsi = wsi_from_fd(context, pollfd->fd);
@@ -923,6 +1044,9 @@ handled:
 #endif
 	pollfd->revents = 0;
 
+	/* check the timeout situation if we didn't in the last second */
+	lws_service_periodic_checks(context, pollfd, tsi);
+
 	lws_pt_lock(pt, __func__);
 	__lws_hrtimer_service(pt);
 	lws_pt_unlock(pt);
@@ -969,6 +1093,9 @@ lws_service_tsi(struct lws_context *context, int timeout_ms, int tsi)
 	int n;
 
 	pt->inside_service = 1;
+#if LWS_MAX_SMP > 1
+	pt->self = pthread_self();
+#endif
 
 	if (context->event_loop_ops->run_pt) {
 		/* we are configured for an event loop */
diff --git a/thirdparty/libwebsockets/event-libs/poll/poll.c b/thirdparty/libwebsockets/lib/event-libs/poll/poll.c
index 09af5b15d8..09af5b15d8 100644
--- a/thirdparty/libwebsockets/event-libs/poll/poll.c
+++ b/thirdparty/libwebsockets/lib/event-libs/poll/poll.c
diff --git a/thirdparty/libwebsockets/event-libs/poll/private.h b/thirdparty/libwebsockets/lib/event-libs/poll/private.h
index ca313ebfb0..ca313ebfb0 100644
--- a/thirdparty/libwebsockets/event-libs/poll/private.h
+++ b/thirdparty/libwebsockets/lib/event-libs/poll/private.h
diff --git a/thirdparty/libwebsockets/event-libs/private.h b/thirdparty/libwebsockets/lib/event-libs/private.h
index c36d39c8c2..58bca946b5 100644
--- a/thirdparty/libwebsockets/event-libs/private.h
+++ b/thirdparty/libwebsockets/lib/event-libs/private.h
@@ -41,7 +41,7 @@ struct lws_event_loop_ops {
 	/* close handle manually  */
 	void (*close_handle_manually)(struct lws *wsi);
 	/* event loop accept processing  */
-	void (*accept)(struct lws *wsi);
+	int (*accept)(struct lws *wsi);
 	/* control wsi active events  */
 	void (*io)(struct lws *wsi, int flags);
 	/* run the event loop for a pt */
diff --git a/thirdparty/libwebsockets/lws_config_private.h b/thirdparty/libwebsockets/lib/lws_config_private.h
index b26d225afa..e531777624 100644
--- a/thirdparty/libwebsockets/lws_config_private.h
+++ b/thirdparty/libwebsockets/lib/lws_config_private.h
@@ -81,7 +81,7 @@
 
 /* Define to 1 if you have the <sys/prctl.h> header file. */
 #define LWS_HAVE_SYS_PRCTL_H
-#if defined(OSX_ENABLED) || defined(IPHONE_ENABLED) || defined(__FreeBSD__) || defined(__OpenBSD__) || defined(__HAIKU__)
+#if defined(__APPLE__) || defined(__FreeBSD__) || defined(__OpenBSD__) || defined(__HAIKU__)
 #undef LWS_HAVE_SYS_PRCTL_H
 #endif
 
diff --git a/thirdparty/libwebsockets/misc/base64-decode.c b/thirdparty/libwebsockets/lib/misc/base64-decode.c
index 64b84d78fa..de2efc8fd1 100644
--- a/thirdparty/libwebsockets/misc/base64-decode.c
+++ b/thirdparty/libwebsockets/lib/misc/base64-decode.c
@@ -55,12 +55,11 @@ _lws_b64_encode_string(const char *encode, const char *in, int in_len,
 {
 	unsigned char triple[3];
 	int i;
-	int len;
 	int line = 0;
 	int done = 0;
 
 	while (in_len) {
-		len = 0;
+		int len = 0;
 		for (i = 0; i < 3; i++) {
 			if (in_len) {
 				triple[i] = *in++;
diff --git a/thirdparty/libwebsockets/misc/getifaddrs.c b/thirdparty/libwebsockets/lib/misc/getifaddrs.c
index 735b899f48..735b899f48 100644
--- a/thirdparty/libwebsockets/misc/getifaddrs.c
+++ b/thirdparty/libwebsockets/lib/misc/getifaddrs.c
diff --git a/thirdparty/libwebsockets/misc/getifaddrs.h b/thirdparty/libwebsockets/lib/misc/getifaddrs.h
index d26670c082..d26670c082 100644
--- a/thirdparty/libwebsockets/misc/getifaddrs.h
+++ b/thirdparty/libwebsockets/lib/misc/getifaddrs.h
diff --git a/thirdparty/libwebsockets/misc/lejp.c b/thirdparty/libwebsockets/lib/misc/lejp.c
index 00d350f81e..599a6d37ba 100644
--- a/thirdparty/libwebsockets/misc/lejp.c
+++ b/thirdparty/libwebsockets/lib/misc/lejp.c
@@ -20,6 +20,7 @@
  */
 
 #include <libwebsockets.h>
+#include "core/private.h"
 #include <string.h>
 #include <stdio.h>
 
@@ -30,7 +31,7 @@
  * \param callback:	your user callback which will received parsed tokens
  * \param user:	optional user data pointer untouched by lejp
  * \param paths:	your array of name elements you are interested in
- * \param count_paths:	ARRAY_SIZE() of @paths
+ * \param count_paths:	LWS_ARRAY_SIZE() of @paths
  *
  * Prepares your context struct for use with lejp
  */
@@ -125,7 +126,7 @@ lejp_check_path_match(struct lejp_ctx *ctx)
 				q++;
 				continue;
 			}
-			ctx->wild[ctx->wildcount++] = p - ctx->path;
+			ctx->wild[ctx->wildcount++] = lws_ptr_diff(p, ctx->path);
 			q++;
 			/*
 			 * if * has something after it, match to .
@@ -250,7 +251,7 @@ lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len)
 
 		case LEJP_MP_STRING:
 			if (c == '\"') {
-				if (!ctx->sp) {
+				if (!ctx->sp) { /* JSON can't end on quote */
 					ret = LEJP_REJECT_MP_STRING_UNDERRUN;
 					goto reject;
 				}
@@ -417,7 +418,7 @@ lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len)
 					goto reject;
 				}
 				ctx->i[ctx->ipos++] = 0;
-				if (ctx->ipos > ARRAY_SIZE(ctx->i)) {
+				if (ctx->ipos > LWS_ARRAY_SIZE(ctx->i)) {
 					ret = LEJP_REJECT_MP_DELIM_ISTACK;
 					goto reject;
 				}
@@ -425,17 +426,23 @@ lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len)
 
 			case ']':
 				/* pop */
+				if (!ctx->sp) { /* JSON can't end on ] */
+					ret = LEJP_REJECT_MP_C_OR_E_UNDERF;
+					goto reject;
+				}
 				ctx->sp--;
 				if (ctx->st[ctx->sp].s != LEJP_MP_ARRAY_END) {
 					ret = LEJP_REJECT_MP_C_OR_E_NOTARRAY;
 					goto reject;
 				}
 				/* drop the path [n] bit */
-				ctx->ppos = ctx->st[ctx->sp - 1].p;
-				ctx->ipos = ctx->st[ctx->sp - 1].i;
+				if (ctx->sp) {
+					ctx->ppos = ctx->st[ctx->sp - 1].p;
+					ctx->ipos = ctx->st[ctx->sp - 1].i;
+				}
 				ctx->path[ctx->ppos] = '\0';
 				if (ctx->path_match &&
-					       ctx->ppos <= ctx->path_match_len)
+				    ctx->ppos <= ctx->path_match_len)
 					/*
 					 * we shrank the path to be
 					 * smaller than the matching point
@@ -603,7 +610,7 @@ lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len)
 				break;
 			}
 			if (c == ']') {
-				if (!ctx->sp) {
+				if (!ctx->sp) {  /* JSON can't end on ] */
 					ret = LEJP_REJECT_MP_C_OR_E_UNDERF;
 					goto reject;
 				}
@@ -631,7 +638,7 @@ lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len)
 				goto redo_character;
 			}
 			if (c == '}') {
-				if (ctx->sp == 0) {
+				if (!ctx->sp) {
 					lejp_check_path_match(ctx);
 					if (ctx->callback(ctx, LEJPCB_OBJECT_END)) {
 						ret = LEJP_REJECT_CALLBACK;
@@ -716,7 +723,7 @@ add_stack_level:
 
 		ctx->st[ctx->sp].p = ctx->ppos;
 		ctx->st[ctx->sp].i = ctx->ipos;
-		if (++ctx->sp == ARRAY_SIZE(ctx->st)) {
+		if (++ctx->sp == LWS_ARRAY_SIZE(ctx->st)) {
 			ret = LEJP_REJECT_STACK_OVERFLOW;
 			goto reject;
 		}
diff --git a/thirdparty/libwebsockets/misc/sha-1.c b/thirdparty/libwebsockets/lib/misc/sha-1.c
index 2e4db52693..898f3f45b1 100644
--- a/thirdparty/libwebsockets/misc/sha-1.c
+++ b/thirdparty/libwebsockets/lib/misc/sha-1.c
@@ -236,18 +236,14 @@ sha1_pad(struct sha1_ctxt *ctxt)
 void
 sha1_loop(struct sha1_ctxt *ctxt, const unsigned char *input, size_t len)
 {
-	size_t gaplen;
-	size_t gapstart;
 	size_t off;
-	size_t copysiz;
 
 	off = 0;
 
 	while (off < len) {
-		gapstart = COUNT % 64;
-		gaplen = 64 - gapstart;
+		size_t gapstart = COUNT % 64, gaplen = 64 - gapstart,
+		       copysiz = (gaplen < len - off) ? gaplen : len - off;
 
-		copysiz = (gaplen < len - off) ? gaplen : len - off;
 		memcpy(&ctxt->m.b8[gapstart], &input[off], copysiz);
 		COUNT += (unsigned char)copysiz;
 		COUNT %= 64;
diff --git a/thirdparty/libwebsockets/lib/plat/unix/private.h b/thirdparty/libwebsockets/lib/plat/unix/private.h
new file mode 100644
index 0000000000..8583ee7bc8
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/private.h
@@ -0,0 +1,169 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ *  Included from lib/core/private.h if no explicit platform
+ */
+
+#include <fcntl.h>
+#include <strings.h>
+#include <unistd.h>
+
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <arpa/inet.h>
+#include <poll.h>
+#include <netdb.h>
+
+#ifndef __cplusplus
+#include <errno.h>
+#endif
+#include <netdb.h>
+#include <signal.h>
+
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <sys/mman.h>
+#include <sys/un.h>
+
+#if defined(__APPLE__)
+#include <machine/endian.h>
+#endif
+#if defined(__FreeBSD__)
+#include <sys/endian.h>
+#endif
+#if defined(__linux__)
+#include <endian.h>
+#endif
+#if defined(__QNX__)
+	#include <gulliver.h>
+	#if defined(__LITTLEENDIAN__)
+		#define BYTE_ORDER __LITTLEENDIAN__
+		#define LITTLE_ENDIAN __LITTLEENDIAN__
+		#define BIG_ENDIAN 4321  /* to show byte order (taken from gcc); for suppres warning that BIG_ENDIAN is not defined. */
+	#endif
+	#if defined(__BIGENDIAN__)
+		#define BYTE_ORDER __BIGENDIAN__
+		#define LITTLE_ENDIAN 1234  /* to show byte order (taken from gcc); for suppres warning that LITTLE_ENDIAN is not defined. */
+		#define BIG_ENDIAN __BIGENDIAN__
+	#endif
+#endif
+
+#if defined(__sun) && defined(__GNUC__)
+
+#include <arpa/nameser_compat.h>
+
+#if !defined (BYTE_ORDER)
+#define BYTE_ORDER __BYTE_ORDER__
+#endif
+
+#if !defined(LITTLE_ENDIAN)
+#define LITTLE_ENDIAN __ORDER_LITTLE_ENDIAN__
+#endif
+
+#if !defined(BIG_ENDIAN)
+#define BIG_ENDIAN __ORDER_BIG_ENDIAN__
+#endif
+
+#endif /* sun + GNUC */
+
+#if !defined(BYTE_ORDER)
+#define BYTE_ORDER __BYTE_ORDER
+#endif
+#if !defined(LITTLE_ENDIAN)
+#define LITTLE_ENDIAN __LITTLE_ENDIAN
+#endif
+#if !defined(BIG_ENDIAN)
+#define BIG_ENDIAN __BIG_ENDIAN
+#endif
+
+#if defined(LWS_BUILTIN_GETIFADDRS)
+#include "./misc/getifaddrs.h"
+#else
+
+#if defined(__HAIKU__)
+#define _BSD_SOURCE
+#endif
+#include <ifaddrs.h>
+
+#endif
+
+#if defined (__sun) || defined(__HAIKU__) || defined(__QNX__)
+#include <syslog.h>
+#else
+#include <sys/syslog.h>
+#endif
+
+#ifdef __QNX__
+# include "netinet/tcp_var.h"
+# define TCP_KEEPINTVL TCPCTL_KEEPINTVL
+# define TCP_KEEPIDLE  TCPCTL_KEEPIDLE
+# define TCP_KEEPCNT   TCPCTL_KEEPCNT
+#endif
+
+#define LWS_ERRNO errno
+#define LWS_EAGAIN EAGAIN
+#define LWS_EALREADY EALREADY
+#define LWS_EINPROGRESS EINPROGRESS
+#define LWS_EINTR EINTR
+#define LWS_EISCONN EISCONN
+#define LWS_ENOTCONN ENOTCONN
+#define LWS_EWOULDBLOCK EWOULDBLOCK
+#define LWS_EADDRINUSE EADDRINUSE
+#define lws_set_blocking_send(wsi)
+#define LWS_SOCK_INVALID (-1)
+
+#define wsi_from_fd(A,B)  A->lws_lookup[B - lws_plat_socket_offset()]
+#define insert_wsi(A,B)   assert(A->lws_lookup[B->desc.sockfd - \
+				  lws_plat_socket_offset()] == 0); \
+				 A->lws_lookup[B->desc.sockfd - \
+				  lws_plat_socket_offset()] = B
+#define delete_from_fd(A,B) A->lws_lookup[B - lws_plat_socket_offset()] = 0
+
+#ifndef LWS_NO_FORK
+#ifdef LWS_HAVE_SYS_PRCTL_H
+#include <sys/prctl.h>
+#endif
+#endif
+
+#if defined (__ANDROID__)
+ #include <syslog.h>
+ #include <sys/resource.h>
+#endif
+
+#define compatible_close(x) close(x)
+#define lws_plat_socket_offset() (0)
+
+/*
+ * Mac OSX as well as iOS do not define the MSG_NOSIGNAL flag,
+ * but happily have something equivalent in the SO_NOSIGPIPE flag.
+ */
+#ifdef __APPLE__
+#define MSG_NOSIGNAL SO_NOSIGPIPE
+#endif
+
+/*
+ * Solaris 11.X only supports POSIX 2001, MSG_NOSIGNAL appears in
+ * POSIX 2008.
+ */
+#ifdef __sun
+ #define MSG_NOSIGNAL 0
+#endif
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-caps.c b/thirdparty/libwebsockets/lib/plat/unix/unix-caps.c
new file mode 100644
index 0000000000..64aea61816
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-caps.c
@@ -0,0 +1,85 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+#include <pwd.h>
+#include <grp.h>
+
+#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
+static void
+_lws_plat_apply_caps(int mode, const cap_value_t *cv, int count)
+{
+	cap_t caps;
+
+	if (!count)
+		return;
+
+	caps = cap_get_proc();
+
+	cap_set_flag(caps, mode, count, cv, CAP_SET);
+	cap_set_proc(caps);
+	prctl(PR_SET_KEEPCAPS, 1, 0, 0, 0);
+	cap_free(caps);
+}
+#endif
+
+void
+lws_plat_drop_app_privileges(const struct lws_context_creation_info *info)
+{
+	if (info->gid && info->gid != -1)
+		if (setgid(info->gid))
+			lwsl_warn("setgid: %s\n", strerror(LWS_ERRNO));
+
+	if (info->uid && info->uid != -1) {
+		struct passwd *p = getpwuid(info->uid);
+
+		if (p) {
+
+#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
+			_lws_plat_apply_caps(CAP_PERMITTED, info->caps,
+					     info->count_caps);
+#endif
+
+			initgroups(p->pw_name, info->gid);
+			if (setuid(info->uid))
+				lwsl_warn("setuid: %s\n", strerror(LWS_ERRNO));
+			else
+				lwsl_notice("Set privs to user '%s'\n",
+					    p->pw_name);
+
+#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
+			_lws_plat_apply_caps(CAP_EFFECTIVE, info->caps,
+					     info->count_caps);
+
+			if (info->count_caps) {
+				int n;
+				for (n = 0; n < info->count_caps; n++)
+					lwsl_notice("   RETAINING CAP %d\n",
+						    (int)info->caps[n]);
+			}
+#endif
+
+		} else
+			lwsl_warn("getpwuid: unable to find uid %d", info->uid);
+	}
+}
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-fds.c b/thirdparty/libwebsockets/lib/plat/unix/unix-fds.c
new file mode 100644
index 0000000000..8a00bcff3f
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-fds.c
@@ -0,0 +1,54 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+void
+lws_plat_insert_socket_into_fds(struct lws_context *context, struct lws *wsi)
+{
+	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
+
+	if (context->event_loop_ops->io)
+		context->event_loop_ops->io(wsi, LWS_EV_START | LWS_EV_READ);
+
+	pt->fds[pt->fds_count++].revents = 0;
+}
+
+void
+lws_plat_delete_socket_from_fds(struct lws_context *context,
+						struct lws *wsi, int m)
+{
+	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
+
+	if (context->event_loop_ops->io)
+		context->event_loop_ops->io(wsi,
+				LWS_EV_STOP | LWS_EV_READ | LWS_EV_WRITE);
+
+	pt->fds_count--;
+}
+
+int
+lws_plat_change_pollfd(struct lws_context *context,
+		      struct lws *wsi, struct lws_pollfd *pfd)
+{
+	return 0;
+}
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-file.c b/thirdparty/libwebsockets/lib/plat/unix/unix-file.c
new file mode 100644
index 0000000000..bcdc213a89
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-file.c
@@ -0,0 +1,172 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+#include <pwd.h>
+#include <grp.h>
+
+#ifdef LWS_WITH_PLUGINS
+#include <dlfcn.h>
+#endif
+#include <dirent.h>
+
+int lws_plat_apply_FD_CLOEXEC(int n)
+{
+	if (n == -1)
+		return 0;
+
+	return fcntl(n, F_SETFD, FD_CLOEXEC);
+}
+
+int
+lws_plat_write_file(const char *filename, void *buf, int len)
+{
+	int m, fd;
+
+	fd = lws_open(filename, O_WRONLY | O_CREAT | O_TRUNC, 0600);
+
+	if (fd == -1)
+		return 1;
+
+	m = write(fd, buf, len);
+	close(fd);
+
+	return m != len;
+}
+
+int
+lws_plat_read_file(const char *filename, void *buf, int len)
+{
+	int n, fd = lws_open(filename, O_RDONLY);
+	if (fd == -1)
+		return -1;
+
+	n = read(fd, buf, len);
+	close(fd);
+
+	return n;
+}
+
+lws_fop_fd_t
+_lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
+		    const char *vpath, lws_fop_flags_t *flags)
+{
+	struct stat stat_buf;
+	int ret = lws_open(filename, (*flags) & LWS_FOP_FLAGS_MASK, 0664);
+	lws_fop_fd_t fop_fd;
+
+	if (ret < 0)
+		return NULL;
+
+	if (fstat(ret, &stat_buf) < 0)
+		goto bail;
+
+	fop_fd = malloc(sizeof(*fop_fd));
+	if (!fop_fd)
+		goto bail;
+
+	fop_fd->fops = fops;
+	fop_fd->flags = *flags;
+	fop_fd->fd = ret;
+	fop_fd->filesystem_priv = NULL; /* we don't use it */
+	fop_fd->len = stat_buf.st_size;
+	fop_fd->pos = 0;
+
+	return fop_fd;
+
+bail:
+	close(ret);
+	return NULL;
+}
+
+int
+_lws_plat_file_close(lws_fop_fd_t *fop_fd)
+{
+	int fd = (*fop_fd)->fd;
+
+	free(*fop_fd);
+	*fop_fd = NULL;
+
+	return close(fd);
+}
+
+lws_fileofs_t
+_lws_plat_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset)
+{
+	lws_fileofs_t r;
+
+	if (offset > 0 &&
+	    offset > (lws_fileofs_t)fop_fd->len - (lws_fileofs_t)fop_fd->pos)
+		offset = fop_fd->len - fop_fd->pos;
+
+	if ((lws_fileofs_t)fop_fd->pos + offset < 0)
+		offset = -fop_fd->pos;
+
+	r = lseek(fop_fd->fd, offset, SEEK_CUR);
+
+	if (r >= 0)
+		fop_fd->pos = r;
+	else
+		lwsl_err("error seeking from cur %ld, offset %ld\n",
+                        (long)fop_fd->pos, (long)offset);
+
+	return r;
+}
+
+int
+_lws_plat_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		    uint8_t *buf, lws_filepos_t len)
+{
+	long n;
+
+	n = read((int)fop_fd->fd, buf, len);
+	if (n == -1) {
+		*amount = 0;
+		return -1;
+	}
+	fop_fd->pos += n;
+	lwsl_debug("%s: read %ld of req %ld, pos %ld, len %ld\n", __func__, n,
+                  (long)len, (long)fop_fd->pos, (long)fop_fd->len);
+	*amount = n;
+
+	return 0;
+}
+
+int
+_lws_plat_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		     uint8_t *buf, lws_filepos_t len)
+{
+	long n;
+
+	n = write((int)fop_fd->fd, buf, len);
+	if (n == -1) {
+		*amount = 0;
+		return -1;
+	}
+
+	fop_fd->pos += n;
+	*amount = n;
+
+	return 0;
+}
+
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-init.c b/thirdparty/libwebsockets/lib/plat/unix/unix-init.c
new file mode 100644
index 0000000000..fa9a30e8d2
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-init.c
@@ -0,0 +1,97 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+#include <pwd.h>
+#include <grp.h>
+
+#ifdef LWS_WITH_PLUGINS
+#include <dlfcn.h>
+#endif
+#include <dirent.h>
+
+int
+lws_plat_init(struct lws_context *context,
+	      const struct lws_context_creation_info *info)
+{
+	int fd;
+
+	/* master context has the global fd lookup array */
+	context->lws_lookup = lws_zalloc(sizeof(struct lws *) *
+					 context->max_fds, "lws_lookup");
+	if (context->lws_lookup == NULL) {
+		lwsl_err("OOM on lws_lookup array for %d connections\n",
+			 context->max_fds);
+		return 1;
+	}
+
+	lwsl_info(" mem: platform fd map: %5lu bytes\n",
+		    (unsigned long)(sizeof(struct lws *) * context->max_fds));
+	fd = lws_open(SYSTEM_RANDOM_FILEPATH, O_RDONLY);
+
+	context->fd_random = fd;
+	if (context->fd_random < 0) {
+		lwsl_err("Unable to open random device %s %d\n",
+			 SYSTEM_RANDOM_FILEPATH, context->fd_random);
+		return 1;
+	}
+
+#ifdef LWS_WITH_PLUGINS
+	if (info->plugin_dirs && (context->options & LWS_SERVER_OPTION_LIBUV))
+		lws_plat_plugins_init(context, info->plugin_dirs);
+#endif
+
+	return 0;
+}
+
+int
+lws_plat_context_early_init(void)
+{
+#if !defined(LWS_AVOID_SIGPIPE_IGN)
+	signal(SIGPIPE, SIG_IGN);
+#endif
+
+	return 0;
+}
+
+void
+lws_plat_context_early_destroy(struct lws_context *context)
+{
+}
+
+void
+lws_plat_context_late_destroy(struct lws_context *context)
+{
+#ifdef LWS_WITH_PLUGINS
+	if (context->plugin_list)
+		lws_plat_plugins_destroy(context);
+#endif
+
+	if (context->lws_lookup)
+		lws_free(context->lws_lookup);
+
+	if (!context->fd_random)
+		lwsl_err("ZERO RANDOM FD\n");
+	if (context->fd_random != LWS_INVALID_FILE)
+		close(context->fd_random);
+}
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-misc.c b/thirdparty/libwebsockets/lib/plat/unix/unix-misc.c
new file mode 100644
index 0000000000..d4b0f76658
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-misc.c
@@ -0,0 +1,83 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+
+uint64_t
+lws_time_in_microseconds(void)
+{
+	struct timeval tv;
+
+	gettimeofday(&tv, NULL);
+	return ((unsigned long long)tv.tv_sec * 1000000LL) + tv.tv_usec;
+}
+
+LWS_VISIBLE int
+lws_get_random(struct lws_context *context, void *buf, int len)
+{
+	return read(context->fd_random, (char *)buf, len);
+}
+
+LWS_VISIBLE void lwsl_emit_syslog(int level, const char *line)
+{
+	int syslog_level = LOG_DEBUG;
+
+	switch (level) {
+	case LLL_ERR:
+		syslog_level = LOG_ERR;
+		break;
+	case LLL_WARN:
+		syslog_level = LOG_WARNING;
+		break;
+	case LLL_NOTICE:
+		syslog_level = LOG_NOTICE;
+		break;
+	case LLL_INFO:
+		syslog_level = LOG_INFO;
+		break;
+	}
+	syslog(syslog_level, "%s", line);
+}
+
+
+int
+lws_plat_write_cert(struct lws_vhost *vhost, int is_key, int fd, void *buf,
+			int len)
+{
+	int n;
+
+	n = write(fd, buf, len);
+
+	fsync(fd);
+	if (lseek(fd, 0, SEEK_SET) < 0)
+		return 1;
+
+	return n != len;
+}
+
+
+int
+lws_plat_recommended_rsa_bits(void)
+{
+	return 4096;
+}
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-pipe.c b/thirdparty/libwebsockets/lib/plat/unix/unix-pipe.c
new file mode 100644
index 0000000000..64ce253be6
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-pipe.c
@@ -0,0 +1,62 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+
+int
+lws_plat_pipe_create(struct lws *wsi)
+{
+	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
+
+#if defined(LWS_HAVE_PIPE2)
+	return pipe2(pt->dummy_pipe_fds, O_NONBLOCK);
+#else
+	return pipe(pt->dummy_pipe_fds);
+#endif
+}
+
+int
+lws_plat_pipe_signal(struct lws *wsi)
+{
+	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
+	char buf = 0;
+	int n;
+
+	n = write(pt->dummy_pipe_fds[1], &buf, 1);
+
+	return n != 1;
+}
+
+void
+lws_plat_pipe_close(struct lws *wsi)
+{
+	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
+
+	if (pt->dummy_pipe_fds[0] && pt->dummy_pipe_fds[0] != -1)
+		close(pt->dummy_pipe_fds[0]);
+	if (pt->dummy_pipe_fds[1] && pt->dummy_pipe_fds[1] != -1)
+		close(pt->dummy_pipe_fds[1]);
+
+	pt->dummy_pipe_fds[0] = pt->dummy_pipe_fds[1] = -1;
+}
+
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-service.c b/thirdparty/libwebsockets/lib/plat/unix/unix-service.c
new file mode 100644
index 0000000000..e61ef59959
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-service.c
@@ -0,0 +1,204 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+int
+lws_poll_listen_fd(struct lws_pollfd *fd)
+{
+	return poll(fd, 1, 0);
+}
+
+LWS_EXTERN int
+_lws_plat_service_tsi(struct lws_context *context, int timeout_ms, int tsi)
+{
+	volatile struct lws_foreign_thread_pollfd *ftp, *next;
+	volatile struct lws_context_per_thread *vpt;
+	struct lws_context_per_thread *pt;
+	int n = -1, m, c;
+
+	/* stay dead once we are dead */
+
+	if (!context || !context->vhost_list)
+		return 1;
+
+	pt = &context->pt[tsi];
+	vpt = (volatile struct lws_context_per_thread *)pt;
+
+	lws_stats_atomic_bump(context, pt, LWSSTATS_C_SERVICE_ENTRY, 1);
+
+	if (timeout_ms < 0)
+		goto faked_service;
+
+	if (context->event_loop_ops->run_pt)
+		context->event_loop_ops->run_pt(context, tsi);
+
+	if (!pt->service_tid_detected) {
+		struct lws _lws;
+
+		memset(&_lws, 0, sizeof(_lws));
+		_lws.context = context;
+
+		pt->service_tid  =
+			context->vhost_list->protocols[0].callback(
+			&_lws, LWS_CALLBACK_GET_THREAD_ID, NULL, NULL, 0);
+		pt->service_tid_detected = 1;
+	}
+
+	/*
+	 * is there anybody with pending stuff that needs service forcing?
+	 */
+	if (!lws_service_adjust_timeout(context, 1, tsi)) {
+		/* -1 timeout means just do forced service */
+		_lws_plat_service_tsi(context, -1, pt->tid);
+		/* still somebody left who wants forced service? */
+		if (!lws_service_adjust_timeout(context, 1, pt->tid))
+			/* yes... come back again quickly */
+			timeout_ms = 0;
+	}
+
+	if (timeout_ms) {
+		lws_pt_lock(pt, __func__);
+		/* don't stay in poll wait longer than next hr timeout */
+		lws_usec_t t =  __lws_hrtimer_service(pt);
+		if ((lws_usec_t)timeout_ms * 1000 > t)
+			timeout_ms = t / 1000;
+		lws_pt_unlock(pt);
+	}
+
+	vpt->inside_poll = 1;
+	lws_memory_barrier();
+	n = poll(pt->fds, pt->fds_count, timeout_ms);
+	vpt->inside_poll = 0;
+	lws_memory_barrier();
+
+	/* Collision will be rare and brief.  Just spin until it completes */
+	while (vpt->foreign_spinlock)
+		;
+
+	/*
+	 * At this point we are not inside a foreign thread pollfd change,
+	 * and we have marked ourselves as outside the poll() wait.  So we
+	 * are the only guys that can modify the lws_foreign_thread_pollfd
+	 * list on the pt.  Drain the list and apply the changes to the
+	 * affected pollfds in the correct order.
+	 */
+
+	lws_pt_lock(pt, __func__);
+
+	ftp = vpt->foreign_pfd_list;
+	//lwsl_notice("cleared list %p\n", ftp);
+	while (ftp) {
+		struct lws *wsi;
+		struct lws_pollfd *pfd;
+
+		next = ftp->next;
+		pfd = &vpt->fds[ftp->fd_index];
+		if (lws_socket_is_valid(pfd->fd)) {
+			wsi = wsi_from_fd(context, pfd->fd);
+			if (wsi)
+				__lws_change_pollfd(wsi, ftp->_and, ftp->_or);
+		}
+		lws_free((void *)ftp);
+		ftp = next;
+	}
+	vpt->foreign_pfd_list = NULL;
+	lws_memory_barrier();
+
+	/* we have come out of a poll wait... check the hrtimer list */
+
+	__lws_hrtimer_service(pt);
+
+	lws_pt_unlock(pt);
+
+	m = 0;
+#if defined(LWS_ROLE_WS) && !defined(LWS_WITHOUT_EXTENSIONS)
+	m |= !!pt->ws.rx_draining_ext_list;
+#endif
+
+	if (pt->context->tls_ops &&
+	    pt->context->tls_ops->fake_POLLIN_for_buffered)
+		m |= pt->context->tls_ops->fake_POLLIN_for_buffered(pt);
+
+	if (!m && !n) { /* nothing to do */
+		lws_service_fd_tsi(context, NULL, tsi);
+		lws_service_do_ripe_rxflow(pt);
+
+		return 0;
+	}
+
+faked_service:
+	m = lws_service_flag_pending(context, tsi);
+	if (m)
+		c = -1; /* unknown limit */
+	else
+		if (n < 0) {
+			if (LWS_ERRNO != LWS_EINTR)
+				return -1;
+			return 0;
+		} else
+			c = n;
+
+	/* any socket with events to service? */
+	for (n = 0; n < (int)pt->fds_count && c; n++) {
+		if (!pt->fds[n].revents)
+			continue;
+
+		c--;
+
+		m = lws_service_fd_tsi(context, &pt->fds[n], tsi);
+		if (m < 0) {
+			lwsl_err("%s: lws_service_fd_tsi returned %d\n",
+				 __func__, m);
+			return -1;
+		}
+		/* if something closed, retry this slot */
+		if (m)
+			n--;
+	}
+
+	lws_service_do_ripe_rxflow(pt);
+
+	return 0;
+}
+
+int
+lws_plat_check_connection_error(struct lws *wsi)
+{
+	return 0;
+}
+
+int
+lws_plat_service(struct lws_context *context, int timeout_ms)
+{
+	return _lws_plat_service_tsi(context, timeout_ms, 0);
+}
+
+
+void
+lws_plat_service_periodic(struct lws_context *context)
+{
+	/* if our parent went down, don't linger around */
+	if (context->started_with_parent &&
+	    kill(context->started_with_parent, 0) < 0)
+		kill(getpid(), SIGTERM);
+}
diff --git a/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c b/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c
new file mode 100644
index 0000000000..192dddee63
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/unix/unix-sockets.c
@@ -0,0 +1,263 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#define _GNU_SOURCE
+#include "core/private.h"
+
+#include <pwd.h>
+#include <grp.h>
+
+
+
+int
+lws_send_pipe_choked(struct lws *wsi)
+{
+	struct lws_pollfd fds;
+	struct lws *wsi_eff;
+
+#if defined(LWS_WITH_HTTP2)
+	wsi_eff = lws_get_network_wsi(wsi);
+#else
+	wsi_eff = wsi;
+#endif
+
+	/* the fact we checked implies we avoided back-to-back writes */
+	wsi_eff->could_have_pending = 0;
+
+	/* treat the fact we got a truncated send pending as if we're choked */
+	if (lws_has_buffered_out(wsi_eff)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	    ||wsi->http.comp_ctx.buflist_comp ||
+	    wsi->http.comp_ctx.may_have_more
+#endif
+	    )
+		return 1;
+
+	fds.fd = wsi_eff->desc.sockfd;
+	fds.events = POLLOUT;
+	fds.revents = 0;
+
+	if (poll(&fds, 1, 0) != 1)
+		return 1;
+
+	if ((fds.revents & POLLOUT) == 0)
+		return 1;
+
+	/* okay to send another packet without blocking */
+
+	return 0;
+}
+
+
+int
+lws_plat_set_socket_options(struct lws_vhost *vhost, int fd, int unix_skt)
+{
+	int optval = 1;
+	socklen_t optlen = sizeof(optval);
+
+#ifdef LWS_WITH_IPV6
+	optval = 0;
+	setsockopt(fd, IPPROTO_IPV6, IPV6_V6ONLY, (const void*)&optval, optlen);
+#endif
+
+#if defined(__APPLE__) || \
+    defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || \
+    defined(__NetBSD__) || \
+    defined(__OpenBSD__) || \
+    defined(__HAIKU__)
+	struct protoent *tcp_proto;
+#endif
+
+	(void)fcntl(fd, F_SETFD, FD_CLOEXEC);
+
+	if (!unix_skt && vhost->ka_time) {
+		/* enable keepalive on this socket */
+		optval = 1;
+		if (setsockopt(fd, SOL_SOCKET, SO_KEEPALIVE,
+			       (const void *)&optval, optlen) < 0)
+			return 1;
+
+#if defined(__APPLE__) || \
+    defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || \
+    defined(__NetBSD__) || \
+    defined(__CYGWIN__) || defined(__OpenBSD__) || defined (__sun) || \
+    defined(__HAIKU__)
+
+		/*
+		 * didn't find a way to set these per-socket, need to
+		 * tune kernel systemwide values
+		 */
+#else
+		/* set the keepalive conditions we want on it too */
+
+#if defined(LWS_HAVE_TCP_USER_TIMEOUT)
+		optval = 1000 * (vhost->ka_time +
+				 (vhost->ka_interval * vhost->ka_probes));
+		if (setsockopt(fd, IPPROTO_TCP, TCP_USER_TIMEOUT,
+			       (const void *)&optval, optlen) < 0)
+			return 1;
+#endif
+		optval = vhost->ka_time;
+		if (setsockopt(fd, IPPROTO_TCP, TCP_KEEPIDLE,
+			       (const void *)&optval, optlen) < 0)
+			return 1;
+
+		optval = vhost->ka_interval;
+		if (setsockopt(fd, IPPROTO_TCP, TCP_KEEPINTVL,
+			       (const void *)&optval, optlen) < 0)
+			return 1;
+
+		optval = vhost->ka_probes;
+		if (setsockopt(fd, IPPROTO_TCP, TCP_KEEPCNT,
+			       (const void *)&optval, optlen) < 0)
+			return 1;
+#endif
+	}
+
+#if defined(SO_BINDTODEVICE)
+	if (!unix_skt && vhost->bind_iface && vhost->iface) {
+		lwsl_info("binding listen skt to %s using SO_BINDTODEVICE\n", vhost->iface);
+		if (setsockopt(fd, SOL_SOCKET, SO_BINDTODEVICE, vhost->iface,
+				strlen(vhost->iface)) < 0) {
+			lwsl_warn("Failed to bind to device %s\n", vhost->iface);
+			return 1;
+		}
+	}
+#endif
+
+	/* Disable Nagle */
+	optval = 1;
+#if defined (__sun) || defined(__QNX__)
+	if (!unix_skt && setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, (const void *)&optval, optlen) < 0)
+		return 1;
+#elif !defined(__APPLE__) && \
+      !defined(__FreeBSD__) && !defined(__FreeBSD_kernel__) &&        \
+      !defined(__NetBSD__) && \
+      !defined(__OpenBSD__) && \
+      !defined(__HAIKU__)
+	if (!unix_skt && setsockopt(fd, SOL_TCP, TCP_NODELAY, (const void *)&optval, optlen) < 0)
+		return 1;
+#else
+	tcp_proto = getprotobyname("TCP");
+	if (!unix_skt && setsockopt(fd, tcp_proto->p_proto, TCP_NODELAY, &optval, optlen) < 0)
+		return 1;
+#endif
+
+	/* We are nonblocking... */
+	if (fcntl(fd, F_SETFL, O_NONBLOCK) < 0)
+		return 1;
+
+	return 0;
+}
+
+
+/* cast a struct sockaddr_in6 * into addr for ipv6 */
+
+int
+lws_interface_to_sa(int ipv6, const char *ifname, struct sockaddr_in *addr,
+		    size_t addrlen)
+{
+	int rc = LWS_ITOSA_NOT_EXIST;
+
+	struct ifaddrs *ifr;
+	struct ifaddrs *ifc;
+#ifdef LWS_WITH_IPV6
+	struct sockaddr_in6 *addr6 = (struct sockaddr_in6 *)addr;
+#endif
+
+	getifaddrs(&ifr);
+	for (ifc = ifr; ifc != NULL && rc; ifc = ifc->ifa_next) {
+		if (!ifc->ifa_addr)
+			continue;
+
+		lwsl_debug(" interface %s vs %s (fam %d) ipv6 %d\n",
+			   ifc->ifa_name, ifname,
+			   ifc->ifa_addr->sa_family, ipv6);
+
+		if (strcmp(ifc->ifa_name, ifname))
+			continue;
+
+		switch (ifc->ifa_addr->sa_family) {
+#if defined(AF_PACKET)
+		case AF_PACKET:
+			/* interface exists but is not usable */
+			rc = LWS_ITOSA_NOT_USABLE;
+			continue;
+#endif
+
+		case AF_INET:
+#ifdef LWS_WITH_IPV6
+			if (ipv6) {
+				/* map IPv4 to IPv6 */
+				bzero((char *)&addr6->sin6_addr,
+						sizeof(struct in6_addr));
+				addr6->sin6_addr.s6_addr[10] = 0xff;
+				addr6->sin6_addr.s6_addr[11] = 0xff;
+				memcpy(&addr6->sin6_addr.s6_addr[12],
+				       &((struct sockaddr_in *)ifc->ifa_addr)->sin_addr,
+							sizeof(struct in_addr));
+			} else
+#endif
+				memcpy(addr,
+					(struct sockaddr_in *)ifc->ifa_addr,
+						    sizeof(struct sockaddr_in));
+			break;
+#ifdef LWS_WITH_IPV6
+		case AF_INET6:
+			memcpy(&addr6->sin6_addr,
+			  &((struct sockaddr_in6 *)ifc->ifa_addr)->sin6_addr,
+						       sizeof(struct in6_addr));
+			break;
+#endif
+		default:
+			continue;
+		}
+		rc = LWS_ITOSA_USABLE;
+	}
+
+	freeifaddrs(ifr);
+
+	if (rc) {
+		/* check if bind to IP address */
+#ifdef LWS_WITH_IPV6
+		if (inet_pton(AF_INET6, ifname, &addr6->sin6_addr) == 1)
+			rc = LWS_ITOSA_USABLE;
+		else
+#endif
+		if (inet_pton(AF_INET, ifname, &addr->sin_addr) == 1)
+			rc = LWS_ITOSA_USABLE;
+	}
+
+	return rc;
+}
+
+
+const char *
+lws_plat_inet_ntop(int af, const void *src, char *dst, int cnt)
+{
+	return inet_ntop(af, src, dst, cnt);
+}
+
+int
+lws_plat_inet_pton(int af, const char *src, void *dst)
+{
+	return inet_pton(af, src, dst);
+}
diff --git a/thirdparty/libwebsockets/lib/plat/windows/private.h b/thirdparty/libwebsockets/lib/plat/windows/private.h
new file mode 100644
index 0000000000..980028ce42
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/private.h
@@ -0,0 +1,148 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ *
+ *  Included from lib/core/private.h if defined(WIN32) || defined(_WIN32)
+ */
+
+ #ifndef WIN32_LEAN_AND_MEAN
+  #define WIN32_LEAN_AND_MEAN
+ #endif
+
+ #if (WINVER < 0x0501)
+  #undef WINVER
+  #undef _WIN32_WINNT
+  #define WINVER 0x0501
+  #define _WIN32_WINNT WINVER
+ #endif
+
+ #define LWS_NO_DAEMONIZE
+ #define LWS_ERRNO WSAGetLastError()
+ #define LWS_EAGAIN WSAEWOULDBLOCK
+ #define LWS_EALREADY WSAEALREADY
+ #define LWS_EINPROGRESS WSAEINPROGRESS
+ #define LWS_EINTR WSAEINTR
+ #define LWS_EISCONN WSAEISCONN
+ #define LWS_ENOTCONN WSAENOTCONN
+ #define LWS_EWOULDBLOCK WSAEWOULDBLOCK
+ #define LWS_EADDRINUSE WSAEADDRINUSE
+ #define MSG_NOSIGNAL 0
+ #define SHUT_RDWR SD_BOTH
+ #define SOL_TCP IPPROTO_TCP
+ #define SHUT_WR SD_SEND
+
+ #define compatible_close(fd) closesocket(fd)
+ #define lws_set_blocking_send(wsi) wsi->sock_send_blocking = 1
+ #define LWS_SOCK_INVALID (INVALID_SOCKET)
+
+ #include <winsock2.h>
+ #include <ws2tcpip.h>
+ #include <windows.h>
+ #include <tchar.h>
+ #ifdef LWS_HAVE_IN6ADDR_H
+  #include <in6addr.h>
+ #endif
+ #include <mstcpip.h>
+ #include <io.h>
+
+ #if !defined(LWS_HAVE_ATOLL)
+  #if defined(LWS_HAVE__ATOI64)
+   #define atoll _atoi64
+  #else
+   #warning No atoll or _atoi64 available, using atoi
+   #define atoll atoi
+  #endif
+ #endif
+
+ #ifndef __func__
+  #define __func__ __FUNCTION__
+ #endif
+
+ #ifdef LWS_HAVE__VSNPRINTF
+  #define vsnprintf _vsnprintf
+ #endif
+
+/* we don't have an implementation for this on windows... */
+int kill(int pid, int sig);
+int fork(void);
+#ifndef SIGINT
+#define SIGINT 2
+#endif
+
+#include <gettimeofday.h>
+
+#ifndef BIG_ENDIAN
+ #define BIG_ENDIAN    4321  /* to show byte order (taken from gcc) */
+#endif
+#ifndef LITTLE_ENDIAN
+ #define LITTLE_ENDIAN 1234
+#endif
+#ifndef BYTE_ORDER
+ #define BYTE_ORDER LITTLE_ENDIAN
+#endif
+
+#undef __P
+#ifndef __P
+ #if __STDC__
+  #define __P(protos) protos
+ #else
+  #define __P(protos) ()
+ #endif
+#endif
+
+#ifdef _WIN32
+ #ifndef FD_HASHTABLE_MODULUS
+  #define FD_HASHTABLE_MODULUS 32
+ #endif
+#endif
+
+#define lws_plat_socket_offset() (0)
+
+struct lws;
+struct lws_context;
+
+#define LWS_FD_HASH(fd) ((fd ^ (fd >> 8) ^ (fd >> 16)) % FD_HASHTABLE_MODULUS)
+struct lws_fd_hashtable {
+	struct lws **wsi;
+	int length;
+};
+
+
+#ifdef LWS_DLL
+#ifdef LWS_INTERNAL
+#define LWS_EXTERN extern __declspec(dllexport)
+#else
+#define LWS_EXTERN extern __declspec(dllimport)
+#endif
+#else
+#define LWS_EXTERN
+#endif
+
+typedef SOCKET lws_sockfd_type;
+typedef HANDLE lws_filefd_type;
+#define LWS_WIN32_HANDLE_TYPES
+
+LWS_EXTERN struct lws *
+wsi_from_fd(const struct lws_context *context, lws_sockfd_type fd);
+
+LWS_EXTERN int
+insert_wsi(struct lws_context *context, struct lws *wsi);
+
+LWS_EXTERN int
+delete_from_fd(struct lws_context *context, lws_sockfd_type fd);
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-fds.c b/thirdparty/libwebsockets/lib/plat/windows/windows-fds.c
new file mode 100644
index 0000000000..0d324e8f3a
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-fds.c
@@ -0,0 +1,76 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+struct lws *
+wsi_from_fd(const struct lws_context *context, lws_sockfd_type fd)
+{
+	int h = LWS_FD_HASH(fd);
+	int n = 0;
+
+	for (n = 0; n < context->fd_hashtable[h].length; n++)
+		if (context->fd_hashtable[h].wsi[n]->desc.sockfd == fd)
+			return context->fd_hashtable[h].wsi[n];
+
+	return NULL;
+}
+
+int
+insert_wsi(struct lws_context *context, struct lws *wsi)
+{
+	int h = LWS_FD_HASH(wsi->desc.sockfd);
+
+	if (context->fd_hashtable[h].length == (getdtablesize() - 1)) {
+		lwsl_err("hash table overflow\n");
+		return 1;
+	}
+
+	context->fd_hashtable[h].wsi[context->fd_hashtable[h].length++] = wsi;
+
+	return 0;
+}
+
+int
+delete_from_fd(struct lws_context *context, lws_sockfd_type fd)
+{
+	int h = LWS_FD_HASH(fd);
+	int n = 0;
+
+	for (n = 0; n < context->fd_hashtable[h].length; n++)
+		if (context->fd_hashtable[h].wsi[n]->desc.sockfd == fd) {
+			while (n < context->fd_hashtable[h].length) {
+				context->fd_hashtable[h].wsi[n] =
+					context->fd_hashtable[h].wsi[n + 1];
+				n++;
+			}
+			context->fd_hashtable[h].length--;
+
+			return 0;
+		}
+
+	lwsl_err("Failed to find fd %d requested for "
+		 "delete in hashtable\n", fd);
+	return 1;
+}
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-file.c b/thirdparty/libwebsockets/lib/plat/windows/windows-file.c
new file mode 100644
index 0000000000..eb73aab7f6
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-file.c
@@ -0,0 +1,185 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+int lws_plat_apply_FD_CLOEXEC(int n)
+{
+	return 0;
+}
+
+lws_fop_fd_t
+_lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
+		    const char *vpath, lws_fop_flags_t *flags)
+{
+	HANDLE ret;
+	WCHAR buf[MAX_PATH];
+	lws_fop_fd_t fop_fd;
+	FILE_STANDARD_INFO fInfo = {0};
+
+	MultiByteToWideChar(CP_UTF8, 0, filename, -1, buf, LWS_ARRAY_SIZE(buf));
+
+#if defined(_WIN32_WINNT) && _WIN32_WINNT >= 0x0602 // Windows 8 (minimum when UWP_ENABLED, but can be used in Windows builds)
+	CREATEFILE2_EXTENDED_PARAMETERS extParams = {0};
+	extParams.dwFileAttributes = FILE_ATTRIBUTE_NORMAL;
+
+	if (((*flags) & 7) == _O_RDONLY) {
+		ret = CreateFile2(buf, GENERIC_READ, FILE_SHARE_READ, OPEN_EXISTING, &extParams);
+	} else {
+		ret = CreateFile2(buf, GENERIC_WRITE, 0, CREATE_ALWAYS, &extParams);
+	}
+#else
+	if (((*flags) & 7) == _O_RDONLY) {
+		ret = CreateFileW(buf, GENERIC_READ, FILE_SHARE_READ,
+			  NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
+	} else {
+		ret = CreateFileW(buf, GENERIC_WRITE, 0, NULL,
+			  CREATE_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL);
+	}
+#endif
+
+	if (ret == LWS_INVALID_FILE)
+		goto bail;
+
+	fop_fd = malloc(sizeof(*fop_fd));
+	if (!fop_fd)
+		goto bail;
+
+	fop_fd->fops = fops;
+	fop_fd->fd = ret;
+	fop_fd->filesystem_priv = NULL; /* we don't use it */
+	fop_fd->flags = *flags;
+	fop_fd->len = 0;
+	if(GetFileInformationByHandleEx(ret, FileStandardInfo, &fInfo, sizeof(fInfo)))
+		fop_fd->len = fInfo.EndOfFile.QuadPart;
+
+	fop_fd->pos = 0;
+
+	return fop_fd;
+
+bail:
+	return NULL;
+}
+
+int
+_lws_plat_file_close(lws_fop_fd_t *fop_fd)
+{
+	HANDLE fd = (*fop_fd)->fd;
+
+	free(*fop_fd);
+	*fop_fd = NULL;
+
+	CloseHandle((HANDLE)fd);
+
+	return 0;
+}
+
+lws_fileofs_t
+_lws_plat_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset)
+{
+	LARGE_INTEGER l;
+
+	l.QuadPart = offset;
+	return SetFilePointerEx((HANDLE)fop_fd->fd, l, NULL, FILE_CURRENT);
+}
+
+int
+_lws_plat_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+		    uint8_t *buf, lws_filepos_t len)
+{
+	DWORD _amount;
+
+	if (!ReadFile((HANDLE)fop_fd->fd, buf, (DWORD)len, &_amount, NULL)) {
+		*amount = 0;
+
+		return 1;
+	}
+
+	fop_fd->pos += _amount;
+	*amount = (unsigned long)_amount;
+
+	return 0;
+}
+
+int
+_lws_plat_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
+			 uint8_t* buf, lws_filepos_t len)
+{
+	DWORD _amount;
+
+	if (!WriteFile((HANDLE)fop_fd->fd, buf, (DWORD)len, &_amount, NULL)) {
+		*amount = 0;
+
+		return 1;
+	}
+
+	fop_fd->pos += _amount;
+	*amount = (unsigned long)_amount;
+
+	return 0;
+}
+
+
+int
+lws_plat_write_cert(struct lws_vhost *vhost, int is_key, int fd, void *buf,
+			int len)
+{
+	int n;
+
+	n = write(fd, buf, len);
+
+	lseek(fd, 0, SEEK_SET);
+
+	return n != len;
+}
+
+int
+lws_plat_write_file(const char *filename, void *buf, int len)
+{
+	int m, fd;
+
+	fd = lws_open(filename, O_WRONLY | O_CREAT | O_TRUNC, 0600);
+
+	if (fd == -1)
+		return -1;
+
+	m = write(fd, buf, len);
+	close(fd);
+
+	return m != len;
+}
+
+int
+lws_plat_read_file(const char *filename, void *buf, int len)
+{
+	int n, fd = lws_open(filename, O_RDONLY);
+	if (fd == -1)
+		return -1;
+
+	n = read(fd, buf, len);
+	close(fd);
+
+	return n;
+}
+
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-init.c b/thirdparty/libwebsockets/lib/plat/windows/windows-init.c
new file mode 100644
index 0000000000..8c4d9373f6
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-init.c
@@ -0,0 +1,110 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+void
+lws_plat_drop_app_privileges(const struct lws_context_creation_info *info)
+{
+}
+
+int
+lws_plat_context_early_init(void)
+{
+	WORD wVersionRequested;
+	WSADATA wsaData;
+	int err;
+
+	/* Use the MAKEWORD(lowbyte, highbyte) macro from Windef.h */
+	wVersionRequested = MAKEWORD(2, 2);
+
+	err = WSAStartup(wVersionRequested, &wsaData);
+	if (!err)
+		return 0;
+	/*
+	 * Tell the user that we could not find a usable
+	 * Winsock DLL
+	 */
+	lwsl_err("WSAStartup failed with error: %d\n", err);
+
+	return 1;
+}
+
+int
+lws_plat_init(struct lws_context *context,
+	      const struct lws_context_creation_info *info)
+{
+	struct lws_context_per_thread *pt = &context->pt[0];
+	int i, n = context->count_threads;
+
+	for (i = 0; i < FD_HASHTABLE_MODULUS; i++) {
+		context->fd_hashtable[i].wsi =
+			lws_zalloc(sizeof(struct lws*) * context->max_fds,
+				   "win hashtable");
+
+		if (!context->fd_hashtable[i].wsi)
+			return -1;
+	}
+
+	while (n--) {
+		pt->fds_count = 0;
+		pt->events = WSACreateEvent(); /* the cancel event */
+
+		pt++;
+	}
+
+	context->fd_random = 0;
+
+#ifdef LWS_WITH_PLUGINS
+	if (info->plugin_dirs)
+		lws_plat_plugins_init(context, info->plugin_dirs);
+#endif
+
+	return 0;
+}
+
+void
+lws_plat_context_early_destroy(struct lws_context *context)
+{
+	struct lws_context_per_thread *pt = &context->pt[0];
+	int n = context->count_threads;
+
+	while (n--) {
+		WSACloseEvent(pt->events);
+		pt++;
+	}
+}
+
+void
+lws_plat_context_late_destroy(struct lws_context *context)
+{
+	int n;
+
+	for (n = 0; n < FD_HASHTABLE_MODULUS; n++) {
+		if (context->fd_hashtable[n].wsi)
+			lws_free(context->fd_hashtable[n].wsi);
+	}
+
+	WSACleanup();
+}
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-misc.c b/thirdparty/libwebsockets/lib/plat/windows/windows-misc.c
new file mode 100644
index 0000000000..53cc19b6b9
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-misc.c
@@ -0,0 +1,108 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+
+uint64_t
+lws_time_in_microseconds()
+{
+#ifndef DELTA_EPOCH_IN_MICROSECS
+#define DELTA_EPOCH_IN_MICROSECS 11644473600000000ULL
+#endif
+	FILETIME filetime;
+	ULARGE_INTEGER datetime;
+
+#ifdef _WIN32_WCE
+	GetCurrentFT(&filetime);
+#else
+	GetSystemTimeAsFileTime(&filetime);
+#endif
+
+	/*
+	 * As per Windows documentation for FILETIME, copy the resulting
+	 * FILETIME structure to a ULARGE_INTEGER structure using memcpy
+	 * (using memcpy instead of direct assignment can prevent alignment
+	 * faults on 64-bit Windows).
+	 */
+	memcpy(&datetime, &filetime, sizeof(datetime));
+
+	/* Windows file times are in 100s of nanoseconds. */
+	return (datetime.QuadPart / 10) - DELTA_EPOCH_IN_MICROSECS;
+}
+
+
+#ifdef _WIN32_WCE
+time_t time(time_t *t)
+{
+	time_t ret = lws_time_in_microseconds() / 1000000;
+
+	if(t != NULL)
+		*t = ret;
+
+	return ret;
+}
+#endif
+
+LWS_VISIBLE int
+lws_get_random(struct lws_context *context, void *buf, int len)
+{
+	int n;
+	char *p = (char *)buf;
+
+	for (n = 0; n < len; n++)
+		p[n] = (unsigned char)rand();
+
+	return n;
+}
+
+
+LWS_VISIBLE void
+lwsl_emit_syslog(int level, const char *line)
+{
+	lwsl_emit_stderr(level, line);
+}
+
+
+int kill(int pid, int sig)
+{
+	lwsl_err("Sorry Windows doesn't support kill().");
+	exit(0);
+}
+
+int fork(void)
+{
+	lwsl_err("Sorry Windows doesn't support fork().");
+	exit(0);
+}
+
+
+int
+lws_plat_recommended_rsa_bits(void)
+{
+	return 4096;
+}
+
+
+
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-pipe.c b/thirdparty/libwebsockets/lib/plat/windows/windows-pipe.c
new file mode 100644
index 0000000000..af2af1fa83
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-pipe.c
@@ -0,0 +1,46 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+int
+lws_plat_pipe_create(struct lws *wsi)
+{
+	return 1;
+}
+
+int
+lws_plat_pipe_signal(struct lws *wsi)
+{
+	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
+
+	WSASetEvent(pt->events); /* trigger the cancel event */
+
+	return 0;
+}
+
+void
+lws_plat_pipe_close(struct lws *wsi)
+{
+}
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-service.c b/thirdparty/libwebsockets/lib/plat/windows/windows-service.c
new file mode 100644
index 0000000000..a6adefbd3b
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-service.c
@@ -0,0 +1,194 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010 - 2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+
+LWS_EXTERN int
+_lws_plat_service_tsi(struct lws_context *context, int timeout_ms, int tsi)
+{
+	struct lws_context_per_thread *pt;
+	WSANETWORKEVENTS networkevents;
+	struct lws_pollfd *pfd;
+	struct lws *wsi;
+	unsigned int i;
+	DWORD ev;
+	int n;
+
+	/* stay dead once we are dead */
+	if (context == NULL || !context->vhost_list)
+		return 1;
+
+	pt = &context->pt[tsi];
+
+	if (!pt->service_tid_detected) {
+		struct lws _lws;
+
+		memset(&_lws, 0, sizeof(_lws));
+		_lws.context = context;
+
+		pt->service_tid = context->vhost_list->
+			protocols[0].callback(&_lws, LWS_CALLBACK_GET_THREAD_ID,
+						  NULL, NULL, 0);
+		pt->service_tid_detected = 1;
+	}
+
+	if (timeout_ms < 0) {
+		if (lws_service_flag_pending(context, tsi)) {
+			/* any socket with events to service? */
+			for (n = 0; n < (int)pt->fds_count; n++) {
+				int m;
+				if (!pt->fds[n].revents)
+					continue;
+
+				m = lws_service_fd_tsi(context, &pt->fds[n], tsi);
+				if (m < 0)
+					return -1;
+				/* if something closed, retry this slot */
+				if (m)
+					n--;
+			}
+		}
+		return 0;
+	}
+
+	if (context->event_loop_ops->run_pt)
+		context->event_loop_ops->run_pt(context, tsi);
+
+	for (i = 0; i < pt->fds_count; ++i) {
+		pfd = &pt->fds[i];
+
+		if (!(pfd->events & LWS_POLLOUT))
+			continue;
+
+		wsi = wsi_from_fd(context, pfd->fd);
+		if (!wsi || wsi->listener)
+			continue;
+		if (wsi->sock_send_blocking)
+			continue;
+		pfd->revents = LWS_POLLOUT;
+		n = lws_service_fd(context, pfd);
+		if (n < 0)
+			return -1;
+
+		/* Force WSAWaitForMultipleEvents() to check events and then return immediately. */
+		timeout_ms = 0;
+
+		/* if something closed, retry this slot */
+		if (n)
+			i--;
+	}
+
+	/*
+	 * is there anybody with pending stuff that needs service forcing?
+	 */
+	if (!lws_service_adjust_timeout(context, 1, tsi)) {
+		/* -1 timeout means just do forced service */
+		_lws_plat_service_tsi(context, -1, pt->tid);
+		/* still somebody left who wants forced service? */
+		if (!lws_service_adjust_timeout(context, 1, pt->tid))
+			/* yes... come back again quickly */
+			timeout_ms = 0;
+	}
+
+	if (timeout_ms) {
+		lws_usec_t t;
+
+		lws_pt_lock(pt, __func__);
+		/* don't stay in poll wait longer than next hr timeout */
+		t =  __lws_hrtimer_service(pt);
+
+		if ((lws_usec_t)timeout_ms * 1000 > t)
+			timeout_ms = (int)(t / 1000);
+		lws_pt_unlock(pt);
+	}
+
+	ev = WSAWaitForMultipleEvents(1, &pt->events, FALSE, timeout_ms, FALSE);
+	if (ev == WSA_WAIT_EVENT_0) {
+		unsigned int eIdx;
+
+		WSAResetEvent(pt->events);
+
+		if (pt->context->tls_ops &&
+		    pt->context->tls_ops->fake_POLLIN_for_buffered)
+			pt->context->tls_ops->fake_POLLIN_for_buffered(pt);
+
+		for (eIdx = 0; eIdx < pt->fds_count; ++eIdx) {
+			unsigned int err;
+
+			if (WSAEnumNetworkEvents(pt->fds[eIdx].fd, 0,
+					&networkevents) == SOCKET_ERROR) {
+				lwsl_err("WSAEnumNetworkEvents() failed "
+					 "with error %d\n", LWS_ERRNO);
+				return -1;
+			}
+
+			pfd = &pt->fds[eIdx];
+			pfd->revents = (short)networkevents.lNetworkEvents;
+
+			err = networkevents.iErrorCode[FD_CONNECT_BIT];
+
+			if ((networkevents.lNetworkEvents & FD_CONNECT) &&
+			     err && err != LWS_EALREADY &&
+			     err != LWS_EINPROGRESS && err != LWS_EWOULDBLOCK &&
+			     err != WSAEINVAL) {
+				lwsl_debug("Unable to connect errno=%d\n", err);
+				pfd->revents |= LWS_POLLHUP;
+			}
+
+			if (pfd->revents & LWS_POLLOUT) {
+				wsi = wsi_from_fd(context, pfd->fd);
+				if (wsi)
+					wsi->sock_send_blocking = 0;
+			}
+			 /* if something closed, retry this slot */
+			if (pfd->revents & LWS_POLLHUP)
+				--eIdx;
+
+			if (pfd->revents) {
+				recv(pfd->fd, NULL, 0, 0);
+				lws_service_fd_tsi(context, pfd, tsi);
+			}
+		}
+	}
+
+	if (ev == WSA_WAIT_TIMEOUT)
+		lws_service_fd(context, NULL);
+
+	return 0;
+}
+
+int
+lws_plat_service(struct lws_context *context, int timeout_ms)
+{
+	return _lws_plat_service_tsi(context, timeout_ms, 0);
+}
+
+
+
+void
+lws_plat_service_periodic(struct lws_context *context)
+{
+}
+
diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c b/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c
new file mode 100644
index 0000000000..62a0a49846
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/plat/windows/windows-sockets.c
@@ -0,0 +1,288 @@
+#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
+#endif
+#include "core/private.h"
+
+
+LWS_VISIBLE int
+lws_send_pipe_choked(struct lws *wsi)
+{	struct lws *wsi_eff;
+
+#if defined(LWS_WITH_HTTP2)
+	wsi_eff = lws_get_network_wsi(wsi);
+#else
+	wsi_eff = wsi;
+#endif
+	/* the fact we checked implies we avoided back-to-back writes */
+	wsi_eff->could_have_pending = 0;
+
+	/* treat the fact we got a truncated send pending as if we're choked */
+	if (lws_has_buffered_out(wsi_eff)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	    ||wsi->http.comp_ctx.buflist_comp ||
+	      wsi->http.comp_ctx.may_have_more
+#endif
+	)
+		return 1;
+
+	return (int)wsi_eff->sock_send_blocking;
+}
+
+int
+lws_poll_listen_fd(struct lws_pollfd *fd)
+{
+	fd_set readfds;
+	struct timeval tv = { 0, 0 };
+
+	assert((fd->events & LWS_POLLIN) == LWS_POLLIN);
+
+	FD_ZERO(&readfds);
+	FD_SET(fd->fd, &readfds);
+
+	return select(((int)fd->fd) + 1, &readfds, NULL, NULL, &tv);
+}
+
+int
+lws_plat_set_socket_options(struct lws_vhost *vhost, lws_sockfd_type fd,
+			    int unix_skt)
+{
+	int optval = 1;
+	int optlen = sizeof(optval);
+	u_long optl = 1;
+	DWORD dwBytesRet;
+	struct tcp_keepalive alive;
+	int protonbr;
+#ifndef _WIN32_WCE
+	struct protoent *tcp_proto;
+#endif
+
+#ifdef LWS_WITH_IPV6
+	optval = 0;
+	setsockopt(fd, IPPROTO_IPV6, IPV6_V6ONLY, (const void*)&optval, optlen);
+#endif
+
+	if (vhost->ka_time) {
+		/* enable keepalive on this socket */
+		optval = 1;
+		if (setsockopt(fd, SOL_SOCKET, SO_KEEPALIVE,
+			       (const char *)&optval, optlen) < 0)
+			return 1;
+
+		alive.onoff = TRUE;
+		alive.keepalivetime = vhost->ka_time;
+		alive.keepaliveinterval = vhost->ka_interval;
+
+		if (WSAIoctl(fd, SIO_KEEPALIVE_VALS, &alive, sizeof(alive),
+			     NULL, 0, &dwBytesRet, NULL, NULL))
+			return 1;
+	}
+
+	/* Disable Nagle */
+	optval = 1;
+#ifndef _WIN32_WCE
+	tcp_proto = getprotobyname("TCP");
+	if (!tcp_proto) {
+		lwsl_err("getprotobyname() failed with error %d\n", LWS_ERRNO);
+		return 1;
+	}
+	protonbr = tcp_proto->p_proto;
+#else
+	protonbr = 6;
+#endif
+
+	setsockopt(fd, protonbr, TCP_NODELAY, (const char *)&optval, optlen);
+
+	/* We are nonblocking... */
+	ioctlsocket(fd, FIONBIO, &optl);
+
+	return 0;
+}
+
+
+LWS_EXTERN int
+lws_interface_to_sa(int ipv6,
+		const char *ifname, struct sockaddr_in *addr, size_t addrlen)
+{
+#ifdef LWS_WITH_IPV6
+	struct sockaddr_in6 *addr6 = (struct sockaddr_in6 *)addr;
+
+	if (ipv6) {
+		if (lws_plat_inet_pton(AF_INET6, ifname, &addr6->sin6_addr) == 1) {
+			return LWS_ITOSA_USABLE;
+		}
+	}
+#endif
+
+	long long address = inet_addr(ifname);
+
+	if (address == INADDR_NONE) {
+		struct hostent *entry = gethostbyname(ifname);
+		if (entry)
+			address = ((struct in_addr *)entry->h_addr_list[0])->s_addr;
+	}
+
+	if (address == INADDR_NONE)
+		return LWS_ITOSA_NOT_EXIST;
+
+	addr->sin_addr.s_addr = (unsigned long)(lws_intptr_t)address;
+
+	return LWS_ITOSA_USABLE;
+}
+
+void
+lws_plat_insert_socket_into_fds(struct lws_context *context, struct lws *wsi)
+{
+	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
+
+	pt->fds[pt->fds_count++].revents = 0;
+	WSAEventSelect(wsi->desc.sockfd, pt->events,
+			   LWS_POLLIN | LWS_POLLHUP | FD_CONNECT);
+}
+
+void
+lws_plat_delete_socket_from_fds(struct lws_context *context,
+						struct lws *wsi, int m)
+{
+	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
+
+	pt->fds_count--;
+}
+
+
+int
+lws_plat_check_connection_error(struct lws *wsi)
+{
+	int optVal;
+	int optLen = sizeof(int);
+
+	if (getsockopt(wsi->desc.sockfd, SOL_SOCKET, SO_ERROR,
+			   (char*)&optVal, &optLen) != SOCKET_ERROR && optVal &&
+		optVal != LWS_EALREADY && optVal != LWS_EINPROGRESS &&
+		optVal != LWS_EWOULDBLOCK && optVal != WSAEINVAL) {
+		   lwsl_debug("Connect failed SO_ERROR=%d\n", optVal);
+		   return 1;
+	}
+
+	return 0;
+}
+
+int
+lws_plat_change_pollfd(struct lws_context *context,
+			  struct lws *wsi, struct lws_pollfd *pfd)
+{
+	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
+	long networkevents = LWS_POLLHUP | FD_CONNECT;
+
+	if ((pfd->events & LWS_POLLIN))
+		networkevents |= LWS_POLLIN;
+
+	if ((pfd->events & LWS_POLLOUT))
+		networkevents |= LWS_POLLOUT;
+
+	if (WSAEventSelect(wsi->desc.sockfd, pt->events,
+			   networkevents) != SOCKET_ERROR)
+		return 0;
+
+	lwsl_err("WSAEventSelect() failed with error %d\n", LWS_ERRNO);
+
+	return 1;
+}
+
+const char *
+lws_plat_inet_ntop(int af, const void *src, char *dst, int cnt)
+{
+	WCHAR *buffer;
+	DWORD bufferlen = cnt;
+	BOOL ok = FALSE;
+
+	buffer = lws_malloc(bufferlen * 2, "inet_ntop");
+	if (!buffer) {
+		lwsl_err("Out of memory\n");
+		return NULL;
+	}
+
+	if (af == AF_INET) {
+		struct sockaddr_in srcaddr;
+		bzero(&srcaddr, sizeof(srcaddr));
+		srcaddr.sin_family = AF_INET;
+		memcpy(&(srcaddr.sin_addr), src, sizeof(srcaddr.sin_addr));
+
+		if (!WSAAddressToStringW((struct sockaddr*)&srcaddr, sizeof(srcaddr), 0, buffer, &bufferlen))
+			ok = TRUE;
+#ifdef LWS_WITH_IPV6
+	} else if (af == AF_INET6) {
+		struct sockaddr_in6 srcaddr;
+		bzero(&srcaddr, sizeof(srcaddr));
+		srcaddr.sin6_family = AF_INET6;
+		memcpy(&(srcaddr.sin6_addr), src, sizeof(srcaddr.sin6_addr));
+
+		if (!WSAAddressToStringW((struct sockaddr*)&srcaddr, sizeof(srcaddr), 0, buffer, &bufferlen))
+			ok = TRUE;
+#endif
+	} else
+		lwsl_err("Unsupported type\n");
+
+	if (!ok) {
+		int rv = WSAGetLastError();
+		lwsl_err("WSAAddressToString() : %d\n", rv);
+	} else {
+		if (WideCharToMultiByte(CP_ACP, 0, buffer, bufferlen, dst, cnt, 0, NULL) <= 0)
+			ok = FALSE;
+	}
+
+	lws_free(buffer);
+	return ok ? dst : NULL;
+}
+
+int
+lws_plat_inet_pton(int af, const char *src, void *dst)
+{
+	WCHAR *buffer;
+	DWORD bufferlen = (int)strlen(src) + 1;
+	BOOL ok = FALSE;
+
+	buffer = lws_malloc(bufferlen * 2, "inet_pton");
+	if (!buffer) {
+		lwsl_err("Out of memory\n");
+		return -1;
+	}
+
+	if (MultiByteToWideChar(CP_ACP, 0, src, bufferlen, buffer, bufferlen) <= 0) {
+		lwsl_err("Failed to convert multi byte to wide char\n");
+		lws_free(buffer);
+		return -1;
+	}
+
+	if (af == AF_INET) {
+		struct sockaddr_in dstaddr;
+		int dstaddrlen = sizeof(dstaddr);
+		bzero(&dstaddr, sizeof(dstaddr));
+		dstaddr.sin_family = AF_INET;
+
+		if (!WSAStringToAddressW(buffer, af, 0, (struct sockaddr *) &dstaddr, &dstaddrlen)) {
+			ok = TRUE;
+			memcpy(dst, &dstaddr.sin_addr, sizeof(dstaddr.sin_addr));
+		}
+#ifdef LWS_WITH_IPV6
+	} else if (af == AF_INET6) {
+		struct sockaddr_in6 dstaddr;
+		int dstaddrlen = sizeof(dstaddr);
+		bzero(&dstaddr, sizeof(dstaddr));
+		dstaddr.sin6_family = AF_INET6;
+
+		if (!WSAStringToAddressW(buffer, af, 0, (struct sockaddr *) &dstaddr, &dstaddrlen)) {
+			ok = TRUE;
+			memcpy(dst, &dstaddr.sin6_addr, sizeof(dstaddr.sin6_addr));
+		}
+#endif
+	} else
+		lwsl_err("Unsupported type\n");
+
+	if (!ok) {
+		int rv = WSAGetLastError();
+		lwsl_err("WSAAddressToString() : %d\n", rv);
+	}
+
+	lws_free(buffer);
+	return ok ? 1 : -1;
+}
diff --git a/thirdparty/libwebsockets/roles/h1/ops-h1.c b/thirdparty/libwebsockets/lib/roles/h1/ops-h1.c
index d3b16f4d1f..2fa0fe16e4 100644
--- a/thirdparty/libwebsockets/roles/h1/ops-h1.c
+++ b/thirdparty/libwebsockets/lib/roles/h1/ops-h1.c
@@ -42,7 +42,7 @@ lws_read_h1(struct lws *wsi, unsigned char *buf, lws_filepos_t len)
 	lws_filepos_t body_chunk_len;
 	size_t n;
 
-	// lwsl_notice("%s: h1 path: wsi state 0x%x\n", __func__, lwsi_state(wsi));
+	lwsl_debug("%s: h1 path: wsi state 0x%x\n", __func__, lwsi_state(wsi));
 
 	switch (lwsi_state(wsi)) {
 
@@ -90,7 +90,6 @@ lws_read_h1(struct lws *wsi, unsigned char *buf, lws_filepos_t len)
 		 * appropriately:
 		 */
 		len -= (buf - last_char);
-//		lwsl_debug("%s: thinks we have used %ld\n", __func__, (long)len);
 
 		if (!wsi->hdr_parsing_completed)
 			/* More header content on the way */
@@ -119,6 +118,10 @@ lws_read_h1(struct lws *wsi, unsigned char *buf, lws_filepos_t len)
 http_postbody:
 		lwsl_debug("%s: http post body: remain %d\n", __func__,
 			    (int)wsi->http.rx_content_remain);
+
+		if (!wsi->http.rx_content_remain)
+			goto postbody_completion;
+
 		while (len && wsi->http.rx_content_remain) {
 			/* Copy as much as possible, up to the limit of:
 			 * what we have in the read buffer (len)
@@ -158,7 +161,8 @@ http_postbody:
 			buf += n;
 
 			if (wsi->http.rx_content_remain)  {
-				lws_set_timeout(wsi, PENDING_TIMEOUT_HTTP_CONTENT,
+				lws_set_timeout(wsi,
+						PENDING_TIMEOUT_HTTP_CONTENT,
 						wsi->context->timeout_secs);
 				break;
 			}
@@ -195,6 +199,7 @@ postbody_completion:
 		}
 		break;
 
+	case LRS_RETURNED_CLOSE:
 	case LRS_AWAITING_CLOSE_ACK:
 	case LRS_WAITING_TO_SEND_CLOSE:
 	case LRS_SHUTDOWN:
@@ -220,7 +225,7 @@ ws_mode:
 		break;
 
 	case LRS_DEFERRING_ACTION:
-		lwsl_debug("%s: LRS_DEFERRING_ACTION\n", __func__);
+		lwsl_notice("%s: LRS_DEFERRING_ACTION\n", __func__);
 		break;
 
 	case LRS_SSL_ACK_PENDING:
@@ -310,7 +315,8 @@ lws_h1_server_socket_service(struct lws *wsi, struct lws_pollfd *pollfd)
 	     lwsi_state(wsi) == LRS_BODY)) {
 
 		if (!wsi->http.ah && lws_header_table_attach(wsi, 0)) {
-			lwsl_info("%s: wsi %p: ah not available\n", __func__, wsi);
+			lwsl_info("%s: wsi %p: ah not available\n", __func__,
+				  wsi);
 			goto try_pollout;
 		}
 
@@ -336,7 +342,8 @@ lws_h1_server_socket_service(struct lws *wsi, struct lws_pollfd *pollfd)
 			 * and draining the extensions
 			 */
 			if (wsi->ws &&
-			    (wsi->ws->rx_draining_ext || wsi->ws->tx_draining_ext))
+			    (wsi->ws->rx_draining_ext ||
+			     wsi->ws->tx_draining_ext))
 				goto try_pollout;
 #endif
 			/*
@@ -444,11 +451,20 @@ try_pollout:
 
 	if (lwsi_state(wsi) != LRS_ISSUING_FILE) {
 
+		if (lws_has_buffered_out(wsi)) {
+			//lwsl_notice("%s: completing partial\n", __func__);
+			if (lws_issue_raw(wsi, NULL, 0) < 0) {
+				lwsl_info("%s signalling to close\n", __func__);
+				goto fail;
+			}
+			return LWS_HPI_RET_HANDLED;
+		}
+
 		lws_stats_atomic_bump(wsi->context, pt,
 					LWSSTATS_C_WRITEABLE_CB, 1);
 #if defined(LWS_WITH_STATS)
 		if (wsi->active_writable_req_us) {
-			uint64_t ul = time_in_microseconds() -
+			uint64_t ul = lws_time_in_microseconds() -
 					wsi->active_writable_req_us;
 
 			lws_stats_atomic_bump(wsi->context, pt,
@@ -508,6 +524,58 @@ rops_handle_POLLIN_h1(struct lws_context_per_thread *pt, struct lws *wsi,
 	}
 #endif
 
+#if 0
+
+	/*
+	 * !!! lws_serve_http_file_fragment() seems to duplicate most of
+	 * lws_handle_POLLOUT_event() in its own loop...
+	 */
+	lwsl_debug("%s: %d %d\n", __func__, (pollfd->revents & LWS_POLLOUT),
+			lwsi_state_can_handle_POLLOUT(wsi));
+
+	if ((pollfd->revents & LWS_POLLOUT) &&
+	    lwsi_state_can_handle_POLLOUT(wsi) &&
+	    lws_handle_POLLOUT_event(wsi, pollfd)) {
+		if (lwsi_state(wsi) == LRS_RETURNED_CLOSE)
+			lwsi_set_state(wsi, LRS_FLUSHING_BEFORE_CLOSE);
+		/* the write failed... it's had it */
+		wsi->socket_is_permanently_unusable = 1;
+
+		return LWS_HPI_RET_PLEASE_CLOSE_ME;
+	}
+#endif
+
+
+	/* Priority 2: pre- compression transform */
+
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (wsi->http.comp_ctx.buflist_comp ||
+	    wsi->http.comp_ctx.may_have_more) {
+		enum lws_write_protocol wp = LWS_WRITE_HTTP;
+
+		lwsl_info("%s: completing comp partial (buflist_comp %p, may %d)\n",
+				__func__, wsi->http.comp_ctx.buflist_comp,
+				wsi->http.comp_ctx.may_have_more
+				);
+
+		if (wsi->role_ops->write_role_protocol(wsi, NULL, 0, &wp) < 0) {
+			lwsl_info("%s signalling to close\n", __func__);
+			return LWS_HPI_RET_PLEASE_CLOSE_ME;
+		}
+		lws_callback_on_writable(wsi);
+
+		if (!wsi->http.comp_ctx.buflist_comp &&
+		    !wsi->http.comp_ctx.may_have_more &&
+		    wsi->http.deferred_transaction_completed) {
+			wsi->http.deferred_transaction_completed = 0;
+			if (lws_http_transaction_completed(wsi))
+				return LWS_HPI_RET_PLEASE_CLOSE_ME;
+		}
+
+		return LWS_HPI_RET_HANDLED;
+	}
+#endif
+
         if (lws_is_flowcontrolled(wsi))
                 /* We cannot deal with any kind of new RX because we are
                  * RX-flowcontrolled.
@@ -518,12 +586,14 @@ rops_handle_POLLIN_h1(struct lws_context_per_thread *pt, struct lws *wsi,
 	if (!lwsi_role_client(wsi)) {
 		int n;
 
-		lwsl_debug("%s: %p: wsistate 0x%x\n", __func__, wsi, wsi->wsistate);
+		lwsl_debug("%s: %p: wsistate 0x%x\n", __func__, wsi,
+			   wsi->wsistate);
 		n = lws_h1_server_socket_service(wsi, pollfd);
 		if (n != LWS_HPI_RET_HANDLED)
 			return n;
 		if (lwsi_state(wsi) != LRS_SSL_INIT)
-			if (lws_server_socket_service_ssl(wsi, LWS_SOCK_INVALID))
+			if (lws_server_socket_service_ssl(wsi,
+							  LWS_SOCK_INVALID))
 				return LWS_HPI_RET_PLEASE_CLOSE_ME;
 
 		return LWS_HPI_RET_HANDLED;
@@ -553,10 +623,9 @@ rops_handle_POLLIN_h1(struct lws_context_per_thread *pt, struct lws *wsi,
 		/* let user code know, he'll usually ask for writeable
 		 * callback and drain / re-enable it there
 		 */
-		if (user_callback_handle_rxflow(
-				wsi->protocol->callback,
-				wsi, LWS_CALLBACK_RECEIVE_CLIENT_HTTP,
-				wsi->user_space, NULL, 0)) {
+		if (user_callback_handle_rxflow(wsi->protocol->callback, wsi,
+					       LWS_CALLBACK_RECEIVE_CLIENT_HTTP,
+						wsi->user_space, NULL, 0)) {
 			lwsl_info("RECEIVE_CLIENT_HTTP closed it\n");
 			return LWS_HPI_RET_PLEASE_CLOSE_ME;
 		}
@@ -597,19 +666,68 @@ static int
 rops_write_role_protocol_h1(struct lws *wsi, unsigned char *buf, size_t len,
 			    enum lws_write_protocol *wp)
 {
-#if 0
-	/* if not in a state to send stuff, then just send nothing */
+	size_t olen = len;
+	int n;
+
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (wsi->http.lcs && (((*wp) & 0x1f) == LWS_WRITE_HTTP_FINAL ||
+			      ((*wp) & 0x1f) == LWS_WRITE_HTTP)) {
+		unsigned char mtubuf[1400 + LWS_PRE +
+				     LWS_HTTP_CHUNK_HDR_MAX_SIZE +
+				     LWS_HTTP_CHUNK_TRL_MAX_SIZE],
+			      *out = mtubuf + LWS_PRE +
+				     LWS_HTTP_CHUNK_HDR_MAX_SIZE;
+		size_t o = sizeof(mtubuf) - LWS_PRE -
+			   LWS_HTTP_CHUNK_HDR_MAX_SIZE -
+			   LWS_HTTP_CHUNK_TRL_MAX_SIZE;
+
+		n = lws_http_compression_transform(wsi, buf, len, wp, &out, &o);
+		if (n)
+			return n;
 
-	if ((lwsi_state(wsi) != LRS_RETURNED_CLOSE &&
-	     lwsi_state(wsi) != LRS_WAITING_TO_SEND_CLOSE &&
-	     lwsi_state(wsi) != LRS_AWAITING_CLOSE_ACK)) {
-		//assert(0);
-		lwsl_debug("binning %d %d\n", lwsi_state(wsi), *wp);
-		return 0;
+		lwsl_info("%s: %p: transformed %d bytes to %d "
+			   "(wp 0x%x, more %d)\n", __func__, wsi, (int)len,
+			   (int)o, (int)*wp, wsi->http.comp_ctx.may_have_more);
+
+		if (!o)
+			return olen;
+
+		if (wsi->http.comp_ctx.chunking) {
+			char c[LWS_HTTP_CHUNK_HDR_MAX_SIZE + 2];
+			/*
+			 * this only needs dealing with on http/1.1 to allow
+			 * pipelining
+			 */
+			n = lws_snprintf(c, sizeof(c), "%X\x0d\x0a", (int)o);
+			lwsl_info("%s: chunk (%d) %s", __func__, (int)o, c);
+			out -= n;
+			o += n;
+			memcpy(out, c, n);
+			out[o++] = '\x0d';
+			out[o++] = '\x0a';
+
+			if (((*wp) & 0x1f) == LWS_WRITE_HTTP_FINAL) {
+				lwsl_info("%s: final chunk\n", __func__);
+				out[o++] = '0';
+				out[o++] = '\x0d';
+				out[o++] = '\x0a';
+				out[o++] = '\x0d';
+				out[o++] = '\x0a';
+			}
+		}
+
+		buf = out;
+		len = o;
 	}
 #endif
 
-	return lws_issue_raw(wsi, (unsigned char *)buf, len);
+	n = lws_issue_raw(wsi, (unsigned char *)buf, len);
+	if (n < 0)
+		return n;
+
+	/* hide there may have been compression */
+
+	return (int)olen;
 }
 
 static int
@@ -655,9 +773,230 @@ rops_destroy_role_h1(struct lws *wsi)
 		ah = ah->next;
 	}
 
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	lws_http_compression_destroy(wsi);
+#endif
+
+#ifdef LWS_ROLE_WS
+	lws_free_set_NULL(wsi->ws);
+#endif
+	return 0;
+}
+
+#if !defined(LWS_NO_SERVER)
+
+static int
+rops_adoption_bind_h1(struct lws *wsi, int type, const char *vh_prot_name)
+{
+	if (!(type & LWS_ADOPT_HTTP))
+		return 0; /* no match */
+
+
+	if (type & _LWS_ADOPT_FINISH) {
+		if (!lws_header_table_attach(wsi, 0))
+			lwsl_debug("Attached ah immediately\n");
+		else
+			lwsl_info("%s: waiting for ah\n", __func__);
+
+		return 1;
+	}
+
+	lws_role_transition(wsi, LWSIFR_SERVER, (type & LWS_ADOPT_ALLOW_SSL) ?
+			    LRS_SSL_INIT : LRS_HEADERS, &role_ops_h1);
+
+	if (!vh_prot_name)
+		wsi->protocol = &wsi->vhost->protocols[
+					wsi->vhost->default_protocol_index];
+
+	/* the transport is accepted... give him time to negotiate */
+	lws_set_timeout(wsi, PENDING_TIMEOUT_ESTABLISH_WITH_SERVER,
+			wsi->context->timeout_secs);
+
+	return 1; /* bound */
+}
+
+#endif
+
+#if !defined(LWS_NO_CLIENT)
+
+static const char * const http_methods[] = {
+	"GET", "POST", "OPTIONS", "PUT", "PATCH", "DELETE", "CONNECT"
+};
+
+static int
+rops_client_bind_h1(struct lws *wsi, const struct lws_client_connect_info *i)
+{
+	int n;
+
+	if (!i) {
+		/* we are finalizing an already-selected role */
+
+		/*
+		 * If we stay in http, assuming there wasn't already-set
+		 * external user_space, since we know our initial protocol
+		 * we can assign the user space now, otherwise do it after the
+		 * ws subprotocol negotiated
+		 */
+		if (!wsi->user_space && wsi->stash->method)
+			if (lws_ensure_user_space(wsi))
+				return 1;
+
+		 /*
+		  * For ws, default to http/1.1 only.  If i->alpn had been set
+		  * though, defer to whatever he has set in there (eg, "h2").
+		  *
+		  * The problem is he has to commit to h2 before he can find
+		  * out if the server has the SETTINGS for ws-over-h2 enabled;
+		  * if not then ws is not possible on that connection.  So we
+		  * only try h2 if he assertively said to use h2 alpn, otherwise
+		  * ws implies alpn restriction to h1.
+		  */
+		if (!wsi->stash->method && !wsi->stash->alpn) {
+			wsi->stash->alpn = lws_strdup("http/1.1");
+			if (!wsi->stash->alpn)
+				return 1;
+		}
+
+		/* if we went on the ah waiting list, it's ok, we can wait.
+		 *
+		 * When we do get the ah, now or later, he will end up at
+		 * lws_http_client_connect_via_info2().
+		 */
+		if (lws_header_table_attach(wsi, 0) < 0)
+			/*
+			 * if we failed here, the connection is already closed
+			 * and freed.
+			 */
+			return -1;
+
+		return 0;
+	}
+
+	/*
+	 * Clients that want to be h1, h2, or ws all start out as h1
+	 * (we don't yet know if the server supports h2 or ws)
+	 */
+
+	if (!i->method) { /* websockets */
+#if defined(LWS_ROLE_WS)
+		if (lws_create_client_ws_object(i, wsi))
+			goto fail_wsi;
+#else
+		lwsl_err("%s: ws role not configured\n", __func__);
+
+		goto fail_wsi;
+#endif
+		goto bind_h1;
+	}
+
+	/* if a recognized http method, bind to it */
+
+	for (n = 0; n < (int)LWS_ARRAY_SIZE(http_methods); n++)
+		if (!strcmp(i->method, http_methods[n]))
+			goto bind_h1;
+
+	/* other roles may bind to it */
+
+	return 0; /* no match */
+
+bind_h1:
+	/* assert the mode and union status (hdr) clearly */
+	lws_role_transition(wsi, LWSIFR_CLIENT, LRS_UNCONNECTED, &role_ops_h1);
+
+	return 1; /* matched */
+
+fail_wsi:
+	return -1;
+}
+#endif
+
+#if 0
+static int
+rops_perform_user_POLLOUT_h1(struct lws *wsi)
+{
+	volatile struct lws *vwsi = (volatile struct lws *)wsi;
+	int n;
+
+	/* priority 1: post compression-transform buffered output */
+
+	if (lws_has_buffered_out(wsi)) {
+		lwsl_debug("%s: completing partial\n", __func__);
+		if (lws_issue_raw(wsi, NULL, 0) < 0) {
+			lwsl_info("%s signalling to close\n", __func__);
+			return -1;
+		}
+		n = 0;
+		vwsi->leave_pollout_active = 1;
+		goto cleanup;
+	}
+
+	/* priority 2: pre compression-transform buffered output */
+
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (wsi->http.comp_ctx.buflist_comp ||
+	    wsi->http.comp_ctx.may_have_more) {
+		enum lws_write_protocol wp = LWS_WRITE_HTTP;
+
+		lwsl_info("%s: completing comp partial"
+			   "(buflist_comp %p, may %d)\n",
+			   __func__, wsi->http.comp_ctx.buflist_comp,
+			    wsi->http.comp_ctx.may_have_more);
+
+		if (rops_write_role_protocol_h1(wsi, NULL, 0, &wp) < 0) {
+			lwsl_info("%s signalling to close\n", __func__);
+			lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS,
+					   "comp write fail");
+		}
+		n = 0;
+		vwsi->leave_pollout_active = 1;
+		goto cleanup;
+	}
+#endif
+
+	/* priority 3: if no buffered out and waiting for that... */
+
+	if (lwsi_state(wsi) == LRS_FLUSHING_BEFORE_CLOSE) {
+		wsi->socket_is_permanently_unusable = 1;
+		return -1;
+	}
+
+	/* priority 4: user writeable callback */
+
+	vwsi = (volatile struct lws *)wsi;
+	vwsi->leave_pollout_active = 0;
+
+	n = lws_callback_as_writeable(wsi);
+
+cleanup:
+	vwsi->handling_pollout = 0;
+
+	if (vwsi->leave_pollout_active)
+		lws_change_pollfd(wsi, 0, LWS_POLLOUT);
+
+	return n;
+}
+#endif
+
+static int
+rops_close_kill_connection_h1(struct lws *wsi, enum lws_close_status reason)
+{
+#if defined(LWS_WITH_HTTP_PROXY)
+	struct lws *wsi_eff = lws_client_wsi_effective(wsi);
+
+	if (!wsi_eff->http.proxy_clientside)
+		return 0;
+
+	wsi_eff->http.proxy_clientside = 0;
+
+	if (user_callback_handle_rxflow(wsi_eff->protocol->callback, wsi_eff,
+					LWS_CALLBACK_COMPLETED_CLIENT_HTTP,
+					wsi_eff->user_space, NULL, 0))
+		return 0;
+#endif
 	return 0;
 }
 
+
 struct lws_role_ops role_ops_h1 = {
 	/* role name */			"h1",
 	/* alpn id */			"http/1.1",
@@ -677,11 +1016,25 @@ struct lws_role_ops role_ops_h1 = {
 	/* alpn_negotiated */		rops_alpn_negotiated_h1,
 	/* close_via_role_protocol */	NULL,
 	/* close_role */		NULL,
-	/* close_kill_connection */	NULL,
+	/* close_kill_connection */	rops_close_kill_connection_h1,
 	/* destroy_role */		rops_destroy_role_h1,
+#if !defined(LWS_NO_SERVER)
+	/* adoption_bind */		rops_adoption_bind_h1,
+#else
+					NULL,
+#endif
+#if !defined(LWS_NO_CLIENT)
+	/* client_bind */		rops_client_bind_h1,
+#else
+					NULL,
+#endif
 	/* writeable cb clnt, srv */	{ LWS_CALLBACK_CLIENT_HTTP_WRITEABLE,
 					  LWS_CALLBACK_HTTP_WRITEABLE },
 	/* close cb clnt, srv */	{ LWS_CALLBACK_CLOSED_CLIENT_HTTP,
 					  LWS_CALLBACK_CLOSED_HTTP },
+	/* protocol_bind cb c, srv */	{ LWS_CALLBACK_CLIENT_HTTP_BIND_PROTOCOL,
+					  LWS_CALLBACK_HTTP_BIND_PROTOCOL },
+	/* protocol_unbind cb c, srv */	{ LWS_CALLBACK_CLIENT_HTTP_DROP_PROTOCOL,
+					  LWS_CALLBACK_HTTP_DROP_PROTOCOL },
 	/* file_handle */		0,
 };
diff --git a/thirdparty/libwebsockets/roles/h1/private.h b/thirdparty/libwebsockets/lib/roles/h1/private.h
index 3f53954d33..3f53954d33 100644
--- a/thirdparty/libwebsockets/roles/h1/private.h
+++ b/thirdparty/libwebsockets/lib/roles/h1/private.h
diff --git a/thirdparty/libwebsockets/roles/http/client/client-handshake.c b/thirdparty/libwebsockets/lib/roles/http/client/client-handshake.c
index 4830fc9eca..6b4e98f346 100644
--- a/thirdparty/libwebsockets/roles/http/client/client-handshake.c
+++ b/thirdparty/libwebsockets/lib/roles/http/client/client-handshake.c
@@ -37,9 +37,14 @@ lws_client_connect_2(struct lws *wsi)
 	ssize_t plen = 0;
 #endif
 	struct addrinfo *result;
+#if defined(LWS_WITH_UNIX_SOCK)
+	struct sockaddr_un sau;
+	char unix_skt = 0;
+#endif
 	const char *ads;
 	sockaddr46 sa46;
-	int n, port;
+	const struct sockaddr *psa;
+	int n, port = 0;
 	const char *cce = "", *iface;
 	const char *meth = NULL;
 #ifdef LWS_WITH_IPV6
@@ -126,7 +131,7 @@ lws_client_connect_2(struct lws *wsi)
 			}
 #endif
 
-			lwsl_info("applying %p to txn queue on %p (wsistate 0x%x)\n",
+			lwsl_info("applying %p to txn queue on %p state 0x%x\n",
 				wsi, w, w->wsistate);
 			/*
 			 * ...let's add ourselves to his transaction queue...
@@ -162,7 +167,7 @@ create_new_conn:
 
 	if (!wsi->client_hostname_copy)
 		wsi->client_hostname_copy =
-			strdup(lws_hdr_simple_ptr(wsi,
+			lws_strdup(lws_hdr_simple_ptr(wsi,
 					_WSI_TOKEN_CLIENT_PEER_ADDRESS));
 
 	/*
@@ -177,12 +182,36 @@ create_new_conn:
 	    lws_dll_is_null(&wsi->dll_client_transaction_queue) &&
 	    lws_dll_is_null(&wsi->dll_active_client_conns)) {
 		lws_vhost_lock(wsi->vhost);
+		/* caution... we will have to unpick this on oom4 path */
 		lws_dll_lws_add_front(&wsi->dll_active_client_conns,
 				      &wsi->vhost->dll_active_client_conns);
 		lws_vhost_unlock(wsi->vhost);
 	}
 
 	/*
+	 * unix socket destination?
+	 */
+
+	ads = lws_hdr_simple_ptr(wsi, _WSI_TOKEN_CLIENT_PEER_ADDRESS);
+#if defined(LWS_WITH_UNIX_SOCK)
+	if (*ads == '+') {
+		ads++;
+		memset(&sau, 0, sizeof(sau));
+		sau.sun_family = AF_UNIX;
+		strncpy(sau.sun_path, ads, sizeof(sau.sun_path));
+		sau.sun_path[sizeof(sau.sun_path) - 1] = '\0';
+
+		lwsl_info("%s: Unix skt: %s\n", __func__, ads);
+
+		if (sau.sun_path[0] == '@')
+			sau.sun_path[0] = '\0';
+
+		unix_skt = 1;
+		goto ads_known;
+	}
+#endif
+
+	/*
 	 * start off allowing ipv6 on connection if vhost allows it
 	 */
 	wsi->ipv6 = LWS_IPV6_ENABLED(wsi->vhost);
@@ -241,10 +270,9 @@ create_new_conn:
 
 #ifdef LWS_WITH_IPV6
 	if (wsi->ipv6) {
-		struct sockaddr_in6 *sa6 =
-				((struct sockaddr_in6 *)result->ai_addr);
+		struct sockaddr_in6 *sa6;
 
-		if (n) {
+		if (n || !result) {
 			/* lws_getaddrinfo46 failed, there is no usable result */
 			lwsl_notice("%s: lws_getaddrinfo46 failed %d\n",
 					__func__, n);
@@ -252,6 +280,8 @@ create_new_conn:
 			goto oom4;
 		}
 
+		sa6 = ((struct sockaddr_in6 *)result->ai_addr);
+
 		memset(&sa46, 0, sizeof(sa46));
 
 		sa46.sa6.sin6_family = AF_INET6;
@@ -307,7 +337,7 @@ create_new_conn:
 		} else if (n == EAI_SYSTEM) {
 			struct hostent *host;
 
-			lwsl_info("getaddrinfo (ipv4) failed, trying gethostbyname\n");
+			lwsl_info("ipv4 getaddrinfo err, try gethostbyname\n");
 			host = gethostbyname(ads);
 			if (host) {
 				p = host->h_addr;
@@ -318,7 +348,7 @@ create_new_conn:
 			}
 #endif
 		} else {
-			lwsl_err("getaddrinfo failed\n");
+			lwsl_err("getaddrinfo failed: %d\n", n);
 			cce = "getaddrinfo failed";
 			goto oom4;
 		}
@@ -339,6 +369,10 @@ create_new_conn:
 	if (result)
 		freeaddrinfo(result);
 
+#if defined(LWS_WITH_UNIX_SOCK)
+ads_known:
+#endif
+
 	/* now we decided on ipv4 or ipv6, set the port */
 
 	if (!lws_socket_is_valid(wsi->desc.sockfd)) {
@@ -349,12 +383,21 @@ create_new_conn:
 			goto oom4;
 		}
 
+#if defined(LWS_WITH_UNIX_SOCK)
+		if (unix_skt) {
+			wsi->unix_skt = 1;
+			wsi->desc.sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
+		} else
+#endif
+		{
+
 #ifdef LWS_WITH_IPV6
 		if (wsi->ipv6)
 			wsi->desc.sockfd = socket(AF_INET6, SOCK_STREAM, 0);
 		else
 #endif
 			wsi->desc.sockfd = socket(AF_INET, SOCK_STREAM, 0);
+		}
 
 		if (!lws_socket_is_valid(wsi->desc.sockfd)) {
 			lwsl_warn("Unable to open socket\n");
@@ -362,7 +405,12 @@ create_new_conn:
 			goto oom4;
 		}
 
-		if (lws_plat_set_socket_options(wsi->vhost, wsi->desc.sockfd)) {
+		if (lws_plat_set_socket_options(wsi->vhost, wsi->desc.sockfd,
+#if defined(LWS_WITH_UNIX_SOCK)
+						unix_skt)) {
+#else
+						0)) {
+#endif
 			lwsl_err("Failed to set wsi socket options\n");
 			compatible_close(wsi->desc.sockfd);
 			cce = "set socket opts failed";
@@ -372,7 +420,11 @@ create_new_conn:
 		lwsi_set_state(wsi, LRS_WAITING_CONNECT);
 
 		if (wsi->context->event_loop_ops->accept)
-			wsi->context->event_loop_ops->accept(wsi);
+			if (wsi->context->event_loop_ops->accept(wsi)) {
+				compatible_close(wsi->desc.sockfd);
+				cce = "event loop accept failed";
+				goto oom4;
+			}
 
 		if (__insert_wsi_socket_into_fds(wsi->context, wsi)) {
 			compatible_close(wsi->desc.sockfd);
@@ -399,7 +451,8 @@ create_new_conn:
 		iface = lws_hdr_simple_ptr(wsi, _WSI_TOKEN_CLIENT_IFACE);
 
 		if (iface) {
-			n = lws_socket_bind(wsi->vhost, wsi->desc.sockfd, 0, iface);
+			n = lws_socket_bind(wsi->vhost, wsi->desc.sockfd, 0,
+					    iface);
 			if (n < 0) {
 				cce = "unable to bind socket";
 				goto failed;
@@ -407,18 +460,29 @@ create_new_conn:
 		}
 	}
 
-#ifdef LWS_WITH_IPV6
-	if (wsi->ipv6) {
-		sa46.sa6.sin6_port = htons(port);
-		n = sizeof(struct sockaddr_in6);
+#if defined(LWS_WITH_UNIX_SOCK)
+	if (unix_skt) {
+		psa = (const struct sockaddr *)&sau;
+		n = sizeof(sau);
 	} else
 #endif
+
 	{
-		sa46.sa4.sin_port = htons(port);
-		n = sizeof(struct sockaddr);
+#ifdef LWS_WITH_IPV6
+		if (wsi->ipv6) {
+			sa46.sa6.sin6_port = htons(port);
+			n = sizeof(struct sockaddr_in6);
+			psa = (const struct sockaddr *)&sa46;
+		} else
+#endif
+		{
+			sa46.sa4.sin_port = htons(port);
+			n = sizeof(struct sockaddr);
+			psa = (const struct sockaddr *)&sa46;
+		}
 	}
 
-	if (connect(wsi->desc.sockfd, (const struct sockaddr *)&sa46, n) == -1 ||
+	if (connect(wsi->desc.sockfd, (const struct sockaddr *)psa, n) == -1 ||
 	    LWS_ERRNO == LWS_EISCONN) {
 		if (LWS_ERRNO == LWS_EALREADY ||
 		    LWS_ERRNO == LWS_EINPROGRESS ||
@@ -500,7 +564,8 @@ create_new_conn:
 			goto failed;
 		}
 
-		lws_set_timeout(wsi, PENDING_TIMEOUT_AWAITING_SOCKS_GREETING_REPLY,
+		lws_set_timeout(wsi,
+				PENDING_TIMEOUT_AWAITING_SOCKS_GREETING_REPLY,
 				AWAITING_TIMEOUT);
 
 		lwsi_set_state(wsi, LRS_WAITING_SOCKS_GREETING_REPLY);
@@ -531,7 +596,7 @@ send_hs:
 		 * wait in the queue until it's possible to send them.
 		 */
 		lws_callback_on_writable(wsi_piggyback);
-		lwsl_info("%s: wsi %p: waiting to send headers (parent state %x)\n",
+		lwsl_info("%s: wsi %p: waiting to send hdrs (par state 0x%x)\n",
 			    __func__, wsi, lwsi_state(wsi_piggyback));
 	} else {
 		lwsl_info("%s: wsi %p: client creating own connection\n",
@@ -570,7 +635,7 @@ send_hs:
 	return wsi;
 
 oom4:
-	if (lwsi_role_client(wsi) && lwsi_state_est(wsi)) {
+	if (lwsi_role_client(wsi) /* && lwsi_state_est(wsi) */) {
 		wsi->protocol->callback(wsi,
 			LWS_CALLBACK_CLIENT_CONNECTION_ERROR,
 			wsi->user_space, (void *)cce, strlen(cce));
@@ -579,13 +644,21 @@ oom4:
 	/* take care that we might be inserted in fds already */
 	if (wsi->position_in_fds_table != LWS_NO_FDS_POS)
 		goto failed1;
-	lws_remove_from_timeout_list(wsi);
-#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
-	lws_header_table_detach(wsi, 0);
-#endif
-	lws_client_stash_destroy(wsi);
-	lws_free_set_NULL(wsi->client_hostname_copy);
-	lws_free(wsi);
+
+	/*
+	 * We can't be an active client connection any more, if we thought
+	 * that was what we were going to be doing.  It should be if we are
+	 * failing by oom4 path, we are still called by
+	 * lws_client_connect_via_info() and will be returning NULL to that,
+	 * so nobody else should have had a chance to queue on us.
+	 */
+	{
+		struct lws_vhost *vhost = wsi->vhost;
+
+		lws_vhost_lock(vhost);
+		__lws_free_wsi(wsi);
+		lws_vhost_unlock(vhost);
+	}
 
 	return NULL;
 
@@ -603,7 +676,8 @@ failed1:
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 
 /**
- * lws_client_reset() - retarget a connected wsi to start over with a new connection (ie, redirect)
+ * lws_client_reset() - retarget a connected wsi to start over with a new
+ * 			connection (ie, redirect)
  *			this only works if still in HTTP, ie, not upgraded yet
  * wsi:		connection to reset
  * address:	network address of the new server
@@ -654,13 +728,13 @@ lws_client_reset(struct lws **pwsi, int ssl, const char *address, int port,
 	lws_ssl_close(wsi);
 #endif
 
+	__remove_wsi_socket_from_fds(wsi);
+
 	if (wsi->context->event_loop_ops->close_handle_manually)
 		wsi->context->event_loop_ops->close_handle_manually(wsi);
 	else
 		compatible_close(wsi->desc.sockfd);
 
-	__remove_wsi_socket_from_fds(wsi);
-
 #if defined(LWS_WITH_TLS)
 	wsi->tls.use_ssl = ssl;
 #else
@@ -716,8 +790,8 @@ lws_client_reset(struct lws **pwsi, int ssl, const char *address, int port,
 	return *pwsi;
 }
 
-#ifdef LWS_WITH_HTTP_PROXY
-static hubbub_error
+#if defined(LWS_WITH_HTTP_PROXY) && defined(LWS_WITH_HUBBUB)
+hubbub_error
 html_parser_cb(const hubbub_token *token, void *pw)
 {
 	struct lws_rewrite *r = (struct lws_rewrite *)pw;
@@ -846,252 +920,8 @@ html_parser_cb(const hubbub_token *token, void *pw)
 
 #endif
 
-static char *
-lws_strdup(const char *s)
-{
-	char *d = lws_malloc(strlen(s) + 1, "strdup");
-
-	if (d)
-		strcpy(d, s);
-
-	return d;
-}
-
-void
-lws_client_stash_destroy(struct lws *wsi)
-{
-	if (!wsi || !wsi->stash)
-		return;
-
-	lws_free_set_NULL(wsi->stash->address);
-	lws_free_set_NULL(wsi->stash->path);
-	lws_free_set_NULL(wsi->stash->host);
-	lws_free_set_NULL(wsi->stash->origin);
-	lws_free_set_NULL(wsi->stash->protocol);
-	lws_free_set_NULL(wsi->stash->method);
-	lws_free_set_NULL(wsi->stash->iface);
-	lws_free_set_NULL(wsi->stash->alpn);
-
-	lws_free_set_NULL(wsi->stash);
-}
-
-LWS_VISIBLE struct lws *
-lws_client_connect_via_info(struct lws_client_connect_info *i)
-{
-	struct lws *wsi;
-	const struct lws_protocols *p;
-	const char *local = i->protocol;
-
-	if (i->context->requested_kill)
-		return NULL;
-
-	if (!i->context->protocol_init_done)
-		lws_protocol_init(i->context);
-	/*
-	 * If we have .local_protocol_name, use it to select the
-	 * local protocol handler to bind to.  Otherwise use .protocol if
-	 * http[s].
-	 */
-	if (i->local_protocol_name)
-		local = i->local_protocol_name;
-
-	wsi = lws_zalloc(sizeof(struct lws), "client wsi");
-	if (wsi == NULL)
-		goto bail;
-
-	wsi->context = i->context;
-#if defined(LWS_ROLE_H1)
-	/* assert the mode and union status (hdr) clearly */
-	lws_role_transition(wsi, LWSIFR_CLIENT, LRS_UNCONNECTED, &role_ops_h1);
-#else
-	lws_role_transition(wsi, LWSIFR_CLIENT, LRS_UNCONNECTED, &role_ops_raw_skt);
-#endif
-	wsi->desc.sockfd = LWS_SOCK_INVALID;
-
-	/* 1) fill up the wsi with stuff from the connect_info as far as it
-	 * can go.  It's because not only is our connection async, we might
-	 * not even be able to get ahold of an ah at this point.
-	 */
-
-	if (!i->method) /* ie, ws */
-#if defined(LWS_ROLE_WS)
-		if (lws_create_client_ws_object(i, wsi))
-			return NULL;
-#else
-		return NULL;
-#endif
-
-	wsi->user_space = NULL;
-	wsi->pending_timeout = NO_PENDING_TIMEOUT;
-	wsi->position_in_fds_table = LWS_NO_FDS_POS;
-	wsi->c_port = i->port;
-	wsi->vhost = i->vhost;
-	if (!wsi->vhost)
-		wsi->vhost = i->context->vhost_list;
-
-	if (!wsi->vhost) {
-		lwsl_err("At least one vhost in the context is required\n");
-
-		goto bail;
-	}
-
-	wsi->protocol = &wsi->vhost->protocols[0];
-	wsi->client_pipeline = !!(i->ssl_connection & LCCSCF_PIPELINE);
-
-	/* reasonable place to start */
-	lws_role_transition(wsi, LWSIFR_CLIENT, LRS_UNCONNECTED,
-#if defined(LWS_ROLE_H1)
-			&role_ops_h1);
-#else
-	&role_ops_raw_skt);
-#endif
-
-	/*
-	 * 1) for http[s] connection, allow protocol selection by name
-	 * 2) for ws[s], if local_protocol_name given also use it for
-	 *    local protocol binding... this defeats the server
-	 *    protocol negotiation if so
-	 *
-	 * Otherwise leave at protocols[0]... the server will tell us
-	 * which protocol we are associated with since we can give it a
-	 * list.
-	 */
-	if (/*(i->method || i->local_protocol_name) && */local) {
-		lwsl_info("binding to %s\n", local);
-		p = lws_vhost_name_to_protocol(wsi->vhost, local);
-		if (p)
-			wsi->protocol = p;
-	}
-
-	if (wsi && !wsi->user_space && i->userdata) {
-		wsi->user_space_externally_allocated = 1;
-		wsi->user_space = i->userdata;
-	} else
-		/* if we stay in http, we can assign the user space now,
-		 * otherwise do it after the protocol negotiated
-		 */
-		if (i->method)
-			if (lws_ensure_user_space(wsi))
-				goto bail;
-
-#if defined(LWS_WITH_TLS)
-	wsi->tls.use_ssl = i->ssl_connection;
-#else
-	if (i->ssl_connection & LCCSCF_USE_SSL) {
-		lwsl_err("libwebsockets not configured for ssl\n");
-		goto bail;
-	}
-#endif
-
-	/* 2) stash the things from connect_info that we can't process without
-	 * an ah.  Because if no ah, we will go on the ah waiting list and
-	 * process those things later (after the connect_info and maybe the
-	 * things pointed to have gone out of scope.
-	 */
-
-	wsi->stash = lws_zalloc(sizeof(*wsi->stash), "client stash");
-	if (!wsi->stash) {
-		lwsl_err("%s: OOM\n", __func__);
-		goto bail1;
-	}
-
-	wsi->stash->address = lws_strdup(i->address);
-	wsi->stash->path = lws_strdup(i->path);
-	wsi->stash->host = lws_strdup(i->host);
-
-	if (!wsi->stash->address || !wsi->stash->path || !wsi->stash->host)
-		goto bail1;
-
-	if (i->origin) {
-		wsi->stash->origin = lws_strdup(i->origin);
-		if (!wsi->stash->origin)
-			goto bail1;
-	}
-	if (i->protocol) {
-		wsi->stash->protocol = lws_strdup(i->protocol);
-		if (!wsi->stash->protocol)
-			goto bail1;
-	}
-	if (i->method) {
-		wsi->stash->method = lws_strdup(i->method);
-		if (!wsi->stash->method)
-			goto bail1;
-	}
-	if (i->iface) {
-		wsi->stash->iface = lws_strdup(i->iface);
-		if (!wsi->stash->iface)
-			goto bail1;
-	}
-	 /*
-	  * For ws, default to http/1.1 only.  If i->alpn is set, defer to
-	  * whatever he has set in there (eg, "h2").
-	  *
-	  * The problem is he has to commit to h2 before he can find out if the
-	  * server has the SETTINGS for ws-over-h2 enabled; if not then ws is
-	  * not possible on that connection.  So we only try it if he
-	  * assertively said to use h2 alpn.
-	  */
-	if (!i->method && !i->alpn) {
-		wsi->stash->alpn = lws_strdup("http/1.1");
-		if (!wsi->stash->alpn)
-			goto bail1;
-	} else
-		if (i->alpn) {
-			wsi->stash->alpn = lws_strdup(i->alpn);
-			if (!wsi->stash->alpn)
-				goto bail1;
-		}
-
-	if (i->pwsi)
-		*i->pwsi = wsi;
-
-#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
-	/* if we went on the waiting list, no probs just return the wsi
-	 * when we get the ah, now or later, he will call
-	 * lws_client_connect_via_info2() below.
-	 */
-	if (lws_header_table_attach(wsi, 0) < 0) {
-		/*
-		 * if we failed here, the connection is already closed
-		 * and freed.
-		 */
-		goto bail2;
-	}
-
-#endif
-
-	if (i->parent_wsi) {
-		lwsl_info("%s: created child %p of parent %p\n", __func__,
-				wsi, i->parent_wsi);
-		wsi->parent = i->parent_wsi;
-		wsi->sibling_list = i->parent_wsi->child_list;
-		i->parent_wsi->child_list = wsi;
-	}
-#ifdef LWS_WITH_HTTP_PROXY
-	if (i->uri_replace_to)
-		wsi->http.rw = lws_rewrite_create(wsi, html_parser_cb,
-					     i->uri_replace_from,
-					     i->uri_replace_to);
-#endif
-
-	return wsi;
-
-bail1:
-	lws_client_stash_destroy(wsi);
-
-bail:
-	lws_free(wsi);
-#if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
-bail2:
-#endif
-	if (i->pwsi)
-		*i->pwsi = NULL;
-
-	return NULL;
-}
-
 struct lws *
-lws_client_connect_via_info2(struct lws *wsi)
+lws_http_client_connect_via_info2(struct lws *wsi)
 {
 	struct client_info_stash *stash = wsi->stash;
 
@@ -1156,55 +986,6 @@ bail1:
 	return NULL;
 }
 
-LWS_VISIBLE struct lws *
-lws_client_connect_extended(struct lws_context *context, const char *address,
-			    int port, int ssl_connection, const char *path,
-			    const char *host, const char *origin,
-			    const char *protocol, int ietf_version_or_minus_one,
-			    void *userdata)
-{
-	struct lws_client_connect_info i;
-
-	memset(&i, 0, sizeof(i));
-
-	i.context = context;
-	i.address = address;
-	i.port = port;
-	i.ssl_connection = ssl_connection;
-	i.path = path;
-	i.host = host;
-	i.origin = origin;
-	i.protocol = protocol;
-	i.ietf_version_or_minus_one = ietf_version_or_minus_one;
-	i.userdata = userdata;
-
-	return lws_client_connect_via_info(&i);
-}
-
-LWS_VISIBLE struct lws *
-lws_client_connect(struct lws_context *context, const char *address,
-			    int port, int ssl_connection, const char *path,
-			    const char *host, const char *origin,
-			    const char *protocol, int ietf_version_or_minus_one)
-{
-	struct lws_client_connect_info i;
-
-	memset(&i, 0, sizeof(i));
-
-	i.context = context;
-	i.address = address;
-	i.port = port;
-	i.ssl_connection = ssl_connection;
-	i.path = path;
-	i.host = host;
-	i.origin = origin;
-	i.protocol = protocol;
-	i.ietf_version_or_minus_one = ietf_version_or_minus_one;
-	i.userdata = NULL;
-
-	return lws_client_connect_via_info(&i);
-}
-
 #if defined(LWS_WITH_SOCKS5)
 void socks_generate_msg(struct lws *wsi, enum socks_msg_type type,
 			ssize_t *msg_len)
@@ -1242,8 +1023,9 @@ void socks_generate_msg(struct lws *wsi, enum socks_msg_type type,
 		/* length of the password */
 		pt->serv_buf[len++] = passwd_len;
 		/* password */
-		lws_strncpy((char *)&pt->serv_buf[len], wsi->vhost->socks_password,
-			context->pt_serv_buf_size - len + 1);
+		lws_strncpy((char *)&pt->serv_buf[len],
+			    wsi->vhost->socks_password,
+			    context->pt_serv_buf_size - len + 1);
 		len += passwd_len;
 		break;
 
diff --git a/thirdparty/libwebsockets/roles/http/client/client.c b/thirdparty/libwebsockets/lib/roles/http/client/client.c
index ce42dc6cd3..1d6f13dcf8 100644
--- a/thirdparty/libwebsockets/roles/http/client/client.c
+++ b/thirdparty/libwebsockets/lib/roles/http/client/client.c
@@ -1,7 +1,7 @@
 /*
  * libwebsockets - lib/client/client.c
  *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
  *
  *  This library is free software; you can redistribute it and/or
  *  modify it under the terms of the GNU Lesser General Public
@@ -48,7 +48,7 @@ lws_client_wsi_effective(struct lws *wsi)
 	} lws_end_foreach_dll_safe(d, d1);
 
 	return lws_container_of(tail, struct lws,
-				  dll_client_transaction_queue);
+				dll_client_transaction_queue);
 }
 
 /*
@@ -66,7 +66,7 @@ _lws_client_wsi_master(struct lws *wsi)
 	d = wsi->dll_client_transaction_queue.prev;
 	while (d) {
 		wsi_eff = lws_container_of(d, struct lws,
-					dll_client_transaction_queue_head);
+					   dll_client_transaction_queue_head);
 
 		d = d->prev;
 	}
@@ -93,7 +93,7 @@ lws_client_socket_service(struct lws *wsi, struct lws_pollfd *pollfd,
 	char *sb = p;
 	int n = 0;
 #if defined(LWS_WITH_SOCKS5)
-	char conn_mode = 0, pending_timeout = 0;
+	int conn_mode = 0, pending_timeout = 0;
 #endif
 
 	if ((pollfd->revents & LWS_POLLOUT) &&
@@ -111,11 +111,12 @@ lws_client_socket_service(struct lws *wsi, struct lws_pollfd *pollfd,
 		 */
 		lws_vhost_lock(wsi->vhost);
 		lws_start_foreach_dll_safe(struct lws_dll_lws *, d, d1,
-					   wsi->dll_client_transaction_queue_head.next) {
+				  wsi->dll_client_transaction_queue_head.next) {
 			struct lws *w = lws_container_of(d, struct lws,
 						  dll_client_transaction_queue);
 
-			lwsl_debug("%s: %p states 0x%x\n", __func__, w, w->wsistate);
+			lwsl_debug("%s: %p states 0x%x\n", __func__, w,
+				   w->wsistate);
 			if (lwsi_state(w) == LRS_H1C_ISSUE_HANDSHAKE2)
 				wfound = w;
 		} lws_end_foreach_dll_safe(d, d1);
@@ -208,7 +209,8 @@ lws_client_socket_service(struct lws *wsi, struct lws_pollfd *pollfd,
 
 		case LRS_WAITING_SOCKS_AUTH_REPLY:
 			if (pt->serv_buf[0] != SOCKS_SUBNEGOTIATION_VERSION_1 ||
-			    pt->serv_buf[1] != SOCKS_SUBNEGOTIATION_STATUS_SUCCESS)
+			    pt->serv_buf[1] !=
+					    SOCKS_SUBNEGOTIATION_STATUS_SUCCESS)
 				goto socks_reply_fail;
 
 			lwsl_client("SOCKS password OK, sending connect\n");
@@ -243,8 +245,8 @@ socks_reply_fail:
 			/* free stash since we are done with it */
 			lws_client_stash_destroy(wsi);
 			if (lws_hdr_simple_create(wsi,
-						  _WSI_TOKEN_CLIENT_PEER_ADDRESS,
-						  wsi->vhost->socks_proxy_address))
+						 _WSI_TOKEN_CLIENT_PEER_ADDRESS,
+					       wsi->vhost->socks_proxy_address))
 				goto bail3;
 
 			wsi->c_port = wsi->vhost->socks_proxy_port;
@@ -252,6 +254,8 @@ socks_reply_fail:
 			/* clear his proxy connection timeout */
 			lws_set_timeout(wsi, NO_PENDING_TIMEOUT, 0);
 			goto start_ws_handshake;
+		default:
+			break;
 		}
 		break;
 #endif
@@ -350,7 +354,9 @@ start_ws_handshake:
 			 * So this is it, we are an h2 master client connection
 			 * now, not an h1 client connection.
 			 */
+#if defined (LWS_WITH_TLS)
 			lws_tls_server_conn_alpn(wsi);
+#endif
 
 			/* send the H2 preface to legitimize the connection */
 			if (lws_h2_issue_preface(wsi)) {
@@ -375,7 +381,8 @@ start_ws_handshake:
 				return 0;
 
 			lwsl_err("Failed to generate handshake for client\n");
-			lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS, "chs");
+			lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS,
+					   "chs");
 			return 0;
 		}
 
@@ -383,8 +390,9 @@ start_ws_handshake:
 		lws_latency_pre(context, wsi);
 
 		w = _lws_client_wsi_master(wsi);
-		lwsl_info("%s: HANDSHAKE2: %p: sending headers on %p (wsistate 0x%x 0x%x)\n",
-				__func__, wsi, w, wsi->wsistate, w->wsistate);
+		lwsl_info("%s: HANDSHAKE2: %p: sending headers on %p "
+			  "(wsistate 0x%x 0x%x)\n", __func__, wsi, w,
+			  wsi->wsistate, w->wsistate);
 
 		n = lws_ssl_capable_write(w, (unsigned char *)sb, (int)(p - sb));
 		lws_latency(context, wsi, "send lws_issue_raw", n,
@@ -392,7 +400,8 @@ start_ws_handshake:
 		switch (n) {
 		case LWS_SSL_CAPABLE_ERROR:
 			lwsl_debug("ERROR writing to client socket\n");
-			lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS, "cws");
+			lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS,
+					   "cws");
 			return 0;
 		case LWS_SSL_CAPABLE_MORE_SERVICE:
 			lws_callback_on_writable(wsi);
@@ -417,7 +426,7 @@ start_ws_handshake:
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
 			w->http.ah->parser_state = WSI_TOKEN_NAME_PART;
 			w->http.ah->lextable_pos = 0;
-			/* If we're (re)starting on headers, need other implied init */
+			/* If we're (re)starting on hdr, need other implied init */
 			wsi->http.ah->ues = URIES_IDLE;
 #endif
 		}
@@ -547,11 +556,12 @@ lws_http_transaction_completed_client(struct lws *wsi)
 {
 	struct lws *wsi_eff = lws_client_wsi_effective(wsi);
 
-	lwsl_info("%s: wsi: %p, wsi_eff: %p\n", __func__, wsi, wsi_eff);
+	lwsl_info("%s: wsi: %p, wsi_eff: %p (%s)\n", __func__, wsi, wsi_eff,
+		    wsi_eff->protocol->name);
 
-	if (user_callback_handle_rxflow(wsi_eff->protocol->callback,
-			wsi_eff, LWS_CALLBACK_COMPLETED_CLIENT_HTTP,
-			wsi_eff->user_space, NULL, 0)) {
+	if (user_callback_handle_rxflow(wsi_eff->protocol->callback, wsi_eff,
+					LWS_CALLBACK_COMPLETED_CLIENT_HTTP,
+					wsi_eff->user_space, NULL, 0)) {
 		lwsl_debug("%s: Completed call returned nonzero (role 0x%x)\n",
 						__func__, lwsi_role(wsi_eff));
 		return -1;
@@ -578,6 +588,8 @@ lws_http_transaction_completed_client(struct lws *wsi)
 			"queued client done");
 	}
 
+	_lws_header_table_reset(wsi->http.ah);
+
 	/* after the first one, they can only be coming from the queue */
 	wsi->transaction_from_pipeline_queue = 1;
 
@@ -622,19 +634,28 @@ lws_http_transaction_completed_client(struct lws *wsi)
 	/* If we're (re)starting on headers, need other implied init */
 	wsi->http.ah->ues = URIES_IDLE;
 
-	lwsl_info("%s: %p: new queued transaction as %p\n", __func__, wsi, wsi_eff);
+	lwsl_info("%s: %p: new queued transaction as %p\n", __func__, wsi,
+		  wsi_eff);
 	lws_callback_on_writable(wsi);
 
 	return 0;
 }
 
 LWS_VISIBLE LWS_EXTERN unsigned int
-lws_http_client_http_response(struct lws *wsi)
+lws_http_client_http_response(struct lws *_wsi)
 {
-	if (!wsi->http.ah)
-		return 0;
+	struct lws *wsi;
+	unsigned int resp;
+
+	if (_wsi->http.ah && _wsi->http.ah->http_response)
+		return _wsi->http.ah->http_response;
 
-	return wsi->http.ah->http_response;
+	lws_vhost_lock(_wsi->vhost);
+	wsi = _lws_client_wsi_master(_wsi);
+	resp = wsi->http.ah->http_response;
+	lws_vhost_unlock(_wsi->vhost);
+
+	return resp;
 }
 #endif
 #if defined(LWS_PLAT_OPTEE)
@@ -660,7 +681,7 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 	int n, port = 0, ssl = 0;
 	int close_reason = LWS_CLOSE_STATUS_PROTOCOL_ERR;
 	const char *prot, *ads = NULL, *path, *cce = NULL;
-	struct allocated_headers *ah = NULL;
+	struct allocated_headers *ah;
 	struct lws *w = lws_client_wsi_effective(wsi);
 	char *p, *q;
 	char new_path[300];
@@ -673,7 +694,8 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 		 */
 #if defined(LWS_ROLE_H2)
 		if (wsi->client_h2_alpn || wsi->client_h2_substream) {
-			lwsl_debug("%s: %p: transitioning to h2 client\n", __func__, wsi);
+			lwsl_debug("%s: %p: transitioning to h2 client\n",
+				   __func__, wsi);
 			lws_role_transition(wsi, LWSIFR_CLIENT,
 					    LRS_ESTABLISHED, &role_ops_h2);
 		} else
@@ -681,7 +703,8 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 		{
 #if defined(LWS_ROLE_H1)
 			{
-			lwsl_debug("%s: %p: transitioning to h1 client\n", __func__, wsi);
+			lwsl_debug("%s: %p: transitioning to h1 client\n",
+				   __func__, wsi);
 			lws_role_transition(wsi, LWSIFR_CLIENT,
 					    LRS_ESTABLISHED, &role_ops_h1);
 			}
@@ -707,7 +730,7 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 	 * set-cookie:.test=LWS_1456736240_336776_COOKIE;Max-Age=360000
 	 */
 
-	wsi->http.connection_type = HTTP_CONNECTION_KEEP_ALIVE;
+	wsi->http.conn_type = HTTP_CONNECTION_KEEP_ALIVE;
 	if (!wsi->client_h2_substream) {
 		p = lws_hdr_simple_ptr(wsi, WSI_TOKEN_HTTP);
 		if (wsi->do_ws && !p) {
@@ -717,7 +740,7 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 		}
 		if (!p) {
 			p = lws_hdr_simple_ptr(wsi, WSI_TOKEN_HTTP1_0);
-			wsi->http.connection_type = HTTP_CONNECTION_CLOSE;
+			wsi->http.conn_type = HTTP_CONNECTION_CLOSE;
 		}
 		if (!p) {
 			cce = "HS: URI missing";
@@ -781,7 +804,7 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 			q = strrchr(new_path, '/');
 			if (q)
 				lws_strncpy(q + 1, p, sizeof(new_path) -
-							(q - new_path));
+							(q - new_path) - 1);
 			else
 				path = p;
 		}
@@ -814,8 +837,9 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 
 		/* if h1 KA is allowed, enable the queued pipeline guys */
 
-		if (!wsi->client_h2_alpn && !wsi->client_h2_substream && w == wsi) { /* ie, coming to this for the first time */
-			if (wsi->http.connection_type == HTTP_CONNECTION_KEEP_ALIVE)
+		if (!wsi->client_h2_alpn && !wsi->client_h2_substream &&
+		    w == wsi) { /* ie, coming to this for the first time */
+			if (wsi->http.conn_type == HTTP_CONNECTION_KEEP_ALIVE)
 				wsi->keepalive_active = 1;
 			else {
 				/*
@@ -835,13 +859,16 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 				wsi->keepalive_rejected = 1;
 
 				lws_vhost_lock(wsi->vhost);
-				lws_start_foreach_dll_safe(struct lws_dll_lws *, d, d1,
-							   wsi->dll_client_transaction_queue_head.next) {
-					struct lws *ww = lws_container_of(d, struct lws,
-								  dll_client_transaction_queue);
+				lws_start_foreach_dll_safe(struct lws_dll_lws *,
+							   d, d1,
+				  wsi->dll_client_transaction_queue_head.next) {
+					struct lws *ww = lws_container_of(d,
+						struct lws,
+						dll_client_transaction_queue);
 
 					/* remove him from our queue */
-					lws_dll_lws_remove(&ww->dll_client_transaction_queue);
+					lws_dll_lws_remove(
+					     &ww->dll_client_transaction_queue);
 					/* give up on pipelining */
 					ww->client_pipeline = 0;
 
@@ -869,7 +896,7 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 			if (!strncmp(lws_hdr_simple_ptr(wsi,
 						WSI_TOKEN_HTTP_CONTENT_TYPE),
 						"text/html", 9))
-				wsi->http.perform_rewrite = 1;
+				wsi->http.perform_rewrite = 0;
 		}
 #endif
 
@@ -903,16 +930,15 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 					wsi->http.rx_content_length;
 		} else /* can't do 1.1 without a content length or chunked */
 			if (!wsi->chunked)
-				wsi->http.connection_type =
-							HTTP_CONNECTION_CLOSE;
+				wsi->http.conn_type = HTTP_CONNECTION_CLOSE;
 
 		/*
 		 * we seem to be good to go, give client last chance to check
 		 * headers and OK it
 		 */
-		if (wsi->protocol->callback(wsi,
+		if (w->protocol->callback(w,
 				LWS_CALLBACK_CLIENT_FILTER_PRE_ESTABLISH,
-					    wsi->user_space, NULL, 0)) {
+					    w->user_space, NULL, 0)) {
 
 			cce = "HS: disallowed by client filter";
 			goto bail2;
@@ -924,9 +950,9 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 		wsi->rxflow_change_to = LWS_RXFLOW_ALLOW;
 
 		/* call him back to inform him he is up */
-		if (wsi->protocol->callback(wsi,
+		if (w->protocol->callback(w,
 					    LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP,
-					    wsi->user_space, NULL, 0)) {
+					    w->user_space, NULL, 0)) {
 			cce = "HS: disallowed at ESTABLISHED";
 			goto bail3;
 		}
@@ -942,6 +968,15 @@ lws_client_interpret_server_handshake(struct lws *wsi)
 
 		lwsl_info("%s: client connection up\n", __func__);
 
+		/*
+		 * Did we get a response from the server with an explicit
+		 * content-length of zero?  If so, this transaction is already
+		 * completed at the end of the header processing...
+		 */
+		if (lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_CONTENT_LENGTH) &&
+		    !wsi->http.rx_content_length)
+		        return !!lws_http_transaction_completed_client(wsi);
+
 		return 0;
 	}
 
@@ -964,14 +999,16 @@ bail2:
 		n = 0;
 		if (cce)
 			n = (int)strlen(cce);
-		wsi->protocol->callback(wsi,
+		w->protocol->callback(w,
 				LWS_CALLBACK_CLIENT_CONNECTION_ERROR,
-				wsi->user_space, (void *)cce,
+				w->user_space, (void *)cce,
 				(unsigned int)n);
 	}
 	wsi->already_did_cce = 1;
 
-	lwsl_info("closing connection due to bail2 connection error\n");
+	lwsl_info("closing connection (prot %s) "
+		  "due to bail2 connection error: %s\n", wsi->protocol ?
+				  wsi->protocol->name : "unknown", cce);
 
 	/* closing will free up his parsing allocations */
 	lws_close_free_wsi(wsi, close_reason, "c hs interp");
@@ -1011,7 +1048,7 @@ lws_generate_client_handshake(struct lws *wsi, char *pkt)
 				return NULL;
 			}
 
-			lws_bind_protocol(wsi, pr);
+			lws_bind_protocol(wsi, pr, __func__);
 		}
 
 		if ((wsi->protocol->callback)(wsi, LWS_CALLBACK_RAW_ADOPT,
@@ -1058,16 +1095,22 @@ lws_generate_client_handshake(struct lws *wsi, char *pkt)
 						     _WSI_TOKEN_CLIENT_ORIGIN));
 	}
 #if defined(LWS_ROLE_WS)
-	if (wsi->do_ws)
-		p = lws_generate_client_ws_handshake(wsi, p);
+	if (wsi->do_ws) {
+		const char *conn1 = "";
+		if (!wsi->client_pipeline)
+			conn1 = "close, ";
+		p = lws_generate_client_ws_handshake(wsi, p, conn1);
+	} else
 #endif
+		if (!wsi->client_pipeline)
+			p += sprintf(p, "connection: close\x0d\x0a");
 
 	/* give userland a chance to append, eg, cookies */
 
 	if (wsi->protocol->callback(wsi,
-				LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER,
-				wsi->user_space, &p,
-				(pkt + wsi->context->pt_serv_buf_size) - p - 12))
+			LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER,
+			wsi->user_space, &p,
+			(pkt + wsi->context->pt_serv_buf_size) - p - 12))
 		return NULL;
 
 	p += sprintf(p, "\x0d\x0a");
@@ -1091,14 +1134,11 @@ lws_http_client_read(struct lws *wsi, char **buf, int *len)
 	lws_change_pollfd(wsi, 0, LWS_POLLIN);
 
 	if (rlen == LWS_SSL_CAPABLE_ERROR) {
-		lwsl_notice("%s: SSL capable error\n", __func__);
+		lwsl_debug("%s: SSL capable error\n", __func__);
 		return -1;
 	}
 
-	if (rlen == 0)
-		return -1;
-
-	if (rlen < 0)
+	if (rlen <= 0)
 		return 0;
 
 	*len = rlen;
@@ -1118,7 +1158,7 @@ spin_chunks:
 			}
 			n = char_to_hex((*buf)[0]);
 			if (n < 0) {
-				lwsl_debug("chunking failure\n");
+				lwsl_info("%s: chunking failure\n", __func__);
 				return -1;
 			}
 			wsi->chunk_remaining <<= 4;
@@ -1126,7 +1166,7 @@ spin_chunks:
 			break;
 		case ELCP_CR:
 			if ((*buf)[0] != '\x0a') {
-				lwsl_debug("chunking failure\n");
+				lwsl_info("%s: chunking failure\n", __func__);
 				return -1;
 			}
 			wsi->chunk_parser = ELCP_CONTENT;
@@ -1141,7 +1181,7 @@ spin_chunks:
 
 		case ELCP_POST_CR:
 			if ((*buf)[0] != '\x0d') {
-				lwsl_debug("chunking failure\n");
+				lwsl_info("%s: chunking failure\n", __func__);
 
 				return -1;
 			}
@@ -1150,8 +1190,11 @@ spin_chunks:
 			break;
 
 		case ELCP_POST_LF:
-			if ((*buf)[0] != '\x0a')
+			if ((*buf)[0] != '\x0a') {
+				lwsl_info("%s: chunking failure\n", __func__);
+
 				return -1;
+			}
 
 			wsi->chunk_parser = ELCP_HEX;
 			wsi->chunk_remaining = 0;
@@ -1174,7 +1217,7 @@ spin_chunks:
 	    wsi->chunk_remaining < n)
 		n = wsi->chunk_remaining;
 
-#ifdef LWS_WITH_HTTP_PROXY
+#if defined(LWS_WITH_HTTP_PROXY) && defined(LWS_WITH_HUBBUB)
 	/* hubbub */
 	if (wsi->http.perform_rewrite)
 		lws_rewrite_parse(wsi->http.rw, (unsigned char *)*buf, n);
@@ -1186,7 +1229,7 @@ spin_chunks:
 		if (user_callback_handle_rxflow(wsi_eff->protocol->callback,
 				wsi_eff, LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ,
 				wsi_eff->user_space, *buf, n)) {
-			lwsl_debug("%s: RECEIVE_CLIENT_HTTP_READ returned -1\n",
+			lwsl_info("%s: RECEIVE_CLIENT_HTTP_READ returned -1\n",
 				   __func__);
 
 			return -1;
@@ -1228,4 +1271,4 @@ completed:
 	return 0;
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/thirdparty/libwebsockets/roles/http/header.c b/thirdparty/libwebsockets/lib/roles/http/header.c
index 99e56f7564..448c5a8b5c 100644
--- a/thirdparty/libwebsockets/roles/http/header.c
+++ b/thirdparty/libwebsockets/lib/roles/http/header.c
@@ -1,7 +1,7 @@
 /*
  * libwebsockets - small server side websockets and web server implementation
  *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
  *
  *  This library is free software; you can redistribute it and/or
  *  modify it under the terms of the GNU Lesser General Public
@@ -26,7 +26,7 @@
 const unsigned char *
 lws_token_to_string(enum lws_token_indexes token)
 {
-	if ((unsigned int)token >= ARRAY_SIZE(set))
+	if ((unsigned int)token >= LWS_ARRAY_SIZE(set))
 		return NULL;
 
 	return (unsigned char *)set[token];
@@ -116,9 +116,10 @@ lws_add_http_header_by_token(struct lws *wsi, enum lws_token_indexes token,
 	return lws_add_http_header_by_name(wsi, name, value, length, p, end);
 }
 
-int lws_add_http_header_content_length(struct lws *wsi,
-				       lws_filepos_t content_length,
-				       unsigned char **p, unsigned char *end)
+int
+lws_add_http_header_content_length(struct lws *wsi,
+				   lws_filepos_t content_length,
+				   unsigned char **p, unsigned char *end)
 {
 	char b[24];
 	int n;
@@ -141,6 +142,10 @@ lws_add_http_common_headers(struct lws *wsi, unsigned int code,
 			    const char *content_type, lws_filepos_t content_len,
 			    unsigned char **p, unsigned char *end)
 {
+	const char *ka[] = { "close", "keep-alive" };
+	int types[] = { HTTP_CONNECTION_CLOSE, HTTP_CONNECTION_KEEP_ALIVE },
+			t = 0;
+
 	if (lws_add_http_header_status(wsi, code, p, end))
 		return 1;
 
@@ -149,14 +154,67 @@ lws_add_http_common_headers(struct lws *wsi, unsigned int code,
 		    			(int)strlen(content_type), p, end))
 		return 1;
 
-	if (content_len != LWS_ILLEGAL_HTTP_CONTENT_LEN &&
-	    lws_add_http_header_content_length(wsi, content_len, p, end))
-		return 1;
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (!wsi->http.lcs &&
+	    (!strncmp(content_type, "text/", 5) ||
+	     !strcmp(content_type, "application/javascript") ||
+	     !strcmp(content_type, "image/svg+xml")))
+		lws_http_compression_apply(wsi, NULL, p, end, 0);
+#endif
+
+	/*
+	 * if we decided to compress it, we don't know the content length...
+	 * the compressed data will go out chunked on h1
+	 */
+	if (
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	    !wsi->http.lcs &&
+#endif
+	     content_len != LWS_ILLEGAL_HTTP_CONTENT_LEN) {
+		if (lws_add_http_header_content_length(wsi, content_len,
+						       p, end))
+			return 1;
+	} else {
+		/* there was no length... it normally means CONNECTION_CLOSE */
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+
+		if (!wsi->http2_substream && wsi->http.lcs) {
+			/* so...
+			 *  - h1 connection
+			 *  - http compression transform active
+			 *  - did not send content length
+			 *
+			 * then mark as chunked...
+			 */
+			wsi->http.comp_ctx.chunking = 1;
+			if (lws_add_http_header_by_token(wsi,
+					WSI_TOKEN_HTTP_TRANSFER_ENCODING,
+					(unsigned char *)"chunked", 7, p, end))
+				return -1;
+
+			/* ... but h1 compression is chunked, if active we can
+			 * still pipeline
+			 */
+			if (wsi->http.lcs &&
+			    wsi->http.conn_type == HTTP_CONNECTION_KEEP_ALIVE)
+				t = 1;
+		}
+#endif
+		if (!wsi->http2_substream) {
+			if (lws_add_http_header_by_token(wsi,
+						 WSI_TOKEN_CONNECTION,
+						 (unsigned char *)ka[t],
+						 (int)strlen(ka[t]), p, end))
+				return 1;
+
+			wsi->http.conn_type = types[t];
+		}
+	}
 
 	return 0;
 }
 
-STORE_IN_ROM static const char * const err400[] = {
+static const char * const err400[] = {
 	"Bad Request",
 	"Unauthorized",
 	"Payment Required",
@@ -177,7 +235,7 @@ STORE_IN_ROM static const char * const err400[] = {
 	"Expectation Failed"
 };
 
-STORE_IN_ROM static const char * const err500[] = {
+static const char * const err500[] = {
 	"Internal Server Error",
 	"Not Implemented",
 	"Bad Gateway",
@@ -186,11 +244,31 @@ STORE_IN_ROM static const char * const err500[] = {
 	"HTTP Version Not Supported"
 };
 
+/* security best practices from Mozilla Observatory */
+
+static const
+struct lws_protocol_vhost_options pvo_hsbph[] = {{
+	NULL, NULL, "referrer-policy:", "no-referrer"
+}, {
+	&pvo_hsbph[0], NULL, "x-frame-options:", "deny"
+}, {
+	&pvo_hsbph[1], NULL, "x-xss-protection:", "1; mode=block"
+}, {
+	&pvo_hsbph[2], NULL, "x-content-type-options:", "nosniff"
+}, {
+	&pvo_hsbph[3], NULL, "content-security-policy:",
+	"default-src 'none'; img-src 'self' data: ; "
+		"script-src 'self'; font-src 'self'; "
+		"style-src 'self'; connect-src 'self'; "
+		"frame-ancestors 'none'; base-uri 'none';"
+		"form-action 'self';"
+}};
+
 int
 lws_add_http_header_status(struct lws *wsi, unsigned int _code,
 			   unsigned char **p, unsigned char *end)
 {
-	STORE_IN_ROM static const char * const hver[] = {
+	static const char * const hver[] = {
 		"HTTP/1.0", "HTTP/1.1", "HTTP/2"
 	};
 	const struct lws_protocol_vhost_options *headers;
@@ -204,33 +282,40 @@ lws_add_http_header_status(struct lws *wsi, unsigned int _code,
 #endif
 
 #ifdef LWS_WITH_HTTP2
-	if (lwsi_role_h2(wsi) || lwsi_role_h2_ENCAPSULATION(wsi))
-		return lws_add_http2_header_status(wsi, code, p, end);
+	if (lwsi_role_h2(wsi) || lwsi_role_h2_ENCAPSULATION(wsi)) {
+		n = lws_add_http2_header_status(wsi, code, p, end);
+		if (n)
+			return n;
+	} else
 #endif
-	if (code >= 400 && code < (400 + ARRAY_SIZE(err400)))
-		description = err400[code - 400];
-	if (code >= 500 && code < (500 + ARRAY_SIZE(err500)))
-		description = err500[code - 500];
-
-	if (code == 100)
-		description = "Continue";
-	if (code == 200)
-		description = "OK";
-	if (code == 304)
-		description = "Not Modified";
-	else
-		if (code >= 300 && code < 400)
-			description = "Redirect";
-
-	if (wsi->http.request_version < ARRAY_SIZE(hver))
-		p1 = hver[wsi->http.request_version];
-	else
-		p1 = hver[0];
-
-	n = sprintf((char *)code_and_desc, "%s %u %s", p1, code, description);
-
-	if (lws_add_http_header_by_name(wsi, NULL, code_and_desc, n, p, end))
-		return 1;
+	{
+		if (code >= 400 && code < (400 + LWS_ARRAY_SIZE(err400)))
+			description = err400[code - 400];
+		if (code >= 500 && code < (500 + LWS_ARRAY_SIZE(err500)))
+			description = err500[code - 500];
+
+		if (code == 100)
+			description = "Continue";
+		if (code == 200)
+			description = "OK";
+		if (code == 304)
+			description = "Not Modified";
+		else
+			if (code >= 300 && code < 400)
+				description = "Redirect";
+
+		if (wsi->http.request_version < LWS_ARRAY_SIZE(hver))
+			p1 = hver[wsi->http.request_version];
+		else
+			p1 = hver[0];
+
+		n = sprintf((char *)code_and_desc, "%s %u %s", p1, code,
+			    description);
+
+		if (lws_add_http_header_by_name(wsi, NULL, code_and_desc, n, p,
+						end))
+			return 1;
+	}
 
 	headers = wsi->vhost->headers;
 	while (headers) {
@@ -243,6 +328,20 @@ lws_add_http_header_status(struct lws *wsi, unsigned int _code,
 		headers = headers->next;
 	}
 
+	if (wsi->vhost->options &
+	    LWS_SERVER_OPTION_HTTP_HEADERS_SECURITY_BEST_PRACTICES_ENFORCE) {
+		headers = &pvo_hsbph[LWS_ARRAY_SIZE(pvo_hsbph) - 1];
+		while (headers) {
+			if (lws_add_http_header_by_name(wsi,
+					(const unsigned char *)headers->name,
+					(unsigned char *)headers->value,
+					(int)strlen(headers->value), p, end))
+				return 1;
+
+			headers = headers->next;
+		}
+	}
+
 	if (wsi->context->server_string &&
 	    !(_code & LWSAHH_FLAG_NO_SERVER_NAME))
 		if (lws_add_http_header_by_token(wsi, WSI_TOKEN_HTTP_SERVER,
@@ -257,6 +356,12 @@ lws_add_http_header_status(struct lws *wsi, unsigned int _code,
 				"includeSubDomains", 36, p, end))
 			return 1;
 
+	if (*p >= (end - 2)) {
+		lwsl_err("%s: reached end of buffer\n", __func__);
+
+		return 1;
+	}
+
 	return 0;
 }
 
@@ -269,6 +374,7 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 	unsigned char *p = pt->serv_buf + LWS_PRE;
 	unsigned char *start = p;
 	unsigned char *end = p + context->pt_serv_buf_size - LWS_PRE;
+	char *body = (char *)start + context->pt_serv_buf_size - 512;
 	int n = 0, m = 0, len;
 	char slen[20];
 
@@ -283,9 +389,9 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 	    code == HTTP_STATUS_NOT_FOUND)
 		/* we should do a redirect, and do the 404 there */
 		if (lws_http_redirect(wsi, HTTP_STATUS_FOUND,
-				       (uint8_t *)wsi->vhost->http.error_document_404,
-				       (int)strlen(wsi->vhost->http.error_document_404),
-				       &p, end) > 0)
+			       (uint8_t *)wsi->vhost->http.error_document_404,
+			       (int)strlen(wsi->vhost->http.error_document_404),
+			       &p, end) > 0)
 			return 0;
 #endif
 
@@ -303,9 +409,15 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 					 &p, end))
 		return 1;
 
-	len = 35 + (int)strlen(html_body) + sprintf(slen, "%d", code);
-	n = sprintf(slen, "%d", len);
+	len = lws_snprintf(body, 510, "<html><head>"
+		"<meta charset=utf-8 http-equiv=\"Content-Language\" "
+			"content=\"en\"/>"
+		"<link rel=\"stylesheet\" type=\"text/css\" "
+			"href=\"/error.css\"/>"
+		"</head><body><h1>%u</h1>%s</body></html>", code, html_body);
+
 
+	n = sprintf(slen, "%d", len);
 	if (lws_add_http_header_by_token(wsi, WSI_TOKEN_HTTP_CONTENT_LENGTH,
 					 (unsigned char *)slen, n, &p, end))
 		return 1;
@@ -315,7 +427,6 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 
 #if defined(LWS_WITH_HTTP2)
 	if (wsi->http2_substream) {
-		unsigned char *body = p + 512;
 
 		/*
 		 * for HTTP/2, the headers must be sent separately, since they
@@ -329,7 +440,8 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 		 *
 		 * Solve it by writing the headers now...
 		 */
-		m = lws_write(wsi, start, p - start, LWS_WRITE_HTTP_HEADERS);
+		m = lws_write(wsi, start, lws_ptr_diff(p, start),
+			      LWS_WRITE_HTTP_HEADERS);
 		if (m != lws_ptr_diff(p, start))
 			return 1;
 
@@ -337,10 +449,6 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 		 * ... but stash the body and send it as a priority next
 		 * handle_POLLOUT
 		 */
-
-		len = sprintf((char *)body,
-			      "<html><body><h1>%u</h1>%s</body></html>",
-			      code, html_body);
 		wsi->http.tx_content_length = len;
 		wsi->http.tx_content_remain = len;
 
@@ -349,8 +457,7 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 		if (!wsi->h2.pending_status_body)
 			return -1;
 
-		strcpy(wsi->h2.pending_status_body + LWS_PRE,
-		       (const char *)body);
+		strcpy(wsi->h2.pending_status_body + LWS_PRE, body);
 		lws_callback_on_writable(wsi);
 
 		return 0;
@@ -361,11 +468,9 @@ lws_return_http_status(struct lws *wsi, unsigned int code,
 		 * for http/1, we can just append the body after the finalized
 		 * headers and send it all in one go.
 		 */
-		p += lws_snprintf((char *)p, end - p - 1,
-				  "<html><body><h1>%u</h1>%s</body></html>",
-				  code, html_body);
 
-		n = lws_ptr_diff(p, start);
+		n = lws_ptr_diff(p, start) + len;
+		memcpy(p, body, len);
 		m = lws_write(wsi, start, n, LWS_WRITE_HTTP);
 		if (m != n)
 			return 1;
@@ -405,3 +510,20 @@ lws_http_redirect(struct lws *wsi, int code, const unsigned char *loc, int len,
 	return lws_write(wsi, start, *p - start, LWS_WRITE_HTTP_HEADERS |
 						 LWS_WRITE_H2_STREAM_END);
 }
+
+#if !defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+LWS_VISIBLE int
+lws_http_compression_apply(struct lws *wsi, const char *name,
+			   unsigned char **p, unsigned char *end, char decomp)
+{
+	(void)wsi;
+	(void)name;
+	(void)p;
+	(void)end;
+	(void)decomp;
+
+	return 0;
+}
+#endif
+
+
diff --git a/thirdparty/libwebsockets/roles/http/lextable-strings.h b/thirdparty/libwebsockets/lib/roles/http/lextable-strings.h
index 631f5cb600..1e4fee855f 100644
--- a/thirdparty/libwebsockets/roles/http/lextable-strings.h
+++ b/thirdparty/libwebsockets/lib/roles/http/lextable-strings.h
@@ -1,10 +1,6 @@
 /* set of parsable strings -- ALL LOWER CASE */
 
-#if !defined(STORE_IN_ROM)
-#define STORE_IN_ROM
-#endif
-
-STORE_IN_ROM static const char * const set[] = {
+static const char * const set[] = {
 	"get ",
 	"post ",
 	"options ",
diff --git a/thirdparty/libwebsockets/roles/http/lextable.h b/thirdparty/libwebsockets/lib/roles/http/lextable.h
index 9a8063b157..9a8063b157 100644
--- a/thirdparty/libwebsockets/roles/http/lextable.h
+++ b/thirdparty/libwebsockets/lib/roles/http/lextable.h
diff --git a/thirdparty/libwebsockets/roles/http/private.h b/thirdparty/libwebsockets/lib/roles/http/private.h
index 2aa7a92f75..ff8b0581cc 100644
--- a/thirdparty/libwebsockets/roles/http/private.h
+++ b/thirdparty/libwebsockets/lib/roles/http/private.h
@@ -22,11 +22,15 @@
  *  enabled
  */
 
-#if defined(LWS_WITH_HTTP_PROXY)
+#if defined(LWS_WITH_HUBBUB)
   #include <hubbub/hubbub.h>
   #include <hubbub/parser.h>
  #endif
 
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+#include "roles/http/compression/private.h"
+#endif
+
 #define lwsi_role_http(wsi) (lwsi_role_h1(wsi) || lwsi_role_h2(wsi))
 
 enum http_version {
@@ -35,7 +39,7 @@ enum http_version {
 	HTTP_VERSION_2
 };
 
-enum http_connection_type {
+enum http_conn_type {
 	HTTP_CONNECTION_CLOSE,
 	HTTP_CONNECTION_KEEP_ALIVE
 };
@@ -133,7 +137,7 @@ struct allocated_headers {
 
 
 
-#if defined(LWS_WITH_HTTP_PROXY)
+#if defined(LWS_WITH_HUBBUB)
 struct lws_rewrite {
 	hubbub_parser *parser;
 	hubbub_parser_optparams params;
@@ -192,9 +196,15 @@ struct lws_access_log {
 };
 #endif
 
+#define LWS_HTTP_CHUNK_HDR_MAX_SIZE (6 + 2) /* 6 hex digits and then CRLF */
+#define LWS_HTTP_CHUNK_TRL_MAX_SIZE (2 + 5) /* CRLF, then maybe 0 CRLF CRLF */
+
 struct _lws_http_mode_related {
 	struct lws *new_wsi_list;
 
+	unsigned char *pending_return_headers;
+	size_t pending_return_headers_len;
+
 #if defined(LWS_WITH_HTTP_PROXY)
 	struct lws_rewrite *rw;
 #endif
@@ -216,9 +226,14 @@ struct _lws_http_mode_related {
 #ifdef LWS_WITH_CGI
 	struct lws_cgi *cgi; /* wsi being cgi master have one of these */
 #endif
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	struct lws_compression_support *lcs;
+	lws_comp_ctx_t comp_ctx;
+	unsigned char comp_accept_mask;
+#endif
 
 	enum http_version request_version;
-	enum http_connection_type connection_type;
+	enum http_conn_type conn_type;
 	lws_filepos_t tx_content_length;
 	lws_filepos_t tx_content_remain;
 	lws_filepos_t rx_content_length;
@@ -226,7 +241,12 @@ struct _lws_http_mode_related {
 
 #if defined(LWS_WITH_HTTP_PROXY)
 	unsigned int perform_rewrite:1;
+	unsigned int proxy_clientside:1;
+	unsigned int proxy_parent_chunked:1;
 #endif
+	unsigned int deferred_transaction_completed:1;
+	unsigned int content_length_explicitly_zero:1;
+	unsigned int did_stream_close:1;
 };
 
 
diff --git a/thirdparty/libwebsockets/roles/http/server/fops-zip.c b/thirdparty/libwebsockets/lib/roles/http/server/fops-zip.c
index 4db83ce621..4db83ce621 100644
--- a/thirdparty/libwebsockets/roles/http/server/fops-zip.c
+++ b/thirdparty/libwebsockets/lib/roles/http/server/fops-zip.c
diff --git a/thirdparty/libwebsockets/roles/http/server/lejp-conf.c b/thirdparty/libwebsockets/lib/roles/http/server/lejp-conf.c
index e9ce854cfc..0dd701d835 100644
--- a/thirdparty/libwebsockets/roles/http/server/lejp-conf.c
+++ b/thirdparty/libwebsockets/lib/roles/http/server/lejp-conf.c
@@ -1,7 +1,7 @@
 /*
  * libwebsockets web server application
  *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
  *
  *  This library is free software; you can redistribute it and/or
  *  modify it under the terms of the GNU Lesser General Public
@@ -105,6 +105,11 @@ static const char * const paths_vhosts[] = {
 	"vhosts[].ignore-missing-cert",
 	"vhosts[].error-document-404",
 	"vhosts[].alpn",
+	"vhosts[].ssl-client-option-set",
+	"vhosts[].ssl-client-option-clear",
+	"vhosts[].tls13-ciphers",
+	"vhosts[].client-tls13-ciphers",
+	"vhosts[].strict-host-check",
 };
 
 enum lejp_vhost_paths {
@@ -156,6 +161,11 @@ enum lejp_vhost_paths {
 	LEJPVP_IGNORE_MISSING_CERT,
 	LEJPVP_ERROR_DOCUMENT_404,
 	LEJPVP_ALPN,
+	LEJPVP_SSL_CLIENT_OPTION_SET,
+	LEJPVP_SSL_CLIENT_OPTION_CLEAR,
+	LEJPVP_TLS13_CIPHERS,
+	LEJPVP_CLIENT_TLS13_CIPHERS,
+	LEJPVP_FLAG_STRICT_HOST_CHECK,
 };
 
 static const char * const parser_errs[] = {
@@ -205,6 +215,7 @@ struct jpargs {
 	unsigned int enable_client_ssl:1;
 	unsigned int fresh_mount:1;
 	unsigned int any_vhosts:1;
+	unsigned int chunk:1;
 };
 
 static void *
@@ -213,6 +224,8 @@ lwsws_align(struct jpargs *a)
 	if ((lws_intptr_t)(a->p) & 15)
 		a->p += 16 - ((lws_intptr_t)(a->p) & 15);
 
+	a->chunk = 0;
+
 	return a->p;
 }
 
@@ -225,7 +238,7 @@ arg_to_bool(const char *s)
 	if (n)
 		return 1;
 
-	for (n = 0; n < (int)ARRAY_SIZE(on); n++)
+	for (n = 0; n < (int)LWS_ARRAY_SIZE(on); n++)
 		if (!strcasecmp(s, on[n]))
 			return 1;
 
@@ -249,7 +262,7 @@ lejp_globals_cb(struct lejp_ctx *ctx, char reason)
 		rej = lwsws_align(a);
 		a->p += sizeof(*rej);
 
-		n = lejp_get_wildcard(ctx, 0, a->p, a->end - a->p);
+		n = lejp_get_wildcard(ctx, 0, a->p, lws_ptr_diff(a->end, a->p));
 		rej->next = a->info->reject_service_keywords;
 		a->info->reject_service_keywords = rej;
 		rej->name = a->p;
@@ -400,7 +413,7 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		a->pvo = lwsws_align(a);
 		a->p += sizeof(*a->pvo);
 
-		n = lejp_get_wildcard(ctx, 0, a->p, a->end - a->p);
+		n = lejp_get_wildcard(ctx, 0, a->p, lws_ptr_diff(a->end, a->p));
 		/* ie, enable this protocol, no options yet */
 		a->pvo->next = a->info->pvo;
 		a->info->pvo = a->pvo;
@@ -413,25 +426,31 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 	}
 
 	/* this catches, eg, vhosts[].headers[].xxx */
-	if (reason == LEJPCB_VAL_STR_END &&
+	if ((reason == LEJPCB_VAL_STR_END || reason == LEJPCB_VAL_STR_CHUNK) &&
 	    ctx->path_match == LEJPVP_HEADERS_NAME + 1) {
-		headers = lwsws_align(a);
-		a->p += sizeof(*headers);
 
-		n = lejp_get_wildcard(ctx, 0, a->p, a->end - a->p);
-		/* ie, enable this protocol, no options yet */
-		headers->next = a->info->headers;
-		a->info->headers = headers;
-		headers->name = a->p;
-		// lwsl_notice("  adding header %s=%s\n", a->p, ctx->buf);
-		a->p += n - 1;
-		*(a->p++) = ':';
-		if (a->p < a->end)
-			*(a->p++) = '\0';
-		else
-			*(a->p - 1) = '\0';
-		headers->value = a->p;
-		headers->options = NULL;
+		if (!a->chunk) {
+			headers = lwsws_align(a);
+			a->p += sizeof(*headers);
+
+			n = lejp_get_wildcard(ctx, 0, a->p,
+					lws_ptr_diff(a->end, a->p));
+			/* ie, add this header */
+			headers->next = a->info->headers;
+			a->info->headers = headers;
+			headers->name = a->p;
+
+			lwsl_notice("  adding header %s=%s\n", a->p, ctx->buf);
+			a->p += n - 1;
+			*(a->p++) = ':';
+			if (a->p < a->end)
+				*(a->p++) = '\0';
+			else
+				*(a->p - 1) = '\0';
+			headers->value = a->p;
+			headers->options = NULL;
+		}
+		a->chunk = reason == LEJPCB_VAL_STR_CHUNK;
 		goto dostring;
 	}
 
@@ -442,8 +461,9 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		struct lws_vhost *vhost;
 
 		//lwsl_notice("%s\n", ctx->path);
-		if (!a->info->port) {
-			lwsl_err("Port required (eg, 443)");
+		if (!a->info->port &&
+		    !(a->info->options & LWS_SERVER_OPTION_UNIX_SOCK)) {
+			lwsl_err("Port required (eg, 443)\n");
 			return 1;
 		}
 		a->valid = 0;
@@ -459,13 +479,19 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 
 #if defined(LWS_WITH_TLS)
 		if (a->enable_client_ssl) {
-			const char *cert_filepath = a->info->client_ssl_cert_filepath;
-			const char *private_key_filepath = a->info->client_ssl_private_key_filepath;
-			const char *ca_filepath = a->info->client_ssl_ca_filepath;
-			const char *cipher_list = a->info->client_ssl_cipher_list;
+			const char *cert_filepath =
+					a->info->client_ssl_cert_filepath;
+			const char *private_key_filepath =
+				       a->info->client_ssl_private_key_filepath;
+			const char *ca_filepath =
+					a->info->client_ssl_ca_filepath;
+			const char *cipher_list =
+					a->info->client_ssl_cipher_list;
+
 			memset(a->info, 0, sizeof(*a->info));
 			a->info->client_ssl_cert_filepath = cert_filepath;
-			a->info->client_ssl_private_key_filepath = private_key_filepath;
+			a->info->client_ssl_private_key_filepath =
+							private_key_filepath;
 			a->info->client_ssl_ca_filepath = ca_filepath;
 			a->info->client_ssl_cipher_list = cipher_list;
 			a->info->options = LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT;
@@ -502,7 +528,7 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		if (a->last)
 			a->last->mount_next = m;
 
-		for (n = 0; n < (int)ARRAY_SIZE(mount_protocols); n++)
+		for (n = 0; n < (int)LWS_ARRAY_SIZE(mount_protocols); n++)
 			if (!strncmp(a->m.origin, mount_protocols[n],
 			     strlen(mount_protocols[n]))) {
 				lwsl_info("----%s\n", a->m.origin);
@@ -512,7 +538,7 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 				break;
 			}
 
-		if (n == (int)ARRAY_SIZE(mount_protocols)) {
+		if (n == (int)LWS_ARRAY_SIZE(mount_protocols)) {
 			lwsl_err("unsupported protocol:// %s\n", a->m.origin);
 			return 1;
 		}
@@ -609,6 +635,13 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 	case LEJPVP_CIPHERS:
 		a->info->ssl_cipher_list = a->p;
 		break;
+	case LEJPVP_TLS13_CIPHERS:
+		a->info->tls1_3_plus_cipher_list = a->p;
+		break;
+	case LEJPVP_CLIENT_TLS13_CIPHERS:
+		a->info->client_tls_1_3_plus_cipher_list = a->p;
+		break;
+
 	case LEJPVP_ECDH_CURVE:
 		a->info->ecdh_curve = a->p;
 		break;
@@ -620,13 +653,13 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		mp_cgienv->next = a->m.cgienv;
 		a->m.cgienv = mp_cgienv;
 
-		n = lejp_get_wildcard(ctx, 0, a->p, a->end - a->p);
+		n = lejp_get_wildcard(ctx, 0, a->p, lws_ptr_diff(a->end, a->p));
 		mp_cgienv->name = a->p;
 		a->p += n;
 		mp_cgienv->value = a->p;
 		mp_cgienv->options = NULL;
-		//lwsl_notice("    adding pmo / cgi-env '%s' = '%s'\n", mp_cgienv->name,
-		//		mp_cgienv->value);
+		//lwsl_notice("    adding pmo / cgi-env '%s' = '%s'\n",
+		//		mp_cgienv->name, mp_cgienv->value);
 		goto dostring;
 
 	case LEJPVP_PROTOCOL_NAME_OPT:
@@ -637,7 +670,7 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		pvo = lwsws_align(a);
 		a->p += sizeof(*a->pvo);
 
-		n = lejp_get_wildcard(ctx, 1, a->p, a->end - a->p);
+		n = lejp_get_wildcard(ctx, 1, a->p, lws_ptr_diff(a->end, a->p));
 		/* ie, enable this protocol, no options yet */
 		pvo->next = a->pvo->options;
 		a->pvo->options = pvo;
@@ -651,12 +684,12 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		a->pvo_em = lwsws_align(a);
 		a->p += sizeof(*a->pvo_em);
 
-		n = lejp_get_wildcard(ctx, 0, a->p, a->end - a->p);
+		n = lejp_get_wildcard(ctx, 0, a->p, lws_ptr_diff(a->end, a->p));
 		/* ie, enable this protocol, no options yet */
 		a->pvo_em->next = a->m.extra_mimetypes;
 		a->m.extra_mimetypes = a->pvo_em;
 		a->pvo_em->name = a->p;
-		lwsl_notice("  adding extra-mimetypes %s -> %s\n", a->p, ctx->buf);
+		lwsl_notice("  + extra-mimetypes %s -> %s\n", a->p, ctx->buf);
 		a->p += n;
 		a->pvo_em->value = a->p;
 		a->pvo_em->options = NULL;
@@ -666,7 +699,7 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		a->pvo_int = lwsws_align(a);
 		a->p += sizeof(*a->pvo_int);
 
-		n = lejp_get_wildcard(ctx, 0, a->p, a->end - a->p);
+		n = lejp_get_wildcard(ctx, 0, a->p, lws_ptr_diff(a->end, a->p));
 		/* ie, enable this protocol, no options yet */
 		a->pvo_int->next = a->m.interpret;
 		a->m.interpret = a->pvo_int;
@@ -729,6 +762,15 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 
 		return 0;
 
+	case LEJPVP_FLAG_STRICT_HOST_CHECK:
+		if (arg_to_bool(ctx->buf))
+			a->info->options |=
+				LWS_SERVER_OPTION_VHOST_UPG_STRICT_HOST_CHECK;
+		else
+			a->info->options &=
+				~(LWS_SERVER_OPTION_VHOST_UPG_STRICT_HOST_CHECK);
+		return 0;
+
 	case LEJPVP_ERROR_DOCUMENT_404:
 		a->info->error_document_404 = a->p;
 		break;
@@ -740,6 +782,13 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 		a->info->ssl_options_clear |= atol(ctx->buf);
 		return 0;
 
+	case LEJPVP_SSL_CLIENT_OPTION_SET:
+		a->info->ssl_client_options_set |= atol(ctx->buf);
+		return 0;
+	case LEJPVP_SSL_CLIENT_OPTION_CLEAR:
+		a->info->ssl_client_options_clear |= atol(ctx->buf);
+		return 0;
+
 	case LEJPVP_ALPN:
 		a->info->alpn = a->p;
 		break;
@@ -750,19 +799,22 @@ lejp_vhosts_cb(struct lejp_ctx *ctx, char reason)
 
 dostring:
 	p = ctx->buf;
+	p[LEJP_STRING_CHUNK] = '\0';
 	p1 = strstr(p, ESC_INSTALL_DATADIR);
 	if (p1) {
-		n = p1 - p;
+		n = lws_ptr_diff(p1, p);
 		if (n > a->end - a->p)
-			n = a->end - a->p;
+			n = lws_ptr_diff(a->end, a->p);
 		lws_strncpy(a->p, p, n + 1);
 		a->p += n;
-		a->p += lws_snprintf(a->p, a->end - a->p, "%s", LWS_INSTALL_DATADIR);
+		a->p += lws_snprintf(a->p, a->end - a->p, "%s",
+				     LWS_INSTALL_DATADIR);
 		p += n + strlen(ESC_INSTALL_DATADIR);
 	}
 
 	a->p += lws_snprintf(a->p, a->end - a->p, "%s", p);
-	*(a->p)++ = '\0';
+	if (reason == LEJPCB_VAL_STR_END)
+		*(a->p)++ = '\0';
 
 	return 0;
 }
@@ -779,7 +831,7 @@ lwsws_get_config(void *user, const char *f, const char * const *paths,
 	struct lejp_ctx ctx;
 	int n, m, fd;
 
-	fd = open(f, O_RDONLY);
+	fd = lws_open(f, O_RDONLY);
 	if (fd < 0) {
 		lwsl_err("Cannot open %s\n", f);
 		return 2;
@@ -861,7 +913,7 @@ static int
 lwsws_get_config_d(void *user, const char *d, const char * const *paths,
 		   int count_paths, lejp_callback cb)
 {
-#ifndef _WIN32
+#if !defined(_WIN32) && !defined(LWS_WITH_ESP32)
 	struct dirent **namelist;
 	char path[256];
 	int n, i, ret = 0;
@@ -927,17 +979,18 @@ lwsws_get_config_globals(struct lws_context_creation_info *info, const char *d,
 
 	lws_snprintf(dd, sizeof(dd) - 1, "%s/conf", d);
 	if (lwsws_get_config(&a, dd, paths_global,
-			     ARRAY_SIZE(paths_global), lejp_globals_cb) > 1)
+			     LWS_ARRAY_SIZE(paths_global), lejp_globals_cb) > 1)
 		return 1;
 	lws_snprintf(dd, sizeof(dd) - 1, "%s/conf.d", d);
 	if (lwsws_get_config_d(&a, dd, paths_global,
-			       ARRAY_SIZE(paths_global), lejp_globals_cb) > 1)
+			       LWS_ARRAY_SIZE(paths_global),
+			       lejp_globals_cb) > 1)
 		return 1;
 
 	a.plugin_dirs[a.count_plugin_dirs] = NULL;
 
 	*cs = a.p;
-	*len = a.end - a.p;
+	*len = lws_ptr_diff(a.end, a.p);
 
 	return 0;
 }
@@ -962,15 +1015,15 @@ lwsws_get_config_vhosts(struct lws_context *context,
 
 	lws_snprintf(dd, sizeof(dd) - 1, "%s/conf", d);
 	if (lwsws_get_config(&a, dd, paths_vhosts,
-			     ARRAY_SIZE(paths_vhosts), lejp_vhosts_cb) > 1)
+			     LWS_ARRAY_SIZE(paths_vhosts), lejp_vhosts_cb) > 1)
 		return 1;
 	lws_snprintf(dd, sizeof(dd) - 1, "%s/conf.d", d);
 	if (lwsws_get_config_d(&a, dd, paths_vhosts,
-			       ARRAY_SIZE(paths_vhosts), lejp_vhosts_cb) > 1)
+			       LWS_ARRAY_SIZE(paths_vhosts), lejp_vhosts_cb) > 1)
 		return 1;
 
 	*cs = a.p;
-	*len = a.end - a.p;
+	*len = lws_ptr_diff(a.end, a.p);
 
 	if (!a.any_vhosts) {
 		lwsl_err("Need at least one vhost\n");
diff --git a/thirdparty/libwebsockets/roles/http/server/parsers.c b/thirdparty/libwebsockets/lib/roles/http/server/parsers.c
index cb022e362b..641e9b8dac 100644
--- a/thirdparty/libwebsockets/roles/http/server/parsers.c
+++ b/thirdparty/libwebsockets/lib/roles/http/server/parsers.c
@@ -240,8 +240,9 @@ lws_header_table_attach(struct lws *wsi, int autoservice)
 	wsi->http.ah->wsi = wsi; /* mark our owner */
 	pt->http.ah_count_in_use++;
 
-#if defined(LWS_WITH_PEER_LIMITS) && (defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2))
-	lws_context_lock(context); /* <====================================== */
+#if defined(LWS_WITH_PEER_LIMITS) && (defined(LWS_ROLE_H1) || \
+    defined(LWS_ROLE_H2))
+	lws_context_lock(context, "ah attach"); /* <========================= */
 	if (wsi->peer)
 		wsi->peer->http.count_ah++;
 	lws_context_unlock(context); /* ====================================> */
@@ -259,7 +260,7 @@ reset:
 
 #ifndef LWS_NO_CLIENT
 	if (lwsi_role_client(wsi) && lwsi_state(wsi) == LRS_UNCONNECTED)
-		if (!lws_client_connect_via_info2(wsi))
+		if (!lws_http_client_connect_via_info2(wsi))
 			/* our client connect has failed, the wsi
 			 * has been closed
 			 */
@@ -353,14 +354,16 @@ int __lws_header_table_detach(struct lws *wsi, int autoservice)
 	if (!wsi) /* everybody waiting already has too many ah... */
 		goto nobody_usable_waiting;
 
-	lwsl_info("%s: transferring ah to last eligible wsi in wait list %p (wsistate 0x%x)\n", __func__, wsi, wsi->wsistate);
+	lwsl_info("%s: transferring ah to last eligible wsi in wait list "
+		  "%p (wsistate 0x%x)\n", __func__, wsi, wsi->wsistate);
 
 	wsi->http.ah = ah;
 	ah->wsi = wsi; /* new owner */
 
 	__lws_header_table_reset(wsi, autoservice);
-#if defined(LWS_WITH_PEER_LIMITS) && (defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2))
-	lws_context_lock(context); /* <====================================== */
+#if defined(LWS_WITH_PEER_LIMITS) && (defined(LWS_ROLE_H1) || \
+    defined(LWS_ROLE_H2))
+	lws_context_lock(context, "ah detach"); /* <========================= */
 	if (wsi->peer)
 		wsi->peer->http.count_ah++;
 	lws_context_unlock(context); /* ====================================> */
@@ -386,7 +389,7 @@ int __lws_header_table_detach(struct lws *wsi, int autoservice)
 	if (lwsi_role_client(wsi) && lwsi_state(wsi) == LRS_UNCONNECTED) {
 		lws_pt_unlock(pt);
 
-		if (!lws_client_connect_via_info2(wsi)) {
+		if (!lws_http_client_connect_via_info2(wsi)) {
 			/* our client connect has failed, the wsi
 			 * has been closed
 			 */
@@ -397,7 +400,8 @@ int __lws_header_table_detach(struct lws *wsi, int autoservice)
 	}
 #endif
 
-	assert(!!pt->http.ah_wait_list_length == !!(lws_intptr_t)pt->http.ah_wait_list);
+	assert(!!pt->http.ah_wait_list_length ==
+			!!(lws_intptr_t)pt->http.ah_wait_list);
 bail:
 	lwsl_info("%s: wsi %p: ah %p (tsi=%d, count = %d)\n", __func__,
 		  (void *)wsi, (void *)ah, pt->tid, pt->http.ah_count_in_use);
@@ -459,6 +463,10 @@ LWS_VISIBLE int lws_hdr_total_length(struct lws *wsi, enum lws_token_indexes h)
 	do {
 		len += wsi->http.ah->frags[n].len;
 		n = wsi->http.ah->frags[n].nfrag;
+
+		if (n && h != WSI_TOKEN_HTTP_COOKIE)
+			++len;
+
 	} while (n);
 
 	return len;
@@ -500,6 +508,11 @@ LWS_VISIBLE int lws_hdr_copy(struct lws *wsi, char *dst, int len,
 {
 	int toklen = lws_hdr_total_length(wsi, h);
 	int n;
+	int comma;
+
+	*dst = '\0';
+	if (!toklen)
+		return 0;
 
 	if (toklen >= len)
 		return -1;
@@ -512,13 +525,20 @@ LWS_VISIBLE int lws_hdr_copy(struct lws *wsi, char *dst, int len,
 		return 0;
 
 	do {
-		if (wsi->http.ah->frags[n].len >= len)
+		comma = (wsi->http.ah->frags[n].nfrag &&
+			h != WSI_TOKEN_HTTP_COOKIE) ? 1 : 0;
+
+		if (wsi->http.ah->frags[n].len + comma >= len)
 			return -1;
 		strncpy(dst, &wsi->http.ah->data[wsi->http.ah->frags[n].offset],
 		        wsi->http.ah->frags[n].len);
 		dst += wsi->http.ah->frags[n].len;
 		len -= wsi->http.ah->frags[n].len;
 		n = wsi->http.ah->frags[n].nfrag;
+
+		if (comma)
+			*dst++ = ',';
+				
 	} while (n);
 	*dst = '\0';
 
@@ -529,6 +549,9 @@ char *lws_hdr_simple_ptr(struct lws *wsi, enum lws_token_indexes h)
 {
 	int n;
 
+	if (!wsi->http.ah)
+		return NULL;
+
 	n = wsi->http.ah->frag_index[h];
 	if (!n)
 		return NULL;
@@ -539,6 +562,9 @@ char *lws_hdr_simple_ptr(struct lws *wsi, enum lws_token_indexes h)
 static int LWS_WARN_UNUSED_RESULT
 lws_pos_in_bounds(struct lws *wsi)
 {
+	if (!wsi->http.ah)
+		return -1;
+
 	if (wsi->http.ah->pos <
 	    (unsigned int)wsi->context->max_http_header_data)
 		return 0;
@@ -563,7 +589,7 @@ int LWS_WARN_UNUSED_RESULT
 lws_hdr_simple_create(struct lws *wsi, enum lws_token_indexes h, const char *s)
 {
 	wsi->http.ah->nfrag++;
-	if (wsi->http.ah->nfrag == ARRAY_SIZE(wsi->http.ah->frags)) {
+	if (wsi->http.ah->nfrag == LWS_ARRAY_SIZE(wsi->http.ah->frags)) {
 		lwsl_warn("More hdr frags than we can deal with, dropping\n");
 		return -1;
 	}
@@ -599,7 +625,8 @@ issue_char(struct lws *wsi, unsigned char c)
 	 * If we haven't hit the token limit, just copy the character into
 	 * the header
 	 */
-	if (frag_len < wsi->http.ah->current_token_limit) {
+	if (!wsi->http.ah->current_token_limit ||
+	    frag_len < wsi->http.ah->current_token_limit) {
 		wsi->http.ah->data[wsi->http.ah->pos++] = c;
 		if (c)
 			wsi->http.ah->frags[wsi->http.ah->nfrag].len++;
@@ -677,18 +704,16 @@ lws_parse_urldecode(struct lws *wsi, uint8_t *_c)
 			return -1;
 		/* genuine delimiter */
 		if ((c == '&' || c == ';') && !enc) {
-			if (issue_char(wsi, c) < 0)
+			if (issue_char(wsi, '\0') < 0)
 				return -1;
-			/* swallow the terminator */
-			ah->frags[ah->nfrag].len--;
 			/* link to next fragment */
 			ah->frags[ah->nfrag].nfrag = ah->nfrag + 1;
 			ah->nfrag++;
-			if (ah->nfrag >= ARRAY_SIZE(ah->frags))
+			if (ah->nfrag >= LWS_ARRAY_SIZE(ah->frags))
 				goto excessive;
 			/* start next fragment after the & */
 			ah->post_literal_equal = 0;
-			ah->frags[ah->nfrag].offset = ah->pos;
+			ah->frags[ah->nfrag].offset = ++ah->pos;
 			ah->frags[ah->nfrag].len = 0;
 			ah->frags[ah->nfrag].nfrag = 0;
 			goto swallow;
@@ -787,9 +812,9 @@ lws_parse_urldecode(struct lws *wsi, uint8_t *_c)
 
 		/* move to using WSI_TOKEN_HTTP_URI_ARGS */
 		ah->nfrag++;
-		if (ah->nfrag >= ARRAY_SIZE(ah->frags))
+		if (ah->nfrag >= LWS_ARRAY_SIZE(ah->frags))
 			goto excessive;
-		ah->frags[ah->nfrag].offset = ah->pos;
+		ah->frags[ah->nfrag].offset = ++ah->pos;
 		ah->frags[ah->nfrag].len = 0;
 		ah->frags[ah->nfrag].nfrag = 0;
 
@@ -852,10 +877,10 @@ lws_parse(struct lws *wsi, unsigned char *buf, int *len)
 			    c == ' ')
 				break;
 
-			for (m = 0; m < ARRAY_SIZE(methods); m++)
+			for (m = 0; m < LWS_ARRAY_SIZE(methods); m++)
 				if (ah->parser_state == methods[m])
 					break;
-			if (m == ARRAY_SIZE(methods))
+			if (m == LWS_ARRAY_SIZE(methods))
 				/* it was not any of the methods */
 				goto check_eol;
 
@@ -870,8 +895,9 @@ lws_parse(struct lws *wsi, unsigned char *buf, int *len)
 				if (ah->ups == URIPS_SEEN_SLASH_DOT_DOT) {
 					/*
 					 * back up one dir level if possible
-					 * safe against header fragmentation because
-					 * the method URI can only be in 1 fragment
+					 * safe against header fragmentation
+					 * because the method URI can only be
+					 * in 1 fragment
 					 */
 					if (ah->frags[ah->nfrag].len > 2) {
 						ah->pos--;
@@ -941,7 +967,8 @@ swallow:
 			pos = ah->lextable_pos;
 
 			while (1) {
-				if (lextable[pos] & (1 << 7)) { /* 1-byte, fail on mismatch */
+				if (lextable[pos] & (1 << 7)) {
+					/* 1-byte, fail on mismatch */
 					if ((lextable[pos] & 0x7f) != c) {
 nope:
 						ah->lextable_pos = -1;
@@ -960,14 +987,15 @@ nope:
 					goto nope;
 
 				/* b7 = 0, end or 3-byte */
-				if (lextable[pos] < FAIL_CHAR) { /* terminal marker */
+				if (lextable[pos] < FAIL_CHAR) { /* term mark */
 					ah->lextable_pos = pos;
 					break;
 				}
 
 				if (lextable[pos] == c) { /* goto */
-					ah->lextable_pos = pos + (lextable[pos + 1]) +
-							(lextable[pos + 2] << 8);
+					ah->lextable_pos = pos +
+						(lextable[pos + 1]) +
+						(lextable[pos + 2] << 8);
 					break;
 				}
 
@@ -983,7 +1011,7 @@ nope:
 			if (ah->lextable_pos < 0 && lwsi_role_h1(wsi) &&
 			    lwsi_role_server(wsi)) {
 				/* this is not a header we know about */
-				for (m = 0; m < ARRAY_SIZE(methods); m++)
+				for (m = 0; m < LWS_ARRAY_SIZE(methods); m++)
 					if (ah->frag_index[methods[m]]) {
 						/*
 						 * already had the method, no idea what
@@ -996,7 +1024,7 @@ nope:
 				 * hm it's an unknown http method from a client in fact,
 				 * it cannot be valid http
 				 */
-				if (m == ARRAY_SIZE(methods)) {
+				if (m == LWS_ARRAY_SIZE(methods)) {
 					/*
 					 * are we set up to accept raw in these cases?
 					 */
@@ -1025,7 +1053,7 @@ nope:
 						lextable[ah->lextable_pos + 1];
 
 				lwsl_parser("known hdr %d\n", n);
-				for (m = 0; m < ARRAY_SIZE(methods); m++)
+				for (m = 0; m < LWS_ARRAY_SIZE(methods); m++)
 					if (n == methods[m] &&
 					    ah->frag_index[methods[m]]) {
 						lwsl_warn("Duplicated method\n");
@@ -1040,13 +1068,13 @@ nope:
 					n = WSI_TOKEN_ORIGIN;
 
 				ah->parser_state = (enum lws_token_indexes)
-								(WSI_TOKEN_GET_URI + n);
+							(WSI_TOKEN_GET_URI + n);
 				ah->ups = URIPS_IDLE;
 
 				if (context->token_limits)
 					ah->current_token_limit = context->
-							token_limits->token_limit[
-								      ah->parser_state];
+						token_limits->token_limit[
+							      ah->parser_state];
 				else
 					ah->current_token_limit =
 						wsi->context->max_http_header_data;
@@ -1061,7 +1089,7 @@ nope:
 start_fragment:
 			ah->nfrag++;
 excessive:
-			if (ah->nfrag == ARRAY_SIZE(ah->frags)) {
+			if (ah->nfrag == LWS_ARRAY_SIZE(ah->frags)) {
 				lwsl_warn("More hdr frags than we can deal with\n");
 				return -1;
 			}
@@ -1118,6 +1146,7 @@ excessive:
 set_parsing_complete:
 	if (ah->ues != URIES_IDLE)
 		goto forbid;
+
 	if (lws_hdr_total_length(wsi, WSI_TOKEN_UPGRADE)) {
 		if (lws_hdr_total_length(wsi, WSI_TOKEN_VERSION))
 			wsi->rx_frame_type = /* temp for ws version index */
diff --git a/thirdparty/libwebsockets/roles/http/server/server.c b/thirdparty/libwebsockets/lib/roles/http/server/server.c
index 350af3cd7e..729315602c 100644
--- a/thirdparty/libwebsockets/roles/http/server/server.c
+++ b/thirdparty/libwebsockets/lib/roles/http/server/server.c
@@ -28,6 +28,8 @@ const char * const method_names[] = {
 #endif
 	};
 
+static const char * const intermediates[] = { "private", "public" };
+
 /*
  * return 0: all done
  *        1: nonfatal error
@@ -38,7 +40,7 @@ const char * const method_names[] = {
 
 int
 _lws_vhost_init_server(const struct lws_context_creation_info *info,
-			 struct lws_vhost *vhost)
+		       struct lws_vhost *vhost)
 {
 	int n, opt = 1, limit = 1;
 	lws_sockfd_type sockfd;
@@ -81,15 +83,22 @@ _lws_vhost_init_server(const struct lws_context_creation_info *info,
 		 * let's check before we do anything else about the disposition
 		 * of the interface he wants to bind to...
 		 */
-		is = lws_socket_bind(vhost, LWS_SOCK_INVALID, vhost->listen_port, vhost->iface);
+		is = lws_socket_bind(vhost, LWS_SOCK_INVALID, vhost->listen_port,
+				vhost->iface);
 		lwsl_debug("initial if check says %d\n", is);
+
+		if (is == LWS_ITOSA_BUSY)
+			/* treat as fatal */
+			return -1;
+
 deal:
 
 		lws_start_foreach_llp(struct lws_vhost **, pv,
 				      vhost->context->no_listener_vhost_list) {
 			if (is >= LWS_ITOSA_USABLE && *pv == vhost) {
 				/* on the list and shouldn't be: remove it */
-				lwsl_debug("deferred iface: removing vh %s\n", (*pv)->name);
+				lwsl_debug("deferred iface: removing vh %s\n",
+						(*pv)->name);
 				*pv = vhost->no_listener_vhost_list;
 				vhost->no_listener_vhost_list = NULL;
 				goto done_list;
@@ -105,7 +114,8 @@ deal:
 			/* ... but needs to be: so add it */
 
 			lwsl_debug("deferred iface: adding vh %s\n", vhost->name);
-			vhost->no_listener_vhost_list = vhost->context->no_listener_vhost_list;
+			vhost->no_listener_vhost_list =
+					vhost->context->no_listener_vhost_list;
 			vhost->context->no_listener_vhost_list = vhost;
 		}
 
@@ -131,6 +141,17 @@ done_list:
 
 	(void)n;
 #if defined(__linux__)
+#ifdef LWS_WITH_UNIX_SOCK
+	/*
+	 * A Unix domain sockets cannot be bound for several times, even if we set
+	 * the SO_REUSE* options on.
+	 * However, fortunately, each thread is able to independently listen when
+	 * running on a reasonably new Linux kernel. So we can safely assume
+	 * creating just one listening socket for a multi-threaded environment won't
+	 * fail in most cases.
+	 */
+	if (!LWS_UNIX_SOCK_ENABLED(vhost))
+#endif
 	limit = vhost->context->count_threads;
 #endif
 
@@ -210,9 +231,16 @@ done_list:
 			}
 #endif
 #endif
-		lws_plat_set_socket_options(vhost, sockfd);
+		lws_plat_set_socket_options(vhost, sockfd, 0);
 
 		is = lws_socket_bind(vhost, sockfd, vhost->listen_port, vhost->iface);
+		if (is == LWS_ITOSA_BUSY) {
+			/* treat as fatal */
+			compatible_close(sockfd);
+
+			return -1;
+		}
+
 		/*
 		 * There is a race where the network device may come up and then
 		 * go away and fail here.  So correctly handle unexpected failure
@@ -223,21 +251,29 @@ done_list:
 			compatible_close(sockfd);
 			goto deal;
 		}
-		vhost->listen_port = is;
-
-		lwsl_debug("%s: lws_socket_bind says %d\n", __func__, is);
 
 		wsi = lws_zalloc(sizeof(struct lws), "listen wsi");
 		if (wsi == NULL) {
 			lwsl_err("Out of mem\n");
 			goto bail;
 		}
+
+#ifdef LWS_WITH_UNIX_SOCK
+		if (!LWS_UNIX_SOCK_ENABLED(vhost))
+#endif
+		{
+			wsi->unix_skt = 1;
+			vhost->listen_port = is;
+
+			lwsl_debug("%s: lws_socket_bind says %d\n", __func__, is);
+		}
+
 		wsi->context = vhost->context;
 		wsi->desc.sockfd = sockfd;
 		lws_role_transition(wsi, 0, LRS_UNCONNECTED, &role_ops_listen);
 		wsi->protocol = vhost->protocols;
 		wsi->tsi = m;
-		wsi->vhost = vhost;
+		lws_vhost_bind_wsi(vhost, wsi);
 		wsi->listener = 1;
 
 		if (wsi->context->event_loop_ops->init_vhost_listen_wsi)
@@ -285,7 +321,7 @@ lws_select_vhost(struct lws_context *context, int port, const char *servername)
 {
 	struct lws_vhost *vhost = context->vhost_list;
 	const char *p;
-	int n, m, colon;
+	int n, colon;
 
 	n = (int)strlen(servername);
 	colon = n;
@@ -313,8 +349,8 @@ lws_select_vhost(struct lws_context *context, int port, const char *servername)
 	 */
 	vhost = context->vhost_list;
 	while (vhost) {
-		m = (int)strlen(vhost->name);
-		if (port == vhost->listen_port &&
+		int m = (int)strlen(vhost->name);
+		if (port && port == vhost->listen_port &&
 		    m <= (colon - 2) &&
 		    servername[colon - m - 1] == '.' &&
 		    !strncmp(vhost->name, servername + colon - m, m)) {
@@ -329,7 +365,7 @@ lws_select_vhost(struct lws_context *context, int port, const char *servername)
 
 	vhost = context->vhost_list;
 	while (vhost) {
-		if (port == vhost->listen_port) {
+		if (port && port == vhost->listen_port) {
 			lwsl_info("%s: vhost match to %s based on port %d\n",
 					__func__, vhost->name, port);
 			return vhost;
@@ -345,8 +381,8 @@ lws_select_vhost(struct lws_context *context, int port, const char *servername)
 LWS_VISIBLE LWS_EXTERN const char *
 lws_get_mimetype(const char *file, const struct lws_http_mount *m)
 {
-	int n = (int)strlen(file);
 	const struct lws_protocol_vhost_options *pvo = NULL;
+	int n = (int)strlen(file);
 
 	if (m)
 		pvo = m->extra_mimetypes;
@@ -446,7 +482,7 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 #endif
 	int spin = 0;
 #endif
-	char path[256], sym[512];
+	char path[256], sym[2048];
 	unsigned char *p = (unsigned char *)sym + 32 + LWS_PRE, *start = p;
 	unsigned char *end = p + sizeof(sym) - 32 - LWS_PRE;
 #if !defined(WIN32) && !defined(LWS_WITH_ESP32)
@@ -483,7 +519,7 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 			lwsl_info("%s: Unable to open '%s': errno %d\n",
 				  __func__, path, errno);
 
-			return -1;
+			return 1;
 		}
 
 		/* if it can't be statted, don't try */
@@ -495,18 +531,18 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 #if !defined(WIN32)
 		if (fstat(wsi->http.fop_fd->fd, &st)) {
 			lwsl_info("unable to stat %s\n", path);
-			goto bail;
+			goto notfound;
 		}
 #else
 #if defined(LWS_HAVE__STAT32I64)
 		if (_stat32i64(path, &st)) {
 			lwsl_info("unable to stat %s\n", path);
-			goto bail;
+			goto notfound;
 		}
 #else
 		if (stat(path, &st)) {
 			lwsl_info("unable to stat %s\n", path);
-			goto bail;
+			goto notfound;
 		}
 #endif
 #endif
@@ -519,7 +555,7 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 			len = readlink(path, sym, sizeof(sym) - 1);
 			if (len) {
 				lwsl_err("Failed to read link %s\n", path);
-				goto bail;
+				goto notfound;
 			}
 			sym[len] = '\0';
 			lwsl_debug("symlink %s -> %s\n", path, sym);
@@ -556,19 +592,48 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 		if (!strcmp(sym, lws_hdr_simple_ptr(wsi,
 					WSI_TOKEN_HTTP_IF_NONE_MATCH))) {
 
+			char cache_control[50], *cc = "no-store";
+			int cclen = 8;
+
 			lwsl_debug("%s: ETAG match %s %s\n", __func__,
 				   uri, origin);
 
 			/* we don't need to send the payload */
 			if (lws_add_http_header_status(wsi,
-					HTTP_STATUS_NOT_MODIFIED, &p, end))
+					HTTP_STATUS_NOT_MODIFIED, &p, end)) {
+				lwsl_err("%s: failed adding not modified\n",
+						__func__);
 				return -1;
+			}
 
 			if (lws_add_http_header_by_token(wsi,
 					WSI_TOKEN_HTTP_ETAG,
 					(unsigned char *)sym, n, &p, end))
 				return -1;
 
+			/* but we still need to send cache control... */
+
+			if (m->cache_max_age && m->cache_reusable) {
+				if (!m->cache_revalidate) {
+					cc = cache_control;
+					cclen = sprintf(cache_control,
+						"%s, max-age=%u",
+						intermediates[wsi->cache_intermediaries],
+						m->cache_max_age);
+				} else {
+					cc = cache_control;
+                                        cclen = sprintf(cache_control,
+                                        	"must-revalidate, %s, max-age=%u",
+                                                intermediates[wsi->cache_intermediaries],
+                                                m->cache_max_age);
+				}
+			}
+
+			if (lws_add_http_header_by_token(wsi,
+					WSI_TOKEN_HTTP_CACHE_CONTROL,
+					(unsigned char *)cc, cclen, &p, end))
+				return -1;
+
 			if (lws_finalize_http_header(wsi, &p, end))
 				return -1;
 
@@ -583,7 +648,10 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 
 			lws_vfs_file_close(&wsi->http.fop_fd);
 
-			return lws_http_transaction_completed(wsi);
+			if (lws_http_transaction_completed(wsi))
+				return -1;
+
+			return 0;
 		}
 	}
 
@@ -594,8 +662,13 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 
 	mimetype = lws_get_mimetype(path, m);
 	if (!mimetype) {
-		lwsl_err("unknown mimetype for %s\n", path);
-               goto bail;
+		lwsl_info("unknown mimetype for %s\n", path);
+		if (lws_return_http_status(wsi,
+				HTTP_STATUS_UNSUPPORTED_MEDIA_TYPE, NULL) ||
+		    lws_http_transaction_completed(wsi))
+			return -1;
+
+		return 0;
 	}
 	if (!mimetype[0])
 		lwsl_debug("sending no mimetype for %s\n", path);
@@ -631,8 +704,8 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 		const struct lws_protocols *pp = lws_vhost_name_to_protocol(
 						       wsi->vhost, m->protocol);
 
-		if (lws_bind_protocol(wsi, pp))
-			return 1;
+		if (lws_bind_protocol(wsi, pp, __func__))
+			return -1;
 		args.p = (char *)p;
 		args.max_len = lws_ptr_diff(end, p);
 		if (pp->callback(wsi, LWS_CALLBACK_ADD_HEADERS,
@@ -641,6 +714,7 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 		p = (unsigned char *)args.p;
 	}
 
+	*p = '\0';
 	n = lws_serve_http_file(wsi, path, mimetype, (char *)start,
 				lws_ptr_diff(p, start));
 
@@ -648,9 +722,10 @@ lws_http_serve(struct lws *wsi, char *uri, const char *origin,
 		return -1; /* error or can't reuse connection: close the socket */
 
 	return 0;
-bail:
 
-	return -1;
+notfound:
+
+	return 1;
 }
 
 #if defined(LWS_ROLE_H1) || defined(LWS_ROLE_H2)
@@ -694,7 +769,7 @@ lws_find_string_in_file(const char *filename, const char *string, int stringlen)
 	char buf[128];
 	int fd, match = 0, pos = 0, n = 0, hit = 0;
 
-	fd = open(filename, O_RDONLY);
+	fd = lws_open(filename, O_RDONLY);
 	if (fd < 0) {
 		lwsl_err("can't open auth file: %s\n", filename);
 		return 0;
@@ -738,7 +813,7 @@ lws_unauthorised_basic_auth(struct lws *wsi)
 {
 	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
 	unsigned char *start = pt->serv_buf + LWS_PRE,
-		      *p = start, *end = p + 512;
+		      *p = start, *end = p + 2048;
 	char buf[64];
 	int n;
 
@@ -812,7 +887,7 @@ lws_http_get_uri_and_method(struct lws *wsi, char **puri_ptr, int *puri_len)
 {
 	int n, count = 0;
 
-	for (n = 0; n < (int)ARRAY_SIZE(methods); n++)
+	for (n = 0; n < (int)LWS_ARRAY_SIZE(methods); n++)
 		if (lws_hdr_total_length(wsi, methods[n]))
 			count++;
 	if (!count) {
@@ -827,7 +902,7 @@ lws_http_get_uri_and_method(struct lws *wsi, char **puri_ptr, int *puri_len)
 		return -1;
 	}
 
-	for (n = 0; n < (int)ARRAY_SIZE(methods); n++)
+	for (n = 0; n < (int)LWS_ARRAY_SIZE(methods); n++)
 		if (lws_hdr_total_length(wsi, methods[n])) {
 			*puri_ptr = lws_hdr_simple_ptr(wsi, methods[n]);
 			*puri_len = lws_hdr_total_length(wsi, methods[n]);
@@ -837,27 +912,28 @@ lws_http_get_uri_and_method(struct lws *wsi, char **puri_ptr, int *puri_len)
 	return -1;
 }
 
+static const char * const oprot[] = {
+	"http://", "https://"
+};
+
 int
 lws_http_action(struct lws *wsi)
 {
 	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
-	enum http_connection_type connection_type;
+	const struct lws_http_mount *hit = NULL;
 	enum http_version request_version;
-	char content_length_str[32];
 	struct lws_process_html_args args;
-	const struct lws_http_mount *hit = NULL;
-	unsigned int n;
-	char http_version_str[10];
-	char http_conn_str[20];
-	int http_version_len;
+	enum http_conn_type conn_type;
+	char content_length_str[32];
+	char http_version_str[12];
 	char *uri_ptr = NULL, *s;
-	int uri_len = 0, meth;
-	static const char * const oprot[] = {
-		"http://", "https://"
-	};
+	int uri_len = 0, meth, m;
+	char http_conn_str[25];
+	int http_version_len;
+	unsigned int n;
 
 	meth = lws_http_get_uri_and_method(wsi, &uri_ptr, &uri_len);
-	if (meth < 0 || meth >= (int)ARRAY_SIZE(method_names))
+	if (meth < 0 || meth >= (int)LWS_ARRAY_SIZE(method_names))
 		goto bail_nuke_ah;
 
 	/* we insist on absolute paths */
@@ -887,16 +963,21 @@ lws_http_action(struct lws *wsi)
 	/* HTTP header had a content length? */
 
 	wsi->http.rx_content_length = 0;
+	wsi->http.content_length_explicitly_zero = 0;
 	if (lws_hdr_total_length(wsi, WSI_TOKEN_POST_URI) ||
-		lws_hdr_total_length(wsi, WSI_TOKEN_PATCH_URI) ||
-		lws_hdr_total_length(wsi, WSI_TOKEN_PUT_URI))
+	    lws_hdr_total_length(wsi, WSI_TOKEN_PATCH_URI) ||
+	    lws_hdr_total_length(wsi, WSI_TOKEN_PUT_URI))
 		wsi->http.rx_content_length = 100 * 1024 * 1024;
 
-	if (lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_CONTENT_LENGTH)) {
-		lws_hdr_copy(wsi, content_length_str,
-			     sizeof(content_length_str) - 1,
-			     WSI_TOKEN_HTTP_CONTENT_LENGTH);
+	if (lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_CONTENT_LENGTH) &&
+	    lws_hdr_copy(wsi, content_length_str,
+			 sizeof(content_length_str) - 1,
+			 WSI_TOKEN_HTTP_CONTENT_LENGTH) > 0) {
 		wsi->http.rx_content_length = atoll(content_length_str);
+		if (!wsi->http.rx_content_length) {
+			wsi->http.content_length_explicitly_zero = 1;
+			lwsl_debug("%s: explicit 0 content-length\n", __func__);
+		}
 	}
 
 	if (wsi->http2_substream) {
@@ -907,35 +988,33 @@ lws_http_action(struct lws *wsi)
 
 		/* Works for single digit HTTP versions. : */
 		http_version_len = lws_hdr_total_length(wsi, WSI_TOKEN_HTTP);
-		if (http_version_len > 7) {
-			lws_hdr_copy(wsi, http_version_str,
-				     sizeof(http_version_str) - 1,
-				     WSI_TOKEN_HTTP);
-			if (http_version_str[5] == '1' &&
-			    http_version_str[7] == '1')
-				request_version = HTTP_VERSION_1_1;
-		}
+		if (http_version_len > 7 &&
+		    lws_hdr_copy(wsi, http_version_str,
+				 sizeof(http_version_str) - 1,
+				 WSI_TOKEN_HTTP) > 0 &&
+		    http_version_str[5] == '1' && http_version_str[7] == '1')
+			request_version = HTTP_VERSION_1_1;
+
 		wsi->http.request_version = request_version;
 
 		/* HTTP/1.1 defaults to "keep-alive", 1.0 to "close" */
 		if (request_version == HTTP_VERSION_1_1)
-			connection_type = HTTP_CONNECTION_KEEP_ALIVE;
+			conn_type = HTTP_CONNECTION_KEEP_ALIVE;
 		else
-			connection_type = HTTP_CONNECTION_CLOSE;
+			conn_type = HTTP_CONNECTION_CLOSE;
 
 		/* Override default if http "Connection:" header: */
-		if (lws_hdr_total_length(wsi, WSI_TOKEN_CONNECTION)) {
-			lws_hdr_copy(wsi, http_conn_str,
-				     sizeof(http_conn_str) - 1,
-				     WSI_TOKEN_CONNECTION);
+		if (lws_hdr_total_length(wsi, WSI_TOKEN_CONNECTION) &&
+		    lws_hdr_copy(wsi, http_conn_str, sizeof(http_conn_str) - 1,
+				 WSI_TOKEN_CONNECTION) > 0) {
 			http_conn_str[sizeof(http_conn_str) - 1] = '\0';
 			if (!strcasecmp(http_conn_str, "keep-alive"))
-				connection_type = HTTP_CONNECTION_KEEP_ALIVE;
+				conn_type = HTTP_CONNECTION_KEEP_ALIVE;
 			else
 				if (!strcasecmp(http_conn_str, "close"))
-					connection_type = HTTP_CONNECTION_CLOSE;
+					conn_type = HTTP_CONNECTION_CLOSE;
 		}
-		wsi->http.connection_type = connection_type;
+		wsi->http.conn_type = conn_type;
 	}
 
 	n = wsi->protocol->callback(wsi, LWS_CALLBACK_FILTER_HTTP_CONNECTION,
@@ -959,7 +1038,7 @@ lws_http_action(struct lws *wsi)
 		 * URI from the host: header and ignore the path part
 		 */
 		unsigned char *start = pt->serv_buf + LWS_PRE, *p = start,
-			      *end = p + 512;
+			      *end = p + wsi->context->pt_serv_buf_size - LWS_PRE;
 
 		if (!lws_hdr_total_length(wsi, WSI_TOKEN_HOST))
 			goto bail_nuke_ah;
@@ -977,7 +1056,7 @@ lws_http_action(struct lws *wsi)
 #endif
 
 #ifdef LWS_WITH_ACCESS_LOG
-	lws_prepare_access_log_info(wsi, uri_ptr, meth);
+	lws_prepare_access_log_info(wsi, uri_ptr, uri_len, meth);
 #endif
 
 	/* can we serve it from the mount list? */
@@ -988,12 +1067,13 @@ lws_http_action(struct lws *wsi)
 
 		lwsl_info("no hit\n");
 
-		if (lws_bind_protocol(wsi, &wsi->vhost->protocols[0]))
+		if (lws_bind_protocol(wsi, &wsi->vhost->protocols[0],
+				      "no mount hit"))
 			return 1;
 
 		lwsi_set_state(wsi, LRS_DOING_TRANSACTION);
 
-		n = wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP,
+		m = wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP,
 				    wsi->user_space, uri_ptr, uri_len);
 
 		goto after;
@@ -1024,10 +1104,11 @@ lws_http_action(struct lws *wsi)
 	      hit->origin_protocol == LWSMPRO_REDIR_HTTPS)) &&
 	    (hit->origin_protocol != LWSMPRO_CGI &&
 	     hit->origin_protocol != LWSMPRO_CALLBACK)) {
-		unsigned char *start = pt->serv_buf + LWS_PRE,
-			      *p = start, *end = p + 512;
+		unsigned char *start = pt->serv_buf + LWS_PRE, *p = start,
+			      *end = p + wsi->context->pt_serv_buf_size -
+			      	     LWS_PRE - 512;
 
-		lwsl_debug("Doing 301 '%s' org %s\n", s, hit->origin);
+		lwsl_info("Doing 301 '%s' org %s\n", s, hit->origin);
 
 		/* > at start indicates deal with by redirect */
 		if (hit->origin_protocol == LWSMPRO_REDIR_HTTP ||
@@ -1064,12 +1145,21 @@ lws_http_action(struct lws *wsi)
 	/* basic auth? */
 
 	if (hit->basic_auth_login_file) {
-		char b64[160], plain[(sizeof(b64) * 3) / 4];
-		int m;
+		char b64[160], plain[(sizeof(b64) * 3) / 4], *pcolon;
+		int m, ml, fi;
 
 		/* Did he send auth? */
-		if (!lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_AUTHORIZATION))
+		ml = lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_AUTHORIZATION);
+		if (!ml)
+			return lws_unauthorised_basic_auth(wsi);
+
+		/* Disallow fragmentation monkey business */
+
+		fi = wsi->http.ah->frag_index[WSI_TOKEN_HTTP_AUTHORIZATION];
+		if (wsi->http.ah->frags[fi].nfrag) {
+			lwsl_err("fragmented basic auth header not allowed\n");
 			return lws_unauthorised_basic_auth(wsi);
+		}
 
 		n = HTTP_STATUS_FORBIDDEN;
 
@@ -1088,21 +1178,36 @@ lws_http_action(struct lws *wsi)
 
 		/* It'll be like Authorization: Basic QWxhZGRpbjpPcGVuU2VzYW1l */
 
-		m = lws_b64_decode_string(b64 + 6, plain, sizeof(plain));
+		m = lws_b64_decode_string(b64 + 6, plain, sizeof(plain) - 1);
 		if (m < 0) {
 			lwsl_err("plain auth too long\n");
 			goto transaction_result_n;
 		}
 
+		plain[m] = '\0';
+		pcolon = strchr(plain, ':');
+		if (!pcolon) {
+			lwsl_err("basic auth format broken\n");
+			return lws_unauthorised_basic_auth(wsi);
+		}
 		if (!lws_find_string_in_file(hit->basic_auth_login_file,
 					     plain, m)) {
 			lwsl_err("basic auth lookup failed\n");
 			return lws_unauthorised_basic_auth(wsi);
 		}
 
-		lwsl_info("basic auth accepted\n");
+		/*
+		 * Rewrite WSI_TOKEN_HTTP_AUTHORIZATION so it is just the
+		 * authorized username
+		 */
 
-		/* accept the auth */
+		*pcolon = '\0';
+		wsi->http.ah->frags[fi].len = lws_ptr_diff(pcolon, plain);
+		pcolon = lws_hdr_simple_ptr(wsi, WSI_TOKEN_HTTP_AUTHORIZATION);
+		strncpy(pcolon, plain, ml - 1);
+		pcolon[ml - 1] = '\0';
+		lwsl_info("%s: basic auth accepted for %s\n", __func__,
+			 lws_hdr_simple_ptr(wsi, WSI_TOKEN_HTTP_AUTHORIZATION));
 	}
 
 #if defined(LWS_WITH_HTTP_PROXY)
@@ -1110,15 +1215,21 @@ lws_http_action(struct lws *wsi)
 	 * The mount is a reverse proxy?
 	 */
 
+	// lwsl_notice("%s: origin_protocol: %d\n", __func__, hit->origin_protocol);
+
 	if (hit->origin_protocol == LWSMPRO_HTTPS ||
 	    hit->origin_protocol == LWSMPRO_HTTP)  {
+		char ads[96], rpath[256], *pcolon, *pslash, unix_skt = 0;
 		struct lws_client_connect_info i;
-		char ads[96], rpath[256], *pcolon, *pslash, *p;
+		struct lws *cwsi;
 		int n, na;
 
 		memset(&i, 0, sizeof(i));
 		i.context = lws_get_context(wsi);
 
+		if (hit->origin[0] == '+')
+			unix_skt = 1;
+
 		pcolon = strchr(hit->origin, ':');
 		pslash = strchr(hit->origin, '/');
 		if (!pslash) {
@@ -1126,64 +1237,110 @@ lws_http_action(struct lws *wsi)
 				 hit->origin);
 			return -1;
 		}
-		if (pcolon > pslash)
-			pcolon = NULL;
-		
-		if (pcolon)
-			n = pcolon - hit->origin;
-		else
-			n = pslash - hit->origin;
 
-		if (n >= (int)sizeof(ads) - 2)
-			n = sizeof(ads) - 2;
+		if (unix_skt) {
+			if (!pcolon) {
+				lwsl_err("Proxy mount origin for unix skt must "
+					 "have address delimited by :\n");
+
+				return -1;
+			}
+			n = lws_ptr_diff(pcolon, hit->origin);
+			pslash = pcolon;
+		} else {
+			if (pcolon > pslash)
+				pcolon = NULL;
+
+			if (pcolon)
+				n = (int)(pcolon - hit->origin);
+			else
+				n = (int)(pslash - hit->origin);
+
+			if (n >= (int)sizeof(ads) - 2)
+				n = sizeof(ads) - 2;
+		}
 
 		memcpy(ads, hit->origin, n);
 		ads[n] = '\0';
 
 		i.address = ads;
 		i.port = 80;
-		if (hit->origin_protocol == LWSMPRO_HTTPS) { 
+		if (hit->origin_protocol == LWSMPRO_HTTPS) {
 			i.port = 443;
 			i.ssl_connection = 1;
 		}
 		if (pcolon)
 			i.port = atoi(pcolon + 1);
-		
-		lws_snprintf(rpath, sizeof(rpath) - 1, "/%s/%s", pslash + 1,
-			     uri_ptr + hit->mountpoint_len);
+
+		n = lws_snprintf(rpath, sizeof(rpath) - 1, "/%s/%s",
+				 pslash + 1, uri_ptr + hit->mountpoint_len) - 2;
 		lws_clean_url(rpath);
 		na = lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_URI_ARGS);
 		if (na) {
-			p = rpath + strlen(rpath);
-			*p++ = '?';
-			lws_hdr_copy(wsi, p, &rpath[sizeof(rpath) - 1] - p,
-				     WSI_TOKEN_HTTP_URI_ARGS);
-			while (--na) {
-				if (*p == '\0')
-					*p = '&';
-				p++;
+			char *p = rpath + n;
+
+			if (na >= (int)sizeof(rpath) - n - 2) {
+				lwsl_info("%s: query string %d longer "
+					  "than we can handle\n", __func__,
+					  na);
+
+				return -1;
 			}
+
+			*p++ = '?';
+			if (lws_hdr_copy(wsi, p,
+				     (int)(&rpath[sizeof(rpath) - 1] - p),
+				     WSI_TOKEN_HTTP_URI_ARGS) > 0)
+				while (na--) {
+					if (*p == '\0')
+						*p = '&';
+					p++;
+				}
+			*p = '\0';
 		}
-				
 
 		i.path = rpath;
-		i.host = i.address;
+		if (i.address[0] != '+' ||
+		    !lws_hdr_simple_ptr(wsi, WSI_TOKEN_HOST))
+			i.host = i.address;
+		else
+			i.host = lws_hdr_simple_ptr(wsi, WSI_TOKEN_HOST);
 		i.origin = NULL;
 		i.method = "GET";
+		i.alpn = "http/1.1";
 		i.parent_wsi = wsi;
-		i.uri_replace_from = hit->origin;
-		i.uri_replace_to = hit->mountpoint;
+		i.pwsi = &cwsi;
 
-		lwsl_notice("proxying to %s port %d url %s, ssl %d, "
+	//	i.uri_replace_from = hit->origin;
+	//	i.uri_replace_to = hit->mountpoint;
+
+		lwsl_info("proxying to %s port %d url %s, ssl %d, "
 			    "from %s, to %s\n",
 			    i.address, i.port, i.path, i.ssl_connection,
 			    i.uri_replace_from, i.uri_replace_to);
-	
+
 		if (!lws_client_connect_via_info(&i)) {
 			lwsl_err("proxy connect fail\n");
+
+			/*
+			 * ... we can't do the proxy action, but we can
+			 * cleanly return him a 503 and a description
+			 */
+
+			lws_return_http_status(wsi,
+				HTTP_STATUS_SERVICE_UNAVAILABLE,
+				"<h1>Service Temporarily Unavailable</h1>"
+				"The server is temporarily unable to service "
+				"your request due to maintenance downtime or "
+				"capacity problems. Please try again later.");
+
 			return 1;
 		}
 
+		lwsl_info("%s: setting proxy clientside on %p (parent %p)\n",
+			  __func__, cwsi, lws_get_parent(cwsi));
+		cwsi->http.proxy_clientside = 1;
+
 		return 0;
 	}
 #endif
@@ -1208,7 +1365,7 @@ lws_http_action(struct lws *wsi)
 			return 1;
 		}
 
-		if (lws_bind_protocol(wsi, pp))
+		if (lws_bind_protocol(wsi, pp, "http action CALLBACK bind"))
 			return 1;
 
 		args.p = uri_ptr;
@@ -1234,7 +1391,7 @@ lws_http_action(struct lws *wsi)
 			return 1;
 
 		if (lws_hdr_total_length(wsi, WSI_TOKEN_POST_URI)) {
-			n = wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP,
+			m = wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP,
 					    wsi->user_space,
 					    uri_ptr + hit->mountpoint_len,
 					    uri_len - hit->mountpoint_len);
@@ -1268,7 +1425,7 @@ lws_http_action(struct lws *wsi)
 	}
 #endif
 
-	n = (int)strlen(s);
+	n = uri_len - lws_ptr_diff(s, uri_ptr); // (int)strlen(s);
 	if (s[0] == '\0' || (n == 1 && s[n - 1] == '/'))
 		s = (char *)hit->def;
 	if (!s)
@@ -1279,10 +1436,11 @@ lws_http_action(struct lws *wsi)
 	wsi->cache_revalidate = hit->cache_revalidate;
 	wsi->cache_intermediaries = hit->cache_intermediaries;
 
-	n = 1;
+	m = 1;
 	if (hit->origin_protocol == LWSMPRO_FILE)
-		n = lws_http_serve(wsi, s, hit->origin, hit);
-	if (n) {
+		m = lws_http_serve(wsi, s, hit->origin, hit);
+
+	if (m > 0) {
 		/*
 		 * lws_return_http_status(wsi, HTTP_STATUS_NOT_FOUND, NULL);
 		 */
@@ -1291,20 +1449,22 @@ lws_http_action(struct lws *wsi)
 					lws_vhost_name_to_protocol(
 						wsi->vhost, hit->protocol);
 
-			if (lws_bind_protocol(wsi, pp))
+			lwsi_set_state(wsi, LRS_DOING_TRANSACTION);
+
+			if (lws_bind_protocol(wsi, pp, "http_action HTTP"))
 				return 1;
 
-			n = pp->callback(wsi, LWS_CALLBACK_HTTP,
+			m = pp->callback(wsi, LWS_CALLBACK_HTTP,
 					 wsi->user_space,
 					 uri_ptr + hit->mountpoint_len,
 					 uri_len - hit->mountpoint_len);
 		} else
-			n = wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP,
+			m = wsi->protocol->callback(wsi, LWS_CALLBACK_HTTP,
 				    wsi->user_space, uri_ptr, uri_len);
 	}
 
 after:
-	if (n) {
+	if (m) {
 		lwsl_info("LWS_CALLBACK_HTTP closing\n");
 
 		return 1;
@@ -1326,9 +1486,35 @@ deal_body:
 		lwsl_debug("wsi->http.rx_content_length %lld %d %d\n",
 			   (long long)wsi->http.rx_content_length,
 			   wsi->upgraded_to_http2, wsi->http2_substream);
+
+		if (wsi->http.content_length_explicitly_zero &&
+		    lws_hdr_total_length(wsi, WSI_TOKEN_POST_URI)) {
+
+			/*
+			 * POST with an explicit content-length of zero
+			 *
+			 * If we don't give the user code the empty HTTP_BODY
+			 * callback, he may become confused to hear the
+			 * HTTP_BODY_COMPLETION (due to, eg, instantiation of
+			 * lws_spa never happened).
+			 *
+			 * HTTP_BODY_COMPLETION is responsible for sending the
+			 * result status code and result body if any, and
+			 * do the transaction complete processing.
+			 */
+			if (wsi->protocol->callback(wsi,
+					LWS_CALLBACK_HTTP_BODY,
+					wsi->user_space, NULL, 0))
+				return 1;
+			if (wsi->protocol->callback(wsi,
+					LWS_CALLBACK_HTTP_BODY_COMPLETION,
+					wsi->user_space, NULL, 0))
+				return 1;
+
+			return 0;
+		}
+
 		if (wsi->http.rx_content_length > 0) {
-			struct lws_tokens ebuf;
-			int m;
 
 			lwsi_set_state(wsi, LRS_BODY);
 			lwsl_info("%s: %p: LRS_BODY state set (0x%x)\n",
@@ -1344,12 +1530,18 @@ deal_body:
 			 */
 
 			while (1) {
+				struct lws_tokens ebuf;
+				int m;
+
 				ebuf.len = (int)lws_buflist_next_segment_len(
-						&wsi->buflist, (uint8_t **)&ebuf.token);
+						&wsi->buflist,
+						(uint8_t **)&ebuf.token);
 				if (!ebuf.len)
 					break;
-				lwsl_notice("%s: consuming %d\n", __func__, (int)ebuf.len);
-				m = lws_read_h1(wsi, (uint8_t *)ebuf.token, ebuf.len);
+				lwsl_notice("%s: consuming %d\n", __func__,
+							(int)ebuf.len);
+				m = lws_read_h1(wsi, (uint8_t *)ebuf.token,
+						ebuf.len);
 				if (m < 0)
 					return -1;
 
@@ -1373,6 +1565,75 @@ transaction_result_n:
 }
 
 int
+lws_confirm_host_header(struct lws *wsi)
+{
+	struct lws_tokenize ts;
+	lws_tokenize_elem e;
+	char buf[128];
+	int port = 80;
+
+	/*
+	 * this vhost wants us to validate what the
+	 * client sent against our vhost name
+	 */
+
+	if (!lws_hdr_total_length(wsi, WSI_TOKEN_HOST)) {
+		lwsl_info("%s: missing host on upgrade\n", __func__);
+
+		return 1;
+	}
+
+#if defined(LWS_WITH_TLS)
+	if (wsi->tls.ssl)
+		port = 443;
+#endif
+
+	lws_tokenize_init(&ts, buf, LWS_TOKENIZE_F_DOT_NONTERM /* server.com */|
+				    LWS_TOKENIZE_F_NO_FLOATS /* 1.server.com */|
+				    LWS_TOKENIZE_F_MINUS_NONTERM /* a-b.com */);
+	ts.len = lws_hdr_copy(wsi, buf, sizeof(buf) - 1, WSI_TOKEN_HOST);
+	if (ts.len <= 0) {
+		lwsl_info("%s: missing or oversize host header\n", __func__);
+		return 1;
+	}
+
+	if (lws_tokenize(&ts) != LWS_TOKZE_TOKEN)
+		goto bad_format;
+
+	if (strncmp(ts.token, wsi->vhost->name, ts.token_len)) {
+		buf[(ts.token - buf) + ts.token_len] = '\0';
+		lwsl_info("%s: '%s' in host hdr but vhost name %s\n",
+			  __func__, ts.token, wsi->vhost->name);
+		return 1;
+	}
+
+	e = lws_tokenize(&ts);
+	if (e == LWS_TOKZE_DELIMITER && ts.token[0] == ':') {
+		if (lws_tokenize(&ts) != LWS_TOKZE_INTEGER)
+			goto bad_format;
+		else
+			port = atoi(ts.token);
+	} else
+		if (e != LWS_TOKZE_ENDED)
+			goto bad_format;
+
+	if (wsi->vhost->listen_port != port) {
+		lwsl_info("%s: host port %d mismatches vhost port %d\n",
+			  __func__, port, wsi->vhost->listen_port);
+		return 1;
+	}
+
+	lwsl_debug("%s: host header OK\n", __func__);
+
+	return 0;
+
+bad_format:
+	lwsl_info("%s: bad host header format\n", __func__);
+
+	return 1;
+}
+
+int
 lws_handshake_server(struct lws *wsi, unsigned char **buf, size_t len)
 {
 	struct lws_context *context = lws_get_context(wsi);
@@ -1416,7 +1677,8 @@ raw_transition:
 				lws_set_timeout(wsi, NO_PENDING_TIMEOUT, 0);
 				lws_bind_protocol(wsi, &wsi->vhost->protocols[
 				                        wsi->vhost->
-				                        raw_protocol_index]);
+				                        raw_protocol_index],
+						__func__);
 				lwsl_info("transition to raw vh %s prot %d\n",
 					  wsi->vhost->name,
 					  wsi->vhost->raw_protocol_index);
@@ -1429,7 +1691,7 @@ raw_transition:
 						    &role_ops_raw_skt);
 				lws_header_table_detach(wsi, 1);
 
-				if (m == 2 && (wsi->protocol->callback)(wsi,
+				if (wsi->protocol->callback(wsi,
 						LWS_CALLBACK_RAW_RX,
 						wsi->user_space, obuf, olen))
 					return 1;
@@ -1447,13 +1709,14 @@ raw_transition:
 
 		/* select vhost */
 
-		if (lws_hdr_total_length(wsi, WSI_TOKEN_HOST)) {
+		if (wsi->vhost->listen_port &&
+		    lws_hdr_total_length(wsi, WSI_TOKEN_HOST)) {
 			struct lws_vhost *vhost = lws_select_vhost(
 				context, wsi->vhost->listen_port,
 				lws_hdr_simple_ptr(wsi, WSI_TOKEN_HOST));
 
 			if (vhost)
-				wsi->vhost = vhost;
+				lws_vhost_bind_wsi(vhost, wsi);
 		} else
 			lwsl_info("no host\n");
 
@@ -1495,7 +1758,7 @@ raw_transition:
 							&uri_ptr, &uri_len);
 					if (meth >= 0)
 						lws_prepare_access_log_info(wsi,
-								uri_ptr, meth);
+							uri_ptr, uri_len, meth);
 
 					/* wsi close will do the log */
 #endif
@@ -1521,12 +1784,49 @@ raw_transition:
 		lwsi_set_state(wsi, LRS_PRE_WS_SERVING_ACCEPT);
 		lws_set_timeout(wsi, NO_PENDING_TIMEOUT, 0);
 
-		/* is this websocket protocol or normal http 1.0? */
-
 		if (lws_hdr_total_length(wsi, WSI_TOKEN_UPGRADE)) {
-			if (!strcasecmp(lws_hdr_simple_ptr(wsi,
-							   WSI_TOKEN_UPGRADE),
-					"websocket")) {
+
+			const char *up = lws_hdr_simple_ptr(wsi,
+							    WSI_TOKEN_UPGRADE);
+
+			if (strcasecmp(up, "websocket") &&
+			    strcasecmp(up, "h2c")) {
+				lwsl_info("Unknown upgrade '%s'\n", up);
+
+				if (lws_return_http_status(wsi,
+						HTTP_STATUS_FORBIDDEN, NULL) ||
+				    lws_http_transaction_completed(wsi))
+					goto bail_nuke_ah;
+			}
+
+			n = user_callback_handle_rxflow(wsi->protocol->callback,
+					wsi, LWS_CALLBACK_HTTP_CONFIRM_UPGRADE,
+					wsi->user_space, (char *)up, 0);
+
+			/* just hang up? */
+
+			if (n < 0)
+				goto bail_nuke_ah;
+
+			/* callback returned headers already, do t_c? */
+
+			if (n > 0) {
+				if (lws_http_transaction_completed(wsi))
+					goto bail_nuke_ah;
+
+				/* continue on */
+
+				return 0;
+			}
+
+			/* callback said 0, it was allowed */
+
+			if (wsi->vhost->options &
+			    LWS_SERVER_OPTION_VHOST_UPG_STRICT_HOST_CHECK &&
+			    lws_confirm_host_header(wsi))
+				goto bail_nuke_ah;
+
+			if (!strcasecmp(up, "websocket")) {
 #if defined(LWS_ROLE_WS)
 				wsi->vhost->conn_stats.ws_upg++;
 				lwsl_info("Upgrade to ws\n");
@@ -1534,17 +1834,12 @@ raw_transition:
 #endif
 			}
 #if defined(LWS_WITH_HTTP2)
-			if (!strcasecmp(lws_hdr_simple_ptr(wsi,
-							   WSI_TOKEN_UPGRADE),
-					"h2c")) {
+			if (!strcasecmp(up, "h2c")) {
 				wsi->vhost->conn_stats.h2_upg++;
 				lwsl_info("Upgrade to h2c\n");
 				goto upgrade_h2c;
 			}
 #endif
-			lwsl_info("Unknown upgrade\n");
-			/* dunno what he wanted to upgrade to */
-			goto bail_nuke_ah;
 		}
 
 		/* no upgrade ack... he remained as HTTP */
@@ -1554,6 +1849,10 @@ raw_transition:
 		lwsi_set_state(wsi, LRS_ESTABLISHED);
 		wsi->http.fop_fd = NULL;
 
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+		lws_http_compression_validate(wsi);
+#endif
+
 		lwsl_debug("%s: wsi %p: ah %p\n", __func__, (void *)wsi,
 			   (void *)wsi->http.ah);
 
@@ -1630,112 +1929,61 @@ bail_nuke_ah:
 }
 
 
-static int
-lws_get_idlest_tsi(struct lws_context *context)
-{
-	unsigned int lowest = ~0;
-	int n = 0, hit = -1;
-
-	for (; n < context->count_threads; n++) {
-		if ((unsigned int)context->pt[n].fds_count !=
-		    context->fd_limit_per_thread - 1 &&
-		    (unsigned int)context->pt[n].fds_count < lowest) {
-			lowest = context->pt[n].fds_count;
-			hit = n;
-		}
-	}
-
-	return hit;
-}
-
-struct lws *
-lws_create_new_server_wsi(struct lws_vhost *vhost, int fixed_tsi)
-{
-	struct lws *new_wsi;
-	int n = fixed_tsi;
-
-	if (n < 0)
-		n = lws_get_idlest_tsi(vhost->context);
-
-	if (n < 0) {
-		lwsl_err("no space for new conn\n");
-		return NULL;
-	}
-
-	new_wsi = lws_zalloc(sizeof(struct lws), "new server wsi");
-	if (new_wsi == NULL) {
-		lwsl_err("Out of memory for new connection\n");
-		return NULL;
-	}
-
-	new_wsi->tsi = n;
-	lwsl_debug("new wsi %p joining vhost %s, tsi %d\n", new_wsi,
-		   vhost->name, new_wsi->tsi);
-
-	new_wsi->vhost = vhost;
-	new_wsi->context = vhost->context;
-	new_wsi->pending_timeout = NO_PENDING_TIMEOUT;
-	new_wsi->rxflow_change_to = LWS_RXFLOW_ALLOW;
-
-	/* initialize the instance struct */
-
-	lwsi_set_state(new_wsi, LRS_UNCONNECTED);
-	new_wsi->hdr_parsing_completed = 0;
-
-#ifdef LWS_WITH_TLS
-	new_wsi->tls.use_ssl = LWS_SSL_ENABLED(vhost);
-#endif
-
-	/*
-	 * these can only be set once the protocol is known
-	 * we set an un-established connection's protocol pointer
-	 * to the start of the supported list, so it can look
-	 * for matching ones during the handshake
-	 */
-	new_wsi->protocol = vhost->protocols;
-	new_wsi->user_space = NULL;
-	new_wsi->desc.sockfd = LWS_SOCK_INVALID;
-	new_wsi->position_in_fds_table = LWS_NO_FDS_POS;
-
-	vhost->context->count_wsi_allocated++;
-
-	/*
-	 * outermost create notification for wsi
-	 * no user_space because no protocol selection
-	 */
-	vhost->protocols[0].callback(new_wsi, LWS_CALLBACK_WSI_CREATE,
-				       NULL, NULL, 0);
-
-	return new_wsi;
-}
-
 LWS_VISIBLE int LWS_WARN_UNUSED_RESULT
 lws_http_transaction_completed(struct lws *wsi)
 {
 	int n = NO_PENDING_TIMEOUT;
 
+	if (lws_has_buffered_out(wsi)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+			|| wsi->http.comp_ctx.buflist_comp ||
+	    wsi->http.comp_ctx.may_have_more
+#endif
+	) {
+		/*
+		 * ...so he tried to send something large as the http reply,
+		 * it went as a partial, but he immediately said the
+		 * transaction was completed.
+		 *
+		 * Defer the transaction completed until the last part of the
+		 * partial is sent.
+		 */
+		lwsl_debug("%s: %p: deferring due to partial\n", __func__, wsi);
+		wsi->http.deferred_transaction_completed = 1;
+		lws_callback_on_writable(wsi);
+
+		return 0;
+	}
+
 	lwsl_info("%s: wsi %p\n", __func__, wsi);
 
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	lws_http_compression_destroy(wsi);
+#endif
 	lws_access_log(wsi);
 
 	if (!wsi->hdr_parsing_completed) {
-		lwsl_notice("%s: ignoring, ah parsing incomplete\n", __func__);
+		char peer[64];
+		lws_get_peer_simple(wsi, peer, sizeof(peer) - 1);
+		peer[sizeof(peer) - 1] = '\0';
+		lwsl_notice("%s: (from %s) ignoring, ah parsing incomplete\n",
+				__func__, peer);
 		return 0;
 	}
 
 	/* if we can't go back to accept new headers, drop the connection */
 	if (wsi->http2_substream)
-		return 0;
+		return 1;
 
 	if (wsi->seen_zero_length_recv)
 		return 1;
 
-	if (wsi->http.connection_type != HTTP_CONNECTION_KEEP_ALIVE) {
-		lwsl_notice("%s: %p: close connection\n", __func__, wsi);
+	if (wsi->http.conn_type != HTTP_CONNECTION_KEEP_ALIVE) {
+		lwsl_info("%s: %p: close connection\n", __func__, wsi);
 		return 1;
 	}
 
-	if (lws_bind_protocol(wsi, &wsi->vhost->protocols[0]))
+	if (lws_bind_protocol(wsi, &wsi->vhost->protocols[0], __func__))
 		return 1;
 
 	/*
@@ -1750,6 +1998,7 @@ lws_http_transaction_completed(struct lws *wsi)
 	wsi->http.tx_content_length = 0;
 	wsi->http.tx_content_remain = 0;
 	wsi->hdr_parsing_completed = 0;
+	wsi->sending_chunked = 0;
 #ifdef LWS_WITH_ACCESS_LOG
 	wsi->http.access_log.sent = 0;
 #endif
@@ -1773,7 +2022,7 @@ lws_http_transaction_completed(struct lws *wsi)
 	if (wsi->http.ah) {
 		// lws_buflist_describe(&wsi->buflist, wsi);
 		if (!lws_buflist_next_segment_len(&wsi->buflist, NULL)) {
-			lwsl_info("%s: %p: nothing in buflist so detaching ah\n",
+			lwsl_debug("%s: %p: nothing in buflist, detaching ah\n",
 				  __func__, wsi);
 			lws_header_table_detach(wsi, 1);
 #ifdef LWS_WITH_TLS
@@ -1793,7 +2042,7 @@ lws_http_transaction_completed(struct lws *wsi)
 			}
 #endif
 		} else {
-			lwsl_info("%s: %p: resetting and keeping ah as pipeline\n",
+			lwsl_info("%s: %p: resetting/keeping ah as pipeline\n",
 				  __func__, wsi);
 			lws_header_table_reset(wsi, 0);
 			/*
@@ -1809,360 +2058,41 @@ lws_http_transaction_completed(struct lws *wsi)
 		if (wsi->http.ah)
 			wsi->http.ah->ues = URIES_IDLE;
 
-		//lwsi_set_state(wsi, LRS_ESTABLISHED);
+		//lwsi_set_state(wsi, LRS_ESTABLISHED); // !!!
 	} else
 		if (lws_buflist_next_segment_len(&wsi->buflist, NULL))
 			if (lws_header_table_attach(wsi, 0))
 				lwsl_debug("acquired ah\n");
 
-	lwsl_info("%s: %p: keep-alive await new transaction\n", __func__, wsi);
+	lwsl_debug("%s: %p: keep-alive await new transaction (state 0x%x)\n",
+			__func__, wsi, wsi->wsistate);
 	lws_callback_on_writable(wsi);
 
 	return 0;
 }
 
-/* if not a socket, it's a raw, non-ssl file descriptor */
-
-LWS_VISIBLE struct lws *
-lws_adopt_descriptor_vhost(struct lws_vhost *vh, lws_adoption_type type,
-			   lws_sock_file_fd_type fd, const char *vh_prot_name,
-			   struct lws *parent)
-{
-	struct lws_context *context = vh->context;
-	struct lws *new_wsi;
-	struct lws_context_per_thread *pt;
-	int n, ssl = 0;
-
-#if defined(LWS_WITH_PEER_LIMITS)
-	struct lws_peer *peer = NULL;
-
-	if (type & LWS_ADOPT_SOCKET && !(type & LWS_ADOPT_WS_PARENTIO)) {
-		peer = lws_get_or_create_peer(vh, fd.sockfd);
-
-		if (peer && context->ip_limit_wsi &&
-		    peer->count_wsi >= context->ip_limit_wsi) {
-			lwsl_notice("Peer reached wsi limit %d\n",
-					context->ip_limit_wsi);
-			lws_stats_atomic_bump(context, &context->pt[0],
-					      LWSSTATS_C_PEER_LIMIT_WSI_DENIED, 1);
-			return NULL;
-		}
-	}
-#endif
-
-	n = -1;
-	if (parent)
-		n = parent->tsi;
-	new_wsi = lws_create_new_server_wsi(vh, n);
-	if (!new_wsi) {
-		if (type & LWS_ADOPT_SOCKET && !(type & LWS_ADOPT_WS_PARENTIO))
-			compatible_close(fd.sockfd);
-		return NULL;
-	}
-#if defined(LWS_WITH_PEER_LIMITS)
-	if (peer)
-		lws_peer_add_wsi(context, peer, new_wsi);
-#endif
-	pt = &context->pt[(int)new_wsi->tsi];
-	lws_stats_atomic_bump(context, pt, LWSSTATS_C_CONNECTIONS, 1);
-
-	if (parent) {
-		new_wsi->parent = parent;
-		new_wsi->sibling_list = parent->child_list;
-		parent->child_list = new_wsi;
-
-		if (type & LWS_ADOPT_WS_PARENTIO)
-			new_wsi->parent_carries_io = 1;
-	}
-
-	new_wsi->desc = fd;
-
-	if (vh_prot_name) {
-		new_wsi->protocol = lws_vhost_name_to_protocol(new_wsi->vhost,
-							       vh_prot_name);
-		if (!new_wsi->protocol) {
-			lwsl_err("Protocol %s not enabled on vhost %s\n",
-				 vh_prot_name, new_wsi->vhost->name);
-			goto bail;
-		}
-               if (lws_ensure_user_space(new_wsi)) {
-                       lwsl_notice("OOM trying to get user_space\n");
-			goto bail;
-               }
-#if defined(LWS_ROLE_WS)
-               if (type & LWS_ADOPT_WS_PARENTIO) {
-			new_wsi->desc.sockfd = LWS_SOCK_INVALID;
-			lwsl_debug("binding to %s\n", new_wsi->protocol->name);
-			lws_bind_protocol(new_wsi, new_wsi->protocol);
-			lws_role_transition(new_wsi, LWSIFR_SERVER,
-					    LRS_ESTABLISHED, &role_ops_ws);
-			/* allocate the ws struct for the wsi */
-			new_wsi->ws = lws_zalloc(sizeof(*new_wsi->ws), "ws struct");
-			if (!new_wsi->ws) {
-				lwsl_notice("OOM\n");
-				goto bail;
-			}
-			lws_server_init_wsi_for_ws(new_wsi);
-
-			return new_wsi;
-               }
-#endif
-	} else
-#if defined(LWS_ROLE_H1)
-		if (type & LWS_ADOPT_HTTP) {/* he will transition later */
-			new_wsi->protocol =
-				&vh->protocols[vh->default_protocol_index];
-			new_wsi->role_ops = &role_ops_h1;
-		}
-		else
-#endif
-		{ /* this is the only time he will transition */
-			lws_bind_protocol(new_wsi,
-				&vh->protocols[vh->raw_protocol_index]);
-			lws_role_transition(new_wsi, 0, LRS_ESTABLISHED,
-					    &role_ops_raw_skt);
-		}
-
-	if (type & LWS_ADOPT_SOCKET) { /* socket desc */
-		lwsl_debug("%s: new wsi %p, sockfd %d\n", __func__, new_wsi,
-			   (int)(lws_intptr_t)fd.sockfd);
-#if !defined(LWS_WITH_ESP32)
-		if (type & LWS_ADOPT_FLAG_UDP)
-			/*
-			 * these can be >128 bytes, so just alloc for UDP
-			 */
-			new_wsi->udp = lws_malloc(sizeof(*new_wsi->udp),
-						     "udp struct");
-#endif
-
-		if (type & LWS_ADOPT_HTTP)
-			/* the transport is accepted...
-			 * give him time to negotiate */
-			lws_set_timeout(new_wsi,
-					PENDING_TIMEOUT_ESTABLISH_WITH_SERVER,
-					context->timeout_secs);
-
-	} else /* file desc */
-		lwsl_debug("%s: new wsi %p, filefd %d\n", __func__, new_wsi,
-			   (int)(lws_intptr_t)fd.filefd);
-
-	/*
-	 * A new connection was accepted. Give the user a chance to
-	 * set properties of the newly created wsi. There's no protocol
-	 * selected yet so we issue this to the vhosts's default protocol,
-	 * itself by default protocols[0]
-	 */
-	n = LWS_CALLBACK_SERVER_NEW_CLIENT_INSTANTIATED;
-	if (!(type & LWS_ADOPT_HTTP)) {
-		if (!(type & LWS_ADOPT_SOCKET))
-			n = LWS_CALLBACK_RAW_ADOPT_FILE;
-		else
-			n = LWS_CALLBACK_RAW_ADOPT;
-	}
-
-	if (!LWS_SSL_ENABLED(new_wsi->vhost) || !(type & LWS_ADOPT_ALLOW_SSL) ||
-	    !(type & LWS_ADOPT_SOCKET)) {
-		/* non-SSL */
-		if (!(type & LWS_ADOPT_HTTP)) {
-			if (!(type & LWS_ADOPT_SOCKET))
-				lws_role_transition(new_wsi, 0, LRS_ESTABLISHED,
-						    &role_ops_raw_file);
-			else
-				lws_role_transition(new_wsi, 0, LRS_ESTABLISHED,
-						    &role_ops_raw_skt);
-		}
-#if defined(LWS_ROLE_H1)
-		else
-			lws_role_transition(new_wsi, LWSIFR_SERVER,
-					    LRS_HEADERS, &role_ops_h1);
-#endif
-	} else {
-		/* SSL */
-		if (!(type & LWS_ADOPT_HTTP))
-			lws_role_transition(new_wsi, 0, LRS_SSL_INIT,
-					    &role_ops_raw_skt);
-#if defined(LWS_ROLE_H1)
-		else
-			lws_role_transition(new_wsi, LWSIFR_SERVER,
-					    LRS_SSL_INIT, &role_ops_h1);
-#endif
-		ssl = 1;
-	}
-
-	lwsl_debug("new wsi wsistate 0x%x\n", new_wsi->wsistate);
-
-	if (context->event_loop_ops->accept)
-		context->event_loop_ops->accept(new_wsi);
-
-	if (!ssl) {
-		lws_pt_lock(pt, __func__);
-		if (__insert_wsi_socket_into_fds(context, new_wsi)) {
-			lws_pt_unlock(pt);
-			lwsl_err("%s: fail inserting socket\n", __func__);
-			goto fail;
-		}
-		lws_pt_unlock(pt);
-	} else
-		if (lws_server_socket_service_ssl(new_wsi, fd.sockfd)) {
-			lwsl_info("%s: fail ssl negotiation\n", __func__);
-			goto fail;
-		}
-
-	/*
-	 *  by deferring callback to this point, after insertion to fds,
-	 * lws_callback_on_writable() can work from the callback
-	 */
-	if ((new_wsi->protocol->callback)(
-			new_wsi, n, new_wsi->user_space, NULL, 0))
-		goto fail;
-
-	if (type & LWS_ADOPT_HTTP) {
-		if (!lws_header_table_attach(new_wsi, 0))
-			lwsl_debug("Attached ah immediately\n");
-		else
-			lwsl_info("%s: waiting for ah\n", __func__);
-	}
-
-	lws_cancel_service_pt(new_wsi);
-
-	return new_wsi;
-
-fail:
-	if (type & LWS_ADOPT_SOCKET)
-		lws_close_free_wsi(new_wsi, LWS_CLOSE_STATUS_NOSTATUS, "adopt skt fail");
-
-	return NULL;
-
-bail:
-       lwsl_notice("%s: exiting on bail\n", __func__);
-	if (parent)
-		parent->child_list = new_wsi->sibling_list;
-	if (new_wsi->user_space)
-		lws_free(new_wsi->user_space);
-	lws_free(new_wsi);
-       compatible_close(fd.sockfd);
-
-	return NULL;
-}
-
-LWS_VISIBLE struct lws *
-lws_adopt_socket_vhost(struct lws_vhost *vh, lws_sockfd_type accept_fd)
-{
-	lws_sock_file_fd_type fd;
-
-	fd.sockfd = accept_fd;
-	return lws_adopt_descriptor_vhost(vh, LWS_ADOPT_SOCKET |
-			LWS_ADOPT_HTTP | LWS_ADOPT_ALLOW_SSL, fd, NULL, NULL);
-}
-
-LWS_VISIBLE struct lws *
-lws_adopt_socket(struct lws_context *context, lws_sockfd_type accept_fd)
-{
-	return lws_adopt_socket_vhost(context->vhost_list, accept_fd);
-}
-
-/* Common read-buffer adoption for lws_adopt_*_readbuf */
-static struct lws*
-adopt_socket_readbuf(struct lws *wsi, const char *readbuf, size_t len)
-{
-	struct lws_context_per_thread *pt;
-	struct lws_pollfd *pfd;
-	int n;
-
-	if (!wsi)
-		return NULL;
-
-	if (!readbuf || len == 0)
-		return wsi;
-
-	if (wsi->position_in_fds_table == LWS_NO_FDS_POS)
-		return wsi;
-
-	pt = &wsi->context->pt[(int)wsi->tsi];
-
-	n = lws_buflist_append_segment(&wsi->buflist, (const uint8_t *)readbuf, len);
-	if (n < 0)
-		goto bail;
-	if (n)
-		lws_dll_lws_add_front(&wsi->dll_buflist, &pt->dll_head_buflist);
-
-	/*
-	 * we can't process the initial read data until we can attach an ah.
-	 *
-	 * if one is available, get it and place the data in his ah rxbuf...
-	 * wsi with ah that have pending rxbuf get auto-POLLIN service.
-	 *
-	 * no autoservice because we didn't get a chance to attach the
-	 * readbuf data to wsi or ah yet, and we will do it next if we get
-	 * the ah.
-	 */
-	if (wsi->http.ah || !lws_header_table_attach(wsi, 0)) {
-
-		lwsl_notice("%s: calling service on readbuf ah\n", __func__);
-
-		/* unlike a normal connect, we have the headers already
-		 * (or the first part of them anyway).
-		 * libuv won't come back and service us without a network
-		 * event, so we need to do the header service right here.
-		 */
-		pfd = &pt->fds[wsi->position_in_fds_table];
-		pfd->revents |= LWS_POLLIN;
-		lwsl_err("%s: calling service\n", __func__);
-		if (lws_service_fd_tsi(wsi->context, pfd, wsi->tsi))
-			/* service closed us */
-			return NULL;
-
-		return wsi;
-	}
-	lwsl_err("%s: deferring handling ah\n", __func__);
-
-	return wsi;
-
-bail:
-	lws_close_free_wsi(wsi, LWS_CLOSE_STATUS_NOSTATUS, "adopt skt readbuf fail");
-
-	return NULL;
-}
-
-LWS_VISIBLE struct lws *
-lws_adopt_socket_readbuf(struct lws_context *context, lws_sockfd_type accept_fd,
-			 const char *readbuf, size_t len)
-{
-        return adopt_socket_readbuf(lws_adopt_socket(context, accept_fd),
-        			    readbuf, len);
-}
-
-LWS_VISIBLE struct lws *
-lws_adopt_socket_vhost_readbuf(struct lws_vhost *vhost,
-			       lws_sockfd_type accept_fd,
-			       const char *readbuf, size_t len)
-{
-        return adopt_socket_readbuf(lws_adopt_socket_vhost(vhost, accept_fd),
-        			    readbuf, len);
-}
 
 LWS_VISIBLE int
 lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
 		    const char *other_headers, int other_headers_len)
 {
-	static const char * const intermediates[] = { "private", "public" };
 	struct lws_context *context = lws_get_context(wsi);
 	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
+	unsigned char *response = pt->serv_buf + LWS_PRE;
 #if defined(LWS_WITH_RANGES)
 	struct lws_range_parsing *rp = &wsi->http.range;
 #endif
+	int ret = 0, cclen = 8, n = HTTP_STATUS_OK;
 	char cache_control[50], *cc = "no-store";
-	unsigned char *response = pt->serv_buf + LWS_PRE;
+	lws_fop_flags_t fflags = LWS_O_RDONLY;
+	const struct lws_plat_file_ops *fops;
+	lws_filepos_t total_content_length;
 	unsigned char *p = response;
 	unsigned char *end = p + context->pt_serv_buf_size - LWS_PRE;
-	lws_filepos_t total_content_length;
-	int ret = 0, cclen = 8, n = HTTP_STATUS_OK;
-	lws_fop_flags_t fflags = LWS_O_RDONLY;
+	const char *vpath;
 #if defined(LWS_WITH_RANGES)
 	int ranges;
 #endif
-	const struct lws_plat_file_ops *fops;
-	const char *vpath;
 
 	if (wsi->handling_404)
 		n = HTTP_STATUS_NOT_FOUND;
@@ -2182,7 +2112,8 @@ lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
 		if (!wsi->http.fop_fd) {
 			lwsl_info("%s: Unable to open: '%s': errno %d\n",
 				  __func__, file, errno);
-			if (lws_return_http_status(wsi, HTTP_STATUS_NOT_FOUND, NULL))
+			if (lws_return_http_status(wsi, HTTP_STATUS_NOT_FOUND,
+						   NULL))
 						return -1;
 			return !wsi->http2_substream;
 		}
@@ -2203,14 +2134,14 @@ lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
 	 */
 	if (ranges < 0) {
 		/* it means he expressed a range in Range:, but it was illegal */
-		lws_return_http_status(wsi, HTTP_STATUS_REQ_RANGE_NOT_SATISFIABLE,
-				       NULL);
+		lws_return_http_status(wsi,
+				HTTP_STATUS_REQ_RANGE_NOT_SATISFIABLE, NULL);
 		if (lws_http_transaction_completed(wsi))
 			return -1; /* <0 means just hang up */
 
 		lws_vfs_file_close(&wsi->http.fop_fd);
 
-		return 0; /* == 0 means we dealt with the transaction complete */
+		return 0; /* == 0 means we did the transaction complete */
 	}
 	if (ranges)
 		n = HTTP_STATUS_PARTIAL_CONTENT;
@@ -2228,6 +2159,20 @@ lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
 			return -1;
 		lwsl_info("file is being provided in gzip\n");
 	}
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	else {
+		/*
+		 * if we know its very compressible, and we can use
+		 * compression, then use the most preferred compression
+		 * method that the client said he will accept
+		 */
+
+		if (!strncmp(content_type, "text/", 5) ||
+		    !strcmp(content_type, "application/javascript") ||
+		    !strcmp(content_type, "image/svg+xml"))
+			lws_http_compression_apply(wsi, NULL, &p, end, 0);
+	}
+#endif
 
 	if (
 #if defined(LWS_WITH_RANGES)
@@ -2309,40 +2254,78 @@ lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
 #endif
 
 	if (!wsi->http2_substream) {
-		if (!wsi->sending_chunked) {
+		/* for http/1.1 ... */
+		if (!wsi->sending_chunked
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+				&& !wsi->http.lcs
+#endif
+		) {
+			/* ... if not already using chunked and not using an
+			 * http compression translation, then send the naive
+			 * content length
+			 */
 			if (lws_add_http_header_content_length(wsi,
-						total_content_length,
-					       &p, end))
+						total_content_length, &p, end))
 				return -1;
 		} else {
-			if (lws_add_http_header_by_token(wsi,
-						 WSI_TOKEN_HTTP_TRANSFER_ENCODING,
-						 (unsigned char *)"chunked",
-						 7, &p, end))
-				return -1;
+
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+			if (wsi->http.lcs) {
+
+				/* ...otherwise, for http 1 it must go chunked.
+				 * For the compression case, the reason is we
+				 * compress on the fly and do not know the
+				 * compressed content-length until it has all
+				 * been sent.  Http/1.1 pipelining must be able
+				 * to know where the transaction boundaries are
+				 * ... so chunking...
+				 */
+				if (lws_add_http_header_by_token(wsi,
+						WSI_TOKEN_HTTP_TRANSFER_ENCODING,
+						(unsigned char *)"chunked", 7,
+						&p, end))
+					return -1;
+
+				/*
+				 * ...this is fun, isn't it :-)  For h1 that is
+				 * using an http compression translation, the
+				 * compressor must chunk its output privately.
+				 *
+				 * h2 doesn't need (or support) any of this
+				 * crap.
+				 */
+				lwsl_debug("setting chunking\n");
+				wsi->http.comp_ctx.chunking = 1;
+			}
+#endif
 		}
 	}
 
 	if (wsi->cache_secs && wsi->cache_reuse) {
-		if (wsi->cache_revalidate) {
+		if (!wsi->cache_revalidate) {
 			cc = cache_control;
-			cclen = sprintf(cache_control, "%s max-age: %u",
+			cclen = sprintf(cache_control, "%s, max-age=%u",
 				    intermediates[wsi->cache_intermediaries],
 				    wsi->cache_secs);
 		} else {
-			cc = "no-cache";
-			cclen = 8;
+			cc = cache_control;
+			cclen = sprintf(cache_control,
+					"must-revalidate, %s, max-age=%u",
+                                intermediates[wsi->cache_intermediaries],
+                                                    wsi->cache_secs);
+
 		}
 	}
 
-	if (lws_add_http_header_by_token(wsi, WSI_TOKEN_HTTP_CACHE_CONTROL,
-			(unsigned char *)cc, cclen, &p, end))
-		return -1;
-
-	if (wsi->http.connection_type == HTTP_CONNECTION_KEEP_ALIVE)
-		if (lws_add_http_header_by_token(wsi, WSI_TOKEN_CONNECTION,
-				(unsigned char *)"keep-alive", 10, &p, end))
+	/* Only add cache control if its not specified by any other_headers. */
+	if (!other_headers ||
+	    (!strstr(other_headers, "cache-control") &&
+	     !strstr(other_headers, "Cache-Control"))) {
+		if (lws_add_http_header_by_token(wsi,
+				WSI_TOKEN_HTTP_CACHE_CONTROL,
+				(unsigned char *)cc, cclen, &p, end))
 			return -1;
+	}
 
 	if (other_headers) {
 		if ((end - p) < other_headers_len)
@@ -2385,16 +2368,37 @@ LWS_VISIBLE int lws_serve_http_file_fragment(struct lws *wsi)
 
 	do {
 
-		if (wsi->trunc_len) {
-			if (lws_issue_raw(wsi, wsi->trunc_alloc +
-					  wsi->trunc_offset,
-					  wsi->trunc_len) < 0) {
+		/* priority 1: buffered output */
+
+		if (lws_has_buffered_out(wsi)) {
+			if (lws_issue_raw(wsi, NULL, 0) < 0) {
 				lwsl_info("%s: closing\n", __func__);
 				goto file_had_it;
 			}
 			break;
 		}
 
+		/* priority 2: buffered pre-compression-transform */
+
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+	if (wsi->http.comp_ctx.buflist_comp ||
+	    wsi->http.comp_ctx.may_have_more) {
+		enum lws_write_protocol wp = LWS_WRITE_HTTP;
+
+		lwsl_info("%s: completing comp partial (buflist %p, may %d)\n",
+			   __func__, wsi->http.comp_ctx.buflist_comp,
+			   wsi->http.comp_ctx.may_have_more);
+
+		if (wsi->role_ops->write_role_protocol(wsi, NULL, 0, &wp) < 0) {
+			lwsl_info("%s signalling to close\n", __func__);
+			goto file_had_it;
+		}
+		lws_callback_on_writable(wsi);
+
+		break;
+	}
+#endif
+
 		if (wsi->http.filepos == wsi->http.filelen)
 			goto all_sent;
 
@@ -2423,7 +2427,8 @@ LWS_VISIBLE int lws_serve_http_file_fragment(struct lws *wsi)
 						LWS_H2_FRAME_HEADER_LENGTH,
 					"_lws\x0d\x0a"
 					"Content-Type: %s\x0d\x0a"
-					"Content-Range: bytes %llu-%llu/%llu\x0d\x0a"
+					"Content-Range: bytes "
+						"%llu-%llu/%llu\x0d\x0a"
 					"\x0d\x0a",
 					wsi->http.multipart_content_type,
 					wsi->http.range.start,
@@ -2438,7 +2443,8 @@ LWS_VISIBLE int lws_serve_http_file_fragment(struct lws *wsi)
 		}
 #endif
 
-		poss = context->pt_serv_buf_size - n - LWS_H2_FRAME_HEADER_LENGTH;
+		poss = context->pt_serv_buf_size - n -
+				LWS_H2_FRAME_HEADER_LENGTH;
 
 		if (wsi->http.tx_content_length)
 			if (poss > wsi->http.tx_content_remain)
@@ -2526,11 +2532,9 @@ LWS_VISIBLE int lws_serve_http_file_fragment(struct lws *wsi)
 				lwsl_debug("added trailing boundary\n");
 			}
 #endif
-			m = lws_write(wsi, p, n,
-				      wsi->http.filepos + amount == wsi->http.filelen ?
-					LWS_WRITE_HTTP_FINAL :
-					LWS_WRITE_HTTP
-				);
+			m = lws_write(wsi, p, n, wsi->http.filepos + amount ==
+					wsi->http.filelen ?
+					 LWS_WRITE_HTTP_FINAL : LWS_WRITE_HTTP);
 			if (m < 0)
 				goto file_had_it;
 
@@ -2562,12 +2566,18 @@ LWS_VISIBLE int lws_serve_http_file_fragment(struct lws *wsi)
 		}
 
 all_sent:
-		if ((!wsi->trunc_len && wsi->http.filepos >= wsi->http.filelen)
+		if ((!lws_has_buffered_out(wsi)
+#if defined(LWS_WITH_HTTP_STREAM_COMPRESSION)
+				&& !wsi->http.comp_ctx.buflist_comp &&
+		    !wsi->http.comp_ctx.may_have_more
+#endif
+		    ) && (wsi->http.filepos >= wsi->http.filelen
 #if defined(LWS_WITH_RANGES)
 		    || finished)
 #else
 		)
 #endif
+		)
 		     {
 			lwsi_set_state(wsi, LRS_ESTABLISHED);
 			/* we might be in keepalive, so close it off here */
@@ -2577,9 +2587,8 @@ all_sent:
 
 			if (wsi->protocol->callback &&
 			    user_callback_handle_rxflow(wsi->protocol->callback,
-							wsi, LWS_CALLBACK_HTTP_FILE_COMPLETION,
-							wsi->user_space, NULL,
-							0) < 0) {
+					wsi, LWS_CALLBACK_HTTP_FILE_COMPLETION,
+					wsi->user_space, NULL, 0) < 0) {
 					/*
 					 * For http/1.x, the choices from
 					 * transaction_completed are either
@@ -2602,7 +2611,7 @@ all_sent:
 
 			return 1;  /* >0 indicates completed */
 		}
-	} while (0); // while (!lws_send_pipe_choked(wsi))
+	} while (1); //(!lws_send_pipe_choked(wsi));
 
 	lws_callback_on_writable(wsi);
 
@@ -2683,8 +2692,7 @@ skip:
 				n = (int)strlen(pc);
 				s->swallow[s->pos] = '\0';
 				if (n != s->pos) {
-					memmove(s->start + n,
-						s->start + s->pos,
+					memmove(s->start + n, s->start + s->pos,
 						old_len - (sp - args->p));
 					old_len += (n - s->pos) + 1;
 				}
diff --git a/thirdparty/libwebsockets/roles/listen/ops-listen.c b/thirdparty/libwebsockets/lib/roles/listen/ops-listen.c
index dbeb9753a2..977c4b0377 100644
--- a/thirdparty/libwebsockets/roles/listen/ops-listen.c
+++ b/thirdparty/libwebsockets/lib/roles/listen/ops-listen.c
@@ -32,6 +32,11 @@ rops_handle_POLLIN_listen(struct lws_context_per_thread *pt, struct lws *wsi,
 	struct sockaddr_storage cli_addr;
 	socklen_t clilen;
 
+	/* if our vhost is going down, ignore it */
+
+	if (wsi->vhost->being_destroyed)
+		return LWS_HPI_RET_HANDLED;
+
 	/* pollin means a client has connected to us then
 	 *
 	 * pollout is a hack on esp32 for background accepts signalling
@@ -74,8 +79,8 @@ rops_handle_POLLIN_listen(struct lws_context_per_thread *pt, struct lws *wsi,
 		 * block the connect queue for other legit peers.
 		 */
 
-		accept_fd  = accept((int)pollfd->fd,
-				    (struct sockaddr *)&cli_addr, &clilen);
+		accept_fd = accept((int)pollfd->fd,
+				   (struct sockaddr *)&cli_addr, &clilen);
 		lws_latency(context, wsi, "listener accept",
 			    (int)accept_fd, accept_fd != LWS_SOCK_INVALID);
 		if (accept_fd == LWS_SOCK_INVALID) {
@@ -83,12 +88,11 @@ rops_handle_POLLIN_listen(struct lws_context_per_thread *pt, struct lws *wsi,
 			    LWS_ERRNO == LWS_EWOULDBLOCK) {
 				break;
 			}
-			lwsl_err("ERROR on accept: %s\n",
-				 strerror(LWS_ERRNO));
-			break;
+			lwsl_err("accept: %s\n", strerror(LWS_ERRNO));
+			return LWS_HPI_RET_HANDLED;
 		}
 
-		lws_plat_set_socket_options(wsi->vhost, accept_fd);
+		lws_plat_set_socket_options(wsi->vhost, accept_fd, 0);
 
 #if defined(LWS_WITH_IPV6)
 		lwsl_debug("accepted new conn port %u on fd=%d\n",
@@ -125,9 +129,12 @@ rops_handle_POLLIN_listen(struct lws_context_per_thread *pt, struct lws *wsi,
 		fd.sockfd = accept_fd;
 		cwsi = lws_adopt_descriptor_vhost(wsi->vhost, opts, fd,
 						  NULL, NULL);
-		if (!cwsi)
+		if (!cwsi) {
+			lwsl_err("%s: lws_adopt_descriptor_vhost failed\n",
+					__func__);
 			/* already closed cleanly as necessary */
 			return LWS_HPI_RET_WSI_ALREADY_DIED;
+		}
 
 		if (lws_server_socket_service_ssl(cwsi, accept_fd)) {
 			lws_close_free_wsi(cwsi, LWS_CLOSE_STATUS_NOSTATUS,
@@ -171,7 +178,11 @@ struct lws_role_ops role_ops_listen = {
 	/* close_role */		NULL,
 	/* close_kill_connection */	NULL,
 	/* destroy_role */		NULL,
+	/* adoption_bind */		NULL,
+	/* client_bind */		NULL,
 	/* writeable cb clnt, srv */	{ 0, 0 },
 	/* close cb clnt, srv */	{ 0, 0 },
+	/* protocol_bind_cb c,s */	{ 0, 0 },
+	/* protocol_unbind_cb c,s */	{ 0, 0 },
 	/* file_handle */		0,
 };
diff --git a/thirdparty/libwebsockets/roles/pipe/ops-pipe.c b/thirdparty/libwebsockets/lib/roles/pipe/ops-pipe.c
index b9348d58d7..659c9bd935 100644
--- a/thirdparty/libwebsockets/roles/pipe/ops-pipe.c
+++ b/thirdparty/libwebsockets/lib/roles/pipe/ops-pipe.c
@@ -39,6 +39,18 @@ rops_handle_POLLIN_pipe(struct lws_context_per_thread *pt, struct lws *wsi,
 	if (n < 0)
 		return LWS_HPI_RET_PLEASE_CLOSE_ME;
 #endif
+
+#if defined(LWS_WITH_THREADPOOL)
+	/*
+	 * threadpools that need to call for on_writable callbacks do it by
+	 * marking the task as needing one for its wsi, then cancelling service.
+	 *
+	 * Each tsi will call this to perform the actual callback_on_writable
+	 * from the correct service thread context
+	 */
+	lws_threadpool_tsi_context(pt->context, pt->tid);
+#endif
+
 	/*
 	 * the poll() wait, or the event loop for libuv etc is a
 	 * process-wide resource that we interrupted.  So let every
@@ -75,7 +87,11 @@ struct lws_role_ops role_ops_pipe = {
 	/* close_role */		NULL,
 	/* close_kill_connection */	NULL,
 	/* destroy_role */		NULL,
+	/* adoption_bind */		NULL,
+	/* client_bind */		NULL,
 	/* writeable cb clnt, srv */	{ 0, 0 },
 	/* close cb clnt, srv */	{ 0, 0 },
+	/* protocol_bind_cb c,s */	{ 0, 0 },
+	/* protocol_unbind_cb c,s */	{ 0, 0 },
 	/* file_handle */		1,
 };
diff --git a/thirdparty/libwebsockets/roles/private.h b/thirdparty/libwebsockets/lib/roles/private.h
index ae4278b5d3..5f93b86e8f 100644
--- a/thirdparty/libwebsockets/roles/private.h
+++ b/thirdparty/libwebsockets/lib/roles/private.h
@@ -148,9 +148,11 @@ enum lwsi_state {
 };
 
 #define lwsi_state(wsi) ((enum lwsi_state)(wsi->wsistate & LRS_MASK))
-#define lwsi_state_PRE_CLOSE(wsi) ((enum lwsi_state)(wsi->wsistate_pre_close & LRS_MASK))
+#define lwsi_state_PRE_CLOSE(wsi) \
+		((enum lwsi_state)(wsi->wsistate_pre_close & LRS_MASK))
 #define lwsi_state_est(wsi) (!(wsi->wsistate & LWSIFS_NOT_EST))
-#define lwsi_state_est_PRE_CLOSE(wsi) (!(wsi->wsistate_pre_close & LWSIFS_NOT_EST))
+#define lwsi_state_est_PRE_CLOSE(wsi) \
+		(!(wsi->wsistate_pre_close & LWSIFS_NOT_EST))
 #define lwsi_state_can_handle_POLLOUT(wsi) (wsi->wsistate & LWSIFS_POCB)
 #if !defined (_DEBUG)
 #define lwsi_set_state(wsi, lrs) wsi->wsistate = \
@@ -159,6 +161,8 @@ enum lwsi_state {
 void lwsi_set_state(struct lws *wsi, lws_wsi_state_t lrs);
 #endif
 
+#define _LWS_ADOPT_FINISH (1 << 24)
+
 /*
  * internal role-specific ops
  */
@@ -217,6 +221,16 @@ struct lws_role_ops {
 	/* role-specific destructor */
 	int (*destroy_role)(struct lws *wsi);
 
+	/* role-specific socket-adopt */
+	int (*adoption_bind)(struct lws *wsi, int type, const char *prot);
+	/* role-specific client-bind:
+	 * ret 1 = bound, 0 = not bound, -1 = fail out
+	 * i may be NULL, indicating client_bind is being called after
+	 * a successful bind earlier, to finalize the binding.  In that
+	 * case ret 0 = OK, 1 = fail, wsi needs freeing, -1 = fail, wsi freed */
+	int (*client_bind)(struct lws *wsi,
+			   const struct lws_client_connect_info *i);
+
 	/*
 	 * the callback reasons for WRITEABLE for client, server
 	 * (just client applies if no concept of client or server)
@@ -227,6 +241,16 @@ struct lws_role_ops {
 	 * (just client applies if no concept of client or server)
 	 */
 	uint16_t close_cb[2];
+	/*
+	 * the callback reasons for protocol bind for client, server
+	 * (just client applies if no concept of client or server)
+	 */
+	uint16_t protocol_bind_cb[2];
+	/*
+	 * the callback reasons for protocol unbind for client, server
+	 * (just client applies if no concept of client or server)
+	 */
+	uint16_t protocol_unbind_cb[2];
 
 	unsigned int file_handle:1; /* role operates on files not sockets */
 };
@@ -267,6 +291,12 @@ extern struct lws_role_ops role_ops_raw_skt, role_ops_raw_file, role_ops_listen,
  #define lwsi_role_cgi(wsi) (0)
 #endif
 
+#if defined(LWS_ROLE_DBUS)
+ #include "roles/dbus/private.h"
+#else
+ #define lwsi_role_dbus(wsi) (0)
+#endif
+
 enum {
 	LWS_HP_RET_BAIL_OK,
 	LWS_HP_RET_BAIL_DIE,
@@ -280,3 +310,6 @@ enum {
 	LWS_UPG_RET_CONTINUE,
 	LWS_UPG_RET_BAIL
 };
+
+int
+lws_role_call_adoption_bind(struct lws *wsi, int type, const char *prot);
diff --git a/thirdparty/libwebsockets/lib/roles/raw-file/ops-raw-file.c b/thirdparty/libwebsockets/lib/roles/raw-file/ops-raw-file.c
new file mode 100644
index 0000000000..075a2ee8b1
--- /dev/null
+++ b/thirdparty/libwebsockets/lib/roles/raw-file/ops-raw-file.c
@@ -0,0 +1,108 @@
+/*
+ * libwebsockets - small server side websockets and web server implementation
+ *
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation:
+ *  version 2.1 of the License.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ *  MA  02110-1301  USA
+ */
+
+#include <core/private.h>
+
+static int
+rops_handle_POLLIN_raw_file(struct lws_context_per_thread *pt, struct lws *wsi,
+			    struct lws_pollfd *pollfd)
+{
+	int n;
+
+	if (pollfd->revents & LWS_POLLOUT) {
+		n = lws_callback_as_writeable(wsi);
+		if (lws_change_pollfd(wsi, LWS_POLLOUT, 0)) {
+			lwsl_info("failed at set pollfd\n");
+			return LWS_HPI_RET_WSI_ALREADY_DIED;
+		}
+		if (n)
+			return LWS_HPI_RET_PLEASE_CLOSE_ME;
+	}
+
+	if (pollfd->revents & LWS_POLLIN) {
+		if (user_callback_handle_rxflow(wsi->protocol->callback,
+						wsi, LWS_CALLBACK_RAW_RX_FILE,
+						wsi->user_space, NULL, 0)) {
+			lwsl_debug("raw rx callback closed it\n");
+			return LWS_HPI_RET_PLEASE_CLOSE_ME;
+		}
+	}
+
+	if (pollfd->revents & LWS_POLLHUP)
+		return LWS_HPI_RET_PLEASE_CLOSE_ME;
+
+	return LWS_HPI_RET_HANDLED;
+}
+
+#if !defined(LWS_NO_SERVER)
+static int
+rops_adoption_bind_raw_file(struct lws *wsi, int type, const char *vh_prot_name)
+{
+	/* no socket or http: it can only be a raw file */
+	if ((type & LWS_ADOPT_HTTP) || (type & LWS_ADOPT_SOCKET) ||
+	    (type & _LWS_ADOPT_FINISH))
+		return 0; /* no match */
+
+	lws_role_transition(wsi, 0, LRS_ESTABLISHED, &role_ops_raw_file);
+
+	if (!vh_prot_name)
+		wsi->protocol = &wsi->vhost->protocols[
+					wsi->vhost->default_protocol_index];
+
+	return 1; /* bound */
+}
+#endif
+
+struct lws_role_ops role_ops_raw_file = {
+	/* role name */			"raw-file",
+	/* alpn id */			NULL,
+	/* check_upgrades */		NULL,
+	/* init_context */		NULL,
+	/* init_vhost */		NULL,
+	/* destroy_vhost */		NULL,
+	/* periodic_checks */		NULL,
+	/* service_flag_pending */	NULL,
+	/* handle_POLLIN */		rops_handle_POLLIN_raw_file,
+	/* handle_POLLOUT */		NULL,
+	/* perform_user_POLLOUT */	NULL,
+	/* callback_on_writable */	NULL,
+	/* tx_credit */			NULL,
+	/* write_role_protocol */	NULL,
+	/* encapsulation_parent */	NULL,
+	/* alpn_negotiated */		NULL,
+	/* close_via_role_protocol */	NULL,
+	/* close_role */		NULL,
+	/* close_kill_connection */	NULL,
+	/* destroy_role */		NULL,
+#if !defined(LWS_NO_SERVER)
+	/* adoption_bind */		rops_adoption_bind_raw_file,
+#else
+					NULL,
+#endif
+	/* client_bind */		NULL,
+	/* writeable cb clnt, srv */	{ LWS_CALLBACK_RAW_WRITEABLE_FILE, 0 },
+	/* close cb clnt, srv */	{ LWS_CALLBACK_RAW_CLOSE_FILE, 0 },
+	/* protocol_bind cb c, srv */	{ LWS_CALLBACK_RAW_FILE_BIND_PROTOCOL,
+					  LWS_CALLBACK_RAW_FILE_BIND_PROTOCOL },
+	/* protocol_unbind cb c, srv */	{ LWS_CALLBACK_RAW_FILE_DROP_PROTOCOL,
+					  LWS_CALLBACK_RAW_FILE_DROP_PROTOCOL },
+	/* file_handle */		1,
+};
diff --git a/thirdparty/libwebsockets/roles/raw/ops-raw.c b/thirdparty/libwebsockets/lib/roles/raw-skt/ops-raw-skt.c
index 68b52bded6..8b94de4bed 100644
--- a/thirdparty/libwebsockets/roles/raw/ops-raw.c
+++ b/thirdparty/libwebsockets/lib/roles/raw-skt/ops-raw-skt.c
@@ -30,12 +30,12 @@ rops_handle_POLLIN_raw_skt(struct lws_context_per_thread *pt, struct lws *wsi,
 
 	/* pending truncated sends have uber priority */
 
-	if (wsi->trunc_len) {
+	if (lws_has_buffered_out(wsi)) {
 		if (!(pollfd->revents & LWS_POLLOUT))
 			return LWS_HPI_RET_HANDLED;
 
-		if (lws_issue_raw(wsi, wsi->trunc_alloc + wsi->trunc_offset,
-				  wsi->trunc_len) < 0)
+		/* drain the output buflist */
+		if (lws_issue_raw(wsi, NULL, 0) < 0)
 			goto fail;
 		/*
 		 * we can't afford to allow input processing to send
@@ -109,7 +109,7 @@ try_pollout:
 				LWSSTATS_C_WRITEABLE_CB, 1);
 #if defined(LWS_WITH_STATS)
 	if (wsi->active_writable_req_us) {
-		uint64_t ul = time_in_microseconds() -
+		uint64_t ul = lws_time_in_microseconds() -
 				wsi->active_writable_req_us;
 
 		lws_stats_atomic_bump(wsi->context, pt,
@@ -135,38 +135,62 @@ fail:
 	return LWS_HPI_RET_WSI_ALREADY_DIED;
 }
 
+#if !defined(LWS_NO_SERVER)
+static int
+rops_adoption_bind_raw_skt(struct lws *wsi, int type, const char *vh_prot_name)
+{
+	/* no http but socket... must be raw skt */
+	if ((type & LWS_ADOPT_HTTP) || !(type & LWS_ADOPT_SOCKET) ||
+	    (type & _LWS_ADOPT_FINISH))
+		return 0; /* no match */
+
+#if !defined(LWS_WITH_ESP32)
+	if (type & LWS_ADOPT_FLAG_UDP)
+		/*
+		 * these can be >128 bytes, so just alloc for UDP
+		 */
+		wsi->udp = lws_malloc(sizeof(*wsi->udp), "udp struct");
+#endif
 
+	lws_role_transition(wsi, 0, (type & LWS_ADOPT_ALLOW_SSL) ? LRS_SSL_INIT :
+				LRS_ESTABLISHED, &role_ops_raw_skt);
+
+	if (vh_prot_name)
+		lws_bind_protocol(wsi, wsi->protocol, __func__);
+	else
+		/* this is the only time he will transition */
+		lws_bind_protocol(wsi,
+			&wsi->vhost->protocols[wsi->vhost->raw_protocol_index],
+			__func__);
+
+	return 1; /* bound */
+}
+#endif
+
+#if !defined(LWS_NO_CLIENT)
 static int
-rops_handle_POLLIN_raw_file(struct lws_context_per_thread *pt, struct lws *wsi,
-			    struct lws_pollfd *pollfd)
+rops_client_bind_raw_skt(struct lws *wsi,
+			 const struct lws_client_connect_info *i)
 {
-	int n;
+	if (!i) {
 
-	if (pollfd->revents & LWS_POLLOUT) {
-		n = lws_callback_as_writeable(wsi);
-		if (lws_change_pollfd(wsi, LWS_POLLOUT, 0)) {
-			lwsl_info("failed at set pollfd\n");
-			return LWS_HPI_RET_WSI_ALREADY_DIED;
-		}
-		if (n)
-			return LWS_HPI_RET_PLEASE_CLOSE_ME;
-	}
+		/* finalize */
 
-	if (pollfd->revents & LWS_POLLIN) {
-		if (user_callback_handle_rxflow(wsi->protocol->callback,
-						wsi, LWS_CALLBACK_RAW_RX_FILE,
-						wsi->user_space, NULL, 0)) {
-			lwsl_debug("raw rx callback closed it\n");
-			return LWS_HPI_RET_PLEASE_CLOSE_ME;
-		}
+		if (!wsi->user_space && wsi->stash->method)
+			if (lws_ensure_user_space(wsi))
+				return 1;
+
+		return 0;
 	}
 
-	if (pollfd->revents & LWS_POLLHUP)
-		return LWS_HPI_RET_PLEASE_CLOSE_ME;
+	/* we are a fallback if nothing else matched */
 
-	return LWS_HPI_RET_HANDLED;
-}
+	lws_role_transition(wsi, LWSIFR_CLIENT, LRS_UNCONNECTED,
+			    &role_ops_raw_skt);
 
+	return 1; /* matched */
+}
+#endif
 
 struct lws_role_ops role_ops_raw_skt = {
 	/* role name */			"raw-skt",
@@ -189,35 +213,21 @@ struct lws_role_ops role_ops_raw_skt = {
 	/* close_role */		NULL,
 	/* close_kill_connection */	NULL,
 	/* destroy_role */		NULL,
+#if !defined(LWS_NO_SERVER)
+	/* adoption_bind */		rops_adoption_bind_raw_skt,
+#else
+					NULL,
+#endif
+#if !defined(LWS_NO_CLIENT)
+	/* client_bind */		rops_client_bind_raw_skt,
+#else
+					NULL,
+#endif
 	/* writeable cb clnt, srv */	{ LWS_CALLBACK_RAW_WRITEABLE, 0 },
 	/* close cb clnt, srv */	{ LWS_CALLBACK_RAW_CLOSE, 0 },
+	/* protocol_bind cb c, srv */	{ LWS_CALLBACK_RAW_SKT_BIND_PROTOCOL,
+					  LWS_CALLBACK_RAW_SKT_BIND_PROTOCOL },
+	/* protocol_unbind cb c, srv */	{ LWS_CALLBACK_RAW_SKT_DROP_PROTOCOL,
+					  LWS_CALLBACK_RAW_SKT_DROP_PROTOCOL },
 	/* file_handle */		0,
 };
-
-
-
-struct lws_role_ops role_ops_raw_file = {
-	/* role name */			"raw-file",
-	/* alpn id */			NULL,
-	/* check_upgrades */		NULL,
-	/* init_context */		NULL,
-	/* init_vhost */		NULL,
-	/* destroy_vhost */		NULL,
-	/* periodic_checks */		NULL,
-	/* service_flag_pending */	NULL,
-	/* handle_POLLIN */		rops_handle_POLLIN_raw_file,
-	/* handle_POLLOUT */		NULL,
-	/* perform_user_POLLOUT */	NULL,
-	/* callback_on_writable */	NULL,
-	/* tx_credit */			NULL,
-	/* write_role_protocol */	NULL,
-	/* encapsulation_parent */	NULL,
-	/* alpn_negotiated */		NULL,
-	/* close_via_role_protocol */	NULL,
-	/* close_role */		NULL,
-	/* close_kill_connection */	NULL,
-	/* destroy_role */		NULL,
-	/* writeable cb clnt, srv */	{ LWS_CALLBACK_RAW_WRITEABLE_FILE, 0 },
-	/* close cb clnt, srv */	{ LWS_CALLBACK_RAW_CLOSE_FILE, 0 },
-	/* file_handle */		1,
-};
diff --git a/thirdparty/libwebsockets/roles/ws/client-parser-ws.c b/thirdparty/libwebsockets/lib/roles/ws/client-parser-ws.c
index aa561ce034..f5aaa6dbb5 100644
--- a/thirdparty/libwebsockets/roles/ws/client-parser-ws.c
+++ b/thirdparty/libwebsockets/lib/roles/ws/client-parser-ws.c
@@ -1,7 +1,7 @@
 /*
  * libwebsockets - small server side websockets and web server implementation
  *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
  *
  *  This library is free software; you can redistribute it and/or
  *  modify it under the terms of the GNU Lesser General Public
@@ -399,9 +399,11 @@ spill:
 
 			memcpy(wsi->ws->ping_payload_buf + LWS_PRE, pp,
 			       wsi->ws->rx_ubuf_head);
-			wsi->ws->close_in_ping_buffer_len = wsi->ws->rx_ubuf_head;
+			wsi->ws->close_in_ping_buffer_len =
+					wsi->ws->rx_ubuf_head;
 
-			lwsl_info("%s: scheduling return close as ack\n", __func__);
+			lwsl_info("%s: scheduling return close as ack\n",
+				  __func__);
 			__lws_change_pollfd(wsi, LWS_POLLIN, 0);
 			lws_set_timeout(wsi, PENDING_TIMEOUT_CLOSE_SEND, 3);
 			wsi->waiting_to_send_close_frame = 1;
@@ -437,7 +439,7 @@ spill:
 			/* stash the pong payload */
 			memcpy(wsi->ws->ping_payload_buf + LWS_PRE,
 			       &wsi->ws->rx_ubuf[LWS_PRE],
-				wsi->ws->rx_ubuf_head);
+			       wsi->ws->rx_ubuf_head);
 
 			wsi->ws->ping_payload_len = wsi->ws->rx_ubuf_head;
 			wsi->ws->ping_pending_flag = 1;
@@ -450,7 +452,7 @@ ping_drop:
 			break;
 
 		case LWSWSOPC_PONG:
-			lwsl_info("client receied pong\n");
+			lwsl_info("client received pong\n");
 			lwsl_hexdump(&wsi->ws->rx_ubuf[LWS_PRE],
 				     wsi->ws->rx_ubuf_head);
 
@@ -488,9 +490,6 @@ ping_drop:
 		ebuf.token = &wsi->ws->rx_ubuf[LWS_PRE];
 		ebuf.len = wsi->ws->rx_ubuf_head;
 
-		if (wsi->ws->opcode == LWSWSOPC_PONG && !ebuf.len)
-			goto already_done;
-
 #if !defined(LWS_WITHOUT_EXTENSIONS)
 drain_extension:
 		lwsl_ext("%s: passing %d to ext\n", __func__, ebuf.len);
@@ -504,14 +503,12 @@ drain_extension:
 #endif
 		lwsl_debug("post inflate ebuf len %d\n", ebuf.len);
 
-		if (
 #if !defined(LWS_WITHOUT_EXTENSIONS)
-		    rx_draining_ext &&
-#endif
-		    !ebuf.len) {
+		if (rx_draining_ext && !ebuf.len) {
 			lwsl_debug("   --- ending drain on 0 read result\n");
 			goto already_done;
 		}
+#endif
 
 		if (wsi->ws->check_utf8 && !wsi->ws->defeat_check_utf8) {
 			if (lws_check_utf8(&wsi->ws->utf8,
diff --git a/thirdparty/libwebsockets/roles/ws/client-ws.c b/thirdparty/libwebsockets/lib/roles/ws/client-ws.c
index fd6cf42551..d88833f381 100644
--- a/thirdparty/libwebsockets/roles/ws/client-ws.c
+++ b/thirdparty/libwebsockets/lib/roles/ws/client-ws.c
@@ -40,7 +40,8 @@ strtolower(char *s)
 }
 
 int
-lws_create_client_ws_object(struct lws_client_connect_info *i, struct lws *wsi)
+lws_create_client_ws_object(const struct lws_client_connect_info *i,
+			    struct lws *wsi)
 {
 	int v = SPEC_LATEST_SUPPORTED;
 
@@ -113,7 +114,7 @@ lws_ws_handshake_client(struct lws *wsi, unsigned char **buf, size_t len)
 #endif
 
 char *
-lws_generate_client_ws_handshake(struct lws *wsi, char *p)
+lws_generate_client_ws_handshake(struct lws *wsi, char *p, const char *conn1)
 {
 	char buf[128], hash[20], key_b64[40];
 	int n;
@@ -135,8 +136,8 @@ lws_generate_client_ws_handshake(struct lws *wsi, char *p)
 	lws_b64_encode_string(hash, 16, key_b64, sizeof(key_b64));
 
 	p += sprintf(p, "Upgrade: websocket\x0d\x0a"
-			"Connection: Upgrade\x0d\x0a"
-			"Sec-WebSocket-Key: ");
+			"Connection: %sUpgrade\x0d\x0a"
+			"Sec-WebSocket-Key: ", conn1);
 	strcpy(p, key_b64);
 	p += strlen(key_b64);
 	p += sprintf(p, "\x0d\x0a");
@@ -203,10 +204,12 @@ lws_generate_client_ws_handshake(struct lws *wsi, char *p)
 int
 lws_client_ws_upgrade(struct lws *wsi, const char **cce)
 {
-	int n, len, okay = 0;
 	struct lws_context *context = wsi->context;
+	struct lws_tokenize ts;
+	int n, len, okay = 0;
+	lws_tokenize_elem e;
+	char *p, buf[64];
 	const char *pc;
-	char *p;
 #if !defined(LWS_WITHOUT_EXTENSIONS)
 	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
 	char *sb = (char *)&pt->serv_buf[0];
@@ -214,8 +217,8 @@ lws_client_ws_upgrade(struct lws *wsi, const char **cce)
 	const struct lws_extension *ext;
 	char ext_name[128];
 	const char *c, *a;
-	char ignore;
 	int more = 1;
+	char ignore;
 #endif
 
 	if (wsi->client_h2_substream) {/* !!! client ws-over-h2 not there yet */
@@ -261,18 +264,31 @@ lws_client_ws_upgrade(struct lws *wsi, const char **cce)
 		goto bail3;
 	}
 
-	p = lws_hdr_simple_ptr(wsi, WSI_TOKEN_CONNECTION);
-	if (!p) {
-		lwsl_info("no Connection hdr\n");
-		*cce = "HS: CONNECTION missing";
-		goto bail3;
-	}
-	strtolower(p);
-	if (strcmp(p, "upgrade")) {
-		lwsl_warn("lws_client_int_s_hs: bad header %s\n", p);
-		*cce = "HS: UPGRADE malformed";
-		goto bail3;
-	}
+	/* connection: must have "upgrade" */
+
+	lws_tokenize_init(&ts, buf, LWS_TOKENIZE_F_COMMA_SEP_LIST |
+				    LWS_TOKENIZE_F_MINUS_NONTERM);
+	ts.len = lws_hdr_copy(wsi, buf, sizeof(buf) - 1, WSI_TOKEN_CONNECTION);
+	if (ts.len <= 0) /* won't fit, or absent */
+		goto bad_conn_format;
+
+	do {
+		e = lws_tokenize(&ts);
+		switch (e) {
+		case LWS_TOKZE_TOKEN:
+			if (!strcasecmp(ts.token, "upgrade"))
+				e = LWS_TOKZE_ENDED;
+			break;
+
+		case LWS_TOKZE_DELIMITER:
+			break;
+
+		default: /* includes ENDED */
+bad_conn_format:
+			*cce = "HS: UPGRADE malformed";
+			goto bail3;
+		}
+	} while (e > 0);
 
 	pc = lws_hdr_simple_ptr(wsi, _WSI_TOKEN_CLIENT_SENT_PROTOCOLS);
 	if (!pc) {
@@ -308,7 +324,7 @@ lws_client_ws_upgrade(struct lws *wsi, const char **cce)
 		}
 		while (*pc && *pc++ != ',')
 			;
-		while (*pc && *pc == ' ')
+		while (*pc == ' ')
 			pc++;
 	}
 
@@ -376,22 +392,7 @@ check_extensions:
 	 * X <-> pAn <-> pB
 	 */
 
-	lws_vhost_lock(wsi->vhost);
-
-	wsi->same_vh_protocol_prev = /* guy who points to us */
-		&wsi->vhost->same_vh_protocol_list[n];
-	wsi->same_vh_protocol_next = /* old first guy is our next */
-			wsi->vhost->same_vh_protocol_list[n];
-	/* we become the new first guy */
-	wsi->vhost->same_vh_protocol_list[n] = wsi;
-
-	if (wsi->same_vh_protocol_next)
-		/* old first guy points back to us now */
-		wsi->same_vh_protocol_next->same_vh_protocol_prev =
-				&wsi->same_vh_protocol_next;
-	wsi->on_same_vh_list = 1;
-
-	lws_vhost_unlock(wsi->vhost);
+	lws_same_vh_protocol_insert(wsi, n);
 
 #if !defined(LWS_WITHOUT_EXTENSIONS)
 	/* instantiate the accepted extensions */
@@ -468,7 +469,8 @@ check_extensions:
 
 			if (ext->callback(lws_get_context(wsi), ext, wsi,
 				   LWS_EXT_CB_CLIENT_CONSTRUCT,
-				   (void *)&wsi->ws->act_ext_user[wsi->ws->count_act_ext],
+				   (void *)&wsi->ws->act_ext_user[
+				                        wsi->ws->count_act_ext],
 				   (void *)&opts, 0)) {
 				lwsl_info(" ext %s failed construction\n",
 					  ext_name);
@@ -490,8 +492,10 @@ check_extensions:
 			}
 
 			if (ext_name[0] &&
-			    lws_ext_parse_options(ext, wsi, wsi->ws->act_ext_user[
-						  wsi->ws->count_act_ext], opts, ext_name,
+			    lws_ext_parse_options(ext, wsi,
+					          wsi->ws->act_ext_user[
+						        wsi->ws->count_act_ext],
+					          opts, ext_name,
 						  (int)strlen(ext_name))) {
 				lwsl_err("%s: unable to parse user defaults '%s'",
 					 __func__, ext_name);
@@ -503,7 +507,8 @@ check_extensions:
 			 * give the extension the server options
 			 */
 			if (a && lws_ext_parse_options(ext, wsi,
-					wsi->ws->act_ext_user[wsi->ws->count_act_ext],
+					wsi->ws->act_ext_user[
+					                wsi->ws->count_act_ext],
 					opts, a, lws_ptr_diff(c, a))) {
 				lwsl_err("%s: unable to parse remote def '%s'",
 					 __func__, a);
diff --git a/thirdparty/libwebsockets/roles/ws/ops-ws.c b/thirdparty/libwebsockets/lib/roles/ws/ops-ws.c
index 5ddaba9e18..1cbc6ac6a6 100644
--- a/thirdparty/libwebsockets/roles/ws/ops-ws.c
+++ b/thirdparty/libwebsockets/lib/roles/ws/ops-ws.c
@@ -155,7 +155,9 @@ handle_first:
 			if (wsi->ws->opcode == LWSWSOPC_BINARY_FRAME)
 				wsi->ws->check_utf8 = 0;
 			if (wsi->ws->continuation_possible) {
-				lws_close_reason(wsi, LWS_CLOSE_STATUS_PROTOCOL_ERR, (uint8_t *)"bad cont", 8);
+				lws_close_reason(wsi,
+					LWS_CLOSE_STATUS_PROTOCOL_ERR,
+					(uint8_t *)"bad cont", 8);
 				return -1;
 			}
 			wsi->ws->rsv_first_msg = (c & 0x70);
@@ -166,7 +168,9 @@ handle_first:
 			break;
 		case LWSWSOPC_CONTINUATION:
 			if (!wsi->ws->continuation_possible) {
-				lws_close_reason(wsi, LWS_CLOSE_STATUS_PROTOCOL_ERR, (uint8_t *)"bad cont", 8);
+				lws_close_reason(wsi,
+					LWS_CLOSE_STATUS_PROTOCOL_ERR,
+					(uint8_t *)"bad cont", 8);
 				return -1;
 			}
 			break;
@@ -184,7 +188,8 @@ handle_first:
 		case 0xd:
 		case 0xe:
 		case 0xf:
-			lws_close_reason(wsi, LWS_CLOSE_STATUS_PROTOCOL_ERR, (uint8_t *)"bad opc", 7);
+			lws_close_reason(wsi, LWS_CLOSE_STATUS_PROTOCOL_ERR,
+					(uint8_t *)"bad opc", 7);
 			lwsl_info("illegal opcode\n");
 			return -1;
 		}
@@ -193,7 +198,8 @@ handle_first:
 		    (wsi->ws->opcode == LWSWSOPC_TEXT_FRAME ||
 		     wsi->ws->opcode == LWSWSOPC_BINARY_FRAME)) {
 			lwsl_info("hey you owed us a FIN\n");
-			lws_close_reason(wsi, LWS_CLOSE_STATUS_PROTOCOL_ERR, (uint8_t *)"bad fin", 7);
+			lws_close_reason(wsi, LWS_CLOSE_STATUS_PROTOCOL_ERR,
+					(uint8_t *)"bad fin", 7);
 			return -1;
 		}
 		if ((!(wsi->ws->opcode & 8)) && wsi->ws->final) {
@@ -373,17 +379,19 @@ handle_first:
 		}
 		if (!(already_processed & ALREADY_PROCESSED_IGNORE_CHAR)) {
 			if (wsi->ws->all_zero_nonce)
-				wsi->ws->rx_ubuf[LWS_PRE + (wsi->ws->rx_ubuf_head++)] =
-				   c;
+				wsi->ws->rx_ubuf[LWS_PRE +
+				                 (wsi->ws->rx_ubuf_head++)] = c;
 			else
-				wsi->ws->rx_ubuf[LWS_PRE + (wsi->ws->rx_ubuf_head++)] =
+				wsi->ws->rx_ubuf[LWS_PRE +
+				                 (wsi->ws->rx_ubuf_head++)] =
 				   c ^ wsi->ws->mask[(wsi->ws->mask_idx++) & 3];
 
 			--wsi->ws->rx_packet_length;
 		}
 
 		if (!wsi->ws->rx_packet_length) {
-			lwsl_debug("%s: ws fragment length exhausted\n", __func__);
+			lwsl_debug("%s: ws fragment length exhausted\n",
+				   __func__);
 			/* spill because we have the whole frame */
 			wsi->lws_rx_parse_state = LWS_RXPS_NEW;
 			goto spill;
@@ -451,7 +459,8 @@ spill:
 				 * have to just close our end.
 				 */
 				wsi->socket_is_permanently_unusable = 1;
-				lwsl_parser("Closing on peer close due to Pending tx\n");
+				lwsl_parser("Closing on peer close "
+					    "due to pending tx\n");
 				return -1;
 			}
 
@@ -570,7 +579,8 @@ drain_extension:
 		//if (lin)
 		//	lwsl_hexdump_notice(ebuf.token, ebuf.len);
 		n = lws_ext_cb_active(wsi, LWS_EXT_CB_PAYLOAD_RX, &ebuf, 0);
-		lwsl_debug("%s: ext says %d / ebuf.len %d\n", __func__,  n, ebuf.len);
+		lwsl_debug("%s: ext says %d / ebuf.len %d\n", __func__,
+			   n, ebuf.len);
 		if (wsi->ws->rx_draining_ext)
 			already_processed &= ~ALREADY_PROCESSED_NO_CB;
 #endif
@@ -781,8 +791,7 @@ lws_server_init_wsi_for_ws(struct lws *wsi)
 	lwsl_debug("Allocating RX buffer %d\n", n);
 
 #if !defined(LWS_WITH_ESP32)
-	if (!wsi->parent_carries_io &&
-	    !wsi->h2_stream_carries_ws)
+	if (!wsi->h2_stream_carries_ws)
 		if (setsockopt(wsi->desc.sockfd, SOL_SOCKET, SO_SNDBUF,
 		       (const char *)&n, sizeof n)) {
 			lwsl_warn("Failed to set SNDBUF to %d", n);
@@ -814,9 +823,9 @@ LWS_VISIBLE int
 lws_is_final_fragment(struct lws *wsi)
 {
 #if !defined(LWS_WITHOUT_EXTENSIONS)
-       lwsl_debug("%s: final %d, rx pk length %ld, draining %ld\n", __func__,
-			wsi->ws->final, (long)wsi->ws->rx_packet_length,
-			(long)wsi->ws->rx_draining_ext);
+	lwsl_debug("%s: final %d, rx pk length %ld, draining %ld\n", __func__,
+		   wsi->ws->final, (long)wsi->ws->rx_packet_length,
+		   (long)wsi->ws->rx_draining_ext);
 	return wsi->ws->final && !wsi->ws->rx_packet_length &&
 	       !wsi->ws->rx_draining_ext;
 #else
@@ -883,8 +892,8 @@ static int
 rops_handle_POLLIN_ws(struct lws_context_per_thread *pt, struct lws *wsi,
 		       struct lws_pollfd *pollfd)
 {
-	struct lws_tokens ebuf;
 	unsigned int pending = 0;
+	struct lws_tokens ebuf;
 	char buffered = 0;
 	int n = 0, m;
 #if defined(LWS_WITH_HTTP2)
@@ -928,7 +937,9 @@ rops_handle_POLLIN_ws(struct lws_context_per_thread *pt, struct lws *wsi,
 		return LWS_HPI_RET_HANDLED;
 	}
 
-	//lwsl_notice("%s:  wsi->ws->tx_draining_ext %d revents 0x%x 0x%x %d\n", __func__,  wsi->ws->tx_draining_ext, pollfd->revents, wsi->wsistate, lwsi_state_can_handle_POLLOUT(wsi));
+	//lwsl_notice("%s:  wsi->ws->tx_draining_ext %d revents 0x%x 0x%x %d\n",
+	//__func__,  wsi->ws->tx_draining_ext, pollfd->revents, wsi->wsistate,
+	//lwsi_state_can_handle_POLLOUT(wsi));
 
 	/* 1: something requested a callback when it was OK to write */
 
@@ -977,7 +988,7 @@ rops_handle_POLLIN_ws(struct lws_context_per_thread *pt, struct lws *wsi,
 #if defined(LWS_WITH_HTTP2)
 	if (wsi->http2_substream || wsi->upgraded_to_http2) {
 		wsi1 = lws_get_network_wsi(wsi);
-		if (wsi1 && wsi1->trunc_len)
+		if (wsi1 && lws_has_buffered_out(wsi1))
 			/* We cannot deal with any kind of new RX
 			 * because we are dealing with a partial send
 			 * (new RX may trigger new http_action() that
@@ -1200,8 +1211,9 @@ int rops_handle_POLLOUT_ws(struct lws *wsi)
 		if (n >= 0) {
 			if (wsi->close_needs_ack) {
 				lwsi_set_state(wsi, LRS_AWAITING_CLOSE_ACK);
-				lws_set_timeout(wsi, PENDING_TIMEOUT_CLOSE_ACK, 5);
-				lwsl_debug("sent close indication, awaiting ack\n");
+				lws_set_timeout(wsi, PENDING_TIMEOUT_CLOSE_ACK,
+						5);
+				lwsl_debug("sent close, await ack\n");
 
 				return LWS_HP_RET_BAIL_OK;
 			}
@@ -1226,7 +1238,8 @@ int rops_handle_POLLOUT_ws(struct lws *wsi)
 				wsi->ws->ping_pending_flag = 0;
 				return LWS_HP_RET_BAIL_OK;
 			}
-			lwsl_info("issuing pong %d on wsi %p\n", wsi->ws->ping_payload_len, wsi);
+			lwsl_info("issuing pong %d on wsi %p\n",
+				  wsi->ws->ping_payload_len, wsi);
 		}
 
 		n = lws_write(wsi, &wsi->ws->ping_payload_buf[LWS_PRE],
@@ -1246,8 +1259,7 @@ int rops_handle_POLLOUT_ws(struct lws *wsi)
 		return LWS_HP_RET_BAIL_OK;
 	}
 
-	if (lwsi_role_client(wsi) && !wsi->socket_is_permanently_unusable &&
-	    wsi->ws->send_check_ping) {
+	if (!wsi->socket_is_permanently_unusable && wsi->ws->send_check_ping) {
 
 		lwsl_info("issuing ping on wsi %p\n", wsi);
 		wsi->ws->send_check_ping = 0;
@@ -1282,7 +1294,7 @@ int rops_handle_POLLOUT_ws(struct lws *wsi)
 	 *	       payload ordering, but since they are always complete
 	 *	       fragments control packets can interleave OK.
 	 */
-	if (lwsi_role_client(wsi) && wsi->ws->tx_draining_ext) {
+	if (wsi->ws->tx_draining_ext) {
 		lwsl_ext("SERVICING TX EXT DRAINING\n");
 		if (lws_write(wsi, NULL, 0, LWS_WRITE_CONTINUATION) < 0)
 			return LWS_HP_RET_BAIL_DIE;
@@ -1292,8 +1304,10 @@ int rops_handle_POLLOUT_ws(struct lws *wsi)
 
 	/* Priority 6: extensions
 	 */
-	if (!wsi->ws->extension_data_pending)
+	if (!wsi->ws->extension_data_pending && !wsi->ws->tx_draining_ext) {
+		lwsl_ext("%s: !wsi->ws->extension_data_pending\n", __func__);
 		return LWS_HP_RET_USER_SERVICE;
+	}
 
 	/*
 	 * check in on the active extensions, see if they
@@ -1401,9 +1415,12 @@ rops_periodic_checks_ws(struct lws_context *context, int tsi, time_t now)
 		lws_vhost_lock(vh);
 
 		for (n = 0; n < vh->count_protocols; n++) {
-			struct lws *wsi = vh->same_vh_protocol_list[n];
 
-			while (wsi) {
+			lws_start_foreach_dll_safe(struct lws_dll_lws *, d, d1,
+					  vh->same_vh_protocol_heads[n].next) {
+				struct lws *wsi = lws_container_of(d,
+						struct lws, same_vh_protocol);
+
 				if (lwsi_role_ws(wsi) &&
 				    !wsi->socket_is_permanently_unusable &&
 				    !wsi->ws->send_check_ping &&
@@ -1412,18 +1429,16 @@ rops_periodic_checks_ws(struct lws_context *context, int tsi, time_t now)
 					wsi->ws->time_next_ping_check) >
 				       context->ws_ping_pong_interval) {
 
-					lwsl_info("req pp on wsi %p\n",
-						  wsi);
+					lwsl_info("req pp on wsi %p\n", wsi);
 					wsi->ws->send_check_ping = 1;
 					lws_set_timeout(wsi,
 					PENDING_TIMEOUT_WS_PONG_CHECK_SEND_PING,
 						context->timeout_secs);
 					lws_callback_on_writable(wsi);
-					wsi->ws->time_next_ping_check =
-						now;
+					wsi->ws->time_next_ping_check = now;
 				}
-				wsi = wsi->same_vh_protocol_next;
-			}
+
+			} lws_end_foreach_dll_safe(d, d1);
 		}
 
 		lws_vhost_unlock(vh);
@@ -1466,6 +1481,9 @@ rops_service_flag_pending_ws(struct lws_context *context, int tsi)
 static int
 rops_close_via_role_protocol_ws(struct lws *wsi, enum lws_close_status reason)
 {
+	if (!wsi->ws)
+		return 0;
+
 	if (!wsi->ws->close_in_ping_buffer_len && /* already a reason */
 	     (reason == LWS_CLOSE_STATUS_NOSTATUS ||
 	      reason == LWS_CLOSE_STATUS_NOSTATUS_CONTEXT_DESTROY))
@@ -1494,7 +1512,11 @@ rops_close_via_role_protocol_ws(struct lws *wsi, enum lws_close_status reason)
 static int
 rops_close_role_ws(struct lws_context_per_thread *pt, struct lws *wsi)
 {
+	if (!wsi->ws)
+		return 0;
+
 #if !defined(LWS_WITHOUT_EXTENSIONS)
+
 	if (wsi->ws->rx_draining_ext) {
 		struct lws **w = &pt->ws.rx_draining_ext_list;
 
@@ -1512,7 +1534,7 @@ rops_close_role_ws(struct lws_context_per_thread *pt, struct lws *wsi)
 
 	if (wsi->ws->tx_draining_ext) {
 		struct lws **w = &pt->ws.tx_draining_ext_list;
-		lwsl_notice("%s: CLEARING tx_draining_ext\n", __func__);
+		lwsl_ext("%s: CLEARING tx_draining_ext\n", __func__);
 		wsi->ws->tx_draining_ext = 0;
 		/* remove us from context draining ext list */
 		while (*w) {
@@ -1527,10 +1549,6 @@ rops_close_role_ws(struct lws_context_per_thread *pt, struct lws *wsi)
 #endif
 	lws_free_set_NULL(wsi->ws->rx_ubuf);
 
-	if (wsi->trunc_alloc)
-		/* not going to be completed... nuke it */
-		lws_free_set_NULL(wsi->trunc_alloc);
-
 	wsi->ws->ping_payload_len = 0;
 	wsi->ws->ping_pending_flag = 0;
 
@@ -1563,7 +1581,7 @@ rops_write_role_protocol_ws(struct lws *wsi, unsigned char *buf, size_t len,
 		/* remove us from the list */
 		struct lws **w = &pt->ws.tx_draining_ext_list;
 
-		lwsl_notice("%s: CLEARING tx_draining_ext\n", __func__);
+		lwsl_ext("%s: CLEARING tx_draining_ext\n", __func__);
 		wsi->ws->tx_draining_ext = 0;
 		/* remove us from context draining ext list */
 		while (*w) {
@@ -1588,8 +1606,9 @@ rops_write_role_protocol_ws(struct lws *wsi, unsigned char *buf, size_t len,
 		if (!(wpt & LWS_WRITE_NO_FIN) && len)
 			*wp &= ~LWS_WRITE_NO_FIN;
 
-		lwsl_notice("FORCED draining wp to 0x%02X (stashed 0x%02X, incoming 0x%02X)\n", *wp,
-				wsi->ws->tx_draining_stashed_wp, wpt);
+		lwsl_ext("FORCED draining wp to 0x%02X "
+			 "(stashed 0x%02X, incoming 0x%02X)\n", *wp,
+			 wsi->ws->tx_draining_stashed_wp, wpt);
 		// assert(0);
 	}
 #endif
@@ -1641,13 +1660,16 @@ rops_write_role_protocol_ws(struct lws *wsi, unsigned char *buf, size_t len,
 		n = lws_ext_cb_active(wsi, LWS_EXT_CB_PAYLOAD_TX, &ebuf, *wp);
 		if (n < 0)
 			return -1;
-		// lwsl_notice("ext processed %d plaintext into %d compressed (wp 0x%x)\n", m, (int)ebuf.len, *wp);
+		// lwsl_notice("ext processed %d plaintext into %d compressed"
+		//	       " (wp 0x%x)\n", m, (int)ebuf.len, *wp);
 
 		if (n && ebuf.len) {
-			lwsl_notice("write drain len %d (wp 0x%x) SETTING tx_draining_ext\n", (int)ebuf.len, *wp);
+			lwsl_ext("write drain len %d (wp 0x%x) SETTING "
+				 "tx_draining_ext\n", (int)ebuf.len, *wp);
 			/* extension requires further draining */
 			wsi->ws->tx_draining_ext = 1;
-			wsi->ws->tx_draining_ext_list = pt->ws.tx_draining_ext_list;
+			wsi->ws->tx_draining_ext_list =
+					pt->ws.tx_draining_ext_list;
 			pt->ws.tx_draining_ext_list = wsi;
 			/* we must come back to do more */
 			lws_callback_on_writable(wsi);
@@ -1684,7 +1706,8 @@ rops_write_role_protocol_ws(struct lws *wsi, unsigned char *buf, size_t len,
 		 */
 		if (len && !ebuf.len) {
 			if (!wsi->ws->stashed_write_pending)
-				wsi->ws->stashed_write_type = (char)(*wp) & 0x3f;
+				wsi->ws->stashed_write_type =
+						(char)(*wp) & 0x3f;
 			wsi->ws->stashed_write_pending = 1;
 			return (int)len;
 		}
@@ -1806,7 +1829,7 @@ do_more_inside_frame:
 
 		assert(encap != wsi);
 		return encap->role_ops->write_role_protocol(wsi, buf - pre,
-							len + pre, wp);
+							    len + pre, wp);
 	}
 
 	switch ((*wp) & 0x1f) {
@@ -1984,9 +2007,15 @@ struct lws_role_ops role_ops_ws = {
 	/* close_role */		rops_close_role_ws,
 	/* close_kill_connection */	rops_close_kill_connection_ws,
 	/* destroy_role */		rops_destroy_role_ws,
+	/* adoption_bind */		NULL,
+	/* client_bind */		NULL,
 	/* writeable cb clnt, srv */	{ LWS_CALLBACK_CLIENT_WRITEABLE,
 					  LWS_CALLBACK_SERVER_WRITEABLE },
 	/* close cb clnt, srv */	{ LWS_CALLBACK_CLIENT_CLOSED,
 					  LWS_CALLBACK_CLOSED },
+	/* protocol_bind cb c, srv */	{ LWS_CALLBACK_WS_CLIENT_BIND_PROTOCOL,
+					  LWS_CALLBACK_WS_SERVER_BIND_PROTOCOL },
+	/* protocol_unbind cb c, srv */	{ LWS_CALLBACK_WS_CLIENT_DROP_PROTOCOL,
+					  LWS_CALLBACK_WS_SERVER_DROP_PROTOCOL },
 	/* file handles */		0
 };
diff --git a/thirdparty/libwebsockets/roles/ws/private.h b/thirdparty/libwebsockets/lib/roles/ws/private.h
index 71ffcaea96..71ffcaea96 100644
--- a/thirdparty/libwebsockets/roles/ws/private.h
+++ b/thirdparty/libwebsockets/lib/roles/ws/private.h
diff --git a/thirdparty/libwebsockets/roles/ws/server-ws.c b/thirdparty/libwebsockets/lib/roles/ws/server-ws.c
index 62bcd8524f..bdc45367d4 100644
--- a/thirdparty/libwebsockets/roles/ws/server-ws.c
+++ b/thirdparty/libwebsockets/lib/roles/ws/server-ws.c
@@ -104,7 +104,7 @@ lws_extension_server_handshake(struct lws *wsi, char **p, int budget)
 				continue;
 		}
 
-		while (args && *args && *args == ' ')
+		while (args && *args == ' ')
 			args++;
 
 		/* check a client's extension against our support */
@@ -124,7 +124,7 @@ lws_extension_server_handshake(struct lws *wsi, char **p, int budget)
 			 */
 			for (m = 0; m < wsi->ws->count_act_ext; m++)
 				if (wsi->ws->active_extensions[m] == ext) {
-					lwsl_info("extension mentioned twice\n");
+					lwsl_info("ext mentioned twice\n");
 					return 1; /* shenanigans */
 				}
 
@@ -209,16 +209,17 @@ lws_extension_server_handshake(struct lws *wsi, char **p, int budget)
 					oa.len = 0;
 					lwsl_info("setting '%s'\n", po->name);
 					if (!ext->callback(lws_get_context(wsi),
-							  ext, wsi,
-							  LWS_EXT_CB_OPTION_SET,
-							  wsi->ws->act_ext_user[
-								 wsi->ws->count_act_ext],
+							   ext, wsi,
+						LWS_EXT_CB_OPTION_SET,
+						wsi->ws->act_ext_user[
+							wsi->ws->count_act_ext],
 							  &oa, (end - *p))) {
 
-						*p += lws_snprintf(*p, (end - *p),
-							"; %s", po->name);
+						*p += lws_snprintf(*p,
+								   (end - *p),
+							      "; %s", po->name);
 						lwsl_debug("adding option %s\n",
-								po->name);
+							   po->name);
 					}
 					po++;
 				}
@@ -230,7 +231,8 @@ lws_extension_server_handshake(struct lws *wsi, char **p, int budget)
 			}
 
 			wsi->ws->count_act_ext++;
-			lwsl_parser("cnt_act_ext <- %d\n", wsi->ws->count_act_ext);
+			lwsl_parser("cnt_act_ext <- %d\n",
+				    wsi->ws->count_act_ext);
 
 			if (args && *args == ',')
 				more = 0;
@@ -246,96 +248,149 @@ lws_extension_server_handshake(struct lws *wsi, char **p, int budget)
 }
 #endif
 
-
-
 int
 lws_process_ws_upgrade(struct lws *wsi)
 {
 	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
-	char protocol_list[128], protocol_name[64], *p;
-	int protocol_len, hit, n = 0, non_space_char_found = 0;
+	const struct lws_protocols *pcol = NULL;
+	char buf[128], name[64];
+	struct lws_tokenize ts;
+	lws_tokenize_elem e;
 
 	if (!wsi->protocol)
 		lwsl_err("NULL protocol at lws_read\n");
 
 	/*
+	 * We are upgrading to ws, so http/1.1 + h2 and keepalive + pipelined
+	 * header considerations about keeping the ah around no longer apply.
+	 *
+	 * However it's common for the first ws protocol data to have been
+	 * coalesced with the browser upgrade request and to already be in the
+	 * ah rx buffer.
+	 */
+
+	lws_pt_lock(pt, __func__);
+
+	if (!wsi->h2_stream_carries_ws)
+		lws_role_transition(wsi, LWSIFR_SERVER, LRS_ESTABLISHED,
+				    &role_ops_ws);
+
+	lws_pt_unlock(pt);
+
+	/*
 	 * It's either websocket or h2->websocket
 	 *
+	 * If we are on h1, confirm we got the required "connection: upgrade"
+	 * header.  h2 / ws-over-h2 does not have this.
+	 */
+
+#if defined(LWS_WITH_HTTP2)
+	if (wsi->http2_substream)
+		goto check_protocol;
+#endif
+
+	lws_tokenize_init(&ts, buf, LWS_TOKENIZE_F_COMMA_SEP_LIST |
+				    LWS_TOKENIZE_F_MINUS_NONTERM);
+	ts.len = lws_hdr_copy(wsi, buf, sizeof(buf) - 1, WSI_TOKEN_CONNECTION);
+	if (ts.len <= 0)
+		goto bad_conn_format;
+
+	do {
+		e = lws_tokenize(&ts);
+		switch (e) {
+		case LWS_TOKZE_TOKEN:
+			if (!strcasecmp(ts.token, "upgrade"))
+				e = LWS_TOKZE_ENDED;
+			break;
+
+		case LWS_TOKZE_DELIMITER:
+			break;
+
+		default: /* includes ENDED */
+bad_conn_format:
+			lwsl_err("%s: malformed or absent connection hdr\n",
+				 __func__);
+
+			return 1;
+		}
+	} while (e > 0);
+
+#if defined(LWS_WITH_HTTP2)
+check_protocol:
+#endif
+
+	/*
 	 * Select the first protocol we support from the list
 	 * the client sent us.
-	 *
-	 * Copy it to remove header fragmentation
 	 */
 
-	if (lws_hdr_copy(wsi, protocol_list, sizeof(protocol_list) - 1,
-			 WSI_TOKEN_PROTOCOL) < 0) {
-		lwsl_err("protocol list too long");
+	lws_tokenize_init(&ts, buf, LWS_TOKENIZE_F_COMMA_SEP_LIST |
+				    LWS_TOKENIZE_F_MINUS_NONTERM |
+				    LWS_TOKENIZE_F_RFC7230_DELIMS);
+	ts.len = lws_hdr_copy(wsi, buf, sizeof(buf) - 1, WSI_TOKEN_PROTOCOL);
+	if (ts.len < 0) {
+		lwsl_err("%s: protocol list too long\n", __func__);
 		return 1;
 	}
+	if (!ts.len) {
+		int n = wsi->vhost->default_protocol_index;
+		/*
+		 * some clients only have one protocol and do not send the
+		 * protocol list header... allow it and match to the vhost's
+		 * default protocol (which itself defaults to zero)
+		 */
+		lwsl_info("%s: defaulting to prot handler %d\n", __func__, n);
 
-	protocol_len = lws_hdr_total_length(wsi, WSI_TOKEN_PROTOCOL);
-	protocol_list[protocol_len] = '\0';
-	p = protocol_list;
-	hit = 0;
+		lws_bind_protocol(wsi, &wsi->vhost->protocols[n],
+				  "ws upgrade default pcol");
 
-	while (*p && !hit) {
-		n = 0;
-		non_space_char_found = 0;
-		while (n < (int)sizeof(protocol_name) - 1 &&
-		       *p && *p != ',') {
-			/* ignore leading spaces */
-			if (!non_space_char_found && *p == ' ') {
-				n++;
-				continue;
-			}
-			non_space_char_found = 1;
-			protocol_name[n++] = *p++;
-		}
-		protocol_name[n] = '\0';
-		if (*p)
-			p++;
+		goto alloc_ws;
+	}
 
-		lwsl_debug("checking %s\n", protocol_name);
+	/* otherwise go through the user-provided protocol list */
 
-		n = 0;
-		while (wsi->vhost->protocols[n].callback) {
-			lwsl_debug("try %s\n",
-				  wsi->vhost->protocols[n].name);
-
-			if (wsi->vhost->protocols[n].name &&
-			    !strcmp(wsi->vhost->protocols[n].name,
-				    protocol_name)) {
-				wsi->protocol = &wsi->vhost->protocols[n];
-				hit = 1;
-				break;
+	do {
+		e = lws_tokenize(&ts);
+		switch (e) {
+		case LWS_TOKZE_TOKEN:
+
+			if (lws_tokenize_cstr(&ts, name, sizeof(name))) {
+				lwsl_err("%s: pcol name too long\n", __func__);
+
+				return 1;
+			}
+			lwsl_debug("checking %s\n", name);
+			pcol = lws_vhost_name_to_protocol(wsi->vhost, name);
+			if (pcol) {
+				/* if we know it, bind to it and stop looking */
+				lws_bind_protocol(wsi, pcol, "ws upg pcol");
+				e = LWS_TOKZE_ENDED;
 			}
+			break;
 
-			n++;
-		}
-	}
+		case LWS_TOKZE_DELIMITER:
+		case LWS_TOKZE_ENDED:
+			break;
 
-	/* we didn't find a protocol he wanted? */
+		default:
+			lwsl_err("%s: malformatted protocol list", __func__);
 
-	if (!hit) {
-		if (lws_hdr_simple_ptr(wsi, WSI_TOKEN_PROTOCOL)) {
-			lwsl_notice("No protocol from \"%s\" supported\n",
-				 protocol_list);
 			return 1;
 		}
-		/*
-		 * some clients only have one protocol and
-		 * do not send the protocol list header...
-		 * allow it and match to the vhost's default
-		 * protocol (which itself defaults to zero)
-		 */
-		lwsl_info("defaulting to prot handler %d\n",
-			wsi->vhost->default_protocol_index);
-		n = wsi->vhost->default_protocol_index;
-		wsi->protocol = &wsi->vhost->protocols[
-			      (int)wsi->vhost->default_protocol_index];
+	} while (e > 0);
+
+	/* we didn't find a protocol he wanted? */
+
+	if (!pcol) {
+		lwsl_notice("No supported protocol \"%s\"\n", buf);
+
+		return 1;
 	}
 
+alloc_ws:
+
 	/* allocate the ws struct for the wsi */
+
 	wsi->ws = lws_zalloc(sizeof(*wsi->ws), "ws struct");
 	if (!wsi->ws) {
 		lwsl_notice("OOM\n");
@@ -383,6 +438,9 @@ lws_process_ws_upgrade(struct lws *wsi)
 				lwsl_notice("h2 ws handshake failed\n");
 				return 1;
 			}
+			lws_role_transition(wsi,
+					    LWSIFR_SERVER | LWSIFR_P_ENCAP_H2,
+					    LRS_ESTABLISHED, &role_ops_ws);
 		} else
 #endif
 		{
@@ -395,28 +453,6 @@ lws_process_ws_upgrade(struct lws *wsi)
 		break;
 	}
 
-	lws_same_vh_protocol_insert(wsi, n);
-
-	/*
-	 * We are upgrading to ws, so http/1.1 + h2 and keepalive + pipelined
-	 * header considerations about keeping the ah around no longer apply.
-	 *
-	 * However it's common for the first ws protocol data to have been
-	 * coalesced with the browser upgrade request and to already be in the
-	 * ah rx buffer.
-	 */
-
-	lws_pt_lock(pt, __func__);
-
-	if (wsi->h2_stream_carries_ws)
-		lws_role_transition(wsi, LWSIFR_SERVER | LWSIFR_P_ENCAP_H2,
-				    LRS_ESTABLISHED, &role_ops_ws);
-	else
-		lws_role_transition(wsi, LWSIFR_SERVER, LRS_ESTABLISHED,
-				    &role_ops_ws);
-
-	lws_pt_unlock(pt);
-
 	lws_server_init_wsi_for_ws(wsi);
 	lwsl_parser("accepted v%02d connection\n", wsi->ws->ietf_spec_revision);
 
@@ -443,7 +479,8 @@ handshake_0405(struct lws_context *context, struct lws *wsi)
 		goto bail;
 	}
 
-	if (lws_hdr_total_length(wsi, WSI_TOKEN_KEY) >= MAX_WEBSOCKET_04_KEY_LEN) {
+	if (lws_hdr_total_length(wsi, WSI_TOKEN_KEY) >=
+	    MAX_WEBSOCKET_04_KEY_LEN) {
 		lwsl_warn("Client key too long %d\n", MAX_WEBSOCKET_04_KEY_LEN);
 		goto bail;
 	}
@@ -473,7 +510,8 @@ handshake_0405(struct lws_context *context, struct lws *wsi)
 
 	/* make a buffer big enough for everything */
 
-	response = (char *)pt->serv_buf + MAX_WEBSOCKET_04_KEY_LEN + 256 + LWS_PRE;
+	response = (char *)pt->serv_buf + MAX_WEBSOCKET_04_KEY_LEN +
+		   256 + LWS_PRE;
 	p = response;
 	LWS_CPYAPP(p, "HTTP/1.1 101 Switching Protocols\x0d\x0a"
 		      "Upgrade: WebSocket\x0d\x0a"
@@ -566,9 +604,9 @@ bail:
 static int
 lws_ws_frame_rest_is_payload(struct lws *wsi, uint8_t **buf, size_t len)
 {
+	unsigned int avail = (unsigned int)len;
 	uint8_t *buffer = *buf, mask[4];
 	struct lws_tokens ebuf;
-	unsigned int avail = (unsigned int)len;
 #if !defined(LWS_WITHOUT_EXTENSIONS)
 	unsigned int old_packet_length = (int)wsi->ws->rx_packet_length;
 #endif
@@ -600,7 +638,7 @@ lws_ws_frame_rest_is_payload(struct lws *wsi, uint8_t **buf, size_t len)
 	if (avail > len)
 		avail = (unsigned int)len;
 
-	if (avail <= 0)
+	if (!avail)
 		return 0;
 
 	ebuf.token = (char *)buffer;
diff --git a/thirdparty/libwebsockets/tls/mbedtls/lws-genhash.c b/thirdparty/libwebsockets/lib/tls/mbedtls/lws-genhash.c
index ce4ee6e382..ce4ee6e382 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/lws-genhash.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/lws-genhash.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/lws-genrsa.c b/thirdparty/libwebsockets/lib/tls/mbedtls/lws-genrsa.c
index 70a9fcf42c..99b2e75653 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/lws-genrsa.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/lws-genrsa.c
@@ -36,8 +36,6 @@ lws_jwk_destroy_genrsa_elements(struct lws_genrsa_elements *el)
 LWS_VISIBLE int
 lws_genrsa_create(struct lws_genrsa_ctx *ctx, struct lws_genrsa_elements *el)
 {
-	int n;
-
 	memset(ctx, 0, sizeof(*ctx));
 	ctx->ctx = lws_zalloc(sizeof(*ctx->ctx), "genrsa");
 	if (!ctx->ctx)
@@ -46,6 +44,8 @@ lws_genrsa_create(struct lws_genrsa_ctx *ctx, struct lws_genrsa_elements *el)
 	mbedtls_rsa_init(ctx->ctx, MBEDTLS_RSA_PKCS_V15, 0);
 
 	{
+		int n;
+
 		mbedtls_mpi *mpi[LWS_COUNT_RSA_ELEMENTS] = {
 			&ctx->ctx->E, &ctx->ctx->N, &ctx->ctx->D, &ctx->ctx->P,
 			&ctx->ctx->Q, &ctx->ctx->DP, &ctx->ctx->DQ,
@@ -129,7 +129,7 @@ cleanup_1:
 
 LWS_VISIBLE int
 lws_genrsa_public_decrypt(struct lws_genrsa_ctx *ctx, const uint8_t *in,
-			   size_t in_len, uint8_t *out, size_t out_max)
+			  size_t in_len, uint8_t *out, size_t out_max)
 {
 	size_t olen = 0;
 	int n;
@@ -149,7 +149,7 @@ lws_genrsa_public_decrypt(struct lws_genrsa_ctx *ctx, const uint8_t *in,
 
 LWS_VISIBLE int
 lws_genrsa_public_encrypt(struct lws_genrsa_ctx *ctx, const uint8_t *in,
-			   size_t in_len, uint8_t *out)
+			  size_t in_len, uint8_t *out)
 {
 	int n;
 
@@ -213,8 +213,8 @@ lws_genrsa_public_verify(struct lws_genrsa_ctx *ctx, const uint8_t *in,
 
 LWS_VISIBLE int
 lws_genrsa_public_sign(struct lws_genrsa_ctx *ctx, const uint8_t *in,
-			 enum lws_genhash_types hash_type, uint8_t *sig,
-			 size_t sig_len)
+		       enum lws_genhash_types hash_type, uint8_t *sig,
+		       size_t sig_len)
 {
 	int n, h = lws_genrsa_genrsa_hash_to_mbed_hash(hash_type);
 
diff --git a/thirdparty/libwebsockets/tls/mbedtls/mbedtls-client.c b/thirdparty/libwebsockets/lib/tls/mbedtls/mbedtls-client.c
index a7864ab790..84270c15bc 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/mbedtls-client.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/mbedtls-client.c
@@ -30,7 +30,6 @@ OpenSSL_client_verify_callback(int preverify_ok, X509_STORE_CTX *x509_ctx)
 int
 lws_ssl_client_bio_create(struct lws *wsi)
 {
-	X509_VERIFY_PARAM *param;
 	char hostname[128], *p;
 	const char *alpn_comma = wsi->context->tls.alpn_default;
 	struct alpn_ctx protos;
@@ -63,7 +62,7 @@ lws_ssl_client_bio_create(struct lws *wsi)
 		SSL_set_info_callback(wsi->tls.ssl, lws_ssl_info_callback);
 
 	if (!(wsi->tls.use_ssl & LCCSCF_SKIP_SERVER_CERT_HOSTNAME_CHECK)) {
-		param = SSL_get0_param(wsi->tls.ssl);
+		X509_VERIFY_PARAM *param = SSL_get0_param(wsi->tls.ssl);
 		/* Enable automatic hostname checks */
 	//	X509_VERIFY_PARAM_set_hostflags(param,
 	//				X509_CHECK_FLAG_NO_PARTIAL_WILDCARDS);
@@ -188,6 +187,8 @@ lws_tls_client_create_vhost_context(struct lws_vhost *vh,
 				    const struct lws_context_creation_info *info,
 				    const char *cipher_list,
 				    const char *ca_filepath,
+				    const void *ca_mem,
+				    unsigned int ca_mem_len,
 				    const char *cert_filepath,
 				    const char *private_key_filepath)
 {
@@ -214,16 +215,20 @@ lws_tls_client_create_vhost_context(struct lws_vhost *vh,
 		return 1;
 	}
 
-	if (!ca_filepath)
+	if (!ca_filepath && (!ca_mem || !ca_mem_len))
 		return 0;
 
-	if (alloc_file(vh->context, ca_filepath, &buf, &len)) {
-		lwsl_err("Load CA cert file %s failed\n", ca_filepath);
-		return 1;
+	if (ca_filepath) {
+		if (alloc_file(vh->context, ca_filepath, &buf, &len)) {
+			lwsl_err("Load CA cert file %s failed\n", ca_filepath);
+			return 1;
+		}
+		vh->tls.x509_client_CA = d2i_X509(NULL, buf, len);
+		free(buf);
+	} else {
+		vh->tls.x509_client_CA = d2i_X509(NULL, (uint8_t*)ca_mem, ca_mem_len);
 	}
 
-	vh->tls.x509_client_CA = d2i_X509(NULL, buf, len);
-	free(buf);
 	if (!vh->tls.x509_client_CA) {
 		lwsl_err("client CA: x509 parse failed\n");
 		return 1;
diff --git a/thirdparty/libwebsockets/tls/mbedtls/mbedtls-server.c b/thirdparty/libwebsockets/lib/tls/mbedtls/mbedtls-server.c
index 2de6d422e3..df6ddf2c61 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/mbedtls-server.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/mbedtls-server.c
@@ -294,18 +294,20 @@ lws_tls_server_accept(struct lws *wsi)
 	if (n == 1) {
 
 		if (strstr(wsi->vhost->name, ".invalid")) {
-			lwsl_notice("%s: vhost has .invalid, rejecting accept\n", __func__);
+			lwsl_notice("%s: vhost has .invalid, "
+				    "rejecting accept\n", __func__);
 
 			return LWS_SSL_CAPABLE_ERROR;
 		}
 
-		n = lws_tls_peer_cert_info(wsi, LWS_TLS_CERT_INFO_COMMON_NAME, &ir,
-					   sizeof(ir.ns.name));
+		n = lws_tls_peer_cert_info(wsi, LWS_TLS_CERT_INFO_COMMON_NAME,
+					   &ir, sizeof(ir.ns.name));
 		if (!n)
 			lwsl_notice("%s: client cert CN '%s'\n",
 				    __func__, ir.ns.name);
 		else
-			lwsl_info("%s: couldn't get client cert CN\n", __func__);
+			lwsl_info("%s: couldn't get client cert CN\n",
+				  __func__);
 		return LWS_SSL_CAPABLE_DONE;
 	}
 
@@ -322,7 +324,8 @@ lws_tls_server_accept(struct lws *wsi)
 
 	if (m == SSL_ERROR_WANT_READ || SSL_want_read(wsi->tls.ssl)) {
 		if (lws_change_pollfd(wsi, 0, LWS_POLLIN)) {
-			lwsl_info("%s: WANT_READ change_pollfd failed\n", __func__);
+			lwsl_info("%s: WANT_READ change_pollfd failed\n",
+				  __func__);
 			return LWS_SSL_CAPABLE_ERROR;
 		}
 
@@ -333,7 +336,8 @@ lws_tls_server_accept(struct lws *wsi)
 		lwsl_debug("%s: WANT_WRITE\n", __func__);
 
 		if (lws_change_pollfd(wsi, 0, LWS_POLLOUT)) {
-			lwsl_info("%s: WANT_WRITE change_pollfd failed\n", __func__);
+			lwsl_info("%s: WANT_WRITE change_pollfd failed\n",
+				  __func__);
 			return LWS_SSL_CAPABLE_ERROR;
 		}
 		return LWS_SSL_CAPABLE_MORE_SERVICE_WRITE;
@@ -554,7 +558,8 @@ lws_tls_acme_sni_cert_create(struct lws_vhost *vhost, const char *san_a,
 		//lwsl_hexdump_level(LLL_DEBUG, pkey_asn1, n);
 
 		/* and to use our generated private key */
-		n = SSL_CTX_use_PrivateKey_ASN1(0, vhost->tls.ssl_ctx, pkey_asn1, m);
+		n = SSL_CTX_use_PrivateKey_ASN1(0, vhost->tls.ssl_ctx,
+						pkey_asn1, m);
 		lws_free(pkey_asn1);
 		if (n != 1) {
 			lwsl_err("%s: SSL_CTX_use_PrivateKey_ASN1 failed\n",
@@ -631,7 +636,7 @@ lws_tls_acme_sni_csr_create(struct lws_context *context, const char *elements[],
 
 	/* subject must be formatted like "C=TW,O=warmcat,CN=myserver" */
 
-	for (n = 0; n < (int)ARRAY_SIZE(x5); n++) {
+	for (n = 0; n < (int)LWS_ARRAY_SIZE(x5); n++) {
 		if (p != subject)
 			*p++ = ',';
 		if (elements[n])
diff --git a/thirdparty/libwebsockets/tls/mbedtls/ssl.c b/thirdparty/libwebsockets/lib/tls/mbedtls/ssl.c
index 6ae9d2556b..b81f88862b 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/ssl.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/ssl.c
@@ -33,7 +33,8 @@ lws_context_init_ssl_library(const struct lws_context_creation_info *info)
 	lwsl_info(" Compiled with MbedTLS support\n");
 
 	if (!lws_check_opt(info->options, LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT))
-		lwsl_info(" SSL disabled: no LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT\n");
+		lwsl_info(" SSL disabled: no "
+			  "LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT\n");
 
 	return 0;
 }
@@ -69,16 +70,17 @@ lws_ssl_capable_read(struct lws *wsi, unsigned char *buf, int len)
 	errno = 0;
 	n = SSL_read(wsi->tls.ssl, buf, len);
 #if defined(LWS_WITH_ESP32)
-	if (!n && errno == ENOTCONN) {
+	if (!n && errno == LWS_ENOTCONN) {
 		lwsl_debug("%p: SSL_read ENOTCONN\n", wsi);
 		return LWS_SSL_CAPABLE_ERROR;
 	}
 #endif
 #if defined(LWS_WITH_STATS)
-	if (!wsi->seen_rx) {
+	if (!wsi->seen_rx && wsi->accept_start_us) {
                 lws_stats_atomic_bump(wsi->context, pt,
                 		      LWSSTATS_MS_SSL_RX_DELAY,
-				time_in_microseconds() - wsi->accept_start_us);
+				lws_time_in_microseconds() -
+				wsi->accept_start_us);
                 lws_stats_atomic_bump(wsi->context, pt,
                 		      LWSSTATS_C_SSL_CONNS_HAD_RX, 1);
 		wsi->seen_rx = 1;
@@ -121,8 +123,6 @@ lws_ssl_capable_read(struct lws *wsi, unsigned char *buf, int len)
 	if (wsi->vhost)
 		wsi->vhost->conn_stats.rx += n;
 
-	lws_restart_ws_ping_pong_timer(wsi);
-
 	/*
 	 * if it was our buffer that limited what we read,
 	 * check if SSL has additional data pending inside SSL buffers.
@@ -135,23 +135,12 @@ lws_ssl_capable_read(struct lws *wsi, unsigned char *buf, int len)
 	if (!wsi->tls.ssl)
 		goto bail;
 
-	if (!SSL_pending(wsi->tls.ssl))
-		goto bail;
-
-	if (wsi->tls.pending_read_list_next)
-		return n;
-	if (wsi->tls.pending_read_list_prev)
-		return n;
-	if (pt->tls.pending_read_list == wsi)
-		return n;
-
-	/* add us to the linked list of guys with pending ssl */
-	if (pt->tls.pending_read_list)
-		pt->tls.pending_read_list->tls.pending_read_list_prev = wsi;
+	if (SSL_pending(wsi->tls.ssl) &&
+	    lws_dll_is_null(&wsi->tls.pending_tls_list)) {
 
-	wsi->tls.pending_read_list_next = pt->tls.pending_read_list;
-	wsi->tls.pending_read_list_prev = NULL;
-	pt->tls.pending_read_list = wsi;
+		lws_dll_lws_add_front(&wsi->tls.pending_tls_list,
+				      &pt->tls.pending_tls_head);
+	}
 
 	return n;
 bail:
@@ -191,7 +180,7 @@ lws_ssl_capable_write(struct lws *wsi, unsigned char *buf, int len)
 
 		if (m == SSL_ERROR_WANT_WRITE || SSL_want_write(wsi->tls.ssl)) {
 			lws_set_blocking_send(wsi);
-			lwsl_notice("%s: want write\n", __func__);
+			lwsl_debug("%s: want write\n", __func__);
 
 			return LWS_SSL_CAPABLE_MORE_SERVICE;
 		}
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl3.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl3.h
index 007b392f3e..007b392f3e 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl3.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl3.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_cert.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_cert.h
index 86cf31ad51..86cf31ad51 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_cert.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_cert.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_code.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_code.h
index 80fdbb20f3..80fdbb20f3 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_code.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_code.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_dbg.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_dbg.h
index ad32cb92ff..ad32cb92ff 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_dbg.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_dbg.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_lib.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_lib.h
index 42b2de7501..42b2de7501 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_lib.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_lib.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_methods.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_methods.h
index cd2f8c0533..cd2f8c0533 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_methods.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_methods.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_pkey.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_pkey.h
index e790fcc995..e790fcc995 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_pkey.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_pkey.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_stack.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_stack.h
index 7a7051a026..7a7051a026 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_stack.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_stack.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_types.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_types.h
index ba19663d9e..68ac748a28 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_types.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_types.h
@@ -37,7 +37,11 @@ typedef void RSA;
 typedef void STACK;
 typedef void BIO;
 
+#if defined(WIN32) || defined(_WIN32)
+#define ossl_inline __inline
+#else
 #define ossl_inline inline
+#endif
 
 #define SSL_METHOD_CALL(f, s, ...)        s->method->func->ssl_##f(s, ##__VA_ARGS__)
 #define X509_METHOD_CALL(f, x, ...)       x->method->x509_##f(x, ##__VA_ARGS__)
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_x509.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_x509.h
index 7594d064b4..7594d064b4 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/ssl_x509.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/ssl_x509.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/tls1.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/tls1.h
index 7af1b0157d..7af1b0157d 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/tls1.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/tls1.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/x509_vfy.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/x509_vfy.h
index 26bf6c88a8..26bf6c88a8 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/internal/x509_vfy.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/internal/x509_vfy.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/openssl/ssl.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/openssl/ssl.h
index e2b74fc6af..e2b74fc6af 100755
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/openssl/ssl.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/openssl/ssl.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/platform/ssl_pm.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/platform/ssl_pm.h
index cbbe3aa3a2..cbbe3aa3a2 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/platform/ssl_pm.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/platform/ssl_pm.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/platform/ssl_port.h b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/platform/ssl_port.h
index 74c7634355..74c7634355 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/include/platform/ssl_port.h
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/include/platform/ssl_port.h
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_cert.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_cert.c
index 5c608125ac..5c608125ac 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_cert.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_cert.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_lib.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_lib.c
index 2f688ca9ef..2f688ca9ef 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_lib.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_lib.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_methods.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_methods.c
index 0002360846..0002360846 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_methods.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_methods.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_pkey.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_pkey.c
index 567a33e2c2..567a33e2c2 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_pkey.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_pkey.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_stack.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_stack.c
index da836daf9c..da836daf9c 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_stack.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_stack.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_x509.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_x509.c
index ed79150831..ed79150831 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/library/ssl_x509.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/library/ssl_x509.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/platform/ssl_pm.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/platform/ssl_pm.c
index 4716c1ff56..4716c1ff56 100755
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/platform/ssl_pm.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/platform/ssl_pm.c
diff --git a/thirdparty/libwebsockets/tls/mbedtls/wrapper/platform/ssl_port.c b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/platform/ssl_port.c
index 8c7a31338b..8c7a31338b 100644
--- a/thirdparty/libwebsockets/tls/mbedtls/wrapper/platform/ssl_port.c
+++ b/thirdparty/libwebsockets/lib/tls/mbedtls/wrapper/platform/ssl_port.c
diff --git a/thirdparty/libwebsockets/tls/private.h b/thirdparty/libwebsockets/lib/tls/private.h
index 606e2574dc..ad01bfd4fb 100644
--- a/thirdparty/libwebsockets/tls/private.h
+++ b/thirdparty/libwebsockets/lib/tls/private.h
@@ -64,6 +64,8 @@
    #include <openssl/err.h>
    #include <openssl/md5.h>
    #include <openssl/sha.h>
+   #include <openssl/rsa.h>
+   #include <openssl/bn.h>
    #ifdef LWS_HAVE_OPENSSL_ECDH_H
     #include <openssl/ecdh.h>
    #endif
@@ -71,8 +73,9 @@
   #endif /* not mbedtls */
   #if defined(OPENSSL_VERSION_NUMBER)
    #if (OPENSSL_VERSION_NUMBER < 0x0009080afL)
-/* later openssl defines this to negate the presence of tlsext... but it was only
- * introduced at 0.9.8j.  Earlier versions don't know it exists so don't
+/*
+ * later openssl defines this to negate the presence of tlsext... but it was
+ * only introduced at 0.9.8j.  Earlier versions don't know it exists so don't
  * define it... making it look like the feature exists...
  */
     #define OPENSSL_NO_TLSEXT
@@ -115,7 +118,7 @@ struct lws_context_tls {
 };
 
 struct lws_pt_tls {
-	struct lws *pending_read_list; /* linked list */
+	struct lws_dll_lws pending_tls_head;
 };
 
 struct lws_tls_ss_pieces;
@@ -149,7 +152,7 @@ struct lws_vhost_tls {
 struct lws_lws_tls {
 	lws_tls_conn *ssl;
 	lws_tls_bio *client_bio;
-	struct lws *pending_read_list_prev, *pending_read_list_next;
+	struct lws_dll_lws pending_tls_list;
 	unsigned int use_ssl;
 	unsigned int redirect_to_https:1;
 };
@@ -211,8 +214,8 @@ lws_tls_generic_cert_checks(struct lws_vhost *vhost, const char *cert,
 			    const char *private_key);
 LWS_EXTERN int
 lws_tls_alloc_pem_to_der_file(struct lws_context *context, const char *filename,
-			const char *inbuf, lws_filepos_t inlen,
-		      uint8_t **buf, lws_filepos_t *amount);
+			      const char *inbuf, lws_filepos_t inlen,
+			      uint8_t **buf, lws_filepos_t *amount);
 
 #if !defined(LWS_NO_SERVER)
  LWS_EXTERN int
@@ -260,6 +263,8 @@ lws_tls_client_create_vhost_context(struct lws_vhost *vh,
 				    const struct lws_context_creation_info *info,
 				    const char *cipher_list,
 				    const char *ca_filepath,
+				    const void *ca_mem,
+				    unsigned int ca_mem_len,
 				    const char *cert_filepath,
 				    const char *private_key_filepath);
 
@@ -278,4 +283,4 @@ lws_ssl_info_callback(const lws_tls_conn *ssl, int where, int ret);
 int
 lws_tls_fake_POLLIN_for_buffered(struct lws_context_per_thread *pt);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/thirdparty/libwebsockets/tls/tls-client.c b/thirdparty/libwebsockets/lib/tls/tls-client.c
index 70eb6f6078..f69c685fa7 100644
--- a/thirdparty/libwebsockets/tls/tls-client.c
+++ b/thirdparty/libwebsockets/lib/tls/tls-client.c
@@ -1,7 +1,7 @@
 /*
  * libwebsockets - client-related ssl code independent of backend
  *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
+ * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
  *
  *  This library is free software; you can redistribute it and/or
  *  modify it under the terms of the GNU Lesser General Public
@@ -89,10 +89,10 @@ lws_ssl_client_connect2(struct lws *wsi, char *errbuf, int len)
 int lws_context_init_client_ssl(const struct lws_context_creation_info *info,
 				struct lws_vhost *vhost)
 {
-	const char *ca_filepath = info->ssl_ca_filepath;
-	const char *cipher_list = info->ssl_cipher_list;
 	const char *private_key_filepath = info->ssl_private_key_filepath;
 	const char *cert_filepath = info->ssl_cert_filepath;
+	const char *ca_filepath = info->ssl_ca_filepath;
+	const char *cipher_list = info->ssl_cipher_list;
 	struct lws wsi;
 
 	if (vhost->options & LWS_SERVER_OPTION_ONLY_RAW)
@@ -128,7 +128,10 @@ int lws_context_init_client_ssl(const struct lws_context_creation_info *info,
 	}
 
 	if (lws_tls_client_create_vhost_context(vhost, info, cipher_list,
-						ca_filepath, cert_filepath,
+						ca_filepath,
+						info->client_ssl_ca_mem,
+						info->client_ssl_ca_mem_len,
+						cert_filepath,
 						private_key_filepath))
 		return 1;
 
@@ -139,12 +142,12 @@ int lws_context_init_client_ssl(const struct lws_context_creation_info *info,
 	 * lws_get_context() in the callback
 	 */
 	memset(&wsi, 0, sizeof(wsi));
-	wsi.vhost = vhost;
+	wsi.vhost = vhost; /* not a real bound wsi */
 	wsi.context = vhost->context;
 
 	vhost->protocols[0].callback(&wsi,
 			LWS_CALLBACK_OPENSSL_LOAD_EXTRA_CLIENT_VERIFY_CERTS,
-				       vhost->tls.ssl_client_ctx, NULL, 0);
+				     vhost->tls.ssl_client_ctx, NULL, 0);
 
 	return 0;
 }
diff --git a/thirdparty/libwebsockets/tls/tls-server.c b/thirdparty/libwebsockets/lib/tls/tls-server.c
index 440e790660..9d3f70dbea 100644
--- a/thirdparty/libwebsockets/tls/tls-server.c
+++ b/thirdparty/libwebsockets/lib/tls/tls-server.c
@@ -56,7 +56,8 @@ lws_context_init_alpn(struct lws_vhost *vhost)
 					vhost->tls.alpn_ctx.data,
 					sizeof(vhost->tls.alpn_ctx.data) - 1);
 
-	SSL_CTX_set_alpn_select_cb(vhost->tls.ssl_ctx, alpn_cb, &vhost->tls.alpn_ctx);
+	SSL_CTX_set_alpn_select_cb(vhost->tls.ssl_ctx, alpn_cb,
+				   &vhost->tls.alpn_ctx);
 #else
 	lwsl_err(
 		" HTTP2 / ALPN configured but not supported by OpenSSL 0x%lx\n",
@@ -139,7 +140,7 @@ lws_context_init_server_ssl(const struct lws_context_creation_info *info,
 	 * lws_get_context() in the callback
 	 */
 	memset(&wsi, 0, sizeof(wsi));
-	wsi.vhost = vhost;
+	wsi.vhost = vhost; /* not a real bound wsi */
 	wsi.context = context;
 
 	/*
@@ -177,10 +178,10 @@ LWS_VISIBLE int
 lws_server_socket_service_ssl(struct lws *wsi, lws_sockfd_type accept_fd)
 {
 	struct lws_context *context = wsi->context;
-	struct lws_vhost *vh;
 	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-	int n;
+	struct lws_vhost *vh;
         char buf[256];
+	int n;
 
         (void)buf;
 
@@ -312,12 +313,14 @@ lws_server_socket_service_ssl(struct lws *wsi, lws_sockfd_type accept_fd)
 		/* normal SSL connection processing path */
 
 #if defined(LWS_WITH_STATS)
+		/* only set this the first time around */
 		if (!wsi->accept_start_us)
-			wsi->accept_start_us = time_in_microseconds();
+			wsi->accept_start_us = lws_time_in_microseconds();
 #endif
 		errno = 0;
 		lws_stats_atomic_bump(wsi->context, pt,
-				      LWSSTATS_C_SSL_CONNECTIONS_ACCEPT_SPIN, 1);
+				      LWSSTATS_C_SSL_CONNECTIONS_ACCEPT_SPIN,
+				      1);
 		n = lws_tls_server_accept(wsi);
 		lws_latency(context, wsi,
 			"SSL_accept LRS_SSL_ACK_PENDING\n", n, n == 1);
@@ -327,7 +330,8 @@ lws_server_socket_service_ssl(struct lws *wsi, lws_sockfd_type accept_fd)
 			break;
 		case LWS_SSL_CAPABLE_ERROR:
 			lws_stats_atomic_bump(wsi->context, pt,
-					      LWSSTATS_C_SSL_CONNECTIONS_FAILED, 1);
+					      LWSSTATS_C_SSL_CONNECTIONS_FAILED,
+					      1);
 	                lwsl_info("SSL_accept failed socket %u: %d\n",
 	                		wsi->desc.sockfd, n);
 			wsi->socket_is_permanently_unusable = 1;
@@ -340,10 +344,12 @@ lws_server_socket_service_ssl(struct lws *wsi, lws_sockfd_type accept_fd)
 		lws_stats_atomic_bump(wsi->context, pt,
 				      LWSSTATS_C_SSL_CONNECTIONS_ACCEPTED, 1);
 #if defined(LWS_WITH_STATS)
-		lws_stats_atomic_bump(wsi->context, pt,
+		if (wsi->accept_start_us)
+			lws_stats_atomic_bump(wsi->context, pt,
 				      LWSSTATS_MS_SSL_CONNECTIONS_ACCEPTED_DELAY,
-				      time_in_microseconds() - wsi->accept_start_us);
-		wsi->accept_start_us = time_in_microseconds();
+				      lws_time_in_microseconds() -
+					      wsi->accept_start_us);
+		wsi->accept_start_us = lws_time_in_microseconds();
 #endif
 
 accepted:
@@ -354,7 +360,7 @@ accepted:
 			if (!vh->being_destroyed && wsi->tls.ssl &&
 			    vh->tls.ssl_ctx == lws_tls_ctx_from_wsi(wsi)) {
 				lwsl_info("setting wsi to vh %s\n", vh->name);
-				wsi->vhost = vh;
+				lws_vhost_bind_wsi(vh, wsi);
 				break;
 			}
 			vh = vh->vhost_next;
diff --git a/thirdparty/libwebsockets/tls/tls.c b/thirdparty/libwebsockets/lib/tls/tls.c
index 92b7c5593c..a32951689f 100644
--- a/thirdparty/libwebsockets/tls/tls.c
+++ b/thirdparty/libwebsockets/lib/tls/tls.c
@@ -30,18 +30,18 @@
 int
 lws_tls_fake_POLLIN_for_buffered(struct lws_context_per_thread *pt)
 {
-	struct lws *wsi, *wsi_next;
 	int ret = 0;
 
-	wsi = pt->tls.pending_read_list;
-	while (wsi && wsi->position_in_fds_table != LWS_NO_FDS_POS) {
-		wsi_next = wsi->tls.pending_read_list_next;
+	lws_start_foreach_dll_safe(struct lws_dll_lws *, p, p1,
+				   pt->tls.pending_tls_head.next) {
+		struct lws *wsi = lws_container_of(p, struct lws,
+						   tls.pending_tls_list);
+
 		pt->fds[wsi->position_in_fds_table].revents |=
 			pt->fds[wsi->position_in_fds_table].events & LWS_POLLIN;
 		ret |= pt->fds[wsi->position_in_fds_table].revents & LWS_POLLIN;
 
-		wsi = wsi_next;
-	}
+	} lws_end_foreach_dll_safe(p, p1);
 
 	return !!ret;
 }
@@ -49,29 +49,10 @@ lws_tls_fake_POLLIN_for_buffered(struct lws_context_per_thread *pt)
 void
 __lws_ssl_remove_wsi_from_buffered_list(struct lws *wsi)
 {
-	struct lws_context *context = wsi->context;
-	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-
-	if (!wsi->tls.pending_read_list_prev &&
-	    !wsi->tls.pending_read_list_next &&
-	    pt->tls.pending_read_list != wsi)
-		/* we are not on the list */
+	if (lws_dll_is_null(&wsi->tls.pending_tls_list))
 		return;
 
-	/* point previous guy's next to our next */
-	if (!wsi->tls.pending_read_list_prev)
-		pt->tls.pending_read_list = wsi->tls.pending_read_list_next;
-	else
-		wsi->tls.pending_read_list_prev->tls.pending_read_list_next =
-			wsi->tls.pending_read_list_next;
-
-	/* point next guy's previous to our previous */
-	if (wsi->tls.pending_read_list_next)
-		wsi->tls.pending_read_list_next->tls.pending_read_list_prev =
-			wsi->tls.pending_read_list_prev;
-
-	wsi->tls.pending_read_list_prev = NULL;
-	wsi->tls.pending_read_list_next = NULL;
+	lws_dll_lws_remove(&wsi->tls.pending_tls_list);
 }
 
 void
@@ -173,12 +154,12 @@ bail:
 
 int
 lws_tls_alloc_pem_to_der_file(struct lws_context *context, const char *filename,
-			const char *inbuf, lws_filepos_t inlen,
-		      uint8_t **buf, lws_filepos_t *amount)
+			      const char *inbuf, lws_filepos_t inlen,
+			      uint8_t **buf, lws_filepos_t *amount)
 {
 	const uint8_t *pem, *p, *end;
-	uint8_t *q;
 	lws_filepos_t len;
+	uint8_t *q;
 	int n;
 
 	if (filename) {
@@ -238,23 +219,25 @@ bail:
 int
 lws_tls_check_cert_lifetime(struct lws_vhost *v)
 {
-	union lws_tls_cert_info_results ir;
 	time_t now = (time_t)lws_now_secs(), life = 0;
 	struct lws_acme_cert_aging_args caa;
+	union lws_tls_cert_info_results ir;
 	int n;
 
 	if (v->tls.ssl_ctx && !v->tls.skipped_certs) {
 
-		if (now < 1464083026) /* May 2016 */
+		if (now < 1542933698) /* Nov 23 2018 00:42 UTC */
 			/* our clock is wrong and we can't judge the certs */
 			return -1;
 
-		n = lws_tls_vhost_cert_info(v, LWS_TLS_CERT_INFO_VALIDITY_TO, &ir, 0);
+		n = lws_tls_vhost_cert_info(v, LWS_TLS_CERT_INFO_VALIDITY_TO,
+					    &ir, 0);
 		if (n)
 			return 1;
 
 		life = (ir.time - now) / (24 * 3600);
-		lwsl_notice("   vhost %s: cert expiry: %dd\n", v->name, (int)life);
+		lwsl_notice("   vhost %s: cert expiry: %dd\n", v->name,
+			    (int)life);
 	} else
 		lwsl_notice("   vhost %s: no cert\n", v->name);
 
@@ -446,7 +429,7 @@ lws_tls_cert_updated(struct lws_context *context, const char *certpath,
 	wsi.context = context;
 
 	lws_start_foreach_ll(struct lws_vhost *, v, context->vhost_list) {
-		wsi.vhost = v;
+		wsi.vhost = v; /* not a real bound wsi */
 		if (v->tls.alloc_cert_path && v->tls.key_path &&
 		    !strcmp(v->tls.alloc_cert_path, certpath) &&
 		    !strcmp(v->tls.key_path, keypath)) {
diff --git a/thirdparty/libwebsockets/libwebsockets.h b/thirdparty/libwebsockets/libwebsockets.h
deleted file mode 100644
index 7ae563d582..0000000000
--- a/thirdparty/libwebsockets/libwebsockets.h
+++ /dev/null
@@ -1,7356 +0,0 @@
-/*
- * libwebsockets - small server side websockets and web server implementation
- *
- * Copyright (C) 2010-2018 Andy Green <andy@warmcat.com>
- *
- *  This library is free software; you can redistribute it and/or
- *  modify it under the terms of the GNU Lesser General Public
- *  License as published by the Free Software Foundation:
- *  version 2.1 of the License.
- *
- *  This library is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *  Lesser General Public License for more details.
- *
- *  You should have received a copy of the GNU Lesser General Public
- *  License along with this library; if not, write to the Free Software
- *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- *  MA  02110-1301  USA
- */
-
-/** @file */
-
-#ifndef LIBWEBSOCKET_H_3060898B846849FF9F88F5DB59B5950C
-#define LIBWEBSOCKET_H_3060898B846849FF9F88F5DB59B5950C
-
-#ifdef __cplusplus
-#include <cstddef>
-#include <cstdarg>
-
-extern "C" {
-#else
-#include <stdarg.h>
-#endif
-
-#include <string.h>
-#include <stdlib.h>
-
-#include "lws_config.h"
-
-/*
- * CARE: everything using cmake defines needs to be below here
- */
-
-#if defined(LWS_HAS_INTPTR_T)
-#include <stdint.h>
-#define lws_intptr_t intptr_t
-#else
-typedef unsigned long long lws_intptr_t;
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-#ifndef WIN32_LEAN_AND_MEAN
-#define WIN32_LEAN_AND_MEAN
-#endif
-
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#include <stddef.h>
-#include <basetsd.h>
-#include <io.h>
-#ifndef _WIN32_WCE
-#include <fcntl.h>
-#else
-#define _O_RDONLY	0x0000
-#define O_RDONLY	_O_RDONLY
-#endif
-
-// Visual studio older than 2015 and WIN_CE has only _stricmp
-#if (defined(_MSC_VER) && _MSC_VER < 1900) || defined(_WIN32_WCE)
-#define strcasecmp _stricmp
-#elif !defined(__MINGW32__)
-#define strcasecmp stricmp
-#endif
-#define getdtablesize() 30000
-
-#define LWS_INLINE __inline
-#define LWS_VISIBLE
-#define LWS_WARN_UNUSED_RESULT
-#define LWS_WARN_DEPRECATED
-#define LWS_FORMAT(string_index)
-
-#ifdef LWS_DLL
-#ifdef LWS_INTERNAL
-#define LWS_EXTERN extern __declspec(dllexport)
-#else
-#define LWS_EXTERN extern __declspec(dllimport)
-#endif
-#else
-#define LWS_EXTERN
-#endif
-
-#define LWS_INVALID_FILE INVALID_HANDLE_VALUE
-#define LWS_O_RDONLY _O_RDONLY
-#define LWS_O_WRONLY _O_WRONLY
-#define LWS_O_CREAT _O_CREAT
-#define LWS_O_TRUNC _O_TRUNC
-
-#ifndef __func__
-#define __func__ __FUNCTION__
-#endif
-
-#else /* NOT WIN32 */
-#include <unistd.h>
-#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
-#include <sys/capability.h>
-#endif
-
-#if defined(__NetBSD__) || defined(__FreeBSD__) || defined(__QNX__) || defined(__OpenBSD__)
-#include <sys/socket.h>
-#include <netinet/in.h>
-#endif
-
-#define LWS_INLINE inline
-#define LWS_O_RDONLY O_RDONLY
-#define LWS_O_WRONLY O_WRONLY
-#define LWS_O_CREAT O_CREAT
-#define LWS_O_TRUNC O_TRUNC
-
-#if !defined(LWS_PLAT_OPTEE) && !defined(OPTEE_TA) && !defined(LWS_WITH_ESP32)
-#include <poll.h>
-#include <netdb.h>
-#define LWS_INVALID_FILE -1
-#else
-#define getdtablesize() (30)
-#if defined(LWS_WITH_ESP32)
-#define LWS_INVALID_FILE NULL
-#else
-#define LWS_INVALID_FILE NULL
-#endif
-#endif
-
-#if defined(__GNUC__)
-
-/* warn_unused_result attribute only supported by GCC 3.4 or later */
-#if __GNUC__ >= 4 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)
-#define LWS_WARN_UNUSED_RESULT __attribute__((warn_unused_result))
-#else
-#define LWS_WARN_UNUSED_RESULT
-#endif
-
-#define LWS_VISIBLE __attribute__((visibility("default")))
-#define LWS_WARN_DEPRECATED __attribute__ ((deprecated))
-#define LWS_FORMAT(string_index) __attribute__ ((format(printf, string_index, string_index+1)))
-#else
-#define LWS_VISIBLE
-#define LWS_WARN_UNUSED_RESULT
-#define LWS_WARN_DEPRECATED
-#define LWS_FORMAT(string_index)
-#endif
-
-#if defined(__ANDROID__)
-#include <unistd.h>
-#define getdtablesize() sysconf(_SC_OPEN_MAX)
-#endif
-
-#endif
-
-#if defined(LWS_WITH_LIBEV)
-#include <ev.h>
-#endif /* LWS_WITH_LIBEV */
-#ifdef LWS_WITH_LIBUV
-#include <uv.h>
-#ifdef LWS_HAVE_UV_VERSION_H
-#include <uv-version.h>
-#endif
-#endif /* LWS_WITH_LIBUV */
-#if defined(LWS_WITH_LIBEVENT)
-#include <event2/event.h>
-#endif /* LWS_WITH_LIBEVENT */
-
-#ifndef LWS_EXTERN
-#define LWS_EXTERN extern
-#endif
-
-#ifdef _WIN32
-#define random rand
-#else
-#if !defined(OPTEE_TA)
-#include <sys/time.h>
-#include <unistd.h>
-#endif
-#endif
-
-#if defined(LWS_WITH_TLS)
-
-#ifdef USE_WOLFSSL
-#ifdef USE_OLD_CYASSL
-#ifdef _WIN32
-/*
- * Include user-controlled settings for windows from
- * <wolfssl-root>/IDE/WIN/user_settings.h
- */
-#include <IDE/WIN/user_settings.h>
-#include <cyassl/ctaocrypt/settings.h>
-#else
-#include <cyassl/options.h>
-#endif
-#include <cyassl/openssl/ssl.h>
-#include <cyassl/error-ssl.h>
-
-#else
-#ifdef _WIN32
-/*
- * Include user-controlled settings for windows from
- * <wolfssl-root>/IDE/WIN/user_settings.h
- */
-#include <IDE/WIN/user_settings.h>
-#include <wolfssl/wolfcrypt/settings.h>
-#else
-#include <wolfssl/options.h>
-#endif
-#include <wolfssl/openssl/ssl.h>
-#include <wolfssl/error-ssl.h>
-#endif /* not USE_OLD_CYASSL */
-#else
-#if defined(LWS_WITH_MBEDTLS)
-#if defined(LWS_WITH_ESP32)
-/* this filepath is passed to us but without quotes or <> */
-#undef MBEDTLS_CONFIG_FILE
-#define MBEDTLS_CONFIG_FILE <mbedtls/esp_config.h>
-#endif
-#include <mbedtls/ssl.h>
-#else
-#include <openssl/ssl.h>
-#if !defined(LWS_WITH_MBEDTLS)
-#include <openssl/err.h>
-#endif
-#endif
-#endif /* not USE_WOLFSSL */
-#endif
-
-/*
- * Helpers for pthread mutex in user code... if lws is built for
- * multiple service threads, these resolve to pthread mutex
- * operations.  In the case LWS_MAX_SMP is 1 (the default), they
- * are all NOPs and no pthread type or api is referenced.
- */
-
-#if LWS_MAX_SMP > 1
-
-#include <pthread.h>
-
-#define lws_pthread_mutex(name) pthread_mutex_t name;
-
-static LWS_INLINE void
-lws_pthread_mutex_init(pthread_mutex_t *lock)
-{
-	pthread_mutex_init(lock, NULL);
-}
-
-static LWS_INLINE void
-lws_pthread_mutex_destroy(pthread_mutex_t *lock)
-{
-	pthread_mutex_destroy(lock);
-}
-
-static LWS_INLINE void
-lws_pthread_mutex_lock(pthread_mutex_t *lock)
-{
-	pthread_mutex_lock(lock);
-}
-
-static LWS_INLINE void
-lws_pthread_mutex_unlock(pthread_mutex_t *lock)
-{
-	pthread_mutex_unlock(lock);
-}
-
-#else
-#define lws_pthread_mutex(name)
-#define lws_pthread_mutex_init(_a)
-#define lws_pthread_mutex_destroy(_a)
-#define lws_pthread_mutex_lock(_a)
-#define lws_pthread_mutex_unlock(_a)
-#endif
-
-
-#define CONTEXT_PORT_NO_LISTEN -1
-#define CONTEXT_PORT_NO_LISTEN_SERVER -2
-
-/** \defgroup log Logging
- *
- * ##Logging
- *
- * Lws provides flexible and filterable logging facilities, which can be
- * used inside lws and in user code.
- *
- * Log categories may be individually filtered bitwise, and directed to built-in
- * sinks for syslog-compatible logging, or a user-defined function.
- */
-///@{
-
-enum lws_log_levels {
-	LLL_ERR = 1 << 0,
-	LLL_WARN = 1 << 1,
-	LLL_NOTICE = 1 << 2,
-	LLL_INFO = 1 << 3,
-	LLL_DEBUG = 1 << 4,
-	LLL_PARSER = 1 << 5,
-	LLL_HEADER = 1 << 6,
-	LLL_EXT = 1 << 7,
-	LLL_CLIENT = 1 << 8,
-	LLL_LATENCY = 1 << 9,
-	LLL_USER = 1 << 10,
-
-	LLL_COUNT = 11 /* set to count of valid flags */
-};
-
-LWS_VISIBLE LWS_EXTERN void _lws_log(int filter, const char *format, ...) LWS_FORMAT(2);
-LWS_VISIBLE LWS_EXTERN void _lws_logv(int filter, const char *format, va_list vl);
-/**
- * lwsl_timestamp: generate logging timestamp string
- *
- * \param level:	logging level
- * \param p:		char * buffer to take timestamp
- * \param len:	length of p
- *
- * returns length written in p
- */
-LWS_VISIBLE LWS_EXTERN int
-lwsl_timestamp(int level, char *p, int len);
-
-/* these guys are unconditionally included */
-
-#define lwsl_err(...) _lws_log(LLL_ERR, __VA_ARGS__)
-#define lwsl_user(...) _lws_log(LLL_USER, __VA_ARGS__)
-
-#if !defined(LWS_WITH_NO_LOGS)
-/* notice and warn are usually included by being compiled in */
-#define lwsl_warn(...) _lws_log(LLL_WARN, __VA_ARGS__)
-#define lwsl_notice(...) _lws_log(LLL_NOTICE, __VA_ARGS__)
-#endif
-/*
- *  weaker logging can be deselected by telling CMake to build in RELEASE mode
- *  that gets rid of the overhead of checking while keeping _warn and _err
- *  active
- */
-
-#ifdef _DEBUG
-#if defined(LWS_WITH_NO_LOGS)
-/* notice, warn and log are always compiled in */
-#define lwsl_warn(...) _lws_log(LLL_WARN, __VA_ARGS__)
-#define lwsl_notice(...) _lws_log(LLL_NOTICE, __VA_ARGS__)
-#endif
-#define lwsl_info(...) _lws_log(LLL_INFO, __VA_ARGS__)
-#define lwsl_debug(...) _lws_log(LLL_DEBUG, __VA_ARGS__)
-#define lwsl_parser(...) _lws_log(LLL_PARSER, __VA_ARGS__)
-#define lwsl_header(...)  _lws_log(LLL_HEADER, __VA_ARGS__)
-#define lwsl_ext(...)  _lws_log(LLL_EXT, __VA_ARGS__)
-#define lwsl_client(...) _lws_log(LLL_CLIENT, __VA_ARGS__)
-#define lwsl_latency(...) _lws_log(LLL_LATENCY, __VA_ARGS__)
-
-#else /* no debug */
-#if defined(LWS_WITH_NO_LOGS)
-#define lwsl_warn(...) do {} while(0)
-#define lwsl_notice(...) do {} while(0)
-#endif
-#define lwsl_info(...) do {} while(0)
-#define lwsl_debug(...) do {} while(0)
-#define lwsl_parser(...) do {} while(0)
-#define lwsl_header(...) do {} while(0)
-#define lwsl_ext(...) do {} while(0)
-#define lwsl_client(...) do {} while(0)
-#define lwsl_latency(...) do {} while(0)
-
-#endif
-
-#define lwsl_hexdump_err(...) lwsl_hexdump_level(LLL_ERR, __VA_ARGS__)
-#define lwsl_hexdump_warn(...) lwsl_hexdump_level(LLL_WARN, __VA_ARGS__)
-#define lwsl_hexdump_notice(...) lwsl_hexdump_level(LLL_NOTICE, __VA_ARGS__)
-#define lwsl_hexdump_info(...) lwsl_hexdump_level(LLL_INFO, __VA_ARGS__)
-#define lwsl_hexdump_debug(...) lwsl_hexdump_level(LLL_DEBUG, __VA_ARGS__)
-
-/**
- * lwsl_hexdump_level() - helper to hexdump a buffer at a selected debug level
- *
- * \param level: one of LLL_ constants
- * \param vbuf: buffer start to dump
- * \param len: length of buffer to dump
- *
- * If \p level is visible, does a nice hexdump -C style dump of \p vbuf for
- * \p len bytes.  This can be extremely convenient while debugging.
- */
-LWS_VISIBLE LWS_EXTERN void
-lwsl_hexdump_level(int level, const void *vbuf, size_t len);
-
-/**
- * lwsl_hexdump() - helper to hexdump a buffer (DEBUG builds only)
- *
- * \param buf: buffer start to dump
- * \param len: length of buffer to dump
- *
- * Calls through to lwsl_hexdump_level(LLL_DEBUG, ... for compatability.
- * It's better to use lwsl_hexdump_level(level, ... directly so you can control
- * the visibility.
- */
-LWS_VISIBLE LWS_EXTERN void
-lwsl_hexdump(const void *buf, size_t len);
-
-/**
- * lws_is_be() - returns nonzero if the platform is Big Endian
- */
-static LWS_INLINE int lws_is_be(void) {
-	const int probe = ~0xff;
-
-	return *(const char *)&probe;
-}
-
-/**
- * lws_set_log_level() - Set the logging bitfield
- * \param level:	OR together the LLL_ debug contexts you want output from
- * \param log_emit_function:	NULL to leave it as it is, or a user-supplied
- *			function to perform log string emission instead of
- *			the default stderr one.
- *
- *	log level defaults to "err", "warn" and "notice" contexts enabled and
- *	emission on stderr.  If stderr is a tty (according to isatty()) then
- *	the output is coloured according to the log level using ANSI escapes.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_set_log_level(int level,
-		  void (*log_emit_function)(int level, const char *line));
-
-/**
- * lwsl_emit_syslog() - helper log emit function writes to system log
- *
- * \param level: one of LLL_ log level indexes
- * \param line: log string
- *
- * You use this by passing the function pointer to lws_set_log_level(), to set
- * it as the log emit function, it is not called directly.
- */
-LWS_VISIBLE LWS_EXTERN void
-lwsl_emit_syslog(int level, const char *line);
-
-/**
- * lwsl_visible() - returns true if the log level should be printed
- *
- * \param level: one of LLL_ log level indexes
- *
- * This is useful if you have to do work to generate the log content, you
- * can skip the work if the log level used to print it is not actually
- * enabled at runtime.
- */
-LWS_VISIBLE LWS_EXTERN int
-lwsl_visible(int level);
-
-///@}
-
-
-#include <stddef.h>
-
-#ifndef lws_container_of
-#define lws_container_of(P,T,M)	((T *)((char *)(P) - offsetof(T, M)))
-#endif
-
-struct lws;
-#ifndef ARRAY_SIZE
-#define ARRAY_SIZE(x) (sizeof(x) / sizeof(x[0]))
-#endif
-
-typedef int64_t lws_usec_t;
-
-/* api change list for user code to test against */
-
-#define LWS_FEATURE_SERVE_HTTP_FILE_HAS_OTHER_HEADERS_ARG
-
-/* the struct lws_protocols has the id field present */
-#define LWS_FEATURE_PROTOCOLS_HAS_ID_FIELD
-
-/* you can call lws_get_peer_write_allowance */
-#define LWS_FEATURE_PROTOCOLS_HAS_PEER_WRITE_ALLOWANCE
-
-/* extra parameter introduced in 917f43ab821 */
-#define LWS_FEATURE_SERVE_HTTP_FILE_HAS_OTHER_HEADERS_LEN
-
-/* File operations stuff exists */
-#define LWS_FEATURE_FOPS
-
-
-#if defined(_WIN32)
-typedef SOCKET lws_sockfd_type;
-typedef HANDLE lws_filefd_type;
-
-struct lws_pollfd {
-	lws_sockfd_type fd; /**< file descriptor */
-	SHORT events; /**< which events to respond to */
-	SHORT revents; /**< which events happened */
-};
-#define LWS_POLLHUP (FD_CLOSE)
-#define LWS_POLLIN (FD_READ | FD_ACCEPT)
-#define LWS_POLLOUT (FD_WRITE)
-#else
-
-
-#if defined(LWS_WITH_ESP32)
-
-typedef int lws_sockfd_type;
-typedef int lws_filefd_type;
-
-struct pollfd {
-	lws_sockfd_type fd; /**< fd related to */
-	short events; /**< which POLL... events to respond to */
-	short revents; /**< which POLL... events occurred */
-};
-#define POLLIN		0x0001
-#define POLLPRI		0x0002
-#define POLLOUT		0x0004
-#define POLLERR		0x0008
-#define POLLHUP		0x0010
-#define POLLNVAL	0x0020
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/event_groups.h>
-#include <string.h>
-#include "esp_wifi.h"
-#include "esp_system.h"
-#include "esp_event.h"
-#include "esp_event_loop.h"
-#include "nvs.h"
-#include "driver/gpio.h"
-#include "esp_spi_flash.h"
-#include "freertos/timers.h"
-
-#if !defined(CONFIG_FREERTOS_HZ)
-#define CONFIG_FREERTOS_HZ 100
-#endif
-
-typedef TimerHandle_t uv_timer_t;
-typedef void uv_cb_t(uv_timer_t *);
-typedef void * uv_handle_t;
-
-struct timer_mapping {
-	uv_cb_t *cb;
-	uv_timer_t *t;
-};
-
-#define UV_VERSION_MAJOR 1
-
-#define lws_uv_getloop(a, b) (NULL)
-
-static inline void uv_timer_init(void *l, uv_timer_t *t)
-{
-	(void)l;
-	*t = NULL;
-}
-
-extern void esp32_uvtimer_cb(TimerHandle_t t);
-
-static inline void uv_timer_start(uv_timer_t *t, uv_cb_t *cb, int first, int rep)
-{
-	struct timer_mapping *tm = (struct timer_mapping *)malloc(sizeof(*tm));
-
-	if (!tm)
-		return;
-
-	tm->t = t;
-	tm->cb = cb;
-
-	*t = xTimerCreate("x", pdMS_TO_TICKS(first), !!rep, tm,
-			  (TimerCallbackFunction_t)esp32_uvtimer_cb);
-	xTimerStart(*t, 0);
-}
-
-static inline void uv_timer_stop(uv_timer_t *t)
-{
-	xTimerStop(*t, 0);
-}
-
-static inline void uv_close(uv_handle_t *h, void *v)
-{
-	free(pvTimerGetTimerID((uv_timer_t)h));
-	xTimerDelete(*(uv_timer_t *)h, 0);
-}
-
-/* ESP32 helper declarations */
-
-#include <mdns.h>
-#include <esp_partition.h>
-
-#define LWS_PLUGIN_STATIC
-#define LWS_MAGIC_REBOOT_TYPE_ADS 0x50001ffc
-#define LWS_MAGIC_REBOOT_TYPE_REQ_FACTORY 0xb00bcafe
-#define LWS_MAGIC_REBOOT_TYPE_FORCED_FACTORY 0xfaceb00b
-#define LWS_MAGIC_REBOOT_TYPE_FORCED_FACTORY_BUTTON 0xf0cedfac
-
-
-/* user code provides these */
-
-extern void
-lws_esp32_identify_physical_device(void);
-
-/* lws-plat-esp32 provides these */
-
-typedef void (*lws_cb_scan_done)(uint16_t count, wifi_ap_record_t *recs, void *arg);
-
-enum genled_state {
-	LWSESP32_GENLED__INIT,
-	LWSESP32_GENLED__LOST_NETWORK,
-	LWSESP32_GENLED__NO_NETWORK,
-	LWSESP32_GENLED__CONN_AP,
-	LWSESP32_GENLED__GOT_IP,
-	LWSESP32_GENLED__OK,
-};
-
-struct lws_group_member {
-	struct lws_group_member *next;
-	uint64_t last_seen;
-	char model[16];
-	char role[16];
-	char host[32];
-	char mac[20];
-	int width, height;
-	struct ip4_addr addr;
-	struct ip6_addr addrv6;
-	uint8_t	flags;
-};
-
-#define LWS_SYSTEM_GROUP_MEMBER_ADD		1
-#define LWS_SYSTEM_GROUP_MEMBER_CHANGE		2
-#define LWS_SYSTEM_GROUP_MEMBER_REMOVE		3
-
-#define LWS_GROUP_FLAG_SELF 1
-
-struct lws_esp32 {
-	char sta_ip[16];
-	char sta_mask[16];
-	char sta_gw[16];
-	char serial[16];
-	char opts[16];
-	char model[16];
-	char group[16];
-	char role[16];
-	char ssid[4][64];
-	char password[4][64];
-	char active_ssid[64];
-	char access_pw[16];
-	char hostname[32];
-	char mac[20];
-	char le_dns[64];
-	char le_email[64];
-       	char region;
-       	char inet;
-	char conn_ap;
-
-	enum genled_state genled;
-	uint64_t genled_t;
-
-	lws_cb_scan_done scan_consumer;
-	void *scan_consumer_arg;
-	struct lws_group_member *first;
-	int extant_group_members;
-
-	char acme;
-	char upload;
-
-	volatile char button_is_down;
-};
-
-struct lws_esp32_image {
-	uint32_t romfs;
-	uint32_t romfs_len;
-	uint32_t json;
-	uint32_t json_len;
-};
-
-extern struct lws_esp32 lws_esp32;
-struct lws_vhost;
-
-extern esp_err_t
-lws_esp32_event_passthru(void *ctx, system_event_t *event);
-extern void
-lws_esp32_wlan_config(void);
-extern void
-lws_esp32_wlan_start_ap(void);
-extern void
-lws_esp32_wlan_start_station(void);
-struct lws_context_creation_info;
-extern void
-lws_esp32_set_creation_defaults(struct lws_context_creation_info *info);
-extern struct lws_context *
-lws_esp32_init(struct lws_context_creation_info *, struct lws_vhost **pvh);
-extern int
-lws_esp32_wlan_nvs_get(int retry);
-extern esp_err_t
-lws_nvs_set_str(nvs_handle handle, const char* key, const char* value);
-extern void
-lws_esp32_restart_guided(uint32_t type);
-extern const esp_partition_t *
-lws_esp_ota_get_boot_partition(void);
-extern int
-lws_esp32_get_image_info(const esp_partition_t *part, struct lws_esp32_image *i, char *json, int json_len);
-extern int
-lws_esp32_leds_network_indication(void);
-
-extern uint32_t lws_esp32_get_reboot_type(void);
-extern uint16_t lws_esp32_sine_interp(int n);
-
-/* required in external code by esp32 plat (may just return if no leds) */
-extern void lws_esp32_leds_timer_cb(TimerHandle_t th);
-#else
-typedef int lws_sockfd_type;
-typedef int lws_filefd_type;
-#endif
-
-#define lws_pollfd pollfd
-#define LWS_POLLHUP (POLLHUP|POLLERR)
-#define LWS_POLLIN (POLLIN)
-#define LWS_POLLOUT (POLLOUT)
-#endif
-
-
-#if (defined(WIN32) || defined(_WIN32)) && !defined(__MINGW32__)
-/* ... */
-#define ssize_t SSIZE_T
-#endif
-
-#if defined(WIN32) && defined(LWS_HAVE__STAT32I64)
-#include <sys/types.h>
-#include <sys/stat.h>
-#endif
-
-#if defined(LWS_HAVE_STDINT_H)
-#include <stdint.h>
-#else
-#if defined(WIN32) || defined(_WIN32)
-/* !!! >:-[  */
-typedef unsigned __int32 uint32_t;
-typedef unsigned __int16 uint16_t;
-typedef unsigned __int8 uint8_t;
-#else
-typedef unsigned int uint32_t;
-typedef unsigned short uint16_t;
-typedef unsigned char uint8_t;
-#endif
-#endif
-
-typedef unsigned long long lws_filepos_t;
-typedef long long lws_fileofs_t;
-typedef uint32_t lws_fop_flags_t;
-
-/** struct lws_pollargs - argument structure for all external poll related calls
- * passed in via 'in' */
-struct lws_pollargs {
-	lws_sockfd_type fd;	/**< applicable socket descriptor */
-	int events;		/**< the new event mask */
-	int prev_events;	/**< the previous event mask */
-};
-
-struct lws_tokens;
-struct lws_token_limits;
-
-/*! \defgroup wsclose Websocket Close
- *
- * ##Websocket close frame control
- *
- * When we close a ws connection, we can send a reason code and a short
- * UTF-8 description back with the close packet.
- */
-///@{
-
-/*
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-/** enum lws_close_status - RFC6455 close status codes */
-enum lws_close_status {
-	LWS_CLOSE_STATUS_NOSTATUS				=    0,
-	LWS_CLOSE_STATUS_NORMAL					= 1000,
-	/**< 1000 indicates a normal closure, meaning that the purpose for
-      which the connection was established has been fulfilled. */
-	LWS_CLOSE_STATUS_GOINGAWAY				= 1001,
-	/**< 1001 indicates that an endpoint is "going away", such as a server
-      going down or a browser having navigated away from a page. */
-	LWS_CLOSE_STATUS_PROTOCOL_ERR				= 1002,
-	/**< 1002 indicates that an endpoint is terminating the connection due
-      to a protocol error. */
-	LWS_CLOSE_STATUS_UNACCEPTABLE_OPCODE			= 1003,
-	/**< 1003 indicates that an endpoint is terminating the connection
-      because it has received a type of data it cannot accept (e.g., an
-      endpoint that understands only text data MAY send this if it
-      receives a binary message). */
-	LWS_CLOSE_STATUS_RESERVED				= 1004,
-	/**< Reserved.  The specific meaning might be defined in the future. */
-	LWS_CLOSE_STATUS_NO_STATUS				= 1005,
-	/**< 1005 is a reserved value and MUST NOT be set as a status code in a
-      Close control frame by an endpoint.  It is designated for use in
-      applications expecting a status code to indicate that no status
-      code was actually present. */
-	LWS_CLOSE_STATUS_ABNORMAL_CLOSE				= 1006,
-	/**< 1006 is a reserved value and MUST NOT be set as a status code in a
-      Close control frame by an endpoint.  It is designated for use in
-      applications expecting a status code to indicate that the
-      connection was closed abnormally, e.g., without sending or
-      receiving a Close control frame. */
-	LWS_CLOSE_STATUS_INVALID_PAYLOAD			= 1007,
-	/**< 1007 indicates that an endpoint is terminating the connection
-      because it has received data within a message that was not
-      consistent with the type of the message (e.g., non-UTF-8 [RFC3629]
-      data within a text message). */
-	LWS_CLOSE_STATUS_POLICY_VIOLATION			= 1008,
-	/**< 1008 indicates that an endpoint is terminating the connection
-      because it has received a message that violates its policy.  This
-      is a generic status code that can be returned when there is no
-      other more suitable status code (e.g., 1003 or 1009) or if there
-      is a need to hide specific details about the policy. */
-	LWS_CLOSE_STATUS_MESSAGE_TOO_LARGE			= 1009,
-	/**< 1009 indicates that an endpoint is terminating the connection
-      because it has received a message that is too big for it to
-      process. */
-	LWS_CLOSE_STATUS_EXTENSION_REQUIRED			= 1010,
-	/**< 1010 indicates that an endpoint (client) is terminating the
-      connection because it has expected the server to negotiate one or
-      more extension, but the server didn't return them in the response
-      message of the WebSocket handshake.  The list of extensions that
-      are needed SHOULD appear in the /reason/ part of the Close frame.
-      Note that this status code is not used by the server, because it
-      can fail the WebSocket handshake instead */
-	LWS_CLOSE_STATUS_UNEXPECTED_CONDITION			= 1011,
-	/**< 1011 indicates that a server is terminating the connection because
-      it encountered an unexpected condition that prevented it from
-      fulfilling the request. */
-	LWS_CLOSE_STATUS_TLS_FAILURE				= 1015,
-	/**< 1015 is a reserved value and MUST NOT be set as a status code in a
-      Close control frame by an endpoint.  It is designated for use in
-      applications expecting a status code to indicate that the
-      connection was closed due to a failure to perform a TLS handshake
-      (e.g., the server certificate can't be verified). */
-
-	LWS_CLOSE_STATUS_CLIENT_TRANSACTION_DONE		= 2000,
-
-	/****** add new things just above ---^ ******/
-
-	LWS_CLOSE_STATUS_NOSTATUS_CONTEXT_DESTROY		= 9999,
-};
-
-/**
- * lws_close_reason - Set reason and aux data to send with Close packet
- *		If you are going to return nonzero from the callback
- *		requesting the connection to close, you can optionally
- *		call this to set the reason the peer will be told if
- *		possible.
- *
- * \param wsi:	The websocket connection to set the close reason on
- * \param status:	A valid close status from websocket standard
- * \param buf:	NULL or buffer containing up to 124 bytes of auxiliary data
- * \param len:	Length of data in \param buf to send
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_close_reason(struct lws *wsi, enum lws_close_status status,
-		 unsigned char *buf, size_t len);
-
-///@}
-
-struct lws;
-struct lws_context;
-/* needed even with extensions disabled for create context */
-struct lws_extension;
-
-
-/*! \defgroup usercb User Callback
- *
- * ##User protocol callback
- *
- * The protocol callback is the primary way lws interacts with
- * user code.  For one of a list of a few dozen reasons the callback gets
- * called at some event to be handled.
- *
- * All of the events can be ignored, returning 0 is taken as "OK" and returning
- * nonzero in most cases indicates that the connection should be closed.
- */
-///@{
-
-struct lws_ssl_info {
-	int where;
-	int ret;
-};
-
-enum lws_cert_update_state {
-	LWS_CUS_IDLE,
-	LWS_CUS_STARTING,
-	LWS_CUS_SUCCESS,
-	LWS_CUS_FAILED,
-
-	LWS_CUS_CREATE_KEYS,
-	LWS_CUS_REG,
-	LWS_CUS_AUTH,
-	LWS_CUS_CHALLENGE,
-	LWS_CUS_CREATE_REQ,
-	LWS_CUS_REQ,
-	LWS_CUS_CONFIRM,
-	LWS_CUS_ISSUE,
-};
-
-enum {
-	LWS_TLS_REQ_ELEMENT_COUNTRY,
-	LWS_TLS_REQ_ELEMENT_STATE,
-	LWS_TLS_REQ_ELEMENT_LOCALITY,
-	LWS_TLS_REQ_ELEMENT_ORGANIZATION,
-	LWS_TLS_REQ_ELEMENT_COMMON_NAME,
-	LWS_TLS_REQ_ELEMENT_EMAIL,
-
-	LWS_TLS_REQ_ELEMENT_COUNT,
-
-	LWS_TLS_SET_DIR_URL = LWS_TLS_REQ_ELEMENT_COUNT,
-	LWS_TLS_SET_AUTH_PATH,
-	LWS_TLS_SET_CERT_PATH,
-	LWS_TLS_SET_KEY_PATH,
-
-	LWS_TLS_TOTAL_COUNT
-};
-
-struct lws_acme_cert_aging_args {
-	struct lws_vhost *vh;
-	const char *element_overrides[LWS_TLS_TOTAL_COUNT]; /* NULL = use pvo */
-};
-
-/*
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-/** enum lws_callback_reasons - reason you're getting a protocol callback */
-enum lws_callback_reasons {
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to wsi and protocol binding lifecycle -----
-	 */
-
-	LWS_CALLBACK_PROTOCOL_INIT				= 27,
-	/**< One-time call per protocol, per-vhost using it, so it can
-	 * do initial setup / allocations etc */
-
-	LWS_CALLBACK_PROTOCOL_DESTROY				= 28,
-	/**< One-time call per protocol, per-vhost using it, indicating
-	 * this protocol won't get used at all after this callback, the
-	 * vhost is getting destroyed.  Take the opportunity to
-	 * deallocate everything that was allocated by the protocol. */
-
-	LWS_CALLBACK_WSI_CREATE					= 29,
-	/**< outermost (earliest) wsi create notification to protocols[0] */
-
-	LWS_CALLBACK_WSI_DESTROY				= 30,
-	/**< outermost (latest) wsi destroy notification to protocols[0] */
-
-	LWS_CALLBACK_HTTP_BIND_PROTOCOL				= 49,
-	/**< By default, all HTTP handling is done in protocols[0].
-	 * However you can bind different protocols (by name) to
-	 * different parts of the URL space using callback mounts.  This
-	 * callback occurs in the new protocol when a wsi is bound
-	 * to that protocol.  Any protocol allocation related to the
-	 * http transaction processing should be created then.
-	 * These specific callbacks are necessary because with HTTP/1.1,
-	 * a single connection may perform at series of different
-	 * transactions at different URLs, thus the lifetime of the
-	 * protocol bind is just for one transaction, not connection. */
-
-	LWS_CALLBACK_HTTP_DROP_PROTOCOL				= 50,
-	/**< This is called when a transaction is unbound from a protocol.
-	 * It indicates the connection completed its transaction and may
-	 * do something different now.  Any protocol allocation related
-	 * to the http transaction processing should be destroyed. */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to Server TLS -----
-	 */
-
-	LWS_CALLBACK_OPENSSL_LOAD_EXTRA_CLIENT_VERIFY_CERTS	= 21,
-	/**< if configured for
-	 * including OpenSSL support, this callback allows your user code
-	 * to perform extra SSL_CTX_load_verify_locations() or similar
-	 * calls to direct OpenSSL where to find certificates the client
-	 * can use to confirm the remote server identity.  user is the
-	 * OpenSSL SSL_CTX* */
-
-	LWS_CALLBACK_OPENSSL_LOAD_EXTRA_SERVER_VERIFY_CERTS	= 22,
-	/**< if configured for
-	 * including OpenSSL support, this callback allows your user code
-	 * to load extra certificates into the server which allow it to
-	 * verify the validity of certificates returned by clients.  user
-	 * is the server's OpenSSL SSL_CTX* and in is the lws_vhost */
-
-	LWS_CALLBACK_OPENSSL_PERFORM_CLIENT_CERT_VERIFICATION	= 23,
-	/**< if the libwebsockets vhost was created with the option
-	 * LWS_SERVER_OPTION_REQUIRE_VALID_OPENSSL_CLIENT_CERT, then this
-	 * callback is generated during OpenSSL verification of the cert
-	 * sent from the client.  It is sent to protocol[0] callback as
-	 * no protocol has been negotiated on the connection yet.
-	 * Notice that the libwebsockets context and wsi are both NULL
-	 * during this callback.  See
-	 *  http://www.openssl.org/docs/ssl/SSL_CTX_set_verify.html
-	 * to understand more detail about the OpenSSL callback that
-	 * generates this libwebsockets callback and the meanings of the
-	 * arguments passed.  In this callback, user is the x509_ctx,
-	 * in is the ssl pointer and len is preverify_ok
-	 * Notice that this callback maintains libwebsocket return
-	 * conventions, return 0 to mean the cert is OK or 1 to fail it.
-	 * This also means that if you don't handle this callback then
-	 * the default callback action of returning 0 allows the client
-	 * certificates. */
-
-	LWS_CALLBACK_OPENSSL_CONTEXT_REQUIRES_PRIVATE_KEY	= 37,
-	/**< if configured for including OpenSSL support but no private key
-	 * file has been specified (ssl_private_key_filepath is NULL), this is
-	 * called to allow the user to set the private key directly via
-	 * libopenssl and perform further operations if required; this might be
-	 * useful in situations where the private key is not directly accessible
-	 * by the OS, for example if it is stored on a smartcard.
-	 * user is the server's OpenSSL SSL_CTX* */
-
-	LWS_CALLBACK_SSL_INFO					= 67,
-	/**< SSL connections only.  An event you registered an
-	 * interest in at the vhost has occurred on a connection
-	 * using the vhost.  in is a pointer to a
-	 * struct lws_ssl_info containing information about the
-	 * event*/
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to Client TLS -----
-	 */
-
-	LWS_CALLBACK_OPENSSL_PERFORM_SERVER_CERT_VERIFICATION = 58,
-	/**< Similar to LWS_CALLBACK_OPENSSL_PERFORM_CLIENT_CERT_VERIFICATION
-	 * this callback is called during OpenSSL verification of the cert
-	 * sent from the server to the client. It is sent to protocol[0]
-	 * callback as no protocol has been negotiated on the connection yet.
-	 * Notice that the wsi is set because lws_client_connect_via_info was
-	 * successful.
-	 *
-	 * See http://www.openssl.org/docs/ssl/SSL_CTX_set_verify.html
-	 * to understand more detail about the OpenSSL callback that
-	 * generates this libwebsockets callback and the meanings of the
-	 * arguments passed. In this callback, user is the x509_ctx,
-	 * in is the ssl pointer and len is preverify_ok.
-	 *
-	 * THIS IS NOT RECOMMENDED BUT if a cert validation error shall be
-	 * overruled and cert shall be accepted as ok,
-	 * X509_STORE_CTX_set_error((X509_STORE_CTX*)user, X509_V_OK); must be
-	 * called and return value must be 0 to mean the cert is OK;
-	 * returning 1 will fail the cert in any case.
-	 *
-	 * This also means that if you don't handle this callback then
-	 * the default callback action of returning 0 will not accept the
-	 * certificate in case of a validation error decided by the SSL lib.
-	 *
-	 * This is expected and secure behaviour when validating certificates.
-	 *
-	 * Note: LCCSCF_ALLOW_SELFSIGNED and
-	 * LCCSCF_SKIP_SERVER_CERT_HOSTNAME_CHECK still work without this
-	 * callback being implemented.
-	 */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to HTTP Server  -----
-	 */
-
-	LWS_CALLBACK_SERVER_NEW_CLIENT_INSTANTIATED		= 19,
-	/**< A new client has been accepted by the ws server.  This
-	 * callback allows setting any relevant property to it. Because this
-	 * happens immediately after the instantiation of a new client,
-	 * there's no websocket protocol selected yet so this callback is
-	 * issued only to protocol 0. Only wsi is defined, pointing to the
-	 * new client, and the return value is ignored. */
-
-	LWS_CALLBACK_HTTP					= 12,
-	/**< an http request has come from a client that is not
-	 * asking to upgrade the connection to a websocket
-	 * one.  This is a chance to serve http content,
-	 * for example, to send a script to the client
-	 * which will then open the websockets connection.
-	 * in points to the URI path requested and
-	 * lws_serve_http_file() makes it very
-	 * simple to send back a file to the client.
-	 * Normally after sending the file you are done
-	 * with the http connection, since the rest of the
-	 * activity will come by websockets from the script
-	 * that was delivered by http, so you will want to
-	 * return 1; to close and free up the connection. */
-
-	LWS_CALLBACK_HTTP_BODY					= 13,
-	/**< the next len bytes data from the http
-	 * request body HTTP connection is now available in in. */
-
-	LWS_CALLBACK_HTTP_BODY_COMPLETION			= 14,
-	/**< the expected amount of http request body has been delivered */
-
-	LWS_CALLBACK_HTTP_FILE_COMPLETION			= 15,
-	/**< a file requested to be sent down http link has completed. */
-
-	LWS_CALLBACK_HTTP_WRITEABLE				= 16,
-	/**< you can write more down the http protocol link now. */
-
-	LWS_CALLBACK_CLOSED_HTTP				=  5,
-	/**< when a HTTP (non-websocket) session ends */
-
-	LWS_CALLBACK_FILTER_HTTP_CONNECTION			= 18,
-	/**< called when the request has
-	 * been received and parsed from the client, but the response is
-	 * not sent yet.  Return non-zero to disallow the connection.
-	 * user is a pointer to the connection user space allocation,
-	 * in is the URI, eg, "/"
-	 * In your handler you can use the public APIs
-	 * lws_hdr_total_length() / lws_hdr_copy() to access all of the
-	 * headers using the header enums lws_token_indexes from
-	 * libwebsockets.h to check for and read the supported header
-	 * presence and content before deciding to allow the http
-	 * connection to proceed or to kill the connection. */
-
-	LWS_CALLBACK_ADD_HEADERS				= 53,
-	/**< This gives your user code a chance to add headers to a server
-	 * transaction bound to your protocol.  `in` points to a
-	 * `struct lws_process_html_args` describing a buffer and length
-	 * you can add headers into using the normal lws apis.
-	 *
-	 * (see LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER to add headers to
-	 * a client transaction)
-	 *
-	 * Only `args->p` and `args->len` are valid, and `args->p` should
-	 * be moved on by the amount of bytes written, if any.  Eg
-	 *
-	 * 	case LWS_CALLBACK_ADD_HEADERS:
-	 *
-	 *          struct lws_process_html_args *args =
-	 *          		(struct lws_process_html_args *)in;
-	 *
-	 *	    if (lws_add_http_header_by_name(wsi,
-	 *			(unsigned char *)"set-cookie:",
-	 *			(unsigned char *)cookie, cookie_len,
-	 *			(unsigned char **)&args->p,
-	 *			(unsigned char *)args->p + args->max_len))
-	 *		return 1;
-	 *
-	 *          break;
-	 */
-
-	LWS_CALLBACK_CHECK_ACCESS_RIGHTS			= 51,
-	/**< This gives the user code a chance to forbid an http access.
-	 * `in` points to a `struct lws_process_html_args`, which
-	 * describes the URL, and a bit mask describing the type of
-	 * authentication required.  If the callback returns nonzero,
-	 * the transaction ends with HTTP_STATUS_UNAUTHORIZED. */
-
-	LWS_CALLBACK_PROCESS_HTML				= 52,
-	/**< This gives your user code a chance to mangle outgoing
-	 * HTML.  `in` points to a `struct lws_process_html_args`
-	 * which describes the buffer containing outgoing HTML.
-	 * The buffer may grow up to `.max_len` (currently +128
-	 * bytes per buffer).
-	 */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to HTTP Client  -----
-	 */
-
-	LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP			= 44,
-	/**< The HTTP client connection has succeeded, and is now
-	 * connected to the server */
-
-	LWS_CALLBACK_CLOSED_CLIENT_HTTP				= 45,
-	/**< The HTTP client connection is closing */
-
-	LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ			= 48,
-	/**< This is generated by lws_http_client_read() used to drain
-	 * incoming data.  In the case the incoming data was chunked, it will
-	 * be split into multiple smaller callbacks for each chunk block,
-	 * removing the chunk headers. If not chunked, it will appear all in
-	 * one callback. */
-
-	LWS_CALLBACK_RECEIVE_CLIENT_HTTP			= 46,
-	/**< This simply indicates data was received on the HTTP client
-	 * connection.  It does NOT drain or provide the data.
-	 * This exists to neatly allow a proxying type situation,
-	 * where this incoming data will go out on another connection.
-	 * If the outgoing connection stalls, we should stall processing
-	 * the incoming data.  So a handler for this in that case should
-	 * simply set a flag to indicate there is incoming data ready
-	 * and ask for a writeable callback on the outgoing connection.
-	 * In the writable callback he can check the flag and then get
-	 * and drain the waiting incoming data using lws_http_client_read().
-	 * This will use callbacks to LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ
-	 * to get and drain the incoming data, where it should be sent
-	 * back out on the outgoing connection. */
-	LWS_CALLBACK_COMPLETED_CLIENT_HTTP			= 47,
-	/**< The client transaction completed... at the moment this
-	 * is the same as closing since transaction pipelining on
-	 * client side is not yet supported.  */
-
-	LWS_CALLBACK_CLIENT_HTTP_WRITEABLE			= 57,
-	/**< when doing an HTTP type client connection, you can call
-	 * lws_client_http_body_pending(wsi, 1) from
-	 * LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER to get these callbacks
-	 * sending the HTTP headers.
-	 *
-	 * From this callback, when you have sent everything, you should let
-	 * lws know by calling lws_client_http_body_pending(wsi, 0)
-	 */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to Websocket Server -----
-	 */
-
-	LWS_CALLBACK_ESTABLISHED				=  0,
-	/**< (VH) after the server completes a handshake with an incoming
-	 * client.  If you built the library with ssl support, in is a
-	 * pointer to the ssl struct associated with the connection or NULL.
-	 *
-	 * b0 of len is set if the connection was made using ws-over-h2
-	 */
-
-	LWS_CALLBACK_CLOSED					=  4,
-	/**< when the websocket session ends */
-
-	LWS_CALLBACK_SERVER_WRITEABLE				= 11,
-	/**< See LWS_CALLBACK_CLIENT_WRITEABLE */
-
-	LWS_CALLBACK_RECEIVE					=  6,
-	/**< data has appeared for this server endpoint from a
-	 * remote client, it can be found at *in and is
-	 * len bytes long */
-
-	LWS_CALLBACK_RECEIVE_PONG				=  7,
-	/**< servers receive PONG packets with this callback reason */
-
-	LWS_CALLBACK_WS_PEER_INITIATED_CLOSE			= 38,
-	/**< The peer has sent an unsolicited Close WS packet.  in and
-	 * len are the optional close code (first 2 bytes, network
-	 * order) and the optional additional information which is not
-	 * defined in the standard, and may be a string or non human-readable
-	 * data.
-	 * If you return 0 lws will echo the close and then close the
-	 * connection.  If you return nonzero lws will just close the
-	 * connection. */
-
-	LWS_CALLBACK_FILTER_PROTOCOL_CONNECTION			= 20,
-	/**< called when the handshake has
-	 * been received and parsed from the client, but the response is
-	 * not sent yet.  Return non-zero to disallow the connection.
-	 * user is a pointer to the connection user space allocation,
-	 * in is the requested protocol name
-	 * In your handler you can use the public APIs
-	 * lws_hdr_total_length() / lws_hdr_copy() to access all of the
-	 * headers using the header enums lws_token_indexes from
-	 * libwebsockets.h to check for and read the supported header
-	 * presence and content before deciding to allow the handshake
-	 * to proceed or to kill the connection. */
-
-	LWS_CALLBACK_CONFIRM_EXTENSION_OKAY			= 25,
-	/**< When the server handshake code
-	 * sees that it does support a requested extension, before
-	 * accepting the extension by additing to the list sent back to
-	 * the client it gives this callback just to check that it's okay
-	 * to use that extension.  It calls back to the requested protocol
-	 * and with in being the extension name, len is 0 and user is
-	 * valid.  Note though at this time the ESTABLISHED callback hasn't
-	 * happened yet so if you initialize user content there, user
-	 * content during this callback might not be useful for anything. */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to Websocket Client -----
-	 */
-
-	LWS_CALLBACK_CLIENT_CONNECTION_ERROR			=  1,
-	/**< the request client connection has been unable to complete a
-	 * handshake with the remote server.  If in is non-NULL, you can
-	 * find an error string of length len where it points to
-	 *
-	 * Diagnostic strings that may be returned include
-	 *
-	 *     	"getaddrinfo (ipv6) failed"
-	 *     	"unknown address family"
-	 *     	"getaddrinfo (ipv4) failed"
-	 *     	"set socket opts failed"
-	 *     	"insert wsi failed"
-	 *     	"lws_ssl_client_connect1 failed"
-	 *     	"lws_ssl_client_connect2 failed"
-	 *     	"Peer hung up"
-	 *     	"read failed"
-	 *     	"HS: URI missing"
-	 *     	"HS: Redirect code but no Location"
-	 *     	"HS: URI did not parse"
-	 *     	"HS: Redirect failed"
-	 *     	"HS: Server did not return 200"
-	 *     	"HS: OOM"
-	 *     	"HS: disallowed by client filter"
-	 *     	"HS: disallowed at ESTABLISHED"
-	 *     	"HS: ACCEPT missing"
-	 *     	"HS: ws upgrade response not 101"
-	 *     	"HS: UPGRADE missing"
-	 *     	"HS: Upgrade to something other than websocket"
-	 *     	"HS: CONNECTION missing"
-	 *     	"HS: UPGRADE malformed"
-	 *     	"HS: PROTOCOL malformed"
-	 *     	"HS: Cannot match protocol"
-	 *     	"HS: EXT: list too big"
-	 *     	"HS: EXT: failed setting defaults"
-	 *     	"HS: EXT: failed parsing defaults"
-	 *     	"HS: EXT: failed parsing options"
-	 *     	"HS: EXT: Rejects server options"
-	 *     	"HS: EXT: unknown ext"
-	 *     	"HS: Accept hash wrong"
-	 *     	"HS: Rejected by filter cb"
-	 *     	"HS: OOM"
-	 *     	"HS: SO_SNDBUF failed"
-	 *     	"HS: Rejected at CLIENT_ESTABLISHED"
-	 */
-
-	LWS_CALLBACK_CLIENT_FILTER_PRE_ESTABLISH		=  2,
-	/**< this is the last chance for the client user code to examine the
-	 * http headers and decide to reject the connection.  If the
-	 * content in the headers is interesting to the
-	 * client (url, etc) it needs to copy it out at
-	 * this point since it will be destroyed before
-	 * the CLIENT_ESTABLISHED call */
-
-	LWS_CALLBACK_CLIENT_ESTABLISHED				=  3,
-	/**< after your client connection completed the websocket upgrade
-	 * handshake with the remote server */
-
-	LWS_CALLBACK_CLIENT_CLOSED				=  75,
-	/**< when a client websocket session ends */
-
-	LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER		= 24,
-	/**< this callback happens
-	 * when a client handshake is being compiled.  user is NULL,
-	 * in is a char **, it's pointing to a char * which holds the
-	 * next location in the header buffer where you can add
-	 * headers, and len is the remaining space in the header buffer,
-	 * which is typically some hundreds of bytes.  So, to add a canned
-	 * cookie, your handler code might look similar to:
-	 *
-	 *	char **p = (char **)in;
-	 *
-	 *	if (len < 100)
-	 *		return 1;
-	 *
-	 *	*p += sprintf(*p, "Cookie: a=b\x0d\x0a");
-	 *
-	 *	return 0;
-	 *
-	 * Notice if you add anything, you just have to take care about
-	 * the CRLF on the line you added.  Obviously this callback is
-	 * optional, if you don't handle it everything is fine.
-	 *
-	 * Notice the callback is coming to protocols[0] all the time,
-	 * because there is no specific protocol negotiated yet.
-	 *
-	 * See LWS_CALLBACK_ADD_HEADERS for adding headers to server
-	 * transactions.
-	 */
-
-	LWS_CALLBACK_CLIENT_RECEIVE				=  8,
-	/**< data has appeared from the server for the client connection, it
-	 * can be found at *in and is len bytes long */
-
-	LWS_CALLBACK_CLIENT_RECEIVE_PONG			=  9,
-	/**< clients receive PONG packets with this callback reason */
-
-	LWS_CALLBACK_CLIENT_WRITEABLE				= 10,
-	/**<  If you call lws_callback_on_writable() on a connection, you will
-	 * get one of these callbacks coming when the connection socket
-	 * is able to accept another write packet without blocking.
-	 * If it already was able to take another packet without blocking,
-	 * you'll get this callback at the next call to the service loop
-	 * function.  Notice that CLIENTs get LWS_CALLBACK_CLIENT_WRITEABLE
-	 * and servers get LWS_CALLBACK_SERVER_WRITEABLE. */
-
-	LWS_CALLBACK_CLIENT_CONFIRM_EXTENSION_SUPPORTED		= 26,
-	/**< When a ws client
-	 * connection is being prepared to start a handshake to a server,
-	 * each supported extension is checked with protocols[0] callback
-	 * with this reason, giving the user code a chance to suppress the
-	 * claim to support that extension by returning non-zero.  If
-	 * unhandled, by default 0 will be returned and the extension
-	 * support included in the header to the server.  Notice this
-	 * callback comes to protocols[0]. */
-
-	LWS_CALLBACK_WS_EXT_DEFAULTS				= 39,
-	/**< Gives client connections an opportunity to adjust negotiated
-	 * extension defaults.  `user` is the extension name that was
-	 * negotiated (eg, "permessage-deflate").  `in` points to a
-	 * buffer and `len` is the buffer size.  The user callback can
-	 * set the buffer to a string describing options the extension
-	 * should parse.  Or just ignore for defaults. */
-
-
-	LWS_CALLBACK_FILTER_NETWORK_CONNECTION			= 17,
-	/**< called when a client connects to
-	 * the server at network level; the connection is accepted but then
-	 * passed to this callback to decide whether to hang up immediately
-	 * or not, based on the client IP.  in contains the connection
-	 * socket's descriptor. Since the client connection information is
-	 * not available yet, wsi still pointing to the main server socket.
-	 * Return non-zero to terminate the connection before sending or
-	 * receiving anything. Because this happens immediately after the
-	 * network connection from the client, there's no websocket protocol
-	 * selected yet so this callback is issued only to protocol 0. */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to external poll loop integration  -----
-	 */
-
-	LWS_CALLBACK_GET_THREAD_ID				= 31,
-	/**< lws can accept callback when writable requests from other
-	 * threads, if you implement this callback and return an opaque
-	 * current thread ID integer. */
-
-	/* external poll() management support */
-	LWS_CALLBACK_ADD_POLL_FD				= 32,
-	/**< lws normally deals with its poll() or other event loop
-	 * internally, but in the case you are integrating with another
-	 * server you will need to have lws sockets share a
-	 * polling array with the other server.  This and the other
-	 * POLL_FD related callbacks let you put your specialized
-	 * poll array interface code in the callback for protocol 0, the
-	 * first protocol you support, usually the HTTP protocol in the
-	 * serving case.
-	 * This callback happens when a socket needs to be
-	 * added to the polling loop: in points to a struct
-	 * lws_pollargs; the fd member of the struct is the file
-	 * descriptor, and events contains the active events
-	 *
-	 * If you are using the internal lws polling / event loop
-	 * you can just ignore these callbacks. */
-
-	LWS_CALLBACK_DEL_POLL_FD				= 33,
-	/**< This callback happens when a socket descriptor
-	 * needs to be removed from an external polling array.  in is
-	 * again the struct lws_pollargs containing the fd member
-	 * to be removed.  If you are using the internal polling
-	 * loop, you can just ignore it. */
-
-	LWS_CALLBACK_CHANGE_MODE_POLL_FD			= 34,
-	/**< This callback happens when lws wants to modify the events for
-	 * a connection.
-	 * in is the struct lws_pollargs with the fd to change.
-	 * The new event mask is in events member and the old mask is in
-	 * the prev_events member.
-	 * If you are using the internal polling loop, you can just ignore
-	 * it. */
-
-	LWS_CALLBACK_LOCK_POLL					= 35,
-	/**< These allow the external poll changes driven
-	 * by lws to participate in an external thread locking
-	 * scheme around the changes, so the whole thing is threadsafe.
-	 * These are called around three activities in the library,
-	 *	- inserting a new wsi in the wsi / fd table (len=1)
-	 *	- deleting a wsi from the wsi / fd table (len=1)
-	 *	- changing a wsi's POLLIN/OUT state (len=0)
-	 * Locking and unlocking external synchronization objects when
-	 * len == 1 allows external threads to be synchronized against
-	 * wsi lifecycle changes if it acquires the same lock for the
-	 * duration of wsi dereference from the other thread context. */
-
-	LWS_CALLBACK_UNLOCK_POLL				= 36,
-	/**< See LWS_CALLBACK_LOCK_POLL, ignore if using lws internal poll */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to CGI serving -----
-	 */
-
-	LWS_CALLBACK_CGI					= 40,
-	/**< CGI: CGI IO events on stdin / out / err are sent here on
-	 * protocols[0].  The provided `lws_callback_http_dummy()`
-	 * handles this and the callback should be directed there if
-	 * you use CGI. */
-
-	LWS_CALLBACK_CGI_TERMINATED				= 41,
-	/**< CGI: The related CGI process ended, this is called before
-	 * the wsi is closed.  Used to, eg, terminate chunking.
-	 * The provided `lws_callback_http_dummy()`
-	 * handles this and the callback should be directed there if
-	 * you use CGI.  The child PID that terminated is in len. */
-
-	LWS_CALLBACK_CGI_STDIN_DATA				= 42,
-	/**< CGI: Data is, to be sent to the CGI process stdin, eg from
-	 * a POST body.  The provided `lws_callback_http_dummy()`
-	 * handles this and the callback should be directed there if
-	 * you use CGI. */
-
-	LWS_CALLBACK_CGI_STDIN_COMPLETED			= 43,
-	/**< CGI: no more stdin is coming.  The provided
-	 * `lws_callback_http_dummy()` handles this and the callback
-	 * should be directed there if you use CGI. */
-
-	LWS_CALLBACK_CGI_PROCESS_ATTACH				= 70,
-	/**< CGI: Sent when the CGI process is spawned for the wsi.  The
-	 * len parameter is the PID of the child process */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to Generic Sessions -----
-	 */
-
-	LWS_CALLBACK_SESSION_INFO				= 54,
-	/**< This is only generated by user code using generic sessions.
-	 * It's used to get a `struct lws_session_info` filled in by
-	 * generic sessions with information about the logged-in user.
-	 * See the messageboard sample for an example of how to use. */
-
-	LWS_CALLBACK_GS_EVENT					= 55,
-	/**< Indicates an event happened to the Generic Sessions session.
-	 * `in` contains a `struct lws_gs_event_args` describing the event. */
-
-	LWS_CALLBACK_HTTP_PMO					= 56,
-	/**< per-mount options for this connection, called before
-	 * the normal LWS_CALLBACK_HTTP when the mount has per-mount
-	 * options.
-	 */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to RAW sockets -----
-	 */
-
-	LWS_CALLBACK_RAW_RX					= 59,
-	/**< RAW mode connection RX */
-
-	LWS_CALLBACK_RAW_CLOSE					= 60,
-	/**< RAW mode connection is closing */
-
-	LWS_CALLBACK_RAW_WRITEABLE				= 61,
-	/**< RAW mode connection may be written */
-
-	LWS_CALLBACK_RAW_ADOPT					= 62,
-	/**< RAW mode connection was adopted (equivalent to 'wsi created') */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to RAW file handles -----
-	 */
-
-	LWS_CALLBACK_RAW_ADOPT_FILE				= 63,
-	/**< RAW mode file was adopted (equivalent to 'wsi created') */
-
-	LWS_CALLBACK_RAW_RX_FILE				= 64,
-	/**< This is the indication the RAW mode file has something to read.
-	 *   This doesn't actually do the read of the file and len is always
-	 *   0... your code should do the read having been informed there is
-	 *   something to read now. */
-
-	LWS_CALLBACK_RAW_WRITEABLE_FILE				= 65,
-	/**< RAW mode file is writeable */
-
-	LWS_CALLBACK_RAW_CLOSE_FILE				= 66,
-	/**< RAW mode wsi that adopted a file is closing */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to generic wsi events -----
-	 */
-
-	LWS_CALLBACK_TIMER					= 73,
-	/**< When the time elapsed after a call to
-	 * lws_set_timer_usecs(wsi, usecs) is up, the wsi will get one of
-	 * these callbacks.  The deadline can be continuously extended into the
-	 * future by later calls to lws_set_timer_usecs() before the deadline
-	 * expires, or cancelled by lws_set_timer_usecs(wsi, -1);
-	 * See the note on lws_set_timer_usecs() about which event loops are
-	 * supported. */
-
-	LWS_CALLBACK_EVENT_WAIT_CANCELLED			= 71,
-	/**< This is sent to every protocol of every vhost in response
-	 * to lws_cancel_service() or lws_cancel_service_pt().  This
-	 * callback is serialized in the lws event loop normally, even
-	 * if the lws_cancel_service[_pt]() call was from a different
-	 * thread. */
-
-	LWS_CALLBACK_CHILD_CLOSING				= 69,
-	/**< Sent to parent to notify them a child is closing / being
-	 * destroyed.  in is the child wsi.
-	 */
-
-	LWS_CALLBACK_CHILD_WRITE_VIA_PARENT			= 68,
-	/**< Child has been marked with parent_carries_io attribute, so
-	 * lws_write directs the to this callback at the parent,
-	 * in is a struct lws_write_passthru containing the args
-	 * the lws_write() was called with.
-	 */
-
-	/* ---------------------------------------------------------------------
-	 * ----- Callbacks related to TLS certificate management -----
-	 */
-
-	LWS_CALLBACK_VHOST_CERT_AGING				= 72,
-	/**< When a vhost TLS cert has its expiry checked, this callback
-	 * is broadcast to every protocol of every vhost in case the
-	 * protocol wants to take some action with this information.
-	 * \p in is a pointer to a struct lws_acme_cert_aging_args,
-	 * and \p len is the number of days left before it expires, as
-	 * a (ssize_t).  In the struct lws_acme_cert_aging_args, vh
-	 * points to the vhost the cert aging information applies to,
-	 * and element_overrides[] is an optional way to update information
-	 * from the pvos... NULL in an index means use the information from
-	 * from the pvo for the cert renewal, non-NULL in the array index
-	 * means use that pointer instead for the index. */
-
-	LWS_CALLBACK_VHOST_CERT_UPDATE				= 74,
-	/**< When a vhost TLS cert is being updated, progress is
-	 * reported to the vhost in question here, including completion
-	 * and failure.  in points to optional JSON, and len represents the
-	 * connection state using enum lws_cert_update_state */
-
-
-	/****** add new things just above ---^ ******/
-
-	LWS_CALLBACK_USER = 1000,
-	/**<  user code can use any including above without fear of clashes */
-};
-
-
-
-/**
- * typedef lws_callback_function() - User server actions
- * \param wsi:	Opaque websocket instance pointer
- * \param reason:	The reason for the call
- * \param user:	Pointer to per-session user data allocated by library
- * \param in:		Pointer used for some callback reasons
- * \param len:	Length set for some callback reasons
- *
- *	This callback is the way the user controls what is served.  All the
- *	protocol detail is hidden and handled by the library.
- *
- *	For each connection / session there is user data allocated that is
- *	pointed to by "user".  You set the size of this user data area when
- *	the library is initialized with lws_create_server.
- */
-typedef int
-lws_callback_function(struct lws *wsi, enum lws_callback_reasons reason,
-		    void *user, void *in, size_t len);
-
-#define LWS_CB_REASON_AUX_BF__CGI		1
-#define LWS_CB_REASON_AUX_BF__PROXY		2
-#define LWS_CB_REASON_AUX_BF__CGI_CHUNK_END	4
-#define LWS_CB_REASON_AUX_BF__CGI_HEADERS	8
-///@}
-
-struct lws_vhost;
-
-/*! \defgroup generic hash
- * ## Generic Hash related functions
- *
- * Lws provides generic hash / digest accessors that abstract the ones
- * provided by whatever OpenSSL library you are linking against.
- *
- * It lets you use the same code if you build against mbedtls or OpenSSL
- * for example.
- */
-///@{
-
-#if defined(LWS_WITH_TLS)
-
-#if defined(LWS_WITH_MBEDTLS)
-#include <mbedtls/sha1.h>
-#include <mbedtls/sha256.h>
-#include <mbedtls/sha512.h>
-#endif
-
-enum lws_genhash_types {
-	LWS_GENHASH_TYPE_SHA1,
-	LWS_GENHASH_TYPE_SHA256,
-	LWS_GENHASH_TYPE_SHA384,
-	LWS_GENHASH_TYPE_SHA512,
-};
-
-enum lws_genhmac_types {
-	LWS_GENHMAC_TYPE_SHA256,
-	LWS_GENHMAC_TYPE_SHA384,
-	LWS_GENHMAC_TYPE_SHA512,
-};
-
-#define LWS_GENHASH_LARGEST 64
-
-struct lws_genhash_ctx {
-        uint8_t type;
-#if defined(LWS_WITH_MBEDTLS)
-        union {
-		mbedtls_sha1_context sha1;
-		mbedtls_sha256_context sha256;
-		mbedtls_sha512_context sha512; /* 384 also uses this */
-		const mbedtls_md_info_t *hmac;
-        } u;
-#else
-        const EVP_MD *evp_type;
-        EVP_MD_CTX *mdctx;
-#endif
-};
-
-struct lws_genhmac_ctx {
-        uint8_t type;
-#if defined(LWS_WITH_MBEDTLS)
-	const mbedtls_md_info_t *hmac;
-	mbedtls_md_context_t ctx;
-#else
-        const EVP_MD *evp_type;
-        EVP_MD_CTX *ctx;
-#endif
-};
-
-/** lws_genhash_size() - get hash size in bytes
- *
- * \param type:	one of LWS_GENHASH_TYPE_...
- *
- * Returns number of bytes in this type of hash
- */
-LWS_VISIBLE LWS_EXTERN size_t LWS_WARN_UNUSED_RESULT
-lws_genhash_size(enum lws_genhash_types type);
-
-/** lws_genhmac_size() - get hash size in bytes
- *
- * \param type:	one of LWS_GENHASH_TYPE_...
- *
- * Returns number of bytes in this type of hmac
- */
-LWS_VISIBLE LWS_EXTERN size_t LWS_WARN_UNUSED_RESULT
-lws_genhmac_size(enum lws_genhmac_types type);
-
-/** lws_genhash_init() - prepare your struct lws_genhash_ctx for use
- *
- * \param ctx: your struct lws_genhash_ctx
- * \param type:	one of LWS_GENHASH_TYPE_...
- *
- * Initializes the hash context for the type you requested
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_genhash_init(struct lws_genhash_ctx *ctx, enum lws_genhash_types type);
-
-/** lws_genhash_update() - digest len bytes of the buffer starting at in
- *
- * \param ctx: your struct lws_genhash_ctx
- * \param in: start of the bytes to digest
- * \param len: count of bytes to digest
- *
- * Updates the state of your hash context to reflect digesting len bytes from in
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_genhash_update(struct lws_genhash_ctx *ctx, const void *in, size_t len);
-
-/** lws_genhash_destroy() - copy out the result digest and destroy the ctx
- *
- * \param ctx: your struct lws_genhash_ctx
- * \param result: NULL, or where to copy the result hash
- *
- * Finalizes the hash and copies out the digest.  Destroys any allocations such
- * that ctx can safely go out of scope after calling this.
- *
- * NULL result is supported so that you can destroy the ctx cleanly on error
- * conditions, where there is no valid result.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genhash_destroy(struct lws_genhash_ctx *ctx, void *result);
-
-/** lws_genhmac_init() - prepare your struct lws_genhmac_ctx for use
- *
- * \param ctx: your struct lws_genhmac_ctx
- * \param type:	one of LWS_GENHMAC_TYPE_...
- * \param key: pointer to the start of the HMAC key
- * \param key_len: length of the HMAC key
- *
- * Initializes the hash context for the type you requested
- *
- * If the return is nonzero, it failed and there is nothing needing to be
- * destroyed.
- */
-int
-lws_genhmac_init(struct lws_genhmac_ctx *ctx, enum lws_genhmac_types type,
-		const uint8_t *key, size_t key_len);
-
-/** lws_genhmac_update() - digest len bytes of the buffer starting at in
- *
- * \param ctx: your struct lws_genhmac_ctx
- * \param in: start of the bytes to digest
- * \param len: count of bytes to digest
- *
- * Updates the state of your hash context to reflect digesting len bytes from in
- *
- * If the return is nonzero, it failed and needs destroying.
- */
-int
-lws_genhmac_update(struct lws_genhmac_ctx *ctx, const void *in, size_t len);
-
-/** lws_genhmac_destroy() - copy out the result digest and destroy the ctx
- *
- * \param ctx: your struct lws_genhmac_ctx
- * \param result: NULL, or where to copy the result hash
- *
- * Finalizes the hash and copies out the digest.  Destroys any allocations such
- * that ctx can safely go out of scope after calling this.
- *
- * NULL result is supported so that you can destroy the ctx cleanly on error
- * conditions, where there is no valid result.
- */
-int
-lws_genhmac_destroy(struct lws_genhmac_ctx *ctx, void *result);
-///@}
-
-/*! \defgroup generic RSA
- * ## Generic RSA related functions
- *
- * Lws provides generic RSA functions that abstract the ones
- * provided by whatever OpenSSL library you are linking against.
- *
- * It lets you use the same code if you build against mbedtls or OpenSSL
- * for example.
- */
-///@{
-
-enum enum_jwk_tok {
-	JWK_KEY_E,
-	JWK_KEY_N,
-	JWK_KEY_D,
-	JWK_KEY_P,
-	JWK_KEY_Q,
-	JWK_KEY_DP,
-	JWK_KEY_DQ,
-	JWK_KEY_QI,
-	JWK_KTY, /* also serves as count of real elements */
-	JWK_KEY,
-};
-
-#define LWS_COUNT_RSA_ELEMENTS JWK_KTY
-
-struct lws_genrsa_ctx {
-#if defined(LWS_WITH_MBEDTLS)
-	mbedtls_rsa_context *ctx;
-#else
-	BIGNUM *bn[LWS_COUNT_RSA_ELEMENTS];
-	RSA *rsa;
-#endif
-};
-
-struct lws_genrsa_element {
-	uint8_t *buf;
-	uint16_t len;
-};
-
-struct lws_genrsa_elements {
-	struct lws_genrsa_element e[LWS_COUNT_RSA_ELEMENTS];
-};
-
-/** lws_jwk_destroy_genrsa_elements() - Free allocations in genrsa_elements
- *
- * \param el: your struct lws_genrsa_elements
- *
- * This is a helper for user code making use of struct lws_genrsa_elements
- * where the elements are allocated on the heap, it frees any non-NULL
- * buf element and sets the buf to NULL.
- *
- * NB: lws_genrsa_public_... apis do not need this as they take care of the key
- * creation and destruction themselves.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_jwk_destroy_genrsa_elements(struct lws_genrsa_elements *el);
-
-/** lws_genrsa_public_decrypt_create() - Create RSA public decrypt context
- *
- * \param ctx: your struct lws_genrsa_ctx
- * \param el: struct prepared with key element data
- *
- * Creates an RSA context with a public key associated with it, formed from
- * the key elements in \p el.
- *
- * Returns 0 for OK or nonzero for error.
- *
- * This and related APIs operate identically with OpenSSL or mbedTLS backends.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genrsa_create(struct lws_genrsa_ctx *ctx, struct lws_genrsa_elements *el);
-
-/** lws_genrsa_new_keypair() - Create new RSA keypair
- *
- * \param context: your struct lws_context (may be used for RNG)
- * \param ctx: your struct lws_genrsa_ctx
- * \param el: struct to get the new key element data allocated into it
- * \param bits: key size, eg, 4096
- *
- * Creates a new RSA context and generates a new keypair into it, with \p bits
- * bits.
- *
- * Returns 0 for OK or nonzero for error.
- *
- * This and related APIs operate identically with OpenSSL or mbedTLS backends.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genrsa_new_keypair(struct lws_context *context, struct lws_genrsa_ctx *ctx,
-		       struct lws_genrsa_elements *el, int bits);
-
-/** lws_genrsa_public_decrypt() - Perform RSA public decryption
- *
- * \param ctx: your struct lws_genrsa_ctx
- * \param in: encrypted input
- * \param in_len: length of encrypted input
- * \param out: decrypted output
- * \param out_max: size of output buffer
- *
- * Performs the decryption.
- *
- * Returns <0 for error, or length of decrypted data.
- *
- * This and related APIs operate identically with OpenSSL or mbedTLS backends.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genrsa_public_decrypt(struct lws_genrsa_ctx *ctx, const uint8_t *in,
-			  size_t in_len, uint8_t *out, size_t out_max);
-
-/** lws_genrsa_public_verify() - Perform RSA public verification
- *
- * \param ctx: your struct lws_genrsa_ctx
- * \param in: unencrypted payload (usually a recomputed hash)
- * \param hash_type: one of LWS_GENHASH_TYPE_
- * \param sig: pointer to the signature we received with the payload
- * \param sig_len: length of the signature we are checking in bytes
- *
- * Returns <0 for error, or 0 if signature matches the payload + key.
- *
- * This and related APIs operate identically with OpenSSL or mbedTLS backends.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genrsa_public_verify(struct lws_genrsa_ctx *ctx, const uint8_t *in,
-			 enum lws_genhash_types hash_type,
-			 const uint8_t *sig, size_t sig_len);
-
-/** lws_genrsa_public_sign() - Create RSA signature
- *
- * \param ctx: your struct lws_genrsa_ctx
- * \param in: precomputed hash
- * \param hash_type: one of LWS_GENHASH_TYPE_
- * \param sig: pointer to buffer to take signature
- * \param sig_len: length of the buffer (must be >= length of key N)
- *
- * Returns <0 for error, or 0 for success.
- *
- * This and related APIs operate identically with OpenSSL or mbedTLS backends.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genrsa_public_sign(struct lws_genrsa_ctx *ctx, const uint8_t *in,
-			 enum lws_genhash_types hash_type, uint8_t *sig,
-			 size_t sig_len);
-
-/** lws_genrsa_public_decrypt_destroy() - Destroy RSA public decrypt context
- *
- * \param ctx: your struct lws_genrsa_ctx
- *
- * Destroys any allocations related to \p ctx.
- *
- * This and related APIs operate identically with OpenSSL or mbedTLS backends.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_genrsa_destroy(struct lws_genrsa_ctx *ctx);
-
-/** lws_genrsa_render_pkey_asn1() - Exports public or private key to ASN1/DER
- *
- * \param ctx: your struct lws_genrsa_ctx
- * \param _private: 0 = public part only, 1 = all parts of the key
- * \param pkey_asn1: pointer to buffer to take the ASN1
- * \param pkey_asn1_len: max size of the pkey_asn1_len
- *
- * Returns length of pkey_asn1 written, or -1 for error.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_genrsa_render_pkey_asn1(struct lws_genrsa_ctx *ctx, int _private,
-			    uint8_t *pkey_asn1, size_t pkey_asn1_len);
-///@}
-
-/*! \defgroup jwk JSON Web Keys
- * ## JSON Web Keys API
- *
- * Lws provides an API to parse JSON Web Keys into a struct lws_genrsa_elements.
- *
- * "oct" and "RSA" type keys are supported.  For "oct" keys, they are held in
- * the "e" member of the struct lws_genrsa_elements.
- *
- * Keys elements are allocated on the heap.  You must destroy the allocations
- * in the struct lws_genrsa_elements by calling
- * lws_jwk_destroy_genrsa_elements() when you are finished with it.
- */
-///@{
-
-struct lws_jwk {
-	char keytype[5];		/**< "oct" or "RSA" */
-	struct lws_genrsa_elements el;	/**< OCTet key is in el.e */
-};
-
-/** lws_jwk_import() - Create a JSON Web key from the textual representation
- *
- * \param s: the JWK object to create
- * \param in: a single JWK JSON stanza in utf-8
- * \param len: the length of the JWK JSON stanza in bytes
- *
- * Creates an lws_jwk struct filled with data from the JSON representation.
- * "oct" and "rsa" key types are supported.
- *
- * For "oct" type keys, it is loaded into el.e.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_jwk_import(struct lws_jwk *s, const char *in, size_t len);
-
-/** lws_jwk_destroy() - Destroy a JSON Web key
- *
- * \param s: the JWK object to destroy
- *
- * All allocations in the lws_jwk are destroyed
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_jwk_destroy(struct lws_jwk *s);
-
-/** lws_jwk_export() - Export a JSON Web key to a textual representation
- *
- * \param s: the JWK object to export
- * \param _private: 0 = just export public parts, 1 = export everything
- * \param p: the buffer to write the exported JWK to
- * \param len: the length of the buffer \p p in bytes
- *
- * Returns length of the used part of the buffer if OK, or -1 for error.
- *
- * Serializes the content of the JWK into a char buffer.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_jwk_export(struct lws_jwk *s, int _private, char *p, size_t len);
-
-/** lws_jwk_load() - Import a JSON Web key from a file
- *
- * \param s: the JWK object to load into
- * \param filename: filename to load from
- *
- * Returns 0 for OK or -1 for failure
- */
-LWS_VISIBLE int
-lws_jwk_load(struct lws_jwk *s, const char *filename);
-
-/** lws_jwk_save() - Export a JSON Web key to a file
- *
- * \param s: the JWK object to save from
- * \param filename: filename to save to
- *
- * Returns 0 for OK or -1 for failure
- */
-LWS_VISIBLE int
-lws_jwk_save(struct lws_jwk *s, const char *filename);
-
-/** lws_jwk_rfc7638_fingerprint() - jwk to RFC7638 compliant fingerprint
- *
- * \param s: the JWK object to fingerprint
- * \param digest32: buffer to take 32-byte digest
- *
- * Returns 0 for OK or -1 for failure
- */
-LWS_VISIBLE int
-lws_jwk_rfc7638_fingerprint(struct lws_jwk *s, char *digest32);
-///@}
-
-
-/*! \defgroup jws JSON Web Signature
- * ## JSON Web Signature API
- *
- * Lws provides an API to check and create RFC7515 JSON Web Signatures
- *
- * SHA256/384/512 HMAC, and RSA 256/384/512 are supported.
- *
- * The API uses your TLS library crypto, but works exactly the same no matter
- * what you TLS backend is.
- */
-///@{
-
-LWS_VISIBLE LWS_EXTERN int
-lws_jws_confirm_sig(const char *in, size_t len, struct lws_jwk *jwk);
-
-/**
- * lws_jws_sign_from_b64() - add b64 sig to b64 hdr + payload
- *
- * \param b64_hdr: protected header encoded in b64, may be NULL
- * \param hdr_len: bytes in b64 coding of protected header
- * \param b64_pay: payload encoded in b64
- * \param pay_len: bytes in b64 coding of payload
- * \param b64_sig: buffer to write the b64 encoded signature into
- * \param sig_len: max bytes we can write at b64_sig
- * \param hash_type: one of LWS_GENHASH_TYPE_SHA[256|384|512]
- * \param jwk: the struct lws_jwk containing the signing key
- *
- * This adds a b64-coded JWS signature of the b64-encoded protected header
- * and b64-encoded payload, at \p b64_sig.  The signature will be as large
- * as the N element of the RSA key when the RSA key is used, eg, 512 bytes for
- * a 4096-bit key, and then b64-encoding on top.
- *
- * In some special cases, there is only payload to sign and no header, in that
- * case \p b64_hdr may be NULL, and only the payload will be hashed before
- * signing.
- *
- * Returns the length of the encoded signature written to \p b64_sig, or -1.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_jws_sign_from_b64(const char *b64_hdr, size_t hdr_len, const char *b64_pay,
-		      size_t pay_len, char *b64_sig, size_t sig_len,
-		      enum lws_genhash_types hash_type, struct lws_jwk *jwk);
-
-/**
- * lws_jws_create_packet() - add b64 sig to b64 hdr + payload
- *
- * \param jwk: the struct lws_jwk containing the signing key
- * \param payload: unencoded payload JSON
- * \param len: length of unencoded payload JSON
- * \param nonce: Nonse string to include in protected header
- * \param out: buffer to take signed packet
- * \param out_len: size of \p out buffer
- *
- * This creates a "flattened" JWS packet from the jwk and the plaintext
- * payload, and signs it.  The packet is written into \p out.
- *
- * This does the whole packet assembly and signing, calling through to
- * lws_jws_sign_from_b64() as part of the process.
- *
- * Returns the length written to \p out, or -1.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_jws_create_packet(struct lws_jwk *jwk, const char *payload, size_t len,
-		      const char *nonce, char *out, size_t out_len);
-
-/**
- * lws_jws_base64_enc() - encode input data into b64url data
- *
- * \param in: the incoming plaintext
- * \param in_len: the length of the incoming plaintext in bytes
- * \param out: the buffer to store the b64url encoded data to
- * \param out_max: the length of \p out in bytes
- *
- * Returns either -1 if problems, or the number of bytes written to \p out.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_jws_base64_enc(const char *in, size_t in_len, char *out, size_t out_max);
-///@}
-#endif
-
-/*! \defgroup extensions Extension related functions
- * ##Extension releated functions
- *
- *  Ws defines optional extensions, lws provides the ability to implement these
- *  in user code if so desired.
- *
- *  We provide one extensions permessage-deflate.
- */
-///@{
-
-/*
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-enum lws_extension_callback_reasons {
-	LWS_EXT_CB_CONSTRUCT				=  4,
-	LWS_EXT_CB_CLIENT_CONSTRUCT			=  5,
-	LWS_EXT_CB_DESTROY				=  8,
-	LWS_EXT_CB_PACKET_TX_PRESEND			= 12,
-	LWS_EXT_CB_PAYLOAD_TX				= 21,
-	LWS_EXT_CB_PAYLOAD_RX				= 22,
-	LWS_EXT_CB_OPTION_DEFAULT			= 23,
-	LWS_EXT_CB_OPTION_SET				= 24,
-	LWS_EXT_CB_OPTION_CONFIRM			= 25,
-	LWS_EXT_CB_NAMED_OPTION_SET			= 26,
-
-	/****** add new things just above ---^ ******/
-};
-
-/** enum lws_ext_options_types */
-enum lws_ext_options_types {
-	EXTARG_NONE, /**< does not take an argument */
-	EXTARG_DEC,  /**< requires a decimal argument */
-	EXTARG_OPT_DEC /**< may have an optional decimal argument */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility */
-};
-
-/** struct lws_ext_options -	Option arguments to the extension.  These are
- *				used in the negotiation at ws upgrade time.
- *				The helper function lws_ext_parse_options()
- *				uses these to generate callbacks */
-struct lws_ext_options {
-	const char *name; /**< Option name, eg, "server_no_context_takeover" */
-	enum lws_ext_options_types type; /**< What kind of args the option can take */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility */
-};
-
-/** struct lws_ext_option_arg */
-struct lws_ext_option_arg {
-	const char *option_name; /**< may be NULL, option_index used then */
-	int option_index; /**< argument ordinal to use if option_name missing */
-	const char *start; /**< value */
-	int len; /**< length of value */
-};
-
-/**
- * typedef lws_extension_callback_function() - Hooks to allow extensions to operate
- * \param context:	Websockets context
- * \param ext:	This extension
- * \param wsi:	Opaque websocket instance pointer
- * \param reason:	The reason for the call
- * \param user:	Pointer to ptr to per-session user data allocated by library
- * \param in:		Pointer used for some callback reasons
- * \param len:	Length set for some callback reasons
- *
- *	Each extension that is active on a particular connection receives
- *	callbacks during the connection lifetime to allow the extension to
- *	operate on websocket data and manage itself.
- *
- *	Libwebsockets takes care of allocating and freeing "user" memory for
- *	each active extension on each connection.  That is what is pointed to
- *	by the user parameter.
- *
- *	LWS_EXT_CB_CONSTRUCT:  called when the server has decided to
- *		select this extension from the list provided by the client,
- *		just before the server will send back the handshake accepting
- *		the connection with this extension active.  This gives the
- *		extension a chance to initialize its connection context found
- *		in user.
- *
- *	LWS_EXT_CB_CLIENT_CONSTRUCT: same as LWS_EXT_CB_CONSTRUCT
- *		but called when client is instantiating this extension.  Some
- *		extensions will work the same on client and server side and then
- *		you can just merge handlers for both CONSTRUCTS.
- *
- *	LWS_EXT_CB_DESTROY:  called when the connection the extension was
- *		being used on is about to be closed and deallocated.  It's the
- *		last chance for the extension to deallocate anything it has
- *		allocated in the user data (pointed to by user) before the
- *		user data is deleted.  This same callback is used whether you
- *		are in client or server instantiation context.
- *
- *	LWS_EXT_CB_PACKET_TX_PRESEND: this works the same way as
- *		LWS_EXT_CB_PACKET_RX_PREPARSE above, except it gives the
- *		extension a chance to change websocket data just before it will
- *		be sent out.  Using the same lws_token pointer scheme in in,
- *		the extension can change the buffer and the length to be
- *		transmitted how it likes.  Again if it wants to grow the
- *		buffer safely, it should copy the data into its own buffer and
- *		set the lws_tokens token pointer to it.
- *
- *	LWS_EXT_CB_ARGS_VALIDATE:
- */
-typedef int
-lws_extension_callback_function(struct lws_context *context,
-			      const struct lws_extension *ext, struct lws *wsi,
-			      enum lws_extension_callback_reasons reason,
-			      void *user, void *in, size_t len);
-
-/** struct lws_extension -	An extension we support */
-struct lws_extension {
-	const char *name; /**< Formal extension name, eg, "permessage-deflate" */
-	lws_extension_callback_function *callback; /**< Service callback */
-	const char *client_offer; /**< String containing exts and options client offers */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility */
-};
-
-/**
- * lws_set_extension_option(): set extension option if possible
- *
- * \param wsi:	websocket connection
- * \param ext_name:	name of ext, like "permessage-deflate"
- * \param opt_name:	name of option, like "rx_buf_size"
- * \param opt_val:	value to set option to
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_set_extension_option(struct lws *wsi, const char *ext_name,
-			 const char *opt_name, const char *opt_val);
-
-/**
- * lws_ext_parse_options() - deal with parsing negotiated extension options
- *
- * \param ext: related extension struct
- * \param wsi:	websocket connection
- * \param ext_user: per-connection extension private data
- * \param opts: list of supported options
- * \param o: option string to parse
- * \param len: length
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_ext_parse_options(const struct lws_extension *ext, struct lws *wsi,
-		       void *ext_user, const struct lws_ext_options *opts,
-		       const char *o, int len);
-
-/** lws_extension_callback_pm_deflate() - extension for RFC7692
- *
- * \param context:	lws context
- * \param ext:	related lws_extension struct
- * \param wsi:	websocket connection
- * \param reason:	incoming callback reason
- * \param user:	per-connection extension private data
- * \param in:	pointer parameter
- * \param len:	length parameter
- *
- * Built-in callback implementing RFC7692 permessage-deflate
- */
-LWS_EXTERN
-int lws_extension_callback_pm_deflate(
-	struct lws_context *context, const struct lws_extension *ext,
-	struct lws *wsi, enum lws_extension_callback_reasons reason,
-	void *user, void *in, size_t len);
-
-/*
- * The internal exts are part of the public abi
- * If we add more extensions, publish the callback here  ------v
- */
-///@}
-
-/*! \defgroup Protocols-and-Plugins Protocols and Plugins
- * \ingroup lwsapi
- *
- * ##Protocol and protocol plugin -related apis
- *
- * Protocols bind ws protocol names to a custom callback specific to that
- * protocol implementaion.
- *
- * A list of protocols can be passed in at context creation time, but it is
- * also legal to leave that NULL and add the protocols and their callback code
- * using plugins.
- *
- * Plugins are much preferable compared to cut and pasting code into an
- * application each time, since they can be used standalone.
- */
-///@{
-/** struct lws_protocols -	List of protocols and handlers client or server
- *					supports. */
-
-struct lws_protocols {
-	const char *name;
-	/**< Protocol name that must match the one given in the client
-	 * Javascript new WebSocket(url, 'protocol') name. */
-	lws_callback_function *callback;
-	/**< The service callback used for this protocol.  It allows the
-	 * service action for an entire protocol to be encapsulated in
-	 * the protocol-specific callback */
-	size_t per_session_data_size;
-	/**< Each new connection using this protocol gets
-	 * this much memory allocated on connection establishment and
-	 * freed on connection takedown.  A pointer to this per-connection
-	 * allocation is passed into the callback in the 'user' parameter */
-	size_t rx_buffer_size;
-	/**< lws allocates this much space for rx data and informs callback
-	 * when something came.  Due to rx flow control, the callback may not
-	 * be able to consume it all without having to return to the event
-	 * loop.  That is supported in lws.
-	 *
-	 * If .tx_packet_size is 0, this also controls how much may be sent at
-	 * once for backwards compatibility.
-	 */
-	unsigned int id;
-	/**< ignored by lws, but useful to contain user information bound
-	 * to the selected protocol.  For example if this protocol was
-	 * called "myprotocol-v2", you might set id to 2, and the user
-	 * code that acts differently according to the version can do so by
-	 * switch (wsi->protocol->id), user code might use some bits as
-	 * capability flags based on selected protocol version, etc. */
-	void *user; /**< ignored by lws, but user code can pass a pointer
-			here it can later access from the protocol callback */
-	size_t tx_packet_size;
-	/**< 0 indicates restrict send() size to .rx_buffer_size for backwards-
-	 * compatibility.
-	 * If greater than zero, a single send() is restricted to this amount
-	 * and any remainder is buffered by lws and sent afterwards also in
-	 * these size chunks.  Since that is expensive, it's preferable
-	 * to restrict one fragment you are trying to send to match this
-	 * size.
-	 */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility */
-};
-
-/**
- * lws_vhost_name_to_protocol() - get vhost's protocol object from its name
- *
- * \param vh: vhost to search
- * \param name: protocol name
- *
- * Returns NULL or a pointer to the vhost's protocol of the requested name
- */
-LWS_VISIBLE LWS_EXTERN const struct lws_protocols *
-lws_vhost_name_to_protocol(struct lws_vhost *vh, const char *name);
-
-/**
- * lws_get_protocol() - Returns a protocol pointer from a websocket
- *				  connection.
- * \param wsi:	pointer to struct websocket you want to know the protocol of
- *
- *
- *	Some apis can act on all live connections of a given protocol,
- *	this is how you can get a pointer to the active protocol if needed.
- */
-LWS_VISIBLE LWS_EXTERN const struct lws_protocols *
-lws_get_protocol(struct lws *wsi);
-
-/** lws_protocol_get() -  deprecated: use lws_get_protocol */
-LWS_VISIBLE LWS_EXTERN const struct lws_protocols *
-lws_protocol_get(struct lws *wsi) LWS_WARN_DEPRECATED;
-
-/**
- * lws_protocol_vh_priv_zalloc() - Allocate and zero down a protocol's per-vhost
- *				   storage
- * \param vhost:	vhost the instance is related to
- * \param prot:		protocol the instance is related to
- * \param size:		bytes to allocate
- *
- * Protocols often find it useful to allocate a per-vhost struct, this is a
- * helper to be called in the per-vhost init LWS_CALLBACK_PROTOCOL_INIT
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_protocol_vh_priv_zalloc(struct lws_vhost *vhost, const struct lws_protocols *prot,
-			    int size);
-
-/**
- * lws_protocol_vh_priv_get() - retreive a protocol's per-vhost storage
- *
- * \param vhost:	vhost the instance is related to
- * \param prot:		protocol the instance is related to
- *
- * Recover a pointer to the allocated per-vhost storage for the protocol created
- * by lws_protocol_vh_priv_zalloc() earlier
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_protocol_vh_priv_get(struct lws_vhost *vhost, const struct lws_protocols *prot);
-
-/**
- * lws_adjust_protocol_psds - change a vhost protocol's per session data size
- *
- * \param wsi: a connection with the protocol to change
- * \param new_size: the new size of the per session data size for the protocol
- *
- * Returns user_space for the wsi, after allocating
- *
- * This should not be used except to initalize a vhost protocol's per session
- * data size one time, before any connections are accepted.
- *
- * Sometimes the protocol wraps another protocol and needs to discover and set
- * its per session data size at runtime.
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_adjust_protocol_psds(struct lws *wsi, size_t new_size);
-
-/**
- * lws_finalize_startup() - drop initial process privileges
- *
- * \param context:	lws context
- *
- * This is called after the end of the vhost protocol initializations, but
- * you may choose to call it earlier
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_finalize_startup(struct lws_context *context);
-
-/**
- * lws_pvo_search() - helper to find a named pvo in a linked-list
- *
- * \param pvo:	the first pvo in the linked-list
- * \param name: the name of the pvo to return if found
- *
- * Returns NULL, or a pointer to the name pvo in the linked-list
- */
-LWS_VISIBLE LWS_EXTERN const struct lws_protocol_vhost_options *
-lws_pvo_search(const struct lws_protocol_vhost_options *pvo, const char *name);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_protocol_init(struct lws_context *context);
-
-#ifdef LWS_WITH_PLUGINS
-
-/* PLUGINS implies LIBUV */
-
-#define LWS_PLUGIN_API_MAGIC 180
-
-/** struct lws_plugin_capability - how a plugin introduces itself to lws */
-struct lws_plugin_capability {
-	unsigned int api_magic;	/**< caller fills this in, plugin fills rest */
-	const struct lws_protocols *protocols; /**< array of supported protocols provided by plugin */
-	int count_protocols; /**< how many protocols */
-	const struct lws_extension *extensions; /**< array of extensions provided by plugin */
-	int count_extensions; /**< how many extensions */
-};
-
-typedef int (*lws_plugin_init_func)(struct lws_context *,
-				    struct lws_plugin_capability *);
-typedef int (*lws_plugin_destroy_func)(struct lws_context *);
-
-/** struct lws_plugin */
-struct lws_plugin {
-	struct lws_plugin *list; /**< linked list */
-#if (UV_VERSION_MAJOR > 0)
-	uv_lib_t lib; /**< shared library pointer */
-#else
-	void *l; /**< so we can compile on ancient libuv */
-#endif
-	char name[64]; /**< name of the plugin */
-	struct lws_plugin_capability caps; /**< plugin capabilities */
-};
-
-#endif
-
-///@}
-
-
-/*! \defgroup generic-sessions plugin: generic-sessions
- * \ingroup Protocols-and-Plugins
- *
- * ##Plugin Generic-sessions related
- *
- * generic-sessions plugin provides a reusable, generic session and login /
- * register / forgot password framework including email verification.
- */
-///@{
-
-#define LWSGS_EMAIL_CONTENT_SIZE 16384
-/**< Maximum size of email we might send */
-
-/* SHA-1 binary and hexified versions */
-/** typedef struct lwsgw_hash_bin */
-typedef struct { unsigned char bin[20]; /**< binary representation of hash */} lwsgw_hash_bin;
-/** typedef struct lwsgw_hash */
-typedef struct { char id[41]; /**< ascii hex representation of hash */ } lwsgw_hash;
-
-/** enum lwsgs_auth_bits */
-enum lwsgs_auth_bits {
-	LWSGS_AUTH_LOGGED_IN = 1, /**< user is logged in as somebody */
-	LWSGS_AUTH_ADMIN = 2,	/**< logged in as the admin user */
-	LWSGS_AUTH_VERIFIED = 4,  /**< user has verified his email */
-	LWSGS_AUTH_FORGOT_FLOW = 8,	/**< he just completed "forgot password" flow */
-};
-
-/** struct lws_session_info - information about user session status */
-struct lws_session_info {
-	char username[32]; /**< username logged in as, or empty string */
-	char email[100]; /**< email address associated with login, or empty string */
-	char ip[72]; /**< ip address session was started from */
-	unsigned int mask; /**< access rights mask associated with session
-	 	 	    * see enum lwsgs_auth_bits */
-	char session[42]; /**< session id string, usable as opaque uid when not logged in */
-};
-
-/** enum lws_gs_event */
-enum lws_gs_event {
-	LWSGSE_CREATED, /**< a new user was created */
-	LWSGSE_DELETED  /**< an existing user was deleted */
-};
-
-/** struct lws_gs_event_args */
-struct lws_gs_event_args {
-	enum lws_gs_event event; /**< which event happened */
-	const char *username; /**< which username the event happened to */
-	const char *email; /**< the email address of that user */
-};
-
-///@}
-
-
-/*! \defgroup context-and-vhost context and vhost related functions
- * ##Context and Vhost releated functions
- * \ingroup lwsapi
- *
- *
- *  LWS requires that there is one context, in which you may define multiple
- *  vhosts.  Each vhost is a virtual host, with either its own listen port
- *  or sharing an existing one.  Each vhost has its own SSL context that can
- *  be set up individually or left disabled.
- *
- *  If you don't care about multiple "site" support, you can ignore it and
- *  lws will create a single default vhost at context creation time.
- */
-///@{
-
-/*
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-
-/** enum lws_context_options - context and vhost options */
-enum lws_context_options {
-	LWS_SERVER_OPTION_REQUIRE_VALID_OPENSSL_CLIENT_CERT	= (1 << 1) |
-								  (1 << 12),
-	/**< (VH) Don't allow the connection unless the client has a
-	 * client cert that we recognize; provides
-	 * LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT */
-	LWS_SERVER_OPTION_SKIP_SERVER_CANONICAL_NAME		= (1 << 2),
-	/**< (CTX) Don't try to get the server's hostname */
-	LWS_SERVER_OPTION_ALLOW_NON_SSL_ON_SSL_PORT		= (1 << 3) |
-								  (1 << 12),
-	/**< (VH) Allow non-SSL (plaintext) connections on the same
-	 * port as SSL is listening... undermines the security of SSL;
-	 * provides  LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT */
-	LWS_SERVER_OPTION_LIBEV					= (1 << 4),
-	/**< (CTX) Use libev event loop */
-	LWS_SERVER_OPTION_DISABLE_IPV6				= (1 << 5),
-	/**< (VH) Disable IPV6 support */
-	LWS_SERVER_OPTION_DISABLE_OS_CA_CERTS			= (1 << 6),
-	/**< (VH) Don't load OS CA certs, you will need to load your
-	 * own CA cert(s) */
-	LWS_SERVER_OPTION_PEER_CERT_NOT_REQUIRED		= (1 << 7),
-	/**< (VH) Accept connections with no valid Cert (eg, selfsigned) */
-	LWS_SERVER_OPTION_VALIDATE_UTF8				= (1 << 8),
-	/**< (VH) Check UT-8 correctness */
-	LWS_SERVER_OPTION_SSL_ECDH				= (1 << 9) |
-								  (1 << 12),
-	/**< (VH)  initialize ECDH ciphers */
-	LWS_SERVER_OPTION_LIBUV					= (1 << 10),
-	/**< (CTX)  Use libuv event loop */
-	LWS_SERVER_OPTION_REDIRECT_HTTP_TO_HTTPS		= (1 << 11) |
-								  (1 << 12),
-	/**< (VH) Use http redirect to force http to https
-	 * (deprecated: use mount redirection) */
-	LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT			= (1 << 12),
-	/**< (CTX) Initialize the SSL library at all */
-	LWS_SERVER_OPTION_EXPLICIT_VHOSTS			= (1 << 13),
-	/**< (CTX) Only create the context when calling context
-	 * create api, implies user code will create its own vhosts */
-	LWS_SERVER_OPTION_UNIX_SOCK				= (1 << 14),
-	/**< (VH) Use Unix socket */
-	LWS_SERVER_OPTION_STS					= (1 << 15),
-	/**< (VH) Send Strict Transport Security header, making
-	 * clients subsequently go to https even if user asked for http */
-	LWS_SERVER_OPTION_IPV6_V6ONLY_MODIFY			= (1 << 16),
-	/**< (VH) Enable LWS_SERVER_OPTION_IPV6_V6ONLY_VALUE to take effect */
-	LWS_SERVER_OPTION_IPV6_V6ONLY_VALUE			= (1 << 17),
-	/**< (VH) if set, only ipv6 allowed on the vhost */
-	LWS_SERVER_OPTION_UV_NO_SIGSEGV_SIGFPE_SPIN		= (1 << 18),
-	/**< (CTX) Libuv only: Do not spin on SIGSEGV / SIGFPE.  A segfault
-	 * normally makes the lib spin so you can attach a debugger to it
-	 * even if it happened without a debugger in place.  You can disable
-	 * that by giving this option.
-	 */
-	LWS_SERVER_OPTION_JUST_USE_RAW_ORIGIN			= (1 << 19),
-	/**< For backwards-compatibility reasons, by default
-	 * lws prepends "http://" to the origin you give in the client
-	 * connection info struct.  If you give this flag when you create
-	 * the context, only the string you give in the client connect
-	 * info for .origin (if any) will be used directly.
-	 */
-	LWS_SERVER_OPTION_FALLBACK_TO_RAW			= (1 << 20),
-	/**< (VH) if invalid http is coming in the first line,  */
-	LWS_SERVER_OPTION_LIBEVENT				= (1 << 21),
-	/**< (CTX) Use libevent event loop */
-	LWS_SERVER_OPTION_ONLY_RAW				= (1 << 22),
-	/**< (VH) All connections to this vhost / port are RAW as soon as
-	 * the connection is accepted, no HTTP is going to be coming.
-	 */
-	LWS_SERVER_OPTION_ALLOW_LISTEN_SHARE			= (1 << 23),
-	/**< (VH) Set to allow multiple listen sockets on one interface +
-	 * address + port.  The default is to strictly allow only one
-	 * listen socket at a time.  This is automatically selected if you
-	 * have multiple service threads.
-	 */
-	LWS_SERVER_OPTION_CREATE_VHOST_SSL_CTX			= (1 << 24),
-	/**< (VH) Force setting up the vhost SSL_CTX, even though the user
-	 * code doesn't explicitly provide a cert in the info struct.  It
-	 * implies the user code is going to provide a cert at the
-	 * LWS_CALLBACK_OPENSSL_LOAD_EXTRA_SERVER_VERIFY_CERTS callback, which
-	 * provides the vhost SSL_CTX * in the user parameter.
-	 */
-	LWS_SERVER_OPTION_SKIP_PROTOCOL_INIT			= (1 << 25),
-	/**< (VH) You probably don't want this.  It forces this vhost to not
-	 * call LWS_CALLBACK_PROTOCOL_INIT on its protocols.  It's used in the
-	 * special case of a temporary vhost bound to a single protocol.
-	 */
-	LWS_SERVER_OPTION_IGNORE_MISSING_CERT			= (1 << 26),
-	/**< (VH) Don't fail if the vhost TLS cert or key are missing, just
-	 * continue.  The vhost won't be able to serve anything, but if for
-	 * example the ACME plugin was configured to fetch a cert, this lets
-	 * you bootstrap your vhost from having no cert to start with.
-	 */
-
-	/****** add new things just above ---^ ******/
-};
-
-#define lws_check_opt(c, f) (((c) & (f)) == (f))
-
-struct lws_plat_file_ops;
-
-/** struct lws_context_creation_info - parameters to create context and /or vhost with
- *
- * This is also used to create vhosts.... if LWS_SERVER_OPTION_EXPLICIT_VHOSTS
- * is not given, then for backwards compatibility one vhost is created at
- * context-creation time using the info from this struct.
- *
- * If LWS_SERVER_OPTION_EXPLICIT_VHOSTS is given, then no vhosts are created
- * at the same time as the context, they are expected to be created afterwards.
- */
-struct lws_context_creation_info {
-	int port;
-	/**< VHOST: Port to listen on. Use CONTEXT_PORT_NO_LISTEN to suppress
-	 * listening for a client. Use CONTEXT_PORT_NO_LISTEN_SERVER if you are
-	 * writing a server but you are using \ref sock-adopt instead of the
-	 * built-in listener.
-	 *
-	 * You can also set port to 0, in which case the kernel will pick
-	 * a random port that is not already in use.  You can find out what
-	 * port the vhost is listening on using lws_get_vhost_listen_port() */
-	const char *iface;
-	/**< VHOST: NULL to bind the listen socket to all interfaces, or the
-	 * interface name, eg, "eth2"
-	 * If options specifies LWS_SERVER_OPTION_UNIX_SOCK, this member is
-	 * the pathname of a UNIX domain socket. you can use the UNIX domain
-	 * sockets in abstract namespace, by prepending an at symbol to the
-	 * socket name. */
-	const struct lws_protocols *protocols;
-	/**< VHOST: Array of structures listing supported protocols and a protocol-
-	 * specific callback for each one.  The list is ended with an
-	 * entry that has a NULL callback pointer. */
-	const struct lws_extension *extensions;
-	/**< VHOST: NULL or array of lws_extension structs listing the
-	 * extensions this context supports. */
-	const struct lws_token_limits *token_limits;
-	/**< CONTEXT: NULL or struct lws_token_limits pointer which is initialized
-	 * with a token length limit for each possible WSI_TOKEN_ */
-	const char *ssl_private_key_password;
-	/**< VHOST: NULL or the passphrase needed for the private key. (For
-	 * backwards compatibility, this can also be used to pass the client
-	 * cert passphrase when setting up a vhost client SSL context, but it is
-	 * preferred to use .client_ssl_private_key_password for that.) */
-	const char *ssl_cert_filepath;
-	/**< VHOST: If libwebsockets was compiled to use ssl, and you want
-	 * to listen using SSL, set to the filepath to fetch the
-	 * server cert from, otherwise NULL for unencrypted.  (For backwards
-	 * compatibility, this can also be used to pass the client certificate
-	 * when setting up a vhost client SSL context, but it is preferred to
-	 * use .client_ssl_cert_filepath for that.) */
-	const char *ssl_private_key_filepath;
-	/**<  VHOST: filepath to private key if wanting SSL mode;
-	 * if this is set to NULL but ssl_cert_filepath is set, the
-	 * OPENSSL_CONTEXT_REQUIRES_PRIVATE_KEY callback is called
-	 * to allow setting of the private key directly via openSSL
-	 * library calls.   (For backwards compatibility, this can also be used
-	 * to pass the client cert private key filepath when setting up a
-	 * vhost client SSL context, but it is preferred to use
-	 * .client_ssl_private_key_filepath for that.) */
-	const char *ssl_ca_filepath;
-	/**< VHOST: CA certificate filepath or NULL.  (For backwards
-	 * compatibility, this can also be used to pass the client CA
-	 * filepath when setting up a vhost client SSL context,
-	 * but it is preferred to use .client_ssl_ca_filepath for that.) */
-	const char *ssl_cipher_list;
-	/**< VHOST: List of valid ciphers to use (eg,
-	 * "RC4-MD5:RC4-SHA:AES128-SHA:AES256-SHA:HIGH:!DSS:!aNULL"
-	 * or you can leave it as NULL to get "DEFAULT" (For backwards
-	 * compatibility, this can also be used to pass the client cipher
-	 * list when setting up a vhost client SSL context,
-	 * but it is preferred to use .client_ssl_cipher_list for that.)*/
-	const char *http_proxy_address;
-	/**< VHOST: If non-NULL, attempts to proxy via the given address.
-	 * If proxy auth is required, use format "username:password\@server:port" */
-	unsigned int http_proxy_port;
-	/**< VHOST: If http_proxy_address was non-NULL, uses this port */
-	int gid;
-	/**< CONTEXT: group id to change to after setting listen socket, or -1. */
-	int uid;
-	/**< CONTEXT: user id to change to after setting listen socket, or -1. */
-	unsigned int options;
-	/**< VHOST + CONTEXT: 0, or LWS_SERVER_OPTION_... bitfields */
-	void *user;
-	/**< VHOST + CONTEXT: optional user pointer that will be associated
-	 * with the context when creating the context (and can be retrieved by
-	 * lws_context_user(context), or with the vhost when creating the vhost
-	 * (and can be retrieved by lws_vhost_user(vhost)).  You will need to
-	 * use LWS_SERVER_OPTION_EXPLICIT_VHOSTS and create the vhost separately
-	 * if you care about giving the context and vhost different user pointer
-	 * values.
-	 */
-	int ka_time;
-	/**< CONTEXT: 0 for no TCP keepalive, otherwise apply this keepalive
-	 * timeout to all libwebsocket sockets, client or server */
-	int ka_probes;
-	/**< CONTEXT: if ka_time was nonzero, after the timeout expires how many
-	 * times to try to get a response from the peer before giving up
-	 * and killing the connection */
-	int ka_interval;
-	/**< CONTEXT: if ka_time was nonzero, how long to wait before each ka_probes
-	 * attempt */
-#if defined(LWS_WITH_TLS) && !defined(LWS_WITH_MBEDTLS)
-	SSL_CTX *provided_client_ssl_ctx;
-	/**< CONTEXT: If non-null, swap out libwebsockets ssl
-	  * implementation for the one provided by provided_ssl_ctx.
-	  * Libwebsockets no longer is responsible for freeing the context
-	  * if this option is selected. */
-#else /* maintain structure layout either way */
-	void *provided_client_ssl_ctx; /**< dummy if ssl disabled */
-#endif
-
-	short max_http_header_data;
-	/**< CONTEXT: The max amount of header payload that can be handled
-	 * in an http request (unrecognized header payload is dropped) */
-	short max_http_header_pool;
-	/**< CONTEXT: The max number of connections with http headers that
-	 * can be processed simultaneously (the corresponding memory is
-	 * allocated and deallocated dynamically as needed).  If the pool is
-	 * fully busy new incoming connections must wait for accept until one
-	 * becomes free. 0 = allow as many ah as number of availble fds for
-	 * the process */
-
-	unsigned int count_threads;
-	/**< CONTEXT: how many contexts to create in an array, 0 = 1 */
-	unsigned int fd_limit_per_thread;
-	/**< CONTEXT: nonzero means restrict each service thread to this
-	 * many fds, 0 means the default which is divide the process fd
-	 * limit by the number of threads. */
-	unsigned int timeout_secs;
-	/**< VHOST: various processes involving network roundtrips in the
-	 * library are protected from hanging forever by timeouts.  If
-	 * nonzero, this member lets you set the timeout used in seconds.
-	 * Otherwise a default timeout is used. */
-	const char *ecdh_curve;
-	/**< VHOST: if NULL, defaults to initializing server with "prime256v1" */
-	const char *vhost_name;
-	/**< VHOST: name of vhost, must match external DNS name used to
-	 * access the site, like "warmcat.com" as it's used to match
-	 * Host: header and / or SNI name for SSL. */
-	const char * const *plugin_dirs;
-	/**< CONTEXT: NULL, or NULL-terminated array of directories to
-	 * scan for lws protocol plugins at context creation time */
-	const struct lws_protocol_vhost_options *pvo;
-	/**< VHOST: pointer to optional linked list of per-vhost
-	 * options made accessible to protocols */
-	int keepalive_timeout;
-	/**< VHOST: (default = 0 = 60s) seconds to allow remote
-	 * client to hold on to an idle HTTP/1.1 connection */
-	const char *log_filepath;
-	/**< VHOST: filepath to append logs to... this is opened before
-	 *		any dropping of initial privileges */
-	const struct lws_http_mount *mounts;
-	/**< VHOST: optional linked list of mounts for this vhost */
-	const char *server_string;
-	/**< CONTEXT: string used in HTTP headers to identify server
- *		software, if NULL, "libwebsockets". */
-	unsigned int pt_serv_buf_size;
-	/**< CONTEXT: 0 = default of 4096.  This buffer is used by
-	 * various service related features including file serving, it
-	 * defines the max chunk of file that can be sent at once.
-	 * At the risk of lws having to buffer failed large sends, it
-	 * can be increased to, eg, 128KiB to improve throughput. */
-	unsigned int max_http_header_data2;
-	/**< CONTEXT: if max_http_header_data is 0 and this
-	 * is nonzero, this will be used in place of the default.  It's
-	 * like this for compatibility with the original short version,
-	 * this is unsigned int length. */
-	long ssl_options_set;
-	/**< VHOST: Any bits set here will be set as SSL options */
-	long ssl_options_clear;
-	/**< VHOST: Any bits set here will be cleared as SSL options */
-	unsigned short ws_ping_pong_interval;
-	/**< CONTEXT: 0 for none, else interval in seconds between sending
-	 * PINGs on idle websocket connections.  When the PING is sent,
-	 * the PONG must come within the normal timeout_secs timeout period
-	 * or the connection will be dropped.
-	 * Any RX or TX traffic on the connection restarts the interval timer,
-	 * so a connection which always sends or receives something at intervals
-	 * less than the interval given here will never send PINGs / expect
-	 * PONGs.  Conversely as soon as the ws connection is established, an
-	 * idle connection will do the PING / PONG roundtrip as soon as
-	 * ws_ping_pong_interval seconds has passed without traffic
-	 */
-	const struct lws_protocol_vhost_options *headers;
-		/**< VHOST: pointer to optional linked list of per-vhost
-		 * canned headers that are added to server responses */
-
-	const struct lws_protocol_vhost_options *reject_service_keywords;
-	/**< CONTEXT: Optional list of keywords and rejection codes + text.
-	 *
-	 * The keywords are checked for existing in the user agent string.
-	 *
-	 * Eg, "badrobot" "404 Not Found"
-	 */
-	void *external_baggage_free_on_destroy;
-	/**< CONTEXT: NULL, or pointer to something externally malloc'd, that
-	 * should be freed when the context is destroyed.  This allows you to
-	 * automatically sync the freeing action to the context destruction
-	 * action, so there is no need for an external free() if the context
-	 * succeeded to create.
-	 */
-
-	const char *client_ssl_private_key_password;
-	/**< VHOST: Client SSL context init: NULL or the passphrase needed
-	 * for the private key */
-	const char *client_ssl_cert_filepath;
-	/**< VHOST: Client SSL context init:T he certificate the client
-	 * should present to the peer on connection */
-	const char *client_ssl_private_key_filepath;
-	/**<  VHOST: Client SSL context init: filepath to client private key
-	 * if this is set to NULL but client_ssl_cert_filepath is set, you
-	 * can handle the LWS_CALLBACK_OPENSSL_LOAD_EXTRA_CLIENT_VERIFY_CERTS
-	 * callback of protocols[0] to allow setting of the private key directly
-	 * via openSSL library calls */
-	const char *client_ssl_ca_filepath;
-	/**< VHOST: Client SSL context init: CA certificate filepath or NULL */
-	const char *client_ssl_cipher_list;
-	/**< VHOST: Client SSL context init: List of valid ciphers to use (eg,
-	* "RC4-MD5:RC4-SHA:AES128-SHA:AES256-SHA:HIGH:!DSS:!aNULL"
-	* or you can leave it as NULL to get "DEFAULT" */
-
-	const struct lws_plat_file_ops *fops;
-	/**< CONTEXT: NULL, or pointer to an array of fops structs, terminated
-	 * by a sentinel with NULL .open.
-	 *
-	 * If NULL, lws provides just the platform file operations struct for
-	 * backwards compatibility.
-	 */
-	int simultaneous_ssl_restriction;
-	/**< CONTEXT: 0 (no limit) or limit of simultaneous SSL sessions possible.*/
-	const char *socks_proxy_address;
-	/**< VHOST: If non-NULL, attempts to proxy via the given address.
-	 * If proxy auth is required, use format "username:password\@server:port" */
-	unsigned int socks_proxy_port;
-	/**< VHOST: If socks_proxy_address was non-NULL, uses this port */
-#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
-	cap_value_t caps[4];
-	/**< CONTEXT: array holding Linux capabilities you want to
-	 * continue to be available to the server after it transitions
-	 * to a noprivileged user.  Usually none are needed but for, eg,
-	 * .bind_iface, CAP_NET_RAW is required.  This gives you a way
-	 * to still have the capability but drop root.
-	 */
-	char count_caps;
-	/**< CONTEXT: count of Linux capabilities in .caps[].  0 means
-	 * no capabilities will be inherited from root (the default) */
-#endif
-	int bind_iface;
-	/**< VHOST: nonzero to strictly bind sockets to the interface name in
-	 * .iface (eg, "eth2"), using SO_BIND_TO_DEVICE.
-	 *
-	 * Requires SO_BINDTODEVICE support from your OS and CAP_NET_RAW
-	 * capability.
-	 *
-	 * Notice that common things like access network interface IP from
-	 * your local machine use your lo / loopback interface and will be
-	 * disallowed by this.
-	 */
-	int ssl_info_event_mask;
-	/**< VHOST: mask of ssl events to be reported on LWS_CALLBACK_SSL_INFO
-	 * callback for connections on this vhost.  The mask values are of
-	 * the form SSL_CB_ALERT, defined in openssl/ssl.h.  The default of
-	 * 0 means no info events will be reported.
-	 */
-	unsigned int timeout_secs_ah_idle;
-	/**< VHOST: seconds to allow a client to hold an ah without using it.
-	 * 0 defaults to 10s. */
-	unsigned short ip_limit_ah;
-	/**< CONTEXT: max number of ah a single IP may use simultaneously
-	 *	      0 is no limit. This is a soft limit: if the limit is
-	 *	      reached, connections from that IP will wait in the ah
-	 *	      waiting list and not be able to acquire an ah until
-	 *	      a connection belonging to the IP relinquishes one it
-	 *	      already has.
-	 */
-	unsigned short ip_limit_wsi;
-	/**< CONTEXT: max number of wsi a single IP may use simultaneously.
-	 *	      0 is no limit.  This is a hard limit, connections from
-	 *	      the same IP will simply be dropped once it acquires the
-	 *	      amount of simultaneous wsi / accepted connections
-	 *	      given here.
-	 */
-	uint32_t	http2_settings[7];
-	/**< VHOST:  if http2_settings[0] is nonzero, the values given in
-	 *	      http2_settings[1]..[6] are used instead of the lws
-	 *	      platform default values.
-	 *	      Just leave all at 0 if you don't care.
-	 */
-	const char *error_document_404;
-	/**< VHOST: If non-NULL, when asked to serve a non-existent file,
-	 *          lws attempts to server this url path instead.  Eg,
-	 *          "/404.html" */
-	const char *alpn;
-	/**< CONTEXT: If non-NULL, default list of advertised alpn, comma-
-	 *	      separated
-	 *
-	 *     VHOST: If non-NULL, per-vhost list of advertised alpn, comma-
-	 *	      separated
-	 */
-	void **foreign_loops;
-	/**< CONTEXT: This is ignored if the context is not being started with
-	 *		an event loop, ie, .options has a flag like
-	 *		LWS_SERVER_OPTION_LIBUV.
-	 *
-	 *		NULL indicates lws should start its own even loop for
-	 *		each service thread, and deal with closing the loops
-	 *		when the context is destroyed.
-	 *
-	 *		Non-NULL means it points to an array of external
-	 *		("foreign") event loops that are to be used in turn for
-	 *		each service thread.  In the default case of 1 service
-	 *		thread, it can just point to one foreign event loop.
-	 */
-	void (*signal_cb)(void *event_lib_handle, int signum);
-	/**< CONTEXT: NULL: default signal handling.  Otherwise this receives
-	 *		the signal handler callback.  event_lib_handle is the
-	 *		native event library signal handle, eg uv_signal_t *
-	 *		for libuv.
-	 */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility
-	 *
-	 * The below is to ensure later library versions with new
-	 * members added above will see 0 (default) even if the app
-	 * was not built against the newer headers.
-	 */
-	struct lws_context **pcontext;
-	/**< CONTEXT: if non-NULL, at the end of context destroy processing,
-	 * the pointer pointed to by pcontext is written with NULL.  You can
-	 * use this to let foreign event loops know that lws context destruction
-	 * is fully completed.
-	 */
-
-	void *_unused[4]; /**< dummy */
-};
-
-/**
- * lws_create_context() - Create the websocket handler
- * \param info:	pointer to struct with parameters
- *
- *	This function creates the listening socket (if serving) and takes care
- *	of all initialization in one step.
- *
- *	If option LWS_SERVER_OPTION_EXPLICIT_VHOSTS is given, no vhost is
- *	created; you're expected to create your own vhosts afterwards using
- *	lws_create_vhost().  Otherwise a vhost named "default" is also created
- *	using the information in the vhost-related members, for compatibility.
- *
- *	After initialization, it returns a struct lws_context * that
- *	represents this server.  After calling, user code needs to take care
- *	of calling lws_service() with the context pointer to get the
- *	server's sockets serviced.  This must be done in the same process
- *	context as the initialization call.
- *
- *	The protocol callback functions are called for a handful of events
- *	including http requests coming in, websocket connections becoming
- *	established, and data arriving; it's also called periodically to allow
- *	async transmission.
- *
- *	HTTP requests are sent always to the FIRST protocol in protocol, since
- *	at that time websocket protocol has not been negotiated.  Other
- *	protocols after the first one never see any HTTP callback activity.
- *
- *	The server created is a simple http server by default; part of the
- *	websocket standard is upgrading this http connection to a websocket one.
- *
- *	This allows the same server to provide files like scripts and favicon /
- *	images or whatever over http and dynamic data over websockets all in
- *	one place; they're all handled in the user callback.
- */
-LWS_VISIBLE LWS_EXTERN struct lws_context *
-lws_create_context(const struct lws_context_creation_info *info);
-
-
-/**
- * lws_context_destroy() - Destroy the websocket context
- * \param context:	Websocket context
- *
- *	This function closes any active connections and then frees the
- *	context.  After calling this, any further use of the context is
- *	undefined.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_context_destroy(struct lws_context *context);
-
-typedef int (*lws_reload_func)(void);
-
-/**
- * lws_context_deprecate() - Deprecate the websocket context
- *
- * \param context:	Websocket context
- * \param cb: Callback notified when old context listen sockets are closed
- *
- *	This function is used on an existing context before superceding it
- *	with a new context.
- *
- *	It closes any listen sockets in the context, so new connections are
- *	not possible.
- *
- *	And it marks the context to be deleted when the number of active
- *	connections into it falls to zero.
- *
- *	Otherwise if you attach the deprecated context to the replacement
- *	context when it has been created using lws_context_attach_deprecated()
- *	both any deprecated and the new context will service their connections.
- *
- *	This is aimed at allowing seamless configuration reloads.
- *
- *	The callback cb will be called after the listen sockets are actually
- *	closed and may be reopened.  In the callback the new context should be
- *	configured and created.  (With libuv, socket close happens async after
- *	more loop events).
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_context_deprecate(struct lws_context *context, lws_reload_func cb);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_context_is_deprecated(struct lws_context *context);
-
-/**
- * lws_set_proxy() - Setups proxy to lws_context.
- * \param vhost:	pointer to struct lws_vhost you want set proxy for
- * \param proxy: pointer to c string containing proxy in format address:port
- *
- * Returns 0 if proxy string was parsed and proxy was setup.
- * Returns -1 if proxy is NULL or has incorrect format.
- *
- * This is only required if your OS does not provide the http_proxy
- * environment variable (eg, OSX)
- *
- *   IMPORTANT! You should call this function right after creation of the
- *   lws_context and before call to connect. If you call this
- *   function after connect behavior is undefined.
- *   This function will override proxy settings made on lws_context
- *   creation with genenv() call.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_set_proxy(struct lws_vhost *vhost, const char *proxy);
-
-/**
- * lws_set_socks() - Setup socks to lws_context.
- * \param vhost:	pointer to struct lws_vhost you want set socks for
- * \param socks: pointer to c string containing socks in format address:port
- *
- * Returns 0 if socks string was parsed and socks was setup.
- * Returns -1 if socks is NULL or has incorrect format.
- *
- * This is only required if your OS does not provide the socks_proxy
- * environment variable (eg, OSX)
- *
- *   IMPORTANT! You should call this function right after creation of the
- *   lws_context and before call to connect. If you call this
- *   function after connect behavior is undefined.
- *   This function will override proxy settings made on lws_context
- *   creation with genenv() call.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_set_socks(struct lws_vhost *vhost, const char *socks);
-
-struct lws_vhost;
-
-/**
- * lws_create_vhost() - Create a vhost (virtual server context)
- * \param context:	pointer to result of lws_create_context()
- * \param info:		pointer to struct with parameters
- *
- * This function creates a virtual server (vhost) using the vhost-related
- * members of the info struct.  You can create many vhosts inside one context
- * if you created the context with the option LWS_SERVER_OPTION_EXPLICIT_VHOSTS
- */
-LWS_VISIBLE LWS_EXTERN struct lws_vhost *
-lws_create_vhost(struct lws_context *context,
-		 const struct lws_context_creation_info *info);
-
-/**
- * lws_vhost_destroy() - Destroy a vhost (virtual server context)
- *
- * \param vh:	pointer to result of lws_create_vhost()
- *
- * This function destroys a vhost.  Normally, if you just want to exit,
- * then lws_destroy_context() will take care of everything.  If you want
- * to destroy an individual vhost and all connections and allocations, you
- * can do it with this.
- *
- * If the vhost has a listen sockets shared by other vhosts, it will be given
- * to one of the vhosts sharing it rather than closed.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_vhost_destroy(struct lws_vhost *vh);
-
-/**
- * lwsws_get_config_globals() - Parse a JSON server config file
- * \param info:		pointer to struct with parameters
- * \param d:		filepath of the config file
- * \param config_strings: storage for the config strings extracted from JSON,
- * 			  the pointer is incremented as strings are stored
- * \param len:		pointer to the remaining length left in config_strings
- *			  the value is decremented as strings are stored
- *
- * This function prepares a n lws_context_creation_info struct with global
- * settings from a file d.
- *
- * Requires CMake option LWS_WITH_LEJP_CONF to have been enabled
- */
-LWS_VISIBLE LWS_EXTERN int
-lwsws_get_config_globals(struct lws_context_creation_info *info, const char *d,
-			 char **config_strings, int *len);
-
-/**
- * lwsws_get_config_vhosts() - Create vhosts from a JSON server config file
- * \param context:	pointer to result of lws_create_context()
- * \param info:		pointer to struct with parameters
- * \param d:		filepath of the config file
- * \param config_strings: storage for the config strings extracted from JSON,
- * 			  the pointer is incremented as strings are stored
- * \param len:		pointer to the remaining length left in config_strings
- *			  the value is decremented as strings are stored
- *
- * This function creates vhosts into a context according to the settings in
- *JSON files found in directory d.
- *
- * Requires CMake option LWS_WITH_LEJP_CONF to have been enabled
- */
-LWS_VISIBLE LWS_EXTERN int
-lwsws_get_config_vhosts(struct lws_context *context,
-			struct lws_context_creation_info *info, const char *d,
-			char **config_strings, int *len);
-
-/** lws_vhost_get() - \deprecated deprecated: use lws_get_vhost() */
-LWS_VISIBLE LWS_EXTERN struct lws_vhost *
-lws_vhost_get(struct lws *wsi) LWS_WARN_DEPRECATED;
-
-/**
- * lws_get_vhost() - return the vhost a wsi belongs to
- *
- * \param wsi: which connection
- */
-LWS_VISIBLE LWS_EXTERN struct lws_vhost *
-lws_get_vhost(struct lws *wsi);
-
-/**
- * lws_get_vhost_name() - returns the name of a vhost
- *
- * \param vhost: which vhost
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_get_vhost_name(struct lws_vhost *vhost);
-
-/**
- * lws_get_vhost_port() - returns the port a vhost listens on, or -1
- *
- * \param vhost: which vhost
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_get_vhost_port(struct lws_vhost *vhost);
-
-/**
- * lws_get_vhost_user() - returns the user pointer for the vhost
- *
- * \param vhost: which vhost
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_get_vhost_user(struct lws_vhost *vhost);
-
-/**
- * lws_get_vhost_iface() - returns the binding for the vhost listen socket
- *
- * \param vhost: which vhost
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_get_vhost_iface(struct lws_vhost *vhost);
-
-/**
- * lws_json_dump_vhost() - describe vhost state and stats in JSON
- *
- * \param vh: the vhost
- * \param buf: buffer to fill with JSON
- * \param len: max length of buf
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_json_dump_vhost(const struct lws_vhost *vh, char *buf, int len);
-
-/**
- * lws_json_dump_context() - describe context state and stats in JSON
- *
- * \param context: the context
- * \param buf: buffer to fill with JSON
- * \param len: max length of buf
- * \param hide_vhosts: nonzero to not provide per-vhost mount etc information
- *
- * Generates a JSON description of vhost state into buf
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_json_dump_context(const struct lws_context *context, char *buf, int len,
-		      int hide_vhosts);
-
-/**
- * lws_vhost_user() - get the user data associated with the vhost
- * \param vhost: Websocket vhost
- *
- * This returns the optional user pointer that can be attached to
- * a vhost when it was created.  Lws never dereferences this pointer, it only
- * sets it when the vhost is created, and returns it using this api.
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_vhost_user(struct lws_vhost *vhost);
-
-/**
- * lws_context_user() - get the user data associated with the context
- * \param context: Websocket context
- *
- * This returns the optional user allocation that can be attached to
- * the context the sockets live in at context_create time.  It's a way
- * to let all sockets serviced in the same context share data without
- * using globals statics in the user code.
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_context_user(struct lws_context *context);
-
-/*! \defgroup vhost-mounts Vhost mounts and options
- * \ingroup context-and-vhost-creation
- *
- * ##Vhost mounts and options
- */
-///@{
-/** struct lws_protocol_vhost_options - linked list of per-vhost protocol
- * 					name=value options
- *
- * This provides a general way to attach a linked-list of name=value pairs,
- * which can also have an optional child link-list using the options member.
- */
-struct lws_protocol_vhost_options {
-	const struct lws_protocol_vhost_options *next; /**< linked list */
-	const struct lws_protocol_vhost_options *options; /**< child linked-list of more options for this node */
-	const char *name; /**< name of name=value pair */
-	const char *value; /**< value of name=value pair */
-};
-
-/** enum lws_mount_protocols
- * This specifies the mount protocol for a mountpoint, whether it is to be
- * served from a filesystem, or it is a cgi etc.
- */
-enum lws_mount_protocols {
-	LWSMPRO_HTTP		= 0, /**< http reverse proxy */
-	LWSMPRO_HTTPS		= 1, /**< https reverse proxy */
-	LWSMPRO_FILE		= 2, /**< serve from filesystem directory */
-	LWSMPRO_CGI		= 3, /**< pass to CGI to handle */
-	LWSMPRO_REDIR_HTTP	= 4, /**< redirect to http:// url */
-	LWSMPRO_REDIR_HTTPS	= 5, /**< redirect to https:// url */
-	LWSMPRO_CALLBACK	= 6, /**< hand by named protocol's callback */
-};
-
-/** struct lws_http_mount
- *
- * arguments for mounting something in a vhost's url namespace
- */
-struct lws_http_mount {
-	const struct lws_http_mount *mount_next;
-	/**< pointer to next struct lws_http_mount */
-	const char *mountpoint;
-	/**< mountpoint in http pathspace, eg, "/" */
-	const char *origin;
-	/**< path to be mounted, eg, "/var/www/warmcat.com" */
-	const char *def;
-	/**< default target, eg, "index.html" */
-	const char *protocol;
-	/**<"protocol-name" to handle mount */
-
-	const struct lws_protocol_vhost_options *cgienv;
-	/**< optional linked-list of cgi options.  These are created
-	 * as environment variables for the cgi process
-	 */
-	const struct lws_protocol_vhost_options *extra_mimetypes;
-	/**< optional linked-list of mimetype mappings */
-	const struct lws_protocol_vhost_options *interpret;
-	/**< optional linked-list of files to be interpreted */
-
-	int cgi_timeout;
-	/**< seconds cgi is allowed to live, if cgi://mount type */
-	int cache_max_age;
-	/**< max-age for reuse of client cache of files, seconds */
-	unsigned int auth_mask;
-	/**< bits set here must be set for authorized client session */
-
-	unsigned int cache_reusable:1; /**< set if client cache may reuse this */
-	unsigned int cache_revalidate:1; /**< set if client cache should revalidate on use */
-	unsigned int cache_intermediaries:1; /**< set if intermediaries are allowed to cache */
-
-	unsigned char origin_protocol; /**< one of enum lws_mount_protocols */
-	unsigned char mountpoint_len; /**< length of mountpoint string */
-
-	const char *basic_auth_login_file;
-	/**<NULL, or filepath to use to check basic auth logins against */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility
-	 *
-	 * The below is to ensure later library versions with new
-	 * members added above will see 0 (default) even if the app
-	 * was not built against the newer headers.
-	 */
-
-	void *_unused[2]; /**< dummy */
-};
-///@}
-///@}
-
-/*! \defgroup client Client related functions
- * ##Client releated functions
- * \ingroup lwsapi
- *
- * */
-///@{
-
-/** enum lws_client_connect_ssl_connection_flags - flags that may be used
- * with struct lws_client_connect_info ssl_connection member to control if
- * and how SSL checks apply to the client connection being created
- */
-
-enum lws_client_connect_ssl_connection_flags {
-	LCCSCF_USE_SSL 				= (1 << 0),
-	LCCSCF_ALLOW_SELFSIGNED			= (1 << 1),
-	LCCSCF_SKIP_SERVER_CERT_HOSTNAME_CHECK	= (1 << 2),
-	LCCSCF_ALLOW_EXPIRED			= (1 << 3),
-
-	LCCSCF_PIPELINE				= (1 << 16),
-		/**< Serialize / pipeline multiple client connections
-		 * on a single connection where possible.
-		 *
-		 * HTTP/1.0: possible if Keep-Alive: yes sent by server
-		 * HTTP/1.1: always possible... uses pipelining
-		 * HTTP/2:   always possible... uses parallel streams
-		 * */
-};
-
-/** struct lws_client_connect_info - parameters to connect with when using
- *				    lws_client_connect_via_info() */
-
-struct lws_client_connect_info {
-	struct lws_context *context;
-	/**< lws context to create connection in */
-	const char *address;
-	/**< remote address to connect to */
-	int port;
-	/**< remote port to connect to */
-	int ssl_connection;
-	/**< 0, or a combination of LCCSCF_ flags */
-	const char *path;
-	/**< uri path */
-	const char *host;
-	/**< content of host header */
-	const char *origin;
-	/**< content of origin header */
-	const char *protocol;
-	/**< list of ws protocols we could accept */
-	int ietf_version_or_minus_one;
-	/**< deprecated: currently leave at 0 or -1 */
-	void *userdata;
-	/**< if non-NULL, use this as wsi user_data instead of malloc it */
-	const void *client_exts;
-	/**< UNUSED... provide in info.extensions at context creation time */
-	const char *method;
-	/**< if non-NULL, do this http method instead of ws[s] upgrade.
-	 * use "GET" to be a simple http client connection.  "RAW" gets
-	 * you a connected socket that lws itself will leave alone once
-	 * connected. */
-	struct lws *parent_wsi;
-	/**< if another wsi is responsible for this connection, give it here.
-	 * this is used to make sure if the parent closes so do any
-	 * child connections first. */
-	const char *uri_replace_from;
-	/**< if non-NULL, when this string is found in URIs in
-	 * text/html content-encoding, it's replaced with uri_replace_to */
-	const char *uri_replace_to;
-	/**< see uri_replace_from */
-	struct lws_vhost *vhost;
-	/**< vhost to bind to (used to determine related SSL_CTX) */
-	struct lws **pwsi;
-	/**< if not NULL, store the new wsi here early in the connection
-	 * process.  Although we return the new wsi, the call to create the
-	 * client connection does progress the connection somewhat and may
-	 * meet an error that will result in the connection being scrubbed and
-	 * NULL returned.  While the wsi exists though, he may process a
-	 * callback like CLIENT_CONNECTION_ERROR with his wsi: this gives the
-	 * user callback a way to identify which wsi it is that faced the error
-	 * even before the new wsi is returned and even if ultimately no wsi
-	 * is returned.
-	 */
-	const char *iface;
-	/**< NULL to allow routing on any interface, or interface name or IP
-	 * to bind the socket to */
-	const char *local_protocol_name;
-	/**< NULL: .protocol is used both to select the local protocol handler
-	 *         to bind to and as the list of remote ws protocols we could
-	 *         accept.
-	 *   non-NULL: this protocol name is used to bind the connection to
-	 *             the local protocol handler.  .protocol is used for the
-	 *             list of remote ws protocols we could accept */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility
-	 *
-	 * The below is to ensure later library versions with new
-	 * members added above will see 0 (default) even if the app
-	 * was not built against the newer headers.
-	 */
-	const char *alpn;
-	/* NULL: allow lws default ALPN list, from vhost if present or from
-	 *       list of roles built into lws
-	 * non-NULL: require one from provided comma-separated list of alpn
-	 *           tokens
-	 */
-
-	void *_unused[4]; /**< dummy */
-};
-
-/**
- * lws_client_connect_via_info() - Connect to another websocket server
- * \param ccinfo: pointer to lws_client_connect_info struct
- *
- *	This function creates a connection to a remote server using the
- *	information provided in ccinfo.
- */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_client_connect_via_info(struct lws_client_connect_info * ccinfo);
-
-/**
- * lws_client_connect() - Connect to another websocket server
- * 		\deprecated DEPRECATED use lws_client_connect_via_info
- * \param clients:	Websocket context
- * \param address:	Remote server address, eg, "myserver.com"
- * \param port:	Port to connect to on the remote server, eg, 80
- * \param ssl_connection:	0 = ws://, 1 = wss:// encrypted, 2 = wss:// allow self
- *			signed certs
- * \param path:	Websocket path on server
- * \param host:	Hostname on server
- * \param origin:	Socket origin name
- * \param protocol:	Comma-separated list of protocols being asked for from
- *		the server, or just one.  The server will pick the one it
- *		likes best.  If you don't want to specify a protocol, which is
- *		legal, use NULL here.
- * \param ietf_version_or_minus_one: -1 to ask to connect using the default, latest
- *		protocol supported, or the specific protocol ordinal
- *
- *	This function creates a connection to a remote server
- */
-/* deprecated, use lws_client_connect_via_info() */
-LWS_VISIBLE LWS_EXTERN struct lws * LWS_WARN_UNUSED_RESULT
-lws_client_connect(struct lws_context *clients, const char *address,
-		   int port, int ssl_connection, const char *path,
-		   const char *host, const char *origin, const char *protocol,
-		   int ietf_version_or_minus_one) LWS_WARN_DEPRECATED;
-/* deprecated, use lws_client_connect_via_info() */
-/**
- * lws_client_connect_extended() - Connect to another websocket server
- * 			\deprecated DEPRECATED use lws_client_connect_via_info
- * \param clients:	Websocket context
- * \param address:	Remote server address, eg, "myserver.com"
- * \param port:	Port to connect to on the remote server, eg, 80
- * \param ssl_connection:	0 = ws://, 1 = wss:// encrypted, 2 = wss:// allow self
- *			signed certs
- * \param path:	Websocket path on server
- * \param host:	Hostname on server
- * \param origin:	Socket origin name
- * \param protocol:	Comma-separated list of protocols being asked for from
- *		the server, or just one.  The server will pick the one it
- *		likes best.
- * \param ietf_version_or_minus_one: -1 to ask to connect using the default, latest
- *		protocol supported, or the specific protocol ordinal
- * \param userdata: Pre-allocated user data
- *
- *	This function creates a connection to a remote server
- */
-LWS_VISIBLE LWS_EXTERN struct lws * LWS_WARN_UNUSED_RESULT
-lws_client_connect_extended(struct lws_context *clients, const char *address,
-			    int port, int ssl_connection, const char *path,
-			    const char *host, const char *origin,
-			    const char *protocol, int ietf_version_or_minus_one,
-			    void *userdata) LWS_WARN_DEPRECATED;
-
-/**
- * lws_init_vhost_client_ssl() - also enable client SSL on an existing vhost
- *
- * \param info: client ssl related info
- * \param vhost: which vhost to initialize client ssl operations on
- *
- * You only need to call this if you plan on using SSL client connections on
- * the vhost.  For non-SSL client connections, it's not necessary to call this.
- *
- * The following members of info are used during the call
- *
- *	 - options must have LWS_SERVER_OPTION_DO_SSL_GLOBAL_INIT set,
- *	     otherwise the call does nothing
- *	 - provided_client_ssl_ctx must be NULL to get a generated client
- *	     ssl context, otherwise you can pass a prepared one in by setting it
- *	 - ssl_cipher_list may be NULL or set to the client valid cipher list
- *	 - ssl_ca_filepath may be NULL or client cert filepath
- *	 - ssl_cert_filepath may be NULL or client cert filepath
- *	 - ssl_private_key_filepath may be NULL or client cert private key
- *
- * You must create your vhost explicitly if you want to use this, so you have
- * a pointer to the vhost.  Create the context first with the option flag
- * LWS_SERVER_OPTION_EXPLICIT_VHOSTS and then call lws_create_vhost() with
- * the same info struct.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_init_vhost_client_ssl(const struct lws_context_creation_info *info,
-			  struct lws_vhost *vhost);
-/**
- * lws_http_client_read() - consume waiting received http client data
- *
- * \param wsi: client connection
- * \param buf: pointer to buffer pointer - fill with pointer to your buffer
- * \param len: pointer to chunk length - fill with max length of buffer
- *
- * This is called when the user code is notified client http data has arrived.
- * The user code may choose to delay calling it to consume the data, for example
- * waiting until an onward connection is writeable.
- *
- * For non-chunked connections, up to len bytes of buf are filled with the
- * received content.  len is set to the actual amount filled before return.
- *
- * For chunked connections, the linear buffer content contains the chunking
- * headers and it cannot be passed in one lump.  Instead, this function will
- * call back LWS_CALLBACK_RECEIVE_CLIENT_HTTP_READ with in pointing to the
- * chunk start and len set to the chunk length.  There will be as many calls
- * as there are chunks or partial chunks in the buffer.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_http_client_read(struct lws *wsi, char **buf, int *len);
-
-/**
- * lws_http_client_http_response() - get last HTTP response code
- *
- * \param wsi: client connection
- *
- * Returns the last server response code, eg, 200 for client http connections.
- *
- * You should capture this during the LWS_CALLBACK_ESTABLISHED_CLIENT_HTTP
- * callback, because after that the memory reserved for storing the related
- * headers is freed and this value is lost.
- */
-LWS_VISIBLE LWS_EXTERN unsigned int
-lws_http_client_http_response(struct lws *wsi);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_client_http_body_pending(struct lws *wsi, int something_left_to_send);
-
-/**
- * lws_client_http_body_pending() - control if client connection neeeds to send body
- *
- * \param wsi: client connection
- * \param something_left_to_send: nonzero if need to send more body, 0 (default)
- * 				if nothing more to send
- *
- * If you will send payload data with your HTTP client connection, eg, for POST,
- * when you set the related http headers in
- * LWS_CALLBACK_CLIENT_APPEND_HANDSHAKE_HEADER callback you should also call
- * this API with something_left_to_send nonzero, and call
- * lws_callback_on_writable(wsi);
- *
- * After sending the headers, lws will call your callback with
- * LWS_CALLBACK_CLIENT_HTTP_WRITEABLE reason when writable.  You can send the
- * next part of the http body payload, calling lws_callback_on_writable(wsi);
- * if there is more to come, or lws_client_http_body_pending(wsi, 0); to
- * let lws know the last part is sent and the connection can move on.
- */
-
-///@}
-
-/** \defgroup service Built-in service loop entry
- *
- * ##Built-in service loop entry
- *
- * If you're not using libev / libuv, these apis are needed to enter the poll()
- * wait in lws and service any connections with pending events.
- */
-///@{
-
-/**
- * lws_service() - Service any pending websocket activity
- * \param context:	Websocket context
- * \param timeout_ms:	Timeout for poll; 0 means return immediately if nothing needed
- *		service otherwise block and service immediately, returning
- *		after the timeout if nothing needed service.
- *
- *	This function deals with any pending websocket traffic, for three
- *	kinds of event.  It handles these events on both server and client
- *	types of connection the same.
- *
- *	1) Accept new connections to our context's server
- *
- *	2) Call the receive callback for incoming frame data received by
- *	    server or client connections.
- *
- *	You need to call this service function periodically to all the above
- *	functions to happen; if your application is single-threaded you can
- *	just call it in your main event loop.
- *
- *	Alternatively you can fork a new process that asynchronously handles
- *	calling this service in a loop.  In that case you are happy if this
- *	call blocks your thread until it needs to take care of something and
- *	would call it with a large nonzero timeout.  Your loop then takes no
- *	CPU while there is nothing happening.
- *
- *	If you are calling it in a single-threaded app, you don't want it to
- *	wait around blocking other things in your loop from happening, so you
- *	would call it with a timeout_ms of 0, so it returns immediately if
- *	nothing is pending, or as soon as it services whatever was pending.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_service(struct lws_context *context, int timeout_ms);
-
-/**
- * lws_service_tsi() - Service any pending websocket activity
- *
- * \param context:	Websocket context
- * \param timeout_ms:	Timeout for poll; 0 means return immediately if nothing needed
- *		service otherwise block and service immediately, returning
- *		after the timeout if nothing needed service.
- * \param tsi:		Thread service index, starting at 0
- *
- * Same as lws_service(), but for a specific thread service index.  Only needed
- * if you are spawning multiple service threads.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_service_tsi(struct lws_context *context, int timeout_ms, int tsi);
-
-/**
- * lws_cancel_service_pt() - Cancel servicing of pending socket activity
- *				on one thread
- * \param wsi:	Cancel service on the thread this wsi is serviced by
- *
- * Same as lws_cancel_service(), but targets a single service thread, the one
- * the wsi belongs to.  You probably want to use lws_cancel_service() instead.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_cancel_service_pt(struct lws *wsi);
-
-/**
- * lws_cancel_service() - Cancel wait for new pending socket activity
- * \param context:	Websocket context
- *
- * This function creates an immediate "synchronous interrupt" to the lws poll()
- * wait or event loop.  As soon as possible in the serialzed service sequencing,
- * a LWS_CALLBACK_EVENT_WAIT_CANCELLED callback is sent to every protocol on
- * every vhost.
- *
- * lws_cancel_service() may be called from another thread while the context
- * exists, and its effect will be immediately serialized.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_cancel_service(struct lws_context *context);
-
-/**
- * lws_service_fd() - Service polled socket with something waiting
- * \param context:	Websocket context
- * \param pollfd:	The pollfd entry describing the socket fd and which events
- *		happened, or NULL to tell lws to do only timeout servicing.
- *
- * This function takes a pollfd that has POLLIN or POLLOUT activity and
- * services it according to the state of the associated
- * struct lws.
- *
- * The one call deals with all "service" that might happen on a socket
- * including listen accepts, http files as well as websocket protocol.
- *
- * If a pollfd says it has something, you can just pass it to
- * lws_service_fd() whether it is a socket handled by lws or not.
- * If it sees it is a lws socket, the traffic will be handled and
- * pollfd->revents will be zeroed now.
- *
- * If the socket is foreign to lws, it leaves revents alone.  So you can
- * see if you should service yourself by checking the pollfd revents
- * after letting lws try to service it.
- *
- * You should also call this with pollfd = NULL to just allow the
- * once-per-second global timeout checks; if less than a second since the last
- * check it returns immediately then.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_service_fd(struct lws_context *context, struct lws_pollfd *pollfd);
-
-/**
- * lws_service_fd_tsi() - Service polled socket in specific service thread
- * \param context:	Websocket context
- * \param pollfd:	The pollfd entry describing the socket fd and which events
- *		happened.
- * \param tsi: thread service index
- *
- * Same as lws_service_fd() but used with multiple service threads
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_service_fd_tsi(struct lws_context *context, struct lws_pollfd *pollfd,
-		   int tsi);
-
-/**
- * lws_service_adjust_timeout() - Check for any connection needing forced service
- * \param context:	Websocket context
- * \param timeout_ms:	The original poll timeout value.  You can just set this
- *			to 1 if you don't really have a poll timeout.
- * \param tsi: thread service index
- *
- * Under some conditions connections may need service even though there is no
- * pending network action on them, this is "forced service".  For default
- * poll() and libuv / libev, the library takes care of calling this and
- * dealing with it for you.  But for external poll() integration, you need
- * access to the apis.
- *
- * If anybody needs "forced service", returned timeout is zero.  In that case,
- * you can call lws_service_tsi() with a timeout of -1 to only service
- * guys who need forced service.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_service_adjust_timeout(struct lws_context *context, int timeout_ms, int tsi);
-
-/* Backwards compatibility */
-#define lws_plat_service_tsi lws_service_tsi
-
-LWS_VISIBLE LWS_EXTERN int
-lws_handle_POLLOUT_event(struct lws *wsi, struct lws_pollfd *pollfd);
-
-///@}
-
-/*! \defgroup http HTTP
-
-    Modules related to handling HTTP
-*/
-//@{
-
-/*! \defgroup httpft HTTP File transfer
- * \ingroup http
-
-    APIs for sending local files in response to HTTP requests
-*/
-//@{
-
-/**
- * lws_get_mimetype() - Determine mimetype to use from filename
- *
- * \param file:		filename
- * \param m:		NULL, or mount context
- *
- * This uses a canned list of known filetypes first, if no match and m is
- * non-NULL, then tries a list of per-mount file suffix to mimtype mappings.
- *
- * Returns either NULL or a pointer to the mimetype matching the file.
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_get_mimetype(const char *file, const struct lws_http_mount *m);
-
-/**
- * lws_serve_http_file() - Send a file back to the client using http
- * \param wsi:		Websocket instance (available from user callback)
- * \param file:		The file to issue over http
- * \param content_type:	The http content type, eg, text/html
- * \param other_headers:	NULL or pointer to header string
- * \param other_headers_len:	length of the other headers if non-NULL
- *
- *	This function is intended to be called from the callback in response
- *	to http requests from the client.  It allows the callback to issue
- *	local files down the http link in a single step.
- *
- *	Returning <0 indicates error and the wsi should be closed.  Returning
- *	>0 indicates the file was completely sent and
- *	lws_http_transaction_completed() called on the wsi (and close if != 0)
- *	==0 indicates the file transfer is started and needs more service later,
- *	the wsi should be left alone.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_serve_http_file(struct lws *wsi, const char *file, const char *content_type,
-		    const char *other_headers, int other_headers_len);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_serve_http_file_fragment(struct lws *wsi);
-//@}
-
-
-enum http_status {
-	HTTP_STATUS_CONTINUE					= 100,
-
-	HTTP_STATUS_OK						= 200,
-	HTTP_STATUS_NO_CONTENT					= 204,
-	HTTP_STATUS_PARTIAL_CONTENT				= 206,
-
-	HTTP_STATUS_MOVED_PERMANENTLY				= 301,
-	HTTP_STATUS_FOUND					= 302,
-	HTTP_STATUS_SEE_OTHER					= 303,
-	HTTP_STATUS_NOT_MODIFIED				= 304,
-
-	HTTP_STATUS_BAD_REQUEST					= 400,
-	HTTP_STATUS_UNAUTHORIZED,
-	HTTP_STATUS_PAYMENT_REQUIRED,
-	HTTP_STATUS_FORBIDDEN,
-	HTTP_STATUS_NOT_FOUND,
-	HTTP_STATUS_METHOD_NOT_ALLOWED,
-	HTTP_STATUS_NOT_ACCEPTABLE,
-	HTTP_STATUS_PROXY_AUTH_REQUIRED,
-	HTTP_STATUS_REQUEST_TIMEOUT,
-	HTTP_STATUS_CONFLICT,
-	HTTP_STATUS_GONE,
-	HTTP_STATUS_LENGTH_REQUIRED,
-	HTTP_STATUS_PRECONDITION_FAILED,
-	HTTP_STATUS_REQ_ENTITY_TOO_LARGE,
-	HTTP_STATUS_REQ_URI_TOO_LONG,
-	HTTP_STATUS_UNSUPPORTED_MEDIA_TYPE,
-	HTTP_STATUS_REQ_RANGE_NOT_SATISFIABLE,
-	HTTP_STATUS_EXPECTATION_FAILED,
-
-	HTTP_STATUS_INTERNAL_SERVER_ERROR			= 500,
-	HTTP_STATUS_NOT_IMPLEMENTED,
-	HTTP_STATUS_BAD_GATEWAY,
-	HTTP_STATUS_SERVICE_UNAVAILABLE,
-	HTTP_STATUS_GATEWAY_TIMEOUT,
-	HTTP_STATUS_HTTP_VERSION_NOT_SUPPORTED,
-};
-/*! \defgroup html-chunked-substitution HTML Chunked Substitution
- * \ingroup http
- *
- * ##HTML chunked Substitution
- *
- * APIs for receiving chunks of text, replacing a set of variable names via
- * a callback, and then prepending and appending HTML chunked encoding
- * headers.
- */
-//@{
-
-struct lws_process_html_args {
-	char *p; /**< pointer to the buffer containing the data */
-	int len; /**< length of the original data at p */
-	int max_len; /**< maximum length we can grow the data to */
-	int final; /**< set if this is the last chunk of the file */
-	int chunked; /**< 0 == unchunked, 1 == produce chunk headers (incompatible with HTTP/2) */
-};
-
-typedef const char *(*lws_process_html_state_cb)(void *data, int index);
-
-struct lws_process_html_state {
-	char *start; /**< pointer to start of match */
-	char swallow[16]; /**< matched character buffer */
-	int pos; /**< position in match */
-	void *data; /**< opaque pointer */
-	const char * const *vars; /**< list of variable names */
-	int count_vars; /**< count of variable names */
-
-	lws_process_html_state_cb replace; /**< called on match to perform substitution */
-};
-
-/*! lws_chunked_html_process() - generic chunked substitution
- * \param args: buffer to process using chunked encoding
- * \param s: current processing state
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_chunked_html_process(struct lws_process_html_args *args,
-			 struct lws_process_html_state *s);
-//@}
-
-/** \defgroup HTTP-headers-read HTTP headers: read
- * \ingroup http
- *
- * ##HTTP header releated functions
- *
- *  In lws the client http headers are temporarily stored in a pool, only for the
- *  duration of the http part of the handshake.  It's because in most cases,
- *  the header content is ignored for the whole rest of the connection lifetime
- *  and would then just be taking up space needlessly.
- *
- *  During LWS_CALLBACK_HTTP when the URI path is delivered is the last time
- *  the http headers are still allocated, you can use these apis then to
- *  look at and copy out interesting header content (cookies, etc)
- *
- *  Notice that the header total length reported does not include a terminating
- *  '\0', however you must allocate for it when using the _copy apis.  So the
- *  length reported for a header containing "123" is 3, but you must provide
- *  a buffer of length 4 so that "123\0" may be copied into it, or the copy
- *  will fail with a nonzero return code.
- *
- *  In the special case of URL arguments, like ?x=1&y=2, the arguments are
- *  stored in a token named for the method, eg,  WSI_TOKEN_GET_URI if it
- *  was a GET or WSI_TOKEN_POST_URI if POST.  You can check the total
- *  length to confirm the method.
- *
- *  For URL arguments, each argument is stored urldecoded in a "fragment", so
- *  you can use the fragment-aware api lws_hdr_copy_fragment() to access each
- *  argument in turn: the fragments contain urldecoded strings like x=1 or y=2.
- *
- *  As a convenience, lws has an api that will find the fragment with a
- *  given name= part, lws_get_urlarg_by_name().
- */
-///@{
-
-/** struct lws_tokens
- * you need these to look at headers that have been parsed if using the
- * LWS_CALLBACK_FILTER_CONNECTION callback.  If a header from the enum
- * list below is absent, .token = NULL and len = 0.  Otherwise .token
- * points to .len chars containing that header content.
- */
-struct lws_tokens {
-	char *token; /**< pointer to start of the token */
-	int len; /**< length of the token's value */
-};
-
-/* enum lws_token_indexes
- * these have to be kept in sync with lextable.h / minilex.c
- *
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-enum lws_token_indexes {
-	WSI_TOKEN_GET_URI					=  0,
-	WSI_TOKEN_POST_URI					=  1,
-	WSI_TOKEN_OPTIONS_URI					=  2,
-	WSI_TOKEN_HOST						=  3,
-	WSI_TOKEN_CONNECTION					=  4,
-	WSI_TOKEN_UPGRADE					=  5,
-	WSI_TOKEN_ORIGIN					=  6,
-	WSI_TOKEN_DRAFT						=  7,
-	WSI_TOKEN_CHALLENGE					=  8,
-	WSI_TOKEN_EXTENSIONS					=  9,
-	WSI_TOKEN_KEY1						= 10,
-	WSI_TOKEN_KEY2						= 11,
-	WSI_TOKEN_PROTOCOL					= 12,
-	WSI_TOKEN_ACCEPT					= 13,
-	WSI_TOKEN_NONCE						= 14,
-	WSI_TOKEN_HTTP						= 15,
-	WSI_TOKEN_HTTP2_SETTINGS				= 16,
-	WSI_TOKEN_HTTP_ACCEPT					= 17,
-	WSI_TOKEN_HTTP_AC_REQUEST_HEADERS			= 18,
-	WSI_TOKEN_HTTP_IF_MODIFIED_SINCE			= 19,
-	WSI_TOKEN_HTTP_IF_NONE_MATCH				= 20,
-	WSI_TOKEN_HTTP_ACCEPT_ENCODING				= 21,
-	WSI_TOKEN_HTTP_ACCEPT_LANGUAGE				= 22,
-	WSI_TOKEN_HTTP_PRAGMA					= 23,
-	WSI_TOKEN_HTTP_CACHE_CONTROL				= 24,
-	WSI_TOKEN_HTTP_AUTHORIZATION				= 25,
-	WSI_TOKEN_HTTP_COOKIE					= 26,
-	WSI_TOKEN_HTTP_CONTENT_LENGTH				= 27,
-	WSI_TOKEN_HTTP_CONTENT_TYPE				= 28,
-	WSI_TOKEN_HTTP_DATE					= 29,
-	WSI_TOKEN_HTTP_RANGE					= 30,
-	WSI_TOKEN_HTTP_REFERER					= 31,
-	WSI_TOKEN_KEY						= 32,
-	WSI_TOKEN_VERSION					= 33,
-	WSI_TOKEN_SWORIGIN					= 34,
-
-	WSI_TOKEN_HTTP_COLON_AUTHORITY				= 35,
-	WSI_TOKEN_HTTP_COLON_METHOD				= 36,
-	WSI_TOKEN_HTTP_COLON_PATH				= 37,
-	WSI_TOKEN_HTTP_COLON_SCHEME				= 38,
-	WSI_TOKEN_HTTP_COLON_STATUS				= 39,
-
-	WSI_TOKEN_HTTP_ACCEPT_CHARSET				= 40,
-	WSI_TOKEN_HTTP_ACCEPT_RANGES				= 41,
-	WSI_TOKEN_HTTP_ACCESS_CONTROL_ALLOW_ORIGIN		= 42,
-	WSI_TOKEN_HTTP_AGE					= 43,
-	WSI_TOKEN_HTTP_ALLOW					= 44,
-	WSI_TOKEN_HTTP_CONTENT_DISPOSITION			= 45,
-	WSI_TOKEN_HTTP_CONTENT_ENCODING				= 46,
-	WSI_TOKEN_HTTP_CONTENT_LANGUAGE				= 47,
-	WSI_TOKEN_HTTP_CONTENT_LOCATION				= 48,
-	WSI_TOKEN_HTTP_CONTENT_RANGE				= 49,
-	WSI_TOKEN_HTTP_ETAG					= 50,
-	WSI_TOKEN_HTTP_EXPECT					= 51,
-	WSI_TOKEN_HTTP_EXPIRES					= 52,
-	WSI_TOKEN_HTTP_FROM					= 53,
-	WSI_TOKEN_HTTP_IF_MATCH					= 54,
-	WSI_TOKEN_HTTP_IF_RANGE					= 55,
-	WSI_TOKEN_HTTP_IF_UNMODIFIED_SINCE			= 56,
-	WSI_TOKEN_HTTP_LAST_MODIFIED				= 57,
-	WSI_TOKEN_HTTP_LINK					= 58,
-	WSI_TOKEN_HTTP_LOCATION					= 59,
-	WSI_TOKEN_HTTP_MAX_FORWARDS				= 60,
-	WSI_TOKEN_HTTP_PROXY_AUTHENTICATE			= 61,
-	WSI_TOKEN_HTTP_PROXY_AUTHORIZATION			= 62,
-	WSI_TOKEN_HTTP_REFRESH					= 63,
-	WSI_TOKEN_HTTP_RETRY_AFTER				= 64,
-	WSI_TOKEN_HTTP_SERVER					= 65,
-	WSI_TOKEN_HTTP_SET_COOKIE				= 66,
-	WSI_TOKEN_HTTP_STRICT_TRANSPORT_SECURITY		= 67,
-	WSI_TOKEN_HTTP_TRANSFER_ENCODING			= 68,
-	WSI_TOKEN_HTTP_USER_AGENT				= 69,
-	WSI_TOKEN_HTTP_VARY					= 70,
-	WSI_TOKEN_HTTP_VIA					= 71,
-	WSI_TOKEN_HTTP_WWW_AUTHENTICATE				= 72,
-
-	WSI_TOKEN_PATCH_URI					= 73,
-	WSI_TOKEN_PUT_URI					= 74,
-	WSI_TOKEN_DELETE_URI					= 75,
-
-	WSI_TOKEN_HTTP_URI_ARGS					= 76,
-	WSI_TOKEN_PROXY						= 77,
-	WSI_TOKEN_HTTP_X_REAL_IP				= 78,
-	WSI_TOKEN_HTTP1_0					= 79,
-	WSI_TOKEN_X_FORWARDED_FOR				= 80,
-	WSI_TOKEN_CONNECT					= 81,
-	WSI_TOKEN_HEAD_URI					= 82,
-	WSI_TOKEN_TE						= 83,
-	WSI_TOKEN_REPLAY_NONCE					= 84,
-	WSI_TOKEN_COLON_PROTOCOL				= 85,
-	WSI_TOKEN_X_AUTH_TOKEN					= 86,
-
-	/****** add new things just above ---^ ******/
-
-	/* use token storage to stash these internally, not for
-	 * user use */
-
-	_WSI_TOKEN_CLIENT_SENT_PROTOCOLS,
-	_WSI_TOKEN_CLIENT_PEER_ADDRESS,
-	_WSI_TOKEN_CLIENT_URI,
-	_WSI_TOKEN_CLIENT_HOST,
-	_WSI_TOKEN_CLIENT_ORIGIN,
-	_WSI_TOKEN_CLIENT_METHOD,
-	_WSI_TOKEN_CLIENT_IFACE,
-	_WSI_TOKEN_CLIENT_ALPN,
-
-	/* always last real token index*/
-	WSI_TOKEN_COUNT,
-
-	/* parser state additions, no storage associated */
-	WSI_TOKEN_NAME_PART,
-	WSI_TOKEN_SKIPPING,
-	WSI_TOKEN_SKIPPING_SAW_CR,
-	WSI_PARSING_COMPLETE,
-	WSI_INIT_TOKEN_MUXURL,
-};
-
-struct lws_token_limits {
-	unsigned short token_limit[WSI_TOKEN_COUNT]; /**< max chars for this token */
-};
-
-/**
- * lws_token_to_string() - returns a textual representation of a hdr token index
- *
- * \param token: token index
- */
-LWS_VISIBLE LWS_EXTERN const unsigned char *
-lws_token_to_string(enum lws_token_indexes token);
-
-/**
- * lws_hdr_total_length: report length of all fragments of a header totalled up
- *		The returned length does not include the space for a
- *		terminating '\0'
- *
- * \param wsi: websocket connection
- * \param h: which header index we are interested in
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_hdr_total_length(struct lws *wsi, enum lws_token_indexes h);
-
-/**
- * lws_hdr_fragment_length: report length of a single fragment of a header
- *		The returned length does not include the space for a
- *		terminating '\0'
- *
- * \param wsi: websocket connection
- * \param h: which header index we are interested in
- * \param frag_idx: which fragment of h we want to get the length of
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_hdr_fragment_length(struct lws *wsi, enum lws_token_indexes h, int frag_idx);
-
-/**
- * lws_hdr_copy() - copy a single fragment of the given header to a buffer
- *		The buffer length len must include space for an additional
- *		terminating '\0', or it will fail returning -1.
- *
- * \param wsi: websocket connection
- * \param dest: destination buffer
- * \param len: length of destination buffer
- * \param h: which header index we are interested in
- *
- * copies the whole, aggregated header, even if it was delivered in
- * several actual headers piece by piece
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_hdr_copy(struct lws *wsi, char *dest, int len, enum lws_token_indexes h);
-
-/**
- * lws_hdr_copy_fragment() - copy a single fragment of the given header to a buffer
- *		The buffer length len must include space for an additional
- *		terminating '\0', or it will fail returning -1.
- *		If the requested fragment index is not present, it fails
- *		returning -1.
- *
- * \param wsi: websocket connection
- * \param dest: destination buffer
- * \param len: length of destination buffer
- * \param h: which header index we are interested in
- * \param frag_idx: which fragment of h we want to copy
- *
- * Normally this is only useful
- * to parse URI arguments like ?x=1&y=2, token index WSI_TOKEN_HTTP_URI_ARGS
- * fragment 0 will contain "x=1" and fragment 1 "y=2"
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_hdr_copy_fragment(struct lws *wsi, char *dest, int len,
-		      enum lws_token_indexes h, int frag_idx);
-
-/**
- * lws_get_urlarg_by_name() - return pointer to arg value if present
- * \param wsi: the connection to check
- * \param name: the arg name, like "token="
- * \param buf: the buffer to receive the urlarg (including the name= part)
- * \param len: the length of the buffer to receive the urlarg
- *
- *     Returns NULL if not found or a pointer inside buf to just after the
- *     name= part.
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_get_urlarg_by_name(struct lws *wsi, const char *name, char *buf, int len);
-///@}
-
-/*! \defgroup HTTP-headers-create HTTP headers: create
- *
- * ## HTTP headers: Create
- *
- * These apis allow you to create HTTP response headers in a way compatible with
- * both HTTP/1.x and HTTP/2.
- *
- * They each append to a buffer taking care about the buffer end, which is
- * passed in as a pointer.  When data is written to the buffer, the current
- * position p is updated accordingly.
- *
- * All of these apis are LWS_WARN_UNUSED_RESULT as they can run out of space
- * and fail with nonzero return.
- */
-///@{
-
-#define LWSAHH_CODE_MASK			((1 << 16) - 1)
-#define LWSAHH_FLAG_NO_SERVER_NAME		(1 << 30)
-
-/**
- * lws_add_http_header_status() - add the HTTP response status code
- *
- * \param wsi: the connection to check
- * \param code: an HTTP code like 200, 404 etc (see enum http_status)
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Adds the initial response code, so should be called first.
- *
- * Code may additionally take OR'd flags:
- *
- *    LWSAHH_FLAG_NO_SERVER_NAME:  don't apply server name header this time
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_add_http_header_status(struct lws *wsi,
-			   unsigned int code, unsigned char **p,
-			   unsigned char *end);
-/**
- * lws_add_http_header_by_name() - append named header and value
- *
- * \param wsi: the connection to check
- * \param name: the hdr name, like "my-header"
- * \param value: the value after the = for this header
- * \param length: the length of the value
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Appends name: value to the headers
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_add_http_header_by_name(struct lws *wsi, const unsigned char *name,
-			    const unsigned char *value, int length,
-			    unsigned char **p, unsigned char *end);
-/**
- * lws_add_http_header_by_token() - append given header and value
- *
- * \param wsi: the connection to check
- * \param token: the token index for the hdr
- * \param value: the value after the = for this header
- * \param length: the length of the value
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Appends name=value to the headers, but is able to take advantage of better
- * HTTP/2 coding mechanisms where possible.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_add_http_header_by_token(struct lws *wsi, enum lws_token_indexes token,
-			     const unsigned char *value, int length,
-			     unsigned char **p, unsigned char *end);
-/**
- * lws_add_http_header_content_length() - append content-length helper
- *
- * \param wsi: the connection to check
- * \param content_length: the content length to use
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Appends content-length: content_length to the headers
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_add_http_header_content_length(struct lws *wsi,
-				   lws_filepos_t content_length,
-				   unsigned char **p, unsigned char *end);
-/**
- * lws_finalize_http_header() - terminate header block
- *
- * \param wsi: the connection to check
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Indicates no more headers will be added
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_finalize_http_header(struct lws *wsi, unsigned char **p,
-			 unsigned char *end);
-
-/**
- * lws_finalize_write_http_header() - Helper finializing and writing http headers
- *
- * \param wsi: the connection to check
- * \param start: pointer to the start of headers in the buffer, eg &buf[LWS_PRE]
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Terminates the headers correctly accoring to the protocol in use (h1 / h2)
- * and writes the headers.  Returns nonzero for error.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_finalize_write_http_header(struct lws *wsi, unsigned char *start,
-			       unsigned char **p, unsigned char *end);
-
-#define LWS_ILLEGAL_HTTP_CONTENT_LEN ((lws_filepos_t)-1ll)
-
-/**
- * lws_add_http_common_headers() - Helper preparing common http headers
- *
- * \param wsi: the connection to check
- * \param code: an HTTP code like 200, 404 etc (see enum http_status)
- * \param content_type: the content type, like "text/html"
- * \param content_len: the content length, in bytes
- * \param p: pointer to current position in buffer pointer
- * \param end: pointer to end of buffer
- *
- * Adds the initial response code, so should be called first.
- *
- * Code may additionally take OR'd flags:
- *
- *    LWSAHH_FLAG_NO_SERVER_NAME:  don't apply server name header this time
- *
- * This helper just calls public apis to simplify adding headers that are
- * commonly needed.  If it doesn't fit your case, or you want to add additional
- * headers just call the public apis directly yourself for what you want.
- *
- * You can miss out the content length header by providing the constant
- * LWS_ILLEGAL_HTTP_CONTENT_LEN for the content_len.
- *
- * It does not call lws_finalize_http_header(), to allow you to add further
- * headers after calling this.  You will need to call that yourself at the end.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_add_http_common_headers(struct lws *wsi, unsigned int code,
-			    const char *content_type, lws_filepos_t content_len,
-			    unsigned char **p, unsigned char *end);
-///@}
-
-/** \defgroup form-parsing  Form Parsing
- * \ingroup http
- * ##POSTed form parsing functions
- *
- * These lws_spa (stateful post arguments) apis let you parse and urldecode
- * POSTed form arguments, both using simple urlencoded and multipart transfer
- * encoding.
- *
- * It's capable of handling file uploads as well a named input parsing,
- * and the apis are the same for both form upload styles.
- *
- * You feed it a list of parameter names and it creates pointers to the
- * urldecoded arguments: file upload parameters pass the file data in chunks to
- * a user-supplied callback as they come.
- *
- * Since it's stateful, it handles the incoming data needing more than one
- * POST_BODY callback and has no limit on uploaded file size.
- */
-///@{
-
-/** enum lws_spa_fileupload_states */
-enum lws_spa_fileupload_states {
-	LWS_UFS_CONTENT,
-	/**< a chunk of file content has arrived */
-	LWS_UFS_FINAL_CONTENT,
-	/**< the last chunk (possibly zero length) of file content has arrived */
-	LWS_UFS_OPEN
-	/**< a new file is starting to arrive */
-};
-
-/**
- * lws_spa_fileupload_cb() - callback to receive file upload data
- *
- * \param data: opt_data pointer set in lws_spa_create
- * \param name: name of the form field being uploaded
- * \param filename: original filename from client
- * \param buf: start of data to receive
- * \param len: length of data to receive
- * \param state: information about how this call relates to file
- *
- * Notice name and filename shouldn't be trusted, as they are passed from
- * HTTP provided by the client.
- */
-typedef int (*lws_spa_fileupload_cb)(void *data, const char *name,
-			const char *filename, char *buf, int len,
-			enum lws_spa_fileupload_states state);
-
-/** struct lws_spa - opaque urldecode parser capable of handling multipart
- *			and file uploads */
-struct lws_spa;
-
-/**
- * lws_spa_create() - create urldecode parser
- *
- * \param wsi: lws connection (used to find Content Type)
- * \param param_names: array of form parameter names, like "username"
- * \param count_params: count of param_names
- * \param max_storage: total amount of form parameter values we can store
- * \param opt_cb: NULL, or callback to receive file upload data.
- * \param opt_data: NULL, or user pointer provided to opt_cb.
- *
- * Creates a urldecode parser and initializes it.
- *
- * opt_cb can be NULL if you just want normal name=value parsing, however
- * if one or more entries in your form are bulk data (file transfer), you
- * can provide this callback and filter on the name callback parameter to
- * treat that urldecoded data separately.  The callback should return -1
- * in case of fatal error, and 0 if OK.
- */
-LWS_VISIBLE LWS_EXTERN struct lws_spa *
-lws_spa_create(struct lws *wsi, const char * const *param_names,
-	       int count_params, int max_storage, lws_spa_fileupload_cb opt_cb,
-	       void *opt_data);
-
-/**
- * lws_spa_process() - parses a chunk of input data
- *
- * \param spa: the parser object previously created
- * \param in: incoming, urlencoded data
- * \param len: count of bytes valid at \param in
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_spa_process(struct lws_spa *spa, const char *in, int len);
-
-/**
- * lws_spa_finalize() - indicate incoming data completed
- *
- * \param spa: the parser object previously created
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_spa_finalize(struct lws_spa *spa);
-
-/**
- * lws_spa_get_length() - return length of parameter value
- *
- * \param spa: the parser object previously created
- * \param n: parameter ordinal to return length of value for
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_spa_get_length(struct lws_spa *spa, int n);
-
-/**
- * lws_spa_get_string() - return pointer to parameter value
- * \param spa: the parser object previously created
- * \param n: parameter ordinal to return pointer to value for
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_spa_get_string(struct lws_spa *spa, int n);
-
-/**
- * lws_spa_destroy() - destroy parser object
- *
- * \param spa: the parser object previously created
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_spa_destroy(struct lws_spa *spa);
-///@}
-
-/*! \defgroup urlendec Urlencode and Urldecode
- * \ingroup http
- *
- * ##HTML chunked Substitution
- *
- * APIs for receiving chunks of text, replacing a set of variable names via
- * a callback, and then prepending and appending HTML chunked encoding
- * headers.
- */
-//@{
-
-/**
- * lws_urlencode() - like strncpy but with urlencoding
- *
- * \param escaped: output buffer
- * \param string: input buffer ('/0' terminated)
- * \param len: output buffer max length
- *
- * Because urlencoding expands the output string, it's not
- * possible to do it in-place, ie, with escaped == string
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_urlencode(char *escaped, const char *string, int len);
-
-/*
- * URLDECODE 1 / 2
- *
- * This simple urldecode only operates until the first '\0' and requires the
- * data to exist all at once
- */
-/**
- * lws_urldecode() - like strncpy but with urldecoding
- *
- * \param string: output buffer
- * \param escaped: input buffer ('\0' terminated)
- * \param len: output buffer max length
- *
- * This is only useful for '\0' terminated strings
- *
- * Since urldecoding only shrinks the output string, it is possible to
- * do it in-place, ie, string == escaped
- *
- * Returns 0 if completed OK or nonzero for urldecode violation (non-hex chars
- * where hex required, etc)
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_urldecode(char *string, const char *escaped, int len);
-///@}
-/**
- * lws_return_http_status() - Return simple http status
- * \param wsi:		Websocket instance (available from user callback)
- * \param code:		Status index, eg, 404
- * \param html_body:		User-readable HTML description < 1KB, or NULL
- *
- *	Helper to report HTTP errors back to the client cleanly and
- *	consistently
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_return_http_status(struct lws *wsi, unsigned int code,
-		       const char *html_body);
-
-/**
- * lws_http_redirect() - write http redirect out on wsi
- *
- * \param wsi:	websocket connection
- * \param code:	HTTP response code (eg, 301)
- * \param loc:	where to redirect to
- * \param len:	length of loc
- * \param p:	pointer current position in buffer (updated as we write)
- * \param end:	pointer to end of buffer
- *
- * Returns amount written, or < 0 indicating fatal write failure.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_http_redirect(struct lws *wsi, int code, const unsigned char *loc, int len,
-		  unsigned char **p, unsigned char *end);
-
-/**
- * lws_http_transaction_completed() - wait for new http transaction or close
- * \param wsi:	websocket connection
- *
- *	Returns 1 if the HTTP connection must close now
- *	Returns 0 and resets connection to wait for new HTTP header /
- *	  transaction if possible
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_http_transaction_completed(struct lws *wsi);
-///@}
-
-/*! \defgroup pur Sanitize / purify SQL and JSON helpers
- *
- * ##Sanitize / purify SQL and JSON helpers
- *
- * APIs for escaping untrusted JSON and SQL safely before use
- */
-//@{
-
-/**
- * lws_sql_purify() - like strncpy but with escaping for sql quotes
- *
- * \param escaped: output buffer
- * \param string: input buffer ('/0' terminated)
- * \param len: output buffer max length
- *
- * Because escaping expands the output string, it's not
- * possible to do it in-place, ie, with escaped == string
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_sql_purify(char *escaped, const char *string, int len);
-
-/**
- * lws_json_purify() - like strncpy but with escaping for json chars
- *
- * \param escaped: output buffer
- * \param string: input buffer ('/0' terminated)
- * \param len: output buffer max length
- *
- * Because escaping expands the output string, it's not
- * possible to do it in-place, ie, with escaped == string
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_json_purify(char *escaped, const char *string, int len);
-
-/**
- * lws_filename_purify_inplace() - replace scary filename chars with underscore
- *
- * \param filename: filename to be purified
- *
- * Replace scary characters in the filename (it should not be a path)
- * with underscore, so it's safe to use.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_filename_purify_inplace(char *filename);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_plat_write_cert(struct lws_vhost *vhost, int is_key, int fd, void *buf,
-			int len);
-LWS_VISIBLE LWS_EXTERN int
-lws_plat_write_file(const char *filename, void *buf, int len);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_plat_read_file(const char *filename, void *buf, int len);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_plat_recommended_rsa_bits(void);
-///@}
-
-/*! \defgroup uv libuv helpers
- *
- * ##libuv helpers
- *
- * APIs specific to libuv event loop itegration
- */
-///@{
-#ifdef LWS_WITH_LIBUV
-/*
- * Any direct libuv allocations in lws protocol handlers must participate in the
- * lws reference counting scheme.  Two apis are provided:
- *
- * - lws_libuv_static_refcount_add(handle, context) to mark the handle with
- *  a pointer to the context and increment the global uv object counter
- *
- * - lws_libuv_static_refcount_del() which should be used as the close callback
- *   for your own libuv objects declared in the protocol scope.
- *
- * Using the apis allows lws to detach itself from a libuv loop completely
- * cleanly and at the moment all of its libuv objects have completed close.
- */
-
-LWS_VISIBLE LWS_EXTERN uv_loop_t *
-lws_uv_getloop(struct lws_context *context, int tsi);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_libuv_static_refcount_add(uv_handle_t *, struct lws_context *context);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_libuv_static_refcount_del(uv_handle_t *);
-
-#endif /* LWS_WITH_LIBUV */
-
-#if defined(LWS_WITH_ESP32)
-#define lws_libuv_static_refcount_add(_a, _b)
-#define lws_libuv_static_refcount_del NULL
-#endif
-///@}
-
-
-/*! \defgroup timeout Connection timeouts
-
-    APIs related to setting connection timeouts
-*/
-//@{
-
-/*
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-enum pending_timeout {
-	NO_PENDING_TIMEOUT					=  0,
-	PENDING_TIMEOUT_AWAITING_PROXY_RESPONSE			=  1,
-	PENDING_TIMEOUT_AWAITING_CONNECT_RESPONSE		=  2,
-	PENDING_TIMEOUT_ESTABLISH_WITH_SERVER			=  3,
-	PENDING_TIMEOUT_AWAITING_SERVER_RESPONSE		=  4,
-	PENDING_TIMEOUT_AWAITING_PING				=  5,
-	PENDING_TIMEOUT_CLOSE_ACK				=  6,
-	PENDING_TIMEOUT_UNUSED1					=  7,
-	PENDING_TIMEOUT_SENT_CLIENT_HANDSHAKE			=  8,
-	PENDING_TIMEOUT_SSL_ACCEPT				=  9,
-	PENDING_TIMEOUT_HTTP_CONTENT				= 10,
-	PENDING_TIMEOUT_AWAITING_CLIENT_HS_SEND			= 11,
-	PENDING_FLUSH_STORED_SEND_BEFORE_CLOSE			= 12,
-	PENDING_TIMEOUT_SHUTDOWN_FLUSH				= 13,
-	PENDING_TIMEOUT_CGI					= 14,
-	PENDING_TIMEOUT_HTTP_KEEPALIVE_IDLE			= 15,
-	PENDING_TIMEOUT_WS_PONG_CHECK_SEND_PING			= 16,
-	PENDING_TIMEOUT_WS_PONG_CHECK_GET_PONG			= 17,
-	PENDING_TIMEOUT_CLIENT_ISSUE_PAYLOAD			= 18,
-	PENDING_TIMEOUT_AWAITING_SOCKS_GREETING_REPLY	        = 19,
-	PENDING_TIMEOUT_AWAITING_SOCKS_CONNECT_REPLY		= 20,
-	PENDING_TIMEOUT_AWAITING_SOCKS_AUTH_REPLY		= 21,
-	PENDING_TIMEOUT_KILLED_BY_SSL_INFO			= 22,
-	PENDING_TIMEOUT_KILLED_BY_PARENT			= 23,
-	PENDING_TIMEOUT_CLOSE_SEND				= 24,
-	PENDING_TIMEOUT_HOLDING_AH				= 25,
-	PENDING_TIMEOUT_UDP_IDLE				= 26,
-	PENDING_TIMEOUT_CLIENT_CONN_IDLE			= 27,
-	PENDING_TIMEOUT_LAGGING					= 28,
-
-	/****** add new things just above ---^ ******/
-
-	PENDING_TIMEOUT_USER_REASON_BASE			= 1000
-};
-
-#define LWS_TO_KILL_ASYNC -1
-/**< If LWS_TO_KILL_ASYNC is given as the timeout sec in a lws_set_timeout()
- * call, then the connection is marked to be killed at the next timeout
- * check.  This is how you should force-close the wsi being serviced if
- * you are doing it outside the callback (where you should close by nonzero
- * return).
- */
-#define LWS_TO_KILL_SYNC -2
-/**< If LWS_TO_KILL_SYNC is given as the timeout sec in a lws_set_timeout()
- * call, then the connection is closed before returning (which may delete
- * the wsi).  This should only be used where the wsi being closed is not the
- * wsi currently being serviced.
- */
-/**
- * lws_set_timeout() - marks the wsi as subject to a timeout
- *
- * You will not need this unless you are doing something special
- *
- * \param wsi:	Websocket connection instance
- * \param reason:	timeout reason
- * \param secs:	how many seconds.  You may set to LWS_TO_KILL_ASYNC to
- *		force the connection to timeout at the next opportunity, or
- *		LWS_TO_KILL_SYNC to close it synchronously if you know the
- *		wsi is not the one currently being serviced.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_set_timeout(struct lws *wsi, enum pending_timeout reason, int secs);
-
-#define LWS_SET_TIMER_USEC_CANCEL ((lws_usec_t)-1ll)
-#define LWS_USEC_PER_SEC (1000000ll)
-
-/**
- * lws_set_timer_usecs() - schedules a callback on the wsi in the future
- *
- * \param wsi:	Websocket connection instance
- * \param usecs:  LWS_SET_TIMER_USEC_CANCEL removes any existing scheduled
- *		  callback, otherwise number of microseconds in the future
- *		  the callback will occur at.
- *
- * NOTE: event loop support for this:
- *
- *  default poll() loop:   yes
- *  libuv event loop:      yes
- *  libev:    not implemented (patch welcome)
- *  libevent: not implemented (patch welcome)
- *
- * After the deadline expires, the wsi will get a callback of type
- * LWS_CALLBACK_TIMER and the timer is exhausted.  The deadline may be
- * continuously deferred by further calls to lws_set_timer_usecs() with a later
- * deadline, or cancelled by lws_set_timer_usecs(wsi, -1).
- *
- * If the timer should repeat, lws_set_timer_usecs() must be called again from
- * LWS_CALLBACK_TIMER.
- *
- * Accuracy depends on the platform and the load on the event loop or system...
- * all that's guaranteed is the callback will come after the requested wait
- * period.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_set_timer_usecs(struct lws *wsi, lws_usec_t usecs);
-
-/*
- * lws_timed_callback_vh_protocol() - calls back a protocol on a vhost after
- * 					the specified delay
- *
- * \param vh:	 the vhost to call back
- * \param protocol: the protocol to call back
- * \param reason: callback reason
- * \param secs:	how many seconds in the future to do the callback.  Set to
- *		-1 to cancel the timer callback.
- *
- * Callback the specified protocol with a fake wsi pointing to the specified
- * vhost and protocol, with the specified reason, at the specified time in the
- * future.
- *
- * Returns 0 if OK.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_timed_callback_vh_protocol(struct lws_vhost *vh,
-			       const struct lws_protocols *prot,
-			       int reason, int secs);
-///@}
-
-/*! \defgroup sending-data Sending data
-
-    APIs related to writing data on a connection
-*/
-//@{
-#if !defined(LWS_SIZEOFPTR)
-#define LWS_SIZEOFPTR ((int)sizeof (void *))
-#endif
-
-#if defined(__x86_64__)
-#define _LWS_PAD_SIZE 16	/* Intel recommended for best performance */
-#else
-#define _LWS_PAD_SIZE LWS_SIZEOFPTR   /* Size of a pointer on the target arch */
-#endif
-#define _LWS_PAD(n) (((n) % _LWS_PAD_SIZE) ? \
-		((n) + (_LWS_PAD_SIZE - ((n) % _LWS_PAD_SIZE))) : (n))
-/* last 2 is for lws-meta */
-#define LWS_PRE _LWS_PAD(4 + 10 + 2)
-/* used prior to 1.7 and retained for backward compatibility */
-#define LWS_SEND_BUFFER_PRE_PADDING LWS_PRE
-#define LWS_SEND_BUFFER_POST_PADDING 0
-
-#define LWS_WRITE_RAW LWS_WRITE_HTTP
-
-/*
- * NOTE: These public enums are part of the abi.  If you want to add one,
- * add it at where specified so existing users are unaffected.
- */
-enum lws_write_protocol {
-	LWS_WRITE_TEXT						= 0,
-	/**< Send a ws TEXT message,the pointer must have LWS_PRE valid
-	 * memory behind it.  The receiver expects only valid utf-8 in the
-	 * payload */
-	LWS_WRITE_BINARY					= 1,
-	/**< Send a ws BINARY message, the pointer must have LWS_PRE valid
-	 * memory behind it.  Any sequence of bytes is valid */
-	LWS_WRITE_CONTINUATION					= 2,
-	/**< Continue a previous ws message, the pointer must have LWS_PRE valid
-	 * memory behind it */
-	LWS_WRITE_HTTP						= 3,
-	/**< Send HTTP content */
-
-	/* LWS_WRITE_CLOSE is handled by lws_close_reason() */
-	LWS_WRITE_PING						= 5,
-	LWS_WRITE_PONG						= 6,
-
-	/* Same as write_http but we know this write ends the transaction */
-	LWS_WRITE_HTTP_FINAL					= 7,
-
-	/* HTTP2 */
-
-	LWS_WRITE_HTTP_HEADERS					= 8,
-	/**< Send http headers (http2 encodes this payload and LWS_WRITE_HTTP
-	 * payload differently, http 1.x links also handle this correctly. so
-	 * to be compatible with both in the future,header response part should
-	 * be sent using this regardless of http version expected)
-	 */
-	LWS_WRITE_HTTP_HEADERS_CONTINUATION			= 9,
-	/**< Continuation of http/2 headers
-	 */
-
-	/****** add new things just above ---^ ******/
-
-	/* flags */
-
-	LWS_WRITE_NO_FIN = 0x40,
-	/**< This part of the message is not the end of the message */
-
-	LWS_WRITE_H2_STREAM_END = 0x80,
-	/**< Flag indicates this packet should go out with STREAM_END if h2
-	 * STREAM_END is allowed on DATA or HEADERS.
-	 */
-
-	LWS_WRITE_CLIENT_IGNORE_XOR_MASK = 0x80
-	/**< client packet payload goes out on wire unmunged
-	 * only useful for security tests since normal servers cannot
-	 * decode the content if used */
-};
-
-/* used with LWS_CALLBACK_CHILD_WRITE_VIA_PARENT */
-
-struct lws_write_passthru {
-	struct lws *wsi;
-	unsigned char *buf;
-	size_t len;
-	enum lws_write_protocol wp;
-};
-
-
-/**
- * lws_write() - Apply protocol then write data to client
- * \param wsi:	Websocket instance (available from user callback)
- * \param buf:	The data to send.  For data being sent on a websocket
- *		connection (ie, not default http), this buffer MUST have
- *		LWS_PRE bytes valid BEFORE the pointer.
- *		This is so the protocol header data can be added in-situ.
- * \param len:	Count of the data bytes in the payload starting from buf
- * \param protocol:	Use LWS_WRITE_HTTP to reply to an http connection, and one
- *		of LWS_WRITE_BINARY or LWS_WRITE_TEXT to send appropriate
- *		data on a websockets connection.  Remember to allow the extra
- *		bytes before and after buf if LWS_WRITE_BINARY or LWS_WRITE_TEXT
- *		are used.
- *
- *	This function provides the way to issue data back to the client
- *	for both http and websocket protocols.
- *
- * IMPORTANT NOTICE!
- *
- * When sending with websocket protocol
- *
- * LWS_WRITE_TEXT,
- * LWS_WRITE_BINARY,
- * LWS_WRITE_CONTINUATION,
- * LWS_WRITE_PING,
- * LWS_WRITE_PONG
- *
- * the send buffer has to have LWS_PRE bytes valid BEFORE
- * the buffer pointer you pass to lws_write().
- *
- * This allows us to add protocol info before and after the data, and send as
- * one packet on the network without payload copying, for maximum efficiency.
- *
- * So for example you need this kind of code to use lws_write with a
- * 128-byte payload
- *
- *   char buf[LWS_PRE + 128];
- *
- *   // fill your part of the buffer... for example here it's all zeros
- *   memset(&buf[LWS_PRE], 0, 128);
- *
- *   lws_write(wsi, &buf[LWS_PRE], 128, LWS_WRITE_TEXT);
- *
- * When sending HTTP, with
- *
- * LWS_WRITE_HTTP,
- * LWS_WRITE_HTTP_HEADERS
- * LWS_WRITE_HTTP_FINAL
- *
- * there is no protocol data prepended, and don't need to take care about the
- * LWS_PRE bytes valid before the buffer pointer.
- *
- * LWS_PRE is at least the frame nonce + 2 header + 8 length
- * LWS_SEND_BUFFER_POST_PADDING is deprecated, it's now 0 and can be left off.
- * The example apps no longer use it.
- *
- * Pad LWS_PRE to the CPU word size, so that word references
- * to the address immediately after the padding won't cause an unaligned access
- * error. Sometimes for performance reasons the recommended padding is even
- * larger than sizeof(void *).
- *
- *	In the case of sending using websocket protocol, be sure to allocate
- *	valid storage before and after buf as explained above.  This scheme
- *	allows maximum efficiency of sending data and protocol in a single
- *	packet while not burdening the user code with any protocol knowledge.
- *
- *	Return may be -1 for a fatal error needing connection close, or the
- *	number of bytes sent.
- *
- * Truncated Writes
- * ================
- *
- * The OS may not accept everything you asked to write on the connection.
- *
- * Posix defines POLLOUT indication from poll() to show that the connection
- * will accept more write data, but it doesn't specifiy how much.  It may just
- * accept one byte of whatever you wanted to send.
- *
- * LWS will buffer the remainder automatically, and send it out autonomously.
- *
- * During that time, WRITABLE callbacks will be suppressed.
- *
- * This is to handle corner cases where unexpectedly the OS refuses what we
- * usually expect it to accept.  You should try to send in chunks that are
- * almost always accepted in order to avoid the inefficiency of the buffering.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_write(struct lws *wsi, unsigned char *buf, size_t len,
-	  enum lws_write_protocol protocol);
-
-/* helper for case where buffer may be const */
-#define lws_write_http(wsi, buf, len) \
-	lws_write(wsi, (unsigned char *)(buf), len, LWS_WRITE_HTTP)
-
-/* helper for multi-frame ws message flags */
-static inline int
-lws_write_ws_flags(int initial, int is_start, int is_end)
-{
-	int r;
-
-	if (is_start)
-		r = initial;
-	else
-		r = LWS_WRITE_CONTINUATION;
-
-	if (!is_end)
-		r |= LWS_WRITE_NO_FIN;
-
-	return r;
-}
-///@}
-
-/** \defgroup callback-when-writeable Callback when writeable
- *
- * ##Callback When Writeable
- *
- * lws can only write data on a connection when it is able to accept more
- * data without blocking.
- *
- * So a basic requirement is we should only use the lws_write() apis when the
- * connection we want to write on says that he can accept more data.
- *
- * When lws cannot complete your send at the time, it will buffer the data
- * and send it in the background, suppressing any further WRITEABLE callbacks
- * on that connection until it completes.  So it is important to write new
- * things in a new writeable callback.
- *
- * These apis reflect the various ways we can indicate we would like to be
- * called back when one or more connections is writeable.
- */
-///@{
-
-/**
- * lws_callback_on_writable() - Request a callback when this socket
- *					 becomes able to be written to without
- *					 blocking
- *
- * \param wsi:	Websocket connection instance to get callback for
- *
- * - Which:  only this wsi
- * - When:   when the individual connection becomes writeable
- * - What: LWS_CALLBACK_*_WRITEABLE
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_on_writable(struct lws *wsi);
-
-/**
- * lws_callback_on_writable_all_protocol() - Request a callback for all
- *			connections using the given protocol when it
- *			becomes possible to write to each socket without
- *			blocking in turn.
- *
- * \param context:	lws_context
- * \param protocol:	Protocol whose connections will get callbacks
- *
- * - Which:  connections using this protocol on ANY VHOST
- * - When:   when the individual connection becomes writeable
- * - What: LWS_CALLBACK_*_WRITEABLE
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_on_writable_all_protocol(const struct lws_context *context,
-				      const struct lws_protocols *protocol);
-
-/**
- * lws_callback_on_writable_all_protocol_vhost() - Request a callback for
- *			all connections on same vhost using the given protocol
- *			when it becomes possible to write to each socket without
- *			blocking in turn.
- *
- * \param vhost:	Only consider connections on this lws_vhost
- * \param protocol:	Protocol whose connections will get callbacks
- *
- * - Which:  connections using this protocol on GIVEN VHOST ONLY
- * - When:   when the individual connection becomes writeable
- * - What: LWS_CALLBACK_*_WRITEABLE
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_on_writable_all_protocol_vhost(const struct lws_vhost *vhost,
-				      const struct lws_protocols *protocol);
-
-/**
- * lws_callback_all_protocol() - Callback all connections using
- *				the given protocol with the given reason
- *
- * \param context:	lws_context
- * \param protocol:	Protocol whose connections will get callbacks
- * \param reason:	Callback reason index
- *
- * - Which:  connections using this protocol on ALL VHOSTS
- * - When:   before returning
- * - What:   reason
- *
- * This isn't normally what you want... normally any update of connection-
- * specific information can wait until a network-related callback like rx,
- * writable, or close.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_all_protocol(struct lws_context *context,
-			  const struct lws_protocols *protocol, int reason);
-
-/**
- * lws_callback_all_protocol_vhost() - Callback all connections using
- *			the given protocol with the given reason.  This is
- *			deprecated since v2.4: use lws_callback_all_protocol_vhost_args
- *
- * \param vh:		Vhost whose connections will get callbacks
- * \param protocol:	Which protocol to match.  NULL means all.
- * \param reason:	Callback reason index
- *
- * - Which:  connections using this protocol on GIVEN VHOST ONLY
- * - When:   now
- * - What:   reason
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_all_protocol_vhost(struct lws_vhost *vh,
-			  const struct lws_protocols *protocol, int reason)
-LWS_WARN_DEPRECATED;
-
-/**
- * lws_callback_all_protocol_vhost_args() - Callback all connections using
- *			the given protocol with the given reason and args
- *
- * \param vh:		Vhost whose connections will get callbacks
- * \param protocol:	Which protocol to match.  NULL means all.
- * \param reason:	Callback reason index
- * \param argp:		Callback "in" parameter
- * \param len:		Callback "len" parameter
- *
- * - Which:  connections using this protocol on GIVEN VHOST ONLY
- * - When:   now
- * - What:   reason
- */
-LWS_VISIBLE int
-lws_callback_all_protocol_vhost_args(struct lws_vhost *vh,
-			  const struct lws_protocols *protocol, int reason,
-			  void *argp, size_t len);
-
-/**
- * lws_callback_vhost_protocols() - Callback all protocols enabled on a vhost
- *					with the given reason
- *
- * \param wsi:	wsi whose vhost will get callbacks
- * \param reason:	Callback reason index
- * \param in:		in argument to callback
- * \param len:	len argument to callback
- *
- * - Which:  connections using this protocol on same VHOST as wsi ONLY
- * - When:   now
- * - What:   reason
- *
- * This is deprecated since v2.5, use lws_callback_vhost_protocols_vhost()
- * which takes the pointer to the vhost directly without using or needing the
- * wsi.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_vhost_protocols(struct lws *wsi, int reason, void *in, int len)
-LWS_WARN_DEPRECATED;
-
-/**
- * lws_callback_vhost_protocols_vhost() - Callback all protocols enabled on a vhost
- *					with the given reason
- *
- * \param vh:		vhost that will get callbacks
- * \param reason:	Callback reason index
- * \param in:		in argument to callback
- * \param len:		len argument to callback
- *
- * - Which:  connections using this protocol on same VHOST as wsi ONLY
- * - When:   now
- * - What:   reason
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_vhost_protocols_vhost(struct lws_vhost *vh, int reason, void *in,
-				   size_t len);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_callback_http_dummy(struct lws *wsi, enum lws_callback_reasons reason,
-		    void *user, void *in, size_t len);
-
-/**
- * lws_get_socket_fd() - returns the socket file descriptor
- *
- * This is needed to use sendto() on UDP raw sockets
- *
- * \param wsi:	Websocket connection instance
- */
-LWS_VISIBLE LWS_EXTERN lws_sockfd_type
-lws_get_socket_fd(struct lws *wsi);
-
-/**
- * lws_get_peer_write_allowance() - get the amount of data writeable to peer
- * 					if known
- *
- * \param wsi:	Websocket connection instance
- *
- * if the protocol does not have any guidance, returns -1.  Currently only
- * http2 connections get send window information from this API.  But your code
- * should use it so it can work properly with any protocol.
- *
- * If nonzero return is the amount of payload data the peer or intermediary has
- * reported it has buffer space for.  That has NO relationship with the amount
- * of buffer space your OS can accept on this connection for a write action.
- *
- * This number represents the maximum you could send to the peer or intermediary
- * on this connection right now without the protocol complaining.
- *
- * lws manages accounting for send window updates and payload writes
- * automatically, so this number reflects the situation at the peer or
- * intermediary dynamically.
- */
-LWS_VISIBLE LWS_EXTERN lws_fileofs_t
-lws_get_peer_write_allowance(struct lws *wsi);
-///@}
-
-enum {
-	/*
-	 * Flags for enable and disable rxflow with reason bitmap and with
-	 * backwards-compatible single bool
-	 */
-	LWS_RXFLOW_REASON_USER_BOOL		= (1 << 0),
-	LWS_RXFLOW_REASON_HTTP_RXBUFFER		= (1 << 6),
-	LWS_RXFLOW_REASON_H2_PPS_PENDING	= (1 << 7),
-
-	LWS_RXFLOW_REASON_APPLIES		= (1 << 14),
-	LWS_RXFLOW_REASON_APPLIES_ENABLE_BIT	= (1 << 13),
-	LWS_RXFLOW_REASON_APPLIES_ENABLE	= LWS_RXFLOW_REASON_APPLIES |
-						  LWS_RXFLOW_REASON_APPLIES_ENABLE_BIT,
-	LWS_RXFLOW_REASON_APPLIES_DISABLE	= LWS_RXFLOW_REASON_APPLIES,
-	LWS_RXFLOW_REASON_FLAG_PROCESS_NOW	= (1 << 12),
-
-};
-
-/**
- * lws_rx_flow_control() - Enable and disable socket servicing for
- *				received packets.
- *
- * If the output side of a server process becomes choked, this allows flow
- * control for the input side.
- *
- * \param wsi:	Websocket connection instance to get callback for
- * \param enable:	0 = disable read servicing for this connection, 1 = enable
- *
- * If you need more than one additive reason for rxflow control, you can give
- * iLWS_RXFLOW_REASON_APPLIES_ENABLE or _DISABLE together with one or more of
- * b5..b0 set to idicate which bits to enable or disable.  If any bits are
- * enabled, rx on the connection is suppressed.
- *
- * LWS_RXFLOW_REASON_FLAG_PROCESS_NOW  flag may also be given to force any change
- * in rxflowbstatus to benapplied immediately, this should be used when you are
- * changing a wsi flow control state from outside a callback on that wsi.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_rx_flow_control(struct lws *wsi, int enable);
-
-/**
- * lws_rx_flow_allow_all_protocol() - Allow all connections with this protocol to receive
- *
- * When the user server code realizes it can accept more input, it can
- * call this to have the RX flow restriction removed from all connections using
- * the given protocol.
- * \param context:	lws_context
- * \param protocol:	all connections using this protocol will be allowed to receive
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_rx_flow_allow_all_protocol(const struct lws_context *context,
-			       const struct lws_protocols *protocol);
-
-/**
- * lws_remaining_packet_payload() - Bytes to come before "overall"
- *					      rx fragment is complete
- * \param wsi:		Websocket instance (available from user callback)
- *
- * This tracks how many bytes are left in the current ws fragment, according
- * to the ws length given in the fragment header.
- *
- * If the message was in a single fragment, and there is no compression, this
- * is the same as "how much data is left to read for this message".
- *
- * However, if the message is being sent in multiple fragments, this will
- * reflect the unread amount of the current **fragment**, not the message.  With
- * ws, it is legal to not know the length of the message before it completes.
- *
- * Additionally if the message is sent via the negotiated permessage-deflate
- * extension, this number only tells the amount of **compressed** data left to
- * be read, since that is the only information available at the ws layer.
- */
-LWS_VISIBLE LWS_EXTERN size_t
-lws_remaining_packet_payload(struct lws *wsi);
-
-
-/** \defgroup sock-adopt Socket adoption helpers
- * ##Socket adoption helpers
- *
- * When integrating with an external app with its own event loop, these can
- * be used to accept connections from someone else's listening socket.
- *
- * When using lws own event loop, these are not needed.
- */
-///@{
-
-/**
- * lws_adopt_socket() - adopt foreign socket as if listen socket accepted it
- * for the default vhost of context.
- *
- * \param context: lws context
- * \param accept_fd: fd of already-accepted socket to adopt
- *
- * Either returns new wsi bound to accept_fd, or closes accept_fd and
- * returns NULL, having cleaned up any new wsi pieces.
- *
- * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
- * to ws or just serve http.
- */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_adopt_socket(struct lws_context *context, lws_sockfd_type accept_fd);
-/**
- * lws_adopt_socket_vhost() - adopt foreign socket as if listen socket accepted it
- * for vhost
- *
- * \param vh: lws vhost
- * \param accept_fd: fd of already-accepted socket to adopt
- *
- * Either returns new wsi bound to accept_fd, or closes accept_fd and
- * returns NULL, having cleaned up any new wsi pieces.
- *
- * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
- * to ws or just serve http.
- */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_adopt_socket_vhost(struct lws_vhost *vh, lws_sockfd_type accept_fd);
-
-typedef enum {
-	LWS_ADOPT_RAW_FILE_DESC = 0,	/* convenience constant */
-	LWS_ADOPT_HTTP = 1,		/* flag: absent implies RAW */
-	LWS_ADOPT_SOCKET = 2,		/* flag: absent implies file descr */
-	LWS_ADOPT_ALLOW_SSL = 4,	/* flag: if set requires LWS_ADOPT_SOCKET */
-	LWS_ADOPT_WS_PARENTIO = 8,	/* flag: ws mode parent handles IO
-					 *   if given must be only flag
-					 *   wsi put directly into ws mode */
-	LWS_ADOPT_FLAG_UDP = 16,	/* flag: socket is UDP */
-
-	LWS_ADOPT_RAW_SOCKET_UDP = LWS_ADOPT_SOCKET | LWS_ADOPT_FLAG_UDP,
-} lws_adoption_type;
-
-typedef union {
-	lws_sockfd_type sockfd;
-	lws_filefd_type filefd;
-} lws_sock_file_fd_type;
-
-#if !defined(LWS_WITH_ESP32)
-struct lws_udp {
-	struct sockaddr sa;
-	socklen_t salen;
-
-	struct sockaddr sa_pending;
-	socklen_t salen_pending;
-};
-#endif
-
-/*
-* lws_adopt_descriptor_vhost() - adopt foreign socket or file descriptor
-* if socket descriptor, should already have been accepted from listen socket
-*
-* \param vhost: lws vhost
-* \param type: OR-ed combinations of lws_adoption_type flags
-* \param fd: union with either .sockfd or .filefd set
-* \param vh_prot_name: NULL or vh protocol name to bind raw connection to
-* \param parent: NULL or struct lws to attach new_wsi to as a child
-*
-* Either returns new wsi bound to accept_fd, or closes accept_fd and
-* returns NULL, having cleaned up any new wsi pieces.
-*
-* If LWS_ADOPT_SOCKET is set, LWS adopts the socket in http serving mode, it's
-* ready to accept an upgrade to ws or just serve http.
-*
-* parent may be NULL, if given it should be an existing wsi that will become the
-* parent of the new wsi created by this call.
-*/
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_adopt_descriptor_vhost(struct lws_vhost *vh, lws_adoption_type type,
-			   lws_sock_file_fd_type fd, const char *vh_prot_name,
-			   struct lws *parent);
-
-/**
- * lws_adopt_socket_readbuf() - adopt foreign socket and first rx as if listen socket accepted it
- * for the default vhost of context.
- * \param context:	lws context
- * \param accept_fd:	fd of already-accepted socket to adopt
- * \param readbuf:	NULL or pointer to data that must be drained before reading from
- *		accept_fd
- * \param len:	The length of the data held at \param readbuf
- *
- * Either returns new wsi bound to accept_fd, or closes accept_fd and
- * returns NULL, having cleaned up any new wsi pieces.
- *
- * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
- * to ws or just serve http.
- *
- * If your external code did not already read from the socket, you can use
- * lws_adopt_socket() instead.
- *
- * This api is guaranteed to use the data at \param readbuf first, before reading from
- * the socket.
- *
- * readbuf is limited to the size of the ah rx buf, currently 2048 bytes.
- */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_adopt_socket_readbuf(struct lws_context *context, lws_sockfd_type accept_fd,
-                         const char *readbuf, size_t len);
-/**
- * lws_adopt_socket_vhost_readbuf() - adopt foreign socket and first rx as if listen socket
- * accepted it for vhost.
- * \param vhost:	lws vhost
- * \param accept_fd:	fd of already-accepted socket to adopt
- * \param readbuf:	NULL or pointer to data that must be drained before reading from
- *			accept_fd
- * \param len:		The length of the data held at \param readbuf
- *
- * Either returns new wsi bound to accept_fd, or closes accept_fd and
- * returns NULL, having cleaned up any new wsi pieces.
- *
- * LWS adopts the socket in http serving mode, it's ready to accept an upgrade
- * to ws or just serve http.
- *
- * If your external code did not already read from the socket, you can use
- * lws_adopt_socket() instead.
- *
- * This api is guaranteed to use the data at \param readbuf first, before reading from
- * the socket.
- *
- * readbuf is limited to the size of the ah rx buf, currently 2048 bytes.
- */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_adopt_socket_vhost_readbuf(struct lws_vhost *vhost, lws_sockfd_type accept_fd,
-                               const char *readbuf, size_t len);
-
-#define LWS_CAUDP_BIND 1
-
-/**
- * lws_create_adopt_udp() - create, bind and adopt a UDP socket
- *
- * \param vhost:	 lws vhost
- * \param port:		 UDP port to bind to, -1 means unbound
- * \param flags:	 0 or LWS_CAUDP_NO_BIND
- * \param protocol_name: Name of protocol on vhost to bind wsi to
- * \param parent_wsi:	 NULL or parent wsi new wsi will be a child of
- *
- * Either returns new wsi bound to accept_fd, or closes accept_fd and
- * returns NULL, having cleaned up any new wsi pieces.
- * */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_create_adopt_udp(struct lws_vhost *vhost, int port, int flags,
-		     const char *protocol_name, struct lws *parent_wsi);
-///@}
-
-/** \defgroup net Network related helper APIs
- * ##Network related helper APIs
- *
- * These wrap miscellaneous useful network-related functions
- */
-///@{
-
-/**
- * lws_canonical_hostname() - returns this host's hostname
- *
- * This is typically used by client code to fill in the host parameter
- * when making a client connection.  You can only call it after the context
- * has been created.
- *
- * \param context:	Websocket context
- */
-LWS_VISIBLE LWS_EXTERN const char * LWS_WARN_UNUSED_RESULT
-lws_canonical_hostname(struct lws_context *context);
-
-/**
- * lws_get_peer_addresses() - Get client address information
- * \param wsi:	Local struct lws associated with
- * \param fd:		Connection socket descriptor
- * \param name:	Buffer to take client address name
- * \param name_len:	Length of client address name buffer
- * \param rip:	Buffer to take client address IP dotted quad
- * \param rip_len:	Length of client address IP buffer
- *
- *	This function fills in name and rip with the name and IP of
- *	the client connected with socket descriptor fd.  Names may be
- *	truncated if there is not enough room.  If either cannot be
- *	determined, they will be returned as valid zero-length strings.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_get_peer_addresses(struct lws *wsi, lws_sockfd_type fd, char *name,
-		       int name_len, char *rip, int rip_len);
-
-/**
- * lws_get_peer_simple() - Get client address information without RDNS
- *
- * \param wsi:	Local struct lws associated with
- * \param name:	Buffer to take client address name
- * \param namelen:	Length of client address name buffer
- *
- * This provides a 123.123.123.123 type IP address in name from the
- * peer that has connected to wsi
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_get_peer_simple(struct lws *wsi, char *name, int namelen);
-
-
-#define LWS_ITOSA_NOT_EXIST -1
-#define LWS_ITOSA_NOT_USABLE -2
-#define LWS_ITOSA_USABLE 0
-#if !defined(LWS_WITH_ESP32)
-/**
- * lws_interface_to_sa() - Convert interface name or IP to sockaddr struct
- *
- * \param ipv6:		Allow IPV6 addresses
- * \param ifname:	Interface name or IP
- * \param addr:		struct sockaddr_in * to be written
- * \param addrlen:	Length of addr
- *
- * This converts a textual network interface name to a sockaddr usable by
- * other network functions.
- *
- * If the network interface doesn't exist, it will return LWS_ITOSA_NOT_EXIST.
- *
- * If the network interface is not usable, eg ethernet cable is removed, it
- * may logically exist but not have any IP address.  As such it will return
- * LWS_ITOSA_NOT_USABLE.
- *
- * If the network interface exists and is usable, it will return
- * LWS_ITOSA_USABLE.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_interface_to_sa(int ipv6, const char *ifname, struct sockaddr_in *addr,
-		    size_t addrlen);
-///@}
-#endif
-
-/** \defgroup misc Miscellaneous APIs
-* ##Miscellaneous APIs
-*
-* Various APIs outside of other categories
-*/
-///@{
-
-/**
- * lws_start_foreach_ll(): linkedlist iterator helper start
- *
- * \param type: type of iteration, eg, struct xyz *
- * \param it: iterator var name to create
- * \param start: start of list
- *
- * This helper creates an iterator and starts a while (it) {
- * loop.  The iterator runs through the linked list starting at start and
- * ends when it gets a NULL.
- * The while loop should be terminated using lws_start_foreach_ll().
- */
-#define lws_start_foreach_ll(type, it, start)\
-{ \
-	type it = start; \
-	while (it) {
-
-/**
- * lws_end_foreach_ll(): linkedlist iterator helper end
- *
- * \param it: same iterator var name given when starting
- * \param nxt: member name in the iterator pointing to next list element
- *
- * This helper is the partner for lws_start_foreach_ll() that ends the
- * while loop.
- */
-
-#define lws_end_foreach_ll(it, nxt) \
-		it = it->nxt; \
-	} \
-}
-
-/**
- * lws_start_foreach_llp(): linkedlist pointer iterator helper start
- *
- * \param type: type of iteration, eg, struct xyz **
- * \param it: iterator var name to create
- * \param start: start of list
- *
- * This helper creates an iterator and starts a while (it) {
- * loop.  The iterator runs through the linked list starting at the
- * address of start and ends when it gets a NULL.
- * The while loop should be terminated using lws_start_foreach_llp().
- *
- * This helper variant iterates using a pointer to the previous linked-list
- * element.  That allows you to easily delete list members by rewriting the
- * previous pointer to the element's next pointer.
- */
-#define lws_start_foreach_llp(type, it, start)\
-{ \
-	type it = &(start); \
-	while (*(it)) {
-
-#define lws_start_foreach_llp_safe(type, it, start, nxt)\
-{ \
-	type it = &(start); \
-	type next; \
-	while (*(it)) { \
-		next = &((*(it))->nxt); \
-
-/**
- * lws_end_foreach_llp(): linkedlist pointer iterator helper end
- *
- * \param it: same iterator var name given when starting
- * \param nxt: member name in the iterator pointing to next list element
- *
- * This helper is the partner for lws_start_foreach_llp() that ends the
- * while loop.
- */
-
-#define lws_end_foreach_llp(it, nxt) \
-		it = &(*(it))->nxt; \
-	} \
-}
-
-#define lws_end_foreach_llp_safe(it) \
-		it = next; \
-	} \
-}
-
-#define lws_ll_fwd_insert(\
-	___new_object,	/* pointer to new object */ \
-	___m_list,	/* member for next list object ptr */ \
-	___list_head	/* list head */ \
-		) {\
-		___new_object->___m_list = ___list_head; \
-		___list_head = ___new_object; \
-	}
-
-#define lws_ll_fwd_remove(\
-	___type,	/* type of listed object */ \
-	___m_list,	/* member for next list object ptr */ \
-	___target,	/* object to remove from list */ \
-	___list_head	/* list head */ \
-	) { \
-                lws_start_foreach_llp(___type **, ___ppss, ___list_head) { \
-                        if (*___ppss == ___target) { \
-                                *___ppss = ___target->___m_list; \
-                                break; \
-                        } \
-                } lws_end_foreach_llp(___ppss, ___m_list); \
-	}
-
-/*
- * doubly linked-list
- */
-
-struct lws_dll { /* abstract */
-	struct lws_dll *prev;
-	struct lws_dll *next;
-};
-
-/*
- * these all point to the composed list objects... you have to use the
- * lws_container_of() helper to recover the start of the containing struct
- */
-
-LWS_VISIBLE LWS_EXTERN void
-lws_dll_add_front(struct lws_dll *d, struct lws_dll *phead);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_dll_remove(struct lws_dll *d);
-
-struct lws_dll_lws { /* typed as struct lws * */
-	struct lws_dll_lws *prev;
-	struct lws_dll_lws *next;
-};
-
-#define lws_dll_is_null(___dll) (!(___dll)->prev && !(___dll)->next)
-
-static inline void
-lws_dll_lws_add_front(struct lws_dll_lws *_a, struct lws_dll_lws *_head)
-{
-	lws_dll_add_front((struct lws_dll *)_a, (struct lws_dll *)_head);
-}
-
-static inline void
-lws_dll_lws_remove(struct lws_dll_lws *_a)
-{
-	lws_dll_remove((struct lws_dll *)_a);
-}
-
-/*
- * these are safe against the current container object getting deleted,
- * since the hold his next in a temp and go to that next.  ___tmp is
- * the temp.
- */
-
-#define lws_start_foreach_dll_safe(___type, ___it, ___tmp, ___start) \
-{ \
-	___type ___it = ___start; \
-	while (___it) { \
-		___type ___tmp = (___it)->next;
-
-#define lws_end_foreach_dll_safe(___it, ___tmp) \
-		___it = ___tmp; \
-	} \
-}
-
-#define lws_start_foreach_dll(___type, ___it, ___start) \
-{ \
-	___type ___it = ___start; \
-	while (___it) {
-
-#define lws_end_foreach_dll(___it) \
-		___it = (___it)->next; \
-	} \
-}
-
-struct lws_buflist;
-
-/**
- * lws_buflist_append_segment(): add buffer to buflist at head
- *
- * \param head: list head
- * \param buf: buffer to stash
- * \param len: length of buffer to stash
- *
- * Returns -1 on OOM, 1 if this was the first segment on the list, and 0 if
- * it was a subsequent segment.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_buflist_append_segment(struct lws_buflist **head, const uint8_t *buf,
-			   size_t len);
-/**
- * lws_buflist_next_segment_len(): number of bytes left in current segment
- *
- * \param head: list head
- * \param buf: if non-NULL, *buf is written with the address of the start of
- *		the remaining data in the segment
- *
- * Returns the number of bytes left in the current segment.  0 indicates
- * that the buflist is empty (there are no segments on the buflist).
- */
-LWS_VISIBLE LWS_EXTERN size_t
-lws_buflist_next_segment_len(struct lws_buflist **head, uint8_t **buf);
-/**
- * lws_buflist_use_segment(): remove len bytes from the current segment
- *
- * \param head: list head
- * \param len: number of bytes to mark as used
- *
- * If len is less than the remaining length of the current segment, the position
- * in the current segment is simply advanced and it returns.
- *
- * If len uses up the remaining length of the current segment, then the segment
- * is deleted and the list head moves to the next segment if any.
- *
- * Returns the number of bytes left in the current segment.  0 indicates
- * that the buflist is empty (there are no segments on the buflist).
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_buflist_use_segment(struct lws_buflist **head, size_t len);
-/**
- * lws_buflist_destroy_all_segments(): free all segments on the list
- *
- * \param head: list head
- *
- * This frees everything on the list unconditionally.  *head is always
- * NULL after this.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_buflist_destroy_all_segments(struct lws_buflist **head);
-
-void
-lws_buflist_describe(struct lws_buflist **head, void *id);
-
-/**
- * lws_ptr_diff(): helper to report distance between pointers as an int
- *
- * \param head: the pointer with the larger address
- * \param tail: the pointer with the smaller address
- *
- * This helper gives you an int representing the number of bytes further
- * forward the first pointer is compared to the second pointer.
- */
-#define lws_ptr_diff(head, tail) \
-			((int)((char *)(head) - (char *)(tail)))
-
-/**
- * lws_snprintf(): snprintf that truncates the returned length too
- *
- * \param str: destination buffer
- * \param size: bytes left in destination buffer
- * \param format: format string
- * \param ...: args for format
- *
- * This lets you correctly truncate buffers by concatenating lengths, if you
- * reach the limit the reported length doesn't exceed the limit.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_snprintf(char *str, size_t size, const char *format, ...) LWS_FORMAT(3);
-
-/**
- * lws_strncpy(): strncpy that guarantees NUL on truncated copy
- *
- * \param dest: destination buffer
- * \param src: source buffer
- * \param size: bytes left in destination buffer
- *
- * This lets you correctly truncate buffers by concatenating lengths, if you
- * reach the limit the reported length doesn't exceed the limit.
- */
-LWS_VISIBLE LWS_EXTERN char *
-lws_strncpy(char *dest, const char *src, size_t size);
-
-/**
- * lws_get_random(): fill a buffer with platform random data
- *
- * \param context: the lws context
- * \param buf: buffer to fill
- * \param len: how much to fill
- *
- * This is intended to be called from the LWS_CALLBACK_RECEIVE callback if
- * it's interested to see if the frame it's dealing with was sent in binary
- * mode.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_get_random(struct lws_context *context, void *buf, int len);
-/**
- * lws_daemonize(): make current process run in the background
- *
- * \param _lock_path: the filepath to write the lock file
- *
- * Spawn lws as a background process, taking care of various things
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_daemonize(const char *_lock_path);
-/**
- * lws_get_library_version(): return string describing the version of lws
- *
- * On unix, also includes the git describe
- */
-LWS_VISIBLE LWS_EXTERN const char * LWS_WARN_UNUSED_RESULT
-lws_get_library_version(void);
-
-/**
- * lws_wsi_user() - get the user data associated with the connection
- * \param wsi: lws connection
- *
- * Not normally needed since it's passed into the callback
- */
-LWS_VISIBLE LWS_EXTERN void *
-lws_wsi_user(struct lws *wsi);
-
-/**
- * lws_wsi_set_user() - set the user data associated with the client connection
- * \param wsi: lws connection
- * \param user: user data
- *
- * By default lws allocates this and it's not legal to externally set it
- * yourself.  However client connections may have it set externally when the
- * connection is created... if so, this api can be used to modify it at
- * runtime additionally.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_set_wsi_user(struct lws *wsi, void *user);
-
-/**
- * lws_parse_uri:	cut up prot:/ads:port/path into pieces
- *			Notice it does so by dropping '\0' into input string
- *			and the leading / on the path is consequently lost
- *
- * \param p:			incoming uri string.. will get written to
- * \param prot:		result pointer for protocol part (https://)
- * \param ads:		result pointer for address part
- * \param port:		result pointer for port part
- * \param path:		result pointer for path part
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_parse_uri(char *p, const char **prot, const char **ads, int *port,
-	      const char **path);
-/**
- * lws_cmdline_option():	simple commandline parser
- *
- * \param argc:		count of argument strings
- * \param argv:		argument strings
- * \param val:		string to find
- *
- * Returns NULL if the string \p val is not found in the arguments.
- *
- * If it is found, then it returns a pointer to the next character after \p val.
- * So if \p val is "-d", then for the commandlines "myapp -d15" and
- * "myapp -d 15", in both cases the return will point to the "15".
- *
- * In the case there is no argument, like "myapp -d", the return will
- * either point to the '\\0' at the end of -d, or to the start of the
- * next argument, ie, will be non-NULL.
- */
-LWS_VISIBLE LWS_EXTERN const char *
-lws_cmdline_option(int argc, const char **argv, const char *val);
-
-/**
- * lws_now_secs(): return seconds since 1970-1-1
- */
-LWS_VISIBLE LWS_EXTERN unsigned long
-lws_now_secs(void);
-
-/**
- * lws_compare_time_t(): return relationship between two time_t
- *
- * \param context: struct lws_context
- * \param t1: time_t 1
- * \param t2: time_t 2
- *
- * returns <0 if t2 > t1; >0 if t1 > t2; or == 0 if t1 == t2.
- *
- * This is aware of clock discontiguities that may have affected either t1 or
- * t2 and adapts the comparison for them.
- *
- * For the discontiguity detection to work, you must avoid any arithmetic on
- * the times being compared.  For example to have a timeout that triggers
- * 15s from when it was set, store the time it was set and compare like
- * `if (lws_compare_time_t(context, now, set_time) > 15)`
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_compare_time_t(struct lws_context *context, time_t t1, time_t t2);
-
-/**
- * lws_get_context - Allow getting lws_context from a Websocket connection
- * instance
- *
- * With this function, users can access context in the callback function.
- * Otherwise users may have to declare context as a global variable.
- *
- * \param wsi:	Websocket connection instance
- */
-LWS_VISIBLE LWS_EXTERN struct lws_context * LWS_WARN_UNUSED_RESULT
-lws_get_context(const struct lws *wsi);
-
-/**
- * lws_get_vhost_listen_port - Find out the port number a vhost is listening on
- *
- * In the case you passed 0 for the port number at context creation time, you
- * can discover the port number that was actually chosen for the vhost using
- * this api.
- *
- * \param vhost:	Vhost to get listen port from
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_get_vhost_listen_port(struct lws_vhost *vhost);
-
-/**
- * lws_get_count_threads(): how many service threads the context uses
- *
- * \param context: the lws context
- *
- * By default this is always 1, if you asked for more than lws can handle it
- * will clip the number of threads.  So you can use this to find out how many
- * threads are actually in use.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_get_count_threads(struct lws_context *context);
-
-/**
- * lws_get_parent() - get parent wsi or NULL
- * \param wsi: lws connection
- *
- * Specialized wsi like cgi stdin/out/err are associated to a parent wsi,
- * this allows you to get their parent.
- */
-LWS_VISIBLE LWS_EXTERN struct lws * LWS_WARN_UNUSED_RESULT
-lws_get_parent(const struct lws *wsi);
-
-/**
- * lws_get_child() - get child wsi or NULL
- * \param wsi: lws connection
- *
- * Allows you to find a related wsi from the parent wsi.
- */
-LWS_VISIBLE LWS_EXTERN struct lws * LWS_WARN_UNUSED_RESULT
-lws_get_child(const struct lws *wsi);
-
-/**
- * lws_get_udp() - get wsi's udp struct
- *
- * \param wsi: lws connection
- *
- * Returns NULL or pointer to the wsi's UDP-specific information
- */
-LWS_VISIBLE LWS_EXTERN const struct lws_udp * LWS_WARN_UNUSED_RESULT
-lws_get_udp(const struct lws *wsi);
-
-/**
- * lws_parent_carries_io() - mark wsi as needing to send messages via parent
- *
- * \param wsi: child lws connection
- */
-
-LWS_VISIBLE LWS_EXTERN void
-lws_set_parent_carries_io(struct lws *wsi);
-
-LWS_VISIBLE LWS_EXTERN void *
-lws_get_opaque_parent_data(const struct lws *wsi);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_set_opaque_parent_data(struct lws *wsi, void *data);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_get_child_pending_on_writable(const struct lws *wsi);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_clear_child_pending_on_writable(struct lws *wsi);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_get_close_length(struct lws *wsi);
-
-LWS_VISIBLE LWS_EXTERN unsigned char *
-lws_get_close_payload(struct lws *wsi);
-
-/**
- * lws_get_network_wsi() - Returns wsi that has the tcp connection for this wsi
- *
- * \param wsi: wsi you have
- *
- * Returns wsi that has the tcp connection (which may be the incoming wsi)
- *
- * HTTP/1 connections will always return the incoming wsi
- * HTTP/2 connections may return a different wsi that has the tcp connection
- */
-LWS_VISIBLE LWS_EXTERN
-struct lws *lws_get_network_wsi(struct lws *wsi);
-
-/**
- * lws_set_allocator() - custom allocator support
- *
- * \param realloc
- *
- * Allows you to replace the allocator (and deallocator) used by lws
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_set_allocator(void *(*realloc)(void *ptr, size_t size, const char *reason));
-///@}
-
-/** \defgroup wsstatus Websocket status APIs
- * ##Websocket connection status APIs
- *
- * These provide information about ws connection or message status
- */
-///@{
-/**
- * lws_send_pipe_choked() - tests if socket is writable or not
- * \param wsi: lws connection
- *
- * Allows you to check if you can write more on the socket
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_send_pipe_choked(struct lws *wsi);
-
-/**
- * lws_is_final_fragment() - tests if last part of ws message
- *
- * \param wsi: lws connection
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_is_final_fragment(struct lws *wsi);
-
-/**
- * lws_is_first_fragment() - tests if first part of ws message
- *
- * \param wsi: lws connection
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_is_first_fragment(struct lws *wsi);
-
-/**
- * lws_get_reserved_bits() - access reserved bits of ws frame
- * \param wsi: lws connection
- */
-LWS_VISIBLE LWS_EXTERN unsigned char
-lws_get_reserved_bits(struct lws *wsi);
-
-/**
- * lws_partial_buffered() - find out if lws buffered the last write
- * \param wsi:	websocket connection to check
- *
- * Returns 1 if you cannot use lws_write because the last
- * write on this connection is still buffered, and can't be cleared without
- * returning to the service loop and waiting for the connection to be
- * writeable again.
- *
- * If you will try to do >1 lws_write call inside a single
- * WRITEABLE callback, you must check this after every write and bail if
- * set, ask for a new writeable callback and continue writing from there.
- *
- * This is never set at the start of a writeable callback, but any write
- * may set it.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_partial_buffered(struct lws *wsi);
-
-/**
- * lws_frame_is_binary(): true if the current frame was sent in binary mode
- *
- * \param wsi: the connection we are inquiring about
- *
- * This is intended to be called from the LWS_CALLBACK_RECEIVE callback if
- * it's interested to see if the frame it's dealing with was sent in binary
- * mode.
- */
-LWS_VISIBLE LWS_EXTERN int LWS_WARN_UNUSED_RESULT
-lws_frame_is_binary(struct lws *wsi);
-
-/**
- * lws_is_ssl() - Find out if connection is using SSL
- * \param wsi:	websocket connection to check
- *
- *	Returns 0 if the connection is not using SSL, 1 if using SSL and
- *	using verified cert, and 2 if using SSL but the cert was not
- *	checked (appears for client wsi told to skip check on connection)
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_is_ssl(struct lws *wsi);
-/**
- * lws_is_cgi() - find out if this wsi is running a cgi process
- * \param wsi: lws connection
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_is_cgi(struct lws *wsi);
-
-
-struct lws_wifi_scan { /* generic wlan scan item */
-	struct lws_wifi_scan *next;
-	char ssid[32];
-	int32_t rssi; /* divide by .count to get db */
-	uint8_t bssid[6];
-	uint8_t count;
-	uint8_t channel;
-	uint8_t authmode;
-};
-
-#if defined(LWS_WITH_TLS) && !defined(LWS_WITH_MBEDTLS)
-/**
- * lws_get_ssl() - Return wsi's SSL context structure
- * \param wsi:	websocket connection
- *
- * Returns pointer to the SSL library's context structure
- */
-LWS_VISIBLE LWS_EXTERN SSL*
-lws_get_ssl(struct lws *wsi);
-#endif
-
-enum lws_tls_cert_info {
-	LWS_TLS_CERT_INFO_VALIDITY_FROM,
-	/**< fills .time with the time_t the cert validity started from */
-	LWS_TLS_CERT_INFO_VALIDITY_TO,
-	/**< fills .time with the time_t the cert validity ends at */
-	LWS_TLS_CERT_INFO_COMMON_NAME,
-	/**< fills up to len bytes of .ns.name with the cert common name */
-	LWS_TLS_CERT_INFO_ISSUER_NAME,
-	/**< fills up to len bytes of .ns.name with the cert issuer name */
-	LWS_TLS_CERT_INFO_USAGE,
-	/**< fills verified with a bitfield asserting the valid uses */
-	LWS_TLS_CERT_INFO_VERIFIED,
-	/**< fills .verified with a bool representing peer cert validity,
-	 *   call returns -1 if no cert */
-	LWS_TLS_CERT_INFO_OPAQUE_PUBLIC_KEY,
-	/**< the certificate's public key, as an opaque bytestream.  These
-	 * opaque bytestreams can only be compared with each other using the
-	 * same tls backend, ie, OpenSSL or mbedTLS.  The different backends
-	 * produce different, incompatible representations for the same cert.
-	 */
-};
-
-union lws_tls_cert_info_results {
-	unsigned int verified;
-	time_t time;
-	unsigned int usage;
-	struct {
-		int len;
-		/* KEEP LAST... notice the [64] is only there because
-		 * name[] is not allowed in a union.  The actual length of
-		 * name[] is arbitrary and is passed into the api using the
-		 * len parameter.  Eg
-		 *
-		 * char big[1024];
-		 * union lws_tls_cert_info_results *buf =
-		 * 	(union lws_tls_cert_info_results *)big;
-		 *
-		 * lws_tls_peer_cert_info(wsi, type, buf, sizeof(big) -
-		 *			  sizeof(*buf) + sizeof(buf->ns.name));
-		 */
-		char name[64];
-	} ns;
-};
-
-/**
- * lws_tls_peer_cert_info() - get information from the peer's TLS cert
- *
- * \param wsi: the connection to query
- * \param type: one of LWS_TLS_CERT_INFO_
- * \param buf: pointer to union to take result
- * \param len: when result is a string, the true length of buf->ns.name[]
- *
- * lws_tls_peer_cert_info() lets you get hold of information from the peer
- * certificate.
- *
- * Return 0 if there is a result in \p buf, or -1 indicating there was no cert
- * or another problem.
- *
- * This function works the same no matter if the TLS backend is OpenSSL or
- * mbedTLS.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_tls_peer_cert_info(struct lws *wsi, enum lws_tls_cert_info type,
-		       union lws_tls_cert_info_results *buf, size_t len);
-
-/**
- * lws_tls_vhost_cert_info() - get information from the vhost's own TLS cert
- *
- * \param vhost: the vhost to query
- * \param type: one of LWS_TLS_CERT_INFO_
- * \param buf: pointer to union to take result
- * \param len: when result is a string, the true length of buf->ns.name[]
- *
- * lws_tls_vhost_cert_info() lets you get hold of information from the vhost
- * certificate.
- *
- * Return 0 if there is a result in \p buf, or -1 indicating there was no cert
- * or another problem.
- *
- * This function works the same no matter if the TLS backend is OpenSSL or
- * mbedTLS.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_tls_vhost_cert_info(struct lws_vhost *vhost, enum lws_tls_cert_info type,
-		        union lws_tls_cert_info_results *buf, size_t len);
-
-/**
- * lws_tls_acme_sni_cert_create() - creates a temp selfsigned cert
- *				    and attaches to a vhost
- *
- * \param vhost: the vhost to acquire the selfsigned cert
- * \param san_a: SAN written into the certificate
- * \param san_b: second SAN written into the certificate
- *
- *
- * Returns 0 if created and attached to the vhost.  Returns -1 if problems and
- * frees all allocations before returning.
- *
- * On success, any allocations are destroyed at vhost destruction automatically.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_tls_acme_sni_cert_create(struct lws_vhost *vhost, const char *san_a,
-			     const char *san_b);
-
-/**
- * lws_tls_acme_sni_csr_create() - creates a CSR and related private key PEM
- *
- * \param context: lws_context used for random
- * \param elements: array of LWS_TLS_REQ_ELEMENT_COUNT const char *
- * \param csr: buffer that will get the b64URL(ASN-1 CSR)
- * \param csr_len: max length of the csr buffer
- * \param privkey_pem: pointer to pointer allocated to hold the privkey_pem
- * \param privkey_len: pointer to size_t set to the length of the privkey_pem
- *
- * Creates a CSR according to the information in \p elements, and a private
- * RSA key used to sign the CSR.
- *
- * The outputs are the b64URL(ASN-1 CSR) into csr, and the PEM private key into
- * privkey_pem.
- *
- * Notice that \p elements points to an array of const char *s pointing to the
- * information listed in the enum above.  If an entry is NULL or an empty
- * string, the element is set to "none" in the CSR.
- *
- * Returns 0 on success or nonzero for failure.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_tls_acme_sni_csr_create(struct lws_context *context, const char *elements[],
-			    uint8_t *csr, size_t csr_len, char **privkey_pem,
-			    size_t *privkey_len);
-
-/**
- * lws_tls_cert_updated() - update every vhost using the given cert path
- *
- * \param context: our lws_context
- * \param certpath: the filepath to the certificate
- * \param keypath: the filepath to the private key of the certificate
- * \param mem_cert: copy of the cert in memory
- * \param len_mem_cert: length of the copy of the cert in memory
- * \param mem_privkey: copy of the private key in memory
- * \param len_mem_privkey: length of the copy of the private key in memory
- *
- * Checks every vhost to see if it is the using certificate described by the
- * the given filepaths.  If so, it attempts to update the vhost ssl_ctx to use
- * the new certificate.
- *
- * Returns 0 on success or nonzero for failure.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_tls_cert_updated(struct lws_context *context, const char *certpath,
-		     const char *keypath,
-		     const char *mem_cert, size_t len_mem_cert,
-		     const char *mem_privkey, size_t len_mem_privkey);
-///@}
-
-/** \defgroup lws_ring LWS Ringbuffer APIs
- * ##lws_ring: generic ringbuffer struct
- *
- * Provides an abstract ringbuffer api supporting one head and one or an
- * unlimited number of tails.
- *
- * All of the members are opaque and manipulated by lws_ring_...() apis.
- *
- * The lws_ring and its buffer is allocated at runtime on the heap, using
- *
- *  - lws_ring_create()
- *  - lws_ring_destroy()
- *
- * It may contain any type, the size of the "element" stored in the ring
- * buffer and the number of elements is given at creation time.
- *
- * When you create the ringbuffer, you can optionally provide an element
- * destroy callback that frees any allocations inside the element.  This is then
- * automatically called for elements with no tail behind them, ie, elements
- * which don't have any pending consumer are auto-freed.
- *
- * Whole elements may be inserted into the ringbuffer and removed from it, using
- *
- *  - lws_ring_insert()
- *  - lws_ring_consume()
- *
- * You can find out how many whole elements are free or waiting using
- *
- *  - lws_ring_get_count_free_elements()
- *  - lws_ring_get_count_waiting_elements()
- *
- * In addition there are special purpose optional byte-centric apis
- *
- *  - lws_ring_next_linear_insert_range()
- *  - lws_ring_bump_head()
- *
- *  which let you, eg, read() directly into the ringbuffer without needing
- *  an intermediate bounce buffer.
- *
- *  The accessors understand that the ring wraps, and optimizes insertion and
- *  consumption into one or two memcpy()s depending on if the head or tail
- *  wraps.
- *
- *  lws_ring only supports a single head, but optionally multiple tails with
- *  an API to inform it when the "oldest" tail has moved on.  You can give
- *  NULL where-ever an api asks for a tail pointer, and it will use an internal
- *  single tail pointer for convenience.
- *
- *  The "oldest tail", which is the only tail if you give it NULL instead of
- *  some other tail, is used to track which elements in the ringbuffer are
- *  still unread by anyone.
- *
- *   - lws_ring_update_oldest_tail()
- */
-///@{
-struct lws_ring;
-
-/**
- * lws_ring_create(): create a new ringbuffer
- *
- * \param element_len: the size in bytes of one element in the ringbuffer
- * \param count: the number of elements the ringbuffer can contain
- * \param destroy_element: NULL, or callback to be called for each element
- *			   that is removed from the ringbuffer due to the
- *			   oldest tail moving beyond it
- *
- * Creates the ringbuffer and allocates the storage.  Returns the new
- * lws_ring *, or NULL if the allocation failed.
- *
- * If non-NULL, destroy_element will get called back for every element that is
- * retired from the ringbuffer after the oldest tail has gone past it, and for
- * any element still left in the ringbuffer when it is destroyed.  It replaces
- * all other element destruction code in your user code.
- */
-LWS_VISIBLE LWS_EXTERN struct lws_ring *
-lws_ring_create(size_t element_len, size_t count,
-		void (*destroy_element)(void *element));
-
-/**
- * lws_ring_destroy():  destroy a previously created ringbuffer
- *
- * \param ring: the struct lws_ring to destroy
- *
- * Destroys the ringbuffer allocation and the struct lws_ring itself.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_ring_destroy(struct lws_ring *ring);
-
-/**
- * lws_ring_get_count_free_elements():  return how many elements can fit
- *				      in the free space
- *
- * \param ring: the struct lws_ring to report on
- *
- * Returns how much room is left in the ringbuffer for whole element insertion.
- */
-LWS_VISIBLE LWS_EXTERN size_t
-lws_ring_get_count_free_elements(struct lws_ring *ring);
-
-/**
- * lws_ring_get_count_waiting_elements():  return how many elements can be consumed
- *
- * \param ring: the struct lws_ring to report on
- * \param tail: a pointer to the tail struct to use, or NULL for single tail
- *
- * Returns how many elements are waiting to be consumed from the perspective
- * of the tail pointer given.
- */
-LWS_VISIBLE LWS_EXTERN size_t
-lws_ring_get_count_waiting_elements(struct lws_ring *ring, uint32_t *tail);
-
-/**
- * lws_ring_insert():  attempt to insert up to max_count elements from src
- *
- * \param ring: the struct lws_ring to report on
- * \param src: the array of elements to be inserted
- * \param max_count: the number of available elements at src
- *
- * Attempts to insert as many of the elements at src as possible, up to the
- * maximum max_count.  Returns the number of elements actually inserted.
- */
-LWS_VISIBLE LWS_EXTERN size_t
-lws_ring_insert(struct lws_ring *ring, const void *src, size_t max_count);
-
-/**
- * lws_ring_consume():  attempt to copy out and remove up to max_count elements
- *		        to src
- *
- * \param ring: the struct lws_ring to report on
- * \param tail: a pointer to the tail struct to use, or NULL for single tail
- * \param dest: the array of elements to be inserted. or NULL for no copy
- * \param max_count: the number of available elements at src
- *
- * Attempts to copy out as many waiting elements as possible into dest, from
- * the perspective of the given tail, up to max_count.  If dest is NULL, the
- * copying out is not done but the elements are logically consumed as usual.
- * NULL dest is useful in combination with lws_ring_get_element(), where you
- * can use the element direct from the ringbuffer and then call this with NULL
- * dest to logically consume it.
- *
- * Increments the tail position according to how many elements could be
- * consumed.
- *
- * Returns the number of elements consumed.
- */
-LWS_VISIBLE LWS_EXTERN size_t
-lws_ring_consume(struct lws_ring *ring, uint32_t *tail, void *dest,
-		 size_t max_count);
-
-/**
- * lws_ring_get_element():  get a pointer to the next waiting element for tail
- *
- * \param ring: the struct lws_ring to report on
- * \param tail: a pointer to the tail struct to use, or NULL for single tail
- *
- * Points to the next element that tail would consume, directly in the
- * ringbuffer.  This lets you write() or otherwise use the element without
- * having to copy it out somewhere first.
- *
- * After calling this, you must call lws_ring_consume(ring, &tail, NULL, 1)
- * which will logically consume the element you used up and increment your
- * tail (tail may also be NULL there if you use a single tail).
- *
- * Returns NULL if no waiting element, or a const void * pointing to it.
- */
-LWS_VISIBLE LWS_EXTERN const void *
-lws_ring_get_element(struct lws_ring *ring, uint32_t *tail);
-
-/**
- * lws_ring_update_oldest_tail():  free up elements older than tail for reuse
- *
- * \param ring: the struct lws_ring to report on
- * \param tail: a pointer to the tail struct to use, or NULL for single tail
- *
- * If you are using multiple tails, you must use this API to inform the
- * lws_ring when none of the tails still need elements in the fifo any more,
- * by updating it when the "oldest" tail has moved on.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_ring_update_oldest_tail(struct lws_ring *ring, uint32_t tail);
-
-/**
- * lws_ring_get_oldest_tail():  get current oldest available data index
- *
- * \param ring: the struct lws_ring to report on
- *
- * If you are initializing a new ringbuffer consumer, you can set its tail to
- * this to start it from the oldest ringbuffer entry still available.
- */
-LWS_VISIBLE LWS_EXTERN uint32_t
-lws_ring_get_oldest_tail(struct lws_ring *ring);
-
-/**
- * lws_ring_next_linear_insert_range():  used to write directly into the ring
- *
- * \param ring: the struct lws_ring to report on
- * \param start: pointer to a void * set to the start of the next ringbuffer area
- * \param bytes: pointer to a size_t set to the max length you may use from *start
- *
- * This provides a low-level, bytewise access directly into the ringbuffer
- * allowing direct insertion of data without having to use a bounce buffer.
- *
- * The api reports the position and length of the next linear range that can
- * be written in the ringbuffer, ie, up to the point it would wrap, and sets
- * *start and *bytes accordingly.  You can then, eg, directly read() into
- * *start for up to *bytes, and use lws_ring_bump_head() to update the lws_ring
- * with what you have done.
- *
- * Returns nonzero if no insertion is currently possible.
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_ring_next_linear_insert_range(struct lws_ring *ring, void **start,
-				  size_t *bytes);
-
-/**
- * lws_ring_bump_head():  used to write directly into the ring
- *
- * \param ring: the struct lws_ring to operate on
- * \param bytes: the number of bytes you inserted at the current head
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_ring_bump_head(struct lws_ring *ring, size_t bytes);
-
-LWS_VISIBLE LWS_EXTERN void
-lws_ring_dump(struct lws_ring *ring, uint32_t *tail);
-
-/*
- * This is a helper that combines the common pattern of needing to consume
- * some ringbuffer elements, move the consumer tail on, and check if that
- * has moved any ringbuffer elements out of scope, because it was the last
- * consumer that had not already consumed them.
- *
- * Elements that go out of scope because the oldest tail is now after them
- * get garbage-collected by calling the destroy_element callback on them
- * defined when the ringbuffer was created.
- */
-
-#define lws_ring_consume_and_update_oldest_tail(\
-		___ring,    /* the lws_ring object */ \
-		___type,    /* type of objects with tails */ \
-		___ptail,   /* ptr to tail of obj with tail doing consuming */ \
-		___count,   /* count of payload objects being consumed */ \
-		___list_head,	/* head of list of objects with tails */ \
-		___mtail,   /* member name of tail in ___type */ \
-		___mlist  /* member name of next list member ptr in ___type */ \
-	) { \
-		int ___n, ___m; \
-	\
-	___n = lws_ring_get_oldest_tail(___ring) == *(___ptail); \
-	lws_ring_consume(___ring, ___ptail, NULL, ___count); \
-	if (___n) { \
-		uint32_t ___oldest; \
-		___n = 0; \
-		___oldest = *(___ptail); \
-		lws_start_foreach_llp(___type **, ___ppss, ___list_head) { \
-			___m = lws_ring_get_count_waiting_elements( \
-					___ring, &(*___ppss)->tail); \
-			if (___m >= ___n) { \
-				___n = ___m; \
-				___oldest = (*___ppss)->tail; \
-			} \
-		} lws_end_foreach_llp(___ppss, ___mlist); \
-	\
-		lws_ring_update_oldest_tail(___ring, ___oldest); \
-	} \
-}
-
-/*
- * This does the same as the lws_ring_consume_and_update_oldest_tail()
- * helper, but for the simpler case there is only one consumer, so one
- * tail, and that tail is always the oldest tail.
- */
-
-#define lws_ring_consume_single_tail(\
-		___ring,  /* the lws_ring object */ \
-		___ptail, /* ptr to tail of obj with tail doing consuming */ \
-		___count  /* count of payload objects being consumed */ \
-	) { \
-	lws_ring_consume(___ring, ___ptail, NULL, ___count); \
-	lws_ring_update_oldest_tail(___ring, *(___ptail)); \
-}
-///@}
-
-/** \defgroup sha SHA and B64 helpers
- * ##SHA and B64 helpers
- *
- * These provide SHA-1 and B64 helper apis
- */
-///@{
-#ifdef LWS_SHA1_USE_OPENSSL_NAME
-#define lws_SHA1 SHA1
-#else
-/**
- * lws_SHA1(): make a SHA-1 digest of a buffer
- *
- * \param d: incoming buffer
- * \param n: length of incoming buffer
- * \param md: buffer for message digest (must be >= 20 bytes)
- *
- * Reduces any size buffer into a 20-byte SHA-1 hash.
- */
-LWS_VISIBLE LWS_EXTERN unsigned char *
-lws_SHA1(const unsigned char *d, size_t n, unsigned char *md);
-#endif
-/**
- * lws_b64_encode_string(): encode a string into base 64
- *
- * \param in: incoming buffer
- * \param in_len: length of incoming buffer
- * \param out: result buffer
- * \param out_size: length of result buffer
- *
- * Encodes a string using b64
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_b64_encode_string(const char *in, int in_len, char *out, int out_size);
-/**
- * lws_b64_encode_string_url(): encode a string into base 64
- *
- * \param in: incoming buffer
- * \param in_len: length of incoming buffer
- * \param out: result buffer
- * \param out_size: length of result buffer
- *
- * Encodes a string using b64 with the "URL" variant (+ -> -, and / -> _)
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_b64_encode_string_url(const char *in, int in_len, char *out, int out_size);
-/**
- * lws_b64_decode_string(): decode a string from base 64
- *
- * \param in: incoming buffer
- * \param out: result buffer
- * \param out_size: length of result buffer
- *
- * Decodes a NUL-terminated string using b64
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_b64_decode_string(const char *in, char *out, int out_size);
-/**
- * lws_b64_decode_string_len(): decode a string from base 64
- *
- * \param in: incoming buffer
- * \param in_len: length of incoming buffer
- * \param out: result buffer
- * \param out_size: length of result buffer
- *
- * Decodes a range of chars using b64
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_b64_decode_string_len(const char *in, int in_len, char *out, int out_size);
-///@}
-
-
-/*! \defgroup cgi cgi handling
- *
- * ##CGI handling
- *
- * These functions allow low-level control over stdin/out/err of the cgi.
- *
- * However for most cases, binding the cgi to http in and out, the default
- * lws implementation already does the right thing.
- */
-
-enum lws_enum_stdinouterr {
-	LWS_STDIN = 0,
-	LWS_STDOUT = 1,
-	LWS_STDERR = 2,
-};
-
-enum lws_cgi_hdr_state {
-	LCHS_HEADER,
-	LCHS_CR1,
-	LCHS_LF1,
-	LCHS_CR2,
-	LCHS_LF2,
-	LHCS_RESPONSE,
-	LHCS_DUMP_HEADERS,
-	LHCS_PAYLOAD,
-	LCHS_SINGLE_0A,
-};
-
-struct lws_cgi_args {
-	struct lws **stdwsi; /**< get fd with lws_get_socket_fd() */
-	enum lws_enum_stdinouterr ch; /**< channel index */
-	unsigned char *data; /**< for messages with payload */
-	enum lws_cgi_hdr_state hdr_state; /**< track where we are in cgi headers */
-	int len; /**< length */
-};
-
-#ifdef LWS_WITH_CGI
-/**
- * lws_cgi: spawn network-connected cgi process
- *
- * \param wsi: connection to own the process
- * \param exec_array: array of "exec-name" "arg1" ... "argn" NULL
- * \param script_uri_path_len: how many chars on the left of the uri are the
- *        path to the cgi, or -1 to spawn without URL-related env vars
- * \param timeout_secs: seconds script should be allowed to run
- * \param mp_cgienv: pvo list with per-vhost cgi options to put in env
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_cgi(struct lws *wsi, const char * const *exec_array,
-	int script_uri_path_len, int timeout_secs,
-	const struct lws_protocol_vhost_options *mp_cgienv);
-
-/**
- * lws_cgi_write_split_stdout_headers: write cgi output accounting for header part
- *
- * \param wsi: connection to own the process
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_cgi_write_split_stdout_headers(struct lws *wsi);
-
-/**
- * lws_cgi_kill: terminate cgi process associated with wsi
- *
- * \param wsi: connection to own the process
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_cgi_kill(struct lws *wsi);
-
-/**
- * lws_cgi_get_stdwsi: get wsi for stdin, stdout, or stderr
- *
- * \param wsi: parent wsi that has cgi
- * \param ch: which of LWS_STDIN, LWS_STDOUT or LWS_STDERR
- */
-LWS_VISIBLE LWS_EXTERN struct lws *
-lws_cgi_get_stdwsi(struct lws *wsi, enum lws_enum_stdinouterr ch);
-
-#endif
-///@}
-
-
-/*! \defgroup fops file operation wrapping
- *
- * ##File operation wrapping
- *
- * Use these helper functions if you want to access a file from the perspective
- * of a specific wsi, which is usually the case.  If you just want contextless
- * file access, use the fops callbacks directly with NULL wsi instead of these
- * helpers.
- *
- * If so, then it calls the platform handler or user overrides where present
- * (as defined in info->fops)
- *
- * The advantage from all this is user code can be portable for file operations
- * without having to deal with differences between platforms.
- */
-//@{
-
-/** struct lws_plat_file_ops - Platform-specific file operations
- *
- * These provide platform-agnostic ways to deal with filesystem access in the
- * library and in the user code.
- */
-
-#if defined(LWS_WITH_ESP32)
-/* sdk preprocessor defs? compiler issue? gets confused with member names */
-#define LWS_FOP_OPEN		_open
-#define LWS_FOP_CLOSE		_close
-#define LWS_FOP_SEEK_CUR	_seek_cur
-#define LWS_FOP_READ		_read
-#define LWS_FOP_WRITE		_write
-#else
-#define LWS_FOP_OPEN		open
-#define LWS_FOP_CLOSE		close
-#define LWS_FOP_SEEK_CUR	seek_cur
-#define LWS_FOP_READ		read
-#define LWS_FOP_WRITE		write
-#endif
-
-#define LWS_FOP_FLAGS_MASK		   ((1 << 23) - 1)
-#define LWS_FOP_FLAG_COMPR_ACCEPTABLE_GZIP (1 << 24)
-#define LWS_FOP_FLAG_COMPR_IS_GZIP	   (1 << 25)
-#define LWS_FOP_FLAG_MOD_TIME_VALID	   (1 << 26)
-#define LWS_FOP_FLAG_VIRTUAL		   (1 << 27)
-
-struct lws_plat_file_ops;
-
-struct lws_fop_fd {
-	lws_filefd_type			fd;
-	/**< real file descriptor related to the file... */
-	const struct lws_plat_file_ops	*fops;
-	/**< fops that apply to this fop_fd */
-	void				*filesystem_priv;
-	/**< ignored by lws; owned by the fops handlers */
-	lws_filepos_t			pos;
-	/**< generic "position in file" */
-	lws_filepos_t			len;
-	/**< generic "length of file" */
-	lws_fop_flags_t			flags;
-	/**< copy of the returned flags */
-	uint32_t			mod_time;
-	/**< optional "modification time of file", only valid if .open()
-	 * set the LWS_FOP_FLAG_MOD_TIME_VALID flag */
-};
-typedef struct lws_fop_fd *lws_fop_fd_t;
-
-struct lws_fops_index {
-	const char *sig;	/* NULL or vfs signature, eg, ".zip/" */
-	uint8_t len;		/* length of above string */
-};
-
-struct lws_plat_file_ops {
-	lws_fop_fd_t (*LWS_FOP_OPEN)(const struct lws_plat_file_ops *fops,
-				     const char *filename, const char *vpath,
-				     lws_fop_flags_t *flags);
-	/**< Open file (always binary access if plat supports it)
-	 * vpath may be NULL, or if the fops understands it, the point at which
-	 * the filename's virtual part starts.
-	 * *flags & LWS_FOP_FLAGS_MASK should be set to O_RDONLY or O_RDWR.
-	 * If the file may be gzip-compressed,
-	 * LWS_FOP_FLAG_COMPR_ACCEPTABLE_GZIP is set.  If it actually is
-	 * gzip-compressed, then the open handler should OR
-	 * LWS_FOP_FLAG_COMPR_IS_GZIP on to *flags before returning.
-	 */
-	int (*LWS_FOP_CLOSE)(lws_fop_fd_t *fop_fd);
-	/**< close file AND set the pointer to NULL */
-	lws_fileofs_t (*LWS_FOP_SEEK_CUR)(lws_fop_fd_t fop_fd,
-					  lws_fileofs_t offset_from_cur_pos);
-	/**< seek from current position */
-	int (*LWS_FOP_READ)(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-			    uint8_t *buf, lws_filepos_t len);
-	/**< Read from file, on exit *amount is set to amount actually read */
-	int (*LWS_FOP_WRITE)(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-			     uint8_t *buf, lws_filepos_t len);
-	/**< Write to file, on exit *amount is set to amount actually written */
-
-	struct lws_fops_index fi[3];
-	/**< vfs path signatures implying use of this fops */
-
-	const struct lws_plat_file_ops *next;
-	/**< NULL or next fops in list */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility */
-};
-
-/**
- * lws_get_fops() - get current file ops
- *
- * \param context: context
- */
-LWS_VISIBLE LWS_EXTERN struct lws_plat_file_ops * LWS_WARN_UNUSED_RESULT
-lws_get_fops(struct lws_context *context);
-LWS_VISIBLE LWS_EXTERN void
-lws_set_fops(struct lws_context *context, const struct lws_plat_file_ops *fops);
-/**
- * lws_vfs_tell() - get current file position
- *
- * \param fop_fd: fop_fd we are asking about
- */
-LWS_VISIBLE LWS_EXTERN lws_filepos_t LWS_WARN_UNUSED_RESULT
-lws_vfs_tell(lws_fop_fd_t fop_fd);
-/**
- * lws_vfs_get_length() - get current file total length in bytes
- *
- * \param fop_fd: fop_fd we are asking about
- */
-LWS_VISIBLE LWS_EXTERN lws_filepos_t LWS_WARN_UNUSED_RESULT
-lws_vfs_get_length(lws_fop_fd_t fop_fd);
-/**
- * lws_vfs_get_mod_time() - get time file last modified
- *
- * \param fop_fd: fop_fd we are asking about
- */
-LWS_VISIBLE LWS_EXTERN uint32_t LWS_WARN_UNUSED_RESULT
-lws_vfs_get_mod_time(lws_fop_fd_t fop_fd);
-/**
- * lws_vfs_file_seek_set() - seek relative to start of file
- *
- * \param fop_fd: fop_fd we are seeking in
- * \param offset: offset from start of file
- */
-LWS_VISIBLE LWS_EXTERN lws_fileofs_t
-lws_vfs_file_seek_set(lws_fop_fd_t fop_fd, lws_fileofs_t offset);
-/**
- * lws_vfs_file_seek_end() - seek relative to end of file
- *
- * \param fop_fd: fop_fd we are seeking in
- * \param offset: offset from start of file
- */
-LWS_VISIBLE LWS_EXTERN lws_fileofs_t
-lws_vfs_file_seek_end(lws_fop_fd_t fop_fd, lws_fileofs_t offset);
-
-extern struct lws_plat_file_ops fops_zip;
-
-/**
- * lws_plat_file_open() - open vfs filepath
- *
- * \param fops: file ops struct that applies to this descriptor
- * \param vfs_path: filename to open
- * \param flags: pointer to open flags
- *
- * The vfs_path is scanned for known fops signatures, and the open directed
- * to any matching fops open.
- *
- * User code should use this api to perform vfs opens.
- *
- * returns semi-opaque handle
- */
-LWS_VISIBLE LWS_EXTERN lws_fop_fd_t LWS_WARN_UNUSED_RESULT
-lws_vfs_file_open(const struct lws_plat_file_ops *fops, const char *vfs_path,
-		  lws_fop_flags_t *flags);
-
-/**
- * lws_plat_file_close() - close file
- *
- * \param fop_fd: file handle to close
- */
-static LWS_INLINE int
-lws_vfs_file_close(lws_fop_fd_t *fop_fd)
-{
-	return (*fop_fd)->fops->LWS_FOP_CLOSE(fop_fd);
-}
-
-/**
- * lws_plat_file_seek_cur() - close file
- *
- *
- * \param fop_fd: file handle
- * \param offset: position to seek to
- */
-static LWS_INLINE lws_fileofs_t
-lws_vfs_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset)
-{
-	return fop_fd->fops->LWS_FOP_SEEK_CUR(fop_fd, offset);
-}
-/**
- * lws_plat_file_read() - read from file
- *
- * \param fop_fd: file handle
- * \param amount: how much to read (rewritten by call)
- * \param buf: buffer to write to
- * \param len: max length
- */
-static LWS_INLINE int LWS_WARN_UNUSED_RESULT
-lws_vfs_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		   uint8_t *buf, lws_filepos_t len)
-{
-	return fop_fd->fops->LWS_FOP_READ(fop_fd, amount, buf, len);
-}
-/**
- * lws_plat_file_write() - write from file
- *
- * \param fop_fd: file handle
- * \param amount: how much to write (rewritten by call)
- * \param buf: buffer to read from
- * \param len: max length
- */
-static LWS_INLINE int LWS_WARN_UNUSED_RESULT
-lws_vfs_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		    uint8_t *buf, lws_filepos_t len)
-{
-	return fop_fd->fops->LWS_FOP_WRITE(fop_fd, amount, buf, len);
-}
-
-/* these are the platform file operations implementations... they can
- * be called directly and used in fops arrays
- */
-
-LWS_VISIBLE LWS_EXTERN lws_fop_fd_t
-_lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
-		    const char *vpath, lws_fop_flags_t *flags);
-LWS_VISIBLE LWS_EXTERN int
-_lws_plat_file_close(lws_fop_fd_t *fop_fd);
-LWS_VISIBLE LWS_EXTERN lws_fileofs_t
-_lws_plat_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset);
-LWS_VISIBLE LWS_EXTERN int
-_lws_plat_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		    uint8_t *buf, lws_filepos_t len);
-LWS_VISIBLE LWS_EXTERN int
-_lws_plat_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		     uint8_t *buf, lws_filepos_t len);
-
-LWS_VISIBLE LWS_EXTERN int
-lws_alloc_vfs_file(struct lws_context *context, const char *filename,
-		   uint8_t **buf, lws_filepos_t *amount);
-//@}
-
-/** \defgroup smtp SMTP related functions
- * ##SMTP related functions
- * \ingroup lwsapi
- *
- * These apis let you communicate with a local SMTP server to send email from
- * lws.  It handles all the SMTP sequencing and protocol actions.
- *
- * Your system should have postfix, sendmail or another MTA listening on port
- * 25 and able to send email using the "mail" commandline app.  Usually distro
- * MTAs are configured for this by default.
- *
- * It runs via its own libuv events if initialized (which requires giving it
- * a libuv loop to attach to).
- *
- * It operates using three callbacks, on_next() queries if there is a new email
- * to send, on_get_body() asks for the body of the email, and on_sent() is
- * called after the email is successfully sent.
- *
- * To use it
- *
- *  - create an lws_email struct
- *
- *  - initialize data, loop, the email_* strings, max_content_size and
- *    the callbacks
- *
- *  - call lws_email_init()
- *
- *  When you have at least one email to send, call lws_email_check() to
- *  schedule starting to send it.
- */
-//@{
-#ifdef LWS_WITH_SMTP
-
-/** enum lwsgs_smtp_states - where we are in SMTP protocol sequence */
-enum lwsgs_smtp_states {
-	LGSSMTP_IDLE, /**< awaiting new email */
-	LGSSMTP_CONNECTING, /**< opening tcp connection to MTA */
-	LGSSMTP_CONNECTED, /**< tcp connection to MTA is connected */
-	LGSSMTP_SENT_HELO, /**< sent the HELO */
-	LGSSMTP_SENT_FROM, /**< sent FROM */
-	LGSSMTP_SENT_TO, /**< sent TO */
-	LGSSMTP_SENT_DATA, /**< sent DATA request */
-	LGSSMTP_SENT_BODY, /**< sent the email body */
-	LGSSMTP_SENT_QUIT, /**< sent the session quit */
-};
-
-/** struct lws_email - abstract context for performing SMTP operations */
-struct lws_email {
-	void *data;
-	/**< opaque pointer set by user code and available to the callbacks */
-	uv_loop_t *loop;
-	/**< the libuv loop we will work on */
-
-	char email_smtp_ip[32]; /**< Fill before init, eg, "127.0.0.1" */
-	char email_helo[32];	/**< Fill before init, eg, "myserver.com" */
-	char email_from[100];	/**< Fill before init or on_next */
-	char email_to[100];	/**< Fill before init or on_next */
-
-	unsigned int max_content_size;
-	/**< largest possible email body size */
-
-	/* Fill all the callbacks before init */
-
-	int (*on_next)(struct lws_email *email);
-	/**< (Fill in before calling lws_email_init)
-	 * called when idle, 0 = another email to send, nonzero is idle.
-	 * If you return 0, all of the email_* char arrays must be set
-	 * to something useful. */
-	int (*on_sent)(struct lws_email *email);
-	/**< (Fill in before calling lws_email_init)
-	 * called when transfer of the email to the SMTP server was
-	 * successful, your callback would remove the current email
-	 * from its queue */
-	int (*on_get_body)(struct lws_email *email, char *buf, int len);
-	/**< (Fill in before calling lws_email_init)
-	 * called when the body part of the queued email is about to be
-	 * sent to the SMTP server. */
-
-
-	/* private things */
-	uv_timer_t timeout_email; /**< private */
-	enum lwsgs_smtp_states estate; /**< private */
-	uv_connect_t email_connect_req; /**< private */
-	uv_tcp_t email_client; /**< private */
-	time_t email_connect_started; /**< private */
-	char email_buf[256]; /**< private */
-	char *content; /**< private */
-};
-
-/**
- * lws_email_init() - Initialize a struct lws_email
- *
- * \param email: struct lws_email to init
- * \param loop: libuv loop to use
- * \param max_content: max email content size
- *
- * Prepares a struct lws_email for use ending SMTP
- */
-LWS_VISIBLE LWS_EXTERN int
-lws_email_init(struct lws_email *email, uv_loop_t *loop, int max_content);
-
-/**
- * lws_email_check() - Request check for new email
- *
- * \param email: struct lws_email context to check
- *
- * Schedules a check for new emails in 1s... call this when you have queued an
- * email for send.
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_email_check(struct lws_email *email);
-/**
- * lws_email_destroy() - stop using the struct lws_email
- *
- * \param email: the struct lws_email context
- *
- * Stop sending email using email and free allocations
- */
-LWS_VISIBLE LWS_EXTERN void
-lws_email_destroy(struct lws_email *email);
-
-#endif
-//@}
-
-
-/** \defgroup lejp JSON parser
- * ##JSON parsing related functions
- * \ingroup lwsapi
- *
- * LEJP is an extremely lightweight JSON stream parser included in lws.
- */
-//@{
-struct lejp_ctx;
-
-#ifndef ARRAY_SIZE
-#define ARRAY_SIZE(_x) (sizeof(_x) / sizeof(_x[0]))
-#endif
-#define LWS_ARRAY_SIZE(_x) (sizeof(_x) / sizeof(_x[0]))
-#define LEJP_FLAG_WS_KEEP 64
-#define LEJP_FLAG_WS_COMMENTLINE 32
-
-enum lejp_states {
-	LEJP_IDLE = 0,
-	LEJP_MEMBERS = 1,
-	LEJP_M_P = 2,
-	LEJP_MP_STRING = LEJP_FLAG_WS_KEEP | 3,
-	LEJP_MP_STRING_ESC = LEJP_FLAG_WS_KEEP | 4,
-	LEJP_MP_STRING_ESC_U1 = LEJP_FLAG_WS_KEEP | 5,
-	LEJP_MP_STRING_ESC_U2 = LEJP_FLAG_WS_KEEP | 6,
-	LEJP_MP_STRING_ESC_U3 = LEJP_FLAG_WS_KEEP | 7,
-	LEJP_MP_STRING_ESC_U4 = LEJP_FLAG_WS_KEEP | 8,
-	LEJP_MP_DELIM = 9,
-	LEJP_MP_VALUE = 10,
-	LEJP_MP_VALUE_NUM_INT = LEJP_FLAG_WS_KEEP | 11,
-	LEJP_MP_VALUE_NUM_EXP = LEJP_FLAG_WS_KEEP | 12,
-	LEJP_MP_VALUE_TOK = LEJP_FLAG_WS_KEEP | 13,
-	LEJP_MP_COMMA_OR_END = 14,
-	LEJP_MP_ARRAY_END = 15,
-};
-
-enum lejp_reasons {
-	LEJP_CONTINUE = -1,
-	LEJP_REJECT_IDLE_NO_BRACE = -2,
-	LEJP_REJECT_MEMBERS_NO_CLOSE = -3,
-	LEJP_REJECT_MP_NO_OPEN_QUOTE = -4,
-	LEJP_REJECT_MP_STRING_UNDERRUN = -5,
-	LEJP_REJECT_MP_ILLEGAL_CTRL = -6,
-	LEJP_REJECT_MP_STRING_ESC_ILLEGAL_ESC = -7,
-	LEJP_REJECT_ILLEGAL_HEX = -8,
-	LEJP_REJECT_MP_DELIM_MISSING_COLON = -9,
-	LEJP_REJECT_MP_DELIM_BAD_VALUE_START = -10,
-	LEJP_REJECT_MP_VAL_NUM_INT_NO_FRAC = -11,
-	LEJP_REJECT_MP_VAL_NUM_FORMAT = -12,
-	LEJP_REJECT_MP_VAL_NUM_EXP_BAD_EXP = -13,
-	LEJP_REJECT_MP_VAL_TOK_UNKNOWN = -14,
-	LEJP_REJECT_MP_C_OR_E_UNDERF = -15,
-	LEJP_REJECT_MP_C_OR_E_NOTARRAY = -16,
-	LEJP_REJECT_MP_ARRAY_END_MISSING = -17,
-	LEJP_REJECT_STACK_OVERFLOW = -18,
-	LEJP_REJECT_MP_DELIM_ISTACK = -19,
-	LEJP_REJECT_NUM_TOO_LONG = -20,
-	LEJP_REJECT_MP_C_OR_E_NEITHER = -21,
-	LEJP_REJECT_UNKNOWN = -22,
-	LEJP_REJECT_CALLBACK = -23
-};
-
-#define LEJP_FLAG_CB_IS_VALUE 64
-
-enum lejp_callbacks {
-	LEJPCB_CONSTRUCTED	= 0,
-	LEJPCB_DESTRUCTED	= 1,
-
-	LEJPCB_START		= 2,
-	LEJPCB_COMPLETE		= 3,
-	LEJPCB_FAILED		= 4,
-
-	LEJPCB_PAIR_NAME	= 5,
-
-	LEJPCB_VAL_TRUE		= LEJP_FLAG_CB_IS_VALUE | 6,
-	LEJPCB_VAL_FALSE	= LEJP_FLAG_CB_IS_VALUE | 7,
-	LEJPCB_VAL_NULL		= LEJP_FLAG_CB_IS_VALUE | 8,
-	LEJPCB_VAL_NUM_INT	= LEJP_FLAG_CB_IS_VALUE | 9,
-	LEJPCB_VAL_NUM_FLOAT	= LEJP_FLAG_CB_IS_VALUE | 10,
-	LEJPCB_VAL_STR_START	= 11, /* notice handle separately */
-	LEJPCB_VAL_STR_CHUNK	= LEJP_FLAG_CB_IS_VALUE | 12,
-	LEJPCB_VAL_STR_END	= LEJP_FLAG_CB_IS_VALUE | 13,
-
-	LEJPCB_ARRAY_START	= 14,
-	LEJPCB_ARRAY_END	= 15,
-
-	LEJPCB_OBJECT_START	= 16,
-	LEJPCB_OBJECT_END	= 17
-};
-
-/**
- * _lejp_callback() - User parser actions
- * \param ctx:	LEJP context
- * \param reason:	Callback reason
- *
- *	Your user callback is associated with the context at construction time,
- *	and receives calls as the parsing progresses.
- *
- *	All of the callbacks may be ignored and just return 0.
- *
- *	The reasons it might get called, found in @reason, are:
- *
- *  LEJPCB_CONSTRUCTED:  The context was just constructed... you might want to
- *		perform one-time allocation for the life of the context.
- *
- *  LEJPCB_DESTRUCTED:	The context is being destructed... if you made any
- *		allocations at construction-time, you can free them now
- *
- *  LEJPCB_START:	Parsing is beginning at the first byte of input
- *
- *  LEJPCB_COMPLETE:	Parsing has completed successfully.  You'll get a 0 or
- *			positive return code from lejp_parse indicating the
- *			amount of unused bytes left in the input buffer
- *
- *  LEJPCB_FAILED:	Parsing failed.  You'll get a negative error code
- *  			returned from lejp_parse
- *
- *  LEJPCB_PAIR_NAME:	When a "name":"value" pair has had the name parsed,
- *			this callback occurs.  You can find the new name at
- *			the end of ctx->path[]
- *
- *  LEJPCB_VAL_TRUE:	The "true" value appeared
- *
- *  LEJPCB_VAL_FALSE:	The "false" value appeared
- *
- *  LEJPCB_VAL_NULL:	The "null" value appeared
- *
- *  LEJPCB_VAL_NUM_INT:	A string representing an integer is in ctx->buf
- *
- *  LEJPCB_VAL_NUM_FLOAT: A string representing a float is in ctx->buf
- *
- *  LEJPCB_VAL_STR_START: We are starting to parse a string, no data yet
- *
- *  LEJPCB_VAL_STR_CHUNK: We parsed LEJP_STRING_CHUNK -1 bytes of string data in
- *			ctx->buf, which is as much as we can buffer, so we are
- *			spilling it.  If all your strings are less than
- *			LEJP_STRING_CHUNK - 1 bytes, you will never see this
- *			callback.
- *
- *  LEJPCB_VAL_STR_END:	String parsing has completed, the last chunk of the
- *			string is in ctx->buf.
- *
- *  LEJPCB_ARRAY_START:	An array started
- *
- *  LEJPCB_ARRAY_END:	An array ended
- *
- *  LEJPCB_OBJECT_START: An object started
- *
- *  LEJPCB_OBJECT_END:	An object ended
- */
-LWS_EXTERN signed char _lejp_callback(struct lejp_ctx *ctx, char reason);
-
-typedef signed char (*lejp_callback)(struct lejp_ctx *ctx, char reason);
-
-#ifndef LEJP_MAX_DEPTH
-#define LEJP_MAX_DEPTH 12
-#endif
-#ifndef LEJP_MAX_INDEX_DEPTH
-#define LEJP_MAX_INDEX_DEPTH 5
-#endif
-#ifndef LEJP_MAX_PATH
-#define LEJP_MAX_PATH 128
-#endif
-#ifndef LEJP_STRING_CHUNK
-/* must be >= 30 to assemble floats */
-#define LEJP_STRING_CHUNK 255
-#endif
-
-enum num_flags {
-	LEJP_SEEN_MINUS = (1 << 0),
-	LEJP_SEEN_POINT = (1 << 1),
-	LEJP_SEEN_POST_POINT = (1 << 2),
-	LEJP_SEEN_EXP = (1 << 3)
-};
-
-struct _lejp_stack {
-	char s; /* lejp_state stack*/
-	char p;	/* path length */
-	char i; /* index array length */
-	char b; /* user bitfield */
-};
-
-struct lejp_ctx {
-
-	/* sorted by type for most compact alignment
-	 *
-	 * pointers
-	 */
-
-	signed char (*callback)(struct lejp_ctx *ctx, char reason);
-	void *user;
-	const char * const *paths;
-
-	/* arrays */
-
-	struct _lejp_stack st[LEJP_MAX_DEPTH];
-	uint16_t i[LEJP_MAX_INDEX_DEPTH]; /* index array */
-	uint16_t wild[LEJP_MAX_INDEX_DEPTH]; /* index array */
-	char path[LEJP_MAX_PATH];
-	char buf[LEJP_STRING_CHUNK];
-
-	/* int */
-
-	uint32_t line;
-
-	/* short */
-
-	uint16_t uni;
-
-	/* char */
-
-	uint8_t npos;
-	uint8_t dcount;
-	uint8_t f;
-	uint8_t sp; /* stack head */
-	uint8_t ipos; /* index stack depth */
-	uint8_t ppos;
-	uint8_t count_paths;
-	uint8_t path_match;
-	uint8_t path_match_len;
-	uint8_t wildcount;
-};
-
-LWS_VISIBLE LWS_EXTERN void
-lejp_construct(struct lejp_ctx *ctx,
-	       signed char (*callback)(struct lejp_ctx *ctx, char reason),
-	       void *user, const char * const *paths, unsigned char paths_count);
-
-LWS_VISIBLE LWS_EXTERN void
-lejp_destruct(struct lejp_ctx *ctx);
-
-LWS_VISIBLE LWS_EXTERN int
-lejp_parse(struct lejp_ctx *ctx, const unsigned char *json, int len);
-
-LWS_VISIBLE LWS_EXTERN void
-lejp_change_callback(struct lejp_ctx *ctx,
-		     signed char (*callback)(struct lejp_ctx *ctx, char reason));
-
-LWS_VISIBLE LWS_EXTERN int
-lejp_get_wildcard(struct lejp_ctx *ctx, int wildcard, char *dest, int len);
-//@}
-
-/*
- * Stats are all uint64_t numbers that start at 0.
- * Index names here have the convention
- *
- *  _C_ counter
- *  _B_ byte count
- *  _MS_ millisecond count
- */
-
-enum {
-	LWSSTATS_C_CONNECTIONS, /**< count incoming connections */
-	LWSSTATS_C_API_CLOSE, /**< count calls to close api */
-	LWSSTATS_C_API_READ, /**< count calls to read from socket api */
-	LWSSTATS_C_API_LWS_WRITE, /**< count calls to lws_write API */
-	LWSSTATS_C_API_WRITE, /**< count calls to write API */
-	LWSSTATS_C_WRITE_PARTIALS, /**< count of partial writes */
-	LWSSTATS_C_WRITEABLE_CB_REQ, /**< count of writable callback requests */
-	LWSSTATS_C_WRITEABLE_CB_EFF_REQ, /**< count of effective writable callback requests */
-	LWSSTATS_C_WRITEABLE_CB, /**< count of writable callbacks */
-	LWSSTATS_C_SSL_CONNECTIONS_FAILED, /**< count of failed SSL connections */
-	LWSSTATS_C_SSL_CONNECTIONS_ACCEPTED, /**< count of accepted SSL connections */
-	LWSSTATS_C_SSL_CONNECTIONS_ACCEPT_SPIN, /**< count of SSL_accept() attempts */
-	LWSSTATS_C_SSL_CONNS_HAD_RX, /**< count of accepted SSL conns that have had some RX */
-	LWSSTATS_C_TIMEOUTS, /**< count of timed-out connections */
-	LWSSTATS_C_SERVICE_ENTRY, /**< count of entries to lws service loop */
-	LWSSTATS_B_READ, /**< aggregate bytes read */
-	LWSSTATS_B_WRITE, /**< aggregate bytes written */
-	LWSSTATS_B_PARTIALS_ACCEPTED_PARTS, /**< aggreate of size of accepted write data from new partials */
-	LWSSTATS_MS_SSL_CONNECTIONS_ACCEPTED_DELAY, /**< aggregate delay in accepting connection */
-	LWSSTATS_MS_WRITABLE_DELAY, /**< aggregate delay between asking for writable and getting cb */
-	LWSSTATS_MS_WORST_WRITABLE_DELAY, /**< single worst delay between asking for writable and getting cb */
-	LWSSTATS_MS_SSL_RX_DELAY, /**< aggregate delay between ssl accept complete and first RX */
-	LWSSTATS_C_PEER_LIMIT_AH_DENIED, /**< number of times we would have given an ah but for the peer limit */
-	LWSSTATS_C_PEER_LIMIT_WSI_DENIED, /**< number of times we would have given a wsi but for the peer limit */
-
-	/* Add new things just above here ---^
-	 * This is part of the ABI, don't needlessly break compatibility */
-	LWSSTATS_SIZE
-};
-
-#if defined(LWS_WITH_STATS)
-
-LWS_VISIBLE LWS_EXTERN uint64_t
-lws_stats_get(struct lws_context *context, int index);
-LWS_VISIBLE LWS_EXTERN void
-lws_stats_log_dump(struct lws_context *context);
-#else
-static LWS_INLINE uint64_t
-lws_stats_get(struct lws_context *context, int index) { (void)context; (void)index;  return 0; }
-static LWS_INLINE void
-lws_stats_log_dump(struct lws_context *context) { (void)context; }
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/thirdparty/libwebsockets/plat/lws-plat-unix.c b/thirdparty/libwebsockets/plat/lws-plat-unix.c
deleted file mode 100644
index bacc6af647..0000000000
--- a/thirdparty/libwebsockets/plat/lws-plat-unix.c
+++ /dev/null
@@ -1,969 +0,0 @@
-/*
- * libwebsockets - small server side websockets and web server implementation
- *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
- *
- *  This library is free software; you can redistribute it and/or
- *  modify it under the terms of the GNU Lesser General Public
- *  License as published by the Free Software Foundation:
- *  version 2.1 of the License.
- *
- *  This library is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *  Lesser General Public License for more details.
- *
- *  You should have received a copy of the GNU Lesser General Public
- *  License along with this library; if not, write to the Free Software
- *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- *  MA  02110-1301  USA
- */
-
-#define _GNU_SOURCE
-#include "core/private.h"
-
-#include <pwd.h>
-#include <grp.h>
-
-#ifdef LWS_WITH_PLUGINS
-#include <dlfcn.h>
-#endif
-#include <dirent.h>
-
-int
-lws_plat_socket_offset(void)
-{
-	return 0;
-}
-
-int
-lws_plat_pipe_create(struct lws *wsi)
-{
-	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
-
-#if defined(LWS_HAVE_PIPE2)
-	return pipe2(pt->dummy_pipe_fds, O_NONBLOCK);
-#else
-	return pipe(pt->dummy_pipe_fds);
-#endif
-}
-
-int
-lws_plat_pipe_signal(struct lws *wsi)
-{
-	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
-	char buf = 0;
-	int n;
-
-	n = write(pt->dummy_pipe_fds[1], &buf, 1);
-
-	return n != 1;
-}
-
-void
-lws_plat_pipe_close(struct lws *wsi)
-{
-	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
-
-	if (pt->dummy_pipe_fds[0] && pt->dummy_pipe_fds[0] != -1)
-		close(pt->dummy_pipe_fds[0]);
-	if (pt->dummy_pipe_fds[1] && pt->dummy_pipe_fds[1] != -1)
-		close(pt->dummy_pipe_fds[1]);
-
-	pt->dummy_pipe_fds[0] = pt->dummy_pipe_fds[1] = -1;
-}
-
-#ifdef __QNX__
-# include "netinet/tcp_var.h"
-# define TCP_KEEPINTVL TCPCTL_KEEPINTVL
-# define TCP_KEEPIDLE  TCPCTL_KEEPIDLE
-# define TCP_KEEPCNT   TCPCTL_KEEPCNT
-#endif
-
-unsigned long long time_in_microseconds(void)
-{
-	struct timeval tv;
-
-	gettimeofday(&tv, NULL);
-	return ((unsigned long long)tv.tv_sec * 1000000LL) + tv.tv_usec;
-}
-
-LWS_VISIBLE int
-lws_get_random(struct lws_context *context, void *buf, int len)
-{
-	return read(context->fd_random, (char *)buf, len);
-}
-
-LWS_VISIBLE int
-lws_send_pipe_choked(struct lws *wsi)
-{
-	struct lws_pollfd fds;
-	struct lws *wsi_eff = wsi;
-
-#if defined(LWS_WITH_HTTP2)
-	wsi_eff = lws_get_network_wsi(wsi);
-#endif
-
-	/* the fact we checked implies we avoided back-to-back writes */
-	wsi_eff->could_have_pending = 0;
-
-	/* treat the fact we got a truncated send pending as if we're choked */
-	if (wsi_eff->trunc_len)
-		return 1;
-
-	fds.fd = wsi_eff->desc.sockfd;
-	fds.events = POLLOUT;
-	fds.revents = 0;
-
-	if (poll(&fds, 1, 0) != 1)
-		return 1;
-
-	if ((fds.revents & POLLOUT) == 0)
-		return 1;
-
-	/* okay to send another packet without blocking */
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_poll_listen_fd(struct lws_pollfd *fd)
-{
-	return poll(fd, 1, 0);
-}
-
-LWS_VISIBLE void lwsl_emit_syslog(int level, const char *line)
-{
-	int syslog_level = LOG_DEBUG;
-
-	switch (level) {
-	case LLL_ERR:
-		syslog_level = LOG_ERR;
-		break;
-	case LLL_WARN:
-		syslog_level = LOG_WARNING;
-		break;
-	case LLL_NOTICE:
-		syslog_level = LOG_NOTICE;
-		break;
-	case LLL_INFO:
-		syslog_level = LOG_INFO;
-		break;
-	}
-	syslog(syslog_level, "%s", line);
-}
-
-LWS_VISIBLE LWS_EXTERN int
-_lws_plat_service_tsi(struct lws_context *context, int timeout_ms, int tsi)
-{
-	volatile struct lws_foreign_thread_pollfd *ftp, *next;
-	volatile struct lws_context_per_thread *vpt;
-	struct lws_context_per_thread *pt;
-	int n = -1, m, c;
-
-	/* stay dead once we are dead */
-
-	if (!context || !context->vhost_list)
-		return 1;
-
-	pt = &context->pt[tsi];
-	vpt = (volatile struct lws_context_per_thread *)pt;
-
-	lws_stats_atomic_bump(context, pt, LWSSTATS_C_SERVICE_ENTRY, 1);
-
-	if (timeout_ms < 0)
-		goto faked_service;
-
-	if (context->event_loop_ops->run_pt)
-		context->event_loop_ops->run_pt(context, tsi);
-
-	if (!context->service_tid_detected) {
-		struct lws _lws;
-
-		memset(&_lws, 0, sizeof(_lws));
-		_lws.context = context;
-
-		context->service_tid_detected =
-			context->vhost_list->protocols[0].callback(
-			&_lws, LWS_CALLBACK_GET_THREAD_ID, NULL, NULL, 0);
-		context->service_tid = context->service_tid_detected;
-		context->service_tid_detected = 1;
-	}
-
-	/*
-	 * is there anybody with pending stuff that needs service forcing?
-	 */
-	if (!lws_service_adjust_timeout(context, 1, tsi)) {
-		/* -1 timeout means just do forced service */
-		_lws_plat_service_tsi(context, -1, pt->tid);
-		/* still somebody left who wants forced service? */
-		if (!lws_service_adjust_timeout(context, 1, pt->tid))
-			/* yes... come back again quickly */
-			timeout_ms = 0;
-	}
-
-	if (timeout_ms) {
-		lws_pt_lock(pt, __func__);
-		/* don't stay in poll wait longer than next hr timeout */
-		lws_usec_t t =  __lws_hrtimer_service(pt);
-		if ((lws_usec_t)timeout_ms * 1000 > t)
-			timeout_ms = t / 1000;
-		lws_pt_unlock(pt);
-	}
-
-	vpt->inside_poll = 1;
-	lws_memory_barrier();
-	n = poll(pt->fds, pt->fds_count, timeout_ms);
-	vpt->inside_poll = 0;
-	lws_memory_barrier();
-
-	/* Collision will be rare and brief.  Just spin until it completes */
-	while (vpt->foreign_spinlock)
-		;
-
-	/*
-	 * At this point we are not inside a foreign thread pollfd change,
-	 * and we have marked ourselves as outside the poll() wait.  So we
-	 * are the only guys that can modify the lws_foreign_thread_pollfd
-	 * list on the pt.  Drain the list and apply the changes to the
-	 * affected pollfds in the correct order.
-	 */
-
-	lws_pt_lock(pt, __func__);
-
-	ftp = vpt->foreign_pfd_list;
-	//lwsl_notice("cleared list %p\n", ftp);
-	while (ftp) {
-		struct lws *wsi;
-		struct lws_pollfd *pfd;
-
-		next = ftp->next;
-		pfd = &vpt->fds[ftp->fd_index];
-		if (lws_socket_is_valid(pfd->fd)) {
-			wsi = wsi_from_fd(context, pfd->fd);
-			if (wsi)
-				__lws_change_pollfd(wsi, ftp->_and, ftp->_or);
-		}
-		lws_free((void *)ftp);
-		ftp = next;
-	}
-	vpt->foreign_pfd_list = NULL;
-	lws_memory_barrier();
-
-	/* we have come out of a poll wait... check the hrtimer list */
-
-	__lws_hrtimer_service(pt);
-
-	lws_pt_unlock(pt);
-
-	m = 0;
-#if defined(LWS_ROLE_WS) && !defined(LWS_WITHOUT_EXTENSIONS)
-	m |= !!pt->ws.rx_draining_ext_list;
-#endif
-
-	if (pt->context->tls_ops &&
-	    pt->context->tls_ops->fake_POLLIN_for_buffered)
-		m |= pt->context->tls_ops->fake_POLLIN_for_buffered(pt);
-
-	if (!m && !n) { /* nothing to do */
-		lws_service_fd_tsi(context, NULL, tsi);
-		lws_service_do_ripe_rxflow(pt);
-
-		return 0;
-	}
-
-faked_service:
-	m = lws_service_flag_pending(context, tsi);
-	if (m)
-		c = -1; /* unknown limit */
-	else
-		if (n < 0) {
-			if (LWS_ERRNO != LWS_EINTR)
-				return -1;
-			return 0;
-		} else
-			c = n;
-
-	/* any socket with events to service? */
-	for (n = 0; n < (int)pt->fds_count && c; n++) {
-		if (!pt->fds[n].revents)
-			continue;
-
-		c--;
-
-		m = lws_service_fd_tsi(context, &pt->fds[n], tsi);
-		if (m < 0)
-			return -1;
-		/* if something closed, retry this slot */
-		if (m)
-			n--;
-	}
-
-	lws_service_do_ripe_rxflow(pt);
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_check_connection_error(struct lws *wsi)
-{
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_service(struct lws_context *context, int timeout_ms)
-{
-	return _lws_plat_service_tsi(context, timeout_ms, 0);
-}
-
-LWS_VISIBLE int
-lws_plat_set_socket_options(struct lws_vhost *vhost, int fd)
-{
-	int optval = 1;
-	socklen_t optlen = sizeof(optval);
-
-#if defined(__APPLE__) || \
-    defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || \
-    defined(__NetBSD__) || \
-    defined(__OpenBSD__) || \
-    defined(__HAIKU__)
-	struct protoent *tcp_proto;
-#endif
-
-	if (vhost->ka_time) {
-		/* enable keepalive on this socket */
-		optval = 1;
-		if (setsockopt(fd, SOL_SOCKET, SO_KEEPALIVE,
-			       (const void *)&optval, optlen) < 0)
-			return 1;
-
-#if defined(__APPLE__) || \
-    defined(__FreeBSD__) || defined(__FreeBSD_kernel__) || \
-    defined(__NetBSD__) || \
-    defined(__CYGWIN__) || defined(__OpenBSD__) || defined (__sun) || \
-    defined(__HAIKU__)
-
-		/*
-		 * didn't find a way to set these per-socket, need to
-		 * tune kernel systemwide values
-		 */
-#else
-		/* set the keepalive conditions we want on it too */
-
-#if defined(LWS_HAVE_TCP_USER_TIMEOUT)
-		optval = 1000 * (vhost->ka_time +
-				 (vhost->ka_interval * vhost->ka_probes));
-		if (setsockopt(fd, IPPROTO_TCP, TCP_USER_TIMEOUT,
-			       (const void *)&optval, optlen) < 0)
-			return 1;
-#endif
-		optval = vhost->ka_time;
-		if (setsockopt(fd, IPPROTO_TCP, TCP_KEEPIDLE,
-			       (const void *)&optval, optlen) < 0)
-			return 1;
-
-		optval = vhost->ka_interval;
-		if (setsockopt(fd, IPPROTO_TCP, TCP_KEEPINTVL,
-			       (const void *)&optval, optlen) < 0)
-			return 1;
-
-		optval = vhost->ka_probes;
-		if (setsockopt(fd, IPPROTO_TCP, TCP_KEEPCNT,
-			       (const void *)&optval, optlen) < 0)
-			return 1;
-#endif
-	}
-
-#if defined(SO_BINDTODEVICE)
-	if (vhost->bind_iface && vhost->iface) {
-		lwsl_info("binding listen skt to %s using SO_BINDTODEVICE\n", vhost->iface);
-		if (setsockopt(fd, SOL_SOCKET, SO_BINDTODEVICE, vhost->iface,
-				strlen(vhost->iface)) < 0) {
-			lwsl_warn("Failed to bind to device %s\n", vhost->iface);
-			return 1;
-		}
-	}
-#endif
-
-	/* Disable Nagle */
-	optval = 1;
-#if defined (__sun) || defined(__QNX__)
-	if (setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, (const void *)&optval, optlen) < 0)
-		return 1;
-#elif !defined(__APPLE__) && \
-      !defined(__FreeBSD__) && !defined(__FreeBSD_kernel__) &&        \
-      !defined(__NetBSD__) && \
-      !defined(__OpenBSD__) && \
-      !defined(__HAIKU__)
-	if (setsockopt(fd, SOL_TCP, TCP_NODELAY, (const void *)&optval, optlen) < 0)
-		return 1;
-#else
-	tcp_proto = getprotobyname("TCP");
-	if (setsockopt(fd, tcp_proto->p_proto, TCP_NODELAY, &optval, optlen) < 0)
-		return 1;
-#endif
-
-	/* We are nonblocking... */
-	if (fcntl(fd, F_SETFL, O_NONBLOCK) < 0)
-		return 1;
-
-	return 0;
-}
-
-#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
-static void
-_lws_plat_apply_caps(int mode, const cap_value_t *cv, int count)
-{
-	cap_t caps;
-
-	if (!count)
-		return;
-
-	caps = cap_get_proc();
-
-	cap_set_flag(caps, mode, count, cv, CAP_SET);
-	cap_set_proc(caps);
-	prctl(PR_SET_KEEPCAPS, 1, 0, 0, 0);
-	cap_free(caps);
-}
-#endif
-
-LWS_VISIBLE void
-lws_plat_drop_app_privileges(const struct lws_context_creation_info *info)
-{
-#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
-	int n;
-#endif
-
-	if (info->gid && info->gid != -1)
-		if (setgid(info->gid))
-			lwsl_warn("setgid: %s\n", strerror(LWS_ERRNO));
-
-	if (info->uid && info->uid != -1) {
-		struct passwd *p = getpwuid(info->uid);
-
-		if (p) {
-
-#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
-			_lws_plat_apply_caps(CAP_PERMITTED, info->caps, info->count_caps);
-#endif
-
-			initgroups(p->pw_name, info->gid);
-			if (setuid(info->uid))
-				lwsl_warn("setuid: %s\n", strerror(LWS_ERRNO));
-			else
-				lwsl_notice("Set privs to user '%s'\n", p->pw_name);
-
-#if defined(LWS_HAVE_SYS_CAPABILITY_H) && defined(LWS_HAVE_LIBCAP)
-			_lws_plat_apply_caps(CAP_EFFECTIVE, info->caps, info->count_caps);
-
-			if (info->count_caps)
-				for (n = 0; n < info->count_caps; n++)
-					lwsl_notice("   RETAINING CAPABILITY %d\n", (int)info->caps[n]);
-#endif
-
-		} else
-			lwsl_warn("getpwuid: unable to find uid %d", info->uid);
-	}
-}
-
-#ifdef LWS_WITH_PLUGINS
-
-#if defined(LWS_WITH_LIBUV) && UV_VERSION_MAJOR > 0
-
-/* libuv.c implements these in a cross-platform way */
-
-#else
-
-static int filter(const struct dirent *ent)
-{
-	if (!strcmp(ent->d_name, ".") || !strcmp(ent->d_name, ".."))
-		return 0;
-
-	return 1;
-}
-
-LWS_VISIBLE int
-lws_plat_plugins_init(struct lws_context * context, const char * const *d)
-{
-	struct lws_plugin_capability lcaps;
-	struct lws_plugin *plugin;
-	lws_plugin_init_func initfunc;
-	struct dirent **namelist;
-	int n, i, m, ret = 0;
-	char path[256];
-	void *l;
-
-	lwsl_notice("  Plugins:\n");
-
-	while (d && *d) {
-		n = scandir(*d, &namelist, filter, alphasort);
-		if (n < 0) {
-			lwsl_err("Scandir on %s failed\n", *d);
-			return 1;
-		}
-
-		for (i = 0; i < n; i++) {
-			if (strlen(namelist[i]->d_name) < 7)
-				goto inval;
-
-			lwsl_notice("   %s\n", namelist[i]->d_name);
-
-			lws_snprintf(path, sizeof(path) - 1, "%s/%s", *d,
-				 namelist[i]->d_name);
-			l = dlopen(path, RTLD_NOW);
-			if (!l) {
-				lwsl_err("Error loading DSO: %s\n", dlerror());
-				while (i++ < n)
-					free(namelist[i]);
-				goto bail;
-			}
-			/* we could open it, can we get his init function? */
-			m = lws_snprintf(path, sizeof(path) - 1, "init_%s",
-				     namelist[i]->d_name + 3 /* snip lib... */);
-			path[m - 3] = '\0'; /* snip the .so */
-			initfunc = dlsym(l, path);
-			if (!initfunc) {
-				lwsl_err("Failed to get init on %s: %s",
-						namelist[i]->d_name, dlerror());
-				dlclose(l);
-			}
-			lcaps.api_magic = LWS_PLUGIN_API_MAGIC;
-			m = initfunc(context, &lcaps);
-			if (m) {
-				lwsl_err("Initializing %s failed %d\n",
-					namelist[i]->d_name, m);
-				dlclose(l);
-				goto skip;
-			}
-
-			plugin = lws_malloc(sizeof(*plugin), "plugin");
-			if (!plugin) {
-				lwsl_err("OOM\n");
-				goto bail;
-			}
-			plugin->list = context->plugin_list;
-			context->plugin_list = plugin;
-			lws_strncpy(plugin->name, namelist[i]->d_name,
-				    sizeof(plugin->name));
-			plugin->l = l;
-			plugin->caps = lcaps;
-			context->plugin_protocol_count += lcaps.count_protocols;
-			context->plugin_extension_count += lcaps.count_extensions;
-
-			free(namelist[i]);
-			continue;
-
-	skip:
-			dlclose(l);
-	inval:
-			free(namelist[i]);
-		}
-		free(namelist);
-		d++;
-	}
-
-bail:
-	free(namelist);
-
-	return ret;
-}
-
-LWS_VISIBLE int
-lws_plat_plugins_destroy(struct lws_context * context)
-{
-	struct lws_plugin *plugin = context->plugin_list, *p;
-	lws_plugin_destroy_func func;
-	char path[256];
-	int m;
-
-	if (!plugin)
-		return 0;
-
-	lwsl_notice("%s\n", __func__);
-
-	while (plugin) {
-		p = plugin;
-		m = lws_snprintf(path, sizeof(path) - 1, "destroy_%s", plugin->name + 3);
-		path[m - 3] = '\0';
-		func = dlsym(plugin->l, path);
-		if (!func) {
-			lwsl_err("Failed to get destroy on %s: %s",
-					plugin->name, dlerror());
-			goto next;
-		}
-		m = func(context);
-		if (m)
-			lwsl_err("Initializing %s failed %d\n",
-				plugin->name, m);
-next:
-		dlclose(p->l);
-		plugin = p->list;
-		p->list = NULL;
-		free(p);
-	}
-
-	context->plugin_list = NULL;
-
-	return 0;
-}
-
-#endif
-#endif
-
-
-#if 0
-static void
-sigabrt_handler(int x)
-{
-	printf("%s\n", __func__);
-}
-#endif
-
-LWS_VISIBLE int
-lws_plat_context_early_init(void)
-{
-#if !defined(LWS_AVOID_SIGPIPE_IGN)
-	signal(SIGPIPE, SIG_IGN);
-#endif
-
-	return 0;
-}
-
-LWS_VISIBLE void
-lws_plat_context_early_destroy(struct lws_context *context)
-{
-}
-
-LWS_VISIBLE void
-lws_plat_context_late_destroy(struct lws_context *context)
-{
-#ifdef LWS_WITH_PLUGINS
-	if (context->plugin_list)
-		lws_plat_plugins_destroy(context);
-#endif
-
-	if (context->lws_lookup)
-		lws_free(context->lws_lookup);
-
-	if (!context->fd_random)
-		lwsl_err("ZERO RANDOM FD\n");
-	if (context->fd_random != LWS_INVALID_FILE)
-		close(context->fd_random);
-}
-
-/* cast a struct sockaddr_in6 * into addr for ipv6 */
-
-LWS_VISIBLE int
-lws_interface_to_sa(int ipv6, const char *ifname, struct sockaddr_in *addr,
-		    size_t addrlen)
-{
-	int rc = LWS_ITOSA_NOT_EXIST;
-
-	struct ifaddrs *ifr;
-	struct ifaddrs *ifc;
-#ifdef LWS_WITH_IPV6
-	struct sockaddr_in6 *addr6 = (struct sockaddr_in6 *)addr;
-#endif
-
-	getifaddrs(&ifr);
-	for (ifc = ifr; ifc != NULL && rc; ifc = ifc->ifa_next) {
-		if (!ifc->ifa_addr)
-			continue;
-
-		lwsl_debug(" interface %s vs %s (fam %d) ipv6 %d\n", ifc->ifa_name, ifname, ifc->ifa_addr->sa_family, ipv6);
-
-		if (strcmp(ifc->ifa_name, ifname))
-			continue;
-
-		switch (ifc->ifa_addr->sa_family) {
-#if defined(AF_PACKET)
-		case AF_PACKET:
-			/* interface exists but is not usable */
-			rc = LWS_ITOSA_NOT_USABLE;
-			continue;
-#endif
-
-		case AF_INET:
-#ifdef LWS_WITH_IPV6
-			if (ipv6) {
-				/* map IPv4 to IPv6 */
-				bzero((char *)&addr6->sin6_addr,
-						sizeof(struct in6_addr));
-				addr6->sin6_addr.s6_addr[10] = 0xff;
-				addr6->sin6_addr.s6_addr[11] = 0xff;
-				memcpy(&addr6->sin6_addr.s6_addr[12],
-					&((struct sockaddr_in *)ifc->ifa_addr)->sin_addr,
-							sizeof(struct in_addr));
-			} else
-#endif
-				memcpy(addr,
-					(struct sockaddr_in *)ifc->ifa_addr,
-						    sizeof(struct sockaddr_in));
-			break;
-#ifdef LWS_WITH_IPV6
-		case AF_INET6:
-			memcpy(&addr6->sin6_addr,
-			  &((struct sockaddr_in6 *)ifc->ifa_addr)->sin6_addr,
-						       sizeof(struct in6_addr));
-			break;
-#endif
-		default:
-			continue;
-		}
-		rc = LWS_ITOSA_USABLE;
-	}
-
-	freeifaddrs(ifr);
-
-	if (rc) {
-		/* check if bind to IP address */
-#ifdef LWS_WITH_IPV6
-		if (inet_pton(AF_INET6, ifname, &addr6->sin6_addr) == 1)
-			rc = LWS_ITOSA_USABLE;
-		else
-#endif
-		if (inet_pton(AF_INET, ifname, &addr->sin_addr) == 1)
-			rc = LWS_ITOSA_USABLE;
-	}
-
-	return rc;
-}
-
-LWS_VISIBLE void
-lws_plat_insert_socket_into_fds(struct lws_context *context, struct lws *wsi)
-{
-	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-
-	if (context->event_loop_ops->io)
-		context->event_loop_ops->io(wsi, LWS_EV_START | LWS_EV_READ);
-
-	pt->fds[pt->fds_count++].revents = 0;
-}
-
-LWS_VISIBLE void
-lws_plat_delete_socket_from_fds(struct lws_context *context,
-						struct lws *wsi, int m)
-{
-	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-
-	if (context->event_loop_ops->io)
-		context->event_loop_ops->io(wsi,
-				LWS_EV_STOP | LWS_EV_READ | LWS_EV_WRITE);
-
-	pt->fds_count--;
-}
-
-LWS_VISIBLE void
-lws_plat_service_periodic(struct lws_context *context)
-{
-	/* if our parent went down, don't linger around */
-	if (context->started_with_parent &&
-	    kill(context->started_with_parent, 0) < 0)
-		kill(getpid(), SIGTERM);
-}
-
-LWS_VISIBLE int
-lws_plat_change_pollfd(struct lws_context *context,
-		      struct lws *wsi, struct lws_pollfd *pfd)
-{
-	return 0;
-}
-
-LWS_VISIBLE const char *
-lws_plat_inet_ntop(int af, const void *src, char *dst, int cnt)
-{
-	return inet_ntop(af, src, dst, cnt);
-}
-
-LWS_VISIBLE int
-lws_plat_inet_pton(int af, const char *src, void *dst)
-{
-	return inet_pton(af, src, dst);
-}
-
-LWS_VISIBLE lws_fop_fd_t
-_lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
-		    const char *vpath, lws_fop_flags_t *flags)
-{
-	struct stat stat_buf;
-	int ret = open(filename, (*flags) & LWS_FOP_FLAGS_MASK, 0664);
-	lws_fop_fd_t fop_fd;
-
-	if (ret < 0)
-		return NULL;
-
-	if (fstat(ret, &stat_buf) < 0)
-		goto bail;
-
-	fop_fd = malloc(sizeof(*fop_fd));
-	if (!fop_fd)
-		goto bail;
-
-	fop_fd->fops = fops;
-	fop_fd->flags = *flags;
-	fop_fd->fd = ret;
-	fop_fd->filesystem_priv = NULL; /* we don't use it */
-	fop_fd->len = stat_buf.st_size;
-	fop_fd->pos = 0;
-
-	return fop_fd;
-
-bail:
-	close(ret);
-	return NULL;
-}
-
-LWS_VISIBLE int
-_lws_plat_file_close(lws_fop_fd_t *fop_fd)
-{
-	int fd = (*fop_fd)->fd;
-
-	free(*fop_fd);
-	*fop_fd = NULL;
-
-	return close(fd);
-}
-
-LWS_VISIBLE lws_fileofs_t
-_lws_plat_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset)
-{
-	lws_fileofs_t r;
-
-	if (offset > 0 &&
-	    offset > (lws_fileofs_t)fop_fd->len - (lws_fileofs_t)fop_fd->pos)
-		offset = fop_fd->len - fop_fd->pos;
-
-	if ((lws_fileofs_t)fop_fd->pos + offset < 0)
-		offset = -fop_fd->pos;
-
-	r = lseek(fop_fd->fd, offset, SEEK_CUR);
-
-	if (r >= 0)
-		fop_fd->pos = r;
-	else
-		lwsl_err("error seeking from cur %ld, offset %ld\n",
-                        (long)fop_fd->pos, (long)offset);
-
-	return r;
-}
-
-LWS_VISIBLE int
-_lws_plat_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		    uint8_t *buf, lws_filepos_t len)
-{
-	long n;
-
-	n = read((int)fop_fd->fd, buf, len);
-	if (n == -1) {
-		*amount = 0;
-		return -1;
-	}
-	fop_fd->pos += n;
-	lwsl_debug("%s: read %ld of req %ld, pos %ld, len %ld\n", __func__, n,
-                  (long)len, (long)fop_fd->pos, (long)fop_fd->len);
-	*amount = n;
-
-	return 0;
-}
-
-LWS_VISIBLE int
-_lws_plat_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		     uint8_t *buf, lws_filepos_t len)
-{
-	long n;
-
-	n = write((int)fop_fd->fd, buf, len);
-	if (n == -1) {
-		*amount = 0;
-		return -1;
-	}
-
-	fop_fd->pos += n;
-	*amount = n;
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_init(struct lws_context *context,
-	      const struct lws_context_creation_info *info)
-{
-	int fd;
-
-	/* master context has the global fd lookup array */
-	context->lws_lookup = lws_zalloc(sizeof(struct lws *) *
-					 context->max_fds, "lws_lookup");
-	if (context->lws_lookup == NULL) {
-		lwsl_err("OOM on lws_lookup array for %d connections\n",
-			 context->max_fds);
-		return 1;
-	}
-
-	lwsl_info(" mem: platform fd map: %5lu bytes\n",
-		    (unsigned long)(sizeof(struct lws *) * context->max_fds));
-	fd = open(SYSTEM_RANDOM_FILEPATH, O_RDONLY);
-
-	context->fd_random = fd;
-	if (context->fd_random < 0) {
-		lwsl_err("Unable to open random device %s %d\n",
-			 SYSTEM_RANDOM_FILEPATH, context->fd_random);
-		return 1;
-	}
-
-#ifdef LWS_WITH_PLUGINS
-	if (info->plugin_dirs)
-		lws_plat_plugins_init(context, info->plugin_dirs);
-#endif
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_write_cert(struct lws_vhost *vhost, int is_key, int fd, void *buf,
-			int len)
-{
-	int n;
-
-	n = write(fd, buf, len);
-
-	fsync(fd);
-	lseek(fd, 0, SEEK_SET);
-
-	return n != len;
-}
-
-LWS_VISIBLE int
-lws_plat_write_file(const char *filename, void *buf, int len)
-{
-	int m, fd;
-
-	fd = open(filename, O_WRONLY | O_CREAT | O_TRUNC, 0600);
-
-	if (fd == -1)
-		return 1;
-
-	m = write(fd, buf, len);
-	close(fd);
-
-	return m != len;
-}
-
-LWS_VISIBLE int
-lws_plat_read_file(const char *filename, void *buf, int len)
-{
-	int n, fd = open(filename, O_RDONLY);
-	if (fd == -1)
-		return -1;
-
-	n = read(fd, buf, len);
-	close(fd);
-
-	return n;
-}
-
-LWS_VISIBLE int
-lws_plat_recommended_rsa_bits(void)
-{
-	return 4096;
-}
diff --git a/thirdparty/libwebsockets/plat/lws-plat-win.c b/thirdparty/libwebsockets/plat/lws-plat-win.c
deleted file mode 100644
index 948db62896..0000000000
--- a/thirdparty/libwebsockets/plat/lws-plat-win.c
+++ /dev/null
@@ -1,829 +0,0 @@
-#ifndef _WINSOCK_DEPRECATED_NO_WARNINGS
-#define _WINSOCK_DEPRECATED_NO_WARNINGS
-#endif
-#include "core/private.h"
-
-int
-lws_plat_socket_offset(void)
-{
-	return 0;
-}
-
-int
-lws_plat_pipe_create(struct lws *wsi)
-{
-	return 1;
-}
-
-int
-lws_plat_pipe_signal(struct lws *wsi)
-{
-	struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
-
-	WSASetEvent(pt->events[0]); /* trigger the cancel event */
-
-	return 0;
-}
-
-void
-lws_plat_pipe_close(struct lws *wsi)
-{
-}
-
-unsigned long long
-time_in_microseconds()
-{
-#ifndef DELTA_EPOCH_IN_MICROSECS
-#define DELTA_EPOCH_IN_MICROSECS 11644473600000000ULL
-#endif
-	FILETIME filetime;
-	ULARGE_INTEGER datetime;
-
-#ifdef _WIN32_WCE
-	GetCurrentFT(&filetime);
-#else
-	GetSystemTimeAsFileTime(&filetime);
-#endif
-
-	/*
-	 * As per Windows documentation for FILETIME, copy the resulting
-	 * FILETIME structure to a ULARGE_INTEGER structure using memcpy
-	 * (using memcpy instead of direct assignment can prevent alignment
-	 * faults on 64-bit Windows).
-	 */
-	memcpy(&datetime, &filetime, sizeof(datetime));
-
-	/* Windows file times are in 100s of nanoseconds. */
-	return (datetime.QuadPart - DELTA_EPOCH_IN_MICROSECS) / 10;
-}
-
-#ifdef _WIN32_WCE
-time_t time(time_t *t)
-{
-	time_t ret = time_in_microseconds() / 1000000;
-
-	if(t != NULL)
-		*t = ret;
-
-	return ret;
-}
-#endif
-
-/* file descriptor hash management */
-
-struct lws *
-wsi_from_fd(const struct lws_context *context, lws_sockfd_type fd)
-{
-	int h = LWS_FD_HASH(fd);
-	int n = 0;
-
-	for (n = 0; n < context->fd_hashtable[h].length; n++)
-		if (context->fd_hashtable[h].wsi[n]->desc.sockfd == fd)
-			return context->fd_hashtable[h].wsi[n];
-
-	return NULL;
-}
-
-int
-insert_wsi(struct lws_context *context, struct lws *wsi)
-{
-	int h = LWS_FD_HASH(wsi->desc.sockfd);
-
-	if (context->fd_hashtable[h].length == (getdtablesize() - 1)) {
-		lwsl_err("hash table overflow\n");
-		return 1;
-	}
-
-	context->fd_hashtable[h].wsi[context->fd_hashtable[h].length++] = wsi;
-
-	return 0;
-}
-
-int
-delete_from_fd(struct lws_context *context, lws_sockfd_type fd)
-{
-	int h = LWS_FD_HASH(fd);
-	int n = 0;
-
-	for (n = 0; n < context->fd_hashtable[h].length; n++)
-		if (context->fd_hashtable[h].wsi[n]->desc.sockfd == fd) {
-			while (n < context->fd_hashtable[h].length) {
-				context->fd_hashtable[h].wsi[n] =
-					context->fd_hashtable[h].wsi[n + 1];
-				n++;
-			}
-			context->fd_hashtable[h].length--;
-
-			return 0;
-		}
-
-	lwsl_err("Failed to find fd %d requested for "
-		 "delete in hashtable\n", fd);
-	return 1;
-}
-
-LWS_VISIBLE int
-lws_get_random(struct lws_context *context, void *buf, int len)
-{
-	int n;
-	char *p = (char *)buf;
-
-	for (n = 0; n < len; n++)
-		p[n] = (unsigned char)rand();
-
-	return n;
-}
-
-LWS_VISIBLE int
-lws_send_pipe_choked(struct lws *wsi)
-{	struct lws *wsi_eff = wsi;
-
-#if defined(LWS_WITH_HTTP2)
-	wsi_eff = lws_get_network_wsi(wsi);
-#endif
-	/* the fact we checked implies we avoided back-to-back writes */
-	wsi_eff->could_have_pending = 0;
-
-	/* treat the fact we got a truncated send pending as if we're choked */
-	if (wsi_eff->trunc_len)
-		return 1;
-
-	return (int)wsi_eff->sock_send_blocking;
-}
-
-LWS_VISIBLE int
-lws_poll_listen_fd(struct lws_pollfd *fd)
-{
-	fd_set readfds;
-	struct timeval tv = { 0, 0 };
-
-	assert((fd->events & LWS_POLLIN) == LWS_POLLIN);
-
-	FD_ZERO(&readfds);
-	FD_SET(fd->fd, &readfds);
-
-	return select(((int)fd->fd) + 1, &readfds, NULL, NULL, &tv);
-}
-
-LWS_VISIBLE void
-lwsl_emit_syslog(int level, const char *line)
-{
-	lwsl_emit_stderr(level, line);
-}
-
-LWS_VISIBLE LWS_EXTERN int
-_lws_plat_service_tsi(struct lws_context *context, int timeout_ms, int tsi)
-{
-	struct lws_context_per_thread *pt;
-	WSANETWORKEVENTS networkevents;
-	struct lws_pollfd *pfd;
-	struct lws *wsi;
-	unsigned int i;
-	DWORD ev;
-	int n, m;
-
-	/* stay dead once we are dead */
-	if (context == NULL || !context->vhost_list)
-		return 1;
-
-	pt = &context->pt[tsi];
-
-	if (!context->service_tid_detected) {
-		struct lws _lws;
-
-		memset(&_lws, 0, sizeof(_lws));
-		_lws.context = context;
-
-		context->service_tid_detected = context->vhost_list->
-			protocols[0].callback(&_lws, LWS_CALLBACK_GET_THREAD_ID,
-						  NULL, NULL, 0);
-		context->service_tid = context->service_tid_detected;
-		context->service_tid_detected = 1;
-	}
-
-	if (timeout_ms < 0) {
-		if (lws_service_flag_pending(context, tsi)) {
-			/* any socket with events to service? */
-			for (n = 0; n < (int)pt->fds_count; n++) {
-				if (!pt->fds[n].revents)
-					continue;
-
-				m = lws_service_fd_tsi(context, &pt->fds[n], tsi);
-				if (m < 0)
-					return -1;
-				/* if something closed, retry this slot */
-				if (m)
-					n--;
-			}
-		}
-		return 0;
-	}
-
-	if (context->event_loop_ops->run_pt)
-		context->event_loop_ops->run_pt(context, tsi);
-
-	for (i = 0; i < pt->fds_count; ++i) {
-		pfd = &pt->fds[i];
-
-		if (!(pfd->events & LWS_POLLOUT))
-			continue;
-
-		wsi = wsi_from_fd(context, pfd->fd);
-		if (wsi->listener)
-			continue;
-		if (!wsi || wsi->sock_send_blocking)
-			continue;
-		pfd->revents = LWS_POLLOUT;
-		n = lws_service_fd(context, pfd);
-		if (n < 0)
-			return -1;
-		/* if something closed, retry this slot */
-		if (n)
-			i--;
-
-		/*
-		 * any wsi has truncated, force him signalled
-		 */
-		if (wsi->trunc_len)
-			WSASetEvent(pt->events[0]);
-	}
-
-	/*
-	 * is there anybody with pending stuff that needs service forcing?
-	 */
-	if (!lws_service_adjust_timeout(context, 1, tsi)) {
-		/* -1 timeout means just do forced service */
-		_lws_plat_service_tsi(context, -1, pt->tid);
-		/* still somebody left who wants forced service? */
-		if (!lws_service_adjust_timeout(context, 1, pt->tid))
-			/* yes... come back again quickly */
-			timeout_ms = 0;
-	}
-
-	if (timeout_ms) {
-		lws_pt_lock(pt, __func__);
-		/* don't stay in poll wait longer than next hr timeout */
-		lws_usec_t t =  __lws_hrtimer_service(pt);
-
-		if ((lws_usec_t)timeout_ms * 1000 > t)
-			timeout_ms = (int)(t / 1000);
-		lws_pt_unlock(pt);
-	}
-
-	ev = WSAWaitForMultipleEvents(1, pt->events, FALSE, timeout_ms, FALSE);
-	if (ev == WSA_WAIT_EVENT_0) {
-		unsigned int eIdx, err;
-
-		WSAResetEvent(pt->events[0]);
-
-		if (pt->context->tls_ops &&
-		    pt->context->tls_ops->fake_POLLIN_for_buffered)
-			pt->context->tls_ops->fake_POLLIN_for_buffered(pt);
-
-		for (eIdx = 0; eIdx < pt->fds_count; ++eIdx) {
-			if (WSAEnumNetworkEvents(pt->fds[eIdx].fd, 0,
-					&networkevents) == SOCKET_ERROR) {
-				lwsl_err("WSAEnumNetworkEvents() failed "
-					 "with error %d\n", LWS_ERRNO);
-				return -1;
-			}
-
-			pfd = &pt->fds[eIdx];
-			pfd->revents = (short)networkevents.lNetworkEvents;
-
-			err = networkevents.iErrorCode[FD_CONNECT_BIT];
-
-			if ((networkevents.lNetworkEvents & FD_CONNECT) &&
-			     err && err != LWS_EALREADY &&
-			     err != LWS_EINPROGRESS && err != LWS_EWOULDBLOCK &&
-			     err != WSAEINVAL) {
-				lwsl_debug("Unable to connect errno=%d\n", err);
-				pfd->revents |= LWS_POLLHUP;
-			}
-
-			if (pfd->revents & LWS_POLLOUT) {
-				wsi = wsi_from_fd(context, pfd->fd);
-				if (wsi)
-					wsi->sock_send_blocking = 0;
-			}
-			 /* if something closed, retry this slot */
-			if (pfd->revents & LWS_POLLHUP)
-				--eIdx;
-
-			if (pfd->revents)
-				lws_service_fd_tsi(context, pfd, tsi);
-		}
-	}
-
-	context->service_tid = 0;
-
-	if (ev == WSA_WAIT_TIMEOUT)
-		lws_service_fd(context, NULL);
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_service(struct lws_context *context, int timeout_ms)
-{
-	return _lws_plat_service_tsi(context, timeout_ms, 0);
-}
-
-LWS_VISIBLE int
-lws_plat_set_socket_options(struct lws_vhost *vhost, lws_sockfd_type fd)
-{
-	int optval = 1;
-	int optlen = sizeof(optval);
-	u_long optl = 1;
-	DWORD dwBytesRet;
-	struct tcp_keepalive alive;
-	int protonbr;
-#ifndef _WIN32_WCE
-	struct protoent *tcp_proto;
-#endif
-
-	if (vhost->ka_time) {
-		/* enable keepalive on this socket */
-		optval = 1;
-		if (setsockopt(fd, SOL_SOCKET, SO_KEEPALIVE,
-			       (const char *)&optval, optlen) < 0)
-			return 1;
-
-		alive.onoff = TRUE;
-		alive.keepalivetime = vhost->ka_time;
-		alive.keepaliveinterval = vhost->ka_interval;
-
-		if (WSAIoctl(fd, SIO_KEEPALIVE_VALS, &alive, sizeof(alive),
-			     NULL, 0, &dwBytesRet, NULL, NULL))
-			return 1;
-	}
-
-	/* Disable Nagle */
-	optval = 1;
-#ifndef _WIN32_WCE
-	tcp_proto = getprotobyname("TCP");
-	if (!tcp_proto) {
-		lwsl_err("getprotobyname() failed with error %d\n", LWS_ERRNO);
-		return 1;
-	}
-	protonbr = tcp_proto->p_proto;
-#else
-	protonbr = 6;
-#endif
-
-	setsockopt(fd, protonbr, TCP_NODELAY, (const char *)&optval, optlen);
-
-	/* We are nonblocking... */
-	ioctlsocket(fd, FIONBIO, &optl);
-
-	return 0;
-}
-
-LWS_VISIBLE void
-lws_plat_drop_app_privileges(const struct lws_context_creation_info *info)
-{
-}
-
-LWS_VISIBLE int
-lws_plat_context_early_init(void)
-{
-	WORD wVersionRequested;
-	WSADATA wsaData;
-	int err;
-
-	/* Use the MAKEWORD(lowbyte, highbyte) macro from Windef.h */
-	wVersionRequested = MAKEWORD(2, 2);
-
-	err = WSAStartup(wVersionRequested, &wsaData);
-	if (!err)
-		return 0;
-	/*
-	 * Tell the user that we could not find a usable
-	 * Winsock DLL
-	 */
-	lwsl_err("WSAStartup failed with error: %d\n", err);
-
-	return 1;
-}
-
-LWS_VISIBLE void
-lws_plat_context_early_destroy(struct lws_context *context)
-{
-	struct lws_context_per_thread *pt = &context->pt[0];
-	int n = context->count_threads;
-
-	while (n--) {
-		if (pt->events) {
-			WSACloseEvent(pt->events[0]);
-			lws_free(pt->events);
-		}
-		pt++;
-	}
-}
-
-LWS_VISIBLE void
-lws_plat_context_late_destroy(struct lws_context *context)
-{
-	int n;
-
-	for (n = 0; n < FD_HASHTABLE_MODULUS; n++) {
-		if (context->fd_hashtable[n].wsi)
-			lws_free(context->fd_hashtable[n].wsi);
-	}
-
-	WSACleanup();
-}
-
-LWS_VISIBLE LWS_EXTERN int
-lws_interface_to_sa(int ipv6,
-		const char *ifname, struct sockaddr_in *addr, size_t addrlen)
-{
-#ifdef LWS_WITH_IPV6
-	struct sockaddr_in6 *addr6 = (struct sockaddr_in6 *)addr;
-
-	if (ipv6) {
-		if (lws_plat_inet_pton(AF_INET6, ifname, &addr6->sin6_addr) == 1) {
-			return LWS_ITOSA_USABLE;
-		}
-	}
-#endif
-
-	long long address = inet_addr(ifname);
-
-	if (address == INADDR_NONE) {
-		struct hostent *entry = gethostbyname(ifname);
-		if (entry)
-			address = ((struct in_addr *)entry->h_addr_list[0])->s_addr;
-	}
-
-	if (address == INADDR_NONE)
-		return LWS_ITOSA_NOT_EXIST;
-
-	addr->sin_addr.s_addr = (unsigned long)(lws_intptr_t)address;
-
-	return LWS_ITOSA_USABLE;
-}
-
-LWS_VISIBLE void
-lws_plat_insert_socket_into_fds(struct lws_context *context, struct lws *wsi)
-{
-	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-
-	pt->fds[pt->fds_count++].revents = 0;
-	pt->events[pt->fds_count] = pt->events[0];
-	WSAEventSelect(wsi->desc.sockfd, pt->events[0],
-			   LWS_POLLIN | LWS_POLLHUP | FD_CONNECT);
-}
-
-LWS_VISIBLE void
-lws_plat_delete_socket_from_fds(struct lws_context *context,
-						struct lws *wsi, int m)
-{
-	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-
-	pt->events[m + 1] = pt->events[pt->fds_count--];
-}
-
-LWS_VISIBLE void
-lws_plat_service_periodic(struct lws_context *context)
-{
-}
-
-LWS_VISIBLE int
-lws_plat_check_connection_error(struct lws *wsi)
-{
-	int optVal;
-	int optLen = sizeof(int);
-
-	if (getsockopt(wsi->desc.sockfd, SOL_SOCKET, SO_ERROR,
-			   (char*)&optVal, &optLen) != SOCKET_ERROR && optVal &&
-		optVal != LWS_EALREADY && optVal != LWS_EINPROGRESS &&
-		optVal != LWS_EWOULDBLOCK && optVal != WSAEINVAL) {
-		   lwsl_debug("Connect failed SO_ERROR=%d\n", optVal);
-		   return 1;
-	}
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_change_pollfd(struct lws_context *context,
-			  struct lws *wsi, struct lws_pollfd *pfd)
-{
-	struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
-	long networkevents = LWS_POLLHUP | FD_CONNECT;
-
-	if ((pfd->events & LWS_POLLIN))
-		networkevents |= LWS_POLLIN;
-
-	if ((pfd->events & LWS_POLLOUT))
-		networkevents |= LWS_POLLOUT;
-
-	if (WSAEventSelect(wsi->desc.sockfd,
-			pt->events[0],
-						   networkevents) != SOCKET_ERROR)
-		return 0;
-
-	lwsl_err("WSAEventSelect() failed with error %d\n", LWS_ERRNO);
-
-	return 1;
-}
-
-LWS_VISIBLE const char *
-lws_plat_inet_ntop(int af, const void *src, char *dst, int cnt)
-{
-	WCHAR *buffer;
-	DWORD bufferlen = cnt;
-	BOOL ok = FALSE;
-
-	buffer = lws_malloc(bufferlen * 2, "inet_ntop");
-	if (!buffer) {
-		lwsl_err("Out of memory\n");
-		return NULL;
-	}
-
-	if (af == AF_INET) {
-		struct sockaddr_in srcaddr;
-		bzero(&srcaddr, sizeof(srcaddr));
-		srcaddr.sin_family = AF_INET;
-		memcpy(&(srcaddr.sin_addr), src, sizeof(srcaddr.sin_addr));
-
-		if (!WSAAddressToStringW((struct sockaddr*)&srcaddr, sizeof(srcaddr), 0, buffer, &bufferlen))
-			ok = TRUE;
-#ifdef LWS_WITH_IPV6
-	} else if (af == AF_INET6) {
-		struct sockaddr_in6 srcaddr;
-		bzero(&srcaddr, sizeof(srcaddr));
-		srcaddr.sin6_family = AF_INET6;
-		memcpy(&(srcaddr.sin6_addr), src, sizeof(srcaddr.sin6_addr));
-
-		if (!WSAAddressToStringW((struct sockaddr*)&srcaddr, sizeof(srcaddr), 0, buffer, &bufferlen))
-			ok = TRUE;
-#endif
-	} else
-		lwsl_err("Unsupported type\n");
-
-	if (!ok) {
-		int rv = WSAGetLastError();
-		lwsl_err("WSAAddressToString() : %d\n", rv);
-	} else {
-		if (WideCharToMultiByte(CP_ACP, 0, buffer, bufferlen, dst, cnt, 0, NULL) <= 0)
-			ok = FALSE;
-	}
-
-	lws_free(buffer);
-	return ok ? dst : NULL;
-}
-
-LWS_VISIBLE int
-lws_plat_inet_pton(int af, const char *src, void *dst)
-{
-	WCHAR *buffer;
-	DWORD bufferlen = (int)strlen(src) + 1;
-	BOOL ok = FALSE;
-
-	buffer = lws_malloc(bufferlen * 2, "inet_pton");
-	if (!buffer) {
-		lwsl_err("Out of memory\n");
-		return -1;
-	}
-
-	if (MultiByteToWideChar(CP_ACP, 0, src, bufferlen, buffer, bufferlen) <= 0) {
-		lwsl_err("Failed to convert multi byte to wide char\n");
-		lws_free(buffer);
-		return -1;
-	}
-
-	if (af == AF_INET) {
-		struct sockaddr_in dstaddr;
-		int dstaddrlen = sizeof(dstaddr);
-		bzero(&dstaddr, sizeof(dstaddr));
-		dstaddr.sin_family = AF_INET;
-
-		if (!WSAStringToAddressW(buffer, af, 0, (struct sockaddr *) &dstaddr, &dstaddrlen)) {
-			ok = TRUE;
-			memcpy(dst, &dstaddr.sin_addr, sizeof(dstaddr.sin_addr));
-		}
-#ifdef LWS_WITH_IPV6
-	} else if (af == AF_INET6) {
-		struct sockaddr_in6 dstaddr;
-		int dstaddrlen = sizeof(dstaddr);
-		bzero(&dstaddr, sizeof(dstaddr));
-		dstaddr.sin6_family = AF_INET6;
-
-		if (!WSAStringToAddressW(buffer, af, 0, (struct sockaddr *) &dstaddr, &dstaddrlen)) {
-			ok = TRUE;
-			memcpy(dst, &dstaddr.sin6_addr, sizeof(dstaddr.sin6_addr));
-		}
-#endif
-	} else
-		lwsl_err("Unsupported type\n");
-
-	if (!ok) {
-		int rv = WSAGetLastError();
-		lwsl_err("WSAAddressToString() : %d\n", rv);
-	}
-
-	lws_free(buffer);
-	return ok ? 1 : -1;
-}
-
-LWS_VISIBLE lws_fop_fd_t
-_lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
-		    const char *vpath, lws_fop_flags_t *flags)
-{
-	HANDLE ret;
-	WCHAR buf[MAX_PATH];
-	lws_fop_fd_t fop_fd;
-	LARGE_INTEGER llFileSize = {0};
-
-	MultiByteToWideChar(CP_UTF8, 0, filename, -1, buf, ARRAY_SIZE(buf));
-	if (((*flags) & 7) == _O_RDONLY) {
-		ret = CreateFileW(buf, GENERIC_READ, FILE_SHARE_READ,
-			  NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
-	} else {
-		ret = CreateFileW(buf, GENERIC_WRITE, 0, NULL,
-			  CREATE_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL);
-	}
-
-	if (ret == LWS_INVALID_FILE)
-		goto bail;
-
-	fop_fd = malloc(sizeof(*fop_fd));
-	if (!fop_fd)
-		goto bail;
-
-	fop_fd->fops = fops;
-	fop_fd->fd = ret;
-	fop_fd->filesystem_priv = NULL; /* we don't use it */
-	fop_fd->flags = *flags;
-	fop_fd->len = GetFileSize(ret, NULL);
-	if(GetFileSizeEx(ret, &llFileSize))
-		fop_fd->len = llFileSize.QuadPart;
-
-	fop_fd->pos = 0;
-
-	return fop_fd;
-
-bail:
-	return NULL;
-}
-
-LWS_VISIBLE int
-_lws_plat_file_close(lws_fop_fd_t *fop_fd)
-{
-	HANDLE fd = (*fop_fd)->fd;
-
-	free(*fop_fd);
-	*fop_fd = NULL;
-
-	CloseHandle((HANDLE)fd);
-
-	return 0;
-}
-
-LWS_VISIBLE lws_fileofs_t
-_lws_plat_file_seek_cur(lws_fop_fd_t fop_fd, lws_fileofs_t offset)
-{
-	LARGE_INTEGER l;
-
-	l.QuadPart = offset;
-	return SetFilePointerEx((HANDLE)fop_fd->fd, l, NULL, FILE_CURRENT);
-}
-
-LWS_VISIBLE int
-_lws_plat_file_read(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-		    uint8_t *buf, lws_filepos_t len)
-{
-	DWORD _amount;
-
-	if (!ReadFile((HANDLE)fop_fd->fd, buf, (DWORD)len, &_amount, NULL)) {
-		*amount = 0;
-
-		return 1;
-	}
-
-	fop_fd->pos += _amount;
-	*amount = (unsigned long)_amount;
-
-	return 0;
-}
-
-LWS_VISIBLE int
-_lws_plat_file_write(lws_fop_fd_t fop_fd, lws_filepos_t *amount,
-			 uint8_t* buf, lws_filepos_t len)
-{
-	DWORD _amount;
-
-	if (!WriteFile((HANDLE)fop_fd->fd, buf, (DWORD)len, &_amount, NULL)) {
-		*amount = 0;
-
-		return 1;
-	}
-
-	fop_fd->pos += _amount;
-	*amount = (unsigned long)_amount;
-
-	return 0;
-}
-
-LWS_VISIBLE int
-lws_plat_init(struct lws_context *context,
-	      const struct lws_context_creation_info *info)
-{
-	struct lws_context_per_thread *pt = &context->pt[0];
-	int i, n = context->count_threads;
-
-	for (i = 0; i < FD_HASHTABLE_MODULUS; i++) {
-		context->fd_hashtable[i].wsi =
-			lws_zalloc(sizeof(struct lws*) * context->max_fds, "win hashtable");
-
-		if (!context->fd_hashtable[i].wsi)
-			return -1;
-	}
-
-	while (n--) {
-		pt->events = lws_malloc(sizeof(WSAEVENT) *
-					(context->fd_limit_per_thread + 1), "event table");
-		if (pt->events == NULL) {
-			lwsl_err("Unable to allocate events array for %d connections\n",
-					context->fd_limit_per_thread + 1);
-			return 1;
-		}
-
-		pt->fds_count = 0;
-		pt->events[0] = WSACreateEvent(); /* the cancel event */
-
-		pt++;
-	}
-
-	context->fd_random = 0;
-
-#ifdef LWS_WITH_PLUGINS
-	if (info->plugin_dirs)
-		lws_plat_plugins_init(context, info->plugin_dirs);
-#endif
-
-	return 0;
-}
-
-
-int kill(int pid, int sig)
-{
-	lwsl_err("Sorry Windows doesn't support kill().");
-	exit(0);
-}
-
-int fork(void)
-{
-	lwsl_err("Sorry Windows doesn't support fork().");
-	exit(0);
-}
-
-LWS_VISIBLE int
-lws_plat_write_cert(struct lws_vhost *vhost, int is_key, int fd, void *buf,
-			int len)
-{
-	int n;
-
-	n = write(fd, buf, len);
-
-	lseek(fd, 0, SEEK_SET);
-
-	return n != len;
-}
-
-LWS_VISIBLE int
-lws_plat_write_file(const char *filename, void *buf, int len)
-{
-	int m, fd;
-
-	fd = open(filename, O_WRONLY | O_CREAT | O_TRUNC, 0600);
-
-	if (fd == -1)
-		return -1;
-
-	m = write(fd, buf, len);
-	close(fd);
-
-	return m != len;
-}
-
-LWS_VISIBLE int
-lws_plat_read_file(const char *filename, void *buf, int len)
-{
-	int n, fd = open(filename, O_RDONLY);
-	if (fd == -1)
-		return -1;
-
-	n = read(fd, buf, len);
-	close(fd);
-
-	return n;
-}
-
-LWS_VISIBLE int
-lws_plat_recommended_rsa_bits(void)
-{
-	return 4096;
-}
diff --git a/thirdparty/libwebsockets/roles/http/server/access-log.c b/thirdparty/libwebsockets/roles/http/server/access-log.c
deleted file mode 100644
index 0e75309d7a..0000000000
--- a/thirdparty/libwebsockets/roles/http/server/access-log.c
+++ /dev/null
@@ -1,182 +0,0 @@
-/*
- * libwebsockets - server access log handling
- *
- * Copyright (C) 2010-2017 Andy Green <andy@warmcat.com>
- *
- *  This library is free software; you can redistribute it and/or
- *  modify it under the terms of the GNU Lesser General Public
- *  License as published by the Free Software Foundation:
- *  version 2.1 of the License.
- *
- *  This library is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *  Lesser General Public License for more details.
- *
- *  You should have received a copy of the GNU Lesser General Public
- *  License along with this library; if not, write to the Free Software
- *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- *  MA  02110-1301  USA
- */
-
-#include "core/private.h"
-
-/*
- * Produce Apache-compatible log string for wsi, like this:
- *
- * 2.31.234.19 - - [27/Mar/2016:03:22:44 +0800]
- * "GET /aep-screen.png HTTP/1.1"
- * 200 152987 "https://libwebsockets.org/index.html"
- * "Mozilla/5.0 (Macint... Chrome/49.0.2623.87 Safari/537.36"
- *
- */
-
-extern const char * const method_names[];
-
-static const char * const hver[] = {
-	"HTTP/1.0", "HTTP/1.1", "HTTP/2"
-};
-
-void
-lws_prepare_access_log_info(struct lws *wsi, char *uri_ptr, int meth)
-{
-#ifdef LWS_WITH_IPV6
-	char ads[INET6_ADDRSTRLEN];
-#else
-	char ads[INET_ADDRSTRLEN];
-#endif
-	char da[64];
-	const char *pa, *me;
-	struct tm *tmp;
-	time_t t = time(NULL);
-	int l = 256, m;
-
-	if (!wsi->vhost)
-		return;
-
-	/* only worry about preparing it if we store it */
-	if (wsi->vhost->log_fd == (int)LWS_INVALID_FILE)
-		return;
-
-	if (wsi->access_log_pending)
-		lws_access_log(wsi);
-
-	wsi->http.access_log.header_log = lws_malloc(l, "access log");
-	if (wsi->http.access_log.header_log) {
-
-		tmp = localtime(&t);
-		if (tmp)
-			strftime(da, sizeof(da), "%d/%b/%Y:%H:%M:%S %z", tmp);
-		else
-			strcpy(da, "01/Jan/1970:00:00:00 +0000");
-
-		pa = lws_get_peer_simple(wsi, ads, sizeof(ads));
-		if (!pa)
-			pa = "(unknown)";
-
-		if (wsi->http2_substream)
-			me = lws_hdr_simple_ptr(wsi, WSI_TOKEN_HTTP_COLON_METHOD);
-		else
-			me = method_names[meth];
-		if (!me)
-			me = "(null)";
-
-		lws_snprintf(wsi->http.access_log.header_log, l,
-			 "%s - - [%s] \"%s %s %s\"",
-			 pa, da, me, uri_ptr,
-			 hver[wsi->http.request_version]);
-
-		l = lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_USER_AGENT);
-		if (l) {
-			wsi->http.access_log.user_agent = lws_malloc(l + 2, "access log");
-			if (!wsi->http.access_log.user_agent) {
-				lwsl_err("OOM getting user agent\n");
-				lws_free_set_NULL(wsi->http.access_log.header_log);
-				return;
-			}
-
-			lws_hdr_copy(wsi, wsi->http.access_log.user_agent,
-					l + 1, WSI_TOKEN_HTTP_USER_AGENT);
-
-			for (m = 0; m < l; m++)
-				if (wsi->http.access_log.user_agent[m] == '\"')
-					wsi->http.access_log.user_agent[m] = '\'';
-		}
-		l = lws_hdr_total_length(wsi, WSI_TOKEN_HTTP_REFERER);
-		if (l) {
-			wsi->http.access_log.referrer = lws_malloc(l + 2, "referrer");
-			if (!wsi->http.access_log.referrer) {
-				lwsl_err("OOM getting user agent\n");
-				lws_free_set_NULL(wsi->http.access_log.user_agent);
-				lws_free_set_NULL(wsi->http.access_log.header_log);
-				return;
-			}
-			lws_hdr_copy(wsi, wsi->http.access_log.referrer,
-					l + 1, WSI_TOKEN_HTTP_REFERER);
-
-			for (m = 0; m < l; m++)
-				if (wsi->http.access_log.referrer[m] == '\"')
-					wsi->http.access_log.referrer[m] = '\'';
-		}
-		wsi->access_log_pending = 1;
-	}
-}
-
-
-int
-lws_access_log(struct lws *wsi)
-{
-	char *p = wsi->http.access_log.user_agent, ass[512],
-	     *p1 = wsi->http.access_log.referrer;
-	int l;
-
-	if (!wsi->vhost)
-		return 0;
-
-	if (wsi->vhost->log_fd == (int)LWS_INVALID_FILE)
-		return 0;
-
-	if (!wsi->access_log_pending)
-		return 0;
-
-	if (!wsi->http.access_log.header_log)
-		return 0;
-
-	if (!p)
-		p = "";
-
-	if (!p1)
-		p1 = "";
-
-	/*
-	 * We do this in two parts to restrict an oversize referrer such that
-	 * we will always have space left to append an empty useragent, while
-	 * maintaining the structure of the log text
-	 */
-	l = lws_snprintf(ass, sizeof(ass) - 7, "%s %d %lu \"%s",
-		     wsi->http.access_log.header_log,
-		     wsi->http.access_log.response, wsi->http.access_log.sent, p1);
-	if (strlen(p) > sizeof(ass) - 6 - l)
-		p[sizeof(ass) - 6 - l] = '\0';
-	l += lws_snprintf(ass + l, sizeof(ass) - 1 - l, "\" \"%s\"\n", p);
-
-	if (write(wsi->vhost->log_fd, ass, l) != l)
-		lwsl_err("Failed to write log\n");
-
-	if (wsi->http.access_log.header_log) {
-		lws_free(wsi->http.access_log.header_log);
-		wsi->http.access_log.header_log = NULL;
-	}
-	if (wsi->http.access_log.user_agent) {
-		lws_free(wsi->http.access_log.user_agent);
-		wsi->http.access_log.user_agent = NULL;
-	}
-	if (wsi->http.access_log.referrer) {
-		lws_free(wsi->http.access_log.referrer);
-		wsi->http.access_log.referrer = NULL;
-	}
-	wsi->access_log_pending = 0;
-
-	return 0;
-}
-
diff --git a/thirdparty/libwebsockets/uwp_fixes.diff b/thirdparty/libwebsockets/uwp_fixes.diff
new file mode 100644
index 0000000000..3350f2a661
--- /dev/null
+++ b/thirdparty/libwebsockets/uwp_fixes.diff
@@ -0,0 +1,47 @@
+diff --git a/thirdparty/libwebsockets/lib/plat/windows/windows-file.c b/thirdparty/libwebsockets/lib/plat/windows/windows-file.c
+index 6516b70b0..eb73aab7f 100644
+--- a/thirdparty/libwebsockets/lib/plat/windows/windows-file.c
++++ b/thirdparty/libwebsockets/lib/plat/windows/windows-file.c
+@@ -36,9 +36,20 @@ _lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
+ 	HANDLE ret;
+ 	WCHAR buf[MAX_PATH];
+ 	lws_fop_fd_t fop_fd;
+-	LARGE_INTEGER llFileSize = {0};
++	FILE_STANDARD_INFO fInfo = {0};
+ 
+ 	MultiByteToWideChar(CP_UTF8, 0, filename, -1, buf, LWS_ARRAY_SIZE(buf));
++
++#if defined(_WIN32_WINNT) && _WIN32_WINNT >= 0x0602 // Windows 8 (minimum when UWP_ENABLED, but can be used in Windows builds)
++	CREATEFILE2_EXTENDED_PARAMETERS extParams = {0};
++	extParams.dwFileAttributes = FILE_ATTRIBUTE_NORMAL;
++
++	if (((*flags) & 7) == _O_RDONLY) {
++		ret = CreateFile2(buf, GENERIC_READ, FILE_SHARE_READ, OPEN_EXISTING, &extParams);
++	} else {
++		ret = CreateFile2(buf, GENERIC_WRITE, 0, CREATE_ALWAYS, &extParams);
++	}
++#else
+ 	if (((*flags) & 7) == _O_RDONLY) {
+ 		ret = CreateFileW(buf, GENERIC_READ, FILE_SHARE_READ,
+ 			  NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
+@@ -46,6 +57,7 @@ _lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
+ 		ret = CreateFileW(buf, GENERIC_WRITE, 0, NULL,
+ 			  CREATE_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL);
+ 	}
++#endif
+ 
+ 	if (ret == LWS_INVALID_FILE)
+ 		goto bail;
+@@ -58,9 +70,9 @@ _lws_plat_file_open(const struct lws_plat_file_ops *fops, const char *filename,
+ 	fop_fd->fd = ret;
+ 	fop_fd->filesystem_priv = NULL; /* we don't use it */
+ 	fop_fd->flags = *flags;
+-	fop_fd->len = GetFileSize(ret, NULL);
+-	if(GetFileSizeEx(ret, &llFileSize))
+-		fop_fd->len = llFileSize.QuadPart;
++	fop_fd->len = 0;
++	if(GetFileInformationByHandleEx(ret, FileStandardInfo, &fInfo, sizeof(fInfo)))
++		fop_fd->len = fInfo.EndOfFile.QuadPart;
+ 
+ 	fop_fd->pos = 0;
+ 
diff --git a/thirdparty/mbedtls/1453.diff b/thirdparty/mbedtls/1453.diff
index 6630ad861f..b1c9c43ed2 100644
--- a/thirdparty/mbedtls/1453.diff
+++ b/thirdparty/mbedtls/1453.diff
@@ -1,8 +1,8 @@
 diff --git a/library/entropy_poll.c b/library/entropy_poll.c
-index 67900c46c8..cefe882d2a 100644
+index 4556f88a5..ba56b70f7 100644
 --- a/library/entropy_poll.c
 +++ b/library/entropy_poll.c
-@@ -54,28 +54,43 @@
+@@ -61,28 +61,43 @@
  #define _WIN32_WINNT 0x0400
  #endif
  #include <windows.h>
@@ -54,7 +54,7 @@ index 67900c46c8..cefe882d2a 100644
  
      return( 0 );
 diff --git a/library/x509_crt.c b/library/x509_crt.c
-index 290c1eb3d1..3cf1743821 100644
+index 76558342e..35a134950 100644
 --- a/library/x509_crt.c
 +++ b/library/x509_crt.c
 @@ -65,6 +65,19 @@
@@ -77,20 +77,20 @@ index 290c1eb3d1..3cf1743821 100644
  #else
  #include <time.h>
  #endif
-@@ -1126,6 +1139,7 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
+@@ -1278,6 +1291,7 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
      char filename[MAX_PATH];
      char *p;
      size_t len = strlen( path );
-+    int length_as_int = 0;
++    int lengthAsInt = 0;
  
      WIN32_FIND_DATAW file_data;
      HANDLE hFind;
-@@ -1140,7 +1154,18 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
+@@ -1292,7 +1306,18 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
      p = filename + len;
      filename[len++] = '*';
  
 -    w_ret = MultiByteToWideChar( CP_ACP, 0, filename, (int)len, szDir,
-+    if ( FAILED ( SizeTToInt( len, &length_as_int ) ) )
++    if ( FAILED ( SizeTToInt( len, &lengthAsInt ) ) )
 +        return( MBEDTLS_ERR_X509_FILE_IO_ERROR );
 +
 +    /*
@@ -101,20 +101,20 @@ index 290c1eb3d1..3cf1743821 100644
 +     * incoming string are less than MAX_PATH to avoid a buffer overrun with
 +     * MultiByteToWideChar().
 +     */
-+    w_ret = MultiByteToWideChar( CP_ACP, 0, filename, length_as_int, szDir,
++    w_ret = MultiByteToWideChar( CP_ACP, 0, filename, lengthAsInt, szDir,
                                   MAX_PATH - 3 );
      if( w_ret == 0 )
          return( MBEDTLS_ERR_X509_BAD_INPUT_DATA );
-@@ -1157,8 +1182,11 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
+@@ -1309,8 +1334,11 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
          if( file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY )
              continue;
  
-+        if ( FAILED( SizeTToInt( wcslen( file_data.cFileName ), &length_as_int ) ) )
++        if ( FAILED( SizeTToInt( wcslen( file_data.cFileName ), &lengthAsInt ) ) )
 +            return( MBEDTLS_ERR_X509_FILE_IO_ERROR );
 +
          w_ret = WideCharToMultiByte( CP_ACP, 0, file_data.cFileName,
 -                                     lstrlenW( file_data.cFileName ),
-+                                     length_as_int,
++                                     lengthAsInt,
                                       p, (int) len - 1,
                                       NULL, NULL );
          if( w_ret == 0 )
diff --git a/thirdparty/mbedtls/include/mbedtls/aes.h b/thirdparty/mbedtls/include/mbedtls/aes.h
index f6603d5962..b42e564efc 100644
--- a/thirdparty/mbedtls/include/mbedtls/aes.h
+++ b/thirdparty/mbedtls/include/mbedtls/aes.h
@@ -60,7 +60,11 @@
 
 /* Error codes in range 0x0021-0x0025 */
 #define MBEDTLS_ERR_AES_BAD_INPUT_DATA                    -0x0021  /**< Invalid input data. */
+
+/* MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE is deprecated and should not be used. */
 #define MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE               -0x0023  /**< Feature not available. For example, an unsupported AES key size. */
+
+/* MBEDTLS_ERR_AES_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_AES_HW_ACCEL_FAILED                   -0x0025  /**< AES hardware accelerator failed. */
 
 #if ( defined(__ARMCC_VERSION) || defined(_MSC_VER) ) && \
@@ -79,7 +83,7 @@ extern "C" {
 /**
  * \brief The AES context-type definition.
  */
-typedef struct
+typedef struct mbedtls_aes_context
 {
     int nr;                     /*!< The number of rounds. */
     uint32_t *rk;               /*!< AES round keys. */
@@ -98,7 +102,7 @@ mbedtls_aes_context;
 /**
  * \brief The AES XTS context-type definition.
  */
-typedef struct
+typedef struct mbedtls_aes_xts_context
 {
     mbedtls_aes_context crypt; /*!< The AES context to use for AES block
                                         encryption or decryption. */
@@ -117,7 +121,7 @@ typedef struct
  *                 It must be the first API called before using
  *                 the context.
  *
- * \param ctx      The AES context to initialize.
+ * \param ctx      The AES context to initialize. This must not be \c NULL.
  */
 void mbedtls_aes_init( mbedtls_aes_context *ctx );
 
@@ -125,6 +129,8 @@ void mbedtls_aes_init( mbedtls_aes_context *ctx );
  * \brief          This function releases and clears the specified AES context.
  *
  * \param ctx      The AES context to clear.
+ *                 If this is \c NULL, this function does nothing.
+ *                 Otherwise, the context must have been at least initialized.
  */
 void mbedtls_aes_free( mbedtls_aes_context *ctx );
 
@@ -135,7 +141,7 @@ void mbedtls_aes_free( mbedtls_aes_context *ctx );
  *                 It must be the first API called before using
  *                 the context.
  *
- * \param ctx      The AES XTS context to initialize.
+ * \param ctx      The AES XTS context to initialize. This must not be \c NULL.
  */
 void mbedtls_aes_xts_init( mbedtls_aes_xts_context *ctx );
 
@@ -143,6 +149,8 @@ void mbedtls_aes_xts_init( mbedtls_aes_xts_context *ctx );
  * \brief          This function releases and clears the specified AES XTS context.
  *
  * \param ctx      The AES XTS context to clear.
+ *                 If this is \c NULL, this function does nothing.
+ *                 Otherwise, the context must have been at least initialized.
  */
 void mbedtls_aes_xts_free( mbedtls_aes_xts_context *ctx );
 #endif /* MBEDTLS_CIPHER_MODE_XTS */
@@ -151,7 +159,9 @@ void mbedtls_aes_xts_free( mbedtls_aes_xts_context *ctx );
  * \brief          This function sets the encryption key.
  *
  * \param ctx      The AES context to which the key should be bound.
+ *                 It must be initialized.
  * \param key      The encryption key.
+ *                 This must be a readable buffer of size \p keybits bits.
  * \param keybits  The size of data passed in bits. Valid options are:
  *                 <ul><li>128 bits</li>
  *                 <li>192 bits</li>
@@ -167,7 +177,9 @@ int mbedtls_aes_setkey_enc( mbedtls_aes_context *ctx, const unsigned char *key,
  * \brief          This function sets the decryption key.
  *
  * \param ctx      The AES context to which the key should be bound.
+ *                 It must be initialized.
  * \param key      The decryption key.
+ *                 This must be a readable buffer of size \p keybits bits.
  * \param keybits  The size of data passed. Valid options are:
  *                 <ul><li>128 bits</li>
  *                 <li>192 bits</li>
@@ -185,8 +197,10 @@ int mbedtls_aes_setkey_dec( mbedtls_aes_context *ctx, const unsigned char *key,
  *                 sets the encryption key.
  *
  * \param ctx      The AES XTS context to which the key should be bound.
+ *                 It must be initialized.
  * \param key      The encryption key. This is comprised of the XTS key1
  *                 concatenated with the XTS key2.
+ *                 This must be a readable buffer of size \p keybits bits.
  * \param keybits  The size of \p key passed in bits. Valid options are:
  *                 <ul><li>256 bits (each of key1 and key2 is a 128-bit key)</li>
  *                 <li>512 bits (each of key1 and key2 is a 256-bit key)</li></ul>
@@ -203,8 +217,10 @@ int mbedtls_aes_xts_setkey_enc( mbedtls_aes_xts_context *ctx,
  *                 sets the decryption key.
  *
  * \param ctx      The AES XTS context to which the key should be bound.
+ *                 It must be initialized.
  * \param key      The decryption key. This is comprised of the XTS key1
  *                 concatenated with the XTS key2.
+ *                 This must be a readable buffer of size \p keybits bits.
  * \param keybits  The size of \p key passed in bits. Valid options are:
  *                 <ul><li>256 bits (each of key1 and key2 is a 128-bit key)</li>
  *                 <li>512 bits (each of key1 and key2 is a 256-bit key)</li></ul>
@@ -230,10 +246,13 @@ int mbedtls_aes_xts_setkey_dec( mbedtls_aes_xts_context *ctx,
  *                 call to this API with the same context.
  *
  * \param ctx      The AES context to use for encryption or decryption.
+ *                 It must be initialized and bound to a key.
  * \param mode     The AES operation: #MBEDTLS_AES_ENCRYPT or
  *                 #MBEDTLS_AES_DECRYPT.
- * \param input    The 16-Byte buffer holding the input data.
- * \param output   The 16-Byte buffer holding the output data.
+ * \param input    The buffer holding the input data.
+ *                 It must be readable and at least \c 16 Bytes long.
+ * \param output   The buffer where the output data will be written.
+ *                 It must be writeable and at least \c 16 Bytes long.
 
  * \return         \c 0 on success.
  */
@@ -256,8 +275,8 @@ int mbedtls_aes_crypt_ecb( mbedtls_aes_context *ctx,
  *         mbedtls_aes_setkey_enc() or mbedtls_aes_setkey_dec() must be called
  *         before the first call to this API with the same context.
  *
- * \note   This function operates on aligned blocks, that is, the input size
- *         must be a multiple of the AES block size of 16 Bytes.
+ * \note   This function operates on full blocks, that is, the input size
+ *         must be a multiple of the AES block size of \c 16 Bytes.
  *
  * \note   Upon exit, the content of the IV is updated so that you can
  *         call the same function again on the next
@@ -268,13 +287,17 @@ int mbedtls_aes_crypt_ecb( mbedtls_aes_context *ctx,
  *
  *
  * \param ctx      The AES context to use for encryption or decryption.
+ *                 It must be initialized and bound to a key.
  * \param mode     The AES operation: #MBEDTLS_AES_ENCRYPT or
  *                 #MBEDTLS_AES_DECRYPT.
  * \param length   The length of the input data in Bytes. This must be a
- *                 multiple of the block size (16 Bytes).
+ *                 multiple of the block size (\c 16 Bytes).
  * \param iv       Initialization vector (updated after use).
+ *                 It must be a readable and writeable buffer of \c 16 Bytes.
  * \param input    The buffer holding the input data.
+ *                 It must be readable and of size \p length Bytes.
  * \param output   The buffer holding the output data.
+ *                 It must be writeable and of size \p length Bytes.
  *
  * \return         \c 0 on success.
  * \return         #MBEDTLS_ERR_AES_INVALID_INPUT_LENGTH
@@ -302,9 +325,10 @@ int mbedtls_aes_crypt_cbc( mbedtls_aes_context *ctx,
  *             returns #MBEDTLS_ERR_AES_INVALID_INPUT_LENGTH.
  *
  * \param ctx          The AES XTS context to use for AES XTS operations.
+ *                     It must be initialized and bound to a key.
  * \param mode         The AES operation: #MBEDTLS_AES_ENCRYPT or
  *                     #MBEDTLS_AES_DECRYPT.
- * \param length       The length of a data unit in bytes. This can be any
+ * \param length       The length of a data unit in Bytes. This can be any
  *                     length between 16 bytes and 2^24 bytes inclusive
  *                     (between 1 and 2^20 block cipher blocks).
  * \param data_unit    The address of the data unit encoded as an array of 16
@@ -312,15 +336,15 @@ int mbedtls_aes_crypt_cbc( mbedtls_aes_context *ctx,
  *                     is typically the index of the block device sector that
  *                     contains the data.
  * \param input        The buffer holding the input data (which is an entire
- *                     data unit). This function reads \p length bytes from \p
+ *                     data unit). This function reads \p length Bytes from \p
  *                     input.
  * \param output       The buffer holding the output data (which is an entire
- *                     data unit). This function writes \p length bytes to \p
+ *                     data unit). This function writes \p length Bytes to \p
  *                     output.
  *
  * \return             \c 0 on success.
  * \return             #MBEDTLS_ERR_AES_INVALID_INPUT_LENGTH if \p length is
- *                     smaller than an AES block in size (16 bytes) or if \p
+ *                     smaller than an AES block in size (16 Bytes) or if \p
  *                     length is larger than 2^20 blocks (16 MiB).
  */
 int mbedtls_aes_crypt_xts( mbedtls_aes_xts_context *ctx,
@@ -356,13 +380,18 @@ int mbedtls_aes_crypt_xts( mbedtls_aes_xts_context *ctx,
  *
  *
  * \param ctx      The AES context to use for encryption or decryption.
+ *                 It must be initialized and bound to a key.
  * \param mode     The AES operation: #MBEDTLS_AES_ENCRYPT or
  *                 #MBEDTLS_AES_DECRYPT.
- * \param length   The length of the input data.
+ * \param length   The length of the input data in Bytes.
  * \param iv_off   The offset in IV (updated after use).
+ *                 It must point to a valid \c size_t.
  * \param iv       The initialization vector (updated after use).
+ *                 It must be a readable and writeable buffer of \c 16 Bytes.
  * \param input    The buffer holding the input data.
+ *                 It must be readable and of size \p length Bytes.
  * \param output   The buffer holding the output data.
+ *                 It must be writeable and of size \p length Bytes.
  *
  * \return         \c 0 on success.
  */
@@ -397,12 +426,16 @@ int mbedtls_aes_crypt_cfb128( mbedtls_aes_context *ctx,
  *
  *
  * \param ctx      The AES context to use for encryption or decryption.
+ *                 It must be initialized and bound to a key.
  * \param mode     The AES operation: #MBEDTLS_AES_ENCRYPT or
  *                 #MBEDTLS_AES_DECRYPT
  * \param length   The length of the input data.
  * \param iv       The initialization vector (updated after use).
+ *                 It must be a readable and writeable buffer of \c 16 Bytes.
  * \param input    The buffer holding the input data.
+ *                 It must be readable and of size \p length Bytes.
  * \param output   The buffer holding the output data.
+ *                 It must be writeable and of size \p length Bytes.
  *
  * \return         \c 0 on success.
  */
@@ -447,11 +480,16 @@ int mbedtls_aes_crypt_cfb8( mbedtls_aes_context *ctx,
  *              will compromise security.
  *
  * \param ctx      The AES context to use for encryption or decryption.
+ *                 It must be initialized and bound to a key.
  * \param length   The length of the input data.
  * \param iv_off   The offset in IV (updated after use).
+ *                 It must point to a valid \c size_t.
  * \param iv       The initialization vector (updated after use).
+ *                 It must be a readable and writeable buffer of \c 16 Bytes.
  * \param input    The buffer holding the input data.
+ *                 It must be readable and of size \p length Bytes.
  * \param output   The buffer holding the output data.
+ *                 It must be writeable and of size \p length Bytes.
  *
  * \return         \c 0 on success.
  */
@@ -523,15 +561,21 @@ int mbedtls_aes_crypt_ofb( mbedtls_aes_context *ctx,
  *             securely discarded as soon as it's no longer needed.
  *
  * \param ctx              The AES context to use for encryption or decryption.
+ *                         It must be initialized and bound to a key.
  * \param length           The length of the input data.
  * \param nc_off           The offset in the current \p stream_block, for
  *                         resuming within the current cipher stream. The
  *                         offset pointer should be 0 at the start of a stream.
+ *                         It must point to a valid \c size_t.
  * \param nonce_counter    The 128-bit nonce and counter.
+ *                         It must be a readable-writeable buffer of \c 16 Bytes.
  * \param stream_block     The saved stream block for resuming. This is
  *                         overwritten by the function.
+ *                         It must be a readable-writeable buffer of \c 16 Bytes.
  * \param input            The buffer holding the input data.
+ *                         It must be readable and of size \p length Bytes.
  * \param output           The buffer holding the output data.
+ *                         It must be writeable and of size \p length Bytes.
  *
  * \return                 \c 0 on success.
  */
@@ -584,7 +628,7 @@ int mbedtls_internal_aes_decrypt( mbedtls_aes_context *ctx,
  * \brief           Deprecated internal AES block encryption function
  *                  without return value.
  *
- * \deprecated      Superseded by mbedtls_aes_encrypt_ext() in 2.5.0.
+ * \deprecated      Superseded by mbedtls_internal_aes_encrypt()
  *
  * \param ctx       The AES context to use for encryption.
  * \param input     Plaintext block.
@@ -598,7 +642,7 @@ MBEDTLS_DEPRECATED void mbedtls_aes_encrypt( mbedtls_aes_context *ctx,
  * \brief           Deprecated internal AES block decryption function
  *                  without return value.
  *
- * \deprecated      Superseded by mbedtls_aes_decrypt_ext() in 2.5.0.
+ * \deprecated      Superseded by mbedtls_internal_aes_decrypt()
  *
  * \param ctx       The AES context to use for decryption.
  * \param input     Ciphertext block.
diff --git a/thirdparty/mbedtls/include/mbedtls/aesni.h b/thirdparty/mbedtls/include/mbedtls/aesni.h
index 746baa0e17..0196f49b87 100644
--- a/thirdparty/mbedtls/include/mbedtls/aesni.h
+++ b/thirdparty/mbedtls/include/mbedtls/aesni.h
@@ -2,6 +2,9 @@
  * \file aesni.h
  *
  * \brief AES-NI for hardware AES acceleration on some Intel processors
+ *
+ * \warning These functions are only for internal use by other library
+ *          functions; you must not call them directly.
  */
 /*
  *  Copyright (C) 2006-2015, ARM Limited, All Rights Reserved
@@ -42,7 +45,10 @@ extern "C" {
 #endif
 
 /**
- * \brief          AES-NI features detection routine
+ * \brief          Internal function to detect the AES-NI feature in CPUs.
+ *
+ * \note           This function is only for internal use by other library
+ *                 functions; you must not call it directly.
  *
  * \param what     The feature to detect
  *                 (MBEDTLS_AESNI_AES or MBEDTLS_AESNI_CLMUL)
@@ -52,7 +58,10 @@ extern "C" {
 int mbedtls_aesni_has_support( unsigned int what );
 
 /**
- * \brief          AES-NI AES-ECB block en(de)cryption
+ * \brief          Internal AES-NI AES-ECB block encryption and decryption
+ *
+ * \note           This function is only for internal use by other library
+ *                 functions; you must not call it directly.
  *
  * \param ctx      AES context
  * \param mode     MBEDTLS_AES_ENCRYPT or MBEDTLS_AES_DECRYPT
@@ -62,12 +71,15 @@ int mbedtls_aesni_has_support( unsigned int what );
  * \return         0 on success (cannot fail)
  */
 int mbedtls_aesni_crypt_ecb( mbedtls_aes_context *ctx,
-                     int mode,
-                     const unsigned char input[16],
-                     unsigned char output[16] );
+                             int mode,
+                             const unsigned char input[16],
+                             unsigned char output[16] );
 
 /**
- * \brief          GCM multiplication: c = a * b in GF(2^128)
+ * \brief          Internal GCM multiplication: c = a * b in GF(2^128)
+ *
+ * \note           This function is only for internal use by other library
+ *                 functions; you must not call it directly.
  *
  * \param c        Result
  * \param a        First operand
@@ -77,21 +89,29 @@ int mbedtls_aesni_crypt_ecb( mbedtls_aes_context *ctx,
  *                 elements of GF(2^128) as per the GCM spec.
  */
 void mbedtls_aesni_gcm_mult( unsigned char c[16],
-                     const unsigned char a[16],
-                     const unsigned char b[16] );
+                             const unsigned char a[16],
+                             const unsigned char b[16] );
 
 /**
- * \brief           Compute decryption round keys from encryption round keys
+ * \brief           Internal round key inversion. This function computes
+ *                  decryption round keys from the encryption round keys.
+ *
+ * \note            This function is only for internal use by other library
+ *                  functions; you must not call it directly.
  *
  * \param invkey    Round keys for the equivalent inverse cipher
  * \param fwdkey    Original round keys (for encryption)
  * \param nr        Number of rounds (that is, number of round keys minus one)
  */
 void mbedtls_aesni_inverse_key( unsigned char *invkey,
-                        const unsigned char *fwdkey, int nr );
+                                const unsigned char *fwdkey,
+                                int nr );
 
 /**
- * \brief           Perform key expansion (for encryption)
+ * \brief           Internal key expansion for encryption
+ *
+ * \note            This function is only for internal use by other library
+ *                  functions; you must not call it directly.
  *
  * \param rk        Destination buffer where the round keys are written
  * \param key       Encryption key
@@ -100,8 +120,8 @@ void mbedtls_aesni_inverse_key( unsigned char *invkey,
  * \return          0 if successful, or MBEDTLS_ERR_AES_INVALID_KEY_LENGTH
  */
 int mbedtls_aesni_setkey_enc( unsigned char *rk,
-                      const unsigned char *key,
-                      size_t bits );
+                              const unsigned char *key,
+                              size_t bits );
 
 #ifdef __cplusplus
 }
diff --git a/thirdparty/mbedtls/include/mbedtls/arc4.h b/thirdparty/mbedtls/include/mbedtls/arc4.h
index f11fc5be0a..c43f4065f1 100644
--- a/thirdparty/mbedtls/include/mbedtls/arc4.h
+++ b/thirdparty/mbedtls/include/mbedtls/arc4.h
@@ -36,6 +36,7 @@
 
 #include <stddef.h>
 
+/* MBEDTLS_ERR_ARC4_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_ARC4_HW_ACCEL_FAILED                  -0x0019  /**< ARC4 hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -53,7 +54,7 @@ extern "C" {
  *            security risk. We recommend considering stronger ciphers instead.
  *
  */
-typedef struct
+typedef struct mbedtls_arc4_context
 {
     int x;                      /*!< permutation index */
     int y;                      /*!< permutation index */
diff --git a/thirdparty/mbedtls/include/mbedtls/aria.h b/thirdparty/mbedtls/include/mbedtls/aria.h
index bae0621b23..1e8956ed13 100644
--- a/thirdparty/mbedtls/include/mbedtls/aria.h
+++ b/thirdparty/mbedtls/include/mbedtls/aria.h
@@ -39,6 +39,8 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#include "platform_util.h"
+
 #define MBEDTLS_ARIA_ENCRYPT     1 /**< ARIA encryption. */
 #define MBEDTLS_ARIA_DECRYPT     0 /**< ARIA decryption. */
 
@@ -46,9 +48,18 @@
 #define MBEDTLS_ARIA_MAX_ROUNDS  16 /**< Maxiumum number of rounds in ARIA. */
 #define MBEDTLS_ARIA_MAX_KEYSIZE 32 /**< Maximum size of an ARIA key in bytes. */
 
-#define MBEDTLS_ERR_ARIA_INVALID_KEY_LENGTH   -0x005C  /**< Invalid key length. */
-#define MBEDTLS_ERR_ARIA_INVALID_INPUT_LENGTH -0x005E  /**< Invalid data input length. */
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+#define MBEDTLS_ERR_ARIA_INVALID_KEY_LENGTH   MBEDTLS_DEPRECATED_NUMERIC_CONSTANT( -0x005C )
+#endif /* !MBEDTLS_DEPRECATED_REMOVED */
+#define MBEDTLS_ERR_ARIA_BAD_INPUT_DATA -0x005C /**< Bad input data. */
+
+#define MBEDTLS_ERR_ARIA_INVALID_INPUT_LENGTH -0x005E /**< Invalid data input length. */
+
+/* MBEDTLS_ERR_ARIA_FEATURE_UNAVAILABLE is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_ARIA_FEATURE_UNAVAILABLE  -0x005A  /**< Feature not available. For example, an unsupported ARIA key size. */
+
+/* MBEDTLS_ERR_ARIA_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_ARIA_HW_ACCEL_FAILED      -0x0058  /**< ARIA hardware accelerator failed. */
 
 #if !defined(MBEDTLS_ARIA_ALT)
@@ -62,7 +73,7 @@ extern "C" {
 /**
  * \brief The ARIA context-type definition.
  */
-typedef struct
+typedef struct mbedtls_aria_context
 {
     unsigned char nr;           /*!< The number of rounds (12, 14 or 16) */
     /*! The ARIA round keys. */
@@ -80,14 +91,16 @@ mbedtls_aria_context;
  *                 It must be the first API called before using
  *                 the context.
  *
- * \param ctx      The ARIA context to initialize.
+ * \param ctx      The ARIA context to initialize. This must not be \c NULL.
  */
 void mbedtls_aria_init( mbedtls_aria_context *ctx );
 
 /**
  * \brief          This function releases and clears the specified ARIA context.
  *
- * \param ctx      The ARIA context to clear.
+ * \param ctx      The ARIA context to clear. This may be \c NULL, in which
+ *                 case this function returns immediately. If it is not \c NULL,
+ *                 it must point to an initialized ARIA context.
  */
 void mbedtls_aria_free( mbedtls_aria_context *ctx );
 
@@ -95,14 +108,16 @@ void mbedtls_aria_free( mbedtls_aria_context *ctx );
  * \brief          This function sets the encryption key.
  *
  * \param ctx      The ARIA context to which the key should be bound.
- * \param key      The encryption key.
- * \param keybits  The size of data passed in bits. Valid options are:
+ *                 This must be initialized.
+ * \param key      The encryption key. This must be a readable buffer
+ *                 of size \p keybits Bits.
+ * \param keybits  The size of \p key in Bits. Valid options are:
  *                 <ul><li>128 bits</li>
  *                 <li>192 bits</li>
  *                 <li>256 bits</li></ul>
  *
- * \return         \c 0 on success or #MBEDTLS_ERR_ARIA_INVALID_KEY_LENGTH
- *                 on failure.
+ * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_aria_setkey_enc( mbedtls_aria_context *ctx,
                              const unsigned char *key,
@@ -112,13 +127,16 @@ int mbedtls_aria_setkey_enc( mbedtls_aria_context *ctx,
  * \brief          This function sets the decryption key.
  *
  * \param ctx      The ARIA context to which the key should be bound.
- * \param key      The decryption key.
+ *                 This must be initialized.
+ * \param key      The decryption key. This must be a readable buffer
+ *                 of size \p keybits Bits.
  * \param keybits  The size of data passed. Valid options are:
  *                 <ul><li>128 bits</li>
  *                 <li>192 bits</li>
  *                 <li>256 bits</li></ul>
  *
- * \return         \c 0 on success, or #MBEDTLS_ERR_ARIA_INVALID_KEY_LENGTH on failure.
+ * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_aria_setkey_dec( mbedtls_aria_context *ctx,
                              const unsigned char *key,
@@ -137,10 +155,12 @@ int mbedtls_aria_setkey_dec( mbedtls_aria_context *ctx,
  *                 call to this API with the same context.
  *
  * \param ctx      The ARIA context to use for encryption or decryption.
+ *                 This must be initialized and bound to a key.
  * \param input    The 16-Byte buffer holding the input data.
  * \param output   The 16-Byte buffer holding the output data.
 
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_aria_crypt_ecb( mbedtls_aria_context *ctx,
                             const unsigned char input[MBEDTLS_ARIA_BLOCKSIZE],
@@ -172,16 +192,21 @@ int mbedtls_aria_crypt_ecb( mbedtls_aria_context *ctx,
  *
  *
  * \param ctx      The ARIA context to use for encryption or decryption.
- * \param mode     The ARIA operation: #MBEDTLS_ARIA_ENCRYPT or
- *                 #MBEDTLS_ARIA_DECRYPT.
+ *                 This must be initialized and bound to a key.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_ARIA_ENCRYPT for encryption, or
+ *                 #MBEDTLS_ARIA_DECRYPT for decryption.
  * \param length   The length of the input data in Bytes. This must be a
  *                 multiple of the block size (16 Bytes).
  * \param iv       Initialization vector (updated after use).
- * \param input    The buffer holding the input data.
- * \param output   The buffer holding the output data.
+ *                 This must be a readable buffer of size 16 Bytes.
+ * \param input    The buffer holding the input data. This must
+ *                 be a readable buffer of length \p length Bytes.
+ * \param output   The buffer holding the output data. This must
+ *                 be a writable buffer of length \p length Bytes.
  *
- * \return         \c 0 on success, or #MBEDTLS_ERR_ARIA_INVALID_INPUT_LENGTH
- *                 on failure.
+ * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_aria_crypt_cbc( mbedtls_aria_context *ctx,
                             int mode,
@@ -216,15 +241,22 @@ int mbedtls_aria_crypt_cbc( mbedtls_aria_context *ctx,
  *
  *
  * \param ctx      The ARIA context to use for encryption or decryption.
- * \param mode     The ARIA operation: #MBEDTLS_ARIA_ENCRYPT or
- *                 #MBEDTLS_ARIA_DECRYPT.
- * \param length   The length of the input data.
+ *                 This must be initialized and bound to a key.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_ARIA_ENCRYPT for encryption, or
+ *                 #MBEDTLS_ARIA_DECRYPT for decryption.
+ * \param length   The length of the input data \p input in Bytes.
  * \param iv_off   The offset in IV (updated after use).
+ *                 This must not be larger than 15.
  * \param iv       The initialization vector (updated after use).
- * \param input    The buffer holding the input data.
- * \param output   The buffer holding the output data.
+ *                 This must be a readable buffer of size 16 Bytes.
+ * \param input    The buffer holding the input data. This must
+ *                 be a readable buffer of length \p length Bytes.
+ * \param output   The buffer holding the output data. This must
+ *                 be a writable buffer of length \p length Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_aria_crypt_cfb128( mbedtls_aria_context *ctx,
                                int mode,
@@ -294,17 +326,24 @@ int mbedtls_aria_crypt_cfb128( mbedtls_aria_context *ctx,
  *             securely discarded as soon as it's no longer needed.
  *
  * \param ctx              The ARIA context to use for encryption or decryption.
- * \param length           The length of the input data.
- * \param nc_off           The offset in the current \p stream_block, for
- *                         resuming within the current cipher stream. The
- *                         offset pointer should be 0 at the start of a stream.
- * \param nonce_counter    The 128-bit nonce and counter.
- * \param stream_block     The saved stream block for resuming. This is
- *                         overwritten by the function.
- * \param input            The buffer holding the input data.
- * \param output           The buffer holding the output data.
- *
- * \return     \c 0 on success.
+ *                         This must be initialized and bound to a key.
+ * \param length           The length of the input data \p input in Bytes.
+ * \param nc_off           The offset in Bytes in the current \p stream_block,
+ *                         for resuming within the current cipher stream. The
+ *                         offset pointer should be \c 0 at the start of a
+ *                         stream. This must not be larger than \c 15 Bytes.
+ * \param nonce_counter    The 128-bit nonce and counter. This must point to
+ *                         a read/write buffer of length \c 16 bytes.
+ * \param stream_block     The saved stream block for resuming. This must
+ *                         point to a read/write buffer of length \c 16 bytes.
+ *                         This is overwritten by the function.
+ * \param input            The buffer holding the input data. This must
+ *                         be a readable buffer of length \p length Bytes.
+ * \param output           The buffer holding the output data. This must
+ *                         be a writable buffer of length \p length Bytes.
+ *
+ * \return                 \c 0 on success.
+ * \return                 A negative error code on failure.
  */
 int mbedtls_aria_crypt_ctr( mbedtls_aria_context *ctx,
                             size_t length,
diff --git a/thirdparty/mbedtls/include/mbedtls/asn1write.h b/thirdparty/mbedtls/include/mbedtls/asn1write.h
index f76fc807d0..76c1780b59 100644
--- a/thirdparty/mbedtls/include/mbedtls/asn1write.h
+++ b/thirdparty/mbedtls/include/mbedtls/asn1write.h
@@ -26,191 +26,272 @@
 
 #include "asn1.h"
 
-#define MBEDTLS_ASN1_CHK_ADD(g, f) do { if( ( ret = f ) < 0 ) return( ret ); else   \
-                                g += ret; } while( 0 )
+#define MBEDTLS_ASN1_CHK_ADD(g, f)                      \
+    do {                                                \
+        if( ( ret = f ) < 0 )                           \
+            return( ret );                              \
+        else                                            \
+            g += ret;                                   \
+    } while( 0 )
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /**
- * \brief           Write a length field in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a length field in ASN.1 format.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param len       the length to write
+ * \note            This function works backwards in data buffer.
  *
- * \return          the length written or a negative error code
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param len       The length value to write.
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
-int mbedtls_asn1_write_len( unsigned char **p, unsigned char *start, size_t len );
-
+int mbedtls_asn1_write_len( unsigned char **p, unsigned char *start,
+                            size_t len );
 /**
- * \brief           Write a ASN.1 tag in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write an ASN.1 tag in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param tag       the tag to write
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param tag       The tag to write.
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
 int mbedtls_asn1_write_tag( unsigned char **p, unsigned char *start,
-                    unsigned char tag );
+                            unsigned char tag );
 
 /**
- * \brief           Write raw buffer data
- *                  Note: function works backwards in data buffer
+ * \brief           Write raw buffer data.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param buf       data buffer to write
- * \param size      length of the data buffer
+ * \note            This function works backwards in data buffer.
  *
- * \return          the length written or a negative error code
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param buf       The data buffer to write.
+ * \param size      The length of the data buffer.
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
 int mbedtls_asn1_write_raw_buffer( unsigned char **p, unsigned char *start,
-                           const unsigned char *buf, size_t size );
+                                   const unsigned char *buf, size_t size );
 
 #if defined(MBEDTLS_BIGNUM_C)
 /**
- * \brief           Write a big number (MBEDTLS_ASN1_INTEGER) in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a arbitrary-precision number (#MBEDTLS_ASN1_INTEGER)
+ *                  in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param X         the MPI to write
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param X         The MPI to write.
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
-int mbedtls_asn1_write_mpi( unsigned char **p, unsigned char *start, const mbedtls_mpi *X );
+int mbedtls_asn1_write_mpi( unsigned char **p, unsigned char *start,
+                            const mbedtls_mpi *X );
 #endif /* MBEDTLS_BIGNUM_C */
 
 /**
- * \brief           Write a NULL tag (MBEDTLS_ASN1_NULL) with zero data in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a NULL tag (#MBEDTLS_ASN1_NULL) with zero data
+ *                  in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
 int mbedtls_asn1_write_null( unsigned char **p, unsigned char *start );
 
 /**
- * \brief           Write an OID tag (MBEDTLS_ASN1_OID) and data in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write an OID tag (#MBEDTLS_ASN1_OID) and data
+ *                  in ASN.1 format.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param oid       the OID to write
- * \param oid_len   length of the OID
+ * \note            This function works backwards in data buffer.
  *
- * \return          the length written or a negative error code
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param oid       The OID to write.
+ * \param oid_len   The length of the OID.
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
 int mbedtls_asn1_write_oid( unsigned char **p, unsigned char *start,
-                    const char *oid, size_t oid_len );
+                            const char *oid, size_t oid_len );
 
 /**
- * \brief           Write an AlgorithmIdentifier sequence in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write an AlgorithmIdentifier sequence in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param oid       the OID of the algorithm
- * \param oid_len   length of the OID
- * \param par_len   length of parameters, which must be already written.
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param oid       The OID of the algorithm to write.
+ * \param oid_len   The length of the algorithm's OID.
+ * \param par_len   The length of the parameters, which must be already written.
  *                  If 0, NULL parameters are added
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
-int mbedtls_asn1_write_algorithm_identifier( unsigned char **p, unsigned char *start,
-                                     const char *oid, size_t oid_len,
-                                     size_t par_len );
+int mbedtls_asn1_write_algorithm_identifier( unsigned char **p,
+                                             unsigned char *start,
+                                             const char *oid, size_t oid_len,
+                                             size_t par_len );
 
 /**
- * \brief           Write a boolean tag (MBEDTLS_ASN1_BOOLEAN) and value in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a boolean tag (#MBEDTLS_ASN1_BOOLEAN) and value
+ *                  in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param boolean   0 or 1
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param boolean   The boolean value to write, either \c 0 or \c 1.
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
-int mbedtls_asn1_write_bool( unsigned char **p, unsigned char *start, int boolean );
+int mbedtls_asn1_write_bool( unsigned char **p, unsigned char *start,
+                             int boolean );
 
 /**
- * \brief           Write an int tag (MBEDTLS_ASN1_INTEGER) and value in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write an int tag (#MBEDTLS_ASN1_INTEGER) and value
+ *                  in ASN.1 format.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param val       the integer value
+ * \note            This function works backwards in data buffer.
  *
- * \return          the length written or a negative error code
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param val       The integer value to write.
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
 int mbedtls_asn1_write_int( unsigned char **p, unsigned char *start, int val );
 
 /**
- * \brief           Write a printable string tag (MBEDTLS_ASN1_PRINTABLE_STRING) and
- *                  value in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a string in ASN.1 format using a specific
+ *                  string encoding tag.
+
+ * \note            This function works backwards in data buffer.
+ *
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param tag       The string encoding tag to write, e.g.
+ *                  #MBEDTLS_ASN1_UTF8_STRING.
+ * \param text      The string to write.
+ * \param text_len  The length of \p text in bytes (which might
+ *                  be strictly larger than the number of characters).
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative error code on failure.
+ */
+int mbedtls_asn1_write_tagged_string( unsigned char **p, unsigned char *start,
+                                      int tag, const char *text,
+                                      size_t text_len );
+
+/**
+ * \brief           Write a string in ASN.1 format using the PrintableString
+ *                  string encoding tag (#MBEDTLS_ASN1_PRINTABLE_STRING).
+ *
+ * \note            This function works backwards in data buffer.
+ *
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param text      The string to write.
+ * \param text_len  The length of \p text in bytes (which might
+ *                  be strictly larger than the number of characters).
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative error code on failure.
+ */
+int mbedtls_asn1_write_printable_string( unsigned char **p,
+                                         unsigned char *start,
+                                         const char *text, size_t text_len );
+
+/**
+ * \brief           Write a UTF8 string in ASN.1 format using the UTF8String
+ *                  string encoding tag (#MBEDTLS_ASN1_PRINTABLE_STRING).
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param text      the text to write
- * \param text_len  length of the text
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param text      The string to write.
+ * \param text_len  The length of \p text in bytes (which might
+ *                  be strictly larger than the number of characters).
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative error code on failure.
  */
-int mbedtls_asn1_write_printable_string( unsigned char **p, unsigned char *start,
-                                 const char *text, size_t text_len );
+int mbedtls_asn1_write_utf8_string( unsigned char **p, unsigned char *start,
+                                    const char *text, size_t text_len );
 
 /**
- * \brief           Write an IA5 string tag (MBEDTLS_ASN1_IA5_STRING) and
- *                  value in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a string in ASN.1 format using the IA5String
+ *                  string encoding tag (#MBEDTLS_ASN1_IA5_STRING).
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param text      the text to write
- * \param text_len  length of the text
+ * \note            This function works backwards in data buffer.
  *
- * \return          the length written or a negative error code
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param text      The string to write.
+ * \param text_len  The length of \p text in bytes (which might
+ *                  be strictly larger than the number of characters).
+ *
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative error code on failure.
  */
 int mbedtls_asn1_write_ia5_string( unsigned char **p, unsigned char *start,
-                           const char *text, size_t text_len );
+                                   const char *text, size_t text_len );
 
 /**
- * \brief           Write a bitstring tag (MBEDTLS_ASN1_BIT_STRING) and
- *                  value in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write a bitstring tag (#MBEDTLS_ASN1_BIT_STRING) and
+ *                  value in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param buf       the bitstring
- * \param bits      the total number of bits in the bitstring
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param buf       The bitstring to write.
+ * \param bits      The total number of bits in the bitstring.
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative error code on failure.
  */
 int mbedtls_asn1_write_bitstring( unsigned char **p, unsigned char *start,
-                          const unsigned char *buf, size_t bits );
+                                  const unsigned char *buf, size_t bits );
 
 /**
- * \brief           Write an octet string tag (MBEDTLS_ASN1_OCTET_STRING) and
- *                  value in ASN.1 format
- *                  Note: function works backwards in data buffer
+ * \brief           Write an octet string tag (#MBEDTLS_ASN1_OCTET_STRING)
+ *                  and value in ASN.1 format.
+ *
+ * \note            This function works backwards in data buffer.
  *
- * \param p         reference to current position pointer
- * \param start     start of the buffer (for bounds-checking)
- * \param buf       data buffer to write
- * \param size      length of the data buffer
+ * \param p         The reference to the current position pointer.
+ * \param start     The start of the buffer, for bounds-checking.
+ * \param buf       The buffer holding the data to write.
+ * \param size      The length of the data buffer \p buf.
  *
- * \return          the length written or a negative error code
+ * \return          The number of bytes written to \p p on success.
+ * \return          A negative error code on failure.
  */
 int mbedtls_asn1_write_octet_string( unsigned char **p, unsigned char *start,
-                             const unsigned char *buf, size_t size );
+                                     const unsigned char *buf, size_t size );
 
 /**
  * \brief           Create or find a specific named_data entry for writing in a
@@ -218,15 +299,16 @@ int mbedtls_asn1_write_octet_string( unsigned char **p, unsigned char *start,
  *                  a new entry is added to the head of the list.
  *                  Warning: Destructive behaviour for the val data!
  *
- * \param list      Pointer to the location of the head of the list to seek
- *                  through (will be updated in case of a new entry)
- * \param oid       The OID to look for
- * \param oid_len   Size of the OID
- * \param val       Data to store (can be NULL if you want to fill it by hand)
- * \param val_len   Minimum length of the data buffer needed
+ * \param list      The pointer to the location of the head of the list to seek
+ *                  through (will be updated in case of a new entry).
+ * \param oid       The OID to look for.
+ * \param oid_len   The size of the OID.
+ * \param val       The data to store (can be \c NULL if you want to fill
+ *                  it by hand).
+ * \param val_len   The minimum length of the data buffer needed.
  *
- * \return      NULL if if there was a memory allocation error, or a pointer
- *              to the new / existing entry.
+ * \return          A pointer to the new / existing entry on success.
+ * \return          \c NULL if if there was a memory allocation error.
  */
 mbedtls_asn1_named_data *mbedtls_asn1_store_named_data( mbedtls_asn1_named_data **list,
                                         const char *oid, size_t oid_len,
diff --git a/thirdparty/mbedtls/include/mbedtls/bignum.h b/thirdparty/mbedtls/include/mbedtls/bignum.h
index 31383b1eb5..141a8e9adf 100644
--- a/thirdparty/mbedtls/include/mbedtls/bignum.h
+++ b/thirdparty/mbedtls/include/mbedtls/bignum.h
@@ -177,7 +177,7 @@ extern "C" {
 /**
  * \brief          MPI structure
  */
-typedef struct
+typedef struct mbedtls_mpi
 {
     int s;              /*!<  integer sign      */
     size_t n;           /*!<  total # of limbs  */
@@ -186,96 +186,115 @@ typedef struct
 mbedtls_mpi;
 
 /**
- * \brief           Initialize one MPI (make internal references valid)
- *                  This just makes it ready to be set or freed,
+ * \brief           Initialize an MPI context.
+ *
+ *                  This makes the MPI ready to be set or freed,
  *                  but does not define a value for the MPI.
  *
- * \param X         One MPI to initialize.
+ * \param X         The MPI context to initialize. This must not be \c NULL.
  */
 void mbedtls_mpi_init( mbedtls_mpi *X );
 
 /**
- * \brief          Unallocate one MPI
+ * \brief          This function frees the components of an MPI context.
  *
- * \param X        One MPI to unallocate.
+ * \param X        The MPI context to be cleared. This may be \c NULL,
+ *                 in which case this function is a no-op. If it is
+ *                 not \c NULL, it must point to an initialized MPI.
  */
 void mbedtls_mpi_free( mbedtls_mpi *X );
 
 /**
- * \brief          Enlarge to the specified number of limbs
+ * \brief          Enlarge an MPI to the specified number of limbs.
  *
- *                 This function does nothing if the MPI is already large enough.
+ * \note           This function does nothing if the MPI is
+ *                 already large enough.
  *
- * \param X        MPI to grow
- * \param nblimbs  The target number of limbs
+ * \param X        The MPI to grow. It must be initialized.
+ * \param nblimbs  The target number of limbs.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on other kinds of failure.
  */
 int mbedtls_mpi_grow( mbedtls_mpi *X, size_t nblimbs );
 
 /**
- * \brief          Resize down, keeping at least the specified number of limbs
+ * \brief          This function resizes an MPI downwards, keeping at least the
+ *                 specified number of limbs.
  *
  *                 If \c X is smaller than \c nblimbs, it is resized up
  *                 instead.
  *
- * \param X        MPI to shrink
- * \param nblimbs  The minimum number of limbs to keep
+ * \param X        The MPI to shrink. This must point to an initialized MPI.
+ * \param nblimbs  The minimum number of limbs to keep.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
  *                 (this can only happen when resizing up).
+ * \return         Another negative error code on other kinds of failure.
  */
 int mbedtls_mpi_shrink( mbedtls_mpi *X, size_t nblimbs );
 
 /**
- * \brief          Copy the contents of Y into X
+ * \brief          Make a copy of an MPI.
+ *
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param Y        The source MPI. This must point to an initialized MPI.
  *
- * \param X        Destination MPI. It is enlarged if necessary.
- * \param Y        Source MPI.
+ * \note           The limb-buffer in the destination MPI is enlarged
+ *                 if necessary to hold the value in the source MPI.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on other kinds of failure.
  */
 int mbedtls_mpi_copy( mbedtls_mpi *X, const mbedtls_mpi *Y );
 
 /**
- * \brief          Swap the contents of X and Y
+ * \brief          Swap the contents of two MPIs.
  *
- * \param X        First MPI value
- * \param Y        Second MPI value
+ * \param X        The first MPI. It must be initialized.
+ * \param Y        The second MPI. It must be initialized.
  */
 void mbedtls_mpi_swap( mbedtls_mpi *X, mbedtls_mpi *Y );
 
 /**
- * \brief          Safe conditional assignement X = Y if assign is 1
+ * \brief          Perform a safe conditional copy of MPI which doesn't
+ *                 reveal whether the condition was true or not.
  *
- * \param X        MPI to conditionally assign to
- * \param Y        Value to be assigned
- * \param assign   1: perform the assignment, 0: keep X's original value
- *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
+ * \param X        The MPI to conditionally assign to. This must point
+ *                 to an initialized MPI.
+ * \param Y        The MPI to be assigned from. This must point to an
+ *                 initialized MPI.
+ * \param assign   The condition deciding whether to perform the
+ *                 assignment or not. Possible values:
+ *                 * \c 1: Perform the assignment `X = Y`.
+ *                 * \c 0: Keep the original value of \p X.
  *
  * \note           This function is equivalent to
- *                      if( assign ) mbedtls_mpi_copy( X, Y );
+ *                      `if( assign ) mbedtls_mpi_copy( X, Y );`
  *                 except that it avoids leaking any information about whether
  *                 the assignment was done or not (the above code may leak
  *                 information through branch prediction and/or memory access
  *                 patterns analysis).
+ *
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on other kinds of failure.
  */
 int mbedtls_mpi_safe_cond_assign( mbedtls_mpi *X, const mbedtls_mpi *Y, unsigned char assign );
 
 /**
- * \brief          Safe conditional swap X <-> Y if swap is 1
+ * \brief          Perform a safe conditional swap which doesn't
+ *                 reveal whether the condition was true or not.
  *
- * \param X        First mbedtls_mpi value
- * \param Y        Second mbedtls_mpi value
- * \param assign   1: perform the swap, 0: keep X and Y's original values
- *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
+ * \param X        The first MPI. This must be initialized.
+ * \param Y        The second MPI. This must be initialized.
+ * \param assign   The condition deciding whether to perform
+ *                 the swap or not. Possible values:
+ *                 * \c 1: Swap the values of \p X and \p Y.
+ *                 * \c 0: Keep the original values of \p X and \p Y.
  *
  * \note           This function is equivalent to
  *                      if( assign ) mbedtls_mpi_swap( X, Y );
@@ -283,415 +302,512 @@ int mbedtls_mpi_safe_cond_assign( mbedtls_mpi *X, const mbedtls_mpi *Y, unsigned
  *                 the assignment was done or not (the above code may leak
  *                 information through branch prediction and/or memory access
  *                 patterns analysis).
+ *
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on other kinds of failure.
+ *
  */
 int mbedtls_mpi_safe_cond_swap( mbedtls_mpi *X, mbedtls_mpi *Y, unsigned char assign );
 
 /**
- * \brief          Set value from integer
+ * \brief          Store integer value in MPI.
  *
- * \param X        MPI to set
- * \param z        Value to use
+ * \param X        The MPI to set. This must be initialized.
+ * \param z        The value to use.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on other kinds of failure.
  */
 int mbedtls_mpi_lset( mbedtls_mpi *X, mbedtls_mpi_sint z );
 
 /**
- * \brief          Get a specific bit from X
+ * \brief          Get a specific bit from an MPI.
  *
- * \param X        MPI to use
- * \param pos      Zero-based index of the bit in X
+ * \param X        The MPI to query. This must be initialized.
+ * \param pos      Zero-based index of the bit to query.
  *
- * \return         Either a 0 or a 1
+ * \return         \c 0 or \c 1 on success, depending on whether bit \c pos
+ *                 of \c X is unset or set.
+ * \return         A negative error code on failure.
  */
 int mbedtls_mpi_get_bit( const mbedtls_mpi *X, size_t pos );
 
 /**
- * \brief          Set a bit of X to a specific value of 0 or 1
+ * \brief          Modify a specific bit in an MPI.
  *
- * \note           Will grow X if necessary to set a bit to 1 in a not yet
- *                 existing limb. Will not grow if bit should be set to 0
+ * \note           This function will grow the target MPI if necessary to set a
+ *                 bit to \c 1 in a not yet existing limb. It will not grow if
+ *                 the bit should be set to \c 0.
  *
- * \param X        MPI to use
- * \param pos      Zero-based index of the bit in X
- * \param val      The value to set the bit to (0 or 1)
+ * \param X        The MPI to modify. This must be initialized.
+ * \param pos      Zero-based index of the bit to modify.
+ * \param val      The desired value of bit \c pos: \c 0 or \c 1.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_BAD_INPUT_DATA if val is not 0 or 1
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on other kinds of failure.
  */
 int mbedtls_mpi_set_bit( mbedtls_mpi *X, size_t pos, unsigned char val );
 
 /**
- * \brief          Return the number of zero-bits before the least significant
- *                 '1' bit
+ * \brief          Return the number of bits of value \c 0 before the
+ *                 least significant bit of value \c 1.
+ *
+ * \note           This is the same as the zero-based index of
+ *                 the least significant bit of value \c 1.
  *
- * Note: Thus also the zero-based index of the least significant '1' bit
+ * \param X        The MPI to query.
  *
- * \param X        MPI to use
+ * \return         The number of bits of value \c 0 before the least significant
+ *                 bit of value \c 1 in \p X.
  */
 size_t mbedtls_mpi_lsb( const mbedtls_mpi *X );
 
 /**
  * \brief          Return the number of bits up to and including the most
- *                 significant '1' bit'
+ *                 significant bit of value \c 1.
  *
- * Note: Thus also the one-based index of the most significant '1' bit
+ * * \note         This is same as the one-based index of the most
+ *                 significant bit of value \c 1.
  *
- * \param X        MPI to use
+ * \param X        The MPI to query. This must point to an initialized MPI.
+ *
+ * \return         The number of bits up to and including the most
+ *                 significant bit of value \c 1.
  */
 size_t mbedtls_mpi_bitlen( const mbedtls_mpi *X );
 
 /**
- * \brief          Return the total size in bytes
+ * \brief          Return the total size of an MPI value in bytes.
+ *
+ * \param X        The MPI to use. This must point to an initialized MPI.
  *
- * \param X        MPI to use
+ * \note           The value returned by this function may be less than
+ *                 the number of bytes used to store \p X internally.
+ *                 This happens if and only if there are trailing bytes
+ *                 of value zero.
+ *
+ * \return         The least number of bytes capable of storing
+ *                 the absolute value of \p X.
  */
 size_t mbedtls_mpi_size( const mbedtls_mpi *X );
 
 /**
- * \brief          Import from an ASCII string
+ * \brief          Import an MPI from an ASCII string.
  *
- * \param X        Destination MPI
- * \param radix    Input numeric base
- * \param s        Null-terminated string buffer
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param radix    The numeric base of the input string.
+ * \param s        Null-terminated string buffer.
  *
- * \return         0 if successful, or a MBEDTLS_ERR_MPI_XXX error code
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_mpi_read_string( mbedtls_mpi *X, int radix, const char *s );
 
 /**
- * \brief          Export into an ASCII string
+ * \brief          Export an MPI to an ASCII string.
  *
- * \param X        Source MPI
- * \param radix    Output numeric base
- * \param buf      Buffer to write the string to
- * \param buflen   Length of buf
- * \param olen     Length of the string written, including final NUL byte
+ * \param X        The source MPI. This must point to an initialized MPI.
+ * \param radix    The numeric base of the output string.
+ * \param buf      The buffer to write the string to. This must be writable
+ *                 buffer of length \p buflen Bytes.
+ * \param buflen   The available size in Bytes of \p buf.
+ * \param olen     The address at which to store the length of the string
+ *                 written, including the  final \c NULL byte. This must
+ *                 not be \c NULL.
  *
- * \return         0 if successful, or a MBEDTLS_ERR_MPI_XXX error code.
- *                 *olen is always updated to reflect the amount
- *                 of data that has (or would have) been written.
+ * \note           You can call this function with `buflen == 0` to obtain the
+ *                 minimum required buffer size in `*olen`.
  *
- * \note           Call this function with buflen = 0 to obtain the
- *                 minimum required buffer size in *olen.
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL if the target buffer \p buf
+ *                 is too small to hold the value of \p X in the desired base.
+ *                 In this case, `*olen` is nonetheless updated to contain the
+ *                 size of \p buf required for a successful call.
+ * \return         Another negative error code on different kinds of failure.
  */
 int mbedtls_mpi_write_string( const mbedtls_mpi *X, int radix,
                               char *buf, size_t buflen, size_t *olen );
 
 #if defined(MBEDTLS_FS_IO)
 /**
- * \brief          Read MPI from a line in an opened file
- *
- * \param X        Destination MPI
- * \param radix    Input numeric base
- * \param fin      Input file handle
+ * \brief          Read an MPI from a line in an opened file.
  *
- * \return         0 if successful, MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL if
- *                 the file read buffer is too small or a
- *                 MBEDTLS_ERR_MPI_XXX error code
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param radix    The numeric base of the string representation used
+ *                 in the source line.
+ * \param fin      The input file handle to use. This must not be \c NULL.
  *
  * \note           On success, this function advances the file stream
  *                 to the end of the current line or to EOF.
  *
- *                 The function returns 0 on an empty line.
+ *                 The function returns \c 0 on an empty line.
  *
  *                 Leading whitespaces are ignored, as is a
- *                 '0x' prefix for radix 16.
+ *                 '0x' prefix for radix \c 16.
  *
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL if the file read buffer
+ *                 is too small.
+ * \return         Another negative error code on failure.
  */
 int mbedtls_mpi_read_file( mbedtls_mpi *X, int radix, FILE *fin );
 
 /**
- * \brief          Write X into an opened file, or stdout if fout is NULL
+ * \brief          Export an MPI into an opened file.
  *
- * \param p        Prefix, can be NULL
- * \param X        Source MPI
- * \param radix    Output numeric base
- * \param fout     Output file handle (can be NULL)
+ * \param p        A string prefix to emit prior to the MPI data.
+ *                 For example, this might be a label, or "0x" when
+ *                 printing in base \c 16. This may be \c NULL if no prefix
+ *                 is needed.
+ * \param X        The source MPI. This must point to an initialized MPI.
+ * \param radix    The numeric base to be used in the emitted string.
+ * \param fout     The output file handle. This may be \c NULL, in which case
+ *                 the output is written to \c stdout.
  *
- * \return         0 if successful, or a MBEDTLS_ERR_MPI_XXX error code
- *
- * \note           Set fout == NULL to print X on the console.
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
-int mbedtls_mpi_write_file( const char *p, const mbedtls_mpi *X, int radix, FILE *fout );
+int mbedtls_mpi_write_file( const char *p, const mbedtls_mpi *X,
+                            int radix, FILE *fout );
 #endif /* MBEDTLS_FS_IO */
 
 /**
- * \brief          Import X from unsigned binary data, big endian
+ * \brief          Import an MPI from unsigned big endian binary data.
  *
- * \param X        Destination MPI
- * \param buf      Input buffer
- * \param buflen   Input buffer size
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param buf      The input buffer. This must be a readable buffer of length
+ *                 \p buflen Bytes.
+ * \param buflen   The length of the input buffer \p p in Bytes.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_read_binary( mbedtls_mpi *X, const unsigned char *buf, size_t buflen );
+int mbedtls_mpi_read_binary( mbedtls_mpi *X, const unsigned char *buf,
+                             size_t buflen );
 
 /**
- * \brief          Export X into unsigned binary data, big endian.
- *                 Always fills the whole buffer, which will start with zeros
- *                 if the number is smaller.
+ * \brief          Export an MPI into unsigned big endian binary data
+ *                 of fixed size.
  *
- * \param X        Source MPI
- * \param buf      Output buffer
- * \param buflen   Output buffer size
+ * \param X        The source MPI. This must point to an initialized MPI.
+ * \param buf      The output buffer. This must be a writable buffer of length
+ *                 \p buflen Bytes.
+ * \param buflen   The size of the output buffer \p buf in Bytes.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL if buf isn't large enough
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL if \p buf isn't
+ *                 large enough to hold the value of \p X.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_write_binary( const mbedtls_mpi *X, unsigned char *buf, size_t buflen );
+int mbedtls_mpi_write_binary( const mbedtls_mpi *X, unsigned char *buf,
+                              size_t buflen );
 
 /**
- * \brief          Left-shift: X <<= count
+ * \brief          Perform a left-shift on an MPI: X <<= count
  *
- * \param X        MPI to shift
- * \param count    Amount to shift
+ * \param X        The MPI to shift. This must point to an initialized MPI.
+ * \param count    The number of bits to shift by.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
 int mbedtls_mpi_shift_l( mbedtls_mpi *X, size_t count );
 
 /**
- * \brief          Right-shift: X >>= count
+ * \brief          Perform a right-shift on an MPI: X >>= count
  *
- * \param X        MPI to shift
- * \param count    Amount to shift
+ * \param X        The MPI to shift. This must point to an initialized MPI.
+ * \param count    The number of bits to shift by.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
 int mbedtls_mpi_shift_r( mbedtls_mpi *X, size_t count );
 
 /**
- * \brief          Compare unsigned values
+ * \brief          Compare the absolute values of two MPIs.
  *
- * \param X        Left-hand MPI
- * \param Y        Right-hand MPI
+ * \param X        The left-hand MPI. This must point to an initialized MPI.
+ * \param Y        The right-hand MPI. This must point to an initialized MPI.
  *
- * \return         1 if |X| is greater than |Y|,
- *                -1 if |X| is lesser  than |Y| or
- *                 0 if |X| is equal to |Y|
+ * \return         \c 1 if `|X|` is greater than `|Y|`.
+ * \return         \c -1 if `|X|` is lesser than `|Y|`.
+ * \return         \c 0 if `|X|` is equal to `|Y|`.
  */
 int mbedtls_mpi_cmp_abs( const mbedtls_mpi *X, const mbedtls_mpi *Y );
 
 /**
- * \brief          Compare signed values
+ * \brief          Compare two MPIs.
  *
- * \param X        Left-hand MPI
- * \param Y        Right-hand MPI
+ * \param X        The left-hand MPI. This must point to an initialized MPI.
+ * \param Y        The right-hand MPI. This must point to an initialized MPI.
  *
- * \return         1 if X is greater than Y,
- *                -1 if X is lesser  than Y or
- *                 0 if X is equal to Y
+ * \return         \c 1 if \p X is greater than \p Y.
+ * \return         \c -1 if \p X is lesser than \p Y.
+ * \return         \c 0 if \p X is equal to \p Y.
  */
 int mbedtls_mpi_cmp_mpi( const mbedtls_mpi *X, const mbedtls_mpi *Y );
 
 /**
- * \brief          Compare signed values
+ * \brief          Compare an MPI with an integer.
  *
- * \param X        Left-hand MPI
- * \param z        The integer value to compare to
+ * \param X        The left-hand MPI. This must point to an initialized MPI.
+ * \param z        The integer value to compare \p X to.
  *
- * \return         1 if X is greater than z,
- *                -1 if X is lesser  than z or
- *                 0 if X is equal to z
+ * \return         \c 1 if \p X is greater than \p z.
+ * \return         \c -1 if \p X is lesser than \p z.
+ * \return         \c 0 if \p X is equal to \p z.
  */
 int mbedtls_mpi_cmp_int( const mbedtls_mpi *X, mbedtls_mpi_sint z );
 
 /**
- * \brief          Unsigned addition: X = |A| + |B|
+ * \brief          Perform an unsigned addition of MPIs: X = |A| + |B|
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The first summand. This must point to an initialized MPI.
+ * \param B        The second summand. This must point to an initialized MPI.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_add_abs( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_add_abs( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Unsigned subtraction: X = |A| - |B|
+ * \brief          Perform an unsigned subtraction of MPIs: X = |A| - |B|
+ *
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The minuend. This must point to an initialized MPI.
+ * \param B        The subtrahend. This must point to an initialized MPI.
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_NEGATIVE_VALUE if \p B is greater than \p A.
+ * \return         Another negative error code on different kinds of failure.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_NEGATIVE_VALUE if B is greater than A
  */
-int mbedtls_mpi_sub_abs( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_sub_abs( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Signed addition: X = A + B
+ * \brief          Perform a signed addition of MPIs: X = A + B
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The first summand. This must point to an initialized MPI.
+ * \param B        The second summand. This must point to an initialized MPI.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_add_mpi( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_add_mpi( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Signed subtraction: X = A - B
+ * \brief          Perform a signed subtraction of MPIs: X = A - B
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The minuend. This must point to an initialized MPI.
+ * \param B        The subtrahend. This must point to an initialized MPI.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_sub_mpi( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_sub_mpi( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Signed addition: X = A + b
+ * \brief          Perform a signed addition of an MPI and an integer: X = A + b
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param b        The integer value to add
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The first summand. This must point to an initialized MPI.
+ * \param b        The second summand.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_add_int( mbedtls_mpi *X, const mbedtls_mpi *A, mbedtls_mpi_sint b );
+int mbedtls_mpi_add_int( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         mbedtls_mpi_sint b );
 
 /**
- * \brief          Signed subtraction: X = A - b
+ * \brief          Perform a signed subtraction of an MPI and an integer:
+ *                 X = A - b
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param b        The integer value to subtract
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The minuend. This must point to an initialized MPI.
+ * \param b        The subtrahend.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_sub_int( mbedtls_mpi *X, const mbedtls_mpi *A, mbedtls_mpi_sint b );
+int mbedtls_mpi_sub_int( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         mbedtls_mpi_sint b );
 
 /**
- * \brief          Baseline multiplication: X = A * B
+ * \brief          Perform a multiplication of two MPIs: X = A * B
+ *
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The first factor. This must point to an initialized MPI.
+ * \param B        The second factor. This must point to an initialized MPI.
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
  */
-int mbedtls_mpi_mul_mpi( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_mul_mpi( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Baseline multiplication: X = A * b
+ * \brief          Perform a multiplication of an MPI with an unsigned integer:
+ *                 X = A * b
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param b        The unsigned integer value to multiply with
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The first factor. This must point to an initialized MPI.
+ * \param b        The second factor.
  *
- * \note           b is unsigned
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
  */
-int mbedtls_mpi_mul_int( mbedtls_mpi *X, const mbedtls_mpi *A, mbedtls_mpi_uint b );
+int mbedtls_mpi_mul_int( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         mbedtls_mpi_uint b );
 
 /**
- * \brief          Division by mbedtls_mpi: A = Q * B + R
+ * \brief          Perform a division with remainder of two MPIs:
+ *                 A = Q * B + R
  *
- * \param Q        Destination MPI for the quotient
- * \param R        Destination MPI for the rest value
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \param Q        The destination MPI for the quotient.
+ *                 This may be \c NULL if the value of the
+ *                 quotient is not needed.
+ * \param R        The destination MPI for the remainder value.
+ *                 This may be \c NULL if the value of the
+ *                 remainder is not needed.
+ * \param A        The dividend. This must point to an initialized MPi.
+ * \param B        The divisor. This must point to an initialized MPI.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if B == 0
- *
- * \note           Either Q or R can be NULL.
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if \p B equals zero.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_div_mpi( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_div_mpi( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Division by int: A = Q * b + R
- *
- * \param Q        Destination MPI for the quotient
- * \param R        Destination MPI for the rest value
- * \param A        Left-hand MPI
- * \param b        Integer to divide by
+ * \brief          Perform a division with remainder of an MPI by an integer:
+ *                 A = Q * b + R
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if b == 0
+ * \param Q        The destination MPI for the quotient.
+ *                 This may be \c NULL if the value of the
+ *                 quotient is not needed.
+ * \param R        The destination MPI for the remainder value.
+ *                 This may be \c NULL if the value of the
+ *                 remainder is not needed.
+ * \param A        The dividend. This must point to an initialized MPi.
+ * \param b        The divisor.
  *
- * \note           Either Q or R can be NULL.
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if \p b equals zero.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_div_int( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A, mbedtls_mpi_sint b );
+int mbedtls_mpi_div_int( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A,
+                         mbedtls_mpi_sint b );
 
 /**
- * \brief          Modulo: R = A mod B
+ * \brief          Perform a modular reduction. R = A mod B
  *
- * \param R        Destination MPI for the rest value
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
+ * \param R        The destination MPI for the residue value.
+ *                 This must point to an initialized MPI.
+ * \param A        The MPI to compute the residue of.
+ *                 This must point to an initialized MPI.
+ * \param B        The base of the modular reduction.
+ *                 This must point to an initialized MPI.
+ *
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if \p B equals zero.
+ * \return         #MBEDTLS_ERR_MPI_NEGATIVE_VALUE if \p B is negative.
+ * \return         Another negative error code on different kinds of failure.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if B == 0,
- *                 MBEDTLS_ERR_MPI_NEGATIVE_VALUE if B < 0
  */
-int mbedtls_mpi_mod_mpi( mbedtls_mpi *R, const mbedtls_mpi *A, const mbedtls_mpi *B );
+int mbedtls_mpi_mod_mpi( mbedtls_mpi *R, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B );
 
 /**
- * \brief          Modulo: r = A mod b
+ * \brief          Perform a modular reduction with respect to an integer.
+ *                 r = A mod b
  *
- * \param r        Destination mbedtls_mpi_uint
- * \param A        Left-hand MPI
- * \param b        Integer to divide by
+ * \param r        The address at which to store the residue.
+ *                 This must not be \c NULL.
+ * \param A        The MPI to compute the residue of.
+ *                 This must point to an initialized MPi.
+ * \param b        The integer base of the modular reduction.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if b == 0,
- *                 MBEDTLS_ERR_MPI_NEGATIVE_VALUE if b < 0
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_DIVISION_BY_ZERO if \p b equals zero.
+ * \return         #MBEDTLS_ERR_MPI_NEGATIVE_VALUE if \p b is negative.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_mod_int( mbedtls_mpi_uint *r, const mbedtls_mpi *A, mbedtls_mpi_sint b );
+int mbedtls_mpi_mod_int( mbedtls_mpi_uint *r, const mbedtls_mpi *A,
+                         mbedtls_mpi_sint b );
 
 /**
- * \brief          Sliding-window exponentiation: X = A^E mod N
- *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param E        Exponent MPI
- * \param N        Modular MPI
- * \param _RR      Speed-up MPI used for recalculations
+ * \brief          Perform a sliding-window exponentiation: X = A^E mod N
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_BAD_INPUT_DATA if N is negative or even or
- *                 if E is negative
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The base of the exponentiation.
+ *                 This must point to an initialized MPI.
+ * \param E        The exponent MPI. This must point to an initialized MPI.
+ * \param N        The base for the modular reduction. This must point to an
+ *                 initialized MPI.
+ * \param _RR      A helper MPI depending solely on \p N which can be used to
+ *                 speed-up multiple modular exponentiations for the same value
+ *                 of \p N. This may be \c NULL. If it is not \c NULL, it must
+ *                 point to an initialized MPI. If it hasn't been used after
+ *                 the call to mbedtls_mpi_init(), this function will compute
+ *                 the helper value and store it in \p _RR for reuse on
+ *                 subsequent calls to this function. Otherwise, the function
+ *                 will assume that \p _RR holds the helper value set by a
+ *                 previous call to mbedtls_mpi_exp_mod(), and reuse it.
+ *
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_BAD_INPUT_DATA if \c N is negative or
+ *                 even, or if \c E is negative.
+ * \return         Another negative error code on different kinds of failures.
  *
- * \note           _RR is used to avoid re-computing R*R mod N across
- *                 multiple calls, which speeds up things a bit. It can
- *                 be set to NULL if the extra performance is unneeded.
  */
-int mbedtls_mpi_exp_mod( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *E, const mbedtls_mpi *N, mbedtls_mpi *_RR );
+int mbedtls_mpi_exp_mod( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *E, const mbedtls_mpi *N,
+                         mbedtls_mpi *_RR );
 
 /**
- * \brief          Fill an MPI X with size bytes of random
+ * \brief          Fill an MPI with a number of random bytes.
  *
- * \param X        Destination MPI
- * \param size     Size in bytes
- * \param f_rng    RNG function
- * \param p_rng    RNG parameter
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param size     The number of random bytes to generate.
+ * \param f_rng    The RNG function to use. This must not be \c NULL.
+ * \param p_rng    The RNG parameter to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng doesn't need a context argument.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on failure.
  *
- * \note           The bytes obtained from the PRNG are interpreted
+ * \note           The bytes obtained from the RNG are interpreted
  *                 as a big-endian representation of an MPI; this can
  *                 be relevant in applications like deterministic ECDSA.
  */
@@ -700,61 +816,130 @@ int mbedtls_mpi_fill_random( mbedtls_mpi *X, size_t size,
                      void *p_rng );
 
 /**
- * \brief          Greatest common divisor: G = gcd(A, B)
- *
- * \param G        Destination MPI
- * \param A        Left-hand MPI
- * \param B        Right-hand MPI
- *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed
- */
-int mbedtls_mpi_gcd( mbedtls_mpi *G, const mbedtls_mpi *A, const mbedtls_mpi *B );
-
-/**
- * \brief          Modular inverse: X = A^-1 mod N
+ * \brief          Compute the greatest common divisor: G = gcd(A, B)
  *
- * \param X        Destination MPI
- * \param A        Left-hand MPI
- * \param N        Right-hand MPI
+ * \param G        The destination MPI. This must point to an initialized MPI.
+ * \param A        The first operand. This must point to an initialized MPI.
+ * \param B        The second operand. This must point to an initialized MPI.
  *
- * \return         0 if successful,
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_BAD_INPUT_DATA if N is <= 1,
-                   MBEDTLS_ERR_MPI_NOT_ACCEPTABLE if A has no inverse mod N.
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         Another negative error code on different kinds of failure.
  */
-int mbedtls_mpi_inv_mod( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *N );
+int mbedtls_mpi_gcd( mbedtls_mpi *G, const mbedtls_mpi *A,
+                     const mbedtls_mpi *B );
 
 /**
- * \brief          Miller-Rabin primality test
+ * \brief          Compute the modular inverse: X = A^-1 mod N
  *
- * \param X        MPI to check
- * \param f_rng    RNG function
- * \param p_rng    RNG parameter
+ * \param X        The destination MPI. This must point to an initialized MPI.
+ * \param A        The MPI to calculate the modular inverse of. This must point
+ *                 to an initialized MPI.
+ * \param N        The base of the modular inversion. This must point to an
+ *                 initialized MPI.
  *
- * \return         0 if successful (probably prime),
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_NOT_ACCEPTABLE if X is not prime
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_BAD_INPUT_DATA if \p N is less than
+ *                 or equal to one.
+ * \return         #MBEDTLS_ERR_MPI_NOT_ACCEPTABLE if \p has no modular inverse
+ *                 with respect to \p N.
  */
-int mbedtls_mpi_is_prime( const mbedtls_mpi *X,
-                  int (*f_rng)(void *, unsigned char *, size_t),
-                  void *p_rng );
+int mbedtls_mpi_inv_mod( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *N );
 
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+#if defined(MBEDTLS_DEPRECATED_WARNING)
+#define MBEDTLS_DEPRECATED      __attribute__((deprecated))
+#else
+#define MBEDTLS_DEPRECATED
+#endif
 /**
- * \brief          Prime number generation
- *
- * \param X        Destination MPI
- * \param nbits    Required size of X in bits
- *                 ( 3 <= nbits <= MBEDTLS_MPI_MAX_BITS )
- * \param dh_flag  If 1, then (X-1)/2 will be prime too
- * \param f_rng    RNG function
- * \param p_rng    RNG parameter
- *
- * \return         0 if successful (probably prime),
- *                 MBEDTLS_ERR_MPI_ALLOC_FAILED if memory allocation failed,
- *                 MBEDTLS_ERR_MPI_BAD_INPUT_DATA if nbits is < 3
- */
-int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int dh_flag,
+ * \brief          Perform a Miller-Rabin primality test with error
+ *                 probability of 2<sup>-80</sup>.
+ *
+ * \deprecated     Superseded by mbedtls_mpi_is_prime_ext() which allows
+ *                 specifying the number of Miller-Rabin rounds.
+ *
+ * \param X        The MPI to check for primality.
+ *                 This must point to an initialized MPI.
+ * \param f_rng    The RNG function to use. This must not be \c NULL.
+ * \param p_rng    The RNG parameter to be passed to \p f_rng.
+ *                 This may be \c NULL if \p f_rng doesn't use a
+ *                 context parameter.
+ *
+ * \return         \c 0 if successful, i.e. \p X is probably prime.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_NOT_ACCEPTABLE if \p X is not prime.
+ * \return         Another negative error code on other kinds of failure.
+ */
+MBEDTLS_DEPRECATED int mbedtls_mpi_is_prime( const mbedtls_mpi *X,
+                          int (*f_rng)(void *, unsigned char *, size_t),
+                          void *p_rng );
+#undef MBEDTLS_DEPRECATED
+#endif /* !MBEDTLS_DEPRECATED_REMOVED */
+
+/**
+ * \brief          Miller-Rabin primality test.
+ *
+ * \warning        If \p X is potentially generated by an adversary, for example
+ *                 when validating cryptographic parameters that you didn't
+ *                 generate yourself and that are supposed to be prime, then
+ *                 \p rounds should be at least the half of the security
+ *                 strength of the cryptographic algorithm. On the other hand,
+ *                 if \p X is chosen uniformly or non-adversially (as is the
+ *                 case when mbedtls_mpi_gen_prime calls this function), then
+ *                 \p rounds can be much lower.
+ *
+ * \param X        The MPI to check for primality.
+ *                 This must point to an initialized MPI.
+ * \param rounds   The number of bases to perform the Miller-Rabin primality
+ *                 test for. The probability of returning 0 on a composite is
+ *                 at most 2<sup>-2*\p rounds</sup>.
+ * \param f_rng    The RNG function to use. This must not be \c NULL.
+ * \param p_rng    The RNG parameter to be passed to \p f_rng.
+ *                 This may be \c NULL if \p f_rng doesn't use
+ *                 a context parameter.
+ *
+ * \return         \c 0 if successful, i.e. \p X is probably prime.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_NOT_ACCEPTABLE if \p X is not prime.
+ * \return         Another negative error code on other kinds of failure.
+ */
+int mbedtls_mpi_is_prime_ext( const mbedtls_mpi *X, int rounds,
+                              int (*f_rng)(void *, unsigned char *, size_t),
+                              void *p_rng );
+/**
+ * \brief Flags for mbedtls_mpi_gen_prime()
+ *
+ * Each of these flags is a constraint on the result X returned by
+ * mbedtls_mpi_gen_prime().
+ */
+typedef enum {
+    MBEDTLS_MPI_GEN_PRIME_FLAG_DH =      0x0001, /**< (X-1)/2 is prime too */
+    MBEDTLS_MPI_GEN_PRIME_FLAG_LOW_ERR = 0x0002, /**< lower error rate from 2<sup>-80</sup> to 2<sup>-128</sup> */
+} mbedtls_mpi_gen_prime_flag_t;
+
+/**
+ * \brief          Generate a prime number.
+ *
+ * \param X        The destination MPI to store the generated prime in.
+ *                 This must point to an initialized MPi.
+ * \param nbits    The required size of the destination MPI in bits.
+ *                 This must be between \c 3 and #MBEDTLS_MPI_MAX_BITS.
+ * \param flags    A mask of flags of type #mbedtls_mpi_gen_prime_flag_t.
+ * \param f_rng    The RNG function to use. This must not be \c NULL.
+ * \param p_rng    The RNG parameter to be passed to \p f_rng.
+ *                 This may be \c NULL if \p f_rng doesn't use
+ *                 a context parameter.
+ *
+ * \return         \c 0 if successful, in which case \p X holds a
+ *                 probably prime number.
+ * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED if a memory allocation failed.
+ * \return         #MBEDTLS_ERR_MPI_BAD_INPUT_DATA if `nbits` is not between
+ *                 \c 3 and #MBEDTLS_MPI_MAX_BITS.
+ */
+int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int flags,
                    int (*f_rng)(void *, unsigned char *, size_t),
                    void *p_rng );
 
diff --git a/thirdparty/mbedtls/include/mbedtls/blowfish.h b/thirdparty/mbedtls/include/mbedtls/blowfish.h
index 985faa43f0..f01573dcaf 100644
--- a/thirdparty/mbedtls/include/mbedtls/blowfish.h
+++ b/thirdparty/mbedtls/include/mbedtls/blowfish.h
@@ -33,6 +33,8 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#include "platform_util.h"
+
 #define MBEDTLS_BLOWFISH_ENCRYPT     1
 #define MBEDTLS_BLOWFISH_DECRYPT     0
 #define MBEDTLS_BLOWFISH_MAX_KEY_BITS     448
@@ -40,9 +42,16 @@
 #define MBEDTLS_BLOWFISH_ROUNDS      16         /**< Rounds to use. When increasing this value, make sure to extend the initialisation vectors */
 #define MBEDTLS_BLOWFISH_BLOCKSIZE   8          /* Blowfish uses 64 bit blocks */
 
-#define MBEDTLS_ERR_BLOWFISH_INVALID_KEY_LENGTH                -0x0016  /**< Invalid key length. */
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+#define MBEDTLS_ERR_BLOWFISH_INVALID_KEY_LENGTH   MBEDTLS_DEPRECATED_NUMERIC_CONSTANT( -0x0016 )
+#endif /* !MBEDTLS_DEPRECATED_REMOVED */
+#define MBEDTLS_ERR_BLOWFISH_BAD_INPUT_DATA -0x0016 /**< Bad input data. */
+
+#define MBEDTLS_ERR_BLOWFISH_INVALID_INPUT_LENGTH -0x0018 /**< Invalid data input length. */
+
+/* MBEDTLS_ERR_BLOWFISH_HW_ACCEL_FAILED is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_BLOWFISH_HW_ACCEL_FAILED                   -0x0017  /**< Blowfish hardware accelerator failed. */
-#define MBEDTLS_ERR_BLOWFISH_INVALID_INPUT_LENGTH              -0x0018  /**< Invalid data input length. */
 
 #ifdef __cplusplus
 extern "C" {
@@ -55,7 +64,7 @@ extern "C" {
 /**
  * \brief          Blowfish context structure
  */
-typedef struct
+typedef struct mbedtls_blowfish_context
 {
     uint32_t P[MBEDTLS_BLOWFISH_ROUNDS + 2];    /*!<  Blowfish round keys    */
     uint32_t S[4][256];                 /*!<  key dependent S-boxes  */
@@ -67,40 +76,53 @@ mbedtls_blowfish_context;
 #endif /* MBEDTLS_BLOWFISH_ALT */
 
 /**
- * \brief          Initialize Blowfish context
+ * \brief          Initialize a Blowfish context.
  *
- * \param ctx      Blowfish context to be initialized
+ * \param ctx      The Blowfish context to be initialized.
+ *                 This must not be \c NULL.
  */
 void mbedtls_blowfish_init( mbedtls_blowfish_context *ctx );
 
 /**
- * \brief          Clear Blowfish context
+ * \brief          Clear a Blowfish context.
  *
- * \param ctx      Blowfish context to be cleared
+ * \param ctx      The Blowfish context to be cleared.
+ *                 This may be \c NULL, in which case this function
+ *                 returns immediately. If it is not \c NULL, it must
+ *                 point to an initialized Blowfish context.
  */
 void mbedtls_blowfish_free( mbedtls_blowfish_context *ctx );
 
 /**
- * \brief          Blowfish key schedule
+ * \brief          Perform a Blowfish key schedule operation.
  *
- * \param ctx      Blowfish context to be initialized
- * \param key      encryption key
- * \param keybits  must be between 32 and 448 bits
+ * \param ctx      The Blowfish context to perform the key schedule on.
+ * \param key      The encryption key. This must be a readable buffer of
+ *                 length \p keybits Bits.
+ * \param keybits  The length of \p key in Bits. This must be between
+ *                 \c 32 and \c 448 and a multiple of \c 8.
  *
- * \return         0 if successful, or MBEDTLS_ERR_BLOWFISH_INVALID_KEY_LENGTH
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_blowfish_setkey( mbedtls_blowfish_context *ctx, const unsigned char *key,
                      unsigned int keybits );
 
 /**
- * \brief          Blowfish-ECB block encryption/decryption
+ * \brief          Perform a Blowfish-ECB block encryption/decryption operation.
  *
- * \param ctx      Blowfish context
- * \param mode     MBEDTLS_BLOWFISH_ENCRYPT or MBEDTLS_BLOWFISH_DECRYPT
- * \param input    8-byte input block
- * \param output   8-byte output block
+ * \param ctx      The Blowfish context to use. This must be initialized
+ *                 and bound to a key.
+ * \param mode     The mode of operation. Possible values are
+ *                 #MBEDTLS_BLOWFISH_ENCRYPT for encryption, or
+ *                 #MBEDTLS_BLOWFISH_DECRYPT for decryption.
+ * \param input    The input block. This must be a readable buffer
+ *                 of size \c 8 Bytes.
+ * \param output   The output block. This must be a writable buffer
+ *                 of size \c 8 Bytes.
  *
- * \return         0 if successful
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_blowfish_crypt_ecb( mbedtls_blowfish_context *ctx,
                         int mode,
@@ -109,9 +131,7 @@ int mbedtls_blowfish_crypt_ecb( mbedtls_blowfish_context *ctx,
 
 #if defined(MBEDTLS_CIPHER_MODE_CBC)
 /**
- * \brief          Blowfish-CBC buffer encryption/decryption
- *                 Length should be a multiple of the block
- *                 size (8 bytes)
+ * \brief          Perform a Blowfish-CBC buffer encryption/decryption operation.
  *
  * \note           Upon exit, the content of the IV is updated so that you can
  *                 call the function same function again on the following
@@ -121,15 +141,22 @@ int mbedtls_blowfish_crypt_ecb( mbedtls_blowfish_context *ctx,
  *                 IV, you should either save it manually or use the cipher
  *                 module instead.
  *
- * \param ctx      Blowfish context
- * \param mode     MBEDTLS_BLOWFISH_ENCRYPT or MBEDTLS_BLOWFISH_DECRYPT
- * \param length   length of the input data
- * \param iv       initialization vector (updated after use)
- * \param input    buffer holding the input data
- * \param output   buffer holding the output data
+ * \param ctx      The Blowfish context to use. This must be initialized
+ *                 and bound to a key.
+ * \param mode     The mode of operation. Possible values are
+ *                 #MBEDTLS_BLOWFISH_ENCRYPT for encryption, or
+ *                 #MBEDTLS_BLOWFISH_DECRYPT for decryption.
+ * \param length   The length of the input data in Bytes. This must be
+ *                 multiple of \c 8.
+ * \param iv       The initialization vector. This must be a read/write buffer
+ *                 of length \c 8 Bytes. It is updated by this function.
+ * \param input    The input data. This must be a readable buffer of length
+ *                 \p length Bytes.
+ * \param output   The output data. This must be a writable buffer of length
+ *                 \p length Bytes.
  *
- * \return         0 if successful, or
- *                 MBEDTLS_ERR_BLOWFISH_INVALID_INPUT_LENGTH
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_blowfish_crypt_cbc( mbedtls_blowfish_context *ctx,
                         int mode,
@@ -141,7 +168,7 @@ int mbedtls_blowfish_crypt_cbc( mbedtls_blowfish_context *ctx,
 
 #if defined(MBEDTLS_CIPHER_MODE_CFB)
 /**
- * \brief          Blowfish CFB buffer encryption/decryption.
+ * \brief          Perform a Blowfish CFB buffer encryption/decryption operation.
  *
  * \note           Upon exit, the content of the IV is updated so that you can
  *                 call the function same function again on the following
@@ -151,15 +178,25 @@ int mbedtls_blowfish_crypt_cbc( mbedtls_blowfish_context *ctx,
  *                 IV, you should either save it manually or use the cipher
  *                 module instead.
  *
- * \param ctx      Blowfish context
- * \param mode     MBEDTLS_BLOWFISH_ENCRYPT or MBEDTLS_BLOWFISH_DECRYPT
- * \param length   length of the input data
- * \param iv_off   offset in IV (updated after use)
- * \param iv       initialization vector (updated after use)
- * \param input    buffer holding the input data
- * \param output   buffer holding the output data
+ * \param ctx      The Blowfish context to use. This must be initialized
+ *                 and bound to a key.
+ * \param mode     The mode of operation. Possible values are
+ *                 #MBEDTLS_BLOWFISH_ENCRYPT for encryption, or
+ *                 #MBEDTLS_BLOWFISH_DECRYPT for decryption.
+ * \param length   The length of the input data in Bytes.
+ * \param iv_off   The offset in the initialiation vector.
+ *                 The value pointed to must be smaller than \c 8 Bytes.
+ *                 It is updated by this function to support the aforementioned
+ *                 streaming usage.
+ * \param iv       The initialization vector. This must be a read/write buffer
+ *                 of size \c 8 Bytes. It is updated after use.
+ * \param input    The input data. This must be a readable buffer of length
+ *                 \p length Bytes.
+ * \param output   The output data. This must be a writable buffer of length
+ *                 \p length Bytes.
  *
- * \return         0 if successful
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_blowfish_crypt_cfb64( mbedtls_blowfish_context *ctx,
                           int mode,
@@ -172,7 +209,7 @@ int mbedtls_blowfish_crypt_cfb64( mbedtls_blowfish_context *ctx,
 
 #if defined(MBEDTLS_CIPHER_MODE_CTR)
 /**
- * \brief               Blowfish-CTR buffer encryption/decryption
+ * \brief      Perform a Blowfish-CTR buffer encryption/decryption operation.
  *
  * \warning    You must never reuse a nonce value with the same key. Doing so
  *             would void the encryption for the two messages encrypted with
@@ -215,18 +252,24 @@ int mbedtls_blowfish_crypt_cfb64( mbedtls_blowfish_context *ctx,
  *             content must not be written to insecure storage and should be
  *             securely discarded as soon as it's no longer needed.
  *
- * \param ctx           Blowfish context
- * \param length        The length of the data
+ * \param ctx           The Blowfish context to use. This must be initialized
+ *                      and bound to a key.
+ * \param length        The length of the input data in Bytes.
  * \param nc_off        The offset in the current stream_block (for resuming
- *                      within current cipher stream). The offset pointer to
- *                      should be 0 at the start of a stream.
- * \param nonce_counter The 64-bit nonce and counter.
- * \param stream_block  The saved stream-block for resuming. Is overwritten
- *                      by the function.
- * \param input         The input data stream
- * \param output        The output data stream
- *
- * \return         0 if successful
+ *                      within current cipher stream). The offset pointer
+ *                      should be \c 0 at the start of a stream and must be
+ *                      smaller than \c 8. It is updated by this function.
+ * \param nonce_counter The 64-bit nonce and counter. This must point to a
+ *                      read/write buffer of length \c 8 Bytes.
+ * \param stream_block  The saved stream-block for resuming. This must point to
+ *                      a read/write buffer of length \c 8 Bytes.
+ * \param input         The input data. This must be a readable buffer of
+ *                      length \p length Bytes.
+ * \param output        The output data. This must be a writable buffer of
+ *                      length \p length Bytes.
+ *
+ * \return              \c 0 if successful.
+ * \return              A negative error code on failure.
  */
 int mbedtls_blowfish_crypt_ctr( mbedtls_blowfish_context *ctx,
                         size_t length,
diff --git a/thirdparty/mbedtls/include/mbedtls/bn_mul.h b/thirdparty/mbedtls/include/mbedtls/bn_mul.h
index b587317d95..2f7b72fe4c 100644
--- a/thirdparty/mbedtls/include/mbedtls/bn_mul.h
+++ b/thirdparty/mbedtls/include/mbedtls/bn_mul.h
@@ -170,19 +170,19 @@
 
 #define MULADDC_INIT                        \
     asm(                                    \
-        "xorq   %%r8, %%r8          \n\t"
+        "xorq   %%r8, %%r8\n"
 
 #define MULADDC_CORE                        \
-        "movq   (%%rsi), %%rax      \n\t"   \
-        "mulq   %%rbx               \n\t"   \
-        "addq   $8,      %%rsi      \n\t"   \
-        "addq   %%rcx,   %%rax      \n\t"   \
-        "movq   %%r8,    %%rcx      \n\t"   \
-        "adcq   $0,      %%rdx      \n\t"   \
-        "nop                        \n\t"   \
-        "addq   %%rax,   (%%rdi)    \n\t"   \
-        "adcq   %%rdx,   %%rcx      \n\t"   \
-        "addq   $8,      %%rdi      \n\t"
+        "movq   (%%rsi), %%rax\n"           \
+        "mulq   %%rbx\n"                    \
+        "addq   $8, %%rsi\n"                \
+        "addq   %%rcx, %%rax\n"             \
+        "movq   %%r8, %%rcx\n"              \
+        "adcq   $0, %%rdx\n"                \
+        "nop    \n"                         \
+        "addq   %%rax, (%%rdi)\n"           \
+        "adcq   %%rdx, %%rcx\n"             \
+        "addq   $8, %%rdi\n"
 
 #define MULADDC_STOP                        \
         : "+c" (c), "+D" (d), "+S" (s)      \
@@ -565,9 +565,8 @@
 #endif /* TriCore */
 
 /*
- * gcc -O0 by default uses r7 for the frame pointer, so it complains about our
- * use of r7 below, unless -fomit-frame-pointer is passed. Unfortunately,
- * passing that option is not easy when building with yotta.
+ * Note, gcc -O0 by default uses r7 for the frame pointer, so it complains about
+ * our use of r7 below, unless -fomit-frame-pointer is passed.
  *
  * On the other hand, -fomit-frame-pointer is implied by any -Ox options with
  * x !=0, which we can detect using __OPTIMIZE__ (which is also defined by
@@ -637,6 +636,23 @@
            "r6", "r7", "r8", "r9", "cc"         \
          );
 
+#elif defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)
+
+#define MULADDC_INIT                            \
+    asm(
+
+#define MULADDC_CORE                            \
+            "ldr    r0, [%0], #4        \n\t"   \
+            "ldr    r1, [%1]            \n\t"   \
+            "umaal  r1, %2, %3, r0      \n\t"   \
+            "str    r1, [%1], #4        \n\t"
+
+#define MULADDC_STOP                            \
+         : "=r" (s),  "=r" (d), "=r" (c)        \
+         : "r" (b), "0" (s), "1" (d), "2" (c)   \
+         : "r0", "r1", "memory"                 \
+         );
+
 #else
 
 #define MULADDC_INIT                                    \
diff --git a/thirdparty/mbedtls/include/mbedtls/camellia.h b/thirdparty/mbedtls/include/mbedtls/camellia.h
index 7e4721af78..0f7c42c92d 100644
--- a/thirdparty/mbedtls/include/mbedtls/camellia.h
+++ b/thirdparty/mbedtls/include/mbedtls/camellia.h
@@ -33,11 +33,20 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#include "platform_util.h"
+
 #define MBEDTLS_CAMELLIA_ENCRYPT     1
 #define MBEDTLS_CAMELLIA_DECRYPT     0
 
-#define MBEDTLS_ERR_CAMELLIA_INVALID_KEY_LENGTH           -0x0024  /**< Invalid key length. */
-#define MBEDTLS_ERR_CAMELLIA_INVALID_INPUT_LENGTH         -0x0026  /**< Invalid data input length. */
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+#define MBEDTLS_ERR_CAMELLIA_INVALID_KEY_LENGTH   MBEDTLS_DEPRECATED_NUMERIC_CONSTANT( -0x0024 )
+#endif /* !MBEDTLS_DEPRECATED_REMOVED */
+#define MBEDTLS_ERR_CAMELLIA_BAD_INPUT_DATA -0x0024 /**< Bad input data. */
+
+#define MBEDTLS_ERR_CAMELLIA_INVALID_INPUT_LENGTH -0x0026 /**< Invalid data input length. */
+
+/* MBEDTLS_ERR_CAMELLIA_HW_ACCEL_FAILED is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_CAMELLIA_HW_ACCEL_FAILED              -0x0027  /**< Camellia hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -51,7 +60,7 @@ extern "C" {
 /**
  * \brief          CAMELLIA context structure
  */
-typedef struct
+typedef struct mbedtls_camellia_context
 {
     int nr;                     /*!<  number of rounds  */
     uint32_t rk[68];            /*!<  CAMELLIA round keys    */
@@ -63,52 +72,68 @@ mbedtls_camellia_context;
 #endif /* MBEDTLS_CAMELLIA_ALT */
 
 /**
- * \brief          Initialize CAMELLIA context
+ * \brief          Initialize a CAMELLIA context.
  *
- * \param ctx      CAMELLIA context to be initialized
+ * \param ctx      The CAMELLIA context to be initialized.
+ *                 This must not be \c NULL.
  */
 void mbedtls_camellia_init( mbedtls_camellia_context *ctx );
 
 /**
- * \brief          Clear CAMELLIA context
+ * \brief          Clear a CAMELLIA context.
  *
- * \param ctx      CAMELLIA context to be cleared
+ * \param ctx      The CAMELLIA context to be cleared. This may be \c NULL,
+ *                 in which case this function returns immediately. If it is not
+ *                 \c NULL, it must be initialized.
  */
 void mbedtls_camellia_free( mbedtls_camellia_context *ctx );
 
 /**
- * \brief          CAMELLIA key schedule (encryption)
+ * \brief          Perform a CAMELLIA key schedule operation for encryption.
  *
- * \param ctx      CAMELLIA context to be initialized
- * \param key      encryption key
- * \param keybits  must be 128, 192 or 256
+ * \param ctx      The CAMELLIA context to use. This must be initialized.
+ * \param key      The encryption key to use. This must be a readable buffer
+ *                 of size \p keybits Bits.
+ * \param keybits  The length of \p key in Bits. This must be either \c 128,
+ *                 \c 192 or \c 256.
  *
- * \return         0 if successful, or MBEDTLS_ERR_CAMELLIA_INVALID_KEY_LENGTH
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
-int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx, const unsigned char *key,
-                         unsigned int keybits );
+int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx,
+                                 const unsigned char *key,
+                                 unsigned int keybits );
 
 /**
- * \brief          CAMELLIA key schedule (decryption)
+ * \brief          Perform a CAMELLIA key schedule operation for decryption.
  *
- * \param ctx      CAMELLIA context to be initialized
- * \param key      decryption key
- * \param keybits  must be 128, 192 or 256
+ * \param ctx      The CAMELLIA context to use. This must be initialized.
+ * \param key      The decryption key. This must be a readable buffer
+ *                 of size \p keybits Bits.
+ * \param keybits  The length of \p key in Bits. This must be either \c 128,
+ *                 \c 192 or \c 256.
  *
- * \return         0 if successful, or MBEDTLS_ERR_CAMELLIA_INVALID_KEY_LENGTH
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
-int mbedtls_camellia_setkey_dec( mbedtls_camellia_context *ctx, const unsigned char *key,
-                         unsigned int keybits );
+int mbedtls_camellia_setkey_dec( mbedtls_camellia_context *ctx,
+                                 const unsigned char *key,
+                                 unsigned int keybits );
 
 /**
- * \brief          CAMELLIA-ECB block encryption/decryption
- *
- * \param ctx      CAMELLIA context
- * \param mode     MBEDTLS_CAMELLIA_ENCRYPT or MBEDTLS_CAMELLIA_DECRYPT
- * \param input    16-byte input block
- * \param output   16-byte output block
- *
- * \return         0 if successful
+ * \brief          Perform a CAMELLIA-ECB block encryption/decryption operation.
+ *
+ * \param ctx      The CAMELLIA context to use. This must be initialized
+ *                 and bound to a key.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_CAMELLIA_ENCRYPT or #MBEDTLS_CAMELLIA_DECRYPT.
+ * \param input    The input block. This must be a readable buffer
+ *                 of size \c 16 Bytes.
+ * \param output   The output block. This must be a writable buffer
+ *                 of size \c 16 Bytes.
+ *
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_camellia_crypt_ecb( mbedtls_camellia_context *ctx,
                     int mode,
@@ -117,9 +142,7 @@ int mbedtls_camellia_crypt_ecb( mbedtls_camellia_context *ctx,
 
 #if defined(MBEDTLS_CIPHER_MODE_CBC)
 /**
- * \brief          CAMELLIA-CBC buffer encryption/decryption
- *                 Length should be a multiple of the block
- *                 size (16 bytes)
+ * \brief          Perform a CAMELLIA-CBC buffer encryption/decryption operation.
  *
  * \note           Upon exit, the content of the IV is updated so that you can
  *                 call the function same function again on the following
@@ -129,15 +152,22 @@ int mbedtls_camellia_crypt_ecb( mbedtls_camellia_context *ctx,
  *                 IV, you should either save it manually or use the cipher
  *                 module instead.
  *
- * \param ctx      CAMELLIA context
- * \param mode     MBEDTLS_CAMELLIA_ENCRYPT or MBEDTLS_CAMELLIA_DECRYPT
- * \param length   length of the input data
- * \param iv       initialization vector (updated after use)
- * \param input    buffer holding the input data
- * \param output   buffer holding the output data
- *
- * \return         0 if successful, or
- *                 MBEDTLS_ERR_CAMELLIA_INVALID_INPUT_LENGTH
+ * \param ctx      The CAMELLIA context to use. This must be initialized
+ *                 and bound to a key.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_CAMELLIA_ENCRYPT or #MBEDTLS_CAMELLIA_DECRYPT.
+ * \param length   The length in Bytes of the input data \p input.
+ *                 This must be a multiple of \c 16 Bytes.
+ * \param iv       The initialization vector. This must be a read/write buffer
+ *                 of length \c 16 Bytes. It is updated to allow streaming
+ *                 use as explained above.
+ * \param input    The buffer holding the input data. This must point to a
+ *                 readable buffer of length \p length Bytes.
+ * \param output   The buffer holding the output data. This must point to a
+ *                 writable buffer of length \p length Bytes.
+ *
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_camellia_crypt_cbc( mbedtls_camellia_context *ctx,
                     int mode,
@@ -149,11 +179,14 @@ int mbedtls_camellia_crypt_cbc( mbedtls_camellia_context *ctx,
 
 #if defined(MBEDTLS_CIPHER_MODE_CFB)
 /**
- * \brief          CAMELLIA-CFB128 buffer encryption/decryption
+ * \brief          Perform a CAMELLIA-CFB128 buffer encryption/decryption
+ *                 operation.
  *
- * Note: Due to the nature of CFB you should use the same key schedule for
- * both encryption and decryption. So a context initialized with
- * mbedtls_camellia_setkey_enc() for both MBEDTLS_CAMELLIA_ENCRYPT and CAMELLIE_DECRYPT.
+ * \note           Due to the nature of CFB mode, you should use the same
+ *                 key for both encryption and decryption. In particular, calls
+ *                 to this function should be preceded by a key-schedule via
+ *                 mbedtls_camellia_setkey_enc() regardless of whether \p mode
+ *                 is #MBEDTLS_CAMELLIA_ENCRYPT or #MBEDTLS_CAMELLIA_DECRYPT.
  *
  * \note           Upon exit, the content of the IV is updated so that you can
  *                 call the function same function again on the following
@@ -163,16 +196,24 @@ int mbedtls_camellia_crypt_cbc( mbedtls_camellia_context *ctx,
  *                 IV, you should either save it manually or use the cipher
  *                 module instead.
  *
- * \param ctx      CAMELLIA context
- * \param mode     MBEDTLS_CAMELLIA_ENCRYPT or MBEDTLS_CAMELLIA_DECRYPT
- * \param length   length of the input data
- * \param iv_off   offset in IV (updated after use)
- * \param iv       initialization vector (updated after use)
- * \param input    buffer holding the input data
- * \param output   buffer holding the output data
- *
- * \return         0 if successful, or
- *                 MBEDTLS_ERR_CAMELLIA_INVALID_INPUT_LENGTH
+ * \param ctx      The CAMELLIA context to use. This must be initialized
+ *                 and bound to a key.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_CAMELLIA_ENCRYPT or #MBEDTLS_CAMELLIA_DECRYPT.
+ * \param length   The length of the input data \p input. Any value is allowed.
+ * \param iv_off   The current offset in the IV. This must be smaller
+ *                 than \c 16 Bytes. It is updated after this call to allow
+ *                 the aforementioned streaming usage.
+ * \param iv       The initialization vector. This must be a read/write buffer
+ *                 of length \c 16 Bytes. It is updated after this call to
+ *                 allow the aforementioned streaming usage.
+ * \param input    The buffer holding the input data. This must be a readable
+ *                 buffer of size \p length Bytes.
+ * \param output   The buffer to hold the output data. This must be a writable
+ *                 buffer of length \p length Bytes.
+ *
+ * \return         \c 0 if successful.
+ * \return         A negative error code on failure.
  */
 int mbedtls_camellia_crypt_cfb128( mbedtls_camellia_context *ctx,
                        int mode,
@@ -185,11 +226,13 @@ int mbedtls_camellia_crypt_cfb128( mbedtls_camellia_context *ctx,
 
 #if defined(MBEDTLS_CIPHER_MODE_CTR)
 /**
- * \brief               CAMELLIA-CTR buffer encryption/decryption
+ * \brief      Perform a CAMELLIA-CTR buffer encryption/decryption operation.
  *
- * Note: Due to the nature of CTR you should use the same key schedule for
- * both encryption and decryption. So a context initialized with
- * mbedtls_camellia_setkey_enc() for both MBEDTLS_CAMELLIA_ENCRYPT and MBEDTLS_CAMELLIA_DECRYPT.
+ * *note       Due to the nature of CTR mode, you should use the same
+ *             key for both encryption and decryption. In particular, calls
+ *             to this function should be preceded by a key-schedule via
+ *             mbedtls_camellia_setkey_enc() regardless of whether \p mode
+ *             is #MBEDTLS_CAMELLIA_ENCRYPT or #MBEDTLS_CAMELLIA_DECRYPT.
  *
  * \warning    You must never reuse a nonce value with the same key. Doing so
  *             would void the encryption for the two messages encrypted with
@@ -212,41 +255,49 @@ int mbedtls_camellia_crypt_cfb128( mbedtls_camellia_context *ctx,
  *             per-message nonce, handled by yourself, and the second one
  *             updated by this function internally.
  *
- *             For example, you might reserve the first 12 bytes for the
- *             per-message nonce, and the last 4 bytes for internal use. In that
- *             case, before calling this function on a new message you need to
- *             set the first 12 bytes of \p nonce_counter to your chosen nonce
- *             value, the last 4 to 0, and \p nc_off to 0 (which will cause \p
- *             stream_block to be ignored). That way, you can encrypt at most
- *             2**96 messages of up to 2**32 blocks each with the same key.
+ *             For example, you might reserve the first \c 12 Bytes for the
+ *             per-message nonce, and the last \c 4 Bytes for internal use.
+ *             In that case, before calling this function on a new message you
+ *             need to set the first \c 12 Bytes of \p nonce_counter to your
+ *             chosen nonce value, the last four to \c 0, and \p nc_off to \c 0
+ *             (which will cause \p stream_block to be ignored). That way, you
+ *             can encrypt at most \c 2**96 messages of up to \c 2**32 blocks
+ *             each  with the same key.
  *
  *             The per-message nonce (or information sufficient to reconstruct
- *             it) needs to be communicated with the ciphertext and must be unique.
- *             The recommended way to ensure uniqueness is to use a message
- *             counter. An alternative is to generate random nonces, but this
- *             limits the number of messages that can be securely encrypted:
- *             for example, with 96-bit random nonces, you should not encrypt
- *             more than 2**32 messages with the same key.
+ *             it) needs to be communicated with the ciphertext and must be
+ *             unique. The recommended way to ensure uniqueness is to use a
+ *             message counter. An alternative is to generate random nonces,
+ *             but this limits the number of messages that can be securely
+ *             encrypted: for example, with 96-bit random nonces, you should
+ *             not encrypt more than 2**32 messages with the same key.
  *
  *             Note that for both stategies, sizes are measured in blocks and
- *             that a CAMELLIA block is 16 bytes.
+ *             that a CAMELLIA block is \c 16 Bytes.
  *
  * \warning    Upon return, \p stream_block contains sensitive data. Its
  *             content must not be written to insecure storage and should be
  *             securely discarded as soon as it's no longer needed.
  *
- * \param ctx           CAMELLIA context
- * \param length        The length of the data
- * \param nc_off        The offset in the current stream_block (for resuming
+ * \param ctx           The CAMELLIA context to use. This must be initialized
+ *                      and bound to a key.
+ * \param length        The length of the input data \p input in Bytes.
+ *                      Any value is allowed.
+ * \param nc_off        The offset in the current \p stream_block (for resuming
  *                      within current cipher stream). The offset pointer to
- *                      should be 0 at the start of a stream.
- * \param nonce_counter The 128-bit nonce and counter.
- * \param stream_block  The saved stream-block for resuming. Is overwritten
- *                      by the function.
- * \param input         The input data stream
- * \param output        The output data stream
- *
- * \return         0 if successful
+ *                      should be \c 0 at the start of a stream. It is updated
+ *                      at the end of this call.
+ * \param nonce_counter The 128-bit nonce and counter. This must be a read/write
+ *                      buffer of length \c 16 Bytes.
+ * \param stream_block  The saved stream-block for resuming. This must be a
+ *                      read/write buffer of length \c 16 Bytes.
+ * \param input         The input data stream. This must be a readable buffer of
+ *                      size \p length Bytes.
+ * \param output        The output data stream. This must be a writable buffer
+ *                      of size \p length Bytes.
+ *
+ * \return              \c 0 if successful.
+ * \return              A negative error code on failure.
  */
 int mbedtls_camellia_crypt_ctr( mbedtls_camellia_context *ctx,
                        size_t length,
diff --git a/thirdparty/mbedtls/include/mbedtls/ccm.h b/thirdparty/mbedtls/include/mbedtls/ccm.h
index 5d727e7cca..3f6b8f6709 100644
--- a/thirdparty/mbedtls/include/mbedtls/ccm.h
+++ b/thirdparty/mbedtls/include/mbedtls/ccm.h
@@ -53,8 +53,9 @@
 
 #define MBEDTLS_ERR_CCM_BAD_INPUT       -0x000D /**< Bad input parameters to the function. */
 #define MBEDTLS_ERR_CCM_AUTH_FAILED     -0x000F /**< Authenticated decryption failed. */
-#define MBEDTLS_ERR_CCM_HW_ACCEL_FAILED -0x0011 /**< CCM hardware accelerator failed. */
 
+/* MBEDTLS_ERR_CCM_HW_ACCEL_FAILED is deprecated and should not be used. */
+#define MBEDTLS_ERR_CCM_HW_ACCEL_FAILED -0x0011 /**< CCM hardware accelerator failed. */
 
 #ifdef __cplusplus
 extern "C" {
@@ -68,7 +69,8 @@ extern "C" {
  * \brief    The CCM context-type definition. The CCM context is passed
  *           to the APIs called.
  */
-typedef struct {
+typedef struct mbedtls_ccm_context
+{
     mbedtls_cipher_context_t cipher_ctx;    /*!< The cipher context used. */
 }
 mbedtls_ccm_context;
@@ -82,7 +84,7 @@ mbedtls_ccm_context;
  *                  to make references valid, and prepare the context
  *                  for mbedtls_ccm_setkey() or mbedtls_ccm_free().
  *
- * \param ctx       The CCM context to initialize.
+ * \param ctx       The CCM context to initialize. This must not be \c NULL.
  */
 void mbedtls_ccm_init( mbedtls_ccm_context *ctx );
 
@@ -90,9 +92,10 @@ void mbedtls_ccm_init( mbedtls_ccm_context *ctx );
  * \brief           This function initializes the CCM context set in the
  *                  \p ctx parameter and sets the encryption key.
  *
- * \param ctx       The CCM context to initialize.
+ * \param ctx       The CCM context to initialize. This must be an initialized
+ *                  context.
  * \param cipher    The 128-bit block cipher to use.
- * \param key       The encryption key.
+ * \param key       The encryption key. This must not be \c NULL.
  * \param keybits   The key size in bits. This must be acceptable by the cipher.
  *
  * \return          \c 0 on success.
@@ -107,7 +110,8 @@ int mbedtls_ccm_setkey( mbedtls_ccm_context *ctx,
  * \brief   This function releases and clears the specified CCM context
  *          and underlying cipher sub-context.
  *
- * \param ctx       The CCM context to clear.
+ * \param ctx       The CCM context to clear. If this is \c NULL, the function
+ *                  has no effect. Otherwise, this must be initialized.
  */
 void mbedtls_ccm_free( mbedtls_ccm_context *ctx );
 
@@ -120,19 +124,27 @@ void mbedtls_ccm_free( mbedtls_ccm_context *ctx );
  *                  \p tag = \p output + \p length, and make sure that the
  *                  output buffer is at least \p length + \p tag_len wide.
  *
- * \param ctx       The CCM context to use for encryption.
+ * \param ctx       The CCM context to use for encryption. This must be
+ *                  initialized and bound to a key.
  * \param length    The length of the input data in Bytes.
- * \param iv        Initialization vector (nonce).
+ * \param iv        The initialization vector (nonce). This must be a readable
+ *                  buffer of at least \p iv_len Bytes.
  * \param iv_len    The length of the nonce in Bytes: 7, 8, 9, 10, 11, 12,
  *                  or 13. The length L of the message length field is
  *                  15 - \p iv_len.
- * \param add       The additional data field.
+ * \param add       The additional data field. If \p add_len is greater than
+ *                  zero, \p add must be a readable buffer of at least that
+ *                  length.
  * \param add_len   The length of additional data in Bytes.
- *                  Must be less than 2^16 - 2^8.
- * \param input     The buffer holding the input data.
- * \param output    The buffer holding the output data.
- *                  Must be at least \p length Bytes wide.
- * \param tag       The buffer holding the authentication field.
+ *                  This must be less than `2^16 - 2^8`.
+ * \param input     The buffer holding the input data. If \p length is greater
+ *                  than zero, \p input must be a readable buffer of at least
+ *                  that length.
+ * \param output    The buffer holding the output data. If \p length is greater
+ *                  than zero, \p output must be a writable buffer of at least
+ *                  that length.
+ * \param tag       The buffer holding the authentication field. This must be a
+ *                  readable buffer of at least \p tag_len Bytes.
  * \param tag_len   The length of the authentication field to generate in Bytes:
  *                  4, 6, 8, 10, 12, 14 or 16.
  *
@@ -158,23 +170,30 @@ int mbedtls_ccm_encrypt_and_tag( mbedtls_ccm_context *ctx, size_t length,
  *                  the tag length has to be encoded into the \p iv passed to
  *                  this function.
  *
- * \param ctx       The CCM context to use for encryption.
+ * \param ctx       The CCM context to use for encryption. This must be
+ *                  initialized and bound to a key.
  * \param length    The length of the input data in Bytes.
- * \param iv        Initialization vector (nonce).
+ * \param iv        The initialization vector (nonce). This must be a readable
+ *                  buffer of at least \p iv_len Bytes.
  * \param iv_len    The length of the nonce in Bytes: 7, 8, 9, 10, 11, 12,
  *                  or 13. The length L of the message length field is
  *                  15 - \p iv_len.
- * \param add       The additional data field.
+ * \param add       The additional data field. This must be a readable buffer of
+ *                  at least \p add_len Bytes.
  * \param add_len   The length of additional data in Bytes.
- *                  Must be less than 2^16 - 2^8.
- * \param input     The buffer holding the input data.
- * \param output    The buffer holding the output data.
- *                  Must be at least \p length Bytes wide.
- * \param tag       The buffer holding the authentication field.
+ *                  This must be less than 2^16 - 2^8.
+ * \param input     The buffer holding the input data. If \p length is greater
+ *                  than zero, \p input must be a readable buffer of at least
+ *                  that length.
+ * \param output    The buffer holding the output data. If \p length is greater
+ *                  than zero, \p output must be a writable buffer of at least
+ *                  that length.
+ * \param tag       The buffer holding the authentication field. This must be a
+ *                  readable buffer of at least \p tag_len Bytes.
  * \param tag_len   The length of the authentication field to generate in Bytes:
  *                  0, 4, 6, 8, 10, 12, 14 or 16.
  *
- * \warning         Passing 0 as \p tag_len means that the message is no
+ * \warning         Passing \c 0 as \p tag_len means that the message is no
  *                  longer authenticated.
  *
  * \return          \c 0 on success.
@@ -190,20 +209,27 @@ int mbedtls_ccm_star_encrypt_and_tag( mbedtls_ccm_context *ctx, size_t length,
  * \brief           This function performs a CCM authenticated decryption of a
  *                  buffer.
  *
- * \param ctx       The CCM context to use for decryption.
+ * \param ctx       The CCM context to use for decryption. This must be
+ *                  initialized and bound to a key.
  * \param length    The length of the input data in Bytes.
- * \param iv        Initialization vector (nonce).
+ * \param iv        The initialization vector (nonce). This must be a readable
+ *                  buffer of at least \p iv_len Bytes.
  * \param iv_len    The length of the nonce in Bytes: 7, 8, 9, 10, 11, 12,
  *                  or 13. The length L of the message length field is
  *                  15 - \p iv_len.
- * \param add       The additional data field.
+ * \param add       The additional data field. This must be a readable buffer
+ *                  of at least that \p add_len Bytes..
  * \param add_len   The length of additional data in Bytes.
- *                  Must be less than 2^16 - 2^8.
- * \param input     The buffer holding the input data.
- * \param output    The buffer holding the output data.
- *                  Must be at least \p length Bytes wide.
- * \param tag       The buffer holding the authentication field.
- * \param tag_len   The length of the authentication field in Bytes.
+ *                  This must be less than 2^16 - 2^8.
+ * \param input     The buffer holding the input data. If \p length is greater
+ *                  than zero, \p input must be a readable buffer of at least
+ *                  that length.
+ * \param output    The buffer holding the output data. If \p length is greater
+ *                  than zero, \p output must be a writable buffer of at least
+ *                  that length.
+ * \param tag       The buffer holding the authentication field. This must be a
+ *                  readable buffer of at least \p tag_len Bytes.
+ * \param tag_len   The length of the authentication field to generate in Bytes:
  *                  4, 6, 8, 10, 12, 14 or 16.
  *
  * \return          \c 0 on success. This indicates that the message is authentic.
@@ -225,23 +251,30 @@ int mbedtls_ccm_auth_decrypt( mbedtls_ccm_context *ctx, size_t length,
  *                  this function as \p tag_len. (\p tag needs to be adjusted
  *                  accordingly.)
  *
- * \param ctx       The CCM context to use for decryption.
+ * \param ctx       The CCM context to use for decryption. This must be
+ *                  initialized and bound to a key.
  * \param length    The length of the input data in Bytes.
- * \param iv        Initialization vector (nonce).
+ * \param iv        The initialization vector (nonce). This must be a readable
+ *                  buffer of at least \p iv_len Bytes.
  * \param iv_len    The length of the nonce in Bytes: 7, 8, 9, 10, 11, 12,
  *                  or 13. The length L of the message length field is
  *                  15 - \p iv_len.
- * \param add       The additional data field.
+ * \param add       The additional data field. This must be a readable buffer of
+ *                  at least that \p add_len Bytes.
  * \param add_len   The length of additional data in Bytes.
- *                  Must be less than 2^16 - 2^8.
- * \param input     The buffer holding the input data.
- * \param output    The buffer holding the output data.
- *                  Must be at least \p length Bytes wide.
- * \param tag       The buffer holding the authentication field.
+ *                  This must be less than 2^16 - 2^8.
+ * \param input     The buffer holding the input data. If \p length is greater
+ *                  than zero, \p input must be a readable buffer of at least
+ *                  that length.
+ * \param output    The buffer holding the output data. If \p length is greater
+ *                  than zero, \p output must be a writable buffer of at least
+ *                  that length.
+ * \param tag       The buffer holding the authentication field. This must be a
+ *                  readable buffer of at least \p tag_len Bytes.
  * \param tag_len   The length of the authentication field in Bytes.
  *                  0, 4, 6, 8, 10, 12, 14 or 16.
  *
- * \warning         Passing 0 as \p tag_len means that the message is no
+ * \warning         Passing \c 0 as \p tag_len means that the message is nos
  *                  longer authenticated.
  *
  * \return          \c 0 on success.
diff --git a/thirdparty/mbedtls/include/mbedtls/chacha20.h b/thirdparty/mbedtls/include/mbedtls/chacha20.h
index 47bd7d38b9..2ae5e6e5f4 100644
--- a/thirdparty/mbedtls/include/mbedtls/chacha20.h
+++ b/thirdparty/mbedtls/include/mbedtls/chacha20.h
@@ -43,7 +43,13 @@
 #include <stddef.h>
 
 #define MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA         -0x0051 /**< Invalid input parameter(s). */
+
+/* MBEDTLS_ERR_CHACHA20_FEATURE_UNAVAILABLE is deprecated and should not be
+ * used. */
 #define MBEDTLS_ERR_CHACHA20_FEATURE_UNAVAILABLE    -0x0053 /**< Feature not available. For example, s part of the API is not implemented. */
+
+/* MBEDTLS_ERR_CHACHA20_HW_ACCEL_FAILED is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_CHACHA20_HW_ACCEL_FAILED        -0x0055  /**< Chacha20 hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -52,7 +58,7 @@ extern "C" {
 
 #if !defined(MBEDTLS_CHACHA20_ALT)
 
-typedef struct
+typedef struct mbedtls_chacha20_context
 {
     uint32_t state[16];          /*! The state (before round operations). */
     uint8_t  keystream8[64];     /*! Leftover keystream bytes. */
@@ -77,13 +83,18 @@ mbedtls_chacha20_context;
  *                  \c mbedtls_chacha20_free().
  *
  * \param ctx       The ChaCha20 context to initialize.
+ *                  This must not be \c NULL.
  */
 void mbedtls_chacha20_init( mbedtls_chacha20_context *ctx );
 
 /**
- * \brief           This function releases and clears the specified ChaCha20 context.
+ * \brief           This function releases and clears the specified
+ *                  ChaCha20 context.
+ *
+ * \param ctx       The ChaCha20 context to clear. This may be \c NULL,
+ *                  in which case this function is a no-op. If it is not
+ *                  \c NULL, it must point to an initialized context.
  *
- * \param ctx       The ChaCha20 context to clear.
  */
 void mbedtls_chacha20_free( mbedtls_chacha20_context *ctx );
 
@@ -96,7 +107,9 @@ void mbedtls_chacha20_free( mbedtls_chacha20_context *ctx );
  *                  \c mbedtls_chacha_update().
  *
  * \param ctx       The ChaCha20 context to which the key should be bound.
- * \param key       The encryption/decryption key. Must be 32 bytes in length.
+ *                  It must be initialized.
+ * \param key       The encryption/decryption key. This must be \c 32 Bytes
+ *                  in length.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA if ctx or key is NULL.
@@ -115,8 +128,9 @@ int mbedtls_chacha20_setkey( mbedtls_chacha20_context *ctx,
  *                  messages encrypted with the same nonce and key.
  *
  * \param ctx       The ChaCha20 context to which the nonce should be bound.
- * \param nonce     The nonce. Must be 12 bytes in size.
- * \param counter   The initial counter value. This is usually 0.
+ *                  It must be initialized and bound to a key.
+ * \param nonce     The nonce. This must be \c 12 Bytes in size.
+ * \param counter   The initial counter value. This is usually \c 0.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA if ctx or nonce is
@@ -144,16 +158,16 @@ int mbedtls_chacha20_starts( mbedtls_chacha20_context* ctx,
  *                  key and nonce.
  *
  * \param ctx       The ChaCha20 context to use for encryption or decryption.
- * \param size      The length of the input data in bytes.
+ *                  It must be initialized and bound to a key and nonce.
+ * \param size      The length of the input data in Bytes.
  * \param input     The buffer holding the input data.
- *                  This pointer can be NULL if size == 0.
+ *                  This pointer can be \c NULL if `size == 0`.
  * \param output    The buffer holding the output data.
- *                  Must be able to hold \p size bytes.
- *                  This pointer can be NULL if size == 0.
+ *                  This must be able to hold \p size Bytes.
+ *                  This pointer can be \c NULL if `size == 0`.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA if the ctx, input, or
- *                  output pointers are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_chacha20_update( mbedtls_chacha20_context *ctx,
                              size_t size,
@@ -174,19 +188,19 @@ int mbedtls_chacha20_update( mbedtls_chacha20_context *ctx,
  * \note            The \p input and \p output pointers must either be equal or
  *                  point to non-overlapping buffers.
  *
- * \param key       The encryption/decryption key. Must be 32 bytes in length.
- * \param nonce     The nonce. Must be 12 bytes in size.
- * \param counter   The initial counter value. This is usually 0.
- * \param size      The length of the input data in bytes.
+ * \param key       The encryption/decryption key.
+ *                  This must be \c 32 Bytes in length.
+ * \param nonce     The nonce. This must be \c 12 Bytes in size.
+ * \param counter   The initial counter value. This is usually \c 0.
+ * \param size      The length of the input data in Bytes.
  * \param input     The buffer holding the input data.
- *                  This pointer can be NULL if size == 0.
+ *                  This pointer can be \c NULL if `size == 0`.
  * \param output    The buffer holding the output data.
- *                  Must be able to hold \p size bytes.
- *                  This pointer can be NULL if size == 0.
+ *                  This must be able to hold \p size Bytes.
+ *                  This pointer can be \c NULL if `size == 0`.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA if key, nonce, input,
- *                  or output is NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_chacha20_crypt( const unsigned char key[32],
                             const unsigned char nonce[12],
diff --git a/thirdparty/mbedtls/include/mbedtls/chachapoly.h b/thirdparty/mbedtls/include/mbedtls/chachapoly.h
index 42b2b230c5..49e615d278 100644
--- a/thirdparty/mbedtls/include/mbedtls/chachapoly.h
+++ b/thirdparty/mbedtls/include/mbedtls/chachapoly.h
@@ -60,7 +60,7 @@ mbedtls_chachapoly_mode_t;
 
 #include "chacha20.h"
 
-typedef struct
+typedef struct mbedtls_chachapoly_context
 {
     mbedtls_chacha20_context chacha20_ctx;  /**< The ChaCha20 context. */
     mbedtls_poly1305_context poly1305_ctx;  /**< The Poly1305 context. */
@@ -115,27 +115,29 @@ mbedtls_chachapoly_context;
  *                  all previous outputs of \c mbedtls_chachapoly_update(),
  *                  otherwise you can now safely use the plaintext.
  *
- * \param ctx       The ChachaPoly context to initialize.
+ * \param ctx       The ChachaPoly context to initialize. Must not be \c NULL.
  */
 void mbedtls_chachapoly_init( mbedtls_chachapoly_context *ctx );
 
 /**
- * \brief           This function releases and clears the specified ChaCha20-Poly1305 context.
+ * \brief           This function releases and clears the specified
+ *                  ChaCha20-Poly1305 context.
  *
- * \param ctx       The ChachaPoly context to clear.
+ * \param ctx       The ChachaPoly context to clear. This may be \c NULL, in which
+ *                  case this function is a no-op.
  */
 void mbedtls_chachapoly_free( mbedtls_chachapoly_context *ctx );
 
 /**
- * \brief           This function sets the ChaCha20-Poly1305 symmetric encryption key.
+ * \brief           This function sets the ChaCha20-Poly1305
+ *                  symmetric encryption key.
  *
  * \param ctx       The ChaCha20-Poly1305 context to which the key should be
- *                  bound.
- * \param key       The 256-bit (32 bytes) key.
+ *                  bound. This must be initialized.
+ * \param key       The \c 256 Bit (\c 32 Bytes) key.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if \p ctx or \p key are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_chachapoly_setkey( mbedtls_chachapoly_context *ctx,
                                const unsigned char key[32] );
@@ -155,14 +157,15 @@ int mbedtls_chachapoly_setkey( mbedtls_chachapoly_context *ctx,
  * \warning         Decryption with the piecewise API is discouraged, see the
  *                  warning on \c mbedtls_chachapoly_init().
  *
- * \param ctx       The ChaCha20-Poly1305 context.
- * \param nonce     The nonce/IV to use for the message. Must be 12 bytes.
+ * \param ctx       The ChaCha20-Poly1305 context. This must be initialized
+ *                  and bound to a key.
+ * \param nonce     The nonce/IV to use for the message.
+ *                  This must be a redable buffer of length \c 12 Bytes.
  * \param mode      The operation to perform: #MBEDTLS_CHACHAPOLY_ENCRYPT or
  *                  #MBEDTLS_CHACHAPOLY_DECRYPT (discouraged, see warning).
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if \p ctx or \p mac are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_chachapoly_starts( mbedtls_chachapoly_context *ctx,
                                const unsigned char nonce[12],
@@ -193,11 +196,12 @@ int mbedtls_chachapoly_starts( mbedtls_chachapoly_context *ctx,
  * \warning         Decryption with the piecewise API is discouraged, see the
  *                  warning on \c mbedtls_chachapoly_init().
  *
- * \param ctx       The ChaCha20-Poly1305 context to use.
- * \param aad_len   The length (in bytes) of the AAD. The length has no
+ * \param ctx       The ChaCha20-Poly1305 context. This must be initialized
+ *                  and bound to a key.
+ * \param aad_len   The length in Bytes of the AAD. The length has no
  *                  restrictions.
  * \param aad       Buffer containing the AAD.
- *                  This pointer can be NULL if aad_len == 0.
+ *                  This pointer can be \c NULL if `aad_len == 0`.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
@@ -227,20 +231,19 @@ int mbedtls_chachapoly_update_aad( mbedtls_chachapoly_context *ctx,
  * \warning         Decryption with the piecewise API is discouraged, see the
  *                  warning on \c mbedtls_chachapoly_init().
  *
- * \param ctx       The ChaCha20-Poly1305 context to use.
+ * \param ctx       The ChaCha20-Poly1305 context to use. This must be initialized.
  * \param len       The length (in bytes) of the data to encrypt or decrypt.
  * \param input     The buffer containing the data to encrypt or decrypt.
- *                  This pointer can be NULL if len == 0.
- * \param output    The buffer to where the encrypted or decrypted data is written.
- *                  Must be able to hold \p len bytes.
- *                  This pointer can be NULL if len == 0.
+ *                  This pointer can be \c NULL if `len == 0`.
+ * \param output    The buffer to where the encrypted or decrypted data is
+ *                  written. This must be able to hold \p len bytes.
+ *                  This pointer can be \c NULL if `len == 0`.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if \p ctx, \p input, or \p output are NULL.
  * \return          #MBEDTLS_ERR_CHACHAPOLY_BAD_STATE
  *                  if the operation has not been started or has been
  *                  finished.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_chachapoly_update( mbedtls_chachapoly_context *ctx,
                                size_t len,
@@ -251,18 +254,17 @@ int mbedtls_chachapoly_update( mbedtls_chachapoly_context *ctx,
  * \brief           This function finished the ChaCha20-Poly1305 operation and
  *                  generates the MAC (authentication tag).
  *
- * \param ctx       The ChaCha20-Poly1305 context to use.
+ * \param ctx       The ChaCha20-Poly1305 context to use. This must be initialized.
  * \param mac       The buffer to where the 128-bit (16 bytes) MAC is written.
  *
  * \warning         Decryption with the piecewise API is discouraged, see the
  *                  warning on \c mbedtls_chachapoly_init().
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if \p ctx or \p mac are NULL.
  * \return          #MBEDTLS_ERR_CHACHAPOLY_BAD_STATE
  *                  if the operation has not been started or has been
  *                  finished.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_chachapoly_finish( mbedtls_chachapoly_context *ctx,
                                unsigned char mac[16] );
@@ -280,20 +282,21 @@ int mbedtls_chachapoly_finish( mbedtls_chachapoly_context *ctx,
  *                  and key.
  *
  * \param ctx       The ChaCha20-Poly1305 context to use (holds the key).
+ *                  This must be initialized.
  * \param length    The length (in bytes) of the data to encrypt or decrypt.
  * \param nonce     The 96-bit (12 bytes) nonce/IV to use.
- * \param aad       The buffer containing the additional authenticated data (AAD).
- *                  This pointer can be NULL if aad_len == 0.
+ * \param aad       The buffer containing the additional authenticated
+ *                  data (AAD). This pointer can be \c NULL if `aad_len == 0`.
  * \param aad_len   The length (in bytes) of the AAD data to process.
  * \param input     The buffer containing the data to encrypt or decrypt.
- *                  This pointer can be NULL if ilen == 0.
- * \param output    The buffer to where the encrypted or decrypted data is written.
- *                  This pointer can be NULL if ilen == 0.
- * \param tag       The buffer to where the computed 128-bit (16 bytes) MAC is written.
+ *                  This pointer can be \c NULL if `ilen == 0`.
+ * \param output    The buffer to where the encrypted or decrypted data
+ *                  is written. This pointer can be \c NULL if `ilen == 0`.
+ * \param tag       The buffer to where the computed 128-bit (16 bytes) MAC
+ *                  is written. This must not be \c NULL.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if one or more of the required parameters are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_chachapoly_encrypt_and_tag( mbedtls_chachapoly_context *ctx,
                                         size_t length,
@@ -312,22 +315,22 @@ int mbedtls_chachapoly_encrypt_and_tag( mbedtls_chachapoly_context *ctx,
  *                  \c mbedtls_chachapoly_setkey().
  *
  * \param ctx       The ChaCha20-Poly1305 context to use (holds the key).
- * \param length    The length (in bytes) of the data to decrypt.
- * \param nonce     The 96-bit (12 bytes) nonce/IV to use.
+ * \param length    The length (in Bytes) of the data to decrypt.
+ * \param nonce     The \c 96 Bit (\c 12 bytes) nonce/IV to use.
  * \param aad       The buffer containing the additional authenticated data (AAD).
- *                  This pointer can be NULL if aad_len == 0.
+ *                  This pointer can be \c NULL if `aad_len == 0`.
  * \param aad_len   The length (in bytes) of the AAD data to process.
  * \param tag       The buffer holding the authentication tag.
+ *                  This must be a readable buffer of length \c 16 Bytes.
  * \param input     The buffer containing the data to decrypt.
- *                  This pointer can be NULL if ilen == 0.
+ *                  This pointer can be \c NULL if `ilen == 0`.
  * \param output    The buffer to where the decrypted data is written.
- *                  This pointer can be NULL if ilen == 0.
+ *                  This pointer can be \c NULL if `ilen == 0`.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if one or more of the required parameters are NULL.
  * \return          #MBEDTLS_ERR_CHACHAPOLY_AUTH_FAILED
  *                  if the data was not authentic.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_chachapoly_auth_decrypt( mbedtls_chachapoly_context *ctx,
                                      size_t length,
diff --git a/thirdparty/mbedtls/include/mbedtls/check_config.h b/thirdparty/mbedtls/include/mbedtls/check_config.h
index 9e6bb8a46a..b86e5807e0 100644
--- a/thirdparty/mbedtls/include/mbedtls/check_config.h
+++ b/thirdparty/mbedtls/include/mbedtls/check_config.h
@@ -108,6 +108,17 @@
 #error "MBEDTLS_ECJPAKE_C defined, but not all prerequisites"
 #endif
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)           && \
+    ( defined(MBEDTLS_ECDH_COMPUTE_SHARED_ALT) || \
+      defined(MBEDTLS_ECDH_GEN_PUBLIC_ALT)     || \
+      defined(MBEDTLS_ECDSA_SIGN_ALT)          || \
+      defined(MBEDTLS_ECDSA_VERIFY_ALT)        || \
+      defined(MBEDTLS_ECDSA_GENKEY_ALT)        || \
+      defined(MBEDTLS_ECP_INTERNAL_ALT)        || \
+      defined(MBEDTLS_ECP_ALT) )
+#error "MBEDTLS_ECP_RESTARTABLE defined, but it cannot coexist with an alternative ECP implementation"
+#endif
+
 #if defined(MBEDTLS_ECDSA_DETERMINISTIC) && !defined(MBEDTLS_HMAC_DRBG_C)
 #error "MBEDTLS_ECDSA_DETERMINISTIC defined, but not all prerequisites"
 #endif
@@ -127,6 +138,10 @@
 #error "MBEDTLS_ECP_C defined, but not all prerequisites"
 #endif
 
+#if defined(MBEDTLS_PK_PARSE_C) && !defined(MBEDTLS_ASN1_PARSE_C)
+#error "MBEDTLS_PK_PARSE_C defined, but not all prerequesites"
+#endif
+
 #if defined(MBEDTLS_ENTROPY_C) && (!defined(MBEDTLS_SHA512_C) &&      \
                                     !defined(MBEDTLS_SHA256_C))
 #error "MBEDTLS_ENTROPY_C defined, but not all prerequisites"
diff --git a/thirdparty/mbedtls/include/mbedtls/cipher.h b/thirdparty/mbedtls/include/mbedtls/cipher.h
index ea0ce983f1..922b6c32c6 100644
--- a/thirdparty/mbedtls/include/mbedtls/cipher.h
+++ b/thirdparty/mbedtls/include/mbedtls/cipher.h
@@ -36,6 +36,7 @@
 #endif
 
 #include <stddef.h>
+#include "mbedtls/platform_util.h"
 
 #if defined(MBEDTLS_GCM_C) || defined(MBEDTLS_CCM_C) || defined(MBEDTLS_CHACHAPOLY_C)
 #define MBEDTLS_CIPHER_MODE_AEAD
@@ -45,7 +46,8 @@
 #define MBEDTLS_CIPHER_MODE_WITH_PADDING
 #endif
 
-#if defined(MBEDTLS_ARC4_C) || defined(MBEDTLS_CIPHER_NULL_CIPHER)
+#if defined(MBEDTLS_ARC4_C) || defined(MBEDTLS_CIPHER_NULL_CIPHER) || \
+    defined(MBEDTLS_CHACHA20_C)
 #define MBEDTLS_CIPHER_MODE_STREAM
 #endif
 
@@ -61,6 +63,8 @@
 #define MBEDTLS_ERR_CIPHER_FULL_BLOCK_EXPECTED  -0x6280  /**< Decryption of block requires a full block. */
 #define MBEDTLS_ERR_CIPHER_AUTH_FAILED          -0x6300  /**< Authentication failed (for AEAD modes). */
 #define MBEDTLS_ERR_CIPHER_INVALID_CONTEXT      -0x6380  /**< The context is invalid. For example, because it was freed. */
+
+/* MBEDTLS_ERR_CIPHER_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_CIPHER_HW_ACCEL_FAILED      -0x6400  /**< Cipher hardware accelerator failed. */
 
 #define MBEDTLS_CIPHER_VARIABLE_IV_LEN     0x01    /**< Cipher accepts IVs of variable length. */
@@ -235,7 +239,8 @@ typedef struct mbedtls_cmac_context_t mbedtls_cmac_context_t;
  * Cipher information. Allows calling cipher functions
  * in a generic way.
  */
-typedef struct {
+typedef struct mbedtls_cipher_info_t
+{
     /** Full cipher identifier. For example,
      * MBEDTLS_CIPHER_AES_256_CBC.
      */
@@ -276,7 +281,8 @@ typedef struct {
 /**
  * Generic cipher context.
  */
-typedef struct {
+typedef struct mbedtls_cipher_context_t
+{
     /** Information about the associated cipher. */
     const mbedtls_cipher_info_t *cipher_info;
 
@@ -331,11 +337,12 @@ const int *mbedtls_cipher_list( void );
  * \brief               This function retrieves the cipher-information
  *                      structure associated with the given cipher name.
  *
- * \param cipher_name   Name of the cipher to search for.
+ * \param cipher_name   Name of the cipher to search for. This must not be
+ *                      \c NULL.
  *
  * \return              The cipher information structure associated with the
  *                      given \p cipher_name.
- * \return              NULL if the associated cipher information is not found.
+ * \return              \c NULL if the associated cipher information is not found.
  */
 const mbedtls_cipher_info_t *mbedtls_cipher_info_from_string( const char *cipher_name );
 
@@ -347,7 +354,7 @@ const mbedtls_cipher_info_t *mbedtls_cipher_info_from_string( const char *cipher
  *
  * \return              The cipher information structure associated with the
  *                      given \p cipher_type.
- * \return              NULL if the associated cipher information is not found.
+ * \return              \c NULL if the associated cipher information is not found.
  */
 const mbedtls_cipher_info_t *mbedtls_cipher_info_from_type( const mbedtls_cipher_type_t cipher_type );
 
@@ -363,7 +370,7 @@ const mbedtls_cipher_info_t *mbedtls_cipher_info_from_type( const mbedtls_cipher
  *
  * \return              The cipher information structure associated with the
  *                      given \p cipher_id.
- * \return              NULL if the associated cipher information is not found.
+ * \return              \c NULL if the associated cipher information is not found.
  */
 const mbedtls_cipher_info_t *mbedtls_cipher_info_from_values( const mbedtls_cipher_id_t cipher_id,
                                               int key_bitlen,
@@ -371,6 +378,8 @@ const mbedtls_cipher_info_t *mbedtls_cipher_info_from_values( const mbedtls_ciph
 
 /**
  * \brief               This function initializes a \p cipher_context as NONE.
+ *
+ * \param ctx           The context to be initialized. This must not be \c NULL.
  */
 void mbedtls_cipher_init( mbedtls_cipher_context_t *ctx );
 
@@ -378,6 +387,10 @@ void mbedtls_cipher_init( mbedtls_cipher_context_t *ctx );
  * \brief               This function frees and clears the cipher-specific
  *                      context of \p ctx. Freeing \p ctx itself remains the
  *                      responsibility of the caller.
+ *
+ * \param ctx           The context to be freed. If this is \c NULL, the
+ *                      function has no effect, otherwise this must point to an
+ *                      initialized context.
  */
 void mbedtls_cipher_free( mbedtls_cipher_context_t *ctx );
 
@@ -387,7 +400,7 @@ void mbedtls_cipher_free( mbedtls_cipher_context_t *ctx );
  *                      structure with the appropriate values. It also clears
  *                      the structure.
  *
- * \param ctx           The context to initialize. May not be NULL.
+ * \param ctx           The context to initialize. This must be initialized.
  * \param cipher_info   The cipher to use.
  *
  * \return              \c 0 on success.
@@ -400,19 +413,22 @@ void mbedtls_cipher_free( mbedtls_cipher_context_t *ctx );
  * In future versions, the caller will be required to call
  * mbedtls_cipher_init() on the structure first.
  */
-int mbedtls_cipher_setup( mbedtls_cipher_context_t *ctx, const mbedtls_cipher_info_t *cipher_info );
+int mbedtls_cipher_setup( mbedtls_cipher_context_t *ctx,
+                          const mbedtls_cipher_info_t *cipher_info );
 
 /**
  * \brief        This function returns the block size of the given cipher.
  *
- * \param ctx    The context of the cipher. Must be initialized.
+ * \param ctx    The context of the cipher. This must be initialized.
  *
- * \return       The size of the blocks of the cipher.
- * \return       0 if \p ctx has not been initialized.
+ * \return       The block size of the underlying cipher.
+ * \return       \c 0 if \p ctx has not been initialized.
  */
-static inline unsigned int mbedtls_cipher_get_block_size( const mbedtls_cipher_context_t *ctx )
+static inline unsigned int mbedtls_cipher_get_block_size(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET( ctx != NULL, 0 );
+    if( ctx->cipher_info == NULL )
         return 0;
 
     return ctx->cipher_info->block_size;
@@ -422,14 +438,16 @@ static inline unsigned int mbedtls_cipher_get_block_size( const mbedtls_cipher_c
  * \brief        This function returns the mode of operation for
  *               the cipher. For example, MBEDTLS_MODE_CBC.
  *
- * \param ctx    The context of the cipher. Must be initialized.
+ * \param ctx    The context of the cipher. This must be initialized.
  *
  * \return       The mode of operation.
  * \return       #MBEDTLS_MODE_NONE if \p ctx has not been initialized.
  */
-static inline mbedtls_cipher_mode_t mbedtls_cipher_get_cipher_mode( const mbedtls_cipher_context_t *ctx )
+static inline mbedtls_cipher_mode_t mbedtls_cipher_get_cipher_mode(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET( ctx != NULL, MBEDTLS_MODE_NONE );
+    if( ctx->cipher_info == NULL )
         return MBEDTLS_MODE_NONE;
 
     return ctx->cipher_info->mode;
@@ -439,15 +457,17 @@ static inline mbedtls_cipher_mode_t mbedtls_cipher_get_cipher_mode( const mbedtl
  * \brief       This function returns the size of the IV or nonce
  *              of the cipher, in Bytes.
  *
- * \param ctx   The context of the cipher. Must be initialized.
+ * \param ctx   The context of the cipher. This must be initialized.
  *
  * \return      The recommended IV size if no IV has been set.
  * \return      \c 0 for ciphers not using an IV or a nonce.
  * \return      The actual size if an IV has been set.
  */
-static inline int mbedtls_cipher_get_iv_size( const mbedtls_cipher_context_t *ctx )
+static inline int mbedtls_cipher_get_iv_size(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET( ctx != NULL, 0 );
+    if( ctx->cipher_info == NULL )
         return 0;
 
     if( ctx->iv_size != 0 )
@@ -459,14 +479,17 @@ static inline int mbedtls_cipher_get_iv_size( const mbedtls_cipher_context_t *ct
 /**
  * \brief               This function returns the type of the given cipher.
  *
- * \param ctx           The context of the cipher. Must be initialized.
+ * \param ctx           The context of the cipher. This must be initialized.
  *
  * \return              The type of the cipher.
  * \return              #MBEDTLS_CIPHER_NONE if \p ctx has not been initialized.
  */
-static inline mbedtls_cipher_type_t mbedtls_cipher_get_type( const mbedtls_cipher_context_t *ctx )
+static inline mbedtls_cipher_type_t mbedtls_cipher_get_type(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET(
+        ctx != NULL, MBEDTLS_CIPHER_NONE );
+    if( ctx->cipher_info == NULL )
         return MBEDTLS_CIPHER_NONE;
 
     return ctx->cipher_info->type;
@@ -476,14 +499,16 @@ static inline mbedtls_cipher_type_t mbedtls_cipher_get_type( const mbedtls_ciphe
  * \brief               This function returns the name of the given cipher
  *                      as a string.
  *
- * \param ctx           The context of the cipher. Must be initialized.
+ * \param ctx           The context of the cipher. This must be initialized.
  *
  * \return              The name of the cipher.
  * \return              NULL if \p ctx has not been not initialized.
  */
-static inline const char *mbedtls_cipher_get_name( const mbedtls_cipher_context_t *ctx )
+static inline const char *mbedtls_cipher_get_name(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET( ctx != NULL, 0 );
+    if( ctx->cipher_info == NULL )
         return 0;
 
     return ctx->cipher_info->name;
@@ -492,15 +517,18 @@ static inline const char *mbedtls_cipher_get_name( const mbedtls_cipher_context_
 /**
  * \brief               This function returns the key length of the cipher.
  *
- * \param ctx           The context of the cipher. Must be initialized.
+ * \param ctx           The context of the cipher. This must be initialized.
  *
  * \return              The key length of the cipher in bits.
  * \return              #MBEDTLS_KEY_LENGTH_NONE if ctx \p has not been
  *                      initialized.
  */
-static inline int mbedtls_cipher_get_key_bitlen( const mbedtls_cipher_context_t *ctx )
+static inline int mbedtls_cipher_get_key_bitlen(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET(
+        ctx != NULL, MBEDTLS_KEY_LENGTH_NONE );
+    if( ctx->cipher_info == NULL )
         return MBEDTLS_KEY_LENGTH_NONE;
 
     return (int) ctx->cipher_info->key_bitlen;
@@ -509,14 +537,17 @@ static inline int mbedtls_cipher_get_key_bitlen( const mbedtls_cipher_context_t
 /**
  * \brief          This function returns the operation of the given cipher.
  *
- * \param ctx      The context of the cipher. Must be initialized.
+ * \param ctx      The context of the cipher. This must be initialized.
  *
  * \return         The type of operation: #MBEDTLS_ENCRYPT or #MBEDTLS_DECRYPT.
  * \return         #MBEDTLS_OPERATION_NONE if \p ctx has not been initialized.
  */
-static inline mbedtls_operation_t mbedtls_cipher_get_operation( const mbedtls_cipher_context_t *ctx )
+static inline mbedtls_operation_t mbedtls_cipher_get_operation(
+    const mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    MBEDTLS_INTERNAL_VALIDATE_RET(
+        ctx != NULL, MBEDTLS_OPERATION_NONE );
+    if( ctx->cipher_info == NULL )
         return MBEDTLS_OPERATION_NONE;
 
     return ctx->operation;
@@ -525,11 +556,11 @@ static inline mbedtls_operation_t mbedtls_cipher_get_operation( const mbedtls_ci
 /**
  * \brief               This function sets the key to use with the given context.
  *
- * \param ctx           The generic cipher context. May not be NULL. Must have
- *                      been initialized using mbedtls_cipher_info_from_type()
- *                      or mbedtls_cipher_info_from_string().
- * \param key           The key to use.
- * \param key_bitlen    The key length to use, in bits.
+ * \param ctx           The generic cipher context. This must be initialized and
+ *                      bound to a cipher information structure.
+ * \param key           The key to use. This must be a readable buffer of at
+ *                      least \p key_bitlen Bits.
+ * \param key_bitlen    The key length to use, in Bits.
  * \param operation     The operation that the key will be used for:
  *                      #MBEDTLS_ENCRYPT or #MBEDTLS_DECRYPT.
  *
@@ -538,8 +569,10 @@ static inline mbedtls_operation_t mbedtls_cipher_get_operation( const mbedtls_ci
  *                      parameter-verification failure.
  * \return              A cipher-specific error code on failure.
  */
-int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx, const unsigned char *key,
-                   int key_bitlen, const mbedtls_operation_t operation );
+int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx,
+                           const unsigned char *key,
+                           int key_bitlen,
+                           const mbedtls_operation_t operation );
 
 #if defined(MBEDTLS_CIPHER_MODE_WITH_PADDING)
 /**
@@ -548,7 +581,8 @@ int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx, const unsigned char *k
  *
  *                      The default passing mode is PKCS7 padding.
  *
- * \param ctx           The generic cipher context.
+ * \param ctx           The generic cipher context. This must be initialized and
+ *                      bound to a cipher information structure.
  * \param mode          The padding mode.
  *
  * \return              \c 0 on success.
@@ -557,7 +591,8 @@ int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx, const unsigned char *k
  * \return              #MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA if the cipher mode
  *                      does not support padding.
  */
-int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx, mbedtls_cipher_padding_t mode );
+int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx,
+                                     mbedtls_cipher_padding_t mode );
 #endif /* MBEDTLS_CIPHER_MODE_WITH_PADDING */
 
 /**
@@ -567,8 +602,10 @@ int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx, mbedtls_ciph
  * \note            Some ciphers do not use IVs nor nonce. For these
  *                  ciphers, this function has no effect.
  *
- * \param ctx       The generic cipher context.
- * \param iv        The IV to use, or NONCE_COUNTER for CTR-mode ciphers.
+ * \param ctx       The generic cipher context. This must be initialized and
+ *                  bound to a cipher information structure.
+ * \param iv        The IV to use, or NONCE_COUNTER for CTR-mode ciphers. This
+ *                  must be a readable buffer of at least \p iv_len Bytes.
  * \param iv_len    The IV length for ciphers with variable-size IV.
  *                  This parameter is discarded by ciphers with fixed-size IV.
  *
@@ -577,12 +614,13 @@ int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx, mbedtls_ciph
  *                  parameter-verification failure.
  */
 int mbedtls_cipher_set_iv( mbedtls_cipher_context_t *ctx,
-                   const unsigned char *iv, size_t iv_len );
+                           const unsigned char *iv,
+                           size_t iv_len );
 
 /**
  * \brief         This function resets the cipher state.
  *
- * \param ctx     The generic cipher context.
+ * \param ctx     The generic cipher context. This must be initialized.
  *
  * \return        \c 0 on success.
  * \return        #MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA on
@@ -594,11 +632,13 @@ int mbedtls_cipher_reset( mbedtls_cipher_context_t *ctx );
 /**
  * \brief               This function adds additional data for AEAD ciphers.
  *                      Currently supported with GCM and ChaCha20+Poly1305.
- *                      Must be called exactly once, after mbedtls_cipher_reset().
+ *                      This must be called exactly once, after
+ *                      mbedtls_cipher_reset().
  *
- * \param ctx           The generic cipher context.
- * \param ad            The additional data to use.
- * \param ad_len        the Length of \p ad.
+ * \param ctx           The generic cipher context. This must be initialized.
+ * \param ad            The additional data to use. This must be a readable
+ *                      buffer of at least \p ad_len Bytes.
+ * \param ad_len        the Length of \p ad Bytes.
  *
  * \return              \c 0 on success.
  * \return              A specific error code on failure.
@@ -622,14 +662,17 @@ int mbedtls_cipher_update_ad( mbedtls_cipher_context_t *ctx,
  *                      mbedtls_cipher_finish(), must have \p ilen as a
  *                      multiple of the block size of the cipher.
  *
- * \param ctx           The generic cipher context.
- * \param input         The buffer holding the input data.
+ * \param ctx           The generic cipher context. This must be initialized and
+ *                      bound to a key.
+ * \param input         The buffer holding the input data. This must be a
+ *                      readable buffer of at least \p ilen Bytes.
  * \param ilen          The length of the input data.
- * \param output        The buffer for the output data. Must be able to hold at
- *                      least \p ilen + block_size. Must not be the same buffer
- *                      as input.
+ * \param output        The buffer for the output data. This must be able to
+ *                      hold at least `ilen + block_size`. This must not be the
+ *                      same buffer as \p input.
  * \param olen          The length of the output data, to be updated with the
- *                      actual number of Bytes written.
+ *                      actual number of Bytes written. This must not be
+ *                      \c NULL.
  *
  * \return              \c 0 on success.
  * \return              #MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA on
@@ -647,9 +690,12 @@ int mbedtls_cipher_update( mbedtls_cipher_context_t *ctx, const unsigned char *i
  *                      contained in it is padded to the size of
  *                      the last block, and written to the \p output buffer.
  *
- * \param ctx           The generic cipher context.
- * \param output        The buffer to write data to. Needs block_size available.
+ * \param ctx           The generic cipher context. This must be initialized and
+ *                      bound to a key.
+ * \param output        The buffer to write data to. This needs to be a writable
+ *                      buffer of at least \p block_size Bytes.
  * \param olen          The length of the data written to the \p output buffer.
+ *                      This may not be \c NULL.
  *
  * \return              \c 0 on success.
  * \return              #MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA on
@@ -667,10 +713,14 @@ int mbedtls_cipher_finish( mbedtls_cipher_context_t *ctx,
 /**
  * \brief               This function writes a tag for AEAD ciphers.
  *                      Currently supported with GCM and ChaCha20+Poly1305.
- *                      Must be called after mbedtls_cipher_finish().
- *
- * \param ctx           The generic cipher context.
- * \param tag           The buffer to write the tag to.
+ *                      This must be called after mbedtls_cipher_finish().
+ *
+ * \param ctx           The generic cipher context. This must be initialized,
+ *                      bound to a key, and have just completed a cipher
+ *                      operation through mbedtls_cipher_finish() the tag for
+ *                      which should be written.
+ * \param tag           The buffer to write the tag to. This must be a writable
+ *                      buffer of at least \p tag_len Bytes.
  * \param tag_len       The length of the tag to write.
  *
  * \return              \c 0 on success.
@@ -682,10 +732,11 @@ int mbedtls_cipher_write_tag( mbedtls_cipher_context_t *ctx,
 /**
  * \brief               This function checks the tag for AEAD ciphers.
  *                      Currently supported with GCM and ChaCha20+Poly1305.
- *                      Must be called after mbedtls_cipher_finish().
+ *                      This must be called after mbedtls_cipher_finish().
  *
- * \param ctx           The generic cipher context.
- * \param tag           The buffer holding the tag.
+ * \param ctx           The generic cipher context. This must be initialized.
+ * \param tag           The buffer holding the tag. This must be a readable
+ *                      buffer of at least \p tag_len Bytes.
  * \param tag_len       The length of the tag to check.
  *
  * \return              \c 0 on success.
@@ -699,18 +750,22 @@ int mbedtls_cipher_check_tag( mbedtls_cipher_context_t *ctx,
  * \brief               The generic all-in-one encryption/decryption function,
  *                      for all ciphers except AEAD constructs.
  *
- * \param ctx           The generic cipher context.
+ * \param ctx           The generic cipher context. This must be initialized.
  * \param iv            The IV to use, or NONCE_COUNTER for CTR-mode ciphers.
+ *                      This must be a readable buffer of at least \p iv_len
+ *                      Bytes.
  * \param iv_len        The IV length for ciphers with variable-size IV.
  *                      This parameter is discarded by ciphers with fixed-size
  *                      IV.
- * \param input         The buffer holding the input data.
- * \param ilen          The length of the input data.
- * \param output        The buffer for the output data. Must be able to hold at
- *                      least \p ilen + block_size. Must not be the same buffer
- *                      as input.
+ * \param input         The buffer holding the input data. This must be a
+ *                      readable buffer of at least \p ilen Bytes.
+ * \param ilen          The length of the input data in Bytes.
+ * \param output        The buffer for the output data. This must be able to
+ *                      hold at least `ilen + block_size`. This must not be the
+ *                      same buffer as \p input.
  * \param olen          The length of the output data, to be updated with the
- *                      actual number of Bytes written.
+ *                      actual number of Bytes written. This must not be
+ *                      \c NULL.
  *
  * \note                Some ciphers do not use IVs nor nonce. For these
  *                      ciphers, use \p iv = NULL and \p iv_len = 0.
@@ -733,19 +788,26 @@ int mbedtls_cipher_crypt( mbedtls_cipher_context_t *ctx,
 /**
  * \brief               The generic autenticated encryption (AEAD) function.
  *
- * \param ctx           The generic cipher context.
+ * \param ctx           The generic cipher context. This must be initialized and
+ *                      bound to a key.
  * \param iv            The IV to use, or NONCE_COUNTER for CTR-mode ciphers.
+ *                      This must be a readable buffer of at least \p iv_len
+ *                      Bytes.
  * \param iv_len        The IV length for ciphers with variable-size IV.
  *                      This parameter is discarded by ciphers with fixed-size IV.
- * \param ad            The additional data to authenticate.
+ * \param ad            The additional data to authenticate. This must be a
+ *                      readable buffer of at least \p ad_len Bytes.
  * \param ad_len        The length of \p ad.
- * \param input         The buffer holding the input data.
+ * \param input         The buffer holding the input data. This must be a
+ *                      readable buffer of at least \p ilen Bytes.
  * \param ilen          The length of the input data.
- * \param output        The buffer for the output data.
- *                      Must be able to hold at least \p ilen.
+ * \param output        The buffer for the output data. This must be able to
+ *                      hold at least \p ilen Bytes.
  * \param olen          The length of the output data, to be updated with the
- *                      actual number of Bytes written.
- * \param tag           The buffer for the authentication tag.
+ *                      actual number of Bytes written. This must not be
+ *                      \c NULL.
+ * \param tag           The buffer for the authentication tag. This must be a
+ *                      writable buffer of at least \p tag_len Bytes.
  * \param tag_len       The desired length of the authentication tag.
  *
  * \return              \c 0 on success.
@@ -767,19 +829,26 @@ int mbedtls_cipher_auth_encrypt( mbedtls_cipher_context_t *ctx,
  *                      is zeroed out to prevent the unauthentic plaintext being
  *                      used, making this interface safer.
  *
- * \param ctx           The generic cipher context.
+ * \param ctx           The generic cipher context. This must be initialized and
+ *                      and bound to a key.
  * \param iv            The IV to use, or NONCE_COUNTER for CTR-mode ciphers.
+ *                      This must be a readable buffer of at least \p iv_len
+ *                      Bytes.
  * \param iv_len        The IV length for ciphers with variable-size IV.
  *                      This parameter is discarded by ciphers with fixed-size IV.
- * \param ad            The additional data to be authenticated.
+ * \param ad            The additional data to be authenticated. This must be a
+ *                      readable buffer of at least \p ad_len Bytes.
  * \param ad_len        The length of \p ad.
- * \param input         The buffer holding the input data.
+ * \param input         The buffer holding the input data. This must be a
+ *                      readable buffer of at least \p ilen Bytes.
  * \param ilen          The length of the input data.
  * \param output        The buffer for the output data.
- *                      Must be able to hold at least \p ilen.
+ *                      This must be able to hold at least \p ilen Bytes.
  * \param olen          The length of the output data, to be updated with the
- *                      actual number of Bytes written.
- * \param tag           The buffer holding the authentication tag.
+ *                      actual number of Bytes written. This must not be
+ *                      \c NULL.
+ * \param tag           The buffer holding the authentication tag. This must be
+ *                      a readable buffer of at least \p tag_len Bytes.
  * \param tag_len       The length of the authentication tag.
  *
  * \return              \c 0 on success.
diff --git a/thirdparty/mbedtls/include/mbedtls/cmac.h b/thirdparty/mbedtls/include/mbedtls/cmac.h
index a4fd552565..c196793531 100644
--- a/thirdparty/mbedtls/include/mbedtls/cmac.h
+++ b/thirdparty/mbedtls/include/mbedtls/cmac.h
@@ -34,6 +34,7 @@
 extern "C" {
 #endif
 
+/* MBEDTLS_ERR_CMAC_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_CMAC_HW_ACCEL_FAILED -0x007A  /**< CMAC hardware accelerator failed. */
 
 #define MBEDTLS_AES_BLOCK_SIZE          16
diff --git a/thirdparty/mbedtls/include/mbedtls/config.h b/thirdparty/mbedtls/include/mbedtls/config.h
index 70820be56f..51d66291a5 100644
--- a/thirdparty/mbedtls/include/mbedtls/config.h
+++ b/thirdparty/mbedtls/include/mbedtls/config.h
@@ -137,12 +137,21 @@
 /**
  * \def MBEDTLS_HAVE_TIME_DATE
  *
- * System has time.h and time(), gmtime() and the clock is correct.
+ * System has time.h, time(), and an implementation for
+ * mbedtls_platform_gmtime_r() (see below).
  * The time needs to be correct (not necesarily very accurate, but at least
  * the date should be correct). This is used to verify the validity period of
  * X.509 certificates.
  *
  * Comment if your system does not have a correct clock.
+ *
+ * \note mbedtls_platform_gmtime_r() is an abstraction in platform_util.h that
+ * behaves similarly to the gmtime_r() function from the C standard. Refer to
+ * the documentation for mbedtls_platform_gmtime_r() for more information.
+ *
+ * \note It is possible to configure an implementation for
+ * mbedtls_platform_gmtime_r() at compile-time by using the macro
+ * MBEDTLS_PLATFORM_GMTIME_R_ALT.
  */
 #define MBEDTLS_HAVE_TIME_DATE
 
@@ -247,6 +256,48 @@
  */
 //#define MBEDTLS_DEPRECATED_REMOVED
 
+/**
+ * \def MBEDTLS_CHECK_PARAMS
+ *
+ * This configuration option controls whether the library validates more of
+ * the parameters passed to it.
+ *
+ * When this flag is not defined, the library only attempts to validate an
+ * input parameter if: (1) they may come from the outside world (such as the
+ * network, the filesystem, etc.) or (2) not validating them could result in
+ * internal memory errors such as overflowing a buffer controlled by the
+ * library. On the other hand, it doesn't attempt to validate parameters whose
+ * values are fully controlled by the application (such as pointers).
+ *
+ * When this flag is defined, the library additionally attempts to validate
+ * parameters that are fully controlled by the application, and should always
+ * be valid if the application code is fully correct and trusted.
+ *
+ * For example, when a function accepts as input a pointer to a buffer that may
+ * contain untrusted data, and its documentation mentions that this pointer
+ * must not be NULL:
+ * - the pointer is checked to be non-NULL only if this option is enabled
+ * - the content of the buffer is always validated
+ *
+ * When this flag is defined, if a library function receives a parameter that
+ * is invalid, it will:
+ * - invoke the macro MBEDTLS_PARAM_FAILED() which by default expands to a
+ *   call to the function mbedtls_param_failed()
+ * - immediately return (with a specific error code unless the function
+ *   returns void and can't communicate an error).
+ *
+ * When defining this flag, you also need to:
+ * - either provide a definition of the function mbedtls_param_failed() in
+ *   your application (see platform_util.h for its prototype) as the library
+ *   calls that function, but does not provide a default definition for it,
+ * - or provide a different definition of the macro MBEDTLS_PARAM_FAILED()
+ *   below if the above mechanism is not flexible enough to suit your needs.
+ *   See the documentation of this macro later in this file.
+ *
+ * Uncomment to enable validation of application-controlled parameters.
+ */
+//#define MBEDTLS_CHECK_PARAMS
+
 /* \} name SECTION: System support */
 
 /**
@@ -405,11 +456,11 @@
  *      unsigned char mbedtls_internal_ecp_grp_capable(
  *          const mbedtls_ecp_group *grp )
  *      int  mbedtls_internal_ecp_init( const mbedtls_ecp_group *grp )
- *      void mbedtls_internal_ecp_deinit( const mbedtls_ecp_group *grp )
+ *      void mbedtls_internal_ecp_free( const mbedtls_ecp_group *grp )
  * The mbedtls_internal_ecp_grp_capable function should return 1 if the
  * replacement functions implement arithmetic for the given group and 0
  * otherwise.
- * The functions mbedtls_internal_ecp_init and mbedtls_internal_ecp_deinit are
+ * The functions mbedtls_internal_ecp_init and mbedtls_internal_ecp_free are
  * called before and after each point operation and provide an opportunity to
  * implement optimized set up and tear down instructions.
  *
@@ -669,6 +720,30 @@
 #define MBEDTLS_ECP_NIST_OPTIM
 
 /**
+ * \def MBEDTLS_ECP_RESTARTABLE
+ *
+ * Enable "non-blocking" ECC operations that can return early and be resumed.
+ *
+ * This allows various functions to pause by returning
+ * #MBEDTLS_ERR_ECP_IN_PROGRESS (or, for functions in the SSL module,
+ * #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS) and then be called later again in
+ * order to further progress and eventually complete their operation. This is
+ * controlled through mbedtls_ecp_set_max_ops() which limits the maximum
+ * number of ECC operations a function may perform before pausing; see
+ * mbedtls_ecp_set_max_ops() for more information.
+ *
+ * This is useful in non-threaded environments if you want to avoid blocking
+ * for too long on ECC (and, hence, X.509 or SSL/TLS) operations.
+ *
+ * Uncomment this macro to enable restartable ECC computations.
+ *
+ * \note  This option only works with the default software implementation of
+ *        elliptic curve functionality. It is incompatible with
+ *        MBEDTLS_ECP_ALT, MBEDTLS_ECDH_XXX_ALT and MBEDTLS_ECDSA_XXX_ALT.
+ */
+//#define MBEDTLS_ECP_RESTARTABLE
+
+/**
  * \def MBEDTLS_ECDSA_DETERMINISTIC
  *
  * Enable deterministic ECDSA (RFC 6979).
@@ -1279,7 +1354,7 @@
 /**
  * \def MBEDTLS_SSL_RENEGOTIATION
  *
- * Disable support for TLS renegotiation.
+ * Enable support for TLS renegotiation.
  *
  * The two main uses of renegotiation are (1) refresh keys on long-lived
  * connections and (2) client authentication after the initial handshake.
@@ -2018,14 +2093,16 @@
 /**
  * \def MBEDTLS_CTR_DRBG_C
  *
- * Enable the CTR_DRBG AES-256-based random generator.
+ * Enable the CTR_DRBG AES-based random generator.
+ * The CTR_DRBG generator uses AES-256 by default.
+ * To use AES-128 instead, enable MBEDTLS_CTR_DRBG_USE_128_BIT_KEY below.
  *
  * Module:  library/ctr_drbg.c
  * Caller:
  *
  * Requires: MBEDTLS_AES_C
  *
- * This module provides the CTR_DRBG AES-256 random number generator.
+ * This module provides the CTR_DRBG AES random number generator.
  */
 #define MBEDTLS_CTR_DRBG_C
 
@@ -2400,7 +2477,9 @@
  *
  * This modules adds support for the VIA PadLock on x86.
  */
-#define MBEDTLS_PADLOCK_C
+// -- GODOT start --
+// #define MBEDTLS_PADLOCK_C
+// -- GODOT end --
 
 /**
  * \def MBEDTLS_PEM_PARSE_C
@@ -2910,6 +2989,7 @@
 //#define MBEDTLS_CTR_DRBG_MAX_INPUT                256 /**< Maximum number of additional input bytes */
 //#define MBEDTLS_CTR_DRBG_MAX_REQUEST             1024 /**< Maximum number of requested bytes per call */
 //#define MBEDTLS_CTR_DRBG_MAX_SEED_INPUT           384 /**< Maximum size of (re)seed buffer */
+//#define MBEDTLS_CTR_DRBG_USE_128_BIT_KEY              /**< Use 128-bit key for CTR_DRBG - may reduce security (see ctr_drbg.h) */
 
 /* HMAC_DRBG options */
 //#define MBEDTLS_HMAC_DRBG_RESEED_INTERVAL   10000 /**< Interval before reseed is performed by default */
@@ -2960,6 +3040,36 @@
 //#define MBEDTLS_PLATFORM_NV_SEED_READ_MACRO   mbedtls_platform_std_nv_seed_read /**< Default nv_seed_read function to use, can be undefined */
 //#define MBEDTLS_PLATFORM_NV_SEED_WRITE_MACRO  mbedtls_platform_std_nv_seed_write /**< Default nv_seed_write function to use, can be undefined */
 
+/**
+ * \brief       This macro is invoked by the library when an invalid parameter
+ *              is detected that is only checked with MBEDTLS_CHECK_PARAMS
+ *              (see the documentation of that option for context).
+ *
+ *              When you leave this undefined here, a default definition is
+ *              provided that invokes the function mbedtls_param_failed(),
+ *              which is declared in platform_util.h for the benefit of the
+ *              library, but that you need to define in your application.
+ *
+ *              When you define this here, this replaces the default
+ *              definition in platform_util.h (which no longer declares the
+ *              function mbedtls_param_failed()) and it is your responsibility
+ *              to make sure this macro expands to something suitable (in
+ *              particular, that all the necessary declarations are visible
+ *              from within the library - you can ensure that by providing
+ *              them in this file next to the macro definition).
+ *
+ *              Note that you may define this macro to expand to nothing, in
+ *              which case you don't have to worry about declarations or
+ *              definitions. However, you will then be notified about invalid
+ *              parameters only in non-void functions, and void function will
+ *              just silently return early on invalid parameters, which
+ *              partially negates the benefits of enabling
+ *              #MBEDTLS_CHECK_PARAMS in the first place, so is discouraged.
+ *
+ * \param cond  The expression that should evaluate to true, but doesn't.
+ */
+//#define MBEDTLS_PARAM_FAILED( cond )               assert( cond )
+
 /* SSL Cache options */
 //#define MBEDTLS_SSL_CACHE_DEFAULT_TIMEOUT       86400 /**< 1 day  */
 //#define MBEDTLS_SSL_CACHE_DEFAULT_MAX_ENTRIES      50 /**< Maximum entries in cache */
@@ -2968,31 +3078,65 @@
 
 /** \def MBEDTLS_SSL_MAX_CONTENT_LEN
  *
- * Maximum fragment length in bytes.
+ * Maximum length (in bytes) of incoming and outgoing plaintext fragments.
+ *
+ * This determines the size of both the incoming and outgoing TLS I/O buffers
+ * in such a way that both are capable of holding the specified amount of
+ * plaintext data, regardless of the protection mechanism used.
  *
- * Determines the size of both the incoming and outgoing TLS I/O buffers.
+ * To configure incoming and outgoing I/O buffers separately, use
+ * #MBEDTLS_SSL_IN_CONTENT_LEN and #MBEDTLS_SSL_OUT_CONTENT_LEN,
+ * which overwrite the value set by this option.
  *
- * Uncommenting MBEDTLS_SSL_IN_CONTENT_LEN and/or MBEDTLS_SSL_OUT_CONTENT_LEN
- * will override this length by setting maximum incoming and/or outgoing
- * fragment length, respectively.
+ * \note When using a value less than the default of 16KB on the client, it is
+ *       recommended to use the Maximum Fragment Length (MFL) extension to
+ *       inform the server about this limitation. On the server, there
+ *       is no supported, standardized way of informing the client about
+ *       restriction on the maximum size of incoming messages, and unless
+ *       the limitation has been communicated by other means, it is recommended
+ *       to only change the outgoing buffer size #MBEDTLS_SSL_OUT_CONTENT_LEN
+ *       while keeping the default value of 16KB for the incoming buffer.
+ *
+ * Uncomment to set the maximum plaintext size of both
+ * incoming and outgoing I/O buffers.
  */
 //#define MBEDTLS_SSL_MAX_CONTENT_LEN             16384
 
 /** \def MBEDTLS_SSL_IN_CONTENT_LEN
  *
- * Maximum incoming fragment length in bytes.
+ * Maximum length (in bytes) of incoming plaintext fragments.
+ *
+ * This determines the size of the incoming TLS I/O buffer in such a way
+ * that it is capable of holding the specified amount of plaintext data,
+ * regardless of the protection mechanism used.
+ *
+ * If this option is undefined, it inherits its value from
+ * #MBEDTLS_SSL_MAX_CONTENT_LEN.
  *
- * Uncomment to set the size of the inward TLS buffer independently of the
- * outward buffer.
+ * \note When using a value less than the default of 16KB on the client, it is
+ *       recommended to use the Maximum Fragment Length (MFL) extension to
+ *       inform the server about this limitation. On the server, there
+ *       is no supported, standardized way of informing the client about
+ *       restriction on the maximum size of incoming messages, and unless
+ *       the limitation has been communicated by other means, it is recommended
+ *       to only change the outgoing buffer size #MBEDTLS_SSL_OUT_CONTENT_LEN
+ *       while keeping the default value of 16KB for the incoming buffer.
+ *
+ * Uncomment to set the maximum plaintext size of the incoming I/O buffer
+ * independently of the outgoing I/O buffer.
  */
 //#define MBEDTLS_SSL_IN_CONTENT_LEN              16384
 
 /** \def MBEDTLS_SSL_OUT_CONTENT_LEN
  *
- * Maximum outgoing fragment length in bytes.
+ * Maximum length (in bytes) of outgoing plaintext fragments.
+ *
+ * This determines the size of the outgoing TLS I/O buffer in such a way
+ * that it is capable of holding the specified amount of plaintext data,
+ * regardless of the protection mechanism used.
  *
- * Uncomment to set the size of the outward TLS buffer independently of the
- * inward buffer.
+ * If this option undefined, it inherits its value from
+ * #MBEDTLS_SSL_MAX_CONTENT_LEN.
  *
  * It is possible to save RAM by setting a smaller outward buffer, while keeping
  * the default inward 16384 byte buffer to conform to the TLS specification.
@@ -3002,14 +3146,28 @@
  * The specific size requirement depends on the configured ciphers and any
  * certificate data which is sent during the handshake.
  *
- * For absolute minimum RAM usage, it's best to enable
- * MBEDTLS_SSL_MAX_FRAGMENT_LENGTH and reduce MBEDTLS_SSL_MAX_CONTENT_LEN. This
- * reduces both incoming and outgoing buffer sizes. However this is only
- * guaranteed if the other end of the connection also supports the TLS
- * max_fragment_len extension. Otherwise the connection may fail.
+ * Uncomment to set the maximum plaintext size of the outgoing I/O buffer
+ * independently of the incoming I/O buffer.
  */
 //#define MBEDTLS_SSL_OUT_CONTENT_LEN             16384
 
+/** \def MBEDTLS_SSL_DTLS_MAX_BUFFERING
+ *
+ * Maximum number of heap-allocated bytes for the purpose of
+ * DTLS handshake message reassembly and future message buffering.
+ *
+ * This should be at least 9/8 * MBEDTLSSL_IN_CONTENT_LEN
+ * to account for a reassembled handshake message of maximum size,
+ * together with its reassembly bitmap.
+ *
+ * A value of 2 * MBEDTLS_SSL_IN_CONTENT_LEN (32768 by default)
+ * should be sufficient for all practical situations as it allows
+ * to reassembly a large handshake message (such as a certificate)
+ * while buffering multiple smaller handshake messages.
+ *
+ */
+//#define MBEDTLS_SSL_DTLS_MAX_BUFFERING             32768
+
 //#define MBEDTLS_SSL_DEFAULT_TICKET_LIFETIME     86400 /**< Lifetime of session tickets (if enabled) */
 //#define MBEDTLS_PSK_MAX_LEN               32 /**< Max size of TLS pre-shared keys, in bytes (default 256 bits) */
 //#define MBEDTLS_SSL_COOKIE_TIMEOUT        60 /**< Default expiration delay of DTLS cookies, in seconds if HAVE_TIME, or in number of cookies issued */
@@ -3083,25 +3241,33 @@
  */
 //#define MBEDTLS_PLATFORM_ZEROIZE_ALT
 
-/* \} name SECTION: Customisation configuration options */
-
-/* Target and application specific configurations */
-//#define YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE "target_config.h"
+/**
+ * Uncomment the macro to let Mbed TLS use your alternate implementation of
+ * mbedtls_platform_gmtime_r(). This replaces the default implementation in
+ * platform_util.c.
+ *
+ * gmtime() is not a thread-safe function as defined in the C standard. The
+ * library will try to use safer implementations of this function, such as
+ * gmtime_r() when available. However, if Mbed TLS cannot identify the target
+ * system, the implementation of mbedtls_platform_gmtime_r() will default to
+ * using the standard gmtime(). In this case, calls from the library to
+ * gmtime() will be guarded by the global mutex mbedtls_threading_gmtime_mutex
+ * if MBEDTLS_THREADING_C is enabled. We recommend that calls from outside the
+ * library are also guarded with this mutex to avoid race conditions. However,
+ * if the macro MBEDTLS_PLATFORM_GMTIME_R_ALT is defined, Mbed TLS will
+ * unconditionally use the implementation for mbedtls_platform_gmtime_r()
+ * supplied at compile time.
+ */
+//#define MBEDTLS_PLATFORM_GMTIME_R_ALT
 
-#if defined(TARGET_LIKE_MBED) && defined(YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE)
-#include YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE
-#endif
+/* \} name SECTION: Customisation configuration options */
 
-/*
+/* Target and application specific configurations
+ *
  * Allow user to override any previous default.
  *
- * Use two macro names for that, as:
- * - with yotta the prefix YOTTA_CFG_ is forced
- * - without yotta is looks weird to have a YOTTA prefix.
  */
-#if defined(YOTTA_CFG_MBEDTLS_USER_CONFIG_FILE)
-#include YOTTA_CFG_MBEDTLS_USER_CONFIG_FILE
-#elif defined(MBEDTLS_USER_CONFIG_FILE)
+#if defined(MBEDTLS_USER_CONFIG_FILE)
 #include MBEDTLS_USER_CONFIG_FILE
 #endif
 
diff --git a/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h b/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h
index 3835d7299b..10f9389d9f 100644
--- a/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h
+++ b/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h
@@ -8,8 +8,11 @@
  * Recommendation for Random Number Generation Using Deterministic Random
  * Bit Generators</em>.
  *
- * The Mbed TLS implementation of CTR_DRBG uses AES-256 as the underlying
- * block cipher.
+ * The Mbed TLS implementation of CTR_DRBG uses AES-256 (default) or AES-128
+ * as the underlying block cipher.
+ *
+ *  \warning Using 128-bit keys for CTR_DRBG limits the security of generated
+ *  keys and operations that use random values generated to 128-bit security.
  */
 /*
  *  Copyright (C) 2006-2018, Arm Limited (or its affiliates), All Rights Reserved
@@ -45,7 +48,13 @@
 #define MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR                -0x003A  /**< Read or write error in file. */
 
 #define MBEDTLS_CTR_DRBG_BLOCKSIZE          16 /**< The block size used by the cipher. */
-#define MBEDTLS_CTR_DRBG_KEYSIZE            32 /**< The key size used by the cipher. */
+
+#if defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY)
+#define MBEDTLS_CTR_DRBG_KEYSIZE            16 /**< The key size used by the cipher (compile-time choice: 128 bits). */
+#else
+#define MBEDTLS_CTR_DRBG_KEYSIZE            32 /**< The key size used by the cipher (compile-time choice: 256 bits). */
+#endif
+
 #define MBEDTLS_CTR_DRBG_KEYBITS            ( MBEDTLS_CTR_DRBG_KEYSIZE * 8 ) /**< The key size for the DRBG operation, in bits. */
 #define MBEDTLS_CTR_DRBG_SEEDLEN            ( MBEDTLS_CTR_DRBG_KEYSIZE + MBEDTLS_CTR_DRBG_BLOCKSIZE ) /**< The seed length, calculated as (counter + AES key). */
 
@@ -108,7 +117,7 @@ extern "C" {
 /**
  * \brief          The CTR_DRBG context structure.
  */
-typedef struct
+typedef struct mbedtls_ctr_drbg_context
 {
     unsigned char counter[16];  /*!< The counter (V). */
     int reseed_counter;         /*!< The reseed counter. */
@@ -230,18 +239,20 @@ int mbedtls_ctr_drbg_reseed( mbedtls_ctr_drbg_context *ctx,
 /**
  * \brief              This function updates the state of the CTR_DRBG context.
  *
- * \note               If \p add_len is greater than
- *                     #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT, only the first
- *                     #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT Bytes are used.
- *                     The remaining Bytes are silently discarded.
- *
  * \param ctx          The CTR_DRBG context.
  * \param additional   The data to update the state with.
- * \param add_len      Length of \p additional data.
- *
+ * \param add_len      Length of \p additional in bytes. This must be at
+ *                     most #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT.
+ *
+ * \return             \c 0 on success.
+ * \return             #MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG if
+ *                     \p add_len is more than
+ *                     #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT.
+ * \return             An error from the underlying AES cipher on failure.
  */
-void mbedtls_ctr_drbg_update( mbedtls_ctr_drbg_context *ctx,
-                      const unsigned char *additional, size_t add_len );
+int mbedtls_ctr_drbg_update_ret( mbedtls_ctr_drbg_context *ctx,
+                                 const unsigned char *additional,
+                                 size_t add_len );
 
 /**
  * \brief   This function updates a CTR_DRBG instance with additional
@@ -281,6 +292,35 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng,
 int mbedtls_ctr_drbg_random( void *p_rng,
                      unsigned char *output, size_t output_len );
 
+
+#if ! defined(MBEDTLS_DEPRECATED_REMOVED)
+#if defined(MBEDTLS_DEPRECATED_WARNING)
+#define MBEDTLS_DEPRECATED    __attribute__((deprecated))
+#else
+#define MBEDTLS_DEPRECATED
+#endif
+/**
+ * \brief              This function updates the state of the CTR_DRBG context.
+ *
+ * \deprecated         Superseded by mbedtls_ctr_drbg_update_ret()
+ *                     in 2.16.0.
+ *
+ * \note               If \p add_len is greater than
+ *                     #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT, only the first
+ *                     #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT Bytes are used.
+ *                     The remaining Bytes are silently discarded.
+ *
+ * \param ctx          The CTR_DRBG context.
+ * \param additional   The data to update the state with.
+ * \param add_len      Length of \p additional data.
+ */
+MBEDTLS_DEPRECATED void mbedtls_ctr_drbg_update(
+    mbedtls_ctr_drbg_context *ctx,
+    const unsigned char *additional,
+    size_t add_len );
+#undef MBEDTLS_DEPRECATED
+#endif /* !MBEDTLS_DEPRECATED_REMOVED */
+
 #if defined(MBEDTLS_FS_IO)
 /**
  * \brief               This function writes a seed file.
diff --git a/thirdparty/mbedtls/include/mbedtls/debug.h b/thirdparty/mbedtls/include/mbedtls/debug.h
index ef8db67ff1..736444bb76 100644
--- a/thirdparty/mbedtls/include/mbedtls/debug.h
+++ b/thirdparty/mbedtls/include/mbedtls/debug.h
@@ -65,6 +65,11 @@
     mbedtls_debug_print_crt( ssl, level, __FILE__, __LINE__, text, crt )
 #endif
 
+#if defined(MBEDTLS_ECDH_C)
+#define MBEDTLS_SSL_DEBUG_ECDH( level, ecdh, attr )               \
+    mbedtls_debug_printf_ecdh( ssl, level, __FILE__, __LINE__, ecdh, attr )
+#endif
+
 #else /* MBEDTLS_DEBUG_C */
 
 #define MBEDTLS_SSL_DEBUG_MSG( level, args )            do { } while( 0 )
@@ -73,6 +78,7 @@
 #define MBEDTLS_SSL_DEBUG_MPI( level, text, X )         do { } while( 0 )
 #define MBEDTLS_SSL_DEBUG_ECP( level, text, X )         do { } while( 0 )
 #define MBEDTLS_SSL_DEBUG_CRT( level, text, crt )       do { } while( 0 )
+#define MBEDTLS_SSL_DEBUG_ECDH( level, ecdh, attr )     do { } while( 0 )
 
 #endif /* MBEDTLS_DEBUG_C */
 
@@ -221,6 +227,36 @@ void mbedtls_debug_print_crt( const mbedtls_ssl_context *ssl, int level,
                       const char *text, const mbedtls_x509_crt *crt );
 #endif
 
+#if defined(MBEDTLS_ECDH_C)
+typedef enum
+{
+    MBEDTLS_DEBUG_ECDH_Q,
+    MBEDTLS_DEBUG_ECDH_QP,
+    MBEDTLS_DEBUG_ECDH_Z,
+} mbedtls_debug_ecdh_attr;
+
+/**
+ * \brief   Print a field of the ECDH structure in the SSL context to the debug
+ *          output. This function is always used through the
+ *          MBEDTLS_SSL_DEBUG_ECDH() macro, which supplies the ssl context, file
+ *          and line number parameters.
+ *
+ * \param ssl       SSL context
+ * \param level     error level of the debug message
+ * \param file      file the error has occurred in
+ * \param line      line number the error has occurred in
+ * \param ecdh      the ECDH context
+ * \param attr      the identifier of the attribute being output
+ *
+ * \attention       This function is intended for INTERNAL usage within the
+ *                  library only.
+ */
+void mbedtls_debug_printf_ecdh( const mbedtls_ssl_context *ssl, int level,
+                                const char *file, int line,
+                                const mbedtls_ecdh_context *ecdh,
+                                mbedtls_debug_ecdh_attr attr );
+#endif
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/thirdparty/mbedtls/include/mbedtls/des.h b/thirdparty/mbedtls/include/mbedtls/des.h
index 6eb7d03bae..d62042d14e 100644
--- a/thirdparty/mbedtls/include/mbedtls/des.h
+++ b/thirdparty/mbedtls/include/mbedtls/des.h
@@ -42,6 +42,8 @@
 #define MBEDTLS_DES_DECRYPT     0
 
 #define MBEDTLS_ERR_DES_INVALID_INPUT_LENGTH              -0x0032  /**< The data input has an invalid length. */
+
+/* MBEDTLS_ERR_DES_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_DES_HW_ACCEL_FAILED                   -0x0033  /**< DES hardware accelerator failed. */
 
 #define MBEDTLS_DES_KEY_SIZE    8
@@ -61,7 +63,7 @@ extern "C" {
  *                 security risk. We recommend considering stronger ciphers
  *                 instead.
  */
-typedef struct
+typedef struct mbedtls_des_context
 {
     uint32_t sk[32];            /*!<  DES subkeys       */
 }
@@ -70,7 +72,7 @@ mbedtls_des_context;
 /**
  * \brief          Triple-DES context structure
  */
-typedef struct
+typedef struct mbedtls_des3_context
 {
     uint32_t sk[96];            /*!<  3DES subkeys      */
 }
diff --git a/thirdparty/mbedtls/include/mbedtls/dhm.h b/thirdparty/mbedtls/include/mbedtls/dhm.h
index 75317a8e6d..a5452c199a 100644
--- a/thirdparty/mbedtls/include/mbedtls/dhm.h
+++ b/thirdparty/mbedtls/include/mbedtls/dhm.h
@@ -84,7 +84,10 @@
 #define MBEDTLS_ERR_DHM_INVALID_FORMAT                    -0x3380  /**< The ASN.1 data is not formatted correctly. */
 #define MBEDTLS_ERR_DHM_ALLOC_FAILED                      -0x3400  /**< Allocation of memory failed. */
 #define MBEDTLS_ERR_DHM_FILE_IO_ERROR                     -0x3480  /**< Read or write of file failed. */
+
+/* MBEDTLS_ERR_DHM_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_DHM_HW_ACCEL_FAILED                   -0x3500  /**< DHM hardware accelerator failed. */
+
 #define MBEDTLS_ERR_DHM_SET_GROUP_FAILED                  -0x3580  /**< Setting the modulus and generator failed. */
 
 #ifdef __cplusplus
@@ -96,7 +99,7 @@ extern "C" {
 /**
  * \brief          The DHM context structure.
  */
-typedef struct
+typedef struct mbedtls_dhm_context
 {
     size_t len;         /*!<  The size of \p P in Bytes. */
     mbedtls_mpi P;      /*!<  The prime modulus. */
@@ -124,9 +127,15 @@ mbedtls_dhm_context;
 void mbedtls_dhm_init( mbedtls_dhm_context *ctx );
 
 /**
- * \brief          This function parses the ServerKeyExchange parameters.
+ * \brief          This function parses the DHM parameters in a
+ *                 TLS ServerKeyExchange handshake message
+ *                 (DHM modulus, generator, and public key).
  *
- * \param ctx      The DHM context.
+ * \note           In a TLS handshake, this is the how the client
+ *                 sets up its DHM context from the server's public
+ *                 DHM key material.
+ *
+ * \param ctx      The DHM context to use. This must be initialized.
  * \param p        On input, *p must be the start of the input buffer.
  *                 On output, *p is updated to point to the end of the data
  *                 that has been read. On success, this is the first byte
@@ -140,31 +149,37 @@ void mbedtls_dhm_init( mbedtls_dhm_context *ctx );
  * \return         An \c MBEDTLS_ERR_DHM_XXX error code on failure.
  */
 int mbedtls_dhm_read_params( mbedtls_dhm_context *ctx,
-                     unsigned char **p,
-                     const unsigned char *end );
+                             unsigned char **p,
+                             const unsigned char *end );
 
 /**
- * \brief          This function sets up and writes the ServerKeyExchange
- *                 parameters.
- *
- * \note           The destination buffer must be large enough to hold
- *                 the reduced binary presentation of the modulus, the generator
- *                 and the public key, each wrapped with a 2-byte length field.
- *                 It is the responsibility of the caller to ensure that enough
- *                 space is available. Refer to \c mbedtls_mpi_size to computing
- *                 the byte-size of an MPI.
+ * \brief          This function generates a DHM key pair and exports its
+ *                 public part together with the DHM parameters in the format
+ *                 used in a TLS ServerKeyExchange handshake message.
  *
- * \note           This function assumes that \c ctx->P and \c ctx->G
- *                 have already been properly set. For that, use
+ * \note           This function assumes that the DHM parameters \c ctx->P
+ *                 and \c ctx->G have already been properly set. For that, use
  *                 mbedtls_dhm_set_group() below in conjunction with
  *                 mbedtls_mpi_read_binary() and mbedtls_mpi_read_string().
  *
- * \param ctx      The DHM context.
+ * \note           In a TLS handshake, this is the how the server generates
+ *                 and exports its DHM key material.
+ *
+ * \param ctx      The DHM context to use. This must be initialized
+ *                 and have the DHM parameters set. It may or may not
+ *                 already have imported the peer's public key.
  * \param x_size   The private key size in Bytes.
- * \param olen     The number of characters written.
- * \param output   The destination buffer.
- * \param f_rng    The RNG function.
- * \param p_rng    The RNG context.
+ * \param olen     The address at which to store the number of Bytes
+ *                 written on success. This must not be \c NULL.
+ * \param output   The destination buffer. This must be a writable buffer of
+ *                 sufficient size to hold the reduced binary presentation of
+ *                 the modulus, the generator and the public key, each wrapped
+ *                 with a 2-byte length field. It is the responsibility of the
+ *                 caller to ensure that enough space is available. Refer to
+ *                 mbedtls_mpi_size() to computing the byte-size of an MPI.
+ * \param f_rng    The RNG function. Must not be \c NULL.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng doesn't need a context parameter.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_DHM_XXX error code on failure.
@@ -177,12 +192,14 @@ int mbedtls_dhm_make_params( mbedtls_dhm_context *ctx, int x_size,
 /**
  * \brief          This function sets the prime modulus and generator.
  *
- * \note           This function can be used to set \p P, \p G
+ * \note           This function can be used to set \c ctx->P, \c ctx->G
  *                 in preparation for mbedtls_dhm_make_params().
  *
- * \param ctx      The DHM context.
- * \param P        The MPI holding the DHM prime modulus.
- * \param G        The MPI holding the DHM generator.
+ * \param ctx      The DHM context to configure. This must be initialized.
+ * \param P        The MPI holding the DHM prime modulus. This must be
+ *                 an initialized MPI.
+ * \param G        The MPI holding the DHM generator. This must be an
+ *                 initialized MPI.
  *
  * \return         \c 0 if successful.
  * \return         An \c MBEDTLS_ERR_DHM_XXX error code on failure.
@@ -192,11 +209,17 @@ int mbedtls_dhm_set_group( mbedtls_dhm_context *ctx,
                            const mbedtls_mpi *G );
 
 /**
- * \brief          This function imports the public value of the peer, G^Y.
+ * \brief          This function imports the raw public value of the peer.
+ *
+ * \note           In a TLS handshake, this is the how the server imports
+ *                 the Client's public DHM key.
  *
- * \param ctx      The DHM context.
- * \param input    The input buffer containing the G^Y value of the peer.
- * \param ilen     The size of the input buffer.
+ * \param ctx      The DHM context to use. This must be initialized and have
+ *                 its DHM parameters set, e.g. via mbedtls_dhm_set_group().
+ *                 It may or may not already have generated its own private key.
+ * \param input    The input buffer containing the \c G^Y value of the peer.
+ *                 This must be a readable buffer of size \p ilen Bytes.
+ * \param ilen     The size of the input buffer \p input in Bytes.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_DHM_XXX error code on failure.
@@ -205,21 +228,25 @@ int mbedtls_dhm_read_public( mbedtls_dhm_context *ctx,
                      const unsigned char *input, size_t ilen );
 
 /**
- * \brief          This function creates its own private key, \c X, and
- *                 exports \c G^X.
+ * \brief          This function creates a DHM key pair and exports
+ *                 the raw public key in big-endian format.
  *
  * \note           The destination buffer is always fully written
  *                 so as to contain a big-endian representation of G^X mod P.
- *                 If it is larger than ctx->len, it is padded accordingly
+ *                 If it is larger than \c ctx->len, it is padded accordingly
  *                 with zero-bytes at the beginning.
  *
- * \param ctx      The DHM context.
+ * \param ctx      The DHM context to use. This must be initialized and
+ *                 have the DHM parameters set. It may or may not already
+ *                 have imported the peer's public key.
  * \param x_size   The private key size in Bytes.
- * \param output   The destination buffer.
- * \param olen     The length of the destination buffer. Must be at least
- *                  equal to ctx->len (the size of \c P).
- * \param f_rng    The RNG function.
- * \param p_rng    The RNG context.
+ * \param output   The destination buffer. This must be a writable buffer of
+ *                 size \p olen Bytes.
+ * \param olen     The length of the destination buffer. This must be at least
+ *                 equal to `ctx->len` (the size of \c P).
+ * \param f_rng    The RNG function. This must not be \c NULL.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be \c NULL
+ *                 if \p f_rng doesn't need a context argument.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_DHM_XXX error code on failure.
@@ -230,22 +257,27 @@ int mbedtls_dhm_make_public( mbedtls_dhm_context *ctx, int x_size,
                      void *p_rng );
 
 /**
- * \brief               This function derives and exports the shared secret
- *                      \c (G^Y)^X mod \c P.
+ * \brief          This function derives and exports the shared secret
+ *                 \c (G^Y)^X mod \c P.
  *
- * \note                If \p f_rng is not NULL, it is used to blind the input as
- *                      a countermeasure against timing attacks. Blinding is used
- *                      only if our private key \c X is re-used, and not used
- *                      otherwise. We recommend always passing a non-NULL
- *                      \p f_rng argument.
+ * \note           If \p f_rng is not \c NULL, it is used to blind the input as
+ *                 a countermeasure against timing attacks. Blinding is used
+ *                 only if our private key \c X is re-used, and not used
+ *                 otherwise. We recommend always passing a non-NULL
+ *                 \p f_rng argument.
  *
- * \param ctx           The DHM context.
- * \param output        The destination buffer.
- * \param output_size   The size of the destination buffer. Must be at least
- *                      the size of ctx->len (the size of \c P).
+ * \param ctx           The DHM context to use. This must be initialized
+ *                      and have its own private key generated and the peer's
+ *                      public key imported.
+ * \param output        The buffer to write the generated shared key to. This
+ *                      must be a writable buffer of size \p output_size Bytes.
+ * \param output_size   The size of the destination buffer. This must be at
+ *                      least the size of \c ctx->len (the size of \c P).
  * \param olen          On exit, holds the actual number of Bytes written.
- * \param f_rng         The RNG function, for blinding purposes.
- * \param p_rng         The RNG context.
+ * \param f_rng         The RNG function, for blinding purposes. This may
+ *                      b \c NULL if blinding isn't needed.
+ * \param p_rng         The RNG context. This may be \c NULL if \p f_rng
+ *                      doesn't need a context argument.
  *
  * \return              \c 0 on success.
  * \return              An \c MBEDTLS_ERR_DHM_XXX error code on failure.
@@ -256,9 +288,12 @@ int mbedtls_dhm_calc_secret( mbedtls_dhm_context *ctx,
                      void *p_rng );
 
 /**
- * \brief          This function frees and clears the components of a DHM context.
+ * \brief          This function frees and clears the components
+ *                 of a DHM context.
  *
- * \param ctx      The DHM context to free and clear.
+ * \param ctx      The DHM context to free and clear. This may be \c NULL,
+ *                 in which case this function is a no-op. If it is not \c NULL,
+ *                 it must point to an initialized DHM context.
  */
 void mbedtls_dhm_free( mbedtls_dhm_context *ctx );
 
@@ -267,17 +302,19 @@ void mbedtls_dhm_free( mbedtls_dhm_context *ctx );
 /**
  * \brief             This function parses DHM parameters in PEM or DER format.
  *
- * \param dhm         The DHM context to initialize.
- * \param dhmin       The input buffer.
- * \param dhminlen    The size of the buffer, including the terminating null
- *                    Byte for PEM data.
+ * \param dhm         The DHM context to import the DHM parameters into.
+ *                    This must be initialized.
+ * \param dhmin       The input buffer. This must be a readable buffer of
+ *                    length \p dhminlen Bytes.
+ * \param dhminlen    The size of the input buffer \p dhmin, including the
+ *                    terminating \c NULL Byte for PEM data.
  *
  * \return            \c 0 on success.
- * \return            An \c MBEDTLS_ERR_DHM_XXX or \c MBEDTLS_ERR_PEM_XXX error code
- *                    error code on failure.
+ * \return            An \c MBEDTLS_ERR_DHM_XXX or \c MBEDTLS_ERR_PEM_XXX error
+ *                    code on failure.
  */
 int mbedtls_dhm_parse_dhm( mbedtls_dhm_context *dhm, const unsigned char *dhmin,
-                   size_t dhminlen );
+                           size_t dhminlen );
 
 #if defined(MBEDTLS_FS_IO)
 /** \ingroup x509_module */
@@ -285,11 +322,13 @@ int mbedtls_dhm_parse_dhm( mbedtls_dhm_context *dhm, const unsigned char *dhmin,
  * \brief          This function loads and parses DHM parameters from a file.
  *
  * \param dhm      The DHM context to load the parameters to.
+ *                 This must be initialized.
  * \param path     The filename to read the DHM parameters from.
+ *                 This must not be \c NULL.
  *
  * \return         \c 0 on success.
- * \return            An \c MBEDTLS_ERR_DHM_XXX or \c MBEDTLS_ERR_PEM_XXX error code
- *                    error code on failure.
+ * \return         An \c MBEDTLS_ERR_DHM_XXX or \c MBEDTLS_ERR_PEM_XXX
+ *                 error code on failure.
  */
 int mbedtls_dhm_parse_dhmfile( mbedtls_dhm_context *dhm, const char *path );
 #endif /* MBEDTLS_FS_IO */
@@ -350,15 +389,6 @@ int mbedtls_dhm_self_test( int verbose );
 
 #if !defined(MBEDTLS_DEPRECATED_REMOVED)
 
-#if defined(MBEDTLS_DEPRECATED_WARNING)
-#define MBEDTLS_DEPRECATED __attribute__((deprecated))
-MBEDTLS_DEPRECATED typedef char const * mbedtls_deprecated_constant_t;
-#define MBEDTLS_DEPRECATED_STRING_CONSTANT( VAL )       \
-    ( (mbedtls_deprecated_constant_t) ( VAL ) )
-#else
-#define MBEDTLS_DEPRECATED_STRING_CONSTANT( VAL ) VAL
-#endif /* ! MBEDTLS_DEPRECATED_WARNING */
-
 /**
  * \warning The origin of the primes in RFC 5114 is not documented and
  *          their use therefore constitutes a security risk!
diff --git a/thirdparty/mbedtls/include/mbedtls/ecdh.h b/thirdparty/mbedtls/include/mbedtls/ecdh.h
index 5fdf55a88a..05b2b03970 100644
--- a/thirdparty/mbedtls/include/mbedtls/ecdh.h
+++ b/thirdparty/mbedtls/include/mbedtls/ecdh.h
@@ -36,6 +36,18 @@
 
 #include "ecp.h"
 
+/*
+ * Use a backward compatible ECDH context.
+ *
+ * This flag is always enabled for now and future versions might add a
+ * configuration option that conditionally undefines this flag.
+ * The configuration option in question may have a different name.
+ *
+ * Features undefining this flag, must have a warning in their description in
+ * config.h stating that the feature breaks backward compatibility.
+ */
+#define MBEDTLS_ECDH_LEGACY_CONTEXT
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -49,11 +61,49 @@ typedef enum
     MBEDTLS_ECDH_THEIRS, /**< The key of the peer. */
 } mbedtls_ecdh_side;
 
+#if !defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+/**
+ * Defines the ECDH implementation used.
+ *
+ * Later versions of the library may add new variants, therefore users should
+ * not make any assumptions about them.
+ */
+typedef enum
+{
+    MBEDTLS_ECDH_VARIANT_NONE = 0,   /*!< Implementation not defined. */
+    MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0,/*!< The default Mbed TLS implementation */
+} mbedtls_ecdh_variant;
+
+/**
+ * The context used by the default ECDH implementation.
+ *
+ * Later versions might change the structure of this context, therefore users
+ * should not make any assumptions about the structure of
+ * mbedtls_ecdh_context_mbed.
+ */
+typedef struct mbedtls_ecdh_context_mbed
+{
+    mbedtls_ecp_group grp;   /*!< The elliptic curve used. */
+    mbedtls_mpi d;           /*!< The private key. */
+    mbedtls_ecp_point Q;     /*!< The public key. */
+    mbedtls_ecp_point Qp;    /*!< The value of the public key of the peer. */
+    mbedtls_mpi z;           /*!< The shared secret. */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    mbedtls_ecp_restart_ctx rs; /*!< The restart context for EC computations. */
+#endif
+} mbedtls_ecdh_context_mbed;
+#endif
+
 /**
+ *
+ * \warning         Performing multiple operations concurrently on the same
+ *                  ECDSA context is not supported; objects of this type
+ *                  should not be shared between multiple threads.
  * \brief           The ECDH context structure.
  */
-typedef struct
+typedef struct mbedtls_ecdh_context
 {
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
     mbedtls_ecp_group grp;   /*!< The elliptic curve used. */
     mbedtls_mpi d;           /*!< The private key. */
     mbedtls_ecp_point Q;     /*!< The public key. */
@@ -63,6 +113,29 @@ typedef struct
     mbedtls_ecp_point Vi;    /*!< The blinding value. */
     mbedtls_ecp_point Vf;    /*!< The unblinding value. */
     mbedtls_mpi _d;          /*!< The previous \p d. */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    int restart_enabled;        /*!< The flag for restartable mode. */
+    mbedtls_ecp_restart_ctx rs; /*!< The restart context for EC computations. */
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+#else
+    uint8_t point_format;       /*!< The format of point export in TLS messages
+                                  as defined in RFC 4492. */
+    mbedtls_ecp_group_id grp_id;/*!< The elliptic curve used. */
+    mbedtls_ecdh_variant var;   /*!< The ECDH implementation/structure used. */
+    union
+    {
+        mbedtls_ecdh_context_mbed   mbed_ecdh;
+    } ctx;                      /*!< Implementation-specific context. The
+                                  context in use is specified by the \c var
+                                  field. */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    uint8_t restart_enabled;    /*!< The flag for restartable mode. Functions of
+                                  an alternative implementation not supporting
+                                  restartable mode must return
+                                  MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED error
+                                  if this flag is set. */
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+#endif /* MBEDTLS_ECDH_LEGACY_CONTEXT */
 }
 mbedtls_ecdh_context;
 
@@ -76,16 +149,20 @@ mbedtls_ecdh_context;
  *
  * \see             ecp.h
  *
- * \param grp       The ECP group.
+ * \param grp       The ECP group to use. This must be initialized and have
+ *                  domain parameters loaded, for example through
+ *                  mbedtls_ecp_load() or mbedtls_ecp_tls_read_group().
  * \param d         The destination MPI (private key).
+ *                  This must be initialized.
  * \param Q         The destination point (public key).
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ *                  This must be initialized.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL in case \p f_rng doesn't need a context argument.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_ECP_XXX or
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX or
  *                  \c MBEDTLS_MPI_XXX error code on failure.
- *
  */
 int mbedtls_ecdh_gen_public( mbedtls_ecp_group *grp, mbedtls_mpi *d, mbedtls_ecp_point *Q,
                      int (*f_rng)(void *, unsigned char *, size_t),
@@ -104,15 +181,25 @@ int mbedtls_ecdh_gen_public( mbedtls_ecp_group *grp, mbedtls_mpi *d, mbedtls_ecp
  *                  countermeasures against side-channel attacks.
  *                  For more information, see mbedtls_ecp_mul().
  *
- * \param grp       The ECP group.
+ * \param grp       The ECP group to use. This must be initialized and have
+ *                  domain parameters loaded, for example through
+ *                  mbedtls_ecp_load() or mbedtls_ecp_tls_read_group().
  * \param z         The destination MPI (shared secret).
+ *                  This must be initialized.
  * \param Q         The public key from another party.
+ *                  This must be initialized.
  * \param d         Our secret exponent (private key).
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ *                  This must be initialized.
+ * \param f_rng     The RNG function. This may be \c NULL if randomization
+ *                  of intermediate results during the ECP computations is
+ *                  not needed (discouraged). See the documentation of
+ *                  mbedtls_ecp_mul() for more.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL if \p f_rng is \c NULL or doesn't need a
+ *                  context argument.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_ECP_XXX or
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX or
  *                  \c MBEDTLS_MPI_XXX error code on failure.
  */
 int mbedtls_ecdh_compute_shared( mbedtls_ecp_group *grp, mbedtls_mpi *z,
@@ -123,39 +210,62 @@ int mbedtls_ecdh_compute_shared( mbedtls_ecp_group *grp, mbedtls_mpi *z,
 /**
  * \brief           This function initializes an ECDH context.
  *
- * \param ctx       The ECDH context to initialize.
+ * \param ctx       The ECDH context to initialize. This must not be \c NULL.
  */
 void mbedtls_ecdh_init( mbedtls_ecdh_context *ctx );
 
 /**
+ * \brief           This function sets up the ECDH context with the information
+ *                  given.
+ *
+ *                  This function should be called after mbedtls_ecdh_init() but
+ *                  before mbedtls_ecdh_make_params(). There is no need to call
+ *                  this function before mbedtls_ecdh_read_params().
+ *
+ *                  This is the first function used by a TLS server for ECDHE
+ *                  ciphersuites.
+ *
+ * \param ctx       The ECDH context to set up. This must be initialized.
+ * \param grp_id    The group id of the group to set up the context for.
+ *
+ * \return          \c 0 on success.
+ */
+int mbedtls_ecdh_setup( mbedtls_ecdh_context *ctx,
+                        mbedtls_ecp_group_id grp_id );
+
+/**
  * \brief           This function frees a context.
  *
- * \param ctx       The context to free.
+ * \param ctx       The context to free. This may be \c NULL, in which
+ *                  case this function does nothing. If it is not \c NULL,
+ *                  it must point to an initialized ECDH context.
  */
 void mbedtls_ecdh_free( mbedtls_ecdh_context *ctx );
 
 /**
- * \brief           This function generates a public key and a TLS
- *                  ServerKeyExchange payload.
- *
- *                  This is the first function used by a TLS server for ECDHE
- *                  ciphersuites.
+ * \brief           This function generates an EC key pair and exports its
+ *                  in the format used in a TLS ServerKeyExchange handshake
+ *                  message.
  *
- * \note            This function assumes that the ECP group (grp) of the
- *                  \p ctx context has already been properly set,
- *                  for example, using mbedtls_ecp_group_load().
+ *                  This is the second function used by a TLS server for ECDHE
+ *                  ciphersuites. (It is called after mbedtls_ecdh_setup().)
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDH context.
- * \param olen      The number of characters written.
- * \param buf       The destination buffer.
- * \param blen      The length of the destination buffer.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ * \param ctx       The ECDH context to use. This must be initialized
+ *                  and bound to a group, for example via mbedtls_ecdh_setup().
+ * \param olen      The address at which to store the number of Bytes written.
+ * \param buf       The destination buffer. This must be a writable buffer of
+ *                  length \p blen Bytes.
+ * \param blen      The length of the destination buffer \p buf in Bytes.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL in case \p f_rng doesn't need a context argument.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_ECP_XXX error code on failure.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX error code on failure.
  */
 int mbedtls_ecdh_make_params( mbedtls_ecdh_context *ctx, size_t *olen,
                       unsigned char *buf, size_t blen,
@@ -163,24 +273,32 @@ int mbedtls_ecdh_make_params( mbedtls_ecdh_context *ctx, size_t *olen,
                       void *p_rng );
 
 /**
- * \brief           This function parses and processes a TLS ServerKeyExhange
- *                  payload.
+ * \brief           This function parses the ECDHE parameters in a
+ *                  TLS ServerKeyExchange handshake message.
  *
- *                  This is the first function used by a TLS client for ECDHE
- *                  ciphersuites.
+ * \note            In a TLS handshake, this is the how the client
+ *                  sets up its ECDHE context from the server's public
+ *                  ECDHE key material.
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDH context.
- * \param buf       The pointer to the start of the input buffer.
- * \param end       The address for one Byte past the end of the buffer.
+ * \param ctx       The ECDHE context to use. This must be initialized.
+ * \param buf       On input, \c *buf must be the start of the input buffer.
+ *                  On output, \c *buf is updated to point to the end of the
+ *                  data that has been read. On success, this is the first byte
+ *                  past the end of the ServerKeyExchange parameters.
+ *                  On error, this is the point at which an error has been
+ *                  detected, which is usually not useful except to debug
+ *                  failures.
+ * \param end       The end of the input buffer.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX error code on failure.
  *
  */
 int mbedtls_ecdh_read_params( mbedtls_ecdh_context *ctx,
-                      const unsigned char **buf, const unsigned char *end );
+                              const unsigned char **buf,
+                              const unsigned char *end );
 
 /**
  * \brief           This function sets up an ECDH context from an EC key.
@@ -191,36 +309,45 @@ int mbedtls_ecdh_read_params( mbedtls_ecdh_context *ctx,
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDH context to set up.
- * \param key       The EC key to use.
- * \param side      Defines the source of the key: 1: Our key, or
- *                  0: The key of the peer.
+ * \param ctx       The ECDH context to set up. This must be initialized.
+ * \param key       The EC key to use. This must be initialized.
+ * \param side      Defines the source of the key. Possible values are:
+ *                  - #MBEDTLS_ECDH_OURS: The key is ours.
+ *                  - #MBEDTLS_ECDH_THEIRS: The key is that of the peer.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_ECP_XXX error code on failure.
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX error code on failure.
  *
  */
-int mbedtls_ecdh_get_params( mbedtls_ecdh_context *ctx, const mbedtls_ecp_keypair *key,
-                     mbedtls_ecdh_side side );
+int mbedtls_ecdh_get_params( mbedtls_ecdh_context *ctx,
+                             const mbedtls_ecp_keypair *key,
+                             mbedtls_ecdh_side side );
 
 /**
- * \brief           This function generates a public key and a TLS
- *                  ClientKeyExchange payload.
+ * \brief           This function generates a public key and exports it
+ *                  as a TLS ClientKeyExchange payload.
  *
  *                  This is the second function used by a TLS client for ECDH(E)
  *                  ciphersuites.
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDH context.
- * \param olen      The number of Bytes written.
- * \param buf       The destination buffer.
- * \param blen      The size of the destination buffer.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ * \param ctx       The ECDH context to use. This must be initialized
+ *                  and bound to a group, the latter usually by
+ *                  mbedtls_ecdh_read_params().
+ * \param olen      The address at which to store the number of Bytes written.
+ *                  This must not be \c NULL.
+ * \param buf       The destination buffer. This must be a writable buffer
+ *                  of length \p blen Bytes.
+ * \param blen      The size of the destination buffer \p buf in Bytes.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL in case \p f_rng doesn't need a context argument.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_ECP_XXX error code on failure.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX error code on failure.
  */
 int mbedtls_ecdh_make_public( mbedtls_ecdh_context *ctx, size_t *olen,
                       unsigned char *buf, size_t blen,
@@ -228,23 +355,26 @@ int mbedtls_ecdh_make_public( mbedtls_ecdh_context *ctx, size_t *olen,
                       void *p_rng );
 
 /**
- * \brief       This function parses and processes a TLS ClientKeyExchange
- *              payload.
+ * \brief       This function parses and processes the ECDHE payload of a
+ *              TLS ClientKeyExchange message.
  *
- *              This is the second function used by a TLS server for ECDH(E)
- *              ciphersuites.
+ *              This is the third function used by a TLS server for ECDH(E)
+ *              ciphersuites. (It is called after mbedtls_ecdh_setup() and
+ *              mbedtls_ecdh_make_params().)
  *
  * \see         ecp.h
  *
- * \param ctx   The ECDH context.
- * \param buf   The start of the input buffer.
- * \param blen  The length of the input buffer.
+ * \param ctx   The ECDH context to use. This must be initialized
+ *              and bound to a group, for example via mbedtls_ecdh_setup().
+ * \param buf   The pointer to the ClientKeyExchange payload. This must
+ *              be a readable buffer of length \p blen Bytes.
+ * \param blen  The length of the input buffer \p buf in Bytes.
  *
  * \return      \c 0 on success.
  * \return      An \c MBEDTLS_ERR_ECP_XXX error code on failure.
  */
 int mbedtls_ecdh_read_public( mbedtls_ecdh_context *ctx,
-                      const unsigned char *buf, size_t blen );
+                              const unsigned char *buf, size_t blen );
 
 /**
  * \brief           This function derives and exports the shared secret.
@@ -257,22 +387,46 @@ int mbedtls_ecdh_read_public( mbedtls_ecdh_context *ctx,
  *                  For more information, see mbedtls_ecp_mul().
  *
  * \see             ecp.h
- *
- * \param ctx       The ECDH context.
- * \param olen      The number of Bytes written.
- * \param buf       The destination buffer.
- * \param blen      The length of the destination buffer.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+
+ * \param ctx       The ECDH context to use. This must be initialized
+ *                  and have its own private key generated and the peer's
+ *                  public key imported.
+ * \param olen      The address at which to store the total number of
+ *                  Bytes written on success. This must not be \c NULL.
+ * \param buf       The buffer to write the generated shared key to. This
+ *                  must be a writable buffer of size \p blen Bytes.
+ * \param blen      The length of the destination buffer \p buf in Bytes.
+ * \param f_rng     The RNG function, for blinding purposes. This may
+ *                  b \c NULL if blinding isn't needed.
+ * \param p_rng     The RNG context. This may be \c NULL if \p f_rng
+ *                  doesn't need a context argument.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_ECP_XXX error code on failure.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX error code on failure.
  */
 int mbedtls_ecdh_calc_secret( mbedtls_ecdh_context *ctx, size_t *olen,
                       unsigned char *buf, size_t blen,
                       int (*f_rng)(void *, unsigned char *, size_t),
                       void *p_rng );
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           This function enables restartable EC computations for this
+ *                  context.  (Default: disabled.)
+ *
+ * \see             \c mbedtls_ecp_set_max_ops()
+ *
+ * \note            It is not possible to safely disable restartable
+ *                  computations once enabled, except by free-ing the context,
+ *                  which cancels possible in-progress operations.
+ *
+ * \param ctx       The ECDH context to use. This must be initialized.
+ */
+void mbedtls_ecdh_enable_restart( mbedtls_ecdh_context *ctx );
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/thirdparty/mbedtls/include/mbedtls/ecdsa.h b/thirdparty/mbedtls/include/mbedtls/ecdsa.h
index ce1a03d791..40fdab3729 100644
--- a/thirdparty/mbedtls/include/mbedtls/ecdsa.h
+++ b/thirdparty/mbedtls/include/mbedtls/ecdsa.h
@@ -55,20 +55,71 @@
 /** The maximal size of an ECDSA signature in Bytes. */
 #define MBEDTLS_ECDSA_MAX_LEN  ( 3 + 2 * ( 3 + MBEDTLS_ECP_MAX_BYTES ) )
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * \brief           The ECDSA context structure.
+ *
+ * \warning         Performing multiple operations concurrently on the same
+ *                  ECDSA context is not supported; objects of this type
+ *                  should not be shared between multiple threads.
  */
 typedef mbedtls_ecp_keypair mbedtls_ecdsa_context;
 
-#ifdef __cplusplus
-extern "C" {
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+
+/**
+ * \brief           Internal restart context for ecdsa_verify()
+ *
+ * \note            Opaque struct, defined in ecdsa.c
+ */
+typedef struct mbedtls_ecdsa_restart_ver mbedtls_ecdsa_restart_ver_ctx;
+
+/**
+ * \brief           Internal restart context for ecdsa_sign()
+ *
+ * \note            Opaque struct, defined in ecdsa.c
+ */
+typedef struct mbedtls_ecdsa_restart_sig mbedtls_ecdsa_restart_sig_ctx;
+
+#if defined(MBEDTLS_ECDSA_DETERMINISTIC)
+/**
+ * \brief           Internal restart context for ecdsa_sign_det()
+ *
+ * \note            Opaque struct, defined in ecdsa.c
+ */
+typedef struct mbedtls_ecdsa_restart_det mbedtls_ecdsa_restart_det_ctx;
+#endif
+
+/**
+ * \brief           General context for resuming ECDSA operations
+ */
+typedef struct
+{
+    mbedtls_ecp_restart_ctx ecp;        /*!<  base context for ECP restart and
+                                              shared administrative info    */
+    mbedtls_ecdsa_restart_ver_ctx *ver; /*!<  ecdsa_verify() sub-context    */
+    mbedtls_ecdsa_restart_sig_ctx *sig; /*!<  ecdsa_sign() sub-context      */
+#if defined(MBEDTLS_ECDSA_DETERMINISTIC)
+    mbedtls_ecdsa_restart_det_ctx *det; /*!<  ecdsa_sign_det() sub-context  */
 #endif
+} mbedtls_ecdsa_restart_ctx;
+
+#else /* MBEDTLS_ECP_RESTARTABLE */
+
+/* Now we can declare functions that take a pointer to that */
+typedef void mbedtls_ecdsa_restart_ctx;
+
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 
 /**
  * \brief           This function computes the ECDSA signature of a
  *                  previously-hashed message.
  *
- * \note            The deterministic version is usually preferred.
+ * \note            The deterministic version implemented in
+ *                  mbedtls_ecdsa_sign_det() is usually preferred.
  *
  * \note            If the bitlength of the message hash is larger than the
  *                  bitlength of the group order, then the hash is truncated
@@ -78,14 +129,22 @@ extern "C" {
  *
  * \see             ecp.h
  *
- * \param grp       The ECP group.
- * \param r         The first output integer.
- * \param s         The second output integer.
- * \param d         The private signing key.
- * \param buf       The message hash.
- * \param blen      The length of \p buf.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ * \param grp       The context for the elliptic curve to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param r         The MPI context in which to store the first part
+ *                  the signature. This must be initialized.
+ * \param s         The MPI context in which to store the second part
+ *                  the signature. This must be initialized.
+ * \param d         The private signing key. This must be initialized.
+ * \param buf       The content to be signed. This is usually the hash of
+ *                  the original data to be signed. This must be a readable
+ *                  buffer of length \p blen Bytes. It may be \c NULL if
+ *                  \p blen is zero.
+ * \param blen      The length of \p buf in Bytes.
+ * \param f_rng     The RNG function. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL if \p f_rng doesn't need a context parameter.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX
@@ -112,21 +171,29 @@ int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
  *
  * \see             ecp.h
  *
- * \param grp       The ECP group.
- * \param r         The first output integer.
- * \param s         The second output integer.
- * \param d         The private signing key.
- * \param buf       The message hash.
- * \param blen      The length of \p buf.
- * \param md_alg    The MD algorithm used to hash the message.
+ * \param grp       The context for the elliptic curve to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param r         The MPI context in which to store the first part
+ *                  the signature. This must be initialized.
+ * \param s         The MPI context in which to store the second part
+ *                  the signature. This must be initialized.
+ * \param d         The private signing key. This must be initialized
+ *                  and setup, for example through mbedtls_ecp_gen_privkey().
+ * \param buf       The hashed content to be signed. This must be a readable
+ *                  buffer of length \p blen Bytes. It may be \c NULL if
+ *                  \p blen is zero.
+ * \param blen      The length of \p buf in Bytes.
+ * \param md_alg    The hash algorithm used to hash the original data.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_MPI_XXX
  *                  error code on failure.
  */
-int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
-                    const mbedtls_mpi *d, const unsigned char *buf, size_t blen,
-                    mbedtls_md_type_t md_alg );
+int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r,
+                            mbedtls_mpi *s, const mbedtls_mpi *d,
+                            const unsigned char *buf, size_t blen,
+                            mbedtls_md_type_t md_alg );
 #endif /* MBEDTLS_ECDSA_DETERMINISTIC */
 
 /**
@@ -141,12 +208,19 @@ int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi
  *
  * \see             ecp.h
  *
- * \param grp       The ECP group.
- * \param buf       The message hash.
- * \param blen      The length of \p buf.
- * \param Q         The public key to use for verification.
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param buf       The hashed content that was signed. This must be a readable
+ *                  buffer of length \p blen Bytes. It may be \c NULL if
+ *                  \p blen is zero.
+ * \param blen      The length of \p buf in Bytes.
+ * \param Q         The public key to use for verification. This must be
+ *                  initialized and setup.
  * \param r         The first integer of the signature.
+ *                  This must be initialized.
  * \param s         The second integer of the signature.
+ *                  This must be initialized.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if the signature
@@ -155,8 +229,9 @@ int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi
  *                  error code on failure for any other reason.
  */
 int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
-                  const unsigned char *buf, size_t blen,
-                  const mbedtls_ecp_point *Q, const mbedtls_mpi *r, const mbedtls_mpi *s);
+                          const unsigned char *buf, size_t blen,
+                          const mbedtls_ecp_point *Q, const mbedtls_mpi *r,
+                          const mbedtls_mpi *s);
 
 /**
  * \brief           This function computes the ECDSA signature and writes it
@@ -173,11 +248,6 @@ int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
  *                  of the Digital Signature Algorithm (DSA) and Elliptic
  *                  Curve Digital Signature Algorithm (ECDSA)</em>.
  *
- * \note            The \p sig buffer must be at least twice as large as the
- *                  size of the curve used, plus 9. For example, 73 Bytes if
- *                  a 256-bit curve is used. A buffer length of
- *                  #MBEDTLS_ECDSA_MAX_LEN is always safe.
- *
  * \note            If the bitlength of the message hash is larger than the
  *                  bitlength of the group order, then the hash is truncated as
  *                  defined in <em>Standards for Efficient Cryptography Group
@@ -186,25 +256,84 @@ int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDSA context.
+ * \param ctx       The ECDSA context to use. This must be initialized
+ *                  and have a group and private key bound to it, for example
+ *                  via mbedtls_ecdsa_genkey() or mbedtls_ecdsa_from_keypair().
  * \param md_alg    The message digest that was used to hash the message.
- * \param hash      The message hash.
- * \param hlen      The length of the hash.
- * \param sig       The buffer that holds the signature.
- * \param slen      The length of the signature written.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ * \param hash      The message hash to be signed. This must be a readable
+ *                  buffer of length \p blen Bytes.
+ * \param hlen      The length of the hash \p hash in Bytes.
+ * \param sig       The buffer to which to write the signature. This must be a
+ *                  writable buffer of length at least twice as large as the
+ *                  size of the curve used, plus 9. For example, 73 Bytes if
+ *                  a 256-bit curve is used. A buffer length of
+ *                  #MBEDTLS_ECDSA_MAX_LEN is always safe.
+ * \param slen      The address at which to store the actual length of
+ *                  the signature written. Must not be \c NULL.
+ * \param f_rng     The RNG function. This must not be \c NULL if
+ *                  #MBEDTLS_ECDSA_DETERMINISTIC is unset. Otherwise,
+ *                  it is unused and may be set to \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL if \p f_rng is \c NULL or doesn't use a context.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX, \c MBEDTLS_ERR_MPI_XXX or
  *                  \c MBEDTLS_ERR_ASN1_XXX error code on failure.
  */
-int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx, mbedtls_md_type_t md_alg,
+int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx,
+                                   mbedtls_md_type_t md_alg,
                            const unsigned char *hash, size_t hlen,
                            unsigned char *sig, size_t *slen,
                            int (*f_rng)(void *, unsigned char *, size_t),
                            void *p_rng );
 
+/**
+ * \brief           This function computes the ECDSA signature and writes it
+ *                  to a buffer, in a restartable way.
+ *
+ * \see             \c mbedtls_ecdsa_write_signature()
+ *
+ * \note            This function is like \c mbedtls_ecdsa_write_signature()
+ *                  but it can return early and restart according to the limit
+ *                  set with \c mbedtls_ecp_set_max_ops() to reduce blocking.
+ *
+ * \param ctx       The ECDSA context to use. This must be initialized
+ *                  and have a group and private key bound to it, for example
+ *                  via mbedtls_ecdsa_genkey() or mbedtls_ecdsa_from_keypair().
+ * \param md_alg    The message digest that was used to hash the message.
+ * \param hash      The message hash to be signed. This must be a readable
+ *                  buffer of length \p blen Bytes.
+ * \param hlen      The length of the hash \p hash in Bytes.
+ * \param sig       The buffer to which to write the signature. This must be a
+ *                  writable buffer of length at least twice as large as the
+ *                  size of the curve used, plus 9. For example, 73 Bytes if
+ *                  a 256-bit curve is used. A buffer length of
+ *                  #MBEDTLS_ECDSA_MAX_LEN is always safe.
+ * \param slen      The address at which to store the actual length of
+ *                  the signature written. Must not be \c NULL.
+ * \param f_rng     The RNG function. This must not be \c NULL if
+ *                  #MBEDTLS_ECDSA_DETERMINISTIC is unset. Otherwise,
+ *                  it is unused and may be set to \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may be
+ *                  \c NULL if \p f_rng is \c NULL or doesn't use a context.
+ * \param rs_ctx    The restart context to use. This may be \c NULL to disable
+ *                  restarting. If it is not \c NULL, it must point to an
+ *                  initialized restart context.
+ *
+ * \return          \c 0 on success.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX, \c MBEDTLS_ERR_MPI_XXX or
+ *                  \c MBEDTLS_ERR_ASN1_XXX error code on failure.
+ */
+int mbedtls_ecdsa_write_signature_restartable( mbedtls_ecdsa_context *ctx,
+                           mbedtls_md_type_t md_alg,
+                           const unsigned char *hash, size_t hlen,
+                           unsigned char *sig, size_t *slen,
+                           int (*f_rng)(void *, unsigned char *, size_t),
+                           void *p_rng,
+                           mbedtls_ecdsa_restart_ctx *rs_ctx );
+
 #if defined(MBEDTLS_ECDSA_DETERMINISTIC)
 #if ! defined(MBEDTLS_DEPRECATED_REMOVED)
 #if defined(MBEDTLS_DEPRECATED_WARNING)
@@ -225,11 +354,6 @@ int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx, mbedtls_md_type_t
  * \warning         It is not thread-safe to use the same context in
  *                  multiple threads.
  *
- * \note            The \p sig buffer must be at least twice as large as the
- *                  size of the curve used, plus 9. For example, 73 Bytes if a
- *                  256-bit curve is used. A buffer length of
- *                  #MBEDTLS_ECDSA_MAX_LEN is always safe.
- *
  * \note            If the bitlength of the message hash is larger than the
  *                  bitlength of the group order, then the hash is truncated as
  *                  defined in <em>Standards for Efficient Cryptography Group
@@ -241,12 +365,20 @@ int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx, mbedtls_md_type_t
  * \deprecated      Superseded by mbedtls_ecdsa_write_signature() in
  *                  Mbed TLS version 2.0 and later.
  *
- * \param ctx       The ECDSA context.
- * \param hash      The message hash.
- * \param hlen      The length of the hash.
- * \param sig       The buffer that holds the signature.
- * \param slen      The length of the signature written.
- * \param md_alg    The MD algorithm used to hash the message.
+ * \param ctx       The ECDSA context to use. This must be initialized
+ *                  and have a group and private key bound to it, for example
+ *                  via mbedtls_ecdsa_genkey() or mbedtls_ecdsa_from_keypair().
+ * \param hash      The message hash to be signed. This must be a readable
+ *                  buffer of length \p blen Bytes.
+ * \param hlen      The length of the hash \p hash in Bytes.
+ * \param sig       The buffer to which to write the signature. This must be a
+ *                  writable buffer of length at least twice as large as the
+ *                  size of the curve used, plus 9. For example, 73 Bytes if
+ *                  a 256-bit curve is used. A buffer length of
+ *                  #MBEDTLS_ECDSA_MAX_LEN is always safe.
+ * \param slen      The address at which to store the actual length of
+ *                  the signature written. Must not be \c NULL.
+ * \param md_alg    The message digest that was used to hash the message.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX, \c MBEDTLS_ERR_MPI_XXX or
@@ -271,11 +403,14 @@ int mbedtls_ecdsa_write_signature_det( mbedtls_ecdsa_context *ctx,
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDSA context.
- * \param hash      The message hash.
- * \param hlen      The size of the hash.
- * \param sig       The signature to read and verify.
- * \param slen      The size of \p sig.
+ * \param ctx       The ECDSA context to use. This must be initialized
+ *                  and have a group and public key bound to it.
+ * \param hash      The message hash that was signed. This must be a readable
+ *                  buffer of length \p size Bytes.
+ * \param hlen      The size of the hash \p hash.
+ * \param sig       The signature to read and verify. This must be a readable
+ *                  buffer of length \p slen Bytes.
+ * \param slen      The size of \p sig in Bytes.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if signature is invalid.
@@ -289,15 +424,53 @@ int mbedtls_ecdsa_read_signature( mbedtls_ecdsa_context *ctx,
                           const unsigned char *sig, size_t slen );
 
 /**
+ * \brief           This function reads and verifies an ECDSA signature,
+ *                  in a restartable way.
+ *
+ * \see             \c mbedtls_ecdsa_read_signature()
+ *
+ * \note            This function is like \c mbedtls_ecdsa_read_signature()
+ *                  but it can return early and restart according to the limit
+ *                  set with \c mbedtls_ecp_set_max_ops() to reduce blocking.
+ *
+ * \param ctx       The ECDSA context to use. This must be initialized
+ *                  and have a group and public key bound to it.
+ * \param hash      The message hash that was signed. This must be a readable
+ *                  buffer of length \p size Bytes.
+ * \param hlen      The size of the hash \p hash.
+ * \param sig       The signature to read and verify. This must be a readable
+ *                  buffer of length \p slen Bytes.
+ * \param slen      The size of \p sig in Bytes.
+ * \param rs_ctx    The restart context to use. This may be \c NULL to disable
+ *                  restarting. If it is not \c NULL, it must point to an
+ *                  initialized restart context.
+ *
+ * \return          \c 0 on success.
+ * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if signature is invalid.
+ * \return          #MBEDTLS_ERR_ECP_SIG_LEN_MISMATCH if there is a valid
+ *                  signature in \p sig, but its length is less than \p siglen.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_ERR_MPI_XXX
+ *                  error code on failure for any other reason.
+ */
+int mbedtls_ecdsa_read_signature_restartable( mbedtls_ecdsa_context *ctx,
+                          const unsigned char *hash, size_t hlen,
+                          const unsigned char *sig, size_t slen,
+                          mbedtls_ecdsa_restart_ctx *rs_ctx );
+
+/**
  * \brief          This function generates an ECDSA keypair on the given curve.
  *
  * \see            ecp.h
  *
  * \param ctx      The ECDSA context to store the keypair in.
+ *                 This must be initialized.
  * \param gid      The elliptic curve to use. One of the various
  *                 \c MBEDTLS_ECP_DP_XXX macros depending on configuration.
- * \param f_rng    The RNG function.
- * \param p_rng    The RNG context.
+ * \param f_rng    The RNG function to use. This must not be \c NULL.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng doesn't need a context argument.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_ECP_XXX code on failure.
@@ -306,32 +479,59 @@ int mbedtls_ecdsa_genkey( mbedtls_ecdsa_context *ctx, mbedtls_ecp_group_id gid,
                   int (*f_rng)(void *, unsigned char *, size_t), void *p_rng );
 
 /**
- * \brief           This function sets an ECDSA context from an EC key pair.
+ * \brief           This function sets up an ECDSA context from an EC key pair.
  *
  * \see             ecp.h
  *
- * \param ctx       The ECDSA context to set.
- * \param key       The EC key to use.
+ * \param ctx       The ECDSA context to setup. This must be initialized.
+ * \param key       The EC key to use. This must be initialized and hold
+ *                  a private-public key pair or a public key. In the former
+ *                  case, the ECDSA context may be used for signature creation
+ *                  and verification after this call. In the latter case, it
+ *                  may be used for signature verification.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX code on failure.
  */
-int mbedtls_ecdsa_from_keypair( mbedtls_ecdsa_context *ctx, const mbedtls_ecp_keypair *key );
+int mbedtls_ecdsa_from_keypair( mbedtls_ecdsa_context *ctx,
+                                const mbedtls_ecp_keypair *key );
 
 /**
  * \brief           This function initializes an ECDSA context.
  *
  * \param ctx       The ECDSA context to initialize.
+ *                  This must not be \c NULL.
  */
 void mbedtls_ecdsa_init( mbedtls_ecdsa_context *ctx );
 
 /**
  * \brief           This function frees an ECDSA context.
  *
- * \param ctx       The ECDSA context to free.
+ * \param ctx       The ECDSA context to free. This may be \c NULL,
+ *                  in which case this function does nothing. If it
+ *                  is not \c NULL, it must be initialized.
  */
 void mbedtls_ecdsa_free( mbedtls_ecdsa_context *ctx );
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           Initialize a restart context.
+ *
+ * \param ctx       The restart context to initialize.
+ *                  This must not be \c NULL.
+ */
+void mbedtls_ecdsa_restart_init( mbedtls_ecdsa_restart_ctx *ctx );
+
+/**
+ * \brief           Free the components of a restart context.
+ *
+ * \param ctx       The restart context to free. This may be \c NULL,
+ *                  in which case this function does nothing. If it
+ *                  is not \c NULL, it must be initialized.
+ */
+void mbedtls_ecdsa_restart_free( mbedtls_ecdsa_restart_ctx *ctx );
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/thirdparty/mbedtls/include/mbedtls/ecjpake.h b/thirdparty/mbedtls/include/mbedtls/ecjpake.h
index cc2b316f5e..b967af8385 100644
--- a/thirdparty/mbedtls/include/mbedtls/ecjpake.h
+++ b/thirdparty/mbedtls/include/mbedtls/ecjpake.h
@@ -68,7 +68,7 @@ typedef enum {
  * convetion from the Thread v1.0 spec. Correspondance is indicated in the
  * description as a pair C: client name, S: server name
  */
-typedef struct
+typedef struct mbedtls_ecjpake_context
 {
     const mbedtls_md_info_t *md_info;   /**< Hash to use                    */
     mbedtls_ecp_group grp;              /**< Elliptic curve                 */
@@ -92,28 +92,33 @@ typedef struct
 #endif /* MBEDTLS_ECJPAKE_ALT */
 
 /**
- * \brief           Initialize a context
- *                  (just makes it ready for setup() or free()).
+ * \brief           Initialize an ECJPAKE context.
  *
- * \param ctx       context to initialize
+ * \param ctx       The ECJPAKE context to initialize.
+ *                  This must not be \c NULL.
  */
 void mbedtls_ecjpake_init( mbedtls_ecjpake_context *ctx );
 
 /**
- * \brief           Set up a context for use
+ * \brief           Set up an ECJPAKE context for use.
  *
  * \note            Currently the only values for hash/curve allowed by the
- *                  standard are MBEDTLS_MD_SHA256/MBEDTLS_ECP_DP_SECP256R1.
+ *                  standard are #MBEDTLS_MD_SHA256/#MBEDTLS_ECP_DP_SECP256R1.
  *
- * \param ctx       context to set up
- * \param role      Our role: client or server
- * \param hash      hash function to use (MBEDTLS_MD_XXX)
- * \param curve     elliptic curve identifier (MBEDTLS_ECP_DP_XXX)
- * \param secret    pre-shared secret (passphrase)
- * \param len       length of the shared secret
+ * \param ctx       The ECJPAKE context to set up. This must be initialized.
+ * \param role      The role of the caller. This must be either
+ *                  #MBEDTLS_ECJPAKE_CLIENT or #MBEDTLS_ECJPAKE_SERVER.
+ * \param hash      The identifier of the hash function to use,
+ *                  for example #MBEDTLS_MD_SHA256.
+ * \param curve     The identifier of the elliptic curve to use,
+ *                  for example #MBEDTLS_ECP_DP_SECP256R1.
+ * \param secret    The pre-shared secret (passphrase). This must be
+ *                  a readable buffer of length \p len Bytes. It need
+ *                  only be valid for the duration of this call.
+ * \param len       The length of the pre-shared secret \p secret.
  *
- * \return          0 if successfull,
- *                  a negative error code otherwise
+ * \return          \c 0 if successful.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecjpake_setup( mbedtls_ecjpake_context *ctx,
                            mbedtls_ecjpake_role role,
@@ -123,29 +128,34 @@ int mbedtls_ecjpake_setup( mbedtls_ecjpake_context *ctx,
                            size_t len );
 
 /**
- * \brief           Check if a context is ready for use
+ * \brief           Check if an ECJPAKE context is ready for use.
  *
- * \param ctx       Context to check
+ * \param ctx       The ECJPAKE context to check. This must be
+ *                  initialized.
  *
- * \return          0 if the context is ready for use,
- *                  MBEDTLS_ERR_ECP_BAD_INPUT_DATA otherwise
+ * \return          \c 0 if the context is ready for use.
+ * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA otherwise.
  */
 int mbedtls_ecjpake_check( const mbedtls_ecjpake_context *ctx );
 
 /**
  * \brief           Generate and write the first round message
  *                  (TLS: contents of the Client/ServerHello extension,
- *                  excluding extension type and length bytes)
+ *                  excluding extension type and length bytes).
  *
- * \param ctx       Context to use
- * \param buf       Buffer to write the contents to
- * \param len       Buffer size
- * \param olen      Will be updated with the number of bytes written
- * \param f_rng     RNG function
- * \param p_rng     RNG parameter
+ * \param ctx       The ECJPAKE context to use. This must be
+ *                  initialized and set up.
+ * \param buf       The buffer to write the contents to. This must be a
+ *                  writable buffer of length \p len Bytes.
+ * \param len       The length of \p buf in Bytes.
+ * \param olen      The address at which to store the total number
+ *                  of Bytes written to \p buf. This must not be \c NULL.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG parameter to be passed to \p f_rng. This
+ *                  may be \c NULL if \p f_rng doesn't use a context.
  *
- * \return          0 if successfull,
- *                  a negative error code otherwise
+ * \return          \c 0 if successful.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecjpake_write_round_one( mbedtls_ecjpake_context *ctx,
                             unsigned char *buf, size_t len, size_t *olen,
@@ -155,14 +165,16 @@ int mbedtls_ecjpake_write_round_one( mbedtls_ecjpake_context *ctx,
 /**
  * \brief           Read and process the first round message
  *                  (TLS: contents of the Client/ServerHello extension,
- *                  excluding extension type and length bytes)
+ *                  excluding extension type and length bytes).
  *
- * \param ctx       Context to use
- * \param buf       Pointer to extension contents
- * \param len       Extension length
+ * \param ctx       The ECJPAKE context to use. This must be initialized
+ *                  and set up.
+ * \param buf       The buffer holding the first round message. This must
+ *                  be a readable buffer of length \p len Bytes.
+ * \param len       The length in Bytes of \p buf.
  *
- * \return          0 if successfull,
- *                  a negative error code otherwise
+ * \return          \c 0 if successful.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecjpake_read_round_one( mbedtls_ecjpake_context *ctx,
                                     const unsigned char *buf,
@@ -170,17 +182,21 @@ int mbedtls_ecjpake_read_round_one( mbedtls_ecjpake_context *ctx,
 
 /**
  * \brief           Generate and write the second round message
- *                  (TLS: contents of the Client/ServerKeyExchange)
+ *                  (TLS: contents of the Client/ServerKeyExchange).
  *
- * \param ctx       Context to use
- * \param buf       Buffer to write the contents to
- * \param len       Buffer size
- * \param olen      Will be updated with the number of bytes written
- * \param f_rng     RNG function
- * \param p_rng     RNG parameter
+ * \param ctx       The ECJPAKE context to use. This must be initialized,
+ *                  set up, and already have performed round one.
+ * \param buf       The buffer to write the round two contents to.
+ *                  This must be a writable buffer of length \p len Bytes.
+ * \param len       The size of \p buf in Bytes.
+ * \param olen      The address at which to store the total number of Bytes
+ *                  written to \p buf. This must not be \c NULL.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG parameter to be passed to \p f_rng. This
+ *                  may be \c NULL if \p f_rng doesn't use a context.
  *
- * \return          0 if successfull,
- *                  a negative error code otherwise
+ * \return          \c 0 if successful.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecjpake_write_round_two( mbedtls_ecjpake_context *ctx,
                             unsigned char *buf, size_t len, size_t *olen,
@@ -189,14 +205,16 @@ int mbedtls_ecjpake_write_round_two( mbedtls_ecjpake_context *ctx,
 
 /**
  * \brief           Read and process the second round message
- *                  (TLS: contents of the Client/ServerKeyExchange)
+ *                  (TLS: contents of the Client/ServerKeyExchange).
  *
- * \param ctx       Context to use
- * \param buf       Pointer to the message
- * \param len       Message length
+ * \param ctx       The ECJPAKE context to use. This must be initialized
+ *                  and set up and already have performed round one.
+ * \param buf       The buffer holding the second round message. This must
+ *                  be a readable buffer of length \p len Bytes.
+ * \param len       The length in Bytes of \p buf.
  *
- * \return          0 if successfull,
- *                  a negative error code otherwise
+ * \return          \c 0 if successful.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecjpake_read_round_two( mbedtls_ecjpake_context *ctx,
                                     const unsigned char *buf,
@@ -204,17 +222,21 @@ int mbedtls_ecjpake_read_round_two( mbedtls_ecjpake_context *ctx,
 
 /**
  * \brief           Derive the shared secret
- *                  (TLS: Pre-Master Secret)
+ *                  (TLS: Pre-Master Secret).
  *
- * \param ctx       Context to use
- * \param buf       Buffer to write the contents to
- * \param len       Buffer size
- * \param olen      Will be updated with the number of bytes written
- * \param f_rng     RNG function
- * \param p_rng     RNG parameter
+ * \param ctx       The ECJPAKE context to use. This must be initialized,
+ *                  set up and have performed both round one and two.
+ * \param buf       The buffer to write the derived secret to. This must
+ *                  be a writable buffer of length \p len Bytes.
+ * \param len       The length of \p buf in Bytes.
+ * \param olen      The address at which to store the total number of Bytes
+ *                  written to \p buf. This must not be \c NULL.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG parameter to be passed to \p f_rng. This
+ *                  may be \c NULL if \p f_rng doesn't use a context.
  *
- * \return          0 if successfull,
- *                  a negative error code otherwise
+ * \return          \c 0 if successful.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecjpake_derive_secret( mbedtls_ecjpake_context *ctx,
                             unsigned char *buf, size_t len, size_t *olen,
@@ -222,14 +244,15 @@ int mbedtls_ecjpake_derive_secret( mbedtls_ecjpake_context *ctx,
                             void *p_rng );
 
 /**
- * \brief           Free a context's content
+ * \brief           This clears an ECJPAKE context and frees any
+ *                  embedded data structure.
  *
- * \param ctx       context to free
+ * \param ctx       The ECJPAKE context to free. This may be \c NULL,
+ *                  in which case this function does nothing. If it is not
+ *                  \c NULL, it must point to an initialized ECJPAKE context.
  */
 void mbedtls_ecjpake_free( mbedtls_ecjpake_context *ctx );
 
-
-
 #if defined(MBEDTLS_SELF_TEST)
 
 /**
diff --git a/thirdparty/mbedtls/include/mbedtls/ecp.h b/thirdparty/mbedtls/include/mbedtls/ecp.h
index 3a407986dd..de3a343cb6 100644
--- a/thirdparty/mbedtls/include/mbedtls/ecp.h
+++ b/thirdparty/mbedtls/include/mbedtls/ecp.h
@@ -49,8 +49,12 @@
 #define MBEDTLS_ERR_ECP_RANDOM_FAILED                     -0x4D00  /**< Generation of random value, such as ephemeral key, failed. */
 #define MBEDTLS_ERR_ECP_INVALID_KEY                       -0x4C80  /**< Invalid private or public key. */
 #define MBEDTLS_ERR_ECP_SIG_LEN_MISMATCH                  -0x4C00  /**< The buffer contains a valid signature followed by more data. */
+
+/* MBEDTLS_ERR_ECP_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_ECP_HW_ACCEL_FAILED                   -0x4B80  /**< The ECP hardware accelerator failed. */
 
+#define MBEDTLS_ERR_ECP_IN_PROGRESS                       -0x4B00  /**< Operation in progress, call again with the same parameters to continue. */
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -92,7 +96,7 @@ typedef enum
 /**
  * Curve information, for use by other modules.
  */
-typedef struct
+typedef struct mbedtls_ecp_curve_info
 {
     mbedtls_ecp_group_id grp_id;    /*!< An internal identifier. */
     uint16_t tls_id;                /*!< The TLS NamedCurve identifier. */
@@ -111,7 +115,7 @@ typedef struct
  *                  Otherwise, \p X and \p Y are its standard (affine)
  *                  coordinates.
  */
-typedef struct
+typedef struct mbedtls_ecp_point
 {
     mbedtls_mpi X;          /*!< The X coordinate of the ECP point. */
     mbedtls_mpi Y;          /*!< The Y coordinate of the ECP point. */
@@ -155,8 +159,12 @@ mbedtls_ecp_point;
  * additions or subtractions. Therefore, it is only an approximative modular
  * reduction. It must return 0 on success and non-zero on failure.
  *
+ * \note        Alternative implementations must keep the group IDs distinct. If
+ *              two group structures have the same ID, then they must be
+ *              identical.
+ *
  */
-typedef struct
+typedef struct mbedtls_ecp_group
 {
     mbedtls_ecp_group_id id;    /*!< An internal group identifier. */
     mbedtls_mpi P;              /*!< The prime modulus of the base field. */
@@ -181,6 +189,70 @@ typedef struct
 }
 mbedtls_ecp_group;
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+
+/**
+ * \brief           Internal restart context for multiplication
+ *
+ * \note            Opaque struct
+ */
+typedef struct mbedtls_ecp_restart_mul mbedtls_ecp_restart_mul_ctx;
+
+/**
+ * \brief           Internal restart context for ecp_muladd()
+ *
+ * \note            Opaque struct
+ */
+typedef struct mbedtls_ecp_restart_muladd mbedtls_ecp_restart_muladd_ctx;
+
+/**
+ * \brief           General context for resuming ECC operations
+ */
+typedef struct
+{
+    unsigned ops_done;                  /*!<  current ops count             */
+    unsigned depth;                     /*!<  call depth (0 = top-level)    */
+    mbedtls_ecp_restart_mul_ctx *rsm;   /*!<  ecp_mul_comb() sub-context    */
+    mbedtls_ecp_restart_muladd_ctx *ma; /*!<  ecp_muladd() sub-context      */
+} mbedtls_ecp_restart_ctx;
+
+/*
+ * Operation counts for restartable functions
+ */
+#define MBEDTLS_ECP_OPS_CHK   3 /*!< basic ops count for ecp_check_pubkey()  */
+#define MBEDTLS_ECP_OPS_DBL   8 /*!< basic ops count for ecp_double_jac()    */
+#define MBEDTLS_ECP_OPS_ADD  11 /*!< basic ops count for see ecp_add_mixed() */
+#define MBEDTLS_ECP_OPS_INV 120 /*!< empirical equivalent for mpi_mod_inv()  */
+
+/**
+ * \brief           Internal; for restartable functions in other modules.
+ *                  Check and update basic ops budget.
+ *
+ * \param grp       Group structure
+ * \param rs_ctx    Restart context
+ * \param ops       Number of basic ops to do
+ *
+ * \return          \c 0 if doing \p ops basic ops is still allowed,
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS otherwise.
+ */
+int mbedtls_ecp_check_budget( const mbedtls_ecp_group *grp,
+                              mbedtls_ecp_restart_ctx *rs_ctx,
+                              unsigned ops );
+
+/* Utility macro for checking and updating ops budget */
+#define MBEDTLS_ECP_BUDGET( ops )   \
+    MBEDTLS_MPI_CHK( mbedtls_ecp_check_budget( grp, rs_ctx, \
+                                               (unsigned) (ops) ) );
+
+#else /* MBEDTLS_ECP_RESTARTABLE */
+
+#define MBEDTLS_ECP_BUDGET( ops )   /* no-op; for compatibility */
+
+/* We want to declare restartable versions of existing functions anyway */
+typedef void mbedtls_ecp_restart_ctx;
+
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 /**
  * \name SECTION: Module settings
  *
@@ -251,7 +323,7 @@ mbedtls_ecp_group;
  * \note    Members are deliberately in the same order as in the
  *          ::mbedtls_ecdsa_context structure.
  */
-typedef struct
+typedef struct mbedtls_ecp_keypair
 {
     mbedtls_ecp_group grp;      /*!<  Elliptic curve and base point     */
     mbedtls_mpi d;              /*!<  our secret value                  */
@@ -270,6 +342,75 @@ mbedtls_ecp_keypair;
  */
 #define MBEDTLS_ECP_TLS_NAMED_CURVE    3   /**< The named_curve of ECCurveType. */
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           Set the maximum number of basic operations done in a row.
+ *
+ *                  If more operations are needed to complete a computation,
+ *                  #MBEDTLS_ERR_ECP_IN_PROGRESS will be returned by the
+ *                  function performing the computation. It is then the
+ *                  caller's responsibility to either call again with the same
+ *                  parameters until it returns 0 or an error code; or to free
+ *                  the restart context if the operation is to be aborted.
+ *
+ *                  It is strictly required that all input parameters and the
+ *                  restart context be the same on successive calls for the
+ *                  same operation, but output parameters need not be the
+ *                  same; they must not be used until the function finally
+ *                  returns 0.
+ *
+ *                  This only applies to functions whose documentation
+ *                  mentions they may return #MBEDTLS_ERR_ECP_IN_PROGRESS (or
+ *                  #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS for functions in the
+ *                  SSL module). For functions that accept a "restart context"
+ *                  argument, passing NULL disables restart and makes the
+ *                  function equivalent to the function with the same name
+ *                  with \c _restartable removed. For functions in the ECDH
+ *                  module, restart is disabled unless the function accepts
+ *                  an "ECDH context" argument and
+ *                  mbedtls_ecdh_enable_restart() was previously called on
+ *                  that context. For function in the SSL module, restart is
+ *                  only enabled for specific sides and key exchanges
+ *                  (currently only for clients and ECDHE-ECDSA).
+ *
+ * \param max_ops   Maximum number of basic operations done in a row.
+ *                  Default: 0 (unlimited).
+ *                  Lower (non-zero) values mean ECC functions will block for
+ *                  a lesser maximum amount of time.
+ *
+ * \note            A "basic operation" is defined as a rough equivalent of a
+ *                  multiplication in GF(p) for the NIST P-256 curve.
+ *                  As an indication, with default settings, a scalar
+ *                  multiplication (full run of \c mbedtls_ecp_mul()) is:
+ *                  - about 3300 basic operations for P-256
+ *                  - about 9400 basic operations for P-384
+ *
+ * \note            Very low values are not always respected: sometimes
+ *                  functions need to block for a minimum number of
+ *                  operations, and will do so even if max_ops is set to a
+ *                  lower value.  That minimum depends on the curve size, and
+ *                  can be made lower by decreasing the value of
+ *                  \c MBEDTLS_ECP_WINDOW_SIZE.  As an indication, here is the
+ *                  lowest effective value for various curves and values of
+ *                  that parameter (w for short):
+ *                          w=6     w=5     w=4     w=3     w=2
+ *                  P-256   208     208     160     136     124
+ *                  P-384   682     416     320     272     248
+ *                  P-521  1364     832     640     544     496
+ *
+ * \note            This setting is currently ignored by Curve25519.
+ */
+void mbedtls_ecp_set_max_ops( unsigned max_ops );
+
+/**
+ * \brief           Check if restart is enabled (max_ops != 0)
+ *
+ * \return          \c 0 if \c max_ops == 0 (restart disabled)
+ * \return          \c 1 otherwise (restart enabled)
+ */
+int mbedtls_ecp_restart_is_enabled( void );
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 /**
  * \brief           This function retrieves the information defined in
  *                  mbedtls_ecp_curve_info() for all supported curves in order
@@ -356,25 +497,51 @@ void mbedtls_ecp_point_free( mbedtls_ecp_point *pt );
 
 /**
  * \brief           This function frees the components of an ECP group.
- * \param grp       The group to free.
+ *
+ * \param grp       The group to free. This may be \c NULL, in which
+ *                  case this function returns immediately. If it is not
+ *                  \c NULL, it must point to an initialized ECP group.
  */
 void mbedtls_ecp_group_free( mbedtls_ecp_group *grp );
 
 /**
  * \brief           This function frees the components of a key pair.
- * \param key       The key pair to free.
+ *
+ * \param key       The key pair to free. This may be \c NULL, in which
+ *                  case this function returns immediately. If it is not
+ *                  \c NULL, it must point to an initialized ECP key pair.
  */
 void mbedtls_ecp_keypair_free( mbedtls_ecp_keypair *key );
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           Initialize a restart context.
+ *
+ * \param ctx       The restart context to initialize. This must
+ *                  not be \c NULL.
+ */
+void mbedtls_ecp_restart_init( mbedtls_ecp_restart_ctx *ctx );
+
+/**
+ * \brief           Free the components of a restart context.
+ *
+ * \param ctx       The restart context to free. This may be \c NULL, in which
+ *                  case this function returns immediately. If it is not
+ *                  \c NULL, it must point to an initialized restart context.
+ */
+void mbedtls_ecp_restart_free( mbedtls_ecp_restart_ctx *ctx );
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 /**
  * \brief           This function copies the contents of point \p Q into
  *                  point \p P.
  *
- * \param P         The destination point.
- * \param Q         The source point.
+ * \param P         The destination point. This must be initialized.
+ * \param Q         The source point. This must be initialized.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          Another negative error code for other kinds of failure.
  */
 int mbedtls_ecp_copy( mbedtls_ecp_point *P, const mbedtls_ecp_point *Q );
 
@@ -382,31 +549,35 @@ int mbedtls_ecp_copy( mbedtls_ecp_point *P, const mbedtls_ecp_point *Q );
  * \brief           This function copies the contents of group \p src into
  *                  group \p dst.
  *
- * \param dst       The destination group.
- * \param src       The source group.
+ * \param dst       The destination group. This must be initialized.
+ * \param src       The source group. This must be initialized.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          Another negative error code on other kinds of failure.
  */
-int mbedtls_ecp_group_copy( mbedtls_ecp_group *dst, const mbedtls_ecp_group *src );
+int mbedtls_ecp_group_copy( mbedtls_ecp_group *dst,
+                            const mbedtls_ecp_group *src );
 
 /**
- * \brief           This function sets a point to zero.
+ * \brief           This function sets a point to the point at infinity.
  *
- * \param pt        The point to set.
+ * \param pt        The point to set. This must be initialized.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_ecp_set_zero( mbedtls_ecp_point *pt );
 
 /**
- * \brief           This function checks if a point is zero.
+ * \brief           This function checks if a point is the point at infinity.
  *
- * \param pt        The point to test.
+ * \param pt        The point to test. This must be initialized.
  *
  * \return          \c 1 if the point is zero.
  * \return          \c 0 if the point is non-zero.
+ * \return          A negative error code on failure.
  */
 int mbedtls_ecp_is_zero( mbedtls_ecp_point *pt );
 
@@ -416,8 +587,8 @@ int mbedtls_ecp_is_zero( mbedtls_ecp_point *pt );
  * \note            This assumes that the points are normalized. Otherwise,
  *                  they may compare as "not equal" even if they are.
  *
- * \param P         The first point to compare.
- * \param Q         The second point to compare.
+ * \param P         The first point to compare. This must be initialized.
+ * \param Q         The second point to compare. This must be initialized.
  *
  * \return          \c 0 if the points are equal.
  * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if the points are not equal.
@@ -429,7 +600,7 @@ int mbedtls_ecp_point_cmp( const mbedtls_ecp_point *P,
  * \brief           This function imports a non-zero point from two ASCII
  *                  strings.
  *
- * \param P         The destination point.
+ * \param P         The destination point. This must be initialized.
  * \param radix     The numeric base of the input.
  * \param x         The first affine coordinate, as a null-terminated string.
  * \param y         The second affine coordinate, as a null-terminated string.
@@ -444,15 +615,21 @@ int mbedtls_ecp_point_read_string( mbedtls_ecp_point *P, int radix,
  * \brief           This function exports a point into unsigned binary data.
  *
  * \param grp       The group to which the point should belong.
- * \param P         The point to export.
- * \param format    The point format. Should be an \c MBEDTLS_ECP_PF_XXX macro.
- * \param olen      The length of the output.
- * \param buf       The output buffer.
- * \param buflen    The length of the output buffer.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param P         The point to export. This must be initialized.
+ * \param format    The point format. This must be either
+ *                  #MBEDTLS_ECP_PF_COMPRESSED or #MBEDTLS_ECP_PF_UNCOMPRESSED.
+ * \param olen      The address at which to store the length of
+ *                  the output in Bytes. This must not be \c NULL.
+ * \param buf       The output buffer. This must be a writable buffer
+ *                  of length \p buflen Bytes.
+ * \param buflen    The length of the output buffer \p buf in Bytes.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA
- *                  or #MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL on failure.
+ * \return          #MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL if the output buffer
+ *                  is too small to hold the point.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_ecp_point_write_binary( const mbedtls_ecp_group *grp, const mbedtls_ecp_point *P,
                             int format, size_t *olen,
@@ -466,108 +643,158 @@ int mbedtls_ecp_point_write_binary( const mbedtls_ecp_group *grp, const mbedtls_
  *                  for that.
  *
  * \param grp       The group to which the point should belong.
- * \param P         The point to import.
- * \param buf       The input buffer.
- * \param ilen      The length of the input.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param P         The destination context to import the point to.
+ *                  This must be initialized.
+ * \param buf       The input buffer. This must be a readable buffer
+ *                  of length \p ilen Bytes.
+ * \param ilen      The length of the input buffer \p buf in Bytes.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if input is invalid.
+ * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if the input is invalid.
  * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
  * \return          #MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE if the point format
  *                  is not implemented.
- *
  */
-int mbedtls_ecp_point_read_binary( const mbedtls_ecp_group *grp, mbedtls_ecp_point *P,
-                           const unsigned char *buf, size_t ilen );
+int mbedtls_ecp_point_read_binary( const mbedtls_ecp_group *grp,
+                                   mbedtls_ecp_point *P,
+                                   const unsigned char *buf, size_t ilen );
 
 /**
  * \brief           This function imports a point from a TLS ECPoint record.
  *
- * \note            On function return, \p buf is updated to point to immediately
+ * \note            On function return, \p *buf is updated to point immediately
  *                  after the ECPoint record.
  *
- * \param grp       The ECP group used.
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
  * \param pt        The destination point.
  * \param buf       The address of the pointer to the start of the input buffer.
  * \param len       The length of the buffer.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_MPI_XXX error code on initialization failure.
+ * \return          An \c MBEDTLS_ERR_MPI_XXX error code on initialization
+ *                  failure.
  * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if input is invalid.
  */
-int mbedtls_ecp_tls_read_point( const mbedtls_ecp_group *grp, mbedtls_ecp_point *pt,
-                        const unsigned char **buf, size_t len );
+int mbedtls_ecp_tls_read_point( const mbedtls_ecp_group *grp,
+                                mbedtls_ecp_point *pt,
+                                const unsigned char **buf, size_t len );
 
 /**
- * \brief           This function exports a point as a TLS ECPoint record.
- *
- * \param grp       The ECP group used.
- * \param pt        The point format to export to. The point format is an
- *                  \c MBEDTLS_ECP_PF_XXX constant.
- * \param format    The export format.
- * \param olen      The length of the data written.
- * \param buf       The buffer to write to.
- * \param blen      The length of the buffer.
+ * \brief           This function exports a point as a TLS ECPoint record
+ *                  defined in RFC 4492, Section 5.4.
+ *
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param pt        The point to be exported. This must be initialized.
+ * \param format    The point format to use. This must be either
+ *                  #MBEDTLS_ECP_PF_COMPRESSED or #MBEDTLS_ECP_PF_UNCOMPRESSED.
+ * \param olen      The address at which to store the length in Bytes
+ *                  of the data written.
+ * \param buf       The target buffer. This must be a writable buffer of
+ *                  length \p blen Bytes.
+ * \param blen      The length of the target buffer \p buf in Bytes.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA or
- *                  #MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL on failure.
+ * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if the input is invalid.
+ * \return          #MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL if the target buffer
+ *                  is too small to hold the exported point.
+ * \return          Another negative error code on other kinds of failure.
  */
-int mbedtls_ecp_tls_write_point( const mbedtls_ecp_group *grp, const mbedtls_ecp_point *pt,
-                         int format, size_t *olen,
-                         unsigned char *buf, size_t blen );
+int mbedtls_ecp_tls_write_point( const mbedtls_ecp_group *grp,
+                                 const mbedtls_ecp_point *pt,
+                                 int format, size_t *olen,
+                                 unsigned char *buf, size_t blen );
 
 /**
- * \brief           This function sets a group using standardized domain parameters.
+ * \brief           This function sets up an ECP group context
+ *                  from a standardized set of domain parameters.
  *
  * \note            The index should be a value of the NamedCurve enum,
  *                  as defined in <em>RFC-4492: Elliptic Curve Cryptography
  *                  (ECC) Cipher Suites for Transport Layer Security (TLS)</em>,
  *                  usually in the form of an \c MBEDTLS_ECP_DP_XXX macro.
  *
- * \param grp       The destination group.
+ * \param grp       The group context to setup. This must be initialized.
  * \param id        The identifier of the domain parameter set to load.
  *
- * \return          \c 0 on success,
- * \return          An \c MBEDTLS_ERR_MPI_XXX error code on initialization failure.
- * \return          #MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE for unkownn groups.
-
+ * \return          \c 0 on success.
+ * \return          #MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE if \p id doesn't
+ *                  correspond to a known group.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_ecp_group_load( mbedtls_ecp_group *grp, mbedtls_ecp_group_id id );
 
 /**
- * \brief           This function sets a group from a TLS ECParameters record.
+ * \brief           This function sets up an ECP group context from a TLS
+ *                  ECParameters record as defined in RFC 4492, Section 5.4.
  *
- * \note            \p buf is updated to point right after the ECParameters record
- *                  on exit.
+ * \note            The read pointer \p buf is updated to point right after
+ *                  the ECParameters record on exit.
  *
- * \param grp       The destination group.
+ * \param grp       The group context to setup. This must be initialized.
  * \param buf       The address of the pointer to the start of the input buffer.
- * \param len       The length of the buffer.
+ * \param len       The length of the input buffer \c *buf in Bytes.
  *
  * \return          \c 0 on success.
- * \return          An \c MBEDTLS_ERR_MPI_XXX error code on initialization failure.
  * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if input is invalid.
+ * \return          #MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE if the group is not
+ *                  recognized.
+ * \return          Another negative error code on other kinds of failure.
  */
-int mbedtls_ecp_tls_read_group( mbedtls_ecp_group *grp, const unsigned char **buf, size_t len );
+int mbedtls_ecp_tls_read_group( mbedtls_ecp_group *grp,
+                                const unsigned char **buf, size_t len );
 
 /**
- * \brief           This function writes the TLS ECParameters record for a group.
+ * \brief           This function extracts an elliptic curve group ID from a
+ *                  TLS ECParameters record as defined in RFC 4492, Section 5.4.
+ *
+ * \note            The read pointer \p buf is updated to point right after
+ *                  the ECParameters record on exit.
+ *
+ * \param grp       The address at which to store the group id.
+ *                  This must not be \c NULL.
+ * \param buf       The address of the pointer to the start of the input buffer.
+ * \param len       The length of the input buffer \c *buf in Bytes.
  *
- * \param grp       The ECP group used.
- * \param olen      The number of Bytes written.
- * \param buf       The buffer to write to.
- * \param blen      The length of the buffer.
+ * \return          \c 0 on success.
+ * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if input is invalid.
+ * \return          #MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE if the group is not
+ *                  recognized.
+ * \return          Another negative error code on other kinds of failure.
+ */
+int mbedtls_ecp_tls_read_group_id( mbedtls_ecp_group_id *grp,
+                                   const unsigned char **buf,
+                                   size_t len );
+/**
+ * \brief           This function exports an elliptic curve as a TLS
+ *                  ECParameters record as defined in RFC 4492, Section 5.4.
+ *
+ * \param grp       The ECP group to be exported.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param olen      The address at which to store the number of Bytes written.
+ *                  This must not be \c NULL.
+ * \param buf       The buffer to write to. This must be a writable buffer
+ *                  of length \p blen Bytes.
+ * \param blen      The length of the output buffer \p buf in Bytes.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL on failure.
+ * \return          #MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL if the output
+ *                  buffer is too small to hold the exported group.
+ * \return          Another negative error code on other kinds of failure.
  */
-int mbedtls_ecp_tls_write_group( const mbedtls_ecp_group *grp, size_t *olen,
-                         unsigned char *buf, size_t blen );
+int mbedtls_ecp_tls_write_group( const mbedtls_ecp_group *grp,
+                                 size_t *olen,
+                                 unsigned char *buf, size_t blen );
 
 /**
- * \brief           This function performs multiplication of a point by
- *                  an integer: \p R = \p m * \p P.
+ * \brief           This function performs a scalar multiplication of a point
+ *                  by an integer: \p R = \p m * \p P.
  *
  *                  It is not thread-safe to use same group in multiple threads.
  *
@@ -581,23 +808,63 @@ int mbedtls_ecp_tls_write_group( const mbedtls_ecp_group *grp, size_t *olen,
  *                  targeting these results. We recommend always providing
  *                  a non-NULL \p f_rng. The overhead is negligible.
  *
- * \param grp       The ECP group.
- * \param R         The destination point.
- * \param m         The integer by which to multiply.
- * \param P         The point to multiply.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param R         The point in which to store the result of the calculation.
+ *                  This must be initialized.
+ * \param m         The integer by which to multiply. This must be initialized.
+ * \param P         The point to multiply. This must be initialized.
+ * \param f_rng     The RNG function. This may be \c NULL if randomization
+ *                  of intermediate results isn't desired (discouraged).
+ * \param p_rng     The RNG context to be passed to \p p_rng.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_ECP_INVALID_KEY if \p m is not a valid private
  *                  key, or \p P is not a valid public key.
  * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_ecp_mul( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
              const mbedtls_mpi *m, const mbedtls_ecp_point *P,
              int (*f_rng)(void *, unsigned char *, size_t), void *p_rng );
 
 /**
+ * \brief           This function performs multiplication of a point by
+ *                  an integer: \p R = \p m * \p P in a restartable way.
+ *
+ * \see             mbedtls_ecp_mul()
+ *
+ * \note            This function does the same as \c mbedtls_ecp_mul(), but
+ *                  it can return early and restart according to the limit set
+ *                  with \c mbedtls_ecp_set_max_ops() to reduce blocking.
+ *
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param R         The point in which to store the result of the calculation.
+ *                  This must be initialized.
+ * \param m         The integer by which to multiply. This must be initialized.
+ * \param P         The point to multiply. This must be initialized.
+ * \param f_rng     The RNG function. This may be \c NULL if randomization
+ *                  of intermediate results isn't desired (discouraged).
+ * \param p_rng     The RNG context to be passed to \p p_rng.
+ * \param rs_ctx    The restart context (NULL disables restart).
+ *
+ * \return          \c 0 on success.
+ * \return          #MBEDTLS_ERR_ECP_INVALID_KEY if \p m is not a valid private
+ *                  key, or \p P is not a valid public key.
+ * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another negative error code on other kinds of failure.
+ */
+int mbedtls_ecp_mul_restartable( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+             const mbedtls_mpi *m, const mbedtls_ecp_point *P,
+             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+             mbedtls_ecp_restart_ctx *rs_ctx );
+
+/**
  * \brief           This function performs multiplication and addition of two
  *                  points by integers: \p R = \p m * \p P + \p n * \p Q
  *
@@ -606,24 +873,71 @@ int mbedtls_ecp_mul( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
  * \note            In contrast to mbedtls_ecp_mul(), this function does not
  *                  guarantee a constant execution flow and timing.
  *
- * \param grp       The ECP group.
- * \param R         The destination point.
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param R         The point in which to store the result of the calculation.
+ *                  This must be initialized.
  * \param m         The integer by which to multiply \p P.
- * \param P         The point to multiply by \p m.
+ *                  This must be initialized.
+ * \param P         The point to multiply by \p m. This must be initialized.
  * \param n         The integer by which to multiply \p Q.
+ *                  This must be initialized.
  * \param Q         The point to be multiplied by \p n.
+ *                  This must be initialized.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_ECP_INVALID_KEY if \p m or \p n are not
  *                  valid private keys, or \p P or \p Q are not valid public
  *                  keys.
  * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          Another negative error code on other kinds of failure.
  */
 int mbedtls_ecp_muladd( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
              const mbedtls_mpi *m, const mbedtls_ecp_point *P,
              const mbedtls_mpi *n, const mbedtls_ecp_point *Q );
 
 /**
+ * \brief           This function performs multiplication and addition of two
+ *                  points by integers: \p R = \p m * \p P + \p n * \p Q in a
+ *                  restartable way.
+ *
+ * \see             \c mbedtls_ecp_muladd()
+ *
+ * \note            This function works the same as \c mbedtls_ecp_muladd(),
+ *                  but it can return early and restart according to the limit
+ *                  set with \c mbedtls_ecp_set_max_ops() to reduce blocking.
+ *
+ * \param grp       The ECP group to use.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param R         The point in which to store the result of the calculation.
+ *                  This must be initialized.
+ * \param m         The integer by which to multiply \p P.
+ *                  This must be initialized.
+ * \param P         The point to multiply by \p m. This must be initialized.
+ * \param n         The integer by which to multiply \p Q.
+ *                  This must be initialized.
+ * \param Q         The point to be multiplied by \p n.
+ *                  This must be initialized.
+ * \param rs_ctx    The restart context (NULL disables restart).
+ *
+ * \return          \c 0 on success.
+ * \return          #MBEDTLS_ERR_ECP_INVALID_KEY if \p m or \p n are not
+ *                  valid private keys, or \p P or \p Q are not valid public
+ *                  keys.
+ * \return          #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory-allocation failure.
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ * \return          Another negative error code on other kinds of failure.
+ */
+int mbedtls_ecp_muladd_restartable(
+             mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+             const mbedtls_mpi *m, const mbedtls_ecp_point *P,
+             const mbedtls_mpi *n, const mbedtls_ecp_point *Q,
+             mbedtls_ecp_restart_ctx *rs_ctx );
+
+/**
  * \brief           This function checks that a point is a valid public key
  *                  on this curve.
  *
@@ -640,30 +954,60 @@ int mbedtls_ecp_muladd( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
  *                  structures, such as ::mbedtls_ecdh_context or
  *                  ::mbedtls_ecdsa_context.
  *
- * \param grp       The curve the point should lie on.
- * \param pt        The point to check.
+ * \param grp       The ECP group the point should belong to.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param pt        The point to check. This must be initialized.
  *
  * \return          \c 0 if the point is a valid public key.
- * \return          #MBEDTLS_ERR_ECP_INVALID_KEY on failure.
+ * \return          #MBEDTLS_ERR_ECP_INVALID_KEY if the point is not
+ *                  a valid public key for the given curve.
+ * \return          Another negative error code on other kinds of failure.
  */
-int mbedtls_ecp_check_pubkey( const mbedtls_ecp_group *grp, const mbedtls_ecp_point *pt );
+int mbedtls_ecp_check_pubkey( const mbedtls_ecp_group *grp,
+                              const mbedtls_ecp_point *pt );
 
 /**
- * \brief           This function checks that an \p mbedtls_mpi is a valid private
- *                  key for this curve.
+ * \brief           This function checks that an \p mbedtls_mpi is a
+ *                  valid private key for this curve.
  *
  * \note            This function uses bare components rather than an
  *                  ::mbedtls_ecp_keypair structure to ease use with other
  *                  structures, such as ::mbedtls_ecdh_context or
  *                  ::mbedtls_ecdsa_context.
  *
- * \param grp       The group used.
- * \param d         The integer to check.
+ * \param grp       The ECP group the private key should belong to.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param d         The integer to check. This must be initialized.
  *
  * \return          \c 0 if the point is a valid private key.
- * \return          #MBEDTLS_ERR_ECP_INVALID_KEY on failure.
+ * \return          #MBEDTLS_ERR_ECP_INVALID_KEY if the point is not a valid
+ *                  private key for the given curve.
+ * \return          Another negative error code on other kinds of failure.
+ */
+int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp,
+                               const mbedtls_mpi *d );
+
+/**
+ * \brief           This function generates a private key.
+ *
+ * \param grp       The ECP group to generate a private key for.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param d         The destination MPI (secret part). This must be initialized.
+ * \param f_rng     The RNG function. This must not be \c NULL.
+ * \param p_rng     The RNG parameter to be passed to \p f_rng. This may be
+ *                  \c NULL if \p f_rng doesn't need a context argument.
+ *
+ * \return          \c 0 on success.
+ * \return          An \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_MPI_XXX error code
+ *                  on failure.
  */
-int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp, const mbedtls_mpi *d );
+int mbedtls_ecp_gen_privkey( const mbedtls_ecp_group *grp,
+                     mbedtls_mpi *d,
+                     int (*f_rng)(void *, unsigned char *, size_t),
+                     void *p_rng );
 
 /**
  * \brief           This function generates a keypair with a configurable base
@@ -674,22 +1018,29 @@ int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp, const mbedtls_mpi *
  *                  structures, such as ::mbedtls_ecdh_context or
  *                  ::mbedtls_ecdsa_context.
  *
- * \param grp       The ECP group.
- * \param G         The chosen base point.
+ * \param grp       The ECP group to generate a key pair for.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
+ * \param G         The base point to use. This must be initialized
+ *                  and belong to \p grp. It replaces the default base
+ *                  point \c grp->G used by mbedtls_ecp_gen_keypair().
  * \param d         The destination MPI (secret part).
+ *                  This must be initialized.
  * \param Q         The destination point (public part).
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ *                  This must be initialized.
+ * \param f_rng     The RNG function. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may
+ *                  be \c NULL if \p f_rng doesn't need a context argument.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_MPI_XXX error code
  *                  on failure.
  */
 int mbedtls_ecp_gen_keypair_base( mbedtls_ecp_group *grp,
-                     const mbedtls_ecp_point *G,
-                     mbedtls_mpi *d, mbedtls_ecp_point *Q,
-                     int (*f_rng)(void *, unsigned char *, size_t),
-                     void *p_rng );
+                                  const mbedtls_ecp_point *G,
+                                  mbedtls_mpi *d, mbedtls_ecp_point *Q,
+                                  int (*f_rng)(void *, unsigned char *, size_t),
+                                  void *p_rng );
 
 /**
  * \brief           This function generates an ECP keypair.
@@ -699,34 +1050,42 @@ int mbedtls_ecp_gen_keypair_base( mbedtls_ecp_group *grp,
  *                  structures, such as ::mbedtls_ecdh_context or
  *                  ::mbedtls_ecdsa_context.
  *
- * \param grp       The ECP group.
+ * \param grp       The ECP group to generate a key pair for.
+ *                  This must be initialized and have group parameters
+ *                  set, for example through mbedtls_ecp_group_load().
  * \param d         The destination MPI (secret part).
+ *                  This must be initialized.
  * \param Q         The destination point (public part).
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ *                  This must be initialized.
+ * \param f_rng     The RNG function. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may
+ *                  be \c NULL if \p f_rng doesn't need a context argument.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_MPI_XXX error code
  *                  on failure.
  */
-int mbedtls_ecp_gen_keypair( mbedtls_ecp_group *grp, mbedtls_mpi *d, mbedtls_ecp_point *Q,
-                     int (*f_rng)(void *, unsigned char *, size_t),
-                     void *p_rng );
+int mbedtls_ecp_gen_keypair( mbedtls_ecp_group *grp, mbedtls_mpi *d,
+                             mbedtls_ecp_point *Q,
+                             int (*f_rng)(void *, unsigned char *, size_t),
+                             void *p_rng );
 
 /**
  * \brief           This function generates an ECP key.
  *
  * \param grp_id    The ECP group identifier.
- * \param key       The destination key.
- * \param f_rng     The RNG function.
- * \param p_rng     The RNG context.
+ * \param key       The destination key. This must be initialized.
+ * \param f_rng     The RNG function to use. This must not be \c NULL.
+ * \param p_rng     The RNG context to be passed to \p f_rng. This may
+ *                  be \c NULL if \p f_rng doesn't need a context argument.
  *
  * \return          \c 0 on success.
  * \return          An \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_MPI_XXX error code
  *                  on failure.
  */
 int mbedtls_ecp_gen_key( mbedtls_ecp_group_id grp_id, mbedtls_ecp_keypair *key,
-                int (*f_rng)(void *, unsigned char *, size_t), void *p_rng );
+                         int (*f_rng)(void *, unsigned char *, size_t),
+                         void *p_rng );
 
 /**
  * \brief           This function checks that the keypair objects
@@ -734,16 +1093,19 @@ int mbedtls_ecp_gen_key( mbedtls_ecp_group_id grp_id, mbedtls_ecp_keypair *key,
  *                  same public point, and that the private key in
  *                  \p prv is consistent with the public key.
  *
- * \param pub       The keypair structure holding the public key.
- *                  If it contains a private key, that part is ignored.
+ * \param pub       The keypair structure holding the public key. This
+ *                  must be initialized. If it contains a private key, that
+ *                  part is ignored.
  * \param prv       The keypair structure holding the full keypair.
+ *                  This must be initialized.
  *
  * \return          \c 0 on success, meaning that the keys are valid and match.
  * \return          #MBEDTLS_ERR_ECP_BAD_INPUT_DATA if the keys are invalid or do not match.
  * \return          An \c MBEDTLS_ERR_ECP_XXX or an \c MBEDTLS_ERR_MPI_XXX
  *                  error code on calculation failure.
  */
-int mbedtls_ecp_check_pub_priv( const mbedtls_ecp_keypair *pub, const mbedtls_ecp_keypair *prv );
+int mbedtls_ecp_check_pub_priv( const mbedtls_ecp_keypair *pub,
+                                const mbedtls_ecp_keypair *prv );
 
 #if defined(MBEDTLS_SELF_TEST)
 
diff --git a/thirdparty/mbedtls/include/mbedtls/entropy.h b/thirdparty/mbedtls/include/mbedtls/entropy.h
index a5cb05a584..ca06dc3c58 100644
--- a/thirdparty/mbedtls/include/mbedtls/entropy.h
+++ b/thirdparty/mbedtls/include/mbedtls/entropy.h
@@ -107,7 +107,7 @@ typedef int (*mbedtls_entropy_f_source_ptr)(void *data, unsigned char *output, s
 /**
  * \brief           Entropy source state
  */
-typedef struct
+typedef struct mbedtls_entropy_source_state
 {
     mbedtls_entropy_f_source_ptr    f_source;   /**< The entropy source callback */
     void *          p_source;   /**< The callback data pointer */
@@ -120,7 +120,7 @@ mbedtls_entropy_source_state;
 /**
  * \brief           Entropy context structure
  */
-typedef struct
+typedef struct mbedtls_entropy_context
 {
     int accumulator_started;
 #if defined(MBEDTLS_ENTROPY_SHA512_ACCUMULATOR)
diff --git a/thirdparty/mbedtls/include/mbedtls/error.h b/thirdparty/mbedtls/include/mbedtls/error.h
index 6b82d4fbbe..647a11a566 100644
--- a/thirdparty/mbedtls/include/mbedtls/error.h
+++ b/thirdparty/mbedtls/include/mbedtls/error.h
@@ -74,12 +74,13 @@
  * MD4       1                  0x002D-0x002D
  * MD5       1                  0x002F-0x002F
  * RIPEMD160 1                  0x0031-0x0031
- * SHA1      1                  0x0035-0x0035
- * SHA256    1                  0x0037-0x0037
- * SHA512    1                  0x0039-0x0039
+ * SHA1      1                  0x0035-0x0035 0x0073-0x0073
+ * SHA256    1                  0x0037-0x0037 0x0074-0x0074
+ * SHA512    1                  0x0039-0x0039 0x0075-0x0075
  * CHACHA20  3                  0x0051-0x0055
  * POLY1305  3                  0x0057-0x005B
  * CHACHAPOLY 2 0x0054-0x0056
+ * PLATFORM  1  0x0070-0x0072
  *
  * High-level module nr (3 bits - 0x0...-0x7...)
  * Name      ID  Nr of Errors
@@ -90,12 +91,12 @@
  * DHM       3   11
  * PK        3   15 (Started from top)
  * RSA       4   11
- * ECP       4   9 (Started from top)
+ * ECP       4   10 (Started from top)
  * MD        5   5
  * HKDF      5   1 (Started from top)
  * CIPHER    6   8
- * SSL       6   22 (Started from top)
- * SSL       7   31
+ * SSL       6   23 (Started from top)
+ * SSL       7   32
  *
  * Module dependent error code (5 bits 0x.00.-0x.F8.)
  */
diff --git a/thirdparty/mbedtls/include/mbedtls/gcm.h b/thirdparty/mbedtls/include/mbedtls/gcm.h
index 87535ab957..fccabb0d97 100644
--- a/thirdparty/mbedtls/include/mbedtls/gcm.h
+++ b/thirdparty/mbedtls/include/mbedtls/gcm.h
@@ -41,7 +41,10 @@
 #define MBEDTLS_GCM_DECRYPT     0
 
 #define MBEDTLS_ERR_GCM_AUTH_FAILED                       -0x0012  /**< Authenticated decryption failed. */
+
+/* MBEDTLS_ERR_GCM_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_GCM_HW_ACCEL_FAILED                   -0x0013  /**< GCM hardware accelerator failed. */
+
 #define MBEDTLS_ERR_GCM_BAD_INPUT                         -0x0014  /**< Bad input parameters to function. */
 
 #ifdef __cplusplus
@@ -53,7 +56,8 @@ extern "C" {
 /**
  * \brief          The GCM context structure.
  */
-typedef struct {
+typedef struct mbedtls_gcm_context
+{
     mbedtls_cipher_context_t cipher_ctx;  /*!< The cipher context used. */
     uint64_t HL[16];                      /*!< Precalculated HTable low. */
     uint64_t HH[16];                      /*!< Precalculated HTable high. */
@@ -81,7 +85,7 @@ mbedtls_gcm_context;
  *                  cipher, nor set the key. For this purpose, use
  *                  mbedtls_gcm_setkey().
  *
- * \param ctx       The GCM context to initialize.
+ * \param ctx       The GCM context to initialize. This must not be \c NULL.
  */
 void mbedtls_gcm_init( mbedtls_gcm_context *ctx );
 
@@ -89,9 +93,10 @@ void mbedtls_gcm_init( mbedtls_gcm_context *ctx );
  * \brief           This function associates a GCM context with a
  *                  cipher algorithm and a key.
  *
- * \param ctx       The GCM context to initialize.
+ * \param ctx       The GCM context. This must be initialized.
  * \param cipher    The 128-bit block cipher to use.
- * \param key       The encryption key.
+ * \param key       The encryption key. This must be a readable buffer of at
+ *                  least \p keybits bits.
  * \param keybits   The key size in bits. Valid options are:
  *                  <ul><li>128 bits</li>
  *                  <li>192 bits</li>
@@ -118,7 +123,8 @@ int mbedtls_gcm_setkey( mbedtls_gcm_context *ctx,
  *                  authentic. You should use this function to perform encryption
  *                  only. For decryption, use mbedtls_gcm_auth_decrypt() instead.
  *
- * \param ctx       The GCM context to use for encryption or decryption.
+ * \param ctx       The GCM context to use for encryption or decryption. This
+ *                  must be initialized.
  * \param mode      The operation to perform:
  *                  - #MBEDTLS_GCM_ENCRYPT to perform authenticated encryption.
  *                    The ciphertext is written to \p output and the
@@ -132,22 +138,28 @@ int mbedtls_gcm_setkey( mbedtls_gcm_context *ctx,
  *                    calling this function in decryption mode.
  * \param length    The length of the input data, which is equal to the length
  *                  of the output data.
- * \param iv        The initialization vector.
+ * \param iv        The initialization vector. This must be a readable buffer of
+ *                  at least \p iv_len Bytes.
  * \param iv_len    The length of the IV.
- * \param add       The buffer holding the additional data.
+ * \param add       The buffer holding the additional data. This must be of at
+ *                  least that size in Bytes.
  * \param add_len   The length of the additional data.
- * \param input     The buffer holding the input data. Its size is \b length.
- * \param output    The buffer for holding the output data. It must have room
- *                  for \b length bytes.
+ * \param input     The buffer holding the input data. If \p length is greater
+ *                  than zero, this must be a readable buffer of at least that
+ *                  size in Bytes.
+ * \param output    The buffer for holding the output data. If \p length is greater
+ *                  than zero, this must be a writable buffer of at least that
+ *                  size in Bytes.
  * \param tag_len   The length of the tag to generate.
- * \param tag       The buffer for holding the tag.
+ * \param tag       The buffer for holding the tag. This must be a readable
+ *                  buffer of at least \p tag_len Bytes.
  *
  * \return          \c 0 if the encryption or decryption was performed
  *                  successfully. Note that in #MBEDTLS_GCM_DECRYPT mode,
  *                  this does not indicate that the data is authentic.
- * \return          #MBEDTLS_ERR_GCM_BAD_INPUT if the lengths are not valid.
- * \return          #MBEDTLS_ERR_GCM_HW_ACCEL_FAILED or a cipher-specific
- *                  error code if the encryption or decryption failed.
+ * \return          #MBEDTLS_ERR_GCM_BAD_INPUT if the lengths or pointers are
+ *                  not valid or a cipher-specific error code if the encryption
+ *                  or decryption failed.
  */
 int mbedtls_gcm_crypt_and_tag( mbedtls_gcm_context *ctx,
                        int mode,
@@ -169,24 +181,30 @@ int mbedtls_gcm_crypt_and_tag( mbedtls_gcm_context *ctx,
  *                  input buffer. If the buffers overlap, the output buffer
  *                  must trail at least 8 Bytes behind the input buffer.
  *
- * \param ctx       The GCM context.
+ * \param ctx       The GCM context. This must be initialized.
  * \param length    The length of the ciphertext to decrypt, which is also
  *                  the length of the decrypted plaintext.
- * \param iv        The initialization vector.
+ * \param iv        The initialization vector. This must be a readable buffer
+ *                  of at least \p iv_len Bytes.
  * \param iv_len    The length of the IV.
- * \param add       The buffer holding the additional data.
+ * \param add       The buffer holding the additional data. This must be of at
+ *                  least that size in Bytes.
  * \param add_len   The length of the additional data.
- * \param tag       The buffer holding the tag to verify.
+ * \param tag       The buffer holding the tag to verify. This must be a
+ *                  readable buffer of at least \p tag_len Bytes.
  * \param tag_len   The length of the tag to verify.
- * \param input     The buffer holding the ciphertext. Its size is \b length.
- * \param output    The buffer for holding the decrypted plaintext. It must
- *                  have room for \b length bytes.
+ * \param input     The buffer holding the ciphertext. If \p length is greater
+ *                  than zero, this must be a readable buffer of at least that
+ *                  size.
+ * \param output    The buffer for holding the decrypted plaintext. If \p length
+ *                  is greater than zero, this must be a writable buffer of at
+ *                  least that size.
  *
  * \return          \c 0 if successful and authenticated.
  * \return          #MBEDTLS_ERR_GCM_AUTH_FAILED if the tag does not match.
- * \return          #MBEDTLS_ERR_GCM_BAD_INPUT if the lengths are not valid.
- * \return          #MBEDTLS_ERR_GCM_HW_ACCEL_FAILED or a cipher-specific
- *                  error code if the decryption failed.
+ * \return          #MBEDTLS_ERR_GCM_BAD_INPUT if the lengths or pointers are
+ *                  not valid or a cipher-specific error code if the decryption
+ *                  failed.
  */
 int mbedtls_gcm_auth_decrypt( mbedtls_gcm_context *ctx,
                       size_t length,
@@ -203,15 +221,16 @@ int mbedtls_gcm_auth_decrypt( mbedtls_gcm_context *ctx,
  * \brief           This function starts a GCM encryption or decryption
  *                  operation.
  *
- * \param ctx       The GCM context.
+ * \param ctx       The GCM context. This must be initialized.
  * \param mode      The operation to perform: #MBEDTLS_GCM_ENCRYPT or
  *                  #MBEDTLS_GCM_DECRYPT.
- * \param iv        The initialization vector.
+ * \param iv        The initialization vector. This must be a readable buffer of
+ *                  at least \p iv_len Bytes.
  * \param iv_len    The length of the IV.
- * \param add       The buffer holding the additional data, or NULL
- *                  if \p add_len is 0.
- * \param add_len   The length of the additional data. If 0,
- *                  \p add is NULL.
+ * \param add       The buffer holding the additional data, or \c NULL
+ *                  if \p add_len is \c 0.
+ * \param add_len   The length of the additional data. If \c 0,
+ *                  \p add may be \c NULL.
  *
  * \return          \c 0 on success.
  */
@@ -234,11 +253,15 @@ int mbedtls_gcm_starts( mbedtls_gcm_context *ctx,
  *                  input buffer. If the buffers overlap, the output buffer
  *                  must trail at least 8 Bytes behind the input buffer.
  *
- * \param ctx       The GCM context.
+ * \param ctx       The GCM context. This must be initialized.
  * \param length    The length of the input data. This must be a multiple of
  *                  16 except in the last call before mbedtls_gcm_finish().
- * \param input     The buffer holding the input data.
- * \param output    The buffer for holding the output data.
+ * \param input     The buffer holding the input data. If \p length is greater
+ *                  than zero, this must be a readable buffer of at least that
+ *                  size in Bytes.
+ * \param output    The buffer for holding the output data. If \p length is
+ *                  greater than zero, this must be a writable buffer of at
+ *                  least that size in Bytes.
  *
  * \return         \c 0 on success.
  * \return         #MBEDTLS_ERR_GCM_BAD_INPUT on failure.
@@ -255,9 +278,11 @@ int mbedtls_gcm_update( mbedtls_gcm_context *ctx,
  *                  It wraps up the GCM stream, and generates the
  *                  tag. The tag can have a maximum length of 16 Bytes.
  *
- * \param ctx       The GCM context.
- * \param tag       The buffer for holding the tag.
- * \param tag_len   The length of the tag to generate. Must be at least four.
+ * \param ctx       The GCM context. This must be initialized.
+ * \param tag       The buffer for holding the tag. This must be a readable
+ *                  buffer of at least \p tag_len Bytes.
+ * \param tag_len   The length of the tag to generate. This must be at least
+ *                  four.
  *
  * \return          \c 0 on success.
  * \return          #MBEDTLS_ERR_GCM_BAD_INPUT on failure.
@@ -270,7 +295,8 @@ int mbedtls_gcm_finish( mbedtls_gcm_context *ctx,
  * \brief           This function clears a GCM context and the underlying
  *                  cipher sub-context.
  *
- * \param ctx       The GCM context to clear.
+ * \param ctx       The GCM context to clear. If this is \c NULL, the call has
+ *                  no effect. Otherwise, this must be initialized.
  */
 void mbedtls_gcm_free( mbedtls_gcm_context *ctx );
 
diff --git a/thirdparty/mbedtls/include/mbedtls/havege.h b/thirdparty/mbedtls/include/mbedtls/havege.h
index d4cb3ed38d..57e8c40943 100644
--- a/thirdparty/mbedtls/include/mbedtls/havege.h
+++ b/thirdparty/mbedtls/include/mbedtls/havege.h
@@ -35,7 +35,7 @@ extern "C" {
 /**
  * \brief          HAVEGE state structure
  */
-typedef struct
+typedef struct mbedtls_havege_state
 {
     int PT1, PT2, offset[2];
     int pool[MBEDTLS_HAVEGE_COLLECT_SIZE];
diff --git a/thirdparty/mbedtls/include/mbedtls/hkdf.h b/thirdparty/mbedtls/include/mbedtls/hkdf.h
index 6833e7272e..e6ed7cde97 100644
--- a/thirdparty/mbedtls/include/mbedtls/hkdf.h
+++ b/thirdparty/mbedtls/include/mbedtls/hkdf.h
@@ -73,6 +73,11 @@ int mbedtls_hkdf( const mbedtls_md_info_t *md, const unsigned char *salt,
  *  \brief  Take the input keying material \p ikm and extract from it a
  *          fixed-length pseudorandom key \p prk.
  *
+ *  \warning    This function should only be used if the security of it has been
+ *              studied and established in that particular context (eg. TLS 1.3
+ *              key schedule). For standard HKDF security guarantees use
+ *              \c mbedtls_hkdf instead.
+ *
  *  \param       md        A hash function; md.size denotes the length of the
  *                         hash function output in bytes.
  *  \param       salt      An optional salt value (a non-secret random value);
@@ -97,10 +102,15 @@ int mbedtls_hkdf_extract( const mbedtls_md_info_t *md,
  *  \brief  Expand the supplied \p prk into several additional pseudorandom
  *          keys, which is the output of the HKDF.
  *
+ *  \warning    This function should only be used if the security of it has been
+ *              studied and established in that particular context (eg. TLS 1.3
+ *              key schedule). For standard HKDF security guarantees use
+ *              \c mbedtls_hkdf instead.
+ *
  *  \param  md        A hash function; md.size denotes the length of the hash
  *                    function output in bytes.
- *  \param  prk       A pseudorandom key of at least md.size bytes. \p prk is usually,
- *                    the output from the HKDF extract step.
+ *  \param  prk       A pseudorandom key of at least md.size bytes. \p prk is
+ *                    usually the output from the HKDF extract step.
  *  \param  prk_len   The length in bytes of \p prk.
  *  \param  info      An optional context and application specific information
  *                    string. This can be a zero-length string.
diff --git a/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h b/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h
index 2608de8595..146367b9de 100644
--- a/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h
+++ b/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h
@@ -74,7 +74,7 @@ extern "C" {
 /**
  * HMAC_DRBG context.
  */
-typedef struct
+typedef struct mbedtls_hmac_drbg_context
 {
     /* Working state: the key K is not stored explicitely,
      * but is implied by the HMAC context */
@@ -195,10 +195,13 @@ void mbedtls_hmac_drbg_set_reseed_interval( mbedtls_hmac_drbg_context *ctx,
  * \param additional    Additional data to update state with, or NULL
  * \param add_len       Length of additional data, or 0
  *
+ * \return              \c 0 on success, or an error from the underlying
+ *                      hash calculation.
+ *
  * \note                Additional data is optional, pass NULL and 0 as second
  *                      third argument if no additional data is being used.
  */
-void mbedtls_hmac_drbg_update( mbedtls_hmac_drbg_context *ctx,
+int mbedtls_hmac_drbg_update_ret( mbedtls_hmac_drbg_context *ctx,
                        const unsigned char *additional, size_t add_len );
 
 /**
@@ -257,6 +260,31 @@ int mbedtls_hmac_drbg_random( void *p_rng, unsigned char *output, size_t out_len
  */
 void mbedtls_hmac_drbg_free( mbedtls_hmac_drbg_context *ctx );
 
+#if ! defined(MBEDTLS_DEPRECATED_REMOVED)
+#if defined(MBEDTLS_DEPRECATED_WARNING)
+#define MBEDTLS_DEPRECATED    __attribute__((deprecated))
+#else
+#define MBEDTLS_DEPRECATED
+#endif
+/**
+ * \brief               HMAC_DRBG update state
+ *
+ * \deprecated          Superseded by mbedtls_hmac_drbg_update_ret()
+ *                      in 2.16.0.
+ *
+ * \param ctx           HMAC_DRBG context
+ * \param additional    Additional data to update state with, or NULL
+ * \param add_len       Length of additional data, or 0
+ *
+ * \note                Additional data is optional, pass NULL and 0 as second
+ *                      third argument if no additional data is being used.
+ */
+MBEDTLS_DEPRECATED void mbedtls_hmac_drbg_update(
+    mbedtls_hmac_drbg_context *ctx,
+    const unsigned char *additional, size_t add_len );
+#undef MBEDTLS_DEPRECATED
+#endif /* !MBEDTLS_DEPRECATED_REMOVED */
+
 #if defined(MBEDTLS_FS_IO)
 /**
  * \brief               Write a seed file
diff --git a/thirdparty/mbedtls/include/mbedtls/md.h b/thirdparty/mbedtls/include/mbedtls/md.h
index 6b6f5c53dd..8bcf766a6c 100644
--- a/thirdparty/mbedtls/include/mbedtls/md.h
+++ b/thirdparty/mbedtls/include/mbedtls/md.h
@@ -39,6 +39,8 @@
 #define MBEDTLS_ERR_MD_BAD_INPUT_DATA                     -0x5100  /**< Bad input parameters to function. */
 #define MBEDTLS_ERR_MD_ALLOC_FAILED                       -0x5180  /**< Failed to allocate memory. */
 #define MBEDTLS_ERR_MD_FILE_IO_ERROR                      -0x5200  /**< Opening or reading of file failed. */
+
+/* MBEDTLS_ERR_MD_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_MD_HW_ACCEL_FAILED                    -0x5280  /**< MD hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -80,7 +82,8 @@ typedef struct mbedtls_md_info_t mbedtls_md_info_t;
 /**
  * The generic message-digest context.
  */
-typedef struct {
+typedef struct mbedtls_md_context_t
+{
     /** Information about the associated message digest. */
     const mbedtls_md_info_t *md_info;
 
diff --git a/thirdparty/mbedtls/include/mbedtls/md2.h b/thirdparty/mbedtls/include/mbedtls/md2.h
index 08e75b247b..f9bd98f804 100644
--- a/thirdparty/mbedtls/include/mbedtls/md2.h
+++ b/thirdparty/mbedtls/include/mbedtls/md2.h
@@ -37,6 +37,7 @@
 
 #include <stddef.h>
 
+/* MBEDTLS_ERR_MD2_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_MD2_HW_ACCEL_FAILED                   -0x002B  /**< MD2 hardware accelerator failed */
 
 #ifdef __cplusplus
@@ -55,7 +56,7 @@ extern "C" {
  *                 stronger message digests instead.
  *
  */
-typedef struct
+typedef struct mbedtls_md2_context
 {
     unsigned char cksum[16];    /*!< checksum of the data block */
     unsigned char state[48];    /*!< intermediate digest state  */
diff --git a/thirdparty/mbedtls/include/mbedtls/md4.h b/thirdparty/mbedtls/include/mbedtls/md4.h
index 8ee4e5cabf..dc3c048949 100644
--- a/thirdparty/mbedtls/include/mbedtls/md4.h
+++ b/thirdparty/mbedtls/include/mbedtls/md4.h
@@ -38,6 +38,7 @@
 #include <stddef.h>
 #include <stdint.h>
 
+/* MBEDTLS_ERR_MD4_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_MD4_HW_ACCEL_FAILED                   -0x002D  /**< MD4 hardware accelerator failed */
 
 #ifdef __cplusplus
@@ -56,7 +57,7 @@ extern "C" {
  *                 stronger message digests instead.
  *
  */
-typedef struct
+typedef struct mbedtls_md4_context
 {
     uint32_t total[2];          /*!< number of bytes processed  */
     uint32_t state[4];          /*!< intermediate digest state  */
diff --git a/thirdparty/mbedtls/include/mbedtls/md5.h b/thirdparty/mbedtls/include/mbedtls/md5.h
index 43ead4b747..6c3354fd30 100644
--- a/thirdparty/mbedtls/include/mbedtls/md5.h
+++ b/thirdparty/mbedtls/include/mbedtls/md5.h
@@ -37,6 +37,7 @@
 #include <stddef.h>
 #include <stdint.h>
 
+/* MBEDTLS_ERR_MD5_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_MD5_HW_ACCEL_FAILED                   -0x002F  /**< MD5 hardware accelerator failed */
 
 #ifdef __cplusplus
@@ -55,7 +56,7 @@ extern "C" {
  *                 stronger message digests instead.
  *
  */
-typedef struct
+typedef struct mbedtls_md5_context
 {
     uint32_t total[2];          /*!< number of bytes processed  */
     uint32_t state[4];          /*!< intermediate digest state  */
diff --git a/thirdparty/mbedtls/include/mbedtls/net_sockets.h b/thirdparty/mbedtls/include/mbedtls/net_sockets.h
index 9f07eeb4d3..4c7ef00fe6 100644
--- a/thirdparty/mbedtls/include/mbedtls/net_sockets.h
+++ b/thirdparty/mbedtls/include/mbedtls/net_sockets.h
@@ -84,7 +84,7 @@ extern "C" {
  * (eg two file descriptors for combined IPv4 + IPv6 support, or additional
  * structures for hand-made UDP demultiplexing).
  */
-typedef struct
+typedef struct mbedtls_net_context
 {
     int fd;             /**< The underlying file descriptor                 */
 }
diff --git a/thirdparty/mbedtls/include/mbedtls/oid.h b/thirdparty/mbedtls/include/mbedtls/oid.h
index f82554844c..6fbd018aaa 100644
--- a/thirdparty/mbedtls/include/mbedtls/oid.h
+++ b/thirdparty/mbedtls/include/mbedtls/oid.h
@@ -403,7 +403,8 @@ extern "C" {
 /**
  * \brief Base OID descriptor structure
  */
-typedef struct {
+typedef struct mbedtls_oid_descriptor_t
+{
     const char *asn1;               /*!< OID ASN.1 representation       */
     size_t asn1_len;                /*!< length of asn1                 */
     const char *name;               /*!< official name (e.g. from RFC)  */
diff --git a/thirdparty/mbedtls/include/mbedtls/padlock.h b/thirdparty/mbedtls/include/mbedtls/padlock.h
index 677936ebf8..7a5d083a95 100644
--- a/thirdparty/mbedtls/include/mbedtls/padlock.h
+++ b/thirdparty/mbedtls/include/mbedtls/padlock.h
@@ -3,6 +3,9 @@
  *
  * \brief VIA PadLock ACE for HW encryption/decryption supported by some
  *        processors
+ *
+ * \warning These functions are only for internal use by other library
+ *          functions; you must not call them directly.
  */
 /*
  *  Copyright (C) 2006-2015, ARM Limited, All Rights Reserved
@@ -57,7 +60,10 @@ extern "C" {
 #endif
 
 /**
- * \brief          PadLock detection routine
+ * \brief          Internal PadLock detection routine
+ *
+ * \note           This function is only for internal use by other library
+ *                 functions; you must not call it directly.
  *
  * \param feature  The feature to detect
  *
@@ -66,7 +72,10 @@ extern "C" {
 int mbedtls_padlock_has_support( int feature );
 
 /**
- * \brief          PadLock AES-ECB block en(de)cryption
+ * \brief          Internal PadLock AES-ECB block en(de)cryption
+ *
+ * \note           This function is only for internal use by other library
+ *                 functions; you must not call it directly.
  *
  * \param ctx      AES context
  * \param mode     MBEDTLS_AES_ENCRYPT or MBEDTLS_AES_DECRYPT
@@ -76,12 +85,15 @@ int mbedtls_padlock_has_support( int feature );
  * \return         0 if success, 1 if operation failed
  */
 int mbedtls_padlock_xcryptecb( mbedtls_aes_context *ctx,
-                       int mode,
-                       const unsigned char input[16],
-                       unsigned char output[16] );
+                               int mode,
+                               const unsigned char input[16],
+                               unsigned char output[16] );
 
 /**
- * \brief          PadLock AES-CBC buffer en(de)cryption
+ * \brief          Internal PadLock AES-CBC buffer en(de)cryption
+ *
+ * \note           This function is only for internal use by other library
+ *                 functions; you must not call it directly.
  *
  * \param ctx      AES context
  * \param mode     MBEDTLS_AES_ENCRYPT or MBEDTLS_AES_DECRYPT
@@ -93,11 +105,11 @@ int mbedtls_padlock_xcryptecb( mbedtls_aes_context *ctx,
  * \return         0 if success, 1 if operation failed
  */
 int mbedtls_padlock_xcryptcbc( mbedtls_aes_context *ctx,
-                       int mode,
-                       size_t length,
-                       unsigned char iv[16],
-                       const unsigned char *input,
-                       unsigned char *output );
+                               int mode,
+                               size_t length,
+                               unsigned char iv[16],
+                               const unsigned char *input,
+                               unsigned char *output );
 
 #ifdef __cplusplus
 }
diff --git a/thirdparty/mbedtls/include/mbedtls/pem.h b/thirdparty/mbedtls/include/mbedtls/pem.h
index 2cf4c0a709..fa82f7bdbd 100644
--- a/thirdparty/mbedtls/include/mbedtls/pem.h
+++ b/thirdparty/mbedtls/include/mbedtls/pem.h
@@ -51,7 +51,7 @@ extern "C" {
 /**
  * \brief       PEM context structure
  */
-typedef struct
+typedef struct mbedtls_pem_context
 {
     unsigned char *buf;     /*!< buffer for decoded data             */
     size_t buflen;          /*!< length of the buffer                */
diff --git a/thirdparty/mbedtls/include/mbedtls/pk.h b/thirdparty/mbedtls/include/mbedtls/pk.h
index ee06b2fd20..91950f9407 100644
--- a/thirdparty/mbedtls/include/mbedtls/pk.h
+++ b/thirdparty/mbedtls/include/mbedtls/pk.h
@@ -64,6 +64,8 @@
 #define MBEDTLS_ERR_PK_UNKNOWN_NAMED_CURVE -0x3A00  /**< Elliptic curve is unsupported (only NIST curves are supported). */
 #define MBEDTLS_ERR_PK_FEATURE_UNAVAILABLE -0x3980  /**< Unavailable feature, e.g. RSA disabled for RSA key. */
 #define MBEDTLS_ERR_PK_SIG_LEN_MISMATCH    -0x3900  /**< The buffer contains a valid signature followed by more data. */
+
+/* MBEDTLS_ERR_PK_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_PK_HW_ACCEL_FAILED     -0x3880  /**< PK hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -87,7 +89,7 @@ typedef enum {
  * \brief           Options for RSASSA-PSS signature verification.
  *                  See \c mbedtls_rsa_rsassa_pss_verify_ext()
  */
-typedef struct
+typedef struct mbedtls_pk_rsassa_pss_options
 {
     mbedtls_md_type_t mgf1_hash_id;
     int expected_salt_len;
@@ -107,7 +109,7 @@ typedef enum
 /**
  * \brief           Item to send to the debug module
  */
-typedef struct
+typedef struct mbedtls_pk_debug_item
 {
     mbedtls_pk_debug_type type;
     const char *name;
@@ -125,12 +127,26 @@ typedef struct mbedtls_pk_info_t mbedtls_pk_info_t;
 /**
  * \brief           Public key container
  */
-typedef struct
+typedef struct mbedtls_pk_context
 {
-    const mbedtls_pk_info_t *   pk_info; /**< Public key informations        */
+    const mbedtls_pk_info_t *   pk_info; /**< Public key information         */
     void *                      pk_ctx;  /**< Underlying public key context  */
 } mbedtls_pk_context;
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           Context for resuming operations
+ */
+typedef struct
+{
+    const mbedtls_pk_info_t *   pk_info; /**< Public key information         */
+    void *                      rs_ctx;  /**< Underlying restart context     */
+} mbedtls_pk_restart_ctx;
+#else /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+/* Now we can declare functions that take a pointer to that */
+typedef void mbedtls_pk_restart_ctx;
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
 #if defined(MBEDTLS_RSA_C)
 /**
  * Quick access to an RSA context inside a PK context.
@@ -181,20 +197,45 @@ typedef size_t (*mbedtls_pk_rsa_alt_key_len_func)( void *ctx );
 const mbedtls_pk_info_t *mbedtls_pk_info_from_type( mbedtls_pk_type_t pk_type );
 
 /**
- * \brief           Initialize a mbedtls_pk_context (as NONE)
+ * \brief           Initialize a #mbedtls_pk_context (as NONE).
+ *
+ * \param ctx       The context to initialize.
+ *                  This must not be \c NULL.
  */
 void mbedtls_pk_init( mbedtls_pk_context *ctx );
 
 /**
- * \brief           Free a mbedtls_pk_context
+ * \brief           Free the components of a #mbedtls_pk_context.
+ *
+ * \param ctx       The context to clear. It must have been initialized.
+ *                  If this is \c NULL, this function does nothing.
  */
 void mbedtls_pk_free( mbedtls_pk_context *ctx );
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           Initialize a restart context
+ *
+ * \param ctx       The context to initialize.
+ *                  This must not be \c NULL.
+ */
+void mbedtls_pk_restart_init( mbedtls_pk_restart_ctx *ctx );
+
+/**
+ * \brief           Free the components of a restart context
+ *
+ * \param ctx       The context to clear. It must have been initialized.
+ *                  If this is \c NULL, this function does nothing.
+ */
+void mbedtls_pk_restart_free( mbedtls_pk_restart_ctx *ctx );
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
 /**
  * \brief           Initialize a PK context with the information given
  *                  and allocates the type-specific PK subcontext.
  *
- * \param ctx       Context to initialize. Must be empty (type NONE).
+ * \param ctx       Context to initialize. It must not have been set
+ *                  up yet (type #MBEDTLS_PK_NONE).
  * \param info      Information to use
  *
  * \return          0 on success,
@@ -210,7 +251,8 @@ int mbedtls_pk_setup( mbedtls_pk_context *ctx, const mbedtls_pk_info_t *info );
 /**
  * \brief           Initialize an RSA-alt context
  *
- * \param ctx       Context to initialize. Must be empty (type NONE).
+ * \param ctx       Context to initialize. It must not have been set
+ *                  up yet (type #MBEDTLS_PK_NONE).
  * \param key       RSA key pointer
  * \param decrypt_func  Decryption function
  * \param sign_func     Signing function
@@ -230,7 +272,7 @@ int mbedtls_pk_setup_rsa_alt( mbedtls_pk_context *ctx, void * key,
 /**
  * \brief           Get the size in bits of the underlying key
  *
- * \param ctx       Context to use
+ * \param ctx       The context to query. It must have been initialized.
  *
  * \return          Key size in bits, or 0 on error
  */
@@ -238,7 +280,8 @@ size_t mbedtls_pk_get_bitlen( const mbedtls_pk_context *ctx );
 
 /**
  * \brief           Get the length in bytes of the underlying key
- * \param ctx       Context to use
+ *
+ * \param ctx       The context to query. It must have been initialized.
  *
  * \return          Key length in bytes, or 0 on error
  */
@@ -250,18 +293,21 @@ static inline size_t mbedtls_pk_get_len( const mbedtls_pk_context *ctx )
 /**
  * \brief           Tell if a context can do the operation given by type
  *
- * \param ctx       Context to test
- * \param type      Target type
+ * \param ctx       The context to query. It must have been initialized.
+ * \param type      The desired type.
  *
- * \return          0 if context can't do the operations,
- *                  1 otherwise.
+ * \return          1 if the context can do operations on the given type.
+ * \return          0 if the context cannot do the operations on the given
+ *                  type. This is always the case for a context that has
+ *                  been initialized but not set up, or that has been
+ *                  cleared with mbedtls_pk_free().
  */
 int mbedtls_pk_can_do( const mbedtls_pk_context *ctx, mbedtls_pk_type_t type );
 
 /**
  * \brief           Verify signature (including padding if relevant).
  *
- * \param ctx       PK context to use
+ * \param ctx       The PK context to use. It must have been set up.
  * \param md_alg    Hash algorithm used (see notes)
  * \param hash      Hash of the message to sign
  * \param hash_len  Hash length or 0 (see notes)
@@ -287,12 +333,38 @@ int mbedtls_pk_verify( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
                const unsigned char *sig, size_t sig_len );
 
 /**
+ * \brief           Restartable version of \c mbedtls_pk_verify()
+ *
+ * \note            Performs the same job as \c mbedtls_pk_verify(), but can
+ *                  return early and restart according to the limit set with
+ *                  \c mbedtls_ecp_set_max_ops() to reduce blocking for ECC
+ *                  operations. For RSA, same as \c mbedtls_pk_verify().
+ *
+ * \param ctx       The PK context to use. It must have been set up.
+ * \param md_alg    Hash algorithm used (see notes)
+ * \param hash      Hash of the message to sign
+ * \param hash_len  Hash length or 0 (see notes)
+ * \param sig       Signature to verify
+ * \param sig_len   Signature length
+ * \param rs_ctx    Restart context (NULL to disable restart)
+ *
+ * \return          See \c mbedtls_pk_verify(), or
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ */
+int mbedtls_pk_verify_restartable( mbedtls_pk_context *ctx,
+               mbedtls_md_type_t md_alg,
+               const unsigned char *hash, size_t hash_len,
+               const unsigned char *sig, size_t sig_len,
+               mbedtls_pk_restart_ctx *rs_ctx );
+
+/**
  * \brief           Verify signature, with options.
  *                  (Includes verification of the padding depending on type.)
  *
  * \param type      Signature type (inc. possible padding type) to verify
  * \param options   Pointer to type-specific options, or NULL
- * \param ctx       PK context to use
+ * \param ctx       The PK context to use. It must have been set up.
  * \param md_alg    Hash algorithm used (see notes)
  * \param hash      Hash of the message to sign
  * \param hash_len  Hash length or 0 (see notes)
@@ -323,7 +395,8 @@ int mbedtls_pk_verify_ext( mbedtls_pk_type_t type, const void *options,
 /**
  * \brief           Make signature, including padding if relevant.
  *
- * \param ctx       PK context to use - must hold a private key
+ * \param ctx       The PK context to use. It must have been set up
+ *                  with a private key.
  * \param md_alg    Hash algorithm used (see notes)
  * \param hash      Hash of the message to sign
  * \param hash_len  Hash length or 0 (see notes)
@@ -350,9 +423,40 @@ int mbedtls_pk_sign( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
              int (*f_rng)(void *, unsigned char *, size_t), void *p_rng );
 
 /**
+ * \brief           Restartable version of \c mbedtls_pk_sign()
+ *
+ * \note            Performs the same job as \c mbedtls_pk_sign(), but can
+ *                  return early and restart according to the limit set with
+ *                  \c mbedtls_ecp_set_max_ops() to reduce blocking for ECC
+ *                  operations. For RSA, same as \c mbedtls_pk_sign().
+ *
+ * \param ctx       The PK context to use. It must have been set up
+ *                  with a private key.
+ * \param md_alg    Hash algorithm used (see notes)
+ * \param hash      Hash of the message to sign
+ * \param hash_len  Hash length or 0 (see notes)
+ * \param sig       Place to write the signature
+ * \param sig_len   Number of bytes written
+ * \param f_rng     RNG function
+ * \param p_rng     RNG parameter
+ * \param rs_ctx    Restart context (NULL to disable restart)
+ *
+ * \return          See \c mbedtls_pk_sign(), or
+ * \return          #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                  operations was reached: see \c mbedtls_ecp_set_max_ops().
+ */
+int mbedtls_pk_sign_restartable( mbedtls_pk_context *ctx,
+             mbedtls_md_type_t md_alg,
+             const unsigned char *hash, size_t hash_len,
+             unsigned char *sig, size_t *sig_len,
+             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+             mbedtls_pk_restart_ctx *rs_ctx );
+
+/**
  * \brief           Decrypt message (including padding if relevant).
  *
- * \param ctx       PK context to use - must hold a private key
+ * \param ctx       The PK context to use. It must have been set up
+ *                  with a private key.
  * \param input     Input to decrypt
  * \param ilen      Input size
  * \param output    Decrypted output
@@ -373,7 +477,7 @@ int mbedtls_pk_decrypt( mbedtls_pk_context *ctx,
 /**
  * \brief           Encrypt message (including padding if relevant).
  *
- * \param ctx       PK context to use
+ * \param ctx       The PK context to use. It must have been set up.
  * \param input     Message to encrypt
  * \param ilen      Message size
  * \param output    Encrypted output
@@ -404,7 +508,7 @@ int mbedtls_pk_check_pair( const mbedtls_pk_context *pub, const mbedtls_pk_conte
 /**
  * \brief           Export debug information
  *
- * \param ctx       Context to use
+ * \param ctx       The PK context to use. It must have been initialized.
  * \param items     Place to write debug items
  *
  * \return          0 on success or MBEDTLS_ERR_PK_BAD_INPUT_DATA
@@ -414,7 +518,7 @@ int mbedtls_pk_debug( const mbedtls_pk_context *ctx, mbedtls_pk_debug_item *item
 /**
  * \brief           Access the type name
  *
- * \param ctx       Context to use
+ * \param ctx       The PK context to use. It must have been initialized.
  *
  * \return          Type name on success, or "invalid PK"
  */
@@ -423,9 +527,10 @@ const char * mbedtls_pk_get_name( const mbedtls_pk_context *ctx );
 /**
  * \brief           Get the key type
  *
- * \param ctx       Context to use
+ * \param ctx       The PK context to use. It must have been initialized.
  *
- * \return          Type on success, or MBEDTLS_PK_NONE
+ * \return          Type on success.
+ * \return          #MBEDTLS_PK_NONE for a context that has not been set up.
  */
 mbedtls_pk_type_t mbedtls_pk_get_type( const mbedtls_pk_context *ctx );
 
@@ -434,12 +539,22 @@ mbedtls_pk_type_t mbedtls_pk_get_type( const mbedtls_pk_context *ctx );
 /**
  * \brief           Parse a private key in PEM or DER format
  *
- * \param ctx       key to be initialized
- * \param key       input buffer
- * \param keylen    size of the buffer
- *                  (including the terminating null byte for PEM data)
- * \param pwd       password for decryption (optional)
- * \param pwdlen    size of the password
+ * \param ctx       The PK context to fill. It must have been initialized
+ *                  but not set up.
+ * \param key       Input buffer to parse.
+ *                  The buffer must contain the input exactly, with no
+ *                  extra trailing material. For PEM, the buffer must
+ *                  contain a null-terminated string.
+ * \param keylen    Size of \b key in bytes.
+ *                  For PEM data, this includes the terminating null byte,
+ *                  so \p keylen must be equal to `strlen(key) + 1`.
+ * \param pwd       Optional password for decryption.
+ *                  Pass \c NULL if expecting a non-encrypted key.
+ *                  Pass a string of \p pwdlen bytes if expecting an encrypted
+ *                  key; a non-encrypted key will also be accepted.
+ *                  The empty password is not supported.
+ * \param pwdlen    Size of the password in bytes.
+ *                  Ignored if \p pwd is \c NULL.
  *
  * \note            On entry, ctx must be empty, either freshly initialised
  *                  with mbedtls_pk_init() or reset with mbedtls_pk_free(). If you need a
@@ -457,10 +572,15 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *ctx,
 /**
  * \brief           Parse a public key in PEM or DER format
  *
- * \param ctx       key to be initialized
- * \param key       input buffer
- * \param keylen    size of the buffer
- *                  (including the terminating null byte for PEM data)
+ * \param ctx       The PK context to fill. It must have been initialized
+ *                  but not set up.
+ * \param key       Input buffer to parse.
+ *                  The buffer must contain the input exactly, with no
+ *                  extra trailing material. For PEM, the buffer must
+ *                  contain a null-terminated string.
+ * \param keylen    Size of \b key in bytes.
+ *                  For PEM data, this includes the terminating null byte,
+ *                  so \p keylen must be equal to `strlen(key) + 1`.
  *
  * \note            On entry, ctx must be empty, either freshly initialised
  *                  with mbedtls_pk_init() or reset with mbedtls_pk_free(). If you need a
@@ -478,9 +598,14 @@ int mbedtls_pk_parse_public_key( mbedtls_pk_context *ctx,
 /**
  * \brief           Load and parse a private key
  *
- * \param ctx       key to be initialized
+ * \param ctx       The PK context to fill. It must have been initialized
+ *                  but not set up.
  * \param path      filename to read the private key from
- * \param password  password to decrypt the file (can be NULL)
+ * \param password  Optional password to decrypt the file.
+ *                  Pass \c NULL if expecting a non-encrypted key.
+ *                  Pass a null-terminated string if expecting an encrypted
+ *                  key; a non-encrypted key will also be accepted.
+ *                  The empty password is not supported.
  *
  * \note            On entry, ctx must be empty, either freshly initialised
  *                  with mbedtls_pk_init() or reset with mbedtls_pk_free(). If you need a
@@ -497,7 +622,8 @@ int mbedtls_pk_parse_keyfile( mbedtls_pk_context *ctx,
 /**
  * \brief           Load and parse a public key
  *
- * \param ctx       key to be initialized
+ * \param ctx       The PK context to fill. It must have been initialized
+ *                  but not set up.
  * \param path      filename to read the public key from
  *
  * \note            On entry, ctx must be empty, either freshly initialised
@@ -520,7 +646,7 @@ int mbedtls_pk_parse_public_keyfile( mbedtls_pk_context *ctx, const char *path )
  *                        return value to determine where you should start
  *                        using the buffer
  *
- * \param ctx       private to write away
+ * \param ctx       PK context which must contain a valid private key.
  * \param buf       buffer to write to
  * \param size      size of the buffer
  *
@@ -535,7 +661,7 @@ int mbedtls_pk_write_key_der( mbedtls_pk_context *ctx, unsigned char *buf, size_
  *                        return value to determine where you should start
  *                        using the buffer
  *
- * \param ctx       public key to write away
+ * \param ctx       PK context which must contain a valid public or private key.
  * \param buf       buffer to write to
  * \param size      size of the buffer
  *
@@ -548,9 +674,10 @@ int mbedtls_pk_write_pubkey_der( mbedtls_pk_context *ctx, unsigned char *buf, si
 /**
  * \brief           Write a public key to a PEM string
  *
- * \param ctx       public key to write away
- * \param buf       buffer to write to
- * \param size      size of the buffer
+ * \param ctx       PK context which must contain a valid public or private key.
+ * \param buf       Buffer to write to. The output includes a
+ *                  terminating null byte.
+ * \param size      Size of the buffer in bytes.
  *
  * \return          0 if successful, or a specific error code
  */
@@ -559,9 +686,10 @@ int mbedtls_pk_write_pubkey_pem( mbedtls_pk_context *ctx, unsigned char *buf, si
 /**
  * \brief           Write a private key to a PKCS#1 or SEC1 PEM string
  *
- * \param ctx       private to write away
- * \param buf       buffer to write to
- * \param size      size of the buffer
+ * \param ctx       PK context which must contain a valid private key.
+ * \param buf       Buffer to write to. The output includes a
+ *                  terminating null byte.
+ * \param size      Size of the buffer in bytes.
  *
  * \return          0 if successful, or a specific error code
  */
@@ -580,7 +708,8 @@ int mbedtls_pk_write_key_pem( mbedtls_pk_context *ctx, unsigned char *buf, size_
  *
  * \param p         the position in the ASN.1 data
  * \param end       end of the buffer
- * \param pk        the key to fill
+ * \param pk        The PK context to fill. It must have been initialized
+ *                  but not set up.
  *
  * \return          0 if successful, or a specific PK error code
  */
@@ -595,7 +724,7 @@ int mbedtls_pk_parse_subpubkey( unsigned char **p, const unsigned char *end,
  *
  * \param p         reference to current position pointer
  * \param start     start of the buffer (for bounds-checking)
- * \param key       public key to write away
+ * \param key       PK context which must contain a valid public or private key.
  *
  * \return          the length written or a negative error code
  */
diff --git a/thirdparty/mbedtls/include/mbedtls/pk_internal.h b/thirdparty/mbedtls/include/mbedtls/pk_internal.h
index 3dae0fc5b2..48b7a5f7bf 100644
--- a/thirdparty/mbedtls/include/mbedtls/pk_internal.h
+++ b/thirdparty/mbedtls/include/mbedtls/pk_internal.h
@@ -59,6 +59,21 @@ struct mbedtls_pk_info_t
                       int (*f_rng)(void *, unsigned char *, size_t),
                       void *p_rng );
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /** Verify signature (restartable) */
+    int (*verify_rs_func)( void *ctx, mbedtls_md_type_t md_alg,
+                           const unsigned char *hash, size_t hash_len,
+                           const unsigned char *sig, size_t sig_len,
+                           void *rs_ctx );
+
+    /** Make signature (restartable) */
+    int (*sign_rs_func)( void *ctx, mbedtls_md_type_t md_alg,
+                         const unsigned char *hash, size_t hash_len,
+                         unsigned char *sig, size_t *sig_len,
+                         int (*f_rng)(void *, unsigned char *, size_t),
+                         void *p_rng, void *rs_ctx );
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
     /** Decrypt message */
     int (*decrypt_func)( void *ctx, const unsigned char *input, size_t ilen,
                          unsigned char *output, size_t *olen, size_t osize,
@@ -80,6 +95,14 @@ struct mbedtls_pk_info_t
     /** Free the given context */
     void (*ctx_free_func)( void *ctx );
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /** Allocate the restart context */
+    void * (*rs_alloc_func)( void );
+
+    /** Free the restart context */
+    void (*rs_free_func)( void *rs_ctx );
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
     /** Interface with the debug module */
     void (*debug_func)( const void *ctx, mbedtls_pk_debug_item *items );
 
diff --git a/thirdparty/mbedtls/include/mbedtls/pkcs11.h b/thirdparty/mbedtls/include/mbedtls/pkcs11.h
index bf65c55a79..02427ddc1e 100644
--- a/thirdparty/mbedtls/include/mbedtls/pkcs11.h
+++ b/thirdparty/mbedtls/include/mbedtls/pkcs11.h
@@ -50,7 +50,8 @@ extern "C" {
 /**
  * Context for PKCS #11 private keys.
  */
-typedef struct {
+typedef struct mbedtls_pkcs11_context
+{
         pkcs11h_certificate_t pkcs11h_cert;
         int len;
 } mbedtls_pkcs11_context;
diff --git a/thirdparty/mbedtls/include/mbedtls/pkcs12.h b/thirdparty/mbedtls/include/mbedtls/pkcs12.h
index a621ef5b15..69f04177c8 100644
--- a/thirdparty/mbedtls/include/mbedtls/pkcs12.h
+++ b/thirdparty/mbedtls/include/mbedtls/pkcs12.h
@@ -46,6 +46,8 @@
 extern "C" {
 #endif
 
+#if defined(MBEDTLS_ASN1_PARSE_C)
+
 /**
  * \brief            PKCS12 Password Based function (encryption / decryption)
  *                   for pbeWithSHAAnd128BitRC4
@@ -87,6 +89,8 @@ int mbedtls_pkcs12_pbe( mbedtls_asn1_buf *pbe_params, int mode,
                 const unsigned char *input, size_t len,
                 unsigned char *output );
 
+#endif /* MBEDTLS_ASN1_PARSE_C */
+
 /**
  * \brief            The PKCS#12 derivation function uses a password and a salt
  *                   to produce pseudo-random bits for a particular "purpose".
diff --git a/thirdparty/mbedtls/include/mbedtls/pkcs5.h b/thirdparty/mbedtls/include/mbedtls/pkcs5.h
index 9a3c9fddcc..d4bb36dfae 100644
--- a/thirdparty/mbedtls/include/mbedtls/pkcs5.h
+++ b/thirdparty/mbedtls/include/mbedtls/pkcs5.h
@@ -44,6 +44,8 @@
 extern "C" {
 #endif
 
+#if defined(MBEDTLS_ASN1_PARSE_C)
+
 /**
  * \brief          PKCS#5 PBES2 function
  *
@@ -62,6 +64,8 @@ int mbedtls_pkcs5_pbes2( const mbedtls_asn1_buf *pbe_params, int mode,
                  const unsigned char *data, size_t datalen,
                  unsigned char *output );
 
+#endif /* MBEDTLS_ASN1_PARSE_C */
+
 /**
  * \brief          PKCS#5 PBKDF2 using HMAC
  *
diff --git a/thirdparty/mbedtls/include/mbedtls/platform.h b/thirdparty/mbedtls/include/mbedtls/platform.h
index 624cc642ac..89fe8a7b19 100644
--- a/thirdparty/mbedtls/include/mbedtls/platform.h
+++ b/thirdparty/mbedtls/include/mbedtls/platform.h
@@ -43,6 +43,9 @@
 #include "platform_time.h"
 #endif
 
+#define MBEDTLS_ERR_PLATFORM_HW_ACCEL_FAILED     -0x0070 /**< Hardware accelerator failed */
+#define MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED -0x0072 /**< The requested feature is not supported by the platform */
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -315,7 +318,8 @@ int mbedtls_platform_set_nv_seed(
  * \note    This structure may be used to assist platform-specific
  *          setup or teardown operations.
  */
-typedef struct {
+typedef struct mbedtls_platform_context
+{
     char dummy; /**< A placeholder member, as empty structs are not portable. */
 }
 mbedtls_platform_context;
diff --git a/thirdparty/mbedtls/include/mbedtls/platform_util.h b/thirdparty/mbedtls/include/mbedtls/platform_util.h
index 84f0732eeb..b0e72ad149 100644
--- a/thirdparty/mbedtls/include/mbedtls/platform_util.h
+++ b/thirdparty/mbedtls/include/mbedtls/platform_util.h
@@ -25,12 +25,104 @@
 #ifndef MBEDTLS_PLATFORM_UTIL_H
 #define MBEDTLS_PLATFORM_UTIL_H
 
+#if !defined(MBEDTLS_CONFIG_FILE)
+#include "mbedtls/config.h"
+#else
+#include MBEDTLS_CONFIG_FILE
+#endif
+
 #include <stddef.h>
+#if defined(MBEDTLS_HAVE_TIME_DATE)
+#include "mbedtls/platform_time.h"
+#include <time.h>
+#endif /* MBEDTLS_HAVE_TIME_DATE */
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#if defined(MBEDTLS_CHECK_PARAMS)
+
+#if defined(MBEDTLS_PARAM_FAILED)
+/** An alternative definition of MBEDTLS_PARAM_FAILED has been set in config.h.
+ *
+ * This flag can be used to check whether it is safe to assume that
+ * MBEDTLS_PARAM_FAILED() will expand to a call to mbedtls_param_failed().
+ */
+#define MBEDTLS_PARAM_FAILED_ALT
+#else /* MBEDTLS_PARAM_FAILED */
+#define MBEDTLS_PARAM_FAILED( cond ) \
+    mbedtls_param_failed( #cond, __FILE__, __LINE__ )
+
+/**
+ * \brief       User supplied callback function for parameter validation failure.
+ *              See #MBEDTLS_CHECK_PARAMS for context.
+ *
+ *              This function will be called unless an alternative treatement
+ *              is defined through the #MBEDTLS_PARAM_FAILED macro.
+ *
+ *              This function can return, and the operation will be aborted, or
+ *              alternatively, through use of setjmp()/longjmp() can resume
+ *              execution in the application code.
+ *
+ * \param failure_condition The assertion that didn't hold.
+ * \param file  The file where the assertion failed.
+ * \param line  The line in the file where the assertion failed.
+ */
+void mbedtls_param_failed( const char *failure_condition,
+                           const char *file,
+                           int line );
+#endif /* MBEDTLS_PARAM_FAILED */
+
+/* Internal macro meant to be called only from within the library. */
+#define MBEDTLS_INTERNAL_VALIDATE_RET( cond, ret )  \
+    do {                                            \
+        if( !(cond) )                               \
+        {                                           \
+            MBEDTLS_PARAM_FAILED( cond );           \
+            return( ret );                          \
+        }                                           \
+    } while( 0 )
+
+/* Internal macro meant to be called only from within the library. */
+#define MBEDTLS_INTERNAL_VALIDATE( cond )           \
+    do {                                            \
+        if( !(cond) )                               \
+        {                                           \
+            MBEDTLS_PARAM_FAILED( cond );           \
+            return;                                 \
+        }                                           \
+    } while( 0 )
+
+#else /* MBEDTLS_CHECK_PARAMS */
+
+/* Internal macros meant to be called only from within the library. */
+#define MBEDTLS_INTERNAL_VALIDATE_RET( cond, ret )  do { } while( 0 )
+#define MBEDTLS_INTERNAL_VALIDATE( cond )           do { } while( 0 )
+
+#endif /* MBEDTLS_CHECK_PARAMS */
+
+/* Internal helper macros for deprecating API constants. */
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+#if defined(MBEDTLS_DEPRECATED_WARNING)
+/* Deliberately don't (yet) export MBEDTLS_DEPRECATED here
+ * to avoid conflict with other headers which define and use
+ * it, too. We might want to move all these definitions here at
+ * some point for uniformity. */
+#define MBEDTLS_DEPRECATED __attribute__((deprecated))
+MBEDTLS_DEPRECATED typedef char const * mbedtls_deprecated_string_constant_t;
+#define MBEDTLS_DEPRECATED_STRING_CONSTANT( VAL )       \
+    ( (mbedtls_deprecated_string_constant_t) ( VAL ) )
+MBEDTLS_DEPRECATED typedef int mbedtls_deprecated_numeric_constant_t;
+#define MBEDTLS_DEPRECATED_NUMERIC_CONSTANT( VAL )       \
+    ( (mbedtls_deprecated_numeric_constant_t) ( VAL ) )
+#undef MBEDTLS_DEPRECATED
+#else /* MBEDTLS_DEPRECATED_WARNING */
+#define MBEDTLS_DEPRECATED_STRING_CONSTANT( VAL ) VAL
+#define MBEDTLS_DEPRECATED_NUMERIC_CONSTANT( VAL ) VAL
+#endif /* MBEDTLS_DEPRECATED_WARNING */
+#endif /* MBEDTLS_DEPRECATED_REMOVED */
+
 /**
  * \brief       Securely zeroize a buffer
  *
@@ -55,6 +147,37 @@ extern "C" {
  */
 void mbedtls_platform_zeroize( void *buf, size_t len );
 
+#if defined(MBEDTLS_HAVE_TIME_DATE)
+/**
+ * \brief      Platform-specific implementation of gmtime_r()
+ *
+ *             The function is a thread-safe abstraction that behaves
+ *             similarly to the gmtime_r() function from Unix/POSIX.
+ *
+ *             Mbed TLS will try to identify the underlying platform and
+ *             make use of an appropriate underlying implementation (e.g.
+ *             gmtime_r() for POSIX and gmtime_s() for Windows). If this is
+ *             not possible, then gmtime() will be used. In this case, calls
+ *             from the library to gmtime() will be guarded by the mutex
+ *             mbedtls_threading_gmtime_mutex if MBEDTLS_THREADING_C is
+ *             enabled. It is recommended that calls from outside the library
+ *             are also guarded by this mutex.
+ *
+ *             If MBEDTLS_PLATFORM_GMTIME_R_ALT is defined, then Mbed TLS will
+ *             unconditionally use the alternative implementation for
+ *             mbedtls_platform_gmtime_r() supplied by the user at compile time.
+ *
+ * \param tt     Pointer to an object containing time (in seconds) since the
+ *               epoch to be converted
+ * \param tm_buf Pointer to an object where the results will be stored
+ *
+ * \return      Pointer to an object of type struct tm on success, otherwise
+ *              NULL
+ */
+struct tm *mbedtls_platform_gmtime_r( const mbedtls_time_t *tt,
+                                      struct tm *tm_buf );
+#endif /* MBEDTLS_HAVE_TIME_DATE */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/thirdparty/mbedtls/include/mbedtls/poly1305.h b/thirdparty/mbedtls/include/mbedtls/poly1305.h
index 54b50abc25..05866a2da6 100644
--- a/thirdparty/mbedtls/include/mbedtls/poly1305.h
+++ b/thirdparty/mbedtls/include/mbedtls/poly1305.h
@@ -43,7 +43,13 @@
 #include <stddef.h>
 
 #define MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA         -0x0057 /**< Invalid input parameter(s). */
+
+/* MBEDTLS_ERR_POLY1305_FEATURE_UNAVAILABLE is deprecated and should not be
+ * used. */
 #define MBEDTLS_ERR_POLY1305_FEATURE_UNAVAILABLE    -0x0059 /**< Feature not available. For example, s part of the API is not implemented. */
+
+/* MBEDTLS_ERR_POLY1305_HW_ACCEL_FAILED is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_POLY1305_HW_ACCEL_FAILED        -0x005B  /**< Poly1305 hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -52,7 +58,7 @@ extern "C" {
 
 #if !defined(MBEDTLS_POLY1305_ALT)
 
-typedef struct
+typedef struct mbedtls_poly1305_context
 {
     uint32_t r[4];      /** The value for 'r' (low 128 bits of the key). */
     uint32_t s[4];      /** The value for 's' (high 128 bits of the key). */
@@ -78,14 +84,18 @@ mbedtls_poly1305_context;
  *                  \c mbedtls_poly1305_finish(), then finally
  *                  \c mbedtls_poly1305_free().
  *
- * \param ctx       The Poly1305 context to initialize.
+ * \param ctx       The Poly1305 context to initialize. This must
+ *                  not be \c NULL.
  */
 void mbedtls_poly1305_init( mbedtls_poly1305_context *ctx );
 
 /**
- * \brief           This function releases and clears the specified Poly1305 context.
+ * \brief           This function releases and clears the specified
+ *                  Poly1305 context.
  *
- * \param ctx       The Poly1305 context to clear.
+ * \param ctx       The Poly1305 context to clear. This may be \c NULL, in which
+ *                  case this function is a no-op. If it is not \c NULL, it must
+ *                  point to an initialized Poly1305 context.
  */
 void mbedtls_poly1305_free( mbedtls_poly1305_context *ctx );
 
@@ -96,11 +106,11 @@ void mbedtls_poly1305_free( mbedtls_poly1305_context *ctx );
  *                  invocation of Poly1305.
  *
  * \param ctx       The Poly1305 context to which the key should be bound.
- * \param key       The buffer containing the 256-bit key.
+ *                  This must be initialized.
+ * \param key       The buffer containing the \c 32 Byte (\c 256 Bit) key.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if ctx or key are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_poly1305_starts( mbedtls_poly1305_context *ctx,
                              const unsigned char key[32] );
@@ -114,13 +124,14 @@ int mbedtls_poly1305_starts( mbedtls_poly1305_context *ctx,
  *                  It can be called repeatedly to process a stream of data.
  *
  * \param ctx       The Poly1305 context to use for the Poly1305 operation.
- * \param ilen      The length of the input data (in bytes). Any value is accepted.
+ *                  This must be initialized and bound to a key.
+ * \param ilen      The length of the input data in Bytes.
+ *                  Any value is accepted.
  * \param input     The buffer holding the input data.
- *                  This pointer can be NULL if ilen == 0.
+ *                  This pointer can be \c NULL if `ilen == 0`.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if ctx or input are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_poly1305_update( mbedtls_poly1305_context *ctx,
                              const unsigned char *input,
@@ -131,12 +142,12 @@ int mbedtls_poly1305_update( mbedtls_poly1305_context *ctx,
  *                  Authentication Code (MAC).
  *
  * \param ctx       The Poly1305 context to use for the Poly1305 operation.
- * \param mac       The buffer to where the MAC is written. Must be big enough
- *                  to hold the 16-byte MAC.
+ *                  This must be initialized and bound to a key.
+ * \param mac       The buffer to where the MAC is written. This must
+ *                  be a writable buffer of length \c 16 Bytes.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if ctx or mac are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_poly1305_finish( mbedtls_poly1305_context *ctx,
                              unsigned char mac[16] );
@@ -148,16 +159,16 @@ int mbedtls_poly1305_finish( mbedtls_poly1305_context *ctx,
  * \warning         The key must be unique and unpredictable for each
  *                  invocation of Poly1305.
  *
- * \param key       The buffer containing the 256-bit key.
- * \param ilen      The length of the input data (in bytes). Any value is accepted.
+ * \param key       The buffer containing the \c 32 Byte (\c 256 Bit) key.
+ * \param ilen      The length of the input data in Bytes.
+ *                  Any value is accepted.
  * \param input     The buffer holding the input data.
- *                  This pointer can be NULL if ilen == 0.
- * \param mac       The buffer to where the MAC is written. Must be big enough
- *                  to hold the 16-byte MAC.
+ *                  This pointer can be \c NULL if `ilen == 0`.
+ * \param mac       The buffer to where the MAC is written. This must be
+ *                  a writable buffer of length \c 16 Bytes.
  *
  * \return          \c 0 on success.
- * \return          #MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA
- *                  if key, input, or mac are NULL.
+ * \return          A negative error code on failure.
  */
 int mbedtls_poly1305_mac( const unsigned char key[32],
                           const unsigned char *input,
diff --git a/thirdparty/mbedtls/include/mbedtls/ripemd160.h b/thirdparty/mbedtls/include/mbedtls/ripemd160.h
index a0dac0c360..c74b7d2c6c 100644
--- a/thirdparty/mbedtls/include/mbedtls/ripemd160.h
+++ b/thirdparty/mbedtls/include/mbedtls/ripemd160.h
@@ -33,6 +33,8 @@
 #include <stddef.h>
 #include <stdint.h>
 
+/* MBEDTLS_ERR_RIPEMD160_HW_ACCEL_FAILED is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_RIPEMD160_HW_ACCEL_FAILED             -0x0031  /**< RIPEMD160 hardware accelerator failed */
 
 #ifdef __cplusplus
@@ -46,7 +48,7 @@ extern "C" {
 /**
  * \brief          RIPEMD-160 context structure
  */
-typedef struct
+typedef struct mbedtls_ripemd160_context
 {
     uint32_t total[2];          /*!< number of bytes processed  */
     uint32_t state[5];          /*!< intermediate digest state  */
diff --git a/thirdparty/mbedtls/include/mbedtls/rsa.h b/thirdparty/mbedtls/include/mbedtls/rsa.h
index 19eb2ee74c..ed65a34452 100644
--- a/thirdparty/mbedtls/include/mbedtls/rsa.h
+++ b/thirdparty/mbedtls/include/mbedtls/rsa.h
@@ -55,7 +55,12 @@
 #define MBEDTLS_ERR_RSA_VERIFY_FAILED                     -0x4380  /**< The PKCS#1 verification failed. */
 #define MBEDTLS_ERR_RSA_OUTPUT_TOO_LARGE                  -0x4400  /**< The output buffer for decryption is not large enough. */
 #define MBEDTLS_ERR_RSA_RNG_FAILED                        -0x4480  /**< The random generator failed to generate non-zeros. */
+
+/* MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION is deprecated and should not be used.
+ */
 #define MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION             -0x4500  /**< The implementation does not offer the requested operation, for example, because of security violations or lack of functionality. */
+
+/* MBEDTLS_ERR_RSA_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_RSA_HW_ACCEL_FAILED                   -0x4580  /**< RSA hardware accelerator failed. */
 
 /*
@@ -92,7 +97,7 @@ extern "C" {
  *          is deprecated. All manipulation should instead be done through
  *          the public interface functions.
  */
-typedef struct
+typedef struct mbedtls_rsa_context
 {
     int ver;                    /*!<  Always 0.*/
     size_t len;                 /*!<  The size of \p N in Bytes. */
@@ -153,15 +158,16 @@ mbedtls_rsa_context;
  *                 making signatures, but can be overriden for verifying them.
  *                 If set to #MBEDTLS_MD_NONE, it is always overriden.
  *
- * \param ctx      The RSA context to initialize.
- * \param padding  Selects padding mode: #MBEDTLS_RSA_PKCS_V15 or
- *                 #MBEDTLS_RSA_PKCS_V21.
- * \param hash_id  The hash identifier of #mbedtls_md_type_t type, if
- *                 \p padding is #MBEDTLS_RSA_PKCS_V21.
+ * \param ctx      The RSA context to initialize. This must not be \c NULL.
+ * \param padding  The padding mode to use. This must be either
+ *                 #MBEDTLS_RSA_PKCS_V15 or #MBEDTLS_RSA_PKCS_V21.
+ * \param hash_id  The hash identifier of ::mbedtls_md_type_t type, if
+ *                 \p padding is #MBEDTLS_RSA_PKCS_V21. It is unused
+ *                 otherwise.
  */
 void mbedtls_rsa_init( mbedtls_rsa_context *ctx,
                        int padding,
-                       int hash_id);
+                       int hash_id );
 
 /**
  * \brief          This function imports a set of core parameters into an
@@ -183,11 +189,11 @@ void mbedtls_rsa_init( mbedtls_rsa_context *ctx,
  *                 for the lifetime of the RSA context being set up.
  *
  * \param ctx      The initialized RSA context to store the parameters in.
- * \param N        The RSA modulus, or NULL.
- * \param P        The first prime factor of \p N, or NULL.
- * \param Q        The second prime factor of \p N, or NULL.
- * \param D        The private exponent, or NULL.
- * \param E        The public exponent, or NULL.
+ * \param N        The RSA modulus. This may be \c NULL.
+ * \param P        The first prime factor of \p N. This may be \c NULL.
+ * \param Q        The second prime factor of \p N. This may be \c NULL.
+ * \param D        The private exponent. This may be \c NULL.
+ * \param E        The public exponent. This may be \c NULL.
  *
  * \return         \c 0 on success.
  * \return         A non-zero error code on failure.
@@ -217,16 +223,16 @@ int mbedtls_rsa_import( mbedtls_rsa_context *ctx,
  *                 for the lifetime of the RSA context being set up.
  *
  * \param ctx      The initialized RSA context to store the parameters in.
- * \param N        The RSA modulus, or NULL.
- * \param N_len    The Byte length of \p N, ignored if \p N == NULL.
- * \param P        The first prime factor of \p N, or NULL.
- * \param P_len    The Byte length of \p P, ignored if \p P == NULL.
- * \param Q        The second prime factor of \p N, or NULL.
- * \param Q_len    The Byte length of \p Q, ignored if \p Q == NULL.
- * \param D        The private exponent, or NULL.
- * \param D_len    The Byte length of \p D, ignored if \p D == NULL.
- * \param E        The public exponent, or NULL.
- * \param E_len    The Byte length of \p E, ignored if \p E == NULL.
+ * \param N        The RSA modulus. This may be \c NULL.
+ * \param N_len    The Byte length of \p N; it is ignored if \p N == NULL.
+ * \param P        The first prime factor of \p N. This may be \c NULL.
+ * \param P_len    The Byte length of \p P; it ns ignored if \p P == NULL.
+ * \param Q        The second prime factor of \p N. This may be \c NULL.
+ * \param Q_len    The Byte length of \p Q; it is ignored if \p Q == NULL.
+ * \param D        The private exponent. This may be \c NULL.
+ * \param D_len    The Byte length of \p D; it is ignored if \p D == NULL.
+ * \param E        The public exponent. This may be \c NULL.
+ * \param E_len    The Byte length of \p E; it is ignored if \p E == NULL.
  *
  * \return         \c 0 on success.
  * \return         A non-zero error code on failure.
@@ -281,7 +287,7 @@ int mbedtls_rsa_complete( mbedtls_rsa_context *ctx );
  *                 zero Bytes.
  *
  *                 Possible reasons for returning
- *                 #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION:<ul>
+ *                 #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED:<ul>
  *                 <li>An alternative RSA implementation is in use, which
  *                 stores the key externally, and either cannot or should
  *                 not export it into RAM.</li>
@@ -294,14 +300,19 @@ int mbedtls_rsa_complete( mbedtls_rsa_context *ctx );
  *                 the RSA context stays intact and remains usable.
  *
  * \param ctx      The initialized RSA context.
- * \param N        The MPI to hold the RSA modulus, or NULL.
- * \param P        The MPI to hold the first prime factor of \p N, or NULL.
- * \param Q        The MPI to hold the second prime factor of \p N, or NULL.
- * \param D        The MPI to hold the private exponent, or NULL.
- * \param E        The MPI to hold the public exponent, or NULL.
+ * \param N        The MPI to hold the RSA modulus.
+ *                 This may be \c NULL if this field need not be exported.
+ * \param P        The MPI to hold the first prime factor of \p N.
+ *                 This may be \c NULL if this field need not be exported.
+ * \param Q        The MPI to hold the second prime factor of \p N.
+ *                 This may be \c NULL if this field need not be exported.
+ * \param D        The MPI to hold the private exponent.
+ *                 This may be \c NULL if this field need not be exported.
+ * \param E        The MPI to hold the public exponent.
+ *                 This may be \c NULL if this field need not be exported.
  *
  * \return         \c 0 on success.
- * \return         #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION if exporting the
+ * \return         #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED if exporting the
  *                 requested parameters cannot be done due to missing
  *                 functionality or because of security policies.
  * \return         A non-zero return code on any other failure.
@@ -321,7 +332,7 @@ int mbedtls_rsa_export( const mbedtls_rsa_context *ctx,
  *                 zero Bytes.
  *
  *                 Possible reasons for returning
- *                 #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION:<ul>
+ *                 #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED:<ul>
  *                 <li>An alternative RSA implementation is in use, which
  *                 stores the key externally, and either cannot or should
  *                 not export it into RAM.</li>
@@ -336,21 +347,24 @@ int mbedtls_rsa_export( const mbedtls_rsa_context *ctx,
  *                 buffer pointers are NULL.
  *
  * \param ctx      The initialized RSA context.
- * \param N        The Byte array to store the RSA modulus, or NULL.
+ * \param N        The Byte array to store the RSA modulus,
+ *                 or \c NULL if this field need not be exported.
  * \param N_len    The size of the buffer for the modulus.
- * \param P        The Byte array to hold the first prime factor of \p N, or
- *                 NULL.
+ * \param P        The Byte array to hold the first prime factor of \p N,
+ *                 or \c NULL if this field need not be exported.
  * \param P_len    The size of the buffer for the first prime factor.
- * \param Q        The Byte array to hold the second prime factor of \p N, or
- *                 NULL.
+ * \param Q        The Byte array to hold the second prime factor of \p N,
+ *                 or \c NULL if this field need not be exported.
  * \param Q_len    The size of the buffer for the second prime factor.
- * \param D        The Byte array to hold the private exponent, or NULL.
+ * \param D        The Byte array to hold the private exponent,
+ *                 or \c NULL if this field need not be exported.
  * \param D_len    The size of the buffer for the private exponent.
- * \param E        The Byte array to hold the public exponent, or NULL.
+ * \param E        The Byte array to hold the public exponent,
+ *                 or \c NULL if this field need not be exported.
  * \param E_len    The size of the buffer for the public exponent.
  *
  * \return         \c 0 on success.
- * \return         #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION if exporting the
+ * \return         #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED if exporting the
  *                 requested parameters cannot be done due to missing
  *                 functionality or because of security policies.
  * \return         A non-zero return code on any other failure.
@@ -370,9 +384,12 @@ int mbedtls_rsa_export_raw( const mbedtls_rsa_context *ctx,
  *                 mbedtls_rsa_deduce_opt().
  *
  * \param ctx      The initialized RSA context.
- * \param DP       The MPI to hold D modulo P-1, or NULL.
- * \param DQ       The MPI to hold D modulo Q-1, or NULL.
- * \param QP       The MPI to hold modular inverse of Q modulo P, or NULL.
+ * \param DP       The MPI to hold \c D modulo `P-1`,
+ *                 or \c NULL if it need not be exported.
+ * \param DQ       The MPI to hold \c D modulo `Q-1`,
+ *                 or \c NULL if it need not be exported.
+ * \param QP       The MPI to hold modular inverse of \c Q modulo \c P,
+ *                 or \c NULL if it need not be exported.
  *
  * \return         \c 0 on success.
  * \return         A non-zero error code on failure.
@@ -385,13 +402,13 @@ int mbedtls_rsa_export_crt( const mbedtls_rsa_context *ctx,
  * \brief          This function sets padding for an already initialized RSA
  *                 context. See mbedtls_rsa_init() for details.
  *
- * \param ctx      The RSA context to be set.
- * \param padding  Selects padding mode: #MBEDTLS_RSA_PKCS_V15 or
- *                 #MBEDTLS_RSA_PKCS_V21.
+ * \param ctx      The initialized RSA context to be configured.
+ * \param padding  The padding mode to use. This must be either
+ *                 #MBEDTLS_RSA_PKCS_V15 or #MBEDTLS_RSA_PKCS_V21.
  * \param hash_id  The #MBEDTLS_RSA_PKCS_V21 hash identifier.
  */
 void mbedtls_rsa_set_padding( mbedtls_rsa_context *ctx, int padding,
-                              int hash_id);
+                              int hash_id );
 
 /**
  * \brief          This function retrieves the length of RSA modulus in Bytes.
@@ -409,11 +426,14 @@ size_t mbedtls_rsa_get_len( const mbedtls_rsa_context *ctx );
  * \note           mbedtls_rsa_init() must be called before this function,
  *                 to set up the RSA context.
  *
- * \param ctx      The RSA context used to hold the key.
- * \param f_rng    The RNG function.
- * \param p_rng    The RNG context.
+ * \param ctx      The initialized RSA context used to hold the key.
+ * \param f_rng    The RNG function to be used for key generation.
+ *                 This must not be \c NULL.
+ * \param p_rng    The RNG context to be passed to \p f_rng.
+ *                 This may be \c NULL if \p f_rng doesn't need a context.
  * \param nbits    The size of the public key in bits.
- * \param exponent The public exponent. For example, 65537.
+ * \param exponent The public exponent to use. For example, \c 65537.
+ *                 This must be odd and greater than \c 1.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -431,7 +451,7 @@ int mbedtls_rsa_gen_key( mbedtls_rsa_context *ctx,
  *                 enough information is present to perform an RSA public key
  *                 operation using mbedtls_rsa_public().
  *
- * \param ctx      The RSA context to check.
+ * \param ctx      The initialized RSA context to check.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -470,7 +490,7 @@ int mbedtls_rsa_check_pubkey( const mbedtls_rsa_context *ctx );
  *             parameters, which goes beyond what is effectively checkable
  *             by the library.</li></ul>
  *
- * \param ctx  The RSA context to check.
+ * \param ctx  The initialized RSA context to check.
  *
  * \return     \c 0 on success.
  * \return     An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -482,8 +502,8 @@ int mbedtls_rsa_check_privkey( const mbedtls_rsa_context *ctx );
  *
  *                 It checks each of the contexts, and makes sure they match.
  *
- * \param pub      The RSA context holding the public key.
- * \param prv      The RSA context holding the private key.
+ * \param pub      The initialized RSA context holding the public key.
+ * \param prv      The initialized RSA context holding the private key.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -494,18 +514,19 @@ int mbedtls_rsa_check_pub_priv( const mbedtls_rsa_context *pub,
 /**
  * \brief          This function performs an RSA public key operation.
  *
+ * \param ctx      The initialized RSA context to use.
+ * \param input    The input buffer. This must be a readable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
+ * \param output   The output buffer. This must be a writable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
+ *
  * \note           This function does not handle message padding.
  *
  * \note           Make sure to set \p input[0] = 0 or ensure that
  *                 input is smaller than \p N.
  *
- * \note           The input and output buffers must be large
- *                 enough. For example, 128 Bytes if RSA-1024 is used.
- *
- * \param ctx      The RSA context.
- * \param input    The input buffer.
- * \param output   The output buffer.
- *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
  */
@@ -516,9 +537,6 @@ int mbedtls_rsa_public( mbedtls_rsa_context *ctx,
 /**
  * \brief          This function performs an RSA private key operation.
  *
- * \note           The input and output buffers must be large
- *                 enough. For example, 128 Bytes if RSA-1024 is used.
- *
  * \note           Blinding is used if and only if a PRNG is provided.
  *
  * \note           If blinding is used, both the base of exponentation
@@ -530,11 +548,18 @@ int mbedtls_rsa_public( mbedtls_rsa_context *ctx,
  *                 Future versions of the library may enforce the presence
  *                 of a PRNG.
  *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Needed for blinding.
- * \param p_rng    The RNG context.
- * \param input    The input buffer.
- * \param output   The output buffer.
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function, used for blinding. It is discouraged
+ *                 and deprecated to pass \c NULL here, in which case
+ *                 blinding will be omitted.
+ * \param p_rng    The RNG context to pass to \p f_rng. This may be \c NULL
+ *                 if \p f_rng is \c NULL or if \p f_rng doesn't need a context.
+ * \param input    The input buffer. This must be a readable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
+ * \param output   The output buffer. This must be a writable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -553,9 +578,6 @@ int mbedtls_rsa_private( mbedtls_rsa_context *ctx,
  *                 It is the generic wrapper for performing a PKCS#1 encryption
  *                 operation using the \p mode from the context.
  *
- * \note           The input and output buffers must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PRIVATE mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -563,16 +585,26 @@ int mbedtls_rsa_private( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PRIVATE and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Needed for padding, PKCS#1 v2.1
- *                 encoding, and #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
- * \param ilen     The length of the plaintext.
- * \param input    The buffer holding the data to encrypt.
- * \param output   The buffer used to hold the ciphertext.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG to use. It is mandatory for PKCS#1 v2.1 padding
+ *                 encoding, and for PKCS#1 v1.5 padding encoding when used
+ *                 with \p mode set to #MBEDTLS_RSA_PUBLIC. For PKCS#1 v1.5
+ *                 padding encoding and \p mode set to #MBEDTLS_RSA_PRIVATE,
+ *                 it is used for blinding and should be provided in this
+ *                 case; see mbedtls_rsa_private() for more.
+ * \param p_rng    The RNG context to be passed to \p f_rng. May be
+ *                 \c NULL if \p f_rng is \c NULL or if \p f_rng doesn't
+ *                 need a context argument.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
+ * \param ilen     The length of the plaintext in Bytes.
+ * \param input    The input data to encrypt. This must be a readable
+ *                 buffer of size \p ilen Bytes. This must not be \c NULL.
+ * \param output   The output buffer. This must be a writable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -588,9 +620,6 @@ int mbedtls_rsa_pkcs1_encrypt( mbedtls_rsa_context *ctx,
  * \brief          This function performs a PKCS#1 v1.5 encryption operation
  *                 (RSAES-PKCS1-v1_5-ENCRYPT).
  *
- * \note           The output buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PRIVATE mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -598,16 +627,24 @@ int mbedtls_rsa_pkcs1_encrypt( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PRIVATE and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Needed for padding and
- *                 #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
- * \param ilen     The length of the plaintext.
- * \param input    The buffer holding the data to encrypt.
- * \param output   The buffer used to hold the ciphertext.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function to use. It is needed for padding generation
+ *                 if \p mode is #MBEDTLS_RSA_PUBLIC. If \p mode is
+ *                 #MBEDTLS_RSA_PRIVATE (discouraged), it is used for
+ *                 blinding and should be provided; see mbedtls_rsa_private().
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may
+ *                 be \c NULL if \p f_rng is \c NULL or if \p f_rng
+ *                 doesn't need a context argument.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
+ * \param ilen     The length of the plaintext in Bytes.
+ * \param input    The input data to encrypt. This must be a readable
+ *                 buffer of size \p ilen Bytes. This must not be \c NULL.
+ * \param output   The output buffer. This must be a writable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -633,18 +670,25 @@ int mbedtls_rsa_rsaes_pkcs1_v15_encrypt( mbedtls_rsa_context *ctx,
  *
  * \note             Alternative implementations of RSA need not support
  *                   mode being set to #MBEDTLS_RSA_PRIVATE and might instead
- *                   return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx        The RSA context.
- * \param f_rng      The RNG function. Needed for padding and PKCS#1 v2.1
- *                   encoding and #MBEDTLS_RSA_PRIVATE.
- * \param p_rng      The RNG context.
- * \param mode       #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                   return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx        The initnialized RSA context to use.
+ * \param f_rng      The RNG function to use. This is needed for padding
+ *                   generation and must be provided.
+ * \param p_rng      The RNG context to be passed to \p f_rng. This may
+ *                   be \c NULL if \p f_rng doesn't need a context argument.
+ * \param mode       The mode of operation. This must be either
+ *                   #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
  * \param label      The buffer holding the custom label to use.
- * \param label_len  The length of the label.
- * \param ilen       The length of the plaintext.
- * \param input      The buffer holding the data to encrypt.
- * \param output     The buffer used to hold the ciphertext.
+ *                   This must be a readable buffer of length \p label_len
+ *                   Bytes. It may be \c NULL if \p label_len is \c 0.
+ * \param label_len  The length of the label in Bytes.
+ * \param ilen       The length of the plaintext buffer \p input in Bytes.
+ * \param input      The input data to encrypt. This must be a readable
+ *                   buffer of size \p ilen Bytes. This must not be \c NULL.
+ * \param output     The output buffer. This must be a writable buffer
+ *                   of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                   for an 2048-bit RSA modulus.
  *
  * \return           \c 0 on success.
  * \return           An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -672,9 +716,6 @@ int mbedtls_rsa_rsaes_oaep_encrypt( mbedtls_rsa_context *ctx,
  *                 hold the decryption of the particular ciphertext provided,
  *                 the function returns \c MBEDTLS_ERR_RSA_OUTPUT_TOO_LARGE.
  *
- * \note           The input buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PUBLIC mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -682,16 +723,25 @@ int mbedtls_rsa_rsaes_oaep_encrypt( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PUBLIC and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
- * \param olen     The length of the plaintext.
- * \param input    The buffer holding the encrypted data.
- * \param output   The buffer used to hold the plaintext.
- * \param output_max_len    The maximum length of the output buffer.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. If \p mode is
+ *                 #MBEDTLS_RSA_PUBLIC, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PRIVATE or #MBEDTLS_RSA_PUBLIC (deprecated).
+ * \param olen     The address at which to store the length of
+ *                 the plaintext. This must not be \c NULL.
+ * \param input    The ciphertext buffer. This must be a readable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
+ * \param output   The buffer used to hold the plaintext. This must
+ *                 be a writable buffer of length \p output_max_len Bytes.
+ * \param output_max_len The length in Bytes of the output buffer \p output.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -715,9 +765,6 @@ int mbedtls_rsa_pkcs1_decrypt( mbedtls_rsa_context *ctx,
  *                 hold the decryption of the particular ciphertext provided,
  *                 the function returns #MBEDTLS_ERR_RSA_OUTPUT_TOO_LARGE.
  *
- * \note           The input buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PUBLIC mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -725,16 +772,25 @@ int mbedtls_rsa_pkcs1_decrypt( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PUBLIC and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
- * \param olen     The length of the plaintext.
- * \param input    The buffer holding the encrypted data.
- * \param output   The buffer to hold the plaintext.
- * \param output_max_len    The maximum length of the output buffer.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. If \p mode is
+ *                 #MBEDTLS_RSA_PUBLIC, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PRIVATE or #MBEDTLS_RSA_PUBLIC (deprecated).
+ * \param olen     The address at which to store the length of
+ *                 the plaintext. This must not be \c NULL.
+ * \param input    The ciphertext buffer. This must be a readable buffer
+ *                 of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
+ * \param output   The buffer used to hold the plaintext. This must
+ *                 be a writable buffer of length \p output_max_len Bytes.
+ * \param output_max_len The length in Bytes of the output buffer \p output.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -760,9 +816,6 @@ int mbedtls_rsa_rsaes_pkcs1_v15_decrypt( mbedtls_rsa_context *ctx,
  *                   ciphertext provided, the function returns
  *                   #MBEDTLS_ERR_RSA_OUTPUT_TOO_LARGE.
  *
- * \note             The input buffer must be as large as the size
- *                   of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated       It is deprecated and discouraged to call this function
  *                   in #MBEDTLS_RSA_PUBLIC mode. Future versions of the library
  *                   are likely to remove the \p mode argument and have it
@@ -770,18 +823,29 @@ int mbedtls_rsa_rsaes_pkcs1_v15_decrypt( mbedtls_rsa_context *ctx,
  *
  * \note             Alternative implementations of RSA need not support
  *                   mode being set to #MBEDTLS_RSA_PUBLIC and might instead
- *                   return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx        The RSA context.
- * \param f_rng      The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng      The RNG context.
- * \param mode       #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                   return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx        The initialized RSA context to use.
+ * \param f_rng      The RNG function. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                   this is used for blinding and should be provided; see
+ *                   mbedtls_rsa_private() for more. If \p mode is
+ *                   #MBEDTLS_RSA_PUBLIC, it is ignored.
+ * \param p_rng      The RNG context to be passed to \p f_rng. This may be
+ *                   \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode       The mode of operation. This must be either
+ *                   #MBEDTLS_RSA_PRIVATE or #MBEDTLS_RSA_PUBLIC (deprecated).
  * \param label      The buffer holding the custom label to use.
- * \param label_len  The length of the label.
- * \param olen       The length of the plaintext.
- * \param input      The buffer holding the encrypted data.
- * \param output     The buffer to hold the plaintext.
- * \param output_max_len    The maximum length of the output buffer.
+ *                   This must be a readable buffer of length \p label_len
+ *                   Bytes. It may be \c NULL if \p label_len is \c 0.
+ * \param label_len  The length of the label in Bytes.
+ * \param olen       The address at which to store the length of
+ *                   the plaintext. This must not be \c NULL.
+ * \param input      The ciphertext buffer. This must be a readable buffer
+ *                   of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                   for an 2048-bit RSA modulus.
+ * \param output     The buffer used to hold the plaintext. This must
+ *                   be a writable buffer of length \p output_max_len Bytes.
+ * \param output_max_len The length in Bytes of the output buffer \p output.
  *
  * \return         \c 0 on success.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -817,18 +881,30 @@ int mbedtls_rsa_rsaes_oaep_decrypt( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PUBLIC and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Needed for PKCS#1 v2.1 encoding and for
- *                 #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function to use. If the padding mode is PKCS#1 v2.1,
+ *                 this must be provided. If the padding mode is PKCS#1 v1.5 and
+ *                 \p mode is #MBEDTLS_RSA_PRIVATE, it is used for blinding
+ *                 and should be provided; see mbedtls_rsa_private() for more
+ *                 more. It is ignored otherwise.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be \c NULL
+ *                 if \p f_rng is \c NULL or doesn't need a context argument.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PRIVATE or #MBEDTLS_RSA_PUBLIC (deprecated).
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param sig      The buffer to hold the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 Ths is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param sig      The buffer to hold the signature. This must be a writable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the signing operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -846,9 +922,6 @@ int mbedtls_rsa_pkcs1_sign( mbedtls_rsa_context *ctx,
  * \brief          This function performs a PKCS#1 v1.5 signature
  *                 operation (RSASSA-PKCS1-v1_5-SIGN).
  *
- * \note           The \p sig buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PUBLIC mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -856,17 +929,29 @@ int mbedtls_rsa_pkcs1_sign( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PUBLIC and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. If \p mode is
+ *                 #MBEDTLS_RSA_PUBLIC, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be \c NULL
+ *                 if \p f_rng is \c NULL or doesn't need a context argument.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PRIVATE or #MBEDTLS_RSA_PUBLIC (deprecated).
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param sig      The buffer to hold the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 Ths is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param sig      The buffer to hold the signature. This must be a writable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the signing operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -884,9 +969,6 @@ int mbedtls_rsa_rsassa_pkcs1_v15_sign( mbedtls_rsa_context *ctx,
  * \brief          This function performs a PKCS#1 v2.1 PSS signature
  *                 operation (RSASSA-PSS-SIGN).
  *
- * \note           The \p sig buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \note           The \p hash_id in the RSA context is the one used for the
  *                 encoding. \p md_alg in the function call is the type of hash
  *                 that is encoded. According to <em>RFC-3447: Public-Key
@@ -894,6 +976,16 @@ int mbedtls_rsa_rsassa_pkcs1_v15_sign( mbedtls_rsa_context *ctx,
  *                 Specifications</em> it is advised to keep both hashes the
  *                 same.
  *
+ * \note           This function always uses the maximum possible salt size,
+ *                 up to the length of the payload hash. This choice of salt
+ *                 size complies with FIPS 186-4 §5.5 (e) and RFC 8017 (PKCS#1
+ *                 v2.2) §9.1.1 step 3. Furthermore this function enforces a
+ *                 minimum salt size which is the hash size minus 2 bytes. If
+ *                 this minimum size is too large given the key size (the salt
+ *                 size, plus the hash size, plus 2 bytes must be no more than
+ *                 the key size in bytes), this function returns
+ *                 #MBEDTLS_ERR_RSA_BAD_INPUT_DATA.
+ *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PUBLIC mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -901,18 +993,26 @@ int mbedtls_rsa_rsassa_pkcs1_v15_sign( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PUBLIC and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA context.
- * \param f_rng    The RNG function. Needed for PKCS#1 v2.1 encoding and for
- *                 #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA context to use.
+ * \param f_rng    The RNG function. It must not be \c NULL.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be \c NULL
+ *                 if \p f_rng doesn't need a context argument.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PRIVATE or #MBEDTLS_RSA_PUBLIC (deprecated).
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param sig      The buffer to hold the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 Ths is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param sig      The buffer to hold the signature. This must be a writable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the signing operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -933,9 +1033,6 @@ int mbedtls_rsa_rsassa_pss_sign( mbedtls_rsa_context *ctx,
  *                 This is the generic wrapper for performing a PKCS#1
  *                 verification using the mode from the context.
  *
- * \note           The \p sig buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \note           For PKCS#1 v2.1 encoding, see comments on
  *                 mbedtls_rsa_rsassa_pss_verify() about \p md_alg and
  *                 \p hash_id.
@@ -947,17 +1044,28 @@ int mbedtls_rsa_rsassa_pss_sign( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PRIVATE and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA public key context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA public key context to use.
+ * \param f_rng    The RNG function to use. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. Otherwise, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param sig      The buffer holding the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 This is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param sig      The buffer holding the signature. This must be a readable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the verify operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -975,9 +1083,6 @@ int mbedtls_rsa_pkcs1_verify( mbedtls_rsa_context *ctx,
  * \brief          This function performs a PKCS#1 v1.5 verification
  *                 operation (RSASSA-PKCS1-v1_5-VERIFY).
  *
- * \note           The \p sig buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \deprecated     It is deprecated and discouraged to call this function
  *                 in #MBEDTLS_RSA_PRIVATE mode. Future versions of the library
  *                 are likely to remove the \p mode argument and have it
@@ -985,17 +1090,28 @@ int mbedtls_rsa_pkcs1_verify( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PRIVATE and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA public key context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA public key context to use.
+ * \param f_rng    The RNG function to use. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. Otherwise, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param sig      The buffer holding the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 This is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param sig      The buffer holding the signature. This must be a readable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the verify operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -1016,9 +1132,6 @@ int mbedtls_rsa_rsassa_pkcs1_v15_verify( mbedtls_rsa_context *ctx,
  *                 The hash function for the MGF mask generating function
  *                 is that specified in the RSA context.
  *
- * \note           The \p sig buffer must be as large as the size
- *                 of \p ctx->N. For example, 128 Bytes if RSA-1024 is used.
- *
  * \note           The \p hash_id in the RSA context is the one used for the
  *                 verification. \p md_alg in the function call is the type of
  *                 hash that is verified. According to <em>RFC-3447: Public-Key
@@ -1034,17 +1147,28 @@ int mbedtls_rsa_rsassa_pkcs1_v15_verify( mbedtls_rsa_context *ctx,
  *
  * \note           Alternative implementations of RSA need not support
  *                 mode being set to #MBEDTLS_RSA_PRIVATE and might instead
- *                 return #MBEDTLS_ERR_RSA_UNSUPPORTED_OPERATION.
- *
- * \param ctx      The RSA public key context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ *                 return #MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED.
+ *
+ * \param ctx      The initialized RSA public key context to use.
+ * \param f_rng    The RNG function to use. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. Otherwise, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE (deprecated).
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param sig      The buffer holding the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 This is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param sig      The buffer holding the signature. This must be a readable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the verify operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -1070,19 +1194,29 @@ int mbedtls_rsa_rsassa_pss_verify( mbedtls_rsa_context *ctx,
  *
  * \note           The \p hash_id in the RSA context is ignored.
  *
- * \param ctx      The RSA public key context.
- * \param f_rng    The RNG function. Only needed for #MBEDTLS_RSA_PRIVATE.
- * \param p_rng    The RNG context.
- * \param mode     #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
+ * \param ctx      The initialized RSA public key context to use.
+ * \param f_rng    The RNG function to use. If \p mode is #MBEDTLS_RSA_PRIVATE,
+ *                 this is used for blinding and should be provided; see
+ *                 mbedtls_rsa_private() for more. Otherwise, it is ignored.
+ * \param p_rng    The RNG context to be passed to \p f_rng. This may be
+ *                 \c NULL if \p f_rng is \c NULL or doesn't need a context.
+ * \param mode     The mode of operation. This must be either
+ *                 #MBEDTLS_RSA_PUBLIC or #MBEDTLS_RSA_PRIVATE.
  * \param md_alg   The message-digest algorithm used to hash the original data.
  *                 Use #MBEDTLS_MD_NONE for signing raw data.
- * \param hashlen  The length of the message digest. Only used if \p md_alg is
- *                 #MBEDTLS_MD_NONE.
- * \param hash     The buffer holding the message digest.
- * \param mgf1_hash_id       The message digest used for mask generation.
- * \param expected_salt_len  The length of the salt used in padding. Use
- *                           #MBEDTLS_RSA_SALT_LEN_ANY to accept any salt length.
- * \param sig      The buffer holding the ciphertext.
+ * \param hashlen  The length of the message digest.
+ *                 This is only used if \p md_alg is #MBEDTLS_MD_NONE.
+ * \param hash     The buffer holding the message digest or raw data.
+ *                 If \p md_alg is #MBEDTLS_MD_NONE, this must be a readable
+ *                 buffer of length \p hashlen Bytes. If \p md_alg is not
+ *                 #MBEDTLS_MD_NONE, it must be a readable buffer of length
+ *                 the size of the hash corresponding to \p md_alg.
+ * \param mgf1_hash_id      The message digest used for mask generation.
+ * \param expected_salt_len The length of the salt used in padding. Use
+ *                          #MBEDTLS_RSA_SALT_LEN_ANY to accept any salt length.
+ * \param sig      The buffer holding the signature. This must be a readable
+ *                 buffer of length \c ctx->len Bytes. For example, \c 256 Bytes
+ *                 for an 2048-bit RSA modulus.
  *
  * \return         \c 0 if the verify operation was successful.
  * \return         An \c MBEDTLS_ERR_RSA_XXX error code on failure.
@@ -1101,8 +1235,8 @@ int mbedtls_rsa_rsassa_pss_verify_ext( mbedtls_rsa_context *ctx,
 /**
  * \brief          This function copies the components of an RSA context.
  *
- * \param dst      The destination context.
- * \param src      The source context.
+ * \param dst      The destination context. This must be initialized.
+ * \param src      The source context. This must be initialized.
  *
  * \return         \c 0 on success.
  * \return         #MBEDTLS_ERR_MPI_ALLOC_FAILED on memory allocation failure.
@@ -1112,7 +1246,9 @@ int mbedtls_rsa_copy( mbedtls_rsa_context *dst, const mbedtls_rsa_context *src )
 /**
  * \brief          This function frees the components of an RSA key.
  *
- * \param ctx      The RSA Context to free.
+ * \param ctx      The RSA context to free. May be \c NULL, in which case
+ *                 this function is a no-op. If it is not \c NULL, it must
+ *                 point to an initialized RSA context.
  */
 void mbedtls_rsa_free( mbedtls_rsa_context *ctx );
 
diff --git a/thirdparty/mbedtls/include/mbedtls/sha1.h b/thirdparty/mbedtls/include/mbedtls/sha1.h
index 65a124c94b..38ea10b137 100644
--- a/thirdparty/mbedtls/include/mbedtls/sha1.h
+++ b/thirdparty/mbedtls/include/mbedtls/sha1.h
@@ -40,7 +40,9 @@
 #include <stddef.h>
 #include <stdint.h>
 
+/* MBEDTLS_ERR_SHA1_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_SHA1_HW_ACCEL_FAILED                  -0x0035  /**< SHA-1 hardware accelerator failed */
+#define MBEDTLS_ERR_SHA1_BAD_INPUT_DATA                   -0x0073  /**< SHA-1 input data was malformed. */
 
 #ifdef __cplusplus
 extern "C" {
@@ -58,7 +60,7 @@ extern "C" {
  *                 stronger message digests instead.
  *
  */
-typedef struct
+typedef struct mbedtls_sha1_context
 {
     uint32_t total[2];          /*!< The number of Bytes processed.  */
     uint32_t state[5];          /*!< The intermediate digest state.  */
@@ -78,6 +80,7 @@ mbedtls_sha1_context;
  *                 stronger message digests instead.
  *
  * \param ctx      The SHA-1 context to initialize.
+ *                 This must not be \c NULL.
  *
  */
 void mbedtls_sha1_init( mbedtls_sha1_context *ctx );
@@ -89,7 +92,10 @@ void mbedtls_sha1_init( mbedtls_sha1_context *ctx );
  *                 constitutes a security risk. We recommend considering
  *                 stronger message digests instead.
  *
- * \param ctx      The SHA-1 context to clear.
+ * \param ctx      The SHA-1 context to clear. This may be \c NULL,
+ *                 in which case this function does nothing. If it is
+ *                 not \c NULL, it must point to an initialized
+ *                 SHA-1 context.
  *
  */
 void mbedtls_sha1_free( mbedtls_sha1_context *ctx );
@@ -101,8 +107,8 @@ void mbedtls_sha1_free( mbedtls_sha1_context *ctx );
  *                 constitutes a security risk. We recommend considering
  *                 stronger message digests instead.
  *
- * \param dst      The SHA-1 context to clone to.
- * \param src      The SHA-1 context to clone from.
+ * \param dst      The SHA-1 context to clone to. This must be initialized.
+ * \param src      The SHA-1 context to clone from. This must be initialized.
  *
  */
 void mbedtls_sha1_clone( mbedtls_sha1_context *dst,
@@ -115,9 +121,10 @@ void mbedtls_sha1_clone( mbedtls_sha1_context *dst,
  *                 constitutes a security risk. We recommend considering
  *                 stronger message digests instead.
  *
- * \param ctx      The SHA-1 context to initialize.
+ * \param ctx      The SHA-1 context to initialize. This must be initialized.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  *
  */
 int mbedtls_sha1_starts_ret( mbedtls_sha1_context *ctx );
@@ -130,11 +137,14 @@ int mbedtls_sha1_starts_ret( mbedtls_sha1_context *ctx );
  *                 constitutes a security risk. We recommend considering
  *                 stronger message digests instead.
  *
- * \param ctx      The SHA-1 context.
+ * \param ctx      The SHA-1 context. This must be initialized
+ *                 and have a hash operation started.
  * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
+ *                 This must be a readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data \p input in Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha1_update_ret( mbedtls_sha1_context *ctx,
                              const unsigned char *input,
@@ -148,10 +158,13 @@ int mbedtls_sha1_update_ret( mbedtls_sha1_context *ctx,
  *                 constitutes a security risk. We recommend considering
  *                 stronger message digests instead.
  *
- * \param ctx      The SHA-1 context.
- * \param output   The SHA-1 checksum result.
+ * \param ctx      The SHA-1 context to use. This must be initialized and
+ *                 have a hash operation started.
+ * \param output   The SHA-1 checksum result. This must be a writable
+ *                 buffer of length \c 20 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha1_finish_ret( mbedtls_sha1_context *ctx,
                              unsigned char output[20] );
@@ -163,10 +176,12 @@ int mbedtls_sha1_finish_ret( mbedtls_sha1_context *ctx,
  *                 constitutes a security risk. We recommend considering
  *                 stronger message digests instead.
  *
- * \param ctx      The SHA-1 context.
- * \param data     The data block being processed.
+ * \param ctx      The SHA-1 context to use. This must be initialized.
+ * \param data     The data block being processed. This must be a
+ *                 readable buffer of length \c 64 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  *
  */
 int mbedtls_internal_sha1_process( mbedtls_sha1_context *ctx,
@@ -187,7 +202,7 @@ int mbedtls_internal_sha1_process( mbedtls_sha1_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha1_starts_ret() in 2.7.0.
  *
- * \param ctx      The SHA-1 context to initialize.
+ * \param ctx      The SHA-1 context to initialize. This must be initialized.
  *
  */
 MBEDTLS_DEPRECATED void mbedtls_sha1_starts( mbedtls_sha1_context *ctx );
@@ -202,9 +217,11 @@ MBEDTLS_DEPRECATED void mbedtls_sha1_starts( mbedtls_sha1_context *ctx );
  *
  * \deprecated     Superseded by mbedtls_sha1_update_ret() in 2.7.0.
  *
- * \param ctx      The SHA-1 context.
+ * \param ctx      The SHA-1 context. This must be initialized and
+ *                 have a hash operation started.
  * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
+ *                 This must be a readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data \p input in Bytes.
  *
  */
 MBEDTLS_DEPRECATED void mbedtls_sha1_update( mbedtls_sha1_context *ctx,
@@ -221,9 +238,10 @@ MBEDTLS_DEPRECATED void mbedtls_sha1_update( mbedtls_sha1_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha1_finish_ret() in 2.7.0.
  *
- * \param ctx      The SHA-1 context.
+ * \param ctx      The SHA-1 context. This must be initialized and
+ *                 have a hash operation started.
  * \param output   The SHA-1 checksum result.
- *
+ *                 This must be a writable buffer of length \c 20 Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha1_finish( mbedtls_sha1_context *ctx,
                                              unsigned char output[20] );
@@ -237,8 +255,9 @@ MBEDTLS_DEPRECATED void mbedtls_sha1_finish( mbedtls_sha1_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_internal_sha1_process() in 2.7.0.
  *
- * \param ctx      The SHA-1 context.
+ * \param ctx      The SHA-1 context. This must be initialized.
  * \param data     The data block being processed.
+ *                 This must be a readable buffer of length \c 64 bytes.
  *
  */
 MBEDTLS_DEPRECATED void mbedtls_sha1_process( mbedtls_sha1_context *ctx,
@@ -261,10 +280,13 @@ MBEDTLS_DEPRECATED void mbedtls_sha1_process( mbedtls_sha1_context *ctx,
  *                 stronger message digests instead.
  *
  * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
+ *                 This must be a readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data \p input in Bytes.
  * \param output   The SHA-1 checksum result.
+ *                 This must be a writable buffer of length \c 20 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  *
  */
 int mbedtls_sha1_ret( const unsigned char *input,
@@ -293,8 +315,10 @@ int mbedtls_sha1_ret( const unsigned char *input,
  * \deprecated     Superseded by mbedtls_sha1_ret() in 2.7.0
  *
  * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
- * \param output   The SHA-1 checksum result.
+ *                 This must be a readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data \p input in Bytes.
+ * \param output   The SHA-1 checksum result. This must be a writable
+ *                 buffer of size \c 20 Bytes.
  *
  */
 MBEDTLS_DEPRECATED void mbedtls_sha1( const unsigned char *input,
diff --git a/thirdparty/mbedtls/include/mbedtls/sha256.h b/thirdparty/mbedtls/include/mbedtls/sha256.h
index adf31a82ed..0e42f0abba 100644
--- a/thirdparty/mbedtls/include/mbedtls/sha256.h
+++ b/thirdparty/mbedtls/include/mbedtls/sha256.h
@@ -36,7 +36,9 @@
 #include <stddef.h>
 #include <stdint.h>
 
+/* MBEDTLS_ERR_SHA256_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_SHA256_HW_ACCEL_FAILED                -0x0037  /**< SHA-256 hardware accelerator failed */
+#define MBEDTLS_ERR_SHA256_BAD_INPUT_DATA                 -0x0074  /**< SHA-256 input data was malformed. */
 
 #ifdef __cplusplus
 extern "C" {
@@ -53,7 +55,7 @@ extern "C" {
  *                 checksum calculations. The choice between these two is
  *                 made in the call to mbedtls_sha256_starts_ret().
  */
-typedef struct
+typedef struct mbedtls_sha256_context
 {
     uint32_t total[2];          /*!< The number of Bytes processed.  */
     uint32_t state[8];          /*!< The intermediate digest state.  */
@@ -70,22 +72,24 @@ mbedtls_sha256_context;
 /**
  * \brief          This function initializes a SHA-256 context.
  *
- * \param ctx      The SHA-256 context to initialize.
+ * \param ctx      The SHA-256 context to initialize. This must not be \c NULL.
  */
 void mbedtls_sha256_init( mbedtls_sha256_context *ctx );
 
 /**
  * \brief          This function clears a SHA-256 context.
  *
- * \param ctx      The SHA-256 context to clear.
+ * \param ctx      The SHA-256 context to clear. This may be \c NULL, in which
+ *                 case this function returns immediately. If it is not \c NULL,
+ *                 it must point to an initialized SHA-256 context.
  */
 void mbedtls_sha256_free( mbedtls_sha256_context *ctx );
 
 /**
  * \brief          This function clones the state of a SHA-256 context.
  *
- * \param dst      The destination context.
- * \param src      The context to clone.
+ * \param dst      The destination context. This must be initialized.
+ * \param src      The context to clone. This must be initialized.
  */
 void mbedtls_sha256_clone( mbedtls_sha256_context *dst,
                            const mbedtls_sha256_context *src );
@@ -94,11 +98,12 @@ void mbedtls_sha256_clone( mbedtls_sha256_context *dst,
  * \brief          This function starts a SHA-224 or SHA-256 checksum
  *                 calculation.
  *
- * \param ctx      The context to initialize.
- * \param is224    Determines which function to use:
- *                 0: Use SHA-256, or 1: Use SHA-224.
+ * \param ctx      The context to use. This must be initialized.
+ * \param is224    This determines which function to use. This must be
+ *                 either \c 0 for SHA-256, or \c 1 for SHA-224.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha256_starts_ret( mbedtls_sha256_context *ctx, int is224 );
 
@@ -106,11 +111,14 @@ int mbedtls_sha256_starts_ret( mbedtls_sha256_context *ctx, int is224 );
  * \brief          This function feeds an input buffer into an ongoing
  *                 SHA-256 checksum calculation.
  *
- * \param ctx      The SHA-256 context.
- * \param input    The buffer holding the data.
- * \param ilen     The length of the input data.
+ * \param ctx      The SHA-256 context. This must be initialized
+ *                 and have a hash operation started.
+ * \param input    The buffer holding the data. This must be a readable
+ *                 buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha256_update_ret( mbedtls_sha256_context *ctx,
                                const unsigned char *input,
@@ -120,10 +128,13 @@ int mbedtls_sha256_update_ret( mbedtls_sha256_context *ctx,
  * \brief          This function finishes the SHA-256 operation, and writes
  *                 the result to the output buffer.
  *
- * \param ctx      The SHA-256 context.
+ * \param ctx      The SHA-256 context. This must be initialized
+ *                 and have a hash operation started.
  * \param output   The SHA-224 or SHA-256 checksum result.
+ *                 This must be a writable buffer of length \c 32 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha256_finish_ret( mbedtls_sha256_context *ctx,
                                unsigned char output[32] );
@@ -133,10 +144,12 @@ int mbedtls_sha256_finish_ret( mbedtls_sha256_context *ctx,
  *                 the ongoing SHA-256 computation. This function is for
  *                 internal use only.
  *
- * \param ctx      The SHA-256 context.
- * \param data     The buffer holding one block of data.
+ * \param ctx      The SHA-256 context. This must be initialized.
+ * \param data     The buffer holding one block of data. This must
+ *                 be a readable buffer of length \c 64 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_internal_sha256_process( mbedtls_sha256_context *ctx,
                                      const unsigned char data[64] );
@@ -151,12 +164,11 @@ int mbedtls_internal_sha256_process( mbedtls_sha256_context *ctx,
  * \brief          This function starts a SHA-224 or SHA-256 checksum
  *                 calculation.
  *
- *
  * \deprecated     Superseded by mbedtls_sha256_starts_ret() in 2.7.0.
  *
- * \param ctx      The context to initialize.
- * \param is224    Determines which function to use:
- *                 0: Use SHA-256, or 1: Use SHA-224.
+ * \param ctx      The context to use. This must be initialized.
+ * \param is224    Determines which function to use. This must be
+ *                 either \c 0 for SHA-256, or \c 1 for SHA-224.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha256_starts( mbedtls_sha256_context *ctx,
                                                int is224 );
@@ -167,9 +179,11 @@ MBEDTLS_DEPRECATED void mbedtls_sha256_starts( mbedtls_sha256_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha256_update_ret() in 2.7.0.
  *
- * \param ctx      The SHA-256 context to initialize.
- * \param input    The buffer holding the data.
- * \param ilen     The length of the input data.
+ * \param ctx      The SHA-256 context to use. This must be
+ *                 initialized and have a hash operation started.
+ * \param input    The buffer holding the data. This must be a readable
+ *                 buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha256_update( mbedtls_sha256_context *ctx,
                                                const unsigned char *input,
@@ -181,8 +195,10 @@ MBEDTLS_DEPRECATED void mbedtls_sha256_update( mbedtls_sha256_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha256_finish_ret() in 2.7.0.
  *
- * \param ctx      The SHA-256 context.
- * \param output   The SHA-224 or SHA-256 checksum result.
+ * \param ctx      The SHA-256 context. This must be initialized and
+ *                 have a hash operation started.
+ * \param output   The SHA-224 or SHA-256 checksum result. This must be
+ *                 a writable buffer of length \c 32 Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha256_finish( mbedtls_sha256_context *ctx,
                                                unsigned char output[32] );
@@ -194,8 +210,9 @@ MBEDTLS_DEPRECATED void mbedtls_sha256_finish( mbedtls_sha256_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_internal_sha256_process() in 2.7.0.
  *
- * \param ctx      The SHA-256 context.
- * \param data     The buffer holding one block of data.
+ * \param ctx      The SHA-256 context. This must be initialized.
+ * \param data     The buffer holding one block of data. This must be
+ *                 a readable buffer of size \c 64 Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha256_process( mbedtls_sha256_context *ctx,
                                                 const unsigned char data[64] );
@@ -213,11 +230,13 @@ MBEDTLS_DEPRECATED void mbedtls_sha256_process( mbedtls_sha256_context *ctx,
  *                 The SHA-256 result is calculated as
  *                 output = SHA-256(input buffer).
  *
- * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
- * \param output   The SHA-224 or SHA-256 checksum result.
- * \param is224    Determines which function to use:
- *                 0: Use SHA-256, or 1: Use SHA-224.
+ * \param input    The buffer holding the data. This must be a readable
+ *                 buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
+ * \param output   The SHA-224 or SHA-256 checksum result. This must
+ *                 be a writable buffer of length \c 32 Bytes.
+ * \param is224    Determines which function to use. This must be
+ *                 either \c 0 for SHA-256, or \c 1 for SHA-224.
  */
 int mbedtls_sha256_ret( const unsigned char *input,
                         size_t ilen,
@@ -243,11 +262,13 @@ int mbedtls_sha256_ret( const unsigned char *input,
  *
  * \deprecated     Superseded by mbedtls_sha256_ret() in 2.7.0.
  *
- * \param input    The buffer holding the data.
- * \param ilen     The length of the input data.
- * \param output   The SHA-224 or SHA-256 checksum result.
- * \param is224    Determines which function to use:
- *                 0: Use SHA-256, or 1: Use SHA-224.
+ * \param input    The buffer holding the data. This must be a readable
+ *                 buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
+ * \param output   The SHA-224 or SHA-256 checksum result. This must be
+ *                 a writable buffer of length \c 32 Bytes.
+ * \param is224    Determines which function to use. This must be either
+ *                 \c 0 for SHA-256, or \c 1 for SHA-224.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha256( const unsigned char *input,
                                         size_t ilen,
diff --git a/thirdparty/mbedtls/include/mbedtls/sha512.h b/thirdparty/mbedtls/include/mbedtls/sha512.h
index 5bb83f43bd..7b26cf5cc3 100644
--- a/thirdparty/mbedtls/include/mbedtls/sha512.h
+++ b/thirdparty/mbedtls/include/mbedtls/sha512.h
@@ -35,7 +35,9 @@
 #include <stddef.h>
 #include <stdint.h>
 
+/* MBEDTLS_ERR_SHA512_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_SHA512_HW_ACCEL_FAILED                -0x0039  /**< SHA-512 hardware accelerator failed */
+#define MBEDTLS_ERR_SHA512_BAD_INPUT_DATA                 -0x0075  /**< SHA-512 input data was malformed. */
 
 #ifdef __cplusplus
 extern "C" {
@@ -52,7 +54,7 @@ extern "C" {
  *                 checksum calculations. The choice between these two is
  *                 made in the call to mbedtls_sha512_starts_ret().
  */
-typedef struct
+typedef struct mbedtls_sha512_context
 {
     uint64_t total[2];          /*!< The number of Bytes processed. */
     uint64_t state[8];          /*!< The intermediate digest state. */
@@ -69,22 +71,26 @@ mbedtls_sha512_context;
 /**
  * \brief          This function initializes a SHA-512 context.
  *
- * \param ctx      The SHA-512 context to initialize.
+ * \param ctx      The SHA-512 context to initialize. This must
+ *                 not be \c NULL.
  */
 void mbedtls_sha512_init( mbedtls_sha512_context *ctx );
 
 /**
  * \brief          This function clears a SHA-512 context.
  *
- * \param ctx      The SHA-512 context to clear.
+ * \param ctx      The SHA-512 context to clear. This may be \c NULL,
+ *                 in which case this function does nothing. If it
+ *                 is not \c NULL, it must point to an initialized
+ *                 SHA-512 context.
  */
 void mbedtls_sha512_free( mbedtls_sha512_context *ctx );
 
 /**
  * \brief          This function clones the state of a SHA-512 context.
  *
- * \param dst      The destination context.
- * \param src      The context to clone.
+ * \param dst      The destination context. This must be initialized.
+ * \param src      The context to clone. This must be initialized.
  */
 void mbedtls_sha512_clone( mbedtls_sha512_context *dst,
                            const mbedtls_sha512_context *src );
@@ -93,11 +99,12 @@ void mbedtls_sha512_clone( mbedtls_sha512_context *dst,
  * \brief          This function starts a SHA-384 or SHA-512 checksum
  *                 calculation.
  *
- * \param ctx      The SHA-512 context to initialize.
- * \param is384    Determines which function to use:
- *                 0: Use SHA-512, or 1: Use SHA-384.
+ * \param ctx      The SHA-512 context to use. This must be initialized.
+ * \param is384    Determines which function to use. This must be
+ *                 either \c for SHA-512, or \c 1 for SHA-384.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha512_starts_ret( mbedtls_sha512_context *ctx, int is384 );
 
@@ -105,11 +112,14 @@ int mbedtls_sha512_starts_ret( mbedtls_sha512_context *ctx, int is384 );
  * \brief          This function feeds an input buffer into an ongoing
  *                 SHA-512 checksum calculation.
  *
- * \param ctx      The SHA-512 context.
- * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
+ * \param ctx      The SHA-512 context. This must be initialized
+ *                 and have a hash operation started.
+ * \param input    The buffer holding the input data. This must
+ *                 be a readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha512_update_ret( mbedtls_sha512_context *ctx,
                     const unsigned char *input,
@@ -120,10 +130,13 @@ int mbedtls_sha512_update_ret( mbedtls_sha512_context *ctx,
  *                 the result to the output buffer. This function is for
  *                 internal use only.
  *
- * \param ctx      The SHA-512 context.
+ * \param ctx      The SHA-512 context. This must be initialized
+ *                 and have a hash operation started.
  * \param output   The SHA-384 or SHA-512 checksum result.
+ *                 This must be a writable buffer of length \c 64 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha512_finish_ret( mbedtls_sha512_context *ctx,
                                unsigned char output[64] );
@@ -132,10 +145,12 @@ int mbedtls_sha512_finish_ret( mbedtls_sha512_context *ctx,
  * \brief          This function processes a single data block within
  *                 the ongoing SHA-512 computation.
  *
- * \param ctx      The SHA-512 context.
- * \param data     The buffer holding one block of data.
+ * \param ctx      The SHA-512 context. This must be initialized.
+ * \param data     The buffer holding one block of data. This
+ *                 must be a readable buffer of length \c 128 Bytes.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_internal_sha512_process( mbedtls_sha512_context *ctx,
                                      const unsigned char data[128] );
@@ -151,9 +166,9 @@ int mbedtls_internal_sha512_process( mbedtls_sha512_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha512_starts_ret() in 2.7.0
  *
- * \param ctx      The SHA-512 context to initialize.
- * \param is384    Determines which function to use:
- *                 0: Use SHA-512, or 1: Use SHA-384.
+ * \param ctx      The SHA-512 context to use. This must be initialized.
+ * \param is384    Determines which function to use. This must be either
+ *                 \c 0 for SHA-512 or \c 1 for SHA-384.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha512_starts( mbedtls_sha512_context *ctx,
                                                int is384 );
@@ -164,9 +179,11 @@ MBEDTLS_DEPRECATED void mbedtls_sha512_starts( mbedtls_sha512_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha512_update_ret() in 2.7.0.
  *
- * \param ctx      The SHA-512 context.
- * \param input    The buffer holding the data.
- * \param ilen     The length of the input data.
+ * \param ctx      The SHA-512 context. This must be initialized
+ *                 and have a hash operation started.
+ * \param input    The buffer holding the data. This must be a readable
+ *                 buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha512_update( mbedtls_sha512_context *ctx,
                                                const unsigned char *input,
@@ -178,8 +195,10 @@ MBEDTLS_DEPRECATED void mbedtls_sha512_update( mbedtls_sha512_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_sha512_finish_ret() in 2.7.0.
  *
- * \param ctx      The SHA-512 context.
- * \param output   The SHA-384 or SHA-512 checksum result.
+ * \param ctx      The SHA-512 context. This must be initialized
+ *                 and have a hash operation started.
+ * \param output   The SHA-384 or SHA-512 checksum result. This must
+ *                 be a writable buffer of size \c 64 Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha512_finish( mbedtls_sha512_context *ctx,
                                                unsigned char output[64] );
@@ -191,8 +210,9 @@ MBEDTLS_DEPRECATED void mbedtls_sha512_finish( mbedtls_sha512_context *ctx,
  *
  * \deprecated     Superseded by mbedtls_internal_sha512_process() in 2.7.0.
  *
- * \param ctx      The SHA-512 context.
- * \param data     The buffer holding one block of data.
+ * \param ctx      The SHA-512 context. This must be initialized.
+ * \param data     The buffer holding one block of data. This must be
+ *                 a readable buffer of length \c 128 Bytes.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha512_process(
                                             mbedtls_sha512_context *ctx,
@@ -211,13 +231,16 @@ MBEDTLS_DEPRECATED void mbedtls_sha512_process(
  *                 The SHA-512 result is calculated as
  *                 output = SHA-512(input buffer).
  *
- * \param input    The buffer holding the input data.
- * \param ilen     The length of the input data.
+ * \param input    The buffer holding the input data. This must be
+ *                 a readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
  * \param output   The SHA-384 or SHA-512 checksum result.
- * \param is384    Determines which function to use:
- *                 0: Use SHA-512, or 1: Use SHA-384.
+ *                 This must be a writable buffer of length \c 64 Bytes.
+ * \param is384    Determines which function to use. This must be either
+ *                 \c 0 for SHA-512, or \c 1 for SHA-384.
  *
  * \return         \c 0 on success.
+ * \return         A negative error code on failure.
  */
 int mbedtls_sha512_ret( const unsigned char *input,
                         size_t ilen,
@@ -242,11 +265,13 @@ int mbedtls_sha512_ret( const unsigned char *input,
  *
  * \deprecated     Superseded by mbedtls_sha512_ret() in 2.7.0
  *
- * \param input    The buffer holding the data.
- * \param ilen     The length of the input data.
- * \param output   The SHA-384 or SHA-512 checksum result.
- * \param is384    Determines which function to use:
- *                 0: Use SHA-512, or 1: Use SHA-384.
+ * \param input    The buffer holding the data. This must be a
+ *                 readable buffer of length \p ilen Bytes.
+ * \param ilen     The length of the input data in Bytes.
+ * \param output   The SHA-384 or SHA-512 checksum result. This must
+ *                 be a writable buffer of length \c 64 Bytes.
+ * \param is384    Determines which function to use. This must be either
+ *                 \c 0 for SHA-512, or \c 1 for SHA-384.
  */
 MBEDTLS_DEPRECATED void mbedtls_sha512( const unsigned char *input,
                                         size_t ilen,
diff --git a/thirdparty/mbedtls/include/mbedtls/ssl.h b/thirdparty/mbedtls/include/mbedtls/ssl.h
index 2d511a8ea1..8106bb4ab0 100644
--- a/thirdparty/mbedtls/include/mbedtls/ssl.h
+++ b/thirdparty/mbedtls/include/mbedtls/ssl.h
@@ -121,6 +121,8 @@
 #define MBEDTLS_ERR_SSL_INVALID_VERIFY_HASH               -0x6600  /**< Couldn't set the hash for verifying CertificateVerify */
 #define MBEDTLS_ERR_SSL_CONTINUE_PROCESSING               -0x6580  /**< Internal-only message signaling that further message-processing should be done */
 #define MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS                 -0x6500  /**< The asynchronous operation is not completed yet. */
+#define MBEDTLS_ERR_SSL_EARLY_MESSAGE                     -0x6480  /**< Internal-only message signaling that a message arrived early. */
+#define MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS                -0x7000  /**< A cryptographic operation is in progress. Try again later. */
 
 /*
  * Various constants
@@ -242,6 +244,14 @@
 #define MBEDTLS_SSL_OUT_CONTENT_LEN MBEDTLS_SSL_MAX_CONTENT_LEN
 #endif
 
+/*
+ * Maximum number of heap-allocated bytes for the purpose of
+ * DTLS handshake message reassembly and future message buffering.
+ */
+#if !defined(MBEDTLS_SSL_DTLS_MAX_BUFFERING)
+#define MBEDTLS_SSL_DTLS_MAX_BUFFERING 32768
+#endif
+
 /* \} name SECTION: Module settings */
 
 /*
@@ -1022,14 +1032,14 @@ struct mbedtls_ssl_context
     int renego_records_seen;    /*!< Records since renego request, or with DTLS,
                                   number of retransmissions of request if
                                   renego_max_records is < 0           */
-#endif
+#endif /* MBEDTLS_SSL_RENEGOTIATION */
 
     int major_ver;              /*!< equal to  MBEDTLS_SSL_MAJOR_VERSION_3    */
     int minor_ver;              /*!< either 0 (SSL3) or 1 (TLS1.0)    */
 
 #if defined(MBEDTLS_SSL_DTLS_BADMAC_LIMIT)
     unsigned badmac_seen;       /*!< records with a bad MAC received    */
-#endif
+#endif /* MBEDTLS_SSL_DTLS_BADMAC_LIMIT */
 
     mbedtls_ssl_send_t *f_send; /*!< Callback for network send */
     mbedtls_ssl_recv_t *f_recv; /*!< Callback for network receive */
@@ -1085,11 +1095,11 @@ struct mbedtls_ssl_context
     uint16_t in_epoch;          /*!< DTLS epoch for incoming records  */
     size_t next_record_offset;  /*!< offset of the next record in datagram
                                      (equal to in_left if none)       */
-#endif
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 #if defined(MBEDTLS_SSL_DTLS_ANTI_REPLAY)
     uint64_t in_window_top;     /*!< last validated record seq_num    */
     uint64_t in_window;         /*!< bitmask for replay detection     */
-#endif
+#endif /* MBEDTLS_SSL_DTLS_ANTI_REPLAY */
 
     size_t in_hslen;            /*!< current handshake message length,
                                      including the handshake header   */
@@ -1098,6 +1108,11 @@ struct mbedtls_ssl_context
     int keep_current_message;   /*!< drop or reuse current message
                                      on next call to record layer? */
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    uint8_t disable_datagram_packing;  /*!< Disable packing multiple records
+                                        *   within a single datagram.  */
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
     /*
      * Record layer (outgoing data)
      */
@@ -1112,12 +1127,18 @@ struct mbedtls_ssl_context
     size_t out_msglen;          /*!< record header: message length    */
     size_t out_left;            /*!< amount of data not yet written   */
 
+    unsigned char cur_out_ctr[8]; /*!<  Outgoing record sequence  number. */
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    uint16_t mtu;               /*!< path mtu, used to fragment outgoing messages */
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
 #if defined(MBEDTLS_ZLIB_SUPPORT)
     unsigned char *compress_buf;        /*!<  zlib data buffer        */
-#endif
+#endif /* MBEDTLS_ZLIB_SUPPORT */
 #if defined(MBEDTLS_SSL_CBC_RECORD_SPLITTING)
     signed char split_done;     /*!< current record already splitted? */
-#endif
+#endif /* MBEDTLS_SSL_CBC_RECORD_SPLITTING */
 
     /*
      * PKI layer
@@ -1130,11 +1151,11 @@ struct mbedtls_ssl_context
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
     char *hostname;             /*!< expected peer CN for verification
                                      (and SNI if available)                 */
-#endif
+#endif /* MBEDTLS_X509_CRT_PARSE_C */
 
 #if defined(MBEDTLS_SSL_ALPN)
     const char *alpn_chosen;    /*!<  negotiated protocol                   */
-#endif
+#endif /* MBEDTLS_SSL_ALPN */
 
     /*
      * Information for DTLS hello verify
@@ -1142,7 +1163,7 @@ struct mbedtls_ssl_context
 #if defined(MBEDTLS_SSL_DTLS_HELLO_VERIFY) && defined(MBEDTLS_SSL_SRV_C)
     unsigned char  *cli_id;         /*!<  transport-level ID of the client  */
     size_t          cli_id_len;     /*!<  length of cli_id                  */
-#endif
+#endif /* MBEDTLS_SSL_DTLS_HELLO_VERIFY && MBEDTLS_SSL_SRV_C */
 
     /*
      * Secure renegotiation
@@ -1154,7 +1175,7 @@ struct mbedtls_ssl_context
     size_t verify_data_len;             /*!<  length of verify data stored   */
     char own_verify_data[MBEDTLS_SSL_VERIFY_DATA_MAX_LEN]; /*!<  previous handshake verify data */
     char peer_verify_data[MBEDTLS_SSL_VERIFY_DATA_MAX_LEN]; /*!<  previous handshake verify data */
-#endif
+#endif /* MBEDTLS_SSL_RENEGOTIATION */
 };
 
 #if defined(MBEDTLS_SSL_HW_RECORD_ACCEL)
@@ -1374,6 +1395,52 @@ void mbedtls_ssl_set_bio( mbedtls_ssl_context *ssl,
                           mbedtls_ssl_recv_t *f_recv,
                           mbedtls_ssl_recv_timeout_t *f_recv_timeout );
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+/**
+ * \brief          Set the Maximum Tranport Unit (MTU).
+ *                 Special value: 0 means unset (no limit).
+ *                 This represents the maximum size of a datagram payload
+ *                 handled by the transport layer (usually UDP) as determined
+ *                 by the network link and stack. In practice, this controls
+ *                 the maximum size datagram the DTLS layer will pass to the
+ *                 \c f_send() callback set using \c mbedtls_ssl_set_bio().
+ *
+ * \note           The limit on datagram size is converted to a limit on
+ *                 record payload by subtracting the current overhead of
+ *                 encapsulation and encryption/authentication if any.
+ *
+ * \note           This can be called at any point during the connection, for
+ *                 example when a Path Maximum Transfer Unit (PMTU)
+ *                 estimate becomes available from other sources,
+ *                 such as lower (or higher) protocol layers.
+ *
+ * \note           This setting only controls the size of the packets we send,
+ *                 and does not restrict the size of the datagrams we're
+ *                 willing to receive. Client-side, you can request the
+ *                 server to use smaller records with \c
+ *                 mbedtls_ssl_conf_max_frag_len().
+ *
+ * \note           If both a MTU and a maximum fragment length have been
+ *                 configured (or negotiated with the peer), the resulting
+ *                 lower limit on record payload (see first note) is used.
+ *
+ * \note           This can only be used to decrease the maximum size
+ *                 of datagrams (hence records, see first note) sent. It
+ *                 cannot be used to increase the maximum size of records over
+ *                 the limit set by #MBEDTLS_SSL_OUT_CONTENT_LEN.
+ *
+ * \note           Values lower than the current record layer expansion will
+ *                 result in an error when trying to send data.
+ *
+ * \note           Using record compression together with a non-zero MTU value
+ *                 will result in an error when trying to send data.
+ *
+ * \param ssl      SSL context
+ * \param mtu      Value of the path MTU in bytes
+ */
+void mbedtls_ssl_set_mtu( mbedtls_ssl_context *ssl, uint16_t mtu );
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
 /**
  * \brief          Set the timeout period for mbedtls_ssl_read()
  *                 (Default: no timeout.)
@@ -1757,6 +1824,38 @@ void mbedtls_ssl_conf_dtls_badmac_limit( mbedtls_ssl_config *conf, unsigned limi
 #endif /* MBEDTLS_SSL_DTLS_BADMAC_LIMIT */
 
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
+
+/**
+ * \brief          Allow or disallow packing of multiple handshake records
+ *                 within a single datagram.
+ *
+ * \param ssl           The SSL context to configure.
+ * \param allow_packing This determines whether datagram packing may
+ *                      be used or not. A value of \c 0 means that every
+ *                      record will be sent in a separate datagram; a
+ *                      value of \c 1 means that, if space permits,
+ *                      multiple handshake messages (including CCS) belonging to
+ *                      a single flight may be packed within a single datagram.
+ *
+ * \note           This is enabled by default and should only be disabled
+ *                 for test purposes, or if datagram packing causes
+ *                 interoperability issues with peers that don't support it.
+ *
+ * \note           Allowing datagram packing reduces the network load since
+ *                 there's less overhead if multiple messages share the same
+ *                 datagram. Also, it increases the handshake efficiency
+ *                 since messages belonging to a single datagram will not
+ *                 be reordered in transit, and so future message buffering
+ *                 or flight retransmission (if no buffering is used) as
+ *                 means to deal with reordering are needed less frequently.
+ *
+ * \note           Application records are not affected by this option and
+ *                 are currently always sent in separate datagrams.
+ *
+ */
+void mbedtls_ssl_set_datagram_packing( mbedtls_ssl_context *ssl,
+                                       unsigned allow_packing );
+
 /**
  * \brief          Set retransmit timeout values for the DTLS handshake.
  *                 (DTLS only, no effect on TLS.)
@@ -1945,6 +2044,14 @@ void mbedtls_ssl_conf_ca_chain( mbedtls_ssl_config *conf,
  *                 whether it matches those preferences - the server can then
  *                 decide what it wants to do with it.
  *
+ * \note           The provided \p pk_key needs to match the public key in the
+ *                 first certificate in \p own_cert, or all handshakes using
+ *                 that certificate will fail. It is your responsibility
+ *                 to ensure that; this function will not perform any check.
+ *                 You may use mbedtls_pk_check_pair() in order to perform
+ *                 this check yourself, but be aware that this function can
+ *                 be computationally expensive on some key types.
+ *
  * \param conf     SSL configuration
  * \param own_cert own public certificate chain
  * \param pk_key   own private key
@@ -2433,6 +2540,18 @@ void mbedtls_ssl_conf_cert_req_ca_list( mbedtls_ssl_config *conf,
  *                 (Client: set maximum fragment length to emit *and*
  *                 negotiate with the server during handshake)
  *
+ * \note           With TLS, this currently only affects ApplicationData (sent
+ *                 with \c mbedtls_ssl_read()), not handshake messages.
+ *                 With DTLS, this affects both ApplicationData and handshake.
+ *
+ * \note           This sets the maximum length for a record's payload,
+ *                 excluding record overhead that will be added to it, see
+ *                 \c mbedtls_ssl_get_record_expansion().
+ *
+ * \note           For DTLS, it is also possible to set a limit for the total
+ *                 size of daragrams passed to the transport layer, including
+ *                 record overhead, see \c mbedtls_ssl_set_mtu().
+ *
  * \param conf     SSL configuration
  * \param mfl_code Code for maximum fragment length (allowed values:
  *                 MBEDTLS_SSL_MAX_FRAG_LEN_512,  MBEDTLS_SSL_MAX_FRAG_LEN_1024,
@@ -2663,13 +2782,14 @@ size_t mbedtls_ssl_get_bytes_avail( const mbedtls_ssl_context *ssl );
 /**
  * \brief          Return the result of the certificate verification
  *
- * \param ssl      SSL context
+ * \param ssl      The SSL context to use.
  *
- * \return         0 if successful,
- *                 -1 if result is not available (eg because the handshake was
- *                 aborted too early), or
- *                 a combination of BADCERT_xxx and BADCRL_xxx flags, see
- *                 x509.h
+ * \return         \c 0 if the certificate verification was successful.
+ * \return         \c -1u if the result is not available. This may happen
+ *                 e.g. if the handshake aborts early, or a verification
+ *                 callback returned a fatal error.
+ * \return         A bitwise combination of \c MBEDTLS_X509_BADCERT_XXX
+ *                 and \c MBEDTLS_X509_BADCRL_XXX failure flags; see x509.h.
  */
 uint32_t mbedtls_ssl_get_verify_result( const mbedtls_ssl_context *ssl );
 
@@ -2695,6 +2815,9 @@ const char *mbedtls_ssl_get_version( const mbedtls_ssl_context *ssl );
  * \brief          Return the (maximum) number of bytes added by the record
  *                 layer: header + encryption/MAC overhead (inc. padding)
  *
+ * \note           This function is not available (always returns an error)
+ *                 when record compression is enabled.
+ *
  * \param ssl      SSL context
  *
  * \return         Current maximum record expansion in bytes, or
@@ -2709,6 +2832,23 @@ int mbedtls_ssl_get_record_expansion( const mbedtls_ssl_context *ssl );
  *                 This is the value negotiated with peer if any,
  *                 or the locally configured value.
  *
+ * \sa             mbedtls_ssl_conf_max_frag_len()
+ * \sa             mbedtls_ssl_get_max_record_payload()
+ *
+ * \param ssl      SSL context
+ *
+ * \return         Current maximum fragment length.
+ */
+size_t mbedtls_ssl_get_max_frag_len( const mbedtls_ssl_context *ssl );
+#endif /* MBEDTLS_SSL_MAX_FRAGMENT_LENGTH */
+
+/**
+ * \brief          Return the current maximum outgoing record payload in bytes.
+ *                 This takes into account the config.h setting \c
+ *                 MBEDTLS_SSL_OUT_CONTENT_LEN, the configured and negotiated
+ *                 max fragment length extension if used, and for DTLS the
+ *                 path MTU as configured and current record expansion.
+ *
  * \note           With DTLS, \c mbedtls_ssl_write() will return an error if
  *                 called with a larger length value.
  *                 With TLS, \c mbedtls_ssl_write() will fragment the input if
@@ -2716,12 +2856,19 @@ int mbedtls_ssl_get_record_expansion( const mbedtls_ssl_context *ssl );
  *                 to the caller to call \c mbedtls_ssl_write() again in
  *                 order to send the remaining bytes if any.
  *
+ * \note           This function is not available (always returns an error)
+ *                 when record compression is enabled.
+ *
+ * \sa             mbedtls_ssl_set_mtu()
+ * \sa             mbedtls_ssl_get_max_frag_len()
+ * \sa             mbedtls_ssl_get_record_expansion()
+ *
  * \param ssl      SSL context
  *
- * \return         Current maximum fragment length.
+ * \return         Current maximum payload for an outgoing record,
+ *                 or a negative error code.
  */
-size_t mbedtls_ssl_get_max_frag_len( const mbedtls_ssl_context *ssl );
-#endif /* MBEDTLS_SSL_MAX_FRAGMENT_LENGTH */
+int mbedtls_ssl_get_max_out_record_payload( const mbedtls_ssl_context *ssl );
 
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
 /**
@@ -2776,35 +2923,50 @@ int mbedtls_ssl_get_session( const mbedtls_ssl_context *ssl, mbedtls_ssl_session
  *
  * \param ssl      SSL context
  *
- * \return         0 if successful, or
- *                 MBEDTLS_ERR_SSL_WANT_READ or MBEDTLS_ERR_SSL_WANT_WRITE, or
- *                 MBEDTLS_ERR_SSL_HELLO_VERIFY_REQUIRED (see below), or
- *                 a specific SSL error code.
+ * \return         \c 0 if successful.
+ * \return         #MBEDTLS_ERR_SSL_WANT_READ or #MBEDTLS_ERR_SSL_WANT_WRITE
+ *                 if the handshake is incomplete and waiting for data to
+ *                 be available for reading from or writing to the underlying
+ *                 transport - in this case you must call this function again
+ *                 when the underlying transport is ready for the operation.
+ * \return         #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS if an asynchronous
+ *                 operation is in progress (see
+ *                 mbedtls_ssl_conf_async_private_cb()) - in this case you
+ *                 must call this function again when the operation is ready.
+ * \return         #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS if a cryptographic
+ *                 operation is in progress (see mbedtls_ecp_set_max_ops()) -
+ *                 in this case you must call this function again to complete
+ *                 the handshake when you're done attending other tasks.
+ * \return         #MBEDTLS_ERR_SSL_HELLO_VERIFY_REQUIRED if DTLS is in use
+ *                 and the client did not demonstrate reachability yet - in
+ *                 this case you must stop using the context (see below).
+ * \return         Another SSL error code - in this case you must stop using
+ *                 the context (see below).
+ *
+ * \warning        If this function returns something other than
+ *                 \c 0,
+ *                 #MBEDTLS_ERR_SSL_WANT_READ,
+ *                 #MBEDTLS_ERR_SSL_WANT_WRITE,
+ *                 #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS or
+ *                 #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS,
+ *                 you must stop using the SSL context for reading or writing,
+ *                 and either free it or call \c mbedtls_ssl_session_reset()
+ *                 on it before re-using it for a new connection; the current
+ *                 connection must be closed.
  *
- *                 If this function returns MBEDTLS_ERR_SSL_WANT_READ, the
- *                 handshake is unfinished and no further data is available
- *                 from the underlying transport. In this case, you must call
- *                 the function again at some later stage.
+ * \note           If DTLS is in use, then you may choose to handle
+ *                 #MBEDTLS_ERR_SSL_HELLO_VERIFY_REQUIRED specially for logging
+ *                 purposes, as it is an expected return value rather than an
+ *                 actual error, but you still need to reset/free the context.
  *
  * \note           Remarks regarding event-driven DTLS:
- *                 If the function returns MBEDTLS_ERR_SSL_WANT_READ, no datagram
+ *                 If the function returns #MBEDTLS_ERR_SSL_WANT_READ, no datagram
  *                 from the underlying transport layer is currently being processed,
  *                 and it is safe to idle until the timer or the underlying transport
  *                 signal a new event. This is not true for a successful handshake,
  *                 in which case the datagram of the underlying transport that is
  *                 currently being processed might or might not contain further
  *                 DTLS records.
- *
- * \note           If this function returns something other than 0 or
- *                 MBEDTLS_ERR_SSL_WANT_READ/WRITE, you must stop using
- *                 the SSL context for reading or writing, and either free it or
- *                 call \c mbedtls_ssl_session_reset() on it before re-using it
- *                 for a new connection; the current connection must be closed.
- *
- * \note           If DTLS is in use, then you may choose to handle
- *                 MBEDTLS_ERR_SSL_HELLO_VERIFY_REQUIRED specially for logging
- *                 purposes, as it is an expected return value rather than an
- *                 actual error, but you still need to reset/free the context.
  */
 int mbedtls_ssl_handshake( mbedtls_ssl_context *ssl );
 
@@ -2812,20 +2974,21 @@ int mbedtls_ssl_handshake( mbedtls_ssl_context *ssl );
  * \brief          Perform a single step of the SSL handshake
  *
  * \note           The state of the context (ssl->state) will be at
- *                 the next state after execution of this function. Do not
+ *                 the next state after this function returns \c 0. Do not
  *                 call this function if state is MBEDTLS_SSL_HANDSHAKE_OVER.
  *
- * \note           If this function returns something other than 0 or
- *                 MBEDTLS_ERR_SSL_WANT_READ/WRITE, you must stop using
- *                 the SSL context for reading or writing, and either free it or
- *                 call \c mbedtls_ssl_session_reset() on it before re-using it
- *                 for a new connection; the current connection must be closed.
- *
  * \param ssl      SSL context
  *
- * \return         0 if successful, or
- *                 MBEDTLS_ERR_SSL_WANT_READ or MBEDTLS_ERR_SSL_WANT_WRITE, or
- *                 a specific SSL error code.
+ * \return         See mbedtls_ssl_handshake().
+ *
+ * \warning        If this function returns something other than \c 0,
+ *                 #MBEDTLS_ERR_SSL_WANT_READ, #MBEDTLS_ERR_SSL_WANT_WRITE,
+ *                 #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS or
+ *                 #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS, you must stop using
+ *                 the SSL context for reading or writing, and either free it
+ *                 or call \c mbedtls_ssl_session_reset() on it before
+ *                 re-using it for a new connection; the current connection
+ *                 must be closed.
  */
 int mbedtls_ssl_handshake_step( mbedtls_ssl_context *ssl );
 
@@ -2840,13 +3003,18 @@ int mbedtls_ssl_handshake_step( mbedtls_ssl_context *ssl );
  * \param ssl      SSL context
  *
  * \return         0 if successful, or any mbedtls_ssl_handshake() return
- *                 value.
+ *                 value except #MBEDTLS_ERR_SSL_CLIENT_RECONNECT that can't
+ *                 happen during a renegotiation.
+ *
+ * \warning        If this function returns something other than \c 0,
+ *                 #MBEDTLS_ERR_SSL_WANT_READ, #MBEDTLS_ERR_SSL_WANT_WRITE,
+ *                 #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS or
+ *                 #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS, you must stop using
+ *                 the SSL context for reading or writing, and either free it
+ *                 or call \c mbedtls_ssl_session_reset() on it before
+ *                 re-using it for a new connection; the current connection
+ *                 must be closed.
  *
- * \note           If this function returns something other than 0 or
- *                 MBEDTLS_ERR_SSL_WANT_READ/WRITE, you must stop using
- *                 the SSL context for reading or writing, and either free it or
- *                 call \c mbedtls_ssl_session_reset() on it before re-using it
- *                 for a new connection; the current connection must be closed.
  */
 int mbedtls_ssl_renegotiate( mbedtls_ssl_context *ssl );
 #endif /* MBEDTLS_SSL_RENEGOTIATION */
@@ -2858,42 +3026,56 @@ int mbedtls_ssl_renegotiate( mbedtls_ssl_context *ssl );
  * \param buf      buffer that will hold the data
  * \param len      maximum number of bytes to read
  *
- * \return         One of the following:
- *                 - 0 if the read end of the underlying transport was closed,
- *                 - the (positive) number of bytes read, or
- *                 - a negative error code on failure.
- *
- *                 If MBEDTLS_ERR_SSL_WANT_READ is returned, no application data
- *                 is available from the underlying transport. In this case,
- *                 the function needs to be called again at some later stage.
- *
- *                 If MBEDTLS_ERR_SSL_WANT_WRITE is returned, a write is pending
- *                 but the underlying transport isn't available for writing. In this
- *                 case, the function needs to be called again at some later stage.
+ * \return         The (positive) number of bytes read if successful.
+ * \return         \c 0 if the read end of the underlying transport was closed
+ *                 - in this case you must stop using the context (see below).
+ * \return         #MBEDTLS_ERR_SSL_WANT_READ or #MBEDTLS_ERR_SSL_WANT_WRITE
+ *                 if the handshake is incomplete and waiting for data to
+ *                 be available for reading from or writing to the underlying
+ *                 transport - in this case you must call this function again
+ *                 when the underlying transport is ready for the operation.
+ * \return         #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS if an asynchronous
+ *                 operation is in progress (see
+ *                 mbedtls_ssl_conf_async_private_cb()) - in this case you
+ *                 must call this function again when the operation is ready.
+ * \return         #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS if a cryptographic
+ *                 operation is in progress (see mbedtls_ecp_set_max_ops()) -
+ *                 in this case you must call this function again to complete
+ *                 the handshake when you're done attending other tasks.
+ * \return         #MBEDTLS_ERR_SSL_CLIENT_RECONNECT if we're at the server
+ *                 side of a DTLS connection and the client is initiating a
+ *                 new connection using the same source port. See below.
+ * \return         Another SSL error code - in this case you must stop using
+ *                 the context (see below).
+ *
+ * \warning        If this function returns something other than
+ *                 a positive value,
+ *                 #MBEDTLS_ERR_SSL_WANT_READ,
+ *                 #MBEDTLS_ERR_SSL_WANT_WRITE,
+ *                 #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS,
+ *                 #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS or
+ *                 #MBEDTLS_ERR_SSL_CLIENT_RECONNECT,
+ *                 you must stop using the SSL context for reading or writing,
+ *                 and either free it or call \c mbedtls_ssl_session_reset()
+ *                 on it before re-using it for a new connection; the current
+ *                 connection must be closed.
  *
- *                 When this function return MBEDTLS_ERR_SSL_CLIENT_RECONNECT
+ * \note           When this function returns #MBEDTLS_ERR_SSL_CLIENT_RECONNECT
  *                 (which can only happen server-side), it means that a client
  *                 is initiating a new connection using the same source port.
  *                 You can either treat that as a connection close and wait
  *                 for the client to resend a ClientHello, or directly
  *                 continue with \c mbedtls_ssl_handshake() with the same
- *                 context (as it has beeen reset internally). Either way, you
- *                 should make sure this is seen by the application as a new
+ *                 context (as it has been reset internally). Either way, you
+ *                 must make sure this is seen by the application as a new
  *                 connection: application state, if any, should be reset, and
  *                 most importantly the identity of the client must be checked
  *                 again. WARNING: not validating the identity of the client
  *                 again, or not transmitting the new identity to the
  *                 application layer, would allow authentication bypass!
  *
- * \note           If this function returns something other than a positive value
- *                 or MBEDTLS_ERR_SSL_WANT_READ/WRITE or MBEDTLS_ERR_SSL_CLIENT_RECONNECT,
- *                 you must stop using the SSL context for reading or writing,
- *                 and either free it or call \c mbedtls_ssl_session_reset() on it
- *                 before re-using it for a new connection; the current connection
- *                 must be closed.
- *
  * \note           Remarks regarding event-driven DTLS:
- *                 - If the function returns MBEDTLS_ERR_SSL_WANT_READ, no datagram
+ *                 - If the function returns #MBEDTLS_ERR_SSL_WANT_READ, no datagram
  *                   from the underlying transport layer is currently being processed,
  *                   and it is safe to idle until the timer or the underlying transport
  *                   signal a new event.
@@ -2922,21 +3104,39 @@ int mbedtls_ssl_read( mbedtls_ssl_context *ssl, unsigned char *buf, size_t len )
  * \param buf      buffer holding the data
  * \param len      how many bytes must be written
  *
- * \return         the number of bytes actually written (may be less than len),
- *                 or MBEDTLS_ERR_SSL_WANT_WRITE or MBEDTLS_ERR_SSL_WANT_READ,
- *                 or another negative error code.
- *
- * \note           If this function returns something other than 0, a positive
- *                 value or MBEDTLS_ERR_SSL_WANT_READ/WRITE, you must stop
- *                 using the SSL context for reading or writing, and either
- *                 free it or call \c mbedtls_ssl_session_reset() on it before
- *                 re-using it for a new connection; the current connection
- *                 must be closed.
+ * \return         The (non-negative) number of bytes actually written if
+ *                 successful (may be less than \p len).
+ * \return         #MBEDTLS_ERR_SSL_WANT_READ or #MBEDTLS_ERR_SSL_WANT_WRITE
+ *                 if the handshake is incomplete and waiting for data to
+ *                 be available for reading from or writing to the underlying
+ *                 transport - in this case you must call this function again
+ *                 when the underlying transport is ready for the operation.
+ * \return         #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS if an asynchronous
+ *                 operation is in progress (see
+ *                 mbedtls_ssl_conf_async_private_cb()) - in this case you
+ *                 must call this function again when the operation is ready.
+ * \return         #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS if a cryptographic
+ *                 operation is in progress (see mbedtls_ecp_set_max_ops()) -
+ *                 in this case you must call this function again to complete
+ *                 the handshake when you're done attending other tasks.
+ * \return         Another SSL error code - in this case you must stop using
+ *                 the context (see below).
+ *
+ * \warning        If this function returns something other than
+ *                 a non-negative value,
+ *                 #MBEDTLS_ERR_SSL_WANT_READ,
+ *                 #MBEDTLS_ERR_SSL_WANT_WRITE,
+ *                 #MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS or
+ *                 #MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS,
+ *                 you must stop using the SSL context for reading or writing,
+ *                 and either free it or call \c mbedtls_ssl_session_reset()
+ *                 on it before re-using it for a new connection; the current
+ *                 connection must be closed.
  *
- * \note           When this function returns MBEDTLS_ERR_SSL_WANT_WRITE/READ,
+ * \note           When this function returns #MBEDTLS_ERR_SSL_WANT_WRITE/READ,
  *                 it must be called later with the *same* arguments,
  *                 until it returns a value greater that or equal to 0. When
- *                 the function returns MBEDTLS_ERR_SSL_WANT_WRITE there may be
+ *                 the function returns #MBEDTLS_ERR_SSL_WANT_WRITE there may be
  *                 some partial data in the output buffer, however this is not
  *                 yet sent.
  *
diff --git a/thirdparty/mbedtls/include/mbedtls/ssl_cookie.h b/thirdparty/mbedtls/include/mbedtls/ssl_cookie.h
index 80b65bbbb9..6a0ad4fa96 100644
--- a/thirdparty/mbedtls/include/mbedtls/ssl_cookie.h
+++ b/thirdparty/mbedtls/include/mbedtls/ssl_cookie.h
@@ -50,7 +50,7 @@ extern "C" {
 /**
  * \brief          Context for the default cookie functions.
  */
-typedef struct
+typedef struct mbedtls_ssl_cookie_ctx
 {
     mbedtls_md_context_t    hmac_ctx;   /*!< context for the HMAC portion   */
 #if !defined(MBEDTLS_HAVE_TIME)
diff --git a/thirdparty/mbedtls/include/mbedtls/ssl_internal.h b/thirdparty/mbedtls/include/mbedtls/ssl_internal.h
index d214703d77..97abb9f90b 100644
--- a/thirdparty/mbedtls/include/mbedtls/ssl_internal.h
+++ b/thirdparty/mbedtls/include/mbedtls/ssl_internal.h
@@ -93,6 +93,14 @@
 #endif /* MBEDTLS_SSL_PROTO_TLS1_1 */
 #endif /* MBEDTLS_SSL_PROTO_TLS1_2 */
 
+/* Shorthand for restartable ECC */
+#if defined(MBEDTLS_ECP_RESTARTABLE) && \
+    defined(MBEDTLS_SSL_CLI_C) && \
+    defined(MBEDTLS_SSL_PROTO_TLS1_2) && \
+    defined(MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA_ENABLED)
+#define MBEDTLS_SSL__ECP_RESTARTABLE
+#endif
+
 #define MBEDTLS_SSL_INITIAL_HANDSHAKE           0
 #define MBEDTLS_SSL_RENEGOTIATION_IN_PROGRESS   1   /* In progress */
 #define MBEDTLS_SSL_RENEGOTIATION_DONE          2   /* Done or aborted */
@@ -155,6 +163,9 @@
 #define MBEDTLS_SSL_OUT_PAYLOAD_LEN ( MBEDTLS_SSL_PAYLOAD_OVERHEAD + \
                                       ( MBEDTLS_SSL_OUT_CONTENT_LEN ) )
 
+/* The maximum number of buffered handshake messages. */
+#define MBEDTLS_SSL_MAX_BUFFERED_HS 4
+
 /* Maximum length we can advertise as our max content length for
    RFC 6066 max_fragment_length extension negotiation purposes
    (the lesser of both sizes, if they are unequal.)
@@ -284,7 +295,18 @@ struct mbedtls_ssl_handshake_params
     mbedtls_x509_crl *sni_ca_crl;       /*!< trusted CAs CRLs from SNI      */
 #endif /* MBEDTLS_SSL_SERVER_NAME_INDICATION */
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
-
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    int ecrs_enabled;                   /*!< Handshake supports EC restart? */
+    mbedtls_x509_crt_restart_ctx ecrs_ctx;  /*!< restart context            */
+    enum { /* this complements ssl->state with info on intra-state operations */
+        ssl_ecrs_none = 0,              /*!< nothing going on (yet)         */
+        ssl_ecrs_crt_verify,            /*!< Certificate: crt_verify()      */
+        ssl_ecrs_ske_start_processing,  /*!< ServerKeyExchange: pk_verify() */
+        ssl_ecrs_cke_ecdh_calc_secret,  /*!< ClientKeyExchange: ECDH step 2 */
+        ssl_ecrs_crt_vrfy_sign,         /*!< CertificateVerify: pk_sign()   */
+    } ecrs_state;                       /*!< current (or last) operation    */
+    size_t ecrs_n;                      /*!< place for saving a length      */
+#endif
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
     unsigned int out_msg_seq;           /*!<  Outgoing handshake sequence number */
     unsigned int in_msg_seq;            /*!<  Incoming handshake sequence number */
@@ -294,18 +316,45 @@ struct mbedtls_ssl_handshake_params
     unsigned char verify_cookie_len;    /*!<  Cli: cookie length
                                               Srv: flag for sending a cookie */
 
-    unsigned char *hs_msg;              /*!<  Reassembled handshake message  */
-
     uint32_t retransmit_timeout;        /*!<  Current value of timeout       */
     unsigned char retransmit_state;     /*!<  Retransmission state           */
-    mbedtls_ssl_flight_item *flight;            /*!<  Current outgoing flight        */
-    mbedtls_ssl_flight_item *cur_msg;           /*!<  Current message in flight      */
+    mbedtls_ssl_flight_item *flight;    /*!<  Current outgoing flight        */
+    mbedtls_ssl_flight_item *cur_msg;   /*!<  Current message in flight      */
+    unsigned char *cur_msg_p;           /*!<  Position in current message    */
     unsigned int in_flight_start_seq;   /*!<  Minimum message sequence in the
                                               flight being received          */
     mbedtls_ssl_transform *alt_transform_out;   /*!<  Alternative transform for
                                               resending messages             */
     unsigned char alt_out_ctr[8];       /*!<  Alternative record epoch/counter
                                               for resending messages         */
+
+    struct
+    {
+        size_t total_bytes_buffered; /*!< Cumulative size of heap allocated
+                                      *   buffers used for message buffering. */
+
+        uint8_t seen_ccs;               /*!< Indicates if a CCS message has
+                                         *   been seen in the current flight. */
+
+        struct mbedtls_ssl_hs_buffer
+        {
+            unsigned is_valid      : 1;
+            unsigned is_fragmented : 1;
+            unsigned is_complete   : 1;
+            unsigned char *data;
+            size_t data_len;
+        } hs[MBEDTLS_SSL_MAX_BUFFERED_HS];
+
+        struct
+        {
+            unsigned char *data;
+            size_t len;
+            unsigned epoch;
+        } future_record;
+
+    } buffering;
+
+    uint16_t mtu;                       /*!<  Handshake mtu, used to fragment outgoing messages */
 #endif /* MBEDTLS_SSL_PROTO_DTLS */
 
     /*
@@ -364,6 +413,8 @@ struct mbedtls_ssl_handshake_params
 #endif /* MBEDTLS_SSL_ASYNC_PRIVATE */
 };
 
+typedef struct mbedtls_ssl_hs_buffer mbedtls_ssl_hs_buffer;
+
 /*
  * This structure contains a full set of runtime transform parameters
  * either in negotiation or active.
@@ -478,7 +529,6 @@ int mbedtls_ssl_send_fatal_handshake_failure( mbedtls_ssl_context *ssl );
 void mbedtls_ssl_reset_checksum( mbedtls_ssl_context *ssl );
 int mbedtls_ssl_derive_keys( mbedtls_ssl_context *ssl );
 
-int mbedtls_ssl_read_record_layer( mbedtls_ssl_context *ssl );
 int mbedtls_ssl_handle_message_type( mbedtls_ssl_context *ssl );
 int mbedtls_ssl_prepare_handshake_record( mbedtls_ssl_context *ssl );
 void mbedtls_ssl_update_handshake_status( mbedtls_ssl_context *ssl );
@@ -490,7 +540,10 @@ void mbedtls_ssl_update_handshake_status( mbedtls_ssl_context *ssl );
  *              of the logic of (D)TLS from the implementation
  *              of the secure transport.
  *
- * \param  ssl  SSL context to use
+ * \param  ssl              The SSL context to use.
+ * \param  update_hs_digest This indicates if the handshake digest
+ *                          should be automatically updated in case
+ *                          a handshake message is found.
  *
  * \return      0 or non-zero error code.
  *
@@ -556,10 +609,12 @@ void mbedtls_ssl_update_handshake_status( mbedtls_ssl_context *ssl );
  *              following the above definition.
  *
  */
-int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl );
+int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl,
+                             unsigned update_hs_digest );
 int mbedtls_ssl_fetch_input( mbedtls_ssl_context *ssl, size_t nb_want );
 
-int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl );
+int mbedtls_ssl_write_handshake_msg( mbedtls_ssl_context *ssl );
+int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl, uint8_t force_flush );
 int mbedtls_ssl_flush_output( mbedtls_ssl_context *ssl );
 
 int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl );
@@ -668,6 +723,7 @@ static inline size_t mbedtls_ssl_hs_hdr_len( const mbedtls_ssl_context *ssl )
 void mbedtls_ssl_send_flight_completed( mbedtls_ssl_context *ssl );
 void mbedtls_ssl_recv_flight_completed( mbedtls_ssl_context *ssl );
 int mbedtls_ssl_resend( mbedtls_ssl_context *ssl );
+int mbedtls_ssl_flight_transmit( mbedtls_ssl_context *ssl );
 #endif
 
 /* Visible for testing purposes only */
diff --git a/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h b/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h
index 93ad46ac9c..b2686df09f 100644
--- a/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h
+++ b/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h
@@ -44,7 +44,7 @@ extern "C" {
 /**
  * \brief   Information for session ticket protection
  */
-typedef struct
+typedef struct mbedtls_ssl_ticket_key
 {
     unsigned char name[4];          /*!< random key identifier              */
     uint32_t generation_time;       /*!< key generation timestamp (seconds) */
@@ -55,7 +55,7 @@ mbedtls_ssl_ticket_key;
 /**
  * \brief   Context for session ticket handling functions
  */
-typedef struct
+typedef struct mbedtls_ssl_ticket_context
 {
     mbedtls_ssl_ticket_key keys[2]; /*!< ticket protection keys             */
     unsigned char active;           /*!< index of the currently active key  */
diff --git a/thirdparty/mbedtls/include/mbedtls/threading.h b/thirdparty/mbedtls/include/mbedtls/threading.h
index c25daa5cdf..92e6e6b987 100644
--- a/thirdparty/mbedtls/include/mbedtls/threading.h
+++ b/thirdparty/mbedtls/include/mbedtls/threading.h
@@ -36,13 +36,16 @@
 extern "C" {
 #endif
 
+/* MBEDTLS_ERR_THREADING_FEATURE_UNAVAILABLE is deprecated and should not be
+ * used. */
 #define MBEDTLS_ERR_THREADING_FEATURE_UNAVAILABLE         -0x001A  /**< The selected feature is not available. */
+
 #define MBEDTLS_ERR_THREADING_BAD_INPUT_DATA              -0x001C  /**< Bad input parameters to function. */
 #define MBEDTLS_ERR_THREADING_MUTEX_ERROR                 -0x001E  /**< Locking / unlocking / free failed with error code. */
 
 #if defined(MBEDTLS_THREADING_PTHREAD)
 #include <pthread.h>
-typedef struct
+typedef struct mbedtls_threading_mutex_t
 {
     pthread_mutex_t mutex;
     char is_valid;
@@ -99,6 +102,17 @@ extern int (*mbedtls_mutex_unlock)( mbedtls_threading_mutex_t *mutex );
 #if defined(MBEDTLS_FS_IO)
 extern mbedtls_threading_mutex_t mbedtls_threading_readdir_mutex;
 #endif
+
+#if defined(MBEDTLS_HAVE_TIME_DATE) && !defined(MBEDTLS_PLATFORM_GMTIME_R_ALT)
+/* This mutex may or may not be used in the default definition of
+ * mbedtls_platform_gmtime_r(), but in order to determine that,
+ * we need to check POSIX features, hence modify _POSIX_C_SOURCE.
+ * With the current approach, this declaration is orphaned, lacking
+ * an accompanying definition, in case mbedtls_platform_gmtime_r()
+ * doesn't need it, but that's not a problem. */
+extern mbedtls_threading_mutex_t mbedtls_threading_gmtime_mutex;
+#endif /* MBEDTLS_HAVE_TIME_DATE && !MBEDTLS_PLATFORM_GMTIME_R_ALT */
+
 #endif /* MBEDTLS_THREADING_C */
 
 #ifdef __cplusplus
diff --git a/thirdparty/mbedtls/include/mbedtls/timing.h b/thirdparty/mbedtls/include/mbedtls/timing.h
index bbcb90688a..a965fe0d35 100644
--- a/thirdparty/mbedtls/include/mbedtls/timing.h
+++ b/thirdparty/mbedtls/include/mbedtls/timing.h
@@ -51,7 +51,7 @@ struct mbedtls_timing_hr_time
 /**
  * \brief          Context for mbedtls_timing_set/get_delay()
  */
-typedef struct
+typedef struct mbedtls_timing_delay_context
 {
     struct mbedtls_timing_hr_time   timer;
     uint32_t                        int_ms;
diff --git a/thirdparty/mbedtls/include/mbedtls/version.h b/thirdparty/mbedtls/include/mbedtls/version.h
index eaf25d908c..56e7398a2a 100644
--- a/thirdparty/mbedtls/include/mbedtls/version.h
+++ b/thirdparty/mbedtls/include/mbedtls/version.h
@@ -39,7 +39,7 @@
  * Major, Minor, Patchlevel
  */
 #define MBEDTLS_VERSION_MAJOR  2
-#define MBEDTLS_VERSION_MINOR  12
+#define MBEDTLS_VERSION_MINOR  16
 #define MBEDTLS_VERSION_PATCH  0
 
 /**
@@ -47,9 +47,9 @@
  *    MMNNPP00
  *    Major version | Minor version | Patch version
  */
-#define MBEDTLS_VERSION_NUMBER         0x020C0000
-#define MBEDTLS_VERSION_STRING         "2.12.0"
-#define MBEDTLS_VERSION_STRING_FULL    "mbed TLS 2.12.0"
+#define MBEDTLS_VERSION_NUMBER         0x02100000
+#define MBEDTLS_VERSION_STRING         "2.16.0"
+#define MBEDTLS_VERSION_STRING_FULL    "mbed TLS 2.16.0"
 
 #if defined(MBEDTLS_VERSION_C)
 
diff --git a/thirdparty/mbedtls/include/mbedtls/x509_crt.h b/thirdparty/mbedtls/include/mbedtls/x509_crt.h
index ac23cffe84..3dd5922486 100644
--- a/thirdparty/mbedtls/include/mbedtls/x509_crt.h
+++ b/thirdparty/mbedtls/include/mbedtls/x509_crt.h
@@ -105,7 +105,7 @@ mbedtls_x509_crt;
  *
  * All lists are bitfields, built by ORing flags from MBEDTLS_X509_ID_FLAG().
  */
-typedef struct
+typedef struct mbedtls_x509_crt_profile
 {
     uint32_t allowed_mds;       /**< MDs for signatures         */
     uint32_t allowed_pks;       /**< PK algs for signatures     */
@@ -143,6 +143,63 @@ typedef struct mbedtls_x509write_cert
 }
 mbedtls_x509write_cert;
 
+/**
+ * Item in a verification chain: cert and flags for it
+ */
+typedef struct {
+    mbedtls_x509_crt *crt;
+    uint32_t flags;
+} mbedtls_x509_crt_verify_chain_item;
+
+/**
+ * Max size of verification chain: end-entity + intermediates + trusted root
+ */
+#define MBEDTLS_X509_MAX_VERIFY_CHAIN_SIZE  ( MBEDTLS_X509_MAX_INTERMEDIATE_CA + 2 )
+
+/**
+ * Verification chain as built by \c mbedtls_crt_verify_chain()
+ */
+typedef struct
+{
+    mbedtls_x509_crt_verify_chain_item items[MBEDTLS_X509_MAX_VERIFY_CHAIN_SIZE];
+    unsigned len;
+} mbedtls_x509_crt_verify_chain;
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+
+/**
+ * \brief       Context for resuming X.509 verify operations
+ */
+typedef struct
+{
+    /* for check_signature() */
+    mbedtls_pk_restart_ctx pk;
+
+    /* for find_parent_in() */
+    mbedtls_x509_crt *parent; /* non-null iff parent_in in progress */
+    mbedtls_x509_crt *fallback_parent;
+    int fallback_signature_is_good;
+
+    /* for find_parent() */
+    int parent_is_trusted; /* -1 if find_parent is not in progress */
+
+    /* for verify_chain() */
+    enum {
+        x509_crt_rs_none,
+        x509_crt_rs_find_parent,
+    } in_progress;  /* none if no operation is in progress */
+    int self_cnt;
+    mbedtls_x509_crt_verify_chain ver_chain;
+
+} mbedtls_x509_crt_restart_ctx;
+
+#else /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
+/* Now we can declare functions that take a pointer to that */
+typedef void mbedtls_x509_crt_restart_ctx;
+
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
 /**
  * Default security profile. Should provide a good balance between security
@@ -175,19 +232,34 @@ int mbedtls_x509_crt_parse_der( mbedtls_x509_crt *chain, const unsigned char *bu
                         size_t buflen );
 
 /**
- * \brief          Parse one or more certificates and add them
- *                 to the chained list. Parses permissively. If some
- *                 certificates can be parsed, the result is the number
- *                 of failed certificates it encountered. If none complete
- *                 correctly, the first error is returned.
+ * \brief          Parse one DER-encoded or one or more concatenated PEM-encoded
+ *                 certificates and add them to the chained list.
  *
- * \param chain    points to the start of the chain
- * \param buf      buffer holding the certificate data in PEM or DER format
- * \param buflen   size of the buffer
- *                 (including the terminating null byte for PEM data)
+ *                 For CRTs in PEM encoding, the function parses permissively:
+ *                 if at least one certificate can be parsed, the function
+ *                 returns the number of certificates for which parsing failed
+ *                 (hence \c 0 if all certificates were parsed successfully).
+ *                 If no certificate could be parsed, the function returns
+ *                 the first (negative) error encountered during parsing.
+ *
+ *                 PEM encoded certificates may be interleaved by other data
+ *                 such as human readable descriptions of their content, as
+ *                 long as the certificates are enclosed in the PEM specific
+ *                 '-----{BEGIN/END} CERTIFICATE-----' delimiters.
+ *
+ * \param chain    The chain to which to add the parsed certificates.
+ * \param buf      The buffer holding the certificate data in PEM or DER format.
+ *                 For certificates in PEM encoding, this may be a concatenation
+ *                 of multiple certificates; for DER encoding, the buffer must
+ *                 comprise exactly one certificate.
+ * \param buflen   The size of \p buf, including the terminating \c NULL byte
+ *                 in case of PEM encoded data.
+ *
+ * \return         \c 0 if all certificates were parsed successfully.
+ * \return         The (positive) number of certificates that couldn't
+ *                 be parsed if parsing was partly successful (see above).
+ * \return         A negative X509 or PEM error code otherwise.
  *
- * \return         0 if all certificates parsed successfully, a positive number
- *                 if partly successful or a specific X509 or PEM error code
  */
 int mbedtls_x509_crt_parse( mbedtls_x509_crt *chain, const unsigned char *buf, size_t buflen );
 
@@ -353,6 +425,37 @@ int mbedtls_x509_crt_verify_with_profile( mbedtls_x509_crt *crt,
                      int (*f_vrfy)(void *, mbedtls_x509_crt *, int, uint32_t *),
                      void *p_vrfy );
 
+/**
+ * \brief          Restartable version of \c mbedtls_crt_verify_with_profile()
+ *
+ * \note           Performs the same job as \c mbedtls_crt_verify_with_profile()
+ *                 but can return early and restart according to the limit
+ *                 set with \c mbedtls_ecp_set_max_ops() to reduce blocking.
+ *
+ * \param crt      a certificate (chain) to be verified
+ * \param trust_ca the list of trusted CAs
+ * \param ca_crl   the list of CRLs for trusted CAs
+ * \param profile  security profile for verification
+ * \param cn       expected Common Name (can be set to
+ *                 NULL if the CN must not be verified)
+ * \param flags    result of the verification
+ * \param f_vrfy   verification function
+ * \param p_vrfy   verification parameter
+ * \param rs_ctx   restart context (NULL to disable restart)
+ *
+ * \return         See \c mbedtls_crt_verify_with_profile(), or
+ * \return         #MBEDTLS_ERR_ECP_IN_PROGRESS if maximum number of
+ *                 operations was reached: see \c mbedtls_ecp_set_max_ops().
+ */
+int mbedtls_x509_crt_verify_restartable( mbedtls_x509_crt *crt,
+                     mbedtls_x509_crt *trust_ca,
+                     mbedtls_x509_crl *ca_crl,
+                     const mbedtls_x509_crt_profile *profile,
+                     const char *cn, uint32_t *flags,
+                     int (*f_vrfy)(void *, mbedtls_x509_crt *, int, uint32_t *),
+                     void *p_vrfy,
+                     mbedtls_x509_crt_restart_ctx *rs_ctx );
+
 #if defined(MBEDTLS_X509_CHECK_KEY_USAGE)
 /**
  * \brief          Check usage of certificate against keyUsage extension.
@@ -424,6 +527,18 @@ void mbedtls_x509_crt_init( mbedtls_x509_crt *crt );
  * \param crt      Certificate chain to free
  */
 void mbedtls_x509_crt_free( mbedtls_x509_crt *crt );
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+/**
+ * \brief           Initialize a restart context
+ */
+void mbedtls_x509_crt_restart_init( mbedtls_x509_crt_restart_ctx *ctx );
+
+/**
+ * \brief           Free the components of a restart context
+ */
+void mbedtls_x509_crt_restart_free( mbedtls_x509_crt_restart_ctx *ctx );
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
 
 /* \} name */
diff --git a/thirdparty/mbedtls/include/mbedtls/xtea.h b/thirdparty/mbedtls/include/mbedtls/xtea.h
index 8df708a3a5..6430c1318a 100644
--- a/thirdparty/mbedtls/include/mbedtls/xtea.h
+++ b/thirdparty/mbedtls/include/mbedtls/xtea.h
@@ -37,6 +37,8 @@
 #define MBEDTLS_XTEA_DECRYPT     0
 
 #define MBEDTLS_ERR_XTEA_INVALID_INPUT_LENGTH             -0x0028  /**< The data input has an invalid length. */
+
+/* MBEDTLS_ERR_XTEA_HW_ACCEL_FAILED is deprecated and should not be used. */
 #define MBEDTLS_ERR_XTEA_HW_ACCEL_FAILED                  -0x0029  /**< XTEA hardware accelerator failed. */
 
 #ifdef __cplusplus
@@ -50,7 +52,7 @@ extern "C" {
 /**
  * \brief          XTEA context structure
  */
-typedef struct
+typedef struct mbedtls_xtea_context
 {
     uint32_t k[4];       /*!< key */
 }
diff --git a/thirdparty/mbedtls/library/aes.c b/thirdparty/mbedtls/library/aes.c
index 5c939bba47..0543cd7817 100644
--- a/thirdparty/mbedtls/library/aes.c
+++ b/thirdparty/mbedtls/library/aes.c
@@ -36,6 +36,7 @@
 #include <string.h>
 
 #include "mbedtls/aes.h"
+#include "mbedtls/platform.h"
 #include "mbedtls/platform_util.h"
 #if defined(MBEDTLS_PADLOCK_C)
 #include "mbedtls/padlock.h"
@@ -55,6 +56,12 @@
 
 #if !defined(MBEDTLS_AES_ALT)
 
+/* Parameter validation macros based on platform_util.h */
+#define AES_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_AES_BAD_INPUT_DATA )
+#define AES_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * 32-bit integer manipulation macros (little endian)
  */
@@ -510,6 +517,8 @@ static void aes_gen_tables( void )
 
 void mbedtls_aes_init( mbedtls_aes_context *ctx )
 {
+    AES_VALIDATE( ctx != NULL );
+
     memset( ctx, 0, sizeof( mbedtls_aes_context ) );
 }
 
@@ -524,12 +533,17 @@ void mbedtls_aes_free( mbedtls_aes_context *ctx )
 #if defined(MBEDTLS_CIPHER_MODE_XTS)
 void mbedtls_aes_xts_init( mbedtls_aes_xts_context *ctx )
 {
+    AES_VALIDATE( ctx != NULL );
+
     mbedtls_aes_init( &ctx->crypt );
     mbedtls_aes_init( &ctx->tweak );
 }
 
 void mbedtls_aes_xts_free( mbedtls_aes_xts_context *ctx )
 {
+    if( ctx == NULL )
+        return;
+
     mbedtls_aes_free( &ctx->crypt );
     mbedtls_aes_free( &ctx->tweak );
 }
@@ -545,14 +559,8 @@ int mbedtls_aes_setkey_enc( mbedtls_aes_context *ctx, const unsigned char *key,
     unsigned int i;
     uint32_t *RK;
 
-#if !defined(MBEDTLS_AES_ROM_TABLES)
-    if( aes_init_done == 0 )
-    {
-        aes_gen_tables();
-        aes_init_done = 1;
-
-    }
-#endif
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( key != NULL );
 
     switch( keybits )
     {
@@ -562,6 +570,14 @@ int mbedtls_aes_setkey_enc( mbedtls_aes_context *ctx, const unsigned char *key,
         default : return( MBEDTLS_ERR_AES_INVALID_KEY_LENGTH );
     }
 
+#if !defined(MBEDTLS_AES_ROM_TABLES)
+    if( aes_init_done == 0 )
+    {
+        aes_gen_tables();
+        aes_init_done = 1;
+    }
+#endif
+
 #if defined(MBEDTLS_PADLOCK_C) && defined(MBEDTLS_PADLOCK_ALIGN16)
     if( aes_padlock_ace == -1 )
         aes_padlock_ace = mbedtls_padlock_has_support( MBEDTLS_PADLOCK_ACE );
@@ -661,6 +677,9 @@ int mbedtls_aes_setkey_dec( mbedtls_aes_context *ctx, const unsigned char *key,
     uint32_t *RK;
     uint32_t *SK;
 
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( key != NULL );
+
     mbedtls_aes_init( &cty );
 
 #if defined(MBEDTLS_PADLOCK_C) && defined(MBEDTLS_PADLOCK_ALIGN16)
@@ -751,6 +770,9 @@ int mbedtls_aes_xts_setkey_enc( mbedtls_aes_xts_context *ctx,
     const unsigned char *key1, *key2;
     unsigned int key1bits, key2bits;
 
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( key != NULL );
+
     ret = mbedtls_aes_xts_decode_keys( key, keybits, &key1, &key1bits,
                                        &key2, &key2bits );
     if( ret != 0 )
@@ -773,6 +795,9 @@ int mbedtls_aes_xts_setkey_dec( mbedtls_aes_xts_context *ctx,
     const unsigned char *key1, *key2;
     unsigned int key1bits, key2bits;
 
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( key != NULL );
+
     ret = mbedtls_aes_xts_decode_keys( key, keybits, &key1, &key1bits,
                                        &key2, &key2bits );
     if( ret != 0 )
@@ -976,10 +1001,16 @@ void mbedtls_aes_decrypt( mbedtls_aes_context *ctx,
  * AES-ECB block encryption/decryption
  */
 int mbedtls_aes_crypt_ecb( mbedtls_aes_context *ctx,
-                    int mode,
-                    const unsigned char input[16],
-                    unsigned char output[16] )
+                           int mode,
+                           const unsigned char input[16],
+                           unsigned char output[16] )
 {
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
+    AES_VALIDATE_RET( mode == MBEDTLS_AES_ENCRYPT ||
+                      mode == MBEDTLS_AES_DECRYPT );
+
 #if defined(MBEDTLS_AESNI_C) && defined(MBEDTLS_HAVE_X86_64)
     if( mbedtls_aesni_has_support( MBEDTLS_AESNI_AES ) )
         return( mbedtls_aesni_crypt_ecb( ctx, mode, input, output ) );
@@ -1017,6 +1048,13 @@ int mbedtls_aes_crypt_cbc( mbedtls_aes_context *ctx,
     int i;
     unsigned char temp[16];
 
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( mode == MBEDTLS_AES_ENCRYPT ||
+                      mode == MBEDTLS_AES_DECRYPT );
+    AES_VALIDATE_RET( iv != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
+
     if( length % 16 )
         return( MBEDTLS_ERR_AES_INVALID_INPUT_LENGTH );
 
@@ -1142,11 +1180,18 @@ int mbedtls_aes_crypt_xts( mbedtls_aes_xts_context *ctx,
     unsigned char prev_tweak[16];
     unsigned char tmp[16];
 
-    /* Sectors must be at least 16 bytes. */
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( mode == MBEDTLS_AES_ENCRYPT ||
+                      mode == MBEDTLS_AES_DECRYPT );
+    AES_VALIDATE_RET( data_unit != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
+
+    /* Data units must be at least 16 bytes long. */
     if( length < 16 )
         return MBEDTLS_ERR_AES_INVALID_INPUT_LENGTH;
 
-    /* NIST SP 80-38E disallows data units larger than 2**20 blocks. */
+    /* NIST SP 800-38E disallows data units larger than 2**20 blocks. */
     if( length > ( 1 << 20 ) * 16 )
         return MBEDTLS_ERR_AES_INVALID_INPUT_LENGTH;
 
@@ -1241,7 +1286,20 @@ int mbedtls_aes_crypt_cfb128( mbedtls_aes_context *ctx,
                        unsigned char *output )
 {
     int c;
-    size_t n = *iv_off;
+    size_t n;
+
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( mode == MBEDTLS_AES_ENCRYPT ||
+                      mode == MBEDTLS_AES_DECRYPT );
+    AES_VALIDATE_RET( iv_off != NULL );
+    AES_VALIDATE_RET( iv != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
+
+    n = *iv_off;
+
+    if( n > 15 )
+        return( MBEDTLS_ERR_AES_BAD_INPUT_DATA );
 
     if( mode == MBEDTLS_AES_DECRYPT )
     {
@@ -1279,15 +1337,21 @@ int mbedtls_aes_crypt_cfb128( mbedtls_aes_context *ctx,
  * AES-CFB8 buffer encryption/decryption
  */
 int mbedtls_aes_crypt_cfb8( mbedtls_aes_context *ctx,
-                       int mode,
-                       size_t length,
-                       unsigned char iv[16],
-                       const unsigned char *input,
-                       unsigned char *output )
+                            int mode,
+                            size_t length,
+                            unsigned char iv[16],
+                            const unsigned char *input,
+                            unsigned char *output )
 {
     unsigned char c;
     unsigned char ov[17];
 
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( mode == MBEDTLS_AES_ENCRYPT ||
+                      mode == MBEDTLS_AES_DECRYPT );
+    AES_VALIDATE_RET( iv != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
     while( length-- )
     {
         memcpy( ov, iv, 16 );
@@ -1320,7 +1384,18 @@ int mbedtls_aes_crypt_ofb( mbedtls_aes_context *ctx,
                            unsigned char *output )
 {
     int ret = 0;
-    size_t n = *iv_off;
+    size_t n;
+
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( iv_off != NULL );
+    AES_VALIDATE_RET( iv != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
+
+    n = *iv_off;
+
+    if( n > 15 )
+        return( MBEDTLS_ERR_AES_BAD_INPUT_DATA );
 
     while( length-- )
     {
@@ -1355,7 +1430,16 @@ int mbedtls_aes_crypt_ctr( mbedtls_aes_context *ctx,
                        unsigned char *output )
 {
     int c, i;
-    size_t n = *nc_off;
+    size_t n;
+
+    AES_VALIDATE_RET( ctx != NULL );
+    AES_VALIDATE_RET( nc_off != NULL );
+    AES_VALIDATE_RET( nonce_counter != NULL );
+    AES_VALIDATE_RET( stream_block != NULL );
+    AES_VALIDATE_RET( input != NULL );
+    AES_VALIDATE_RET( output != NULL );
+
+    n = *nc_off;
 
     if ( n > 0x0F )
         return( MBEDTLS_ERR_AES_BAD_INPUT_DATA );
@@ -1757,7 +1841,7 @@ int mbedtls_aes_self_test( int verbose )
          * there is an alternative underlying implementation i.e. when
          * MBEDTLS_AES_ALT is defined.
          */
-        if( ret == MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE && keybits == 192 )
+        if( ret == MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED && keybits == 192 )
         {
             mbedtls_printf( "skipped\n" );
             continue;
@@ -1821,7 +1905,7 @@ int mbedtls_aes_self_test( int verbose )
          * there is an alternative underlying implementation i.e. when
          * MBEDTLS_AES_ALT is defined.
          */
-        if( ret == MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE && keybits == 192 )
+        if( ret == MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED && keybits == 192 )
         {
             mbedtls_printf( "skipped\n" );
             continue;
@@ -1886,7 +1970,7 @@ int mbedtls_aes_self_test( int verbose )
          * there is an alternative underlying implementation i.e. when
          * MBEDTLS_AES_ALT is defined.
          */
-        if( ret == MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE && keybits == 192 )
+        if( ret == MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED && keybits == 192 )
         {
             mbedtls_printf( "skipped\n" );
             continue;
@@ -1949,7 +2033,7 @@ int mbedtls_aes_self_test( int verbose )
          * there is an alternative underlying implementation i.e. when
          * MBEDTLS_AES_ALT is defined.
          */
-        if( ret == MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE && keybits == 192 )
+        if( ret == MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED && keybits == 192 )
         {
             mbedtls_printf( "skipped\n" );
             continue;
diff --git a/thirdparty/mbedtls/library/aria.c b/thirdparty/mbedtls/library/aria.c
index e9bcd6d135..aff66d667f 100644
--- a/thirdparty/mbedtls/library/aria.c
+++ b/thirdparty/mbedtls/library/aria.c
@@ -55,6 +55,12 @@
 #define inline __inline
 #endif
 
+/* Parameter validation macros */
+#define ARIA_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_ARIA_BAD_INPUT_DATA )
+#define ARIA_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * 32-bit integer manipulation macros (little endian)
  */
@@ -449,9 +455,11 @@ int mbedtls_aria_setkey_enc( mbedtls_aria_context *ctx,
 
     int i;
     uint32_t w[4][4], *w2;
+    ARIA_VALIDATE_RET( ctx != NULL );
+    ARIA_VALIDATE_RET( key != NULL );
 
     if( keybits != 128 && keybits != 192 && keybits != 256 )
-        return( MBEDTLS_ERR_ARIA_INVALID_KEY_LENGTH );
+        return( MBEDTLS_ERR_ARIA_BAD_INPUT_DATA );
 
     /* Copy key to W0 (and potential remainder to W1) */
     GET_UINT32_LE( w[0][0], key,  0 );
@@ -503,6 +511,8 @@ int mbedtls_aria_setkey_dec( mbedtls_aria_context *ctx,
                              const unsigned char *key, unsigned int keybits )
 {
     int i, j, k, ret;
+    ARIA_VALIDATE_RET( ctx != NULL );
+    ARIA_VALIDATE_RET( key != NULL );
 
     ret = mbedtls_aria_setkey_enc( ctx, key, keybits );
     if( ret != 0 )
@@ -539,6 +549,9 @@ int mbedtls_aria_crypt_ecb( mbedtls_aria_context *ctx,
     int i;
 
     uint32_t a, b, c, d;
+    ARIA_VALIDATE_RET( ctx != NULL );
+    ARIA_VALIDATE_RET( input != NULL );
+    ARIA_VALIDATE_RET( output != NULL );
 
     GET_UINT32_LE( a, input,  0 );
     GET_UINT32_LE( b, input,  4 );
@@ -586,6 +599,7 @@ int mbedtls_aria_crypt_ecb( mbedtls_aria_context *ctx,
 /* Initialize context */
 void mbedtls_aria_init( mbedtls_aria_context *ctx )
 {
+    ARIA_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_aria_context ) );
 }
 
@@ -612,6 +626,13 @@ int mbedtls_aria_crypt_cbc( mbedtls_aria_context *ctx,
     int i;
     unsigned char temp[MBEDTLS_ARIA_BLOCKSIZE];
 
+    ARIA_VALIDATE_RET( ctx != NULL );
+    ARIA_VALIDATE_RET( mode == MBEDTLS_ARIA_ENCRYPT ||
+                       mode == MBEDTLS_ARIA_DECRYPT );
+    ARIA_VALIDATE_RET( length == 0 || input  != NULL );
+    ARIA_VALIDATE_RET( length == 0 || output != NULL );
+    ARIA_VALIDATE_RET( iv != NULL );
+
     if( length % MBEDTLS_ARIA_BLOCKSIZE )
         return( MBEDTLS_ERR_ARIA_INVALID_INPUT_LENGTH );
 
@@ -665,7 +686,23 @@ int mbedtls_aria_crypt_cfb128( mbedtls_aria_context *ctx,
                                unsigned char *output )
 {
     unsigned char c;
-    size_t n = *iv_off;
+    size_t n;
+
+    ARIA_VALIDATE_RET( ctx != NULL );
+    ARIA_VALIDATE_RET( mode == MBEDTLS_ARIA_ENCRYPT ||
+                       mode == MBEDTLS_ARIA_DECRYPT );
+    ARIA_VALIDATE_RET( length == 0 || input  != NULL );
+    ARIA_VALIDATE_RET( length == 0 || output != NULL );
+    ARIA_VALIDATE_RET( iv != NULL );
+    ARIA_VALIDATE_RET( iv_off != NULL );
+
+    n = *iv_off;
+
+    /* An overly large value of n can lead to an unlimited
+     * buffer overflow. Therefore, guard against this
+     * outside of parameter validation. */
+    if( n >= MBEDTLS_ARIA_BLOCKSIZE )
+        return( MBEDTLS_ERR_ARIA_BAD_INPUT_DATA );
 
     if( mode == MBEDTLS_ARIA_DECRYPT )
     {
@@ -713,7 +750,21 @@ int mbedtls_aria_crypt_ctr( mbedtls_aria_context *ctx,
                             unsigned char *output )
 {
     int c, i;
-    size_t n = *nc_off;
+    size_t n;
+
+    ARIA_VALIDATE_RET( ctx != NULL );
+    ARIA_VALIDATE_RET( length == 0 || input  != NULL );
+    ARIA_VALIDATE_RET( length == 0 || output != NULL );
+    ARIA_VALIDATE_RET( nonce_counter != NULL );
+    ARIA_VALIDATE_RET( stream_block  != NULL );
+    ARIA_VALIDATE_RET( nc_off != NULL );
+
+    n = *nc_off;
+    /* An overly large value of n can lead to an unlimited
+     * buffer overflow. Therefore, guard against this
+     * outside of parameter validation. */
+    if( n >= MBEDTLS_ARIA_BLOCKSIZE )
+        return( MBEDTLS_ERR_ARIA_BAD_INPUT_DATA );
 
     while( length-- )
     {
@@ -875,11 +926,11 @@ static const uint8_t aria_test2_ctr_ct[3][48] =         // CTR ciphertext
 #define ARIA_SELF_TEST_IF_FAIL              \
         {                                   \
             if( verbose )                   \
-                printf( "failed\n" );       \
+                mbedtls_printf( "failed\n" );       \
             return( 1 );                    \
         } else {                            \
             if( verbose )                   \
-                printf( "passed\n" );       \
+                mbedtls_printf( "passed\n" );       \
         }
 
 /*
@@ -908,7 +959,7 @@ int mbedtls_aria_self_test( int verbose )
     {
         /* test ECB encryption */
         if( verbose )
-            printf( "  ARIA-ECB-%d (enc): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-ECB-%d (enc): ", 128 + 64 * i );
         mbedtls_aria_setkey_enc( &ctx, aria_test1_ecb_key, 128 + 64 * i );
         mbedtls_aria_crypt_ecb( &ctx, aria_test1_ecb_pt, blk );
         if( memcmp( blk, aria_test1_ecb_ct[i], MBEDTLS_ARIA_BLOCKSIZE ) != 0 )
@@ -916,14 +967,14 @@ int mbedtls_aria_self_test( int verbose )
 
         /* test ECB decryption */
         if( verbose )
-            printf( "  ARIA-ECB-%d (dec): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-ECB-%d (dec): ", 128 + 64 * i );
         mbedtls_aria_setkey_dec( &ctx, aria_test1_ecb_key, 128 + 64 * i );
         mbedtls_aria_crypt_ecb( &ctx, aria_test1_ecb_ct[i], blk );
         if( memcmp( blk, aria_test1_ecb_pt, MBEDTLS_ARIA_BLOCKSIZE ) != 0 )
             ARIA_SELF_TEST_IF_FAIL;
     }
     if( verbose )
-        printf( "\n" );
+        mbedtls_printf( "\n" );
 
     /*
      * Test set 2
@@ -933,7 +984,7 @@ int mbedtls_aria_self_test( int verbose )
     {
         /* Test CBC encryption */
         if( verbose )
-            printf( "  ARIA-CBC-%d (enc): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-CBC-%d (enc): ", 128 + 64 * i );
         mbedtls_aria_setkey_enc( &ctx, aria_test2_key, 128 + 64 * i );
         memcpy( iv, aria_test2_iv, MBEDTLS_ARIA_BLOCKSIZE );
         memset( buf, 0x55, sizeof( buf ) );
@@ -944,7 +995,7 @@ int mbedtls_aria_self_test( int verbose )
 
         /* Test CBC decryption */
         if( verbose )
-            printf( "  ARIA-CBC-%d (dec): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-CBC-%d (dec): ", 128 + 64 * i );
         mbedtls_aria_setkey_dec( &ctx, aria_test2_key, 128 + 64 * i );
         memcpy( iv, aria_test2_iv, MBEDTLS_ARIA_BLOCKSIZE );
         memset( buf, 0xAA, sizeof( buf ) );
@@ -954,7 +1005,7 @@ int mbedtls_aria_self_test( int verbose )
             ARIA_SELF_TEST_IF_FAIL;
     }
     if( verbose )
-        printf( "\n" );
+        mbedtls_printf( "\n" );
 
 #endif /* MBEDTLS_CIPHER_MODE_CBC */
 
@@ -963,7 +1014,7 @@ int mbedtls_aria_self_test( int verbose )
     {
         /* Test CFB encryption */
         if( verbose )
-            printf( "  ARIA-CFB-%d (enc): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-CFB-%d (enc): ", 128 + 64 * i );
         mbedtls_aria_setkey_enc( &ctx, aria_test2_key, 128 + 64 * i );
         memcpy( iv, aria_test2_iv, MBEDTLS_ARIA_BLOCKSIZE );
         memset( buf, 0x55, sizeof( buf ) );
@@ -975,7 +1026,7 @@ int mbedtls_aria_self_test( int verbose )
 
         /* Test CFB decryption */
         if( verbose )
-            printf( "  ARIA-CFB-%d (dec): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-CFB-%d (dec): ", 128 + 64 * i );
         mbedtls_aria_setkey_enc( &ctx, aria_test2_key, 128 + 64 * i );
         memcpy( iv, aria_test2_iv, MBEDTLS_ARIA_BLOCKSIZE );
         memset( buf, 0xAA, sizeof( buf ) );
@@ -986,7 +1037,7 @@ int mbedtls_aria_self_test( int verbose )
             ARIA_SELF_TEST_IF_FAIL;
     }
     if( verbose )
-        printf( "\n" );
+        mbedtls_printf( "\n" );
 #endif /* MBEDTLS_CIPHER_MODE_CFB */
 
 #if defined(MBEDTLS_CIPHER_MODE_CTR)
@@ -994,7 +1045,7 @@ int mbedtls_aria_self_test( int verbose )
     {
         /* Test CTR encryption */
         if( verbose )
-            printf( "  ARIA-CTR-%d (enc): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-CTR-%d (enc): ", 128 + 64 * i );
         mbedtls_aria_setkey_enc( &ctx, aria_test2_key, 128 + 64 * i );
         memset( iv, 0, MBEDTLS_ARIA_BLOCKSIZE );                    // IV = 0
         memset( buf, 0x55, sizeof( buf ) );
@@ -1006,7 +1057,7 @@ int mbedtls_aria_self_test( int verbose )
 
         /* Test CTR decryption */
         if( verbose )
-            printf( "  ARIA-CTR-%d (dec): ", 128 + 64 * i );
+            mbedtls_printf( "  ARIA-CTR-%d (dec): ", 128 + 64 * i );
         mbedtls_aria_setkey_enc( &ctx, aria_test2_key, 128 + 64 * i );
         memset( iv, 0, MBEDTLS_ARIA_BLOCKSIZE );                    // IV = 0
         memset( buf, 0xAA, sizeof( buf ) );
@@ -1017,7 +1068,7 @@ int mbedtls_aria_self_test( int verbose )
             ARIA_SELF_TEST_IF_FAIL;
     }
     if( verbose )
-        printf( "\n" );
+        mbedtls_printf( "\n" );
 #endif /* MBEDTLS_CIPHER_MODE_CTR */
 
     return( 0 );
diff --git a/thirdparty/mbedtls/library/asn1write.c b/thirdparty/mbedtls/library/asn1write.c
index 72acdf3012..a4d23f6196 100644
--- a/thirdparty/mbedtls/library/asn1write.c
+++ b/thirdparty/mbedtls/library/asn1write.c
@@ -257,34 +257,37 @@ int mbedtls_asn1_write_int( unsigned char **p, unsigned char *start, int val )
     return( (int) len );
 }
 
-int mbedtls_asn1_write_printable_string( unsigned char **p, unsigned char *start,
-                                 const char *text, size_t text_len )
+int mbedtls_asn1_write_tagged_string( unsigned char **p, unsigned char *start, int tag,
+    const char *text, size_t text_len )
 {
     int ret;
     size_t len = 0;
 
     MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_raw_buffer( p, start,
-                  (const unsigned char *) text, text_len ) );
+        (const unsigned char *) text, text_len ) );
 
     MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_len( p, start, len ) );
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start, MBEDTLS_ASN1_PRINTABLE_STRING ) );
+    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start, tag ) );
 
     return( (int) len );
 }
 
-int mbedtls_asn1_write_ia5_string( unsigned char **p, unsigned char *start,
-                           const char *text, size_t text_len )
+int mbedtls_asn1_write_utf8_string( unsigned char **p, unsigned char *start,
+    const char *text, size_t text_len )
 {
-    int ret;
-    size_t len = 0;
-
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_raw_buffer( p, start,
-                  (const unsigned char *) text, text_len ) );
+    return( mbedtls_asn1_write_tagged_string(p, start, MBEDTLS_ASN1_UTF8_STRING, text, text_len) );
+}
 
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_len( p, start, len ) );
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start, MBEDTLS_ASN1_IA5_STRING ) );
+int mbedtls_asn1_write_printable_string( unsigned char **p, unsigned char *start,
+                                 const char *text, size_t text_len )
+{
+    return( mbedtls_asn1_write_tagged_string(p, start, MBEDTLS_ASN1_PRINTABLE_STRING, text, text_len) );
+}
 
-    return( (int) len );
+int mbedtls_asn1_write_ia5_string( unsigned char **p, unsigned char *start,
+                           const char *text, size_t text_len )
+{
+    return( mbedtls_asn1_write_tagged_string(p, start, MBEDTLS_ASN1_IA5_STRING, text, text_len) );
 }
 
 int mbedtls_asn1_write_bitstring( unsigned char **p, unsigned char *start,
@@ -328,14 +331,36 @@ int mbedtls_asn1_write_octet_string( unsigned char **p, unsigned char *start,
     return( (int) len );
 }
 
-mbedtls_asn1_named_data *mbedtls_asn1_store_named_data( mbedtls_asn1_named_data **head,
+
+/* This is a copy of the ASN.1 parsing function mbedtls_asn1_find_named_data(),
+ * which is replicated to avoid a dependency ASN1_WRITE_C on ASN1_PARSE_C. */
+static mbedtls_asn1_named_data *asn1_find_named_data(
+                                               mbedtls_asn1_named_data *list,
+                                               const char *oid, size_t len )
+{
+    while( list != NULL )
+    {
+        if( list->oid.len == len &&
+            memcmp( list->oid.p, oid, len ) == 0 )
+        {
+            break;
+        }
+
+        list = list->next;
+    }
+
+    return( list );
+}
+
+mbedtls_asn1_named_data *mbedtls_asn1_store_named_data(
+                                        mbedtls_asn1_named_data **head,
                                         const char *oid, size_t oid_len,
                                         const unsigned char *val,
                                         size_t val_len )
 {
     mbedtls_asn1_named_data *cur;
 
-    if( ( cur = mbedtls_asn1_find_named_data( *head, oid, oid_len ) ) == NULL )
+    if( ( cur = asn1_find_named_data( *head, oid, oid_len ) ) == NULL )
     {
         // Add new entry if not present yet based on OID
         //
diff --git a/thirdparty/mbedtls/library/bignum.c b/thirdparty/mbedtls/library/bignum.c
index 423e375fd1..f968a0ad7d 100644
--- a/thirdparty/mbedtls/library/bignum.c
+++ b/thirdparty/mbedtls/library/bignum.c
@@ -59,6 +59,11 @@
 #define mbedtls_free       free
 #endif
 
+#define MPI_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_MPI_BAD_INPUT_DATA )
+#define MPI_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #define ciL    (sizeof(mbedtls_mpi_uint))         /* chars in limb  */
 #define biL    (ciL << 3)               /* bits  in limb  */
 #define biH    (ciL << 2)               /* half limb size */
@@ -83,8 +88,7 @@ static void mbedtls_mpi_zeroize( mbedtls_mpi_uint *v, size_t n )
  */
 void mbedtls_mpi_init( mbedtls_mpi *X )
 {
-    if( X == NULL )
-        return;
+    MPI_VALIDATE( X != NULL );
 
     X->s = 1;
     X->n = 0;
@@ -116,6 +120,7 @@ void mbedtls_mpi_free( mbedtls_mpi *X )
 int mbedtls_mpi_grow( mbedtls_mpi *X, size_t nblimbs )
 {
     mbedtls_mpi_uint *p;
+    MPI_VALIDATE_RET( X != NULL );
 
     if( nblimbs > MBEDTLS_MPI_MAX_LIMBS )
         return( MBEDTLS_ERR_MPI_ALLOC_FAILED );
@@ -147,6 +152,10 @@ int mbedtls_mpi_shrink( mbedtls_mpi *X, size_t nblimbs )
 {
     mbedtls_mpi_uint *p;
     size_t i;
+    MPI_VALIDATE_RET( X != NULL );
+
+    if( nblimbs > MBEDTLS_MPI_MAX_LIMBS )
+        return( MBEDTLS_ERR_MPI_ALLOC_FAILED );
 
     /* Actually resize up in this case */
     if( X->n <= nblimbs )
@@ -183,6 +192,8 @@ int mbedtls_mpi_copy( mbedtls_mpi *X, const mbedtls_mpi *Y )
 {
     int ret = 0;
     size_t i;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( Y != NULL );
 
     if( X == Y )
         return( 0 );
@@ -222,6 +233,8 @@ cleanup:
 void mbedtls_mpi_swap( mbedtls_mpi *X, mbedtls_mpi *Y )
 {
     mbedtls_mpi T;
+    MPI_VALIDATE( X != NULL );
+    MPI_VALIDATE( Y != NULL );
 
     memcpy( &T,  X, sizeof( mbedtls_mpi ) );
     memcpy(  X,  Y, sizeof( mbedtls_mpi ) );
@@ -237,6 +250,8 @@ int mbedtls_mpi_safe_cond_assign( mbedtls_mpi *X, const mbedtls_mpi *Y, unsigned
 {
     int ret = 0;
     size_t i;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( Y != NULL );
 
     /* make sure assign is 0 or 1 in a time-constant manner */
     assign = (assign | (unsigned char)-assign) >> 7;
@@ -266,6 +281,8 @@ int mbedtls_mpi_safe_cond_swap( mbedtls_mpi *X, mbedtls_mpi *Y, unsigned char sw
     int ret, s;
     size_t i;
     mbedtls_mpi_uint tmp;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( Y != NULL );
 
     if( X == Y )
         return( 0 );
@@ -298,6 +315,7 @@ cleanup:
 int mbedtls_mpi_lset( mbedtls_mpi *X, mbedtls_mpi_sint z )
 {
     int ret;
+    MPI_VALIDATE_RET( X != NULL );
 
     MBEDTLS_MPI_CHK( mbedtls_mpi_grow( X, 1 ) );
     memset( X->p, 0, X->n * ciL );
@@ -315,12 +333,18 @@ cleanup:
  */
 int mbedtls_mpi_get_bit( const mbedtls_mpi *X, size_t pos )
 {
+    MPI_VALIDATE_RET( X != NULL );
+
     if( X->n * biL <= pos )
         return( 0 );
 
     return( ( X->p[pos / biL] >> ( pos % biL ) ) & 0x01 );
 }
 
+/* Get a specific byte, without range checks. */
+#define GET_BYTE( X, i )                                \
+    ( ( ( X )->p[( i ) / ciL] >> ( ( ( i ) % ciL ) * 8 ) ) & 0xff )
+
 /*
  * Set a bit to a specific value of 0 or 1
  */
@@ -329,6 +353,7 @@ int mbedtls_mpi_set_bit( mbedtls_mpi *X, size_t pos, unsigned char val )
     int ret = 0;
     size_t off = pos / biL;
     size_t idx = pos % biL;
+    MPI_VALIDATE_RET( X != NULL );
 
     if( val != 0 && val != 1 )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
@@ -355,6 +380,7 @@ cleanup:
 size_t mbedtls_mpi_lsb( const mbedtls_mpi *X )
 {
     size_t i, j, count = 0;
+    MBEDTLS_INTERNAL_VALIDATE_RET( X != NULL, 0 );
 
     for( i = 0; i < X->n; i++ )
         for( j = 0; j < biL; j++, count++ )
@@ -435,6 +461,8 @@ int mbedtls_mpi_read_string( mbedtls_mpi *X, int radix, const char *s )
     size_t i, j, slen, n;
     mbedtls_mpi_uint d;
     mbedtls_mpi T;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( s != NULL );
 
     if( radix < 2 || radix > 16 )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
@@ -535,6 +563,9 @@ int mbedtls_mpi_write_string( const mbedtls_mpi *X, int radix,
     size_t n;
     char *p;
     mbedtls_mpi T;
+    MPI_VALIDATE_RET( X    != NULL );
+    MPI_VALIDATE_RET( olen != NULL );
+    MPI_VALIDATE_RET( buflen == 0 || buf != NULL );
 
     if( radix < 2 || radix > 16 )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
@@ -616,6 +647,12 @@ int mbedtls_mpi_read_file( mbedtls_mpi *X, int radix, FILE *fin )
      */
     char s[ MBEDTLS_MPI_RW_BUFFER_SIZE ];
 
+    MPI_VALIDATE_RET( X   != NULL );
+    MPI_VALIDATE_RET( fin != NULL );
+
+    if( radix < 2 || radix > 16 )
+        return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
+
     memset( s, 0, sizeof( s ) );
     if( fgets( s, sizeof( s ) - 1, fin ) == NULL )
         return( MBEDTLS_ERR_MPI_FILE_IO_ERROR );
@@ -647,6 +684,10 @@ int mbedtls_mpi_write_file( const char *p, const mbedtls_mpi *X, int radix, FILE
      * newline characters and '\0'
      */
     char s[ MBEDTLS_MPI_RW_BUFFER_SIZE ];
+    MPI_VALIDATE_RET( X != NULL );
+
+    if( radix < 2 || radix > 16 )
+        return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
 
     memset( s, 0, sizeof( s ) );
 
@@ -683,6 +724,9 @@ int mbedtls_mpi_read_binary( mbedtls_mpi *X, const unsigned char *buf, size_t bu
     size_t i, j;
     size_t const limbs = CHARS_TO_LIMBS( buflen );
 
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( buflen == 0 || buf != NULL );
+
     /* Ensure that target MPI has exactly the necessary number of limbs */
     if( X->n != limbs )
     {
@@ -704,19 +748,45 @@ cleanup:
 /*
  * Export X into unsigned binary data, big endian
  */
-int mbedtls_mpi_write_binary( const mbedtls_mpi *X, unsigned char *buf, size_t buflen )
+int mbedtls_mpi_write_binary( const mbedtls_mpi *X,
+                              unsigned char *buf, size_t buflen )
 {
-    size_t i, j, n;
+    size_t stored_bytes;
+    size_t bytes_to_copy;
+    unsigned char *p;
+    size_t i;
 
-    n = mbedtls_mpi_size( X );
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( buflen == 0 || buf != NULL );
 
-    if( buflen < n )
-        return( MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL );
+    stored_bytes = X->n * ciL;
 
-    memset( buf, 0, buflen );
+    if( stored_bytes < buflen )
+    {
+        /* There is enough space in the output buffer. Write initial
+         * null bytes and record the position at which to start
+         * writing the significant bytes. In this case, the execution
+         * trace of this function does not depend on the value of the
+         * number. */
+        bytes_to_copy = stored_bytes;
+        p = buf + buflen - stored_bytes;
+        memset( buf, 0, buflen - stored_bytes );
+    }
+    else
+    {
+        /* The output buffer is smaller than the allocated size of X.
+         * However X may fit if its leading bytes are zero. */
+        bytes_to_copy = buflen;
+        p = buf;
+        for( i = bytes_to_copy; i < stored_bytes; i++ )
+        {
+            if( GET_BYTE( X, i ) != 0 )
+                return( MBEDTLS_ERR_MPI_BUFFER_TOO_SMALL );
+        }
+    }
 
-    for( i = buflen - 1, j = 0; n > 0; i--, j++, n-- )
-        buf[i] = (unsigned char)( X->p[j / ciL] >> ((j % ciL) << 3) );
+    for( i = 0; i < bytes_to_copy; i++ )
+        p[bytes_to_copy - i - 1] = GET_BYTE( X, i );
 
     return( 0 );
 }
@@ -729,6 +799,7 @@ int mbedtls_mpi_shift_l( mbedtls_mpi *X, size_t count )
     int ret;
     size_t i, v0, t1;
     mbedtls_mpi_uint r0 = 0, r1;
+    MPI_VALIDATE_RET( X != NULL );
 
     v0 = count / (biL    );
     t1 = count & (biL - 1);
@@ -778,6 +849,7 @@ int mbedtls_mpi_shift_r( mbedtls_mpi *X, size_t count )
 {
     size_t i, v0, v1;
     mbedtls_mpi_uint r0 = 0, r1;
+    MPI_VALIDATE_RET( X != NULL );
 
     v0 = count /  biL;
     v1 = count & (biL - 1);
@@ -820,6 +892,8 @@ int mbedtls_mpi_shift_r( mbedtls_mpi *X, size_t count )
 int mbedtls_mpi_cmp_abs( const mbedtls_mpi *X, const mbedtls_mpi *Y )
 {
     size_t i, j;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( Y != NULL );
 
     for( i = X->n; i > 0; i-- )
         if( X->p[i - 1] != 0 )
@@ -850,6 +924,8 @@ int mbedtls_mpi_cmp_abs( const mbedtls_mpi *X, const mbedtls_mpi *Y )
 int mbedtls_mpi_cmp_mpi( const mbedtls_mpi *X, const mbedtls_mpi *Y )
 {
     size_t i, j;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( Y != NULL );
 
     for( i = X->n; i > 0; i-- )
         if( X->p[i - 1] != 0 )
@@ -884,6 +960,7 @@ int mbedtls_mpi_cmp_int( const mbedtls_mpi *X, mbedtls_mpi_sint z )
 {
     mbedtls_mpi Y;
     mbedtls_mpi_uint p[1];
+    MPI_VALIDATE_RET( X != NULL );
 
     *p  = ( z < 0 ) ? -z : z;
     Y.s = ( z < 0 ) ? -1 : 1;
@@ -901,6 +978,9 @@ int mbedtls_mpi_add_abs( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi
     int ret;
     size_t i, j;
     mbedtls_mpi_uint *o, *p, c, tmp;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
     if( X == B )
     {
@@ -978,6 +1058,9 @@ int mbedtls_mpi_sub_abs( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi
     mbedtls_mpi TB;
     int ret;
     size_t n;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
     if( mbedtls_mpi_cmp_abs( A, B ) < 0 )
         return( MBEDTLS_ERR_MPI_NEGATIVE_VALUE );
@@ -1018,8 +1101,12 @@ cleanup:
  */
 int mbedtls_mpi_add_mpi( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B )
 {
-    int ret, s = A->s;
+    int ret, s;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
+    s = A->s;
     if( A->s * B->s < 0 )
     {
         if( mbedtls_mpi_cmp_abs( A, B ) >= 0 )
@@ -1049,8 +1136,12 @@ cleanup:
  */
 int mbedtls_mpi_sub_mpi( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *B )
 {
-    int ret, s = A->s;
+    int ret, s;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
+    s = A->s;
     if( A->s * B->s > 0 )
     {
         if( mbedtls_mpi_cmp_abs( A, B ) >= 0 )
@@ -1082,6 +1173,8 @@ int mbedtls_mpi_add_int( mbedtls_mpi *X, const mbedtls_mpi *A, mbedtls_mpi_sint
 {
     mbedtls_mpi _B;
     mbedtls_mpi_uint p[1];
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
 
     p[0] = ( b < 0 ) ? -b : b;
     _B.s = ( b < 0 ) ? -1 : 1;
@@ -1098,6 +1191,8 @@ int mbedtls_mpi_sub_int( mbedtls_mpi *X, const mbedtls_mpi *A, mbedtls_mpi_sint
 {
     mbedtls_mpi _B;
     mbedtls_mpi_uint p[1];
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
 
     p[0] = ( b < 0 ) ? -b : b;
     _B.s = ( b < 0 ) ? -1 : 1;
@@ -1187,6 +1282,9 @@ int mbedtls_mpi_mul_mpi( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi
     int ret;
     size_t i, j;
     mbedtls_mpi TA, TB;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
     mbedtls_mpi_init( &TA ); mbedtls_mpi_init( &TB );
 
@@ -1223,6 +1321,8 @@ int mbedtls_mpi_mul_int( mbedtls_mpi *X, const mbedtls_mpi *A, mbedtls_mpi_uint
 {
     mbedtls_mpi _B;
     mbedtls_mpi_uint p[1];
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
 
     _B.s = 1;
     _B.n = 1;
@@ -1331,11 +1431,14 @@ static mbedtls_mpi_uint mbedtls_int_div_int( mbedtls_mpi_uint u1,
 /*
  * Division by mbedtls_mpi: A = Q * B + R  (HAC 14.20)
  */
-int mbedtls_mpi_div_mpi( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A, const mbedtls_mpi *B )
+int mbedtls_mpi_div_mpi( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A,
+                         const mbedtls_mpi *B )
 {
     int ret;
     size_t i, n, t, k;
     mbedtls_mpi X, Y, Z, T1, T2;
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
     if( mbedtls_mpi_cmp_int( B, 0 ) == 0 )
         return( MBEDTLS_ERR_MPI_DIVISION_BY_ZERO );
@@ -1446,10 +1549,13 @@ cleanup:
 /*
  * Division by int: A = Q * b + R
  */
-int mbedtls_mpi_div_int( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A, mbedtls_mpi_sint b )
+int mbedtls_mpi_div_int( mbedtls_mpi *Q, mbedtls_mpi *R,
+                         const mbedtls_mpi *A,
+                         mbedtls_mpi_sint b )
 {
     mbedtls_mpi _B;
     mbedtls_mpi_uint p[1];
+    MPI_VALIDATE_RET( A != NULL );
 
     p[0] = ( b < 0 ) ? -b : b;
     _B.s = ( b < 0 ) ? -1 : 1;
@@ -1465,6 +1571,9 @@ int mbedtls_mpi_div_int( mbedtls_mpi *Q, mbedtls_mpi *R, const mbedtls_mpi *A, m
 int mbedtls_mpi_mod_mpi( mbedtls_mpi *R, const mbedtls_mpi *A, const mbedtls_mpi *B )
 {
     int ret;
+    MPI_VALIDATE_RET( R != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
 
     if( mbedtls_mpi_cmp_int( B, 0 ) < 0 )
         return( MBEDTLS_ERR_MPI_NEGATIVE_VALUE );
@@ -1489,6 +1598,8 @@ int mbedtls_mpi_mod_int( mbedtls_mpi_uint *r, const mbedtls_mpi *A, mbedtls_mpi_
 {
     size_t i;
     mbedtls_mpi_uint x, y, z;
+    MPI_VALIDATE_RET( r != NULL );
+    MPI_VALIDATE_RET( A != NULL );
 
     if( b == 0 )
         return( MBEDTLS_ERR_MPI_DIVISION_BY_ZERO );
@@ -1602,7 +1713,8 @@ static int mpi_montmul( mbedtls_mpi *A, const mbedtls_mpi *B, const mbedtls_mpi
 /*
  * Montgomery reduction: A = A * R^-1 mod N
  */
-static int mpi_montred( mbedtls_mpi *A, const mbedtls_mpi *N, mbedtls_mpi_uint mm, const mbedtls_mpi *T )
+static int mpi_montred( mbedtls_mpi *A, const mbedtls_mpi *N,
+                        mbedtls_mpi_uint mm, const mbedtls_mpi *T )
 {
     mbedtls_mpi_uint z = 1;
     mbedtls_mpi U;
@@ -1616,7 +1728,9 @@ static int mpi_montred( mbedtls_mpi *A, const mbedtls_mpi *N, mbedtls_mpi_uint m
 /*
  * Sliding-window exponentiation: X = A^E mod N  (HAC 14.85)
  */
-int mbedtls_mpi_exp_mod( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi *E, const mbedtls_mpi *N, mbedtls_mpi *_RR )
+int mbedtls_mpi_exp_mod( mbedtls_mpi *X, const mbedtls_mpi *A,
+                         const mbedtls_mpi *E, const mbedtls_mpi *N,
+                         mbedtls_mpi *_RR )
 {
     int ret;
     size_t wbits, wsize, one = 1;
@@ -1626,6 +1740,11 @@ int mbedtls_mpi_exp_mod( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi
     mbedtls_mpi RR, T, W[ 2 << MBEDTLS_MPI_WINDOW_SIZE ], Apos;
     int neg;
 
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( E != NULL );
+    MPI_VALIDATE_RET( N != NULL );
+
     if( mbedtls_mpi_cmp_int( N, 0 ) <= 0 || ( N->p[0] & 1 ) == 0 )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
 
@@ -1830,6 +1949,10 @@ int mbedtls_mpi_gcd( mbedtls_mpi *G, const mbedtls_mpi *A, const mbedtls_mpi *B
     size_t lz, lzt;
     mbedtls_mpi TG, TA, TB;
 
+    MPI_VALIDATE_RET( G != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( B != NULL );
+
     mbedtls_mpi_init( &TG ); mbedtls_mpi_init( &TA ); mbedtls_mpi_init( &TB );
 
     MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &TA, A ) );
@@ -1886,6 +2009,8 @@ int mbedtls_mpi_fill_random( mbedtls_mpi *X, size_t size,
 {
     int ret;
     unsigned char buf[MBEDTLS_MPI_MAX_SIZE];
+    MPI_VALIDATE_RET( X     != NULL );
+    MPI_VALIDATE_RET( f_rng != NULL );
 
     if( size > MBEDTLS_MPI_MAX_SIZE )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
@@ -1905,6 +2030,9 @@ int mbedtls_mpi_inv_mod( mbedtls_mpi *X, const mbedtls_mpi *A, const mbedtls_mpi
 {
     int ret;
     mbedtls_mpi G, TA, TU, U1, U2, TB, TV, V1, V2;
+    MPI_VALIDATE_RET( X != NULL );
+    MPI_VALIDATE_RET( A != NULL );
+    MPI_VALIDATE_RET( N != NULL );
 
     if( mbedtls_mpi_cmp_int( N, 1 ) <= 0 )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
@@ -2056,15 +2184,19 @@ cleanup:
 /*
  * Miller-Rabin pseudo-primality test  (HAC 4.24)
  */
-static int mpi_miller_rabin( const mbedtls_mpi *X,
+static int mpi_miller_rabin( const mbedtls_mpi *X, size_t rounds,
                              int (*f_rng)(void *, unsigned char *, size_t),
                              void *p_rng )
 {
     int ret, count;
-    size_t i, j, k, n, s;
+    size_t i, j, k, s;
     mbedtls_mpi W, R, T, A, RR;
 
-    mbedtls_mpi_init( &W ); mbedtls_mpi_init( &R ); mbedtls_mpi_init( &T ); mbedtls_mpi_init( &A );
+    MPI_VALIDATE_RET( X     != NULL );
+    MPI_VALIDATE_RET( f_rng != NULL );
+
+    mbedtls_mpi_init( &W ); mbedtls_mpi_init( &R );
+    mbedtls_mpi_init( &T ); mbedtls_mpi_init( &A );
     mbedtls_mpi_init( &RR );
 
     /*
@@ -2077,27 +2209,12 @@ static int mpi_miller_rabin( const mbedtls_mpi *X,
     MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( &R, s ) );
 
     i = mbedtls_mpi_bitlen( X );
-    /*
-     * HAC, table 4.4
-     */
-    n = ( ( i >= 1300 ) ?  2 : ( i >=  850 ) ?  3 :
-          ( i >=  650 ) ?  4 : ( i >=  350 ) ?  8 :
-          ( i >=  250 ) ? 12 : ( i >=  150 ) ? 18 : 27 );
 
-    for( i = 0; i < n; i++ )
+    for( i = 0; i < rounds; i++ )
     {
         /*
          * pick a random A, 1 < A < |X| - 1
          */
-        MBEDTLS_MPI_CHK( mbedtls_mpi_fill_random( &A, X->n * ciL, f_rng, p_rng ) );
-
-        if( mbedtls_mpi_cmp_mpi( &A, &W ) >= 0 )
-        {
-            j = mbedtls_mpi_bitlen( &A ) - mbedtls_mpi_bitlen( &W );
-            MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( &A, j + 1 ) );
-        }
-        A.p[0] |= 3;
-
         count = 0;
         do {
             MBEDTLS_MPI_CHK( mbedtls_mpi_fill_random( &A, X->n * ciL, f_rng, p_rng ) );
@@ -2105,7 +2222,7 @@ static int mpi_miller_rabin( const mbedtls_mpi *X,
             j = mbedtls_mpi_bitlen( &A );
             k = mbedtls_mpi_bitlen( &W );
             if (j > k) {
-                MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( &A, j - k ) );
+                A.p[A.n - 1] &= ( (mbedtls_mpi_uint) 1 << ( k - ( A.n - 1 ) * biL - 1 ) ) - 1;
             }
 
             if (count++ > 30) {
@@ -2151,7 +2268,8 @@ static int mpi_miller_rabin( const mbedtls_mpi *X,
     }
 
 cleanup:
-    mbedtls_mpi_free( &W ); mbedtls_mpi_free( &R ); mbedtls_mpi_free( &T ); mbedtls_mpi_free( &A );
+    mbedtls_mpi_free( &W ); mbedtls_mpi_free( &R );
+    mbedtls_mpi_free( &T ); mbedtls_mpi_free( &A );
     mbedtls_mpi_free( &RR );
 
     return( ret );
@@ -2160,12 +2278,14 @@ cleanup:
 /*
  * Pseudo-primality test: small factors, then Miller-Rabin
  */
-int mbedtls_mpi_is_prime( const mbedtls_mpi *X,
-                  int (*f_rng)(void *, unsigned char *, size_t),
-                  void *p_rng )
+int mbedtls_mpi_is_prime_ext( const mbedtls_mpi *X, int rounds,
+                              int (*f_rng)(void *, unsigned char *, size_t),
+                              void *p_rng )
 {
     int ret;
     mbedtls_mpi XX;
+    MPI_VALIDATE_RET( X     != NULL );
+    MPI_VALIDATE_RET( f_rng != NULL );
 
     XX.s = 1;
     XX.n = X->n;
@@ -2186,17 +2306,37 @@ int mbedtls_mpi_is_prime( const mbedtls_mpi *X,
         return( ret );
     }
 
-    return( mpi_miller_rabin( &XX, f_rng, p_rng ) );
+    return( mpi_miller_rabin( &XX, rounds, f_rng, p_rng ) );
+}
+
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+/*
+ * Pseudo-primality test, error probability 2^-80
+ */
+int mbedtls_mpi_is_prime( const mbedtls_mpi *X,
+                  int (*f_rng)(void *, unsigned char *, size_t),
+                  void *p_rng )
+{
+    MPI_VALIDATE_RET( X     != NULL );
+    MPI_VALIDATE_RET( f_rng != NULL );
+
+    /*
+     * In the past our key generation aimed for an error rate of at most
+     * 2^-80. Since this function is deprecated, aim for the same certainty
+     * here as well.
+     */
+    return( mbedtls_mpi_is_prime_ext( X, 40, f_rng, p_rng ) );
 }
+#endif
 
 /*
  * Prime number generation
  *
- * If dh_flag is 0 and nbits is at least 1024, then the procedure
- * follows the RSA probably-prime generation method of FIPS 186-4.
- * NB. FIPS 186-4 only allows the specific bit lengths of 1024 and 1536.
+ * To generate an RSA key in a way recommended by FIPS 186-4, both primes must
+ * be either 1024 bits or 1536 bits long, and flags must contain
+ * MBEDTLS_MPI_GEN_PRIME_FLAG_LOW_ERR.
  */
-int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int dh_flag,
+int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int flags,
                    int (*f_rng)(void *, unsigned char *, size_t),
                    void *p_rng )
 {
@@ -2209,9 +2349,13 @@ int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int dh_flag,
 #endif
     int ret = MBEDTLS_ERR_MPI_NOT_ACCEPTABLE;
     size_t k, n;
+    int rounds;
     mbedtls_mpi_uint r;
     mbedtls_mpi Y;
 
+    MPI_VALIDATE_RET( X     != NULL );
+    MPI_VALIDATE_RET( f_rng != NULL );
+
     if( nbits < 3 || nbits > MBEDTLS_MPI_MAX_BITS )
         return( MBEDTLS_ERR_MPI_BAD_INPUT_DATA );
 
@@ -2219,6 +2363,27 @@ int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int dh_flag,
 
     n = BITS_TO_LIMBS( nbits );
 
+    if( ( flags & MBEDTLS_MPI_GEN_PRIME_FLAG_LOW_ERR ) == 0 )
+    {
+        /*
+         * 2^-80 error probability, number of rounds chosen per HAC, table 4.4
+         */
+        rounds = ( ( nbits >= 1300 ) ?  2 : ( nbits >=  850 ) ?  3 :
+                   ( nbits >=  650 ) ?  4 : ( nbits >=  350 ) ?  8 :
+                   ( nbits >=  250 ) ? 12 : ( nbits >=  150 ) ? 18 : 27 );
+    }
+    else
+    {
+        /*
+         * 2^-100 error probability, number of rounds computed based on HAC,
+         * fact 4.48
+         */
+        rounds = ( ( nbits >= 1450 ) ?  4 : ( nbits >=  1150 ) ?  5 :
+                   ( nbits >= 1000 ) ?  6 : ( nbits >=   850 ) ?  7 :
+                   ( nbits >=  750 ) ?  8 : ( nbits >=   500 ) ? 13 :
+                   ( nbits >=  250 ) ? 28 : ( nbits >=   150 ) ? 40 : 51 );
+    }
+
     while( 1 )
     {
         MBEDTLS_MPI_CHK( mbedtls_mpi_fill_random( X, n * ciL, f_rng, p_rng ) );
@@ -2229,9 +2394,9 @@ int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int dh_flag,
         if( k > nbits ) MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( X, k - nbits ) );
         X->p[0] |= 1;
 
-        if( dh_flag == 0 )
+        if( ( flags & MBEDTLS_MPI_GEN_PRIME_FLAG_DH ) == 0 )
         {
-            ret = mbedtls_mpi_is_prime( X, f_rng, p_rng );
+            ret = mbedtls_mpi_is_prime_ext( X, rounds, f_rng, p_rng );
 
             if( ret != MBEDTLS_ERR_MPI_NOT_ACCEPTABLE )
                 goto cleanup;
@@ -2264,8 +2429,10 @@ int mbedtls_mpi_gen_prime( mbedtls_mpi *X, size_t nbits, int dh_flag,
                  */
                 if( ( ret = mpi_check_small_factors(  X         ) ) == 0 &&
                     ( ret = mpi_check_small_factors( &Y         ) ) == 0 &&
-                    ( ret = mpi_miller_rabin(  X, f_rng, p_rng  ) ) == 0 &&
-                    ( ret = mpi_miller_rabin( &Y, f_rng, p_rng  ) ) == 0 )
+                    ( ret = mpi_miller_rabin(  X, rounds, f_rng, p_rng  ) )
+                                                                    == 0 &&
+                    ( ret = mpi_miller_rabin( &Y, rounds, f_rng, p_rng  ) )
+                                                                    == 0 )
                     goto cleanup;
 
                 if( ret != MBEDTLS_ERR_MPI_NOT_ACCEPTABLE )
diff --git a/thirdparty/mbedtls/library/blowfish.c b/thirdparty/mbedtls/library/blowfish.c
index 5b6bb9885f..cbf9238246 100644
--- a/thirdparty/mbedtls/library/blowfish.c
+++ b/thirdparty/mbedtls/library/blowfish.c
@@ -40,6 +40,12 @@
 
 #if !defined(MBEDTLS_BLOWFISH_ALT)
 
+/* Parameter validation macros */
+#define BLOWFISH_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_BLOWFISH_BAD_INPUT_DATA )
+#define BLOWFISH_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * 32-bit integer manipulation macros (big endian)
  */
@@ -153,6 +159,7 @@ static void blowfish_dec( mbedtls_blowfish_context *ctx, uint32_t *xl, uint32_t
 
 void mbedtls_blowfish_init( mbedtls_blowfish_context *ctx )
 {
+    BLOWFISH_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_blowfish_context ) );
 }
 
@@ -167,16 +174,20 @@ void mbedtls_blowfish_free( mbedtls_blowfish_context *ctx )
 /*
  * Blowfish key schedule
  */
-int mbedtls_blowfish_setkey( mbedtls_blowfish_context *ctx, const unsigned char *key,
-                     unsigned int keybits )
+int mbedtls_blowfish_setkey( mbedtls_blowfish_context *ctx,
+                             const unsigned char *key,
+                             unsigned int keybits )
 {
     unsigned int i, j, k;
     uint32_t data, datal, datar;
+    BLOWFISH_VALIDATE_RET( ctx != NULL );
+    BLOWFISH_VALIDATE_RET( key != NULL );
 
-    if( keybits < MBEDTLS_BLOWFISH_MIN_KEY_BITS || keybits > MBEDTLS_BLOWFISH_MAX_KEY_BITS ||
-        ( keybits % 8 ) )
+    if( keybits < MBEDTLS_BLOWFISH_MIN_KEY_BITS    ||
+        keybits > MBEDTLS_BLOWFISH_MAX_KEY_BITS    ||
+        keybits % 8 != 0 )
     {
-        return( MBEDTLS_ERR_BLOWFISH_INVALID_KEY_LENGTH );
+        return( MBEDTLS_ERR_BLOWFISH_BAD_INPUT_DATA );
     }
 
     keybits >>= 3;
@@ -231,6 +242,11 @@ int mbedtls_blowfish_crypt_ecb( mbedtls_blowfish_context *ctx,
                     unsigned char output[MBEDTLS_BLOWFISH_BLOCKSIZE] )
 {
     uint32_t X0, X1;
+    BLOWFISH_VALIDATE_RET( ctx != NULL );
+    BLOWFISH_VALIDATE_RET( mode == MBEDTLS_BLOWFISH_ENCRYPT ||
+                           mode == MBEDTLS_BLOWFISH_DECRYPT );
+    BLOWFISH_VALIDATE_RET( input  != NULL );
+    BLOWFISH_VALIDATE_RET( output != NULL );
 
     GET_UINT32_BE( X0, input,  0 );
     GET_UINT32_BE( X1, input,  4 );
@@ -263,6 +279,12 @@ int mbedtls_blowfish_crypt_cbc( mbedtls_blowfish_context *ctx,
 {
     int i;
     unsigned char temp[MBEDTLS_BLOWFISH_BLOCKSIZE];
+    BLOWFISH_VALIDATE_RET( ctx != NULL );
+    BLOWFISH_VALIDATE_RET( mode == MBEDTLS_BLOWFISH_ENCRYPT ||
+                           mode == MBEDTLS_BLOWFISH_DECRYPT );
+    BLOWFISH_VALIDATE_RET( iv != NULL );
+    BLOWFISH_VALIDATE_RET( length == 0 || input  != NULL );
+    BLOWFISH_VALIDATE_RET( length == 0 || output != NULL );
 
     if( length % MBEDTLS_BLOWFISH_BLOCKSIZE )
         return( MBEDTLS_ERR_BLOWFISH_INVALID_INPUT_LENGTH );
@@ -317,7 +339,19 @@ int mbedtls_blowfish_crypt_cfb64( mbedtls_blowfish_context *ctx,
                        unsigned char *output )
 {
     int c;
-    size_t n = *iv_off;
+    size_t n;
+
+    BLOWFISH_VALIDATE_RET( ctx != NULL );
+    BLOWFISH_VALIDATE_RET( mode == MBEDTLS_BLOWFISH_ENCRYPT ||
+                           mode == MBEDTLS_BLOWFISH_DECRYPT );
+    BLOWFISH_VALIDATE_RET( iv     != NULL );
+    BLOWFISH_VALIDATE_RET( iv_off != NULL );
+    BLOWFISH_VALIDATE_RET( length == 0 || input  != NULL );
+    BLOWFISH_VALIDATE_RET( length == 0 || output != NULL );
+
+    n = *iv_off;
+    if( n >= 8 )
+        return( MBEDTLS_ERR_BLOWFISH_BAD_INPUT_DATA );
 
     if( mode == MBEDTLS_BLOWFISH_DECRYPT )
     {
@@ -365,7 +399,17 @@ int mbedtls_blowfish_crypt_ctr( mbedtls_blowfish_context *ctx,
                        unsigned char *output )
 {
     int c, i;
-    size_t n = *nc_off;
+    size_t n;
+    BLOWFISH_VALIDATE_RET( ctx != NULL );
+    BLOWFISH_VALIDATE_RET( nonce_counter != NULL );
+    BLOWFISH_VALIDATE_RET( stream_block  != NULL );
+    BLOWFISH_VALIDATE_RET( nc_off != NULL );
+    BLOWFISH_VALIDATE_RET( length == 0 || input  != NULL );
+    BLOWFISH_VALIDATE_RET( length == 0 || output != NULL );
+
+    n = *nc_off;
+    if( n >= 8 )
+        return( MBEDTLS_ERR_BLOWFISH_BAD_INPUT_DATA );
 
     while( length-- )
     {
diff --git a/thirdparty/mbedtls/library/camellia.c b/thirdparty/mbedtls/library/camellia.c
index 41b7da0fae..22262b89a8 100644
--- a/thirdparty/mbedtls/library/camellia.c
+++ b/thirdparty/mbedtls/library/camellia.c
@@ -49,6 +49,12 @@
 
 #if !defined(MBEDTLS_CAMELLIA_ALT)
 
+/* Parameter validation macros */
+#define CAMELLIA_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_CAMELLIA_BAD_INPUT_DATA )
+#define CAMELLIA_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * 32-bit integer manipulation macros (big endian)
  */
@@ -321,6 +327,7 @@ static void camellia_feistel( const uint32_t x[2], const uint32_t k[2],
 
 void mbedtls_camellia_init( mbedtls_camellia_context *ctx )
 {
+    CAMELLIA_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_camellia_context ) );
 }
 
@@ -335,8 +342,9 @@ void mbedtls_camellia_free( mbedtls_camellia_context *ctx )
 /*
  * Camellia key schedule (encryption)
  */
-int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx, const unsigned char *key,
-                         unsigned int keybits )
+int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx,
+                                 const unsigned char *key,
+                                 unsigned int keybits )
 {
     int idx;
     size_t i;
@@ -346,6 +354,9 @@ int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx, const unsigned c
     uint32_t KC[16];
     uint32_t TK[20];
 
+    CAMELLIA_VALIDATE_RET( ctx != NULL );
+    CAMELLIA_VALIDATE_RET( key != NULL );
+
     RK = ctx->rk;
 
     memset( t, 0, 64 );
@@ -356,7 +367,7 @@ int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx, const unsigned c
         case 128: ctx->nr = 3; idx = 0; break;
         case 192:
         case 256: ctx->nr = 4; idx = 1; break;
-        default : return( MBEDTLS_ERR_CAMELLIA_INVALID_KEY_LENGTH );
+        default : return( MBEDTLS_ERR_CAMELLIA_BAD_INPUT_DATA );
     }
 
     for( i = 0; i < keybits / 8; ++i )
@@ -440,14 +451,17 @@ int mbedtls_camellia_setkey_enc( mbedtls_camellia_context *ctx, const unsigned c
 /*
  * Camellia key schedule (decryption)
  */
-int mbedtls_camellia_setkey_dec( mbedtls_camellia_context *ctx, const unsigned char *key,
-                         unsigned int keybits )
+int mbedtls_camellia_setkey_dec( mbedtls_camellia_context *ctx,
+                                 const unsigned char *key,
+                                 unsigned int keybits )
 {
     int idx, ret;
     size_t i;
     mbedtls_camellia_context cty;
     uint32_t *RK;
     uint32_t *SK;
+    CAMELLIA_VALIDATE_RET( ctx != NULL );
+    CAMELLIA_VALIDATE_RET( key != NULL );
 
     mbedtls_camellia_init( &cty );
 
@@ -495,6 +509,11 @@ int mbedtls_camellia_crypt_ecb( mbedtls_camellia_context *ctx,
 {
     int NR;
     uint32_t *RK, X[4];
+    CAMELLIA_VALIDATE_RET( ctx != NULL );
+    CAMELLIA_VALIDATE_RET( mode == MBEDTLS_CAMELLIA_ENCRYPT ||
+                           mode == MBEDTLS_CAMELLIA_DECRYPT );
+    CAMELLIA_VALIDATE_RET( input  != NULL );
+    CAMELLIA_VALIDATE_RET( output != NULL );
 
     ( (void) mode );
 
@@ -552,14 +571,20 @@ int mbedtls_camellia_crypt_ecb( mbedtls_camellia_context *ctx,
  * Camellia-CBC buffer encryption/decryption
  */
 int mbedtls_camellia_crypt_cbc( mbedtls_camellia_context *ctx,
-                    int mode,
-                    size_t length,
-                    unsigned char iv[16],
-                    const unsigned char *input,
-                    unsigned char *output )
+                                int mode,
+                                size_t length,
+                                unsigned char iv[16],
+                                const unsigned char *input,
+                                unsigned char *output )
 {
     int i;
     unsigned char temp[16];
+    CAMELLIA_VALIDATE_RET( ctx != NULL );
+    CAMELLIA_VALIDATE_RET( mode == MBEDTLS_CAMELLIA_ENCRYPT ||
+                           mode == MBEDTLS_CAMELLIA_DECRYPT );
+    CAMELLIA_VALIDATE_RET( iv != NULL );
+    CAMELLIA_VALIDATE_RET( length == 0 || input  != NULL );
+    CAMELLIA_VALIDATE_RET( length == 0 || output != NULL );
 
     if( length % 16 )
         return( MBEDTLS_ERR_CAMELLIA_INVALID_INPUT_LENGTH );
@@ -614,7 +639,18 @@ int mbedtls_camellia_crypt_cfb128( mbedtls_camellia_context *ctx,
                        unsigned char *output )
 {
     int c;
-    size_t n = *iv_off;
+    size_t n;
+    CAMELLIA_VALIDATE_RET( ctx != NULL );
+    CAMELLIA_VALIDATE_RET( mode == MBEDTLS_CAMELLIA_ENCRYPT ||
+                           mode == MBEDTLS_CAMELLIA_DECRYPT );
+    CAMELLIA_VALIDATE_RET( iv     != NULL );
+    CAMELLIA_VALIDATE_RET( iv_off != NULL );
+    CAMELLIA_VALIDATE_RET( length == 0 || input  != NULL );
+    CAMELLIA_VALIDATE_RET( length == 0 || output != NULL );
+
+    n = *iv_off;
+    if( n >= 16 )
+        return( MBEDTLS_ERR_CAMELLIA_BAD_INPUT_DATA );
 
     if( mode == MBEDTLS_CAMELLIA_DECRYPT )
     {
@@ -662,7 +698,17 @@ int mbedtls_camellia_crypt_ctr( mbedtls_camellia_context *ctx,
                        unsigned char *output )
 {
     int c, i;
-    size_t n = *nc_off;
+    size_t n;
+    CAMELLIA_VALIDATE_RET( ctx != NULL );
+    CAMELLIA_VALIDATE_RET( nonce_counter != NULL );
+    CAMELLIA_VALIDATE_RET( stream_block  != NULL );
+    CAMELLIA_VALIDATE_RET( nc_off != NULL );
+    CAMELLIA_VALIDATE_RET( length == 0 || input  != NULL );
+    CAMELLIA_VALIDATE_RET( length == 0 || output != NULL );
+
+    n = *nc_off;
+    if( n >= 16 )
+        return( MBEDTLS_ERR_CAMELLIA_BAD_INPUT_DATA );
 
     while( length-- )
     {
diff --git a/thirdparty/mbedtls/library/ccm.c b/thirdparty/mbedtls/library/ccm.c
index 804eaf80f1..01e58b0436 100644
--- a/thirdparty/mbedtls/library/ccm.c
+++ b/thirdparty/mbedtls/library/ccm.c
@@ -52,6 +52,11 @@
 
 #if !defined(MBEDTLS_CCM_ALT)
 
+#define CCM_VALIDATE_RET( cond ) \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_CCM_BAD_INPUT )
+#define CCM_VALIDATE( cond ) \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #define CCM_ENCRYPT 0
 #define CCM_DECRYPT 1
 
@@ -60,6 +65,7 @@
  */
 void mbedtls_ccm_init( mbedtls_ccm_context *ctx )
 {
+    CCM_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_ccm_context ) );
 }
 
@@ -71,6 +77,9 @@ int mbedtls_ccm_setkey( mbedtls_ccm_context *ctx,
     int ret;
     const mbedtls_cipher_info_t *cipher_info;
 
+    CCM_VALIDATE_RET( ctx != NULL );
+    CCM_VALIDATE_RET( key != NULL );
+
     cipher_info = mbedtls_cipher_info_from_values( cipher, keybits, MBEDTLS_MODE_ECB );
     if( cipher_info == NULL )
         return( MBEDTLS_ERR_CCM_BAD_INPUT );
@@ -97,6 +106,8 @@ int mbedtls_ccm_setkey( mbedtls_ccm_context *ctx,
  */
 void mbedtls_ccm_free( mbedtls_ccm_context *ctx )
 {
+    if( ctx == NULL )
+        return;
     mbedtls_cipher_free( &ctx->cipher_ctx );
     mbedtls_platform_zeroize( ctx, sizeof( mbedtls_ccm_context ) );
 }
@@ -310,6 +321,12 @@ int mbedtls_ccm_star_encrypt_and_tag( mbedtls_ccm_context *ctx, size_t length,
                          const unsigned char *input, unsigned char *output,
                          unsigned char *tag, size_t tag_len )
 {
+    CCM_VALIDATE_RET( ctx != NULL );
+    CCM_VALIDATE_RET( iv != NULL );
+    CCM_VALIDATE_RET( add_len == 0 || add != NULL );
+    CCM_VALIDATE_RET( length == 0 || input != NULL );
+    CCM_VALIDATE_RET( length == 0 || output != NULL );
+    CCM_VALIDATE_RET( tag_len == 0 || tag != NULL );
     return( ccm_auth_crypt( ctx, CCM_ENCRYPT, length, iv, iv_len,
                             add, add_len, input, output, tag, tag_len ) );
 }
@@ -320,6 +337,12 @@ int mbedtls_ccm_encrypt_and_tag( mbedtls_ccm_context *ctx, size_t length,
                          const unsigned char *input, unsigned char *output,
                          unsigned char *tag, size_t tag_len )
 {
+    CCM_VALIDATE_RET( ctx != NULL );
+    CCM_VALIDATE_RET( iv != NULL );
+    CCM_VALIDATE_RET( add_len == 0 || add != NULL );
+    CCM_VALIDATE_RET( length == 0 || input != NULL );
+    CCM_VALIDATE_RET( length == 0 || output != NULL );
+    CCM_VALIDATE_RET( tag_len == 0 || tag != NULL );
     if( tag_len == 0 )
         return( MBEDTLS_ERR_CCM_BAD_INPUT );
 
@@ -341,6 +364,13 @@ int mbedtls_ccm_star_auth_decrypt( mbedtls_ccm_context *ctx, size_t length,
     unsigned char i;
     int diff;
 
+    CCM_VALIDATE_RET( ctx != NULL );
+    CCM_VALIDATE_RET( iv != NULL );
+    CCM_VALIDATE_RET( add_len == 0 || add != NULL );
+    CCM_VALIDATE_RET( length == 0 || input != NULL );
+    CCM_VALIDATE_RET( length == 0 || output != NULL );
+    CCM_VALIDATE_RET( tag_len == 0 || tag != NULL );
+
     if( ( ret = ccm_auth_crypt( ctx, CCM_DECRYPT, length,
                                 iv, iv_len, add, add_len,
                                 input, output, check_tag, tag_len ) ) != 0 )
@@ -367,6 +397,13 @@ int mbedtls_ccm_auth_decrypt( mbedtls_ccm_context *ctx, size_t length,
                       const unsigned char *input, unsigned char *output,
                       const unsigned char *tag, size_t tag_len )
 {
+    CCM_VALIDATE_RET( ctx != NULL );
+    CCM_VALIDATE_RET( iv != NULL );
+    CCM_VALIDATE_RET( add_len == 0 || add != NULL );
+    CCM_VALIDATE_RET( length == 0 || input != NULL );
+    CCM_VALIDATE_RET( length == 0 || output != NULL );
+    CCM_VALIDATE_RET( tag_len == 0 || tag != NULL );
+
     if( tag_len == 0 )
         return( MBEDTLS_ERR_CCM_BAD_INPUT );
 
@@ -381,7 +418,8 @@ int mbedtls_ccm_auth_decrypt( mbedtls_ccm_context *ctx, size_t length,
  */
 
 #define NB_TESTS 3
-
+#define CCM_SELFTEST_PT_MAX_LEN 24
+#define CCM_SELFTEST_CT_MAX_LEN 32
 /*
  * The data is the same for all tests, only the used length changes
  */
@@ -401,7 +439,7 @@ static const unsigned char ad[] = {
     0x10, 0x11, 0x12, 0x13
 };
 
-static const unsigned char msg[] = {
+static const unsigned char msg[CCM_SELFTEST_PT_MAX_LEN] = {
     0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
     0x28, 0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e, 0x2f,
     0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37,
@@ -412,7 +450,7 @@ static const size_t add_len[NB_TESTS] = { 8, 16, 20 };
 static const size_t msg_len[NB_TESTS] = { 4, 16, 24 };
 static const size_t tag_len[NB_TESTS] = { 4, 6,  8  };
 
-static const unsigned char res[NB_TESTS][32] = {
+static const unsigned char res[NB_TESTS][CCM_SELFTEST_CT_MAX_LEN] = {
     {   0x71, 0x62, 0x01, 0x5b, 0x4d, 0xac, 0x25, 0x5d },
     {   0xd2, 0xa1, 0xf0, 0xe0, 0x51, 0xea, 0x5f, 0x62,
         0x08, 0x1a, 0x77, 0x92, 0x07, 0x3d, 0x59, 0x3d,
@@ -426,7 +464,13 @@ static const unsigned char res[NB_TESTS][32] = {
 int mbedtls_ccm_self_test( int verbose )
 {
     mbedtls_ccm_context ctx;
-    unsigned char out[32];
+    /*
+     * Some hardware accelerators require the input and output buffers
+     * would be in RAM, because the flash is not accessible.
+     * Use buffers on the stack to hold the test vectors data.
+     */
+    unsigned char plaintext[CCM_SELFTEST_PT_MAX_LEN];
+    unsigned char ciphertext[CCM_SELFTEST_CT_MAX_LEN];
     size_t i;
     int ret;
 
@@ -445,27 +489,32 @@ int mbedtls_ccm_self_test( int verbose )
         if( verbose != 0 )
             mbedtls_printf( "  CCM-AES #%u: ", (unsigned int) i + 1 );
 
+        memset( plaintext, 0, CCM_SELFTEST_PT_MAX_LEN );
+        memset( ciphertext, 0, CCM_SELFTEST_CT_MAX_LEN );
+        memcpy( plaintext, msg, msg_len[i] );
+
         ret = mbedtls_ccm_encrypt_and_tag( &ctx, msg_len[i],
-                                   iv, iv_len[i], ad, add_len[i],
-                                   msg, out,
-                                   out + msg_len[i], tag_len[i] );
+                                           iv, iv_len[i], ad, add_len[i],
+                                           plaintext, ciphertext,
+                                           ciphertext + msg_len[i], tag_len[i] );
 
         if( ret != 0 ||
-            memcmp( out, res[i], msg_len[i] + tag_len[i] ) != 0 )
+            memcmp( ciphertext, res[i], msg_len[i] + tag_len[i] ) != 0 )
         {
             if( verbose != 0 )
                 mbedtls_printf( "failed\n" );
 
             return( 1 );
         }
+        memset( plaintext, 0, CCM_SELFTEST_PT_MAX_LEN );
 
         ret = mbedtls_ccm_auth_decrypt( &ctx, msg_len[i],
-                                iv, iv_len[i], ad, add_len[i],
-                                res[i], out,
-                                res[i] + msg_len[i], tag_len[i] );
+                                        iv, iv_len[i], ad, add_len[i],
+                                        ciphertext, plaintext,
+                                        ciphertext + msg_len[i], tag_len[i] );
 
         if( ret != 0 ||
-            memcmp( out, msg, msg_len[i] ) != 0 )
+            memcmp( plaintext, msg, msg_len[i] ) != 0 )
         {
             if( verbose != 0 )
                 mbedtls_printf( "failed\n" );
diff --git a/thirdparty/mbedtls/library/certs.c b/thirdparty/mbedtls/library/certs.c
index f1379b8cb1..ff0f11e923 100644
--- a/thirdparty/mbedtls/library/certs.c
+++ b/thirdparty/mbedtls/library/certs.c
@@ -218,12 +218,13 @@ const size_t mbedtls_test_ca_key_rsa_len = sizeof( mbedtls_test_ca_key_rsa );
 const char mbedtls_test_ca_pwd_rsa[] = "PolarSSLTest";
 const size_t mbedtls_test_ca_pwd_rsa_len = sizeof( mbedtls_test_ca_pwd_rsa ) - 1;
 
+/* tests/data_files/server2.crt */
 const char mbedtls_test_srv_crt_rsa[] =
 "-----BEGIN CERTIFICATE-----\r\n"
 "MIIDNzCCAh+gAwIBAgIBAjANBgkqhkiG9w0BAQUFADA7MQswCQYDVQQGEwJOTDER\r\n"
-"MA8GA1UEChMIUG9sYXJTU0wxGTAXBgNVBAMTEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n"
+"MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n"
 "MTEwMjEyMTQ0NDA2WhcNMjEwMjEyMTQ0NDA2WjA0MQswCQYDVQQGEwJOTDERMA8G\r\n"
-"A1UEChMIUG9sYXJTU0wxEjAQBgNVBAMTCWxvY2FsaG9zdDCCASIwDQYJKoZIhvcN\r\n"
+"A1UECgwIUG9sYXJTU0wxEjAQBgNVBAMMCWxvY2FsaG9zdDCCASIwDQYJKoZIhvcN\r\n"
 "AQEBBQADggEPADCCAQoCggEBAMFNo93nzR3RBNdJcriZrA545Do8Ss86ExbQWuTN\r\n"
 "owCIp+4ea5anUrSQ7y1yej4kmvy2NKwk9XfgJmSMnLAofaHa6ozmyRyWvP7BBFKz\r\n"
 "NtSj+uGxdtiQwWG0ZlI2oiZTqqt0Xgd9GYLbKtgfoNkNHC1JZvdbJXNG6AuKT2kM\r\n"
@@ -231,16 +232,17 @@ const char mbedtls_test_srv_crt_rsa[] =
 "hYvai0Re4hjGYi/HZo36Xdh98yeJKQHFkA4/J/EwyEoO79bex8cna8cFPXrEAjya\r\n"
 "HT4P6DSYW8tzS1KW2BGiLICIaTla0w+w3lkvEcf36hIBMJcCAwEAAaNNMEswCQYD\r\n"
 "VR0TBAIwADAdBgNVHQ4EFgQUpQXoZLjc32APUBJNYKhkr02LQ5MwHwYDVR0jBBgw\r\n"
-"FoAUtFrkpbPe0lL2udWmlQ/rPrzH/f8wDQYJKoZIhvcNAQEFBQADggEBAJxnXClY\r\n"
-"oHkbp70cqBrsGXLybA74czbO5RdLEgFs7rHVS9r+c293luS/KdliLScZqAzYVylw\r\n"
-"UfRWvKMoWhHYKp3dEIS4xTXk6/5zXxhv9Rw8SGc8qn6vITHk1S1mPevtekgasY5Y\r\n"
-"iWQuM3h4YVlRH3HHEMAD1TnAexfXHHDFQGe+Bd1iAbz1/sH9H8l4StwX6egvTK3M\r\n"
-"wXRwkKkvjKaEDA9ATbZx0mI8LGsxSuCqe9r9dyjmttd47J1p1Rulz3CLzaRcVIuS\r\n"
-"RRQfaD8neM9c1S/iJ/amTVqJxA1KOdOS5780WhPfSArA+g4qAmSjelc3p4wWpha8\r\n"
-"zhuYwjVuX6JHG0c=\r\n"
+"FoAUtFrkpbPe0lL2udWmlQ/rPrzH/f8wDQYJKoZIhvcNAQEFBQADggEBAAFzC0rF\r\n"
+"y6De8WMcdgQrEw3AhBHFjzqnxZw1ene4IBSC7lTw8rBSy3jOWQdPUWn+0y/pCeeF\r\n"
+"kti6sevFdl1hLemGtd4q+T9TKEKGg3ND4ARfB5AUZZ9uEHq8WBkiwus5clGS17Qd\r\n"
+"dS/TOisB59tQruLx1E1bPLtBKyqk4koC5WAULJwfpswGSyWJTpYwIpxcWE3D2tBu\r\n"
+"UB6MZfXZFzWmWEOyKbeoXjXe8GBCGgHLywvYDsGQ36HSGtEsAvR2QaTLSxWYcfk1\r\n"
+"fbDn4jSWkb4yZy1r01UEigFQtONieGwRFaUqEcFJHJvEEGVgh9keaVlOj2vrwf5r\r\n"
+"4mN4lW7gLdenN6g=\r\n"
 "-----END CERTIFICATE-----\r\n";
 const size_t mbedtls_test_srv_crt_rsa_len = sizeof( mbedtls_test_srv_crt_rsa );
 
+/* tests/data_files/server2.key */
 const char mbedtls_test_srv_key_rsa[] =
 "-----BEGIN RSA PRIVATE KEY-----\r\n"
 "MIIEpAIBAAKCAQEAwU2j3efNHdEE10lyuJmsDnjkOjxKzzoTFtBa5M2jAIin7h5r\r\n"
@@ -271,11 +273,12 @@ const char mbedtls_test_srv_key_rsa[] =
 "-----END RSA PRIVATE KEY-----\r\n";
 const size_t mbedtls_test_srv_key_rsa_len = sizeof( mbedtls_test_srv_key_rsa );
 
+/* tests/data_files/cli-rsa-sha256.crt */
 const char mbedtls_test_cli_crt_rsa[] =
 "-----BEGIN CERTIFICATE-----\r\n"
-"MIIDhTCCAm2gAwIBAgIBBDANBgkqhkiG9w0BAQsFADA7MQswCQYDVQQGEwJOTDER\r\n"
+"MIIDPzCCAiegAwIBAgIBBDANBgkqhkiG9w0BAQsFADA7MQswCQYDVQQGEwJOTDER\r\n"
 "MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n"
-"MTcwNTA1MTMwNzU5WhcNMjcwNTA2MTMwNzU5WjA8MQswCQYDVQQGEwJOTDERMA8G\r\n"
+"MTEwMjEyMTQ0NDA2WhcNMjEwMjEyMTQ0NDA2WjA8MQswCQYDVQQGEwJOTDERMA8G\r\n"
 "A1UECgwIUG9sYXJTU0wxGjAYBgNVBAMMEVBvbGFyU1NMIENsaWVudCAyMIIBIjAN\r\n"
 "BgkqhkiG9w0BAQEFAAOCAQ8AMIIBCgKCAQEAyHTEzLn5tXnpRdkUYLB9u5Pyax6f\r\n"
 "M60Nj4o8VmXl3ETZzGaFB9X4J7BKNdBjngpuG7fa8H6r7gwQk4ZJGDTzqCrSV/Uu\r\n"
@@ -283,18 +286,18 @@ const char mbedtls_test_cli_crt_rsa[] =
 "MjDV0/YI0FZPRo7yX/k9Z5GIMC5Cst99++UMd//sMcB4j7/Cf8qtbCHWjdmLao5v\r\n"
 "4Jv4EFbMs44TFeY0BGbH7vk2DmqV9gmaBmf0ZXH4yqSxJeD+PIs1BGe64E92hfx/\r\n"
 "/DZrtenNLQNiTrM9AM+vdqBpVoNq0qjU51Bx5rU2BXcFbXvI5MT9TNUhXwIDAQAB\r\n"
-"o4GSMIGPMB0GA1UdDgQWBBRxoQBzckAvVHZeM/xSj7zx3WtGITBjBgNVHSMEXDBa\r\n"
-"gBS0WuSls97SUva51aaVD+s+vMf9/6E/pD0wOzELMAkGA1UEBhMCTkwxETAPBgNV\r\n"
-"BAoMCFBvbGFyU1NMMRkwFwYDVQQDDBBQb2xhclNTTCBUZXN0IENBggEAMAkGA1Ud\r\n"
-"EwQCMAAwDQYJKoZIhvcNAQELBQADggEBAC7yO786NvcHpK8UovKIG9cB32oSQQom\r\n"
-"LoR0eHDRzdqEkoq7yGZufHFiRAAzbMqJfogRtxlrWAeB4y/jGaMBV25IbFOIcH2W\r\n"
-"iCEaMMbG+VQLKNvuC63kmw/Zewc9ThM6Pa1Hcy0axT0faf1B/U01j0FIcw/6mTfK\r\n"
-"D8w48OIwc1yr0JtutCVjig5DC0yznGMt32RyseOLcUe+lfq005v2PAiCozr5X8rE\r\n"
-"ofGZpiM2NqRPePgYy+Vc75Zk28xkRQq1ncprgQb3S4vTsZdScpM9hLf+eMlrgqlj\r\n"
-"c5PLSkXBeLE5+fedkyfTaLxxQlgCpuoOhKBm04/R1pWNzUHyqagjO9Q=\r\n"
+"o00wSzAJBgNVHRMEAjAAMB0GA1UdDgQWBBRxoQBzckAvVHZeM/xSj7zx3WtGITAf\r\n"
+"BgNVHSMEGDAWgBS0WuSls97SUva51aaVD+s+vMf9/zANBgkqhkiG9w0BAQsFAAOC\r\n"
+"AQEAlHabem2Tu69VUN7EipwnQn1dIHdgvT5i+iQHpSxY1crPnBbAeSdAXwsVEqLQ\r\n"
+"gOOIAQD5VIITNuoGgo4i+4OpNh9u7ZkpRHla+/swsfrFWRRbBNP5Bcu74AGLstwU\r\n"
+"zM8gIkBiyfM1Q1qDQISV9trlCG6O8vh8dp/rbI3rfzo99BOHXgFCrzXjCuW4vDsF\r\n"
+"r+Dao26bX3sJ6UnEWg1H3o2x6PpUcvQ36h71/bz4TEbbUUEpe02V4QWuL+wrhHJL\r\n"
+"U7o3SVE3Og7jPF8sat0a50YUWhwEFI256m02KAXLg89ueUyYKEr6rNwhcvXJpvU9\r\n"
+"giIVvd0Sbjjnn7NC4VDbcXV8vw==\r\n"
 "-----END CERTIFICATE-----\r\n";
 const size_t mbedtls_test_cli_crt_rsa_len = sizeof( mbedtls_test_cli_crt_rsa );
 
+/* tests/data_files/cli-rsa.key */
 const char mbedtls_test_cli_key_rsa[] =
 "-----BEGIN RSA PRIVATE KEY-----\r\n"
 "MIIEpAIBAAKCAQEAyHTEzLn5tXnpRdkUYLB9u5Pyax6fM60Nj4o8VmXl3ETZzGaF\r\n"
diff --git a/thirdparty/mbedtls/library/chacha20.c b/thirdparty/mbedtls/library/chacha20.c
index d14a51e044..0757163e2f 100644
--- a/thirdparty/mbedtls/library/chacha20.c
+++ b/thirdparty/mbedtls/library/chacha20.c
@@ -53,6 +53,12 @@
 #define inline __inline
 #endif
 
+/* Parameter validation macros */
+#define CHACHA20_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA )
+#define CHACHA20_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #define BYTES_TO_U32_LE( data, offset )                           \
     ( (uint32_t) data[offset]                                     \
           | (uint32_t) ( (uint32_t) data[( offset ) + 1] << 8 )   \
@@ -181,14 +187,13 @@ static void chacha20_block( const uint32_t initial_state[16],
 
 void mbedtls_chacha20_init( mbedtls_chacha20_context *ctx )
 {
-    if( ctx != NULL )
-    {
-        mbedtls_platform_zeroize( ctx->state, sizeof( ctx->state ) );
-        mbedtls_platform_zeroize( ctx->keystream8, sizeof( ctx->keystream8 ) );
+    CHACHA20_VALIDATE( ctx != NULL );
 
-        /* Initially, there's no keystream bytes available */
-        ctx->keystream_bytes_used = CHACHA20_BLOCK_SIZE_BYTES;
-    }
+    mbedtls_platform_zeroize( ctx->state, sizeof( ctx->state ) );
+    mbedtls_platform_zeroize( ctx->keystream8, sizeof( ctx->keystream8 ) );
+
+    /* Initially, there's no keystream bytes available */
+    ctx->keystream_bytes_used = CHACHA20_BLOCK_SIZE_BYTES;
 }
 
 void mbedtls_chacha20_free( mbedtls_chacha20_context *ctx )
@@ -202,10 +207,8 @@ void mbedtls_chacha20_free( mbedtls_chacha20_context *ctx )
 int mbedtls_chacha20_setkey( mbedtls_chacha20_context *ctx,
                             const unsigned char key[32] )
 {
-    if( ( ctx == NULL ) || ( key == NULL ) )
-    {
-        return( MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA );
-    }
+    CHACHA20_VALIDATE_RET( ctx != NULL );
+    CHACHA20_VALIDATE_RET( key != NULL );
 
     /* ChaCha20 constants - the string "expand 32-byte k" */
     ctx->state[0] = 0x61707865;
@@ -230,10 +233,8 @@ int mbedtls_chacha20_starts( mbedtls_chacha20_context* ctx,
                              const unsigned char nonce[12],
                              uint32_t counter )
 {
-    if( ( ctx == NULL ) || ( nonce == NULL ) )
-    {
-        return( MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA );
-    }
+    CHACHA20_VALIDATE_RET( ctx != NULL );
+    CHACHA20_VALIDATE_RET( nonce != NULL );
 
     /* Counter */
     ctx->state[12] = counter;
@@ -259,15 +260,9 @@ int mbedtls_chacha20_update( mbedtls_chacha20_context *ctx,
     size_t offset = 0U;
     size_t i;
 
-    if( ctx == NULL )
-    {
-        return( MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA );
-    }
-    else if( ( size > 0U ) && ( ( input == NULL ) || ( output == NULL ) ) )
-    {
-        /* input and output pointers are allowed to be NULL only if size == 0 */
-        return( MBEDTLS_ERR_CHACHA20_BAD_INPUT_DATA );
-    }
+    CHACHA20_VALIDATE_RET( ctx != NULL );
+    CHACHA20_VALIDATE_RET( size == 0 || input  != NULL );
+    CHACHA20_VALIDATE_RET( size == 0 || output != NULL );
 
     /* Use leftover keystream bytes, if available */
     while( size > 0U && ctx->keystream_bytes_used < CHACHA20_BLOCK_SIZE_BYTES )
@@ -332,6 +327,11 @@ int mbedtls_chacha20_crypt( const unsigned char key[32],
     mbedtls_chacha20_context ctx;
     int ret;
 
+    CHACHA20_VALIDATE_RET( key != NULL );
+    CHACHA20_VALIDATE_RET( nonce != NULL );
+    CHACHA20_VALIDATE_RET( data_len == 0 || input  != NULL );
+    CHACHA20_VALIDATE_RET( data_len == 0 || output != NULL );
+
     mbedtls_chacha20_init( &ctx );
 
     ret = mbedtls_chacha20_setkey( &ctx, key );
diff --git a/thirdparty/mbedtls/library/chachapoly.c b/thirdparty/mbedtls/library/chachapoly.c
index 860f877653..dc643dd618 100644
--- a/thirdparty/mbedtls/library/chachapoly.c
+++ b/thirdparty/mbedtls/library/chachapoly.c
@@ -44,6 +44,12 @@
 
 #if !defined(MBEDTLS_CHACHAPOLY_ALT)
 
+/* Parameter validation macros */
+#define CHACHAPOLY_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA )
+#define CHACHAPOLY_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #define CHACHAPOLY_STATE_INIT       ( 0 )
 #define CHACHAPOLY_STATE_AAD        ( 1 )
 #define CHACHAPOLY_STATE_CIPHERTEXT ( 2 ) /* Encrypting or decrypting */
@@ -90,39 +96,35 @@ static int chachapoly_pad_ciphertext( mbedtls_chachapoly_context *ctx )
 
 void mbedtls_chachapoly_init( mbedtls_chachapoly_context *ctx )
 {
-    if( ctx != NULL )
-    {
-        mbedtls_chacha20_init( &ctx->chacha20_ctx );
-        mbedtls_poly1305_init( &ctx->poly1305_ctx );
-        ctx->aad_len        = 0U;
-        ctx->ciphertext_len = 0U;
-        ctx->state          = CHACHAPOLY_STATE_INIT;
-        ctx->mode           = MBEDTLS_CHACHAPOLY_ENCRYPT;
-    }
+    CHACHAPOLY_VALIDATE( ctx != NULL );
+
+    mbedtls_chacha20_init( &ctx->chacha20_ctx );
+    mbedtls_poly1305_init( &ctx->poly1305_ctx );
+    ctx->aad_len        = 0U;
+    ctx->ciphertext_len = 0U;
+    ctx->state          = CHACHAPOLY_STATE_INIT;
+    ctx->mode           = MBEDTLS_CHACHAPOLY_ENCRYPT;
 }
 
 void mbedtls_chachapoly_free( mbedtls_chachapoly_context *ctx )
 {
-    if( ctx != NULL )
-    {
-        mbedtls_chacha20_free( &ctx->chacha20_ctx );
-        mbedtls_poly1305_free( &ctx->poly1305_ctx );
-        ctx->aad_len        = 0U;
-        ctx->ciphertext_len = 0U;
-        ctx->state          = CHACHAPOLY_STATE_INIT;
-        ctx->mode           = MBEDTLS_CHACHAPOLY_ENCRYPT;
-    }
+    if( ctx == NULL )
+        return;
+
+    mbedtls_chacha20_free( &ctx->chacha20_ctx );
+    mbedtls_poly1305_free( &ctx->poly1305_ctx );
+    ctx->aad_len        = 0U;
+    ctx->ciphertext_len = 0U;
+    ctx->state          = CHACHAPOLY_STATE_INIT;
+    ctx->mode           = MBEDTLS_CHACHAPOLY_ENCRYPT;
 }
 
 int mbedtls_chachapoly_setkey( mbedtls_chachapoly_context *ctx,
                                const unsigned char key[32] )
 {
     int ret;
-
-    if( ( ctx == NULL ) || ( key == NULL ) )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
+    CHACHAPOLY_VALIDATE_RET( ctx != NULL );
+    CHACHAPOLY_VALIDATE_RET( key != NULL );
 
     ret = mbedtls_chacha20_setkey( &ctx->chacha20_ctx, key );
 
@@ -135,11 +137,8 @@ int mbedtls_chachapoly_starts( mbedtls_chachapoly_context *ctx,
 {
     int ret;
     unsigned char poly1305_key[64];
-
-    if( ( ctx == NULL ) || ( nonce == NULL ) )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
+    CHACHAPOLY_VALIDATE_RET( ctx != NULL );
+    CHACHAPOLY_VALIDATE_RET( nonce != NULL );
 
     /* Set counter = 0, will be update to 1 when generating Poly1305 key */
     ret = mbedtls_chacha20_starts( &ctx->chacha20_ctx, nonce, 0U );
@@ -176,19 +175,11 @@ int mbedtls_chachapoly_update_aad( mbedtls_chachapoly_context *ctx,
                                    const unsigned char *aad,
                                    size_t aad_len )
 {
-    if( ctx == NULL )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
-    else if( ( aad_len > 0U ) && ( aad == NULL ) )
-    {
-        /* aad pointer is allowed to be NULL if aad_len == 0 */
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
-    else if( ctx->state != CHACHAPOLY_STATE_AAD )
-    {
+    CHACHAPOLY_VALIDATE_RET( ctx != NULL );
+    CHACHAPOLY_VALIDATE_RET( aad_len == 0 || aad != NULL );
+
+    if( ctx->state != CHACHAPOLY_STATE_AAD )
         return( MBEDTLS_ERR_CHACHAPOLY_BAD_STATE );
-    }
 
     ctx->aad_len += aad_len;
 
@@ -201,18 +192,12 @@ int mbedtls_chachapoly_update( mbedtls_chachapoly_context *ctx,
                                unsigned char *output )
 {
     int ret;
+    CHACHAPOLY_VALIDATE_RET( ctx != NULL );
+    CHACHAPOLY_VALIDATE_RET( len == 0 || input != NULL );
+    CHACHAPOLY_VALIDATE_RET( len == 0 || output != NULL );
 
-    if( ctx == NULL )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
-    else if( ( len > 0U ) && ( ( input == NULL ) || ( output == NULL ) ) )
-    {
-        /* input and output pointers are allowed to be NULL if len == 0 */
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
-    else if( ( ctx->state != CHACHAPOLY_STATE_AAD ) &&
-              ( ctx->state != CHACHAPOLY_STATE_CIPHERTEXT ) )
+    if( ( ctx->state != CHACHAPOLY_STATE_AAD ) &&
+        ( ctx->state != CHACHAPOLY_STATE_CIPHERTEXT ) )
     {
         return( MBEDTLS_ERR_CHACHAPOLY_BAD_STATE );
     }
@@ -257,12 +242,10 @@ int mbedtls_chachapoly_finish( mbedtls_chachapoly_context *ctx,
 {
     int ret;
     unsigned char len_block[16];
+    CHACHAPOLY_VALIDATE_RET( ctx != NULL );
+    CHACHAPOLY_VALIDATE_RET( mac != NULL );
 
-    if( ( ctx == NULL ) || ( mac == NULL ) )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
-    else if( ctx->state == CHACHAPOLY_STATE_INIT )
+    if( ctx->state == CHACHAPOLY_STATE_INIT )
     {
         return( MBEDTLS_ERR_CHACHAPOLY_BAD_STATE );
     }
@@ -350,6 +333,13 @@ int mbedtls_chachapoly_encrypt_and_tag( mbedtls_chachapoly_context *ctx,
                                         unsigned char *output,
                                         unsigned char tag[16] )
 {
+    CHACHAPOLY_VALIDATE_RET( ctx   != NULL );
+    CHACHAPOLY_VALIDATE_RET( nonce != NULL );
+    CHACHAPOLY_VALIDATE_RET( tag   != NULL );
+    CHACHAPOLY_VALIDATE_RET( aad_len == 0 || aad    != NULL );
+    CHACHAPOLY_VALIDATE_RET( length  == 0 || input  != NULL );
+    CHACHAPOLY_VALIDATE_RET( length  == 0 || output != NULL );
+
     return( chachapoly_crypt_and_tag( ctx, MBEDTLS_CHACHAPOLY_ENCRYPT,
                                       length, nonce, aad, aad_len,
                                       input, output, tag ) );
@@ -368,9 +358,12 @@ int mbedtls_chachapoly_auth_decrypt( mbedtls_chachapoly_context *ctx,
     unsigned char check_tag[16];
     size_t i;
     int diff;
-
-    if( tag == NULL )
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
+    CHACHAPOLY_VALIDATE_RET( ctx   != NULL );
+    CHACHAPOLY_VALIDATE_RET( nonce != NULL );
+    CHACHAPOLY_VALIDATE_RET( tag   != NULL );
+    CHACHAPOLY_VALIDATE_RET( aad_len == 0 || aad    != NULL );
+    CHACHAPOLY_VALIDATE_RET( length  == 0 || input  != NULL );
+    CHACHAPOLY_VALIDATE_RET( length  == 0 || output != NULL );
 
     if( ( ret = chachapoly_crypt_and_tag( ctx,
                         MBEDTLS_CHACHAPOLY_DECRYPT, length, nonce,
diff --git a/thirdparty/mbedtls/library/cipher.c b/thirdparty/mbedtls/library/cipher.c
index 7ae6c4ac5d..273997577b 100644
--- a/thirdparty/mbedtls/library/cipher.c
+++ b/thirdparty/mbedtls/library/cipher.c
@@ -65,6 +65,11 @@
 #define mbedtls_free   free
 #endif
 
+#define CIPHER_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA )
+#define CIPHER_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if defined(MBEDTLS_GCM_C) || defined(MBEDTLS_CHACHAPOLY_C)
 /* Compare the contents of two buffers in constant time.
  * Returns 0 if the contents are bitwise identical, otherwise returns
@@ -81,7 +86,7 @@ static int mbedtls_constant_time_memcmp( const void *v1, const void *v2, size_t
     for( diff = 0, i = 0; i < len; i++ )
         diff |= p1[i] ^ p2[i];
 
-    return (int)diff;
+    return( (int)diff );
 }
 #endif /* MBEDTLS_GCM_C || MBEDTLS_CHACHAPOLY_C */
 
@@ -150,6 +155,7 @@ const mbedtls_cipher_info_t *mbedtls_cipher_info_from_values( const mbedtls_ciph
 
 void mbedtls_cipher_init( mbedtls_cipher_context_t *ctx )
 {
+    CIPHER_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_cipher_context_t ) );
 }
 
@@ -175,7 +181,8 @@ void mbedtls_cipher_free( mbedtls_cipher_context_t *ctx )
 
 int mbedtls_cipher_setup( mbedtls_cipher_context_t *ctx, const mbedtls_cipher_info_t *cipher_info )
 {
-    if( NULL == cipher_info || NULL == ctx )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    if( cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
     memset( ctx, 0, sizeof( mbedtls_cipher_context_t ) );
@@ -199,10 +206,16 @@ int mbedtls_cipher_setup( mbedtls_cipher_context_t *ctx, const mbedtls_cipher_in
     return( 0 );
 }
 
-int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx, const unsigned char *key,
-        int key_bitlen, const mbedtls_operation_t operation )
+int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx,
+                           const unsigned char *key,
+                           int key_bitlen,
+                           const mbedtls_operation_t operation )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( key != NULL );
+    CIPHER_VALIDATE_RET( operation == MBEDTLS_ENCRYPT ||
+                         operation == MBEDTLS_DECRYPT );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
     if( ( ctx->cipher_info->flags & MBEDTLS_CIPHER_VARIABLE_KEY_LEN ) == 0 &&
@@ -222,23 +235,26 @@ int mbedtls_cipher_setkey( mbedtls_cipher_context_t *ctx, const unsigned char *k
         MBEDTLS_MODE_OFB == ctx->cipher_info->mode ||
         MBEDTLS_MODE_CTR == ctx->cipher_info->mode )
     {
-        return ctx->cipher_info->base->setkey_enc_func( ctx->cipher_ctx, key,
-                ctx->key_bitlen );
+        return( ctx->cipher_info->base->setkey_enc_func( ctx->cipher_ctx, key,
+                                                         ctx->key_bitlen ) );
     }
 
     if( MBEDTLS_DECRYPT == operation )
-        return ctx->cipher_info->base->setkey_dec_func( ctx->cipher_ctx, key,
-                ctx->key_bitlen );
+        return( ctx->cipher_info->base->setkey_dec_func( ctx->cipher_ctx, key,
+                                                         ctx->key_bitlen ) );
 
     return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 }
 
 int mbedtls_cipher_set_iv( mbedtls_cipher_context_t *ctx,
-                   const unsigned char *iv, size_t iv_len )
+                           const unsigned char *iv,
+                           size_t iv_len )
 {
     size_t actual_iv_size;
 
-    if( NULL == ctx || NULL == ctx->cipher_info || NULL == iv )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( iv_len == 0 || iv != NULL );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
     /* avoid buffer overflow in ctx->iv */
@@ -268,15 +284,19 @@ int mbedtls_cipher_set_iv( mbedtls_cipher_context_t *ctx,
     }
 #endif
 
-    memcpy( ctx->iv, iv, actual_iv_size );
-    ctx->iv_size = actual_iv_size;
+    if ( actual_iv_size != 0 )
+    {
+        memcpy( ctx->iv, iv, actual_iv_size );
+        ctx->iv_size = actual_iv_size;
+    }
 
     return( 0 );
 }
 
 int mbedtls_cipher_reset( mbedtls_cipher_context_t *ctx )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
     ctx->unprocessed_len = 0;
@@ -288,14 +308,16 @@ int mbedtls_cipher_reset( mbedtls_cipher_context_t *ctx )
 int mbedtls_cipher_update_ad( mbedtls_cipher_context_t *ctx,
                       const unsigned char *ad, size_t ad_len )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( ad_len == 0 || ad != NULL );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
 #if defined(MBEDTLS_GCM_C)
     if( MBEDTLS_MODE_GCM == ctx->cipher_info->mode )
     {
-        return mbedtls_gcm_starts( (mbedtls_gcm_context *) ctx->cipher_ctx, ctx->operation,
-                           ctx->iv, ctx->iv_size, ad, ad_len );
+        return( mbedtls_gcm_starts( (mbedtls_gcm_context *) ctx->cipher_ctx, ctx->operation,
+                                    ctx->iv, ctx->iv_size, ad, ad_len ) );
     }
 #endif
 
@@ -315,8 +337,8 @@ int mbedtls_cipher_update_ad( mbedtls_cipher_context_t *ctx,
         if ( result != 0 )
             return( result );
 
-        return mbedtls_chachapoly_update_aad( (mbedtls_chachapoly_context*) ctx->cipher_ctx,
-                                                          ad, ad_len );
+        return( mbedtls_chachapoly_update_aad( (mbedtls_chachapoly_context*) ctx->cipher_ctx,
+                                               ad, ad_len ) );
     }
 #endif
 
@@ -328,12 +350,14 @@ int mbedtls_cipher_update( mbedtls_cipher_context_t *ctx, const unsigned char *i
                    size_t ilen, unsigned char *output, size_t *olen )
 {
     int ret;
-    size_t block_size = 0;
+    size_t block_size;
 
-    if( NULL == ctx || NULL == ctx->cipher_info || NULL == olen )
-    {
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( ilen == 0 || input != NULL );
+    CIPHER_VALIDATE_RET( output != NULL );
+    CIPHER_VALIDATE_RET( olen != NULL );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
-    }
 
     *olen = 0;
     block_size = mbedtls_cipher_get_block_size( ctx );
@@ -358,8 +382,8 @@ int mbedtls_cipher_update( mbedtls_cipher_context_t *ctx, const unsigned char *i
     if( ctx->cipher_info->mode == MBEDTLS_MODE_GCM )
     {
         *olen = ilen;
-        return mbedtls_gcm_update( (mbedtls_gcm_context *) ctx->cipher_ctx, ilen, input,
-                           output );
+        return( mbedtls_gcm_update( (mbedtls_gcm_context *) ctx->cipher_ctx, ilen, input,
+                                    output ) );
     }
 #endif
 
@@ -367,14 +391,14 @@ int mbedtls_cipher_update( mbedtls_cipher_context_t *ctx, const unsigned char *i
     if ( ctx->cipher_info->type == MBEDTLS_CIPHER_CHACHA20_POLY1305 )
     {
         *olen = ilen;
-        return mbedtls_chachapoly_update( (mbedtls_chachapoly_context*) ctx->cipher_ctx,
-                                                      ilen, input, output );
+        return( mbedtls_chachapoly_update( (mbedtls_chachapoly_context*) ctx->cipher_ctx,
+                                           ilen, input, output ) );
     }
 #endif
 
     if ( 0 == block_size )
     {
-        return MBEDTLS_ERR_CIPHER_INVALID_CONTEXT;
+        return( MBEDTLS_ERR_CIPHER_INVALID_CONTEXT );
     }
 
     if( input == output &&
@@ -437,7 +461,7 @@ int mbedtls_cipher_update( mbedtls_cipher_context_t *ctx, const unsigned char *i
         {
             if( 0 == block_size )
             {
-                return MBEDTLS_ERR_CIPHER_INVALID_CONTEXT;
+                return( MBEDTLS_ERR_CIPHER_INVALID_CONTEXT );
             }
 
             /* Encryption: only cache partial blocks
@@ -738,7 +762,10 @@ static int get_no_padding( unsigned char *input, size_t input_len,
 int mbedtls_cipher_finish( mbedtls_cipher_context_t *ctx,
                    unsigned char *output, size_t *olen )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info || NULL == olen )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( output != NULL );
+    CIPHER_VALIDATE_RET( olen != NULL );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
     *olen = 0;
@@ -808,8 +835,8 @@ int mbedtls_cipher_finish( mbedtls_cipher_context_t *ctx,
 
         /* Set output size for decryption */
         if( MBEDTLS_DECRYPT == ctx->operation )
-            return ctx->get_padding( output, mbedtls_cipher_get_block_size( ctx ),
-                                     olen );
+            return( ctx->get_padding( output, mbedtls_cipher_get_block_size( ctx ),
+                                      olen ) );
 
         /* Set output size for encryption */
         *olen = mbedtls_cipher_get_block_size( ctx );
@@ -823,10 +850,12 @@ int mbedtls_cipher_finish( mbedtls_cipher_context_t *ctx,
 }
 
 #if defined(MBEDTLS_CIPHER_MODE_WITH_PADDING)
-int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx, mbedtls_cipher_padding_t mode )
+int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx,
+                                     mbedtls_cipher_padding_t mode )
 {
-    if( NULL == ctx ||
-        MBEDTLS_MODE_CBC != ctx->cipher_info->mode )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+
+    if( NULL == ctx->cipher_info || MBEDTLS_MODE_CBC != ctx->cipher_info->mode )
     {
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
     }
@@ -874,7 +903,9 @@ int mbedtls_cipher_set_padding_mode( mbedtls_cipher_context_t *ctx, mbedtls_ciph
 int mbedtls_cipher_write_tag( mbedtls_cipher_context_t *ctx,
                       unsigned char *tag, size_t tag_len )
 {
-    if( NULL == ctx || NULL == ctx->cipher_info || NULL == tag )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( tag_len == 0 || tag != NULL );
+    if( ctx->cipher_info == NULL )
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
     if( MBEDTLS_ENCRYPT != ctx->operation )
@@ -882,7 +913,8 @@ int mbedtls_cipher_write_tag( mbedtls_cipher_context_t *ctx,
 
 #if defined(MBEDTLS_GCM_C)
     if( MBEDTLS_MODE_GCM == ctx->cipher_info->mode )
-        return mbedtls_gcm_finish( (mbedtls_gcm_context *) ctx->cipher_ctx, tag, tag_len );
+        return( mbedtls_gcm_finish( (mbedtls_gcm_context *) ctx->cipher_ctx,
+                                    tag, tag_len ) );
 #endif
 
 #if defined(MBEDTLS_CHACHAPOLY_C)
@@ -892,8 +924,8 @@ int mbedtls_cipher_write_tag( mbedtls_cipher_context_t *ctx,
         if ( tag_len != 16U )
             return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
 
-        return mbedtls_chachapoly_finish( (mbedtls_chachapoly_context*) ctx->cipher_ctx,
-                                                      tag );
+        return( mbedtls_chachapoly_finish( (mbedtls_chachapoly_context*) ctx->cipher_ctx,
+                                           tag ) );
     }
 #endif
 
@@ -906,8 +938,12 @@ int mbedtls_cipher_check_tag( mbedtls_cipher_context_t *ctx,
     unsigned char check_tag[16];
     int ret;
 
-    if( NULL == ctx || NULL == ctx->cipher_info ||
-        MBEDTLS_DECRYPT != ctx->operation )
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( tag_len == 0 || tag != NULL );
+    if( ctx->cipher_info == NULL )
+        return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
+
+    if( MBEDTLS_DECRYPT != ctx->operation )
     {
         return( MBEDTLS_ERR_CIPHER_BAD_INPUT_DATA );
     }
@@ -969,6 +1005,12 @@ int mbedtls_cipher_crypt( mbedtls_cipher_context_t *ctx,
     int ret;
     size_t finish_olen;
 
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( iv_len == 0 || iv != NULL );
+    CIPHER_VALIDATE_RET( ilen == 0 || input != NULL );
+    CIPHER_VALIDATE_RET( output != NULL );
+    CIPHER_VALIDATE_RET( olen != NULL );
+
     if( ( ret = mbedtls_cipher_set_iv( ctx, iv, iv_len ) ) != 0 )
         return( ret );
 
@@ -997,6 +1039,14 @@ int mbedtls_cipher_auth_encrypt( mbedtls_cipher_context_t *ctx,
                          unsigned char *output, size_t *olen,
                          unsigned char *tag, size_t tag_len )
 {
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( iv != NULL );
+    CIPHER_VALIDATE_RET( ad_len == 0 || ad != NULL );
+    CIPHER_VALIDATE_RET( ilen == 0 || input != NULL );
+    CIPHER_VALIDATE_RET( output != NULL );
+    CIPHER_VALIDATE_RET( olen != NULL );
+    CIPHER_VALIDATE_RET( tag_len == 0 || tag != NULL );
+
 #if defined(MBEDTLS_GCM_C)
     if( MBEDTLS_MODE_GCM == ctx->cipher_info->mode )
     {
@@ -1044,6 +1094,14 @@ int mbedtls_cipher_auth_decrypt( mbedtls_cipher_context_t *ctx,
                          unsigned char *output, size_t *olen,
                          const unsigned char *tag, size_t tag_len )
 {
+    CIPHER_VALIDATE_RET( ctx != NULL );
+    CIPHER_VALIDATE_RET( iv != NULL );
+    CIPHER_VALIDATE_RET( ad_len == 0 || ad != NULL );
+    CIPHER_VALIDATE_RET( ilen == 0 || input != NULL );
+    CIPHER_VALIDATE_RET( output != NULL );
+    CIPHER_VALIDATE_RET( olen != NULL );
+    CIPHER_VALIDATE_RET( tag_len == 0 || tag != NULL );
+
 #if defined(MBEDTLS_GCM_C)
     if( MBEDTLS_MODE_GCM == ctx->cipher_info->mode )
     {
diff --git a/thirdparty/mbedtls/library/cipher_wrap.c b/thirdparty/mbedtls/library/cipher_wrap.c
index 893490acc8..6dd8c5d3a9 100644
--- a/thirdparty/mbedtls/library/cipher_wrap.c
+++ b/thirdparty/mbedtls/library/cipher_wrap.c
@@ -258,7 +258,7 @@ static const mbedtls_cipher_info_t aes_128_ecb_info = {
     MBEDTLS_MODE_ECB,
     128,
     "AES-128-ECB",
-    16,
+    0,
     0,
     16,
     &aes_info
@@ -269,7 +269,7 @@ static const mbedtls_cipher_info_t aes_192_ecb_info = {
     MBEDTLS_MODE_ECB,
     192,
     "AES-192-ECB",
-    16,
+    0,
     0,
     16,
     &aes_info
@@ -280,7 +280,7 @@ static const mbedtls_cipher_info_t aes_256_ecb_info = {
     MBEDTLS_MODE_ECB,
     256,
     "AES-256-ECB",
-    16,
+    0,
     0,
     16,
     &aes_info
diff --git a/thirdparty/mbedtls/library/ctr_drbg.c b/thirdparty/mbedtls/library/ctr_drbg.c
index d0e5ba862d..fb121575bb 100644
--- a/thirdparty/mbedtls/library/ctr_drbg.c
+++ b/thirdparty/mbedtls/library/ctr_drbg.c
@@ -66,6 +66,18 @@ void mbedtls_ctr_drbg_init( mbedtls_ctr_drbg_context *ctx )
  * Non-public function wrapped by mbedtls_ctr_drbg_seed(). Necessary to allow
  * NIST tests to succeed (which require known length fixed entropy)
  */
+/* CTR_DRBG_Instantiate with derivation function (SP 800-90A &sect;10.2.1.3.2)
+ * mbedtls_ctr_drbg_seed_entropy_len(ctx, f_entropy, p_entropy,
+ *                                   custom, len, entropy_len)
+ * implements
+ * CTR_DRBG_Instantiate(entropy_input, nonce, personalization_string,
+ *                      security_strength) -> initial_working_state
+ * with inputs
+ *   custom[:len] = nonce || personalization_string
+ * where entropy_input comes from f_entropy for entropy_len bytes
+ * and with outputs
+ *   ctx = initial_working_state
+ */
 int mbedtls_ctr_drbg_seed_entropy_len(
                    mbedtls_ctr_drbg_context *ctx,
                    int (*f_entropy)(void *, unsigned char *, size_t),
@@ -256,6 +268,14 @@ exit:
     return( ret );
 }
 
+/* CTR_DRBG_Update (SP 800-90A &sect;10.2.1.2)
+ * ctr_drbg_update_internal(ctx, provided_data)
+ * implements
+ * CTR_DRBG_Update(provided_data, Key, V)
+ * with inputs and outputs
+ *   ctx->aes_ctx = Key
+ *   ctx->counter = V
+ */
 static int ctr_drbg_update_internal( mbedtls_ctr_drbg_context *ctx,
                               const unsigned char data[MBEDTLS_CTR_DRBG_SEEDLEN] )
 {
@@ -279,9 +299,7 @@ static int ctr_drbg_update_internal( mbedtls_ctr_drbg_context *ctx,
          * Crypt counter block
          */
         if( ( ret = mbedtls_aes_crypt_ecb( &ctx->aes_ctx, MBEDTLS_AES_ENCRYPT, ctx->counter, p ) ) != 0 )
-        {
-            return( ret );
-        }
+            goto exit;
 
         p += MBEDTLS_CTR_DRBG_BLOCKSIZE;
     }
@@ -293,31 +311,71 @@ static int ctr_drbg_update_internal( mbedtls_ctr_drbg_context *ctx,
      * Update key and counter
      */
     if( ( ret = mbedtls_aes_setkey_enc( &ctx->aes_ctx, tmp, MBEDTLS_CTR_DRBG_KEYBITS ) ) != 0 )
-    {
-        return( ret );
-    }
+        goto exit;
     memcpy( ctx->counter, tmp + MBEDTLS_CTR_DRBG_KEYSIZE, MBEDTLS_CTR_DRBG_BLOCKSIZE );
 
-    return( 0 );
+exit:
+    mbedtls_platform_zeroize( tmp, sizeof( tmp ) );
+    return( ret );
 }
 
-void mbedtls_ctr_drbg_update( mbedtls_ctr_drbg_context *ctx,
-                      const unsigned char *additional, size_t add_len )
+/* CTR_DRBG_Instantiate with derivation function (SP 800-90A &sect;10.2.1.3.2)
+ * mbedtls_ctr_drbg_update(ctx, additional, add_len)
+ * implements
+ * CTR_DRBG_Instantiate(entropy_input, nonce, personalization_string,
+ *                      security_strength) -> initial_working_state
+ * with inputs
+ *   ctx->counter = all-bits-0
+ *   ctx->aes_ctx = context from all-bits-0 key
+ *   additional[:add_len] = entropy_input || nonce || personalization_string
+ * and with outputs
+ *   ctx = initial_working_state
+ */
+int mbedtls_ctr_drbg_update_ret( mbedtls_ctr_drbg_context *ctx,
+                                 const unsigned char *additional,
+                                 size_t add_len )
 {
     unsigned char add_input[MBEDTLS_CTR_DRBG_SEEDLEN];
+    int ret;
 
-    if( add_len > 0 )
-    {
-        /* MAX_INPUT would be more logical here, but we have to match
-         * block_cipher_df()'s limits since we can't propagate errors */
-        if( add_len > MBEDTLS_CTR_DRBG_MAX_SEED_INPUT )
-            add_len = MBEDTLS_CTR_DRBG_MAX_SEED_INPUT;
+    if( add_len == 0 )
+        return( 0 );
 
-        block_cipher_df( add_input, additional, add_len );
-        ctr_drbg_update_internal( ctx, add_input );
-    }
+    if( ( ret = block_cipher_df( add_input, additional, add_len ) ) != 0 )
+        goto exit;
+    if( ( ret = ctr_drbg_update_internal( ctx, add_input ) ) != 0 )
+        goto exit;
+
+exit:
+    mbedtls_platform_zeroize( add_input, sizeof( add_input ) );
+    return( ret );
 }
 
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+void mbedtls_ctr_drbg_update( mbedtls_ctr_drbg_context *ctx,
+                              const unsigned char *additional,
+                              size_t add_len )
+{
+    /* MAX_INPUT would be more logical here, but we have to match
+     * block_cipher_df()'s limits since we can't propagate errors */
+    if( add_len > MBEDTLS_CTR_DRBG_MAX_SEED_INPUT )
+        add_len = MBEDTLS_CTR_DRBG_MAX_SEED_INPUT;
+    (void) mbedtls_ctr_drbg_update_ret( ctx, additional, add_len );
+}
+#endif /* MBEDTLS_DEPRECATED_REMOVED */
+
+/* CTR_DRBG_Reseed with derivation function (SP 800-90A &sect;10.2.1.4.2)
+ * mbedtls_ctr_drbg_reseed(ctx, additional, len)
+ * implements
+ * CTR_DRBG_Reseed(working_state, entropy_input, additional_input)
+ *                -> new_working_state
+ * with inputs
+ *   ctx contains working_state
+ *   additional[:len] = additional_input
+ * and entropy_input comes from calling ctx->f_entropy
+ * and with output
+ *   ctx contains new_working_state
+ */
 int mbedtls_ctr_drbg_reseed( mbedtls_ctr_drbg_context *ctx,
                      const unsigned char *additional, size_t len )
 {
@@ -355,22 +413,39 @@ int mbedtls_ctr_drbg_reseed( mbedtls_ctr_drbg_context *ctx,
      * Reduce to 384 bits
      */
     if( ( ret = block_cipher_df( seed, seed, seedlen ) ) != 0 )
-    {
-        return( ret );
-    }
+        goto exit;
 
     /*
      * Update state
      */
     if( ( ret = ctr_drbg_update_internal( ctx, seed ) ) != 0 )
-    {
-        return( ret );
-    }
+        goto exit;
     ctx->reseed_counter = 1;
 
-    return( 0 );
+exit:
+    mbedtls_platform_zeroize( seed, sizeof( seed ) );
+    return( ret );
 }
 
+/* CTR_DRBG_Generate with derivation function (SP 800-90A &sect;10.2.1.5.2)
+ * mbedtls_ctr_drbg_random_with_add(ctx, output, output_len, additional, add_len)
+ * implements
+ * CTR_DRBG_Reseed(working_state, entropy_input, additional[:add_len])
+ *                -> working_state_after_reseed
+ *                if required, then
+ * CTR_DRBG_Generate(working_state_after_reseed,
+ *                   requested_number_of_bits, additional_input)
+ *                -> status, returned_bits, new_working_state
+ * with inputs
+ *   ctx contains working_state
+ *   requested_number_of_bits = 8 * output_len
+ *   additional[:add_len] = additional_input
+ * and entropy_input comes from calling ctx->f_entropy
+ * and with outputs
+ *   status = SUCCESS (this function does the reseed internally)
+ *   returned_bits = output[:output_len]
+ *   ctx contains new_working_state
+ */
 int mbedtls_ctr_drbg_random_with_add( void *p_rng,
                               unsigned char *output, size_t output_len,
                               const unsigned char *additional, size_t add_len )
@@ -404,13 +479,9 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng,
     if( add_len > 0 )
     {
         if( ( ret = block_cipher_df( add_input, additional, add_len ) ) != 0 )
-        {
-            return( ret );
-        }
+            goto exit;
         if( ( ret = ctr_drbg_update_internal( ctx, add_input ) ) != 0 )
-        {
-            return( ret );
-        }
+            goto exit;
     }
 
     while( output_len > 0 )
@@ -426,9 +497,7 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng,
          * Crypt counter block
          */
         if( ( ret = mbedtls_aes_crypt_ecb( &ctx->aes_ctx, MBEDTLS_AES_ENCRYPT, ctx->counter, tmp ) ) != 0 )
-        {
-            return( ret );
-        }
+            goto exit;
 
         use_len = ( output_len > MBEDTLS_CTR_DRBG_BLOCKSIZE ) ? MBEDTLS_CTR_DRBG_BLOCKSIZE :
                                                        output_len;
@@ -441,12 +510,13 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng,
     }
 
     if( ( ret = ctr_drbg_update_internal( ctx, add_input ) ) != 0 )
-    {
-        return( ret );
-    }
+        goto exit;
 
     ctx->reseed_counter++;
 
+exit:
+    mbedtls_platform_zeroize( add_input, sizeof( add_input ) );
+    mbedtls_platform_zeroize( tmp, sizeof( tmp ) );
     return( 0 );
 }
 
@@ -498,35 +568,36 @@ exit:
 int mbedtls_ctr_drbg_update_seed_file( mbedtls_ctr_drbg_context *ctx, const char *path )
 {
     int ret = 0;
-    FILE *f;
+    FILE *f = NULL;
     size_t n;
     unsigned char buf[ MBEDTLS_CTR_DRBG_MAX_INPUT ];
+    unsigned char c;
 
     if( ( f = fopen( path, "rb" ) ) == NULL )
         return( MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR );
 
-    fseek( f, 0, SEEK_END );
-    n = (size_t) ftell( f );
-    fseek( f, 0, SEEK_SET );
-
-    if( n > MBEDTLS_CTR_DRBG_MAX_INPUT )
+    n = fread( buf, 1, sizeof( buf ), f );
+    if( fread( &c, 1, 1, f ) != 0 )
     {
-        fclose( f );
-        return( MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG );
+        ret = MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG;
+        goto exit;
     }
-
-    if( fread( buf, 1, n, f ) != n )
+    if( n == 0 || ferror( f ) )
+    {
         ret = MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR;
-    else
-        mbedtls_ctr_drbg_update( ctx, buf, n );
-
+        goto exit;
+    }
     fclose( f );
+    f = NULL;
 
-    mbedtls_platform_zeroize( buf, sizeof( buf ) );
+    ret = mbedtls_ctr_drbg_update_ret( ctx, buf, n );
 
+exit:
+    mbedtls_platform_zeroize( buf, sizeof( buf ) );
+    if( f != NULL )
+        fclose( f );
     if( ret != 0 )
         return( ret );
-
     return( mbedtls_ctr_drbg_write_seed_file( ctx, path ) );
 }
 #endif /* MBEDTLS_FS_IO */
diff --git a/thirdparty/mbedtls/library/debug.c b/thirdparty/mbedtls/library/debug.c
index db3924ac54..824cd0236e 100644
--- a/thirdparty/mbedtls/library/debug.c
+++ b/thirdparty/mbedtls/library/debug.c
@@ -365,4 +365,54 @@ void mbedtls_debug_print_crt( const mbedtls_ssl_context *ssl, int level,
 }
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
 
+#if defined(MBEDTLS_ECDH_C)
+static void mbedtls_debug_printf_ecdh_internal( const mbedtls_ssl_context *ssl,
+                                                int level, const char *file,
+                                                int line,
+                                                const mbedtls_ecdh_context *ecdh,
+                                                mbedtls_debug_ecdh_attr attr )
+{
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    const mbedtls_ecdh_context* ctx = ecdh;
+#else
+    const mbedtls_ecdh_context_mbed* ctx = &ecdh->ctx.mbed_ecdh;
+#endif
+
+    switch( attr )
+    {
+        case MBEDTLS_DEBUG_ECDH_Q:
+            mbedtls_debug_print_ecp( ssl, level, file, line, "ECDH: Q",
+                                     &ctx->Q );
+            break;
+        case MBEDTLS_DEBUG_ECDH_QP:
+            mbedtls_debug_print_ecp( ssl, level, file, line, "ECDH: Qp",
+                                     &ctx->Qp );
+            break;
+        case MBEDTLS_DEBUG_ECDH_Z:
+            mbedtls_debug_print_mpi( ssl, level, file, line, "ECDH: z",
+                                     &ctx->z );
+            break;
+        default:
+            break;
+    }
+}
+
+void mbedtls_debug_printf_ecdh( const mbedtls_ssl_context *ssl, int level,
+                                const char *file, int line,
+                                const mbedtls_ecdh_context *ecdh,
+                                mbedtls_debug_ecdh_attr attr )
+{
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    mbedtls_debug_printf_ecdh_internal( ssl, level, file, line, ecdh, attr );
+#else
+    switch( ecdh->var )
+    {
+        default:
+            mbedtls_debug_printf_ecdh_internal( ssl, level, file, line, ecdh,
+                                                attr );
+    }
+#endif
+}
+#endif /* MBEDTLS_ECDH_C */
+
 #endif /* MBEDTLS_DEBUG_C */
diff --git a/thirdparty/mbedtls/library/dhm.c b/thirdparty/mbedtls/library/dhm.c
index 82cbb0ce88..fb6937e854 100644
--- a/thirdparty/mbedtls/library/dhm.c
+++ b/thirdparty/mbedtls/library/dhm.c
@@ -60,6 +60,11 @@
 
 #if !defined(MBEDTLS_DHM_ALT)
 
+#define DHM_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_DHM_BAD_INPUT_DATA )
+#define DHM_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * helper to validate the mbedtls_mpi size and import it
  */
@@ -121,6 +126,7 @@ cleanup:
 
 void mbedtls_dhm_init( mbedtls_dhm_context *ctx )
 {
+    DHM_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_dhm_context ) );
 }
 
@@ -132,6 +138,9 @@ int mbedtls_dhm_read_params( mbedtls_dhm_context *ctx,
                      const unsigned char *end )
 {
     int ret;
+    DHM_VALIDATE_RET( ctx != NULL );
+    DHM_VALIDATE_RET( p != NULL && *p != NULL );
+    DHM_VALIDATE_RET( end != NULL );
 
     if( ( ret = dhm_read_bignum( &ctx->P,  p, end ) ) != 0 ||
         ( ret = dhm_read_bignum( &ctx->G,  p, end ) ) != 0 ||
@@ -157,6 +166,10 @@ int mbedtls_dhm_make_params( mbedtls_dhm_context *ctx, int x_size,
     int ret, count = 0;
     size_t n1, n2, n3;
     unsigned char *p;
+    DHM_VALIDATE_RET( ctx != NULL );
+    DHM_VALIDATE_RET( output != NULL );
+    DHM_VALIDATE_RET( olen != NULL );
+    DHM_VALIDATE_RET( f_rng != NULL );
 
     if( mbedtls_mpi_cmp_int( &ctx->P, 0 ) == 0 )
         return( MBEDTLS_ERR_DHM_BAD_INPUT_DATA );
@@ -227,9 +240,9 @@ int mbedtls_dhm_set_group( mbedtls_dhm_context *ctx,
                            const mbedtls_mpi *G )
 {
     int ret;
-
-    if( ctx == NULL || P == NULL || G == NULL )
-        return( MBEDTLS_ERR_DHM_BAD_INPUT_DATA );
+    DHM_VALIDATE_RET( ctx != NULL );
+    DHM_VALIDATE_RET( P != NULL );
+    DHM_VALIDATE_RET( G != NULL );
 
     if( ( ret = mbedtls_mpi_copy( &ctx->P, P ) ) != 0 ||
         ( ret = mbedtls_mpi_copy( &ctx->G, G ) ) != 0 )
@@ -248,8 +261,10 @@ int mbedtls_dhm_read_public( mbedtls_dhm_context *ctx,
                      const unsigned char *input, size_t ilen )
 {
     int ret;
+    DHM_VALIDATE_RET( ctx != NULL );
+    DHM_VALIDATE_RET( input != NULL );
 
-    if( ctx == NULL || ilen < 1 || ilen > ctx->len )
+    if( ilen < 1 || ilen > ctx->len )
         return( MBEDTLS_ERR_DHM_BAD_INPUT_DATA );
 
     if( ( ret = mbedtls_mpi_read_binary( &ctx->GY, input, ilen ) ) != 0 )
@@ -267,8 +282,11 @@ int mbedtls_dhm_make_public( mbedtls_dhm_context *ctx, int x_size,
                      void *p_rng )
 {
     int ret, count = 0;
+    DHM_VALIDATE_RET( ctx != NULL );
+    DHM_VALIDATE_RET( output != NULL );
+    DHM_VALIDATE_RET( f_rng != NULL );
 
-    if( ctx == NULL || olen < 1 || olen > ctx->len )
+    if( olen < 1 || olen > ctx->len )
         return( MBEDTLS_ERR_DHM_BAD_INPUT_DATA );
 
     if( mbedtls_mpi_cmp_int( &ctx->P, 0 ) == 0 )
@@ -380,8 +398,11 @@ int mbedtls_dhm_calc_secret( mbedtls_dhm_context *ctx,
 {
     int ret;
     mbedtls_mpi GYb;
+    DHM_VALIDATE_RET( ctx != NULL );
+    DHM_VALIDATE_RET( output != NULL );
+    DHM_VALIDATE_RET( olen != NULL );
 
-    if( ctx == NULL || output_size < ctx->len )
+    if( output_size < ctx->len )
         return( MBEDTLS_ERR_DHM_BAD_INPUT_DATA );
 
     if( ( ret = dhm_check_range( &ctx->GY, &ctx->P ) ) != 0 )
@@ -428,11 +449,19 @@ cleanup:
  */
 void mbedtls_dhm_free( mbedtls_dhm_context *ctx )
 {
-    mbedtls_mpi_free( &ctx->pX ); mbedtls_mpi_free( &ctx->Vf );
-    mbedtls_mpi_free( &ctx->Vi ); mbedtls_mpi_free( &ctx->RP );
-    mbedtls_mpi_free( &ctx->K  ); mbedtls_mpi_free( &ctx->GY );
-    mbedtls_mpi_free( &ctx->GX ); mbedtls_mpi_free( &ctx->X  );
-    mbedtls_mpi_free( &ctx->G  ); mbedtls_mpi_free( &ctx->P  );
+    if( ctx == NULL )
+        return;
+
+    mbedtls_mpi_free( &ctx->pX );
+    mbedtls_mpi_free( &ctx->Vf );
+    mbedtls_mpi_free( &ctx->Vi );
+    mbedtls_mpi_free( &ctx->RP );
+    mbedtls_mpi_free( &ctx->K  );
+    mbedtls_mpi_free( &ctx->GY );
+    mbedtls_mpi_free( &ctx->GX );
+    mbedtls_mpi_free( &ctx->X  );
+    mbedtls_mpi_free( &ctx->G  );
+    mbedtls_mpi_free( &ctx->P  );
 
     mbedtls_platform_zeroize( ctx, sizeof( mbedtls_dhm_context ) );
 }
@@ -449,7 +478,12 @@ int mbedtls_dhm_parse_dhm( mbedtls_dhm_context *dhm, const unsigned char *dhmin,
     unsigned char *p, *end;
 #if defined(MBEDTLS_PEM_PARSE_C)
     mbedtls_pem_context pem;
+#endif /* MBEDTLS_PEM_PARSE_C */
+
+    DHM_VALIDATE_RET( dhm != NULL );
+    DHM_VALIDATE_RET( dhmin != NULL );
 
+#if defined(MBEDTLS_PEM_PARSE_C)
     mbedtls_pem_init( &pem );
 
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
@@ -596,6 +630,8 @@ int mbedtls_dhm_parse_dhmfile( mbedtls_dhm_context *dhm, const char *path )
     int ret;
     size_t n;
     unsigned char *buf;
+    DHM_VALIDATE_RET( dhm != NULL );
+    DHM_VALIDATE_RET( path != NULL );
 
     if( ( ret = load_file( path, &buf, &n ) ) != 0 )
         return( ret );
diff --git a/thirdparty/mbedtls/library/ecdh.c b/thirdparty/mbedtls/library/ecdh.c
index 61380b6936..da95c60dad 100644
--- a/thirdparty/mbedtls/library/ecdh.c
+++ b/thirdparty/mbedtls/library/ecdh.c
@@ -35,41 +35,82 @@
 #if defined(MBEDTLS_ECDH_C)
 
 #include "mbedtls/ecdh.h"
+#include "mbedtls/platform_util.h"
 
 #include <string.h>
 
+/* Parameter validation macros based on platform_util.h */
+#define ECDH_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_ECP_BAD_INPUT_DATA )
+#define ECDH_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+typedef mbedtls_ecdh_context mbedtls_ecdh_context_mbed;
+#endif
+
 #if !defined(MBEDTLS_ECDH_GEN_PUBLIC_ALT)
 /*
- * Generate public key: simple wrapper around mbedtls_ecp_gen_keypair
+ * Generate public key (restartable version)
+ *
+ * Note: this internal function relies on its caller preserving the value of
+ * the output parameter 'd' across continuation calls. This would not be
+ * acceptable for a public function but is OK here as we control call sites.
+ */
+static int ecdh_gen_public_restartable( mbedtls_ecp_group *grp,
+                    mbedtls_mpi *d, mbedtls_ecp_point *Q,
+                    int (*f_rng)(void *, unsigned char *, size_t),
+                    void *p_rng,
+                    mbedtls_ecp_restart_ctx *rs_ctx )
+{
+    int ret;
+
+    /* If multiplication is in progress, we already generated a privkey */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx == NULL || rs_ctx->rsm == NULL )
+#endif
+        MBEDTLS_MPI_CHK( mbedtls_ecp_gen_privkey( grp, d, f_rng, p_rng ) );
+
+    MBEDTLS_MPI_CHK( mbedtls_ecp_mul_restartable( grp, Q, d, &grp->G,
+                                                  f_rng, p_rng, rs_ctx ) );
+
+cleanup:
+    return( ret );
+}
+
+/*
+ * Generate public key
  */
 int mbedtls_ecdh_gen_public( mbedtls_ecp_group *grp, mbedtls_mpi *d, mbedtls_ecp_point *Q,
                      int (*f_rng)(void *, unsigned char *, size_t),
                      void *p_rng )
 {
-    return mbedtls_ecp_gen_keypair( grp, d, Q, f_rng, p_rng );
+    ECDH_VALIDATE_RET( grp != NULL );
+    ECDH_VALIDATE_RET( d != NULL );
+    ECDH_VALIDATE_RET( Q != NULL );
+    ECDH_VALIDATE_RET( f_rng != NULL );
+    return( ecdh_gen_public_restartable( grp, d, Q, f_rng, p_rng, NULL ) );
 }
-#endif /* MBEDTLS_ECDH_GEN_PUBLIC_ALT */
+#endif /* !MBEDTLS_ECDH_GEN_PUBLIC_ALT */
 
 #if !defined(MBEDTLS_ECDH_COMPUTE_SHARED_ALT)
 /*
  * Compute shared secret (SEC1 3.3.1)
  */
-int mbedtls_ecdh_compute_shared( mbedtls_ecp_group *grp, mbedtls_mpi *z,
+static int ecdh_compute_shared_restartable( mbedtls_ecp_group *grp,
+                         mbedtls_mpi *z,
                          const mbedtls_ecp_point *Q, const mbedtls_mpi *d,
                          int (*f_rng)(void *, unsigned char *, size_t),
-                         void *p_rng )
+                         void *p_rng,
+                         mbedtls_ecp_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_ecp_point P;
 
     mbedtls_ecp_point_init( &P );
 
-    /*
-     * Make sure Q is a valid pubkey before using it
-     */
-    MBEDTLS_MPI_CHK( mbedtls_ecp_check_pubkey( grp, Q ) );
-
-    MBEDTLS_MPI_CHK( mbedtls_ecp_mul( grp, &P, d, Q, f_rng, p_rng ) );
+    MBEDTLS_MPI_CHK( mbedtls_ecp_mul_restartable( grp, &P, d, Q,
+                                                  f_rng, p_rng, rs_ctx ) );
 
     if( mbedtls_ecp_is_zero( &P ) )
     {
@@ -84,65 +125,195 @@ cleanup:
 
     return( ret );
 }
-#endif /* MBEDTLS_ECDH_COMPUTE_SHARED_ALT */
+
+/*
+ * Compute shared secret (SEC1 3.3.1)
+ */
+int mbedtls_ecdh_compute_shared( mbedtls_ecp_group *grp, mbedtls_mpi *z,
+                         const mbedtls_ecp_point *Q, const mbedtls_mpi *d,
+                         int (*f_rng)(void *, unsigned char *, size_t),
+                         void *p_rng )
+{
+    ECDH_VALIDATE_RET( grp != NULL );
+    ECDH_VALIDATE_RET( Q != NULL );
+    ECDH_VALIDATE_RET( d != NULL );
+    ECDH_VALIDATE_RET( z != NULL );
+    return( ecdh_compute_shared_restartable( grp, z, Q, d,
+                                             f_rng, p_rng, NULL ) );
+}
+#endif /* !MBEDTLS_ECDH_COMPUTE_SHARED_ALT */
+
+static void ecdh_init_internal( mbedtls_ecdh_context_mbed *ctx )
+{
+    mbedtls_ecp_group_init( &ctx->grp );
+    mbedtls_mpi_init( &ctx->d  );
+    mbedtls_ecp_point_init( &ctx->Q   );
+    mbedtls_ecp_point_init( &ctx->Qp  );
+    mbedtls_mpi_init( &ctx->z  );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    mbedtls_ecp_restart_init( &ctx->rs );
+#endif
+}
 
 /*
  * Initialize context
  */
 void mbedtls_ecdh_init( mbedtls_ecdh_context *ctx )
 {
+    ECDH_VALIDATE( ctx != NULL );
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    ecdh_init_internal( ctx );
+    mbedtls_ecp_point_init( &ctx->Vi  );
+    mbedtls_ecp_point_init( &ctx->Vf  );
+    mbedtls_mpi_init( &ctx->_d );
+#else
     memset( ctx, 0, sizeof( mbedtls_ecdh_context ) );
+
+    ctx->var = MBEDTLS_ECDH_VARIANT_NONE;
+#endif
+    ctx->point_format = MBEDTLS_ECP_PF_UNCOMPRESSED;
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    ctx->restart_enabled = 0;
+#endif
+}
+
+static int ecdh_setup_internal( mbedtls_ecdh_context_mbed *ctx,
+                                mbedtls_ecp_group_id grp_id )
+{
+    int ret;
+
+    ret = mbedtls_ecp_group_load( &ctx->grp, grp_id );
+    if( ret != 0 )
+    {
+        return( MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE );
+    }
+
+    return( 0 );
 }
 
 /*
- * Free context
+ * Setup context
  */
-void mbedtls_ecdh_free( mbedtls_ecdh_context *ctx )
+int mbedtls_ecdh_setup( mbedtls_ecdh_context *ctx, mbedtls_ecp_group_id grp_id )
 {
-    if( ctx == NULL )
-        return;
+    ECDH_VALIDATE_RET( ctx != NULL );
 
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_setup_internal( ctx, grp_id ) );
+#else
+    switch( grp_id )
+    {
+        default:
+            ctx->point_format = MBEDTLS_ECP_PF_UNCOMPRESSED;
+            ctx->var = MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0;
+            ctx->grp_id = grp_id;
+            ecdh_init_internal( &ctx->ctx.mbed_ecdh );
+            return( ecdh_setup_internal( &ctx->ctx.mbed_ecdh, grp_id ) );
+    }
+#endif
+}
+
+static void ecdh_free_internal( mbedtls_ecdh_context_mbed *ctx )
+{
     mbedtls_ecp_group_free( &ctx->grp );
+    mbedtls_mpi_free( &ctx->d  );
     mbedtls_ecp_point_free( &ctx->Q   );
     mbedtls_ecp_point_free( &ctx->Qp  );
-    mbedtls_ecp_point_free( &ctx->Vi  );
-    mbedtls_ecp_point_free( &ctx->Vf  );
-    mbedtls_mpi_free( &ctx->d  );
     mbedtls_mpi_free( &ctx->z  );
-    mbedtls_mpi_free( &ctx->_d );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    mbedtls_ecp_restart_free( &ctx->rs );
+#endif
 }
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
 /*
- * Setup and write the ServerKeyExhange parameters (RFC 4492)
- *      struct {
- *          ECParameters    curve_params;
- *          ECPoint         public;
- *      } ServerECDHParams;
+ * Enable restartable operations for context
  */
-int mbedtls_ecdh_make_params( mbedtls_ecdh_context *ctx, size_t *olen,
-                      unsigned char *buf, size_t blen,
-                      int (*f_rng)(void *, unsigned char *, size_t),
-                      void *p_rng )
+void mbedtls_ecdh_enable_restart( mbedtls_ecdh_context *ctx )
+{
+    ECDH_VALIDATE( ctx != NULL );
+
+    ctx->restart_enabled = 1;
+}
+#endif
+
+/*
+ * Free context
+ */
+void mbedtls_ecdh_free( mbedtls_ecdh_context *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    mbedtls_ecp_point_free( &ctx->Vi );
+    mbedtls_ecp_point_free( &ctx->Vf );
+    mbedtls_mpi_free( &ctx->_d );
+    ecdh_free_internal( ctx );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            ecdh_free_internal( &ctx->ctx.mbed_ecdh );
+            break;
+        default:
+            break;
+    }
+
+    ctx->point_format = MBEDTLS_ECP_PF_UNCOMPRESSED;
+    ctx->var = MBEDTLS_ECDH_VARIANT_NONE;
+    ctx->grp_id = MBEDTLS_ECP_DP_NONE;
+#endif
+}
+
+static int ecdh_make_params_internal( mbedtls_ecdh_context_mbed *ctx,
+                                      size_t *olen, int point_format,
+                                      unsigned char *buf, size_t blen,
+                                      int (*f_rng)(void *,
+                                                   unsigned char *,
+                                                   size_t),
+                                      void *p_rng,
+                                      int restart_enabled )
 {
     int ret;
     size_t grp_len, pt_len;
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    mbedtls_ecp_restart_ctx *rs_ctx = NULL;
+#endif
 
-    if( ctx == NULL || ctx->grp.pbits == 0 )
+    if( ctx->grp.pbits == 0 )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
 
-    if( ( ret = mbedtls_ecdh_gen_public( &ctx->grp, &ctx->d, &ctx->Q, f_rng, p_rng ) )
-                != 0 )
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( restart_enabled )
+        rs_ctx = &ctx->rs;
+#else
+    (void) restart_enabled;
+#endif
+
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( ( ret = ecdh_gen_public_restartable( &ctx->grp, &ctx->d, &ctx->Q,
+                                             f_rng, p_rng, rs_ctx ) ) != 0 )
         return( ret );
+#else
+    if( ( ret = mbedtls_ecdh_gen_public( &ctx->grp, &ctx->d, &ctx->Q,
+                                         f_rng, p_rng ) ) != 0 )
+        return( ret );
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 
-    if( ( ret = mbedtls_ecp_tls_write_group( &ctx->grp, &grp_len, buf, blen ) )
-                != 0 )
+    if( ( ret = mbedtls_ecp_tls_write_group( &ctx->grp, &grp_len, buf,
+                                             blen ) ) != 0 )
         return( ret );
 
     buf += grp_len;
     blen -= grp_len;
 
-    if( ( ret = mbedtls_ecp_tls_write_point( &ctx->grp, &ctx->Q, ctx->point_format,
-                                     &pt_len, buf, blen ) ) != 0 )
+    if( ( ret = mbedtls_ecp_tls_write_point( &ctx->grp, &ctx->Q, point_format,
+                                             &pt_len, buf, blen ) ) != 0 )
         return( ret );
 
     *olen = grp_len + pt_len;
@@ -150,6 +321,55 @@ int mbedtls_ecdh_make_params( mbedtls_ecdh_context *ctx, size_t *olen,
 }
 
 /*
+ * Setup and write the ServerKeyExhange parameters (RFC 4492)
+ *      struct {
+ *          ECParameters    curve_params;
+ *          ECPoint         public;
+ *      } ServerECDHParams;
+ */
+int mbedtls_ecdh_make_params( mbedtls_ecdh_context *ctx, size_t *olen,
+                              unsigned char *buf, size_t blen,
+                              int (*f_rng)(void *, unsigned char *, size_t),
+                              void *p_rng )
+{
+    int restart_enabled = 0;
+    ECDH_VALIDATE_RET( ctx != NULL );
+    ECDH_VALIDATE_RET( olen != NULL );
+    ECDH_VALIDATE_RET( buf != NULL );
+    ECDH_VALIDATE_RET( f_rng != NULL );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    restart_enabled = ctx->restart_enabled;
+#else
+    (void) restart_enabled;
+#endif
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_make_params_internal( ctx, olen, ctx->point_format, buf, blen,
+                                       f_rng, p_rng, restart_enabled ) );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            return( ecdh_make_params_internal( &ctx->ctx.mbed_ecdh, olen,
+                                               ctx->point_format, buf, blen,
+                                               f_rng, p_rng,
+                                               restart_enabled ) );
+        default:
+            return MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
+    }
+#endif
+}
+
+static int ecdh_read_params_internal( mbedtls_ecdh_context_mbed *ctx,
+                                      const unsigned char **buf,
+                                      const unsigned char *end )
+{
+    return( mbedtls_ecp_tls_read_point( &ctx->grp, &ctx->Qp, buf,
+                                        end - *buf ) );
+}
+
+/*
  * Read the ServerKeyExhange parameters (RFC 4492)
  *      struct {
  *          ECParameters    curve_params;
@@ -157,31 +377,43 @@ int mbedtls_ecdh_make_params( mbedtls_ecdh_context *ctx, size_t *olen,
  *      } ServerECDHParams;
  */
 int mbedtls_ecdh_read_params( mbedtls_ecdh_context *ctx,
-                      const unsigned char **buf, const unsigned char *end )
+                              const unsigned char **buf,
+                              const unsigned char *end )
 {
     int ret;
-
-    if( ( ret = mbedtls_ecp_tls_read_group( &ctx->grp, buf, end - *buf ) ) != 0 )
+    mbedtls_ecp_group_id grp_id;
+    ECDH_VALIDATE_RET( ctx != NULL );
+    ECDH_VALIDATE_RET( buf != NULL );
+    ECDH_VALIDATE_RET( *buf != NULL );
+    ECDH_VALIDATE_RET( end != NULL );
+
+    if( ( ret = mbedtls_ecp_tls_read_group_id( &grp_id, buf, end - *buf ) )
+            != 0 )
         return( ret );
 
-    if( ( ret = mbedtls_ecp_tls_read_point( &ctx->grp, &ctx->Qp, buf, end - *buf ) )
-                != 0 )
+    if( ( ret = mbedtls_ecdh_setup( ctx, grp_id ) ) != 0 )
         return( ret );
 
-    return( 0 );
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_read_params_internal( ctx, buf, end ) );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            return( ecdh_read_params_internal( &ctx->ctx.mbed_ecdh,
+                                               buf, end ) );
+        default:
+            return MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
+    }
+#endif
 }
 
-/*
- * Get parameters from a keypair
- */
-int mbedtls_ecdh_get_params( mbedtls_ecdh_context *ctx, const mbedtls_ecp_keypair *key,
-                     mbedtls_ecdh_side side )
+static int ecdh_get_params_internal( mbedtls_ecdh_context_mbed *ctx,
+                                     const mbedtls_ecp_keypair *key,
+                                     mbedtls_ecdh_side side )
 {
     int ret;
 
-    if( ( ret = mbedtls_ecp_group_copy( &ctx->grp, &key->grp ) ) != 0 )
-        return( ret );
-
     /* If it's not our key, just import the public part as Qp */
     if( side == MBEDTLS_ECDH_THEIRS )
         return( mbedtls_ecp_copy( &ctx->Qp, &key->Q ) );
@@ -198,39 +430,116 @@ int mbedtls_ecdh_get_params( mbedtls_ecdh_context *ctx, const mbedtls_ecp_keypai
 }
 
 /*
- * Setup and export the client public value
+ * Get parameters from a keypair
  */
-int mbedtls_ecdh_make_public( mbedtls_ecdh_context *ctx, size_t *olen,
-                      unsigned char *buf, size_t blen,
-                      int (*f_rng)(void *, unsigned char *, size_t),
-                      void *p_rng )
+int mbedtls_ecdh_get_params( mbedtls_ecdh_context *ctx,
+                             const mbedtls_ecp_keypair *key,
+                             mbedtls_ecdh_side side )
 {
     int ret;
+    ECDH_VALIDATE_RET( ctx != NULL );
+    ECDH_VALIDATE_RET( key != NULL );
+    ECDH_VALIDATE_RET( side == MBEDTLS_ECDH_OURS ||
+                       side == MBEDTLS_ECDH_THEIRS );
 
-    if( ctx == NULL || ctx->grp.pbits == 0 )
+    if( ( ret = mbedtls_ecdh_setup( ctx, key->grp.id ) ) != 0 )
+        return( ret );
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_get_params_internal( ctx, key, side ) );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            return( ecdh_get_params_internal( &ctx->ctx.mbed_ecdh,
+                                              key, side ) );
+        default:
+            return MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
+    }
+#endif
+}
+
+static int ecdh_make_public_internal( mbedtls_ecdh_context_mbed *ctx,
+                                      size_t *olen, int point_format,
+                                      unsigned char *buf, size_t blen,
+                                      int (*f_rng)(void *,
+                                                   unsigned char *,
+                                                   size_t),
+                                      void *p_rng,
+                                      int restart_enabled )
+{
+    int ret;
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    mbedtls_ecp_restart_ctx *rs_ctx = NULL;
+#endif
+
+    if( ctx->grp.pbits == 0 )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
 
-    if( ( ret = mbedtls_ecdh_gen_public( &ctx->grp, &ctx->d, &ctx->Q, f_rng, p_rng ) )
-                != 0 )
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( restart_enabled )
+        rs_ctx = &ctx->rs;
+#else
+    (void) restart_enabled;
+#endif
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( ( ret = ecdh_gen_public_restartable( &ctx->grp, &ctx->d, &ctx->Q,
+                                             f_rng, p_rng, rs_ctx ) ) != 0 )
+        return( ret );
+#else
+    if( ( ret = mbedtls_ecdh_gen_public( &ctx->grp, &ctx->d, &ctx->Q,
+                                         f_rng, p_rng ) ) != 0 )
         return( ret );
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 
-    return mbedtls_ecp_tls_write_point( &ctx->grp, &ctx->Q, ctx->point_format,
-                                olen, buf, blen );
+    return mbedtls_ecp_tls_write_point( &ctx->grp, &ctx->Q, point_format, olen,
+                                        buf, blen );
 }
 
 /*
- * Parse and import the client's public value
+ * Setup and export the client public value
  */
-int mbedtls_ecdh_read_public( mbedtls_ecdh_context *ctx,
-                      const unsigned char *buf, size_t blen )
+int mbedtls_ecdh_make_public( mbedtls_ecdh_context *ctx, size_t *olen,
+                              unsigned char *buf, size_t blen,
+                              int (*f_rng)(void *, unsigned char *, size_t),
+                              void *p_rng )
+{
+    int restart_enabled = 0;
+    ECDH_VALIDATE_RET( ctx != NULL );
+    ECDH_VALIDATE_RET( olen != NULL );
+    ECDH_VALIDATE_RET( buf != NULL );
+    ECDH_VALIDATE_RET( f_rng != NULL );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    restart_enabled = ctx->restart_enabled;
+#endif
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_make_public_internal( ctx, olen, ctx->point_format, buf, blen,
+                                       f_rng, p_rng, restart_enabled ) );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            return( ecdh_make_public_internal( &ctx->ctx.mbed_ecdh, olen,
+                                               ctx->point_format, buf, blen,
+                                               f_rng, p_rng,
+                                               restart_enabled ) );
+        default:
+            return MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
+    }
+#endif
+}
+
+static int ecdh_read_public_internal( mbedtls_ecdh_context_mbed *ctx,
+                                      const unsigned char *buf, size_t blen )
 {
     int ret;
     const unsigned char *p = buf;
 
-    if( ctx == NULL )
-        return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
-
-    if( ( ret = mbedtls_ecp_tls_read_point( &ctx->grp, &ctx->Qp, &p, blen ) ) != 0 )
+    if( ( ret = mbedtls_ecp_tls_read_point( &ctx->grp, &ctx->Qp, &p,
+                                            blen ) ) != 0 )
         return( ret );
 
     if( (size_t)( p - buf ) != blen )
@@ -240,23 +549,66 @@ int mbedtls_ecdh_read_public( mbedtls_ecdh_context *ctx,
 }
 
 /*
- * Derive and export the shared secret
+ * Parse and import the client's public value
  */
-int mbedtls_ecdh_calc_secret( mbedtls_ecdh_context *ctx, size_t *olen,
-                      unsigned char *buf, size_t blen,
-                      int (*f_rng)(void *, unsigned char *, size_t),
-                      void *p_rng )
+int mbedtls_ecdh_read_public( mbedtls_ecdh_context *ctx,
+                              const unsigned char *buf, size_t blen )
+{
+    ECDH_VALIDATE_RET( ctx != NULL );
+    ECDH_VALIDATE_RET( buf != NULL );
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_read_public_internal( ctx, buf, blen ) );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            return( ecdh_read_public_internal( &ctx->ctx.mbed_ecdh,
+                                                       buf, blen ) );
+        default:
+            return MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
+    }
+#endif
+}
+
+static int ecdh_calc_secret_internal( mbedtls_ecdh_context_mbed *ctx,
+                                      size_t *olen, unsigned char *buf,
+                                      size_t blen,
+                                      int (*f_rng)(void *,
+                                                   unsigned char *,
+                                                   size_t),
+                                      void *p_rng,
+                                      int restart_enabled )
 {
     int ret;
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    mbedtls_ecp_restart_ctx *rs_ctx = NULL;
+#endif
 
-    if( ctx == NULL )
+    if( ctx == NULL || ctx->grp.pbits == 0 )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
 
-    if( ( ret = mbedtls_ecdh_compute_shared( &ctx->grp, &ctx->z, &ctx->Qp, &ctx->d,
-                                     f_rng, p_rng ) ) != 0 )
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( restart_enabled )
+        rs_ctx = &ctx->rs;
+#else
+    (void) restart_enabled;
+#endif
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( ( ret = ecdh_compute_shared_restartable( &ctx->grp, &ctx->z, &ctx->Qp,
+                                                 &ctx->d, f_rng, p_rng,
+                                                 rs_ctx ) ) != 0 )
     {
         return( ret );
     }
+#else
+    if( ( ret = mbedtls_ecdh_compute_shared( &ctx->grp, &ctx->z, &ctx->Qp,
+                                             &ctx->d, f_rng, p_rng ) ) != 0 )
+    {
+        return( ret );
+    }
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 
     if( mbedtls_mpi_size( &ctx->z ) > blen )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
@@ -265,4 +617,37 @@ int mbedtls_ecdh_calc_secret( mbedtls_ecdh_context *ctx, size_t *olen,
     return mbedtls_mpi_write_binary( &ctx->z, buf, *olen );
 }
 
+/*
+ * Derive and export the shared secret
+ */
+int mbedtls_ecdh_calc_secret( mbedtls_ecdh_context *ctx, size_t *olen,
+                              unsigned char *buf, size_t blen,
+                              int (*f_rng)(void *, unsigned char *, size_t),
+                              void *p_rng )
+{
+    int restart_enabled = 0;
+    ECDH_VALIDATE_RET( ctx != NULL );
+    ECDH_VALIDATE_RET( olen != NULL );
+    ECDH_VALIDATE_RET( buf != NULL );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    restart_enabled = ctx->restart_enabled;
+#endif
+
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    return( ecdh_calc_secret_internal( ctx, olen, buf, blen, f_rng, p_rng,
+                                       restart_enabled ) );
+#else
+    switch( ctx->var )
+    {
+        case MBEDTLS_ECDH_VARIANT_MBEDTLS_2_0:
+            return( ecdh_calc_secret_internal( &ctx->ctx.mbed_ecdh, olen, buf,
+                                               blen, f_rng, p_rng,
+                                               restart_enabled ) );
+        default:
+            return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
+    }
+#endif
+}
+
 #endif /* MBEDTLS_ECDH_C */
diff --git a/thirdparty/mbedtls/library/ecdsa.c b/thirdparty/mbedtls/library/ecdsa.c
index 17a88bdd29..1204ef9949 100644
--- a/thirdparty/mbedtls/library/ecdsa.c
+++ b/thirdparty/mbedtls/library/ecdsa.c
@@ -42,6 +42,186 @@
 #include "mbedtls/hmac_drbg.h"
 #endif
 
+#if defined(MBEDTLS_PLATFORM_C)
+#include "mbedtls/platform.h"
+#else
+#include <stdlib.h>
+#define mbedtls_calloc    calloc
+#define mbedtls_free       free
+#endif
+
+#include "mbedtls/platform_util.h"
+
+/* Parameter validation macros based on platform_util.h */
+#define ECDSA_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_ECP_BAD_INPUT_DATA )
+#define ECDSA_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+
+/*
+ * Sub-context for ecdsa_verify()
+ */
+struct mbedtls_ecdsa_restart_ver
+{
+    mbedtls_mpi u1, u2;     /* intermediate values  */
+    enum {                  /* what to do next?     */
+        ecdsa_ver_init = 0, /* getting started      */
+        ecdsa_ver_muladd,   /* muladd step          */
+    } state;
+};
+
+/*
+ * Init verify restart sub-context
+ */
+static void ecdsa_restart_ver_init( mbedtls_ecdsa_restart_ver_ctx *ctx )
+{
+    mbedtls_mpi_init( &ctx->u1 );
+    mbedtls_mpi_init( &ctx->u2 );
+    ctx->state = ecdsa_ver_init;
+}
+
+/*
+ * Free the components of a verify restart sub-context
+ */
+static void ecdsa_restart_ver_free( mbedtls_ecdsa_restart_ver_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    mbedtls_mpi_free( &ctx->u1 );
+    mbedtls_mpi_free( &ctx->u2 );
+
+    ecdsa_restart_ver_init( ctx );
+}
+
+/*
+ * Sub-context for ecdsa_sign()
+ */
+struct mbedtls_ecdsa_restart_sig
+{
+    int sign_tries;
+    int key_tries;
+    mbedtls_mpi k;          /* per-signature random */
+    mbedtls_mpi r;          /* r value              */
+    enum {                  /* what to do next?     */
+        ecdsa_sig_init = 0, /* getting started      */
+        ecdsa_sig_mul,      /* doing ecp_mul()      */
+        ecdsa_sig_modn,     /* mod N computations   */
+    } state;
+};
+
+/*
+ * Init verify sign sub-context
+ */
+static void ecdsa_restart_sig_init( mbedtls_ecdsa_restart_sig_ctx *ctx )
+{
+    ctx->sign_tries = 0;
+    ctx->key_tries = 0;
+    mbedtls_mpi_init( &ctx->k );
+    mbedtls_mpi_init( &ctx->r );
+    ctx->state = ecdsa_sig_init;
+}
+
+/*
+ * Free the components of a sign restart sub-context
+ */
+static void ecdsa_restart_sig_free( mbedtls_ecdsa_restart_sig_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    mbedtls_mpi_free( &ctx->k );
+    mbedtls_mpi_free( &ctx->r );
+}
+
+#if defined(MBEDTLS_ECDSA_DETERMINISTIC)
+/*
+ * Sub-context for ecdsa_sign_det()
+ */
+struct mbedtls_ecdsa_restart_det
+{
+    mbedtls_hmac_drbg_context rng_ctx;  /* DRBG state   */
+    enum {                      /* what to do next?     */
+        ecdsa_det_init = 0,     /* getting started      */
+        ecdsa_det_sign,         /* make signature       */
+    } state;
+};
+
+/*
+ * Init verify sign_det sub-context
+ */
+static void ecdsa_restart_det_init( mbedtls_ecdsa_restart_det_ctx *ctx )
+{
+    mbedtls_hmac_drbg_init( &ctx->rng_ctx );
+    ctx->state = ecdsa_det_init;
+}
+
+/*
+ * Free the components of a sign_det restart sub-context
+ */
+static void ecdsa_restart_det_free( mbedtls_ecdsa_restart_det_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    mbedtls_hmac_drbg_free( &ctx->rng_ctx );
+
+    ecdsa_restart_det_init( ctx );
+}
+#endif /* MBEDTLS_ECDSA_DETERMINISTIC */
+
+#define ECDSA_RS_ECP    &rs_ctx->ecp
+
+/* Utility macro for checking and updating ops budget */
+#define ECDSA_BUDGET( ops )   \
+    MBEDTLS_MPI_CHK( mbedtls_ecp_check_budget( grp, &rs_ctx->ecp, ops ) );
+
+/* Call this when entering a function that needs its own sub-context */
+#define ECDSA_RS_ENTER( SUB )   do {                                 \
+    /* reset ops count for this call if top-level */                 \
+    if( rs_ctx != NULL && rs_ctx->ecp.depth++ == 0 )                 \
+        rs_ctx->ecp.ops_done = 0;                                    \
+                                                                     \
+    /* set up our own sub-context if needed */                       \
+    if( mbedtls_ecp_restart_is_enabled() &&                          \
+        rs_ctx != NULL && rs_ctx->SUB == NULL )                      \
+    {                                                                \
+        rs_ctx->SUB = mbedtls_calloc( 1, sizeof( *rs_ctx->SUB ) );   \
+        if( rs_ctx->SUB == NULL )                                    \
+            return( MBEDTLS_ERR_ECP_ALLOC_FAILED );                  \
+                                                                     \
+        ecdsa_restart_## SUB ##_init( rs_ctx->SUB );                 \
+    }                                                                \
+} while( 0 )
+
+/* Call this when leaving a function that needs its own sub-context */
+#define ECDSA_RS_LEAVE( SUB )   do {                                 \
+    /* clear our sub-context when not in progress (done or error) */ \
+    if( rs_ctx != NULL && rs_ctx->SUB != NULL &&                     \
+        ret != MBEDTLS_ERR_ECP_IN_PROGRESS )                         \
+    {                                                                \
+        ecdsa_restart_## SUB ##_free( rs_ctx->SUB );                 \
+        mbedtls_free( rs_ctx->SUB );                                 \
+        rs_ctx->SUB = NULL;                                          \
+    }                                                                \
+                                                                     \
+    if( rs_ctx != NULL )                                             \
+        rs_ctx->ecp.depth--;                                         \
+} while( 0 )
+
+#else /* MBEDTLS_ECP_RESTARTABLE */
+
+#define ECDSA_RS_ECP    NULL
+
+#define ECDSA_BUDGET( ops )   /* no-op; for compatibility */
+
+#define ECDSA_RS_ENTER( SUB )   (void) rs_ctx
+#define ECDSA_RS_LEAVE( SUB )   (void) rs_ctx
+
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 /*
  * Derive a suitable integer for group grp from a buffer of length len
  * SEC1 4.1.3 step 5 aka SEC1 4.1.4 step 3
@@ -70,13 +250,17 @@ cleanup:
  * Compute ECDSA signature of a hashed message (SEC1 4.1.3)
  * Obviously, compared to SEC1 4.1.3, we skip step 4 (hash message)
  */
-int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
+static int ecdsa_sign_restartable( mbedtls_ecp_group *grp,
+                mbedtls_mpi *r, mbedtls_mpi *s,
                 const mbedtls_mpi *d, const unsigned char *buf, size_t blen,
-                int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
+                int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+                mbedtls_ecdsa_restart_ctx *rs_ctx )
 {
-    int ret, key_tries, sign_tries, blind_tries;
+    int ret, key_tries, sign_tries;
+    int *p_sign_tries = &sign_tries, *p_key_tries = &key_tries;
     mbedtls_ecp_point R;
     mbedtls_mpi k, e, t;
+    mbedtls_mpi *pk = &k, *pr = r;
 
     /* Fail cleanly on curves such as Curve25519 that can't be used for ECDSA */
     if( grp->N.p == NULL )
@@ -89,26 +273,72 @@ int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
     mbedtls_ecp_point_init( &R );
     mbedtls_mpi_init( &k ); mbedtls_mpi_init( &e ); mbedtls_mpi_init( &t );
 
-    sign_tries = 0;
+    ECDSA_RS_ENTER( sig );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->sig != NULL )
+    {
+        /* redirect to our context */
+        p_sign_tries = &rs_ctx->sig->sign_tries;
+        p_key_tries = &rs_ctx->sig->key_tries;
+        pk = &rs_ctx->sig->k;
+        pr = &rs_ctx->sig->r;
+
+        /* jump to current step */
+        if( rs_ctx->sig->state == ecdsa_sig_mul )
+            goto mul;
+        if( rs_ctx->sig->state == ecdsa_sig_modn )
+            goto modn;
+    }
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
+    *p_sign_tries = 0;
     do
     {
+        if( *p_sign_tries++ > 10 )
+        {
+            ret = MBEDTLS_ERR_ECP_RANDOM_FAILED;
+            goto cleanup;
+        }
+
         /*
          * Steps 1-3: generate a suitable ephemeral keypair
          * and set r = xR mod n
          */
-        key_tries = 0;
+        *p_key_tries = 0;
         do
         {
-            MBEDTLS_MPI_CHK( mbedtls_ecp_gen_keypair( grp, &k, &R, f_rng, p_rng ) );
-            MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( r, &R.X, &grp->N ) );
-
-            if( key_tries++ > 10 )
+            if( *p_key_tries++ > 10 )
             {
                 ret = MBEDTLS_ERR_ECP_RANDOM_FAILED;
                 goto cleanup;
             }
+
+            MBEDTLS_MPI_CHK( mbedtls_ecp_gen_privkey( grp, pk, f_rng, p_rng ) );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+            if( rs_ctx != NULL && rs_ctx->sig != NULL )
+                rs_ctx->sig->state = ecdsa_sig_mul;
+
+mul:
+#endif
+            MBEDTLS_MPI_CHK( mbedtls_ecp_mul_restartable( grp, &R, pk, &grp->G,
+                                                  f_rng, p_rng, ECDSA_RS_ECP ) );
+            MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( pr, &R.X, &grp->N ) );
         }
-        while( mbedtls_mpi_cmp_int( r, 0 ) == 0 );
+        while( mbedtls_mpi_cmp_int( pr, 0 ) == 0 );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+        if( rs_ctx != NULL && rs_ctx->sig != NULL )
+            rs_ctx->sig->state = ecdsa_sig_modn;
+
+modn:
+#endif
+        /*
+         * Accounting for everything up to the end of the loop
+         * (step 6, but checking now avoids saving e and t)
+         */
+        ECDSA_BUDGET( MBEDTLS_ECP_OPS_INV + 4 );
 
         /*
          * Step 5: derive MPI from hashed message
@@ -119,57 +349,67 @@ int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
          * Generate a random value to blind inv_mod in next step,
          * avoiding a potential timing leak.
          */
-        blind_tries = 0;
-        do
-        {
-            size_t n_size = ( grp->nbits + 7 ) / 8;
-            MBEDTLS_MPI_CHK( mbedtls_mpi_fill_random( &t, n_size, f_rng, p_rng ) );
-            MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( &t, 8 * n_size - grp->nbits ) );
-
-            /* See mbedtls_ecp_gen_keypair() */
-            if( ++blind_tries > 30 )
-                return( MBEDTLS_ERR_ECP_RANDOM_FAILED );
-        }
-        while( mbedtls_mpi_cmp_int( &t, 1 ) < 0 ||
-               mbedtls_mpi_cmp_mpi( &t, &grp->N ) >= 0 );
+        MBEDTLS_MPI_CHK( mbedtls_ecp_gen_privkey( grp, &t, f_rng, p_rng ) );
 
         /*
          * Step 6: compute s = (e + r * d) / k = t (e + rd) / (kt) mod n
          */
-        MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( s, r, d ) );
+        MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( s, pr, d ) );
         MBEDTLS_MPI_CHK( mbedtls_mpi_add_mpi( &e, &e, s ) );
         MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &e, &e, &t ) );
-        MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &k, &k, &t ) );
-        MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( s, &k, &grp->N ) );
+        MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( pk, pk, &t ) );
+        MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( s, pk, &grp->N ) );
         MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( s, s, &e ) );
         MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( s, s, &grp->N ) );
-
-        if( sign_tries++ > 10 )
-        {
-            ret = MBEDTLS_ERR_ECP_RANDOM_FAILED;
-            goto cleanup;
-        }
     }
     while( mbedtls_mpi_cmp_int( s, 0 ) == 0 );
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->sig != NULL )
+        mbedtls_mpi_copy( r, pr );
+#endif
+
 cleanup:
     mbedtls_ecp_point_free( &R );
     mbedtls_mpi_free( &k ); mbedtls_mpi_free( &e ); mbedtls_mpi_free( &t );
 
+    ECDSA_RS_LEAVE( sig );
+
     return( ret );
 }
-#endif /* MBEDTLS_ECDSA_SIGN_ALT */
+
+/*
+ * Compute ECDSA signature of a hashed message
+ */
+int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
+                const mbedtls_mpi *d, const unsigned char *buf, size_t blen,
+                int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
+{
+    ECDSA_VALIDATE_RET( grp   != NULL );
+    ECDSA_VALIDATE_RET( r     != NULL );
+    ECDSA_VALIDATE_RET( s     != NULL );
+    ECDSA_VALIDATE_RET( d     != NULL );
+    ECDSA_VALIDATE_RET( f_rng != NULL );
+    ECDSA_VALIDATE_RET( buf   != NULL || blen == 0 );
+
+    return( ecdsa_sign_restartable( grp, r, s, d, buf, blen,
+                                    f_rng, p_rng, NULL ) );
+}
+#endif /* !MBEDTLS_ECDSA_SIGN_ALT */
 
 #if defined(MBEDTLS_ECDSA_DETERMINISTIC)
 /*
  * Deterministic signature wrapper
  */
-int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
+static int ecdsa_sign_det_restartable( mbedtls_ecp_group *grp,
+                    mbedtls_mpi *r, mbedtls_mpi *s,
                     const mbedtls_mpi *d, const unsigned char *buf, size_t blen,
-                    mbedtls_md_type_t md_alg )
+                    mbedtls_md_type_t md_alg,
+                    mbedtls_ecdsa_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_hmac_drbg_context rng_ctx;
+    mbedtls_hmac_drbg_context *p_rng = &rng_ctx;
     unsigned char data[2 * MBEDTLS_ECP_MAX_BYTES];
     size_t grp_len = ( grp->nbits + 7 ) / 8;
     const mbedtls_md_info_t *md_info;
@@ -181,21 +421,64 @@ int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi
     mbedtls_mpi_init( &h );
     mbedtls_hmac_drbg_init( &rng_ctx );
 
+    ECDSA_RS_ENTER( det );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->det != NULL )
+    {
+        /* redirect to our context */
+        p_rng = &rs_ctx->det->rng_ctx;
+
+        /* jump to current step */
+        if( rs_ctx->det->state == ecdsa_det_sign )
+            goto sign;
+    }
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
     /* Use private key and message hash (reduced) to initialize HMAC_DRBG */
     MBEDTLS_MPI_CHK( mbedtls_mpi_write_binary( d, data, grp_len ) );
     MBEDTLS_MPI_CHK( derive_mpi( grp, &h, buf, blen ) );
     MBEDTLS_MPI_CHK( mbedtls_mpi_write_binary( &h, data + grp_len, grp_len ) );
-    mbedtls_hmac_drbg_seed_buf( &rng_ctx, md_info, data, 2 * grp_len );
+    mbedtls_hmac_drbg_seed_buf( p_rng, md_info, data, 2 * grp_len );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->det != NULL )
+        rs_ctx->det->state = ecdsa_det_sign;
 
+sign:
+#endif
+#if defined(MBEDTLS_ECDSA_SIGN_ALT)
     ret = mbedtls_ecdsa_sign( grp, r, s, d, buf, blen,
-                      mbedtls_hmac_drbg_random, &rng_ctx );
+                              mbedtls_hmac_drbg_random, p_rng );
+#else
+    ret = ecdsa_sign_restartable( grp, r, s, d, buf, blen,
+                      mbedtls_hmac_drbg_random, p_rng, rs_ctx );
+#endif /* MBEDTLS_ECDSA_SIGN_ALT */
 
 cleanup:
     mbedtls_hmac_drbg_free( &rng_ctx );
     mbedtls_mpi_free( &h );
 
+    ECDSA_RS_LEAVE( det );
+
     return( ret );
 }
+
+/*
+ * Deterministic signature wrapper
+ */
+int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s,
+                    const mbedtls_mpi *d, const unsigned char *buf, size_t blen,
+                    mbedtls_md_type_t md_alg )
+{
+    ECDSA_VALIDATE_RET( grp   != NULL );
+    ECDSA_VALIDATE_RET( r     != NULL );
+    ECDSA_VALIDATE_RET( s     != NULL );
+    ECDSA_VALIDATE_RET( d     != NULL );
+    ECDSA_VALIDATE_RET( buf   != NULL || blen == 0 );
+
+    return( ecdsa_sign_det_restartable( grp, r, s, d, buf, blen, md_alg, NULL ) );
+}
 #endif /* MBEDTLS_ECDSA_DETERMINISTIC */
 
 #if !defined(MBEDTLS_ECDSA_VERIFY_ALT)
@@ -203,21 +486,40 @@ cleanup:
  * Verify ECDSA signature of hashed message (SEC1 4.1.4)
  * Obviously, compared to SEC1 4.1.3, we skip step 2 (hash message)
  */
-int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
-                  const unsigned char *buf, size_t blen,
-                  const mbedtls_ecp_point *Q, const mbedtls_mpi *r, const mbedtls_mpi *s)
+static int ecdsa_verify_restartable( mbedtls_ecp_group *grp,
+                                     const unsigned char *buf, size_t blen,
+                                     const mbedtls_ecp_point *Q,
+                                     const mbedtls_mpi *r, const mbedtls_mpi *s,
+                                     mbedtls_ecdsa_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_mpi e, s_inv, u1, u2;
     mbedtls_ecp_point R;
+    mbedtls_mpi *pu1 = &u1, *pu2 = &u2;
 
     mbedtls_ecp_point_init( &R );
-    mbedtls_mpi_init( &e ); mbedtls_mpi_init( &s_inv ); mbedtls_mpi_init( &u1 ); mbedtls_mpi_init( &u2 );
+    mbedtls_mpi_init( &e ); mbedtls_mpi_init( &s_inv );
+    mbedtls_mpi_init( &u1 ); mbedtls_mpi_init( &u2 );
 
     /* Fail cleanly on curves such as Curve25519 that can't be used for ECDSA */
     if( grp->N.p == NULL )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
 
+    ECDSA_RS_ENTER( ver );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ver != NULL )
+    {
+        /* redirect to our context */
+        pu1 = &rs_ctx->ver->u1;
+        pu2 = &rs_ctx->ver->u2;
+
+        /* jump to current step */
+        if( rs_ctx->ver->state == ecdsa_ver_muladd )
+            goto muladd;
+    }
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
     /*
      * Step 1: make sure r and s are in range 1..n-1
      */
@@ -229,11 +531,6 @@ int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
     }
 
     /*
-     * Additional precaution: make sure Q is valid
-     */
-    MBEDTLS_MPI_CHK( mbedtls_ecp_check_pubkey( grp, Q ) );
-
-    /*
      * Step 3: derive MPI from hashed message
      */
     MBEDTLS_MPI_CHK( derive_mpi( grp, &e, buf, blen ) );
@@ -241,21 +538,27 @@ int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
     /*
      * Step 4: u1 = e / s mod n, u2 = r / s mod n
      */
+    ECDSA_BUDGET( MBEDTLS_ECP_OPS_CHK + MBEDTLS_ECP_OPS_INV + 2 );
+
     MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( &s_inv, s, &grp->N ) );
 
-    MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &u1, &e, &s_inv ) );
-    MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( &u1, &u1, &grp->N ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( pu1, &e, &s_inv ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( pu1, pu1, &grp->N ) );
 
-    MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &u2, r, &s_inv ) );
-    MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( &u2, &u2, &grp->N ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( pu2, r, &s_inv ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( pu2, pu2, &grp->N ) );
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ver != NULL )
+        rs_ctx->ver->state = ecdsa_ver_muladd;
+
+muladd:
+#endif
     /*
      * Step 5: R = u1 G + u2 Q
-     *
-     * Since we're not using any secret data, no need to pass a RNG to
-     * mbedtls_ecp_mul() for countermesures.
      */
-    MBEDTLS_MPI_CHK( mbedtls_ecp_muladd( grp, &R, &u1, &grp->G, &u2, Q ) );
+    MBEDTLS_MPI_CHK( mbedtls_ecp_muladd_restartable( grp,
+                     &R, pu1, &grp->G, pu2, Q, ECDSA_RS_ECP ) );
 
     if( mbedtls_ecp_is_zero( &R ) )
     {
@@ -280,11 +583,32 @@ int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
 
 cleanup:
     mbedtls_ecp_point_free( &R );
-    mbedtls_mpi_free( &e ); mbedtls_mpi_free( &s_inv ); mbedtls_mpi_free( &u1 ); mbedtls_mpi_free( &u2 );
+    mbedtls_mpi_free( &e ); mbedtls_mpi_free( &s_inv );
+    mbedtls_mpi_free( &u1 ); mbedtls_mpi_free( &u2 );
+
+    ECDSA_RS_LEAVE( ver );
 
     return( ret );
 }
-#endif /* MBEDTLS_ECDSA_VERIFY_ALT */
+
+/*
+ * Verify ECDSA signature of hashed message
+ */
+int mbedtls_ecdsa_verify( mbedtls_ecp_group *grp,
+                          const unsigned char *buf, size_t blen,
+                          const mbedtls_ecp_point *Q,
+                          const mbedtls_mpi *r,
+                          const mbedtls_mpi *s)
+{
+    ECDSA_VALIDATE_RET( grp != NULL );
+    ECDSA_VALIDATE_RET( Q   != NULL );
+    ECDSA_VALIDATE_RET( r   != NULL );
+    ECDSA_VALIDATE_RET( s   != NULL );
+    ECDSA_VALIDATE_RET( buf != NULL || blen == 0 );
+
+    return( ecdsa_verify_restartable( grp, buf, blen, Q, r, s, NULL ) );
+}
+#endif /* !MBEDTLS_ECDSA_VERIFY_ALT */
 
 /*
  * Convert a signature (given by context) to ASN.1
@@ -313,14 +637,20 @@ static int ecdsa_signature_to_asn1( const mbedtls_mpi *r, const mbedtls_mpi *s,
 /*
  * Compute and write signature
  */
-int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx, mbedtls_md_type_t md_alg,
+int mbedtls_ecdsa_write_signature_restartable( mbedtls_ecdsa_context *ctx,
+                           mbedtls_md_type_t md_alg,
                            const unsigned char *hash, size_t hlen,
                            unsigned char *sig, size_t *slen,
                            int (*f_rng)(void *, unsigned char *, size_t),
-                           void *p_rng )
+                           void *p_rng,
+                           mbedtls_ecdsa_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_mpi r, s;
+    ECDSA_VALIDATE_RET( ctx  != NULL );
+    ECDSA_VALIDATE_RET( hash != NULL );
+    ECDSA_VALIDATE_RET( sig  != NULL );
+    ECDSA_VALIDATE_RET( slen != NULL );
 
     mbedtls_mpi_init( &r );
     mbedtls_mpi_init( &s );
@@ -329,14 +659,19 @@ int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx, mbedtls_md_type_t
     (void) f_rng;
     (void) p_rng;
 
-    MBEDTLS_MPI_CHK( mbedtls_ecdsa_sign_det( &ctx->grp, &r, &s, &ctx->d,
-                             hash, hlen, md_alg ) );
+    MBEDTLS_MPI_CHK( ecdsa_sign_det_restartable( &ctx->grp, &r, &s, &ctx->d,
+                             hash, hlen, md_alg, rs_ctx ) );
 #else
     (void) md_alg;
 
+#if defined(MBEDTLS_ECDSA_SIGN_ALT)
     MBEDTLS_MPI_CHK( mbedtls_ecdsa_sign( &ctx->grp, &r, &s, &ctx->d,
                          hash, hlen, f_rng, p_rng ) );
-#endif
+#else
+    MBEDTLS_MPI_CHK( ecdsa_sign_restartable( &ctx->grp, &r, &s, &ctx->d,
+                         hash, hlen, f_rng, p_rng, rs_ctx ) );
+#endif /* MBEDTLS_ECDSA_SIGN_ALT */
+#endif /* MBEDTLS_ECDSA_DETERMINISTIC */
 
     MBEDTLS_MPI_CHK( ecdsa_signature_to_asn1( &r, &s, sig, slen ) );
 
@@ -347,13 +682,35 @@ cleanup:
     return( ret );
 }
 
-#if ! defined(MBEDTLS_DEPRECATED_REMOVED) && \
+/*
+ * Compute and write signature
+ */
+int mbedtls_ecdsa_write_signature( mbedtls_ecdsa_context *ctx,
+                                 mbedtls_md_type_t md_alg,
+                                 const unsigned char *hash, size_t hlen,
+                                 unsigned char *sig, size_t *slen,
+                                 int (*f_rng)(void *, unsigned char *, size_t),
+                                 void *p_rng )
+{
+    ECDSA_VALIDATE_RET( ctx  != NULL );
+    ECDSA_VALIDATE_RET( hash != NULL );
+    ECDSA_VALIDATE_RET( sig  != NULL );
+    ECDSA_VALIDATE_RET( slen != NULL );
+    return( mbedtls_ecdsa_write_signature_restartable(
+                ctx, md_alg, hash, hlen, sig, slen, f_rng, p_rng, NULL ) );
+}
+
+#if !defined(MBEDTLS_DEPRECATED_REMOVED) && \
     defined(MBEDTLS_ECDSA_DETERMINISTIC)
 int mbedtls_ecdsa_write_signature_det( mbedtls_ecdsa_context *ctx,
                                const unsigned char *hash, size_t hlen,
                                unsigned char *sig, size_t *slen,
                                mbedtls_md_type_t md_alg )
 {
+    ECDSA_VALIDATE_RET( ctx  != NULL );
+    ECDSA_VALIDATE_RET( hash != NULL );
+    ECDSA_VALIDATE_RET( sig  != NULL );
+    ECDSA_VALIDATE_RET( slen != NULL );
     return( mbedtls_ecdsa_write_signature( ctx, md_alg, hash, hlen, sig, slen,
                                    NULL, NULL ) );
 }
@@ -366,11 +723,29 @@ int mbedtls_ecdsa_read_signature( mbedtls_ecdsa_context *ctx,
                           const unsigned char *hash, size_t hlen,
                           const unsigned char *sig, size_t slen )
 {
+    ECDSA_VALIDATE_RET( ctx  != NULL );
+    ECDSA_VALIDATE_RET( hash != NULL );
+    ECDSA_VALIDATE_RET( sig  != NULL );
+    return( mbedtls_ecdsa_read_signature_restartable(
+                ctx, hash, hlen, sig, slen, NULL ) );
+}
+
+/*
+ * Restartable read and check signature
+ */
+int mbedtls_ecdsa_read_signature_restartable( mbedtls_ecdsa_context *ctx,
+                          const unsigned char *hash, size_t hlen,
+                          const unsigned char *sig, size_t slen,
+                          mbedtls_ecdsa_restart_ctx *rs_ctx )
+{
     int ret;
     unsigned char *p = (unsigned char *) sig;
     const unsigned char *end = sig + slen;
     size_t len;
     mbedtls_mpi r, s;
+    ECDSA_VALIDATE_RET( ctx  != NULL );
+    ECDSA_VALIDATE_RET( hash != NULL );
+    ECDSA_VALIDATE_RET( sig  != NULL );
 
     mbedtls_mpi_init( &r );
     mbedtls_mpi_init( &s );
@@ -395,10 +770,15 @@ int mbedtls_ecdsa_read_signature( mbedtls_ecdsa_context *ctx,
         ret += MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
         goto cleanup;
     }
-
+#if defined(MBEDTLS_ECDSA_VERIFY_ALT)
     if( ( ret = mbedtls_ecdsa_verify( &ctx->grp, hash, hlen,
-                              &ctx->Q, &r, &s ) ) != 0 )
+                                      &ctx->Q, &r, &s ) ) != 0 )
         goto cleanup;
+#else
+    if( ( ret = ecdsa_verify_restartable( &ctx->grp, hash, hlen,
+                              &ctx->Q, &r, &s, rs_ctx ) ) != 0 )
+        goto cleanup;
+#endif /* MBEDTLS_ECDSA_VERIFY_ALT */
 
     /* At this point we know that the buffer starts with a valid signature.
      * Return 0 if the buffer just contains the signature, and a specific
@@ -420,10 +800,13 @@ cleanup:
 int mbedtls_ecdsa_genkey( mbedtls_ecdsa_context *ctx, mbedtls_ecp_group_id gid,
                   int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
 {
+    ECDSA_VALIDATE_RET( ctx   != NULL );
+    ECDSA_VALIDATE_RET( f_rng != NULL );
+
     return( mbedtls_ecp_group_load( &ctx->grp, gid ) ||
             mbedtls_ecp_gen_keypair( &ctx->grp, &ctx->d, &ctx->Q, f_rng, p_rng ) );
 }
-#endif /* MBEDTLS_ECDSA_GENKEY_ALT */
+#endif /* !MBEDTLS_ECDSA_GENKEY_ALT */
 
 /*
  * Set context from an mbedtls_ecp_keypair
@@ -431,6 +814,8 @@ int mbedtls_ecdsa_genkey( mbedtls_ecdsa_context *ctx, mbedtls_ecp_group_id gid,
 int mbedtls_ecdsa_from_keypair( mbedtls_ecdsa_context *ctx, const mbedtls_ecp_keypair *key )
 {
     int ret;
+    ECDSA_VALIDATE_RET( ctx != NULL );
+    ECDSA_VALIDATE_RET( key != NULL );
 
     if( ( ret = mbedtls_ecp_group_copy( &ctx->grp, &key->grp ) ) != 0 ||
         ( ret = mbedtls_mpi_copy( &ctx->d, &key->d ) ) != 0 ||
@@ -447,6 +832,8 @@ int mbedtls_ecdsa_from_keypair( mbedtls_ecdsa_context *ctx, const mbedtls_ecp_ke
  */
 void mbedtls_ecdsa_init( mbedtls_ecdsa_context *ctx )
 {
+    ECDSA_VALIDATE( ctx != NULL );
+
     mbedtls_ecp_keypair_init( ctx );
 }
 
@@ -455,7 +842,53 @@ void mbedtls_ecdsa_init( mbedtls_ecdsa_context *ctx )
  */
 void mbedtls_ecdsa_free( mbedtls_ecdsa_context *ctx )
 {
+    if( ctx == NULL )
+        return;
+
     mbedtls_ecp_keypair_free( ctx );
 }
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/*
+ * Initialize a restart context
+ */
+void mbedtls_ecdsa_restart_init( mbedtls_ecdsa_restart_ctx *ctx )
+{
+    ECDSA_VALIDATE( ctx != NULL );
+
+    mbedtls_ecp_restart_init( &ctx->ecp );
+
+    ctx->ver = NULL;
+    ctx->sig = NULL;
+#if defined(MBEDTLS_ECDSA_DETERMINISTIC)
+    ctx->det = NULL;
+#endif
+}
+
+/*
+ * Free the components of a restart context
+ */
+void mbedtls_ecdsa_restart_free( mbedtls_ecdsa_restart_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    mbedtls_ecp_restart_free( &ctx->ecp );
+
+    ecdsa_restart_ver_free( ctx->ver );
+    mbedtls_free( ctx->ver );
+    ctx->ver = NULL;
+
+    ecdsa_restart_sig_free( ctx->sig );
+    mbedtls_free( ctx->sig );
+    ctx->sig = NULL;
+
+#if defined(MBEDTLS_ECDSA_DETERMINISTIC)
+    ecdsa_restart_det_free( ctx->det );
+    mbedtls_free( ctx->det );
+    ctx->det = NULL;
+#endif
+}
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 #endif /* MBEDTLS_ECDSA_C */
diff --git a/thirdparty/mbedtls/library/ecjpake.c b/thirdparty/mbedtls/library/ecjpake.c
index ec5a4007db..be941b14b1 100644
--- a/thirdparty/mbedtls/library/ecjpake.c
+++ b/thirdparty/mbedtls/library/ecjpake.c
@@ -33,11 +33,18 @@
 #if defined(MBEDTLS_ECJPAKE_C)
 
 #include "mbedtls/ecjpake.h"
+#include "mbedtls/platform_util.h"
 
 #include <string.h>
 
 #if !defined(MBEDTLS_ECJPAKE_ALT)
 
+/* Parameter validation macros based on platform_util.h */
+#define ECJPAKE_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_ECP_BAD_INPUT_DATA )
+#define ECJPAKE_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * Convert a mbedtls_ecjpake_role to identifier string
  */
@@ -54,8 +61,7 @@ static const char * const ecjpake_id[] = {
  */
 void mbedtls_ecjpake_init( mbedtls_ecjpake_context *ctx )
 {
-    if( ctx == NULL )
-        return;
+    ECJPAKE_VALIDATE( ctx != NULL );
 
     ctx->md_info = NULL;
     mbedtls_ecp_group_init( &ctx->grp );
@@ -106,6 +112,11 @@ int mbedtls_ecjpake_setup( mbedtls_ecjpake_context *ctx,
 {
     int ret;
 
+    ECJPAKE_VALIDATE_RET( ctx != NULL );
+    ECJPAKE_VALIDATE_RET( role == MBEDTLS_ECJPAKE_CLIENT ||
+                          role == MBEDTLS_ECJPAKE_SERVER );
+    ECJPAKE_VALIDATE_RET( secret != NULL || len == 0 );
+
     ctx->role = role;
 
     if( ( ctx->md_info = mbedtls_md_info_from_type( hash ) ) == NULL )
@@ -127,6 +138,8 @@ cleanup:
  */
 int mbedtls_ecjpake_check( const mbedtls_ecjpake_context *ctx )
 {
+    ECJPAKE_VALIDATE_RET( ctx != NULL );
+
     if( ctx->md_info == NULL ||
         ctx->grp.id == MBEDTLS_ECP_DP_NONE ||
         ctx->s.p == NULL )
@@ -504,6 +517,9 @@ int mbedtls_ecjpake_read_round_one( mbedtls_ecjpake_context *ctx,
                                     const unsigned char *buf,
                                     size_t len )
 {
+    ECJPAKE_VALIDATE_RET( ctx != NULL );
+    ECJPAKE_VALIDATE_RET( buf != NULL );
+
     return( ecjpake_kkpp_read( ctx->md_info, &ctx->grp, ctx->point_format,
                                &ctx->grp.G,
                                &ctx->Xp1, &ctx->Xp2, ID_PEER,
@@ -518,6 +534,11 @@ int mbedtls_ecjpake_write_round_one( mbedtls_ecjpake_context *ctx,
                             int (*f_rng)(void *, unsigned char *, size_t),
                             void *p_rng )
 {
+    ECJPAKE_VALIDATE_RET( ctx   != NULL );
+    ECJPAKE_VALIDATE_RET( buf   != NULL );
+    ECJPAKE_VALIDATE_RET( olen  != NULL );
+    ECJPAKE_VALIDATE_RET( f_rng != NULL );
+
     return( ecjpake_kkpp_write( ctx->md_info, &ctx->grp, ctx->point_format,
                                 &ctx->grp.G,
                                 &ctx->xm1, &ctx->Xm1, &ctx->xm2, &ctx->Xm2,
@@ -560,6 +581,9 @@ int mbedtls_ecjpake_read_round_two( mbedtls_ecjpake_context *ctx,
     mbedtls_ecp_group grp;
     mbedtls_ecp_point G;    /* C: GB, S: GA */
 
+    ECJPAKE_VALIDATE_RET( ctx != NULL );
+    ECJPAKE_VALIDATE_RET( buf != NULL );
+
     mbedtls_ecp_group_init( &grp );
     mbedtls_ecp_point_init( &G );
 
@@ -652,6 +676,11 @@ int mbedtls_ecjpake_write_round_two( mbedtls_ecjpake_context *ctx,
     const unsigned char *end = buf + len;
     size_t ec_len;
 
+    ECJPAKE_VALIDATE_RET( ctx   != NULL );
+    ECJPAKE_VALIDATE_RET( buf   != NULL );
+    ECJPAKE_VALIDATE_RET( olen  != NULL );
+    ECJPAKE_VALIDATE_RET( f_rng != NULL );
+
     mbedtls_ecp_point_init( &G );
     mbedtls_ecp_point_init( &Xm );
     mbedtls_mpi_init( &xm );
@@ -727,6 +756,11 @@ int mbedtls_ecjpake_derive_secret( mbedtls_ecjpake_context *ctx,
     unsigned char kx[MBEDTLS_ECP_MAX_BYTES];
     size_t x_bytes;
 
+    ECJPAKE_VALIDATE_RET( ctx   != NULL );
+    ECJPAKE_VALIDATE_RET( buf   != NULL );
+    ECJPAKE_VALIDATE_RET( olen  != NULL );
+    ECJPAKE_VALIDATE_RET( f_rng != NULL );
+
     *olen = mbedtls_md_get_size( ctx->md_info );
     if( len < *olen )
         return( MBEDTLS_ERR_ECP_BUFFER_TOO_SMALL );
diff --git a/thirdparty/mbedtls/library/ecp.c b/thirdparty/mbedtls/library/ecp.c
index 41db3fbe5b..ecea5910e0 100644
--- a/thirdparty/mbedtls/library/ecp.c
+++ b/thirdparty/mbedtls/library/ecp.c
@@ -47,6 +47,35 @@
 #include MBEDTLS_CONFIG_FILE
 #endif
 
+/**
+ * \brief Function level alternative implementation.
+ *
+ * The MBEDTLS_ECP_INTERNAL_ALT macro enables alternative implementations to
+ * replace certain functions in this module. The alternative implementations are
+ * typically hardware accelerators and need to activate the hardware before the
+ * computation starts and deactivate it after it finishes. The
+ * mbedtls_internal_ecp_init() and mbedtls_internal_ecp_free() functions serve
+ * this purpose.
+ *
+ * To preserve the correct functionality the following conditions must hold:
+ *
+ * - The alternative implementation must be activated by
+ *   mbedtls_internal_ecp_init() before any of the replaceable functions is
+ *   called.
+ * - mbedtls_internal_ecp_free() must \b only be called when the alternative
+ *   implementation is activated.
+ * - mbedtls_internal_ecp_init() must \b not be called when the alternative
+ *   implementation is activated.
+ * - Public functions must not return while the alternative implementation is
+ *   activated.
+ * - Replaceable functions are guarded by \c MBEDTLS_ECP_XXX_ALT macros and
+ *   before calling them an \code if( mbedtls_internal_ecp_grp_capable( grp ) )
+ *   \endcode ensures that the alternative implementation supports the current
+ *   group.
+ */
+#if defined(MBEDTLS_ECP_INTERNAL_ALT)
+#endif
+
 #if defined(MBEDTLS_ECP_C)
 
 #include "mbedtls/ecp.h"
@@ -57,6 +86,12 @@
 
 #if !defined(MBEDTLS_ECP_ALT)
 
+/* Parameter validation macros based on platform_util.h */
+#define ECP_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_ECP_BAD_INPUT_DATA )
+#define ECP_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if defined(MBEDTLS_PLATFORM_C)
 #include "mbedtls/platform.h"
 #else
@@ -82,6 +117,233 @@
 static unsigned long add_count, dbl_count, mul_count;
 #endif
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/*
+ * Maximum number of "basic operations" to be done in a row.
+ *
+ * Default value 0 means that ECC operations will not yield.
+ * Note that regardless of the value of ecp_max_ops, always at
+ * least one step is performed before yielding.
+ *
+ * Setting ecp_max_ops=1 can be suitable for testing purposes
+ * as it will interrupt computation at all possible points.
+ */
+static unsigned ecp_max_ops = 0;
+
+/*
+ * Set ecp_max_ops
+ */
+void mbedtls_ecp_set_max_ops( unsigned max_ops )
+{
+    ecp_max_ops = max_ops;
+}
+
+/*
+ * Check if restart is enabled
+ */
+int mbedtls_ecp_restart_is_enabled( void )
+{
+    return( ecp_max_ops != 0 );
+}
+
+/*
+ * Restart sub-context for ecp_mul_comb()
+ */
+struct mbedtls_ecp_restart_mul
+{
+    mbedtls_ecp_point R;    /* current intermediate result                  */
+    size_t i;               /* current index in various loops, 0 outside    */
+    mbedtls_ecp_point *T;   /* table for precomputed points                 */
+    unsigned char T_size;   /* number of points in table T                  */
+    enum {                  /* what were we doing last time we returned?    */
+        ecp_rsm_init = 0,       /* nothing so far, dummy initial state      */
+        ecp_rsm_pre_dbl,        /* precompute 2^n multiples                 */
+        ecp_rsm_pre_norm_dbl,   /* normalize precomputed 2^n multiples      */
+        ecp_rsm_pre_add,        /* precompute remaining points by adding    */
+        ecp_rsm_pre_norm_add,   /* normalize all precomputed points         */
+        ecp_rsm_comb_core,      /* ecp_mul_comb_core()                      */
+        ecp_rsm_final_norm,     /* do the final normalization               */
+    } state;
+};
+
+/*
+ * Init restart_mul sub-context
+ */
+static void ecp_restart_rsm_init( mbedtls_ecp_restart_mul_ctx *ctx )
+{
+    mbedtls_ecp_point_init( &ctx->R );
+    ctx->i = 0;
+    ctx->T = NULL;
+    ctx->T_size = 0;
+    ctx->state = ecp_rsm_init;
+}
+
+/*
+ * Free the components of a restart_mul sub-context
+ */
+static void ecp_restart_rsm_free( mbedtls_ecp_restart_mul_ctx *ctx )
+{
+    unsigned char i;
+
+    if( ctx == NULL )
+        return;
+
+    mbedtls_ecp_point_free( &ctx->R );
+
+    if( ctx->T != NULL )
+    {
+        for( i = 0; i < ctx->T_size; i++ )
+            mbedtls_ecp_point_free( ctx->T + i );
+        mbedtls_free( ctx->T );
+    }
+
+    ecp_restart_rsm_init( ctx );
+}
+
+/*
+ * Restart context for ecp_muladd()
+ */
+struct mbedtls_ecp_restart_muladd
+{
+    mbedtls_ecp_point mP;       /* mP value                             */
+    mbedtls_ecp_point R;        /* R intermediate result                */
+    enum {                      /* what should we do next?              */
+        ecp_rsma_mul1 = 0,      /* first multiplication                 */
+        ecp_rsma_mul2,          /* second multiplication                */
+        ecp_rsma_add,           /* addition                             */
+        ecp_rsma_norm,          /* normalization                        */
+    } state;
+};
+
+/*
+ * Init restart_muladd sub-context
+ */
+static void ecp_restart_ma_init( mbedtls_ecp_restart_muladd_ctx *ctx )
+{
+    mbedtls_ecp_point_init( &ctx->mP );
+    mbedtls_ecp_point_init( &ctx->R );
+    ctx->state = ecp_rsma_mul1;
+}
+
+/*
+ * Free the components of a restart_muladd sub-context
+ */
+static void ecp_restart_ma_free( mbedtls_ecp_restart_muladd_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    mbedtls_ecp_point_free( &ctx->mP );
+    mbedtls_ecp_point_free( &ctx->R );
+
+    ecp_restart_ma_init( ctx );
+}
+
+/*
+ * Initialize a restart context
+ */
+void mbedtls_ecp_restart_init( mbedtls_ecp_restart_ctx *ctx )
+{
+    ECP_VALIDATE( ctx != NULL );
+    ctx->ops_done = 0;
+    ctx->depth = 0;
+    ctx->rsm = NULL;
+    ctx->ma = NULL;
+}
+
+/*
+ * Free the components of a restart context
+ */
+void mbedtls_ecp_restart_free( mbedtls_ecp_restart_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    ecp_restart_rsm_free( ctx->rsm );
+    mbedtls_free( ctx->rsm );
+
+    ecp_restart_ma_free( ctx->ma );
+    mbedtls_free( ctx->ma );
+
+    mbedtls_ecp_restart_init( ctx );
+}
+
+/*
+ * Check if we can do the next step
+ */
+int mbedtls_ecp_check_budget( const mbedtls_ecp_group *grp,
+                              mbedtls_ecp_restart_ctx *rs_ctx,
+                              unsigned ops )
+{
+    ECP_VALIDATE_RET( grp != NULL );
+
+    if( rs_ctx != NULL && ecp_max_ops != 0 )
+    {
+        /* scale depending on curve size: the chosen reference is 256-bit,
+         * and multiplication is quadratic. Round to the closest integer. */
+        if( grp->pbits >= 512 )
+            ops *= 4;
+        else if( grp->pbits >= 384 )
+            ops *= 2;
+
+        /* Avoid infinite loops: always allow first step.
+         * Because of that, however, it's not generally true
+         * that ops_done <= ecp_max_ops, so the check
+         * ops_done > ecp_max_ops below is mandatory. */
+        if( ( rs_ctx->ops_done != 0 ) &&
+            ( rs_ctx->ops_done > ecp_max_ops ||
+              ops > ecp_max_ops - rs_ctx->ops_done ) )
+        {
+            return( MBEDTLS_ERR_ECP_IN_PROGRESS );
+        }
+
+        /* update running count */
+        rs_ctx->ops_done += ops;
+    }
+
+    return( 0 );
+}
+
+/* Call this when entering a function that needs its own sub-context */
+#define ECP_RS_ENTER( SUB )   do {                                      \
+    /* reset ops count for this call if top-level */                    \
+    if( rs_ctx != NULL && rs_ctx->depth++ == 0 )                        \
+        rs_ctx->ops_done = 0;                                           \
+                                                                        \
+    /* set up our own sub-context if needed */                          \
+    if( mbedtls_ecp_restart_is_enabled() &&                             \
+        rs_ctx != NULL && rs_ctx->SUB == NULL )                         \
+    {                                                                   \
+        rs_ctx->SUB = mbedtls_calloc( 1, sizeof( *rs_ctx->SUB ) );      \
+        if( rs_ctx->SUB == NULL )                                       \
+            return( MBEDTLS_ERR_ECP_ALLOC_FAILED );                     \
+                                                                        \
+        ecp_restart_## SUB ##_init( rs_ctx->SUB );                      \
+    }                                                                   \
+} while( 0 )
+
+/* Call this when leaving a function that needs its own sub-context */
+#define ECP_RS_LEAVE( SUB )   do {                                      \
+    /* clear our sub-context when not in progress (done or error) */    \
+    if( rs_ctx != NULL && rs_ctx->SUB != NULL &&                        \
+        ret != MBEDTLS_ERR_ECP_IN_PROGRESS )                            \
+    {                                                                   \
+        ecp_restart_## SUB ##_free( rs_ctx->SUB );                      \
+        mbedtls_free( rs_ctx->SUB );                                    \
+        rs_ctx->SUB = NULL;                                             \
+    }                                                                   \
+                                                                        \
+    if( rs_ctx != NULL )                                                \
+        rs_ctx->depth--;                                                \
+} while( 0 )
+
+#else /* MBEDTLS_ECP_RESTARTABLE */
+
+#define ECP_RS_ENTER( sub )     (void) rs_ctx;
+#define ECP_RS_LEAVE( sub )     (void) rs_ctx;
+
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 #if defined(MBEDTLS_ECP_DP_SECP192R1_ENABLED) ||   \
     defined(MBEDTLS_ECP_DP_SECP224R1_ENABLED) ||   \
     defined(MBEDTLS_ECP_DP_SECP256R1_ENABLED) ||   \
@@ -243,6 +505,9 @@ const mbedtls_ecp_curve_info *mbedtls_ecp_curve_info_from_name( const char *name
 {
     const mbedtls_ecp_curve_info *curve_info;
 
+    if( name == NULL )
+        return( NULL );
+
     for( curve_info = mbedtls_ecp_curve_list();
          curve_info->grp_id != MBEDTLS_ECP_DP_NONE;
          curve_info++ )
@@ -273,8 +538,7 @@ static inline ecp_curve_type ecp_get_type( const mbedtls_ecp_group *grp )
  */
 void mbedtls_ecp_point_init( mbedtls_ecp_point *pt )
 {
-    if( pt == NULL )
-        return;
+    ECP_VALIDATE( pt != NULL );
 
     mbedtls_mpi_init( &pt->X );
     mbedtls_mpi_init( &pt->Y );
@@ -286,10 +550,23 @@ void mbedtls_ecp_point_init( mbedtls_ecp_point *pt )
  */
 void mbedtls_ecp_group_init( mbedtls_ecp_group *grp )
 {
-    if( grp == NULL )
-        return;
-
-    memset( grp, 0, sizeof( mbedtls_ecp_group ) );
+    ECP_VALIDATE( grp != NULL );
+
+    grp->id = MBEDTLS_ECP_DP_NONE;
+    mbedtls_mpi_init( &grp->P );
+    mbedtls_mpi_init( &grp->A );
+    mbedtls_mpi_init( &grp->B );
+    mbedtls_ecp_point_init( &grp->G );
+    mbedtls_mpi_init( &grp->N );
+    grp->pbits = 0;
+    grp->nbits = 0;
+    grp->h = 0;
+    grp->modp = NULL;
+    grp->t_pre = NULL;
+    grp->t_post = NULL;
+    grp->t_data = NULL;
+    grp->T = NULL;
+    grp->T_size = 0;
 }
 
 /*
@@ -297,8 +574,7 @@ void mbedtls_ecp_group_init( mbedtls_ecp_group *grp )
  */
 void mbedtls_ecp_keypair_init( mbedtls_ecp_keypair *key )
 {
-    if( key == NULL )
-        return;
+    ECP_VALIDATE( key != NULL );
 
     mbedtls_ecp_group_init( &key->grp );
     mbedtls_mpi_init( &key->d );
@@ -366,6 +642,8 @@ void mbedtls_ecp_keypair_free( mbedtls_ecp_keypair *key )
 int mbedtls_ecp_copy( mbedtls_ecp_point *P, const mbedtls_ecp_point *Q )
 {
     int ret;
+    ECP_VALIDATE_RET( P != NULL );
+    ECP_VALIDATE_RET( Q != NULL );
 
     MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &P->X, &Q->X ) );
     MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &P->Y, &Q->Y ) );
@@ -380,7 +658,10 @@ cleanup:
  */
 int mbedtls_ecp_group_copy( mbedtls_ecp_group *dst, const mbedtls_ecp_group *src )
 {
-    return mbedtls_ecp_group_load( dst, src->id );
+    ECP_VALIDATE_RET( dst != NULL );
+    ECP_VALIDATE_RET( src != NULL );
+
+    return( mbedtls_ecp_group_load( dst, src->id ) );
 }
 
 /*
@@ -389,6 +670,7 @@ int mbedtls_ecp_group_copy( mbedtls_ecp_group *dst, const mbedtls_ecp_group *src
 int mbedtls_ecp_set_zero( mbedtls_ecp_point *pt )
 {
     int ret;
+    ECP_VALIDATE_RET( pt != NULL );
 
     MBEDTLS_MPI_CHK( mbedtls_mpi_lset( &pt->X , 1 ) );
     MBEDTLS_MPI_CHK( mbedtls_mpi_lset( &pt->Y , 1 ) );
@@ -403,15 +685,20 @@ cleanup:
  */
 int mbedtls_ecp_is_zero( mbedtls_ecp_point *pt )
 {
+    ECP_VALIDATE_RET( pt != NULL );
+
     return( mbedtls_mpi_cmp_int( &pt->Z, 0 ) == 0 );
 }
 
 /*
- * Compare two points lazyly
+ * Compare two points lazily
  */
 int mbedtls_ecp_point_cmp( const mbedtls_ecp_point *P,
                            const mbedtls_ecp_point *Q )
 {
+    ECP_VALIDATE_RET( P != NULL );
+    ECP_VALIDATE_RET( Q != NULL );
+
     if( mbedtls_mpi_cmp_mpi( &P->X, &Q->X ) == 0 &&
         mbedtls_mpi_cmp_mpi( &P->Y, &Q->Y ) == 0 &&
         mbedtls_mpi_cmp_mpi( &P->Z, &Q->Z ) == 0 )
@@ -429,6 +716,9 @@ int mbedtls_ecp_point_read_string( mbedtls_ecp_point *P, int radix,
                            const char *x, const char *y )
 {
     int ret;
+    ECP_VALIDATE_RET( P != NULL );
+    ECP_VALIDATE_RET( x != NULL );
+    ECP_VALIDATE_RET( y != NULL );
 
     MBEDTLS_MPI_CHK( mbedtls_mpi_read_string( &P->X, radix, x ) );
     MBEDTLS_MPI_CHK( mbedtls_mpi_read_string( &P->Y, radix, y ) );
@@ -441,16 +731,19 @@ cleanup:
 /*
  * Export a point into unsigned binary data (SEC1 2.3.3)
  */
-int mbedtls_ecp_point_write_binary( const mbedtls_ecp_group *grp, const mbedtls_ecp_point *P,
-                            int format, size_t *olen,
-                            unsigned char *buf, size_t buflen )
+int mbedtls_ecp_point_write_binary( const mbedtls_ecp_group *grp,
+                                    const mbedtls_ecp_point *P,
+                                    int format, size_t *olen,
+                                    unsigned char *buf, size_t buflen )
 {
     int ret = 0;
     size_t plen;
-
-    if( format != MBEDTLS_ECP_PF_UNCOMPRESSED &&
-        format != MBEDTLS_ECP_PF_COMPRESSED )
-        return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
+    ECP_VALIDATE_RET( grp  != NULL );
+    ECP_VALIDATE_RET( P    != NULL );
+    ECP_VALIDATE_RET( olen != NULL );
+    ECP_VALIDATE_RET( buf  != NULL );
+    ECP_VALIDATE_RET( format == MBEDTLS_ECP_PF_UNCOMPRESSED ||
+                      format == MBEDTLS_ECP_PF_COMPRESSED );
 
     /*
      * Common case: P == 0
@@ -497,11 +790,15 @@ cleanup:
 /*
  * Import a point from unsigned binary data (SEC1 2.3.4)
  */
-int mbedtls_ecp_point_read_binary( const mbedtls_ecp_group *grp, mbedtls_ecp_point *pt,
-                           const unsigned char *buf, size_t ilen )
+int mbedtls_ecp_point_read_binary( const mbedtls_ecp_group *grp,
+                                   mbedtls_ecp_point *pt,
+                                   const unsigned char *buf, size_t ilen )
 {
     int ret;
     size_t plen;
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( pt  != NULL );
+    ECP_VALIDATE_RET( buf != NULL );
 
     if( ilen < 1 )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
@@ -536,11 +833,16 @@ cleanup:
  *          opaque point <1..2^8-1>;
  *      } ECPoint;
  */
-int mbedtls_ecp_tls_read_point( const mbedtls_ecp_group *grp, mbedtls_ecp_point *pt,
-                        const unsigned char **buf, size_t buf_len )
+int mbedtls_ecp_tls_read_point( const mbedtls_ecp_group *grp,
+                                mbedtls_ecp_point *pt,
+                                const unsigned char **buf, size_t buf_len )
 {
     unsigned char data_len;
     const unsigned char *buf_start;
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( pt  != NULL );
+    ECP_VALIDATE_RET( buf != NULL );
+    ECP_VALIDATE_RET( *buf != NULL );
 
     /*
      * We must have at least two bytes (1 for length, at least one for data)
@@ -558,7 +860,7 @@ int mbedtls_ecp_tls_read_point( const mbedtls_ecp_group *grp, mbedtls_ecp_point
     buf_start = *buf;
     *buf += data_len;
 
-    return mbedtls_ecp_point_read_binary( grp, pt, buf_start, data_len );
+    return( mbedtls_ecp_point_read_binary( grp, pt, buf_start, data_len ) );
 }
 
 /*
@@ -572,6 +874,12 @@ int mbedtls_ecp_tls_write_point( const mbedtls_ecp_group *grp, const mbedtls_ecp
                          unsigned char *buf, size_t blen )
 {
     int ret;
+    ECP_VALIDATE_RET( grp  != NULL );
+    ECP_VALIDATE_RET( pt   != NULL );
+    ECP_VALIDATE_RET( olen != NULL );
+    ECP_VALIDATE_RET( buf  != NULL );
+    ECP_VALIDATE_RET( format == MBEDTLS_ECP_PF_UNCOMPRESSED ||
+                      format == MBEDTLS_ECP_PF_COMPRESSED );
 
     /*
      * buffer length must be at least one, for our length byte
@@ -595,10 +903,33 @@ int mbedtls_ecp_tls_write_point( const mbedtls_ecp_group *grp, const mbedtls_ecp
 /*
  * Set a group from an ECParameters record (RFC 4492)
  */
-int mbedtls_ecp_tls_read_group( mbedtls_ecp_group *grp, const unsigned char **buf, size_t len )
+int mbedtls_ecp_tls_read_group( mbedtls_ecp_group *grp,
+                                const unsigned char **buf, size_t len )
+{
+    int ret;
+    mbedtls_ecp_group_id grp_id;
+    ECP_VALIDATE_RET( grp  != NULL );
+    ECP_VALIDATE_RET( buf  != NULL );
+    ECP_VALIDATE_RET( *buf != NULL );
+
+    if( ( ret = mbedtls_ecp_tls_read_group_id( &grp_id, buf, len ) ) != 0 )
+        return( ret );
+
+    return( mbedtls_ecp_group_load( grp, grp_id ) );
+}
+
+/*
+ * Read a group id from an ECParameters record (RFC 4492) and convert it to
+ * mbedtls_ecp_group_id.
+ */
+int mbedtls_ecp_tls_read_group_id( mbedtls_ecp_group_id *grp,
+                                   const unsigned char **buf, size_t len )
 {
     uint16_t tls_id;
     const mbedtls_ecp_curve_info *curve_info;
+    ECP_VALIDATE_RET( grp  != NULL );
+    ECP_VALIDATE_RET( buf  != NULL );
+    ECP_VALIDATE_RET( *buf != NULL );
 
     /*
      * We expect at least three bytes (see below)
@@ -622,7 +953,9 @@ int mbedtls_ecp_tls_read_group( mbedtls_ecp_group *grp, const unsigned char **bu
     if( ( curve_info = mbedtls_ecp_curve_info_from_tls_id( tls_id ) ) == NULL )
         return( MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE );
 
-    return mbedtls_ecp_group_load( grp, curve_info->grp_id );
+    *grp = curve_info->grp_id;
+
+    return( 0 );
 }
 
 /*
@@ -632,6 +965,9 @@ int mbedtls_ecp_tls_write_group( const mbedtls_ecp_group *grp, size_t *olen,
                          unsigned char *buf, size_t blen )
 {
     const mbedtls_ecp_curve_info *curve_info;
+    ECP_VALIDATE_RET( grp  != NULL );
+    ECP_VALIDATE_RET( buf  != NULL );
+    ECP_VALIDATE_RET( olen != NULL );
 
     if( ( curve_info = mbedtls_ecp_curve_info_from_grp_id( grp->id ) ) == NULL )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
@@ -752,11 +1088,10 @@ static int ecp_normalize_jac( const mbedtls_ecp_group *grp, mbedtls_ecp_point *p
         return( 0 );
 
 #if defined(MBEDTLS_ECP_NORMALIZE_JAC_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_normalize_jac( grp, pt );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_normalize_jac( grp, pt ) );
 #endif /* MBEDTLS_ECP_NORMALIZE_JAC_ALT */
+
     mbedtls_mpi_init( &Zi ); mbedtls_mpi_init( &ZZi );
 
     /*
@@ -796,32 +1131,33 @@ cleanup:
  * Cost: 1N(t) := 1I + (6t - 3)M + 1S
  */
 static int ecp_normalize_jac_many( const mbedtls_ecp_group *grp,
-                                   mbedtls_ecp_point *T[], size_t t_len )
+                                   mbedtls_ecp_point *T[], size_t T_size )
 {
     int ret;
     size_t i;
     mbedtls_mpi *c, u, Zi, ZZi;
 
-    if( t_len < 2 )
+    if( T_size < 2 )
         return( ecp_normalize_jac( grp, *T ) );
 
 #if defined(MBEDTLS_ECP_NORMALIZE_JAC_MANY_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_normalize_jac_many(grp, T, t_len);
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_normalize_jac_many( grp, T, T_size ) );
 #endif
 
-    if( ( c = mbedtls_calloc( t_len, sizeof( mbedtls_mpi ) ) ) == NULL )
+    if( ( c = mbedtls_calloc( T_size, sizeof( mbedtls_mpi ) ) ) == NULL )
         return( MBEDTLS_ERR_ECP_ALLOC_FAILED );
 
+    for( i = 0; i < T_size; i++ )
+        mbedtls_mpi_init( &c[i] );
+
     mbedtls_mpi_init( &u ); mbedtls_mpi_init( &Zi ); mbedtls_mpi_init( &ZZi );
 
     /*
      * c[i] = Z_0 * ... * Z_i
      */
     MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &c[0], &T[0]->Z ) );
-    for( i = 1; i < t_len; i++ )
+    for( i = 1; i < T_size; i++ )
     {
         MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &c[i], &c[i-1], &T[i]->Z ) );
         MOD_MUL( c[i] );
@@ -830,9 +1166,9 @@ static int ecp_normalize_jac_many( const mbedtls_ecp_group *grp,
     /*
      * u = 1 / (Z_0 * ... * Z_n) mod P
      */
-    MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( &u, &c[t_len-1], &grp->P ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( &u, &c[T_size-1], &grp->P ) );
 
-    for( i = t_len - 1; ; i-- )
+    for( i = T_size - 1; ; i-- )
     {
         /*
          * Zi = 1 / Z_i mod p
@@ -872,7 +1208,7 @@ static int ecp_normalize_jac_many( const mbedtls_ecp_group *grp,
 cleanup:
 
     mbedtls_mpi_free( &u ); mbedtls_mpi_free( &Zi ); mbedtls_mpi_free( &ZZi );
-    for( i = 0; i < t_len; i++ )
+    for( i = 0; i < T_size; i++ )
         mbedtls_mpi_free( &c[i] );
     mbedtls_free( c );
 
@@ -929,10 +1265,8 @@ static int ecp_double_jac( const mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
 #endif
 
 #if defined(MBEDTLS_ECP_DOUBLE_JAC_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_double_jac( grp, R, P );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_double_jac( grp, R, P ) );
 #endif /* MBEDTLS_ECP_DOUBLE_JAC_ALT */
 
     mbedtls_mpi_init( &M ); mbedtls_mpi_init( &S ); mbedtls_mpi_init( &T ); mbedtls_mpi_init( &U );
@@ -1027,10 +1361,8 @@ static int ecp_add_mixed( const mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
 #endif
 
 #if defined(MBEDTLS_ECP_ADD_MIXED_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_add_mixed( grp, R, P, Q );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_add_mixed( grp, R, P, Q ) );
 #endif /* MBEDTLS_ECP_ADD_MIXED_ALT */
 
     /*
@@ -1114,10 +1446,8 @@ static int ecp_randomize_jac( const mbedtls_ecp_group *grp, mbedtls_ecp_point *p
     int count = 0;
 
 #if defined(MBEDTLS_ECP_RANDOMIZE_JAC_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_randomize_jac( grp, pt, f_rng, p_rng );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_randomize_jac( grp, pt, f_rng, p_rng ) );
 #endif /* MBEDTLS_ECP_RANDOMIZE_JAC_ALT */
 
     p_size = ( grp->pbits + 7 ) / 8;
@@ -1173,11 +1503,38 @@ cleanup:
  * modified version that provides resistance to SPA by avoiding zero
  * digits in the representation as in [3]. We modify the method further by
  * requiring that all K_i be odd, which has the small cost that our
- * representation uses one more K_i, due to carries.
+ * representation uses one more K_i, due to carries, but saves on the size of
+ * the precomputed table.
  *
- * Also, for the sake of compactness, only the seven low-order bits of x[i]
- * are used to represent K_i, and the msb of x[i] encodes the the sign (s_i in
- * the paper): it is set if and only if if s_i == -1;
+ * Summary of the comb method and its modifications:
+ *
+ * - The goal is to compute m*P for some w*d-bit integer m.
+ *
+ * - The basic comb method splits m into the w-bit integers
+ *   x[0] .. x[d-1] where x[i] consists of the bits in m whose
+ *   index has residue i modulo d, and computes m * P as
+ *   S[x[0]] + 2 * S[x[1]] + .. + 2^(d-1) S[x[d-1]], where
+ *   S[i_{w-1} .. i_0] := i_{w-1} 2^{(w-1)d} P + ... + i_1 2^d P + i_0 P.
+ *
+ * - If it happens that, say, x[i+1]=0 (=> S[x[i+1]]=0), one can replace the sum by
+ *    .. + 2^{i-1} S[x[i-1]] - 2^i S[x[i]] + 2^{i+1} S[x[i]] + 2^{i+2} S[x[i+2]] ..,
+ *   thereby successively converting it into a form where all summands
+ *   are nonzero, at the cost of negative summands. This is the basic idea of [3].
+ *
+ * - More generally, even if x[i+1] != 0, we can first transform the sum as
+ *   .. - 2^i S[x[i]] + 2^{i+1} ( S[x[i]] + S[x[i+1]] ) + 2^{i+2} S[x[i+2]] ..,
+ *   and then replace S[x[i]] + S[x[i+1]] = S[x[i] ^ x[i+1]] + 2 S[x[i] & x[i+1]].
+ *   Performing and iterating this procedure for those x[i] that are even
+ *   (keeping track of carry), we can transform the original sum into one of the form
+ *   S[x'[0]] +- 2 S[x'[1]] +- .. +- 2^{d-1} S[x'[d-1]] + 2^d S[x'[d]]
+ *   with all x'[i] odd. It is therefore only necessary to know S at odd indices,
+ *   which is why we are only computing half of it in the first place in
+ *   ecp_precompute_comb and accessing it with index abs(i) / 2 in ecp_select_comb.
+ *
+ * - For the sake of compactness, only the seven low-order bits of x[i]
+ *   are used to represent its absolute value (K_i in the paper), and the msb
+ *   of x[i] encodes the sign (s_i in the paper): it is set if and only if
+ *   if s_i == -1;
  *
  * Calling conventions:
  * - x is an array of size d + 1
@@ -1186,8 +1543,8 @@ cleanup:
  * - m is the MPI, expected to be odd and such that bitlength(m) <= w * d
  *   (the result will be incorrect if these assumptions are not satisfied)
  */
-static void ecp_comb_fixed( unsigned char x[], size_t d,
-                            unsigned char w, const mbedtls_mpi *m )
+static void ecp_comb_recode_core( unsigned char x[], size_t d,
+                                  unsigned char w, const mbedtls_mpi *m )
 {
     size_t i, j;
     unsigned char c, cc, adjust;
@@ -1217,70 +1574,178 @@ static void ecp_comb_fixed( unsigned char x[], size_t d,
 }
 
 /*
- * Precompute points for the comb method
+ * Precompute points for the adapted comb method
  *
- * If i = i_{w-1} ... i_1 is the binary representation of i, then
- * T[i] = i_{w-1} 2^{(w-1)d} P + ... + i_1 2^d P + P
+ * Assumption: T must be able to hold 2^{w - 1} elements.
  *
- * T must be able to hold 2^{w - 1} elements
+ * Operation: If i = i_{w-1} ... i_1 is the binary representation of i,
+ *            sets T[i] = i_{w-1} 2^{(w-1)d} P + ... + i_1 2^d P + P.
  *
  * Cost: d(w-1) D + (2^{w-1} - 1) A + 1 N(w-1) + 1 N(2^{w-1} - 1)
+ *
+ * Note: Even comb values (those where P would be omitted from the
+ *       sum defining T[i] above) are not needed in our adaption
+ *       the comb method. See ecp_comb_recode_core().
+ *
+ * This function currently works in four steps:
+ * (1) [dbl]      Computation of intermediate T[i] for 2-power values of i
+ * (2) [norm_dbl] Normalization of coordinates of these T[i]
+ * (3) [add]      Computation of all T[i]
+ * (4) [norm_add] Normalization of all T[i]
+ *
+ * Step 1 can be interrupted but not the others; together with the final
+ * coordinate normalization they are the largest steps done at once, depending
+ * on the window size. Here are operation counts for P-256:
+ *
+ * step     (2)     (3)     (4)
+ * w = 5    142     165     208
+ * w = 4    136      77     160
+ * w = 3    130      33     136
+ * w = 2    124      11     124
+ *
+ * So if ECC operations are blocking for too long even with a low max_ops
+ * value, it's useful to set MBEDTLS_ECP_WINDOW_SIZE to a lower value in order
+ * to minimize maximum blocking time.
  */
 static int ecp_precompute_comb( const mbedtls_ecp_group *grp,
                                 mbedtls_ecp_point T[], const mbedtls_ecp_point *P,
-                                unsigned char w, size_t d )
+                                unsigned char w, size_t d,
+                                mbedtls_ecp_restart_ctx *rs_ctx )
 {
     int ret;
-    unsigned char i, k;
-    size_t j;
+    unsigned char i;
+    size_t j = 0;
+    const unsigned char T_size = 1U << ( w - 1 );
     mbedtls_ecp_point *cur, *TT[COMB_MAX_PRE - 1];
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+    {
+        if( rs_ctx->rsm->state == ecp_rsm_pre_dbl )
+            goto dbl;
+        if( rs_ctx->rsm->state == ecp_rsm_pre_norm_dbl )
+            goto norm_dbl;
+        if( rs_ctx->rsm->state == ecp_rsm_pre_add )
+            goto add;
+        if( rs_ctx->rsm->state == ecp_rsm_pre_norm_add )
+            goto norm_add;
+    }
+#else
+    (void) rs_ctx;
+#endif
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+    {
+        rs_ctx->rsm->state = ecp_rsm_pre_dbl;
+
+        /* initial state for the loop */
+        rs_ctx->rsm->i = 0;
+    }
+
+dbl:
+#endif
     /*
      * Set T[0] = P and
      * T[2^{l-1}] = 2^{dl} P for l = 1 .. w-1 (this is not the final value)
      */
     MBEDTLS_MPI_CHK( mbedtls_ecp_copy( &T[0], P ) );
 
-    k = 0;
-    for( i = 1; i < ( 1U << ( w - 1 ) ); i <<= 1 )
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL && rs_ctx->rsm->i != 0 )
+        j = rs_ctx->rsm->i;
+    else
+#endif
+        j = 0;
+
+    for( ; j < d * ( w - 1 ); j++ )
     {
+        MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_DBL );
+
+        i = 1U << ( j / d );
         cur = T + i;
-        MBEDTLS_MPI_CHK( mbedtls_ecp_copy( cur, T + ( i >> 1 ) ) );
-        for( j = 0; j < d; j++ )
-            MBEDTLS_MPI_CHK( ecp_double_jac( grp, cur, cur ) );
 
-        TT[k++] = cur;
+        if( j % d == 0 )
+            MBEDTLS_MPI_CHK( mbedtls_ecp_copy( cur, T + ( i >> 1 ) ) );
+
+        MBEDTLS_MPI_CHK( ecp_double_jac( grp, cur, cur ) );
     }
 
-    MBEDTLS_MPI_CHK( ecp_normalize_jac_many( grp, TT, k ) );
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+        rs_ctx->rsm->state = ecp_rsm_pre_norm_dbl;
 
+norm_dbl:
+#endif
+    /*
+     * Normalize current elements in T. As T has holes,
+     * use an auxiliary array of pointers to elements in T.
+     */
+    j = 0;
+    for( i = 1; i < T_size; i <<= 1 )
+        TT[j++] = T + i;
+
+    MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_INV + 6 * j - 2 );
+
+    MBEDTLS_MPI_CHK( ecp_normalize_jac_many( grp, TT, j ) );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+        rs_ctx->rsm->state = ecp_rsm_pre_add;
+
+add:
+#endif
     /*
      * Compute the remaining ones using the minimal number of additions
      * Be careful to update T[2^l] only after using it!
      */
-    k = 0;
-    for( i = 1; i < ( 1U << ( w - 1 ) ); i <<= 1 )
+    MBEDTLS_ECP_BUDGET( ( T_size - 1 ) * MBEDTLS_ECP_OPS_ADD );
+
+    for( i = 1; i < T_size; i <<= 1 )
     {
         j = i;
         while( j-- )
-        {
             MBEDTLS_MPI_CHK( ecp_add_mixed( grp, &T[i + j], &T[j], &T[i] ) );
-            TT[k++] = &T[i + j];
-        }
     }
 
-    MBEDTLS_MPI_CHK( ecp_normalize_jac_many( grp, TT, k ) );
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+        rs_ctx->rsm->state = ecp_rsm_pre_norm_add;
+
+norm_add:
+#endif
+    /*
+     * Normalize final elements in T. Even though there are no holes now, we
+     * still need the auxiliary array for homogeneity with the previous
+     * call. Also, skip T[0] which is already normalised, being a copy of P.
+     */
+    for( j = 0; j + 1 < T_size; j++ )
+        TT[j] = T + j + 1;
+
+    MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_INV + 6 * j - 2 );
+
+    MBEDTLS_MPI_CHK( ecp_normalize_jac_many( grp, TT, j ) );
 
 cleanup:
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL &&
+        ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+    {
+        if( rs_ctx->rsm->state == ecp_rsm_pre_dbl )
+            rs_ctx->rsm->i = j;
+    }
+#endif
 
     return( ret );
 }
 
 /*
  * Select precomputed point: R = sign(i) * T[ abs(i) / 2 ]
+ *
+ * See ecp_comb_recode_core() for background
  */
 static int ecp_select_comb( const mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
-                            const mbedtls_ecp_point T[], unsigned char t_len,
+                            const mbedtls_ecp_point T[], unsigned char T_size,
                             unsigned char i )
 {
     int ret;
@@ -1290,7 +1755,7 @@ static int ecp_select_comb( const mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
     ii =  ( i & 0x7Fu ) >> 1;
 
     /* Read the whole table to thwart cache-based timing attacks */
-    for( j = 0; j < t_len; j++ )
+    for( j = 0; j < T_size; j++ )
     {
         MBEDTLS_MPI_CHK( mbedtls_mpi_safe_cond_assign( &R->X, &T[j].X, j == ii ) );
         MBEDTLS_MPI_CHK( mbedtls_mpi_safe_cond_assign( &R->Y, &T[j].Y, j == ii ) );
@@ -1310,10 +1775,11 @@ cleanup:
  * Cost: d A + d D + 1 R
  */
 static int ecp_mul_comb_core( const mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
-                              const mbedtls_ecp_point T[], unsigned char t_len,
+                              const mbedtls_ecp_point T[], unsigned char T_size,
                               const unsigned char x[], size_t d,
                               int (*f_rng)(void *, unsigned char *, size_t),
-                              void *p_rng )
+                              void *p_rng,
+                              mbedtls_ecp_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_ecp_point Txi;
@@ -1321,17 +1787,42 @@ static int ecp_mul_comb_core( const mbedtls_ecp_group *grp, mbedtls_ecp_point *R
 
     mbedtls_ecp_point_init( &Txi );
 
-    /* Start with a non-zero point and randomize its coordinates */
-    i = d;
-    MBEDTLS_MPI_CHK( ecp_select_comb( grp, R, T, t_len, x[i] ) );
-    MBEDTLS_MPI_CHK( mbedtls_mpi_lset( &R->Z, 1 ) );
-    if( f_rng != 0 )
-        MBEDTLS_MPI_CHK( ecp_randomize_jac( grp, R, f_rng, p_rng ) );
+#if !defined(MBEDTLS_ECP_RESTARTABLE)
+    (void) rs_ctx;
+#endif
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL &&
+        rs_ctx->rsm->state != ecp_rsm_comb_core )
+    {
+        rs_ctx->rsm->i = 0;
+        rs_ctx->rsm->state = ecp_rsm_comb_core;
+    }
+
+    /* new 'if' instead of nested for the sake of the 'else' branch */
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL && rs_ctx->rsm->i != 0 )
+    {
+        /* restore current index (R already pointing to rs_ctx->rsm->R) */
+        i = rs_ctx->rsm->i;
+    }
+    else
+#endif
+    {
+        /* Start with a non-zero point and randomize its coordinates */
+        i = d;
+        MBEDTLS_MPI_CHK( ecp_select_comb( grp, R, T, T_size, x[i] ) );
+        MBEDTLS_MPI_CHK( mbedtls_mpi_lset( &R->Z, 1 ) );
+        if( f_rng != 0 )
+            MBEDTLS_MPI_CHK( ecp_randomize_jac( grp, R, f_rng, p_rng ) );
+    }
 
-    while( i-- != 0 )
+    while( i != 0 )
     {
+        MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_DBL + MBEDTLS_ECP_OPS_ADD );
+        --i;
+
         MBEDTLS_MPI_CHK( ecp_double_jac( grp, R, R ) );
-        MBEDTLS_MPI_CHK( ecp_select_comb( grp, &Txi, T, t_len, x[i] ) );
+        MBEDTLS_MPI_CHK( ecp_select_comb( grp, &Txi, T, T_size, x[i] ) );
         MBEDTLS_MPI_CHK( ecp_add_mixed( grp, R, R, &Txi ) );
     }
 
@@ -1339,32 +1830,130 @@ cleanup:
 
     mbedtls_ecp_point_free( &Txi );
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL &&
+        ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+    {
+        rs_ctx->rsm->i = i;
+        /* no need to save R, already pointing to rs_ctx->rsm->R */
+    }
+#endif
+
     return( ret );
 }
 
 /*
- * Multiplication using the comb method,
- * for curves in short Weierstrass form
- */
-static int ecp_mul_comb( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
-                         const mbedtls_mpi *m, const mbedtls_ecp_point *P,
-                         int (*f_rng)(void *, unsigned char *, size_t),
-                         void *p_rng )
+ * Recode the scalar to get constant-time comb multiplication
+ *
+ * As the actual scalar recoding needs an odd scalar as a starting point,
+ * this wrapper ensures that by replacing m by N - m if necessary, and
+ * informs the caller that the result of multiplication will be negated.
+ *
+ * This works because we only support large prime order for Short Weierstrass
+ * curves, so N is always odd hence either m or N - m is.
+ *
+ * See ecp_comb_recode_core() for background.
+ */
+static int ecp_comb_recode_scalar( const mbedtls_ecp_group *grp,
+                                   const mbedtls_mpi *m,
+                                   unsigned char k[COMB_MAX_D + 1],
+                                   size_t d,
+                                   unsigned char w,
+                                   unsigned char *parity_trick )
 {
     int ret;
-    unsigned char w, m_is_odd, p_eq_g, pre_len, i;
-    size_t d;
-    unsigned char k[COMB_MAX_D + 1];
-    mbedtls_ecp_point *T;
     mbedtls_mpi M, mm;
 
     mbedtls_mpi_init( &M );
     mbedtls_mpi_init( &mm );
 
-    /* we need N to be odd to trnaform m in an odd number, check now */
+    /* N is always odd (see above), just make extra sure */
     if( mbedtls_mpi_get_bit( &grp->N, 0 ) != 1 )
         return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
 
+    /* do we need the parity trick? */
+    *parity_trick = ( mbedtls_mpi_get_bit( m, 0 ) == 0 );
+
+    /* execute parity fix in constant time */
+    MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &M, m ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_sub_mpi( &mm, &grp->N, m ) );
+    MBEDTLS_MPI_CHK( mbedtls_mpi_safe_cond_assign( &M, &mm, *parity_trick ) );
+
+    /* actual scalar recoding */
+    ecp_comb_recode_core( k, d, w, &M );
+
+cleanup:
+    mbedtls_mpi_free( &mm );
+    mbedtls_mpi_free( &M );
+
+    return( ret );
+}
+
+/*
+ * Perform comb multiplication (for short Weierstrass curves)
+ * once the auxiliary table has been pre-computed.
+ *
+ * Scalar recoding may use a parity trick that makes us compute -m * P,
+ * if that is the case we'll need to recover m * P at the end.
+ */
+static int ecp_mul_comb_after_precomp( const mbedtls_ecp_group *grp,
+                                mbedtls_ecp_point *R,
+                                const mbedtls_mpi *m,
+                                const mbedtls_ecp_point *T,
+                                unsigned char T_size,
+                                unsigned char w,
+                                size_t d,
+                                int (*f_rng)(void *, unsigned char *, size_t),
+                                void *p_rng,
+                                mbedtls_ecp_restart_ctx *rs_ctx )
+{
+    int ret;
+    unsigned char parity_trick;
+    unsigned char k[COMB_MAX_D + 1];
+    mbedtls_ecp_point *RR = R;
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+    {
+        RR = &rs_ctx->rsm->R;
+
+        if( rs_ctx->rsm->state == ecp_rsm_final_norm )
+            goto final_norm;
+    }
+#endif
+
+    MBEDTLS_MPI_CHK( ecp_comb_recode_scalar( grp, m, k, d, w,
+                                            &parity_trick ) );
+    MBEDTLS_MPI_CHK( ecp_mul_comb_core( grp, RR, T, T_size, k, d,
+                                        f_rng, p_rng, rs_ctx ) );
+    MBEDTLS_MPI_CHK( ecp_safe_invert_jac( grp, RR, parity_trick ) );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+        rs_ctx->rsm->state = ecp_rsm_final_norm;
+
+final_norm:
+#endif
+    MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_INV );
+    MBEDTLS_MPI_CHK( ecp_normalize_jac( grp, RR ) );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL )
+        MBEDTLS_MPI_CHK( mbedtls_ecp_copy( R, RR ) );
+#endif
+
+cleanup:
+    return( ret );
+}
+
+/*
+ * Pick window size based on curve size and whether we optimize for base point
+ */
+static unsigned char ecp_pick_window_size( const mbedtls_ecp_group *grp,
+                                           unsigned char p_eq_g )
+{
+    unsigned char w;
+
     /*
      * Minimize the number of multiplications, that is minimize
      * 10 * d * w + 18 * 2^(w-1) + 11 * d + 7 * w, with d = ceil( nbits / w )
@@ -1377,14 +1966,8 @@ static int ecp_mul_comb( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
      * Just adding one avoids upping the cost of the first mul too much,
      * and the memory cost too.
      */
-#if MBEDTLS_ECP_FIXED_POINT_OPTIM == 1
-    p_eq_g = ( mbedtls_mpi_cmp_mpi( &P->Y, &grp->G.Y ) == 0 &&
-               mbedtls_mpi_cmp_mpi( &P->X, &grp->G.X ) == 0 );
     if( p_eq_g )
         w++;
-#else
-    p_eq_g = 0;
-#endif
 
     /*
      * Make sure w is within bounds.
@@ -1395,70 +1978,140 @@ static int ecp_mul_comb( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
     if( w >= grp->nbits )
         w = 2;
 
-    /* Other sizes that depend on w */
-    pre_len = 1U << ( w - 1 );
+    return( w );
+}
+
+/*
+ * Multiplication using the comb method - for curves in short Weierstrass form
+ *
+ * This function is mainly responsible for administrative work:
+ * - managing the restart context if enabled
+ * - managing the table of precomputed points (passed between the below two
+ *   functions): allocation, computation, ownership tranfer, freeing.
+ *
+ * It delegates the actual arithmetic work to:
+ *      ecp_precompute_comb() and ecp_mul_comb_with_precomp()
+ *
+ * See comments on ecp_comb_recode_core() regarding the computation strategy.
+ */
+static int ecp_mul_comb( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+                         const mbedtls_mpi *m, const mbedtls_ecp_point *P,
+                         int (*f_rng)(void *, unsigned char *, size_t),
+                         void *p_rng,
+                         mbedtls_ecp_restart_ctx *rs_ctx )
+{
+    int ret;
+    unsigned char w, p_eq_g, i;
+    size_t d;
+    unsigned char T_size, T_ok;
+    mbedtls_ecp_point *T;
+
+    ECP_RS_ENTER( rsm );
+
+    /* Is P the base point ? */
+#if MBEDTLS_ECP_FIXED_POINT_OPTIM == 1
+    p_eq_g = ( mbedtls_mpi_cmp_mpi( &P->Y, &grp->G.Y ) == 0 &&
+               mbedtls_mpi_cmp_mpi( &P->X, &grp->G.X ) == 0 );
+#else
+    p_eq_g = 0;
+#endif
+
+    /* Pick window size and deduce related sizes */
+    w = ecp_pick_window_size( grp, p_eq_g );
+    T_size = 1U << ( w - 1 );
     d = ( grp->nbits + w - 1 ) / w;
 
-    /*
-     * Prepare precomputed points: if P == G we want to
-     * use grp->T if already initialized, or initialize it.
-     */
-    T = p_eq_g ? grp->T : NULL;
+    /* Pre-computed table: do we have it already for the base point? */
+    if( p_eq_g && grp->T != NULL )
+    {
+        /* second pointer to the same table, will be deleted on exit */
+        T = grp->T;
+        T_ok = 1;
+    }
+    else
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    /* Pre-computed table: do we have one in progress? complete? */
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL && rs_ctx->rsm->T != NULL )
+    {
+        /* transfer ownership of T from rsm to local function */
+        T = rs_ctx->rsm->T;
+        rs_ctx->rsm->T = NULL;
+        rs_ctx->rsm->T_size = 0;
 
-    if( T == NULL )
+        /* This effectively jumps to the call to mul_comb_after_precomp() */
+        T_ok = rs_ctx->rsm->state >= ecp_rsm_comb_core;
+    }
+    else
+#endif
+    /* Allocate table if we didn't have any */
     {
-        T = mbedtls_calloc( pre_len, sizeof( mbedtls_ecp_point ) );
+        T = mbedtls_calloc( T_size, sizeof( mbedtls_ecp_point ) );
         if( T == NULL )
         {
             ret = MBEDTLS_ERR_ECP_ALLOC_FAILED;
             goto cleanup;
         }
 
-        MBEDTLS_MPI_CHK( ecp_precompute_comb( grp, T, P, w, d ) );
+        for( i = 0; i < T_size; i++ )
+            mbedtls_ecp_point_init( &T[i] );
+
+        T_ok = 0;
+    }
+
+    /* Compute table (or finish computing it) if not done already */
+    if( !T_ok )
+    {
+        MBEDTLS_MPI_CHK( ecp_precompute_comb( grp, T, P, w, d, rs_ctx ) );
 
         if( p_eq_g )
         {
+            /* almost transfer ownership of T to the group, but keep a copy of
+             * the pointer to use for calling the next function more easily */
             grp->T = T;
-            grp->T_size = pre_len;
+            grp->T_size = T_size;
         }
     }
 
-    /*
-     * Make sure M is odd (M = m or M = N - m, since N is odd)
-     * using the fact that m * P = - (N - m) * P
-     */
-    m_is_odd = ( mbedtls_mpi_get_bit( m, 0 ) == 1 );
-    MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &M, m ) );
-    MBEDTLS_MPI_CHK( mbedtls_mpi_sub_mpi( &mm, &grp->N, m ) );
-    MBEDTLS_MPI_CHK( mbedtls_mpi_safe_cond_assign( &M, &mm, ! m_is_odd ) );
+    /* Actual comb multiplication using precomputed points */
+    MBEDTLS_MPI_CHK( ecp_mul_comb_after_precomp( grp, R, m,
+                                                 T, T_size, w, d,
+                                                 f_rng, p_rng, rs_ctx ) );
 
-    /*
-     * Go for comb multiplication, R = M * P
-     */
-    ecp_comb_fixed( k, d, w, &M );
-    MBEDTLS_MPI_CHK( ecp_mul_comb_core( grp, R, T, pre_len, k, d, f_rng, p_rng ) );
+cleanup:
 
-    /*
-     * Now get m * P from M * P and normalize it
-     */
-    MBEDTLS_MPI_CHK( ecp_safe_invert_jac( grp, R, ! m_is_odd ) );
-    MBEDTLS_MPI_CHK( ecp_normalize_jac( grp, R ) );
+    /* does T belong to the group? */
+    if( T == grp->T )
+        T = NULL;
 
-cleanup:
+    /* does T belong to the restart context? */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->rsm != NULL && ret == MBEDTLS_ERR_ECP_IN_PROGRESS && T != NULL )
+    {
+        /* transfer ownership of T from local function to rsm */
+        rs_ctx->rsm->T_size = T_size;
+        rs_ctx->rsm->T = T;
+        T = NULL;
+    }
+#endif
 
-    if( T != NULL && ! p_eq_g )
+    /* did T belong to us? then let's destroy it! */
+    if( T != NULL )
     {
-        for( i = 0; i < pre_len; i++ )
+        for( i = 0; i < T_size; i++ )
             mbedtls_ecp_point_free( &T[i] );
         mbedtls_free( T );
     }
 
-    mbedtls_mpi_free( &M );
-    mbedtls_mpi_free( &mm );
-
+    /* don't free R while in progress in case R == P */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( ret != MBEDTLS_ERR_ECP_IN_PROGRESS )
+#endif
+    /* prevent caller from using invalid value */
     if( ret != 0 )
         mbedtls_ecp_point_free( R );
 
+    ECP_RS_LEAVE( rsm );
+
     return( ret );
 }
 
@@ -1482,10 +2135,8 @@ static int ecp_normalize_mxz( const mbedtls_ecp_group *grp, mbedtls_ecp_point *P
     int ret;
 
 #if defined(MBEDTLS_ECP_NORMALIZE_MXZ_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_normalize_mxz( grp, P );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_normalize_mxz( grp, P ) );
 #endif /* MBEDTLS_ECP_NORMALIZE_MXZ_ALT */
 
     MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( &P->Z, &P->Z, &grp->P ) );
@@ -1513,10 +2164,8 @@ static int ecp_randomize_mxz( const mbedtls_ecp_group *grp, mbedtls_ecp_point *P
     int count = 0;
 
 #if defined(MBEDTLS_ECP_RANDOMIZE_MXZ_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_randomize_mxz( grp, P, f_rng, p_rng );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_randomize_mxz( grp, P, f_rng, p_rng );
 #endif /* MBEDTLS_ECP_RANDOMIZE_MXZ_ALT */
 
     p_size = ( grp->pbits + 7 ) / 8;
@@ -1568,10 +2217,8 @@ static int ecp_double_add_mxz( const mbedtls_ecp_group *grp,
     mbedtls_mpi A, AA, B, BB, E, C, D, DA, CB;
 
 #if defined(MBEDTLS_ECP_DOUBLE_ADD_MXZ_ALT)
-    if ( mbedtls_internal_ecp_grp_capable( grp ) )
-    {
-        return mbedtls_internal_ecp_double_add_mxz( grp, R, S, P, Q, d );
-    }
+    if( mbedtls_internal_ecp_grp_capable( grp ) )
+        return( mbedtls_internal_ecp_double_add_mxz( grp, R, S, P, Q, d ) );
 #endif /* MBEDTLS_ECP_DOUBLE_ADD_MXZ_ALT */
 
     mbedtls_mpi_init( &A ); mbedtls_mpi_init( &AA ); mbedtls_mpi_init( &B );
@@ -1668,54 +2315,85 @@ cleanup:
 #endif /* ECP_MONTGOMERY */
 
 /*
- * Multiplication R = m * P
+ * Restartable multiplication R = m * P
  */
-int mbedtls_ecp_mul( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+int mbedtls_ecp_mul_restartable( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
              const mbedtls_mpi *m, const mbedtls_ecp_point *P,
-             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
+             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+             mbedtls_ecp_restart_ctx *rs_ctx )
 {
     int ret = MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
 #if defined(MBEDTLS_ECP_INTERNAL_ALT)
     char is_grp_capable = 0;
 #endif
-
-    /* Common sanity checks */
-    if( mbedtls_mpi_cmp_int( &P->Z, 1 ) != 0 )
-        return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
-
-    if( ( ret = mbedtls_ecp_check_privkey( grp, m ) ) != 0 ||
-        ( ret = mbedtls_ecp_check_pubkey( grp, P ) ) != 0 )
-        return( ret );
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( R   != NULL );
+    ECP_VALIDATE_RET( m   != NULL );
+    ECP_VALIDATE_RET( P   != NULL );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    /* reset ops count for this call if top-level */
+    if( rs_ctx != NULL && rs_ctx->depth++ == 0 )
+        rs_ctx->ops_done = 0;
+#endif
 
 #if defined(MBEDTLS_ECP_INTERNAL_ALT)
-    if ( is_grp_capable = mbedtls_internal_ecp_grp_capable( grp )  )
-    {
+    if( ( is_grp_capable = mbedtls_internal_ecp_grp_capable( grp ) ) )
         MBEDTLS_MPI_CHK( mbedtls_internal_ecp_init( grp ) );
+#endif /* MBEDTLS_ECP_INTERNAL_ALT */
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    /* skip argument check when restarting */
+    if( rs_ctx == NULL || rs_ctx->rsm == NULL )
+#endif
+    {
+        /* check_privkey is free */
+        MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_CHK );
+
+        /* Common sanity checks */
+        MBEDTLS_MPI_CHK( mbedtls_ecp_check_privkey( grp, m ) );
+        MBEDTLS_MPI_CHK( mbedtls_ecp_check_pubkey( grp, P ) );
     }
 
-#endif /* MBEDTLS_ECP_INTERNAL_ALT */
+    ret = MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
 #if defined(ECP_MONTGOMERY)
     if( ecp_get_type( grp ) == ECP_TYPE_MONTGOMERY )
-        ret = ecp_mul_mxz( grp, R, m, P, f_rng, p_rng );
-
+        MBEDTLS_MPI_CHK( ecp_mul_mxz( grp, R, m, P, f_rng, p_rng ) );
 #endif
 #if defined(ECP_SHORTWEIERSTRASS)
     if( ecp_get_type( grp ) == ECP_TYPE_SHORT_WEIERSTRASS )
-        ret = ecp_mul_comb( grp, R, m, P, f_rng, p_rng );
-
+        MBEDTLS_MPI_CHK( ecp_mul_comb( grp, R, m, P, f_rng, p_rng, rs_ctx ) );
 #endif
-#if defined(MBEDTLS_ECP_INTERNAL_ALT)
+
 cleanup:
 
-    if ( is_grp_capable )
-    {
+#if defined(MBEDTLS_ECP_INTERNAL_ALT)
+    if( is_grp_capable )
         mbedtls_internal_ecp_free( grp );
-    }
-
 #endif /* MBEDTLS_ECP_INTERNAL_ALT */
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL )
+        rs_ctx->depth--;
+#endif
+
     return( ret );
 }
 
+/*
+ * Multiplication R = m * P
+ */
+int mbedtls_ecp_mul( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+             const mbedtls_mpi *m, const mbedtls_ecp_point *P,
+             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
+{
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( R   != NULL );
+    ECP_VALIDATE_RET( m   != NULL );
+    ECP_VALIDATE_RET( P   != NULL );
+    return( mbedtls_ecp_mul_restartable( grp, R, m, P, f_rng, p_rng, NULL ) );
+}
+
 #if defined(ECP_SHORTWEIERSTRASS)
 /*
  * Check that an affine point is valid as a public key,
@@ -1773,7 +2451,8 @@ cleanup:
 static int mbedtls_ecp_mul_shortcuts( mbedtls_ecp_group *grp,
                                       mbedtls_ecp_point *R,
                                       const mbedtls_mpi *m,
-                                      const mbedtls_ecp_point *P )
+                                      const mbedtls_ecp_point *P,
+                                      mbedtls_ecp_restart_ctx *rs_ctx )
 {
     int ret;
 
@@ -1789,7 +2468,8 @@ static int mbedtls_ecp_mul_shortcuts( mbedtls_ecp_group *grp,
     }
     else
     {
-        MBEDTLS_MPI_CHK( mbedtls_ecp_mul( grp, R, m, P, NULL, NULL ) );
+        MBEDTLS_MPI_CHK( mbedtls_ecp_mul_restartable( grp, R, m, P,
+                                                      NULL, NULL, rs_ctx ) );
     }
 
 cleanup:
@@ -1797,51 +2477,118 @@ cleanup:
 }
 
 /*
- * Linear combination
+ * Restartable linear combination
  * NOT constant-time
  */
-int mbedtls_ecp_muladd( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+int mbedtls_ecp_muladd_restartable(
+             mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
              const mbedtls_mpi *m, const mbedtls_ecp_point *P,
-             const mbedtls_mpi *n, const mbedtls_ecp_point *Q )
+             const mbedtls_mpi *n, const mbedtls_ecp_point *Q,
+             mbedtls_ecp_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_ecp_point mP;
+    mbedtls_ecp_point *pmP = &mP;
+    mbedtls_ecp_point *pR = R;
 #if defined(MBEDTLS_ECP_INTERNAL_ALT)
     char is_grp_capable = 0;
 #endif
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( R   != NULL );
+    ECP_VALIDATE_RET( m   != NULL );
+    ECP_VALIDATE_RET( P   != NULL );
+    ECP_VALIDATE_RET( n   != NULL );
+    ECP_VALIDATE_RET( Q   != NULL );
 
     if( ecp_get_type( grp ) != ECP_TYPE_SHORT_WEIERSTRASS )
         return( MBEDTLS_ERR_ECP_FEATURE_UNAVAILABLE );
 
     mbedtls_ecp_point_init( &mP );
 
-    MBEDTLS_MPI_CHK( mbedtls_ecp_mul_shortcuts( grp, &mP, m, P ) );
-    MBEDTLS_MPI_CHK( mbedtls_ecp_mul_shortcuts( grp, R,   n, Q ) );
+    ECP_RS_ENTER( ma );
 
-#if defined(MBEDTLS_ECP_INTERNAL_ALT)
-    if (  is_grp_capable = mbedtls_internal_ecp_grp_capable( grp )  )
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ma != NULL )
     {
-        MBEDTLS_MPI_CHK( mbedtls_internal_ecp_init( grp ) );
+        /* redirect intermediate results to restart context */
+        pmP = &rs_ctx->ma->mP;
+        pR  = &rs_ctx->ma->R;
+
+        /* jump to next operation */
+        if( rs_ctx->ma->state == ecp_rsma_mul2 )
+            goto mul2;
+        if( rs_ctx->ma->state == ecp_rsma_add )
+            goto add;
+        if( rs_ctx->ma->state == ecp_rsma_norm )
+            goto norm;
     }
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 
+    MBEDTLS_MPI_CHK( mbedtls_ecp_mul_shortcuts( grp, pmP, m, P, rs_ctx ) );
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ma != NULL )
+        rs_ctx->ma->state = ecp_rsma_mul2;
+
+mul2:
+#endif
+    MBEDTLS_MPI_CHK( mbedtls_ecp_mul_shortcuts( grp, pR,  n, Q, rs_ctx ) );
+
+#if defined(MBEDTLS_ECP_INTERNAL_ALT)
+    if( ( is_grp_capable = mbedtls_internal_ecp_grp_capable( grp ) ) )
+        MBEDTLS_MPI_CHK( mbedtls_internal_ecp_init( grp ) );
 #endif /* MBEDTLS_ECP_INTERNAL_ALT */
-    MBEDTLS_MPI_CHK( ecp_add_mixed( grp, R, &mP, R ) );
-    MBEDTLS_MPI_CHK( ecp_normalize_jac( grp, R ) );
 
-cleanup:
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ma != NULL )
+        rs_ctx->ma->state = ecp_rsma_add;
+
+add:
+#endif
+    MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_ADD );
+    MBEDTLS_MPI_CHK( ecp_add_mixed( grp, pR, pmP, pR ) );
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ma != NULL )
+        rs_ctx->ma->state = ecp_rsma_norm;
+
+norm:
+#endif
+    MBEDTLS_ECP_BUDGET( MBEDTLS_ECP_OPS_INV );
+    MBEDTLS_MPI_CHK( ecp_normalize_jac( grp, pR ) );
+
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && rs_ctx->ma != NULL )
+        MBEDTLS_MPI_CHK( mbedtls_ecp_copy( R, pR ) );
+#endif
 
+cleanup:
 #if defined(MBEDTLS_ECP_INTERNAL_ALT)
-    if ( is_grp_capable )
-    {
+    if( is_grp_capable )
         mbedtls_internal_ecp_free( grp );
-    }
-
 #endif /* MBEDTLS_ECP_INTERNAL_ALT */
+
     mbedtls_ecp_point_free( &mP );
 
+    ECP_RS_LEAVE( ma );
+
     return( ret );
 }
 
+/*
+ * Linear combination
+ * NOT constant-time
+ */
+int mbedtls_ecp_muladd( mbedtls_ecp_group *grp, mbedtls_ecp_point *R,
+             const mbedtls_mpi *m, const mbedtls_ecp_point *P,
+             const mbedtls_mpi *n, const mbedtls_ecp_point *Q )
+{
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( R   != NULL );
+    ECP_VALIDATE_RET( m   != NULL );
+    ECP_VALIDATE_RET( P   != NULL );
+    ECP_VALIDATE_RET( n   != NULL );
+    ECP_VALIDATE_RET( Q   != NULL );
+    return( mbedtls_ecp_muladd_restartable( grp, R, m, P, n, Q, NULL ) );
+}
 
 #if defined(ECP_MONTGOMERY)
 /*
@@ -1862,8 +2609,12 @@ static int ecp_check_pubkey_mx( const mbedtls_ecp_group *grp, const mbedtls_ecp_
 /*
  * Check that a point is valid as a public key
  */
-int mbedtls_ecp_check_pubkey( const mbedtls_ecp_group *grp, const mbedtls_ecp_point *pt )
+int mbedtls_ecp_check_pubkey( const mbedtls_ecp_group *grp,
+                              const mbedtls_ecp_point *pt )
 {
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( pt  != NULL );
+
     /* Must use affine coordinates */
     if( mbedtls_mpi_cmp_int( &pt->Z, 1 ) != 0 )
         return( MBEDTLS_ERR_ECP_INVALID_KEY );
@@ -1882,8 +2633,12 @@ int mbedtls_ecp_check_pubkey( const mbedtls_ecp_group *grp, const mbedtls_ecp_po
 /*
  * Check that an mbedtls_mpi is valid as a private key
  */
-int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp, const mbedtls_mpi *d )
+int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp,
+                               const mbedtls_mpi *d )
 {
+    ECP_VALIDATE_RET( grp != NULL );
+    ECP_VALIDATE_RET( d   != NULL );
+
 #if defined(ECP_MONTGOMERY)
     if( ecp_get_type( grp ) == ECP_TYPE_MONTGOMERY )
     {
@@ -1892,7 +2647,6 @@ int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp, const mbedtls_mpi *
             mbedtls_mpi_get_bit( d, 1 ) != 0 ||
             mbedtls_mpi_bitlen( d ) - 1 != grp->nbits ) /* mbedtls_mpi_bitlen is one-based! */
             return( MBEDTLS_ERR_ECP_INVALID_KEY );
-        else
 
         /* see [Curve25519] page 5 */
         if( grp->nbits == 254 && mbedtls_mpi_get_bit( d, 2 ) != 0 )
@@ -1917,16 +2671,21 @@ int mbedtls_ecp_check_privkey( const mbedtls_ecp_group *grp, const mbedtls_mpi *
 }
 
 /*
- * Generate a keypair with configurable base point
+ * Generate a private key
  */
-int mbedtls_ecp_gen_keypair_base( mbedtls_ecp_group *grp,
-                     const mbedtls_ecp_point *G,
-                     mbedtls_mpi *d, mbedtls_ecp_point *Q,
+int mbedtls_ecp_gen_privkey( const mbedtls_ecp_group *grp,
+                     mbedtls_mpi *d,
                      int (*f_rng)(void *, unsigned char *, size_t),
                      void *p_rng )
 {
-    int ret;
-    size_t n_size = ( grp->nbits + 7 ) / 8;
+    int ret = MBEDTLS_ERR_ECP_BAD_INPUT_DATA;
+    size_t n_size;
+
+    ECP_VALIDATE_RET( grp   != NULL );
+    ECP_VALIDATE_RET( d     != NULL );
+    ECP_VALIDATE_RET( f_rng != NULL );
+
+    n_size = ( grp->nbits + 7 ) / 8;
 
 #if defined(ECP_MONTGOMERY)
     if( ecp_get_type( grp ) == ECP_TYPE_MONTGOMERY )
@@ -1954,8 +2713,8 @@ int mbedtls_ecp_gen_keypair_base( mbedtls_ecp_group *grp,
             MBEDTLS_MPI_CHK( mbedtls_mpi_set_bit( d, 2, 0 ) );
         }
     }
-    else
 #endif /* ECP_MONTGOMERY */
+
 #if defined(ECP_SHORTWEIERSTRASS)
     if( ecp_get_type( grp ) == ECP_TYPE_SHORT_WEIERSTRASS )
     {
@@ -1989,15 +2748,33 @@ int mbedtls_ecp_gen_keypair_base( mbedtls_ecp_group *grp,
         while( mbedtls_mpi_cmp_int( d, 1 ) < 0 ||
                mbedtls_mpi_cmp_mpi( d, &grp->N ) >= 0 );
     }
-    else
 #endif /* ECP_SHORTWEIERSTRASS */
-        return( MBEDTLS_ERR_ECP_BAD_INPUT_DATA );
 
 cleanup:
-    if( ret != 0 )
-        return( ret );
+    return( ret );
+}
 
-    return( mbedtls_ecp_mul( grp, Q, d, G, f_rng, p_rng ) );
+/*
+ * Generate a keypair with configurable base point
+ */
+int mbedtls_ecp_gen_keypair_base( mbedtls_ecp_group *grp,
+                     const mbedtls_ecp_point *G,
+                     mbedtls_mpi *d, mbedtls_ecp_point *Q,
+                     int (*f_rng)(void *, unsigned char *, size_t),
+                     void *p_rng )
+{
+    int ret;
+    ECP_VALIDATE_RET( grp   != NULL );
+    ECP_VALIDATE_RET( d     != NULL );
+    ECP_VALIDATE_RET( G     != NULL );
+    ECP_VALIDATE_RET( Q     != NULL );
+    ECP_VALIDATE_RET( f_rng != NULL );
+
+    MBEDTLS_MPI_CHK( mbedtls_ecp_gen_privkey( grp, d, f_rng, p_rng ) );
+    MBEDTLS_MPI_CHK( mbedtls_ecp_mul( grp, Q, d, G, f_rng, p_rng ) );
+
+cleanup:
+    return( ret );
 }
 
 /*
@@ -2008,6 +2785,11 @@ int mbedtls_ecp_gen_keypair( mbedtls_ecp_group *grp,
                              int (*f_rng)(void *, unsigned char *, size_t),
                              void *p_rng )
 {
+    ECP_VALIDATE_RET( grp   != NULL );
+    ECP_VALIDATE_RET( d     != NULL );
+    ECP_VALIDATE_RET( Q     != NULL );
+    ECP_VALIDATE_RET( f_rng != NULL );
+
     return( mbedtls_ecp_gen_keypair_base( grp, &grp->G, d, Q, f_rng, p_rng ) );
 }
 
@@ -2018,6 +2800,8 @@ int mbedtls_ecp_gen_key( mbedtls_ecp_group_id grp_id, mbedtls_ecp_keypair *key,
                 int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
 {
     int ret;
+    ECP_VALIDATE_RET( key   != NULL );
+    ECP_VALIDATE_RET( f_rng != NULL );
 
     if( ( ret = mbedtls_ecp_group_load( &key->grp, grp_id ) ) != 0 )
         return( ret );
@@ -2033,6 +2817,8 @@ int mbedtls_ecp_check_pub_priv( const mbedtls_ecp_keypair *pub, const mbedtls_ec
     int ret;
     mbedtls_ecp_point Q;
     mbedtls_ecp_group grp;
+    ECP_VALIDATE_RET( pub != NULL );
+    ECP_VALIDATE_RET( prv != NULL );
 
     if( pub->grp.id == MBEDTLS_ECP_DP_NONE ||
         pub->grp.id != prv->grp.id ||
diff --git a/thirdparty/mbedtls/library/ecp_curves.c b/thirdparty/mbedtls/library/ecp_curves.c
index 68e2441ae8..731621dc3c 100644
--- a/thirdparty/mbedtls/library/ecp_curves.c
+++ b/thirdparty/mbedtls/library/ecp_curves.c
@@ -28,11 +28,18 @@
 #if defined(MBEDTLS_ECP_C)
 
 #include "mbedtls/ecp.h"
+#include "mbedtls/platform_util.h"
 
 #include <string.h>
 
 #if !defined(MBEDTLS_ECP_ALT)
 
+/* Parameter validation macros based on platform_util.h */
+#define ECP_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_ECP_BAD_INPUT_DATA )
+#define ECP_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if ( defined(__ARMCC_VERSION) || defined(_MSC_VER) ) && \
     !defined(inline) && !defined(__cplusplus)
 #define inline __inline
@@ -746,6 +753,7 @@ cleanup:
  */
 int mbedtls_ecp_group_load( mbedtls_ecp_group *grp, mbedtls_ecp_group_id id )
 {
+    ECP_VALIDATE_RET( grp != NULL );
     mbedtls_ecp_group_free( grp );
 
     grp->id = id;
diff --git a/thirdparty/mbedtls/library/entropy_poll.c b/thirdparty/mbedtls/library/entropy_poll.c
index f44a753f4d..ba56b70f77 100644
--- a/thirdparty/mbedtls/library/entropy_poll.c
+++ b/thirdparty/mbedtls/library/entropy_poll.c
@@ -114,6 +114,7 @@ int mbedtls_platform_entropy_poll( void *data, unsigned char *output, size_t len
 #include <sys/syscall.h>
 #if defined(SYS_getrandom)
 #define HAVE_GETRANDOM
+#include <errno.h>
 
 static int getrandom_wrapper( void *buf, size_t buflen, unsigned int flags )
 {
@@ -123,47 +124,8 @@ static int getrandom_wrapper( void *buf, size_t buflen, unsigned int flags )
     memset( buf, 0, buflen );
 #endif
 #endif
-
     return( syscall( SYS_getrandom, buf, buflen, flags ) );
 }
-
-#include <sys/utsname.h>
-/* Check if version is at least 3.17.0 */
-static int check_version_3_17_plus( void )
-{
-    int minor;
-    struct utsname un;
-    const char *ver;
-
-    /* Get version information */
-    uname(&un);
-    ver = un.release;
-
-    /* Check major version; assume a single digit */
-    if( ver[0] < '3' || ver[0] > '9' || ver [1] != '.' )
-        return( -1 );
-
-    if( ver[0] - '0' > 3 )
-        return( 0 );
-
-    /* Ok, so now we know major == 3, check minor.
-     * Assume 1 or 2 digits. */
-    if( ver[2] < '0' || ver[2] > '9' )
-        return( -1 );
-
-    minor = ver[2] - '0';
-
-    if( ver[3] >= '0' && ver[3] <= '9' )
-        minor = 10 * minor + ver[3] - '0';
-    else if( ver [3] != '.' )
-        return( -1 );
-
-    if( minor < 17 )
-        return( -1 );
-
-    return( 0 );
-}
-static int has_getrandom = -1;
 #endif /* SYS_getrandom */
 #endif /* __linux__ */
 
@@ -174,22 +136,21 @@ int mbedtls_platform_entropy_poll( void *data,
 {
     FILE *file;
     size_t read_len;
+    int ret;
     ((void) data);
 
 #if defined(HAVE_GETRANDOM)
-    if( has_getrandom == -1 )
-        has_getrandom = ( check_version_3_17_plus() == 0 );
-
-    if( has_getrandom )
+    ret = getrandom_wrapper( output, len, 0 );
+    if( ret >= 0 )
     {
-        int ret;
-
-        if( ( ret = getrandom_wrapper( output, len, 0 ) ) < 0 )
-            return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-
         *olen = ret;
         return( 0 );
     }
+    else if( errno != ENOSYS )
+        return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
+    /* Fall through if the system call isn't known. */
+#else
+    ((void) ret);
 #endif /* HAVE_GETRANDOM */
 
     *olen = 0;
diff --git a/thirdparty/mbedtls/library/entropy_poll.c.orig b/thirdparty/mbedtls/library/entropy_poll.c.orig
deleted file mode 100644
index 040aa117dc..0000000000
--- a/thirdparty/mbedtls/library/entropy_poll.c.orig
+++ /dev/null
@@ -1,275 +0,0 @@
-/*
- *  Platform-specific and custom entropy polling functions
- *
- *  Copyright (C) 2006-2016, ARM Limited, All Rights Reserved
- *  SPDX-License-Identifier: Apache-2.0
- *
- *  Licensed under the Apache License, Version 2.0 (the "License"); you may
- *  not use this file except in compliance with the License.
- *  You may obtain a copy of the License at
- *
- *  http://www.apache.org/licenses/LICENSE-2.0
- *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- *  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
- *
- *  This file is part of mbed TLS (https://tls.mbed.org)
- */
-
-#if defined(__linux__)
-/* Ensure that syscall() is available even when compiling with -std=c99 */
-#define _GNU_SOURCE
-#endif
-
-#if !defined(MBEDTLS_CONFIG_FILE)
-#include "mbedtls/config.h"
-#else
-#include MBEDTLS_CONFIG_FILE
-#endif
-
-#include <string.h>
-
-#if defined(MBEDTLS_ENTROPY_C)
-
-#include "mbedtls/entropy.h"
-#include "mbedtls/entropy_poll.h"
-
-#if defined(MBEDTLS_TIMING_C)
-#include "mbedtls/timing.h"
-#endif
-#if defined(MBEDTLS_HAVEGE_C)
-#include "mbedtls/havege.h"
-#endif
-#if defined(MBEDTLS_ENTROPY_NV_SEED)
-#include "mbedtls/platform.h"
-#endif
-
-#if !defined(MBEDTLS_NO_PLATFORM_ENTROPY)
-
-#if !defined(unix) && !defined(__unix__) && !defined(__unix) && \
-    !defined(__APPLE__) && !defined(_WIN32) && !defined(__QNXNTO__) && \
-    !defined(__HAIKU__)
-#error "Platform entropy sources only work on Unix and Windows, see MBEDTLS_NO_PLATFORM_ENTROPY in config.h"
-#endif
-
-#if defined(_WIN32) && !defined(EFIX64) && !defined(EFI32)
-
-#if !defined(_WIN32_WINNT)
-#define _WIN32_WINNT 0x0400
-#endif
-#include <windows.h>
-#include <wincrypt.h>
-
-int mbedtls_platform_entropy_poll( void *data, unsigned char *output, size_t len,
-                           size_t *olen )
-{
-    HCRYPTPROV provider;
-    ((void) data);
-    *olen = 0;
-
-    if( CryptAcquireContext( &provider, NULL, NULL,
-                              PROV_RSA_FULL, CRYPT_VERIFYCONTEXT ) == FALSE )
-    {
-        return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-    }
-
-    if( CryptGenRandom( provider, (DWORD) len, output ) == FALSE )
-    {
-        CryptReleaseContext( provider, 0 );
-        return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-    }
-
-    CryptReleaseContext( provider, 0 );
-    *olen = len;
-
-    return( 0 );
-}
-#else /* _WIN32 && !EFIX64 && !EFI32 */
-
-/*
- * Test for Linux getrandom() support.
- * Since there is no wrapper in the libc yet, use the generic syscall wrapper
- * available in GNU libc and compatible libc's (eg uClibc).
- */
-#if defined(__linux__) && defined(__GLIBC__)
-#include <unistd.h>
-#include <sys/syscall.h>
-#if defined(SYS_getrandom)
-#define HAVE_GETRANDOM
-
-static int getrandom_wrapper( void *buf, size_t buflen, unsigned int flags )
-{
-    /* MemSan cannot understand that the syscall writes to the buffer */
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-    memset( buf, 0, buflen );
-#endif
-#endif
-
-    return( syscall( SYS_getrandom, buf, buflen, flags ) );
-}
-
-#include <sys/utsname.h>
-/* Check if version is at least 3.17.0 */
-static int check_version_3_17_plus( void )
-{
-    int minor;
-    struct utsname un;
-    const char *ver;
-
-    /* Get version information */
-    uname(&un);
-    ver = un.release;
-
-    /* Check major version; assume a single digit */
-    if( ver[0] < '3' || ver[0] > '9' || ver [1] != '.' )
-        return( -1 );
-
-    if( ver[0] - '0' > 3 )
-        return( 0 );
-
-    /* Ok, so now we know major == 3, check minor.
-     * Assume 1 or 2 digits. */
-    if( ver[2] < '0' || ver[2] > '9' )
-        return( -1 );
-
-    minor = ver[2] - '0';
-
-    if( ver[3] >= '0' && ver[3] <= '9' )
-        minor = 10 * minor + ver[3] - '0';
-    else if( ver [3] != '.' )
-        return( -1 );
-
-    if( minor < 17 )
-        return( -1 );
-
-    return( 0 );
-}
-static int has_getrandom = -1;
-#endif /* SYS_getrandom */
-#endif /* __linux__ */
-
-#include <stdio.h>
-
-int mbedtls_platform_entropy_poll( void *data,
-                           unsigned char *output, size_t len, size_t *olen )
-{
-    FILE *file;
-    size_t read_len;
-    ((void) data);
-
-#if defined(HAVE_GETRANDOM)
-    if( has_getrandom == -1 )
-        has_getrandom = ( check_version_3_17_plus() == 0 );
-
-    if( has_getrandom )
-    {
-        int ret;
-
-        if( ( ret = getrandom_wrapper( output, len, 0 ) ) < 0 )
-            return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-
-        *olen = ret;
-        return( 0 );
-    }
-#endif /* HAVE_GETRANDOM */
-
-    *olen = 0;
-
-    file = fopen( "/dev/urandom", "rb" );
-    if( file == NULL )
-        return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-
-    read_len = fread( output, 1, len, file );
-    if( read_len != len )
-    {
-        fclose( file );
-        return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-    }
-
-    fclose( file );
-    *olen = len;
-
-    return( 0 );
-}
-#endif /* _WIN32 && !EFIX64 && !EFI32 */
-#endif /* !MBEDTLS_NO_PLATFORM_ENTROPY */
-
-#if defined(MBEDTLS_TEST_NULL_ENTROPY)
-int mbedtls_null_entropy_poll( void *data,
-                    unsigned char *output, size_t len, size_t *olen )
-{
-    ((void) data);
-    ((void) output);
-    *olen = 0;
-
-    if( len < sizeof(unsigned char) )
-        return( 0 );
-
-    *olen = sizeof(unsigned char);
-
-    return( 0 );
-}
-#endif
-
-#if defined(MBEDTLS_TIMING_C)
-int mbedtls_hardclock_poll( void *data,
-                    unsigned char *output, size_t len, size_t *olen )
-{
-    unsigned long timer = mbedtls_timing_hardclock();
-    ((void) data);
-    *olen = 0;
-
-    if( len < sizeof(unsigned long) )
-        return( 0 );
-
-    memcpy( output, &timer, sizeof(unsigned long) );
-    *olen = sizeof(unsigned long);
-
-    return( 0 );
-}
-#endif /* MBEDTLS_TIMING_C */
-
-#if defined(MBEDTLS_HAVEGE_C)
-int mbedtls_havege_poll( void *data,
-                 unsigned char *output, size_t len, size_t *olen )
-{
-    mbedtls_havege_state *hs = (mbedtls_havege_state *) data;
-    *olen = 0;
-
-    if( mbedtls_havege_random( hs, output, len ) != 0 )
-        return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-
-    *olen = len;
-
-    return( 0 );
-}
-#endif /* MBEDTLS_HAVEGE_C */
-
-#if defined(MBEDTLS_ENTROPY_NV_SEED)
-int mbedtls_nv_seed_poll( void *data,
-                          unsigned char *output, size_t len, size_t *olen )
-{
-    unsigned char buf[MBEDTLS_ENTROPY_BLOCK_SIZE];
-    size_t use_len = MBEDTLS_ENTROPY_BLOCK_SIZE;
-    ((void) data);
-
-    memset( buf, 0, MBEDTLS_ENTROPY_BLOCK_SIZE );
-
-    if( mbedtls_nv_seed_read( buf, MBEDTLS_ENTROPY_BLOCK_SIZE ) < 0 )
-      return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED );
-
-    if( len < use_len )
-      use_len = len;
-
-    memcpy( output, buf, use_len );
-    *olen = use_len;
-
-    return( 0 );
-}
-#endif /* MBEDTLS_ENTROPY_NV_SEED */
-
-#endif /* MBEDTLS_ENTROPY_C */
diff --git a/thirdparty/mbedtls/library/error.c b/thirdparty/mbedtls/library/error.c
index 774244b454..12312a0562 100644
--- a/thirdparty/mbedtls/library/error.c
+++ b/thirdparty/mbedtls/library/error.c
@@ -165,6 +165,10 @@
 #include "mbedtls/pkcs5.h"
 #endif
 
+#if defined(MBEDTLS_PLATFORM_C)
+#include "mbedtls/platform.h"
+#endif
+
 #if defined(MBEDTLS_POLY1305_C)
 #include "mbedtls/poly1305.h"
 #endif
@@ -289,6 +293,8 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen )
             mbedtls_snprintf( buf, buflen, "ECP - The buffer contains a valid signature followed by more data" );
         if( use_ret == -(MBEDTLS_ERR_ECP_HW_ACCEL_FAILED) )
             mbedtls_snprintf( buf, buflen, "ECP - The ECP hardware accelerator failed" );
+        if( use_ret == -(MBEDTLS_ERR_ECP_IN_PROGRESS) )
+            mbedtls_snprintf( buf, buflen, "ECP - Operation in progress, call again with the same parameters to continue" );
 #endif /* MBEDTLS_ECP_C */
 
 #if defined(MBEDTLS_MD_C)
@@ -515,6 +521,10 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen )
             mbedtls_snprintf( buf, buflen, "SSL - Internal-only message signaling that further message-processing should be done" );
         if( use_ret == -(MBEDTLS_ERR_SSL_ASYNC_IN_PROGRESS) )
             mbedtls_snprintf( buf, buflen, "SSL - The asynchronous operation is not completed yet" );
+        if( use_ret == -(MBEDTLS_ERR_SSL_EARLY_MESSAGE) )
+            mbedtls_snprintf( buf, buflen, "SSL - Internal-only message signaling that a message arrived early" );
+        if( use_ret == -(MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS) )
+            mbedtls_snprintf( buf, buflen, "SSL - A cryptographic operation is in progress. Try again later" );
 #endif /* MBEDTLS_SSL_TLS_C */
 
 #if defined(MBEDTLS_X509_USE_C) || defined(MBEDTLS_X509_CREATE_C)
@@ -608,8 +618,8 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen )
 #endif /* MBEDTLS_ARC4_C */
 
 #if defined(MBEDTLS_ARIA_C)
-    if( use_ret == -(MBEDTLS_ERR_ARIA_INVALID_KEY_LENGTH) )
-        mbedtls_snprintf( buf, buflen, "ARIA - Invalid key length" );
+    if( use_ret == -(MBEDTLS_ERR_ARIA_BAD_INPUT_DATA) )
+        mbedtls_snprintf( buf, buflen, "ARIA - Bad input data" );
     if( use_ret == -(MBEDTLS_ERR_ARIA_INVALID_INPUT_LENGTH) )
         mbedtls_snprintf( buf, buflen, "ARIA - Invalid data input length" );
     if( use_ret == -(MBEDTLS_ERR_ARIA_FEATURE_UNAVAILABLE) )
@@ -662,17 +672,17 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen )
 #endif /* MBEDTLS_BIGNUM_C */
 
 #if defined(MBEDTLS_BLOWFISH_C)
-    if( use_ret == -(MBEDTLS_ERR_BLOWFISH_INVALID_KEY_LENGTH) )
-        mbedtls_snprintf( buf, buflen, "BLOWFISH - Invalid key length" );
-    if( use_ret == -(MBEDTLS_ERR_BLOWFISH_HW_ACCEL_FAILED) )
-        mbedtls_snprintf( buf, buflen, "BLOWFISH - Blowfish hardware accelerator failed" );
+    if( use_ret == -(MBEDTLS_ERR_BLOWFISH_BAD_INPUT_DATA) )
+        mbedtls_snprintf( buf, buflen, "BLOWFISH - Bad input data" );
     if( use_ret == -(MBEDTLS_ERR_BLOWFISH_INVALID_INPUT_LENGTH) )
         mbedtls_snprintf( buf, buflen, "BLOWFISH - Invalid data input length" );
+    if( use_ret == -(MBEDTLS_ERR_BLOWFISH_HW_ACCEL_FAILED) )
+        mbedtls_snprintf( buf, buflen, "BLOWFISH - Blowfish hardware accelerator failed" );
 #endif /* MBEDTLS_BLOWFISH_C */
 
 #if defined(MBEDTLS_CAMELLIA_C)
-    if( use_ret == -(MBEDTLS_ERR_CAMELLIA_INVALID_KEY_LENGTH) )
-        mbedtls_snprintf( buf, buflen, "CAMELLIA - Invalid key length" );
+    if( use_ret == -(MBEDTLS_ERR_CAMELLIA_BAD_INPUT_DATA) )
+        mbedtls_snprintf( buf, buflen, "CAMELLIA - Bad input data" );
     if( use_ret == -(MBEDTLS_ERR_CAMELLIA_INVALID_INPUT_LENGTH) )
         mbedtls_snprintf( buf, buflen, "CAMELLIA - Invalid data input length" );
     if( use_ret == -(MBEDTLS_ERR_CAMELLIA_HW_ACCEL_FAILED) )
@@ -821,6 +831,13 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen )
         mbedtls_snprintf( buf, buflen, "PADLOCK - Input data should be aligned" );
 #endif /* MBEDTLS_PADLOCK_C */
 
+#if defined(MBEDTLS_PLATFORM_C)
+    if( use_ret == -(MBEDTLS_ERR_PLATFORM_HW_ACCEL_FAILED) )
+        mbedtls_snprintf( buf, buflen, "PLATFORM - Hardware accelerator failed" );
+    if( use_ret == -(MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED) )
+        mbedtls_snprintf( buf, buflen, "PLATFORM - The requested feature is not supported by the platform" );
+#endif /* MBEDTLS_PLATFORM_C */
+
 #if defined(MBEDTLS_POLY1305_C)
     if( use_ret == -(MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA) )
         mbedtls_snprintf( buf, buflen, "POLY1305 - Invalid input parameter(s)" );
@@ -838,16 +855,22 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen )
 #if defined(MBEDTLS_SHA1_C)
     if( use_ret == -(MBEDTLS_ERR_SHA1_HW_ACCEL_FAILED) )
         mbedtls_snprintf( buf, buflen, "SHA1 - SHA-1 hardware accelerator failed" );
+    if( use_ret == -(MBEDTLS_ERR_SHA1_BAD_INPUT_DATA) )
+        mbedtls_snprintf( buf, buflen, "SHA1 - SHA-1 input data was malformed" );
 #endif /* MBEDTLS_SHA1_C */
 
 #if defined(MBEDTLS_SHA256_C)
     if( use_ret == -(MBEDTLS_ERR_SHA256_HW_ACCEL_FAILED) )
         mbedtls_snprintf( buf, buflen, "SHA256 - SHA-256 hardware accelerator failed" );
+    if( use_ret == -(MBEDTLS_ERR_SHA256_BAD_INPUT_DATA) )
+        mbedtls_snprintf( buf, buflen, "SHA256 - SHA-256 input data was malformed" );
 #endif /* MBEDTLS_SHA256_C */
 
 #if defined(MBEDTLS_SHA512_C)
     if( use_ret == -(MBEDTLS_ERR_SHA512_HW_ACCEL_FAILED) )
         mbedtls_snprintf( buf, buflen, "SHA512 - SHA-512 hardware accelerator failed" );
+    if( use_ret == -(MBEDTLS_ERR_SHA512_BAD_INPUT_DATA) )
+        mbedtls_snprintf( buf, buflen, "SHA512 - SHA-512 input data was malformed" );
 #endif /* MBEDTLS_SHA512_C */
 
 #if defined(MBEDTLS_THREADING_C)
diff --git a/thirdparty/mbedtls/library/gcm.c b/thirdparty/mbedtls/library/gcm.c
index 57b027933d..675926a518 100644
--- a/thirdparty/mbedtls/library/gcm.c
+++ b/thirdparty/mbedtls/library/gcm.c
@@ -48,9 +48,8 @@
 
 #if defined(MBEDTLS_SELF_TEST) && defined(MBEDTLS_AES_C)
 #include "mbedtls/aes.h"
-#if defined(MBEDTLS_PLATFORM_C)
 #include "mbedtls/platform.h"
-#else
+#if !defined(MBEDTLS_PLATFORM_C)
 #include <stdio.h>
 #define mbedtls_printf printf
 #endif /* MBEDTLS_PLATFORM_C */
@@ -58,6 +57,12 @@
 
 #if !defined(MBEDTLS_GCM_ALT)
 
+/* Parameter validation macros */
+#define GCM_VALIDATE_RET( cond ) \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_GCM_BAD_INPUT )
+#define GCM_VALIDATE( cond ) \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * 32-bit integer manipulation macros (big endian)
  */
@@ -86,6 +91,7 @@
  */
 void mbedtls_gcm_init( mbedtls_gcm_context *ctx )
 {
+    GCM_VALIDATE( ctx != NULL );
     memset( ctx, 0, sizeof( mbedtls_gcm_context ) );
 }
 
@@ -165,6 +171,10 @@ int mbedtls_gcm_setkey( mbedtls_gcm_context *ctx,
     int ret;
     const mbedtls_cipher_info_t *cipher_info;
 
+    GCM_VALIDATE_RET( ctx != NULL );
+    GCM_VALIDATE_RET( key != NULL );
+    GCM_VALIDATE_RET( keybits == 128 || keybits == 192 || keybits == 256 );
+
     cipher_info = mbedtls_cipher_info_from_values( cipher, keybits, MBEDTLS_MODE_ECB );
     if( cipher_info == NULL )
         return( MBEDTLS_ERR_GCM_BAD_INPUT );
@@ -275,6 +285,10 @@ int mbedtls_gcm_starts( mbedtls_gcm_context *ctx,
     const unsigned char *p;
     size_t use_len, olen = 0;
 
+    GCM_VALIDATE_RET( ctx != NULL );
+    GCM_VALIDATE_RET( iv != NULL );
+    GCM_VALIDATE_RET( add_len == 0 || add != NULL );
+
     /* IV and AD are limited to 2^64 bits, so 2^61 bytes */
     /* IV is not allowed to be zero length */
     if( iv_len == 0 ||
@@ -357,6 +371,10 @@ int mbedtls_gcm_update( mbedtls_gcm_context *ctx,
     unsigned char *out_p = output;
     size_t use_len, olen = 0;
 
+    GCM_VALIDATE_RET( ctx != NULL );
+    GCM_VALIDATE_RET( length == 0 || input != NULL );
+    GCM_VALIDATE_RET( length == 0 || output != NULL );
+
     if( output > input && (size_t) ( output - input ) < length )
         return( MBEDTLS_ERR_GCM_BAD_INPUT );
 
@@ -410,8 +428,14 @@ int mbedtls_gcm_finish( mbedtls_gcm_context *ctx,
 {
     unsigned char work_buf[16];
     size_t i;
-    uint64_t orig_len = ctx->len * 8;
-    uint64_t orig_add_len = ctx->add_len * 8;
+    uint64_t orig_len;
+    uint64_t orig_add_len;
+
+    GCM_VALIDATE_RET( ctx != NULL );
+    GCM_VALIDATE_RET( tag != NULL );
+
+    orig_len = ctx->len * 8;
+    orig_add_len = ctx->add_len * 8;
 
     if( tag_len > 16 || tag_len < 4 )
         return( MBEDTLS_ERR_GCM_BAD_INPUT );
@@ -453,6 +477,13 @@ int mbedtls_gcm_crypt_and_tag( mbedtls_gcm_context *ctx,
 {
     int ret;
 
+    GCM_VALIDATE_RET( ctx != NULL );
+    GCM_VALIDATE_RET( iv != NULL );
+    GCM_VALIDATE_RET( add_len == 0 || add != NULL );
+    GCM_VALIDATE_RET( length == 0 || input != NULL );
+    GCM_VALIDATE_RET( length == 0 || output != NULL );
+    GCM_VALIDATE_RET( tag != NULL );
+
     if( ( ret = mbedtls_gcm_starts( ctx, mode, iv, iv_len, add, add_len ) ) != 0 )
         return( ret );
 
@@ -481,6 +512,13 @@ int mbedtls_gcm_auth_decrypt( mbedtls_gcm_context *ctx,
     size_t i;
     int diff;
 
+    GCM_VALIDATE_RET( ctx != NULL );
+    GCM_VALIDATE_RET( iv != NULL );
+    GCM_VALIDATE_RET( add_len == 0 || add != NULL );
+    GCM_VALIDATE_RET( tag != NULL );
+    GCM_VALIDATE_RET( length == 0 || input != NULL );
+    GCM_VALIDATE_RET( length == 0 || output != NULL );
+
     if( ( ret = mbedtls_gcm_crypt_and_tag( ctx, MBEDTLS_GCM_DECRYPT, length,
                                    iv, iv_len, add, add_len,
                                    input, output, tag_len, check_tag ) ) != 0 )
@@ -503,6 +541,8 @@ int mbedtls_gcm_auth_decrypt( mbedtls_gcm_context *ctx,
 
 void mbedtls_gcm_free( mbedtls_gcm_context *ctx )
 {
+    if( ctx == NULL )
+        return;
     mbedtls_cipher_free( &ctx->cipher_ctx );
     mbedtls_platform_zeroize( ctx, sizeof( mbedtls_gcm_context ) );
 }
@@ -764,7 +804,7 @@ int mbedtls_gcm_self_test( int verbose )
              * there is an alternative underlying implementation i.e. when
              * MBEDTLS_AES_ALT is defined.
              */
-            if( ret == MBEDTLS_ERR_AES_FEATURE_UNAVAILABLE && key_len == 192 )
+            if( ret == MBEDTLS_ERR_PLATFORM_FEATURE_UNSUPPORTED && key_len == 192 )
             {
                 mbedtls_printf( "skipped\n" );
                 break;
diff --git a/thirdparty/mbedtls/library/hmac_drbg.c b/thirdparty/mbedtls/library/hmac_drbg.c
index dad55ff861..c50330e7d8 100644
--- a/thirdparty/mbedtls/library/hmac_drbg.c
+++ b/thirdparty/mbedtls/library/hmac_drbg.c
@@ -66,31 +66,60 @@ void mbedtls_hmac_drbg_init( mbedtls_hmac_drbg_context *ctx )
 /*
  * HMAC_DRBG update, using optional additional data (10.1.2.2)
  */
-void mbedtls_hmac_drbg_update( mbedtls_hmac_drbg_context *ctx,
-                       const unsigned char *additional, size_t add_len )
+int mbedtls_hmac_drbg_update_ret( mbedtls_hmac_drbg_context *ctx,
+                                  const unsigned char *additional,
+                                  size_t add_len )
 {
     size_t md_len = mbedtls_md_get_size( ctx->md_ctx.md_info );
     unsigned char rounds = ( additional != NULL && add_len != 0 ) ? 2 : 1;
     unsigned char sep[1];
     unsigned char K[MBEDTLS_MD_MAX_SIZE];
+    int ret;
 
     for( sep[0] = 0; sep[0] < rounds; sep[0]++ )
     {
         /* Step 1 or 4 */
-        mbedtls_md_hmac_reset( &ctx->md_ctx );
-        mbedtls_md_hmac_update( &ctx->md_ctx, ctx->V, md_len );
-        mbedtls_md_hmac_update( &ctx->md_ctx, sep, 1 );
+        if( ( ret = mbedtls_md_hmac_reset( &ctx->md_ctx ) ) != 0 )
+            goto exit;
+        if( ( ret = mbedtls_md_hmac_update( &ctx->md_ctx,
+                                            ctx->V, md_len ) ) != 0 )
+            goto exit;
+        if( ( ret = mbedtls_md_hmac_update( &ctx->md_ctx,
+                                            sep, 1 ) ) != 0 )
+            goto exit;
         if( rounds == 2 )
-            mbedtls_md_hmac_update( &ctx->md_ctx, additional, add_len );
-        mbedtls_md_hmac_finish( &ctx->md_ctx, K );
+        {
+            if( ( ret = mbedtls_md_hmac_update( &ctx->md_ctx,
+                                                additional, add_len ) ) != 0 )
+            goto exit;
+        }
+        if( ( ret = mbedtls_md_hmac_finish( &ctx->md_ctx, K ) ) != 0 )
+            goto exit;
 
         /* Step 2 or 5 */
-        mbedtls_md_hmac_starts( &ctx->md_ctx, K, md_len );
-        mbedtls_md_hmac_update( &ctx->md_ctx, ctx->V, md_len );
-        mbedtls_md_hmac_finish( &ctx->md_ctx, ctx->V );
+        if( ( ret = mbedtls_md_hmac_starts( &ctx->md_ctx, K, md_len ) ) != 0 )
+            goto exit;
+        if( ( ret = mbedtls_md_hmac_update( &ctx->md_ctx,
+                                            ctx->V, md_len ) ) != 0 )
+            goto exit;
+        if( ( ret = mbedtls_md_hmac_finish( &ctx->md_ctx, ctx->V ) ) != 0 )
+            goto exit;
     }
+
+exit:
+    mbedtls_platform_zeroize( K, sizeof( K ) );
+    return( ret );
 }
 
+#if !defined(MBEDTLS_DEPRECATED_REMOVED)
+void mbedtls_hmac_drbg_update( mbedtls_hmac_drbg_context *ctx,
+                               const unsigned char *additional,
+                               size_t add_len )
+{
+    (void) mbedtls_hmac_drbg_update_ret( ctx, additional, add_len );
+}
+#endif /* MBEDTLS_DEPRECATED_REMOVED */
+
 /*
  * Simplified HMAC_DRBG initialisation (for use with deterministic ECDSA)
  */
@@ -108,10 +137,13 @@ int mbedtls_hmac_drbg_seed_buf( mbedtls_hmac_drbg_context *ctx,
      * Use the V memory location, which is currently all 0, to initialize the
      * MD context with an all-zero key. Then set V to its initial value.
      */
-    mbedtls_md_hmac_starts( &ctx->md_ctx, ctx->V, mbedtls_md_get_size( md_info ) );
+    if( ( ret = mbedtls_md_hmac_starts( &ctx->md_ctx, ctx->V,
+                                        mbedtls_md_get_size( md_info ) ) ) != 0 )
+        return( ret );
     memset( ctx->V, 0x01, mbedtls_md_get_size( md_info ) );
 
-    mbedtls_hmac_drbg_update( ctx, data, data_len );
+    if( ( ret = mbedtls_hmac_drbg_update_ret( ctx, data, data_len ) ) != 0 )
+        return( ret );
 
     return( 0 );
 }
@@ -124,6 +156,7 @@ int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx,
 {
     unsigned char seed[MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT];
     size_t seedlen;
+    int ret;
 
     /* III. Check input length */
     if( len > MBEDTLS_HMAC_DRBG_MAX_INPUT ||
@@ -135,7 +168,8 @@ int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx,
     memset( seed, 0, MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT );
 
     /* IV. Gather entropy_len bytes of entropy for the seed */
-    if( ctx->f_entropy( ctx->p_entropy, seed, ctx->entropy_len ) != 0 )
+    if( ( ret = ctx->f_entropy( ctx->p_entropy,
+                                seed, ctx->entropy_len ) ) != 0 )
         return( MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED );
 
     seedlen = ctx->entropy_len;
@@ -148,13 +182,16 @@ int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx,
     }
 
     /* 2. Update state */
-    mbedtls_hmac_drbg_update( ctx, seed, seedlen );
+    if( ( ret = mbedtls_hmac_drbg_update_ret( ctx, seed, seedlen ) ) != 0 )
+        goto exit;
 
     /* 3. Reset reseed_counter */
     ctx->reseed_counter = 1;
 
+exit:
     /* 4. Done */
-    return( 0 );
+    mbedtls_platform_zeroize( seed, seedlen );
+    return( ret );
 }
 
 /*
@@ -180,7 +217,8 @@ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx,
      * Use the V memory location, which is currently all 0, to initialize the
      * MD context with an all-zero key. Then set V to its initial value.
      */
-    mbedtls_md_hmac_starts( &ctx->md_ctx, ctx->V, md_size );
+    if( ( ret = mbedtls_md_hmac_starts( &ctx->md_ctx, ctx->V, md_size ) ) != 0 )
+        return( ret );
     memset( ctx->V, 0x01, md_size );
 
     ctx->f_entropy = f_entropy;
@@ -273,16 +311,24 @@ int mbedtls_hmac_drbg_random_with_add( void *p_rng,
 
     /* 2. Use additional data if any */
     if( additional != NULL && add_len != 0 )
-        mbedtls_hmac_drbg_update( ctx, additional, add_len );
+    {
+        if( ( ret = mbedtls_hmac_drbg_update_ret( ctx,
+                                                  additional, add_len ) ) != 0 )
+            goto exit;
+    }
 
     /* 3, 4, 5. Generate bytes */
     while( left != 0 )
     {
         size_t use_len = left > md_len ? md_len : left;
 
-        mbedtls_md_hmac_reset( &ctx->md_ctx );
-        mbedtls_md_hmac_update( &ctx->md_ctx, ctx->V, md_len );
-        mbedtls_md_hmac_finish( &ctx->md_ctx, ctx->V );
+        if( ( ret = mbedtls_md_hmac_reset( &ctx->md_ctx ) ) != 0 )
+            goto exit;
+        if( ( ret = mbedtls_md_hmac_update( &ctx->md_ctx,
+                                            ctx->V, md_len ) ) != 0 )
+            goto exit;
+        if( ( ret = mbedtls_md_hmac_finish( &ctx->md_ctx, ctx->V ) ) != 0 )
+            goto exit;
 
         memcpy( out, ctx->V, use_len );
         out += use_len;
@@ -290,13 +336,16 @@ int mbedtls_hmac_drbg_random_with_add( void *p_rng,
     }
 
     /* 6. Update */
-    mbedtls_hmac_drbg_update( ctx, additional, add_len );
+    if( ( ret = mbedtls_hmac_drbg_update_ret( ctx,
+                                              additional, add_len ) ) != 0 )
+        goto exit;
 
     /* 7. Update reseed counter */
     ctx->reseed_counter++;
 
+exit:
     /* 8. Done */
-    return( 0 );
+    return( ret );
 }
 
 /*
@@ -368,35 +417,36 @@ exit:
 int mbedtls_hmac_drbg_update_seed_file( mbedtls_hmac_drbg_context *ctx, const char *path )
 {
     int ret = 0;
-    FILE *f;
+    FILE *f = NULL;
     size_t n;
     unsigned char buf[ MBEDTLS_HMAC_DRBG_MAX_INPUT ];
+    unsigned char c;
 
     if( ( f = fopen( path, "rb" ) ) == NULL )
         return( MBEDTLS_ERR_HMAC_DRBG_FILE_IO_ERROR );
 
-    fseek( f, 0, SEEK_END );
-    n = (size_t) ftell( f );
-    fseek( f, 0, SEEK_SET );
-
-    if( n > MBEDTLS_HMAC_DRBG_MAX_INPUT )
+    n = fread( buf, 1, sizeof( buf ), f );
+    if( fread( &c, 1, 1, f ) != 0 )
     {
-        fclose( f );
-        return( MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG );
+        ret = MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG;
+        goto exit;
     }
-
-    if( fread( buf, 1, n, f ) != n )
+    if( n == 0 || ferror( f ) )
+    {
         ret = MBEDTLS_ERR_HMAC_DRBG_FILE_IO_ERROR;
-    else
-        mbedtls_hmac_drbg_update( ctx, buf, n );
-
+        goto exit;
+    }
     fclose( f );
+    f = NULL;
 
-    mbedtls_platform_zeroize( buf, sizeof( buf ) );
+    ret = mbedtls_hmac_drbg_update_ret( ctx, buf, n );
 
+exit:
+    mbedtls_platform_zeroize( buf, sizeof( buf ) );
+    if( f != NULL )
+        fclose( f );
     if( ret != 0 )
         return( ret );
-
     return( mbedtls_hmac_drbg_write_seed_file( ctx, path ) );
 }
 #endif /* MBEDTLS_FS_IO */
diff --git a/thirdparty/mbedtls/library/nist_kw.c b/thirdparty/mbedtls/library/nist_kw.c
index 176af9fe08..317a2426ae 100644
--- a/thirdparty/mbedtls/library/nist_kw.c
+++ b/thirdparty/mbedtls/library/nist_kw.c
@@ -311,7 +311,7 @@ cleanup:
     }
     mbedtls_platform_zeroize( inbuff, KW_SEMIBLOCK_LENGTH * 2 );
     mbedtls_platform_zeroize( outbuff, KW_SEMIBLOCK_LENGTH * 2 );
-    mbedtls_cipher_finish( &ctx->cipher_ctx, NULL, &olen );
+
     return( ret );
 }
 
@@ -528,7 +528,7 @@ cleanup:
     mbedtls_platform_zeroize( &bad_padding, sizeof( bad_padding) );
     mbedtls_platform_zeroize( &diff, sizeof( diff ) );
     mbedtls_platform_zeroize( A, sizeof( A ) );
-    mbedtls_cipher_finish( &ctx->cipher_ctx, NULL, &olen );
+
     return( ret );
 }
 
diff --git a/thirdparty/mbedtls/library/pem.c b/thirdparty/mbedtls/library/pem.c
index 6069a23dec..897c8a0d6f 100644
--- a/thirdparty/mbedtls/library/pem.c
+++ b/thirdparty/mbedtls/library/pem.c
@@ -423,9 +423,11 @@ int mbedtls_pem_read_buffer( mbedtls_pem_context *ctx, const char *header, const
 
 void mbedtls_pem_free( mbedtls_pem_context *ctx )
 {
-    if( ctx->buf != NULL )
+    if ( ctx->buf != NULL )
+    {
         mbedtls_platform_zeroize( ctx->buf, ctx->buflen );
-    mbedtls_free( ctx->buf );
+        mbedtls_free( ctx->buf );
+    }
     mbedtls_free( ctx->info );
 
     mbedtls_platform_zeroize( ctx, sizeof( mbedtls_pem_context ) );
diff --git a/thirdparty/mbedtls/library/pk.c b/thirdparty/mbedtls/library/pk.c
index f05b139e3f..bac685dc19 100644
--- a/thirdparty/mbedtls/library/pk.c
+++ b/thirdparty/mbedtls/library/pk.c
@@ -44,13 +44,18 @@
 #include <limits.h>
 #include <stdint.h>
 
+/* Parameter validation macros based on platform_util.h */
+#define PK_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_PK_BAD_INPUT_DATA )
+#define PK_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 /*
  * Initialise a mbedtls_pk_context
  */
 void mbedtls_pk_init( mbedtls_pk_context *ctx )
 {
-    if( ctx == NULL )
-        return;
+    PK_VALIDATE( ctx != NULL );
 
     ctx->pk_info = NULL;
     ctx->pk_ctx = NULL;
@@ -61,14 +66,44 @@ void mbedtls_pk_init( mbedtls_pk_context *ctx )
  */
 void mbedtls_pk_free( mbedtls_pk_context *ctx )
 {
-    if( ctx == NULL || ctx->pk_info == NULL )
+    if( ctx == NULL )
         return;
 
-    ctx->pk_info->ctx_free_func( ctx->pk_ctx );
+    if ( ctx->pk_info != NULL )
+        ctx->pk_info->ctx_free_func( ctx->pk_ctx );
 
     mbedtls_platform_zeroize( ctx, sizeof( mbedtls_pk_context ) );
 }
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+/*
+ * Initialize a restart context
+ */
+void mbedtls_pk_restart_init( mbedtls_pk_restart_ctx *ctx )
+{
+    PK_VALIDATE( ctx != NULL );
+    ctx->pk_info = NULL;
+    ctx->rs_ctx = NULL;
+}
+
+/*
+ * Free the components of a restart context
+ */
+void mbedtls_pk_restart_free( mbedtls_pk_restart_ctx *ctx )
+{
+    if( ctx == NULL || ctx->pk_info == NULL ||
+        ctx->pk_info->rs_free_func == NULL )
+    {
+        return;
+    }
+
+    ctx->pk_info->rs_free_func( ctx->rs_ctx );
+
+    ctx->pk_info = NULL;
+    ctx->rs_ctx = NULL;
+}
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
 /*
  * Get pk_info structure from type
  */
@@ -100,7 +135,8 @@ const mbedtls_pk_info_t * mbedtls_pk_info_from_type( mbedtls_pk_type_t pk_type )
  */
 int mbedtls_pk_setup( mbedtls_pk_context *ctx, const mbedtls_pk_info_t *info )
 {
-    if( ctx == NULL || info == NULL || ctx->pk_info != NULL )
+    PK_VALIDATE_RET( ctx != NULL );
+    if( info == NULL || ctx->pk_info != NULL )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
     if( ( ctx->pk_ctx = info->ctx_alloc_func() ) == NULL )
@@ -123,7 +159,8 @@ int mbedtls_pk_setup_rsa_alt( mbedtls_pk_context *ctx, void * key,
     mbedtls_rsa_alt_context *rsa_alt;
     const mbedtls_pk_info_t *info = &mbedtls_rsa_alt_info;
 
-    if( ctx == NULL || ctx->pk_info != NULL )
+    PK_VALIDATE_RET( ctx != NULL );
+    if( ctx->pk_info != NULL )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
     if( ( ctx->pk_ctx = info->ctx_alloc_func() ) == NULL )
@@ -147,7 +184,9 @@ int mbedtls_pk_setup_rsa_alt( mbedtls_pk_context *ctx, void * key,
  */
 int mbedtls_pk_can_do( const mbedtls_pk_context *ctx, mbedtls_pk_type_t type )
 {
-    /* null or NONE context can't do anything */
+    /* A context with null pk_info is not set up yet and can't do anything.
+     * For backward compatibility, also accept NULL instead of a context
+     * pointer. */
     if( ctx == NULL || ctx->pk_info == NULL )
         return( 0 );
 
@@ -171,17 +210,71 @@ static inline int pk_hashlen_helper( mbedtls_md_type_t md_alg, size_t *hash_len
     return( 0 );
 }
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
 /*
- * Verify a signature
+ * Helper to set up a restart context if needed
  */
-int mbedtls_pk_verify( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
+static int pk_restart_setup( mbedtls_pk_restart_ctx *ctx,
+                             const mbedtls_pk_info_t *info )
+{
+    /* Don't do anything if already set up or invalid */
+    if( ctx == NULL || ctx->pk_info != NULL )
+        return( 0 );
+
+    /* Should never happen when we're called */
+    if( info->rs_alloc_func == NULL || info->rs_free_func == NULL )
+        return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
+
+    if( ( ctx->rs_ctx = info->rs_alloc_func() ) == NULL )
+        return( MBEDTLS_ERR_PK_ALLOC_FAILED );
+
+    ctx->pk_info = info;
+
+    return( 0 );
+}
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
+/*
+ * Verify a signature (restartable)
+ */
+int mbedtls_pk_verify_restartable( mbedtls_pk_context *ctx,
+               mbedtls_md_type_t md_alg,
                const unsigned char *hash, size_t hash_len,
-               const unsigned char *sig, size_t sig_len )
+               const unsigned char *sig, size_t sig_len,
+               mbedtls_pk_restart_ctx *rs_ctx )
 {
-    if( ctx == NULL || ctx->pk_info == NULL ||
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( ( md_alg == MBEDTLS_MD_NONE && hash_len == 0 ) ||
+                     hash != NULL );
+    PK_VALIDATE_RET( sig != NULL );
+
+    if( ctx->pk_info == NULL ||
         pk_hashlen_helper( md_alg, &hash_len ) != 0 )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /* optimization: use non-restartable version if restart disabled */
+    if( rs_ctx != NULL &&
+        mbedtls_ecp_restart_is_enabled() &&
+        ctx->pk_info->verify_rs_func != NULL )
+    {
+        int ret;
+
+        if( ( ret = pk_restart_setup( rs_ctx, ctx->pk_info ) ) != 0 )
+            return( ret );
+
+        ret = ctx->pk_info->verify_rs_func( ctx->pk_ctx,
+                   md_alg, hash, hash_len, sig, sig_len, rs_ctx->rs_ctx );
+
+        if( ret != MBEDTLS_ERR_ECP_IN_PROGRESS )
+            mbedtls_pk_restart_free( rs_ctx );
+
+        return( ret );
+    }
+#else /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+    (void) rs_ctx;
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
     if( ctx->pk_info->verify_func == NULL )
         return( MBEDTLS_ERR_PK_TYPE_MISMATCH );
 
@@ -190,6 +283,17 @@ int mbedtls_pk_verify( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
 }
 
 /*
+ * Verify a signature
+ */
+int mbedtls_pk_verify( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
+               const unsigned char *hash, size_t hash_len,
+               const unsigned char *sig, size_t sig_len )
+{
+    return( mbedtls_pk_verify_restartable( ctx, md_alg, hash, hash_len,
+                                           sig, sig_len, NULL ) );
+}
+
+/*
  * Verify a signature with options
  */
 int mbedtls_pk_verify_ext( mbedtls_pk_type_t type, const void *options,
@@ -197,7 +301,12 @@ int mbedtls_pk_verify_ext( mbedtls_pk_type_t type, const void *options,
                    const unsigned char *hash, size_t hash_len,
                    const unsigned char *sig, size_t sig_len )
 {
-    if( ctx == NULL || ctx->pk_info == NULL )
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( ( md_alg == MBEDTLS_MD_NONE && hash_len == 0 ) ||
+                     hash != NULL );
+    PK_VALIDATE_RET( sig != NULL );
+
+    if( ctx->pk_info == NULL )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
     if( ! mbedtls_pk_can_do( ctx, type ) )
@@ -248,17 +357,47 @@ int mbedtls_pk_verify_ext( mbedtls_pk_type_t type, const void *options,
 }
 
 /*
- * Make a signature
+ * Make a signature (restartable)
  */
-int mbedtls_pk_sign( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
+int mbedtls_pk_sign_restartable( mbedtls_pk_context *ctx,
+             mbedtls_md_type_t md_alg,
              const unsigned char *hash, size_t hash_len,
              unsigned char *sig, size_t *sig_len,
-             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
+             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+             mbedtls_pk_restart_ctx *rs_ctx )
 {
-    if( ctx == NULL || ctx->pk_info == NULL ||
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( ( md_alg == MBEDTLS_MD_NONE && hash_len == 0 ) ||
+                     hash != NULL );
+    PK_VALIDATE_RET( sig != NULL );
+
+    if( ctx->pk_info == NULL ||
         pk_hashlen_helper( md_alg, &hash_len ) != 0 )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /* optimization: use non-restartable version if restart disabled */
+    if( rs_ctx != NULL &&
+        mbedtls_ecp_restart_is_enabled() &&
+        ctx->pk_info->sign_rs_func != NULL )
+    {
+        int ret;
+
+        if( ( ret = pk_restart_setup( rs_ctx, ctx->pk_info ) ) != 0 )
+            return( ret );
+
+        ret = ctx->pk_info->sign_rs_func( ctx->pk_ctx, md_alg,
+                hash, hash_len, sig, sig_len, f_rng, p_rng, rs_ctx->rs_ctx );
+
+        if( ret != MBEDTLS_ERR_ECP_IN_PROGRESS )
+            mbedtls_pk_restart_free( rs_ctx );
+
+        return( ret );
+    }
+#else /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+    (void) rs_ctx;
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
     if( ctx->pk_info->sign_func == NULL )
         return( MBEDTLS_ERR_PK_TYPE_MISMATCH );
 
@@ -267,6 +406,18 @@ int mbedtls_pk_sign( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
 }
 
 /*
+ * Make a signature
+ */
+int mbedtls_pk_sign( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg,
+             const unsigned char *hash, size_t hash_len,
+             unsigned char *sig, size_t *sig_len,
+             int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
+{
+    return( mbedtls_pk_sign_restartable( ctx, md_alg, hash, hash_len,
+                                         sig, sig_len, f_rng, p_rng, NULL ) );
+}
+
+/*
  * Decrypt message
  */
 int mbedtls_pk_decrypt( mbedtls_pk_context *ctx,
@@ -274,7 +425,12 @@ int mbedtls_pk_decrypt( mbedtls_pk_context *ctx,
                 unsigned char *output, size_t *olen, size_t osize,
                 int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
 {
-    if( ctx == NULL || ctx->pk_info == NULL )
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( input != NULL || ilen == 0 );
+    PK_VALIDATE_RET( output != NULL || osize == 0 );
+    PK_VALIDATE_RET( olen != NULL );
+
+    if( ctx->pk_info == NULL )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
     if( ctx->pk_info->decrypt_func == NULL )
@@ -292,7 +448,12 @@ int mbedtls_pk_encrypt( mbedtls_pk_context *ctx,
                 unsigned char *output, size_t *olen, size_t osize,
                 int (*f_rng)(void *, unsigned char *, size_t), void *p_rng )
 {
-    if( ctx == NULL || ctx->pk_info == NULL )
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( input != NULL || ilen == 0 );
+    PK_VALIDATE_RET( output != NULL || osize == 0 );
+    PK_VALIDATE_RET( olen != NULL );
+
+    if( ctx->pk_info == NULL )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
     if( ctx->pk_info->encrypt_func == NULL )
@@ -307,8 +468,11 @@ int mbedtls_pk_encrypt( mbedtls_pk_context *ctx,
  */
 int mbedtls_pk_check_pair( const mbedtls_pk_context *pub, const mbedtls_pk_context *prv )
 {
-    if( pub == NULL || pub->pk_info == NULL ||
-        prv == NULL || prv->pk_info == NULL ||
+    PK_VALIDATE_RET( pub != NULL );
+    PK_VALIDATE_RET( prv != NULL );
+
+    if( pub->pk_info == NULL ||
+        prv->pk_info == NULL ||
         prv->pk_info->check_pair_func == NULL )
     {
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
@@ -333,6 +497,8 @@ int mbedtls_pk_check_pair( const mbedtls_pk_context *pub, const mbedtls_pk_conte
  */
 size_t mbedtls_pk_get_bitlen( const mbedtls_pk_context *ctx )
 {
+    /* For backward compatibility, accept NULL or a context that
+     * isn't set up yet, and return a fake value that should be safe. */
     if( ctx == NULL || ctx->pk_info == NULL )
         return( 0 );
 
@@ -344,7 +510,8 @@ size_t mbedtls_pk_get_bitlen( const mbedtls_pk_context *ctx )
  */
 int mbedtls_pk_debug( const mbedtls_pk_context *ctx, mbedtls_pk_debug_item *items )
 {
-    if( ctx == NULL || ctx->pk_info == NULL )
+    PK_VALIDATE_RET( ctx != NULL );
+    if( ctx->pk_info == NULL )
         return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
 
     if( ctx->pk_info->debug_func == NULL )
diff --git a/thirdparty/mbedtls/library/pk_wrap.c b/thirdparty/mbedtls/library/pk_wrap.c
index 2c7d2d79b8..87806be337 100644
--- a/thirdparty/mbedtls/library/pk_wrap.c
+++ b/thirdparty/mbedtls/library/pk_wrap.c
@@ -190,11 +190,19 @@ const mbedtls_pk_info_t mbedtls_rsa_info = {
     rsa_can_do,
     rsa_verify_wrap,
     rsa_sign_wrap,
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    NULL,
+    NULL,
+#endif
     rsa_decrypt_wrap,
     rsa_encrypt_wrap,
     rsa_check_pair_wrap,
     rsa_alloc_wrap,
     rsa_free_wrap,
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    NULL,
+    NULL,
+#endif
     rsa_debug,
 };
 #endif /* MBEDTLS_RSA_C */
@@ -262,6 +270,110 @@ static int eckey_sign_wrap( void *ctx, mbedtls_md_type_t md_alg,
     return( ret );
 }
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+/* Forward declarations */
+static int ecdsa_verify_rs_wrap( void *ctx, mbedtls_md_type_t md_alg,
+                       const unsigned char *hash, size_t hash_len,
+                       const unsigned char *sig, size_t sig_len,
+                       void *rs_ctx );
+
+static int ecdsa_sign_rs_wrap( void *ctx, mbedtls_md_type_t md_alg,
+                   const unsigned char *hash, size_t hash_len,
+                   unsigned char *sig, size_t *sig_len,
+                   int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+                   void *rs_ctx );
+
+/*
+ * Restart context for ECDSA operations with ECKEY context
+ *
+ * We need to store an actual ECDSA context, as we need to pass the same to
+ * the underlying ecdsa function, so we can't create it on the fly every time.
+ */
+typedef struct
+{
+    mbedtls_ecdsa_restart_ctx ecdsa_rs;
+    mbedtls_ecdsa_context ecdsa_ctx;
+} eckey_restart_ctx;
+
+static void *eckey_rs_alloc( void )
+{
+    eckey_restart_ctx *rs_ctx;
+
+    void *ctx = mbedtls_calloc( 1, sizeof( eckey_restart_ctx ) );
+
+    if( ctx != NULL )
+    {
+        rs_ctx = ctx;
+        mbedtls_ecdsa_restart_init( &rs_ctx->ecdsa_rs );
+        mbedtls_ecdsa_init( &rs_ctx->ecdsa_ctx );
+    }
+
+    return( ctx );
+}
+
+static void eckey_rs_free( void *ctx )
+{
+    eckey_restart_ctx *rs_ctx;
+
+    if( ctx == NULL)
+        return;
+
+    rs_ctx = ctx;
+    mbedtls_ecdsa_restart_free( &rs_ctx->ecdsa_rs );
+    mbedtls_ecdsa_free( &rs_ctx->ecdsa_ctx );
+
+    mbedtls_free( ctx );
+}
+
+static int eckey_verify_rs_wrap( void *ctx, mbedtls_md_type_t md_alg,
+                       const unsigned char *hash, size_t hash_len,
+                       const unsigned char *sig, size_t sig_len,
+                       void *rs_ctx )
+{
+    int ret;
+    eckey_restart_ctx *rs = rs_ctx;
+
+    /* Should never happen */
+    if( rs == NULL )
+        return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
+
+    /* set up our own sub-context if needed (that is, on first run) */
+    if( rs->ecdsa_ctx.grp.pbits == 0 )
+        MBEDTLS_MPI_CHK( mbedtls_ecdsa_from_keypair( &rs->ecdsa_ctx, ctx ) );
+
+    MBEDTLS_MPI_CHK( ecdsa_verify_rs_wrap( &rs->ecdsa_ctx,
+                                           md_alg, hash, hash_len,
+                                           sig, sig_len, &rs->ecdsa_rs ) );
+
+cleanup:
+    return( ret );
+}
+
+static int eckey_sign_rs_wrap( void *ctx, mbedtls_md_type_t md_alg,
+                   const unsigned char *hash, size_t hash_len,
+                   unsigned char *sig, size_t *sig_len,
+                   int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+                       void *rs_ctx )
+{
+    int ret;
+    eckey_restart_ctx *rs = rs_ctx;
+
+    /* Should never happen */
+    if( rs == NULL )
+        return( MBEDTLS_ERR_PK_BAD_INPUT_DATA );
+
+    /* set up our own sub-context if needed (that is, on first run) */
+    if( rs->ecdsa_ctx.grp.pbits == 0 )
+        MBEDTLS_MPI_CHK( mbedtls_ecdsa_from_keypair( &rs->ecdsa_ctx, ctx ) );
+
+    MBEDTLS_MPI_CHK( ecdsa_sign_rs_wrap( &rs->ecdsa_ctx, md_alg,
+                                         hash, hash_len, sig, sig_len,
+                                         f_rng, p_rng, &rs->ecdsa_rs ) );
+
+cleanup:
+    return( ret );
+}
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 #endif /* MBEDTLS_ECDSA_C */
 
 static int eckey_check_pair( const void *pub, const void *prv )
@@ -301,15 +413,23 @@ const mbedtls_pk_info_t mbedtls_eckey_info = {
 #if defined(MBEDTLS_ECDSA_C)
     eckey_verify_wrap,
     eckey_sign_wrap,
-#else
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    eckey_verify_rs_wrap,
+    eckey_sign_rs_wrap,
+#endif
+#else /* MBEDTLS_ECDSA_C */
     NULL,
     NULL,
-#endif
+#endif /* MBEDTLS_ECDSA_C */
     NULL,
     NULL,
     eckey_check_pair,
     eckey_alloc_wrap,
     eckey_free_wrap,
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    eckey_rs_alloc,
+    eckey_rs_free,
+#endif
     eckey_debug,
 };
 
@@ -329,11 +449,19 @@ const mbedtls_pk_info_t mbedtls_eckeydh_info = {
     eckeydh_can_do,
     NULL,
     NULL,
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    NULL,
+    NULL,
+#endif
     NULL,
     NULL,
     eckey_check_pair,
     eckey_alloc_wrap,       /* Same underlying key structure */
     eckey_free_wrap,        /* Same underlying key structure */
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    NULL,
+    NULL,
+#endif
     eckey_debug,            /* Same underlying key structure */
 };
 #endif /* MBEDTLS_ECP_C */
@@ -369,6 +497,40 @@ static int ecdsa_sign_wrap( void *ctx, mbedtls_md_type_t md_alg,
                 md_alg, hash, hash_len, sig, sig_len, f_rng, p_rng ) );
 }
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+static int ecdsa_verify_rs_wrap( void *ctx, mbedtls_md_type_t md_alg,
+                       const unsigned char *hash, size_t hash_len,
+                       const unsigned char *sig, size_t sig_len,
+                       void *rs_ctx )
+{
+    int ret;
+    ((void) md_alg);
+
+    ret = mbedtls_ecdsa_read_signature_restartable(
+            (mbedtls_ecdsa_context *) ctx,
+            hash, hash_len, sig, sig_len,
+            (mbedtls_ecdsa_restart_ctx *) rs_ctx );
+
+    if( ret == MBEDTLS_ERR_ECP_SIG_LEN_MISMATCH )
+        return( MBEDTLS_ERR_PK_SIG_LEN_MISMATCH );
+
+    return( ret );
+}
+
+static int ecdsa_sign_rs_wrap( void *ctx, mbedtls_md_type_t md_alg,
+                   const unsigned char *hash, size_t hash_len,
+                   unsigned char *sig, size_t *sig_len,
+                   int (*f_rng)(void *, unsigned char *, size_t), void *p_rng,
+                   void *rs_ctx )
+{
+    return( mbedtls_ecdsa_write_signature_restartable(
+                (mbedtls_ecdsa_context *) ctx,
+                md_alg, hash, hash_len, sig, sig_len, f_rng, p_rng,
+                (mbedtls_ecdsa_restart_ctx *) rs_ctx ) );
+
+}
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 static void *ecdsa_alloc_wrap( void )
 {
     void *ctx = mbedtls_calloc( 1, sizeof( mbedtls_ecdsa_context ) );
@@ -385,6 +547,24 @@ static void ecdsa_free_wrap( void *ctx )
     mbedtls_free( ctx );
 }
 
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+static void *ecdsa_rs_alloc( void )
+{
+    void *ctx = mbedtls_calloc( 1, sizeof( mbedtls_ecdsa_restart_ctx ) );
+
+    if( ctx != NULL )
+        mbedtls_ecdsa_restart_init( ctx );
+
+    return( ctx );
+}
+
+static void ecdsa_rs_free( void *ctx )
+{
+    mbedtls_ecdsa_restart_free( ctx );
+    mbedtls_free( ctx );
+}
+#endif /* MBEDTLS_ECP_RESTARTABLE */
+
 const mbedtls_pk_info_t mbedtls_ecdsa_info = {
     MBEDTLS_PK_ECDSA,
     "ECDSA",
@@ -392,11 +572,19 @@ const mbedtls_pk_info_t mbedtls_ecdsa_info = {
     ecdsa_can_do,
     ecdsa_verify_wrap,
     ecdsa_sign_wrap,
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    ecdsa_verify_rs_wrap,
+    ecdsa_sign_rs_wrap,
+#endif
     NULL,
     NULL,
     eckey_check_pair,   /* Compatible key structures */
     ecdsa_alloc_wrap,
     ecdsa_free_wrap,
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    ecdsa_rs_alloc,
+    ecdsa_rs_free,
+#endif
     eckey_debug,        /* Compatible key structures */
 };
 #endif /* MBEDTLS_ECDSA_C */
@@ -506,6 +694,10 @@ const mbedtls_pk_info_t mbedtls_rsa_alt_info = {
     rsa_alt_can_do,
     NULL,
     rsa_alt_sign_wrap,
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    NULL,
+    NULL,
+#endif
     rsa_alt_decrypt_wrap,
     NULL,
 #if defined(MBEDTLS_RSA_C)
@@ -515,6 +707,10 @@ const mbedtls_pk_info_t mbedtls_rsa_alt_info = {
 #endif
     rsa_alt_alloc_wrap,
     rsa_alt_free_wrap,
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    NULL,
+    NULL,
+#endif
     NULL,
 };
 
diff --git a/thirdparty/mbedtls/library/pkcs12.c b/thirdparty/mbedtls/library/pkcs12.c
index 16a15cb63e..7edf064c13 100644
--- a/thirdparty/mbedtls/library/pkcs12.c
+++ b/thirdparty/mbedtls/library/pkcs12.c
@@ -48,6 +48,8 @@
 #include "mbedtls/des.h"
 #endif
 
+#if defined(MBEDTLS_ASN1_PARSE_C)
+
 static int pkcs12_parse_pbe_params( mbedtls_asn1_buf *params,
                                     mbedtls_asn1_buf *salt, int *iterations )
 {
@@ -226,6 +228,8 @@ exit:
     return( ret );
 }
 
+#endif /* MBEDTLS_ASN1_PARSE_C */
+
 static void pkcs12_fill_buffer( unsigned char *data, size_t data_len,
                                 const unsigned char *filler, size_t fill_len )
 {
diff --git a/thirdparty/mbedtls/library/pkcs5.c b/thirdparty/mbedtls/library/pkcs5.c
index f04f0ab25e..50133435ce 100644
--- a/thirdparty/mbedtls/library/pkcs5.c
+++ b/thirdparty/mbedtls/library/pkcs5.c
@@ -54,22 +54,7 @@
 #define mbedtls_printf printf
 #endif
 
-#if !defined(MBEDTLS_ASN1_PARSE_C)
-int mbedtls_pkcs5_pbes2( const mbedtls_asn1_buf *pbe_params, int mode,
-                 const unsigned char *pwd,  size_t pwdlen,
-                 const unsigned char *data, size_t datalen,
-                 unsigned char *output )
-{
-    ((void) pbe_params);
-    ((void) mode);
-    ((void) pwd);
-    ((void) pwdlen);
-    ((void) data);
-    ((void) datalen);
-    ((void) output);
-    return( MBEDTLS_ERR_PKCS5_FEATURE_UNAVAILABLE );
-}
-#else
+#if defined(MBEDTLS_ASN1_PARSE_C)
 static int pkcs5_parse_pbkdf2_params( const mbedtls_asn1_buf *params,
                                       mbedtls_asn1_buf *salt, int *iterations,
                                       int *keylen, mbedtls_md_type_t *md_type )
diff --git a/thirdparty/mbedtls/library/pkparse.c b/thirdparty/mbedtls/library/pkparse.c
index d6ac987e23..ae210bca6a 100644
--- a/thirdparty/mbedtls/library/pkparse.c
+++ b/thirdparty/mbedtls/library/pkparse.c
@@ -61,6 +61,12 @@
 #define mbedtls_free       free
 #endif
 
+/* Parameter validation macros based on platform_util.h */
+#define PK_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_PK_BAD_INPUT_DATA )
+#define PK_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if defined(MBEDTLS_FS_IO)
 /*
  * Load all data from a file into a given buffer.
@@ -74,6 +80,10 @@ int mbedtls_pk_load_file( const char *path, unsigned char **buf, size_t *n )
     FILE *f;
     long size;
 
+    PK_VALIDATE_RET( path != NULL );
+    PK_VALIDATE_RET( buf != NULL );
+    PK_VALIDATE_RET( n != NULL );
+
     if( ( f = fopen( path, "rb" ) ) == NULL )
         return( MBEDTLS_ERR_PK_FILE_IO_ERROR );
 
@@ -124,6 +134,9 @@ int mbedtls_pk_parse_keyfile( mbedtls_pk_context *ctx,
     size_t n;
     unsigned char *buf;
 
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( path != NULL );
+
     if( ( ret = mbedtls_pk_load_file( path, &buf, &n ) ) != 0 )
         return( ret );
 
@@ -148,6 +161,9 @@ int mbedtls_pk_parse_public_keyfile( mbedtls_pk_context *ctx, const char *path )
     size_t n;
     unsigned char *buf;
 
+    PK_VALIDATE_RET( ctx != NULL );
+    PK_VALIDATE_RET( path != NULL );
+
     if( ( ret = mbedtls_pk_load_file( path, &buf, &n ) ) != 0 )
         return( ret );
 
@@ -605,6 +621,11 @@ int mbedtls_pk_parse_subpubkey( unsigned char **p, const unsigned char *end,
     mbedtls_pk_type_t pk_alg = MBEDTLS_PK_NONE;
     const mbedtls_pk_info_t *pk_info;
 
+    PK_VALIDATE_RET( p != NULL );
+    PK_VALIDATE_RET( *p != NULL );
+    PK_VALIDATE_RET( end != NULL );
+    PK_VALIDATE_RET( pk != NULL );
+
     if( ( ret = mbedtls_asn1_get_tag( p, end, &len,
                     MBEDTLS_ASN1_CONSTRUCTED | MBEDTLS_ASN1_SEQUENCE ) ) != 0 )
     {
@@ -1145,16 +1166,22 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
 {
     int ret;
     const mbedtls_pk_info_t *pk_info;
-
 #if defined(MBEDTLS_PEM_PARSE_C)
     size_t len;
     mbedtls_pem_context pem;
+#endif
 
-    mbedtls_pem_init( &pem );
+    PK_VALIDATE_RET( pk != NULL );
+    if( keylen == 0 )
+        return( MBEDTLS_ERR_PK_KEY_INVALID_FORMAT );
+    PK_VALIDATE_RET( key != NULL );
+
+#if defined(MBEDTLS_PEM_PARSE_C)
+   mbedtls_pem_init( &pem );
 
 #if defined(MBEDTLS_RSA_C)
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
-    if( keylen == 0 || key[keylen - 1] != '\0' )
+    if( key[keylen - 1] != '\0' )
         ret = MBEDTLS_ERR_PEM_NO_HEADER_FOOTER_PRESENT;
     else
         ret = mbedtls_pem_read_buffer( &pem,
@@ -1185,7 +1212,7 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
 
 #if defined(MBEDTLS_ECP_C)
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
-    if( keylen == 0 || key[keylen - 1] != '\0' )
+    if( key[keylen - 1] != '\0' )
         ret = MBEDTLS_ERR_PEM_NO_HEADER_FOOTER_PRESENT;
     else
         ret = mbedtls_pem_read_buffer( &pem,
@@ -1215,7 +1242,7 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
 #endif /* MBEDTLS_ECP_C */
 
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
-    if( keylen == 0 || key[keylen - 1] != '\0' )
+    if( key[keylen - 1] != '\0' )
         ret = MBEDTLS_ERR_PEM_NO_HEADER_FOOTER_PRESENT;
     else
         ret = mbedtls_pem_read_buffer( &pem,
@@ -1238,7 +1265,7 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
 
 #if defined(MBEDTLS_PKCS12_C) || defined(MBEDTLS_PKCS5_C)
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
-    if( keylen == 0 || key[keylen - 1] != '\0' )
+    if( key[keylen - 1] != '\0' )
         ret = MBEDTLS_ERR_PEM_NO_HEADER_FOOTER_PRESENT;
     else
         ret = mbedtls_pem_read_buffer( &pem,
@@ -1276,9 +1303,6 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
     {
         unsigned char *key_copy;
 
-        if( keylen == 0 )
-            return( MBEDTLS_ERR_PK_KEY_INVALID_FORMAT );
-
         if( ( key_copy = mbedtls_calloc( 1, keylen ) ) == NULL )
             return( MBEDTLS_ERR_PK_ALLOC_FAILED );
 
@@ -1295,6 +1319,7 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
         return( 0 );
 
     mbedtls_pk_free( pk );
+    mbedtls_pk_init( pk );
 
     if( ret == MBEDTLS_ERR_PK_PASSWORD_MISMATCH )
     {
@@ -1306,39 +1331,42 @@ int mbedtls_pk_parse_key( mbedtls_pk_context *pk,
         return( 0 );
 
     mbedtls_pk_free( pk );
+    mbedtls_pk_init( pk );
 
 #if defined(MBEDTLS_RSA_C)
 
     pk_info = mbedtls_pk_info_from_type( MBEDTLS_PK_RSA );
-    if( ( ret = mbedtls_pk_setup( pk, pk_info ) ) != 0 ||
-        ( ret = pk_parse_key_pkcs1_der( mbedtls_pk_rsa( *pk ),
-                                        key, keylen ) ) != 0 )
-    {
-        mbedtls_pk_free( pk );
-    }
-    else
+    if( mbedtls_pk_setup( pk, pk_info ) == 0 &&
+        pk_parse_key_pkcs1_der( mbedtls_pk_rsa( *pk ), key, keylen ) == 0 )
     {
         return( 0 );
     }
 
+    mbedtls_pk_free( pk );
+    mbedtls_pk_init( pk );
 #endif /* MBEDTLS_RSA_C */
 
 #if defined(MBEDTLS_ECP_C)
-
     pk_info = mbedtls_pk_info_from_type( MBEDTLS_PK_ECKEY );
-    if( ( ret = mbedtls_pk_setup( pk, pk_info ) ) != 0 ||
-        ( ret = pk_parse_key_sec1_der( mbedtls_pk_ec( *pk ),
-                                       key, keylen ) ) != 0 )
-    {
-        mbedtls_pk_free( pk );
-    }
-    else
+    if( mbedtls_pk_setup( pk, pk_info ) == 0 &&
+        pk_parse_key_sec1_der( mbedtls_pk_ec( *pk ),
+                               key, keylen ) == 0 )
     {
         return( 0 );
     }
-
+    mbedtls_pk_free( pk );
 #endif /* MBEDTLS_ECP_C */
 
+    /* If MBEDTLS_RSA_C is defined but MBEDTLS_ECP_C isn't,
+     * it is ok to leave the PK context initialized but not
+     * freed: It is the caller's responsibility to call pk_init()
+     * before calling this function, and to call pk_free()
+     * when it fails. If MBEDTLS_ECP_C is defined but MBEDTLS_RSA_C
+     * isn't, this leads to mbedtls_pk_free() being called
+     * twice, once here and once by the caller, but this is
+     * also ok and in line with the mbedtls_pk_free() calls
+     * on failed PEM parsing attempts. */
+
     return( MBEDTLS_ERR_PK_KEY_INVALID_FORMAT );
 }
 
@@ -1356,11 +1384,18 @@ int mbedtls_pk_parse_public_key( mbedtls_pk_context *ctx,
 #if defined(MBEDTLS_PEM_PARSE_C)
     size_t len;
     mbedtls_pem_context pem;
+#endif
 
+    PK_VALIDATE_RET( ctx != NULL );
+    if( keylen == 0 )
+        return( MBEDTLS_ERR_PK_KEY_INVALID_FORMAT );
+    PK_VALIDATE_RET( key != NULL || keylen == 0 );
+
+#if defined(MBEDTLS_PEM_PARSE_C)
     mbedtls_pem_init( &pem );
 #if defined(MBEDTLS_RSA_C)
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
-    if( keylen == 0 || key[keylen - 1] != '\0' )
+    if( key[keylen - 1] != '\0' )
         ret = MBEDTLS_ERR_PEM_NO_HEADER_FOOTER_PRESENT;
     else
         ret = mbedtls_pem_read_buffer( &pem,
@@ -1391,7 +1426,7 @@ int mbedtls_pk_parse_public_key( mbedtls_pk_context *ctx,
 #endif /* MBEDTLS_RSA_C */
 
     /* Avoid calling mbedtls_pem_read_buffer() on non-null-terminated string */
-    if( keylen == 0 || key[keylen - 1] != '\0' )
+    if( key[keylen - 1] != '\0' )
         ret = MBEDTLS_ERR_PEM_NO_HEADER_FOOTER_PRESENT;
     else
         ret = mbedtls_pem_read_buffer( &pem,
diff --git a/thirdparty/mbedtls/library/pkwrite.c b/thirdparty/mbedtls/library/pkwrite.c
index 8eabd889b5..8d1da2f757 100644
--- a/thirdparty/mbedtls/library/pkwrite.c
+++ b/thirdparty/mbedtls/library/pkwrite.c
@@ -30,6 +30,7 @@
 #include "mbedtls/pk.h"
 #include "mbedtls/asn1write.h"
 #include "mbedtls/oid.h"
+#include "mbedtls/platform_util.h"
 
 #include <string.h>
 
@@ -54,6 +55,12 @@
 #define mbedtls_free       free
 #endif
 
+/* Parameter validation macros based on platform_util.h */
+#define PK_VALIDATE_RET( cond )    \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_PK_BAD_INPUT_DATA )
+#define PK_VALIDATE( cond )        \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if defined(MBEDTLS_RSA_C)
 /*
  *  RSAPublicKey ::= SEQUENCE {
@@ -151,6 +158,11 @@ int mbedtls_pk_write_pubkey( unsigned char **p, unsigned char *start,
     int ret;
     size_t len = 0;
 
+    PK_VALIDATE_RET( p != NULL );
+    PK_VALIDATE_RET( *p != NULL );
+    PK_VALIDATE_RET( start != NULL );
+    PK_VALIDATE_RET( key != NULL );
+
 #if defined(MBEDTLS_RSA_C)
     if( mbedtls_pk_get_type( key ) == MBEDTLS_PK_RSA )
         MBEDTLS_ASN1_CHK_ADD( len, pk_write_rsa_pubkey( p, start, mbedtls_pk_rsa( *key ) ) );
@@ -173,6 +185,11 @@ int mbedtls_pk_write_pubkey_der( mbedtls_pk_context *key, unsigned char *buf, si
     size_t len = 0, par_len = 0, oid_len;
     const char *oid;
 
+    PK_VALIDATE_RET( key != NULL );
+    if( size == 0 )
+        return( MBEDTLS_ERR_ASN1_BUF_TOO_SMALL );
+    PK_VALIDATE_RET( buf != NULL );
+
     c = buf + size;
 
     MBEDTLS_ASN1_CHK_ADD( len, mbedtls_pk_write_pubkey( &c, buf, key ) );
@@ -217,9 +234,16 @@ int mbedtls_pk_write_pubkey_der( mbedtls_pk_context *key, unsigned char *buf, si
 int mbedtls_pk_write_key_der( mbedtls_pk_context *key, unsigned char *buf, size_t size )
 {
     int ret;
-    unsigned char *c = buf + size;
+    unsigned char *c;
     size_t len = 0;
 
+    PK_VALIDATE_RET( key != NULL );
+    if( size == 0 )
+        return( MBEDTLS_ERR_ASN1_BUF_TOO_SMALL );
+    PK_VALIDATE_RET( buf != NULL );
+
+    c = buf + size;
+
 #if defined(MBEDTLS_RSA_C)
     if( mbedtls_pk_get_type( key ) == MBEDTLS_PK_RSA )
     {
@@ -457,6 +481,9 @@ int mbedtls_pk_write_pubkey_pem( mbedtls_pk_context *key, unsigned char *buf, si
     unsigned char output_buf[PUB_DER_MAX_BYTES];
     size_t olen = 0;
 
+    PK_VALIDATE_RET( key != NULL );
+    PK_VALIDATE_RET( buf != NULL || size == 0 );
+
     if( ( ret = mbedtls_pk_write_pubkey_der( key, output_buf,
                                      sizeof(output_buf) ) ) < 0 )
     {
@@ -480,6 +507,9 @@ int mbedtls_pk_write_key_pem( mbedtls_pk_context *key, unsigned char *buf, size_
     const char *begin, *end;
     size_t olen = 0;
 
+    PK_VALIDATE_RET( key != NULL );
+    PK_VALIDATE_RET( buf != NULL || size == 0 );
+
     if( ( ret = mbedtls_pk_write_key_der( key, output_buf, sizeof(output_buf) ) ) < 0 )
         return( ret );
 
diff --git a/thirdparty/mbedtls/library/platform.c b/thirdparty/mbedtls/library/platform.c
index b24b2fa652..73a6db9ebe 100644
--- a/thirdparty/mbedtls/library/platform.c
+++ b/thirdparty/mbedtls/library/platform.c
@@ -30,7 +30,14 @@
 #include "mbedtls/platform.h"
 #include "mbedtls/platform_util.h"
 
-#if defined(MBEDTLS_PLATFORM_MEMORY)
+/* The compile time configuration of memory allocation via the macros
+ * MBEDTLS_PLATFORM_{FREE/CALLOC}_MACRO takes precedence over the runtime
+ * configuration via mbedtls_platform_set_calloc_free(). So, omit everything
+ * related to the latter if MBEDTLS_PLATFORM_{FREE/CALLOC}_MACRO are defined. */
+#if defined(MBEDTLS_PLATFORM_MEMORY) &&                 \
+    !( defined(MBEDTLS_PLATFORM_CALLOC_MACRO) &&        \
+       defined(MBEDTLS_PLATFORM_FREE_MACRO) )
+
 #if !defined(MBEDTLS_PLATFORM_STD_CALLOC)
 static void *platform_calloc_uninit( size_t n, size_t size )
 {
@@ -71,7 +78,9 @@ int mbedtls_platform_set_calloc_free( void * (*calloc_func)( size_t, size_t ),
     mbedtls_free_func = free_func;
     return( 0 );
 }
-#endif /* MBEDTLS_PLATFORM_MEMORY */
+#endif /* MBEDTLS_PLATFORM_MEMORY &&
+          !( defined(MBEDTLS_PLATFORM_CALLOC_MACRO) &&
+             defined(MBEDTLS_PLATFORM_FREE_MACRO) ) */
 
 #if defined(_WIN32)
 #include <stdarg.h>
diff --git a/thirdparty/mbedtls/library/platform_util.c b/thirdparty/mbedtls/library/platform_util.c
index 1a57de9393..756e22679a 100644
--- a/thirdparty/mbedtls/library/platform_util.c
+++ b/thirdparty/mbedtls/library/platform_util.c
@@ -20,6 +20,14 @@
  *  This file is part of Mbed TLS (https://tls.mbed.org)
  */
 
+/*
+ * Ensure gmtime_r is available even with -std=c99; must be defined before
+ * config.h, which pulls in glibc's features.h. Harmless on other platforms.
+ */
+#if !defined(_POSIX_C_SOURCE)
+#define _POSIX_C_SOURCE 200112L
+#endif
+
 #if !defined(MBEDTLS_CONFIG_FILE)
 #include "mbedtls/config.h"
 #else
@@ -27,6 +35,8 @@
 #endif
 
 #include "mbedtls/platform_util.h"
+#include "mbedtls/platform.h"
+#include "mbedtls/threading.h"
 
 #include <stddef.h>
 #include <string.h>
@@ -65,3 +75,62 @@ void mbedtls_platform_zeroize( void *buf, size_t len )
     memset_func( buf, 0, len );
 }
 #endif /* MBEDTLS_PLATFORM_ZEROIZE_ALT */
+
+#if defined(MBEDTLS_HAVE_TIME_DATE) && !defined(MBEDTLS_PLATFORM_GMTIME_R_ALT)
+#include <time.h>
+#if !defined(_WIN32) && (defined(unix) || \
+    defined(__unix) || defined(__unix__) || (defined(__APPLE__) && \
+    defined(__MACH__)))
+#include <unistd.h>
+#endif /* !_WIN32 && (unix || __unix || __unix__ ||
+        * (__APPLE__ && __MACH__)) */
+
+#if !( ( defined(_POSIX_VERSION) && _POSIX_VERSION >= 200809L ) ||     \
+       ( defined(_POSIX_THREAD_SAFE_FUNCTIONS ) &&                     \
+         _POSIX_THREAD_SAFE_FUNCTIONS >= 20112L ) )
+/*
+ * This is a convenience shorthand macro to avoid checking the long
+ * preprocessor conditions above. Ideally, we could expose this macro in
+ * platform_util.h and simply use it in platform_util.c, threading.c and
+ * threading.h. However, this macro is not part of the Mbed TLS public API, so
+ * we keep it private by only defining it in this file
+ */
+#if ! ( defined(_WIN32) && !defined(EFIX64) && !defined(EFI32) )
+#define PLATFORM_UTIL_USE_GMTIME
+#endif /* ! ( defined(_WIN32) && !defined(EFIX64) && !defined(EFI32) ) */
+
+#endif /* !( ( defined(_POSIX_VERSION) && _POSIX_VERSION >= 200809L ) ||     \
+             ( defined(_POSIX_THREAD_SAFE_FUNCTIONS ) &&                     \
+                _POSIX_THREAD_SAFE_FUNCTIONS >= 20112L ) ) */
+
+struct tm *mbedtls_platform_gmtime_r( const mbedtls_time_t *tt,
+                                      struct tm *tm_buf )
+{
+#if defined(_WIN32) && !defined(EFIX64) && !defined(EFI32)
+    return( ( gmtime_s( tm_buf, tt ) == 0 ) ? tm_buf : NULL );
+#elif !defined(PLATFORM_UTIL_USE_GMTIME)
+    return( gmtime_r( tt, tm_buf ) );
+#else
+    struct tm *lt;
+
+#if defined(MBEDTLS_THREADING_C)
+    if( mbedtls_mutex_lock( &mbedtls_threading_gmtime_mutex ) != 0 )
+        return( NULL );
+#endif /* MBEDTLS_THREADING_C */
+
+    lt = gmtime( tt );
+
+    if( lt != NULL )
+    {
+        memcpy( tm_buf, lt, sizeof( struct tm ) );
+    }
+
+#if defined(MBEDTLS_THREADING_C)
+    if( mbedtls_mutex_unlock( &mbedtls_threading_gmtime_mutex ) != 0 )
+        return( NULL );
+#endif /* MBEDTLS_THREADING_C */
+
+    return( ( lt == NULL ) ? NULL : tm_buf );
+#endif /* _WIN32 && !EFIX64 && !EFI32 */
+}
+#endif /* MBEDTLS_HAVE_TIME_DATE && MBEDTLS_PLATFORM_GMTIME_R_ALT */
diff --git a/thirdparty/mbedtls/library/poly1305.c b/thirdparty/mbedtls/library/poly1305.c
index e22d3afb68..b274119181 100644
--- a/thirdparty/mbedtls/library/poly1305.c
+++ b/thirdparty/mbedtls/library/poly1305.c
@@ -49,6 +49,12 @@
 #define inline __inline
 #endif
 
+/* Parameter validation macros */
+#define POLY1305_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA )
+#define POLY1305_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #define POLY1305_BLOCK_SIZE_BYTES ( 16U )
 
 #define BYTES_TO_U32_LE( data, offset )                           \
@@ -276,27 +282,24 @@ static void poly1305_compute_mac( const mbedtls_poly1305_context *ctx,
 
 void mbedtls_poly1305_init( mbedtls_poly1305_context *ctx )
 {
-    if( ctx != NULL )
-    {
-        mbedtls_platform_zeroize( ctx, sizeof( mbedtls_poly1305_context ) );
-    }
+    POLY1305_VALIDATE( ctx != NULL );
+
+    mbedtls_platform_zeroize( ctx, sizeof( mbedtls_poly1305_context ) );
 }
 
 void mbedtls_poly1305_free( mbedtls_poly1305_context *ctx )
 {
-    if( ctx != NULL )
-    {
-        mbedtls_platform_zeroize( ctx, sizeof( mbedtls_poly1305_context ) );
-    }
+    if( ctx == NULL )
+        return;
+
+    mbedtls_platform_zeroize( ctx, sizeof( mbedtls_poly1305_context ) );
 }
 
 int mbedtls_poly1305_starts( mbedtls_poly1305_context *ctx,
                              const unsigned char key[32] )
 {
-    if( ctx == NULL || key == NULL )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
+    POLY1305_VALIDATE_RET( ctx != NULL );
+    POLY1305_VALIDATE_RET( key != NULL );
 
     /* r &= 0x0ffffffc0ffffffc0ffffffc0fffffff */
     ctx->r[0] = BYTES_TO_U32_LE( key, 0 )  & 0x0FFFFFFFU;
@@ -331,16 +334,8 @@ int mbedtls_poly1305_update( mbedtls_poly1305_context *ctx,
     size_t remaining = ilen;
     size_t queue_free_len;
     size_t nblocks;
-
-    if( ctx == NULL )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
-    else if( ( ilen > 0U ) && ( input == NULL ) )
-    {
-        /* input pointer is allowed to be NULL only if ilen == 0 */
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
+    POLY1305_VALIDATE_RET( ctx != NULL );
+    POLY1305_VALIDATE_RET( ilen == 0 || input != NULL );
 
     if( ( remaining > 0U ) && ( ctx->queue_len > 0U ) )
     {
@@ -398,10 +393,8 @@ int mbedtls_poly1305_update( mbedtls_poly1305_context *ctx,
 int mbedtls_poly1305_finish( mbedtls_poly1305_context *ctx,
                              unsigned char mac[16] )
 {
-    if( ( ctx == NULL ) || ( mac == NULL ) )
-    {
-        return( MBEDTLS_ERR_POLY1305_BAD_INPUT_DATA );
-    }
+    POLY1305_VALIDATE_RET( ctx != NULL );
+    POLY1305_VALIDATE_RET( mac != NULL );
 
     /* Process any leftover data */
     if( ctx->queue_len > 0U )
@@ -431,6 +424,9 @@ int mbedtls_poly1305_mac( const unsigned char key[32],
 {
     mbedtls_poly1305_context ctx;
     int ret;
+    POLY1305_VALIDATE_RET( key != NULL );
+    POLY1305_VALIDATE_RET( mac != NULL );
+    POLY1305_VALIDATE_RET( ilen == 0 || input != NULL );
 
     mbedtls_poly1305_init( &ctx );
 
diff --git a/thirdparty/mbedtls/library/rsa.c b/thirdparty/mbedtls/library/rsa.c
index 88c1cf1007..af1a878599 100644
--- a/thirdparty/mbedtls/library/rsa.c
+++ b/thirdparty/mbedtls/library/rsa.c
@@ -71,6 +71,12 @@
 
 #if !defined(MBEDTLS_RSA_ALT)
 
+/* Parameter validation macros */
+#define RSA_VALIDATE_RET( cond )                                       \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_RSA_BAD_INPUT_DATA )
+#define RSA_VALIDATE( cond )                                           \
+    MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if defined(MBEDTLS_PKCS1_V15)
 /* constant-time buffer comparison */
 static inline int mbedtls_safer_memcmp( const void *a, const void *b, size_t n )
@@ -93,6 +99,7 @@ int mbedtls_rsa_import( mbedtls_rsa_context *ctx,
                         const mbedtls_mpi *D, const mbedtls_mpi *E )
 {
     int ret;
+    RSA_VALIDATE_RET( ctx != NULL );
 
     if( ( N != NULL && ( ret = mbedtls_mpi_copy( &ctx->N, N ) ) != 0 ) ||
         ( P != NULL && ( ret = mbedtls_mpi_copy( &ctx->P, P ) ) != 0 ) ||
@@ -117,6 +124,7 @@ int mbedtls_rsa_import_raw( mbedtls_rsa_context *ctx,
                             unsigned char const *E, size_t E_len )
 {
     int ret = 0;
+    RSA_VALIDATE_RET( ctx != NULL );
 
     if( N != NULL )
     {
@@ -240,12 +248,16 @@ static int rsa_check_context( mbedtls_rsa_context const *ctx, int is_priv,
 int mbedtls_rsa_complete( mbedtls_rsa_context *ctx )
 {
     int ret = 0;
+    int have_N, have_P, have_Q, have_D, have_E;
+    int n_missing, pq_missing, d_missing, is_pub, is_priv;
+
+    RSA_VALIDATE_RET( ctx != NULL );
 
-    const int have_N = ( mbedtls_mpi_cmp_int( &ctx->N, 0 ) != 0 );
-    const int have_P = ( mbedtls_mpi_cmp_int( &ctx->P, 0 ) != 0 );
-    const int have_Q = ( mbedtls_mpi_cmp_int( &ctx->Q, 0 ) != 0 );
-    const int have_D = ( mbedtls_mpi_cmp_int( &ctx->D, 0 ) != 0 );
-    const int have_E = ( mbedtls_mpi_cmp_int( &ctx->E, 0 ) != 0 );
+    have_N = ( mbedtls_mpi_cmp_int( &ctx->N, 0 ) != 0 );
+    have_P = ( mbedtls_mpi_cmp_int( &ctx->P, 0 ) != 0 );
+    have_Q = ( mbedtls_mpi_cmp_int( &ctx->Q, 0 ) != 0 );
+    have_D = ( mbedtls_mpi_cmp_int( &ctx->D, 0 ) != 0 );
+    have_E = ( mbedtls_mpi_cmp_int( &ctx->E, 0 ) != 0 );
 
     /*
      * Check whether provided parameters are enough
@@ -257,13 +269,13 @@ int mbedtls_rsa_complete( mbedtls_rsa_context *ctx )
      *
      */
 
-    const int n_missing  =              have_P &&  have_Q &&  have_D && have_E;
-    const int pq_missing =   have_N && !have_P && !have_Q &&  have_D && have_E;
-    const int d_missing  =              have_P &&  have_Q && !have_D && have_E;
-    const int is_pub     =   have_N && !have_P && !have_Q && !have_D && have_E;
+    n_missing  =              have_P &&  have_Q &&  have_D && have_E;
+    pq_missing =   have_N && !have_P && !have_Q &&  have_D && have_E;
+    d_missing  =              have_P &&  have_Q && !have_D && have_E;
+    is_pub     =   have_N && !have_P && !have_Q && !have_D && have_E;
 
     /* These three alternatives are mutually exclusive */
-    const int is_priv = n_missing || pq_missing || d_missing;
+    is_priv = n_missing || pq_missing || d_missing;
 
     if( !is_priv && !is_pub )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
@@ -336,9 +348,11 @@ int mbedtls_rsa_export_raw( const mbedtls_rsa_context *ctx,
                             unsigned char *E, size_t E_len )
 {
     int ret = 0;
+    int is_priv;
+    RSA_VALIDATE_RET( ctx != NULL );
 
     /* Check if key is private or public */
-    const int is_priv =
+    is_priv =
         mbedtls_mpi_cmp_int( &ctx->N, 0 ) != 0 &&
         mbedtls_mpi_cmp_int( &ctx->P, 0 ) != 0 &&
         mbedtls_mpi_cmp_int( &ctx->Q, 0 ) != 0 &&
@@ -379,9 +393,11 @@ int mbedtls_rsa_export( const mbedtls_rsa_context *ctx,
                         mbedtls_mpi *D, mbedtls_mpi *E )
 {
     int ret;
+    int is_priv;
+    RSA_VALIDATE_RET( ctx != NULL );
 
     /* Check if key is private or public */
-    int is_priv =
+    is_priv =
         mbedtls_mpi_cmp_int( &ctx->N, 0 ) != 0 &&
         mbedtls_mpi_cmp_int( &ctx->P, 0 ) != 0 &&
         mbedtls_mpi_cmp_int( &ctx->Q, 0 ) != 0 &&
@@ -421,9 +437,11 @@ int mbedtls_rsa_export_crt( const mbedtls_rsa_context *ctx,
                             mbedtls_mpi *DP, mbedtls_mpi *DQ, mbedtls_mpi *QP )
 {
     int ret;
+    int is_priv;
+    RSA_VALIDATE_RET( ctx != NULL );
 
     /* Check if key is private or public */
-    int is_priv =
+    is_priv =
         mbedtls_mpi_cmp_int( &ctx->N, 0 ) != 0 &&
         mbedtls_mpi_cmp_int( &ctx->P, 0 ) != 0 &&
         mbedtls_mpi_cmp_int( &ctx->Q, 0 ) != 0 &&
@@ -459,6 +477,10 @@ void mbedtls_rsa_init( mbedtls_rsa_context *ctx,
                int padding,
                int hash_id )
 {
+    RSA_VALIDATE( ctx != NULL );
+    RSA_VALIDATE( padding == MBEDTLS_RSA_PKCS_V15 ||
+                  padding == MBEDTLS_RSA_PKCS_V21 );
+
     memset( ctx, 0, sizeof( mbedtls_rsa_context ) );
 
     mbedtls_rsa_set_padding( ctx, padding, hash_id );
@@ -471,8 +493,13 @@ void mbedtls_rsa_init( mbedtls_rsa_context *ctx,
 /*
  * Set padding for an existing RSA context
  */
-void mbedtls_rsa_set_padding( mbedtls_rsa_context *ctx, int padding, int hash_id )
+void mbedtls_rsa_set_padding( mbedtls_rsa_context *ctx, int padding,
+                              int hash_id )
 {
+    RSA_VALIDATE( ctx != NULL );
+    RSA_VALIDATE( padding == MBEDTLS_RSA_PKCS_V15 ||
+                  padding == MBEDTLS_RSA_PKCS_V21 );
+
     ctx->padding = padding;
     ctx->hash_id = hash_id;
 }
@@ -502,12 +529,20 @@ int mbedtls_rsa_gen_key( mbedtls_rsa_context *ctx,
 {
     int ret;
     mbedtls_mpi H, G, L;
+    int prime_quality = 0;
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( f_rng != NULL );
 
-    if( f_rng == NULL || nbits < 128 || exponent < 3 )
+    if( nbits < 128 || exponent < 3 || nbits % 2 != 0 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
-    if( nbits % 2 )
-        return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
+    /*
+     * If the modulus is 1024 bit long or shorter, then the security strength of
+     * the RSA algorithm is less than or equal to 80 bits and therefore an error
+     * rate of 2^-80 is sufficient.
+     */
+    if( nbits > 1024 )
+        prime_quality = MBEDTLS_MPI_GEN_PRIME_FLAG_LOW_ERR;
 
     mbedtls_mpi_init( &H );
     mbedtls_mpi_init( &G );
@@ -523,11 +558,11 @@ int mbedtls_rsa_gen_key( mbedtls_rsa_context *ctx,
 
     do
     {
-        MBEDTLS_MPI_CHK( mbedtls_mpi_gen_prime( &ctx->P, nbits >> 1, 0,
-                                                f_rng, p_rng ) );
+        MBEDTLS_MPI_CHK( mbedtls_mpi_gen_prime( &ctx->P, nbits >> 1,
+                                                prime_quality, f_rng, p_rng ) );
 
-        MBEDTLS_MPI_CHK( mbedtls_mpi_gen_prime( &ctx->Q, nbits >> 1, 0,
-                                                f_rng, p_rng ) );
+        MBEDTLS_MPI_CHK( mbedtls_mpi_gen_prime( &ctx->Q, nbits >> 1,
+                                                prime_quality, f_rng, p_rng ) );
 
         /* make sure the difference between p and q is not too small (FIPS 186-4 §B.3.3 step 5.4) */
         MBEDTLS_MPI_CHK( mbedtls_mpi_sub_mpi( &H, &ctx->P, &ctx->Q ) );
@@ -603,6 +638,8 @@ cleanup:
  */
 int mbedtls_rsa_check_pubkey( const mbedtls_rsa_context *ctx )
 {
+    RSA_VALIDATE_RET( ctx != NULL );
+
     if( rsa_check_context( ctx, 0 /* public */, 0 /* no blinding */ ) != 0 )
         return( MBEDTLS_ERR_RSA_KEY_CHECK_FAILED );
 
@@ -626,6 +663,8 @@ int mbedtls_rsa_check_pubkey( const mbedtls_rsa_context *ctx )
  */
 int mbedtls_rsa_check_privkey( const mbedtls_rsa_context *ctx )
 {
+    RSA_VALIDATE_RET( ctx != NULL );
+
     if( mbedtls_rsa_check_pubkey( ctx ) != 0 ||
         rsa_check_context( ctx, 1 /* private */, 1 /* blinding */ ) != 0 )
     {
@@ -655,6 +694,9 @@ int mbedtls_rsa_check_privkey( const mbedtls_rsa_context *ctx )
 int mbedtls_rsa_check_pub_priv( const mbedtls_rsa_context *pub,
                                 const mbedtls_rsa_context *prv )
 {
+    RSA_VALIDATE_RET( pub != NULL );
+    RSA_VALIDATE_RET( prv != NULL );
+
     if( mbedtls_rsa_check_pubkey( pub )  != 0 ||
         mbedtls_rsa_check_privkey( prv ) != 0 )
     {
@@ -680,6 +722,9 @@ int mbedtls_rsa_public( mbedtls_rsa_context *ctx,
     int ret;
     size_t olen;
     mbedtls_mpi T;
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( input != NULL );
+    RSA_VALIDATE_RET( output != NULL );
 
     if( rsa_check_context( ctx, 0 /* public */, 0 /* no blinding */ ) )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
@@ -822,6 +867,10 @@ int mbedtls_rsa_private( mbedtls_rsa_context *ctx,
      * checked result; should be the same in the end. */
     mbedtls_mpi I, C;
 
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( input  != NULL );
+    RSA_VALIDATE_RET( output != NULL );
+
     if( rsa_check_context( ctx, 1             /* private key checks */,
                                 f_rng != NULL /* blinding y/n       */ ) != 0 )
     {
@@ -1082,6 +1131,13 @@ int mbedtls_rsa_rsaes_oaep_encrypt( mbedtls_rsa_context *ctx,
     const mbedtls_md_info_t *md_info;
     mbedtls_md_context_t md_ctx;
 
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( output != NULL );
+    RSA_VALIDATE_RET( input != NULL );
+    RSA_VALIDATE_RET( label_len == 0 || label != NULL );
+
     if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V21 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
@@ -1158,11 +1214,13 @@ int mbedtls_rsa_rsaes_pkcs1_v15_encrypt( mbedtls_rsa_context *ctx,
     int ret;
     unsigned char *p = output;
 
-    if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V15 )
-        return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( output != NULL );
+    RSA_VALIDATE_RET( input != NULL );
 
-    // We don't check p_rng because it won't be dereferenced here
-    if( f_rng == NULL || input == NULL || output == NULL )
+    if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V15 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
     olen = ctx->len;
@@ -1176,6 +1234,9 @@ int mbedtls_rsa_rsaes_pkcs1_v15_encrypt( mbedtls_rsa_context *ctx,
     *p++ = 0;
     if( mode == MBEDTLS_RSA_PUBLIC )
     {
+        if( f_rng == NULL )
+            return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
+
         *p++ = MBEDTLS_RSA_CRYPT;
 
         while( nb_pad-- > 0 )
@@ -1220,6 +1281,12 @@ int mbedtls_rsa_pkcs1_encrypt( mbedtls_rsa_context *ctx,
                        const unsigned char *input,
                        unsigned char *output )
 {
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( output != NULL );
+    RSA_VALIDATE_RET( input != NULL );
+
     switch( ctx->padding )
     {
 #if defined(MBEDTLS_PKCS1_V15)
@@ -1262,6 +1329,14 @@ int mbedtls_rsa_rsaes_oaep_decrypt( mbedtls_rsa_context *ctx,
     const mbedtls_md_info_t *md_info;
     mbedtls_md_context_t md_ctx;
 
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( output_max_len == 0 || output != NULL );
+    RSA_VALIDATE_RET( label_len == 0 || label != NULL );
+    RSA_VALIDATE_RET( input != NULL );
+    RSA_VALIDATE_RET( olen != NULL );
+
     /*
      * Parameters sanity checks
      */
@@ -1378,6 +1453,97 @@ cleanup:
 #endif /* MBEDTLS_PKCS1_V21 */
 
 #if defined(MBEDTLS_PKCS1_V15)
+/** Turn zero-or-nonzero into zero-or-all-bits-one, without branches.
+ *
+ * \param value     The value to analyze.
+ * \return          Zero if \p value is zero, otherwise all-bits-one.
+ */
+static unsigned all_or_nothing_int( unsigned value )
+{
+    /* MSVC has a warning about unary minus on unsigned, but this is
+     * well-defined and precisely what we want to do here */
+#if defined(_MSC_VER)
+#pragma warning( push )
+#pragma warning( disable : 4146 )
+#endif
+    return( - ( ( value | - value ) >> ( sizeof( value ) * 8 - 1 ) ) );
+#if defined(_MSC_VER)
+#pragma warning( pop )
+#endif
+}
+
+/** Check whether a size is out of bounds, without branches.
+ *
+ * This is equivalent to `size > max`, but is likely to be compiled to
+ * to code using bitwise operation rather than a branch.
+ *
+ * \param size      Size to check.
+ * \param max       Maximum desired value for \p size.
+ * \return          \c 0 if `size <= max`.
+ * \return          \c 1 if `size > max`.
+ */
+static unsigned size_greater_than( size_t size, size_t max )
+{
+    /* Return the sign bit (1 for negative) of (max - size). */
+    return( ( max - size ) >> ( sizeof( size_t ) * 8 - 1 ) );
+}
+
+/** Choose between two integer values, without branches.
+ *
+ * This is equivalent to `cond ? if1 : if0`, but is likely to be compiled
+ * to code using bitwise operation rather than a branch.
+ *
+ * \param cond      Condition to test.
+ * \param if1       Value to use if \p cond is nonzero.
+ * \param if0       Value to use if \p cond is zero.
+ * \return          \c if1 if \p cond is nonzero, otherwise \c if0.
+ */
+static unsigned if_int( unsigned cond, unsigned if1, unsigned if0 )
+{
+    unsigned mask = all_or_nothing_int( cond );
+    return( ( mask & if1 ) | (~mask & if0 ) );
+}
+
+/** Shift some data towards the left inside a buffer without leaking
+ * the length of the data through side channels.
+ *
+ * `mem_move_to_left(start, total, offset)` is functionally equivalent to
+ * ```
+ * memmove(start, start + offset, total - offset);
+ * memset(start + offset, 0, total - offset);
+ * ```
+ * but it strives to use a memory access pattern (and thus total timing)
+ * that does not depend on \p offset. This timing independence comes at
+ * the expense of performance.
+ *
+ * \param start     Pointer to the start of the buffer.
+ * \param total     Total size of the buffer.
+ * \param offset    Offset from which to copy \p total - \p offset bytes.
+ */
+static void mem_move_to_left( void *start,
+                              size_t total,
+                              size_t offset )
+{
+    volatile unsigned char *buf = start;
+    size_t i, n;
+    if( total == 0 )
+        return;
+    for( i = 0; i < total; i++ )
+    {
+        unsigned no_op = size_greater_than( total - offset, i );
+        /* The first `total - offset` passes are a no-op. The last
+         * `offset` passes shift the data one byte to the left and
+         * zero out the last byte. */
+        for( n = 0; n < total - 1; n++ )
+        {
+            unsigned char current = buf[n];
+            unsigned char next = buf[n+1];
+            buf[n] = if_int( no_op, current, next );
+        }
+        buf[total-1] = if_int( no_op, buf[total-1], 0 );
+    }
+}
+
 /*
  * Implementation of the PKCS#1 v2.1 RSAES-PKCS1-V1_5-DECRYPT function
  */
@@ -1387,18 +1553,42 @@ int mbedtls_rsa_rsaes_pkcs1_v15_decrypt( mbedtls_rsa_context *ctx,
                                  int mode, size_t *olen,
                                  const unsigned char *input,
                                  unsigned char *output,
-                                 size_t output_max_len)
+                                 size_t output_max_len )
 {
     int ret;
-    size_t ilen, pad_count = 0, i;
-    unsigned char *p, bad, pad_done = 0;
+    size_t ilen, i, plaintext_max_size;
     unsigned char buf[MBEDTLS_MPI_MAX_SIZE];
+    /* The following variables take sensitive values: their value must
+     * not leak into the observable behavior of the function other than
+     * the designated outputs (output, olen, return value). Otherwise
+     * this would open the execution of the function to
+     * side-channel-based variants of the Bleichenbacher padding oracle
+     * attack. Potential side channels include overall timing, memory
+     * access patterns (especially visible to an adversary who has access
+     * to a shared memory cache), and branches (especially visible to
+     * an adversary who has access to a shared code cache or to a shared
+     * branch predictor). */
+    size_t pad_count = 0;
+    unsigned bad = 0;
+    unsigned char pad_done = 0;
+    size_t plaintext_size = 0;
+    unsigned output_too_large;
+
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( output_max_len == 0 || output != NULL );
+    RSA_VALIDATE_RET( input != NULL );
+    RSA_VALIDATE_RET( olen != NULL );
+
+    ilen = ctx->len;
+    plaintext_max_size = ( output_max_len > ilen - 11 ?
+                           ilen - 11 :
+                           output_max_len );
 
     if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V15 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
-    ilen = ctx->len;
-
     if( ilen < 16 || ilen > sizeof( buf ) )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
@@ -1409,63 +1599,109 @@ int mbedtls_rsa_rsaes_pkcs1_v15_decrypt( mbedtls_rsa_context *ctx,
     if( ret != 0 )
         goto cleanup;
 
-    p = buf;
-    bad = 0;
-
-    /*
-     * Check and get padding len in "constant-time"
-     */
-    bad |= *p++; /* First byte must be 0 */
+    /* Check and get padding length in constant time and constant
+     * memory trace. The first byte must be 0. */
+    bad |= buf[0];
 
-    /* This test does not depend on secret data */
     if( mode == MBEDTLS_RSA_PRIVATE )
     {
-        bad |= *p++ ^ MBEDTLS_RSA_CRYPT;
+        /* Decode EME-PKCS1-v1_5 padding: 0x00 || 0x02 || PS || 0x00
+         * where PS must be at least 8 nonzero bytes. */
+        bad |= buf[1] ^ MBEDTLS_RSA_CRYPT;
 
-        /* Get padding len, but always read till end of buffer
-         * (minus one, for the 00 byte) */
-        for( i = 0; i < ilen - 3; i++ )
+        /* Read the whole buffer. Set pad_done to nonzero if we find
+         * the 0x00 byte and remember the padding length in pad_count. */
+        for( i = 2; i < ilen; i++ )
         {
-            pad_done  |= ((p[i] | (unsigned char)-p[i]) >> 7) ^ 1;
+            pad_done  |= ((buf[i] | (unsigned char)-buf[i]) >> 7) ^ 1;
             pad_count += ((pad_done | (unsigned char)-pad_done) >> 7) ^ 1;
         }
-
-        p += pad_count;
-        bad |= *p++; /* Must be zero */
     }
     else
     {
-        bad |= *p++ ^ MBEDTLS_RSA_SIGN;
+        /* Decode EMSA-PKCS1-v1_5 padding: 0x00 || 0x01 || PS || 0x00
+         * where PS must be at least 8 bytes with the value 0xFF. */
+        bad |= buf[1] ^ MBEDTLS_RSA_SIGN;
 
-        /* Get padding len, but always read till end of buffer
-         * (minus one, for the 00 byte) */
-        for( i = 0; i < ilen - 3; i++ )
+        /* Read the whole buffer. Set pad_done to nonzero if we find
+         * the 0x00 byte and remember the padding length in pad_count.
+         * If there's a non-0xff byte in the padding, the padding is bad. */
+        for( i = 2; i < ilen; i++ )
         {
-            pad_done |= ( p[i] != 0xFF );
-            pad_count += ( pad_done == 0 );
+            pad_done |= if_int( buf[i], 0, 1 );
+            pad_count += if_int( pad_done, 0, 1 );
+            bad |= if_int( pad_done, 0, buf[i] ^ 0xFF );
         }
-
-        p += pad_count;
-        bad |= *p++; /* Must be zero */
     }
 
-    bad |= ( pad_count < 8 );
-
-    if( bad )
-    {
-        ret = MBEDTLS_ERR_RSA_INVALID_PADDING;
-        goto cleanup;
-    }
-
-    if( ilen - ( p - buf ) > output_max_len )
-    {
-        ret = MBEDTLS_ERR_RSA_OUTPUT_TOO_LARGE;
-        goto cleanup;
-    }
-
-    *olen = ilen - (p - buf);
-    memcpy( output, p, *olen );
-    ret = 0;
+    /* If pad_done is still zero, there's no data, only unfinished padding. */
+    bad |= if_int( pad_done, 0, 1 );
+
+    /* There must be at least 8 bytes of padding. */
+    bad |= size_greater_than( 8, pad_count );
+
+    /* If the padding is valid, set plaintext_size to the number of
+     * remaining bytes after stripping the padding. If the padding
+     * is invalid, avoid leaking this fact through the size of the
+     * output: use the maximum message size that fits in the output
+     * buffer. Do it without branches to avoid leaking the padding
+     * validity through timing. RSA keys are small enough that all the
+     * size_t values involved fit in unsigned int. */
+    plaintext_size = if_int( bad,
+                             (unsigned) plaintext_max_size,
+                             (unsigned) ( ilen - pad_count - 3 ) );
+
+    /* Set output_too_large to 0 if the plaintext fits in the output
+     * buffer and to 1 otherwise. */
+    output_too_large = size_greater_than( plaintext_size,
+                                          plaintext_max_size );
+
+    /* Set ret without branches to avoid timing attacks. Return:
+     * - INVALID_PADDING if the padding is bad (bad != 0).
+     * - OUTPUT_TOO_LARGE if the padding is good but the decrypted
+     *   plaintext does not fit in the output buffer.
+     * - 0 if the padding is correct. */
+    ret = - (int) if_int( bad, - MBEDTLS_ERR_RSA_INVALID_PADDING,
+                  if_int( output_too_large, - MBEDTLS_ERR_RSA_OUTPUT_TOO_LARGE,
+                          0 ) );
+
+    /* If the padding is bad or the plaintext is too large, zero the
+     * data that we're about to copy to the output buffer.
+     * We need to copy the same amount of data
+     * from the same buffer whether the padding is good or not to
+     * avoid leaking the padding validity through overall timing or
+     * through memory or cache access patterns. */
+    bad = all_or_nothing_int( bad | output_too_large );
+    for( i = 11; i < ilen; i++ )
+        buf[i] &= ~bad;
+
+    /* If the plaintext is too large, truncate it to the buffer size.
+     * Copy anyway to avoid revealing the length through timing, because
+     * revealing the length is as bad as revealing the padding validity
+     * for a Bleichenbacher attack. */
+    plaintext_size = if_int( output_too_large,
+                             (unsigned) plaintext_max_size,
+                             (unsigned) plaintext_size );
+
+    /* Move the plaintext to the leftmost position where it can start in
+     * the working buffer, i.e. make it start plaintext_max_size from
+     * the end of the buffer. Do this with a memory access trace that
+     * does not depend on the plaintext size. After this move, the
+     * starting location of the plaintext is no longer sensitive
+     * information. */
+    mem_move_to_left( buf + ilen - plaintext_max_size,
+                      plaintext_max_size,
+                      plaintext_max_size - plaintext_size );
+
+    /* Finally copy the decrypted plaintext plus trailing zeros
+     * into the output buffer. */
+    memcpy( output, buf + ilen - plaintext_max_size, plaintext_max_size );
+
+    /* Report the amount of data we copied to the output buffer. In case
+     * of errors (bad padding or output too large), the value of *olen
+     * when this function returns is not specified. Making it equivalent
+     * to the good case limits the risks of leaking the padding validity. */
+    *olen = plaintext_size;
 
 cleanup:
     mbedtls_platform_zeroize( buf, sizeof( buf ) );
@@ -1485,6 +1721,13 @@ int mbedtls_rsa_pkcs1_decrypt( mbedtls_rsa_context *ctx,
                        unsigned char *output,
                        size_t output_max_len)
 {
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( output_max_len == 0 || output != NULL );
+    RSA_VALIDATE_RET( input != NULL );
+    RSA_VALIDATE_RET( olen != NULL );
+
     switch( ctx->padding )
     {
 #if defined(MBEDTLS_PKCS1_V15)
@@ -1521,11 +1764,18 @@ int mbedtls_rsa_rsassa_pss_sign( mbedtls_rsa_context *ctx,
     size_t olen;
     unsigned char *p = sig;
     unsigned char salt[MBEDTLS_MD_MAX_SIZE];
-    unsigned int slen, hlen, offset = 0;
+    size_t slen, min_slen, hlen, offset = 0;
     int ret;
     size_t msb;
     const mbedtls_md_info_t *md_info;
     mbedtls_md_context_t md_ctx;
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+    RSA_VALIDATE_RET( sig != NULL );
 
     if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V21 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
@@ -1550,10 +1800,20 @@ int mbedtls_rsa_rsassa_pss_sign( mbedtls_rsa_context *ctx,
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
     hlen = mbedtls_md_get_size( md_info );
-    slen = hlen;
 
-    if( olen < hlen + slen + 2 )
+    /* Calculate the largest possible salt length. Normally this is the hash
+     * length, which is the maximum length the salt can have. If there is not
+     * enough room, use the maximum salt length that fits. The constraint is
+     * that the hash length plus the salt length plus 2 bytes must be at most
+     * the key length. This complies with FIPS 186-4 §5.5 (e) and RFC 8017
+     * (PKCS#1 v2.2) §9.1.1 step 3. */
+    min_slen = hlen - 2;
+    if( olen < hlen + min_slen + 2 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
+    else if( olen >= hlen + hlen + 2 )
+        slen = hlen;
+    else
+        slen = olen - hlen - 2;
 
     memset( sig, 0, olen );
 
@@ -1563,7 +1823,7 @@ int mbedtls_rsa_rsassa_pss_sign( mbedtls_rsa_context *ctx,
 
     /* Note: EMSA-PSS encoding is over the length of N - 1 bits */
     msb = mbedtls_mpi_bitlen( &ctx->N ) - 1;
-    p += olen - hlen * 2 - 2;
+    p += olen - hlen - slen - 2;
     *p++ = 0x01;
     memcpy( p, salt, slen );
     p += slen;
@@ -1763,6 +2023,14 @@ int mbedtls_rsa_rsassa_pkcs1_v15_sign( mbedtls_rsa_context *ctx,
     int ret;
     unsigned char *sig_try = NULL, *verif = NULL;
 
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+    RSA_VALIDATE_RET( sig != NULL );
+
     if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V15 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
@@ -1832,6 +2100,14 @@ int mbedtls_rsa_pkcs1_sign( mbedtls_rsa_context *ctx,
                     const unsigned char *hash,
                     unsigned char *sig )
 {
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+    RSA_VALIDATE_RET( sig != NULL );
+
     switch( ctx->padding )
     {
 #if defined(MBEDTLS_PKCS1_V15)
@@ -1878,6 +2154,14 @@ int mbedtls_rsa_rsassa_pss_verify_ext( mbedtls_rsa_context *ctx,
     mbedtls_md_context_t md_ctx;
     unsigned char buf[MBEDTLS_MPI_MAX_SIZE];
 
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( sig != NULL );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+
     if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V21 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
@@ -2006,7 +2290,16 @@ int mbedtls_rsa_rsassa_pss_verify( mbedtls_rsa_context *ctx,
                            const unsigned char *hash,
                            const unsigned char *sig )
 {
-    mbedtls_md_type_t mgf1_hash_id = ( ctx->hash_id != MBEDTLS_MD_NONE )
+    mbedtls_md_type_t mgf1_hash_id;
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( sig != NULL );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+
+    mgf1_hash_id = ( ctx->hash_id != MBEDTLS_MD_NONE )
                              ? (mbedtls_md_type_t) ctx->hash_id
                              : md_alg;
 
@@ -2032,9 +2325,19 @@ int mbedtls_rsa_rsassa_pkcs1_v15_verify( mbedtls_rsa_context *ctx,
                                  const unsigned char *sig )
 {
     int ret = 0;
-    const size_t sig_len = ctx->len;
+    size_t sig_len;
     unsigned char *encoded = NULL, *encoded_expected = NULL;
 
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( sig != NULL );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+
+    sig_len = ctx->len;
+
     if( mode == MBEDTLS_RSA_PRIVATE && ctx->padding != MBEDTLS_RSA_PKCS_V15 )
         return( MBEDTLS_ERR_RSA_BAD_INPUT_DATA );
 
@@ -2104,6 +2407,14 @@ int mbedtls_rsa_pkcs1_verify( mbedtls_rsa_context *ctx,
                       const unsigned char *hash,
                       const unsigned char *sig )
 {
+    RSA_VALIDATE_RET( ctx != NULL );
+    RSA_VALIDATE_RET( mode == MBEDTLS_RSA_PRIVATE ||
+                      mode == MBEDTLS_RSA_PUBLIC );
+    RSA_VALIDATE_RET( sig != NULL );
+    RSA_VALIDATE_RET( ( md_alg  == MBEDTLS_MD_NONE &&
+                        hashlen == 0 ) ||
+                      hash != NULL );
+
     switch( ctx->padding )
     {
 #if defined(MBEDTLS_PKCS1_V15)
@@ -2129,6 +2440,8 @@ int mbedtls_rsa_pkcs1_verify( mbedtls_rsa_context *ctx,
 int mbedtls_rsa_copy( mbedtls_rsa_context *dst, const mbedtls_rsa_context *src )
 {
     int ret;
+    RSA_VALIDATE_RET( dst != NULL );
+    RSA_VALIDATE_RET( src != NULL );
 
     dst->ver = src->ver;
     dst->len = src->len;
@@ -2168,14 +2481,23 @@ cleanup:
  */
 void mbedtls_rsa_free( mbedtls_rsa_context *ctx )
 {
-    mbedtls_mpi_free( &ctx->Vi ); mbedtls_mpi_free( &ctx->Vf );
-    mbedtls_mpi_free( &ctx->RN ); mbedtls_mpi_free( &ctx->D  );
-    mbedtls_mpi_free( &ctx->Q  ); mbedtls_mpi_free( &ctx->P  );
-    mbedtls_mpi_free( &ctx->E  ); mbedtls_mpi_free( &ctx->N  );
+    if( ctx == NULL )
+        return;
+
+    mbedtls_mpi_free( &ctx->Vi );
+    mbedtls_mpi_free( &ctx->Vf );
+    mbedtls_mpi_free( &ctx->RN );
+    mbedtls_mpi_free( &ctx->D  );
+    mbedtls_mpi_free( &ctx->Q  );
+    mbedtls_mpi_free( &ctx->P  );
+    mbedtls_mpi_free( &ctx->E  );
+    mbedtls_mpi_free( &ctx->N  );
 
 #if !defined(MBEDTLS_RSA_NO_CRT)
-    mbedtls_mpi_free( &ctx->RQ ); mbedtls_mpi_free( &ctx->RP );
-    mbedtls_mpi_free( &ctx->QP ); mbedtls_mpi_free( &ctx->DQ );
+    mbedtls_mpi_free( &ctx->RQ );
+    mbedtls_mpi_free( &ctx->RP );
+    mbedtls_mpi_free( &ctx->QP );
+    mbedtls_mpi_free( &ctx->DQ );
     mbedtls_mpi_free( &ctx->DP );
 #endif /* MBEDTLS_RSA_NO_CRT */
 
diff --git a/thirdparty/mbedtls/library/rsa_internal.c b/thirdparty/mbedtls/library/rsa_internal.c
index 507009f131..9a42d47ceb 100644
--- a/thirdparty/mbedtls/library/rsa_internal.c
+++ b/thirdparty/mbedtls/library/rsa_internal.c
@@ -351,15 +351,20 @@ int mbedtls_rsa_validate_params( const mbedtls_mpi *N, const mbedtls_mpi *P,
      */
 
 #if defined(MBEDTLS_GENPRIME)
+    /*
+     * When generating keys, the strongest security we support aims for an error
+     * rate of at most 2^-100 and we are aiming for the same certainty here as
+     * well.
+     */
     if( f_rng != NULL && P != NULL &&
-        ( ret = mbedtls_mpi_is_prime( P, f_rng, p_rng ) ) != 0 )
+        ( ret = mbedtls_mpi_is_prime_ext( P, 50, f_rng, p_rng ) ) != 0 )
     {
         ret = MBEDTLS_ERR_RSA_KEY_CHECK_FAILED;
         goto cleanup;
     }
 
     if( f_rng != NULL && Q != NULL &&
-        ( ret = mbedtls_mpi_is_prime( Q, f_rng, p_rng ) ) != 0 )
+        ( ret = mbedtls_mpi_is_prime_ext( Q, 50, f_rng, p_rng ) ) != 0 )
     {
         ret = MBEDTLS_ERR_RSA_KEY_CHECK_FAILED;
         goto cleanup;
diff --git a/thirdparty/mbedtls/library/sha1.c b/thirdparty/mbedtls/library/sha1.c
index bab6087c4e..e8d4096fbb 100644
--- a/thirdparty/mbedtls/library/sha1.c
+++ b/thirdparty/mbedtls/library/sha1.c
@@ -46,6 +46,11 @@
 #endif /* MBEDTLS_PLATFORM_C */
 #endif /* MBEDTLS_SELF_TEST */
 
+#define SHA1_VALIDATE_RET(cond)                             \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_SHA1_BAD_INPUT_DATA )
+
+#define SHA1_VALIDATE(cond)  MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if !defined(MBEDTLS_SHA1_ALT)
 
 /*
@@ -73,6 +78,8 @@
 
 void mbedtls_sha1_init( mbedtls_sha1_context *ctx )
 {
+    SHA1_VALIDATE( ctx != NULL );
+
     memset( ctx, 0, sizeof( mbedtls_sha1_context ) );
 }
 
@@ -87,6 +94,9 @@ void mbedtls_sha1_free( mbedtls_sha1_context *ctx )
 void mbedtls_sha1_clone( mbedtls_sha1_context *dst,
                          const mbedtls_sha1_context *src )
 {
+    SHA1_VALIDATE( dst != NULL );
+    SHA1_VALIDATE( src != NULL );
+
     *dst = *src;
 }
 
@@ -95,6 +105,8 @@ void mbedtls_sha1_clone( mbedtls_sha1_context *dst,
  */
 int mbedtls_sha1_starts_ret( mbedtls_sha1_context *ctx )
 {
+    SHA1_VALIDATE_RET( ctx != NULL );
+
     ctx->total[0] = 0;
     ctx->total[1] = 0;
 
@@ -120,6 +132,9 @@ int mbedtls_internal_sha1_process( mbedtls_sha1_context *ctx,
 {
     uint32_t temp, W[16], A, B, C, D, E;
 
+    SHA1_VALIDATE_RET( ctx != NULL );
+    SHA1_VALIDATE_RET( (const unsigned char *)data != NULL );
+
     GET_UINT32_BE( W[ 0], data,  0 );
     GET_UINT32_BE( W[ 1], data,  4 );
     GET_UINT32_BE( W[ 2], data,  8 );
@@ -294,6 +309,9 @@ int mbedtls_sha1_update_ret( mbedtls_sha1_context *ctx,
     size_t fill;
     uint32_t left;
 
+    SHA1_VALIDATE_RET( ctx != NULL );
+    SHA1_VALIDATE_RET( ilen == 0 || input != NULL );
+
     if( ilen == 0 )
         return( 0 );
 
@@ -352,6 +370,9 @@ int mbedtls_sha1_finish_ret( mbedtls_sha1_context *ctx,
     uint32_t used;
     uint32_t high, low;
 
+    SHA1_VALIDATE_RET( ctx != NULL );
+    SHA1_VALIDATE_RET( (unsigned char *)output != NULL );
+
     /*
      * Add padding: 0x80 then 0x00 until 8 bytes remain for the length
      */
@@ -420,6 +441,9 @@ int mbedtls_sha1_ret( const unsigned char *input,
     int ret;
     mbedtls_sha1_context ctx;
 
+    SHA1_VALIDATE_RET( ilen == 0 || input != NULL );
+    SHA1_VALIDATE_RET( (unsigned char *)output != NULL );
+
     mbedtls_sha1_init( &ctx );
 
     if( ( ret = mbedtls_sha1_starts_ret( &ctx ) ) != 0 )
diff --git a/thirdparty/mbedtls/library/sha256.c b/thirdparty/mbedtls/library/sha256.c
index dbb4a89861..8a540adfbe 100644
--- a/thirdparty/mbedtls/library/sha256.c
+++ b/thirdparty/mbedtls/library/sha256.c
@@ -49,6 +49,10 @@
 #endif /* MBEDTLS_PLATFORM_C */
 #endif /* MBEDTLS_SELF_TEST */
 
+#define SHA256_VALIDATE_RET(cond)                           \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_SHA256_BAD_INPUT_DATA )
+#define SHA256_VALIDATE(cond)  MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if !defined(MBEDTLS_SHA256_ALT)
 
 /*
@@ -76,6 +80,8 @@ do {                                                    \
 
 void mbedtls_sha256_init( mbedtls_sha256_context *ctx )
 {
+    SHA256_VALIDATE( ctx != NULL );
+
     memset( ctx, 0, sizeof( mbedtls_sha256_context ) );
 }
 
@@ -90,6 +96,9 @@ void mbedtls_sha256_free( mbedtls_sha256_context *ctx )
 void mbedtls_sha256_clone( mbedtls_sha256_context *dst,
                            const mbedtls_sha256_context *src )
 {
+    SHA256_VALIDATE( dst != NULL );
+    SHA256_VALIDATE( src != NULL );
+
     *dst = *src;
 }
 
@@ -98,6 +107,9 @@ void mbedtls_sha256_clone( mbedtls_sha256_context *dst,
  */
 int mbedtls_sha256_starts_ret( mbedtls_sha256_context *ctx, int is224 )
 {
+    SHA256_VALIDATE_RET( ctx != NULL );
+    SHA256_VALIDATE_RET( is224 == 0 || is224 == 1 );
+
     ctx->total[0] = 0;
     ctx->total[1] = 0;
 
@@ -192,6 +204,9 @@ int mbedtls_internal_sha256_process( mbedtls_sha256_context *ctx,
     uint32_t A[8];
     unsigned int i;
 
+    SHA256_VALIDATE_RET( ctx != NULL );
+    SHA256_VALIDATE_RET( (const unsigned char *)data != NULL );
+
     for( i = 0; i < 8; i++ )
         A[i] = ctx->state[i];
 
@@ -263,6 +278,9 @@ int mbedtls_sha256_update_ret( mbedtls_sha256_context *ctx,
     size_t fill;
     uint32_t left;
 
+    SHA256_VALIDATE_RET( ctx != NULL );
+    SHA256_VALIDATE_RET( ilen == 0 || input != NULL );
+
     if( ilen == 0 )
         return( 0 );
 
@@ -321,6 +339,9 @@ int mbedtls_sha256_finish_ret( mbedtls_sha256_context *ctx,
     uint32_t used;
     uint32_t high, low;
 
+    SHA256_VALIDATE_RET( ctx != NULL );
+    SHA256_VALIDATE_RET( (unsigned char *)output != NULL );
+
     /*
      * Add padding: 0x80 then 0x00 until 8 bytes remain for the length
      */
@@ -395,6 +416,10 @@ int mbedtls_sha256_ret( const unsigned char *input,
     int ret;
     mbedtls_sha256_context ctx;
 
+    SHA256_VALIDATE_RET( is224 == 0 || is224 == 1 );
+    SHA256_VALIDATE_RET( ilen == 0 || input != NULL );
+    SHA256_VALIDATE_RET( (unsigned char *)output != NULL );
+
     mbedtls_sha256_init( &ctx );
 
     if( ( ret = mbedtls_sha256_starts_ret( &ctx, is224 ) ) != 0 )
diff --git a/thirdparty/mbedtls/library/sha512.c b/thirdparty/mbedtls/library/sha512.c
index a9440e8af5..941ecda762 100644
--- a/thirdparty/mbedtls/library/sha512.c
+++ b/thirdparty/mbedtls/library/sha512.c
@@ -55,6 +55,10 @@
 #endif /* MBEDTLS_PLATFORM_C */
 #endif /* MBEDTLS_SELF_TEST */
 
+#define SHA512_VALIDATE_RET(cond)                           \
+    MBEDTLS_INTERNAL_VALIDATE_RET( cond, MBEDTLS_ERR_SHA512_BAD_INPUT_DATA )
+#define SHA512_VALIDATE(cond)  MBEDTLS_INTERNAL_VALIDATE( cond )
+
 #if !defined(MBEDTLS_SHA512_ALT)
 
 /*
@@ -90,6 +94,8 @@
 
 void mbedtls_sha512_init( mbedtls_sha512_context *ctx )
 {
+    SHA512_VALIDATE( ctx != NULL );
+
     memset( ctx, 0, sizeof( mbedtls_sha512_context ) );
 }
 
@@ -104,6 +110,9 @@ void mbedtls_sha512_free( mbedtls_sha512_context *ctx )
 void mbedtls_sha512_clone( mbedtls_sha512_context *dst,
                            const mbedtls_sha512_context *src )
 {
+    SHA512_VALIDATE( dst != NULL );
+    SHA512_VALIDATE( src != NULL );
+
     *dst = *src;
 }
 
@@ -112,6 +121,9 @@ void mbedtls_sha512_clone( mbedtls_sha512_context *dst,
  */
 int mbedtls_sha512_starts_ret( mbedtls_sha512_context *ctx, int is384 )
 {
+    SHA512_VALIDATE_RET( ctx != NULL );
+    SHA512_VALIDATE_RET( is384 == 0 || is384 == 1 );
+
     ctx->total[0] = 0;
     ctx->total[1] = 0;
 
@@ -209,6 +221,9 @@ int mbedtls_internal_sha512_process( mbedtls_sha512_context *ctx,
     uint64_t temp1, temp2, W[80];
     uint64_t A, B, C, D, E, F, G, H;
 
+    SHA512_VALIDATE_RET( ctx != NULL );
+    SHA512_VALIDATE_RET( (const unsigned char *)data != NULL );
+
 #define  SHR(x,n) (x >> n)
 #define ROTR(x,n) (SHR(x,n) | (x << (64 - n)))
 
@@ -294,6 +309,9 @@ int mbedtls_sha512_update_ret( mbedtls_sha512_context *ctx,
     size_t fill;
     unsigned int left;
 
+    SHA512_VALIDATE_RET( ctx != NULL );
+    SHA512_VALIDATE_RET( ilen == 0 || input != NULL );
+
     if( ilen == 0 )
         return( 0 );
 
@@ -351,6 +369,9 @@ int mbedtls_sha512_finish_ret( mbedtls_sha512_context *ctx,
     unsigned used;
     uint64_t high, low;
 
+    SHA512_VALIDATE_RET( ctx != NULL );
+    SHA512_VALIDATE_RET( (unsigned char *)output != NULL );
+
     /*
      * Add padding: 0x80 then 0x00 until 16 bytes remain for the length
      */
@@ -427,6 +448,10 @@ int mbedtls_sha512_ret( const unsigned char *input,
     int ret;
     mbedtls_sha512_context ctx;
 
+    SHA512_VALIDATE_RET( is384 == 0 || is384 == 1 );
+    SHA512_VALIDATE_RET( ilen == 0 || input != NULL );
+    SHA512_VALIDATE_RET( (unsigned char *)output != NULL );
+
     mbedtls_sha512_init( &ctx );
 
     if( ( ret = mbedtls_sha512_starts_ret( &ctx, is384 ) ) != 0 )
diff --git a/thirdparty/mbedtls/library/ssl_ciphersuites.c b/thirdparty/mbedtls/library/ssl_ciphersuites.c
index 59cdc7a806..745474effe 100644
--- a/thirdparty/mbedtls/library/ssl_ciphersuites.c
+++ b/thirdparty/mbedtls/library/ssl_ciphersuites.c
@@ -2320,7 +2320,8 @@ mbedtls_pk_type_t mbedtls_ssl_get_ciphersuite_sig_alg( const mbedtls_ssl_ciphers
 
 #endif /* MBEDTLS_PK_C */
 
-#if defined(MBEDTLS_ECDH_C) || defined(MBEDTLS_ECDSA_C)
+#if defined(MBEDTLS_ECDH_C) || defined(MBEDTLS_ECDSA_C) || \
+    defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
 int mbedtls_ssl_ciphersuite_uses_ec( const mbedtls_ssl_ciphersuite_t *info )
 {
     switch( info->key_exchange )
@@ -2330,13 +2331,14 @@ int mbedtls_ssl_ciphersuite_uses_ec( const mbedtls_ssl_ciphersuite_t *info )
         case MBEDTLS_KEY_EXCHANGE_ECDHE_PSK:
         case MBEDTLS_KEY_EXCHANGE_ECDH_RSA:
         case MBEDTLS_KEY_EXCHANGE_ECDH_ECDSA:
+        case MBEDTLS_KEY_EXCHANGE_ECJPAKE:
             return( 1 );
 
         default:
             return( 0 );
     }
 }
-#endif /* MBEDTLS_ECDH_C || MBEDTLS_ECDSA_C */
+#endif /* MBEDTLS_ECDH_C || MBEDTLS_ECDSA_C || MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED*/
 
 #if defined(MBEDTLS_KEY_EXCHANGE__SOME__PSK_ENABLED)
 int mbedtls_ssl_ciphersuite_uses_psk( const mbedtls_ssl_ciphersuite_t *info )
diff --git a/thirdparty/mbedtls/library/ssl_cli.c b/thirdparty/mbedtls/library/ssl_cli.c
index ba59c48989..afced7a99c 100644
--- a/thirdparty/mbedtls/library/ssl_cli.c
+++ b/thirdparty/mbedtls/library/ssl_cli.c
@@ -766,6 +766,10 @@ static int ssl_write_client_hello( mbedtls_ssl_context *ssl )
     unsigned char offer_compress;
     const int *ciphersuites;
     const mbedtls_ssl_ciphersuite_t *ciphersuite_info;
+#if defined(MBEDTLS_ECDH_C) || defined(MBEDTLS_ECDSA_C) || \
+    defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
+    int uses_ec = 0;
+#endif
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> write client hello" ) );
 
@@ -917,6 +921,11 @@ static int ssl_write_client_hello( mbedtls_ssl_context *ssl )
         MBEDTLS_SSL_DEBUG_MSG( 3, ( "client hello, add ciphersuite: %04x",
                                     ciphersuites[i] ) );
 
+#if defined(MBEDTLS_ECDH_C) || defined(MBEDTLS_ECDSA_C) || \
+    defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
+        uses_ec |= mbedtls_ssl_ciphersuite_uses_ec( ciphersuite_info );
+#endif
+
         n++;
         *p++ = (unsigned char)( ciphersuites[i] >> 8 );
         *p++ = (unsigned char)( ciphersuites[i]      );
@@ -1010,11 +1019,14 @@ static int ssl_write_client_hello( mbedtls_ssl_context *ssl )
 
 #if defined(MBEDTLS_ECDH_C) || defined(MBEDTLS_ECDSA_C) || \
     defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
-    ssl_write_supported_elliptic_curves_ext( ssl, p + 2 + ext_len, &olen );
-    ext_len += olen;
+    if( uses_ec )
+    {
+        ssl_write_supported_elliptic_curves_ext( ssl, p + 2 + ext_len, &olen );
+        ext_len += olen;
 
-    ssl_write_supported_point_formats_ext( ssl, p + 2 + ext_len, &olen );
-    ext_len += olen;
+        ssl_write_supported_point_formats_ext( ssl, p + 2 + ext_len, &olen );
+        ext_len += olen;
+    }
 #endif
 
 #if defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
@@ -1076,11 +1088,20 @@ static int ssl_write_client_hello( mbedtls_ssl_context *ssl )
         mbedtls_ssl_send_flight_completed( ssl );
 #endif
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
+    {
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
+        return( ret );
+    }
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+        ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_flight_transmit", ret );
         return( ret );
     }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write client hello" ) );
 
@@ -1479,7 +1500,7 @@ static int ssl_parse_server_hello( mbedtls_ssl_context *ssl )
 
     buf = ssl->in_msg;
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         /* No alert on a read error. */
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
@@ -1742,6 +1763,14 @@ static int ssl_parse_server_hello( mbedtls_ssl_context *ssl )
 
     MBEDTLS_SSL_DEBUG_MSG( 3, ( "server hello, chosen ciphersuite: %s", suite_info->name ) );
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( suite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA &&
+        ssl->minor_ver == MBEDTLS_SSL_MINOR_VERSION_3 )
+    {
+        ssl->handshake->ecrs_enabled = 1;
+    }
+#endif
+
     if( comp != MBEDTLS_SSL_COMPRESS_NULL
 #if defined(MBEDTLS_ZLIB_SUPPORT)
         && comp != MBEDTLS_SSL_COMPRESS_DEFLATE
@@ -1998,8 +2027,14 @@ static int ssl_parse_server_dh_params( mbedtls_ssl_context *ssl, unsigned char *
 static int ssl_check_server_ecdh_params( const mbedtls_ssl_context *ssl )
 {
     const mbedtls_ecp_curve_info *curve_info;
+    mbedtls_ecp_group_id grp_id;
+#if defined(MBEDTLS_ECDH_LEGACY_CONTEXT)
+    grp_id = ssl->handshake->ecdh_ctx.grp.id;
+#else
+    grp_id = ssl->handshake->ecdh_ctx.grp_id;
+#endif
 
-    curve_info = mbedtls_ecp_curve_info_from_grp_id( ssl->handshake->ecdh_ctx.grp.id );
+    curve_info = mbedtls_ecp_curve_info_from_grp_id( grp_id );
     if( curve_info == NULL )
     {
         MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
@@ -2009,14 +2044,15 @@ static int ssl_check_server_ecdh_params( const mbedtls_ssl_context *ssl )
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "ECDH curve: %s", curve_info->name ) );
 
 #if defined(MBEDTLS_ECP_C)
-    if( mbedtls_ssl_check_curve( ssl, ssl->handshake->ecdh_ctx.grp.id ) != 0 )
+    if( mbedtls_ssl_check_curve( ssl, grp_id ) != 0 )
 #else
     if( ssl->handshake->ecdh_ctx.grp.nbits < 163 ||
         ssl->handshake->ecdh_ctx.grp.nbits > 521 )
 #endif
         return( -1 );
 
-    MBEDTLS_SSL_DEBUG_ECP( 3, "ECDH: Qp", &ssl->handshake->ecdh_ctx.Qp );
+    MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                            MBEDTLS_DEBUG_ECDH_QP );
 
     return( 0 );
 }
@@ -2047,6 +2083,10 @@ static int ssl_parse_server_ecdh_params( mbedtls_ssl_context *ssl,
                                   (const unsigned char **) p, end ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, ( "mbedtls_ecdh_read_params" ), ret );
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+        if( ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+            ret = MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS;
+#endif
         return( ret );
     }
 
@@ -2076,7 +2116,7 @@ static int ssl_parse_server_psk_hint( mbedtls_ssl_context *ssl,
      *
      * opaque psk_identity_hint<0..2^16-1>;
      */
-    if( (*p) > end - 2 )
+    if( end - (*p) < 2 )
     {
         MBEDTLS_SSL_DEBUG_MSG( 1, ( "bad server key exchange message "
                                     "(psk_identity_hint length)" ) );
@@ -2085,7 +2125,7 @@ static int ssl_parse_server_psk_hint( mbedtls_ssl_context *ssl,
     len = (*p)[0] << 8 | (*p)[1];
     *p += 2;
 
-    if( (*p) > end - len )
+    if( end - (*p) < (int) len )
     {
         MBEDTLS_SSL_DEBUG_MSG( 1, ( "bad server key exchange message "
                                     "(psk_identity_hint length)" ) );
@@ -2328,7 +2368,15 @@ static int ssl_parse_server_key_exchange( mbedtls_ssl_context *ssl )
 #endif /* MBEDTLS_KEY_EXCHANGE_ECDH_RSA_ENABLED ||
           MBEDTLS_KEY_EXCHANGE_ECDH_ECDSA_ENABLED */
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled &&
+        ssl->handshake->ecrs_state == ssl_ecrs_ske_start_processing )
+    {
+        goto start_processing;
+    }
+#endif
+
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -2365,6 +2413,12 @@ static int ssl_parse_server_key_exchange( mbedtls_ssl_context *ssl )
         return( MBEDTLS_ERR_SSL_UNEXPECTED_MESSAGE );
     }
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled )
+        ssl->handshake->ecrs_state = ssl_ecrs_ske_start_processing;
+
+start_processing:
+#endif
     p   = ssl->in_msg + mbedtls_ssl_hs_hdr_len( ssl );
     end = ssl->in_msg + ssl->in_hslen;
     MBEDTLS_SSL_DEBUG_BUF( 3,   "server key exchange", p, end - p );
@@ -2457,6 +2511,7 @@ static int ssl_parse_server_key_exchange( mbedtls_ssl_context *ssl )
         mbedtls_pk_type_t pk_alg = MBEDTLS_PK_NONE;
         unsigned char *params = ssl->in_msg + mbedtls_ssl_hs_hdr_len( ssl );
         size_t params_len = p - params;
+        void *rs_ctx = NULL;
 
         /*
          * Handle the digitally-signed structure
@@ -2579,12 +2634,25 @@ static int ssl_parse_server_key_exchange( mbedtls_ssl_context *ssl )
             return( MBEDTLS_ERR_SSL_PK_TYPE_MISMATCH );
         }
 
-        if( ( ret = mbedtls_pk_verify( &ssl->session_negotiate->peer_cert->pk,
-                               md_alg, hash, hashlen, p, sig_len ) ) != 0 )
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+        if( ssl->handshake->ecrs_enabled )
+            rs_ctx = &ssl->handshake->ecrs_ctx.pk;
+#endif
+
+        if( ( ret = mbedtls_pk_verify_restartable(
+                        &ssl->session_negotiate->peer_cert->pk,
+                        md_alg, hash, hashlen, p, sig_len, rs_ctx ) ) != 0 )
         {
-            mbedtls_ssl_send_alert_message( ssl, MBEDTLS_SSL_ALERT_LEVEL_FATAL,
-                                            MBEDTLS_SSL_ALERT_MSG_DECRYPT_ERROR );
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+            if( ret != MBEDTLS_ERR_ECP_IN_PROGRESS )
+#endif
+                mbedtls_ssl_send_alert_message( ssl, MBEDTLS_SSL_ALERT_LEVEL_FATAL,
+                                                MBEDTLS_SSL_ALERT_MSG_DECRYPT_ERROR );
             MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_pk_verify", ret );
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+            if( ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+                ret = MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS;
+#endif
             return( ret );
         }
     }
@@ -2635,7 +2703,7 @@ static int ssl_parse_certificate_request( mbedtls_ssl_context *ssl )
         return( 0 );
     }
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -2709,7 +2777,7 @@ static int ssl_parse_certificate_request( mbedtls_ssl_context *ssl )
      * therefore the buffer length at this point must be greater than that
      * regardless of the actual code path.
      */
-    if( ssl->in_hslen <= mbedtls_ssl_hs_hdr_len( ssl ) + 3 + n )
+    if( ssl->in_hslen <= mbedtls_ssl_hs_hdr_len( ssl ) + 2 + n )
     {
         MBEDTLS_SSL_DEBUG_MSG( 1, ( "bad certificate request message" ) );
         mbedtls_ssl_send_alert_message( ssl, MBEDTLS_SSL_ALERT_LEVEL_FATAL,
@@ -2787,7 +2855,7 @@ static int ssl_parse_server_hello_done( mbedtls_ssl_context *ssl )
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> parse server hello done" ) );
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -2882,6 +2950,16 @@ static int ssl_write_client_key_exchange( mbedtls_ssl_context *ssl )
          */
         i = 4;
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+        if( ssl->handshake->ecrs_enabled )
+        {
+            if( ssl->handshake->ecrs_state == ssl_ecrs_cke_ecdh_calc_secret )
+                goto ecdh_calc_secret;
+
+            mbedtls_ecdh_enable_restart( &ssl->handshake->ecdh_ctx );
+        }
+#endif
+
         ret = mbedtls_ecdh_make_public( &ssl->handshake->ecdh_ctx,
                                 &n,
                                 &ssl->out_msg[i], 1000,
@@ -2889,11 +2967,27 @@ static int ssl_write_client_key_exchange( mbedtls_ssl_context *ssl )
         if( ret != 0 )
         {
             MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ecdh_make_public", ret );
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+            if( ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+                ret = MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS;
+#endif
             return( ret );
         }
 
-        MBEDTLS_SSL_DEBUG_ECP( 3, "ECDH: Q", &ssl->handshake->ecdh_ctx.Q );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_Q );
+
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+        if( ssl->handshake->ecrs_enabled )
+        {
+            ssl->handshake->ecrs_n = n;
+            ssl->handshake->ecrs_state = ssl_ecrs_cke_ecdh_calc_secret;
+        }
 
+ecdh_calc_secret:
+        if( ssl->handshake->ecrs_enabled )
+            n = ssl->handshake->ecrs_n;
+#endif
         if( ( ret = mbedtls_ecdh_calc_secret( &ssl->handshake->ecdh_ctx,
                                       &ssl->handshake->pmslen,
                                        ssl->handshake->premaster,
@@ -2901,10 +2995,15 @@ static int ssl_write_client_key_exchange( mbedtls_ssl_context *ssl )
                                        ssl->conf->f_rng, ssl->conf->p_rng ) ) != 0 )
         {
             MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ecdh_calc_secret", ret );
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+            if( ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+                ret = MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS;
+#endif
             return( ret );
         }
 
-        MBEDTLS_SSL_DEBUG_MPI( 3, "ECDH: z", &ssl->handshake->ecdh_ctx.z );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_Z );
     }
     else
 #endif /* MBEDTLS_KEY_EXCHANGE_ECDHE_RSA_ENABLED ||
@@ -2999,7 +3098,8 @@ static int ssl_write_client_key_exchange( mbedtls_ssl_context *ssl )
                 return( ret );
             }
 
-            MBEDTLS_SSL_DEBUG_ECP( 3, "ECDH: Q", &ssl->handshake->ecdh_ctx.Q );
+            MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                    MBEDTLS_DEBUG_ECDH_Q );
         }
         else
 #endif /* MBEDTLS_KEY_EXCHANGE_ECDHE_PSK_ENABLED */
@@ -3063,9 +3163,9 @@ static int ssl_write_client_key_exchange( mbedtls_ssl_context *ssl )
 
     ssl->state++;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -3119,9 +3219,18 @@ static int ssl_write_certificate_verify( mbedtls_ssl_context *ssl )
     unsigned char *hash_start = hash;
     mbedtls_md_type_t md_alg = MBEDTLS_MD_NONE;
     unsigned int hashlen;
+    void *rs_ctx = NULL;
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> write certificate verify" ) );
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled &&
+        ssl->handshake->ecrs_state == ssl_ecrs_crt_vrfy_sign )
+    {
+        goto sign;
+    }
+#endif
+
     if( ( ret = mbedtls_ssl_derive_keys( ssl ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_derive_keys", ret );
@@ -3153,8 +3262,15 @@ static int ssl_write_certificate_verify( mbedtls_ssl_context *ssl )
     }
 
     /*
-     * Make an RSA signature of the handshake digests
+     * Make a signature of the handshake digests
      */
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled )
+        ssl->handshake->ecrs_state = ssl_ecrs_crt_vrfy_sign;
+
+sign:
+#endif
+
     ssl->handshake->calc_verify( ssl, hash );
 
 #if defined(MBEDTLS_SSL_PROTO_SSL3) || defined(MBEDTLS_SSL_PROTO_TLS1) || \
@@ -3231,11 +3347,21 @@ static int ssl_write_certificate_verify( mbedtls_ssl_context *ssl )
         return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
     }
 
-    if( ( ret = mbedtls_pk_sign( mbedtls_ssl_own_key( ssl ), md_alg, hash_start, hashlen,
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled )
+        rs_ctx = &ssl->handshake->ecrs_ctx.pk;
+#endif
+
+    if( ( ret = mbedtls_pk_sign_restartable( mbedtls_ssl_own_key( ssl ),
+                         md_alg, hash_start, hashlen,
                          ssl->out_msg + 6 + offset, &n,
-                         ssl->conf->f_rng, ssl->conf->p_rng ) ) != 0 )
+                         ssl->conf->f_rng, ssl->conf->p_rng, rs_ctx ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_pk_sign", ret );
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+        if( ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+            ret = MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS;
+#endif
         return( ret );
     }
 
@@ -3248,9 +3374,9 @@ static int ssl_write_certificate_verify( mbedtls_ssl_context *ssl )
 
     ssl->state++;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -3276,7 +3402,7 @@ static int ssl_parse_new_session_ticket( mbedtls_ssl_context *ssl )
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> parse new session ticket" ) );
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -3311,8 +3437,8 @@ static int ssl_parse_new_session_ticket( mbedtls_ssl_context *ssl )
 
     msg = ssl->in_msg + mbedtls_ssl_hs_hdr_len( ssl );
 
-    lifetime = ( msg[0] << 24 ) | ( msg[1] << 16 ) |
-               ( msg[2] <<  8 ) | ( msg[3]       );
+    lifetime = ( ((uint32_t) msg[0]) << 24 ) | ( msg[1] << 16 ) |
+               ( msg[2] << 8 ) | ( msg[3] );
 
     ticket_len = ( msg[4] << 8 ) | ( msg[5] );
 
@@ -3390,10 +3516,10 @@ int mbedtls_ssl_handshake_client_step( mbedtls_ssl_context *ssl )
     if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
         ssl->handshake->retransmit_state == MBEDTLS_SSL_RETRANS_SENDING )
     {
-        if( ( ret = mbedtls_ssl_resend( ssl ) ) != 0 )
+        if( ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
             return( ret );
     }
-#endif
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
     /* Change state now, so that it is right in mbedtls_ssl_read_record(), used
      * by DTLS for dropping out-of-sequence ChangeCipherSpec records */
diff --git a/thirdparty/mbedtls/library/ssl_srv.c b/thirdparty/mbedtls/library/ssl_srv.c
index 52087ae6e1..bc77f80203 100644
--- a/thirdparty/mbedtls/library/ssl_srv.c
+++ b/thirdparty/mbedtls/library/ssl_srv.c
@@ -1294,7 +1294,7 @@ read_record_header:
             return( MBEDTLS_ERR_SSL_BAD_HS_CLIENT_HELLO );
         }
 
-        memcpy( ssl->out_ctr + 2, ssl->in_ctr + 2, 6 );
+        memcpy( ssl->cur_out_ctr + 2, ssl->in_ctr + 2, 6 );
 
 #if defined(MBEDTLS_SSL_DTLS_ANTI_REPLAY)
         if( mbedtls_ssl_dtls_replay_check( ssl ) != 0 )
@@ -2384,12 +2384,21 @@ static int ssl_write_hello_verify_request( mbedtls_ssl_context *ssl )
 
     ssl->state = MBEDTLS_SSL_SERVER_HELLO_VERIFY_REQUEST_SENT;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+        ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
+    {
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_flight_transmit", ret );
+        return( ret );
+    }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write hello verify request" ) );
 
     return( 0 );
@@ -2589,8 +2598,12 @@ static int ssl_write_server_hello( mbedtls_ssl_context *ssl )
 
 #if defined(MBEDTLS_ECDH_C) || defined(MBEDTLS_ECDSA_C) || \
     defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
-    ssl_write_supported_point_formats_ext( ssl, p + 2 + ext_len, &olen );
-    ext_len += olen;
+    if ( mbedtls_ssl_ciphersuite_uses_ec(
+         mbedtls_ssl_ciphersuite_from_id( ssl->session_negotiate->ciphersuite ) ) )
+    {
+        ssl_write_supported_point_formats_ext( ssl, p + 2 + ext_len, &olen );
+        ext_len += olen;
+    }
 #endif
 
 #if defined(MBEDTLS_KEY_EXCHANGE_ECJPAKE_ENABLED)
@@ -2620,7 +2633,7 @@ static int ssl_write_server_hello( mbedtls_ssl_context *ssl )
     ssl->out_msgtype = MBEDTLS_SSL_MSG_HANDSHAKE;
     ssl->out_msg[0]  = MBEDTLS_SSL_HS_SERVER_HELLO;
 
-    ret = mbedtls_ssl_write_record( ssl );
+    ret = mbedtls_ssl_write_handshake_msg( ssl );
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write server hello" ) );
 
@@ -2815,7 +2828,7 @@ static int ssl_write_certificate_request( mbedtls_ssl_context *ssl )
     ssl->out_msg[4 + ct_len + sa_len] = (unsigned char)( total_dn_size  >> 8 );
     ssl->out_msg[5 + ct_len + sa_len] = (unsigned char)( total_dn_size       );
 
-    ret = mbedtls_ssl_write_record( ssl );
+    ret = mbedtls_ssl_write_handshake_msg( ssl );
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write certificate request" ) );
 
@@ -3035,8 +3048,8 @@ curve_matching_done:
 
         MBEDTLS_SSL_DEBUG_MSG( 2, ( "ECDHE curve: %s", (*curve)->name ) );
 
-        if( ( ret = mbedtls_ecp_group_load( &ssl->handshake->ecdh_ctx.grp,
-                                       (*curve)->grp_id ) ) != 0 )
+        if( ( ret = mbedtls_ecdh_setup( &ssl->handshake->ecdh_ctx,
+                                        (*curve)->grp_id ) ) != 0 )
         {
             MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ecp_group_load", ret );
             return( ret );
@@ -3058,7 +3071,8 @@ curve_matching_done:
 
         ssl->out_msglen += len;
 
-        MBEDTLS_SSL_DEBUG_ECP( 3, "ECDH: Q ", &ssl->handshake->ecdh_ctx.Q );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_Q );
     }
 #endif /* MBEDTLS_KEY_EXCHANGE__SOME__ECDHE_ENABLED */
 
@@ -3332,9 +3346,9 @@ static int ssl_write_server_key_exchange( mbedtls_ssl_context *ssl )
 
     ssl->state++;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -3359,11 +3373,20 @@ static int ssl_write_server_hello_done( mbedtls_ssl_context *ssl )
         mbedtls_ssl_send_flight_completed( ssl );
 #endif
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
+    {
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
+        return( ret );
+    }
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+        ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_flight_transmit", ret );
         return( ret );
     }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write server hello done" ) );
 
@@ -3706,7 +3729,7 @@ static int ssl_parse_client_key_exchange( mbedtls_ssl_context *ssl )
     }
     else
 #endif
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -3772,7 +3795,8 @@ static int ssl_parse_client_key_exchange( mbedtls_ssl_context *ssl )
             return( MBEDTLS_ERR_SSL_BAD_HS_CLIENT_KEY_EXCHANGE_RP );
         }
 
-        MBEDTLS_SSL_DEBUG_ECP( 3, "ECDH: Qp ", &ssl->handshake->ecdh_ctx.Qp );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_QP );
 
         if( ( ret = mbedtls_ecdh_calc_secret( &ssl->handshake->ecdh_ctx,
                                       &ssl->handshake->pmslen,
@@ -3784,7 +3808,8 @@ static int ssl_parse_client_key_exchange( mbedtls_ssl_context *ssl )
             return( MBEDTLS_ERR_SSL_BAD_HS_CLIENT_KEY_EXCHANGE_CS );
         }
 
-        MBEDTLS_SSL_DEBUG_MPI( 3, "ECDH: z  ", &ssl->handshake->ecdh_ctx.z );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_Z );
     }
     else
 #endif /* MBEDTLS_KEY_EXCHANGE_ECDHE_RSA_ENABLED ||
@@ -3897,7 +3922,8 @@ static int ssl_parse_client_key_exchange( mbedtls_ssl_context *ssl )
             return( MBEDTLS_ERR_SSL_BAD_HS_CLIENT_KEY_EXCHANGE_RP );
         }
 
-        MBEDTLS_SSL_DEBUG_ECP( 3, "ECDH: Qp ", &ssl->handshake->ecdh_ctx.Qp );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_QP );
 
         if( ( ret = mbedtls_ssl_psk_derive_premaster( ssl,
                         ciphersuite_info->key_exchange ) ) != 0 )
@@ -4016,25 +4042,10 @@ static int ssl_parse_certificate_verify( mbedtls_ssl_context *ssl )
     }
 
     /* Read the message without adding it to the checksum */
-    do {
-
-        do ret = mbedtls_ssl_read_record_layer( ssl );
-        while( ret == MBEDTLS_ERR_SSL_CONTINUE_PROCESSING );
-
-        if( ret != 0 )
-        {
-            MBEDTLS_SSL_DEBUG_RET( 1, ( "mbedtls_ssl_read_record_layer" ), ret );
-            return( ret );
-        }
-
-        ret = mbedtls_ssl_handle_message_type( ssl );
-
-    } while( MBEDTLS_ERR_SSL_NON_FATAL           == ret ||
-             MBEDTLS_ERR_SSL_CONTINUE_PROCESSING == ret );
-
+    ret = mbedtls_ssl_read_record( ssl, 0 /* no checksum update */ );
     if( 0 != ret )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, ( "mbedtls_ssl_handle_message_type" ), ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, ( "mbedtls_ssl_read_record" ), ret );
         return( ret );
     }
 
@@ -4223,9 +4234,9 @@ static int ssl_write_new_session_ticket( mbedtls_ssl_context *ssl )
      */
     ssl->handshake->new_session_ticket = 0;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -4254,10 +4265,10 @@ int mbedtls_ssl_handshake_server_step( mbedtls_ssl_context *ssl )
     if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
         ssl->handshake->retransmit_state == MBEDTLS_SSL_RETRANS_SENDING )
     {
-        if( ( ret = mbedtls_ssl_resend( ssl ) ) != 0 )
+        if( ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
             return( ret );
     }
-#endif
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
     switch( ssl->state )
     {
diff --git a/thirdparty/mbedtls/library/ssl_ticket.c b/thirdparty/mbedtls/library/ssl_ticket.c
index a2b304869e..8492c19a8c 100644
--- a/thirdparty/mbedtls/library/ssl_ticket.c
+++ b/thirdparty/mbedtls/library/ssl_ticket.c
@@ -97,7 +97,7 @@ static int ssl_ticket_update_keys( mbedtls_ssl_ticket_context *ctx )
         uint32_t current_time = (uint32_t) mbedtls_time( NULL );
         uint32_t key_time = ctx->keys[ctx->active].generation_time;
 
-        if( current_time > key_time &&
+        if( current_time >= key_time &&
             current_time - key_time < ctx->ticket_lifetime )
         {
             return( 0 );
@@ -188,9 +188,9 @@ static int ssl_save_session( const mbedtls_ssl_session *session,
     if( left < 3 + cert_len )
         return( MBEDTLS_ERR_SSL_BUFFER_TOO_SMALL );
 
-    *p++ = (unsigned char)( cert_len >> 16 & 0xFF );
-    *p++ = (unsigned char)( cert_len >>  8 & 0xFF );
-    *p++ = (unsigned char)( cert_len       & 0xFF );
+    *p++ = (unsigned char)( ( cert_len >> 16 ) & 0xFF );
+    *p++ = (unsigned char)( ( cert_len >>  8 ) & 0xFF );
+    *p++ = (unsigned char)( ( cert_len       ) & 0xFF );
 
     if( session->peer_cert != NULL )
         memcpy( p, session->peer_cert->raw.p, cert_len );
@@ -215,14 +215,14 @@ static int ssl_load_session( mbedtls_ssl_session *session,
     size_t cert_len;
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
 
-    if( p + sizeof( mbedtls_ssl_session ) > end )
+    if( sizeof( mbedtls_ssl_session ) > (size_t)( end - p ) )
         return( MBEDTLS_ERR_SSL_BAD_INPUT_DATA );
 
     memcpy( session, p, sizeof( mbedtls_ssl_session ) );
     p += sizeof( mbedtls_ssl_session );
 
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
-    if( p + 3 > end )
+    if( 3 > (size_t)( end - p ) )
         return( MBEDTLS_ERR_SSL_BAD_INPUT_DATA );
 
     cert_len = ( p[0] << 16 ) | ( p[1] << 8 ) | p[2];
@@ -236,7 +236,7 @@ static int ssl_load_session( mbedtls_ssl_session *session,
     {
         int ret;
 
-        if( p + cert_len > end )
+        if( cert_len > (size_t)( end - p ) )
             return( MBEDTLS_ERR_SSL_BAD_INPUT_DATA );
 
         session->peer_cert = mbedtls_calloc( 1, sizeof( mbedtls_x509_crt ) );
@@ -247,7 +247,7 @@ static int ssl_load_session( mbedtls_ssl_session *session,
         mbedtls_x509_crt_init( session->peer_cert );
 
         if( ( ret = mbedtls_x509_crt_parse_der( session->peer_cert,
-                                        p, cert_len ) ) != 0 )
+                                                p, cert_len ) ) != 0 )
         {
             mbedtls_x509_crt_free( session->peer_cert );
             mbedtls_free( session->peer_cert );
diff --git a/thirdparty/mbedtls/library/ssl_tls.c b/thirdparty/mbedtls/library/ssl_tls.c
index 91f96c8ab6..38690fa664 100644
--- a/thirdparty/mbedtls/library/ssl_tls.c
+++ b/thirdparty/mbedtls/library/ssl_tls.c
@@ -54,6 +54,9 @@
 #include "mbedtls/oid.h"
 #endif
 
+static void ssl_reset_in_out_pointers( mbedtls_ssl_context *ssl );
+static uint32_t ssl_get_hs_total_len( mbedtls_ssl_context const *ssl );
+
 /* Length of the "epoch" field in the record header */
 static inline size_t ssl_ep_len( const mbedtls_ssl_context *ssl )
 {
@@ -96,7 +99,101 @@ static int ssl_check_timer( mbedtls_ssl_context *ssl )
     return( 0 );
 }
 
+static void ssl_update_out_pointers( mbedtls_ssl_context *ssl,
+                                     mbedtls_ssl_transform *transform );
+static void ssl_update_in_pointers( mbedtls_ssl_context *ssl,
+                                    mbedtls_ssl_transform *transform );
+
+#define SSL_DONT_FORCE_FLUSH 0
+#define SSL_FORCE_FLUSH      1
+
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
+
+/* Forward declarations for functions related to message buffering. */
+static void ssl_buffering_free( mbedtls_ssl_context *ssl );
+static void ssl_buffering_free_slot( mbedtls_ssl_context *ssl,
+                                     uint8_t slot );
+static void ssl_free_buffered_record( mbedtls_ssl_context *ssl );
+static int ssl_load_buffered_message( mbedtls_ssl_context *ssl );
+static int ssl_load_buffered_record( mbedtls_ssl_context *ssl );
+static int ssl_buffer_message( mbedtls_ssl_context *ssl );
+static int ssl_buffer_future_record( mbedtls_ssl_context *ssl );
+static int ssl_next_record_is_in_datagram( mbedtls_ssl_context *ssl );
+
+static size_t ssl_get_current_mtu( const mbedtls_ssl_context *ssl );
+static size_t ssl_get_maximum_datagram_size( mbedtls_ssl_context const *ssl )
+{
+    size_t mtu = ssl_get_current_mtu( ssl );
+
+    if( mtu != 0 && mtu < MBEDTLS_SSL_OUT_BUFFER_LEN )
+        return( mtu );
+
+    return( MBEDTLS_SSL_OUT_BUFFER_LEN );
+}
+
+static int ssl_get_remaining_space_in_datagram( mbedtls_ssl_context const *ssl )
+{
+    size_t const bytes_written = ssl->out_left;
+    size_t const mtu           = ssl_get_maximum_datagram_size( ssl );
+
+    /* Double-check that the write-index hasn't gone
+     * past what we can transmit in a single datagram. */
+    if( bytes_written > mtu )
+    {
+        /* Should never happen... */
+        return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+    }
+
+    return( (int) ( mtu - bytes_written ) );
+}
+
+static int ssl_get_remaining_payload_in_datagram( mbedtls_ssl_context const *ssl )
+{
+    int ret;
+    size_t remaining, expansion;
+    size_t max_len = MBEDTLS_SSL_OUT_CONTENT_LEN;
+
+#if defined(MBEDTLS_SSL_MAX_FRAGMENT_LENGTH)
+    const size_t mfl = mbedtls_ssl_get_max_frag_len( ssl );
+
+    if( max_len > mfl )
+        max_len = mfl;
+
+    /* By the standard (RFC 6066 Sect. 4), the MFL extension
+     * only limits the maximum record payload size, so in theory
+     * we would be allowed to pack multiple records of payload size
+     * MFL into a single datagram. However, this would mean that there's
+     * no way to explicitly communicate MTU restrictions to the peer.
+     *
+     * The following reduction of max_len makes sure that we never
+     * write datagrams larger than MFL + Record Expansion Overhead.
+     */
+    if( max_len <= ssl->out_left )
+        return( 0 );
+
+    max_len -= ssl->out_left;
+#endif
+
+    ret = ssl_get_remaining_space_in_datagram( ssl );
+    if( ret < 0 )
+        return( ret );
+    remaining = (size_t) ret;
+
+    ret = mbedtls_ssl_get_record_expansion( ssl );
+    if( ret < 0 )
+        return( ret );
+    expansion = (size_t) ret;
+
+    if( remaining <= expansion )
+        return( 0 );
+
+    remaining -= expansion;
+    if( remaining >= max_len )
+        remaining = max_len;
+
+    return( (int) remaining );
+}
+
 /*
  * Double the retransmit timeout value, within the allowed range,
  * returning -1 if the maximum value has already been reached.
@@ -108,6 +205,18 @@ static int ssl_double_retransmit_timeout( mbedtls_ssl_context *ssl )
     if( ssl->handshake->retransmit_timeout >= ssl->conf->hs_timeout_max )
         return( -1 );
 
+    /* Implement the final paragraph of RFC 6347 section 4.1.1.1
+     * in the following way: after the initial transmission and a first
+     * retransmission, back off to a temporary estimated MTU of 508 bytes.
+     * This value is guaranteed to be deliverable (if not guaranteed to be
+     * delivered) of any compliant IPv4 (and IPv6) network, and should work
+     * on most non-IP stacks too. */
+    if( ssl->handshake->retransmit_timeout != ssl->conf->hs_timeout_min )
+    {
+        ssl->handshake->mtu = 508;
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "mtu autoreduction to %d bytes", ssl->handshake->mtu ) );
+    }
+
     new_timeout = 2 * ssl->handshake->retransmit_timeout;
 
     /* Avoid arithmetic overflow and range overflow */
@@ -1224,7 +1333,8 @@ int mbedtls_ssl_psk_derive_premaster( mbedtls_ssl_context *ssl, mbedtls_key_exch
         *(p++) = (unsigned char)( zlen      );
         p += zlen;
 
-        MBEDTLS_SSL_DEBUG_MPI( 3, "ECDH: z", &ssl->handshake->ecdh_ctx.z );
+        MBEDTLS_SSL_DEBUG_ECDH( 3, &ssl->handshake->ecdh_ctx,
+                                MBEDTLS_DEBUG_ECDH_Z );
     }
     else
 #endif /* MBEDTLS_KEY_EXCHANGE_ECDHE_PSK_ENABLED */
@@ -1345,14 +1455,6 @@ static int ssl_encrypt_buf( mbedtls_ssl_context *ssl )
     MBEDTLS_SSL_DEBUG_BUF( 4, "before encrypt: output payload",
                       ssl->out_msg, ssl->out_msglen );
 
-    if( ssl->out_msglen > MBEDTLS_SSL_OUT_CONTENT_LEN )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "Record content %u too large, maximum %d",
-                                    (unsigned) ssl->out_msglen,
-                                    MBEDTLS_SSL_OUT_CONTENT_LEN ) );
-        return( MBEDTLS_ERR_SSL_BAD_INPUT_DATA );
-    }
-
     /*
      * Add MAC before if needed
      */
@@ -1626,6 +1728,8 @@ static int ssl_encrypt_buf( mbedtls_ssl_context *ssl )
 #if defined(MBEDTLS_SSL_ENCRYPT_THEN_MAC)
         if( auth_done == 0 )
         {
+            unsigned char mac[MBEDTLS_SSL_MAC_ADD];
+
             /*
              * MAC(MAC_write_key, seq_num +
              *     TLSCipherText.type +
@@ -1648,10 +1752,12 @@ static int ssl_encrypt_buf( mbedtls_ssl_context *ssl )
             mbedtls_md_hmac_update( &ssl->transform_out->md_ctx_enc, pseudo_hdr, 13 );
             mbedtls_md_hmac_update( &ssl->transform_out->md_ctx_enc,
                              ssl->out_iv, ssl->out_msglen );
-            mbedtls_md_hmac_finish( &ssl->transform_out->md_ctx_enc,
-                             ssl->out_iv + ssl->out_msglen );
+            mbedtls_md_hmac_finish( &ssl->transform_out->md_ctx_enc, mac );
             mbedtls_md_hmac_reset( &ssl->transform_out->md_ctx_enc );
 
+            memcpy( ssl->out_iv + ssl->out_msglen, mac,
+                    ssl->transform_out->maclen );
+
             ssl->out_msglen += ssl->transform_out->maclen;
             auth_done++;
         }
@@ -2202,13 +2308,13 @@ static int ssl_decrypt_buf( mbedtls_ssl_context *ssl )
             correct = 0;
         }
         auth_done++;
-
-        /*
-         * Finally check the correct flag
-         */
-        if( correct == 0 )
-            return( MBEDTLS_ERR_SSL_INVALID_MAC );
     }
+
+    /*
+     * Finally check the correct flag
+     */
+    if( correct == 0 )
+        return( MBEDTLS_ERR_SSL_INVALID_MAC );
 #endif /* SSL_SOME_MODES_USE_MAC */
 
     /* Make extra sure authentication was performed, exactly once */
@@ -2644,7 +2750,7 @@ int mbedtls_ssl_fetch_input( mbedtls_ssl_context *ssl, size_t nb_want )
 int mbedtls_ssl_flush_output( mbedtls_ssl_context *ssl )
 {
     int ret;
-    unsigned char *buf, i;
+    unsigned char *buf;
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> flush output" ) );
 
@@ -2667,8 +2773,7 @@ int mbedtls_ssl_flush_output( mbedtls_ssl_context *ssl )
         MBEDTLS_SSL_DEBUG_MSG( 2, ( "message length: %d, out_left: %d",
                        mbedtls_ssl_hdr_len( ssl ) + ssl->out_msglen, ssl->out_left ) );
 
-        buf = ssl->out_hdr + mbedtls_ssl_hdr_len( ssl ) +
-              ssl->out_msglen - ssl->out_left;
+        buf = ssl->out_hdr - ssl->out_left;
         ret = ssl->f_send( ssl->p_bio, buf, ssl->out_left );
 
         MBEDTLS_SSL_DEBUG_RET( 2, "ssl->f_send", ret );
@@ -2687,16 +2792,17 @@ int mbedtls_ssl_flush_output( mbedtls_ssl_context *ssl )
         ssl->out_left -= ret;
     }
 
-    for( i = 8; i > ssl_ep_len( ssl ); i-- )
-        if( ++ssl->out_ctr[i - 1] != 0 )
-            break;
-
-    /* The loop goes to its end iff the counter is wrapping */
-    if( i == ssl_ep_len( ssl ) )
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM )
+    {
+        ssl->out_hdr = ssl->out_buf;
+    }
+    else
+#endif
     {
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "outgoing message counter would wrap" ) );
-        return( MBEDTLS_ERR_SSL_COUNTER_WRAPPING );
+        ssl->out_hdr = ssl->out_buf + 8;
     }
+    ssl_update_out_pointers( ssl, ssl->transform_out );
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= flush output" ) );
 
@@ -2713,6 +2819,9 @@ int mbedtls_ssl_flush_output( mbedtls_ssl_context *ssl )
 static int ssl_flight_append( mbedtls_ssl_context *ssl )
 {
     mbedtls_ssl_flight_item *msg;
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> ssl_flight_append" ) );
+    MBEDTLS_SSL_DEBUG_BUF( 4, "message appended to flight",
+                           ssl->out_msg, ssl->out_msglen );
 
     /* Allocate space for current message */
     if( ( msg = mbedtls_calloc( 1, sizeof(  mbedtls_ssl_flight_item ) ) ) == NULL )
@@ -2746,6 +2855,7 @@ static int ssl_flight_append( mbedtls_ssl_context *ssl )
         cur->next = msg;
     }
 
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= ssl_flight_append" ) );
     return( 0 );
 }
 
@@ -2794,19 +2904,12 @@ static void ssl_swap_epochs( mbedtls_ssl_context *ssl )
     ssl->handshake->alt_transform_out = tmp_transform;
 
     /* Swap epoch + sequence_number */
-    memcpy( tmp_out_ctr,                 ssl->out_ctr,                8 );
-    memcpy( ssl->out_ctr,                ssl->handshake->alt_out_ctr, 8 );
+    memcpy( tmp_out_ctr,                 ssl->cur_out_ctr,            8 );
+    memcpy( ssl->cur_out_ctr,            ssl->handshake->alt_out_ctr, 8 );
     memcpy( ssl->handshake->alt_out_ctr, tmp_out_ctr,                 8 );
 
     /* Adjust to the newly activated transform */
-    if( ssl->transform_out != NULL &&
-        ssl->minor_ver >= MBEDTLS_SSL_MINOR_VERSION_2 )
-    {
-        ssl->out_msg = ssl->out_iv + ssl->transform_out->ivlen -
-                                     ssl->transform_out->fixed_ivlen;
-    }
-    else
-        ssl->out_msg = ssl->out_iv;
+    ssl_update_out_pointers( ssl, ssl->transform_out );
 
 #if defined(MBEDTLS_SSL_HW_RECORD_ACCEL)
     if( mbedtls_ssl_hw_record_activate != NULL )
@@ -2822,20 +2925,38 @@ static void ssl_swap_epochs( mbedtls_ssl_context *ssl )
 
 /*
  * Retransmit the current flight of messages.
+ */
+int mbedtls_ssl_resend( mbedtls_ssl_context *ssl )
+{
+    int ret = 0;
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> mbedtls_ssl_resend" ) );
+
+    ret = mbedtls_ssl_flight_transmit( ssl );
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= mbedtls_ssl_resend" ) );
+
+    return( ret );
+}
+
+/*
+ * Transmit or retransmit the current flight of messages.
  *
  * Need to remember the current message in case flush_output returns
  * WANT_WRITE, causing us to exit this function and come back later.
  * This function must be called until state is no longer SENDING.
  */
-int mbedtls_ssl_resend( mbedtls_ssl_context *ssl )
+int mbedtls_ssl_flight_transmit( mbedtls_ssl_context *ssl )
 {
-    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> mbedtls_ssl_resend" ) );
+    int ret;
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> mbedtls_ssl_flight_transmit" ) );
 
     if( ssl->handshake->retransmit_state != MBEDTLS_SSL_RETRANS_SENDING )
     {
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "initialise resending" ) );
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "initialise flight transmission" ) );
 
         ssl->handshake->cur_msg = ssl->handshake->flight;
+        ssl->handshake->cur_msg_p = ssl->handshake->flight->p + 12;
         ssl_swap_epochs( ssl );
 
         ssl->handshake->retransmit_state = MBEDTLS_SSL_RETRANS_SENDING;
@@ -2843,33 +2964,129 @@ int mbedtls_ssl_resend( mbedtls_ssl_context *ssl )
 
     while( ssl->handshake->cur_msg != NULL )
     {
-        int ret;
-        mbedtls_ssl_flight_item *cur = ssl->handshake->cur_msg;
+        size_t max_frag_len;
+        const mbedtls_ssl_flight_item * const cur = ssl->handshake->cur_msg;
+
+        int const is_finished =
+            ( cur->type == MBEDTLS_SSL_MSG_HANDSHAKE &&
+              cur->p[0] == MBEDTLS_SSL_HS_FINISHED );
+
+        uint8_t const force_flush = ssl->disable_datagram_packing == 1 ?
+            SSL_FORCE_FLUSH : SSL_DONT_FORCE_FLUSH;
 
         /* Swap epochs before sending Finished: we can't do it after
          * sending ChangeCipherSpec, in case write returns WANT_READ.
          * Must be done before copying, may change out_msg pointer */
-        if( cur->type == MBEDTLS_SSL_MSG_HANDSHAKE &&
-            cur->p[0] == MBEDTLS_SSL_HS_FINISHED )
+        if( is_finished && ssl->handshake->cur_msg_p == ( cur->p + 12 ) )
         {
+            MBEDTLS_SSL_DEBUG_MSG( 2, ( "swap epochs to send finished message" ) );
             ssl_swap_epochs( ssl );
         }
 
-        memcpy( ssl->out_msg, cur->p, cur->len );
-        ssl->out_msglen = cur->len;
-        ssl->out_msgtype = cur->type;
+        ret = ssl_get_remaining_payload_in_datagram( ssl );
+        if( ret < 0 )
+            return( ret );
+        max_frag_len = (size_t) ret;
+
+        /* CCS is copied as is, while HS messages may need fragmentation */
+        if( cur->type == MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC )
+        {
+            if( max_frag_len == 0 )
+            {
+                if( ( ret = mbedtls_ssl_flush_output( ssl ) ) != 0 )
+                    return( ret );
+
+                continue;
+            }
+
+            memcpy( ssl->out_msg, cur->p, cur->len );
+            ssl->out_msglen  = cur->len;
+            ssl->out_msgtype = cur->type;
+
+            /* Update position inside current message */
+            ssl->handshake->cur_msg_p += cur->len;
+        }
+        else
+        {
+            const unsigned char * const p = ssl->handshake->cur_msg_p;
+            const size_t hs_len = cur->len - 12;
+            const size_t frag_off = p - ( cur->p + 12 );
+            const size_t rem_len = hs_len - frag_off;
+            size_t cur_hs_frag_len, max_hs_frag_len;
 
-        ssl->handshake->cur_msg = cur->next;
+            if( ( max_frag_len < 12 ) || ( max_frag_len == 12 && hs_len != 0 ) )
+            {
+                if( is_finished )
+                    ssl_swap_epochs( ssl );
 
-        MBEDTLS_SSL_DEBUG_BUF( 3, "resent handshake message header", ssl->out_msg, 12 );
+                if( ( ret = mbedtls_ssl_flush_output( ssl ) ) != 0 )
+                    return( ret );
+
+                continue;
+            }
+            max_hs_frag_len = max_frag_len - 12;
+
+            cur_hs_frag_len = rem_len > max_hs_frag_len ?
+                max_hs_frag_len : rem_len;
+
+            if( frag_off == 0 && cur_hs_frag_len != hs_len )
+            {
+                MBEDTLS_SSL_DEBUG_MSG( 2, ( "fragmenting handshake message (%u > %u)",
+                                            (unsigned) cur_hs_frag_len,
+                                            (unsigned) max_hs_frag_len ) );
+            }
+
+            /* Messages are stored with handshake headers as if not fragmented,
+             * copy beginning of headers then fill fragmentation fields.
+             * Handshake headers: type(1) len(3) seq(2) f_off(3) f_len(3) */
+            memcpy( ssl->out_msg, cur->p, 6 );
+
+            ssl->out_msg[6] = ( ( frag_off >> 16 ) & 0xff );
+            ssl->out_msg[7] = ( ( frag_off >>  8 ) & 0xff );
+            ssl->out_msg[8] = ( ( frag_off       ) & 0xff );
+
+            ssl->out_msg[ 9] = ( ( cur_hs_frag_len >> 16 ) & 0xff );
+            ssl->out_msg[10] = ( ( cur_hs_frag_len >>  8 ) & 0xff );
+            ssl->out_msg[11] = ( ( cur_hs_frag_len       ) & 0xff );
+
+            MBEDTLS_SSL_DEBUG_BUF( 3, "handshake header", ssl->out_msg, 12 );
+
+            /* Copy the handshake message content and set records fields */
+            memcpy( ssl->out_msg + 12, p, cur_hs_frag_len );
+            ssl->out_msglen = cur_hs_frag_len + 12;
+            ssl->out_msgtype = cur->type;
+
+            /* Update position inside current message */
+            ssl->handshake->cur_msg_p += cur_hs_frag_len;
+        }
+
+        /* If done with the current message move to the next one if any */
+        if( ssl->handshake->cur_msg_p >= cur->p + cur->len )
+        {
+            if( cur->next != NULL )
+            {
+                ssl->handshake->cur_msg = cur->next;
+                ssl->handshake->cur_msg_p = cur->next->p + 12;
+            }
+            else
+            {
+                ssl->handshake->cur_msg = NULL;
+                ssl->handshake->cur_msg_p = NULL;
+            }
+        }
 
-        if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+        /* Actually send the message out */
+        if( ( ret = mbedtls_ssl_write_record( ssl, force_flush ) ) != 0 )
         {
             MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
             return( ret );
         }
     }
 
+    if( ( ret = mbedtls_ssl_flush_output( ssl ) ) != 0 )
+        return( ret );
+
+    /* Update state and set timer */
     if( ssl->state == MBEDTLS_SSL_HANDSHAKE_OVER )
         ssl->handshake->retransmit_state = MBEDTLS_SSL_RETRANS_FINISHED;
     else
@@ -2878,7 +3095,7 @@ int mbedtls_ssl_resend( mbedtls_ssl_context *ssl )
         ssl_set_timer( ssl, ssl->handshake->retransmit_timeout );
     }
 
-    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= mbedtls_ssl_resend" ) );
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= mbedtls_ssl_flight_transmit" ) );
 
     return( 0 );
 }
@@ -2896,6 +3113,12 @@ void mbedtls_ssl_recv_flight_completed( mbedtls_ssl_context *ssl )
     /* The next incoming flight will start with this msg_seq */
     ssl->handshake->in_flight_start_seq = ssl->handshake->in_msg_seq;
 
+    /* We don't want to remember CCS's across flight boundaries. */
+    ssl->handshake->buffering.seen_ccs = 0;
+
+    /* Clear future message buffering structure. */
+    ssl_buffering_free( ssl );
+
     /* Cancel timer */
     ssl_set_timer( ssl, 0 );
 
@@ -2927,43 +3150,102 @@ void mbedtls_ssl_send_flight_completed( mbedtls_ssl_context *ssl )
 #endif /* MBEDTLS_SSL_PROTO_DTLS */
 
 /*
- * Record layer functions
+ * Handshake layer functions
  */
 
 /*
- * Write current record.
- * Uses ssl->out_msgtype, ssl->out_msglen and bytes at ssl->out_msg.
+ * Write (DTLS: or queue) current handshake (including CCS) message.
+ *
+ *  - fill in handshake headers
+ *  - update handshake checksum
+ *  - DTLS: save message for resending
+ *  - then pass to the record layer
+ *
+ * DTLS: except for HelloRequest, messages are only queued, and will only be
+ * actually sent when calling flight_transmit() or resend().
+ *
+ * Inputs:
+ *  - ssl->out_msglen: 4 + actual handshake message len
+ *      (4 is the size of handshake headers for TLS)
+ *  - ssl->out_msg[0]: the handshake type (ClientHello, ServerHello, etc)
+ *  - ssl->out_msg + 4: the handshake message body
+ *
+ * Outputs, ie state before passing to flight_append() or write_record():
+ *   - ssl->out_msglen: the length of the record contents
+ *      (including handshake headers but excluding record headers)
+ *   - ssl->out_msg: the record contents (handshake headers + content)
  */
-int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
+int mbedtls_ssl_write_handshake_msg( mbedtls_ssl_context *ssl )
 {
-    int ret, done = 0, out_msg_type;
-    size_t len = ssl->out_msglen;
+    int ret;
+    const size_t hs_len = ssl->out_msglen - 4;
+    const unsigned char hs_type = ssl->out_msg[0];
 
-    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> write record" ) );
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> write handshake message" ) );
+
+    /*
+     * Sanity checks
+     */
+    if( ssl->out_msgtype != MBEDTLS_SSL_MSG_HANDSHAKE          &&
+        ssl->out_msgtype != MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC )
+    {
+        /* In SSLv3, the client might send a NoCertificate alert. */
+#if defined(MBEDTLS_SSL_PROTO_SSL3) && defined(MBEDTLS_SSL_CLI_C)
+        if( ! ( ssl->minor_ver      == MBEDTLS_SSL_MINOR_VERSION_0 &&
+                ssl->out_msgtype    == MBEDTLS_SSL_MSG_ALERT       &&
+                ssl->conf->endpoint == MBEDTLS_SSL_IS_CLIENT ) )
+#endif /* MBEDTLS_SSL_PROTO_SSL3 && MBEDTLS_SSL_SRV_C */
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+            return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+        }
+    }
+
+    /* Whenever we send anything different from a
+     * HelloRequest we should be in a handshake - double check. */
+    if( ! ( ssl->out_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE &&
+            hs_type          == MBEDTLS_SSL_HS_HELLO_REQUEST ) &&
+        ssl->handshake == NULL )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+        return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+    }
 
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
     if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
         ssl->handshake != NULL &&
         ssl->handshake->retransmit_state == MBEDTLS_SSL_RETRANS_SENDING )
     {
-        ; /* Skip special handshake treatment when resending */
+        MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+        return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
     }
-    else
 #endif
-    if( ssl->out_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE )
-    {
-        out_msg_type = ssl->out_msg[0];
 
-        if( out_msg_type != MBEDTLS_SSL_HS_HELLO_REQUEST &&
-            ssl->handshake == NULL )
-        {
-            MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
-            return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
-        }
+    /* Double-check that we did not exceed the bounds
+     * of the outgoing record buffer.
+     * This should never fail as the various message
+     * writing functions must obey the bounds of the
+     * outgoing record buffer, but better be safe.
+     *
+     * Note: We deliberately do not check for the MTU or MFL here.
+     */
+    if( ssl->out_msglen > MBEDTLS_SSL_OUT_CONTENT_LEN )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 1, ( "Record too large: "
+                                    "size %u, maximum %u",
+                                    (unsigned) ssl->out_msglen,
+                                    (unsigned) MBEDTLS_SSL_OUT_CONTENT_LEN ) );
+        return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+    }
 
-        ssl->out_msg[1] = (unsigned char)( ( len - 4 ) >> 16 );
-        ssl->out_msg[2] = (unsigned char)( ( len - 4 ) >>  8 );
-        ssl->out_msg[3] = (unsigned char)( ( len - 4 )       );
+    /*
+     * Fill handshake headers
+     */
+    if( ssl->out_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE )
+    {
+        ssl->out_msg[1] = (unsigned char)( hs_len >> 16 );
+        ssl->out_msg[2] = (unsigned char)( hs_len >>  8 );
+        ssl->out_msg[3] = (unsigned char)( hs_len       );
 
         /*
          * DTLS has additional fields in the Handshake layer,
@@ -2980,17 +3262,16 @@ int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
             {
                 MBEDTLS_SSL_DEBUG_MSG( 1, ( "DTLS handshake message too large: "
                               "size %u, maximum %u",
-                               (unsigned) ( ssl->in_hslen - 4 ),
+                               (unsigned) ( hs_len ),
                                (unsigned) ( MBEDTLS_SSL_OUT_CONTENT_LEN - 12 ) ) );
                 return( MBEDTLS_ERR_SSL_BAD_INPUT_DATA );
             }
 
-            memmove( ssl->out_msg + 12, ssl->out_msg + 4, len - 4 );
+            memmove( ssl->out_msg + 12, ssl->out_msg + 4, hs_len );
             ssl->out_msglen += 8;
-            len += 8;
 
             /* Write message_seq and update it, except for HelloRequest */
-            if( out_msg_type != MBEDTLS_SSL_HS_HELLO_REQUEST )
+            if( hs_type != MBEDTLS_SSL_HS_HELLO_REQUEST )
             {
                 ssl->out_msg[4] = ( ssl->handshake->out_msg_seq >> 8 ) & 0xFF;
                 ssl->out_msg[5] = ( ssl->handshake->out_msg_seq      ) & 0xFF;
@@ -3002,23 +3283,23 @@ int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
                 ssl->out_msg[5] = 0;
             }
 
-            /* We don't fragment, so frag_offset = 0 and frag_len = len */
+            /* Handshake hashes are computed without fragmentation,
+             * so set frag_offset = 0 and frag_len = hs_len for now */
             memset( ssl->out_msg + 6, 0x00, 3 );
             memcpy( ssl->out_msg + 9, ssl->out_msg + 1, 3 );
         }
 #endif /* MBEDTLS_SSL_PROTO_DTLS */
 
-        if( out_msg_type != MBEDTLS_SSL_HS_HELLO_REQUEST )
-            ssl->handshake->update_checksum( ssl, ssl->out_msg, len );
+        /* Update running hashes of handshake messages seen */
+        if( hs_type != MBEDTLS_SSL_HS_HELLO_REQUEST )
+            ssl->handshake->update_checksum( ssl, ssl->out_msg, ssl->out_msglen );
     }
 
-    /* Save handshake and CCS messages for resending */
+    /* Either send now, or just save to be sent (and resent) later */
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
     if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
-        ssl->handshake != NULL &&
-        ssl->handshake->retransmit_state != MBEDTLS_SSL_RETRANS_SENDING &&
-        ( ssl->out_msgtype == MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC ||
-          ssl->out_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE ) )
+        ! ( ssl->out_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE &&
+            hs_type          == MBEDTLS_SSL_HS_HELLO_REQUEST ) )
     {
         if( ( ret = ssl_flight_append( ssl ) ) != 0 )
         {
@@ -3026,7 +3307,40 @@ int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
             return( ret );
         }
     }
+    else
 #endif
+    {
+        if( ( ret = mbedtls_ssl_write_record( ssl, SSL_FORCE_FLUSH ) ) != 0 )
+        {
+            MBEDTLS_SSL_DEBUG_RET( 1, "ssl_write_record", ret );
+            return( ret );
+        }
+    }
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write handshake message" ) );
+
+    return( 0 );
+}
+
+/*
+ * Record layer functions
+ */
+
+/*
+ * Write current record.
+ *
+ * Uses:
+ *  - ssl->out_msgtype: type of the message (AppData, Handshake, Alert, CCS)
+ *  - ssl->out_msglen: length of the record content (excl headers)
+ *  - ssl->out_msg: record content
+ */
+int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl, uint8_t force_flush )
+{
+    int ret, done = 0;
+    size_t len = ssl->out_msglen;
+    uint8_t flush = force_flush;
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> write record" ) );
 
 #if defined(MBEDTLS_ZLIB_SUPPORT)
     if( ssl->transform_out != NULL &&
@@ -3060,10 +3374,14 @@ int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
 #endif /* MBEDTLS_SSL_HW_RECORD_ACCEL */
     if( !done )
     {
+        unsigned i;
+        size_t protected_record_size;
+
         ssl->out_hdr[0] = (unsigned char) ssl->out_msgtype;
         mbedtls_ssl_write_version( ssl->major_ver, ssl->minor_ver,
                            ssl->conf->transport, ssl->out_hdr + 1 );
 
+        memcpy( ssl->out_ctr, ssl->cur_out_ctr, 8 );
         ssl->out_len[0] = (unsigned char)( len >> 8 );
         ssl->out_len[1] = (unsigned char)( len      );
 
@@ -3080,18 +3398,76 @@ int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
             ssl->out_len[1] = (unsigned char)( len      );
         }
 
-        ssl->out_left = mbedtls_ssl_hdr_len( ssl ) + ssl->out_msglen;
+        protected_record_size = len + mbedtls_ssl_hdr_len( ssl );
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+        /* In case of DTLS, double-check that we don't exceed
+         * the remaining space in the datagram. */
+        if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM )
+        {
+            ret = ssl_get_remaining_space_in_datagram( ssl );
+            if( ret < 0 )
+                return( ret );
+
+            if( protected_record_size > (size_t) ret )
+            {
+                /* Should never happen */
+                return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+            }
+        }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
         MBEDTLS_SSL_DEBUG_MSG( 3, ( "output record: msgtype = %d, "
-                            "version = [%d:%d], msglen = %d",
-                       ssl->out_hdr[0], ssl->out_hdr[1], ssl->out_hdr[2],
-                     ( ssl->out_len[0] << 8 ) | ssl->out_len[1] ) );
+                                    "version = [%d:%d], msglen = %d",
+                                    ssl->out_hdr[0], ssl->out_hdr[1],
+                                    ssl->out_hdr[2], len ) );
 
         MBEDTLS_SSL_DEBUG_BUF( 4, "output record sent to network",
-                       ssl->out_hdr, mbedtls_ssl_hdr_len( ssl ) + ssl->out_msglen );
+                               ssl->out_hdr, protected_record_size );
+
+        ssl->out_left += protected_record_size;
+        ssl->out_hdr  += protected_record_size;
+        ssl_update_out_pointers( ssl, ssl->transform_out );
+
+        for( i = 8; i > ssl_ep_len( ssl ); i-- )
+            if( ++ssl->cur_out_ctr[i - 1] != 0 )
+                break;
+
+        /* The loop goes to its end iff the counter is wrapping */
+        if( i == ssl_ep_len( ssl ) )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "outgoing message counter would wrap" ) );
+            return( MBEDTLS_ERR_SSL_COUNTER_WRAPPING );
+        }
     }
 
-    if( ( ret = mbedtls_ssl_flush_output( ssl ) ) != 0 )
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+        flush == SSL_DONT_FORCE_FLUSH )
+    {
+        size_t remaining;
+        ret = ssl_get_remaining_payload_in_datagram( ssl );
+        if( ret < 0 )
+        {
+            MBEDTLS_SSL_DEBUG_RET( 1, "ssl_get_remaining_payload_in_datagram",
+                                   ret );
+            return( ret );
+        }
+
+        remaining = (size_t) ret;
+        if( remaining == 0 )
+        {
+            flush = SSL_FORCE_FLUSH;
+        }
+        else
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 2, ( "Still %u bytes available in current datagram", (unsigned) remaining ) );
+        }
+    }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
+    if( ( flush == SSL_FORCE_FLUSH ) &&
+        ( ret = mbedtls_ssl_flush_output( ssl ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_flush_output", ret );
         return( ret );
@@ -3103,6 +3479,52 @@ int mbedtls_ssl_write_record( mbedtls_ssl_context *ssl )
 }
 
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
+
+static int ssl_hs_is_proper_fragment( mbedtls_ssl_context *ssl )
+{
+    if( ssl->in_msglen < ssl->in_hslen ||
+        memcmp( ssl->in_msg + 6, "\0\0\0",        3 ) != 0 ||
+        memcmp( ssl->in_msg + 9, ssl->in_msg + 1, 3 ) != 0 )
+    {
+        return( 1 );
+    }
+    return( 0 );
+}
+
+static uint32_t ssl_get_hs_frag_len( mbedtls_ssl_context const *ssl )
+{
+    return( ( ssl->in_msg[9] << 16  ) |
+            ( ssl->in_msg[10] << 8  ) |
+              ssl->in_msg[11] );
+}
+
+static uint32_t ssl_get_hs_frag_off( mbedtls_ssl_context const *ssl )
+{
+    return( ( ssl->in_msg[6] << 16 ) |
+            ( ssl->in_msg[7] << 8  ) |
+              ssl->in_msg[8] );
+}
+
+static int ssl_check_hs_header( mbedtls_ssl_context const *ssl )
+{
+    uint32_t msg_len, frag_off, frag_len;
+
+    msg_len  = ssl_get_hs_total_len( ssl );
+    frag_off = ssl_get_hs_frag_off( ssl );
+    frag_len = ssl_get_hs_frag_len( ssl );
+
+    if( frag_off > msg_len )
+        return( -1 );
+
+    if( frag_len > msg_len - frag_off )
+        return( -1 );
+
+    if( frag_len + 12 > ssl->in_msglen )
+        return( -1 );
+
+    return( 0 );
+}
+
 /*
  * Mark bits in bitmask (used for DTLS HS reassembly)
  */
@@ -3164,161 +3586,29 @@ static int ssl_bitmask_check( unsigned char *mask, size_t len )
     return( 0 );
 }
 
-/*
- * Reassemble fragmented DTLS handshake messages.
- *
- * Use a temporary buffer for reassembly, divided in two parts:
- * - the first holds the reassembled message (including handshake header),
- * - the second holds a bitmask indicating which parts of the message
- *   (excluding headers) have been received so far.
- */
-static int ssl_reassemble_dtls_handshake( mbedtls_ssl_context *ssl )
+/* msg_len does not include the handshake header */
+static size_t ssl_get_reassembly_buffer_size( size_t msg_len,
+                                              unsigned add_bitmap )
 {
-    unsigned char *msg, *bitmask;
-    size_t frag_len, frag_off;
-    size_t msg_len = ssl->in_hslen - 12; /* Without headers */
-
-    if( ssl->handshake == NULL )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "not supported outside handshake (for now)" ) );
-        return( MBEDTLS_ERR_SSL_FEATURE_UNAVAILABLE );
-    }
-
-    /*
-     * For first fragment, check size and allocate buffer
-     */
-    if( ssl->handshake->hs_msg == NULL )
-    {
-        size_t alloc_len;
-
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "initialize reassembly, total length = %d",
-                            msg_len ) );
-
-        if( ssl->in_hslen > MBEDTLS_SSL_IN_CONTENT_LEN )
-        {
-            MBEDTLS_SSL_DEBUG_MSG( 1, ( "handshake message too large" ) );
-            return( MBEDTLS_ERR_SSL_FEATURE_UNAVAILABLE );
-        }
-
-        /* The bitmask needs one bit per byte of message excluding header */
-        alloc_len = 12 + msg_len + msg_len / 8 + ( msg_len % 8 != 0 );
-
-        ssl->handshake->hs_msg = mbedtls_calloc( 1, alloc_len );
-        if( ssl->handshake->hs_msg == NULL )
-        {
-            MBEDTLS_SSL_DEBUG_MSG( 1, ( "alloc failed (%d bytes)", alloc_len ) );
-            return( MBEDTLS_ERR_SSL_ALLOC_FAILED );
-        }
-
-        /* Prepare final header: copy msg_type, length and message_seq,
-         * then add standardised fragment_offset and fragment_length */
-        memcpy( ssl->handshake->hs_msg, ssl->in_msg, 6 );
-        memset( ssl->handshake->hs_msg + 6, 0, 3 );
-        memcpy( ssl->handshake->hs_msg + 9,
-                ssl->handshake->hs_msg + 1, 3 );
-    }
-    else
-    {
-        /* Make sure msg_type and length are consistent */
-        if( memcmp( ssl->handshake->hs_msg, ssl->in_msg, 4 ) != 0 )
-        {
-            MBEDTLS_SSL_DEBUG_MSG( 1, ( "fragment header mismatch" ) );
-            return( MBEDTLS_ERR_SSL_INVALID_RECORD );
-        }
-    }
-
-    msg = ssl->handshake->hs_msg + 12;
-    bitmask = msg + msg_len;
-
-    /*
-     * Check and copy current fragment
-     */
-    frag_off = ( ssl->in_msg[6]  << 16 ) |
-               ( ssl->in_msg[7]  << 8  ) |
-                 ssl->in_msg[8];
-    frag_len = ( ssl->in_msg[9]  << 16 ) |
-               ( ssl->in_msg[10] << 8  ) |
-                 ssl->in_msg[11];
-
-    if( frag_off + frag_len > msg_len )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "invalid fragment offset/len: %d + %d > %d",
-                          frag_off, frag_len, msg_len ) );
-        return( MBEDTLS_ERR_SSL_INVALID_RECORD );
-    }
-
-    if( frag_len + 12 > ssl->in_msglen )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "invalid fragment length: %d + 12 > %d",
-                          frag_len, ssl->in_msglen ) );
-        return( MBEDTLS_ERR_SSL_INVALID_RECORD );
-    }
-
-    MBEDTLS_SSL_DEBUG_MSG( 2, ( "adding fragment, offset = %d, length = %d",
-                        frag_off, frag_len ) );
-
-    memcpy( msg + frag_off, ssl->in_msg + 12, frag_len );
-    ssl_bitmask_set( bitmask, frag_off, frag_len );
-
-    /*
-     * Do we have the complete message by now?
-     * If yes, finalize it, else ask to read the next record.
-     */
-    if( ssl_bitmask_check( bitmask, msg_len ) != 0 )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "message is not complete yet" ) );
-        return( MBEDTLS_ERR_SSL_CONTINUE_PROCESSING );
-    }
-
-    MBEDTLS_SSL_DEBUG_MSG( 2, ( "handshake message completed" ) );
-
-    if( frag_len + 12 < ssl->in_msglen )
-    {
-        /*
-         * We'got more handshake messages in the same record.
-         * This case is not handled now because no know implementation does
-         * that and it's hard to test, so we prefer to fail cleanly for now.
-         */
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "last fragment not alone in its record" ) );
-        return( MBEDTLS_ERR_SSL_FEATURE_UNAVAILABLE );
-    }
-
-    if( ssl->in_left > ssl->next_record_offset )
-    {
-        /*
-         * We've got more data in the buffer after the current record,
-         * that we don't want to overwrite. Move it before writing the
-         * reassembled message, and adjust in_left and next_record_offset.
-         */
-        unsigned char *cur_remain = ssl->in_hdr + ssl->next_record_offset;
-        unsigned char *new_remain = ssl->in_msg + ssl->in_hslen;
-        size_t remain_len = ssl->in_left - ssl->next_record_offset;
-
-        /* First compute and check new lengths */
-        ssl->next_record_offset = new_remain - ssl->in_hdr;
-        ssl->in_left = ssl->next_record_offset + remain_len;
-
-        if( ssl->in_left > MBEDTLS_SSL_IN_BUFFER_LEN -
-                           (size_t)( ssl->in_hdr - ssl->in_buf ) )
-        {
-            MBEDTLS_SSL_DEBUG_MSG( 1, ( "reassembled message too large for buffer" ) );
-            return( MBEDTLS_ERR_SSL_BUFFER_TOO_SMALL );
-        }
+    size_t alloc_len;
 
-        memmove( new_remain, cur_remain, remain_len );
-    }
+    alloc_len  = 12;                                 /* Handshake header */
+    alloc_len += msg_len;                            /* Content buffer   */
 
-    memcpy( ssl->in_msg, ssl->handshake->hs_msg, ssl->in_hslen );
+    if( add_bitmap )
+        alloc_len += msg_len / 8 + ( msg_len % 8 != 0 ); /* Bitmap       */
 
-    mbedtls_free( ssl->handshake->hs_msg );
-    ssl->handshake->hs_msg = NULL;
+    return( alloc_len );
+}
 
-    MBEDTLS_SSL_DEBUG_BUF( 3, "reassembled handshake message",
-                   ssl->in_msg, ssl->in_hslen );
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
-    return( 0 );
+static uint32_t ssl_get_hs_total_len( mbedtls_ssl_context const *ssl )
+{
+    return( ( ssl->in_msg[1] << 16 ) |
+            ( ssl->in_msg[2] << 8  ) |
+              ssl->in_msg[3] );
 }
-#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
 int mbedtls_ssl_prepare_handshake_record( mbedtls_ssl_context *ssl )
 {
@@ -3329,10 +3619,7 @@ int mbedtls_ssl_prepare_handshake_record( mbedtls_ssl_context *ssl )
         return( MBEDTLS_ERR_SSL_INVALID_RECORD );
     }
 
-    ssl->in_hslen = mbedtls_ssl_hs_hdr_len( ssl ) + (
-                    ( ssl->in_msg[1] << 16 ) |
-                    ( ssl->in_msg[2] << 8  ) |
-                      ssl->in_msg[3] );
+    ssl->in_hslen = mbedtls_ssl_hs_hdr_len( ssl ) + ssl_get_hs_total_len( ssl );
 
     MBEDTLS_SSL_DEBUG_MSG( 3, ( "handshake message: msglen ="
                         " %d, type = %d, hslen = %d",
@@ -3344,12 +3631,26 @@ int mbedtls_ssl_prepare_handshake_record( mbedtls_ssl_context *ssl )
         int ret;
         unsigned int recv_msg_seq = ( ssl->in_msg[4] << 8 ) | ssl->in_msg[5];
 
+        if( ssl_check_hs_header( ssl ) != 0 )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "invalid handshake header" ) );
+            return( MBEDTLS_ERR_SSL_INVALID_RECORD );
+        }
+
         if( ssl->handshake != NULL &&
             ( ( ssl->state   != MBEDTLS_SSL_HANDSHAKE_OVER &&
                 recv_msg_seq != ssl->handshake->in_msg_seq ) ||
               ( ssl->state  == MBEDTLS_SSL_HANDSHAKE_OVER &&
                 ssl->in_msg[0] != MBEDTLS_SSL_HS_CLIENT_HELLO ) ) )
         {
+            if( recv_msg_seq > ssl->handshake->in_msg_seq )
+            {
+                MBEDTLS_SSL_DEBUG_MSG( 2, ( "received future handshake message of sequence number %u (next %u)",
+                                            recv_msg_seq,
+                                            ssl->handshake->in_msg_seq ) );
+                return( MBEDTLS_ERR_SSL_EARLY_MESSAGE );
+            }
+
             /* Retransmit only on last message from previous flight, to avoid
              * too many retransmissions.
              * Besides, No sane server ever retransmits HelloVerifyRequest */
@@ -3379,20 +3680,14 @@ int mbedtls_ssl_prepare_handshake_record( mbedtls_ssl_context *ssl )
         }
         /* Wait until message completion to increment in_msg_seq */
 
-        /* Reassemble if current message is fragmented or reassembly is
-         * already in progress */
-        if( ssl->in_msglen < ssl->in_hslen ||
-            memcmp( ssl->in_msg + 6, "\0\0\0",        3 ) != 0 ||
-            memcmp( ssl->in_msg + 9, ssl->in_msg + 1, 3 ) != 0 ||
-            ( ssl->handshake != NULL && ssl->handshake->hs_msg != NULL ) )
+        /* Message reassembly is handled alongside buffering of future
+         * messages; the commonality is that both handshake fragments and
+         * future messages cannot be forwarded immediately to the
+         * handshake logic layer. */
+        if( ssl_hs_is_proper_fragment( ssl ) == 1 )
         {
             MBEDTLS_SSL_DEBUG_MSG( 2, ( "found fragmented DTLS handshake message" ) );
-
-            if( ( ret = ssl_reassemble_dtls_handshake( ssl ) ) != 0 )
-            {
-                MBEDTLS_SSL_DEBUG_RET( 1, "ssl_reassemble_dtls_handshake", ret );
-                return( ret );
-            }
+            return( MBEDTLS_ERR_SSL_EARLY_MESSAGE );
         }
     }
     else
@@ -3409,9 +3704,9 @@ int mbedtls_ssl_prepare_handshake_record( mbedtls_ssl_context *ssl )
 
 void mbedtls_ssl_update_handshake_status( mbedtls_ssl_context *ssl )
 {
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
 
-    if( ssl->state != MBEDTLS_SSL_HANDSHAKE_OVER &&
-        ssl->handshake != NULL )
+    if( ssl->state != MBEDTLS_SSL_HANDSHAKE_OVER && hs != NULL )
     {
         ssl->handshake->update_checksum( ssl, ssl->in_msg, ssl->in_hslen );
     }
@@ -3421,7 +3716,29 @@ void mbedtls_ssl_update_handshake_status( mbedtls_ssl_context *ssl )
     if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
         ssl->handshake != NULL )
     {
-        ssl->handshake->in_msg_seq++;
+        unsigned offset;
+        mbedtls_ssl_hs_buffer *hs_buf;
+
+        /* Increment handshake sequence number */
+        hs->in_msg_seq++;
+
+        /*
+         * Clear up handshake buffering and reassembly structure.
+         */
+
+        /* Free first entry */
+        ssl_buffering_free_slot( ssl, 0 );
+
+        /* Shift all other entries */
+        for( offset = 0, hs_buf = &hs->buffering.hs[0];
+             offset + 1 < MBEDTLS_SSL_MAX_BUFFERED_HS;
+             offset++, hs_buf++ )
+        {
+            *hs_buf = *(hs_buf + 1);
+        }
+
+        /* Create a fresh last entry */
+        memset( hs_buf, 0, sizeof( mbedtls_ssl_hs_buffer ) );
     }
 #endif
 }
@@ -3822,7 +4139,16 @@ static int ssl_parse_record_header( mbedtls_ssl_context *ssl )
             }
             else
 #endif /* MBEDTLS_SSL_DTLS_CLIENT_PORT_REUSE && MBEDTLS_SSL_SRV_C */
+            {
+                /* Consider buffering the record. */
+                if( rec_epoch == (unsigned int) ssl->in_epoch + 1 )
+                {
+                    MBEDTLS_SSL_DEBUG_MSG( 2, ( "Consider record for buffering" ) );
+                    return( MBEDTLS_ERR_SSL_EARLY_MESSAGE );
+                }
+
                 return( MBEDTLS_ERR_SSL_UNEXPECTED_RECORD );
+            }
         }
 
 #if defined(MBEDTLS_SSL_DTLS_ANTI_REPLAY)
@@ -3835,15 +4161,6 @@ static int ssl_parse_record_header( mbedtls_ssl_context *ssl )
         }
 #endif
 
-        /* Drop unexpected ChangeCipherSpec messages */
-        if( ssl->in_msgtype == MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC &&
-            ssl->state != MBEDTLS_SSL_CLIENT_CHANGE_CIPHER_SPEC &&
-            ssl->state != MBEDTLS_SSL_SERVER_CHANGE_CIPHER_SPEC )
-        {
-            MBEDTLS_SSL_DEBUG_MSG( 1, ( "dropping unexpected ChangeCipherSpec" ) );
-            return( MBEDTLS_ERR_SSL_UNEXPECTED_RECORD );
-        }
-
         /* Drop unexpected ApplicationData records,
          * except at the beginning of renegotiations */
         if( ssl->in_msgtype == MBEDTLS_SSL_MSG_APPLICATION_DATA &&
@@ -3980,7 +4297,14 @@ static void ssl_handshake_wrapup_free_hs_transform( mbedtls_ssl_context *ssl );
  * RFC 6347 4.1.2.7) and continue reading until a valid record is found.
  *
  */
-int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl )
+
+/* Helper functions for mbedtls_ssl_read_record(). */
+static int ssl_consume_current_message( mbedtls_ssl_context *ssl );
+static int ssl_get_next_record( mbedtls_ssl_context *ssl );
+static int ssl_record_is_in_progress( mbedtls_ssl_context *ssl );
+
+int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl,
+                             unsigned update_hs_digest )
 {
     int ret;
 
@@ -3990,17 +4314,53 @@ int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl )
     {
         do {
 
-            do ret = mbedtls_ssl_read_record_layer( ssl );
-            while( ret == MBEDTLS_ERR_SSL_CONTINUE_PROCESSING );
-
+            ret = ssl_consume_current_message( ssl );
             if( ret != 0 )
-            {
-                MBEDTLS_SSL_DEBUG_RET( 1, ( "mbedtls_ssl_read_record_layer" ), ret );
                 return( ret );
+
+            if( ssl_record_is_in_progress( ssl ) == 0 )
+            {
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+                int have_buffered = 0;
+
+                /* We only check for buffered messages if the
+                 * current datagram is fully consumed. */
+                if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+                    ssl_next_record_is_in_datagram( ssl ) == 0 )
+                {
+                    if( ssl_load_buffered_message( ssl ) == 0 )
+                        have_buffered = 1;
+                }
+
+                if( have_buffered == 0 )
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+                {
+                    ret = ssl_get_next_record( ssl );
+                    if( ret == MBEDTLS_ERR_SSL_CONTINUE_PROCESSING )
+                        continue;
+
+                    if( ret != 0 )
+                    {
+                        MBEDTLS_SSL_DEBUG_RET( 1, ( "ssl_get_next_record" ), ret );
+                        return( ret );
+                    }
+                }
             }
 
             ret = mbedtls_ssl_handle_message_type( ssl );
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+            if( ret == MBEDTLS_ERR_SSL_EARLY_MESSAGE )
+            {
+                /* Buffer future message */
+                ret = ssl_buffer_message( ssl );
+                if( ret != 0 )
+                    return( ret );
+
+                ret = MBEDTLS_ERR_SSL_CONTINUE_PROCESSING;
+            }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
         } while( MBEDTLS_ERR_SSL_NON_FATAL           == ret  ||
                  MBEDTLS_ERR_SSL_CONTINUE_PROCESSING == ret );
 
@@ -4010,14 +4370,15 @@ int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl )
             return( ret );
         }
 
-        if( ssl->in_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE )
+        if( ssl->in_msgtype == MBEDTLS_SSL_MSG_HANDSHAKE &&
+            update_hs_digest == 1 )
         {
             mbedtls_ssl_update_handshake_status( ssl );
         }
     }
     else
     {
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= reuse previously read message" ) );
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "reuse previously read message" ) );
         ssl->keep_current_message = 0;
     }
 
@@ -4026,13 +4387,350 @@ int mbedtls_ssl_read_record( mbedtls_ssl_context *ssl )
     return( 0 );
 }
 
-int mbedtls_ssl_read_record_layer( mbedtls_ssl_context *ssl )
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+static int ssl_next_record_is_in_datagram( mbedtls_ssl_context *ssl )
 {
-    int ret;
+    if( ssl->in_left > ssl->next_record_offset )
+        return( 1 );
+
+    return( 0 );
+}
+
+static int ssl_load_buffered_message( mbedtls_ssl_context *ssl )
+{
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+    mbedtls_ssl_hs_buffer * hs_buf;
+    int ret = 0;
+
+    if( hs == NULL )
+        return( -1 );
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> ssl_load_buffered_messsage" ) );
+
+    if( ssl->state == MBEDTLS_SSL_CLIENT_CHANGE_CIPHER_SPEC ||
+        ssl->state == MBEDTLS_SSL_SERVER_CHANGE_CIPHER_SPEC )
+    {
+        /* Check if we have seen a ChangeCipherSpec before.
+         * If yes, synthesize a CCS record. */
+        if( !hs->buffering.seen_ccs )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 2, ( "CCS not seen in the current flight" ) );
+            ret = -1;
+            goto exit;
+        }
+
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Injecting buffered CCS message" ) );
+        ssl->in_msgtype = MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC;
+        ssl->in_msglen = 1;
+        ssl->in_msg[0] = 1;
+
+        /* As long as they are equal, the exact value doesn't matter. */
+        ssl->in_left            = 0;
+        ssl->next_record_offset = 0;
+
+        hs->buffering.seen_ccs = 0;
+        goto exit;
+    }
+
+#if defined(MBEDTLS_DEBUG_C)
+    /* Debug only */
+    {
+        unsigned offset;
+        for( offset = 1; offset < MBEDTLS_SSL_MAX_BUFFERED_HS; offset++ )
+        {
+            hs_buf = &hs->buffering.hs[offset];
+            if( hs_buf->is_valid == 1 )
+            {
+                MBEDTLS_SSL_DEBUG_MSG( 2, ( "Future message with sequence number %u %s buffered.",
+                            hs->in_msg_seq + offset,
+                            hs_buf->is_complete ? "fully" : "partially" ) );
+            }
+        }
+    }
+#endif /* MBEDTLS_DEBUG_C */
+
+    /* Check if we have buffered and/or fully reassembled the
+     * next handshake message. */
+    hs_buf = &hs->buffering.hs[0];
+    if( ( hs_buf->is_valid == 1 ) && ( hs_buf->is_complete == 1 ) )
+    {
+        /* Synthesize a record containing the buffered HS message. */
+        size_t msg_len = ( hs_buf->data[1] << 16 ) |
+                         ( hs_buf->data[2] << 8  ) |
+                           hs_buf->data[3];
+
+        /* Double-check that we haven't accidentally buffered
+         * a message that doesn't fit into the input buffer. */
+        if( msg_len + 12 > MBEDTLS_SSL_IN_CONTENT_LEN )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+            return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+        }
+
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Next handshake message has been buffered - load" ) );
+        MBEDTLS_SSL_DEBUG_BUF( 3, "Buffered handshake message (incl. header)",
+                               hs_buf->data, msg_len + 12 );
+
+        ssl->in_msgtype = MBEDTLS_SSL_MSG_HANDSHAKE;
+        ssl->in_hslen   = msg_len + 12;
+        ssl->in_msglen  = msg_len + 12;
+        memcpy( ssl->in_msg, hs_buf->data, ssl->in_hslen );
+
+        ret = 0;
+        goto exit;
+    }
+    else
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Next handshake message %u not or only partially bufffered",
+                                    hs->in_msg_seq ) );
+    }
+
+    ret = -1;
+
+exit:
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= ssl_load_buffered_message" ) );
+    return( ret );
+}
+
+static int ssl_buffer_make_space( mbedtls_ssl_context *ssl,
+                                  size_t desired )
+{
+    int offset;
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "Attempt to free buffered messages to have %u bytes available",
+                                (unsigned) desired ) );
+
+    /* Get rid of future records epoch first, if such exist. */
+    ssl_free_buffered_record( ssl );
+
+    /* Check if we have enough space available now. */
+    if( desired <= ( MBEDTLS_SSL_DTLS_MAX_BUFFERING -
+                     hs->buffering.total_bytes_buffered ) )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Enough space available after freeing future epoch record" ) );
+        return( 0 );
+    }
+
+    /* We don't have enough space to buffer the next expected handshake
+     * message. Remove buffers used for future messages to gain space,
+     * starting with the most distant one. */
+    for( offset = MBEDTLS_SSL_MAX_BUFFERED_HS - 1;
+         offset >= 0; offset-- )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Free buffering slot %d to make space for reassembly of next handshake message",
+                                    offset ) );
+
+        ssl_buffering_free_slot( ssl, (uint8_t) offset );
+
+        /* Check if we have enough space available now. */
+        if( desired <= ( MBEDTLS_SSL_DTLS_MAX_BUFFERING -
+                         hs->buffering.total_bytes_buffered ) )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 2, ( "Enough space available after freeing buffered HS messages" ) );
+            return( 0 );
+        }
+    }
+
+    return( -1 );
+}
+
+static int ssl_buffer_message( mbedtls_ssl_context *ssl )
+{
+    int ret = 0;
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+
+    if( hs == NULL )
+        return( 0 );
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> ssl_buffer_message" ) );
+
+    switch( ssl->in_msgtype )
+    {
+        case MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC:
+            MBEDTLS_SSL_DEBUG_MSG( 2, ( "Remember CCS message" ) );
+
+            hs->buffering.seen_ccs = 1;
+            break;
+
+        case MBEDTLS_SSL_MSG_HANDSHAKE:
+        {
+            unsigned recv_msg_seq_offset;
+            unsigned recv_msg_seq = ( ssl->in_msg[4] << 8 ) | ssl->in_msg[5];
+            mbedtls_ssl_hs_buffer *hs_buf;
+            size_t msg_len = ssl->in_hslen - 12;
+
+            /* We should never receive an old handshake
+             * message - double-check nonetheless. */
+            if( recv_msg_seq < ssl->handshake->in_msg_seq )
+            {
+                MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+                return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+            }
+
+            recv_msg_seq_offset = recv_msg_seq - ssl->handshake->in_msg_seq;
+            if( recv_msg_seq_offset >= MBEDTLS_SSL_MAX_BUFFERED_HS )
+            {
+                /* Silently ignore -- message too far in the future */
+                MBEDTLS_SSL_DEBUG_MSG( 2,
+                 ( "Ignore future HS message with sequence number %u, "
+                   "buffering window %u - %u",
+                   recv_msg_seq, ssl->handshake->in_msg_seq,
+                   ssl->handshake->in_msg_seq + MBEDTLS_SSL_MAX_BUFFERED_HS - 1 ) );
+
+                goto exit;
+            }
+
+            MBEDTLS_SSL_DEBUG_MSG( 2, ( "Buffering HS message with sequence number %u, offset %u ",
+                                        recv_msg_seq, recv_msg_seq_offset ) );
+
+            hs_buf = &hs->buffering.hs[ recv_msg_seq_offset ];
+
+            /* Check if the buffering for this seq nr has already commenced. */
+            if( !hs_buf->is_valid )
+            {
+                size_t reassembly_buf_sz;
+
+                hs_buf->is_fragmented =
+                    ( ssl_hs_is_proper_fragment( ssl ) == 1 );
+
+                /* We copy the message back into the input buffer
+                 * after reassembly, so check that it's not too large.
+                 * This is an implementation-specific limitation
+                 * and not one from the standard, hence it is not
+                 * checked in ssl_check_hs_header(). */
+                if( msg_len + 12 > MBEDTLS_SSL_IN_CONTENT_LEN )
+                {
+                    /* Ignore message */
+                    goto exit;
+                }
 
+                /* Check if we have enough space to buffer the message. */
+                if( hs->buffering.total_bytes_buffered >
+                    MBEDTLS_SSL_DTLS_MAX_BUFFERING )
+                {
+                    MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+                    return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+                }
+
+                reassembly_buf_sz = ssl_get_reassembly_buffer_size( msg_len,
+                                                       hs_buf->is_fragmented );
+
+                if( reassembly_buf_sz > ( MBEDTLS_SSL_DTLS_MAX_BUFFERING -
+                                          hs->buffering.total_bytes_buffered ) )
+                {
+                    if( recv_msg_seq_offset > 0 )
+                    {
+                        /* If we can't buffer a future message because
+                         * of space limitations -- ignore. */
+                        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Buffering of future message of size %u would exceed the compile-time limit %u (already %u bytes buffered) -- ignore\n",
+                             (unsigned) msg_len, MBEDTLS_SSL_DTLS_MAX_BUFFERING,
+                             (unsigned) hs->buffering.total_bytes_buffered ) );
+                        goto exit;
+                    }
+                    else
+                    {
+                        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Buffering of future message of size %u would exceed the compile-time limit %u (already %u bytes buffered) -- attempt to make space by freeing buffered future messages\n",
+                             (unsigned) msg_len, MBEDTLS_SSL_DTLS_MAX_BUFFERING,
+                             (unsigned) hs->buffering.total_bytes_buffered ) );
+                    }
+
+                    if( ssl_buffer_make_space( ssl, reassembly_buf_sz ) != 0 )
+                    {
+                        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Reassembly of next message of size %u (%u with bitmap) would exceed the compile-time limit %u (already %u bytes buffered) -- fail\n",
+                             (unsigned) msg_len,
+                             (unsigned) reassembly_buf_sz,
+                             MBEDTLS_SSL_DTLS_MAX_BUFFERING,
+                             (unsigned) hs->buffering.total_bytes_buffered ) );
+                        ret = MBEDTLS_ERR_SSL_BUFFER_TOO_SMALL;
+                        goto exit;
+                    }
+                }
+
+                MBEDTLS_SSL_DEBUG_MSG( 2, ( "initialize reassembly, total length = %d",
+                                            msg_len ) );
+
+                hs_buf->data = mbedtls_calloc( 1, reassembly_buf_sz );
+                if( hs_buf->data == NULL )
+                {
+                    ret = MBEDTLS_ERR_SSL_ALLOC_FAILED;
+                    goto exit;
+                }
+                hs_buf->data_len = reassembly_buf_sz;
+
+                /* Prepare final header: copy msg_type, length and message_seq,
+                 * then add standardised fragment_offset and fragment_length */
+                memcpy( hs_buf->data, ssl->in_msg, 6 );
+                memset( hs_buf->data + 6, 0, 3 );
+                memcpy( hs_buf->data + 9, hs_buf->data + 1, 3 );
+
+                hs_buf->is_valid = 1;
+
+                hs->buffering.total_bytes_buffered += reassembly_buf_sz;
+            }
+            else
+            {
+                /* Make sure msg_type and length are consistent */
+                if( memcmp( hs_buf->data, ssl->in_msg, 4 ) != 0 )
+                {
+                    MBEDTLS_SSL_DEBUG_MSG( 1, ( "Fragment header mismatch - ignore" ) );
+                    /* Ignore */
+                    goto exit;
+                }
+            }
+
+            if( !hs_buf->is_complete )
+            {
+                size_t frag_len, frag_off;
+                unsigned char * const msg = hs_buf->data + 12;
+
+                /*
+                 * Check and copy current fragment
+                 */
+
+                /* Validation of header fields already done in
+                 * mbedtls_ssl_prepare_handshake_record(). */
+                frag_off = ssl_get_hs_frag_off( ssl );
+                frag_len = ssl_get_hs_frag_len( ssl );
+
+                MBEDTLS_SSL_DEBUG_MSG( 2, ( "adding fragment, offset = %d, length = %d",
+                                            frag_off, frag_len ) );
+                memcpy( msg + frag_off, ssl->in_msg + 12, frag_len );
+
+                if( hs_buf->is_fragmented )
+                {
+                    unsigned char * const bitmask = msg + msg_len;
+                    ssl_bitmask_set( bitmask, frag_off, frag_len );
+                    hs_buf->is_complete = ( ssl_bitmask_check( bitmask,
+                                                               msg_len ) == 0 );
+                }
+                else
+                {
+                    hs_buf->is_complete = 1;
+                }
+
+                MBEDTLS_SSL_DEBUG_MSG( 2, ( "message %scomplete",
+                                   hs_buf->is_complete ? "" : "not yet " ) );
+            }
+
+            break;
+        }
+
+        default:
+            /* We don't buffer other types of messages. */
+            break;
+    }
+
+exit:
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= ssl_buffer_message" ) );
+    return( ret );
+}
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
+static int ssl_consume_current_message( mbedtls_ssl_context *ssl )
+{
     /*
-     * Step A
-     *
      * Consume last content-layer message and potentially
      * update in_msglen which keeps track of the contents'
      * consumption state.
@@ -4114,20 +4812,161 @@ int mbedtls_ssl_read_record_layer( mbedtls_ssl_context *ssl )
         ssl->in_msglen = 0;
     }
 
-    /*
-     * Step B
-     *
-     * Fetch and decode new record if current one is fully consumed.
-     *
-     */
+    return( 0 );
+}
 
+static int ssl_record_is_in_progress( mbedtls_ssl_context *ssl )
+{
     if( ssl->in_msglen > 0 )
+        return( 1 );
+
+    return( 0 );
+}
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+
+static void ssl_free_buffered_record( mbedtls_ssl_context *ssl )
+{
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+    if( hs == NULL )
+        return;
+
+    if( hs->buffering.future_record.data != NULL )
     {
-        /* There's something left to be processed in the current record. */
+        hs->buffering.total_bytes_buffered -=
+            hs->buffering.future_record.len;
+
+        mbedtls_free( hs->buffering.future_record.data );
+        hs->buffering.future_record.data = NULL;
+    }
+}
+
+static int ssl_load_buffered_record( mbedtls_ssl_context *ssl )
+{
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+    unsigned char * rec;
+    size_t rec_len;
+    unsigned rec_epoch;
+
+    if( ssl->conf->transport != MBEDTLS_SSL_TRANSPORT_DATAGRAM )
+        return( 0 );
+
+    if( hs == NULL )
+        return( 0 );
+
+    rec       = hs->buffering.future_record.data;
+    rec_len   = hs->buffering.future_record.len;
+    rec_epoch = hs->buffering.future_record.epoch;
+
+    if( rec == NULL )
         return( 0 );
+
+    /* Only consider loading future records if the
+     * input buffer is empty. */
+    if( ssl_next_record_is_in_datagram( ssl ) == 1 )
+        return( 0 );
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> ssl_load_buffered_record" ) );
+
+    if( rec_epoch != ssl->in_epoch )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Buffered record not from current epoch." ) );
+        goto exit;
     }
 
-    /* Current record either fully processed or to be discarded. */
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "Found buffered record from current epoch - load" ) );
+
+    /* Double-check that the record is not too large */
+    if( rec_len > MBEDTLS_SSL_IN_BUFFER_LEN -
+        (size_t)( ssl->in_hdr - ssl->in_buf ) )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+        return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
+    }
+
+    memcpy( ssl->in_hdr, rec, rec_len );
+    ssl->in_left = rec_len;
+    ssl->next_record_offset = 0;
+
+    ssl_free_buffered_record( ssl );
+
+exit:
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= ssl_load_buffered_record" ) );
+    return( 0 );
+}
+
+static int ssl_buffer_future_record( mbedtls_ssl_context *ssl )
+{
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+    size_t const rec_hdr_len = 13;
+    size_t const total_buf_sz = rec_hdr_len + ssl->in_msglen;
+
+    /* Don't buffer future records outside handshakes. */
+    if( hs == NULL )
+        return( 0 );
+
+    /* Only buffer handshake records (we are only interested
+     * in Finished messages). */
+    if( ssl->in_msgtype != MBEDTLS_SSL_MSG_HANDSHAKE )
+        return( 0 );
+
+    /* Don't buffer more than one future epoch record. */
+    if( hs->buffering.future_record.data != NULL )
+        return( 0 );
+
+    /* Don't buffer record if there's not enough buffering space remaining. */
+    if( total_buf_sz > ( MBEDTLS_SSL_DTLS_MAX_BUFFERING -
+                         hs->buffering.total_bytes_buffered ) )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "Buffering of future epoch record of size %u would exceed the compile-time limit %u (already %u bytes buffered) -- ignore\n",
+                        (unsigned) total_buf_sz, MBEDTLS_SSL_DTLS_MAX_BUFFERING,
+                        (unsigned) hs->buffering.total_bytes_buffered ) );
+        return( 0 );
+    }
+
+    /* Buffer record */
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "Buffer record from epoch %u",
+                                ssl->in_epoch + 1 ) );
+    MBEDTLS_SSL_DEBUG_BUF( 3, "Buffered record", ssl->in_hdr,
+                           rec_hdr_len + ssl->in_msglen );
+
+    /* ssl_parse_record_header() only considers records
+     * of the next epoch as candidates for buffering. */
+    hs->buffering.future_record.epoch = ssl->in_epoch + 1;
+    hs->buffering.future_record.len   = total_buf_sz;
+
+    hs->buffering.future_record.data =
+        mbedtls_calloc( 1, hs->buffering.future_record.len );
+    if( hs->buffering.future_record.data == NULL )
+    {
+        /* If we run out of RAM trying to buffer a
+         * record from the next epoch, just ignore. */
+        return( 0 );
+    }
+
+    memcpy( hs->buffering.future_record.data, ssl->in_hdr, total_buf_sz );
+
+    hs->buffering.total_bytes_buffered += total_buf_sz;
+    return( 0 );
+}
+
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
+static int ssl_get_next_record( mbedtls_ssl_context *ssl )
+{
+    int ret;
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    /* We might have buffered a future record; if so,
+     * and if the epoch matches now, load it.
+     * On success, this call will set ssl->in_left to
+     * the length of the buffered record, so that
+     * the calls to ssl_fetch_input() below will
+     * essentially be no-ops. */
+    ret = ssl_load_buffered_record( ssl );
+    if( ret != 0 )
+        return( ret );
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
 
     if( ( ret = mbedtls_ssl_fetch_input( ssl, mbedtls_ssl_hdr_len( ssl ) ) ) != 0 )
     {
@@ -4141,6 +4980,16 @@ int mbedtls_ssl_read_record_layer( mbedtls_ssl_context *ssl )
         if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
             ret != MBEDTLS_ERR_SSL_CLIENT_RECONNECT )
         {
+            if( ret == MBEDTLS_ERR_SSL_EARLY_MESSAGE )
+            {
+                ret = ssl_buffer_future_record( ssl );
+                if( ret != 0 )
+                    return( ret );
+
+                /* Fall through to handling of unexpected records */
+                ret = MBEDTLS_ERR_SSL_UNEXPECTED_RECORD;
+            }
+
             if( ret == MBEDTLS_ERR_SSL_UNEXPECTED_RECORD )
             {
                 /* Skip unexpected record (but not whole datagram) */
@@ -4272,6 +5121,39 @@ int mbedtls_ssl_handle_message_type( mbedtls_ssl_context *ssl )
         }
     }
 
+    if( ssl->in_msgtype == MBEDTLS_SSL_MSG_CHANGE_CIPHER_SPEC )
+    {
+        if( ssl->in_msglen != 1 )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "invalid CCS message, len: %d",
+                           ssl->in_msglen ) );
+            return( MBEDTLS_ERR_SSL_INVALID_RECORD );
+        }
+
+        if( ssl->in_msg[0] != 1 )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "invalid CCS message, content: %02x",
+                                        ssl->in_msg[0] ) );
+            return( MBEDTLS_ERR_SSL_INVALID_RECORD );
+        }
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+        if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+            ssl->state != MBEDTLS_SSL_CLIENT_CHANGE_CIPHER_SPEC    &&
+            ssl->state != MBEDTLS_SSL_SERVER_CHANGE_CIPHER_SPEC )
+        {
+            if( ssl->handshake == NULL )
+            {
+                MBEDTLS_SSL_DEBUG_MSG( 1, ( "dropping ChangeCipherSpec outside handshake" ) );
+                return( MBEDTLS_ERR_SSL_UNEXPECTED_RECORD );
+            }
+
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "received out-of-order ChangeCipherSpec - remember" ) );
+            return( MBEDTLS_ERR_SSL_EARLY_MESSAGE );
+        }
+#endif
+    }
+
     if( ssl->in_msgtype == MBEDTLS_SSL_MSG_ALERT )
     {
         if( ssl->in_msglen != 2 )
@@ -4373,7 +5255,7 @@ int mbedtls_ssl_send_alert_message( mbedtls_ssl_context *ssl,
     ssl->out_msg[0] = level;
     ssl->out_msg[1] = message;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_record( ssl, SSL_FORCE_FLUSH ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
         return( ret );
@@ -4542,9 +5424,9 @@ write_msg:
 
     ssl->state++;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -4553,60 +5435,16 @@ write_msg:
     return( ret );
 }
 
-int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
+/*
+ * Once the certificate message is read, parse it into a cert chain and
+ * perform basic checks, but leave actual verification to the caller
+ */
+static int ssl_parse_certificate_chain( mbedtls_ssl_context *ssl )
 {
-    int ret = MBEDTLS_ERR_SSL_FEATURE_UNAVAILABLE;
+    int ret;
     size_t i, n;
-    const mbedtls_ssl_ciphersuite_t *ciphersuite_info = ssl->transform_negotiate->ciphersuite_info;
-    int authmode = ssl->conf->authmode;
     uint8_t alert;
 
-    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> parse certificate" ) );
-
-    if( ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_PSK ||
-        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_DHE_PSK ||
-        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_ECDHE_PSK ||
-        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_ECJPAKE )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= skip parse certificate" ) );
-        ssl->state++;
-        return( 0 );
-    }
-
-#if defined(MBEDTLS_SSL_SRV_C)
-    if( ssl->conf->endpoint == MBEDTLS_SSL_IS_SERVER &&
-        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_RSA_PSK )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= skip parse certificate" ) );
-        ssl->state++;
-        return( 0 );
-    }
-
-#if defined(MBEDTLS_SSL_SERVER_NAME_INDICATION)
-    if( ssl->handshake->sni_authmode != MBEDTLS_SSL_VERIFY_UNSET )
-        authmode = ssl->handshake->sni_authmode;
-#endif
-
-    if( ssl->conf->endpoint == MBEDTLS_SSL_IS_SERVER &&
-        authmode == MBEDTLS_SSL_VERIFY_NONE )
-    {
-        ssl->session_negotiate->verify_result = MBEDTLS_X509_BADCERT_SKIP_VERIFY;
-        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= skip parse certificate" ) );
-        ssl->state++;
-        return( 0 );
-    }
-#endif
-
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
-    {
-        /* mbedtls_ssl_read_record may have sent an alert already. We
-           let it decide whether to alert. */
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
-        return( ret );
-    }
-
-    ssl->state++;
-
 #if defined(MBEDTLS_SSL_SRV_C)
 #if defined(MBEDTLS_SSL_PROTO_SSL3)
     /*
@@ -4626,10 +5464,7 @@ int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
                one. The client should know what's going on, so we
                don't send an alert. */
             ssl->session_negotiate->verify_result = MBEDTLS_X509_BADCERT_MISSING;
-            if( authmode == MBEDTLS_SSL_VERIFY_OPTIONAL )
-                return( 0 );
-            else
-                return( MBEDTLS_ERR_SSL_NO_CLIENT_CERTIFICATE );
+            return( MBEDTLS_ERR_SSL_NO_CLIENT_CERTIFICATE );
         }
     }
 #endif /* MBEDTLS_SSL_PROTO_SSL3 */
@@ -4650,10 +5485,7 @@ int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
                one. The client should know what's going on, so we
                don't send an alert. */
             ssl->session_negotiate->verify_result = MBEDTLS_X509_BADCERT_MISSING;
-            if( authmode == MBEDTLS_SSL_VERIFY_OPTIONAL )
-                return( 0 );
-            else
-                return( MBEDTLS_ERR_SSL_NO_CLIENT_CERTIFICATE );
+            return( MBEDTLS_ERR_SSL_NO_CLIENT_CERTIFICATE );
         }
     }
 #endif /* MBEDTLS_SSL_PROTO_TLS1 || MBEDTLS_SSL_PROTO_TLS1_1 || \
@@ -4803,6 +5635,94 @@ int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
     }
 #endif /* MBEDTLS_SSL_RENEGOTIATION && MBEDTLS_SSL_CLI_C */
 
+    return( 0 );
+}
+
+int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
+{
+    int ret;
+    const mbedtls_ssl_ciphersuite_t * const ciphersuite_info =
+          ssl->transform_negotiate->ciphersuite_info;
+#if defined(MBEDTLS_SSL_SRV_C) && defined(MBEDTLS_SSL_SERVER_NAME_INDICATION)
+    const int authmode = ssl->handshake->sni_authmode != MBEDTLS_SSL_VERIFY_UNSET
+                       ? ssl->handshake->sni_authmode
+                       : ssl->conf->authmode;
+#else
+    const int authmode = ssl->conf->authmode;
+#endif
+    void *rs_ctx = NULL;
+
+    MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> parse certificate" ) );
+
+    if( ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_PSK ||
+        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_DHE_PSK ||
+        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_ECDHE_PSK ||
+        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_ECJPAKE )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= skip parse certificate" ) );
+        ssl->state++;
+        return( 0 );
+    }
+
+#if defined(MBEDTLS_SSL_SRV_C)
+    if( ssl->conf->endpoint == MBEDTLS_SSL_IS_SERVER &&
+        ciphersuite_info->key_exchange == MBEDTLS_KEY_EXCHANGE_RSA_PSK )
+    {
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= skip parse certificate" ) );
+        ssl->state++;
+        return( 0 );
+    }
+
+    if( ssl->conf->endpoint == MBEDTLS_SSL_IS_SERVER &&
+        authmode == MBEDTLS_SSL_VERIFY_NONE )
+    {
+        ssl->session_negotiate->verify_result = MBEDTLS_X509_BADCERT_SKIP_VERIFY;
+        MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= skip parse certificate" ) );
+
+        ssl->state++;
+        return( 0 );
+    }
+#endif
+
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled &&
+        ssl->handshake->ecrs_state == ssl_ecrs_crt_verify )
+    {
+        goto crt_verify;
+    }
+#endif
+
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
+    {
+        /* mbedtls_ssl_read_record may have sent an alert already. We
+           let it decide whether to alert. */
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
+        return( ret );
+    }
+
+    if( ( ret = ssl_parse_certificate_chain( ssl ) ) != 0 )
+    {
+#if defined(MBEDTLS_SSL_SRV_C)
+        if( ret == MBEDTLS_ERR_SSL_NO_CLIENT_CERTIFICATE &&
+            authmode == MBEDTLS_SSL_VERIFY_OPTIONAL )
+        {
+            ret = 0;
+        }
+#endif
+
+        ssl->state++;
+        return( ret );
+    }
+
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    if( ssl->handshake->ecrs_enabled)
+        ssl->handshake->ecrs_state = ssl_ecrs_crt_verify;
+
+crt_verify:
+    if( ssl->handshake->ecrs_enabled)
+        rs_ctx = &ssl->handshake->ecrs_ctx;
+#endif
+
     if( authmode != MBEDTLS_SSL_VERIFY_NONE )
     {
         mbedtls_x509_crt *ca_chain;
@@ -4824,19 +5744,24 @@ int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
         /*
          * Main check: verify certificate
          */
-        ret = mbedtls_x509_crt_verify_with_profile(
+        ret = mbedtls_x509_crt_verify_restartable(
                                 ssl->session_negotiate->peer_cert,
                                 ca_chain, ca_crl,
                                 ssl->conf->cert_profile,
                                 ssl->hostname,
                                &ssl->session_negotiate->verify_result,
-                                ssl->conf->f_vrfy, ssl->conf->p_vrfy );
+                                ssl->conf->f_vrfy, ssl->conf->p_vrfy, rs_ctx );
 
         if( ret != 0 )
         {
             MBEDTLS_SSL_DEBUG_RET( 1, "x509_verify_cert", ret );
         }
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+        if( ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+            return( MBEDTLS_ERR_SSL_CRYPTO_IN_PROGRESS );
+#endif
+
         /*
          * Secondary checks: always done, but change 'ret' only if it was 0
          */
@@ -4889,6 +5814,8 @@ int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
 
         if( ret != 0 )
         {
+            uint8_t alert;
+
             /* The certificate may have been rejected for several reasons.
                Pick one and send the corresponding alert. Which alert to send
                may be a subject of debate in some cases. */
@@ -4931,6 +5858,8 @@ int mbedtls_ssl_parse_certificate( mbedtls_ssl_context *ssl )
 #endif /* MBEDTLS_DEBUG_C */
     }
 
+    ssl->state++;
+
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= parse certificate" ) );
 
     return( ret );
@@ -4955,9 +5884,9 @@ int mbedtls_ssl_write_change_cipher_spec( mbedtls_ssl_context *ssl )
 
     ssl->state++;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -4972,7 +5901,7 @@ int mbedtls_ssl_parse_change_cipher_spec( mbedtls_ssl_context *ssl )
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> parse change cipher spec" ) );
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -4986,13 +5915,8 @@ int mbedtls_ssl_parse_change_cipher_spec( mbedtls_ssl_context *ssl )
         return( MBEDTLS_ERR_SSL_UNEXPECTED_MESSAGE );
     }
 
-    if( ssl->in_msglen != 1 || ssl->in_msg[0] != 1 )
-    {
-        MBEDTLS_SSL_DEBUG_MSG( 1, ( "bad change cipher spec message" ) );
-        mbedtls_ssl_send_alert_message( ssl, MBEDTLS_SSL_ALERT_LEVEL_FATAL,
-                                        MBEDTLS_SSL_ALERT_MSG_DECODE_ERROR );
-        return( MBEDTLS_ERR_SSL_BAD_HS_CHANGE_CIPHER_SPEC );
-    }
+    /* CCS records are only accepted if they have length 1 and content '1',
+     * so we don't need to check this here. */
 
     /*
      * Switch to our negotiated transform and session parameters for inbound
@@ -5022,16 +5946,7 @@ int mbedtls_ssl_parse_change_cipher_spec( mbedtls_ssl_context *ssl )
 #endif /* MBEDTLS_SSL_PROTO_DTLS */
     memset( ssl->in_ctr, 0, 8 );
 
-    /*
-     * Set the in_msg pointer to the correct location based on IV length
-     */
-    if( ssl->minor_ver >= MBEDTLS_SSL_MINOR_VERSION_2 )
-    {
-        ssl->in_msg = ssl->in_iv + ssl->transform_negotiate->ivlen -
-                      ssl->transform_negotiate->fixed_ivlen;
-    }
-    else
-        ssl->in_msg = ssl->in_iv;
+    ssl_update_in_pointers( ssl, ssl->transform_negotiate );
 
 #if defined(MBEDTLS_SSL_HW_RECORD_ACCEL)
     if( mbedtls_ssl_hw_record_activate != NULL )
@@ -5482,16 +6397,7 @@ int mbedtls_ssl_write_finished( mbedtls_ssl_context *ssl )
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "=> write finished" ) );
 
-    /*
-     * Set the out_msg pointer to the correct location based on IV length
-     */
-    if( ssl->minor_ver >= MBEDTLS_SSL_MINOR_VERSION_2 )
-    {
-        ssl->out_msg = ssl->out_iv + ssl->transform_negotiate->ivlen -
-                       ssl->transform_negotiate->fixed_ivlen;
-    }
-    else
-        ssl->out_msg = ssl->out_iv;
+    ssl_update_out_pointers( ssl, ssl->transform_negotiate );
 
     ssl->handshake->calc_finished( ssl, ssl->out_msg + 4, ssl->conf->endpoint );
 
@@ -5543,14 +6449,14 @@ int mbedtls_ssl_write_finished( mbedtls_ssl_context *ssl )
 
         /* Remember current epoch settings for resending */
         ssl->handshake->alt_transform_out = ssl->transform_out;
-        memcpy( ssl->handshake->alt_out_ctr, ssl->out_ctr, 8 );
+        memcpy( ssl->handshake->alt_out_ctr, ssl->cur_out_ctr, 8 );
 
         /* Set sequence_number to zero */
-        memset( ssl->out_ctr + 2, 0, 6 );
+        memset( ssl->cur_out_ctr + 2, 0, 6 );
 
         /* Increment epoch */
         for( i = 2; i > 0; i-- )
-            if( ++ssl->out_ctr[i - 1] != 0 )
+            if( ++ssl->cur_out_ctr[i - 1] != 0 )
                 break;
 
         /* The loop goes to its end iff the counter is wrapping */
@@ -5562,7 +6468,7 @@ int mbedtls_ssl_write_finished( mbedtls_ssl_context *ssl )
     }
     else
 #endif /* MBEDTLS_SSL_PROTO_DTLS */
-    memset( ssl->out_ctr, 0, 8 );
+    memset( ssl->cur_out_ctr, 0, 8 );
 
     ssl->transform_out = ssl->transform_negotiate;
     ssl->session_out = ssl->session_negotiate;
@@ -5583,11 +6489,20 @@ int mbedtls_ssl_write_finished( mbedtls_ssl_context *ssl )
         mbedtls_ssl_send_flight_completed( ssl );
 #endif
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
+        return( ret );
+    }
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM &&
+        ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
+    {
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_flight_transmit", ret );
         return( ret );
     }
+#endif
 
     MBEDTLS_SSL_DEBUG_MSG( 2, ( "<= write finished" ) );
 
@@ -5610,7 +6525,7 @@ int mbedtls_ssl_parse_finished( mbedtls_ssl_context *ssl )
 
     ssl->handshake->calc_finished( ssl, buf, ssl->conf->endpoint ^ 1 );
 
-    if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
     {
         MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_read_record", ret );
         return( ret );
@@ -5722,6 +6637,10 @@ static void ssl_handshake_params_init( mbedtls_ssl_handshake_params *handshake )
 #endif
 #endif
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    mbedtls_x509_crt_restart_init( &handshake->ecrs_ctx );
+#endif
+
 #if defined(MBEDTLS_SSL_SERVER_NAME_INDICATION)
     handshake->sni_authmode = MBEDTLS_SSL_VERIFY_UNSET;
 #endif
@@ -5841,6 +6760,78 @@ static int ssl_cookie_check_dummy( void *ctx,
 }
 #endif /* MBEDTLS_SSL_DTLS_HELLO_VERIFY && MBEDTLS_SSL_SRV_C */
 
+/* Once ssl->out_hdr as the address of the beginning of the
+ * next outgoing record is set, deduce the other pointers.
+ *
+ * Note: For TLS, we save the implicit record sequence number
+ *       (entering MAC computation) in the 8 bytes before ssl->out_hdr,
+ *       and the caller has to make sure there's space for this.
+ */
+
+static void ssl_update_out_pointers( mbedtls_ssl_context *ssl,
+                                     mbedtls_ssl_transform *transform )
+{
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM )
+    {
+        ssl->out_ctr = ssl->out_hdr +  3;
+        ssl->out_len = ssl->out_hdr + 11;
+        ssl->out_iv  = ssl->out_hdr + 13;
+    }
+    else
+#endif
+    {
+        ssl->out_ctr = ssl->out_hdr - 8;
+        ssl->out_len = ssl->out_hdr + 3;
+        ssl->out_iv  = ssl->out_hdr + 5;
+    }
+
+    /* Adjust out_msg to make space for explicit IV, if used. */
+    if( transform != NULL &&
+        ssl->minor_ver >= MBEDTLS_SSL_MINOR_VERSION_2 )
+    {
+        ssl->out_msg = ssl->out_iv + transform->ivlen - transform->fixed_ivlen;
+    }
+    else
+        ssl->out_msg = ssl->out_iv;
+}
+
+/* Once ssl->in_hdr as the address of the beginning of the
+ * next incoming record is set, deduce the other pointers.
+ *
+ * Note: For TLS, we save the implicit record sequence number
+ *       (entering MAC computation) in the 8 bytes before ssl->in_hdr,
+ *       and the caller has to make sure there's space for this.
+ */
+
+static void ssl_update_in_pointers( mbedtls_ssl_context *ssl,
+                                    mbedtls_ssl_transform *transform )
+{
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM )
+    {
+        ssl->in_ctr = ssl->in_hdr +  3;
+        ssl->in_len = ssl->in_hdr + 11;
+        ssl->in_iv  = ssl->in_hdr + 13;
+    }
+    else
+#endif
+    {
+        ssl->in_ctr = ssl->in_hdr - 8;
+        ssl->in_len = ssl->in_hdr + 3;
+        ssl->in_iv  = ssl->in_hdr + 5;
+    }
+
+    /* Offset in_msg from in_iv to allow space for explicit IV, if used. */
+    if( transform != NULL &&
+        ssl->minor_ver >= MBEDTLS_SSL_MINOR_VERSION_2 )
+    {
+        ssl->in_msg = ssl->in_iv + transform->ivlen - transform->fixed_ivlen;
+    }
+    else
+        ssl->in_msg = ssl->in_iv;
+}
+
 /*
  * Initialize an SSL context
  */
@@ -5852,6 +6843,28 @@ void mbedtls_ssl_init( mbedtls_ssl_context *ssl )
 /*
  * Setup an SSL context
  */
+
+static void ssl_reset_in_out_pointers( mbedtls_ssl_context *ssl )
+{
+    /* Set the incoming and outgoing record pointers. */
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl->conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM )
+    {
+        ssl->out_hdr = ssl->out_buf;
+        ssl->in_hdr  = ssl->in_buf;
+    }
+    else
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+    {
+        ssl->out_hdr = ssl->out_buf + 8;
+        ssl->in_hdr  = ssl->in_buf  + 8;
+    }
+
+    /* Derive other internal pointers. */
+    ssl_update_out_pointers( ssl, NULL /* no transform enabled */ );
+    ssl_update_in_pointers ( ssl, NULL /* no transform enabled */ );
+}
+
 int mbedtls_ssl_setup( mbedtls_ssl_context *ssl,
                        const mbedtls_ssl_config *conf )
 {
@@ -5862,57 +6875,55 @@ int mbedtls_ssl_setup( mbedtls_ssl_context *ssl,
     /*
      * Prepare base structures
      */
+
+    /* Set to NULL in case of an error condition */
+    ssl->out_buf = NULL;
+
     ssl->in_buf = mbedtls_calloc( 1, MBEDTLS_SSL_IN_BUFFER_LEN );
     if( ssl->in_buf == NULL )
     {
         MBEDTLS_SSL_DEBUG_MSG( 1, ( "alloc(%d bytes) failed", MBEDTLS_SSL_IN_BUFFER_LEN) );
-        return( MBEDTLS_ERR_SSL_ALLOC_FAILED );
+        ret = MBEDTLS_ERR_SSL_ALLOC_FAILED;
+        goto error;
     }
 
     ssl->out_buf = mbedtls_calloc( 1, MBEDTLS_SSL_OUT_BUFFER_LEN );
     if( ssl->out_buf == NULL )
     {
         MBEDTLS_SSL_DEBUG_MSG( 1, ( "alloc(%d bytes) failed", MBEDTLS_SSL_OUT_BUFFER_LEN) );
-        mbedtls_free( ssl->in_buf );
-        ssl->in_buf = NULL;
-        return( MBEDTLS_ERR_SSL_ALLOC_FAILED );
-    }
-
-#if defined(MBEDTLS_SSL_PROTO_DTLS)
-    if( conf->transport == MBEDTLS_SSL_TRANSPORT_DATAGRAM )
-    {
-        ssl->out_hdr = ssl->out_buf;
-        ssl->out_ctr = ssl->out_buf +  3;
-        ssl->out_len = ssl->out_buf + 11;
-        ssl->out_iv  = ssl->out_buf + 13;
-        ssl->out_msg = ssl->out_buf + 13;
-
-        ssl->in_hdr = ssl->in_buf;
-        ssl->in_ctr = ssl->in_buf +  3;
-        ssl->in_len = ssl->in_buf + 11;
-        ssl->in_iv  = ssl->in_buf + 13;
-        ssl->in_msg = ssl->in_buf + 13;
+        ret = MBEDTLS_ERR_SSL_ALLOC_FAILED;
+        goto error;
     }
-    else
-#endif
-    {
-        ssl->out_ctr = ssl->out_buf;
-        ssl->out_hdr = ssl->out_buf +  8;
-        ssl->out_len = ssl->out_buf + 11;
-        ssl->out_iv  = ssl->out_buf + 13;
-        ssl->out_msg = ssl->out_buf + 13;
 
-        ssl->in_ctr = ssl->in_buf;
-        ssl->in_hdr = ssl->in_buf +  8;
-        ssl->in_len = ssl->in_buf + 11;
-        ssl->in_iv  = ssl->in_buf + 13;
-        ssl->in_msg = ssl->in_buf + 13;
-    }
+    ssl_reset_in_out_pointers( ssl );
 
     if( ( ret = ssl_handshake_init( ssl ) ) != 0 )
-        return( ret );
+        goto error;
 
     return( 0 );
+
+error:
+    mbedtls_free( ssl->in_buf );
+    mbedtls_free( ssl->out_buf );
+
+    ssl->conf = NULL;
+
+    ssl->in_buf = NULL;
+    ssl->out_buf = NULL;
+
+    ssl->in_hdr = NULL;
+    ssl->in_ctr = NULL;
+    ssl->in_len = NULL;
+    ssl->in_iv = NULL;
+    ssl->in_msg = NULL;
+
+    ssl->out_hdr = NULL;
+    ssl->out_ctr = NULL;
+    ssl->out_len = NULL;
+    ssl->out_iv = NULL;
+    ssl->out_msg = NULL;
+
+    return( ret );
 }
 
 /*
@@ -5926,6 +6937,11 @@ static int ssl_session_reset_int( mbedtls_ssl_context *ssl, int partial )
 {
     int ret;
 
+#if !defined(MBEDTLS_SSL_DTLS_CLIENT_PORT_REUSE) ||     \
+    !defined(MBEDTLS_SSL_SRV_C)
+    ((void) partial);
+#endif
+
     ssl->state = MBEDTLS_SSL_HELLO_REQUEST;
 
     /* Cancel any possibly running timer */
@@ -5942,12 +6958,10 @@ static int ssl_session_reset_int( mbedtls_ssl_context *ssl, int partial )
     ssl->secure_renegotiation = MBEDTLS_SSL_LEGACY_RENEGOTIATION;
 
     ssl->in_offt = NULL;
+    ssl_reset_in_out_pointers( ssl );
 
-    ssl->in_msg = ssl->in_buf + 13;
     ssl->in_msgtype = 0;
     ssl->in_msglen = 0;
-    if( partial == 0 )
-        ssl->in_left = 0;
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
     ssl->next_record_offset = 0;
     ssl->in_epoch = 0;
@@ -5961,7 +6975,6 @@ static int ssl_session_reset_int( mbedtls_ssl_context *ssl, int partial )
 
     ssl->keep_current_message = 0;
 
-    ssl->out_msg = ssl->out_buf + 13;
     ssl->out_msgtype = 0;
     ssl->out_msglen = 0;
     ssl->out_left = 0;
@@ -5970,12 +6983,23 @@ static int ssl_session_reset_int( mbedtls_ssl_context *ssl, int partial )
         ssl->split_done = 0;
 #endif
 
+    memset( ssl->cur_out_ctr, 0, sizeof( ssl->cur_out_ctr ) );
+
     ssl->transform_in = NULL;
     ssl->transform_out = NULL;
 
+    ssl->session_in = NULL;
+    ssl->session_out = NULL;
+
     memset( ssl->out_buf, 0, MBEDTLS_SSL_OUT_BUFFER_LEN );
+
+#if defined(MBEDTLS_SSL_DTLS_CLIENT_PORT_REUSE) && defined(MBEDTLS_SSL_SRV_C)
     if( partial == 0 )
+#endif /* MBEDTLS_SSL_DTLS_CLIENT_PORT_REUSE && MBEDTLS_SSL_SRV_C */
+    {
+        ssl->in_left = 0;
         memset( ssl->in_buf, 0, MBEDTLS_SSL_IN_BUFFER_LEN );
+    }
 
 #if defined(MBEDTLS_SSL_HW_RECORD_ACCEL)
     if( mbedtls_ssl_hw_record_reset != NULL )
@@ -6008,7 +7032,9 @@ static int ssl_session_reset_int( mbedtls_ssl_context *ssl, int partial )
 #endif
 
 #if defined(MBEDTLS_SSL_DTLS_HELLO_VERIFY) && defined(MBEDTLS_SSL_SRV_C)
+#if defined(MBEDTLS_SSL_DTLS_CLIENT_PORT_REUSE)
     if( partial == 0 )
+#endif
     {
         mbedtls_free( ssl->cli_id );
         ssl->cli_id = NULL;
@@ -6059,7 +7085,15 @@ void mbedtls_ssl_conf_dtls_badmac_limit( mbedtls_ssl_config *conf, unsigned limi
 #endif
 
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
-void mbedtls_ssl_conf_handshake_timeout( mbedtls_ssl_config *conf, uint32_t min, uint32_t max )
+
+void mbedtls_ssl_set_datagram_packing( mbedtls_ssl_context *ssl,
+                                       unsigned allow_packing )
+{
+    ssl->disable_datagram_packing = !allow_packing;
+}
+
+void mbedtls_ssl_conf_handshake_timeout( mbedtls_ssl_config *conf,
+                                         uint32_t min, uint32_t max )
 {
     conf->hs_timeout_min = min;
     conf->hs_timeout_max = max;
@@ -6109,6 +7143,13 @@ void mbedtls_ssl_set_bio( mbedtls_ssl_context *ssl,
     ssl->f_recv_timeout = f_recv_timeout;
 }
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+void mbedtls_ssl_set_mtu( mbedtls_ssl_context *ssl, uint16_t mtu )
+{
+    ssl->mtu = mtu;
+}
+#endif
+
 void mbedtls_ssl_conf_read_timeout( mbedtls_ssl_config *conf, uint32_t timeout )
 {
     conf->read_timeout   = timeout;
@@ -6772,7 +7813,7 @@ int mbedtls_ssl_check_pending( const mbedtls_ssl_context *ssl )
 
     /*
      * In all other cases, the rest of the message can be dropped.
-     * As in ssl_read_record_layer, this needs to be adapted if
+     * As in ssl_get_next_record, this needs to be adapted if
      * we implement support for multiple alerts in single records.
      */
 
@@ -6839,28 +7880,47 @@ const char *mbedtls_ssl_get_version( const mbedtls_ssl_context *ssl )
 
 int mbedtls_ssl_get_record_expansion( const mbedtls_ssl_context *ssl )
 {
-    size_t transform_expansion;
+    size_t transform_expansion = 0;
     const mbedtls_ssl_transform *transform = ssl->transform_out;
+    unsigned block_size;
+
+    if( transform == NULL )
+        return( (int) mbedtls_ssl_hdr_len( ssl ) );
 
 #if defined(MBEDTLS_ZLIB_SUPPORT)
     if( ssl->session_out->compression != MBEDTLS_SSL_COMPRESS_NULL )
         return( MBEDTLS_ERR_SSL_FEATURE_UNAVAILABLE );
 #endif
 
-    if( transform == NULL )
-        return( (int) mbedtls_ssl_hdr_len( ssl ) );
-
     switch( mbedtls_cipher_get_cipher_mode( &transform->cipher_ctx_enc ) )
     {
         case MBEDTLS_MODE_GCM:
         case MBEDTLS_MODE_CCM:
+        case MBEDTLS_MODE_CHACHAPOLY:
         case MBEDTLS_MODE_STREAM:
             transform_expansion = transform->minlen;
             break;
 
         case MBEDTLS_MODE_CBC:
-            transform_expansion = transform->maclen
-                      + mbedtls_cipher_get_block_size( &transform->cipher_ctx_enc );
+
+            block_size = mbedtls_cipher_get_block_size(
+                &transform->cipher_ctx_enc );
+
+            /* Expansion due to the addition of the MAC. */
+            transform_expansion += transform->maclen;
+
+            /* Expansion due to the addition of CBC padding;
+             * Theoretically up to 256 bytes, but we never use
+             * more than the block size of the underlying cipher. */
+            transform_expansion += block_size;
+
+            /* For TLS 1.1 or higher, an explicit IV is added
+             * after the record header. */
+#if defined(MBEDTLS_SSL_PROTO_TLS1_1) || defined(MBEDTLS_SSL_PROTO_TLS1_2)
+            if( ssl->minor_ver >= MBEDTLS_SSL_MINOR_VERSION_2 )
+                transform_expansion += block_size;
+#endif /* MBEDTLS_SSL_PROTO_TLS1_1 || MBEDTLS_SSL_PROTO_TLS1_2 */
+
             break;
 
         default:
@@ -6881,19 +7941,89 @@ size_t mbedtls_ssl_get_max_frag_len( const mbedtls_ssl_context *ssl )
      */
     max_len = ssl_mfl_code_to_length( ssl->conf->mfl_code );
 
-    /*
-     * Check if a smaller max length was negotiated
-     */
+    /* Check if a smaller max length was negotiated */
     if( ssl->session_out != NULL &&
         ssl_mfl_code_to_length( ssl->session_out->mfl_code ) < max_len )
     {
         max_len = ssl_mfl_code_to_length( ssl->session_out->mfl_code );
     }
 
-    return max_len;
+    /* During a handshake, use the value being negotiated */
+    if( ssl->session_negotiate != NULL &&
+        ssl_mfl_code_to_length( ssl->session_negotiate->mfl_code ) < max_len )
+    {
+        max_len = ssl_mfl_code_to_length( ssl->session_negotiate->mfl_code );
+    }
+
+    return( max_len );
 }
 #endif /* MBEDTLS_SSL_MAX_FRAGMENT_LENGTH */
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+static size_t ssl_get_current_mtu( const mbedtls_ssl_context *ssl )
+{
+    /* Return unlimited mtu for client hello messages to avoid fragmentation. */
+    if( ssl->conf->endpoint == MBEDTLS_SSL_IS_CLIENT &&
+        ( ssl->state == MBEDTLS_SSL_CLIENT_HELLO ||
+          ssl->state == MBEDTLS_SSL_SERVER_HELLO ) )
+        return ( 0 );
+
+    if( ssl->handshake == NULL || ssl->handshake->mtu == 0 )
+        return( ssl->mtu );
+
+    if( ssl->mtu == 0 )
+        return( ssl->handshake->mtu );
+
+    return( ssl->mtu < ssl->handshake->mtu ?
+            ssl->mtu : ssl->handshake->mtu );
+}
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
+int mbedtls_ssl_get_max_out_record_payload( const mbedtls_ssl_context *ssl )
+{
+    size_t max_len = MBEDTLS_SSL_OUT_CONTENT_LEN;
+
+#if !defined(MBEDTLS_SSL_MAX_FRAGMENT_LENGTH) && \
+    !defined(MBEDTLS_SSL_PROTO_DTLS)
+    (void) ssl;
+#endif
+
+#if defined(MBEDTLS_SSL_MAX_FRAGMENT_LENGTH)
+    const size_t mfl = mbedtls_ssl_get_max_frag_len( ssl );
+
+    if( max_len > mfl )
+        max_len = mfl;
+#endif
+
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+    if( ssl_get_current_mtu( ssl ) != 0 )
+    {
+        const size_t mtu = ssl_get_current_mtu( ssl );
+        const int ret = mbedtls_ssl_get_record_expansion( ssl );
+        const size_t overhead = (size_t) ret;
+
+        if( ret < 0 )
+            return( ret );
+
+        if( mtu <= overhead )
+        {
+            MBEDTLS_SSL_DEBUG_MSG( 1, ( "MTU too low for record expansion" ) );
+            return( MBEDTLS_ERR_SSL_FEATURE_UNAVAILABLE );
+        }
+
+        if( max_len > mtu - overhead )
+            max_len = mtu - overhead;
+    }
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
+#if !defined(MBEDTLS_SSL_MAX_FRAGMENT_LENGTH) &&        \
+    !defined(MBEDTLS_SSL_PROTO_DTLS)
+    ((void) ssl);
+#endif
+
+    return( (int) max_len );
+}
+
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
 const mbedtls_x509_crt *mbedtls_ssl_get_peer_cert( const mbedtls_ssl_context *ssl )
 {
@@ -6981,9 +8111,9 @@ static int ssl_write_hello_request( mbedtls_ssl_context *ssl )
     ssl->out_msgtype = MBEDTLS_SSL_MSG_HANDSHAKE;
     ssl->out_msg[0]  = MBEDTLS_SSL_HS_HELLO_REQUEST;
 
-    if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+    if( ( ret = mbedtls_ssl_write_handshake_msg( ssl ) ) != 0 )
     {
-        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_handshake_msg", ret );
         return( ret );
     }
 
@@ -7113,7 +8243,7 @@ static int ssl_check_ctr_renegotiate( mbedtls_ssl_context *ssl )
 
     in_ctr_cmp = memcmp( ssl->in_ctr + ep_len,
                         ssl->conf->renego_period + ep_len, 8 - ep_len );
-    out_ctr_cmp = memcmp( ssl->out_ctr + ep_len,
+    out_ctr_cmp = memcmp( ssl->cur_out_ctr + ep_len,
                           ssl->conf->renego_period + ep_len, 8 - ep_len );
 
     if( in_ctr_cmp <= 0 && out_ctr_cmp <= 0 )
@@ -7148,7 +8278,7 @@ int mbedtls_ssl_read( mbedtls_ssl_context *ssl, unsigned char *buf, size_t len )
         if( ssl->handshake != NULL &&
             ssl->handshake->retransmit_state == MBEDTLS_SSL_RETRANS_SENDING )
         {
-            if( ( ret = mbedtls_ssl_resend( ssl ) ) != 0 )
+            if( ( ret = mbedtls_ssl_flight_transmit( ssl ) ) != 0 )
                 return( ret );
         }
     }
@@ -7197,7 +8327,7 @@ int mbedtls_ssl_read( mbedtls_ssl_context *ssl, unsigned char *buf, size_t len )
             ssl_set_timer( ssl, ssl->conf->read_timeout );
         }
 
-        if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+        if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
         {
             if( ret == MBEDTLS_ERR_SSL_CONN_EOF )
                 return( 0 );
@@ -7212,7 +8342,7 @@ int mbedtls_ssl_read( mbedtls_ssl_context *ssl, unsigned char *buf, size_t len )
             /*
              * OpenSSL sends empty messages to randomize the IV
              */
-            if( ( ret = mbedtls_ssl_read_record( ssl ) ) != 0 )
+            if( ( ret = mbedtls_ssl_read_record( ssl, 1 ) ) != 0 )
             {
                 if( ret == MBEDTLS_ERR_SSL_CONN_EOF )
                     return( 0 );
@@ -7445,12 +8575,15 @@ int mbedtls_ssl_read( mbedtls_ssl_context *ssl, unsigned char *buf, size_t len )
 static int ssl_write_real( mbedtls_ssl_context *ssl,
                            const unsigned char *buf, size_t len )
 {
-    int ret;
-#if defined(MBEDTLS_SSL_MAX_FRAGMENT_LENGTH)
-    size_t max_len = mbedtls_ssl_get_max_frag_len( ssl );
-#else
-    size_t max_len = MBEDTLS_SSL_OUT_CONTENT_LEN;
-#endif /* MBEDTLS_SSL_MAX_FRAGMENT_LENGTH */
+    int ret = mbedtls_ssl_get_max_out_record_payload( ssl );
+    const size_t max_len = (size_t) ret;
+
+    if( ret < 0 )
+    {
+        MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_get_max_out_record_payload", ret );
+        return( ret );
+    }
+
     if( len > max_len )
     {
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
@@ -7491,7 +8624,7 @@ static int ssl_write_real( mbedtls_ssl_context *ssl,
         ssl->out_msgtype = MBEDTLS_SSL_MSG_APPLICATION_DATA;
         memcpy( ssl->out_msg, buf, len );
 
-        if( ( ret = mbedtls_ssl_write_record( ssl ) ) != 0 )
+        if( ( ret = mbedtls_ssl_write_record( ssl, SSL_FORCE_FLUSH ) ) != 0 )
         {
             MBEDTLS_SSL_DEBUG_RET( 1, "mbedtls_ssl_write_record", ret );
             return( ret );
@@ -7643,6 +8776,42 @@ static void ssl_key_cert_free( mbedtls_ssl_key_cert *key_cert )
 }
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
 
+#if defined(MBEDTLS_SSL_PROTO_DTLS)
+
+static void ssl_buffering_free( mbedtls_ssl_context *ssl )
+{
+    unsigned offset;
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+
+    if( hs == NULL )
+        return;
+
+    ssl_free_buffered_record( ssl );
+
+    for( offset = 0; offset < MBEDTLS_SSL_MAX_BUFFERED_HS; offset++ )
+        ssl_buffering_free_slot( ssl, offset );
+}
+
+static void ssl_buffering_free_slot( mbedtls_ssl_context *ssl,
+                                     uint8_t slot )
+{
+    mbedtls_ssl_handshake_params * const hs = ssl->handshake;
+    mbedtls_ssl_hs_buffer * const hs_buf = &hs->buffering.hs[slot];
+
+    if( slot >= MBEDTLS_SSL_MAX_BUFFERED_HS )
+        return;
+
+    if( hs_buf->is_valid == 1 )
+    {
+        hs->buffering.total_bytes_buffered -= hs_buf->data_len;
+        mbedtls_platform_zeroize( hs_buf->data, hs_buf->data_len );
+        mbedtls_free( hs_buf->data );
+        memset( hs_buf, 0, sizeof( mbedtls_ssl_hs_buffer ) );
+    }
+}
+
+#endif /* MBEDTLS_SSL_PROTO_DTLS */
+
 void mbedtls_ssl_handshake_free( mbedtls_ssl_context *ssl )
 {
     mbedtls_ssl_handshake_params *handshake = ssl->handshake;
@@ -7720,10 +8889,14 @@ void mbedtls_ssl_handshake_free( mbedtls_ssl_context *ssl )
     }
 #endif /* MBEDTLS_X509_CRT_PARSE_C && MBEDTLS_SSL_SERVER_NAME_INDICATION */
 
+#if defined(MBEDTLS_SSL__ECP_RESTARTABLE)
+    mbedtls_x509_crt_restart_free( &handshake->ecrs_ctx );
+#endif
+
 #if defined(MBEDTLS_SSL_PROTO_DTLS)
     mbedtls_free( handshake->verify_cookie );
-    mbedtls_free( handshake->hs_msg );
     ssl_flight_free( handshake->flight );
+    ssl_buffering_free( ssl );
 #endif
 
     mbedtls_platform_zeroize( handshake,
diff --git a/thirdparty/mbedtls/library/threading.c b/thirdparty/mbedtls/library/threading.c
index 7a32e672c7..7c90c7c595 100644
--- a/thirdparty/mbedtls/library/threading.c
+++ b/thirdparty/mbedtls/library/threading.c
@@ -19,6 +19,14 @@
  *  This file is part of mbed TLS (https://tls.mbed.org)
  */
 
+/*
+ * Ensure gmtime_r is available even with -std=c99; must be defined before
+ * config.h, which pulls in glibc's features.h. Harmless on other platforms.
+ */
+#if !defined(_POSIX_C_SOURCE)
+#define _POSIX_C_SOURCE 200112L
+#endif
+
 #if !defined(MBEDTLS_CONFIG_FILE)
 #include "mbedtls/config.h"
 #else
@@ -29,6 +37,36 @@
 
 #include "mbedtls/threading.h"
 
+#if defined(MBEDTLS_HAVE_TIME_DATE) && !defined(MBEDTLS_PLATFORM_GMTIME_R_ALT)
+
+#if !defined(_WIN32) && (defined(unix) || \
+    defined(__unix) || defined(__unix__) || (defined(__APPLE__) && \
+    defined(__MACH__)))
+#include <unistd.h>
+#endif /* !_WIN32 && (unix || __unix || __unix__ ||
+        * (__APPLE__ && __MACH__)) */
+
+#if !( ( defined(_POSIX_VERSION) && _POSIX_VERSION >= 200809L ) ||     \
+       ( defined(_POSIX_THREAD_SAFE_FUNCTIONS ) &&                     \
+         _POSIX_THREAD_SAFE_FUNCTIONS >= 20112L ) )
+/*
+ * This is a convenience shorthand macro to avoid checking the long
+ * preprocessor conditions above. Ideally, we could expose this macro in
+ * platform_util.h and simply use it in platform_util.c, threading.c and
+ * threading.h. However, this macro is not part of the Mbed TLS public API, so
+ * we keep it private by only defining it in this file
+ */
+
+#if ! ( defined(_WIN32) && !defined(EFIX64) && !defined(EFI32) )
+#define THREADING_USE_GMTIME
+#endif /* ! ( defined(_WIN32) && !defined(EFIX64) && !defined(EFI32) ) */
+
+#endif /* !( ( defined(_POSIX_VERSION) && _POSIX_VERSION >= 200809L ) ||     \
+             ( defined(_POSIX_THREAD_SAFE_FUNCTIONS ) &&                     \
+                _POSIX_THREAD_SAFE_FUNCTIONS >= 20112L ) ) */
+
+#endif /* MBEDTLS_HAVE_TIME_DATE && !MBEDTLS_PLATFORM_GMTIME_R_ALT */
+
 #if defined(MBEDTLS_THREADING_PTHREAD)
 static void threading_mutex_init_pthread( mbedtls_threading_mutex_t *mutex )
 {
@@ -114,6 +152,9 @@ void mbedtls_threading_set_alt( void (*mutex_init)( mbedtls_threading_mutex_t *
 #if defined(MBEDTLS_FS_IO)
     mbedtls_mutex_init( &mbedtls_threading_readdir_mutex );
 #endif
+#if defined(THREADING_USE_GMTIME)
+    mbedtls_mutex_init( &mbedtls_threading_gmtime_mutex );
+#endif
 }
 
 /*
@@ -124,6 +165,9 @@ void mbedtls_threading_free_alt( void )
 #if defined(MBEDTLS_FS_IO)
     mbedtls_mutex_free( &mbedtls_threading_readdir_mutex );
 #endif
+#if defined(THREADING_USE_GMTIME)
+    mbedtls_mutex_free( &mbedtls_threading_gmtime_mutex );
+#endif
 }
 #endif /* MBEDTLS_THREADING_ALT */
 
@@ -136,5 +180,8 @@ void mbedtls_threading_free_alt( void )
 #if defined(MBEDTLS_FS_IO)
 mbedtls_threading_mutex_t mbedtls_threading_readdir_mutex MUTEX_INIT;
 #endif
+#if defined(THREADING_USE_GMTIME)
+mbedtls_threading_mutex_t mbedtls_threading_gmtime_mutex MUTEX_INIT;
+#endif
 
 #endif /* MBEDTLS_THREADING_C */
diff --git a/thirdparty/mbedtls/library/timing.c b/thirdparty/mbedtls/library/timing.c
index 3e8139f1f9..413d133fb6 100644
--- a/thirdparty/mbedtls/library/timing.c
+++ b/thirdparty/mbedtls/library/timing.c
@@ -52,6 +52,7 @@
 
 #include <windows.h>
 #include <winbase.h>
+#include <process.h>
 
 struct _hr_time
 {
@@ -267,18 +268,17 @@ unsigned long mbedtls_timing_get_timer( struct mbedtls_timing_hr_time *val, int
 /* It's OK to use a global because alarm() is supposed to be global anyway */
 static DWORD alarmMs;
 
-static DWORD WINAPI TimerProc( LPVOID TimerContext )
+static void TimerProc( void *TimerContext )
 {
-    ((void) TimerContext);
+    (void) TimerContext;
     Sleep( alarmMs );
     mbedtls_timing_alarmed = 1;
-    return( TRUE );
+    /* _endthread will be called implicitly on return
+     * That ensures execution of thread funcition's epilogue */
 }
 
 void mbedtls_set_alarm( int seconds )
 {
-    DWORD ThreadId;
-
     if( seconds == 0 )
     {
         /* No need to create a thread for this simple case.
@@ -289,7 +289,7 @@ void mbedtls_set_alarm( int seconds )
 
     mbedtls_timing_alarmed = 0;
     alarmMs = seconds * 1000;
-    CloseHandle( CreateThread( NULL, 0, TimerProc, NULL, 0, &ThreadId ) );
+    (void) _beginthread( TimerProc, 0, NULL );
 }
 
 #else /* _WIN32 && !EFIX64 && !EFI32 */
diff --git a/thirdparty/mbedtls/library/version_features.c b/thirdparty/mbedtls/library/version_features.c
index 777b6034c4..4c36d3caaa 100644
--- a/thirdparty/mbedtls/library/version_features.c
+++ b/thirdparty/mbedtls/library/version_features.c
@@ -84,6 +84,9 @@ static const char *features[] = {
 #if defined(MBEDTLS_DEPRECATED_REMOVED)
     "MBEDTLS_DEPRECATED_REMOVED",
 #endif /* MBEDTLS_DEPRECATED_REMOVED */
+#if defined(MBEDTLS_CHECK_PARAMS)
+    "MBEDTLS_CHECK_PARAMS",
+#endif /* MBEDTLS_CHECK_PARAMS */
 #if defined(MBEDTLS_TIMING_ALT)
     "MBEDTLS_TIMING_ALT",
 #endif /* MBEDTLS_TIMING_ALT */
@@ -339,6 +342,9 @@ static const char *features[] = {
 #if defined(MBEDTLS_ECP_NIST_OPTIM)
     "MBEDTLS_ECP_NIST_OPTIM",
 #endif /* MBEDTLS_ECP_NIST_OPTIM */
+#if defined(MBEDTLS_ECP_RESTARTABLE)
+    "MBEDTLS_ECP_RESTARTABLE",
+#endif /* MBEDTLS_ECP_RESTARTABLE */
 #if defined(MBEDTLS_ECDSA_DETERMINISTIC)
     "MBEDTLS_ECDSA_DETERMINISTIC",
 #endif /* MBEDTLS_ECDSA_DETERMINISTIC */
diff --git a/thirdparty/mbedtls/library/x509.c b/thirdparty/mbedtls/library/x509.c
index 2e6795f750..52b5b649f7 100644
--- a/thirdparty/mbedtls/library/x509.c
+++ b/thirdparty/mbedtls/library/x509.c
@@ -29,10 +29,6 @@
  *  http://www.itu.int/ITU-T/studygroups/com17/languages/X.690-0207.pdf
  */
 
-/* Ensure gmtime_r is available even with -std=c99; must be included before
- * config.h, which pulls in glibc's features.h. Harmless on other platforms. */
-#define _POSIX_C_SOURCE 200112L
-
 #if !defined(MBEDTLS_CONFIG_FILE)
 #include "mbedtls/config.h"
 #else
@@ -67,6 +63,7 @@
 #include "mbedtls/platform_time.h"
 #endif
 #if defined(MBEDTLS_HAVE_TIME_DATE)
+#include "mbedtls/platform_util.h"
 #include <time.h>
 #endif
 
@@ -901,11 +898,7 @@ static int x509_get_current_time( mbedtls_x509_time *now )
     int ret = 0;
 
     tt = mbedtls_time( NULL );
-#if defined(_WIN32) && !defined(EFIX64) && !defined(EFI32)
-    lt = gmtime_s( &tm_buf, &tt ) == 0 ? &tm_buf : NULL;
-#else
-    lt = gmtime_r( &tt, &tm_buf );
-#endif
+    lt = mbedtls_platform_gmtime_r( &tt, &tm_buf );
 
     if( lt == NULL )
         ret = -1;
diff --git a/thirdparty/mbedtls/library/x509_create.c b/thirdparty/mbedtls/library/x509_create.c
index df20ec8ebd..546e8fa1a9 100644
--- a/thirdparty/mbedtls/library/x509_create.c
+++ b/thirdparty/mbedtls/library/x509_create.c
@@ -33,48 +33,84 @@
 
 #include <string.h>
 
+/* Structure linking OIDs for X.509 DN AttributeTypes to their
+ * string representations and default string encodings used by Mbed TLS. */
 typedef struct {
-    const char *name;
-    size_t name_len;
-    const char*oid;
+   const char *name; /* String representation of AttributeType, e.g.
+                      * "CN" or "emailAddress". */
+   size_t name_len;  /* Length of 'name', without trailing 0 byte. */
+   const char *oid;  /* String representation of OID of AttributeType,
+                      * as per RFC 5280, Appendix A.1. */
+   int default_tag;  /* The default character encoding used for the
+                      * given attribute type, e.g.
+                      * MBEDTLS_ASN1_UTF8_STRING for UTF-8. */
 } x509_attr_descriptor_t;
 
 #define ADD_STRLEN( s )     s, sizeof( s ) - 1
 
+/* X.509 DN attributes from RFC 5280, Appendix A.1. */
 static const x509_attr_descriptor_t x509_attrs[] =
 {
-    { ADD_STRLEN( "CN" ),                       MBEDTLS_OID_AT_CN },
-    { ADD_STRLEN( "commonName" ),               MBEDTLS_OID_AT_CN },
-    { ADD_STRLEN( "C" ),                        MBEDTLS_OID_AT_COUNTRY },
-    { ADD_STRLEN( "countryName" ),              MBEDTLS_OID_AT_COUNTRY },
-    { ADD_STRLEN( "O" ),                        MBEDTLS_OID_AT_ORGANIZATION },
-    { ADD_STRLEN( "organizationName" ),         MBEDTLS_OID_AT_ORGANIZATION },
-    { ADD_STRLEN( "L" ),                        MBEDTLS_OID_AT_LOCALITY },
-    { ADD_STRLEN( "locality" ),                 MBEDTLS_OID_AT_LOCALITY },
-    { ADD_STRLEN( "R" ),                        MBEDTLS_OID_PKCS9_EMAIL },
-    { ADD_STRLEN( "OU" ),                       MBEDTLS_OID_AT_ORG_UNIT },
-    { ADD_STRLEN( "organizationalUnitName" ),   MBEDTLS_OID_AT_ORG_UNIT },
-    { ADD_STRLEN( "ST" ),                       MBEDTLS_OID_AT_STATE },
-    { ADD_STRLEN( "stateOrProvinceName" ),      MBEDTLS_OID_AT_STATE },
-    { ADD_STRLEN( "emailAddress" ),             MBEDTLS_OID_PKCS9_EMAIL },
-    { ADD_STRLEN( "serialNumber" ),             MBEDTLS_OID_AT_SERIAL_NUMBER },
-    { ADD_STRLEN( "postalAddress" ),            MBEDTLS_OID_AT_POSTAL_ADDRESS },
-    { ADD_STRLEN( "postalCode" ),               MBEDTLS_OID_AT_POSTAL_CODE },
-    { ADD_STRLEN( "dnQualifier" ),              MBEDTLS_OID_AT_DN_QUALIFIER },
-    { ADD_STRLEN( "title" ),                    MBEDTLS_OID_AT_TITLE },
-    { ADD_STRLEN( "surName" ),                  MBEDTLS_OID_AT_SUR_NAME },
-    { ADD_STRLEN( "SN" ),                       MBEDTLS_OID_AT_SUR_NAME },
-    { ADD_STRLEN( "givenName" ),                MBEDTLS_OID_AT_GIVEN_NAME },
-    { ADD_STRLEN( "GN" ),                       MBEDTLS_OID_AT_GIVEN_NAME },
-    { ADD_STRLEN( "initials" ),                 MBEDTLS_OID_AT_INITIALS },
-    { ADD_STRLEN( "pseudonym" ),                MBEDTLS_OID_AT_PSEUDONYM },
-    { ADD_STRLEN( "generationQualifier" ),      MBEDTLS_OID_AT_GENERATION_QUALIFIER },
-    { ADD_STRLEN( "domainComponent" ),          MBEDTLS_OID_DOMAIN_COMPONENT },
-    { ADD_STRLEN( "DC" ),                       MBEDTLS_OID_DOMAIN_COMPONENT },
-    { NULL, 0, NULL }
+    { ADD_STRLEN( "CN" ),
+      MBEDTLS_OID_AT_CN, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "commonName" ),
+      MBEDTLS_OID_AT_CN, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "C" ),
+      MBEDTLS_OID_AT_COUNTRY, MBEDTLS_ASN1_PRINTABLE_STRING },
+    { ADD_STRLEN( "countryName" ),
+      MBEDTLS_OID_AT_COUNTRY, MBEDTLS_ASN1_PRINTABLE_STRING },
+    { ADD_STRLEN( "O" ),
+      MBEDTLS_OID_AT_ORGANIZATION, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "organizationName" ),
+      MBEDTLS_OID_AT_ORGANIZATION, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "L" ),
+      MBEDTLS_OID_AT_LOCALITY, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "locality" ),
+      MBEDTLS_OID_AT_LOCALITY, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "R" ),
+      MBEDTLS_OID_PKCS9_EMAIL, MBEDTLS_ASN1_IA5_STRING },
+    { ADD_STRLEN( "OU" ),
+      MBEDTLS_OID_AT_ORG_UNIT, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "organizationalUnitName" ),
+      MBEDTLS_OID_AT_ORG_UNIT, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "ST" ),
+      MBEDTLS_OID_AT_STATE, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "stateOrProvinceName" ),
+      MBEDTLS_OID_AT_STATE, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "emailAddress" ),
+      MBEDTLS_OID_PKCS9_EMAIL, MBEDTLS_ASN1_IA5_STRING },
+    { ADD_STRLEN( "serialNumber" ),
+      MBEDTLS_OID_AT_SERIAL_NUMBER, MBEDTLS_ASN1_PRINTABLE_STRING },
+    { ADD_STRLEN( "postalAddress" ),
+      MBEDTLS_OID_AT_POSTAL_ADDRESS, MBEDTLS_ASN1_PRINTABLE_STRING },
+    { ADD_STRLEN( "postalCode" ),
+      MBEDTLS_OID_AT_POSTAL_CODE, MBEDTLS_ASN1_PRINTABLE_STRING },
+    { ADD_STRLEN( "dnQualifier" ),
+      MBEDTLS_OID_AT_DN_QUALIFIER, MBEDTLS_ASN1_PRINTABLE_STRING },
+    { ADD_STRLEN( "title" ),
+      MBEDTLS_OID_AT_TITLE, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "surName" ),
+      MBEDTLS_OID_AT_SUR_NAME, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "SN" ),
+      MBEDTLS_OID_AT_SUR_NAME, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "givenName" ),
+      MBEDTLS_OID_AT_GIVEN_NAME, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "GN" ),
+      MBEDTLS_OID_AT_GIVEN_NAME, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "initials" ),
+      MBEDTLS_OID_AT_INITIALS, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "pseudonym" ),
+      MBEDTLS_OID_AT_PSEUDONYM, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "generationQualifier" ),
+      MBEDTLS_OID_AT_GENERATION_QUALIFIER, MBEDTLS_ASN1_UTF8_STRING },
+    { ADD_STRLEN( "domainComponent" ),
+      MBEDTLS_OID_DOMAIN_COMPONENT, MBEDTLS_ASN1_IA5_STRING },
+    { ADD_STRLEN( "DC" ),
+      MBEDTLS_OID_DOMAIN_COMPONENT,   MBEDTLS_ASN1_IA5_STRING },
+    { NULL, 0, NULL, MBEDTLS_ASN1_NULL }
 };
 
-static const char *x509_at_oid_from_name( const char *name, size_t name_len )
+static const x509_attr_descriptor_t *x509_attr_descr_from_name( const char *name, size_t name_len )
 {
     const x509_attr_descriptor_t *cur;
 
@@ -83,7 +119,10 @@ static const char *x509_at_oid_from_name( const char *name, size_t name_len )
             strncmp( cur->name, name, name_len ) == 0 )
             break;
 
-    return( cur->oid );
+    if ( cur->name == NULL )
+        return( NULL );
+
+    return( cur );
 }
 
 int mbedtls_x509_string_to_names( mbedtls_asn1_named_data **head, const char *name )
@@ -92,6 +131,7 @@ int mbedtls_x509_string_to_names( mbedtls_asn1_named_data **head, const char *na
     const char *s = name, *c = s;
     const char *end = s + strlen( s );
     const char *oid = NULL;
+    const x509_attr_descriptor_t* attr_descr = NULL;
     int in_tag = 1;
     char data[MBEDTLS_X509_MAX_DN_NAME_SIZE];
     char *d = data;
@@ -103,12 +143,13 @@ int mbedtls_x509_string_to_names( mbedtls_asn1_named_data **head, const char *na
     {
         if( in_tag && *c == '=' )
         {
-            if( ( oid = x509_at_oid_from_name( s, c - s ) ) == NULL )
+            if( ( attr_descr = x509_attr_descr_from_name( s, c - s ) ) == NULL )
             {
                 ret = MBEDTLS_ERR_X509_UNKNOWN_OID;
                 goto exit;
             }
 
+            oid = attr_descr->oid;
             s = c + 1;
             in_tag = 0;
             d = data;
@@ -127,13 +168,19 @@ int mbedtls_x509_string_to_names( mbedtls_asn1_named_data **head, const char *na
         }
         else if( !in_tag && ( *c == ',' || c == end ) )
         {
-            if( mbedtls_asn1_store_named_data( head, oid, strlen( oid ),
-                                       (unsigned char *) data,
-                                       d - data ) == NULL )
+            mbedtls_asn1_named_data* cur =
+                mbedtls_asn1_store_named_data( head, oid, strlen( oid ),
+                                               (unsigned char *) data,
+                                               d - data );
+
+            if(cur == NULL )
             {
                 return( MBEDTLS_ERR_X509_ALLOC_FAILED );
             }
 
+            // set tagType
+            cur->val.tag = attr_descr->default_tag;
+
             while( c < end && *(c + 1) == ' ' )
                 c++;
 
@@ -192,46 +239,40 @@ int mbedtls_x509_set_extension( mbedtls_asn1_named_data **head, const char *oid,
  *
  *  AttributeValue ::= ANY DEFINED BY AttributeType
  */
-static int x509_write_name( unsigned char **p, unsigned char *start,
-                            const char *oid, size_t oid_len,
-                            const unsigned char *name, size_t name_len )
+static int x509_write_name( unsigned char **p, unsigned char *start, mbedtls_asn1_named_data* cur_name)
 {
     int ret;
     size_t len = 0;
-
-    // Write PrintableString for all except MBEDTLS_OID_PKCS9_EMAIL
-    //
-    if( MBEDTLS_OID_SIZE( MBEDTLS_OID_PKCS9_EMAIL ) == oid_len &&
-        memcmp( oid, MBEDTLS_OID_PKCS9_EMAIL, oid_len ) == 0 )
-    {
-        MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_ia5_string( p, start,
-                                                  (const char *) name,
-                                                  name_len ) );
-    }
-    else
-    {
-        MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_printable_string( p, start,
-                                                        (const char *) name,
-                                                        name_len ) );
-    }
-
+    const char *oid             = (const char*)cur_name->oid.p;
+    size_t oid_len              = cur_name->oid.len;
+    const unsigned char *name   = cur_name->val.p;
+    size_t name_len             = cur_name->val.len;
+
+    // Write correct string tag and value
+    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tagged_string( p, start,
+                                                       cur_name->val.tag,
+                                                       (const char *) name,
+                                                       name_len ) );
     // Write OID
     //
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_oid( p, start, oid, oid_len ) );
+    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_oid( p, start, oid,
+                                                       oid_len ) );
 
     MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_len( p, start, len ) );
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start, MBEDTLS_ASN1_CONSTRUCTED |
-                                                 MBEDTLS_ASN1_SEQUENCE ) );
+    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start,
+                                                    MBEDTLS_ASN1_CONSTRUCTED |
+                                                    MBEDTLS_ASN1_SEQUENCE ) );
 
     MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_len( p, start, len ) );
-    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start, MBEDTLS_ASN1_CONSTRUCTED |
+    MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_tag( p, start,
+                                                 MBEDTLS_ASN1_CONSTRUCTED |
                                                  MBEDTLS_ASN1_SET ) );
 
     return( (int) len );
 }
 
 int mbedtls_x509_write_names( unsigned char **p, unsigned char *start,
-                      mbedtls_asn1_named_data *first )
+                              mbedtls_asn1_named_data *first )
 {
     int ret;
     size_t len = 0;
@@ -239,9 +280,7 @@ int mbedtls_x509_write_names( unsigned char **p, unsigned char *start,
 
     while( cur != NULL )
     {
-        MBEDTLS_ASN1_CHK_ADD( len, x509_write_name( p, start, (char *) cur->oid.p,
-                                            cur->oid.len,
-                                            cur->val.p, cur->val.len ) );
+        MBEDTLS_ASN1_CHK_ADD( len, x509_write_name( p, start, cur ) );
         cur = cur->next;
     }
 
diff --git a/thirdparty/mbedtls/library/x509_crt.c b/thirdparty/mbedtls/library/x509_crt.c
index 3cf1743821..35a134950e 100644
--- a/thirdparty/mbedtls/library/x509_crt.c
+++ b/thirdparty/mbedtls/library/x509_crt.c
@@ -43,7 +43,6 @@
 #include "mbedtls/oid.h"
 #include "mbedtls/platform_util.h"
 
-#include <stdio.h>
 #include <string.h>
 
 #if defined(MBEDTLS_PEM_PARSE_C)
@@ -53,6 +52,7 @@
 #if defined(MBEDTLS_PLATFORM_C)
 #include "mbedtls/platform.h"
 #else
+#include <stdio.h>
 #include <stdlib.h>
 #define mbedtls_free       free
 #define mbedtls_calloc    calloc
@@ -176,6 +176,9 @@ const mbedtls_x509_crt_profile mbedtls_x509_crt_profile_suiteb =
 static int x509_profile_check_md_alg( const mbedtls_x509_crt_profile *profile,
                                       mbedtls_md_type_t md_alg )
 {
+    if( md_alg == MBEDTLS_MD_NONE )
+        return( -1 );
+
     if( ( profile->allowed_mds & MBEDTLS_X509_ID_FLAG( md_alg ) ) != 0 )
         return( 0 );
 
@@ -189,6 +192,9 @@ static int x509_profile_check_md_alg( const mbedtls_x509_crt_profile *profile,
 static int x509_profile_check_pk_alg( const mbedtls_x509_crt_profile *profile,
                                       mbedtls_pk_type_t pk_alg )
 {
+    if( pk_alg == MBEDTLS_PK_NONE )
+        return( -1 );
+
     if( ( profile->allowed_pks & MBEDTLS_X509_ID_FLAG( pk_alg ) ) != 0 )
         return( 0 );
 
@@ -221,6 +227,9 @@ static int x509_profile_check_key( const mbedtls_x509_crt_profile *profile,
     {
         const mbedtls_ecp_group_id gid = mbedtls_pk_ec( *pk )->grp.id;
 
+        if( gid == MBEDTLS_ECP_DP_NONE )
+            return( -1 );
+
         if( ( profile->allowed_curves & MBEDTLS_X509_ID_FLAG( gid ) ) != 0 )
             return( 0 );
 
@@ -232,6 +241,153 @@ static int x509_profile_check_key( const mbedtls_x509_crt_profile *profile,
 }
 
 /*
+ * Like memcmp, but case-insensitive and always returns -1 if different
+ */
+static int x509_memcasecmp( const void *s1, const void *s2, size_t len )
+{
+    size_t i;
+    unsigned char diff;
+    const unsigned char *n1 = s1, *n2 = s2;
+
+    for( i = 0; i < len; i++ )
+    {
+        diff = n1[i] ^ n2[i];
+
+        if( diff == 0 )
+            continue;
+
+        if( diff == 32 &&
+            ( ( n1[i] >= 'a' && n1[i] <= 'z' ) ||
+              ( n1[i] >= 'A' && n1[i] <= 'Z' ) ) )
+        {
+            continue;
+        }
+
+        return( -1 );
+    }
+
+    return( 0 );
+}
+
+/*
+ * Return 0 if name matches wildcard, -1 otherwise
+ */
+static int x509_check_wildcard( const char *cn, const mbedtls_x509_buf *name )
+{
+    size_t i;
+    size_t cn_idx = 0, cn_len = strlen( cn );
+
+    /* We can't have a match if there is no wildcard to match */
+    if( name->len < 3 || name->p[0] != '*' || name->p[1] != '.' )
+        return( -1 );
+
+    for( i = 0; i < cn_len; ++i )
+    {
+        if( cn[i] == '.' )
+        {
+            cn_idx = i;
+            break;
+        }
+    }
+
+    if( cn_idx == 0 )
+        return( -1 );
+
+    if( cn_len - cn_idx == name->len - 1 &&
+        x509_memcasecmp( name->p + 1, cn + cn_idx, name->len - 1 ) == 0 )
+    {
+        return( 0 );
+    }
+
+    return( -1 );
+}
+
+/*
+ * Compare two X.509 strings, case-insensitive, and allowing for some encoding
+ * variations (but not all).
+ *
+ * Return 0 if equal, -1 otherwise.
+ */
+static int x509_string_cmp( const mbedtls_x509_buf *a, const mbedtls_x509_buf *b )
+{
+    if( a->tag == b->tag &&
+        a->len == b->len &&
+        memcmp( a->p, b->p, b->len ) == 0 )
+    {
+        return( 0 );
+    }
+
+    if( ( a->tag == MBEDTLS_ASN1_UTF8_STRING || a->tag == MBEDTLS_ASN1_PRINTABLE_STRING ) &&
+        ( b->tag == MBEDTLS_ASN1_UTF8_STRING || b->tag == MBEDTLS_ASN1_PRINTABLE_STRING ) &&
+        a->len == b->len &&
+        x509_memcasecmp( a->p, b->p, b->len ) == 0 )
+    {
+        return( 0 );
+    }
+
+    return( -1 );
+}
+
+/*
+ * Compare two X.509 Names (aka rdnSequence).
+ *
+ * See RFC 5280 section 7.1, though we don't implement the whole algorithm:
+ * we sometimes return unequal when the full algorithm would return equal,
+ * but never the other way. (In particular, we don't do Unicode normalisation
+ * or space folding.)
+ *
+ * Return 0 if equal, -1 otherwise.
+ */
+static int x509_name_cmp( const mbedtls_x509_name *a, const mbedtls_x509_name *b )
+{
+    /* Avoid recursion, it might not be optimised by the compiler */
+    while( a != NULL || b != NULL )
+    {
+        if( a == NULL || b == NULL )
+            return( -1 );
+
+        /* type */
+        if( a->oid.tag != b->oid.tag ||
+            a->oid.len != b->oid.len ||
+            memcmp( a->oid.p, b->oid.p, b->oid.len ) != 0 )
+        {
+            return( -1 );
+        }
+
+        /* value */
+        if( x509_string_cmp( &a->val, &b->val ) != 0 )
+            return( -1 );
+
+        /* structure of the list of sets */
+        if( a->next_merged != b->next_merged )
+            return( -1 );
+
+        a = a->next;
+        b = b->next;
+    }
+
+    /* a == NULL == b */
+    return( 0 );
+}
+
+/*
+ * Reset (init or clear) a verify_chain
+ */
+static void x509_crt_verify_chain_reset(
+    mbedtls_x509_crt_verify_chain *ver_chain )
+{
+    size_t i;
+
+    for( i = 0; i < MBEDTLS_X509_MAX_VERIFY_CHAIN_SIZE; i++ )
+    {
+        ver_chain->items[i].crt = NULL;
+        ver_chain->items[i].flags = -1;
+    }
+
+    ver_chain->len = 0;
+}
+
+/*
  *  Version  ::=  INTEGER  {  v1(0), v2(1), v3(2)  }
  */
 static int x509_get_version( unsigned char **p,
@@ -583,18 +739,14 @@ static int x509_get_crt_ext( unsigned char **p,
         end_ext_data = *p + len;
 
         /* Get extension ID */
-        extn_oid.tag = **p;
-
-        if( ( ret = mbedtls_asn1_get_tag( p, end, &extn_oid.len, MBEDTLS_ASN1_OID ) ) != 0 )
+        if( ( ret = mbedtls_asn1_get_tag( p, end_ext_data, &extn_oid.len,
+                                          MBEDTLS_ASN1_OID ) ) != 0 )
             return( MBEDTLS_ERR_X509_INVALID_EXTENSIONS + ret );
 
+        extn_oid.tag = MBEDTLS_ASN1_OID;
         extn_oid.p = *p;
         *p += extn_oid.len;
 
-        if( ( end - *p ) < 1 )
-            return( MBEDTLS_ERR_X509_INVALID_EXTENSIONS +
-                    MBEDTLS_ERR_ASN1_OUT_OF_DATA );
-
         /* Get optional critical */
         if( ( ret = mbedtls_asn1_get_bool( p, end_ext_data, &is_critical ) ) != 0 &&
             ( ret != MBEDTLS_ERR_ASN1_UNEXPECTED_TAG ) )
@@ -1139,7 +1291,7 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
     char filename[MAX_PATH];
     char *p;
     size_t len = strlen( path );
-    int length_as_int = 0;
+    int lengthAsInt = 0;
 
     WIN32_FIND_DATAW file_data;
     HANDLE hFind;
@@ -1154,7 +1306,7 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
     p = filename + len;
     filename[len++] = '*';
 
-    if ( FAILED ( SizeTToInt( len, &length_as_int ) ) )
+    if ( FAILED ( SizeTToInt( len, &lengthAsInt ) ) )
         return( MBEDTLS_ERR_X509_FILE_IO_ERROR );
 
     /*
@@ -1165,7 +1317,7 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
      * incoming string are less than MAX_PATH to avoid a buffer overrun with
      * MultiByteToWideChar().
      */
-    w_ret = MultiByteToWideChar( CP_ACP, 0, filename, length_as_int, szDir,
+    w_ret = MultiByteToWideChar( CP_ACP, 0, filename, lengthAsInt, szDir,
                                  MAX_PATH - 3 );
     if( w_ret == 0 )
         return( MBEDTLS_ERR_X509_BAD_INPUT_DATA );
@@ -1182,11 +1334,11 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path )
         if( file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY )
             continue;
 
-        if ( FAILED( SizeTToInt( wcslen( file_data.cFileName ), &length_as_int ) ) )
+        if ( FAILED( SizeTToInt( wcslen( file_data.cFileName ), &lengthAsInt ) ) )
             return( MBEDTLS_ERR_X509_FILE_IO_ERROR );
 
         w_ret = WideCharToMultiByte( CP_ACP, 0, file_data.cFileName,
-                                     length_as_int,
+                                     lengthAsInt,
                                      p, (int) len - 1,
                                      NULL, NULL );
         if( w_ret == 0 )
@@ -1690,9 +1842,7 @@ static int x509_crt_verifycrl( mbedtls_x509_crt *crt, mbedtls_x509_crt *ca,
     while( crl_list != NULL )
     {
         if( crl_list->version == 0 ||
-            crl_list->issuer_raw.len != ca->subject_raw.len ||
-            memcmp( crl_list->issuer_raw.p, ca->subject_raw.p,
-                    crl_list->issuer_raw.len ) != 0 )
+            x509_name_cmp( &crl_list->issuer, &ca->subject ) != 0 )
         {
             crl_list = crl_list->next;
             continue;
@@ -1702,7 +1852,8 @@ static int x509_crt_verifycrl( mbedtls_x509_crt *crt, mbedtls_x509_crt *ca,
          * Check if the CA is configured to sign CRLs
          */
 #if defined(MBEDTLS_X509_CHECK_KEY_USAGE)
-        if( mbedtls_x509_crt_check_key_usage( ca, MBEDTLS_X509_KU_CRL_SIGN ) != 0 )
+        if( mbedtls_x509_crt_check_key_usage( ca,
+                                              MBEDTLS_X509_KU_CRL_SIGN ) != 0 )
         {
             flags |= MBEDTLS_X509_BADCRL_NOT_TRUSTED;
             break;
@@ -1763,140 +1914,11 @@ static int x509_crt_verifycrl( mbedtls_x509_crt *crt, mbedtls_x509_crt *ca,
 #endif /* MBEDTLS_X509_CRL_PARSE_C */
 
 /*
- * Like memcmp, but case-insensitive and always returns -1 if different
- */
-static int x509_memcasecmp( const void *s1, const void *s2, size_t len )
-{
-    size_t i;
-    unsigned char diff;
-    const unsigned char *n1 = s1, *n2 = s2;
-
-    for( i = 0; i < len; i++ )
-    {
-        diff = n1[i] ^ n2[i];
-
-        if( diff == 0 )
-            continue;
-
-        if( diff == 32 &&
-            ( ( n1[i] >= 'a' && n1[i] <= 'z' ) ||
-              ( n1[i] >= 'A' && n1[i] <= 'Z' ) ) )
-        {
-            continue;
-        }
-
-        return( -1 );
-    }
-
-    return( 0 );
-}
-
-/*
- * Return 0 if name matches wildcard, -1 otherwise
- */
-static int x509_check_wildcard( const char *cn, const mbedtls_x509_buf *name )
-{
-    size_t i;
-    size_t cn_idx = 0, cn_len = strlen( cn );
-
-    /* We can't have a match if there is no wildcard to match */
-    if( name->len < 3 || name->p[0] != '*' || name->p[1] != '.' )
-        return( -1 );
-
-    for( i = 0; i < cn_len; ++i )
-    {
-        if( cn[i] == '.' )
-        {
-            cn_idx = i;
-            break;
-        }
-    }
-
-    if( cn_idx == 0 )
-        return( -1 );
-
-    if( cn_len - cn_idx == name->len - 1 &&
-        x509_memcasecmp( name->p + 1, cn + cn_idx, name->len - 1 ) == 0 )
-    {
-        return( 0 );
-    }
-
-    return( -1 );
-}
-
-/*
- * Compare two X.509 strings, case-insensitive, and allowing for some encoding
- * variations (but not all).
- *
- * Return 0 if equal, -1 otherwise.
- */
-static int x509_string_cmp( const mbedtls_x509_buf *a, const mbedtls_x509_buf *b )
-{
-    if( a->tag == b->tag &&
-        a->len == b->len &&
-        memcmp( a->p, b->p, b->len ) == 0 )
-    {
-        return( 0 );
-    }
-
-    if( ( a->tag == MBEDTLS_ASN1_UTF8_STRING || a->tag == MBEDTLS_ASN1_PRINTABLE_STRING ) &&
-        ( b->tag == MBEDTLS_ASN1_UTF8_STRING || b->tag == MBEDTLS_ASN1_PRINTABLE_STRING ) &&
-        a->len == b->len &&
-        x509_memcasecmp( a->p, b->p, b->len ) == 0 )
-    {
-        return( 0 );
-    }
-
-    return( -1 );
-}
-
-/*
- * Compare two X.509 Names (aka rdnSequence).
- *
- * See RFC 5280 section 7.1, though we don't implement the whole algorithm:
- * we sometimes return unequal when the full algorithm would return equal,
- * but never the other way. (In particular, we don't do Unicode normalisation
- * or space folding.)
- *
- * Return 0 if equal, -1 otherwise.
- */
-static int x509_name_cmp( const mbedtls_x509_name *a, const mbedtls_x509_name *b )
-{
-    /* Avoid recursion, it might not be optimised by the compiler */
-    while( a != NULL || b != NULL )
-    {
-        if( a == NULL || b == NULL )
-            return( -1 );
-
-        /* type */
-        if( a->oid.tag != b->oid.tag ||
-            a->oid.len != b->oid.len ||
-            memcmp( a->oid.p, b->oid.p, b->oid.len ) != 0 )
-        {
-            return( -1 );
-        }
-
-        /* value */
-        if( x509_string_cmp( &a->val, &b->val ) != 0 )
-            return( -1 );
-
-        /* structure of the list of sets */
-        if( a->next_merged != b->next_merged )
-            return( -1 );
-
-        a = a->next;
-        b = b->next;
-    }
-
-    /* a == NULL == b */
-    return( 0 );
-}
-
-/*
  * Check the signature of a certificate by its parent
  */
 static int x509_crt_check_signature( const mbedtls_x509_crt *child,
-                                     mbedtls_x509_crt *parent )
+                                     mbedtls_x509_crt *parent,
+                                     mbedtls_x509_crt_restart_ctx *rs_ctx )
 {
     const mbedtls_md_info_t *md_info;
     unsigned char hash[MBEDTLS_MD_MAX_SIZE];
@@ -1908,14 +1930,24 @@ static int x509_crt_check_signature( const mbedtls_x509_crt *child,
         return( -1 );
     }
 
-    if( mbedtls_pk_verify_ext( child->sig_pk, child->sig_opts, &parent->pk,
-                child->sig_md, hash, mbedtls_md_get_size( md_info ),
-                child->sig.p, child->sig.len ) != 0 )
-    {
+    /* Skip expensive computation on obvious mismatch */
+    if( ! mbedtls_pk_can_do( &parent->pk, child->sig_pk ) )
         return( -1 );
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && child->sig_pk == MBEDTLS_PK_ECDSA )
+    {
+        return( mbedtls_pk_verify_restartable( &parent->pk,
+                    child->sig_md, hash, mbedtls_md_get_size( md_info ),
+                    child->sig.p, child->sig.len, &rs_ctx->pk ) );
     }
+#else
+    (void) rs_ctx;
+#endif
 
-    return( 0 );
+    return( mbedtls_pk_verify_ext( child->sig_pk, child->sig_opts, &parent->pk,
+                child->sig_md, hash, mbedtls_md_get_size( md_info ),
+                child->sig.p, child->sig.len ) );
 }
 
 /*
@@ -1962,6 +1994,7 @@ static int x509_crt_check_parent( const mbedtls_x509_crt *child,
  *  1. subject name matches child's issuer
  *  2. if necessary, the CA bit is set and key usage allows signing certs
  *  3. for trusted roots, the signature is correct
+ *     (for intermediates, the signature is checked and the result reported)
  *  4. pathlen constraints are satisfied
  *
  * If there's a suitable candidate which is also time-valid, return the first
@@ -1984,23 +2017,54 @@ static int x509_crt_check_parent( const mbedtls_x509_crt *child,
  * Arguments:
  *  - [in] child: certificate for which we're looking for a parent
  *  - [in] candidates: chained list of potential parents
+ *  - [out] r_parent: parent found (or NULL)
+ *  - [out] r_signature_is_good: 1 if child signature by parent is valid, or 0
  *  - [in] top: 1 if candidates consists of trusted roots, ie we're at the top
  *         of the chain, 0 otherwise
  *  - [in] path_cnt: number of intermediates seen so far
  *  - [in] self_cnt: number of self-signed intermediates seen so far
  *         (will never be greater than path_cnt)
+ *  - [in-out] rs_ctx: context for restarting operations
  *
  * Return value:
- *  - the first suitable parent found (see above regarding time-validity)
- *  - NULL if no suitable parent was found
+ *  - 0 on success
+ *  - MBEDTLS_ERR_ECP_IN_PROGRESS otherwise
  */
-static mbedtls_x509_crt *x509_crt_find_parent_in( mbedtls_x509_crt *child,
-                                                  mbedtls_x509_crt *candidates,
-                                                  int top,
-                                                  size_t path_cnt,
-                                                  size_t self_cnt )
+static int x509_crt_find_parent_in(
+                        mbedtls_x509_crt *child,
+                        mbedtls_x509_crt *candidates,
+                        mbedtls_x509_crt **r_parent,
+                        int *r_signature_is_good,
+                        int top,
+                        unsigned path_cnt,
+                        unsigned self_cnt,
+                        mbedtls_x509_crt_restart_ctx *rs_ctx )
 {
-    mbedtls_x509_crt *parent, *badtime_parent = NULL;
+    int ret;
+    mbedtls_x509_crt *parent, *fallback_parent;
+    int signature_is_good, fallback_signature_is_good;
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /* did we have something in progress? */
+    if( rs_ctx != NULL && rs_ctx->parent != NULL )
+    {
+        /* restore saved state */
+        parent = rs_ctx->parent;
+        fallback_parent = rs_ctx->fallback_parent;
+        fallback_signature_is_good = rs_ctx->fallback_signature_is_good;
+
+        /* clear saved state */
+        rs_ctx->parent = NULL;
+        rs_ctx->fallback_parent = NULL;
+        rs_ctx->fallback_signature_is_good = 0;
+
+        /* resume where we left */
+        goto check_signature;
+    }
+#endif
+
+    fallback_parent = NULL;
+    fallback_signature_is_good = 0;
 
     for( parent = candidates; parent != NULL; parent = parent->next )
     {
@@ -2016,17 +2080,38 @@ static mbedtls_x509_crt *x509_crt_find_parent_in( mbedtls_x509_crt *child,
         }
 
         /* Signature */
-        if( top && x509_crt_check_signature( child, parent ) != 0 )
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+check_signature:
+#endif
+        ret = x509_crt_check_signature( child, parent, rs_ctx );
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+        if( rs_ctx != NULL && ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
         {
-            continue;
+            /* save state */
+            rs_ctx->parent = parent;
+            rs_ctx->fallback_parent = fallback_parent;
+            rs_ctx->fallback_signature_is_good = fallback_signature_is_good;
+
+            return( ret );
         }
+#else
+        (void) ret;
+#endif
+
+        signature_is_good = ret == 0;
+        if( top && ! signature_is_good )
+            continue;
 
         /* optional time check */
         if( mbedtls_x509_time_is_past( &parent->valid_to ) ||
             mbedtls_x509_time_is_future( &parent->valid_from ) )
         {
-            if( badtime_parent == NULL )
-                badtime_parent = parent;
+            if( fallback_parent == NULL )
+            {
+                fallback_parent = parent;
+                fallback_signature_is_good = signature_is_good;
+            }
 
             continue;
         }
@@ -2034,10 +2119,18 @@ static mbedtls_x509_crt *x509_crt_find_parent_in( mbedtls_x509_crt *child,
         break;
     }
 
-    if( parent == NULL )
-        parent = badtime_parent;
+    if( parent != NULL )
+    {
+        *r_parent = parent;
+        *r_signature_is_good = signature_is_good;
+    }
+    else
+    {
+        *r_parent = fallback_parent;
+        *r_signature_is_good = fallback_signature_is_good;
+    }
 
-    return( parent );
+    return( 0 );
 }
 
 /*
@@ -2049,34 +2142,78 @@ static mbedtls_x509_crt *x509_crt_find_parent_in( mbedtls_x509_crt *child,
  * Arguments:
  *  - [in] child: certificate for which we're looking for a parent, followed
  *         by a chain of possible intermediates
- *  - [in] trust_ca: locally trusted CAs
- *  - [out] 1 if parent was found in trust_ca, 0 if found in provided chain
- *  - [in] path_cnt: number of intermediates seen so far
- *  - [in] self_cnt: number of self-signed intermediates seen so far
+ *  - [in] trust_ca: list of locally trusted certificates
+ *  - [out] parent: parent found (or NULL)
+ *  - [out] parent_is_trusted: 1 if returned `parent` is trusted, or 0
+ *  - [out] signature_is_good: 1 if child signature by parent is valid, or 0
+ *  - [in] path_cnt: number of links in the chain so far (EE -> ... -> child)
+ *  - [in] self_cnt: number of self-signed certs in the chain so far
  *         (will always be no greater than path_cnt)
+ *  - [in-out] rs_ctx: context for restarting operations
  *
  * Return value:
- *  - the first suitable parent found (see find_parent_in() for "suitable")
- *  - NULL if no suitable parent was found
+ *  - 0 on success
+ *  - MBEDTLS_ERR_ECP_IN_PROGRESS otherwise
  */
-static mbedtls_x509_crt *x509_crt_find_parent( mbedtls_x509_crt *child,
-                                               mbedtls_x509_crt *trust_ca,
-                                               int *parent_is_trusted,
-                                               size_t path_cnt,
-                                               size_t self_cnt )
+static int x509_crt_find_parent(
+                        mbedtls_x509_crt *child,
+                        mbedtls_x509_crt *trust_ca,
+                        mbedtls_x509_crt **parent,
+                        int *parent_is_trusted,
+                        int *signature_is_good,
+                        unsigned path_cnt,
+                        unsigned self_cnt,
+                        mbedtls_x509_crt_restart_ctx *rs_ctx )
 {
-    mbedtls_x509_crt *parent;
+    int ret;
+    mbedtls_x509_crt *search_list;
 
-    /* Look for a parent in trusted CAs */
     *parent_is_trusted = 1;
-    parent = x509_crt_find_parent_in( child, trust_ca, 1, path_cnt, self_cnt );
 
-    if( parent != NULL )
-        return( parent );
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /* restore then clear saved state if we have some stored */
+    if( rs_ctx != NULL && rs_ctx->parent_is_trusted != -1 )
+    {
+        *parent_is_trusted = rs_ctx->parent_is_trusted;
+        rs_ctx->parent_is_trusted = -1;
+    }
+#endif
+
+    while( 1 ) {
+        search_list = *parent_is_trusted ? trust_ca : child->next;
+
+        ret = x509_crt_find_parent_in( child, search_list,
+                                       parent, signature_is_good,
+                                       *parent_is_trusted,
+                                       path_cnt, self_cnt, rs_ctx );
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+        if( rs_ctx != NULL && ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+        {
+            /* save state */
+            rs_ctx->parent_is_trusted = *parent_is_trusted;
+            return( ret );
+        }
+#else
+        (void) ret;
+#endif
+
+        /* stop here if found or already in second iteration */
+        if( *parent != NULL || *parent_is_trusted == 0 )
+            break;
+
+        /* prepare second iteration */
+        *parent_is_trusted = 0;
+    }
+
+    /* extra precaution against mistakes in the caller */
+    if( *parent == NULL )
+    {
+        *parent_is_trusted = 0;
+        *signature_is_good = 0;
+    }
 
-    /* Look for a parent upwards the chain */
-    *parent_is_trusted = 0;
-    return( x509_crt_find_parent_in( child, child->next, 0, path_cnt, self_cnt ) );
+    return( 0 );
 }
 
 /*
@@ -2125,11 +2262,24 @@ static int x509_crt_check_ee_locally_trusted(
  * - EE, Ci1, ..., Ciq cannot be continued with a trusted root
  *   -> return that chain with NOT_TRUSTED set on Ciq
  *
+ * Tests for (aspects of) this function should include at least:
+ * - trusted EE
+ * - EE -> trusted root
+ * - EE -> intermedate CA -> trusted root
+ * - if relevant: EE untrusted
+ * - if relevant: EE -> intermediate, untrusted
+ * with the aspect under test checked at each relevant level (EE, int, root).
+ * For some aspects longer chains are required, but usually length 2 is
+ * enough (but length 1 is not in general).
+ *
  * Arguments:
  *  - [in] crt: the cert list EE, C1, ..., Cn
  *  - [in] trust_ca: the trusted list R1, ..., Rp
  *  - [in] ca_crl, profile: as in verify_with_profile()
- *  - [out] ver_chain, chain_len: the built and verified chain
+ *  - [out] ver_chain: the built and verified chain
+ *      Only valid when return value is 0, may contain garbage otherwise!
+ *      Restart note: need not be the same when calling again to resume.
+ *  - [in-out] rs_ctx: context for restarting operations
  *
  * Return value:
  *  - non-zero if the chain could not be fully built and examined
@@ -2141,24 +2291,50 @@ static int x509_crt_verify_chain(
                 mbedtls_x509_crt *trust_ca,
                 mbedtls_x509_crl *ca_crl,
                 const mbedtls_x509_crt_profile *profile,
-                x509_crt_verify_chain_item ver_chain[X509_MAX_VERIFY_CHAIN_SIZE],
-                size_t *chain_len )
+                mbedtls_x509_crt_verify_chain *ver_chain,
+                mbedtls_x509_crt_restart_ctx *rs_ctx )
 {
+    /* Don't initialize any of those variables here, so that the compiler can
+     * catch potential issues with jumping ahead when restarting */
+    int ret;
     uint32_t *flags;
+    mbedtls_x509_crt_verify_chain_item *cur;
     mbedtls_x509_crt *child;
     mbedtls_x509_crt *parent;
-    int parent_is_trusted = 0;
-    int child_is_trusted = 0;
-    size_t self_cnt = 0;
+    int parent_is_trusted;
+    int child_is_trusted;
+    int signature_is_good;
+    unsigned self_cnt;
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    /* resume if we had an operation in progress */
+    if( rs_ctx != NULL && rs_ctx->in_progress == x509_crt_rs_find_parent )
+    {
+        /* restore saved state */
+        *ver_chain = rs_ctx->ver_chain; /* struct copy */
+        self_cnt = rs_ctx->self_cnt;
+
+        /* restore derived state */
+        cur = &ver_chain->items[ver_chain->len - 1];
+        child = cur->crt;
+        flags = &cur->flags;
+
+        goto find_parent;
+    }
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
 
     child = crt;
-    *chain_len = 0;
+    self_cnt = 0;
+    parent_is_trusted = 0;
+    child_is_trusted = 0;
 
     while( 1 ) {
         /* Add certificate to the verification chain */
-        ver_chain[*chain_len].crt = child;
-        flags = &ver_chain[*chain_len].flags;
-        ++*chain_len;
+        cur = &ver_chain->items[ver_chain->len];
+        cur->crt = child;
+        cur->flags = 0;
+        ver_chain->len++;
+        flags = &cur->flags;
 
         /* Check time-validity (all certificates) */
         if( mbedtls_x509_time_is_past( &child->valid_to ) )
@@ -2179,15 +2355,33 @@ static int x509_crt_verify_chain(
             *flags |= MBEDTLS_X509_BADCERT_BAD_PK;
 
         /* Special case: EE certs that are locally trusted */
-        if( *chain_len == 1 &&
+        if( ver_chain->len == 1 &&
             x509_crt_check_ee_locally_trusted( child, trust_ca ) == 0 )
         {
             return( 0 );
         }
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+find_parent:
+#endif
         /* Look for a parent in trusted CAs or up the chain */
-        parent = x509_crt_find_parent( child, trust_ca, &parent_is_trusted,
-                                       *chain_len - 1, self_cnt );
+        ret = x509_crt_find_parent( child, trust_ca, &parent,
+                                       &parent_is_trusted, &signature_is_good,
+                                       ver_chain->len - 1, self_cnt, rs_ctx );
+
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+        if( rs_ctx != NULL && ret == MBEDTLS_ERR_ECP_IN_PROGRESS )
+        {
+            /* save state */
+            rs_ctx->in_progress = x509_crt_rs_find_parent;
+            rs_ctx->self_cnt = self_cnt;
+            rs_ctx->ver_chain = *ver_chain; /* struct copy */
+
+            return( ret );
+        }
+#else
+        (void) ret;
+#endif
 
         /* No parent? We're done here */
         if( parent == NULL )
@@ -2199,7 +2393,7 @@ static int x509_crt_verify_chain(
         /* Count intermediate self-issued (not necessarily self-signed) certs.
          * These can occur with some strategies for key rollover, see [SIRO],
          * and should be excluded from max_pathlen checks. */
-        if( *chain_len != 1 &&
+        if( ver_chain->len != 1 &&
             x509_name_cmp( &child->issuer, &child->subject ) == 0 )
         {
             self_cnt++;
@@ -2208,14 +2402,14 @@ static int x509_crt_verify_chain(
         /* path_cnt is 0 for the first intermediate CA,
          * and if parent is trusted it's not an intermediate CA */
         if( ! parent_is_trusted &&
-            *chain_len > MBEDTLS_X509_MAX_INTERMEDIATE_CA )
+            ver_chain->len > MBEDTLS_X509_MAX_INTERMEDIATE_CA )
         {
             /* return immediately to avoid overflow the chain array */
             return( MBEDTLS_ERR_X509_FATAL_ERROR );
         }
 
-        /* if parent is trusted, the signature was checked by find_parent() */
-        if( ! parent_is_trusted && x509_crt_check_signature( child, parent ) != 0 )
+        /* signature was checked while searching parent */
+        if( ! signature_is_good )
             *flags |= MBEDTLS_X509_BADCERT_NOT_TRUSTED;
 
         /* check size of signing key */
@@ -2233,6 +2427,7 @@ static int x509_crt_verify_chain(
         child = parent;
         parent = NULL;
         child_is_trusted = parent_is_trusted;
+        signature_is_good = 0;
     }
 }
 
@@ -2301,21 +2496,22 @@ static void x509_crt_verify_name( const mbedtls_x509_crt *crt,
  */
 static int x509_crt_merge_flags_with_cb(
            uint32_t *flags,
-           x509_crt_verify_chain_item ver_chain[X509_MAX_VERIFY_CHAIN_SIZE],
-           size_t chain_len,
+           const mbedtls_x509_crt_verify_chain *ver_chain,
            int (*f_vrfy)(void *, mbedtls_x509_crt *, int, uint32_t *),
            void *p_vrfy )
 {
     int ret;
-    size_t i;
+    unsigned i;
     uint32_t cur_flags;
+    const mbedtls_x509_crt_verify_chain_item *cur;
 
-    for( i = chain_len; i != 0; --i )
+    for( i = ver_chain->len; i != 0; --i )
     {
-        cur_flags = ver_chain[i-1].flags;
+        cur = &ver_chain->items[i-1];
+        cur_flags = cur->flags;
 
         if( NULL != f_vrfy )
-            if( ( ret = f_vrfy( p_vrfy, ver_chain[i-1].crt, (int) i-1, &cur_flags ) ) != 0 )
+            if( ( ret = f_vrfy( p_vrfy, cur->crt, (int) i-1, &cur_flags ) ) != 0 )
                 return( ret );
 
         *flags |= cur_flags;
@@ -2325,7 +2521,7 @@ static int x509_crt_merge_flags_with_cb(
 }
 
 /*
- * Verify the certificate validity
+ * Verify the certificate validity (default profile, not restartable)
  */
 int mbedtls_x509_crt_verify( mbedtls_x509_crt *crt,
                      mbedtls_x509_crt *trust_ca,
@@ -2334,12 +2530,28 @@ int mbedtls_x509_crt_verify( mbedtls_x509_crt *crt,
                      int (*f_vrfy)(void *, mbedtls_x509_crt *, int, uint32_t *),
                      void *p_vrfy )
 {
-    return( mbedtls_x509_crt_verify_with_profile( crt, trust_ca, ca_crl,
-                &mbedtls_x509_crt_profile_default, cn, flags, f_vrfy, p_vrfy ) );
+    return( mbedtls_x509_crt_verify_restartable( crt, trust_ca, ca_crl,
+                &mbedtls_x509_crt_profile_default, cn, flags,
+                f_vrfy, p_vrfy, NULL ) );
+}
+
+/*
+ * Verify the certificate validity (user-chosen profile, not restartable)
+ */
+int mbedtls_x509_crt_verify_with_profile( mbedtls_x509_crt *crt,
+                     mbedtls_x509_crt *trust_ca,
+                     mbedtls_x509_crl *ca_crl,
+                     const mbedtls_x509_crt_profile *profile,
+                     const char *cn, uint32_t *flags,
+                     int (*f_vrfy)(void *, mbedtls_x509_crt *, int, uint32_t *),
+                     void *p_vrfy )
+{
+    return( mbedtls_x509_crt_verify_restartable( crt, trust_ca, ca_crl,
+                profile, cn, flags, f_vrfy, p_vrfy, NULL ) );
 }
 
 /*
- * Verify the certificate validity, with profile
+ * Verify the certificate validity, with profile, restartable version
  *
  * This function:
  *  - checks the requested CN (if any)
@@ -2348,23 +2560,23 @@ int mbedtls_x509_crt_verify( mbedtls_x509_crt *crt,
  *  - builds and verifies the chain
  *  - then calls the callback and merges the flags
  */
-int mbedtls_x509_crt_verify_with_profile( mbedtls_x509_crt *crt,
+int mbedtls_x509_crt_verify_restartable( mbedtls_x509_crt *crt,
                      mbedtls_x509_crt *trust_ca,
                      mbedtls_x509_crl *ca_crl,
                      const mbedtls_x509_crt_profile *profile,
                      const char *cn, uint32_t *flags,
                      int (*f_vrfy)(void *, mbedtls_x509_crt *, int, uint32_t *),
-                     void *p_vrfy )
+                     void *p_vrfy,
+                     mbedtls_x509_crt_restart_ctx *rs_ctx )
 {
     int ret;
     mbedtls_pk_type_t pk_type;
-    x509_crt_verify_chain_item ver_chain[X509_MAX_VERIFY_CHAIN_SIZE];
-    size_t chain_len;
-    uint32_t *ee_flags = &ver_chain[0].flags;
+    mbedtls_x509_crt_verify_chain ver_chain;
+    uint32_t ee_flags;
 
     *flags = 0;
-    memset( ver_chain, 0, sizeof( ver_chain ) );
-    chain_len = 0;
+    ee_flags = 0;
+    x509_crt_verify_chain_reset( &ver_chain );
 
     if( profile == NULL )
     {
@@ -2374,28 +2586,36 @@ int mbedtls_x509_crt_verify_with_profile( mbedtls_x509_crt *crt,
 
     /* check name if requested */
     if( cn != NULL )
-        x509_crt_verify_name( crt, cn, ee_flags );
+        x509_crt_verify_name( crt, cn, &ee_flags );
 
     /* Check the type and size of the key */
     pk_type = mbedtls_pk_get_type( &crt->pk );
 
     if( x509_profile_check_pk_alg( profile, pk_type ) != 0 )
-        *ee_flags |= MBEDTLS_X509_BADCERT_BAD_PK;
+        ee_flags |= MBEDTLS_X509_BADCERT_BAD_PK;
 
     if( x509_profile_check_key( profile, &crt->pk ) != 0 )
-        *ee_flags |= MBEDTLS_X509_BADCERT_BAD_KEY;
+        ee_flags |= MBEDTLS_X509_BADCERT_BAD_KEY;
 
     /* Check the chain */
     ret = x509_crt_verify_chain( crt, trust_ca, ca_crl, profile,
-                                 ver_chain, &chain_len );
+                                 &ver_chain, rs_ctx );
+
     if( ret != 0 )
         goto exit;
 
+    /* Merge end-entity flags */
+    ver_chain.items[0].flags |= ee_flags;
+
     /* Build final flags, calling callback on the way if any */
-    ret = x509_crt_merge_flags_with_cb( flags,
-                                        ver_chain, chain_len, f_vrfy, p_vrfy );
+    ret = x509_crt_merge_flags_with_cb( flags, &ver_chain, f_vrfy, p_vrfy );
 
 exit:
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+    if( rs_ctx != NULL && ret != MBEDTLS_ERR_ECP_IN_PROGRESS )
+        mbedtls_x509_crt_restart_free( rs_ctx );
+#endif
+
     /* prevent misuse of the vrfy callback - VERIFY_FAILED would be ignored by
      * the SSL module for authmode optional, but non-zero return from the
      * callback means a fatal error so it shouldn't be ignored */
@@ -2506,4 +2726,36 @@ void mbedtls_x509_crt_free( mbedtls_x509_crt *crt )
     while( cert_cur != NULL );
 }
 
+#if defined(MBEDTLS_ECDSA_C) && defined(MBEDTLS_ECP_RESTARTABLE)
+/*
+ * Initialize a restart context
+ */
+void mbedtls_x509_crt_restart_init( mbedtls_x509_crt_restart_ctx *ctx )
+{
+    mbedtls_pk_restart_init( &ctx->pk );
+
+    ctx->parent = NULL;
+    ctx->fallback_parent = NULL;
+    ctx->fallback_signature_is_good = 0;
+
+    ctx->parent_is_trusted = -1;
+
+    ctx->in_progress = x509_crt_rs_none;
+    ctx->self_cnt = 0;
+    x509_crt_verify_chain_reset( &ctx->ver_chain );
+}
+
+/*
+ * Free the components of a restart context
+ */
+void mbedtls_x509_crt_restart_free( mbedtls_x509_crt_restart_ctx *ctx )
+{
+    if( ctx == NULL )
+        return;
+
+    mbedtls_pk_restart_free( &ctx->pk );
+    mbedtls_x509_crt_restart_init( ctx );
+}
+#endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
+
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
diff --git a/thirdparty/mbedtls/padlock.diff b/thirdparty/mbedtls/padlock.diff
new file mode 100644
index 0000000000..6ace48891c
--- /dev/null
+++ b/thirdparty/mbedtls/padlock.diff
@@ -0,0 +1,13 @@
+--- a/thirdparty/mbedtls/include/mbedtls/config.h
++++ b/thirdparty/mbedtls/include/mbedtls/config.h
+@@ -2477,7 +2477,9 @@
+  *
+  * This modules adds support for the VIA PadLock on x86.
+  */
+-#define MBEDTLS_PADLOCK_C
++// -- GODOT start --
++// #define MBEDTLS_PADLOCK_C
++// -- GODOT end --
+ 
+ /**
+  * \def MBEDTLS_PEM_PARSE_C
diff --git a/thirdparty/miniupnpc/minissdpc.c b/thirdparty/miniupnpc/minissdpc.c
index d76b242ad0..1d29b4ba5b 100644
--- a/thirdparty/miniupnpc/minissdpc.c
+++ b/thirdparty/miniupnpc/minissdpc.c
@@ -494,7 +494,6 @@ ssdpDiscoverDevices(const char * const deviceTypes[],
 	struct addrinfo hints, *servinfo, *p;
 #endif
 #ifdef _WIN32
-	MIB_IPFORWARDROW ip_forward;
 	unsigned long _ttl = (unsigned long)ttl;
 #endif
 	int linklocal = 1;
@@ -538,61 +537,103 @@ ssdpDiscoverDevices(const char * const deviceTypes[],
  * SSDP multicast traffic */
 /* Get IP associated with the index given in the ip_forward struct
  * in order to give this ip to setsockopt(sudp, IPPROTO_IP, IP_MULTICAST_IF) */
-	if(!ipv6
-	   && (GetBestRoute(inet_addr("223.255.255.255"), 0, &ip_forward) == NO_ERROR)) {
-		DWORD dwRetVal = 0;
-		PMIB_IPADDRTABLE pIPAddrTable;
-		DWORD dwSize = 0;
-#ifdef DEBUG
-		IN_ADDR IPAddr;
-#endif
-		int i;
-#ifdef DEBUG
-		printf("ifIndex=%lu nextHop=%lx \n", ip_forward.dwForwardIfIndex, ip_forward.dwForwardNextHop);
-#endif
-		pIPAddrTable = (MIB_IPADDRTABLE *) malloc(sizeof (MIB_IPADDRTABLE));
-		if(pIPAddrTable) {
-			if (GetIpAddrTable(pIPAddrTable, &dwSize, 0) == ERROR_INSUFFICIENT_BUFFER) {
-				free(pIPAddrTable);
-				pIPAddrTable = (MIB_IPADDRTABLE *) malloc(dwSize);
-			}
-		}
-		if(pIPAddrTable) {
-			dwRetVal = GetIpAddrTable( pIPAddrTable, &dwSize, 0 );
+	if(!ipv6) {
+		DWORD ifbestidx;
+		SOCKADDR_IN destAddr;
+		memset(&destAddr, 0, sizeof(destAddr));
+		destAddr.sin_family = AF_INET;
+		destAddr.sin_addr.s_addr = inet_addr("223.255.255.255");
+		destAddr.sin_port = 0;
+		if (GetBestInterfaceEx((struct sockaddr *)&destAddr, &ifbestidx) == NO_ERROR) {
+			DWORD dwSize = 0;
+			DWORD dwRetVal = 0;
+			unsigned int i = 0;
+			ULONG flags = GAA_FLAG_INCLUDE_PREFIX;
+			ULONG family = AF_INET;
+			LPVOID lpMsgBuf = NULL;
+			PIP_ADAPTER_ADDRESSES pAddresses = NULL;
+			ULONG outBufLen = 0;
+			ULONG Iterations = 0;
+			PIP_ADAPTER_ADDRESSES pCurrAddresses = NULL;
+			PIP_ADAPTER_UNICAST_ADDRESS pUnicast = NULL;
+			PIP_ADAPTER_ANYCAST_ADDRESS pAnycast = NULL;
+			PIP_ADAPTER_MULTICAST_ADDRESS pMulticast = NULL;
+			IP_ADAPTER_DNS_SERVER_ADDRESS *pDnServer = NULL;
+			IP_ADAPTER_PREFIX *pPrefix = NULL;
+
+			outBufLen = 15360;
+			do {
+				pAddresses = (IP_ADAPTER_ADDRESSES *) HeapAlloc(GetProcessHeap(), 0, outBufLen);
+				if (pAddresses == NULL) {
+					break;
+				}
+
+				dwRetVal = GetAdaptersAddresses(family, flags, NULL, pAddresses, &outBufLen);
+
+				if (dwRetVal == ERROR_BUFFER_OVERFLOW) {
+					HeapFree(GetProcessHeap(), 0, pAddresses);
+					pAddresses = NULL;
+				} else {
+					break;
+				}
+				Iterations++;
+			} while ((dwRetVal == ERROR_BUFFER_OVERFLOW) && (Iterations < 3));
+
 			if (dwRetVal == NO_ERROR) {
+				pCurrAddresses = pAddresses;
+				while (pCurrAddresses) {
 #ifdef DEBUG
-				printf("\tNum Entries: %ld\n", pIPAddrTable->dwNumEntries);
-#endif
-				for (i=0; i < (int) pIPAddrTable->dwNumEntries; i++) {
-#ifdef DEBUG
-					printf("\n\tInterface Index[%d]:\t%ld\n", i, pIPAddrTable->table[i].dwIndex);
-					IPAddr.S_un.S_addr = (u_long) pIPAddrTable->table[i].dwAddr;
-					printf("\tIP Address[%d]:     \t%s\n", i, inet_ntoa(IPAddr) );
-					IPAddr.S_un.S_addr = (u_long) pIPAddrTable->table[i].dwMask;
-					printf("\tSubnet Mask[%d]:    \t%s\n", i, inet_ntoa(IPAddr) );
-					IPAddr.S_un.S_addr = (u_long) pIPAddrTable->table[i].dwBCastAddr;
-					printf("\tBroadCast[%d]:      \t%s (%ld)\n", i, inet_ntoa(IPAddr), pIPAddrTable->table[i].dwBCastAddr);
-					printf("\tReassembly size[%d]:\t%ld\n", i, pIPAddrTable->table[i].dwReasmSize);
-					printf("\tType and State[%d]:", i);
+					printf("\tIfIndex (IPv4 interface): %u\n", pCurrAddresses->IfIndex);
+					printf("\tAdapter name: %s\n", pCurrAddresses->AdapterName);
+					pUnicast = pCurrAddresses->FirstUnicastAddress;
+					if (pUnicast != NULL) {
+						for (i = 0; pUnicast != NULL; i++) {
+							IPAddr.S_un.S_addr = (u_long) pUnicast->Address;
+							printf("\tIP Address[%d]:     \t%s\n", i, inet_ntoa(IPAddr) );
+							pUnicast = pUnicast->Next;
+						}
+						printf("\tNumber of Unicast Addresses: %d\n", i);
+					}
+					pAnycast = pCurrAddresses->FirstAnycastAddress;
+					if (pAnycast) {
+						for (i = 0; pAnycast != NULL; i++) {
+							IPAddr.S_un.S_addr = (u_long) pAnyCast->Address;
+							printf("\tAnycast Address[%d]:     \t%s\n", i, inet_ntoa(IPAddr) );
+							pAnycast = pAnycast->Next;
+						}
+						printf("\tNumber of Anycast Addresses: %d\n", i);
+					}
+					pMulticast = pCurrAddresses->FirstMulticastAddress;
+					if (pMulticast) {
+						for (i = 0; pMulticast != NULL; i++) {
+							IPAddr.S_un.S_addr = (u_long) pMultiCast->Address;
+							printf("\tMulticast Address[%d]:     \t%s\n", i, inet_ntoa(IPAddr) );
+						}
+					}
 					printf("\n");
 #endif
-					if (pIPAddrTable->table[i].dwIndex == ip_forward.dwForwardIfIndex) {
+					pUnicast = pCurrAddresses->FirstUnicastAddress;
+					if (pCurrAddresses->IfIndex == ifbestidx && pUnicast != NULL) {
+						SOCKADDR_IN *ipv4 = (SOCKADDR_IN *)(pUnicast->Address.lpSockaddr);
 						/* Set the address of this interface to be used */
 						struct in_addr mc_if;
 						memset(&mc_if, 0, sizeof(mc_if));
-						mc_if.s_addr = pIPAddrTable->table[i].dwAddr;
+						mc_if.s_addr = ipv4->sin_addr.s_addr;
 						if(setsockopt(sudp, IPPROTO_IP, IP_MULTICAST_IF, (const char *)&mc_if, sizeof(mc_if)) < 0) {
 							PRINT_SOCKET_ERROR("setsockopt");
 						}
-						((struct sockaddr_in *)&sockudp_r)->sin_addr.s_addr = pIPAddrTable->table[i].dwAddr;
+						((struct sockaddr_in *)&sockudp_r)->sin_addr.s_addr = ipv4->sin_addr.s_addr;
 #ifndef DEBUG
 						break;
 #endif
 					}
+					pCurrAddresses = pCurrAddresses->Next;
 				}
 			}
-			free(pIPAddrTable);
-			pIPAddrTable = NULL;
+			if (pAddresses != NULL) {
+				HeapFree(GetProcessHeap(), 0, pAddresses);
+				pAddresses = NULL;
+			}
 		}
 	}
 #endif	/* _WIN32 */
diff --git a/thirdparty/miniupnpc/miniupnpcstrings.h b/thirdparty/miniupnpc/miniupnpcstrings.h
index 1d5c5882fd..a718cc7bbf 100644
--- a/thirdparty/miniupnpc/miniupnpcstrings.h
+++ b/thirdparty/miniupnpc/miniupnpcstrings.h
@@ -1,7 +1,7 @@
 #ifndef MINIUPNPCSTRINGS_H_INCLUDED
 #define MINIUPNPCSTRINGS_H_INCLUDED
 
-#include <version.h>
+#include "core/version.h"
 
 #define OS_STRING VERSION_NAME "/1.0"
 #define MINIUPNPC_VERSION_STRING "2.1"
diff --git a/thirdparty/misc/aes256.h b/thirdparty/misc/aes256.h
index 8fcc25a4de..150a0670f5 100644
--- a/thirdparty/misc/aes256.h
+++ b/thirdparty/misc/aes256.h
@@ -21,7 +21,7 @@
 #ifndef AES_256_H
 #define AES_256_H
 
-#include "typedefs.h"
+#include "core/typedefs.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/thirdparty/misc/base64.h b/thirdparty/misc/base64.h
index 4c300382c1..ffcd0af973 100644
--- a/thirdparty/misc/base64.h
+++ b/thirdparty/misc/base64.h
@@ -11,8 +11,8 @@
 
 extern "C" {
 
-uint32_t base64_encode(char *to, char *from, uint32_t len);
-uint32_t base64_decode(char *to, char *from, uint32_t len);
+long base64_encode(char *to, char *from, unsigned int len);
+long base64_decode(char *to, char *from, unsigned int len);
 };
 
 #endif /* BASE64_H */
diff --git a/thirdparty/misc/easing_equations.cpp b/thirdparty/misc/easing_equations.cpp
new file mode 100644
index 0000000000..bc84564b19
--- /dev/null
+++ b/thirdparty/misc/easing_equations.cpp
@@ -0,0 +1,308 @@
+/**
+ *  Adapted from Penner Easing equations' C++ port.
+ *  Source: https://github.com/jesusgollonet/ofpennereasing
+ *  License: BSD-3-clause
+ */
+
+#include "scene/animation/tween.h"
+
+const real_t pi = 3.1415926535898;
+
+///////////////////////////////////////////////////////////////////////////
+// linear
+///////////////////////////////////////////////////////////////////////////
+namespace linear {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return c * t / d + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	return c * t / d + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	return c * t / d + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return c * t / d + b;
+}
+}; // namespace linear
+///////////////////////////////////////////////////////////////////////////
+// sine
+///////////////////////////////////////////////////////////////////////////
+namespace sine {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return -c * cos(t / d * (pi / 2)) + c + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	return c * sin(t / d * (pi / 2)) + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	return -c / 2 * (cos(pi * t / d) - 1) + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace sine
+///////////////////////////////////////////////////////////////////////////
+// quint
+///////////////////////////////////////////////////////////////////////////
+namespace quint {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return c * pow(t / d, 5) + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	return c * (pow(t / d - 1, 5) + 1) + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	t = t / d * 2;
+	if (t < 1) return c / 2 * pow(t, 5) + b;
+	return c / 2 * (pow(t - 2, 5) + 2) + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace quint
+///////////////////////////////////////////////////////////////////////////
+// quart
+///////////////////////////////////////////////////////////////////////////
+namespace quart {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return c * pow(t / d, 4) + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	return -c * (pow(t / d - 1, 4) - 1) + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	t = t / d * 2;
+	if (t < 1) return c / 2 * pow(t, 4) + b;
+	return -c / 2 * (pow(t - 2, 4) - 2) + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace quart
+///////////////////////////////////////////////////////////////////////////
+// quad
+///////////////////////////////////////////////////////////////////////////
+namespace quad {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return c * pow(t / d, 2) + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	t = t / d;
+	return -c * t * (t - 2) + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	t = t / d * 2;
+	if (t < 1) return c / 2 * pow(t, 2) + b;
+	return -c / 2 * ((t - 1) * (t - 3) - 1) + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace quad
+///////////////////////////////////////////////////////////////////////////
+// expo
+///////////////////////////////////////////////////////////////////////////
+namespace expo {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	if (t == 0) return b;
+	return c * pow(2, 10 * (t / d - 1)) + b - c * 0.001;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	if (t == d) return b + c;
+	return c * 1.001 * (-pow(2, -10 * t / d) + 1) + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	if (t == 0) return b;
+	if (t == d) return b + c;
+	t = t / d * 2;
+	if (t < 1) return c / 2 * pow(2, 10 * (t - 1)) + b - c * 0.0005;
+	return c / 2 * 1.0005 * (-pow(2, -10 * (t - 1)) + 2) + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace expo
+///////////////////////////////////////////////////////////////////////////
+// elastic
+///////////////////////////////////////////////////////////////////////////
+namespace elastic {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	if (t == 0) return b;
+	if ((t /= d) == 1) return b + c;
+	float p = d * 0.3f;
+	float a = c;
+	float s = p / 4;
+	float postFix = a * pow(2, 10 * (t -= 1)); // this is a fix, again, with post-increment operators
+	return -(postFix * sin((t * d - s) * (2 * pi) / p)) + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	if (t == 0) return b;
+	if ((t /= d) == 1) return b + c;
+	float p = d * 0.3f;
+	float a = c;
+	float s = p / 4;
+	return (a * pow(2, -10 * t) * sin((t * d - s) * (2 * pi) / p) + c + b);
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	if (t == 0) return b;
+	if ((t /= d / 2) == 2) return b + c;
+	float p = d * (0.3f * 1.5f);
+	float a = c;
+	float s = p / 4;
+
+	if (t < 1) {
+		float postFix = a * pow(2, 10 * (t -= 1)); // postIncrement is evil
+		return -0.5f * (postFix * sin((t * d - s) * (2 * pi) / p)) + b;
+	}
+	float postFix = a * pow(2, -10 * (t -= 1)); // postIncrement is evil
+	return postFix * sin((t * d - s) * (2 * pi) / p) * 0.5f + c + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace elastic
+///////////////////////////////////////////////////////////////////////////
+// cubic
+///////////////////////////////////////////////////////////////////////////
+namespace cubic {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return c * (t /= d) * t * t + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	t = t / d - 1;
+	return c * (t * t * t + 1) + b;
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	if ((t /= d / 2) < 1) return c / 2 * t * t * t + b;
+	return c / 2 * ((t -= 2) * t * t + 2) + b;
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace cubic
+///////////////////////////////////////////////////////////////////////////
+// circ
+///////////////////////////////////////////////////////////////////////////
+namespace circ {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return -c * (sqrt(1 - (t /= d) * t) - 1) + b; // TODO: ehrich: operation with t is undefined
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	return c * sqrt(1 - (t = t / d - 1) * t) + b; // TODO: ehrich: operation with t is undefined
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	if ((t /= d / 2) < 1) return -c / 2 * (sqrt(1 - t * t) - 1) + b;
+	return c / 2 * (sqrt(1 - t * (t -= 2)) + 1) + b; // TODO: ehrich: operation with t is undefined
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace circ
+///////////////////////////////////////////////////////////////////////////
+// bounce
+///////////////////////////////////////////////////////////////////////////
+namespace bounce {
+static real_t out(real_t t, real_t b, real_t c, real_t d);
+
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	return c - out(d - t, 0, c, d) + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	if ((t /= d) < (1 / 2.75f)) {
+		return c * (7.5625f * t * t) + b;
+	} else if (t < (2 / 2.75f)) {
+		float postFix = t -= (1.5f / 2.75f);
+		return c * (7.5625f * (postFix)*t + .75f) + b;
+	} else if (t < (2.5 / 2.75)) {
+		float postFix = t -= (2.25f / 2.75f);
+		return c * (7.5625f * (postFix)*t + .9375f) + b;
+	} else {
+		float postFix = t -= (2.625f / 2.75f);
+		return c * (7.5625f * (postFix)*t + .984375f) + b;
+	}
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? in(t * 2, b, c / 2, d) : out((t * 2) - d, b + c / 2, c / 2, d);
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace bounce
+///////////////////////////////////////////////////////////////////////////
+// back
+///////////////////////////////////////////////////////////////////////////
+namespace back {
+static real_t in(real_t t, real_t b, real_t c, real_t d) {
+	float s = 1.70158f;
+	float postFix = t /= d;
+	return c * (postFix)*t * ((s + 1) * t - s) + b;
+}
+
+static real_t out(real_t t, real_t b, real_t c, real_t d) {
+	float s = 1.70158f;
+	return c * ((t = t / d - 1) * t * ((s + 1) * t + s) + 1) + b; // TODO: ehrich: operation with t is undefined
+}
+
+static real_t in_out(real_t t, real_t b, real_t c, real_t d) {
+	float s = 1.70158f;
+	if ((t /= d / 2) < 1) return c / 2 * (t * t * (((s *= (1.525f)) + 1) * t - s)) + b; // TODO: ehrich: operation with s is undefined
+	float postFix = t -= 2;
+	return c / 2 * ((postFix)*t * (((s *= (1.525f)) + 1) * t + s) + 2) + b; // TODO: ehrich: operation with s is undefined
+}
+
+static real_t out_in(real_t t, real_t b, real_t c, real_t d) {
+	return (t < d / 2) ? out(t * 2, b, c / 2, d) : in((t * 2) - d, b + c / 2, c / 2, d);
+}
+}; // namespace back
+
+Tween::interpolater Tween::interpolaters[Tween::TRANS_COUNT][Tween::EASE_COUNT] = {
+	{ &linear::in, &linear::out, &linear::in_out, &linear::out_in },
+	{ &sine::in, &sine::out, &sine::in_out, &sine::out_in },
+	{ &quint::in, &quint::out, &quint::in_out, &quint::out_in },
+	{ &quart::in, &quart::out, &quart::in_out, &quart::out_in },
+	{ &quad::in, &quad::out, &quad::in_out, &quad::out_in },
+	{ &expo::in, &expo::out, &expo::in_out, &expo::out_in },
+	{ &elastic::in, &elastic::out, &elastic::in_out, &elastic::out_in },
+	{ &cubic::in, &cubic::out, &cubic::in_out, &cubic::out_in },
+	{ &circ::in, &circ::out, &circ::in_out, &circ::out_in },
+	{ &bounce::in, &bounce::out, &bounce::in_out, &bounce::out_in },
+	{ &back::in, &back::out, &back::in_out, &back::out_in },
+};
+
+real_t Tween::_run_equation(TransitionType p_trans_type, EaseType p_ease_type, real_t t, real_t b, real_t c, real_t d) {
+
+	interpolater cb = interpolaters[p_trans_type][p_ease_type];
+	ERR_FAIL_COND_V(cb == NULL, b);
+	return cb(t, b, c, d);
+}
diff --git a/thirdparty/misc/hq2x.cpp b/thirdparty/misc/hq2x.cpp
index 7ebb505d64..9c089ba85c 100644
--- a/thirdparty/misc/hq2x.cpp
+++ b/thirdparty/misc/hq2x.cpp
@@ -16,8 +16,8 @@
 
 
 #include "hq2x.h"
-#include "math_funcs.h"
 
+#include "core/math/math_funcs.h"
 
 static const uint32_t AMASK = 0xFF000000;
 static const uint32_t YMASK = 0x00FF0000;
diff --git a/thirdparty/misc/hq2x.h b/thirdparty/misc/hq2x.h
index 8f119d2a01..bebd917950 100644
--- a/thirdparty/misc/hq2x.h
+++ b/thirdparty/misc/hq2x.h
@@ -1,7 +1,7 @@
 #ifndef HQ2X_H
 #define HQ2X_H
 
-#include "typedefs.h"
+#include "core/typedefs.h"
 
 
 uint32_t *hq2x_resize(
diff --git a/thirdparty/misc/ifaddrs-android.cc b/thirdparty/misc/ifaddrs-android.cc
new file mode 100644
index 0000000000..1f8835b829
--- /dev/null
+++ b/thirdparty/misc/ifaddrs-android.cc
@@ -0,0 +1,221 @@
+/*
+ * libjingle
+ * Copyright 2012, Google Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *  1. Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *  2. Redistributions in binary form must reproduce the above copyright notice,
+ *     this list of conditions and the following disclaimer in the documentation
+ *     and/or other materials provided with the distribution.
+ *  3. The name of the author may not be used to endorse or promote products
+ *     derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ifaddrs-android.h"
+#include <stdlib.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/utsname.h>
+#include <sys/ioctl.h>
+#include <netinet/in.h>
+#include <net/if.h>
+#include <unistd.h>
+#include <errno.h>
+#include <linux/netlink.h>
+#include <linux/rtnetlink.h>
+struct netlinkrequest {
+  nlmsghdr header;
+  ifaddrmsg msg;
+};
+namespace {
+const int kMaxReadSize = 4096;
+};
+int set_ifname(struct ifaddrs* ifaddr, int interface) {
+  char buf[IFNAMSIZ] = {0};
+  char* name = if_indextoname(interface, buf);
+  if (name == NULL) {
+    return -1;
+  }
+  ifaddr->ifa_name = new char[strlen(name) + 1];
+  strncpy(ifaddr->ifa_name, name, strlen(name) + 1);
+  return 0;
+}
+int set_flags(struct ifaddrs* ifaddr) {
+  int fd = socket(AF_INET, SOCK_DGRAM, 0);
+  if (fd == -1) {
+    return -1;
+  }
+  ifreq ifr;
+  memset(&ifr, 0, sizeof(ifr));
+  strncpy(ifr.ifr_name, ifaddr->ifa_name, IFNAMSIZ - 1);
+  int rc = ioctl(fd, SIOCGIFFLAGS, &ifr);
+  close(fd);
+  if (rc == -1) {
+    return -1;
+  }
+  ifaddr->ifa_flags = ifr.ifr_flags;
+  return 0;
+}
+int set_addresses(struct ifaddrs* ifaddr, ifaddrmsg* msg, void* data,
+                  size_t len) {
+  if (msg->ifa_family == AF_INET) {
+    sockaddr_in* sa = new sockaddr_in;
+    sa->sin_family = AF_INET;
+    memcpy(&sa->sin_addr, data, len);
+    ifaddr->ifa_addr = reinterpret_cast<sockaddr*>(sa);
+  } else if (msg->ifa_family == AF_INET6) {
+    sockaddr_in6* sa = new sockaddr_in6;
+    sa->sin6_family = AF_INET6;
+    sa->sin6_scope_id = msg->ifa_index;
+    memcpy(&sa->sin6_addr, data, len);
+    ifaddr->ifa_addr = reinterpret_cast<sockaddr*>(sa);
+  } else {
+    return -1;
+  }
+  return 0;
+}
+int make_prefixes(struct ifaddrs* ifaddr, int family, int prefixlen) {
+  char* prefix = NULL;
+  if (family == AF_INET) {
+    sockaddr_in* mask = new sockaddr_in;
+    mask->sin_family = AF_INET;
+    memset(&mask->sin_addr, 0, sizeof(in_addr));
+    ifaddr->ifa_netmask = reinterpret_cast<sockaddr*>(mask);
+    if (prefixlen > 32) {
+      prefixlen = 32;
+    }
+    prefix = reinterpret_cast<char*>(&mask->sin_addr);
+  } else if (family == AF_INET6) {
+    sockaddr_in6* mask = new sockaddr_in6;
+    mask->sin6_family = AF_INET6;
+    memset(&mask->sin6_addr, 0, sizeof(in6_addr));
+    ifaddr->ifa_netmask = reinterpret_cast<sockaddr*>(mask);
+    if (prefixlen > 128) {
+      prefixlen = 128;
+    }
+    prefix = reinterpret_cast<char*>(&mask->sin6_addr);
+  } else {
+    return -1;
+  }
+  for (int i = 0; i < (prefixlen / 8); i++) {
+    *prefix++ = 0xFF;
+  }
+  char remainder = 0xff;
+  remainder <<= (8 - prefixlen % 8);
+  *prefix = remainder;
+  return 0;
+}
+int populate_ifaddrs(struct ifaddrs* ifaddr, ifaddrmsg* msg, void* bytes,
+                     size_t len) {
+  if (set_ifname(ifaddr, msg->ifa_index) != 0) {
+    return -1;
+  }
+  if (set_flags(ifaddr) != 0) {
+    return -1;
+  }
+  if (set_addresses(ifaddr, msg, bytes, len) != 0) {
+    return -1;
+  }
+  if (make_prefixes(ifaddr, msg->ifa_family, msg->ifa_prefixlen) != 0) {
+    return -1;
+  }
+  return 0;
+}
+int getifaddrs(struct ifaddrs** result) {
+  int fd = socket(PF_NETLINK, SOCK_RAW, NETLINK_ROUTE);
+  if (fd < 0) {
+    return -1;
+  }
+  netlinkrequest ifaddr_request;
+  memset(&ifaddr_request, 0, sizeof(ifaddr_request));
+  ifaddr_request.header.nlmsg_flags = NLM_F_ROOT | NLM_F_REQUEST;
+  ifaddr_request.header.nlmsg_type = RTM_GETADDR;
+  ifaddr_request.header.nlmsg_len = NLMSG_LENGTH(sizeof(ifaddrmsg));
+  ssize_t count = send(fd, &ifaddr_request, ifaddr_request.header.nlmsg_len, 0);
+  if (static_cast<size_t>(count) != ifaddr_request.header.nlmsg_len) {
+    close(fd);
+    return -1;
+  }
+  struct ifaddrs* start = NULL;
+  struct ifaddrs* current = NULL;
+  char buf[kMaxReadSize];
+  ssize_t amount_read = recv(fd, &buf, kMaxReadSize, 0);
+  while (amount_read > 0) {
+    nlmsghdr* header = reinterpret_cast<nlmsghdr*>(&buf[0]);
+    size_t header_size = static_cast<size_t>(amount_read);
+    for ( ; NLMSG_OK(header, header_size);
+          header = NLMSG_NEXT(header, header_size)) {
+      switch (header->nlmsg_type) {
+        case NLMSG_DONE:
+          // Success. Return.
+          *result = start;
+          close(fd);
+          return 0;
+        case NLMSG_ERROR:
+          close(fd);
+          freeifaddrs(start);
+          return -1;
+        case RTM_NEWADDR: {
+          ifaddrmsg* address_msg =
+              reinterpret_cast<ifaddrmsg*>(NLMSG_DATA(header));
+          rtattr* rta = IFA_RTA(address_msg);
+          ssize_t payload_len = IFA_PAYLOAD(header);
+          while (RTA_OK(rta, payload_len)) {
+            if (rta->rta_type == IFA_ADDRESS) {
+              int family = address_msg->ifa_family;
+              if (family == AF_INET || family == AF_INET6) {
+                ifaddrs* newest = new ifaddrs;
+                memset(newest, 0, sizeof(ifaddrs));
+                if (current) {
+                  current->ifa_next = newest;
+                } else {
+                  start = newest;
+                }
+                if (populate_ifaddrs(newest, address_msg, RTA_DATA(rta),
+                                     RTA_PAYLOAD(rta)) != 0) {
+                  freeifaddrs(start);
+                  *result = NULL;
+                  return -1;
+                }
+                current = newest;
+              }
+            }
+            rta = RTA_NEXT(rta, payload_len);
+          }
+          break;
+        }
+      }
+    }
+    amount_read = recv(fd, &buf, kMaxReadSize, 0);
+  }
+  close(fd);
+  freeifaddrs(start);
+  return -1;
+}
+void freeifaddrs(struct ifaddrs* addrs) {
+  struct ifaddrs* last = NULL;
+  struct ifaddrs* cursor = addrs;
+  while (cursor) {
+    delete[] cursor->ifa_name;
+    delete cursor->ifa_addr;
+    delete cursor->ifa_netmask;
+    last = cursor;
+    cursor = cursor->ifa_next;
+    delete last;
+  }
+}
diff --git a/thirdparty/misc/ifaddrs-android.h b/thirdparty/misc/ifaddrs-android.h
new file mode 100644
index 0000000000..6e204af26f
--- /dev/null
+++ b/thirdparty/misc/ifaddrs-android.h
@@ -0,0 +1,46 @@
+/*
+ * libjingle
+ * Copyright 2013, Google Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *  1. Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *  2. Redistributions in binary form must reproduce the above copyright notice,
+ *     this list of conditions and the following disclaimer in the documentation
+ *     and/or other materials provided with the distribution.
+ *  3. The name of the author may not be used to endorse or promote products
+ *     derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TALK_BASE_IFADDRS_ANDROID_H_
+#define TALK_BASE_IFADDRS_ANDROID_H_
+#include <stdio.h>
+#include <sys/socket.h>
+// Implementation of getifaddrs for Android.
+// Fills out a list of ifaddr structs (see below) which contain information
+// about every network interface available on the host.
+// See 'man getifaddrs' on Linux or OS X (nb: it is not a POSIX function).
+struct ifaddrs {
+  struct ifaddrs* ifa_next;
+  char* ifa_name;
+  unsigned int ifa_flags;
+  struct sockaddr* ifa_addr;
+  struct sockaddr* ifa_netmask;
+  // Real ifaddrs has broadcast, point to point and data members.
+  // We don't need them (yet?).
+};
+int getifaddrs(struct ifaddrs** result);
+void freeifaddrs(struct ifaddrs* addrs);
+#endif  // TALK_BASE_IFADDRS_ANDROID_H_
diff --git a/thirdparty/misc/md5.h b/thirdparty/misc/md5.h
index e99d58b443..14b3cd3ddf 100644
--- a/thirdparty/misc/md5.h
+++ b/thirdparty/misc/md5.h
@@ -42,7 +42,7 @@
 
 /* NOT typedef a 32 bit type */
 
-#include "typedefs.h"
+#include "core/typedefs.h"
 
 /* Data structure for MD5 (Message Digest) computation */
 typedef struct {
diff --git a/thirdparty/misc/open-simplex-noise-LICENSE b/thirdparty/misc/open-simplex-noise-LICENSE
new file mode 100644
index 0000000000..a84c395662
--- /dev/null
+++ b/thirdparty/misc/open-simplex-noise-LICENSE
@@ -0,0 +1,25 @@
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+For more information, please refer to <http://unlicense.org>
+
diff --git a/thirdparty/misc/open-simplex-noise-no-allocate.patch b/thirdparty/misc/open-simplex-noise-no-allocate.patch
new file mode 100644
index 0000000000..fc3abe7d00
--- /dev/null
+++ b/thirdparty/misc/open-simplex-noise-no-allocate.patch
@@ -0,0 +1,133 @@
+diff -u orig/open-simplex-noise.c misc/open-simplex-noise.c
+--- orig/open-simplex-noise.c	2018-09-14 11:11:40.049810000 +0200
++++ misc/open-simplex-noise.c	2018-09-14 11:09:39.726457000 +0200
+@@ -13,6 +13,11 @@
+  *   of any particular randomization library, so results
+  *   will be the same when ported to other languages.
+  */
++
++// -- GODOT start --
++// Modified to work without allocating memory, also removed some unused function. 
++// -- GODOT end --
++
+ #include <math.h>
+ #include <stdlib.h>
+ #include <stdint.h>
+@@ -34,11 +39,12 @@
+ 	
+ #define DEFAULT_SEED (0LL)
+ 
+-struct osn_context {
++// -- GODOT start --
++/*struct osn_context {
+ 	int16_t *perm;
+ 	int16_t *permGradIndex3D;
+-};
+-
++};*/
++// -- GODOT end --
+ #define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))
+ 
+ /* 
+@@ -126,7 +132,9 @@
+ 	int xi = (int) x;
+ 	return x < xi ? xi - 1 : xi;
+ }
+-	
++
++// -- GODOT start --
++/*
+ static int allocate_perm(struct osn_context *ctx, int nperm, int ngrad)
+ {
+ 	if (ctx->perm)
+@@ -154,18 +162,21 @@
+ 	memcpy(ctx->perm, p, sizeof(*ctx->perm) * nelements);
+ 		
+ 	for (i = 0; i < 256; i++) {
+-		/* Since 3D has 24 gradients, simple bitmask won't work, so precompute modulo array. */
++		// Since 3D has 24 gradients, simple bitmask won't work, so precompute modulo array.
+ 		ctx->permGradIndex3D[i] = (int16_t)((ctx->perm[i] % (ARRAYSIZE(gradients3D) / 3)) * 3);
+ 	}
+ 	return 0;
+ }
++*/
++// -- GODOT end --
+ 
+ /*	
+  * Initializes using a permutation array generated from a 64-bit seed.
+  * Generates a proper permutation (i.e. doesn't merely perform N successive pair
+  * swaps on a base array).  Uses a simple 64-bit LCG.
+  */
+-int open_simplex_noise(int64_t seed, struct osn_context **ctx)
++// -- GODOT start --
++int open_simplex_noise(int64_t seed, struct osn_context *ctx)
+ {
+ 	int rc;
+ 	int16_t source[256];
+@@ -174,20 +185,9 @@
+ 	int16_t *permGradIndex3D;
+ 	int r;
+ 
+-	*ctx = (struct osn_context *) malloc(sizeof(**ctx));
+-	if (!(*ctx))
+-		return -ENOMEM;
+-	(*ctx)->perm = NULL;
+-	(*ctx)->permGradIndex3D = NULL;
+-
+-	rc = allocate_perm(*ctx, 256, 256);
+-	if (rc) {
+-		free(*ctx);
+-		return rc;
+-	}
+-
+-	perm = (*ctx)->perm;
+-	permGradIndex3D = (*ctx)->permGradIndex3D;
++	perm = ctx->perm;
++	permGradIndex3D = ctx->permGradIndex3D;
++// -- GODOT end --
+ 
+ 	for (i = 0; i < 256; i++)
+ 		source[i] = (int16_t) i;
+@@ -206,6 +206,8 @@
+ 	return 0;
+ }
+ 
++// -- GODOT start --
++/*
+ void open_simplex_noise_free(struct osn_context *ctx)
+ {
+ 	if (!ctx)
+@@ -220,6 +222,8 @@
+ 	}
+ 	free(ctx);
+ }
++*/
++// -- GODOT end --
+ 	
+ /* 2D OpenSimplex (Simplectic) Noise. */
+ double open_simplex_noise2(struct osn_context *ctx, double x, double y) 
+diff -u orig/open-simplex-noise.h misc/open-simplex-noise.h
+--- orig/open-simplex-noise.h	2018-09-14 11:11:19.659807000 +0200
++++ misc/open-simplex-noise.h	2018-09-14 11:10:05.006460000 +0200
+@@ -35,11 +35,18 @@
+ 	extern "C" {
+ #endif
+ 
+-struct osn_context;
++// -- GODOT start --
++// Modified to work without allocating memory, also removed some unused function. 
+ 
+-int open_simplex_noise(int64_t seed, struct osn_context **ctx);
++struct osn_context {
++	int16_t perm[256];
++	int16_t permGradIndex3D[256];
++};
++
++int open_simplex_noise(int64_t seed, struct osn_context *ctx);
++//int open_simplex_noise_init_perm(struct osn_context *ctx, int16_t p[], int nelements);
++// -- GODOT end --
+ void open_simplex_noise_free(struct osn_context *ctx);
+-int open_simplex_noise_init_perm(struct osn_context *ctx, int16_t p[], int nelements);
+ double open_simplex_noise2(struct osn_context *ctx, double x, double y);
+ double open_simplex_noise3(struct osn_context *ctx, double x, double y, double z);
+ double open_simplex_noise4(struct osn_context *ctx, double x, double y, double z, double w);
diff --git a/thirdparty/misc/open-simplex-noise.c b/thirdparty/misc/open-simplex-noise.c
new file mode 100644
index 0000000000..42f2fbb5be
--- /dev/null
+++ b/thirdparty/misc/open-simplex-noise.c
@@ -0,0 +1,2254 @@
+/*
+ * OpenSimplex (Simplectic) Noise in C.
+ * Ported by Stephen M. Cameron from Kurt Spencer's java implementation
+ * 
+ * v1.1 (October 5, 2014)
+ * - Added 2D and 4D implementations.
+ * - Proper gradient sets for all dimensions, from a
+ *   dimensionally-generalizable scheme with an actual
+ *   rhyme and reason behind it.
+ * - Removed default permutation array in favor of
+ *   default seed.
+ * - Changed seed-based constructor to be independent
+ *   of any particular randomization library, so results
+ *   will be the same when ported to other languages.
+ */
+
+// -- GODOT start --
+// Modified to work without allocating memory, also removed some unused function. 
+// -- GODOT end --
+
+#include <math.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <errno.h>
+
+#include "open-simplex-noise.h"
+
+#define STRETCH_CONSTANT_2D (-0.211324865405187)    /* (1 / sqrt(2 + 1) - 1 ) / 2; */
+#define SQUISH_CONSTANT_2D  (0.366025403784439)     /* (sqrt(2 + 1) -1) / 2; */
+#define STRETCH_CONSTANT_3D (-1.0 / 6.0)            /* (1 / sqrt(3 + 1) - 1) / 3; */
+#define SQUISH_CONSTANT_3D  (1.0 / 3.0)             /* (sqrt(3+1)-1)/3; */
+#define STRETCH_CONSTANT_4D (-0.138196601125011)    /* (1 / sqrt(4 + 1) - 1) / 4; */
+#define SQUISH_CONSTANT_4D  (0.309016994374947)     /* (sqrt(4 + 1) - 1) / 4; */
+	
+#define NORM_CONSTANT_2D (47.0)
+#define NORM_CONSTANT_3D (103.0)
+#define NORM_CONSTANT_4D (30.0)
+	
+#define DEFAULT_SEED (0LL)
+
+// -- GODOT start --
+/*struct osn_context {
+	int16_t *perm;
+	int16_t *permGradIndex3D;
+};*/
+// -- GODOT end --
+#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))
+
+/* 
+ * Gradients for 2D. They approximate the directions to the
+ * vertices of an octagon from the center.
+ */
+static const int8_t gradients2D[] = {
+	 5,  2,    2,  5,
+	-5,  2,   -2,  5,
+	 5, -2,    2, -5,
+	-5, -2,   -2, -5,
+};
+
+/*	
+ * Gradients for 3D. They approximate the directions to the
+ * vertices of a rhombicuboctahedron from the center, skewed so
+ * that the triangular and square facets can be inscribed inside
+ * circles of the same radius.
+ */
+static const signed char gradients3D[] = {
+	-11,  4,  4,     -4,  11,  4,    -4,  4,  11,
+	 11,  4,  4,      4,  11,  4,     4,  4,  11,
+	-11, -4,  4,     -4, -11,  4,    -4, -4,  11,
+	 11, -4,  4,      4, -11,  4,     4, -4,  11,
+	-11,  4, -4,     -4,  11, -4,    -4,  4, -11,
+	 11,  4, -4,      4,  11, -4,     4,  4, -11,
+	-11, -4, -4,     -4, -11, -4,    -4, -4, -11,
+	 11, -4, -4,      4, -11, -4,     4, -4, -11,
+};
+
+/*	
+ * Gradients for 4D. They approximate the directions to the
+ * vertices of a disprismatotesseractihexadecachoron from the center,
+ * skewed so that the tetrahedral and cubic facets can be inscribed inside
+ * spheres of the same radius.
+ */
+static const signed char gradients4D[] = {
+	 3,  1,  1,  1,      1,  3,  1,  1,      1,  1,  3,  1,      1,  1,  1,  3,
+	-3,  1,  1,  1,     -1,  3,  1,  1,     -1,  1,  3,  1,     -1,  1,  1,  3,
+	 3, -1,  1,  1,      1, -3,  1,  1,      1, -1,  3,  1,      1, -1,  1,  3,
+	-3, -1,  1,  1,     -1, -3,  1,  1,     -1, -1,  3,  1,     -1, -1,  1,  3,
+	 3,  1, -1,  1,      1,  3, -1,  1,      1,  1, -3,  1,      1,  1, -1,  3,
+	-3,  1, -1,  1,     -1,  3, -1,  1,     -1,  1, -3,  1,     -1,  1, -1,  3,
+	 3, -1, -1,  1,      1, -3, -1,  1,      1, -1, -3,  1,      1, -1, -1,  3,
+	-3, -1, -1,  1,     -1, -3, -1,  1,     -1, -1, -3,  1,     -1, -1, -1,  3,
+	 3,  1,  1, -1,      1,  3,  1, -1,      1,  1,  3, -1,      1,  1,  1, -3,
+	-3,  1,  1, -1,     -1,  3,  1, -1,     -1,  1,  3, -1,     -1,  1,  1, -3,
+	 3, -1,  1, -1,      1, -3,  1, -1,      1, -1,  3, -1,      1, -1,  1, -3,
+	-3, -1,  1, -1,     -1, -3,  1, -1,     -1, -1,  3, -1,     -1, -1,  1, -3,
+	 3,  1, -1, -1,      1,  3, -1, -1,      1,  1, -3, -1,      1,  1, -1, -3,
+	-3,  1, -1, -1,     -1,  3, -1, -1,     -1,  1, -3, -1,     -1,  1, -1, -3,
+	 3, -1, -1, -1,      1, -3, -1, -1,      1, -1, -3, -1,      1, -1, -1, -3,
+	-3, -1, -1, -1,     -1, -3, -1, -1,     -1, -1, -3, -1,     -1, -1, -1, -3,
+};
+
+static double extrapolate2(struct osn_context *ctx, int xsb, int ysb, double dx, double dy)
+{
+	int16_t *perm = ctx->perm;	
+	int index = perm[(perm[xsb & 0xFF] + ysb) & 0xFF] & 0x0E;
+	return gradients2D[index] * dx
+		+ gradients2D[index + 1] * dy;
+}
+	
+static double extrapolate3(struct osn_context *ctx, int xsb, int ysb, int zsb, double dx, double dy, double dz)
+{
+	int16_t *perm = ctx->perm;	
+	int16_t *permGradIndex3D = ctx->permGradIndex3D;
+	int index = permGradIndex3D[(perm[(perm[xsb & 0xFF] + ysb) & 0xFF] + zsb) & 0xFF];
+	return gradients3D[index] * dx
+		+ gradients3D[index + 1] * dy
+		+ gradients3D[index + 2] * dz;
+}
+	
+static double extrapolate4(struct osn_context *ctx, int xsb, int ysb, int zsb, int wsb, double dx, double dy, double dz, double dw)
+{
+	int16_t *perm = ctx->perm;
+	int index = perm[(perm[(perm[(perm[xsb & 0xFF] + ysb) & 0xFF] + zsb) & 0xFF] + wsb) & 0xFF] & 0xFC;
+	return gradients4D[index] * dx
+		+ gradients4D[index + 1] * dy
+		+ gradients4D[index + 2] * dz
+		+ gradients4D[index + 3] * dw;
+}
+	
+static INLINE int fastFloor(double x) {
+	int xi = (int) x;
+	return x < xi ? xi - 1 : xi;
+}
+
+// -- GODOT start --
+/*
+static int allocate_perm(struct osn_context *ctx, int nperm, int ngrad)
+{
+	if (ctx->perm)
+		free(ctx->perm);
+	if (ctx->permGradIndex3D)
+		free(ctx->permGradIndex3D);
+	ctx->perm = (int16_t *) malloc(sizeof(*ctx->perm) * nperm); 
+	if (!ctx->perm)
+		return -ENOMEM;
+	ctx->permGradIndex3D = (int16_t *) malloc(sizeof(*ctx->permGradIndex3D) * ngrad);
+	if (!ctx->permGradIndex3D) {
+		free(ctx->perm);
+		return -ENOMEM;
+	}
+	return 0;
+}
+	
+int open_simplex_noise_init_perm(struct osn_context *ctx, int16_t p[], int nelements)
+{
+	int i, rc;
+
+	rc = allocate_perm(ctx, nelements, 256);
+	if (rc)
+		return rc;
+	memcpy(ctx->perm, p, sizeof(*ctx->perm) * nelements);
+		
+	for (i = 0; i < 256; i++) {
+		// Since 3D has 24 gradients, simple bitmask won't work, so precompute modulo array.
+		ctx->permGradIndex3D[i] = (int16_t)((ctx->perm[i] % (ARRAYSIZE(gradients3D) / 3)) * 3);
+	}
+	return 0;
+}
+*/
+// -- GODOT end --
+
+/*	
+ * Initializes using a permutation array generated from a 64-bit seed.
+ * Generates a proper permutation (i.e. doesn't merely perform N successive pair
+ * swaps on a base array).  Uses a simple 64-bit LCG.
+ */
+// -- GODOT start --
+int open_simplex_noise(int64_t seed, struct osn_context *ctx)
+{
+	int rc;
+	int16_t source[256];
+	int i;
+	int16_t *perm;
+	int16_t *permGradIndex3D;
+	int r;
+
+	perm = ctx->perm;
+	permGradIndex3D = ctx->permGradIndex3D;
+// -- GODOT end --
+
+	for (i = 0; i < 256; i++)
+		source[i] = (int16_t) i;
+	seed = seed * 6364136223846793005LL + 1442695040888963407LL;
+	seed = seed * 6364136223846793005LL + 1442695040888963407LL;
+	seed = seed * 6364136223846793005LL + 1442695040888963407LL;
+	for (i = 255; i >= 0; i--) {
+		seed = seed * 6364136223846793005LL + 1442695040888963407LL;
+		r = (int)((seed + 31) % (i + 1));
+		if (r < 0)
+			r += (i + 1);
+		perm[i] = source[r];
+		permGradIndex3D[i] = (short)((perm[i] % (ARRAYSIZE(gradients3D) / 3)) * 3);
+		source[r] = source[i];
+	}
+	return 0;
+}
+
+// -- GODOT start --
+/*
+void open_simplex_noise_free(struct osn_context *ctx)
+{
+	if (!ctx)
+		return;
+	if (ctx->perm) {
+		free(ctx->perm);
+		ctx->perm = NULL;	
+	}
+	if (ctx->permGradIndex3D) {
+		free(ctx->permGradIndex3D);
+		ctx->permGradIndex3D = NULL;
+	}
+	free(ctx);
+}
+*/
+// -- GODOT end --
+	
+/* 2D OpenSimplex (Simplectic) Noise. */
+double open_simplex_noise2(struct osn_context *ctx, double x, double y) 
+{
+	
+	/* Place input coordinates onto grid. */
+	double stretchOffset = (x + y) * STRETCH_CONSTANT_2D;
+	double xs = x + stretchOffset;
+	double ys = y + stretchOffset;
+		
+	/* Floor to get grid coordinates of rhombus (stretched square) super-cell origin. */
+	int xsb = fastFloor(xs);
+	int ysb = fastFloor(ys);
+		
+	/* Skew out to get actual coordinates of rhombus origin. We'll need these later. */
+	double squishOffset = (xsb + ysb) * SQUISH_CONSTANT_2D;
+	double xb = xsb + squishOffset;
+	double yb = ysb + squishOffset;
+		
+	/* Compute grid coordinates relative to rhombus origin. */
+	double xins = xs - xsb;
+	double yins = ys - ysb;
+		
+	/* Sum those together to get a value that determines which region we're in. */
+	double inSum = xins + yins;
+
+	/* Positions relative to origin point. */
+	double dx0 = x - xb;
+	double dy0 = y - yb;
+		
+	/* We'll be defining these inside the next block and using them afterwards. */
+	double dx_ext, dy_ext;
+	int xsv_ext, ysv_ext;
+
+	double dx1;
+	double dy1;
+	double attn1;
+	double dx2;
+	double dy2;
+	double attn2;
+	double zins;
+	double attn0;
+	double attn_ext;
+
+	double value = 0;
+
+	/* Contribution (1,0) */
+	dx1 = dx0 - 1 - SQUISH_CONSTANT_2D;
+	dy1 = dy0 - 0 - SQUISH_CONSTANT_2D;
+	attn1 = 2 - dx1 * dx1 - dy1 * dy1;
+	if (attn1 > 0) {
+		attn1 *= attn1;
+		value += attn1 * attn1 * extrapolate2(ctx, xsb + 1, ysb + 0, dx1, dy1);
+	}
+
+	/* Contribution (0,1) */
+	dx2 = dx0 - 0 - SQUISH_CONSTANT_2D;
+	dy2 = dy0 - 1 - SQUISH_CONSTANT_2D;
+	attn2 = 2 - dx2 * dx2 - dy2 * dy2;
+	if (attn2 > 0) {
+		attn2 *= attn2;
+		value += attn2 * attn2 * extrapolate2(ctx, xsb + 0, ysb + 1, dx2, dy2);
+	}
+		
+	if (inSum <= 1) { /* We're inside the triangle (2-Simplex) at (0,0) */
+		zins = 1 - inSum;
+		if (zins > xins || zins > yins) { /* (0,0) is one of the closest two triangular vertices */
+			if (xins > yins) {
+				xsv_ext = xsb + 1;
+				ysv_ext = ysb - 1;
+				dx_ext = dx0 - 1;
+				dy_ext = dy0 + 1;
+			} else {
+				xsv_ext = xsb - 1;
+				ysv_ext = ysb + 1;
+				dx_ext = dx0 + 1;
+				dy_ext = dy0 - 1;
+			}
+		} else { /* (1,0) and (0,1) are the closest two vertices. */
+			xsv_ext = xsb + 1;
+			ysv_ext = ysb + 1;
+			dx_ext = dx0 - 1 - 2 * SQUISH_CONSTANT_2D;
+			dy_ext = dy0 - 1 - 2 * SQUISH_CONSTANT_2D;
+		}
+	} else { /* We're inside the triangle (2-Simplex) at (1,1) */
+		zins = 2 - inSum;
+		if (zins < xins || zins < yins) { /* (0,0) is one of the closest two triangular vertices */
+			if (xins > yins) {
+				xsv_ext = xsb + 2;
+				ysv_ext = ysb + 0;
+				dx_ext = dx0 - 2 - 2 * SQUISH_CONSTANT_2D;
+				dy_ext = dy0 + 0 - 2 * SQUISH_CONSTANT_2D;
+			} else {
+				xsv_ext = xsb + 0;
+				ysv_ext = ysb + 2;
+				dx_ext = dx0 + 0 - 2 * SQUISH_CONSTANT_2D;
+				dy_ext = dy0 - 2 - 2 * SQUISH_CONSTANT_2D;
+			}
+		} else { /* (1,0) and (0,1) are the closest two vertices. */
+			dx_ext = dx0;
+			dy_ext = dy0;
+			xsv_ext = xsb;
+			ysv_ext = ysb;
+		}
+		xsb += 1;
+		ysb += 1;
+		dx0 = dx0 - 1 - 2 * SQUISH_CONSTANT_2D;
+		dy0 = dy0 - 1 - 2 * SQUISH_CONSTANT_2D;
+	}
+		
+	/* Contribution (0,0) or (1,1) */
+	attn0 = 2 - dx0 * dx0 - dy0 * dy0;
+	if (attn0 > 0) {
+		attn0 *= attn0;
+		value += attn0 * attn0 * extrapolate2(ctx, xsb, ysb, dx0, dy0);
+	}
+	
+	/* Extra Vertex */
+	attn_ext = 2 - dx_ext * dx_ext - dy_ext * dy_ext;
+	if (attn_ext > 0) {
+		attn_ext *= attn_ext;
+		value += attn_ext * attn_ext * extrapolate2(ctx, xsv_ext, ysv_ext, dx_ext, dy_ext);
+	}
+	
+	return value / NORM_CONSTANT_2D;
+}
+	
+/*
+ * 3D OpenSimplex (Simplectic) Noise
+ */
+double open_simplex_noise3(struct osn_context *ctx, double x, double y, double z)
+{
+
+	/* Place input coordinates on simplectic honeycomb. */
+	double stretchOffset = (x + y + z) * STRETCH_CONSTANT_3D;
+	double xs = x + stretchOffset;
+	double ys = y + stretchOffset;
+	double zs = z + stretchOffset;
+	
+	/* Floor to get simplectic honeycomb coordinates of rhombohedron (stretched cube) super-cell origin. */
+	int xsb = fastFloor(xs);
+	int ysb = fastFloor(ys);
+	int zsb = fastFloor(zs);
+	
+	/* Skew out to get actual coordinates of rhombohedron origin. We'll need these later. */
+	double squishOffset = (xsb + ysb + zsb) * SQUISH_CONSTANT_3D;
+	double xb = xsb + squishOffset;
+	double yb = ysb + squishOffset;
+	double zb = zsb + squishOffset;
+	
+	/* Compute simplectic honeycomb coordinates relative to rhombohedral origin. */
+	double xins = xs - xsb;
+	double yins = ys - ysb;
+	double zins = zs - zsb;
+	
+	/* Sum those together to get a value that determines which region we're in. */
+	double inSum = xins + yins + zins;
+
+	/* Positions relative to origin point. */
+	double dx0 = x - xb;
+	double dy0 = y - yb;
+	double dz0 = z - zb;
+	
+	/* We'll be defining these inside the next block and using them afterwards. */
+	double dx_ext0, dy_ext0, dz_ext0;
+	double dx_ext1, dy_ext1, dz_ext1;
+	int xsv_ext0, ysv_ext0, zsv_ext0;
+	int xsv_ext1, ysv_ext1, zsv_ext1;
+
+	double wins;
+	int8_t c, c1, c2;
+	int8_t aPoint, bPoint;
+	double aScore, bScore;
+	int aIsFurtherSide;
+	int bIsFurtherSide;
+	double p1, p2, p3;
+	double score;
+	double attn0, attn1, attn2, attn3, attn4, attn5, attn6;
+	double dx1, dy1, dz1;
+	double dx2, dy2, dz2;
+	double dx3, dy3, dz3;
+	double dx4, dy4, dz4;
+	double dx5, dy5, dz5;
+	double dx6, dy6, dz6;
+	double attn_ext0, attn_ext1;
+	
+	double value = 0;
+	if (inSum <= 1) { /* We're inside the tetrahedron (3-Simplex) at (0,0,0) */
+		
+		/* Determine which two of (0,0,1), (0,1,0), (1,0,0) are closest. */
+		aPoint = 0x01;
+		aScore = xins;
+		bPoint = 0x02;
+		bScore = yins;
+		if (aScore >= bScore && zins > bScore) {
+			bScore = zins;
+			bPoint = 0x04;
+		} else if (aScore < bScore && zins > aScore) {
+			aScore = zins;
+			aPoint = 0x04;
+		}
+		
+		/* Now we determine the two lattice points not part of the tetrahedron that may contribute.
+		   This depends on the closest two tetrahedral vertices, including (0,0,0) */
+		wins = 1 - inSum;
+		if (wins > aScore || wins > bScore) { /* (0,0,0) is one of the closest two tetrahedral vertices. */
+			c = (bScore > aScore ? bPoint : aPoint); /* Our other closest vertex is the closest out of a and b. */
+			
+			if ((c & 0x01) == 0) {
+				xsv_ext0 = xsb - 1;
+				xsv_ext1 = xsb;
+				dx_ext0 = dx0 + 1;
+				dx_ext1 = dx0;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsb + 1;
+				dx_ext0 = dx_ext1 = dx0 - 1;
+			}
+
+			if ((c & 0x02) == 0) {
+				ysv_ext0 = ysv_ext1 = ysb;
+				dy_ext0 = dy_ext1 = dy0;
+				if ((c & 0x01) == 0) {
+					ysv_ext1 -= 1;
+					dy_ext1 += 1;
+				} else {
+					ysv_ext0 -= 1;
+					dy_ext0 += 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysb + 1;
+				dy_ext0 = dy_ext1 = dy0 - 1;
+			}
+
+			if ((c & 0x04) == 0) {
+				zsv_ext0 = zsb;
+				zsv_ext1 = zsb - 1;
+				dz_ext0 = dz0;
+				dz_ext1 = dz0 + 1;
+			} else {
+				zsv_ext0 = zsv_ext1 = zsb + 1;
+				dz_ext0 = dz_ext1 = dz0 - 1;
+			}
+		} else { /* (0,0,0) is not one of the closest two tetrahedral vertices. */
+			c = (int8_t)(aPoint | bPoint); /* Our two extra vertices are determined by the closest two. */
+			
+			if ((c & 0x01) == 0) {
+				xsv_ext0 = xsb;
+				xsv_ext1 = xsb - 1;
+				dx_ext0 = dx0 - 2 * SQUISH_CONSTANT_3D;
+				dx_ext1 = dx0 + 1 - SQUISH_CONSTANT_3D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsb + 1;
+				dx_ext0 = dx0 - 1 - 2 * SQUISH_CONSTANT_3D;
+				dx_ext1 = dx0 - 1 - SQUISH_CONSTANT_3D;
+			}
+
+			if ((c & 0x02) == 0) {
+				ysv_ext0 = ysb;
+				ysv_ext1 = ysb - 1;
+				dy_ext0 = dy0 - 2 * SQUISH_CONSTANT_3D;
+				dy_ext1 = dy0 + 1 - SQUISH_CONSTANT_3D;
+			} else {
+				ysv_ext0 = ysv_ext1 = ysb + 1;
+				dy_ext0 = dy0 - 1 - 2 * SQUISH_CONSTANT_3D;
+				dy_ext1 = dy0 - 1 - SQUISH_CONSTANT_3D;
+			}
+
+			if ((c & 0x04) == 0) {
+				zsv_ext0 = zsb;
+				zsv_ext1 = zsb - 1;
+				dz_ext0 = dz0 - 2 * SQUISH_CONSTANT_3D;
+				dz_ext1 = dz0 + 1 - SQUISH_CONSTANT_3D;
+			} else {
+				zsv_ext0 = zsv_ext1 = zsb + 1;
+				dz_ext0 = dz0 - 1 - 2 * SQUISH_CONSTANT_3D;
+				dz_ext1 = dz0 - 1 - SQUISH_CONSTANT_3D;
+			}
+		}
+
+		/* Contribution (0,0,0) */
+		attn0 = 2 - dx0 * dx0 - dy0 * dy0 - dz0 * dz0;
+		if (attn0 > 0) {
+			attn0 *= attn0;
+			value += attn0 * attn0 * extrapolate3(ctx, xsb + 0, ysb + 0, zsb + 0, dx0, dy0, dz0);
+		}
+
+		/* Contribution (1,0,0) */
+		dx1 = dx0 - 1 - SQUISH_CONSTANT_3D;
+		dy1 = dy0 - 0 - SQUISH_CONSTANT_3D;
+		dz1 = dz0 - 0 - SQUISH_CONSTANT_3D;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate3(ctx, xsb + 1, ysb + 0, zsb + 0, dx1, dy1, dz1);
+		}
+
+		/* Contribution (0,1,0) */
+		dx2 = dx0 - 0 - SQUISH_CONSTANT_3D;
+		dy2 = dy0 - 1 - SQUISH_CONSTANT_3D;
+		dz2 = dz1;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate3(ctx, xsb + 0, ysb + 1, zsb + 0, dx2, dy2, dz2);
+		}
+
+		/* Contribution (0,0,1) */
+		dx3 = dx2;
+		dy3 = dy1;
+		dz3 = dz0 - 1 - SQUISH_CONSTANT_3D;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate3(ctx, xsb + 0, ysb + 0, zsb + 1, dx3, dy3, dz3);
+		}
+	} else if (inSum >= 2) { /* We're inside the tetrahedron (3-Simplex) at (1,1,1) */
+	
+		/* Determine which two tetrahedral vertices are the closest, out of (1,1,0), (1,0,1), (0,1,1) but not (1,1,1). */
+		aPoint = 0x06;
+		aScore = xins;
+		bPoint = 0x05;
+		bScore = yins;
+		if (aScore <= bScore && zins < bScore) {
+			bScore = zins;
+			bPoint = 0x03;
+		} else if (aScore > bScore && zins < aScore) {
+			aScore = zins;
+			aPoint = 0x03;
+		}
+		
+		/* Now we determine the two lattice points not part of the tetrahedron that may contribute.
+		   This depends on the closest two tetrahedral vertices, including (1,1,1) */
+		wins = 3 - inSum;
+		if (wins < aScore || wins < bScore) { /* (1,1,1) is one of the closest two tetrahedral vertices. */
+			c = (bScore < aScore ? bPoint : aPoint); /* Our other closest vertex is the closest out of a and b. */
+			
+			if ((c & 0x01) != 0) {
+				xsv_ext0 = xsb + 2;
+				xsv_ext1 = xsb + 1;
+				dx_ext0 = dx0 - 2 - 3 * SQUISH_CONSTANT_3D;
+				dx_ext1 = dx0 - 1 - 3 * SQUISH_CONSTANT_3D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsb;
+				dx_ext0 = dx_ext1 = dx0 - 3 * SQUISH_CONSTANT_3D;
+			}
+
+			if ((c & 0x02) != 0) {
+				ysv_ext0 = ysv_ext1 = ysb + 1;
+				dy_ext0 = dy_ext1 = dy0 - 1 - 3 * SQUISH_CONSTANT_3D;
+				if ((c & 0x01) != 0) {
+					ysv_ext1 += 1;
+					dy_ext1 -= 1;
+				} else {
+					ysv_ext0 += 1;
+					dy_ext0 -= 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysb;
+				dy_ext0 = dy_ext1 = dy0 - 3 * SQUISH_CONSTANT_3D;
+			}
+
+			if ((c & 0x04) != 0) {
+				zsv_ext0 = zsb + 1;
+				zsv_ext1 = zsb + 2;
+				dz_ext0 = dz0 - 1 - 3 * SQUISH_CONSTANT_3D;
+				dz_ext1 = dz0 - 2 - 3 * SQUISH_CONSTANT_3D;
+			} else {
+				zsv_ext0 = zsv_ext1 = zsb;
+				dz_ext0 = dz_ext1 = dz0 - 3 * SQUISH_CONSTANT_3D;
+			}
+		} else { /* (1,1,1) is not one of the closest two tetrahedral vertices. */
+			c = (int8_t)(aPoint & bPoint); /* Our two extra vertices are determined by the closest two. */
+			
+			if ((c & 0x01) != 0) {
+				xsv_ext0 = xsb + 1;
+				xsv_ext1 = xsb + 2;
+				dx_ext0 = dx0 - 1 - SQUISH_CONSTANT_3D;
+				dx_ext1 = dx0 - 2 - 2 * SQUISH_CONSTANT_3D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsb;
+				dx_ext0 = dx0 - SQUISH_CONSTANT_3D;
+				dx_ext1 = dx0 - 2 * SQUISH_CONSTANT_3D;
+			}
+
+			if ((c & 0x02) != 0) {
+				ysv_ext0 = ysb + 1;
+				ysv_ext1 = ysb + 2;
+				dy_ext0 = dy0 - 1 - SQUISH_CONSTANT_3D;
+				dy_ext1 = dy0 - 2 - 2 * SQUISH_CONSTANT_3D;
+			} else {
+				ysv_ext0 = ysv_ext1 = ysb;
+				dy_ext0 = dy0 - SQUISH_CONSTANT_3D;
+				dy_ext1 = dy0 - 2 * SQUISH_CONSTANT_3D;
+			}
+
+			if ((c & 0x04) != 0) {
+				zsv_ext0 = zsb + 1;
+				zsv_ext1 = zsb + 2;
+				dz_ext0 = dz0 - 1 - SQUISH_CONSTANT_3D;
+				dz_ext1 = dz0 - 2 - 2 * SQUISH_CONSTANT_3D;
+			} else {
+				zsv_ext0 = zsv_ext1 = zsb;
+				dz_ext0 = dz0 - SQUISH_CONSTANT_3D;
+				dz_ext1 = dz0 - 2 * SQUISH_CONSTANT_3D;
+			}
+		}
+		
+		/* Contribution (1,1,0) */
+		dx3 = dx0 - 1 - 2 * SQUISH_CONSTANT_3D;
+		dy3 = dy0 - 1 - 2 * SQUISH_CONSTANT_3D;
+		dz3 = dz0 - 0 - 2 * SQUISH_CONSTANT_3D;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate3(ctx, xsb + 1, ysb + 1, zsb + 0, dx3, dy3, dz3);
+		}
+
+		/* Contribution (1,0,1) */
+		dx2 = dx3;
+		dy2 = dy0 - 0 - 2 * SQUISH_CONSTANT_3D;
+		dz2 = dz0 - 1 - 2 * SQUISH_CONSTANT_3D;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate3(ctx, xsb + 1, ysb + 0, zsb + 1, dx2, dy2, dz2);
+		}
+
+		/* Contribution (0,1,1) */
+		dx1 = dx0 - 0 - 2 * SQUISH_CONSTANT_3D;
+		dy1 = dy3;
+		dz1 = dz2;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate3(ctx, xsb + 0, ysb + 1, zsb + 1, dx1, dy1, dz1);
+		}
+
+		/* Contribution (1,1,1) */
+		dx0 = dx0 - 1 - 3 * SQUISH_CONSTANT_3D;
+		dy0 = dy0 - 1 - 3 * SQUISH_CONSTANT_3D;
+		dz0 = dz0 - 1 - 3 * SQUISH_CONSTANT_3D;
+		attn0 = 2 - dx0 * dx0 - dy0 * dy0 - dz0 * dz0;
+		if (attn0 > 0) {
+			attn0 *= attn0;
+			value += attn0 * attn0 * extrapolate3(ctx, xsb + 1, ysb + 1, zsb + 1, dx0, dy0, dz0);
+		}
+	} else { /* We're inside the octahedron (Rectified 3-Simplex) in between.
+		        Decide between point (0,0,1) and (1,1,0) as closest */
+		p1 = xins + yins;
+		if (p1 > 1) {
+			aScore = p1 - 1;
+			aPoint = 0x03;
+			aIsFurtherSide = 1;
+		} else {
+			aScore = 1 - p1;
+			aPoint = 0x04;
+			aIsFurtherSide = 0;
+		}
+
+		/* Decide between point (0,1,0) and (1,0,1) as closest */
+		p2 = xins + zins;
+		if (p2 > 1) {
+			bScore = p2 - 1;
+			bPoint = 0x05;
+			bIsFurtherSide = 1;
+		} else {
+			bScore = 1 - p2;
+			bPoint = 0x02;
+			bIsFurtherSide = 0;
+		}
+		
+		/* The closest out of the two (1,0,0) and (0,1,1) will replace the furthest out of the two decided above, if closer. */
+		p3 = yins + zins;
+		if (p3 > 1) {
+			score = p3 - 1;
+			if (aScore <= bScore && aScore < score) {
+				aScore = score;
+				aPoint = 0x06;
+				aIsFurtherSide = 1;
+			} else if (aScore > bScore && bScore < score) {
+				bScore = score;
+				bPoint = 0x06;
+				bIsFurtherSide = 1;
+			}
+		} else {
+			score = 1 - p3;
+			if (aScore <= bScore && aScore < score) {
+				aScore = score;
+				aPoint = 0x01;
+				aIsFurtherSide = 0;
+			} else if (aScore > bScore && bScore < score) {
+				bScore = score;
+				bPoint = 0x01;
+				bIsFurtherSide = 0;
+			}
+		}
+		
+		/* Where each of the two closest points are determines how the extra two vertices are calculated. */
+		if (aIsFurtherSide == bIsFurtherSide) {
+			if (aIsFurtherSide) { /* Both closest points on (1,1,1) side */
+
+				/* One of the two extra points is (1,1,1) */
+				dx_ext0 = dx0 - 1 - 3 * SQUISH_CONSTANT_3D;
+				dy_ext0 = dy0 - 1 - 3 * SQUISH_CONSTANT_3D;
+				dz_ext0 = dz0 - 1 - 3 * SQUISH_CONSTANT_3D;
+				xsv_ext0 = xsb + 1;
+				ysv_ext0 = ysb + 1;
+				zsv_ext0 = zsb + 1;
+
+				/* Other extra point is based on the shared axis. */
+				c = (int8_t)(aPoint & bPoint);
+				if ((c & 0x01) != 0) {
+					dx_ext1 = dx0 - 2 - 2 * SQUISH_CONSTANT_3D;
+					dy_ext1 = dy0 - 2 * SQUISH_CONSTANT_3D;
+					dz_ext1 = dz0 - 2 * SQUISH_CONSTANT_3D;
+					xsv_ext1 = xsb + 2;
+					ysv_ext1 = ysb;
+					zsv_ext1 = zsb;
+				} else if ((c & 0x02) != 0) {
+					dx_ext1 = dx0 - 2 * SQUISH_CONSTANT_3D;
+					dy_ext1 = dy0 - 2 - 2 * SQUISH_CONSTANT_3D;
+					dz_ext1 = dz0 - 2 * SQUISH_CONSTANT_3D;
+					xsv_ext1 = xsb;
+					ysv_ext1 = ysb + 2;
+					zsv_ext1 = zsb;
+				} else {
+					dx_ext1 = dx0 - 2 * SQUISH_CONSTANT_3D;
+					dy_ext1 = dy0 - 2 * SQUISH_CONSTANT_3D;
+					dz_ext1 = dz0 - 2 - 2 * SQUISH_CONSTANT_3D;
+					xsv_ext1 = xsb;
+					ysv_ext1 = ysb;
+					zsv_ext1 = zsb + 2;
+				}
+			} else { /* Both closest points on (0,0,0) side */
+
+				/* One of the two extra points is (0,0,0) */
+				dx_ext0 = dx0;
+				dy_ext0 = dy0;
+				dz_ext0 = dz0;
+				xsv_ext0 = xsb;
+				ysv_ext0 = ysb;
+				zsv_ext0 = zsb;
+
+				/* Other extra point is based on the omitted axis. */
+				c = (int8_t)(aPoint | bPoint);
+				if ((c & 0x01) == 0) {
+					dx_ext1 = dx0 + 1 - SQUISH_CONSTANT_3D;
+					dy_ext1 = dy0 - 1 - SQUISH_CONSTANT_3D;
+					dz_ext1 = dz0 - 1 - SQUISH_CONSTANT_3D;
+					xsv_ext1 = xsb - 1;
+					ysv_ext1 = ysb + 1;
+					zsv_ext1 = zsb + 1;
+				} else if ((c & 0x02) == 0) {
+					dx_ext1 = dx0 - 1 - SQUISH_CONSTANT_3D;
+					dy_ext1 = dy0 + 1 - SQUISH_CONSTANT_3D;
+					dz_ext1 = dz0 - 1 - SQUISH_CONSTANT_3D;
+					xsv_ext1 = xsb + 1;
+					ysv_ext1 = ysb - 1;
+					zsv_ext1 = zsb + 1;
+				} else {
+					dx_ext1 = dx0 - 1 - SQUISH_CONSTANT_3D;
+					dy_ext1 = dy0 - 1 - SQUISH_CONSTANT_3D;
+					dz_ext1 = dz0 + 1 - SQUISH_CONSTANT_3D;
+					xsv_ext1 = xsb + 1;
+					ysv_ext1 = ysb + 1;
+					zsv_ext1 = zsb - 1;
+				}
+			}
+		} else { /* One point on (0,0,0) side, one point on (1,1,1) side */
+			if (aIsFurtherSide) {
+				c1 = aPoint;
+				c2 = bPoint;
+			} else {
+				c1 = bPoint;
+				c2 = aPoint;
+			}
+
+			/* One contribution is a permutation of (1,1,-1) */
+			if ((c1 & 0x01) == 0) {
+				dx_ext0 = dx0 + 1 - SQUISH_CONSTANT_3D;
+				dy_ext0 = dy0 - 1 - SQUISH_CONSTANT_3D;
+				dz_ext0 = dz0 - 1 - SQUISH_CONSTANT_3D;
+				xsv_ext0 = xsb - 1;
+				ysv_ext0 = ysb + 1;
+				zsv_ext0 = zsb + 1;
+			} else if ((c1 & 0x02) == 0) {
+				dx_ext0 = dx0 - 1 - SQUISH_CONSTANT_3D;
+				dy_ext0 = dy0 + 1 - SQUISH_CONSTANT_3D;
+				dz_ext0 = dz0 - 1 - SQUISH_CONSTANT_3D;
+				xsv_ext0 = xsb + 1;
+				ysv_ext0 = ysb - 1;
+				zsv_ext0 = zsb + 1;
+			} else {
+				dx_ext0 = dx0 - 1 - SQUISH_CONSTANT_3D;
+				dy_ext0 = dy0 - 1 - SQUISH_CONSTANT_3D;
+				dz_ext0 = dz0 + 1 - SQUISH_CONSTANT_3D;
+				xsv_ext0 = xsb + 1;
+				ysv_ext0 = ysb + 1;
+				zsv_ext0 = zsb - 1;
+			}
+
+			/* One contribution is a permutation of (0,0,2) */
+			dx_ext1 = dx0 - 2 * SQUISH_CONSTANT_3D;
+			dy_ext1 = dy0 - 2 * SQUISH_CONSTANT_3D;
+			dz_ext1 = dz0 - 2 * SQUISH_CONSTANT_3D;
+			xsv_ext1 = xsb;
+			ysv_ext1 = ysb;
+			zsv_ext1 = zsb;
+			if ((c2 & 0x01) != 0) {
+				dx_ext1 -= 2;
+				xsv_ext1 += 2;
+			} else if ((c2 & 0x02) != 0) {
+				dy_ext1 -= 2;
+				ysv_ext1 += 2;
+			} else {
+				dz_ext1 -= 2;
+				zsv_ext1 += 2;
+			}
+		}
+
+		/* Contribution (1,0,0) */
+		dx1 = dx0 - 1 - SQUISH_CONSTANT_3D;
+		dy1 = dy0 - 0 - SQUISH_CONSTANT_3D;
+		dz1 = dz0 - 0 - SQUISH_CONSTANT_3D;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate3(ctx, xsb + 1, ysb + 0, zsb + 0, dx1, dy1, dz1);
+		}
+
+		/* Contribution (0,1,0) */
+		dx2 = dx0 - 0 - SQUISH_CONSTANT_3D;
+		dy2 = dy0 - 1 - SQUISH_CONSTANT_3D;
+		dz2 = dz1;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate3(ctx, xsb + 0, ysb + 1, zsb + 0, dx2, dy2, dz2);
+		}
+
+		/* Contribution (0,0,1) */
+		dx3 = dx2;
+		dy3 = dy1;
+		dz3 = dz0 - 1 - SQUISH_CONSTANT_3D;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate3(ctx, xsb + 0, ysb + 0, zsb + 1, dx3, dy3, dz3);
+		}
+
+		/* Contribution (1,1,0) */
+		dx4 = dx0 - 1 - 2 * SQUISH_CONSTANT_3D;
+		dy4 = dy0 - 1 - 2 * SQUISH_CONSTANT_3D;
+		dz4 = dz0 - 0 - 2 * SQUISH_CONSTANT_3D;
+		attn4 = 2 - dx4 * dx4 - dy4 * dy4 - dz4 * dz4;
+		if (attn4 > 0) {
+			attn4 *= attn4;
+			value += attn4 * attn4 * extrapolate3(ctx, xsb + 1, ysb + 1, zsb + 0, dx4, dy4, dz4);
+		}
+
+		/* Contribution (1,0,1) */
+		dx5 = dx4;
+		dy5 = dy0 - 0 - 2 * SQUISH_CONSTANT_3D;
+		dz5 = dz0 - 1 - 2 * SQUISH_CONSTANT_3D;
+		attn5 = 2 - dx5 * dx5 - dy5 * dy5 - dz5 * dz5;
+		if (attn5 > 0) {
+			attn5 *= attn5;
+			value += attn5 * attn5 * extrapolate3(ctx, xsb + 1, ysb + 0, zsb + 1, dx5, dy5, dz5);
+		}
+
+		/* Contribution (0,1,1) */
+		dx6 = dx0 - 0 - 2 * SQUISH_CONSTANT_3D;
+		dy6 = dy4;
+		dz6 = dz5;
+		attn6 = 2 - dx6 * dx6 - dy6 * dy6 - dz6 * dz6;
+		if (attn6 > 0) {
+			attn6 *= attn6;
+			value += attn6 * attn6 * extrapolate3(ctx, xsb + 0, ysb + 1, zsb + 1, dx6, dy6, dz6);
+		}
+	}
+
+	/* First extra vertex */
+	attn_ext0 = 2 - dx_ext0 * dx_ext0 - dy_ext0 * dy_ext0 - dz_ext0 * dz_ext0;
+	if (attn_ext0 > 0)
+	{
+		attn_ext0 *= attn_ext0;
+		value += attn_ext0 * attn_ext0 * extrapolate3(ctx, xsv_ext0, ysv_ext0, zsv_ext0, dx_ext0, dy_ext0, dz_ext0);
+	}
+
+	/* Second extra vertex */
+	attn_ext1 = 2 - dx_ext1 * dx_ext1 - dy_ext1 * dy_ext1 - dz_ext1 * dz_ext1;
+	if (attn_ext1 > 0)
+	{
+		attn_ext1 *= attn_ext1;
+		value += attn_ext1 * attn_ext1 * extrapolate3(ctx, xsv_ext1, ysv_ext1, zsv_ext1, dx_ext1, dy_ext1, dz_ext1);
+	}
+	
+	return value / NORM_CONSTANT_3D;
+}
+	
+/* 
+ * 4D OpenSimplex (Simplectic) Noise.
+ */
+double open_simplex_noise4(struct osn_context *ctx, double x, double y, double z, double w)
+{
+	double uins;
+	double dx1, dy1, dz1, dw1;
+	double dx2, dy2, dz2, dw2;
+	double dx3, dy3, dz3, dw3;
+	double dx4, dy4, dz4, dw4;
+	double dx5, dy5, dz5, dw5;
+	double dx6, dy6, dz6, dw6;
+	double dx7, dy7, dz7, dw7;
+	double dx8, dy8, dz8, dw8;
+	double dx9, dy9, dz9, dw9;
+	double dx10, dy10, dz10, dw10;
+	double attn0, attn1, attn2, attn3, attn4;
+	double attn5, attn6, attn7, attn8, attn9, attn10;
+	double attn_ext0, attn_ext1, attn_ext2;
+	int8_t c, c1, c2;
+	int8_t aPoint, bPoint;
+	double aScore, bScore;
+	int aIsBiggerSide;
+	int bIsBiggerSide;
+	double p1, p2, p3, p4;
+	double score;
+
+	/* Place input coordinates on simplectic honeycomb. */
+	double stretchOffset = (x + y + z + w) * STRETCH_CONSTANT_4D;
+	double xs = x + stretchOffset;
+	double ys = y + stretchOffset;
+	double zs = z + stretchOffset;
+	double ws = w + stretchOffset;
+	
+	/* Floor to get simplectic honeycomb coordinates of rhombo-hypercube super-cell origin. */
+	int xsb = fastFloor(xs);
+	int ysb = fastFloor(ys);
+	int zsb = fastFloor(zs);
+	int wsb = fastFloor(ws);
+	
+	/* Skew out to get actual coordinates of stretched rhombo-hypercube origin. We'll need these later. */
+	double squishOffset = (xsb + ysb + zsb + wsb) * SQUISH_CONSTANT_4D;
+	double xb = xsb + squishOffset;
+	double yb = ysb + squishOffset;
+	double zb = zsb + squishOffset;
+	double wb = wsb + squishOffset;
+	
+	/* Compute simplectic honeycomb coordinates relative to rhombo-hypercube origin. */
+	double xins = xs - xsb;
+	double yins = ys - ysb;
+	double zins = zs - zsb;
+	double wins = ws - wsb;
+	
+	/* Sum those together to get a value that determines which region we're in. */
+	double inSum = xins + yins + zins + wins;
+
+	/* Positions relative to origin point. */
+	double dx0 = x - xb;
+	double dy0 = y - yb;
+	double dz0 = z - zb;
+	double dw0 = w - wb;
+	
+	/* We'll be defining these inside the next block and using them afterwards. */
+	double dx_ext0, dy_ext0, dz_ext0, dw_ext0;
+	double dx_ext1, dy_ext1, dz_ext1, dw_ext1;
+	double dx_ext2, dy_ext2, dz_ext2, dw_ext2;
+	int xsv_ext0, ysv_ext0, zsv_ext0, wsv_ext0;
+	int xsv_ext1, ysv_ext1, zsv_ext1, wsv_ext1;
+	int xsv_ext2, ysv_ext2, zsv_ext2, wsv_ext2;
+	
+	double value = 0;
+	if (inSum <= 1) { /* We're inside the pentachoron (4-Simplex) at (0,0,0,0) */
+
+		/* Determine which two of (0,0,0,1), (0,0,1,0), (0,1,0,0), (1,0,0,0) are closest. */
+		aPoint = 0x01;
+		aScore = xins;
+		bPoint = 0x02;
+		bScore = yins;
+		if (aScore >= bScore && zins > bScore) {
+			bScore = zins;
+			bPoint = 0x04;
+		} else if (aScore < bScore && zins > aScore) {
+			aScore = zins;
+			aPoint = 0x04;
+		}
+		if (aScore >= bScore && wins > bScore) {
+			bScore = wins;
+			bPoint = 0x08;
+		} else if (aScore < bScore && wins > aScore) {
+			aScore = wins;
+			aPoint = 0x08;
+		}
+		
+		/* Now we determine the three lattice points not part of the pentachoron that may contribute.
+		   This depends on the closest two pentachoron vertices, including (0,0,0,0) */
+		uins = 1 - inSum;
+		if (uins > aScore || uins > bScore) { /* (0,0,0,0) is one of the closest two pentachoron vertices. */
+			c = (bScore > aScore ? bPoint : aPoint); /* Our other closest vertex is the closest out of a and b. */
+			if ((c & 0x01) == 0) {
+				xsv_ext0 = xsb - 1;
+				xsv_ext1 = xsv_ext2 = xsb;
+				dx_ext0 = dx0 + 1;
+				dx_ext1 = dx_ext2 = dx0;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsv_ext2 = xsb + 1;
+				dx_ext0 = dx_ext1 = dx_ext2 = dx0 - 1;
+			}
+
+			if ((c & 0x02) == 0) {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb;
+				dy_ext0 = dy_ext1 = dy_ext2 = dy0;
+				if ((c & 0x01) == 0x01) {
+					ysv_ext0 -= 1;
+					dy_ext0 += 1;
+				} else {
+					ysv_ext1 -= 1;
+					dy_ext1 += 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb + 1;
+				dy_ext0 = dy_ext1 = dy_ext2 = dy0 - 1;
+			}
+			
+			if ((c & 0x04) == 0) {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb;
+				dz_ext0 = dz_ext1 = dz_ext2 = dz0;
+				if ((c & 0x03) != 0) {
+					if ((c & 0x03) == 0x03) {
+						zsv_ext0 -= 1;
+						dz_ext0 += 1;
+					} else {
+						zsv_ext1 -= 1;
+						dz_ext1 += 1;
+					}
+				} else {
+					zsv_ext2 -= 1;
+					dz_ext2 += 1;
+				}
+			} else {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb + 1;
+				dz_ext0 = dz_ext1 = dz_ext2 = dz0 - 1;
+			}
+			
+			if ((c & 0x08) == 0) {
+				wsv_ext0 = wsv_ext1 = wsb;
+				wsv_ext2 = wsb - 1;
+				dw_ext0 = dw_ext1 = dw0;
+				dw_ext2 = dw0 + 1;
+			} else {
+				wsv_ext0 = wsv_ext1 = wsv_ext2 = wsb + 1;
+				dw_ext0 = dw_ext1 = dw_ext2 = dw0 - 1;
+			}
+		} else { /* (0,0,0,0) is not one of the closest two pentachoron vertices. */
+			c = (int8_t)(aPoint | bPoint); /* Our three extra vertices are determined by the closest two. */
+			
+			if ((c & 0x01) == 0) {
+				xsv_ext0 = xsv_ext2 = xsb;
+				xsv_ext1 = xsb - 1;
+				dx_ext0 = dx0 - 2 * SQUISH_CONSTANT_4D;
+				dx_ext1 = dx0 + 1 - SQUISH_CONSTANT_4D;
+				dx_ext2 = dx0 - SQUISH_CONSTANT_4D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsv_ext2 = xsb + 1;
+				dx_ext0 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dx_ext1 = dx_ext2 = dx0 - 1 - SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x02) == 0) {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb;
+				dy_ext0 = dy0 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext1 = dy_ext2 = dy0 - SQUISH_CONSTANT_4D;
+				if ((c & 0x01) == 0x01) {
+					ysv_ext1 -= 1;
+					dy_ext1 += 1;
+				} else {
+					ysv_ext2 -= 1;
+					dy_ext2 += 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb + 1;
+				dy_ext0 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext1 = dy_ext2 = dy0 - 1 - SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x04) == 0) {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb;
+				dz_ext0 = dz0 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext1 = dz_ext2 = dz0 - SQUISH_CONSTANT_4D;
+				if ((c & 0x03) == 0x03) {
+					zsv_ext1 -= 1;
+					dz_ext1 += 1;
+				} else {
+					zsv_ext2 -= 1;
+					dz_ext2 += 1;
+				}
+			} else {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb + 1;
+				dz_ext0 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext1 = dz_ext2 = dz0 - 1 - SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x08) == 0) {
+				wsv_ext0 = wsv_ext1 = wsb;
+				wsv_ext2 = wsb - 1;
+				dw_ext0 = dw0 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext1 = dw0 - SQUISH_CONSTANT_4D;
+				dw_ext2 = dw0 + 1 - SQUISH_CONSTANT_4D;
+			} else {
+				wsv_ext0 = wsv_ext1 = wsv_ext2 = wsb + 1;
+				dw_ext0 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext1 = dw_ext2 = dw0 - 1 - SQUISH_CONSTANT_4D;
+			}
+		}
+
+		/* Contribution (0,0,0,0) */
+		attn0 = 2 - dx0 * dx0 - dy0 * dy0 - dz0 * dz0 - dw0 * dw0;
+		if (attn0 > 0) {
+			attn0 *= attn0;
+			value += attn0 * attn0 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 0, wsb + 0, dx0, dy0, dz0, dw0);
+		}
+
+		/* Contribution (1,0,0,0) */
+		dx1 = dx0 - 1 - SQUISH_CONSTANT_4D;
+		dy1 = dy0 - 0 - SQUISH_CONSTANT_4D;
+		dz1 = dz0 - 0 - SQUISH_CONSTANT_4D;
+		dw1 = dw0 - 0 - SQUISH_CONSTANT_4D;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1 - dw1 * dw1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 0, wsb + 0, dx1, dy1, dz1, dw1);
+		}
+
+		/* Contribution (0,1,0,0) */
+		dx2 = dx0 - 0 - SQUISH_CONSTANT_4D;
+		dy2 = dy0 - 1 - SQUISH_CONSTANT_4D;
+		dz2 = dz1;
+		dw2 = dw1;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2 - dw2 * dw2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 0, wsb + 0, dx2, dy2, dz2, dw2);
+		}
+
+		/* Contribution (0,0,1,0) */
+		dx3 = dx2;
+		dy3 = dy1;
+		dz3 = dz0 - 1 - SQUISH_CONSTANT_4D;
+		dw3 = dw1;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3 - dw3 * dw3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 1, wsb + 0, dx3, dy3, dz3, dw3);
+		}
+
+		/* Contribution (0,0,0,1) */
+		dx4 = dx2;
+		dy4 = dy1;
+		dz4 = dz1;
+		dw4 = dw0 - 1 - SQUISH_CONSTANT_4D;
+		attn4 = 2 - dx4 * dx4 - dy4 * dy4 - dz4 * dz4 - dw4 * dw4;
+		if (attn4 > 0) {
+			attn4 *= attn4;
+			value += attn4 * attn4 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 0, wsb + 1, dx4, dy4, dz4, dw4);
+		}
+	} else if (inSum >= 3) { /* We're inside the pentachoron (4-Simplex) at (1,1,1,1)
+		Determine which two of (1,1,1,0), (1,1,0,1), (1,0,1,1), (0,1,1,1) are closest. */
+		aPoint = 0x0E;
+		aScore = xins;
+		bPoint = 0x0D;
+		bScore = yins;
+		if (aScore <= bScore && zins < bScore) {
+			bScore = zins;
+			bPoint = 0x0B;
+		} else if (aScore > bScore && zins < aScore) {
+			aScore = zins;
+			aPoint = 0x0B;
+		}
+		if (aScore <= bScore && wins < bScore) {
+			bScore = wins;
+			bPoint = 0x07;
+		} else if (aScore > bScore && wins < aScore) {
+			aScore = wins;
+			aPoint = 0x07;
+		}
+		
+		/* Now we determine the three lattice points not part of the pentachoron that may contribute.
+		   This depends on the closest two pentachoron vertices, including (0,0,0,0) */
+		uins = 4 - inSum;
+		if (uins < aScore || uins < bScore) { /* (1,1,1,1) is one of the closest two pentachoron vertices. */
+			c = (bScore < aScore ? bPoint : aPoint); /* Our other closest vertex is the closest out of a and b. */
+			
+			if ((c & 0x01) != 0) {
+				xsv_ext0 = xsb + 2;
+				xsv_ext1 = xsv_ext2 = xsb + 1;
+				dx_ext0 = dx0 - 2 - 4 * SQUISH_CONSTANT_4D;
+				dx_ext1 = dx_ext2 = dx0 - 1 - 4 * SQUISH_CONSTANT_4D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsv_ext2 = xsb;
+				dx_ext0 = dx_ext1 = dx_ext2 = dx0 - 4 * SQUISH_CONSTANT_4D;
+			}
+
+			if ((c & 0x02) != 0) {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb + 1;
+				dy_ext0 = dy_ext1 = dy_ext2 = dy0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				if ((c & 0x01) != 0) {
+					ysv_ext1 += 1;
+					dy_ext1 -= 1;
+				} else {
+					ysv_ext0 += 1;
+					dy_ext0 -= 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb;
+				dy_ext0 = dy_ext1 = dy_ext2 = dy0 - 4 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x04) != 0) {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb + 1;
+				dz_ext0 = dz_ext1 = dz_ext2 = dz0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				if ((c & 0x03) != 0x03) {
+					if ((c & 0x03) == 0) {
+						zsv_ext0 += 1;
+						dz_ext0 -= 1;
+					} else {
+						zsv_ext1 += 1;
+						dz_ext1 -= 1;
+					}
+				} else {
+					zsv_ext2 += 1;
+					dz_ext2 -= 1;
+				}
+			} else {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb;
+				dz_ext0 = dz_ext1 = dz_ext2 = dz0 - 4 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x08) != 0) {
+				wsv_ext0 = wsv_ext1 = wsb + 1;
+				wsv_ext2 = wsb + 2;
+				dw_ext0 = dw_ext1 = dw0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				dw_ext2 = dw0 - 2 - 4 * SQUISH_CONSTANT_4D;
+			} else {
+				wsv_ext0 = wsv_ext1 = wsv_ext2 = wsb;
+				dw_ext0 = dw_ext1 = dw_ext2 = dw0 - 4 * SQUISH_CONSTANT_4D;
+			}
+		} else { /* (1,1,1,1) is not one of the closest two pentachoron vertices. */
+			c = (int8_t)(aPoint & bPoint); /* Our three extra vertices are determined by the closest two. */
+			
+			if ((c & 0x01) != 0) {
+				xsv_ext0 = xsv_ext2 = xsb + 1;
+				xsv_ext1 = xsb + 2;
+				dx_ext0 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dx_ext1 = dx0 - 2 - 3 * SQUISH_CONSTANT_4D;
+				dx_ext2 = dx0 - 1 - 3 * SQUISH_CONSTANT_4D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsv_ext2 = xsb;
+				dx_ext0 = dx0 - 2 * SQUISH_CONSTANT_4D;
+				dx_ext1 = dx_ext2 = dx0 - 3 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x02) != 0) {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb + 1;
+				dy_ext0 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext1 = dy_ext2 = dy0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				if ((c & 0x01) != 0) {
+					ysv_ext2 += 1;
+					dy_ext2 -= 1;
+				} else {
+					ysv_ext1 += 1;
+					dy_ext1 -= 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysv_ext2 = ysb;
+				dy_ext0 = dy0 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext1 = dy_ext2 = dy0 - 3 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x04) != 0) {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb + 1;
+				dz_ext0 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext1 = dz_ext2 = dz0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				if ((c & 0x03) != 0) {
+					zsv_ext2 += 1;
+					dz_ext2 -= 1;
+				} else {
+					zsv_ext1 += 1;
+					dz_ext1 -= 1;
+				}
+			} else {
+				zsv_ext0 = zsv_ext1 = zsv_ext2 = zsb;
+				dz_ext0 = dz0 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext1 = dz_ext2 = dz0 - 3 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c & 0x08) != 0) {
+				wsv_ext0 = wsv_ext1 = wsb + 1;
+				wsv_ext2 = wsb + 2;
+				dw_ext0 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext1 = dw0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				dw_ext2 = dw0 - 2 - 3 * SQUISH_CONSTANT_4D;
+			} else {
+				wsv_ext0 = wsv_ext1 = wsv_ext2 = wsb;
+				dw_ext0 = dw0 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext1 = dw_ext2 = dw0 - 3 * SQUISH_CONSTANT_4D;
+			}
+		}
+
+		/* Contribution (1,1,1,0) */
+		dx4 = dx0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		dy4 = dy0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		dz4 = dz0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		dw4 = dw0 - 3 * SQUISH_CONSTANT_4D;
+		attn4 = 2 - dx4 * dx4 - dy4 * dy4 - dz4 * dz4 - dw4 * dw4;
+		if (attn4 > 0) {
+			attn4 *= attn4;
+			value += attn4 * attn4 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 1, wsb + 0, dx4, dy4, dz4, dw4);
+		}
+
+		/* Contribution (1,1,0,1) */
+		dx3 = dx4;
+		dy3 = dy4;
+		dz3 = dz0 - 3 * SQUISH_CONSTANT_4D;
+		dw3 = dw0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3 - dw3 * dw3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 0, wsb + 1, dx3, dy3, dz3, dw3);
+		}
+
+		/* Contribution (1,0,1,1) */
+		dx2 = dx4;
+		dy2 = dy0 - 3 * SQUISH_CONSTANT_4D;
+		dz2 = dz4;
+		dw2 = dw3;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2 - dw2 * dw2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 1, wsb + 1, dx2, dy2, dz2, dw2);
+		}
+
+		/* Contribution (0,1,1,1) */
+		dx1 = dx0 - 3 * SQUISH_CONSTANT_4D;
+		dz1 = dz4;
+		dy1 = dy4;
+		dw1 = dw3;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1 - dw1 * dw1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 1, wsb + 1, dx1, dy1, dz1, dw1);
+		}
+
+		/* Contribution (1,1,1,1) */
+		dx0 = dx0 - 1 - 4 * SQUISH_CONSTANT_4D;
+		dy0 = dy0 - 1 - 4 * SQUISH_CONSTANT_4D;
+		dz0 = dz0 - 1 - 4 * SQUISH_CONSTANT_4D;
+		dw0 = dw0 - 1 - 4 * SQUISH_CONSTANT_4D;
+		attn0 = 2 - dx0 * dx0 - dy0 * dy0 - dz0 * dz0 - dw0 * dw0;
+		if (attn0 > 0) {
+			attn0 *= attn0;
+			value += attn0 * attn0 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 1, wsb + 1, dx0, dy0, dz0, dw0);
+		}
+	} else if (inSum <= 2) { /* We're inside the first dispentachoron (Rectified 4-Simplex) */
+		aIsBiggerSide = 1;
+		bIsBiggerSide = 1;
+		
+		/* Decide between (1,1,0,0) and (0,0,1,1) */
+		if (xins + yins > zins + wins) {
+			aScore = xins + yins;
+			aPoint = 0x03;
+		} else {
+			aScore = zins + wins;
+			aPoint = 0x0C;
+		}
+		
+		/* Decide between (1,0,1,0) and (0,1,0,1) */
+		if (xins + zins > yins + wins) {
+			bScore = xins + zins;
+			bPoint = 0x05;
+		} else {
+			bScore = yins + wins;
+			bPoint = 0x0A;
+		}
+		
+		/* Closer between (1,0,0,1) and (0,1,1,0) will replace the further of a and b, if closer. */
+		if (xins + wins > yins + zins) {
+			score = xins + wins;
+			if (aScore >= bScore && score > bScore) {
+				bScore = score;
+				bPoint = 0x09;
+			} else if (aScore < bScore && score > aScore) {
+				aScore = score;
+				aPoint = 0x09;
+			}
+		} else {
+			score = yins + zins;
+			if (aScore >= bScore && score > bScore) {
+				bScore = score;
+				bPoint = 0x06;
+			} else if (aScore < bScore && score > aScore) {
+				aScore = score;
+				aPoint = 0x06;
+			}
+		}
+		
+		/* Decide if (1,0,0,0) is closer. */
+		p1 = 2 - inSum + xins;
+		if (aScore >= bScore && p1 > bScore) {
+			bScore = p1;
+			bPoint = 0x01;
+			bIsBiggerSide = 0;
+		} else if (aScore < bScore && p1 > aScore) {
+			aScore = p1;
+			aPoint = 0x01;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Decide if (0,1,0,0) is closer. */
+		p2 = 2 - inSum + yins;
+		if (aScore >= bScore && p2 > bScore) {
+			bScore = p2;
+			bPoint = 0x02;
+			bIsBiggerSide = 0;
+		} else if (aScore < bScore && p2 > aScore) {
+			aScore = p2;
+			aPoint = 0x02;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Decide if (0,0,1,0) is closer. */
+		p3 = 2 - inSum + zins;
+		if (aScore >= bScore && p3 > bScore) {
+			bScore = p3;
+			bPoint = 0x04;
+			bIsBiggerSide = 0;
+		} else if (aScore < bScore && p3 > aScore) {
+			aScore = p3;
+			aPoint = 0x04;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Decide if (0,0,0,1) is closer. */
+		p4 = 2 - inSum + wins;
+		if (aScore >= bScore && p4 > bScore) {
+			bScore = p4;
+			bPoint = 0x08;
+			bIsBiggerSide = 0;
+		} else if (aScore < bScore && p4 > aScore) {
+			aScore = p4;
+			aPoint = 0x08;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Where each of the two closest points are determines how the extra three vertices are calculated. */
+		if (aIsBiggerSide == bIsBiggerSide) {
+			if (aIsBiggerSide) { /* Both closest points on the bigger side */
+				c1 = (int8_t)(aPoint | bPoint);
+				c2 = (int8_t)(aPoint & bPoint);
+				if ((c1 & 0x01) == 0) {
+					xsv_ext0 = xsb;
+					xsv_ext1 = xsb - 1;
+					dx_ext0 = dx0 - 3 * SQUISH_CONSTANT_4D;
+					dx_ext1 = dx0 + 1 - 2 * SQUISH_CONSTANT_4D;
+				} else {
+					xsv_ext0 = xsv_ext1 = xsb + 1;
+					dx_ext0 = dx0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					dx_ext1 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c1 & 0x02) == 0) {
+					ysv_ext0 = ysb;
+					ysv_ext1 = ysb - 1;
+					dy_ext0 = dy0 - 3 * SQUISH_CONSTANT_4D;
+					dy_ext1 = dy0 + 1 - 2 * SQUISH_CONSTANT_4D;
+				} else {
+					ysv_ext0 = ysv_ext1 = ysb + 1;
+					dy_ext0 = dy0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					dy_ext1 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c1 & 0x04) == 0) {
+					zsv_ext0 = zsb;
+					zsv_ext1 = zsb - 1;
+					dz_ext0 = dz0 - 3 * SQUISH_CONSTANT_4D;
+					dz_ext1 = dz0 + 1 - 2 * SQUISH_CONSTANT_4D;
+				} else {
+					zsv_ext0 = zsv_ext1 = zsb + 1;
+					dz_ext0 = dz0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					dz_ext1 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c1 & 0x08) == 0) {
+					wsv_ext0 = wsb;
+					wsv_ext1 = wsb - 1;
+					dw_ext0 = dw0 - 3 * SQUISH_CONSTANT_4D;
+					dw_ext1 = dw0 + 1 - 2 * SQUISH_CONSTANT_4D;
+				} else {
+					wsv_ext0 = wsv_ext1 = wsb + 1;
+					dw_ext0 = dw0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					dw_ext1 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				}
+				
+				/* One combination is a permutation of (0,0,0,2) based on c2 */
+				xsv_ext2 = xsb;
+				ysv_ext2 = ysb;
+				zsv_ext2 = zsb;
+				wsv_ext2 = wsb;
+				dx_ext2 = dx0 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext2 = dy0 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext2 = dz0 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext2 = dw0 - 2 * SQUISH_CONSTANT_4D;
+				if ((c2 & 0x01) != 0) {
+					xsv_ext2 += 2;
+					dx_ext2 -= 2;
+				} else if ((c2 & 0x02) != 0) {
+					ysv_ext2 += 2;
+					dy_ext2 -= 2;
+				} else if ((c2 & 0x04) != 0) {
+					zsv_ext2 += 2;
+					dz_ext2 -= 2;
+				} else {
+					wsv_ext2 += 2;
+					dw_ext2 -= 2;
+				}
+				
+			} else { /* Both closest points on the smaller side */
+				/* One of the two extra points is (0,0,0,0) */
+				xsv_ext2 = xsb;
+				ysv_ext2 = ysb;
+				zsv_ext2 = zsb;
+				wsv_ext2 = wsb;
+				dx_ext2 = dx0;
+				dy_ext2 = dy0;
+				dz_ext2 = dz0;
+				dw_ext2 = dw0;
+				
+				/* Other two points are based on the omitted axes. */
+				c = (int8_t)(aPoint | bPoint);
+				
+				if ((c & 0x01) == 0) {
+					xsv_ext0 = xsb - 1;
+					xsv_ext1 = xsb;
+					dx_ext0 = dx0 + 1 - SQUISH_CONSTANT_4D;
+					dx_ext1 = dx0 - SQUISH_CONSTANT_4D;
+				} else {
+					xsv_ext0 = xsv_ext1 = xsb + 1;
+					dx_ext0 = dx_ext1 = dx0 - 1 - SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c & 0x02) == 0) {
+					ysv_ext0 = ysv_ext1 = ysb;
+					dy_ext0 = dy_ext1 = dy0 - SQUISH_CONSTANT_4D;
+					if ((c & 0x01) == 0x01)
+					{
+						ysv_ext0 -= 1;
+						dy_ext0 += 1;
+					} else {
+						ysv_ext1 -= 1;
+						dy_ext1 += 1;
+					}
+				} else {
+					ysv_ext0 = ysv_ext1 = ysb + 1;
+					dy_ext0 = dy_ext1 = dy0 - 1 - SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c & 0x04) == 0) {
+					zsv_ext0 = zsv_ext1 = zsb;
+					dz_ext0 = dz_ext1 = dz0 - SQUISH_CONSTANT_4D;
+					if ((c & 0x03) == 0x03)
+					{
+						zsv_ext0 -= 1;
+						dz_ext0 += 1;
+					} else {
+						zsv_ext1 -= 1;
+						dz_ext1 += 1;
+					}
+				} else {
+					zsv_ext0 = zsv_ext1 = zsb + 1;
+					dz_ext0 = dz_ext1 = dz0 - 1 - SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c & 0x08) == 0)
+				{
+					wsv_ext0 = wsb;
+					wsv_ext1 = wsb - 1;
+					dw_ext0 = dw0 - SQUISH_CONSTANT_4D;
+					dw_ext1 = dw0 + 1 - SQUISH_CONSTANT_4D;
+				} else {
+					wsv_ext0 = wsv_ext1 = wsb + 1;
+					dw_ext0 = dw_ext1 = dw0 - 1 - SQUISH_CONSTANT_4D;
+				}
+				
+			}
+		} else { /* One point on each "side" */
+			if (aIsBiggerSide) {
+				c1 = aPoint;
+				c2 = bPoint;
+			} else {
+				c1 = bPoint;
+				c2 = aPoint;
+			}
+			
+			/* Two contributions are the bigger-sided point with each 0 replaced with -1. */
+			if ((c1 & 0x01) == 0) {
+				xsv_ext0 = xsb - 1;
+				xsv_ext1 = xsb;
+				dx_ext0 = dx0 + 1 - SQUISH_CONSTANT_4D;
+				dx_ext1 = dx0 - SQUISH_CONSTANT_4D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsb + 1;
+				dx_ext0 = dx_ext1 = dx0 - 1 - SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c1 & 0x02) == 0) {
+				ysv_ext0 = ysv_ext1 = ysb;
+				dy_ext0 = dy_ext1 = dy0 - SQUISH_CONSTANT_4D;
+				if ((c1 & 0x01) == 0x01) {
+					ysv_ext0 -= 1;
+					dy_ext0 += 1;
+				} else {
+					ysv_ext1 -= 1;
+					dy_ext1 += 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysb + 1;
+				dy_ext0 = dy_ext1 = dy0 - 1 - SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c1 & 0x04) == 0) {
+				zsv_ext0 = zsv_ext1 = zsb;
+				dz_ext0 = dz_ext1 = dz0 - SQUISH_CONSTANT_4D;
+				if ((c1 & 0x03) == 0x03) {
+					zsv_ext0 -= 1;
+					dz_ext0 += 1;
+				} else {
+					zsv_ext1 -= 1;
+					dz_ext1 += 1;
+				}
+			} else {
+				zsv_ext0 = zsv_ext1 = zsb + 1;
+				dz_ext0 = dz_ext1 = dz0 - 1 - SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c1 & 0x08) == 0) {
+				wsv_ext0 = wsb;
+				wsv_ext1 = wsb - 1;
+				dw_ext0 = dw0 - SQUISH_CONSTANT_4D;
+				dw_ext1 = dw0 + 1 - SQUISH_CONSTANT_4D;
+			} else {
+				wsv_ext0 = wsv_ext1 = wsb + 1;
+				dw_ext0 = dw_ext1 = dw0 - 1 - SQUISH_CONSTANT_4D;
+			}
+
+			/* One contribution is a permutation of (0,0,0,2) based on the smaller-sided point */
+			xsv_ext2 = xsb;
+			ysv_ext2 = ysb;
+			zsv_ext2 = zsb;
+			wsv_ext2 = wsb;
+			dx_ext2 = dx0 - 2 * SQUISH_CONSTANT_4D;
+			dy_ext2 = dy0 - 2 * SQUISH_CONSTANT_4D;
+			dz_ext2 = dz0 - 2 * SQUISH_CONSTANT_4D;
+			dw_ext2 = dw0 - 2 * SQUISH_CONSTANT_4D;
+			if ((c2 & 0x01) != 0) {
+				xsv_ext2 += 2;
+				dx_ext2 -= 2;
+			} else if ((c2 & 0x02) != 0) {
+				ysv_ext2 += 2;
+				dy_ext2 -= 2;
+			} else if ((c2 & 0x04) != 0) {
+				zsv_ext2 += 2;
+				dz_ext2 -= 2;
+			} else {
+				wsv_ext2 += 2;
+				dw_ext2 -= 2;
+			}
+		}
+		
+		/* Contribution (1,0,0,0) */
+		dx1 = dx0 - 1 - SQUISH_CONSTANT_4D;
+		dy1 = dy0 - 0 - SQUISH_CONSTANT_4D;
+		dz1 = dz0 - 0 - SQUISH_CONSTANT_4D;
+		dw1 = dw0 - 0 - SQUISH_CONSTANT_4D;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1 - dw1 * dw1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 0, wsb + 0, dx1, dy1, dz1, dw1);
+		}
+
+		/* Contribution (0,1,0,0) */
+		dx2 = dx0 - 0 - SQUISH_CONSTANT_4D;
+		dy2 = dy0 - 1 - SQUISH_CONSTANT_4D;
+		dz2 = dz1;
+		dw2 = dw1;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2 - dw2 * dw2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 0, wsb + 0, dx2, dy2, dz2, dw2);
+		}
+
+		/* Contribution (0,0,1,0) */
+		dx3 = dx2;
+		dy3 = dy1;
+		dz3 = dz0 - 1 - SQUISH_CONSTANT_4D;
+		dw3 = dw1;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3 - dw3 * dw3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 1, wsb + 0, dx3, dy3, dz3, dw3);
+		}
+
+		/* Contribution (0,0,0,1) */
+		dx4 = dx2;
+		dy4 = dy1;
+		dz4 = dz1;
+		dw4 = dw0 - 1 - SQUISH_CONSTANT_4D;
+		attn4 = 2 - dx4 * dx4 - dy4 * dy4 - dz4 * dz4 - dw4 * dw4;
+		if (attn4 > 0) {
+			attn4 *= attn4;
+			value += attn4 * attn4 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 0, wsb + 1, dx4, dy4, dz4, dw4);
+		}
+		
+		/* Contribution (1,1,0,0) */
+		dx5 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dy5 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dz5 = dz0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dw5 = dw0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		attn5 = 2 - dx5 * dx5 - dy5 * dy5 - dz5 * dz5 - dw5 * dw5;
+		if (attn5 > 0) {
+			attn5 *= attn5;
+			value += attn5 * attn5 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 0, wsb + 0, dx5, dy5, dz5, dw5);
+		}
+		
+		/* Contribution (1,0,1,0) */
+		dx6 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dy6 = dy0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dz6 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dw6 = dw0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		attn6 = 2 - dx6 * dx6 - dy6 * dy6 - dz6 * dz6 - dw6 * dw6;
+		if (attn6 > 0) {
+			attn6 *= attn6;
+			value += attn6 * attn6 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 1, wsb + 0, dx6, dy6, dz6, dw6);
+		}
+
+		/* Contribution (1,0,0,1) */
+		dx7 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dy7 = dy0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dz7 = dz0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dw7 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		attn7 = 2 - dx7 * dx7 - dy7 * dy7 - dz7 * dz7 - dw7 * dw7;
+		if (attn7 > 0) {
+			attn7 *= attn7;
+			value += attn7 * attn7 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 0, wsb + 1, dx7, dy7, dz7, dw7);
+		}
+		
+		/* Contribution (0,1,1,0) */
+		dx8 = dx0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dy8 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dz8 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dw8 = dw0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		attn8 = 2 - dx8 * dx8 - dy8 * dy8 - dz8 * dz8 - dw8 * dw8;
+		if (attn8 > 0) {
+			attn8 *= attn8;
+			value += attn8 * attn8 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 1, wsb + 0, dx8, dy8, dz8, dw8);
+		}
+		
+		/* Contribution (0,1,0,1) */
+		dx9 = dx0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dy9 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dz9 = dz0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dw9 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		attn9 = 2 - dx9 * dx9 - dy9 * dy9 - dz9 * dz9 - dw9 * dw9;
+		if (attn9 > 0) {
+			attn9 *= attn9;
+			value += attn9 * attn9 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 0, wsb + 1, dx9, dy9, dz9, dw9);
+		}
+		
+		/* Contribution (0,0,1,1) */
+		dx10 = dx0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dy10 = dy0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dz10 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dw10 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		attn10 = 2 - dx10 * dx10 - dy10 * dy10 - dz10 * dz10 - dw10 * dw10;
+		if (attn10 > 0) {
+			attn10 *= attn10;
+			value += attn10 * attn10 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 1, wsb + 1, dx10, dy10, dz10, dw10);
+		}
+	} else { /* We're inside the second dispentachoron (Rectified 4-Simplex) */
+		aIsBiggerSide = 1;
+		bIsBiggerSide = 1;
+		
+		/* Decide between (0,0,1,1) and (1,1,0,0) */
+		if (xins + yins < zins + wins) {
+			aScore = xins + yins;
+			aPoint = 0x0C;
+		} else {
+			aScore = zins + wins;
+			aPoint = 0x03;
+		}
+		
+		/* Decide between (0,1,0,1) and (1,0,1,0) */
+		if (xins + zins < yins + wins) {
+			bScore = xins + zins;
+			bPoint = 0x0A;
+		} else {
+			bScore = yins + wins;
+			bPoint = 0x05;
+		}
+		
+		/* Closer between (0,1,1,0) and (1,0,0,1) will replace the further of a and b, if closer. */
+		if (xins + wins < yins + zins) {
+			score = xins + wins;
+			if (aScore <= bScore && score < bScore) {
+				bScore = score;
+				bPoint = 0x06;
+			} else if (aScore > bScore && score < aScore) {
+				aScore = score;
+				aPoint = 0x06;
+			}
+		} else {
+			score = yins + zins;
+			if (aScore <= bScore && score < bScore) {
+				bScore = score;
+				bPoint = 0x09;
+			} else if (aScore > bScore && score < aScore) {
+				aScore = score;
+				aPoint = 0x09;
+			}
+		}
+		
+		/* Decide if (0,1,1,1) is closer. */
+		p1 = 3 - inSum + xins;
+		if (aScore <= bScore && p1 < bScore) {
+			bScore = p1;
+			bPoint = 0x0E;
+			bIsBiggerSide = 0;
+		} else if (aScore > bScore && p1 < aScore) {
+			aScore = p1;
+			aPoint = 0x0E;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Decide if (1,0,1,1) is closer. */
+		p2 = 3 - inSum + yins;
+		if (aScore <= bScore && p2 < bScore) {
+			bScore = p2;
+			bPoint = 0x0D;
+			bIsBiggerSide = 0;
+		} else if (aScore > bScore && p2 < aScore) {
+			aScore = p2;
+			aPoint = 0x0D;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Decide if (1,1,0,1) is closer. */
+		p3 = 3 - inSum + zins;
+		if (aScore <= bScore && p3 < bScore) {
+			bScore = p3;
+			bPoint = 0x0B;
+			bIsBiggerSide = 0;
+		} else if (aScore > bScore && p3 < aScore) {
+			aScore = p3;
+			aPoint = 0x0B;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Decide if (1,1,1,0) is closer. */
+		p4 = 3 - inSum + wins;
+		if (aScore <= bScore && p4 < bScore) {
+			bScore = p4;
+			bPoint = 0x07;
+			bIsBiggerSide = 0;
+		} else if (aScore > bScore && p4 < aScore) {
+			aScore = p4;
+			aPoint = 0x07;
+			aIsBiggerSide = 0;
+		}
+		
+		/* Where each of the two closest points are determines how the extra three vertices are calculated. */
+		if (aIsBiggerSide == bIsBiggerSide) {
+			if (aIsBiggerSide) { /* Both closest points on the bigger side */
+				c1 = (int8_t)(aPoint & bPoint);
+				c2 = (int8_t)(aPoint | bPoint);
+				
+				/* Two contributions are permutations of (0,0,0,1) and (0,0,0,2) based on c1 */
+				xsv_ext0 = xsv_ext1 = xsb;
+				ysv_ext0 = ysv_ext1 = ysb;
+				zsv_ext0 = zsv_ext1 = zsb;
+				wsv_ext0 = wsv_ext1 = wsb;
+				dx_ext0 = dx0 - SQUISH_CONSTANT_4D;
+				dy_ext0 = dy0 - SQUISH_CONSTANT_4D;
+				dz_ext0 = dz0 - SQUISH_CONSTANT_4D;
+				dw_ext0 = dw0 - SQUISH_CONSTANT_4D;
+				dx_ext1 = dx0 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext1 = dy0 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext1 = dz0 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext1 = dw0 - 2 * SQUISH_CONSTANT_4D;
+				if ((c1 & 0x01) != 0) {
+					xsv_ext0 += 1;
+					dx_ext0 -= 1;
+					xsv_ext1 += 2;
+					dx_ext1 -= 2;
+				} else if ((c1 & 0x02) != 0) {
+					ysv_ext0 += 1;
+					dy_ext0 -= 1;
+					ysv_ext1 += 2;
+					dy_ext1 -= 2;
+				} else if ((c1 & 0x04) != 0) {
+					zsv_ext0 += 1;
+					dz_ext0 -= 1;
+					zsv_ext1 += 2;
+					dz_ext1 -= 2;
+				} else {
+					wsv_ext0 += 1;
+					dw_ext0 -= 1;
+					wsv_ext1 += 2;
+					dw_ext1 -= 2;
+				}
+				
+				/* One contribution is a permutation of (1,1,1,-1) based on c2 */
+				xsv_ext2 = xsb + 1;
+				ysv_ext2 = ysb + 1;
+				zsv_ext2 = zsb + 1;
+				wsv_ext2 = wsb + 1;
+				dx_ext2 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dy_ext2 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dz_ext2 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				dw_ext2 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+				if ((c2 & 0x01) == 0) {
+					xsv_ext2 -= 2;
+					dx_ext2 += 2;
+				} else if ((c2 & 0x02) == 0) {
+					ysv_ext2 -= 2;
+					dy_ext2 += 2;
+				} else if ((c2 & 0x04) == 0) {
+					zsv_ext2 -= 2;
+					dz_ext2 += 2;
+				} else {
+					wsv_ext2 -= 2;
+					dw_ext2 += 2;
+				}
+			} else { /* Both closest points on the smaller side */
+				/* One of the two extra points is (1,1,1,1) */
+				xsv_ext2 = xsb + 1;
+				ysv_ext2 = ysb + 1;
+				zsv_ext2 = zsb + 1;
+				wsv_ext2 = wsb + 1;
+				dx_ext2 = dx0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				dy_ext2 = dy0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				dz_ext2 = dz0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				dw_ext2 = dw0 - 1 - 4 * SQUISH_CONSTANT_4D;
+				
+				/* Other two points are based on the shared axes. */
+				c = (int8_t)(aPoint & bPoint);
+				
+				if ((c & 0x01) != 0) {
+					xsv_ext0 = xsb + 2;
+					xsv_ext1 = xsb + 1;
+					dx_ext0 = dx0 - 2 - 3 * SQUISH_CONSTANT_4D;
+					dx_ext1 = dx0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				} else {
+					xsv_ext0 = xsv_ext1 = xsb;
+					dx_ext0 = dx_ext1 = dx0 - 3 * SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c & 0x02) != 0) {
+					ysv_ext0 = ysv_ext1 = ysb + 1;
+					dy_ext0 = dy_ext1 = dy0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					if ((c & 0x01) == 0)
+					{
+						ysv_ext0 += 1;
+						dy_ext0 -= 1;
+					} else {
+						ysv_ext1 += 1;
+						dy_ext1 -= 1;
+					}
+				} else {
+					ysv_ext0 = ysv_ext1 = ysb;
+					dy_ext0 = dy_ext1 = dy0 - 3 * SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c & 0x04) != 0) {
+					zsv_ext0 = zsv_ext1 = zsb + 1;
+					dz_ext0 = dz_ext1 = dz0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					if ((c & 0x03) == 0)
+					{
+						zsv_ext0 += 1;
+						dz_ext0 -= 1;
+					} else {
+						zsv_ext1 += 1;
+						dz_ext1 -= 1;
+					}
+				} else {
+					zsv_ext0 = zsv_ext1 = zsb;
+					dz_ext0 = dz_ext1 = dz0 - 3 * SQUISH_CONSTANT_4D;
+				}
+				
+				if ((c & 0x08) != 0)
+				{
+					wsv_ext0 = wsb + 1;
+					wsv_ext1 = wsb + 2;
+					dw_ext0 = dw0 - 1 - 3 * SQUISH_CONSTANT_4D;
+					dw_ext1 = dw0 - 2 - 3 * SQUISH_CONSTANT_4D;
+				} else {
+					wsv_ext0 = wsv_ext1 = wsb;
+					dw_ext0 = dw_ext1 = dw0 - 3 * SQUISH_CONSTANT_4D;
+				}
+			}
+		} else { /* One point on each "side" */
+			if (aIsBiggerSide) {
+				c1 = aPoint;
+				c2 = bPoint;
+			} else {
+				c1 = bPoint;
+				c2 = aPoint;
+			}
+			
+			/* Two contributions are the bigger-sided point with each 1 replaced with 2. */
+			if ((c1 & 0x01) != 0) {
+				xsv_ext0 = xsb + 2;
+				xsv_ext1 = xsb + 1;
+				dx_ext0 = dx0 - 2 - 3 * SQUISH_CONSTANT_4D;
+				dx_ext1 = dx0 - 1 - 3 * SQUISH_CONSTANT_4D;
+			} else {
+				xsv_ext0 = xsv_ext1 = xsb;
+				dx_ext0 = dx_ext1 = dx0 - 3 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c1 & 0x02) != 0) {
+				ysv_ext0 = ysv_ext1 = ysb + 1;
+				dy_ext0 = dy_ext1 = dy0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				if ((c1 & 0x01) == 0) {
+					ysv_ext0 += 1;
+					dy_ext0 -= 1;
+				} else {
+					ysv_ext1 += 1;
+					dy_ext1 -= 1;
+				}
+			} else {
+				ysv_ext0 = ysv_ext1 = ysb;
+				dy_ext0 = dy_ext1 = dy0 - 3 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c1 & 0x04) != 0) {
+				zsv_ext0 = zsv_ext1 = zsb + 1;
+				dz_ext0 = dz_ext1 = dz0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				if ((c1 & 0x03) == 0) {
+					zsv_ext0 += 1;
+					dz_ext0 -= 1;
+				} else {
+					zsv_ext1 += 1;
+					dz_ext1 -= 1;
+				}
+			} else {
+				zsv_ext0 = zsv_ext1 = zsb;
+				dz_ext0 = dz_ext1 = dz0 - 3 * SQUISH_CONSTANT_4D;
+			}
+			
+			if ((c1 & 0x08) != 0) {
+				wsv_ext0 = wsb + 1;
+				wsv_ext1 = wsb + 2;
+				dw_ext0 = dw0 - 1 - 3 * SQUISH_CONSTANT_4D;
+				dw_ext1 = dw0 - 2 - 3 * SQUISH_CONSTANT_4D;
+			} else {
+				wsv_ext0 = wsv_ext1 = wsb;
+				dw_ext0 = dw_ext1 = dw0 - 3 * SQUISH_CONSTANT_4D;
+			}
+
+			/* One contribution is a permutation of (1,1,1,-1) based on the smaller-sided point */
+			xsv_ext2 = xsb + 1;
+			ysv_ext2 = ysb + 1;
+			zsv_ext2 = zsb + 1;
+			wsv_ext2 = wsb + 1;
+			dx_ext2 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+			dy_ext2 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+			dz_ext2 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+			dw_ext2 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+			if ((c2 & 0x01) == 0) {
+				xsv_ext2 -= 2;
+				dx_ext2 += 2;
+			} else if ((c2 & 0x02) == 0) {
+				ysv_ext2 -= 2;
+				dy_ext2 += 2;
+			} else if ((c2 & 0x04) == 0) {
+				zsv_ext2 -= 2;
+				dz_ext2 += 2;
+			} else {
+				wsv_ext2 -= 2;
+				dw_ext2 += 2;
+			}
+		}
+		
+		/* Contribution (1,1,1,0) */
+		dx4 = dx0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		dy4 = dy0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		dz4 = dz0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		dw4 = dw0 - 3 * SQUISH_CONSTANT_4D;
+		attn4 = 2 - dx4 * dx4 - dy4 * dy4 - dz4 * dz4 - dw4 * dw4;
+		if (attn4 > 0) {
+			attn4 *= attn4;
+			value += attn4 * attn4 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 1, wsb + 0, dx4, dy4, dz4, dw4);
+		}
+
+		/* Contribution (1,1,0,1) */
+		dx3 = dx4;
+		dy3 = dy4;
+		dz3 = dz0 - 3 * SQUISH_CONSTANT_4D;
+		dw3 = dw0 - 1 - 3 * SQUISH_CONSTANT_4D;
+		attn3 = 2 - dx3 * dx3 - dy3 * dy3 - dz3 * dz3 - dw3 * dw3;
+		if (attn3 > 0) {
+			attn3 *= attn3;
+			value += attn3 * attn3 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 0, wsb + 1, dx3, dy3, dz3, dw3);
+		}
+
+		/* Contribution (1,0,1,1) */
+		dx2 = dx4;
+		dy2 = dy0 - 3 * SQUISH_CONSTANT_4D;
+		dz2 = dz4;
+		dw2 = dw3;
+		attn2 = 2 - dx2 * dx2 - dy2 * dy2 - dz2 * dz2 - dw2 * dw2;
+		if (attn2 > 0) {
+			attn2 *= attn2;
+			value += attn2 * attn2 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 1, wsb + 1, dx2, dy2, dz2, dw2);
+		}
+
+		/* Contribution (0,1,1,1) */
+		dx1 = dx0 - 3 * SQUISH_CONSTANT_4D;
+		dz1 = dz4;
+		dy1 = dy4;
+		dw1 = dw3;
+		attn1 = 2 - dx1 * dx1 - dy1 * dy1 - dz1 * dz1 - dw1 * dw1;
+		if (attn1 > 0) {
+			attn1 *= attn1;
+			value += attn1 * attn1 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 1, wsb + 1, dx1, dy1, dz1, dw1);
+		}
+		
+		/* Contribution (1,1,0,0) */
+		dx5 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dy5 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dz5 = dz0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dw5 = dw0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		attn5 = 2 - dx5 * dx5 - dy5 * dy5 - dz5 * dz5 - dw5 * dw5;
+		if (attn5 > 0) {
+			attn5 *= attn5;
+			value += attn5 * attn5 * extrapolate4(ctx, xsb + 1, ysb + 1, zsb + 0, wsb + 0, dx5, dy5, dz5, dw5);
+		}
+		
+		/* Contribution (1,0,1,0) */
+		dx6 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dy6 = dy0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dz6 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dw6 = dw0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		attn6 = 2 - dx6 * dx6 - dy6 * dy6 - dz6 * dz6 - dw6 * dw6;
+		if (attn6 > 0) {
+			attn6 *= attn6;
+			value += attn6 * attn6 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 1, wsb + 0, dx6, dy6, dz6, dw6);
+		}
+
+		/* Contribution (1,0,0,1) */
+		dx7 = dx0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dy7 = dy0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dz7 = dz0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dw7 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		attn7 = 2 - dx7 * dx7 - dy7 * dy7 - dz7 * dz7 - dw7 * dw7;
+		if (attn7 > 0) {
+			attn7 *= attn7;
+			value += attn7 * attn7 * extrapolate4(ctx, xsb + 1, ysb + 0, zsb + 0, wsb + 1, dx7, dy7, dz7, dw7);
+		}
+		
+		/* Contribution (0,1,1,0) */
+		dx8 = dx0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dy8 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dz8 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dw8 = dw0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		attn8 = 2 - dx8 * dx8 - dy8 * dy8 - dz8 * dz8 - dw8 * dw8;
+		if (attn8 > 0) {
+			attn8 *= attn8;
+			value += attn8 * attn8 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 1, wsb + 0, dx8, dy8, dz8, dw8);
+		}
+		
+		/* Contribution (0,1,0,1) */
+		dx9 = dx0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dy9 = dy0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dz9 = dz0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dw9 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		attn9 = 2 - dx9 * dx9 - dy9 * dy9 - dz9 * dz9 - dw9 * dw9;
+		if (attn9 > 0) {
+			attn9 *= attn9;
+			value += attn9 * attn9 * extrapolate4(ctx, xsb + 0, ysb + 1, zsb + 0, wsb + 1, dx9, dy9, dz9, dw9);
+		}
+		
+		/* Contribution (0,0,1,1) */
+		dx10 = dx0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dy10 = dy0 - 0 - 2 * SQUISH_CONSTANT_4D;
+		dz10 = dz0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		dw10 = dw0 - 1 - 2 * SQUISH_CONSTANT_4D;
+		attn10 = 2 - dx10 * dx10 - dy10 * dy10 - dz10 * dz10 - dw10 * dw10;
+		if (attn10 > 0) {
+			attn10 *= attn10;
+			value += attn10 * attn10 * extrapolate4(ctx, xsb + 0, ysb + 0, zsb + 1, wsb + 1, dx10, dy10, dz10, dw10);
+		}
+	}
+
+	/* First extra vertex */
+	attn_ext0 = 2 - dx_ext0 * dx_ext0 - dy_ext0 * dy_ext0 - dz_ext0 * dz_ext0 - dw_ext0 * dw_ext0;
+	if (attn_ext0 > 0)
+	{
+		attn_ext0 *= attn_ext0;
+		value += attn_ext0 * attn_ext0 * extrapolate4(ctx, xsv_ext0, ysv_ext0, zsv_ext0, wsv_ext0, dx_ext0, dy_ext0, dz_ext0, dw_ext0);
+	}
+
+	/* Second extra vertex */
+	attn_ext1 = 2 - dx_ext1 * dx_ext1 - dy_ext1 * dy_ext1 - dz_ext1 * dz_ext1 - dw_ext1 * dw_ext1;
+	if (attn_ext1 > 0)
+	{
+		attn_ext1 *= attn_ext1;
+		value += attn_ext1 * attn_ext1 * extrapolate4(ctx, xsv_ext1, ysv_ext1, zsv_ext1, wsv_ext1, dx_ext1, dy_ext1, dz_ext1, dw_ext1);
+	}
+
+	/* Third extra vertex */
+	attn_ext2 = 2 - dx_ext2 * dx_ext2 - dy_ext2 * dy_ext2 - dz_ext2 * dz_ext2 - dw_ext2 * dw_ext2;
+	if (attn_ext2 > 0)
+	{
+		attn_ext2 *= attn_ext2;
+		value += attn_ext2 * attn_ext2 * extrapolate4(ctx, xsv_ext2, ysv_ext2, zsv_ext2, wsv_ext2, dx_ext2, dy_ext2, dz_ext2, dw_ext2);
+	}
+
+	return value / NORM_CONSTANT_4D;
+}
+	
diff --git a/thirdparty/misc/open-simplex-noise.h b/thirdparty/misc/open-simplex-noise.h
new file mode 100644
index 0000000000..89e0df8218
--- /dev/null
+++ b/thirdparty/misc/open-simplex-noise.h
@@ -0,0 +1,58 @@
+#ifndef OPEN_SIMPLEX_NOISE_H__
+#define OPEN_SIMPLEX_NOISE_H__
+
+/*
+ * OpenSimplex (Simplectic) Noise in C.
+ * Ported to C from Kurt Spencer's java implementation by Stephen M. Cameron
+ *
+ * v1.1 (October 6, 2014) 
+ * - Ported to C
+ * 
+ * v1.1 (October 5, 2014)
+ * - Added 2D and 4D implementations.
+ * - Proper gradient sets for all dimensions, from a
+ *   dimensionally-generalizable scheme with an actual
+ *   rhyme and reason behind it.
+ * - Removed default permutation array in favor of
+ *   default seed.
+ * - Changed seed-based constructor to be independent
+ *   of any particular randomization library, so results
+ *   will be the same when ported to other languages.
+ */
+
+#if ((__GNUC_STDC_INLINE__) || (__STDC_VERSION__ >= 199901L))
+	#include <stdint.h>
+	#define INLINE inline
+#elif (defined (_MSC_VER) || defined (__GNUC_GNU_INLINE__))
+	#include <stdint.h>
+	#define INLINE __inline
+#else 
+	/* ANSI C doesn't have inline or stdint.h. */
+	#define INLINE
+#endif
+
+#ifdef __cplusplus
+	extern "C" {
+#endif
+
+// -- GODOT start --
+// Modified to work without allocating memory, also removed some unused function. 
+
+struct osn_context {
+	int16_t perm[256];
+	int16_t permGradIndex3D[256];
+};
+
+int open_simplex_noise(int64_t seed, struct osn_context *ctx);
+//int open_simplex_noise_init_perm(struct osn_context *ctx, int16_t p[], int nelements);
+// -- GODOT end --
+void open_simplex_noise_free(struct osn_context *ctx);
+double open_simplex_noise2(struct osn_context *ctx, double x, double y);
+double open_simplex_noise3(struct osn_context *ctx, double x, double y, double z);
+double open_simplex_noise4(struct osn_context *ctx, double x, double y, double z, double w);
+
+#ifdef __cplusplus
+	}
+#endif
+
+#endif
diff --git a/thirdparty/misc/pcg.h b/thirdparty/misc/pcg.h
index 81f4c9770e..e2d66d51d5 100644
--- a/thirdparty/misc/pcg.h
+++ b/thirdparty/misc/pcg.h
@@ -4,7 +4,7 @@
 #ifndef RANDOM_H
 #define RANDOM_H
 
-#include "typedefs.h"
+#include "core/typedefs.h"
 
 #define PCG_DEFAULT_INC_64 1442695040888963407ULL
 
diff --git a/thirdparty/misc/stb_truetype.h b/thirdparty/misc/stb_truetype.h
index e2efae2285..72299ea86d 100644
--- a/thirdparty/misc/stb_truetype.h
+++ b/thirdparty/misc/stb_truetype.h
@@ -1,4 +1,4 @@
-// stb_truetype.h - v1.19 - public domain
+// stb_truetype.h - v1.21 - public domain
 // authored from 2009-2016 by Sean Barrett / RAD Game Tools
 //
 //   This library processes TrueType files:
@@ -49,6 +49,8 @@
 //
 // VERSION HISTORY
 //
+//   1.21 (2019-02-25) fix warning
+//   1.20 (2019-02-07) PackFontRange skips missing codepoints; GetScaleFontVMetrics()
 //   1.19 (2018-02-11) GPOS kerning, STBTT_fmod
 //   1.18 (2018-01-29) add missing function
 //   1.17 (2017-07-23) make more arguments const; doc fix
@@ -75,7 +77,7 @@
 //
 // USAGE
 //
-//   Include this file in whatever places neeed to refer to it. In ONE C/C++
+//   Include this file in whatever places need to refer to it. In ONE C/C++
 //   file, write:
 //      #define STB_TRUETYPE_IMPLEMENTATION
 //   before the #include of this file. This expands out the actual
@@ -242,19 +244,6 @@
 //   recommend it.
 //
 //
-// SOURCE STATISTICS (based on v0.6c, 2050 LOC)
-//
-//   Documentation & header file        520 LOC  \___ 660 LOC documentation
-//   Sample code                        140 LOC  /
-//   Truetype parsing                   620 LOC  ---- 620 LOC TrueType
-//   Software rasterization             240 LOC  \                           .
-//   Curve tesselation                  120 LOC   \__ 550 LOC Bitmap creation
-//   Bitmap management                  100 LOC   /
-//   Baked bitmap interface              70 LOC  /
-//   Font name matching & access        150 LOC  ---- 150
-//   C runtime library abstraction       60 LOC  ----  60
-//
-//
 // PERFORMANCE MEASUREMENTS FOR 1.06:
 //
 //                      32-bit     64-bit
@@ -556,6 +545,8 @@ STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int p
 //
 // It's inefficient; you might want to c&p it and optimize it.
 
+STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap);
+// Query the font vertical metrics without having to create a font first.
 
 
 //////////////////////////////////////////////////////////////////////////////
@@ -641,6 +632,12 @@ STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h
 // To use with PackFontRangesGather etc., you must set it before calls
 // call to PackFontRangesGatherRects.
 
+STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip);
+// If skip != 0, this tells stb_truetype to skip any codepoints for which
+// there is no corresponding glyph. If skip=0, which is the default, then
+// codepoints without a glyph recived the font's "missing character" glyph,
+// typically an empty box by convention.
+
 STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph,  // same data as above
                                int char_index,             // character to display
                                float *xpos, float *ypos,   // pointers to current position in screen pixel space
@@ -669,6 +666,7 @@ struct stbtt_pack_context {
    int   height;
    int   stride_in_bytes;
    int   padding;
+   int   skip_missing;
    unsigned int   h_oversample, v_oversample;
    unsigned char *pixels;
    void  *nodes;
@@ -694,7 +692,7 @@ STBTT_DEF int stbtt_GetFontOffsetForIndex(const unsigned char *data, int index);
 // file will only define one font and it always be at offset 0, so it will
 // return '0' for index 0, and -1 for all other indices.
 
-// The following structure is defined publically so you can declare one on
+// The following structure is defined publicly so you can declare one on
 // the stack or as a global or etc, but you should treat it as opaque.
 struct stbtt_fontinfo
 {
@@ -733,6 +731,7 @@ STBTT_DEF int stbtt_FindGlyphIndex(const stbtt_fontinfo *info, int unicode_codep
 // and you want a speed-up, call this function with the character you're
 // going to process, then use glyph-based functions instead of the
 // codepoint-based functions.
+// Returns 0 if the character codepoint is not defined in the font.
 
 
 //////////////////////////////////////////////////////////////////////////////
@@ -820,7 +819,7 @@ STBTT_DEF int stbtt_GetGlyphShape(const stbtt_fontinfo *info, int glyph_index, s
 // returns # of vertices and fills *vertices with the pointer to them
 //   these are expressed in "unscaled" coordinates
 //
-// The shape is a series of countours. Each one starts with
+// The shape is a series of contours. Each one starts with
 // a STBTT_moveto, then consists of a series of mixed
 // STBTT_lineto and STBTT_curveto segments. A lineto
 // draws a line from previous endpoint to its x,y; a curveto
@@ -916,7 +915,7 @@ STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float sc
 STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff);
 // These functions compute a discretized SDF field for a single character, suitable for storing
 // in a single-channel texture, sampling with bilinear filtering, and testing against
-// larger than some threshhold to produce scalable fonts.
+// larger than some threshold to produce scalable fonts.
 //        info              --  the font
 //        scale             --  controls the size of the resulting SDF bitmap, same as it would be creating a regular bitmap
 //        glyph/codepoint   --  the character to generate the SDF for
@@ -2463,6 +2462,7 @@ static stbtt_int32  stbtt__GetGlyphGPOSInfoAdvance(const stbtt_fontinfo *info, i
                             if (valueFormat2 != 0) return 0;
 
                             STBTT_assert(coverageIndex < pairSetCount);
+                            STBTT__NOTUSED(pairSetCount);
 
                             needle=glyph2;
                             r=pairValueCount-1;
@@ -3160,7 +3160,13 @@ static void stbtt__rasterize_sorted_edges(stbtt__bitmap *result, stbtt__edge *e,
          if (e->y0 != e->y1) {
             stbtt__active_edge *z = stbtt__new_active(&hh, e, off_x, scan_y_top, userdata);
             if (z != NULL) {
-               STBTT_assert(z->ey >= scan_y_top);
+               if (j == 0 && off_y != 0) {
+                  if (z->ey < scan_y_top) {
+                     // this can happen due to subpixel positioning and some kind of fp rounding error i think
+                     z->ey = scan_y_top;
+                  }
+               }
+               STBTT_assert(z->ey >= scan_y_top); // if we get really unlucky a tiny bit of an edge can be out of bounds
                // insert at front
                z->next = active;
                active = z;
@@ -3229,7 +3235,7 @@ static void stbtt__sort_edges_ins_sort(stbtt__edge *p, int n)
 
 static void stbtt__sort_edges_quicksort(stbtt__edge *p, int n)
 {
-   /* threshhold for transitioning to insertion sort */
+   /* threshold for transitioning to insertion sort */
    while (n > 12) {
       stbtt__edge t;
       int c01,c12,c,m,i,j;
@@ -3364,7 +3370,7 @@ static void stbtt__add_point(stbtt__point *points, int n, float x, float y)
    points[n].y = y;
 }
 
-// tesselate until threshhold p is happy... @TODO warped to compensate for non-linear stretching
+// tessellate until threshold p is happy... @TODO warped to compensate for non-linear stretching
 static int stbtt__tesselate_curve(stbtt__point *points, int *num_points, float x0, float y0, float x1, float y1, float x2, float y2, float objspace_flatness_squared, int n)
 {
    // midpoint
@@ -3789,6 +3795,7 @@ STBTT_DEF int stbtt_PackBegin(stbtt_pack_context *spc, unsigned char *pixels, in
    spc->stride_in_bytes = stride_in_bytes != 0 ? stride_in_bytes : pw;
    spc->h_oversample = 1;
    spc->v_oversample = 1;
+   spc->skip_missing = 0;
 
    stbrp_init_target(context, pw-padding, ph-padding, nodes, num_nodes);
 
@@ -3814,6 +3821,11 @@ STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h
       spc->v_oversample = v_oversample;
 }
 
+STBTT_DEF void stbtt_PackSetSkipMissingCodepoints(stbtt_pack_context *spc, int skip)
+{
+   spc->skip_missing = skip;
+}
+
 #define STBTT__OVER_MASK  (STBTT_MAX_OVERSAMPLE-1)
 
 static void stbtt__h_prefilter(unsigned char *pixels, int w, int h, int stride_in_bytes, unsigned int kernel_width)
@@ -3967,13 +3979,17 @@ STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stb
          int x0,y0,x1,y1;
          int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
          int glyph = stbtt_FindGlyphIndex(info, codepoint);
-         stbtt_GetGlyphBitmapBoxSubpixel(info,glyph,
-                                         scale * spc->h_oversample,
-                                         scale * spc->v_oversample,
-                                         0,0,
-                                         &x0,&y0,&x1,&y1);
-         rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1);
-         rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1);
+         if (glyph == 0 && spc->skip_missing) {
+            rects[k].w = rects[k].h = 0;
+         } else {
+            stbtt_GetGlyphBitmapBoxSubpixel(info,glyph,
+                                            scale * spc->h_oversample,
+                                            scale * spc->v_oversample,
+                                            0,0,
+                                            &x0,&y0,&x1,&y1);
+            rects[k].w = (stbrp_coord) (x1-x0 + spc->padding + spc->h_oversample-1);
+            rects[k].h = (stbrp_coord) (y1-y0 + spc->padding + spc->v_oversample-1);
+         }
          ++k;
       }
    }
@@ -4026,7 +4042,7 @@ STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const
       sub_y = stbtt__oversample_shift(spc->v_oversample);
       for (j=0; j < ranges[i].num_chars; ++j) {
          stbrp_rect *r = &rects[k];
-         if (r->was_packed) {
+         if (r->was_packed && r->w != 0 && r->h != 0) {
             stbtt_packedchar *bc = &ranges[i].chardata_for_range[j];
             int advance, lsb, x0,y0,x1,y1;
             int codepoint = ranges[i].array_of_unicode_codepoints == NULL ? ranges[i].first_unicode_codepoint_in_range + j : ranges[i].array_of_unicode_codepoints[j];
@@ -4140,6 +4156,19 @@ STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *
    return stbtt_PackFontRanges(spc, fontdata, font_index, &range, 1);
 }
 
+STBTT_DEF void stbtt_GetScaledFontVMetrics(const unsigned char *fontdata, int index, float size, float *ascent, float *descent, float *lineGap)
+{
+   int i_ascent, i_descent, i_lineGap;
+   float scale;
+   stbtt_fontinfo info;
+   stbtt_InitFont(&info, fontdata, stbtt_GetFontOffsetForIndex(fontdata, index));
+   scale = size > 0 ? stbtt_ScaleForPixelHeight(&info, size) : stbtt_ScaleForMappingEmToPixels(&info, -size);
+   stbtt_GetFontVMetrics(&info, &i_ascent, &i_descent, &i_lineGap);
+   *ascent  = (float) i_ascent  * scale;
+   *descent = (float) i_descent * scale;
+   *lineGap = (float) i_lineGap * scale;
+}
+
 STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer)
 {
    float ipw = 1.0f / pw, iph = 1.0f / ph;
diff --git a/thirdparty/misc/stb_vorbis.c b/thirdparty/misc/stb_vorbis.c
index 8edcf0f38a..88276026ef 100644
--- a/thirdparty/misc/stb_vorbis.c
+++ b/thirdparty/misc/stb_vorbis.c
@@ -1,4 +1,4 @@
-// Ogg Vorbis audio decoder - v1.14 - public domain
+// Ogg Vorbis audio decoder - v1.15 - public domain
 // http://nothings.org/stb_vorbis/
 //
 // Original version written by Sean Barrett in 2007.
@@ -33,6 +33,7 @@
 //    Timur Gagiev
 //
 // Partial history:
+//    1.15    - 2019-02-07 - explicit failure if Ogg Skeleton data is found
 //    1.14    - 2018-02-11 - delete bogus dealloca usage
 //    1.13    - 2018-01-29 - fix truncation of last frame (hopefully)
 //    1.12    - 2017-11-21 - limit residue begin/end to blocksize/2 to avoid large temp allocs in bad/corrupt files
@@ -253,7 +254,7 @@ extern stb_vorbis * stb_vorbis_open_file(FILE *f, int close_handle_on_close,
 // create an ogg vorbis decoder from an open FILE *, looking for a stream at
 // the _current_ seek point (ftell). on failure, returns NULL and sets *error.
 // note that stb_vorbis must "own" this stream; if you seek it in between
-// calls to stb_vorbis, it will become confused. Morever, if you attempt to
+// calls to stb_vorbis, it will become confused. Moreover, if you attempt to
 // perform stb_vorbis_seek_*() operations on this file, it will assume it
 // owns the _entire_ rest of the file after the start point. Use the next
 // function, stb_vorbis_open_file_section(), to limit it.
@@ -374,7 +375,8 @@ enum STBVorbisError
    VORBIS_invalid_first_page,
    VORBIS_bad_packet_type,
    VORBIS_cant_find_last_page,
-   VORBIS_seek_failed
+   VORBIS_seek_failed,
+   VORBIS_ogg_skeleton_not_supported
 };
 
 
@@ -1073,7 +1075,7 @@ static int compute_codewords(Codebook *c, uint8 *len, int n, uint32 *values)
       assert(z >= 0 && z < 32);
       available[z] = 0;
       add_entry(c, bit_reverse(res), i, m++, len[i], values);
-      // propogate availability up the tree
+      // propagate availability up the tree
       if (z != len[i]) {
          assert(len[i] >= 0 && len[i] < 32);
          for (y=len[i]; y > z; --y) {
@@ -2637,7 +2639,7 @@ static void inverse_mdct(float *buffer, int n, vorb *f, int blocktype)
    // once I combined the passes.
 
    // so there's a missing 'times 2' here (for adding X to itself).
-   // this propogates through linearly to the end, where the numbers
+   // this propagates through linearly to the end, where the numbers
    // are 1/2 too small, and need to be compensated for.
 
    {
@@ -3578,7 +3580,22 @@ static int start_decoder(vorb *f)
    if (f->page_flag & PAGEFLAG_continued_packet)    return error(f, VORBIS_invalid_first_page);
    // check for expected packet length
    if (f->segment_count != 1)                       return error(f, VORBIS_invalid_first_page);
-   if (f->segments[0] != 30)                        return error(f, VORBIS_invalid_first_page);
+   if (f->segments[0] != 30) {
+      // check for the Ogg skeleton fishead identifying header to refine our error
+      if (f->segments[0] == 64 &&
+          getn(f, header, 6) &&
+          header[0] == 'f' &&
+          header[1] == 'i' &&
+          header[2] == 's' &&
+          header[3] == 'h' &&
+          header[4] == 'e' &&
+          header[5] == 'a' &&
+          get8(f)   == 'd' &&
+          get8(f)   == '\0')                        return error(f, VORBIS_ogg_skeleton_not_supported);
+      else
+                                                    return error(f, VORBIS_invalid_first_page);
+   }
+
    // read packet
    // check packet header
    if (get8(f) != VORBIS_packet_id)                 return error(f, VORBIS_invalid_first_page);
@@ -4566,7 +4583,7 @@ static int get_seek_page_info(stb_vorbis *f, ProbedPage *z)
    return 1;
 }
 
-// rarely used function to seek back to the preceeding page while finding the
+// rarely used function to seek back to the preceding page while finding the
 // start of a packet
 static int go_to_page_before(stb_vorbis *f, unsigned int limit_offset)
 {
diff --git a/thirdparty/misc/stb_vorbis.h b/thirdparty/misc/stb_vorbis.h
new file mode 100644
index 0000000000..357efcd5fc
--- /dev/null
+++ b/thirdparty/misc/stb_vorbis.h
@@ -0,0 +1,2 @@
+#define STB_VORBIS_HEADER_ONLY
+#include "stb_vorbis.c"
diff --git a/thirdparty/misc/triangulator.h b/thirdparty/misc/triangulator.h
index d1538cfae5..c85792fd50 100644
--- a/thirdparty/misc/triangulator.h
+++ b/thirdparty/misc/triangulator.h
@@ -21,11 +21,11 @@
 #ifndef TRIANGULATOR_H
 #define TRIANGULATOR_H
 
-#include "list.h"
-#include "set.h"
-#include "vector2.h"
-//2D point structure
+#include "core/list.h"
+#include "core/math/vector2.h"
+#include "core/set.h"
 
+//2D point structure
 
 #define TRIANGULATOR_CCW 1
 #define TRIANGULATOR_CW -1
diff --git a/thirdparty/misc/yuv2rgb.h b/thirdparty/misc/yuv2rgb.h
index d0c2813a75..3ec8388246 100644
--- a/thirdparty/misc/yuv2rgb.h
+++ b/thirdparty/misc/yuv2rgb.h
@@ -27,7 +27,7 @@ ship it.
 #ifndef YUV2RGB_H
 #define YUV2RGB_H
 
-#include "typedefs.h"
+#include "core/typedefs.h"
 
 static const uint32_t tables[256*3] = {
 	/* y_table */
diff --git a/thirdparty/nanosvg/nanosvg.h b/thirdparty/nanosvg/nanosvg.h
index 2321c56fd2..8c8b061cd1 100644
--- a/thirdparty/nanosvg/nanosvg.h
+++ b/thirdparty/nanosvg/nanosvg.h
@@ -29,9 +29,11 @@
 #ifndef NANOSVG_H
 #define NANOSVG_H
 
+#ifndef NANOSVG_CPLUSPLUS
 #ifdef __cplusplus
 extern "C" {
 #endif
+#endif
 
 // NanoSVG is a simple stupid single-header-file SVG parse. The output of the parser is a list of cubic bezier shapes.
 //
@@ -45,15 +47,15 @@ extern "C" {
 // NanoSVG can return the paths in few different units. For example if you want to render an image, you may choose
 // to get the paths in pixels, or if you are feeding the data into a CNC-cutter, you may want to use millimeters.
 //
-// The units passed to NanoVG should be one of: 'px', 'pt', 'pc' 'mm', 'cm', or 'in'.
+// The units passed to NanoSVG should be one of: 'px', 'pt', 'pc' 'mm', 'cm', or 'in'.
 // DPI (dots-per-inch) controls how the unit conversion is done.
 //
 // If you don't know or care about the units stuff, "px" and 96 should get you going.
 
 
 /* Example Usage:
-	// Load
-	NSVGImage* image;
+	// Load SVG
+	NSVGimage* image;
 	image = nsvgParseFromFile("test.svg", "px", 96);
 	printf("size: %f x %f\n", image->width, image->height);
 	// Use...
@@ -167,12 +169,17 @@ NSVGimage* nsvgParseFromFile(const char* filename, const char* units, float dpi)
 // Important note: changes the string.
 NSVGimage* nsvgParse(char* input, const char* units, float dpi);
 
-// Deletes list of paths.
+// Duplicates a path.
+NSVGpath* nsvgDuplicatePath(NSVGpath* p);
+
+// Deletes an image.
 void nsvgDelete(NSVGimage* image);
 
+#ifndef NANOSVG_CPLUSPLUS
 #ifdef __cplusplus
 }
 #endif
+#endif
 
 #endif // NANOSVG_H
 
@@ -1415,8 +1422,7 @@ static unsigned int nsvg__parseColor(const char* str)
 
 static float nsvg__parseOpacity(const char* str)
 {
-	float val = 0;
-	sscanf(str, "%f", &val);
+	float val = nsvg__atof(str);
 	if (val < 0.0f) val = 0.0f;
 	if (val > 1.0f) val = 1.0f;
 	return val;
@@ -1424,8 +1430,7 @@ static float nsvg__parseOpacity(const char* str)
 
 static float nsvg__parseMiterLimit(const char* str)
 {
-	float val = 0;
-	sscanf(str, "%f", &val);
+	float val = nsvg__atof(str);
 	if (val < 0.0f) val = 0.0f;
 	return val;
 }
@@ -1456,9 +1461,9 @@ static int nsvg__parseUnits(const char* units)
 static NSVGcoordinate nsvg__parseCoordinateRaw(const char* str)
 {
 	NSVGcoordinate coord = {0, NSVG_UNITS_USER};
-	char units[32]="";
-	sscanf(str, "%f%31s", &coord.value, units);
-	coord.units = nsvg__parseUnits(units);
+	char buf[64];
+	coord.units = nsvg__parseUnits(nsvg__parseNumber(str, buf, 64));
+	coord.value = nsvg__atof(buf);
 	return coord;
 }
 
@@ -1650,7 +1655,7 @@ static char nsvg__parseLineJoin(const char* str)
 	else if (strcmp(str, "bevel") == 0)
 		return NSVG_JOIN_BEVEL;
 	// TODO: handle inherit.
-	return NSVG_CAP_BUTT;
+	return NSVG_JOIN_MITER;
 }
 
 static char nsvg__parseFillRule(const char* str)
@@ -2494,11 +2499,26 @@ static void nsvg__parseSVG(NSVGparser* p, const char** attr)
 	for (i = 0; attr[i]; i += 2) {
 		if (!nsvg__parseAttr(p, attr[i], attr[i + 1])) {
 			if (strcmp(attr[i], "width") == 0) {
-				p->image->width = nsvg__parseCoordinate(p, attr[i + 1], 0.0f, 1.0f);
+				p->image->width = nsvg__parseCoordinate(p, attr[i + 1], 0.0f, 0.0f);
 			} else if (strcmp(attr[i], "height") == 0) {
-				p->image->height = nsvg__parseCoordinate(p, attr[i + 1], 0.0f, 1.0f);
+				p->image->height = nsvg__parseCoordinate(p, attr[i + 1], 0.0f, 0.0f);
 			} else if (strcmp(attr[i], "viewBox") == 0) {
-				sscanf(attr[i + 1], "%f%*[%%, \t]%f%*[%%, \t]%f%*[%%, \t]%f", &p->viewMinx, &p->viewMiny, &p->viewWidth, &p->viewHeight);
+				const char *s = attr[i + 1];
+				char buf[64];
+				s = nsvg__parseNumber(s, buf, 64);
+				p->viewMinx = nsvg__atof(buf);
+				while (*s && (nsvg__isspace(*s) || *s == '%' || *s == ',')) s++;
+				if (!*s) return;
+				s = nsvg__parseNumber(s, buf, 64);
+				p->viewMiny = nsvg__atof(buf);
+				while (*s && (nsvg__isspace(*s) || *s == '%' || *s == ',')) s++;
+				if (!*s) return;
+				s = nsvg__parseNumber(s, buf, 64);
+				p->viewWidth = nsvg__atof(buf);
+				while (*s && (nsvg__isspace(*s) || *s == '%' || *s == ',')) s++;
+				if (!*s) return;
+				s = nsvg__parseNumber(s, buf, 64);
+				p->viewHeight = nsvg__atof(buf);
 			} else if (strcmp(attr[i], "preserveAspectRatio") == 0) {
 				if (strstr(attr[i + 1], "none") != 0) {
 					// No uniform scaling
@@ -2906,6 +2926,36 @@ error:
 	return NULL;
 }
 
+NSVGpath* nsvgDuplicatePath(NSVGpath* p)
+{
+    NSVGpath* res = NULL;
+
+    if (p == NULL)
+        return NULL;
+
+    res = (NSVGpath*)malloc(sizeof(NSVGpath));
+    if (res == NULL) goto error;
+    memset(res, 0, sizeof(NSVGpath));
+
+    res->pts = (float*)malloc(p->npts*2*sizeof(float));
+    if (res->pts == NULL) goto error;
+    memcpy(res->pts, p->pts, p->npts * sizeof(float) * 2);
+    res->npts = p->npts;
+
+    memcpy(res->bounds, p->bounds, sizeof(p->bounds));
+
+    res->closed = p->closed;
+
+    return res;
+
+error:
+    if (res != NULL) {
+        free(res->pts);
+        free(res);
+    }
+    return NULL;
+}
+
 void nsvgDelete(NSVGimage* image)
 {
 	NSVGshape *snext, *shape;
diff --git a/thirdparty/nanosvg/nanosvgrast.h b/thirdparty/nanosvg/nanosvgrast.h
index 2940c1f916..b740c316ca 100644
--- a/thirdparty/nanosvg/nanosvgrast.h
+++ b/thirdparty/nanosvg/nanosvgrast.h
@@ -25,15 +25,18 @@
 #ifndef NANOSVGRAST_H
 #define NANOSVGRAST_H
 
+#ifndef NANOSVGRAST_CPLUSPLUS
 #ifdef __cplusplus
 extern "C" {
 #endif
+#endif
 
 typedef struct NSVGrasterizer NSVGrasterizer;
 
 /* Example Usage:
 	// Load SVG
-	struct SNVGImage* image = nsvgParseFromFile("test.svg.");
+	NSVGimage* image;
+	image = nsvgParseFromFile("test.svg", "px", 96);
 
 	// Create rasterizer (can be used to render multiple images).
 	struct NSVGrasterizer* rast = nsvgCreateRasterizer();
@@ -63,9 +66,11 @@ void nsvgRasterize(NSVGrasterizer* r,
 void nsvgDeleteRasterizer(NSVGrasterizer*);
 
 
+#ifndef NANOSVGRAST_CPLUSPLUS
 #ifdef __cplusplus
 }
 #endif
+#endif
 
 #endif // NANOSVGRAST_H
 
diff --git a/thirdparty/opus/http.c b/thirdparty/opus/http.c
deleted file mode 100644
index 99fa8c08e0..0000000000
--- a/thirdparty/opus/http.c
+++ /dev/null
@@ -1,3465 +0,0 @@
-/********************************************************************
- *                                                                  *
- * THIS FILE IS PART OF THE libopusfile SOFTWARE CODEC SOURCE CODE. *
- * USE, DISTRIBUTION AND REPRODUCTION OF THIS LIBRARY SOURCE IS     *
- * GOVERNED BY A BSD-STYLE SOURCE LICENSE INCLUDED WITH THIS SOURCE *
- * IN 'COPYING'. PLEASE READ THESE TERMS BEFORE DISTRIBUTING.       *
- *                                                                  *
- * THE libopusfile SOURCE CODE IS (C) COPYRIGHT 2012                *
- * by the Xiph.Org Foundation and contributors http://www.xiph.org/ *
- *                                                                  *
- ********************************************************************/
-#ifdef HAVE_CONFIG_H
-#include "config.h"
-#endif
-
-#include "internal.h"
-#include <ctype.h>
-#include <errno.h>
-#include <limits.h>
-#include <string.h>
-
-/*RFCs referenced in this file:
-  RFC  761: DOD Standard Transmission Control Protocol
-  RFC 1535: A Security Problem and Proposed Correction With Widely Deployed DNS
-   Software
-  RFC 1738: Uniform Resource Locators (URL)
-  RFC 1945: Hypertext Transfer Protocol -- HTTP/1.0
-  RFC 2068: Hypertext Transfer Protocol -- HTTP/1.1
-  RFC 2145: Use and Interpretation of HTTP Version Numbers
-  RFC 2246: The TLS Protocol Version 1.0
-  RFC 2459: Internet X.509 Public Key Infrastructure Certificate and
-   Certificate Revocation List (CRL) Profile
-  RFC 2616: Hypertext Transfer Protocol -- HTTP/1.1
-  RFC 2617: HTTP Authentication: Basic and Digest Access Authentication
-  RFC 2817: Upgrading to TLS Within HTTP/1.1
-  RFC 2818: HTTP Over TLS
-  RFC 3492: Punycode: A Bootstring encoding of Unicode for Internationalized
-   Domain Names in Applications (IDNA)
-  RFC 3986: Uniform Resource Identifier (URI): Generic Syntax
-  RFC 3987: Internationalized Resource Identifiers (IRIs)
-  RFC 4343: Domain Name System (DNS) Case Insensitivity Clarification
-  RFC 5894: Internationalized Domain Names for Applications (IDNA):
-   Background, Explanation, and Rationale
-  RFC 6066: Transport Layer Security (TLS) Extensions: Extension Definitions
-  RFC 6125: Representation and Verification of Domain-Based Application Service
-   Identity within Internet Public Key Infrastructure Using X.509 (PKIX)
-   Certificates in the Context of Transport Layer Security (TLS)
-  RFC 6555: Happy Eyeballs: Success with Dual-Stack Hosts*/
-
-typedef struct OpusParsedURL   OpusParsedURL;
-typedef struct OpusStringBuf   OpusStringBuf;
-typedef struct OpusHTTPConn    OpusHTTPConn;
-typedef struct OpusHTTPStream  OpusHTTPStream;
-
-static char *op_string_range_dup(const char *_start,const char *_end){
-  size_t  len;
-  char   *ret;
-  OP_ASSERT(_start<=_end);
-  len=_end-_start;
-  /*This is to help avoid overflow elsewhere, later.*/
-  if(OP_UNLIKELY(len>=INT_MAX))return NULL;
-  ret=(char *)_ogg_malloc(sizeof(*ret)*(len+1));
-  if(OP_LIKELY(ret!=NULL)){
-    ret=(char *)memcpy(ret,_start,sizeof(*ret)*(len));
-    ret[len]='\0';
-  }
-  return ret;
-}
-
-static char *op_string_dup(const char *_s){
-  return op_string_range_dup(_s,_s+strlen(_s));
-}
-
-static char *op_string_tolower(char *_s){
-  int i;
-  for(i=0;_s[i]!='\0';i++){
-    int c;
-    c=_s[i];
-    if(c>='A'&&c<='Z')c+='a'-'A';
-    _s[i]=(char)c;
-  }
-  return _s;
-}
-
-/*URI character classes (from RFC 3986).*/
-#define OP_URL_ALPHA \
- "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz"
-#define OP_URL_DIGIT       "0123456789"
-#define OP_URL_HEXDIGIT    "0123456789ABCDEFabcdef"
-/*Not a character class, but the characters allowed in <scheme>.*/
-#define OP_URL_SCHEME      OP_URL_ALPHA OP_URL_DIGIT "+-."
-#define OP_URL_GEN_DELIMS  "#/:?@[]"
-#define OP_URL_SUB_DELIMS  "!$&'()*+,;="
-#define OP_URL_RESERVED    OP_URL_GEN_DELIMS OP_URL_SUB_DELIMS
-#define OP_URL_UNRESERVED  OP_URL_ALPHA OP_URL_DIGIT "-._~"
-/*Not a character class, but the characters allowed in <pct-encoded>.*/
-#define OP_URL_PCT_ENCODED "%"
-/*Not a character class or production rule, but for convenience.*/
-#define OP_URL_PCHAR_BASE \
- OP_URL_UNRESERVED OP_URL_PCT_ENCODED OP_URL_SUB_DELIMS
-#define OP_URL_PCHAR       OP_URL_PCHAR_BASE ":@"
-/*Not a character class, but the characters allowed in <userinfo> and
-   <IP-literal>.*/
-#define OP_URL_PCHAR_NA    OP_URL_PCHAR_BASE ":"
-/*Not a character class, but the characters allowed in <segment-nz-nc>.*/
-#define OP_URL_PCHAR_NC    OP_URL_PCHAR_BASE "@"
-/*Not a character clsss, but the characters allowed in <path>.*/
-#define OP_URL_PATH        OP_URL_PCHAR "/"
-/*Not a character class, but the characters allowed in <query> / <fragment>.*/
-#define OP_URL_QUERY_FRAG  OP_URL_PCHAR "/?"
-
-/*Check the <% HEXDIG HEXDIG> escapes of a URL for validity.
-  Return: 0 if valid, or a negative value on failure.*/
-static int op_validate_url_escapes(const char *_s){
-  int i;
-  for(i=0;_s[i];i++){
-    if(_s[i]=='%'){
-      if(OP_UNLIKELY(!isxdigit(_s[i+1]))
-       ||OP_UNLIKELY(!isxdigit(_s[i+2]))
-       /*RFC 3986 says %00 "should be rejected if the application is not
-          expecting to receive raw data within a component."*/
-       ||OP_UNLIKELY(_s[i+1]=='0'&&_s[i+2]=='0')){
-        return OP_FALSE;
-      }
-      i+=2;
-    }
-  }
-  return 0;
-}
-
-/*Convert a hex digit to its actual value.
-  _c: The hex digit to convert.
-      Presumed to be valid ('0'...'9', 'A'...'F', or 'a'...'f').
-  Return: The value of the digit, in the range [0,15].*/
-static int op_hex_value(int _c){
-  return _c>='a'?_c-'a'+10:_c>='A'?_c-'A'+10:_c-'0';
-}
-
-/*Unescape all the <% HEXDIG HEXDIG> sequences in a string in-place.
-  This does no validity checking.*/
-static char *op_unescape_url_component(char *_s){
-  int i;
-  int j;
-  for(i=j=0;_s[i];i++,j++){
-    if(_s[i]=='%'){
-      _s[i]=(char)(op_hex_value(_s[i+1])<<4|op_hex_value(_s[i+2]));
-      i+=2;
-    }
-  }
-  return _s;
-}
-
-/*Parse a file: URL.
-  This code is not meant to be fast: strspn() with large sets is likely to be
-   slow, but it is very convenient.
-  It is meant to be RFC 1738-compliant (as updated by RFC 3986).*/
-static const char *op_parse_file_url(const char *_src){
-  const char *scheme_end;
-  const char *path;
-  const char *path_end;
-  scheme_end=_src+strspn(_src,OP_URL_SCHEME);
-  if(OP_UNLIKELY(*scheme_end!=':')
-   ||scheme_end-_src!=4||op_strncasecmp(_src,"file",4)!=0){
-    /*Unsupported protocol.*/
-    return NULL;
-  }
-  /*Make sure all escape sequences are valid to simplify unescaping later.*/
-  if(OP_UNLIKELY(op_validate_url_escapes(scheme_end+1)<0))return NULL;
-  if(scheme_end[1]=='/'&&scheme_end[2]=='/'){
-    const char *host;
-    /*file: URLs can have a host!
-      Yeah, I was surprised, too, but that's what RFC 1738 says.
-      It also says, "The file URL scheme is unusual in that it does not specify
-       an Internet protocol or access method for such files; as such, its
-       utility in network protocols between hosts is limited," which is a mild
-       understatement.*/
-    host=scheme_end+3;
-    /*The empty host is what we expect.*/
-    if(OP_LIKELY(*host=='/'))path=host;
-    else{
-      const char *host_end;
-      char        host_buf[28];
-      /*RFC 1738 says localhost "is interpreted as `the machine from which the
-         URL is being interpreted,'" so let's check for it.*/
-      host_end=host+strspn(host,OP_URL_PCHAR_BASE);
-      /*No <port> allowed.
-        This also rejects IP-Literals.*/
-      if(*host_end!='/')return NULL;
-      /*An escaped "localhost" can take at most 27 characters.*/
-      if(OP_UNLIKELY(host_end-host>27))return NULL;
-      memcpy(host_buf,host,sizeof(*host_buf)*(host_end-host));
-      host_buf[host_end-host]='\0';
-      op_unescape_url_component(host_buf);
-      op_string_tolower(host_buf);
-      /*Some other host: give up.*/
-      if(OP_UNLIKELY(strcmp(host_buf,"localhost")!=0))return NULL;
-      path=host_end;
-    }
-  }
-  else path=scheme_end+1;
-  path_end=path+strspn(path,OP_URL_PATH);
-  /*This will reject a <query> or <fragment> component, too.
-    I don't know what to do with queries, but a temporal fragment would at
-     least make sense.
-    RFC 1738 pretty clearly defines a <searchpart> that's equivalent to the
-     RFC 3986 <query> component for other schemes, but not the file: scheme,
-     so I'm going to just reject it.*/
-  if(*path_end!='\0')return NULL;
-  return path;
-}
-
-#if defined(OP_ENABLE_HTTP)
-# if defined(_WIN32)
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#  include <openssl/ssl.h>
-#  include "winerrno.h"
-
-typedef SOCKET op_sock;
-
-#  define OP_INVALID_SOCKET (INVALID_SOCKET)
-
-/*Vista and later support WSAPoll(), but we don't want to rely on that.
-  Instead we re-implement it badly using select().
-  Unfortunately, they define a conflicting struct pollfd, so we only define our
-   own if it looks like that one has not already been defined.*/
-#  if !defined(POLLIN)
-/*Equivalent to POLLIN.*/
-#   define POLLRDNORM (0x0100)
-/*Priority band data can be read.*/
-#   define POLLRDBAND (0x0200)
-/*There is data to read.*/
-#   define POLLIN     (POLLRDNORM|POLLRDBAND)
-/*There is urgent data to read.*/
-#   define POLLPRI    (0x0400)
-/*Equivalent to POLLOUT.*/
-#   define POLLWRNORM (0x0010)
-/*Writing now will not block.*/
-#   define POLLOUT    (POLLWRNORM)
-/*Priority data may be written.*/
-#   define POLLWRBAND (0x0020)
-/*Error condition (output only).*/
-#   define POLLERR    (0x0001)
-/*Hang up (output only).*/
-#   define POLLHUP    (0x0002)
-/*Invalid request: fd not open (output only).*/
-#   define POLLNVAL   (0x0004)
-
-struct pollfd{
-  /*File descriptor.*/
-  op_sock fd;
-  /*Requested events.*/
-  short   events;
-  /*Returned events.*/
-  short   revents;
-};
-#  endif
-
-/*But Winsock never defines nfds_t (it's simply hard-coded to ULONG).*/
-typedef unsigned long nfds_t;
-
-/*The usage of FD_SET() below is O(N^2).
-  This is okay because select() is limited to 64 sockets in Winsock, anyway.
-  In practice, we only ever call it with one or two sockets.*/
-static int op_poll_win32(struct pollfd *_fds,nfds_t _nfds,int _timeout){
-  struct timeval tv;
-  fd_set         ifds;
-  fd_set         ofds;
-  fd_set         efds;
-  nfds_t         i;
-  int            ret;
-  FD_ZERO(&ifds);
-  FD_ZERO(&ofds);
-  FD_ZERO(&efds);
-  for(i=0;i<_nfds;i++){
-    _fds[i].revents=0;
-    if(_fds[i].events&POLLIN)FD_SET(_fds[i].fd,&ifds);
-    if(_fds[i].events&POLLOUT)FD_SET(_fds[i].fd,&ofds);
-    FD_SET(_fds[i].fd,&efds);
-  }
-  if(_timeout>=0){
-    tv.tv_sec=_timeout/1000;
-    tv.tv_usec=(_timeout%1000)*1000;
-  }
-  ret=select(-1,&ifds,&ofds,&efds,_timeout<0?NULL:&tv);
-  if(ret>0){
-    for(i=0;i<_nfds;i++){
-      if(FD_ISSET(_fds[i].fd,&ifds))_fds[i].revents|=POLLIN;
-      if(FD_ISSET(_fds[i].fd,&ofds))_fds[i].revents|=POLLOUT;
-      /*This isn't correct: there are several different things that might have
-         happened to a fd in efds, but I don't know a good way to distinguish
-         them without more context from the caller.
-        It's okay, because we don't actually check any of these bits, we just
-         need _some_ bit set.*/
-      if(FD_ISSET(_fds[i].fd,&efds))_fds[i].revents|=POLLHUP;
-    }
-  }
-  return ret;
-}
-
-/*We define op_errno() to make it clear that it's not an l-value like normal
-   errno is.*/
-#  define op_errno() (WSAGetLastError()?WSAGetLastError()-WSABASEERR:0)
-#  define op_reset_errno() (WSASetLastError(0))
-
-/*The remaining functions don't get an op_ prefix even though they only
-   operate on sockets, because we don't use non-socket I/O here, and this
-   minimizes the changes needed to deal with Winsock.*/
-#  define close(_fd) closesocket(_fd)
-/*This relies on sizeof(u_long)==sizeof(int), which is always true on both
-   Win32 and Win64.*/
-#  define ioctl(_fd,_req,_arg) ioctlsocket(_fd,_req,(u_long *)(_arg))
-#  define getsockopt(_fd,_level,_name,_val,_len) \
- getsockopt(_fd,_level,_name,(char *)(_val),_len)
-#  define setsockopt(_fd,_level,_name,_val,_len) \
- setsockopt(_fd,_level,_name,(const char *)(_val),_len)
-#  define poll(_fds,_nfds,_timeout) op_poll_win32(_fds,_nfds,_timeout)
-
-#  if defined(_MSC_VER)
-typedef ptrdiff_t ssize_t;
-#  endif
-
-/*Load certificates from the built-in certificate store.*/
-int SSL_CTX_set_default_verify_paths_win32(SSL_CTX *_ssl_ctx);
-#  define SSL_CTX_set_default_verify_paths \
- SSL_CTX_set_default_verify_paths_win32
-
-# else
-/*Normal Berkeley sockets.*/
-#  include <sys/ioctl.h>
-#  include <sys/types.h>
-#  include <sys/socket.h>
-#  include <arpa/inet.h>
-#  include <netinet/in.h>
-#  include <netinet/tcp.h>
-#  include <fcntl.h>
-#  include <netdb.h>
-#  include <poll.h>
-#  include <unistd.h>
-#  include <openssl/ssl.h>
-
-typedef int op_sock;
-
-#  define OP_INVALID_SOCKET (-1)
-
-#  define op_errno() (errno)
-#  define op_reset_errno() (errno=0)
-
-# endif
-# include <sys/timeb.h>
-# include <openssl/x509v3.h>
-
-/*The maximum number of simultaneous connections.
-  RFC 2616 says this SHOULD NOT be more than 2, but everyone on the modern web
-   ignores that (e.g., IE 8 bumped theirs up from 2 to 6, Firefox uses 15).
-  If it makes you feel better, we'll only ever actively read from one of these
-   at a time.
-  The others are kept around mainly to avoid slow-starting a new connection
-   when seeking, and time out rapidly.*/
-# define OP_NCONNS_MAX (4)
-
-/*The amount of time before we attempt to re-resolve the host.
-  This is 10 minutes, as recommended in RFC 6555 for expiring cached connection
-   results for dual-stack hosts.*/
-# define OP_RESOLVE_CACHE_TIMEOUT_MS (10*60*(opus_int32)1000)
-
-/*The number of redirections at which we give up.
-  The value here is the current default in Firefox.
-  RFC 2068 mandated a maximum of 5, but RFC 2616 relaxed that to "a client
-   SHOULD detect infinite redirection loops."
-  Fortunately, 20 is less than infinity.*/
-# define OP_REDIRECT_LIMIT (20)
-
-/*The initial size of the buffer used to read a response message (before the
-   body).*/
-# define OP_RESPONSE_SIZE_MIN (510)
-/*The maximum size of a response message (before the body).
-  Responses larger than this will be discarded.
-  I've seen a real server return 20 kB of data for a 302 Found response.
-  Increasing this beyond 32kB will cause problems on platforms with a 16-bit
-   int.*/
-# define OP_RESPONSE_SIZE_MAX (32766)
-
-/*The number of milliseconds we will allow a connection to sit idle before we
-   refuse to resurrect it.
-  Apache as of 2.2 has reduced its default timeout to 5 seconds (from 15), so
-   that's what we'll use here.*/
-# define OP_CONNECTION_IDLE_TIMEOUT_MS (5*1000)
-
-/*The number of milliseconds we will wait to send or receive data before giving
-   up.*/
-# define OP_POLL_TIMEOUT_MS (30*1000)
-
-/*We will always attempt to read ahead at least this much in preference to
-   opening a new connection.*/
-# define OP_READAHEAD_THRESH_MIN (32*(opus_int32)1024)
-
-/*The amount of data to request after a seek.
-  This is a trade-off between read throughput after a seek vs. the the ability
-   to quickly perform another seek with the same connection.*/
-# define OP_PIPELINE_CHUNK_SIZE     (32*(opus_int32)1024)
-/*Subsequent chunks are requested with larger and larger sizes until they pass
-   this threshold, after which we just ask for the rest of the resource.*/
-# define OP_PIPELINE_CHUNK_SIZE_MAX (1024*(opus_int32)1024)
-/*This is the maximum number of requests we'll make with a single connection.
-  Many servers will simply disconnect after we attempt some number of requests,
-   possibly without sending a Connection: close header, meaning we won't
-   discover it until we try to read beyond the end of the current chunk.
-  We can reconnect when that happens, but this is slow.
-  Instead, we impose a limit ourselves (set to the default for Apache
-   installations and thus likely the most common value in use).*/
-# define OP_PIPELINE_MAX_REQUESTS   (100)
-/*This should be the number of requests, starting from a chunk size of
-   OP_PIPELINE_CHUNK_SIZE and doubling each time, until we exceed
-   OP_PIPELINE_CHUNK_SIZE_MAX and just request the rest of the file.
-  We won't reuse a connection when seeking unless it has at least this many
-   requests left, to reduce the chances we'll have to open a new connection
-   while reading forward afterwards.*/
-# define OP_PIPELINE_MIN_REQUESTS   (7)
-
-/*Is this an https URL?
-  For now we can simply check the last letter of the scheme.*/
-# define OP_URL_IS_SSL(_url) ((_url)->scheme[4]=='s')
-
-/*Does this URL use the default port for its scheme?*/
-# define OP_URL_IS_DEFAULT_PORT(_url) \
- (!OP_URL_IS_SSL(_url)&&(_url)->port==80 \
- ||OP_URL_IS_SSL(_url)&&(_url)->port==443)
-
-struct OpusParsedURL{
-  /*Either "http" or "https".*/
-  char     *scheme;
-  /*The user name from the <userinfo> component, or NULL.*/
-  char     *user;
-  /*The password from the <userinfo> component, or NULL.*/
-  char     *pass;
-  /*The <host> component.
-    This may not be NULL.*/
-  char     *host;
-  /*The <path> and <query> components.
-    This may not be NULL.*/
-  char     *path;
-  /*The <port> component.
-    This is set to the default port if the URL did not contain one.*/
-  unsigned  port;
-};
-
-/*Parse a URL.
-  This code is not meant to be fast: strspn() with large sets is likely to be
-   slow, but it is very convenient.
-  It is meant to be RFC 3986-compliant.
-  We currently do not support IRIs (Internationalized Resource Identifiers,
-   RFC 3987).
-  Callers should translate them to URIs first.*/
-static int op_parse_url_impl(OpusParsedURL *_dst,const char *_src){
-  const char  *scheme_end;
-  const char  *authority;
-  const char  *userinfo_end;
-  const char  *user;
-  const char  *user_end;
-  const char  *pass;
-  const char  *hostport;
-  const char  *hostport_end;
-  const char  *host_end;
-  const char  *port;
-  opus_int32   port_num;
-  const char  *port_end;
-  const char  *path;
-  const char  *path_end;
-  const char  *uri_end;
-  scheme_end=_src+strspn(_src,OP_URL_SCHEME);
-  if(OP_UNLIKELY(*scheme_end!=':')
-   ||OP_UNLIKELY(scheme_end-_src<4)||OP_UNLIKELY(scheme_end-_src>5)
-   ||OP_UNLIKELY(op_strncasecmp(_src,"https",scheme_end-_src)!=0)){
-    /*Unsupported protocol.*/
-    return OP_EIMPL;
-  }
-  if(OP_UNLIKELY(scheme_end[1]!='/')||OP_UNLIKELY(scheme_end[2]!='/')){
-    /*We require an <authority> component.*/
-    return OP_EINVAL;
-  }
-  authority=scheme_end+3;
-  /*Make sure all escape sequences are valid to simplify unescaping later.*/
-  if(OP_UNLIKELY(op_validate_url_escapes(authority)<0))return OP_EINVAL;
-  /*Look for a <userinfo> component.*/
-  userinfo_end=authority+strspn(authority,OP_URL_PCHAR_NA);
-  if(*userinfo_end=='@'){
-    /*Found one.*/
-    user=authority;
-    /*Look for a password (yes, clear-text passwords are deprecated, I know,
-       but what else are people supposed to use? use SSL if you care).*/
-    user_end=authority+strspn(authority,OP_URL_PCHAR_BASE);
-    if(*user_end==':')pass=user_end+1;
-    else pass=NULL;
-    hostport=userinfo_end+1;
-  }
-  else{
-    /*We shouldn't have to initialize user_end, but gcc is too dumb to figure
-       out that user!=NULL below means we didn't take this else branch.*/
-    user=user_end=NULL;
-    pass=NULL;
-    hostport=authority;
-  }
-  /*Try to figure out where the <host> component ends.*/
-  if(hostport[0]=='['){
-    hostport++;
-    /*We have an <IP-literal>, which can contain colons.*/
-    hostport_end=host_end=hostport+strspn(hostport,OP_URL_PCHAR_NA);
-    if(OP_UNLIKELY(*hostport_end++!=']'))return OP_EINVAL;
-  }
-  /*Currently we don't support IDNA (RFC 5894), because I don't want to deal
-     with the policy about which domains should not be internationalized to
-     avoid confusing similarities.
-    Give this API Punycode (RFC 3492) domain names instead.*/
-  else hostport_end=host_end=hostport+strspn(hostport,OP_URL_PCHAR_BASE);
-  /*TODO: Validate host.*/
-  /*Is there a port number?*/
-  port_num=-1;
-  if(*hostport_end==':'){
-    int i;
-    port=hostport_end+1;
-    port_end=port+strspn(port,OP_URL_DIGIT);
-    path=port_end;
-    /*Not part of RFC 3986, but require port numbers in the range 0...65535.*/
-    if(OP_LIKELY(port_end-port>0)){
-      while(*port=='0')port++;
-      if(OP_UNLIKELY(port_end-port>5))return OP_EINVAL;
-      port_num=0;
-      for(i=0;i<port_end-port;i++)port_num=port_num*10+port[i]-'0';
-      if(OP_UNLIKELY(port_num>65535))return OP_EINVAL;
-    }
-  }
-  else path=hostport_end;
-  path_end=path+strspn(path,OP_URL_PATH);
-  /*If the path is not empty, it must begin with a '/'.*/
-  if(OP_LIKELY(path_end>path)&&OP_UNLIKELY(path[0]!='/'))return OP_EINVAL;
-  /*Consume the <query> component, if any (right now we don't split this out
-     from the <path> component).*/
-  if(*path_end=='?')path_end=path_end+strspn(path_end,OP_URL_QUERY_FRAG);
-  /*Discard the <fragment> component, if any.
-    This doesn't get sent to the server.
-    Some day we should add support for Media Fragment URIs
-     <http://www.w3.org/TR/media-frags/>.*/
-  if(*path_end=='#')uri_end=path_end+1+strspn(path_end+1,OP_URL_QUERY_FRAG);
-  else uri_end=path_end;
-  /*If there's anything left, this was not a valid URL.*/
-  if(OP_UNLIKELY(*uri_end!='\0'))return OP_EINVAL;
-  _dst->scheme=op_string_range_dup(_src,scheme_end);
-  if(OP_UNLIKELY(_dst->scheme==NULL))return OP_EFAULT;
-  op_string_tolower(_dst->scheme);
-  if(user!=NULL){
-    _dst->user=op_string_range_dup(user,user_end);
-    if(OP_UNLIKELY(_dst->user==NULL))return OP_EFAULT;
-    op_unescape_url_component(_dst->user);
-    /*Unescaping might have created a ':' in the username.
-      That's not allowed by RFC 2617's Basic Authentication Scheme.*/
-    if(OP_UNLIKELY(strchr(_dst->user,':')!=NULL))return OP_EINVAL;
-  }
-  else _dst->user=NULL;
-  if(pass!=NULL){
-    _dst->pass=op_string_range_dup(pass,userinfo_end);
-    if(OP_UNLIKELY(_dst->pass==NULL))return OP_EFAULT;
-    op_unescape_url_component(_dst->pass);
-  }
-  else _dst->pass=NULL;
-  _dst->host=op_string_range_dup(hostport,host_end);
-  if(OP_UNLIKELY(_dst->host==NULL))return OP_EFAULT;
-  if(port_num<0){
-    if(_src[4]=='s')port_num=443;
-    else port_num=80;
-  }
-  _dst->port=(unsigned)port_num;
-  /*RFC 2616 says an empty <abs-path> component is equivalent to "/", and we
-     MUST use the latter in the Request-URI.
-    Reserve space for the slash here.*/
-  if(path==path_end||path[0]=='?')path--;
-  _dst->path=op_string_range_dup(path,path_end);
-  if(OP_UNLIKELY(_dst->path==NULL))return OP_EFAULT;
-  /*And force-set it here.*/
-  _dst->path[0]='/';
-  return 0;
-}
-
-static void op_parsed_url_init(OpusParsedURL *_url){
-  memset(_url,0,sizeof(*_url));
-}
-
-static void op_parsed_url_clear(OpusParsedURL *_url){
-  _ogg_free(_url->scheme);
-  _ogg_free(_url->user);
-  _ogg_free(_url->pass);
-  _ogg_free(_url->host);
-  _ogg_free(_url->path);
-}
-
-static int op_parse_url(OpusParsedURL *_dst,const char *_src){
-  OpusParsedURL url;
-  int           ret;
-  op_parsed_url_init(&url);
-  ret=op_parse_url_impl(&url,_src);
-  if(OP_UNLIKELY(ret<0))op_parsed_url_clear(&url);
-  else *_dst=*&url;
-  return ret;
-}
-
-/*A buffer to hold growing strings.
-  The main purpose of this is to consolidate allocation checks and simplify
-   cleanup on a failed allocation.*/
-struct OpusStringBuf{
-  char *buf;
-  int   nbuf;
-  int   cbuf;
-};
-
-static void op_sb_init(OpusStringBuf *_sb){
-  _sb->buf=NULL;
-  _sb->nbuf=0;
-  _sb->cbuf=0;
-}
-
-static void op_sb_clear(OpusStringBuf *_sb){
-  _ogg_free(_sb->buf);
-}
-
-/*Make sure we have room for at least _capacity characters (plus 1 more for the
-   terminating NUL).*/
-static int op_sb_ensure_capacity(OpusStringBuf *_sb,int _capacity){
-  char *buf;
-  int   cbuf;
-  buf=_sb->buf;
-  cbuf=_sb->cbuf;
-  if(_capacity>=cbuf-1){
-    if(OP_UNLIKELY(cbuf>INT_MAX-1>>1))return OP_EFAULT;
-    if(OP_UNLIKELY(_capacity>=INT_MAX-1))return OP_EFAULT;
-    cbuf=OP_MAX(2*cbuf+1,_capacity+1);
-    buf=_ogg_realloc(buf,sizeof(*buf)*cbuf);
-    if(OP_UNLIKELY(buf==NULL))return OP_EFAULT;
-    _sb->buf=buf;
-    _sb->cbuf=cbuf;
-  }
-  return 0;
-}
-
-/*Increase the capacity of the buffer, but not to more than _max_size
-   characters (plus 1 more for the terminating NUL).*/
-static int op_sb_grow(OpusStringBuf *_sb,int _max_size){
-  char *buf;
-  int   cbuf;
-  buf=_sb->buf;
-  cbuf=_sb->cbuf;
-  OP_ASSERT(_max_size<=INT_MAX-1);
-  cbuf=cbuf<=_max_size-1>>1?2*cbuf+1:_max_size+1;
-  buf=_ogg_realloc(buf,sizeof(*buf)*cbuf);
-  if(OP_UNLIKELY(buf==NULL))return OP_EFAULT;
-  _sb->buf=buf;
-  _sb->cbuf=cbuf;
-  return 0;
-}
-
-static int op_sb_append(OpusStringBuf *_sb,const char *_s,int _len){
-  char *buf;
-  int   nbuf;
-  int   ret;
-  nbuf=_sb->nbuf;
-  if(OP_UNLIKELY(nbuf>INT_MAX-_len))return OP_EFAULT;
-  ret=op_sb_ensure_capacity(_sb,nbuf+_len);
-  if(OP_UNLIKELY(ret<0))return ret;
-  buf=_sb->buf;
-  memcpy(buf+nbuf,_s,sizeof(*buf)*_len);
-  nbuf+=_len;
-  buf[nbuf]='\0';
-  _sb->nbuf=nbuf;
-  return 0;
-}
-
-static int op_sb_append_string(OpusStringBuf *_sb,const char *_s){
-  return op_sb_append(_sb,_s,strlen(_s));
-}
-
-static int op_sb_append_port(OpusStringBuf *_sb,unsigned _port){
-  char port_buf[7];
-  OP_ASSERT(_port<=65535U);
-  sprintf(port_buf,":%u",_port);
-  return op_sb_append_string(_sb,port_buf);
-}
-
-static int op_sb_append_nonnegative_int64(OpusStringBuf *_sb,opus_int64 _i){
-  char digit;
-  int  nbuf_start;
-  int  ret;
-  OP_ASSERT(_i>=0);
-  nbuf_start=_sb->nbuf;
-  ret=0;
-  do{
-    digit='0'+_i%10;
-    ret|=op_sb_append(_sb,&digit,1);
-    _i/=10;
-  }
-  while(_i>0);
-  if(OP_LIKELY(ret>=0)){
-    char *buf;
-    int   nbuf_end;
-    buf=_sb->buf;
-    nbuf_end=_sb->nbuf-1;
-    /*We've added the digits backwards.
-      Reverse them.*/
-    while(nbuf_start<nbuf_end){
-      digit=buf[nbuf_start];
-      buf[nbuf_start]=buf[nbuf_end];
-      buf[nbuf_end]=digit;
-      nbuf_start++;
-      nbuf_end--;
-    }
-  }
-  return ret;
-}
-
-static struct addrinfo *op_resolve(const char *_host,unsigned _port){
-  struct addrinfo *addrs;
-  struct addrinfo  hints;
-  char             service[6];
-  memset(&hints,0,sizeof(hints));
-  hints.ai_socktype=SOCK_STREAM;
-#if defined(AI_NUMERICSERV)
-  hints.ai_flags=AI_NUMERICSERV;
-#endif
-  OP_ASSERT(_port<=65535U);
-  sprintf(service,"%u",_port);
-  if(OP_LIKELY(!getaddrinfo(_host,service,&hints,&addrs)))return addrs;
-  return NULL;
-}
-
-static int op_sock_set_nonblocking(op_sock _fd,int _nonblocking){
-#if !defined(_WIN32)
-  int flags;
-  flags=fcntl(_fd,F_GETFL);
-  if(OP_UNLIKELY(flags<0))return flags;
-  if(_nonblocking)flags|=O_NONBLOCK;
-  else flags&=~O_NONBLOCK;
-  return fcntl(_fd,F_SETFL,flags);
-#else
-  return ioctl(_fd,FIONBIO,&_nonblocking);
-#endif
-}
-
-/*Disable/enable write coalescing if we can.
-  We always send whole requests at once and always parse the response headers
-   before sending another one, so normally write coalescing just causes added
-   delay.*/
-static void op_sock_set_tcp_nodelay(op_sock _fd,int _nodelay){
-# if defined(TCP_NODELAY)&&(defined(IPPROTO_TCP)||defined(SOL_TCP))
-#  if defined(IPPROTO_TCP)
-#   define OP_SO_LEVEL IPPROTO_TCP
-#  else
-#   define OP_SO_LEVEL SOL_TCP
-#  endif
-  /*It doesn't really matter if this call fails, but it would be interesting
-     to hit a case where it does.*/
-  OP_ALWAYS_TRUE(!setsockopt(_fd,OP_SO_LEVEL,TCP_NODELAY,
-   &_nodelay,sizeof(_nodelay)));
-# endif
-}
-
-#if defined(_WIN32)
-static void op_init_winsock(){
-  static LONG    count;
-  static WSADATA wsadata;
-  if(InterlockedIncrement(&count)==1)WSAStartup(0x0202,&wsadata);
-}
-#endif
-
-/*A single physical connection to an HTTP server.
-  We may have several of these open at once.*/
-struct OpusHTTPConn{
-  /*The current position indicator for this connection.*/
-  opus_int64    pos;
-  /*The position where the current request will end, or -1 if we're reading
-     until EOF (an unseekable stream or the initial HTTP/1.0 request).*/
-  opus_int64    end_pos;
-  /*The position where next request we've sent will start, or -1 if we haven't
-     sent the next request yet.*/
-  opus_int64    next_pos;
-  /*The end of the next request or -1 if we requested the rest of the resource.
-    This is only set to a meaningful value if next_pos is not -1.*/
-  opus_int64    next_end;
-  /*The SSL connection, if this is https.*/
-  SSL          *ssl_conn;
-  /*The next connection in either the LRU or free list.*/
-  OpusHTTPConn *next;
-  /*The last time we blocked for reading from this connection.*/
-  struct timeb  read_time;
-  /*The number of bytes we've read since the last time we blocked.*/
-  opus_int64    read_bytes;
-  /*The estimated throughput of this connection, in bytes/s.*/
-  opus_int64    read_rate;
-  /*The socket we're reading from.*/
-  op_sock       fd;
-  /*The number of remaining requests we are allowed on this connection.*/
-  int           nrequests_left;
-  /*The chunk size to use for pipelining requests.*/
-  opus_int32    chunk_size;
-};
-
-static void op_http_conn_init(OpusHTTPConn *_conn){
-  _conn->next_pos=-1;
-  _conn->ssl_conn=NULL;
-  _conn->next=NULL;
-  _conn->fd=OP_INVALID_SOCKET;
-}
-
-static void op_http_conn_clear(OpusHTTPConn *_conn){
-  if(_conn->ssl_conn!=NULL)SSL_free(_conn->ssl_conn);
-  /*SSL frees the BIO for us.*/
-  if(_conn->fd!=OP_INVALID_SOCKET)close(_conn->fd);
-}
-
-/*The global stream state.*/
-struct OpusHTTPStream{
-  /*The list of connections.*/
-  OpusHTTPConn     conns[OP_NCONNS_MAX];
-  /*The context object used as a framework for TLS/SSL functions.*/
-  SSL_CTX         *ssl_ctx;
-  /*The cached session to reuse for future connections.*/
-  SSL_SESSION     *ssl_session;
-  /*The LRU list (ordered from MRU to LRU) of currently connected
-     connections.*/
-  OpusHTTPConn    *lru_head;
-  /*The free list.*/
-  OpusHTTPConn    *free_head;
-  /*The URL to connect to.*/
-  OpusParsedURL    url;
-  /*Information about the address we connected to.*/
-  struct addrinfo  addr_info;
-  /*The address we connected to.*/
-  union{
-    struct sockaddr     s;
-    struct sockaddr_in  v4;
-    struct sockaddr_in6 v6;
-  }                addr;
-  /*The last time we re-resolved the host.*/
-  struct timeb     resolve_time;
-  /*A buffer used to build HTTP requests.*/
-  OpusStringBuf    request;
-  /*A buffer used to build proxy CONNECT requests.*/
-  OpusStringBuf    proxy_connect;
-  /*A buffer used to receive the response headers.*/
-  OpusStringBuf    response;
-  /*The Content-Length, if specified, or -1 otherwise.
-    This will always be specified for seekable streams.*/
-  opus_int64       content_length;
-  /*The position indicator used when no connection is active.*/
-  opus_int64       pos;
-  /*The host we actually connected to.*/
-  char            *connect_host;
-  /*The port we actually connected to.*/
-  unsigned         connect_port;
-  /*The connection we're currently reading from.
-    This can be -1 if no connection is active.*/
-  int              cur_conni;
-  /*Whether or not the server supports range requests.*/
-  int              seekable;
-  /*Whether or not the server supports HTTP/1.1 with persistent connections.*/
-  int              pipeline;
-  /*Whether or not we should skip certificate checks.*/
-  int              skip_certificate_check;
-  /*The offset of the tail of the request.
-    Only the offset in the Range: header appears after this, allowing us to
-     quickly edit the request to ask for a new range.*/
-  int              request_tail;
-  /*The estimated time required to open a new connection, in milliseconds.*/
-  opus_int32       connect_rate;
-};
-
-static void op_http_stream_init(OpusHTTPStream *_stream){
-  OpusHTTPConn **pnext;
-  int            ci;
-  pnext=&_stream->free_head;
-  for(ci=0;ci<OP_NCONNS_MAX;ci++){
-    op_http_conn_init(_stream->conns+ci);
-    *pnext=_stream->conns+ci;
-    pnext=&_stream->conns[ci].next;
-  }
-  _stream->ssl_ctx=NULL;
-  _stream->ssl_session=NULL;
-  _stream->lru_head=NULL;
-  op_parsed_url_init(&_stream->url);
-  op_sb_init(&_stream->request);
-  op_sb_init(&_stream->proxy_connect);
-  op_sb_init(&_stream->response);
-  _stream->connect_host=NULL;
-  _stream->seekable=0;
-}
-
-/*Close the connection and move it to the free list.
-  _stream:     The stream containing the free list.
-  _conn:       The connection to close.
-  _pnext:      The linked-list pointer currently pointing to this connection.
-  _gracefully: Whether or not to shut down cleanly.*/
-static void op_http_conn_close(OpusHTTPStream *_stream,OpusHTTPConn *_conn,
- OpusHTTPConn **_pnext,int _gracefully){
-  /*If we don't shut down gracefully, the server MUST NOT re-use our session
-     according to RFC 2246, because it can't tell the difference between an
-     abrupt close and a truncation attack.
-    So we shut down gracefully if we can.
-    However, we will not wait if this would block (it's not worth the savings
-     from session resumption to do so).
-    Clients (that's us) MAY resume a TLS session that ended with an incomplete
-     close, according to RFC 2818, so there's no reason to make sure the server
-     shut things down gracefully.*/
-  if(_gracefully&&_conn->ssl_conn!=NULL)SSL_shutdown(_conn->ssl_conn);
-  op_http_conn_clear(_conn);
-  _conn->next_pos=-1;
-  _conn->ssl_conn=NULL;
-  _conn->fd=OP_INVALID_SOCKET;
-  OP_ASSERT(*_pnext==_conn);
-  *_pnext=_conn->next;
-  _conn->next=_stream->free_head;
-  _stream->free_head=_conn;
-}
-
-static void op_http_stream_clear(OpusHTTPStream *_stream){
-  while(_stream->lru_head!=NULL){
-    op_http_conn_close(_stream,_stream->lru_head,&_stream->lru_head,0);
-  }
-  if(_stream->ssl_session!=NULL)SSL_SESSION_free(_stream->ssl_session);
-  if(_stream->ssl_ctx!=NULL)SSL_CTX_free(_stream->ssl_ctx);
-  op_sb_clear(&_stream->response);
-  op_sb_clear(&_stream->proxy_connect);
-  op_sb_clear(&_stream->request);
-  if(_stream->connect_host!=_stream->url.host)_ogg_free(_stream->connect_host);
-  op_parsed_url_clear(&_stream->url);
-}
-
-static int op_http_conn_write_fully(OpusHTTPConn *_conn,
- const char *_buf,int _buf_size){
-  struct pollfd  fd;
-  SSL           *ssl_conn;
-  fd.fd=_conn->fd;
-  ssl_conn=_conn->ssl_conn;
-  while(_buf_size>0){
-    int err;
-    if(ssl_conn!=NULL){
-      int ret;
-      ret=SSL_write(ssl_conn,_buf,_buf_size);
-      if(ret>0){
-        /*Wrote some data.*/
-        _buf+=ret;
-        _buf_size-=ret;
-        continue;
-      }
-      /*Connection closed.*/
-      else if(ret==0)return OP_FALSE;
-      err=SSL_get_error(ssl_conn,ret);
-      /*Yes, renegotiations can cause SSL_write() to block for reading.*/
-      if(err==SSL_ERROR_WANT_READ)fd.events=POLLIN;
-      else if(err==SSL_ERROR_WANT_WRITE)fd.events=POLLOUT;
-      else return OP_FALSE;
-    }
-    else{
-      ssize_t ret;
-      op_reset_errno();
-      ret=send(fd.fd,_buf,_buf_size,0);
-      if(ret>0){
-        _buf+=ret;
-        _buf_size-=ret;
-        continue;
-      }
-      err=op_errno();
-      if(err!=EAGAIN&&err!=EWOULDBLOCK)return OP_FALSE;
-      fd.events=POLLOUT;
-    }
-    if(poll(&fd,1,OP_POLL_TIMEOUT_MS)<=0)return OP_FALSE;
-  }
-  return 0;
-}
-
-static int op_http_conn_estimate_available(OpusHTTPConn *_conn){
-  int available;
-  int ret;
-  ret=ioctl(_conn->fd,FIONREAD,&available);
-  if(ret<0)available=0;
-  /*This requires the SSL read_ahead flag to be unset to work.
-    We ignore partial records as well as the protocol overhead for any pending
-     bytes.
-    This means we might return somewhat less than can truly be read without
-     blocking (if there's a partial record).
-    This is okay, because we're using this value to estimate network transfer
-     time, and we _have_ already received those bytes.
-    We also might return slightly more (due to protocol overhead), but that's
-     small enough that it probably doesn't matter.*/
-  if(_conn->ssl_conn!=NULL)available+=SSL_pending(_conn->ssl_conn);
-  return available;
-}
-
-static opus_int32 op_time_diff_ms(const struct timeb *_end,
- const struct timeb *_start){
-  opus_int64 dtime;
-  dtime=_end->time-(opus_int64)_start->time;
-  OP_ASSERT(_end->millitm<1000);
-  OP_ASSERT(_start->millitm<1000);
-  if(OP_UNLIKELY(dtime>(OP_INT32_MAX-1000)/1000))return OP_INT32_MAX;
-  if(OP_UNLIKELY(dtime<(OP_INT32_MIN+1000)/1000))return OP_INT32_MIN;
-  return (opus_int32)dtime*1000+_end->millitm-_start->millitm;
-}
-
-/*Update the read rate estimate for this connection.*/
-static void op_http_conn_read_rate_update(OpusHTTPConn *_conn){
-  struct timeb read_time;
-  opus_int32   read_delta_ms;
-  opus_int64   read_delta_bytes;
-  opus_int64   read_rate;
-  read_delta_bytes=_conn->read_bytes;
-  if(read_delta_bytes<=0)return;
-  ftime(&read_time);
-  read_delta_ms=op_time_diff_ms(&read_time,&_conn->read_time);
-  read_rate=_conn->read_rate;
-  read_delta_ms=OP_MAX(read_delta_ms,1);
-  read_rate+=read_delta_bytes*1000/read_delta_ms-read_rate+4>>3;
-  *&_conn->read_time=*&read_time;
-  _conn->read_bytes=0;
-  _conn->read_rate=read_rate;
-}
-
-/*Tries to read from the given connection.
-  [out] _buf: Returns the data read.
-  _buf_size:  The size of the buffer.
-  _blocking:  Whether or not to block until some data is retrieved.
-  Return: A positive number of bytes read on success.
-          0:        The read would block, or the connection was closed.
-          OP_EREAD: There was a fatal read error.*/
-static int op_http_conn_read(OpusHTTPConn *_conn,
- char *_buf,int _buf_size,int _blocking){
-  struct pollfd  fd;
-  SSL           *ssl_conn;
-  int            nread;
-  int            nread_unblocked;
-  fd.fd=_conn->fd;
-  ssl_conn=_conn->ssl_conn;
-  nread=nread_unblocked=0;
-  /*RFC 2818 says "client implementations MUST treat any premature closes as
-     errors and the data received as potentially truncated," so we make very
-     sure to report read errors upwards.*/
-  do{
-    int err;
-    if(ssl_conn!=NULL){
-      int ret;
-      ret=SSL_read(ssl_conn,_buf+nread,_buf_size-nread);
-      OP_ASSERT(ret<=_buf_size-nread);
-      if(ret>0){
-        /*Read some data.
-          Keep going to see if there's more.*/
-        nread+=ret;
-        nread_unblocked+=ret;
-        continue;
-      }
-      /*If we already read some data, return it right now.*/
-      if(nread>0)break;
-      err=SSL_get_error(ssl_conn,ret);
-      if(ret==0){
-        /*Connection close.
-          Check for a clean shutdown to prevent truncation attacks.
-          This check always succeeds for SSLv2, as it has no "close notify"
-           message and thus can't verify an orderly shutdown.*/
-        return err==SSL_ERROR_ZERO_RETURN?0:OP_EREAD;
-      }
-      if(err==SSL_ERROR_WANT_READ)fd.events=POLLIN;
-      /*Yes, renegotiations can cause SSL_read() to block for writing.*/
-      else if(err==SSL_ERROR_WANT_WRITE)fd.events=POLLOUT;
-      /*Some other error.*/
-      else return OP_EREAD;
-    }
-    else{
-      ssize_t ret;
-      op_reset_errno();
-      ret=recv(fd.fd,_buf+nread,_buf_size-nread,0);
-      OP_ASSERT(ret<=_buf_size-nread);
-      if(ret>0){
-        /*Read some data.
-          Keep going to see if there's more.*/
-        nread+=ret;
-        nread_unblocked+=ret;
-        continue;
-      }
-      /*If we already read some data or the connection was closed, return
-         right now.*/
-      if(ret==0||nread>0)break;
-      err=op_errno();
-      if(err!=EAGAIN&&err!=EWOULDBLOCK)return OP_EREAD;
-      fd.events=POLLIN;
-    }
-    _conn->read_bytes+=nread_unblocked;
-    op_http_conn_read_rate_update(_conn);
-    nread_unblocked=0;
-    if(!_blocking)break;
-    /*Need to wait to get any data at all.*/
-    if(poll(&fd,1,OP_POLL_TIMEOUT_MS)<=0)return OP_EREAD;
-  }
-  while(nread<_buf_size);
-  _conn->read_bytes+=nread_unblocked;
-  return nread;
-}
-
-/*Tries to look at the pending data for a connection without consuming it.
-  [out] _buf: Returns the data at which we're peeking.
-  _buf_size:  The size of the buffer.*/
-static int op_http_conn_peek(OpusHTTPConn *_conn,char *_buf,int _buf_size){
-  struct pollfd   fd;
-  SSL            *ssl_conn;
-  int             ret;
-  fd.fd=_conn->fd;
-  ssl_conn=_conn->ssl_conn;
-  for(;;){
-    int err;
-    if(ssl_conn!=NULL){
-      ret=SSL_peek(ssl_conn,_buf,_buf_size);
-      /*Either saw some data or the connection was closed.*/
-      if(ret>=0)return ret;
-      err=SSL_get_error(ssl_conn,ret);
-      if(err==SSL_ERROR_WANT_READ)fd.events=POLLIN;
-      /*Yes, renegotiations can cause SSL_peek() to block for writing.*/
-      else if(err==SSL_ERROR_WANT_WRITE)fd.events=POLLOUT;
-      else return 0;
-    }
-    else{
-      op_reset_errno();
-      ret=(int)recv(fd.fd,_buf,_buf_size,MSG_PEEK);
-      /*Either saw some data or the connection was closed.*/
-      if(ret>=0)return ret;
-      err=op_errno();
-      if(err!=EAGAIN&&err!=EWOULDBLOCK)return 0;
-      fd.events=POLLIN;
-    }
-    /*Need to wait to get any data at all.*/
-    if(poll(&fd,1,OP_POLL_TIMEOUT_MS)<=0)return 0;
-  }
-}
-
-/*When parsing response headers, RFC 2616 mandates that all lines end in CR LF.
-  However, even in the year 2012, I have seen broken servers use just a LF.
-  This is the evil that Postel's advice from RFC 761 breeds.*/
-
-/*Reads the entirety of a response to an HTTP request into the response buffer.
-  Actual parsing and validation is done later.
-  Return: The number of bytes in the response on success, OP_EREAD if the
-           connection was closed before reading any data, or another negative
-           value on any other error.*/
-static int op_http_conn_read_response(OpusHTTPConn *_conn,
- OpusStringBuf *_response){
-  int ret;
-  _response->nbuf=0;
-  ret=op_sb_ensure_capacity(_response,OP_RESPONSE_SIZE_MIN);
-  if(OP_UNLIKELY(ret<0))return ret;
-  for(;;){
-    char *buf;
-    int   size;
-    int   capacity;
-    int   read_limit;
-    int   terminated;
-    size=_response->nbuf;
-    capacity=_response->cbuf-1;
-    if(OP_UNLIKELY(size>=capacity)){
-      ret=op_sb_grow(_response,OP_RESPONSE_SIZE_MAX);
-      if(OP_UNLIKELY(ret<0))return ret;
-      capacity=_response->cbuf-1;
-      /*The response was too large.
-        This prevents a bad server from running us out of memory.*/
-      if(OP_UNLIKELY(size>=capacity))return OP_EIMPL;
-    }
-    buf=_response->buf;
-    ret=op_http_conn_peek(_conn,buf+size,capacity-size);
-    if(OP_UNLIKELY(ret<=0))return size<=0?OP_EREAD:OP_FALSE;
-    /*We read some data.*/
-    /*Make sure the starting characters are "HTTP".
-      Otherwise we could wind up waiting forever for a response from
-       something that is not an HTTP server.*/
-    if(size<4&&op_strncasecmp(buf,"HTTP",OP_MIN(size+ret,4))!=0){
-      return OP_FALSE;
-    }
-    /*How far can we read without passing the "\r\n\r\n" terminator?*/
-    buf[size+ret]='\0';
-    terminated=0;
-    for(read_limit=OP_MAX(size-3,0);read_limit<size+ret;read_limit++){
-      /*We don't look for the leading '\r' thanks to broken servers.*/
-      if(buf[read_limit]=='\n'){
-        if(buf[read_limit+1]=='\r'&&OP_LIKELY(buf[read_limit+2]=='\n')){
-          terminated=3;
-          break;
-        }
-        /*This case is for broken servers.*/
-        else if(OP_UNLIKELY(buf[read_limit+1]=='\n')){
-          terminated=2;
-          break;
-        }
-      }
-    }
-    read_limit+=terminated;
-    OP_ASSERT(size<=read_limit);
-    OP_ASSERT(read_limit<=size+ret);
-    /*Actually consume that data.*/
-    ret=op_http_conn_read(_conn,buf+size,read_limit-size,1);
-    if(OP_UNLIKELY(ret<=0))return OP_FALSE;
-    size+=ret;
-    buf[size]='\0';
-    _response->nbuf=size;
-    /*We found the terminator and read all the data up to and including it.*/
-    if(terminated&&OP_LIKELY(size>=read_limit))return size;
-  }
-  return OP_EIMPL;
-}
-
-# define OP_HTTP_DIGIT "0123456789"
-
-/*The Reason-Phrase is not allowed to contain control characters, except
-   horizontal tab (HT: \011).*/
-# define OP_HTTP_CREASON_PHRASE \
- "\001\002\003\004\005\006\007\010\012\013\014\015\016\017\020\021" \
- "\022\023\024\025\026\027\030\031\032\033\034\035\036\037\177"
-
-# define OP_HTTP_CTLS \
- "\001\002\003\004\005\006\007\010\011\012\013\014\015\016\017\020" \
- "\021\022\023\024\025\026\027\030\031\032\033\034\035\036\037\177"
-
-/*This also includes '\t', but we get that from OP_HTTP_CTLS.*/
-# define OP_HTTP_SEPARATORS " \"(),/:;<=>?@[\\]{}"
-
-/*TEXT can also include LWS, but that has structure, so we parse it
-   separately.*/
-# define OP_HTTP_CTOKEN OP_HTTP_CTLS OP_HTTP_SEPARATORS
-
-/*Return: The amount of linear white space (LWS) at the start of _s.*/
-static int op_http_lwsspn(const char *_s){
-  int i;
-  for(i=0;;){
-    if(_s[0]=='\r'&&_s[1]=='\n'&&(_s[2]=='\t'||_s[2]==' '))i+=3;
-    /*This case is for broken servers.*/
-    else if(_s[0]=='\n'&&(_s[1]=='\t'||_s[1]==' '))i+=2;
-    else if(_s[i]=='\t'||_s[i]==' ')i++;
-    else return i;
-  }
-}
-
-static char *op_http_parse_status_line(int *_v1_1_compat,
- char **_status_code,char *_response){
-  char   *next;
-  char   *status_code;
-  int     v1_1_compat;
-  size_t  d;
-  /*RFC 2616 Section 6.1 does not say that the tokens in the Status-Line cannot
-     be separated by optional LWS, but since it specifically calls out where
-     spaces are to be placed and that CR and LF are not allowed except at the
-     end, I am assuming this to be true.*/
-  /*We already validated that this starts with "HTTP"*/
-  OP_ASSERT(op_strncasecmp(_response,"HTTP",4)==0);
-  next=_response+4;
-  if(OP_UNLIKELY(*next++!='/'))return NULL;
-  d=strspn(next,OP_HTTP_DIGIT);
-  /*"Leading zeros MUST be ignored by recipients."*/
-  while(*next=='0'){
-    next++;
-    OP_ASSERT(d>0);
-    d--;
-  }
-  /*We only support version 1.x*/
-  if(OP_UNLIKELY(d!=1)||OP_UNLIKELY(*next++!='1'))return NULL;
-  if(OP_UNLIKELY(*next++!='.'))return NULL;
-  d=strspn(next,OP_HTTP_DIGIT);
-  if(OP_UNLIKELY(d<=0))return NULL;
-  /*"Leading zeros MUST be ignored by recipients."*/
-  while(*next=='0'){
-    next++;
-    OP_ASSERT(d>0);
-    d--;
-  }
-  /*We don't need to parse the version number.
-    Any non-zero digit means it's greater than 1.*/
-  v1_1_compat=d>0;
-  next+=d;
-  if(OP_UNLIKELY(*next++!=' '))return NULL;
-  status_code=next;
-  d=strspn(next,OP_HTTP_DIGIT);
-  if(OP_UNLIKELY(d!=3))return NULL;
-  next+=d;
-  /*The Reason-Phrase can be empty, but the space must be here.*/
-  if(OP_UNLIKELY(*next++!=' '))return NULL;
-  next+=strcspn(next,OP_HTTP_CREASON_PHRASE);
-  /*We are not mandating this be present thanks to broken servers.*/
-  if(OP_LIKELY(*next=='\r'))next++;
-  if(OP_UNLIKELY(*next++!='\n'))return NULL;
-  if(_v1_1_compat!=NULL)*_v1_1_compat=v1_1_compat;
-  *_status_code=status_code;
-  return next;
-}
-
-/*Get the next response header.
-  [out] _header: The header token, NUL-terminated, with leading and trailing
-                  whitespace stripped, and converted to lower case (to simplify
-                  case-insensitive comparisons), or NULL if there are no more
-                  response headers.
-  [out] _cdr:    The remaining contents of the header, excluding the initial
-                  colon (':') and the terminating CRLF ("\r\n"),
-                  NUL-terminated, and with leading and trailing whitespace
-                  stripped, or NULL if there are no more response headers.
-  [inout] _s:    On input, this points to the start of the current line of the
-                  response headers.
-                 On output, it points to the start of the first line following
-                  this header, or NULL if there are no more response headers.
-  Return: 0 on success, or a negative value on failure.*/
-static int op_http_get_next_header(char **_header,char **_cdr,char **_s){
-  char   *header;
-  char   *header_end;
-  char   *cdr;
-  char   *cdr_end;
-  char   *next;
-  size_t  d;
-  next=*_s;
-  /*The second case is for broken servers.*/
-  if(next[0]=='\r'&&next[1]=='\n'||OP_UNLIKELY(next[0]=='\n')){
-    /*No more headers.*/
-    *_header=NULL;
-    *_cdr=NULL;
-    *_s=NULL;
-    return 0;
-  }
-  header=next+op_http_lwsspn(next);
-  d=strcspn(header,OP_HTTP_CTOKEN);
-  if(OP_UNLIKELY(d<=0))return OP_FALSE;
-  header_end=header+d;
-  next=header_end+op_http_lwsspn(header_end);
-  if(OP_UNLIKELY(*next++!=':'))return OP_FALSE;
-  next+=op_http_lwsspn(next);
-  cdr=next;
-  do{
-    cdr_end=next+strcspn(next,OP_HTTP_CTLS);
-    next=cdr_end+op_http_lwsspn(cdr_end);
-  }
-  while(next>cdr_end);
-  /*We are not mandating this be present thanks to broken servers.*/
-  if(OP_LIKELY(*next=='\r'))next++;
-  if(OP_UNLIKELY(*next++!='\n'))return OP_FALSE;
-  *header_end='\0';
-  *cdr_end='\0';
-  /*Field names are case-insensitive.*/
-  op_string_tolower(header);
-  *_header=header;
-  *_cdr=cdr;
-  *_s=next;
-  return 0;
-}
-
-static opus_int64 op_http_parse_nonnegative_int64(const char **_next,
- const char *_cdr){
-  const char *next;
-  opus_int64  ret;
-  int         i;
-  next=_cdr+strspn(_cdr,OP_HTTP_DIGIT);
-  *_next=next;
-  if(OP_UNLIKELY(next<=_cdr))return OP_FALSE;
-  while(*_cdr=='0')_cdr++;
-  if(OP_UNLIKELY(next-_cdr>19))return OP_EIMPL;
-  ret=0;
-  for(i=0;i<next-_cdr;i++){
-    int digit;
-    digit=_cdr[i]-'0';
-    /*Check for overflow.*/
-    if(OP_UNLIKELY(ret>(OP_INT64_MAX-9)/10+(digit<=7)))return OP_EIMPL;
-    ret=ret*10+digit;
-  }
-  return ret;
-}
-
-static opus_int64 op_http_parse_content_length(const char *_cdr){
-  const char *next;
-  opus_int64  content_length;
-  content_length=op_http_parse_nonnegative_int64(&next,_cdr);
-  if(OP_UNLIKELY(*next!='\0'))return OP_FALSE;
-  return content_length;
-}
-
-static int op_http_parse_content_range(opus_int64 *_first,opus_int64 *_last,
- opus_int64 *_length,const char *_cdr){
-  opus_int64 first;
-  opus_int64 last;
-  opus_int64 length;
-  size_t     d;
-  if(OP_UNLIKELY(op_strncasecmp(_cdr,"bytes",5)!=0))return OP_FALSE;
-  _cdr+=5;
-  d=op_http_lwsspn(_cdr);
-  if(OP_UNLIKELY(d<=0))return OP_FALSE;
-  _cdr+=d;
-  if(*_cdr!='*'){
-    first=op_http_parse_nonnegative_int64(&_cdr,_cdr);
-    if(OP_UNLIKELY(first<0))return (int)first;
-    _cdr+=op_http_lwsspn(_cdr);
-    if(*_cdr++!='-')return OP_FALSE;
-    _cdr+=op_http_lwsspn(_cdr);
-    last=op_http_parse_nonnegative_int64(&_cdr,_cdr);
-    if(OP_UNLIKELY(last<0))return (int)last;
-    _cdr+=op_http_lwsspn(_cdr);
-  }
-  else{
-    /*This is for a 416 response (Requested range not satisfiable).*/
-    first=last=-1;
-    _cdr++;
-  }
-  if(OP_UNLIKELY(*_cdr++!='/'))return OP_FALSE;
-  if(*_cdr!='*'){
-    length=op_http_parse_nonnegative_int64(&_cdr,_cdr);
-    if(OP_UNLIKELY(length<0))return (int)length;
-  }
-  else{
-    /*The total length is unspecified.*/
-    _cdr++;
-    length=-1;
-  }
-  if(OP_UNLIKELY(*_cdr!='\0'))return OP_FALSE;
-  if(OP_UNLIKELY(last<first))return OP_FALSE;
-  if(length>=0&&OP_UNLIKELY(last>=length))return OP_FALSE;
-  *_first=first;
-  *_last=last;
-  *_length=length;
-  return 0;
-}
-
-/*Parse the Connection response header and look for a "close" token.
-  Return: 1 if a "close" token is found, 0 if it's not found, and a negative
-           value on error.*/
-static int op_http_parse_connection(char *_cdr){
-  size_t d;
-  int    ret;
-  ret=0;
-  for(;;){
-    d=strcspn(_cdr,OP_HTTP_CTOKEN);
-    if(OP_UNLIKELY(d<=0))return OP_FALSE;
-    if(op_strncasecmp(_cdr,"close",(int)d)==0)ret=1;
-    /*We're supposed to strip and ignore any headers mentioned in the
-       Connection header if this response is from an HTTP/1.0 server (to
-       work around forwarding of hop-by-hop headers by old proxies), but the
-       only hop-by-hop header we look at is Connection itself.
-      Everything else is a well-defined end-to-end header, and going back and
-       undoing the things we did based on already-examined headers would be
-       hard (since we only scan them once, in a destructive manner).
-      Therefore we just ignore all the other tokens.*/
-    _cdr+=d;
-    d=op_http_lwsspn(_cdr);
-    if(d<=0)break;
-    _cdr+=d;
-  }
-  return OP_UNLIKELY(*_cdr!='\0')?OP_FALSE:ret;
-}
-
-typedef int (*op_ssl_step_func)(SSL *_ssl_conn);
-
-/*Try to run an SSL function to completion (blocking if necessary).*/
-static int op_do_ssl_step(SSL *_ssl_conn,op_sock _fd,op_ssl_step_func _step){
-  struct pollfd fd;
-  fd.fd=_fd;
-  for(;;){
-    int ret;
-    int err;
-    ret=(*_step)(_ssl_conn);
-    if(ret>=0)return ret;
-    err=SSL_get_error(_ssl_conn,ret);
-    if(err==SSL_ERROR_WANT_READ)fd.events=POLLIN;
-    else if(err==SSL_ERROR_WANT_WRITE)fd.events=POLLOUT;
-    else return OP_FALSE;
-    if(poll(&fd,1,OP_POLL_TIMEOUT_MS)<=0)return OP_FALSE;
-  }
-}
-
-/*Implement a BIO type that just indicates every operation should be retried.
-  We use this when initializing an SSL connection via a proxy to allow the
-   initial handshake to proceed all the way up to the first read attempt, and
-   then return.
-  This allows the TLS client hello message to be pipelined with the HTTP
-   CONNECT request.*/
-
-static int op_bio_retry_write(BIO *_b,const char *_buf,int _num){
-  (void)_buf;
-  (void)_num;
-  BIO_clear_retry_flags(_b);
-  BIO_set_retry_write(_b);
-  return -1;
-}
-
-static int op_bio_retry_read(BIO *_b,char *_buf,int _num){
-  (void)_buf;
-  (void)_num;
-  BIO_clear_retry_flags(_b);
-  BIO_set_retry_read(_b);
-  return -1;
-}
-
-static int op_bio_retry_puts(BIO *_b,const char *_str){
-  return op_bio_retry_write(_b,_str,0);
-}
-
-static long op_bio_retry_ctrl(BIO *_b,int _cmd,long _num,void *_ptr){
-  long ret;
-  (void)_b;
-  (void)_num;
-  (void)_ptr;
-  ret=0;
-  switch(_cmd){
-    case BIO_CTRL_RESET:
-    case BIO_C_RESET_READ_REQUEST:{
-      BIO_clear_retry_flags(_b);
-      /*Fall through.*/
-    }
-    case BIO_CTRL_EOF:
-    case BIO_CTRL_SET:
-    case BIO_CTRL_SET_CLOSE:
-    case BIO_CTRL_FLUSH:
-    case BIO_CTRL_DUP:{
-      ret=1;
-    }break;
-  }
-  return ret;
-}
-
-# if OPENSSL_VERSION_NUMBER<0x10100000L
-#  define BIO_set_data(_b,_ptr) ((_b)->ptr=(_ptr))
-#  define BIO_set_init(_b,_init) ((_b)->init=(_init))
-# endif
-
-static int op_bio_retry_new(BIO *_b){
-  BIO_set_init(_b,1);
-# if OPENSSL_VERSION_NUMBER<0x10100000L
-  _b->num=0;
-# endif
-  BIO_set_data(_b,NULL);
-  return 1;
-}
-
-static int op_bio_retry_free(BIO *_b){
-  return _b!=NULL;
-}
-
-# if OPENSSL_VERSION_NUMBER<0x10100000L
-/*This is not const because OpenSSL doesn't allow it, even though it won't
-   write to it.*/
-static BIO_METHOD op_bio_retry_method={
-  BIO_TYPE_NULL,
-  "retry",
-  op_bio_retry_write,
-  op_bio_retry_read,
-  op_bio_retry_puts,
-  NULL,
-  op_bio_retry_ctrl,
-  op_bio_retry_new,
-  op_bio_retry_free,
-  NULL
-};
-# endif
-
-/*Establish a CONNECT tunnel and pipeline the start of the TLS handshake for
-   proxying https URL requests.*/
-static int op_http_conn_establish_tunnel(OpusHTTPStream *_stream,
- OpusHTTPConn *_conn,op_sock _fd,SSL *_ssl_conn,BIO *_ssl_bio){
-# if OPENSSL_VERSION_NUMBER>=0x10100000L
-  BIO_METHOD *bio_retry_method;
-# endif
-  BIO  *retry_bio;
-  char *status_code;
-  char *next;
-  int   ret;
-  _conn->ssl_conn=NULL;
-  _conn->fd=_fd;
-  OP_ASSERT(_stream->proxy_connect.nbuf>0);
-  ret=op_http_conn_write_fully(_conn,
-   _stream->proxy_connect.buf,_stream->proxy_connect.nbuf);
-  if(OP_UNLIKELY(ret<0))return ret;
-# if OPENSSL_VERSION_NUMBER>=0x10100000L
-  bio_retry_method=BIO_meth_new(BIO_TYPE_NULL,"retry");
-  if(bio_retry_method==NULL)return OP_EFAULT;
-  BIO_meth_set_write(bio_retry_method,op_bio_retry_write);
-  BIO_meth_set_read(bio_retry_method,op_bio_retry_read);
-  BIO_meth_set_puts(bio_retry_method,op_bio_retry_puts);
-  BIO_meth_set_ctrl(bio_retry_method,op_bio_retry_ctrl);
-  BIO_meth_set_create(bio_retry_method,op_bio_retry_new);
-  BIO_meth_set_destroy(bio_retry_method,op_bio_retry_free);
-  retry_bio=BIO_new(bio_retry_method);
-  if(OP_UNLIKELY(retry_bio==NULL)){
-    BIO_meth_free(bio_retry_method);
-    return OP_EFAULT;
-  }
-# else
-  retry_bio=BIO_new(&op_bio_retry_method);
-  if(OP_UNLIKELY(retry_bio==NULL))return OP_EFAULT;
-# endif
-  SSL_set_bio(_ssl_conn,retry_bio,_ssl_bio);
-  SSL_set_connect_state(_ssl_conn);
-  /*This shouldn't succeed, since we can't read yet.*/
-  OP_ALWAYS_TRUE(SSL_connect(_ssl_conn)<0);
-  SSL_set_bio(_ssl_conn,_ssl_bio,_ssl_bio);
-# if OPENSSL_VERSION_NUMBER>=0x10100000L
-  BIO_meth_free(bio_retry_method);
-# endif
-  /*Only now do we disable write coalescing, to allow the CONNECT
-     request and the start of the TLS handshake to be combined.*/
-  op_sock_set_tcp_nodelay(_fd,1);
-  ret=op_http_conn_read_response(_conn,&_stream->response);
-  if(OP_UNLIKELY(ret<0))return ret;
-  next=op_http_parse_status_line(NULL,&status_code,_stream->response.buf);
-  /*According to RFC 2817, "Any successful (2xx) response to a
-     CONNECT request indicates that the proxy has established a
-     connection to the requested host and port.*/
-  if(OP_UNLIKELY(next==NULL)||OP_UNLIKELY(status_code[0]!='2'))return OP_FALSE;
-  return 0;
-}
-
-/*Match a host name against a host with a possible wildcard pattern according
-   to the rules of RFC 6125 Section 6.4.3.
-  Return: 0 if the pattern doesn't match, and a non-zero value if it does.*/
-static int op_http_hostname_match(const char *_host,size_t _host_len,
- ASN1_STRING *_pattern){
-  const char *pattern;
-  size_t      host_label_len;
-  size_t      host_suffix_len;
-  size_t      pattern_len;
-  size_t      pattern_label_len;
-  size_t      pattern_prefix_len;
-  size_t      pattern_suffix_len;
-  pattern=(const char *)ASN1_STRING_data(_pattern);
-  pattern_len=strlen(pattern);
-  /*Check the pattern for embedded NULs.*/
-  if(OP_UNLIKELY(pattern_len!=(size_t)ASN1_STRING_length(_pattern)))return 0;
-  pattern_label_len=strcspn(pattern,".");
-  OP_ASSERT(pattern_label_len<=pattern_len);
-  pattern_prefix_len=strcspn(pattern,"*");
-  if(pattern_prefix_len>=pattern_label_len){
-    /*"The client SHOULD NOT attempt to match a presented identifier in which
-       the wildcard character comprises a label other than the left-most label
-       (e.g., do not match bar.*.example.net)." [RFC 6125 Section 6.4.3]*/
-    if(pattern_prefix_len<pattern_len)return 0;
-    /*If the pattern does not contain a wildcard in the first element, do an
-       exact match.
-      Don't use the system strcasecmp here, as that uses the locale and
-       RFC 4343 makes clear that DNS's case-insensitivity only applies to
-       the ASCII range.*/
-    return _host_len==pattern_len&&op_strncasecmp(_host,pattern,_host_len)==0;
-  }
-  /*"However, the client SHOULD NOT attempt to match a presented identifier
-     where the wildcard character is embedded within an A-label or U-label of
-     an internationalized domain name." [RFC 6125 Section 6.4.3]*/
-  if(op_strncasecmp(pattern,"xn--",4)==0)return 0;
-  host_label_len=strcspn(_host,".");
-  /*Make sure the host has at least two dots, to prevent the wildcard match
-     from being ridiculously wide.
-    We should have already checked to ensure it had at least one.*/
-  if(OP_UNLIKELY(_host[host_label_len]!='.')
-   ||strchr(_host+host_label_len+1,'.')==NULL){
-    return 0;
-  }
-  OP_ASSERT(host_label_len<_host_len);
-  /*"If the wildcard character is the only character of the left-most label in
-     the presented identifier, the client SHOULD NOT compare against anything
-     but the left-most label of the reference identifier (e.g., *.example.com
-     would match foo.example.com but not bar.foo.example.com)." [RFC 6125
-     Section 6.4.3]
-    This is really confusingly worded, as we check this by actually comparing
-     the rest of the pattern for an exact match.
-    We also use the fact that the wildcard must match at least one character,
-     so the left-most label of the hostname must be at least as large as the
-     left-most label of the pattern.*/
-  if(host_label_len<pattern_label_len)return 0;
-  OP_ASSERT(pattern[pattern_prefix_len]=='*');
-  /*"The client MAY match a presented identifier in which the wildcard
-     character is not the only character of the label (e.g., baz*.example.net
-     and *baz.example.net and b*z.example.net would be taken to match
-     baz1.example.net and foobaz.example.net and buzz.example.net,
-     respectively)." [RFC 6125 Section 6.4.3]*/
-  pattern_suffix_len=pattern_len-pattern_prefix_len-1;
-  host_suffix_len=_host_len-host_label_len
-   +pattern_label_len-pattern_prefix_len-1;
-  return pattern_suffix_len==host_suffix_len
-   &&op_strncasecmp(_host,pattern,pattern_prefix_len)==0
-   &&op_strncasecmp(_host+_host_len-host_suffix_len,
-   pattern+pattern_prefix_len+1,host_suffix_len)==0;
-}
-
-/*Convert a host to a numeric address, if possible.
-  Return: A struct addrinfo containing the address, if it was numeric, and NULL
-           otherise.*/
-static struct addrinfo *op_inet_pton(const char *_host){
-  struct addrinfo *addrs;
-  struct addrinfo  hints;
-  memset(&hints,0,sizeof(hints));
-  hints.ai_socktype=SOCK_STREAM;
-  hints.ai_flags=AI_NUMERICHOST;
-  if(!getaddrinfo(_host,NULL,&hints,&addrs))return addrs;
-  return NULL;
-}
-
-/*Verify the server's hostname matches the certificate they presented using
-   the procedure from Section 6 of RFC 6125.
-  Return: 0 if the certificate doesn't match, and a non-zero value if it does.*/
-static int op_http_verify_hostname(OpusHTTPStream *_stream,SSL *_ssl_conn){
-  X509                   *peer_cert;
-  STACK_OF(GENERAL_NAME) *san_names;
-  char                   *host;
-  size_t                  host_len;
-  int                     ret;
-  host=_stream->url.host;
-  host_len=strlen(host);
-  peer_cert=SSL_get_peer_certificate(_ssl_conn);
-  /*We set VERIFY_PEER, so we shouldn't get here without a certificate.*/
-  if(OP_UNLIKELY(peer_cert==NULL))return 0;
-  ret=0;
-  OP_ASSERT(host_len<INT_MAX);
-  /*RFC 2818 says (after correcting for Eratta 1077): "If a subjectAltName
-     extension of type dNSName is present, that MUST be used as the identity.
-    Otherwise, the (most specific) Common Name field in the Subject field of
-     the certificate MUST be used.
-    Although the use of the Common Name is existing practice, it is deprecated
-     and Certification Authorities are encouraged to use the dNSName
-     instead."
-    "Matching is performed using the matching rules specified by RFC 2459.
-    If more than one identity of a given type is present in the certificate
-     (e.g., more than one dNSName name), a match in any one of the set is
-     considered acceptable.
-    Names may contain the wildcard character * which is condered to match any
-     single domain name component or component fragment.
-    E.g., *.a.com matches foo.a.com but not bar.foo.a.com.
-    f*.com matches foo.com but not bar.com."
-    "In some cases, the URI is specified as an IP address rather than a
-     hostname.
-    In this case, the iPAddress subjectAltName must be present in the
-     certificate and must exactly match the IP in the URI."*/
-  san_names=X509_get_ext_d2i(peer_cert,NID_subject_alt_name,NULL,NULL);
-  if(san_names!=NULL){
-    struct addrinfo *addr;
-    unsigned char   *ip;
-    int              ip_len;
-    int              nsan_names;
-    int              sni;
-    /*Check to see if the host was specified as a simple IP address.*/
-    addr=op_inet_pton(host);
-    ip=NULL;
-    ip_len=0;
-    if(addr!=NULL){
-      switch(addr->ai_family){
-        case AF_INET:{
-          struct sockaddr_in *s;
-          s=(struct sockaddr_in *)addr->ai_addr;
-          OP_ASSERT(addr->ai_addrlen>=sizeof(*s));
-          ip=(unsigned char *)&s->sin_addr;
-          ip_len=sizeof(s->sin_addr);
-        }break;
-        case AF_INET6:{
-          struct sockaddr_in6 *s;
-          s=(struct sockaddr_in6 *)addr->ai_addr;
-          OP_ASSERT(addr->ai_addrlen>=sizeof(*s));
-          ip=(unsigned char *)&s->sin6_addr;
-          ip_len=sizeof(s->sin6_addr);
-        }break;
-      }
-    }
-    /*We can only verify fully-qualified domain names.
-      To quote RFC 6125: "The extracted data MUST include only information that
-       can be securely parsed out of the inputs (e.g., parsing the fully
-       qualified DNS domain name out of the "host" component (or its
-       equivalent) of a URI or deriving the application service type from the
-       scheme of a URI) ..."
-      We don't have a way to check (without relying on DNS records, which might
-       be subverted) if this address is fully-qualified.
-      This is particularly problematic when using a CONNECT tunnel, as it is
-       the server that does DNS lookup, not us.
-      However, we are certain that if the hostname has no '.', it is definitely
-       not a fully-qualified domain name (with the exception of crazy TLDs that
-       actually resolve, like "uz", but I am willing to ignore those).
-      RFC 1535 says "...in any event where a '.' exists in a specified name it
-       should be assumed to be a fully qualified domain name (FQDN) and SHOULD
-       be tried as a rooted name first."
-      That doesn't give us any security guarantees, of course (a subverted DNS
-       could fail the original query and our resolver might still retry with a
-       local domain appended).
-      If we don't have a FQDN, just set the number of names to 0, so we'll fail
-       and clean up any resources we allocated.*/
-    if(ip==NULL&&strchr(host,'.')==NULL)nsan_names=0;
-    /*RFC 2459 says there MUST be at least one, but we don't depend on it.*/
-    else nsan_names=sk_GENERAL_NAME_num(san_names);
-    for(sni=0;sni<nsan_names;sni++){
-      const GENERAL_NAME *name;
-      name=sk_GENERAL_NAME_value(san_names,sni);
-      if(ip==NULL){
-        if(name->type==GEN_DNS
-         &&op_http_hostname_match(host,host_len,name->d.dNSName)){
-          ret=1;
-          break;
-        }
-      }
-      else if(name->type==GEN_IPADD){
-        unsigned char *cert_ip;
-        /*If we do have an IP address, compare it directly.
-          RFC 6125: "When the reference identity is an IP address, the identity
-           MUST be converted to the 'network byte order' octet string
-           representation.
-          For IP Version 4, as specified in RFC 791, the octet string will
-           contain exactly four octets.
-          For IP Version 6, as specified in RFC 2460, the octet string will
-           contain exactly sixteen octets.
-          This octet string is then compared against subjectAltName values of
-           type iPAddress.
-          A match occurs if the reference identity octet string and the value
-           octet strings are identical."*/
-        cert_ip=ASN1_STRING_data(name->d.iPAddress);
-        if(ip_len==ASN1_STRING_length(name->d.iPAddress)
-         &&memcmp(ip,cert_ip,ip_len)==0){
-          ret=1;
-          break;
-        }
-      }
-    }
-    sk_GENERAL_NAME_pop_free(san_names,GENERAL_NAME_free);
-    if(addr!=NULL)freeaddrinfo(addr);
-  }
-  /*Do the same FQDN check we did above.
-    We don't do this once in advance for both cases, because in the
-     subjectAltName case we might have an IPv6 address without a dot.*/
-  else if(strchr(host,'.')!=NULL){
-    int last_cn_loc;
-    int cn_loc;
-    /*If there is no subjectAltName, match against commonName.
-      RFC 6125 says that at least one significant CA is known to issue certs
-       with multiple CNs, although it SHOULD NOT.
-      It also says: "The server's identity may also be verified by comparing
-       the reference identity to the Common Name (CN) value in the last
-       Relative Distinguished Name (RDN) of the subject field of the server's
-       certificate (where "last" refers to the DER-encoded order...)."
-      So find the last one and check it.*/
-    cn_loc=-1;
-    do{
-      last_cn_loc=cn_loc;
-      cn_loc=X509_NAME_get_index_by_NID(X509_get_subject_name(peer_cert),
-       NID_commonName,last_cn_loc);
-    }
-    while(cn_loc>=0);
-    ret=last_cn_loc>=0
-     &&op_http_hostname_match(host,host_len,
-     X509_NAME_ENTRY_get_data(
-     X509_NAME_get_entry(X509_get_subject_name(peer_cert),last_cn_loc)));
-  }
-  X509_free(peer_cert);
-  return ret;
-}
-
-/*Perform the TLS handshake on a new connection.*/
-static int op_http_conn_start_tls(OpusHTTPStream *_stream,OpusHTTPConn *_conn,
- op_sock _fd,SSL *_ssl_conn){
-  SSL_SESSION *ssl_session;
-  BIO         *ssl_bio;
-  int          skip_certificate_check;
-  int          ret;
-  ssl_bio=BIO_new_socket(_fd,BIO_NOCLOSE);
-  if(OP_LIKELY(ssl_bio==NULL))return OP_FALSE;
-# if !defined(OPENSSL_NO_TLSEXT)
-  /*Support for RFC 6066 Server Name Indication.*/
-  SSL_set_tlsext_host_name(_ssl_conn,_stream->url.host);
-# endif
-  /*Resume a previous session if available.*/
-  if(_stream->ssl_session!=NULL){
-    SSL_set_session(_ssl_conn,_stream->ssl_session);
-  }
-  /*If we're proxying, establish the CONNECT tunnel.*/
-  if(_stream->proxy_connect.nbuf>0){
-    ret=op_http_conn_establish_tunnel(_stream,_conn,
-     _fd,_ssl_conn,ssl_bio);
-    if(OP_UNLIKELY(ret<0))return ret;
-  }
-  else{
-    /*Otherwise, just use this socket directly.*/
-    op_sock_set_tcp_nodelay(_fd,1);
-    SSL_set_bio(_ssl_conn,ssl_bio,ssl_bio);
-    SSL_set_connect_state(_ssl_conn);
-  }
-  ret=op_do_ssl_step(_ssl_conn,_fd,SSL_connect);
-  if(OP_UNLIKELY(ret<=0))return OP_FALSE;
-  ssl_session=_stream->ssl_session;
-  skip_certificate_check=_stream->skip_certificate_check;
-  if(ssl_session==NULL||!skip_certificate_check){
-    ret=op_do_ssl_step(_ssl_conn,_fd,SSL_do_handshake);
-    if(OP_UNLIKELY(ret<=0))return OP_FALSE;
-    /*OpenSSL does not do hostname verification, despite the fact that we just
-       passed it the hostname above in the call to SSL_set_tlsext_host_name(),
-       because they are morons.
-      Do it for them.*/
-    if(!skip_certificate_check&&!op_http_verify_hostname(_stream,_ssl_conn)){
-      return OP_FALSE;
-    }
-    if(ssl_session==NULL){
-      /*Save the session for later resumption.*/
-      _stream->ssl_session=SSL_get1_session(_ssl_conn);
-    }
-  }
-  _conn->ssl_conn=_ssl_conn;
-  _conn->fd=_fd;
-  _conn->nrequests_left=OP_PIPELINE_MAX_REQUESTS;
-  return 0;
-}
-
-/*Try to start a connection to the next address in the given list of a given
-   type.
-  _fd:           The socket to connect with.
-  [inout] _addr: A pointer to the list of addresses.
-                 This will be advanced to the first one that matches the given
-                  address family (possibly the current one).
-  _ai_family:    The address family to connect to.
-  Return: 1        If the connection was successful.
-          0        If the connection is in progress.
-          OP_FALSE If the connection failed and there were no more addresses
-                    left to try.
-                    *_addr will be set to NULL in this case.*/
-static int op_sock_connect_next(op_sock _fd,
- const struct addrinfo **_addr,int _ai_family){
-  const struct addrinfo *addr;
-  int                    err;
-  addr=*_addr;
-  for(;;){
-    /*Move to the next address of the requested type.*/
-    for(;addr!=NULL&&addr->ai_family!=_ai_family;addr=addr->ai_next);
-    *_addr=addr;
-    /*No more: failure.*/
-    if(addr==NULL)return OP_FALSE;
-    if(connect(_fd,addr->ai_addr,addr->ai_addrlen)>=0)return 1;
-    err=op_errno();
-    /*Winsock will set WSAEWOULDBLOCK.*/
-    if(OP_LIKELY(err==EINPROGRESS||err==EWOULDBLOCK))return 0;
-    addr=addr->ai_next;
-  }
-}
-
-/*The number of address families to try connecting to simultaneously.*/
-# define OP_NPROTOS (2)
-
-static int op_http_connect_impl(OpusHTTPStream *_stream,OpusHTTPConn *_conn,
- const struct addrinfo *_addrs,struct timeb *_start_time){
-  const struct addrinfo *addr;
-  const struct addrinfo *addrs[OP_NPROTOS];
-  struct pollfd          fds[OP_NPROTOS];
-  int                    ai_family;
-  int                    nprotos;
-  int                    ret;
-  int                    pi;
-  int                    pj;
-  for(pi=0;pi<OP_NPROTOS;pi++)addrs[pi]=NULL;
-  /*Try connecting via both IPv4 and IPv6 simultaneously, and keep the first
-     one that succeeds.
-    Start by finding the first address from each family.
-    We order the first connection attempts in the same order the address
-     families were returned in the DNS records in accordance with RFC 6555.*/
-  for(addr=_addrs,nprotos=0;addr!=NULL&&nprotos<OP_NPROTOS;addr=addr->ai_next){
-    if(addr->ai_family==AF_INET6||addr->ai_family==AF_INET){
-      OP_ASSERT(addr->ai_addrlen<=sizeof(struct sockaddr_in6));
-      OP_ASSERT(addr->ai_addrlen<=sizeof(struct sockaddr_in));
-      /*If we've seen this address family before, skip this address for now.*/
-      for(pi=0;pi<nprotos;pi++)if(addrs[pi]->ai_family==addr->ai_family)break;
-      if(pi<nprotos)continue;
-      addrs[nprotos++]=addr;
-    }
-  }
-  /*Pop the connection off the free list and put it on the LRU list.*/
-  OP_ASSERT(_stream->free_head==_conn);
-  _stream->free_head=_conn->next;
-  _conn->next=_stream->lru_head;
-  _stream->lru_head=_conn;
-  ftime(_start_time);
-  *&_conn->read_time=*_start_time;
-  _conn->read_bytes=0;
-  _conn->read_rate=0;
-  /*Try to start a connection to each protocol.
-    RFC 6555 says it is RECOMMENDED that connection attempts be paced
-     150...250 ms apart "to balance human factors against network load", but
-     that "stateful algorithms" (that's us) "are expected to be more
-     aggressive".
-    We are definitely more aggressive: we don't pace at all.*/
-  for(pi=0;pi<nprotos;pi++){
-    ai_family=addrs[pi]->ai_family;
-    fds[pi].fd=socket(ai_family,SOCK_STREAM,addrs[pi]->ai_protocol);
-    fds[pi].events=POLLOUT;
-    if(OP_LIKELY(fds[pi].fd!=OP_INVALID_SOCKET)){
-      if(OP_LIKELY(op_sock_set_nonblocking(fds[pi].fd,1)>=0)){
-        ret=op_sock_connect_next(fds[pi].fd,addrs+pi,ai_family);
-        if(OP_UNLIKELY(ret>0)){
-          /*It succeeded right away (technically possible), so stop.*/
-          nprotos=pi+1;
-          break;
-        }
-        /*Otherwise go on to the next protocol, and skip the clean-up below.*/
-        else if(ret==0)continue;
-        /*Tried all the addresses for this protocol.*/
-      }
-      /*Clean up the socket.*/
-      close(fds[pi].fd);
-    }
-    /*Remove this protocol from the list.*/
-    memmove(addrs+pi,addrs+pi+1,sizeof(*addrs)*(nprotos-pi-1));
-    nprotos--;
-    pi--;
-  }
-  /*Wait for one of the connections to finish.*/
-  while(pi>=nprotos&&nprotos>0&&poll(fds,nprotos,OP_POLL_TIMEOUT_MS)>0){
-    for(pi=0;pi<nprotos;pi++){
-      socklen_t errlen;
-      int       err;
-      /*Still waiting...*/
-      if(!fds[pi].revents)continue;
-      errlen=sizeof(err);
-      /*Some platforms will return the pending error in &err and return 0.
-        Others will put it in errno and return -1.*/
-      ret=getsockopt(fds[pi].fd,SOL_SOCKET,SO_ERROR,&err,&errlen);
-      if(ret<0)err=op_errno();
-      /*Success!*/
-      if(err==0||err==EISCONN)break;
-      /*Move on to the next address for this protocol.*/
-      ai_family=addrs[pi]->ai_family;
-      addrs[pi]=addrs[pi]->ai_next;
-      ret=op_sock_connect_next(fds[pi].fd,addrs+pi,ai_family);
-      /*It succeeded right away, so stop.*/
-      if(ret>0)break;
-      /*Otherwise go on to the next protocol, and skip the clean-up below.*/
-      else if(ret==0)continue;
-      /*Tried all the addresses for this protocol.
-        Remove it from the list.*/
-      close(fds[pi].fd);
-      memmove(fds+pi,fds+pi+1,sizeof(*fds)*(nprotos-pi-1));
-      memmove(addrs+pi,addrs+pi+1,sizeof(*addrs)*(nprotos-pi-1));
-      nprotos--;
-      pi--;
-    }
-  }
-  /*Close all the other sockets.*/
-  for(pj=0;pj<nprotos;pj++)if(pi!=pj)close(fds[pj].fd);
-  /*If none of them succeeded, we're done.*/
-  if(pi>=nprotos)return OP_FALSE;
-  /*Save this address for future connection attempts.*/
-  if(addrs[pi]!=&_stream->addr_info){
-    memcpy(&_stream->addr_info,addrs[pi],sizeof(_stream->addr_info));
-    _stream->addr_info.ai_addr=&_stream->addr.s;
-    _stream->addr_info.ai_next=NULL;
-    memcpy(&_stream->addr,addrs[pi]->ai_addr,addrs[pi]->ai_addrlen);
-  }
-  if(OP_URL_IS_SSL(&_stream->url)){
-    SSL *ssl_conn;
-    /*Start the SSL connection.*/
-    OP_ASSERT(_stream->ssl_ctx!=NULL);
-    ssl_conn=SSL_new(_stream->ssl_ctx);
-    if(OP_LIKELY(ssl_conn!=NULL)){
-      ret=op_http_conn_start_tls(_stream,_conn,fds[pi].fd,ssl_conn);
-      if(OP_LIKELY(ret>=0))return ret;
-      SSL_free(ssl_conn);
-    }
-    close(fds[pi].fd);
-    _conn->fd=OP_INVALID_SOCKET;
-    return OP_FALSE;
-  }
-  /*Just a normal non-SSL connection.*/
-  _conn->ssl_conn=NULL;
-  _conn->fd=fds[pi].fd;
-  _conn->nrequests_left=OP_PIPELINE_MAX_REQUESTS;
-  /*Disable write coalescing.
-    We always send whole requests at once and always parse the response headers
-     before sending another one.*/
-  op_sock_set_tcp_nodelay(fds[pi].fd,1);
-  return 0;
-}
-
-static int op_http_connect(OpusHTTPStream *_stream,OpusHTTPConn *_conn,
- const struct addrinfo *_addrs,struct timeb *_start_time){
-  struct timeb     resolve_time;
-  struct addrinfo *new_addrs;
-  int              ret;
-  /*Re-resolve the host if we need to (RFC 6555 says we MUST do so
-     occasionally).*/
-  new_addrs=NULL;
-  ftime(&resolve_time);
-  if(_addrs!=&_stream->addr_info||op_time_diff_ms(&resolve_time,
-   &_stream->resolve_time)>=OP_RESOLVE_CACHE_TIMEOUT_MS){
-    new_addrs=op_resolve(_stream->connect_host,_stream->connect_port);
-    if(OP_LIKELY(new_addrs!=NULL)){
-      _addrs=new_addrs;
-      *&_stream->resolve_time=*&resolve_time;
-    }
-    else if(OP_LIKELY(_addrs==NULL))return OP_FALSE;
-  }
-  ret=op_http_connect_impl(_stream,_conn,_addrs,_start_time);
-  if(new_addrs!=NULL)freeaddrinfo(new_addrs);
-  return ret;
-}
-
-# define OP_BASE64_LENGTH(_len) (((_len)+2)/3*4)
-
-static const char BASE64_TABLE[64]={
-  'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
-  'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
-  'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
-  'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
-};
-
-static char *op_base64_encode(char *_dst,const char *_src,int _len){
-  unsigned s0;
-  unsigned s1;
-  unsigned s2;
-  int      ngroups;
-  int      i;
-  ngroups=_len/3;
-  for(i=0;i<ngroups;i++){
-    s0=_src[3*i+0];
-    s1=_src[3*i+1];
-    s2=_src[3*i+2];
-    _dst[4*i+0]=BASE64_TABLE[s0>>2];
-    _dst[4*i+1]=BASE64_TABLE[(s0&3)<<4|s1>>4];
-    _dst[4*i+2]=BASE64_TABLE[(s1&15)<<2|s2>>6];
-    _dst[4*i+3]=BASE64_TABLE[s2&63];
-  }
-  _len-=3*i;
-  if(_len==1){
-    s0=_src[3*i+0];
-    _dst[4*i+0]=BASE64_TABLE[s0>>2];
-    _dst[4*i+1]=BASE64_TABLE[(s0&3)<<4];
-    _dst[4*i+2]='=';
-    _dst[4*i+3]='=';
-    i++;
-  }
-  else if(_len==2){
-    s0=_src[3*i+0];
-    s1=_src[3*i+1];
-    _dst[4*i+0]=BASE64_TABLE[s0>>2];
-    _dst[4*i+1]=BASE64_TABLE[(s0&3)<<4|s1>>4];
-    _dst[4*i+2]=BASE64_TABLE[(s1&15)<<2];
-    _dst[4*i+3]='=';
-    i++;
-  }
-  _dst[4*i]='\0';
-  return _dst+4*i;
-}
-
-/*Construct an HTTP authorization header using RFC 2617's Basic Authentication
-   Scheme and append it to the given string buffer.*/
-static int op_sb_append_basic_auth_header(OpusStringBuf *_sb,
- const char *_header,const char *_user,const char *_pass){
-  int user_len;
-  int pass_len;
-  int user_pass_len;
-  int base64_len;
-  int nbuf_total;
-  int ret;
-  ret=op_sb_append_string(_sb,_header);
-  ret|=op_sb_append(_sb,": Basic ",8);
-  user_len=strlen(_user);
-  pass_len=strlen(_pass);
-  if(OP_UNLIKELY(pass_len>INT_MAX-user_len))return OP_EFAULT;
-  if(OP_UNLIKELY(user_len+pass_len>(INT_MAX>>2)*3-3))return OP_EFAULT;
-  user_pass_len=user_len+1+pass_len;
-  base64_len=OP_BASE64_LENGTH(user_pass_len);
-  /*Stick "user:pass" at the end of the buffer so we can Base64 encode it
-     in-place.*/
-  nbuf_total=_sb->nbuf;
-  if(OP_UNLIKELY(base64_len>INT_MAX-nbuf_total))return OP_EFAULT;
-  nbuf_total+=base64_len;
-  ret|=op_sb_ensure_capacity(_sb,nbuf_total);
-  if(OP_UNLIKELY(ret<0))return ret;
-  _sb->nbuf=nbuf_total-user_pass_len;
-  OP_ALWAYS_TRUE(!op_sb_append(_sb,_user,user_len));
-  OP_ALWAYS_TRUE(!op_sb_append(_sb,":",1));
-  OP_ALWAYS_TRUE(!op_sb_append(_sb,_pass,pass_len));
-  op_base64_encode(_sb->buf+nbuf_total-base64_len,
-   _sb->buf+nbuf_total-user_pass_len,user_pass_len);
-  return op_sb_append(_sb,"\r\n",2);
-}
-
-static int op_http_allow_pipelining(const char *_server){
-  /*Servers known to do bad things with pipelined requests.
-    This list is taken from Gecko's nsHttpConnection::SupportsPipelining() (in
-     netwerk/protocol/http/nsHttpConnection.cpp).*/
-  static const char *BAD_SERVERS[]={
-    "EFAServer/",
-    "Microsoft-IIS/4.",
-    "Microsoft-IIS/5.",
-    "Netscape-Enterprise/3.",
-    "Netscape-Enterprise/4.",
-    "Netscape-Enterprise/5.",
-    "Netscape-Enterprise/6.",
-    "WebLogic 3.",
-    "WebLogic 4.",
-    "WebLogic 5.",
-    "WebLogic 6.",
-    "Winstone Servlet Engine v0."
-  };
-# define NBAD_SERVERS ((int)(sizeof(BAD_SERVERS)/sizeof(*BAD_SERVERS)))
-  if(*_server>='E'&&*_server<='W'){
-    int si;
-    for(si=0;si<NBAD_SERVERS;si++){
-      if(strncmp(_server,BAD_SERVERS[si],strlen(BAD_SERVERS[si]))==0){
-        return 0;
-      }
-    }
-  }
-  return 1;
-# undef NBAD_SERVERS
-}
-
-static int op_http_stream_open(OpusHTTPStream *_stream,const char *_url,
- int _skip_certificate_check,const char *_proxy_host,unsigned _proxy_port,
- const char *_proxy_user,const char *_proxy_pass,OpusServerInfo *_info){
-  struct addrinfo *addrs;
-  int              nredirs;
-  int              ret;
-#if defined(_WIN32)
-  op_init_winsock();
-#endif
-  ret=op_parse_url(&_stream->url,_url);
-  if(OP_UNLIKELY(ret<0))return ret;
-  if(_proxy_host!=NULL){
-    if(OP_UNLIKELY(_proxy_port>65535U))return OP_EINVAL;
-    _stream->connect_host=op_string_dup(_proxy_host);
-    _stream->connect_port=_proxy_port;
-  }
-  else{
-    _stream->connect_host=_stream->url.host;
-    _stream->connect_port=_stream->url.port;
-  }
-  addrs=NULL;
-  for(nredirs=0;nredirs<OP_REDIRECT_LIMIT;nredirs++){
-    OpusParsedURL  next_url;
-    struct timeb   start_time;
-    struct timeb   end_time;
-    char          *next;
-    char          *status_code;
-    int            minor_version_pos;
-    int            v1_1_compat;
-    /*Initialize the SSL library if necessary.*/
-    if(OP_URL_IS_SSL(&_stream->url)&&_stream->ssl_ctx==NULL){
-      SSL_CTX *ssl_ctx;
-# if OPENSSL_VERSION_NUMBER<0x10100000L
-#  if !defined(OPENSSL_NO_LOCKING)
-      /*The documentation says SSL_library_init() is not reentrant.
-        We don't want to add our own depenencies on a threading library, and it
-         appears that it's safe to call OpenSSL's locking functions before the
-         library is initialized, so that's what we'll do (really OpenSSL should
-         do this for us).
-        This doesn't guarantee that _other_ threads in the application aren't
-         calling SSL_library_init() at the same time, but there's not much we
-         can do about that.*/
-      CRYPTO_w_lock(CRYPTO_LOCK_SSL);
-#  endif
-      SSL_library_init();
-      /*Needed to get SHA2 algorithms with old OpenSSL versions.*/
-      OpenSSL_add_ssl_algorithms();
-#  if !defined(OPENSSL_NO_LOCKING)
-      CRYPTO_w_unlock(CRYPTO_LOCK_SSL);
-#  endif
-# else
-      /*Finally, OpenSSL does this for us, but as penance, it can now fail.*/
-      if(!OPENSSL_init_ssl(0,NULL))return OP_EFAULT;
-# endif
-      ssl_ctx=SSL_CTX_new(SSLv23_client_method());
-      if(ssl_ctx==NULL)return OP_EFAULT;
-      if(!_skip_certificate_check){
-        /*We don't do anything if this fails, since it just means we won't load
-           any certificates (and thus all checks will fail).
-          However, as that is probably the result of a system
-           mis-configuration, assert here to make it easier to identify.*/
-        OP_ALWAYS_TRUE(SSL_CTX_set_default_verify_paths(ssl_ctx));
-        SSL_CTX_set_verify(ssl_ctx,SSL_VERIFY_PEER,NULL);
-      }
-      _stream->ssl_ctx=ssl_ctx;
-      _stream->skip_certificate_check=_skip_certificate_check;
-      if(_proxy_host!=NULL){
-        /*We need to establish a CONNECT tunnel to handle https proxying.
-          Build the request we'll send to do so.*/
-        _stream->proxy_connect.nbuf=0;
-        ret=op_sb_append(&_stream->proxy_connect,"CONNECT ",8);
-        ret|=op_sb_append_string(&_stream->proxy_connect,_stream->url.host);
-        ret|=op_sb_append_port(&_stream->proxy_connect,_stream->url.port);
-        /*CONNECT requires at least HTTP 1.1.*/
-        ret|=op_sb_append(&_stream->proxy_connect," HTTP/1.1\r\n",11);
-        ret|=op_sb_append(&_stream->proxy_connect,"Host: ",6);
-        ret|=op_sb_append_string(&_stream->proxy_connect,_stream->url.host);
-        /*The example in RFC 2817 Section 5.2 specifies an explicit port even
-           when connecting to the default port.
-          Given that the proxy doesn't know whether we're trying to connect to
-           an http or an https URL except by the port number, this seems like a
-           good idea.*/
-        ret|=op_sb_append_port(&_stream->proxy_connect,_stream->url.port);
-        ret|=op_sb_append(&_stream->proxy_connect,"\r\n",2);
-        ret|=op_sb_append(&_stream->proxy_connect,"User-Agent: .\r\n",15);
-        if(_proxy_user!=NULL&&_proxy_pass!=NULL){
-          ret|=op_sb_append_basic_auth_header(&_stream->proxy_connect,
-           "Proxy-Authorization",_proxy_user,_proxy_pass);
-        }
-        /*For backwards compatibility.*/
-        ret|=op_sb_append(&_stream->proxy_connect,
-         "Proxy-Connection: keep-alive\r\n",30);
-        ret|=op_sb_append(&_stream->proxy_connect,"\r\n",2);
-        if(OP_UNLIKELY(ret<0))return ret;
-      }
-    }
-    /*Actually make the connection.*/
-    ret=op_http_connect(_stream,_stream->conns+0,addrs,&start_time);
-    if(OP_UNLIKELY(ret<0))return ret;
-    /*Build the request to send.*/
-    _stream->request.nbuf=0;
-    ret=op_sb_append(&_stream->request,"GET ",4);
-    ret|=op_sb_append_string(&_stream->request,
-     _proxy_host!=NULL?_url:_stream->url.path);
-    /*Send HTTP/1.0 by default for maximum compatibility (so we don't have to
-       re-try if HTTP/1.1 fails, though it shouldn't, even for a 1.0 server).
-      This means we aren't conditionally compliant with RFC 2145, because we
-       violate the requirement that "An HTTP client SHOULD send a request
-       version equal to the highest version for which the client is at least
-       conditionally compliant...".
-      According to RFC 2145, that means we can't claim any compliance with any
-       IETF HTTP specification.*/
-    ret|=op_sb_append(&_stream->request," HTTP/1.0\r\n",11);
-    /*Remember where this is so we can upgrade to HTTP/1.1 if the server
-       supports it.*/
-    minor_version_pos=_stream->request.nbuf-3;
-    ret|=op_sb_append(&_stream->request,"Host: ",6);
-    ret|=op_sb_append_string(&_stream->request,_stream->url.host);
-    if(!OP_URL_IS_DEFAULT_PORT(&_stream->url)){
-      ret|=op_sb_append_port(&_stream->request,_stream->url.port);
-    }
-    ret|=op_sb_append(&_stream->request,"\r\n",2);
-    /*User-Agents have been a bad idea, so send as little as possible.
-      RFC 2616 requires at least one token in the User-Agent, which must have
-       at least one character.*/
-    ret|=op_sb_append(&_stream->request,"User-Agent: .\r\n",15);
-    if(_proxy_host!=NULL&&!OP_URL_IS_SSL(&_stream->url)
-     &&_proxy_user!=NULL&&_proxy_pass!=NULL){
-      ret|=op_sb_append_basic_auth_header(&_stream->request,
-       "Proxy-Authorization",_proxy_user,_proxy_pass);
-    }
-    if(_stream->url.user!=NULL&&_stream->url.pass!=NULL){
-      ret|=op_sb_append_basic_auth_header(&_stream->request,
-       "Authorization",_stream->url.user,_stream->url.pass);
-    }
-    /*Always send a Referer [sic] header.
-      It's common to refuse to serve a resource unless one is present.
-      We just use the relative "/" URI to suggest we came from the same domain,
-       as this is the most common check.
-      This might violate RFC 2616's mandate that the field "MUST NOT be sent if
-       the Request-URI was obtained from a source that does not have its own
-       URI, such as input from the user keyboard," but we don't really have any
-       way to know.*/
-    /*TODO: Should we update this on redirects?*/
-    ret|=op_sb_append(&_stream->request,"Referer: /\r\n",12);
-    /*Always send a Range request header to find out if we're seekable.
-      This requires an HTTP/1.1 server to succeed, but we'll still get what we
-       want with an HTTP/1.0 server that ignores this request header.*/
-    ret|=op_sb_append(&_stream->request,"Range: bytes=0-\r\n",17);
-    /*Remember where this is so we can append offsets to it later.*/
-    _stream->request_tail=_stream->request.nbuf-4;
-    ret|=op_sb_append(&_stream->request,"\r\n",2);
-    if(OP_UNLIKELY(ret<0))return ret;
-    ret=op_http_conn_write_fully(_stream->conns+0,
-     _stream->request.buf,_stream->request.nbuf);
-    if(OP_UNLIKELY(ret<0))return ret;
-    ret=op_http_conn_read_response(_stream->conns+0,&_stream->response);
-    if(OP_UNLIKELY(ret<0))return ret;
-    ftime(&end_time);
-    next=op_http_parse_status_line(&v1_1_compat,&status_code,
-     _stream->response.buf);
-    if(OP_UNLIKELY(next==NULL))return OP_FALSE;
-    if(status_code[0]=='2'){
-      opus_int64 content_length;
-      opus_int64 range_length;
-      int        pipeline_supported;
-      int        pipeline_disabled;
-      /*We only understand 20x codes.*/
-      if(status_code[1]!='0')return OP_FALSE;
-      content_length=-1;
-      range_length=-1;
-      /*Pipelining must be explicitly enabled.*/
-      pipeline_supported=0;
-      pipeline_disabled=0;
-      for(;;){
-        char *header;
-        char *cdr;
-        ret=op_http_get_next_header(&header,&cdr,&next);
-        if(OP_UNLIKELY(ret<0))return ret;
-        if(header==NULL)break;
-        if(strcmp(header,"content-length")==0){
-          /*Two Content-Length headers?*/
-          if(OP_UNLIKELY(content_length>=0))return OP_FALSE;
-          content_length=op_http_parse_content_length(cdr);
-          if(OP_UNLIKELY(content_length<0))return (int)content_length;
-          /*Make sure the Content-Length and Content-Range headers match.*/
-          if(range_length>=0&&OP_UNLIKELY(content_length!=range_length)){
-            return OP_FALSE;
-          }
-        }
-        else if(strcmp(header,"content-range")==0){
-          opus_int64 range_first;
-          opus_int64 range_last;
-          /*Two Content-Range headers?*/
-          if(OP_UNLIKELY(range_length>=0))return OP_FALSE;
-          ret=op_http_parse_content_range(&range_first,&range_last,
-           &range_length,cdr);
-          if(OP_UNLIKELY(ret<0))return ret;
-          /*"A response with satus code 206 (Partial Content) MUST NOT
-             include a Content-Range field with a byte-range-resp-spec of
-             '*'."*/
-          if(status_code[2]=='6'
-           &&(OP_UNLIKELY(range_first<0)||OP_UNLIKELY(range_last<0))){
-            return OP_FALSE;
-          }
-          /*We asked for the entire resource.*/
-          if(range_length>=0){
-            /*Quit if we didn't get it.*/
-            if(range_last>=0&&OP_UNLIKELY(range_last!=range_length-1)){
-              return OP_FALSE;
-            }
-          }
-          /*If there was no length, use the end of the range.*/
-          else if(range_last>=0)range_length=range_last+1;
-          /*Make sure the Content-Length and Content-Range headers match.*/
-          if(content_length>=0&&OP_UNLIKELY(content_length!=range_length)){
-            return OP_FALSE;
-          }
-        }
-        else if(strcmp(header,"connection")==0){
-          /*According to RFC 2616, if an HTTP/1.1 application does not support
-             pipelining, it "MUST include the 'close' connection option in
-             every message."
-            Therefore, if we receive one in the initial response, disable
-             pipelining entirely.
-            The server still might support it (e.g., we might just have hit the
-             request limit for a temporary child process), but if it doesn't
-             and we assume it does, every time we cross a chunk boundary we'll
-             error out and reconnect, adding lots of latency.*/
-          ret=op_http_parse_connection(cdr);
-          if(OP_UNLIKELY(ret<0))return ret;
-          pipeline_disabled|=ret;
-        }
-        else if(strcmp(header,"server")==0){
-          /*If we got a Server response header, and it wasn't from a known-bad
-             server, enable pipelining, as long as it's at least HTTP/1.1.
-            According to RFC 2145, the server is supposed to respond with the
-             highest minor version number it supports unless it is known or
-             suspected that we incorrectly implement the HTTP specification.
-            So it should send back at least HTTP/1.1, despite our HTTP/1.0
-             request.*/
-          pipeline_supported=v1_1_compat;
-          if(v1_1_compat)pipeline_disabled|=!op_http_allow_pipelining(cdr);
-          if(_info!=NULL&&_info->server==NULL)_info->server=op_string_dup(cdr);
-        }
-        /*Collect station information headers if the caller requested it.
-          If there's more than one copy of a header, the first one wins.*/
-        else if(_info!=NULL){
-          if(strcmp(header,"content-type")==0){
-            if(_info->content_type==NULL){
-              _info->content_type=op_string_dup(cdr);
-            }
-          }
-          else if(header[0]=='i'&&header[1]=='c'
-           &&(header[2]=='e'||header[2]=='y')&&header[3]=='-'){
-            if(strcmp(header+4,"name")==0){
-              if(_info->name==NULL)_info->name=op_string_dup(cdr);
-            }
-            else if(strcmp(header+4,"description")==0){
-              if(_info->description==NULL)_info->description=op_string_dup(cdr);
-            }
-            else if(strcmp(header+4,"genre")==0){
-              if(_info->genre==NULL)_info->genre=op_string_dup(cdr);
-            }
-            else if(strcmp(header+4,"url")==0){
-              if(_info->url==NULL)_info->url=op_string_dup(cdr);
-            }
-            else if(strcmp(header,"icy-br")==0
-             ||strcmp(header,"ice-bitrate")==0){
-              if(_info->bitrate_kbps<0){
-                opus_int64 bitrate_kbps;
-                /*Just re-using this function to parse a random unsigned
-                   integer field.*/
-                bitrate_kbps=op_http_parse_content_length(cdr);
-                if(bitrate_kbps>=0&&bitrate_kbps<=OP_INT32_MAX){
-                  _info->bitrate_kbps=(opus_int32)bitrate_kbps;
-                }
-              }
-            }
-            else if(strcmp(header,"icy-pub")==0
-             ||strcmp(header,"ice-public")==0){
-              if(_info->is_public<0&&(cdr[0]=='0'||cdr[0]=='1')&&cdr[1]=='\0'){
-                _info->is_public=cdr[0]-'0';
-              }
-            }
-          }
-        }
-      }
-      switch(status_code[2]){
-        /*200 OK*/
-        case '0':break;
-        /*203 Non-Authoritative Information*/
-        case '3':break;
-        /*204 No Content*/
-        case '4':{
-          if(content_length>=0&&OP_UNLIKELY(content_length!=0)){
-            return OP_FALSE;
-          }
-        }break;
-        /*206 Partial Content*/
-        case '6':{
-          /*No Content-Range header.*/
-          if(OP_UNLIKELY(range_length<0))return OP_FALSE;
-          content_length=range_length;
-          /*The server supports range requests for this resource.
-            We can seek.*/
-          _stream->seekable=1;
-        }break;
-        /*201 Created: the response "SHOULD include an entity containing a list
-           of resource characteristics and location(s)," but not an Opus file.
-          202 Accepted: the response "SHOULD include an indication of request's
-           current status and either a pointer to a status monitor or some
-           estimate of when the user can expect the request to be fulfilled,"
-           but not an Opus file.
-          205 Reset Content: this "MUST NOT include an entity," meaning no Opus
-           file.
-          207...209 are not yet defined, so we don't know how to handle them.*/
-        default:return OP_FALSE;
-      }
-      _stream->content_length=content_length;
-      _stream->pipeline=pipeline_supported&&!pipeline_disabled;
-      /*Pipelining requires HTTP/1.1 persistent connections.*/
-      if(_stream->pipeline)_stream->request.buf[minor_version_pos]='1';
-      _stream->conns[0].pos=0;
-      _stream->conns[0].end_pos=_stream->seekable?content_length:-1;
-      _stream->conns[0].chunk_size=-1;
-      _stream->cur_conni=0;
-      _stream->connect_rate=op_time_diff_ms(&end_time,&start_time);
-      _stream->connect_rate=OP_MAX(_stream->connect_rate,1);
-      if(_info!=NULL)_info->is_ssl=OP_URL_IS_SSL(&_stream->url);
-      /*The URL has been successfully opened.*/
-      return 0;
-    }
-    /*Shouldn't get 1xx; 4xx and 5xx are both failures (and we don't retry).
-      Everything else is undefined.*/
-    else if(status_code[0]!='3')return OP_FALSE;
-    /*We have some form of redirect request.*/
-    /*We only understand 30x codes.*/
-    if(status_code[1]!='0')return OP_FALSE;
-    switch(status_code[2]){
-      /*300 Multiple Choices: "If the server has a preferred choice of
-         representation, it SHOULD include the specific URI for that
-         representation in the Location field," otherwise we'll fail.*/
-      case '0':
-      /*301 Moved Permanently*/
-      case '1':
-      /*302 Found*/
-      case '2':
-      /*307 Temporary Redirect*/
-      case '7':
-      /*308 Permanent Redirect (defined by draft-reschke-http-status-308-07).*/
-      case '8':break;
-      /*305 Use Proxy: "The Location field gives the URI of the proxy."
-        TODO: This shouldn't actually be that hard to do.*/
-      case '5':return OP_EIMPL;
-      /*303 See Other: "The new URI is not a substitute reference for the
-         originally requested resource."
-        304 Not Modified: "The 304 response MUST NOT contain a message-body."
-        306 (Unused)
-        309 is not yet defined, so we don't know how to handle it.*/
-      default:return OP_FALSE;
-    }
-    _url=NULL;
-    for(;;){
-      char *header;
-      char *cdr;
-      ret=op_http_get_next_header(&header,&cdr,&next);
-      if(OP_UNLIKELY(ret<0))return ret;
-      if(header==NULL)break;
-      if(strcmp(header,"location")==0&&OP_LIKELY(_url==NULL))_url=cdr;
-    }
-    if(OP_UNLIKELY(_url==NULL))return OP_FALSE;
-    ret=op_parse_url(&next_url,_url);
-    if(OP_UNLIKELY(ret<0))return ret;
-    if(_proxy_host==NULL||_stream->ssl_session!=NULL){
-      if(strcmp(_stream->url.host,next_url.host)==0
-       &&_stream->url.port==next_url.port){
-        /*Try to skip re-resolve when connecting to the same host.*/
-        addrs=&_stream->addr_info;
-      }
-      else{
-        if(_stream->ssl_session!=NULL){
-          /*Forget any cached SSL session from the last host.*/
-          SSL_SESSION_free(_stream->ssl_session);
-          _stream->ssl_session=NULL;
-        }
-      }
-    }
-    if(_proxy_host==NULL){
-      OP_ASSERT(_stream->connect_host==_stream->url.host);
-      _stream->connect_host=next_url.host;
-      _stream->connect_port=next_url.port;
-    }
-    /*Always try to skip re-resolve for proxy connections.*/
-    else addrs=&_stream->addr_info;
-    op_parsed_url_clear(&_stream->url);
-    *&_stream->url=*&next_url;
-    /*TODO: On servers/proxies that support pipelining, we might be able to
-       re-use this connection.*/
-    op_http_conn_close(_stream,_stream->conns+0,&_stream->lru_head,1);
-  }
-  /*Redirection limit reached.*/
-  return OP_FALSE;
-}
-
-static int op_http_conn_send_request(OpusHTTPStream *_stream,
- OpusHTTPConn *_conn,opus_int64 _pos,opus_int32 _chunk_size,
- int _try_not_to_block){
-  opus_int64 next_end;
-  int        ret;
-  /*We shouldn't have another request outstanding.*/
-  OP_ASSERT(_conn->next_pos<0);
-  /*Build the request to send.*/
-  OP_ASSERT(_stream->request.nbuf>=_stream->request_tail);
-  _stream->request.nbuf=_stream->request_tail;
-  ret=op_sb_append_nonnegative_int64(&_stream->request,_pos);
-  ret|=op_sb_append(&_stream->request,"-",1);
-  if(_chunk_size>0&&OP_ADV_OFFSET(_pos,2*_chunk_size)<_stream->content_length){
-    /*We shouldn't be pipelining requests with non-HTTP/1.1 servers.*/
-    OP_ASSERT(_stream->pipeline);
-    next_end=_pos+_chunk_size;
-    ret|=op_sb_append_nonnegative_int64(&_stream->request,next_end-1);
-    /*Use a larger chunk size for our next request.*/
-    _chunk_size<<=1;
-    /*But after a while, just request the rest of the resource.*/
-    if(_chunk_size>OP_PIPELINE_CHUNK_SIZE_MAX)_chunk_size=-1;
-  }
-  else{
-    /*Either this was a non-pipelined request or we were close enough to the
-       end to just ask for the rest.*/
-    next_end=-1;
-    _chunk_size=-1;
-  }
-  ret|=op_sb_append(&_stream->request,"\r\n\r\n",4);
-  if(OP_UNLIKELY(ret<0))return ret;
-  /*If we don't want to block, check to see if there's enough space in the send
-     queue.
-    There's still a chance we might block, even if there is enough space, but
-     it's a much slimmer one.
-    Blocking at all is pretty unlikely, as we won't have any requests queued
-     when _try_not_to_block is set, so if FIONSPACE isn't available (e.g., on
-     Linux), just skip the test.*/
-  if(_try_not_to_block){
-# if defined(FIONSPACE)
-    int available;
-    ret=ioctl(_conn->fd,FIONSPACE,&available);
-    if(ret<0||available<_stream->request.nbuf)return 1;
-# endif
-  }
-  ret=op_http_conn_write_fully(_conn,
-   _stream->request.buf,_stream->request.nbuf);
-  if(OP_UNLIKELY(ret<0))return ret;
-  _conn->next_pos=_pos;
-  _conn->next_end=next_end;
-  /*Save the chunk size to use for the next request.*/
-  _conn->chunk_size=_chunk_size;
-  _conn->nrequests_left--;
-  return ret;
-}
-
-/*Handles the response to all requests after the first one.
-  Return: 1 if the connection was closed or timed out, 0 on success, or a
-           negative value on any other error.*/
-static int op_http_conn_handle_response(OpusHTTPStream *_stream,
- OpusHTTPConn *_conn){
-  char       *next;
-  char       *status_code;
-  opus_int64  range_length;
-  opus_int64  next_pos;
-  opus_int64  next_end;
-  int         ret;
-  ret=op_http_conn_read_response(_conn,&_stream->response);
-  /*If the server just closed the connection on us, we may have just hit a
-     connection re-use limit, so we might want to retry.*/
-  if(OP_UNLIKELY(ret<0))return ret==OP_EREAD?1:ret;
-  next=op_http_parse_status_line(NULL,&status_code,_stream->response.buf);
-  if(OP_UNLIKELY(next==NULL))return OP_FALSE;
-  /*We _need_ a 206 Partial Content response.
-    Nothing else will do.*/
-  if(strncmp(status_code,"206",3)!=0){
-    /*But on a 408 Request Timeout, we might want to re-try.*/
-    return strncmp(status_code,"408",3)==0?1:OP_FALSE;
-  }
-  next_pos=_conn->next_pos;
-  next_end=_conn->next_end;
-  range_length=-1;
-  for(;;){
-    char *header;
-    char *cdr;
-    ret=op_http_get_next_header(&header,&cdr,&next);
-    if(OP_UNLIKELY(ret<0))return ret;
-    if(header==NULL)break;
-    if(strcmp(header,"content-range")==0){
-      opus_int64 range_first;
-      opus_int64 range_last;
-      /*Two Content-Range headers?*/
-      if(OP_UNLIKELY(range_length>=0))return OP_FALSE;
-      ret=op_http_parse_content_range(&range_first,&range_last,
-       &range_length,cdr);
-      if(OP_UNLIKELY(ret<0))return ret;
-      /*"A response with satus code 206 (Partial Content) MUST NOT
-         include a Content-Range field with a byte-range-resp-spec of
-         '*'."*/
-      if(OP_UNLIKELY(range_first<0)||OP_UNLIKELY(range_last<0))return OP_FALSE;
-      /*We also don't want range_last to overflow.*/
-      if(OP_UNLIKELY(range_last>=OP_INT64_MAX))return OP_FALSE;
-      range_last++;
-      /*Quit if we didn't get the offset we asked for.*/
-      if(range_first!=next_pos)return OP_FALSE;
-      if(next_end<0){
-        /*We asked for the rest of the resource.*/
-        if(range_length>=0){
-          /*Quit if we didn't get it.*/
-          if(OP_UNLIKELY(range_last!=range_length))return OP_FALSE;
-        }
-        /*If there was no length, use the end of the range.*/
-        else range_length=range_last;
-        next_end=range_last;
-      }
-      else{
-        if(range_last!=next_end)return OP_FALSE;
-        /*If there was no length, use the larger of the content length or the
-           end of this chunk.*/
-        if(range_length<0){
-          range_length=OP_MAX(range_last,_stream->content_length);
-        }
-      }
-    }
-    else if(strcmp(header,"content-length")==0){
-      opus_int64 content_length;
-      /*Validate the Content-Length header, if present, against the request we
-         made.*/
-      content_length=op_http_parse_content_length(cdr);
-      if(OP_UNLIKELY(content_length<0))return (int)content_length;
-      if(next_end<0){
-        /*If we haven't seen the Content-Range header yet and we asked for the
-            rest of the resource, set next_end, so we can make sure they match
-            when we do find the Content-Range header.*/
-        if(OP_UNLIKELY(next_pos>OP_INT64_MAX-content_length))return OP_FALSE;
-        next_end=next_pos+content_length;
-      }
-      /*Otherwise, make sure they match now.*/
-      else if(OP_UNLIKELY(next_end-next_pos!=content_length))return OP_FALSE;
-    }
-    else if(strcmp(header,"connection")==0){
-      ret=op_http_parse_connection(cdr);
-      if(OP_UNLIKELY(ret<0))return ret;
-      /*If the server told us it was going to close the connection, don't make
-         any more requests.*/
-      if(OP_UNLIKELY(ret>0))_conn->nrequests_left=0;
-    }
-  }
-  /*No Content-Range header.*/
-  if(OP_UNLIKELY(range_length<0))return OP_FALSE;
-  /*Update the content_length if necessary.*/
-  _stream->content_length=range_length;
-  _conn->pos=next_pos;
-  _conn->end_pos=next_end;
-  _conn->next_pos=-1;
-  return 0;
-}
-
-/*Open a new connection that will start reading at byte offset _pos.
-  _pos:        The byte offset to start reading from.
-  _chunk_size: The number of bytes to ask for in the initial request, or -1 to
-                request the rest of the resource.
-               This may be more bytes than remain, in which case it will be
-                converted into a request for the rest.*/
-static int op_http_conn_open_pos(OpusHTTPStream *_stream,
- OpusHTTPConn *_conn,opus_int64 _pos,opus_int32 _chunk_size){
-  struct timeb  start_time;
-  struct timeb  end_time;
-  opus_int32    connect_rate;
-  opus_int32    connect_time;
-  int           ret;
-  ret=op_http_connect(_stream,_conn,&_stream->addr_info,&start_time);
-  if(OP_UNLIKELY(ret<0))return ret;
-  ret=op_http_conn_send_request(_stream,_conn,_pos,_chunk_size,0);
-  if(OP_UNLIKELY(ret<0))return ret;
-  ret=op_http_conn_handle_response(_stream,_conn);
-  if(OP_UNLIKELY(ret!=0))return OP_FALSE;
-  ftime(&end_time);
-  _stream->cur_conni=_conn-_stream->conns;
-  OP_ASSERT(_stream->cur_conni>=0&&_stream->cur_conni<OP_NCONNS_MAX);
-  /*The connection has been successfully opened.
-    Update the connection time estimate.*/
-  connect_time=op_time_diff_ms(&end_time,&start_time);
-  connect_rate=_stream->connect_rate;
-  connect_rate+=OP_MAX(connect_time,1)-connect_rate+8>>4;
-  _stream->connect_rate=connect_rate;
-  return 0;
-}
-
-/*Read data from the current response body.
-  If we're pipelining and we get close to the end of this response, queue
-   another request.
-  If we've reached the end of this response body, parse the next response and
-   keep going.
-  [out] _buf: Returns the data read.
-  _buf_size:  The size of the buffer.
-  Return: A positive number of bytes read on success.
-          0:        The connection was closed.
-          OP_EREAD: There was a fatal read error.*/
-static int op_http_conn_read_body(OpusHTTPStream *_stream,
- OpusHTTPConn *_conn,unsigned char *_buf,int _buf_size){
-  opus_int64 pos;
-  opus_int64 end_pos;
-  opus_int64 next_pos;
-  opus_int64 content_length;
-  int        nread;
-  int        pipeline;
-  int        ret;
-  /*Currently this function can only be called on the LRU head.
-    Otherwise, we'd need a _pnext pointer if we needed to close the connection,
-     and re-opening it would re-organize the lists.*/
-  OP_ASSERT(_stream->lru_head==_conn);
-  /*We should have filtered out empty reads by this point.*/
-  OP_ASSERT(_buf_size>0);
-  pos=_conn->pos;
-  end_pos=_conn->end_pos;
-  next_pos=_conn->next_pos;
-  pipeline=_stream->pipeline;
-  content_length=_stream->content_length;
-  if(end_pos>=0){
-    /*Have we reached the end of the current response body?*/
-    if(pos>=end_pos){
-      OP_ASSERT(content_length>=0);
-      /*If this was the end of the stream, we're done.
-        Also return early if a non-blocking read was requested (regardless of
-         whether we might be able to parse the next response without
-         blocking).*/
-      if(content_length<=end_pos)return 0;
-      /*Otherwise, start on the next response.*/
-      if(next_pos<0){
-        /*We haven't issued another request yet.*/
-        if(!pipeline||_conn->nrequests_left<=0){
-          /*There are two ways to get here: either the server told us it was
-             going to close the connection after the last request, or we
-             thought we were reading the whole resource, but it grew while we
-             were reading it.
-            The only way the latter could have happened is if content_length
-             changed while seeking.
-            Open a new request to read the rest.*/
-          OP_ASSERT(_stream->seekable);
-          /*Try to open a new connection to read another chunk.*/
-          op_http_conn_close(_stream,_conn,&_stream->lru_head,1);
-          /*If we're not pipelining, we should be requesting the rest.*/
-          OP_ASSERT(pipeline||_conn->chunk_size==-1);
-          ret=op_http_conn_open_pos(_stream,_conn,end_pos,_conn->chunk_size);
-          if(OP_UNLIKELY(ret<0))return OP_EREAD;
-        }
-        else{
-          /*Issue the request now (better late than never).*/
-          ret=op_http_conn_send_request(_stream,_conn,pos,_conn->chunk_size,0);
-          if(OP_UNLIKELY(ret<0))return OP_EREAD;
-          next_pos=_conn->next_pos;
-          OP_ASSERT(next_pos>=0);
-        }
-      }
-      if(next_pos>=0){
-        /*We shouldn't be trying to read past the current request body if we're
-           seeking somewhere else.*/
-        OP_ASSERT(next_pos==end_pos);
-        ret=op_http_conn_handle_response(_stream,_conn);
-        if(OP_UNLIKELY(ret<0))return OP_EREAD;
-        if(OP_UNLIKELY(ret>0)&&pipeline){
-          opus_int64 next_end;
-          next_end=_conn->next_end;
-          /*Our request timed out or the server closed the connection.
-            Try re-connecting.*/
-          op_http_conn_close(_stream,_conn,&_stream->lru_head,1);
-          /*Unless there's a bug, we should be able to convert
-             (next_pos,next_end) into valid (_pos,_chunk_size) parameters.*/
-          OP_ASSERT(next_end<0
-           ||next_end-next_pos>=0&&next_end-next_pos<=OP_INT32_MAX);
-          ret=op_http_conn_open_pos(_stream,_conn,next_pos,
-           next_end<0?-1:(opus_int32)(next_end-next_pos));
-          if(OP_UNLIKELY(ret<0))return OP_EREAD;
-        }
-        else if(OP_UNLIKELY(ret!=0))return OP_EREAD;
-      }
-      pos=_conn->pos;
-      end_pos=_conn->end_pos;
-      content_length=_stream->content_length;
-    }
-    OP_ASSERT(end_pos>pos);
-    _buf_size=OP_MIN(_buf_size,end_pos-pos);
-  }
-  nread=op_http_conn_read(_conn,(char *)_buf,_buf_size,1);
-  if(OP_UNLIKELY(nread<0))return nread;
-  pos+=nread;
-  _conn->pos=pos;
-  OP_ASSERT(end_pos<0||content_length>=0);
-  /*TODO: If nrequests_left<=0, we can't make a new request, and there will be
-     a big pause after we hit the end of the chunk while we open a new
-     connection.
-    It would be nice to be able to start that process now, but we have no way
-     to do it in the background without blocking (even if we could start it, we
-     have no guarantee the application will return control to us in a
-     sufficiently timely manner to allow us to complete it, and this is
-     uncommon enough that it's not worth using threads just for this).*/
-  if(end_pos>=0&&end_pos<content_length&&next_pos<0
-   &&pipeline&&OP_LIKELY(_conn->nrequests_left>0)){
-    opus_int64 request_thresh;
-    opus_int32 chunk_size;
-    /*Are we getting close to the end of the current response body?
-      If so, we should request more data.*/
-    request_thresh=_stream->connect_rate*_conn->read_rate>>12;
-    /*But don't commit ourselves too quickly.*/
-    chunk_size=_conn->chunk_size;
-    if(chunk_size>=0)request_thresh=OP_MIN(chunk_size>>2,request_thresh);
-    if(end_pos-pos<request_thresh){
-      ret=op_http_conn_send_request(_stream,_conn,end_pos,_conn->chunk_size,1);
-      if(OP_UNLIKELY(ret<0))return OP_EREAD;
-    }
-  }
-  return nread;
-}
-
-static int op_http_stream_read(void *_stream,
- unsigned char *_ptr,int _buf_size){
-  OpusHTTPStream *stream;
-  ptrdiff_t       nread;
-  opus_int64      size;
-  opus_int64      pos;
-  int             ci;
-  stream=(OpusHTTPStream *)_stream;
-  /*Check for an empty read.*/
-  if(_buf_size<=0)return 0;
-  ci=stream->cur_conni;
-  /*No current connection => EOF.*/
-  if(ci<0)return 0;
-  pos=stream->conns[ci].pos;
-  size=stream->content_length;
-  /*Check for EOF.*/
-  if(size>=0){
-    if(pos>=size)return 0;
-    /*Check for a short read.*/
-    if(_buf_size>size-pos)_buf_size=(int)(size-pos);
-  }
-  nread=op_http_conn_read_body(stream,stream->conns+ci,_ptr,_buf_size);
-  if(OP_UNLIKELY(nread<=0)){
-    /*We hit an error or EOF.
-      Either way, we're done with this connection.*/
-    op_http_conn_close(stream,stream->conns+ci,&stream->lru_head,1);
-    stream->cur_conni=-1;
-    stream->pos=pos;
-  }
-  return nread;
-}
-
-/*Discard data until we reach the _target position.
-  This destroys the contents of _stream->response.buf, as we need somewhere to
-   read this data, and that is a convenient place.
-  _just_read_ahead: Whether or not this is a plain fast-forward.
-                    If 0, we need to issue a new request for a chunk at _target
-                     and discard all the data from our current request(s).
-                    Otherwise, we should be able to reach _target without
-                     issuing any new requests.
-  _target:          The stream position to which to read ahead.*/
-static int op_http_conn_read_ahead(OpusHTTPStream *_stream,
- OpusHTTPConn *_conn,int _just_read_ahead,opus_int64 _target){
-  opus_int64 pos;
-  opus_int64 end_pos;
-  opus_int64 next_pos;
-  opus_int64 next_end;
-  ptrdiff_t  nread;
-  int        ret;
-  pos=_conn->pos;
-  end_pos=_conn->end_pos;
-  next_pos=_conn->next_pos;
-  next_end=_conn->next_end;
-  if(!_just_read_ahead){
-    /*We need to issue a new pipelined request.
-      This is the only case where we allow more than one outstanding request
-       at a time, so we need to reset next_pos (we'll restore it below if we
-       did have an outstanding request).*/
-    OP_ASSERT(_stream->pipeline);
-    _conn->next_pos=-1;
-    ret=op_http_conn_send_request(_stream,_conn,_target,
-     OP_PIPELINE_CHUNK_SIZE,0);
-    if(OP_UNLIKELY(ret<0))return ret;
-  }
-  /*We can reach the target position by reading forward in the current chunk.*/
-  if(_just_read_ahead&&(end_pos<0||_target<end_pos))end_pos=_target;
-  else if(next_pos>=0){
-    opus_int64 next_next_pos;
-    opus_int64 next_next_end;
-    /*We already have a request outstanding.
-      Finish off the current chunk.*/
-    while(pos<end_pos){
-      nread=op_http_conn_read(_conn,_stream->response.buf,
-       (int)OP_MIN(end_pos-pos,_stream->response.cbuf),1);
-      /*We failed to read ahead.*/
-      if(nread<=0)return OP_FALSE;
-      pos+=nread;
-    }
-    OP_ASSERT(pos==end_pos);
-    if(_just_read_ahead){
-      next_next_pos=next_next_end=-1;
-      end_pos=_target;
-    }
-    else{
-      OP_ASSERT(_conn->next_pos==_target);
-      next_next_pos=_target;
-      next_next_end=_conn->next_end;
-      _conn->next_pos=next_pos;
-      _conn->next_end=next_end;
-      end_pos=next_end;
-    }
-    ret=op_http_conn_handle_response(_stream,_conn);
-    if(OP_UNLIKELY(ret!=0))return OP_FALSE;
-    _conn->next_pos=next_next_pos;
-    _conn->next_end=next_next_end;
-  }
-  while(pos<end_pos){
-    nread=op_http_conn_read(_conn,_stream->response.buf,
-     (int)OP_MIN(end_pos-pos,_stream->response.cbuf),1);
-    /*We failed to read ahead.*/
-    if(nread<=0)return OP_FALSE;
-    pos+=nread;
-  }
-  OP_ASSERT(pos==end_pos);
-  if(!_just_read_ahead){
-    ret=op_http_conn_handle_response(_stream,_conn);
-    if(OP_UNLIKELY(ret!=0))return OP_FALSE;
-  }
-  else _conn->pos=end_pos;
-  OP_ASSERT(_conn->pos==_target);
-  return 0;
-}
-
-static int op_http_stream_seek(void *_stream,opus_int64 _offset,int _whence){
-  struct timeb     seek_time;
-  OpusHTTPStream  *stream;
-  OpusHTTPConn    *conn;
-  OpusHTTPConn   **pnext;
-  OpusHTTPConn    *close_conn;
-  OpusHTTPConn   **close_pnext;
-  opus_int64       content_length;
-  opus_int64       pos;
-  int              pipeline;
-  int              ci;
-  int              ret;
-  stream=(OpusHTTPStream *)_stream;
-  if(!stream->seekable)return -1;
-  content_length=stream->content_length;
-  /*If we're seekable, we should have gotten a Content-Length.*/
-  OP_ASSERT(content_length>=0);
-  ci=stream->cur_conni;
-  pos=ci<0?content_length:stream->conns[ci].pos;
-  switch(_whence){
-    case SEEK_SET:{
-      /*Check for overflow:*/
-      if(_offset<0)return -1;
-      pos=_offset;
-    }break;
-    case SEEK_CUR:{
-      /*Check for overflow:*/
-      if(_offset<-pos||_offset>OP_INT64_MAX-pos)return -1;
-      pos+=_offset;
-    }break;
-    case SEEK_END:{
-      /*Check for overflow:*/
-      if(_offset>content_length||_offset<content_length-OP_INT64_MAX)return -1;
-      pos=content_length-_offset;
-    }break;
-    default:return -1;
-  }
-  /*Mark when we deactivated the active connection.*/
-  if(ci>=0){
-    op_http_conn_read_rate_update(stream->conns+ci);
-    *&seek_time=*&stream->conns[ci].read_time;
-  }
-  else ftime(&seek_time);
-  /*If we seeked past the end of the stream, just disable the active
-     connection.*/
-  if(pos>=content_length){
-    stream->cur_conni=-1;
-    stream->pos=pos;
-    return 0;
-  }
-  /*First try to find a connection we can use without waiting.*/
-  pnext=&stream->lru_head;
-  conn=stream->lru_head;
-  while(conn!=NULL){
-    opus_int64 conn_pos;
-    opus_int64 end_pos;
-    int        available;
-    /*If this connection has been dormant too long or has made too many
-       requests, close it.
-      This is to prevent us from hitting server limits/firewall timeouts.*/
-    if(op_time_diff_ms(&seek_time,&conn->read_time)>
-     OP_CONNECTION_IDLE_TIMEOUT_MS
-     ||conn->nrequests_left<OP_PIPELINE_MIN_REQUESTS){
-      op_http_conn_close(stream,conn,pnext,1);
-      conn=*pnext;
-      continue;
-    }
-    available=op_http_conn_estimate_available(conn);
-    conn_pos=conn->pos;
-    end_pos=conn->end_pos;
-    if(conn->next_pos>=0){
-      OP_ASSERT(end_pos>=0);
-      OP_ASSERT(conn->next_pos==end_pos);
-      end_pos=conn->next_end;
-    }
-    OP_ASSERT(end_pos<0||conn_pos<=end_pos);
-    /*Can we quickly read ahead without issuing a new request or waiting for
-       any more data?
-      If we have an oustanding request, we'll over-estimate the amount of data
-       it has available (because we'll count the response headers, too), but
-       that probably doesn't matter.*/
-    if(conn_pos<=pos&&pos-conn_pos<=available&&(end_pos<0||pos<end_pos)){
-      /*Found a suitable connection to re-use.*/
-      ret=op_http_conn_read_ahead(stream,conn,1,pos);
-      if(OP_UNLIKELY(ret<0)){
-        /*The connection might have become stale, so close it and keep going.*/
-        op_http_conn_close(stream,conn,pnext,1);
-        conn=*pnext;
-        continue;
-      }
-      /*Sucessfully resurrected this connection.*/
-      *pnext=conn->next;
-      conn->next=stream->lru_head;
-      stream->lru_head=conn;
-      stream->cur_conni=conn-stream->conns;
-      return 0;
-    }
-    pnext=&conn->next;
-    conn=conn->next;
-  }
-  /*Chances are that didn't work, so now try to find one we can use by reading
-     ahead a reasonable amount and/or by issuing a new request.*/
-  close_pnext=NULL;
-  close_conn=NULL;
-  pnext=&stream->lru_head;
-  conn=stream->lru_head;
-  pipeline=stream->pipeline;
-  while(conn!=NULL){
-    opus_int64 conn_pos;
-    opus_int64 end_pos;
-    opus_int64 read_ahead_thresh;
-    int        available;
-    int        just_read_ahead;
-    /*Dividing by 2048 instead of 1000 scales this by nearly 1/2, biasing away
-       from connection re-use (and roughly compensating for the lag required to
-       reopen the TCP window of a connection that's been idle).
-      There's no overflow checking here, because it's vanishingly unlikely, and
-       all it would do is cause us to make poor decisions.*/
-    read_ahead_thresh=OP_MAX(OP_READAHEAD_THRESH_MIN,
-     stream->connect_rate*conn->read_rate>>11);
-    available=op_http_conn_estimate_available(conn);
-    conn_pos=conn->pos;
-    end_pos=conn->end_pos;
-    if(conn->next_pos>=0){
-      OP_ASSERT(end_pos>=0);
-      OP_ASSERT(conn->next_pos==end_pos);
-      end_pos=conn->next_end;
-    }
-    OP_ASSERT(end_pos<0||conn_pos<=end_pos);
-    /*Can we quickly read ahead without issuing a new request?*/
-    just_read_ahead=conn_pos<=pos&&pos-conn_pos-available<=read_ahead_thresh
-     &&(end_pos<0||pos<end_pos);
-    if(just_read_ahead||pipeline&&end_pos>=0
-     &&end_pos-conn_pos-available<=read_ahead_thresh){
-      /*Found a suitable connection to re-use.*/
-      ret=op_http_conn_read_ahead(stream,conn,just_read_ahead,pos);
-      if(OP_UNLIKELY(ret<0)){
-        /*The connection might have become stale, so close it and keep going.*/
-        op_http_conn_close(stream,conn,pnext,1);
-        conn=*pnext;
-        continue;
-      }
-      /*Sucessfully resurrected this connection.*/
-      *pnext=conn->next;
-      conn->next=stream->lru_head;
-      stream->lru_head=conn;
-      stream->cur_conni=conn-stream->conns;
-      return 0;
-    }
-    close_pnext=pnext;
-    close_conn=conn;
-    pnext=&conn->next;
-    conn=conn->next;
-  }
-  /*No suitable connections.
-    Open a new one.*/
-  if(stream->free_head==NULL){
-    /*All connections in use.
-      Expire one of them (we should have already picked which one when scanning
-       the list).*/
-    OP_ASSERT(close_conn!=NULL);
-    OP_ASSERT(close_pnext!=NULL);
-    op_http_conn_close(stream,close_conn,close_pnext,1);
-  }
-  OP_ASSERT(stream->free_head!=NULL);
-  conn=stream->free_head;
-  /*If we can pipeline, only request a chunk of data.
-    If we're seeking now, there's a good chance we will want to seek again
-     soon, and this avoids committing this connection to reading the rest of
-     the stream.
-    Particularly with SSL or proxies, issuing a new request on the same
-     connection can be substantially faster than opening a new one.
-    This also limits the amount of data the server will blast at us on this
-     connection if we later seek elsewhere and start reading from a different
-     connection.*/
-  ret=op_http_conn_open_pos(stream,conn,pos,
-   pipeline?OP_PIPELINE_CHUNK_SIZE:-1);
-  if(OP_UNLIKELY(ret<0)){
-    op_http_conn_close(stream,conn,&stream->lru_head,1);
-    return -1;
-  }
-  return 0;
-}
-
-static opus_int64 op_http_stream_tell(void *_stream){
-  OpusHTTPStream *stream;
-  int             ci;
-  stream=(OpusHTTPStream *)_stream;
-  ci=stream->cur_conni;
-  return ci<0?stream->pos:stream->conns[ci].pos;
-}
-
-static int op_http_stream_close(void *_stream){
-  OpusHTTPStream *stream;
-  stream=(OpusHTTPStream *)_stream;
-  if(OP_LIKELY(stream!=NULL)){
-    op_http_stream_clear(stream);
-    _ogg_free(stream);
-  }
-  return 0;
-}
-
-static const OpusFileCallbacks OP_HTTP_CALLBACKS={
-  op_http_stream_read,
-  op_http_stream_seek,
-  op_http_stream_tell,
-  op_http_stream_close
-};
-#endif
-
-void opus_server_info_init(OpusServerInfo *_info){
-  _info->name=NULL;
-  _info->description=NULL;
-  _info->genre=NULL;
-  _info->url=NULL;
-  _info->server=NULL;
-  _info->content_type=NULL;
-  _info->bitrate_kbps=-1;
-  _info->is_public=-1;
-  _info->is_ssl=0;
-}
-
-void opus_server_info_clear(OpusServerInfo *_info){
-  _ogg_free(_info->content_type);
-  _ogg_free(_info->server);
-  _ogg_free(_info->url);
-  _ogg_free(_info->genre);
-  _ogg_free(_info->description);
-  _ogg_free(_info->name);
-}
-
-/*The actual URL stream creation function.
-  This one isn't extensible like the application-level interface, but because
-   it isn't public, we're free to change it in the future.*/
-static void *op_url_stream_create_impl(OpusFileCallbacks *_cb,const char *_url,
- int _skip_certificate_check,const char *_proxy_host,unsigned _proxy_port,
- const char *_proxy_user,const char *_proxy_pass,OpusServerInfo *_info){
-  const char *path;
-  /*Check to see if this is a valid file: URL.*/
-  path=op_parse_file_url(_url);
-  if(path!=NULL){
-    char *unescaped_path;
-    void *ret;
-    unescaped_path=op_string_dup(path);
-    if(OP_UNLIKELY(unescaped_path==NULL))return NULL;
-    ret=op_fopen(_cb,op_unescape_url_component(unescaped_path),"rb");
-    _ogg_free(unescaped_path);
-    return ret;
-  }
-#if defined(OP_ENABLE_HTTP)
-  /*If not, try http/https.*/
-  else{
-    OpusHTTPStream *stream;
-    int             ret;
-    stream=(OpusHTTPStream *)_ogg_malloc(sizeof(*stream));
-    if(OP_UNLIKELY(stream==NULL))return NULL;
-    op_http_stream_init(stream);
-    ret=op_http_stream_open(stream,_url,_skip_certificate_check,
-     _proxy_host,_proxy_port,_proxy_user,_proxy_pass,_info);
-    if(OP_UNLIKELY(ret<0)){
-      op_http_stream_clear(stream);
-      _ogg_free(stream);
-      return NULL;
-    }
-    *_cb=*&OP_HTTP_CALLBACKS;
-    return stream;
-  }
-#else
-  (void)_skip_certificate_check;
-  (void)_proxy_host;
-  (void)_proxy_port;
-  (void)_proxy_user;
-  (void)_proxy_pass;
-  (void)_info;
-  return NULL;
-#endif
-}
-
-/*The actual implementation of op_url_stream_vcreate().
-  We have to do a careful dance here to avoid potential memory leaks if
-   OpusServerInfo is requested, since this function is also used by
-   op_vopen_url() and op_vtest_url().
-  Even if this function succeeds, those functions might ultimately fail.
-  If they do, they should return without having touched the OpusServerInfo
-   passed by the application.
-  Therefore, if this function succeeds and OpusServerInfo is requested, the
-   actual info will be stored in *_info and a pointer to the application's
-   storage will be placed in *_pinfo.
-  If this function fails or if the application did not request OpusServerInfo,
-   *_pinfo will be NULL.
-  Our caller is responsible for copying *_info to **_pinfo if it ultimately
-   succeeds, or for clearing *_info if it ultimately fails.*/
-void *op_url_stream_vcreate_impl(OpusFileCallbacks *_cb,
- const char *_url,OpusServerInfo *_info,OpusServerInfo **_pinfo,va_list _ap){
-  int             skip_certificate_check;
-  const char     *proxy_host;
-  opus_int32      proxy_port;
-  const char     *proxy_user;
-  const char     *proxy_pass;
-  OpusServerInfo *pinfo;
-  skip_certificate_check=0;
-  proxy_host=NULL;
-  proxy_port=8080;
-  proxy_user=NULL;
-  proxy_pass=NULL;
-  pinfo=NULL;
-  for(;;){
-    ptrdiff_t request;
-    request=va_arg(_ap,char *)-(char *)NULL;
-    /*If we hit NULL, we're done processing options.*/
-    if(!request)break;
-    switch(request){
-      case OP_SSL_SKIP_CERTIFICATE_CHECK_REQUEST:{
-        skip_certificate_check=!!va_arg(_ap,opus_int32);
-      }break;
-      case OP_HTTP_PROXY_HOST_REQUEST:{
-        proxy_host=va_arg(_ap,const char *);
-      }break;
-      case OP_HTTP_PROXY_PORT_REQUEST:{
-        proxy_port=va_arg(_ap,opus_int32);
-        if(proxy_port<0||proxy_port>(opus_int32)65535)return NULL;
-      }break;
-      case OP_HTTP_PROXY_USER_REQUEST:{
-        proxy_user=va_arg(_ap,const char *);
-      }break;
-      case OP_HTTP_PROXY_PASS_REQUEST:{
-        proxy_pass=va_arg(_ap,const char *);
-      }break;
-      case OP_GET_SERVER_INFO_REQUEST:{
-        pinfo=va_arg(_ap,OpusServerInfo *);
-      }break;
-      /*Some unknown option.*/
-      default:return NULL;
-    }
-  }
-  /*If the caller has requested server information, proxy it to a local copy to
-     simplify error handling.*/
-  *_pinfo=NULL;
-  if(pinfo!=NULL){
-    void *ret;
-    opus_server_info_init(_info);
-    ret=op_url_stream_create_impl(_cb,_url,skip_certificate_check,
-     proxy_host,proxy_port,proxy_user,proxy_pass,_info);
-    if(ret!=NULL)*_pinfo=pinfo;
-    else opus_server_info_clear(_info);
-    return ret;
-  }
-  return op_url_stream_create_impl(_cb,_url,skip_certificate_check,
-   proxy_host,proxy_port,proxy_user,proxy_pass,NULL);
-}
-
-void *op_url_stream_vcreate(OpusFileCallbacks *_cb,
- const char *_url,va_list _ap){
-  OpusServerInfo   info;
-  OpusServerInfo *pinfo;
-  void *ret;
-  ret=op_url_stream_vcreate_impl(_cb,_url,&info,&pinfo,_ap);
-  if(pinfo!=NULL)*pinfo=*&info;
-  return ret;
-}
-
-void *op_url_stream_create(OpusFileCallbacks *_cb,
- const char *_url,...){
-  va_list  ap;
-  void    *ret;
-  va_start(ap,_url);
-  ret=op_url_stream_vcreate(_cb,_url,ap);
-  va_end(ap);
-  return ret;
-}
-
-/*Convenience routines to open/test URLs in a single step.*/
-
-OggOpusFile *op_vopen_url(const char *_url,int *_error,va_list _ap){
-  OpusFileCallbacks  cb;
-  OggOpusFile       *of;
-  OpusServerInfo     info;
-  OpusServerInfo    *pinfo;
-  void              *source;
-  source=op_url_stream_vcreate_impl(&cb,_url,&info,&pinfo,_ap);
-  if(OP_UNLIKELY(source==NULL)){
-    OP_ASSERT(pinfo==NULL);
-    if(_error!=NULL)*_error=OP_EFAULT;
-    return NULL;
-  }
-  of=op_open_callbacks(source,&cb,NULL,0,_error);
-  if(OP_UNLIKELY(of==NULL)){
-    if(pinfo!=NULL)opus_server_info_clear(&info);
-    (*cb.close)(source);
-  }
-  else if(pinfo!=NULL)*pinfo=*&info;
-  return of;
-}
-
-OggOpusFile *op_open_url(const char *_url,int *_error,...){
-  OggOpusFile *ret;
-  va_list      ap;
-  va_start(ap,_error);
-  ret=op_vopen_url(_url,_error,ap);
-  va_end(ap);
-  return ret;
-}
-
-OggOpusFile *op_vtest_url(const char *_url,int *_error,va_list _ap){
-  OpusFileCallbacks  cb;
-  OggOpusFile       *of;
-  OpusServerInfo     info;
-  OpusServerInfo    *pinfo;
-  void              *source;
-  source=op_url_stream_vcreate_impl(&cb,_url,&info,&pinfo,_ap);
-  if(OP_UNLIKELY(source==NULL)){
-    OP_ASSERT(pinfo==NULL);
-    if(_error!=NULL)*_error=OP_EFAULT;
-    return NULL;
-  }
-  of=op_test_callbacks(source,&cb,NULL,0,_error);
-  if(OP_UNLIKELY(of==NULL)){
-    if(pinfo!=NULL)opus_server_info_clear(&info);
-    (*cb.close)(source);
-  }
-  else if(pinfo!=NULL)*pinfo=*&info;
-  return of;
-}
-
-OggOpusFile *op_test_url(const char *_url,int *_error,...){
-  OggOpusFile *ret;
-  va_list      ap;
-  va_start(ap,_error);
-  ret=op_vtest_url(_url,_error,ap);
-  va_end(ap);
-  return ret;
-}
diff --git a/thirdparty/opus/wincerts.c b/thirdparty/opus/wincerts.c
deleted file mode 100644
index b0e35aa352..0000000000
--- a/thirdparty/opus/wincerts.c
+++ /dev/null
@@ -1,171 +0,0 @@
-/********************************************************************
- *                                                                  *
- * THIS FILE IS PART OF THE libopusfile SOFTWARE CODEC SOURCE CODE. *
- * USE, DISTRIBUTION AND REPRODUCTION OF THIS LIBRARY SOURCE IS     *
- * GOVERNED BY A BSD-STYLE SOURCE LICENSE INCLUDED WITH THIS SOURCE *
- * IN 'COPYING'. PLEASE READ THESE TERMS BEFORE DISTRIBUTING.       *
- *                                                                  *
- * THE libopusfile SOURCE CODE IS (C) COPYRIGHT 2013                *
- * by the Xiph.Org Foundation and contributors http://www.xiph.org/ *
- *                                                                  *
- ********************************************************************/
-
-/*This should really be part of OpenSSL, but there's been a patch [1] sitting
-   in their bugtracker for over two years that implements this, without any
-   action, so I'm giving up and re-implementing it locally.
-
-  [1] <http://rt.openssl.org/Ticket/Display.html?id=2158>*/
-
-#ifdef HAVE_CONFIG_H
-#include "config.h"
-#endif
-
-#include "internal.h"
-#if defined(OP_ENABLE_HTTP)&&defined(_WIN32)
-/*You must include windows.h before wincrypt.h and x509.h.*/
-# define WIN32_LEAN_AND_MEAN
-# define WIN32_EXTRA_LEAN
-# include <windows.h>
-/*You must include wincrypt.h before x509.h, too, or X509_NAME doesn't get
-   defined properly.*/
-# include <wincrypt.h>
-# include <openssl/ssl.h>
-# include <openssl/err.h>
-# include <openssl/x509.h>
-
-static int op_capi_new(X509_LOOKUP *_lu){
-  HCERTSTORE h_store;
-  h_store=CertOpenStore(CERT_STORE_PROV_SYSTEM_A,0,0,
-   CERT_STORE_OPEN_EXISTING_FLAG|CERT_STORE_READONLY_FLAG|
-   CERT_SYSTEM_STORE_CURRENT_USER|CERT_STORE_SHARE_CONTEXT_FLAG,"ROOT");
-  if(h_store!=NULL){
-    _lu->method_data=(char *)h_store;
-    return 1;
-  }
-  return 0;
-}
-
-static void op_capi_free(X509_LOOKUP *_lu){
-  HCERTSTORE h_store;
-  h_store=(HCERTSTORE)_lu->method_data;
-# if defined(OP_ENABLE_ASSERTIONS)
-  OP_ALWAYS_TRUE(CertCloseStore(h_store,CERT_CLOSE_STORE_CHECK_FLAG));
-# else
-  CertCloseStore(h_store,0);
-# endif
-}
-
-static int op_capi_retrieve_by_subject(X509_LOOKUP *_lu,int _type,
- X509_NAME *_name,X509_OBJECT *_ret){
-  X509_OBJECT *obj;
-  CRYPTO_w_lock(CRYPTO_LOCK_X509_STORE);
-  obj=X509_OBJECT_retrieve_by_subject(_lu->store_ctx->objs,_type,_name);
-  CRYPTO_w_unlock(CRYPTO_LOCK_X509_STORE);
-  if(obj!=NULL){
-    _ret->type=obj->type;
-    memcpy(&_ret->data,&obj->data,sizeof(_ret->data));
-    return 1;
-  }
-  return 0;
-}
-
-static int op_capi_get_by_subject(X509_LOOKUP *_lu,int _type,X509_NAME *_name,
- X509_OBJECT *_ret){
-  HCERTSTORE h_store;
-  if(_name==NULL)return 0;
-  if(_name->bytes==NULL||_name->bytes->length<=0||_name->modified){
-    if(i2d_X509_NAME(_name,NULL)<0)return 0;
-    OP_ASSERT(_name->bytes->length>0);
-  }
-  h_store=(HCERTSTORE)_lu->method_data;
-  switch(_type){
-    case X509_LU_X509:{
-      CERT_NAME_BLOB  find_para;
-      PCCERT_CONTEXT  cert;
-      X509           *x;
-      int             ret;
-      /*Although X509_NAME contains a canon_enc field, that "canonical" [1]
-         encoding was just made up by OpenSSL.
-        It doesn't correspond to any actual standard, and since it drops the
-         initial sequence header, won't be recognized by the Crypto API.
-        The assumption here is that CertFindCertificateInStore() will allow any
-         appropriate variations in the encoding when it does its comparison.
-        This is, however, emphatically not true under Wine, which just compares
-         the encodings with memcmp().
-        Most of the time things work anyway, though, and there isn't really
-         anything we can do to make the situation better.
-
-        [1] A "canonical form" is defined as the one where, if you locked 10
-         mathematicians in a room and asked them to come up with a
-         representation for something, it's the answer that 9 of them would
-         give you back.
-        I don't think OpenSSL's encoding qualifies.*/
-      find_para.cbData=_name->bytes->length;
-      find_para.pbData=(unsigned char *)_name->bytes->data;
-      cert=CertFindCertificateInStore(h_store,X509_ASN_ENCODING,0,
-       CERT_FIND_SUBJECT_NAME,&find_para,NULL);
-      if(cert==NULL)return 0;
-      x=d2i_X509(NULL,(const unsigned char **)&cert->pbCertEncoded,
-       cert->cbCertEncoded);
-      CertFreeCertificateContext(cert);
-      if(x==NULL)return 0;
-      ret=X509_STORE_add_cert(_lu->store_ctx,x);
-      X509_free(x);
-      if(ret)return op_capi_retrieve_by_subject(_lu,_type,_name,_ret);
-    }break;
-    case X509_LU_CRL:{
-      CERT_INFO      cert_info;
-      CERT_CONTEXT   find_para;
-      PCCRL_CONTEXT  crl;
-      X509_CRL      *x;
-      int            ret;
-      ret=op_capi_retrieve_by_subject(_lu,_type,_name,_ret);
-      if(ret>0)return ret;
-      memset(&cert_info,0,sizeof(cert_info));
-      cert_info.Issuer.cbData=_name->bytes->length;
-      cert_info.Issuer.pbData=(unsigned char *)_name->bytes->data;
-      memset(&find_para,0,sizeof(find_para));
-      find_para.pCertInfo=&cert_info;
-      crl=CertFindCRLInStore(h_store,0,0,CRL_FIND_ISSUED_BY,&find_para,NULL);
-      if(crl==NULL)return 0;
-      x=d2i_X509_CRL(NULL,(const unsigned char **)&crl->pbCrlEncoded,
-       crl->cbCrlEncoded);
-      CertFreeCRLContext(crl);
-      if(x==NULL)return 0;
-      ret=X509_STORE_add_crl(_lu->store_ctx,x);
-      X509_CRL_free(x);
-      if(ret)return op_capi_retrieve_by_subject(_lu,_type,_name,_ret);
-    }break;
-  }
-  return 0;
-}
-
-/*This is not const because OpenSSL doesn't allow it, even though it won't
-   write to it.*/
-static X509_LOOKUP_METHOD X509_LOOKUP_CAPI={
-  "Load Crypto API store into cache",
-  op_capi_new,
-  op_capi_free,
-  NULL,
-  NULL,
-  NULL,
-  op_capi_get_by_subject,
-  NULL,
-  NULL,
-  NULL
-};
-
-int SSL_CTX_set_default_verify_paths_win32(SSL_CTX *_ssl_ctx){
-  X509_STORE  *store;
-  X509_LOOKUP *lu;
-  /*We intentionally do not add the normal default paths, as they are usually
-     wrong, and are just asking to be used as an exploit vector.*/
-  store=SSL_CTX_get_cert_store(_ssl_ctx);
-  OP_ASSERT(store!=NULL);
-  lu=X509_STORE_add_lookup(store,&X509_LOOKUP_CAPI);
-  if(lu==NULL)return 0;
-  ERR_clear_error();
-  return 1;
-}
-
-#endif
diff --git a/thirdparty/opus/winerrno.h b/thirdparty/opus/winerrno.h
deleted file mode 100644
index 32a90b4ee1..0000000000
--- a/thirdparty/opus/winerrno.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/********************************************************************
- *                                                                  *
- * THIS FILE IS PART OF THE libopusfile SOFTWARE CODEC SOURCE CODE. *
- * USE, DISTRIBUTION AND REPRODUCTION OF THIS LIBRARY SOURCE IS     *
- * GOVERNED BY A BSD-STYLE SOURCE LICENSE INCLUDED WITH THIS SOURCE *
- * IN 'COPYING'. PLEASE READ THESE TERMS BEFORE DISTRIBUTING.       *
- *                                                                  *
- * THE libopusfile SOURCE CODE IS (C) COPYRIGHT 2012                *
- * by the Xiph.Org Foundation and contributors http://www.xiph.org/ *
- *                                                                  *
- ********************************************************************/
-#if !defined(_opusfile_winerrno_h)
-# define _opusfile_winerrno_h (1)
-
-# include <errno.h>
-# include <winerror.h>
-
-/*These conflict with the MSVC errno.h definitions, but we don't need to use
-   the original ones in any file that deals with sockets.
-  We could map the WSA errors to the errno.h ones (most of which are only
-   available on sufficiently new versions of MSVC), but they aren't ordered the
-   same, and given how rarely we actually look at the values, I don't think
-   it's worth a lookup table.*/
-# undef EWOULDBLOCK
-# undef EINPROGRESS
-# undef EALREADY
-# undef ENOTSOCK
-# undef EDESTADDRREQ
-# undef EMSGSIZE
-# undef EPROTOTYPE
-# undef ENOPROTOOPT
-# undef EPROTONOSUPPORT
-# undef EOPNOTSUPP
-# undef EAFNOSUPPORT
-# undef EADDRINUSE
-# undef EADDRNOTAVAIL
-# undef ENETDOWN
-# undef ENETUNREACH
-# undef ENETRESET
-# undef ECONNABORTED
-# undef ECONNRESET
-# undef ENOBUFS
-# undef EISCONN
-# undef ENOTCONN
-# undef ETIMEDOUT
-# undef ECONNREFUSED
-# undef ELOOP
-# undef ENAMETOOLONG
-# undef EHOSTUNREACH
-# undef ENOTEMPTY
-
-# define EWOULDBLOCK     (WSAEWOULDBLOCK-WSABASEERR)
-# define EINPROGRESS     (WSAEINPROGRESS-WSABASEERR)
-# define EALREADY        (WSAEALREADY-WSABASEERR)
-# define ENOTSOCK        (WSAENOTSOCK-WSABASEERR)
-# define EDESTADDRREQ    (WSAEDESTADDRREQ-WSABASEERR)
-# define EMSGSIZE        (WSAEMSGSIZE-WSABASEERR)
-# define EPROTOTYPE      (WSAEPROTOTYPE-WSABASEERR)
-# define ENOPROTOOPT     (WSAENOPROTOOPT-WSABASEERR)
-# define EPROTONOSUPPORT (WSAEPROTONOSUPPORT-WSABASEERR)
-# define ESOCKTNOSUPPORT (WSAESOCKTNOSUPPORT-WSABASEERR)
-# define EOPNOTSUPP      (WSAEOPNOTSUPP-WSABASEERR)
-# define EPFNOSUPPORT    (WSAEPFNOSUPPORT-WSABASEERR)
-# define EAFNOSUPPORT    (WSAEAFNOSUPPORT-WSABASEERR)
-# define EADDRINUSE      (WSAEADDRINUSE-WSABASEERR)
-# define EADDRNOTAVAIL   (WSAEADDRNOTAVAIL-WSABASEERR)
-# define ENETDOWN        (WSAENETDOWN-WSABASEERR)
-# define ENETUNREACH     (WSAENETUNREACH-WSABASEERR)
-# define ENETRESET       (WSAENETRESET-WSABASEERR)
-# define ECONNABORTED    (WSAECONNABORTED-WSABASEERR)
-# define ECONNRESET      (WSAECONNRESET-WSABASEERR)
-# define ENOBUFS         (WSAENOBUFS-WSABASEERR)
-# define EISCONN         (WSAEISCONN-WSABASEERR)
-# define ENOTCONN        (WSAENOTCONN-WSABASEERR)
-# define ESHUTDOWN       (WSAESHUTDOWN-WSABASEERR)
-# define ETOOMANYREFS    (WSAETOOMANYREFS-WSABASEERR)
-# define ETIMEDOUT       (WSAETIMEDOUT-WSABASEERR)
-# define ECONNREFUSED    (WSAECONNREFUSED-WSABASEERR)
-# define ELOOP           (WSAELOOP-WSABASEERR)
-# define ENAMETOOLONG    (WSAENAMETOOLONG-WSABASEERR)
-# define EHOSTDOWN       (WSAEHOSTDOWN-WSABASEERR)
-# define EHOSTUNREACH    (WSAEHOSTUNREACH-WSABASEERR)
-# define ENOTEMPTY       (WSAENOTEMPTY-WSABASEERR)
-# define EPROCLIM        (WSAEPROCLIM-WSABASEERR)
-# define EUSERS          (WSAEUSERS-WSABASEERR)
-# define EDQUOT          (WSAEDQUOT-WSABASEERR)
-# define ESTALE          (WSAESTALE-WSABASEERR)
-# define EREMOTE         (WSAEREMOTE-WSABASEERR)
-
-#endif
diff --git a/thirdparty/pcre2/LICENCE b/thirdparty/pcre2/LICENCE
index bfe3c8d528..b0f8804fff 100644
--- a/thirdparty/pcre2/LICENCE
+++ b/thirdparty/pcre2/LICENCE
@@ -4,11 +4,11 @@ PCRE2 LICENCE
 PCRE2 is a library of functions to support regular expressions whose syntax
 and semantics are as close as possible to those of the Perl 5 language.
 
-Release 10 of PCRE2 is distributed under the terms of the "BSD" licence, as
-specified below, with one exemption for certain binary redistributions. The
-documentation for PCRE2, supplied in the "doc" directory, is distributed under
-the same terms as the software itself. The data in the testdata directory is
-not copyrighted and is in the public domain.
+Releases 10.00 and above of PCRE2 are distributed under the terms of the "BSD"
+licence, as specified below, with one exemption for certain binary
+redistributions. The documentation for PCRE2, supplied in the "doc" directory,
+is distributed under the same terms as the software itself. The data in the
+testdata directory is not copyrighted and is in the public domain.
 
 The basic library functions are written in C and are freestanding. Also
 included in the distribution is a just-in-time compiler that can be used to
@@ -35,7 +35,7 @@ PCRE2 JUST-IN-TIME COMPILATION SUPPORT
 
 Written by:       Zoltan Herczeg
 Email local part: hzmester
-Emain domain:     freemail.hu
+Email domain:     freemail.hu
 
 Copyright(c) 2010-2018 Zoltan Herczeg
 All rights reserved.
@@ -46,7 +46,7 @@ STACK-LESS JUST-IN-TIME COMPILER
 
 Written by:       Zoltan Herczeg
 Email local part: hzmester
-Emain domain:     freemail.hu
+Email domain:     freemail.hu
 
 Copyright(c) 2009-2018 Zoltan Herczeg
 All rights reserved.
diff --git a/thirdparty/pcre2/src/config.h b/thirdparty/pcre2/src/config.h
index f738616714..89a52ef848 100644
--- a/thirdparty/pcre2/src/config.h
+++ b/thirdparty/pcre2/src/config.h
@@ -18,10 +18,10 @@ to set the macro values. In this case, you do not have to set -DHAVE_CONFIG_H,
 but if you do, default values will be taken from config.h for non-boolean
 macros that are not defined on the command line.
 
-Boolean macros such as HAVE_STDLIB_H and SUPPORT_PCRE2_8 should either be defined
-(conventionally to 1) for TRUE, and not defined at all for FALSE. All such
-macros are listed as a commented #undef in config.h.generic. Macros such as
-MATCH_LIMIT, whose actual value is relevant, have defaults defined, but are
+Boolean macros such as HAVE_STDLIB_H and SUPPORT_PCRE2_8 should either be
+defined (conventionally to 1) for TRUE, and not defined at all for FALSE. All
+such macros are listed as a commented #undef in config.h.generic. Macros such
+as MATCH_LIMIT, whose actual value is relevant, have defaults defined, but are
 surrounded by #ifndef/#endif lines so that the value can be overridden by -D.
 
 PCRE2 uses memmove() if HAVE_MEMMOVE is defined; otherwise it uses bcopy() if
@@ -132,17 +132,18 @@ sure both macros are undefined; an emulation function will then be used. */
 /* Define to 1 if you have the <zlib.h> header file. */
 /* #undef HAVE_ZLIB_H */
 
-/* This limits the amount of memory that pcre2_match() may use while matching
-   a pattern. The value is in kilobytes. */
+/* This limits the amount of memory that may be used while matching a pattern.
+   It applies to both pcre2_match() and pcre2_dfa_match(). It does not apply
+   to JIT matching. The value is in kibibytes (units of 1024 bytes). */
 #ifndef HEAP_LIMIT
 #define HEAP_LIMIT 20000000
 #endif
 
 /* The value of LINK_SIZE determines the number of bytes used to store links
    as offsets within the compiled regex. The default is 2, which allows for
-   compiled patterns up to 64K long. This covers the vast majority of cases.
-   However, PCRE2 can also be compiled to use 3 or 4 bytes instead. This
-   allows for longer patterns in extreme cases. */
+   compiled patterns up to 65535 code units long. This covers the vast
+   majority of cases. However, PCRE2 can also be compiled to use 3 or 4 bytes
+   instead. This allows for longer patterns in extreme cases. */
 #ifndef LINK_SIZE
 #define LINK_SIZE 2
 #endif
@@ -155,7 +156,8 @@ sure both macros are undefined; an emulation function will then be used. */
 
 /* The value of MATCH_LIMIT determines the default number of times the
    pcre2_match() function can record a backtrack position during a single
-   matching attempt. There is a runtime interface for setting a different
+   matching attempt. The value is also used to limit a loop counter in
+   pcre2_dfa_match(). There is a runtime interface for setting a different
    limit. The limit exists in order to catch runaway regular expressions that
    take for ever to determine that they do not match. The default is set very
    large so that it does not accidentally catch legitimate cases. */
@@ -170,7 +172,9 @@ sure both macros are undefined; an emulation function will then be used. */
    MATCH_LIMIT_DEPTH provides this facility. To have any useful effect, it
    must be less than the value of MATCH_LIMIT. The default is to use the same
    value as MATCH_LIMIT. There is a runtime method for setting a different
-   limit. */
+   limit. In the case of pcre2_dfa_match(), this limit controls the depth of
+   the internal nested function calls that are used for pattern recursions,
+   lookarounds, and atomic groups. */
 #ifndef MATCH_LIMIT_DEPTH
 #define MATCH_LIMIT_DEPTH MATCH_LIMIT
 #endif
@@ -210,7 +214,7 @@ sure both macros are undefined; an emulation function will then be used. */
 #define PACKAGE_NAME "PCRE2"
 
 /* Define to the full name and version of this package. */
-#define PACKAGE_STRING "PCRE2 10.31"
+#define PACKAGE_STRING "PCRE2 10.32"
 
 /* Define to the one symbol short name of this package. */
 #define PACKAGE_TARNAME "pcre2"
@@ -219,7 +223,7 @@ sure both macros are undefined; an emulation function will then be used. */
 #define PACKAGE_URL ""
 
 /* Define to the version of this package. */
-#define PACKAGE_VERSION "10.31"
+#define PACKAGE_VERSION "10.32"
 
 /* The value of PARENS_NEST_LIMIT specifies the maximum depth of nested
    parentheses (of any kind) in a pattern. This limits the amount of system
@@ -339,7 +343,7 @@ sure both macros are undefined; an emulation function will then be used. */
 #endif
 
 /* Version number of package */
-#define VERSION "10.31"
+#define VERSION "10.32"
 
 /* Define to 1 if on MINIX. */
 /* #undef _MINIX */
diff --git a/thirdparty/pcre2/src/pcre2.h b/thirdparty/pcre2/src/pcre2.h
index fffcc307d0..3d2feb7a6b 100644
--- a/thirdparty/pcre2/src/pcre2.h
+++ b/thirdparty/pcre2/src/pcre2.h
@@ -5,7 +5,7 @@
 /* This is the public header file for the PCRE library, second API, to be
 #included by applications that call PCRE2 functions.
 
-           Copyright (c) 2016-2017 University of Cambridge
+           Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -41,10 +41,16 @@ POSSIBILITY OF SUCH DAMAGE.
 
 /* The current PCRE version information. */
 
-#define PCRE2_MAJOR          10
-#define PCRE2_MINOR          31
-#define PCRE2_PRERELEASE     
-#define PCRE2_DATE           2018-02-12
+#define PCRE2_MAJOR           10
+#define PCRE2_MINOR           32
+#define PCRE2_PRERELEASE      
+#define PCRE2_DATE            2018-09-10
+
+/* For the benefit of systems without stdint.h, an alternative is to use
+inttypes.h. The existence of these headers is checked by configure or CMake. */
+
+#define PCRE2_HAVE_STDINT_H   1
+#define PCRE2_HAVE_INTTYPES_H 1
 
 /* When an application links to a PCRE DLL in Windows, the symbols that are
 imported have to be identified as such. When building PCRE2, the appropriate
@@ -81,12 +87,18 @@ set, we ensure here that it has no effect. */
 #define PCRE2_CALL_CONVENTION
 #endif
 
-/* Have to include limits.h, stdlib.h and stdint.h to ensure that size_t and
-uint8_t, UCHAR_MAX, etc are defined. */
+/* Have to include limits.h, stdlib.h and stdint.h (or inttypes.h) to ensure
+that size_t and uint8_t, UCHAR_MAX, etc are defined. If the system has neither
+header, the relevant values must be provided by some other means. */
 
 #include <limits.h>
 #include <stdlib.h>
+
+#if PCRE2_HAVE_STDINT_H
 #include <stdint.h>
+#elif PCRE2_HAVE_INTTYPES_H
+#include <inttypes.h>
+#endif
 
 /* Allow for C++ users compiling this directly. */
 
@@ -269,6 +281,7 @@ pcre2_pattern_convert(). */
 #define PCRE2_ERROR_INTERNAL_UNKNOWN_NEWLINE       156
 #define PCRE2_ERROR_BACKSLASH_G_SYNTAX             157
 #define PCRE2_ERROR_PARENS_QUERY_R_MISSING_CLOSING 158
+/* Error 159 is obsolete and should now never occur */
 #define PCRE2_ERROR_VERB_ARGUMENT_NOT_ALLOWED      159
 #define PCRE2_ERROR_VERB_UNKNOWN                   160
 #define PCRE2_ERROR_SUBPATTERN_NUMBER_TOO_BIG      161
@@ -303,6 +316,8 @@ pcre2_pattern_convert(). */
 #define PCRE2_ERROR_INTERNAL_BAD_CODE_IN_SKIP      190
 #define PCRE2_ERROR_NO_SURROGATES_IN_UTF16         191
 #define PCRE2_ERROR_BAD_LITERAL_OPTIONS            192
+#define PCRE2_ERROR_SUPPORTED_ONLY_IN_UNICODE      193
+#define PCRE2_ERROR_INVALID_HYPHEN_IN_OPTIONS      194
 
 
 /* "Expected" matching error codes: no match and partial match. */
@@ -387,6 +402,7 @@ released, the numbers must not be changed. */
 #define PCRE2_ERROR_BADSERIALIZEDDATA (-62)
 #define PCRE2_ERROR_HEAPLIMIT         (-63)
 #define PCRE2_ERROR_CONVERT_SYNTAX    (-64)
+#define PCRE2_ERROR_INTERNAL_DUPMATCH (-65)
 
 
 /* Request types for pcre2_pattern_info() */
diff --git a/thirdparty/pcre2/src/pcre2_auto_possess.c b/thirdparty/pcre2/src/pcre2_auto_possess.c
index 23275a2e39..2ce152e952 100644
--- a/thirdparty/pcre2/src/pcre2_auto_possess.c
+++ b/thirdparty/pcre2/src/pcre2_auto_possess.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -505,7 +505,7 @@ Arguments:
   utf         TRUE in UTF mode
   cb          compile data block
   base_list   the data list of the base opcode
-  base_end    the end of the data list
+  base_end    the end of the base opcode
   rec_limit   points to recursion depth counter
 
 Returns:      TRUE if the auto-possessification is possible
@@ -730,7 +730,7 @@ for(;;)
       if ((*xclass_flags & XCL_MAP) == 0)
         {
         /* No bits are set for characters < 256. */
-        if (list[1] == 0) return TRUE;
+        if (list[1] == 0) return (*xclass_flags & XCL_NOT) == 0;
         /* Might be an empty repeat. */
         continue;
         }
@@ -1235,6 +1235,7 @@ for (;;)
 #endif
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_SKIP_ARG:
     case OP_THEN_ARG:
diff --git a/thirdparty/pcre2/src/pcre2_chartables.c b/thirdparty/pcre2/src/pcre2_chartables.c
index 203cb1a4ab..4046500c00 100644
--- a/thirdparty/pcre2/src/pcre2_chartables.c
+++ b/thirdparty/pcre2/src/pcre2_chartables.c
@@ -2,23 +2,24 @@
 *      Perl-Compatible Regular Expressions       *
 *************************************************/
 
-/* This file contains character tables that are used when no external tables
-are passed to PCRE2 by the application that calls it. The tables are used only
-for characters whose code values are less than 256.
-
-This is a default version of the tables that assumes ASCII encoding. A program
-called dftables (which is distributed with PCRE2) can be used to build
-alternative versions of this file. This is necessary if you are running in an
-EBCDIC environment, or if you want to default to a different encoding, for
-example ISO-8859-1. When dftables is run, it creates these tables in the
-current locale. If PCRE2 is configured with --enable-rebuild-chartables, this
-happens automatically.
-
-The following #includes are present because without them gcc 4.x may remove the
-array definition from the final binary if PCRE2 is built into a static library
-and dead code stripping is activated. This leads to link errors. Pulling in the
-header ensures that the array gets flagged as "someone outside this compilation
-unit might reference this" and so it will always be supplied to the linker. */
+/* This file was automatically written by the dftables auxiliary
+program. It contains character tables that are used when no external
+tables are passed to PCRE2 by the application that calls it. The tables
+are used only for characters whose code values are less than 256. */
+
+/*The dftables program (which is distributed with PCRE2) can be used to
+build alternative versions of this file. This is necessary if you are
+running in an EBCDIC environment, or if you want to default to a different
+encoding, for example ISO-8859-1. When dftables is run, it creates these
+tables in the current locale. This happens automatically if PCRE2 is
+configured with --enable-rebuild-chartables. */
+
+/* The following #include is present because without it gcc 4.x may remove
+the array definition from the final binary if PCRE2 is built into a static
+library and dead code stripping is activated. This leads to link errors.
+Pulling in the header ensures that the array gets flagged as "someone
+outside this compilation unit might reference this" and so it will always
+be supplied to the linker. */
 
 #ifdef HAVE_CONFIG_H
 #include "config.h"
@@ -101,7 +102,7 @@ const uint8_t PRIV(default_tables)[] = {
 /* This table contains bit maps for various character classes. Each map is 32
 bytes long and the bits run from the least significant end of each byte. The
 classes that have their own maps are: space, xdigit, digit, upper, lower, word,
-graph, print, punct, and cntrl. Other classes are built from combinations. */
+graph print, punct, and cntrl. Other classes are built from combinations. */
 
   0x00,0x3e,0x00,0x00,0x01,0x00,0x00,0x00,
   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
@@ -159,25 +160,24 @@ graph, print, punct, and cntrl. Other classes are built from combinations. */
   0x04   decimal digit
   0x08   hexadecimal digit
   0x10   alphanumeric or '_'
-  0x80   regular expression metacharacter or binary zero
 */
 
-  0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /*   0-  7 */
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /*   0-  7 */
   0x00,0x01,0x01,0x01,0x01,0x01,0x00,0x00, /*   8- 15 */
   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /*  16- 23 */
   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /*  24- 31 */
-  0x01,0x00,0x00,0x00,0x80,0x00,0x00,0x00, /*    - '  */
-  0x80,0x80,0x80,0x80,0x00,0x00,0x80,0x00, /*  ( - /  */
+  0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /*    - '  */
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /*  ( - /  */
   0x1c,0x1c,0x1c,0x1c,0x1c,0x1c,0x1c,0x1c, /*  0 - 7  */
-  0x1c,0x1c,0x00,0x00,0x00,0x00,0x00,0x80, /*  8 - ?  */
+  0x1c,0x1c,0x00,0x00,0x00,0x00,0x00,0x00, /*  8 - ?  */
   0x00,0x1a,0x1a,0x1a,0x1a,0x1a,0x1a,0x12, /*  @ - G  */
   0x12,0x12,0x12,0x12,0x12,0x12,0x12,0x12, /*  H - O  */
   0x12,0x12,0x12,0x12,0x12,0x12,0x12,0x12, /*  P - W  */
-  0x12,0x12,0x12,0x80,0x80,0x00,0x80,0x10, /*  X - _  */
+  0x12,0x12,0x12,0x00,0x00,0x00,0x00,0x10, /*  X - _  */
   0x00,0x1a,0x1a,0x1a,0x1a,0x1a,0x1a,0x12, /*  ` - g  */
   0x12,0x12,0x12,0x12,0x12,0x12,0x12,0x12, /*  h - o  */
   0x12,0x12,0x12,0x12,0x12,0x12,0x12,0x12, /*  p - w  */
-  0x12,0x12,0x12,0x80,0x80,0x00,0x00,0x00, /*  x -127 */
+  0x12,0x12,0x12,0x00,0x00,0x00,0x00,0x00, /*  x -127 */
   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /* 128-135 */
   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /* 136-143 */
   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, /* 144-151 */
diff --git a/thirdparty/pcre2/src/pcre2_compile.c b/thirdparty/pcre2/src/pcre2_compile.c
index 87530fb584..6bb1de3610 100644
--- a/thirdparty/pcre2/src/pcre2_compile.c
+++ b/thirdparty/pcre2/src/pcre2_compile.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -63,8 +63,8 @@ POSSIBILITY OF SUCH DAMAGE.
 
 /* Other debugging code can be enabled by these defines. */
 
-// #define DEBUG_SHOW_CAPTURES
-// #define DEBUG_SHOW_PARSED
+/* #define DEBUG_SHOW_CAPTURES */
+/* #define DEBUG_SHOW_PARSED */
 
 /* There are a few things that vary with different code unit sizes. Handle them
 by defining macros in order to minimize #if usage. */
@@ -250,34 +250,35 @@ is present where expected in a conditional group. */
 #define META_LOOKBEHINDNOT    0x80250000u  /* (?<! */
 
 /* These must be kept in this order, with consecutive values, and the _ARG
-versions of PRUNE, SKIP, and THEN immediately after their non-argument
+versions of COMMIT, PRUNE, SKIP, and THEN immediately after their non-argument
 versions. */
 
 #define META_MARK             0x80260000u  /* (*MARK) */
 #define META_ACCEPT           0x80270000u  /* (*ACCEPT) */
-#define META_COMMIT           0x80280000u  /* (*COMMIT) */
-#define META_FAIL             0x80290000u  /* (*FAIL) */
-#define META_PRUNE            0x802a0000u  /* These pairs must    */
-#define META_PRUNE_ARG        0x802b0000u  /*   be                */
-#define META_SKIP             0x802c0000u  /*     kept            */
-#define META_SKIP_ARG         0x802d0000u  /*         in          */
-#define META_THEN             0x802e0000u  /*           this      */
-#define META_THEN_ARG         0x802f0000u  /*               order */
+#define META_FAIL             0x80280000u  /* (*FAIL) */
+#define META_COMMIT           0x80290000u  /* These               */
+#define META_COMMIT_ARG       0x802a0000u  /*   pairs             */
+#define META_PRUNE            0x802b0000u  /*     must            */
+#define META_PRUNE_ARG        0x802c0000u  /*       be            */
+#define META_SKIP             0x802d0000u  /*         kept        */
+#define META_SKIP_ARG         0x802e0000u  /*           in        */
+#define META_THEN             0x802f0000u  /*             this    */
+#define META_THEN_ARG         0x80300000u  /*               order */
 
 /* These must be kept in groups of adjacent 3 values, and all together. */
 
-#define META_ASTERISK         0x80300000u  /* *  */
-#define META_ASTERISK_PLUS    0x80310000u  /* *+ */
-#define META_ASTERISK_QUERY   0x80320000u  /* *? */
-#define META_PLUS             0x80330000u  /* +  */
-#define META_PLUS_PLUS        0x80340000u  /* ++ */
-#define META_PLUS_QUERY       0x80350000u  /* +? */
-#define META_QUERY            0x80360000u  /* ?  */
-#define META_QUERY_PLUS       0x80370000u  /* ?+ */
-#define META_QUERY_QUERY      0x80380000u  /* ?? */
-#define META_MINMAX           0x80390000u  /* {n,m}  repeat */
-#define META_MINMAX_PLUS      0x803a0000u  /* {n,m}+ repeat */
-#define META_MINMAX_QUERY     0x803b0000u  /* {n,m}? repeat */
+#define META_ASTERISK         0x80310000u  /* *  */
+#define META_ASTERISK_PLUS    0x80320000u  /* *+ */
+#define META_ASTERISK_QUERY   0x80330000u  /* *? */
+#define META_PLUS             0x80340000u  /* +  */
+#define META_PLUS_PLUS        0x80350000u  /* ++ */
+#define META_PLUS_QUERY       0x80360000u  /* +? */
+#define META_QUERY            0x80370000u  /* ?  */
+#define META_QUERY_PLUS       0x80380000u  /* ?+ */
+#define META_QUERY_QUERY      0x80390000u  /* ?? */
+#define META_MINMAX           0x803a0000u  /* {n,m}  repeat */
+#define META_MINMAX_PLUS      0x803b0000u  /* {n,m}+ repeat */
+#define META_MINMAX_QUERY     0x803c0000u  /* {n,m}? repeat */
 
 #define META_FIRST_QUANTIFIER META_ASTERISK
 #define META_LAST_QUANTIFIER  META_MINMAX_QUERY
@@ -327,8 +328,9 @@ static unsigned char meta_extra_lengths[] = {
   SIZEOFFSET,    /* META_LOOKBEHINDNOT */
   1,             /* META_MARK - plus the string length */
   0,             /* META_ACCEPT */
-  0,             /* META_COMMIT */
   0,             /* META_FAIL */
+  0,             /* META_COMMIT */
+  1,             /* META_COMMIT_ARG - plus the string length */
   0,             /* META_PRUNE */
   1,             /* META_PRUNE_ARG - plus the string length */
   0,             /* META_SKIP */
@@ -510,17 +512,17 @@ static const short int escapes[] = {
      -ESC_Z,                  CHAR_LEFT_SQUARE_BRACKET,
      CHAR_BACKSLASH,          CHAR_RIGHT_SQUARE_BRACKET,
      CHAR_CIRCUMFLEX_ACCENT,  CHAR_UNDERSCORE,
-     CHAR_GRAVE_ACCENT,       ESC_a,
+     CHAR_GRAVE_ACCENT,       CHAR_BEL,
      -ESC_b,                  0,
-     -ESC_d,                  ESC_e,
-     ESC_f,                   0,
+     -ESC_d,                  CHAR_ESC,
+     CHAR_FF,                 0,
      -ESC_h,                  0,
      0,                       -ESC_k,
      0,                       0,
-     ESC_n,                   0,
+     CHAR_LF,                 0,
      -ESC_p,                  0,
-     ESC_r,                   -ESC_s,
-     ESC_tee,                 0,
+     CHAR_CR,                 -ESC_s,
+     CHAR_HT,                 0,
      -ESC_v,                  -ESC_w,
      0,                       0,
      -ESC_z
@@ -544,22 +546,22 @@ because it is defined as 'a', which of course picks up the ASCII value. */
 #endif
 
 static const short int escapes[] = {
-/*  80 */        ESC_a, -ESC_b,       0, -ESC_d, ESC_e,  ESC_f,      0,
-/*  88 */-ESC_h,     0,      0,     '{',      0,     0,      0,      0,
-/*  90 */     0,     0, -ESC_k,       0,      0, ESC_n,      0, -ESC_p,
-/*  98 */     0, ESC_r,      0,     '}',      0,     0,      0,      0,
-/*  A0 */     0,   '~', -ESC_s, ESC_tee,      0,-ESC_v, -ESC_w,      0,
-/*  A8 */     0,-ESC_z,      0,       0,      0,   '[',      0,      0,
-/*  B0 */     0,     0,      0,       0,      0,     0,      0,      0,
-/*  B8 */     0,     0,      0,       0,      0,   ']',    '=',    '-',
-/*  C0 */   '{',-ESC_A, -ESC_B,  -ESC_C, -ESC_D,-ESC_E,      0, -ESC_G,
-/*  C8 */-ESC_H,     0,      0,       0,      0,     0,      0,      0,
-/*  D0 */   '}',     0, -ESC_K,       0,      0,-ESC_N,      0, -ESC_P,
-/*  D8 */-ESC_Q,-ESC_R,      0,       0,      0,     0,      0,      0,
-/*  E0 */  '\\',     0, -ESC_S,       0,      0,-ESC_V, -ESC_W, -ESC_X,
-/*  E8 */     0,-ESC_Z,      0,       0,      0,     0,      0,      0,
-/*  F0 */     0,     0,      0,       0,      0,     0,      0,      0,
-/*  F8 */     0,     0
+/*  80 */         CHAR_BEL, -ESC_b,       0, -ESC_d, CHAR_ESC, CHAR_FF,      0,
+/*  88 */ -ESC_h,        0,      0,     '{',      0,        0,       0,      0,
+/*  90 */      0,        0, -ESC_k,       0,      0,  CHAR_LF,       0, -ESC_p,
+/*  98 */      0,  CHAR_CR,      0,     '}',      0,        0,       0,      0,
+/*  A0 */      0,      '~', -ESC_s, CHAR_HT,      0,   -ESC_v,  -ESC_w,      0,
+/*  A8 */      0,   -ESC_z,      0,       0,      0,      '[',       0,      0,
+/*  B0 */      0,        0,      0,       0,      0,        0,       0,      0,
+/*  B8 */      0,        0,      0,       0,      0,      ']',     '=',    '-',
+/*  C0 */    '{',   -ESC_A, -ESC_B,  -ESC_C, -ESC_D,   -ESC_E,       0, -ESC_G,
+/*  C8 */ -ESC_H,        0,      0,       0,      0,        0,       0,      0,
+/*  D0 */    '}',        0, -ESC_K,       0,      0,   -ESC_N,       0, -ESC_P,
+/*  D8 */ -ESC_Q,   -ESC_R,      0,       0,      0,        0,       0,      0,
+/*  E0 */   '\\',        0, -ESC_S,       0,      0,   -ESC_V,  -ESC_W, -ESC_X,
+/*  E8 */      0,   -ESC_Z,      0,       0,      0,        0,       0,      0,
+/*  F0 */      0,        0,      0,       0,      0,        0,       0,      0,
+/*  F8 */      0,        0
 };
 
 /* We also need a table of characters that may follow \c in an EBCDIC
@@ -586,9 +588,9 @@ static const char verbnames[] =
   "\0"                       /* Empty name is a shorthand for MARK */
   STRING_MARK0
   STRING_ACCEPT0
-  STRING_COMMIT0
   STRING_F0
   STRING_FAIL0
+  STRING_COMMIT0
   STRING_PRUNE0
   STRING_SKIP0
   STRING_THEN;
@@ -596,11 +598,11 @@ static const char verbnames[] =
 static const verbitem verbs[] = {
   { 0, META_MARK,   +1 },  /* > 0 => must have an argument */
   { 4, META_MARK,   +1 },
-  { 6, META_ACCEPT, -1 },  /* < 0 => must not have an argument */
-  { 6, META_COMMIT, -1 },
+  { 6, META_ACCEPT, -1 },  /* < 0 => Optional argument, convert to pre-MARK */
   { 1, META_FAIL,   -1 },
   { 4, META_FAIL,   -1 },
-  { 5, META_PRUNE,   0 },  /* Argument is optional; bump META code if found */
+  { 6, META_COMMIT,  0 },
+  { 5, META_PRUNE,   0 },  /* Optional argument; bump META code if found */
   { 4, META_SKIP,    0 },
   { 4, META_THEN,    0 }
 };
@@ -610,8 +612,8 @@ static const int verbcount = sizeof(verbs)/sizeof(verbitem);
 /* Verb opcodes, indexed by their META code offset from META_MARK. */
 
 static const uint32_t verbops[] = {
-  OP_MARK, OP_ACCEPT, OP_COMMIT, OP_FAIL, OP_PRUNE, OP_PRUNE_ARG, OP_SKIP,
-  OP_SKIP_ARG, OP_THEN, OP_THEN_ARG };
+  OP_MARK, OP_ACCEPT, OP_FAIL, OP_COMMIT, OP_COMMIT_ARG, OP_PRUNE,
+  OP_PRUNE_ARG, OP_SKIP, OP_SKIP_ARG, OP_THEN, OP_THEN_ARG };
 
 /* Offsets from OP_STAR for case-independent and negative repeat opcodes. */
 
@@ -729,7 +731,7 @@ enum { ERR0 = COMPILE_ERROR_BASE,
        ERR61, ERR62, ERR63, ERR64, ERR65, ERR66, ERR67, ERR68, ERR69, ERR70,
        ERR71, ERR72, ERR73, ERR74, ERR75, ERR76, ERR77, ERR78, ERR79, ERR80,
        ERR81, ERR82, ERR83, ERR84, ERR85, ERR86, ERR87, ERR88, ERR89, ERR90,
-       ERR91, ERR92};
+       ERR91, ERR92, ERR93, ERR94 };
 
 /* This is a table of start-of-pattern options such as (*UTF) and settings such
 as (*LIMIT_MATCH=nnnn) and (*CRLF). For completeness and backward
@@ -976,8 +978,8 @@ for (;;)
     case META_POSIX_NEG: fprintf(stderr, "META_POSIX_NEG %d", *pptr++); break;
 
     case META_ACCEPT: fprintf(stderr, "META (*ACCEPT)"); break;
-    case META_COMMIT: fprintf(stderr, "META (*COMMIT)"); break;
     case META_FAIL: fprintf(stderr, "META (*FAIL)"); break;
+    case META_COMMIT: fprintf(stderr, "META (*COMMIT)"); break;
     case META_PRUNE: fprintf(stderr, "META (*PRUNE)"); break;
     case META_SKIP: fprintf(stderr, "META (*SKIP)"); break;
     case META_THEN: fprintf(stderr, "META (*THEN)"); break;
@@ -1067,6 +1069,10 @@ for (;;)
     fprintf(stderr, "META (*MARK:");
     goto SHOWARG;
 
+    case META_COMMIT_ARG:
+    fprintf(stderr, "META (*COMMIT:");
+    goto SHOWARG;
+
     case META_PRUNE_ARG:
     fprintf(stderr, "META (*PRUNE:");
     goto SHOWARG;
@@ -1435,6 +1441,48 @@ else if ((i = escapes[c - ESCAPES_FIRST]) != 0)
     escape = -i;                    /* Else return a special escape */
     if (cb != NULL && (escape == ESC_P || escape == ESC_p || escape == ESC_X))
       cb->external_flags |= PCRE2_HASBKPORX;   /* Note \P, \p, or \X */
+
+    /* Perl supports \N{name} for character names and \N{U+dddd} for numerical
+    Unicode code points, as well as plain \N for "not newline". PCRE does not
+    support \N{name}. However, it does support quantification such as \N{2,3},
+    so if \N{ is not followed by U+dddd we check for a quantifier. */
+
+    if (escape == ESC_N && ptr < ptrend && *ptr == CHAR_LEFT_CURLY_BRACKET)
+      {
+      PCRE2_SPTR p = ptr + 1;
+
+      /* \N{U+ can be handled by the \x{ code. However, this construction is
+      not valid in EBCDIC environments because it specifies a Unicode
+      character, not a codepoint in the local code. For example \N{U+0041}
+      must be "A" in all environments. Also, in Perl, \N{U+ forces Unicode
+      casing semantics for the entire pattern, so allow it only in UTF (i.e.
+      Unicode) mode. */
+
+      if (ptrend - p > 1 && *p == CHAR_U && p[1] == CHAR_PLUS)
+        {
+#ifdef EBCDIC
+        *errorcodeptr = ERR93;
+#else
+        if (utf)
+          {
+          ptr = p + 1;
+          escape = 0;   /* Not a fancy escape after all */
+          goto COME_FROM_NU;
+          }
+        else *errorcodeptr = ERR93;
+#endif
+        }
+
+      /* Give an error if what follows is not a quantifier, but don't override
+      an error set by the quantifier reader (e.g. number overflow). */
+
+      else
+        {
+        if (!read_repeat_counts(&p, ptrend, NULL, NULL, errorcodeptr) &&
+             *errorcodeptr == 0)
+          *errorcodeptr = ERR37;
+        }
+      }
     }
   }
 
@@ -1462,6 +1510,7 @@ else
     /* A number of Perl escapes are not handled by PCRE. We give an explicit
     error. */
 
+    case CHAR_F:
     case CHAR_l:
     case CHAR_L:
     *errorcodeptr = ERR37;
@@ -1719,6 +1768,9 @@ else
       {
       if (ptr < ptrend && *ptr == CHAR_LEFT_CURLY_BRACKET)
         {
+#ifndef EBCDIC
+        COME_FROM_NU:
+#endif
         if (++ptr >= ptrend || *ptr == CHAR_RIGHT_CURLY_BRACKET)
           {
           *errorcodeptr = ERR78;
@@ -1852,19 +1904,6 @@ else
     }
   }
 
-/* Perl supports \N{name} for character names, as well as plain \N for "not
-newline". PCRE does not support \N{name}. However, it does support
-quantification such as \N{2,3}. */
-
-if (escape == ESC_N && ptr < ptrend && *ptr == CHAR_LEFT_CURLY_BRACKET &&
-    ptrend - ptr > 2)
-  {
-  PCRE2_SPTR p = ptr + 1;
-  if (!read_repeat_counts(&p, ptrend, NULL, NULL, errorcodeptr) &&
-       *errorcodeptr == 0)
-    *errorcodeptr = ERR37;
-  }
-
 /* Set the pointer to the next character before returning. */
 
 *ptrptr = ptr;
@@ -2251,11 +2290,14 @@ typedef struct nest_save {
 #define NSF_RESET          0x0001u
 #define NSF_CONDASSERT     0x0002u
 
-/* Of the options that are changeable within the pattern, these are tracked
-during parsing. The rest are used from META_OPTIONS items when compiling. */
+/* Options that are changeable within the pattern must be tracked during
+parsing. Some (e.g. PCRE2_EXTENDED) are implemented entirely during parsing,
+but all must be tracked so that META_OPTIONS items set the correct values for
+the main compiling phase. */
 
-#define PARSE_TRACKED_OPTIONS \
-  (PCRE2_DUPNAMES|PCRE2_EXTENDED|PCRE2_EXTENDED_MORE|PCRE2_NO_AUTO_CAPTURE)
+#define PARSE_TRACKED_OPTIONS (PCRE2_CASELESS|PCRE2_DOTALL|PCRE2_DUPNAMES| \
+  PCRE2_EXTENDED|PCRE2_EXTENDED_MORE|PCRE2_MULTILINE|PCRE2_NO_AUTO_CAPTURE| \
+  PCRE2_UNGREEDY)
 
 /* States used for analyzing ranges in character classes. The two OK values
 must be last. */
@@ -2290,6 +2332,7 @@ uint32_t *previous_callout = NULL;
 uint32_t *parsed_pattern = cb->parsed_pattern;
 uint32_t *parsed_pattern_end = cb->parsed_pattern_end;
 uint32_t meta_quantifier = 0;
+uint32_t add_after_mark = 0;
 uint16_t nest_depth = 0;
 int after_manual_callout = 0;
 int expect_cond_assert = 0;
@@ -2434,11 +2477,17 @@ while (ptr < ptrend)
         /* EITHER: not both options set */
         ((options & (PCRE2_EXTENDED | PCRE2_ALT_VERBNAMES)) !=
                     (PCRE2_EXTENDED | PCRE2_ALT_VERBNAMES)) ||
-        /* OR: character > 255 */
-        c > 255 ||
-        /* OR: not a # comment or white space */
-        (c != CHAR_NUMBER_SIGN && (cb->ctypes[c] & ctype_space) == 0)
-       ))
+#ifdef SUPPORT_UNICODE
+        /* OR: character > 255 AND not Unicode Pattern White Space */
+        (c > 255 && (c|1) != 0x200f && (c|1) != 0x2029) ||
+#endif
+        /* OR: not a # comment or isspace() white space */
+        (c < 256 && c != CHAR_NUMBER_SIGN && (cb->ctypes[c] & ctype_space) == 0
+#ifdef SUPPORT_UNICODE
+        /* and not CHAR_NEL when Unicode is supported */
+          && c != CHAR_NEL
+#endif
+       )))
     {
     PCRE2_SIZE verbnamelength;
 
@@ -2461,6 +2510,16 @@ while (ptr < ptrend)
         goto FAILED;
         }
       *verblengthptr = (uint32_t)verbnamelength;
+
+      /* If this name was on a verb such as (*ACCEPT) which does not continue,
+      a (*MARK) was generated for the name. We now add the original verb as the
+      next item. */
+
+      if (add_after_mark != 0)
+        {
+        *parsed_pattern++ = add_after_mark;
+        add_after_mark = 0;
+        }
       break;
 
       case CHAR_BACKSLASH:
@@ -2510,11 +2569,18 @@ while (ptr < ptrend)
 
   /* Skip over whitespace and # comments in extended mode. Note that c is a
   character, not a code unit, so we must not use MAX_255 to test its size
-  because MAX_255 tests code units and is assumed TRUE in 8-bit mode. */
+  because MAX_255 tests code units and is assumed TRUE in 8-bit mode. The
+  whitespace characters are those designated as "Pattern White Space" by
+  Unicode, which are the isspace() characters plus CHAR_NEL (newline), which is
+  U+0085 in Unicode, plus U+200E, U+200F, U+2028, and U+2029. These are a
+  subset of space characters that match \h and \v. */
 
   if ((options & PCRE2_EXTENDED) != 0)
     {
     if (c < 256 && (cb->ctypes[c] & ctype_space) != 0) continue;
+#ifdef SUPPORT_UNICODE
+    if (c == CHAR_NEL || (c|1) == 0x200f || (c|1) == 0x2029) continue;
+#endif
     if (c == CHAR_NUMBER_SIGN)
       {
       while (ptr < ptrend)
@@ -3206,7 +3272,6 @@ while (ptr < ptrend)
         tempptr = ptr;
         escape = PRIV(check_escape)(&ptr, ptrend, &c, &errorcode,
           options, TRUE, cb);
-
         if (errorcode != 0)
           {
           CLASS_ESCAPE_FAILED:
@@ -3454,13 +3519,25 @@ while (ptr < ptrend)
 
         if (*ptr++ == CHAR_COLON)   /* Skip past : or ) */
           {
-          if (verbs[i].has_arg < 0)  /* Argument is forbidden */
+          /* Some optional arguments can be treated as a preceding (*MARK) */
+
+          if (verbs[i].has_arg < 0)
             {
-            errorcode = ERR59;
-            goto FAILED;
+            add_after_mark = verbs[i].meta;
+            *parsed_pattern++ = META_MARK;
             }
-          *parsed_pattern++ = verbs[i].meta +
-            ((verbs[i].meta != META_MARK)? 0x00010000u:0);
+
+          /* The remaining verbs with arguments (except *MARK) need a different
+          opcode. */
+
+          else
+            {
+            *parsed_pattern++ = verbs[i].meta +
+              ((verbs[i].meta != META_MARK)? 0x00010000u:0);
+            }
+
+          /* Set up for reading the name in the main loop. */
+
           verblengthptr = parsed_pattern++;
           verbnamestart = ptr;
           inverbname = TRUE;
@@ -3521,17 +3598,39 @@ while (ptr < ptrend)
 
       else
         {
+        BOOL hyphenok = TRUE;
+        uint32_t oldoptions = options;
+
         top_nest->reset_group = 0;
         top_nest->max_group = 0;
         set = unset = 0;
         optset = &set;
 
+        /* ^ at the start unsets imnsx and disables the subsequent use of - */
+
+        if (ptr < ptrend && *ptr == CHAR_CIRCUMFLEX_ACCENT)
+          {
+          options &= ~(PCRE2_CASELESS|PCRE2_MULTILINE|PCRE2_NO_AUTO_CAPTURE|
+                       PCRE2_DOTALL|PCRE2_EXTENDED|PCRE2_EXTENDED_MORE);
+          hyphenok = FALSE;
+          ptr++;
+          }
+
         while (ptr < ptrend && *ptr != CHAR_RIGHT_PARENTHESIS &&
                                *ptr != CHAR_COLON)
           {
           switch (*ptr++)
             {
-            case CHAR_MINUS: optset = &unset; break;
+            case CHAR_MINUS:
+            if (!hyphenok)
+              {
+              errorcode = ERR94;
+              ptr--;  /* Correct the offset */
+              goto FAILED;
+              }
+            optset = &unset;
+            hyphenok = FALSE;
+            break;
 
             case CHAR_J:  /* Record that it changed in the external options */
             *optset |= PCRE2_DUPNAMES;
@@ -3591,7 +3690,7 @@ while (ptr < ptrend)
 
         /* If nothing changed, no need to record. */
 
-        if (set != 0 || unset != 0)
+        if (options != oldoptions)
           {
           *parsed_pattern++ = META_OPTIONS;
           *parsed_pattern++ = options;
@@ -3896,9 +3995,8 @@ while (ptr < ptrend)
         if (*ptr == CHAR_DOT)
           {
           if (++ptr >= ptrend || !IS_DIGIT(*ptr)) goto BAD_VERSION_CONDITION;
-          if (!read_number(&ptr, ptrend, -1, 99 , ERR79, &minor, &errorcode))
-            goto FAILED;
-          if (minor < 10) minor *= 10;
+          minor = (*ptr++ - CHAR_0) * 10;
+          if (IS_DIGIT(*ptr)) minor += *ptr++ - CHAR_0;
           if (ptr >= ptrend || *ptr != CHAR_RIGHT_PARENTHESIS)
             goto BAD_VERSION_CONDITION;
           }
@@ -4261,11 +4359,11 @@ goto FAILED;
 
 
 /*************************************************
-*      Find first significant op code            *
+*       Find first significant opcode            *
 *************************************************/
 
 /* This is called by several functions that scan a compiled expression looking
-for a fixed first character, or an anchoring op code etc. It skips over things
+for a fixed first character, or an anchoring opcode etc. It skips over things
 that do not influence this. For some calls, it makes sense to skip negative
 forward and all backward assertions, and also the \b assertion; for others it
 does not.
@@ -5472,7 +5570,7 @@ for (;; pptr++)
       set xclass = TRUE. Then, in the pre-compile phase, accumulate the length
       of the extra data and reset the pointer. This is so that very large
       classes that contain a zillion wide characters or Unicode property tests
-      do not overwrite the work space (which is on the stack). */
+      do not overwrite the workspace (which is on the stack). */
 
       if (class_uchardata > class_uchardata_base)
         {
@@ -5563,7 +5661,7 @@ for (;; pptr++)
       if (class_has_8bitchar > 0)
         {
         *code++ |= XCL_MAP;
-        memmove(code + (32 / sizeof(PCRE2_UCHAR)), code,
+        (void)memmove(code + (32 / sizeof(PCRE2_UCHAR)), code,
           CU2BYTES(class_uchardata - code));
         if (negate_class && !xclass_has_prop)
           for (i = 0; i < 32; i++) classbits[i] = ~classbits[i];
@@ -5655,6 +5753,7 @@ for (;; pptr++)
     cb->had_pruneorskip = TRUE;
     /* Fall through */
     case META_MARK:
+    case META_COMMIT_ARG:
     VERB_ARG:
     *code++ = verbops[(meta - META_MARK) >> 16];
     /* The length is in characters. */
@@ -6509,7 +6608,7 @@ for (;; pptr++)
 
       /* Wrap the recursion call in OP_BRA brackets. */
 
-      memmove(previous + 1 + LINK_SIZE, previous, CU2BYTES(1 + LINK_SIZE));
+      (void)memmove(previous + 1 + LINK_SIZE, previous, CU2BYTES(1 + LINK_SIZE));
       op_previous = *previous = OP_BRA;
       PUT(previous, 1, 2 + 2*LINK_SIZE);
       previous[2 + 2*LINK_SIZE] = OP_KET;
@@ -6589,7 +6688,7 @@ for (;; pptr++)
 
           if (repeat_max <= 1 || repeat_max == REPEAT_UNLIMITED)
             {
-            memmove(previous + 1, previous, CU2BYTES(len));
+            (void)memmove(previous + 1, previous, CU2BYTES(len));
             code++;
             if (repeat_max == 0)
               {
@@ -6610,7 +6709,7 @@ for (;; pptr++)
           else
             {
             int linkoffset;
-            memmove(previous + 2 + LINK_SIZE, previous, CU2BYTES(len));
+            (void)memmove(previous + 2 + LINK_SIZE, previous, CU2BYTES(len));
             code += 2 + LINK_SIZE;
             *previous++ = OP_BRAZERO + repeat_type;
             *previous++ = OP_BRA;
@@ -6811,7 +6910,7 @@ for (;; pptr++)
               if (*bracode == OP_COND || *bracode == OP_SCOND)
                 {
                 int nlen = (int)(code - bracode);
-                memmove(bracode + 1 + LINK_SIZE, bracode, CU2BYTES(nlen));
+                (void)memmove(bracode + 1 + LINK_SIZE, bracode, CU2BYTES(nlen));
                 code += 1 + LINK_SIZE;
                 nlen += 1 + LINK_SIZE;
                 *bracode = (*bracode == OP_COND)? OP_BRAPOS : OP_SBRAPOS;
@@ -7082,7 +7181,7 @@ for (;; pptr++)
 
         else
           {
-          memmove(tempcode + 1 + LINK_SIZE, tempcode, CU2BYTES(len));
+          (void)memmove(tempcode + 1 + LINK_SIZE, tempcode, CU2BYTES(len));
           code += 1 + LINK_SIZE;
           len += 1 + LINK_SIZE;
           tempcode[0] = OP_ONCE;
@@ -7460,7 +7559,7 @@ length of the BRA and KET and any extra code units that are required at the
 beginning. We accumulate in a local variable to save frequent testing of
 lengthptr for NULL. We cannot do this by looking at the value of 'code' at the
 start and end of each alternative, because compiled items are discarded during
-the pre-compile phase so that the work space is not exceeded. */
+the pre-compile phase so that the workspace is not exceeded. */
 
 length = 2 + 2*LINK_SIZE + skipunits;
 
@@ -7622,7 +7721,7 @@ for (;;)
       {
       if (cb->open_caps->flag)
         {
-        memmove(start_bracket + 1 + LINK_SIZE, start_bracket,
+        (void)memmove(start_bracket + 1 + LINK_SIZE, start_bracket,
           CU2BYTES(code - start_bracket));
         *start_bracket = OP_ONCE;
         code += 1 + LINK_SIZE;
@@ -7765,10 +7864,11 @@ do {
      if (!is_anchored(scode, bracket_map, cb, atomcount, TRUE)) return FALSE;
      }
 
-   /* Condition */
+   /* Condition. If there is no second branch, it can't be anchored. */
 
-   else if (op == OP_COND)
+   else if (op == OP_COND || op == OP_SCOND)
      {
+     if (scode[GET(scode,1)] != OP_ALT) return FALSE;
      if (!is_anchored(scode, bracket_map, cb, atomcount, inassert))
        return FALSE;
      }
@@ -8003,6 +8103,7 @@ for (;;)
       break;
 
       case OP_MARK:
+      case OP_COMMIT_ARG:
       case OP_PRUNE_ARG:
       case OP_SKIP_ARG:
       case OP_THEN_ARG:
@@ -8221,7 +8322,7 @@ for (i = 0; i < tablecount; i++)
 
   if (crc < 0)
     {
-    memmove(slot + cb->name_entry_size, slot,
+    (void)memmove(slot + cb->name_entry_size, slot,
       CU2BYTES((tablecount - i) * cb->name_entry_size));
     break;
     }
@@ -8311,6 +8412,7 @@ for (;; pptr++)
     break;
 
     case META_MARK:     /* Add the length of the name. */
+    case META_COMMIT_ARG:
     case META_PRUNE_ARG:
     case META_SKIP_ARG:
     case META_THEN_ARG:
@@ -8501,6 +8603,7 @@ for (;; pptr++)
     goto EXIT;
 
     case META_MARK:
+    case META_COMMIT_ARG:
     case META_PRUNE_ARG:
     case META_SKIP_ARG:
     case META_THEN_ARG:
@@ -8572,6 +8675,32 @@ for (;; pptr++)
     case META_LOOKAHEADNOT:
     pptr = parsed_skip(pptr + 1, PSKIP_KET);
     if (pptr == NULL) goto PARSED_SKIP_FAILED;
+
+    /* Also ignore any qualifiers that follow a lookahead assertion. */
+
+    switch (pptr[1])
+      {
+      case META_ASTERISK:
+      case META_ASTERISK_PLUS:
+      case META_ASTERISK_QUERY:
+      case META_PLUS:
+      case META_PLUS_PLUS:
+      case META_PLUS_QUERY:
+      case META_QUERY:
+      case META_QUERY_PLUS:
+      case META_QUERY_QUERY:
+      pptr++;
+      break;
+
+      case META_MINMAX:
+      case META_MINMAX_PLUS:
+      case META_MINMAX_QUERY:
+      pptr += 3;
+      break;
+
+      default:
+      break;
+      }
     break;
 
     /* Lookbehinds can be ignored, but must themselves be checked. */
@@ -8942,6 +9071,7 @@ for (pptr = cb->parsed_pattern; *pptr != META_END; pptr++)
     break;
 
     case META_MARK:
+    case META_COMMIT_ARG:
     case META_PRUNE_ARG:
     case META_SKIP_ARG:
     case META_THEN_ARG:
diff --git a/thirdparty/pcre2/src/pcre2_convert.c b/thirdparty/pcre2/src/pcre2_convert.c
index bdf9b86df6..1dd5c337dc 100644
--- a/thirdparty/pcre2/src/pcre2_convert.c
+++ b/thirdparty/pcre2/src/pcre2_convert.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -1066,11 +1066,12 @@ BOOL utf = (options & PCRE2_CONVERT_UTF) != 0;
 uint32_t pattype = options & TYPE_OPTIONS;
 
 if (pattern == NULL || bufflenptr == NULL) return PCRE2_ERROR_NULL;
+
 if ((options & ~ALL_OPTIONS) != 0 ||        /* Undefined bit set */
     (pattype & (~pattype+1)) != pattype ||  /* More than one type set */
     pattype == 0)                           /* No type set */
   {
-  *bufflenptr = 0;  /* Error offset */
+  *bufflenptr = 0;                          /* Error offset */
   return PCRE2_ERROR_BADOPTION;
   }
 
@@ -1081,7 +1082,11 @@ if (ccontext == NULL) ccontext =
 /* Check UTF if required. */
 
 #ifndef SUPPORT_UNICODE
-if (utf) return PCRE2_ERROR_UNICODE_NOT_SUPPORTED;
+if (utf)
+  {
+  *bufflenptr = 0;  /* Error offset */
+  return PCRE2_ERROR_UNICODE_NOT_SUPPORTED;
+  }
 #else
 if (utf && (options & PCRE2_CONVERT_NO_UTF_CHECK) == 0)
   {
@@ -1126,6 +1131,7 @@ for (i = 0; i < 2; i++)
     break;
 
     default:
+    *bufflenptr = 0;  /* Error offset */
     return PCRE2_ERROR_INTERNAL;
     }
 
diff --git a/thirdparty/pcre2/src/pcre2_dfa_match.c b/thirdparty/pcre2/src/pcre2_dfa_match.c
index c6184ff5e9..9b43237da7 100644
--- a/thirdparty/pcre2/src/pcre2_dfa_match.c
+++ b/thirdparty/pcre2/src/pcre2_dfa_match.c
@@ -181,7 +181,8 @@ static const uint8_t coptable[] = {
   0, 0, 0,                       /* BRAZERO, BRAMINZERO, BRAPOSZERO        */
   0, 0, 0,                       /* MARK, PRUNE, PRUNE_ARG                 */
   0, 0, 0, 0,                    /* SKIP, SKIP_ARG, THEN, THEN_ARG         */
-  0, 0, 0, 0,                    /* COMMIT, FAIL, ACCEPT, ASSERT_ACCEPT    */
+  0, 0,                          /* COMMIT, COMMIT_ARG                     */
+  0, 0, 0,                       /* FAIL, ACCEPT, ASSERT_ACCEPT            */
   0, 0, 0                        /* CLOSE, SKIPZERO, DEFINE                */
 };
 
@@ -254,7 +255,8 @@ static const uint8_t poptable[] = {
   0, 0, 0,                       /* BRAZERO, BRAMINZERO, BRAPOSZERO        */
   0, 0, 0,                       /* MARK, PRUNE, PRUNE_ARG                 */
   0, 0, 0, 0,                    /* SKIP, SKIP_ARG, THEN, THEN_ARG         */
-  0, 0, 0, 0,                    /* COMMIT, FAIL, ACCEPT, ASSERT_ACCEPT    */
+  0, 0,                          /* COMMIT, COMMIT_ARG                     */
+  0, 0, 0,                       /* FAIL, ACCEPT, ASSERT_ACCEPT            */
   0, 0, 0                        /* CLOSE, SKIPZERO, DEFINE                */
 };
 
@@ -292,6 +294,35 @@ typedef struct stateblock {
 #define INTS_PER_STATEBLOCK  (int)(sizeof(stateblock)/sizeof(int))
 
 
+/* Before version 10.32 the recursive calls of internal_dfa_match() were passed
+local working space and output vectors that were created on the stack. This has
+caused issues for some patterns, especially in small-stack environments such as
+Windows. A new scheme is now in use which sets up a vector on the stack, but if
+this is too small, heap memory is used, up to the heap_limit. The main
+parameters are all numbers of ints because the workspace is a vector of ints.
+
+The size of the starting stack vector, DFA_START_RWS_SIZE, is in bytes, and is
+defined in pcre2_internal.h so as to be available to pcre2test when it is
+finding the minimum heap requirement for a match. */
+
+#define OVEC_UNIT  (sizeof(PCRE2_SIZE)/sizeof(int))
+
+#define RWS_BASE_SIZE   (DFA_START_RWS_SIZE/sizeof(int))  /* Stack vector */
+#define RWS_RSIZE       1000                    /* Work size for recursion */
+#define RWS_OVEC_RSIZE  (1000*OVEC_UNIT)        /* Ovector for recursion */
+#define RWS_OVEC_OSIZE  (2*OVEC_UNIT)           /* Ovector in other cases */
+
+/* This structure is at the start of each workspace block. */
+
+typedef struct RWS_anchor {
+  struct RWS_anchor *next;
+  unsigned int size;  /* Number of ints */
+  unsigned int free;  /* Number of ints */
+} RWS_anchor;
+
+#define RWS_ANCHOR_SIZE (sizeof(RWS_anchor)/sizeof(int))
+
+
 
 /*************************************************
 *               Process a callout                *
@@ -354,6 +385,61 @@ return (mb->callout)(cb, mb->callout_data);
 
 
 /*************************************************
+*         Expand local workspace memory          *
+*************************************************/
+
+/* This function is called when internal_dfa_match() is about to be called
+recursively and there is insufficient working space left in the current
+workspace block. If there's an existing next block, use it; otherwise get a new
+block unless the heap limit is reached.
+
+Arguments:
+  rwsptr     pointer to block pointer (updated)
+  ovecsize   space needed for an ovector
+  mb         the match block
+
+Returns:     0 rwsptr has been updated
+            !0 an error code
+*/
+
+static int
+more_workspace(RWS_anchor **rwsptr, unsigned int ovecsize, dfa_match_block *mb)
+{
+RWS_anchor *rws = *rwsptr;
+RWS_anchor *new;
+
+if (rws->next != NULL)
+  {
+  new = rws->next;
+  }
+
+/* All sizes are in units of sizeof(int), except for mb->heaplimit, which is in
+kibibytes. */
+
+else
+  {
+  unsigned int newsize = rws->size * 2;
+  unsigned int heapleft = (unsigned int)
+    (((1024/sizeof(int))*mb->heap_limit - mb->heap_used));
+  if (newsize > heapleft) newsize = heapleft;
+  if (newsize < RWS_RSIZE + ovecsize + RWS_ANCHOR_SIZE)
+    return PCRE2_ERROR_HEAPLIMIT;
+  new = mb->memctl.malloc(newsize*sizeof(int), mb->memctl.memory_data);
+  if (new == NULL) return PCRE2_ERROR_NOMEMORY;
+  mb->heap_used += newsize;
+  new->next = NULL;
+  new->size = newsize;
+  rws->next = new;
+  }
+
+new->free = new->size - RWS_ANCHOR_SIZE;
+*rwsptr = new;
+return 0;
+}
+
+
+
+/*************************************************
 *     Match a Regular Expression - DFA engine    *
 *************************************************/
 
@@ -431,7 +517,8 @@ internal_dfa_match(
   uint32_t offsetcount,
   int *workspace,
   int wscount,
-  uint32_t  rlevel)
+  uint32_t rlevel,
+  int *RWS)
 {
 stateblock *active_states, *new_states, *temp_states;
 stateblock *next_active_state, *next_new_state;
@@ -788,7 +875,7 @@ for (;;)
             else if (match_count > 0 && ++match_count * 2 > (int)offsetcount)
               match_count = 0;
           count = ((match_count == 0)? (int)offsetcount : match_count * 2) - 2;
-          if (count > 0) memmove(offsets + 2, offsets,
+          if (count > 0) (void)memmove(offsets + 2, offsets,
             (size_t)count * sizeof(PCRE2_SIZE));
           if (offsetcount >= 2)
             {
@@ -2587,10 +2674,22 @@ for (;;)
       case OP_ASSERTBACK:
       case OP_ASSERTBACK_NOT:
         {
-        PCRE2_SPTR endasscode = code + GET(code, 1);
-        PCRE2_SIZE local_offsets[2];
         int rc;
-        int local_workspace[1000];
+        int *local_workspace;
+        PCRE2_SIZE *local_offsets;
+        PCRE2_SPTR endasscode = code + GET(code, 1);
+        RWS_anchor *rws = (RWS_anchor *)RWS;
+
+        if (rws->free < RWS_RSIZE + RWS_OVEC_OSIZE)
+          {
+          rc = more_workspace(&rws, RWS_OVEC_OSIZE, mb);
+          if (rc != 0) return rc;
+          RWS = (int *)rws;
+          }
+
+        local_offsets = (PCRE2_SIZE *)(RWS + rws->size - rws->free);
+        local_workspace = ((int *)local_offsets) + RWS_OVEC_OSIZE;
+        rws->free -= RWS_RSIZE + RWS_OVEC_OSIZE;
 
         while (*endasscode == OP_ALT) endasscode += GET(endasscode, 1);
 
@@ -2600,10 +2699,13 @@ for (;;)
           ptr,                                  /* where we currently are */
           (PCRE2_SIZE)(ptr - start_subject),    /* start offset */
           local_offsets,                        /* offset vector */
-          sizeof(local_offsets)/sizeof(PCRE2_SIZE), /* size of same */
+          RWS_OVEC_OSIZE/OVEC_UNIT,             /* size of same */
           local_workspace,                      /* workspace vector */
-          sizeof(local_workspace)/sizeof(int),  /* size of same */
-          rlevel);                              /* function recursion level */
+          RWS_RSIZE,                            /* size of same */
+          rlevel,                               /* function recursion level */
+          RWS);                                 /* recursion workspace */
+
+        rws->free += RWS_RSIZE + RWS_OVEC_OSIZE;
 
         if (rc < 0 && rc != PCRE2_ERROR_NOMATCH) return rc;
         if ((rc >= 0) == (codevalue == OP_ASSERT || codevalue == OP_ASSERTBACK))
@@ -2615,8 +2717,6 @@ for (;;)
       case OP_COND:
       case OP_SCOND:
         {
-        PCRE2_SIZE local_offsets[1000];
-        int local_workspace[1000];
         int codelink = (int)GET(code, 1);
         PCRE2_UCHAR condcode;
 
@@ -2673,8 +2773,22 @@ for (;;)
         else
           {
           int rc;
+          int *local_workspace;
+          PCRE2_SIZE *local_offsets;
           PCRE2_SPTR asscode = code + LINK_SIZE + 1;
           PCRE2_SPTR endasscode = asscode + GET(asscode, 1);
+          RWS_anchor *rws = (RWS_anchor *)RWS;
+
+          if (rws->free < RWS_RSIZE + RWS_OVEC_OSIZE)
+            {
+            rc = more_workspace(&rws, RWS_OVEC_OSIZE, mb);
+            if (rc != 0) return rc;
+            RWS = (int *)rws;
+            }
+
+          local_offsets = (PCRE2_SIZE *)(RWS + rws->size - rws->free);
+          local_workspace = ((int *)local_offsets) + RWS_OVEC_OSIZE;
+          rws->free -= RWS_RSIZE + RWS_OVEC_OSIZE;
 
           while (*endasscode == OP_ALT) endasscode += GET(endasscode, 1);
 
@@ -2684,10 +2798,13 @@ for (;;)
             ptr,                                  /* where we currently are */
             (PCRE2_SIZE)(ptr - start_subject),    /* start offset */
             local_offsets,                        /* offset vector */
-            sizeof(local_offsets)/sizeof(PCRE2_SIZE), /* size of same */
+            RWS_OVEC_OSIZE/OVEC_UNIT,             /* size of same */
             local_workspace,                      /* workspace vector */
-            sizeof(local_workspace)/sizeof(int),  /* size of same */
-            rlevel);                              /* function recursion level */
+            RWS_RSIZE,                            /* size of same */
+            rlevel,                               /* function recursion level */
+            RWS);                                 /* recursion workspace */
+
+          rws->free += RWS_RSIZE + RWS_OVEC_OSIZE;
 
           if (rc < 0 && rc != PCRE2_ERROR_NOMATCH) return rc;
           if ((rc >= 0) ==
@@ -2702,13 +2819,25 @@ for (;;)
       /*-----------------------------------------------------------------*/
       case OP_RECURSE:
         {
+        int rc;
+        int *local_workspace;
+        PCRE2_SIZE *local_offsets;
+        RWS_anchor *rws = (RWS_anchor *)RWS;
         dfa_recursion_info *ri;
-        PCRE2_SIZE local_offsets[1000];
-        int local_workspace[1000];
         PCRE2_SPTR callpat = start_code + GET(code, 1);
         uint32_t recno = (callpat == mb->start_code)? 0 :
           GET2(callpat, 1 + LINK_SIZE);
-        int rc;
+
+        if (rws->free < RWS_RSIZE + RWS_OVEC_RSIZE)
+          {
+          rc = more_workspace(&rws, RWS_OVEC_RSIZE, mb);
+          if (rc != 0) return rc;
+          RWS = (int *)rws;
+          }
+
+        local_offsets = (PCRE2_SIZE *)(RWS + rws->size - rws->free);
+        local_workspace = ((int *)local_offsets) + RWS_OVEC_RSIZE;
+        rws->free -= RWS_RSIZE + RWS_OVEC_RSIZE;
 
         /* Check for repeating a recursion without advancing the subject
         pointer. This should catch convoluted mutual recursions. (Some simple
@@ -2732,11 +2861,13 @@ for (;;)
           ptr,                                  /* where we currently are */
           (PCRE2_SIZE)(ptr - start_subject),    /* start offset */
           local_offsets,                        /* offset vector */
-          sizeof(local_offsets)/sizeof(PCRE2_SIZE), /* size of same */
+          RWS_OVEC_RSIZE/OVEC_UNIT,             /* size of same */
           local_workspace,                      /* workspace vector */
-          sizeof(local_workspace)/sizeof(int),  /* size of same */
-          rlevel);                              /* function recursion level */
+          RWS_RSIZE,                            /* size of same */
+          rlevel,                               /* function recursion level */
+          RWS);                                 /* recursion workspace */
 
+        rws->free += RWS_RSIZE + RWS_OVEC_RSIZE;
         mb->recursive = new_recursive.prevrec;  /* Done this recursion */
 
         /* Ran out of internal offsets */
@@ -2782,10 +2913,25 @@ for (;;)
       case OP_SCBRAPOS:
       case OP_BRAPOSZERO:
         {
+        int rc;
+        int *local_workspace;
+        PCRE2_SIZE *local_offsets;
         PCRE2_SIZE charcount, matched_count;
         PCRE2_SPTR local_ptr = ptr;
+        RWS_anchor *rws = (RWS_anchor *)RWS;
         BOOL allow_zero;
 
+        if (rws->free < RWS_RSIZE + RWS_OVEC_OSIZE)
+          {
+          rc = more_workspace(&rws, RWS_OVEC_OSIZE, mb);
+          if (rc != 0) return rc;
+          RWS = (int *)rws;
+          }
+
+        local_offsets = (PCRE2_SIZE *)(RWS + rws->size - rws->free);
+        local_workspace = ((int *)local_offsets) + RWS_OVEC_OSIZE;
+        rws->free -= RWS_RSIZE + RWS_OVEC_OSIZE;
+
         if (codevalue == OP_BRAPOSZERO)
           {
           allow_zero = TRUE;
@@ -2798,19 +2944,17 @@ for (;;)
 
         for (matched_count = 0;; matched_count++)
           {
-          PCRE2_SIZE local_offsets[2];
-          int local_workspace[1000];
-
-          int rc = internal_dfa_match(
+          rc = internal_dfa_match(
             mb,                                   /* fixed match data */
             code,                                 /* this subexpression's code */
             local_ptr,                            /* where we currently are */
             (PCRE2_SIZE)(ptr - start_subject),    /* start offset */
             local_offsets,                        /* offset vector */
-            sizeof(local_offsets)/sizeof(PCRE2_SIZE), /* size of same */
+            RWS_OVEC_OSIZE/OVEC_UNIT,             /* size of same */
             local_workspace,                      /* workspace vector */
-            sizeof(local_workspace)/sizeof(int),  /* size of same */
-            rlevel);                              /* function recursion level */
+            RWS_RSIZE,                            /* size of same */
+            rlevel,                               /* function recursion level */
+            RWS);                                 /* recursion workspace */
 
           /* Failed to match */
 
@@ -2827,6 +2971,8 @@ for (;;)
           local_ptr += charcount;    /* Advance temporary position ptr */
           }
 
+        rws->free += RWS_RSIZE + RWS_OVEC_OSIZE;
+
         /* At this point we have matched the subpattern matched_count
         times, and local_ptr is pointing to the character after the end of the
         last match. */
@@ -2869,19 +3015,35 @@ for (;;)
       /*-----------------------------------------------------------------*/
       case OP_ONCE:
         {
-        PCRE2_SIZE local_offsets[2];
-        int local_workspace[1000];
+        int rc;
+        int *local_workspace;
+        PCRE2_SIZE *local_offsets;
+        RWS_anchor *rws = (RWS_anchor *)RWS;
 
-        int rc = internal_dfa_match(
+        if (rws->free < RWS_RSIZE + RWS_OVEC_OSIZE)
+          {
+          rc = more_workspace(&rws, RWS_OVEC_OSIZE, mb);
+          if (rc != 0) return rc;
+          RWS = (int *)rws;
+          }
+
+        local_offsets = (PCRE2_SIZE *)(RWS + rws->size - rws->free);
+        local_workspace = ((int *)local_offsets) + RWS_OVEC_OSIZE;
+        rws->free -= RWS_RSIZE + RWS_OVEC_OSIZE;
+
+        rc = internal_dfa_match(
           mb,                                   /* fixed match data */
           code,                                 /* this subexpression's code */
           ptr,                                  /* where we currently are */
           (PCRE2_SIZE)(ptr - start_subject),    /* start offset */
           local_offsets,                        /* offset vector */
-          sizeof(local_offsets)/sizeof(PCRE2_SIZE), /* size of same */
+          RWS_OVEC_OSIZE/OVEC_UNIT,             /* size of same */
           local_workspace,                      /* workspace vector */
-          sizeof(local_workspace)/sizeof(int),  /* size of same */
-          rlevel);                              /* function recursion level */
+          RWS_RSIZE,                            /* size of same */
+          rlevel,                               /* function recursion level */
+          RWS);                                 /* recursion workspace */
+
+        rws->free += RWS_RSIZE + RWS_OVEC_OSIZE;
 
         if (rc >= 0)
           {
@@ -3063,6 +3225,7 @@ pcre2_dfa_match(const pcre2_code *code, PCRE2_SPTR subject, PCRE2_SIZE length,
   PCRE2_SIZE start_offset, uint32_t options, pcre2_match_data *match_data,
   pcre2_match_context *mcontext, int *workspace, PCRE2_SIZE wscount)
 {
+int rc;
 const pcre2_real_code *re = (const pcre2_real_code *)code;
 
 PCRE2_SPTR start_match;
@@ -3071,9 +3234,9 @@ PCRE2_SPTR bumpalong_limit;
 PCRE2_SPTR req_cu_ptr;
 
 BOOL utf, anchored, startline, firstline;
-
 BOOL has_first_cu = FALSE;
 BOOL has_req_cu = FALSE;
+
 PCRE2_UCHAR first_cu = 0;
 PCRE2_UCHAR first_cu2 = 0;
 PCRE2_UCHAR req_cu = 0;
@@ -3088,6 +3251,17 @@ pcre2_callout_block cb;
 dfa_match_block actual_match_block;
 dfa_match_block *mb = &actual_match_block;
 
+/* Set up a starting block of memory for use during recursive calls to
+internal_dfa_match(). By putting this on the stack, it minimizes resource use
+in the case when it is not needed. If this is too small, more memory is
+obtained from the heap. At the start of each block is an anchor structure.*/
+
+int base_recursion_workspace[RWS_BASE_SIZE];
+RWS_anchor *rws = (RWS_anchor *)base_recursion_workspace;
+rws->next = NULL;
+rws->size = RWS_BASE_SIZE;
+rws->free = RWS_BASE_SIZE - RWS_ANCHOR_SIZE;
+
 /* A length equal to PCRE2_ZERO_TERMINATED implies a zero-terminated
 subject string. */
 
@@ -3184,6 +3358,7 @@ if (mcontext == NULL)
   mb->memctl = re->memctl;
   mb->match_limit = PRIV(default_match_context).match_limit;
   mb->match_limit_depth = PRIV(default_match_context).depth_limit;
+  mb->heap_limit = PRIV(default_match_context).heap_limit;
   }
 else
   {
@@ -3198,6 +3373,7 @@ else
   mb->memctl = mcontext->memctl;
   mb->match_limit = mcontext->match_limit;
   mb->match_limit_depth = mcontext->depth_limit;
+  mb->heap_limit = mcontext->heap_limit;
   }
 
 if (mb->match_limit > re->limit_match)
@@ -3206,6 +3382,9 @@ if (mb->match_limit > re->limit_match)
 if (mb->match_limit_depth > re->limit_depth)
   mb->match_limit_depth = re->limit_depth;
 
+if (mb->heap_limit > re->limit_heap)
+  mb->heap_limit = re->limit_heap;
+
 mb->start_code = (PCRE2_UCHAR *)((uint8_t *)re + sizeof(pcre2_real_code)) +
   re->name_count * re->name_entry_size;
 mb->tables = re->tables;
@@ -3215,6 +3394,7 @@ mb->start_offset = start_offset;
 mb->moptions = options;
 mb->poptions = re->overall_options;
 mb->match_call_count = 0;
+mb->heap_used = 0;
 
 /* Process the \R and newline settings. */
 
@@ -3351,8 +3531,6 @@ a match. */
 
 for (;;)
   {
-  int rc;
-
   /* ----------------- Start of match optimizations ---------------- */
 
   /* There are some optimizations that avoid running the match if a known
@@ -3544,7 +3722,7 @@ for (;;)
       in characters, we treat it as code units to avoid spending too much time
       in this optimization. */
 
-      if (end_subject - start_match < re->minlength) return PCRE2_ERROR_NOMATCH;
+      if (end_subject - start_match < re->minlength) goto NOMATCH_EXIT;
 
       /* If req_cu is set, we know that that code unit must appear in the
       subject for the match to succeed. If the first code unit is set, req_cu
@@ -3621,7 +3799,8 @@ for (;;)
     (uint32_t)match_data->oveccount * 2,  /* actual size of same */
     workspace,                    /* workspace vector */
     (int)wscount,                 /* size of same */
-    0);                           /* function recurse level */
+    0,                            /* function recurse level */
+    base_recursion_workspace);    /* initial workspace for recursion */
 
   /* Anything other than "no match" means we are done, always; otherwise, carry
   on only if not anchored. */
@@ -3637,7 +3816,7 @@ for (;;)
     match_data->rightchar = (PCRE2_SIZE)( mb->last_used_ptr - subject);
     match_data->startchar = (PCRE2_SIZE)(start_match - subject);
     match_data->rc = rc;
-    return rc;
+    goto EXIT;
     }
 
   /* Advance to the next subject character unless we are at the end of a line
@@ -3668,8 +3847,18 @@ for (;;)
 
   }   /* "Bumpalong" loop */
 
+NOMATCH_EXIT:
+rc = PCRE2_ERROR_NOMATCH;
+
+EXIT:
+while (rws->next != NULL)
+  {
+  RWS_anchor *next = rws->next;
+  rws->next = next->next;
+  mb->memctl.free(next, mb->memctl.memory_data);
+  }
 
-return PCRE2_ERROR_NOMATCH;
+return rc;
 }
 
 /* End of pcre2_dfa_match.c */
diff --git a/thirdparty/pcre2/src/pcre2_error.c b/thirdparty/pcre2/src/pcre2_error.c
index d98cae9963..4b3b3f1bc0 100644
--- a/thirdparty/pcre2/src/pcre2_error.c
+++ b/thirdparty/pcre2/src/pcre2_error.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -107,7 +107,7 @@ static const unsigned char compile_error_texts[] =
   /* 35 */
   "lookbehind is too complicated\0"
   "\\C is not allowed in a lookbehind assertion in UTF-" XSTRING(PCRE2_CODE_UNIT_WIDTH) " mode\0"
-  "PCRE does not support \\L, \\l, \\N{name}, \\U, or \\u\0"
+  "PCRE2 does not support \\F, \\L, \\l, \\N{name}, \\U, or \\u\0"
   "number after (?C is greater than 255\0"
   "closing parenthesis for (?C expected\0"
   /* 40 */
@@ -133,7 +133,8 @@ static const unsigned char compile_error_texts[] =
   "internal error: unknown newline setting\0"
   "\\g is not followed by a braced, angle-bracketed, or quoted name/number or by a plain number\0"
   "(?R (recursive pattern call) must be followed by a closing parenthesis\0"
-  "an argument is not allowed for (*ACCEPT), (*FAIL), or (*COMMIT)\0"
+  /* "an argument is not allowed for (*ACCEPT), (*FAIL), or (*COMMIT)\0" */
+  "obsolete error (should not occur)\0"  /* Was the above */
   /* 60 */
   "(*VERB) not recognized or malformed\0"
   "group number is too big\0"
@@ -160,7 +161,7 @@ static const unsigned char compile_error_texts[] =
   "using UCP is disabled by the application\0"
   "name is too long in (*MARK), (*PRUNE), (*SKIP), or (*THEN)\0"
   "character code point value in \\u.... sequence is too large\0"
-  "digits missing in \\x{} or \\o{}\0"
+  "digits missing in \\x{} or \\o{} or \\N{U+}\0"
   "syntax error or number too big in (?(VERSION condition\0"
   /* 80 */
   "internal error: unknown opcode in auto_possessify()\0"
@@ -178,6 +179,8 @@ static const unsigned char compile_error_texts[] =
   "internal error: bad code value in parsed_skip()\0"
   "PCRE2_EXTRA_ALLOW_SURROGATE_ESCAPES is not allowed in UTF-16 mode\0"
   "invalid option bits with PCRE2_LITERAL\0"
+  "\\N{U+dddd} is supported only in Unicode (UTF) mode\0"
+  "invalid hyphen in option setting\0"
   ;
 
 /* Match-time and UTF error texts are in the same format. */
@@ -255,11 +258,13 @@ static const unsigned char match_error_texts[] =
   "expected closing curly bracket in replacement string\0"
   "bad substitution in replacement string\0"
   /* 60 */
-  "match with end before start is not supported\0"
+  "match with end before start or start moved backwards is not supported\0"
   "too many replacements (more than INT_MAX)\0"
   "bad serialized data\0"
   "heap limit exceeded\0"
   "invalid syntax\0"
+  /* 65 */
+  "internal error - duplicate substitution match\0"
   ;
 
 
diff --git a/thirdparty/pcre2/src/pcre2_extuni.c b/thirdparty/pcre2/src/pcre2_extuni.c
index 11a0bfbdd6..237211abf7 100644
--- a/thirdparty/pcre2/src/pcre2_extuni.c
+++ b/thirdparty/pcre2/src/pcre2_extuni.c
@@ -129,11 +129,11 @@ while (eptr < end_subject)
     if ((ricount & 1) != 0) break;  /* Grapheme break required */
     }
 
-  /* If Extend follows E_Base[_GAZ] do not update lgb; this allows
-  any number of Extend before a following E_Modifier. */
+  /* If Extend or ZWJ follows Extended_Pictographic, do not update lgb; this
+  allows any number of them before a following Extended_Pictographic. */
 
-  if (rgb != ucp_gbExtend ||
-      (lgb != ucp_gbE_Base && lgb != ucp_gbE_Base_GAZ))
+  if ((rgb != ucp_gbExtend && rgb != ucp_gbZWJ) ||
+       lgb != ucp_gbExtended_Pictographic)
     lgb = rgb;
 
   eptr += len;
diff --git a/thirdparty/pcre2/src/pcre2_find_bracket.c b/thirdparty/pcre2/src/pcre2_find_bracket.c
index 357385a11c..70baa1394f 100644
--- a/thirdparty/pcre2/src/pcre2_find_bracket.c
+++ b/thirdparty/pcre2/src/pcre2_find_bracket.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-         New API code Copyright (c) 2016 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -131,6 +131,7 @@ for (;;)
       break;
 
       case OP_MARK:
+      case OP_COMMIT_ARG:
       case OP_PRUNE_ARG:
       case OP_SKIP_ARG:
       case OP_THEN_ARG:
diff --git a/thirdparty/pcre2/src/pcre2_internal.h b/thirdparty/pcre2/src/pcre2_internal.h
index 3db9d604f4..8750f2f174 100644
--- a/thirdparty/pcre2/src/pcre2_internal.h
+++ b/thirdparty/pcre2/src/pcre2_internal.h
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -165,6 +165,16 @@ by "configure". */
 #define INT64_OR_DOUBLE double
 #endif
 
+/* External (in the C sense) functions and tables that are private to the
+libraries are always referenced using the PRIV macro. This makes it possible
+for pcre2test.c to include some of the source files from the libraries using a
+different PRIV definition to avoid name clashes. It also makes it clear in the
+code that a non-static object is being referenced. */
+
+#ifndef PRIV
+#define PRIV(name) _pcre2_##name
+#endif
+
 /* When compiling for use with the Virtual Pascal compiler, these functions
 need to have their names changed. PCRE2 must be compiled with the -DVPCOMPAT
 option on the command line. */
@@ -178,50 +188,15 @@ option on the command line. */
 #define memset(s,c,n)    _memset(s,c,n)
 #else  /* VPCOMPAT */
 
-/* To cope with SunOS4 and other systems that lack memmove() but have bcopy(),
-define a macro for memmove() if HAVE_MEMMOVE is false, provided that HAVE_BCOPY
-is set. Otherwise, include an emulating function for those systems that have
-neither (there some non-Unix environments where this is the case). */
+/* Otherwise, to cope with SunOS4 and other systems that lack memmove(), define
+a macro that calls an emulating function. */
 
 #ifndef HAVE_MEMMOVE
-#undef  memmove        /* some systems may have a macro */
-#ifdef HAVE_BCOPY
-#define memmove(a, b, c) bcopy(b, a, c)
-#else  /* HAVE_BCOPY */
-static void *
-pcre2_memmove(void *d, const void *s, size_t n)
-{
-size_t i;
-unsigned char *dest = (unsigned char *)d;
-const unsigned char *src = (const unsigned char *)s;
-if (dest > src)
-  {
-  dest += n;
-  src += n;
-  for (i = 0; i < n; ++i) *(--dest) = *(--src);
-  return (void *)dest;
-  }
-else
-  {
-  for (i = 0; i < n; ++i) *dest++ = *src++;
-  return (void *)(dest - n);
-  }
-}
-#define memmove(a, b, c) pcre2_memmove(a, b, c)
-#endif   /* not HAVE_BCOPY */
+#undef  memmove          /* Some systems may have a macro */
+#define memmove(a, b, c) PRIV(memmove)(a, b, c)
 #endif   /* not HAVE_MEMMOVE */
 #endif   /* not VPCOMPAT */
 
-/* External (in the C sense) functions and tables that are private to the
-libraries are always referenced using the PRIV macro. This makes it possible
-for pcre2test.c to include some of the source files from the libraries using a
-different PRIV definition to avoid name clashes. It also makes it clear in the
-code that a non-static object is being referenced. */
-
-#ifndef PRIV
-#define PRIV(name) _pcre2_##name
-#endif
-
 /* This is an unsigned int value that no UTF character can ever have, as
 Unicode doesn't go beyond 0x0010ffff. */
 
@@ -247,12 +222,17 @@ not rely on this. */
 pcre2_match() is allocated on the system stack, of this size (bytes). The size
 must be a multiple of sizeof(PCRE2_SPTR) in all environments, so making it a
 multiple of 8 is best. Typical frame sizes are a few hundred bytes (it depends
-on the number of capturing parentheses) so 20K handles quite a few frames. A
+on the number of capturing parentheses) so 20KiB handles quite a few frames. A
 larger vector on the heap is obtained for patterns that need more frames. The
 maximum size of this can be limited. */
 
 #define START_FRAMES_SIZE 20480
 
+/* Similarly, for DFA matching, an initial internal workspace vector is
+allocated on the stack. */
+
+#define DFA_START_RWS_SIZE 30720
+
 /* Define the default BSR convention. */
 
 #ifdef BSR_ANYCRLF
@@ -585,14 +565,15 @@ these tables. */
 #define cbit_cntrl   288      /* [:cntrl:] */
 #define cbit_length  320      /* Length of the cbits table */
 
-/* Bit definitions for entries in the ctypes table. */
+/* Bit definitions for entries in the ctypes table. Do not change these values
+without checking pcre2_jit_compile.c, which has an assertion to ensure that
+ctype_word has the value 16. */
 
 #define ctype_space   0x01
 #define ctype_letter  0x02
 #define ctype_digit   0x04
-#define ctype_xdigit  0x08
+#define ctype_xdigit  0x08    /* not actually used any more */
 #define ctype_word    0x10    /* alphanumeric or '_' */
-#define ctype_meta    0x80    /* regexp meta char or zero (end pattern) */
 
 /* Offsets of the various tables from the base tables pointer, and
 total length of the tables. */
@@ -1267,36 +1248,6 @@ contain characters with values greater than 255. */
 #define XCL_PROP      3    /* Unicode property (2-byte property code follows) */
 #define XCL_NOTPROP   4    /* Unicode inverted property (ditto) */
 
-/* Escape items that are just an encoding of a particular data value. These
-appear in the escapes[] table in pcre2_compile.c as positive numbers. */
-
-#ifndef ESC_a
-#define ESC_a CHAR_BEL
-#endif
-
-#ifndef ESC_e
-#define ESC_e CHAR_ESC
-#endif
-
-#ifndef ESC_f
-#define ESC_f CHAR_FF
-#endif
-
-#ifndef ESC_n
-#define ESC_n CHAR_LF
-#endif
-
-#ifndef ESC_r
-#define ESC_r CHAR_CR
-#endif
-
-/* We can't officially use ESC_t because it is a POSIX reserved identifier
-(presumably because of all the others like size_t). */
-
-#ifndef ESC_tee
-#define ESC_tee CHAR_HT
-#endif
-
 /* These are escaped items that aren't just an encoding of a particular data
 value such as \n. They must have non-zero values, as check_escape() returns 0
 for a data character. In the escapes[] table in pcre2_compile.c their values
@@ -1578,23 +1529,26 @@ enum {
   OP_THEN,           /* 155 */
   OP_THEN_ARG,       /* 156 same, but with argument */
   OP_COMMIT,         /* 157 */
+  OP_COMMIT_ARG,     /* 158 same, but with argument */
 
-  /* These are forced failure and success verbs */
+  /* These are forced failure and success verbs. FAIL and ACCEPT do accept an
+  argument, but these cases can be compiled as, for example, (*MARK:X)(*FAIL)
+  without the need for a special opcode. */
 
-  OP_FAIL,           /* 158 */
-  OP_ACCEPT,         /* 159 */
-  OP_ASSERT_ACCEPT,  /* 160 Used inside assertions */
-  OP_CLOSE,          /* 161 Used before OP_ACCEPT to close open captures */
+  OP_FAIL,           /* 159 */
+  OP_ACCEPT,         /* 160 */
+  OP_ASSERT_ACCEPT,  /* 161 Used inside assertions */
+  OP_CLOSE,          /* 162 Used before OP_ACCEPT to close open captures */
 
   /* This is used to skip a subpattern with a {0} quantifier */
 
-  OP_SKIPZERO,       /* 162 */
+  OP_SKIPZERO,       /* 163 */
 
   /* This is used to identify a DEFINE group during compilation so that it can
   be checked for having only one branch. It is changed to OP_FALSE before
   compilation finishes. */
 
-  OP_DEFINE,         /* 163 */
+  OP_DEFINE,         /* 164 */
 
   /* This is not an opcode, but is used to check that tables indexed by opcode
   are the correct length, in order to catch updating errors - there have been
@@ -1650,7 +1604,7 @@ some cases doesn't actually use these names at all). */
   "Cond false", "Cond true",                                      \
   "Brazero", "Braminzero", "Braposzero",                          \
   "*MARK", "*PRUNE", "*PRUNE", "*SKIP", "*SKIP",                  \
-  "*THEN", "*THEN", "*COMMIT", "*FAIL",                           \
+  "*THEN", "*THEN", "*COMMIT", "*COMMIT", "*FAIL",                \
   "*ACCEPT", "*ASSERT_ACCEPT",                                    \
   "Close", "Skip zero", "Define"
 
@@ -1742,7 +1696,8 @@ in UTF-8 mode. The code that uses this table must know about such things. */
   3, 1, 3,                       /* MARK, PRUNE, PRUNE_ARG                 */ \
   1, 3,                          /* SKIP, SKIP_ARG                         */ \
   1, 3,                          /* THEN, THEN_ARG                         */ \
-  1, 1, 1, 1,                    /* COMMIT, FAIL, ACCEPT, ASSERT_ACCEPT    */ \
+  1, 3,                          /* COMMIT, COMMIT_ARG                     */ \
+  1, 1, 1,                       /* FAIL, ACCEPT, ASSERT_ACCEPT            */ \
   1+IMM2_SIZE, 1,                /* CLOSE, SKIPZERO                        */ \
   1                              /* DEFINE                                 */
 
@@ -1896,7 +1851,7 @@ extern const ucd_record                PRIV(ucd_records)[];
 #if PCRE2_CODE_UNIT_WIDTH == 32
 extern const ucd_record                PRIV(dummy_ucd_record)[];
 #endif
-extern const uint8_t                   PRIV(ucd_stage1)[];
+extern const uint16_t                  PRIV(ucd_stage1)[];
 extern const uint16_t                  PRIV(ucd_stage2)[];
 extern const uint32_t                  PRIV(ucp_gbtable)[];
 extern const uint32_t                  PRIV(ucp_gentype)[];
@@ -1976,6 +1931,14 @@ extern int          _pcre2_valid_utf(PCRE2_SPTR, PCRE2_SIZE, PCRE2_SIZE *);
 extern BOOL         _pcre2_was_newline(PCRE2_SPTR, uint32_t, PCRE2_SPTR,
                       uint32_t *, BOOL);
 extern BOOL         _pcre2_xclass(uint32_t, PCRE2_SPTR, BOOL);
+
+/* This function is needed only when memmove() is not available. */
+
+#if !defined(VPCOMPAT) && !defined(HAVE_MEMMOVE)
+#define _pcre2_memmove               PCRE2_SUFFIX(_pcre2_memmove)
+extern void *       _pcre2_memmove(void *, const void *, size_t);
+#endif
+
 #endif  /* PCRE2_CODE_UNIT_WIDTH */
 #endif  /* PCRE2_INTERNAL_H_IDEMPOTENT_GUARD */
 
diff --git a/thirdparty/pcre2/src/pcre2_intmodedep.h b/thirdparty/pcre2/src/pcre2_intmodedep.h
index c4c4c3adb9..62626d0a8a 100644
--- a/thirdparty/pcre2/src/pcre2_intmodedep.h
+++ b/thirdparty/pcre2/src/pcre2_intmodedep.h
@@ -793,11 +793,23 @@ typedef struct heapframe {
   uint8_t return_id;         /* Where to go on in internal "return" */
   uint8_t op;                /* Processing opcode */
 
+  /* At this point, the structure is 16-bit aligned. On most architectures
+  the alignment requirement for a pointer will ensure that the eptr field below
+  is 32-bit or 64-bit aligned. However, on m68k it is fine to have a pointer
+  that is 16-bit aligned. We must therefore ensure that what comes between here
+  and eptr is an odd multiple of 16 bits so as to get back into 32-bit
+  alignment. This happens naturally when PCRE2_UCHAR is 8 bits wide, but needs
+  fudges in the other cases. In the 32-bit case the padding comes first so that
+  the occu field itself is 32-bit aligned. Without the padding, this structure
+  is no longer a multiple of PCRE2_SIZE on m68k, and the check below fails. */
+
 #if PCRE2_CODE_UNIT_WIDTH == 8
   PCRE2_UCHAR occu[6];       /* Used for other case code units */
 #elif PCRE2_CODE_UNIT_WIDTH == 16
   PCRE2_UCHAR occu[2];       /* Used for other case code units */
+  uint8_t unused[2];         /* Ensure 32-bit alignment (see above) */
 #else
+  uint8_t unused[2];         /* Ensure 32-bit alignment (see above) */
   PCRE2_UCHAR occu[1];       /* Used for other case code units */
 #endif
 
@@ -818,6 +830,9 @@ typedef struct heapframe {
   PCRE2_SIZE ovector[131072]; /* Must be last in the structure */
 } heapframe;
 
+/* This typedef is a check that the size of the heapframe structure is a
+multiple of PCRE2_SIZE. See various comments above. */
+
 typedef char check_heapframe_size[
   ((sizeof(heapframe) % sizeof(PCRE2_SIZE)) == 0)? (+1):(-1)];
 
@@ -881,6 +896,8 @@ typedef struct dfa_match_block {
   PCRE2_SPTR last_used_ptr;       /* Latest consulted character */
   const uint8_t *tables;          /* Character tables */
   PCRE2_SIZE start_offset;        /* The start offset value */
+  PCRE2_SIZE heap_limit;          /* As it says */
+  PCRE2_SIZE heap_used;           /* As it says */
   uint32_t match_limit;           /* As it says */
   uint32_t match_limit_depth;     /* As it says */
   uint32_t match_call_count;      /* Number of calls of internal function */
diff --git a/thirdparty/pcre2/src/pcre2_jit_compile.c b/thirdparty/pcre2/src/pcre2_jit_compile.c
index 80ed1c4ca6..32e985b793 100644
--- a/thirdparty/pcre2/src/pcre2_jit_compile.c
+++ b/thirdparty/pcre2/src/pcre2_jit_compile.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -839,6 +839,7 @@ switch(*cc)
 #endif
 
   case OP_MARK:
+  case OP_COMMIT_ARG:
   case OP_PRUNE_ARG:
   case OP_SKIP_ARG:
   case OP_THEN_ARG:
@@ -939,6 +940,7 @@ while (cc < ccend)
     common->control_head_ptr = 1;
     /* Fall through. */
 
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_MARK:
     if (common->mark_ptr == 0)
@@ -1553,6 +1555,7 @@ while (cc < ccend)
     break;
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_THEN_ARG:
     SLJIT_ASSERT(common->mark_ptr != 0);
@@ -1733,6 +1736,7 @@ while (cc < ccend)
     break;
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_THEN_ARG:
     SLJIT_ASSERT(common->mark_ptr != 0);
@@ -2041,6 +2045,7 @@ while (cc < ccend)
     break;
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_THEN_ARG:
     SLJIT_ASSERT(common->mark_ptr != 0);
@@ -2428,6 +2433,7 @@ while (cc < ccend)
     break;
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_THEN_ARG:
     SLJIT_ASSERT(common->mark_ptr != 0);
@@ -3666,7 +3672,8 @@ if (!common->utf)
 #endif
 
 OP2(SLJIT_LSHR, TMP2, 0, TMP1, 0, SLJIT_IMM, UCD_BLOCK_SHIFT);
-OP1(SLJIT_MOV_U8, TMP2, 0, SLJIT_MEM1(TMP2), (sljit_sw)PRIV(ucd_stage1));
+OP2(SLJIT_SHL, TMP2, 0, TMP2, 0, SLJIT_IMM, 1);
+OP1(SLJIT_MOV_U16, TMP2, 0, SLJIT_MEM1(TMP2), (sljit_sw)PRIV(ucd_stage1));
 OP2(SLJIT_AND, TMP1, 0, TMP1, 0, SLJIT_IMM, UCD_BLOCK_MASK);
 OP2(SLJIT_SHL, TMP2, 0, TMP2, 0, SLJIT_IMM, UCD_BLOCK_SHIFT);
 OP2(SLJIT_ADD, TMP1, 0, TMP1, 0, TMP2, 0);
@@ -5894,6 +5901,8 @@ for (i = 0; i < 32; i++)
     }
   }
 
+if (len == 0) return FALSE;  /* Should never occur, but stops analyzers complaining. */
+
 i = 0;
 j = 0;
 
@@ -6627,7 +6636,8 @@ if (needstype || needsscript)
 #endif
 
   OP2(SLJIT_LSHR, TMP2, 0, TMP1, 0, SLJIT_IMM, UCD_BLOCK_SHIFT);
-  OP1(SLJIT_MOV_U8, TMP2, 0, SLJIT_MEM1(TMP2), (sljit_sw)PRIV(ucd_stage1));
+  OP2(SLJIT_SHL, TMP2, 0, TMP2, 0, SLJIT_IMM, 1);
+  OP1(SLJIT_MOV_U16, TMP2, 0, SLJIT_MEM1(TMP2), (sljit_sw)PRIV(ucd_stage1));
   OP2(SLJIT_AND, TMP1, 0, TMP1, 0, SLJIT_IMM, UCD_BLOCK_MASK);
   OP2(SLJIT_SHL, TMP2, 0, TMP2, 0, SLJIT_IMM, UCD_BLOCK_SHIFT);
   OP2(SLJIT_ADD, TMP1, 0, TMP1, 0, TMP2, 0);
@@ -7254,10 +7264,11 @@ while (cc < end_subject)
     if ((ricount & 1) != 0) break;  /* Grapheme break required */
     }
 
-  /* If Extend follows E_Base[_GAZ] do not update lgb; this allows
-  any number of Extend before a following E_Modifier. */
+  /* If Extend or ZWJ follows Extended_Pictographic, do not update lgb; this
+  allows any number of them before a following Extended_Pictographic. */
 
-  if (rgb != ucp_gbExtend || (lgb != ucp_gbE_Base && lgb != ucp_gbE_Base_GAZ))
+  if ((rgb != ucp_gbExtend && rgb != ucp_gbZWJ) ||
+       lgb != ucp_gbExtended_Pictographic)
     lgb = rgb;
 
   prevcc = cc;
@@ -7309,10 +7320,11 @@ while (cc < end_subject)
     if ((ricount & 1) != 0) break;  /* Grapheme break required */
     }
 
-  /* If Extend follows E_Base[_GAZ] do not update lgb; this allows
-  any number of Extend before a following E_Modifier. */
+  /* If Extend or ZWJ follows Extended_Pictographic, do not update lgb; this
+  allows any number of them before a following Extended_Pictographic. */
 
-  if (rgb != ucp_gbExtend || (lgb != ucp_gbE_Base && lgb != ucp_gbE_Base_GAZ))
+  if ((rgb != ucp_gbExtend && rgb != ucp_gbZWJ) ||
+       lgb != ucp_gbExtended_Pictographic)
     lgb = rgb;
 
   cc++;
@@ -10346,7 +10358,8 @@ backtrack_common *backtrack;
 PCRE2_UCHAR opcode = *cc;
 PCRE2_SPTR ccend = cc + 1;
 
-if (opcode == OP_PRUNE_ARG || opcode == OP_SKIP_ARG || opcode == OP_THEN_ARG)
+if (opcode == OP_COMMIT_ARG || opcode == OP_PRUNE_ARG ||
+    opcode == OP_SKIP_ARG || opcode == OP_THEN_ARG)
   ccend += 2 + cc[1];
 
 PUSH_BACKTRACK(sizeof(backtrack_common), cc, NULL);
@@ -10358,7 +10371,7 @@ if (opcode == OP_SKIP)
   return ccend;
   }
 
-if (opcode == OP_PRUNE_ARG || opcode == OP_THEN_ARG)
+if (opcode == OP_COMMIT_ARG || opcode == OP_PRUNE_ARG || opcode == OP_THEN_ARG)
   {
   OP1(SLJIT_MOV, TMP1, 0, ARGUMENTS, 0);
   OP1(SLJIT_MOV, TMP2, 0, SLJIT_IMM, (sljit_sw)(cc + 2));
@@ -10677,6 +10690,7 @@ while (cc < ccend)
     case OP_THEN:
     case OP_THEN_ARG:
     case OP_COMMIT:
+    case OP_COMMIT_ARG:
     cc = compile_control_verb_matchingpath(common, cc, parent);
     break;
 
@@ -11751,6 +11765,7 @@ while (current)
     break;
 
     case OP_COMMIT:
+    case OP_COMMIT_ARG:
     if (!common->local_quit_available)
       OP1(SLJIT_MOV, SLJIT_RETURN_REG, 0, SLJIT_IMM, PCRE2_ERROR_NOMATCH);
     if (common->quit_label == NULL)
diff --git a/thirdparty/pcre2/src/pcre2_maketables.c b/thirdparty/pcre2/src/pcre2_maketables.c
index 2c7ae84d86..537edba8c3 100644
--- a/thirdparty/pcre2/src/pcre2_maketables.c
+++ b/thirdparty/pcre2/src/pcre2_maketables.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-         New API code Copyright (c) 2016 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -141,13 +141,6 @@ for (i = 0; i < 256; i++)
   if (isdigit(i)) x += ctype_digit;
   if (isxdigit(i)) x += ctype_xdigit;
   if (isalnum(i) || i == '_') x += ctype_word;
-
-  /* Note: strchr includes the terminating zero in the characters it considers.
-  In this instance, that is ok because we want binary zero to be flagged as a
-  meta-character, which in this sense is any character that terminates a run
-  of data characters. */
-
-  if (strchr("\\*+?{^.$|()[", i) != 0) x += ctype_meta;
   *p++ = x;
   }
 
diff --git a/thirdparty/pcre2/src/pcre2_match.c b/thirdparty/pcre2/src/pcre2_match.c
index 79cc93f918..8741e1432d 100644
--- a/thirdparty/pcre2/src/pcre2_match.c
+++ b/thirdparty/pcre2/src/pcre2_match.c
@@ -43,11 +43,11 @@ POSSIBILITY OF SUCH DAMAGE.
 #include "config.h"
 #endif
 
-/* These defines enables debugging code */
+/* These defines enable debugging code */
 
-//#define DEBUG_FRAMES_DISPLAY
-//#define DEBUG_SHOW_OPS
-//#define DEBUG_SHOW_RMATCH
+/* #define DEBUG_FRAMES_DISPLAY */
+/* #define DEBUG_SHOW_OPS */
+/* #define DEBUG_SHOW_RMATCH */
 
 #ifdef DEBUG_FRAME_DISPLAY
 #include <stdarg.h>
@@ -149,7 +149,7 @@ changed, the code at RETURN_SWITCH below must be updated in sync.  */
 enum { RM1=1, RM2,  RM3,  RM4,  RM5,  RM6,  RM7,  RM8,  RM9,  RM10,
        RM11,  RM12, RM13, RM14, RM15, RM16, RM17, RM18, RM19, RM20,
        RM21,  RM22, RM23, RM24, RM25, RM26, RM27, RM28, RM29, RM30,
-       RM31,  RM32, RM33, RM34, RM35 };
+       RM31,  RM32, RM33, RM34, RM35, RM36 };
 
 #ifdef SUPPORT_WIDE_CHARS
 enum { RM100=100, RM101 };
@@ -770,7 +770,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
     /* ===================================================================== */
     /* Real or forced end of the pattern, assertion, or recursion. In an
     assertion ACCEPT, update the last used pointer and remember the current
-    frame so that the captures can be fished out of it. */
+    frame so that the captures and mark can be fished out of it. */
 
     case OP_ASSERT_ACCEPT:
     if (Feptr > mb->last_used_ptr) mb->last_used_ptr = Feptr;
@@ -1776,7 +1776,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
 
 
     /* ===================================================================== */
-    /* Match a bit-mapped character class, possibly repeatedly. These op codes
+    /* Match a bit-mapped character class, possibly repeatedly. These opcodes
     are used when all the characters in the class have values in the range
     0-255, and either the matching is caseful, or the characters are in the
     range 0-127 when UTF processing is enabled. The only difference between
@@ -1962,11 +1962,15 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
 
           if (reptype == REPTYPE_POS) continue;    /* No backtracking */
 
+          /* After \C in UTF mode, Lstart_eptr might be in the middle of a
+          Unicode character. Use <= Lstart_eptr to ensure backtracking doesn't
+          go too far. */
+
           for (;;)
             {
             RMATCH(Fecode, RM201);
             if (rrc != MATCH_NOMATCH) RRETURN(rrc);
-            if (Feptr-- == Lstart_eptr) break;  /* Tried at original position */
+            if (Feptr-- <= Lstart_eptr) break;  /* Tried at original position */
             BACKCHAR(Feptr);
             }
           }
@@ -2126,11 +2130,15 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
 
         if (reptype == REPTYPE_POS) continue;    /* No backtracking */
 
+        /* After \C in UTF mode, Lstart_eptr might be in the middle of a
+        Unicode character. Use <= Lstart_eptr to ensure backtracking doesn't
+        go too far. */
+
         for(;;)
           {
           RMATCH(Fecode, RM101);
           if (rrc != MATCH_NOMATCH) RRETURN(rrc);
-          if (Feptr-- == Lstart_eptr) break;  /* Tried at original position */
+          if (Feptr-- <= Lstart_eptr) break;  /* Tried at original position */
 #ifdef SUPPORT_UNICODE
           if (utf) BACKCHAR(Feptr);
 #endif
@@ -2456,7 +2464,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
 
     /* ===================================================================== */
     /* Match a single character type repeatedly. Note that the property type
-    does not need to be in a stack frame as it not used within an RMATCH()
+    does not need to be in a stack frame as it is not used within an RMATCH()
     loop. */
 
 #define Lstart_eptr  F->temp_sptr[0]
@@ -4002,8 +4010,8 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
         if (reptype == REPTYPE_POS) continue;    /* No backtracking */
 
         /* After \C in UTF mode, Lstart_eptr might be in the middle of a
-        Unicode character. Use <= pp to ensure backtracking doesn't go too far.
-        */
+        Unicode character. Use <= Lstart_eptr to ensure backtracking doesn't
+        go too far. */
 
         for(;;)
           {
@@ -4135,7 +4143,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
             }
           break;
 
-          /* The "byte" (i.e. "code unit")  case is the same as non-UTF */
+          /* The "byte" (i.e. "code unit") case is the same as non-UTF */
 
           case OP_ANYBYTE:
           fc = Lmax - Lmin;
@@ -5111,7 +5119,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
     /* Positive assertions are like other groups except that PCRE doesn't allow
     the effect of (*THEN) to escape beyond an assertion; it is therefore
     treated as NOMATCH. (*ACCEPT) is treated as successful assertion, with its
-    captures retained. Any other return is an error. */
+    captures and mark retained. Any other return is an error. */
 
 #define Lframe_type  F->temp_32[0]
 
@@ -5128,6 +5136,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
               (char *)assert_accept_frame + offsetof(heapframe, ovector),
               assert_accept_frame->offset_top * sizeof(PCRE2_SIZE));
         Foffset_top = assert_accept_frame->offset_top;
+        Fmark = assert_accept_frame->mark;
         break;
         }
       if (rrc != MATCH_NOMATCH && rrc != MATCH_THEN) RRETURN(rrc);
@@ -5416,7 +5425,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
       Feptr -= number;
       }
 
-    /* Save the earliest consulted character, then skip to next op code */
+    /* Save the earliest consulted character, then skip to next opcode */
 
     if (Feptr < mb->start_used_ptr) mb->start_used_ptr = Feptr;
     Fecode += 1 + LINK_SIZE;
@@ -5501,7 +5510,7 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
       frame so that it points to the final branch. */
 
       case OP_ONCE:
-      Fback_frame = ((char *)F - (char *)P) + frame_size;
+      Fback_frame = ((char *)F - (char *)P);
       for (;;)
         {
         uint32_t y = GET(P->ecode,1);
@@ -5829,6 +5838,13 @@ fprintf(stderr, "++ op=%d\n", *Fecode);
     mb->verb_current_recurse = Fcurrent_recurse;
     RRETURN(MATCH_COMMIT);
 
+    case OP_COMMIT_ARG:
+    Fmark = mb->nomatch_mark = Fecode + 2;
+    RMATCH(Fecode + PRIV(OP_lengths)[*Fecode] + Fecode[1], RM36);
+    if (rrc != MATCH_NOMATCH) RRETURN(rrc);
+    mb->verb_current_recurse = Fcurrent_recurse;
+    RRETURN(MATCH_COMMIT);
+
     case OP_PRUNE:
     RMATCH(Fecode + PRIV(OP_lengths)[*Fecode], RM14);
     if (rrc != MATCH_NOMATCH) RRETURN(rrc);
@@ -5921,7 +5937,7 @@ in rrc. */
 
 RETURN_SWITCH:
 if (Frdepth == 0) return rrc;                     /* Exit from the top level */
-F = (heapframe *)((char *)F - Fback_frame);       /* Back track */
+F = (heapframe *)((char *)F - Fback_frame);       /* Backtrack */
 mb->cb->callout_flags |= PCRE2_CALLOUT_BACKTRACK; /* Note for callouts */
 
 #ifdef DEBUG_SHOW_RMATCH
@@ -5934,7 +5950,7 @@ switch (Freturn_id)
   LBL( 9) LBL(10) LBL(11) LBL(12) LBL(13) LBL(14) LBL(15) LBL(16)
   LBL(17) LBL(18) LBL(19) LBL(20) LBL(21) LBL(22) LBL(23) LBL(24)
   LBL(25) LBL(26) LBL(27) LBL(28) LBL(29) LBL(30) LBL(31) LBL(32)
-  LBL(33) LBL(34) LBL(35)
+  LBL(33) LBL(34) LBL(35) LBL(36)
 
 #ifdef SUPPORT_WIDE_CHARS
   LBL(100) LBL(101)
@@ -6275,7 +6291,7 @@ mb->match_limit_depth = (mcontext->depth_limit < re->limit_depth)?
 /* If a pattern has very many capturing parentheses, the frame size may be very
 large. Ensure that there are at least 10 available frames by getting an initial
 vector on the heap if necessary, except when the heap limit prevents this. Get
-fewer if possible. (The heap limit is in kilobytes.) */
+fewer if possible. (The heap limit is in kibibytes.) */
 
 if (frame_size <= START_FRAMES_SIZE/10)
   {
diff --git a/thirdparty/pcre2/src/pcre2_pattern_info.c b/thirdparty/pcre2/src/pcre2_pattern_info.c
index 906e9198f5..a29f5eff67 100644
--- a/thirdparty/pcre2/src/pcre2_pattern_info.c
+++ b/thirdparty/pcre2/src/pcre2_pattern_info.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -390,6 +390,7 @@ while (TRUE)
 #endif
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_SKIP_ARG:
     case OP_THEN_ARG:
diff --git a/thirdparty/pcre2/src/pcre2_serialize.c b/thirdparty/pcre2/src/pcre2_serialize.c
index d2cc603cbb..cec1a035d1 100644
--- a/thirdparty/pcre2/src/pcre2_serialize.c
+++ b/thirdparty/pcre2/src/pcre2_serialize.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -127,7 +127,25 @@ dst_bytes += tables_length;
 for (i = 0; i < number_of_codes; i++)
   {
   re = (const pcre2_real_code *)(codes[i]);
-  memcpy(dst_bytes, (char *)re, re->blocksize);
+  (void)memcpy(dst_bytes, (char *)re, re->blocksize);
+  
+  /* Certain fields in the compiled code block are re-set during 
+  deserialization. In order to ensure that the serialized data stream is always 
+  the same for the same pattern, set them to zero here. We can't assume the 
+  copy of the pattern is correctly aligned for accessing the fields as part of 
+  a structure. Note the use of sizeof(void *) in the second of these, to
+  specify the size of a pointer. If sizeof(uint8_t *) is used (tables is a 
+  pointer to uint8_t), gcc gives a warning because the first argument is also a 
+  pointer to uint8_t. Casting the first argument to (void *) can stop this, but 
+  it didn't stop Coverity giving the same complaint. */
+  
+  (void)memset(dst_bytes + offsetof(pcre2_real_code, memctl), 0, 
+    sizeof(pcre2_memctl));
+  (void)memset(dst_bytes + offsetof(pcre2_real_code, tables), 0, 
+    sizeof(void *));
+  (void)memset(dst_bytes + offsetof(pcre2_real_code, executable_jit), 0,
+    sizeof(void *));        
+ 
   dst_bytes += re->blocksize;
   }
 
diff --git a/thirdparty/pcre2/src/pcre2_string_utils.c b/thirdparty/pcre2/src/pcre2_string_utils.c
index 2a1f282629..d6be01acf5 100644
--- a/thirdparty/pcre2/src/pcre2_string_utils.c
+++ b/thirdparty/pcre2/src/pcre2_string_utils.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-         New API code Copyright (c) 2016 University of Cambridge
+          New API code Copyright (c) 2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -51,6 +51,42 @@ functions work only on 8-bit data. */
 
 
 /*************************************************
+*    Emulated memmove() for systems without it   *
+*************************************************/
+
+/* This function can make use of bcopy() if it is available. Otherwise do it by
+steam, as there some non-Unix environments that lack both memmove() and
+bcopy(). */
+
+#if !defined(VPCOMPAT) && !defined(HAVE_MEMMOVE)
+void *
+PRIV(memmove)(void *d, const void *s, size_t n)
+{
+#ifdef HAVE_BCOPY
+bcopy(s, d, n);
+return d;
+#else
+size_t i;
+unsigned char *dest = (unsigned char *)d;
+const unsigned char *src = (const unsigned char *)s;
+if (dest > src)
+  {
+  dest += n;
+  src += n;
+  for (i = 0; i < n; ++i) *(--dest) = *(--src);
+  return (void *)dest;
+  }
+else
+  {
+  for (i = 0; i < n; ++i) *dest++ = *src++;
+  return (void *)(dest - n);
+  }
+#endif   /* not HAVE_BCOPY */
+}
+#endif   /* not VPCOMPAT && not HAVE_MEMMOVE */
+
+
+/*************************************************
 *    Compare two zero-terminated PCRE2 strings   *
 *************************************************/
 
diff --git a/thirdparty/pcre2/src/pcre2_study.c b/thirdparty/pcre2/src/pcre2_study.c
index b92686759d..acbf98b41b 100644
--- a/thirdparty/pcre2/src/pcre2_study.c
+++ b/thirdparty/pcre2/src/pcre2_study.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -707,6 +707,7 @@ for (;;)
     /* Skip these, but we need to add in the name length. */
 
     case OP_MARK:
+    case OP_COMMIT_ARG:
     case OP_PRUNE_ARG:
     case OP_SKIP_ARG:
     case OP_THEN_ARG:
@@ -956,6 +957,7 @@ do
       case OP_CIRCM:
       case OP_CLOSE:
       case OP_COMMIT:
+      case OP_COMMIT_ARG:
       case OP_COND:
       case OP_CREF:
       case OP_FALSE:
@@ -1274,7 +1276,7 @@ do
       break;
 
       /* Single character types set the bits and stop. Note that if PCRE2_UCP
-      is set, we do not see these op codes because \d etc are converted to
+      is set, we do not see these opcodes because \d etc are converted to
       properties. Therefore, these apply in the case when only characters less
       than 256 are recognized to match the types. */
 
diff --git a/thirdparty/pcre2/src/pcre2_substitute.c b/thirdparty/pcre2/src/pcre2_substitute.c
index 8da951fc6e..ab8d10908a 100644
--- a/thirdparty/pcre2/src/pcre2_substitute.c
+++ b/thirdparty/pcre2/src/pcre2_substitute.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-         New API code Copyright (c) 2016 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -238,10 +238,12 @@ PCRE2_SPTR repend;
 PCRE2_SIZE extra_needed = 0;
 PCRE2_SIZE buff_offset, buff_length, lengthleft, fraglength;
 PCRE2_SIZE *ovector;
+PCRE2_SIZE ovecsave[3];
 
 buff_offset = 0;
 lengthleft = buff_length = *blength;
 *blength = PCRE2_UNSET;
+ovecsave[0] = ovecsave[1] = ovecsave[2] = PCRE2_UNSET;
 
 /* Partial matching is not valid. */
 
@@ -361,13 +363,33 @@ do
     }
 
   /* Handle a successful match. Matches that use \K to end before they start
-  are not supported. */
-
-  if (ovector[1] < ovector[0])
+  or start before the current point in the subject are not supported. */
+  
+  if (ovector[1] < ovector[0] || ovector[0] < start_offset)
     {
     rc = PCRE2_ERROR_BADSUBSPATTERN;
     goto EXIT;
     }
+    
+  /* Check for the same match as previous. This is legitimate after matching an 
+  empty string that starts after the initial match offset. We have tried again
+  at the match point in case the pattern is one like /(?<=\G.)/ which can never
+  match at its starting point, so running the match achieves the bumpalong. If
+  we do get the same (null) match at the original match point, it isn't such a
+  pattern, so we now do the empty string magic. In all other cases, a repeat
+  match should never occur. */
+    
+  if (ovecsave[0] == ovector[0] && ovecsave[1] == ovector[1])
+    {                                                                        
+    if (ovector[0] == ovector[1] && ovecsave[2] != start_offset)     
+      {                                                                   
+      goptions = PCRE2_NOTEMPTY_ATSTART | PCRE2_ANCHORED;                 
+      ovecsave[2] = start_offset;                                     
+      continue;    /* Back to the top of the loop */                        
+      }
+    rc = PCRE2_ERROR_INTERNAL_DUPMATCH;
+    goto EXIT;   
+    }   
 
   /* Count substitutions with a paranoid check for integer overflow; surely no
   real call to this function would ever hit this! */
@@ -799,13 +821,18 @@ do
       } /* End handling a literal code unit */
     }   /* End of loop for scanning the replacement. */
 
-  /* The replacement has been copied to the output. Update the start offset to
-  point to the rest of the subject string. If we matched an empty string,
-  do the magic for global matches. */
-
-  start_offset = ovector[1];
-  goptions = (ovector[0] != ovector[1])? 0 :
+  /* The replacement has been copied to the output. Save the details of this
+  match. See above for how this data is used. If we matched an empty string, do
+  the magic for global matches. Finally, update the start offset to point to
+  the rest of the subject string. */
+  
+  ovecsave[0] = ovector[0];                                
+  ovecsave[1] = ovector[1];                                        
+  ovecsave[2] = start_offset;
+   
+  goptions = (ovector[0] != ovector[1] || ovector[0] > start_offset)? 0 :
     PCRE2_ANCHORED|PCRE2_NOTEMPTY_ATSTART;
+  start_offset = ovector[1];
   } while ((suboptions & PCRE2_SUBSTITUTE_GLOBAL) != 0);  /* Repeat "do" loop */
 
 /* Copy the rest of the subject. */
diff --git a/thirdparty/pcre2/src/pcre2_tables.c b/thirdparty/pcre2/src/pcre2_tables.c
index 9f8dc293aa..83d6f9de55 100644
--- a/thirdparty/pcre2/src/pcre2_tables.c
+++ b/thirdparty/pcre2/src/pcre2_tables.c
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-          New API code Copyright (c) 2016-2017 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -137,9 +137,10 @@ const uint32_t PRIV(ucp_gentype)[] = {
 
 /* This table encodes the rules for finding the end of an extended grapheme
 cluster. Every code point has a grapheme break property which is one of the
-ucp_gbXX values defined in pcre2_ucp.h. The 2-dimensional table is indexed by
-the properties of two adjacent code points. The left property selects a word
-from the table, and the right property selects a bit from that word like this:
+ucp_gbXX values defined in pcre2_ucp.h. These changed between Unicode versions
+10 and 11. The 2-dimensional table is indexed by the properties of two adjacent
+code points. The left property selects a word from the table, and the right
+property selects a bit from that word like this:
 
   PRIV(ucp_gbtable)[left-property] & (1 << right-property)
 
@@ -166,49 +167,41 @@ are implementing).
 
 6. Do not break after Prepend characters.
 
-7. Do not break within emoji modifier sequences (E_Base or E_Base_GAZ followed
-   by E_Modifier). Extend characters are allowed before the modifier; this
-   cannot be represented in this table, the code has to deal with it.
+7. Do not break within emoji modifier sequences or emoji zwj sequences. That
+   is, do not break between characters with the Extended_Pictographic property.
+   Extend and ZWJ characters are allowed between the characters; this cannot be
+   represented in this table, the code has to deal with it.
 
-8. Do not break within emoji zwj sequences (ZWJ followed by Glue_After_Zwj   or
-   E_Base_GAZ).
-
-9. Do not break within emoji flag sequences. That is, do not break between
+8. Do not break within emoji flag sequences. That is, do not break between
    regional indicator (RI) symbols if there are an odd number of RI characters
    before the break point. This table encodes "join RI characters"; the code
    has to deal with checking for previous adjoining RIs.
 
-10. Otherwise, break everywhere.
+9. Otherwise, break everywhere.
 */
 
 #define ESZ (1<<ucp_gbExtend)|(1<<ucp_gbSpacingMark)|(1<<ucp_gbZWJ)
 
 const uint32_t PRIV(ucp_gbtable)[] = {
-   (1<<ucp_gbLF),                                           /*  0 CR */
-   0,                                                       /*  1 LF */
-   0,                                                       /*  2 Control */
-   ESZ,                                                     /*  3 Extend */
-   ESZ|(1<<ucp_gbPrepend)|                                  /*  4 Prepend */
+   (1<<ucp_gbLF),                                      /*  0 CR */
+   0,                                                  /*  1 LF */
+   0,                                                  /*  2 Control */
+   ESZ,                                                /*  3 Extend */
+   ESZ|(1<<ucp_gbPrepend)|                             /*  4 Prepend */
        (1<<ucp_gbL)|(1<<ucp_gbV)|(1<<ucp_gbT)|
        (1<<ucp_gbLV)|(1<<ucp_gbLVT)|(1<<ucp_gbOther)|
-       (1<<ucp_gbRegionalIndicator)|
-       (1<<ucp_gbE_Base)|(1<<ucp_gbE_Modifier)|
-       (1<<ucp_gbE_Base_GAZ)|
-       (1<<ucp_gbZWJ)|(1<<ucp_gbGlue_After_Zwj),
-   ESZ,                                                     /*  5 SpacingMark */
-   ESZ|(1<<ucp_gbL)|(1<<ucp_gbV)|(1<<ucp_gbLV)|             /*  6 L */
+       (1<<ucp_gbRegionalIndicator),
+   ESZ,                                                /*  5 SpacingMark */
+   ESZ|(1<<ucp_gbL)|(1<<ucp_gbV)|(1<<ucp_gbLV)|        /*  6 L */
        (1<<ucp_gbLVT),
-   ESZ|(1<<ucp_gbV)|(1<<ucp_gbT),                           /*  7 V */
-   ESZ|(1<<ucp_gbT),                                        /*  8 T */
-   ESZ|(1<<ucp_gbV)|(1<<ucp_gbT),                           /*  9 LV */
-   ESZ|(1<<ucp_gbT),                                        /* 10 LVT */
-   (1<<ucp_gbRegionalIndicator),                            /* 11 RegionalIndicator */
-   ESZ,                                                     /* 12 Other */
-   ESZ|(1<<ucp_gbE_Modifier),                               /* 13 E_Base */
-   ESZ,                                                     /* 14 E_Modifier */
-   ESZ|(1<<ucp_gbE_Modifier),                               /* 15 E_Base_GAZ */
-   ESZ|(1<<ucp_gbGlue_After_Zwj)|(1<<ucp_gbE_Base_GAZ),     /* 16 ZWJ */
-   ESZ                                                      /* 12 Glue_After_Zwj */
+   ESZ|(1<<ucp_gbV)|(1<<ucp_gbT),                      /*  7 V */
+   ESZ|(1<<ucp_gbT),                                   /*  8 T */
+   ESZ|(1<<ucp_gbV)|(1<<ucp_gbT),                      /*  9 LV */
+   ESZ|(1<<ucp_gbT),                                   /* 10 LVT */
+   (1<<ucp_gbRegionalIndicator),                       /* 11 RegionalIndicator */
+   ESZ,                                                /* 12 Other */
+   ESZ,                                                /* 13 ZWJ */
+   ESZ|(1<<ucp_gbExtended_Pictographic)                /* 14 Extended Pictographic */
 };
 
 #undef ESZ
@@ -282,6 +275,7 @@ strings to make sure that UTF-8 support works on EBCDIC platforms. */
 #define STRING_Cyrillic0 STR_C STR_y STR_r STR_i STR_l STR_l STR_i STR_c "\0"
 #define STRING_Deseret0 STR_D STR_e STR_s STR_e STR_r STR_e STR_t "\0"
 #define STRING_Devanagari0 STR_D STR_e STR_v STR_a STR_n STR_a STR_g STR_a STR_r STR_i "\0"
+#define STRING_Dogra0 STR_D STR_o STR_g STR_r STR_a "\0"
 #define STRING_Duployan0 STR_D STR_u STR_p STR_l STR_o STR_y STR_a STR_n "\0"
 #define STRING_Egyptian_Hieroglyphs0 STR_E STR_g STR_y STR_p STR_t STR_i STR_a STR_n STR_UNDERSCORE STR_H STR_i STR_e STR_r STR_o STR_g STR_l STR_y STR_p STR_h STR_s "\0"
 #define STRING_Elbasan0 STR_E STR_l STR_b STR_a STR_s STR_a STR_n "\0"
@@ -292,9 +286,11 @@ strings to make sure that UTF-8 support works on EBCDIC platforms. */
 #define STRING_Grantha0 STR_G STR_r STR_a STR_n STR_t STR_h STR_a "\0"
 #define STRING_Greek0 STR_G STR_r STR_e STR_e STR_k "\0"
 #define STRING_Gujarati0 STR_G STR_u STR_j STR_a STR_r STR_a STR_t STR_i "\0"
+#define STRING_Gunjala_Gondi0 STR_G STR_u STR_n STR_j STR_a STR_l STR_a STR_UNDERSCORE STR_G STR_o STR_n STR_d STR_i "\0"
 #define STRING_Gurmukhi0 STR_G STR_u STR_r STR_m STR_u STR_k STR_h STR_i "\0"
 #define STRING_Han0 STR_H STR_a STR_n "\0"
 #define STRING_Hangul0 STR_H STR_a STR_n STR_g STR_u STR_l "\0"
+#define STRING_Hanifi_Rohingya0 STR_H STR_a STR_n STR_i STR_f STR_i STR_UNDERSCORE STR_R STR_o STR_h STR_i STR_n STR_g STR_y STR_a "\0"
 #define STRING_Hanunoo0 STR_H STR_a STR_n STR_u STR_n STR_o STR_o "\0"
 #define STRING_Hatran0 STR_H STR_a STR_t STR_r STR_a STR_n "\0"
 #define STRING_Hebrew0 STR_H STR_e STR_b STR_r STR_e STR_w "\0"
@@ -330,6 +326,7 @@ strings to make sure that UTF-8 support works on EBCDIC platforms. */
 #define STRING_Lydian0 STR_L STR_y STR_d STR_i STR_a STR_n "\0"
 #define STRING_M0 STR_M "\0"
 #define STRING_Mahajani0 STR_M STR_a STR_h STR_a STR_j STR_a STR_n STR_i "\0"
+#define STRING_Makasar0 STR_M STR_a STR_k STR_a STR_s STR_a STR_r "\0"
 #define STRING_Malayalam0 STR_M STR_a STR_l STR_a STR_y STR_a STR_l STR_a STR_m "\0"
 #define STRING_Mandaic0 STR_M STR_a STR_n STR_d STR_a STR_i STR_c "\0"
 #define STRING_Manichaean0 STR_M STR_a STR_n STR_i STR_c STR_h STR_a STR_e STR_a STR_n "\0"
@@ -337,6 +334,7 @@ strings to make sure that UTF-8 support works on EBCDIC platforms. */
 #define STRING_Masaram_Gondi0 STR_M STR_a STR_s STR_a STR_r STR_a STR_m STR_UNDERSCORE STR_G STR_o STR_n STR_d STR_i "\0"
 #define STRING_Mc0 STR_M STR_c "\0"
 #define STRING_Me0 STR_M STR_e "\0"
+#define STRING_Medefaidrin0 STR_M STR_e STR_d STR_e STR_f STR_a STR_i STR_d STR_r STR_i STR_n "\0"
 #define STRING_Meetei_Mayek0 STR_M STR_e STR_e STR_t STR_e STR_i STR_UNDERSCORE STR_M STR_a STR_y STR_e STR_k "\0"
 #define STRING_Mende_Kikakui0 STR_M STR_e STR_n STR_d STR_e STR_UNDERSCORE STR_K STR_i STR_k STR_a STR_k STR_u STR_i "\0"
 #define STRING_Meroitic_Cursive0 STR_M STR_e STR_r STR_o STR_i STR_t STR_i STR_c STR_UNDERSCORE STR_C STR_u STR_r STR_s STR_i STR_v STR_e "\0"
@@ -364,6 +362,7 @@ strings to make sure that UTF-8 support works on EBCDIC platforms. */
 #define STRING_Old_North_Arabian0 STR_O STR_l STR_d STR_UNDERSCORE STR_N STR_o STR_r STR_t STR_h STR_UNDERSCORE STR_A STR_r STR_a STR_b STR_i STR_a STR_n "\0"
 #define STRING_Old_Permic0 STR_O STR_l STR_d STR_UNDERSCORE STR_P STR_e STR_r STR_m STR_i STR_c "\0"
 #define STRING_Old_Persian0 STR_O STR_l STR_d STR_UNDERSCORE STR_P STR_e STR_r STR_s STR_i STR_a STR_n "\0"
+#define STRING_Old_Sogdian0 STR_O STR_l STR_d STR_UNDERSCORE STR_S STR_o STR_g STR_d STR_i STR_a STR_n "\0"
 #define STRING_Old_South_Arabian0 STR_O STR_l STR_d STR_UNDERSCORE STR_S STR_o STR_u STR_t STR_h STR_UNDERSCORE STR_A STR_r STR_a STR_b STR_i STR_a STR_n "\0"
 #define STRING_Old_Turkic0 STR_O STR_l STR_d STR_UNDERSCORE STR_T STR_u STR_r STR_k STR_i STR_c "\0"
 #define STRING_Oriya0 STR_O STR_r STR_i STR_y STR_a "\0"
@@ -397,6 +396,7 @@ strings to make sure that UTF-8 support works on EBCDIC platforms. */
 #define STRING_Sk0 STR_S STR_k "\0"
 #define STRING_Sm0 STR_S STR_m "\0"
 #define STRING_So0 STR_S STR_o "\0"
+#define STRING_Sogdian0 STR_S STR_o STR_g STR_d STR_i STR_a STR_n "\0"
 #define STRING_Sora_Sompeng0 STR_S STR_o STR_r STR_a STR_UNDERSCORE STR_S STR_o STR_m STR_p STR_e STR_n STR_g "\0"
 #define STRING_Soyombo0 STR_S STR_o STR_y STR_o STR_m STR_b STR_o "\0"
 #define STRING_Sundanese0 STR_S STR_u STR_n STR_d STR_a STR_n STR_e STR_s STR_e "\0"
@@ -469,6 +469,7 @@ const char PRIV(utt_names)[] =
   STRING_Cyrillic0
   STRING_Deseret0
   STRING_Devanagari0
+  STRING_Dogra0
   STRING_Duployan0
   STRING_Egyptian_Hieroglyphs0
   STRING_Elbasan0
@@ -479,9 +480,11 @@ const char PRIV(utt_names)[] =
   STRING_Grantha0
   STRING_Greek0
   STRING_Gujarati0
+  STRING_Gunjala_Gondi0
   STRING_Gurmukhi0
   STRING_Han0
   STRING_Hangul0
+  STRING_Hanifi_Rohingya0
   STRING_Hanunoo0
   STRING_Hatran0
   STRING_Hebrew0
@@ -517,6 +520,7 @@ const char PRIV(utt_names)[] =
   STRING_Lydian0
   STRING_M0
   STRING_Mahajani0
+  STRING_Makasar0
   STRING_Malayalam0
   STRING_Mandaic0
   STRING_Manichaean0
@@ -524,6 +528,7 @@ const char PRIV(utt_names)[] =
   STRING_Masaram_Gondi0
   STRING_Mc0
   STRING_Me0
+  STRING_Medefaidrin0
   STRING_Meetei_Mayek0
   STRING_Mende_Kikakui0
   STRING_Meroitic_Cursive0
@@ -551,6 +556,7 @@ const char PRIV(utt_names)[] =
   STRING_Old_North_Arabian0
   STRING_Old_Permic0
   STRING_Old_Persian0
+  STRING_Old_Sogdian0
   STRING_Old_South_Arabian0
   STRING_Old_Turkic0
   STRING_Oriya0
@@ -584,6 +590,7 @@ const char PRIV(utt_names)[] =
   STRING_Sk0
   STRING_Sm0
   STRING_So0
+  STRING_Sogdian0
   STRING_Sora_Sompeng0
   STRING_Soyombo0
   STRING_Sundanese0
@@ -656,154 +663,161 @@ const ucp_type_table PRIV(utt)[] = {
   { 265, PT_SC, ucp_Cyrillic },
   { 274, PT_SC, ucp_Deseret },
   { 282, PT_SC, ucp_Devanagari },
-  { 293, PT_SC, ucp_Duployan },
-  { 302, PT_SC, ucp_Egyptian_Hieroglyphs },
-  { 323, PT_SC, ucp_Elbasan },
-  { 331, PT_SC, ucp_Ethiopic },
-  { 340, PT_SC, ucp_Georgian },
-  { 349, PT_SC, ucp_Glagolitic },
-  { 360, PT_SC, ucp_Gothic },
-  { 367, PT_SC, ucp_Grantha },
-  { 375, PT_SC, ucp_Greek },
-  { 381, PT_SC, ucp_Gujarati },
-  { 390, PT_SC, ucp_Gurmukhi },
-  { 399, PT_SC, ucp_Han },
-  { 403, PT_SC, ucp_Hangul },
-  { 410, PT_SC, ucp_Hanunoo },
-  { 418, PT_SC, ucp_Hatran },
-  { 425, PT_SC, ucp_Hebrew },
-  { 432, PT_SC, ucp_Hiragana },
-  { 441, PT_SC, ucp_Imperial_Aramaic },
-  { 458, PT_SC, ucp_Inherited },
-  { 468, PT_SC, ucp_Inscriptional_Pahlavi },
-  { 490, PT_SC, ucp_Inscriptional_Parthian },
-  { 513, PT_SC, ucp_Javanese },
-  { 522, PT_SC, ucp_Kaithi },
-  { 529, PT_SC, ucp_Kannada },
-  { 537, PT_SC, ucp_Katakana },
-  { 546, PT_SC, ucp_Kayah_Li },
-  { 555, PT_SC, ucp_Kharoshthi },
-  { 566, PT_SC, ucp_Khmer },
-  { 572, PT_SC, ucp_Khojki },
-  { 579, PT_SC, ucp_Khudawadi },
-  { 589, PT_GC, ucp_L },
-  { 591, PT_LAMP, 0 },
-  { 594, PT_SC, ucp_Lao },
-  { 598, PT_SC, ucp_Latin },
-  { 604, PT_SC, ucp_Lepcha },
-  { 611, PT_SC, ucp_Limbu },
-  { 617, PT_SC, ucp_Linear_A },
-  { 626, PT_SC, ucp_Linear_B },
-  { 635, PT_SC, ucp_Lisu },
-  { 640, PT_PC, ucp_Ll },
-  { 643, PT_PC, ucp_Lm },
-  { 646, PT_PC, ucp_Lo },
-  { 649, PT_PC, ucp_Lt },
-  { 652, PT_PC, ucp_Lu },
-  { 655, PT_SC, ucp_Lycian },
-  { 662, PT_SC, ucp_Lydian },
-  { 669, PT_GC, ucp_M },
-  { 671, PT_SC, ucp_Mahajani },
-  { 680, PT_SC, ucp_Malayalam },
-  { 690, PT_SC, ucp_Mandaic },
-  { 698, PT_SC, ucp_Manichaean },
-  { 709, PT_SC, ucp_Marchen },
-  { 717, PT_SC, ucp_Masaram_Gondi },
-  { 731, PT_PC, ucp_Mc },
-  { 734, PT_PC, ucp_Me },
-  { 737, PT_SC, ucp_Meetei_Mayek },
-  { 750, PT_SC, ucp_Mende_Kikakui },
-  { 764, PT_SC, ucp_Meroitic_Cursive },
-  { 781, PT_SC, ucp_Meroitic_Hieroglyphs },
-  { 802, PT_SC, ucp_Miao },
-  { 807, PT_PC, ucp_Mn },
-  { 810, PT_SC, ucp_Modi },
-  { 815, PT_SC, ucp_Mongolian },
-  { 825, PT_SC, ucp_Mro },
-  { 829, PT_SC, ucp_Multani },
-  { 837, PT_SC, ucp_Myanmar },
-  { 845, PT_GC, ucp_N },
-  { 847, PT_SC, ucp_Nabataean },
-  { 857, PT_PC, ucp_Nd },
-  { 860, PT_SC, ucp_New_Tai_Lue },
-  { 872, PT_SC, ucp_Newa },
-  { 877, PT_SC, ucp_Nko },
-  { 881, PT_PC, ucp_Nl },
-  { 884, PT_PC, ucp_No },
-  { 887, PT_SC, ucp_Nushu },
-  { 893, PT_SC, ucp_Ogham },
-  { 899, PT_SC, ucp_Ol_Chiki },
-  { 908, PT_SC, ucp_Old_Hungarian },
-  { 922, PT_SC, ucp_Old_Italic },
-  { 933, PT_SC, ucp_Old_North_Arabian },
-  { 951, PT_SC, ucp_Old_Permic },
-  { 962, PT_SC, ucp_Old_Persian },
-  { 974, PT_SC, ucp_Old_South_Arabian },
-  { 992, PT_SC, ucp_Old_Turkic },
-  { 1003, PT_SC, ucp_Oriya },
-  { 1009, PT_SC, ucp_Osage },
-  { 1015, PT_SC, ucp_Osmanya },
-  { 1023, PT_GC, ucp_P },
-  { 1025, PT_SC, ucp_Pahawh_Hmong },
-  { 1038, PT_SC, ucp_Palmyrene },
-  { 1048, PT_SC, ucp_Pau_Cin_Hau },
-  { 1060, PT_PC, ucp_Pc },
-  { 1063, PT_PC, ucp_Pd },
-  { 1066, PT_PC, ucp_Pe },
-  { 1069, PT_PC, ucp_Pf },
-  { 1072, PT_SC, ucp_Phags_Pa },
-  { 1081, PT_SC, ucp_Phoenician },
-  { 1092, PT_PC, ucp_Pi },
-  { 1095, PT_PC, ucp_Po },
-  { 1098, PT_PC, ucp_Ps },
-  { 1101, PT_SC, ucp_Psalter_Pahlavi },
-  { 1117, PT_SC, ucp_Rejang },
-  { 1124, PT_SC, ucp_Runic },
-  { 1130, PT_GC, ucp_S },
-  { 1132, PT_SC, ucp_Samaritan },
-  { 1142, PT_SC, ucp_Saurashtra },
-  { 1153, PT_PC, ucp_Sc },
-  { 1156, PT_SC, ucp_Sharada },
-  { 1164, PT_SC, ucp_Shavian },
-  { 1172, PT_SC, ucp_Siddham },
-  { 1180, PT_SC, ucp_SignWriting },
-  { 1192, PT_SC, ucp_Sinhala },
-  { 1200, PT_PC, ucp_Sk },
-  { 1203, PT_PC, ucp_Sm },
-  { 1206, PT_PC, ucp_So },
-  { 1209, PT_SC, ucp_Sora_Sompeng },
-  { 1222, PT_SC, ucp_Soyombo },
-  { 1230, PT_SC, ucp_Sundanese },
-  { 1240, PT_SC, ucp_Syloti_Nagri },
-  { 1253, PT_SC, ucp_Syriac },
-  { 1260, PT_SC, ucp_Tagalog },
-  { 1268, PT_SC, ucp_Tagbanwa },
-  { 1277, PT_SC, ucp_Tai_Le },
-  { 1284, PT_SC, ucp_Tai_Tham },
-  { 1293, PT_SC, ucp_Tai_Viet },
-  { 1302, PT_SC, ucp_Takri },
-  { 1308, PT_SC, ucp_Tamil },
-  { 1314, PT_SC, ucp_Tangut },
-  { 1321, PT_SC, ucp_Telugu },
-  { 1328, PT_SC, ucp_Thaana },
-  { 1335, PT_SC, ucp_Thai },
-  { 1340, PT_SC, ucp_Tibetan },
-  { 1348, PT_SC, ucp_Tifinagh },
-  { 1357, PT_SC, ucp_Tirhuta },
-  { 1365, PT_SC, ucp_Ugaritic },
-  { 1374, PT_SC, ucp_Vai },
-  { 1378, PT_SC, ucp_Warang_Citi },
-  { 1390, PT_ALNUM, 0 },
-  { 1394, PT_PXSPACE, 0 },
-  { 1398, PT_SPACE, 0 },
-  { 1402, PT_UCNC, 0 },
-  { 1406, PT_WORD, 0 },
-  { 1410, PT_SC, ucp_Yi },
-  { 1413, PT_GC, ucp_Z },
-  { 1415, PT_SC, ucp_Zanabazar_Square },
-  { 1432, PT_PC, ucp_Zl },
-  { 1435, PT_PC, ucp_Zp },
-  { 1438, PT_PC, ucp_Zs }
+  { 293, PT_SC, ucp_Dogra },
+  { 299, PT_SC, ucp_Duployan },
+  { 308, PT_SC, ucp_Egyptian_Hieroglyphs },
+  { 329, PT_SC, ucp_Elbasan },
+  { 337, PT_SC, ucp_Ethiopic },
+  { 346, PT_SC, ucp_Georgian },
+  { 355, PT_SC, ucp_Glagolitic },
+  { 366, PT_SC, ucp_Gothic },
+  { 373, PT_SC, ucp_Grantha },
+  { 381, PT_SC, ucp_Greek },
+  { 387, PT_SC, ucp_Gujarati },
+  { 396, PT_SC, ucp_Gunjala_Gondi },
+  { 410, PT_SC, ucp_Gurmukhi },
+  { 419, PT_SC, ucp_Han },
+  { 423, PT_SC, ucp_Hangul },
+  { 430, PT_SC, ucp_Hanifi_Rohingya },
+  { 446, PT_SC, ucp_Hanunoo },
+  { 454, PT_SC, ucp_Hatran },
+  { 461, PT_SC, ucp_Hebrew },
+  { 468, PT_SC, ucp_Hiragana },
+  { 477, PT_SC, ucp_Imperial_Aramaic },
+  { 494, PT_SC, ucp_Inherited },
+  { 504, PT_SC, ucp_Inscriptional_Pahlavi },
+  { 526, PT_SC, ucp_Inscriptional_Parthian },
+  { 549, PT_SC, ucp_Javanese },
+  { 558, PT_SC, ucp_Kaithi },
+  { 565, PT_SC, ucp_Kannada },
+  { 573, PT_SC, ucp_Katakana },
+  { 582, PT_SC, ucp_Kayah_Li },
+  { 591, PT_SC, ucp_Kharoshthi },
+  { 602, PT_SC, ucp_Khmer },
+  { 608, PT_SC, ucp_Khojki },
+  { 615, PT_SC, ucp_Khudawadi },
+  { 625, PT_GC, ucp_L },
+  { 627, PT_LAMP, 0 },
+  { 630, PT_SC, ucp_Lao },
+  { 634, PT_SC, ucp_Latin },
+  { 640, PT_SC, ucp_Lepcha },
+  { 647, PT_SC, ucp_Limbu },
+  { 653, PT_SC, ucp_Linear_A },
+  { 662, PT_SC, ucp_Linear_B },
+  { 671, PT_SC, ucp_Lisu },
+  { 676, PT_PC, ucp_Ll },
+  { 679, PT_PC, ucp_Lm },
+  { 682, PT_PC, ucp_Lo },
+  { 685, PT_PC, ucp_Lt },
+  { 688, PT_PC, ucp_Lu },
+  { 691, PT_SC, ucp_Lycian },
+  { 698, PT_SC, ucp_Lydian },
+  { 705, PT_GC, ucp_M },
+  { 707, PT_SC, ucp_Mahajani },
+  { 716, PT_SC, ucp_Makasar },
+  { 724, PT_SC, ucp_Malayalam },
+  { 734, PT_SC, ucp_Mandaic },
+  { 742, PT_SC, ucp_Manichaean },
+  { 753, PT_SC, ucp_Marchen },
+  { 761, PT_SC, ucp_Masaram_Gondi },
+  { 775, PT_PC, ucp_Mc },
+  { 778, PT_PC, ucp_Me },
+  { 781, PT_SC, ucp_Medefaidrin },
+  { 793, PT_SC, ucp_Meetei_Mayek },
+  { 806, PT_SC, ucp_Mende_Kikakui },
+  { 820, PT_SC, ucp_Meroitic_Cursive },
+  { 837, PT_SC, ucp_Meroitic_Hieroglyphs },
+  { 858, PT_SC, ucp_Miao },
+  { 863, PT_PC, ucp_Mn },
+  { 866, PT_SC, ucp_Modi },
+  { 871, PT_SC, ucp_Mongolian },
+  { 881, PT_SC, ucp_Mro },
+  { 885, PT_SC, ucp_Multani },
+  { 893, PT_SC, ucp_Myanmar },
+  { 901, PT_GC, ucp_N },
+  { 903, PT_SC, ucp_Nabataean },
+  { 913, PT_PC, ucp_Nd },
+  { 916, PT_SC, ucp_New_Tai_Lue },
+  { 928, PT_SC, ucp_Newa },
+  { 933, PT_SC, ucp_Nko },
+  { 937, PT_PC, ucp_Nl },
+  { 940, PT_PC, ucp_No },
+  { 943, PT_SC, ucp_Nushu },
+  { 949, PT_SC, ucp_Ogham },
+  { 955, PT_SC, ucp_Ol_Chiki },
+  { 964, PT_SC, ucp_Old_Hungarian },
+  { 978, PT_SC, ucp_Old_Italic },
+  { 989, PT_SC, ucp_Old_North_Arabian },
+  { 1007, PT_SC, ucp_Old_Permic },
+  { 1018, PT_SC, ucp_Old_Persian },
+  { 1030, PT_SC, ucp_Old_Sogdian },
+  { 1042, PT_SC, ucp_Old_South_Arabian },
+  { 1060, PT_SC, ucp_Old_Turkic },
+  { 1071, PT_SC, ucp_Oriya },
+  { 1077, PT_SC, ucp_Osage },
+  { 1083, PT_SC, ucp_Osmanya },
+  { 1091, PT_GC, ucp_P },
+  { 1093, PT_SC, ucp_Pahawh_Hmong },
+  { 1106, PT_SC, ucp_Palmyrene },
+  { 1116, PT_SC, ucp_Pau_Cin_Hau },
+  { 1128, PT_PC, ucp_Pc },
+  { 1131, PT_PC, ucp_Pd },
+  { 1134, PT_PC, ucp_Pe },
+  { 1137, PT_PC, ucp_Pf },
+  { 1140, PT_SC, ucp_Phags_Pa },
+  { 1149, PT_SC, ucp_Phoenician },
+  { 1160, PT_PC, ucp_Pi },
+  { 1163, PT_PC, ucp_Po },
+  { 1166, PT_PC, ucp_Ps },
+  { 1169, PT_SC, ucp_Psalter_Pahlavi },
+  { 1185, PT_SC, ucp_Rejang },
+  { 1192, PT_SC, ucp_Runic },
+  { 1198, PT_GC, ucp_S },
+  { 1200, PT_SC, ucp_Samaritan },
+  { 1210, PT_SC, ucp_Saurashtra },
+  { 1221, PT_PC, ucp_Sc },
+  { 1224, PT_SC, ucp_Sharada },
+  { 1232, PT_SC, ucp_Shavian },
+  { 1240, PT_SC, ucp_Siddham },
+  { 1248, PT_SC, ucp_SignWriting },
+  { 1260, PT_SC, ucp_Sinhala },
+  { 1268, PT_PC, ucp_Sk },
+  { 1271, PT_PC, ucp_Sm },
+  { 1274, PT_PC, ucp_So },
+  { 1277, PT_SC, ucp_Sogdian },
+  { 1285, PT_SC, ucp_Sora_Sompeng },
+  { 1298, PT_SC, ucp_Soyombo },
+  { 1306, PT_SC, ucp_Sundanese },
+  { 1316, PT_SC, ucp_Syloti_Nagri },
+  { 1329, PT_SC, ucp_Syriac },
+  { 1336, PT_SC, ucp_Tagalog },
+  { 1344, PT_SC, ucp_Tagbanwa },
+  { 1353, PT_SC, ucp_Tai_Le },
+  { 1360, PT_SC, ucp_Tai_Tham },
+  { 1369, PT_SC, ucp_Tai_Viet },
+  { 1378, PT_SC, ucp_Takri },
+  { 1384, PT_SC, ucp_Tamil },
+  { 1390, PT_SC, ucp_Tangut },
+  { 1397, PT_SC, ucp_Telugu },
+  { 1404, PT_SC, ucp_Thaana },
+  { 1411, PT_SC, ucp_Thai },
+  { 1416, PT_SC, ucp_Tibetan },
+  { 1424, PT_SC, ucp_Tifinagh },
+  { 1433, PT_SC, ucp_Tirhuta },
+  { 1441, PT_SC, ucp_Ugaritic },
+  { 1450, PT_SC, ucp_Vai },
+  { 1454, PT_SC, ucp_Warang_Citi },
+  { 1466, PT_ALNUM, 0 },
+  { 1470, PT_PXSPACE, 0 },
+  { 1474, PT_SPACE, 0 },
+  { 1478, PT_UCNC, 0 },
+  { 1482, PT_WORD, 0 },
+  { 1486, PT_SC, ucp_Yi },
+  { 1489, PT_GC, ucp_Z },
+  { 1491, PT_SC, ucp_Zanabazar_Square },
+  { 1508, PT_PC, ucp_Zl },
+  { 1511, PT_PC, ucp_Zp },
+  { 1514, PT_PC, ucp_Zs }
 };
 
 const size_t PRIV(utt_size) = sizeof(PRIV(utt)) / sizeof(ucp_type_table);
diff --git a/thirdparty/pcre2/src/pcre2_ucd.c b/thirdparty/pcre2/src/pcre2_ucd.c
index ac7649b99e..275a4be2fe 100644
--- a/thirdparty/pcre2/src/pcre2_ucd.c
+++ b/thirdparty/pcre2/src/pcre2_ucd.c
@@ -20,7 +20,7 @@ needed. */
 
 /* Unicode character database. */
 /* This file was autogenerated by the MultiStage2.py script. */
-/* Total size: 80808 bytes, block size: 128. */
+/* Total size: 92592 bytes, block size: 128. */
 
 /* The tables herein are needed only when UCP support is built,
 and in PCRE2 that happens automatically with UTF support.
@@ -34,12 +34,12 @@ Instead, just supply small dummy tables. */
 
 #ifndef SUPPORT_UNICODE
 const ucd_record PRIV(ucd_records)[] = {{0,0,0,0,0 }};
-const uint8_t PRIV(ucd_stage1)[] = {0};
+const uint16_t PRIV(ucd_stage1)[] = {0};
 const uint16_t PRIV(ucd_stage2)[] = {0};
 const uint32_t PRIV(ucd_caseless_sets)[] = {0};
 #else
 
-const char *PRIV(unicode_version) = "10.0.0";
+const char *PRIV(unicode_version) = "11.0.0";
 
 /* If the 32-bit library is run in non-32-bit mode, character values
 greater than 0x10ffff may be encountered. For these we set up a
@@ -104,7 +104,7 @@ const uint32_t PRIV(ucd_caseless_sets)[] = {
 
 #ifndef PCRE2_PCRE2TEST
 
-const ucd_record PRIV(ucd_records)[] = { /* 6568 bytes, record size 8 */
+const ucd_record PRIV(ucd_records)[] = { /* 6832 bytes, record size 8 */
   {     9,      0,      2,      0,      0, }, /*   0 */
   {     9,      0,      1,      0,      0, }, /*   1 */
   {     9,      0,      0,      0,      0, }, /*   2 */
@@ -125,1357 +125,1390 @@ const ucd_record PRIV(ucd_records)[] = { /* 6568 bytes, record size 8 */
   {    33,      5,     12,    100,    -32, }, /*  17 */
   {    33,      5,     12,      1,    -32, }, /*  18 */
   {     9,     26,     12,      0,      0, }, /*  19 */
-  {    33,      7,     12,      0,      0, }, /*  20 */
-  {     9,     20,     12,      0,      0, }, /*  21 */
-  {     9,      1,      2,      0,      0, }, /*  22 */
-  {     9,     15,     12,      0,      0, }, /*  23 */
-  {     9,      5,     12,     26,    775, }, /*  24 */
-  {     9,     19,     12,      0,      0, }, /*  25 */
-  {    33,      9,     12,    104,     32, }, /*  26 */
-  {    33,      5,     12,      0,   7615, }, /*  27 */
-  {    33,      5,     12,    104,    -32, }, /*  28 */
-  {    33,      5,     12,      0,    121, }, /*  29 */
-  {    33,      9,     12,      0,      1, }, /*  30 */
-  {    33,      5,     12,      0,     -1, }, /*  31 */
-  {    33,      9,     12,      0,      0, }, /*  32 */
-  {    33,      5,     12,      0,      0, }, /*  33 */
-  {    33,      9,     12,      0,   -121, }, /*  34 */
-  {    33,      5,     12,      1,   -268, }, /*  35 */
-  {    33,      5,     12,      0,    195, }, /*  36 */
-  {    33,      9,     12,      0,    210, }, /*  37 */
-  {    33,      9,     12,      0,    206, }, /*  38 */
-  {    33,      9,     12,      0,    205, }, /*  39 */
-  {    33,      9,     12,      0,     79, }, /*  40 */
-  {    33,      9,     12,      0,    202, }, /*  41 */
-  {    33,      9,     12,      0,    203, }, /*  42 */
-  {    33,      9,     12,      0,    207, }, /*  43 */
-  {    33,      5,     12,      0,     97, }, /*  44 */
-  {    33,      9,     12,      0,    211, }, /*  45 */
-  {    33,      9,     12,      0,    209, }, /*  46 */
-  {    33,      5,     12,      0,    163, }, /*  47 */
-  {    33,      9,     12,      0,    213, }, /*  48 */
-  {    33,      5,     12,      0,    130, }, /*  49 */
-  {    33,      9,     12,      0,    214, }, /*  50 */
-  {    33,      9,     12,      0,    218, }, /*  51 */
-  {    33,      9,     12,      0,    217, }, /*  52 */
-  {    33,      9,     12,      0,    219, }, /*  53 */
-  {    33,      5,     12,      0,     56, }, /*  54 */
-  {    33,      9,     12,      5,      2, }, /*  55 */
-  {    33,      8,     12,      5,      1, }, /*  56 */
-  {    33,      5,     12,      5,     -2, }, /*  57 */
-  {    33,      9,     12,      9,      2, }, /*  58 */
-  {    33,      8,     12,      9,      1, }, /*  59 */
-  {    33,      5,     12,      9,     -2, }, /*  60 */
-  {    33,      9,     12,     13,      2, }, /*  61 */
-  {    33,      8,     12,     13,      1, }, /*  62 */
-  {    33,      5,     12,     13,     -2, }, /*  63 */
-  {    33,      5,     12,      0,    -79, }, /*  64 */
-  {    33,      9,     12,     17,      2, }, /*  65 */
-  {    33,      8,     12,     17,      1, }, /*  66 */
-  {    33,      5,     12,     17,     -2, }, /*  67 */
-  {    33,      9,     12,      0,    -97, }, /*  68 */
-  {    33,      9,     12,      0,    -56, }, /*  69 */
-  {    33,      9,     12,      0,   -130, }, /*  70 */
-  {    33,      9,     12,      0,  10795, }, /*  71 */
-  {    33,      9,     12,      0,   -163, }, /*  72 */
-  {    33,      9,     12,      0,  10792, }, /*  73 */
-  {    33,      5,     12,      0,  10815, }, /*  74 */
-  {    33,      9,     12,      0,   -195, }, /*  75 */
-  {    33,      9,     12,      0,     69, }, /*  76 */
-  {    33,      9,     12,      0,     71, }, /*  77 */
-  {    33,      5,     12,      0,  10783, }, /*  78 */
-  {    33,      5,     12,      0,  10780, }, /*  79 */
-  {    33,      5,     12,      0,  10782, }, /*  80 */
-  {    33,      5,     12,      0,   -210, }, /*  81 */
-  {    33,      5,     12,      0,   -206, }, /*  82 */
-  {    33,      5,     12,      0,   -205, }, /*  83 */
-  {    33,      5,     12,      0,   -202, }, /*  84 */
-  {    33,      5,     12,      0,   -203, }, /*  85 */
-  {    33,      5,     12,      0,  42319, }, /*  86 */
-  {    33,      5,     12,      0,  42315, }, /*  87 */
-  {    33,      5,     12,      0,   -207, }, /*  88 */
-  {    33,      5,     12,      0,  42280, }, /*  89 */
-  {    33,      5,     12,      0,  42308, }, /*  90 */
-  {    33,      5,     12,      0,   -209, }, /*  91 */
-  {    33,      5,     12,      0,   -211, }, /*  92 */
-  {    33,      5,     12,      0,  10743, }, /*  93 */
-  {    33,      5,     12,      0,  42305, }, /*  94 */
-  {    33,      5,     12,      0,  10749, }, /*  95 */
-  {    33,      5,     12,      0,   -213, }, /*  96 */
-  {    33,      5,     12,      0,   -214, }, /*  97 */
-  {    33,      5,     12,      0,  10727, }, /*  98 */
-  {    33,      5,     12,      0,   -218, }, /*  99 */
-  {    33,      5,     12,      0,  42282, }, /* 100 */
-  {    33,      5,     12,      0,    -69, }, /* 101 */
-  {    33,      5,     12,      0,   -217, }, /* 102 */
-  {    33,      5,     12,      0,    -71, }, /* 103 */
-  {    33,      5,     12,      0,   -219, }, /* 104 */
-  {    33,      5,     12,      0,  42261, }, /* 105 */
-  {    33,      5,     12,      0,  42258, }, /* 106 */
-  {    33,      6,     12,      0,      0, }, /* 107 */
-  {     9,      6,     12,      0,      0, }, /* 108 */
-  {     3,     24,     12,      0,      0, }, /* 109 */
-  {    27,     12,      3,      0,      0, }, /* 110 */
-  {    27,     12,      3,     21,    116, }, /* 111 */
-  {    19,      9,     12,      0,      1, }, /* 112 */
-  {    19,      5,     12,      0,     -1, }, /* 113 */
-  {    19,     24,     12,      0,      0, }, /* 114 */
-  {     9,      2,     12,      0,      0, }, /* 115 */
-  {    19,      6,     12,      0,      0, }, /* 116 */
-  {    19,      5,     12,      0,    130, }, /* 117 */
-  {    19,      9,     12,      0,    116, }, /* 118 */
-  {    19,      9,     12,      0,     38, }, /* 119 */
-  {    19,      9,     12,      0,     37, }, /* 120 */
-  {    19,      9,     12,      0,     64, }, /* 121 */
-  {    19,      9,     12,      0,     63, }, /* 122 */
-  {    19,      5,     12,      0,      0, }, /* 123 */
-  {    19,      9,     12,      0,     32, }, /* 124 */
-  {    19,      9,     12,     34,     32, }, /* 125 */
-  {    19,      9,     12,     59,     32, }, /* 126 */
-  {    19,      9,     12,     38,     32, }, /* 127 */
-  {    19,      9,     12,     21,     32, }, /* 128 */
-  {    19,      9,     12,     51,     32, }, /* 129 */
-  {    19,      9,     12,     26,     32, }, /* 130 */
-  {    19,      9,     12,     47,     32, }, /* 131 */
-  {    19,      9,     12,     55,     32, }, /* 132 */
-  {    19,      9,     12,     30,     32, }, /* 133 */
-  {    19,      9,     12,     43,     32, }, /* 134 */
-  {    19,      9,     12,     96,     32, }, /* 135 */
-  {    19,      5,     12,      0,    -38, }, /* 136 */
-  {    19,      5,     12,      0,    -37, }, /* 137 */
-  {    19,      5,     12,      0,    -32, }, /* 138 */
-  {    19,      5,     12,     34,    -32, }, /* 139 */
-  {    19,      5,     12,     59,    -32, }, /* 140 */
-  {    19,      5,     12,     38,    -32, }, /* 141 */
-  {    19,      5,     12,     21,   -116, }, /* 142 */
-  {    19,      5,     12,     51,    -32, }, /* 143 */
-  {    19,      5,     12,     26,   -775, }, /* 144 */
-  {    19,      5,     12,     47,    -32, }, /* 145 */
-  {    19,      5,     12,     55,    -32, }, /* 146 */
-  {    19,      5,     12,     30,      1, }, /* 147 */
-  {    19,      5,     12,     30,    -32, }, /* 148 */
-  {    19,      5,     12,     43,    -32, }, /* 149 */
-  {    19,      5,     12,     96,    -32, }, /* 150 */
-  {    19,      5,     12,      0,    -64, }, /* 151 */
-  {    19,      5,     12,      0,    -63, }, /* 152 */
-  {    19,      9,     12,      0,      8, }, /* 153 */
-  {    19,      5,     12,     34,    -30, }, /* 154 */
-  {    19,      5,     12,     38,    -25, }, /* 155 */
-  {    19,      9,     12,      0,      0, }, /* 156 */
-  {    19,      5,     12,     43,    -15, }, /* 157 */
-  {    19,      5,     12,     47,    -22, }, /* 158 */
-  {    19,      5,     12,      0,     -8, }, /* 159 */
-  {    10,      9,     12,      0,      1, }, /* 160 */
-  {    10,      5,     12,      0,     -1, }, /* 161 */
-  {    19,      5,     12,     51,    -54, }, /* 162 */
-  {    19,      5,     12,     55,    -48, }, /* 163 */
-  {    19,      5,     12,      0,      7, }, /* 164 */
-  {    19,      5,     12,      0,   -116, }, /* 165 */
-  {    19,      9,     12,     38,    -60, }, /* 166 */
-  {    19,      5,     12,     59,    -64, }, /* 167 */
-  {    19,     25,     12,      0,      0, }, /* 168 */
-  {    19,      9,     12,      0,     -7, }, /* 169 */
-  {    19,      9,     12,      0,   -130, }, /* 170 */
-  {    12,      9,     12,      0,     80, }, /* 171 */
-  {    12,      9,     12,      0,     32, }, /* 172 */
-  {    12,      9,     12,     63,     32, }, /* 173 */
-  {    12,      9,     12,     67,     32, }, /* 174 */
-  {    12,      9,     12,     71,     32, }, /* 175 */
-  {    12,      9,     12,     75,     32, }, /* 176 */
-  {    12,      9,     12,     79,     32, }, /* 177 */
-  {    12,      9,     12,     84,     32, }, /* 178 */
-  {    12,      5,     12,      0,    -32, }, /* 179 */
-  {    12,      5,     12,     63,    -32, }, /* 180 */
-  {    12,      5,     12,     67,    -32, }, /* 181 */
-  {    12,      5,     12,     71,    -32, }, /* 182 */
-  {    12,      5,     12,     75,    -32, }, /* 183 */
-  {    12,      5,     12,     79,    -32, }, /* 184 */
-  {    12,      5,     12,     84,    -32, }, /* 185 */
-  {    12,      5,     12,      0,    -80, }, /* 186 */
-  {    12,      9,     12,      0,      1, }, /* 187 */
-  {    12,      5,     12,      0,     -1, }, /* 188 */
-  {    12,      9,     12,     88,      1, }, /* 189 */
-  {    12,      5,     12,     88,     -1, }, /* 190 */
-  {    12,     26,     12,      0,      0, }, /* 191 */
-  {    12,     12,      3,      0,      0, }, /* 192 */
-  {    12,     11,      3,      0,      0, }, /* 193 */
-  {    12,      9,     12,      0,     15, }, /* 194 */
-  {    12,      5,     12,      0,    -15, }, /* 195 */
-  {     1,      9,     12,      0,     48, }, /* 196 */
-  {     1,      6,     12,      0,      0, }, /* 197 */
-  {     1,     21,     12,      0,      0, }, /* 198 */
-  {     1,      5,     12,      0,    -48, }, /* 199 */
+  {     9,     26,     14,      0,      0, }, /*  20 */
+  {    33,      7,     12,      0,      0, }, /*  21 */
+  {     9,     20,     12,      0,      0, }, /*  22 */
+  {     9,      1,      2,      0,      0, }, /*  23 */
+  {     9,     15,     12,      0,      0, }, /*  24 */
+  {     9,      5,     12,     26,    775, }, /*  25 */
+  {     9,     19,     12,      0,      0, }, /*  26 */
+  {    33,      9,     12,    104,     32, }, /*  27 */
+  {    33,      5,     12,      0,   7615, }, /*  28 */
+  {    33,      5,     12,    104,    -32, }, /*  29 */
+  {    33,      5,     12,      0,    121, }, /*  30 */
+  {    33,      9,     12,      0,      1, }, /*  31 */
+  {    33,      5,     12,      0,     -1, }, /*  32 */
+  {    33,      9,     12,      0,      0, }, /*  33 */
+  {    33,      5,     12,      0,      0, }, /*  34 */
+  {    33,      9,     12,      0,   -121, }, /*  35 */
+  {    33,      5,     12,      1,   -268, }, /*  36 */
+  {    33,      5,     12,      0,    195, }, /*  37 */
+  {    33,      9,     12,      0,    210, }, /*  38 */
+  {    33,      9,     12,      0,    206, }, /*  39 */
+  {    33,      9,     12,      0,    205, }, /*  40 */
+  {    33,      9,     12,      0,     79, }, /*  41 */
+  {    33,      9,     12,      0,    202, }, /*  42 */
+  {    33,      9,     12,      0,    203, }, /*  43 */
+  {    33,      9,     12,      0,    207, }, /*  44 */
+  {    33,      5,     12,      0,     97, }, /*  45 */
+  {    33,      9,     12,      0,    211, }, /*  46 */
+  {    33,      9,     12,      0,    209, }, /*  47 */
+  {    33,      5,     12,      0,    163, }, /*  48 */
+  {    33,      9,     12,      0,    213, }, /*  49 */
+  {    33,      5,     12,      0,    130, }, /*  50 */
+  {    33,      9,     12,      0,    214, }, /*  51 */
+  {    33,      9,     12,      0,    218, }, /*  52 */
+  {    33,      9,     12,      0,    217, }, /*  53 */
+  {    33,      9,     12,      0,    219, }, /*  54 */
+  {    33,      5,     12,      0,     56, }, /*  55 */
+  {    33,      9,     12,      5,      2, }, /*  56 */
+  {    33,      8,     12,      5,      1, }, /*  57 */
+  {    33,      5,     12,      5,     -2, }, /*  58 */
+  {    33,      9,     12,      9,      2, }, /*  59 */
+  {    33,      8,     12,      9,      1, }, /*  60 */
+  {    33,      5,     12,      9,     -2, }, /*  61 */
+  {    33,      9,     12,     13,      2, }, /*  62 */
+  {    33,      8,     12,     13,      1, }, /*  63 */
+  {    33,      5,     12,     13,     -2, }, /*  64 */
+  {    33,      5,     12,      0,    -79, }, /*  65 */
+  {    33,      9,     12,     17,      2, }, /*  66 */
+  {    33,      8,     12,     17,      1, }, /*  67 */
+  {    33,      5,     12,     17,     -2, }, /*  68 */
+  {    33,      9,     12,      0,    -97, }, /*  69 */
+  {    33,      9,     12,      0,    -56, }, /*  70 */
+  {    33,      9,     12,      0,   -130, }, /*  71 */
+  {    33,      9,     12,      0,  10795, }, /*  72 */
+  {    33,      9,     12,      0,   -163, }, /*  73 */
+  {    33,      9,     12,      0,  10792, }, /*  74 */
+  {    33,      5,     12,      0,  10815, }, /*  75 */
+  {    33,      9,     12,      0,   -195, }, /*  76 */
+  {    33,      9,     12,      0,     69, }, /*  77 */
+  {    33,      9,     12,      0,     71, }, /*  78 */
+  {    33,      5,     12,      0,  10783, }, /*  79 */
+  {    33,      5,     12,      0,  10780, }, /*  80 */
+  {    33,      5,     12,      0,  10782, }, /*  81 */
+  {    33,      5,     12,      0,   -210, }, /*  82 */
+  {    33,      5,     12,      0,   -206, }, /*  83 */
+  {    33,      5,     12,      0,   -205, }, /*  84 */
+  {    33,      5,     12,      0,   -202, }, /*  85 */
+  {    33,      5,     12,      0,   -203, }, /*  86 */
+  {    33,      5,     12,      0,  42319, }, /*  87 */
+  {    33,      5,     12,      0,  42315, }, /*  88 */
+  {    33,      5,     12,      0,   -207, }, /*  89 */
+  {    33,      5,     12,      0,  42280, }, /*  90 */
+  {    33,      5,     12,      0,  42308, }, /*  91 */
+  {    33,      5,     12,      0,   -209, }, /*  92 */
+  {    33,      5,     12,      0,   -211, }, /*  93 */
+  {    33,      5,     12,      0,  10743, }, /*  94 */
+  {    33,      5,     12,      0,  42305, }, /*  95 */
+  {    33,      5,     12,      0,  10749, }, /*  96 */
+  {    33,      5,     12,      0,   -213, }, /*  97 */
+  {    33,      5,     12,      0,   -214, }, /*  98 */
+  {    33,      5,     12,      0,  10727, }, /*  99 */
+  {    33,      5,     12,      0,   -218, }, /* 100 */
+  {    33,      5,     12,      0,  42282, }, /* 101 */
+  {    33,      5,     12,      0,    -69, }, /* 102 */
+  {    33,      5,     12,      0,   -217, }, /* 103 */
+  {    33,      5,     12,      0,    -71, }, /* 104 */
+  {    33,      5,     12,      0,   -219, }, /* 105 */
+  {    33,      5,     12,      0,  42261, }, /* 106 */
+  {    33,      5,     12,      0,  42258, }, /* 107 */
+  {    33,      6,     12,      0,      0, }, /* 108 */
+  {     9,      6,     12,      0,      0, }, /* 109 */
+  {     3,     24,     12,      0,      0, }, /* 110 */
+  {    27,     12,      3,      0,      0, }, /* 111 */
+  {    27,     12,      3,     21,    116, }, /* 112 */
+  {    19,      9,     12,      0,      1, }, /* 113 */
+  {    19,      5,     12,      0,     -1, }, /* 114 */
+  {    19,     24,     12,      0,      0, }, /* 115 */
+  {     9,      2,     12,      0,      0, }, /* 116 */
+  {    19,      6,     12,      0,      0, }, /* 117 */
+  {    19,      5,     12,      0,    130, }, /* 118 */
+  {    19,      9,     12,      0,    116, }, /* 119 */
+  {    19,      9,     12,      0,     38, }, /* 120 */
+  {    19,      9,     12,      0,     37, }, /* 121 */
+  {    19,      9,     12,      0,     64, }, /* 122 */
+  {    19,      9,     12,      0,     63, }, /* 123 */
+  {    19,      5,     12,      0,      0, }, /* 124 */
+  {    19,      9,     12,      0,     32, }, /* 125 */
+  {    19,      9,     12,     34,     32, }, /* 126 */
+  {    19,      9,     12,     59,     32, }, /* 127 */
+  {    19,      9,     12,     38,     32, }, /* 128 */
+  {    19,      9,     12,     21,     32, }, /* 129 */
+  {    19,      9,     12,     51,     32, }, /* 130 */
+  {    19,      9,     12,     26,     32, }, /* 131 */
+  {    19,      9,     12,     47,     32, }, /* 132 */
+  {    19,      9,     12,     55,     32, }, /* 133 */
+  {    19,      9,     12,     30,     32, }, /* 134 */
+  {    19,      9,     12,     43,     32, }, /* 135 */
+  {    19,      9,     12,     96,     32, }, /* 136 */
+  {    19,      5,     12,      0,    -38, }, /* 137 */
+  {    19,      5,     12,      0,    -37, }, /* 138 */
+  {    19,      5,     12,      0,    -32, }, /* 139 */
+  {    19,      5,     12,     34,    -32, }, /* 140 */
+  {    19,      5,     12,     59,    -32, }, /* 141 */
+  {    19,      5,     12,     38,    -32, }, /* 142 */
+  {    19,      5,     12,     21,   -116, }, /* 143 */
+  {    19,      5,     12,     51,    -32, }, /* 144 */
+  {    19,      5,     12,     26,   -775, }, /* 145 */
+  {    19,      5,     12,     47,    -32, }, /* 146 */
+  {    19,      5,     12,     55,    -32, }, /* 147 */
+  {    19,      5,     12,     30,      1, }, /* 148 */
+  {    19,      5,     12,     30,    -32, }, /* 149 */
+  {    19,      5,     12,     43,    -32, }, /* 150 */
+  {    19,      5,     12,     96,    -32, }, /* 151 */
+  {    19,      5,     12,      0,    -64, }, /* 152 */
+  {    19,      5,     12,      0,    -63, }, /* 153 */
+  {    19,      9,     12,      0,      8, }, /* 154 */
+  {    19,      5,     12,     34,    -30, }, /* 155 */
+  {    19,      5,     12,     38,    -25, }, /* 156 */
+  {    19,      9,     12,      0,      0, }, /* 157 */
+  {    19,      5,     12,     43,    -15, }, /* 158 */
+  {    19,      5,     12,     47,    -22, }, /* 159 */
+  {    19,      5,     12,      0,     -8, }, /* 160 */
+  {    10,      9,     12,      0,      1, }, /* 161 */
+  {    10,      5,     12,      0,     -1, }, /* 162 */
+  {    19,      5,     12,     51,    -54, }, /* 163 */
+  {    19,      5,     12,     55,    -48, }, /* 164 */
+  {    19,      5,     12,      0,      7, }, /* 165 */
+  {    19,      5,     12,      0,   -116, }, /* 166 */
+  {    19,      9,     12,     38,    -60, }, /* 167 */
+  {    19,      5,     12,     59,    -64, }, /* 168 */
+  {    19,     25,     12,      0,      0, }, /* 169 */
+  {    19,      9,     12,      0,     -7, }, /* 170 */
+  {    19,      9,     12,      0,   -130, }, /* 171 */
+  {    12,      9,     12,      0,     80, }, /* 172 */
+  {    12,      9,     12,      0,     32, }, /* 173 */
+  {    12,      9,     12,     63,     32, }, /* 174 */
+  {    12,      9,     12,     67,     32, }, /* 175 */
+  {    12,      9,     12,     71,     32, }, /* 176 */
+  {    12,      9,     12,     75,     32, }, /* 177 */
+  {    12,      9,     12,     79,     32, }, /* 178 */
+  {    12,      9,     12,     84,     32, }, /* 179 */
+  {    12,      5,     12,      0,    -32, }, /* 180 */
+  {    12,      5,     12,     63,    -32, }, /* 181 */
+  {    12,      5,     12,     67,    -32, }, /* 182 */
+  {    12,      5,     12,     71,    -32, }, /* 183 */
+  {    12,      5,     12,     75,    -32, }, /* 184 */
+  {    12,      5,     12,     79,    -32, }, /* 185 */
+  {    12,      5,     12,     84,    -32, }, /* 186 */
+  {    12,      5,     12,      0,    -80, }, /* 187 */
+  {    12,      9,     12,      0,      1, }, /* 188 */
+  {    12,      5,     12,      0,     -1, }, /* 189 */
+  {    12,      9,     12,     88,      1, }, /* 190 */
+  {    12,      5,     12,     88,     -1, }, /* 191 */
+  {    12,     26,     12,      0,      0, }, /* 192 */
+  {    12,     12,      3,      0,      0, }, /* 193 */
+  {    12,     11,      3,      0,      0, }, /* 194 */
+  {    12,      9,     12,      0,     15, }, /* 195 */
+  {    12,      5,     12,      0,    -15, }, /* 196 */
+  {     1,      9,     12,      0,     48, }, /* 197 */
+  {     1,      6,     12,      0,      0, }, /* 198 */
+  {     1,     21,     12,      0,      0, }, /* 199 */
   {     1,      5,     12,      0,      0, }, /* 200 */
-  {     1,     17,     12,      0,      0, }, /* 201 */
-  {     1,     26,     12,      0,      0, }, /* 202 */
-  {     1,     23,     12,      0,      0, }, /* 203 */
-  {    25,     12,      3,      0,      0, }, /* 204 */
-  {    25,     17,     12,      0,      0, }, /* 205 */
-  {    25,     21,     12,      0,      0, }, /* 206 */
-  {    25,      7,     12,      0,      0, }, /* 207 */
-  {     0,      1,      4,      0,      0, }, /* 208 */
-  {     9,      1,      4,      0,      0, }, /* 209 */
-  {     0,     25,     12,      0,      0, }, /* 210 */
-  {     0,     21,     12,      0,      0, }, /* 211 */
-  {     0,     23,     12,      0,      0, }, /* 212 */
-  {     0,     26,     12,      0,      0, }, /* 213 */
-  {     0,     12,      3,      0,      0, }, /* 214 */
-  {     0,      1,      2,      0,      0, }, /* 215 */
-  {     0,      7,     12,      0,      0, }, /* 216 */
-  {     0,     13,     12,      0,      0, }, /* 217 */
-  {     0,      6,     12,      0,      0, }, /* 218 */
-  {    49,     21,     12,      0,      0, }, /* 219 */
-  {    49,      1,      4,      0,      0, }, /* 220 */
-  {    49,      7,     12,      0,      0, }, /* 221 */
-  {    49,     12,      3,      0,      0, }, /* 222 */
-  {    55,      7,     12,      0,      0, }, /* 223 */
-  {    55,     12,      3,      0,      0, }, /* 224 */
-  {    63,     13,     12,      0,      0, }, /* 225 */
-  {    63,      7,     12,      0,      0, }, /* 226 */
-  {    63,     12,      3,      0,      0, }, /* 227 */
-  {    63,      6,     12,      0,      0, }, /* 228 */
-  {    63,     26,     12,      0,      0, }, /* 229 */
-  {    63,     21,     12,      0,      0, }, /* 230 */
-  {    89,      7,     12,      0,      0, }, /* 231 */
-  {    89,     12,      3,      0,      0, }, /* 232 */
-  {    89,      6,     12,      0,      0, }, /* 233 */
-  {    89,     21,     12,      0,      0, }, /* 234 */
-  {    94,      7,     12,      0,      0, }, /* 235 */
-  {    94,     12,      3,      0,      0, }, /* 236 */
-  {    94,     21,     12,      0,      0, }, /* 237 */
-  {    14,     12,      3,      0,      0, }, /* 238 */
-  {    14,     10,      5,      0,      0, }, /* 239 */
-  {    14,      7,     12,      0,      0, }, /* 240 */
-  {    14,     13,     12,      0,      0, }, /* 241 */
-  {    14,     21,     12,      0,      0, }, /* 242 */
-  {    14,      6,     12,      0,      0, }, /* 243 */
-  {     2,      7,     12,      0,      0, }, /* 244 */
-  {     2,     12,      3,      0,      0, }, /* 245 */
-  {     2,     10,      5,      0,      0, }, /* 246 */
-  {     2,     10,      3,      0,      0, }, /* 247 */
-  {     2,     13,     12,      0,      0, }, /* 248 */
-  {     2,     23,     12,      0,      0, }, /* 249 */
-  {     2,     15,     12,      0,      0, }, /* 250 */
-  {     2,     26,     12,      0,      0, }, /* 251 */
-  {     2,     21,     12,      0,      0, }, /* 252 */
-  {    21,     12,      3,      0,      0, }, /* 253 */
-  {    21,     10,      5,      0,      0, }, /* 254 */
-  {    21,      7,     12,      0,      0, }, /* 255 */
-  {    21,     13,     12,      0,      0, }, /* 256 */
-  {    20,     12,      3,      0,      0, }, /* 257 */
-  {    20,     10,      5,      0,      0, }, /* 258 */
-  {    20,      7,     12,      0,      0, }, /* 259 */
-  {    20,     13,     12,      0,      0, }, /* 260 */
-  {    20,     21,     12,      0,      0, }, /* 261 */
-  {    20,     23,     12,      0,      0, }, /* 262 */
-  {    43,     12,      3,      0,      0, }, /* 263 */
-  {    43,     10,      5,      0,      0, }, /* 264 */
-  {    43,      7,     12,      0,      0, }, /* 265 */
-  {    43,     10,      3,      0,      0, }, /* 266 */
-  {    43,     13,     12,      0,      0, }, /* 267 */
-  {    43,     26,     12,      0,      0, }, /* 268 */
-  {    43,     15,     12,      0,      0, }, /* 269 */
-  {    53,     12,      3,      0,      0, }, /* 270 */
-  {    53,      7,     12,      0,      0, }, /* 271 */
-  {    53,     10,      3,      0,      0, }, /* 272 */
-  {    53,     10,      5,      0,      0, }, /* 273 */
-  {    53,     13,     12,      0,      0, }, /* 274 */
-  {    53,     15,     12,      0,      0, }, /* 275 */
-  {    53,     26,     12,      0,      0, }, /* 276 */
-  {    53,     23,     12,      0,      0, }, /* 277 */
-  {    54,     12,      3,      0,      0, }, /* 278 */
-  {    54,     10,      5,      0,      0, }, /* 279 */
-  {    54,      7,     12,      0,      0, }, /* 280 */
-  {    54,     13,     12,      0,      0, }, /* 281 */
-  {    54,     15,     12,      0,      0, }, /* 282 */
-  {    54,     26,     12,      0,      0, }, /* 283 */
-  {    28,      7,     12,      0,      0, }, /* 284 */
-  {    28,     12,      3,      0,      0, }, /* 285 */
-  {    28,     10,      5,      0,      0, }, /* 286 */
-  {    28,     10,      3,      0,      0, }, /* 287 */
-  {    28,     13,     12,      0,      0, }, /* 288 */
-  {    36,     12,      3,      0,      0, }, /* 289 */
-  {    36,     10,      5,      0,      0, }, /* 290 */
-  {    36,      7,     12,      0,      0, }, /* 291 */
-  {    36,     10,      3,      0,      0, }, /* 292 */
-  {    36,      7,      4,      0,      0, }, /* 293 */
-  {    36,     26,     12,      0,      0, }, /* 294 */
-  {    36,     15,     12,      0,      0, }, /* 295 */
-  {    36,     13,     12,      0,      0, }, /* 296 */
-  {    47,     10,      5,      0,      0, }, /* 297 */
-  {    47,      7,     12,      0,      0, }, /* 298 */
-  {    47,     12,      3,      0,      0, }, /* 299 */
-  {    47,     10,      3,      0,      0, }, /* 300 */
-  {    47,     13,     12,      0,      0, }, /* 301 */
-  {    47,     21,     12,      0,      0, }, /* 302 */
-  {    56,      7,     12,      0,      0, }, /* 303 */
-  {    56,     12,      3,      0,      0, }, /* 304 */
-  {    56,      7,      5,      0,      0, }, /* 305 */
-  {    56,      6,     12,      0,      0, }, /* 306 */
-  {    56,     21,     12,      0,      0, }, /* 307 */
-  {    56,     13,     12,      0,      0, }, /* 308 */
-  {    32,      7,     12,      0,      0, }, /* 309 */
-  {    32,     12,      3,      0,      0, }, /* 310 */
-  {    32,      7,      5,      0,      0, }, /* 311 */
-  {    32,      6,     12,      0,      0, }, /* 312 */
-  {    32,     13,     12,      0,      0, }, /* 313 */
-  {    57,      7,     12,      0,      0, }, /* 314 */
-  {    57,     26,     12,      0,      0, }, /* 315 */
-  {    57,     21,     12,      0,      0, }, /* 316 */
-  {    57,     12,      3,      0,      0, }, /* 317 */
-  {    57,     13,     12,      0,      0, }, /* 318 */
-  {    57,     15,     12,      0,      0, }, /* 319 */
-  {    57,     22,     12,      0,      0, }, /* 320 */
-  {    57,     18,     12,      0,      0, }, /* 321 */
-  {    57,     10,      5,      0,      0, }, /* 322 */
-  {    38,      7,     12,      0,      0, }, /* 323 */
-  {    38,     10,     12,      0,      0, }, /* 324 */
-  {    38,     12,      3,      0,      0, }, /* 325 */
-  {    38,     10,      5,      0,      0, }, /* 326 */
-  {    38,     13,     12,      0,      0, }, /* 327 */
-  {    38,     21,     12,      0,      0, }, /* 328 */
-  {    38,     26,     12,      0,      0, }, /* 329 */
-  {    16,      9,     12,      0,   7264, }, /* 330 */
-  {    16,      7,     12,      0,      0, }, /* 331 */
-  {    16,      6,     12,      0,      0, }, /* 332 */
-  {    23,      7,      6,      0,      0, }, /* 333 */
-  {    23,      7,      7,      0,      0, }, /* 334 */
-  {    23,      7,      8,      0,      0, }, /* 335 */
-  {    15,      7,     12,      0,      0, }, /* 336 */
-  {    15,     12,      3,      0,      0, }, /* 337 */
-  {    15,     21,     12,      0,      0, }, /* 338 */
-  {    15,     15,     12,      0,      0, }, /* 339 */
-  {    15,     26,     12,      0,      0, }, /* 340 */
-  {     8,      9,     12,      0,  38864, }, /* 341 */
-  {     8,      9,     12,      0,      8, }, /* 342 */
-  {     8,      5,     12,      0,     -8, }, /* 343 */
-  {     7,     17,     12,      0,      0, }, /* 344 */
-  {     7,      7,     12,      0,      0, }, /* 345 */
-  {     7,     21,     12,      0,      0, }, /* 346 */
-  {    40,     29,     12,      0,      0, }, /* 347 */
-  {    40,      7,     12,      0,      0, }, /* 348 */
-  {    40,     22,     12,      0,      0, }, /* 349 */
-  {    40,     18,     12,      0,      0, }, /* 350 */
-  {    45,      7,     12,      0,      0, }, /* 351 */
-  {    45,     14,     12,      0,      0, }, /* 352 */
-  {    50,      7,     12,      0,      0, }, /* 353 */
-  {    50,     12,      3,      0,      0, }, /* 354 */
-  {    24,      7,     12,      0,      0, }, /* 355 */
-  {    24,     12,      3,      0,      0, }, /* 356 */
-  {     6,      7,     12,      0,      0, }, /* 357 */
-  {     6,     12,      3,      0,      0, }, /* 358 */
-  {    51,      7,     12,      0,      0, }, /* 359 */
-  {    51,     12,      3,      0,      0, }, /* 360 */
-  {    31,      7,     12,      0,      0, }, /* 361 */
-  {    31,     12,      3,      0,      0, }, /* 362 */
-  {    31,     10,      5,      0,      0, }, /* 363 */
-  {    31,     21,     12,      0,      0, }, /* 364 */
-  {    31,      6,     12,      0,      0, }, /* 365 */
-  {    31,     23,     12,      0,      0, }, /* 366 */
-  {    31,     13,     12,      0,      0, }, /* 367 */
-  {    31,     15,     12,      0,      0, }, /* 368 */
-  {    37,     21,     12,      0,      0, }, /* 369 */
-  {    37,     17,     12,      0,      0, }, /* 370 */
-  {    37,     12,      3,      0,      0, }, /* 371 */
-  {    37,      1,      2,      0,      0, }, /* 372 */
-  {    37,     13,     12,      0,      0, }, /* 373 */
-  {    37,      7,     12,      0,      0, }, /* 374 */
-  {    37,      6,     12,      0,      0, }, /* 375 */
-  {    34,      7,     12,      0,      0, }, /* 376 */
-  {    34,     12,      3,      0,      0, }, /* 377 */
-  {    34,     10,      5,      0,      0, }, /* 378 */
-  {    34,     26,     12,      0,      0, }, /* 379 */
-  {    34,     21,     12,      0,      0, }, /* 380 */
-  {    34,     13,     12,      0,      0, }, /* 381 */
-  {    52,      7,     12,      0,      0, }, /* 382 */
-  {    39,      7,     12,      0,      0, }, /* 383 */
-  {    39,     13,     12,      0,      0, }, /* 384 */
-  {    39,     15,     12,      0,      0, }, /* 385 */
-  {    39,     26,     12,      0,      0, }, /* 386 */
-  {    31,     26,     12,      0,      0, }, /* 387 */
-  {     5,      7,     12,      0,      0, }, /* 388 */
-  {     5,     12,      3,      0,      0, }, /* 389 */
-  {     5,     10,      5,      0,      0, }, /* 390 */
-  {     5,     21,     12,      0,      0, }, /* 391 */
-  {    90,      7,     12,      0,      0, }, /* 392 */
-  {    90,     10,      5,      0,      0, }, /* 393 */
-  {    90,     12,      3,      0,      0, }, /* 394 */
-  {    90,     10,     12,      0,      0, }, /* 395 */
-  {    90,     13,     12,      0,      0, }, /* 396 */
-  {    90,     21,     12,      0,      0, }, /* 397 */
-  {    90,      6,     12,      0,      0, }, /* 398 */
-  {    27,     11,      3,      0,      0, }, /* 399 */
-  {    61,     12,      3,      0,      0, }, /* 400 */
-  {    61,     10,      5,      0,      0, }, /* 401 */
-  {    61,      7,     12,      0,      0, }, /* 402 */
-  {    61,     13,     12,      0,      0, }, /* 403 */
-  {    61,     21,     12,      0,      0, }, /* 404 */
-  {    61,     26,     12,      0,      0, }, /* 405 */
-  {    75,     12,      3,      0,      0, }, /* 406 */
-  {    75,     10,      5,      0,      0, }, /* 407 */
-  {    75,      7,     12,      0,      0, }, /* 408 */
-  {    75,     13,     12,      0,      0, }, /* 409 */
-  {    92,      7,     12,      0,      0, }, /* 410 */
-  {    92,     12,      3,      0,      0, }, /* 411 */
-  {    92,     10,      5,      0,      0, }, /* 412 */
-  {    92,     21,     12,      0,      0, }, /* 413 */
-  {    69,      7,     12,      0,      0, }, /* 414 */
-  {    69,     10,      5,      0,      0, }, /* 415 */
-  {    69,     12,      3,      0,      0, }, /* 416 */
-  {    69,     21,     12,      0,      0, }, /* 417 */
-  {    69,     13,     12,      0,      0, }, /* 418 */
-  {    72,     13,     12,      0,      0, }, /* 419 */
-  {    72,      7,     12,      0,      0, }, /* 420 */
-  {    72,      6,     12,      0,      0, }, /* 421 */
-  {    72,     21,     12,      0,      0, }, /* 422 */
-  {    12,      5,     12,     63,  -6222, }, /* 423 */
-  {    12,      5,     12,     67,  -6221, }, /* 424 */
-  {    12,      5,     12,     71,  -6212, }, /* 425 */
-  {    12,      5,     12,     75,  -6210, }, /* 426 */
-  {    12,      5,     12,     79,  -6210, }, /* 427 */
-  {    12,      5,     12,     79,  -6211, }, /* 428 */
-  {    12,      5,     12,     84,  -6204, }, /* 429 */
-  {    12,      5,     12,     88,  -6180, }, /* 430 */
-  {    12,      5,     12,    108,  35267, }, /* 431 */
-  {    75,     21,     12,      0,      0, }, /* 432 */
-  {     9,     10,      5,      0,      0, }, /* 433 */
-  {     9,      7,     12,      0,      0, }, /* 434 */
-  {    12,      5,     12,      0,      0, }, /* 435 */
-  {    12,      6,     12,      0,      0, }, /* 436 */
-  {    33,      5,     12,      0,  35332, }, /* 437 */
-  {    33,      5,     12,      0,   3814, }, /* 438 */
-  {    33,      9,     12,     92,      1, }, /* 439 */
-  {    33,      5,     12,     92,     -1, }, /* 440 */
-  {    33,      5,     12,     92,    -58, }, /* 441 */
-  {    33,      9,     12,      0,  -7615, }, /* 442 */
-  {    19,      5,     12,      0,      8, }, /* 443 */
-  {    19,      9,     12,      0,     -8, }, /* 444 */
-  {    19,      5,     12,      0,     74, }, /* 445 */
-  {    19,      5,     12,      0,     86, }, /* 446 */
-  {    19,      5,     12,      0,    100, }, /* 447 */
-  {    19,      5,     12,      0,    128, }, /* 448 */
-  {    19,      5,     12,      0,    112, }, /* 449 */
-  {    19,      5,     12,      0,    126, }, /* 450 */
-  {    19,      8,     12,      0,     -8, }, /* 451 */
-  {    19,      5,     12,      0,      9, }, /* 452 */
-  {    19,      9,     12,      0,    -74, }, /* 453 */
-  {    19,      8,     12,      0,     -9, }, /* 454 */
-  {    19,      5,     12,     21,  -7173, }, /* 455 */
-  {    19,      9,     12,      0,    -86, }, /* 456 */
-  {    19,      9,     12,      0,   -100, }, /* 457 */
-  {    19,      9,     12,      0,   -112, }, /* 458 */
-  {    19,      9,     12,      0,   -128, }, /* 459 */
-  {    19,      9,     12,      0,   -126, }, /* 460 */
-  {    27,      1,      3,      0,      0, }, /* 461 */
-  {    27,      1,     16,      0,      0, }, /* 462 */
-  {     9,     27,      2,      0,      0, }, /* 463 */
-  {     9,     28,      2,      0,      0, }, /* 464 */
-  {     9,      2,      2,      0,      0, }, /* 465 */
-  {     9,      9,     12,      0,      0, }, /* 466 */
-  {     9,      5,     12,      0,      0, }, /* 467 */
-  {    19,      9,     12,     96,  -7517, }, /* 468 */
-  {    33,      9,     12,    100,  -8383, }, /* 469 */
-  {    33,      9,     12,    104,  -8262, }, /* 470 */
-  {    33,      9,     12,      0,     28, }, /* 471 */
-  {    33,      5,     12,      0,    -28, }, /* 472 */
-  {    33,     14,     12,      0,     16, }, /* 473 */
-  {    33,     14,     12,      0,    -16, }, /* 474 */
-  {    33,     14,     12,      0,      0, }, /* 475 */
-  {     9,     26,     12,      0,     26, }, /* 476 */
-  {     9,     26,     12,      0,    -26, }, /* 477 */
-  {     9,     26,     13,      0,      0, }, /* 478 */
-  {     9,     26,     17,      0,      0, }, /* 479 */
-  {     4,     26,     12,      0,      0, }, /* 480 */
-  {    17,      9,     12,      0,     48, }, /* 481 */
-  {    17,      5,     12,      0,    -48, }, /* 482 */
-  {    33,      9,     12,      0, -10743, }, /* 483 */
-  {    33,      9,     12,      0,  -3814, }, /* 484 */
-  {    33,      9,     12,      0, -10727, }, /* 485 */
-  {    33,      5,     12,      0, -10795, }, /* 486 */
-  {    33,      5,     12,      0, -10792, }, /* 487 */
-  {    33,      9,     12,      0, -10780, }, /* 488 */
-  {    33,      9,     12,      0, -10749, }, /* 489 */
-  {    33,      9,     12,      0, -10783, }, /* 490 */
-  {    33,      9,     12,      0, -10782, }, /* 491 */
-  {    33,      9,     12,      0, -10815, }, /* 492 */
-  {    10,      5,     12,      0,      0, }, /* 493 */
-  {    10,     26,     12,      0,      0, }, /* 494 */
-  {    10,     12,      3,      0,      0, }, /* 495 */
-  {    10,     21,     12,      0,      0, }, /* 496 */
-  {    10,     15,     12,      0,      0, }, /* 497 */
-  {    16,      5,     12,      0,  -7264, }, /* 498 */
-  {    58,      7,     12,      0,      0, }, /* 499 */
-  {    58,      6,     12,      0,      0, }, /* 500 */
-  {    58,     21,     12,      0,      0, }, /* 501 */
-  {    58,     12,      3,      0,      0, }, /* 502 */
-  {    22,     26,     12,      0,      0, }, /* 503 */
-  {    22,      6,     12,      0,      0, }, /* 504 */
-  {    22,     14,     12,      0,      0, }, /* 505 */
-  {    23,     10,      3,      0,      0, }, /* 506 */
-  {    26,      7,     12,      0,      0, }, /* 507 */
-  {    26,      6,     12,      0,      0, }, /* 508 */
-  {    29,      7,     12,      0,      0, }, /* 509 */
-  {    29,      6,     12,      0,      0, }, /* 510 */
-  {     3,      7,     12,      0,      0, }, /* 511 */
-  {    23,      7,     12,      0,      0, }, /* 512 */
-  {    23,     26,     12,      0,      0, }, /* 513 */
-  {    29,     26,     12,      0,      0, }, /* 514 */
-  {    22,      7,     12,      0,      0, }, /* 515 */
-  {    60,      7,     12,      0,      0, }, /* 516 */
-  {    60,      6,     12,      0,      0, }, /* 517 */
-  {    60,     26,     12,      0,      0, }, /* 518 */
-  {    85,      7,     12,      0,      0, }, /* 519 */
-  {    85,      6,     12,      0,      0, }, /* 520 */
-  {    85,     21,     12,      0,      0, }, /* 521 */
-  {    76,      7,     12,      0,      0, }, /* 522 */
-  {    76,      6,     12,      0,      0, }, /* 523 */
-  {    76,     21,     12,      0,      0, }, /* 524 */
-  {    76,     13,     12,      0,      0, }, /* 525 */
-  {    12,      9,     12,    108,      1, }, /* 526 */
-  {    12,      5,     12,    108, -35267, }, /* 527 */
-  {    12,      7,     12,      0,      0, }, /* 528 */
-  {    12,     21,     12,      0,      0, }, /* 529 */
-  {    78,      7,     12,      0,      0, }, /* 530 */
-  {    78,     14,     12,      0,      0, }, /* 531 */
-  {    78,     12,      3,      0,      0, }, /* 532 */
-  {    78,     21,     12,      0,      0, }, /* 533 */
-  {    33,      9,     12,      0, -35332, }, /* 534 */
-  {    33,      9,     12,      0, -42280, }, /* 535 */
-  {    33,      9,     12,      0, -42308, }, /* 536 */
-  {    33,      9,     12,      0, -42319, }, /* 537 */
-  {    33,      9,     12,      0, -42315, }, /* 538 */
-  {    33,      9,     12,      0, -42305, }, /* 539 */
-  {    33,      9,     12,      0, -42258, }, /* 540 */
-  {    33,      9,     12,      0, -42282, }, /* 541 */
-  {    33,      9,     12,      0, -42261, }, /* 542 */
-  {    33,      9,     12,      0,    928, }, /* 543 */
-  {    48,      7,     12,      0,      0, }, /* 544 */
-  {    48,     12,      3,      0,      0, }, /* 545 */
-  {    48,     10,      5,      0,      0, }, /* 546 */
-  {    48,     26,     12,      0,      0, }, /* 547 */
-  {    64,      7,     12,      0,      0, }, /* 548 */
-  {    64,     21,     12,      0,      0, }, /* 549 */
-  {    74,     10,      5,      0,      0, }, /* 550 */
-  {    74,      7,     12,      0,      0, }, /* 551 */
-  {    74,     12,      3,      0,      0, }, /* 552 */
-  {    74,     21,     12,      0,      0, }, /* 553 */
-  {    74,     13,     12,      0,      0, }, /* 554 */
-  {    68,     13,     12,      0,      0, }, /* 555 */
-  {    68,      7,     12,      0,      0, }, /* 556 */
-  {    68,     12,      3,      0,      0, }, /* 557 */
-  {    68,     21,     12,      0,      0, }, /* 558 */
-  {    73,      7,     12,      0,      0, }, /* 559 */
-  {    73,     12,      3,      0,      0, }, /* 560 */
-  {    73,     10,      5,      0,      0, }, /* 561 */
-  {    73,     21,     12,      0,      0, }, /* 562 */
-  {    83,     12,      3,      0,      0, }, /* 563 */
-  {    83,     10,      5,      0,      0, }, /* 564 */
-  {    83,      7,     12,      0,      0, }, /* 565 */
-  {    83,     21,     12,      0,      0, }, /* 566 */
-  {    83,     13,     12,      0,      0, }, /* 567 */
-  {    38,      6,     12,      0,      0, }, /* 568 */
-  {    67,      7,     12,      0,      0, }, /* 569 */
-  {    67,     12,      3,      0,      0, }, /* 570 */
-  {    67,     10,      5,      0,      0, }, /* 571 */
-  {    67,     13,     12,      0,      0, }, /* 572 */
-  {    67,     21,     12,      0,      0, }, /* 573 */
-  {    91,      7,     12,      0,      0, }, /* 574 */
-  {    91,     12,      3,      0,      0, }, /* 575 */
-  {    91,      6,     12,      0,      0, }, /* 576 */
-  {    91,     21,     12,      0,      0, }, /* 577 */
-  {    86,      7,     12,      0,      0, }, /* 578 */
-  {    86,     10,      5,      0,      0, }, /* 579 */
-  {    86,     12,      3,      0,      0, }, /* 580 */
-  {    86,     21,     12,      0,      0, }, /* 581 */
-  {    86,      6,     12,      0,      0, }, /* 582 */
-  {    33,      5,     12,      0,   -928, }, /* 583 */
-  {     8,      5,     12,      0, -38864, }, /* 584 */
-  {    86,     13,     12,      0,      0, }, /* 585 */
-  {    23,      7,      9,      0,      0, }, /* 586 */
-  {    23,      7,     10,      0,      0, }, /* 587 */
-  {     9,      4,      2,      0,      0, }, /* 588 */
-  {     9,      3,     12,      0,      0, }, /* 589 */
-  {    25,     25,     12,      0,      0, }, /* 590 */
-  {     0,     24,     12,      0,      0, }, /* 591 */
-  {     9,      6,      3,      0,      0, }, /* 592 */
-  {    35,      7,     12,      0,      0, }, /* 593 */
-  {    19,     14,     12,      0,      0, }, /* 594 */
-  {    19,     15,     12,      0,      0, }, /* 595 */
-  {    19,     26,     12,      0,      0, }, /* 596 */
-  {    70,      7,     12,      0,      0, }, /* 597 */
-  {    66,      7,     12,      0,      0, }, /* 598 */
-  {    41,      7,     12,      0,      0, }, /* 599 */
-  {    41,     15,     12,      0,      0, }, /* 600 */
-  {    18,      7,     12,      0,      0, }, /* 601 */
-  {    18,     14,     12,      0,      0, }, /* 602 */
-  {   117,      7,     12,      0,      0, }, /* 603 */
-  {   117,     12,      3,      0,      0, }, /* 604 */
-  {    59,      7,     12,      0,      0, }, /* 605 */
-  {    59,     21,     12,      0,      0, }, /* 606 */
-  {    42,      7,     12,      0,      0, }, /* 607 */
-  {    42,     21,     12,      0,      0, }, /* 608 */
-  {    42,     14,     12,      0,      0, }, /* 609 */
-  {    13,      9,     12,      0,     40, }, /* 610 */
-  {    13,      5,     12,      0,    -40, }, /* 611 */
-  {    46,      7,     12,      0,      0, }, /* 612 */
-  {    44,      7,     12,      0,      0, }, /* 613 */
-  {    44,     13,     12,      0,      0, }, /* 614 */
-  {   135,      9,     12,      0,     40, }, /* 615 */
-  {   135,      5,     12,      0,    -40, }, /* 616 */
-  {   105,      7,     12,      0,      0, }, /* 617 */
-  {   103,      7,     12,      0,      0, }, /* 618 */
-  {   103,     21,     12,      0,      0, }, /* 619 */
-  {   109,      7,     12,      0,      0, }, /* 620 */
-  {    11,      7,     12,      0,      0, }, /* 621 */
-  {    80,      7,     12,      0,      0, }, /* 622 */
-  {    80,     21,     12,      0,      0, }, /* 623 */
-  {    80,     15,     12,      0,      0, }, /* 624 */
-  {   119,      7,     12,      0,      0, }, /* 625 */
-  {   119,     26,     12,      0,      0, }, /* 626 */
-  {   119,     15,     12,      0,      0, }, /* 627 */
-  {   115,      7,     12,      0,      0, }, /* 628 */
-  {   115,     15,     12,      0,      0, }, /* 629 */
-  {   127,      7,     12,      0,      0, }, /* 630 */
-  {   127,     15,     12,      0,      0, }, /* 631 */
-  {    65,      7,     12,      0,      0, }, /* 632 */
-  {    65,     15,     12,      0,      0, }, /* 633 */
-  {    65,     21,     12,      0,      0, }, /* 634 */
-  {    71,      7,     12,      0,      0, }, /* 635 */
-  {    71,     21,     12,      0,      0, }, /* 636 */
-  {    97,      7,     12,      0,      0, }, /* 637 */
-  {    96,      7,     12,      0,      0, }, /* 638 */
-  {    96,     15,     12,      0,      0, }, /* 639 */
-  {    30,      7,     12,      0,      0, }, /* 640 */
-  {    30,     12,      3,      0,      0, }, /* 641 */
-  {    30,     15,     12,      0,      0, }, /* 642 */
-  {    30,     21,     12,      0,      0, }, /* 643 */
-  {    87,      7,     12,      0,      0, }, /* 644 */
-  {    87,     15,     12,      0,      0, }, /* 645 */
-  {    87,     21,     12,      0,      0, }, /* 646 */
-  {   116,      7,     12,      0,      0, }, /* 647 */
-  {   116,     15,     12,      0,      0, }, /* 648 */
-  {   111,      7,     12,      0,      0, }, /* 649 */
-  {   111,     26,     12,      0,      0, }, /* 650 */
-  {   111,     12,      3,      0,      0, }, /* 651 */
-  {   111,     15,     12,      0,      0, }, /* 652 */
-  {   111,     21,     12,      0,      0, }, /* 653 */
-  {    77,      7,     12,      0,      0, }, /* 654 */
-  {    77,     21,     12,      0,      0, }, /* 655 */
-  {    82,      7,     12,      0,      0, }, /* 656 */
-  {    82,     15,     12,      0,      0, }, /* 657 */
-  {    81,      7,     12,      0,      0, }, /* 658 */
-  {    81,     15,     12,      0,      0, }, /* 659 */
-  {   120,      7,     12,      0,      0, }, /* 660 */
-  {   120,     21,     12,      0,      0, }, /* 661 */
-  {   120,     15,     12,      0,      0, }, /* 662 */
-  {    88,      7,     12,      0,      0, }, /* 663 */
-  {   129,      9,     12,      0,     64, }, /* 664 */
-  {   129,      5,     12,      0,    -64, }, /* 665 */
-  {   129,     15,     12,      0,      0, }, /* 666 */
-  {     0,     15,     12,      0,      0, }, /* 667 */
-  {    93,     10,      5,      0,      0, }, /* 668 */
-  {    93,     12,      3,      0,      0, }, /* 669 */
-  {    93,      7,     12,      0,      0, }, /* 670 */
-  {    93,     21,     12,      0,      0, }, /* 671 */
-  {    93,     15,     12,      0,      0, }, /* 672 */
-  {    93,     13,     12,      0,      0, }, /* 673 */
-  {    84,     12,      3,      0,      0, }, /* 674 */
-  {    84,     10,      5,      0,      0, }, /* 675 */
-  {    84,      7,     12,      0,      0, }, /* 676 */
-  {    84,     21,     12,      0,      0, }, /* 677 */
-  {    84,      1,      4,      0,      0, }, /* 678 */
-  {   100,      7,     12,      0,      0, }, /* 679 */
-  {   100,     13,     12,      0,      0, }, /* 680 */
-  {    95,     12,      3,      0,      0, }, /* 681 */
-  {    95,      7,     12,      0,      0, }, /* 682 */
-  {    95,     10,      5,      0,      0, }, /* 683 */
-  {    95,     13,     12,      0,      0, }, /* 684 */
-  {    95,     21,     12,      0,      0, }, /* 685 */
-  {   110,      7,     12,      0,      0, }, /* 686 */
-  {   110,     12,      3,      0,      0, }, /* 687 */
-  {   110,     21,     12,      0,      0, }, /* 688 */
-  {    99,     12,      3,      0,      0, }, /* 689 */
-  {    99,     10,      5,      0,      0, }, /* 690 */
-  {    99,      7,     12,      0,      0, }, /* 691 */
-  {    99,      7,      4,      0,      0, }, /* 692 */
-  {    99,     21,     12,      0,      0, }, /* 693 */
-  {    99,     13,     12,      0,      0, }, /* 694 */
-  {    47,     15,     12,      0,      0, }, /* 695 */
-  {   107,      7,     12,      0,      0, }, /* 696 */
-  {   107,     10,      5,      0,      0, }, /* 697 */
-  {   107,     12,      3,      0,      0, }, /* 698 */
-  {   107,     21,     12,      0,      0, }, /* 699 */
-  {   128,      7,     12,      0,      0, }, /* 700 */
-  {   128,     21,     12,      0,      0, }, /* 701 */
-  {   108,      7,     12,      0,      0, }, /* 702 */
-  {   108,     12,      3,      0,      0, }, /* 703 */
-  {   108,     10,      5,      0,      0, }, /* 704 */
-  {   108,     13,     12,      0,      0, }, /* 705 */
-  {   106,     12,      3,      0,      0, }, /* 706 */
-  {   106,     10,      5,      0,      0, }, /* 707 */
-  {   106,      7,     12,      0,      0, }, /* 708 */
-  {   106,     10,      3,      0,      0, }, /* 709 */
-  {   134,      7,     12,      0,      0, }, /* 710 */
-  {   134,     10,      5,      0,      0, }, /* 711 */
-  {   134,     12,      3,      0,      0, }, /* 712 */
-  {   134,     21,     12,      0,      0, }, /* 713 */
-  {   134,     13,     12,      0,      0, }, /* 714 */
-  {   123,      7,     12,      0,      0, }, /* 715 */
-  {   123,     10,      3,      0,      0, }, /* 716 */
-  {   123,     10,      5,      0,      0, }, /* 717 */
-  {   123,     12,      3,      0,      0, }, /* 718 */
-  {   123,     21,     12,      0,      0, }, /* 719 */
-  {   123,     13,     12,      0,      0, }, /* 720 */
-  {   122,      7,     12,      0,      0, }, /* 721 */
-  {   122,     10,      3,      0,      0, }, /* 722 */
-  {   122,     10,      5,      0,      0, }, /* 723 */
-  {   122,     12,      3,      0,      0, }, /* 724 */
-  {   122,     21,     12,      0,      0, }, /* 725 */
-  {   113,      7,     12,      0,      0, }, /* 726 */
-  {   113,     10,      5,      0,      0, }, /* 727 */
-  {   113,     12,      3,      0,      0, }, /* 728 */
-  {   113,     21,     12,      0,      0, }, /* 729 */
-  {   113,     13,     12,      0,      0, }, /* 730 */
-  {   101,      7,     12,      0,      0, }, /* 731 */
-  {   101,     12,      3,      0,      0, }, /* 732 */
-  {   101,     10,      5,      0,      0, }, /* 733 */
-  {   101,     13,     12,      0,      0, }, /* 734 */
-  {   125,      7,     12,      0,      0, }, /* 735 */
-  {   125,     12,      3,      0,      0, }, /* 736 */
-  {   125,     10,      5,      0,      0, }, /* 737 */
-  {   125,     13,     12,      0,      0, }, /* 738 */
-  {   125,     15,     12,      0,      0, }, /* 739 */
-  {   125,     21,     12,      0,      0, }, /* 740 */
-  {   125,     26,     12,      0,      0, }, /* 741 */
-  {   124,      9,     12,      0,     32, }, /* 742 */
-  {   124,      5,     12,      0,    -32, }, /* 743 */
-  {   124,     13,     12,      0,      0, }, /* 744 */
-  {   124,     15,     12,      0,      0, }, /* 745 */
-  {   124,      7,     12,      0,      0, }, /* 746 */
-  {   140,      7,     12,      0,      0, }, /* 747 */
-  {   140,     12,      3,      0,      0, }, /* 748 */
-  {   140,     10,      5,      0,      0, }, /* 749 */
-  {   140,      7,      4,      0,      0, }, /* 750 */
-  {   140,     21,     12,      0,      0, }, /* 751 */
-  {   139,      7,     12,      0,      0, }, /* 752 */
-  {   139,     12,      3,      0,      0, }, /* 753 */
-  {   139,     10,      5,      0,      0, }, /* 754 */
-  {   139,      7,      4,      0,      0, }, /* 755 */
-  {   139,     21,     12,      0,      0, }, /* 756 */
-  {   121,      7,     12,      0,      0, }, /* 757 */
-  {   132,      7,     12,      0,      0, }, /* 758 */
-  {   132,     10,      5,      0,      0, }, /* 759 */
-  {   132,     12,      3,      0,      0, }, /* 760 */
-  {   132,     21,     12,      0,      0, }, /* 761 */
-  {   132,     13,     12,      0,      0, }, /* 762 */
-  {   132,     15,     12,      0,      0, }, /* 763 */
-  {   133,     21,     12,      0,      0, }, /* 764 */
-  {   133,      7,     12,      0,      0, }, /* 765 */
-  {   133,     12,      3,      0,      0, }, /* 766 */
-  {   133,     10,      5,      0,      0, }, /* 767 */
-  {   137,      7,     12,      0,      0, }, /* 768 */
-  {   137,     12,      3,      0,      0, }, /* 769 */
-  {   137,      7,      4,      0,      0, }, /* 770 */
-  {   137,     13,     12,      0,      0, }, /* 771 */
-  {    62,      7,     12,      0,      0, }, /* 772 */
-  {    62,     14,     12,      0,      0, }, /* 773 */
-  {    62,     21,     12,      0,      0, }, /* 774 */
-  {    79,      7,     12,      0,      0, }, /* 775 */
-  {   126,      7,     12,      0,      0, }, /* 776 */
-  {   114,      7,     12,      0,      0, }, /* 777 */
-  {   114,     13,     12,      0,      0, }, /* 778 */
-  {   114,     21,     12,      0,      0, }, /* 779 */
-  {   102,      7,     12,      0,      0, }, /* 780 */
-  {   102,     12,      3,      0,      0, }, /* 781 */
-  {   102,     21,     12,      0,      0, }, /* 782 */
-  {   118,      7,     12,      0,      0, }, /* 783 */
-  {   118,     12,      3,      0,      0, }, /* 784 */
-  {   118,     21,     12,      0,      0, }, /* 785 */
-  {   118,     26,     12,      0,      0, }, /* 786 */
-  {   118,      6,     12,      0,      0, }, /* 787 */
-  {   118,     13,     12,      0,      0, }, /* 788 */
-  {   118,     15,     12,      0,      0, }, /* 789 */
-  {    98,      7,     12,      0,      0, }, /* 790 */
-  {    98,     10,      5,      0,      0, }, /* 791 */
-  {    98,     12,      3,      0,      0, }, /* 792 */
-  {    98,      6,     12,      0,      0, }, /* 793 */
-  {   136,      6,     12,      0,      0, }, /* 794 */
-  {   138,      6,     12,      0,      0, }, /* 795 */
-  {   136,      7,     12,      0,      0, }, /* 796 */
-  {   138,      7,     12,      0,      0, }, /* 797 */
-  {   104,      7,     12,      0,      0, }, /* 798 */
-  {   104,     26,     12,      0,      0, }, /* 799 */
-  {   104,     12,      3,      0,      0, }, /* 800 */
-  {   104,     21,     12,      0,      0, }, /* 801 */
-  {     9,     10,      3,      0,      0, }, /* 802 */
-  {    19,     12,      3,      0,      0, }, /* 803 */
-  {   130,     26,     12,      0,      0, }, /* 804 */
-  {   130,     12,      3,      0,      0, }, /* 805 */
-  {   130,     21,     12,      0,      0, }, /* 806 */
-  {    17,     12,      3,      0,      0, }, /* 807 */
-  {   112,      7,     12,      0,      0, }, /* 808 */
-  {   112,     15,     12,      0,      0, }, /* 809 */
-  {   112,     12,      3,      0,      0, }, /* 810 */
-  {   131,      9,     12,      0,     34, }, /* 811 */
-  {   131,      5,     12,      0,    -34, }, /* 812 */
-  {   131,     12,      3,      0,      0, }, /* 813 */
-  {   131,     13,     12,      0,      0, }, /* 814 */
-  {   131,     21,     12,      0,      0, }, /* 815 */
-  {     9,     26,     11,      0,      0, }, /* 816 */
-  {    26,     26,     12,      0,      0, }, /* 817 */
-  {     9,     24,     14,      0,      0, }, /* 818 */
-  {     9,     26,     15,      0,      0, }, /* 819 */
-  {     9,      1,      3,      0,      0, }, /* 820 */
+  {     1,      5,     12,      0,    -48, }, /* 201 */
+  {     1,     17,     12,      0,      0, }, /* 202 */
+  {     1,     26,     12,      0,      0, }, /* 203 */
+  {     1,     23,     12,      0,      0, }, /* 204 */
+  {    25,     12,      3,      0,      0, }, /* 205 */
+  {    25,     17,     12,      0,      0, }, /* 206 */
+  {    25,     21,     12,      0,      0, }, /* 207 */
+  {    25,      7,     12,      0,      0, }, /* 208 */
+  {     0,      1,      4,      0,      0, }, /* 209 */
+  {     9,      1,      4,      0,      0, }, /* 210 */
+  {     0,     25,     12,      0,      0, }, /* 211 */
+  {     0,     21,     12,      0,      0, }, /* 212 */
+  {     0,     23,     12,      0,      0, }, /* 213 */
+  {     0,     26,     12,      0,      0, }, /* 214 */
+  {     0,     12,      3,      0,      0, }, /* 215 */
+  {     0,      1,      2,      0,      0, }, /* 216 */
+  {     0,      7,     12,      0,      0, }, /* 217 */
+  {     0,     13,     12,      0,      0, }, /* 218 */
+  {     0,      6,     12,      0,      0, }, /* 219 */
+  {    49,     21,     12,      0,      0, }, /* 220 */
+  {    49,      1,      4,      0,      0, }, /* 221 */
+  {    49,      7,     12,      0,      0, }, /* 222 */
+  {    49,     12,      3,      0,      0, }, /* 223 */
+  {    55,      7,     12,      0,      0, }, /* 224 */
+  {    55,     12,      3,      0,      0, }, /* 225 */
+  {    63,     13,     12,      0,      0, }, /* 226 */
+  {    63,      7,     12,      0,      0, }, /* 227 */
+  {    63,     12,      3,      0,      0, }, /* 228 */
+  {    63,      6,     12,      0,      0, }, /* 229 */
+  {    63,     26,     12,      0,      0, }, /* 230 */
+  {    63,     21,     12,      0,      0, }, /* 231 */
+  {    63,     23,     12,      0,      0, }, /* 232 */
+  {    89,      7,     12,      0,      0, }, /* 233 */
+  {    89,     12,      3,      0,      0, }, /* 234 */
+  {    89,      6,     12,      0,      0, }, /* 235 */
+  {    89,     21,     12,      0,      0, }, /* 236 */
+  {    94,      7,     12,      0,      0, }, /* 237 */
+  {    94,     12,      3,      0,      0, }, /* 238 */
+  {    94,     21,     12,      0,      0, }, /* 239 */
+  {    14,     12,      3,      0,      0, }, /* 240 */
+  {    14,     10,      5,      0,      0, }, /* 241 */
+  {    14,      7,     12,      0,      0, }, /* 242 */
+  {    14,     13,     12,      0,      0, }, /* 243 */
+  {    14,     21,     12,      0,      0, }, /* 244 */
+  {    14,      6,     12,      0,      0, }, /* 245 */
+  {     2,      7,     12,      0,      0, }, /* 246 */
+  {     2,     12,      3,      0,      0, }, /* 247 */
+  {     2,     10,      5,      0,      0, }, /* 248 */
+  {     2,     10,      3,      0,      0, }, /* 249 */
+  {     2,     13,     12,      0,      0, }, /* 250 */
+  {     2,     23,     12,      0,      0, }, /* 251 */
+  {     2,     15,     12,      0,      0, }, /* 252 */
+  {     2,     26,     12,      0,      0, }, /* 253 */
+  {     2,     21,     12,      0,      0, }, /* 254 */
+  {    21,     12,      3,      0,      0, }, /* 255 */
+  {    21,     10,      5,      0,      0, }, /* 256 */
+  {    21,      7,     12,      0,      0, }, /* 257 */
+  {    21,     13,     12,      0,      0, }, /* 258 */
+  {    21,     21,     12,      0,      0, }, /* 259 */
+  {    20,     12,      3,      0,      0, }, /* 260 */
+  {    20,     10,      5,      0,      0, }, /* 261 */
+  {    20,      7,     12,      0,      0, }, /* 262 */
+  {    20,     13,     12,      0,      0, }, /* 263 */
+  {    20,     21,     12,      0,      0, }, /* 264 */
+  {    20,     23,     12,      0,      0, }, /* 265 */
+  {    43,     12,      3,      0,      0, }, /* 266 */
+  {    43,     10,      5,      0,      0, }, /* 267 */
+  {    43,      7,     12,      0,      0, }, /* 268 */
+  {    43,     10,      3,      0,      0, }, /* 269 */
+  {    43,     13,     12,      0,      0, }, /* 270 */
+  {    43,     26,     12,      0,      0, }, /* 271 */
+  {    43,     15,     12,      0,      0, }, /* 272 */
+  {    53,     12,      3,      0,      0, }, /* 273 */
+  {    53,      7,     12,      0,      0, }, /* 274 */
+  {    53,     10,      3,      0,      0, }, /* 275 */
+  {    53,     10,      5,      0,      0, }, /* 276 */
+  {    53,     13,     12,      0,      0, }, /* 277 */
+  {    53,     15,     12,      0,      0, }, /* 278 */
+  {    53,     26,     12,      0,      0, }, /* 279 */
+  {    53,     23,     12,      0,      0, }, /* 280 */
+  {    54,     12,      3,      0,      0, }, /* 281 */
+  {    54,     10,      5,      0,      0, }, /* 282 */
+  {    54,      7,     12,      0,      0, }, /* 283 */
+  {    54,     13,     12,      0,      0, }, /* 284 */
+  {    54,     15,     12,      0,      0, }, /* 285 */
+  {    54,     26,     12,      0,      0, }, /* 286 */
+  {    28,      7,     12,      0,      0, }, /* 287 */
+  {    28,     12,      3,      0,      0, }, /* 288 */
+  {    28,     10,      5,      0,      0, }, /* 289 */
+  {    28,     21,     12,      0,      0, }, /* 290 */
+  {    28,     10,      3,      0,      0, }, /* 291 */
+  {    28,     13,     12,      0,      0, }, /* 292 */
+  {    36,     12,      3,      0,      0, }, /* 293 */
+  {    36,     10,      5,      0,      0, }, /* 294 */
+  {    36,      7,     12,      0,      0, }, /* 295 */
+  {    36,     10,      3,      0,      0, }, /* 296 */
+  {    36,      7,      4,      0,      0, }, /* 297 */
+  {    36,     26,     12,      0,      0, }, /* 298 */
+  {    36,     15,     12,      0,      0, }, /* 299 */
+  {    36,     13,     12,      0,      0, }, /* 300 */
+  {    47,     10,      5,      0,      0, }, /* 301 */
+  {    47,      7,     12,      0,      0, }, /* 302 */
+  {    47,     12,      3,      0,      0, }, /* 303 */
+  {    47,     10,      3,      0,      0, }, /* 304 */
+  {    47,     13,     12,      0,      0, }, /* 305 */
+  {    47,     21,     12,      0,      0, }, /* 306 */
+  {    56,      7,     12,      0,      0, }, /* 307 */
+  {    56,     12,      3,      0,      0, }, /* 308 */
+  {    56,      7,      5,      0,      0, }, /* 309 */
+  {    56,      6,     12,      0,      0, }, /* 310 */
+  {    56,     21,     12,      0,      0, }, /* 311 */
+  {    56,     13,     12,      0,      0, }, /* 312 */
+  {    32,      7,     12,      0,      0, }, /* 313 */
+  {    32,     12,      3,      0,      0, }, /* 314 */
+  {    32,      7,      5,      0,      0, }, /* 315 */
+  {    32,      6,     12,      0,      0, }, /* 316 */
+  {    32,     13,     12,      0,      0, }, /* 317 */
+  {    57,      7,     12,      0,      0, }, /* 318 */
+  {    57,     26,     12,      0,      0, }, /* 319 */
+  {    57,     21,     12,      0,      0, }, /* 320 */
+  {    57,     12,      3,      0,      0, }, /* 321 */
+  {    57,     13,     12,      0,      0, }, /* 322 */
+  {    57,     15,     12,      0,      0, }, /* 323 */
+  {    57,     22,     12,      0,      0, }, /* 324 */
+  {    57,     18,     12,      0,      0, }, /* 325 */
+  {    57,     10,      5,      0,      0, }, /* 326 */
+  {    38,      7,     12,      0,      0, }, /* 327 */
+  {    38,     10,     12,      0,      0, }, /* 328 */
+  {    38,     12,      3,      0,      0, }, /* 329 */
+  {    38,     10,      5,      0,      0, }, /* 330 */
+  {    38,     13,     12,      0,      0, }, /* 331 */
+  {    38,     21,     12,      0,      0, }, /* 332 */
+  {    38,     26,     12,      0,      0, }, /* 333 */
+  {    16,      9,     12,      0,   7264, }, /* 334 */
+  {    16,      5,     12,      0,   3008, }, /* 335 */
+  {    16,      6,     12,      0,      0, }, /* 336 */
+  {    23,      7,      6,      0,      0, }, /* 337 */
+  {    23,      7,      7,      0,      0, }, /* 338 */
+  {    23,      7,      8,      0,      0, }, /* 339 */
+  {    15,      7,     12,      0,      0, }, /* 340 */
+  {    15,     12,      3,      0,      0, }, /* 341 */
+  {    15,     21,     12,      0,      0, }, /* 342 */
+  {    15,     15,     12,      0,      0, }, /* 343 */
+  {    15,     26,     12,      0,      0, }, /* 344 */
+  {     8,      9,     12,      0,  38864, }, /* 345 */
+  {     8,      9,     12,      0,      8, }, /* 346 */
+  {     8,      5,     12,      0,     -8, }, /* 347 */
+  {     7,     17,     12,      0,      0, }, /* 348 */
+  {     7,      7,     12,      0,      0, }, /* 349 */
+  {     7,     21,     12,      0,      0, }, /* 350 */
+  {    40,     29,     12,      0,      0, }, /* 351 */
+  {    40,      7,     12,      0,      0, }, /* 352 */
+  {    40,     22,     12,      0,      0, }, /* 353 */
+  {    40,     18,     12,      0,      0, }, /* 354 */
+  {    45,      7,     12,      0,      0, }, /* 355 */
+  {    45,     14,     12,      0,      0, }, /* 356 */
+  {    50,      7,     12,      0,      0, }, /* 357 */
+  {    50,     12,      3,      0,      0, }, /* 358 */
+  {    24,      7,     12,      0,      0, }, /* 359 */
+  {    24,     12,      3,      0,      0, }, /* 360 */
+  {     6,      7,     12,      0,      0, }, /* 361 */
+  {     6,     12,      3,      0,      0, }, /* 362 */
+  {    51,      7,     12,      0,      0, }, /* 363 */
+  {    51,     12,      3,      0,      0, }, /* 364 */
+  {    31,      7,     12,      0,      0, }, /* 365 */
+  {    31,     12,      3,      0,      0, }, /* 366 */
+  {    31,     10,      5,      0,      0, }, /* 367 */
+  {    31,     21,     12,      0,      0, }, /* 368 */
+  {    31,      6,     12,      0,      0, }, /* 369 */
+  {    31,     23,     12,      0,      0, }, /* 370 */
+  {    31,     13,     12,      0,      0, }, /* 371 */
+  {    31,     15,     12,      0,      0, }, /* 372 */
+  {    37,     21,     12,      0,      0, }, /* 373 */
+  {    37,     17,     12,      0,      0, }, /* 374 */
+  {    37,     12,      3,      0,      0, }, /* 375 */
+  {    37,      1,      2,      0,      0, }, /* 376 */
+  {    37,     13,     12,      0,      0, }, /* 377 */
+  {    37,      7,     12,      0,      0, }, /* 378 */
+  {    37,      6,     12,      0,      0, }, /* 379 */
+  {    34,      7,     12,      0,      0, }, /* 380 */
+  {    34,     12,      3,      0,      0, }, /* 381 */
+  {    34,     10,      5,      0,      0, }, /* 382 */
+  {    34,     26,     12,      0,      0, }, /* 383 */
+  {    34,     21,     12,      0,      0, }, /* 384 */
+  {    34,     13,     12,      0,      0, }, /* 385 */
+  {    52,      7,     12,      0,      0, }, /* 386 */
+  {    39,      7,     12,      0,      0, }, /* 387 */
+  {    39,     13,     12,      0,      0, }, /* 388 */
+  {    39,     15,     12,      0,      0, }, /* 389 */
+  {    39,     26,     12,      0,      0, }, /* 390 */
+  {    31,     26,     12,      0,      0, }, /* 391 */
+  {     5,      7,     12,      0,      0, }, /* 392 */
+  {     5,     12,      3,      0,      0, }, /* 393 */
+  {     5,     10,      5,      0,      0, }, /* 394 */
+  {     5,     21,     12,      0,      0, }, /* 395 */
+  {    90,      7,     12,      0,      0, }, /* 396 */
+  {    90,     10,      5,      0,      0, }, /* 397 */
+  {    90,     12,      3,      0,      0, }, /* 398 */
+  {    90,     10,     12,      0,      0, }, /* 399 */
+  {    90,     13,     12,      0,      0, }, /* 400 */
+  {    90,     21,     12,      0,      0, }, /* 401 */
+  {    90,      6,     12,      0,      0, }, /* 402 */
+  {    27,     11,      3,      0,      0, }, /* 403 */
+  {    61,     12,      3,      0,      0, }, /* 404 */
+  {    61,     10,      5,      0,      0, }, /* 405 */
+  {    61,      7,     12,      0,      0, }, /* 406 */
+  {    61,     13,     12,      0,      0, }, /* 407 */
+  {    61,     21,     12,      0,      0, }, /* 408 */
+  {    61,     26,     12,      0,      0, }, /* 409 */
+  {    75,     12,      3,      0,      0, }, /* 410 */
+  {    75,     10,      5,      0,      0, }, /* 411 */
+  {    75,      7,     12,      0,      0, }, /* 412 */
+  {    75,     13,     12,      0,      0, }, /* 413 */
+  {    92,      7,     12,      0,      0, }, /* 414 */
+  {    92,     12,      3,      0,      0, }, /* 415 */
+  {    92,     10,      5,      0,      0, }, /* 416 */
+  {    92,     21,     12,      0,      0, }, /* 417 */
+  {    69,      7,     12,      0,      0, }, /* 418 */
+  {    69,     10,      5,      0,      0, }, /* 419 */
+  {    69,     12,      3,      0,      0, }, /* 420 */
+  {    69,     21,     12,      0,      0, }, /* 421 */
+  {    69,     13,     12,      0,      0, }, /* 422 */
+  {    72,     13,     12,      0,      0, }, /* 423 */
+  {    72,      7,     12,      0,      0, }, /* 424 */
+  {    72,      6,     12,      0,      0, }, /* 425 */
+  {    72,     21,     12,      0,      0, }, /* 426 */
+  {    12,      5,     12,     63,  -6222, }, /* 427 */
+  {    12,      5,     12,     67,  -6221, }, /* 428 */
+  {    12,      5,     12,     71,  -6212, }, /* 429 */
+  {    12,      5,     12,     75,  -6210, }, /* 430 */
+  {    12,      5,     12,     79,  -6210, }, /* 431 */
+  {    12,      5,     12,     79,  -6211, }, /* 432 */
+  {    12,      5,     12,     84,  -6204, }, /* 433 */
+  {    12,      5,     12,     88,  -6180, }, /* 434 */
+  {    12,      5,     12,    108,  35267, }, /* 435 */
+  {    16,      9,     12,      0,  -3008, }, /* 436 */
+  {    75,     21,     12,      0,      0, }, /* 437 */
+  {     9,     10,      5,      0,      0, }, /* 438 */
+  {     9,      7,     12,      0,      0, }, /* 439 */
+  {    12,      5,     12,      0,      0, }, /* 440 */
+  {    12,      6,     12,      0,      0, }, /* 441 */
+  {    33,      5,     12,      0,  35332, }, /* 442 */
+  {    33,      5,     12,      0,   3814, }, /* 443 */
+  {    33,      9,     12,     92,      1, }, /* 444 */
+  {    33,      5,     12,     92,     -1, }, /* 445 */
+  {    33,      5,     12,     92,    -58, }, /* 446 */
+  {    33,      9,     12,      0,  -7615, }, /* 447 */
+  {    19,      5,     12,      0,      8, }, /* 448 */
+  {    19,      9,     12,      0,     -8, }, /* 449 */
+  {    19,      5,     12,      0,     74, }, /* 450 */
+  {    19,      5,     12,      0,     86, }, /* 451 */
+  {    19,      5,     12,      0,    100, }, /* 452 */
+  {    19,      5,     12,      0,    128, }, /* 453 */
+  {    19,      5,     12,      0,    112, }, /* 454 */
+  {    19,      5,     12,      0,    126, }, /* 455 */
+  {    19,      8,     12,      0,     -8, }, /* 456 */
+  {    19,      5,     12,      0,      9, }, /* 457 */
+  {    19,      9,     12,      0,    -74, }, /* 458 */
+  {    19,      8,     12,      0,     -9, }, /* 459 */
+  {    19,      5,     12,     21,  -7173, }, /* 460 */
+  {    19,      9,     12,      0,    -86, }, /* 461 */
+  {    19,      9,     12,      0,   -100, }, /* 462 */
+  {    19,      9,     12,      0,   -112, }, /* 463 */
+  {    19,      9,     12,      0,   -128, }, /* 464 */
+  {    19,      9,     12,      0,   -126, }, /* 465 */
+  {    27,      1,      3,      0,      0, }, /* 466 */
+  {    27,      1,     13,      0,      0, }, /* 467 */
+  {     9,     27,      2,      0,      0, }, /* 468 */
+  {     9,     28,      2,      0,      0, }, /* 469 */
+  {     9,     21,     14,      0,      0, }, /* 470 */
+  {     9,      2,      2,      0,      0, }, /* 471 */
+  {     9,      9,     12,      0,      0, }, /* 472 */
+  {     9,      5,     12,      0,      0, }, /* 473 */
+  {    19,      9,     12,     96,  -7517, }, /* 474 */
+  {    33,      9,     12,    100,  -8383, }, /* 475 */
+  {    33,      9,     12,    104,  -8262, }, /* 476 */
+  {    33,      9,     12,      0,     28, }, /* 477 */
+  {     9,      5,     14,      0,      0, }, /* 478 */
+  {    33,      5,     12,      0,    -28, }, /* 479 */
+  {    33,     14,     12,      0,     16, }, /* 480 */
+  {    33,     14,     12,      0,    -16, }, /* 481 */
+  {    33,     14,     12,      0,      0, }, /* 482 */
+  {     9,     25,     14,      0,      0, }, /* 483 */
+  {     9,     26,     12,      0,     26, }, /* 484 */
+  {     9,     26,     14,      0,     26, }, /* 485 */
+  {     9,     26,     12,      0,    -26, }, /* 486 */
+  {     4,     26,     12,      0,      0, }, /* 487 */
+  {    17,      9,     12,      0,     48, }, /* 488 */
+  {    17,      5,     12,      0,    -48, }, /* 489 */
+  {    33,      9,     12,      0, -10743, }, /* 490 */
+  {    33,      9,     12,      0,  -3814, }, /* 491 */
+  {    33,      9,     12,      0, -10727, }, /* 492 */
+  {    33,      5,     12,      0, -10795, }, /* 493 */
+  {    33,      5,     12,      0, -10792, }, /* 494 */
+  {    33,      9,     12,      0, -10780, }, /* 495 */
+  {    33,      9,     12,      0, -10749, }, /* 496 */
+  {    33,      9,     12,      0, -10783, }, /* 497 */
+  {    33,      9,     12,      0, -10782, }, /* 498 */
+  {    33,      9,     12,      0, -10815, }, /* 499 */
+  {    10,      5,     12,      0,      0, }, /* 500 */
+  {    10,     26,     12,      0,      0, }, /* 501 */
+  {    10,     12,      3,      0,      0, }, /* 502 */
+  {    10,     21,     12,      0,      0, }, /* 503 */
+  {    10,     15,     12,      0,      0, }, /* 504 */
+  {    16,      5,     12,      0,  -7264, }, /* 505 */
+  {    58,      7,     12,      0,      0, }, /* 506 */
+  {    58,      6,     12,      0,      0, }, /* 507 */
+  {    58,     21,     12,      0,      0, }, /* 508 */
+  {    58,     12,      3,      0,      0, }, /* 509 */
+  {    22,     26,     12,      0,      0, }, /* 510 */
+  {    22,      6,     12,      0,      0, }, /* 511 */
+  {    22,     14,     12,      0,      0, }, /* 512 */
+  {    23,     10,      3,      0,      0, }, /* 513 */
+  {     9,     17,     14,      0,      0, }, /* 514 */
+  {    26,      7,     12,      0,      0, }, /* 515 */
+  {    26,      6,     12,      0,      0, }, /* 516 */
+  {    29,      7,     12,      0,      0, }, /* 517 */
+  {    29,      6,     12,      0,      0, }, /* 518 */
+  {     3,      7,     12,      0,      0, }, /* 519 */
+  {    23,      7,     12,      0,      0, }, /* 520 */
+  {    23,     26,     12,      0,      0, }, /* 521 */
+  {    29,     26,     12,      0,      0, }, /* 522 */
+  {    22,      7,     12,      0,      0, }, /* 523 */
+  {    60,      7,     12,      0,      0, }, /* 524 */
+  {    60,      6,     12,      0,      0, }, /* 525 */
+  {    60,     26,     12,      0,      0, }, /* 526 */
+  {    85,      7,     12,      0,      0, }, /* 527 */
+  {    85,      6,     12,      0,      0, }, /* 528 */
+  {    85,     21,     12,      0,      0, }, /* 529 */
+  {    76,      7,     12,      0,      0, }, /* 530 */
+  {    76,      6,     12,      0,      0, }, /* 531 */
+  {    76,     21,     12,      0,      0, }, /* 532 */
+  {    76,     13,     12,      0,      0, }, /* 533 */
+  {    12,      9,     12,    108,      1, }, /* 534 */
+  {    12,      5,     12,    108, -35267, }, /* 535 */
+  {    12,      7,     12,      0,      0, }, /* 536 */
+  {    12,     21,     12,      0,      0, }, /* 537 */
+  {    78,      7,     12,      0,      0, }, /* 538 */
+  {    78,     14,     12,      0,      0, }, /* 539 */
+  {    78,     12,      3,      0,      0, }, /* 540 */
+  {    78,     21,     12,      0,      0, }, /* 541 */
+  {    33,      9,     12,      0, -35332, }, /* 542 */
+  {    33,      9,     12,      0, -42280, }, /* 543 */
+  {    33,      9,     12,      0, -42308, }, /* 544 */
+  {    33,      9,     12,      0, -42319, }, /* 545 */
+  {    33,      9,     12,      0, -42315, }, /* 546 */
+  {    33,      9,     12,      0, -42305, }, /* 547 */
+  {    33,      9,     12,      0, -42258, }, /* 548 */
+  {    33,      9,     12,      0, -42282, }, /* 549 */
+  {    33,      9,     12,      0, -42261, }, /* 550 */
+  {    33,      9,     12,      0,    928, }, /* 551 */
+  {    48,      7,     12,      0,      0, }, /* 552 */
+  {    48,     12,      3,      0,      0, }, /* 553 */
+  {    48,     10,      5,      0,      0, }, /* 554 */
+  {    48,     26,     12,      0,      0, }, /* 555 */
+  {    64,      7,     12,      0,      0, }, /* 556 */
+  {    64,     21,     12,      0,      0, }, /* 557 */
+  {    74,     10,      5,      0,      0, }, /* 558 */
+  {    74,      7,     12,      0,      0, }, /* 559 */
+  {    74,     12,      3,      0,      0, }, /* 560 */
+  {    74,     21,     12,      0,      0, }, /* 561 */
+  {    74,     13,     12,      0,      0, }, /* 562 */
+  {    68,     13,     12,      0,      0, }, /* 563 */
+  {    68,      7,     12,      0,      0, }, /* 564 */
+  {    68,     12,      3,      0,      0, }, /* 565 */
+  {    68,     21,     12,      0,      0, }, /* 566 */
+  {    73,      7,     12,      0,      0, }, /* 567 */
+  {    73,     12,      3,      0,      0, }, /* 568 */
+  {    73,     10,      5,      0,      0, }, /* 569 */
+  {    73,     21,     12,      0,      0, }, /* 570 */
+  {    83,     12,      3,      0,      0, }, /* 571 */
+  {    83,     10,      5,      0,      0, }, /* 572 */
+  {    83,      7,     12,      0,      0, }, /* 573 */
+  {    83,     21,     12,      0,      0, }, /* 574 */
+  {    83,     13,     12,      0,      0, }, /* 575 */
+  {    38,      6,     12,      0,      0, }, /* 576 */
+  {    67,      7,     12,      0,      0, }, /* 577 */
+  {    67,     12,      3,      0,      0, }, /* 578 */
+  {    67,     10,      5,      0,      0, }, /* 579 */
+  {    67,     13,     12,      0,      0, }, /* 580 */
+  {    67,     21,     12,      0,      0, }, /* 581 */
+  {    91,      7,     12,      0,      0, }, /* 582 */
+  {    91,     12,      3,      0,      0, }, /* 583 */
+  {    91,      6,     12,      0,      0, }, /* 584 */
+  {    91,     21,     12,      0,      0, }, /* 585 */
+  {    86,      7,     12,      0,      0, }, /* 586 */
+  {    86,     10,      5,      0,      0, }, /* 587 */
+  {    86,     12,      3,      0,      0, }, /* 588 */
+  {    86,     21,     12,      0,      0, }, /* 589 */
+  {    86,      6,     12,      0,      0, }, /* 590 */
+  {    33,      5,     12,      0,   -928, }, /* 591 */
+  {     8,      5,     12,      0, -38864, }, /* 592 */
+  {    86,     13,     12,      0,      0, }, /* 593 */
+  {    23,      7,      9,      0,      0, }, /* 594 */
+  {    23,      7,     10,      0,      0, }, /* 595 */
+  {     9,      4,      2,      0,      0, }, /* 596 */
+  {     9,      3,     12,      0,      0, }, /* 597 */
+  {    25,     25,     12,      0,      0, }, /* 598 */
+  {     0,     24,     12,      0,      0, }, /* 599 */
+  {     9,      6,      3,      0,      0, }, /* 600 */
+  {    35,      7,     12,      0,      0, }, /* 601 */
+  {    19,     14,     12,      0,      0, }, /* 602 */
+  {    19,     15,     12,      0,      0, }, /* 603 */
+  {    19,     26,     12,      0,      0, }, /* 604 */
+  {    70,      7,     12,      0,      0, }, /* 605 */
+  {    66,      7,     12,      0,      0, }, /* 606 */
+  {    41,      7,     12,      0,      0, }, /* 607 */
+  {    41,     15,     12,      0,      0, }, /* 608 */
+  {    18,      7,     12,      0,      0, }, /* 609 */
+  {    18,     14,     12,      0,      0, }, /* 610 */
+  {   117,      7,     12,      0,      0, }, /* 611 */
+  {   117,     12,      3,      0,      0, }, /* 612 */
+  {    59,      7,     12,      0,      0, }, /* 613 */
+  {    59,     21,     12,      0,      0, }, /* 614 */
+  {    42,      7,     12,      0,      0, }, /* 615 */
+  {    42,     21,     12,      0,      0, }, /* 616 */
+  {    42,     14,     12,      0,      0, }, /* 617 */
+  {    13,      9,     12,      0,     40, }, /* 618 */
+  {    13,      5,     12,      0,    -40, }, /* 619 */
+  {    46,      7,     12,      0,      0, }, /* 620 */
+  {    44,      7,     12,      0,      0, }, /* 621 */
+  {    44,     13,     12,      0,      0, }, /* 622 */
+  {   135,      9,     12,      0,     40, }, /* 623 */
+  {   135,      5,     12,      0,    -40, }, /* 624 */
+  {   105,      7,     12,      0,      0, }, /* 625 */
+  {   103,      7,     12,      0,      0, }, /* 626 */
+  {   103,     21,     12,      0,      0, }, /* 627 */
+  {   109,      7,     12,      0,      0, }, /* 628 */
+  {    11,      7,     12,      0,      0, }, /* 629 */
+  {    80,      7,     12,      0,      0, }, /* 630 */
+  {    80,     21,     12,      0,      0, }, /* 631 */
+  {    80,     15,     12,      0,      0, }, /* 632 */
+  {   119,      7,     12,      0,      0, }, /* 633 */
+  {   119,     26,     12,      0,      0, }, /* 634 */
+  {   119,     15,     12,      0,      0, }, /* 635 */
+  {   115,      7,     12,      0,      0, }, /* 636 */
+  {   115,     15,     12,      0,      0, }, /* 637 */
+  {   127,      7,     12,      0,      0, }, /* 638 */
+  {   127,     15,     12,      0,      0, }, /* 639 */
+  {    65,      7,     12,      0,      0, }, /* 640 */
+  {    65,     15,     12,      0,      0, }, /* 641 */
+  {    65,     21,     12,      0,      0, }, /* 642 */
+  {    71,      7,     12,      0,      0, }, /* 643 */
+  {    71,     21,     12,      0,      0, }, /* 644 */
+  {    97,      7,     12,      0,      0, }, /* 645 */
+  {    96,      7,     12,      0,      0, }, /* 646 */
+  {    96,     15,     12,      0,      0, }, /* 647 */
+  {    30,      7,     12,      0,      0, }, /* 648 */
+  {    30,     12,      3,      0,      0, }, /* 649 */
+  {    30,     15,     12,      0,      0, }, /* 650 */
+  {    30,     21,     12,      0,      0, }, /* 651 */
+  {    87,      7,     12,      0,      0, }, /* 652 */
+  {    87,     15,     12,      0,      0, }, /* 653 */
+  {    87,     21,     12,      0,      0, }, /* 654 */
+  {   116,      7,     12,      0,      0, }, /* 655 */
+  {   116,     15,     12,      0,      0, }, /* 656 */
+  {   111,      7,     12,      0,      0, }, /* 657 */
+  {   111,     26,     12,      0,      0, }, /* 658 */
+  {   111,     12,      3,      0,      0, }, /* 659 */
+  {   111,     15,     12,      0,      0, }, /* 660 */
+  {   111,     21,     12,      0,      0, }, /* 661 */
+  {    77,      7,     12,      0,      0, }, /* 662 */
+  {    77,     21,     12,      0,      0, }, /* 663 */
+  {    82,      7,     12,      0,      0, }, /* 664 */
+  {    82,     15,     12,      0,      0, }, /* 665 */
+  {    81,      7,     12,      0,      0, }, /* 666 */
+  {    81,     15,     12,      0,      0, }, /* 667 */
+  {   120,      7,     12,      0,      0, }, /* 668 */
+  {   120,     21,     12,      0,      0, }, /* 669 */
+  {   120,     15,     12,      0,      0, }, /* 670 */
+  {    88,      7,     12,      0,      0, }, /* 671 */
+  {   129,      9,     12,      0,     64, }, /* 672 */
+  {   129,      5,     12,      0,    -64, }, /* 673 */
+  {   129,     15,     12,      0,      0, }, /* 674 */
+  {   143,      7,     12,      0,      0, }, /* 675 */
+  {   143,     12,      3,      0,      0, }, /* 676 */
+  {   143,     13,     12,      0,      0, }, /* 677 */
+  {     0,     15,     12,      0,      0, }, /* 678 */
+  {   146,      7,     12,      0,      0, }, /* 679 */
+  {   146,     15,     12,      0,      0, }, /* 680 */
+  {   147,      7,     12,      0,      0, }, /* 681 */
+  {   147,     12,      3,      0,      0, }, /* 682 */
+  {   147,     15,     12,      0,      0, }, /* 683 */
+  {   147,     21,     12,      0,      0, }, /* 684 */
+  {    93,     10,      5,      0,      0, }, /* 685 */
+  {    93,     12,      3,      0,      0, }, /* 686 */
+  {    93,      7,     12,      0,      0, }, /* 687 */
+  {    93,     21,     12,      0,      0, }, /* 688 */
+  {    93,     15,     12,      0,      0, }, /* 689 */
+  {    93,     13,     12,      0,      0, }, /* 690 */
+  {    84,     12,      3,      0,      0, }, /* 691 */
+  {    84,     10,      5,      0,      0, }, /* 692 */
+  {    84,      7,     12,      0,      0, }, /* 693 */
+  {    84,     21,     12,      0,      0, }, /* 694 */
+  {    84,      1,      4,      0,      0, }, /* 695 */
+  {   100,      7,     12,      0,      0, }, /* 696 */
+  {   100,     13,     12,      0,      0, }, /* 697 */
+  {    95,     12,      3,      0,      0, }, /* 698 */
+  {    95,      7,     12,      0,      0, }, /* 699 */
+  {    95,     10,      5,      0,      0, }, /* 700 */
+  {    95,     13,     12,      0,      0, }, /* 701 */
+  {    95,     21,     12,      0,      0, }, /* 702 */
+  {   110,      7,     12,      0,      0, }, /* 703 */
+  {   110,     12,      3,      0,      0, }, /* 704 */
+  {   110,     21,     12,      0,      0, }, /* 705 */
+  {    99,     12,      3,      0,      0, }, /* 706 */
+  {    99,     10,      5,      0,      0, }, /* 707 */
+  {    99,      7,     12,      0,      0, }, /* 708 */
+  {    99,      7,      4,      0,      0, }, /* 709 */
+  {    99,     21,     12,      0,      0, }, /* 710 */
+  {    99,     13,     12,      0,      0, }, /* 711 */
+  {    47,     15,     12,      0,      0, }, /* 712 */
+  {   107,      7,     12,      0,      0, }, /* 713 */
+  {   107,     10,      5,      0,      0, }, /* 714 */
+  {   107,     12,      3,      0,      0, }, /* 715 */
+  {   107,     21,     12,      0,      0, }, /* 716 */
+  {   128,      7,     12,      0,      0, }, /* 717 */
+  {   128,     21,     12,      0,      0, }, /* 718 */
+  {   108,      7,     12,      0,      0, }, /* 719 */
+  {   108,     12,      3,      0,      0, }, /* 720 */
+  {   108,     10,      5,      0,      0, }, /* 721 */
+  {   108,     13,     12,      0,      0, }, /* 722 */
+  {   106,     12,      3,      0,      0, }, /* 723 */
+  {   106,     10,      5,      0,      0, }, /* 724 */
+  {   106,      7,     12,      0,      0, }, /* 725 */
+  {   106,     10,      3,      0,      0, }, /* 726 */
+  {   134,      7,     12,      0,      0, }, /* 727 */
+  {   134,     10,      5,      0,      0, }, /* 728 */
+  {   134,     12,      3,      0,      0, }, /* 729 */
+  {   134,     21,     12,      0,      0, }, /* 730 */
+  {   134,     13,     12,      0,      0, }, /* 731 */
+  {   123,      7,     12,      0,      0, }, /* 732 */
+  {   123,     10,      3,      0,      0, }, /* 733 */
+  {   123,     10,      5,      0,      0, }, /* 734 */
+  {   123,     12,      3,      0,      0, }, /* 735 */
+  {   123,     21,     12,      0,      0, }, /* 736 */
+  {   123,     13,     12,      0,      0, }, /* 737 */
+  {   122,      7,     12,      0,      0, }, /* 738 */
+  {   122,     10,      3,      0,      0, }, /* 739 */
+  {   122,     10,      5,      0,      0, }, /* 740 */
+  {   122,     12,      3,      0,      0, }, /* 741 */
+  {   122,     21,     12,      0,      0, }, /* 742 */
+  {   113,      7,     12,      0,      0, }, /* 743 */
+  {   113,     10,      5,      0,      0, }, /* 744 */
+  {   113,     12,      3,      0,      0, }, /* 745 */
+  {   113,     21,     12,      0,      0, }, /* 746 */
+  {   113,     13,     12,      0,      0, }, /* 747 */
+  {   101,      7,     12,      0,      0, }, /* 748 */
+  {   101,     12,      3,      0,      0, }, /* 749 */
+  {   101,     10,      5,      0,      0, }, /* 750 */
+  {   101,     13,     12,      0,      0, }, /* 751 */
+  {   125,      7,     12,      0,      0, }, /* 752 */
+  {   125,     12,      3,      0,      0, }, /* 753 */
+  {   125,     10,      5,      0,      0, }, /* 754 */
+  {   125,     13,     12,      0,      0, }, /* 755 */
+  {   125,     15,     12,      0,      0, }, /* 756 */
+  {   125,     21,     12,      0,      0, }, /* 757 */
+  {   125,     26,     12,      0,      0, }, /* 758 */
+  {   141,      7,     12,      0,      0, }, /* 759 */
+  {   141,     10,      5,      0,      0, }, /* 760 */
+  {   141,     12,      3,      0,      0, }, /* 761 */
+  {   141,     21,     12,      0,      0, }, /* 762 */
+  {   124,      9,     12,      0,     32, }, /* 763 */
+  {   124,      5,     12,      0,    -32, }, /* 764 */
+  {   124,     13,     12,      0,      0, }, /* 765 */
+  {   124,     15,     12,      0,      0, }, /* 766 */
+  {   124,      7,     12,      0,      0, }, /* 767 */
+  {   140,      7,     12,      0,      0, }, /* 768 */
+  {   140,     12,      3,      0,      0, }, /* 769 */
+  {   140,     10,      5,      0,      0, }, /* 770 */
+  {   140,      7,      4,      0,      0, }, /* 771 */
+  {   140,     21,     12,      0,      0, }, /* 772 */
+  {   139,      7,     12,      0,      0, }, /* 773 */
+  {   139,     12,      3,      0,      0, }, /* 774 */
+  {   139,     10,      5,      0,      0, }, /* 775 */
+  {   139,      7,      4,      0,      0, }, /* 776 */
+  {   139,     21,     12,      0,      0, }, /* 777 */
+  {   121,      7,     12,      0,      0, }, /* 778 */
+  {   132,      7,     12,      0,      0, }, /* 779 */
+  {   132,     10,      5,      0,      0, }, /* 780 */
+  {   132,     12,      3,      0,      0, }, /* 781 */
+  {   132,     21,     12,      0,      0, }, /* 782 */
+  {   132,     13,     12,      0,      0, }, /* 783 */
+  {   132,     15,     12,      0,      0, }, /* 784 */
+  {   133,     21,     12,      0,      0, }, /* 785 */
+  {   133,      7,     12,      0,      0, }, /* 786 */
+  {   133,     12,      3,      0,      0, }, /* 787 */
+  {   133,     10,      5,      0,      0, }, /* 788 */
+  {   137,      7,     12,      0,      0, }, /* 789 */
+  {   137,     12,      3,      0,      0, }, /* 790 */
+  {   137,      7,      4,      0,      0, }, /* 791 */
+  {   137,     13,     12,      0,      0, }, /* 792 */
+  {   142,      7,     12,      0,      0, }, /* 793 */
+  {   142,     10,      5,      0,      0, }, /* 794 */
+  {   142,     12,      3,      0,      0, }, /* 795 */
+  {   142,     13,     12,      0,      0, }, /* 796 */
+  {   144,      7,     12,      0,      0, }, /* 797 */
+  {   144,     12,      3,      0,      0, }, /* 798 */
+  {   144,     10,      5,      0,      0, }, /* 799 */
+  {   144,     21,     12,      0,      0, }, /* 800 */
+  {    62,      7,     12,      0,      0, }, /* 801 */
+  {    62,     14,     12,      0,      0, }, /* 802 */
+  {    62,     21,     12,      0,      0, }, /* 803 */
+  {    79,      7,     12,      0,      0, }, /* 804 */
+  {   126,      7,     12,      0,      0, }, /* 805 */
+  {   114,      7,     12,      0,      0, }, /* 806 */
+  {   114,     13,     12,      0,      0, }, /* 807 */
+  {   114,     21,     12,      0,      0, }, /* 808 */
+  {   102,      7,     12,      0,      0, }, /* 809 */
+  {   102,     12,      3,      0,      0, }, /* 810 */
+  {   102,     21,     12,      0,      0, }, /* 811 */
+  {   118,      7,     12,      0,      0, }, /* 812 */
+  {   118,     12,      3,      0,      0, }, /* 813 */
+  {   118,     21,     12,      0,      0, }, /* 814 */
+  {   118,     26,     12,      0,      0, }, /* 815 */
+  {   118,      6,     12,      0,      0, }, /* 816 */
+  {   118,     13,     12,      0,      0, }, /* 817 */
+  {   118,     15,     12,      0,      0, }, /* 818 */
+  {   145,      9,     12,      0,     32, }, /* 819 */
+  {   145,      5,     12,      0,    -32, }, /* 820 */
+  {   145,     15,     12,      0,      0, }, /* 821 */
+  {   145,     21,     12,      0,      0, }, /* 822 */
+  {    98,      7,     12,      0,      0, }, /* 823 */
+  {    98,     10,      5,      0,      0, }, /* 824 */
+  {    98,     12,      3,      0,      0, }, /* 825 */
+  {    98,      6,     12,      0,      0, }, /* 826 */
+  {   136,      6,     12,      0,      0, }, /* 827 */
+  {   138,      6,     12,      0,      0, }, /* 828 */
+  {   136,      7,     12,      0,      0, }, /* 829 */
+  {   138,      7,     12,      0,      0, }, /* 830 */
+  {   104,      7,     12,      0,      0, }, /* 831 */
+  {   104,     26,     12,      0,      0, }, /* 832 */
+  {   104,     12,      3,      0,      0, }, /* 833 */
+  {   104,     21,     12,      0,      0, }, /* 834 */
+  {     9,     10,      3,      0,      0, }, /* 835 */
+  {    19,     12,      3,      0,      0, }, /* 836 */
+  {   130,     26,     12,      0,      0, }, /* 837 */
+  {   130,     12,      3,      0,      0, }, /* 838 */
+  {   130,     21,     12,      0,      0, }, /* 839 */
+  {    17,     12,      3,      0,      0, }, /* 840 */
+  {   112,      7,     12,      0,      0, }, /* 841 */
+  {   112,     15,     12,      0,      0, }, /* 842 */
+  {   112,     12,      3,      0,      0, }, /* 843 */
+  {   131,      9,     12,      0,     34, }, /* 844 */
+  {   131,      5,     12,      0,    -34, }, /* 845 */
+  {   131,     12,      3,      0,      0, }, /* 846 */
+  {   131,     13,     12,      0,      0, }, /* 847 */
+  {   131,     21,     12,      0,      0, }, /* 848 */
+  {     9,      2,     14,      0,      0, }, /* 849 */
+  {     9,     26,     11,      0,      0, }, /* 850 */
+  {    26,     26,     12,      0,      0, }, /* 851 */
+  {     9,     24,      3,      0,      0, }, /* 852 */
+  {     9,      1,      3,      0,      0, }, /* 853 */
 };
 
-const uint8_t PRIV(ucd_stage1)[] = { /* 8704 bytes */
+const uint16_t PRIV(ucd_stage1)[] = { /* 17408 bytes */
   0,  1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, /* U+0000 */
  16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, /* U+0800 */
  32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 41, 41, 42, 43, 44, 45, /* U+1000 */
  46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, /* U+1800 */
  62, 63, 64, 65, 66, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, /* U+2000 */
- 77, 77, 66, 78, 66, 66, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, /* U+2800 */
- 89, 90, 91, 92, 93, 94, 95, 71, 96, 96, 96, 96, 96, 96, 96, 96, /* U+3000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+3800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+4000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 97, 96, 96, 96, 96, /* U+4800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+5000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+5800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+6000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+6800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+7000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+7800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+8000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+8800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+9000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 98, /* U+9800 */
- 99,100,100,100,100,100,100,100,100,101,102,102,103,104,105,106, /* U+A000 */
-107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,115, /* U+A800 */
-116,117,118,119,120,121,115,116,117,118,119,120,121,115,116,117, /* U+B000 */
-118,119,120,121,115,116,117,118,119,120,121,115,116,117,118,119, /* U+B800 */
-120,121,115,116,117,118,119,120,121,115,116,117,118,119,120,121, /* U+C000 */
-115,116,117,118,119,120,121,115,116,117,118,119,120,121,115,116, /* U+C800 */
-117,118,119,120,121,115,116,117,118,119,120,121,115,116,117,122, /* U+D000 */
-123,123,123,123,123,123,123,123,123,123,123,123,123,123,123,123, /* U+D800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+E000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+E800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F000 */
-124,124, 96, 96,125,126,127,128,129,129,130,131,132,133,134,135, /* U+F800 */
-136,137,138,139,140,141,142,143,144,145,146,140,147,147,148,140, /* U+10000 */
-149,150,151,152,153,154,155,156,157,158,140,140,159,140,140,140, /* U+10800 */
-160,161,162,163,164,165,166,140,167,168,140,169,170,171,172,140, /* U+11000 */
-140,173,140,140,174,175,140,140,176,177,178,140,140,140,140,140, /* U+11800 */
-179,179,179,179,179,179,179,180,181,179,182,140,140,140,140,140, /* U+12000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+12800 */
-183,183,183,183,183,183,183,183,184,140,140,140,140,140,140,140, /* U+13000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+13800 */
-140,140,140,140,140,140,140,140,185,185,185,185,186,140,140,140, /* U+14000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+14800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+15000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+15800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+16000 */
-187,187,187,187,188,189,190,191,140,140,140,140,140,140,192,193, /* U+16800 */
-194,194,194,194,194,194,194,194,194,194,194,194,194,194,194,194, /* U+17000 */
-194,194,194,194,194,194,194,194,194,194,194,194,194,194,194,194, /* U+17800 */
-194,194,194,194,194,194,194,194,194,194,194,194,194,194,194,195, /* U+18000 */
-194,194,194,194,194,196,140,140,140,140,140,140,140,140,140,140, /* U+18800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+19000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+19800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+1A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+1A800 */
-197,198,199,200,200,201,140,140,140,140,140,140,140,140,140,140, /* U+1B000 */
-140,140,140,140,140,140,140,140,202,203,140,140,140,140,140,140, /* U+1B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+1C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+1C800 */
- 71,204,205,206,207,140,208,140,209,210,211,212,213,214,215,216, /* U+1D000 */
-217,217,217,217,218,219,140,140,140,140,140,140,140,140,140,140, /* U+1D800 */
-220,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+1E000 */
-221,222,223,140,140,140,140,140,140,140,140,140,224,225,140,140, /* U+1E800 */
-226,227,228,229,230,140,231,232,233,234,235,236,237,238,239,240, /* U+1F000 */
-241,242,243,244,140,140,140,140,140,140,140,140,140,140,140,140, /* U+1F800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+20000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+20800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+21000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+21800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+22000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+22800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+23000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+23800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+24000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+24800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+25000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+25800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+26000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+26800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+27000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+27800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+28000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+28800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+29000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+29800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96,245, 96, 96, /* U+2A000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+2A800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96,246, 96, /* U+2B000 */
-247, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+2B800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+2C000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96,248, 96, 96, /* U+2C800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+2D000 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+2D800 */
- 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, 96, /* U+2E000 */
- 96, 96, 96, 96, 96, 96, 96,249,140,140,140,140,140,140,140,140, /* U+2E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+2F000 */
- 96, 96, 96, 96,250,140,140,140,140,140,140,140,140,140,140,140, /* U+2F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+30000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+30800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+31000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+31800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+32000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+32800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+33000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+33800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+34000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+34800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+35000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+35800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+36000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+36800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+37000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+37800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+38000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+38800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+39000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+39800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+3F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+40000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+40800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+41000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+41800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+42000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+42800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+43000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+43800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+44000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+44800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+45000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+45800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+46000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+46800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+47000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+47800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+48000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+48800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+49000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+49800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+4F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+50000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+50800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+51000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+51800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+52000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+52800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+53000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+53800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+54000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+54800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+55000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+55800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+56000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+56800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+57000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+57800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+58000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+58800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+59000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+59800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+5F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+60000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+60800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+61000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+61800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+62000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+62800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+63000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+63800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+64000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+64800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+65000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+65800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+66000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+66800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+67000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+67800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+68000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+68800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+69000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+69800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+6F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+70000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+70800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+71000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+71800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+72000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+72800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+73000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+73800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+74000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+74800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+75000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+75800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+76000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+76800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+77000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+77800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+78000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+78800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+79000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+79800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+7F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+80000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+80800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+81000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+81800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+82000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+82800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+83000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+83800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+84000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+84800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+85000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+85800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+86000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+86800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+87000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+87800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+88000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+88800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+89000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+89800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+8F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+90000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+90800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+91000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+91800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+92000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+92800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+93000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+93800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+94000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+94800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+95000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+95800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+96000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+96800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+97000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+97800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+98000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+98800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+99000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+99800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9A000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9A800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9B000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9B800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9C000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9C800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9D000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9D800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9E000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9E800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9F000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+9F800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A0000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A0800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A1000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A1800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A2000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A2800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A3000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A3800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A4000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A4800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A5000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A5800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A6000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A6800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A7000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A7800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A8000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A8800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A9000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+A9800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AA000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AA800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AB000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AB800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AC000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AC800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AD000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AD800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AE000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AE800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AF000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+AF800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B0000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B0800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B1000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B1800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B2000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B2800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B3000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B3800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B4000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B4800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B5000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B5800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B6000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B6800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B7000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B7800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B8000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B8800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B9000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+B9800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BA000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BA800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BB000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BB800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BC000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BC800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BD000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BD800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BE000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BE800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BF000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+BF800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C0000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C0800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C1000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C1800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C2000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C2800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C3000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C3800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C4000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C4800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C5000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C5800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C6000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C6800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C7000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C7800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C8000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C8800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C9000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+C9800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CA000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CA800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CB000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CB800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CC000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CC800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CD000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CD800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CE000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CE800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CF000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+CF800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D0000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D0800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D1000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D1800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D2000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D2800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D3000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D3800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D4000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D4800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D5000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D5800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D6000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D6800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D7000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D7800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D8000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D8800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D9000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+D9800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DA000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DA800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DB000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DB800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DC000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DC800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DD000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DD800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DE000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DE800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DF000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+DF800 */
-251,252,253,254,252,252,252,252,252,252,252,252,252,252,252,252, /* U+E0000 */
-252,252,252,252,252,252,252,252,252,252,252,252,252,252,252,252, /* U+E0800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E1000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E1800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E2000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E2800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E3000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E3800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E4000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E4800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E5000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E5800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E6000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E6800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E7000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E7800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E8000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E8800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E9000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+E9800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EA000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EA800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EB000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EB800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EC000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EC800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+ED000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+ED800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EE000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EE800 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EF000 */
-140,140,140,140,140,140,140,140,140,140,140,140,140,140,140,140, /* U+EF800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F0000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F0800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F1000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F1800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F2000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F2800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F3000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F3800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F4000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F4800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F5000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F5800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F6000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F6800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F7000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F7800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F8000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F8800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F9000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+F9800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FA000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FA800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FB000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FB800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FC000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FC800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FD000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FD800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FE000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FE800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+FF000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,255, /* U+FF800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+100000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+100800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+101000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+101800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+102000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+102800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+103000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+103800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+104000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+104800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+105000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+105800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+106000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+106800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+107000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+107800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+108000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+108800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+109000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+109800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10A000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10A800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10B000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10B800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10C000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10C800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10D000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10D800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10E000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10E800 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+10F000 */
-124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,255, /* U+10F800 */
+ 77, 77, 78, 79, 66, 66, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, /* U+2800 */
+ 90, 91, 92, 93, 94, 95, 96, 71, 97, 97, 97, 97, 97, 97, 97, 97, /* U+3000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+3800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+4000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 98, 97, 97, 97, 97, /* U+4800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+5000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+5800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+6000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+6800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+7000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+7800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+8000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+8800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+9000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 99, /* U+9800 */
+100,101,101,101,101,101,101,101,101,102,103,103,104,105,106,107, /* U+A000 */
+108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,116, /* U+A800 */
+117,118,119,120,121,122,116,117,118,119,120,121,122,116,117,118, /* U+B000 */
+119,120,121,122,116,117,118,119,120,121,122,116,117,118,119,120, /* U+B800 */
+121,122,116,117,118,119,120,121,122,116,117,118,119,120,121,122, /* U+C000 */
+116,117,118,119,120,121,122,116,117,118,119,120,121,122,116,117, /* U+C800 */
+118,119,120,121,122,116,117,118,119,120,121,122,116,117,118,123, /* U+D000 */
+124,124,124,124,124,124,124,124,124,124,124,124,124,124,124,124, /* U+D800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+E000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+E800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F000 */
+125,125, 97, 97,126,127,128,129,130,130,131,132,133,134,135,136, /* U+F800 */
+137,138,139,140,141,142,143,144,145,146,147,141,148,148,149,141, /* U+10000 */
+150,151,152,153,154,155,156,157,158,159,160,141,161,141,162,141, /* U+10800 */
+163,164,165,166,167,168,169,141,170,171,141,172,173,174,175,141, /* U+11000 */
+176,177,141,141,178,179,141,141,180,181,182,183,141,184,141,141, /* U+11800 */
+185,185,185,185,185,185,185,186,187,185,188,141,141,141,141,141, /* U+12000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+12800 */
+189,189,189,189,189,189,189,189,190,141,141,141,141,141,141,141, /* U+13000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+13800 */
+141,141,141,141,141,141,141,141,191,191,191,191,192,141,141,141, /* U+14000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+14800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+15000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+15800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+16000 */
+193,193,193,193,194,195,196,197,141,141,141,141,198,199,200,201, /* U+16800 */
+202,202,202,202,202,202,202,202,202,202,202,202,202,202,202,202, /* U+17000 */
+202,202,202,202,202,202,202,202,202,202,202,202,202,202,202,202, /* U+17800 */
+202,202,202,202,202,202,202,202,202,202,202,202,202,202,202,203, /* U+18000 */
+202,202,202,202,202,204,141,141,141,141,141,141,141,141,141,141, /* U+18800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+19000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+19800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+1A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+1A800 */
+205,206,207,208,208,209,141,141,141,141,141,141,141,141,141,141, /* U+1B000 */
+141,141,141,141,141,141,141,141,210,211,141,141,141,141,141,141, /* U+1B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+1C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+1C800 */
+ 71,212,213,214,215,216,217,141,218,219,220,221,222,223,224,225, /* U+1D000 */
+226,226,226,226,227,228,141,141,141,141,141,141,141,141,141,141, /* U+1D800 */
+229,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+1E000 */
+230,231,232,141,141,141,141,141,233,234,141,141,235,236,141,141, /* U+1E800 */
+237,238,239,240,241,242,243,244,243,243,245,243,246,247,248,249, /* U+1F000 */
+250,251,252,253,254,242,242,242,242,242,242,242,242,242,242,255, /* U+1F800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+20000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+20800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+21000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+21800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+22000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+22800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+23000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+23800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+24000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+24800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+25000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+25800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+26000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+26800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+27000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+27800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+28000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+28800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+29000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+29800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97,256, 97, 97, /* U+2A000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+2A800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97,257, 97, /* U+2B000 */
+258, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+2B800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+2C000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97,259, 97, 97, /* U+2C800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+2D000 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+2D800 */
+ 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, 97, /* U+2E000 */
+ 97, 97, 97, 97, 97, 97, 97,260,141,141,141,141,141,141,141,141, /* U+2E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+2F000 */
+ 97, 97, 97, 97,261,141,141,141,141,141,141,141,141,141,141,141, /* U+2F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+30000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+30800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+31000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+31800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+32000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+32800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+33000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+33800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+34000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+34800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+35000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+35800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+36000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+36800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+37000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+37800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+38000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+38800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+39000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+39800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+3F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+40000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+40800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+41000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+41800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+42000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+42800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+43000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+43800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+44000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+44800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+45000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+45800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+46000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+46800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+47000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+47800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+48000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+48800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+49000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+49800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+4F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+50000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+50800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+51000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+51800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+52000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+52800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+53000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+53800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+54000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+54800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+55000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+55800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+56000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+56800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+57000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+57800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+58000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+58800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+59000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+59800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+5F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+60000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+60800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+61000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+61800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+62000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+62800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+63000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+63800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+64000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+64800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+65000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+65800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+66000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+66800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+67000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+67800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+68000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+68800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+69000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+69800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+6F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+70000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+70800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+71000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+71800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+72000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+72800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+73000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+73800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+74000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+74800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+75000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+75800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+76000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+76800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+77000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+77800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+78000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+78800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+79000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+79800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+7F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+80000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+80800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+81000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+81800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+82000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+82800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+83000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+83800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+84000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+84800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+85000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+85800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+86000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+86800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+87000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+87800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+88000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+88800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+89000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+89800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+8F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+90000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+90800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+91000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+91800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+92000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+92800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+93000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+93800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+94000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+94800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+95000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+95800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+96000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+96800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+97000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+97800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+98000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+98800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+99000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+99800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9A000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9A800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9B000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9B800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9C000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9C800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9D000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9D800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9E000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9E800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9F000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+9F800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A0000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A0800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A1000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A1800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A2000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A2800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A3000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A3800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A4000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A4800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A5000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A5800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A6000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A6800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A7000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A7800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A8000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A8800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A9000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+A9800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AA000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AA800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AB000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AB800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AC000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AC800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AD000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AD800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AE000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AE800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AF000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+AF800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B0000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B0800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B1000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B1800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B2000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B2800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B3000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B3800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B4000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B4800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B5000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B5800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B6000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B6800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B7000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B7800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B8000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B8800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B9000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+B9800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BA000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BA800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BB000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BB800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BC000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BC800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BD000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BD800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BE000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BE800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BF000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+BF800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C0000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C0800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C1000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C1800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C2000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C2800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C3000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C3800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C4000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C4800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C5000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C5800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C6000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C6800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C7000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C7800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C8000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C8800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C9000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+C9800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CA000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CA800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CB000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CB800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CC000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CC800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CD000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CD800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CE000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CE800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CF000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+CF800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D0000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D0800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D1000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D1800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D2000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D2800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D3000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D3800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D4000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D4800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D5000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D5800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D6000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D6800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D7000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D7800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D8000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D8800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D9000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+D9800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DA000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DA800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DB000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DB800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DC000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DC800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DD000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DD800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DE000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DE800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DF000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+DF800 */
+262,263,264,265,263,263,263,263,263,263,263,263,263,263,263,263, /* U+E0000 */
+263,263,263,263,263,263,263,263,263,263,263,263,263,263,263,263, /* U+E0800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E1000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E1800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E2000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E2800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E3000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E3800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E4000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E4800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E5000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E5800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E6000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E6800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E7000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E7800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E8000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E8800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E9000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+E9800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EA000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EA800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EB000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EB800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EC000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EC800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+ED000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+ED800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EE000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EE800 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EF000 */
+141,141,141,141,141,141,141,141,141,141,141,141,141,141,141,141, /* U+EF800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F0000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F0800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F1000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F1800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F2000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F2800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F3000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F3800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F4000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F4800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F5000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F5800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F6000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F6800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F7000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F7800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F8000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F8800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F9000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+F9800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FA000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FA800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FB000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FB800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FC000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FC800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FD000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FD800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FE000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FE800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+FF000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,266, /* U+FF800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+100000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+100800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+101000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+101800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+102000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+102800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+103000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+103800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+104000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+104800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+105000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+105800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+106000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+106800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+107000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+107800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+108000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+108800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+109000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+109800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10A000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10A800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10B000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10B800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10C000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10C800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10D000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10D800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10E000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10E800 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,125, /* U+10F000 */
+125,125,125,125,125,125,125,125,125,125,125,125,125,125,125,266, /* U+10F800 */
 };
 
-const uint16_t PRIV(ucd_stage2)[] = { /* 65536 bytes, block = 128 */
+const uint16_t PRIV(ucd_stage2)[] = { /* 68352 bytes, block = 128 */
 /* block 0 */
   0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  1,  0,  0,  2,  0,  0,
   0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
@@ -1489,647 +1522,647 @@ const uint16_t PRIV(ucd_stage2)[] = { /* 65536 bytes, block = 128 */
 /* block 1 */
   0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
   0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
-  3,  4,  5,  5,  5,  5, 19,  4, 14, 19, 20, 21,  8, 22, 19, 14,
- 19,  8, 23, 23, 14, 24,  4,  4, 14, 23, 20, 25, 23, 23, 23,  4,
- 11, 11, 11, 11, 11, 26, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11,
- 11, 11, 11, 11, 11, 11, 11,  8, 11, 11, 11, 11, 11, 11, 11, 27,
- 16, 16, 16, 16, 16, 28, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
- 16, 16, 16, 16, 16, 16, 16,  8, 16, 16, 16, 16, 16, 16, 16, 29,
+  3,  4,  5,  5,  5,  5, 19,  4, 14, 20, 21, 22,  8, 23, 20, 14,
+ 19,  8, 24, 24, 14, 25,  4,  4, 14, 24, 21, 26, 24, 24, 24,  4,
+ 11, 11, 11, 11, 11, 27, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11,
+ 11, 11, 11, 11, 11, 11, 11,  8, 11, 11, 11, 11, 11, 11, 11, 28,
+ 16, 16, 16, 16, 16, 29, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
+ 16, 16, 16, 16, 16, 16, 16,  8, 16, 16, 16, 16, 16, 16, 16, 30,
 
 /* block 2 */
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 32, 33, 30, 31, 30, 31, 30, 31, 33, 30, 31, 30, 31, 30, 31, 30,
- 31, 30, 31, 30, 31, 30, 31, 30, 31, 33, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 34, 30, 31, 30, 31, 30, 31, 35,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 33, 34, 31, 32, 31, 32, 31, 32, 34, 31, 32, 31, 32, 31, 32, 31,
+ 32, 31, 32, 31, 32, 31, 32, 31, 32, 34, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 35, 31, 32, 31, 32, 31, 32, 36,
 
 /* block 3 */
- 36, 37, 30, 31, 30, 31, 38, 30, 31, 39, 39, 30, 31, 33, 40, 41,
- 42, 30, 31, 39, 43, 44, 45, 46, 30, 31, 47, 33, 45, 48, 49, 50,
- 30, 31, 30, 31, 30, 31, 51, 30, 31, 51, 33, 33, 30, 31, 51, 30,
- 31, 52, 52, 30, 31, 30, 31, 53, 30, 31, 33, 20, 30, 31, 33, 54,
- 20, 20, 20, 20, 55, 56, 57, 58, 59, 60, 61, 62, 63, 30, 31, 30,
- 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 64, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 33, 65, 66, 67, 30, 31, 68, 69, 30, 31, 30, 31, 30, 31, 30, 31,
+ 37, 38, 31, 32, 31, 32, 39, 31, 32, 40, 40, 31, 32, 34, 41, 42,
+ 43, 31, 32, 40, 44, 45, 46, 47, 31, 32, 48, 34, 46, 49, 50, 51,
+ 31, 32, 31, 32, 31, 32, 52, 31, 32, 52, 34, 34, 31, 32, 52, 31,
+ 32, 53, 53, 31, 32, 31, 32, 54, 31, 32, 34, 21, 31, 32, 34, 55,
+ 21, 21, 21, 21, 56, 57, 58, 59, 60, 61, 62, 63, 64, 31, 32, 31,
+ 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 65, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 34, 66, 67, 68, 31, 32, 69, 70, 31, 32, 31, 32, 31, 32, 31, 32,
 
 /* block 4 */
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 70, 33, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 33, 33, 33, 33, 33, 33, 71, 30, 31, 72, 73, 74,
- 74, 30, 31, 75, 76, 77, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 78, 79, 80, 81, 82, 33, 83, 83, 33, 84, 33, 85, 86, 33, 33, 33,
- 83, 87, 33, 88, 33, 89, 90, 33, 91, 92, 90, 93, 94, 33, 33, 92,
- 33, 95, 96, 33, 33, 97, 33, 33, 33, 33, 33, 33, 33, 98, 33, 33,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 71, 34, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 34, 34, 34, 34, 34, 34, 72, 31, 32, 73, 74, 75,
+ 75, 31, 32, 76, 77, 78, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 79, 80, 81, 82, 83, 34, 84, 84, 34, 85, 34, 86, 87, 34, 34, 34,
+ 84, 88, 34, 89, 34, 90, 91, 34, 92, 93, 91, 94, 95, 34, 34, 93,
+ 34, 96, 97, 34, 34, 98, 34, 34, 34, 34, 34, 34, 34, 99, 34, 34,
 
 /* block 5 */
- 99, 33, 33, 99, 33, 33, 33,100, 99,101,102,102,103, 33, 33, 33,
- 33, 33,104, 33, 20, 33, 33, 33, 33, 33, 33, 33, 33,105,106, 33,
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,
-107,107,107,107,107,107,107,107,107,108,108,108,108,108,108,108,
-108,108, 14, 14, 14, 14,108,108,108,108,108,108,108,108,108,108,
-108,108, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
-107,107,107,107,107, 14, 14, 14, 14, 14,109,109,108, 14,108, 14,
+100, 34, 34,100, 34, 34, 34,101,100,102,103,103,104, 34, 34, 34,
+ 34, 34,105, 34, 21, 34, 34, 34, 34, 34, 34, 34, 34,106,107, 34,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,
+108,108,108,108,108,108,108,108,108,109,109,109,109,109,109,109,
+109,109, 14, 14, 14, 14,109,109,109,109,109,109,109,109,109,109,
+109,109, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+108,108,108,108,108, 14, 14, 14, 14, 14,110,110,109, 14,109, 14,
  14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
 
 /* block 6 */
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,111,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-112,113,112,113,108,114,112,113,115,115,116,117,117,117,  4,118,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,112,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+113,114,113,114,109,115,113,114,116,116,117,118,118,118,  4,119,
 
 /* block 7 */
-115,115,115,115,114, 14,119,  4,120,120,120,115,121,115,122,122,
-123,124,125,124,124,126,124,124,127,128,129,124,130,124,124,124,
-131,132,115,133,124,124,134,124,124,135,124,124,136,137,137,137,
-123,138,139,138,138,140,138,138,141,142,143,138,144,138,138,138,
-145,146,147,148,138,138,149,138,138,150,138,138,151,152,152,153,
-154,155,156,156,156,157,158,159,112,113,112,113,112,113,112,113,
-112,113,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-162,163,164,165,166,167,168,112,113,169,112,113,123,170,170,170,
+116,116,116,116,115, 14,120,  4,121,121,121,116,122,116,123,123,
+124,125,126,125,125,127,125,125,128,129,130,125,131,125,125,125,
+132,133,116,134,125,125,135,125,125,136,125,125,137,138,138,138,
+124,139,140,139,139,141,139,139,142,143,144,139,145,139,139,139,
+146,147,148,149,139,139,150,139,139,151,139,139,152,153,153,154,
+155,156,157,157,157,158,159,160,113,114,113,114,113,114,113,114,
+113,114,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+163,164,165,166,167,168,169,113,114,170,113,114,124,171,171,171,
 
 /* block 8 */
-171,171,171,171,171,171,171,171,171,171,171,171,171,171,171,171,
-172,172,173,172,174,172,172,172,172,172,172,172,172,172,175,172,
-172,176,177,172,172,172,172,172,172,172,178,172,172,172,172,172,
-179,179,180,179,181,179,179,179,179,179,179,179,179,179,182,179,
-179,183,184,179,179,179,179,179,179,179,185,179,179,179,179,179,
-186,186,186,186,186,186,186,186,186,186,186,186,186,186,186,186,
-187,188,189,190,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
+172,172,172,172,172,172,172,172,172,172,172,172,172,172,172,172,
+173,173,174,173,175,173,173,173,173,173,173,173,173,173,176,173,
+173,177,178,173,173,173,173,173,173,173,179,173,173,173,173,173,
+180,180,181,180,182,180,180,180,180,180,180,180,180,180,183,180,
+180,184,185,180,180,180,180,180,180,180,186,180,180,180,180,180,
+187,187,187,187,187,187,187,187,187,187,187,187,187,187,187,187,
+188,189,190,191,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
 
 /* block 9 */
-187,188,191,192,192,110,110,192,193,193,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-194,187,188,187,188,187,188,187,188,187,188,187,188,187,188,195,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
+188,189,192,193,193,111,111,193,194,194,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+195,188,189,188,189,188,189,188,189,188,189,188,189,188,189,196,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
 
 /* block 10 */
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-115,196,196,196,196,196,196,196,196,196,196,196,196,196,196,196,
-196,196,196,196,196,196,196,196,196,196,196,196,196,196,196,196,
-196,196,196,196,196,196,196,115,115,197,198,198,198,198,198,198,
-115,199,199,199,199,199,199,199,199,199,199,199,199,199,199,199,
-199,199,199,199,199,199,199,199,199,199,199,199,199,199,199,199,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+116,197,197,197,197,197,197,197,197,197,197,197,197,197,197,197,
+197,197,197,197,197,197,197,197,197,197,197,197,197,197,197,197,
+197,197,197,197,197,197,197,116,116,198,199,199,199,199,199,199,
+200,201,201,201,201,201,201,201,201,201,201,201,201,201,201,201,
+201,201,201,201,201,201,201,201,201,201,201,201,201,201,201,201,
 
 /* block 11 */
-199,199,199,199,199,199,199,200,115,  4,201,115,115,202,202,203,
-115,204,204,204,204,204,204,204,204,204,204,204,204,204,204,204,
-204,204,204,204,204,204,204,204,204,204,204,204,204,204,204,204,
-204,204,204,204,204,204,204,204,204,204,204,204,204,204,205,204,
-206,204,204,206,204,204,206,204,115,115,115,115,115,115,115,115,
-207,207,207,207,207,207,207,207,207,207,207,207,207,207,207,207,
-207,207,207,207,207,207,207,207,207,207,207,115,115,115,115,115,
-207,207,207,206,206,115,115,115,115,115,115,115,115,115,115,115,
+201,201,201,201,201,201,201,200,200,  4,202,116,116,203,203,204,
+116,205,205,205,205,205,205,205,205,205,205,205,205,205,205,205,
+205,205,205,205,205,205,205,205,205,205,205,205,205,205,205,205,
+205,205,205,205,205,205,205,205,205,205,205,205,205,205,206,205,
+207,205,205,207,205,205,207,205,116,116,116,116,116,116,116,116,
+208,208,208,208,208,208,208,208,208,208,208,208,208,208,208,208,
+208,208,208,208,208,208,208,208,208,208,208,116,116,116,116,208,
+208,208,208,207,207,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 12 */
-208,208,208,208,208,209,210,210,210,211,211,212,  4,211,213,213,
-214,214,214,214,214,214,214,214,214,214,214,  4,215,115,211,  4,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-108,216,216,216,216,216,216,216,216,216,216,110,110,110,110,110,
-110,110,110,110,110,110,214,214,214,214,214,214,214,214,214,214,
-217,217,217,217,217,217,217,217,217,217,211,211,211,211,216,216,
-110,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
+209,209,209,209,209,210,211,211,211,212,212,213,  4,212,214,214,
+215,215,215,215,215,215,215,215,215,215,215,  4,216,116,212,  4,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+109,217,217,217,217,217,217,217,217,217,217,111,111,111,111,111,
+111,111,111,111,111,111,215,215,215,215,215,215,215,215,215,215,
+218,218,218,218,218,218,218,218,218,218,212,212,212,212,217,217,
+111,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
 
 /* block 13 */
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,211,216,214,214,214,214,214,214,214,209,213,214,
-214,214,214,214,214,218,218,214,214,213,214,214,214,214,216,216,
-217,217,217,217,217,217,217,217,217,217,216,216,216,213,213,216,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,212,217,215,215,215,215,215,215,215,210,214,215,
+215,215,215,215,215,219,219,215,215,214,215,215,215,215,217,217,
+218,218,218,218,218,218,218,218,218,218,217,217,217,214,214,217,
 
 /* block 14 */
-219,219,219,219,219,219,219,219,219,219,219,219,219,219,115,220,
-221,222,221,221,221,221,221,221,221,221,221,221,221,221,221,221,
-221,221,221,221,221,221,221,221,221,221,221,221,221,221,221,221,
+220,220,220,220,220,220,220,220,220,220,220,220,220,220,116,221,
+222,223,222,222,222,222,222,222,222,222,222,222,222,222,222,222,
 222,222,222,222,222,222,222,222,222,222,222,222,222,222,222,222,
-222,222,222,222,222,222,222,222,222,222,222,115,115,221,221,221,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
+223,223,223,223,223,223,223,223,223,223,223,223,223,223,223,223,
+223,223,223,223,223,223,223,223,223,223,223,116,116,222,222,222,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
 
 /* block 15 */
-223,223,223,223,223,223,223,223,223,223,223,223,223,223,223,223,
-223,223,223,223,223,223,223,223,223,223,223,223,223,223,223,223,
-223,223,223,223,223,223,224,224,224,224,224,224,224,224,224,224,
-224,223,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-225,225,225,225,225,225,225,225,225,225,226,226,226,226,226,226,
-226,226,226,226,226,226,226,226,226,226,226,226,226,226,226,226,
-226,226,226,226,226,226,226,226,226,226,226,227,227,227,227,227,
-227,227,227,227,228,228,229,230,230,230,228,115,115,115,115,115,
+224,224,224,224,224,224,224,224,224,224,224,224,224,224,224,224,
+224,224,224,224,224,224,224,224,224,224,224,224,224,224,224,224,
+224,224,224,224,224,224,225,225,225,225,225,225,225,225,225,225,
+225,224,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+226,226,226,226,226,226,226,226,226,226,227,227,227,227,227,227,
+227,227,227,227,227,227,227,227,227,227,227,227,227,227,227,227,
+227,227,227,227,227,227,227,227,227,227,227,228,228,228,228,228,
+228,228,228,228,229,229,230,231,231,231,229,116,116,228,232,232,
 
 /* block 16 */
-231,231,231,231,231,231,231,231,231,231,231,231,231,231,231,231,
-231,231,231,231,231,231,232,232,232,232,233,232,232,232,232,232,
-232,232,232,232,233,232,232,232,233,232,232,232,232,232,115,115,
-234,234,234,234,234,234,234,234,234,234,234,234,234,234,234,115,
-235,235,235,235,235,235,235,235,235,235,235,235,235,235,235,235,
-235,235,235,235,235,235,235,235,235,236,236,236,115,115,237,115,
-221,221,221,221,221,221,221,221,221,221,221,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+233,233,233,233,233,233,233,233,233,233,233,233,233,233,233,233,
+233,233,233,233,233,233,234,234,234,234,235,234,234,234,234,234,
+234,234,234,234,235,234,234,234,235,234,234,234,234,234,116,116,
+236,236,236,236,236,236,236,236,236,236,236,236,236,236,236,116,
+237,237,237,237,237,237,237,237,237,237,237,237,237,237,237,237,
+237,237,237,237,237,237,237,237,237,238,238,238,116,116,239,116,
+222,222,222,222,222,222,222,222,222,222,222,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 17 */
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,115,216,216,216,216,216,216,216,216,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,214,214,214,214,214,214,214,214,214,214,214,214,
-214,214,209,214,214,214,214,214,214,214,214,214,214,214,214,214,
-214,214,214,214,214,214,214,214,214,214,214,214,214,214,214,214,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,116,217,217,217,217,217,217,217,217,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,215,215,215,215,215,215,215,215,215,215,215,215,215,
+215,215,210,215,215,215,215,215,215,215,215,215,215,215,215,215,
+215,215,215,215,215,215,215,215,215,215,215,215,215,215,215,215,
 
 /* block 18 */
-238,238,238,239,240,240,240,240,240,240,240,240,240,240,240,240,
-240,240,240,240,240,240,240,240,240,240,240,240,240,240,240,240,
-240,240,240,240,240,240,240,240,240,240,240,240,240,240,240,240,
-240,240,240,240,240,240,240,240,240,240,238,239,238,240,239,239,
-239,238,238,238,238,238,238,238,238,239,239,239,239,238,239,239,
-240,110,110,238,238,238,238,238,240,240,240,240,240,240,240,240,
-240,240,238,238,  4,  4,241,241,241,241,241,241,241,241,241,241,
-242,243,240,240,240,240,240,240,240,240,240,240,240,240,240,240,
+240,240,240,241,242,242,242,242,242,242,242,242,242,242,242,242,
+242,242,242,242,242,242,242,242,242,242,242,242,242,242,242,242,
+242,242,242,242,242,242,242,242,242,242,242,242,242,242,242,242,
+242,242,242,242,242,242,242,242,242,242,240,241,240,242,241,241,
+241,240,240,240,240,240,240,240,240,241,241,241,241,240,241,241,
+242,111,111,240,240,240,240,240,242,242,242,242,242,242,242,242,
+242,242,240,240,  4,  4,243,243,243,243,243,243,243,243,243,243,
+244,245,242,242,242,242,242,242,242,242,242,242,242,242,242,242,
 
 /* block 19 */
-244,245,246,246,115,244,244,244,244,244,244,244,244,115,115,244,
-244,115,115,244,244,244,244,244,244,244,244,244,244,244,244,244,
-244,244,244,244,244,244,244,244,244,115,244,244,244,244,244,244,
-244,115,244,115,115,115,244,244,244,244,115,115,245,244,247,246,
-246,245,245,245,245,115,115,246,246,115,115,246,246,245,244,115,
-115,115,115,115,115,115,115,247,115,115,115,115,244,244,115,244,
-244,244,245,245,115,115,248,248,248,248,248,248,248,248,248,248,
-244,244,249,249,250,250,250,250,250,250,251,249,244,252,115,115,
+246,247,248,248,116,246,246,246,246,246,246,246,246,116,116,246,
+246,116,116,246,246,246,246,246,246,246,246,246,246,246,246,246,
+246,246,246,246,246,246,246,246,246,116,246,246,246,246,246,246,
+246,116,246,116,116,116,246,246,246,246,116,116,247,246,249,248,
+248,247,247,247,247,116,116,248,248,116,116,248,248,247,246,116,
+116,116,116,116,116,116,116,249,116,116,116,116,246,246,116,246,
+246,246,247,247,116,116,250,250,250,250,250,250,250,250,250,250,
+246,246,251,251,252,252,252,252,252,252,253,251,246,254,247,116,
 
 /* block 20 */
-115,253,253,254,115,255,255,255,255,255,255,115,115,115,115,255,
-255,115,115,255,255,255,255,255,255,255,255,255,255,255,255,255,
-255,255,255,255,255,255,255,255,255,115,255,255,255,255,255,255,
-255,115,255,255,115,255,255,115,255,255,115,115,253,115,254,254,
-254,253,253,115,115,115,115,253,253,115,115,253,253,253,115,115,
-115,253,115,115,115,115,115,115,115,255,255,255,255,115,255,115,
-115,115,115,115,115,115,256,256,256,256,256,256,256,256,256,256,
-253,253,255,255,255,253,115,115,115,115,115,115,115,115,115,115,
+116,255,255,256,116,257,257,257,257,257,257,116,116,116,116,257,
+257,116,116,257,257,257,257,257,257,257,257,257,257,257,257,257,
+257,257,257,257,257,257,257,257,257,116,257,257,257,257,257,257,
+257,116,257,257,116,257,257,116,257,257,116,116,255,116,256,256,
+256,255,255,116,116,116,116,255,255,116,116,255,255,255,116,116,
+116,255,116,116,116,116,116,116,116,257,257,257,257,116,257,116,
+116,116,116,116,116,116,258,258,258,258,258,258,258,258,258,258,
+255,255,257,257,257,255,259,116,116,116,116,116,116,116,116,116,
 
 /* block 21 */
-115,257,257,258,115,259,259,259,259,259,259,259,259,259,115,259,
-259,259,115,259,259,259,259,259,259,259,259,259,259,259,259,259,
-259,259,259,259,259,259,259,259,259,115,259,259,259,259,259,259,
-259,115,259,259,115,259,259,259,259,259,115,115,257,259,258,258,
-258,257,257,257,257,257,115,257,257,258,115,258,258,257,115,115,
-259,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-259,259,257,257,115,115,260,260,260,260,260,260,260,260,260,260,
-261,262,115,115,115,115,115,115,115,259,257,257,257,257,257,257,
+116,260,260,261,116,262,262,262,262,262,262,262,262,262,116,262,
+262,262,116,262,262,262,262,262,262,262,262,262,262,262,262,262,
+262,262,262,262,262,262,262,262,262,116,262,262,262,262,262,262,
+262,116,262,262,116,262,262,262,262,262,116,116,260,262,261,261,
+261,260,260,260,260,260,116,260,260,261,116,261,261,260,116,116,
+262,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+262,262,260,260,116,116,263,263,263,263,263,263,263,263,263,263,
+264,265,116,116,116,116,116,116,116,262,260,260,260,260,260,260,
 
 /* block 22 */
-115,263,264,264,115,265,265,265,265,265,265,265,265,115,115,265,
-265,115,115,265,265,265,265,265,265,265,265,265,265,265,265,265,
-265,265,265,265,265,265,265,265,265,115,265,265,265,265,265,265,
-265,115,265,265,115,265,265,265,265,265,115,115,263,265,266,263,
-264,263,263,263,263,115,115,264,264,115,115,264,264,263,115,115,
-115,115,115,115,115,115,263,266,115,115,115,115,265,265,115,265,
-265,265,263,263,115,115,267,267,267,267,267,267,267,267,267,267,
-268,265,269,269,269,269,269,269,115,115,115,115,115,115,115,115,
+116,266,267,267,116,268,268,268,268,268,268,268,268,116,116,268,
+268,116,116,268,268,268,268,268,268,268,268,268,268,268,268,268,
+268,268,268,268,268,268,268,268,268,116,268,268,268,268,268,268,
+268,116,268,268,116,268,268,268,268,268,116,116,266,268,269,266,
+267,266,266,266,266,116,116,267,267,116,116,267,267,266,116,116,
+116,116,116,116,116,116,266,269,116,116,116,116,268,268,116,268,
+268,268,266,266,116,116,270,270,270,270,270,270,270,270,270,270,
+271,268,272,272,272,272,272,272,116,116,116,116,116,116,116,116,
 
 /* block 23 */
-115,115,270,271,115,271,271,271,271,271,271,115,115,115,271,271,
-271,115,271,271,271,271,115,115,115,271,271,115,271,115,271,271,
-115,115,115,271,271,115,115,115,271,271,271,115,115,115,271,271,
-271,271,271,271,271,271,271,271,271,271,115,115,115,115,272,273,
-270,273,273,115,115,115,273,273,273,115,273,273,273,270,115,115,
-271,115,115,115,115,115,115,272,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,274,274,274,274,274,274,274,274,274,274,
-275,275,275,276,276,276,276,276,276,277,276,115,115,115,115,115,
+116,116,273,274,116,274,274,274,274,274,274,116,116,116,274,274,
+274,116,274,274,274,274,116,116,116,274,274,116,274,116,274,274,
+116,116,116,274,274,116,116,116,274,274,274,116,116,116,274,274,
+274,274,274,274,274,274,274,274,274,274,116,116,116,116,275,276,
+273,276,276,116,116,116,276,276,276,116,276,276,276,273,116,116,
+274,116,116,116,116,116,116,275,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,277,277,277,277,277,277,277,277,277,277,
+278,278,278,279,279,279,279,279,279,280,279,116,116,116,116,116,
 
 /* block 24 */
-278,279,279,279,115,280,280,280,280,280,280,280,280,115,280,280,
-280,115,280,280,280,280,280,280,280,280,280,280,280,280,280,280,
-280,280,280,280,280,280,280,280,280,115,280,280,280,280,280,280,
-280,280,280,280,280,280,280,280,280,280,115,115,115,280,278,278,
-278,279,279,279,279,115,278,278,278,115,278,278,278,278,115,115,
-115,115,115,115,115,278,278,115,280,280,280,115,115,115,115,115,
-280,280,278,278,115,115,281,281,281,281,281,281,281,281,281,281,
-115,115,115,115,115,115,115,115,282,282,282,282,282,282,282,283,
+281,282,282,282,281,283,283,283,283,283,283,283,283,116,283,283,
+283,116,283,283,283,283,283,283,283,283,283,283,283,283,283,283,
+283,283,283,283,283,283,283,283,283,116,283,283,283,283,283,283,
+283,283,283,283,283,283,283,283,283,283,116,116,116,283,281,281,
+281,282,282,282,282,116,281,281,281,116,281,281,281,281,116,116,
+116,116,116,116,116,281,281,116,283,283,283,116,116,116,116,116,
+283,283,281,281,116,116,284,284,284,284,284,284,284,284,284,284,
+116,116,116,116,116,116,116,116,285,285,285,285,285,285,285,286,
 
 /* block 25 */
-284,285,286,286,115,284,284,284,284,284,284,284,284,115,284,284,
-284,115,284,284,284,284,284,284,284,284,284,284,284,284,284,284,
-284,284,284,284,284,284,284,284,284,115,284,284,284,284,284,284,
-284,284,284,284,115,284,284,284,284,284,115,115,285,284,286,285,
-286,286,287,286,286,115,285,286,286,115,286,286,285,285,115,115,
-115,115,115,115,115,287,287,115,115,115,115,115,115,115,284,115,
-284,284,285,285,115,115,288,288,288,288,288,288,288,288,288,288,
-115,284,284,115,115,115,115,115,115,115,115,115,115,115,115,115,
+287,288,289,289,290,287,287,287,287,287,287,287,287,116,287,287,
+287,116,287,287,287,287,287,287,287,287,287,287,287,287,287,287,
+287,287,287,287,287,287,287,287,287,116,287,287,287,287,287,287,
+287,287,287,287,116,287,287,287,287,287,116,116,288,287,289,288,
+289,289,291,289,289,116,288,289,289,116,289,289,288,288,116,116,
+116,116,116,116,116,291,291,116,116,116,116,116,116,116,287,116,
+287,287,288,288,116,116,292,292,292,292,292,292,292,292,292,292,
+116,287,287,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 26 */
-289,289,290,290,115,291,291,291,291,291,291,291,291,115,291,291,
-291,115,291,291,291,291,291,291,291,291,291,291,291,291,291,291,
-291,291,291,291,291,291,291,291,291,291,291,291,291,291,291,291,
-291,291,291,291,291,291,291,291,291,291,291,289,289,291,292,290,
-290,289,289,289,289,115,290,290,290,115,290,290,290,289,293,294,
-115,115,115,115,291,291,291,292,295,295,295,295,295,295,295,291,
-291,291,289,289,115,115,296,296,296,296,296,296,296,296,296,296,
-295,295,295,295,295,295,295,295,295,294,291,291,291,291,291,291,
+293,293,294,294,116,295,295,295,295,295,295,295,295,116,295,295,
+295,116,295,295,295,295,295,295,295,295,295,295,295,295,295,295,
+295,295,295,295,295,295,295,295,295,295,295,295,295,295,295,295,
+295,295,295,295,295,295,295,295,295,295,295,293,293,295,296,294,
+294,293,293,293,293,116,294,294,294,116,294,294,294,293,297,298,
+116,116,116,116,295,295,295,296,299,299,299,299,299,299,299,295,
+295,295,293,293,116,116,300,300,300,300,300,300,300,300,300,300,
+299,299,299,299,299,299,299,299,299,298,295,295,295,295,295,295,
 
 /* block 27 */
-115,115,297,297,115,298,298,298,298,298,298,298,298,298,298,298,
-298,298,298,298,298,298,298,115,115,115,298,298,298,298,298,298,
-298,298,298,298,298,298,298,298,298,298,298,298,298,298,298,298,
-298,298,115,298,298,298,298,298,298,298,298,298,115,298,115,115,
-298,298,298,298,298,298,298,115,115,115,299,115,115,115,115,300,
-297,297,299,299,299,115,299,115,297,297,297,297,297,297,297,300,
-115,115,115,115,115,115,301,301,301,301,301,301,301,301,301,301,
-115,115,297,297,302,115,115,115,115,115,115,115,115,115,115,115,
+116,116,301,301,116,302,302,302,302,302,302,302,302,302,302,302,
+302,302,302,302,302,302,302,116,116,116,302,302,302,302,302,302,
+302,302,302,302,302,302,302,302,302,302,302,302,302,302,302,302,
+302,302,116,302,302,302,302,302,302,302,302,302,116,302,116,116,
+302,302,302,302,302,302,302,116,116,116,303,116,116,116,116,304,
+301,301,303,303,303,116,303,116,301,301,301,301,301,301,301,304,
+116,116,116,116,116,116,305,305,305,305,305,305,305,305,305,305,
+116,116,301,301,306,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 28 */
-115,303,303,303,303,303,303,303,303,303,303,303,303,303,303,303,
-303,303,303,303,303,303,303,303,303,303,303,303,303,303,303,303,
-303,303,303,303,303,303,303,303,303,303,303,303,303,303,303,303,
-303,304,303,305,304,304,304,304,304,304,304,115,115,115,115,  5,
-303,303,303,303,303,303,306,304,304,304,304,304,304,304,304,307,
-308,308,308,308,308,308,308,308,308,308,307,307,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+116,307,307,307,307,307,307,307,307,307,307,307,307,307,307,307,
+307,307,307,307,307,307,307,307,307,307,307,307,307,307,307,307,
+307,307,307,307,307,307,307,307,307,307,307,307,307,307,307,307,
+307,308,307,309,308,308,308,308,308,308,308,116,116,116,116,  5,
+307,307,307,307,307,307,310,308,308,308,308,308,308,308,308,311,
+312,312,312,312,312,312,312,312,312,312,311,311,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 29 */
-115,309,309,115,309,115,115,309,309,115,309,115,115,309,115,115,
-115,115,115,115,309,309,309,309,115,309,309,309,309,309,309,309,
-115,309,309,309,115,309,115,309,115,115,309,309,115,309,309,309,
-309,310,309,311,310,310,310,310,310,310,115,310,310,309,115,115,
-309,309,309,309,309,115,312,115,310,310,310,310,310,310,115,115,
-313,313,313,313,313,313,313,313,313,313,115,115,309,309,309,309,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+116,313,313,116,313,116,116,313,313,116,313,116,116,313,116,116,
+116,116,116,116,313,313,313,313,116,313,313,313,313,313,313,313,
+116,313,313,313,116,313,116,313,116,116,313,313,116,313,313,313,
+313,314,313,315,314,314,314,314,314,314,116,314,314,313,116,116,
+313,313,313,313,313,116,316,116,314,314,314,314,314,314,116,116,
+317,317,317,317,317,317,317,317,317,317,116,116,313,313,313,313,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 30 */
-314,315,315,315,316,316,316,316,316,316,316,316,316,316,316,316,
-316,316,316,315,316,315,315,315,317,317,315,315,315,315,315,315,
-318,318,318,318,318,318,318,318,318,318,319,319,319,319,319,319,
-319,319,319,319,315,317,315,317,315,317,320,321,320,321,322,322,
-314,314,314,314,314,314,314,314,115,314,314,314,314,314,314,314,
-314,314,314,314,314,314,314,314,314,314,314,314,314,314,314,314,
-314,314,314,314,314,314,314,314,314,314,314,314,314,115,115,115,
-115,317,317,317,317,317,317,317,317,317,317,317,317,317,317,322,
+318,319,319,319,320,320,320,320,320,320,320,320,320,320,320,320,
+320,320,320,319,320,319,319,319,321,321,319,319,319,319,319,319,
+322,322,322,322,322,322,322,322,322,322,323,323,323,323,323,323,
+323,323,323,323,319,321,319,321,319,321,324,325,324,325,326,326,
+318,318,318,318,318,318,318,318,116,318,318,318,318,318,318,318,
+318,318,318,318,318,318,318,318,318,318,318,318,318,318,318,318,
+318,318,318,318,318,318,318,318,318,318,318,318,318,116,116,116,
+116,321,321,321,321,321,321,321,321,321,321,321,321,321,321,326,
 
 /* block 31 */
-317,317,317,317,317,316,317,317,314,314,314,314,314,317,317,317,
-317,317,317,317,317,317,317,317,115,317,317,317,317,317,317,317,
-317,317,317,317,317,317,317,317,317,317,317,317,317,317,317,317,
-317,317,317,317,317,317,317,317,317,317,317,317,317,115,315,315,
-315,315,315,315,315,315,317,315,315,315,315,315,315,115,315,315,
-316,316,316,316,316, 19, 19, 19, 19,316,316,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+321,321,321,321,321,320,321,321,318,318,318,318,318,321,321,321,
+321,321,321,321,321,321,321,321,116,321,321,321,321,321,321,321,
+321,321,321,321,321,321,321,321,321,321,321,321,321,321,321,321,
+321,321,321,321,321,321,321,321,321,321,321,321,321,116,319,319,
+319,319,319,319,319,319,321,319,319,319,319,319,319,116,319,319,
+320,320,320,320,320, 19, 19, 19, 19,320,320,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 32 */
-323,323,323,323,323,323,323,323,323,323,323,323,323,323,323,323,
-323,323,323,323,323,323,323,323,323,323,323,323,323,323,323,323,
-323,323,323,323,323,323,323,323,323,323,323,324,324,325,325,325,
-325,326,325,325,325,325,325,325,324,325,325,326,326,325,325,323,
-327,327,327,327,327,327,327,327,327,327,328,328,328,328,328,328,
-323,323,323,323,323,323,326,326,325,325,323,323,323,323,325,325,
-325,323,324,324,324,323,323,324,324,324,324,324,324,324,323,323,
-323,325,325,325,325,323,323,323,323,323,323,323,323,323,323,323,
+327,327,327,327,327,327,327,327,327,327,327,327,327,327,327,327,
+327,327,327,327,327,327,327,327,327,327,327,327,327,327,327,327,
+327,327,327,327,327,327,327,327,327,327,327,328,328,329,329,329,
+329,330,329,329,329,329,329,329,328,329,329,330,330,329,329,327,
+331,331,331,331,331,331,331,331,331,331,332,332,332,332,332,332,
+327,327,327,327,327,327,330,330,329,329,327,327,327,327,329,329,
+329,327,328,328,328,327,327,328,328,328,328,328,328,328,327,327,
+327,329,329,329,329,327,327,327,327,327,327,327,327,327,327,327,
 
 /* block 33 */
-323,323,325,324,326,325,325,324,324,324,324,324,324,325,323,324,
-327,327,327,327,327,327,327,327,327,327,324,324,324,325,329,329,
-330,330,330,330,330,330,330,330,330,330,330,330,330,330,330,330,
-330,330,330,330,330,330,330,330,330,330,330,330,330,330,330,330,
-330,330,330,330,330,330,115,330,115,115,115,115,115,330,115,115,
-331,331,331,331,331,331,331,331,331,331,331,331,331,331,331,331,
-331,331,331,331,331,331,331,331,331,331,331,331,331,331,331,331,
-331,331,331,331,331,331,331,331,331,331,331,  4,332,331,331,331,
-
-/* block 34 */
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,
+327,327,329,328,330,329,329,328,328,328,328,328,328,329,327,328,
+331,331,331,331,331,331,331,331,331,331,328,328,328,329,333,333,
 334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,
-
-/* block 35 */
 334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,
-334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,
-334,334,334,334,334,334,334,334,335,335,335,335,335,335,335,335,
-335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
-335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
-335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
+334,334,334,334,334,334,116,334,116,116,116,116,116,334,116,116,
 335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
 335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
+335,335,335,335,335,335,335,335,335,335,335,  4,336,335,335,335,
+
+/* block 34 */
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,
+338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,
+
+/* block 35 */
+338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,
+338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,
+338,338,338,338,338,338,338,338,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
 
 /* block 36 */
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,115,336,336,336,336,115,115,
-336,336,336,336,336,336,336,115,336,115,336,336,336,336,115,115,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,116,340,340,340,340,116,116,
+340,340,340,340,340,340,340,116,340,116,340,340,340,340,116,116,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
 
 /* block 37 */
-336,336,336,336,336,336,336,336,336,115,336,336,336,336,115,115,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,115,336,336,336,336,115,115,336,336,336,336,336,336,336,115,
-336,115,336,336,336,336,115,115,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,115,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
+340,340,340,340,340,340,340,340,340,116,340,340,340,340,116,116,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,116,340,340,340,340,116,116,340,340,340,340,340,340,340,116,
+340,116,340,340,340,340,116,116,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,116,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
 
 /* block 38 */
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,115,336,336,336,336,115,115,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,336,336,336,336,115,115,337,337,337,
-338,338,338,338,338,338,338,338,338,339,339,339,339,339,339,339,
-339,339,339,339,339,339,339,339,339,339,339,339,339,115,115,115,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,116,340,340,340,340,116,116,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,340,340,340,340,116,116,341,341,341,
+342,342,342,342,342,342,342,342,342,343,343,343,343,343,343,343,
+343,343,343,343,343,343,343,343,343,343,343,343,343,116,116,116,
 
 /* block 39 */
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-340,340,340,340,340,340,340,340,340,340,115,115,115,115,115,115,
-341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,
-341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,
-341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,
-341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,
-341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,341,
-342,342,342,342,342,342,115,115,343,343,343,343,343,343,115,115,
-
-/* block 40 */
-344,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+344,344,344,344,344,344,344,344,344,344,116,116,116,116,116,116,
 345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
 345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
 345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
 345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
 345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
+346,346,346,346,346,346,116,116,347,347,347,347,347,347,116,116,
+
+/* block 40 */
+348,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
 
 /* block 41 */
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
 
 /* block 42 */
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,346,346,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,350,350,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
 
 /* block 43 */
-347,348,348,348,348,348,348,348,348,348,348,348,348,348,348,348,
-348,348,348,348,348,348,348,348,348,348,348,349,350,115,115,115,
-351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,
-351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,
-351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,
-351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,351,
-351,351,351,351,351,351,351,351,351,351,351,  4,  4,  4,352,352,
-352,351,351,351,351,351,351,351,351,115,115,115,115,115,115,115,
+351,352,352,352,352,352,352,352,352,352,352,352,352,352,352,352,
+352,352,352,352,352,352,352,352,352,352,352,353,354,116,116,116,
+355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,
+355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,
+355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,
+355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,
+355,355,355,355,355,355,355,355,355,355,355,  4,  4,  4,356,356,
+356,355,355,355,355,355,355,355,355,116,116,116,116,116,116,116,
 
 /* block 44 */
-353,353,353,353,353,353,353,353,353,353,353,353,353,115,353,353,
-353,353,354,354,354,115,115,115,115,115,115,115,115,115,115,115,
-355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,355,
-355,355,356,356,356,  4,  4,115,115,115,115,115,115,115,115,115,
-357,357,357,357,357,357,357,357,357,357,357,357,357,357,357,357,
-357,357,358,358,115,115,115,115,115,115,115,115,115,115,115,115,
-359,359,359,359,359,359,359,359,359,359,359,359,359,115,359,359,
-359,115,360,360,115,115,115,115,115,115,115,115,115,115,115,115,
+357,357,357,357,357,357,357,357,357,357,357,357,357,116,357,357,
+357,357,358,358,358,116,116,116,116,116,116,116,116,116,116,116,
+359,359,359,359,359,359,359,359,359,359,359,359,359,359,359,359,
+359,359,360,360,360,  4,  4,116,116,116,116,116,116,116,116,116,
+361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,
+361,361,362,362,116,116,116,116,116,116,116,116,116,116,116,116,
+363,363,363,363,363,363,363,363,363,363,363,363,363,116,363,363,
+363,116,364,364,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 45 */
-361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,
-361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,
-361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,361,
-361,361,361,361,362,362,363,362,362,362,362,362,362,362,363,363,
-363,363,363,363,363,363,362,363,363,362,362,362,362,362,362,362,
-362,362,362,362,364,364,364,365,364,364,364,366,361,362,115,115,
-367,367,367,367,367,367,367,367,367,367,115,115,115,115,115,115,
-368,368,368,368,368,368,368,368,368,368,115,115,115,115,115,115,
+365,365,365,365,365,365,365,365,365,365,365,365,365,365,365,365,
+365,365,365,365,365,365,365,365,365,365,365,365,365,365,365,365,
+365,365,365,365,365,365,365,365,365,365,365,365,365,365,365,365,
+365,365,365,365,366,366,367,366,366,366,366,366,366,366,367,367,
+367,367,367,367,367,367,366,367,367,366,366,366,366,366,366,366,
+366,366,366,366,368,368,368,369,368,368,368,370,365,366,116,116,
+371,371,371,371,371,371,371,371,371,371,116,116,116,116,116,116,
+372,372,372,372,372,372,372,372,372,372,116,116,116,116,116,116,
 
 /* block 46 */
-369,369,  4,  4,369,  4,370,369,369,369,369,371,371,371,372,115,
-373,373,373,373,373,373,373,373,373,373,115,115,115,115,115,115,
-374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,
-374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,
-374,374,374,375,374,374,374,374,374,374,374,374,374,374,374,374,
-374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,
-374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,
-374,374,374,374,374,374,374,374,115,115,115,115,115,115,115,115,
+373,373,  4,  4,373,  4,374,373,373,373,373,375,375,375,376,116,
+377,377,377,377,377,377,377,377,377,377,116,116,116,116,116,116,
+378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,
+378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,
+378,378,378,379,378,378,378,378,378,378,378,378,378,378,378,378,
+378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,
+378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,
+378,378,378,378,378,378,378,378,378,116,116,116,116,116,116,116,
 
 /* block 47 */
-374,374,374,374,374,371,371,374,374,374,374,374,374,374,374,374,
-374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,374,
-374,374,374,374,374,374,374,374,374,371,374,115,115,115,115,115,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,345,
-345,345,345,345,345,345,115,115,115,115,115,115,115,115,115,115,
+378,378,378,378,378,375,375,378,378,378,378,378,378,378,378,378,
+378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,378,
+378,378,378,378,378,378,378,378,378,375,378,116,116,116,116,116,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,349,
+349,349,349,349,349,349,116,116,116,116,116,116,116,116,116,116,
 
 /* block 48 */
-376,376,376,376,376,376,376,376,376,376,376,376,376,376,376,376,
-376,376,376,376,376,376,376,376,376,376,376,376,376,376,376,115,
-377,377,377,378,378,378,378,377,377,378,378,378,115,115,115,115,
-378,378,377,378,378,378,378,378,378,377,377,377,115,115,115,115,
-379,115,115,115,380,380,381,381,381,381,381,381,381,381,381,381,
-382,382,382,382,382,382,382,382,382,382,382,382,382,382,382,382,
-382,382,382,382,382,382,382,382,382,382,382,382,382,382,115,115,
-382,382,382,382,382,115,115,115,115,115,115,115,115,115,115,115,
+380,380,380,380,380,380,380,380,380,380,380,380,380,380,380,380,
+380,380,380,380,380,380,380,380,380,380,380,380,380,380,380,116,
+381,381,381,382,382,382,382,381,381,382,382,382,116,116,116,116,
+382,382,381,382,382,382,382,382,382,381,381,381,116,116,116,116,
+383,116,116,116,384,384,385,385,385,385,385,385,385,385,385,385,
+386,386,386,386,386,386,386,386,386,386,386,386,386,386,386,386,
+386,386,386,386,386,386,386,386,386,386,386,386,386,386,116,116,
+386,386,386,386,386,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 49 */
-383,383,383,383,383,383,383,383,383,383,383,383,383,383,383,383,
-383,383,383,383,383,383,383,383,383,383,383,383,383,383,383,383,
-383,383,383,383,383,383,383,383,383,383,383,383,115,115,115,115,
-383,383,383,383,383,383,383,383,383,383,383,383,383,383,383,383,
-383,383,383,383,383,383,383,383,383,383,115,115,115,115,115,115,
-384,384,384,384,384,384,384,384,384,384,385,115,115,115,386,386,
 387,387,387,387,387,387,387,387,387,387,387,387,387,387,387,387,
 387,387,387,387,387,387,387,387,387,387,387,387,387,387,387,387,
+387,387,387,387,387,387,387,387,387,387,387,387,116,116,116,116,
+387,387,387,387,387,387,387,387,387,387,387,387,387,387,387,387,
+387,387,387,387,387,387,387,387,387,387,116,116,116,116,116,116,
+388,388,388,388,388,388,388,388,388,388,389,116,116,116,390,390,
+391,391,391,391,391,391,391,391,391,391,391,391,391,391,391,391,
+391,391,391,391,391,391,391,391,391,391,391,391,391,391,391,391,
 
 /* block 50 */
-388,388,388,388,388,388,388,388,388,388,388,388,388,388,388,388,
-388,388,388,388,388,388,388,389,389,390,390,389,115,115,391,391,
 392,392,392,392,392,392,392,392,392,392,392,392,392,392,392,392,
-392,392,392,392,392,392,392,392,392,392,392,392,392,392,392,392,
-392,392,392,392,392,392,392,392,392,392,392,392,392,392,392,392,
-392,392,392,392,392,393,394,393,394,394,394,394,394,394,394,115,
-394,395,394,395,395,394,394,394,394,394,394,394,394,393,393,393,
-393,393,393,394,394,394,394,394,394,394,394,394,394,115,115,394,
+392,392,392,392,392,392,392,393,393,394,394,393,116,116,395,395,
+396,396,396,396,396,396,396,396,396,396,396,396,396,396,396,396,
+396,396,396,396,396,396,396,396,396,396,396,396,396,396,396,396,
+396,396,396,396,396,396,396,396,396,396,396,396,396,396,396,396,
+396,396,396,396,396,397,398,397,398,398,398,398,398,398,398,116,
+398,399,398,399,399,398,398,398,398,398,398,398,398,397,397,397,
+397,397,397,398,398,398,398,398,398,398,398,398,398,116,116,398,
 
 /* block 51 */
-396,396,396,396,396,396,396,396,396,396,115,115,115,115,115,115,
-396,396,396,396,396,396,396,396,396,396,115,115,115,115,115,115,
-397,397,397,397,397,397,397,398,397,397,397,397,397,397,115,115,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,399,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+400,400,400,400,400,400,400,400,400,400,116,116,116,116,116,116,
+400,400,400,400,400,400,400,400,400,400,116,116,116,116,116,116,
+401,401,401,401,401,401,401,402,401,401,401,401,401,401,116,116,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,403,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 52 */
-400,400,400,400,401,402,402,402,402,402,402,402,402,402,402,402,
-402,402,402,402,402,402,402,402,402,402,402,402,402,402,402,402,
-402,402,402,402,402,402,402,402,402,402,402,402,402,402,402,402,
-402,402,402,402,400,401,400,400,400,400,400,401,400,401,401,401,
-401,401,400,401,401,402,402,402,402,402,402,402,115,115,115,115,
-403,403,403,403,403,403,403,403,403,403,404,404,404,404,404,404,
-404,405,405,405,405,405,405,405,405,405,405,400,400,400,400,400,
-400,400,400,400,405,405,405,405,405,405,405,405,405,115,115,115,
+404,404,404,404,405,406,406,406,406,406,406,406,406,406,406,406,
+406,406,406,406,406,406,406,406,406,406,406,406,406,406,406,406,
+406,406,406,406,406,406,406,406,406,406,406,406,406,406,406,406,
+406,406,406,406,404,405,404,404,404,404,404,405,404,405,405,405,
+405,405,404,405,405,406,406,406,406,406,406,406,116,116,116,116,
+407,407,407,407,407,407,407,407,407,407,408,408,408,408,408,408,
+408,409,409,409,409,409,409,409,409,409,409,404,404,404,404,404,
+404,404,404,404,409,409,409,409,409,409,409,409,409,116,116,116,
 
 /* block 53 */
-406,406,407,408,408,408,408,408,408,408,408,408,408,408,408,408,
-408,408,408,408,408,408,408,408,408,408,408,408,408,408,408,408,
-408,407,406,406,406,406,407,407,406,406,407,406,406,406,408,408,
-409,409,409,409,409,409,409,409,409,409,408,408,408,408,408,408,
-410,410,410,410,410,410,410,410,410,410,410,410,410,410,410,410,
-410,410,410,410,410,410,410,410,410,410,410,410,410,410,410,410,
-410,410,410,410,410,410,411,412,411,411,412,412,412,411,412,411,
-411,411,412,412,115,115,115,115,115,115,115,115,413,413,413,413,
-
-/* block 54 */
+410,410,411,412,412,412,412,412,412,412,412,412,412,412,412,412,
+412,412,412,412,412,412,412,412,412,412,412,412,412,412,412,412,
+412,411,410,410,410,410,411,411,410,410,411,410,410,410,412,412,
+413,413,413,413,413,413,413,413,413,413,412,412,412,412,412,412,
 414,414,414,414,414,414,414,414,414,414,414,414,414,414,414,414,
 414,414,414,414,414,414,414,414,414,414,414,414,414,414,414,414,
-414,414,414,414,415,415,415,415,415,415,415,415,416,416,416,416,
-416,416,416,416,415,415,416,416,115,115,115,417,417,417,417,417,
-418,418,418,418,418,418,418,418,418,418,115,115,115,414,414,414,
-419,419,419,419,419,419,419,419,419,419,420,420,420,420,420,420,
-420,420,420,420,420,420,420,420,420,420,420,420,420,420,420,420,
-420,420,420,420,420,420,420,420,421,421,421,421,421,421,422,422,
+414,414,414,414,414,414,415,416,415,415,416,416,416,415,416,415,
+415,415,416,416,116,116,116,116,116,116,116,116,417,417,417,417,
+
+/* block 54 */
+418,418,418,418,418,418,418,418,418,418,418,418,418,418,418,418,
+418,418,418,418,418,418,418,418,418,418,418,418,418,418,418,418,
+418,418,418,418,419,419,419,419,419,419,419,419,420,420,420,420,
+420,420,420,420,419,419,420,420,116,116,116,421,421,421,421,421,
+422,422,422,422,422,422,422,422,422,422,116,116,116,418,418,418,
+423,423,423,423,423,423,423,423,423,423,424,424,424,424,424,424,
+424,424,424,424,424,424,424,424,424,424,424,424,424,424,424,424,
+424,424,424,424,424,424,424,424,425,425,425,425,425,425,426,426,
 
 /* block 55 */
-423,424,425,426,427,428,429,430,431,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-432,432,432,432,432,432,432,432,115,115,115,115,115,115,115,115,
-110,110,110,  4,110,110,110,110,110,110,110,110,110,110,110,110,
-110,433,110,110,110,110,110,110,110,434,434,434,434,110,434,434,
-434,434,433,433,110,434,434,433,110,110,115,115,115,115,115,115,
+427,428,429,430,431,432,433,434,435,116,116,116,116,116,116,116,
+436,436,436,436,436,436,436,436,436,436,436,436,436,436,436,436,
+436,436,436,436,436,436,436,436,436,436,436,436,436,436,436,436,
+436,436,436,436,436,436,436,436,436,436,436,116,116,436,436,436,
+437,437,437,437,437,437,437,437,116,116,116,116,116,116,116,116,
+111,111,111,  4,111,111,111,111,111,111,111,111,111,111,111,111,
+111,438,111,111,111,111,111,111,111,439,439,439,439,111,439,439,
+439,439,438,438,111,439,439,438,111,111,116,116,116,116,116,116,
 
 /* block 56 */
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,
- 33, 33, 33, 33, 33, 33,123,123,123,123,123,435,107,107,107,107,
-107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,
-107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,
-107,107,107,107,107,107,107,107,107,107,107,107,107,116,116,116,
-116,116,107,107,107,107,116,116,116,116,116, 33, 33, 33, 33, 33,
- 33, 33, 33, 33, 33, 33, 33, 33,436,437, 33, 33, 33,438, 33, 33,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,
+ 34, 34, 34, 34, 34, 34,124,124,124,124,124,440,108,108,108,108,
+108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,
+108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,
+108,108,108,108,108,108,108,108,108,108,108,108,108,117,117,117,
+117,117,108,108,108,108,117,117,117,117,117, 34, 34, 34, 34, 34,
+ 34, 34, 34, 34, 34, 34, 34, 34,441,442, 34, 34, 34,443, 34, 34,
 
 /* block 57 */
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,107,107,107,107,107,
-107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,
-107,107,107,107,107,107,107,107,107,107,107,107,107,107,107,116,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,115,110,110,110,110,110,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,108,108,108,108,108,
+108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,
+108,108,108,108,108,108,108,108,108,108,108,108,108,108,108,117,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,116,111,111,111,111,111,
 
 /* block 58 */
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
-439,440, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+444,445, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
 
 /* block 59 */
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 33, 33, 33, 33, 33,441, 33, 33,442, 33,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 34, 34, 34, 34, 34,446, 34, 34,447, 34,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
 
 /* block 60 */
-443,443,443,443,443,443,443,443,444,444,444,444,444,444,444,444,
-443,443,443,443,443,443,115,115,444,444,444,444,444,444,115,115,
-443,443,443,443,443,443,443,443,444,444,444,444,444,444,444,444,
-443,443,443,443,443,443,443,443,444,444,444,444,444,444,444,444,
-443,443,443,443,443,443,115,115,444,444,444,444,444,444,115,115,
-123,443,123,443,123,443,123,443,115,444,115,444,115,444,115,444,
-443,443,443,443,443,443,443,443,444,444,444,444,444,444,444,444,
-445,445,446,446,446,446,447,447,448,448,449,449,450,450,115,115,
+448,448,448,448,448,448,448,448,449,449,449,449,449,449,449,449,
+448,448,448,448,448,448,116,116,449,449,449,449,449,449,116,116,
+448,448,448,448,448,448,448,448,449,449,449,449,449,449,449,449,
+448,448,448,448,448,448,448,448,449,449,449,449,449,449,449,449,
+448,448,448,448,448,448,116,116,449,449,449,449,449,449,116,116,
+124,448,124,448,124,448,124,448,116,449,116,449,116,449,116,449,
+448,448,448,448,448,448,448,448,449,449,449,449,449,449,449,449,
+450,450,451,451,451,451,452,452,453,453,454,454,455,455,116,116,
 
 /* block 61 */
-443,443,443,443,443,443,443,443,451,451,451,451,451,451,451,451,
-443,443,443,443,443,443,443,443,451,451,451,451,451,451,451,451,
-443,443,443,443,443,443,443,443,451,451,451,451,451,451,451,451,
-443,443,123,452,123,115,123,123,444,444,453,453,454,114,455,114,
-114,114,123,452,123,115,123,123,456,456,456,456,454,114,114,114,
-443,443,123,123,115,115,123,123,444,444,457,457,115,114,114,114,
-443,443,123,123,123,164,123,123,444,444,458,458,169,114,114,114,
-115,115,123,452,123,115,123,123,459,459,460,460,454,114,114,115,
+448,448,448,448,448,448,448,448,456,456,456,456,456,456,456,456,
+448,448,448,448,448,448,448,448,456,456,456,456,456,456,456,456,
+448,448,448,448,448,448,448,448,456,456,456,456,456,456,456,456,
+448,448,124,457,124,116,124,124,449,449,458,458,459,115,460,115,
+115,115,124,457,124,116,124,124,461,461,461,461,459,115,115,115,
+448,448,124,124,116,116,124,124,449,449,462,462,116,115,115,115,
+448,448,124,124,124,165,124,124,449,449,463,463,170,115,115,115,
+116,116,124,457,124,116,124,124,464,464,465,465,459,115,115,116,
 
 /* block 62 */
-  3,  3,  3,  3,  3,  3,  3,  3,  3,  3,  3, 22,461,462, 22, 22,
-  9,  9,  9,  9,  9,  9,  4,  4, 21, 25,  6, 21, 21, 25,  6, 21,
-  4,  4,  4,  4,  4,  4,  4,  4,463,464, 22, 22, 22, 22, 22,  3,
-  4,  4,  4,  4,  4,  4,  4,  4,  4, 21, 25,  4,  4,  4,  4, 15,
- 15,  4,  4,  4,  8,  6,  7,  4,  4,  4,  4,  4,  4,  4,  4,  4,
+  3,  3,  3,  3,  3,  3,  3,  3,  3,  3,  3, 23,466,467, 23, 23,
+  9,  9,  9,  9,  9,  9,  4,  4, 22, 26,  6, 22, 22, 26,  6, 22,
+  4,  4,  4,  4,  4,  4,  4,  4,468,469, 23, 23, 23, 23, 23,  3,
+  4,  4,  4,  4,  4,  4,  4,  4,  4, 22, 26,  4,470,  4,  4, 15,
+ 15,  4,  4,  4,  8,  6,  7,  4,  4,470,  4,  4,  4,  4,  4,  4,
   4,  4,  8,  4, 15,  4,  4,  4,  4,  4,  4,  4,  4,  4,  4,  3,
- 22, 22, 22, 22, 22,465, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22,
- 23,107,115,115, 23, 23, 23, 23, 23, 23,  8,  8,  8,  6,  7,107,
+ 23, 23, 23, 23, 23,471, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
+ 24,108,116,116, 24, 24, 24, 24, 24, 24,  8,  8,  8,  6,  7,108,
 
 /* block 63 */
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,  8,  8,  8,  6,  7,115,
-107,107,107,107,107,107,107,107,107,107,107,107,107,115,115,115,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,  8,  8,  8,  6,  7,116,
+108,108,108,108,108,108,108,108,108,108,108,108,108,116,116,116,
   5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,
   5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,  5,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-110,110,110,110,110,110,110,110,110,110,110,110,110,399,399,399,
-399,110,399,399,399,110,110,110,110,110,110,110,110,110,110,110,
-110,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+111,111,111,111,111,111,111,111,111,111,111,111,111,403,403,403,
+403,111,403,403,403,111,111,111,111,111,111,111,111,111,111,111,
+111,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 64 */
- 19, 19,466, 19, 19, 19, 19,466, 19, 19,467,466,466,466,467,467,
-466,466,466,467, 19,466, 19, 19,  8,466,466,466,466,466, 19, 19,
- 19, 19, 19, 19,466, 19,468, 19,466, 19,469,470,466,466, 19,467,
-466,466,471,466,467,434,434,434,434,467, 19, 19,467,467,466,466,
-  8,  8,  8,  8,  8,466,467,467,467,467, 19,  8, 19, 19,472, 19,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
-473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
-474,474,474,474,474,474,474,474,474,474,474,474,474,474,474,474,
+ 19, 19,472, 19, 19, 19, 19,472, 19, 19,473,472,472,472,473,473,
+472,472,472,473, 19,472, 19, 19,  8,472,472,472,472,472, 19, 19,
+ 19, 19, 20, 19,472, 19,474, 19,472, 19,475,476,472,472, 19,473,
+472,472,477,472,473,439,439,439,439,478, 19, 19,473,473,472,472,
+  8,  8,  8,  8,  8,472,473,473,473,473, 19,  8, 19, 19,479, 19,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
+481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,
 
 /* block 65 */
-475,475,475, 30, 31,475,475,475,475, 23, 19, 19,115,115,115,115,
-  8,  8,  8,  8,  8, 19, 19, 19, 19, 19,  8,  8, 19, 19, 19, 19,
-  8, 19, 19,  8, 19, 19,  8, 19, 19, 19, 19, 19, 19, 19,  8, 19,
+482,482,482, 31, 32,482,482,482,482, 24, 19, 19,116,116,116,116,
+  8,  8,  8,  8,483, 20, 20, 20, 20, 20,  8,  8, 19, 19, 19, 19,
+  8, 19, 19,  8, 19, 19,  8, 19, 19, 20, 20, 19, 19, 19,  8, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,  8,  8,
  19, 19,  8, 19,  8, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
@@ -2148,8 +2181,8 @@ const uint16_t PRIV(ucd_stage2)[] = { /* 65536 bytes, block = 128 */
 
 /* block 67 */
  19, 19, 19, 19, 19, 19, 19, 19,  6,  7,  6,  7, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-  8,  8, 19, 19, 19, 19, 19, 19, 19,  6,  7, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20, 20, 19, 19, 19, 19,
+  8,  8, 19, 19, 19, 19, 19, 19, 20,  6,  7, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
@@ -2157,34 +2190,34 @@ const uint16_t PRIV(ucd_stage2)[] = { /* 65536 bytes, block = 128 */
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,  8, 19, 19, 19,
 
 /* block 68 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 20, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,  8,  8,  8,  8,  8,
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
   8,  8,  8,  8, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,  8,  8,  8,  8,
-  8,  8, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+  8,  8, 19, 19, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 19, 19, 19, 19, 20, 20, 20, 19, 19, 19, 19, 19,
 
 /* block 69 */
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
+ 19, 19, 19, 19, 19, 19, 19,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
 
 /* block 70 */
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 19, 19, 19, 19,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19,476,476,476,476,476,476,476,476,476,476,
-476,476,476,476,476,476,476,476,476,476,476,476,476,476,476,476,
-477,477,477,477,477,477,477,477,477,477,477,477,477,477,477,477,
-477,477,477,477,477,477,477,477,477,477, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
+ 19, 19, 19, 19, 19, 19,484,484,484,484,484,484,484,484,484,484,
+484,484,485,484,484,484,484,484,484,484,484,484,484,484,484,484,
+486,486,486,486,486,486,486,486,486,486,486,486,486,486,486,486,
+486,486,486,486,486,486,486,486,486,486, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
 
 /* block 71 */
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
@@ -2199,64 +2232,74 @@ const uint16_t PRIV(ucd_stage2)[] = { /* 65536 bytes, block = 128 */
 /* block 72 */
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20, 20, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 20,  8, 19, 19, 19, 19, 19, 19, 19, 19,
+ 20,  8, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19,  8, 19, 19, 19, 19, 19, 19, 19, 19,
- 19,  8, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19,  8,  8,  8,  8,  8,  8,  8,  8,
+ 19, 19, 19, 19, 19, 19, 19, 19,  8,  8,  8,483,483,483,483,  8,
 
 /* block 73 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,478, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-479, 19,479, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,  8,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 20, 20, 20, 20, 20, 20, 19, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 19, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,483,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
 
 /* block 74 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19,479,479, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19,478, 19, 19, 19, 19, 19, 19,
+ 20, 20, 20, 20, 20, 20, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
 
 /* block 75 */
- 19, 19, 19, 19, 19, 19, 19, 19,479, 19,478,478,478,478, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,479, 19, 19, 19,  6,  7,  6,  7,  6,  7,  6,  7,
-  6,  7,  6,  7,  6,  7, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
+ 20, 20, 20, 20, 20, 20, 19, 19, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 19, 20, 19, 20, 19, 19, 19, 19, 19, 19, 20, 19, 19,
+ 19, 20, 19, 19, 19, 19, 19, 19, 20, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 20, 20, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 20, 19, 19, 20, 19, 19, 19, 19, 20, 19, 20, 19,
+ 19, 19, 19, 20, 20, 20, 19, 20, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 20, 20, 20, 20, 20,  6,  7,  6,  7,  6,  7,  6,  7,
+  6,  7,  6,  7,  6,  7, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
 
 /* block 76 */
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 19, 20, 20, 20, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 20, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 20, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20,
   8,  8,  8,  8,  8,  6,  7,  8,  8,  8,  8,  8,  8,  8,  8,  8,
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
   8,  8,  8,  8,  8,  8,  6,  7,  6,  7,  6,  7,  6,  7,  6,  7,
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
 
 /* block 77 */
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
-480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,480,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
+487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,487,
 
 /* block 78 */
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,483,483,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
+
+/* block 79 */
   8,  8,  8,  6,  7,  6,  7,  6,  7,  6,  7,  6,  7,  6,  7,  6,
   7,  6,  7,  6,  7,  6,  7,  6,  7,  8,  8,  8,  8,  8,  8,  8,
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
@@ -2266,1775 +2309,1875 @@ const uint16_t PRIV(ucd_stage2)[] = { /* 65536 bytes, block = 128 */
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  6,  7,  8,  8,
 
-/* block 79 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+/* block 80 */
+ 19, 19, 19, 19, 19, 20, 20, 20, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20, 20, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
   8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,  8,
   8,  8,  8,  8,  8, 19, 19,  8,  8,  8,  8,  8,  8, 19, 19, 19,
+ 20, 19, 19, 19, 19, 20, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,115,115, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19,116,116, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
 
-/* block 80 */
+/* block 81 */
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19,115,115, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19,116,116, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19,115, 19, 19, 19, 19, 19, 19,
- 19, 19, 19,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115, 19, 19, 19, 19,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-
-/* block 81 */
-481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,
-481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,
-481,481,481,481,481,481,481,481,481,481,481,481,481,481,481,115,
-482,482,482,482,482,482,482,482,482,482,482,482,482,482,482,482,
-482,482,482,482,482,482,482,482,482,482,482,482,482,482,482,482,
-482,482,482,482,482,482,482,482,482,482,482,482,482,482,482,115,
- 30, 31,483,484,485,486,487, 30, 31, 30, 31, 30, 31,488,489,490,
-491, 33, 30, 31, 33, 30, 31, 33, 33, 33, 33, 33,107,107,492,492,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19,116, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,116,
 
 /* block 82 */
-160,161,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-160,161,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-160,161,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-160,161,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-160,161,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-160,161,160,161,160,161,160,161,160,161,160,161,160,161,160,161,
-160,161,160,161,493,494,494,494,494,494,494,160,161,160,161,495,
-495,495,160,161,115,115,115,115,115,496,496,496,496,497,496,496,
+488,488,488,488,488,488,488,488,488,488,488,488,488,488,488,488,
+488,488,488,488,488,488,488,488,488,488,488,488,488,488,488,488,
+488,488,488,488,488,488,488,488,488,488,488,488,488,488,488,116,
+489,489,489,489,489,489,489,489,489,489,489,489,489,489,489,489,
+489,489,489,489,489,489,489,489,489,489,489,489,489,489,489,489,
+489,489,489,489,489,489,489,489,489,489,489,489,489,489,489,116,
+ 31, 32,490,491,492,493,494, 31, 32, 31, 32, 31, 32,495,496,497,
+498, 34, 31, 32, 34, 31, 32, 34, 34, 34, 34, 34,108,108,499,499,
 
 /* block 83 */
-498,498,498,498,498,498,498,498,498,498,498,498,498,498,498,498,
-498,498,498,498,498,498,498,498,498,498,498,498,498,498,498,498,
-498,498,498,498,498,498,115,498,115,115,115,115,115,498,115,115,
-499,499,499,499,499,499,499,499,499,499,499,499,499,499,499,499,
-499,499,499,499,499,499,499,499,499,499,499,499,499,499,499,499,
-499,499,499,499,499,499,499,499,499,499,499,499,499,499,499,499,
-499,499,499,499,499,499,499,499,115,115,115,115,115,115,115,500,
-501,115,115,115,115,115,115,115,115,115,115,115,115,115,115,502,
+161,162,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+161,162,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+161,162,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+161,162,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+161,162,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+161,162,161,162,161,162,161,162,161,162,161,162,161,162,161,162,
+161,162,161,162,500,501,501,501,501,501,501,161,162,161,162,502,
+502,502,161,162,116,116,116,116,116,503,503,503,503,504,503,503,
 
 /* block 84 */
-336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,336,
-336,336,336,336,336,336,336,115,115,115,115,115,115,115,115,115,
-336,336,336,336,336,336,336,115,336,336,336,336,336,336,336,115,
-336,336,336,336,336,336,336,115,336,336,336,336,336,336,336,115,
-336,336,336,336,336,336,336,115,336,336,336,336,336,336,336,115,
-336,336,336,336,336,336,336,115,336,336,336,336,336,336,336,115,
-192,192,192,192,192,192,192,192,192,192,192,192,192,192,192,192,
-192,192,192,192,192,192,192,192,192,192,192,192,192,192,192,192,
+505,505,505,505,505,505,505,505,505,505,505,505,505,505,505,505,
+505,505,505,505,505,505,505,505,505,505,505,505,505,505,505,505,
+505,505,505,505,505,505,116,505,116,116,116,116,116,505,116,116,
+506,506,506,506,506,506,506,506,506,506,506,506,506,506,506,506,
+506,506,506,506,506,506,506,506,506,506,506,506,506,506,506,506,
+506,506,506,506,506,506,506,506,506,506,506,506,506,506,506,506,
+506,506,506,506,506,506,506,506,116,116,116,116,116,116,116,507,
+508,116,116,116,116,116,116,116,116,116,116,116,116,116,116,509,
 
 /* block 85 */
-  4,  4, 21, 25, 21, 25,  4,  4,  4, 21, 25,  4, 21, 25,  4,  4,
-  4,  4,  4,  4,  4,  4,  4,  9,  4,  4,  9,  4, 21, 25,  4,  4,
- 21, 25,  6,  7,  6,  7,  6,  7,  6,  7,  4,  4,  4,  4,  4,108,
-  4,  4,  4,  4,  4,  4,  4,  4,  4,  4,  9,  9,  4,  4,  4,  4,
-  9,  4,  6,  4,  4,  4,  4,  4,  4,  4,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,340,
+340,340,340,340,340,340,340,116,116,116,116,116,116,116,116,116,
+340,340,340,340,340,340,340,116,340,340,340,340,340,340,340,116,
+340,340,340,340,340,340,340,116,340,340,340,340,340,340,340,116,
+340,340,340,340,340,340,340,116,340,340,340,340,340,340,340,116,
+340,340,340,340,340,340,340,116,340,340,340,340,340,340,340,116,
+193,193,193,193,193,193,193,193,193,193,193,193,193,193,193,193,
+193,193,193,193,193,193,193,193,193,193,193,193,193,193,193,193,
 
 /* block 86 */
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,115,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,115,115,115,115,115,115,115,115,115,115,115,115,
+  4,  4, 22, 26, 22, 26,  4,  4,  4, 22, 26,  4, 22, 26,  4,  4,
+  4,  4,  4,  4,  4,  4,  4,  9,  4,  4,  9,  4, 22, 26,  4,  4,
+ 22, 26,  6,  7,  6,  7,  6,  7,  6,  7,  4,  4,  4,  4,  4,109,
+  4,  4,  4,  4,  4,  4,  4,  4,  4,  4,  9,  9,  4,  4,  4,  4,
+  9,  4,  6,  4,  4,  4,  4,  4,  4,  4,  4,  4,  4,  4,  4,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 87 */
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,116,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 88 */
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,503,
-503,503,503,503,503,503,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
 
 /* block 89 */
-  3,  4,  4,  4, 19,504,434,505,  6,  7,  6,  7,  6,  7,  6,  7,
-  6,  7, 19, 19,  6,  7,  6,  7,  6,  7,  6,  7,  9,  6,  7,  7,
- 19,505,505,505,505,505,505,505,505,505,110,110,110,110,506,506,
-  9,108,108,108,108,108, 19, 19,505,505,505,504,434,  4, 19, 19,
-115,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,510,
+510,510,510,510,510,510,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,116,116,116,116,
 
 /* block 90 */
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,115,115,110,110, 14, 14,508,508,507,
-  9,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-509,509,509,509,509,509,509,509,509,509,509,  4,108,510,510,509,
+  3,  4,  4,  4, 19,511,439,512,  6,  7,  6,  7,  6,  7,  6,  7,
+  6,  7, 19, 19,  6,  7,  6,  7,  6,  7,  6,  7,  9,  6,  7,  7,
+ 19,512,512,512,512,512,512,512,512,512,111,111,111,111,513,513,
+514,109,109,109,109,109, 19, 19,512,512,512,511,439,470, 19, 19,
+116,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
 
 /* block 91 */
-115,115,115,115,115,511,511,511,511,511,511,511,511,511,511,511,
-511,511,511,511,511,511,511,511,511,511,511,511,511,511,511,511,
-511,511,511,511,511,511,511,511,511,511,511,511,511,511,511,115,
-115,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,116,116,111,111, 14, 14,516,516,515,
+  9,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
+517,517,517,517,517,517,517,517,517,517,517,  4,109,518,518,517,
 
 /* block 92 */
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,115,
- 19, 19, 23, 23, 23, 23, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-511,511,511,511,511,511,511,511,511,511,511,511,511,511,511,511,
-511,511,511,511,511,511,511,511,511,511,511,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,115,115,
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
+116,116,116,116,116,519,519,519,519,519,519,519,519,519,519,519,
+519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,
+519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,
+116,520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,
 
 /* block 93 */
-513,513,513,513,513,513,513,513,513,513,513,513,513,513,513,513,
-513,513,513,513,513,513,513,513,513,513,513,513,513,513,513,115,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 19, 19, 19, 19, 19, 19,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,116,
+ 19, 19, 24, 24, 24, 24, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,
+519,519,519,519,519,519,519,519,519,519,519,116,116,116,116,116,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 23, 23, 23, 23, 23, 23, 23, 23,
- 19, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
-513,513,513,513,513,513,513,513,513,513,513,513,513,513,513,513,
-513,513,513,513,513,513,513,513,513,513,513,513,513,513,513, 19,
+ 19, 19, 19, 19,116,116,116,116,116,116,116,116,116,116,116,116,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
 
 /* block 94 */
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
+521,521,521,521,521,521,521,521,521,521,521,521,521,521,521,521,
+521,521,521,521,521,521,521,521,521,521,521,521,521,521,521,116,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,115,
+ 19, 19, 19, 19, 19, 19, 19, 19, 24, 24, 24, 24, 24, 24, 24, 24,
+ 19, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+521,521,521,521,521,521,521,521,521,521,521,521,521,521,521,521,
+521,521,521,521,521,521,521,521,521,521,521,521,521,521,521, 19,
 
 /* block 95 */
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,514,
-514,514,514,514,514,514,514,514, 19, 19, 19, 19, 19, 19, 19, 19,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 20, 19, 20, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,116,
 
 /* block 96 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+522,522,522,522,522,522,522,522, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
 
 /* block 97 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,115,115,115,115,115,115,115,115,115,115,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+
+/* block 98 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,116,116,116,116,116,116,116,116,116,116,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
 
-/* block 98 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-
 /* block 99 */
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,517,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 100 */
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
-516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,516,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,525,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
 
 /* block 101 */
-516,516,516,516,516,516,516,516,516,516,516,516,516,115,115,115,
-518,518,518,518,518,518,518,518,518,518,518,518,518,518,518,518,
-518,518,518,518,518,518,518,518,518,518,518,518,518,518,518,518,
-518,518,518,518,518,518,518,518,518,518,518,518,518,518,518,518,
-518,518,518,518,518,518,518,115,115,115,115,115,115,115,115,115,
-519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,
-519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,519,
-519,519,519,519,519,519,519,519,520,520,520,520,520,520,521,521,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
+524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,524,
 
 /* block 102 */
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
+524,524,524,524,524,524,524,524,524,524,524,524,524,116,116,116,
+526,526,526,526,526,526,526,526,526,526,526,526,526,526,526,526,
+526,526,526,526,526,526,526,526,526,526,526,526,526,526,526,526,
+526,526,526,526,526,526,526,526,526,526,526,526,526,526,526,526,
+526,526,526,526,526,526,526,116,116,116,116,116,116,116,116,116,
+527,527,527,527,527,527,527,527,527,527,527,527,527,527,527,527,
+527,527,527,527,527,527,527,527,527,527,527,527,527,527,527,527,
+527,527,527,527,527,527,527,527,528,528,528,528,528,528,529,529,
 
 /* block 103 */
-522,522,522,522,522,522,522,522,522,522,522,522,523,524,524,524,
-522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,522,
-525,525,525,525,525,525,525,525,525,525,522,522,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-187,188,187,188,187,188,187,188,187,188,526,527,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,528,192,
-193,193,193,529,192,192,192,192,192,192,192,192,192,192,529,436,
-
-/* block 104 */
-187,188,187,188,187,188,187,188,187,188,187,188,187,188,187,188,
-187,188,187,188,187,188,187,188,187,188,187,188,436,436,192,192,
 530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
 530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
 530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
 530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,531,531,531,531,531,531,531,531,531,531,
-532,532,533,533,533,533,533,533,115,115,115,115,115,115,115,115,
+530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
+530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
+530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
+530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
+
+/* block 104 */
+530,530,530,530,530,530,530,530,530,530,530,530,531,532,532,532,
+530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
+533,533,533,533,533,533,533,533,533,533,530,530,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+188,189,188,189,188,189,188,189,188,189,534,535,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,536,193,
+194,194,194,537,193,193,193,193,193,193,193,193,193,193,537,441,
 
 /* block 105 */
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14,108,108,108,108,108,108,108,108,108,
- 14, 14, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 33, 33, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
-107, 33, 33, 33, 33, 33, 33, 33, 33, 30, 31, 30, 31,534, 30, 31,
+188,189,188,189,188,189,188,189,188,189,188,189,188,189,188,189,
+188,189,188,189,188,189,188,189,188,189,188,189,441,441,193,193,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,539,539,539,539,539,539,539,539,539,539,
+540,540,541,541,541,541,541,541,116,116,116,116,116,116,116,116,
 
 /* block 106 */
- 30, 31, 30, 31, 30, 31, 30, 31,108, 14, 14, 30, 31,535, 33, 20,
- 30, 31, 30, 31, 33, 33, 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,
- 30, 31, 30, 31, 30, 31, 30, 31, 30, 31,536,537,538,539,536,115,
-540,541,542,543, 30, 31, 30, 31,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115, 20,107,107, 33, 20, 20, 20, 20, 20,
+ 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+ 14, 14, 14, 14, 14, 14, 14,109,109,109,109,109,109,109,109,109,
+ 14, 14, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 34, 34, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+108, 34, 34, 34, 34, 34, 34, 34, 34, 31, 32, 31, 32,542, 31, 32,
 
 /* block 107 */
-544,544,545,544,544,544,545,544,544,544,544,545,544,544,544,544,
-544,544,544,544,544,544,544,544,544,544,544,544,544,544,544,544,
-544,544,544,546,546,545,545,546,547,547,547,547,115,115,115,115,
- 23, 23, 23, 23, 23, 23, 19, 19,  5, 19,115,115,115,115,115,115,
-548,548,548,548,548,548,548,548,548,548,548,548,548,548,548,548,
-548,548,548,548,548,548,548,548,548,548,548,548,548,548,548,548,
-548,548,548,548,548,548,548,548,548,548,548,548,548,548,548,548,
-548,548,548,548,549,549,549,549,115,115,115,115,115,115,115,115,
+ 31, 32, 31, 32, 31, 32, 31, 32,109, 14, 14, 31, 32,543, 34, 21,
+ 31, 32, 31, 32, 34, 34, 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,
+ 31, 32, 31, 32, 31, 32, 31, 32, 31, 32,544,545,546,547,544, 34,
+548,549,550,551, 31, 32, 31, 32, 31, 32,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116, 21,108,108, 34, 21, 21, 21, 21, 21,
 
 /* block 108 */
-550,550,551,551,551,551,551,551,551,551,551,551,551,551,551,551,
-551,551,551,551,551,551,551,551,551,551,551,551,551,551,551,551,
-551,551,551,551,551,551,551,551,551,551,551,551,551,551,551,551,
-551,551,551,551,550,550,550,550,550,550,550,550,550,550,550,550,
-550,550,550,550,552,552,115,115,115,115,115,115,115,115,553,553,
-554,554,554,554,554,554,554,554,554,554,115,115,115,115,115,115,
-238,238,238,238,238,238,238,238,238,238,238,238,238,238,238,238,
-238,238,240,240,240,240,240,240,242,242,242,240,242,240,115,115,
+552,552,553,552,552,552,553,552,552,552,552,553,552,552,552,552,
+552,552,552,552,552,552,552,552,552,552,552,552,552,552,552,552,
+552,552,552,554,554,553,553,554,555,555,555,555,116,116,116,116,
+ 24, 24, 24, 24, 24, 24, 19, 19,  5, 19,116,116,116,116,116,116,
+556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,
+556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,
+556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,
+556,556,556,556,557,557,557,557,116,116,116,116,116,116,116,116,
 
 /* block 109 */
-555,555,555,555,555,555,555,555,555,555,556,556,556,556,556,556,
-556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,556,
-556,556,556,556,556,556,557,557,557,557,557,557,557,557,  4,558,
+558,558,559,559,559,559,559,559,559,559,559,559,559,559,559,559,
 559,559,559,559,559,559,559,559,559,559,559,559,559,559,559,559,
-559,559,559,559,559,559,559,560,560,560,560,560,560,560,560,560,
-560,560,561,561,115,115,115,115,115,115,115,115,115,115,115,562,
-333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,333,
-333,333,333,333,333,333,333,333,333,333,333,333,333,115,115,115,
+559,559,559,559,559,559,559,559,559,559,559,559,559,559,559,559,
+559,559,559,559,558,558,558,558,558,558,558,558,558,558,558,558,
+558,558,558,558,560,560,116,116,116,116,116,116,116,116,561,561,
+562,562,562,562,562,562,562,562,562,562,116,116,116,116,116,116,
+240,240,240,240,240,240,240,240,240,240,240,240,240,240,240,240,
+240,240,242,242,242,242,242,242,244,244,244,242,244,242,242,240,
 
 /* block 110 */
-563,563,563,564,565,565,565,565,565,565,565,565,565,565,565,565,
-565,565,565,565,565,565,565,565,565,565,565,565,565,565,565,565,
-565,565,565,565,565,565,565,565,565,565,565,565,565,565,565,565,
-565,565,565,563,564,564,563,563,563,563,564,564,563,564,564,564,
-564,566,566,566,566,566,566,566,566,566,566,566,566,566,115,108,
-567,567,567,567,567,567,567,567,567,567,115,115,115,115,566,566,
-323,323,323,323,323,325,568,323,323,323,323,323,323,323,323,323,
-327,327,327,327,327,327,327,327,327,327,323,323,323,323,323,115,
+563,563,563,563,563,563,563,563,563,563,564,564,564,564,564,564,
+564,564,564,564,564,564,564,564,564,564,564,564,564,564,564,564,
+564,564,564,564,564,564,565,565,565,565,565,565,565,565,  4,566,
+567,567,567,567,567,567,567,567,567,567,567,567,567,567,567,567,
+567,567,567,567,567,567,567,568,568,568,568,568,568,568,568,568,
+568,568,569,569,116,116,116,116,116,116,116,116,116,116,116,570,
+337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,337,
+337,337,337,337,337,337,337,337,337,337,337,337,337,116,116,116,
 
 /* block 111 */
-569,569,569,569,569,569,569,569,569,569,569,569,569,569,569,569,
-569,569,569,569,569,569,569,569,569,569,569,569,569,569,569,569,
-569,569,569,569,569,569,569,569,569,570,570,570,570,570,570,571,
-571,570,570,571,571,570,570,115,115,115,115,115,115,115,115,115,
-569,569,569,570,569,569,569,569,569,569,569,569,570,571,115,115,
-572,572,572,572,572,572,572,572,572,572,115,115,573,573,573,573,
-323,323,323,323,323,323,323,323,323,323,323,323,323,323,323,323,
-568,323,323,323,323,323,323,329,329,329,323,324,325,324,323,323,
+571,571,571,572,573,573,573,573,573,573,573,573,573,573,573,573,
+573,573,573,573,573,573,573,573,573,573,573,573,573,573,573,573,
+573,573,573,573,573,573,573,573,573,573,573,573,573,573,573,573,
+573,573,573,571,572,572,571,571,571,571,572,572,571,572,572,572,
+572,574,574,574,574,574,574,574,574,574,574,574,574,574,116,109,
+575,575,575,575,575,575,575,575,575,575,116,116,116,116,574,574,
+327,327,327,327,327,329,576,327,327,327,327,327,327,327,327,327,
+331,331,331,331,331,331,331,331,331,331,327,327,327,327,327,116,
 
 /* block 112 */
-574,574,574,574,574,574,574,574,574,574,574,574,574,574,574,574,
-574,574,574,574,574,574,574,574,574,574,574,574,574,574,574,574,
-574,574,574,574,574,574,574,574,574,574,574,574,574,574,574,574,
-575,574,575,575,575,574,574,575,575,574,574,574,574,574,575,575,
-574,575,574,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,574,574,576,577,577,
-578,578,578,578,578,578,578,578,578,578,578,579,580,580,579,579,
-581,581,578,582,582,579,580,115,115,115,115,115,115,115,115,115,
+577,577,577,577,577,577,577,577,577,577,577,577,577,577,577,577,
+577,577,577,577,577,577,577,577,577,577,577,577,577,577,577,577,
+577,577,577,577,577,577,577,577,577,578,578,578,578,578,578,579,
+579,578,578,579,579,578,578,116,116,116,116,116,116,116,116,116,
+577,577,577,578,577,577,577,577,577,577,577,577,578,579,116,116,
+580,580,580,580,580,580,580,580,580,580,116,116,581,581,581,581,
+327,327,327,327,327,327,327,327,327,327,327,327,327,327,327,327,
+576,327,327,327,327,327,327,333,333,333,327,328,329,328,327,327,
 
 /* block 113 */
-115,336,336,336,336,336,336,115,115,336,336,336,336,336,336,115,
-115,336,336,336,336,336,336,115,115,115,115,115,115,115,115,115,
-336,336,336,336,336,336,336,115,336,336,336,336,336,336,336,115,
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,
- 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33, 33,
- 33, 33, 33,583, 33, 33, 33, 33, 33, 33, 33, 14,107,107,107,107,
- 33, 33, 33, 33, 33,123,115,115,115,115,115,115,115,115,115,115,
-584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,
+582,582,582,582,582,582,582,582,582,582,582,582,582,582,582,582,
+582,582,582,582,582,582,582,582,582,582,582,582,582,582,582,582,
+582,582,582,582,582,582,582,582,582,582,582,582,582,582,582,582,
+583,582,583,583,583,582,582,583,583,582,582,582,582,582,583,583,
+582,583,582,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,582,582,584,585,585,
+586,586,586,586,586,586,586,586,586,586,586,587,588,588,587,587,
+589,589,586,590,590,587,588,116,116,116,116,116,116,116,116,116,
 
 /* block 114 */
-584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,
-584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,
-584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,
-584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,584,
-578,578,578,578,578,578,578,578,578,578,578,578,578,578,578,578,
-578,578,578,578,578,578,578,578,578,578,578,578,578,578,578,578,
-578,578,578,579,579,580,579,579,580,579,579,581,579,580,115,115,
-585,585,585,585,585,585,585,585,585,585,115,115,115,115,115,115,
+116,340,340,340,340,340,340,116,116,340,340,340,340,340,340,116,
+116,340,340,340,340,340,340,116,116,116,116,116,116,116,116,116,
+340,340,340,340,340,340,340,116,340,340,340,340,340,340,340,116,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,
+ 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34,
+ 34, 34, 34,591, 34, 34, 34, 34, 34, 34, 34, 14,108,108,108,108,
+ 34, 34, 34, 34, 34,124,116,116,116,116,116,116,116,116,116,116,
+592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,
 
 /* block 115 */
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
+592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,
+592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,
+592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,
+592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,592,
+586,586,586,586,586,586,586,586,586,586,586,586,586,586,586,586,
+586,586,586,586,586,586,586,586,586,586,586,586,586,586,586,586,
+586,586,586,587,587,588,587,587,588,587,587,589,587,588,116,116,
+593,593,593,593,593,593,593,593,593,593,116,116,116,116,116,116,
 
 /* block 116 */
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
 
 /* block 117 */
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
 
 /* block 118 */
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
 
 /* block 119 */
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
 
 /* block 120 */
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
 
 /* block 121 */
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-586,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,586,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,586,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
 
 /* block 122 */
-587,587,587,587,587,587,587,587,586,587,587,587,587,587,587,587,
-587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,587,
-587,587,587,587,115,115,115,115,115,115,115,115,115,115,115,115,
-334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,334,
-334,334,334,334,334,334,334,115,115,115,115,335,335,335,335,335,
-335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
-335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,335,
-335,335,335,335,335,335,335,335,335,335,335,335,115,115,115,115,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+594,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,594,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,594,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
 
 /* block 123 */
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
-588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,588,
+595,595,595,595,595,595,595,595,594,595,595,595,595,595,595,595,
+595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,595,
+595,595,595,595,116,116,116,116,116,116,116,116,116,116,116,116,
+338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,338,
+338,338,338,338,338,338,338,116,116,116,116,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,339,
+339,339,339,339,339,339,339,339,339,339,339,339,116,116,116,116,
 
 /* block 124 */
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
+596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
 
 /* block 125 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,115,115,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
 
 /* block 126 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,116,116,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
 
 /* block 127 */
- 33, 33, 33, 33, 33, 33, 33,115,115,115,115,115,115,115,115,115,
-115,115,115,200,200,200,200,200,115,115,115,115,115,207,204,207,
-207,207,207,207,207,207,207,207,207,590,207,207,207,207,207,207,
-207,207,207,207,207,207,207,115,207,207,207,207,207,115,207,115,
-207,207,115,207,207,115,207,207,207,207,207,207,207,207,207,207,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 128 */
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,591,591,591,591,591,591,591,591,591,591,591,591,591,591,
-591,591,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
+ 34, 34, 34, 34, 34, 34, 34,116,116,116,116,116,116,116,116,116,
+116,116,116,200,200,200,200,200,116,116,116,116,116,208,205,208,
+208,208,208,208,208,208,208,208,208,598,208,208,208,208,208,208,
+208,208,208,208,208,208,208,116,208,208,208,208,208,116,208,116,
+208,208,116,208,208,116,208,208,208,208,208,208,208,208,208,208,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
 
 /* block 129 */
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,599,599,599,599,599,599,599,599,599,599,599,599,599,599,
+599,599,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
 
 /* block 130 */
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,  7,  6,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
 
 /* block 131 */
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-115,115,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-216,216,216,216,216,216,216,216,216,216,216,216,212,213,115,115,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,  7,  6,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
 
 /* block 132 */
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-  4,  4,  4,  4,  4,  4,  4,  6,  7,  4,115,115,115,115,115,115,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,192,192,
-  4,  9,  9, 15, 15,  6,  7,  6,  7,  6,  7,  6,  7,  6,  7,  6,
-  7,  6,  7,  6,  7,  4,  4,  6,  7,  4,  4,  4,  4, 15, 15, 15,
-  4,  4,  4,115,  4,  4,  4,  4,  9,  6,  7,  6,  7,  6,  7,  4,
-  4,  4,  8,  9,  8,  8,  8,115,  4,  5,  4,  4,115,115,115,115,
-216,216,216,216,216,115,216,216,216,216,216,216,216,216,216,216,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+116,116,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+217,217,217,217,217,217,217,217,217,217,217,217,213,214,116,116,
 
 /* block 133 */
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,115,115, 22,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+  4,  4,  4,  4,  4,  4,  4,  6,  7,  4,116,116,116,116,116,116,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,193,193,
+  4,  9,  9, 15, 15,  6,  7,  6,  7,  6,  7,  6,  7,  6,  7,  6,
+  7,  6,  7,  6,  7,  4,  4,  6,  7,  4,  4,  4,  4, 15, 15, 15,
+  4,  4,  4,116,  4,  4,  4,  4,  9,  6,  7,  6,  7,  6,  7,  4,
+  4,  4,  8,  9,  8,  8,  8,116,  4,  5,  4,  4,116,116,116,116,
+217,217,217,217,217,116,217,217,217,217,217,217,217,217,217,217,
 
 /* block 134 */
-115,  4,  4,  4,  5,  4,  4,  4,  6,  7,  4,  8,  4,  9,  4,  4,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,116,116, 23,
+
+/* block 135 */
+116,  4,  4,  4,  5,  4,  4,  4,  6,  7,  4,  8,  4,  9,  4,  4,
  10, 10, 10, 10, 10, 10, 10, 10, 10, 10,  4,  4,  8,  8,  8,  4,
   4, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11,
  11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11,  6,  4,  7, 14, 15,
  14, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
  16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,  6,  8,  7,  8,  6,
-  7,  4,  6,  7,  4,  4,509,509,509,509,509,509,509,509,509,509,
-108,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-
-/* block 135 */
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,509,
-509,509,509,509,509,509,509,509,509,509,509,509,509,509,592,592,
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,
-512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,115,
-115,115,512,512,512,512,512,512,115,115,512,512,512,512,512,512,
-115,115,512,512,512,512,512,512,115,115,512,512,512,115,115,115,
-  5,  5,  8, 14, 19,  5,  5,115, 19,  8,  8,  8,  8, 19, 19,115,
-465,465,465,465,465,465,465,465,465, 22, 22, 22, 19, 19,115,115,
+  7,  4,  6,  7,  4,  4,517,517,517,517,517,517,517,517,517,517,
+109,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
 
 /* block 136 */
-593,593,593,593,593,593,593,593,593,593,593,593,115,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,115,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,115,593,593,115,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,115,115,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,517,
+517,517,517,517,517,517,517,517,517,517,517,517,517,517,600,600,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,
+520,520,520,520,520,520,520,520,520,520,520,520,520,520,520,116,
+116,116,520,520,520,520,520,520,116,116,520,520,520,520,520,520,
+116,116,520,520,520,520,520,520,116,116,520,520,520,116,116,116,
+  5,  5,  8, 14, 19,  5,  5,116, 19,  8,  8,  8,  8, 19, 19,116,
+471,471,471,471,471,471,471,471,471, 23, 23, 23, 19, 19,116,116,
 
 /* block 137 */
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,593,
-593,593,593,593,593,593,593,593,593,593,593,115,115,115,115,115,
+601,601,601,601,601,601,601,601,601,601,601,601,116,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,116,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,116,601,601,116,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,116,116,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 138 */
-  4,  4,  4,115,115,115,115, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23,115,115,115, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-594,594,594,594,594,594,594,594,594,594,594,594,594,594,594,594,
-594,594,594,594,594,594,594,594,594,594,594,594,594,594,594,594,
-594,594,594,594,594,594,594,594,594,594,594,594,594,594,594,594,
-594,594,594,594,594,595,595,595,595,596,596,596,596,596,596,596,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
+601,601,601,601,601,601,601,601,601,601,601,116,116,116,116,116,
 
 /* block 139 */
-596,596,596,596,596,596,596,596,596,596,595,595,596,596,596,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
-596,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,110,115,115,
+  4,  4,  4,116,116,116,116, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24,116,116,116, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+602,602,602,602,602,602,602,602,602,602,602,602,602,602,602,602,
+602,602,602,602,602,602,602,602,602,602,602,602,602,602,602,602,
+602,602,602,602,602,602,602,602,602,602,602,602,602,602,602,602,
+602,602,602,602,602,603,603,603,603,604,604,604,604,604,604,604,
 
 /* block 140 */
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+604,604,604,604,604,604,604,604,604,604,603,603,604,604,604,116,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,116,116,116,116,
+604,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,111,116,116,
 
 /* block 141 */
-597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
-597,597,597,597,597,597,597,597,597,597,597,597,597,115,115,115,
-598,598,598,598,598,598,598,598,598,598,598,598,598,598,598,598,
-598,598,598,598,598,598,598,598,598,598,598,598,598,598,598,598,
-598,598,598,598,598,598,598,598,598,598,598,598,598,598,598,598,
-598,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-110, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 142 */
-599,599,599,599,599,599,599,599,599,599,599,599,599,599,599,599,
-599,599,599,599,599,599,599,599,599,599,599,599,599,599,599,599,
-600,600,600,600,115,115,115,115,115,115,115,115,115,599,599,599,
-601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,601,
-601,602,601,601,601,601,601,601,601,601,602,115,115,115,115,115,
-603,603,603,603,603,603,603,603,603,603,603,603,603,603,603,603,
-603,603,603,603,603,603,603,603,603,603,603,603,603,603,603,603,
-603,603,603,603,603,603,604,604,604,604,604,115,115,115,115,115,
+605,605,605,605,605,605,605,605,605,605,605,605,605,605,605,605,
+605,605,605,605,605,605,605,605,605,605,605,605,605,116,116,116,
+606,606,606,606,606,606,606,606,606,606,606,606,606,606,606,606,
+606,606,606,606,606,606,606,606,606,606,606,606,606,606,606,606,
+606,606,606,606,606,606,606,606,606,606,606,606,606,606,606,606,
+606,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+111, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,116,116,116,116,
 
 /* block 143 */
-605,605,605,605,605,605,605,605,605,605,605,605,605,605,605,605,
-605,605,605,605,605,605,605,605,605,605,605,605,605,605,115,606,
 607,607,607,607,607,607,607,607,607,607,607,607,607,607,607,607,
 607,607,607,607,607,607,607,607,607,607,607,607,607,607,607,607,
-607,607,607,607,115,115,115,115,607,607,607,607,607,607,607,607,
-608,609,609,609,609,609,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-
-/* block 144 */
-610,610,610,610,610,610,610,610,610,610,610,610,610,610,610,610,
-610,610,610,610,610,610,610,610,610,610,610,610,610,610,610,610,
-610,610,610,610,610,610,610,610,611,611,611,611,611,611,611,611,
+608,608,608,608,116,116,116,116,116,116,116,116,116,607,607,607,
+609,609,609,609,609,609,609,609,609,609,609,609,609,609,609,609,
+609,610,609,609,609,609,609,609,609,609,610,116,116,116,116,116,
 611,611,611,611,611,611,611,611,611,611,611,611,611,611,611,611,
 611,611,611,611,611,611,611,611,611,611,611,611,611,611,611,611,
-612,612,612,612,612,612,612,612,612,612,612,612,612,612,612,612,
-612,612,612,612,612,612,612,612,612,612,612,612,612,612,612,612,
-612,612,612,612,612,612,612,612,612,612,612,612,612,612,612,612,
+611,611,611,611,611,611,612,612,612,612,612,116,116,116,116,116,
 
-/* block 145 */
+/* block 144 */
 613,613,613,613,613,613,613,613,613,613,613,613,613,613,613,613,
-613,613,613,613,613,613,613,613,613,613,613,613,613,613,115,115,
-614,614,614,614,614,614,614,614,614,614,115,115,115,115,115,115,
+613,613,613,613,613,613,613,613,613,613,613,613,613,613,116,614,
 615,615,615,615,615,615,615,615,615,615,615,615,615,615,615,615,
 615,615,615,615,615,615,615,615,615,615,615,615,615,615,615,615,
-615,615,615,615,115,115,115,115,616,616,616,616,616,616,616,616,
-616,616,616,616,616,616,616,616,616,616,616,616,616,616,616,616,
-616,616,616,616,616,616,616,616,616,616,616,616,115,115,115,115,
+615,615,615,615,116,116,116,116,615,615,615,615,615,615,615,615,
+616,617,617,617,617,617,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
-/* block 146 */
-617,617,617,617,617,617,617,617,617,617,617,617,617,617,617,617,
-617,617,617,617,617,617,617,617,617,617,617,617,617,617,617,617,
-617,617,617,617,617,617,617,617,115,115,115,115,115,115,115,115,
-618,618,618,618,618,618,618,618,618,618,618,618,618,618,618,618,
+/* block 145 */
 618,618,618,618,618,618,618,618,618,618,618,618,618,618,618,618,
 618,618,618,618,618,618,618,618,618,618,618,618,618,618,618,618,
-618,618,618,618,115,115,115,115,115,115,115,115,115,115,115,619,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-
-/* block 147 */
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
+618,618,618,618,618,618,618,618,619,619,619,619,619,619,619,619,
+619,619,619,619,619,619,619,619,619,619,619,619,619,619,619,619,
+619,619,619,619,619,619,619,619,619,619,619,619,619,619,619,619,
 620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
 620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
 620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
 
+/* block 146 */
+621,621,621,621,621,621,621,621,621,621,621,621,621,621,621,621,
+621,621,621,621,621,621,621,621,621,621,621,621,621,621,116,116,
+622,622,622,622,622,622,622,622,622,622,116,116,116,116,116,116,
+623,623,623,623,623,623,623,623,623,623,623,623,623,623,623,623,
+623,623,623,623,623,623,623,623,623,623,623,623,623,623,623,623,
+623,623,623,623,116,116,116,116,624,624,624,624,624,624,624,624,
+624,624,624,624,624,624,624,624,624,624,624,624,624,624,624,624,
+624,624,624,624,624,624,624,624,624,624,624,624,116,116,116,116,
+
+/* block 147 */
+625,625,625,625,625,625,625,625,625,625,625,625,625,625,625,625,
+625,625,625,625,625,625,625,625,625,625,625,625,625,625,625,625,
+625,625,625,625,625,625,625,625,116,116,116,116,116,116,116,116,
+626,626,626,626,626,626,626,626,626,626,626,626,626,626,626,626,
+626,626,626,626,626,626,626,626,626,626,626,626,626,626,626,626,
+626,626,626,626,626,626,626,626,626,626,626,626,626,626,626,626,
+626,626,626,626,116,116,116,116,116,116,116,116,116,116,116,627,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+
 /* block 148 */
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,620,115,115,115,115,115,115,115,115,115,
-620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,620,
-620,620,620,620,620,620,115,115,115,115,115,115,115,115,115,115,
-620,620,620,620,620,620,620,620,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
 
 /* block 149 */
-621,621,621,621,621,621,115,115,621,115,621,621,621,621,621,621,
-621,621,621,621,621,621,621,621,621,621,621,621,621,621,621,621,
-621,621,621,621,621,621,621,621,621,621,621,621,621,621,621,621,
-621,621,621,621,621,621,115,621,621,115,115,115,621,115,115,621,
-622,622,622,622,622,622,622,622,622,622,622,622,622,622,622,622,
-622,622,622,622,622,622,115,623,624,624,624,624,624,624,624,624,
-625,625,625,625,625,625,625,625,625,625,625,625,625,625,625,625,
-625,625,625,625,625,625,625,626,626,627,627,627,627,627,627,627,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,628,116,116,116,116,116,116,116,116,116,
+628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
+628,628,628,628,628,628,116,116,116,116,116,116,116,116,116,116,
+628,628,628,628,628,628,628,628,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 150 */
-628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,
-628,628,628,628,628,628,628,628,628,628,628,628,628,628,628,115,
-115,115,115,115,115,115,115,629,629,629,629,629,629,629,629,629,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+629,629,629,629,629,629,116,116,629,116,629,629,629,629,629,629,
+629,629,629,629,629,629,629,629,629,629,629,629,629,629,629,629,
+629,629,629,629,629,629,629,629,629,629,629,629,629,629,629,629,
+629,629,629,629,629,629,116,629,629,116,116,116,629,116,116,629,
 630,630,630,630,630,630,630,630,630,630,630,630,630,630,630,630,
-630,630,630,115,630,630,115,115,115,115,115,631,631,631,631,631,
+630,630,630,630,630,630,116,631,632,632,632,632,632,632,632,632,
+633,633,633,633,633,633,633,633,633,633,633,633,633,633,633,633,
+633,633,633,633,633,633,633,634,634,635,635,635,635,635,635,635,
 
 /* block 151 */
-632,632,632,632,632,632,632,632,632,632,632,632,632,632,632,632,
-632,632,632,632,632,632,633,633,633,633,633,633,115,115,115,634,
-635,635,635,635,635,635,635,635,635,635,635,635,635,635,635,635,
-635,635,635,635,635,635,635,635,635,635,115,115,115,115,115,636,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+636,636,636,636,636,636,636,636,636,636,636,636,636,636,636,636,
+636,636,636,636,636,636,636,636,636,636,636,636,636,636,636,116,
+116,116,116,116,116,116,116,637,637,637,637,637,637,637,637,637,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+638,638,638,638,638,638,638,638,638,638,638,638,638,638,638,638,
+638,638,638,116,638,638,116,116,116,116,116,639,639,639,639,639,
 
 /* block 152 */
-637,637,637,637,637,637,637,637,637,637,637,637,637,637,637,637,
-637,637,637,637,637,637,637,637,637,637,637,637,637,637,637,637,
-638,638,638,638,638,638,638,638,638,638,638,638,638,638,638,638,
-638,638,638,638,638,638,638,638,115,115,115,115,639,639,638,638,
-639,639,639,639,639,639,639,639,639,639,639,639,639,639,639,639,
-115,115,639,639,639,639,639,639,639,639,639,639,639,639,639,639,
-639,639,639,639,639,639,639,639,639,639,639,639,639,639,639,639,
-639,639,639,639,639,639,639,639,639,639,639,639,639,639,639,639,
+640,640,640,640,640,640,640,640,640,640,640,640,640,640,640,640,
+640,640,640,640,640,640,641,641,641,641,641,641,116,116,116,642,
+643,643,643,643,643,643,643,643,643,643,643,643,643,643,643,643,
+643,643,643,643,643,643,643,643,643,643,116,116,116,116,116,644,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 153 */
-640,641,641,641,115,641,641,115,115,115,115,115,641,641,641,641,
-640,640,640,640,115,640,640,640,115,640,640,640,640,640,640,640,
-640,640,640,640,640,640,640,640,640,640,640,640,640,640,640,640,
-640,640,640,640,115,115,115,115,641,641,641,115,115,115,115,641,
-642,642,642,642,642,642,642,642,115,115,115,115,115,115,115,115,
-643,643,643,643,643,643,643,643,643,115,115,115,115,115,115,115,
-644,644,644,644,644,644,644,644,644,644,644,644,644,644,644,644,
-644,644,644,644,644,644,644,644,644,644,644,644,644,645,645,646,
+645,645,645,645,645,645,645,645,645,645,645,645,645,645,645,645,
+645,645,645,645,645,645,645,645,645,645,645,645,645,645,645,645,
+646,646,646,646,646,646,646,646,646,646,646,646,646,646,646,646,
+646,646,646,646,646,646,646,646,116,116,116,116,647,647,646,646,
+647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,
+116,116,647,647,647,647,647,647,647,647,647,647,647,647,647,647,
+647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,
+647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,
 
 /* block 154 */
-647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,647,
-647,647,647,647,647,647,647,647,647,647,647,647,647,648,648,648,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-649,649,649,649,649,649,649,649,650,649,649,649,649,649,649,649,
-649,649,649,649,649,649,649,649,649,649,649,649,649,649,649,649,
-649,649,649,649,649,651,651,115,115,115,115,652,652,652,652,652,
-653,653,653,653,653,653,653,115,115,115,115,115,115,115,115,115,
+648,649,649,649,116,649,649,116,116,116,116,116,649,649,649,649,
+648,648,648,648,116,648,648,648,116,648,648,648,648,648,648,648,
+648,648,648,648,648,648,648,648,648,648,648,648,648,648,648,648,
+648,648,648,648,648,648,116,116,649,649,649,116,116,116,116,649,
+650,650,650,650,650,650,650,650,650,116,116,116,116,116,116,116,
+651,651,651,651,651,651,651,651,651,116,116,116,116,116,116,116,
+652,652,652,652,652,652,652,652,652,652,652,652,652,652,652,652,
+652,652,652,652,652,652,652,652,652,652,652,652,652,653,653,654,
 
 /* block 155 */
-654,654,654,654,654,654,654,654,654,654,654,654,654,654,654,654,
-654,654,654,654,654,654,654,654,654,654,654,654,654,654,654,654,
-654,654,654,654,654,654,654,654,654,654,654,654,654,654,654,654,
-654,654,654,654,654,654,115,115,115,655,655,655,655,655,655,655,
-656,656,656,656,656,656,656,656,656,656,656,656,656,656,656,656,
-656,656,656,656,656,656,115,115,657,657,657,657,657,657,657,657,
-658,658,658,658,658,658,658,658,658,658,658,658,658,658,658,658,
-658,658,658,115,115,115,115,115,659,659,659,659,659,659,659,659,
+655,655,655,655,655,655,655,655,655,655,655,655,655,655,655,655,
+655,655,655,655,655,655,655,655,655,655,655,655,655,656,656,656,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+657,657,657,657,657,657,657,657,658,657,657,657,657,657,657,657,
+657,657,657,657,657,657,657,657,657,657,657,657,657,657,657,657,
+657,657,657,657,657,659,659,116,116,116,116,660,660,660,660,660,
+661,661,661,661,661,661,661,116,116,116,116,116,116,116,116,116,
 
 /* block 156 */
-660,660,660,660,660,660,660,660,660,660,660,660,660,660,660,660,
-660,660,115,115,115,115,115,115,115,661,661,661,661,115,115,115,
-115,115,115,115,115,115,115,115,115,662,662,662,662,662,662,662,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+662,662,662,662,662,662,662,662,662,662,662,662,662,662,662,662,
+662,662,662,662,662,662,662,662,662,662,662,662,662,662,662,662,
+662,662,662,662,662,662,662,662,662,662,662,662,662,662,662,662,
+662,662,662,662,662,662,116,116,116,663,663,663,663,663,663,663,
+664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,
+664,664,664,664,664,664,116,116,665,665,665,665,665,665,665,665,
+666,666,666,666,666,666,666,666,666,666,666,666,666,666,666,666,
+666,666,666,116,116,116,116,116,667,667,667,667,667,667,667,667,
 
 /* block 157 */
-663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,
-663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,
-663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,
-663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,663,
-663,663,663,663,663,663,663,663,663,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+668,668,668,668,668,668,668,668,668,668,668,668,668,668,668,668,
+668,668,116,116,116,116,116,116,116,669,669,669,669,116,116,116,
+116,116,116,116,116,116,116,116,116,670,670,670,670,670,670,670,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 158 */
-664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,
-664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,
-664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,664,
-664,664,664,115,115,115,115,115,115,115,115,115,115,115,115,115,
-665,665,665,665,665,665,665,665,665,665,665,665,665,665,665,665,
-665,665,665,665,665,665,665,665,665,665,665,665,665,665,665,665,
-665,665,665,665,665,665,665,665,665,665,665,665,665,665,665,665,
-665,665,665,115,115,115,115,115,115,115,666,666,666,666,666,666,
+671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,
+671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,
+671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,
+671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,671,
+671,671,671,671,671,671,671,671,671,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 159 */
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-667,667,667,667,667,667,667,667,667,667,667,667,667,667,667,667,
-667,667,667,667,667,667,667,667,667,667,667,667,667,667,667,115,
+672,672,672,672,672,672,672,672,672,672,672,672,672,672,672,672,
+672,672,672,672,672,672,672,672,672,672,672,672,672,672,672,672,
+672,672,672,672,672,672,672,672,672,672,672,672,672,672,672,672,
+672,672,672,116,116,116,116,116,116,116,116,116,116,116,116,116,
+673,673,673,673,673,673,673,673,673,673,673,673,673,673,673,673,
+673,673,673,673,673,673,673,673,673,673,673,673,673,673,673,673,
+673,673,673,673,673,673,673,673,673,673,673,673,673,673,673,673,
+673,673,673,116,116,116,116,116,116,116,674,674,674,674,674,674,
 
 /* block 160 */
-668,669,668,670,670,670,670,670,670,670,670,670,670,670,670,670,
-670,670,670,670,670,670,670,670,670,670,670,670,670,670,670,670,
-670,670,670,670,670,670,670,670,670,670,670,670,670,670,670,670,
-670,670,670,670,670,670,670,670,669,669,669,669,669,669,669,669,
-669,669,669,669,669,669,669,671,671,671,671,671,671,671,115,115,
-115,115,672,672,672,672,672,672,672,672,672,672,672,672,672,672,
-672,672,672,672,672,672,673,673,673,673,673,673,673,673,673,673,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,669,
+675,675,675,675,675,675,675,675,675,675,675,675,675,675,675,675,
+675,675,675,675,675,675,675,675,675,675,675,675,675,675,675,675,
+675,675,675,675,676,676,676,676,116,116,116,116,116,116,116,116,
+677,677,677,677,677,677,677,677,677,677,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 161 */
-674,674,675,676,676,676,676,676,676,676,676,676,676,676,676,676,
-676,676,676,676,676,676,676,676,676,676,676,676,676,676,676,676,
-676,676,676,676,676,676,676,676,676,676,676,676,676,676,676,676,
-675,675,675,674,674,674,674,675,675,674,674,677,677,678,677,677,
-677,677,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-679,679,679,679,679,679,679,679,679,679,679,679,679,679,679,679,
-679,679,679,679,679,679,679,679,679,115,115,115,115,115,115,115,
-680,680,680,680,680,680,680,680,680,680,115,115,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+678,678,678,678,678,678,678,678,678,678,678,678,678,678,678,678,
+678,678,678,678,678,678,678,678,678,678,678,678,678,678,678,116,
 
 /* block 162 */
-681,681,681,682,682,682,682,682,682,682,682,682,682,682,682,682,
-682,682,682,682,682,682,682,682,682,682,682,682,682,682,682,682,
-682,682,682,682,682,682,682,681,681,681,681,681,683,681,681,681,
-681,681,681,681,681,115,684,684,684,684,684,684,684,684,684,684,
-685,685,685,685,115,115,115,115,115,115,115,115,115,115,115,115,
-686,686,686,686,686,686,686,686,686,686,686,686,686,686,686,686,
-686,686,686,686,686,686,686,686,686,686,686,686,686,686,686,686,
-686,686,686,687,688,688,686,115,115,115,115,115,115,115,115,115,
+679,679,679,679,679,679,679,679,679,679,679,679,679,679,679,679,
+679,679,679,679,679,679,679,679,679,679,679,679,679,680,680,680,
+680,680,680,680,680,680,680,679,116,116,116,116,116,116,116,116,
+681,681,681,681,681,681,681,681,681,681,681,681,681,681,681,681,
+681,681,681,681,681,681,682,682,682,682,682,682,682,682,682,682,
+682,683,683,683,683,684,684,684,684,684,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 163 */
-689,689,690,691,691,691,691,691,691,691,691,691,691,691,691,691,
-691,691,691,691,691,691,691,691,691,691,691,691,691,691,691,691,
-691,691,691,691,691,691,691,691,691,691,691,691,691,691,691,691,
-691,691,691,690,690,690,689,689,689,689,689,689,689,689,689,690,
-690,691,692,692,691,693,693,693,693,693,689,689,689,693,115,115,
-694,694,694,694,694,694,694,694,694,694,691,693,691,693,693,693,
-115,695,695,695,695,695,695,695,695,695,695,695,695,695,695,695,
-695,695,695,695,695,115,115,115,115,115,115,115,115,115,115,115,
+685,686,685,687,687,687,687,687,687,687,687,687,687,687,687,687,
+687,687,687,687,687,687,687,687,687,687,687,687,687,687,687,687,
+687,687,687,687,687,687,687,687,687,687,687,687,687,687,687,687,
+687,687,687,687,687,687,687,687,686,686,686,686,686,686,686,686,
+686,686,686,686,686,686,686,688,688,688,688,688,688,688,116,116,
+116,116,689,689,689,689,689,689,689,689,689,689,689,689,689,689,
+689,689,689,689,689,689,690,690,690,690,690,690,690,690,690,690,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,686,
 
 /* block 164 */
+691,691,692,693,693,693,693,693,693,693,693,693,693,693,693,693,
+693,693,693,693,693,693,693,693,693,693,693,693,693,693,693,693,
+693,693,693,693,693,693,693,693,693,693,693,693,693,693,693,693,
+692,692,692,691,691,691,691,692,692,691,691,694,694,695,694,694,
+694,694,116,116,116,116,116,116,116,116,116,116,116,695,116,116,
 696,696,696,696,696,696,696,696,696,696,696,696,696,696,696,696,
-696,696,115,696,696,696,696,696,696,696,696,696,696,696,696,696,
-696,696,696,696,696,696,696,696,696,696,696,696,697,697,697,698,
-698,698,697,697,698,697,698,698,699,699,699,699,699,699,698,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+696,696,696,696,696,696,696,696,696,116,116,116,116,116,116,116,
+697,697,697,697,697,697,697,697,697,697,116,116,116,116,116,116,
 
 /* block 165 */
-700,700,700,700,700,700,700,115,700,115,700,700,700,700,115,700,
-700,700,700,700,700,700,700,700,700,700,700,700,700,700,115,700,
-700,700,700,700,700,700,700,700,700,701,115,115,115,115,115,115,
-702,702,702,702,702,702,702,702,702,702,702,702,702,702,702,702,
-702,702,702,702,702,702,702,702,702,702,702,702,702,702,702,702,
-702,702,702,702,702,702,702,702,702,702,702,702,702,702,702,703,
-704,704,704,703,703,703,703,703,703,703,703,115,115,115,115,115,
-705,705,705,705,705,705,705,705,705,705,115,115,115,115,115,115,
+698,698,698,699,699,699,699,699,699,699,699,699,699,699,699,699,
+699,699,699,699,699,699,699,699,699,699,699,699,699,699,699,699,
+699,699,699,699,699,699,699,698,698,698,698,698,700,698,698,698,
+698,698,698,698,698,116,701,701,701,701,701,701,701,701,701,701,
+702,702,702,702,699,700,700,116,116,116,116,116,116,116,116,116,
+703,703,703,703,703,703,703,703,703,703,703,703,703,703,703,703,
+703,703,703,703,703,703,703,703,703,703,703,703,703,703,703,703,
+703,703,703,704,705,705,703,116,116,116,116,116,116,116,116,116,
 
 /* block 166 */
-706,706,707,707,115,708,708,708,708,708,708,708,708,115,115,708,
-708,115,115,708,708,708,708,708,708,708,708,708,708,708,708,708,
-708,708,708,708,708,708,708,708,708,115,708,708,708,708,708,708,
-708,115,708,708,115,708,708,708,708,708,115,115,706,708,709,707,
-706,707,707,707,707,115,115,707,707,115,115,707,707,707,115,115,
-708,115,115,115,115,115,115,709,115,115,115,115,115,708,708,708,
-708,708,707,707,115,115,706,706,706,706,706,706,706,115,115,115,
-706,706,706,706,706,115,115,115,115,115,115,115,115,115,115,115,
+706,706,707,708,708,708,708,708,708,708,708,708,708,708,708,708,
+708,708,708,708,708,708,708,708,708,708,708,708,708,708,708,708,
+708,708,708,708,708,708,708,708,708,708,708,708,708,708,708,708,
+708,708,708,707,707,707,706,706,706,706,706,706,706,706,706,707,
+707,708,709,709,708,710,710,710,710,706,706,706,706,710,116,116,
+711,711,711,711,711,711,711,711,711,711,708,710,708,710,710,710,
+116,712,712,712,712,712,712,712,712,712,712,712,712,712,712,712,
+712,712,712,712,712,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 167 */
-710,710,710,710,710,710,710,710,710,710,710,710,710,710,710,710,
-710,710,710,710,710,710,710,710,710,710,710,710,710,710,710,710,
-710,710,710,710,710,710,710,710,710,710,710,710,710,710,710,710,
-710,710,710,710,710,711,711,711,712,712,712,712,712,712,712,712,
-711,711,712,712,712,711,712,710,710,710,710,713,713,713,713,713,
-714,714,714,714,714,714,714,714,714,714,115,713,115,713,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+713,713,713,713,713,713,713,713,713,713,713,713,713,713,713,713,
+713,713,116,713,713,713,713,713,713,713,713,713,713,713,713,713,
+713,713,713,713,713,713,713,713,713,713,713,713,714,714,714,715,
+715,715,714,714,715,714,715,715,716,716,716,716,716,716,715,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 168 */
-715,715,715,715,715,715,715,715,715,715,715,715,715,715,715,715,
-715,715,715,715,715,715,715,715,715,715,715,715,715,715,715,715,
-715,715,715,715,715,715,715,715,715,715,715,715,715,715,715,715,
-716,717,717,718,718,718,718,718,718,717,718,717,717,716,717,718,
-718,717,718,718,715,715,719,715,115,115,115,115,115,115,115,115,
-720,720,720,720,720,720,720,720,720,720,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+717,717,717,717,717,717,717,116,717,116,717,717,717,717,116,717,
+717,717,717,717,717,717,717,717,717,717,717,717,717,717,116,717,
+717,717,717,717,717,717,717,717,717,718,116,116,116,116,116,116,
+719,719,719,719,719,719,719,719,719,719,719,719,719,719,719,719,
+719,719,719,719,719,719,719,719,719,719,719,719,719,719,719,719,
+719,719,719,719,719,719,719,719,719,719,719,719,719,719,719,720,
+721,721,721,720,720,720,720,720,720,720,720,116,116,116,116,116,
+722,722,722,722,722,722,722,722,722,722,116,116,116,116,116,116,
 
 /* block 169 */
-721,721,721,721,721,721,721,721,721,721,721,721,721,721,721,721,
-721,721,721,721,721,721,721,721,721,721,721,721,721,721,721,721,
-721,721,721,721,721,721,721,721,721,721,721,721,721,721,721,722,
-723,723,724,724,724,724,115,115,723,723,723,723,724,724,723,724,
-724,725,725,725,725,725,725,725,725,725,725,725,725,725,725,725,
-725,725,725,725,725,725,725,725,721,721,721,721,724,724,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+723,723,724,724,116,725,725,725,725,725,725,725,725,116,116,725,
+725,116,116,725,725,725,725,725,725,725,725,725,725,725,725,725,
+725,725,725,725,725,725,725,725,725,116,725,725,725,725,725,725,
+725,116,725,725,116,725,725,725,725,725,116,111,723,725,726,724,
+723,724,724,724,724,116,116,724,724,116,116,724,724,724,116,116,
+725,116,116,116,116,116,116,726,116,116,116,116,116,725,725,725,
+725,725,724,724,116,116,723,723,723,723,723,723,723,116,116,116,
+723,723,723,723,723,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 170 */
-726,726,726,726,726,726,726,726,726,726,726,726,726,726,726,726,
-726,726,726,726,726,726,726,726,726,726,726,726,726,726,726,726,
-726,726,726,726,726,726,726,726,726,726,726,726,726,726,726,726,
-727,727,727,728,728,728,728,728,728,728,728,727,727,728,727,728,
-728,729,729,729,726,115,115,115,115,115,115,115,115,115,115,115,
-730,730,730,730,730,730,730,730,730,730,115,115,115,115,115,115,
-369,369,369,369,369,369,369,369,369,369,369,369,369,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+727,727,727,727,727,727,727,727,727,727,727,727,727,727,727,727,
+727,727,727,727,727,727,727,727,727,727,727,727,727,727,727,727,
+727,727,727,727,727,727,727,727,727,727,727,727,727,727,727,727,
+727,727,727,727,727,728,728,728,729,729,729,729,729,729,729,729,
+728,728,729,729,729,728,729,727,727,727,727,730,730,730,730,730,
+731,731,731,731,731,731,731,731,731,731,116,730,116,730,729,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 171 */
-731,731,731,731,731,731,731,731,731,731,731,731,731,731,731,731,
-731,731,731,731,731,731,731,731,731,731,731,731,731,731,731,731,
-731,731,731,731,731,731,731,731,731,731,731,732,733,732,733,733,
-732,732,732,732,732,732,733,732,115,115,115,115,115,115,115,115,
-734,734,734,734,734,734,734,734,734,734,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+732,732,732,732,732,732,732,732,732,732,732,732,732,732,732,732,
+732,732,732,732,732,732,732,732,732,732,732,732,732,732,732,732,
+732,732,732,732,732,732,732,732,732,732,732,732,732,732,732,732,
+733,734,734,735,735,735,735,735,735,734,735,734,734,733,734,735,
+735,734,735,735,732,732,736,732,116,116,116,116,116,116,116,116,
+737,737,737,737,737,737,737,737,737,737,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 172 */
-735,735,735,735,735,735,735,735,735,735,735,735,735,735,735,735,
-735,735,735,735,735,735,735,735,735,735,115,115,115,736,736,736,
-737,737,736,736,736,736,737,736,736,736,736,736,115,115,115,115,
-738,738,738,738,738,738,738,738,738,738,739,739,740,740,740,741,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+738,738,738,738,738,738,738,738,738,738,738,738,738,738,738,738,
+738,738,738,738,738,738,738,738,738,738,738,738,738,738,738,738,
+738,738,738,738,738,738,738,738,738,738,738,738,738,738,738,739,
+740,740,741,741,741,741,116,116,740,740,740,740,741,741,740,741,
+741,742,742,742,742,742,742,742,742,742,742,742,742,742,742,742,
+742,742,742,742,742,742,742,742,738,738,738,738,741,741,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 173 */
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-742,742,742,742,742,742,742,742,742,742,742,742,742,742,742,742,
-742,742,742,742,742,742,742,742,742,742,742,742,742,742,742,742,
 743,743,743,743,743,743,743,743,743,743,743,743,743,743,743,743,
 743,743,743,743,743,743,743,743,743,743,743,743,743,743,743,743,
-744,744,744,744,744,744,744,744,744,744,745,745,745,745,745,745,
-745,745,745,115,115,115,115,115,115,115,115,115,115,115,115,746,
+743,743,743,743,743,743,743,743,743,743,743,743,743,743,743,743,
+744,744,744,745,745,745,745,745,745,745,745,744,744,745,744,745,
+745,746,746,746,743,116,116,116,116,116,116,116,116,116,116,116,
+747,747,747,747,747,747,747,747,747,747,116,116,116,116,116,116,
+373,373,373,373,373,373,373,373,373,373,373,373,373,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 174 */
-747,748,748,748,748,748,748,749,749,748,748,747,747,747,747,747,
-747,747,747,747,747,747,747,747,747,747,747,747,747,747,747,747,
-747,747,747,747,747,747,747,747,747,747,747,747,747,747,747,747,
-747,747,747,748,748,748,748,748,748,749,750,748,748,748,748,751,
-751,751,751,751,751,751,751,748,115,115,115,115,115,115,115,115,
-752,753,753,753,753,753,753,754,754,753,753,753,752,752,752,752,
-752,752,752,752,752,752,752,752,752,752,752,752,752,752,752,752,
-752,752,752,752,752,752,752,752,752,752,752,752,752,752,752,752,
+748,748,748,748,748,748,748,748,748,748,748,748,748,748,748,748,
+748,748,748,748,748,748,748,748,748,748,748,748,748,748,748,748,
+748,748,748,748,748,748,748,748,748,748,748,749,750,749,750,750,
+749,749,749,749,749,749,750,749,116,116,116,116,116,116,116,116,
+751,751,751,751,751,751,751,751,751,751,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 175 */
-752,752,752,752,115,115,755,755,755,755,753,753,753,753,753,753,
-753,753,753,753,753,753,753,754,753,753,756,756,756,115,756,756,
-756,756,756,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-757,757,757,757,757,757,757,757,757,757,757,757,757,757,757,757,
-757,757,757,757,757,757,757,757,757,757,757,757,757,757,757,757,
-757,757,757,757,757,757,757,757,757,757,757,757,757,757,757,757,
-757,757,757,757,757,757,757,757,757,115,115,115,115,115,115,115,
+752,752,752,752,752,752,752,752,752,752,752,752,752,752,752,752,
+752,752,752,752,752,752,752,752,752,752,752,116,116,753,753,753,
+754,754,753,753,753,753,754,753,753,753,753,753,116,116,116,116,
+755,755,755,755,755,755,755,755,755,755,756,756,757,757,757,758,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 176 */
-758,758,758,758,758,758,758,758,758,115,758,758,758,758,758,758,
-758,758,758,758,758,758,758,758,758,758,758,758,758,758,758,758,
-758,758,758,758,758,758,758,758,758,758,758,758,758,758,758,759,
-760,760,760,760,760,760,760,115,760,760,760,760,760,760,759,760,
-758,761,761,761,761,761,115,115,115,115,115,115,115,115,115,115,
-762,762,762,762,762,762,762,762,762,762,763,763,763,763,763,763,
-763,763,763,763,763,763,763,763,763,763,763,763,763,115,115,115,
-764,764,765,765,765,765,765,765,765,765,765,765,765,765,765,765,
+759,759,759,759,759,759,759,759,759,759,759,759,759,759,759,759,
+759,759,759,759,759,759,759,759,759,759,759,759,759,759,759,759,
+759,759,759,759,759,759,759,759,759,759,759,759,760,760,760,761,
+761,761,761,761,761,761,761,761,760,761,761,762,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 177 */
-765,765,765,765,765,765,765,765,765,765,765,765,765,765,765,765,
-115,115,766,766,766,766,766,766,766,766,766,766,766,766,766,766,
-766,766,766,766,766,766,766,766,115,767,766,766,766,766,766,766,
-766,767,766,766,767,766,766,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+763,763,763,763,763,763,763,763,763,763,763,763,763,763,763,763,
+763,763,763,763,763,763,763,763,763,763,763,763,763,763,763,763,
+764,764,764,764,764,764,764,764,764,764,764,764,764,764,764,764,
+764,764,764,764,764,764,764,764,764,764,764,764,764,764,764,764,
+765,765,765,765,765,765,765,765,765,765,766,766,766,766,766,766,
+766,766,766,116,116,116,116,116,116,116,116,116,116,116,116,767,
 
 /* block 178 */
-768,768,768,768,768,768,768,115,768,768,115,768,768,768,768,768,
+768,769,769,769,769,769,769,769,769,769,769,768,768,768,768,768,
 768,768,768,768,768,768,768,768,768,768,768,768,768,768,768,768,
 768,768,768,768,768,768,768,768,768,768,768,768,768,768,768,768,
-768,769,769,769,769,769,769,115,115,115,769,115,769,769,115,769,
-769,769,769,769,769,769,770,769,115,115,115,115,115,115,115,115,
-771,771,771,771,771,771,771,771,771,771,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+768,768,768,769,769,769,769,769,769,770,771,769,769,769,769,772,
+772,772,772,772,772,772,772,769,116,116,116,116,116,116,116,116,
+773,774,774,774,774,774,774,775,775,774,774,774,773,773,773,773,
+773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
+773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
 
 /* block 179 */
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
+773,773,773,773,116,116,776,776,776,776,774,774,774,774,774,774,
+774,774,774,774,774,774,774,775,774,774,777,777,777,773,777,777,
+777,777,777,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+778,778,778,778,778,778,778,778,778,778,778,778,778,778,778,778,
+778,778,778,778,778,778,778,778,778,778,778,778,778,778,778,778,
+778,778,778,778,778,778,778,778,778,778,778,778,778,778,778,778,
+778,778,778,778,778,778,778,778,778,116,116,116,116,116,116,116,
 
 /* block 180 */
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+779,779,779,779,779,779,779,779,779,116,779,779,779,779,779,779,
+779,779,779,779,779,779,779,779,779,779,779,779,779,779,779,779,
+779,779,779,779,779,779,779,779,779,779,779,779,779,779,779,780,
+781,781,781,781,781,781,781,116,781,781,781,781,781,781,780,781,
+779,782,782,782,782,782,116,116,116,116,116,116,116,116,116,116,
+783,783,783,783,783,783,783,783,783,783,784,784,784,784,784,784,
+784,784,784,784,784,784,784,784,784,784,784,784,784,116,116,116,
+785,785,786,786,786,786,786,786,786,786,786,786,786,786,786,786,
 
 /* block 181 */
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,
-773,773,773,773,773,773,773,773,773,773,773,773,773,773,773,115,
-774,774,774,774,774,115,115,115,115,115,115,115,115,115,115,115,
+786,786,786,786,786,786,786,786,786,786,786,786,786,786,786,786,
+116,116,787,787,787,787,787,787,787,787,787,787,787,787,787,787,
+787,787,787,787,787,787,787,787,116,788,787,787,787,787,787,787,
+787,788,787,787,788,787,787,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 182 */
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,772,
-772,772,772,772,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+789,789,789,789,789,789,789,116,789,789,116,789,789,789,789,789,
+789,789,789,789,789,789,789,789,789,789,789,789,789,789,789,789,
+789,789,789,789,789,789,789,789,789,789,789,789,789,789,789,789,
+789,790,790,790,790,790,790,116,116,116,790,116,790,790,116,790,
+790,790,790,790,790,790,791,790,116,116,116,116,116,116,116,116,
+792,792,792,792,792,792,792,792,792,792,116,116,116,116,116,116,
+793,793,793,793,793,793,116,793,793,116,793,793,793,793,793,793,
+793,793,793,793,793,793,793,793,793,793,793,793,793,793,793,793,
 
 /* block 183 */
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
+793,793,793,793,793,793,793,793,793,793,794,794,794,794,794,116,
+795,795,116,794,794,795,794,795,793,116,116,116,116,116,116,116,
+796,796,796,796,796,796,796,796,796,796,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 184 */
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,
-775,775,775,775,775,775,775,775,775,775,775,775,775,775,775,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
+797,797,797,798,798,799,799,800,800,116,116,116,116,116,116,116,
 
 /* block 185 */
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
 
 /* block 186 */
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,776,
-776,776,776,776,776,776,776,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 187 */
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,
+802,802,802,802,802,802,802,802,802,802,802,802,802,802,802,116,
+803,803,803,803,803,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 188 */
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,530,
-530,530,530,530,530,530,530,530,530,115,115,115,115,115,115,115,
-777,777,777,777,777,777,777,777,777,777,777,777,777,777,777,777,
-777,777,777,777,777,777,777,777,777,777,777,777,777,777,777,115,
-778,778,778,778,778,778,778,778,778,778,115,115,115,115,779,779,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,801,
+801,801,801,801,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 189 */
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-780,780,780,780,780,780,780,780,780,780,780,780,780,780,780,780,
-780,780,780,780,780,780,780,780,780,780,780,780,780,780,115,115,
-781,781,781,781,781,782,115,115,115,115,115,115,115,115,115,115,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
 
 /* block 190 */
-783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,
-783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,
-783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,
-784,784,784,784,784,784,784,785,785,785,785,785,786,786,786,786,
-787,787,787,787,785,786,115,115,115,115,115,115,115,115,115,115,
-788,788,788,788,788,788,788,788,788,788,115,789,789,789,789,789,
-789,789,115,783,783,783,783,783,783,783,783,783,783,783,783,783,
-783,783,783,783,783,783,783,783,115,115,115,115,115,783,783,783,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 191 */
-783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,783,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
 
 /* block 192 */
-790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,
-790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,
-790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,
-790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,790,
-790,790,790,790,790,115,115,115,115,115,115,115,115,115,115,115,
-790,791,791,791,791,791,791,791,791,791,791,791,791,791,791,791,
-791,791,791,791,791,791,791,791,791,791,791,791,791,791,791,791,
-791,791,791,791,791,791,791,791,791,791,791,791,791,791,791,115,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
+805,805,805,805,805,805,805,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 193 */
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,792,
-792,792,792,793,793,793,793,793,793,793,793,793,793,793,793,793,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-794,795,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
 
 /* block 194 */
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,538,
+538,538,538,538,538,538,538,538,538,116,116,116,116,116,116,116,
+806,806,806,806,806,806,806,806,806,806,806,806,806,806,806,806,
+806,806,806,806,806,806,806,806,806,806,806,806,806,806,806,116,
+807,807,807,807,807,807,807,807,807,807,116,116,116,116,808,808,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 195 */
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+809,809,809,809,809,809,809,809,809,809,809,809,809,809,809,809,
+809,809,809,809,809,809,809,809,809,809,809,809,809,809,116,116,
+810,810,810,810,810,811,116,116,116,116,116,116,116,116,116,116,
 
 /* block 196 */
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,796,
-796,796,796,115,115,115,115,115,115,115,115,115,115,115,115,115,
+812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,
+812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,
+812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,
+813,813,813,813,813,813,813,814,814,814,814,814,815,815,815,815,
+816,816,816,816,814,815,116,116,116,116,116,116,116,116,116,116,
+817,817,817,817,817,817,817,817,817,817,116,818,818,818,818,818,
+818,818,116,812,812,812,812,812,812,812,812,812,812,812,812,812,
+812,812,812,812,812,812,812,812,116,116,116,116,116,812,812,812,
 
 /* block 197 */
-509,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
+812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 198 */
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+819,819,819,819,819,819,819,819,819,819,819,819,819,819,819,819,
+819,819,819,819,819,819,819,819,819,819,819,819,819,819,819,819,
+820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
+820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
 
 /* block 199 */
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,
-507,507,507,507,507,507,507,507,507,507,507,507,507,507,507,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
+821,821,821,821,821,821,821,821,821,821,821,821,821,821,821,821,
+821,821,821,821,821,821,821,822,822,822,822,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 200 */
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
+823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,
+823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,
+823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,
+823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,823,
+823,823,823,823,823,116,116,116,116,116,116,116,116,116,116,116,
+823,824,824,824,824,824,824,824,824,824,824,824,824,824,824,824,
+824,824,824,824,824,824,824,824,824,824,824,824,824,824,824,824,
+824,824,824,824,824,824,824,824,824,824,824,824,824,824,824,116,
 
 /* block 201 */
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,797,
-797,797,797,797,797,797,797,797,797,797,797,797,115,115,115,115,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,825,
+825,825,825,826,826,826,826,826,826,826,826,826,826,826,826,826,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+827,828,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 202 */
-798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,
-798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,
-798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,
-798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,
-798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,
-798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,798,
-798,798,798,798,798,798,798,798,798,798,798,115,115,115,115,115,
-798,798,798,798,798,798,798,798,798,798,798,798,798,115,115,115,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
 
 /* block 203 */
-798,798,798,798,798,798,798,798,798,115,115,115,115,115,115,115,
-798,798,798,798,798,798,798,798,798,798,115,115,799,800,800,801,
- 22, 22, 22, 22,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 204 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,829,
+829,829,829,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 205 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19,115,115, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19,802,433,110,110,110, 19, 19, 19,433,802,802,
-802,802,802, 22, 22, 22, 22, 22, 22, 22, 22,110,110,110,110,110,
+517,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
 
 /* block 206 */
-110,110,110, 19, 19,110,110,110,110,110,110,110, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,110,110,110,110, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
 
 /* block 207 */
-596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
-596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
-596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
-596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,596,
-596,596,803,803,803,596,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
 
 /* block 208 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,
- 23, 23,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
 
 /* block 209 */
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,467,467,
-467,467,467,467,467,115,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,830,
+830,830,830,830,830,830,830,830,830,830,830,830,116,116,116,116,
 
 /* block 210 */
-466,466,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,466,115,466,466,
-115,115,466,115,115,466,466,115,115,466,466,466,466,115,466,466,
-466,466,466,466,466,466,467,467,467,467,115,467,115,467,467,467,
-467,467,467,467,115,467,467,467,467,467,467,467,467,467,467,467,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
+831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,
+831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,
+831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,
+831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,
+831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,
+831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,831,
+831,831,831,831,831,831,831,831,831,831,831,116,116,116,116,116,
+831,831,831,831,831,831,831,831,831,831,831,831,831,116,116,116,
 
 /* block 211 */
-467,467,467,467,466,466,115,466,466,466,466,115,115,466,466,466,
-466,466,466,466,466,115,466,466,466,466,466,466,466,115,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,466,466,115,466,466,466,466,115,
-466,466,466,466,466,115,466,115,115,115,466,466,466,466,466,466,
-466,115,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
+831,831,831,831,831,831,831,831,831,116,116,116,116,116,116,116,
+831,831,831,831,831,831,831,831,831,831,116,116,832,833,833,834,
+ 23, 23, 23, 23,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 212 */
-466,466,466,466,466,466,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19,116,116,116,116,116,116,116,116,116,116,
 
 /* block 213 */
-467,467,467,467,467,467,467,467,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19,116,116, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19,835,438,111,111,111, 19, 19, 19,438,835,835,
+835,835,835, 23, 23, 23, 23, 23, 23, 23, 23,111,111,111,111,111,
 
 /* block 214 */
-466,466,466,466,466,466,466,466,466,466,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,115,115,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,  8,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,  8,467,467,467,467,
-467,467,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,  8,467,467,467,467,
+111,111,111, 19, 19,111,111,111,111,111,111,111, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,111,111,111,111, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 215 */
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,  8,467,467,467,467,467,467,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,  8,467,467,467,467,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,  8,
-467,467,467,467,467,467,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,  8,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
+604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,
+604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,
+604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,
+604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,604,
+604,604,836,836,836,604,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 216 */
-467,467,467,467,467,467,467,467,467,  8,467,467,467,467,467,467,
-466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,466,
-466,466,466,466,466,466,466,466,466,  8,467,467,467,467,467,467,
-467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,467,
-467,467,467,  8,467,467,467,467,467,467,466,467,115,115, 10, 10,
- 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
- 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
- 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 217 */
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
-804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,804,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19,116,116,116,116,116,116,116,116,116,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24,116,116,116,116,116,116,116,
 
 /* block 218 */
-805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
-805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
-805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
-805,805,805,805,805,805,805,804,804,804,804,805,805,805,805,805,
-805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
-805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
-805,805,805,805,805,805,805,805,805,805,805,805,805,804,804,804,
-804,804,804,804,804,805,804,804,804,804,804,804,804,804,804,804,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,473,473,
+473,473,473,473,473,116,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
 
 /* block 219 */
-804,804,804,804,805,804,804,806,806,806,806,806,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,805,805,805,805,805,
-115,805,805,805,805,805,805,805,805,805,805,805,805,805,805,805,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+472,472,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,472,116,472,472,
+116,116,472,116,116,472,472,116,116,472,472,472,472,116,472,472,
+472,472,472,472,472,472,473,473,473,473,116,473,116,473,473,473,
+473,473,473,473,116,473,473,473,473,473,473,473,473,473,473,473,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
 
 /* block 220 */
-807,807,807,807,807,807,807,115,807,807,807,807,807,807,807,807,
-807,807,807,807,807,807,807,807,807,115,115,807,807,807,807,807,
-807,807,115,807,807,115,807,807,807,807,807,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+473,473,473,473,472,472,116,472,472,472,472,116,116,472,472,472,
+472,472,472,472,472,116,472,472,472,472,472,472,472,116,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,472,472,116,472,472,472,472,116,
+472,472,472,472,472,116,472,116,116,116,472,472,472,472,472,472,
+472,116,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
 
 /* block 221 */
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
+472,472,472,472,472,472,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
 
 /* block 222 */
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,808,
-808,808,808,808,808,115,115,809,809,809,809,809,809,809,809,809,
-810,810,810,810,810,810,810,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+473,473,473,473,473,473,473,473,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
 
 /* block 223 */
-811,811,811,811,811,811,811,811,811,811,811,811,811,811,811,811,
-811,811,811,811,811,811,811,811,811,811,811,811,811,811,811,811,
-811,811,812,812,812,812,812,812,812,812,812,812,812,812,812,812,
-812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,812,
-812,812,812,812,813,813,813,813,813,813,813,115,115,115,115,115,
-814,814,814,814,814,814,814,814,814,814,115,115,115,115,815,815,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+472,472,472,472,472,472,472,472,472,472,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,116,116,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,  8,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,  8,473,473,473,473,
+473,473,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,  8,473,473,473,473,
 
 /* block 224 */
-216,216,216,216,115,216,216,216,216,216,216,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,216,
-115,216,216,115,216,115,115,216,115,216,216,216,216,216,216,216,
-216,216,216,115,216,216,216,216,115,216,115,216,115,115,115,115,
-115,115,216,115,115,115,115,216,115,216,115,216,115,216,216,216,
-115,216,216,115,216,115,115,216,115,216,115,216,115,216,115,216,
-115,216,216,115,216,115,115,216,216,216,216,115,216,216,216,216,
-216,216,216,115,216,216,216,216,115,216,216,216,216,115,216,115,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,  8,473,473,473,473,473,473,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,  8,473,473,473,473,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,  8,
+473,473,473,473,473,473,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,  8,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
 
 /* block 225 */
-216,216,216,216,216,216,216,216,216,216,115,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,115,115,115,115,
-115,216,216,216,115,216,216,216,216,216,115,216,216,216,216,216,
-216,216,216,216,216,216,216,216,216,216,216,216,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-210,210,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+473,473,473,473,473,473,473,473,473,  8,473,473,473,473,473,473,
+472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,472,
+472,472,472,472,472,472,472,472,472,  8,473,473,473,473,473,473,
+473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,473,
+473,473,473,  8,473,473,473,473,473,473,472,473,116,116, 10, 10,
+ 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
+ 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
+ 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
 
 /* block 226 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
+837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,837,
 
 /* block 227 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,
-115, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-115, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-115, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,
+838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,
+838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,
+838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,
+838,838,838,838,838,838,838,837,837,837,837,838,838,838,838,838,
+838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,
+838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,
+838,838,838,838,838,838,838,838,838,838,838,838,838,837,837,837,
+837,837,837,837,837,838,837,837,837,837,837,837,837,837,837,837,
 
 /* block 228 */
- 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+837,837,837,837,838,837,837,839,839,839,839,839,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,838,838,838,838,838,
+116,838,838,838,838,838,838,838,838,838,838,838,838,838,838,838,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 229 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,816,816,816,816,816,816,816,816,816,816,
-816,816,816,816,816,816,816,816,816,816,816,816,816,816,816,816,
+840,840,840,840,840,840,840,116,840,840,840,840,840,840,840,840,
+840,840,840,840,840,840,840,840,840,116,116,840,840,840,840,840,
+840,840,116,840,840,116,840,840,840,840,840,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 230 */
-817, 19, 19,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,
- 19, 19,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
 
 /* block 231 */
- 19, 19, 19, 19, 19, 19, 19, 19,479, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,479, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19,479, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,841,
+841,841,841,841,841,116,116,842,842,842,842,842,842,842,842,842,
+843,843,843,843,843,843,843,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 232 */
- 19, 19, 19, 19, 19,478, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19,479, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,479, 19, 19, 19,479, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19,478,478,478, 19, 19,478, 19, 19,478,478,478, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,479, 19,479, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,818,818,818,818,818,
+844,844,844,844,844,844,844,844,844,844,844,844,844,844,844,844,
+844,844,844,844,844,844,844,844,844,844,844,844,844,844,844,844,
+844,844,845,845,845,845,845,845,845,845,845,845,845,845,845,845,
+845,845,845,845,845,845,845,845,845,845,845,845,845,845,845,845,
+845,845,845,845,846,846,846,846,846,846,846,116,116,116,116,116,
+847,847,847,847,847,847,847,847,847,847,116,116,116,116,848,848,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 233 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19,478,478, 19, 19,478,478,478,478,478,478,478,478,478,478,
-478, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19,819,819,819,819, 19, 19, 19, 19,478, 19,
-478,478,478,478,478,478,478,478,478, 19, 19, 19,478, 19, 19, 19,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
 
 /* block 234 */
- 19,478,478,478, 19,478,478,478, 19, 19, 19,479, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,478, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,479,479, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 19, 24, 24, 24,
+  5, 24, 24, 24, 24,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 235 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19,479, 19, 19, 19, 19,479, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,478,478, 19, 19, 19, 19,478, 19, 19, 19, 19, 19,
+217,217,217,217,116,217,217,217,217,217,217,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,217,
+116,217,217,116,217,116,116,217,116,217,217,217,217,217,217,217,
+217,217,217,116,217,217,217,217,116,217,116,217,116,116,116,116,
+116,116,217,116,116,116,116,217,116,217,116,217,116,217,217,217,
+116,217,217,116,217,116,116,217,116,217,116,217,116,217,116,217,
+116,217,217,116,217,116,116,217,217,217,217,116,217,217,217,217,
+217,217,217,116,217,217,217,217,116,217,217,217,217,116,217,116,
 
 /* block 236 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-478, 19, 19, 19, 19,478,478, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19,479, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+217,217,217,217,217,217,217,217,217,217,116,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,116,116,116,116,
+116,217,217,217,116,217,217,217,217,217,116,217,217,217,217,217,
+217,217,217,217,217,217,217,217,217,217,217,217,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+211,211,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
 
 /* block 237 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19,478,478,478, 19, 19, 19,478,478,478,478,478,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
 
 /* block 238 */
-479, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19,479, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19,478, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,478,478,478, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-478, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,478, 19, 19, 19,
- 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20,849,849,849,849,849,849,849,849,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,849,
+849, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+849, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+849, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20,849,849,849,849,849,849,849,849,849,849,
 
 /* block 239 */
+ 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,849,849,849,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
  19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,115,115,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,
+ 20, 20, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20, 20,
 
 /* block 240 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20, 19,
+ 19, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,850,850,850,850,850,850,850,850,850,850,
+850,850,850,850,850,850,850,850,850,850,850,850,850,850,850,850,
 
 /* block 241 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+851, 20, 20,849,849,849,849,849,849,849,849,849,849,849,849,849,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 20,
+ 19, 19, 20, 20, 20, 20, 20, 20, 20, 20, 20, 19,849,849,849,849,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,849,849,849,
+ 20, 20,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+ 20, 20, 20, 20, 20, 20,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
 
 /* block 242 */
- 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
 
 /* block 243 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19,478,478,478,478,478, 19,478,478,
- 19, 19, 19, 19, 19, 19,478, 19, 19, 19, 19, 19, 19, 19, 19, 19,
-478,478,478,478,478,478,478,478,478,478, 19, 19, 19,478,478,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
 
 /* block 244 */
- 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
- 19, 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
- 19,478,478,478,478,478,478,478,478,478,478,478,478,478, 19, 19,
- 19, 19, 19, 19, 19, 19, 19,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,852,852,852,852,852,
 
 /* block 245 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 19, 19,
+ 19, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
 
 /* block 246 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,115,115,115,115,115,115,115,115,115,115,115,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
 
 /* block 247 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,115,115,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20,849,849,849,849,849,849,849,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,849,849,849,849,849,849,
 
 /* block 248 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19,849,849,849,849,849,849,849,849,849,849,849,849,
 
 /* block 249 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 20, 20, 20, 20,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
 
 /* block 250 */
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,515,
-515,515,515,515,515,515,515,515,515,515,515,515,515,515,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
-115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,115,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,849,849,849,849,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,849,849,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
 
 /* block 251 */
-465, 22,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
-820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
-820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
-820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
-820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
-820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,820,
+ 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,849,849,849,849,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
 
 /* block 252 */
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
+ 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19, 19,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 19, 20, 20, 20,849,
+ 20, 20, 20, 20, 20, 20, 19, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20,849,849, 20, 20, 20, 20,849,849,849, 20,849, 20, 20, 20, 20,
 
 /* block 253 */
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20,849,849,849,849,849,849,849,849,849,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,849,849,849,849,849,849,
+ 20, 20, 20,849,849,849,849,849,849,849,849,849,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
 
 /* block 254 */
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,110,
-465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,465,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+ 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
 
 /* block 255 */
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,589,
-589,589,589,589,589,589,589,589,589,589,589,589,589,589,115,115,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,849,
+849,849,849,849,849,849,849,849,849,849,849,849,849,849,116,116,
+
+/* block 256 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+
+/* block 257 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,116,116,116,116,116,116,116,116,116,116,116,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+
+/* block 258 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,116,116,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+
+/* block 259 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+
+/* block 260 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+
+/* block 261 */
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,523,
+523,523,523,523,523,523,523,523,523,523,523,523,523,523,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,116,
+
+/* block 262 */
+471, 23,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,
+853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,
+853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,
+853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,
+853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,
+853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,853,
+
+/* block 263 */
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+
+/* block 264 */
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+
+/* block 265 */
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,111,
+471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,471,
+
+/* block 266 */
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,597,
+597,597,597,597,597,597,597,597,597,597,597,597,597,597,116,116,
 
 };
 
diff --git a/thirdparty/pcre2/src/pcre2_ucp.h b/thirdparty/pcre2/src/pcre2_ucp.h
index defba4c10e..0c330edcb2 100644
--- a/thirdparty/pcre2/src/pcre2_ucp.h
+++ b/thirdparty/pcre2/src/pcre2_ucp.h
@@ -7,7 +7,7 @@ and semantics are as close as possible to those of the Perl 5 language.
 
                        Written by Philip Hazel
      Original API code Copyright (c) 1997-2012 University of Cambridge
-         New API code Copyright (c) 2016 University of Cambridge
+          New API code Copyright (c) 2016-2018 University of Cambridge
 
 -----------------------------------------------------------------------------
 Redistribution and use in source and binary forms, with or without
@@ -100,27 +100,25 @@ enum {
   ucp_Zs     /* Space separator */
 };
 
-/* These are grapheme break properties. */
+/* These are grapheme break properties. The Extended Pictographic property
+comes from the emoji-data.txt file. */
 
 enum {
-  ucp_gbCR,                /*  0 */
-  ucp_gbLF,                /*  1 */
-  ucp_gbControl,           /*  2 */
-  ucp_gbExtend,            /*  3 */
-  ucp_gbPrepend,           /*  4 */
-  ucp_gbSpacingMark,       /*  5 */
-  ucp_gbL,                 /*  6 Hangul syllable type L */
-  ucp_gbV,                 /*  7 Hangul syllable type V */
-  ucp_gbT,                 /*  8 Hangul syllable type T */
-  ucp_gbLV,                /*  9 Hangul syllable type LV */
-  ucp_gbLVT,               /* 10 Hangul syllable type LVT */
-  ucp_gbRegionalIndicator, /* 11 */
-  ucp_gbOther,             /* 12 */
-  ucp_gbE_Base,            /* 13 */
-  ucp_gbE_Modifier,        /* 14 */
-  ucp_gbE_Base_GAZ,        /* 15 */
-  ucp_gbZWJ,               /* 16 */
-  ucp_gbGlue_After_Zwj     /* 17 */
+  ucp_gbCR,                    /*  0 */
+  ucp_gbLF,                    /*  1 */
+  ucp_gbControl,               /*  2 */
+  ucp_gbExtend,                /*  3 */
+  ucp_gbPrepend,               /*  4 */
+  ucp_gbSpacingMark,           /*  5 */
+  ucp_gbL,                     /*  6 Hangul syllable type L */
+  ucp_gbV,                     /*  7 Hangul syllable type V */
+  ucp_gbT,                     /*  8 Hangul syllable type T */
+  ucp_gbLV,                    /*  9 Hangul syllable type LV */
+  ucp_gbLVT,                   /* 10 Hangul syllable type LVT */
+  ucp_gbRegionalIndicator,     /* 11 */
+  ucp_gbOther,                 /* 12 */
+  ucp_gbZWJ,                   /* 13 */
+  ucp_gbExtended_Pictographic  /* 14 */
 };
 
 /* These are the script identifications. */
@@ -274,7 +272,15 @@ enum {
   ucp_Masaram_Gondi,
   ucp_Nushu,
   ucp_Soyombo,
-  ucp_Zanabazar_Square
+  ucp_Zanabazar_Square,
+  /* New for Unicode 11.0.0 */
+  ucp_Dogra,
+  ucp_Gunjala_Gondi,
+  ucp_Hanifi_Rohingya,
+  ucp_Makasar,
+  ucp_Medefaidrin,
+  ucp_Old_Sogdian,
+  ucp_Sogdian
 };
 
 #endif  /* PCRE2_UCP_H_IDEMPOTENT_GUARD */
diff --git a/thirdparty/pcre2/src/sljit/sljitConfigInternal.h b/thirdparty/pcre2/src/sljit/sljitConfigInternal.h
index e13282c842..f5703e8e7f 100644
--- a/thirdparty/pcre2/src/sljit/sljitConfigInternal.h
+++ b/thirdparty/pcre2/src/sljit/sljitConfigInternal.h
@@ -66,7 +66,7 @@
      SLJIT_RETURN_ADDRESS_OFFSET : a return instruction always adds this offset to the return address
 
    Other macros:
-     SLJIT_FUNC : calling convention attribute for both calling JIT form C and C calling back from JIT
+     SLJIT_FUNC : calling convention attribute for both calling JIT from C and C calling back from JIT
      SLJIT_W(number) : defining 64 bit constants on 64 bit architectures (compiler independent helper)
 */
 
@@ -147,17 +147,23 @@
 #define SLJIT_CONFIG_UNSUPPORTED 1
 #endif
 
-#else /* !_WIN32 */
+#else /* _WIN32 */
 
 #if defined(_M_X64) || defined(__x86_64__)
 #define SLJIT_CONFIG_X86_64 1
+#elif (defined(_M_ARM) && _M_ARM >= 7 && defined(_M_ARMT)) || defined(__thumb2__)
+#define SLJIT_CONFIG_ARM_THUMB2 1
+#elif (defined(_M_ARM) && _M_ARM >= 7)
+#define SLJIT_CONFIG_ARM_V7 1
 #elif defined(_ARM_)
 #define SLJIT_CONFIG_ARM_V5 1
+#elif defined(_M_ARM64) || defined(__aarch64__)
+#define SLJIT_CONFIG_ARM_64 1
 #else
 #define SLJIT_CONFIG_X86_32 1
 #endif
 
-#endif /* !WIN32 */
+#endif /* !_WIN32 */
 #endif /* SLJIT_CONFIG_AUTO */
 
 #if (defined SLJIT_CONFIG_UNSUPPORTED && SLJIT_CONFIG_UNSUPPORTED)
@@ -324,6 +330,11 @@
 	sparc_cache_flush((from), (to))
 #define SLJIT_CACHE_FLUSH_OWN_IMPL 1
 
+#elif defined _WIN32
+
+#define SLJIT_CACHE_FLUSH(from, to) \
+	FlushInstructionCache(GetCurrentProcess(), (char*)(from), (char*)(to) - (char*)(from))
+
 #else
 
 /* Calls __ARM_NR_cacheflush on ARM-Linux. */
@@ -371,12 +382,18 @@ typedef int sljit_sw;
 #define SLJIT_64BIT_ARCHITECTURE 1
 #define SLJIT_WORD_SHIFT 3
 #ifdef _WIN32
+#ifdef __GNUC__
+/* These types do not require windows.h */
+typedef unsigned long long sljit_uw;
+typedef long long sljit_sw;
+#else
 typedef unsigned __int64 sljit_uw;
 typedef __int64 sljit_sw;
-#else
+#endif
+#else /* !_WIN32 */
 typedef unsigned long int sljit_uw;
 typedef long int sljit_sw;
-#endif
+#endif /* _WIN32 */
 #endif
 
 typedef sljit_uw sljit_p;
@@ -590,7 +607,7 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_sw sljit_exec_offset(void* ptr);
 
 #define SLJIT_NUMBER_OF_REGISTERS 26
 #define SLJIT_NUMBER_OF_SAVED_REGISTERS 10
-#define SLJIT_LOCALS_OFFSET_BASE (2 * sizeof(sljit_sw))
+#define SLJIT_LOCALS_OFFSET_BASE 0
 
 #elif (defined SLJIT_CONFIG_PPC && SLJIT_CONFIG_PPC)
 
diff --git a/thirdparty/pcre2/src/sljit/sljitExecAllocator.c b/thirdparty/pcre2/src/sljit/sljitExecAllocator.c
index f5009788f6..7c18578618 100644
--- a/thirdparty/pcre2/src/sljit/sljitExecAllocator.c
+++ b/thirdparty/pcre2/src/sljit/sljitExecAllocator.c
@@ -99,7 +99,14 @@ static SLJIT_INLINE void* alloc_chunk(sljit_uw size)
 	void *retval;
 
 #ifdef MAP_ANON
-	retval = mmap(NULL, size, PROT_READ | PROT_WRITE | PROT_EXEC, MAP_PRIVATE | MAP_ANON, -1, 0);
+
+	int flags = MAP_PRIVATE | MAP_ANON;
+
+#ifdef MAP_JIT
+	flags |= MAP_JIT;
+#endif
+
+	retval = mmap(NULL, size, PROT_READ | PROT_WRITE | PROT_EXEC, flags, -1, 0);
 #else
 	if (dev_zero < 0) {
 		if (open_dev_zero())
diff --git a/thirdparty/pcre2/src/sljit/sljitLir.c b/thirdparty/pcre2/src/sljit/sljitLir.c
index 5e435f0154..5bdddc10cf 100644
--- a/thirdparty/pcre2/src/sljit/sljitLir.c
+++ b/thirdparty/pcre2/src/sljit/sljitLir.c
@@ -26,6 +26,13 @@
 
 #include "sljitLir.h"
 
+#ifdef _WIN32
+
+/* For SLJIT_CACHE_FLUSH, which can expand to FlushInstructionCache. */
+#include <windows.h>
+
+#endif /* _WIN32 */
+
 #if !(defined SLJIT_STD_MACROS_DEFINED && SLJIT_STD_MACROS_DEFINED)
 
 /* These libraries are needed for the macros below. */
@@ -2178,7 +2185,8 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_fmem(struct sljit_compiler *compil
 
 #endif
 
-#if !(defined SLJIT_CONFIG_X86 && SLJIT_CONFIG_X86)
+#if !(defined SLJIT_CONFIG_X86 && SLJIT_CONFIG_X86) \
+	&& !(defined SLJIT_CONFIG_ARM_64 && SLJIT_CONFIG_ARM_64)
 
 SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_get_local_base(struct sljit_compiler *compiler, sljit_s32 dst, sljit_sw dstw, sljit_sw offset)
 {
diff --git a/thirdparty/pcre2/src/sljit/sljitLir.h b/thirdparty/pcre2/src/sljit/sljitLir.h
index 920f6d4f78..e71890cf7b 100644
--- a/thirdparty/pcre2/src/sljit/sljitLir.h
+++ b/thirdparty/pcre2/src/sljit/sljitLir.h
@@ -138,7 +138,7 @@ of sljitConfigInternal.h */
   be specified as scratch registers and the fifth one as saved register
   on the CPU above and any user code which requires four scratch
   registers can run unmodified. The SLJIT compiler automatically saves
-  the content of the two extra scrath register on the stack. Scratch
+  the content of the two extra scratch register on the stack. Scratch
   registers can also be preserved by saving their value on the stack
   but this needs to be done manually.
 
@@ -746,7 +746,7 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_fast_return(struct sljit_compiler
    be mixed. The only exception is SLJIT_MOV32 and SLJIT_MOVU32 whose source
    register can hold any 32 or 64 bit value, and it is converted to a 32 bit
    compatible format first. This conversion is free (no instructions are
-   emitted) on most CPUs. A 32 bit value can also be coverted to a 64 bit
+   emitted) on most CPUs. A 32 bit value can also be converted to a 64 bit
    value by SLJIT_MOV_S32 (sign extension) or SLJIT_MOV_U32 (zero extension).
 
    Note: memory addressing always uses 64 bit values on 64 bit systems so
@@ -773,8 +773,8 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_fast_return(struct sljit_compiler
  */
 #define SLJIT_F32_OP		SLJIT_I32_OP
 
-/* Many CPUs (x86, ARM, PPC) has status flags which can be set according
-   to the result of an operation. Other CPUs (MIPS) does not have status
+/* Many CPUs (x86, ARM, PPC) have status flags which can be set according
+   to the result of an operation. Other CPUs (MIPS) do not have status
    flags, and results must be stored in registers. To cover both architecture
    types efficiently only two flags are defined by SLJIT:
 
@@ -810,14 +810,14 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_fast_return(struct sljit_compiler
 
    Using these flags can reduce the number of emitted instructions. E.g. a
    fast loop can be implemented by decreasing a counter register and set the
-   zero flag to jump back if the counter register is not reached zero.
+   zero flag to jump back if the counter register has not reached zero.
 
    Motivation: although CPUs can set a large number of flags, usually their
    values are ignored or only one of them is used. Emulating a large number
    of flags on systems without flag register is complicated so SLJIT
    instructions must specify the flag they want to use and only that flag
    will be emulated. The last arithmetic instruction can be repeated if
-   multiple flags needs to be checked.
+   multiple flags need to be checked.
 */
 
 /* Set Zero status flag. */
@@ -884,7 +884,7 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_op0(struct sljit_compiler *compile
 /* Starting index of opcodes for sljit_emit_op1. */
 #define SLJIT_OP1_BASE			32
 
-/* The MOV instruction transfer data from source to destination.
+/* The MOV instruction transfers data from source to destination.
 
    MOV instruction suffixes:
 
@@ -1156,7 +1156,7 @@ SLJIT_API_FUNC_ATTRIBUTE struct sljit_label* sljit_emit_label(struct sljit_compi
 #define SLJIT_FAST_CALL			25
 	/* Called function must be declared with the SLJIT_FUNC attribute. */
 #define SLJIT_CALL			26
-	/* Called function must be decalred with cdecl attribute.
+	/* Called function must be declared with cdecl attribute.
 	   This is the default attribute for C functions. */
 #define SLJIT_CALL_CDECL		27
 
@@ -1210,7 +1210,7 @@ SLJIT_API_FUNC_ATTRIBUTE void sljit_set_label(struct sljit_jump *jump, struct sl
 /* Set the destination address of the jump to this label. */
 SLJIT_API_FUNC_ATTRIBUTE void sljit_set_target(struct sljit_jump *jump, sljit_uw target);
 
-/* Emit an indirect jump or fast call. Both direct and indirect form
+/* Emit an indirect jump or fast call.
    Direct form: set src to SLJIT_IMM() and srcw to the address
    Indirect form: any other valid addressing mode
     type must be between SLJIT_JUMP and SLJIT_FAST_CALL
@@ -1274,7 +1274,7 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_cmov(struct sljit_compiler *compil
 #define SLJIT_MEM_POST		0x1000
 
 /* Emit a single memory load or store with update instruction. When the
-   requested instruction from is not supported by the CPU, it returns
+   requested instruction form is not supported by the CPU, it returns
    with SLJIT_ERR_UNSUPPORTED instead of emulating the instruction. This
    allows specializing tight loops based on the supported instruction
    forms (see SLJIT_MEM_SUPP flag).
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeARM_64.c b/thirdparty/pcre2/src/sljit/sljitNativeARM_64.c
index 8a437bd6a0..27af741487 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeARM_64.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeARM_64.c
@@ -37,14 +37,14 @@ typedef sljit_u32 sljit_ins;
 #define TMP_REG1	(SLJIT_NUMBER_OF_REGISTERS + 2)
 #define TMP_REG2	(SLJIT_NUMBER_OF_REGISTERS + 3)
 #define TMP_LR		(SLJIT_NUMBER_OF_REGISTERS + 4)
-#define TMP_SP		(SLJIT_NUMBER_OF_REGISTERS + 5)
+#define TMP_FP		(SLJIT_NUMBER_OF_REGISTERS + 5)
 
 #define TMP_FREG1	(SLJIT_NUMBER_OF_FLOAT_REGISTERS + 1)
 #define TMP_FREG2	(SLJIT_NUMBER_OF_FLOAT_REGISTERS + 2)
 
 /* r18 - platform register, currently not used */
 static const sljit_u8 reg_map[SLJIT_NUMBER_OF_REGISTERS + 8] = {
-	31, 0, 1, 2, 3, 4, 5, 6, 7, 11, 12, 13, 14, 15, 16, 17, 8, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 29, 9, 10, 30, 31
+	31, 0, 1, 2, 3, 4, 5, 6, 7, 11, 12, 13, 14, 15, 16, 17, 8, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 31, 9, 10, 30, 29
 };
 
 static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
@@ -68,6 +68,7 @@ static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
 
 #define ADC 0x9a000000
 #define ADD 0x8b000000
+#define ADDE 0x8b200000
 #define ADDI 0x91000000
 #define AND 0x8a000000
 #define ANDI 0x92000000
@@ -96,7 +97,8 @@ static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
 #define FSUB 0x1e603800
 #define LDRI 0xf9400000
 #define LDP 0xa9400000
-#define LDP_PST 0xa8c00000
+#define LDP_PRE 0xa9c00000
+#define LDR_PRE 0xf8400c00
 #define LSLV 0x9ac02000
 #define LSRV 0x9ac02400
 #define MADD 0x9b000000
@@ -873,73 +875,51 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	CHECK(check_sljit_emit_enter(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size));
 	set_emit_enter(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size);
 
-	saved_regs_size = GET_SAVED_REGISTERS_SIZE(scratches, saveds, 0);
-	local_size += saved_regs_size + SLJIT_LOCALS_OFFSET;
+	saved_regs_size = GET_SAVED_REGISTERS_SIZE(scratches, saveds, 2);
+	if (saved_regs_size & 0x8)
+		saved_regs_size += sizeof(sljit_sw);
+
 	local_size = (local_size + 15) & ~0xf;
-	compiler->local_size = local_size;
-
-	if (local_size <= (63 * sizeof(sljit_sw))) {
-		FAIL_IF(push_inst(compiler, STP_PRE | 29 | RT2(TMP_LR)
-			| RN(TMP_SP) | ((-(local_size >> 3) & 0x7f) << 15)));
-		FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(TMP_SP) | (0 << 10)));
-		offs = (local_size - saved_regs_size) << (15 - 3);
-	} else {
-		offs = 0 << 15;
-		if (saved_regs_size & 0x8) {
-			offs = 1 << 15;
-			saved_regs_size += sizeof(sljit_sw);
-		}
-		local_size -= saved_regs_size + SLJIT_LOCALS_OFFSET;
-		if (saved_regs_size > 0)
-			FAIL_IF(push_inst(compiler, SUBI | RD(TMP_SP) | RN(TMP_SP) | (saved_regs_size << 10)));
-	}
+	compiler->local_size = local_size + saved_regs_size;
+
+	FAIL_IF(push_inst(compiler, STP_PRE | RT(TMP_FP) | RT2(TMP_LR)
+		| RN(SLJIT_SP) | ((-(saved_regs_size >> 3) & 0x7f) << 15)));
+
+#ifdef _WIN32
+	if (local_size >= 4096)
+		FAIL_IF(push_inst(compiler, SUBI | RD(TMP_REG1) | RN(SLJIT_SP) | (1 << 10) | (1 << 22)));
+	else if (local_size > 256)
+		FAIL_IF(push_inst(compiler, SUBI | RD(TMP_REG1) | RN(SLJIT_SP) | (local_size << 10)));
+#endif
 
 	tmp = saveds < SLJIT_NUMBER_OF_SAVED_REGISTERS ? (SLJIT_S0 + 1 - saveds) : SLJIT_FIRST_SAVED_REG;
 	prev = -1;
+	offs = 2 << 15;
 	for (i = SLJIT_S0; i >= tmp; i--) {
 		if (prev == -1) {
-			if (!(offs & (1 << 15))) {
-				prev = i;
-				continue;
-			}
-			FAIL_IF(push_inst(compiler, STRI | RT(i) | RN(TMP_SP) | (offs >> 5)));
-			offs += 1 << 15;
+			prev = i;
 			continue;
 		}
-		FAIL_IF(push_inst(compiler, STP | RT(prev) | RT2(i) | RN(TMP_SP) | offs));
+		FAIL_IF(push_inst(compiler, STP | RT(prev) | RT2(i) | RN(SLJIT_SP) | offs));
 		offs += 2 << 15;
 		prev = -1;
 	}
 
 	for (i = scratches; i >= SLJIT_FIRST_SAVED_REG; i--) {
 		if (prev == -1) {
-			if (!(offs & (1 << 15))) {
-				prev = i;
-				continue;
-			}
-			FAIL_IF(push_inst(compiler, STRI | RT(i) | RN(TMP_SP) | (offs >> 5)));
-			offs += 1 << 15;
+			prev = i;
 			continue;
 		}
-		FAIL_IF(push_inst(compiler, STP | RT(prev) | RT2(i) | RN(TMP_SP) | offs));
+		FAIL_IF(push_inst(compiler, STP | RT(prev) | RT2(i) | RN(SLJIT_SP) | offs));
 		offs += 2 << 15;
 		prev = -1;
 	}
 
-	SLJIT_ASSERT(prev == -1);
+	if (prev != -1)
+		FAIL_IF(push_inst(compiler, STRI | RT(prev) | RN(SLJIT_SP) | (offs >> 5)));
 
-	if (compiler->local_size > (63 * sizeof(sljit_sw))) {
-		/* The local_size is already adjusted by the saved registers. */
-		if (local_size > 0xfff) {
-			FAIL_IF(push_inst(compiler, SUBI | RD(TMP_SP) | RN(TMP_SP) | ((local_size >> 12) << 10) | (1 << 22)));
-			local_size &= 0xfff;
-		}
-		if (local_size)
-			FAIL_IF(push_inst(compiler, SUBI | RD(TMP_SP) | RN(TMP_SP) | (local_size << 10)));
-		FAIL_IF(push_inst(compiler, STP_PRE | 29 | RT2(TMP_LR)
-			| RN(TMP_SP) | ((-(16 >> 3) & 0x7f) << 15)));
-		FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(TMP_SP) | (0 << 10)));
-	}
+
+	FAIL_IF(push_inst(compiler, ADDI | RD(TMP_FP) | RN(SLJIT_SP) | (0 << 10)));
 
 	args = get_arg_count(arg_types);
 
@@ -950,6 +930,64 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	if (args >= 3)
 		FAIL_IF(push_inst(compiler, ORR | RD(SLJIT_S2) | RN(TMP_ZERO) | RM(SLJIT_R2)));
 
+#ifdef _WIN32
+	if (local_size >= 4096) {
+		if (local_size < 4 * 4096) {
+			/* No need for a loop. */
+			if (local_size >= 2 * 4096) {
+				FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+				FAIL_IF(push_inst(compiler, SUBI | RD(TMP_REG1) | RN(TMP_REG1) | (1 << 10) | (1 << 22)));
+				local_size -= 4096;
+			}
+
+			if (local_size >= 2 * 4096) {
+				FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+				FAIL_IF(push_inst(compiler, SUBI | RD(TMP_REG1) | RN(TMP_REG1) | (1 << 10) | (1 << 22)));
+				local_size -= 4096;
+			}
+
+			FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+			local_size -= 4096;
+		}
+		else {
+			FAIL_IF(push_inst(compiler, MOVZ | RD(TMP_REG2) | (((local_size >> 12) - 1) << 5)));
+			FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+			FAIL_IF(push_inst(compiler, SUBI | RD(TMP_REG1) | RN(TMP_REG1) | (1 << 10) | (1 << 22)));
+			FAIL_IF(push_inst(compiler, SUBI | (1 << 29) | RD(TMP_REG2) | RN(TMP_REG2) | (1 << 10)));
+			FAIL_IF(push_inst(compiler, B_CC | ((((sljit_ins) -3) & 0x7ffff) << 5) | 0x1 /* not-equal */));
+			FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+
+			local_size &= 0xfff;
+		}
+
+		if (local_size > 256) {
+			FAIL_IF(push_inst(compiler, SUBI | RD(TMP_REG1) | RN(TMP_REG1) | (local_size << 10)));
+			FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+		}
+		else if (local_size > 0)
+			FAIL_IF(push_inst(compiler, LDR_PRE | RT(TMP_ZERO) | RN(TMP_REG1) | ((-local_size & 0x1ff) << 12)));
+
+		FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(TMP_REG1) | (0 << 10)));
+	}
+	else if (local_size > 256) {
+		FAIL_IF(push_inst(compiler, LDRI | RT(TMP_ZERO) | RN(TMP_REG1)));
+		FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(TMP_REG1) | (0 << 10)));
+	}
+	else if (local_size > 0)
+		FAIL_IF(push_inst(compiler, LDR_PRE | RT(TMP_ZERO) | RN(SLJIT_SP) | ((-local_size & 0x1ff) << 12)));
+
+#else /* !_WIN32 */
+
+	/* The local_size does not include saved registers size. */
+	if (local_size > 0xfff) {
+		FAIL_IF(push_inst(compiler, SUBI | RD(SLJIT_SP) | RN(SLJIT_SP) | ((local_size >> 12) << 10) | (1 << 22)));
+		local_size &= 0xfff;
+	}
+	if (local_size != 0)
+		FAIL_IF(push_inst(compiler, SUBI | RD(SLJIT_SP) | RN(SLJIT_SP) | (local_size << 10)));
+
+#endif /* _WIN32 */
+
 	return SLJIT_SUCCESS;
 }
 
@@ -957,13 +995,17 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_set_context(struct sljit_compiler *comp
 	sljit_s32 options, sljit_s32 arg_types, sljit_s32 scratches, sljit_s32 saveds,
 	sljit_s32 fscratches, sljit_s32 fsaveds, sljit_s32 local_size)
 {
+	sljit_s32 saved_regs_size;
+
 	CHECK_ERROR();
 	CHECK(check_sljit_set_context(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size));
 	set_set_context(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size);
 
-	local_size += GET_SAVED_REGISTERS_SIZE(scratches, saveds, 0) + SLJIT_LOCALS_OFFSET;
-	local_size = (local_size + 15) & ~0xf;
-	compiler->local_size = local_size;
+	saved_regs_size = GET_SAVED_REGISTERS_SIZE(scratches, saveds, 2);
+	if (saved_regs_size & 0x8)
+		saved_regs_size += sizeof(sljit_sw);
+
+	compiler->local_size = saved_regs_size + ((local_size + 15) & ~0xf);
 	return SLJIT_SUCCESS;
 }
 
@@ -977,71 +1019,59 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_return(struct sljit_compiler *comp
 
 	FAIL_IF(emit_mov_before_return(compiler, op, src, srcw));
 
-	local_size = compiler->local_size;
+	saved_regs_size = GET_SAVED_REGISTERS_SIZE(compiler->scratches, compiler->saveds, 2);
+	if (saved_regs_size & 0x8)
+		saved_regs_size += sizeof(sljit_sw);
 
-	saved_regs_size = GET_SAVED_REGISTERS_SIZE(compiler->scratches, compiler->saveds, 0);
-	if (local_size <= (63 * sizeof(sljit_sw)))
-		offs = (local_size - saved_regs_size) << (15 - 3);
+	local_size = compiler->local_size - saved_regs_size;
+
+	/* Load LR as early as possible. */
+	if (local_size == 0)
+		FAIL_IF(push_inst(compiler, LDP | RT(TMP_FP) | RT2(TMP_LR) | RN(SLJIT_SP)));
+	else if (local_size < 63 * sizeof(sljit_sw)) {
+		FAIL_IF(push_inst(compiler, LDP_PRE | RT(TMP_FP) | RT2(TMP_LR)
+			| RN(SLJIT_SP) | (local_size << (15 - 3))));
+	}
 	else {
-		FAIL_IF(push_inst(compiler, LDP_PST | 29 | RT2(TMP_LR)
-			| RN(TMP_SP) | (((16 >> 3) & 0x7f) << 15)));
-		offs = 0 << 15;
-		if (saved_regs_size & 0x8) {
-			offs = 1 << 15;
-			saved_regs_size += sizeof(sljit_sw);
-		}
-		local_size -= saved_regs_size + SLJIT_LOCALS_OFFSET;
 		if (local_size > 0xfff) {
-			FAIL_IF(push_inst(compiler, ADDI | RD(TMP_SP) | RN(TMP_SP) | ((local_size >> 12) << 10) | (1 << 22)));
+			FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(SLJIT_SP) | ((local_size >> 12) << 10) | (1 << 22)));
 			local_size &= 0xfff;
 		}
 		if (local_size)
-			FAIL_IF(push_inst(compiler, ADDI | RD(TMP_SP) | RN(TMP_SP) | (local_size << 10)));
+			FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(SLJIT_SP) | (local_size << 10)));
+
+		FAIL_IF(push_inst(compiler, LDP | RT(TMP_FP) | RT2(TMP_LR) | RN(SLJIT_SP)));
 	}
 
 	tmp = compiler->saveds < SLJIT_NUMBER_OF_SAVED_REGISTERS ? (SLJIT_S0 + 1 - compiler->saveds) : SLJIT_FIRST_SAVED_REG;
 	prev = -1;
+	offs = 2 << 15;
 	for (i = SLJIT_S0; i >= tmp; i--) {
 		if (prev == -1) {
-			if (!(offs & (1 << 15))) {
-				prev = i;
-				continue;
-			}
-			FAIL_IF(push_inst(compiler, LDRI | RT(i) | RN(TMP_SP) | (offs >> 5)));
-			offs += 1 << 15;
+			prev = i;
 			continue;
 		}
-		FAIL_IF(push_inst(compiler, LDP | RT(prev) | RT2(i) | RN(TMP_SP) | offs));
+		FAIL_IF(push_inst(compiler, LDP | RT(prev) | RT2(i) | RN(SLJIT_SP) | offs));
 		offs += 2 << 15;
 		prev = -1;
 	}
 
 	for (i = compiler->scratches; i >= SLJIT_FIRST_SAVED_REG; i--) {
 		if (prev == -1) {
-			if (!(offs & (1 << 15))) {
-				prev = i;
-				continue;
-			}
-			FAIL_IF(push_inst(compiler, LDRI | RT(i) | RN(TMP_SP) | (offs >> 5)));
-			offs += 1 << 15;
+			prev = i;
 			continue;
 		}
-		FAIL_IF(push_inst(compiler, LDP | RT(prev) | RT2(i) | RN(TMP_SP) | offs));
+		FAIL_IF(push_inst(compiler, LDP | RT(prev) | RT2(i) | RN(SLJIT_SP) | offs));
 		offs += 2 << 15;
 		prev = -1;
 	}
 
-	SLJIT_ASSERT(prev == -1);
+	if (prev != -1)
+		FAIL_IF(push_inst(compiler, LDRI | RT(prev) | RN(SLJIT_SP) | (offs >> 5)));
 
-	if (compiler->local_size <= (63 * sizeof(sljit_sw))) {
-		FAIL_IF(push_inst(compiler, LDP_PST | 29 | RT2(TMP_LR)
-			| RN(TMP_SP) | (((local_size >> 3) & 0x7f) << 15)));
-	} else if (saved_regs_size > 0) {
-		FAIL_IF(push_inst(compiler, ADDI | RD(TMP_SP) | RN(TMP_SP) | (saved_regs_size << 10)));
-	}
-
-	FAIL_IF(push_inst(compiler, RET | RN(TMP_LR)));
-	return SLJIT_SUCCESS;
+	/* These two can be executed in parallel. */
+	FAIL_IF(push_inst(compiler, ADDI | RD(SLJIT_SP) | RN(SLJIT_SP) | (saved_regs_size << 10)));
+	return push_inst(compiler, RET | RN(TMP_LR));
 }
 
 /* --------------------------------------------------------------------- */
@@ -1856,6 +1886,46 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_fmem(struct sljit_compiler *compil
 	return push_inst(compiler, inst | VT(freg) | RN(mem & REG_MASK) | ((memw & 0x1ff) << 12));
 }
 
+SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_get_local_base(struct sljit_compiler *compiler, sljit_s32 dst, sljit_sw dstw, sljit_sw offset)
+{
+	sljit_s32 dst_reg;
+	sljit_ins ins;
+
+	CHECK_ERROR();
+	CHECK(check_sljit_get_local_base(compiler, dst, dstw, offset));
+
+	SLJIT_ASSERT (SLJIT_LOCALS_OFFSET_BASE == 0);
+
+	dst_reg = FAST_IS_REG(dst) ? dst : TMP_REG1;
+
+	if (offset <= 0xffffff && offset >= -0xffffff) {
+		ins = ADDI;
+		if (offset < 0) {
+			offset = -offset;
+			ins = SUBI;
+		}
+
+		if (offset <= 0xfff)
+			FAIL_IF(push_inst(compiler, ins | RD(dst_reg) | RN(SLJIT_SP) | (offset << 10)));
+		else {
+			FAIL_IF(push_inst(compiler, ins | RD(dst_reg) | RN(SLJIT_SP) | ((offset & 0xfff000) >> (12 - 10)) | (1 << 22)));
+
+			offset &= 0xfff;
+			if (offset != 0)
+				FAIL_IF(push_inst(compiler, ins | RD(dst_reg) | RN(dst_reg) | (offset << 10)));
+		}
+	}
+	else {
+		FAIL_IF(load_immediate (compiler, dst_reg, offset));
+		/* Add extended register form. */
+		FAIL_IF(push_inst(compiler, ADDE | (0x3 << 13) | RD(dst_reg) | RN(SLJIT_SP) | RM(dst_reg)));
+	}
+
+	if (SLJIT_UNLIKELY(dst & SLJIT_MEM))
+		return emit_op_mem(compiler, WORD_SIZE | STORE, dst_reg, dst, dstw, TMP_REG1);
+	return SLJIT_SUCCESS;
+}
+
 SLJIT_API_FUNC_ATTRIBUTE struct sljit_const* sljit_emit_const(struct sljit_compiler *compiler, sljit_s32 dst, sljit_sw dstw, sljit_sw init_value)
 {
 	struct sljit_const *const_;
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeARM_T2_32.c b/thirdparty/pcre2/src/sljit/sljitNativeARM_T2_32.c
index 75e7a38b5f..d7024b6d7d 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeARM_T2_32.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeARM_T2_32.c
@@ -110,6 +110,7 @@ static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
 #define ASRSI		0x1000
 #define ASR_W		0xfa40f000
 #define ASR_WI		0xea4f0020
+#define BCC		0xd000
 #define BICI		0xf0200000
 #define BKPT		0xbe00
 #define BLX		0x4780
@@ -125,6 +126,7 @@ static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
 #define EORS		0x4040
 #define EOR_W		0xea800000
 #define IT		0xbf00
+#define LDRI		0xf8500800
 #define LSLS		0x4080
 #define LSLSI		0x0000
 #define LSL_W		0xfa00f000
@@ -158,6 +160,7 @@ static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
 #define SBCI		0xf1600000
 #define SBCS		0x4180
 #define SBC_W		0xeb600000
+#define SDIV		0xfb90f0f0
 #define SMULL		0xfb800000
 #define STR_SP		0x9000
 #define SUBS		0x1a00
@@ -172,6 +175,7 @@ static const sljit_u8 freg_map[SLJIT_NUMBER_OF_FLOAT_REGISTERS + 3] = {
 #define SXTH		0xb200
 #define SXTH_W		0xfa0ff080
 #define TST		0x4200
+#define UDIV		0xfbb0f0f0
 #define UMULL		0xfba00000
 #define UXTB		0xb2c0
 #define UXTB_W		0xfa5ff080
@@ -339,8 +343,8 @@ static SLJIT_INLINE void set_jump_instruction(struct sljit_jump *jump, sljit_sw
 
 	/* Really complex instruction form for branches. */
 	s = (diff >> 23) & 0x1;
-	j1 = (~(diff >> 21) ^ s) & 0x1;
-	j2 = (~(diff >> 22) ^ s) & 0x1;
+	j1 = (~(diff >> 22) ^ s) & 0x1;
+	j2 = (~(diff >> 21) ^ s) & 0x1;
 	jump_inst[0] = 0xf000 | (s << 10) | COPY_BITS(diff, 11, 0, 10);
 	jump_inst[1] = (j1 << 13) | (j2 << 11) | (diff & 0x7ff);
 
@@ -520,6 +524,8 @@ static sljit_s32 load_immediate(struct sljit_compiler *compiler, sljit_s32 dst,
 {
 	sljit_uw tmp;
 
+	/* MOVS cannot be used since it destroy flags. */
+
 	if (imm >= 0x10000) {
 		tmp = get_imm(imm);
 		if (tmp != INVALID_IMM)
@@ -1032,6 +1038,9 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 {
 	sljit_s32 args, size, i, tmp;
 	sljit_ins push = 0;
+#ifdef _WIN32
+	sljit_uw imm;
+#endif
 
 	CHECK_ERROR();
 	CHECK(check_sljit_emit_enter(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size));
@@ -1052,12 +1061,25 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	size = GET_SAVED_REGISTERS_SIZE(scratches, saveds, 1);
 	local_size = ((size + local_size + 7) & ~7) - size;
 	compiler->local_size = local_size;
+
+#ifdef _WIN32
+	if (local_size >= 256) {
+		if (local_size > 4096)
+			imm = get_imm(4096);
+		else
+			imm = get_imm(local_size & ~0xff);
+
+		SLJIT_ASSERT(imm != INVALID_IMM);
+		FAIL_IF(push_inst32(compiler, SUB_WI | RD4(TMP_REG1) | RN4(SLJIT_SP) | imm));
+	}
+#else
 	if (local_size > 0) {
 		if (local_size <= (127 << 2))
 			FAIL_IF(push_inst16(compiler, SUB_SP | (local_size >> 2)));
 		else
 			FAIL_IF(emit_op_imm(compiler, SLJIT_SUB | ARG2_IMM, SLJIT_SP, SLJIT_SP, local_size));
 	}
+#endif
 
 	args = get_arg_count(arg_types);
 
@@ -1068,6 +1090,61 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	if (args >= 3)
 		FAIL_IF(push_inst16(compiler, MOV | SET_REGS44(SLJIT_S2, SLJIT_R2)));
 
+#ifdef _WIN32
+	if (local_size >= 256) {
+		if (local_size > 4096) {
+			imm = get_imm(4096);
+			SLJIT_ASSERT(imm != INVALID_IMM);
+
+			if (local_size < 4 * 4096) {
+				if (local_size > 2 * 4096) {
+					FAIL_IF(push_inst32(compiler, LDRI | 0x400 | RT4(TMP_REG2) | RN4(TMP_REG1)));
+					FAIL_IF(push_inst32(compiler, SUB_WI | RD4(TMP_REG1) | RN4(TMP_REG1) | imm));
+					local_size -= 4096;
+				}
+
+				if (local_size > 2 * 4096) {
+					FAIL_IF(push_inst32(compiler, LDRI | 0x400 | RT4(TMP_REG2) | RN4(TMP_REG1)));
+					FAIL_IF(push_inst32(compiler, SUB_WI | RD4(TMP_REG1) | RN4(TMP_REG1) | imm));
+					local_size -= 4096;
+				}
+
+				FAIL_IF(push_inst32(compiler, LDRI | 0x400 | RT4(TMP_REG2) | RN4(TMP_REG1)));
+				local_size -= 4096;
+
+				SLJIT_ASSERT(local_size > 0);
+			}
+			else {
+				FAIL_IF(load_immediate(compiler, SLJIT_R3, (local_size >> 12) - 1));
+				FAIL_IF(push_inst32(compiler, LDRI | 0x400 | RT4(TMP_REG2) | RN4(TMP_REG1)));
+				FAIL_IF(push_inst32(compiler, SUB_WI | RD4(TMP_REG1) | RN4(TMP_REG1) | imm));
+				SLJIT_ASSERT(reg_map[SLJIT_R3] < 7);
+				FAIL_IF(push_inst16(compiler, SUBSI8 | RDN3(SLJIT_R3) | 1));
+				FAIL_IF(push_inst16(compiler, BCC | (0x1 << 8) /* not-equal */ | (-7 & 0xff)));
+
+				local_size &= 0xfff;
+
+				if (local_size != 0)
+					FAIL_IF(push_inst32(compiler, LDRI | 0x400 | RT4(TMP_REG2) | RN4(TMP_REG1)));
+			}
+
+			if (local_size >= 256) {
+				imm = get_imm(local_size & ~0xff);
+				SLJIT_ASSERT(imm != INVALID_IMM);
+
+				FAIL_IF(push_inst32(compiler, SUB_WI | RD4(TMP_REG1) | RN4(TMP_REG1) | imm));
+			}
+		}
+
+		local_size &= 0xff;
+		FAIL_IF(push_inst32(compiler, LDRI | 0x400 | (local_size > 0 ? 0x100 : 0) | RT4(TMP_REG2) | RN4(TMP_REG1) | local_size));
+
+		FAIL_IF(push_inst16(compiler, MOV | SET_REGS44(SLJIT_SP, TMP_REG1)));
+	}
+	else if (local_size > 0)
+		FAIL_IF(push_inst32(compiler, LDRI | 0x500 | RT4(TMP_REG1) | RN4(SLJIT_SP) | local_size));
+#endif
+
 	return SLJIT_SUCCESS;
 }
 
@@ -1119,11 +1196,16 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_return(struct sljit_compiler *comp
 /*  Operators                                                            */
 /* --------------------------------------------------------------------- */
 
+#if !(defined __ARM_FEATURE_IDIV) && !(defined __ARM_ARCH_EXT_IDIV__)
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#if defined(__GNUC__)
+#ifdef _WIN32
+extern unsigned long long __rt_udiv(unsigned int denominator, unsigned int numerator);
+extern long long __rt_sdiv(int denominator, int numerator);
+#elif defined(__GNUC__)
 extern unsigned int __aeabi_uidivmod(unsigned int numerator, int unsigned denominator);
 extern int __aeabi_idivmod(int numerator, int denominator);
 #else
@@ -1134,10 +1216,14 @@ extern int __aeabi_idivmod(int numerator, int denominator);
 }
 #endif
 
+#endif /* !__ARM_FEATURE_IDIV && !__ARM_ARCH_EXT_IDIV__ */
+
 SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_op0(struct sljit_compiler *compiler, sljit_s32 op)
 {
+#if !(defined __ARM_FEATURE_IDIV) && !(defined __ARM_ARCH_EXT_IDIV__)
 	sljit_sw saved_reg_list[3];
 	sljit_sw saved_reg_count;
+#endif
 
 	CHECK_ERROR();
 	CHECK(check_sljit_emit_op0(compiler, op));
@@ -1155,6 +1241,17 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_op0(struct sljit_compiler *compile
 			| (reg_map[SLJIT_R0] << 12)
 			| (reg_map[SLJIT_R0] << 16)
 			| reg_map[SLJIT_R1]);
+#if (defined __ARM_FEATURE_IDIV) || (defined __ARM_ARCH_EXT_IDIV__)
+	case SLJIT_DIVMOD_UW:
+	case SLJIT_DIVMOD_SW:
+		FAIL_IF(push_inst16(compiler, MOV | SET_REGS44(TMP_REG1, SLJIT_R0)));
+		FAIL_IF(push_inst32(compiler, (op == SLJIT_DIVMOD_UW ? UDIV : SDIV) | RD4(SLJIT_R0) | RN4(SLJIT_R0) | RM4(SLJIT_R1)));
+		FAIL_IF(push_inst32(compiler, MUL | RD4(SLJIT_R1) | RN4(SLJIT_R0) | RM4(SLJIT_R1)));
+		return push_inst32(compiler, SUB_W | RD4(SLJIT_R1) | RN4(TMP_REG1) | RM4(SLJIT_R1));
+	case SLJIT_DIV_UW:
+	case SLJIT_DIV_SW:
+		return push_inst32(compiler, (op == SLJIT_DIV_UW ? UDIV : SDIV) | RD4(SLJIT_R0) | RN4(SLJIT_R0) | RM4(SLJIT_R1));
+#else /* !__ARM_FEATURE_IDIV && !__ARM_ARCH_EXT_IDIV__ */
 	case SLJIT_DIVMOD_UW:
 	case SLJIT_DIVMOD_SW:
 	case SLJIT_DIV_UW:
@@ -1183,7 +1280,13 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_op0(struct sljit_compiler *compile
 			}
 		}
 
-#if defined(__GNUC__)
+#ifdef _WIN32
+		FAIL_IF(push_inst16(compiler, MOV | SET_REGS44(TMP_REG1, SLJIT_R0)));
+		FAIL_IF(push_inst16(compiler, MOV | SET_REGS44(SLJIT_R0, SLJIT_R1)));
+		FAIL_IF(push_inst16(compiler, MOV | SET_REGS44(SLJIT_R1, TMP_REG1)));
+		FAIL_IF(sljit_emit_ijump(compiler, SLJIT_FAST_CALL, SLJIT_IMM,
+			((op | 0x2) == SLJIT_DIV_UW ? SLJIT_FUNC_OFFSET(__rt_udiv) : SLJIT_FUNC_OFFSET(__rt_sdiv))));
+#elif defined(__GNUC__)
 		FAIL_IF(sljit_emit_ijump(compiler, SLJIT_FAST_CALL, SLJIT_IMM,
 			((op | 0x2) == SLJIT_DIV_UW ? SLJIT_FUNC_OFFSET(__aeabi_uidivmod) : SLJIT_FUNC_OFFSET(__aeabi_idivmod))));
 #else
@@ -1203,6 +1306,7 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_op0(struct sljit_compiler *compile
 						| (saved_reg_list[0] << 12) /* ldr rX, [sp], #8/16 */);
 		}
 		return SLJIT_SUCCESS;
+#endif /* __ARM_FEATURE_IDIV || __ARM_ARCH_EXT_IDIV__ */
 	}
 
 	return SLJIT_SUCCESS;
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeMIPS_32.c b/thirdparty/pcre2/src/sljit/sljitNativeMIPS_32.c
index 9f9e157a05..094c9923bc 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeMIPS_32.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeMIPS_32.c
@@ -448,7 +448,7 @@ static sljit_s32 call_with_args(struct sljit_compiler *compiler, sljit_s32 arg_t
 	sljit_ins ins = NOP;
 	sljit_u8 offsets[4];
 
-	SLJIT_ASSERT(reg_map[TMP_REG3] == 4 && freg_map[TMP_FREG1] == 12);
+	SLJIT_ASSERT(reg_map[TMP_REG1] == 4 && freg_map[TMP_FREG1] == 12);
 
 	arg_types >>= SLJIT_DEF_SHIFT;
 
@@ -516,7 +516,7 @@ static sljit_s32 call_with_args(struct sljit_compiler *compiler, sljit_s32 arg_t
 			else if (arg_count != word_arg_count)
 				ins = ADDU | S(word_arg_count) | TA(0) | DA(4 + (offsets[arg_count - 1] >> 2));
 			else if (arg_count == 1)
-				ins = ADDU | S(SLJIT_R0) | TA(0) | D(TMP_REG3);
+				ins = ADDU | S(SLJIT_R0) | TA(0) | DA(4);
 
 			arg_count--;
 			word_arg_count--;
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeMIPS_64.c b/thirdparty/pcre2/src/sljit/sljitNativeMIPS_64.c
index ff6f048659..f841aef5dd 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeMIPS_64.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeMIPS_64.c
@@ -547,7 +547,7 @@ static sljit_s32 call_with_args(struct sljit_compiler *compiler, sljit_s32 arg_t
 	sljit_ins prev_ins = NOP;
 	sljit_ins ins = NOP;
 
-	SLJIT_ASSERT(reg_map[TMP_REG3] == 4 && freg_map[TMP_FREG1] == 12);
+	SLJIT_ASSERT(reg_map[TMP_REG1] == 4 && freg_map[TMP_FREG1] == 12);
 
 	arg_types >>= SLJIT_DEF_SHIFT;
 
@@ -591,7 +591,7 @@ static sljit_s32 call_with_args(struct sljit_compiler *compiler, sljit_s32 arg_t
 			if (arg_count != word_arg_count)
 				ins = DADDU | S(word_arg_count) | TA(0) | D(arg_count);
 			else if (arg_count == 1)
-				ins = DADDU | S(SLJIT_R0) | TA(0) | D(TMP_REG3);
+				ins = DADDU | S(SLJIT_R0) | TA(0) | DA(4);
 			arg_count--;
 			word_arg_count--;
 			break;
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeMIPS_common.c b/thirdparty/pcre2/src/sljit/sljitNativeMIPS_common.c
index e108433f70..894e21304b 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeMIPS_common.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeMIPS_common.c
@@ -57,14 +57,14 @@ typedef sljit_u32 sljit_ins;
 #define RETURN_ADDR_REG	31
 
 /* Flags are kept in volatile registers. */
-#define EQUAL_FLAG	31
+#define EQUAL_FLAG	3
 #define OTHER_FLAG	1
 
 #define TMP_FREG1	(SLJIT_NUMBER_OF_FLOAT_REGISTERS + 1)
 #define TMP_FREG2	(SLJIT_NUMBER_OF_FLOAT_REGISTERS + 2)
 
 static const sljit_u8 reg_map[SLJIT_NUMBER_OF_REGISTERS + 5] = {
-	0, 2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 24, 23, 22, 21, 20, 19, 18, 17, 16, 29, 3, 25, 4
+	0, 2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 24, 23, 22, 21, 20, 19, 18, 17, 16, 29, 4, 25, 31
 };
 
 #if (defined SLJIT_CONFIG_MIPS_32 && SLJIT_CONFIG_MIPS_32)
@@ -612,16 +612,17 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 		/* Frequent case. */
 		FAIL_IF(push_inst(compiler, ADDIU_W | S(SLJIT_SP) | T(SLJIT_SP) | IMM(-local_size), DR(SLJIT_SP)));
 		base = S(SLJIT_SP);
+		offs = local_size - (sljit_sw)sizeof(sljit_sw);
 	}
 	else {
-		FAIL_IF(load_immediate(compiler, DR(TMP_REG1), local_size));
+		FAIL_IF(load_immediate(compiler, DR(OTHER_FLAG), local_size));
 		FAIL_IF(push_inst(compiler, ADDU_W | S(SLJIT_SP) | TA(0) | D(TMP_REG2), DR(TMP_REG2)));
-		FAIL_IF(push_inst(compiler, SUBU_W | S(SLJIT_SP) | T(TMP_REG1) | D(SLJIT_SP), DR(SLJIT_SP)));
+		FAIL_IF(push_inst(compiler, SUBU_W | S(SLJIT_SP) | T(OTHER_FLAG) | D(SLJIT_SP), DR(SLJIT_SP)));
 		base = S(TMP_REG2);
 		local_size = 0;
+		offs = -(sljit_sw)sizeof(sljit_sw);
 	}
 
-	offs = local_size - (sljit_sw)(sizeof(sljit_sw));
 	FAIL_IF(push_inst(compiler, STACK_STORE | base | TA(RETURN_ADDR_REG) | IMM(offs), MOVABLE_INS));
 
 	tmp = saveds < SLJIT_NUMBER_OF_SAVED_REGISTERS ? (SLJIT_S0 + 1 - saveds) : SLJIT_FIRST_SAVED_REG;
@@ -805,7 +806,8 @@ static sljit_s32 getput_arg(struct sljit_compiler *compiler, sljit_s32 flags, sl
 	if ((flags & MEM_MASK) <= GPR_REG && (flags & LOAD_DATA)) {
 		tmp_ar = reg_ar;
 		delay_slot = reg_ar;
-	} else {
+	}
+	else {
 		tmp_ar = DR(TMP_REG1);
 		delay_slot = MOVABLE_INS;
 	}
@@ -881,11 +883,39 @@ static sljit_s32 getput_arg(struct sljit_compiler *compiler, sljit_s32 flags, sl
 
 static SLJIT_INLINE sljit_s32 emit_op_mem(struct sljit_compiler *compiler, sljit_s32 flags, sljit_s32 reg_ar, sljit_s32 arg, sljit_sw argw)
 {
+	sljit_s32 tmp_ar, base, delay_slot;
+
 	if (getput_arg_fast(compiler, flags, reg_ar, arg, argw))
 		return compiler->error;
-	compiler->cache_arg = 0;
-	compiler->cache_argw = 0;
-	return getput_arg(compiler, flags, reg_ar, arg, argw, 0, 0);
+
+	if ((flags & MEM_MASK) <= GPR_REG && (flags & LOAD_DATA)) {
+		tmp_ar = reg_ar;
+		delay_slot = reg_ar;
+	}
+	else {
+		tmp_ar = DR(TMP_REG1);
+		delay_slot = MOVABLE_INS;
+	}
+	base = arg & REG_MASK;
+
+	if (SLJIT_UNLIKELY(arg & OFFS_REG_MASK)) {
+		argw &= 0x3;
+
+		if (SLJIT_UNLIKELY(argw)) {
+			FAIL_IF(push_inst(compiler, SLL_W | T(OFFS_REG(arg)) | DA(tmp_ar) | SH_IMM(argw), tmp_ar));
+			FAIL_IF(push_inst(compiler, ADDU_W | S(base) | TA(tmp_ar) | DA(tmp_ar), tmp_ar));
+		}
+		else
+			FAIL_IF(push_inst(compiler, ADDU_W | S(base) | T(OFFS_REG(arg)) | DA(tmp_ar), tmp_ar));
+		return push_inst(compiler, data_transfer_insts[flags & MEM_MASK] | SA(tmp_ar) | TA(reg_ar), delay_slot);
+	}
+
+	FAIL_IF(load_immediate(compiler, tmp_ar, argw));
+
+	if (base != 0)
+		FAIL_IF(push_inst(compiler, ADDU_W | S(base) | TA(tmp_ar) | DA(tmp_ar), tmp_ar));
+
+	return push_inst(compiler, data_transfer_insts[flags & MEM_MASK] | SA(tmp_ar) | TA(reg_ar), delay_slot);
 }
 
 static SLJIT_INLINE sljit_s32 emit_op_mem2(struct sljit_compiler *compiler, sljit_s32 flags, sljit_s32 reg, sljit_s32 arg1, sljit_sw arg1w, sljit_s32 arg2, sljit_sw arg2w)
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeX86_32.c b/thirdparty/pcre2/src/sljit/sljitNativeX86_32.c
index 8a83e273a4..074e64b9f2 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeX86_32.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeX86_32.c
@@ -123,34 +123,38 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 
 #if (defined SLJIT_X86_32_FASTCALL && SLJIT_X86_32_FASTCALL)
 	if (args > 0) {
-		*inst++ = MOV_r_rm;
-		*inst++ = MOD_REG | (reg_map[SLJIT_S0] << 3) | reg_map[SLJIT_R2];
+		inst[0] = MOV_r_rm;
+		inst[1] = MOD_REG | (reg_map[SLJIT_S0] << 3) | reg_map[SLJIT_R2];
+		inst += 2;
 	}
 	if (args > 1) {
-		*inst++ = MOV_r_rm;
-		*inst++ = MOD_REG | (reg_map[SLJIT_S1] << 3) | reg_map[SLJIT_R1];
+		inst[0] = MOV_r_rm;
+		inst[1] = MOD_REG | (reg_map[SLJIT_S1] << 3) | reg_map[SLJIT_R1];
+		inst += 2;
 	}
 	if (args > 2) {
-		*inst++ = MOV_r_rm;
-		*inst++ = MOD_DISP8 | (reg_map[SLJIT_S2] << 3) | 0x4 /* esp */;
-		*inst++ = 0x24;
-		*inst++ = sizeof(sljit_sw) * (3 + 2); /* saveds >= 3 as well. */
+		inst[0] = MOV_r_rm;
+		inst[1] = MOD_DISP8 | (reg_map[SLJIT_S2] << 3) | 0x4 /* esp */;
+		inst[2] = 0x24;
+		inst[3] = sizeof(sljit_sw) * (3 + 2); /* saveds >= 3 as well. */
 	}
 #else
 	if (args > 0) {
-		*inst++ = MOV_r_rm;
-		*inst++ = MOD_DISP8 | (reg_map[SLJIT_S0] << 3) | reg_map[TMP_REG1];
-		*inst++ = sizeof(sljit_sw) * 2;
+		inst[0] = MOV_r_rm;
+		inst[1] = MOD_DISP8 | (reg_map[SLJIT_S0] << 3) | reg_map[TMP_REG1];
+		inst[2] = sizeof(sljit_sw) * 2;
+		inst += 3;
 	}
 	if (args > 1) {
-		*inst++ = MOV_r_rm;
-		*inst++ = MOD_DISP8 | (reg_map[SLJIT_S1] << 3) | reg_map[TMP_REG1];
-		*inst++ = sizeof(sljit_sw) * 3;
+		inst[0] = MOV_r_rm;
+		inst[1] = MOD_DISP8 | (reg_map[SLJIT_S1] << 3) | reg_map[TMP_REG1];
+		inst[2] = sizeof(sljit_sw) * 3;
+		inst += 3;
 	}
 	if (args > 2) {
-		*inst++ = MOV_r_rm;
-		*inst++ = MOD_DISP8 | (reg_map[SLJIT_S2] << 3) | reg_map[TMP_REG1];
-		*inst++ = sizeof(sljit_sw) * 4;
+		inst[0] = MOV_r_rm;
+		inst[1] = MOD_DISP8 | (reg_map[SLJIT_S2] << 3) | reg_map[TMP_REG1];
+		inst[2] = sizeof(sljit_sw) * 4;
 	}
 #endif
 
@@ -170,17 +174,36 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	compiler->local_size = local_size;
 
 #ifdef _WIN32
-	if (local_size > 1024) {
-#if (defined SLJIT_X86_32_FASTCALL && SLJIT_X86_32_FASTCALL)
-		FAIL_IF(emit_do_imm(compiler, MOV_r_i32 + reg_map[SLJIT_R0], local_size));
-#else
-		/* Space for a single argument. This amount is excluded when the stack is allocated below. */
-		local_size -= sizeof(sljit_sw);
-		FAIL_IF(emit_do_imm(compiler, MOV_r_i32 + reg_map[SLJIT_R0], local_size));
-		FAIL_IF(emit_non_cum_binary(compiler, BINARY_OPCODE(SUB),
-			SLJIT_SP, 0, SLJIT_SP, 0, SLJIT_IMM, sizeof(sljit_sw)));
-#endif
-		FAIL_IF(sljit_emit_icall(compiler, SLJIT_CALL, SLJIT_ARG1(SW), SLJIT_IMM, SLJIT_FUNC_OFFSET(sljit_grow_stack)));
+	if (local_size > 0) {
+		if (local_size <= 4 * 4096) {
+			if (local_size > 4096)
+				EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -4096);
+			if (local_size > 2 * 4096)
+				EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -4096 * 2);
+			if (local_size > 3 * 4096)
+				EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -4096 * 3);
+		}
+		else {
+			EMIT_MOV(compiler, SLJIT_R0, 0, SLJIT_SP, 0);
+			EMIT_MOV(compiler, SLJIT_R1, 0, SLJIT_IMM, (local_size - 1) >> 12);
+
+			SLJIT_ASSERT (reg_map[SLJIT_R0] == 0);
+
+			EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_R0), -4096);
+			FAIL_IF(emit_non_cum_binary(compiler, BINARY_OPCODE(SUB),
+				SLJIT_R0, 0, SLJIT_R0, 0, SLJIT_IMM, 4096));
+			FAIL_IF(emit_non_cum_binary(compiler, BINARY_OPCODE(SUB),
+				SLJIT_R1, 0, SLJIT_R1, 0, SLJIT_IMM, 1));
+
+			inst = (sljit_u8*)ensure_buf(compiler, 1 + 2);
+			FAIL_IF(!inst);
+
+			INC_SIZE(2);
+			inst[0] = JNE_i8;
+			inst[1] = (sljit_s8) -16;
+		}
+
+		EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -local_size);
 	}
 #endif
 
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeX86_64.c b/thirdparty/pcre2/src/sljit/sljitNativeX86_64.c
index 635ebd087c..8506565614 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeX86_64.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeX86_64.c
@@ -83,6 +83,8 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	CHECK(check_sljit_emit_enter(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size));
 	set_emit_enter(compiler, options, arg_types, scratches, saveds, fscratches, fsaveds, local_size);
 
+	compiler->mode32 = 0;
+
 #ifdef _WIN64
 	/* Two/four register slots for parameters plus space for xmm6 register if needed. */
 	if (fscratches >= 6 || fsaveds >= 1)
@@ -126,35 +128,39 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 
 #ifndef _WIN64
 		if (args > 0) {
-			*inst++ = REX_W;
-			*inst++ = MOV_r_rm;
-			*inst++ = MOD_REG | (reg_map[SLJIT_S0] << 3) | 0x7 /* rdi */;
+			inst[0] = REX_W;
+			inst[1] = MOV_r_rm;
+			inst[2] = MOD_REG | (reg_map[SLJIT_S0] << 3) | 0x7 /* rdi */;
+			inst += 3;
 		}
 		if (args > 1) {
-			*inst++ = REX_W | REX_R;
-			*inst++ = MOV_r_rm;
-			*inst++ = MOD_REG | (reg_lmap[SLJIT_S1] << 3) | 0x6 /* rsi */;
+			inst[0] = REX_W | REX_R;
+			inst[1] = MOV_r_rm;
+			inst[2] = MOD_REG | (reg_lmap[SLJIT_S1] << 3) | 0x6 /* rsi */;
+			inst += 3;
 		}
 		if (args > 2) {
-			*inst++ = REX_W | REX_R;
-			*inst++ = MOV_r_rm;
-			*inst++ = MOD_REG | (reg_lmap[SLJIT_S2] << 3) | 0x2 /* rdx */;
+			inst[0] = REX_W | REX_R;
+			inst[1] = MOV_r_rm;
+			inst[2] = MOD_REG | (reg_lmap[SLJIT_S2] << 3) | 0x2 /* rdx */;
 		}
 #else
 		if (args > 0) {
-			*inst++ = REX_W;
-			*inst++ = MOV_r_rm;
-			*inst++ = MOD_REG | (reg_map[SLJIT_S0] << 3) | 0x1 /* rcx */;
+			inst[0] = REX_W;
+			inst[1] = MOV_r_rm;
+			inst[2] = MOD_REG | (reg_map[SLJIT_S0] << 3) | 0x1 /* rcx */;
+			inst += 3;
 		}
 		if (args > 1) {
-			*inst++ = REX_W;
-			*inst++ = MOV_r_rm;
-			*inst++ = MOD_REG | (reg_map[SLJIT_S1] << 3) | 0x2 /* rdx */;
+			inst[0] = REX_W;
+			inst[1] = MOV_r_rm;
+			inst[2] = MOD_REG | (reg_map[SLJIT_S1] << 3) | 0x2 /* rdx */;
+			inst += 3;
 		}
 		if (args > 2) {
-			*inst++ = REX_W | REX_B;
-			*inst++ = MOV_r_rm;
-			*inst++ = MOD_REG | (reg_map[SLJIT_S2] << 3) | 0x0 /* r8 */;
+			inst[0] = REX_W | REX_B;
+			inst[1] = MOV_r_rm;
+			inst[2] = MOD_REG | (reg_map[SLJIT_S2] << 3) | 0x0 /* r8 */;
 		}
 #endif
 	}
@@ -163,58 +169,42 @@ SLJIT_API_FUNC_ATTRIBUTE sljit_s32 sljit_emit_enter(struct sljit_compiler *compi
 	compiler->local_size = local_size;
 
 #ifdef _WIN64
-	if (local_size > 1024) {
-		/* Allocate stack for the callback, which grows the stack. */
-		inst = (sljit_u8*)ensure_buf(compiler, 1 + 4 + (3 + sizeof(sljit_s32)));
-		FAIL_IF(!inst);
-		INC_SIZE(4 + (3 + sizeof(sljit_s32)));
-		*inst++ = REX_W;
-		*inst++ = GROUP_BINARY_83;
-		*inst++ = MOD_REG | SUB | reg_map[SLJIT_SP];
-		/* Allocated size for registers must be divisible by 8. */
-		SLJIT_ASSERT(!(saved_register_size & 0x7));
-		/* Aligned to 16 byte. */
-		if (saved_register_size & 0x8) {
-			*inst++ = 5 * sizeof(sljit_sw);
-			local_size -= 5 * sizeof(sljit_sw);
-		} else {
-			*inst++ = 4 * sizeof(sljit_sw);
-			local_size -= 4 * sizeof(sljit_sw);
-		}
-		/* Second instruction */
-		SLJIT_ASSERT(reg_map[SLJIT_R0] < 8);
-		*inst++ = REX_W;
-		*inst++ = MOV_rm_i32;
-		*inst++ = MOD_REG | reg_lmap[SLJIT_R0];
-		sljit_unaligned_store_s32(inst, local_size);
-#if (defined SLJIT_VERBOSE && SLJIT_VERBOSE) \
-			|| (defined SLJIT_ARGUMENT_CHECKS && SLJIT_ARGUMENT_CHECKS)
-		compiler->skip_checks = 1;
-#endif
-		FAIL_IF(sljit_emit_icall(compiler, SLJIT_CALL, SLJIT_ARG1(SW), SLJIT_IMM, SLJIT_FUNC_OFFSET(sljit_grow_stack)));
-	}
-#endif
-
 	if (local_size > 0) {
-		if (local_size <= 127) {
-			inst = (sljit_u8*)ensure_buf(compiler, 1 + 4);
-			FAIL_IF(!inst);
-			INC_SIZE(4);
-			*inst++ = REX_W;
-			*inst++ = GROUP_BINARY_83;
-			*inst++ = MOD_REG | SUB | reg_map[SLJIT_SP];
-			*inst++ = local_size;
+		if (local_size <= 4 * 4096) {
+			if (local_size > 4096)
+				EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -4096);
+			if (local_size > 2 * 4096)
+				EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -4096 * 2);
+			if (local_size > 3 * 4096)
+				EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -4096 * 3);
 		}
 		else {
-			inst = (sljit_u8*)ensure_buf(compiler, 1 + 7);
+			EMIT_MOV(compiler, SLJIT_R0, 0, SLJIT_SP, 0);
+			EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_IMM, (local_size - 1) >> 12);
+
+			SLJIT_ASSERT (reg_map[SLJIT_R0] == 0);
+
+			EMIT_MOV(compiler, TMP_REG2, 0, SLJIT_MEM1(SLJIT_R0), -4096);
+			FAIL_IF(emit_non_cum_binary(compiler, BINARY_OPCODE(SUB),
+				SLJIT_R0, 0, SLJIT_R0, 0, SLJIT_IMM, 4096));
+			FAIL_IF(emit_non_cum_binary(compiler, BINARY_OPCODE(SUB),
+				TMP_REG1, 0, TMP_REG1, 0, SLJIT_IMM, 1));
+
+			inst = (sljit_u8*)ensure_buf(compiler, 1 + 2);
 			FAIL_IF(!inst);
-			INC_SIZE(7);
-			*inst++ = REX_W;
-			*inst++ = GROUP_BINARY_81;
-			*inst++ = MOD_REG | SUB | reg_map[SLJIT_SP];
-			sljit_unaligned_store_s32(inst, local_size);
-			inst += sizeof(sljit_s32);
+
+			INC_SIZE(2);
+			inst[0] = JNE_i8;
+			inst[1] = (sljit_s8) -19;
 		}
+
+		EMIT_MOV(compiler, TMP_REG1, 0, SLJIT_MEM1(SLJIT_SP), -local_size);
+	}
+#endif
+
+	if (local_size > 0) {
+		FAIL_IF(emit_non_cum_binary(compiler, BINARY_OPCODE(SUB),
+			SLJIT_SP, 0, SLJIT_SP, 0, SLJIT_IMM, local_size));
 	}
 
 #ifdef _WIN64
diff --git a/thirdparty/pcre2/src/sljit/sljitNativeX86_common.c b/thirdparty/pcre2/src/sljit/sljitNativeX86_common.c
index ab7b36adb2..6f02ee3e8b 100644
--- a/thirdparty/pcre2/src/sljit/sljitNativeX86_common.c
+++ b/thirdparty/pcre2/src/sljit/sljitNativeX86_common.c
@@ -669,23 +669,6 @@ static SLJIT_INLINE sljit_s32 emit_sse2_store(struct sljit_compiler *compiler,
 static SLJIT_INLINE sljit_s32 emit_sse2_load(struct sljit_compiler *compiler,
 	sljit_s32 single, sljit_s32 dst, sljit_s32 src, sljit_sw srcw);
 
-#ifdef _WIN32
-#include <malloc.h>
-
-static void SLJIT_FUNC sljit_grow_stack(sljit_sw local_size)
-{
-	/* Workaround for calling the internal _chkstk() function on Windows.
-	This function touches all 4k pages belongs to the requested stack space,
-	which size is passed in local_size. This is necessary on Windows where
-	the stack can only grow in 4k steps. However, this function just burn
-	CPU cycles if the stack is large enough. However, you don't know it in
-	advance, so it must always be called. I think this is a bad design in
-	general even if it has some reasons. */
-	*(volatile sljit_s32*)alloca(local_size) = 0;
-}
-
-#endif
-
 #if (defined SLJIT_CONFIG_X86_32 && SLJIT_CONFIG_X86_32)
 #include "sljitNativeX86_32.c"
 #else
diff --git a/thirdparty/pvrtccompressor/BitScale.h b/thirdparty/pvrtccompressor/BitScale.h
index 36613aeeee..3ea7962f55 100644
--- a/thirdparty/pvrtccompressor/BitScale.h
+++ b/thirdparty/pvrtccompressor/BitScale.h
@@ -2,7 +2,7 @@
 
 #pragma once
 
-#include "typedefs.h"
+#include "core/typedefs.h"
 
 //============================================================================
 
diff --git a/thirdparty/rtaudio/RtAudio.cpp b/thirdparty/rtaudio/RtAudio.cpp
deleted file mode 100644
index 04159776f7..0000000000
--- a/thirdparty/rtaudio/RtAudio.cpp
+++ /dev/null
@@ -1,10232 +0,0 @@
-#ifdef RTAUDIO_ENABLED // -GODOT-
-
-/************************************************************************/
-/*! \class RtAudio
-    \brief Realtime audio i/o C++ classes.
-
-    RtAudio provides a common API (Application Programming Interface)
-    for realtime audio input/output across Linux (native ALSA, Jack,
-    and OSS), Macintosh OS X (CoreAudio and Jack), and Windows
-    (DirectSound, ASIO and WASAPI) operating systems.
-
-    RtAudio WWW site: http://www.music.mcgill.ca/~gary/rtaudio/
-
-    RtAudio: realtime audio i/o C++ classes
-    Copyright (c) 2001-2016 Gary P. Scavone
-
-    Permission is hereby granted, free of charge, to any person
-    obtaining a copy of this software and associated documentation files
-    (the "Software"), to deal in the Software without restriction,
-    including without limitation the rights to use, copy, modify, merge,
-    publish, distribute, sublicense, and/or sell copies of the Software,
-    and to permit persons to whom the Software is furnished to do so,
-    subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be
-    included in all copies or substantial portions of the Software.
-
-    Any person wishing to distribute modifications to the Software is
-    asked to send the modifications to the original developer so that
-    they can be incorporated into the canonical version.  This is,
-    however, not a binding provision of this license.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-    MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-    IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR
-    ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
-    CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-    WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-/************************************************************************/
-
-// RtAudio: Version 4.1.2
-
-#include "RtAudio.h"
-#include <iostream>
-#include <cstdlib>
-#include <cstring>
-#include <climits>
-#include <algorithm>
-
-// Static variable definitions.
-const unsigned int RtApi::MAX_SAMPLE_RATES = 14;
-const unsigned int RtApi::SAMPLE_RATES[] = {
-  4000, 5512, 8000, 9600, 11025, 16000, 22050,
-  32000, 44100, 48000, 88200, 96000, 176400, 192000
-};
-
-#if defined(__WINDOWS_DS__) || defined(__WINDOWS_ASIO__) || defined(__WINDOWS_WASAPI__)
-  #define MUTEX_INITIALIZE(A) InitializeCriticalSection(A)
-  #define MUTEX_DESTROY(A)    DeleteCriticalSection(A)
-  #define MUTEX_LOCK(A)       EnterCriticalSection(A)
-  #define MUTEX_UNLOCK(A)     LeaveCriticalSection(A)
-
-  #include "tchar.h"
-
-  static std::string convertCharPointerToStdString(const char *text)
-  {
-    return std::string(text);
-  }
-
-  static std::string convertCharPointerToStdString(const wchar_t *text)
-  {
-    int length = WideCharToMultiByte(CP_UTF8, 0, text, -1, NULL, 0, NULL, NULL);
-    std::string s( length-1, '\0' );
-    WideCharToMultiByte(CP_UTF8, 0, text, -1, &s[0], length, NULL, NULL);
-    return s;
-  }
-
-#elif defined(__LINUX_ALSA__) || defined(__LINUX_PULSE__) || defined(__UNIX_JACK__) || defined(__LINUX_OSS__) || defined(__MACOSX_CORE__)
-  // pthread API
-  #define MUTEX_INITIALIZE(A) pthread_mutex_init(A, NULL)
-  #define MUTEX_DESTROY(A)    pthread_mutex_destroy(A)
-  #define MUTEX_LOCK(A)       pthread_mutex_lock(A)
-  #define MUTEX_UNLOCK(A)     pthread_mutex_unlock(A)
-#else
-  #define MUTEX_INITIALIZE(A) abs(*A) // dummy definitions
-  #define MUTEX_DESTROY(A)    abs(*A) // dummy definitions
-#endif
-
-// *************************************************** //
-//
-// RtAudio definitions.
-//
-// *************************************************** //
-
-std::string RtAudio :: getVersion( void ) throw()
-{
-  return RTAUDIO_VERSION;
-}
-
-void RtAudio :: getCompiledApi( std::vector<RtAudio::Api> &apis ) throw()
-{
-  apis.clear();
-
-  // The order here will control the order of RtAudio's API search in
-  // the constructor.
-#if defined(__UNIX_JACK__)
-  apis.push_back( UNIX_JACK );
-#endif
-#if defined(__LINUX_ALSA__)
-  apis.push_back( LINUX_ALSA );
-#endif
-#if defined(__LINUX_PULSE__)
-  apis.push_back( LINUX_PULSE );
-#endif
-#if defined(__LINUX_OSS__)
-  apis.push_back( LINUX_OSS );
-#endif
-#if defined(__WINDOWS_ASIO__)
-  apis.push_back( WINDOWS_ASIO );
-#endif
-#if defined(__WINDOWS_WASAPI__)
-  apis.push_back( WINDOWS_WASAPI );
-#endif
-#if defined(__WINDOWS_DS__)
-  apis.push_back( WINDOWS_DS );
-#endif
-#if defined(__MACOSX_CORE__)
-  apis.push_back( MACOSX_CORE );
-#endif
-#if defined(__RTAUDIO_DUMMY__)
-  apis.push_back( RTAUDIO_DUMMY );
-#endif
-}
-
-void RtAudio :: openRtApi( RtAudio::Api api )
-{
-  if ( rtapi_ )
-    delete rtapi_;
-  rtapi_ = 0;
-
-#if defined(__UNIX_JACK__)
-  if ( api == UNIX_JACK )
-    rtapi_ = new RtApiJack();
-#endif
-#if defined(__LINUX_ALSA__)
-  if ( api == LINUX_ALSA )
-    rtapi_ = new RtApiAlsa();
-#endif
-#if defined(__LINUX_PULSE__)
-  if ( api == LINUX_PULSE )
-    rtapi_ = new RtApiPulse();
-#endif
-#if defined(__LINUX_OSS__)
-  if ( api == LINUX_OSS )
-    rtapi_ = new RtApiOss();
-#endif
-#if defined(__WINDOWS_ASIO__)
-  if ( api == WINDOWS_ASIO )
-    rtapi_ = new RtApiAsio();
-#endif
-#if defined(__WINDOWS_WASAPI__)
-  if ( api == WINDOWS_WASAPI )
-    rtapi_ = new RtApiWasapi();
-#endif
-#if defined(__WINDOWS_DS__)
-  if ( api == WINDOWS_DS )
-    rtapi_ = new RtApiDs();
-#endif
-#if defined(__MACOSX_CORE__)
-  if ( api == MACOSX_CORE )
-    rtapi_ = new RtApiCore();
-#endif
-#if defined(__RTAUDIO_DUMMY__)
-  if ( api == RTAUDIO_DUMMY )
-    rtapi_ = new RtApiDummy();
-#endif
-}
-
-RtAudio :: RtAudio( RtAudio::Api api )
-{
-  rtapi_ = 0;
-
-  if ( api != UNSPECIFIED ) {
-    // Attempt to open the specified API.
-    openRtApi( api );
-    if ( rtapi_ ) return;
-
-    // No compiled support for specified API value.  Issue a debug
-    // warning and continue as if no API was specified.
-    std::cerr << "\nRtAudio: no compiled support for specified API argument!\n" << std::endl;
-  }
-
-  // Iterate through the compiled APIs and return as soon as we find
-  // one with at least one device or we reach the end of the list.
-  std::vector< RtAudio::Api > apis;
-  getCompiledApi( apis );
-  for ( unsigned int i=0; i<apis.size(); i++ ) {
-    openRtApi( apis[i] );
-    if ( rtapi_ && rtapi_->getDeviceCount() ) break;
-  }
-
-  if ( rtapi_ ) return;
-
-  // It should not be possible to get here because the preprocessor
-  // definition __RTAUDIO_DUMMY__ is automatically defined if no
-  // API-specific definitions are passed to the compiler. But just in
-  // case something weird happens, we'll thow an error.
-  std::string errorText = "\nRtAudio: no compiled API support found ... critical error!!\n\n";
-  throw( RtAudioError( errorText, RtAudioError::UNSPECIFIED ) );
-}
-
-RtAudio :: ~RtAudio() throw()
-{
-  if ( rtapi_ )
-    delete rtapi_;
-}
-
-void RtAudio :: openStream( RtAudio::StreamParameters *outputParameters,
-                            RtAudio::StreamParameters *inputParameters,
-                            RtAudioFormat format, unsigned int sampleRate,
-                            unsigned int *bufferFrames,
-                            RtAudioCallback callback, void *userData,
-                            RtAudio::StreamOptions *options,
-                            RtAudioErrorCallback errorCallback )
-{
-  return rtapi_->openStream( outputParameters, inputParameters, format,
-                             sampleRate, bufferFrames, callback,
-                             userData, options, errorCallback );
-}
-
-// *************************************************** //
-//
-// Public RtApi definitions (see end of file for
-// private or protected utility functions).
-//
-// *************************************************** //
-
-RtApi :: RtApi()
-{
-  stream_.state = STREAM_CLOSED;
-  stream_.mode = UNINITIALIZED;
-  stream_.apiHandle = 0;
-  stream_.userBuffer[0] = 0;
-  stream_.userBuffer[1] = 0;
-  MUTEX_INITIALIZE( &stream_.mutex );
-  showWarnings_ = true;
-  firstErrorOccurred_ = false;
-}
-
-RtApi :: ~RtApi()
-{
-  MUTEX_DESTROY( &stream_.mutex );
-}
-
-void RtApi :: openStream( RtAudio::StreamParameters *oParams,
-                          RtAudio::StreamParameters *iParams,
-                          RtAudioFormat format, unsigned int sampleRate,
-                          unsigned int *bufferFrames,
-                          RtAudioCallback callback, void *userData,
-                          RtAudio::StreamOptions *options,
-                          RtAudioErrorCallback errorCallback )
-{
-  if ( stream_.state != STREAM_CLOSED ) {
-    errorText_ = "RtApi::openStream: a stream is already open!";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-
-  // Clear stream information potentially left from a previously open stream.
-  clearStreamInfo();
-
-  if ( oParams && oParams->nChannels < 1 ) {
-    errorText_ = "RtApi::openStream: a non-NULL output StreamParameters structure cannot have an nChannels value less than one.";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-
-  if ( iParams && iParams->nChannels < 1 ) {
-    errorText_ = "RtApi::openStream: a non-NULL input StreamParameters structure cannot have an nChannels value less than one.";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-
-  if ( oParams == NULL && iParams == NULL ) {
-    errorText_ = "RtApi::openStream: input and output StreamParameters structures are both NULL!";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-
-  if ( formatBytes(format) == 0 ) {
-    errorText_ = "RtApi::openStream: 'format' parameter value is undefined.";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-
-  unsigned int nDevices = getDeviceCount();
-  unsigned int oChannels = 0;
-  if ( oParams ) {
-    oChannels = oParams->nChannels;
-    if ( oParams->deviceId >= nDevices ) {
-      errorText_ = "RtApi::openStream: output device parameter value is invalid.";
-      error( RtAudioError::INVALID_USE );
-      return;
-    }
-  }
-
-  unsigned int iChannels = 0;
-  if ( iParams ) {
-    iChannels = iParams->nChannels;
-    if ( iParams->deviceId >= nDevices ) {
-      errorText_ = "RtApi::openStream: input device parameter value is invalid.";
-      error( RtAudioError::INVALID_USE );
-      return;
-    }
-  }
-
-  bool result;
-
-  if ( oChannels > 0 ) {
-
-    result = probeDeviceOpen( oParams->deviceId, OUTPUT, oChannels, oParams->firstChannel,
-                              sampleRate, format, bufferFrames, options );
-    if ( result == false ) {
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-  }
-
-  if ( iChannels > 0 ) {
-
-    result = probeDeviceOpen( iParams->deviceId, INPUT, iChannels, iParams->firstChannel,
-                              sampleRate, format, bufferFrames, options );
-    if ( result == false ) {
-      if ( oChannels > 0 ) closeStream();
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-  }
-
-  stream_.callbackInfo.callback = (void *) callback;
-  stream_.callbackInfo.userData = userData;
-  stream_.callbackInfo.errorCallback = (void *) errorCallback;
-
-  if ( options ) options->numberOfBuffers = stream_.nBuffers;
-  stream_.state = STREAM_STOPPED;
-}
-
-unsigned int RtApi :: getDefaultInputDevice( void )
-{
-  // Should be implemented in subclasses if possible.
-  return 0;
-}
-
-unsigned int RtApi :: getDefaultOutputDevice( void )
-{
-  // Should be implemented in subclasses if possible.
-  return 0;
-}
-
-void RtApi :: closeStream( void )
-{
-  // MUST be implemented in subclasses!
-  return;
-}
-
-bool RtApi :: probeDeviceOpen( unsigned int /*device*/, StreamMode /*mode*/, unsigned int /*channels*/,
-                               unsigned int /*firstChannel*/, unsigned int /*sampleRate*/,
-                               RtAudioFormat /*format*/, unsigned int * /*bufferSize*/,
-                               RtAudio::StreamOptions * /*options*/ )
-{
-  // MUST be implemented in subclasses!
-  return FAILURE;
-}
-
-void RtApi :: tickStreamTime( void )
-{
-  // Subclasses that do not provide their own implementation of
-  // getStreamTime should call this function once per buffer I/O to
-  // provide basic stream time support.
-
-  stream_.streamTime += ( stream_.bufferSize * 1.0 / stream_.sampleRate );
-
-#if defined( HAVE_GETTIMEOFDAY )
-  gettimeofday( &stream_.lastTickTimestamp, NULL );
-#endif
-}
-
-long RtApi :: getStreamLatency( void )
-{
-  verifyStream();
-
-  long totalLatency = 0;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX )
-    totalLatency = stream_.latency[0];
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX )
-    totalLatency += stream_.latency[1];
-
-  return totalLatency;
-}
-
-double RtApi :: getStreamTime( void )
-{
-  verifyStream();
-
-#if defined( HAVE_GETTIMEOFDAY )
-  // Return a very accurate estimate of the stream time by
-  // adding in the elapsed time since the last tick.
-  struct timeval then;
-  struct timeval now;
-
-  if ( stream_.state != STREAM_RUNNING || stream_.streamTime == 0.0 )
-    return stream_.streamTime;
-
-  gettimeofday( &now, NULL );
-  then = stream_.lastTickTimestamp;
-  return stream_.streamTime +
-    ((now.tv_sec + 0.000001 * now.tv_usec) -
-     (then.tv_sec + 0.000001 * then.tv_usec));
-#else
-  return stream_.streamTime;
-#endif
-}
-
-void RtApi :: setStreamTime( double time )
-{
-  verifyStream();
-
-  if ( time >= 0.0 )
-    stream_.streamTime = time;
-}
-
-unsigned int RtApi :: getStreamSampleRate( void )
-{
- verifyStream();
-
- return stream_.sampleRate;
-}
-
-
-// *************************************************** //
-//
-// OS/API-specific methods.
-//
-// *************************************************** //
-
-#if defined(__MACOSX_CORE__)
-
-// The OS X CoreAudio API is designed to use a separate callback
-// procedure for each of its audio devices.  A single RtAudio duplex
-// stream using two different devices is supported here, though it
-// cannot be guaranteed to always behave correctly because we cannot
-// synchronize these two callbacks.
-//
-// A property listener is installed for over/underrun information.
-// However, no functionality is currently provided to allow property
-// listeners to trigger user handlers because it is unclear what could
-// be done if a critical stream parameter (buffer size, sample rate,
-// device disconnect) notification arrived.  The listeners entail
-// quite a bit of extra code and most likely, a user program wouldn't
-// be prepared for the result anyway.  However, we do provide a flag
-// to the client callback function to inform of an over/underrun.
-
-// A structure to hold various information related to the CoreAudio API
-// implementation.
-struct CoreHandle {
-  AudioDeviceID id[2];    // device ids
-#if defined( MAC_OS_X_VERSION_10_5 ) && ( MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_5 )
-  AudioDeviceIOProcID procId[2];
-#endif
-  UInt32 iStream[2];      // device stream index (or first if using multiple)
-  UInt32 nStreams[2];     // number of streams to use
-  bool xrun[2];
-  char *deviceBuffer;
-  pthread_cond_t condition;
-  int drainCounter;       // Tracks callback counts when draining
-  bool internalDrain;     // Indicates if stop is initiated from callback or not.
-
-  CoreHandle()
-    :deviceBuffer(0), drainCounter(0), internalDrain(false) { nStreams[0] = 1; nStreams[1] = 1; id[0] = 0; id[1] = 0; xrun[0] = false; xrun[1] = false; }
-};
-
-RtApiCore:: RtApiCore()
-{
-#if defined( AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER )
-  // This is a largely undocumented but absolutely necessary
-  // requirement starting with OS-X 10.6.  If not called, queries and
-  // updates to various audio device properties are not handled
-  // correctly.
-  CFRunLoopRef theRunLoop = NULL;
-  AudioObjectPropertyAddress property = { kAudioHardwarePropertyRunLoop,
-                                          kAudioObjectPropertyScopeGlobal,
-                                          kAudioObjectPropertyElementMaster };
-  OSStatus result = AudioObjectSetPropertyData( kAudioObjectSystemObject, &property, 0, NULL, sizeof(CFRunLoopRef), &theRunLoop);
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::RtApiCore: error setting run loop property!";
-    error( RtAudioError::WARNING );
-  }
-#endif
-}
-
-RtApiCore :: ~RtApiCore()
-{
-  // The subclass destructor gets called before the base class
-  // destructor, so close an existing stream before deallocating
-  // apiDeviceId memory.
-  if ( stream_.state != STREAM_CLOSED ) closeStream();
-}
-
-unsigned int RtApiCore :: getDeviceCount( void )
-{
-  // Find out how many audio devices there are, if any.
-  UInt32 dataSize;
-  AudioObjectPropertyAddress propertyAddress = { kAudioHardwarePropertyDevices, kAudioObjectPropertyScopeGlobal, kAudioObjectPropertyElementMaster };
-  OSStatus result = AudioObjectGetPropertyDataSize( kAudioObjectSystemObject, &propertyAddress, 0, NULL, &dataSize );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::getDeviceCount: OS-X error getting device info!";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  return dataSize / sizeof( AudioDeviceID );
-}
-
-unsigned int RtApiCore :: getDefaultInputDevice( void )
-{
-  unsigned int nDevices = getDeviceCount();
-  if ( nDevices <= 1 ) return 0;
-
-  AudioDeviceID id;
-  UInt32 dataSize = sizeof( AudioDeviceID );
-  AudioObjectPropertyAddress property = { kAudioHardwarePropertyDefaultInputDevice, kAudioObjectPropertyScopeGlobal, kAudioObjectPropertyElementMaster };
-  OSStatus result = AudioObjectGetPropertyData( kAudioObjectSystemObject, &property, 0, NULL, &dataSize, &id );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::getDefaultInputDevice: OS-X system error getting device.";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  dataSize *= nDevices;
-  AudioDeviceID deviceList[ nDevices ];
-  property.mSelector = kAudioHardwarePropertyDevices;
-  result = AudioObjectGetPropertyData( kAudioObjectSystemObject, &property, 0, NULL, &dataSize, (void *) &deviceList );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::getDefaultInputDevice: OS-X system error getting device IDs.";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  for ( unsigned int i=0; i<nDevices; i++ )
-    if ( id == deviceList[i] ) return i;
-
-  errorText_ = "RtApiCore::getDefaultInputDevice: No default device found!";
-  error( RtAudioError::WARNING );
-  return 0;
-}
-
-unsigned int RtApiCore :: getDefaultOutputDevice( void )
-{
-  unsigned int nDevices = getDeviceCount();
-  if ( nDevices <= 1 ) return 0;
-
-  AudioDeviceID id;
-  UInt32 dataSize = sizeof( AudioDeviceID );
-  AudioObjectPropertyAddress property = { kAudioHardwarePropertyDefaultOutputDevice, kAudioObjectPropertyScopeGlobal, kAudioObjectPropertyElementMaster };
-  OSStatus result = AudioObjectGetPropertyData( kAudioObjectSystemObject, &property, 0, NULL, &dataSize, &id );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::getDefaultOutputDevice: OS-X system error getting device.";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  dataSize = sizeof( AudioDeviceID ) * nDevices;
-  AudioDeviceID deviceList[ nDevices ];
-  property.mSelector = kAudioHardwarePropertyDevices;
-  result = AudioObjectGetPropertyData( kAudioObjectSystemObject, &property, 0, NULL, &dataSize, (void *) &deviceList );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::getDefaultOutputDevice: OS-X system error getting device IDs.";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  for ( unsigned int i=0; i<nDevices; i++ )
-    if ( id == deviceList[i] ) return i;
-
-  errorText_ = "RtApiCore::getDefaultOutputDevice: No default device found!";
-  error( RtAudioError::WARNING );
-  return 0;
-}
-
-RtAudio::DeviceInfo RtApiCore :: getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = false;
-
-  // Get device ID
-  unsigned int nDevices = getDeviceCount();
-  if ( nDevices == 0 ) {
-    errorText_ = "RtApiCore::getDeviceInfo: no devices found!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  if ( device >= nDevices ) {
-    errorText_ = "RtApiCore::getDeviceInfo: device ID is invalid!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  AudioDeviceID deviceList[ nDevices ];
-  UInt32 dataSize = sizeof( AudioDeviceID ) * nDevices;
-  AudioObjectPropertyAddress property = { kAudioHardwarePropertyDevices,
-                                          kAudioObjectPropertyScopeGlobal,
-                                          kAudioObjectPropertyElementMaster };
-  OSStatus result = AudioObjectGetPropertyData( kAudioObjectSystemObject, &property,
-                                                0, NULL, &dataSize, (void *) &deviceList );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::getDeviceInfo: OS-X system error getting device IDs.";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  AudioDeviceID id = deviceList[ device ];
-
-  // Get the device name.
-  info.name.erase();
-  CFStringRef cfname;
-  dataSize = sizeof( CFStringRef );
-  property.mSelector = kAudioObjectPropertyManufacturer;
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &cfname );
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceInfo: system error (" << getErrorCode( result ) << ") getting device manufacturer.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  //const char *mname = CFStringGetCStringPtr( cfname, CFStringGetSystemEncoding() );
-  int length = CFStringGetLength(cfname);
-  char *mname = (char *)malloc(length * 3 + 1);
-#if defined( UNICODE ) || defined( _UNICODE )
-  CFStringGetCString(cfname, mname, length * 3 + 1, kCFStringEncodingUTF8);
-#else
-  CFStringGetCString(cfname, mname, length * 3 + 1, CFStringGetSystemEncoding());
-#endif
-  info.name.append( (const char *)mname, strlen(mname) );
-  info.name.append( ": " );
-  CFRelease( cfname );
-  free(mname);
-
-  property.mSelector = kAudioObjectPropertyName;
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &cfname );
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceInfo: system error (" << getErrorCode( result ) << ") getting device name.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  //const char *name = CFStringGetCStringPtr( cfname, CFStringGetSystemEncoding() );
-  length = CFStringGetLength(cfname);
-  char *name = (char *)malloc(length * 3 + 1);
-#if defined( UNICODE ) || defined( _UNICODE )
-  CFStringGetCString(cfname, name, length * 3 + 1, kCFStringEncodingUTF8);
-#else
-  CFStringGetCString(cfname, name, length * 3 + 1, CFStringGetSystemEncoding());
-#endif
-  info.name.append( (const char *)name, strlen(name) );
-  CFRelease( cfname );
-  free(name);
-
-  // Get the output stream "configuration".
-  AudioBufferList	*bufferList = nil;
-  property.mSelector = kAudioDevicePropertyStreamConfiguration;
-  property.mScope = kAudioDevicePropertyScopeOutput;
-  //  property.mElement = kAudioObjectPropertyElementWildcard;
-  dataSize = 0;
-  result = AudioObjectGetPropertyDataSize( id, &property, 0, NULL, &dataSize );
-  if ( result != noErr || dataSize == 0 ) {
-    errorStream_ << "RtApiCore::getDeviceInfo: system error (" << getErrorCode( result ) << ") getting output stream configuration info for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Allocate the AudioBufferList.
-  bufferList = (AudioBufferList *) malloc( dataSize );
-  if ( bufferList == NULL ) {
-    errorText_ = "RtApiCore::getDeviceInfo: memory error allocating output AudioBufferList.";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, bufferList );
-  if ( result != noErr || dataSize == 0 ) {
-    free( bufferList );
-    errorStream_ << "RtApiCore::getDeviceInfo: system error (" << getErrorCode( result ) << ") getting output stream configuration for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Get output channel information.
-  unsigned int i, nStreams = bufferList->mNumberBuffers;
-  for ( i=0; i<nStreams; i++ )
-    info.outputChannels += bufferList->mBuffers[i].mNumberChannels;
-  free( bufferList );
-
-  // Get the input stream "configuration".
-  property.mScope = kAudioDevicePropertyScopeInput;
-  result = AudioObjectGetPropertyDataSize( id, &property, 0, NULL, &dataSize );
-  if ( result != noErr || dataSize == 0 ) {
-    errorStream_ << "RtApiCore::getDeviceInfo: system error (" << getErrorCode( result ) << ") getting input stream configuration info for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Allocate the AudioBufferList.
-  bufferList = (AudioBufferList *) malloc( dataSize );
-  if ( bufferList == NULL ) {
-    errorText_ = "RtApiCore::getDeviceInfo: memory error allocating input AudioBufferList.";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, bufferList );
-  if (result != noErr || dataSize == 0) {
-    free( bufferList );
-    errorStream_ << "RtApiCore::getDeviceInfo: system error (" << getErrorCode( result ) << ") getting input stream configuration for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Get input channel information.
-  nStreams = bufferList->mNumberBuffers;
-  for ( i=0; i<nStreams; i++ )
-    info.inputChannels += bufferList->mBuffers[i].mNumberChannels;
-  free( bufferList );
-
-  // If device opens for both playback and capture, we determine the channels.
-  if ( info.outputChannels > 0 && info.inputChannels > 0 )
-    info.duplexChannels = (info.outputChannels > info.inputChannels) ? info.inputChannels : info.outputChannels;
-
-  // Probe the device sample rates.
-  bool isInput = false;
-  if ( info.outputChannels == 0 ) isInput = true;
-
-  // Determine the supported sample rates.
-  property.mSelector = kAudioDevicePropertyAvailableNominalSampleRates;
-  if ( isInput == false ) property.mScope = kAudioDevicePropertyScopeOutput;
-  result = AudioObjectGetPropertyDataSize( id, &property, 0, NULL, &dataSize );
-  if ( result != kAudioHardwareNoError || dataSize == 0 ) {
-    errorStream_ << "RtApiCore::getDeviceInfo: system error (" << getErrorCode( result ) << ") getting sample rate info.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  UInt32 nRanges = dataSize / sizeof( AudioValueRange );
-  AudioValueRange rangeList[ nRanges ];
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &rangeList );
-  if ( result != kAudioHardwareNoError ) {
-    errorStream_ << "RtApiCore::getDeviceInfo: system error (" << getErrorCode( result ) << ") getting sample rates.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // The sample rate reporting mechanism is a bit of a mystery.  It
-  // seems that it can either return individual rates or a range of
-  // rates.  I assume that if the min / max range values are the same,
-  // then that represents a single supported rate and if the min / max
-  // range values are different, the device supports an arbitrary
-  // range of values (though there might be multiple ranges, so we'll
-  // use the most conservative range).
-  Float64 minimumRate = 1.0, maximumRate = 10000000000.0;
-  bool haveValueRange = false;
-  info.sampleRates.clear();
-  for ( UInt32 i=0; i<nRanges; i++ ) {
-    if ( rangeList[i].mMinimum == rangeList[i].mMaximum ) {
-      unsigned int tmpSr = (unsigned int) rangeList[i].mMinimum;
-      info.sampleRates.push_back( tmpSr );
-
-      if ( !info.preferredSampleRate || ( tmpSr <= 48000 && tmpSr > info.preferredSampleRate ) )
-        info.preferredSampleRate = tmpSr;
-
-    } else {
-      haveValueRange = true;
-      if ( rangeList[i].mMinimum > minimumRate ) minimumRate = rangeList[i].mMinimum;
-      if ( rangeList[i].mMaximum < maximumRate ) maximumRate = rangeList[i].mMaximum;
-    }
-  }
-
-  if ( haveValueRange ) {
-    for ( unsigned int k=0; k<MAX_SAMPLE_RATES; k++ ) {
-      if ( SAMPLE_RATES[k] >= (unsigned int) minimumRate && SAMPLE_RATES[k] <= (unsigned int) maximumRate ) {
-        info.sampleRates.push_back( SAMPLE_RATES[k] );
-
-        if ( !info.preferredSampleRate || ( SAMPLE_RATES[k] <= 48000 && SAMPLE_RATES[k] > info.preferredSampleRate ) )
-          info.preferredSampleRate = SAMPLE_RATES[k];
-      }
-    }
-  }
-
-  // Sort and remove any redundant values
-  std::sort( info.sampleRates.begin(), info.sampleRates.end() );
-  info.sampleRates.erase( unique( info.sampleRates.begin(), info.sampleRates.end() ), info.sampleRates.end() );
-
-  if ( info.sampleRates.size() == 0 ) {
-    errorStream_ << "RtApiCore::probeDeviceInfo: No supported sample rates found for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // CoreAudio always uses 32-bit floating point data for PCM streams.
-  // Thus, any other "physical" formats supported by the device are of
-  // no interest to the client.
-  info.nativeFormats = RTAUDIO_FLOAT32;
-
-  if ( info.outputChannels > 0 )
-    if ( getDefaultOutputDevice() == device ) info.isDefaultOutput = true;
-  if ( info.inputChannels > 0 )
-    if ( getDefaultInputDevice() == device ) info.isDefaultInput = true;
-
-  info.probed = true;
-  return info;
-}
-
-static OSStatus callbackHandler( AudioDeviceID inDevice,
-                                 const AudioTimeStamp* /*inNow*/,
-                                 const AudioBufferList* inInputData,
-                                 const AudioTimeStamp* /*inInputTime*/,
-                                 AudioBufferList* outOutputData,
-                                 const AudioTimeStamp* /*inOutputTime*/,
-                                 void* infoPointer )
-{
-  CallbackInfo *info = (CallbackInfo *) infoPointer;
-
-  RtApiCore *object = (RtApiCore *) info->object;
-  if ( object->callbackEvent( inDevice, inInputData, outOutputData ) == false )
-    return kAudioHardwareUnspecifiedError;
-  else
-    return kAudioHardwareNoError;
-}
-
-static OSStatus xrunListener( AudioObjectID /*inDevice*/,
-                              UInt32 nAddresses,
-                              const AudioObjectPropertyAddress properties[],
-                              void* handlePointer )
-{
-  CoreHandle *handle = (CoreHandle *) handlePointer;
-  for ( UInt32 i=0; i<nAddresses; i++ ) {
-    if ( properties[i].mSelector == kAudioDeviceProcessorOverload ) {
-      if ( properties[i].mScope == kAudioDevicePropertyScopeInput )
-        handle->xrun[1] = true;
-      else
-        handle->xrun[0] = true;
-    }
-  }
-
-  return kAudioHardwareNoError;
-}
-
-static OSStatus rateListener( AudioObjectID inDevice,
-                              UInt32 /*nAddresses*/,
-                              const AudioObjectPropertyAddress /*properties*/[],
-                              void* ratePointer )
-{
-  Float64 *rate = (Float64 *) ratePointer;
-  UInt32 dataSize = sizeof( Float64 );
-  AudioObjectPropertyAddress property = { kAudioDevicePropertyNominalSampleRate,
-                                          kAudioObjectPropertyScopeGlobal,
-                                          kAudioObjectPropertyElementMaster };
-  AudioObjectGetPropertyData( inDevice, &property, 0, NULL, &dataSize, rate );
-  return kAudioHardwareNoError;
-}
-
-bool RtApiCore :: probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                   unsigned int firstChannel, unsigned int sampleRate,
-                                   RtAudioFormat format, unsigned int *bufferSize,
-                                   RtAudio::StreamOptions *options )
-{
-  // Get device ID
-  unsigned int nDevices = getDeviceCount();
-  if ( nDevices == 0 ) {
-    // This should not happen because a check is made before this function is called.
-    errorText_ = "RtApiCore::probeDeviceOpen: no devices found!";
-    return FAILURE;
-  }
-
-  if ( device >= nDevices ) {
-    // This should not happen because a check is made before this function is called.
-    errorText_ = "RtApiCore::probeDeviceOpen: device ID is invalid!";
-    return FAILURE;
-  }
-
-  AudioDeviceID deviceList[ nDevices ];
-  UInt32 dataSize = sizeof( AudioDeviceID ) * nDevices;
-  AudioObjectPropertyAddress property = { kAudioHardwarePropertyDevices,
-                                          kAudioObjectPropertyScopeGlobal,
-                                          kAudioObjectPropertyElementMaster };
-  OSStatus result = AudioObjectGetPropertyData( kAudioObjectSystemObject, &property,
-                                                0, NULL, &dataSize, (void *) &deviceList );
-  if ( result != noErr ) {
-    errorText_ = "RtApiCore::probeDeviceOpen: OS-X system error getting device IDs.";
-    return FAILURE;
-  }
-
-  AudioDeviceID id = deviceList[ device ];
-
-  // Setup for stream mode.
-  bool isInput = false;
-  if ( mode == INPUT ) {
-    isInput = true;
-    property.mScope = kAudioDevicePropertyScopeInput;
-  }
-  else
-    property.mScope = kAudioDevicePropertyScopeOutput;
-
-  // Get the stream "configuration".
-  AudioBufferList	*bufferList = nil;
-  dataSize = 0;
-  property.mSelector = kAudioDevicePropertyStreamConfiguration;
-  result = AudioObjectGetPropertyDataSize( id, &property, 0, NULL, &dataSize );
-  if ( result != noErr || dataSize == 0 ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting stream configuration info for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Allocate the AudioBufferList.
-  bufferList = (AudioBufferList *) malloc( dataSize );
-  if ( bufferList == NULL ) {
-    errorText_ = "RtApiCore::probeDeviceOpen: memory error allocating AudioBufferList.";
-    return FAILURE;
-  }
-
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, bufferList );
-  if (result != noErr || dataSize == 0) {
-    free( bufferList );
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting stream configuration for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Search for one or more streams that contain the desired number of
-  // channels. CoreAudio devices can have an arbitrary number of
-  // streams and each stream can have an arbitrary number of channels.
-  // For each stream, a single buffer of interleaved samples is
-  // provided.  RtAudio prefers the use of one stream of interleaved
-  // data or multiple consecutive single-channel streams.  However, we
-  // now support multiple consecutive multi-channel streams of
-  // interleaved data as well.
-  UInt32 iStream, offsetCounter = firstChannel;
-  UInt32 nStreams = bufferList->mNumberBuffers;
-  bool monoMode = false;
-  bool foundStream = false;
-
-  // First check that the device supports the requested number of
-  // channels.
-  UInt32 deviceChannels = 0;
-  for ( iStream=0; iStream<nStreams; iStream++ )
-    deviceChannels += bufferList->mBuffers[iStream].mNumberChannels;
-
-  if ( deviceChannels < ( channels + firstChannel ) ) {
-    free( bufferList );
-    errorStream_ << "RtApiCore::probeDeviceOpen: the device (" << device << ") does not support the requested channel count.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Look for a single stream meeting our needs.
-  UInt32 firstStream, streamCount = 1, streamChannels = 0, channelOffset = 0;
-  for ( iStream=0; iStream<nStreams; iStream++ ) {
-    streamChannels = bufferList->mBuffers[iStream].mNumberChannels;
-    if ( streamChannels >= channels + offsetCounter ) {
-      firstStream = iStream;
-      channelOffset = offsetCounter;
-      foundStream = true;
-      break;
-    }
-    if ( streamChannels > offsetCounter ) break;
-    offsetCounter -= streamChannels;
-  }
-
-  // If we didn't find a single stream above, then we should be able
-  // to meet the channel specification with multiple streams.
-  if ( foundStream == false ) {
-    monoMode = true;
-    offsetCounter = firstChannel;
-    for ( iStream=0; iStream<nStreams; iStream++ ) {
-      streamChannels = bufferList->mBuffers[iStream].mNumberChannels;
-      if ( streamChannels > offsetCounter ) break;
-      offsetCounter -= streamChannels;
-    }
-
-    firstStream = iStream;
-    channelOffset = offsetCounter;
-    Int32 channelCounter = channels + offsetCounter - streamChannels;
-
-    if ( streamChannels > 1 ) monoMode = false;
-    while ( channelCounter > 0 ) {
-      streamChannels = bufferList->mBuffers[++iStream].mNumberChannels;
-      if ( streamChannels > 1 ) monoMode = false;
-      channelCounter -= streamChannels;
-      streamCount++;
-    }
-  }
-
-  free( bufferList );
-
-  // Determine the buffer size.
-  AudioValueRange	bufferRange;
-  dataSize = sizeof( AudioValueRange );
-  property.mSelector = kAudioDevicePropertyBufferFrameSizeRange;
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &bufferRange );
-
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting buffer size range for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  if ( bufferRange.mMinimum > *bufferSize ) *bufferSize = (unsigned long) bufferRange.mMinimum;
-  else if ( bufferRange.mMaximum < *bufferSize ) *bufferSize = (unsigned long) bufferRange.mMaximum;
-  if ( options && options->flags & RTAUDIO_MINIMIZE_LATENCY ) *bufferSize = (unsigned long) bufferRange.mMinimum;
-
-  // Set the buffer size.  For multiple streams, I'm assuming we only
-  // need to make this setting for the master channel.
-  UInt32 theSize = (UInt32) *bufferSize;
-  dataSize = sizeof( UInt32 );
-  property.mSelector = kAudioDevicePropertyBufferFrameSize;
-  result = AudioObjectSetPropertyData( id, &property, 0, NULL, dataSize, &theSize );
-
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") setting the buffer size for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // If attempting to setup a duplex stream, the bufferSize parameter
-  // MUST be the same in both directions!
-  *bufferSize = theSize;
-  if ( stream_.mode == OUTPUT && mode == INPUT && *bufferSize != stream_.bufferSize ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error setting buffer size for duplex stream on device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  stream_.bufferSize = *bufferSize;
-  stream_.nBuffers = 1;
-
-  // Try to set "hog" mode ... it's not clear to me this is working.
-  if ( options && options->flags & RTAUDIO_HOG_DEVICE ) {
-    pid_t hog_pid;
-    dataSize = sizeof( hog_pid );
-    property.mSelector = kAudioDevicePropertyHogMode;
-    result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &hog_pid );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting 'hog' state!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    if ( hog_pid != getpid() ) {
-      hog_pid = getpid();
-      result = AudioObjectSetPropertyData( id, &property, 0, NULL, dataSize, &hog_pid );
-      if ( result != noErr ) {
-        errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") setting 'hog' state!";
-        errorText_ = errorStream_.str();
-        return FAILURE;
-      }
-    }
-  }
-
-  // Check and if necessary, change the sample rate for the device.
-  Float64 nominalRate;
-  dataSize = sizeof( Float64 );
-  property.mSelector = kAudioDevicePropertyNominalSampleRate;
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &nominalRate );
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting current sample rate.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Only change the sample rate if off by more than 1 Hz.
-  if ( fabs( nominalRate - (double)sampleRate ) > 1.0 ) {
-
-    // Set a property listener for the sample rate change
-    Float64 reportedRate = 0.0;
-    AudioObjectPropertyAddress tmp = { kAudioDevicePropertyNominalSampleRate, kAudioObjectPropertyScopeGlobal, kAudioObjectPropertyElementMaster };
-    result = AudioObjectAddPropertyListener( id, &tmp, rateListener, (void *) &reportedRate );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") setting sample rate property listener for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    nominalRate = (Float64) sampleRate;
-    result = AudioObjectSetPropertyData( id, &property, 0, NULL, dataSize, &nominalRate );
-    if ( result != noErr ) {
-      AudioObjectRemovePropertyListener( id, &tmp, rateListener, (void *) &reportedRate );
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") setting sample rate for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Now wait until the reported nominal rate is what we just set.
-    UInt32 microCounter = 0;
-    while ( reportedRate != nominalRate ) {
-      microCounter += 5000;
-      if ( microCounter > 5000000 ) break;
-      usleep( 5000 );
-    }
-
-    // Remove the property listener.
-    AudioObjectRemovePropertyListener( id, &tmp, rateListener, (void *) &reportedRate );
-
-    if ( microCounter > 5000000 ) {
-      errorStream_ << "RtApiCore::probeDeviceOpen: timeout waiting for sample rate update for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  }
-
-  // Now set the stream format for all streams.  Also, check the
-  // physical format of the device and change that if necessary.
-  AudioStreamBasicDescription	description;
-  dataSize = sizeof( AudioStreamBasicDescription );
-  property.mSelector = kAudioStreamPropertyVirtualFormat;
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &description );
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting stream format for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Set the sample rate and data format id.  However, only make the
-  // change if the sample rate is not within 1.0 of the desired
-  // rate and the format is not linear pcm.
-  bool updateFormat = false;
-  if ( fabs( description.mSampleRate - (Float64)sampleRate ) > 1.0 ) {
-    description.mSampleRate = (Float64) sampleRate;
-    updateFormat = true;
-  }
-
-  if ( description.mFormatID != kAudioFormatLinearPCM ) {
-    description.mFormatID = kAudioFormatLinearPCM;
-    updateFormat = true;
-  }
-
-  if ( updateFormat ) {
-    result = AudioObjectSetPropertyData( id, &property, 0, NULL, dataSize, &description );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") setting sample rate or data format for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  }
-
-  // Now check the physical format.
-  property.mSelector = kAudioStreamPropertyPhysicalFormat;
-  result = AudioObjectGetPropertyData( id, &property, 0, NULL,  &dataSize, &description );
-  if ( result != noErr ) {
-    errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting stream physical format for device (" << device << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  //std::cout << "Current physical stream format:" << std::endl;
-  //std::cout << "   mBitsPerChan = " << description.mBitsPerChannel << std::endl;
-  //std::cout << "   aligned high = " << (description.mFormatFlags & kAudioFormatFlagIsAlignedHigh) << ", isPacked = " << (description.mFormatFlags & kAudioFormatFlagIsPacked) << std::endl;
-  //std::cout << "   bytesPerFrame = " << description.mBytesPerFrame << std::endl;
-  //std::cout << "   sample rate = " << description.mSampleRate << std::endl;
-
-  if ( description.mFormatID != kAudioFormatLinearPCM || description.mBitsPerChannel < 16 ) {
-    description.mFormatID = kAudioFormatLinearPCM;
-    //description.mSampleRate = (Float64) sampleRate;
-    AudioStreamBasicDescription	testDescription = description;
-    UInt32 formatFlags;
-
-    // We'll try higher bit rates first and then work our way down.
-    std::vector< std::pair<UInt32, UInt32>  > physicalFormats;
-    formatFlags = (description.mFormatFlags | kLinearPCMFormatFlagIsFloat) & ~kLinearPCMFormatFlagIsSignedInteger;
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 32, formatFlags ) );
-    formatFlags = (description.mFormatFlags | kLinearPCMFormatFlagIsSignedInteger | kAudioFormatFlagIsPacked) & ~kLinearPCMFormatFlagIsFloat;
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 32, formatFlags ) );
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 24, formatFlags ) );   // 24-bit packed
-    formatFlags &= ~( kAudioFormatFlagIsPacked | kAudioFormatFlagIsAlignedHigh );
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 24.2, formatFlags ) ); // 24-bit in 4 bytes, aligned low
-    formatFlags |= kAudioFormatFlagIsAlignedHigh;
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 24.4, formatFlags ) ); // 24-bit in 4 bytes, aligned high
-    formatFlags = (description.mFormatFlags | kLinearPCMFormatFlagIsSignedInteger | kAudioFormatFlagIsPacked) & ~kLinearPCMFormatFlagIsFloat;
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 16, formatFlags ) );
-    physicalFormats.push_back( std::pair<Float32, UInt32>( 8, formatFlags ) );
-
-    bool setPhysicalFormat = false;
-    for( unsigned int i=0; i<physicalFormats.size(); i++ ) {
-      testDescription = description;
-      testDescription.mBitsPerChannel = (UInt32) physicalFormats[i].first;
-      testDescription.mFormatFlags = physicalFormats[i].second;
-      if ( (24 == (UInt32)physicalFormats[i].first) && ~( physicalFormats[i].second & kAudioFormatFlagIsPacked ) )
-        testDescription.mBytesPerFrame =  4 * testDescription.mChannelsPerFrame;
-      else
-        testDescription.mBytesPerFrame =  testDescription.mBitsPerChannel/8 * testDescription.mChannelsPerFrame;
-      testDescription.mBytesPerPacket = testDescription.mBytesPerFrame * testDescription.mFramesPerPacket;
-      result = AudioObjectSetPropertyData( id, &property, 0, NULL, dataSize, &testDescription );
-      if ( result == noErr ) {
-        setPhysicalFormat = true;
-        //std::cout << "Updated physical stream format:" << std::endl;
-        //std::cout << "   mBitsPerChan = " << testDescription.mBitsPerChannel << std::endl;
-        //std::cout << "   aligned high = " << (testDescription.mFormatFlags & kAudioFormatFlagIsAlignedHigh) << ", isPacked = " << (testDescription.mFormatFlags & kAudioFormatFlagIsPacked) << std::endl;
-        //std::cout << "   bytesPerFrame = " << testDescription.mBytesPerFrame << std::endl;
-        //std::cout << "   sample rate = " << testDescription.mSampleRate << std::endl;
-        break;
-      }
-    }
-
-    if ( !setPhysicalFormat ) {
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") setting physical data format for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  } // done setting virtual/physical formats.
-
-  // Get the stream / device latency.
-  UInt32 latency;
-  dataSize = sizeof( UInt32 );
-  property.mSelector = kAudioDevicePropertyLatency;
-  if ( AudioObjectHasProperty( id, &property ) == true ) {
-    result = AudioObjectGetPropertyData( id, &property, 0, NULL, &dataSize, &latency );
-    if ( result == kAudioHardwareNoError ) stream_.latency[ mode ] = latency;
-    else {
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error (" << getErrorCode( result ) << ") getting device latency for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      error( RtAudioError::WARNING );
-    }
-  }
-
-  // Byte-swapping: According to AudioHardware.h, the stream data will
-  // always be presented in native-endian format, so we should never
-  // need to byte swap.
-  stream_.doByteSwap[mode] = false;
-
-  // From the CoreAudio documentation, PCM data must be supplied as
-  // 32-bit floats.
-  stream_.userFormat = format;
-  stream_.deviceFormat[mode] = RTAUDIO_FLOAT32;
-
-  if ( streamCount == 1 )
-    stream_.nDeviceChannels[mode] = description.mChannelsPerFrame;
-  else // multiple streams
-    stream_.nDeviceChannels[mode] = channels;
-  stream_.nUserChannels[mode] = channels;
-  stream_.channelOffset[mode] = channelOffset;  // offset within a CoreAudio stream
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED ) stream_.userInterleaved = false;
-  else stream_.userInterleaved = true;
-  stream_.deviceInterleaved[mode] = true;
-  if ( monoMode == true ) stream_.deviceInterleaved[mode] = false;
-
-  // Set flags for buffer conversion.
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.nUserChannels[mode] < stream_.nDeviceChannels[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( streamCount == 1 ) {
-    if ( stream_.nUserChannels[mode] > 1 &&
-         stream_.userInterleaved != stream_.deviceInterleaved[mode] )
-      stream_.doConvertBuffer[mode] = true;
-  }
-  else if ( monoMode && stream_.userInterleaved )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate our CoreHandle structure for the stream.
-  CoreHandle *handle = 0;
-  if ( stream_.apiHandle == 0 ) {
-    try {
-      handle = new CoreHandle;
-    }
-    catch ( std::bad_alloc& ) {
-      errorText_ = "RtApiCore::probeDeviceOpen: error allocating CoreHandle memory.";
-      goto error;
-    }
-
-    if ( pthread_cond_init( &handle->condition, NULL ) ) {
-      errorText_ = "RtApiCore::probeDeviceOpen: error initializing pthread condition variable.";
-      goto error;
-    }
-    stream_.apiHandle = (void *) handle;
-  }
-  else
-    handle = (CoreHandle *) stream_.apiHandle;
-  handle->iStream[mode] = firstStream;
-  handle->nStreams[mode] = streamCount;
-  handle->id[mode] = id;
-
-  // Allocate necessary internal buffers.
-  unsigned long bufferBytes;
-  bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  //  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  stream_.userBuffer[mode] = (char *) malloc( bufferBytes * sizeof(char) );
-  memset( stream_.userBuffer[mode], 0, bufferBytes * sizeof(char) );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiCore::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-
-  // If possible, we will make use of the CoreAudio stream buffers as
-  // "device buffers".  However, we can't do this if using multiple
-  // streams.
-  if ( stream_.doConvertBuffer[mode] && handle->nStreams[mode] > 1 ) {
-
-    bool makeBuffer = true;
-    bufferBytes = stream_.nDeviceChannels[mode] * formatBytes( stream_.deviceFormat[mode] );
-    if ( mode == INPUT ) {
-      if ( stream_.mode == OUTPUT && stream_.deviceBuffer ) {
-        unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-        if ( bufferBytes <= bytesOut ) makeBuffer = false;
-      }
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiCore::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  stream_.sampleRate = sampleRate;
-  stream_.device[mode] = device;
-  stream_.state = STREAM_STOPPED;
-  stream_.callbackInfo.object = (void *) this;
-
-  // Setup the buffer conversion information structure.
-  if ( stream_.doConvertBuffer[mode] ) {
-    if ( streamCount > 1 ) setConvertInfo( mode, 0 );
-    else setConvertInfo( mode, channelOffset );
-  }
-
-  if ( mode == INPUT && stream_.mode == OUTPUT && stream_.device[0] == device )
-    // Only one callback procedure per device.
-    stream_.mode = DUPLEX;
-  else {
-#if defined( MAC_OS_X_VERSION_10_5 ) && ( MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_5 )
-    result = AudioDeviceCreateIOProcID( id, callbackHandler, (void *) &stream_.callbackInfo, &handle->procId[mode] );
-#else
-    // deprecated in favor of AudioDeviceCreateIOProcID()
-    result = AudioDeviceAddIOProc( id, callbackHandler, (void *) &stream_.callbackInfo );
-#endif
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::probeDeviceOpen: system error setting callback for device (" << device << ").";
-      errorText_ = errorStream_.str();
-      goto error;
-    }
-    if ( stream_.mode == OUTPUT && mode == INPUT )
-      stream_.mode = DUPLEX;
-    else
-      stream_.mode = mode;
-  }
-
-  // Setup the device property listener for over/underload.
-  property.mSelector = kAudioDeviceProcessorOverload;
-  property.mScope = kAudioObjectPropertyScopeGlobal;
-  result = AudioObjectAddPropertyListener( id, &property, xrunListener, (void *) handle );
-
-  return SUCCESS;
-
- error:
-  if ( handle ) {
-    pthread_cond_destroy( &handle->condition );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.state = STREAM_CLOSED;
-  return FAILURE;
-}
-
-void RtApiCore :: closeStream( void )
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiCore::closeStream(): no open stream to close!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  CoreHandle *handle = (CoreHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    if (handle) {
-      AudioObjectPropertyAddress property = { kAudioHardwarePropertyDevices,
-        kAudioObjectPropertyScopeGlobal,
-        kAudioObjectPropertyElementMaster };
-
-      property.mSelector = kAudioDeviceProcessorOverload;
-      property.mScope = kAudioObjectPropertyScopeGlobal;
-      if (AudioObjectRemovePropertyListener( handle->id[0], &property, xrunListener, (void *) handle ) != noErr) {
-        errorText_ = "RtApiCore::closeStream(): error removing property listener!";
-        error( RtAudioError::WARNING );
-      }
-    }
-    if ( stream_.state == STREAM_RUNNING )
-      AudioDeviceStop( handle->id[0], callbackHandler );
-#if defined( MAC_OS_X_VERSION_10_5 ) && ( MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_5 )
-    AudioDeviceDestroyIOProcID( handle->id[0], handle->procId[0] );
-#else
-    // deprecated in favor of AudioDeviceDestroyIOProcID()
-    AudioDeviceRemoveIOProc( handle->id[0], callbackHandler );
-#endif
-  }
-
-  if ( stream_.mode == INPUT || ( stream_.mode == DUPLEX && stream_.device[0] != stream_.device[1] ) ) {
-    if (handle) {
-      AudioObjectPropertyAddress property = { kAudioHardwarePropertyDevices,
-        kAudioObjectPropertyScopeGlobal,
-        kAudioObjectPropertyElementMaster };
-
-      property.mSelector = kAudioDeviceProcessorOverload;
-      property.mScope = kAudioObjectPropertyScopeGlobal;
-      if (AudioObjectRemovePropertyListener( handle->id[1], &property, xrunListener, (void *) handle ) != noErr) {
-        errorText_ = "RtApiCore::closeStream(): error removing property listener!";
-        error( RtAudioError::WARNING );
-      }
-    }
-    if ( stream_.state == STREAM_RUNNING )
-      AudioDeviceStop( handle->id[1], callbackHandler );
-#if defined( MAC_OS_X_VERSION_10_5 ) && ( MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_5 )
-    AudioDeviceDestroyIOProcID( handle->id[1], handle->procId[1] );
-#else
-    // deprecated in favor of AudioDeviceDestroyIOProcID()
-    AudioDeviceRemoveIOProc( handle->id[1], callbackHandler );
-#endif
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  // Destroy pthread condition variable.
-  pthread_cond_destroy( &handle->condition );
-  delete handle;
-  stream_.apiHandle = 0;
-
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-}
-
-void RtApiCore :: startStream( void )
-{
-  verifyStream();
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiCore::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  OSStatus result = noErr;
-  CoreHandle *handle = (CoreHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    result = AudioDeviceStart( handle->id[0], callbackHandler );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::startStream: system error (" << getErrorCode( result ) << ") starting callback procedure on device (" << stream_.device[0] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  if ( stream_.mode == INPUT ||
-       ( stream_.mode == DUPLEX && stream_.device[0] != stream_.device[1] ) ) {
-
-    result = AudioDeviceStart( handle->id[1], callbackHandler );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::startStream: system error starting input callback procedure on device (" << stream_.device[1] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  handle->drainCounter = 0;
-  handle->internalDrain = false;
-  stream_.state = STREAM_RUNNING;
-
- unlock:
-  if ( result == noErr ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiCore :: stopStream( void )
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiCore::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  OSStatus result = noErr;
-  CoreHandle *handle = (CoreHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    if ( handle->drainCounter == 0 ) {
-      handle->drainCounter = 2;
-      pthread_cond_wait( &handle->condition, &stream_.mutex ); // block until signaled
-    }
-
-    result = AudioDeviceStop( handle->id[0], callbackHandler );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::stopStream: system error (" << getErrorCode( result ) << ") stopping callback procedure on device (" << stream_.device[0] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  if ( stream_.mode == INPUT || ( stream_.mode == DUPLEX && stream_.device[0] != stream_.device[1] ) ) {
-
-    result = AudioDeviceStop( handle->id[1], callbackHandler );
-    if ( result != noErr ) {
-      errorStream_ << "RtApiCore::stopStream: system error (" << getErrorCode( result ) << ") stopping input callback procedure on device (" << stream_.device[1] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  stream_.state = STREAM_STOPPED;
-
- unlock:
-  if ( result == noErr ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiCore :: abortStream( void )
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiCore::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  CoreHandle *handle = (CoreHandle *) stream_.apiHandle;
-  handle->drainCounter = 2;
-
-  stopStream();
-}
-
-// This function will be called by a spawned thread when the user
-// callback function signals that the stream should be stopped or
-// aborted.  It is better to handle it this way because the
-// callbackEvent() function probably should return before the AudioDeviceStop()
-// function is called.
-static void *coreStopStream( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiCore *object = (RtApiCore *) info->object;
-
-  object->stopStream();
-  pthread_exit( NULL );
-}
-
-bool RtApiCore :: callbackEvent( AudioDeviceID deviceId,
-                                 const AudioBufferList *inBufferList,
-                                 const AudioBufferList *outBufferList )
-{
-  if ( stream_.state == STREAM_STOPPED || stream_.state == STREAM_STOPPING ) return SUCCESS;
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiCore::callbackEvent(): the stream is closed ... this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return FAILURE;
-  }
-
-  CallbackInfo *info = (CallbackInfo *) &stream_.callbackInfo;
-  CoreHandle *handle = (CoreHandle *) stream_.apiHandle;
-
-  // Check if we were draining the stream and signal is finished.
-  if ( handle->drainCounter > 3 ) {
-    ThreadHandle threadId;
-
-    stream_.state = STREAM_STOPPING;
-    if ( handle->internalDrain == true )
-      pthread_create( &threadId, NULL, coreStopStream, info );
-    else // external call to stopStream()
-      pthread_cond_signal( &handle->condition );
-    return SUCCESS;
-  }
-
-  AudioDeviceID outputDevice = handle->id[0];
-
-  // Invoke user callback to get fresh output data UNLESS we are
-  // draining stream or duplex mode AND the input/output devices are
-  // different AND this function is called for the input device.
-  if ( handle->drainCounter == 0 && ( stream_.mode != DUPLEX || deviceId == outputDevice ) ) {
-    RtAudioCallback callback = (RtAudioCallback) info->callback;
-    double streamTime = getStreamTime();
-    RtAudioStreamStatus status = 0;
-    if ( stream_.mode != INPUT && handle->xrun[0] == true ) {
-      status |= RTAUDIO_OUTPUT_UNDERFLOW;
-      handle->xrun[0] = false;
-    }
-    if ( stream_.mode != OUTPUT && handle->xrun[1] == true ) {
-      status |= RTAUDIO_INPUT_OVERFLOW;
-      handle->xrun[1] = false;
-    }
-
-    int cbReturnValue = callback( stream_.userBuffer[0], stream_.userBuffer[1],
-                                  stream_.bufferSize, streamTime, status, info->userData );
-    if ( cbReturnValue == 2 ) {
-      stream_.state = STREAM_STOPPING;
-      handle->drainCounter = 2;
-      abortStream();
-      return SUCCESS;
-    }
-    else if ( cbReturnValue == 1 ) {
-      handle->drainCounter = 1;
-      handle->internalDrain = true;
-    }
-  }
-
-  if ( stream_.mode == OUTPUT || ( stream_.mode == DUPLEX && deviceId == outputDevice ) ) {
-
-    if ( handle->drainCounter > 1 ) { // write zeros to the output stream
-
-      if ( handle->nStreams[0] == 1 ) {
-        memset( outBufferList->mBuffers[handle->iStream[0]].mData,
-                0,
-                outBufferList->mBuffers[handle->iStream[0]].mDataByteSize );
-      }
-      else { // fill multiple streams with zeros
-        for ( unsigned int i=0; i<handle->nStreams[0]; i++ ) {
-          memset( outBufferList->mBuffers[handle->iStream[0]+i].mData,
-                  0,
-                  outBufferList->mBuffers[handle->iStream[0]+i].mDataByteSize );
-        }
-      }
-    }
-    else if ( handle->nStreams[0] == 1 ) {
-      if ( stream_.doConvertBuffer[0] ) { // convert directly to CoreAudio stream buffer
-        convertBuffer( (char *) outBufferList->mBuffers[handle->iStream[0]].mData,
-                       stream_.userBuffer[0], stream_.convertInfo[0] );
-      }
-      else { // copy from user buffer
-        memcpy( outBufferList->mBuffers[handle->iStream[0]].mData,
-                stream_.userBuffer[0],
-                outBufferList->mBuffers[handle->iStream[0]].mDataByteSize );
-      }
-    }
-    else { // fill multiple streams
-      Float32 *inBuffer = (Float32 *) stream_.userBuffer[0];
-      if ( stream_.doConvertBuffer[0] ) {
-        convertBuffer( stream_.deviceBuffer, stream_.userBuffer[0], stream_.convertInfo[0] );
-        inBuffer = (Float32 *) stream_.deviceBuffer;
-      }
-
-      if ( stream_.deviceInterleaved[0] == false ) { // mono mode
-        UInt32 bufferBytes = outBufferList->mBuffers[handle->iStream[0]].mDataByteSize;
-        for ( unsigned int i=0; i<stream_.nUserChannels[0]; i++ ) {
-          memcpy( outBufferList->mBuffers[handle->iStream[0]+i].mData,
-                  (void *)&inBuffer[i*stream_.bufferSize], bufferBytes );
-        }
-      }
-      else { // fill multiple multi-channel streams with interleaved data
-        UInt32 streamChannels, channelsLeft, inJump, outJump, inOffset;
-        Float32 *out, *in;
-
-        bool inInterleaved = ( stream_.userInterleaved ) ? true : false;
-        UInt32 inChannels = stream_.nUserChannels[0];
-        if ( stream_.doConvertBuffer[0] ) {
-          inInterleaved = true; // device buffer will always be interleaved for nStreams > 1 and not mono mode
-          inChannels = stream_.nDeviceChannels[0];
-        }
-
-        if ( inInterleaved ) inOffset = 1;
-        else inOffset = stream_.bufferSize;
-
-        channelsLeft = inChannels;
-        for ( unsigned int i=0; i<handle->nStreams[0]; i++ ) {
-          in = inBuffer;
-          out = (Float32 *) outBufferList->mBuffers[handle->iStream[0]+i].mData;
-          streamChannels = outBufferList->mBuffers[handle->iStream[0]+i].mNumberChannels;
-
-          outJump = 0;
-          // Account for possible channel offset in first stream
-          if ( i == 0 && stream_.channelOffset[0] > 0 ) {
-            streamChannels -= stream_.channelOffset[0];
-            outJump = stream_.channelOffset[0];
-            out += outJump;
-          }
-
-          // Account for possible unfilled channels at end of the last stream
-          if ( streamChannels > channelsLeft ) {
-            outJump = streamChannels - channelsLeft;
-            streamChannels = channelsLeft;
-          }
-
-          // Determine input buffer offsets and skips
-          if ( inInterleaved ) {
-            inJump = inChannels;
-            in += inChannels - channelsLeft;
-          }
-          else {
-            inJump = 1;
-            in += (inChannels - channelsLeft) * inOffset;
-          }
-
-          for ( unsigned int i=0; i<stream_.bufferSize; i++ ) {
-            for ( unsigned int j=0; j<streamChannels; j++ ) {
-              *out++ = in[j*inOffset];
-            }
-            out += outJump;
-            in += inJump;
-          }
-          channelsLeft -= streamChannels;
-        }
-      }
-    }
-  }
-
-  // Don't bother draining input
-  if ( handle->drainCounter ) {
-    handle->drainCounter++;
-    goto unlock;
-  }
-
-  AudioDeviceID inputDevice;
-  inputDevice = handle->id[1];
-  if ( stream_.mode == INPUT || ( stream_.mode == DUPLEX && deviceId == inputDevice ) ) {
-
-    if ( handle->nStreams[1] == 1 ) {
-      if ( stream_.doConvertBuffer[1] ) { // convert directly from CoreAudio stream buffer
-        convertBuffer( stream_.userBuffer[1],
-                       (char *) inBufferList->mBuffers[handle->iStream[1]].mData,
-                       stream_.convertInfo[1] );
-      }
-      else { // copy to user buffer
-        memcpy( stream_.userBuffer[1],
-                inBufferList->mBuffers[handle->iStream[1]].mData,
-                inBufferList->mBuffers[handle->iStream[1]].mDataByteSize );
-      }
-    }
-    else { // read from multiple streams
-      Float32 *outBuffer = (Float32 *) stream_.userBuffer[1];
-      if ( stream_.doConvertBuffer[1] ) outBuffer = (Float32 *) stream_.deviceBuffer;
-
-      if ( stream_.deviceInterleaved[1] == false ) { // mono mode
-        UInt32 bufferBytes = inBufferList->mBuffers[handle->iStream[1]].mDataByteSize;
-        for ( unsigned int i=0; i<stream_.nUserChannels[1]; i++ ) {
-          memcpy( (void *)&outBuffer[i*stream_.bufferSize],
-                  inBufferList->mBuffers[handle->iStream[1]+i].mData, bufferBytes );
-        }
-      }
-      else { // read from multiple multi-channel streams
-        UInt32 streamChannels, channelsLeft, inJump, outJump, outOffset;
-        Float32 *out, *in;
-
-        bool outInterleaved = ( stream_.userInterleaved ) ? true : false;
-        UInt32 outChannels = stream_.nUserChannels[1];
-        if ( stream_.doConvertBuffer[1] ) {
-          outInterleaved = true; // device buffer will always be interleaved for nStreams > 1 and not mono mode
-          outChannels = stream_.nDeviceChannels[1];
-        }
-
-        if ( outInterleaved ) outOffset = 1;
-        else outOffset = stream_.bufferSize;
-
-        channelsLeft = outChannels;
-        for ( unsigned int i=0; i<handle->nStreams[1]; i++ ) {
-          out = outBuffer;
-          in = (Float32 *) inBufferList->mBuffers[handle->iStream[1]+i].mData;
-          streamChannels = inBufferList->mBuffers[handle->iStream[1]+i].mNumberChannels;
-
-          inJump = 0;
-          // Account for possible channel offset in first stream
-          if ( i == 0 && stream_.channelOffset[1] > 0 ) {
-            streamChannels -= stream_.channelOffset[1];
-            inJump = stream_.channelOffset[1];
-            in += inJump;
-          }
-
-          // Account for possible unread channels at end of the last stream
-          if ( streamChannels > channelsLeft ) {
-            inJump = streamChannels - channelsLeft;
-            streamChannels = channelsLeft;
-          }
-
-          // Determine output buffer offsets and skips
-          if ( outInterleaved ) {
-            outJump = outChannels;
-            out += outChannels - channelsLeft;
-          }
-          else {
-            outJump = 1;
-            out += (outChannels - channelsLeft) * outOffset;
-          }
-
-          for ( unsigned int i=0; i<stream_.bufferSize; i++ ) {
-            for ( unsigned int j=0; j<streamChannels; j++ ) {
-              out[j*outOffset] = *in++;
-            }
-            out += outJump;
-            in += inJump;
-          }
-          channelsLeft -= streamChannels;
-        }
-      }
-
-      if ( stream_.doConvertBuffer[1] ) { // convert from our internal "device" buffer
-        convertBuffer( stream_.userBuffer[1],
-                       stream_.deviceBuffer,
-                       stream_.convertInfo[1] );
-      }
-    }
-  }
-
- unlock:
-  //MUTEX_UNLOCK( &stream_.mutex );
-
-  RtApi::tickStreamTime();
-  return SUCCESS;
-}
-
-const char* RtApiCore :: getErrorCode( OSStatus code )
-{
-  switch( code ) {
-
-  case kAudioHardwareNotRunningError:
-    return "kAudioHardwareNotRunningError";
-
-  case kAudioHardwareUnspecifiedError:
-    return "kAudioHardwareUnspecifiedError";
-
-  case kAudioHardwareUnknownPropertyError:
-    return "kAudioHardwareUnknownPropertyError";
-
-  case kAudioHardwareBadPropertySizeError:
-    return "kAudioHardwareBadPropertySizeError";
-
-  case kAudioHardwareIllegalOperationError:
-    return "kAudioHardwareIllegalOperationError";
-
-  case kAudioHardwareBadObjectError:
-    return "kAudioHardwareBadObjectError";
-
-  case kAudioHardwareBadDeviceError:
-    return "kAudioHardwareBadDeviceError";
-
-  case kAudioHardwareBadStreamError:
-    return "kAudioHardwareBadStreamError";
-
-  case kAudioHardwareUnsupportedOperationError:
-    return "kAudioHardwareUnsupportedOperationError";
-
-  case kAudioDeviceUnsupportedFormatError:
-    return "kAudioDeviceUnsupportedFormatError";
-
-  case kAudioDevicePermissionsError:
-    return "kAudioDevicePermissionsError";
-
-  default:
-    return "CoreAudio unknown error";
-  }
-}
-
-  //******************** End of __MACOSX_CORE__ *********************//
-#endif
-
-#if defined(__UNIX_JACK__)
-
-// JACK is a low-latency audio server, originally written for the
-// GNU/Linux operating system and now also ported to OS-X. It can
-// connect a number of different applications to an audio device, as
-// well as allowing them to share audio between themselves.
-//
-// When using JACK with RtAudio, "devices" refer to JACK clients that
-// have ports connected to the server.  The JACK server is typically
-// started in a terminal as follows:
-//
-// .jackd -d alsa -d hw:0
-//
-// or through an interface program such as qjackctl.  Many of the
-// parameters normally set for a stream are fixed by the JACK server
-// and can be specified when the JACK server is started.  In
-// particular,
-//
-// .jackd -d alsa -d hw:0 -r 44100 -p 512 -n 4
-//
-// specifies a sample rate of 44100 Hz, a buffer size of 512 sample
-// frames, and number of buffers = 4.  Once the server is running, it
-// is not possible to override these values.  If the values are not
-// specified in the command-line, the JACK server uses default values.
-//
-// The JACK server does not have to be running when an instance of
-// RtApiJack is created, though the function getDeviceCount() will
-// report 0 devices found until JACK has been started.  When no
-// devices are available (i.e., the JACK server is not running), a
-// stream cannot be opened.
-
-#include <jack/jack.h>
-#include <unistd.h>
-#include <cstdio>
-
-// A structure to hold various information related to the Jack API
-// implementation.
-struct JackHandle {
-  jack_client_t *client;
-  jack_port_t **ports[2];
-  std::string deviceName[2];
-  bool xrun[2];
-  pthread_cond_t condition;
-  int drainCounter;       // Tracks callback counts when draining
-  bool internalDrain;     // Indicates if stop is initiated from callback or not.
-
-  JackHandle()
-    :client(0), drainCounter(0), internalDrain(false) { ports[0] = 0; ports[1] = 0; xrun[0] = false; xrun[1] = false; }
-};
-
-static void jackSilentError( const char * ) {};
-
-RtApiJack :: RtApiJack()
-{
-  // Nothing to do here.
-#if !defined(__RTAUDIO_DEBUG__)
-  // Turn off Jack's internal error reporting.
-  jack_set_error_function( &jackSilentError );
-#endif
-}
-
-RtApiJack :: ~RtApiJack()
-{
-  if ( stream_.state != STREAM_CLOSED ) closeStream();
-}
-
-unsigned int RtApiJack :: getDeviceCount( void )
-{
-  // See if we can become a jack client.
-  jack_options_t options = (jack_options_t) ( JackNoStartServer ); //JackNullOption;
-  jack_status_t *status = NULL;
-  jack_client_t *client = jack_client_open( "RtApiJackCount", options, status );
-  if ( client == 0 ) return 0;
-
-  const char **ports;
-  std::string port, previousPort;
-  unsigned int nChannels = 0, nDevices = 0;
-  ports = jack_get_ports( client, NULL, NULL, 0 );
-  if ( ports ) {
-    // Parse the port names up to the first colon (:).
-    size_t iColon = 0;
-    do {
-      port = (char *) ports[ nChannels ];
-      iColon = port.find(":");
-      if ( iColon != std::string::npos ) {
-        port = port.substr( 0, iColon + 1 );
-        if ( port != previousPort ) {
-          nDevices++;
-          previousPort = port;
-        }
-      }
-    } while ( ports[++nChannels] );
-    free( ports );
-  }
-
-  jack_client_close( client );
-  return nDevices;
-}
-
-RtAudio::DeviceInfo RtApiJack :: getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = false;
-
-  jack_options_t options = (jack_options_t) ( JackNoStartServer ); //JackNullOption
-  jack_status_t *status = NULL;
-  jack_client_t *client = jack_client_open( "RtApiJackInfo", options, status );
-  if ( client == 0 ) {
-    errorText_ = "RtApiJack::getDeviceInfo: Jack server not found or connection error!";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  const char **ports;
-  std::string port, previousPort;
-  unsigned int nPorts = 0, nDevices = 0;
-  ports = jack_get_ports( client, NULL, NULL, 0 );
-  if ( ports ) {
-    // Parse the port names up to the first colon (:).
-    size_t iColon = 0;
-    do {
-      port = (char *) ports[ nPorts ];
-      iColon = port.find(":");
-      if ( iColon != std::string::npos ) {
-        port = port.substr( 0, iColon );
-        if ( port != previousPort ) {
-          if ( nDevices == device ) info.name = port;
-          nDevices++;
-          previousPort = port;
-        }
-      }
-    } while ( ports[++nPorts] );
-    free( ports );
-  }
-
-  if ( device >= nDevices ) {
-    jack_client_close( client );
-    errorText_ = "RtApiJack::getDeviceInfo: device ID is invalid!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  // Get the current jack server sample rate.
-  info.sampleRates.clear();
-
-  info.preferredSampleRate = jack_get_sample_rate( client );
-  info.sampleRates.push_back( info.preferredSampleRate );
-
-  // Count the available ports containing the client name as device
-  // channels.  Jack "input ports" equal RtAudio output channels.
-  unsigned int nChannels = 0;
-  ports = jack_get_ports( client, info.name.c_str(), NULL, JackPortIsInput );
-  if ( ports ) {
-    while ( ports[ nChannels ] ) nChannels++;
-    free( ports );
-    info.outputChannels = nChannels;
-  }
-
-  // Jack "output ports" equal RtAudio input channels.
-  nChannels = 0;
-  ports = jack_get_ports( client, info.name.c_str(), NULL, JackPortIsOutput );
-  if ( ports ) {
-    while ( ports[ nChannels ] ) nChannels++;
-    free( ports );
-    info.inputChannels = nChannels;
-  }
-
-  if ( info.outputChannels == 0 && info.inputChannels == 0 ) {
-    jack_client_close(client);
-    errorText_ = "RtApiJack::getDeviceInfo: error determining Jack input/output channels!";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // If device opens for both playback and capture, we determine the channels.
-  if ( info.outputChannels > 0 && info.inputChannels > 0 )
-    info.duplexChannels = (info.outputChannels > info.inputChannels) ? info.inputChannels : info.outputChannels;
-
-  // Jack always uses 32-bit floats.
-  info.nativeFormats = RTAUDIO_FLOAT32;
-
-  // Jack doesn't provide default devices so we'll use the first available one.
-  if ( device == 0 && info.outputChannels > 0 )
-    info.isDefaultOutput = true;
-  if ( device == 0 && info.inputChannels > 0 )
-    info.isDefaultInput = true;
-
-  jack_client_close(client);
-  info.probed = true;
-  return info;
-}
-
-static int jackCallbackHandler( jack_nframes_t nframes, void *infoPointer )
-{
-  CallbackInfo *info = (CallbackInfo *) infoPointer;
-
-  RtApiJack *object = (RtApiJack *) info->object;
-  if ( object->callbackEvent( (unsigned long) nframes ) == false ) return 1;
-
-  return 0;
-}
-
-// This function will be called by a spawned thread when the Jack
-// server signals that it is shutting down.  It is necessary to handle
-// it this way because the jackShutdown() function must return before
-// the jack_deactivate() function (in closeStream()) will return.
-static void *jackCloseStream( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiJack *object = (RtApiJack *) info->object;
-
-  object->closeStream();
-
-  pthread_exit( NULL );
-}
-static void jackShutdown( void *infoPointer )
-{
-  CallbackInfo *info = (CallbackInfo *) infoPointer;
-  RtApiJack *object = (RtApiJack *) info->object;
-
-  // Check current stream state.  If stopped, then we'll assume this
-  // was called as a result of a call to RtApiJack::stopStream (the
-  // deactivation of a client handle causes this function to be called).
-  // If not, we'll assume the Jack server is shutting down or some
-  // other problem occurred and we should close the stream.
-  if ( object->isStreamRunning() == false ) return;
-
-  ThreadHandle threadId;
-  pthread_create( &threadId, NULL, jackCloseStream, info );
-  std::cerr << "\nRtApiJack: the Jack server is shutting down this client ... stream stopped and closed!!\n" << std::endl;
-}
-
-static int jackXrun( void *infoPointer )
-{
-  JackHandle *handle = (JackHandle *) infoPointer;
-
-  if ( handle->ports[0] ) handle->xrun[0] = true;
-  if ( handle->ports[1] ) handle->xrun[1] = true;
-
-  return 0;
-}
-
-bool RtApiJack :: probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                   unsigned int firstChannel, unsigned int sampleRate,
-                                   RtAudioFormat format, unsigned int *bufferSize,
-                                   RtAudio::StreamOptions *options )
-{
-  JackHandle *handle = (JackHandle *) stream_.apiHandle;
-
-  // Look for jack server and try to become a client (only do once per stream).
-  jack_client_t *client = 0;
-  if ( mode == OUTPUT || ( mode == INPUT && stream_.mode != OUTPUT ) ) {
-    jack_options_t jackoptions = (jack_options_t) ( JackNoStartServer ); //JackNullOption;
-    jack_status_t *status = NULL;
-    if ( options && !options->streamName.empty() )
-      client = jack_client_open( options->streamName.c_str(), jackoptions, status );
-    else
-      client = jack_client_open( "RtApiJack", jackoptions, status );
-    if ( client == 0 ) {
-      errorText_ = "RtApiJack::probeDeviceOpen: Jack server not found or connection error!";
-      error( RtAudioError::WARNING );
-      return FAILURE;
-    }
-  }
-  else {
-    // The handle must have been created on an earlier pass.
-    client = handle->client;
-  }
-
-  const char **ports;
-  std::string port, previousPort, deviceName;
-  unsigned int nPorts = 0, nDevices = 0;
-  ports = jack_get_ports( client, NULL, NULL, 0 );
-  if ( ports ) {
-    // Parse the port names up to the first colon (:).
-    size_t iColon = 0;
-    do {
-      port = (char *) ports[ nPorts ];
-      iColon = port.find(":");
-      if ( iColon != std::string::npos ) {
-        port = port.substr( 0, iColon );
-        if ( port != previousPort ) {
-          if ( nDevices == device ) deviceName = port;
-          nDevices++;
-          previousPort = port;
-        }
-      }
-    } while ( ports[++nPorts] );
-    free( ports );
-  }
-
-  if ( device >= nDevices ) {
-    errorText_ = "RtApiJack::probeDeviceOpen: device ID is invalid!";
-    return FAILURE;
-  }
-
-  // Count the available ports containing the client name as device
-  // channels.  Jack "input ports" equal RtAudio output channels.
-  unsigned int nChannels = 0;
-  unsigned long flag = JackPortIsInput;
-  if ( mode == INPUT ) flag = JackPortIsOutput;
-  ports = jack_get_ports( client, deviceName.c_str(), NULL, flag );
-  if ( ports ) {
-    while ( ports[ nChannels ] ) nChannels++;
-    free( ports );
-  }
-
-  // Compare the jack ports for specified client to the requested number of channels.
-  if ( nChannels < (channels + firstChannel) ) {
-    errorStream_ << "RtApiJack::probeDeviceOpen: requested number of channels (" << channels << ") + offset (" << firstChannel << ") not found for specified device (" << device << ":" << deviceName << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Check the jack server sample rate.
-  unsigned int jackRate = jack_get_sample_rate( client );
-  if ( sampleRate != jackRate ) {
-    jack_client_close( client );
-    errorStream_ << "RtApiJack::probeDeviceOpen: the requested sample rate (" << sampleRate << ") is different than the JACK server rate (" << jackRate << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-  stream_.sampleRate = jackRate;
-
-  // Get the latency of the JACK port.
-  ports = jack_get_ports( client, deviceName.c_str(), NULL, flag );
-  if ( ports[ firstChannel ] ) {
-    // Added by Ge Wang
-    jack_latency_callback_mode_t cbmode = (mode == INPUT ? JackCaptureLatency : JackPlaybackLatency);
-    // the range (usually the min and max are equal)
-    jack_latency_range_t latrange; latrange.min = latrange.max = 0;
-    // get the latency range
-    jack_port_get_latency_range( jack_port_by_name( client, ports[firstChannel] ), cbmode, &latrange );
-    // be optimistic, use the min!
-    stream_.latency[mode] = latrange.min;
-    //stream_.latency[mode] = jack_port_get_latency( jack_port_by_name( client, ports[ firstChannel ] ) );
-  }
-  free( ports );
-
-  // The jack server always uses 32-bit floating-point data.
-  stream_.deviceFormat[mode] = RTAUDIO_FLOAT32;
-  stream_.userFormat = format;
-
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED ) stream_.userInterleaved = false;
-  else stream_.userInterleaved = true;
-
-  // Jack always uses non-interleaved buffers.
-  stream_.deviceInterleaved[mode] = false;
-
-  // Jack always provides host byte-ordered data.
-  stream_.doByteSwap[mode] = false;
-
-  // Get the buffer size.  The buffer size and number of buffers
-  // (periods) is set when the jack server is started.
-  stream_.bufferSize = (int) jack_get_buffer_size( client );
-  *bufferSize = stream_.bufferSize;
-
-  stream_.nDeviceChannels[mode] = channels;
-  stream_.nUserChannels[mode] = channels;
-
-  // Set flags for buffer conversion.
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.userInterleaved != stream_.deviceInterleaved[mode] &&
-       stream_.nUserChannels[mode] > 1 )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate our JackHandle structure for the stream.
-  if ( handle == 0 ) {
-    try {
-      handle = new JackHandle;
-    }
-    catch ( std::bad_alloc& ) {
-      errorText_ = "RtApiJack::probeDeviceOpen: error allocating JackHandle memory.";
-      goto error;
-    }
-
-    if ( pthread_cond_init(&handle->condition, NULL) ) {
-      errorText_ = "RtApiJack::probeDeviceOpen: error initializing pthread condition variable.";
-      goto error;
-    }
-    stream_.apiHandle = (void *) handle;
-    handle->client = client;
-  }
-  handle->deviceName[mode] = deviceName;
-
-  // Allocate necessary internal buffers.
-  unsigned long bufferBytes;
-  bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiJack::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-
-  if ( stream_.doConvertBuffer[mode] ) {
-
-    bool makeBuffer = true;
-    if ( mode == OUTPUT )
-      bufferBytes = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-    else { // mode == INPUT
-      bufferBytes = stream_.nDeviceChannels[1] * formatBytes( stream_.deviceFormat[1] );
-      if ( stream_.mode == OUTPUT && stream_.deviceBuffer ) {
-        unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes(stream_.deviceFormat[0]);
-        if ( bufferBytes < bytesOut ) makeBuffer = false;
-      }
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiJack::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  // Allocate memory for the Jack ports (channels) identifiers.
-  handle->ports[mode] = (jack_port_t **) malloc ( sizeof (jack_port_t *) * channels );
-  if ( handle->ports[mode] == NULL )  {
-    errorText_ = "RtApiJack::probeDeviceOpen: error allocating port memory.";
-    goto error;
-  }
-
-  stream_.device[mode] = device;
-  stream_.channelOffset[mode] = firstChannel;
-  stream_.state = STREAM_STOPPED;
-  stream_.callbackInfo.object = (void *) this;
-
-  if ( stream_.mode == OUTPUT && mode == INPUT )
-    // We had already set up the stream for output.
-    stream_.mode = DUPLEX;
-  else {
-    stream_.mode = mode;
-    jack_set_process_callback( handle->client, jackCallbackHandler, (void *) &stream_.callbackInfo );
-    jack_set_xrun_callback( handle->client, jackXrun, (void *) &handle );
-    jack_on_shutdown( handle->client, jackShutdown, (void *) &stream_.callbackInfo );
-  }
-
-  // Register our ports.
-  char label[64];
-  if ( mode == OUTPUT ) {
-    for ( unsigned int i=0; i<stream_.nUserChannels[0]; i++ ) {
-      snprintf( label, 64, "outport %d", i );
-      handle->ports[0][i] = jack_port_register( handle->client, (const char *)label,
-                                                JACK_DEFAULT_AUDIO_TYPE, JackPortIsOutput, 0 );
-    }
-  }
-  else {
-    for ( unsigned int i=0; i<stream_.nUserChannels[1]; i++ ) {
-      snprintf( label, 64, "inport %d", i );
-      handle->ports[1][i] = jack_port_register( handle->client, (const char *)label,
-                                                JACK_DEFAULT_AUDIO_TYPE, JackPortIsInput, 0 );
-    }
-  }
-
-  // Setup the buffer conversion information structure.  We don't use
-  // buffers to do channel offsets, so we override that parameter
-  // here.
-  if ( stream_.doConvertBuffer[mode] ) setConvertInfo( mode, 0 );
-
-  return SUCCESS;
-
- error:
-  if ( handle ) {
-    pthread_cond_destroy( &handle->condition );
-    jack_client_close( handle->client );
-
-    if ( handle->ports[0] ) free( handle->ports[0] );
-    if ( handle->ports[1] ) free( handle->ports[1] );
-
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  return FAILURE;
-}
-
-void RtApiJack :: closeStream( void )
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiJack::closeStream(): no open stream to close!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  JackHandle *handle = (JackHandle *) stream_.apiHandle;
-  if ( handle ) {
-
-    if ( stream_.state == STREAM_RUNNING )
-      jack_deactivate( handle->client );
-
-    jack_client_close( handle->client );
-  }
-
-  if ( handle ) {
-    if ( handle->ports[0] ) free( handle->ports[0] );
-    if ( handle->ports[1] ) free( handle->ports[1] );
-    pthread_cond_destroy( &handle->condition );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-}
-
-void RtApiJack :: startStream( void )
-{
-  verifyStream();
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiJack::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  JackHandle *handle = (JackHandle *) stream_.apiHandle;
-  int result = jack_activate( handle->client );
-  if ( result ) {
-    errorText_ = "RtApiJack::startStream(): unable to activate JACK client!";
-    goto unlock;
-  }
-
-  const char **ports;
-
-  // Get the list of available ports.
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    result = 1;
-    ports = jack_get_ports( handle->client, handle->deviceName[0].c_str(), NULL, JackPortIsInput);
-    if ( ports == NULL) {
-      errorText_ = "RtApiJack::startStream(): error determining available JACK input ports!";
-      goto unlock;
-    }
-
-    // Now make the port connections.  Since RtAudio wasn't designed to
-    // allow the user to select particular channels of a device, we'll
-    // just open the first "nChannels" ports with offset.
-    for ( unsigned int i=0; i<stream_.nUserChannels[0]; i++ ) {
-      result = 1;
-      if ( ports[ stream_.channelOffset[0] + i ] )
-        result = jack_connect( handle->client, jack_port_name( handle->ports[0][i] ), ports[ stream_.channelOffset[0] + i ] );
-      if ( result ) {
-        free( ports );
-        errorText_ = "RtApiJack::startStream(): error connecting output ports!";
-        goto unlock;
-      }
-    }
-    free(ports);
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-    result = 1;
-    ports = jack_get_ports( handle->client, handle->deviceName[1].c_str(), NULL, JackPortIsOutput );
-    if ( ports == NULL) {
-      errorText_ = "RtApiJack::startStream(): error determining available JACK output ports!";
-      goto unlock;
-    }
-
-    // Now make the port connections.  See note above.
-    for ( unsigned int i=0; i<stream_.nUserChannels[1]; i++ ) {
-      result = 1;
-      if ( ports[ stream_.channelOffset[1] + i ] )
-        result = jack_connect( handle->client, ports[ stream_.channelOffset[1] + i ], jack_port_name( handle->ports[1][i] ) );
-      if ( result ) {
-        free( ports );
-        errorText_ = "RtApiJack::startStream(): error connecting input ports!";
-        goto unlock;
-      }
-    }
-    free(ports);
-  }
-
-  handle->drainCounter = 0;
-  handle->internalDrain = false;
-  stream_.state = STREAM_RUNNING;
-
- unlock:
-  if ( result == 0 ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiJack :: stopStream( void )
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiJack::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  JackHandle *handle = (JackHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    if ( handle->drainCounter == 0 ) {
-      handle->drainCounter = 2;
-      pthread_cond_wait( &handle->condition, &stream_.mutex ); // block until signaled
-    }
-  }
-
-  jack_deactivate( handle->client );
-  stream_.state = STREAM_STOPPED;
-}
-
-void RtApiJack :: abortStream( void )
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiJack::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  JackHandle *handle = (JackHandle *) stream_.apiHandle;
-  handle->drainCounter = 2;
-
-  stopStream();
-}
-
-// This function will be called by a spawned thread when the user
-// callback function signals that the stream should be stopped or
-// aborted.  It is necessary to handle it this way because the
-// callbackEvent() function must return before the jack_deactivate()
-// function will return.
-static void *jackStopStream( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiJack *object = (RtApiJack *) info->object;
-
-  object->stopStream();
-  pthread_exit( NULL );
-}
-
-bool RtApiJack :: callbackEvent( unsigned long nframes )
-{
-  if ( stream_.state == STREAM_STOPPED || stream_.state == STREAM_STOPPING ) return SUCCESS;
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiCore::callbackEvent(): the stream is closed ... this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return FAILURE;
-  }
-  if ( stream_.bufferSize != nframes ) {
-    errorText_ = "RtApiCore::callbackEvent(): the JACK buffer size has changed ... cannot process!";
-    error( RtAudioError::WARNING );
-    return FAILURE;
-  }
-
-  CallbackInfo *info = (CallbackInfo *) &stream_.callbackInfo;
-  JackHandle *handle = (JackHandle *) stream_.apiHandle;
-
-  // Check if we were draining the stream and signal is finished.
-  if ( handle->drainCounter > 3 ) {
-    ThreadHandle threadId;
-
-    stream_.state = STREAM_STOPPING;
-    if ( handle->internalDrain == true )
-      pthread_create( &threadId, NULL, jackStopStream, info );
-    else
-      pthread_cond_signal( &handle->condition );
-    return SUCCESS;
-  }
-
-  // Invoke user callback first, to get fresh output data.
-  if ( handle->drainCounter == 0 ) {
-    RtAudioCallback callback = (RtAudioCallback) info->callback;
-    double streamTime = getStreamTime();
-    RtAudioStreamStatus status = 0;
-    if ( stream_.mode != INPUT && handle->xrun[0] == true ) {
-      status |= RTAUDIO_OUTPUT_UNDERFLOW;
-      handle->xrun[0] = false;
-    }
-    if ( stream_.mode != OUTPUT && handle->xrun[1] == true ) {
-      status |= RTAUDIO_INPUT_OVERFLOW;
-      handle->xrun[1] = false;
-    }
-    int cbReturnValue = callback( stream_.userBuffer[0], stream_.userBuffer[1],
-                                  stream_.bufferSize, streamTime, status, info->userData );
-    if ( cbReturnValue == 2 ) {
-      stream_.state = STREAM_STOPPING;
-      handle->drainCounter = 2;
-      ThreadHandle id;
-      pthread_create( &id, NULL, jackStopStream, info );
-      return SUCCESS;
-    }
-    else if ( cbReturnValue == 1 ) {
-      handle->drainCounter = 1;
-      handle->internalDrain = true;
-    }
-  }
-
-  jack_default_audio_sample_t *jackbuffer;
-  unsigned long bufferBytes = nframes * sizeof( jack_default_audio_sample_t );
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    if ( handle->drainCounter > 1 ) { // write zeros to the output stream
-
-      for ( unsigned int i=0; i<stream_.nDeviceChannels[0]; i++ ) {
-        jackbuffer = (jack_default_audio_sample_t *) jack_port_get_buffer( handle->ports[0][i], (jack_nframes_t) nframes );
-        memset( jackbuffer, 0, bufferBytes );
-      }
-
-    }
-    else if ( stream_.doConvertBuffer[0] ) {
-
-      convertBuffer( stream_.deviceBuffer, stream_.userBuffer[0], stream_.convertInfo[0] );
-
-      for ( unsigned int i=0; i<stream_.nDeviceChannels[0]; i++ ) {
-        jackbuffer = (jack_default_audio_sample_t *) jack_port_get_buffer( handle->ports[0][i], (jack_nframes_t) nframes );
-        memcpy( jackbuffer, &stream_.deviceBuffer[i*bufferBytes], bufferBytes );
-      }
-    }
-    else { // no buffer conversion
-      for ( unsigned int i=0; i<stream_.nUserChannels[0]; i++ ) {
-        jackbuffer = (jack_default_audio_sample_t *) jack_port_get_buffer( handle->ports[0][i], (jack_nframes_t) nframes );
-        memcpy( jackbuffer, &stream_.userBuffer[0][i*bufferBytes], bufferBytes );
-      }
-    }
-  }
-
-  // Don't bother draining input
-  if ( handle->drainCounter ) {
-    handle->drainCounter++;
-    goto unlock;
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-
-    if ( stream_.doConvertBuffer[1] ) {
-      for ( unsigned int i=0; i<stream_.nDeviceChannels[1]; i++ ) {
-        jackbuffer = (jack_default_audio_sample_t *) jack_port_get_buffer( handle->ports[1][i], (jack_nframes_t) nframes );
-        memcpy( &stream_.deviceBuffer[i*bufferBytes], jackbuffer, bufferBytes );
-      }
-      convertBuffer( stream_.userBuffer[1], stream_.deviceBuffer, stream_.convertInfo[1] );
-    }
-    else { // no buffer conversion
-      for ( unsigned int i=0; i<stream_.nUserChannels[1]; i++ ) {
-        jackbuffer = (jack_default_audio_sample_t *) jack_port_get_buffer( handle->ports[1][i], (jack_nframes_t) nframes );
-        memcpy( &stream_.userBuffer[1][i*bufferBytes], jackbuffer, bufferBytes );
-      }
-    }
-  }
-
- unlock:
-  RtApi::tickStreamTime();
-  return SUCCESS;
-}
-  //******************** End of __UNIX_JACK__ *********************//
-#endif
-
-#if defined(__WINDOWS_ASIO__) // ASIO API on Windows
-
-// The ASIO API is designed around a callback scheme, so this
-// implementation is similar to that used for OS-X CoreAudio and Linux
-// Jack.  The primary constraint with ASIO is that it only allows
-// access to a single driver at a time.  Thus, it is not possible to
-// have more than one simultaneous RtAudio stream.
-//
-// This implementation also requires a number of external ASIO files
-// and a few global variables.  The ASIO callback scheme does not
-// allow for the passing of user data, so we must create a global
-// pointer to our callbackInfo structure.
-//
-// On unix systems, we make use of a pthread condition variable.
-// Since there is no equivalent in Windows, I hacked something based
-// on information found in
-// http://www.cs.wustl.edu/~schmidt/win32-cv-1.html.
-
-#include "asiosys.h"
-#include "asio.h"
-#include "iasiothiscallresolver.h"
-#include "asiodrivers.h"
-#include <cmath>
-
-static AsioDrivers drivers;
-static ASIOCallbacks asioCallbacks;
-static ASIODriverInfo driverInfo;
-static CallbackInfo *asioCallbackInfo;
-static bool asioXRun;
-
-struct AsioHandle {
-  int drainCounter;       // Tracks callback counts when draining
-  bool internalDrain;     // Indicates if stop is initiated from callback or not.
-  ASIOBufferInfo *bufferInfos;
-  HANDLE condition;
-
-  AsioHandle()
-    :drainCounter(0), internalDrain(false), bufferInfos(0) {}
-};
-
-// Function declarations (definitions at end of section)
-static const char* getAsioErrorString( ASIOError result );
-static void sampleRateChanged( ASIOSampleRate sRate );
-static long asioMessages( long selector, long value, void* message, double* opt );
-
-RtApiAsio :: RtApiAsio()
-{
-  // ASIO cannot run on a multi-threaded appartment. You can call
-  // CoInitialize beforehand, but it must be for appartment threading
-  // (in which case, CoInitilialize will return S_FALSE here).
-  coInitialized_ = false;
-  HRESULT hr = CoInitialize( NULL );
-  if ( FAILED(hr) ) {
-    errorText_ = "RtApiAsio::ASIO requires a single-threaded appartment. Call CoInitializeEx(0,COINIT_APARTMENTTHREADED)";
-    error( RtAudioError::WARNING );
-  }
-  coInitialized_ = true;
-
-  drivers.removeCurrentDriver();
-  driverInfo.asioVersion = 2;
-
-  // See note in DirectSound implementation about GetDesktopWindow().
-  driverInfo.sysRef = GetForegroundWindow();
-}
-
-RtApiAsio :: ~RtApiAsio()
-{
-  if ( stream_.state != STREAM_CLOSED ) closeStream();
-  if ( coInitialized_ ) CoUninitialize();
-}
-
-unsigned int RtApiAsio :: getDeviceCount( void )
-{
-  return (unsigned int) drivers.asioGetNumDev();
-}
-
-RtAudio::DeviceInfo RtApiAsio :: getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = false;
-
-  // Get device ID
-  unsigned int nDevices = getDeviceCount();
-  if ( nDevices == 0 ) {
-    errorText_ = "RtApiAsio::getDeviceInfo: no devices found!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  if ( device >= nDevices ) {
-    errorText_ = "RtApiAsio::getDeviceInfo: device ID is invalid!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  // If a stream is already open, we cannot probe other devices.  Thus, use the saved results.
-  if ( stream_.state != STREAM_CLOSED ) {
-    if ( device >= devices_.size() ) {
-      errorText_ = "RtApiAsio::getDeviceInfo: device ID was not present before stream was opened.";
-      error( RtAudioError::WARNING );
-      return info;
-    }
-    return devices_[ device ];
-  }
-
-  char driverName[32];
-  ASIOError result = drivers.asioGetDriverName( (int) device, driverName, 32 );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::getDeviceInfo: unable to get driver name (" << getAsioErrorString( result ) << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  info.name = driverName;
-
-  if ( !drivers.loadDriver( driverName ) ) {
-    errorStream_ << "RtApiAsio::getDeviceInfo: unable to load driver (" << driverName << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  result = ASIOInit( &driverInfo );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::getDeviceInfo: error (" << getAsioErrorString( result ) << ") initializing driver (" << driverName << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Determine the device channel information.
-  long inputChannels, outputChannels;
-  result = ASIOGetChannels( &inputChannels, &outputChannels );
-  if ( result != ASE_OK ) {
-    drivers.removeCurrentDriver();
-    errorStream_ << "RtApiAsio::getDeviceInfo: error (" << getAsioErrorString( result ) << ") getting channel count (" << driverName << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  info.outputChannels = outputChannels;
-  info.inputChannels = inputChannels;
-  if ( info.outputChannels > 0 && info.inputChannels > 0 )
-    info.duplexChannels = (info.outputChannels > info.inputChannels) ? info.inputChannels : info.outputChannels;
-
-  // Determine the supported sample rates.
-  info.sampleRates.clear();
-  for ( unsigned int i=0; i<MAX_SAMPLE_RATES; i++ ) {
-    result = ASIOCanSampleRate( (ASIOSampleRate) SAMPLE_RATES[i] );
-    if ( result == ASE_OK ) {
-      info.sampleRates.push_back( SAMPLE_RATES[i] );
-
-      if ( !info.preferredSampleRate || ( SAMPLE_RATES[i] <= 48000 && SAMPLE_RATES[i] > info.preferredSampleRate ) )
-        info.preferredSampleRate = SAMPLE_RATES[i];
-    }
-  }
-
-  // Determine supported data types ... just check first channel and assume rest are the same.
-  ASIOChannelInfo channelInfo;
-  channelInfo.channel = 0;
-  channelInfo.isInput = true;
-  if ( info.inputChannels <= 0 ) channelInfo.isInput = false;
-  result = ASIOGetChannelInfo( &channelInfo );
-  if ( result != ASE_OK ) {
-    drivers.removeCurrentDriver();
-    errorStream_ << "RtApiAsio::getDeviceInfo: error (" << getAsioErrorString( result ) << ") getting driver channel info (" << driverName << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  info.nativeFormats = 0;
-  if ( channelInfo.type == ASIOSTInt16MSB || channelInfo.type == ASIOSTInt16LSB )
-    info.nativeFormats |= RTAUDIO_SINT16;
-  else if ( channelInfo.type == ASIOSTInt32MSB || channelInfo.type == ASIOSTInt32LSB )
-    info.nativeFormats |= RTAUDIO_SINT32;
-  else if ( channelInfo.type == ASIOSTFloat32MSB || channelInfo.type == ASIOSTFloat32LSB )
-    info.nativeFormats |= RTAUDIO_FLOAT32;
-  else if ( channelInfo.type == ASIOSTFloat64MSB || channelInfo.type == ASIOSTFloat64LSB )
-    info.nativeFormats |= RTAUDIO_FLOAT64;
-  else if ( channelInfo.type == ASIOSTInt24MSB || channelInfo.type == ASIOSTInt24LSB )
-    info.nativeFormats |= RTAUDIO_SINT24;
-
-  if ( info.outputChannels > 0 )
-    if ( getDefaultOutputDevice() == device ) info.isDefaultOutput = true;
-  if ( info.inputChannels > 0 )
-    if ( getDefaultInputDevice() == device ) info.isDefaultInput = true;
-
-  info.probed = true;
-  drivers.removeCurrentDriver();
-  return info;
-}
-
-static void bufferSwitch( long index, ASIOBool /*processNow*/ )
-{
-  RtApiAsio *object = (RtApiAsio *) asioCallbackInfo->object;
-  object->callbackEvent( index );
-}
-
-void RtApiAsio :: saveDeviceInfo( void )
-{
-  devices_.clear();
-
-  unsigned int nDevices = getDeviceCount();
-  devices_.resize( nDevices );
-  for ( unsigned int i=0; i<nDevices; i++ )
-    devices_[i] = getDeviceInfo( i );
-}
-
-bool RtApiAsio :: probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                   unsigned int firstChannel, unsigned int sampleRate,
-                                   RtAudioFormat format, unsigned int *bufferSize,
-                                   RtAudio::StreamOptions *options )
-{////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-  bool isDuplexInput =  mode == INPUT && stream_.mode == OUTPUT;
-
-  // For ASIO, a duplex stream MUST use the same driver.
-  if ( isDuplexInput && stream_.device[0] != device ) {
-    errorText_ = "RtApiAsio::probeDeviceOpen: an ASIO duplex stream must use the same device for input and output!";
-    return FAILURE;
-  }
-
-  char driverName[32];
-  ASIOError result = drivers.asioGetDriverName( (int) device, driverName, 32 );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: unable to get driver name (" << getAsioErrorString( result ) << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Only load the driver once for duplex stream.
-  if ( !isDuplexInput ) {
-    // The getDeviceInfo() function will not work when a stream is open
-    // because ASIO does not allow multiple devices to run at the same
-    // time.  Thus, we'll probe the system before opening a stream and
-    // save the results for use by getDeviceInfo().
-    this->saveDeviceInfo();
-
-    if ( !drivers.loadDriver( driverName ) ) {
-      errorStream_ << "RtApiAsio::probeDeviceOpen: unable to load driver (" << driverName << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    result = ASIOInit( &driverInfo );
-    if ( result != ASE_OK ) {
-      errorStream_ << "RtApiAsio::probeDeviceOpen: error (" << getAsioErrorString( result ) << ") initializing driver (" << driverName << ").";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  }
-
-  // keep them before any "goto error", they are used for error cleanup + goto device boundary checks
-  bool buffersAllocated = false;
-  AsioHandle *handle = (AsioHandle *) stream_.apiHandle;
-  unsigned int nChannels;
-
-
-  // Check the device channel count.
-  long inputChannels, outputChannels;
-  result = ASIOGetChannels( &inputChannels, &outputChannels );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: error (" << getAsioErrorString( result ) << ") getting channel count (" << driverName << ").";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  if ( ( mode == OUTPUT && (channels+firstChannel) > (unsigned int) outputChannels) ||
-       ( mode == INPUT && (channels+firstChannel) > (unsigned int) inputChannels) ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") does not support requested channel count (" << channels << ") + offset (" << firstChannel << ").";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-  stream_.nDeviceChannels[mode] = channels;
-  stream_.nUserChannels[mode] = channels;
-  stream_.channelOffset[mode] = firstChannel;
-
-  // Verify the sample rate is supported.
-  result = ASIOCanSampleRate( (ASIOSampleRate) sampleRate );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") does not support requested sample rate (" << sampleRate << ").";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  // Get the current sample rate
-  ASIOSampleRate currentRate;
-  result = ASIOGetSampleRate( &currentRate );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") error getting sample rate.";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  // Set the sample rate only if necessary
-  if ( currentRate != sampleRate ) {
-    result = ASIOSetSampleRate( (ASIOSampleRate) sampleRate );
-    if ( result != ASE_OK ) {
-      errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") error setting sample rate (" << sampleRate << ").";
-      errorText_ = errorStream_.str();
-      goto error;
-    }
-  }
-
-  // Determine the driver data type.
-  ASIOChannelInfo channelInfo;
-  channelInfo.channel = 0;
-  if ( mode == OUTPUT ) channelInfo.isInput = false;
-  else channelInfo.isInput = true;
-  result = ASIOGetChannelInfo( &channelInfo );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") error (" << getAsioErrorString( result ) << ") getting data format.";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  // Assuming WINDOWS host is always little-endian.
-  stream_.doByteSwap[mode] = false;
-  stream_.userFormat = format;
-  stream_.deviceFormat[mode] = 0;
-  if ( channelInfo.type == ASIOSTInt16MSB || channelInfo.type == ASIOSTInt16LSB ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-    if ( channelInfo.type == ASIOSTInt16MSB ) stream_.doByteSwap[mode] = true;
-  }
-  else if ( channelInfo.type == ASIOSTInt32MSB || channelInfo.type == ASIOSTInt32LSB ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT32;
-    if ( channelInfo.type == ASIOSTInt32MSB ) stream_.doByteSwap[mode] = true;
-  }
-  else if ( channelInfo.type == ASIOSTFloat32MSB || channelInfo.type == ASIOSTFloat32LSB ) {
-    stream_.deviceFormat[mode] = RTAUDIO_FLOAT32;
-    if ( channelInfo.type == ASIOSTFloat32MSB ) stream_.doByteSwap[mode] = true;
-  }
-  else if ( channelInfo.type == ASIOSTFloat64MSB || channelInfo.type == ASIOSTFloat64LSB ) {
-    stream_.deviceFormat[mode] = RTAUDIO_FLOAT64;
-    if ( channelInfo.type == ASIOSTFloat64MSB ) stream_.doByteSwap[mode] = true;
-  }
-  else if ( channelInfo.type == ASIOSTInt24MSB || channelInfo.type == ASIOSTInt24LSB ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT24;
-    if ( channelInfo.type == ASIOSTInt24MSB ) stream_.doByteSwap[mode] = true;
-  }
-
-  if ( stream_.deviceFormat[mode] == 0 ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") data format not supported by RtAudio.";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  // Set the buffer size.  For a duplex stream, this will end up
-  // setting the buffer size based on the input constraints, which
-  // should be ok.
-  long minSize, maxSize, preferSize, granularity;
-  result = ASIOGetBufferSize( &minSize, &maxSize, &preferSize, &granularity );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") error (" << getAsioErrorString( result ) << ") getting buffer size.";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  if ( isDuplexInput ) {
-    // When this is the duplex input (output was opened before), then we have to use the same
-    // buffersize as the output, because it might use the preferred buffer size, which most
-    // likely wasn't passed as input to this. The buffer sizes have to be identically anyway,
-    // So instead of throwing an error, make them equal. The caller uses the reference
-    // to the "bufferSize" param as usual to set up processing buffers.
-
-    *bufferSize = stream_.bufferSize;
-
-  } else {
-    if ( *bufferSize == 0 ) *bufferSize = preferSize;
-    else if ( *bufferSize < (unsigned int) minSize ) *bufferSize = (unsigned int) minSize;
-    else if ( *bufferSize > (unsigned int) maxSize ) *bufferSize = (unsigned int) maxSize;
-    else if ( granularity == -1 ) {
-      // Make sure bufferSize is a power of two.
-      int log2_of_min_size = 0;
-      int log2_of_max_size = 0;
-
-      for ( unsigned int i = 0; i < sizeof(long) * 8; i++ ) {
-        if ( minSize & ((long)1 << i) ) log2_of_min_size = i;
-        if ( maxSize & ((long)1 << i) ) log2_of_max_size = i;
-      }
-
-      long min_delta = std::abs( (long)*bufferSize - ((long)1 << log2_of_min_size) );
-      int min_delta_num = log2_of_min_size;
-
-      for (int i = log2_of_min_size + 1; i <= log2_of_max_size; i++) {
-        long current_delta = std::abs( (long)*bufferSize - ((long)1 << i) );
-        if (current_delta < min_delta) {
-          min_delta = current_delta;
-          min_delta_num = i;
-        }
-      }
-
-      *bufferSize = ( (unsigned int)1 << min_delta_num );
-      if ( *bufferSize < (unsigned int) minSize ) *bufferSize = (unsigned int) minSize;
-      else if ( *bufferSize > (unsigned int) maxSize ) *bufferSize = (unsigned int) maxSize;
-    }
-    else if ( granularity != 0 ) {
-      // Set to an even multiple of granularity, rounding up.
-      *bufferSize = (*bufferSize + granularity-1) / granularity * granularity;
-    }
-  }
-
-  /*
-  // we don't use it anymore, see above!
-  // Just left it here for the case...
-  if ( isDuplexInput && stream_.bufferSize != *bufferSize ) {
-    errorText_ = "RtApiAsio::probeDeviceOpen: input/output buffersize discrepancy!";
-    goto error;
-  }
-  */
-
-  stream_.bufferSize = *bufferSize;
-  stream_.nBuffers = 2;
-
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED ) stream_.userInterleaved = false;
-  else stream_.userInterleaved = true;
-
-  // ASIO always uses non-interleaved buffers.
-  stream_.deviceInterleaved[mode] = false;
-
-  // Allocate, if necessary, our AsioHandle structure for the stream.
-  if ( handle == 0 ) {
-    try {
-      handle = new AsioHandle;
-    }
-    catch ( std::bad_alloc& ) {
-      errorText_ = "RtApiAsio::probeDeviceOpen: error allocating AsioHandle memory.";
-      goto error;
-    }
-    handle->bufferInfos = 0;
-
-    // Create a manual-reset event.
-    handle->condition = CreateEvent( NULL,   // no security
-                                     TRUE,   // manual-reset
-                                     FALSE,  // non-signaled initially
-                                     NULL ); // unnamed
-    stream_.apiHandle = (void *) handle;
-  }
-
-  // Create the ASIO internal buffers.  Since RtAudio sets up input
-  // and output separately, we'll have to dispose of previously
-  // created output buffers for a duplex stream.
-  if ( mode == INPUT && stream_.mode == OUTPUT ) {
-    ASIODisposeBuffers();
-    if ( handle->bufferInfos ) free( handle->bufferInfos );
-  }
-
-  // Allocate, initialize, and save the bufferInfos in our stream callbackInfo structure.
-  unsigned int i;
-  nChannels = stream_.nDeviceChannels[0] + stream_.nDeviceChannels[1];
-  handle->bufferInfos = (ASIOBufferInfo *) malloc( nChannels * sizeof(ASIOBufferInfo) );
-  if ( handle->bufferInfos == NULL ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: error allocating bufferInfo memory for driver (" << driverName << ").";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-
-  ASIOBufferInfo *infos;
-  infos = handle->bufferInfos;
-  for ( i=0; i<stream_.nDeviceChannels[0]; i++, infos++ ) {
-    infos->isInput = ASIOFalse;
-    infos->channelNum = i + stream_.channelOffset[0];
-    infos->buffers[0] = infos->buffers[1] = 0;
-  }
-  for ( i=0; i<stream_.nDeviceChannels[1]; i++, infos++ ) {
-    infos->isInput = ASIOTrue;
-    infos->channelNum = i + stream_.channelOffset[1];
-    infos->buffers[0] = infos->buffers[1] = 0;
-  }
-
-  // prepare for callbacks
-  stream_.sampleRate = sampleRate;
-  stream_.device[mode] = device;
-  stream_.mode = isDuplexInput ? DUPLEX : mode;
-
-  // store this class instance before registering callbacks, that are going to use it
-  asioCallbackInfo = &stream_.callbackInfo;
-  stream_.callbackInfo.object = (void *) this;
-
-  // Set up the ASIO callback structure and create the ASIO data buffers.
-  asioCallbacks.bufferSwitch = &bufferSwitch;
-  asioCallbacks.sampleRateDidChange = &sampleRateChanged;
-  asioCallbacks.asioMessage = &asioMessages;
-  asioCallbacks.bufferSwitchTimeInfo = NULL;
-  result = ASIOCreateBuffers( handle->bufferInfos, nChannels, stream_.bufferSize, &asioCallbacks );
-  if ( result != ASE_OK ) {
-    // Standard method failed. This can happen with strict/misbehaving drivers that return valid buffer size ranges
-    // but only accept the preferred buffer size as parameter for ASIOCreateBuffers. eg. Creatives ASIO driver
-    // in that case, let's be naïve and try that instead
-    *bufferSize = preferSize;
-    stream_.bufferSize = *bufferSize;
-    result = ASIOCreateBuffers( handle->bufferInfos, nChannels, stream_.bufferSize, &asioCallbacks );
-  }
-
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") error (" << getAsioErrorString( result ) << ") creating buffers.";
-    errorText_ = errorStream_.str();
-    goto error;
-  }
-  buffersAllocated = true;
-  stream_.state = STREAM_STOPPED;
-
-  // Set flags for buffer conversion.
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.userInterleaved != stream_.deviceInterleaved[mode] &&
-       stream_.nUserChannels[mode] > 1 )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate necessary internal buffers
-  unsigned long bufferBytes;
-  bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiAsio::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-
-  if ( stream_.doConvertBuffer[mode] ) {
-
-    bool makeBuffer = true;
-    bufferBytes = stream_.nDeviceChannels[mode] * formatBytes( stream_.deviceFormat[mode] );
-    if ( isDuplexInput && stream_.deviceBuffer ) {
-      unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-      if ( bufferBytes <= bytesOut ) makeBuffer = false;
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiAsio::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  // Determine device latencies
-  long inputLatency, outputLatency;
-  result = ASIOGetLatencies( &inputLatency, &outputLatency );
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::probeDeviceOpen: driver (" << driverName << ") error (" << getAsioErrorString( result ) << ") getting latency.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING); // warn but don't fail
-  }
-  else {
-    stream_.latency[0] = outputLatency;
-    stream_.latency[1] = inputLatency;
-  }
-
-  // Setup the buffer conversion information structure.  We don't use
-  // buffers to do channel offsets, so we override that parameter
-  // here.
-  if ( stream_.doConvertBuffer[mode] ) setConvertInfo( mode, 0 );
-
-  return SUCCESS;
-
- error:
-  if ( !isDuplexInput ) {
-    // the cleanup for error in the duplex input, is done by RtApi::openStream
-    // So we clean up for single channel only
-
-    if ( buffersAllocated )
-      ASIODisposeBuffers();
-
-    drivers.removeCurrentDriver();
-
-    if ( handle ) {
-      CloseHandle( handle->condition );
-      if ( handle->bufferInfos )
-        free( handle->bufferInfos );
-
-      delete handle;
-      stream_.apiHandle = 0;
-    }
-
-
-    if ( stream_.userBuffer[mode] ) {
-      free( stream_.userBuffer[mode] );
-      stream_.userBuffer[mode] = 0;
-    }
-
-    if ( stream_.deviceBuffer ) {
-      free( stream_.deviceBuffer );
-      stream_.deviceBuffer = 0;
-    }
-  }
-
-  return FAILURE;
-}////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void RtApiAsio :: closeStream()
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiAsio::closeStream(): no open stream to close!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  if ( stream_.state == STREAM_RUNNING ) {
-    stream_.state = STREAM_STOPPED;
-    ASIOStop();
-  }
-  ASIODisposeBuffers();
-  drivers.removeCurrentDriver();
-
-  AsioHandle *handle = (AsioHandle *) stream_.apiHandle;
-  if ( handle ) {
-    CloseHandle( handle->condition );
-    if ( handle->bufferInfos )
-      free( handle->bufferInfos );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-}
-
-bool stopThreadCalled = false;
-
-void RtApiAsio :: startStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiAsio::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  AsioHandle *handle = (AsioHandle *) stream_.apiHandle;
-  ASIOError result = ASIOStart();
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::startStream: error (" << getAsioErrorString( result ) << ") starting device.";
-    errorText_ = errorStream_.str();
-    goto unlock;
-  }
-
-  handle->drainCounter = 0;
-  handle->internalDrain = false;
-  ResetEvent( handle->condition );
-  stream_.state = STREAM_RUNNING;
-  asioXRun = false;
-
- unlock:
-  stopThreadCalled = false;
-
-  if ( result == ASE_OK ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiAsio :: stopStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiAsio::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  AsioHandle *handle = (AsioHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    if ( handle->drainCounter == 0 ) {
-      handle->drainCounter = 2;
-      WaitForSingleObject( handle->condition, INFINITE );  // block until signaled
-    }
-  }
-
-  stream_.state = STREAM_STOPPED;
-
-  ASIOError result = ASIOStop();
-  if ( result != ASE_OK ) {
-    errorStream_ << "RtApiAsio::stopStream: error (" << getAsioErrorString( result ) << ") stopping device.";
-    errorText_ = errorStream_.str();
-  }
-
-  if ( result == ASE_OK ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiAsio :: abortStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiAsio::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  // The following lines were commented-out because some behavior was
-  // noted where the device buffers need to be zeroed to avoid
-  // continuing sound, even when the device buffers are completely
-  // disposed.  So now, calling abort is the same as calling stop.
-  // AsioHandle *handle = (AsioHandle *) stream_.apiHandle;
-  // handle->drainCounter = 2;
-  stopStream();
-}
-
-// This function will be called by a spawned thread when the user
-// callback function signals that the stream should be stopped or
-// aborted.  It is necessary to handle it this way because the
-// callbackEvent() function must return before the ASIOStop()
-// function will return.
-static unsigned __stdcall asioStopStream( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiAsio *object = (RtApiAsio *) info->object;
-
-  object->stopStream();
-  _endthreadex( 0 );
-  return 0;
-}
-
-bool RtApiAsio :: callbackEvent( long bufferIndex )
-{
-  if ( stream_.state == STREAM_STOPPED || stream_.state == STREAM_STOPPING ) return SUCCESS;
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiAsio::callbackEvent(): the stream is closed ... this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return FAILURE;
-  }
-
-  CallbackInfo *info = (CallbackInfo *) &stream_.callbackInfo;
-  AsioHandle *handle = (AsioHandle *) stream_.apiHandle;
-
-  // Check if we were draining the stream and signal if finished.
-  if ( handle->drainCounter > 3 ) {
-
-    stream_.state = STREAM_STOPPING;
-    if ( handle->internalDrain == false )
-      SetEvent( handle->condition );
-    else { // spawn a thread to stop the stream
-      unsigned threadId;
-      stream_.callbackInfo.thread = _beginthreadex( NULL, 0, &asioStopStream,
-                                                    &stream_.callbackInfo, 0, &threadId );
-    }
-    return SUCCESS;
-  }
-
-  // Invoke user callback to get fresh output data UNLESS we are
-  // draining stream.
-  if ( handle->drainCounter == 0 ) {
-    RtAudioCallback callback = (RtAudioCallback) info->callback;
-    double streamTime = getStreamTime();
-    RtAudioStreamStatus status = 0;
-    if ( stream_.mode != INPUT && asioXRun == true ) {
-      status |= RTAUDIO_OUTPUT_UNDERFLOW;
-      asioXRun = false;
-    }
-    if ( stream_.mode != OUTPUT && asioXRun == true ) {
-      status |= RTAUDIO_INPUT_OVERFLOW;
-      asioXRun = false;
-    }
-    int cbReturnValue = callback( stream_.userBuffer[0], stream_.userBuffer[1],
-                                     stream_.bufferSize, streamTime, status, info->userData );
-    if ( cbReturnValue == 2 ) {
-      stream_.state = STREAM_STOPPING;
-      handle->drainCounter = 2;
-      unsigned threadId;
-      stream_.callbackInfo.thread = _beginthreadex( NULL, 0, &asioStopStream,
-                                                    &stream_.callbackInfo, 0, &threadId );
-      return SUCCESS;
-    }
-    else if ( cbReturnValue == 1 ) {
-      handle->drainCounter = 1;
-      handle->internalDrain = true;
-    }
-  }
-
-  unsigned int nChannels, bufferBytes, i, j;
-  nChannels = stream_.nDeviceChannels[0] + stream_.nDeviceChannels[1];
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    bufferBytes = stream_.bufferSize * formatBytes( stream_.deviceFormat[0] );
-
-    if ( handle->drainCounter > 1 ) { // write zeros to the output stream
-
-      for ( i=0, j=0; i<nChannels; i++ ) {
-        if ( handle->bufferInfos[i].isInput != ASIOTrue )
-          memset( handle->bufferInfos[i].buffers[bufferIndex], 0, bufferBytes );
-      }
-
-    }
-    else if ( stream_.doConvertBuffer[0] ) {
-
-      convertBuffer( stream_.deviceBuffer, stream_.userBuffer[0], stream_.convertInfo[0] );
-      if ( stream_.doByteSwap[0] )
-        byteSwapBuffer( stream_.deviceBuffer,
-                        stream_.bufferSize * stream_.nDeviceChannels[0],
-                        stream_.deviceFormat[0] );
-
-      for ( i=0, j=0; i<nChannels; i++ ) {
-        if ( handle->bufferInfos[i].isInput != ASIOTrue )
-          memcpy( handle->bufferInfos[i].buffers[bufferIndex],
-                  &stream_.deviceBuffer[j++*bufferBytes], bufferBytes );
-      }
-
-    }
-    else {
-
-      if ( stream_.doByteSwap[0] )
-        byteSwapBuffer( stream_.userBuffer[0],
-                        stream_.bufferSize * stream_.nUserChannels[0],
-                        stream_.userFormat );
-
-      for ( i=0, j=0; i<nChannels; i++ ) {
-        if ( handle->bufferInfos[i].isInput != ASIOTrue )
-          memcpy( handle->bufferInfos[i].buffers[bufferIndex],
-                  &stream_.userBuffer[0][bufferBytes*j++], bufferBytes );
-      }
-
-    }
-  }
-
-  // Don't bother draining input
-  if ( handle->drainCounter ) {
-    handle->drainCounter++;
-    goto unlock;
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-
-    bufferBytes = stream_.bufferSize * formatBytes(stream_.deviceFormat[1]);
-
-    if (stream_.doConvertBuffer[1]) {
-
-      // Always interleave ASIO input data.
-      for ( i=0, j=0; i<nChannels; i++ ) {
-        if ( handle->bufferInfos[i].isInput == ASIOTrue )
-          memcpy( &stream_.deviceBuffer[j++*bufferBytes],
-                  handle->bufferInfos[i].buffers[bufferIndex],
-                  bufferBytes );
-      }
-
-      if ( stream_.doByteSwap[1] )
-        byteSwapBuffer( stream_.deviceBuffer,
-                        stream_.bufferSize * stream_.nDeviceChannels[1],
-                        stream_.deviceFormat[1] );
-      convertBuffer( stream_.userBuffer[1], stream_.deviceBuffer, stream_.convertInfo[1] );
-
-    }
-    else {
-      for ( i=0, j=0; i<nChannels; i++ ) {
-        if ( handle->bufferInfos[i].isInput == ASIOTrue ) {
-          memcpy( &stream_.userBuffer[1][bufferBytes*j++],
-                  handle->bufferInfos[i].buffers[bufferIndex],
-                  bufferBytes );
-        }
-      }
-
-      if ( stream_.doByteSwap[1] )
-        byteSwapBuffer( stream_.userBuffer[1],
-                        stream_.bufferSize * stream_.nUserChannels[1],
-                        stream_.userFormat );
-    }
-  }
-
- unlock:
-  // The following call was suggested by Malte Clasen.  While the API
-  // documentation indicates it should not be required, some device
-  // drivers apparently do not function correctly without it.
-  ASIOOutputReady();
-
-  RtApi::tickStreamTime();
-  return SUCCESS;
-}
-
-static void sampleRateChanged( ASIOSampleRate sRate )
-{
-  // The ASIO documentation says that this usually only happens during
-  // external sync.  Audio processing is not stopped by the driver,
-  // actual sample rate might not have even changed, maybe only the
-  // sample rate status of an AES/EBU or S/PDIF digital input at the
-  // audio device.
-
-  RtApi *object = (RtApi *) asioCallbackInfo->object;
-  try {
-    object->stopStream();
-  }
-  catch ( RtAudioError &exception ) {
-    std::cerr << "\nRtApiAsio: sampleRateChanged() error (" << exception.getMessage() << ")!\n" << std::endl;
-    return;
-  }
-
-  std::cerr << "\nRtApiAsio: driver reports sample rate changed to " << sRate << " ... stream stopped!!!\n" << std::endl;
-}
-
-static long asioMessages( long selector, long value, void* /*message*/, double* /*opt*/ )
-{
-  long ret = 0;
-
-  switch( selector ) {
-  case kAsioSelectorSupported:
-    if ( value == kAsioResetRequest
-         || value == kAsioEngineVersion
-         || value == kAsioResyncRequest
-         || value == kAsioLatenciesChanged
-         // The following three were added for ASIO 2.0, you don't
-         // necessarily have to support them.
-         || value == kAsioSupportsTimeInfo
-         || value == kAsioSupportsTimeCode
-         || value == kAsioSupportsInputMonitor)
-      ret = 1L;
-    break;
-  case kAsioResetRequest:
-    // Defer the task and perform the reset of the driver during the
-    // next "safe" situation.  You cannot reset the driver right now,
-    // as this code is called from the driver.  Reset the driver is
-    // done by completely destruct is. I.e. ASIOStop(),
-    // ASIODisposeBuffers(), Destruction Afterwards you initialize the
-    // driver again.
-    std::cerr << "\nRtApiAsio: driver reset requested!!!" << std::endl;
-    ret = 1L;
-    break;
-  case kAsioResyncRequest:
-    // This informs the application that the driver encountered some
-    // non-fatal data loss.  It is used for synchronization purposes
-    // of different media.  Added mainly to work around the Win16Mutex
-    // problems in Windows 95/98 with the Windows Multimedia system,
-    // which could lose data because the Mutex was held too long by
-    // another thread.  However a driver can issue it in other
-    // situations, too.
-    // std::cerr << "\nRtApiAsio: driver resync requested!!!" << std::endl;
-    asioXRun = true;
-    ret = 1L;
-    break;
-  case kAsioLatenciesChanged:
-    // This will inform the host application that the drivers were
-    // latencies changed.  Beware, it this does not mean that the
-    // buffer sizes have changed!  You might need to update internal
-    // delay data.
-    std::cerr << "\nRtApiAsio: driver latency may have changed!!!" << std::endl;
-    ret = 1L;
-    break;
-  case kAsioEngineVersion:
-    // Return the supported ASIO version of the host application.  If
-    // a host application does not implement this selector, ASIO 1.0
-    // is assumed by the driver.
-    ret = 2L;
-    break;
-  case kAsioSupportsTimeInfo:
-    // Informs the driver whether the
-    // asioCallbacks.bufferSwitchTimeInfo() callback is supported.
-    // For compatibility with ASIO 1.0 drivers the host application
-    // should always support the "old" bufferSwitch method, too.
-    ret = 0;
-    break;
-  case kAsioSupportsTimeCode:
-    // Informs the driver whether application is interested in time
-    // code info.  If an application does not need to know about time
-    // code, the driver has less work to do.
-    ret = 0;
-    break;
-  }
-  return ret;
-}
-
-static const char* getAsioErrorString( ASIOError result )
-{
-  struct Messages
-  {
-    ASIOError value;
-    const char*message;
-  };
-
-  static const Messages m[] =
-    {
-      {   ASE_NotPresent,    "Hardware input or output is not present or available." },
-      {   ASE_HWMalfunction,  "Hardware is malfunctioning." },
-      {   ASE_InvalidParameter, "Invalid input parameter." },
-      {   ASE_InvalidMode,      "Invalid mode." },
-      {   ASE_SPNotAdvancing,     "Sample position not advancing." },
-      {   ASE_NoClock,            "Sample clock or rate cannot be determined or is not present." },
-      {   ASE_NoMemory,           "Not enough memory to complete the request." }
-    };
-
-  for ( unsigned int i = 0; i < sizeof(m)/sizeof(m[0]); ++i )
-    if ( m[i].value == result ) return m[i].message;
-
-  return "Unknown error.";
-}
-
-//******************** End of __WINDOWS_ASIO__ *********************//
-#endif
-
-
-#if defined(__WINDOWS_WASAPI__) // Windows WASAPI API
-
-// Authored by Marcus Tomlinson <themarcustomlinson@gmail.com>, April 2014
-// - Introduces support for the Windows WASAPI API
-// - Aims to deliver bit streams to and from hardware at the lowest possible latency, via the absolute minimum buffer sizes required
-// - Provides flexible stream configuration to an otherwise strict and inflexible WASAPI interface
-// - Includes automatic internal conversion of sample rate and buffer size between hardware and the user
-
-#ifndef INITGUID
-  #define INITGUID
-#endif
-#include <audioclient.h>
-#include <avrt.h>
-#include <mmdeviceapi.h>
-#include <functiondiscoverykeys_devpkey.h>
-
-//=============================================================================
-
-#define SAFE_RELEASE( objectPtr )\
-if ( objectPtr )\
-{\
-  objectPtr->Release();\
-  objectPtr = NULL;\
-}
-
-typedef HANDLE ( __stdcall *TAvSetMmThreadCharacteristicsPtr )( LPCWSTR TaskName, LPDWORD TaskIndex );
-
-//-----------------------------------------------------------------------------
-
-// WASAPI dictates stream sample rate, format, channel count, and in some cases, buffer size.
-// Therefore we must perform all necessary conversions to user buffers in order to satisfy these
-// requirements. WasapiBuffer ring buffers are used between HwIn->UserIn and UserOut->HwOut to
-// provide intermediate storage for read / write synchronization.
-class WasapiBuffer
-{
-public:
-  WasapiBuffer()
-    : buffer_( NULL ),
-      bufferSize_( 0 ),
-      inIndex_( 0 ),
-      outIndex_( 0 ) {}
-
-  ~WasapiBuffer() {
-    free( buffer_ );
-  }
-
-  // sets the length of the internal ring buffer
-  void setBufferSize( unsigned int bufferSize, unsigned int formatBytes ) {
-    free( buffer_ );
-
-    buffer_ = ( char* ) calloc( bufferSize, formatBytes );
-
-    bufferSize_ = bufferSize;
-    inIndex_ = 0;
-    outIndex_ = 0;
-  }
-
-  // attempt to push a buffer into the ring buffer at the current "in" index
-  bool pushBuffer( char* buffer, unsigned int bufferSize, RtAudioFormat format )
-  {
-    if ( !buffer ||                 // incoming buffer is NULL
-         bufferSize == 0 ||         // incoming buffer has no data
-         bufferSize > bufferSize_ ) // incoming buffer too large
-    {
-      return false;
-    }
-
-    unsigned int relOutIndex = outIndex_;
-    unsigned int inIndexEnd = inIndex_ + bufferSize;
-    if ( relOutIndex < inIndex_ && inIndexEnd >= bufferSize_ ) {
-      relOutIndex += bufferSize_;
-    }
-
-    // "in" index can end on the "out" index but cannot begin at it
-    if ( inIndex_ <= relOutIndex && inIndexEnd > relOutIndex ) {
-      return false; // not enough space between "in" index and "out" index
-    }
-
-    // copy buffer from external to internal
-    int fromZeroSize = inIndex_ + bufferSize - bufferSize_;
-    fromZeroSize = fromZeroSize < 0 ? 0 : fromZeroSize;
-    int fromInSize = bufferSize - fromZeroSize;
-
-    switch( format )
-      {
-      case RTAUDIO_SINT8:
-        memcpy( &( ( char* ) buffer_ )[inIndex_], buffer, fromInSize * sizeof( char ) );
-        memcpy( buffer_, &( ( char* ) buffer )[fromInSize], fromZeroSize * sizeof( char ) );
-        break;
-      case RTAUDIO_SINT16:
-        memcpy( &( ( short* ) buffer_ )[inIndex_], buffer, fromInSize * sizeof( short ) );
-        memcpy( buffer_, &( ( short* ) buffer )[fromInSize], fromZeroSize * sizeof( short ) );
-        break;
-      case RTAUDIO_SINT24:
-        memcpy( &( ( S24* ) buffer_ )[inIndex_], buffer, fromInSize * sizeof( S24 ) );
-        memcpy( buffer_, &( ( S24* ) buffer )[fromInSize], fromZeroSize * sizeof( S24 ) );
-        break;
-      case RTAUDIO_SINT32:
-        memcpy( &( ( int* ) buffer_ )[inIndex_], buffer, fromInSize * sizeof( int ) );
-        memcpy( buffer_, &( ( int* ) buffer )[fromInSize], fromZeroSize * sizeof( int ) );
-        break;
-      case RTAUDIO_FLOAT32:
-        memcpy( &( ( float* ) buffer_ )[inIndex_], buffer, fromInSize * sizeof( float ) );
-        memcpy( buffer_, &( ( float* ) buffer )[fromInSize], fromZeroSize * sizeof( float ) );
-        break;
-      case RTAUDIO_FLOAT64:
-        memcpy( &( ( double* ) buffer_ )[inIndex_], buffer, fromInSize * sizeof( double ) );
-        memcpy( buffer_, &( ( double* ) buffer )[fromInSize], fromZeroSize * sizeof( double ) );
-        break;
-    }
-
-    // update "in" index
-    inIndex_ += bufferSize;
-    inIndex_ %= bufferSize_;
-
-    return true;
-  }
-
-  // attempt to pull a buffer from the ring buffer from the current "out" index
-  bool pullBuffer( char* buffer, unsigned int bufferSize, RtAudioFormat format )
-  {
-    if ( !buffer ||                 // incoming buffer is NULL
-         bufferSize == 0 ||         // incoming buffer has no data
-         bufferSize > bufferSize_ ) // incoming buffer too large
-    {
-      return false;
-    }
-
-    unsigned int relInIndex = inIndex_;
-    unsigned int outIndexEnd = outIndex_ + bufferSize;
-    if ( relInIndex < outIndex_ && outIndexEnd >= bufferSize_ ) {
-      relInIndex += bufferSize_;
-    }
-
-    // "out" index can begin at and end on the "in" index
-    if ( outIndex_ < relInIndex && outIndexEnd > relInIndex ) {
-      return false; // not enough space between "out" index and "in" index
-    }
-
-    // copy buffer from internal to external
-    int fromZeroSize = outIndex_ + bufferSize - bufferSize_;
-    fromZeroSize = fromZeroSize < 0 ? 0 : fromZeroSize;
-    int fromOutSize = bufferSize - fromZeroSize;
-
-    switch( format )
-    {
-      case RTAUDIO_SINT8:
-        memcpy( buffer, &( ( char* ) buffer_ )[outIndex_], fromOutSize * sizeof( char ) );
-        memcpy( &( ( char* ) buffer )[fromOutSize], buffer_, fromZeroSize * sizeof( char ) );
-        break;
-      case RTAUDIO_SINT16:
-        memcpy( buffer, &( ( short* ) buffer_ )[outIndex_], fromOutSize * sizeof( short ) );
-        memcpy( &( ( short* ) buffer )[fromOutSize], buffer_, fromZeroSize * sizeof( short ) );
-        break;
-      case RTAUDIO_SINT24:
-        memcpy( buffer, &( ( S24* ) buffer_ )[outIndex_], fromOutSize * sizeof( S24 ) );
-        memcpy( &( ( S24* ) buffer )[fromOutSize], buffer_, fromZeroSize * sizeof( S24 ) );
-        break;
-      case RTAUDIO_SINT32:
-        memcpy( buffer, &( ( int* ) buffer_ )[outIndex_], fromOutSize * sizeof( int ) );
-        memcpy( &( ( int* ) buffer )[fromOutSize], buffer_, fromZeroSize * sizeof( int ) );
-        break;
-      case RTAUDIO_FLOAT32:
-        memcpy( buffer, &( ( float* ) buffer_ )[outIndex_], fromOutSize * sizeof( float ) );
-        memcpy( &( ( float* ) buffer )[fromOutSize], buffer_, fromZeroSize * sizeof( float ) );
-        break;
-      case RTAUDIO_FLOAT64:
-        memcpy( buffer, &( ( double* ) buffer_ )[outIndex_], fromOutSize * sizeof( double ) );
-        memcpy( &( ( double* ) buffer )[fromOutSize], buffer_, fromZeroSize * sizeof( double ) );
-        break;
-    }
-
-    // update "out" index
-    outIndex_ += bufferSize;
-    outIndex_ %= bufferSize_;
-
-    return true;
-  }
-
-private:
-  char* buffer_;
-  unsigned int bufferSize_;
-  unsigned int inIndex_;
-  unsigned int outIndex_;
-};
-
-//-----------------------------------------------------------------------------
-
-// In order to satisfy WASAPI's buffer requirements, we need a means of converting sample rate
-// between HW and the user. The convertBufferWasapi function is used to perform this conversion
-// between HwIn->UserIn and UserOut->HwOut during the stream callback loop.
-// This sample rate converter favors speed over quality, and works best with conversions between
-// one rate and its multiple.
-void convertBufferWasapi( char* outBuffer,
-                          const char* inBuffer,
-                          const unsigned int& channelCount,
-                          const unsigned int& inSampleRate,
-                          const unsigned int& outSampleRate,
-                          const unsigned int& inSampleCount,
-                          unsigned int& outSampleCount,
-                          const RtAudioFormat& format )
-{
-  // calculate the new outSampleCount and relative sampleStep
-  float sampleRatio = ( float ) outSampleRate / inSampleRate;
-  float sampleStep = 1.0f / sampleRatio;
-  float inSampleFraction = 0.0f;
-
-  outSampleCount = ( unsigned int ) roundf( inSampleCount * sampleRatio );
-
-  // frame-by-frame, copy each relative input sample into it's corresponding output sample
-  for ( unsigned int outSample = 0; outSample < outSampleCount; outSample++ )
-  {
-    unsigned int inSample = ( unsigned int ) inSampleFraction;
-
-    switch ( format )
-    {
-      case RTAUDIO_SINT8:
-        memcpy( &( ( char* ) outBuffer )[ outSample * channelCount ], &( ( char* ) inBuffer )[ inSample * channelCount ], channelCount * sizeof( char ) );
-        break;
-      case RTAUDIO_SINT16:
-        memcpy( &( ( short* ) outBuffer )[ outSample * channelCount ], &( ( short* ) inBuffer )[ inSample * channelCount ], channelCount * sizeof( short ) );
-        break;
-      case RTAUDIO_SINT24:
-        memcpy( &( ( S24* ) outBuffer )[ outSample * channelCount ], &( ( S24* ) inBuffer )[ inSample * channelCount ], channelCount * sizeof( S24 ) );
-        break;
-      case RTAUDIO_SINT32:
-        memcpy( &( ( int* ) outBuffer )[ outSample * channelCount ], &( ( int* ) inBuffer )[ inSample * channelCount ], channelCount * sizeof( int ) );
-        break;
-      case RTAUDIO_FLOAT32:
-        memcpy( &( ( float* ) outBuffer )[ outSample * channelCount ], &( ( float* ) inBuffer )[ inSample * channelCount ], channelCount * sizeof( float ) );
-        break;
-      case RTAUDIO_FLOAT64:
-        memcpy( &( ( double* ) outBuffer )[ outSample * channelCount ], &( ( double* ) inBuffer )[ inSample * channelCount ], channelCount * sizeof( double ) );
-        break;
-    }
-
-    // jump to next in sample
-    inSampleFraction += sampleStep;
-  }
-}
-
-//-----------------------------------------------------------------------------
-
-// A structure to hold various information related to the WASAPI implementation.
-struct WasapiHandle
-{
-  IAudioClient* captureAudioClient;
-  IAudioClient* renderAudioClient;
-  IAudioCaptureClient* captureClient;
-  IAudioRenderClient* renderClient;
-  HANDLE captureEvent;
-  HANDLE renderEvent;
-
-  WasapiHandle()
-  : captureAudioClient( NULL ),
-    renderAudioClient( NULL ),
-    captureClient( NULL ),
-    renderClient( NULL ),
-    captureEvent( NULL ),
-    renderEvent( NULL ) {}
-};
-
-//=============================================================================
-
-RtApiWasapi::RtApiWasapi()
-  : coInitialized_( false ), deviceEnumerator_( NULL )
-{
-  // WASAPI can run either apartment or multi-threaded
-  HRESULT hr = CoInitialize( NULL );
-  if ( !FAILED( hr ) )
-    coInitialized_ = true;
-
-  // Instantiate device enumerator
-  hr = CoCreateInstance( __uuidof( MMDeviceEnumerator ), NULL,
-                         CLSCTX_ALL, __uuidof( IMMDeviceEnumerator ),
-                         ( void** ) &deviceEnumerator_ );
-
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::RtApiWasapi: Unable to instantiate device enumerator";
-    error( RtAudioError::DRIVER_ERROR );
-  }
-}
-
-//-----------------------------------------------------------------------------
-
-RtApiWasapi::~RtApiWasapi()
-{
-  if ( stream_.state != STREAM_CLOSED )
-    closeStream();
-
-  SAFE_RELEASE( deviceEnumerator_ );
-
-  // If this object previously called CoInitialize()
-  if ( coInitialized_ )
-    CoUninitialize();
-}
-
-//=============================================================================
-
-unsigned int RtApiWasapi::getDeviceCount( void )
-{
-  unsigned int captureDeviceCount = 0;
-  unsigned int renderDeviceCount = 0;
-
-  IMMDeviceCollection* captureDevices = NULL;
-  IMMDeviceCollection* renderDevices = NULL;
-
-  // Count capture devices
-  errorText_.clear();
-  HRESULT hr = deviceEnumerator_->EnumAudioEndpoints( eCapture, DEVICE_STATE_ACTIVE, &captureDevices );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceCount: Unable to retrieve capture device collection.";
-    goto Exit;
-  }
-
-  hr = captureDevices->GetCount( &captureDeviceCount );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceCount: Unable to retrieve capture device count.";
-    goto Exit;
-  }
-
-  // Count render devices
-  hr = deviceEnumerator_->EnumAudioEndpoints( eRender, DEVICE_STATE_ACTIVE, &renderDevices );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceCount: Unable to retrieve render device collection.";
-    goto Exit;
-  }
-
-  hr = renderDevices->GetCount( &renderDeviceCount );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceCount: Unable to retrieve render device count.";
-    goto Exit;
-  }
-
-Exit:
-  // release all references
-  SAFE_RELEASE( captureDevices );
-  SAFE_RELEASE( renderDevices );
-
-  if ( errorText_.empty() )
-    return captureDeviceCount + renderDeviceCount;
-
-  error( RtAudioError::DRIVER_ERROR );
-  return 0;
-}
-
-//-----------------------------------------------------------------------------
-
-RtAudio::DeviceInfo RtApiWasapi::getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  unsigned int captureDeviceCount = 0;
-  unsigned int renderDeviceCount = 0;
-  std::string defaultDeviceName;
-  bool isCaptureDevice = false;
-
-  PROPVARIANT deviceNameProp;
-  PROPVARIANT defaultDeviceNameProp;
-
-  IMMDeviceCollection* captureDevices = NULL;
-  IMMDeviceCollection* renderDevices = NULL;
-  IMMDevice* devicePtr = NULL;
-  IMMDevice* defaultDevicePtr = NULL;
-  IAudioClient* audioClient = NULL;
-  IPropertyStore* devicePropStore = NULL;
-  IPropertyStore* defaultDevicePropStore = NULL;
-
-  WAVEFORMATEX* deviceFormat = NULL;
-  WAVEFORMATEX* closestMatchFormat = NULL;
-
-  // probed
-  info.probed = false;
-
-  // Count capture devices
-  errorText_.clear();
-  RtAudioError::Type errorType = RtAudioError::DRIVER_ERROR;
-  HRESULT hr = deviceEnumerator_->EnumAudioEndpoints( eCapture, DEVICE_STATE_ACTIVE, &captureDevices );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve capture device collection.";
-    goto Exit;
-  }
-
-  hr = captureDevices->GetCount( &captureDeviceCount );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve capture device count.";
-    goto Exit;
-  }
-
-  // Count render devices
-  hr = deviceEnumerator_->EnumAudioEndpoints( eRender, DEVICE_STATE_ACTIVE, &renderDevices );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve render device collection.";
-    goto Exit;
-  }
-
-  hr = renderDevices->GetCount( &renderDeviceCount );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve render device count.";
-    goto Exit;
-  }
-
-  // validate device index
-  if ( device >= captureDeviceCount + renderDeviceCount ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Invalid device index.";
-    errorType = RtAudioError::INVALID_USE;
-    goto Exit;
-  }
-
-  // determine whether index falls within capture or render devices
-  if ( device >= renderDeviceCount ) {
-    hr = captureDevices->Item( device - renderDeviceCount, &devicePtr );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve capture device handle.";
-      goto Exit;
-    }
-    isCaptureDevice = true;
-  }
-  else {
-    hr = renderDevices->Item( device, &devicePtr );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve render device handle.";
-      goto Exit;
-    }
-    isCaptureDevice = false;
-  }
-
-  // get default device name
-  if ( isCaptureDevice ) {
-    hr = deviceEnumerator_->GetDefaultAudioEndpoint( eCapture, eConsole, &defaultDevicePtr );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve default capture device handle.";
-      goto Exit;
-    }
-  }
-  else {
-    hr = deviceEnumerator_->GetDefaultAudioEndpoint( eRender, eConsole, &defaultDevicePtr );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve default render device handle.";
-      goto Exit;
-    }
-  }
-
-  hr = defaultDevicePtr->OpenPropertyStore( STGM_READ, &defaultDevicePropStore );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to open default device property store.";
-    goto Exit;
-  }
-  PropVariantInit( &defaultDeviceNameProp );
-
-  hr = defaultDevicePropStore->GetValue( PKEY_Device_FriendlyName, &defaultDeviceNameProp );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve default device property: PKEY_Device_FriendlyName.";
-    goto Exit;
-  }
-
-  defaultDeviceName = convertCharPointerToStdString(defaultDeviceNameProp.pwszVal);
-
-  // name
-  hr = devicePtr->OpenPropertyStore( STGM_READ, &devicePropStore );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to open device property store.";
-    goto Exit;
-  }
-
-  PropVariantInit( &deviceNameProp );
-
-  hr = devicePropStore->GetValue( PKEY_Device_FriendlyName, &deviceNameProp );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve device property: PKEY_Device_FriendlyName.";
-    goto Exit;
-  }
-
-  info.name =convertCharPointerToStdString(deviceNameProp.pwszVal);
-
-  // is default
-  if ( isCaptureDevice ) {
-    info.isDefaultInput = info.name == defaultDeviceName;
-    info.isDefaultOutput = false;
-  }
-  else {
-    info.isDefaultInput = false;
-    info.isDefaultOutput = info.name == defaultDeviceName;
-  }
-
-  // channel count
-  hr = devicePtr->Activate( __uuidof( IAudioClient ), CLSCTX_ALL, NULL, ( void** ) &audioClient );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve device audio client.";
-    goto Exit;
-  }
-
-  hr = audioClient->GetMixFormat( &deviceFormat );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::getDeviceInfo: Unable to retrieve device mix format.";
-    goto Exit;
-  }
-
-  if ( isCaptureDevice ) {
-    info.inputChannels = deviceFormat->nChannels;
-    info.outputChannels = 0;
-    info.duplexChannels = 0;
-  }
-  else {
-    info.inputChannels = 0;
-    info.outputChannels = deviceFormat->nChannels;
-    info.duplexChannels = 0;
-  }
-
-  // sample rates
-  info.sampleRates.clear();
-
-  // allow support for all sample rates as we have a built-in sample rate converter
-  for ( unsigned int i = 0; i < MAX_SAMPLE_RATES; i++ ) {
-    info.sampleRates.push_back( SAMPLE_RATES[i] );
-  }
-  info.preferredSampleRate = deviceFormat->nSamplesPerSec;
-
-  // native format
-  info.nativeFormats = 0;
-
-  if ( deviceFormat->wFormatTag == WAVE_FORMAT_IEEE_FLOAT ||
-       ( deviceFormat->wFormatTag == WAVE_FORMAT_EXTENSIBLE &&
-         ( ( WAVEFORMATEXTENSIBLE* ) deviceFormat )->SubFormat == KSDATAFORMAT_SUBTYPE_IEEE_FLOAT ) )
-  {
-    if ( deviceFormat->wBitsPerSample == 32 ) {
-      info.nativeFormats |= RTAUDIO_FLOAT32;
-    }
-    else if ( deviceFormat->wBitsPerSample == 64 ) {
-      info.nativeFormats |= RTAUDIO_FLOAT64;
-    }
-  }
-  else if ( deviceFormat->wFormatTag == WAVE_FORMAT_PCM ||
-           ( deviceFormat->wFormatTag == WAVE_FORMAT_EXTENSIBLE &&
-             ( ( WAVEFORMATEXTENSIBLE* ) deviceFormat )->SubFormat == KSDATAFORMAT_SUBTYPE_PCM ) )
-  {
-    if ( deviceFormat->wBitsPerSample == 8 ) {
-      info.nativeFormats |= RTAUDIO_SINT8;
-    }
-    else if ( deviceFormat->wBitsPerSample == 16 ) {
-      info.nativeFormats |= RTAUDIO_SINT16;
-    }
-    else if ( deviceFormat->wBitsPerSample == 24 ) {
-      info.nativeFormats |= RTAUDIO_SINT24;
-    }
-    else if ( deviceFormat->wBitsPerSample == 32 ) {
-      info.nativeFormats |= RTAUDIO_SINT32;
-    }
-  }
-
-  // probed
-  info.probed = true;
-
-Exit:
-  // release all references
-  PropVariantClear( &deviceNameProp );
-  PropVariantClear( &defaultDeviceNameProp );
-
-  SAFE_RELEASE( captureDevices );
-  SAFE_RELEASE( renderDevices );
-  SAFE_RELEASE( devicePtr );
-  SAFE_RELEASE( defaultDevicePtr );
-  SAFE_RELEASE( audioClient );
-  SAFE_RELEASE( devicePropStore );
-  SAFE_RELEASE( defaultDevicePropStore );
-
-  CoTaskMemFree( deviceFormat );
-  CoTaskMemFree( closestMatchFormat );
-
-  if ( !errorText_.empty() )
-    error( errorType );
-  return info;
-}
-
-//-----------------------------------------------------------------------------
-
-unsigned int RtApiWasapi::getDefaultOutputDevice( void )
-{
-  for ( unsigned int i = 0; i < getDeviceCount(); i++ ) {
-    if ( getDeviceInfo( i ).isDefaultOutput ) {
-      return i;
-    }
-  }
-
-  return 0;
-}
-
-//-----------------------------------------------------------------------------
-
-unsigned int RtApiWasapi::getDefaultInputDevice( void )
-{
-  for ( unsigned int i = 0; i < getDeviceCount(); i++ ) {
-    if ( getDeviceInfo( i ).isDefaultInput ) {
-      return i;
-    }
-  }
-
-  return 0;
-}
-
-//-----------------------------------------------------------------------------
-
-void RtApiWasapi::closeStream( void )
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiWasapi::closeStream: No open stream to close.";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  if ( stream_.state != STREAM_STOPPED )
-    stopStream();
-
-  // clean up stream memory
-  SAFE_RELEASE( ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient )
-  SAFE_RELEASE( ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient )
-
-  SAFE_RELEASE( ( ( WasapiHandle* ) stream_.apiHandle )->captureClient )
-  SAFE_RELEASE( ( ( WasapiHandle* ) stream_.apiHandle )->renderClient )
-
-  if ( ( ( WasapiHandle* ) stream_.apiHandle )->captureEvent )
-    CloseHandle( ( ( WasapiHandle* ) stream_.apiHandle )->captureEvent );
-
-  if ( ( ( WasapiHandle* ) stream_.apiHandle )->renderEvent )
-    CloseHandle( ( ( WasapiHandle* ) stream_.apiHandle )->renderEvent );
-
-  delete ( WasapiHandle* ) stream_.apiHandle;
-  stream_.apiHandle = NULL;
-
-  for ( int i = 0; i < 2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  // update stream state
-  stream_.state = STREAM_CLOSED;
-}
-
-//-----------------------------------------------------------------------------
-
-void RtApiWasapi::startStream( void )
-{
-  verifyStream();
-
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiWasapi::startStream: The stream is already running.";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  // update stream state
-  stream_.state = STREAM_RUNNING;
-
-  // create WASAPI stream thread
-  stream_.callbackInfo.thread = ( ThreadHandle ) CreateThread( NULL, 0, runWasapiThread, this, CREATE_SUSPENDED, NULL );
-
-  if ( !stream_.callbackInfo.thread ) {
-    errorText_ = "RtApiWasapi::startStream: Unable to instantiate callback thread.";
-    error( RtAudioError::THREAD_ERROR );
-  }
-  else {
-    SetThreadPriority( ( void* ) stream_.callbackInfo.thread, stream_.callbackInfo.priority );
-    ResumeThread( ( void* ) stream_.callbackInfo.thread );
-  }
-}
-
-//-----------------------------------------------------------------------------
-
-void RtApiWasapi::stopStream( void )
-{
-  verifyStream();
-
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiWasapi::stopStream: The stream is already stopped.";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  // inform stream thread by setting stream state to STREAM_STOPPING
-  stream_.state = STREAM_STOPPING;
-
-  // wait until stream thread is stopped
-  while( stream_.state != STREAM_STOPPED ) {
-    Sleep( 1 );
-  }
-
-  // Wait for the last buffer to play before stopping.
-  Sleep( 1000 * stream_.bufferSize / stream_.sampleRate );
-
-  // stop capture client if applicable
-  if ( ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient ) {
-    HRESULT hr = ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient->Stop();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::stopStream: Unable to stop capture stream.";
-      error( RtAudioError::DRIVER_ERROR );
-      return;
-    }
-  }
-
-  // stop render client if applicable
-  if ( ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient ) {
-    HRESULT hr = ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient->Stop();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::stopStream: Unable to stop render stream.";
-      error( RtAudioError::DRIVER_ERROR );
-      return;
-    }
-  }
-
-  // close thread handle
-  if ( stream_.callbackInfo.thread && !CloseHandle( ( void* ) stream_.callbackInfo.thread ) ) {
-    errorText_ = "RtApiWasapi::stopStream: Unable to close callback thread.";
-    error( RtAudioError::THREAD_ERROR );
-    return;
-  }
-
-  stream_.callbackInfo.thread = (ThreadHandle) NULL;
-}
-
-//-----------------------------------------------------------------------------
-
-void RtApiWasapi::abortStream( void )
-{
-  verifyStream();
-
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiWasapi::abortStream: The stream is already stopped.";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  // inform stream thread by setting stream state to STREAM_STOPPING
-  stream_.state = STREAM_STOPPING;
-
-  // wait until stream thread is stopped
-  while ( stream_.state != STREAM_STOPPED ) {
-    Sleep( 1 );
-  }
-
-  // stop capture client if applicable
-  if ( ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient ) {
-    HRESULT hr = ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient->Stop();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::abortStream: Unable to stop capture stream.";
-      error( RtAudioError::DRIVER_ERROR );
-      return;
-    }
-  }
-
-  // stop render client if applicable
-  if ( ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient ) {
-    HRESULT hr = ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient->Stop();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::abortStream: Unable to stop render stream.";
-      error( RtAudioError::DRIVER_ERROR );
-      return;
-    }
-  }
-
-  // close thread handle
-  if ( stream_.callbackInfo.thread && !CloseHandle( ( void* ) stream_.callbackInfo.thread ) ) {
-    errorText_ = "RtApiWasapi::abortStream: Unable to close callback thread.";
-    error( RtAudioError::THREAD_ERROR );
-    return;
-  }
-
-  stream_.callbackInfo.thread = (ThreadHandle) NULL;
-}
-
-//-----------------------------------------------------------------------------
-
-bool RtApiWasapi::probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                   unsigned int firstChannel, unsigned int sampleRate,
-                                   RtAudioFormat format, unsigned int* bufferSize,
-                                   RtAudio::StreamOptions* options )
-{
-  bool methodResult = FAILURE;
-  unsigned int captureDeviceCount = 0;
-  unsigned int renderDeviceCount = 0;
-
-  IMMDeviceCollection* captureDevices = NULL;
-  IMMDeviceCollection* renderDevices = NULL;
-  IMMDevice* devicePtr = NULL;
-  WAVEFORMATEX* deviceFormat = NULL;
-  unsigned int bufferBytes;
-  stream_.state = STREAM_STOPPED;
-
-  // create API Handle if not already created
-  if ( !stream_.apiHandle )
-    stream_.apiHandle = ( void* ) new WasapiHandle();
-
-  // Count capture devices
-  errorText_.clear();
-  RtAudioError::Type errorType = RtAudioError::DRIVER_ERROR;
-  HRESULT hr = deviceEnumerator_->EnumAudioEndpoints( eCapture, DEVICE_STATE_ACTIVE, &captureDevices );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve capture device collection.";
-    goto Exit;
-  }
-
-  hr = captureDevices->GetCount( &captureDeviceCount );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve capture device count.";
-    goto Exit;
-  }
-
-  // Count render devices
-  hr = deviceEnumerator_->EnumAudioEndpoints( eRender, DEVICE_STATE_ACTIVE, &renderDevices );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve render device collection.";
-    goto Exit;
-  }
-
-  hr = renderDevices->GetCount( &renderDeviceCount );
-  if ( FAILED( hr ) ) {
-    errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve render device count.";
-    goto Exit;
-  }
-
-  // validate device index
-  if ( device >= captureDeviceCount + renderDeviceCount ) {
-    errorType = RtAudioError::INVALID_USE;
-    errorText_ = "RtApiWasapi::probeDeviceOpen: Invalid device index.";
-    goto Exit;
-  }
-
-  // determine whether index falls within capture or render devices
-  if ( device >= renderDeviceCount ) {
-    if ( mode != INPUT ) {
-      errorType = RtAudioError::INVALID_USE;
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Capture device selected as output device.";
-      goto Exit;
-    }
-
-    // retrieve captureAudioClient from devicePtr
-    IAudioClient*& captureAudioClient = ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient;
-
-    hr = captureDevices->Item( device - renderDeviceCount, &devicePtr );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve capture device handle.";
-      goto Exit;
-    }
-
-    hr = devicePtr->Activate( __uuidof( IAudioClient ), CLSCTX_ALL,
-                              NULL, ( void** ) &captureAudioClient );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve device audio client.";
-      goto Exit;
-    }
-
-    hr = captureAudioClient->GetMixFormat( &deviceFormat );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve device mix format.";
-      goto Exit;
-    }
-
-    stream_.nDeviceChannels[mode] = deviceFormat->nChannels;
-    captureAudioClient->GetStreamLatency( ( long long* ) &stream_.latency[mode] );
-  }
-  else {
-    if ( mode != OUTPUT ) {
-      errorType = RtAudioError::INVALID_USE;
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Render device selected as input device.";
-      goto Exit;
-    }
-
-    // retrieve renderAudioClient from devicePtr
-    IAudioClient*& renderAudioClient = ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient;
-
-    hr = renderDevices->Item( device, &devicePtr );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve render device handle.";
-      goto Exit;
-    }
-
-    hr = devicePtr->Activate( __uuidof( IAudioClient ), CLSCTX_ALL,
-                              NULL, ( void** ) &renderAudioClient );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve device audio client.";
-      goto Exit;
-    }
-
-    hr = renderAudioClient->GetMixFormat( &deviceFormat );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::probeDeviceOpen: Unable to retrieve device mix format.";
-      goto Exit;
-    }
-
-    stream_.nDeviceChannels[mode] = deviceFormat->nChannels;
-    renderAudioClient->GetStreamLatency( ( long long* ) &stream_.latency[mode] );
-  }
-
-  // fill stream data
-  if ( ( stream_.mode == OUTPUT && mode == INPUT ) ||
-       ( stream_.mode == INPUT && mode == OUTPUT ) ) {
-    stream_.mode = DUPLEX;
-  }
-  else {
-    stream_.mode = mode;
-  }
-
-  stream_.device[mode] = device;
-  stream_.doByteSwap[mode] = false;
-  stream_.sampleRate = sampleRate;
-  stream_.bufferSize = *bufferSize;
-  stream_.nBuffers = 1;
-  stream_.nUserChannels[mode] = channels;
-  stream_.channelOffset[mode] = firstChannel;
-  stream_.userFormat = format;
-  stream_.deviceFormat[mode] = getDeviceInfo( device ).nativeFormats;
-
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED )
-    stream_.userInterleaved = false;
-  else
-    stream_.userInterleaved = true;
-  stream_.deviceInterleaved[mode] = true;
-
-  // Set flags for buffer conversion.
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] ||
-       stream_.nUserChannels != stream_.nDeviceChannels )
-    stream_.doConvertBuffer[mode] = true;
-  else if ( stream_.userInterleaved != stream_.deviceInterleaved[mode] &&
-            stream_.nUserChannels[mode] > 1 )
-    stream_.doConvertBuffer[mode] = true;
-
-  if ( stream_.doConvertBuffer[mode] )
-    setConvertInfo( mode, 0 );
-
-  // Allocate necessary internal buffers
-  bufferBytes = stream_.nUserChannels[mode] * stream_.bufferSize * formatBytes( stream_.userFormat );
-
-  stream_.userBuffer[mode] = ( char* ) calloc( bufferBytes, 1 );
-  if ( !stream_.userBuffer[mode] ) {
-    errorType = RtAudioError::MEMORY_ERROR;
-    errorText_ = "RtApiWasapi::probeDeviceOpen: Error allocating user buffer memory.";
-    goto Exit;
-  }
-
-  if ( options && options->flags & RTAUDIO_SCHEDULE_REALTIME )
-    stream_.callbackInfo.priority = 15;
-  else
-    stream_.callbackInfo.priority = 0;
-
-  ///! TODO: RTAUDIO_MINIMIZE_LATENCY // Provide stream buffers directly to callback
-  ///! TODO: RTAUDIO_HOG_DEVICE       // Exclusive mode
-
-  methodResult = SUCCESS;
-
-Exit:
-  //clean up
-  SAFE_RELEASE( captureDevices );
-  SAFE_RELEASE( renderDevices );
-  SAFE_RELEASE( devicePtr );
-  CoTaskMemFree( deviceFormat );
-
-  // if method failed, close the stream
-  if ( methodResult == FAILURE )
-    closeStream();
-
-  if ( !errorText_.empty() )
-    error( errorType );
-  return methodResult;
-}
-
-//=============================================================================
-
-DWORD WINAPI RtApiWasapi::runWasapiThread( void* wasapiPtr )
-{
-  if ( wasapiPtr )
-    ( ( RtApiWasapi* ) wasapiPtr )->wasapiThread();
-
-  return 0;
-}
-
-DWORD WINAPI RtApiWasapi::stopWasapiThread( void* wasapiPtr )
-{
-  if ( wasapiPtr )
-    ( ( RtApiWasapi* ) wasapiPtr )->stopStream();
-
-  return 0;
-}
-
-DWORD WINAPI RtApiWasapi::abortWasapiThread( void* wasapiPtr )
-{
-  if ( wasapiPtr )
-    ( ( RtApiWasapi* ) wasapiPtr )->abortStream();
-
-  return 0;
-}
-
-//-----------------------------------------------------------------------------
-
-void RtApiWasapi::wasapiThread()
-{
-  // as this is a new thread, we must CoInitialize it
-  CoInitialize( NULL );
-
-  HRESULT hr;
-
-  IAudioClient* captureAudioClient = ( ( WasapiHandle* ) stream_.apiHandle )->captureAudioClient;
-  IAudioClient* renderAudioClient = ( ( WasapiHandle* ) stream_.apiHandle )->renderAudioClient;
-  IAudioCaptureClient* captureClient = ( ( WasapiHandle* ) stream_.apiHandle )->captureClient;
-  IAudioRenderClient* renderClient = ( ( WasapiHandle* ) stream_.apiHandle )->renderClient;
-  HANDLE captureEvent = ( ( WasapiHandle* ) stream_.apiHandle )->captureEvent;
-  HANDLE renderEvent = ( ( WasapiHandle* ) stream_.apiHandle )->renderEvent;
-
-  WAVEFORMATEX* captureFormat = NULL;
-  WAVEFORMATEX* renderFormat = NULL;
-  float captureSrRatio = 0.0f;
-  float renderSrRatio = 0.0f;
-  WasapiBuffer captureBuffer;
-  WasapiBuffer renderBuffer;
-
-  // declare local stream variables
-  RtAudioCallback callback = ( RtAudioCallback ) stream_.callbackInfo.callback;
-  BYTE* streamBuffer = NULL;
-  unsigned long captureFlags = 0;
-  unsigned int bufferFrameCount = 0;
-  unsigned int numFramesPadding = 0;
-  unsigned int convBufferSize = 0;
-  bool callbackPushed = false;
-  bool callbackPulled = false;
-  bool callbackStopped = false;
-  int callbackResult = 0;
-
-  // convBuffer is used to store converted buffers between WASAPI and the user
-  char* convBuffer = NULL;
-  unsigned int convBuffSize = 0;
-  unsigned int deviceBuffSize = 0;
-
-  errorText_.clear();
-  RtAudioError::Type errorType = RtAudioError::DRIVER_ERROR;
-
-  // Attempt to assign "Pro Audio" characteristic to thread
-  HMODULE AvrtDll = LoadLibrary( (LPCTSTR) "AVRT.dll" );
-  if ( AvrtDll ) {
-    DWORD taskIndex = 0;
-    TAvSetMmThreadCharacteristicsPtr AvSetMmThreadCharacteristicsPtr = ( TAvSetMmThreadCharacteristicsPtr ) GetProcAddress( AvrtDll, "AvSetMmThreadCharacteristicsW" );
-    AvSetMmThreadCharacteristicsPtr( L"Pro Audio", &taskIndex );
-    FreeLibrary( AvrtDll );
-  }
-
-  // start capture stream if applicable
-  if ( captureAudioClient ) {
-    hr = captureAudioClient->GetMixFormat( &captureFormat );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve device mix format.";
-      goto Exit;
-    }
-
-    captureSrRatio = ( ( float ) captureFormat->nSamplesPerSec / stream_.sampleRate );
-
-    // initialize capture stream according to desire buffer size
-    float desiredBufferSize = stream_.bufferSize * captureSrRatio;
-    REFERENCE_TIME desiredBufferPeriod = ( REFERENCE_TIME ) ( ( float ) desiredBufferSize * 10000000 / captureFormat->nSamplesPerSec );
-
-    if ( !captureClient ) {
-      hr = captureAudioClient->Initialize( AUDCLNT_SHAREMODE_SHARED,
-                                           AUDCLNT_STREAMFLAGS_EVENTCALLBACK,
-                                           desiredBufferPeriod,
-                                           desiredBufferPeriod,
-                                           captureFormat,
-                                           NULL );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to initialize capture audio client.";
-        goto Exit;
-      }
-
-      hr = captureAudioClient->GetService( __uuidof( IAudioCaptureClient ),
-                                           ( void** ) &captureClient );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve capture client handle.";
-        goto Exit;
-      }
-
-      // configure captureEvent to trigger on every available capture buffer
-      captureEvent = CreateEvent( NULL, FALSE, FALSE, NULL );
-      if ( !captureEvent ) {
-        errorType = RtAudioError::SYSTEM_ERROR;
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to create capture event.";
-        goto Exit;
-      }
-
-      hr = captureAudioClient->SetEventHandle( captureEvent );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to set capture event handle.";
-        goto Exit;
-      }
-
-      ( ( WasapiHandle* ) stream_.apiHandle )->captureClient = captureClient;
-      ( ( WasapiHandle* ) stream_.apiHandle )->captureEvent = captureEvent;
-    }
-
-    unsigned int inBufferSize = 0;
-    hr = captureAudioClient->GetBufferSize( &inBufferSize );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to get capture buffer size.";
-      goto Exit;
-    }
-
-    // scale outBufferSize according to stream->user sample rate ratio
-    unsigned int outBufferSize = ( unsigned int ) ( stream_.bufferSize * captureSrRatio ) * stream_.nDeviceChannels[INPUT];
-    inBufferSize *= stream_.nDeviceChannels[INPUT];
-
-    // set captureBuffer size
-    captureBuffer.setBufferSize( inBufferSize + outBufferSize, formatBytes( stream_.deviceFormat[INPUT] ) );
-
-    // reset the capture stream
-    hr = captureAudioClient->Reset();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to reset capture stream.";
-      goto Exit;
-    }
-
-    // start the capture stream
-    hr = captureAudioClient->Start();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to start capture stream.";
-      goto Exit;
-    }
-  }
-
-  // start render stream if applicable
-  if ( renderAudioClient ) {
-    hr = renderAudioClient->GetMixFormat( &renderFormat );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve device mix format.";
-      goto Exit;
-    }
-
-    renderSrRatio = ( ( float ) renderFormat->nSamplesPerSec / stream_.sampleRate );
-
-    // initialize render stream according to desire buffer size
-    float desiredBufferSize = stream_.bufferSize * renderSrRatio;
-    REFERENCE_TIME desiredBufferPeriod = ( REFERENCE_TIME ) ( ( float ) desiredBufferSize * 10000000 / renderFormat->nSamplesPerSec );
-
-    if ( !renderClient ) {
-      hr = renderAudioClient->Initialize( AUDCLNT_SHAREMODE_SHARED,
-                                          AUDCLNT_STREAMFLAGS_EVENTCALLBACK,
-                                          desiredBufferPeriod,
-                                          desiredBufferPeriod,
-                                          renderFormat,
-                                          NULL );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to initialize render audio client.";
-        goto Exit;
-      }
-
-      hr = renderAudioClient->GetService( __uuidof( IAudioRenderClient ),
-                                          ( void** ) &renderClient );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve render client handle.";
-        goto Exit;
-      }
-
-      // configure renderEvent to trigger on every available render buffer
-      renderEvent = CreateEvent( NULL, FALSE, FALSE, NULL );
-      if ( !renderEvent ) {
-        errorType = RtAudioError::SYSTEM_ERROR;
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to create render event.";
-        goto Exit;
-      }
-
-      hr = renderAudioClient->SetEventHandle( renderEvent );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to set render event handle.";
-        goto Exit;
-      }
-
-      ( ( WasapiHandle* ) stream_.apiHandle )->renderClient = renderClient;
-      ( ( WasapiHandle* ) stream_.apiHandle )->renderEvent = renderEvent;
-    }
-
-    unsigned int outBufferSize = 0;
-    hr = renderAudioClient->GetBufferSize( &outBufferSize );
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to get render buffer size.";
-      goto Exit;
-    }
-
-    // scale inBufferSize according to user->stream sample rate ratio
-    unsigned int inBufferSize = ( unsigned int ) ( stream_.bufferSize * renderSrRatio ) * stream_.nDeviceChannels[OUTPUT];
-    outBufferSize *= stream_.nDeviceChannels[OUTPUT];
-
-    // set renderBuffer size
-    renderBuffer.setBufferSize( inBufferSize + outBufferSize, formatBytes( stream_.deviceFormat[OUTPUT] ) );
-
-    // reset the render stream
-    hr = renderAudioClient->Reset();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to reset render stream.";
-      goto Exit;
-    }
-
-    // start the render stream
-    hr = renderAudioClient->Start();
-    if ( FAILED( hr ) ) {
-      errorText_ = "RtApiWasapi::wasapiThread: Unable to start render stream.";
-      goto Exit;
-    }
-  }
-
-  if ( stream_.mode == INPUT ) {
-    convBuffSize = ( size_t ) ( stream_.bufferSize * captureSrRatio ) * stream_.nDeviceChannels[INPUT] * formatBytes( stream_.deviceFormat[INPUT] );
-    deviceBuffSize = stream_.bufferSize * stream_.nDeviceChannels[INPUT] * formatBytes( stream_.deviceFormat[INPUT] );
-  }
-  else if ( stream_.mode == OUTPUT ) {
-    convBuffSize = ( size_t ) ( stream_.bufferSize * renderSrRatio ) * stream_.nDeviceChannels[OUTPUT] * formatBytes( stream_.deviceFormat[OUTPUT] );
-    deviceBuffSize = stream_.bufferSize * stream_.nDeviceChannels[OUTPUT] * formatBytes( stream_.deviceFormat[OUTPUT] );
-  }
-  else if ( stream_.mode == DUPLEX ) {
-    convBuffSize = std::max( ( size_t ) ( stream_.bufferSize * captureSrRatio ) * stream_.nDeviceChannels[INPUT] * formatBytes( stream_.deviceFormat[INPUT] ),
-                             ( size_t ) ( stream_.bufferSize * renderSrRatio ) * stream_.nDeviceChannels[OUTPUT] * formatBytes( stream_.deviceFormat[OUTPUT] ) );
-    deviceBuffSize = std::max( stream_.bufferSize * stream_.nDeviceChannels[INPUT] * formatBytes( stream_.deviceFormat[INPUT] ),
-                               stream_.bufferSize * stream_.nDeviceChannels[OUTPUT] * formatBytes( stream_.deviceFormat[OUTPUT] ) );
-  }
-
-  convBuffer = ( char* ) malloc( convBuffSize );
-  stream_.deviceBuffer = ( char* ) malloc( deviceBuffSize );
-  if ( !convBuffer || !stream_.deviceBuffer ) {
-    errorType = RtAudioError::MEMORY_ERROR;
-    errorText_ = "RtApiWasapi::wasapiThread: Error allocating device buffer memory.";
-    goto Exit;
-  }
-
-  // stream process loop
-  while ( stream_.state != STREAM_STOPPING ) {
-    if ( !callbackPulled ) {
-      // Callback Input
-      // ==============
-      // 1. Pull callback buffer from inputBuffer
-      // 2. If 1. was successful: Convert callback buffer to user sample rate and channel count
-      //                          Convert callback buffer to user format
-
-      if ( captureAudioClient ) {
-        // Pull callback buffer from inputBuffer
-        callbackPulled = captureBuffer.pullBuffer( convBuffer,
-                                                   ( unsigned int ) ( stream_.bufferSize * captureSrRatio ) * stream_.nDeviceChannels[INPUT],
-                                                   stream_.deviceFormat[INPUT] );
-
-        if ( callbackPulled ) {
-          // Convert callback buffer to user sample rate
-          convertBufferWasapi( stream_.deviceBuffer,
-                               convBuffer,
-                               stream_.nDeviceChannels[INPUT],
-                               captureFormat->nSamplesPerSec,
-                               stream_.sampleRate,
-                               ( unsigned int ) ( stream_.bufferSize * captureSrRatio ),
-                               convBufferSize,
-                               stream_.deviceFormat[INPUT] );
-
-          if ( stream_.doConvertBuffer[INPUT] ) {
-            // Convert callback buffer to user format
-            convertBuffer( stream_.userBuffer[INPUT],
-                           stream_.deviceBuffer,
-                           stream_.convertInfo[INPUT] );
-          }
-          else {
-            // no further conversion, simple copy deviceBuffer to userBuffer
-            memcpy( stream_.userBuffer[INPUT],
-                    stream_.deviceBuffer,
-                    stream_.bufferSize * stream_.nUserChannels[INPUT] * formatBytes( stream_.userFormat ) );
-          }
-        }
-      }
-      else {
-        // if there is no capture stream, set callbackPulled flag
-        callbackPulled = true;
-      }
-
-      // Execute Callback
-      // ================
-      // 1. Execute user callback method
-      // 2. Handle return value from callback
-
-      // if callback has not requested the stream to stop
-      if ( callbackPulled && !callbackStopped ) {
-        // Execute user callback method
-        callbackResult = callback( stream_.userBuffer[OUTPUT],
-                                   stream_.userBuffer[INPUT],
-                                   stream_.bufferSize,
-                                   getStreamTime(),
-                                   captureFlags & AUDCLNT_BUFFERFLAGS_DATA_DISCONTINUITY ? RTAUDIO_INPUT_OVERFLOW : 0,
-                                   stream_.callbackInfo.userData );
-
-        // Handle return value from callback
-        if ( callbackResult == 1 ) {
-          // instantiate a thread to stop this thread
-          HANDLE threadHandle = CreateThread( NULL, 0, stopWasapiThread, this, 0, NULL );
-          if ( !threadHandle ) {
-            errorType = RtAudioError::THREAD_ERROR;
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to instantiate stream stop thread.";
-            goto Exit;
-          }
-          else if ( !CloseHandle( threadHandle ) ) {
-            errorType = RtAudioError::THREAD_ERROR;
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to close stream stop thread handle.";
-            goto Exit;
-          }
-
-          callbackStopped = true;
-        }
-        else if ( callbackResult == 2 ) {
-          // instantiate a thread to stop this thread
-          HANDLE threadHandle = CreateThread( NULL, 0, abortWasapiThread, this, 0, NULL );
-          if ( !threadHandle ) {
-            errorType = RtAudioError::THREAD_ERROR;
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to instantiate stream abort thread.";
-            goto Exit;
-          }
-          else if ( !CloseHandle( threadHandle ) ) {
-            errorType = RtAudioError::THREAD_ERROR;
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to close stream abort thread handle.";
-            goto Exit;
-          }
-
-          callbackStopped = true;
-        }
-      }
-    }
-
-    // Callback Output
-    // ===============
-    // 1. Convert callback buffer to stream format
-    // 2. Convert callback buffer to stream sample rate and channel count
-    // 3. Push callback buffer into outputBuffer
-
-    if ( renderAudioClient && callbackPulled ) {
-      if ( stream_.doConvertBuffer[OUTPUT] ) {
-        // Convert callback buffer to stream format
-        convertBuffer( stream_.deviceBuffer,
-                       stream_.userBuffer[OUTPUT],
-                       stream_.convertInfo[OUTPUT] );
-
-      }
-
-      // Convert callback buffer to stream sample rate
-      convertBufferWasapi( convBuffer,
-                           stream_.deviceBuffer,
-                           stream_.nDeviceChannels[OUTPUT],
-                           stream_.sampleRate,
-                           renderFormat->nSamplesPerSec,
-                           stream_.bufferSize,
-                           convBufferSize,
-                           stream_.deviceFormat[OUTPUT] );
-
-      // Push callback buffer into outputBuffer
-      callbackPushed = renderBuffer.pushBuffer( convBuffer,
-                                                convBufferSize * stream_.nDeviceChannels[OUTPUT],
-                                                stream_.deviceFormat[OUTPUT] );
-    }
-    else {
-      // if there is no render stream, set callbackPushed flag
-      callbackPushed = true;
-    }
-
-    // Stream Capture
-    // ==============
-    // 1. Get capture buffer from stream
-    // 2. Push capture buffer into inputBuffer
-    // 3. If 2. was successful: Release capture buffer
-
-    if ( captureAudioClient ) {
-      // if the callback input buffer was not pulled from captureBuffer, wait for next capture event
-      if ( !callbackPulled ) {
-        WaitForSingleObject( captureEvent, INFINITE );
-      }
-
-      // Get capture buffer from stream
-      hr = captureClient->GetBuffer( &streamBuffer,
-                                     &bufferFrameCount,
-                                     &captureFlags, NULL, NULL );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve capture buffer.";
-        goto Exit;
-      }
-
-      if ( bufferFrameCount != 0 ) {
-        // Push capture buffer into inputBuffer
-        if ( captureBuffer.pushBuffer( ( char* ) streamBuffer,
-                                       bufferFrameCount * stream_.nDeviceChannels[INPUT],
-                                       stream_.deviceFormat[INPUT] ) )
-        {
-          // Release capture buffer
-          hr = captureClient->ReleaseBuffer( bufferFrameCount );
-          if ( FAILED( hr ) ) {
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to release capture buffer.";
-            goto Exit;
-          }
-        }
-        else
-        {
-          // Inform WASAPI that capture was unsuccessful
-          hr = captureClient->ReleaseBuffer( 0 );
-          if ( FAILED( hr ) ) {
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to release capture buffer.";
-            goto Exit;
-          }
-        }
-      }
-      else
-      {
-        // Inform WASAPI that capture was unsuccessful
-        hr = captureClient->ReleaseBuffer( 0 );
-        if ( FAILED( hr ) ) {
-          errorText_ = "RtApiWasapi::wasapiThread: Unable to release capture buffer.";
-          goto Exit;
-        }
-      }
-    }
-
-    // Stream Render
-    // =============
-    // 1. Get render buffer from stream
-    // 2. Pull next buffer from outputBuffer
-    // 3. If 2. was successful: Fill render buffer with next buffer
-    //                          Release render buffer
-
-    if ( renderAudioClient ) {
-      // if the callback output buffer was not pushed to renderBuffer, wait for next render event
-      if ( callbackPulled && !callbackPushed ) {
-        WaitForSingleObject( renderEvent, INFINITE );
-      }
-
-      // Get render buffer from stream
-      hr = renderAudioClient->GetBufferSize( &bufferFrameCount );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve render buffer size.";
-        goto Exit;
-      }
-
-      hr = renderAudioClient->GetCurrentPadding( &numFramesPadding );
-      if ( FAILED( hr ) ) {
-        errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve render buffer padding.";
-        goto Exit;
-      }
-
-      bufferFrameCount -= numFramesPadding;
-
-      if ( bufferFrameCount != 0 ) {
-        hr = renderClient->GetBuffer( bufferFrameCount, &streamBuffer );
-        if ( FAILED( hr ) ) {
-          errorText_ = "RtApiWasapi::wasapiThread: Unable to retrieve render buffer.";
-          goto Exit;
-        }
-
-        // Pull next buffer from outputBuffer
-        // Fill render buffer with next buffer
-        if ( renderBuffer.pullBuffer( ( char* ) streamBuffer,
-                                      bufferFrameCount * stream_.nDeviceChannels[OUTPUT],
-                                      stream_.deviceFormat[OUTPUT] ) )
-        {
-          // Release render buffer
-          hr = renderClient->ReleaseBuffer( bufferFrameCount, 0 );
-          if ( FAILED( hr ) ) {
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to release render buffer.";
-            goto Exit;
-          }
-        }
-        else
-        {
-          // Inform WASAPI that render was unsuccessful
-          hr = renderClient->ReleaseBuffer( 0, 0 );
-          if ( FAILED( hr ) ) {
-            errorText_ = "RtApiWasapi::wasapiThread: Unable to release render buffer.";
-            goto Exit;
-          }
-        }
-      }
-      else
-      {
-        // Inform WASAPI that render was unsuccessful
-        hr = renderClient->ReleaseBuffer( 0, 0 );
-        if ( FAILED( hr ) ) {
-          errorText_ = "RtApiWasapi::wasapiThread: Unable to release render buffer.";
-          goto Exit;
-        }
-      }
-    }
-
-    // if the callback buffer was pushed renderBuffer reset callbackPulled flag
-    if ( callbackPushed ) {
-      callbackPulled = false;
-      // tick stream time
-      RtApi::tickStreamTime();
-    }
-
-  }
-
-Exit:
-  // clean up
-  CoTaskMemFree( captureFormat );
-  CoTaskMemFree( renderFormat );
-
-  free ( convBuffer );
-
-  CoUninitialize();
-
-  // update stream state
-  stream_.state = STREAM_STOPPED;
-
-  if ( errorText_.empty() )
-    return;
-  else
-    error( errorType );
-}
-
-//******************** End of __WINDOWS_WASAPI__ *********************//
-#endif
-
-
-#if defined(__WINDOWS_DS__) // Windows DirectSound API
-
-// Modified by Robin Davies, October 2005
-// - Improvements to DirectX pointer chasing.
-// - Bug fix for non-power-of-two Asio granularity used by Edirol PCR-A30.
-// - Auto-call CoInitialize for DSOUND and ASIO platforms.
-// Various revisions for RtAudio 4.0 by Gary Scavone, April 2007
-// Changed device query structure for RtAudio 4.0.7, January 2010
-
-#include <dsound.h>
-#include <assert.h>
-#include <algorithm>
-
-#if defined(__MINGW32__)
-  // missing from latest mingw winapi
-#define WAVE_FORMAT_96M08 0x00010000 /* 96 kHz, Mono, 8-bit */
-#define WAVE_FORMAT_96S08 0x00020000 /* 96 kHz, Stereo, 8-bit */
-#define WAVE_FORMAT_96M16 0x00040000 /* 96 kHz, Mono, 16-bit */
-#define WAVE_FORMAT_96S16 0x00080000 /* 96 kHz, Stereo, 16-bit */
-#endif
-
-#define MINIMUM_DEVICE_BUFFER_SIZE 32768
-
-#ifdef _MSC_VER // if Microsoft Visual C++
-#pragma comment( lib, "winmm.lib" ) // then, auto-link winmm.lib. Otherwise, it has to be added manually.
-#endif
-
-static inline DWORD dsPointerBetween( DWORD pointer, DWORD laterPointer, DWORD earlierPointer, DWORD bufferSize )
-{
-  if ( pointer > bufferSize ) pointer -= bufferSize;
-  if ( laterPointer < earlierPointer ) laterPointer += bufferSize;
-  if ( pointer < earlierPointer ) pointer += bufferSize;
-  return pointer >= earlierPointer && pointer < laterPointer;
-}
-
-// A structure to hold various information related to the DirectSound
-// API implementation.
-struct DsHandle {
-  unsigned int drainCounter; // Tracks callback counts when draining
-  bool internalDrain;        // Indicates if stop is initiated from callback or not.
-  void *id[2];
-  void *buffer[2];
-  bool xrun[2];
-  UINT bufferPointer[2];
-  DWORD dsBufferSize[2];
-  DWORD dsPointerLeadTime[2]; // the number of bytes ahead of the safe pointer to lead by.
-  HANDLE condition;
-
-  DsHandle()
-    :drainCounter(0), internalDrain(false) { id[0] = 0; id[1] = 0; buffer[0] = 0; buffer[1] = 0; xrun[0] = false; xrun[1] = false; bufferPointer[0] = 0; bufferPointer[1] = 0; }
-};
-
-// Declarations for utility functions, callbacks, and structures
-// specific to the DirectSound implementation.
-static BOOL CALLBACK deviceQueryCallback( LPGUID lpguid,
-                                          LPCTSTR description,
-                                          LPCTSTR module,
-                                          LPVOID lpContext );
-
-static const char* getErrorString( int code );
-
-static unsigned __stdcall callbackHandler( void *ptr );
-
-struct DsDevice {
-  LPGUID id[2];
-  bool validId[2];
-  bool found;
-  std::string name;
-
-  DsDevice()
-  : found(false) { validId[0] = false; validId[1] = false; }
-};
-
-struct DsProbeData {
-  bool isInput;
-  std::vector<struct DsDevice>* dsDevices;
-};
-
-RtApiDs :: RtApiDs()
-{
-  // Dsound will run both-threaded. If CoInitialize fails, then just
-  // accept whatever the mainline chose for a threading model.
-  coInitialized_ = false;
-  HRESULT hr = CoInitialize( NULL );
-  if ( !FAILED( hr ) ) coInitialized_ = true;
-}
-
-RtApiDs :: ~RtApiDs()
-{
-  if ( coInitialized_ ) CoUninitialize(); // balanced call.
-  if ( stream_.state != STREAM_CLOSED ) closeStream();
-}
-
-// The DirectSound default output is always the first device.
-unsigned int RtApiDs :: getDefaultOutputDevice( void )
-{
-  return 0;
-}
-
-// The DirectSound default input is always the first input device,
-// which is the first capture device enumerated.
-unsigned int RtApiDs :: getDefaultInputDevice( void )
-{
-  return 0;
-}
-
-unsigned int RtApiDs :: getDeviceCount( void )
-{
-  // Set query flag for previously found devices to false, so that we
-  // can check for any devices that have disappeared.
-  for ( unsigned int i=0; i<dsDevices.size(); i++ )
-    dsDevices[i].found = false;
-
-  // Query DirectSound devices.
-  struct DsProbeData probeInfo;
-  probeInfo.isInput = false;
-  probeInfo.dsDevices = &dsDevices;
-  HRESULT result = DirectSoundEnumerate( (LPDSENUMCALLBACK) deviceQueryCallback, &probeInfo );
-  if ( FAILED( result ) ) {
-    errorStream_ << "RtApiDs::getDeviceCount: error (" << getErrorString( result ) << ") enumerating output devices!";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-  }
-
-  // Query DirectSoundCapture devices.
-  probeInfo.isInput = true;
-  result = DirectSoundCaptureEnumerate( (LPDSENUMCALLBACK) deviceQueryCallback, &probeInfo );
-  if ( FAILED( result ) ) {
-    errorStream_ << "RtApiDs::getDeviceCount: error (" << getErrorString( result ) << ") enumerating input devices!";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-  }
-
-  // Clean out any devices that may have disappeared (code update submitted by Eli Zehngut).
-  for ( unsigned int i=0; i<dsDevices.size(); ) {
-    if ( dsDevices[i].found == false ) dsDevices.erase( dsDevices.begin() + i );
-    else i++;
-  }
-
-  return static_cast<unsigned int>(dsDevices.size());
-}
-
-RtAudio::DeviceInfo RtApiDs :: getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = false;
-
-  if ( dsDevices.size() == 0 ) {
-    // Force a query of all devices
-    getDeviceCount();
-    if ( dsDevices.size() == 0 ) {
-      errorText_ = "RtApiDs::getDeviceInfo: no devices found!";
-      error( RtAudioError::INVALID_USE );
-      return info;
-    }
-  }
-
-  if ( device >= dsDevices.size() ) {
-    errorText_ = "RtApiDs::getDeviceInfo: device ID is invalid!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  HRESULT result;
-  if ( dsDevices[ device ].validId[0] == false ) goto probeInput;
-
-  LPDIRECTSOUND output;
-  DSCAPS outCaps;
-  result = DirectSoundCreate( dsDevices[ device ].id[0], &output, NULL );
-  if ( FAILED( result ) ) {
-    errorStream_ << "RtApiDs::getDeviceInfo: error (" << getErrorString( result ) << ") opening output device (" << dsDevices[ device ].name << ")!";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    goto probeInput;
-  }
-
-  outCaps.dwSize = sizeof( outCaps );
-  result = output->GetCaps( &outCaps );
-  if ( FAILED( result ) ) {
-    output->Release();
-    errorStream_ << "RtApiDs::getDeviceInfo: error (" << getErrorString( result ) << ") getting capabilities!";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    goto probeInput;
-  }
-
-  // Get output channel information.
-  info.outputChannels = ( outCaps.dwFlags & DSCAPS_PRIMARYSTEREO ) ? 2 : 1;
-
-  // Get sample rate information.
-  info.sampleRates.clear();
-  for ( unsigned int k=0; k<MAX_SAMPLE_RATES; k++ ) {
-    if ( SAMPLE_RATES[k] >= (unsigned int) outCaps.dwMinSecondarySampleRate &&
-         SAMPLE_RATES[k] <= (unsigned int) outCaps.dwMaxSecondarySampleRate ) {
-      info.sampleRates.push_back( SAMPLE_RATES[k] );
-
-      if ( !info.preferredSampleRate || ( SAMPLE_RATES[k] <= 48000 && SAMPLE_RATES[k] > info.preferredSampleRate ) )
-        info.preferredSampleRate = SAMPLE_RATES[k];
-    }
-  }
-
-  // Get format information.
-  if ( outCaps.dwFlags & DSCAPS_PRIMARY16BIT ) info.nativeFormats |= RTAUDIO_SINT16;
-  if ( outCaps.dwFlags & DSCAPS_PRIMARY8BIT ) info.nativeFormats |= RTAUDIO_SINT8;
-
-  output->Release();
-
-  if ( getDefaultOutputDevice() == device )
-    info.isDefaultOutput = true;
-
-  if ( dsDevices[ device ].validId[1] == false ) {
-    info.name = dsDevices[ device ].name;
-    info.probed = true;
-    return info;
-  }
-
- probeInput:
-
-  LPDIRECTSOUNDCAPTURE input;
-  result = DirectSoundCaptureCreate( dsDevices[ device ].id[1], &input, NULL );
-  if ( FAILED( result ) ) {
-    errorStream_ << "RtApiDs::getDeviceInfo: error (" << getErrorString( result ) << ") opening input device (" << dsDevices[ device ].name << ")!";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  DSCCAPS inCaps;
-  inCaps.dwSize = sizeof( inCaps );
-  result = input->GetCaps( &inCaps );
-  if ( FAILED( result ) ) {
-    input->Release();
-    errorStream_ << "RtApiDs::getDeviceInfo: error (" << getErrorString( result ) << ") getting object capabilities (" << dsDevices[ device ].name << ")!";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Get input channel information.
-  info.inputChannels = inCaps.dwChannels;
-
-  // Get sample rate and format information.
-  std::vector<unsigned int> rates;
-  if ( inCaps.dwChannels >= 2 ) {
-    if ( inCaps.dwFormats & WAVE_FORMAT_1S16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_2S16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_4S16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_96S16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_1S08 ) info.nativeFormats |= RTAUDIO_SINT8;
-    if ( inCaps.dwFormats & WAVE_FORMAT_2S08 ) info.nativeFormats |= RTAUDIO_SINT8;
-    if ( inCaps.dwFormats & WAVE_FORMAT_4S08 ) info.nativeFormats |= RTAUDIO_SINT8;
-    if ( inCaps.dwFormats & WAVE_FORMAT_96S08 ) info.nativeFormats |= RTAUDIO_SINT8;
-
-    if ( info.nativeFormats & RTAUDIO_SINT16 ) {
-      if ( inCaps.dwFormats & WAVE_FORMAT_1S16 ) rates.push_back( 11025 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_2S16 ) rates.push_back( 22050 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_4S16 ) rates.push_back( 44100 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_96S16 ) rates.push_back( 96000 );
-    }
-    else if ( info.nativeFormats & RTAUDIO_SINT8 ) {
-      if ( inCaps.dwFormats & WAVE_FORMAT_1S08 ) rates.push_back( 11025 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_2S08 ) rates.push_back( 22050 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_4S08 ) rates.push_back( 44100 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_96S08 ) rates.push_back( 96000 );
-    }
-  }
-  else if ( inCaps.dwChannels == 1 ) {
-    if ( inCaps.dwFormats & WAVE_FORMAT_1M16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_2M16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_4M16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_96M16 ) info.nativeFormats |= RTAUDIO_SINT16;
-    if ( inCaps.dwFormats & WAVE_FORMAT_1M08 ) info.nativeFormats |= RTAUDIO_SINT8;
-    if ( inCaps.dwFormats & WAVE_FORMAT_2M08 ) info.nativeFormats |= RTAUDIO_SINT8;
-    if ( inCaps.dwFormats & WAVE_FORMAT_4M08 ) info.nativeFormats |= RTAUDIO_SINT8;
-    if ( inCaps.dwFormats & WAVE_FORMAT_96M08 ) info.nativeFormats |= RTAUDIO_SINT8;
-
-    if ( info.nativeFormats & RTAUDIO_SINT16 ) {
-      if ( inCaps.dwFormats & WAVE_FORMAT_1M16 ) rates.push_back( 11025 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_2M16 ) rates.push_back( 22050 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_4M16 ) rates.push_back( 44100 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_96M16 ) rates.push_back( 96000 );
-    }
-    else if ( info.nativeFormats & RTAUDIO_SINT8 ) {
-      if ( inCaps.dwFormats & WAVE_FORMAT_1M08 ) rates.push_back( 11025 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_2M08 ) rates.push_back( 22050 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_4M08 ) rates.push_back( 44100 );
-      if ( inCaps.dwFormats & WAVE_FORMAT_96M08 ) rates.push_back( 96000 );
-    }
-  }
-  else info.inputChannels = 0; // technically, this would be an error
-
-  input->Release();
-
-  if ( info.inputChannels == 0 ) return info;
-
-  // Copy the supported rates to the info structure but avoid duplication.
-  bool found;
-  for ( unsigned int i=0; i<rates.size(); i++ ) {
-    found = false;
-    for ( unsigned int j=0; j<info.sampleRates.size(); j++ ) {
-      if ( rates[i] == info.sampleRates[j] ) {
-        found = true;
-        break;
-      }
-    }
-    if ( found == false ) info.sampleRates.push_back( rates[i] );
-  }
-  std::sort( info.sampleRates.begin(), info.sampleRates.end() );
-
-  // If device opens for both playback and capture, we determine the channels.
-  if ( info.outputChannels > 0 && info.inputChannels > 0 )
-    info.duplexChannels = (info.outputChannels > info.inputChannels) ? info.inputChannels : info.outputChannels;
-
-  if ( device == 0 ) info.isDefaultInput = true;
-
-  // Copy name and return.
-  info.name = dsDevices[ device ].name;
-  info.probed = true;
-  return info;
-}
-
-bool RtApiDs :: probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                 unsigned int firstChannel, unsigned int sampleRate,
-                                 RtAudioFormat format, unsigned int *bufferSize,
-                                 RtAudio::StreamOptions *options )
-{
-  if ( channels + firstChannel > 2 ) {
-    errorText_ = "RtApiDs::probeDeviceOpen: DirectSound does not support more than 2 channels per device.";
-    return FAILURE;
-  }
-
-  size_t nDevices = dsDevices.size();
-  if ( nDevices == 0 ) {
-    // This should not happen because a check is made before this function is called.
-    errorText_ = "RtApiDs::probeDeviceOpen: no devices found!";
-    return FAILURE;
-  }
-
-  if ( device >= nDevices ) {
-    // This should not happen because a check is made before this function is called.
-    errorText_ = "RtApiDs::probeDeviceOpen: device ID is invalid!";
-    return FAILURE;
-  }
-
-  if ( mode == OUTPUT ) {
-    if ( dsDevices[ device ].validId[0] == false ) {
-      errorStream_ << "RtApiDs::probeDeviceOpen: device (" << device << ") does not support output!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  }
-  else { // mode == INPUT
-    if ( dsDevices[ device ].validId[1] == false ) {
-      errorStream_ << "RtApiDs::probeDeviceOpen: device (" << device << ") does not support input!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  }
-
-  // According to a note in PortAudio, using GetDesktopWindow()
-  // instead of GetForegroundWindow() is supposed to avoid problems
-  // that occur when the application's window is not the foreground
-  // window.  Also, if the application window closes before the
-  // DirectSound buffer, DirectSound can crash.  In the past, I had
-  // problems when using GetDesktopWindow() but it seems fine now
-  // (January 2010).  I'll leave it commented here.
-  // HWND hWnd = GetForegroundWindow();
-  HWND hWnd = GetDesktopWindow();
-
-  // Check the numberOfBuffers parameter and limit the lowest value to
-  // two.  This is a judgement call and a value of two is probably too
-  // low for capture, but it should work for playback.
-  int nBuffers = 0;
-  if ( options ) nBuffers = options->numberOfBuffers;
-  if ( options && options->flags & RTAUDIO_MINIMIZE_LATENCY ) nBuffers = 2;
-  if ( nBuffers < 2 ) nBuffers = 3;
-
-  // Check the lower range of the user-specified buffer size and set
-  // (arbitrarily) to a lower bound of 32.
-  if ( *bufferSize < 32 ) *bufferSize = 32;
-
-  // Create the wave format structure.  The data format setting will
-  // be determined later.
-  WAVEFORMATEX waveFormat;
-  ZeroMemory( &waveFormat, sizeof(WAVEFORMATEX) );
-  waveFormat.wFormatTag = WAVE_FORMAT_PCM;
-  waveFormat.nChannels = channels + firstChannel;
-  waveFormat.nSamplesPerSec = (unsigned long) sampleRate;
-
-  // Determine the device buffer size. By default, we'll use the value
-  // defined above (32K), but we will grow it to make allowances for
-  // very large software buffer sizes.
-  DWORD dsBufferSize = MINIMUM_DEVICE_BUFFER_SIZE;
-  DWORD dsPointerLeadTime = 0;
-
-  void *ohandle = 0, *bhandle = 0;
-  HRESULT result;
-  if ( mode == OUTPUT ) {
-
-    LPDIRECTSOUND output;
-    result = DirectSoundCreate( dsDevices[ device ].id[0], &output, NULL );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") opening output device (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    DSCAPS outCaps;
-    outCaps.dwSize = sizeof( outCaps );
-    result = output->GetCaps( &outCaps );
-    if ( FAILED( result ) ) {
-      output->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") getting capabilities (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Check channel information.
-    if ( channels + firstChannel == 2 && !( outCaps.dwFlags & DSCAPS_PRIMARYSTEREO ) ) {
-      errorStream_ << "RtApiDs::getDeviceInfo: the output device (" << dsDevices[ device ].name << ") does not support stereo playback.";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Check format information.  Use 16-bit format unless not
-    // supported or user requests 8-bit.
-    if ( outCaps.dwFlags & DSCAPS_PRIMARY16BIT &&
-         !( format == RTAUDIO_SINT8 && outCaps.dwFlags & DSCAPS_PRIMARY8BIT ) ) {
-      waveFormat.wBitsPerSample = 16;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-    }
-    else {
-      waveFormat.wBitsPerSample = 8;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT8;
-    }
-    stream_.userFormat = format;
-
-    // Update wave format structure and buffer information.
-    waveFormat.nBlockAlign = waveFormat.nChannels * waveFormat.wBitsPerSample / 8;
-    waveFormat.nAvgBytesPerSec = waveFormat.nSamplesPerSec * waveFormat.nBlockAlign;
-    dsPointerLeadTime = nBuffers * (*bufferSize) * (waveFormat.wBitsPerSample / 8) * channels;
-
-    // If the user wants an even bigger buffer, increase the device buffer size accordingly.
-    while ( dsPointerLeadTime * 2U > dsBufferSize )
-      dsBufferSize *= 2;
-
-    // Set cooperative level to DSSCL_EXCLUSIVE ... sound stops when window focus changes.
-    // result = output->SetCooperativeLevel( hWnd, DSSCL_EXCLUSIVE );
-    // Set cooperative level to DSSCL_PRIORITY ... sound remains when window focus changes.
-    result = output->SetCooperativeLevel( hWnd, DSSCL_PRIORITY );
-    if ( FAILED( result ) ) {
-      output->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") setting cooperative level (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Even though we will write to the secondary buffer, we need to
-    // access the primary buffer to set the correct output format
-    // (since the default is 8-bit, 22 kHz!).  Setup the DS primary
-    // buffer description.
-    DSBUFFERDESC bufferDescription;
-    ZeroMemory( &bufferDescription, sizeof( DSBUFFERDESC ) );
-    bufferDescription.dwSize = sizeof( DSBUFFERDESC );
-    bufferDescription.dwFlags = DSBCAPS_PRIMARYBUFFER;
-
-    // Obtain the primary buffer
-    LPDIRECTSOUNDBUFFER buffer;
-    result = output->CreateSoundBuffer( &bufferDescription, &buffer, NULL );
-    if ( FAILED( result ) ) {
-      output->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") accessing primary buffer (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Set the primary DS buffer sound format.
-    result = buffer->SetFormat( &waveFormat );
-    if ( FAILED( result ) ) {
-      output->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") setting primary buffer format (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Setup the secondary DS buffer description.
-    ZeroMemory( &bufferDescription, sizeof( DSBUFFERDESC ) );
-    bufferDescription.dwSize = sizeof( DSBUFFERDESC );
-    bufferDescription.dwFlags = ( DSBCAPS_STICKYFOCUS |
-                                  DSBCAPS_GLOBALFOCUS |
-                                  DSBCAPS_GETCURRENTPOSITION2 |
-                                  DSBCAPS_LOCHARDWARE );  // Force hardware mixing
-    bufferDescription.dwBufferBytes = dsBufferSize;
-    bufferDescription.lpwfxFormat = &waveFormat;
-
-    // Try to create the secondary DS buffer.  If that doesn't work,
-    // try to use software mixing.  Otherwise, there's a problem.
-    result = output->CreateSoundBuffer( &bufferDescription, &buffer, NULL );
-    if ( FAILED( result ) ) {
-      bufferDescription.dwFlags = ( DSBCAPS_STICKYFOCUS |
-                                    DSBCAPS_GLOBALFOCUS |
-                                    DSBCAPS_GETCURRENTPOSITION2 |
-                                    DSBCAPS_LOCSOFTWARE );  // Force software mixing
-      result = output->CreateSoundBuffer( &bufferDescription, &buffer, NULL );
-      if ( FAILED( result ) ) {
-        output->Release();
-        errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") creating secondary buffer (" << dsDevices[ device ].name << ")!";
-        errorText_ = errorStream_.str();
-        return FAILURE;
-      }
-    }
-
-    // Get the buffer size ... might be different from what we specified.
-    DSBCAPS dsbcaps;
-    dsbcaps.dwSize = sizeof( DSBCAPS );
-    result = buffer->GetCaps( &dsbcaps );
-    if ( FAILED( result ) ) {
-      output->Release();
-      buffer->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") getting buffer settings (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    dsBufferSize = dsbcaps.dwBufferBytes;
-
-    // Lock the DS buffer
-    LPVOID audioPtr;
-    DWORD dataLen;
-    result = buffer->Lock( 0, dsBufferSize, &audioPtr, &dataLen, NULL, NULL, 0 );
-    if ( FAILED( result ) ) {
-      output->Release();
-      buffer->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") locking buffer (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Zero the DS buffer
-    ZeroMemory( audioPtr, dataLen );
-
-    // Unlock the DS buffer
-    result = buffer->Unlock( audioPtr, dataLen, NULL, 0 );
-    if ( FAILED( result ) ) {
-      output->Release();
-      buffer->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") unlocking buffer (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    ohandle = (void *) output;
-    bhandle = (void *) buffer;
-  }
-
-  if ( mode == INPUT ) {
-
-    LPDIRECTSOUNDCAPTURE input;
-    result = DirectSoundCaptureCreate( dsDevices[ device ].id[1], &input, NULL );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") opening input device (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    DSCCAPS inCaps;
-    inCaps.dwSize = sizeof( inCaps );
-    result = input->GetCaps( &inCaps );
-    if ( FAILED( result ) ) {
-      input->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") getting input capabilities (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Check channel information.
-    if ( inCaps.dwChannels < channels + firstChannel ) {
-      errorText_ = "RtApiDs::getDeviceInfo: the input device does not support requested input channels.";
-      return FAILURE;
-    }
-
-    // Check format information.  Use 16-bit format unless user
-    // requests 8-bit.
-    DWORD deviceFormats;
-    if ( channels + firstChannel == 2 ) {
-      deviceFormats = WAVE_FORMAT_1S08 | WAVE_FORMAT_2S08 | WAVE_FORMAT_4S08 | WAVE_FORMAT_96S08;
-      if ( format == RTAUDIO_SINT8 && inCaps.dwFormats & deviceFormats ) {
-        waveFormat.wBitsPerSample = 8;
-        stream_.deviceFormat[mode] = RTAUDIO_SINT8;
-      }
-      else { // assume 16-bit is supported
-        waveFormat.wBitsPerSample = 16;
-        stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-      }
-    }
-    else { // channel == 1
-      deviceFormats = WAVE_FORMAT_1M08 | WAVE_FORMAT_2M08 | WAVE_FORMAT_4M08 | WAVE_FORMAT_96M08;
-      if ( format == RTAUDIO_SINT8 && inCaps.dwFormats & deviceFormats ) {
-        waveFormat.wBitsPerSample = 8;
-        stream_.deviceFormat[mode] = RTAUDIO_SINT8;
-      }
-      else { // assume 16-bit is supported
-        waveFormat.wBitsPerSample = 16;
-        stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-      }
-    }
-    stream_.userFormat = format;
-
-    // Update wave format structure and buffer information.
-    waveFormat.nBlockAlign = waveFormat.nChannels * waveFormat.wBitsPerSample / 8;
-    waveFormat.nAvgBytesPerSec = waveFormat.nSamplesPerSec * waveFormat.nBlockAlign;
-    dsPointerLeadTime = nBuffers * (*bufferSize) * (waveFormat.wBitsPerSample / 8) * channels;
-
-    // If the user wants an even bigger buffer, increase the device buffer size accordingly.
-    while ( dsPointerLeadTime * 2U > dsBufferSize )
-      dsBufferSize *= 2;
-
-    // Setup the secondary DS buffer description.
-    DSCBUFFERDESC bufferDescription;
-    ZeroMemory( &bufferDescription, sizeof( DSCBUFFERDESC ) );
-    bufferDescription.dwSize = sizeof( DSCBUFFERDESC );
-    bufferDescription.dwFlags = 0;
-    bufferDescription.dwReserved = 0;
-    bufferDescription.dwBufferBytes = dsBufferSize;
-    bufferDescription.lpwfxFormat = &waveFormat;
-
-    // Create the capture buffer.
-    LPDIRECTSOUNDCAPTUREBUFFER buffer;
-    result = input->CreateCaptureBuffer( &bufferDescription, &buffer, NULL );
-    if ( FAILED( result ) ) {
-      input->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") creating input buffer (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Get the buffer size ... might be different from what we specified.
-    DSCBCAPS dscbcaps;
-    dscbcaps.dwSize = sizeof( DSCBCAPS );
-    result = buffer->GetCaps( &dscbcaps );
-    if ( FAILED( result ) ) {
-      input->Release();
-      buffer->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") getting buffer settings (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    dsBufferSize = dscbcaps.dwBufferBytes;
-
-    // NOTE: We could have a problem here if this is a duplex stream
-    // and the play and capture hardware buffer sizes are different
-    // (I'm actually not sure if that is a problem or not).
-    // Currently, we are not verifying that.
-
-    // Lock the capture buffer
-    LPVOID audioPtr;
-    DWORD dataLen;
-    result = buffer->Lock( 0, dsBufferSize, &audioPtr, &dataLen, NULL, NULL, 0 );
-    if ( FAILED( result ) ) {
-      input->Release();
-      buffer->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") locking input buffer (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    // Zero the buffer
-    ZeroMemory( audioPtr, dataLen );
-
-    // Unlock the buffer
-    result = buffer->Unlock( audioPtr, dataLen, NULL, 0 );
-    if ( FAILED( result ) ) {
-      input->Release();
-      buffer->Release();
-      errorStream_ << "RtApiDs::probeDeviceOpen: error (" << getErrorString( result ) << ") unlocking input buffer (" << dsDevices[ device ].name << ")!";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-
-    ohandle = (void *) input;
-    bhandle = (void *) buffer;
-  }
-
-  // Set various stream parameters
-  DsHandle *handle = 0;
-  stream_.nDeviceChannels[mode] = channels + firstChannel;
-  stream_.nUserChannels[mode] = channels;
-  stream_.bufferSize = *bufferSize;
-  stream_.channelOffset[mode] = firstChannel;
-  stream_.deviceInterleaved[mode] = true;
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED ) stream_.userInterleaved = false;
-  else stream_.userInterleaved = true;
-
-  // Set flag for buffer conversion
-  stream_.doConvertBuffer[mode] = false;
-  if (stream_.nUserChannels[mode] != stream_.nDeviceChannels[mode])
-    stream_.doConvertBuffer[mode] = true;
-  if (stream_.userFormat != stream_.deviceFormat[mode])
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.userInterleaved != stream_.deviceInterleaved[mode] &&
-       stream_.nUserChannels[mode] > 1 )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate necessary internal buffers
-  long bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiDs::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-
-  if ( stream_.doConvertBuffer[mode] ) {
-
-    bool makeBuffer = true;
-    bufferBytes = stream_.nDeviceChannels[mode] * formatBytes( stream_.deviceFormat[mode] );
-    if ( mode == INPUT ) {
-      if ( stream_.mode == OUTPUT && stream_.deviceBuffer ) {
-        unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-        if ( bufferBytes <= (long) bytesOut ) makeBuffer = false;
-      }
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiDs::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  // Allocate our DsHandle structures for the stream.
-  if ( stream_.apiHandle == 0 ) {
-    try {
-      handle = new DsHandle;
-    }
-    catch ( std::bad_alloc& ) {
-      errorText_ = "RtApiDs::probeDeviceOpen: error allocating AsioHandle memory.";
-      goto error;
-    }
-
-    // Create a manual-reset event.
-    handle->condition = CreateEvent( NULL,   // no security
-                                     TRUE,   // manual-reset
-                                     FALSE,  // non-signaled initially
-                                     NULL ); // unnamed
-    stream_.apiHandle = (void *) handle;
-  }
-  else
-    handle = (DsHandle *) stream_.apiHandle;
-  handle->id[mode] = ohandle;
-  handle->buffer[mode] = bhandle;
-  handle->dsBufferSize[mode] = dsBufferSize;
-  handle->dsPointerLeadTime[mode] = dsPointerLeadTime;
-
-  stream_.device[mode] = device;
-  stream_.state = STREAM_STOPPED;
-  if ( stream_.mode == OUTPUT && mode == INPUT )
-    // We had already set up an output stream.
-    stream_.mode = DUPLEX;
-  else
-    stream_.mode = mode;
-  stream_.nBuffers = nBuffers;
-  stream_.sampleRate = sampleRate;
-
-  // Setup the buffer conversion information structure.
-  if ( stream_.doConvertBuffer[mode] ) setConvertInfo( mode, firstChannel );
-
-  // Setup the callback thread.
-  if ( stream_.callbackInfo.isRunning == false ) {
-    unsigned threadId;
-    stream_.callbackInfo.isRunning = true;
-    stream_.callbackInfo.object = (void *) this;
-    stream_.callbackInfo.thread = _beginthreadex( NULL, 0, &callbackHandler,
-                                                  &stream_.callbackInfo, 0, &threadId );
-    if ( stream_.callbackInfo.thread == 0 ) {
-      errorText_ = "RtApiDs::probeDeviceOpen: error creating callback thread!";
-      goto error;
-    }
-
-    // Boost DS thread priority
-    SetThreadPriority( (HANDLE) stream_.callbackInfo.thread, THREAD_PRIORITY_HIGHEST );
-  }
-  return SUCCESS;
-
- error:
-  if ( handle ) {
-    if ( handle->buffer[0] ) { // the object pointer can be NULL and valid
-      LPDIRECTSOUND object = (LPDIRECTSOUND) handle->id[0];
-      LPDIRECTSOUNDBUFFER buffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-      if ( buffer ) buffer->Release();
-      object->Release();
-    }
-    if ( handle->buffer[1] ) {
-      LPDIRECTSOUNDCAPTURE object = (LPDIRECTSOUNDCAPTURE) handle->id[1];
-      LPDIRECTSOUNDCAPTUREBUFFER buffer = (LPDIRECTSOUNDCAPTUREBUFFER) handle->buffer[1];
-      if ( buffer ) buffer->Release();
-      object->Release();
-    }
-    CloseHandle( handle->condition );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.state = STREAM_CLOSED;
-  return FAILURE;
-}
-
-void RtApiDs :: closeStream()
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiDs::closeStream(): no open stream to close!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  // Stop the callback thread.
-  stream_.callbackInfo.isRunning = false;
-  WaitForSingleObject( (HANDLE) stream_.callbackInfo.thread, INFINITE );
-  CloseHandle( (HANDLE) stream_.callbackInfo.thread );
-
-  DsHandle *handle = (DsHandle *) stream_.apiHandle;
-  if ( handle ) {
-    if ( handle->buffer[0] ) { // the object pointer can be NULL and valid
-      LPDIRECTSOUND object = (LPDIRECTSOUND) handle->id[0];
-      LPDIRECTSOUNDBUFFER buffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-      if ( buffer ) {
-        buffer->Stop();
-        buffer->Release();
-      }
-      object->Release();
-    }
-    if ( handle->buffer[1] ) {
-      LPDIRECTSOUNDCAPTURE object = (LPDIRECTSOUNDCAPTURE) handle->id[1];
-      LPDIRECTSOUNDCAPTUREBUFFER buffer = (LPDIRECTSOUNDCAPTUREBUFFER) handle->buffer[1];
-      if ( buffer ) {
-        buffer->Stop();
-        buffer->Release();
-      }
-      object->Release();
-    }
-    CloseHandle( handle->condition );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-}
-
-void RtApiDs :: startStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiDs::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  DsHandle *handle = (DsHandle *) stream_.apiHandle;
-
-  // Increase scheduler frequency on lesser windows (a side-effect of
-  // increasing timer accuracy).  On greater windows (Win2K or later),
-  // this is already in effect.
-  timeBeginPeriod( 1 );
-
-  buffersRolling = false;
-  duplexPrerollBytes = 0;
-
-  if ( stream_.mode == DUPLEX ) {
-    // 0.5 seconds of silence in DUPLEX mode while the devices spin up and synchronize.
-    duplexPrerollBytes = (int) ( 0.5 * stream_.sampleRate * formatBytes( stream_.deviceFormat[1] ) * stream_.nDeviceChannels[1] );
-  }
-
-  HRESULT result = 0;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    LPDIRECTSOUNDBUFFER buffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-    result = buffer->Play( 0, 0, DSBPLAY_LOOPING );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::startStream: error (" << getErrorString( result ) << ") starting output buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-
-    LPDIRECTSOUNDCAPTUREBUFFER buffer = (LPDIRECTSOUNDCAPTUREBUFFER) handle->buffer[1];
-    result = buffer->Start( DSCBSTART_LOOPING );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::startStream: error (" << getErrorString( result ) << ") starting input buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  handle->drainCounter = 0;
-  handle->internalDrain = false;
-  ResetEvent( handle->condition );
-  stream_.state = STREAM_RUNNING;
-
- unlock:
-  if ( FAILED( result ) ) error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiDs :: stopStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiDs::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  HRESULT result = 0;
-  LPVOID audioPtr;
-  DWORD dataLen;
-  DsHandle *handle = (DsHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    if ( handle->drainCounter == 0 ) {
-      handle->drainCounter = 2;
-      WaitForSingleObject( handle->condition, INFINITE );  // block until signaled
-    }
-
-    stream_.state = STREAM_STOPPED;
-
-    MUTEX_LOCK( &stream_.mutex );
-
-    // Stop the buffer and clear memory
-    LPDIRECTSOUNDBUFFER buffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-    result = buffer->Stop();
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::stopStream: error (" << getErrorString( result ) << ") stopping output buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-
-    // Lock the buffer and clear it so that if we start to play again,
-    // we won't have old data playing.
-    result = buffer->Lock( 0, handle->dsBufferSize[0], &audioPtr, &dataLen, NULL, NULL, 0 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::stopStream: error (" << getErrorString( result ) << ") locking output buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-
-    // Zero the DS buffer
-    ZeroMemory( audioPtr, dataLen );
-
-    // Unlock the DS buffer
-    result = buffer->Unlock( audioPtr, dataLen, NULL, 0 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::stopStream: error (" << getErrorString( result ) << ") unlocking output buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-
-    // If we start playing again, we must begin at beginning of buffer.
-    handle->bufferPointer[0] = 0;
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-    LPDIRECTSOUNDCAPTUREBUFFER buffer = (LPDIRECTSOUNDCAPTUREBUFFER) handle->buffer[1];
-    audioPtr = NULL;
-    dataLen = 0;
-
-    stream_.state = STREAM_STOPPED;
-
-    if ( stream_.mode != DUPLEX )
-      MUTEX_LOCK( &stream_.mutex );
-
-    result = buffer->Stop();
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::stopStream: error (" << getErrorString( result ) << ") stopping input buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-
-    // Lock the buffer and clear it so that if we start to play again,
-    // we won't have old data playing.
-    result = buffer->Lock( 0, handle->dsBufferSize[1], &audioPtr, &dataLen, NULL, NULL, 0 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::stopStream: error (" << getErrorString( result ) << ") locking input buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-
-    // Zero the DS buffer
-    ZeroMemory( audioPtr, dataLen );
-
-    // Unlock the DS buffer
-    result = buffer->Unlock( audioPtr, dataLen, NULL, 0 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::stopStream: error (" << getErrorString( result ) << ") unlocking input buffer!";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-
-    // If we start recording again, we must begin at beginning of buffer.
-    handle->bufferPointer[1] = 0;
-  }
-
- unlock:
-  timeEndPeriod( 1 ); // revert to normal scheduler frequency on lesser windows.
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  if ( FAILED( result ) ) error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiDs :: abortStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiDs::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  DsHandle *handle = (DsHandle *) stream_.apiHandle;
-  handle->drainCounter = 2;
-
-  stopStream();
-}
-
-void RtApiDs :: callbackEvent()
-{
-  if ( stream_.state == STREAM_STOPPED || stream_.state == STREAM_STOPPING ) {
-    Sleep( 50 ); // sleep 50 milliseconds
-    return;
-  }
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiDs::callbackEvent(): the stream is closed ... this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  CallbackInfo *info = (CallbackInfo *) &stream_.callbackInfo;
-  DsHandle *handle = (DsHandle *) stream_.apiHandle;
-
-  // Check if we were draining the stream and signal is finished.
-  if ( handle->drainCounter > stream_.nBuffers + 2 ) {
-
-    stream_.state = STREAM_STOPPING;
-    if ( handle->internalDrain == false )
-      SetEvent( handle->condition );
-    else
-      stopStream();
-    return;
-  }
-
-  // Invoke user callback to get fresh output data UNLESS we are
-  // draining stream.
-  if ( handle->drainCounter == 0 ) {
-    RtAudioCallback callback = (RtAudioCallback) info->callback;
-    double streamTime = getStreamTime();
-    RtAudioStreamStatus status = 0;
-    if ( stream_.mode != INPUT && handle->xrun[0] == true ) {
-      status |= RTAUDIO_OUTPUT_UNDERFLOW;
-      handle->xrun[0] = false;
-    }
-    if ( stream_.mode != OUTPUT && handle->xrun[1] == true ) {
-      status |= RTAUDIO_INPUT_OVERFLOW;
-      handle->xrun[1] = false;
-    }
-    int cbReturnValue = callback( stream_.userBuffer[0], stream_.userBuffer[1],
-                                  stream_.bufferSize, streamTime, status, info->userData );
-    if ( cbReturnValue == 2 ) {
-      stream_.state = STREAM_STOPPING;
-      handle->drainCounter = 2;
-      abortStream();
-      return;
-    }
-    else if ( cbReturnValue == 1 ) {
-      handle->drainCounter = 1;
-      handle->internalDrain = true;
-    }
-  }
-
-  HRESULT result;
-  DWORD currentWritePointer, safeWritePointer;
-  DWORD currentReadPointer, safeReadPointer;
-  UINT nextWritePointer;
-
-  LPVOID buffer1 = NULL;
-  LPVOID buffer2 = NULL;
-  DWORD bufferSize1 = 0;
-  DWORD bufferSize2 = 0;
-
-  char *buffer;
-  long bufferBytes;
-
-  MUTEX_LOCK( &stream_.mutex );
-  if ( stream_.state == STREAM_STOPPED ) {
-    MUTEX_UNLOCK( &stream_.mutex );
-    return;
-  }
-
-  if ( buffersRolling == false ) {
-    if ( stream_.mode == DUPLEX ) {
-      //assert( handle->dsBufferSize[0] == handle->dsBufferSize[1] );
-
-      // It takes a while for the devices to get rolling. As a result,
-      // there's no guarantee that the capture and write device pointers
-      // will move in lockstep.  Wait here for both devices to start
-      // rolling, and then set our buffer pointers accordingly.
-      // e.g. Crystal Drivers: the capture buffer starts up 5700 to 9600
-      // bytes later than the write buffer.
-
-      // Stub: a serious risk of having a pre-emptive scheduling round
-      // take place between the two GetCurrentPosition calls... but I'm
-      // really not sure how to solve the problem.  Temporarily boost to
-      // Realtime priority, maybe; but I'm not sure what priority the
-      // DirectSound service threads run at. We *should* be roughly
-      // within a ms or so of correct.
-
-      LPDIRECTSOUNDBUFFER dsWriteBuffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-      LPDIRECTSOUNDCAPTUREBUFFER dsCaptureBuffer = (LPDIRECTSOUNDCAPTUREBUFFER) handle->buffer[1];
-
-      DWORD startSafeWritePointer, startSafeReadPointer;
-
-      result = dsWriteBuffer->GetCurrentPosition( NULL, &startSafeWritePointer );
-      if ( FAILED( result ) ) {
-        errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current write position!";
-        errorText_ = errorStream_.str();
-        MUTEX_UNLOCK( &stream_.mutex );
-        error( RtAudioError::SYSTEM_ERROR );
-        return;
-      }
-      result = dsCaptureBuffer->GetCurrentPosition( NULL, &startSafeReadPointer );
-      if ( FAILED( result ) ) {
-        errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current read position!";
-        errorText_ = errorStream_.str();
-        MUTEX_UNLOCK( &stream_.mutex );
-        error( RtAudioError::SYSTEM_ERROR );
-        return;
-      }
-      while ( true ) {
-        result = dsWriteBuffer->GetCurrentPosition( NULL, &safeWritePointer );
-        if ( FAILED( result ) ) {
-          errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current write position!";
-          errorText_ = errorStream_.str();
-          MUTEX_UNLOCK( &stream_.mutex );
-          error( RtAudioError::SYSTEM_ERROR );
-          return;
-        }
-        result = dsCaptureBuffer->GetCurrentPosition( NULL, &safeReadPointer );
-        if ( FAILED( result ) ) {
-          errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current read position!";
-          errorText_ = errorStream_.str();
-          MUTEX_UNLOCK( &stream_.mutex );
-          error( RtAudioError::SYSTEM_ERROR );
-          return;
-        }
-        if ( safeWritePointer != startSafeWritePointer && safeReadPointer != startSafeReadPointer ) break;
-        Sleep( 1 );
-      }
-
-      //assert( handle->dsBufferSize[0] == handle->dsBufferSize[1] );
-
-      handle->bufferPointer[0] = safeWritePointer + handle->dsPointerLeadTime[0];
-      if ( handle->bufferPointer[0] >= handle->dsBufferSize[0] ) handle->bufferPointer[0] -= handle->dsBufferSize[0];
-      handle->bufferPointer[1] = safeReadPointer;
-    }
-    else if ( stream_.mode == OUTPUT ) {
-
-      // Set the proper nextWritePosition after initial startup.
-      LPDIRECTSOUNDBUFFER dsWriteBuffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-      result = dsWriteBuffer->GetCurrentPosition( &currentWritePointer, &safeWritePointer );
-      if ( FAILED( result ) ) {
-        errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current write position!";
-        errorText_ = errorStream_.str();
-        MUTEX_UNLOCK( &stream_.mutex );
-        error( RtAudioError::SYSTEM_ERROR );
-        return;
-      }
-      handle->bufferPointer[0] = safeWritePointer + handle->dsPointerLeadTime[0];
-      if ( handle->bufferPointer[0] >= handle->dsBufferSize[0] ) handle->bufferPointer[0] -= handle->dsBufferSize[0];
-    }
-
-    buffersRolling = true;
-  }
-
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    LPDIRECTSOUNDBUFFER dsBuffer = (LPDIRECTSOUNDBUFFER) handle->buffer[0];
-
-    if ( handle->drainCounter > 1 ) { // write zeros to the output stream
-      bufferBytes = stream_.bufferSize * stream_.nUserChannels[0];
-      bufferBytes *= formatBytes( stream_.userFormat );
-      memset( stream_.userBuffer[0], 0, bufferBytes );
-    }
-
-    // Setup parameters and do buffer conversion if necessary.
-    if ( stream_.doConvertBuffer[0] ) {
-      buffer = stream_.deviceBuffer;
-      convertBuffer( buffer, stream_.userBuffer[0], stream_.convertInfo[0] );
-      bufferBytes = stream_.bufferSize * stream_.nDeviceChannels[0];
-      bufferBytes *= formatBytes( stream_.deviceFormat[0] );
-    }
-    else {
-      buffer = stream_.userBuffer[0];
-      bufferBytes = stream_.bufferSize * stream_.nUserChannels[0];
-      bufferBytes *= formatBytes( stream_.userFormat );
-    }
-
-    // No byte swapping necessary in DirectSound implementation.
-
-    // Ahhh ... windoze.  16-bit data is signed but 8-bit data is
-    // unsigned.  So, we need to convert our signed 8-bit data here to
-    // unsigned.
-    if ( stream_.deviceFormat[0] == RTAUDIO_SINT8 )
-      for ( int i=0; i<bufferBytes; i++ ) buffer[i] = (unsigned char) ( buffer[i] + 128 );
-
-    DWORD dsBufferSize = handle->dsBufferSize[0];
-    nextWritePointer = handle->bufferPointer[0];
-
-    DWORD endWrite, leadPointer;
-    while ( true ) {
-      // Find out where the read and "safe write" pointers are.
-      result = dsBuffer->GetCurrentPosition( &currentWritePointer, &safeWritePointer );
-      if ( FAILED( result ) ) {
-        errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current write position!";
-        errorText_ = errorStream_.str();
-        MUTEX_UNLOCK( &stream_.mutex );
-        error( RtAudioError::SYSTEM_ERROR );
-        return;
-      }
-
-      // We will copy our output buffer into the region between
-      // safeWritePointer and leadPointer.  If leadPointer is not
-      // beyond the next endWrite position, wait until it is.
-      leadPointer = safeWritePointer + handle->dsPointerLeadTime[0];
-      //std::cout << "safeWritePointer = " << safeWritePointer << ", leadPointer = " << leadPointer << ", nextWritePointer = " << nextWritePointer << std::endl;
-      if ( leadPointer > dsBufferSize ) leadPointer -= dsBufferSize;
-      if ( leadPointer < nextWritePointer ) leadPointer += dsBufferSize; // unwrap offset
-      endWrite = nextWritePointer + bufferBytes;
-
-      // Check whether the entire write region is behind the play pointer.
-      if ( leadPointer >= endWrite ) break;
-
-      // If we are here, then we must wait until the leadPointer advances
-      // beyond the end of our next write region. We use the
-      // Sleep() function to suspend operation until that happens.
-      double millis = ( endWrite - leadPointer ) * 1000.0;
-      millis /= ( formatBytes( stream_.deviceFormat[0]) * stream_.nDeviceChannels[0] * stream_.sampleRate);
-      if ( millis < 1.0 ) millis = 1.0;
-      Sleep( (DWORD) millis );
-    }
-
-    if ( dsPointerBetween( nextWritePointer, safeWritePointer, currentWritePointer, dsBufferSize )
-         || dsPointerBetween( endWrite, safeWritePointer, currentWritePointer, dsBufferSize ) ) {
-      // We've strayed into the forbidden zone ... resync the read pointer.
-      handle->xrun[0] = true;
-      nextWritePointer = safeWritePointer + handle->dsPointerLeadTime[0] - bufferBytes;
-      if ( nextWritePointer >= dsBufferSize ) nextWritePointer -= dsBufferSize;
-      handle->bufferPointer[0] = nextWritePointer;
-      endWrite = nextWritePointer + bufferBytes;
-    }
-
-    // Lock free space in the buffer
-    result = dsBuffer->Lock( nextWritePointer, bufferBytes, &buffer1,
-                             &bufferSize1, &buffer2, &bufferSize2, 0 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") locking buffer during playback!";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-
-    // Copy our buffer into the DS buffer
-    CopyMemory( buffer1, buffer, bufferSize1 );
-    if ( buffer2 != NULL ) CopyMemory( buffer2, buffer+bufferSize1, bufferSize2 );
-
-    // Update our buffer offset and unlock sound buffer
-    dsBuffer->Unlock( buffer1, bufferSize1, buffer2, bufferSize2 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") unlocking buffer during playback!";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-    nextWritePointer = ( nextWritePointer + bufferSize1 + bufferSize2 ) % dsBufferSize;
-    handle->bufferPointer[0] = nextWritePointer;
-  }
-
-  // Don't bother draining input
-  if ( handle->drainCounter ) {
-    handle->drainCounter++;
-    goto unlock;
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-
-    // Setup parameters.
-    if ( stream_.doConvertBuffer[1] ) {
-      buffer = stream_.deviceBuffer;
-      bufferBytes = stream_.bufferSize * stream_.nDeviceChannels[1];
-      bufferBytes *= formatBytes( stream_.deviceFormat[1] );
-    }
-    else {
-      buffer = stream_.userBuffer[1];
-      bufferBytes = stream_.bufferSize * stream_.nUserChannels[1];
-      bufferBytes *= formatBytes( stream_.userFormat );
-    }
-
-    LPDIRECTSOUNDCAPTUREBUFFER dsBuffer = (LPDIRECTSOUNDCAPTUREBUFFER) handle->buffer[1];
-    long nextReadPointer = handle->bufferPointer[1];
-    DWORD dsBufferSize = handle->dsBufferSize[1];
-
-    // Find out where the write and "safe read" pointers are.
-    result = dsBuffer->GetCurrentPosition( &currentReadPointer, &safeReadPointer );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current read position!";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-
-    if ( safeReadPointer < (DWORD)nextReadPointer ) safeReadPointer += dsBufferSize; // unwrap offset
-    DWORD endRead = nextReadPointer + bufferBytes;
-
-    // Handling depends on whether we are INPUT or DUPLEX.
-    // If we're in INPUT mode then waiting is a good thing. If we're in DUPLEX mode,
-    // then a wait here will drag the write pointers into the forbidden zone.
-    //
-    // In DUPLEX mode, rather than wait, we will back off the read pointer until
-    // it's in a safe position. This causes dropouts, but it seems to be the only
-    // practical way to sync up the read and write pointers reliably, given the
-    // the very complex relationship between phase and increment of the read and write
-    // pointers.
-    //
-    // In order to minimize audible dropouts in DUPLEX mode, we will
-    // provide a pre-roll period of 0.5 seconds in which we return
-    // zeros from the read buffer while the pointers sync up.
-
-    if ( stream_.mode == DUPLEX ) {
-      if ( safeReadPointer < endRead ) {
-        if ( duplexPrerollBytes <= 0 ) {
-          // Pre-roll time over. Be more agressive.
-          int adjustment = endRead-safeReadPointer;
-
-          handle->xrun[1] = true;
-          // Two cases:
-          //   - large adjustments: we've probably run out of CPU cycles, so just resync exactly,
-          //     and perform fine adjustments later.
-          //   - small adjustments: back off by twice as much.
-          if ( adjustment >= 2*bufferBytes )
-            nextReadPointer = safeReadPointer-2*bufferBytes;
-          else
-            nextReadPointer = safeReadPointer-bufferBytes-adjustment;
-
-          if ( nextReadPointer < 0 ) nextReadPointer += dsBufferSize;
-
-        }
-        else {
-          // In pre=roll time. Just do it.
-          nextReadPointer = safeReadPointer - bufferBytes;
-          while ( nextReadPointer < 0 ) nextReadPointer += dsBufferSize;
-        }
-        endRead = nextReadPointer + bufferBytes;
-      }
-    }
-    else { // mode == INPUT
-      while ( safeReadPointer < endRead && stream_.callbackInfo.isRunning ) {
-        // See comments for playback.
-        double millis = (endRead - safeReadPointer) * 1000.0;
-        millis /= ( formatBytes(stream_.deviceFormat[1]) * stream_.nDeviceChannels[1] * stream_.sampleRate);
-        if ( millis < 1.0 ) millis = 1.0;
-        Sleep( (DWORD) millis );
-
-        // Wake up and find out where we are now.
-        result = dsBuffer->GetCurrentPosition( &currentReadPointer, &safeReadPointer );
-        if ( FAILED( result ) ) {
-          errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") getting current read position!";
-          errorText_ = errorStream_.str();
-          MUTEX_UNLOCK( &stream_.mutex );
-          error( RtAudioError::SYSTEM_ERROR );
-          return;
-        }
-
-        if ( safeReadPointer < (DWORD)nextReadPointer ) safeReadPointer += dsBufferSize; // unwrap offset
-      }
-    }
-
-    // Lock free space in the buffer
-    result = dsBuffer->Lock( nextReadPointer, bufferBytes, &buffer1,
-                             &bufferSize1, &buffer2, &bufferSize2, 0 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") locking capture buffer!";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-
-    if ( duplexPrerollBytes <= 0 ) {
-      // Copy our buffer into the DS buffer
-      CopyMemory( buffer, buffer1, bufferSize1 );
-      if ( buffer2 != NULL ) CopyMemory( buffer+bufferSize1, buffer2, bufferSize2 );
-    }
-    else {
-      memset( buffer, 0, bufferSize1 );
-      if ( buffer2 != NULL ) memset( buffer + bufferSize1, 0, bufferSize2 );
-      duplexPrerollBytes -= bufferSize1 + bufferSize2;
-    }
-
-    // Update our buffer offset and unlock sound buffer
-    nextReadPointer = ( nextReadPointer + bufferSize1 + bufferSize2 ) % dsBufferSize;
-    dsBuffer->Unlock( buffer1, bufferSize1, buffer2, bufferSize2 );
-    if ( FAILED( result ) ) {
-      errorStream_ << "RtApiDs::callbackEvent: error (" << getErrorString( result ) << ") unlocking capture buffer!";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-    handle->bufferPointer[1] = nextReadPointer;
-
-    // No byte swapping necessary in DirectSound implementation.
-
-    // If necessary, convert 8-bit data from unsigned to signed.
-    if ( stream_.deviceFormat[1] == RTAUDIO_SINT8 )
-      for ( int j=0; j<bufferBytes; j++ ) buffer[j] = (signed char) ( buffer[j] - 128 );
-
-    // Do buffer conversion if necessary.
-    if ( stream_.doConvertBuffer[1] )
-      convertBuffer( stream_.userBuffer[1], stream_.deviceBuffer, stream_.convertInfo[1] );
-  }
-
- unlock:
-  MUTEX_UNLOCK( &stream_.mutex );
-  RtApi::tickStreamTime();
-}
-
-// Definitions for utility functions and callbacks
-// specific to the DirectSound implementation.
-
-static unsigned __stdcall callbackHandler( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiDs *object = (RtApiDs *) info->object;
-  bool* isRunning = &info->isRunning;
-
-  while ( *isRunning == true ) {
-    object->callbackEvent();
-  }
-
-  _endthreadex( 0 );
-  return 0;
-}
-
-static BOOL CALLBACK deviceQueryCallback( LPGUID lpguid,
-                                          LPCTSTR description,
-                                          LPCTSTR /*module*/,
-                                          LPVOID lpContext )
-{
-  struct DsProbeData& probeInfo = *(struct DsProbeData*) lpContext;
-  std::vector<struct DsDevice>& dsDevices = *probeInfo.dsDevices;
-
-  HRESULT hr;
-  bool validDevice = false;
-  if ( probeInfo.isInput == true ) {
-    DSCCAPS caps;
-    LPDIRECTSOUNDCAPTURE object;
-
-    hr = DirectSoundCaptureCreate(  lpguid, &object,   NULL );
-    if ( hr != DS_OK ) return TRUE;
-
-    caps.dwSize = sizeof(caps);
-    hr = object->GetCaps( &caps );
-    if ( hr == DS_OK ) {
-      if ( caps.dwChannels > 0 && caps.dwFormats > 0 )
-        validDevice = true;
-    }
-    object->Release();
-  }
-  else {
-    DSCAPS caps;
-    LPDIRECTSOUND object;
-    hr = DirectSoundCreate(  lpguid, &object,   NULL );
-    if ( hr != DS_OK ) return TRUE;
-
-    caps.dwSize = sizeof(caps);
-    hr = object->GetCaps( &caps );
-    if ( hr == DS_OK ) {
-      if ( caps.dwFlags & DSCAPS_PRIMARYMONO || caps.dwFlags & DSCAPS_PRIMARYSTEREO )
-        validDevice = true;
-    }
-    object->Release();
-  }
-
-  // If good device, then save its name and guid.
-  std::string name = convertCharPointerToStdString( description );
-  //if ( name == "Primary Sound Driver" || name == "Primary Sound Capture Driver" )
-  if ( lpguid == NULL )
-    name = "Default Device";
-  if ( validDevice ) {
-    for ( unsigned int i=0; i<dsDevices.size(); i++ ) {
-      if ( dsDevices[i].name == name ) {
-        dsDevices[i].found = true;
-        if ( probeInfo.isInput ) {
-          dsDevices[i].id[1] = lpguid;
-          dsDevices[i].validId[1] = true;
-        }
-        else {
-          dsDevices[i].id[0] = lpguid;
-          dsDevices[i].validId[0] = true;
-        }
-        return TRUE;
-      }
-    }
-
-    DsDevice device;
-    device.name = name;
-    device.found = true;
-    if ( probeInfo.isInput ) {
-      device.id[1] = lpguid;
-      device.validId[1] = true;
-    }
-    else {
-      device.id[0] = lpguid;
-      device.validId[0] = true;
-    }
-    dsDevices.push_back( device );
-  }
-
-  return TRUE;
-}
-
-static const char* getErrorString( int code )
-{
-  switch ( code ) {
-
-  case DSERR_ALLOCATED:
-    return "Already allocated";
-
-  case DSERR_CONTROLUNAVAIL:
-    return "Control unavailable";
-
-  case DSERR_INVALIDPARAM:
-    return "Invalid parameter";
-
-  case DSERR_INVALIDCALL:
-    return "Invalid call";
-
-  case DSERR_GENERIC:
-    return "Generic error";
-
-  case DSERR_PRIOLEVELNEEDED:
-    return "Priority level needed";
-
-  case DSERR_OUTOFMEMORY:
-    return "Out of memory";
-
-  case DSERR_BADFORMAT:
-    return "The sample rate or the channel format is not supported";
-
-  case DSERR_UNSUPPORTED:
-    return "Not supported";
-
-  case DSERR_NODRIVER:
-    return "No driver";
-
-  case DSERR_ALREADYINITIALIZED:
-    return "Already initialized";
-
-  case DSERR_NOAGGREGATION:
-    return "No aggregation";
-
-  case DSERR_BUFFERLOST:
-    return "Buffer lost";
-
-  case DSERR_OTHERAPPHASPRIO:
-    return "Another application already has priority";
-
-  case DSERR_UNINITIALIZED:
-    return "Uninitialized";
-
-  default:
-    return "DirectSound unknown error";
-  }
-}
-//******************** End of __WINDOWS_DS__ *********************//
-#endif
-
-
-#if defined(__LINUX_ALSA__)
-
-#include <alsa/asoundlib.h>
-#include <unistd.h>
-
-  // A structure to hold various information related to the ALSA API
-  // implementation.
-struct AlsaHandle {
-  snd_pcm_t *handles[2];
-  bool synchronized;
-  bool xrun[2];
-  pthread_cond_t runnable_cv;
-  bool runnable;
-
-  AlsaHandle()
-    :synchronized(false), runnable(false) { xrun[0] = false; xrun[1] = false; }
-};
-
-static void *alsaCallbackHandler( void * ptr );
-
-RtApiAlsa :: RtApiAlsa()
-{
-  // Nothing to do here.
-}
-
-RtApiAlsa :: ~RtApiAlsa()
-{
-  if ( stream_.state != STREAM_CLOSED ) closeStream();
-}
-
-unsigned int RtApiAlsa :: getDeviceCount( void )
-{
-  unsigned nDevices = 0;
-  int result, subdevice, card;
-  char name[64];
-  snd_ctl_t *handle;
-
-  // Count cards and devices
-  card = -1;
-  snd_card_next( &card );
-  while ( card >= 0 ) {
-    sprintf( name, "hw:%d", card );
-    result = snd_ctl_open( &handle, name, 0 );
-    if ( result < 0 ) {
-      errorStream_ << "RtApiAlsa::getDeviceCount: control open, card = " << card << ", " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      error( RtAudioError::WARNING );
-      goto nextcard;
-    }
-    subdevice = -1;
-    while( 1 ) {
-      result = snd_ctl_pcm_next_device( handle, &subdevice );
-      if ( result < 0 ) {
-        errorStream_ << "RtApiAlsa::getDeviceCount: control next device, card = " << card << ", " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-        error( RtAudioError::WARNING );
-        break;
-      }
-      if ( subdevice < 0 )
-        break;
-      nDevices++;
-    }
-  nextcard:
-    snd_ctl_close( handle );
-    snd_card_next( &card );
-  }
-
-  result = snd_ctl_open( &handle, "default", 0 );
-  if (result == 0) {
-    nDevices++;
-    snd_ctl_close( handle );
-  }
-
-  return nDevices;
-}
-
-RtAudio::DeviceInfo RtApiAlsa :: getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = false;
-
-  unsigned nDevices = 0;
-  int result, subdevice, card;
-  char name[64];
-  snd_ctl_t *chandle;
-
-  // Count cards and devices
-  card = -1;
-  subdevice = -1;
-  snd_card_next( &card );
-  while ( card >= 0 ) {
-    sprintf( name, "hw:%d", card );
-    result = snd_ctl_open( &chandle, name, SND_CTL_NONBLOCK );
-    if ( result < 0 ) {
-      errorStream_ << "RtApiAlsa::getDeviceInfo: control open, card = " << card << ", " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      error( RtAudioError::WARNING );
-      goto nextcard;
-    }
-    subdevice = -1;
-    while( 1 ) {
-      result = snd_ctl_pcm_next_device( chandle, &subdevice );
-      if ( result < 0 ) {
-        errorStream_ << "RtApiAlsa::getDeviceInfo: control next device, card = " << card << ", " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-        error( RtAudioError::WARNING );
-        break;
-      }
-      if ( subdevice < 0 ) break;
-      if ( nDevices == device ) {
-        sprintf( name, "hw:%d,%d", card, subdevice );
-        goto foundDevice;
-      }
-      nDevices++;
-    }
-  nextcard:
-    snd_ctl_close( chandle );
-    snd_card_next( &card );
-  }
-
-  result = snd_ctl_open( &chandle, "default", SND_CTL_NONBLOCK );
-  if ( result == 0 ) {
-    if ( nDevices == device ) {
-      strcpy( name, "default" );
-      goto foundDevice;
-    }
-    nDevices++;
-  }
-
-  if ( nDevices == 0 ) {
-    errorText_ = "RtApiAlsa::getDeviceInfo: no devices found!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  if ( device >= nDevices ) {
-    errorText_ = "RtApiAlsa::getDeviceInfo: device ID is invalid!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
- foundDevice:
-
-  // If a stream is already open, we cannot probe the stream devices.
-  // Thus, use the saved results.
-  if ( stream_.state != STREAM_CLOSED &&
-       ( stream_.device[0] == device || stream_.device[1] == device ) ) {
-    snd_ctl_close( chandle );
-    if ( device >= devices_.size() ) {
-      errorText_ = "RtApiAlsa::getDeviceInfo: device ID was not present before stream was opened.";
-      error( RtAudioError::WARNING );
-      return info;
-    }
-    return devices_[ device ];
-  }
-
-  int openMode = SND_PCM_ASYNC;
-  snd_pcm_stream_t stream;
-  snd_pcm_info_t *pcminfo;
-  snd_pcm_info_alloca( &pcminfo );
-  snd_pcm_t *phandle;
-  snd_pcm_hw_params_t *params;
-  snd_pcm_hw_params_alloca( &params );
-
-  // First try for playback unless default device (which has subdev -1)
-  stream = SND_PCM_STREAM_PLAYBACK;
-  snd_pcm_info_set_stream( pcminfo, stream );
-  if ( subdevice != -1 ) {
-    snd_pcm_info_set_device( pcminfo, subdevice );
-    snd_pcm_info_set_subdevice( pcminfo, 0 );
-
-    result = snd_ctl_pcm_info( chandle, pcminfo );
-    if ( result < 0 ) {
-      // Device probably doesn't support playback.
-      goto captureProbe;
-    }
-  }
-
-  result = snd_pcm_open( &phandle, name, stream, openMode | SND_PCM_NONBLOCK );
-  if ( result < 0 ) {
-    errorStream_ << "RtApiAlsa::getDeviceInfo: snd_pcm_open error for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    goto captureProbe;
-  }
-
-  // The device is open ... fill the parameter structure.
-  result = snd_pcm_hw_params_any( phandle, params );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: snd_pcm_hw_params error for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    goto captureProbe;
-  }
-
-  // Get output channel information.
-  unsigned int value;
-  result = snd_pcm_hw_params_get_channels_max( params, &value );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: error getting device (" << name << ") output channels, " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    goto captureProbe;
-  }
-  info.outputChannels = value;
-  snd_pcm_close( phandle );
-
- captureProbe:
-  stream = SND_PCM_STREAM_CAPTURE;
-  snd_pcm_info_set_stream( pcminfo, stream );
-
-  // Now try for capture unless default device (with subdev = -1)
-  if ( subdevice != -1 ) {
-    result = snd_ctl_pcm_info( chandle, pcminfo );
-    snd_ctl_close( chandle );
-    if ( result < 0 ) {
-      // Device probably doesn't support capture.
-      if ( info.outputChannels == 0 ) return info;
-      goto probeParameters;
-    }
-  }
-  else
-    snd_ctl_close( chandle );
-
-  result = snd_pcm_open( &phandle, name, stream, openMode | SND_PCM_NONBLOCK);
-  if ( result < 0 ) {
-    errorStream_ << "RtApiAlsa::getDeviceInfo: snd_pcm_open error for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    if ( info.outputChannels == 0 ) return info;
-    goto probeParameters;
-  }
-
-  // The device is open ... fill the parameter structure.
-  result = snd_pcm_hw_params_any( phandle, params );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: snd_pcm_hw_params error for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    if ( info.outputChannels == 0 ) return info;
-    goto probeParameters;
-  }
-
-  result = snd_pcm_hw_params_get_channels_max( params, &value );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: error getting device (" << name << ") input channels, " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    if ( info.outputChannels == 0 ) return info;
-    goto probeParameters;
-  }
-  info.inputChannels = value;
-  snd_pcm_close( phandle );
-
-  // If device opens for both playback and capture, we determine the channels.
-  if ( info.outputChannels > 0 && info.inputChannels > 0 )
-    info.duplexChannels = (info.outputChannels > info.inputChannels) ? info.inputChannels : info.outputChannels;
-
-  // ALSA doesn't provide default devices so we'll use the first available one.
-  if ( device == 0 && info.outputChannels > 0 )
-    info.isDefaultOutput = true;
-  if ( device == 0 && info.inputChannels > 0 )
-    info.isDefaultInput = true;
-
- probeParameters:
-  // At this point, we just need to figure out the supported data
-  // formats and sample rates.  We'll proceed by opening the device in
-  // the direction with the maximum number of channels, or playback if
-  // they are equal.  This might limit our sample rate options, but so
-  // be it.
-
-  if ( info.outputChannels >= info.inputChannels )
-    stream = SND_PCM_STREAM_PLAYBACK;
-  else
-    stream = SND_PCM_STREAM_CAPTURE;
-  snd_pcm_info_set_stream( pcminfo, stream );
-
-  result = snd_pcm_open( &phandle, name, stream, openMode | SND_PCM_NONBLOCK);
-  if ( result < 0 ) {
-    errorStream_ << "RtApiAlsa::getDeviceInfo: snd_pcm_open error for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // The device is open ... fill the parameter structure.
-  result = snd_pcm_hw_params_any( phandle, params );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: snd_pcm_hw_params error for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Test our discrete set of sample rate values.
-  info.sampleRates.clear();
-  for ( unsigned int i=0; i<MAX_SAMPLE_RATES; i++ ) {
-    if ( snd_pcm_hw_params_test_rate( phandle, params, SAMPLE_RATES[i], 0 ) == 0 ) {
-      info.sampleRates.push_back( SAMPLE_RATES[i] );
-
-      if ( !info.preferredSampleRate || ( SAMPLE_RATES[i] <= 48000 && SAMPLE_RATES[i] > info.preferredSampleRate ) )
-        info.preferredSampleRate = SAMPLE_RATES[i];
-    }
-  }
-  if ( info.sampleRates.size() == 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: no supported sample rates found for device (" << name << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Probe the supported data formats ... we don't care about endian-ness just yet
-  snd_pcm_format_t format;
-  info.nativeFormats = 0;
-  format = SND_PCM_FORMAT_S8;
-  if ( snd_pcm_hw_params_test_format( phandle, params, format ) == 0 )
-    info.nativeFormats |= RTAUDIO_SINT8;
-  format = SND_PCM_FORMAT_S16;
-  if ( snd_pcm_hw_params_test_format( phandle, params, format ) == 0 )
-    info.nativeFormats |= RTAUDIO_SINT16;
-  format = SND_PCM_FORMAT_S24;
-  if ( snd_pcm_hw_params_test_format( phandle, params, format ) == 0 )
-    info.nativeFormats |= RTAUDIO_SINT24;
-  format = SND_PCM_FORMAT_S32;
-  if ( snd_pcm_hw_params_test_format( phandle, params, format ) == 0 )
-    info.nativeFormats |= RTAUDIO_SINT32;
-  format = SND_PCM_FORMAT_FLOAT;
-  if ( snd_pcm_hw_params_test_format( phandle, params, format ) == 0 )
-    info.nativeFormats |= RTAUDIO_FLOAT32;
-  format = SND_PCM_FORMAT_FLOAT64;
-  if ( snd_pcm_hw_params_test_format( phandle, params, format ) == 0 )
-    info.nativeFormats |= RTAUDIO_FLOAT64;
-
-  // Check that we have at least one supported format
-  if ( info.nativeFormats == 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::getDeviceInfo: pcm device (" << name << ") data format not supported by RtAudio.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Get the device name
-  char *cardname;
-  result = snd_card_get_name( card, &cardname );
-  if ( result >= 0 ) {
-    sprintf( name, "hw:%s,%d", cardname, subdevice );
-    free( cardname );
-  }
-  info.name = name;
-
-  // That's all ... close the device and return
-  snd_pcm_close( phandle );
-  info.probed = true;
-  return info;
-}
-
-void RtApiAlsa :: saveDeviceInfo( void )
-{
-  devices_.clear();
-
-  unsigned int nDevices = getDeviceCount();
-  devices_.resize( nDevices );
-  for ( unsigned int i=0; i<nDevices; i++ )
-    devices_[i] = getDeviceInfo( i );
-}
-
-bool RtApiAlsa :: probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                   unsigned int firstChannel, unsigned int sampleRate,
-                                   RtAudioFormat format, unsigned int *bufferSize,
-                                   RtAudio::StreamOptions *options )
-
-{
-#if defined(__RTAUDIO_DEBUG__)
-  snd_output_t *out;
-  snd_output_stdio_attach(&out, stderr, 0);
-#endif
-
-  // I'm not using the "plug" interface ... too much inconsistent behavior.
-
-  unsigned nDevices = 0;
-  int result, subdevice, card;
-  char name[64];
-  snd_ctl_t *chandle;
-
-  if ( options && options->flags & RTAUDIO_ALSA_USE_DEFAULT )
-    snprintf(name, sizeof(name), "%s", "default");
-  else {
-    // Count cards and devices
-    card = -1;
-    snd_card_next( &card );
-    while ( card >= 0 ) {
-      sprintf( name, "hw:%d", card );
-      result = snd_ctl_open( &chandle, name, SND_CTL_NONBLOCK );
-      if ( result < 0 ) {
-        errorStream_ << "RtApiAlsa::probeDeviceOpen: control open, card = " << card << ", " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-        return FAILURE;
-      }
-      subdevice = -1;
-      while( 1 ) {
-        result = snd_ctl_pcm_next_device( chandle, &subdevice );
-        if ( result < 0 ) break;
-        if ( subdevice < 0 ) break;
-        if ( nDevices == device ) {
-          sprintf( name, "hw:%d,%d", card, subdevice );
-          snd_ctl_close( chandle );
-          goto foundDevice;
-        }
-        nDevices++;
-      }
-      snd_ctl_close( chandle );
-      snd_card_next( &card );
-    }
-
-    result = snd_ctl_open( &chandle, "default", SND_CTL_NONBLOCK );
-    if ( result == 0 ) {
-      if ( nDevices == device ) {
-        strcpy( name, "default" );
-        goto foundDevice;
-      }
-      nDevices++;
-    }
-
-    if ( nDevices == 0 ) {
-      // This should not happen because a check is made before this function is called.
-      errorText_ = "RtApiAlsa::probeDeviceOpen: no devices found!";
-      return FAILURE;
-    }
-
-    if ( device >= nDevices ) {
-      // This should not happen because a check is made before this function is called.
-      errorText_ = "RtApiAlsa::probeDeviceOpen: device ID is invalid!";
-      return FAILURE;
-    }
-  }
-
- foundDevice:
-
-  // The getDeviceInfo() function will not work for a device that is
-  // already open.  Thus, we'll probe the system before opening a
-  // stream and save the results for use by getDeviceInfo().
-  if ( mode == OUTPUT || ( mode == INPUT && stream_.mode != OUTPUT ) ) // only do once
-    this->saveDeviceInfo();
-
-  snd_pcm_stream_t stream;
-  if ( mode == OUTPUT )
-    stream = SND_PCM_STREAM_PLAYBACK;
-  else
-    stream = SND_PCM_STREAM_CAPTURE;
-
-  snd_pcm_t *phandle;
-  int openMode = SND_PCM_ASYNC;
-  result = snd_pcm_open( &phandle, name, stream, openMode );
-  if ( result < 0 ) {
-    if ( mode == OUTPUT )
-      errorStream_ << "RtApiAlsa::probeDeviceOpen: pcm device (" << name << ") won't open for output.";
-    else
-      errorStream_ << "RtApiAlsa::probeDeviceOpen: pcm device (" << name << ") won't open for input.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Fill the parameter structure.
-  snd_pcm_hw_params_t *hw_params;
-  snd_pcm_hw_params_alloca( &hw_params );
-  result = snd_pcm_hw_params_any( phandle, hw_params );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error getting pcm device (" << name << ") parameters, " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-#if defined(__RTAUDIO_DEBUG__)
-  fprintf( stderr, "\nRtApiAlsa: dump hardware params just after device open:\n\n" );
-  snd_pcm_hw_params_dump( hw_params, out );
-#endif
-
-  // Set access ... check user preference.
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED ) {
-    stream_.userInterleaved = false;
-    result = snd_pcm_hw_params_set_access( phandle, hw_params, SND_PCM_ACCESS_RW_NONINTERLEAVED );
-    if ( result < 0 ) {
-      result = snd_pcm_hw_params_set_access( phandle, hw_params, SND_PCM_ACCESS_RW_INTERLEAVED );
-      stream_.deviceInterleaved[mode] =  true;
-    }
-    else
-      stream_.deviceInterleaved[mode] = false;
-  }
-  else {
-    stream_.userInterleaved = true;
-    result = snd_pcm_hw_params_set_access( phandle, hw_params, SND_PCM_ACCESS_RW_INTERLEAVED );
-    if ( result < 0 ) {
-      result = snd_pcm_hw_params_set_access( phandle, hw_params, SND_PCM_ACCESS_RW_NONINTERLEAVED );
-      stream_.deviceInterleaved[mode] =  false;
-    }
-    else
-      stream_.deviceInterleaved[mode] =  true;
-  }
-
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error setting pcm device (" << name << ") access, " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Determine how to set the device format.
-  stream_.userFormat = format;
-  snd_pcm_format_t deviceFormat = SND_PCM_FORMAT_UNKNOWN;
-
-  if ( format == RTAUDIO_SINT8 )
-    deviceFormat = SND_PCM_FORMAT_S8;
-  else if ( format == RTAUDIO_SINT16 )
-    deviceFormat = SND_PCM_FORMAT_S16;
-  else if ( format == RTAUDIO_SINT24 )
-    deviceFormat = SND_PCM_FORMAT_S24;
-  else if ( format == RTAUDIO_SINT32 )
-    deviceFormat = SND_PCM_FORMAT_S32;
-  else if ( format == RTAUDIO_FLOAT32 )
-    deviceFormat = SND_PCM_FORMAT_FLOAT;
-  else if ( format == RTAUDIO_FLOAT64 )
-    deviceFormat = SND_PCM_FORMAT_FLOAT64;
-
-  if ( snd_pcm_hw_params_test_format(phandle, hw_params, deviceFormat) == 0) {
-    stream_.deviceFormat[mode] = format;
-    goto setFormat;
-  }
-
-  // The user requested format is not natively supported by the device.
-  deviceFormat = SND_PCM_FORMAT_FLOAT64;
-  if ( snd_pcm_hw_params_test_format( phandle, hw_params, deviceFormat ) == 0 ) {
-    stream_.deviceFormat[mode] = RTAUDIO_FLOAT64;
-    goto setFormat;
-  }
-
-  deviceFormat = SND_PCM_FORMAT_FLOAT;
-  if ( snd_pcm_hw_params_test_format(phandle, hw_params, deviceFormat ) == 0 ) {
-    stream_.deviceFormat[mode] = RTAUDIO_FLOAT32;
-    goto setFormat;
-  }
-
-  deviceFormat = SND_PCM_FORMAT_S32;
-  if ( snd_pcm_hw_params_test_format(phandle, hw_params, deviceFormat ) == 0 ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT32;
-    goto setFormat;
-  }
-
-  deviceFormat = SND_PCM_FORMAT_S24;
-  if ( snd_pcm_hw_params_test_format(phandle, hw_params, deviceFormat ) == 0 ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT24;
-    goto setFormat;
-  }
-
-  deviceFormat = SND_PCM_FORMAT_S16;
-  if ( snd_pcm_hw_params_test_format(phandle, hw_params, deviceFormat ) == 0 ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-    goto setFormat;
-  }
-
-  deviceFormat = SND_PCM_FORMAT_S8;
-  if ( snd_pcm_hw_params_test_format(phandle, hw_params, deviceFormat ) == 0 ) {
-    stream_.deviceFormat[mode] = RTAUDIO_SINT8;
-    goto setFormat;
-  }
-
-  // If we get here, no supported format was found.
-  snd_pcm_close( phandle );
-  errorStream_ << "RtApiAlsa::probeDeviceOpen: pcm device " << device << " data format not supported by RtAudio.";
-  errorText_ = errorStream_.str();
-  return FAILURE;
-
- setFormat:
-  result = snd_pcm_hw_params_set_format( phandle, hw_params, deviceFormat );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error setting pcm device (" << name << ") data format, " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Determine whether byte-swaping is necessary.
-  stream_.doByteSwap[mode] = false;
-  if ( deviceFormat != SND_PCM_FORMAT_S8 ) {
-    result = snd_pcm_format_cpu_endian( deviceFormat );
-    if ( result == 0 )
-      stream_.doByteSwap[mode] = true;
-    else if (result < 0) {
-      snd_pcm_close( phandle );
-      errorStream_ << "RtApiAlsa::probeDeviceOpen: error getting pcm device (" << name << ") endian-ness, " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      return FAILURE;
-    }
-  }
-
-  // Set the sample rate.
-  result = snd_pcm_hw_params_set_rate_near( phandle, hw_params, (unsigned int*) &sampleRate, 0 );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error setting sample rate on device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Determine the number of channels for this device.  We support a possible
-  // minimum device channel number > than the value requested by the user.
-  stream_.nUserChannels[mode] = channels;
-  unsigned int value;
-  result = snd_pcm_hw_params_get_channels_max( hw_params, &value );
-  unsigned int deviceChannels = value;
-  if ( result < 0 || deviceChannels < channels + firstChannel ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: requested channel parameters not supported by device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  result = snd_pcm_hw_params_get_channels_min( hw_params, &value );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error getting minimum channels for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-  deviceChannels = value;
-  if ( deviceChannels < channels + firstChannel ) deviceChannels = channels + firstChannel;
-  stream_.nDeviceChannels[mode] = deviceChannels;
-
-  // Set the device channels.
-  result = snd_pcm_hw_params_set_channels( phandle, hw_params, deviceChannels );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error setting channels for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Set the buffer (or period) size.
-  int dir = 0;
-  snd_pcm_uframes_t periodSize = *bufferSize;
-  result = snd_pcm_hw_params_set_period_size_near( phandle, hw_params, &periodSize, &dir );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error setting period size for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-  *bufferSize = periodSize;
-
-  // Set the buffer number, which in ALSA is referred to as the "period".
-  unsigned int periods = 0;
-  if ( options && options->flags & RTAUDIO_MINIMIZE_LATENCY ) periods = 2;
-  if ( options && options->numberOfBuffers > 0 ) periods = options->numberOfBuffers;
-  if ( periods < 2 ) periods = 4; // a fairly safe default value
-  result = snd_pcm_hw_params_set_periods_near( phandle, hw_params, &periods, &dir );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error setting periods for device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // If attempting to setup a duplex stream, the bufferSize parameter
-  // MUST be the same in both directions!
-  if ( stream_.mode == OUTPUT && mode == INPUT && *bufferSize != stream_.bufferSize ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: system error setting buffer size for duplex stream on device (" << name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  stream_.bufferSize = *bufferSize;
-
-  // Install the hardware configuration
-  result = snd_pcm_hw_params( phandle, hw_params );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error installing hardware configuration on device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-#if defined(__RTAUDIO_DEBUG__)
-  fprintf(stderr, "\nRtApiAlsa: dump hardware params after installation:\n\n");
-  snd_pcm_hw_params_dump( hw_params, out );
-#endif
-
-  // Set the software configuration to fill buffers with zeros and prevent device stopping on xruns.
-  snd_pcm_sw_params_t *sw_params = NULL;
-  snd_pcm_sw_params_alloca( &sw_params );
-  snd_pcm_sw_params_current( phandle, sw_params );
-  snd_pcm_sw_params_set_start_threshold( phandle, sw_params, *bufferSize );
-  snd_pcm_sw_params_set_stop_threshold( phandle, sw_params, ULONG_MAX );
-  snd_pcm_sw_params_set_silence_threshold( phandle, sw_params, 0 );
-
-  // The following two settings were suggested by Theo Veenker
-  //snd_pcm_sw_params_set_avail_min( phandle, sw_params, *bufferSize );
-  //snd_pcm_sw_params_set_xfer_align( phandle, sw_params, 1 );
-
-  // here are two options for a fix
-  //snd_pcm_sw_params_set_silence_size( phandle, sw_params, ULONG_MAX );
-  snd_pcm_uframes_t val;
-  snd_pcm_sw_params_get_boundary( sw_params, &val );
-  snd_pcm_sw_params_set_silence_size( phandle, sw_params, val );
-
-  result = snd_pcm_sw_params( phandle, sw_params );
-  if ( result < 0 ) {
-    snd_pcm_close( phandle );
-    errorStream_ << "RtApiAlsa::probeDeviceOpen: error installing software configuration on device (" << name << "), " << snd_strerror( result ) << ".";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-#if defined(__RTAUDIO_DEBUG__)
-  fprintf(stderr, "\nRtApiAlsa: dump software params after installation:\n\n");
-  snd_pcm_sw_params_dump( sw_params, out );
-#endif
-
-  // Set flags for buffer conversion
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.nUserChannels[mode] < stream_.nDeviceChannels[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.userInterleaved != stream_.deviceInterleaved[mode] &&
-       stream_.nUserChannels[mode] > 1 )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate the ApiHandle if necessary and then save.
-  AlsaHandle *apiInfo = 0;
-  if ( stream_.apiHandle == 0 ) {
-    try {
-      apiInfo = (AlsaHandle *) new AlsaHandle;
-    }
-    catch ( std::bad_alloc& ) {
-      errorText_ = "RtApiAlsa::probeDeviceOpen: error allocating AlsaHandle memory.";
-      goto error;
-    }
-
-    if ( pthread_cond_init( &apiInfo->runnable_cv, NULL ) ) {
-      errorText_ = "RtApiAlsa::probeDeviceOpen: error initializing pthread condition variable.";
-      goto error;
-    }
-
-    stream_.apiHandle = (void *) apiInfo;
-    apiInfo->handles[0] = 0;
-    apiInfo->handles[1] = 0;
-  }
-  else {
-    apiInfo = (AlsaHandle *) stream_.apiHandle;
-  }
-  apiInfo->handles[mode] = phandle;
-  phandle = 0;
-
-  // Allocate necessary internal buffers.
-  unsigned long bufferBytes;
-  bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiAlsa::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-
-  if ( stream_.doConvertBuffer[mode] ) {
-
-    bool makeBuffer = true;
-    bufferBytes = stream_.nDeviceChannels[mode] * formatBytes( stream_.deviceFormat[mode] );
-    if ( mode == INPUT ) {
-      if ( stream_.mode == OUTPUT && stream_.deviceBuffer ) {
-        unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-        if ( bufferBytes <= bytesOut ) makeBuffer = false;
-      }
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiAlsa::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  stream_.sampleRate = sampleRate;
-  stream_.nBuffers = periods;
-  stream_.device[mode] = device;
-  stream_.state = STREAM_STOPPED;
-
-  // Setup the buffer conversion information structure.
-  if ( stream_.doConvertBuffer[mode] ) setConvertInfo( mode, firstChannel );
-
-  // Setup thread if necessary.
-  if ( stream_.mode == OUTPUT && mode == INPUT ) {
-    // We had already set up an output stream.
-    stream_.mode = DUPLEX;
-    // Link the streams if possible.
-    apiInfo->synchronized = false;
-    if ( snd_pcm_link( apiInfo->handles[0], apiInfo->handles[1] ) == 0 )
-      apiInfo->synchronized = true;
-    else {
-      errorText_ = "RtApiAlsa::probeDeviceOpen: unable to synchronize input and output devices.";
-      error( RtAudioError::WARNING );
-    }
-  }
-  else {
-    stream_.mode = mode;
-
-    // Setup callback thread.
-    stream_.callbackInfo.object = (void *) this;
-
-    // Set the thread attributes for joinable and realtime scheduling
-    // priority (optional).  The higher priority will only take affect
-    // if the program is run as root or suid. Note, under Linux
-    // processes with CAP_SYS_NICE privilege, a user can change
-    // scheduling policy and priority (thus need not be root). See
-    // POSIX "capabilities".
-    pthread_attr_t attr;
-    pthread_attr_init( &attr );
-    pthread_attr_setdetachstate( &attr, PTHREAD_CREATE_JOINABLE );
-
-#ifdef SCHED_RR // Undefined with some OSes (eg: NetBSD 1.6.x with GNU Pthread)
-    if ( options && options->flags & RTAUDIO_SCHEDULE_REALTIME ) {
-      // We previously attempted to increase the audio callback priority
-      // to SCHED_RR here via the attributes.  However, while no errors
-      // were reported in doing so, it did not work.  So, now this is
-      // done in the alsaCallbackHandler function.
-      stream_.callbackInfo.doRealtime = true;
-      int priority = options->priority;
-      int min = sched_get_priority_min( SCHED_RR );
-      int max = sched_get_priority_max( SCHED_RR );
-      if ( priority < min ) priority = min;
-      else if ( priority > max ) priority = max;
-      stream_.callbackInfo.priority = priority;
-    }
-#endif
-
-    stream_.callbackInfo.isRunning = true;
-    result = pthread_create( &stream_.callbackInfo.thread, &attr, alsaCallbackHandler, &stream_.callbackInfo );
-    pthread_attr_destroy( &attr );
-    if ( result ) {
-      stream_.callbackInfo.isRunning = false;
-      errorText_ = "RtApiAlsa::error creating callback thread!";
-      goto error;
-    }
-  }
-
-  return SUCCESS;
-
- error:
-  if ( apiInfo ) {
-    pthread_cond_destroy( &apiInfo->runnable_cv );
-    if ( apiInfo->handles[0] ) snd_pcm_close( apiInfo->handles[0] );
-    if ( apiInfo->handles[1] ) snd_pcm_close( apiInfo->handles[1] );
-    delete apiInfo;
-    stream_.apiHandle = 0;
-  }
-
-  if ( phandle) snd_pcm_close( phandle );
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.state = STREAM_CLOSED;
-  return FAILURE;
-}
-
-void RtApiAlsa :: closeStream()
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiAlsa::closeStream(): no open stream to close!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  AlsaHandle *apiInfo = (AlsaHandle *) stream_.apiHandle;
-  stream_.callbackInfo.isRunning = false;
-  MUTEX_LOCK( &stream_.mutex );
-  if ( stream_.state == STREAM_STOPPED ) {
-    apiInfo->runnable = true;
-    pthread_cond_signal( &apiInfo->runnable_cv );
-  }
-  MUTEX_UNLOCK( &stream_.mutex );
-  pthread_join( stream_.callbackInfo.thread, NULL );
-
-  if ( stream_.state == STREAM_RUNNING ) {
-    stream_.state = STREAM_STOPPED;
-    if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX )
-      snd_pcm_drop( apiInfo->handles[0] );
-    if ( stream_.mode == INPUT || stream_.mode == DUPLEX )
-      snd_pcm_drop( apiInfo->handles[1] );
-  }
-
-  if ( apiInfo ) {
-    pthread_cond_destroy( &apiInfo->runnable_cv );
-    if ( apiInfo->handles[0] ) snd_pcm_close( apiInfo->handles[0] );
-    if ( apiInfo->handles[1] ) snd_pcm_close( apiInfo->handles[1] );
-    delete apiInfo;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-}
-
-void RtApiAlsa :: startStream()
-{
-  // This method calls snd_pcm_prepare if the device isn't already in that state.
-
-  verifyStream();
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiAlsa::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  int result = 0;
-  snd_pcm_state_t state;
-  AlsaHandle *apiInfo = (AlsaHandle *) stream_.apiHandle;
-  snd_pcm_t **handle = (snd_pcm_t **) apiInfo->handles;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    state = snd_pcm_state( handle[0] );
-    if ( state != SND_PCM_STATE_PREPARED ) {
-      result = snd_pcm_prepare( handle[0] );
-      if ( result < 0 ) {
-        errorStream_ << "RtApiAlsa::startStream: error preparing output pcm device, " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-        goto unlock;
-      }
-    }
-  }
-
-  if ( ( stream_.mode == INPUT || stream_.mode == DUPLEX ) && !apiInfo->synchronized ) {
-    result = snd_pcm_drop(handle[1]); // fix to remove stale data received since device has been open
-    state = snd_pcm_state( handle[1] );
-    if ( state != SND_PCM_STATE_PREPARED ) {
-      result = snd_pcm_prepare( handle[1] );
-      if ( result < 0 ) {
-        errorStream_ << "RtApiAlsa::startStream: error preparing input pcm device, " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-        goto unlock;
-      }
-    }
-  }
-
-  stream_.state = STREAM_RUNNING;
-
- unlock:
-  apiInfo->runnable = true;
-  pthread_cond_signal( &apiInfo->runnable_cv );
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  if ( result >= 0 ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiAlsa :: stopStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiAlsa::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  stream_.state = STREAM_STOPPED;
-  MUTEX_LOCK( &stream_.mutex );
-
-  int result = 0;
-  AlsaHandle *apiInfo = (AlsaHandle *) stream_.apiHandle;
-  snd_pcm_t **handle = (snd_pcm_t **) apiInfo->handles;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    if ( apiInfo->synchronized )
-      result = snd_pcm_drop( handle[0] );
-    else
-      result = snd_pcm_drain( handle[0] );
-    if ( result < 0 ) {
-      errorStream_ << "RtApiAlsa::stopStream: error draining output pcm device, " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  if ( ( stream_.mode == INPUT || stream_.mode == DUPLEX ) && !apiInfo->synchronized ) {
-    result = snd_pcm_drop( handle[1] );
-    if ( result < 0 ) {
-      errorStream_ << "RtApiAlsa::stopStream: error stopping input pcm device, " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
- unlock:
-  apiInfo->runnable = false; // fixes high CPU usage when stopped
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  if ( result >= 0 ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiAlsa :: abortStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiAlsa::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  stream_.state = STREAM_STOPPED;
-  MUTEX_LOCK( &stream_.mutex );
-
-  int result = 0;
-  AlsaHandle *apiInfo = (AlsaHandle *) stream_.apiHandle;
-  snd_pcm_t **handle = (snd_pcm_t **) apiInfo->handles;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    result = snd_pcm_drop( handle[0] );
-    if ( result < 0 ) {
-      errorStream_ << "RtApiAlsa::abortStream: error aborting output pcm device, " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
-  if ( ( stream_.mode == INPUT || stream_.mode == DUPLEX ) && !apiInfo->synchronized ) {
-    result = snd_pcm_drop( handle[1] );
-    if ( result < 0 ) {
-      errorStream_ << "RtApiAlsa::abortStream: error aborting input pcm device, " << snd_strerror( result ) << ".";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
- unlock:
-  apiInfo->runnable = false; // fixes high CPU usage when stopped
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  if ( result >= 0 ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiAlsa :: callbackEvent()
-{
-  AlsaHandle *apiInfo = (AlsaHandle *) stream_.apiHandle;
-  if ( stream_.state == STREAM_STOPPED ) {
-    MUTEX_LOCK( &stream_.mutex );
-    while ( !apiInfo->runnable )
-      pthread_cond_wait( &apiInfo->runnable_cv, &stream_.mutex );
-
-    if ( stream_.state != STREAM_RUNNING ) {
-      MUTEX_UNLOCK( &stream_.mutex );
-      return;
-    }
-    MUTEX_UNLOCK( &stream_.mutex );
-  }
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiAlsa::callbackEvent(): the stream is closed ... this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  int doStopStream = 0;
-  RtAudioCallback callback = (RtAudioCallback) stream_.callbackInfo.callback;
-  double streamTime = getStreamTime();
-  RtAudioStreamStatus status = 0;
-  if ( stream_.mode != INPUT && apiInfo->xrun[0] == true ) {
-    status |= RTAUDIO_OUTPUT_UNDERFLOW;
-    apiInfo->xrun[0] = false;
-  }
-  if ( stream_.mode != OUTPUT && apiInfo->xrun[1] == true ) {
-    status |= RTAUDIO_INPUT_OVERFLOW;
-    apiInfo->xrun[1] = false;
-  }
-  doStopStream = callback( stream_.userBuffer[0], stream_.userBuffer[1],
-                           stream_.bufferSize, streamTime, status, stream_.callbackInfo.userData );
-
-  if ( doStopStream == 2 ) {
-    abortStream();
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  // The state might change while waiting on a mutex.
-  if ( stream_.state == STREAM_STOPPED ) goto unlock;
-
-  int result;
-  char *buffer;
-  int channels;
-  snd_pcm_t **handle;
-  snd_pcm_sframes_t frames;
-  RtAudioFormat format;
-  handle = (snd_pcm_t **) apiInfo->handles;
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-
-    // Setup parameters.
-    if ( stream_.doConvertBuffer[1] ) {
-      buffer = stream_.deviceBuffer;
-      channels = stream_.nDeviceChannels[1];
-      format = stream_.deviceFormat[1];
-    }
-    else {
-      buffer = stream_.userBuffer[1];
-      channels = stream_.nUserChannels[1];
-      format = stream_.userFormat;
-    }
-
-    // Read samples from device in interleaved/non-interleaved format.
-    if ( stream_.deviceInterleaved[1] )
-      result = snd_pcm_readi( handle[1], buffer, stream_.bufferSize );
-    else {
-      void *bufs[channels];
-      size_t offset = stream_.bufferSize * formatBytes( format );
-      for ( int i=0; i<channels; i++ )
-        bufs[i] = (void *) (buffer + (i * offset));
-      result = snd_pcm_readn( handle[1], bufs, stream_.bufferSize );
-    }
-
-    if ( result < (int) stream_.bufferSize ) {
-      // Either an error or overrun occured.
-      if ( result == -EPIPE ) {
-        snd_pcm_state_t state = snd_pcm_state( handle[1] );
-        if ( state == SND_PCM_STATE_XRUN ) {
-          apiInfo->xrun[1] = true;
-          result = snd_pcm_prepare( handle[1] );
-          if ( result < 0 ) {
-            errorStream_ << "RtApiAlsa::callbackEvent: error preparing device after overrun, " << snd_strerror( result ) << ".";
-            errorText_ = errorStream_.str();
-          }
-        }
-        else {
-          errorStream_ << "RtApiAlsa::callbackEvent: error, current state is " << snd_pcm_state_name( state ) << ", " << snd_strerror( result ) << ".";
-          errorText_ = errorStream_.str();
-        }
-      }
-      else {
-        errorStream_ << "RtApiAlsa::callbackEvent: audio read error, " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-      }
-      error( RtAudioError::WARNING );
-      goto tryOutput;
-    }
-
-    // Do byte swapping if necessary.
-    if ( stream_.doByteSwap[1] )
-      byteSwapBuffer( buffer, stream_.bufferSize * channels, format );
-
-    // Do buffer conversion if necessary.
-    if ( stream_.doConvertBuffer[1] )
-      convertBuffer( stream_.userBuffer[1], stream_.deviceBuffer, stream_.convertInfo[1] );
-
-    // Check stream latency
-    result = snd_pcm_delay( handle[1], &frames );
-    if ( result == 0 && frames > 0 ) stream_.latency[1] = frames;
-  }
-
- tryOutput:
-
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    // Setup parameters and do buffer conversion if necessary.
-    if ( stream_.doConvertBuffer[0] ) {
-      buffer = stream_.deviceBuffer;
-      convertBuffer( buffer, stream_.userBuffer[0], stream_.convertInfo[0] );
-      channels = stream_.nDeviceChannels[0];
-      format = stream_.deviceFormat[0];
-    }
-    else {
-      buffer = stream_.userBuffer[0];
-      channels = stream_.nUserChannels[0];
-      format = stream_.userFormat;
-    }
-
-    // Do byte swapping if necessary.
-    if ( stream_.doByteSwap[0] )
-      byteSwapBuffer(buffer, stream_.bufferSize * channels, format);
-
-    // Write samples to device in interleaved/non-interleaved format.
-    if ( stream_.deviceInterleaved[0] )
-      result = snd_pcm_writei( handle[0], buffer, stream_.bufferSize );
-    else {
-      void *bufs[channels];
-      size_t offset = stream_.bufferSize * formatBytes( format );
-      for ( int i=0; i<channels; i++ )
-        bufs[i] = (void *) (buffer + (i * offset));
-      result = snd_pcm_writen( handle[0], bufs, stream_.bufferSize );
-    }
-
-    if ( result < (int) stream_.bufferSize ) {
-      // Either an error or underrun occured.
-      if ( result == -EPIPE ) {
-        snd_pcm_state_t state = snd_pcm_state( handle[0] );
-        if ( state == SND_PCM_STATE_XRUN ) {
-          apiInfo->xrun[0] = true;
-          result = snd_pcm_prepare( handle[0] );
-          if ( result < 0 ) {
-            errorStream_ << "RtApiAlsa::callbackEvent: error preparing device after underrun, " << snd_strerror( result ) << ".";
-            errorText_ = errorStream_.str();
-          }
-          else
-            errorText_ =  "RtApiAlsa::callbackEvent: audio write error, underrun.";
-        }
-        else {
-          errorStream_ << "RtApiAlsa::callbackEvent: error, current state is " << snd_pcm_state_name( state ) << ", " << snd_strerror( result ) << ".";
-          errorText_ = errorStream_.str();
-        }
-      }
-      else {
-        errorStream_ << "RtApiAlsa::callbackEvent: audio write error, " << snd_strerror( result ) << ".";
-        errorText_ = errorStream_.str();
-      }
-      error( RtAudioError::WARNING );
-      goto unlock;
-    }
-
-    // Check stream latency
-    result = snd_pcm_delay( handle[0], &frames );
-    if ( result == 0 && frames > 0 ) stream_.latency[0] = frames;
-  }
-
- unlock:
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  RtApi::tickStreamTime();
-  if ( doStopStream == 1 ) this->stopStream();
-}
-
-static void *alsaCallbackHandler( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiAlsa *object = (RtApiAlsa *) info->object;
-  bool *isRunning = &info->isRunning;
-
-#ifdef SCHED_RR // Undefined with some OSes (eg: NetBSD 1.6.x with GNU Pthread)
-  if ( info->doRealtime ) {
-    pthread_t tID = pthread_self();	 // ID of this thread
-    sched_param prio = { info->priority }; // scheduling priority of thread
-    pthread_setschedparam( tID, SCHED_RR, &prio );
-  }
-#endif
-
-  while ( *isRunning == true ) {
-    pthread_testcancel();
-    object->callbackEvent();
-  }
-
-  pthread_exit( NULL );
-}
-
-//******************** End of __LINUX_ALSA__ *********************//
-#endif
-
-#if defined(__LINUX_PULSE__)
-
-// Code written by Peter Meerwald, pmeerw@pmeerw.net
-// and Tristan Matthews.
-
-#include <pulse/error.h>
-#include <pulse/simple.h>
-#include <cstdio>
-
-static const unsigned int SUPPORTED_SAMPLERATES[] = { 8000, 16000, 22050, 32000,
-                                                      44100, 48000, 96000, 0};
-
-struct rtaudio_pa_format_mapping_t {
-  RtAudioFormat rtaudio_format;
-  pa_sample_format_t pa_format;
-};
-
-static const rtaudio_pa_format_mapping_t supported_sampleformats[] = {
-  {RTAUDIO_SINT16, PA_SAMPLE_S16LE},
-  {RTAUDIO_SINT32, PA_SAMPLE_S32LE},
-  {RTAUDIO_FLOAT32, PA_SAMPLE_FLOAT32LE},
-  {0, PA_SAMPLE_INVALID}};
-
-struct PulseAudioHandle {
-  pa_simple *s_play;
-  pa_simple *s_rec;
-  pthread_t thread;
-  pthread_cond_t runnable_cv;
-  bool runnable;
-  PulseAudioHandle() : s_play(0), s_rec(0), runnable(false) { }
-};
-
-RtApiPulse::~RtApiPulse()
-{
-  if ( stream_.state != STREAM_CLOSED )
-    closeStream();
-}
-
-unsigned int RtApiPulse::getDeviceCount( void )
-{
-  return 1;
-}
-
-RtAudio::DeviceInfo RtApiPulse::getDeviceInfo( unsigned int /*device*/ )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = true;
-  info.name = "PulseAudio";
-  info.outputChannels = 2;
-  info.inputChannels = 2;
-  info.duplexChannels = 2;
-  info.isDefaultOutput = true;
-  info.isDefaultInput = true;
-
-  for ( const unsigned int *sr = SUPPORTED_SAMPLERATES; *sr; ++sr )
-    info.sampleRates.push_back( *sr );
-
-  info.preferredSampleRate = 48000;
-  info.nativeFormats = RTAUDIO_SINT16 | RTAUDIO_SINT32 | RTAUDIO_FLOAT32;
-
-  return info;
-}
-
-static void *pulseaudio_callback( void * user )
-{
-  CallbackInfo *cbi = static_cast<CallbackInfo *>( user );
-  RtApiPulse *context = static_cast<RtApiPulse *>( cbi->object );
-  volatile bool *isRunning = &cbi->isRunning;
-
-  while ( *isRunning ) {
-    pthread_testcancel();
-    context->callbackEvent();
-  }
-
-  pthread_exit( NULL );
-}
-
-void RtApiPulse::closeStream( void )
-{
-  PulseAudioHandle *pah = static_cast<PulseAudioHandle *>( stream_.apiHandle );
-
-  stream_.callbackInfo.isRunning = false;
-  if ( pah ) {
-    MUTEX_LOCK( &stream_.mutex );
-    if ( stream_.state == STREAM_STOPPED ) {
-      pah->runnable = true;
-      pthread_cond_signal( &pah->runnable_cv );
-    }
-    MUTEX_UNLOCK( &stream_.mutex );
-
-    pthread_join( pah->thread, 0 );
-    if ( pah->s_play ) {
-      pa_simple_flush( pah->s_play, NULL );
-      pa_simple_free( pah->s_play );
-    }
-    if ( pah->s_rec )
-      pa_simple_free( pah->s_rec );
-
-    pthread_cond_destroy( &pah->runnable_cv );
-    delete pah;
-    stream_.apiHandle = 0;
-  }
-
-  if ( stream_.userBuffer[0] ) {
-    free( stream_.userBuffer[0] );
-    stream_.userBuffer[0] = 0;
-  }
-  if ( stream_.userBuffer[1] ) {
-    free( stream_.userBuffer[1] );
-    stream_.userBuffer[1] = 0;
-  }
-
-  stream_.state = STREAM_CLOSED;
-  stream_.mode = UNINITIALIZED;
-}
-
-void RtApiPulse::callbackEvent( void )
-{
-  PulseAudioHandle *pah = static_cast<PulseAudioHandle *>( stream_.apiHandle );
-
-  if ( stream_.state == STREAM_STOPPED ) {
-    MUTEX_LOCK( &stream_.mutex );
-    while ( !pah->runnable )
-      pthread_cond_wait( &pah->runnable_cv, &stream_.mutex );
-
-    if ( stream_.state != STREAM_RUNNING ) {
-      MUTEX_UNLOCK( &stream_.mutex );
-      return;
-    }
-    MUTEX_UNLOCK( &stream_.mutex );
-  }
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiPulse::callbackEvent(): the stream is closed ... "
-      "this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  RtAudioCallback callback = (RtAudioCallback) stream_.callbackInfo.callback;
-  double streamTime = getStreamTime();
-  RtAudioStreamStatus status = 0;
-  int doStopStream = callback( stream_.userBuffer[OUTPUT], stream_.userBuffer[INPUT],
-                               stream_.bufferSize, streamTime, status,
-                               stream_.callbackInfo.userData );
-
-  if ( doStopStream == 2 ) {
-    abortStream();
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-  void *pulse_in = stream_.doConvertBuffer[INPUT] ? stream_.deviceBuffer : stream_.userBuffer[INPUT];
-  void *pulse_out = stream_.doConvertBuffer[OUTPUT] ? stream_.deviceBuffer : stream_.userBuffer[OUTPUT];
-
-  if ( stream_.state != STREAM_RUNNING )
-    goto unlock;
-
-  int pa_error;
-  size_t bytes;
-  if (stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    if ( stream_.doConvertBuffer[OUTPUT] ) {
-        convertBuffer( stream_.deviceBuffer,
-                       stream_.userBuffer[OUTPUT],
-                       stream_.convertInfo[OUTPUT] );
-        bytes = stream_.nDeviceChannels[OUTPUT] * stream_.bufferSize *
-                formatBytes( stream_.deviceFormat[OUTPUT] );
-    } else
-        bytes = stream_.nUserChannels[OUTPUT] * stream_.bufferSize *
-                formatBytes( stream_.userFormat );
-
-    if ( pa_simple_write( pah->s_play, pulse_out, bytes, &pa_error ) < 0 ) {
-      errorStream_ << "RtApiPulse::callbackEvent: audio write error, " <<
-        pa_strerror( pa_error ) << ".";
-      errorText_ = errorStream_.str();
-      error( RtAudioError::WARNING );
-    }
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX) {
-    if ( stream_.doConvertBuffer[INPUT] )
-      bytes = stream_.nDeviceChannels[INPUT] * stream_.bufferSize *
-        formatBytes( stream_.deviceFormat[INPUT] );
-    else
-      bytes = stream_.nUserChannels[INPUT] * stream_.bufferSize *
-        formatBytes( stream_.userFormat );
-
-    if ( pa_simple_read( pah->s_rec, pulse_in, bytes, &pa_error ) < 0 ) {
-      errorStream_ << "RtApiPulse::callbackEvent: audio read error, " <<
-        pa_strerror( pa_error ) << ".";
-      errorText_ = errorStream_.str();
-      error( RtAudioError::WARNING );
-    }
-    if ( stream_.doConvertBuffer[INPUT] ) {
-      convertBuffer( stream_.userBuffer[INPUT],
-                     stream_.deviceBuffer,
-                     stream_.convertInfo[INPUT] );
-    }
-  }
-
- unlock:
-  MUTEX_UNLOCK( &stream_.mutex );
-  RtApi::tickStreamTime();
-
-  if ( doStopStream == 1 )
-    stopStream();
-}
-
-void RtApiPulse::startStream( void )
-{
-  PulseAudioHandle *pah = static_cast<PulseAudioHandle *>( stream_.apiHandle );
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiPulse::startStream(): the stream is not open!";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiPulse::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  stream_.state = STREAM_RUNNING;
-
-  pah->runnable = true;
-  pthread_cond_signal( &pah->runnable_cv );
-  MUTEX_UNLOCK( &stream_.mutex );
-}
-
-void RtApiPulse::stopStream( void )
-{
-  PulseAudioHandle *pah = static_cast<PulseAudioHandle *>( stream_.apiHandle );
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiPulse::stopStream(): the stream is not open!";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiPulse::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  stream_.state = STREAM_STOPPED;
-  MUTEX_LOCK( &stream_.mutex );
-
-  if ( pah && pah->s_play ) {
-    int pa_error;
-    if ( pa_simple_drain( pah->s_play, &pa_error ) < 0 ) {
-      errorStream_ << "RtApiPulse::stopStream: error draining output device, " <<
-        pa_strerror( pa_error ) << ".";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-  }
-
-  stream_.state = STREAM_STOPPED;
-  MUTEX_UNLOCK( &stream_.mutex );
-}
-
-void RtApiPulse::abortStream( void )
-{
-  PulseAudioHandle *pah = static_cast<PulseAudioHandle*>( stream_.apiHandle );
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiPulse::abortStream(): the stream is not open!";
-    error( RtAudioError::INVALID_USE );
-    return;
-  }
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiPulse::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  stream_.state = STREAM_STOPPED;
-  MUTEX_LOCK( &stream_.mutex );
-
-  if ( pah && pah->s_play ) {
-    int pa_error;
-    if ( pa_simple_flush( pah->s_play, &pa_error ) < 0 ) {
-      errorStream_ << "RtApiPulse::abortStream: error flushing output device, " <<
-        pa_strerror( pa_error ) << ".";
-      errorText_ = errorStream_.str();
-      MUTEX_UNLOCK( &stream_.mutex );
-      error( RtAudioError::SYSTEM_ERROR );
-      return;
-    }
-  }
-
-  stream_.state = STREAM_STOPPED;
-  MUTEX_UNLOCK( &stream_.mutex );
-}
-
-bool RtApiPulse::probeDeviceOpen( unsigned int device, StreamMode mode,
-                                  unsigned int channels, unsigned int firstChannel,
-                                  unsigned int sampleRate, RtAudioFormat format,
-                                  unsigned int *bufferSize, RtAudio::StreamOptions *options )
-{
-  PulseAudioHandle *pah = 0;
-  unsigned long bufferBytes = 0;
-  pa_sample_spec ss;
-
-  if ( device != 0 ) return false;
-  if ( mode != INPUT && mode != OUTPUT ) return false;
-  if ( channels != 1 && channels != 2 ) {
-    errorText_ = "RtApiPulse::probeDeviceOpen: unsupported number of channels.";
-    return false;
-  }
-  ss.channels = channels;
-
-  if ( firstChannel != 0 ) return false;
-
-  bool sr_found = false;
-  for ( const unsigned int *sr = SUPPORTED_SAMPLERATES; *sr; ++sr ) {
-    if ( sampleRate == *sr ) {
-      sr_found = true;
-      stream_.sampleRate = sampleRate;
-      ss.rate = sampleRate;
-      break;
-    }
-  }
-  if ( !sr_found ) {
-    errorText_ = "RtApiPulse::probeDeviceOpen: unsupported sample rate.";
-    return false;
-  }
-
-  bool sf_found = 0;
-  for ( const rtaudio_pa_format_mapping_t *sf = supported_sampleformats;
-        sf->rtaudio_format && sf->pa_format != PA_SAMPLE_INVALID; ++sf ) {
-    if ( format == sf->rtaudio_format ) {
-      sf_found = true;
-      stream_.userFormat = sf->rtaudio_format;
-      stream_.deviceFormat[mode] = stream_.userFormat;
-      ss.format = sf->pa_format;
-      break;
-    }
-  }
-  if ( !sf_found ) { // Use internal data format conversion.
-    stream_.userFormat = format;
-    stream_.deviceFormat[mode] = RTAUDIO_FLOAT32;
-    ss.format = PA_SAMPLE_FLOAT32LE;
-  }
-
-  // Set other stream parameters.
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED ) stream_.userInterleaved = false;
-  else stream_.userInterleaved = true;
-  stream_.deviceInterleaved[mode] = true;
-  stream_.nBuffers = 1;
-  stream_.doByteSwap[mode] = false;
-  stream_.nUserChannels[mode] = channels;
-  stream_.nDeviceChannels[mode] = channels + firstChannel;
-  stream_.channelOffset[mode] = 0;
-  std::string streamName = "RtAudio";
-
-  // Set flags for buffer conversion.
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.nUserChannels[mode] < stream_.nDeviceChannels[mode] )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate necessary internal buffers.
-  bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiPulse::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-  stream_.bufferSize = *bufferSize;
-
-  if ( stream_.doConvertBuffer[mode] ) {
-
-    bool makeBuffer = true;
-    bufferBytes = stream_.nDeviceChannels[mode] * formatBytes( stream_.deviceFormat[mode] );
-    if ( mode == INPUT ) {
-      if ( stream_.mode == OUTPUT && stream_.deviceBuffer ) {
-        unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-        if ( bufferBytes <= bytesOut ) makeBuffer = false;
-      }
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiPulse::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  stream_.device[mode] = device;
-
-  // Setup the buffer conversion information structure.
-  if ( stream_.doConvertBuffer[mode] ) setConvertInfo( mode, firstChannel );
-
-  if ( !stream_.apiHandle ) {
-    PulseAudioHandle *pah = new PulseAudioHandle;
-    if ( !pah ) {
-      errorText_ = "RtApiPulse::probeDeviceOpen: error allocating memory for handle.";
-      goto error;
-    }
-
-    stream_.apiHandle = pah;
-    if ( pthread_cond_init( &pah->runnable_cv, NULL ) != 0 ) {
-      errorText_ = "RtApiPulse::probeDeviceOpen: error creating condition variable.";
-      goto error;
-    }
-  }
-  pah = static_cast<PulseAudioHandle *>( stream_.apiHandle );
-
-  int error;
-  if ( options && !options->streamName.empty() ) streamName = options->streamName;
-  switch ( mode ) {
-  case INPUT:
-    pa_buffer_attr buffer_attr;
-    buffer_attr.fragsize = bufferBytes;
-    buffer_attr.maxlength = -1;
-
-    pah->s_rec = pa_simple_new( NULL, streamName.c_str(), PA_STREAM_RECORD, NULL, "Record", &ss, NULL, &buffer_attr, &error );
-    if ( !pah->s_rec ) {
-      errorText_ = "RtApiPulse::probeDeviceOpen: error connecting input to PulseAudio server.";
-      goto error;
-    }
-    break;
-  case OUTPUT:
-    pah->s_play = pa_simple_new( NULL, streamName.c_str(), PA_STREAM_PLAYBACK, NULL, "Playback", &ss, NULL, NULL, &error );
-    if ( !pah->s_play ) {
-      errorText_ = "RtApiPulse::probeDeviceOpen: error connecting output to PulseAudio server.";
-      goto error;
-    }
-    break;
-  default:
-    goto error;
-  }
-
-  if ( stream_.mode == UNINITIALIZED )
-    stream_.mode = mode;
-  else if ( stream_.mode == mode )
-    goto error;
-  else
-    stream_.mode = DUPLEX;
-
-  if ( !stream_.callbackInfo.isRunning ) {
-    stream_.callbackInfo.object = this;
-    stream_.callbackInfo.isRunning = true;
-    if ( pthread_create( &pah->thread, NULL, pulseaudio_callback, (void *)&stream_.callbackInfo) != 0 ) {
-      errorText_ = "RtApiPulse::probeDeviceOpen: error creating thread.";
-      goto error;
-    }
-  }
-
-  stream_.state = STREAM_STOPPED;
-  return true;
-
- error:
-  if ( pah && stream_.callbackInfo.isRunning ) {
-    pthread_cond_destroy( &pah->runnable_cv );
-    delete pah;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  return FAILURE;
-}
-
-//******************** End of __LINUX_PULSE__ *********************//
-#endif
-
-#if defined(__LINUX_OSS__)
-
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/soundcard.h>
-#include <errno.h>
-#include <math.h>
-
-static void *ossCallbackHandler(void * ptr);
-
-// A structure to hold various information related to the OSS API
-// implementation.
-struct OssHandle {
-  int id[2];    // device ids
-  bool xrun[2];
-  bool triggered;
-  pthread_cond_t runnable;
-
-  OssHandle()
-    :triggered(false) { id[0] = 0; id[1] = 0; xrun[0] = false; xrun[1] = false; }
-};
-
-RtApiOss :: RtApiOss()
-{
-  // Nothing to do here.
-}
-
-RtApiOss :: ~RtApiOss()
-{
-  if ( stream_.state != STREAM_CLOSED ) closeStream();
-}
-
-unsigned int RtApiOss :: getDeviceCount( void )
-{
-  int mixerfd = open( "/dev/mixer", O_RDWR, 0 );
-  if ( mixerfd == -1 ) {
-    errorText_ = "RtApiOss::getDeviceCount: error opening '/dev/mixer'.";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  oss_sysinfo sysinfo;
-  if ( ioctl( mixerfd, SNDCTL_SYSINFO, &sysinfo ) == -1 ) {
-    close( mixerfd );
-    errorText_ = "RtApiOss::getDeviceCount: error getting sysinfo, OSS version >= 4.0 is required.";
-    error( RtAudioError::WARNING );
-    return 0;
-  }
-
-  close( mixerfd );
-  return sysinfo.numaudios;
-}
-
-RtAudio::DeviceInfo RtApiOss :: getDeviceInfo( unsigned int device )
-{
-  RtAudio::DeviceInfo info;
-  info.probed = false;
-
-  int mixerfd = open( "/dev/mixer", O_RDWR, 0 );
-  if ( mixerfd == -1 ) {
-    errorText_ = "RtApiOss::getDeviceInfo: error opening '/dev/mixer'.";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  oss_sysinfo sysinfo;
-  int result = ioctl( mixerfd, SNDCTL_SYSINFO, &sysinfo );
-  if ( result == -1 ) {
-    close( mixerfd );
-    errorText_ = "RtApiOss::getDeviceInfo: error getting sysinfo, OSS version >= 4.0 is required.";
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  unsigned nDevices = sysinfo.numaudios;
-  if ( nDevices == 0 ) {
-    close( mixerfd );
-    errorText_ = "RtApiOss::getDeviceInfo: no devices found!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  if ( device >= nDevices ) {
-    close( mixerfd );
-    errorText_ = "RtApiOss::getDeviceInfo: device ID is invalid!";
-    error( RtAudioError::INVALID_USE );
-    return info;
-  }
-
-  oss_audioinfo ainfo;
-  ainfo.dev = device;
-  result = ioctl( mixerfd, SNDCTL_AUDIOINFO, &ainfo );
-  close( mixerfd );
-  if ( result == -1 ) {
-    errorStream_ << "RtApiOss::getDeviceInfo: error getting device (" << ainfo.name << ") info.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Probe channels
-  if ( ainfo.caps & PCM_CAP_OUTPUT ) info.outputChannels = ainfo.max_channels;
-  if ( ainfo.caps & PCM_CAP_INPUT ) info.inputChannels = ainfo.max_channels;
-  if ( ainfo.caps & PCM_CAP_DUPLEX ) {
-    if ( info.outputChannels > 0 && info.inputChannels > 0 && ainfo.caps & PCM_CAP_DUPLEX )
-      info.duplexChannels = (info.outputChannels > info.inputChannels) ? info.inputChannels : info.outputChannels;
-  }
-
-  // Probe data formats ... do for input
-  unsigned long mask = ainfo.iformats;
-  if ( mask & AFMT_S16_LE || mask & AFMT_S16_BE )
-    info.nativeFormats |= RTAUDIO_SINT16;
-  if ( mask & AFMT_S8 )
-    info.nativeFormats |= RTAUDIO_SINT8;
-  if ( mask & AFMT_S32_LE || mask & AFMT_S32_BE )
-    info.nativeFormats |= RTAUDIO_SINT32;
-  if ( mask & AFMT_FLOAT )
-    info.nativeFormats |= RTAUDIO_FLOAT32;
-  if ( mask & AFMT_S24_LE || mask & AFMT_S24_BE )
-    info.nativeFormats |= RTAUDIO_SINT24;
-
-  // Check that we have at least one supported format
-  if ( info.nativeFormats == 0 ) {
-    errorStream_ << "RtApiOss::getDeviceInfo: device (" << ainfo.name << ") data format not supported by RtAudio.";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-    return info;
-  }
-
-  // Probe the supported sample rates.
-  info.sampleRates.clear();
-  if ( ainfo.nrates ) {
-    for ( unsigned int i=0; i<ainfo.nrates; i++ ) {
-      for ( unsigned int k=0; k<MAX_SAMPLE_RATES; k++ ) {
-        if ( ainfo.rates[i] == SAMPLE_RATES[k] ) {
-          info.sampleRates.push_back( SAMPLE_RATES[k] );
-
-          if ( !info.preferredSampleRate || ( SAMPLE_RATES[k] <= 48000 && SAMPLE_RATES[k] > info.preferredSampleRate ) )
-            info.preferredSampleRate = SAMPLE_RATES[k];
-
-          break;
-        }
-      }
-    }
-  }
-  else {
-    // Check min and max rate values;
-    for ( unsigned int k=0; k<MAX_SAMPLE_RATES; k++ ) {
-      if ( ainfo.min_rate <= (int) SAMPLE_RATES[k] && ainfo.max_rate >= (int) SAMPLE_RATES[k] ) {
-        info.sampleRates.push_back( SAMPLE_RATES[k] );
-
-        if ( !info.preferredSampleRate || ( SAMPLE_RATES[k] <= 48000 && SAMPLE_RATES[k] > info.preferredSampleRate ) )
-          info.preferredSampleRate = SAMPLE_RATES[k];
-      }
-    }
-  }
-
-  if ( info.sampleRates.size() == 0 ) {
-    errorStream_ << "RtApiOss::getDeviceInfo: no supported sample rates found for device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    error( RtAudioError::WARNING );
-  }
-  else {
-    info.probed = true;
-    info.name = ainfo.name;
-  }
-
-  return info;
-}
-
-
-bool RtApiOss :: probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                  unsigned int firstChannel, unsigned int sampleRate,
-                                  RtAudioFormat format, unsigned int *bufferSize,
-                                  RtAudio::StreamOptions *options )
-{
-  int mixerfd = open( "/dev/mixer", O_RDWR, 0 );
-  if ( mixerfd == -1 ) {
-    errorText_ = "RtApiOss::probeDeviceOpen: error opening '/dev/mixer'.";
-    return FAILURE;
-  }
-
-  oss_sysinfo sysinfo;
-  int result = ioctl( mixerfd, SNDCTL_SYSINFO, &sysinfo );
-  if ( result == -1 ) {
-    close( mixerfd );
-    errorText_ = "RtApiOss::probeDeviceOpen: error getting sysinfo, OSS version >= 4.0 is required.";
-    return FAILURE;
-  }
-
-  unsigned nDevices = sysinfo.numaudios;
-  if ( nDevices == 0 ) {
-    // This should not happen because a check is made before this function is called.
-    close( mixerfd );
-    errorText_ = "RtApiOss::probeDeviceOpen: no devices found!";
-    return FAILURE;
-  }
-
-  if ( device >= nDevices ) {
-    // This should not happen because a check is made before this function is called.
-    close( mixerfd );
-    errorText_ = "RtApiOss::probeDeviceOpen: device ID is invalid!";
-    return FAILURE;
-  }
-
-  oss_audioinfo ainfo;
-  ainfo.dev = device;
-  result = ioctl( mixerfd, SNDCTL_AUDIOINFO, &ainfo );
-  close( mixerfd );
-  if ( result == -1 ) {
-    errorStream_ << "RtApiOss::getDeviceInfo: error getting device (" << ainfo.name << ") info.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Check if device supports input or output
-  if ( ( mode == OUTPUT && !( ainfo.caps & PCM_CAP_OUTPUT ) ) ||
-       ( mode == INPUT && !( ainfo.caps & PCM_CAP_INPUT ) ) ) {
-    if ( mode == OUTPUT )
-      errorStream_ << "RtApiOss::probeDeviceOpen: device (" << ainfo.name << ") does not support output.";
-    else
-      errorStream_ << "RtApiOss::probeDeviceOpen: device (" << ainfo.name << ") does not support input.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  int flags = 0;
-  OssHandle *handle = (OssHandle *) stream_.apiHandle;
-  if ( mode == OUTPUT )
-    flags |= O_WRONLY;
-  else { // mode == INPUT
-    if (stream_.mode == OUTPUT && stream_.device[0] == device) {
-      // We just set the same device for playback ... close and reopen for duplex (OSS only).
-      close( handle->id[0] );
-      handle->id[0] = 0;
-      if ( !( ainfo.caps & PCM_CAP_DUPLEX ) ) {
-        errorStream_ << "RtApiOss::probeDeviceOpen: device (" << ainfo.name << ") does not support duplex mode.";
-        errorText_ = errorStream_.str();
-        return FAILURE;
-      }
-      // Check that the number previously set channels is the same.
-      if ( stream_.nUserChannels[0] != channels ) {
-        errorStream_ << "RtApiOss::probeDeviceOpen: input/output channels must be equal for OSS duplex device (" << ainfo.name << ").";
-        errorText_ = errorStream_.str();
-        return FAILURE;
-      }
-      flags |= O_RDWR;
-    }
-    else
-      flags |= O_RDONLY;
-  }
-
-  // Set exclusive access if specified.
-  if ( options && options->flags & RTAUDIO_HOG_DEVICE ) flags |= O_EXCL;
-
-  // Try to open the device.
-  int fd;
-  fd = open( ainfo.devnode, flags, 0 );
-  if ( fd == -1 ) {
-    if ( errno == EBUSY )
-      errorStream_ << "RtApiOss::probeDeviceOpen: device (" << ainfo.name << ") is busy.";
-    else
-      errorStream_ << "RtApiOss::probeDeviceOpen: error opening device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // For duplex operation, specifically set this mode (this doesn't seem to work).
-  /*
-    if ( flags | O_RDWR ) {
-    result = ioctl( fd, SNDCTL_DSP_SETDUPLEX, NULL );
-    if ( result == -1) {
-    errorStream_ << "RtApiOss::probeDeviceOpen: error setting duplex mode for device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-    }
-    }
-  */
-
-  // Check the device channel support.
-  stream_.nUserChannels[mode] = channels;
-  if ( ainfo.max_channels < (int)(channels + firstChannel) ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: the device (" << ainfo.name << ") does not support requested channel parameters.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Set the number of channels.
-  int deviceChannels = channels + firstChannel;
-  result = ioctl( fd, SNDCTL_DSP_CHANNELS, &deviceChannels );
-  if ( result == -1 || deviceChannels < (int)(channels + firstChannel) ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: error setting channel parameters on device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-  stream_.nDeviceChannels[mode] = deviceChannels;
-
-  // Get the data format mask
-  int mask;
-  result = ioctl( fd, SNDCTL_DSP_GETFMTS, &mask );
-  if ( result == -1 ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: error getting device (" << ainfo.name << ") data formats.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Determine how to set the device format.
-  stream_.userFormat = format;
-  int deviceFormat = -1;
-  stream_.doByteSwap[mode] = false;
-  if ( format == RTAUDIO_SINT8 ) {
-    if ( mask & AFMT_S8 ) {
-      deviceFormat = AFMT_S8;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT8;
-    }
-  }
-  else if ( format == RTAUDIO_SINT16 ) {
-    if ( mask & AFMT_S16_NE ) {
-      deviceFormat = AFMT_S16_NE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-    }
-    else if ( mask & AFMT_S16_OE ) {
-      deviceFormat = AFMT_S16_OE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-      stream_.doByteSwap[mode] = true;
-    }
-  }
-  else if ( format == RTAUDIO_SINT24 ) {
-    if ( mask & AFMT_S24_NE ) {
-      deviceFormat = AFMT_S24_NE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT24;
-    }
-    else if ( mask & AFMT_S24_OE ) {
-      deviceFormat = AFMT_S24_OE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT24;
-      stream_.doByteSwap[mode] = true;
-    }
-  }
-  else if ( format == RTAUDIO_SINT32 ) {
-    if ( mask & AFMT_S32_NE ) {
-      deviceFormat = AFMT_S32_NE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT32;
-    }
-    else if ( mask & AFMT_S32_OE ) {
-      deviceFormat = AFMT_S32_OE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT32;
-      stream_.doByteSwap[mode] = true;
-    }
-  }
-
-  if ( deviceFormat == -1 ) {
-    // The user requested format is not natively supported by the device.
-    if ( mask & AFMT_S16_NE ) {
-      deviceFormat = AFMT_S16_NE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-    }
-    else if ( mask & AFMT_S32_NE ) {
-      deviceFormat = AFMT_S32_NE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT32;
-    }
-    else if ( mask & AFMT_S24_NE ) {
-      deviceFormat = AFMT_S24_NE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT24;
-    }
-    else if ( mask & AFMT_S16_OE ) {
-      deviceFormat = AFMT_S16_OE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT16;
-      stream_.doByteSwap[mode] = true;
-    }
-    else if ( mask & AFMT_S32_OE ) {
-      deviceFormat = AFMT_S32_OE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT32;
-      stream_.doByteSwap[mode] = true;
-    }
-    else if ( mask & AFMT_S24_OE ) {
-      deviceFormat = AFMT_S24_OE;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT24;
-      stream_.doByteSwap[mode] = true;
-    }
-    else if ( mask & AFMT_S8) {
-      deviceFormat = AFMT_S8;
-      stream_.deviceFormat[mode] = RTAUDIO_SINT8;
-    }
-  }
-
-  if ( stream_.deviceFormat[mode] == 0 ) {
-    // This really shouldn't happen ...
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: device (" << ainfo.name << ") data format not supported by RtAudio.";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Set the data format.
-  int temp = deviceFormat;
-  result = ioctl( fd, SNDCTL_DSP_SETFMT, &deviceFormat );
-  if ( result == -1 || deviceFormat != temp ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: error setting data format on device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Attempt to set the buffer size.  According to OSS, the minimum
-  // number of buffers is two.  The supposed minimum buffer size is 16
-  // bytes, so that will be our lower bound.  The argument to this
-  // call is in the form 0xMMMMSSSS (hex), where the buffer size (in
-  // bytes) is given as 2^SSSS and the number of buffers as 2^MMMM.
-  // We'll check the actual value used near the end of the setup
-  // procedure.
-  int ossBufferBytes = *bufferSize * formatBytes( stream_.deviceFormat[mode] ) * deviceChannels;
-  if ( ossBufferBytes < 16 ) ossBufferBytes = 16;
-  int buffers = 0;
-  if ( options ) buffers = options->numberOfBuffers;
-  if ( options && options->flags & RTAUDIO_MINIMIZE_LATENCY ) buffers = 2;
-  if ( buffers < 2 ) buffers = 3;
-  temp = ((int) buffers << 16) + (int)( log10( (double)ossBufferBytes ) / log10( 2.0 ) );
-  result = ioctl( fd, SNDCTL_DSP_SETFRAGMENT, &temp );
-  if ( result == -1 ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: error setting buffer size on device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-  stream_.nBuffers = buffers;
-
-  // Save buffer size (in sample frames).
-  *bufferSize = ossBufferBytes / ( formatBytes(stream_.deviceFormat[mode]) * deviceChannels );
-  stream_.bufferSize = *bufferSize;
-
-  // Set the sample rate.
-  int srate = sampleRate;
-  result = ioctl( fd, SNDCTL_DSP_SPEED, &srate );
-  if ( result == -1 ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: error setting sample rate (" << sampleRate << ") on device (" << ainfo.name << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-
-  // Verify the sample rate setup worked.
-  if ( abs( srate - sampleRate ) > 100 ) {
-    close( fd );
-    errorStream_ << "RtApiOss::probeDeviceOpen: device (" << ainfo.name << ") does not support sample rate (" << sampleRate << ").";
-    errorText_ = errorStream_.str();
-    return FAILURE;
-  }
-  stream_.sampleRate = sampleRate;
-
-  if ( mode == INPUT && stream_.mode == OUTPUT && stream_.device[0] == device) {
-    // We're doing duplex setup here.
-    stream_.deviceFormat[0] = stream_.deviceFormat[1];
-    stream_.nDeviceChannels[0] = deviceChannels;
-  }
-
-  // Set interleaving parameters.
-  stream_.userInterleaved = true;
-  stream_.deviceInterleaved[mode] =  true;
-  if ( options && options->flags & RTAUDIO_NONINTERLEAVED )
-    stream_.userInterleaved = false;
-
-  // Set flags for buffer conversion
-  stream_.doConvertBuffer[mode] = false;
-  if ( stream_.userFormat != stream_.deviceFormat[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.nUserChannels[mode] < stream_.nDeviceChannels[mode] )
-    stream_.doConvertBuffer[mode] = true;
-  if ( stream_.userInterleaved != stream_.deviceInterleaved[mode] &&
-       stream_.nUserChannels[mode] > 1 )
-    stream_.doConvertBuffer[mode] = true;
-
-  // Allocate the stream handles if necessary and then save.
-  if ( stream_.apiHandle == 0 ) {
-    try {
-      handle = new OssHandle;
-    }
-    catch ( std::bad_alloc& ) {
-      errorText_ = "RtApiOss::probeDeviceOpen: error allocating OssHandle memory.";
-      goto error;
-    }
-
-    if ( pthread_cond_init( &handle->runnable, NULL ) ) {
-      errorText_ = "RtApiOss::probeDeviceOpen: error initializing pthread condition variable.";
-      goto error;
-    }
-
-    stream_.apiHandle = (void *) handle;
-  }
-  else {
-    handle = (OssHandle *) stream_.apiHandle;
-  }
-  handle->id[mode] = fd;
-
-  // Allocate necessary internal buffers.
-  unsigned long bufferBytes;
-  bufferBytes = stream_.nUserChannels[mode] * *bufferSize * formatBytes( stream_.userFormat );
-  stream_.userBuffer[mode] = (char *) calloc( bufferBytes, 1 );
-  if ( stream_.userBuffer[mode] == NULL ) {
-    errorText_ = "RtApiOss::probeDeviceOpen: error allocating user buffer memory.";
-    goto error;
-  }
-
-  if ( stream_.doConvertBuffer[mode] ) {
-
-    bool makeBuffer = true;
-    bufferBytes = stream_.nDeviceChannels[mode] * formatBytes( stream_.deviceFormat[mode] );
-    if ( mode == INPUT ) {
-      if ( stream_.mode == OUTPUT && stream_.deviceBuffer ) {
-        unsigned long bytesOut = stream_.nDeviceChannels[0] * formatBytes( stream_.deviceFormat[0] );
-        if ( bufferBytes <= bytesOut ) makeBuffer = false;
-      }
-    }
-
-    if ( makeBuffer ) {
-      bufferBytes *= *bufferSize;
-      if ( stream_.deviceBuffer ) free( stream_.deviceBuffer );
-      stream_.deviceBuffer = (char *) calloc( bufferBytes, 1 );
-      if ( stream_.deviceBuffer == NULL ) {
-        errorText_ = "RtApiOss::probeDeviceOpen: error allocating device buffer memory.";
-        goto error;
-      }
-    }
-  }
-
-  stream_.device[mode] = device;
-  stream_.state = STREAM_STOPPED;
-
-  // Setup the buffer conversion information structure.
-  if ( stream_.doConvertBuffer[mode] ) setConvertInfo( mode, firstChannel );
-
-  // Setup thread if necessary.
-  if ( stream_.mode == OUTPUT && mode == INPUT ) {
-    // We had already set up an output stream.
-    stream_.mode = DUPLEX;
-    if ( stream_.device[0] == device ) handle->id[0] = fd;
-  }
-  else {
-    stream_.mode = mode;
-
-    // Setup callback thread.
-    stream_.callbackInfo.object = (void *) this;
-
-    // Set the thread attributes for joinable and realtime scheduling
-    // priority.  The higher priority will only take affect if the
-    // program is run as root or suid.
-    pthread_attr_t attr;
-    pthread_attr_init( &attr );
-    pthread_attr_setdetachstate( &attr, PTHREAD_CREATE_JOINABLE );
-#ifdef SCHED_RR // Undefined with some OSes (eg: NetBSD 1.6.x with GNU Pthread)
-    if ( options && options->flags & RTAUDIO_SCHEDULE_REALTIME ) {
-      struct sched_param param;
-      int priority = options->priority;
-      int min = sched_get_priority_min( SCHED_RR );
-      int max = sched_get_priority_max( SCHED_RR );
-      if ( priority < min ) priority = min;
-      else if ( priority > max ) priority = max;
-      param.sched_priority = priority;
-      pthread_attr_setschedparam( &attr, &param );
-      pthread_attr_setschedpolicy( &attr, SCHED_RR );
-    }
-    else
-      pthread_attr_setschedpolicy( &attr, SCHED_OTHER );
-#else
-    pthread_attr_setschedpolicy( &attr, SCHED_OTHER );
-#endif
-
-    stream_.callbackInfo.isRunning = true;
-    result = pthread_create( &stream_.callbackInfo.thread, &attr, ossCallbackHandler, &stream_.callbackInfo );
-    pthread_attr_destroy( &attr );
-    if ( result ) {
-      stream_.callbackInfo.isRunning = false;
-      errorText_ = "RtApiOss::error creating callback thread!";
-      goto error;
-    }
-  }
-
-  return SUCCESS;
-
- error:
-  if ( handle ) {
-    pthread_cond_destroy( &handle->runnable );
-    if ( handle->id[0] ) close( handle->id[0] );
-    if ( handle->id[1] ) close( handle->id[1] );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  return FAILURE;
-}
-
-void RtApiOss :: closeStream()
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiOss::closeStream(): no open stream to close!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  OssHandle *handle = (OssHandle *) stream_.apiHandle;
-  stream_.callbackInfo.isRunning = false;
-  MUTEX_LOCK( &stream_.mutex );
-  if ( stream_.state == STREAM_STOPPED )
-    pthread_cond_signal( &handle->runnable );
-  MUTEX_UNLOCK( &stream_.mutex );
-  pthread_join( stream_.callbackInfo.thread, NULL );
-
-  if ( stream_.state == STREAM_RUNNING ) {
-    if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX )
-      ioctl( handle->id[0], SNDCTL_DSP_HALT, 0 );
-    else
-      ioctl( handle->id[1], SNDCTL_DSP_HALT, 0 );
-    stream_.state = STREAM_STOPPED;
-  }
-
-  if ( handle ) {
-    pthread_cond_destroy( &handle->runnable );
-    if ( handle->id[0] ) close( handle->id[0] );
-    if ( handle->id[1] ) close( handle->id[1] );
-    delete handle;
-    stream_.apiHandle = 0;
-  }
-
-  for ( int i=0; i<2; i++ ) {
-    if ( stream_.userBuffer[i] ) {
-      free( stream_.userBuffer[i] );
-      stream_.userBuffer[i] = 0;
-    }
-  }
-
-  if ( stream_.deviceBuffer ) {
-    free( stream_.deviceBuffer );
-    stream_.deviceBuffer = 0;
-  }
-
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-}
-
-void RtApiOss :: startStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_RUNNING ) {
-    errorText_ = "RtApiOss::startStream(): the stream is already running!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  stream_.state = STREAM_RUNNING;
-
-  // No need to do anything else here ... OSS automatically starts
-  // when fed samples.
-
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  OssHandle *handle = (OssHandle *) stream_.apiHandle;
-  pthread_cond_signal( &handle->runnable );
-}
-
-void RtApiOss :: stopStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiOss::stopStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  // The state might change while waiting on a mutex.
-  if ( stream_.state == STREAM_STOPPED ) {
-    MUTEX_UNLOCK( &stream_.mutex );
-    return;
-  }
-
-  int result = 0;
-  OssHandle *handle = (OssHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    // Flush the output with zeros a few times.
-    char *buffer;
-    int samples;
-    RtAudioFormat format;
-
-    if ( stream_.doConvertBuffer[0] ) {
-      buffer = stream_.deviceBuffer;
-      samples = stream_.bufferSize * stream_.nDeviceChannels[0];
-      format = stream_.deviceFormat[0];
-    }
-    else {
-      buffer = stream_.userBuffer[0];
-      samples = stream_.bufferSize * stream_.nUserChannels[0];
-      format = stream_.userFormat;
-    }
-
-    memset( buffer, 0, samples * formatBytes(format) );
-    for ( unsigned int i=0; i<stream_.nBuffers+1; i++ ) {
-      result = write( handle->id[0], buffer, samples * formatBytes(format) );
-      if ( result == -1 ) {
-        errorText_ = "RtApiOss::stopStream: audio write error.";
-        error( RtAudioError::WARNING );
-      }
-    }
-
-    result = ioctl( handle->id[0], SNDCTL_DSP_HALT, 0 );
-    if ( result == -1 ) {
-      errorStream_ << "RtApiOss::stopStream: system error stopping callback procedure on device (" << stream_.device[0] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-    handle->triggered = false;
-  }
-
-  if ( stream_.mode == INPUT || ( stream_.mode == DUPLEX && handle->id[0] != handle->id[1] ) ) {
-    result = ioctl( handle->id[1], SNDCTL_DSP_HALT, 0 );
-    if ( result == -1 ) {
-      errorStream_ << "RtApiOss::stopStream: system error stopping input callback procedure on device (" << stream_.device[0] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
- unlock:
-  stream_.state = STREAM_STOPPED;
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  if ( result != -1 ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiOss :: abortStream()
-{
-  verifyStream();
-  if ( stream_.state == STREAM_STOPPED ) {
-    errorText_ = "RtApiOss::abortStream(): the stream is already stopped!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  // The state might change while waiting on a mutex.
-  if ( stream_.state == STREAM_STOPPED ) {
-    MUTEX_UNLOCK( &stream_.mutex );
-    return;
-  }
-
-  int result = 0;
-  OssHandle *handle = (OssHandle *) stream_.apiHandle;
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-    result = ioctl( handle->id[0], SNDCTL_DSP_HALT, 0 );
-    if ( result == -1 ) {
-      errorStream_ << "RtApiOss::abortStream: system error stopping callback procedure on device (" << stream_.device[0] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-    handle->triggered = false;
-  }
-
-  if ( stream_.mode == INPUT || ( stream_.mode == DUPLEX && handle->id[0] != handle->id[1] ) ) {
-    result = ioctl( handle->id[1], SNDCTL_DSP_HALT, 0 );
-    if ( result == -1 ) {
-      errorStream_ << "RtApiOss::abortStream: system error stopping input callback procedure on device (" << stream_.device[0] << ").";
-      errorText_ = errorStream_.str();
-      goto unlock;
-    }
-  }
-
- unlock:
-  stream_.state = STREAM_STOPPED;
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  if ( result != -1 ) return;
-  error( RtAudioError::SYSTEM_ERROR );
-}
-
-void RtApiOss :: callbackEvent()
-{
-  OssHandle *handle = (OssHandle *) stream_.apiHandle;
-  if ( stream_.state == STREAM_STOPPED ) {
-    MUTEX_LOCK( &stream_.mutex );
-    pthread_cond_wait( &handle->runnable, &stream_.mutex );
-    if ( stream_.state != STREAM_RUNNING ) {
-      MUTEX_UNLOCK( &stream_.mutex );
-      return;
-    }
-    MUTEX_UNLOCK( &stream_.mutex );
-  }
-
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApiOss::callbackEvent(): the stream is closed ... this shouldn't happen!";
-    error( RtAudioError::WARNING );
-    return;
-  }
-
-  // Invoke user callback to get fresh output data.
-  int doStopStream = 0;
-  RtAudioCallback callback = (RtAudioCallback) stream_.callbackInfo.callback;
-  double streamTime = getStreamTime();
-  RtAudioStreamStatus status = 0;
-  if ( stream_.mode != INPUT && handle->xrun[0] == true ) {
-    status |= RTAUDIO_OUTPUT_UNDERFLOW;
-    handle->xrun[0] = false;
-  }
-  if ( stream_.mode != OUTPUT && handle->xrun[1] == true ) {
-    status |= RTAUDIO_INPUT_OVERFLOW;
-    handle->xrun[1] = false;
-  }
-  doStopStream = callback( stream_.userBuffer[0], stream_.userBuffer[1],
-                           stream_.bufferSize, streamTime, status, stream_.callbackInfo.userData );
-  if ( doStopStream == 2 ) {
-    this->abortStream();
-    return;
-  }
-
-  MUTEX_LOCK( &stream_.mutex );
-
-  // The state might change while waiting on a mutex.
-  if ( stream_.state == STREAM_STOPPED ) goto unlock;
-
-  int result;
-  char *buffer;
-  int samples;
-  RtAudioFormat format;
-
-  if ( stream_.mode == OUTPUT || stream_.mode == DUPLEX ) {
-
-    // Setup parameters and do buffer conversion if necessary.
-    if ( stream_.doConvertBuffer[0] ) {
-      buffer = stream_.deviceBuffer;
-      convertBuffer( buffer, stream_.userBuffer[0], stream_.convertInfo[0] );
-      samples = stream_.bufferSize * stream_.nDeviceChannels[0];
-      format = stream_.deviceFormat[0];
-    }
-    else {
-      buffer = stream_.userBuffer[0];
-      samples = stream_.bufferSize * stream_.nUserChannels[0];
-      format = stream_.userFormat;
-    }
-
-    // Do byte swapping if necessary.
-    if ( stream_.doByteSwap[0] )
-      byteSwapBuffer( buffer, samples, format );
-
-    if ( stream_.mode == DUPLEX && handle->triggered == false ) {
-      int trig = 0;
-      ioctl( handle->id[0], SNDCTL_DSP_SETTRIGGER, &trig );
-      result = write( handle->id[0], buffer, samples * formatBytes(format) );
-      trig = PCM_ENABLE_INPUT|PCM_ENABLE_OUTPUT;
-      ioctl( handle->id[0], SNDCTL_DSP_SETTRIGGER, &trig );
-      handle->triggered = true;
-    }
-    else
-      // Write samples to device.
-      result = write( handle->id[0], buffer, samples * formatBytes(format) );
-
-    if ( result == -1 ) {
-      // We'll assume this is an underrun, though there isn't a
-      // specific means for determining that.
-      handle->xrun[0] = true;
-      errorText_ = "RtApiOss::callbackEvent: audio write error.";
-      error( RtAudioError::WARNING );
-      // Continue on to input section.
-    }
-  }
-
-  if ( stream_.mode == INPUT || stream_.mode == DUPLEX ) {
-
-    // Setup parameters.
-    if ( stream_.doConvertBuffer[1] ) {
-      buffer = stream_.deviceBuffer;
-      samples = stream_.bufferSize * stream_.nDeviceChannels[1];
-      format = stream_.deviceFormat[1];
-    }
-    else {
-      buffer = stream_.userBuffer[1];
-      samples = stream_.bufferSize * stream_.nUserChannels[1];
-      format = stream_.userFormat;
-    }
-
-    // Read samples from device.
-    result = read( handle->id[1], buffer, samples * formatBytes(format) );
-
-    if ( result == -1 ) {
-      // We'll assume this is an overrun, though there isn't a
-      // specific means for determining that.
-      handle->xrun[1] = true;
-      errorText_ = "RtApiOss::callbackEvent: audio read error.";
-      error( RtAudioError::WARNING );
-      goto unlock;
-    }
-
-    // Do byte swapping if necessary.
-    if ( stream_.doByteSwap[1] )
-      byteSwapBuffer( buffer, samples, format );
-
-    // Do buffer conversion if necessary.
-    if ( stream_.doConvertBuffer[1] )
-      convertBuffer( stream_.userBuffer[1], stream_.deviceBuffer, stream_.convertInfo[1] );
-  }
-
- unlock:
-  MUTEX_UNLOCK( &stream_.mutex );
-
-  RtApi::tickStreamTime();
-  if ( doStopStream == 1 ) this->stopStream();
-}
-
-static void *ossCallbackHandler( void *ptr )
-{
-  CallbackInfo *info = (CallbackInfo *) ptr;
-  RtApiOss *object = (RtApiOss *) info->object;
-  bool *isRunning = &info->isRunning;
-
-  while ( *isRunning == true ) {
-    pthread_testcancel();
-    object->callbackEvent();
-  }
-
-  pthread_exit( NULL );
-}
-
-//******************** End of __LINUX_OSS__ *********************//
-#endif
-
-
-// *************************************************** //
-//
-// Protected common (OS-independent) RtAudio methods.
-//
-// *************************************************** //
-
-// This method can be modified to control the behavior of error
-// message printing.
-void RtApi :: error( RtAudioError::Type type )
-{
-  errorStream_.str(""); // clear the ostringstream
-
-  RtAudioErrorCallback errorCallback = (RtAudioErrorCallback) stream_.callbackInfo.errorCallback;
-  if ( errorCallback ) {
-    // abortStream() can generate new error messages. Ignore them. Just keep original one.
-
-    if ( firstErrorOccurred_ )
-      return;
-
-    firstErrorOccurred_ = true;
-    const std::string errorMessage = errorText_;
-
-    if ( type != RtAudioError::WARNING && stream_.state != STREAM_STOPPED) {
-      stream_.callbackInfo.isRunning = false; // exit from the thread
-      abortStream();
-    }
-
-    errorCallback( type, errorMessage );
-    firstErrorOccurred_ = false;
-    return;
-  }
-
-  if ( type == RtAudioError::WARNING && showWarnings_ == true )
-    std::cerr << '\n' << errorText_ << "\n\n";
-  else if ( type != RtAudioError::WARNING )
-    throw( RtAudioError( errorText_, type ) );
-}
-
-void RtApi :: verifyStream()
-{
-  if ( stream_.state == STREAM_CLOSED ) {
-    errorText_ = "RtApi:: a stream is not open!";
-    error( RtAudioError::INVALID_USE );
-  }
-}
-
-void RtApi :: clearStreamInfo()
-{
-  stream_.mode = UNINITIALIZED;
-  stream_.state = STREAM_CLOSED;
-  stream_.sampleRate = 0;
-  stream_.bufferSize = 0;
-  stream_.nBuffers = 0;
-  stream_.userFormat = 0;
-  stream_.userInterleaved = true;
-  stream_.streamTime = 0.0;
-  stream_.apiHandle = 0;
-  stream_.deviceBuffer = 0;
-  stream_.callbackInfo.callback = 0;
-  stream_.callbackInfo.userData = 0;
-  stream_.callbackInfo.isRunning = false;
-  stream_.callbackInfo.errorCallback = 0;
-  for ( int i=0; i<2; i++ ) {
-    stream_.device[i] = 11111;
-    stream_.doConvertBuffer[i] = false;
-    stream_.deviceInterleaved[i] = true;
-    stream_.doByteSwap[i] = false;
-    stream_.nUserChannels[i] = 0;
-    stream_.nDeviceChannels[i] = 0;
-    stream_.channelOffset[i] = 0;
-    stream_.deviceFormat[i] = 0;
-    stream_.latency[i] = 0;
-    stream_.userBuffer[i] = 0;
-    stream_.convertInfo[i].channels = 0;
-    stream_.convertInfo[i].inJump = 0;
-    stream_.convertInfo[i].outJump = 0;
-    stream_.convertInfo[i].inFormat = 0;
-    stream_.convertInfo[i].outFormat = 0;
-    stream_.convertInfo[i].inOffset.clear();
-    stream_.convertInfo[i].outOffset.clear();
-  }
-}
-
-unsigned int RtApi :: formatBytes( RtAudioFormat format )
-{
-  if ( format == RTAUDIO_SINT16 )
-    return 2;
-  else if ( format == RTAUDIO_SINT32 || format == RTAUDIO_FLOAT32 )
-    return 4;
-  else if ( format == RTAUDIO_FLOAT64 )
-    return 8;
-  else if ( format == RTAUDIO_SINT24 )
-    return 3;
-  else if ( format == RTAUDIO_SINT8 )
-    return 1;
-
-  errorText_ = "RtApi::formatBytes: undefined format.";
-  error( RtAudioError::WARNING );
-
-  return 0;
-}
-
-void RtApi :: setConvertInfo( StreamMode mode, unsigned int firstChannel )
-{
-  if ( mode == INPUT ) { // convert device to user buffer
-    stream_.convertInfo[mode].inJump = stream_.nDeviceChannels[1];
-    stream_.convertInfo[mode].outJump = stream_.nUserChannels[1];
-    stream_.convertInfo[mode].inFormat = stream_.deviceFormat[1];
-    stream_.convertInfo[mode].outFormat = stream_.userFormat;
-  }
-  else { // convert user to device buffer
-    stream_.convertInfo[mode].inJump = stream_.nUserChannels[0];
-    stream_.convertInfo[mode].outJump = stream_.nDeviceChannels[0];
-    stream_.convertInfo[mode].inFormat = stream_.userFormat;
-    stream_.convertInfo[mode].outFormat = stream_.deviceFormat[0];
-  }
-
-  if ( stream_.convertInfo[mode].inJump < stream_.convertInfo[mode].outJump )
-    stream_.convertInfo[mode].channels = stream_.convertInfo[mode].inJump;
-  else
-    stream_.convertInfo[mode].channels = stream_.convertInfo[mode].outJump;
-
-  // Set up the interleave/deinterleave offsets.
-  if ( stream_.deviceInterleaved[mode] != stream_.userInterleaved ) {
-    if ( ( mode == OUTPUT && stream_.deviceInterleaved[mode] ) ||
-         ( mode == INPUT && stream_.userInterleaved ) ) {
-      for ( int k=0; k<stream_.convertInfo[mode].channels; k++ ) {
-        stream_.convertInfo[mode].inOffset.push_back( k * stream_.bufferSize );
-        stream_.convertInfo[mode].outOffset.push_back( k );
-        stream_.convertInfo[mode].inJump = 1;
-      }
-    }
-    else {
-      for ( int k=0; k<stream_.convertInfo[mode].channels; k++ ) {
-        stream_.convertInfo[mode].inOffset.push_back( k );
-        stream_.convertInfo[mode].outOffset.push_back( k * stream_.bufferSize );
-        stream_.convertInfo[mode].outJump = 1;
-      }
-    }
-  }
-  else { // no (de)interleaving
-    if ( stream_.userInterleaved ) {
-      for ( int k=0; k<stream_.convertInfo[mode].channels; k++ ) {
-        stream_.convertInfo[mode].inOffset.push_back( k );
-        stream_.convertInfo[mode].outOffset.push_back( k );
-      }
-    }
-    else {
-      for ( int k=0; k<stream_.convertInfo[mode].channels; k++ ) {
-        stream_.convertInfo[mode].inOffset.push_back( k * stream_.bufferSize );
-        stream_.convertInfo[mode].outOffset.push_back( k * stream_.bufferSize );
-        stream_.convertInfo[mode].inJump = 1;
-        stream_.convertInfo[mode].outJump = 1;
-      }
-    }
-  }
-
-  // Add channel offset.
-  if ( firstChannel > 0 ) {
-    if ( stream_.deviceInterleaved[mode] ) {
-      if ( mode == OUTPUT ) {
-        for ( int k=0; k<stream_.convertInfo[mode].channels; k++ )
-          stream_.convertInfo[mode].outOffset[k] += firstChannel;
-      }
-      else {
-        for ( int k=0; k<stream_.convertInfo[mode].channels; k++ )
-          stream_.convertInfo[mode].inOffset[k] += firstChannel;
-      }
-    }
-    else {
-      if ( mode == OUTPUT ) {
-        for ( int k=0; k<stream_.convertInfo[mode].channels; k++ )
-          stream_.convertInfo[mode].outOffset[k] += ( firstChannel * stream_.bufferSize );
-      }
-      else {
-        for ( int k=0; k<stream_.convertInfo[mode].channels; k++ )
-          stream_.convertInfo[mode].inOffset[k] += ( firstChannel  * stream_.bufferSize );
-      }
-    }
-  }
-}
-
-void RtApi :: convertBuffer( char *outBuffer, char *inBuffer, ConvertInfo &info )
-{
-  // This function does format conversion, input/output channel compensation, and
-  // data interleaving/deinterleaving.  24-bit integers are assumed to occupy
-  // the lower three bytes of a 32-bit integer.
-
-  // Clear our device buffer when in/out duplex device channels are different
-  if ( outBuffer == stream_.deviceBuffer && stream_.mode == DUPLEX &&
-       ( stream_.nDeviceChannels[0] < stream_.nDeviceChannels[1] ) )
-    memset( outBuffer, 0, stream_.bufferSize * info.outJump * formatBytes( info.outFormat ) );
-
-  int j;
-  if (info.outFormat == RTAUDIO_FLOAT64) {
-    Float64 scale;
-    Float64 *out = (Float64 *)outBuffer;
-
-    if (info.inFormat == RTAUDIO_SINT8) {
-      signed char *in = (signed char *)inBuffer;
-      scale = 1.0 / 127.5;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float64) in[info.inOffset[j]];
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT16) {
-      Int16 *in = (Int16 *)inBuffer;
-      scale = 1.0 / 32767.5;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float64) in[info.inOffset[j]];
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT24) {
-      Int24 *in = (Int24 *)inBuffer;
-      scale = 1.0 / 8388607.5;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float64) (in[info.inOffset[j]].asInt());
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT32) {
-      Int32 *in = (Int32 *)inBuffer;
-      scale = 1.0 / 2147483647.5;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float64) in[info.inOffset[j]];
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT32) {
-      Float32 *in = (Float32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float64) in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT64) {
-      // Channel compensation and/or (de)interleaving only.
-      Float64 *in = (Float64 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-  }
-  else if (info.outFormat == RTAUDIO_FLOAT32) {
-    Float32 scale;
-    Float32 *out = (Float32 *)outBuffer;
-
-    if (info.inFormat == RTAUDIO_SINT8) {
-      signed char *in = (signed char *)inBuffer;
-      scale = (Float32) ( 1.0 / 127.5 );
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float32) in[info.inOffset[j]];
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT16) {
-      Int16 *in = (Int16 *)inBuffer;
-      scale = (Float32) ( 1.0 / 32767.5 );
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float32) in[info.inOffset[j]];
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT24) {
-      Int24 *in = (Int24 *)inBuffer;
-      scale = (Float32) ( 1.0 / 8388607.5 );
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float32) (in[info.inOffset[j]].asInt());
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT32) {
-      Int32 *in = (Int32 *)inBuffer;
-      scale = (Float32) ( 1.0 / 2147483647.5 );
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float32) in[info.inOffset[j]];
-          out[info.outOffset[j]] += 0.5;
-          out[info.outOffset[j]] *= scale;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT32) {
-      // Channel compensation and/or (de)interleaving only.
-      Float32 *in = (Float32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT64) {
-      Float64 *in = (Float64 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Float32) in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-  }
-  else if (info.outFormat == RTAUDIO_SINT32) {
-    Int32 *out = (Int32 *)outBuffer;
-    if (info.inFormat == RTAUDIO_SINT8) {
-      signed char *in = (signed char *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) in[info.inOffset[j]];
-          out[info.outOffset[j]] <<= 24;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT16) {
-      Int16 *in = (Int16 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) in[info.inOffset[j]];
-          out[info.outOffset[j]] <<= 16;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT24) {
-      Int24 *in = (Int24 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) in[info.inOffset[j]].asInt();
-          out[info.outOffset[j]] <<= 8;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT32) {
-      // Channel compensation and/or (de)interleaving only.
-      Int32 *in = (Int32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT32) {
-      Float32 *in = (Float32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] * 2147483647.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT64) {
-      Float64 *in = (Float64 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] * 2147483647.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-  }
-  else if (info.outFormat == RTAUDIO_SINT24) {
-    Int24 *out = (Int24 *)outBuffer;
-    if (info.inFormat == RTAUDIO_SINT8) {
-      signed char *in = (signed char *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] << 16);
-          //out[info.outOffset[j]] <<= 16;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT16) {
-      Int16 *in = (Int16 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] << 8);
-          //out[info.outOffset[j]] <<= 8;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT24) {
-      // Channel compensation and/or (de)interleaving only.
-      Int24 *in = (Int24 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT32) {
-      Int32 *in = (Int32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] >> 8);
-          //out[info.outOffset[j]] >>= 8;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT32) {
-      Float32 *in = (Float32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] * 8388607.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT64) {
-      Float64 *in = (Float64 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int32) (in[info.inOffset[j]] * 8388607.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-  }
-  else if (info.outFormat == RTAUDIO_SINT16) {
-    Int16 *out = (Int16 *)outBuffer;
-    if (info.inFormat == RTAUDIO_SINT8) {
-      signed char *in = (signed char *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int16) in[info.inOffset[j]];
-          out[info.outOffset[j]] <<= 8;
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT16) {
-      // Channel compensation and/or (de)interleaving only.
-      Int16 *in = (Int16 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT24) {
-      Int24 *in = (Int24 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int16) (in[info.inOffset[j]].asInt() >> 8);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT32) {
-      Int32 *in = (Int32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int16) ((in[info.inOffset[j]] >> 16) & 0x0000ffff);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT32) {
-      Float32 *in = (Float32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int16) (in[info.inOffset[j]] * 32767.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT64) {
-      Float64 *in = (Float64 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (Int16) (in[info.inOffset[j]] * 32767.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-  }
-  else if (info.outFormat == RTAUDIO_SINT8) {
-    signed char *out = (signed char *)outBuffer;
-    if (info.inFormat == RTAUDIO_SINT8) {
-      // Channel compensation and/or (de)interleaving only.
-      signed char *in = (signed char *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = in[info.inOffset[j]];
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    if (info.inFormat == RTAUDIO_SINT16) {
-      Int16 *in = (Int16 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (signed char) ((in[info.inOffset[j]] >> 8) & 0x00ff);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT24) {
-      Int24 *in = (Int24 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (signed char) (in[info.inOffset[j]].asInt() >> 16);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_SINT32) {
-      Int32 *in = (Int32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (signed char) ((in[info.inOffset[j]] >> 24) & 0x000000ff);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT32) {
-      Float32 *in = (Float32 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (signed char) (in[info.inOffset[j]] * 127.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-    else if (info.inFormat == RTAUDIO_FLOAT64) {
-      Float64 *in = (Float64 *)inBuffer;
-      for (unsigned int i=0; i<stream_.bufferSize; i++) {
-        for (j=0; j<info.channels; j++) {
-          out[info.outOffset[j]] = (signed char) (in[info.inOffset[j]] * 127.5 - 0.5);
-        }
-        in += info.inJump;
-        out += info.outJump;
-      }
-    }
-  }
-}
-
-//static inline uint16_t bswap_16(uint16_t x) { return (x>>8) | (x<<8); }
-//static inline uint32_t bswap_32(uint32_t x) { return (bswap_16(x&0xffff)<<16) | (bswap_16(x>>16)); }
-//static inline uint64_t bswap_64(uint64_t x) { return (((unsigned long long)bswap_32(x&0xffffffffull))<<32) | (bswap_32(x>>32)); }
-
-void RtApi :: byteSwapBuffer( char *buffer, unsigned int samples, RtAudioFormat format )
-{
-  char val;
-  char *ptr;
-
-  ptr = buffer;
-  if ( format == RTAUDIO_SINT16 ) {
-    for ( unsigned int i=0; i<samples; i++ ) {
-      // Swap 1st and 2nd bytes.
-      val = *(ptr);
-      *(ptr) = *(ptr+1);
-      *(ptr+1) = val;
-
-      // Increment 2 bytes.
-      ptr += 2;
-    }
-  }
-  else if ( format == RTAUDIO_SINT32 ||
-            format == RTAUDIO_FLOAT32 ) {
-    for ( unsigned int i=0; i<samples; i++ ) {
-      // Swap 1st and 4th bytes.
-      val = *(ptr);
-      *(ptr) = *(ptr+3);
-      *(ptr+3) = val;
-
-      // Swap 2nd and 3rd bytes.
-      ptr += 1;
-      val = *(ptr);
-      *(ptr) = *(ptr+1);
-      *(ptr+1) = val;
-
-      // Increment 3 more bytes.
-      ptr += 3;
-    }
-  }
-  else if ( format == RTAUDIO_SINT24 ) {
-    for ( unsigned int i=0; i<samples; i++ ) {
-      // Swap 1st and 3rd bytes.
-      val = *(ptr);
-      *(ptr) = *(ptr+2);
-      *(ptr+2) = val;
-
-      // Increment 2 more bytes.
-      ptr += 2;
-    }
-  }
-  else if ( format == RTAUDIO_FLOAT64 ) {
-    for ( unsigned int i=0; i<samples; i++ ) {
-      // Swap 1st and 8th bytes
-      val = *(ptr);
-      *(ptr) = *(ptr+7);
-      *(ptr+7) = val;
-
-      // Swap 2nd and 7th bytes
-      ptr += 1;
-      val = *(ptr);
-      *(ptr) = *(ptr+5);
-      *(ptr+5) = val;
-
-      // Swap 3rd and 6th bytes
-      ptr += 1;
-      val = *(ptr);
-      *(ptr) = *(ptr+3);
-      *(ptr+3) = val;
-
-      // Swap 4th and 5th bytes
-      ptr += 1;
-      val = *(ptr);
-      *(ptr) = *(ptr+1);
-      *(ptr+1) = val;
-
-      // Increment 5 more bytes.
-      ptr += 5;
-    }
-  }
-}
-
-  // Indentation settings for Vim and Emacs
-  //
-  // Local Variables:
-  // c-basic-offset: 2
-  // indent-tabs-mode: nil
-  // End:
-  //
-  // vim: et sts=2 sw=2
-
-#endif // RTAUDIO_ENABLED -GODOT-
diff --git a/thirdparty/rtaudio/RtAudio.h b/thirdparty/rtaudio/RtAudio.h
deleted file mode 100644
index aab109d907..0000000000
--- a/thirdparty/rtaudio/RtAudio.h
+++ /dev/null
@@ -1,1183 +0,0 @@
-// -GODOT- Start
-
-#ifdef RTAUDIO_ENABLED
-
-#if defined(OSX_ENABLED)
-    #define __MACOSX_CORE__
-#elif defined(UNIX_ENABLED)
-    #define __LINUX_ALSA__
-#elif defined(WINDOWS_ENABLED)
-    #if defined(UWP_ENABLED)
-        #define __RTAUDIO_DUMMY__
-    #else
-        #define __WINDOWS_DS__
-    #endif
-#endif
-
-// -GODOT- End
-
-/************************************************************************/
-/*! \class RtAudio
-    \brief Realtime audio i/o C++ classes.
-
-    RtAudio provides a common API (Application Programming Interface)
-    for realtime audio input/output across Linux (native ALSA, Jack,
-    and OSS), Macintosh OS X (CoreAudio and Jack), and Windows
-    (DirectSound, ASIO and WASAPI) operating systems.
-
-    RtAudio WWW site: http://www.music.mcgill.ca/~gary/rtaudio/
-
-    RtAudio: realtime audio i/o C++ classes
-    Copyright (c) 2001-2016 Gary P. Scavone
-
-    Permission is hereby granted, free of charge, to any person
-    obtaining a copy of this software and associated documentation files
-    (the "Software"), to deal in the Software without restriction,
-    including without limitation the rights to use, copy, modify, merge,
-    publish, distribute, sublicense, and/or sell copies of the Software,
-    and to permit persons to whom the Software is furnished to do so,
-    subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be
-    included in all copies or substantial portions of the Software.
-
-    Any person wishing to distribute modifications to the Software is
-    asked to send the modifications to the original developer so that
-    they can be incorporated into the canonical version.  This is,
-    however, not a binding provision of this license.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-    MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-    IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR
-    ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
-    CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-    WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-/************************************************************************/
-
-/*!
-  \file RtAudio.h
- */
-
-#ifndef __RTAUDIO_H
-#define __RTAUDIO_H
-
-#define RTAUDIO_VERSION "4.1.2"
-
-#include <string>
-#include <vector>
-#include <exception>
-#include <iostream>
-
-/*! \typedef typedef unsigned long RtAudioFormat;
-    \brief RtAudio data format type.
-
-    Support for signed integers and floats.  Audio data fed to/from an
-    RtAudio stream is assumed to ALWAYS be in host byte order.  The
-    internal routines will automatically take care of any necessary
-    byte-swapping between the host format and the soundcard.  Thus,
-    endian-ness is not a concern in the following format definitions.
-
-    - \e RTAUDIO_SINT8:   8-bit signed integer.
-    - \e RTAUDIO_SINT16:  16-bit signed integer.
-    - \e RTAUDIO_SINT24:  24-bit signed integer.
-    - \e RTAUDIO_SINT32:  32-bit signed integer.
-    - \e RTAUDIO_FLOAT32: Normalized between plus/minus 1.0.
-    - \e RTAUDIO_FLOAT64: Normalized between plus/minus 1.0.
-*/
-typedef unsigned long RtAudioFormat;
-static const RtAudioFormat RTAUDIO_SINT8 = 0x1;    // 8-bit signed integer.
-static const RtAudioFormat RTAUDIO_SINT16 = 0x2;   // 16-bit signed integer.
-static const RtAudioFormat RTAUDIO_SINT24 = 0x4;   // 24-bit signed integer.
-static const RtAudioFormat RTAUDIO_SINT32 = 0x8;   // 32-bit signed integer.
-static const RtAudioFormat RTAUDIO_FLOAT32 = 0x10; // Normalized between plus/minus 1.0.
-static const RtAudioFormat RTAUDIO_FLOAT64 = 0x20; // Normalized between plus/minus 1.0.
-
-/*! \typedef typedef unsigned long RtAudioStreamFlags;
-    \brief RtAudio stream option flags.
-
-    The following flags can be OR'ed together to allow a client to
-    make changes to the default stream behavior:
-
-    - \e RTAUDIO_NONINTERLEAVED:   Use non-interleaved buffers (default = interleaved).
-    - \e RTAUDIO_MINIMIZE_LATENCY: Attempt to set stream parameters for lowest possible latency.
-    - \e RTAUDIO_HOG_DEVICE:       Attempt grab device for exclusive use.
-    - \e RTAUDIO_ALSA_USE_DEFAULT: Use the "default" PCM device (ALSA only).
-
-    By default, RtAudio streams pass and receive audio data from the
-    client in an interleaved format.  By passing the
-    RTAUDIO_NONINTERLEAVED flag to the openStream() function, audio
-    data will instead be presented in non-interleaved buffers.  In
-    this case, each buffer argument in the RtAudioCallback function
-    will point to a single array of data, with \c nFrames samples for
-    each channel concatenated back-to-back.  For example, the first
-    sample of data for the second channel would be located at index \c
-    nFrames (assuming the \c buffer pointer was recast to the correct
-    data type for the stream).
-
-    Certain audio APIs offer a number of parameters that influence the
-    I/O latency of a stream.  By default, RtAudio will attempt to set
-    these parameters internally for robust (glitch-free) performance
-    (though some APIs, like Windows Direct Sound, make this difficult).
-    By passing the RTAUDIO_MINIMIZE_LATENCY flag to the openStream()
-    function, internal stream settings will be influenced in an attempt
-    to minimize stream latency, though possibly at the expense of stream
-    performance.
-
-    If the RTAUDIO_HOG_DEVICE flag is set, RtAudio will attempt to
-    open the input and/or output stream device(s) for exclusive use.
-    Note that this is not possible with all supported audio APIs.
-
-    If the RTAUDIO_SCHEDULE_REALTIME flag is set, RtAudio will attempt
-    to select realtime scheduling (round-robin) for the callback thread.
-
-    If the RTAUDIO_ALSA_USE_DEFAULT flag is set, RtAudio will attempt to
-    open the "default" PCM device when using the ALSA API. Note that this
-    will override any specified input or output device id.
-*/
-typedef unsigned int RtAudioStreamFlags;
-static const RtAudioStreamFlags RTAUDIO_NONINTERLEAVED = 0x1;    // Use non-interleaved buffers (default = interleaved).
-static const RtAudioStreamFlags RTAUDIO_MINIMIZE_LATENCY = 0x2;  // Attempt to set stream parameters for lowest possible latency.
-static const RtAudioStreamFlags RTAUDIO_HOG_DEVICE = 0x4;        // Attempt grab device and prevent use by others.
-static const RtAudioStreamFlags RTAUDIO_SCHEDULE_REALTIME = 0x8; // Try to select realtime scheduling for callback thread.
-static const RtAudioStreamFlags RTAUDIO_ALSA_USE_DEFAULT = 0x10; // Use the "default" PCM device (ALSA only).
-
-/*! \typedef typedef unsigned long RtAudioStreamStatus;
-    \brief RtAudio stream status (over- or underflow) flags.
-
-    Notification of a stream over- or underflow is indicated by a
-    non-zero stream \c status argument in the RtAudioCallback function.
-    The stream status can be one of the following two options,
-    depending on whether the stream is open for output and/or input:
-
-    - \e RTAUDIO_INPUT_OVERFLOW:   Input data was discarded because of an overflow condition at the driver.
-    - \e RTAUDIO_OUTPUT_UNDERFLOW: The output buffer ran low, likely producing a break in the output sound.
-*/
-typedef unsigned int RtAudioStreamStatus;
-static const RtAudioStreamStatus RTAUDIO_INPUT_OVERFLOW = 0x1;    // Input data was discarded because of an overflow condition at the driver.
-static const RtAudioStreamStatus RTAUDIO_OUTPUT_UNDERFLOW = 0x2;  // The output buffer ran low, likely causing a gap in the output sound.
-
-//! RtAudio callback function prototype.
-/*!
-   All RtAudio clients must create a function of type RtAudioCallback
-   to read and/or write data from/to the audio stream.  When the
-   underlying audio system is ready for new input or output data, this
-   function will be invoked.
-
-   \param outputBuffer For output (or duplex) streams, the client
-          should write \c nFrames of audio sample frames into this
-          buffer.  This argument should be recast to the datatype
-          specified when the stream was opened.  For input-only
-          streams, this argument will be NULL.
-
-   \param inputBuffer For input (or duplex) streams, this buffer will
-          hold \c nFrames of input audio sample frames.  This
-          argument should be recast to the datatype specified when the
-          stream was opened.  For output-only streams, this argument
-          will be NULL.
-
-   \param nFrames The number of sample frames of input or output
-          data in the buffers.  The actual buffer size in bytes is
-          dependent on the data type and number of channels in use.
-
-   \param streamTime The number of seconds that have elapsed since the
-          stream was started.
-
-   \param status If non-zero, this argument indicates a data overflow
-          or underflow condition for the stream.  The particular
-          condition can be determined by comparison with the
-          RtAudioStreamStatus flags.
-
-   \param userData A pointer to optional data provided by the client
-          when opening the stream (default = NULL).
-
-   To continue normal stream operation, the RtAudioCallback function
-   should return a value of zero.  To stop the stream and drain the
-   output buffer, the function should return a value of one.  To abort
-   the stream immediately, the client should return a value of two.
- */
-typedef int (*RtAudioCallback)( void *outputBuffer, void *inputBuffer,
-                                unsigned int nFrames,
-                                double streamTime,
-                                RtAudioStreamStatus status,
-                                void *userData );
-
-/************************************************************************/
-/*! \class RtAudioError
-    \brief Exception handling class for RtAudio.
-
-    The RtAudioError class is quite simple but it does allow errors to be
-    "caught" by RtAudioError::Type. See the RtAudio documentation to know
-    which methods can throw an RtAudioError.
-*/
-/************************************************************************/
-
-class RtAudioError : public std::exception
-{
- public:
-  //! Defined RtAudioError types.
-  enum Type {
-    WARNING,           /*!< A non-critical error. */
-    DEBUG_WARNING,     /*!< A non-critical error which might be useful for debugging. */
-    UNSPECIFIED,       /*!< The default, unspecified error type. */
-    NO_DEVICES_FOUND,  /*!< No devices found on system. */
-    INVALID_DEVICE,    /*!< An invalid device ID was specified. */
-    MEMORY_ERROR,      /*!< An error occured during memory allocation. */
-    INVALID_PARAMETER, /*!< An invalid parameter was specified to a function. */
-    INVALID_USE,       /*!< The function was called incorrectly. */
-    DRIVER_ERROR,      /*!< A system driver error occured. */
-    SYSTEM_ERROR,      /*!< A system error occured. */
-    THREAD_ERROR       /*!< A thread error occured. */
-  };
-
-  //! The constructor.
-  RtAudioError( const std::string& message, Type type = RtAudioError::UNSPECIFIED ) throw() : message_(message), type_(type) {}
-
-  //! The destructor.
-  virtual ~RtAudioError( void ) throw() {}
-
-  //! Prints thrown error message to stderr.
-  virtual void printMessage( void ) const throw() { std::cerr << '\n' << message_ << "\n\n"; }
-
-  //! Returns the thrown error message type.
-  virtual const Type& getType(void) const throw() { return type_; }
-
-  //! Returns the thrown error message string.
-  virtual const std::string& getMessage(void) const throw() { return message_; }
-
-  //! Returns the thrown error message as a c-style string.
-  virtual const char* what( void ) const throw() { return message_.c_str(); }
-
- protected:
-  std::string message_;
-  Type type_;
-};
-
-//! RtAudio error callback function prototype.
-/*!
-    \param type Type of error.
-    \param errorText Error description.
- */
-typedef void (*RtAudioErrorCallback)( RtAudioError::Type type, const std::string &errorText );
-
-// **************************************************************** //
-//
-// RtAudio class declaration.
-//
-// RtAudio is a "controller" used to select an available audio i/o
-// interface.  It presents a common API for the user to call but all
-// functionality is implemented by the class RtApi and its
-// subclasses.  RtAudio creates an instance of an RtApi subclass
-// based on the user's API choice.  If no choice is made, RtAudio
-// attempts to make a "logical" API selection.
-//
-// **************************************************************** //
-
-class RtApi;
-
-class RtAudio
-{
- public:
-
-  //! Audio API specifier arguments.
-  enum Api {
-    UNSPECIFIED,    /*!< Search for a working compiled API. */
-    LINUX_ALSA,     /*!< The Advanced Linux Sound Architecture API. */
-    LINUX_PULSE,    /*!< The Linux PulseAudio API. */
-    LINUX_OSS,      /*!< The Linux Open Sound System API. */
-    UNIX_JACK,      /*!< The Jack Low-Latency Audio Server API. */
-    MACOSX_CORE,    /*!< Macintosh OS-X Core Audio API. */
-    WINDOWS_WASAPI, /*!< The Microsoft WASAPI API. */
-    WINDOWS_ASIO,   /*!< The Steinberg Audio Stream I/O API. */
-    WINDOWS_DS,     /*!< The Microsoft Direct Sound API. */
-    RTAUDIO_DUMMY   /*!< A compilable but non-functional API. */
-  };
-
-  //! The public device information structure for returning queried values.
-  struct DeviceInfo {
-    bool probed;                  /*!< true if the device capabilities were successfully probed. */
-    std::string name;             /*!< Character string device identifier. */
-    unsigned int outputChannels;  /*!< Maximum output channels supported by device. */
-    unsigned int inputChannels;   /*!< Maximum input channels supported by device. */
-    unsigned int duplexChannels;  /*!< Maximum simultaneous input/output channels supported by device. */
-    bool isDefaultOutput;         /*!< true if this is the default output device. */
-    bool isDefaultInput;          /*!< true if this is the default input device. */
-    std::vector<unsigned int> sampleRates; /*!< Supported sample rates (queried from list of standard rates). */
-    unsigned int preferredSampleRate; /*!< Preferred sample rate, eg. for WASAPI the system sample rate. */
-    RtAudioFormat nativeFormats;  /*!< Bit mask of supported data formats. */
-
-    // Default constructor.
-    DeviceInfo()
-      :probed(false), outputChannels(0), inputChannels(0), duplexChannels(0),
-       isDefaultOutput(false), isDefaultInput(false), preferredSampleRate(0), nativeFormats(0) {}
-  };
-
-  //! The structure for specifying input or ouput stream parameters.
-  struct StreamParameters {
-    unsigned int deviceId;     /*!< Device index (0 to getDeviceCount() - 1). */
-    unsigned int nChannels;    /*!< Number of channels. */
-    unsigned int firstChannel; /*!< First channel index on device (default = 0). */
-
-    // Default constructor.
-    StreamParameters()
-      : deviceId(0), nChannels(0), firstChannel(0) {}
-  };
-
-  //! The structure for specifying stream options.
-  /*!
-    The following flags can be OR'ed together to allow a client to
-    make changes to the default stream behavior:
-
-    - \e RTAUDIO_NONINTERLEAVED:    Use non-interleaved buffers (default = interleaved).
-    - \e RTAUDIO_MINIMIZE_LATENCY:  Attempt to set stream parameters for lowest possible latency.
-    - \e RTAUDIO_HOG_DEVICE:        Attempt grab device for exclusive use.
-    - \e RTAUDIO_SCHEDULE_REALTIME: Attempt to select realtime scheduling for callback thread.
-    - \e RTAUDIO_ALSA_USE_DEFAULT:  Use the "default" PCM device (ALSA only).
-
-    By default, RtAudio streams pass and receive audio data from the
-    client in an interleaved format.  By passing the
-    RTAUDIO_NONINTERLEAVED flag to the openStream() function, audio
-    data will instead be presented in non-interleaved buffers.  In
-    this case, each buffer argument in the RtAudioCallback function
-    will point to a single array of data, with \c nFrames samples for
-    each channel concatenated back-to-back.  For example, the first
-    sample of data for the second channel would be located at index \c
-    nFrames (assuming the \c buffer pointer was recast to the correct
-    data type for the stream).
-
-    Certain audio APIs offer a number of parameters that influence the
-    I/O latency of a stream.  By default, RtAudio will attempt to set
-    these parameters internally for robust (glitch-free) performance
-    (though some APIs, like Windows Direct Sound, make this difficult).
-    By passing the RTAUDIO_MINIMIZE_LATENCY flag to the openStream()
-    function, internal stream settings will be influenced in an attempt
-    to minimize stream latency, though possibly at the expense of stream
-    performance.
-
-    If the RTAUDIO_HOG_DEVICE flag is set, RtAudio will attempt to
-    open the input and/or output stream device(s) for exclusive use.
-    Note that this is not possible with all supported audio APIs.
-
-    If the RTAUDIO_SCHEDULE_REALTIME flag is set, RtAudio will attempt
-    to select realtime scheduling (round-robin) for the callback thread.
-    The \c priority parameter will only be used if the RTAUDIO_SCHEDULE_REALTIME
-    flag is set. It defines the thread's realtime priority.
-
-    If the RTAUDIO_ALSA_USE_DEFAULT flag is set, RtAudio will attempt to
-    open the "default" PCM device when using the ALSA API. Note that this
-    will override any specified input or output device id.
-
-    The \c numberOfBuffers parameter can be used to control stream
-    latency in the Windows DirectSound, Linux OSS, and Linux Alsa APIs
-    only.  A value of two is usually the smallest allowed.  Larger
-    numbers can potentially result in more robust stream performance,
-    though likely at the cost of stream latency.  The value set by the
-    user is replaced during execution of the RtAudio::openStream()
-    function by the value actually used by the system.
-
-    The \c streamName parameter can be used to set the client name
-    when using the Jack API.  By default, the client name is set to
-    RtApiJack.  However, if you wish to create multiple instances of
-    RtAudio with Jack, each instance must have a unique client name.
-  */
-  struct StreamOptions {
-    RtAudioStreamFlags flags;      /*!< A bit-mask of stream flags (RTAUDIO_NONINTERLEAVED, RTAUDIO_MINIMIZE_LATENCY, RTAUDIO_HOG_DEVICE, RTAUDIO_ALSA_USE_DEFAULT). */
-    unsigned int numberOfBuffers;  /*!< Number of stream buffers. */
-    std::string streamName;        /*!< A stream name (currently used only in Jack). */
-    int priority;                  /*!< Scheduling priority of callback thread (only used with flag RTAUDIO_SCHEDULE_REALTIME). */
-
-    // Default constructor.
-    StreamOptions()
-    : flags(0), numberOfBuffers(0), priority(0) {}
-  };
-
-  //! A static function to determine the current RtAudio version.
-  static std::string getVersion( void ) throw();
-
-  //! A static function to determine the available compiled audio APIs.
-  /*!
-    The values returned in the std::vector can be compared against
-    the enumerated list values.  Note that there can be more than one
-    API compiled for certain operating systems.
-  */
-  static void getCompiledApi( std::vector<RtAudio::Api> &apis ) throw();
-
-  //! The class constructor.
-  /*!
-    The constructor performs minor initialization tasks.  An exception
-    can be thrown if no API support is compiled.
-
-    If no API argument is specified and multiple API support has been
-    compiled, the default order of use is JACK, ALSA, OSS (Linux
-    systems) and ASIO, DS (Windows systems).
-  */
-  RtAudio( RtAudio::Api api=UNSPECIFIED );
-
-  //! The destructor.
-  /*!
-    If a stream is running or open, it will be stopped and closed
-    automatically.
-  */
-  ~RtAudio() throw();
-
-  //! Returns the audio API specifier for the current instance of RtAudio.
-  RtAudio::Api getCurrentApi( void ) throw();
-
-  //! A public function that queries for the number of audio devices available.
-  /*!
-    This function performs a system query of available devices each time it
-    is called, thus supporting devices connected \e after instantiation. If
-    a system error occurs during processing, a warning will be issued.
-  */
-  unsigned int getDeviceCount( void ) throw();
-
-  //! Return an RtAudio::DeviceInfo structure for a specified device number.
-  /*!
-
-    Any device integer between 0 and getDeviceCount() - 1 is valid.
-    If an invalid argument is provided, an RtAudioError (type = INVALID_USE)
-    will be thrown.  If a device is busy or otherwise unavailable, the
-    structure member "probed" will have a value of "false" and all
-    other members are undefined.  If the specified device is the
-    current default input or output device, the corresponding
-    "isDefault" member will have a value of "true".
-  */
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-
-  //! A function that returns the index of the default output device.
-  /*!
-    If the underlying audio API does not provide a "default
-    device", or if no devices are available, the return value will be
-    0.  Note that this is a valid device identifier and it is the
-    client's responsibility to verify that a device is available
-    before attempting to open a stream.
-  */
-  unsigned int getDefaultOutputDevice( void ) throw();
-
-  //! A function that returns the index of the default input device.
-  /*!
-    If the underlying audio API does not provide a "default
-    device", or if no devices are available, the return value will be
-    0.  Note that this is a valid device identifier and it is the
-    client's responsibility to verify that a device is available
-    before attempting to open a stream.
-  */
-  unsigned int getDefaultInputDevice( void ) throw();
-
-  //! A public function for opening a stream with the specified parameters.
-  /*!
-    An RtAudioError (type = SYSTEM_ERROR) is thrown if a stream cannot be
-    opened with the specified parameters or an error occurs during
-    processing.  An RtAudioError (type = INVALID_USE) is thrown if any
-    invalid device ID or channel number parameters are specified.
-
-    \param outputParameters Specifies output stream parameters to use
-           when opening a stream, including a device ID, number of channels,
-           and starting channel number.  For input-only streams, this
-           argument should be NULL.  The device ID is an index value between
-           0 and getDeviceCount() - 1.
-    \param inputParameters Specifies input stream parameters to use
-           when opening a stream, including a device ID, number of channels,
-           and starting channel number.  For output-only streams, this
-           argument should be NULL.  The device ID is an index value between
-           0 and getDeviceCount() - 1.
-    \param format An RtAudioFormat specifying the desired sample data format.
-    \param sampleRate The desired sample rate (sample frames per second).
-    \param *bufferFrames A pointer to a value indicating the desired
-           internal buffer size in sample frames.  The actual value
-           used by the device is returned via the same pointer.  A
-           value of zero can be specified, in which case the lowest
-           allowable value is determined.
-    \param callback A client-defined function that will be invoked
-           when input data is available and/or output data is needed.
-    \param userData An optional pointer to data that can be accessed
-           from within the callback function.
-    \param options An optional pointer to a structure containing various
-           global stream options, including a list of OR'ed RtAudioStreamFlags
-           and a suggested number of stream buffers that can be used to
-           control stream latency.  More buffers typically result in more
-           robust performance, though at a cost of greater latency.  If a
-           value of zero is specified, a system-specific median value is
-           chosen.  If the RTAUDIO_MINIMIZE_LATENCY flag bit is set, the
-           lowest allowable value is used.  The actual value used is
-           returned via the structure argument.  The parameter is API dependent.
-    \param errorCallback A client-defined function that will be invoked
-           when an error has occured.
-  */
-  void openStream( RtAudio::StreamParameters *outputParameters,
-                   RtAudio::StreamParameters *inputParameters,
-                   RtAudioFormat format, unsigned int sampleRate,
-                   unsigned int *bufferFrames, RtAudioCallback callback,
-                   void *userData = NULL, RtAudio::StreamOptions *options = NULL, RtAudioErrorCallback errorCallback = NULL );
-
-  //! A function that closes a stream and frees any associated stream memory.
-  /*!
-    If a stream is not open, this function issues a warning and
-    returns (no exception is thrown).
-  */
-  void closeStream( void ) throw();
-
-  //! A function that starts a stream.
-  /*!
-    An RtAudioError (type = SYSTEM_ERROR) is thrown if an error occurs
-    during processing.  An RtAudioError (type = INVALID_USE) is thrown if a
-    stream is not open.  A warning is issued if the stream is already
-    running.
-  */
-  void startStream( void );
-
-  //! Stop a stream, allowing any samples remaining in the output queue to be played.
-  /*!
-    An RtAudioError (type = SYSTEM_ERROR) is thrown if an error occurs
-    during processing.  An RtAudioError (type = INVALID_USE) is thrown if a
-    stream is not open.  A warning is issued if the stream is already
-    stopped.
-  */
-  void stopStream( void );
-
-  //! Stop a stream, discarding any samples remaining in the input/output queue.
-  /*!
-    An RtAudioError (type = SYSTEM_ERROR) is thrown if an error occurs
-    during processing.  An RtAudioError (type = INVALID_USE) is thrown if a
-    stream is not open.  A warning is issued if the stream is already
-    stopped.
-  */
-  void abortStream( void );
-
-  //! Returns true if a stream is open and false if not.
-  bool isStreamOpen( void ) const throw();
-
-  //! Returns true if the stream is running and false if it is stopped or not open.
-  bool isStreamRunning( void ) const throw();
-
-  //! Returns the number of elapsed seconds since the stream was started.
-  /*!
-    If a stream is not open, an RtAudioError (type = INVALID_USE) will be thrown.
-  */
-  double getStreamTime( void );
-
-  //! Set the stream time to a time in seconds greater than or equal to 0.0.
-  /*!
-    If a stream is not open, an RtAudioError (type = INVALID_USE) will be thrown.
-  */
-  void setStreamTime( double time );
-
-  //! Returns the internal stream latency in sample frames.
-  /*!
-    The stream latency refers to delay in audio input and/or output
-    caused by internal buffering by the audio system and/or hardware.
-    For duplex streams, the returned value will represent the sum of
-    the input and output latencies.  If a stream is not open, an
-    RtAudioError (type = INVALID_USE) will be thrown.  If the API does not
-    report latency, the return value will be zero.
-  */
-  long getStreamLatency( void );
-
- //! Returns actual sample rate in use by the stream.
- /*!
-   On some systems, the sample rate used may be slightly different
-   than that specified in the stream parameters.  If a stream is not
-   open, an RtAudioError (type = INVALID_USE) will be thrown.
- */
-  unsigned int getStreamSampleRate( void );
-
-  //! Specify whether warning messages should be printed to stderr.
-  void showWarnings( bool value = true ) throw();
-
- protected:
-
-  void openRtApi( RtAudio::Api api );
-  RtApi *rtapi_;
-};
-
-// Operating system dependent thread functionality.
-#if defined(__WINDOWS_DS__) || defined(__WINDOWS_ASIO__) || defined(__WINDOWS_WASAPI__)
-
-  #ifndef NOMINMAX
-    #define NOMINMAX
-  #endif
-  #include <windows.h>
-  #include <process.h>
-
-  typedef uintptr_t ThreadHandle;
-  typedef CRITICAL_SECTION StreamMutex;
-
-#elif defined(__LINUX_ALSA__) || defined(__LINUX_PULSE__) || defined(__UNIX_JACK__) || defined(__LINUX_OSS__) || defined(__MACOSX_CORE__)
-  // Using pthread library for various flavors of unix.
-  #include <pthread.h>
-
-  typedef pthread_t ThreadHandle;
-  typedef pthread_mutex_t StreamMutex;
-
-#else // Setup for "dummy" behavior
-
-  #define __RTAUDIO_DUMMY__
-  typedef int ThreadHandle;
-  typedef int StreamMutex;
-
-#endif
-
-// This global structure type is used to pass callback information
-// between the private RtAudio stream structure and global callback
-// handling functions.
-struct CallbackInfo {
-  void *object;    // Used as a "this" pointer.
-  ThreadHandle thread;
-  void *callback;
-  void *userData;
-  void *errorCallback;
-  void *apiInfo;   // void pointer for API specific callback information
-  bool isRunning;
-  bool doRealtime;
-  int priority;
-
-  // Default constructor.
-  CallbackInfo()
-  :object(0), callback(0), userData(0), errorCallback(0), apiInfo(0), isRunning(false), doRealtime(false) {}
-};
-
-// **************************************************************** //
-//
-// RtApi class declaration.
-//
-// Subclasses of RtApi contain all API- and OS-specific code necessary
-// to fully implement the RtAudio API.
-//
-// Note that RtApi is an abstract base class and cannot be
-// explicitly instantiated.  The class RtAudio will create an
-// instance of an RtApi subclass (RtApiOss, RtApiAlsa,
-// RtApiJack, RtApiCore, RtApiDs, or RtApiAsio).
-//
-// **************************************************************** //
-
-#pragma pack(push, 1)
-class S24 {
-
- protected:
-  unsigned char c3[3];
-
- public:
-  S24() {}
-
-  S24& operator = ( const int& i ) {
-    c3[0] = (i & 0x000000ff);
-    c3[1] = (i & 0x0000ff00) >> 8;
-    c3[2] = (i & 0x00ff0000) >> 16;
-    return *this;
-  }
-
-  S24( const S24& v ) { *this = v; }
-  S24( const double& d ) { *this = (int) d; }
-  S24( const float& f ) { *this = (int) f; }
-  S24( const signed short& s ) { *this = (int) s; }
-  S24( const char& c ) { *this = (int) c; }
-
-  int asInt() {
-    int i = c3[0] | (c3[1] << 8) | (c3[2] << 16);
-    if (i & 0x800000) i |= ~0xffffff;
-    return i;
-  }
-};
-#pragma pack(pop)
-
-#if defined( HAVE_GETTIMEOFDAY )
-  #include <sys/time.h>
-#endif
-
-#include <sstream>
-
-class RtApi
-{
-public:
-
-  RtApi();
-  virtual ~RtApi();
-  virtual RtAudio::Api getCurrentApi( void ) = 0;
-  virtual unsigned int getDeviceCount( void ) = 0;
-  virtual RtAudio::DeviceInfo getDeviceInfo( unsigned int device ) = 0;
-  virtual unsigned int getDefaultInputDevice( void );
-  virtual unsigned int getDefaultOutputDevice( void );
-  void openStream( RtAudio::StreamParameters *outputParameters,
-                   RtAudio::StreamParameters *inputParameters,
-                   RtAudioFormat format, unsigned int sampleRate,
-                   unsigned int *bufferFrames, RtAudioCallback callback,
-                   void *userData, RtAudio::StreamOptions *options,
-                   RtAudioErrorCallback errorCallback );
-  virtual void closeStream( void );
-  virtual void startStream( void ) = 0;
-  virtual void stopStream( void ) = 0;
-  virtual void abortStream( void ) = 0;
-  long getStreamLatency( void );
-  unsigned int getStreamSampleRate( void );
-  virtual double getStreamTime( void );
-  virtual void setStreamTime( double time );
-  bool isStreamOpen( void ) const { return stream_.state != STREAM_CLOSED; }
-  bool isStreamRunning( void ) const { return stream_.state == STREAM_RUNNING; }
-  void showWarnings( bool value ) { showWarnings_ = value; }
-
-
-protected:
-
-  static const unsigned int MAX_SAMPLE_RATES;
-  static const unsigned int SAMPLE_RATES[];
-
-  enum { FAILURE, SUCCESS };
-
-  enum StreamState {
-    STREAM_STOPPED,
-    STREAM_STOPPING,
-    STREAM_RUNNING,
-    STREAM_CLOSED = -50
-  };
-
-  enum StreamMode {
-    OUTPUT,
-    INPUT,
-    DUPLEX,
-    UNINITIALIZED = -75
-  };
-
-  // A protected structure used for buffer conversion.
-  struct ConvertInfo {
-    int channels;
-    int inJump, outJump;
-    RtAudioFormat inFormat, outFormat;
-    std::vector<int> inOffset;
-    std::vector<int> outOffset;
-  };
-
-  // A protected structure for audio streams.
-  struct RtApiStream {
-    unsigned int device[2];    // Playback and record, respectively.
-    void *apiHandle;           // void pointer for API specific stream handle information
-    StreamMode mode;           // OUTPUT, INPUT, or DUPLEX.
-    StreamState state;         // STOPPED, RUNNING, or CLOSED
-    char *userBuffer[2];       // Playback and record, respectively.
-    char *deviceBuffer;
-    bool doConvertBuffer[2];   // Playback and record, respectively.
-    bool userInterleaved;
-    bool deviceInterleaved[2]; // Playback and record, respectively.
-    bool doByteSwap[2];        // Playback and record, respectively.
-    unsigned int sampleRate;
-    unsigned int bufferSize;
-    unsigned int nBuffers;
-    unsigned int nUserChannels[2];    // Playback and record, respectively.
-    unsigned int nDeviceChannels[2];  // Playback and record channels, respectively.
-    unsigned int channelOffset[2];    // Playback and record, respectively.
-    unsigned long latency[2];         // Playback and record, respectively.
-    RtAudioFormat userFormat;
-    RtAudioFormat deviceFormat[2];    // Playback and record, respectively.
-    StreamMutex mutex;
-    CallbackInfo callbackInfo;
-    ConvertInfo convertInfo[2];
-    double streamTime;         // Number of elapsed seconds since the stream started.
-
-#if defined(HAVE_GETTIMEOFDAY)
-    struct timeval lastTickTimestamp;
-#endif
-
-    RtApiStream()
-      :apiHandle(0), deviceBuffer(0) { device[0] = 11111; device[1] = 11111; }
-  };
-
-  typedef S24 Int24;
-  typedef signed short Int16;
-  typedef signed int Int32;
-  typedef float Float32;
-  typedef double Float64;
-
-  std::ostringstream errorStream_;
-  std::string errorText_;
-  bool showWarnings_;
-  RtApiStream stream_;
-  bool firstErrorOccurred_;
-
-  /*!
-    Protected, api-specific method that attempts to open a device
-    with the given parameters.  This function MUST be implemented by
-    all subclasses.  If an error is encountered during the probe, a
-    "warning" message is reported and FAILURE is returned. A
-    successful probe is indicated by a return value of SUCCESS.
-  */
-  virtual bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                                unsigned int firstChannel, unsigned int sampleRate,
-                                RtAudioFormat format, unsigned int *bufferSize,
-                                RtAudio::StreamOptions *options );
-
-  //! A protected function used to increment the stream time.
-  void tickStreamTime( void );
-
-  //! Protected common method to clear an RtApiStream structure.
-  void clearStreamInfo();
-
-  /*!
-    Protected common method that throws an RtAudioError (type =
-    INVALID_USE) if a stream is not open.
-  */
-  void verifyStream( void );
-
-  //! Protected common error method to allow global control over error handling.
-  void error( RtAudioError::Type type );
-
-  /*!
-    Protected method used to perform format, channel number, and/or interleaving
-    conversions between the user and device buffers.
-  */
-  void convertBuffer( char *outBuffer, char *inBuffer, ConvertInfo &info );
-
-  //! Protected common method used to perform byte-swapping on buffers.
-  void byteSwapBuffer( char *buffer, unsigned int samples, RtAudioFormat format );
-
-  //! Protected common method that returns the number of bytes for a given format.
-  unsigned int formatBytes( RtAudioFormat format );
-
-  //! Protected common method that sets up the parameters for buffer conversion.
-  void setConvertInfo( StreamMode mode, unsigned int firstChannel );
-};
-
-// **************************************************************** //
-//
-// Inline RtAudio definitions.
-//
-// **************************************************************** //
-
-inline RtAudio::Api RtAudio :: getCurrentApi( void ) throw() { return rtapi_->getCurrentApi(); }
-inline unsigned int RtAudio :: getDeviceCount( void ) throw() { return rtapi_->getDeviceCount(); }
-inline RtAudio::DeviceInfo RtAudio :: getDeviceInfo( unsigned int device ) { return rtapi_->getDeviceInfo( device ); }
-inline unsigned int RtAudio :: getDefaultInputDevice( void ) throw() { return rtapi_->getDefaultInputDevice(); }
-inline unsigned int RtAudio :: getDefaultOutputDevice( void ) throw() { return rtapi_->getDefaultOutputDevice(); }
-inline void RtAudio :: closeStream( void ) throw() { return rtapi_->closeStream(); }
-inline void RtAudio :: startStream( void ) { return rtapi_->startStream(); }
-inline void RtAudio :: stopStream( void )  { return rtapi_->stopStream(); }
-inline void RtAudio :: abortStream( void ) { return rtapi_->abortStream(); }
-inline bool RtAudio :: isStreamOpen( void ) const throw() { return rtapi_->isStreamOpen(); }
-inline bool RtAudio :: isStreamRunning( void ) const throw() { return rtapi_->isStreamRunning(); }
-inline long RtAudio :: getStreamLatency( void ) { return rtapi_->getStreamLatency(); }
-inline unsigned int RtAudio :: getStreamSampleRate( void ) { return rtapi_->getStreamSampleRate(); }
-inline double RtAudio :: getStreamTime( void ) { return rtapi_->getStreamTime(); }
-inline void RtAudio :: setStreamTime( double time ) { return rtapi_->setStreamTime( time ); }
-inline void RtAudio :: showWarnings( bool value ) throw() { rtapi_->showWarnings( value ); }
-
-// RtApi Subclass prototypes.
-
-#if defined(__MACOSX_CORE__)
-
-#include <CoreAudio/AudioHardware.h>
-
-class RtApiCore: public RtApi
-{
-public:
-
-  RtApiCore();
-  ~RtApiCore();
-  RtAudio::Api getCurrentApi( void ) { return RtAudio::MACOSX_CORE; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  unsigned int getDefaultOutputDevice( void );
-  unsigned int getDefaultInputDevice( void );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-  long getStreamLatency( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  bool callbackEvent( AudioDeviceID deviceId,
-                      const AudioBufferList *inBufferList,
-                      const AudioBufferList *outBufferList );
-
-  private:
-
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-  static const char* getErrorCode( OSStatus code );
-};
-
-#endif
-
-#if defined(__UNIX_JACK__)
-
-class RtApiJack: public RtApi
-{
-public:
-
-  RtApiJack();
-  ~RtApiJack();
-  RtAudio::Api getCurrentApi( void ) { return RtAudio::UNIX_JACK; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-  long getStreamLatency( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  bool callbackEvent( unsigned long nframes );
-
-  private:
-
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-};
-
-#endif
-
-#if defined(__WINDOWS_ASIO__)
-
-class RtApiAsio: public RtApi
-{
-public:
-
-  RtApiAsio();
-  ~RtApiAsio();
-  RtAudio::Api getCurrentApi( void ) { return RtAudio::WINDOWS_ASIO; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-  long getStreamLatency( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  bool callbackEvent( long bufferIndex );
-
-  private:
-
-  std::vector<RtAudio::DeviceInfo> devices_;
-  void saveDeviceInfo( void );
-  bool coInitialized_;
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-};
-
-#endif
-
-#if defined(__WINDOWS_DS__)
-
-class RtApiDs: public RtApi
-{
-public:
-
-  RtApiDs();
-  ~RtApiDs();
-  RtAudio::Api getCurrentApi( void ) { return RtAudio::WINDOWS_DS; }
-  unsigned int getDeviceCount( void );
-  unsigned int getDefaultOutputDevice( void );
-  unsigned int getDefaultInputDevice( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-  long getStreamLatency( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  void callbackEvent( void );
-
-  private:
-
-  bool coInitialized_;
-  bool buffersRolling;
-  long duplexPrerollBytes;
-  std::vector<struct DsDevice> dsDevices;
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-};
-
-#endif
-
-#if defined(__WINDOWS_WASAPI__)
-
-struct IMMDeviceEnumerator;
-
-class RtApiWasapi : public RtApi
-{
-public:
-  RtApiWasapi();
-  ~RtApiWasapi();
-
-  RtAudio::Api getCurrentApi( void ) { return RtAudio::WINDOWS_WASAPI; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  unsigned int getDefaultOutputDevice( void );
-  unsigned int getDefaultInputDevice( void );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-
-private:
-  bool coInitialized_;
-  IMMDeviceEnumerator* deviceEnumerator_;
-
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int* bufferSize,
-                        RtAudio::StreamOptions* options );
-
-  static DWORD WINAPI runWasapiThread( void* wasapiPtr );
-  static DWORD WINAPI stopWasapiThread( void* wasapiPtr );
-  static DWORD WINAPI abortWasapiThread( void* wasapiPtr );
-  void wasapiThread();
-};
-
-#endif
-
-#if defined(__LINUX_ALSA__)
-
-class RtApiAlsa: public RtApi
-{
-public:
-
-  RtApiAlsa();
-  ~RtApiAlsa();
-  RtAudio::Api getCurrentApi() { return RtAudio::LINUX_ALSA; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  void callbackEvent( void );
-
-  private:
-
-  std::vector<RtAudio::DeviceInfo> devices_;
-  void saveDeviceInfo( void );
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-};
-
-#endif
-
-#if defined(__LINUX_PULSE__)
-
-class RtApiPulse: public RtApi
-{
-public:
-  ~RtApiPulse();
-  RtAudio::Api getCurrentApi() { return RtAudio::LINUX_PULSE; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  void callbackEvent( void );
-
-  private:
-
-  std::vector<RtAudio::DeviceInfo> devices_;
-  void saveDeviceInfo( void );
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-};
-
-#endif
-
-#if defined(__LINUX_OSS__)
-
-class RtApiOss: public RtApi
-{
-public:
-
-  RtApiOss();
-  ~RtApiOss();
-  RtAudio::Api getCurrentApi() { return RtAudio::LINUX_OSS; }
-  unsigned int getDeviceCount( void );
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int device );
-  void closeStream( void );
-  void startStream( void );
-  void stopStream( void );
-  void abortStream( void );
-
-  // This function is intended for internal use only.  It must be
-  // public because it is called by the internal callback handler,
-  // which is not a member of RtAudio.  External use of this function
-  // will most likely produce highly undesireable results!
-  void callbackEvent( void );
-
-  private:
-
-  bool probeDeviceOpen( unsigned int device, StreamMode mode, unsigned int channels,
-                        unsigned int firstChannel, unsigned int sampleRate,
-                        RtAudioFormat format, unsigned int *bufferSize,
-                        RtAudio::StreamOptions *options );
-};
-
-#endif
-
-#if defined(__RTAUDIO_DUMMY__)
-
-class RtApiDummy: public RtApi
-{
-public:
-
-  RtApiDummy() { errorText_ = "RtApiDummy: This class provides no functionality."; error( RtAudioError::WARNING ); }
-  RtAudio::Api getCurrentApi( void ) { return RtAudio::RTAUDIO_DUMMY; }
-  unsigned int getDeviceCount( void ) { return 0; }
-  RtAudio::DeviceInfo getDeviceInfo( unsigned int /*device*/ ) { RtAudio::DeviceInfo info; return info; }
-  void closeStream( void ) {}
-  void startStream( void ) {}
-  void stopStream( void ) {}
-  void abortStream( void ) {}
-
-  private:
-
-  bool probeDeviceOpen( unsigned int /*device*/, StreamMode /*mode*/, unsigned int /*channels*/,
-                        unsigned int /*firstChannel*/, unsigned int /*sampleRate*/,
-                        RtAudioFormat /*format*/, unsigned int * /*bufferSize*/,
-                        RtAudio::StreamOptions * /*options*/ ) { return false; }
-};
-
-#endif
-
-#endif
-
-// Indentation settings for Vim and Emacs
-//
-// Local Variables:
-// c-basic-offset: 2
-// indent-tabs-mode: nil
-// End:
-//
-// vim: et sts=2 sw=2
-
-#endif // RTAUDIO_ENABLED -GODOT-
diff --git a/thirdparty/squish/Add-Decompress-Bc5-to-Squish.patch b/thirdparty/squish/Add-Decompress-Bc5-to-Squish.patch
deleted file mode 100644
index 1e06a8d318..0000000000
--- a/thirdparty/squish/Add-Decompress-Bc5-to-Squish.patch
+++ /dev/null
@@ -1,143 +0,0 @@
-From 7b64cc4c8b0be0443741483bf65909f5140179c0 Mon Sep 17 00:00:00 2001
-From: Orkun <orkuntezerm@gmail.com>
-Date: Sun, 19 Nov 2017 02:24:31 +0300
-Subject: [PATCH] Fix #12220: Add Decompress Bc5 to Squish
-
-This Commit fixes the corrupted file preview described in #12220.
-Added DecompressColourBc5 function to squish.
----
- thirdparty/squish/colourblock.cpp | 85 +++++++++++++++++++++++++++++++++++++++
- thirdparty/squish/colourblock.h   |  3 ++
- thirdparty/squish/squish.cpp      |  8 +++-
- 3 files changed, 95 insertions(+), 1 deletion(-)
-
-diff --git a/thirdparty/squish/colourblock.cpp b/thirdparty/squish/colourblock.cpp
-index af8b98036..3de46382c 100644
---- a/thirdparty/squish/colourblock.cpp
-+++ b/thirdparty/squish/colourblock.cpp
-@@ -211,4 +211,89 @@ void DecompressColour( u8* rgba, void const* block, bool isDxt1 )
-     }
- }
- 
-+// -- Godot start --
-+void DecompressColourBc5( u8* rgba, void const* block)
-+{
-+    // get the block bytes
-+    u8 const* bytes = reinterpret_cast< u8 const* >( block );
-+
-+    // unpack the endpoints
-+    u8 codes[16];
-+    int red_0 = bytes[0];
-+    int red_1 = bytes[1];
-+
-+    codes[0] = red_0;
-+    codes[1] = red_1;
-+    codes[6] = 0.0f;
-+    codes[7] = 1.0f;
-+    // generate the midpoints
-+    if(red_0 > red_1)
-+    {
-+        for( int i = 2; i < 8; ++i )
-+        {
-+            codes[i] = ((8-i)*red_0 + (i-1)*red_1)/7;
-+        }
-+    }
-+    else
-+    {
-+        for( int i = 2; i < 6; ++i )
-+        {
-+            codes[i] = ((6-i)*red_0 + (i-1)*red_1)/5;
-+        }
-+    }
-+
-+    int green_0 = bytes[8];
-+    int green_1 = bytes[9];
-+
-+    codes[0 + 8] = green_0;
-+    codes[1 + 8] = green_1;
-+    codes[6 + 8] = 0.0f;
-+    codes[7 + 8] = 1.0f;
-+    // generate the midpoints
-+    if(green_0 > green_1)
-+    {
-+        for( int i = 2; i < 8; ++i )
-+        {
-+            codes[i + 8] = ((8-i)*green_0 + (i-1)*green_1)/7;
-+        }
-+    }
-+    else
-+    {
-+        for( int i = 2; i < 6; ++i )
-+        {
-+            codes[i + 8] = ((6-i)*green_0 + (i-1)*green_1)/5;
-+        }
-+    }
-+
-+    u8 indices[32];
-+    for( int i = 0; i < 4; ++i )
-+    {
-+        u8 packed = bytes[2 + i];
-+        u8* red_ind = indices + 4*i;
-+
-+        red_ind[0] = packed & 0x3;
-+        red_ind[1] = ( packed >> 2 ) & 0x3;
-+        red_ind[2] = ( packed >> 4 ) & 0x3;
-+        red_ind[3] = ( packed >> 6 ) & 0x3;
-+
-+        packed = bytes[8 + i];
-+        u8* green_ind = indices + 4*i + 16;
-+        green_ind[0] = packed & 0x3;
-+        green_ind[1] = ( packed >> 2 ) & 0x3;
-+        green_ind[2] = ( packed >> 4 ) & 0x3;
-+        green_ind[3] = ( packed >> 6 ) & 0x3;
-+    }
-+
-+    // store out the colours
-+    for( int i = 0; i < 16; ++i )
-+    {
-+        rgba[4*i] = codes[indices[i]];
-+        rgba[4*i +1] = codes[indices[i + 16] + 8];
-+        rgba[4*i +2] = 0;
-+        rgba[4*i +3] = 255;
-+    }
-+}
-+// -- GODOT end --
-+
-+
- } // namespace squish
-diff --git a/thirdparty/squish/colourblock.h b/thirdparty/squish/colourblock.h
-index fee2cd7c5..3cb9b7e3b 100644
---- a/thirdparty/squish/colourblock.h
-+++ b/thirdparty/squish/colourblock.h
-@@ -35,6 +35,9 @@ void WriteColourBlock3( Vec3::Arg start, Vec3::Arg end, u8 const* indices, void*
- void WriteColourBlock4( Vec3::Arg start, Vec3::Arg end, u8 const* indices, void* block );
- 
- void DecompressColour( u8* rgba, void const* block, bool isDxt1 );
-+// -- GODOT start --
-+void DecompressColourBc5( u8* rgba, void const* block );
-+// -- GODOT end --
- 
- } // namespace squish
- 
-diff --git a/thirdparty/squish/squish.cpp b/thirdparty/squish/squish.cpp
-index 1d22a64ad..fd11a147d 100644
---- a/thirdparty/squish/squish.cpp
-+++ b/thirdparty/squish/squish.cpp
-@@ -135,7 +135,13 @@ void Decompress( u8* rgba, void const* block, int flags )
-         colourBlock = reinterpret_cast< u8 const* >( block ) + 8;
- 
-     // decompress colour
--    DecompressColour( rgba, colourBlock, ( flags & kDxt1 ) != 0 );
-+    // -- GODOT start --
-+    //DecompressColour( rgba, colourBlock, ( flags & kDxt1 ) != 0 );
-+    if(( flags & ( kBc5 ) ) != 0)
-+        DecompressColourBc5( rgba, colourBlock);
-+    else
-+        DecompressColour( rgba, colourBlock, ( flags & kDxt1 ) != 0 );
-+    // -- GODOT end --
- 
-     // decompress alpha separately if necessary
-     if( ( flags & kDxt3 ) != 0 )
--- 
-2.13.6
-
diff --git a/thirdparty/squish/colourblock.cpp b/thirdparty/squish/colourblock.cpp
index 3de46382c0..3d87adaa77 100644
--- a/thirdparty/squish/colourblock.cpp
+++ b/thirdparty/squish/colourblock.cpp
@@ -24,6 +24,9 @@
    -------------------------------------------------------------------------- */
 
 #include "colourblock.h"
+// -- Godot start --
+#include "alpha.h"
+// -- Godot end --
 
 namespace squish {
 
@@ -214,83 +217,17 @@ void DecompressColour( u8* rgba, void const* block, bool isDxt1 )
 // -- Godot start --
 void DecompressColourBc5( u8* rgba, void const* block)
 {
-    // get the block bytes
-    u8 const* bytes = reinterpret_cast< u8 const* >( block );
-
-    // unpack the endpoints
-    u8 codes[16];
-    int red_0 = bytes[0];
-    int red_1 = bytes[1];
-
-    codes[0] = red_0;
-    codes[1] = red_1;
-    codes[6] = 0.0f;
-    codes[7] = 1.0f;
-    // generate the midpoints
-    if(red_0 > red_1)
-    {
-        for( int i = 2; i < 8; ++i )
-        {
-            codes[i] = ((8-i)*red_0 + (i-1)*red_1)/7;
-        }
-    }
-    else
-    {
-        for( int i = 2; i < 6; ++i )
-        {
-            codes[i] = ((6-i)*red_0 + (i-1)*red_1)/5;
-        }
-    }
-
-    int green_0 = bytes[8];
-    int green_1 = bytes[9];
-
-    codes[0 + 8] = green_0;
-    codes[1 + 8] = green_1;
-    codes[6 + 8] = 0.0f;
-    codes[7 + 8] = 1.0f;
-    // generate the midpoints
-    if(green_0 > green_1)
-    {
-        for( int i = 2; i < 8; ++i )
-        {
-            codes[i + 8] = ((8-i)*green_0 + (i-1)*green_1)/7;
-        }
-    }
-    else
-    {
-        for( int i = 2; i < 6; ++i )
-        {
-            codes[i + 8] = ((6-i)*green_0 + (i-1)*green_1)/5;
-        }
-    }
-
-    u8 indices[32];
-    for( int i = 0; i < 4; ++i )
-    {
-        u8 packed = bytes[2 + i];
-        u8* red_ind = indices + 4*i;
-
-        red_ind[0] = packed & 0x3;
-        red_ind[1] = ( packed >> 2 ) & 0x3;
-        red_ind[2] = ( packed >> 4 ) & 0x3;
-        red_ind[3] = ( packed >> 6 ) & 0x3;
-
-        packed = bytes[8 + i];
-        u8* green_ind = indices + 4*i + 16;
-        green_ind[0] = packed & 0x3;
-        green_ind[1] = ( packed >> 2 ) & 0x3;
-        green_ind[2] = ( packed >> 4 ) & 0x3;
-        green_ind[3] = ( packed >> 6 ) & 0x3;
+    void const* rblock = block;
+    void const* gblock = reinterpret_cast< u8 const* >( block ) + 8;
+    DecompressAlphaDxt5(rgba,rblock);
+    for ( int i = 0; i < 16; ++i ) {
+        rgba[i*4] = rgba[i*4 + 3];
     }
-
-    // store out the colours
-    for( int i = 0; i < 16; ++i )
-    {
-        rgba[4*i] = codes[indices[i]];
-        rgba[4*i +1] = codes[indices[i + 16] + 8];
-        rgba[4*i +2] = 0;
-        rgba[4*i +3] = 255;
+    DecompressAlphaDxt5(rgba,gblock);
+    for ( int i = 0; i < 16; ++i ) {
+        rgba[i*4+1] = rgba[i*4 + 3];
+        rgba[i*4 + 2] = 0;
+        rgba[i*4 + 3] = 255;
     }
 }
 // -- GODOT end --
diff --git a/thirdparty/squish/godot-changes.patch b/thirdparty/squish/godot-changes.patch
new file mode 100644
index 0000000000..ef7bafb4b4
--- /dev/null
+++ b/thirdparty/squish/godot-changes.patch
@@ -0,0 +1,102 @@
+diff --git a/thirdparty/squish/colourblock.cpp b/thirdparty/squish/colourblock.cpp
+index af8b98036..3d87adaa7 100644
+--- a/thirdparty/squish/colourblock.cpp
++++ b/thirdparty/squish/colourblock.cpp
+@@ -24,6 +24,9 @@
+    -------------------------------------------------------------------------- */
+ 
+ #include "colourblock.h"
++// -- Godot start --
++#include "alpha.h"
++// -- Godot end --
+ 
+ namespace squish {
+ 
+@@ -211,4 +214,23 @@ void DecompressColour( u8* rgba, void const* block, bool isDxt1 )
+     }
+ }
+ 
++// -- Godot start --
++void DecompressColourBc5( u8* rgba, void const* block)
++{
++    void const* rblock = block;
++    void const* gblock = reinterpret_cast< u8 const* >( block ) + 8;
++    DecompressAlphaDxt5(rgba,rblock);
++    for ( int i = 0; i < 16; ++i ) {
++        rgba[i*4] = rgba[i*4 + 3];
++    }
++    DecompressAlphaDxt5(rgba,gblock);
++    for ( int i = 0; i < 16; ++i ) {
++        rgba[i*4+1] = rgba[i*4 + 3];
++        rgba[i*4 + 2] = 0;
++        rgba[i*4 + 3] = 255;
++    }
++}
++// -- GODOT end --
++
++
+ } // namespace squish
+diff --git a/thirdparty/squish/colourblock.h b/thirdparty/squish/colourblock.h
+index fee2cd7c5..3cb9b7e3b 100644
+--- a/thirdparty/squish/colourblock.h
++++ b/thirdparty/squish/colourblock.h
+@@ -35,6 +35,9 @@ void WriteColourBlock3( Vec3::Arg start, Vec3::Arg end, u8 const* indices, void*
+ void WriteColourBlock4( Vec3::Arg start, Vec3::Arg end, u8 const* indices, void* block );
+ 
+ void DecompressColour( u8* rgba, void const* block, bool isDxt1 );
++// -- GODOT start --
++void DecompressColourBc5( u8* rgba, void const* block );
++// -- GODOT end --
+ 
+ } // namespace squish
+ 
+diff --git a/thirdparty/squish/config.h b/thirdparty/squish/config.h
+index 92edefe96..05f8d7259 100644
+--- a/thirdparty/squish/config.h
++++ b/thirdparty/squish/config.h
+@@ -32,6 +32,26 @@
+ #endif
+ 
+ // Set to 1 or 2 when building squish to use SSE or SSE2 instructions.
++// -- GODOT start --
++#ifdef _MSC_VER
++  #if defined(_M_IX86_FP)
++    #if _M_IX86_FP >= 2
++      #define SQUISH_USE_SSE 2
++    #elif _M_IX86_FP >= 1
++      #define SQUISH_USE_SSE 1
++    #endif
++  #elif defined(_M_X64)
++    #define SQUISH_USE_SSE 2
++  #endif
++#else
++  #if defined(__SSE2__)
++    #define SQUISH_USE_SSE 2
++  #elif defined(__SSE__)
++    #define SQUISH_USE_SSE 1
++  #endif
++#endif
++// -- GODOT end --
++
+ #ifndef SQUISH_USE_SSE
+ #define SQUISH_USE_SSE 0
+ #endif
+diff --git a/thirdparty/squish/squish.cpp b/thirdparty/squish/squish.cpp
+index 1d22a64ad..fd11a147d 100644
+--- a/thirdparty/squish/squish.cpp
++++ b/thirdparty/squish/squish.cpp
+@@ -135,7 +135,13 @@ void Decompress( u8* rgba, void const* block, int flags )
+         colourBlock = reinterpret_cast< u8 const* >( block ) + 8;
+ 
+     // decompress colour
+-    DecompressColour( rgba, colourBlock, ( flags & kDxt1 ) != 0 );
++    // -- GODOT start --
++    //DecompressColour( rgba, colourBlock, ( flags & kDxt1 ) != 0 );
++    if(( flags & ( kBc5 ) ) != 0)
++        DecompressColourBc5( rgba, colourBlock);
++    else
++        DecompressColour( rgba, colourBlock, ( flags & kDxt1 ) != 0 );
++    // -- GODOT end --
+ 
+     // decompress alpha separately if necessary
+     if( ( flags & kDxt3 ) != 0 )
diff --git a/thirdparty/tinyexr/tinyexr.h b/thirdparty/tinyexr/tinyexr.h
index 990c8ee142..3c19391850 100644
--- a/thirdparty/tinyexr/tinyexr.h
+++ b/thirdparty/tinyexr/tinyexr.h
@@ -116,6 +116,8 @@ extern "C" {
 #define TINYEXR_ERROR_UNSUPPORTED_FORMAT (-7)
 #define TINYEXR_ERROR_INVALID_HEADER (-8)
 #define TINYEXR_ERROR_UNSUPPORTED_FEATURE (-9)
+#define TINYEXR_ERROR_CANT_WRITE_FILE (-10)
+#define TINYEXR_ERROR_SERIALZATION_FAILED (-11)
 
 // @note { OpenEXR file format: http://www.openexr.com/openexrfilelayout.pdf }
 
@@ -272,6 +274,12 @@ extern int LoadEXR(float **out_rgba, int *width, int *height,
                    const char *filename, const char **err);
 
 // @deprecated { to be removed. }
+// Simple wrapper API for ParseEXRHeaderFromFile.
+// checking given file is a EXR file(by just look up header)
+// @return TINYEXR_SUCCEES for EXR image, TINYEXR_ERROR_INVALID_HEADER for others
+extern int IsEXR(const char *filename);
+
+// @deprecated { to be removed. }
 // Saves single-frame OpenEXR image. Assume EXR image contains RGB(A) channels.
 // components must be 1(Grayscale), 3(RGB) or 4(RGBA).
 // Input image format is: `float x width x height`, or `float x RGB(A) x width x
@@ -279,9 +287,12 @@ extern int LoadEXR(float **out_rgba, int *width, int *height,
 // Save image as fp16(HALF) format when `save_as_fp16` is positive non-zero
 // value.
 // Save image as fp32(FLOAT) format when `save_as_fp16` is 0.
+// Use ZIP compression by default.
+// Returns negative value and may set error string in `err` when there's an
+// error
 extern int SaveEXR(const float *data, const int width, const int height,
                    const int components, const int save_as_fp16,
-                   const char *filename);
+                   const char *filename, const char **err);
 
 // Initialize EXRHeader struct
 extern void InitEXRHeader(EXRHeader *exr_header);
@@ -400,9 +411,9 @@ extern int SaveEXRImageToFile(const EXRImage *image,
 
 // Saves multi-channel, single-frame OpenEXR image to a memory.
 // Image is compressed using EXRImage.compression value.
-// Return the number of bytes if succes.
-// Returns negative value and may set error string in `err` when there's an
-// error
+// Return the number of bytes if success.
+// Return zero and will set error string in `err` when there's an
+// error.
 // When there was an error message, Application must free `err` with
 // FreeEXRErrorMessage()
 extern size_t SaveEXRImageToMemory(const EXRImage *image,
@@ -524,15 +535,23 @@ namespace miniz {
 #if __has_warning("-Wcomma")
 #pragma clang diagnostic ignored "-Wcomma"
 #endif
+
 #if __has_warning("-Wmacro-redefined")
 #pragma clang diagnostic ignored "-Wmacro-redefined"
 #endif
+
 #if __has_warning("-Wcast-qual")
 #pragma clang diagnostic ignored "-Wcast-qual"
 #endif
+
 #if __has_warning("-Wzero-as-null-pointer-constant")
 #pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
 #endif
+
+#if __has_warning("-Wtautological-constant-compare")
+#pragma clang diagnostic ignored "-Wtautological-constant-compare"
+#endif
+
 #endif
 
 /* miniz.c v1.15 - public domain deflate/inflate, zlib-subset, ZIP
@@ -2518,10 +2537,10 @@ tinfl_status tinfl_decompress(tinfl_decompressor *r,
   tinfl_status status = TINFL_STATUS_FAILED;
   mz_uint32 num_bits, dist, counter, num_extra;
   tinfl_bit_buf_t bit_buf;
-  const mz_uint8 *pIn_buf_cur = pIn_buf_next, *const pIn_buf_end =
-                                                  pIn_buf_next + *pIn_buf_size;
-  mz_uint8 *pOut_buf_cur = pOut_buf_next, *const pOut_buf_end =
-                                              pOut_buf_next + *pOut_buf_size;
+  const mz_uint8 *pIn_buf_cur = pIn_buf_next,
+                 *const pIn_buf_end = pIn_buf_next + *pIn_buf_size;
+  mz_uint8 *pOut_buf_cur = pOut_buf_next,
+           *const pOut_buf_end = pOut_buf_next + *pOut_buf_size;
   size_t out_buf_size_mask =
              (decomp_flags & TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF)
                  ? (size_t)-1
@@ -2938,9 +2957,8 @@ void *tinfl_decompress_mem_to_heap(const void *pSrc_buf, size_t src_buf_len,
     tinfl_status status = tinfl_decompress(
         &decomp, (const mz_uint8 *)pSrc_buf + src_buf_ofs, &src_buf_size,
         (mz_uint8 *)pBuf, pBuf ? (mz_uint8 *)pBuf + *pOut_len : NULL,
-        &dst_buf_size,
-        (flags & ~TINFL_FLAG_HAS_MORE_INPUT) |
-            TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF);
+        &dst_buf_size, (flags & ~TINFL_FLAG_HAS_MORE_INPUT) |
+                           TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF);
     if ((status < 0) || (status == TINFL_STATUS_NEEDS_MORE_INPUT)) {
       MZ_FREE(pBuf);
       *pOut_len = 0;
@@ -2993,8 +3011,9 @@ int tinfl_decompress_mem_to_callback(const void *pIn_buf, size_t *pIn_buf_size,
     tinfl_status status =
         tinfl_decompress(&decomp, (const mz_uint8 *)pIn_buf + in_buf_ofs,
                          &in_buf_size, pDict, pDict + dict_ofs, &dst_buf_size,
-                         (flags & ~(TINFL_FLAG_HAS_MORE_INPUT |
-                                    TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF)));
+                         (flags &
+                          ~(TINFL_FLAG_HAS_MORE_INPUT |
+                            TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF)));
     in_buf_ofs += in_buf_size;
     if ((dst_buf_size) &&
         (!(*pPut_buf_func)(pDict + dict_ofs, (int)dst_buf_size, pPut_buf_user)))
@@ -3119,9 +3138,7 @@ static const mz_uint8 s_tdefl_large_dist_extra[128] = {
 
 // Radix sorts tdefl_sym_freq[] array by 16-bit key m_key. Returns ptr to sorted
 // values.
-typedef struct {
-  mz_uint16 m_key, m_sym_index;
-} tdefl_sym_freq;
+typedef struct { mz_uint16 m_key, m_sym_index; } tdefl_sym_freq;
 static tdefl_sym_freq *tdefl_radix_sort_syms(mz_uint num_syms,
                                              tdefl_sym_freq *pSyms0,
                                              tdefl_sym_freq *pSyms1) {
@@ -5265,10 +5282,9 @@ mz_bool mz_zip_reader_file_stat(mz_zip_archive *pZip, mz_uint file_index,
   n = MZ_READ_LE16(p + MZ_ZIP_CDH_COMMENT_LEN_OFS);
   n = MZ_MIN(n, MZ_ZIP_MAX_ARCHIVE_FILE_COMMENT_SIZE - 1);
   pStat->m_comment_size = n;
-  memcpy(pStat->m_comment,
-         p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE +
-             MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS) +
-             MZ_READ_LE16(p + MZ_ZIP_CDH_EXTRA_LEN_OFS),
+  memcpy(pStat->m_comment, p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE +
+                               MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS) +
+                               MZ_READ_LE16(p + MZ_ZIP_CDH_EXTRA_LEN_OFS),
          n);
   pStat->m_comment[n] = '\0';
 
@@ -6988,6 +7004,10 @@ static void swap2(unsigned short *val) {
 #endif
 }
 
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wunused-function"
+#endif
 static void cpy4(int *dst_val, const int *src_val) {
   unsigned char *dst = reinterpret_cast<unsigned char *>(dst_val);
   const unsigned char *src = reinterpret_cast<const unsigned char *>(src_val);
@@ -7018,6 +7038,10 @@ static void cpy4(float *dst_val, const float *src_val) {
   dst[3] = src[3];
 }
 
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
 static void swap4(unsigned int *val) {
 #ifdef MINIZ_LITTLE_ENDIAN
   (void)val;
@@ -8830,7 +8854,8 @@ static bool getCode(int po, int rlc, long long &c, int &lc, const char *&in,
     if (out + cs > oe) return false;
 
     // Bounds check for safety
-    if ((out - 1) <= ob) return false;
+    // Issue 100.  
+    if ((out - 1) < ob) return false;
     unsigned short s = out[-1];
 
     while (cs-- > 0) *out++ = s;
@@ -10087,9 +10112,10 @@ static bool DecodePixelData(/* out */ unsigned char **out_images,
             unsigned short *outLine =
                 reinterpret_cast<unsigned short *>(out_images[c]);
             if (line_order == 0) {
-              outLine += (y + v) * x_stride;
+              outLine += (size_t(y) + v) * size_t(x_stride);
             } else {
-              outLine += (height - 1 - (y + v)) * x_stride;
+              outLine +=
+                  (size_t(height) - 1 - (size_t(y) + v)) * size_t(x_stride);
             }
 
             for (int u = 0; u < width; u++) {
@@ -10105,9 +10131,10 @@ static bool DecodePixelData(/* out */ unsigned char **out_images,
           } else if (requested_pixel_types[c] == TINYEXR_PIXELTYPE_FLOAT) {
             float *outLine = reinterpret_cast<float *>(out_images[c]);
             if (line_order == 0) {
-              outLine += (y + v) * x_stride;
+              outLine += (size_t(y) + v) * size_t(x_stride);
             } else {
-              outLine += (height - 1 - (y + v)) * x_stride;
+              outLine +=
+                  (size_t(height) - 1 - (size_t(y) + v)) * size_t(x_stride);
             }
 
             if (reinterpret_cast<const unsigned char *>(line_ptr + width) >
@@ -10140,9 +10167,10 @@ static bool DecodePixelData(/* out */ unsigned char **out_images,
 
           float *outLine = reinterpret_cast<float *>(out_images[c]);
           if (line_order == 0) {
-            outLine += (y + v) * x_stride;
+            outLine += (size_t(y) + v) * size_t(x_stride);
           } else {
-            outLine += (height - 1 - (y + v)) * x_stride;
+            outLine +=
+                (size_t(height) - 1 - (size_t(y) + v)) * size_t(x_stride);
           }
 
           if (reinterpret_cast<const unsigned char *>(line_ptr + width) >
@@ -10167,9 +10195,10 @@ static bool DecodePixelData(/* out */ unsigned char **out_images,
           unsigned int *outLine =
               reinterpret_cast<unsigned int *>(out_images[c]);
           if (line_order == 0) {
-            outLine += (y + v) * x_stride;
+            outLine += (size_t(y) + v) * size_t(x_stride);
           } else {
-            outLine += (height - 1 - (y + v)) * x_stride;
+            outLine +=
+                (size_t(height) - 1 - (size_t(y) + v)) * size_t(x_stride);
           }
 
           for (int u = 0; u < width; u++) {
@@ -10707,6 +10736,15 @@ static int DecodeChunk(EXRImage *exr_image, const EXRHeader *exr_header,
   int data_width = exr_header->data_window[2] - exr_header->data_window[0] + 1;
   int data_height = exr_header->data_window[3] - exr_header->data_window[1] + 1;
 
+  if ((data_width < 0) || (data_height < 0)) {
+    if (err) {
+      std::stringstream ss;
+      ss << "Invalid data width or data height: " << data_width << ", " << data_height << std::endl;
+      (*err) += ss.str();
+    }
+    return TINYEXR_ERROR_INVALID_DATA;
+  }
+
   size_t num_blocks = offsets.size();
 
   std::vector<size_t> channel_offset_list;
@@ -10802,6 +10840,17 @@ static int DecodeChunk(EXRImage *exr_image, const EXRHeader *exr_header,
     }
   } else {  // scanline format
 
+    // Don't allow too large image(256GB * pixel_data_size or more). Workaround for #104.
+    size_t data_len = size_t(data_width) * size_t(data_height) * size_t(num_channels);
+    if ((data_len == 0) || (data_len >= 0x4000000000)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Image data size is zero or too large: width = " << data_width << ", height = " << data_height << ", channels = " << num_channels << std::endl;
+        (*err) += ss.str();
+      }
+      return TINYEXR_ERROR_INVALID_DATA;
+    }
+
     exr_image->images = tinyexr::AllocateImage(
         num_channels, exr_header->channels, exr_header->requested_pixel_types,
         data_width, data_height);
@@ -11133,21 +11182,52 @@ int LoadEXR(float **out_rgba, int *width, int *height, const char *filename,
     }
   }
 
-  if ((idxA == 0) && (idxR == -1) && (idxG == -1) && (idxB == -1)) {
-    // Alpha channel only.
+  if (exr_header.num_channels == 1) {
+    // Grayscale channel only.
 
-    if (exr_header.tiled) {
-      // todo.implement this
-    }
     (*out_rgba) = reinterpret_cast<float *>(
         malloc(4 * sizeof(float) * static_cast<size_t>(exr_image.width) *
                static_cast<size_t>(exr_image.height)));
-    for (int i = 0; i < exr_image.width * exr_image.height; i++) {
-      const float val = reinterpret_cast<float **>(exr_image.images)[0][i];
-      (*out_rgba)[4 * i + 0] = val;
-      (*out_rgba)[4 * i + 1] = val;
-      (*out_rgba)[4 * i + 2] = val;
-      (*out_rgba)[4 * i + 3] = val;
+
+    if (exr_header.tiled) {
+
+      for (int it = 0; it < exr_image.num_tiles; it++) {
+        for (int j = 0; j < exr_header.tile_size_y; j++) {
+          for (int i = 0; i < exr_header.tile_size_x; i++) {
+            const int ii =
+                exr_image.tiles[it].offset_x * exr_header.tile_size_x + i;
+            const int jj =
+                exr_image.tiles[it].offset_y * exr_header.tile_size_y + j;
+            const int idx = ii + jj * exr_image.width;
+
+            // out of region check.
+            if (ii >= exr_image.width) {
+              continue;
+            }
+            if (jj >= exr_image.height) {
+              continue;
+            }
+            const int srcIdx = i + j * exr_header.tile_size_x;
+            unsigned char **src = exr_image.tiles[it].images;
+            (*out_rgba)[4 * idx + 0] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+            (*out_rgba)[4 * idx + 1] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+            (*out_rgba)[4 * idx + 2] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+            (*out_rgba)[4 * idx + 3] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+          }
+        }
+      }
+    } else {
+      for (int i = 0; i < exr_image.width * exr_image.height; i++) {
+        const float val = reinterpret_cast<float **>(exr_image.images)[0][i];
+        (*out_rgba)[4 * i + 0] = val;
+        (*out_rgba)[4 * i + 1] = val;
+        (*out_rgba)[4 * i + 2] = val;
+        (*out_rgba)[4 * i + 3] = val;
+      }
     }
   } else {
     // Assume RGB(A)
@@ -11179,7 +11259,7 @@ int LoadEXR(float **out_rgba, int *width, int *height, const char *filename,
                static_cast<size_t>(exr_image.height)));
     if (exr_header.tiled) {
       for (int it = 0; it < exr_image.num_tiles; it++) {
-        for (int j = 0; j < exr_header.tile_size_y; j++)
+        for (int j = 0; j < exr_header.tile_size_y; j++) {
           for (int i = 0; i < exr_header.tile_size_x; i++) {
             const int ii =
                 exr_image.tiles[it].offset_x * exr_header.tile_size_x + i;
@@ -11209,6 +11289,7 @@ int LoadEXR(float **out_rgba, int *width, int *height, const char *filename,
               (*out_rgba)[4 * idx + 3] = 1.0;
             }
           }
+        }
       }
     } else {
       for (int i = 0; i < exr_image.width * exr_image.height; i++) {
@@ -11237,6 +11318,17 @@ int LoadEXR(float **out_rgba, int *width, int *height, const char *filename,
   return TINYEXR_SUCCESS;
 }
 
+int IsEXR(const char *filename) {
+  EXRVersion exr_version;
+
+  int ret = ParseEXRVersionFromFile(&exr_version, filename);
+  if (ret != TINYEXR_SUCCESS) {
+    return TINYEXR_ERROR_INVALID_HEADER;
+  }
+  
+  return TINYEXR_SUCCESS;
+}
+
 int ParseEXRHeaderFromMemory(EXRHeader *exr_header, const EXRVersion *version,
                              const unsigned char *memory, size_t size,
                              const char **err) {
@@ -11333,41 +11425,129 @@ int LoadEXRFromMemory(float **out_rgba, int *width, int *height,
     }
   }
 
-  if (idxR == -1) {
-    tinyexr::SetErrorMessage("R channel not found", err);
+  // TODO(syoyo): Refactor removing same code as used in LoadEXR().
+  if (exr_header.num_channels == 1) {
+    // Grayscale channel only.
 
-    // @todo { free exr_image }
-    return TINYEXR_ERROR_INVALID_DATA;
-  }
+    (*out_rgba) = reinterpret_cast<float *>(
+        malloc(4 * sizeof(float) * static_cast<size_t>(exr_image.width) *
+               static_cast<size_t>(exr_image.height)));
 
-  if (idxG == -1) {
-    tinyexr::SetErrorMessage("G channel not found", err);
-    // @todo { free exr_image }
-    return TINYEXR_ERROR_INVALID_DATA;
-  }
+    if (exr_header.tiled) {
 
-  if (idxB == -1) {
-    tinyexr::SetErrorMessage("B channel not found", err);
-    // @todo { free exr_image }
-    return TINYEXR_ERROR_INVALID_DATA;
-  }
+      for (int it = 0; it < exr_image.num_tiles; it++) {
+        for (int j = 0; j < exr_header.tile_size_y; j++) {
+          for (int i = 0; i < exr_header.tile_size_x; i++) {
+            const int ii =
+                exr_image.tiles[it].offset_x * exr_header.tile_size_x + i;
+            const int jj =
+                exr_image.tiles[it].offset_y * exr_header.tile_size_y + j;
+            const int idx = ii + jj * exr_image.width;
+
+            // out of region check.
+            if (ii >= exr_image.width) {
+              continue;
+            }
+            if (jj >= exr_image.height) {
+              continue;
+            }
+            const int srcIdx = i + j * exr_header.tile_size_x;
+            unsigned char **src = exr_image.tiles[it].images;
+            (*out_rgba)[4 * idx + 0] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+            (*out_rgba)[4 * idx + 1] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+            (*out_rgba)[4 * idx + 2] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+            (*out_rgba)[4 * idx + 3] =
+                reinterpret_cast<float **>(src)[0][srcIdx];
+          }
+        }
+      }
+    } else {
+      for (int i = 0; i < exr_image.width * exr_image.height; i++) {
+        const float val = reinterpret_cast<float **>(exr_image.images)[0][i];
+        (*out_rgba)[4 * i + 0] = val;
+        (*out_rgba)[4 * i + 1] = val;
+        (*out_rgba)[4 * i + 2] = val;
+        (*out_rgba)[4 * i + 3] = val;
+      }
+    }
+
+  } else {
+    // TODO(syoyo): Support non RGBA image.
+
+    if (idxR == -1) {
+      tinyexr::SetErrorMessage("R channel not found", err);
+
+      // @todo { free exr_image }
+      return TINYEXR_ERROR_INVALID_DATA;
+    }
+
+    if (idxG == -1) {
+      tinyexr::SetErrorMessage("G channel not found", err);
+      // @todo { free exr_image }
+      return TINYEXR_ERROR_INVALID_DATA;
+    }
+
+    if (idxB == -1) {
+      tinyexr::SetErrorMessage("B channel not found", err);
+      // @todo { free exr_image }
+      return TINYEXR_ERROR_INVALID_DATA;
+    }
+
+    (*out_rgba) = reinterpret_cast<float *>(
+        malloc(4 * sizeof(float) * static_cast<size_t>(exr_image.width) *
+               static_cast<size_t>(exr_image.height)));
+
+    if (exr_header.tiled) {
+      for (int it = 0; it < exr_image.num_tiles; it++) {
+        for (int j = 0; j < exr_header.tile_size_y; j++)
+          for (int i = 0; i < exr_header.tile_size_x; i++) {
+            const int ii =
+                exr_image.tiles[it].offset_x * exr_header.tile_size_x + i;
+            const int jj =
+                exr_image.tiles[it].offset_y * exr_header.tile_size_y + j;
+            const int idx = ii + jj * exr_image.width;
 
-  (*out_rgba) = reinterpret_cast<float *>(
-      malloc(4 * sizeof(float) * static_cast<size_t>(exr_image.width) *
-             static_cast<size_t>(exr_image.height)));
-
-  for (int i = 0; i < exr_image.width * exr_image.height; i++) {
-    (*out_rgba)[4 * i + 0] =
-        reinterpret_cast<float **>(exr_image.images)[idxR][i];
-    (*out_rgba)[4 * i + 1] =
-        reinterpret_cast<float **>(exr_image.images)[idxG][i];
-    (*out_rgba)[4 * i + 2] =
-        reinterpret_cast<float **>(exr_image.images)[idxB][i];
-    if (idxA != -1) {
-      (*out_rgba)[4 * i + 3] =
-          reinterpret_cast<float **>(exr_image.images)[idxA][i];
+            // out of region check.
+            if (ii >= exr_image.width) {
+              continue;
+            }
+            if (jj >= exr_image.height) {
+              continue;
+            }
+            const int srcIdx = i + j * exr_header.tile_size_x;
+            unsigned char **src = exr_image.tiles[it].images;
+            (*out_rgba)[4 * idx + 0] =
+                reinterpret_cast<float **>(src)[idxR][srcIdx];
+            (*out_rgba)[4 * idx + 1] =
+                reinterpret_cast<float **>(src)[idxG][srcIdx];
+            (*out_rgba)[4 * idx + 2] =
+                reinterpret_cast<float **>(src)[idxB][srcIdx];
+            if (idxA != -1) {
+              (*out_rgba)[4 * idx + 3] =
+                  reinterpret_cast<float **>(src)[idxA][srcIdx];
+            } else {
+              (*out_rgba)[4 * idx + 3] = 1.0;
+            }
+          }
+      }
     } else {
-      (*out_rgba)[4 * i + 3] = 1.0;
+      for (int i = 0; i < exr_image.width * exr_image.height; i++) {
+        (*out_rgba)[4 * i + 0] =
+            reinterpret_cast<float **>(exr_image.images)[idxR][i];
+        (*out_rgba)[4 * i + 1] =
+            reinterpret_cast<float **>(exr_image.images)[idxG][i];
+        (*out_rgba)[4 * i + 2] =
+            reinterpret_cast<float **>(exr_image.images)[idxB][i];
+        if (idxA != -1) {
+          (*out_rgba)[4 * i + 3] =
+              reinterpret_cast<float **>(exr_image.images)[idxA][i];
+        } else {
+          (*out_rgba)[4 * i + 3] = 1.0;
+        }
+      }
     }
   }
 
@@ -11452,7 +11632,7 @@ size_t SaveEXRImageToMemory(const EXRImage *exr_image,
   if (exr_image == NULL || memory_out == NULL ||
       exr_header->compression_type < 0) {
     tinyexr::SetErrorMessage("Invalid argument for SaveEXRImageToMemory", err);
-    return 0;  // @fixme
+    return 0;
   }
 
 #if !TINYEXR_USE_PIZ
@@ -11623,8 +11803,6 @@ size_t SaveEXRImageToMemory(const EXRImage *exr_image,
           sizeof(
               tinyexr::tinyexr_int64);  // sizeof(header) + sizeof(offsetTable)
 
-  std::vector<unsigned char> data;
-
   std::vector<std::vector<unsigned char> > data_list(
       static_cast<size_t>(num_blocks));
   std::vector<size_t> channel_offset_list(
@@ -11863,9 +12041,9 @@ size_t SaveEXRImageToMemory(const EXRImage *exr_image,
     } else if (exr_header->compression_type == TINYEXR_COMPRESSIONTYPE_PIZ) {
 #if TINYEXR_USE_PIZ
       unsigned int bufLen =
-          1024 + static_cast<unsigned int>(
-                     1.2 * static_cast<unsigned int>(
-                               buf.size()));  // @fixme { compute good bound. }
+          8192 + static_cast<unsigned int>(
+                     2 * static_cast<unsigned int>(
+                             buf.size()));  // @fixme { compute good bound. }
       std::vector<unsigned char> block(bufLen);
       unsigned int outSize = static_cast<unsigned int>(block.size());
 
@@ -11924,13 +12102,12 @@ size_t SaveEXRImageToMemory(const EXRImage *exr_image,
   }  // omp parallel
 
   for (size_t i = 0; i < static_cast<size_t>(num_blocks); i++) {
-    data.insert(data.end(), data_list[i].begin(), data_list[i].end());
-
     offsets[i] = offset;
     tinyexr::swap8(reinterpret_cast<tinyexr::tinyexr_uint64 *>(&offsets[i]));
     offset += data_list[i].size();
   }
 
+  size_t totalSize = static_cast<size_t>(offset);
   {
     memory.insert(
         memory.end(), reinterpret_cast<unsigned char *>(&offsets.at(0)),
@@ -11938,14 +12115,21 @@ size_t SaveEXRImageToMemory(const EXRImage *exr_image,
             sizeof(tinyexr::tinyexr_uint64) * static_cast<size_t>(num_blocks));
   }
 
-  { memory.insert(memory.end(), data.begin(), data.end()); }
-
-  assert(memory.size() > 0);
+  if ( memory.size() == 0 ) {
+    tinyexr::SetErrorMessage("Output memory size is zero", err);
+    return 0;
+  }
 
-  (*memory_out) = static_cast<unsigned char *>(malloc(memory.size()));
+  (*memory_out) = static_cast<unsigned char *>(malloc(totalSize));
   memcpy((*memory_out), &memory.at(0), memory.size());
+  unsigned char *memory_ptr = *memory_out + memory.size();
+
+  for (size_t i = 0; i < static_cast<size_t>(num_blocks); i++) {
+    memcpy(memory_ptr, &data_list[i].at(0), data_list[i].size());
+    memory_ptr += data_list[i].size();
+  }
 
-  return memory.size();  // OK
+  return totalSize;  // OK
 }
 
 int SaveEXRImageToFile(const EXRImage *exr_image, const EXRHeader *exr_header,
@@ -11960,7 +12144,7 @@ int SaveEXRImageToFile(const EXRImage *exr_image, const EXRHeader *exr_header,
   if (exr_header->compression_type == TINYEXR_COMPRESSIONTYPE_PIZ) {
     tinyexr::SetErrorMessage("PIZ compression is not supported in this build",
                              err);
-    return 0;
+    return TINYEXR_ERROR_UNSUPPORTED_FEATURE;
   }
 #endif
 
@@ -11968,7 +12152,7 @@ int SaveEXRImageToFile(const EXRImage *exr_image, const EXRHeader *exr_header,
   if (exr_header->compression_type == TINYEXR_COMPRESSIONTYPE_ZFP) {
     tinyexr::SetErrorMessage("ZFP compression is not supported in this build",
                              err);
-    return 0;
+    return TINYEXR_ERROR_UNSUPPORTED_FEATURE;
   }
 #endif
 
@@ -11980,19 +12164,28 @@ int SaveEXRImageToFile(const EXRImage *exr_image, const EXRHeader *exr_header,
 #endif
   if (!fp) {
     tinyexr::SetErrorMessage("Cannot write a file", err);
-    return TINYEXR_ERROR_CANT_OPEN_FILE;
+    return TINYEXR_ERROR_CANT_WRITE_FILE;
   }
 
   unsigned char *mem = NULL;
   size_t mem_size = SaveEXRImageToMemory(exr_image, exr_header, &mem, err);
+  if (mem_size == 0) {
+    return TINYEXR_ERROR_SERIALZATION_FAILED;
+  }
 
+  size_t written_size = 0;
   if ((mem_size > 0) && mem) {
-    fwrite(mem, 1, mem_size, fp);
+    written_size = fwrite(mem, 1, mem_size, fp);
   }
   free(mem);
 
   fclose(fp);
 
+  if (written_size != mem_size) {
+    tinyexr::SetErrorMessage("Cannot write a file", err);
+    return TINYEXR_ERROR_CANT_WRITE_FILE;
+  }
+
   return TINYEXR_SUCCESS;
 }
 
@@ -12861,20 +13054,27 @@ int LoadEXRMultipartImageFromFile(EXRImage *exr_images,
 }
 
 int SaveEXR(const float *data, int width, int height, int components,
-            const int save_as_fp16, const char *outfilename) {
+            const int save_as_fp16, const char *outfilename, const char **err) {
   if ((components == 1) || components == 3 || components == 4) {
     // OK
   } else {
+    std::stringstream ss;
+    ss << "Unsupported component value : " << components << std::endl;
+
+    tinyexr::SetErrorMessage(ss.str(), err);
     return TINYEXR_ERROR_INVALID_ARGUMENT;
   }
 
-  // Assume at least 16x16 pixels.
-  if (width < 16) return TINYEXR_ERROR_INVALID_ARGUMENT;
-  if (height < 16) return TINYEXR_ERROR_INVALID_ARGUMENT;
-
   EXRHeader header;
   InitEXRHeader(&header);
 
+  if ((width < 16) && (height < 16)) {
+    // No compression for small image.
+    header.compression_type = TINYEXR_COMPRESSIONTYPE_NONE;
+  } else {
+    header.compression_type = TINYEXR_COMPRESSIONTYPE_ZIP;
+  }
+
   EXRImage image;
   InitEXRImage(&image);
 
@@ -12980,8 +13180,7 @@ int SaveEXR(const float *data, int width, int height, int components,
     }
   }
 
-  const char *err;
-  int ret = SaveEXRImageToFile(&image, &header, outfilename, &err);
+  int ret = SaveEXRImageToFile(&image, &header, outfilename, err);
   if (ret != TINYEXR_SUCCESS) {
     return ret;
   }
diff --git a/thirdparty/xatlas/xatlas.cpp b/thirdparty/xatlas/xatlas.cpp
new file mode 100644
index 0000000000..f6a9ce64dc
--- /dev/null
+++ b/thirdparty/xatlas/xatlas.cpp
@@ -0,0 +1,7384 @@
+// This code is in the public domain -- castanyo@yahoo.es
+#include "xatlas.h"
+#include <assert.h>
+#include <float.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <algorithm>
+#include <cmath>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#undef min
+#undef max
+
+#ifndef xaAssert
+#define xaAssert(exp)                                    \
+	if (!(exp)) {                                        \
+		xaPrint("%s %s %s\n", #exp, __FILE__, __LINE__); \
+	}
+#endif
+#ifndef xaDebugAssert
+#define xaDebugAssert(exp) assert(exp)
+#endif
+#ifndef xaPrint
+#define xaPrint(...)                            \
+	if (xatlas::internal::s_print) {            \
+		xatlas::internal::s_print(__VA_ARGS__); \
+	}
+#endif
+
+#ifdef _MSC_VER
+// Ignore gcc attributes.
+#define __attribute__(X)
+#endif
+
+#ifdef _MSC_VER
+#define restrict
+#define NV_FORCEINLINE __forceinline
+#else
+#define restrict __restrict__
+#define NV_FORCEINLINE __attribute__((always_inline)) inline
+#endif
+
+#define NV_UINT32_MAX 0xffffffff
+#define NV_FLOAT_MAX 3.402823466e+38F
+
+#ifndef PI
+#define PI float(3.1415926535897932384626433833)
+#endif
+
+#define NV_EPSILON (0.0001f)
+#define NV_NORMAL_EPSILON (0.001f)
+
+namespace xatlas {
+namespace internal {
+
+static PrintFunc s_print = NULL;
+
+static int align(int x, int a) {
+	return (x + a - 1) & ~(a - 1);
+}
+
+static bool isAligned(int x, int a) {
+	return (x & (a - 1)) == 0;
+}
+
+/// Return the maximum of the three arguments.
+template <typename T>
+static T max3(const T &a, const T &b, const T &c) {
+	return std::max(a, std::max(b, c));
+}
+
+/// Return the maximum of the three arguments.
+template <typename T>
+static T min3(const T &a, const T &b, const T &c) {
+	return std::min(a, std::min(b, c));
+}
+
+/// Clamp between two values.
+template <typename T>
+static T clamp(const T &x, const T &a, const T &b) {
+	return std::min(std::max(x, a), b);
+}
+
+static float saturate(float f) {
+	return clamp(f, 0.0f, 1.0f);
+}
+
+// Robust floating point comparisons:
+// http://realtimecollisiondetection.net/blog/?p=89
+static bool equal(const float f0, const float f1, const float epsilon = NV_EPSILON) {
+	//return fabs(f0-f1) <= epsilon;
+	return fabs(f0 - f1) <= epsilon * max3(1.0f, fabsf(f0), fabsf(f1));
+}
+
+NV_FORCEINLINE static int ftoi_floor(float val) {
+	return (int)val;
+}
+
+NV_FORCEINLINE static int ftoi_ceil(float val) {
+	return (int)ceilf(val);
+}
+
+NV_FORCEINLINE static int ftoi_round(float f) {
+	return int(floorf(f + 0.5f));
+}
+
+static bool isZero(const float f, const float epsilon = NV_EPSILON) {
+	return fabs(f) <= epsilon;
+}
+
+static float lerp(float f0, float f1, float t) {
+	const float s = 1.0f - t;
+	return f0 * s + f1 * t;
+}
+
+static float square(float f) {
+	return f * f;
+}
+
+static int square(int i) {
+	return i * i;
+}
+
+/** Return the next power of two.
+* @see http://graphics.stanford.edu/~seander/bithacks.html
+* @warning Behaviour for 0 is undefined.
+* @note isPowerOfTwo(x) == true -> nextPowerOfTwo(x) == x
+* @note nextPowerOfTwo(x) = 2 << log2(x-1)
+*/
+static uint32_t nextPowerOfTwo(uint32_t x) {
+	xaDebugAssert(x != 0);
+	// On modern CPUs this is supposed to be as fast as using the bsr instruction.
+	x--;
+	x |= x >> 1;
+	x |= x >> 2;
+	x |= x >> 4;
+	x |= x >> 8;
+	x |= x >> 16;
+	return x + 1;
+}
+
+static uint64_t nextPowerOfTwo(uint64_t x) {
+	xaDebugAssert(x != 0);
+	uint32_t p = 1;
+	while (x > p) {
+		p += p;
+	}
+	return p;
+}
+
+static uint32_t sdbmHash(const void *data_in, uint32_t size, uint32_t h = 5381) {
+	const uint8_t *data = (const uint8_t *)data_in;
+	uint32_t i = 0;
+	while (i < size) {
+		h = (h << 16) + (h << 6) - h + (uint32_t)data[i++];
+	}
+	return h;
+}
+
+// Note that this hash does not handle NaN properly.
+static uint32_t sdbmFloatHash(const float *f, uint32_t count, uint32_t h = 5381) {
+	for (uint32_t i = 0; i < count; i++) {
+		union {
+			float f;
+			uint32_t i;
+		} x = { f[i] };
+		if (x.i == 0x80000000) x.i = 0;
+		h = sdbmHash(&x, 4, h);
+	}
+	return h;
+}
+
+template <typename T>
+static uint32_t hash(const T &t, uint32_t h = 5381) {
+	return sdbmHash(&t, sizeof(T), h);
+}
+
+static uint32_t hash(const float &f, uint32_t h) {
+	return sdbmFloatHash(&f, 1, h);
+}
+
+// Functors for hash table:
+template <typename Key>
+struct Hash {
+	uint32_t operator()(const Key &k) const { return hash(k); }
+};
+
+template <typename Key>
+struct Equal {
+	bool operator()(const Key &k0, const Key &k1) const { return k0 == k1; }
+};
+
+class Vector2 {
+public:
+	typedef Vector2 const &Arg;
+
+	Vector2() {}
+	explicit Vector2(float f) :
+			x(f),
+			y(f) {}
+	Vector2(float x, float y) :
+			x(x),
+			y(y) {}
+	Vector2(Vector2::Arg v) :
+			x(v.x),
+			y(v.y) {}
+
+	const Vector2 &operator=(Vector2::Arg v) {
+		x = v.x;
+		y = v.y;
+		return *this;
+	}
+	const float *ptr() const { return &x; }
+
+	void set(float _x, float _y) {
+		x = _x;
+		y = _y;
+	}
+
+	Vector2 operator-() const {
+		return Vector2(-x, -y);
+	}
+
+	void operator+=(Vector2::Arg v) {
+		x += v.x;
+		y += v.y;
+	}
+
+	void operator-=(Vector2::Arg v) {
+		x -= v.x;
+		y -= v.y;
+	}
+
+	void operator*=(float s) {
+		x *= s;
+		y *= s;
+	}
+
+	void operator*=(Vector2::Arg v) {
+		x *= v.x;
+		y *= v.y;
+	}
+
+	friend bool operator==(Vector2::Arg a, Vector2::Arg b) {
+		return a.x == b.x && a.y == b.y;
+	}
+
+	friend bool operator!=(Vector2::Arg a, Vector2::Arg b) {
+		return a.x != b.x || a.y != b.y;
+	}
+
+	union {
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4201)
+#endif
+		struct
+		{
+			float x, y;
+		};
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+		float component[2];
+	};
+};
+
+Vector2 operator+(Vector2::Arg a, Vector2::Arg b) {
+	return Vector2(a.x + b.x, a.y + b.y);
+}
+
+Vector2 operator-(Vector2::Arg a, Vector2::Arg b) {
+	return Vector2(a.x - b.x, a.y - b.y);
+}
+
+Vector2 operator*(Vector2::Arg v, float s) {
+	return Vector2(v.x * s, v.y * s);
+}
+
+Vector2 operator*(Vector2::Arg v1, Vector2::Arg v2) {
+	return Vector2(v1.x * v2.x, v1.y * v2.y);
+}
+
+Vector2 operator/(Vector2::Arg v, float s) {
+	return Vector2(v.x / s, v.y / s);
+}
+
+Vector2 lerp(Vector2::Arg v1, Vector2::Arg v2, float t) {
+	const float s = 1.0f - t;
+	return Vector2(v1.x * s + t * v2.x, v1.y * s + t * v2.y);
+}
+
+float dot(Vector2::Arg a, Vector2::Arg b) {
+	return a.x * b.x + a.y * b.y;
+}
+
+float lengthSquared(Vector2::Arg v) {
+	return v.x * v.x + v.y * v.y;
+}
+
+float length(Vector2::Arg v) {
+	return sqrtf(lengthSquared(v));
+}
+
+float distance(Vector2::Arg a, Vector2::Arg b) {
+	return length(a - b);
+}
+
+bool isNormalized(Vector2::Arg v, float epsilon = NV_NORMAL_EPSILON) {
+	return equal(length(v), 1, epsilon);
+}
+
+Vector2 normalize(Vector2::Arg v, float epsilon = NV_EPSILON) {
+	float l = length(v);
+	xaDebugAssert(!isZero(l, epsilon));
+#ifdef NDEBUG
+	epsilon = 0; // silence unused parameter warning
+#endif
+	Vector2 n = v * (1.0f / l);
+	xaDebugAssert(isNormalized(n));
+	return n;
+}
+
+Vector2 normalizeSafe(Vector2::Arg v, Vector2::Arg fallback, float epsilon = NV_EPSILON) {
+	float l = length(v);
+	if (isZero(l, epsilon)) {
+		return fallback;
+	}
+	return v * (1.0f / l);
+}
+
+bool equal(Vector2::Arg v1, Vector2::Arg v2, float epsilon = NV_EPSILON) {
+	return equal(v1.x, v2.x, epsilon) && equal(v1.y, v2.y, epsilon);
+}
+
+Vector2 max(Vector2::Arg a, Vector2::Arg b) {
+	return Vector2(std::max(a.x, b.x), std::max(a.y, b.y));
+}
+
+bool isFinite(Vector2::Arg v) {
+	return std::isfinite(v.x) && std::isfinite(v.y);
+}
+
+// Note, this is the area scaled by 2!
+float triangleArea(Vector2::Arg v0, Vector2::Arg v1) {
+	return (v0.x * v1.y - v0.y * v1.x); // * 0.5f;
+}
+float triangleArea(Vector2::Arg a, Vector2::Arg b, Vector2::Arg c) {
+	// IC: While it may be appealing to use the following expression:
+	//return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y); // * 0.5f;
+	// That's actually a terrible idea. Small triangles far from the origin can end up producing fairly large floating point
+	// numbers and the results becomes very unstable and dependent on the order of the factors.
+	// Instead, it's preferable to subtract the vertices first, and multiply the resulting small values together. The result
+	// in this case is always much more accurate (as long as the triangle is small) and less dependent of the location of
+	// the triangle.
+	//return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)); // * 0.5f;
+	return triangleArea(a - c, b - c);
+}
+
+float triangleArea2(Vector2::Arg v1, Vector2::Arg v2, Vector2::Arg v3) {
+	return 0.5f * (v3.x * v1.y + v1.x * v2.y + v2.x * v3.y - v2.x * v1.y - v3.x * v2.y - v1.x * v3.y);
+}
+
+static uint32_t hash(const Vector2 &v, uint32_t h) {
+	return sdbmFloatHash(v.component, 2, h);
+}
+
+class Vector3 {
+public:
+	typedef Vector3 const &Arg;
+
+	Vector3() {}
+	explicit Vector3(float f) :
+			x(f),
+			y(f),
+			z(f) {}
+	Vector3(float x, float y, float z) :
+			x(x),
+			y(y),
+			z(z) {}
+	Vector3(Vector2::Arg v, float z) :
+			x(v.x),
+			y(v.y),
+			z(z) {}
+	Vector3(Vector3::Arg v) :
+			x(v.x),
+			y(v.y),
+			z(v.z) {}
+
+	const Vector3 &operator=(Vector3::Arg v) {
+		x = v.x;
+		y = v.y;
+		z = v.z;
+		return *this;
+	}
+
+	Vector2 xy() const {
+		return Vector2(x, y);
+	}
+
+	const float *ptr() const { return &x; }
+
+	void set(float _x, float _y, float _z) {
+		x = _x;
+		y = _y;
+		z = _z;
+	}
+
+	Vector3 operator-() const {
+		return Vector3(-x, -y, -z);
+	}
+
+	void operator+=(Vector3::Arg v) {
+		x += v.x;
+		y += v.y;
+		z += v.z;
+	}
+
+	void operator-=(Vector3::Arg v) {
+		x -= v.x;
+		y -= v.y;
+		z -= v.z;
+	}
+
+	void operator*=(float s) {
+		x *= s;
+		y *= s;
+		z *= s;
+	}
+
+	void operator/=(float s) {
+		float is = 1.0f / s;
+		x *= is;
+		y *= is;
+		z *= is;
+	}
+
+	void operator*=(Vector3::Arg v) {
+		x *= v.x;
+		y *= v.y;
+		z *= v.z;
+	}
+
+	void operator/=(Vector3::Arg v) {
+		x /= v.x;
+		y /= v.y;
+		z /= v.z;
+	}
+
+	friend bool operator==(Vector3::Arg a, Vector3::Arg b) {
+		return a.x == b.x && a.y == b.y && a.z == b.z;
+	}
+
+	friend bool operator!=(Vector3::Arg a, Vector3::Arg b) {
+		return a.x != b.x || a.y != b.y || a.z != b.z;
+	}
+
+	union {
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4201)
+#endif
+		struct
+		{
+			float x, y, z;
+		};
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+		float component[3];
+	};
+};
+
+Vector3 add(Vector3::Arg a, Vector3::Arg b) {
+	return Vector3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+Vector3 add(Vector3::Arg a, float b) {
+	return Vector3(a.x + b, a.y + b, a.z + b);
+}
+Vector3 operator+(Vector3::Arg a, Vector3::Arg b) {
+	return add(a, b);
+}
+Vector3 operator+(Vector3::Arg a, float b) {
+	return add(a, b);
+}
+
+Vector3 sub(Vector3::Arg a, Vector3::Arg b) {
+	return Vector3(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+
+Vector3 sub(Vector3::Arg a, float b) {
+	return Vector3(a.x - b, a.y - b, a.z - b);
+}
+
+Vector3 operator-(Vector3::Arg a, Vector3::Arg b) {
+	return sub(a, b);
+}
+
+Vector3 operator-(Vector3::Arg a, float b) {
+	return sub(a, b);
+}
+
+Vector3 cross(Vector3::Arg a, Vector3::Arg b) {
+	return Vector3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
+}
+
+Vector3 operator*(Vector3::Arg v, float s) {
+	return Vector3(v.x * s, v.y * s, v.z * s);
+}
+
+Vector3 operator*(float s, Vector3::Arg v) {
+	return Vector3(v.x * s, v.y * s, v.z * s);
+}
+
+Vector3 operator*(Vector3::Arg v, Vector3::Arg s) {
+	return Vector3(v.x * s.x, v.y * s.y, v.z * s.z);
+}
+
+Vector3 operator/(Vector3::Arg v, float s) {
+	return v * (1.0f / s);
+}
+
+Vector3 lerp(Vector3::Arg v1, Vector3::Arg v2, float t) {
+	const float s = 1.0f - t;
+	return Vector3(v1.x * s + t * v2.x, v1.y * s + t * v2.y, v1.z * s + t * v2.z);
+}
+
+float dot(Vector3::Arg a, Vector3::Arg b) {
+	return a.x * b.x + a.y * b.y + a.z * b.z;
+}
+
+float lengthSquared(Vector3::Arg v) {
+	return v.x * v.x + v.y * v.y + v.z * v.z;
+}
+
+float length(Vector3::Arg v) {
+	return sqrtf(lengthSquared(v));
+}
+
+float distance(Vector3::Arg a, Vector3::Arg b) {
+	return length(a - b);
+}
+
+float distanceSquared(Vector3::Arg a, Vector3::Arg b) {
+	return lengthSquared(a - b);
+}
+
+bool isNormalized(Vector3::Arg v, float epsilon = NV_NORMAL_EPSILON) {
+	return equal(length(v), 1, epsilon);
+}
+
+Vector3 normalize(Vector3::Arg v, float epsilon = NV_EPSILON) {
+	float l = length(v);
+	xaDebugAssert(!isZero(l, epsilon));
+#ifdef NDEBUG
+	epsilon = 0; // silence unused parameter warning
+#endif
+	Vector3 n = v * (1.0f / l);
+	xaDebugAssert(isNormalized(n));
+	return n;
+}
+
+Vector3 normalizeSafe(Vector3::Arg v, Vector3::Arg fallback, float epsilon = NV_EPSILON) {
+	float l = length(v);
+	if (isZero(l, epsilon)) {
+		return fallback;
+	}
+	return v * (1.0f / l);
+}
+
+bool equal(Vector3::Arg v1, Vector3::Arg v2, float epsilon = NV_EPSILON) {
+	return equal(v1.x, v2.x, epsilon) && equal(v1.y, v2.y, epsilon) && equal(v1.z, v2.z, epsilon);
+}
+
+Vector3 min(Vector3::Arg a, Vector3::Arg b) {
+	return Vector3(std::min(a.x, b.x), std::min(a.y, b.y), std::min(a.z, b.z));
+}
+
+Vector3 max(Vector3::Arg a, Vector3::Arg b) {
+	return Vector3(std::max(a.x, b.x), std::max(a.y, b.y), std::max(a.z, b.z));
+}
+
+Vector3 clamp(Vector3::Arg v, float min, float max) {
+	return Vector3(clamp(v.x, min, max), clamp(v.y, min, max), clamp(v.z, min, max));
+}
+
+Vector3 saturate(Vector3::Arg v) {
+	return Vector3(saturate(v.x), saturate(v.y), saturate(v.z));
+}
+
+Vector3 floor(Vector3::Arg v) {
+	return Vector3(floorf(v.x), floorf(v.y), floorf(v.z));
+}
+
+bool isFinite(Vector3::Arg v) {
+	return std::isfinite(v.x) && std::isfinite(v.y) && std::isfinite(v.z);
+}
+
+static uint32_t hash(const Vector3 &v, uint32_t h) {
+	return sdbmFloatHash(v.component, 3, h);
+}
+
+/// Basis class to compute tangent space basis, ortogonalizations and to
+/// transform vectors from one space to another.
+class Basis {
+public:
+	/// Create a null basis.
+	Basis() :
+			tangent(0, 0, 0),
+			bitangent(0, 0, 0),
+			normal(0, 0, 0) {}
+
+	void buildFrameForDirection(Vector3::Arg d, float angle = 0) {
+		xaAssert(isNormalized(d));
+		normal = d;
+		// Choose minimum axis.
+		if (fabsf(normal.x) < fabsf(normal.y) && fabsf(normal.x) < fabsf(normal.z)) {
+			tangent = Vector3(1, 0, 0);
+		} else if (fabsf(normal.y) < fabsf(normal.z)) {
+			tangent = Vector3(0, 1, 0);
+		} else {
+			tangent = Vector3(0, 0, 1);
+		}
+		// Ortogonalize
+		tangent -= normal * dot(normal, tangent);
+		tangent = normalize(tangent);
+		bitangent = cross(normal, tangent);
+		// Rotate frame around normal according to angle.
+		if (angle != 0.0f) {
+			float c = cosf(angle);
+			float s = sinf(angle);
+			Vector3 tmp = c * tangent - s * bitangent;
+			bitangent = s * tangent + c * bitangent;
+			tangent = tmp;
+		}
+	}
+
+	Vector3 tangent;
+	Vector3 bitangent;
+	Vector3 normal;
+};
+
+// Simple bit array.
+class BitArray {
+public:
+	BitArray() :
+			m_size(0) {}
+	BitArray(uint32_t sz) {
+		resize(sz);
+	}
+
+	uint32_t size() const {
+		return m_size;
+	}
+
+	void clear() {
+		resize(0);
+	}
+
+	void resize(uint32_t new_size) {
+		m_size = new_size;
+		m_wordArray.resize((m_size + 31) >> 5);
+	}
+
+	/// Get bit.
+	bool bitAt(uint32_t b) const {
+		xaDebugAssert(b < m_size);
+		return (m_wordArray[b >> 5] & (1 << (b & 31))) != 0;
+	}
+
+	// Set a bit.
+	void setBitAt(uint32_t idx) {
+		xaDebugAssert(idx < m_size);
+		m_wordArray[idx >> 5] |= (1 << (idx & 31));
+	}
+
+	// Toggle a bit.
+	void toggleBitAt(uint32_t idx) {
+		xaDebugAssert(idx < m_size);
+		m_wordArray[idx >> 5] ^= (1 << (idx & 31));
+	}
+
+	// Set a bit to the given value. @@ Rename modifyBitAt?
+	void setBitAt(uint32_t idx, bool b) {
+		xaDebugAssert(idx < m_size);
+		m_wordArray[idx >> 5] = setBits(m_wordArray[idx >> 5], 1 << (idx & 31), b);
+		xaDebugAssert(bitAt(idx) == b);
+	}
+
+	// Clear all the bits.
+	void clearAll() {
+		memset(m_wordArray.data(), 0, m_wordArray.size() * sizeof(uint32_t));
+	}
+
+	// Set all the bits.
+	void setAll() {
+		memset(m_wordArray.data(), 0xFF, m_wordArray.size() * sizeof(uint32_t));
+	}
+
+private:
+	// See "Conditionally set or clear bits without branching" at http://graphics.stanford.edu/~seander/bithacks.html
+	uint32_t setBits(uint32_t w, uint32_t m, bool b) {
+		return (w & ~m) | (-int(b) & m);
+	}
+
+	// Number of bits stored.
+	uint32_t m_size;
+
+	// Array of bits.
+	std::vector<uint32_t> m_wordArray;
+};
+
+/// Bit map. This should probably be called BitImage.
+class BitMap {
+public:
+	BitMap() :
+			m_width(0),
+			m_height(0) {}
+	BitMap(uint32_t w, uint32_t h) :
+			m_width(w),
+			m_height(h),
+			m_bitArray(w * h) {}
+
+	uint32_t width() const {
+		return m_width;
+	}
+	uint32_t height() const {
+		return m_height;
+	}
+
+	void resize(uint32_t w, uint32_t h, bool initValue) {
+		BitArray tmp(w * h);
+		if (initValue)
+			tmp.setAll();
+		else
+			tmp.clearAll();
+		// @@ Copying one bit at a time. This could be much faster.
+		for (uint32_t y = 0; y < m_height; y++) {
+			for (uint32_t x = 0; x < m_width; x++) {
+				//tmp.setBitAt(y*w + x, bitAt(x, y));
+				if (bitAt(x, y) != initValue) tmp.toggleBitAt(y * w + x);
+			}
+		}
+		std::swap(m_bitArray, tmp);
+		m_width = w;
+		m_height = h;
+	}
+
+	bool bitAt(uint32_t x, uint32_t y) const {
+		xaDebugAssert(x < m_width && y < m_height);
+		return m_bitArray.bitAt(y * m_width + x);
+	}
+
+	void setBitAt(uint32_t x, uint32_t y) {
+		xaDebugAssert(x < m_width && y < m_height);
+		m_bitArray.setBitAt(y * m_width + x);
+	}
+
+	void clearAll() {
+		m_bitArray.clearAll();
+	}
+
+private:
+	uint32_t m_width;
+	uint32_t m_height;
+	BitArray m_bitArray;
+};
+
+// Axis Aligned Bounding Box.
+class Box {
+public:
+	Box() {}
+	Box(const Box &b) :
+			minCorner(b.minCorner),
+			maxCorner(b.maxCorner) {}
+	Box(const Vector3 &mins, const Vector3 &maxs) :
+			minCorner(mins),
+			maxCorner(maxs) {}
+
+	operator const float *() const {
+		return reinterpret_cast<const float *>(this);
+	}
+
+	// Clear the bounds.
+	void clearBounds() {
+		minCorner.set(FLT_MAX, FLT_MAX, FLT_MAX);
+		maxCorner.set(-FLT_MAX, -FLT_MAX, -FLT_MAX);
+	}
+
+	// Return extents of the box.
+	Vector3 extents() const {
+		return (maxCorner - minCorner) * 0.5f;
+	}
+
+	// Add a point to this box.
+	void addPointToBounds(const Vector3 &p) {
+		minCorner = min(minCorner, p);
+		maxCorner = max(maxCorner, p);
+	}
+
+	// Get the volume of the box.
+	float volume() const {
+		Vector3 d = extents();
+		return 8.0f * (d.x * d.y * d.z);
+	}
+
+	Vector3 minCorner;
+	Vector3 maxCorner;
+};
+
+class Fit {
+public:
+	static Vector3 computeCentroid(int n, const Vector3 *__restrict points) {
+		Vector3 centroid(0.0f);
+		for (int i = 0; i < n; i++) {
+			centroid += points[i];
+		}
+		centroid /= float(n);
+		return centroid;
+	}
+
+	static Vector3 computeCovariance(int n, const Vector3 *__restrict points, float *__restrict covariance) {
+		// compute the centroid
+		Vector3 centroid = computeCentroid(n, points);
+		// compute covariance matrix
+		for (int i = 0; i < 6; i++) {
+			covariance[i] = 0.0f;
+		}
+		for (int i = 0; i < n; i++) {
+			Vector3 v = points[i] - centroid;
+			covariance[0] += v.x * v.x;
+			covariance[1] += v.x * v.y;
+			covariance[2] += v.x * v.z;
+			covariance[3] += v.y * v.y;
+			covariance[4] += v.y * v.z;
+			covariance[5] += v.z * v.z;
+		}
+		return centroid;
+	}
+
+	static bool isPlanar(int n, const Vector3 *points, float epsilon = NV_EPSILON) {
+		// compute the centroid and covariance
+		float matrix[6];
+		computeCovariance(n, points, matrix);
+		float eigenValues[3];
+		Vector3 eigenVectors[3];
+		if (!eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) {
+			return false;
+		}
+		return eigenValues[2] < epsilon;
+	}
+
+	// Tridiagonal solver from Charles Bloom.
+	// Householder transforms followed by QL decomposition.
+	// Seems to be based on the code from Numerical Recipes in C.
+	static bool eigenSolveSymmetric3(const float matrix[6], float eigenValues[3], Vector3 eigenVectors[3]) {
+		xaDebugAssert(matrix != NULL && eigenValues != NULL && eigenVectors != NULL);
+		float subd[3];
+		float diag[3];
+		float work[3][3];
+		work[0][0] = matrix[0];
+		work[0][1] = work[1][0] = matrix[1];
+		work[0][2] = work[2][0] = matrix[2];
+		work[1][1] = matrix[3];
+		work[1][2] = work[2][1] = matrix[4];
+		work[2][2] = matrix[5];
+		EigenSolver3_Tridiagonal(work, diag, subd);
+		if (!EigenSolver3_QLAlgorithm(work, diag, subd)) {
+			for (int i = 0; i < 3; i++) {
+				eigenValues[i] = 0;
+				eigenVectors[i] = Vector3(0);
+			}
+			return false;
+		}
+		for (int i = 0; i < 3; i++) {
+			eigenValues[i] = (float)diag[i];
+		}
+		// eigenvectors are the columns; make them the rows :
+		for (int i = 0; i < 3; i++) {
+			for (int j = 0; j < 3; j++) {
+				eigenVectors[j].component[i] = (float)work[i][j];
+			}
+		}
+		// shuffle to sort by singular value :
+		if (eigenValues[2] > eigenValues[0] && eigenValues[2] > eigenValues[1]) {
+			std::swap(eigenValues[0], eigenValues[2]);
+			std::swap(eigenVectors[0], eigenVectors[2]);
+		}
+		if (eigenValues[1] > eigenValues[0]) {
+			std::swap(eigenValues[0], eigenValues[1]);
+			std::swap(eigenVectors[0], eigenVectors[1]);
+		}
+		if (eigenValues[2] > eigenValues[1]) {
+			std::swap(eigenValues[1], eigenValues[2]);
+			std::swap(eigenVectors[1], eigenVectors[2]);
+		}
+		xaDebugAssert(eigenValues[0] >= eigenValues[1] && eigenValues[0] >= eigenValues[2]);
+		xaDebugAssert(eigenValues[1] >= eigenValues[2]);
+		return true;
+	}
+
+private:
+	static void EigenSolver3_Tridiagonal(float mat[3][3], float *diag, float *subd) {
+		// Householder reduction T = Q^t M Q
+		//   Input:
+		//     mat, symmetric 3x3 matrix M
+		//   Output:
+		//     mat, orthogonal matrix Q
+		//     diag, diagonal entries of T
+		//     subd, subdiagonal entries of T (T is symmetric)
+		const float epsilon = 1e-08f;
+		float a = mat[0][0];
+		float b = mat[0][1];
+		float c = mat[0][2];
+		float d = mat[1][1];
+		float e = mat[1][2];
+		float f = mat[2][2];
+		diag[0] = a;
+		subd[2] = 0.f;
+		if (fabsf(c) >= epsilon) {
+			const float ell = sqrtf(b * b + c * c);
+			b /= ell;
+			c /= ell;
+			const float q = 2 * b * e + c * (f - d);
+			diag[1] = d + c * q;
+			diag[2] = f - c * q;
+			subd[0] = ell;
+			subd[1] = e - b * q;
+			mat[0][0] = 1;
+			mat[0][1] = 0;
+			mat[0][2] = 0;
+			mat[1][0] = 0;
+			mat[1][1] = b;
+			mat[1][2] = c;
+			mat[2][0] = 0;
+			mat[2][1] = c;
+			mat[2][2] = -b;
+		} else {
+			diag[1] = d;
+			diag[2] = f;
+			subd[0] = b;
+			subd[1] = e;
+			mat[0][0] = 1;
+			mat[0][1] = 0;
+			mat[0][2] = 0;
+			mat[1][0] = 0;
+			mat[1][1] = 1;
+			mat[1][2] = 0;
+			mat[2][0] = 0;
+			mat[2][1] = 0;
+			mat[2][2] = 1;
+		}
+	}
+
+	static bool EigenSolver3_QLAlgorithm(float mat[3][3], float *diag, float *subd) {
+		// QL iteration with implicit shifting to reduce matrix from tridiagonal
+		// to diagonal
+		const int maxiter = 32;
+		for (int ell = 0; ell < 3; ell++) {
+			int iter;
+			for (iter = 0; iter < maxiter; iter++) {
+				int m;
+				for (m = ell; m <= 1; m++) {
+					float dd = fabsf(diag[m]) + fabsf(diag[m + 1]);
+					if (fabsf(subd[m]) + dd == dd)
+						break;
+				}
+				if (m == ell)
+					break;
+				float g = (diag[ell + 1] - diag[ell]) / (2 * subd[ell]);
+				float r = sqrtf(g * g + 1);
+				if (g < 0)
+					g = diag[m] - diag[ell] + subd[ell] / (g - r);
+				else
+					g = diag[m] - diag[ell] + subd[ell] / (g + r);
+				float s = 1, c = 1, p = 0;
+				for (int i = m - 1; i >= ell; i--) {
+					float f = s * subd[i], b = c * subd[i];
+					if (fabsf(f) >= fabsf(g)) {
+						c = g / f;
+						r = sqrtf(c * c + 1);
+						subd[i + 1] = f * r;
+						c *= (s = 1 / r);
+					} else {
+						s = f / g;
+						r = sqrtf(s * s + 1);
+						subd[i + 1] = g * r;
+						s *= (c = 1 / r);
+					}
+					g = diag[i + 1] - p;
+					r = (diag[i] - g) * s + 2 * b * c;
+					p = s * r;
+					diag[i + 1] = g + p;
+					g = c * r - b;
+					for (int k = 0; k < 3; k++) {
+						f = mat[k][i + 1];
+						mat[k][i + 1] = s * mat[k][i] + c * f;
+						mat[k][i] = c * mat[k][i] - s * f;
+					}
+				}
+				diag[ell] -= p;
+				subd[ell] = g;
+				subd[m] = 0;
+			}
+			if (iter == maxiter)
+				// should not get here under normal circumstances
+				return false;
+		}
+		return true;
+	}
+};
+
+/// Fixed size vector class.
+class FullVector {
+public:
+	FullVector(uint32_t dim) { m_array.resize(dim); }
+	FullVector(const FullVector &v) :
+			m_array(v.m_array) {}
+
+	const FullVector &operator=(const FullVector &v) {
+		xaAssert(dimension() == v.dimension());
+		m_array = v.m_array;
+		return *this;
+	}
+
+	uint32_t dimension() const { return m_array.size(); }
+	const float &operator[](uint32_t index) const { return m_array[index]; }
+	float &operator[](uint32_t index) { return m_array[index]; }
+
+	void fill(float f) {
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] = f;
+		}
+	}
+
+	void operator+=(const FullVector &v) {
+		xaDebugAssert(dimension() == v.dimension());
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] += v.m_array[i];
+		}
+	}
+
+	void operator-=(const FullVector &v) {
+		xaDebugAssert(dimension() == v.dimension());
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] -= v.m_array[i];
+		}
+	}
+
+	void operator*=(const FullVector &v) {
+		xaDebugAssert(dimension() == v.dimension());
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] *= v.m_array[i];
+		}
+	}
+
+	void operator+=(float f) {
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] += f;
+		}
+	}
+
+	void operator-=(float f) {
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] -= f;
+		}
+	}
+
+	void operator*=(float f) {
+		const uint32_t dim = dimension();
+		for (uint32_t i = 0; i < dim; i++) {
+			m_array[i] *= f;
+		}
+	}
+
+private:
+	std::vector<float> m_array;
+};
+
+namespace halfedge {
+class Face;
+class Vertex;
+
+class Edge {
+public:
+	uint32_t id;
+	Edge *next;
+	Edge *prev; // This is not strictly half-edge, but makes algorithms easier and faster.
+	Edge *pair;
+	Vertex *vertex;
+	Face *face;
+
+	// Default constructor.
+	Edge(uint32_t id) :
+			id(id),
+			next(NULL),
+			prev(NULL),
+			pair(NULL),
+			vertex(NULL),
+			face(NULL) {}
+
+	// Vertex queries.
+	const Vertex *from() const {
+		return vertex;
+	}
+
+	Vertex *from() {
+		return vertex;
+	}
+
+	const Vertex *to() const {
+		return pair->vertex; // This used to be 'next->vertex', but that changed often when the connectivity of the mesh changes.
+	}
+
+	Vertex *to() {
+		return pair->vertex;
+	}
+
+	// Edge queries.
+	void setNext(Edge *e) {
+		next = e;
+		if (e != NULL) e->prev = this;
+	}
+	void setPrev(Edge *e) {
+		prev = e;
+		if (e != NULL) e->next = this;
+	}
+
+	// @@ It would be more simple to only check m_pair == NULL
+	// Face queries.
+	bool isBoundary() const {
+		return !(face && pair->face);
+	}
+
+	// @@ This is not exactly accurate, we should compare the texture coordinates...
+	bool isSeam() const {
+		return vertex != pair->next->vertex || next->vertex != pair->vertex;
+	}
+
+	bool isNormalSeam() const;
+	bool isTextureSeam() const;
+
+	bool isValid() const {
+		// null face is OK.
+		if (next == NULL || prev == NULL || pair == NULL || vertex == NULL) return false;
+		if (next->prev != this) return false;
+		if (prev->next != this) return false;
+		if (pair->pair != this) return false;
+		return true;
+	}
+
+	float length() const;
+
+	// Return angle between this edge and the previous one.
+	float angle() const;
+};
+
+class Vertex {
+public:
+	uint32_t id;
+	uint32_t original_id;
+	Edge *edge;
+	Vertex *next;
+	Vertex *prev;
+	Vector3 pos;
+	Vector3 nor;
+	Vector2 tex;
+
+	Vertex(uint32_t id) :
+			id(id),
+			original_id(id),
+			edge(NULL),
+			pos(0.0f),
+			nor(0.0f),
+			tex(0.0f) {
+		next = this;
+		prev = this;
+	}
+
+	// Set first edge of all colocals.
+	void setEdge(Edge *e) {
+		for (VertexIterator it(colocals()); !it.isDone(); it.advance()) {
+			it.current()->edge = e;
+		}
+	}
+
+	// Update position of all colocals.
+	void setPos(const Vector3 &p) {
+		for (VertexIterator it(colocals()); !it.isDone(); it.advance()) {
+			it.current()->pos = p;
+		}
+	}
+
+	bool isFirstColocal() const {
+		return firstColocal() == this;
+	}
+
+	const Vertex *firstColocal() const {
+		uint32_t firstId = id;
+		const Vertex *vertex = this;
+		for (ConstVertexIterator it(colocals()); !it.isDone(); it.advance()) {
+			if (it.current()->id < firstId) {
+				firstId = vertex->id;
+				vertex = it.current();
+			}
+		}
+		return vertex;
+	}
+
+	Vertex *firstColocal() {
+		Vertex *vertex = this;
+		uint32_t firstId = id;
+		for (VertexIterator it(colocals()); !it.isDone(); it.advance()) {
+			if (it.current()->id < firstId) {
+				firstId = vertex->id;
+				vertex = it.current();
+			}
+		}
+		return vertex;
+	}
+
+	bool isColocal(const Vertex *v) const {
+		if (this == v) return true;
+		if (pos != v->pos) return false;
+		for (ConstVertexIterator it(colocals()); !it.isDone(); it.advance()) {
+			if (v == it.current()) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	void linkColocal(Vertex *v) {
+		next->prev = v;
+		v->next = next;
+		next = v;
+		v->prev = this;
+	}
+	void unlinkColocal() {
+		next->prev = prev;
+		prev->next = next;
+		next = this;
+		prev = this;
+	}
+
+	// @@ Note: This only works if linkBoundary has been called.
+	bool isBoundary() const {
+		return (edge && !edge->face);
+	}
+
+	// Iterator that visits the edges around this vertex in counterclockwise order.
+	class EdgeIterator //: public Iterator<Edge *>
+	{
+	public:
+		EdgeIterator(Edge *e) :
+				m_end(NULL),
+				m_current(e) {}
+
+		virtual void advance() {
+			if (m_end == NULL) m_end = m_current;
+			m_current = m_current->pair->next;
+			//m_current = m_current->prev->pair;
+		}
+
+		virtual bool isDone() const {
+			return m_end == m_current;
+		}
+		virtual Edge *current() const {
+			return m_current;
+		}
+		Vertex *vertex() const {
+			return m_current->vertex;
+		}
+
+	private:
+		Edge *m_end;
+		Edge *m_current;
+	};
+
+	EdgeIterator edges() {
+		return EdgeIterator(edge);
+	}
+	EdgeIterator edges(Edge *e) {
+		return EdgeIterator(e);
+	}
+
+	// Iterator that visits the edges around this vertex in counterclockwise order.
+	class ConstEdgeIterator //: public Iterator<Edge *>
+	{
+	public:
+		ConstEdgeIterator(const Edge *e) :
+				m_end(NULL),
+				m_current(e) {}
+		ConstEdgeIterator(EdgeIterator it) :
+				m_end(NULL),
+				m_current(it.current()) {}
+
+		virtual void advance() {
+			if (m_end == NULL) m_end = m_current;
+			m_current = m_current->pair->next;
+			//m_current = m_current->prev->pair;
+		}
+
+		virtual bool isDone() const {
+			return m_end == m_current;
+		}
+		virtual const Edge *current() const {
+			return m_current;
+		}
+		const Vertex *vertex() const {
+			return m_current->to();
+		}
+
+	private:
+		const Edge *m_end;
+		const Edge *m_current;
+	};
+
+	ConstEdgeIterator edges() const {
+		return ConstEdgeIterator(edge);
+	}
+	ConstEdgeIterator edges(const Edge *e) const {
+		return ConstEdgeIterator(e);
+	}
+
+	// Iterator that visits all the colocal vertices.
+	class VertexIterator //: public Iterator<Edge *>
+	{
+	public:
+		VertexIterator(Vertex *v) :
+				m_end(NULL),
+				m_current(v) {}
+
+		virtual void advance() {
+			if (m_end == NULL) m_end = m_current;
+			m_current = m_current->next;
+		}
+
+		virtual bool isDone() const {
+			return m_end == m_current;
+		}
+		virtual Vertex *current() const {
+			return m_current;
+		}
+
+	private:
+		Vertex *m_end;
+		Vertex *m_current;
+	};
+
+	VertexIterator colocals() {
+		return VertexIterator(this);
+	}
+
+	// Iterator that visits all the colocal vertices.
+	class ConstVertexIterator //: public Iterator<Edge *>
+	{
+	public:
+		ConstVertexIterator(const Vertex *v) :
+				m_end(NULL),
+				m_current(v) {}
+
+		virtual void advance() {
+			if (m_end == NULL) m_end = m_current;
+			m_current = m_current->next;
+		}
+
+		virtual bool isDone() const {
+			return m_end == m_current;
+		}
+		virtual const Vertex *current() const {
+			return m_current;
+		}
+
+	private:
+		const Vertex *m_end;
+		const Vertex *m_current;
+	};
+
+	ConstVertexIterator colocals() const {
+		return ConstVertexIterator(this);
+	}
+};
+
+bool Edge::isNormalSeam() const {
+	return (vertex->nor != pair->next->vertex->nor || next->vertex->nor != pair->vertex->nor);
+}
+
+bool Edge::isTextureSeam() const {
+	return (vertex->tex != pair->next->vertex->tex || next->vertex->tex != pair->vertex->tex);
+}
+
+float Edge::length() const {
+	return internal::length(to()->pos - from()->pos);
+}
+
+float Edge::angle() const {
+	Vector3 p = vertex->pos;
+	Vector3 a = prev->vertex->pos;
+	Vector3 b = next->vertex->pos;
+	Vector3 v0 = a - p;
+	Vector3 v1 = b - p;
+	return acosf(dot(v0, v1) / (internal::length(v0) * internal::length(v1)));
+}
+
+class Face {
+public:
+	uint32_t id;
+	uint16_t group;
+	uint16_t material;
+	Edge *edge;
+
+	Face(uint32_t id) :
+			id(id),
+			group(uint16_t(~0)),
+			material(uint16_t(~0)),
+			edge(NULL) {}
+
+	float area() const {
+		float area = 0;
+		const Vector3 &v0 = edge->from()->pos;
+		for (ConstEdgeIterator it(edges(edge->next)); it.current() != edge->prev; it.advance()) {
+			const Edge *e = it.current();
+			const Vector3 &v1 = e->vertex->pos;
+			const Vector3 &v2 = e->next->vertex->pos;
+			area += length(cross(v1 - v0, v2 - v0));
+		}
+		return area * 0.5f;
+	}
+
+	float parametricArea() const {
+		float area = 0;
+		const Vector2 &v0 = edge->from()->tex;
+		for (ConstEdgeIterator it(edges(edge->next)); it.current() != edge->prev; it.advance()) {
+			const Edge *e = it.current();
+			const Vector2 &v1 = e->vertex->tex;
+			const Vector2 &v2 = e->next->vertex->tex;
+			area += triangleArea(v0, v1, v2);
+		}
+		return area * 0.5f;
+	}
+
+	Vector3 normal() const {
+		Vector3 n(0);
+		const Vertex *vertex0 = NULL;
+		for (ConstEdgeIterator it(edges()); !it.isDone(); it.advance()) {
+			const Edge *e = it.current();
+			xaAssert(e != NULL);
+			if (vertex0 == NULL) {
+				vertex0 = e->vertex;
+			} else if (e->next->vertex != vertex0) {
+				const halfedge::Vertex *vertex1 = e->from();
+				const halfedge::Vertex *vertex2 = e->to();
+				const Vector3 &p0 = vertex0->pos;
+				const Vector3 &p1 = vertex1->pos;
+				const Vector3 &p2 = vertex2->pos;
+				Vector3 v10 = p1 - p0;
+				Vector3 v20 = p2 - p0;
+				n += cross(v10, v20);
+			}
+		}
+		return normalizeSafe(n, Vector3(0, 0, 1), 0.0f);
+	}
+
+	Vector3 centroid() const {
+		Vector3 sum(0.0f);
+		uint32_t count = 0;
+		for (ConstEdgeIterator it(edges()); !it.isDone(); it.advance()) {
+			const Edge *e = it.current();
+			sum += e->from()->pos;
+			count++;
+		}
+		return sum / float(count);
+	}
+
+	// Unnormalized face normal assuming it's a triangle.
+	Vector3 triangleNormal() const {
+		Vector3 p0 = edge->vertex->pos;
+		Vector3 p1 = edge->next->vertex->pos;
+		Vector3 p2 = edge->next->next->vertex->pos;
+		Vector3 e0 = p2 - p0;
+		Vector3 e1 = p1 - p0;
+		return normalizeSafe(cross(e0, e1), Vector3(0), 0.0f);
+	}
+
+	Vector3 triangleNormalAreaScaled() const {
+		Vector3 p0 = edge->vertex->pos;
+		Vector3 p1 = edge->next->vertex->pos;
+		Vector3 p2 = edge->next->next->vertex->pos;
+		Vector3 e0 = p2 - p0;
+		Vector3 e1 = p1 - p0;
+		return cross(e0, e1);
+	}
+
+	// Average of the edge midpoints weighted by the edge length.
+	// I want a point inside the triangle, but closer to the cirumcenter.
+	Vector3 triangleCenter() const {
+		Vector3 p0 = edge->vertex->pos;
+		Vector3 p1 = edge->next->vertex->pos;
+		Vector3 p2 = edge->next->next->vertex->pos;
+		float l0 = length(p1 - p0);
+		float l1 = length(p2 - p1);
+		float l2 = length(p0 - p2);
+		Vector3 m0 = (p0 + p1) * l0 / (l0 + l1 + l2);
+		Vector3 m1 = (p1 + p2) * l1 / (l0 + l1 + l2);
+		Vector3 m2 = (p2 + p0) * l2 / (l0 + l1 + l2);
+		return m0 + m1 + m2;
+	}
+
+	bool isValid() const {
+		uint32_t count = 0;
+		for (ConstEdgeIterator it(edges()); !it.isDone(); it.advance()) {
+			const Edge *e = it.current();
+			if (e->face != this) return false;
+			if (!e->isValid()) return false;
+			if (!e->pair->isValid()) return false;
+			count++;
+		}
+		if (count < 3) return false;
+		return true;
+	}
+
+	bool contains(const Edge *e) const {
+		for (ConstEdgeIterator it(edges()); !it.isDone(); it.advance()) {
+			if (it.current() == e) return true;
+		}
+		return false;
+	}
+
+	uint32_t edgeCount() const {
+		uint32_t count = 0;
+		for (ConstEdgeIterator it(edges()); !it.isDone(); it.advance()) {
+			++count;
+		}
+		return count;
+	}
+
+	// The iterator that visits the edges of this face in clockwise order.
+	class EdgeIterator //: public Iterator<Edge *>
+	{
+	public:
+		EdgeIterator(Edge *e) :
+				m_end(NULL),
+				m_current(e) {}
+
+		virtual void advance() {
+			if (m_end == NULL) m_end = m_current;
+			m_current = m_current->next;
+		}
+
+		virtual bool isDone() const {
+			return m_end == m_current;
+		}
+		virtual Edge *current() const {
+			return m_current;
+		}
+		Vertex *vertex() const {
+			return m_current->vertex;
+		}
+
+	private:
+		Edge *m_end;
+		Edge *m_current;
+	};
+
+	EdgeIterator edges() {
+		return EdgeIterator(edge);
+	}
+	EdgeIterator edges(Edge *e) {
+		xaDebugAssert(contains(e));
+		return EdgeIterator(e);
+	}
+
+	// The iterator that visits the edges of this face in clockwise order.
+	class ConstEdgeIterator //: public Iterator<const Edge *>
+	{
+	public:
+		ConstEdgeIterator(const Edge *e) :
+				m_end(NULL),
+				m_current(e) {}
+		ConstEdgeIterator(const EdgeIterator &it) :
+				m_end(NULL),
+				m_current(it.current()) {}
+
+		virtual void advance() {
+			if (m_end == NULL) m_end = m_current;
+			m_current = m_current->next;
+		}
+
+		virtual bool isDone() const {
+			return m_end == m_current;
+		}
+		virtual const Edge *current() const {
+			return m_current;
+		}
+		const Vertex *vertex() const {
+			return m_current->vertex;
+		}
+
+	private:
+		const Edge *m_end;
+		const Edge *m_current;
+	};
+
+	ConstEdgeIterator edges() const {
+		return ConstEdgeIterator(edge);
+	}
+	ConstEdgeIterator edges(const Edge *e) const {
+		xaDebugAssert(contains(e));
+		return ConstEdgeIterator(e);
+	}
+};
+
+/// Simple half edge mesh designed for dynamic mesh manipulation.
+class Mesh {
+public:
+	Mesh() :
+			m_colocalVertexCount(0) {}
+
+	Mesh(const Mesh *mesh) {
+		// Copy mesh vertices.
+		const uint32_t vertexCount = mesh->vertexCount();
+		m_vertexArray.resize(vertexCount);
+		for (uint32_t v = 0; v < vertexCount; v++) {
+			const Vertex *vertex = mesh->vertexAt(v);
+			xaDebugAssert(vertex->id == v);
+			m_vertexArray[v] = new Vertex(v);
+			m_vertexArray[v]->pos = vertex->pos;
+			m_vertexArray[v]->nor = vertex->nor;
+			m_vertexArray[v]->tex = vertex->tex;
+		}
+		m_colocalVertexCount = vertexCount;
+		// Copy mesh faces.
+		const uint32_t faceCount = mesh->faceCount();
+		std::vector<uint32_t> indexArray;
+		indexArray.reserve(3);
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const Face *face = mesh->faceAt(f);
+			for (Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const Vertex *vertex = it.current()->from();
+				indexArray.push_back(vertex->id);
+			}
+			addFace(indexArray);
+			indexArray.clear();
+		}
+	}
+
+	~Mesh() {
+		clear();
+	}
+
+	void clear() {
+		for (size_t i = 0; i < m_vertexArray.size(); i++)
+			delete m_vertexArray[i];
+		m_vertexArray.clear();
+		for (auto it = m_edgeMap.begin(); it != m_edgeMap.end(); it++)
+			delete it->second;
+		m_edgeArray.clear();
+		m_edgeMap.clear();
+		for (size_t i = 0; i < m_faceArray.size(); i++)
+			delete m_faceArray[i];
+		m_faceArray.clear();
+	}
+
+	Vertex *addVertex(const Vector3 &pos) {
+		xaDebugAssert(isFinite(pos));
+		Vertex *v = new Vertex(m_vertexArray.size());
+		v->pos = pos;
+		m_vertexArray.push_back(v);
+		return v;
+	}
+
+	/// Link colocal vertices based on geometric location only.
+	void linkColocals() {
+		xaPrint("--- Linking colocals:\n");
+		const uint32_t vertexCount = this->vertexCount();
+		std::unordered_map<Vector3, Vertex *, Hash<Vector3>, Equal<Vector3> > vertexMap;
+		vertexMap.reserve(vertexCount);
+		for (uint32_t v = 0; v < vertexCount; v++) {
+			Vertex *vertex = vertexAt(v);
+			Vertex *colocal = vertexMap[vertex->pos];
+			if (colocal) {
+				colocal->linkColocal(vertex);
+			} else {
+				vertexMap[vertex->pos] = vertex;
+			}
+		}
+		m_colocalVertexCount = vertexMap.size();
+		xaPrint("---   %d vertex positions.\n", m_colocalVertexCount);
+		// @@ Remove duplicated vertices? or just leave them as colocals?
+	}
+
+	void linkColocalsWithCanonicalMap(const std::vector<uint32_t> &canonicalMap) {
+		xaPrint("--- Linking colocals:\n");
+		uint32_t vertexMapSize = 0;
+		for (uint32_t i = 0; i < canonicalMap.size(); i++) {
+			vertexMapSize = std::max(vertexMapSize, canonicalMap[i] + 1);
+		}
+		std::vector<Vertex *> vertexMap;
+		vertexMap.resize(vertexMapSize, NULL);
+		m_colocalVertexCount = 0;
+		const uint32_t vertexCount = this->vertexCount();
+		for (uint32_t v = 0; v < vertexCount; v++) {
+			Vertex *vertex = vertexAt(v);
+			Vertex *colocal = vertexMap[canonicalMap[v]];
+			if (colocal != NULL) {
+				xaDebugAssert(vertex->pos == colocal->pos);
+				colocal->linkColocal(vertex);
+			} else {
+				vertexMap[canonicalMap[v]] = vertex;
+				m_colocalVertexCount++;
+			}
+		}
+		xaPrint("---   %d vertex positions.\n", m_colocalVertexCount);
+	}
+
+	Face *addFace() {
+		Face *f = new Face(m_faceArray.size());
+		m_faceArray.push_back(f);
+		return f;
+	}
+
+	Face *addFace(uint32_t v0, uint32_t v1, uint32_t v2) {
+		uint32_t indexArray[3];
+		indexArray[0] = v0;
+		indexArray[1] = v1;
+		indexArray[2] = v2;
+		return addFace(indexArray, 3, 0, 3);
+	}
+
+	Face *addUniqueFace(uint32_t v0, uint32_t v1, uint32_t v2) {
+
+		int base_vertex = m_vertexArray.size();
+
+		uint32_t ids[3] = { v0, v1, v2 };
+
+		Vector3 base[3] = {
+			m_vertexArray[v0]->pos,
+			m_vertexArray[v1]->pos,
+			m_vertexArray[v2]->pos,
+		};
+
+		//make sure its not a degenerate
+		bool degenerate = distanceSquared(base[0], base[1]) < NV_EPSILON || distanceSquared(base[0], base[2]) < NV_EPSILON || distanceSquared(base[1], base[2]) < NV_EPSILON;
+		xaDebugAssert(!degenerate);
+
+		float min_x = 0;
+
+		for (int i = 0; i < 3; i++) {
+			if (i == 0 || m_vertexArray[v0]->pos.x < min_x) {
+				min_x = m_vertexArray[v0]->pos.x;
+			}
+		}
+
+		float max_x = 0;
+
+		for (int j = 0; j < m_vertexArray.size(); j++) {
+			if (j == 0 || m_vertexArray[j]->pos.x > max_x) { //vertex already exists
+				max_x = m_vertexArray[j]->pos.x;
+			}
+		}
+
+		//separate from everything else, in x axis
+		for (int i = 0; i < 3; i++) {
+
+			base[i].x -= min_x;
+			base[i].x += max_x + 10.0;
+		}
+
+		for (int i = 0; i < 3; i++) {
+			Vertex *v = new Vertex(m_vertexArray.size());
+			v->pos = base[i];
+			v->nor = m_vertexArray[ids[i]]->nor,
+			v->tex = m_vertexArray[ids[i]]->tex,
+
+			v->original_id = ids[i];
+			m_vertexArray.push_back(v);
+		}
+
+		uint32_t indexArray[3];
+		indexArray[0] = base_vertex + 0;
+		indexArray[1] = base_vertex + 1;
+		indexArray[2] = base_vertex + 2;
+		return addFace(indexArray, 3, 0, 3);
+	}
+
+	Face *addFace(uint32_t v0, uint32_t v1, uint32_t v2, uint32_t v3) {
+		uint32_t indexArray[4];
+		indexArray[0] = v0;
+		indexArray[1] = v1;
+		indexArray[2] = v2;
+		indexArray[3] = v3;
+		return addFace(indexArray, 4, 0, 4);
+	}
+
+	Face *addFace(const std::vector<uint32_t> &indexArray) {
+		return addFace(indexArray, 0, indexArray.size());
+	}
+
+	Face *addFace(const std::vector<uint32_t> &indexArray, uint32_t first, uint32_t num) {
+		return addFace(indexArray.data(), (uint32_t)indexArray.size(), first, num);
+	}
+
+	Face *addFace(const uint32_t *indexArray, uint32_t indexCount, uint32_t first, uint32_t num) {
+		xaDebugAssert(first < indexCount);
+		xaDebugAssert(num <= indexCount - first);
+		xaDebugAssert(num > 2);
+		if (!canAddFace(indexArray, first, num)) {
+			return NULL;
+		}
+		Face *f = new Face(m_faceArray.size());
+		Edge *firstEdge = NULL;
+		Edge *last = NULL;
+		Edge *current = NULL;
+		for (uint32_t i = 0; i < num - 1; i++) {
+			current = addEdge(indexArray[first + i], indexArray[first + i + 1]);
+			xaAssert(current != NULL && current->face == NULL);
+			current->face = f;
+			if (last != NULL)
+				last->setNext(current);
+			else
+				firstEdge = current;
+			last = current;
+		}
+		current = addEdge(indexArray[first + num - 1], indexArray[first]);
+		xaAssert(current != NULL && current->face == NULL);
+		current->face = f;
+		last->setNext(current);
+		current->setNext(firstEdge);
+		f->edge = firstEdge;
+		m_faceArray.push_back(f);
+		return f;
+	}
+
+	// These functions disconnect the given element from the mesh and delete it.
+
+	// @@ We must always disconnect edge pairs simultaneously.
+	void disconnect(Edge *edge) {
+		xaDebugAssert(edge != NULL);
+		// Remove from edge list.
+		if ((edge->id & 1) == 0) {
+			xaDebugAssert(m_edgeArray[edge->id / 2] == edge);
+			m_edgeArray[edge->id / 2] = NULL;
+		}
+		// Remove edge from map. @@ Store map key inside edge?
+		xaDebugAssert(edge->from() != NULL && edge->to() != NULL);
+		size_t removed = m_edgeMap.erase(Key(edge->from()->id, edge->to()->id));
+		xaDebugAssert(removed == 1);
+#ifdef NDEBUG
+		removed = 0; // silence unused parameter warning
+#endif
+		// Disconnect from vertex.
+		if (edge->vertex != NULL) {
+			if (edge->vertex->edge == edge) {
+				if (edge->prev && edge->prev->pair) {
+					edge->vertex->edge = edge->prev->pair;
+				} else if (edge->pair && edge->pair->next) {
+					edge->vertex->edge = edge->pair->next;
+				} else {
+					edge->vertex->edge = NULL;
+					// @@ Remove disconnected vertex?
+				}
+			}
+		}
+		// Disconnect from face.
+		if (edge->face != NULL) {
+			if (edge->face->edge == edge) {
+				if (edge->next != NULL && edge->next != edge) {
+					edge->face->edge = edge->next;
+				} else if (edge->prev != NULL && edge->prev != edge) {
+					edge->face->edge = edge->prev;
+				} else {
+					edge->face->edge = NULL;
+					// @@ Remove disconnected face?
+				}
+			}
+		}
+		// Disconnect from previous.
+		if (edge->prev) {
+			if (edge->prev->next == edge) {
+				edge->prev->setNext(NULL);
+			}
+			//edge->setPrev(NULL);
+		}
+		// Disconnect from next.
+		if (edge->next) {
+			if (edge->next->prev == edge) {
+				edge->next->setPrev(NULL);
+			}
+			//edge->setNext(NULL);
+		}
+	}
+
+	void remove(Edge *edge) {
+		xaDebugAssert(edge != NULL);
+		disconnect(edge);
+		delete edge;
+	}
+
+	void remove(Vertex *vertex) {
+		xaDebugAssert(vertex != NULL);
+		// Remove from vertex list.
+		m_vertexArray[vertex->id] = NULL;
+		// Disconnect from colocals.
+		vertex->unlinkColocal();
+		// Disconnect from edges.
+		if (vertex->edge != NULL) {
+			// @@ Removing a connected vertex is asking for trouble...
+			if (vertex->edge->vertex == vertex) {
+				// @@ Connect edge to a colocal?
+				vertex->edge->vertex = NULL;
+			}
+			vertex->setEdge(NULL);
+		}
+		delete vertex;
+	}
+
+	void remove(Face *face) {
+		xaDebugAssert(face != NULL);
+		// Remove from face list.
+		m_faceArray[face->id] = NULL;
+		// Disconnect from edges.
+		if (face->edge != NULL) {
+			xaDebugAssert(face->edge->face == face);
+			face->edge->face = NULL;
+			face->edge = NULL;
+		}
+		delete face;
+	}
+
+	// Triangulate in place.
+	void triangulate() {
+		bool all_triangles = true;
+		const uint32_t faceCount = m_faceArray.size();
+		for (uint32_t f = 0; f < faceCount; f++) {
+			Face *face = m_faceArray[f];
+			if (face->edgeCount() != 3) {
+				all_triangles = false;
+				break;
+			}
+		}
+		if (all_triangles) {
+			return;
+		}
+		// Do not touch vertices, but rebuild edges and faces.
+		std::vector<Edge *> edgeArray;
+		std::vector<Face *> faceArray;
+		std::swap(edgeArray, m_edgeArray);
+		std::swap(faceArray, m_faceArray);
+		m_edgeMap.clear();
+		for (uint32_t f = 0; f < faceCount; f++) {
+			Face *face = faceArray[f];
+			// Trivial fan-like triangulation.
+			const uint32_t v0 = face->edge->vertex->id;
+			uint32_t v2, v1 = (uint32_t)-1;
+			for (Face::EdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				Edge *edge = it.current();
+				v2 = edge->to()->id;
+				if (v2 == v0) break;
+				if (v1 != -1) addFace(v0, v1, v2);
+				v1 = v2;
+			}
+		}
+		xaDebugAssert(m_faceArray.size() > faceCount); // triangle count > face count
+		linkBoundary();
+		for (size_t i = 0; i < edgeArray.size(); i++)
+			delete edgeArray[i];
+		for (size_t i = 0; i < faceArray.size(); i++)
+			delete faceArray[i];
+	}
+
+	/// Link boundary edges once the mesh has been created.
+	void linkBoundary() {
+		xaPrint("--- Linking boundaries:\n");
+		int num = 0;
+		// Create boundary edges.
+		uint32_t edgeCount = this->edgeCount();
+		for (uint32_t e = 0; e < edgeCount; e++) {
+			Edge *edge = edgeAt(e);
+			if (edge != NULL && edge->pair == NULL) {
+				Edge *pair = new Edge(edge->id + 1);
+				uint32_t i = edge->from()->id;
+				uint32_t j = edge->next->from()->id;
+				Key key(j, i);
+				xaAssert(m_edgeMap.find(key) == m_edgeMap.end());
+				pair->vertex = m_vertexArray[j];
+				m_edgeMap[key] = pair;
+				edge->pair = pair;
+				pair->pair = edge;
+				num++;
+			}
+		}
+		// Link boundary edges.
+		for (uint32_t e = 0; e < edgeCount; e++) {
+			Edge *edge = edgeAt(e);
+			if (edge != NULL && edge->pair->face == NULL) {
+				linkBoundaryEdge(edge->pair);
+			}
+		}
+		xaPrint("---   %d boundary edges.\n", num);
+	}
+
+	/*
+	Fixing T-junctions.
+
+	- Find T-junctions. Find  vertices that are on an edge.
+		- This test is approximate.
+		- Insert edges on a spatial index to speedup queries.
+		- Consider only open edges, that is edges that have no pairs.
+		- Consider only vertices on boundaries.
+	- Close T-junction.
+		- Split edge.
+
+	*/
+	bool splitBoundaryEdges() // Returns true if any split was made.
+	{
+		std::vector<Vertex *> boundaryVertices;
+		for (uint32_t i = 0; i < m_vertexArray.size(); i++) {
+			Vertex *v = m_vertexArray[i];
+			if (v->isBoundary()) {
+				boundaryVertices.push_back(v);
+			}
+		}
+		xaPrint("Fixing T-junctions:\n");
+		int splitCount = 0;
+		for (uint32_t v = 0; v < boundaryVertices.size(); v++) {
+			Vertex *vertex = boundaryVertices[v];
+			Vector3 x0 = vertex->pos;
+			// Find edges that this vertex overlaps with.
+			for (uint32_t e = 0; e < m_edgeArray.size(); e++) {
+				Edge *edge = m_edgeArray[e];
+				if (edge != NULL && edge->isBoundary()) {
+					if (edge->from() == vertex || edge->to() == vertex) {
+						continue;
+					}
+					Vector3 x1 = edge->from()->pos;
+					Vector3 x2 = edge->to()->pos;
+					Vector3 v01 = x0 - x1;
+					Vector3 v21 = x2 - x1;
+					float l = length(v21);
+					float d = length(cross(v01, v21)) / l;
+					if (isZero(d)) {
+						float t = dot(v01, v21) / (l * l);
+						if (t > 0.0f + NV_EPSILON && t < 1.0f - NV_EPSILON) {
+							xaDebugAssert(equal(lerp(x1, x2, t), x0));
+							Vertex *splitVertex = splitBoundaryEdge(edge, t, x0);
+							vertex->linkColocal(splitVertex); // @@ Should we do this here?
+							splitCount++;
+						}
+					}
+				}
+			}
+		}
+		xaPrint(" - %d edges split.\n", splitCount);
+		xaDebugAssert(isValid());
+		return splitCount != 0;
+	}
+
+	// Vertices
+	uint32_t vertexCount() const {
+		return m_vertexArray.size();
+	}
+	const Vertex *vertexAt(int i) const {
+		return m_vertexArray[i];
+	}
+	Vertex *vertexAt(int i) {
+		return m_vertexArray[i];
+	}
+
+	uint32_t colocalVertexCount() const {
+		return m_colocalVertexCount;
+	}
+
+	// Faces
+	uint32_t faceCount() const {
+		return m_faceArray.size();
+	}
+	const Face *faceAt(int i) const {
+		return m_faceArray[i];
+	}
+	Face *faceAt(int i) {
+		return m_faceArray[i];
+	}
+
+	// Edges
+	uint32_t edgeCount() const {
+		return m_edgeArray.size();
+	}
+	const Edge *edgeAt(int i) const {
+		return m_edgeArray[i];
+	}
+	Edge *edgeAt(int i) {
+		return m_edgeArray[i];
+	}
+
+	class ConstVertexIterator;
+
+	class VertexIterator {
+		friend class ConstVertexIterator;
+
+	public:
+		VertexIterator(Mesh *mesh) :
+				m_mesh(mesh),
+				m_current(0) {}
+
+		virtual void advance() {
+			m_current++;
+		}
+		virtual bool isDone() const {
+			return m_current == m_mesh->vertexCount();
+		}
+		virtual Vertex *current() const {
+			return m_mesh->vertexAt(m_current);
+		}
+
+	private:
+		halfedge::Mesh *m_mesh;
+		uint32_t m_current;
+	};
+	VertexIterator vertices() {
+		return VertexIterator(this);
+	}
+
+	class ConstVertexIterator {
+	public:
+		ConstVertexIterator(const Mesh *mesh) :
+				m_mesh(mesh),
+				m_current(0) {}
+		ConstVertexIterator(class VertexIterator &it) :
+				m_mesh(it.m_mesh),
+				m_current(it.m_current) {}
+
+		virtual void advance() {
+			m_current++;
+		}
+		virtual bool isDone() const {
+			return m_current == m_mesh->vertexCount();
+		}
+		virtual const Vertex *current() const {
+			return m_mesh->vertexAt(m_current);
+		}
+
+	private:
+		const halfedge::Mesh *m_mesh;
+		uint32_t m_current;
+	};
+	ConstVertexIterator vertices() const {
+		return ConstVertexIterator(this);
+	}
+
+	class ConstFaceIterator;
+
+	class FaceIterator {
+		friend class ConstFaceIterator;
+
+	public:
+		FaceIterator(Mesh *mesh) :
+				m_mesh(mesh),
+				m_current(0) {}
+
+		virtual void advance() {
+			m_current++;
+		}
+		virtual bool isDone() const {
+			return m_current == m_mesh->faceCount();
+		}
+		virtual Face *current() const {
+			return m_mesh->faceAt(m_current);
+		}
+
+	private:
+		halfedge::Mesh *m_mesh;
+		uint32_t m_current;
+	};
+	FaceIterator faces() {
+		return FaceIterator(this);
+	}
+
+	class ConstFaceIterator {
+	public:
+		ConstFaceIterator(const Mesh *mesh) :
+				m_mesh(mesh),
+				m_current(0) {}
+		ConstFaceIterator(const FaceIterator &it) :
+				m_mesh(it.m_mesh),
+				m_current(it.m_current) {}
+
+		virtual void advance() {
+			m_current++;
+		}
+		virtual bool isDone() const {
+			return m_current == m_mesh->faceCount();
+		}
+		virtual const Face *current() const {
+			return m_mesh->faceAt(m_current);
+		}
+
+	private:
+		const halfedge::Mesh *m_mesh;
+		uint32_t m_current;
+	};
+	ConstFaceIterator faces() const {
+		return ConstFaceIterator(this);
+	}
+
+	class ConstEdgeIterator;
+
+	class EdgeIterator {
+		friend class ConstEdgeIterator;
+
+	public:
+		EdgeIterator(Mesh *mesh) :
+				m_mesh(mesh),
+				m_current(0) {}
+
+		virtual void advance() {
+			m_current++;
+		}
+		virtual bool isDone() const {
+			return m_current == m_mesh->edgeCount();
+		}
+		virtual Edge *current() const {
+			return m_mesh->edgeAt(m_current);
+		}
+
+	private:
+		halfedge::Mesh *m_mesh;
+		uint32_t m_current;
+	};
+	EdgeIterator edges() {
+		return EdgeIterator(this);
+	}
+
+	class ConstEdgeIterator {
+	public:
+		ConstEdgeIterator(const Mesh *mesh) :
+				m_mesh(mesh),
+				m_current(0) {}
+		ConstEdgeIterator(const EdgeIterator &it) :
+				m_mesh(it.m_mesh),
+				m_current(it.m_current) {}
+
+		virtual void advance() {
+			m_current++;
+		}
+		virtual bool isDone() const {
+			return m_current == m_mesh->edgeCount();
+		}
+		virtual const Edge *current() const {
+			return m_mesh->edgeAt(m_current);
+		}
+
+	private:
+		const halfedge::Mesh *m_mesh;
+		uint32_t m_current;
+	};
+	ConstEdgeIterator edges() const {
+		return ConstEdgeIterator(this);
+	}
+
+	// @@ Add half-edge iterator.
+
+	bool isValid() const {
+		// Make sure all edges are valid.
+		const uint32_t edgeCount = m_edgeArray.size();
+		for (uint32_t e = 0; e < edgeCount; e++) {
+			Edge *edge = m_edgeArray[e];
+			if (edge != NULL) {
+				if (edge->id != 2 * e) {
+					return false;
+				}
+				if (!edge->isValid()) {
+					return false;
+				}
+				if (edge->pair->id != 2 * e + 1) {
+					return false;
+				}
+				if (!edge->pair->isValid()) {
+					return false;
+				}
+			}
+		}
+		// @@ Make sure all faces are valid.
+		// @@ Make sure all vertices are valid.
+		return true;
+	}
+
+	// Error status:
+
+	struct ErrorCode {
+		enum Enum {
+			AlreadyAddedEdge,
+			DegenerateColocalEdge,
+			DegenerateEdge,
+			DuplicateEdge
+		};
+	};
+
+	mutable ErrorCode::Enum errorCode;
+	mutable uint32_t errorIndex0;
+	mutable uint32_t errorIndex1;
+
+private:
+	// Return true if the face can be added to the manifold mesh.
+	bool canAddFace(const std::vector<uint32_t> &indexArray, uint32_t first, uint32_t num) const {
+		return canAddFace(indexArray.data(), first, num);
+	}
+
+	bool canAddFace(const uint32_t *indexArray, uint32_t first, uint32_t num) const {
+		for (uint32_t j = num - 1, i = 0; i < num; j = i++) {
+			if (!canAddEdge(indexArray[first + j], indexArray[first + i])) {
+				errorIndex0 = indexArray[first + j];
+				errorIndex1 = indexArray[first + i];
+				return false;
+			}
+		}
+		// We also have to make sure the face does not have any duplicate edge!
+		for (uint32_t i = 0; i < num; i++) {
+			int i0 = indexArray[first + i + 0];
+			int i1 = indexArray[first + (i + 1) % num];
+			for (uint32_t j = i + 1; j < num; j++) {
+				int j0 = indexArray[first + j + 0];
+				int j1 = indexArray[first + (j + 1) % num];
+				if (i0 == j0 && i1 == j1) {
+					errorCode = ErrorCode::DuplicateEdge;
+					errorIndex0 = i0;
+					errorIndex1 = i1;
+					return false;
+				}
+			}
+		}
+		return true;
+	}
+
+	// Return true if the edge doesn't exist or doesn't have any adjacent face.
+	bool canAddEdge(uint32_t i, uint32_t j) const {
+		if (i == j) {
+			// Skip degenerate edges.
+			errorCode = ErrorCode::DegenerateEdge;
+			return false;
+		}
+		// Same check, but taking into account colocal vertices.
+		const Vertex *v0 = vertexAt(i);
+		const Vertex *v1 = vertexAt(j);
+		for (Vertex::ConstVertexIterator it(v0->colocals()); !it.isDone(); it.advance()) {
+			if (it.current() == v1) {
+				// Skip degenerate edges.
+				errorCode = ErrorCode::DegenerateColocalEdge;
+				return false;
+			}
+		}
+		// Make sure edge has not been added yet.
+		Edge *edge = findEdge(i, j);
+		// We ignore edges that don't have an adjacent face yet, since this face could become the edge's face.
+		if (!(edge == NULL || edge->face == NULL)) {
+			errorCode = ErrorCode::AlreadyAddedEdge;
+			return false;
+		}
+		return true;
+	}
+
+	Edge *addEdge(uint32_t i, uint32_t j) {
+		xaAssert(i != j);
+		Edge *edge = findEdge(i, j);
+		if (edge != NULL) {
+			// Edge may already exist, but its face must not be set.
+			xaDebugAssert(edge->face == NULL);
+			// Nothing else to do!
+		} else {
+			// Add new edge.
+			// Lookup pair.
+			Edge *pair = findEdge(j, i);
+			if (pair != NULL) {
+				// Create edge with same id.
+				edge = new Edge(pair->id + 1);
+				// Link edge pairs.
+				edge->pair = pair;
+				pair->pair = edge;
+				// @@ I'm not sure this is necessary!
+				pair->vertex->setEdge(pair);
+			} else {
+				// Create edge.
+				edge = new Edge(2 * m_edgeArray.size());
+				// Add only unpaired edges.
+				m_edgeArray.push_back(edge);
+			}
+			edge->vertex = m_vertexArray[i];
+			m_edgeMap[Key(i, j)] = edge;
+		}
+		// Face and Next are set by addFace.
+		return edge;
+	}
+
+	/// Find edge, test all colocals.
+	Edge *findEdge(uint32_t i, uint32_t j) const {
+		Edge *edge = NULL;
+		const Vertex *v0 = vertexAt(i);
+		const Vertex *v1 = vertexAt(j);
+		// Test all colocal pairs.
+		for (Vertex::ConstVertexIterator it0(v0->colocals()); !it0.isDone(); it0.advance()) {
+			for (Vertex::ConstVertexIterator it1(v1->colocals()); !it1.isDone(); it1.advance()) {
+				Key key(it0.current()->id, it1.current()->id);
+				if (edge == NULL) {
+					auto edgeIt = m_edgeMap.find(key);
+					if (edgeIt != m_edgeMap.end())
+						edge = (*edgeIt).second;
+#if !defined(_DEBUG)
+					if (edge != NULL) return edge;
+#endif
+				} else {
+					// Make sure that only one edge is found.
+					xaDebugAssert(m_edgeMap.find(key) == m_edgeMap.end());
+				}
+			}
+		}
+		return edge;
+	}
+
+	/// Link this boundary edge.
+	void linkBoundaryEdge(Edge *edge) {
+		xaAssert(edge->face == NULL);
+		// Make sure next pointer has not been set. @@ We want to be able to relink boundary edges after mesh changes.
+		Edge *next = edge;
+		while (next->pair->face != NULL) {
+			// Get pair prev
+			Edge *e = next->pair->next;
+			while (e->next != next->pair) {
+				e = e->next;
+			}
+			next = e;
+		}
+		edge->setNext(next->pair);
+		// Adjust vertex edge, so that it's the boundary edge. (required for isBoundary())
+		if (edge->vertex->edge != edge) {
+			// Multiple boundaries in the same edge.
+			edge->vertex->edge = edge;
+		}
+	}
+
+	Vertex *splitBoundaryEdge(Edge *edge, float t, const Vector3 &pos) {
+		/*
+		  We want to go from this configuration:
+
+				+   +
+				|   ^
+		   edge |<->|  pair
+				v   |
+				+   +
+
+		  To this one:
+
+				+   +
+				|   ^
+			 e0 |<->| p0
+				v   |
+		 vertex +   +
+				|   ^
+			 e1 |<->| p1
+				v   |
+				+   +
+
+		*/
+		Edge *pair = edge->pair;
+		// Make sure boundaries are linked.
+		xaDebugAssert(pair != NULL);
+		// Make sure edge is a boundary edge.
+		xaDebugAssert(pair->face == NULL);
+		// Add new vertex.
+		Vertex *vertex = addVertex(pos);
+		vertex->nor = lerp(edge->from()->nor, edge->to()->nor, t);
+		vertex->tex = lerp(edge->from()->tex, edge->to()->tex, t);
+		disconnect(edge);
+		disconnect(pair);
+		// Add edges.
+		Edge *e0 = addEdge(edge->from()->id, vertex->id);
+		Edge *p0 = addEdge(vertex->id, pair->to()->id);
+		Edge *e1 = addEdge(vertex->id, edge->to()->id);
+		Edge *p1 = addEdge(pair->from()->id, vertex->id);
+		// Link edges.
+		e0->setNext(e1);
+		p1->setNext(p0);
+		e0->setPrev(edge->prev);
+		e1->setNext(edge->next);
+		p1->setPrev(pair->prev);
+		p0->setNext(pair->next);
+		xaDebugAssert(e0->next == e1);
+		xaDebugAssert(e1->prev == e0);
+		xaDebugAssert(p1->next == p0);
+		xaDebugAssert(p0->prev == p1);
+		xaDebugAssert(p0->pair == e0);
+		xaDebugAssert(e0->pair == p0);
+		xaDebugAssert(p1->pair == e1);
+		xaDebugAssert(e1->pair == p1);
+		// Link faces.
+		e0->face = edge->face;
+		e1->face = edge->face;
+		// Link vertices.
+		edge->from()->setEdge(e0);
+		vertex->setEdge(e1);
+		delete edge;
+		delete pair;
+		return vertex;
+	}
+
+private:
+	std::vector<Vertex *> m_vertexArray;
+	std::vector<Edge *> m_edgeArray;
+	std::vector<Face *> m_faceArray;
+
+	struct Key {
+		Key() {}
+		Key(const Key &k) :
+				p0(k.p0),
+				p1(k.p1) {}
+		Key(uint32_t v0, uint32_t v1) :
+				p0(v0),
+				p1(v1) {}
+		void operator=(const Key &k) {
+			p0 = k.p0;
+			p1 = k.p1;
+		}
+		bool operator==(const Key &k) const {
+			return p0 == k.p0 && p1 == k.p1;
+		}
+
+		uint32_t p0;
+		uint32_t p1;
+	};
+
+	friend struct Hash<Mesh::Key>;
+	std::unordered_map<Key, Edge *, Hash<Key>, Equal<Key> > m_edgeMap;
+	uint32_t m_colocalVertexCount;
+};
+
+class MeshTopology {
+public:
+	MeshTopology(const Mesh *mesh) {
+		buildTopologyInfo(mesh);
+	}
+
+	/// Determine if the mesh is connected.
+	bool isConnected() const {
+		return m_connectedCount == 1;
+	}
+
+	/// Determine if the mesh is closed. (Each edge is shared by two faces)
+	bool isClosed() const {
+		return m_boundaryCount == 0;
+	}
+
+	/// Return true if the mesh has the topology of a disk.
+	bool isDisk() const {
+		return isConnected() && m_boundaryCount == 1 /* && m_eulerNumber == 1*/;
+	}
+
+private:
+	void buildTopologyInfo(const Mesh *mesh) {
+		const uint32_t vertexCount = mesh->colocalVertexCount();
+		const uint32_t faceCount = mesh->faceCount();
+		const uint32_t edgeCount = mesh->edgeCount();
+		xaPrint("--- Building mesh topology:\n");
+		std::vector<uint32_t> stack(faceCount);
+		BitArray bitFlags(faceCount);
+		bitFlags.clearAll();
+		// Compute connectivity.
+		xaPrint("---   Computing connectivity.\n");
+		m_connectedCount = 0;
+		for (uint32_t f = 0; f < faceCount; f++) {
+			if (bitFlags.bitAt(f) == false) {
+				m_connectedCount++;
+				stack.push_back(f);
+				while (!stack.empty()) {
+					const uint32_t top = stack.back();
+					xaAssert(top != uint32_t(~0));
+					stack.pop_back();
+					if (bitFlags.bitAt(top) == false) {
+						bitFlags.setBitAt(top);
+						const Face *face = mesh->faceAt(top);
+						const Edge *firstEdge = face->edge;
+						const Edge *edge = firstEdge;
+						do {
+							const Face *neighborFace = edge->pair->face;
+							if (neighborFace != NULL) {
+								stack.push_back(neighborFace->id);
+							}
+							edge = edge->next;
+						} while (edge != firstEdge);
+					}
+				}
+			}
+		}
+		xaAssert(stack.empty());
+		xaPrint("---   %d connected components.\n", m_connectedCount);
+		// Count boundary loops.
+		xaPrint("---   Counting boundary loops.\n");
+		m_boundaryCount = 0;
+		bitFlags.resize(edgeCount);
+		bitFlags.clearAll();
+		// Don't forget to link the boundary otherwise this won't work.
+		for (uint32_t e = 0; e < edgeCount; e++) {
+			const Edge *startEdge = mesh->edgeAt(e);
+			if (startEdge != NULL && startEdge->isBoundary() && bitFlags.bitAt(e) == false) {
+				xaDebugAssert(startEdge->face != NULL);
+				xaDebugAssert(startEdge->pair->face == NULL);
+				startEdge = startEdge->pair;
+				m_boundaryCount++;
+				const Edge *edge = startEdge;
+				do {
+					bitFlags.setBitAt(edge->id / 2);
+					edge = edge->next;
+				} while (startEdge != edge);
+			}
+		}
+		xaPrint("---   %d boundary loops found.\n", m_boundaryCount);
+		// Compute euler number.
+		m_eulerNumber = vertexCount - edgeCount + faceCount;
+		xaPrint("---   Euler number: %d.\n", m_eulerNumber);
+		// Compute genus. (only valid on closed connected surfaces)
+		m_genus = -1;
+		if (isClosed() && isConnected()) {
+			m_genus = (2 - m_eulerNumber) / 2;
+			xaPrint("---   Genus: %d.\n", m_genus);
+		}
+	}
+
+private:
+	///< Number of boundary loops.
+	int m_boundaryCount;
+
+	///< Number of connected components.
+	int m_connectedCount;
+
+	///< Euler number.
+	int m_eulerNumber;
+
+	/// Mesh genus.
+	int m_genus;
+};
+
+float computeSurfaceArea(const halfedge::Mesh *mesh) {
+	float area = 0;
+	for (halfedge::Mesh::ConstFaceIterator it(mesh->faces()); !it.isDone(); it.advance()) {
+		const halfedge::Face *face = it.current();
+		area += face->area();
+	}
+	xaDebugAssert(area >= 0);
+	return area;
+}
+
+float computeParametricArea(const halfedge::Mesh *mesh) {
+	float area = 0;
+	for (halfedge::Mesh::ConstFaceIterator it(mesh->faces()); !it.isDone(); it.advance()) {
+		const halfedge::Face *face = it.current();
+		area += face->parametricArea();
+	}
+	return area;
+}
+
+uint32_t countMeshTriangles(const Mesh *mesh) {
+	const uint32_t faceCount = mesh->faceCount();
+	uint32_t triangleCount = 0;
+	for (uint32_t f = 0; f < faceCount; f++) {
+		const Face *face = mesh->faceAt(f);
+		uint32_t edgeCount = face->edgeCount();
+		xaDebugAssert(edgeCount > 2);
+		triangleCount += edgeCount - 2;
+	}
+	return triangleCount;
+}
+
+Mesh *unifyVertices(const Mesh *inputMesh) {
+	Mesh *mesh = new Mesh;
+	// Only add the first colocal.
+	const uint32_t vertexCount = inputMesh->vertexCount();
+	for (uint32_t v = 0; v < vertexCount; v++) {
+		const Vertex *vertex = inputMesh->vertexAt(v);
+		if (vertex->isFirstColocal()) {
+			mesh->addVertex(vertex->pos);
+		}
+	}
+	std::vector<uint32_t> indexArray;
+	// Add new faces pointing to first colocals.
+	uint32_t faceCount = inputMesh->faceCount();
+	for (uint32_t f = 0; f < faceCount; f++) {
+		const Face *face = inputMesh->faceAt(f);
+		indexArray.clear();
+		for (Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const Edge *edge = it.current();
+			const Vertex *vertex = edge->vertex->firstColocal();
+			indexArray.push_back(vertex->id);
+		}
+		mesh->addFace(indexArray);
+	}
+	mesh->linkBoundary();
+	return mesh;
+}
+
+static bool pointInTriangle(const Vector2 &p, const Vector2 &a, const Vector2 &b, const Vector2 &c) {
+	return triangleArea(a, b, p) >= 0.00001f &&
+		   triangleArea(b, c, p) >= 0.00001f &&
+		   triangleArea(c, a, p) >= 0.00001f;
+}
+
+// This is doing a simple ear-clipping algorithm that skips invalid triangles. Ideally, we should
+// also sort the ears by angle, start with the ones that have the smallest angle and proceed in order.
+Mesh *triangulate(const Mesh *inputMesh) {
+	Mesh *mesh = new Mesh;
+	// Add all vertices.
+	const uint32_t vertexCount = inputMesh->vertexCount();
+	for (uint32_t v = 0; v < vertexCount; v++) {
+		const Vertex *vertex = inputMesh->vertexAt(v);
+		mesh->addVertex(vertex->pos);
+	}
+	std::vector<int> polygonVertices;
+	std::vector<float> polygonAngles;
+	std::vector<Vector2> polygonPoints;
+	const uint32_t faceCount = inputMesh->faceCount();
+	for (uint32_t f = 0; f < faceCount; f++) {
+		const Face *face = inputMesh->faceAt(f);
+		xaDebugAssert(face != NULL);
+		const uint32_t edgeCount = face->edgeCount();
+		xaDebugAssert(edgeCount >= 3);
+		polygonVertices.clear();
+		polygonVertices.reserve(edgeCount);
+		if (edgeCount == 3) {
+			// Simple case for triangles.
+			for (Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const Edge *edge = it.current();
+				const Vertex *vertex = edge->vertex;
+				polygonVertices.push_back(vertex->id);
+			}
+			int v0 = polygonVertices[0];
+			int v1 = polygonVertices[1];
+			int v2 = polygonVertices[2];
+			mesh->addFace(v0, v1, v2);
+		} else {
+			// Build 2D polygon projecting vertices onto normal plane.
+			// Faces are not necesarily planar, this is for example the case, when the face comes from filling a hole. In such cases
+			// it's much better to use the best fit plane.
+			const Vector3 fn = face->normal();
+			Basis basis;
+			basis.buildFrameForDirection(fn);
+			polygonPoints.clear();
+			polygonPoints.reserve(edgeCount);
+			polygonAngles.clear();
+			polygonAngles.reserve(edgeCount);
+			for (Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const Edge *edge = it.current();
+				const Vertex *vertex = edge->vertex;
+				polygonVertices.push_back(vertex->id);
+				Vector2 p;
+				p.x = dot(basis.tangent, vertex->pos);
+				p.y = dot(basis.bitangent, vertex->pos);
+				polygonPoints.push_back(p);
+			}
+			polygonAngles.resize(edgeCount);
+			while (polygonVertices.size() > 2) {
+				uint32_t size = polygonVertices.size();
+				// Update polygon angles. @@ Update only those that have changed.
+				float minAngle = 2 * PI;
+				uint32_t bestEar = 0; // Use first one if none of them is valid.
+				bool bestIsValid = false;
+				for (uint32_t i = 0; i < size; i++) {
+					uint32_t i0 = i;
+					uint32_t i1 = (i + 1) % size; // Use Sean's polygon interation trick.
+					uint32_t i2 = (i + 2) % size;
+					Vector2 p0 = polygonPoints[i0];
+					Vector2 p1 = polygonPoints[i1];
+					Vector2 p2 = polygonPoints[i2];
+
+					bool degenerate = distance(p0, p1) < NV_EPSILON || distance(p0, p2) < NV_EPSILON || distance(p1, p2) < NV_EPSILON;
+					if (degenerate) {
+						continue;
+					}
+
+					float d = clamp(dot(p0 - p1, p2 - p1) / (length(p0 - p1) * length(p2 - p1)), -1.0f, 1.0f);
+					float angle = acosf(d);
+					float area = triangleArea(p0, p1, p2);
+					if (area < 0.0f) angle = 2.0f * PI - angle;
+					polygonAngles[i1] = angle;
+					if (angle < minAngle || !bestIsValid) {
+						// Make sure this is a valid ear, if not, skip this point.
+						bool valid = true;
+						for (uint32_t j = 0; j < size; j++) {
+							if (j == i0 || j == i1 || j == i2) continue;
+							Vector2 p = polygonPoints[j];
+							if (pointInTriangle(p, p0, p1, p2)) {
+								valid = false;
+								break;
+							}
+						}
+						if (valid || !bestIsValid) {
+							minAngle = angle;
+							bestEar = i1;
+							bestIsValid = valid;
+						}
+					}
+				}
+				if (!bestIsValid)
+					break;
+
+				xaDebugAssert(minAngle <= 2 * PI);
+				// Clip best ear:
+				uint32_t i0 = (bestEar + size - 1) % size;
+				uint32_t i1 = (bestEar + 0) % size;
+				uint32_t i2 = (bestEar + 1) % size;
+				int v0 = polygonVertices[i0];
+				int v1 = polygonVertices[i1];
+				int v2 = polygonVertices[i2];
+				mesh->addFace(v0, v1, v2);
+				polygonVertices.erase(polygonVertices.begin() + i1);
+				polygonPoints.erase(polygonPoints.begin() + i1);
+				polygonAngles.erase(polygonAngles.begin() + i1);
+			}
+		}
+	}
+	mesh->linkBoundary();
+	return mesh;
+}
+
+} //  namespace halfedge
+
+/// Mersenne twister random number generator.
+class MTRand {
+public:
+	enum time_e { Time };
+	enum { N = 624 }; // length of state vector
+	enum { M = 397 };
+
+	/// Constructor that uses the current time as the seed.
+	MTRand(time_e) {
+		seed((uint32_t)time(NULL));
+	}
+
+	/// Constructor that uses the given seed.
+	MTRand(uint32_t s = 0) {
+		seed(s);
+	}
+
+	/// Provide a new seed.
+	void seed(uint32_t s) {
+		initialize(s);
+		reload();
+	}
+
+	/// Get a random number between 0 - 65536.
+	uint32_t get() {
+		// Pull a 32-bit integer from the generator state
+		// Every other access function simply transforms the numbers extracted here
+		if (left == 0) {
+			reload();
+		}
+		left--;
+		uint32_t s1;
+		s1 = *next++;
+		s1 ^= (s1 >> 11);
+		s1 ^= (s1 << 7) & 0x9d2c5680U;
+		s1 ^= (s1 << 15) & 0xefc60000U;
+		return (s1 ^ (s1 >> 18));
+	};
+
+	/// Get a random number on [0, max] interval.
+	uint32_t getRange(uint32_t max) {
+		if (max == 0) return 0;
+		if (max == NV_UINT32_MAX) return get();
+		const uint32_t np2 = nextPowerOfTwo(max + 1); // @@ This fails if max == NV_UINT32_MAX
+		const uint32_t mask = np2 - 1;
+		uint32_t n;
+		do {
+			n = get() & mask;
+		} while (n > max);
+		return n;
+	}
+
+private:
+	void initialize(uint32_t seed) {
+		// Initialize generator state with seed
+		// See Knuth TAOCP Vol 2, 3rd Ed, p.106 for multiplier.
+		// In previous versions, most significant bits (MSBs) of the seed affect
+		// only MSBs of the state array.  Modified 9 Jan 2002 by Makoto Matsumoto.
+		uint32_t *s = state;
+		uint32_t *r = state;
+		int i = 1;
+		*s++ = seed & 0xffffffffUL;
+		for (; i < N; ++i) {
+			*s++ = (1812433253UL * (*r ^ (*r >> 30)) + i) & 0xffffffffUL;
+			r++;
+		}
+	}
+
+	void reload() {
+		// Generate N new values in state
+		// Made clearer and faster by Matthew Bellew (matthew.bellew@home.com)
+		uint32_t *p = state;
+		int i;
+		for (i = N - M; i--; ++p)
+			*p = twist(p[M], p[0], p[1]);
+		for (i = M; --i; ++p)
+			*p = twist(p[M - N], p[0], p[1]);
+		*p = twist(p[M - N], p[0], state[0]);
+		left = N, next = state;
+	}
+
+	uint32_t hiBit(uint32_t u) const {
+		return u & 0x80000000U;
+	}
+	uint32_t loBit(uint32_t u) const {
+		return u & 0x00000001U;
+	}
+	uint32_t loBits(uint32_t u) const {
+		return u & 0x7fffffffU;
+	}
+	uint32_t mixBits(uint32_t u, uint32_t v) const {
+		return hiBit(u) | loBits(v);
+	}
+	uint32_t twist(uint32_t m, uint32_t s0, uint32_t s1) const {
+		return m ^ (mixBits(s0, s1) >> 1) ^ ((~loBit(s1) + 1) & 0x9908b0dfU);
+	}
+
+	uint32_t state[N]; // internal state
+	uint32_t *next; // next value to get from state
+	int left; // number of values left before reload needed
+};
+
+namespace morton {
+// Code from ryg:
+// http://fgiesen.wordpress.com/2009/12/13/decoding-morton-codes/
+
+// Inverse of part1By1 - "delete" all odd-indexed bits
+uint32_t compact1By1(uint32_t x) {
+	x &= 0x55555555; // x = -f-e -d-c -b-a -9-8 -7-6 -5-4 -3-2 -1-0
+	x = (x ^ (x >> 1)) & 0x33333333; // x = --fe --dc --ba --98 --76 --54 --32 --10
+	x = (x ^ (x >> 2)) & 0x0f0f0f0f; // x = ---- fedc ---- ba98 ---- 7654 ---- 3210
+	x = (x ^ (x >> 4)) & 0x00ff00ff; // x = ---- ---- fedc ba98 ---- ---- 7654 3210
+	x = (x ^ (x >> 8)) & 0x0000ffff; // x = ---- ---- ---- ---- fedc ba98 7654 3210
+	return x;
+}
+
+// Inverse of part1By2 - "delete" all bits not at positions divisible by 3
+uint32_t compact1By2(uint32_t x) {
+	x &= 0x09249249; // x = ---- 9--8 --7- -6-- 5--4 --3- -2-- 1--0
+	x = (x ^ (x >> 2)) & 0x030c30c3; // x = ---- --98 ---- 76-- --54 ---- 32-- --10
+	x = (x ^ (x >> 4)) & 0x0300f00f; // x = ---- --98 ---- ---- 7654 ---- ---- 3210
+	x = (x ^ (x >> 8)) & 0xff0000ff; // x = ---- --98 ---- ---- ---- ---- 7654 3210
+	x = (x ^ (x >> 16)) & 0x000003ff; // x = ---- ---- ---- ---- ---- --98 7654 3210
+	return x;
+}
+
+uint32_t decodeMorton2X(uint32_t code) {
+	return compact1By1(code >> 0);
+}
+
+uint32_t decodeMorton2Y(uint32_t code) {
+	return compact1By1(code >> 1);
+}
+
+uint32_t decodeMorton3X(uint32_t code) {
+	return compact1By2(code >> 0);
+}
+
+uint32_t decodeMorton3Y(uint32_t code) {
+	return compact1By2(code >> 1);
+}
+
+uint32_t decodeMorton3Z(uint32_t code) {
+	return compact1By2(code >> 2);
+}
+} // namespace morton
+
+// A simple, dynamic proximity grid based on Jon's code.
+// Instead of storing pointers here I store indices.
+struct ProximityGrid {
+	void init(const Box &box, uint32_t count) {
+		cellArray.clear();
+		// Determine grid size.
+		float cellWidth;
+		Vector3 diagonal = box.extents() * 2.f;
+		float volume = box.volume();
+		if (equal(volume, 0)) {
+			// Degenerate box, treat like a quad.
+			Vector2 quad;
+			if (diagonal.x < diagonal.y && diagonal.x < diagonal.z) {
+				quad.x = diagonal.y;
+				quad.y = diagonal.z;
+			} else if (diagonal.y < diagonal.x && diagonal.y < diagonal.z) {
+				quad.x = diagonal.x;
+				quad.y = diagonal.z;
+			} else {
+				quad.x = diagonal.x;
+				quad.y = diagonal.y;
+			}
+			float cellArea = quad.x * quad.y / count;
+			cellWidth = sqrtf(cellArea); // pow(cellArea, 1.0f / 2.0f);
+		} else {
+			// Ideally we want one cell per point.
+			float cellVolume = volume / count;
+			cellWidth = powf(cellVolume, 1.0f / 3.0f);
+		}
+		xaDebugAssert(cellWidth != 0);
+		sx = std::max(1, ftoi_ceil(diagonal.x / cellWidth));
+		sy = std::max(1, ftoi_ceil(diagonal.y / cellWidth));
+		sz = std::max(1, ftoi_ceil(diagonal.z / cellWidth));
+		invCellSize.x = float(sx) / diagonal.x;
+		invCellSize.y = float(sy) / diagonal.y;
+		invCellSize.z = float(sz) / diagonal.z;
+		cellArray.resize(sx * sy * sz);
+		corner = box.minCorner; // @@ Align grid better?
+	}
+
+	int index_x(float x) const {
+		return clamp(ftoi_floor((x - corner.x) * invCellSize.x), 0, sx - 1);
+	}
+
+	int index_y(float y) const {
+		return clamp(ftoi_floor((y - corner.y) * invCellSize.y), 0, sy - 1);
+	}
+
+	int index_z(float z) const {
+		return clamp(ftoi_floor((z - corner.z) * invCellSize.z), 0, sz - 1);
+	}
+
+	int index(int x, int y, int z) const {
+		xaDebugAssert(x >= 0 && x < sx);
+		xaDebugAssert(y >= 0 && y < sy);
+		xaDebugAssert(z >= 0 && z < sz);
+		int idx = (z * sy + y) * sx + x;
+		xaDebugAssert(idx >= 0 && uint32_t(idx) < cellArray.size());
+		return idx;
+	}
+
+	uint32_t mortonCount() const {
+		uint64_t s = uint64_t(max3(sx, sy, sz));
+		s = nextPowerOfTwo(s);
+		if (s > 1024) {
+			return uint32_t(s * s * min3(sx, sy, sz));
+		}
+		return uint32_t(s * s * s);
+	}
+
+	int mortonIndex(uint32_t code) const {
+		uint32_t x, y, z;
+		uint32_t s = uint32_t(max3(sx, sy, sz));
+		if (s > 1024) {
+			// Use layered two-dimensional morton order.
+			s = nextPowerOfTwo(s);
+			uint32_t layer = code / (s * s);
+			code = code % (s * s);
+			uint32_t layer_count = uint32_t(min3(sx, sy, sz));
+			if (sx == (int)layer_count) {
+				x = layer;
+				y = morton::decodeMorton2X(code);
+				z = morton::decodeMorton2Y(code);
+			} else if (sy == (int)layer_count) {
+				x = morton::decodeMorton2Y(code);
+				y = layer;
+				z = morton::decodeMorton2X(code);
+			} else { /*if (sz == layer_count)*/
+				x = morton::decodeMorton2X(code);
+				y = morton::decodeMorton2Y(code);
+				z = layer;
+			}
+		} else {
+			x = morton::decodeMorton3X(code);
+			y = morton::decodeMorton3Y(code);
+			z = morton::decodeMorton3Z(code);
+		}
+		if (x >= uint32_t(sx) || y >= uint32_t(sy) || z >= uint32_t(sz)) {
+			return -1;
+		}
+		return index(x, y, z);
+	}
+
+	void add(const Vector3 &pos, uint32_t key) {
+		int x = index_x(pos.x);
+		int y = index_y(pos.y);
+		int z = index_z(pos.z);
+		uint32_t idx = index(x, y, z);
+		cellArray[idx].indexArray.push_back(key);
+	}
+
+	// Gather all points inside the given sphere.
+	// Radius is assumed to be small, so we don't bother culling the cells.
+	void gather(const Vector3 &position, float radius, std::vector<uint32_t> &indexArray) {
+		int x0 = index_x(position.x - radius);
+		int x1 = index_x(position.x + radius);
+		int y0 = index_y(position.y - radius);
+		int y1 = index_y(position.y + radius);
+		int z0 = index_z(position.z - radius);
+		int z1 = index_z(position.z + radius);
+		for (int z = z0; z <= z1; z++) {
+			for (int y = y0; y <= y1; y++) {
+				for (int x = x0; x <= x1; x++) {
+					int idx = index(x, y, z);
+					indexArray.insert(indexArray.begin(), cellArray[idx].indexArray.begin(), cellArray[idx].indexArray.end());
+				}
+			}
+		}
+	}
+
+	struct Cell {
+		std::vector<uint32_t> indexArray;
+	};
+
+	std::vector<Cell> cellArray;
+
+	Vector3 corner;
+	Vector3 invCellSize;
+	int sx, sy, sz;
+};
+
+// Based on Pierre Terdiman's and Michael Herf's source code.
+// http://www.codercorner.com/RadixSortRevisited.htm
+// http://www.stereopsis.com/radix.html
+class RadixSort {
+public:
+	RadixSort() :
+			m_size(0),
+			m_ranks(NULL),
+			m_ranks2(NULL),
+			m_validRanks(false) {}
+	~RadixSort() {
+		// Release everything
+		free(m_ranks2);
+		free(m_ranks);
+	}
+
+	RadixSort &sort(const float *input, uint32_t count) {
+		if (input == NULL || count == 0) return *this;
+		// Resize lists if needed
+		if (count != m_size) {
+			if (count > m_size) {
+				m_ranks2 = (uint32_t *)realloc(m_ranks2, sizeof(uint32_t) * count);
+				m_ranks = (uint32_t *)realloc(m_ranks, sizeof(uint32_t) * count);
+			}
+			m_size = count;
+			m_validRanks = false;
+		}
+		if (count < 32) {
+			insertionSort(input, count);
+		} else {
+			// @@ Avoid touching the input multiple times.
+			for (uint32_t i = 0; i < count; i++) {
+				FloatFlip((uint32_t &)input[i]);
+			}
+			radixSort<uint32_t>((const uint32_t *)input, count);
+			for (uint32_t i = 0; i < count; i++) {
+				IFloatFlip((uint32_t &)input[i]);
+			}
+		}
+		return *this;
+	}
+
+	RadixSort &sort(const std::vector<float> &input) {
+		return sort(input.data(), input.size());
+	}
+
+	// Access to results. m_ranks is a list of indices in sorted order, i.e. in the order you may further process your data
+	const uint32_t *ranks() const {
+		xaDebugAssert(m_validRanks);
+		return m_ranks;
+	}
+	uint32_t *ranks() {
+		xaDebugAssert(m_validRanks);
+		return m_ranks;
+	}
+
+private:
+	uint32_t m_size;
+	uint32_t *m_ranks;
+	uint32_t *m_ranks2;
+	bool m_validRanks;
+
+	void FloatFlip(uint32_t &f) {
+		int32_t mask = (int32_t(f) >> 31) | 0x80000000; // Warren Hunt, Manchor Ko.
+		f ^= mask;
+	}
+
+	void IFloatFlip(uint32_t &f) {
+		uint32_t mask = ((f >> 31) - 1) | 0x80000000; // Michael Herf.
+		f ^= mask;
+	}
+
+	template <typename T>
+	void createHistograms(const T *buffer, uint32_t count, uint32_t *histogram) {
+		const uint32_t bucketCount = sizeof(T); // (8 * sizeof(T)) / log2(radix)
+		// Init bucket pointers.
+		uint32_t *h[bucketCount];
+		for (uint32_t i = 0; i < bucketCount; i++) {
+			h[i] = histogram + 256 * i;
+		}
+		// Clear histograms.
+		memset(histogram, 0, 256 * bucketCount * sizeof(uint32_t));
+		// @@ Add support for signed integers.
+		// Build histograms.
+		const uint8_t *p = (const uint8_t *)buffer; // @@ Does this break aliasing rules?
+		const uint8_t *pe = p + count * sizeof(T);
+		while (p != pe) {
+			h[0][*p++]++, h[1][*p++]++, h[2][*p++]++, h[3][*p++]++;
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4127)
+#endif
+			if (bucketCount == 8) h[4][*p++]++, h[5][*p++]++, h[6][*p++]++, h[7][*p++]++;
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+		}
+	}
+
+	template <typename T>
+	void insertionSort(const T *input, uint32_t count) {
+		if (!m_validRanks) {
+			m_ranks[0] = 0;
+			for (uint32_t i = 1; i != count; ++i) {
+				int rank = m_ranks[i] = i;
+				uint32_t j = i;
+				while (j != 0 && input[rank] < input[m_ranks[j - 1]]) {
+					m_ranks[j] = m_ranks[j - 1];
+					--j;
+				}
+				if (i != j) {
+					m_ranks[j] = rank;
+				}
+			}
+			m_validRanks = true;
+		} else {
+			for (uint32_t i = 1; i != count; ++i) {
+				int rank = m_ranks[i];
+				uint32_t j = i;
+				while (j != 0 && input[rank] < input[m_ranks[j - 1]]) {
+					m_ranks[j] = m_ranks[j - 1];
+					--j;
+				}
+				if (i != j) {
+					m_ranks[j] = rank;
+				}
+			}
+		}
+	}
+
+	template <typename T>
+	void radixSort(const T *input, uint32_t count) {
+		const uint32_t P = sizeof(T); // pass count
+		// Allocate histograms & offsets on the stack
+		uint32_t histogram[256 * P];
+		uint32_t *link[256];
+		createHistograms(input, count, histogram);
+		// Radix sort, j is the pass number (0=LSB, P=MSB)
+		for (uint32_t j = 0; j < P; j++) {
+			// Pointer to this bucket.
+			const uint32_t *h = &histogram[j * 256];
+			const uint8_t *inputBytes = (const uint8_t *)input; // @@ Is this aliasing legal?
+			inputBytes += j;
+			if (h[inputBytes[0]] == count) {
+				// Skip this pass, all values are the same.
+				continue;
+			}
+			// Create offsets
+			link[0] = m_ranks2;
+			for (uint32_t i = 1; i < 256; i++)
+				link[i] = link[i - 1] + h[i - 1];
+			// Perform Radix Sort
+			if (!m_validRanks) {
+				for (uint32_t i = 0; i < count; i++) {
+					*link[inputBytes[i * P]]++ = i;
+				}
+				m_validRanks = true;
+			} else {
+				for (uint32_t i = 0; i < count; i++) {
+					const uint32_t idx = m_ranks[i];
+					*link[inputBytes[idx * P]]++ = idx;
+				}
+			}
+			// Swap pointers for next pass. Valid indices - the most recent ones - are in m_ranks after the swap.
+			std::swap(m_ranks, m_ranks2);
+		}
+		// All values were equal, generate linear ranks.
+		if (!m_validRanks) {
+			for (uint32_t i = 0; i < count; i++) {
+				m_ranks[i] = i;
+			}
+			m_validRanks = true;
+		}
+	}
+};
+
+namespace raster {
+class ClippedTriangle {
+public:
+	ClippedTriangle(Vector2::Arg a, Vector2::Arg b, Vector2::Arg c) {
+		m_numVertices = 3;
+		m_activeVertexBuffer = 0;
+		m_verticesA[0] = a;
+		m_verticesA[1] = b;
+		m_verticesA[2] = c;
+		m_vertexBuffers[0] = m_verticesA;
+		m_vertexBuffers[1] = m_verticesB;
+	}
+
+	uint32_t vertexCount() {
+		return m_numVertices;
+	}
+
+	const Vector2 *vertices() {
+		return m_vertexBuffers[m_activeVertexBuffer];
+	}
+
+	void clipHorizontalPlane(float offset, float clipdirection) {
+		Vector2 *v = m_vertexBuffers[m_activeVertexBuffer];
+		m_activeVertexBuffer ^= 1;
+		Vector2 *v2 = m_vertexBuffers[m_activeVertexBuffer];
+		v[m_numVertices] = v[0];
+		float dy2, dy1 = offset - v[0].y;
+		int dy2in, dy1in = clipdirection * dy1 >= 0;
+		uint32_t p = 0;
+		for (uint32_t k = 0; k < m_numVertices; k++) {
+			dy2 = offset - v[k + 1].y;
+			dy2in = clipdirection * dy2 >= 0;
+			if (dy1in) v2[p++] = v[k];
+			if (dy1in + dy2in == 1) { // not both in/out
+				float dx = v[k + 1].x - v[k].x;
+				float dy = v[k + 1].y - v[k].y;
+				v2[p++] = Vector2(v[k].x + dy1 * (dx / dy), offset);
+			}
+			dy1 = dy2;
+			dy1in = dy2in;
+		}
+		m_numVertices = p;
+		//for (uint32_t k=0; k<m_numVertices; k++) printf("(%f, %f)\n", v2[k].x, v2[k].y); printf("\n");
+	}
+
+	void clipVerticalPlane(float offset, float clipdirection) {
+		Vector2 *v = m_vertexBuffers[m_activeVertexBuffer];
+		m_activeVertexBuffer ^= 1;
+		Vector2 *v2 = m_vertexBuffers[m_activeVertexBuffer];
+		v[m_numVertices] = v[0];
+		float dx2, dx1 = offset - v[0].x;
+		int dx2in, dx1in = clipdirection * dx1 >= 0;
+		uint32_t p = 0;
+		for (uint32_t k = 0; k < m_numVertices; k++) {
+			dx2 = offset - v[k + 1].x;
+			dx2in = clipdirection * dx2 >= 0;
+			if (dx1in) v2[p++] = v[k];
+			if (dx1in + dx2in == 1) { // not both in/out
+				float dx = v[k + 1].x - v[k].x;
+				float dy = v[k + 1].y - v[k].y;
+				v2[p++] = Vector2(offset, v[k].y + dx1 * (dy / dx));
+			}
+			dx1 = dx2;
+			dx1in = dx2in;
+		}
+		m_numVertices = p;
+	}
+
+	void computeAreaCentroid() {
+		Vector2 *v = m_vertexBuffers[m_activeVertexBuffer];
+		v[m_numVertices] = v[0];
+		m_area = 0;
+		float centroidx = 0, centroidy = 0;
+		for (uint32_t k = 0; k < m_numVertices; k++) {
+			// http://local.wasp.uwa.edu.au/~pbourke/geometry/polyarea/
+			float f = v[k].x * v[k + 1].y - v[k + 1].x * v[k].y;
+			m_area += f;
+			centroidx += f * (v[k].x + v[k + 1].x);
+			centroidy += f * (v[k].y + v[k + 1].y);
+		}
+		m_area = 0.5f * fabsf(m_area);
+		if (m_area == 0) {
+			m_centroid = Vector2(0.0f);
+		} else {
+			m_centroid = Vector2(centroidx / (6 * m_area), centroidy / (6 * m_area));
+		}
+	}
+
+	void clipAABox(float x0, float y0, float x1, float y1) {
+		clipVerticalPlane(x0, -1);
+		clipHorizontalPlane(y0, -1);
+		clipVerticalPlane(x1, 1);
+		clipHorizontalPlane(y1, 1);
+		computeAreaCentroid();
+	}
+
+	Vector2 centroid() {
+		return m_centroid;
+	}
+
+	float area() {
+		return m_area;
+	}
+
+private:
+	Vector2 m_verticesA[7 + 1];
+	Vector2 m_verticesB[7 + 1];
+	Vector2 *m_vertexBuffers[2];
+	uint32_t m_numVertices;
+	uint32_t m_activeVertexBuffer;
+	float m_area;
+	Vector2 m_centroid;
+};
+
+/// A callback to sample the environment. Return false to terminate rasterization.
+typedef bool (*SamplingCallback)(void *param, int x, int y, Vector3::Arg bar, Vector3::Arg dx, Vector3::Arg dy, float coverage);
+
+/// A triangle for rasterization.
+struct Triangle {
+	Triangle(Vector2::Arg v0, Vector2::Arg v1, Vector2::Arg v2, Vector3::Arg t0, Vector3::Arg t1, Vector3::Arg t2) {
+		// Init vertices.
+		this->v1 = v0;
+		this->v2 = v2;
+		this->v3 = v1;
+		// Set barycentric coordinates.
+		this->t1 = t0;
+		this->t2 = t2;
+		this->t3 = t1;
+		// make sure every triangle is front facing.
+		flipBackface();
+		// Compute deltas.
+		valid = computeDeltas();
+		computeUnitInwardNormals();
+	}
+
+	/// Compute texture space deltas.
+	/// This method takes two edge vectors that form a basis, determines the
+	/// coordinates of the canonic vectors in that basis, and computes the
+	/// texture gradient that corresponds to those vectors.
+	bool computeDeltas() {
+		Vector2 e0 = v3 - v1;
+		Vector2 e1 = v2 - v1;
+		Vector3 de0 = t3 - t1;
+		Vector3 de1 = t2 - t1;
+		float denom = 1.0f / (e0.y * e1.x - e1.y * e0.x);
+		if (!std::isfinite(denom)) {
+			return false;
+		}
+		float lambda1 = -e1.y * denom;
+		float lambda2 = e0.y * denom;
+		float lambda3 = e1.x * denom;
+		float lambda4 = -e0.x * denom;
+		dx = de0 * lambda1 + de1 * lambda2;
+		dy = de0 * lambda3 + de1 * lambda4;
+		return true;
+	}
+
+	bool draw(const Vector2 &extents, bool enableScissors, SamplingCallback cb, void *param) {
+		// 28.4 fixed-point coordinates
+		const int Y1 = ftoi_round(16.0f * v1.y);
+		const int Y2 = ftoi_round(16.0f * v2.y);
+		const int Y3 = ftoi_round(16.0f * v3.y);
+		const int X1 = ftoi_round(16.0f * v1.x);
+		const int X2 = ftoi_round(16.0f * v2.x);
+		const int X3 = ftoi_round(16.0f * v3.x);
+		// Deltas
+		const int DX12 = X1 - X2;
+		const int DX23 = X2 - X3;
+		const int DX31 = X3 - X1;
+		const int DY12 = Y1 - Y2;
+		const int DY23 = Y2 - Y3;
+		const int DY31 = Y3 - Y1;
+		// Fixed-point deltas
+		const int FDX12 = DX12 << 4;
+		const int FDX23 = DX23 << 4;
+		const int FDX31 = DX31 << 4;
+		const int FDY12 = DY12 << 4;
+		const int FDY23 = DY23 << 4;
+		const int FDY31 = DY31 << 4;
+		int minx, miny, maxx, maxy;
+		if (enableScissors) {
+			int frustumX0 = 0 << 4;
+			int frustumY0 = 0 << 4;
+			int frustumX1 = (int)extents.x << 4;
+			int frustumY1 = (int)extents.y << 4;
+			// Bounding rectangle
+			minx = (std::max(min3(X1, X2, X3), frustumX0) + 0xF) >> 4;
+			miny = (std::max(min3(Y1, Y2, Y3), frustumY0) + 0xF) >> 4;
+			maxx = (std::min(max3(X1, X2, X3), frustumX1) + 0xF) >> 4;
+			maxy = (std::min(max3(Y1, Y2, Y3), frustumY1) + 0xF) >> 4;
+		} else {
+			// Bounding rectangle
+			minx = (min3(X1, X2, X3) + 0xF) >> 4;
+			miny = (min3(Y1, Y2, Y3) + 0xF) >> 4;
+			maxx = (max3(X1, X2, X3) + 0xF) >> 4;
+			maxy = (max3(Y1, Y2, Y3) + 0xF) >> 4;
+		}
+		// Block size, standard 8x8 (must be power of two)
+		const int q = 8;
+		// @@ This won't work when minx,miny are negative. This code path is not used. Leaving as is for now.
+		xaAssert(minx >= 0);
+		xaAssert(miny >= 0);
+		// Start in corner of 8x8 block
+		minx &= ~(q - 1);
+		miny &= ~(q - 1);
+		// Half-edge constants
+		int C1 = DY12 * X1 - DX12 * Y1;
+		int C2 = DY23 * X2 - DX23 * Y2;
+		int C3 = DY31 * X3 - DX31 * Y3;
+		// Correct for fill convention
+		if (DY12 < 0 || (DY12 == 0 && DX12 > 0)) C1++;
+		if (DY23 < 0 || (DY23 == 0 && DX23 > 0)) C2++;
+		if (DY31 < 0 || (DY31 == 0 && DX31 > 0)) C3++;
+		// Loop through blocks
+		for (int y = miny; y < maxy; y += q) {
+			for (int x = minx; x < maxx; x += q) {
+				// Corners of block
+				int x0 = x << 4;
+				int x1 = (x + q - 1) << 4;
+				int y0 = y << 4;
+				int y1 = (y + q - 1) << 4;
+				// Evaluate half-space functions
+				bool a00 = C1 + DX12 * y0 - DY12 * x0 > 0;
+				bool a10 = C1 + DX12 * y0 - DY12 * x1 > 0;
+				bool a01 = C1 + DX12 * y1 - DY12 * x0 > 0;
+				bool a11 = C1 + DX12 * y1 - DY12 * x1 > 0;
+				int a = (a00 << 0) | (a10 << 1) | (a01 << 2) | (a11 << 3);
+				bool b00 = C2 + DX23 * y0 - DY23 * x0 > 0;
+				bool b10 = C2 + DX23 * y0 - DY23 * x1 > 0;
+				bool b01 = C2 + DX23 * y1 - DY23 * x0 > 0;
+				bool b11 = C2 + DX23 * y1 - DY23 * x1 > 0;
+				int b = (b00 << 0) | (b10 << 1) | (b01 << 2) | (b11 << 3);
+				bool c00 = C3 + DX31 * y0 - DY31 * x0 > 0;
+				bool c10 = C3 + DX31 * y0 - DY31 * x1 > 0;
+				bool c01 = C3 + DX31 * y1 - DY31 * x0 > 0;
+				bool c11 = C3 + DX31 * y1 - DY31 * x1 > 0;
+				int c = (c00 << 0) | (c10 << 1) | (c01 << 2) | (c11 << 3);
+				// Skip block when outside an edge
+				if (a == 0x0 || b == 0x0 || c == 0x0) continue;
+				// Accept whole block when totally covered
+				if (a == 0xF && b == 0xF && c == 0xF) {
+					Vector3 texRow = t1 + dy * (y0 - v1.y) + dx * (x0 - v1.x);
+					for (int iy = y; iy < y + q; iy++) {
+						Vector3 tex = texRow;
+						for (int ix = x; ix < x + q; ix++) {
+							//Vector3 tex = t1 + dx * (ix - v1.x) + dy * (iy - v1.y);
+							if (!cb(param, ix, iy, tex, dx, dy, 1.0)) {
+								// early out.
+								return false;
+							}
+							tex += dx;
+						}
+						texRow += dy;
+					}
+				} else { // Partially covered block
+					int CY1 = C1 + DX12 * y0 - DY12 * x0;
+					int CY2 = C2 + DX23 * y0 - DY23 * x0;
+					int CY3 = C3 + DX31 * y0 - DY31 * x0;
+					Vector3 texRow = t1 + dy * (y0 - v1.y) + dx * (x0 - v1.x);
+					for (int iy = y; iy < y + q; iy++) {
+						int CX1 = CY1;
+						int CX2 = CY2;
+						int CX3 = CY3;
+						Vector3 tex = texRow;
+						for (int ix = x; ix < x + q; ix++) {
+							if (CX1 > 0 && CX2 > 0 && CX3 > 0) {
+								if (!cb(param, ix, iy, tex, dx, dy, 1.0)) {
+									// early out.
+									return false;
+								}
+							}
+							CX1 -= FDY12;
+							CX2 -= FDY23;
+							CX3 -= FDY31;
+							tex += dx;
+						}
+						CY1 += FDX12;
+						CY2 += FDX23;
+						CY3 += FDX31;
+						texRow += dy;
+					}
+				}
+			}
+		}
+		return true;
+	}
+
+	// extents has to be multiple of BK_SIZE!!
+	bool drawAA(const Vector2 &extents, bool enableScissors, SamplingCallback cb, void *param) {
+		const float PX_INSIDE = 1.0f / sqrt(2.0f);
+		const float PX_OUTSIDE = -1.0f / sqrt(2.0f);
+		const float BK_SIZE = 8;
+		const float BK_INSIDE = sqrt(BK_SIZE * BK_SIZE / 2.0f);
+		const float BK_OUTSIDE = -sqrt(BK_SIZE * BK_SIZE / 2.0f);
+
+		float minx, miny, maxx, maxy;
+		if (enableScissors) {
+			// Bounding rectangle
+			minx = floorf(std::max(min3(v1.x, v2.x, v3.x), 0.0f));
+			miny = floorf(std::max(min3(v1.y, v2.y, v3.y), 0.0f));
+			maxx = ceilf(std::min(max3(v1.x, v2.x, v3.x), extents.x - 1.0f));
+			maxy = ceilf(std::min(max3(v1.y, v2.y, v3.y), extents.y - 1.0f));
+		} else {
+			// Bounding rectangle
+			minx = floorf(min3(v1.x, v2.x, v3.x));
+			miny = floorf(min3(v1.y, v2.y, v3.y));
+			maxx = ceilf(max3(v1.x, v2.x, v3.x));
+			maxy = ceilf(max3(v1.y, v2.y, v3.y));
+		}
+		// There's no reason to align the blocks to the viewport, instead we align them to the origin of the triangle bounds.
+		minx = floorf(minx);
+		miny = floorf(miny);
+		//minx = (float)(((int)minx) & (~((int)BK_SIZE - 1))); // align to blocksize (we don't need to worry about blocks partially out of viewport)
+		//miny = (float)(((int)miny) & (~((int)BK_SIZE - 1)));
+		minx += 0.5;
+		miny += 0.5; // sampling at texel centers!
+		maxx += 0.5;
+		maxy += 0.5;
+		// Half-edge constants
+		float C1 = n1.x * (-v1.x) + n1.y * (-v1.y);
+		float C2 = n2.x * (-v2.x) + n2.y * (-v2.y);
+		float C3 = n3.x * (-v3.x) + n3.y * (-v3.y);
+		// Loop through blocks
+		for (float y0 = miny; y0 <= maxy; y0 += BK_SIZE) {
+			for (float x0 = minx; x0 <= maxx; x0 += BK_SIZE) {
+				// Corners of block
+				float xc = (x0 + (BK_SIZE - 1) / 2.0f);
+				float yc = (y0 + (BK_SIZE - 1) / 2.0f);
+				// Evaluate half-space functions
+				float aC = C1 + n1.x * xc + n1.y * yc;
+				float bC = C2 + n2.x * xc + n2.y * yc;
+				float cC = C3 + n3.x * xc + n3.y * yc;
+				// Skip block when outside an edge
+				if ((aC <= BK_OUTSIDE) || (bC <= BK_OUTSIDE) || (cC <= BK_OUTSIDE)) continue;
+				// Accept whole block when totally covered
+				if ((aC >= BK_INSIDE) && (bC >= BK_INSIDE) && (cC >= BK_INSIDE)) {
+					Vector3 texRow = t1 + dy * (y0 - v1.y) + dx * (x0 - v1.x);
+					for (float y = y0; y < y0 + BK_SIZE; y++) {
+						Vector3 tex = texRow;
+						for (float x = x0; x < x0 + BK_SIZE; x++) {
+							if (!cb(param, (int)x, (int)y, tex, dx, dy, 1.0f)) {
+								return false;
+							}
+							tex += dx;
+						}
+						texRow += dy;
+					}
+				} else { // Partially covered block
+					float CY1 = C1 + n1.x * x0 + n1.y * y0;
+					float CY2 = C2 + n2.x * x0 + n2.y * y0;
+					float CY3 = C3 + n3.x * x0 + n3.y * y0;
+					Vector3 texRow = t1 + dy * (y0 - v1.y) + dx * (x0 - v1.x);
+					for (float y = y0; y < y0 + BK_SIZE; y++) { // @@ This is not clipping to scissor rectangle correctly.
+						float CX1 = CY1;
+						float CX2 = CY2;
+						float CX3 = CY3;
+						Vector3 tex = texRow;
+						for (float x = x0; x < x0 + BK_SIZE; x++) { // @@ This is not clipping to scissor rectangle correctly.
+							if (CX1 >= PX_INSIDE && CX2 >= PX_INSIDE && CX3 >= PX_INSIDE) {
+								// pixel completely covered
+								Vector3 tex2 = t1 + dx * (x - v1.x) + dy * (y - v1.y);
+								if (!cb(param, (int)x, (int)y, tex2, dx, dy, 1.0f)) {
+									return false;
+								}
+							} else if ((CX1 >= PX_OUTSIDE) && (CX2 >= PX_OUTSIDE) && (CX3 >= PX_OUTSIDE)) {
+								// triangle partially covers pixel. do clipping.
+								ClippedTriangle ct(v1 - Vector2(x, y), v2 - Vector2(x, y), v3 - Vector2(x, y));
+								ct.clipAABox(-0.5, -0.5, 0.5, 0.5);
+								Vector2 centroid = ct.centroid();
+								float area = ct.area();
+								if (area > 0.0f) {
+									Vector3 texCent = tex - dx * centroid.x - dy * centroid.y;
+									//xaAssert(texCent.x >= -0.1f && texCent.x <= 1.1f); // @@ Centroid is not very exact...
+									//xaAssert(texCent.y >= -0.1f && texCent.y <= 1.1f);
+									//xaAssert(texCent.z >= -0.1f && texCent.z <= 1.1f);
+									//Vector3 texCent2 = t1 + dx * (x - v1.x) + dy * (y - v1.y);
+									if (!cb(param, (int)x, (int)y, texCent, dx, dy, area)) {
+										return false;
+									}
+								}
+							}
+							CX1 += n1.x;
+							CX2 += n2.x;
+							CX3 += n3.x;
+							tex += dx;
+						}
+						CY1 += n1.y;
+						CY2 += n2.y;
+						CY3 += n3.y;
+						texRow += dy;
+					}
+				}
+			}
+		}
+		return true;
+	}
+
+	void flipBackface() {
+		// check if triangle is backfacing, if so, swap two vertices
+		if (((v3.x - v1.x) * (v2.y - v1.y) - (v3.y - v1.y) * (v2.x - v1.x)) < 0) {
+			Vector2 hv = v1;
+			v1 = v2;
+			v2 = hv; // swap pos
+			Vector3 ht = t1;
+			t1 = t2;
+			t2 = ht; // swap tex
+		}
+	}
+
+	// compute unit inward normals for each edge.
+	void computeUnitInwardNormals() {
+		n1 = v1 - v2;
+		n1 = Vector2(-n1.y, n1.x);
+		n1 = n1 * (1.0f / sqrtf(n1.x * n1.x + n1.y * n1.y));
+		n2 = v2 - v3;
+		n2 = Vector2(-n2.y, n2.x);
+		n2 = n2 * (1.0f / sqrtf(n2.x * n2.x + n2.y * n2.y));
+		n3 = v3 - v1;
+		n3 = Vector2(-n3.y, n3.x);
+		n3 = n3 * (1.0f / sqrtf(n3.x * n3.x + n3.y * n3.y));
+	}
+
+	// Vertices.
+	Vector2 v1, v2, v3;
+	Vector2 n1, n2, n3; // unit inward normals
+	Vector3 t1, t2, t3;
+
+	// Deltas.
+	Vector3 dx, dy;
+
+	float sign;
+	bool valid;
+};
+
+enum Mode {
+	Mode_Nearest,
+	Mode_Antialiased
+};
+
+// Process the given triangle. Returns false if rasterization was interrupted by the callback.
+static bool drawTriangle(Mode mode, Vector2::Arg extents, bool enableScissors, const Vector2 v[3], SamplingCallback cb, void *param) {
+	Triangle tri(v[0], v[1], v[2], Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1));
+	// @@ It would be nice to have a conservative drawing mode that enlarges the triangle extents by one texel and is able to handle degenerate triangles.
+	// @@ Maybe the simplest thing to do would be raster triangle edges.
+	if (tri.valid) {
+		if (mode == Mode_Antialiased) {
+			return tri.drawAA(extents, enableScissors, cb, param);
+		}
+		if (mode == Mode_Nearest) {
+			return tri.draw(extents, enableScissors, cb, param);
+		}
+	}
+	return true;
+}
+
+// Process the given quad. Returns false if rasterization was interrupted by the callback.
+static bool drawQuad(Mode mode, Vector2::Arg extents, bool enableScissors, const Vector2 v[4], SamplingCallback cb, void *param) {
+	bool sign0 = triangleArea2(v[0], v[1], v[2]) > 0.0f;
+	bool sign1 = triangleArea2(v[0], v[2], v[3]) > 0.0f;
+	// Divide the quad into two non overlapping triangles.
+	if (sign0 == sign1) {
+		Triangle tri0(v[0], v[1], v[2], Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(1, 1, 0));
+		Triangle tri1(v[0], v[2], v[3], Vector3(0, 0, 0), Vector3(1, 1, 0), Vector3(0, 1, 0));
+		if (tri0.valid && tri1.valid) {
+			if (mode == Mode_Antialiased) {
+				return tri0.drawAA(extents, enableScissors, cb, param) && tri1.drawAA(extents, enableScissors, cb, param);
+			} else {
+				return tri0.draw(extents, enableScissors, cb, param) && tri1.draw(extents, enableScissors, cb, param);
+			}
+		}
+	} else {
+		Triangle tri0(v[0], v[1], v[3], Vector3(0, 0, 0), Vector3(1, 0, 0), Vector3(0, 1, 0));
+		Triangle tri1(v[1], v[2], v[3], Vector3(1, 0, 0), Vector3(1, 1, 0), Vector3(0, 1, 0));
+		if (tri0.valid && tri1.valid) {
+			if (mode == Mode_Antialiased) {
+				return tri0.drawAA(extents, enableScissors, cb, param) && tri1.drawAA(extents, enableScissors, cb, param);
+			} else {
+				return tri0.draw(extents, enableScissors, cb, param) && tri1.draw(extents, enableScissors, cb, param);
+			}
+		}
+	}
+	return true;
+}
+} // namespace raster
+
+// Full and sparse vector and matrix classes. BLAS subset.
+// Pseudo-BLAS interface.
+namespace sparse {
+enum Transpose {
+	NoTransposed = 0,
+	Transposed = 1
+};
+
+/**
+* Sparse matrix class. The matrix is assumed to be sparse and to have
+* very few non-zero elements, for this reason it's stored in indexed
+* format. To multiply column vectors efficiently, the matrix stores
+* the elements in indexed-column order, there is a list of indexed
+* elements for each row of the matrix. As with the FullVector the
+* dimension of the matrix is constant.
+**/
+class Matrix {
+public:
+	// An element of the sparse array.
+	struct Coefficient {
+		uint32_t x; // column
+		float v; // value
+	};
+
+	Matrix(uint32_t d) :
+			m_width(d) { m_array.resize(d); }
+	Matrix(uint32_t w, uint32_t h) :
+			m_width(w) { m_array.resize(h); }
+	Matrix(const Matrix &m) :
+			m_width(m.m_width) { m_array = m.m_array; }
+
+	const Matrix &operator=(const Matrix &m) {
+		xaAssert(width() == m.width());
+		xaAssert(height() == m.height());
+		m_array = m.m_array;
+		return *this;
+	}
+
+	uint32_t width() const { return m_width; }
+	uint32_t height() const { return m_array.size(); }
+	bool isSquare() const { return width() == height(); }
+
+	// x is column, y is row
+	float getCoefficient(uint32_t x, uint32_t y) const {
+		xaDebugAssert(x < width());
+		xaDebugAssert(y < height());
+		const uint32_t count = m_array[y].size();
+		for (uint32_t i = 0; i < count; i++) {
+			if (m_array[y][i].x == x) return m_array[y][i].v;
+		}
+		return 0.0f;
+	}
+
+	void setCoefficient(uint32_t x, uint32_t y, float f) {
+		xaDebugAssert(x < width());
+		xaDebugAssert(y < height());
+		const uint32_t count = m_array[y].size();
+		for (uint32_t i = 0; i < count; i++) {
+			if (m_array[y][i].x == x) {
+				m_array[y][i].v = f;
+				return;
+			}
+		}
+		if (f != 0.0f) {
+			Coefficient c = { x, f };
+			m_array[y].push_back(c);
+		}
+	}
+
+	float dotRow(uint32_t y, const FullVector &v) const {
+		xaDebugAssert(y < height());
+		const uint32_t count = m_array[y].size();
+		float sum = 0;
+		for (uint32_t i = 0; i < count; i++) {
+			sum += m_array[y][i].v * v[m_array[y][i].x];
+		}
+		return sum;
+	}
+
+	void madRow(uint32_t y, float alpha, FullVector &v) const {
+		xaDebugAssert(y < height());
+		const uint32_t count = m_array[y].size();
+		for (uint32_t i = 0; i < count; i++) {
+			v[m_array[y][i].x] += alpha * m_array[y][i].v;
+		}
+	}
+
+	void clearRow(uint32_t y) {
+		xaDebugAssert(y < height());
+		m_array[y].clear();
+	}
+
+	void scaleRow(uint32_t y, float f) {
+		xaDebugAssert(y < height());
+		const uint32_t count = m_array[y].size();
+		for (uint32_t i = 0; i < count; i++) {
+			m_array[y][i].v *= f;
+		}
+	}
+
+	const std::vector<Coefficient> &getRow(uint32_t y) const { return m_array[y]; }
+
+private:
+	/// Number of columns.
+	const uint32_t m_width;
+
+	/// Array of matrix elements.
+	std::vector<std::vector<Coefficient> > m_array;
+};
+
+// y = a * x + y
+static void saxpy(float a, const FullVector &x, FullVector &y) {
+	xaDebugAssert(x.dimension() == y.dimension());
+	const uint32_t dim = x.dimension();
+	for (uint32_t i = 0; i < dim; i++) {
+		y[i] += a * x[i];
+	}
+}
+
+static void copy(const FullVector &x, FullVector &y) {
+	xaDebugAssert(x.dimension() == y.dimension());
+	const uint32_t dim = x.dimension();
+	for (uint32_t i = 0; i < dim; i++) {
+		y[i] = x[i];
+	}
+}
+
+static void scal(float a, FullVector &x) {
+	const uint32_t dim = x.dimension();
+	for (uint32_t i = 0; i < dim; i++) {
+		x[i] *= a;
+	}
+}
+
+static float dot(const FullVector &x, const FullVector &y) {
+	xaDebugAssert(x.dimension() == y.dimension());
+	const uint32_t dim = x.dimension();
+	float sum = 0;
+	for (uint32_t i = 0; i < dim; i++) {
+		sum += x[i] * y[i];
+	}
+	return sum;
+}
+
+static void mult(Transpose TM, const Matrix &M, const FullVector &x, FullVector &y) {
+	const uint32_t w = M.width();
+	const uint32_t h = M.height();
+	if (TM == Transposed) {
+		xaDebugAssert(h == x.dimension());
+		xaDebugAssert(w == y.dimension());
+		y.fill(0.0f);
+		for (uint32_t i = 0; i < h; i++) {
+			M.madRow(i, x[i], y);
+		}
+	} else {
+		xaDebugAssert(w == x.dimension());
+		xaDebugAssert(h == y.dimension());
+		for (uint32_t i = 0; i < h; i++) {
+			y[i] = M.dotRow(i, x);
+		}
+	}
+}
+
+// y = M * x
+static void mult(const Matrix &M, const FullVector &x, FullVector &y) {
+	mult(NoTransposed, M, x, y);
+}
+
+static void sgemv(float alpha, Transpose TA, const Matrix &A, const FullVector &x, float beta, FullVector &y) {
+	const uint32_t w = A.width();
+	const uint32_t h = A.height();
+	if (TA == Transposed) {
+		xaDebugAssert(h == x.dimension());
+		xaDebugAssert(w == y.dimension());
+		for (uint32_t i = 0; i < h; i++) {
+			A.madRow(i, alpha * x[i], y);
+		}
+	} else {
+		xaDebugAssert(w == x.dimension());
+		xaDebugAssert(h == y.dimension());
+		for (uint32_t i = 0; i < h; i++) {
+			y[i] = alpha * A.dotRow(i, x) + beta * y[i];
+		}
+	}
+}
+
+// y = alpha*A*x + beta*y
+static void sgemv(float alpha, const Matrix &A, const FullVector &x, float beta, FullVector &y) {
+	sgemv(alpha, NoTransposed, A, x, beta, y);
+}
+
+// dot y-row of A by x-column of B
+static float dotRowColumn(int y, const Matrix &A, int x, const Matrix &B) {
+	const std::vector<Matrix::Coefficient> &row = A.getRow(y);
+	const uint32_t count = row.size();
+	float sum = 0.0f;
+	for (uint32_t i = 0; i < count; i++) {
+		const Matrix::Coefficient &c = row[i];
+		sum += c.v * B.getCoefficient(x, c.x);
+	}
+	return sum;
+}
+
+// dot y-row of A by x-row of B
+static float dotRowRow(int y, const Matrix &A, int x, const Matrix &B) {
+	const std::vector<Matrix::Coefficient> &row = A.getRow(y);
+	const uint32_t count = row.size();
+	float sum = 0.0f;
+	for (uint32_t i = 0; i < count; i++) {
+		const Matrix::Coefficient &c = row[i];
+		sum += c.v * B.getCoefficient(c.x, x);
+	}
+	return sum;
+}
+
+// dot y-column of A by x-column of B
+static float dotColumnColumn(int y, const Matrix &A, int x, const Matrix &B) {
+	xaDebugAssert(A.height() == B.height());
+	const uint32_t h = A.height();
+	float sum = 0.0f;
+	for (uint32_t i = 0; i < h; i++) {
+		sum += A.getCoefficient(y, i) * B.getCoefficient(x, i);
+	}
+	return sum;
+}
+
+static void transpose(const Matrix &A, Matrix &B) {
+	xaDebugAssert(A.width() == B.height());
+	xaDebugAssert(B.width() == A.height());
+	const uint32_t w = A.width();
+	for (uint32_t x = 0; x < w; x++) {
+		B.clearRow(x);
+	}
+	const uint32_t h = A.height();
+	for (uint32_t y = 0; y < h; y++) {
+		const std::vector<Matrix::Coefficient> &row = A.getRow(y);
+		const uint32_t count = row.size();
+		for (uint32_t i = 0; i < count; i++) {
+			const Matrix::Coefficient &c = row[i];
+			xaDebugAssert(c.x < w);
+			B.setCoefficient(y, c.x, c.v);
+		}
+	}
+}
+
+static void sgemm(float alpha, Transpose TA, const Matrix &A, Transpose TB, const Matrix &B, float beta, Matrix &C) {
+	const uint32_t w = C.width();
+	const uint32_t h = C.height();
+	uint32_t aw = (TA == NoTransposed) ? A.width() : A.height();
+	uint32_t ah = (TA == NoTransposed) ? A.height() : A.width();
+	uint32_t bw = (TB == NoTransposed) ? B.width() : B.height();
+	uint32_t bh = (TB == NoTransposed) ? B.height() : B.width();
+	xaDebugAssert(aw == bh);
+	xaDebugAssert(bw == ah);
+	xaDebugAssert(w == bw);
+	xaDebugAssert(h == ah);
+#ifdef NDEBUG
+	aw = ah = bw = bh = 0; // silence unused parameter warning
+#endif
+	for (uint32_t y = 0; y < h; y++) {
+		for (uint32_t x = 0; x < w; x++) {
+			float c = beta * C.getCoefficient(x, y);
+			if (TA == NoTransposed && TB == NoTransposed) {
+				// dot y-row of A by x-column of B.
+				c += alpha * dotRowColumn(y, A, x, B);
+			} else if (TA == Transposed && TB == Transposed) {
+				// dot y-column of A by x-row of B.
+				c += alpha * dotRowColumn(x, B, y, A);
+			} else if (TA == Transposed && TB == NoTransposed) {
+				// dot y-column of A by x-column of B.
+				c += alpha * dotColumnColumn(y, A, x, B);
+			} else if (TA == NoTransposed && TB == Transposed) {
+				// dot y-row of A by x-row of B.
+				c += alpha * dotRowRow(y, A, x, B);
+			}
+			C.setCoefficient(x, y, c);
+		}
+	}
+}
+
+static void mult(Transpose TA, const Matrix &A, Transpose TB, const Matrix &B, Matrix &C) {
+	sgemm(1.0f, TA, A, TB, B, 0.0f, C);
+}
+
+// C = A * B
+static void mult(const Matrix &A, const Matrix &B, Matrix &C) {
+	mult(NoTransposed, A, NoTransposed, B, C);
+}
+
+} // namespace sparse
+
+class JacobiPreconditioner {
+public:
+	JacobiPreconditioner(const sparse::Matrix &M, bool symmetric) :
+			m_inverseDiagonal(M.width()) {
+		xaAssert(M.isSquare());
+		for (uint32_t x = 0; x < M.width(); x++) {
+			float elem = M.getCoefficient(x, x);
+			//xaDebugAssert( elem != 0.0f ); // This can be zero in the presence of zero area triangles.
+			if (symmetric) {
+				m_inverseDiagonal[x] = (elem != 0) ? 1.0f / sqrtf(fabsf(elem)) : 1.0f;
+			} else {
+				m_inverseDiagonal[x] = (elem != 0) ? 1.0f / elem : 1.0f;
+			}
+		}
+	}
+
+	void apply(const FullVector &x, FullVector &y) const {
+		xaDebugAssert(x.dimension() == m_inverseDiagonal.dimension());
+		xaDebugAssert(y.dimension() == m_inverseDiagonal.dimension());
+		// @@ Wrap vector component-wise product into a separate function.
+		const uint32_t D = x.dimension();
+		for (uint32_t i = 0; i < D; i++) {
+			y[i] = m_inverseDiagonal[i] * x[i];
+		}
+	}
+
+private:
+	FullVector m_inverseDiagonal;
+};
+
+// Linear solvers.
+class Solver {
+public:
+	// Solve the symmetric system: At·A·x = At·b
+	static bool LeastSquaresSolver(const sparse::Matrix &A, const FullVector &b, FullVector &x, float epsilon = 1e-5f) {
+		xaDebugAssert(A.width() == x.dimension());
+		xaDebugAssert(A.height() == b.dimension());
+		xaDebugAssert(A.height() >= A.width()); // @@ If height == width we could solve it directly...
+		const uint32_t D = A.width();
+		sparse::Matrix At(A.height(), A.width());
+		sparse::transpose(A, At);
+		FullVector Atb(D);
+		sparse::mult(At, b, Atb);
+		sparse::Matrix AtA(D);
+		sparse::mult(At, A, AtA);
+		return SymmetricSolver(AtA, Atb, x, epsilon);
+	}
+
+	// See section 10.4.3 in: Mesh Parameterization: Theory and Practice, Siggraph Course Notes, August 2007
+	static bool LeastSquaresSolver(const sparse::Matrix &A, const FullVector &b, FullVector &x, const uint32_t *lockedParameters, uint32_t lockedCount, float epsilon = 1e-5f) {
+		xaDebugAssert(A.width() == x.dimension());
+		xaDebugAssert(A.height() == b.dimension());
+		xaDebugAssert(A.height() >= A.width() - lockedCount);
+		// @@ This is not the most efficient way of building a system with reduced degrees of freedom. It would be faster to do it on the fly.
+		const uint32_t D = A.width() - lockedCount;
+		xaDebugAssert(D > 0);
+		// Compute: b - Al * xl
+		FullVector b_Alxl(b);
+		for (uint32_t y = 0; y < A.height(); y++) {
+			const uint32_t count = A.getRow(y).size();
+			for (uint32_t e = 0; e < count; e++) {
+				uint32_t column = A.getRow(y)[e].x;
+				bool isFree = true;
+				for (uint32_t i = 0; i < lockedCount; i++) {
+					isFree &= (lockedParameters[i] != column);
+				}
+				if (!isFree) {
+					b_Alxl[y] -= x[column] * A.getRow(y)[e].v;
+				}
+			}
+		}
+		// Remove locked columns from A.
+		sparse::Matrix Af(D, A.height());
+		for (uint32_t y = 0; y < A.height(); y++) {
+			const uint32_t count = A.getRow(y).size();
+			for (uint32_t e = 0; e < count; e++) {
+				uint32_t column = A.getRow(y)[e].x;
+				uint32_t ix = column;
+				bool isFree = true;
+				for (uint32_t i = 0; i < lockedCount; i++) {
+					isFree &= (lockedParameters[i] != column);
+					if (column > lockedParameters[i]) ix--; // shift columns
+				}
+				if (isFree) {
+					Af.setCoefficient(ix, y, A.getRow(y)[e].v);
+				}
+			}
+		}
+		// Remove elements from x
+		FullVector xf(D);
+		for (uint32_t i = 0, j = 0; i < A.width(); i++) {
+			bool isFree = true;
+			for (uint32_t l = 0; l < lockedCount; l++) {
+				isFree &= (lockedParameters[l] != i);
+			}
+			if (isFree) {
+				xf[j++] = x[i];
+			}
+		}
+		// Solve reduced system.
+		bool result = LeastSquaresSolver(Af, b_Alxl, xf, epsilon);
+		// Copy results back to x.
+		for (uint32_t i = 0, j = 0; i < A.width(); i++) {
+			bool isFree = true;
+			for (uint32_t l = 0; l < lockedCount; l++) {
+				isFree &= (lockedParameters[l] != i);
+			}
+			if (isFree) {
+				x[i] = xf[j++];
+			}
+		}
+		return result;
+	}
+
+private:
+	/**
+	* Compute the solution of the sparse linear system Ab=x using the Conjugate
+	* Gradient method.
+	*
+	* Solving sparse linear systems:
+	* (1)		A·x = b
+	*
+	* The conjugate gradient algorithm solves (1) only in the case that A is
+	* symmetric and positive definite. It is based on the idea of minimizing the
+	* function
+	*
+	* (2)		f(x) = 1/2·x·A·x - b·x
+	*
+	* This function is minimized when its gradient
+	*
+	* (3)		df = A·x - b
+	*
+	* is zero, which is equivalent to (1). The minimization is carried out by
+	* generating a succession of search directions p.k and improved minimizers x.k.
+	* At each stage a quantity alfa.k is found that minimizes f(x.k + alfa.k·p.k),
+	* and x.k+1 is set equal to the new point x.k + alfa.k·p.k. The p.k and x.k are
+	* built up in such a way that x.k+1 is also the minimizer of f over the whole
+	* vector space of directions already taken, {p.1, p.2, . . . , p.k}. After N
+	* iterations you arrive at the minimizer over the entire vector space, i.e., the
+	* solution to (1).
+	*
+	* For a really good explanation of the method see:
+	*
+	* "An Introduction to the Conjugate Gradient Method Without the Agonizing Pain",
+	* Jonhathan Richard Shewchuk.
+	*
+	**/
+	static bool ConjugateGradientSolver(const sparse::Matrix &A, const FullVector &b, FullVector &x, float epsilon) {
+		xaDebugAssert(A.isSquare());
+		xaDebugAssert(A.width() == b.dimension());
+		xaDebugAssert(A.width() == x.dimension());
+		int i = 0;
+		const int D = A.width();
+		const int i_max = 4 * D; // Convergence should be linear, but in some cases, it's not.
+		FullVector r(D); // residual
+		FullVector p(D); // search direction
+		FullVector q(D); //
+		float delta_0;
+		float delta_old;
+		float delta_new;
+		float alpha;
+		float beta;
+		// r = b - A·x;
+		sparse::copy(b, r);
+		sparse::sgemv(-1, A, x, 1, r);
+		// p = r;
+		sparse::copy(r, p);
+		delta_new = sparse::dot(r, r);
+		delta_0 = delta_new;
+		while (i < i_max && delta_new > epsilon * epsilon * delta_0) {
+			i++;
+			// q = A·p
+			mult(A, p, q);
+			// alpha = delta_new / p·q
+			alpha = delta_new / sparse::dot(p, q);
+			// x = alfa·p + x
+			sparse::saxpy(alpha, p, x);
+			if ((i & 31) == 0) { // recompute r after 32 steps
+				// r = b - A·x
+				sparse::copy(b, r);
+				sparse::sgemv(-1, A, x, 1, r);
+			} else {
+				// r = r - alpha·q
+				sparse::saxpy(-alpha, q, r);
+			}
+			delta_old = delta_new;
+			delta_new = sparse::dot(r, r);
+			beta = delta_new / delta_old;
+			// p = beta·p + r
+			sparse::scal(beta, p);
+			sparse::saxpy(1, r, p);
+		}
+		return delta_new <= epsilon * epsilon * delta_0;
+	}
+
+	// Conjugate gradient with preconditioner.
+	static bool ConjugateGradientSolver(const JacobiPreconditioner &preconditioner, const sparse::Matrix &A, const FullVector &b, FullVector &x, float epsilon) {
+		xaDebugAssert(A.isSquare());
+		xaDebugAssert(A.width() == b.dimension());
+		xaDebugAssert(A.width() == x.dimension());
+		int i = 0;
+		const int D = A.width();
+		const int i_max = 4 * D; // Convergence should be linear, but in some cases, it's not.
+		FullVector r(D); // residual
+		FullVector p(D); // search direction
+		FullVector q(D); //
+		FullVector s(D); // preconditioned
+		float delta_0;
+		float delta_old;
+		float delta_new;
+		float alpha;
+		float beta;
+		// r = b - A·x
+		sparse::copy(b, r);
+		sparse::sgemv(-1, A, x, 1, r);
+		// p = M^-1 · r
+		preconditioner.apply(r, p);
+		delta_new = sparse::dot(r, p);
+		delta_0 = delta_new;
+		while (i < i_max && delta_new > epsilon * epsilon * delta_0) {
+			i++;
+			// q = A·p
+			mult(A, p, q);
+			// alpha = delta_new / p·q
+			alpha = delta_new / sparse::dot(p, q);
+			// x = alfa·p + x
+			sparse::saxpy(alpha, p, x);
+			if ((i & 31) == 0) { // recompute r after 32 steps
+				// r = b - A·x
+				sparse::copy(b, r);
+				sparse::sgemv(-1, A, x, 1, r);
+			} else {
+				// r = r - alfa·q
+				sparse::saxpy(-alpha, q, r);
+			}
+			// s = M^-1 · r
+			preconditioner.apply(r, s);
+			delta_old = delta_new;
+			delta_new = sparse::dot(r, s);
+			beta = delta_new / delta_old;
+			// p = s + beta·p
+			sparse::scal(beta, p);
+			sparse::saxpy(1, s, p);
+		}
+		return delta_new <= epsilon * epsilon * delta_0;
+	}
+
+	static bool SymmetricSolver(const sparse::Matrix &A, const FullVector &b, FullVector &x, float epsilon = 1e-5f) {
+		xaDebugAssert(A.height() == A.width());
+		xaDebugAssert(A.height() == b.dimension());
+		xaDebugAssert(b.dimension() == x.dimension());
+		JacobiPreconditioner jacobi(A, true);
+		return ConjugateGradientSolver(jacobi, A, b, x, epsilon);
+	}
+};
+
+namespace param {
+class Atlas;
+class Chart;
+
+// Fast sweep in 3 directions
+static bool findApproximateDiameterVertices(halfedge::Mesh *mesh, halfedge::Vertex **a, halfedge::Vertex **b) {
+	xaDebugAssert(mesh != NULL);
+	xaDebugAssert(a != NULL);
+	xaDebugAssert(b != NULL);
+	const uint32_t vertexCount = mesh->vertexCount();
+	halfedge::Vertex *minVertex[3];
+	halfedge::Vertex *maxVertex[3];
+	minVertex[0] = minVertex[1] = minVertex[2] = NULL;
+	maxVertex[0] = maxVertex[1] = maxVertex[2] = NULL;
+	for (uint32_t v = 1; v < vertexCount; v++) {
+		halfedge::Vertex *vertex = mesh->vertexAt(v);
+		xaDebugAssert(vertex != NULL);
+		if (vertex->isBoundary()) {
+			minVertex[0] = minVertex[1] = minVertex[2] = vertex;
+			maxVertex[0] = maxVertex[1] = maxVertex[2] = vertex;
+			break;
+		}
+	}
+	if (minVertex[0] == NULL) {
+		// Input mesh has not boundaries.
+		return false;
+	}
+	for (uint32_t v = 1; v < vertexCount; v++) {
+		halfedge::Vertex *vertex = mesh->vertexAt(v);
+		xaDebugAssert(vertex != NULL);
+		if (!vertex->isBoundary()) {
+			// Skip interior vertices.
+			continue;
+		}
+		if (vertex->pos.x < minVertex[0]->pos.x)
+			minVertex[0] = vertex;
+		else if (vertex->pos.x > maxVertex[0]->pos.x)
+			maxVertex[0] = vertex;
+		if (vertex->pos.y < minVertex[1]->pos.y)
+			minVertex[1] = vertex;
+		else if (vertex->pos.y > maxVertex[1]->pos.y)
+			maxVertex[1] = vertex;
+		if (vertex->pos.z < minVertex[2]->pos.z)
+			minVertex[2] = vertex;
+		else if (vertex->pos.z > maxVertex[2]->pos.z)
+			maxVertex[2] = vertex;
+	}
+	float lengths[3];
+	for (int i = 0; i < 3; i++) {
+		lengths[i] = length(minVertex[i]->pos - maxVertex[i]->pos);
+	}
+	if (lengths[0] > lengths[1] && lengths[0] > lengths[2]) {
+		*a = minVertex[0];
+		*b = maxVertex[0];
+	} else if (lengths[1] > lengths[2]) {
+		*a = minVertex[1];
+		*b = maxVertex[1];
+	} else {
+		*a = minVertex[2];
+		*b = maxVertex[2];
+	}
+	return true;
+}
+
+// Conformal relations from Brecht Van Lommel (based on ABF):
+
+static float vec_angle_cos(Vector3::Arg v1, Vector3::Arg v2, Vector3::Arg v3) {
+	Vector3 d1 = v1 - v2;
+	Vector3 d2 = v3 - v2;
+	return clamp(dot(d1, d2) / (length(d1) * length(d2)), -1.0f, 1.0f);
+}
+
+static float vec_angle(Vector3::Arg v1, Vector3::Arg v2, Vector3::Arg v3) {
+	float dot = vec_angle_cos(v1, v2, v3);
+	return acosf(dot);
+}
+
+static void triangle_angles(Vector3::Arg v1, Vector3::Arg v2, Vector3::Arg v3, float *a1, float *a2, float *a3) {
+	*a1 = vec_angle(v3, v1, v2);
+	*a2 = vec_angle(v1, v2, v3);
+	*a3 = PI - *a2 - *a1;
+}
+
+static void setup_abf_relations(sparse::Matrix &A, int row, const halfedge::Vertex *v0, const halfedge::Vertex *v1, const halfedge::Vertex *v2) {
+	int id0 = v0->id;
+	int id1 = v1->id;
+	int id2 = v2->id;
+	Vector3 p0 = v0->pos;
+	Vector3 p1 = v1->pos;
+	Vector3 p2 = v2->pos;
+	// @@ IC: Wouldn't it be more accurate to return cos and compute 1-cos^2?
+	// It does indeed seem to be a little bit more robust.
+	// @@ Need to revisit this more carefully!
+	float a0, a1, a2;
+	triangle_angles(p0, p1, p2, &a0, &a1, &a2);
+	float s0 = sinf(a0);
+	float s1 = sinf(a1);
+	float s2 = sinf(a2);
+	if (s1 > s0 && s1 > s2) {
+		std::swap(s1, s2);
+		std::swap(s0, s1);
+		std::swap(a1, a2);
+		std::swap(a0, a1);
+		std::swap(id1, id2);
+		std::swap(id0, id1);
+	} else if (s0 > s1 && s0 > s2) {
+		std::swap(s0, s2);
+		std::swap(s0, s1);
+		std::swap(a0, a2);
+		std::swap(a0, a1);
+		std::swap(id0, id2);
+		std::swap(id0, id1);
+	}
+	float c0 = cosf(a0);
+	float ratio = (s2 == 0.0f) ? 1.0f : s1 / s2;
+	float cosine = c0 * ratio;
+	float sine = s0 * ratio;
+	// Note  : 2*id + 0 --> u
+	//         2*id + 1 --> v
+	int u0_id = 2 * id0 + 0;
+	int v0_id = 2 * id0 + 1;
+	int u1_id = 2 * id1 + 0;
+	int v1_id = 2 * id1 + 1;
+	int u2_id = 2 * id2 + 0;
+	int v2_id = 2 * id2 + 1;
+	// Real part
+	A.setCoefficient(u0_id, 2 * row + 0, cosine - 1.0f);
+	A.setCoefficient(v0_id, 2 * row + 0, -sine);
+	A.setCoefficient(u1_id, 2 * row + 0, -cosine);
+	A.setCoefficient(v1_id, 2 * row + 0, sine);
+	A.setCoefficient(u2_id, 2 * row + 0, 1);
+	// Imaginary part
+	A.setCoefficient(u0_id, 2 * row + 1, sine);
+	A.setCoefficient(v0_id, 2 * row + 1, cosine - 1.0f);
+	A.setCoefficient(u1_id, 2 * row + 1, -sine);
+	A.setCoefficient(v1_id, 2 * row + 1, -cosine);
+	A.setCoefficient(v2_id, 2 * row + 1, 1);
+}
+
+bool computeLeastSquaresConformalMap(halfedge::Mesh *mesh) {
+	xaDebugAssert(mesh != NULL);
+	// For this to work properly, mesh should not have colocals that have the same
+	// attributes, unless you want the vertices to actually have different texcoords.
+	const uint32_t vertexCount = mesh->vertexCount();
+	const uint32_t D = 2 * vertexCount;
+	const uint32_t N = 2 * halfedge::countMeshTriangles(mesh);
+	// N is the number of equations (one per triangle)
+	// D is the number of variables (one per vertex; there are 2 pinned vertices).
+	if (N < D - 4) {
+		return false;
+	}
+	sparse::Matrix A(D, N);
+	FullVector b(N);
+	FullVector x(D);
+	// Fill b:
+	b.fill(0.0f);
+	// Fill x:
+	halfedge::Vertex *v0;
+	halfedge::Vertex *v1;
+	if (!findApproximateDiameterVertices(mesh, &v0, &v1)) {
+		// Mesh has no boundaries.
+		return false;
+	}
+	if (v0->tex == v1->tex) {
+		// LSCM expects an existing parameterization.
+		return false;
+	}
+	for (uint32_t v = 0; v < vertexCount; v++) {
+		halfedge::Vertex *vertex = mesh->vertexAt(v);
+		xaDebugAssert(vertex != NULL);
+		// Initial solution.
+		x[2 * v + 0] = vertex->tex.x;
+		x[2 * v + 1] = vertex->tex.y;
+	}
+	// Fill A:
+	const uint32_t faceCount = mesh->faceCount();
+	for (uint32_t f = 0, t = 0; f < faceCount; f++) {
+		const halfedge::Face *face = mesh->faceAt(f);
+		xaDebugAssert(face != NULL);
+		xaDebugAssert(face->edgeCount() == 3);
+		const halfedge::Vertex *vertex0 = NULL;
+		for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const halfedge::Edge *edge = it.current();
+			xaAssert(edge != NULL);
+			if (vertex0 == NULL) {
+				vertex0 = edge->vertex;
+			} else if (edge->next->vertex != vertex0) {
+				const halfedge::Vertex *vertex1 = edge->from();
+				const halfedge::Vertex *vertex2 = edge->to();
+				setup_abf_relations(A, t, vertex0, vertex1, vertex2);
+				//setup_conformal_map_relations(A, t, vertex0, vertex1, vertex2);
+				t++;
+			}
+		}
+	}
+	const uint32_t lockedParameters[] = {
+		2 * v0->id + 0,
+		2 * v0->id + 1,
+		2 * v1->id + 0,
+		2 * v1->id + 1
+	};
+	// Solve
+	Solver::LeastSquaresSolver(A, b, x, lockedParameters, 4, 0.000001f);
+	// Map x back to texcoords:
+	for (uint32_t v = 0; v < vertexCount; v++) {
+		halfedge::Vertex *vertex = mesh->vertexAt(v);
+		xaDebugAssert(vertex != NULL);
+		vertex->tex = Vector2(x[2 * v + 0], x[2 * v + 1]);
+	}
+	return true;
+}
+
+bool computeOrthogonalProjectionMap(halfedge::Mesh *mesh) {
+	Vector3 axis[2];
+	uint32_t vertexCount = mesh->vertexCount();
+	std::vector<Vector3> points(vertexCount);
+	points.resize(vertexCount);
+	for (uint32_t i = 0; i < vertexCount; i++) {
+		points[i] = mesh->vertexAt(i)->pos;
+	}
+	// Avoid redundant computations.
+	float matrix[6];
+	Fit::computeCovariance(vertexCount, points.data(), matrix);
+	if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) {
+		return false;
+	}
+	float eigenValues[3];
+	Vector3 eigenVectors[3];
+	if (!Fit::eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) {
+		return false;
+	}
+	axis[0] = normalize(eigenVectors[0]);
+	axis[1] = normalize(eigenVectors[1]);
+	// Project vertices to plane.
+	for (halfedge::Mesh::VertexIterator it(mesh->vertices()); !it.isDone(); it.advance()) {
+		halfedge::Vertex *vertex = it.current();
+		vertex->tex.x = dot(axis[0], vertex->pos);
+		vertex->tex.y = dot(axis[1], vertex->pos);
+	}
+	return true;
+}
+
+void computeSingleFaceMap(halfedge::Mesh *mesh) {
+	xaDebugAssert(mesh != NULL);
+	xaDebugAssert(mesh->faceCount() == 1);
+	halfedge::Face *face = mesh->faceAt(0);
+	xaAssert(face != NULL);
+	Vector3 p0 = face->edge->from()->pos;
+	Vector3 p1 = face->edge->to()->pos;
+	Vector3 X = normalizeSafe(p1 - p0, Vector3(0.0f), 0.0f);
+	Vector3 Z = face->normal();
+	Vector3 Y = normalizeSafe(cross(Z, X), Vector3(0.0f), 0.0f);
+	uint32_t i = 0;
+	for (halfedge::Face::EdgeIterator it(face->edges()); !it.isDone(); it.advance(), i++) {
+		halfedge::Vertex *vertex = it.vertex();
+		xaAssert(vertex != NULL);
+		if (i == 0) {
+			vertex->tex = Vector2(0);
+		} else {
+			Vector3 pn = vertex->pos;
+			float xn = dot((pn - p0), X);
+			float yn = dot((pn - p0), Y);
+			vertex->tex = Vector2(xn, yn);
+		}
+	}
+}
+
+// Dummy implementation of a priority queue using sort at insertion.
+// - Insertion is o(n)
+// - Smallest element goes at the end, so that popping it is o(1).
+// - Resorting is n*log(n)
+// @@ Number of elements in the queue is usually small, and we'd have to rebalance often. I'm not sure it's worth implementing a heap.
+// @@ Searcing at removal would remove the need for sorting when priorities change.
+struct PriorityQueue {
+	PriorityQueue(uint32_t size = UINT_MAX) :
+			maxSize(size) {}
+
+	void push(float priority, uint32_t face) {
+		uint32_t i = 0;
+		const uint32_t count = pairs.size();
+		for (; i < count; i++) {
+			if (pairs[i].priority > priority) break;
+		}
+		Pair p = { priority, face };
+		pairs.insert(pairs.begin() + i, p);
+		if (pairs.size() > maxSize) {
+			pairs.erase(pairs.begin());
+		}
+	}
+
+	// push face out of order, to be sorted later.
+	void push(uint32_t face) {
+		Pair p = { 0.0f, face };
+		pairs.push_back(p);
+	}
+
+	uint32_t pop() {
+		uint32_t f = pairs.back().face;
+		pairs.pop_back();
+		return f;
+	}
+
+	void sort() {
+		//sort(pairs); // @@ My intro sort appears to be much slower than it should!
+		std::sort(pairs.begin(), pairs.end());
+	}
+
+	void clear() {
+		pairs.clear();
+	}
+
+	uint32_t count() const {
+		return pairs.size();
+	}
+
+	float firstPriority() const {
+		return pairs.back().priority;
+	}
+
+	const uint32_t maxSize;
+
+	struct Pair {
+		bool operator<(const Pair &p) const {
+			return priority > p.priority; // !! Sort in inverse priority order!
+		}
+
+		float priority;
+		uint32_t face;
+	};
+
+	std::vector<Pair> pairs;
+};
+
+struct ChartBuildData {
+	ChartBuildData(int p_id) :
+			id(p_id) {
+		planeNormal = Vector3(0);
+		centroid = Vector3(0);
+		coneAxis = Vector3(0);
+		coneAngle = 0;
+		area = 0;
+		boundaryLength = 0;
+		normalSum = Vector3(0);
+		centroidSum = Vector3(0);
+	}
+
+	int id;
+
+	// Proxy info:
+	Vector3 planeNormal;
+	Vector3 centroid;
+	Vector3 coneAxis;
+	float coneAngle;
+
+	float area;
+	float boundaryLength;
+	Vector3 normalSum;
+	Vector3 centroidSum;
+
+	std::vector<uint32_t> seeds; // @@ These could be a pointers to the halfedge faces directly.
+	std::vector<uint32_t> faces;
+	PriorityQueue candidates;
+};
+
+struct AtlasBuilder {
+	AtlasBuilder(const halfedge::Mesh *m) :
+			mesh(m),
+			facesLeft(m->faceCount()) {
+		const uint32_t faceCount = m->faceCount();
+		faceChartArray.resize(faceCount, -1);
+		faceCandidateArray.resize(faceCount, (uint32_t)-1);
+		// @@ Floyd for the whole mesh is too slow. We could compute floyd progressively per patch as the patch grows. We need a better solution to compute most central faces.
+		//computeShortestPaths();
+		// Precompute edge lengths and face areas.
+		uint32_t edgeCount = m->edgeCount();
+		edgeLengths.resize(edgeCount);
+		for (uint32_t i = 0; i < edgeCount; i++) {
+			uint32_t id = m->edgeAt(i)->id;
+			xaDebugAssert(id / 2 == i);
+#ifdef NDEBUG
+			id = 0; // silence unused parameter warning
+#endif
+			edgeLengths[i] = m->edgeAt(i)->length();
+		}
+		faceAreas.resize(faceCount);
+		for (uint32_t i = 0; i < faceCount; i++) {
+			faceAreas[i] = m->faceAt(i)->area();
+		}
+	}
+
+	~AtlasBuilder() {
+		const uint32_t chartCount = chartArray.size();
+		for (uint32_t i = 0; i < chartCount; i++) {
+			delete chartArray[i];
+		}
+	}
+
+	void markUnchartedFaces(const std::vector<uint32_t> &unchartedFaces) {
+		const uint32_t unchartedFaceCount = unchartedFaces.size();
+		for (uint32_t i = 0; i < unchartedFaceCount; i++) {
+			uint32_t f = unchartedFaces[i];
+			faceChartArray[f] = -2;
+			//faceCandidateArray[f] = -2; // @@ ?
+			removeCandidate(f);
+		}
+		xaDebugAssert(facesLeft >= unchartedFaceCount);
+		facesLeft -= unchartedFaceCount;
+	}
+
+	void computeShortestPaths() {
+		const uint32_t faceCount = mesh->faceCount();
+		shortestPaths.resize(faceCount * faceCount, FLT_MAX);
+		// Fill edges:
+		for (uint32_t i = 0; i < faceCount; i++) {
+			shortestPaths[i * faceCount + i] = 0.0f;
+			const halfedge::Face *face_i = mesh->faceAt(i);
+			Vector3 centroid_i = face_i->centroid();
+			for (halfedge::Face::ConstEdgeIterator it(face_i->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Edge *edge = it.current();
+				if (!edge->isBoundary()) {
+					const halfedge::Face *face_j = edge->pair->face;
+					uint32_t j = face_j->id;
+					Vector3 centroid_j = face_j->centroid();
+					shortestPaths[i * faceCount + j] = shortestPaths[j * faceCount + i] = length(centroid_i - centroid_j);
+				}
+			}
+		}
+		// Use Floyd-Warshall algorithm to compute all paths:
+		for (uint32_t k = 0; k < faceCount; k++) {
+			for (uint32_t i = 0; i < faceCount; i++) {
+				for (uint32_t j = 0; j < faceCount; j++) {
+					shortestPaths[i * faceCount + j] = std::min(shortestPaths[i * faceCount + j], shortestPaths[i * faceCount + k] + shortestPaths[k * faceCount + j]);
+				}
+			}
+		}
+	}
+
+	void placeSeeds(float threshold, uint32_t maxSeedCount) {
+		// Instead of using a predefiened number of seeds:
+		// - Add seeds one by one, growing chart until a certain treshold.
+		// - Undo charts and restart growing process.
+		// @@ How can we give preference to faces far from sharp features as in the LSCM paper?
+		//   - those points can be found using a simple flood filling algorithm.
+		//   - how do we weight the probabilities?
+		for (uint32_t i = 0; i < maxSeedCount; i++) {
+			if (facesLeft == 0) {
+				// No faces left, stop creating seeds.
+				break;
+			}
+			createRandomChart(threshold);
+		}
+	}
+
+	void createRandomChart(float threshold) {
+		ChartBuildData *chart = new ChartBuildData(chartArray.size());
+		chartArray.push_back(chart);
+		// Pick random face that is not used by any chart yet.
+		uint32_t randomFaceIdx = rand.getRange(facesLeft - 1);
+		uint32_t i = 0;
+		for (uint32_t f = 0; f != randomFaceIdx; f++, i++) {
+			while (faceChartArray[i] != -1)
+				i++;
+		}
+		while (faceChartArray[i] != -1)
+			i++;
+		chart->seeds.push_back(i);
+		addFaceToChart(chart, i, true);
+		// Grow the chart as much as possible within the given threshold.
+		growChart(chart, threshold * 0.5f, facesLeft);
+		//growCharts(threshold - threshold * 0.75f / chartCount(), facesLeft);
+	}
+
+	void addFaceToChart(ChartBuildData *chart, uint32_t f, bool recomputeProxy = false) {
+		// Add face to chart.
+		chart->faces.push_back(f);
+		xaDebugAssert(faceChartArray[f] == -1);
+		faceChartArray[f] = chart->id;
+		facesLeft--;
+		// Update area and boundary length.
+		chart->area = evaluateChartArea(chart, f);
+		chart->boundaryLength = evaluateBoundaryLength(chart, f);
+		chart->normalSum = evaluateChartNormalSum(chart, f);
+		chart->centroidSum = evaluateChartCentroidSum(chart, f);
+		if (recomputeProxy) {
+			// Update proxy and candidate's priorities.
+			updateProxy(chart);
+		}
+		// Update candidates.
+		removeCandidate(f);
+		updateCandidates(chart, f);
+		updatePriorities(chart);
+	}
+
+	// Returns true if any of the charts can grow more.
+	bool growCharts(float threshold, uint32_t faceCount) {
+		// Using one global list.
+		faceCount = std::min(faceCount, facesLeft);
+		for (uint32_t i = 0; i < faceCount; i++) {
+			const Candidate &candidate = getBestCandidate();
+			if (candidate.metric > threshold) {
+				return false; // Can't grow more.
+			}
+			addFaceToChart(candidate.chart, candidate.face);
+		}
+		return facesLeft != 0; // Can continue growing.
+	}
+
+	bool growChart(ChartBuildData *chart, float threshold, uint32_t faceCount) {
+		// Try to add faceCount faces within threshold to chart.
+		for (uint32_t i = 0; i < faceCount;) {
+			if (chart->candidates.count() == 0 || chart->candidates.firstPriority() > threshold) {
+				return false;
+			}
+			uint32_t f = chart->candidates.pop();
+			if (faceChartArray[f] == -1) {
+				addFaceToChart(chart, f);
+				i++;
+			}
+		}
+		if (chart->candidates.count() == 0 || chart->candidates.firstPriority() > threshold) {
+			return false;
+		}
+		return true;
+	}
+
+	void resetCharts() {
+		const uint32_t faceCount = mesh->faceCount();
+		for (uint32_t i = 0; i < faceCount; i++) {
+			faceChartArray[i] = -1;
+			faceCandidateArray[i] = (uint32_t)-1;
+		}
+		facesLeft = faceCount;
+		candidateArray.clear();
+		const uint32_t chartCount = chartArray.size();
+		for (uint32_t i = 0; i < chartCount; i++) {
+			ChartBuildData *chart = chartArray[i];
+			const uint32_t seed = chart->seeds.back();
+			chart->area = 0.0f;
+			chart->boundaryLength = 0.0f;
+			chart->normalSum = Vector3(0);
+			chart->centroidSum = Vector3(0);
+			chart->faces.clear();
+			chart->candidates.clear();
+			addFaceToChart(chart, seed);
+		}
+	}
+
+	void updateCandidates(ChartBuildData *chart, uint32_t f) {
+		const halfedge::Face *face = mesh->faceAt(f);
+		// Traverse neighboring faces, add the ones that do not belong to any chart yet.
+		for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const halfedge::Edge *edge = it.current()->pair;
+			if (!edge->isBoundary()) {
+				uint32_t faceId = edge->face->id;
+				if (faceChartArray[faceId] == -1) {
+					chart->candidates.push(faceId);
+				}
+			}
+		}
+	}
+
+	void updateProxies() {
+		const uint32_t chartCount = chartArray.size();
+		for (uint32_t i = 0; i < chartCount; i++) {
+			updateProxy(chartArray[i]);
+		}
+	}
+
+	void updateProxy(ChartBuildData *chart) {
+		//#pragma message(NV_FILE_LINE "TODO: Use best fit plane instead of average normal.")
+		chart->planeNormal = normalizeSafe(chart->normalSum, Vector3(0), 0.0f);
+		chart->centroid = chart->centroidSum / float(chart->faces.size());
+	}
+
+	bool relocateSeeds() {
+		bool anySeedChanged = false;
+		const uint32_t chartCount = chartArray.size();
+		for (uint32_t i = 0; i < chartCount; i++) {
+			if (relocateSeed(chartArray[i])) {
+				anySeedChanged = true;
+			}
+		}
+		return anySeedChanged;
+	}
+
+	bool relocateSeed(ChartBuildData *chart) {
+		Vector3 centroid = computeChartCentroid(chart);
+		const uint32_t N = 10; // @@ Hardcoded to 10?
+		PriorityQueue bestTriangles(N);
+		// Find the first N triangles that fit the proxy best.
+		const uint32_t faceCount = chart->faces.size();
+		for (uint32_t i = 0; i < faceCount; i++) {
+			float priority = evaluateProxyFitMetric(chart, chart->faces[i]);
+			bestTriangles.push(priority, chart->faces[i]);
+		}
+		// Of those, choose the most central triangle.
+		uint32_t mostCentral;
+		float maxDistance = -1;
+		const uint32_t bestCount = bestTriangles.count();
+		for (uint32_t i = 0; i < bestCount; i++) {
+			const halfedge::Face *face = mesh->faceAt(bestTriangles.pairs[i].face);
+			Vector3 faceCentroid = face->triangleCenter();
+			float distance = length(centroid - faceCentroid);
+			if (distance > maxDistance) {
+				maxDistance = distance;
+				mostCentral = bestTriangles.pairs[i].face;
+			}
+		}
+		xaDebugAssert(maxDistance >= 0);
+		// In order to prevent k-means cyles we record all the previously chosen seeds.
+		uint32_t index = std::find(chart->seeds.begin(), chart->seeds.end(), mostCentral) - chart->seeds.begin();
+		if (index < chart->seeds.size()) {
+			// Move new seed to the end of the seed array.
+			uint32_t last = chart->seeds.size() - 1;
+			std::swap(chart->seeds[index], chart->seeds[last]);
+			return false;
+		} else {
+			// Append new seed.
+			chart->seeds.push_back(mostCentral);
+			return true;
+		}
+	}
+
+	void updatePriorities(ChartBuildData *chart) {
+		// Re-evaluate candidate priorities.
+		uint32_t candidateCount = chart->candidates.count();
+		for (uint32_t i = 0; i < candidateCount; i++) {
+			chart->candidates.pairs[i].priority = evaluatePriority(chart, chart->candidates.pairs[i].face);
+			if (faceChartArray[chart->candidates.pairs[i].face] == -1) {
+				updateCandidate(chart, chart->candidates.pairs[i].face, chart->candidates.pairs[i].priority);
+			}
+		}
+		// Sort candidates.
+		chart->candidates.sort();
+	}
+
+	// Evaluate combined metric.
+	float evaluatePriority(ChartBuildData *chart, uint32_t face) {
+		// Estimate boundary length and area:
+		float newBoundaryLength = evaluateBoundaryLength(chart, face);
+		float newChartArea = evaluateChartArea(chart, face);
+		float F = evaluateProxyFitMetric(chart, face);
+		float C = evaluateRoundnessMetric(chart, face, newBoundaryLength, newChartArea);
+		float P = evaluateStraightnessMetric(chart, face);
+		// Penalize faces that cross seams, reward faces that close seams or reach boundaries.
+		float N = evaluateNormalSeamMetric(chart, face);
+		float T = evaluateTextureSeamMetric(chart, face);
+		//float R = evaluateCompletenessMetric(chart, face);
+		//float D = evaluateDihedralAngleMetric(chart, face);
+		// @@ Add a metric based on local dihedral angle.
+		// @@ Tweaking the normal and texture seam metrics.
+		// - Cause more impedance. Never cross 90 degree edges.
+		// -
+		float cost = float(
+				options.proxyFitMetricWeight * F +
+				options.roundnessMetricWeight * C +
+				options.straightnessMetricWeight * P +
+				options.normalSeamMetricWeight * N +
+				options.textureSeamMetricWeight * T);
+		// Enforce limits strictly:
+		if (newChartArea > options.maxChartArea) cost = FLT_MAX;
+		if (newBoundaryLength > options.maxBoundaryLength) cost = FLT_MAX;
+		// Make sure normal seams are fully respected:
+		if (options.normalSeamMetricWeight >= 1000 && N != 0) cost = FLT_MAX;
+		xaAssert(std::isfinite(cost));
+		return cost;
+	}
+
+	// Returns a value in [0-1].
+	float evaluateProxyFitMetric(ChartBuildData *chart, uint32_t f) {
+		const halfedge::Face *face = mesh->faceAt(f);
+		Vector3 faceNormal = face->triangleNormal();
+		// Use plane fitting metric for now:
+		return 1 - dot(faceNormal, chart->planeNormal); // @@ normal deviations should be weighted by face area
+	}
+
+	float evaluateRoundnessMetric(ChartBuildData *chart, uint32_t /*face*/, float newBoundaryLength, float newChartArea) {
+		float roundness = square(chart->boundaryLength) / chart->area;
+		float newRoundness = square(newBoundaryLength) / newChartArea;
+		if (newRoundness > roundness) {
+			return square(newBoundaryLength) / (newChartArea * 4 * PI);
+		} else {
+			// Offer no impedance to faces that improve roundness.
+			return 0;
+		}
+	}
+
+	float evaluateStraightnessMetric(ChartBuildData *chart, uint32_t f) {
+		float l_out = 0.0f;
+		float l_in = 0.0f;
+		const halfedge::Face *face = mesh->faceAt(f);
+		for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const halfedge::Edge *edge = it.current();
+			float l = edgeLengths[edge->id / 2];
+			if (edge->isBoundary()) {
+				l_out += l;
+			} else {
+				uint32_t neighborFaceId = edge->pair->face->id;
+				if (faceChartArray[neighborFaceId] != chart->id) {
+					l_out += l;
+				} else {
+					l_in += l;
+				}
+			}
+		}
+		xaDebugAssert(l_in != 0.0f); // Candidate face must be adjacent to chart. @@ This is not true if the input mesh has zero-length edges.
+		float ratio = (l_out - l_in) / (l_out + l_in);
+		return std::min(ratio, 0.0f); // Only use the straightness metric to close gaps.
+	}
+
+	float evaluateNormalSeamMetric(ChartBuildData *chart, uint32_t f) {
+		float seamFactor = 0.0f;
+		float totalLength = 0.0f;
+		const halfedge::Face *face = mesh->faceAt(f);
+		for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const halfedge::Edge *edge = it.current();
+			if (edge->isBoundary()) {
+				continue;
+			}
+			const uint32_t neighborFaceId = edge->pair->face->id;
+			if (faceChartArray[neighborFaceId] != chart->id) {
+				continue;
+			}
+			//float l = edge->length();
+			float l = edgeLengths[edge->id / 2];
+			totalLength += l;
+			if (!edge->isSeam()) {
+				continue;
+			}
+			// Make sure it's a normal seam.
+			if (edge->isNormalSeam()) {
+				float d0 = clamp(dot(edge->vertex->nor, edge->pair->next->vertex->nor), 0.0f, 1.0f);
+				float d1 = clamp(dot(edge->next->vertex->nor, edge->pair->vertex->nor), 0.0f, 1.0f);
+				l *= 1 - (d0 + d1) * 0.5f;
+				seamFactor += l;
+			}
+		}
+		if (seamFactor == 0) return 0.0f;
+		return seamFactor / totalLength;
+	}
+
+	float evaluateTextureSeamMetric(ChartBuildData *chart, uint32_t f) {
+		float seamLength = 0.0f;
+		float totalLength = 0.0f;
+		const halfedge::Face *face = mesh->faceAt(f);
+		for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const halfedge::Edge *edge = it.current();
+			if (edge->isBoundary()) {
+				continue;
+			}
+			const uint32_t neighborFaceId = edge->pair->face->id;
+			if (faceChartArray[neighborFaceId] != chart->id) {
+				continue;
+			}
+			//float l = edge->length();
+			float l = edgeLengths[edge->id / 2];
+			totalLength += l;
+			if (!edge->isSeam()) {
+				continue;
+			}
+			// Make sure it's a texture seam.
+			if (edge->isTextureSeam()) {
+				seamLength += l;
+			}
+		}
+		if (seamLength == 0.0f) {
+			return 0.0f; // Avoid division by zero.
+		}
+		return seamLength / totalLength;
+	}
+
+	float evaluateChartArea(ChartBuildData *chart, uint32_t f) {
+		const halfedge::Face *face = mesh->faceAt(f);
+		return chart->area + faceAreas[face->id];
+	}
+
+	float evaluateBoundaryLength(ChartBuildData *chart, uint32_t f) {
+		float boundaryLength = chart->boundaryLength;
+		// Add new edges, subtract edges shared with the chart.
+		const halfedge::Face *face = mesh->faceAt(f);
+		for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+			const halfedge::Edge *edge = it.current();
+			//float edgeLength = edge->length();
+			float edgeLength = edgeLengths[edge->id / 2];
+			if (edge->isBoundary()) {
+				boundaryLength += edgeLength;
+			} else {
+				uint32_t neighborFaceId = edge->pair->face->id;
+				if (faceChartArray[neighborFaceId] != chart->id) {
+					boundaryLength += edgeLength;
+				} else {
+					boundaryLength -= edgeLength;
+				}
+			}
+		}
+		return std::max(0.0f, boundaryLength); // @@ Hack!
+	}
+
+	Vector3 evaluateChartNormalSum(ChartBuildData *chart, uint32_t f) {
+		const halfedge::Face *face = mesh->faceAt(f);
+		return chart->normalSum + face->triangleNormalAreaScaled();
+	}
+
+	Vector3 evaluateChartCentroidSum(ChartBuildData *chart, uint32_t f) {
+		const halfedge::Face *face = mesh->faceAt(f);
+		return chart->centroidSum + face->centroid();
+	}
+
+	Vector3 computeChartCentroid(const ChartBuildData *chart) {
+		Vector3 centroid(0);
+		const uint32_t faceCount = chart->faces.size();
+		for (uint32_t i = 0; i < faceCount; i++) {
+			const halfedge::Face *face = mesh->faceAt(chart->faces[i]);
+			centroid += face->triangleCenter();
+		}
+		return centroid / float(faceCount);
+	}
+
+	void fillHoles(float threshold) {
+		while (facesLeft > 0)
+			createRandomChart(threshold);
+	}
+
+	void mergeCharts() {
+		std::vector<float> sharedBoundaryLengths;
+		const uint32_t chartCount = chartArray.size();
+		for (int c = chartCount - 1; c >= 0; c--) {
+			sharedBoundaryLengths.clear();
+			sharedBoundaryLengths.resize(chartCount, 0.0f);
+			ChartBuildData *chart = chartArray[c];
+			float externalBoundary = 0.0f;
+			const uint32_t faceCount = chart->faces.size();
+			for (uint32_t i = 0; i < faceCount; i++) {
+				uint32_t f = chart->faces[i];
+				const halfedge::Face *face = mesh->faceAt(f);
+				for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+					const halfedge::Edge *edge = it.current();
+					//float l = edge->length();
+					float l = edgeLengths[edge->id / 2];
+					if (edge->isBoundary()) {
+						externalBoundary += l;
+					} else {
+						uint32_t neighborFace = edge->pair->face->id;
+						uint32_t neighborChart = faceChartArray[neighborFace];
+						if (neighborChart != (uint32_t)c) {
+							if ((edge->isSeam() && (edge->isNormalSeam() || edge->isTextureSeam())) || neighborChart == -2) {
+								externalBoundary += l;
+							} else {
+								sharedBoundaryLengths[neighborChart] += l;
+							}
+						}
+					}
+				}
+			}
+			for (int cc = chartCount - 1; cc >= 0; cc--) {
+				if (cc == c)
+					continue;
+				ChartBuildData *chart2 = chartArray[cc];
+				if (chart2 == NULL)
+					continue;
+				if (sharedBoundaryLengths[cc] > 0.8 * std::max(0.0f, chart->boundaryLength - externalBoundary)) {
+					// Try to avoid degenerate configurations.
+					if (chart2->boundaryLength > sharedBoundaryLengths[cc]) {
+						if (dot(chart2->planeNormal, chart->planeNormal) > -0.25) {
+							mergeChart(chart2, chart, sharedBoundaryLengths[cc]);
+							delete chart;
+							chartArray[c] = NULL;
+							break;
+						}
+					}
+				}
+				if (sharedBoundaryLengths[cc] > 0.20 * std::max(0.0f, chart->boundaryLength - externalBoundary)) {
+					// Compare proxies.
+					if (dot(chart2->planeNormal, chart->planeNormal) > 0) {
+						mergeChart(chart2, chart, sharedBoundaryLengths[cc]);
+						delete chart;
+						chartArray[c] = NULL;
+						break;
+					}
+				}
+			}
+		}
+		// Remove deleted charts.
+		for (int c = 0; c < int32_t(chartArray.size()); /*do not increment if removed*/) {
+			if (chartArray[c] == NULL) {
+				chartArray.erase(chartArray.begin() + c);
+				// Update faceChartArray.
+				const uint32_t faceCount = faceChartArray.size();
+				for (uint32_t i = 0; i < faceCount; i++) {
+					xaDebugAssert(faceChartArray[i] != -1);
+					xaDebugAssert(faceChartArray[i] != c);
+					xaDebugAssert(faceChartArray[i] <= int32_t(chartArray.size()));
+					if (faceChartArray[i] > c) {
+						faceChartArray[i]--;
+					}
+				}
+			} else {
+				chartArray[c]->id = c;
+				c++;
+			}
+		}
+	}
+
+	// @@ Cleanup.
+	struct Candidate {
+		uint32_t face;
+		ChartBuildData *chart;
+		float metric;
+	};
+
+	// @@ Get N best candidates in one pass.
+	const Candidate &getBestCandidate() const {
+		uint32_t best = 0;
+		float bestCandidateMetric = FLT_MAX;
+		const uint32_t candidateCount = candidateArray.size();
+		xaAssert(candidateCount > 0);
+		for (uint32_t i = 0; i < candidateCount; i++) {
+			const Candidate &candidate = candidateArray[i];
+			if (candidate.metric < bestCandidateMetric) {
+				bestCandidateMetric = candidate.metric;
+				best = i;
+			}
+		}
+		return candidateArray[best];
+	}
+
+	void removeCandidate(uint32_t f) {
+		int c = faceCandidateArray[f];
+		if (c != -1) {
+			faceCandidateArray[f] = (uint32_t)-1;
+			if (c == int(candidateArray.size() - 1)) {
+				candidateArray.pop_back();
+			} else {
+				// Replace with last.
+				candidateArray[c] = candidateArray[candidateArray.size() - 1];
+				candidateArray.pop_back();
+				faceCandidateArray[candidateArray[c].face] = c;
+			}
+		}
+	}
+
+	void updateCandidate(ChartBuildData *chart, uint32_t f, float metric) {
+		if (faceCandidateArray[f] == -1) {
+			const uint32_t index = candidateArray.size();
+			faceCandidateArray[f] = index;
+			candidateArray.resize(index + 1);
+			candidateArray[index].face = f;
+			candidateArray[index].chart = chart;
+			candidateArray[index].metric = metric;
+		} else {
+			int c = faceCandidateArray[f];
+			xaDebugAssert(c != -1);
+			Candidate &candidate = candidateArray[c];
+			xaDebugAssert(candidate.face == f);
+			if (metric < candidate.metric || chart == candidate.chart) {
+				candidate.metric = metric;
+				candidate.chart = chart;
+			}
+		}
+	}
+
+	void mergeChart(ChartBuildData *owner, ChartBuildData *chart, float sharedBoundaryLength) {
+		const uint32_t faceCount = chart->faces.size();
+		for (uint32_t i = 0; i < faceCount; i++) {
+			uint32_t f = chart->faces[i];
+			xaDebugAssert(faceChartArray[f] == chart->id);
+			faceChartArray[f] = owner->id;
+			owner->faces.push_back(f);
+		}
+		// Update adjacencies?
+		owner->area += chart->area;
+		owner->boundaryLength += chart->boundaryLength - sharedBoundaryLength;
+		owner->normalSum += chart->normalSum;
+		owner->centroidSum += chart->centroidSum;
+		updateProxy(owner);
+	}
+
+	uint32_t chartCount() const { return chartArray.size(); }
+	const std::vector<uint32_t> &chartFaces(uint32_t i) const { return chartArray[i]->faces; }
+
+	const halfedge::Mesh *mesh;
+	uint32_t facesLeft;
+	std::vector<int> faceChartArray;
+	std::vector<ChartBuildData *> chartArray;
+	std::vector<float> shortestPaths;
+	std::vector<float> edgeLengths;
+	std::vector<float> faceAreas;
+	std::vector<Candidate> candidateArray; //
+	std::vector<uint32_t> faceCandidateArray; // Map face index to candidate index.
+	MTRand rand;
+	CharterOptions options;
+};
+
+/// A chart is a connected set of faces with a certain topology (usually a disk).
+class Chart {
+public:
+	Chart() :
+			m_isDisk(false),
+			m_isVertexMapped(false) {}
+
+	void build(const halfedge::Mesh *originalMesh, const std::vector<uint32_t> &faceArray) {
+		// Copy face indices.
+		m_faceArray = faceArray;
+		const uint32_t meshVertexCount = originalMesh->vertexCount();
+		m_chartMesh.reset(new halfedge::Mesh());
+		m_unifiedMesh.reset(new halfedge::Mesh());
+		std::vector<uint32_t> chartMeshIndices(meshVertexCount, (uint32_t)~0);
+		std::vector<uint32_t> unifiedMeshIndices(meshVertexCount, (uint32_t)~0);
+		// Add vertices.
+		const uint32_t faceCount = faceArray.size();
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const halfedge::Face *face = originalMesh->faceAt(faceArray[f]);
+			xaDebugAssert(face != NULL);
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Vertex *vertex = it.current()->vertex;
+				const halfedge::Vertex *unifiedVertex = vertex->firstColocal();
+				if (unifiedMeshIndices[unifiedVertex->id] == ~0) {
+					unifiedMeshIndices[unifiedVertex->id] = m_unifiedMesh->vertexCount();
+					xaDebugAssert(vertex->pos == unifiedVertex->pos);
+					m_unifiedMesh->addVertex(vertex->pos);
+				}
+				if (chartMeshIndices[vertex->id] == ~0) {
+					chartMeshIndices[vertex->id] = m_chartMesh->vertexCount();
+					m_chartToOriginalMap.push_back(vertex->original_id);
+					m_chartToUnifiedMap.push_back(unifiedMeshIndices[unifiedVertex->id]);
+					halfedge::Vertex *v = m_chartMesh->addVertex(vertex->pos);
+					v->nor = vertex->nor;
+					v->tex = vertex->tex;
+				}
+			}
+		}
+		// This is ignoring the canonical map:
+		// - Is it really necessary to link colocals?
+		m_chartMesh->linkColocals();
+		//m_unifiedMesh->linkColocals();  // Not strictly necessary, no colocals in the unified mesh. # Wrong.
+		// This check is not valid anymore, if the original mesh vertices were linked with a canonical map, then it might have
+		// some colocal vertices that were unlinked. So, the unified mesh might have some duplicate vertices, because firstColocal()
+		// is not guaranteed to return the same vertex for two colocal vertices.
+		//xaAssert(m_chartMesh->colocalVertexCount() == m_unifiedMesh->vertexCount());
+		// Is that OK? What happens in meshes were that happens? Does anything break? Apparently not...
+		std::vector<uint32_t> faceIndices;
+		faceIndices.reserve(7);
+		// Add faces.
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const halfedge::Face *face = originalMesh->faceAt(faceArray[f]);
+			xaDebugAssert(face != NULL);
+			faceIndices.clear();
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Vertex *vertex = it.current()->vertex;
+				xaDebugAssert(vertex != NULL);
+				faceIndices.push_back(chartMeshIndices[vertex->id]);
+			}
+			m_chartMesh->addFace(faceIndices);
+			faceIndices.clear();
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Vertex *vertex = it.current()->vertex;
+				xaDebugAssert(vertex != NULL);
+				vertex = vertex->firstColocal();
+				faceIndices.push_back(unifiedMeshIndices[vertex->id]);
+			}
+			m_unifiedMesh->addFace(faceIndices);
+		}
+		m_chartMesh->linkBoundary();
+		m_unifiedMesh->linkBoundary();
+		//exportMesh(m_unifiedMesh.ptr(), "debug_input.obj");
+		if (m_unifiedMesh->splitBoundaryEdges()) {
+			m_unifiedMesh.reset(halfedge::unifyVertices(m_unifiedMesh.get()));
+		}
+		//exportMesh(m_unifiedMesh.ptr(), "debug_split.obj");
+		// Closing the holes is not always the best solution and does not fix all the problems.
+		// We need to do some analysis of the holes and the genus to:
+		// - Find cuts that reduce genus.
+		// - Find cuts to connect holes.
+		// - Use minimal spanning trees or seamster.
+		if (!closeHoles()) {
+			/*static int pieceCount = 0;
+			StringBuilder fileName;
+			fileName.format("debug_hole_%d.obj", pieceCount++);
+			exportMesh(m_unifiedMesh.ptr(), fileName.str());*/
+		}
+		m_unifiedMesh.reset(halfedge::triangulate(m_unifiedMesh.get()));
+		//exportMesh(m_unifiedMesh.ptr(), "debug_triangulated.obj");
+		// Analyze chart topology.
+		halfedge::MeshTopology topology(m_unifiedMesh.get());
+		m_isDisk = topology.isDisk();
+	}
+
+	void buildVertexMap(const halfedge::Mesh *originalMesh, const std::vector<uint32_t> &unchartedMaterialArray) {
+		xaAssert(m_chartMesh.get() == NULL && m_unifiedMesh.get() == NULL);
+		m_isVertexMapped = true;
+		// Build face indices.
+		m_faceArray.clear();
+		const uint32_t meshFaceCount = originalMesh->faceCount();
+		for (uint32_t f = 0; f < meshFaceCount; f++) {
+			const halfedge::Face *face = originalMesh->faceAt(f);
+			if (std::find(unchartedMaterialArray.begin(), unchartedMaterialArray.end(), face->material) != unchartedMaterialArray.end()) {
+				m_faceArray.push_back(f);
+			}
+		}
+		const uint32_t faceCount = m_faceArray.size();
+		if (faceCount == 0) {
+			return;
+		}
+		// @@ The chartMesh construction is basically the same as with regular charts, don't duplicate!
+		const uint32_t meshVertexCount = originalMesh->vertexCount();
+		m_chartMesh.reset(new halfedge::Mesh());
+		std::vector<uint32_t> chartMeshIndices(meshVertexCount, (uint32_t)~0);
+		// Vertex map mesh only has disconnected vertices.
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const halfedge::Face *face = originalMesh->faceAt(m_faceArray[f]);
+			xaDebugAssert(face != NULL);
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Vertex *vertex = it.current()->vertex;
+				if (chartMeshIndices[vertex->id] == ~0) {
+					chartMeshIndices[vertex->id] = m_chartMesh->vertexCount();
+					m_chartToOriginalMap.push_back(vertex->original_id);
+					halfedge::Vertex *v = m_chartMesh->addVertex(vertex->pos);
+					v->nor = vertex->nor;
+					v->tex = vertex->tex; // @@ Not necessary.
+				}
+			}
+		}
+		// @@ Link colocals using the original mesh canonical map? Build canonical map on the fly? Do we need to link colocals at all for this?
+		//m_chartMesh->linkColocals();
+		std::vector<uint32_t> faceIndices;
+		faceIndices.reserve(7);
+		// Add faces.
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const halfedge::Face *face = originalMesh->faceAt(m_faceArray[f]);
+			xaDebugAssert(face != NULL);
+			faceIndices.clear();
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Vertex *vertex = it.current()->vertex;
+				xaDebugAssert(vertex != NULL);
+				xaDebugAssert(chartMeshIndices[vertex->id] != ~0);
+				faceIndices.push_back(chartMeshIndices[vertex->id]);
+			}
+			halfedge::Face *new_face = m_chartMesh->addFace(faceIndices);
+			xaDebugAssert(new_face != NULL);
+#ifdef NDEBUG
+			new_face = NULL; // silence unused parameter warning
+#endif
+		}
+		m_chartMesh->linkBoundary();
+		const uint32_t chartVertexCount = m_chartMesh->vertexCount();
+		Box bounds;
+		bounds.clearBounds();
+		for (uint32_t i = 0; i < chartVertexCount; i++) {
+			halfedge::Vertex *vertex = m_chartMesh->vertexAt(i);
+			bounds.addPointToBounds(vertex->pos);
+		}
+		ProximityGrid grid;
+		grid.init(bounds, chartVertexCount);
+		for (uint32_t i = 0; i < chartVertexCount; i++) {
+			halfedge::Vertex *vertex = m_chartMesh->vertexAt(i);
+			grid.add(vertex->pos, i);
+		}
+		uint32_t texelCount = 0;
+		const float positionThreshold = 0.01f;
+		const float normalThreshold = 0.01f;
+		uint32_t verticesVisited = 0;
+		uint32_t cellsVisited = 0;
+		std::vector<int> vertexIndexArray(chartVertexCount, -1); // Init all indices to -1.
+		// Traverse vertices in morton order. @@ It may be more interesting to sort them based on orientation.
+		const uint32_t cellCodeCount = grid.mortonCount();
+		for (uint32_t cellCode = 0; cellCode < cellCodeCount; cellCode++) {
+			int cell = grid.mortonIndex(cellCode);
+			if (cell < 0) continue;
+			cellsVisited++;
+			const std::vector<uint32_t> &indexArray = grid.cellArray[cell].indexArray;
+			for (uint32_t i = 0; i < indexArray.size(); i++) {
+				uint32_t idx = indexArray[i];
+				halfedge::Vertex *vertex = m_chartMesh->vertexAt(idx);
+				xaDebugAssert(vertexIndexArray[idx] == -1);
+				std::vector<uint32_t> neighbors;
+				grid.gather(vertex->pos, positionThreshold, /*ref*/ neighbors);
+				// Compare against all nearby vertices, cluster greedily.
+				for (uint32_t j = 0; j < neighbors.size(); j++) {
+					uint32_t otherIdx = neighbors[j];
+					if (vertexIndexArray[otherIdx] != -1) {
+						halfedge::Vertex *otherVertex = m_chartMesh->vertexAt(otherIdx);
+						if (distance(vertex->pos, otherVertex->pos) < positionThreshold &&
+								distance(vertex->nor, otherVertex->nor) < normalThreshold) {
+							vertexIndexArray[idx] = vertexIndexArray[otherIdx];
+							break;
+						}
+					}
+				}
+				// If index not assigned, assign new one.
+				if (vertexIndexArray[idx] == -1) {
+					vertexIndexArray[idx] = texelCount++;
+				}
+				verticesVisited++;
+			}
+		}
+		xaDebugAssert(cellsVisited == grid.cellArray.size());
+		xaDebugAssert(verticesVisited == chartVertexCount);
+		vertexMapWidth = ftoi_ceil(sqrtf(float(texelCount)));
+		vertexMapWidth = (vertexMapWidth + 3) & ~3; // Width aligned to 4.
+		vertexMapHeight = vertexMapWidth == 0 ? 0 : (texelCount + vertexMapWidth - 1) / vertexMapWidth;
+		//vertexMapHeight = (vertexMapHeight + 3) & ~3;                           // Height aligned to 4.
+		xaDebugAssert(vertexMapWidth >= vertexMapHeight);
+		xaPrint("Reduced vertex count from %d to %d.\n", chartVertexCount, texelCount);
+		// Lay down the clustered vertices in morton order.
+		std::vector<uint32_t> texelCodes(texelCount);
+		// For each texel, assign one morton code.
+		uint32_t texelCode = 0;
+		for (uint32_t i = 0; i < texelCount; i++) {
+			uint32_t x, y;
+			do {
+				x = morton::decodeMorton2X(texelCode);
+				y = morton::decodeMorton2Y(texelCode);
+				texelCode++;
+			} while (x >= uint32_t(vertexMapWidth) || y >= uint32_t(vertexMapHeight));
+			texelCodes[i] = texelCode - 1;
+		}
+		for (uint32_t i = 0; i < chartVertexCount; i++) {
+			halfedge::Vertex *vertex = m_chartMesh->vertexAt(i);
+			int idx = vertexIndexArray[i];
+			if (idx != -1) {
+				uint32_t tc = texelCodes[idx];
+				uint32_t x = morton::decodeMorton2X(tc);
+				uint32_t y = morton::decodeMorton2Y(tc);
+				vertex->tex.x = float(x);
+				vertex->tex.y = float(y);
+			}
+		}
+	}
+
+	bool closeHoles() {
+		xaDebugAssert(!m_isVertexMapped);
+		std::vector<halfedge::Edge *> boundaryEdges;
+		getBoundaryEdges(m_unifiedMesh.get(), boundaryEdges);
+		uint32_t boundaryCount = boundaryEdges.size();
+		if (boundaryCount <= 1) {
+			// Nothing to close.
+			return true;
+		}
+		// Compute lengths and areas.
+		std::vector<float> boundaryLengths;
+		for (uint32_t i = 0; i < boundaryCount; i++) {
+			const halfedge::Edge *startEdge = boundaryEdges[i];
+			xaAssert(startEdge->face == NULL);
+			//float boundaryEdgeCount = 0;
+			float boundaryLength = 0.0f;
+			//Vector3 boundaryCentroid(zero);
+			const halfedge::Edge *edge = startEdge;
+			do {
+				Vector3 t0 = edge->from()->pos;
+				Vector3 t1 = edge->to()->pos;
+				//boundaryEdgeCount++;
+				boundaryLength += length(t1 - t0);
+				//boundaryCentroid += edge->vertex()->pos;
+				edge = edge->next;
+			} while (edge != startEdge);
+			boundaryLengths.push_back(boundaryLength);
+			//boundaryCentroids.append(boundaryCentroid / boundaryEdgeCount);
+		}
+		// Find disk boundary.
+		uint32_t diskBoundary = 0;
+		float maxLength = boundaryLengths[0];
+		for (uint32_t i = 1; i < boundaryCount; i++) {
+			if (boundaryLengths[i] > maxLength) {
+				maxLength = boundaryLengths[i];
+				diskBoundary = i;
+			}
+		}
+		// Close holes.
+		for (uint32_t i = 0; i < boundaryCount; i++) {
+			if (diskBoundary == i) {
+				// Skip disk boundary.
+				continue;
+			}
+			halfedge::Edge *startEdge = boundaryEdges[i];
+			xaDebugAssert(startEdge != NULL);
+			xaDebugAssert(startEdge->face == NULL);
+			std::vector<halfedge::Vertex *> vertexLoop;
+			std::vector<halfedge::Edge *> edgeLoop;
+			halfedge::Edge *edge = startEdge;
+			do {
+				halfedge::Vertex *vertex = edge->next->vertex; // edge->to()
+				uint32_t j;
+				for (j = 0; j < vertexLoop.size(); j++) {
+					if (vertex->isColocal(vertexLoop[j])) {
+						break;
+					}
+				}
+				bool isCrossing = (j != vertexLoop.size());
+				if (isCrossing) {
+					halfedge::Edge *prev = edgeLoop[j]; // Previous edge before the loop.
+					halfedge::Edge *next = edge->next; // Next edge after the loop.
+					xaDebugAssert(prev->to()->isColocal(next->from()));
+					// Close loop.
+					edgeLoop.push_back(edge);
+					closeLoop(j + 1, edgeLoop);
+					// Link boundary loop.
+					prev->setNext(next);
+					vertex->setEdge(next);
+					// Start over again.
+					vertexLoop.clear();
+					edgeLoop.clear();
+					edge = startEdge;
+					vertex = edge->to();
+				}
+				vertexLoop.push_back(vertex);
+				edgeLoop.push_back(edge);
+				edge = edge->next;
+			} while (edge != startEdge);
+			closeLoop(0, edgeLoop);
+		}
+		getBoundaryEdges(m_unifiedMesh.get(), boundaryEdges);
+		boundaryCount = boundaryEdges.size();
+		xaDebugAssert(boundaryCount == 1);
+		return boundaryCount == 1;
+	}
+
+	bool isDisk() const {
+		return m_isDisk;
+	}
+	bool isVertexMapped() const {
+		return m_isVertexMapped;
+	}
+
+	uint32_t vertexCount() const {
+		return m_chartMesh->vertexCount();
+	}
+	uint32_t colocalVertexCount() const {
+		return m_unifiedMesh->vertexCount();
+	}
+
+	uint32_t faceCount() const {
+		return m_faceArray.size();
+	}
+	uint32_t faceAt(uint32_t i) const {
+		return m_faceArray[i];
+	}
+
+	const halfedge::Mesh *chartMesh() const {
+		return m_chartMesh.get();
+	}
+	halfedge::Mesh *chartMesh() {
+		return m_chartMesh.get();
+	}
+	const halfedge::Mesh *unifiedMesh() const {
+		return m_unifiedMesh.get();
+	}
+	halfedge::Mesh *unifiedMesh() {
+		return m_unifiedMesh.get();
+	}
+
+	//uint32_t vertexIndex(uint32_t i) const { return m_vertexIndexArray[i]; }
+
+	uint32_t mapChartVertexToOriginalVertex(uint32_t i) const {
+		return m_chartToOriginalMap[i];
+	}
+	uint32_t mapChartVertexToUnifiedVertex(uint32_t i) const {
+		return m_chartToUnifiedMap[i];
+	}
+
+	const std::vector<uint32_t> &faceArray() const {
+		return m_faceArray;
+	}
+
+	// Transfer parameterization from unified mesh to chart mesh.
+	void transferParameterization() {
+		xaDebugAssert(!m_isVertexMapped);
+		uint32_t vertexCount = m_chartMesh->vertexCount();
+		for (uint32_t v = 0; v < vertexCount; v++) {
+			halfedge::Vertex *vertex = m_chartMesh->vertexAt(v);
+			halfedge::Vertex *unifiedVertex = m_unifiedMesh->vertexAt(mapChartVertexToUnifiedVertex(v));
+			vertex->tex = unifiedVertex->tex;
+		}
+	}
+
+	float computeSurfaceArea() const {
+		return halfedge::computeSurfaceArea(m_chartMesh.get()) * scale;
+	}
+
+	float computeParametricArea() const {
+		// This only makes sense in parameterized meshes.
+		xaDebugAssert(m_isDisk);
+		xaDebugAssert(!m_isVertexMapped);
+		return halfedge::computeParametricArea(m_chartMesh.get());
+	}
+
+	Vector2 computeParametricBounds() const {
+		// This only makes sense in parameterized meshes.
+		xaDebugAssert(m_isDisk);
+		xaDebugAssert(!m_isVertexMapped);
+		Box bounds;
+		bounds.clearBounds();
+		uint32_t vertexCount = m_chartMesh->vertexCount();
+		for (uint32_t v = 0; v < vertexCount; v++) {
+			halfedge::Vertex *vertex = m_chartMesh->vertexAt(v);
+			bounds.addPointToBounds(Vector3(vertex->tex, 0));
+		}
+		return bounds.extents().xy();
+	}
+
+	float scale = 1.0f;
+	uint32_t vertexMapWidth;
+	uint32_t vertexMapHeight;
+	bool blockAligned = true;
+
+private:
+	bool closeLoop(uint32_t start, const std::vector<halfedge::Edge *> &loop) {
+		const uint32_t vertexCount = loop.size() - start;
+		xaDebugAssert(vertexCount >= 3);
+		if (vertexCount < 3) return false;
+		xaDebugAssert(loop[start]->vertex->isColocal(loop[start + vertexCount - 1]->to()));
+		// If the hole is planar, then we add a single face that will be properly triangulated later.
+		// If the hole is not planar, we add a triangle fan with a vertex at the hole centroid.
+		// This is still a bit of a hack. There surely are better hole filling algorithms out there.
+		std::vector<Vector3> points(vertexCount);
+		for (uint32_t i = 0; i < vertexCount; i++) {
+			points[i] = loop[start + i]->vertex->pos;
+		}
+		bool isPlanar = Fit::isPlanar(vertexCount, points.data());
+		if (isPlanar) {
+			// Add face and connect edges.
+			halfedge::Face *face = m_unifiedMesh->addFace();
+			for (uint32_t i = 0; i < vertexCount; i++) {
+				halfedge::Edge *edge = loop[start + i];
+				edge->face = face;
+				edge->setNext(loop[start + (i + 1) % vertexCount]);
+			}
+			face->edge = loop[start];
+			xaDebugAssert(face->isValid());
+		} else {
+			// If the polygon is not planar, we just cross our fingers, and hope this will work:
+			// Compute boundary centroid:
+			Vector3 centroidPos(0);
+			for (uint32_t i = 0; i < vertexCount; i++) {
+				centroidPos += points[i];
+			}
+			centroidPos *= (1.0f / vertexCount);
+			halfedge::Vertex *centroid = m_unifiedMesh->addVertex(centroidPos);
+			// Add one pair of edges for each boundary vertex.
+			for (uint32_t j = vertexCount - 1, i = 0; i < vertexCount; j = i++) {
+				halfedge::Face *face = m_unifiedMesh->addFace(centroid->id, loop[start + j]->vertex->id, loop[start + i]->vertex->id);
+				xaDebugAssert(face != NULL);
+#ifdef NDEBUG
+				face = NULL; // silence unused parameter warning
+#endif
+			}
+		}
+		return true;
+	}
+
+	static void getBoundaryEdges(halfedge::Mesh *mesh, std::vector<halfedge::Edge *> &boundaryEdges) {
+		xaDebugAssert(mesh != NULL);
+		const uint32_t edgeCount = mesh->edgeCount();
+		BitArray bitFlags(edgeCount);
+		bitFlags.clearAll();
+		boundaryEdges.clear();
+		// Search for boundary edges. Mark all the edges that belong to the same boundary.
+		for (uint32_t e = 0; e < edgeCount; e++) {
+			halfedge::Edge *startEdge = mesh->edgeAt(e);
+			if (startEdge != NULL && startEdge->isBoundary() && bitFlags.bitAt(e) == false) {
+				xaDebugAssert(startEdge->face != NULL);
+				xaDebugAssert(startEdge->pair->face == NULL);
+				startEdge = startEdge->pair;
+				const halfedge::Edge *edge = startEdge;
+				do {
+					xaDebugAssert(edge->face == NULL);
+					xaDebugAssert(bitFlags.bitAt(edge->id / 2) == false);
+					bitFlags.setBitAt(edge->id / 2);
+					edge = edge->next;
+				} while (startEdge != edge);
+				boundaryEdges.push_back(startEdge);
+			}
+		}
+	}
+
+	// Chart mesh.
+	std::auto_ptr<halfedge::Mesh> m_chartMesh;
+
+	std::auto_ptr<halfedge::Mesh> m_unifiedMesh;
+	bool m_isDisk;
+	bool m_isVertexMapped;
+
+	// List of faces of the original mesh that belong to this chart.
+	std::vector<uint32_t> m_faceArray;
+
+	// Map vertices of the chart mesh to vertices of the original mesh.
+	std::vector<uint32_t> m_chartToOriginalMap;
+
+	std::vector<uint32_t> m_chartToUnifiedMap;
+};
+
+// Estimate quality of existing parameterization.
+class ParameterizationQuality {
+public:
+	ParameterizationQuality() {
+		m_totalTriangleCount = 0;
+		m_flippedTriangleCount = 0;
+		m_zeroAreaTriangleCount = 0;
+		m_parametricArea = 0.0f;
+		m_geometricArea = 0.0f;
+		m_stretchMetric = 0.0f;
+		m_maxStretchMetric = 0.0f;
+		m_conformalMetric = 0.0f;
+		m_authalicMetric = 0.0f;
+	}
+
+	ParameterizationQuality(const halfedge::Mesh *mesh) {
+		xaDebugAssert(mesh != NULL);
+		m_totalTriangleCount = 0;
+		m_flippedTriangleCount = 0;
+		m_zeroAreaTriangleCount = 0;
+		m_parametricArea = 0.0f;
+		m_geometricArea = 0.0f;
+		m_stretchMetric = 0.0f;
+		m_maxStretchMetric = 0.0f;
+		m_conformalMetric = 0.0f;
+		m_authalicMetric = 0.0f;
+		const uint32_t faceCount = mesh->faceCount();
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const halfedge::Face *face = mesh->faceAt(f);
+			const halfedge::Vertex *vertex0 = NULL;
+			Vector3 p[3];
+			Vector2 t[3];
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				const halfedge::Edge *edge = it.current();
+				if (vertex0 == NULL) {
+					vertex0 = edge->vertex;
+					p[0] = vertex0->pos;
+					t[0] = vertex0->tex;
+				} else if (edge->to() != vertex0) {
+					p[1] = edge->from()->pos;
+					p[2] = edge->to()->pos;
+					t[1] = edge->from()->tex;
+					t[2] = edge->to()->tex;
+					processTriangle(p, t);
+				}
+			}
+		}
+		if (m_flippedTriangleCount + m_zeroAreaTriangleCount == faceCount) {
+			// If all triangles are flipped, then none is.
+			m_flippedTriangleCount = 0;
+		}
+		xaDebugAssert(std::isfinite(m_parametricArea) && m_parametricArea >= 0);
+		xaDebugAssert(std::isfinite(m_geometricArea) && m_geometricArea >= 0);
+		xaDebugAssert(std::isfinite(m_stretchMetric));
+		xaDebugAssert(std::isfinite(m_maxStretchMetric));
+		xaDebugAssert(std::isfinite(m_conformalMetric));
+		xaDebugAssert(std::isfinite(m_authalicMetric));
+	}
+
+	bool isValid() const {
+		return m_flippedTriangleCount == 0; // @@ Does not test for self-overlaps.
+	}
+
+	float rmsStretchMetric() const {
+		if (m_geometricArea == 0) return 0.0f;
+		float normFactor = sqrtf(m_parametricArea / m_geometricArea);
+		return sqrtf(m_stretchMetric / m_geometricArea) * normFactor;
+	}
+
+	float maxStretchMetric() const {
+		if (m_geometricArea == 0) return 0.0f;
+		float normFactor = sqrtf(m_parametricArea / m_geometricArea);
+		return m_maxStretchMetric * normFactor;
+	}
+
+	float rmsConformalMetric() const {
+		if (m_geometricArea == 0) return 0.0f;
+		return sqrtf(m_conformalMetric / m_geometricArea);
+	}
+
+	float maxAuthalicMetric() const {
+		if (m_geometricArea == 0) return 0.0f;
+		return sqrtf(m_authalicMetric / m_geometricArea);
+	}
+
+	void operator+=(const ParameterizationQuality &pq) {
+		m_totalTriangleCount += pq.m_totalTriangleCount;
+		m_flippedTriangleCount += pq.m_flippedTriangleCount;
+		m_zeroAreaTriangleCount += pq.m_zeroAreaTriangleCount;
+		m_parametricArea += pq.m_parametricArea;
+		m_geometricArea += pq.m_geometricArea;
+		m_stretchMetric += pq.m_stretchMetric;
+		m_maxStretchMetric = std::max(m_maxStretchMetric, pq.m_maxStretchMetric);
+		m_conformalMetric += pq.m_conformalMetric;
+		m_authalicMetric += pq.m_authalicMetric;
+	}
+
+private:
+	void processTriangle(Vector3 q[3], Vector2 p[3]) {
+		m_totalTriangleCount++;
+		// Evaluate texture stretch metric. See:
+		// - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe
+		// - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer.
+		float t1 = p[0].x;
+		float s1 = p[0].y;
+		float t2 = p[1].x;
+		float s2 = p[1].y;
+		float t3 = p[2].x;
+		float s3 = p[2].y;
+		float geometricArea = length(cross(q[1] - q[0], q[2] - q[0])) / 2;
+		float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2;
+		if (isZero(parametricArea)) {
+			m_zeroAreaTriangleCount++;
+			return;
+		}
+		Vector3 Ss = (q[0] * (t2 - t3) + q[1] * (t3 - t1) + q[2] * (t1 - t2)) / (2 * parametricArea);
+		Vector3 St = (q[0] * (s3 - s2) + q[1] * (s1 - s3) + q[2] * (s2 - s1)) / (2 * parametricArea);
+		float a = dot(Ss, Ss); // E
+		float b = dot(Ss, St); // F
+		float c = dot(St, St); // G
+		// Compute eigen-values of the first fundamental form:
+		float sigma1 = sqrtf(0.5f * std::max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue.
+		float sigma2 = sqrtf(0.5f * std::max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue.
+		xaAssert(sigma2 >= sigma1);
+		// isometric: sigma1 = sigma2 = 1
+		// conformal: sigma1 / sigma2 = 1
+		// authalic: sigma1 * sigma2 = 1
+		float rmsStretch = sqrtf((a + c) * 0.5f);
+		float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f);
+		xaDebugAssert(equal(rmsStretch, rmsStretch2, 0.01f));
+#ifdef NDEBUG
+		rmsStretch2 = 0; // silence unused parameter warning
+#endif
+		if (parametricArea < 0.0f) {
+			// Count flipped triangles.
+			m_flippedTriangleCount++;
+			parametricArea = fabsf(parametricArea);
+		}
+		m_stretchMetric += square(rmsStretch) * geometricArea;
+		m_maxStretchMetric = std::max(m_maxStretchMetric, sigma2);
+		if (!isZero(sigma1, 0.000001f)) {
+			// sigma1 is zero when geometricArea is zero.
+			m_conformalMetric += (sigma2 / sigma1) * geometricArea;
+		}
+		m_authalicMetric += (sigma1 * sigma2) * geometricArea;
+		// Accumulate total areas.
+		m_geometricArea += geometricArea;
+		m_parametricArea += parametricArea;
+		//triangleConformalEnergy(q, p);
+	}
+
+	uint32_t m_totalTriangleCount;
+	uint32_t m_flippedTriangleCount;
+	uint32_t m_zeroAreaTriangleCount;
+	float m_parametricArea;
+	float m_geometricArea;
+	float m_stretchMetric;
+	float m_maxStretchMetric;
+	float m_conformalMetric;
+	float m_authalicMetric;
+};
+
+// Set of charts corresponding to a single mesh.
+class MeshCharts {
+public:
+	MeshCharts(const halfedge::Mesh *mesh) :
+			m_mesh(mesh) {}
+
+	~MeshCharts() {
+		for (size_t i = 0; i < m_chartArray.size(); i++)
+			delete m_chartArray[i];
+	}
+
+	uint32_t chartCount() const {
+		return m_chartArray.size();
+	}
+	uint32_t vertexCount() const {
+		return m_totalVertexCount;
+	}
+
+	const Chart *chartAt(uint32_t i) const {
+		return m_chartArray[i];
+	}
+	Chart *chartAt(uint32_t i) {
+		return m_chartArray[i];
+	}
+
+	// Extract the charts of the input mesh.
+	void extractCharts() {
+		const uint32_t faceCount = m_mesh->faceCount();
+		int first = 0;
+		std::vector<uint32_t> queue;
+		queue.reserve(faceCount);
+		BitArray bitFlags(faceCount);
+		bitFlags.clearAll();
+		for (uint32_t f = 0; f < faceCount; f++) {
+			if (bitFlags.bitAt(f) == false) {
+				// Start new patch. Reset queue.
+				first = 0;
+				queue.clear();
+				queue.push_back(f);
+				bitFlags.setBitAt(f);
+				while (first != (int)queue.size()) {
+					const halfedge::Face *face = m_mesh->faceAt(queue[first]);
+					// Visit face neighbors of queue[first]
+					for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+						const halfedge::Edge *edge = it.current();
+						xaDebugAssert(edge->pair != NULL);
+						if (!edge->isBoundary() && /*!edge->isSeam()*/
+								//!(edge->from()->tex() != edge->pair()->to()->tex() || edge->to()->tex() != edge->pair()->from()->tex()))
+								!(edge->from() != edge->pair->to() || edge->to() != edge->pair->from())) { // Preserve existing seams (not just texture seams).
+							const halfedge::Face *neighborFace = edge->pair->face;
+							xaDebugAssert(neighborFace != NULL);
+							if (bitFlags.bitAt(neighborFace->id) == false) {
+								queue.push_back(neighborFace->id);
+								bitFlags.setBitAt(neighborFace->id);
+							}
+						}
+					}
+					first++;
+				}
+				Chart *chart = new Chart();
+				chart->build(m_mesh, queue);
+				m_chartArray.push_back(chart);
+			}
+		}
+	}
+
+	/*
+	Compute charts using a simple segmentation algorithm.
+
+	LSCM:
+	- identify sharp features using local dihedral angles.
+	- identify seed faces farthest from sharp features.
+	- grow charts from these seeds.
+
+	MCGIM:
+	- phase 1: chart growth
+	  - grow all charts simultaneously using dijkstra search on the dual graph of the mesh.
+	  - graph edges are weighted based on planarity metric.
+	  - metric uses distance to global chart normal.
+	  - terminate when all faces have been assigned.
+	- phase 2: seed computation:
+	  - place new seed of the chart at the most interior face.
+	  - most interior is evaluated using distance metric only.
+
+	- method repeates the two phases, until the location of the seeds does not change.
+	  - cycles are detected by recording all the previous seeds and chartification terminates.
+
+	D-Charts:
+
+	- Uniaxial conic metric:
+	  - N_c = axis of the generalized cone that best fits the chart. (cone can a be cylinder or a plane).
+	  - omega_c = angle between the face normals and the axis.
+	  - Fitting error between chart C and tringle t: F(c,t) = (N_c*n_t - cos(omega_c))^2
+
+	- Compactness metrics:
+	  - Roundness:
+		- C(c,t) = pi * D(S_c,t)^2 / A_c
+		- S_c = chart seed.
+		- D(S_c,t) = length of the shortest path inside the chart betwen S_c and t.
+		- A_c = chart area.
+	  - Straightness:
+		- P(c,t) = l_out(c,t) / l_in(c,t)
+		- l_out(c,t) = lenght of the edges not shared between C and t.
+		- l_in(c,t) = lenght of the edges shared between C and t.
+
+	- Combined metric:
+	  - Cost(c,t) = F(c,t)^alpha + C(c,t)^beta + P(c,t)^gamma
+	  - alpha = 1, beta = 0.7, gamma = 0.5
+
+	Our basic approach:
+	- Just one iteration of k-means?
+	- Avoid dijkstra by greedily growing charts until a threshold is met. Increase threshold and repeat until no faces left.
+	- If distortion metric is too high, split chart, add two seeds.
+	- If chart size is low, try removing chart.
+
+	Postprocess:
+	- If topology is not disk:
+	  - Fill holes, if new faces fit proxy.
+	  - Find best cut, otherwise.
+	- After parameterization:
+	  - If boundary self-intersects:
+		- cut chart along the closest two diametral boundary vertices, repeat parametrization.
+		- what if the overlap is on an appendix? How do we find that out and cut appropiately?
+		  - emphasize roundness metrics to prevent those cases.
+	  - If interior self-overlaps: preserve boundary parameterization and use mean-value map.
+	*/
+	void computeCharts(const CharterOptions &options, const std::vector<uint32_t> &unchartedMaterialArray) {
+		Chart *vertexMap = NULL;
+		if (unchartedMaterialArray.size() != 0) {
+			vertexMap = new Chart();
+			vertexMap->buildVertexMap(m_mesh, unchartedMaterialArray);
+			if (vertexMap->faceCount() == 0) {
+				delete vertexMap;
+				vertexMap = NULL;
+			}
+		}
+		AtlasBuilder builder(m_mesh);
+		if (vertexMap != NULL) {
+			// Mark faces that do not need to be charted.
+			builder.markUnchartedFaces(vertexMap->faceArray());
+			m_chartArray.push_back(vertexMap);
+		}
+		if (builder.facesLeft != 0) {
+			// Tweak these values:
+			const float maxThreshold = 2;
+			const uint32_t growFaceCount = 32;
+			const uint32_t maxIterations = 4;
+			builder.options = options;
+			//builder.options.proxyFitMetricWeight *= 0.75; // relax proxy fit weight during initial seed placement.
+			//builder.options.roundnessMetricWeight = 0;
+			//builder.options.straightnessMetricWeight = 0;
+			// This seems a reasonable estimate.
+			uint32_t maxSeedCount = std::max(6U, builder.facesLeft);
+			// Create initial charts greedely.
+			xaPrint("### Placing seeds\n");
+			builder.placeSeeds(maxThreshold, maxSeedCount);
+			xaPrint("###   Placed %d seeds (max = %d)\n", builder.chartCount(), maxSeedCount);
+			builder.updateProxies();
+			builder.mergeCharts();
+#if 1
+			xaPrint("### Relocating seeds\n");
+			builder.relocateSeeds();
+			xaPrint("### Reset charts\n");
+			builder.resetCharts();
+			if (vertexMap != NULL) {
+				builder.markUnchartedFaces(vertexMap->faceArray());
+			}
+			builder.options = options;
+			xaPrint("### Growing charts\n");
+			// Restart process growing charts in parallel.
+			uint32_t iteration = 0;
+			while (true) {
+				if (!builder.growCharts(maxThreshold, growFaceCount)) {
+					xaPrint("### Can't grow anymore\n");
+					// If charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration.
+					xaPrint("### Filling holes\n");
+					builder.fillHoles(maxThreshold);
+					xaPrint("###   Using %d charts now\n", builder.chartCount());
+					builder.updateProxies();
+					xaPrint("### Merging charts\n");
+					builder.mergeCharts();
+					xaPrint("###   Using %d charts now\n", builder.chartCount());
+					xaPrint("### Reseeding\n");
+					if (!builder.relocateSeeds()) {
+						xaPrint("### Cannot relocate seeds anymore\n");
+						// Done!
+						break;
+					}
+					if (iteration == maxIterations) {
+						xaPrint("### Reached iteration limit\n");
+						break;
+					}
+					iteration++;
+					xaPrint("### Reset charts\n");
+					builder.resetCharts();
+					if (vertexMap != NULL) {
+						builder.markUnchartedFaces(vertexMap->faceArray());
+					}
+					xaPrint("### Growing charts\n");
+				}
+			};
+#endif
+			// Make sure no holes are left!
+			xaDebugAssert(builder.facesLeft == 0);
+			const uint32_t chartCount = builder.chartArray.size();
+			for (uint32_t i = 0; i < chartCount; i++) {
+				Chart *chart = new Chart();
+				m_chartArray.push_back(chart);
+				chart->build(m_mesh, builder.chartFaces(i));
+			}
+		}
+		const uint32_t chartCount = m_chartArray.size();
+		// Build face indices.
+		m_faceChart.resize(m_mesh->faceCount());
+		m_faceIndex.resize(m_mesh->faceCount());
+		for (uint32_t i = 0; i < chartCount; i++) {
+			const Chart *chart = m_chartArray[i];
+			const uint32_t faceCount = chart->faceCount();
+			for (uint32_t f = 0; f < faceCount; f++) {
+				uint32_t idx = chart->faceAt(f);
+				m_faceChart[idx] = i;
+				m_faceIndex[idx] = f;
+			}
+		}
+		// Build an exclusive prefix sum of the chart vertex counts.
+		m_chartVertexCountPrefixSum.resize(chartCount);
+		if (chartCount > 0) {
+			m_chartVertexCountPrefixSum[0] = 0;
+			for (uint32_t i = 1; i < chartCount; i++) {
+				const Chart *chart = m_chartArray[i - 1];
+				m_chartVertexCountPrefixSum[i] = m_chartVertexCountPrefixSum[i - 1] + chart->vertexCount();
+			}
+			m_totalVertexCount = m_chartVertexCountPrefixSum[chartCount - 1] + m_chartArray[chartCount - 1]->vertexCount();
+		} else {
+			m_totalVertexCount = 0;
+		}
+	}
+
+	void parameterizeCharts() {
+		ParameterizationQuality globalParameterizationQuality;
+		// Parameterize the charts.
+		uint32_t diskCount = 0;
+		const uint32_t chartCount = m_chartArray.size();
+		for (uint32_t i = 0; i < chartCount; i++) {
+			Chart *chart = m_chartArray[i];
+
+			bool isValid = false;
+
+			if (chart->isVertexMapped()) {
+				continue;
+			}
+
+			if (chart->isDisk()) {
+				diskCount++;
+				ParameterizationQuality chartParameterizationQuality;
+				if (chart->faceCount() == 1) {
+					computeSingleFaceMap(chart->unifiedMesh());
+					chartParameterizationQuality = ParameterizationQuality(chart->unifiedMesh());
+				} else {
+					computeOrthogonalProjectionMap(chart->unifiedMesh());
+					ParameterizationQuality orthogonalQuality(chart->unifiedMesh());
+					computeLeastSquaresConformalMap(chart->unifiedMesh());
+					ParameterizationQuality lscmQuality(chart->unifiedMesh());
+					chartParameterizationQuality = lscmQuality;
+				}
+				isValid = chartParameterizationQuality.isValid();
+				if (!isValid) {
+					xaPrint("*** Invalid parameterization.\n");
+				}
+				// @@ Check that parameterization quality is above a certain threshold.
+				// @@ Detect boundary self-intersections.
+				globalParameterizationQuality += chartParameterizationQuality;
+			}
+
+			// Transfer parameterization from unified mesh to chart mesh.
+			chart->transferParameterization();
+		}
+		xaPrint("  Parameterized %d/%d charts.\n", diskCount, chartCount);
+		xaPrint("  RMS stretch metric: %f\n", globalParameterizationQuality.rmsStretchMetric());
+		xaPrint("  MAX stretch metric: %f\n", globalParameterizationQuality.maxStretchMetric());
+		xaPrint("  RMS conformal metric: %f\n", globalParameterizationQuality.rmsConformalMetric());
+		xaPrint("  RMS authalic metric: %f\n", globalParameterizationQuality.maxAuthalicMetric());
+	}
+
+	uint32_t faceChartAt(uint32_t i) const {
+		return m_faceChart[i];
+	}
+	uint32_t faceIndexWithinChartAt(uint32_t i) const {
+		return m_faceIndex[i];
+	}
+
+	uint32_t vertexCountBeforeChartAt(uint32_t i) const {
+		return m_chartVertexCountPrefixSum[i];
+	}
+
+private:
+	const halfedge::Mesh *m_mesh;
+
+	std::vector<Chart *> m_chartArray;
+
+	std::vector<uint32_t> m_chartVertexCountPrefixSum;
+	uint32_t m_totalVertexCount;
+
+	std::vector<uint32_t> m_faceChart; // the chart of every face of the input mesh.
+	std::vector<uint32_t> m_faceIndex; // the index within the chart for every face of the input mesh.
+};
+
+/// An atlas is a set of charts.
+class Atlas {
+public:
+	~Atlas() {
+		for (size_t i = 0; i < m_meshChartsArray.size(); i++)
+			delete m_meshChartsArray[i];
+	}
+
+	uint32_t meshCount() const {
+		return m_meshChartsArray.size();
+	}
+
+	const MeshCharts *meshAt(uint32_t i) const {
+		return m_meshChartsArray[i];
+	}
+
+	MeshCharts *meshAt(uint32_t i) {
+		return m_meshChartsArray[i];
+	}
+
+	uint32_t chartCount() const {
+		uint32_t count = 0;
+		for (uint32_t c = 0; c < m_meshChartsArray.size(); c++) {
+			count += m_meshChartsArray[c]->chartCount();
+		}
+		return count;
+	}
+
+	const Chart *chartAt(uint32_t i) const {
+		for (uint32_t c = 0; c < m_meshChartsArray.size(); c++) {
+			uint32_t count = m_meshChartsArray[c]->chartCount();
+			if (i < count) {
+				return m_meshChartsArray[c]->chartAt(i);
+			}
+			i -= count;
+		}
+		return NULL;
+	}
+
+	Chart *chartAt(uint32_t i) {
+		for (uint32_t c = 0; c < m_meshChartsArray.size(); c++) {
+			uint32_t count = m_meshChartsArray[c]->chartCount();
+			if (i < count) {
+				return m_meshChartsArray[c]->chartAt(i);
+			}
+			i -= count;
+		}
+		return NULL;
+	}
+
+	// Add mesh charts and takes ownership.
+	// Extract the charts and add to this atlas.
+	void addMeshCharts(MeshCharts *meshCharts) {
+		m_meshChartsArray.push_back(meshCharts);
+	}
+
+	void extractCharts(const halfedge::Mesh *mesh) {
+		MeshCharts *meshCharts = new MeshCharts(mesh);
+		meshCharts->extractCharts();
+		addMeshCharts(meshCharts);
+	}
+
+	void computeCharts(const halfedge::Mesh *mesh, const CharterOptions &options, const std::vector<uint32_t> &unchartedMaterialArray) {
+		MeshCharts *meshCharts = new MeshCharts(mesh);
+		meshCharts->computeCharts(options, unchartedMaterialArray);
+		addMeshCharts(meshCharts);
+	}
+
+	void parameterizeCharts() {
+		for (uint32_t i = 0; i < m_meshChartsArray.size(); i++) {
+			m_meshChartsArray[i]->parameterizeCharts();
+		}
+	}
+
+private:
+	std::vector<MeshCharts *> m_meshChartsArray;
+};
+
+struct AtlasPacker {
+	AtlasPacker(Atlas *atlas) :
+			m_atlas(atlas),
+			m_width(0),
+			m_height(0) {
+		// Save the original uvs.
+		m_originalChartUvs.resize(m_atlas->chartCount());
+		for (uint32_t i = 0; i < m_atlas->chartCount(); i++) {
+			const halfedge::Mesh *mesh = atlas->chartAt(i)->chartMesh();
+			m_originalChartUvs[i].resize(mesh->vertexCount());
+			for (uint32_t j = 0; j < mesh->vertexCount(); j++)
+				m_originalChartUvs[i][j] = mesh->vertexAt(j)->tex;
+		}
+	}
+
+	uint32_t getWidth() const { return m_width; }
+	uint32_t getHeight() const { return m_height; }
+
+	// Pack charts in the smallest possible rectangle.
+	void packCharts(const PackerOptions &options) {
+		const uint32_t chartCount = m_atlas->chartCount();
+		if (chartCount == 0) return;
+		float texelsPerUnit = 1;
+		if (options.method == PackMethod::TexelArea)
+			texelsPerUnit = options.texelArea;
+		for (int iteration = 0;; iteration++) {
+			m_rand = MTRand();
+			std::vector<float> chartOrderArray(chartCount);
+			std::vector<Vector2> chartExtents(chartCount);
+			float meshArea = 0;
+			for (uint32_t c = 0; c < chartCount; c++) {
+				Chart *chart = m_atlas->chartAt(c);
+				if (!chart->isVertexMapped() && !chart->isDisk()) {
+					chartOrderArray[c] = 0;
+					// Skip non-disks.
+					continue;
+				}
+				Vector2 extents(0.0f);
+				if (chart->isVertexMapped()) {
+					// Arrange vertices in a rectangle.
+					extents.x = float(chart->vertexMapWidth);
+					extents.y = float(chart->vertexMapHeight);
+				} else {
+					// Compute surface area to sort charts.
+					float chartArea = chart->computeSurfaceArea();
+					meshArea += chartArea;
+					//chartOrderArray[c] = chartArea;
+					// Compute chart scale
+					float parametricArea = fabsf(chart->computeParametricArea()); // @@ There doesn't seem to be anything preventing parametric area to be negative.
+					if (parametricArea < NV_EPSILON) {
+						// When the parametric area is too small we use a rough approximation to prevent divisions by very small numbers.
+						Vector2 bounds = chart->computeParametricBounds();
+						parametricArea = bounds.x * bounds.y;
+					}
+					float scale = (chartArea / parametricArea) * texelsPerUnit;
+					if (parametricArea == 0) { // < NV_EPSILON)
+						scale = 0;
+					}
+					xaAssert(std::isfinite(scale));
+					// Compute bounding box of chart.
+					Vector2 majorAxis, minorAxis, origin, end;
+					computeBoundingBox(chart, &majorAxis, &minorAxis, &origin, &end);
+					xaAssert(isFinite(majorAxis) && isFinite(minorAxis) && isFinite(origin));
+					// Sort charts by perimeter. @@ This is sometimes producing somewhat unexpected results. Is this right?
+					//chartOrderArray[c] = ((end.x - origin.x) + (end.y - origin.y)) * scale;
+					// Translate, rotate and scale vertices. Compute extents.
+					halfedge::Mesh *mesh = chart->chartMesh();
+					const uint32_t vertexCount = mesh->vertexCount();
+					for (uint32_t i = 0; i < vertexCount; i++) {
+						halfedge::Vertex *vertex = mesh->vertexAt(i);
+						//Vector2 t = vertex->tex - origin;
+						Vector2 tmp;
+						tmp.x = dot(vertex->tex, majorAxis);
+						tmp.y = dot(vertex->tex, minorAxis);
+						tmp -= origin;
+						tmp *= scale;
+						if (tmp.x < 0 || tmp.y < 0) {
+							xaPrint("tmp: %f %f\n", tmp.x, tmp.y);
+							xaPrint("scale: %f\n", scale);
+							xaPrint("origin: %f %f\n", origin.x, origin.y);
+							xaPrint("majorAxis: %f %f\n", majorAxis.x, majorAxis.y);
+							xaPrint("minorAxis: %f %f\n", minorAxis.x, minorAxis.y);
+							xaDebugAssert(false);
+						}
+						//xaAssert(tmp.x >= 0 && tmp.y >= 0);
+						vertex->tex = tmp;
+						xaAssert(std::isfinite(vertex->tex.x) && std::isfinite(vertex->tex.y));
+						extents = max(extents, tmp);
+					}
+					xaDebugAssert(extents.x >= 0 && extents.y >= 0);
+					// Limit chart size.
+					if (extents.x > 1024 || extents.y > 1024) {
+						float limit = std::max(extents.x, extents.y);
+						scale = 1024 / (limit + 1);
+						for (uint32_t i = 0; i < vertexCount; i++) {
+							halfedge::Vertex *vertex = mesh->vertexAt(i);
+							vertex->tex *= scale;
+						}
+						extents *= scale;
+						xaDebugAssert(extents.x <= 1024 && extents.y <= 1024);
+					}
+					// Scale the charts to use the entire texel area available. So, if the width is 0.1 we could scale it to 1 without increasing the lightmap usage and making a better
+					// use of it. In many cases this also improves the look of the seams, since vertices on the chart boundaries have more chances of being aligned with the texel centers.
+					float scale_x = 1.0f;
+					float scale_y = 1.0f;
+					float divide_x = 1.0f;
+					float divide_y = 1.0f;
+					if (extents.x > 0) {
+						int cw = ftoi_ceil(extents.x);
+						if (options.blockAlign && chart->blockAligned) {
+							// Align all chart extents to 4x4 blocks, but taking padding into account.
+							if (options.conservative) {
+								cw = align(cw + 2, 4) - 2;
+							} else {
+								cw = align(cw + 1, 4) - 1;
+							}
+						}
+						scale_x = (float(cw) - NV_EPSILON);
+						divide_x = extents.x;
+						extents.x = float(cw);
+					}
+					if (extents.y > 0) {
+						int ch = ftoi_ceil(extents.y);
+						if (options.blockAlign && chart->blockAligned) {
+							// Align all chart extents to 4x4 blocks, but taking padding into account.
+							if (options.conservative) {
+								ch = align(ch + 2, 4) - 2;
+							} else {
+								ch = align(ch + 1, 4) - 1;
+							}
+						}
+						scale_y = (float(ch) - NV_EPSILON);
+						divide_y = extents.y;
+						extents.y = float(ch);
+					}
+					for (uint32_t v = 0; v < vertexCount; v++) {
+						halfedge::Vertex *vertex = mesh->vertexAt(v);
+						vertex->tex.x /= divide_x;
+						vertex->tex.y /= divide_y;
+						vertex->tex.x *= scale_x;
+						vertex->tex.y *= scale_y;
+						xaAssert(std::isfinite(vertex->tex.x) && std::isfinite(vertex->tex.y));
+					}
+				}
+				chartExtents[c] = extents;
+				// Sort charts by perimeter.
+				chartOrderArray[c] = extents.x + extents.y;
+			}
+			// @@ We can try to improve compression of small charts by sorting them by proximity like we do with vertex samples.
+			// @@ How to do that? One idea: compute chart centroid, insert into grid, compute morton index of the cell, sort based on morton index.
+			// @@ We would sort by morton index, first, then quantize the chart sizes, so that all small charts have the same size, and sort by size preserving the morton order.
+			//xaPrint("Sorting charts.\n");
+			// Sort charts by area.
+			m_radix = RadixSort();
+			m_radix.sort(chartOrderArray);
+			const uint32_t *ranks = m_radix.ranks();
+			// First iteration - guess texelsPerUnit.
+			if (options.method != PackMethod::TexelArea && iteration == 0) {
+				// Estimate size of the map based on the mesh surface area and given texel scale.
+				const float texelCount = std::max(1.0f, meshArea * square(texelsPerUnit) / 0.75f); // Assume 75% utilization.
+				texelsPerUnit = sqrt((options.resolution * options.resolution) / texelCount);
+				resetUvs();
+				continue;
+			}
+			// Init bit map.
+			m_bitmap.clearAll();
+			m_bitmap.resize(options.resolution, options.resolution, false);
+			int w = 0;
+			int h = 0;
+			// Add sorted charts to bitmap.
+			for (uint32_t i = 0; i < chartCount; i++) {
+				uint32_t c = ranks[chartCount - i - 1]; // largest chart first
+				Chart *chart = m_atlas->chartAt(c);
+				if (!chart->isVertexMapped() && !chart->isDisk()) continue;
+				//float scale_x = 1;
+				//float scale_y = 1;
+				BitMap chart_bitmap;
+				if (chart->isVertexMapped()) {
+					chart->blockAligned = false;
+					// Init all bits to 1.
+					chart_bitmap.resize(ftoi_ceil(chartExtents[c].x), ftoi_ceil(chartExtents[c].y), /*initValue=*/true);
+					// @@ Another alternative would be to try to map each vertex to a different texel trying to fill all the available unused texels.
+				} else {
+					// @@ Add special cases for dot and line charts. @@ Lightmap rasterizer also needs to handle these special cases.
+					// @@ We could also have a special case for chart quads. If the quad surface <= 4 texels, align vertices with texel centers and do not add padding. May be very useful for foliage.
+					// @@ In general we could reduce the padding of all charts by one texel by using a rasterizer that takes into account the 2-texel footprint of the tent bilinear filter. For example,
+					// if we have a chart that is less than 1 texel wide currently we add one texel to the left and one texel to the right creating a 3-texel-wide bitmap. However, if we know that the
+					// chart is only 1 texel wide we could align it so that it only touches the footprint of two texels:
+					//      |   |      <- Touches texels 0, 1 and 2.
+					//    |   |        <- Only touches texels 0 and 1.
+					// \   \ / \ /   /
+					//  \   X   X   /
+					//   \ / \ / \ /
+					//    V   V   V
+					//    0   1   2
+					if (options.conservative) {
+						// Init all bits to 0.
+						chart_bitmap.resize(ftoi_ceil(chartExtents[c].x) + 1 + options.padding, ftoi_ceil(chartExtents[c].y) + 1 + options.padding, /*initValue=*/false); // + 2 to add padding on both sides.
+						// Rasterize chart and dilate.
+						drawChartBitmapDilate(chart, &chart_bitmap, options.padding);
+					} else {
+						// Init all bits to 0.
+						chart_bitmap.resize(ftoi_ceil(chartExtents[c].x) + 1, ftoi_ceil(chartExtents[c].y) + 1, /*initValue=*/false); // Add half a texels on each side.
+						// Rasterize chart and dilate.
+						drawChartBitmap(chart, &chart_bitmap, Vector2(1), Vector2(0.5));
+					}
+				}
+				int best_x, best_y;
+				int best_cw, best_ch; // Includes padding now.
+				int best_r;
+				findChartLocation(options.quality, &chart_bitmap, chartExtents[c], w, h, &best_x, &best_y, &best_cw, &best_ch, &best_r, chart->blockAligned);
+				/*if (w < best_x + best_cw || h < best_y + best_ch)
+				{
+					xaPrint("Resize extents to (%d, %d).\n", best_x + best_cw, best_y + best_ch);
+				}*/
+				// Update parametric extents.
+				w = std::max(w, best_x + best_cw);
+				h = std::max(h, best_y + best_ch);
+				w = align(w, 4);
+				h = align(h, 4);
+				// Resize bitmap if necessary.
+				if (uint32_t(w) > m_bitmap.width() || uint32_t(h) > m_bitmap.height()) {
+					//xaPrint("Resize bitmap (%d, %d).\n", nextPowerOfTwo(w), nextPowerOfTwo(h));
+					m_bitmap.resize(nextPowerOfTwo(uint32_t(w)), nextPowerOfTwo(uint32_t(h)), false);
+				}
+				//xaPrint("Add chart at (%d, %d).\n", best_x, best_y);
+				addChart(&chart_bitmap, w, h, best_x, best_y, best_r);
+				//float best_angle = 2 * PI * best_r;
+				// Translate and rotate chart texture coordinates.
+				halfedge::Mesh *mesh = chart->chartMesh();
+				const uint32_t vertexCount = mesh->vertexCount();
+				for (uint32_t v = 0; v < vertexCount; v++) {
+					halfedge::Vertex *vertex = mesh->vertexAt(v);
+					Vector2 t = vertex->tex;
+					if (best_r) std::swap(t.x, t.y);
+					//vertex->tex.x = best_x + t.x * cosf(best_angle) - t.y * sinf(best_angle);
+					//vertex->tex.y = best_y + t.x * sinf(best_angle) + t.y * cosf(best_angle);
+					vertex->tex.x = best_x + t.x + 0.5f;
+					vertex->tex.y = best_y + t.y + 0.5f;
+					xaAssert(vertex->tex.x >= 0 && vertex->tex.y >= 0);
+					xaAssert(std::isfinite(vertex->tex.x) && std::isfinite(vertex->tex.y));
+				}
+			}
+			//w -= padding - 1; // Leave one pixel border!
+			//h -= padding - 1;
+			m_width = std::max(0, w);
+			m_height = std::max(0, h);
+			xaAssert(isAligned(m_width, 4));
+			xaAssert(isAligned(m_height, 4));
+			if (options.method == PackMethod::ExactResolution) {
+				texelsPerUnit *= sqrt((options.resolution * options.resolution) / (float)(m_width * m_height));
+				if (iteration > 1 && m_width <= options.resolution && m_height <= options.resolution) {
+					m_width = m_height = options.resolution;
+					return;
+				}
+				resetUvs();
+			} else {
+				return;
+			}
+		}
+	}
+
+	float computeAtlasUtilization() const {
+		const uint32_t w = m_width;
+		const uint32_t h = m_height;
+		xaDebugAssert(w <= m_bitmap.width());
+		xaDebugAssert(h <= m_bitmap.height());
+		uint32_t count = 0;
+		for (uint32_t y = 0; y < h; y++) {
+			for (uint32_t x = 0; x < w; x++) {
+				count += m_bitmap.bitAt(x, y);
+			}
+		}
+		return float(count) / (w * h);
+	}
+
+private:
+	void resetUvs() {
+		for (uint32_t i = 0; i < m_atlas->chartCount(); i++) {
+			halfedge::Mesh *mesh = m_atlas->chartAt(i)->chartMesh();
+			for (uint32_t j = 0; j < mesh->vertexCount(); j++)
+				mesh->vertexAt(j)->tex = m_originalChartUvs[i][j];
+		}
+	}
+
+	// IC: Brute force is slow, and random may take too much time to converge. We start inserting large charts in a small atlas. Using brute force is lame, because most of the space
+	// is occupied at this point. At the end we have many small charts and a large atlas with sparse holes. Finding those holes randomly is slow. A better approach would be to
+	// start stacking large charts as if they were tetris pieces. Once charts get small try to place them randomly. It may be interesting to try a intermediate strategy, first try
+	// along one axis and then try exhaustively along that axis.
+	void findChartLocation(int quality, const BitMap *bitmap, Vector2::Arg extents, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned) {
+		int attempts = 256;
+		if (quality == 1) attempts = 4096;
+		if (quality == 2) attempts = 2048;
+		if (quality == 3) attempts = 1024;
+		if (quality == 4) attempts = 512;
+		if (quality == 0 || w * h < attempts) {
+			findChartLocation_bruteForce(bitmap, extents, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned);
+		} else {
+			findChartLocation_random(bitmap, extents, w, h, best_x, best_y, best_w, best_h, best_r, attempts, blockAligned);
+		}
+	}
+
+	void findChartLocation_bruteForce(const BitMap *bitmap, Vector2::Arg /*extents*/, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned) {
+		const int BLOCK_SIZE = 4;
+		int best_metric = INT_MAX;
+		int step_size = blockAligned ? BLOCK_SIZE : 1;
+		// Try two different orientations.
+		for (int r = 0; r < 2; r++) {
+			int cw = bitmap->width();
+			int ch = bitmap->height();
+			if (r & 1) std::swap(cw, ch);
+			for (int y = 0; y <= h + 1; y += step_size) { // + 1 to extend atlas in case atlas full.
+				for (int x = 0; x <= w + 1; x += step_size) { // + 1 not really necessary here.
+					// Early out.
+					int area = std::max(w, x + cw) * std::max(h, y + ch);
+					//int perimeter = max(w, x+cw) + max(h, y+ch);
+					int extents = std::max(std::max(w, x + cw), std::max(h, y + ch));
+					int metric = extents * extents + area;
+					if (metric > best_metric) {
+						continue;
+					}
+					if (metric == best_metric && std::max(x, y) >= std::max(*best_x, *best_y)) {
+						// If metric is the same, pick the one closest to the origin.
+						continue;
+					}
+					if (canAddChart(bitmap, w, h, x, y, r)) {
+						best_metric = metric;
+						*best_x = x;
+						*best_y = y;
+						*best_w = cw;
+						*best_h = ch;
+						*best_r = r;
+						if (area == w * h) {
+							// Chart is completely inside, do not look at any other location.
+							goto done;
+						}
+					}
+				}
+			}
+		}
+	done:
+		xaDebugAssert(best_metric != INT_MAX);
+	}
+
+	void findChartLocation_random(const BitMap *bitmap, Vector2::Arg /*extents*/, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, int minTrialCount, bool blockAligned) {
+		const int BLOCK_SIZE = 4;
+		int best_metric = INT_MAX;
+		for (int i = 0; i < minTrialCount || best_metric == INT_MAX; i++) {
+			int r = m_rand.getRange(1);
+			int x = m_rand.getRange(w + 1); // + 1 to extend atlas in case atlas full. We may want to use a higher number to increase probability of extending atlas.
+			int y = m_rand.getRange(h + 1); // + 1 to extend atlas in case atlas full.
+			if (blockAligned) {
+				x = align(x, BLOCK_SIZE);
+				y = align(y, BLOCK_SIZE);
+			}
+			int cw = bitmap->width();
+			int ch = bitmap->height();
+			if (r & 1) std::swap(cw, ch);
+			// Early out.
+			int area = std::max(w, x + cw) * std::max(h, y + ch);
+			//int perimeter = max(w, x+cw) + max(h, y+ch);
+			int extents = std::max(std::max(w, x + cw), std::max(h, y + ch));
+			int metric = extents * extents + area;
+			if (metric > best_metric) {
+				continue;
+			}
+			if (metric == best_metric && std::min(x, y) > std::min(*best_x, *best_y)) {
+				// If metric is the same, pick the one closest to the origin.
+				continue;
+			}
+			if (canAddChart(bitmap, w, h, x, y, r)) {
+				best_metric = metric;
+				*best_x = x;
+				*best_y = y;
+				*best_w = cw;
+				*best_h = ch;
+				*best_r = r;
+				if (area == w * h) {
+					// Chart is completely inside, do not look at any other location.
+					break;
+				}
+			}
+		}
+	}
+
+	void drawChartBitmapDilate(const Chart *chart, BitMap *bitmap, int padding) {
+		const int w = bitmap->width();
+		const int h = bitmap->height();
+		const Vector2 extents = Vector2(float(w), float(h));
+		// Rasterize chart faces, check that all bits are not set.
+		const uint32_t faceCount = chart->faceCount();
+		for (uint32_t f = 0; f < faceCount; f++) {
+			const halfedge::Face *face = chart->chartMesh()->faceAt(f);
+			Vector2 vertices[4];
+			uint32_t edgeCount = 0;
+			for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+				if (edgeCount < 4) {
+					vertices[edgeCount] = it.vertex()->tex + Vector2(0.5) + Vector2(float(padding), float(padding));
+				}
+				edgeCount++;
+			}
+			if (edgeCount == 3) {
+				raster::drawTriangle(raster::Mode_Antialiased, extents, true, vertices, AtlasPacker::setBitsCallback, bitmap);
+			} else {
+				raster::drawQuad(raster::Mode_Antialiased, extents, true, vertices, AtlasPacker::setBitsCallback, bitmap);
+			}
+		}
+		// Expand chart by padding pixels. (dilation)
+		BitMap tmp(w, h);
+		for (int i = 0; i < padding; i++) {
+			tmp.clearAll();
+			for (int y = 0; y < h; y++) {
+				for (int x = 0; x < w; x++) {
+					bool b = bitmap->bitAt(x, y);
+					if (!b) {
+						if (x > 0) {
+							b |= bitmap->bitAt(x - 1, y);
+							if (y > 0) b |= bitmap->bitAt(x - 1, y - 1);
+							if (y < h - 1) b |= bitmap->bitAt(x - 1, y + 1);
+						}
+						if (y > 0) b |= bitmap->bitAt(x, y - 1);
+						if (y < h - 1) b |= bitmap->bitAt(x, y + 1);
+						if (x < w - 1) {
+							b |= bitmap->bitAt(x + 1, y);
+							if (y > 0) b |= bitmap->bitAt(x + 1, y - 1);
+							if (y < h - 1) b |= bitmap->bitAt(x + 1, y + 1);
+						}
+					}
+					if (b) tmp.setBitAt(x, y);
+				}
+			}
+			std::swap(tmp, *bitmap);
+		}
+	}
+
+	void drawChartBitmap(const Chart *chart, BitMap *bitmap, const Vector2 &scale, const Vector2 &offset) {
+		const int w = bitmap->width();
+		const int h = bitmap->height();
+		const Vector2 extents = Vector2(float(w), float(h));
+		static const Vector2 pad[4] = {
+			Vector2(-0.5, -0.5),
+			Vector2(0.5, -0.5),
+			Vector2(-0.5, 0.5),
+			Vector2(0.5, 0.5)
+		};
+		// Rasterize 4 times to add proper padding.
+		for (int i = 0; i < 4; i++) {
+			// Rasterize chart faces, check that all bits are not set.
+			const uint32_t faceCount = chart->chartMesh()->faceCount();
+			for (uint32_t f = 0; f < faceCount; f++) {
+				const halfedge::Face *face = chart->chartMesh()->faceAt(f);
+				Vector2 vertices[4];
+				uint32_t edgeCount = 0;
+				for (halfedge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance()) {
+					if (edgeCount < 4) {
+						vertices[edgeCount] = it.vertex()->tex * scale + offset + pad[i];
+						xaAssert(ftoi_ceil(vertices[edgeCount].x) >= 0);
+						xaAssert(ftoi_ceil(vertices[edgeCount].y) >= 0);
+						xaAssert(ftoi_ceil(vertices[edgeCount].x) <= w);
+						xaAssert(ftoi_ceil(vertices[edgeCount].y) <= h);
+					}
+					edgeCount++;
+				}
+				if (edgeCount == 3) {
+					raster::drawTriangle(raster::Mode_Antialiased, extents, /*enableScissors=*/true, vertices, AtlasPacker::setBitsCallback, bitmap);
+				} else {
+					raster::drawQuad(raster::Mode_Antialiased, extents, /*enableScissors=*/true, vertices, AtlasPacker::setBitsCallback, bitmap);
+				}
+			}
+		}
+		// Expand chart by padding pixels. (dilation)
+		BitMap tmp(w, h);
+		tmp.clearAll();
+		for (int y = 0; y < h; y++) {
+			for (int x = 0; x < w; x++) {
+				bool b = bitmap->bitAt(x, y);
+				if (!b) {
+					if (x > 0) {
+						b |= bitmap->bitAt(x - 1, y);
+						if (y > 0) b |= bitmap->bitAt(x - 1, y - 1);
+						if (y < h - 1) b |= bitmap->bitAt(x - 1, y + 1);
+					}
+					if (y > 0) b |= bitmap->bitAt(x, y - 1);
+					if (y < h - 1) b |= bitmap->bitAt(x, y + 1);
+					if (x < w - 1) {
+						b |= bitmap->bitAt(x + 1, y);
+						if (y > 0) b |= bitmap->bitAt(x + 1, y - 1);
+						if (y < h - 1) b |= bitmap->bitAt(x + 1, y + 1);
+					}
+				}
+				if (b) tmp.setBitAt(x, y);
+			}
+		}
+		std::swap(tmp, *bitmap);
+	}
+
+	bool canAddChart(const BitMap *bitmap, int atlas_w, int atlas_h, int offset_x, int offset_y, int r) {
+		xaDebugAssert(r == 0 || r == 1);
+		// Check whether the two bitmaps overlap.
+		const int w = bitmap->width();
+		const int h = bitmap->height();
+		if (r == 0) {
+			for (int y = 0; y < h; y++) {
+				int yy = y + offset_y;
+				if (yy >= 0) {
+					for (int x = 0; x < w; x++) {
+						int xx = x + offset_x;
+						if (xx >= 0) {
+							if (bitmap->bitAt(x, y)) {
+								if (xx < atlas_w && yy < atlas_h) {
+									if (m_bitmap.bitAt(xx, yy)) return false;
+								}
+							}
+						}
+					}
+				}
+			}
+		} else if (r == 1) {
+			for (int y = 0; y < h; y++) {
+				int xx = y + offset_x;
+				if (xx >= 0) {
+					for (int x = 0; x < w; x++) {
+						int yy = x + offset_y;
+						if (yy >= 0) {
+							if (bitmap->bitAt(x, y)) {
+								if (xx < atlas_w && yy < atlas_h) {
+									if (m_bitmap.bitAt(xx, yy)) return false;
+								}
+							}
+						}
+					}
+				}
+			}
+		}
+		return true;
+	}
+
+	void addChart(const BitMap *bitmap, int atlas_w, int atlas_h, int offset_x, int offset_y, int r) {
+		xaDebugAssert(r == 0 || r == 1);
+		// Check whether the two bitmaps overlap.
+		const int w = bitmap->width();
+		const int h = bitmap->height();
+		if (r == 0) {
+			for (int y = 0; y < h; y++) {
+				int yy = y + offset_y;
+				if (yy >= 0) {
+					for (int x = 0; x < w; x++) {
+						int xx = x + offset_x;
+						if (xx >= 0) {
+							if (bitmap->bitAt(x, y)) {
+								if (xx < atlas_w && yy < atlas_h) {
+									xaDebugAssert(m_bitmap.bitAt(xx, yy) == false);
+									m_bitmap.setBitAt(xx, yy);
+								}
+							}
+						}
+					}
+				}
+			}
+		} else if (r == 1) {
+			for (int y = 0; y < h; y++) {
+				int xx = y + offset_x;
+				if (xx >= 0) {
+					for (int x = 0; x < w; x++) {
+						int yy = x + offset_y;
+						if (yy >= 0) {
+							if (bitmap->bitAt(x, y)) {
+								if (xx < atlas_w && yy < atlas_h) {
+									xaDebugAssert(m_bitmap.bitAt(xx, yy) == false);
+									m_bitmap.setBitAt(xx, yy);
+								}
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+
+	static bool setBitsCallback(void *param, int x, int y, Vector3::Arg, Vector3::Arg, Vector3::Arg, float area) {
+		BitMap *bitmap = (BitMap *)param;
+		if (area > 0.0) {
+			bitmap->setBitAt(x, y);
+		}
+		return true;
+	}
+
+	// Compute the convex hull using Graham Scan.
+	static void convexHull(const std::vector<Vector2> &input, std::vector<Vector2> &output, float epsilon) {
+		const uint32_t inputCount = input.size();
+		std::vector<float> coords(inputCount);
+		for (uint32_t i = 0; i < inputCount; i++) {
+			coords[i] = input[i].x;
+		}
+		RadixSort radix;
+		radix.sort(coords);
+		const uint32_t *ranks = radix.ranks();
+		std::vector<Vector2> top;
+		top.reserve(inputCount);
+		std::vector<Vector2> bottom;
+		bottom.reserve(inputCount);
+		Vector2 P = input[ranks[0]];
+		Vector2 Q = input[ranks[inputCount - 1]];
+		float topy = std::max(P.y, Q.y);
+		float boty = std::min(P.y, Q.y);
+		for (uint32_t i = 0; i < inputCount; i++) {
+			Vector2 p = input[ranks[i]];
+			if (p.y >= boty) top.push_back(p);
+		}
+		for (uint32_t i = 0; i < inputCount; i++) {
+			Vector2 p = input[ranks[inputCount - 1 - i]];
+			if (p.y <= topy) bottom.push_back(p);
+		}
+		// Filter top list.
+		output.clear();
+		output.push_back(top[0]);
+		output.push_back(top[1]);
+		for (uint32_t i = 2; i < top.size();) {
+			Vector2 a = output[output.size() - 2];
+			Vector2 b = output[output.size() - 1];
+			Vector2 c = top[i];
+			float area = triangleArea(a, b, c);
+			if (area >= -epsilon) {
+				output.pop_back();
+			}
+			if (area < -epsilon || output.size() == 1) {
+				output.push_back(c);
+				i++;
+			}
+		}
+		uint32_t top_count = output.size();
+		output.push_back(bottom[1]);
+		// Filter bottom list.
+		for (uint32_t i = 2; i < bottom.size();) {
+			Vector2 a = output[output.size() - 2];
+			Vector2 b = output[output.size() - 1];
+			Vector2 c = bottom[i];
+			float area = triangleArea(a, b, c);
+			if (area >= -epsilon) {
+				output.pop_back();
+			}
+			if (area < -epsilon || output.size() == top_count) {
+				output.push_back(c);
+				i++;
+			}
+		}
+		// Remove duplicate element.
+		xaDebugAssert(output.front() == output.back());
+		output.pop_back();
+	}
+
+	// This should compute convex hull and use rotating calipers to find the best box. Currently it uses a brute force method.
+	static void computeBoundingBox(Chart *chart, Vector2 *majorAxis, Vector2 *minorAxis, Vector2 *minCorner, Vector2 *maxCorner) {
+		// Compute list of boundary points.
+		std::vector<Vector2> points;
+		points.reserve(16);
+		halfedge::Mesh *mesh = chart->chartMesh();
+		const uint32_t vertexCount = mesh->vertexCount();
+		for (uint32_t i = 0; i < vertexCount; i++) {
+			halfedge::Vertex *vertex = mesh->vertexAt(i);
+			if (vertex->isBoundary()) {
+				points.push_back(vertex->tex);
+			}
+		}
+		xaDebugAssert(points.size() > 0);
+		std::vector<Vector2> hull;
+		convexHull(points, hull, 0.00001f);
+		// @@ Ideally I should use rotating calipers to find the best box. Using brute force for now.
+		float best_area = FLT_MAX;
+		Vector2 best_min;
+		Vector2 best_max;
+		Vector2 best_axis;
+		const uint32_t hullCount = hull.size();
+		for (uint32_t i = 0, j = hullCount - 1; i < hullCount; j = i, i++) {
+			if (equal(hull[i], hull[j])) {
+				continue;
+			}
+			Vector2 axis = normalize(hull[i] - hull[j], 0.0f);
+			xaDebugAssert(isFinite(axis));
+			// Compute bounding box.
+			Vector2 box_min(FLT_MAX, FLT_MAX);
+			Vector2 box_max(-FLT_MAX, -FLT_MAX);
+			for (uint32_t v = 0; v < hullCount; v++) {
+				Vector2 point = hull[v];
+				float x = dot(axis, point);
+				if (x < box_min.x) box_min.x = x;
+				if (x > box_max.x) box_max.x = x;
+				float y = dot(Vector2(-axis.y, axis.x), point);
+				if (y < box_min.y) box_min.y = y;
+				if (y > box_max.y) box_max.y = y;
+			}
+			// Compute box area.
+			float area = (box_max.x - box_min.x) * (box_max.y - box_min.y);
+			if (area < best_area) {
+				best_area = area;
+				best_min = box_min;
+				best_max = box_max;
+				best_axis = axis;
+			}
+		}
+		// Consider all points, not only boundary points, in case the input chart is malformed.
+		for (uint32_t i = 0; i < vertexCount; i++) {
+			halfedge::Vertex *vertex = mesh->vertexAt(i);
+			Vector2 point = vertex->tex;
+			float x = dot(best_axis, point);
+			if (x < best_min.x) best_min.x = x;
+			if (x > best_max.x) best_max.x = x;
+			float y = dot(Vector2(-best_axis.y, best_axis.x), point);
+			if (y < best_min.y) best_min.y = y;
+			if (y > best_max.y) best_max.y = y;
+		}
+		*majorAxis = best_axis;
+		*minorAxis = Vector2(-best_axis.y, best_axis.x);
+		*minCorner = best_min;
+		*maxCorner = best_max;
+	}
+
+	Atlas *m_atlas;
+	BitMap m_bitmap;
+	RadixSort m_radix;
+	uint32_t m_width;
+	uint32_t m_height;
+	MTRand m_rand;
+	std::vector<std::vector<Vector2> > m_originalChartUvs;
+};
+
+} // namespace param
+} // namespace internal
+
+struct Atlas {
+	internal::param::Atlas atlas;
+	std::vector<internal::halfedge::Mesh *> heMeshes;
+	uint32_t width = 0;
+	uint32_t height = 0;
+	OutputMesh **outputMeshes = NULL;
+};
+
+void SetPrint(PrintFunc print) {
+	internal::s_print = print;
+}
+
+Atlas *Create() {
+	Atlas *atlas = new Atlas();
+	return atlas;
+}
+
+void Destroy(Atlas *atlas) {
+	xaAssert(atlas);
+	for (int i = 0; i < (int)atlas->heMeshes.size(); i++) {
+		delete atlas->heMeshes[i];
+		if (atlas->outputMeshes) {
+			OutputMesh *outputMesh = atlas->outputMeshes[i];
+			for (uint32_t j = 0; j < outputMesh->chartCount; j++)
+				delete[] outputMesh->chartArray[j].indexArray;
+			delete[] outputMesh->chartArray;
+			delete[] outputMesh->vertexArray;
+			delete[] outputMesh->indexArray;
+			delete outputMesh;
+		}
+	}
+	delete[] atlas->outputMeshes;
+	delete atlas;
+}
+
+static internal::Vector3 DecodePosition(const InputMesh &mesh, uint32_t index) {
+	xaAssert(mesh.vertexPositionData);
+	return *((const internal::Vector3 *)&((const uint8_t *)mesh.vertexPositionData)[mesh.vertexPositionStride * index]);
+}
+
+static internal::Vector3 DecodeNormal(const InputMesh &mesh, uint32_t index) {
+	xaAssert(mesh.vertexNormalData);
+	return *((const internal::Vector3 *)&((const uint8_t *)mesh.vertexNormalData)[mesh.vertexNormalStride * index]);
+}
+
+static internal::Vector2 DecodeUv(const InputMesh &mesh, uint32_t index) {
+	xaAssert(mesh.vertexUvData);
+	return *((const internal::Vector2 *)&((const uint8_t *)mesh.vertexUvData)[mesh.vertexUvStride * index]);
+}
+
+static uint32_t DecodeIndex(IndexFormat::Enum format, const void *indexData, uint32_t i) {
+	if (format == IndexFormat::HalfFloat)
+		return (uint32_t)((const uint16_t *)indexData)[i];
+	return ((const uint32_t *)indexData)[i];
+}
+
+static float EdgeLength(internal::Vector3 pos1, internal::Vector3 pos2) {
+	return internal::length(pos2 - pos1);
+}
+
+AddMeshError AddMesh(Atlas *atlas, const InputMesh &mesh, bool useColocalVertices) {
+	xaAssert(atlas);
+	AddMeshError error;
+	error.code = AddMeshErrorCode::Success;
+	error.face = error.index0 = error.index1 = UINT32_MAX;
+	// Expecting triangle faces.
+	if ((mesh.indexCount % 3) != 0) {
+		error.code = AddMeshErrorCode::InvalidIndexCount;
+		return error;
+	}
+	// Check if any index is out of range.
+	for (uint32_t j = 0; j < mesh.indexCount; j++) {
+		const uint32_t index = DecodeIndex(mesh.indexFormat, mesh.indexData, j);
+		if (index < 0 || index >= mesh.vertexCount) {
+			error.code = AddMeshErrorCode::IndexOutOfRange;
+			error.index0 = index;
+			return error;
+		}
+	}
+	// Build half edge mesh.
+	internal::halfedge::Mesh *heMesh = new internal::halfedge::Mesh;
+	std::vector<uint32_t> canonicalMap;
+	canonicalMap.reserve(mesh.vertexCount);
+	for (uint32_t i = 0; i < mesh.vertexCount; i++) {
+		internal::halfedge::Vertex *vertex = heMesh->addVertex(DecodePosition(mesh, i));
+		if (mesh.vertexNormalData)
+			vertex->nor = DecodeNormal(mesh, i);
+		if (mesh.vertexUvData)
+			vertex->tex = DecodeUv(mesh, i);
+		// Link colocals. You probably want to do this more efficiently! Sort by one axis or use a hash or grid.
+		uint32_t firstColocal = i;
+		if (useColocalVertices) {
+			for (uint32_t j = 0; j < i; j++) {
+				if (vertex->pos != DecodePosition(mesh, j))
+					continue;
+#if 0
+				if (mesh.vertexNormalData && vertex->nor != DecodeNormal(mesh, j))
+					continue;
+#endif
+				if (mesh.vertexUvData && vertex->tex != DecodeUv(mesh, j))
+					continue;
+				firstColocal = j;
+				break;
+			}
+		}
+		canonicalMap.push_back(firstColocal);
+	}
+	heMesh->linkColocalsWithCanonicalMap(canonicalMap);
+	for (uint32_t i = 0; i < mesh.indexCount / 3; i++) {
+		uint32_t tri[3];
+		for (int j = 0; j < 3; j++)
+			tri[j] = DecodeIndex(mesh.indexFormat, mesh.indexData, i * 3 + j);
+		// Check for zero length edges.
+		for (int j = 0; j < 3; j++) {
+			const uint32_t edges[6] = { 0, 1, 1, 2, 2, 0 };
+			const uint32_t index1 = tri[edges[j * 2 + 0]];
+			const uint32_t index2 = tri[edges[j * 2 + 1]];
+			const internal::Vector3 pos1 = DecodePosition(mesh, index1);
+			const internal::Vector3 pos2 = DecodePosition(mesh, index2);
+			if (EdgeLength(pos1, pos2) <= 0.0f) {
+				delete heMesh;
+				error.code = AddMeshErrorCode::ZeroLengthEdge;
+				error.face = i;
+				error.index0 = index1;
+				error.index1 = index2;
+				return error;
+			}
+		}
+		// Check for zero area faces.
+		{
+			const internal::Vector3 a = DecodePosition(mesh, tri[0]);
+			const internal::Vector3 b = DecodePosition(mesh, tri[1]);
+			const internal::Vector3 c = DecodePosition(mesh, tri[2]);
+			const float area = internal::length(internal::cross(b - a, c - a)) * 0.5f;
+			if (area <= 0.0f) {
+				delete heMesh;
+				error.code = AddMeshErrorCode::ZeroAreaFace;
+				error.face = i;
+				return error;
+			}
+		}
+		internal::halfedge::Face *face = heMesh->addFace(tri[0], tri[1], tri[2]);
+
+		if (!face && heMesh->errorCode == internal::halfedge::Mesh::ErrorCode::AlreadyAddedEdge) {
+			//there is still hope for this, no reason to not add, at least add as separate
+			face = heMesh->addUniqueFace(tri[0], tri[1], tri[2]);
+		}
+
+		if (!face) {
+			//continue;
+
+			if (heMesh->errorCode == internal::halfedge::Mesh::ErrorCode::AlreadyAddedEdge) {
+				error.code = AddMeshErrorCode::AlreadyAddedEdge;
+			} else if (heMesh->errorCode == internal::halfedge::Mesh::ErrorCode::DegenerateColocalEdge) {
+				error.code = AddMeshErrorCode::DegenerateColocalEdge;
+			} else if (heMesh->errorCode == internal::halfedge::Mesh::ErrorCode::DegenerateEdge) {
+				error.code = AddMeshErrorCode::DegenerateEdge;
+			} else if (heMesh->errorCode == internal::halfedge::Mesh::ErrorCode::DuplicateEdge) {
+				error.code = AddMeshErrorCode::DuplicateEdge;
+			}
+			error.face = i;
+			error.index0 = heMesh->errorIndex0;
+			error.index1 = heMesh->errorIndex1;
+			delete heMesh;
+			return error;
+		}
+		if (mesh.faceMaterialData)
+			face->material = mesh.faceMaterialData[i];
+	}
+	heMesh->linkBoundary();
+	atlas->heMeshes.push_back(heMesh);
+	return error;
+}
+
+void Generate(Atlas *atlas, CharterOptions charterOptions, PackerOptions packerOptions) {
+	xaAssert(atlas);
+	xaAssert(packerOptions.texelArea > 0);
+	// Chart meshes.
+	for (int i = 0; i < (int)atlas->heMeshes.size(); i++) {
+		std::vector<uint32_t> uncharted_materials;
+		atlas->atlas.computeCharts(atlas->heMeshes[i], charterOptions, uncharted_materials);
+	}
+	atlas->atlas.parameterizeCharts();
+	internal::param::AtlasPacker packer(&atlas->atlas);
+	packer.packCharts(packerOptions);
+	//float utilization = return packer.computeAtlasUtilization();
+	atlas->width = packer.getWidth();
+	atlas->height = packer.getHeight();
+	// Build output meshes.
+	atlas->outputMeshes = new OutputMesh *[atlas->heMeshes.size()];
+	for (int i = 0; i < (int)atlas->heMeshes.size(); i++) {
+		const internal::halfedge::Mesh *heMesh = atlas->heMeshes[i];
+		OutputMesh *outputMesh = atlas->outputMeshes[i] = new OutputMesh;
+		const internal::param::MeshCharts *charts = atlas->atlas.meshAt(i);
+		// Vertices.
+		outputMesh->vertexCount = charts->vertexCount();
+		outputMesh->vertexArray = new OutputVertex[outputMesh->vertexCount];
+		for (uint32_t i = 0; i < charts->chartCount(); i++) {
+			const internal::param::Chart *chart = charts->chartAt(i);
+			const uint32_t vertexOffset = charts->vertexCountBeforeChartAt(i);
+			for (uint32_t v = 0; v < chart->vertexCount(); v++) {
+				OutputVertex &output_vertex = outputMesh->vertexArray[vertexOffset + v];
+				output_vertex.xref = chart->mapChartVertexToOriginalVertex(v);
+				internal::Vector2 uv = chart->chartMesh()->vertexAt(v)->tex;
+				output_vertex.uv[0] = uv.x;
+				output_vertex.uv[1] = uv.y;
+			}
+		}
+		// Indices.
+		outputMesh->indexCount = heMesh->faceCount() * 3;
+		outputMesh->indexArray = new uint32_t[outputMesh->indexCount];
+		for (uint32_t f = 0; f < heMesh->faceCount(); f++) {
+			const uint32_t c = charts->faceChartAt(f);
+			const uint32_t i = charts->faceIndexWithinChartAt(f);
+			const uint32_t vertexOffset = charts->vertexCountBeforeChartAt(c);
+			const internal::param::Chart *chart = charts->chartAt(c);
+			xaDebugAssert(i < chart->chartMesh()->faceCount());
+			xaDebugAssert(chart->faceAt(i) == f);
+			const internal::halfedge::Face *face = chart->chartMesh()->faceAt(i);
+			const internal::halfedge::Edge *edge = face->edge;
+			outputMesh->indexArray[3 * f + 0] = vertexOffset + edge->vertex->id;
+			outputMesh->indexArray[3 * f + 1] = vertexOffset + edge->next->vertex->id;
+			outputMesh->indexArray[3 * f + 2] = vertexOffset + edge->next->next->vertex->id;
+		}
+		// Charts.
+		outputMesh->chartCount = charts->chartCount();
+		outputMesh->chartArray = new OutputChart[outputMesh->chartCount];
+		for (uint32_t i = 0; i < charts->chartCount(); i++) {
+			OutputChart *outputChart = &outputMesh->chartArray[i];
+			const internal::param::Chart *chart = charts->chartAt(i);
+			const uint32_t vertexOffset = charts->vertexCountBeforeChartAt(i);
+			const internal::halfedge::Mesh *mesh = chart->chartMesh();
+			outputChart->indexCount = mesh->faceCount() * 3;
+			outputChart->indexArray = new uint32_t[outputChart->indexCount];
+			for (uint32_t j = 0; j < mesh->faceCount(); j++) {
+				const internal::halfedge::Face *face = mesh->faceAt(j);
+				const internal::halfedge::Edge *edge = face->edge;
+				outputChart->indexArray[3 * j + 0] = vertexOffset + edge->vertex->id;
+				outputChart->indexArray[3 * j + 1] = vertexOffset + edge->next->vertex->id;
+				outputChart->indexArray[3 * j + 2] = vertexOffset + edge->next->next->vertex->id;
+			}
+		}
+	}
+}
+
+uint32_t GetWidth(const Atlas *atlas) {
+	xaAssert(atlas);
+	return atlas->width;
+}
+
+uint32_t GetHeight(const Atlas *atlas) {
+	xaAssert(atlas);
+	return atlas->height;
+}
+
+uint32_t GetNumCharts(const Atlas *atlas) {
+	xaAssert(atlas);
+	return atlas->atlas.chartCount();
+}
+
+const OutputMesh *const *GetOutputMeshes(const Atlas *atlas) {
+	xaAssert(atlas);
+	return atlas->outputMeshes;
+}
+
+const char *StringForEnum(AddMeshErrorCode::Enum error) {
+	if (error == AddMeshErrorCode::AlreadyAddedEdge)
+		return "already added edge";
+	if (error == AddMeshErrorCode::DegenerateColocalEdge)
+		return "degenerate colocal edge";
+	if (error == AddMeshErrorCode::DegenerateEdge)
+		return "degenerate edge";
+	if (error == AddMeshErrorCode::DuplicateEdge)
+		return "duplicate edge";
+	if (error == AddMeshErrorCode::IndexOutOfRange)
+		return "index out of range";
+	if (error == AddMeshErrorCode::InvalidIndexCount)
+		return "invalid index count";
+	if (error == AddMeshErrorCode::ZeroAreaFace)
+		return "zero area face";
+	if (error == AddMeshErrorCode::ZeroLengthEdge)
+		return "zero length edge";
+	return "success";
+}
+
+} // namespace xatlas
diff --git a/thirdparty/xatlas/xatlas.h b/thirdparty/xatlas/xatlas.h
new file mode 100644
index 0000000000..4140429fee
--- /dev/null
+++ b/thirdparty/xatlas/xatlas.h
@@ -0,0 +1,160 @@
+// This code is in the public domain -- castanyo@yahoo.es
+#pragma once
+#ifndef XATLAS_H
+#define XATLAS_H
+#include <float.h> // FLT_MAX
+#include <limits.h>
+#include <stdint.h>
+namespace xatlas {
+
+typedef void (*PrintFunc)(const char *, ...);
+
+struct Atlas;
+
+struct CharterOptions {
+	float proxyFitMetricWeight;
+	float roundnessMetricWeight;
+	float straightnessMetricWeight;
+	float normalSeamMetricWeight;
+	float textureSeamMetricWeight;
+	float maxChartArea;
+	float maxBoundaryLength;
+
+	CharterOptions() {
+		// These are the default values we use on The Witness.
+		proxyFitMetricWeight = 2.0f;
+		roundnessMetricWeight = 0.01f;
+		straightnessMetricWeight = 6.0f;
+		normalSeamMetricWeight = 4.0f;
+		textureSeamMetricWeight = 0.5f;
+		/*
+		proxyFitMetricWeight = 1.0f;
+		roundnessMetricWeight = 0.1f;
+		straightnessMetricWeight = 0.25f;
+		normalSeamMetricWeight = 1.0f;
+		textureSeamMetricWeight = 0.1f;
+		*/
+		maxChartArea = FLT_MAX;
+		maxBoundaryLength = FLT_MAX;
+	}
+};
+
+struct PackMethod {
+	enum Enum {
+		TexelArea, // texel_area determines resolution
+		ApproximateResolution, // guess texel_area to approximately match desired resolution
+		ExactResolution // run the packer multiple times to exactly match the desired resolution (slow)
+	};
+};
+
+struct PackerOptions {
+	PackMethod::Enum method;
+
+	// 0 - brute force
+	// 1 - 4096 attempts
+	// 2 - 2048
+	// 3 - 1024
+	// 4 - 512
+	// other - 256
+	// Avoid brute force packing, since it can be unusably slow in some situations.
+	int quality;
+
+	float texelArea; // This is not really texel area, but 1 / texel width?
+	uint32_t resolution;
+	bool blockAlign; // Align charts to 4x4 blocks.
+	bool conservative; // Pack charts with extra padding.
+	int padding;
+
+	PackerOptions() {
+		method = PackMethod::ApproximateResolution;
+		quality = 1;
+		texelArea = 8;
+		resolution = 512;
+		blockAlign = false;
+		conservative = false;
+		padding = 0;
+	}
+};
+
+struct AddMeshErrorCode {
+	enum Enum {
+		Success,
+		AlreadyAddedEdge, // index0 and index1 are the edge indices
+		DegenerateColocalEdge, // index0 and index1 are the edge indices
+		DegenerateEdge, // index0 and index1 are the edge indices
+		DuplicateEdge, // index0 and index1 are the edge indices
+		IndexOutOfRange, // index0 is the index
+		InvalidIndexCount, // not evenly divisible by 3 - expecting triangles
+		ZeroAreaFace,
+		ZeroLengthEdge // index0 and index1 are the edge indices
+	};
+};
+
+struct AddMeshError {
+	AddMeshErrorCode::Enum code;
+	uint32_t face;
+	uint32_t index0, index1;
+};
+
+struct IndexFormat {
+	enum Enum {
+		HalfFloat,
+		Float
+	};
+};
+
+struct InputMesh {
+	uint32_t vertexCount;
+	const void *vertexPositionData;
+	uint32_t vertexPositionStride;
+	const void *vertexNormalData; // optional
+	uint32_t vertexNormalStride; // optional
+
+	// optional
+	// The input UVs are provided as a hint to the chart generator.
+	const void *vertexUvData;
+	uint32_t vertexUvStride;
+
+	uint32_t indexCount;
+	const void *indexData;
+	IndexFormat::Enum indexFormat;
+
+	// optional. indexCount / 3 in length.
+	// Charter also uses material boundaries as a hint to cut charts.
+	const uint16_t *faceMaterialData;
+};
+
+struct OutputChart {
+	uint32_t *indexArray;
+	uint32_t indexCount;
+};
+
+struct OutputVertex {
+	float uv[2];
+	uint32_t xref; // Index of input vertex from which this output vertex originated.
+};
+
+struct OutputMesh {
+	OutputChart *chartArray;
+	uint32_t chartCount;
+	uint32_t *indexArray;
+	uint32_t indexCount;
+	OutputVertex *vertexArray;
+	uint32_t vertexCount;
+};
+
+void SetPrint(PrintFunc print);
+Atlas *Create();
+void Destroy(Atlas *atlas);
+// useColocalVertices - generates fewer charts (good), but is more sensitive to bad geometry.
+AddMeshError AddMesh(Atlas *atlas, const InputMesh &mesh, bool useColocalVertices = true);
+void Generate(Atlas *atlas, CharterOptions charterOptions = CharterOptions(), PackerOptions packerOptions = PackerOptions());
+uint32_t GetWidth(const Atlas *atlas);
+uint32_t GetHeight(const Atlas *atlas);
+uint32_t GetNumCharts(const Atlas *atlas);
+const OutputMesh *const *GetOutputMeshes(const Atlas *atlas);
+const char *StringForEnum(AddMeshErrorCode::Enum error);
+
+} // namespace xatlas
+
+#endif // XATLAS_H
diff --git a/thirdparty/zstd/SCsub b/thirdparty/zstd/SCsub
deleted file mode 100644
index 899a18e1cf..0000000000
--- a/thirdparty/zstd/SCsub
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env python
-
-Import('env')
-
-thirdparty_zstd_dir = "#thirdparty/zstd/"
-thirdparty_zstd_sources = [
-	"common/entropy_common.c",
-	"common/error_private.c",
-	"common/fse_decompress.c",
-	"common/pool.c",
-	"common/threading.c",
-	"common/xxhash.c",
-	"common/zstd_common.c",
-	"compress/fse_compress.c",
-	"compress/huf_compress.c",
-	"compress/zstd_compress.c",
-	"compress/zstd_double_fast.c",
-	"compress/zstd_fast.c",
-	"compress/zstd_lazy.c",
-	"compress/zstd_ldm.c",
-	"compress/zstdmt_compress.c",
-	"compress/zstd_opt.c",
-	"decompress/huf_decompress.c",
-	"decompress/zstd_decompress.c",
-]
-thirdparty_zstd_sources = [thirdparty_zstd_dir + file for file in thirdparty_zstd_sources]
-env.add_source_files(env.core_sources, thirdparty_zstd_sources)
-env.Append(CPPPATH=["#thirdparty/zstd", "#thirdparty/zstd/common"])
-env.Append(CCFLAGS="-DZSTD_STATIC_LINKING_ONLY")
diff --git a/thirdparty/zstd/common/bitstream.h b/thirdparty/zstd/common/bitstream.h
index f7f389fe0f..d955bd677b 100644
--- a/thirdparty/zstd/common/bitstream.h
+++ b/thirdparty/zstd/common/bitstream.h
@@ -1,8 +1,7 @@
 /* ******************************************************************
    bitstream
    Part of FSE library
-   header file (to include)
-   Copyright (C) 2013-2017, Yann Collet.
+   Copyright (C) 2013-present, Yann Collet.
 
    BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
 
@@ -49,21 +48,10 @@ extern "C" {
 *  Dependencies
 ******************************************/
 #include "mem.h"            /* unaligned access routines */
+#include "debug.h"          /* assert(), DEBUGLOG(), RAWLOG() */
 #include "error_private.h"  /* error codes and messages */
 
 
-/*-*************************************
-*  Debug
-***************************************/
-#if defined(BIT_DEBUG) && (BIT_DEBUG>=1)
-#  include <assert.h>
-#else
-#  ifndef assert
-#    define assert(condition) ((void)0)
-#  endif
-#endif
-
-
 /*=========================================
 *  Target specific
 =========================================*/
@@ -83,8 +71,7 @@ extern "C" {
  * A critical property of these streams is that they encode and decode in **reverse** direction.
  * So the first bit sequence you add will be the last to be read, like a LIFO stack.
  */
-typedef struct
-{
+typedef struct {
     size_t bitContainer;
     unsigned bitPos;
     char*  startPtr;
@@ -118,8 +105,7 @@ MEM_STATIC size_t BIT_closeCStream(BIT_CStream_t* bitC);
 /*-********************************************
 *  bitStream decoding API (read backward)
 **********************************************/
-typedef struct
-{
+typedef struct {
     size_t   bitContainer;
     unsigned bitsConsumed;
     const char* ptr;
@@ -236,7 +222,8 @@ MEM_STATIC void BIT_addBits(BIT_CStream_t* bitC,
 }
 
 /*! BIT_addBitsFast() :
- *  works only if `value` is _clean_, meaning all high bits above nbBits are 0 */
+ *  works only if `value` is _clean_,
+ *  meaning all high bits above nbBits are 0 */
 MEM_STATIC void BIT_addBitsFast(BIT_CStream_t* bitC,
                                 size_t value, unsigned nbBits)
 {
@@ -352,17 +339,10 @@ MEM_STATIC size_t BIT_getUpperBits(size_t bitContainer, U32 const start)
 
 MEM_STATIC size_t BIT_getMiddleBits(size_t bitContainer, U32 const start, U32 const nbBits)
 {
-#if defined(__BMI__) && defined(__GNUC__) && __GNUC__*1000+__GNUC_MINOR__ >= 4008  /* experimental */
-#  if defined(__x86_64__)
-    if (sizeof(bitContainer)==8)
-        return _bextr_u64(bitContainer, start, nbBits);
-    else
-#  endif
-        return _bextr_u32(bitContainer, start, nbBits);
-#else
+    U32 const regMask = sizeof(bitContainer)*8 - 1;
+    /* if start > regMask, bitstream is corrupted, and result is undefined */
     assert(nbBits < BIT_MASK_SIZE);
-    return (bitContainer >> start) & BIT_mask[nbBits];
-#endif
+    return (bitContainer >> (start & regMask)) & BIT_mask[nbBits];
 }
 
 MEM_STATIC size_t BIT_getLowerBits(size_t bitContainer, U32 const nbBits)
@@ -379,9 +359,13 @@ MEM_STATIC size_t BIT_getLowerBits(size_t bitContainer, U32 const nbBits)
  * @return : value extracted */
 MEM_STATIC size_t BIT_lookBits(const BIT_DStream_t* bitD, U32 nbBits)
 {
-#if defined(__BMI__) && defined(__GNUC__)   /* experimental; fails if bitD->bitsConsumed + nbBits > sizeof(bitD->bitContainer)*8 */
+    /* arbitrate between double-shift and shift+mask */
+#if 1
+    /* if bitD->bitsConsumed + nbBits > sizeof(bitD->bitContainer)*8,
+     * bitstream is likely corrupted, and result is undefined */
     return BIT_getMiddleBits(bitD->bitContainer, (sizeof(bitD->bitContainer)*8) - bitD->bitsConsumed - nbBits, nbBits);
 #else
+    /* this code path is slower on my os-x laptop */
     U32 const regMask = sizeof(bitD->bitContainer)*8 - 1;
     return ((bitD->bitContainer << (bitD->bitsConsumed & regMask)) >> 1) >> ((regMask-nbBits) & regMask);
 #endif
@@ -405,7 +389,7 @@ MEM_STATIC void BIT_skipBits(BIT_DStream_t* bitD, U32 nbBits)
  *  Read (consume) next n bits from local register and update.
  *  Pay attention to not read more than nbBits contained into local register.
  * @return : extracted value. */
-MEM_STATIC size_t BIT_readBits(BIT_DStream_t* bitD, U32 nbBits)
+MEM_STATIC size_t BIT_readBits(BIT_DStream_t* bitD, unsigned nbBits)
 {
     size_t const value = BIT_lookBits(bitD, nbBits);
     BIT_skipBits(bitD, nbBits);
@@ -414,7 +398,7 @@ MEM_STATIC size_t BIT_readBits(BIT_DStream_t* bitD, U32 nbBits)
 
 /*! BIT_readBitsFast() :
  *  unsafe version; only works only if nbBits >= 1 */
-MEM_STATIC size_t BIT_readBitsFast(BIT_DStream_t* bitD, U32 nbBits)
+MEM_STATIC size_t BIT_readBitsFast(BIT_DStream_t* bitD, unsigned nbBits)
 {
     size_t const value = BIT_lookBitsFast(bitD, nbBits);
     assert(nbBits >= 1);
diff --git a/thirdparty/zstd/common/compiler.h b/thirdparty/zstd/common/compiler.h
index e90a3bcde3..7f561282ca 100644
--- a/thirdparty/zstd/common/compiler.h
+++ b/thirdparty/zstd/common/compiler.h
@@ -15,6 +15,8 @@
 *  Compiler specifics
 *********************************************************/
 /* force inlining */
+
+#if !defined(ZSTD_NO_INLINE)
 #if defined (__GNUC__) || defined(__cplusplus) || defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L   /* C99 */
 #  define INLINE_KEYWORD inline
 #else
@@ -29,6 +31,13 @@
 #  define FORCE_INLINE_ATTR
 #endif
 
+#else
+
+#define INLINE_KEYWORD
+#define FORCE_INLINE_ATTR
+
+#endif
+
 /**
  * FORCE_INLINE_TEMPLATE is used to define C "templates", which take constant
  * parameters. They must be inlined for the compiler to elimininate the constant
@@ -77,9 +86,9 @@
  * Enabled for clang & gcc >=4.8 on x86 when BMI2 isn't enabled by default.
  */
 #ifndef DYNAMIC_BMI2
-  #if (defined(__clang__) && __has_attribute(__target__)) \
+  #if ((defined(__clang__) && __has_attribute(__target__)) \
       || (defined(__GNUC__) \
-          && (__GNUC__ >= 5 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8))) \
+          && (__GNUC__ >= 5 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)))) \
       && (defined(__x86_64__) || defined(_M_X86)) \
       && !defined(__BMI2__)
   #  define DYNAMIC_BMI2 1
@@ -88,15 +97,35 @@
   #endif
 #endif
 
-/* prefetch */
-#if defined(_MSC_VER) && (defined(_M_X64) || defined(_M_I86))  /* _mm_prefetch() is not defined outside of x86/x64 */
-#  include <mmintrin.h>   /* https://msdn.microsoft.com/fr-fr/library/84szxsww(v=vs.90).aspx */
-#  define PREFETCH(ptr)   _mm_prefetch((const char*)ptr, _MM_HINT_T0)
-#elif defined(__GNUC__)
-#  define PREFETCH(ptr)   __builtin_prefetch(ptr, 0, 0)
+/* prefetch
+ * can be disabled, by declaring NO_PREFETCH build macro */
+#if defined(NO_PREFETCH)
+#  define PREFETCH_L1(ptr)  (void)(ptr)  /* disabled */
+#  define PREFETCH_L2(ptr)  (void)(ptr)  /* disabled */
 #else
-#  define PREFETCH(ptr)   /* disabled */
-#endif
+#  if defined(_MSC_VER) && (defined(_M_X64) || defined(_M_I86))  /* _mm_prefetch() is not defined outside of x86/x64 */
+#    include <mmintrin.h>   /* https://msdn.microsoft.com/fr-fr/library/84szxsww(v=vs.90).aspx */
+#    define PREFETCH_L1(ptr)  _mm_prefetch((const char*)(ptr), _MM_HINT_T0)
+#    define PREFETCH_L2(ptr)  _mm_prefetch((const char*)(ptr), _MM_HINT_T1)
+#  elif defined(__GNUC__) && ( (__GNUC__ >= 4) || ( (__GNUC__ == 3) && (__GNUC_MINOR__ >= 1) ) )
+#    define PREFETCH_L1(ptr)  __builtin_prefetch((ptr), 0 /* rw==read */, 3 /* locality */)
+#    define PREFETCH_L2(ptr)  __builtin_prefetch((ptr), 0 /* rw==read */, 2 /* locality */)
+#  else
+#    define PREFETCH_L1(ptr) (void)(ptr)  /* disabled */
+#    define PREFETCH_L2(ptr) (void)(ptr)  /* disabled */
+#  endif
+#endif  /* NO_PREFETCH */
+
+#define CACHELINE_SIZE 64
+
+#define PREFETCH_AREA(p, s)  {            \
+    const char* const _ptr = (const char*)(p);  \
+    size_t const _size = (size_t)(s);     \
+    size_t _pos;                          \
+    for (_pos=0; _pos<_size; _pos+=CACHELINE_SIZE) {  \
+        PREFETCH_L2(_ptr + _pos);         \
+    }                                     \
+}
 
 /* disable warnings */
 #ifdef _MSC_VER    /* Visual Studio */
diff --git a/thirdparty/zstd/common/cpu.h b/thirdparty/zstd/common/cpu.h
index 4eb48e39e1..5f0923fc92 100644
--- a/thirdparty/zstd/common/cpu.h
+++ b/thirdparty/zstd/common/cpu.h
@@ -36,7 +36,7 @@ MEM_STATIC ZSTD_cpuid_t ZSTD_cpuid(void) {
     U32 f1d = 0;
     U32 f7b = 0;
     U32 f7c = 0;
-#ifdef _MSC_VER
+#if defined(_MSC_VER) && (defined(_M_X64) || defined(_M_IX86))
     int reg[4];
     __cpuid((int*)reg, 0);
     {
@@ -72,14 +72,13 @@ MEM_STATIC ZSTD_cpuid_t ZSTD_cpuid(void) {
           "cpuid\n\t"
           "popl %%ebx\n\t"
           : "=a"(f1a), "=c"(f1c), "=d"(f1d)
-          : "a"(1)
-          :);
+          : "a"(1));
     }
     if (n >= 7) {
       __asm__(
           "pushl %%ebx\n\t"
           "cpuid\n\t"
-          "movl %%ebx, %%eax\n\r"
+          "movl %%ebx, %%eax\n\t"
           "popl %%ebx"
           : "=a"(f7b), "=c"(f7c)
           : "a"(7), "c"(0)
diff --git a/thirdparty/zstd/common/debug.c b/thirdparty/zstd/common/debug.c
new file mode 100644
index 0000000000..3ebdd1cb15
--- /dev/null
+++ b/thirdparty/zstd/common/debug.c
@@ -0,0 +1,44 @@
+/* ******************************************************************
+   debug
+   Part of FSE library
+   Copyright (C) 2013-present, Yann Collet.
+
+   BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
+
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are
+   met:
+
+       * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+       * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following disclaimer
+   in the documentation and/or other materials provided with the
+   distribution.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+   "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+   LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+   A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+   OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+   You can contact the author at :
+   - Source repository : https://github.com/Cyan4973/FiniteStateEntropy
+****************************************************************** */
+
+
+/*
+ * This module only hosts one global variable
+ * which can be used to dynamically influence the verbosity of traces,
+ * such as DEBUGLOG and RAWLOG
+ */
+
+#include "debug.h"
+
+int g_debuglevel = DEBUGLEVEL;
diff --git a/thirdparty/zstd/common/debug.h b/thirdparty/zstd/common/debug.h
new file mode 100644
index 0000000000..b4fc89d497
--- /dev/null
+++ b/thirdparty/zstd/common/debug.h
@@ -0,0 +1,134 @@
+/* ******************************************************************
+   debug
+   Part of FSE library
+   Copyright (C) 2013-present, Yann Collet.
+
+   BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
+
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are
+   met:
+
+       * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+       * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following disclaimer
+   in the documentation and/or other materials provided with the
+   distribution.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+   "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+   LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+   A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+   OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+   You can contact the author at :
+   - Source repository : https://github.com/Cyan4973/FiniteStateEntropy
+****************************************************************** */
+
+
+/*
+ * The purpose of this header is to enable debug functions.
+ * They regroup assert(), DEBUGLOG() and RAWLOG() for run-time,
+ * and DEBUG_STATIC_ASSERT() for compile-time.
+ *
+ * By default, DEBUGLEVEL==0, which means run-time debug is disabled.
+ *
+ * Level 1 enables assert() only.
+ * Starting level 2, traces can be generated and pushed to stderr.
+ * The higher the level, the more verbose the traces.
+ *
+ * It's possible to dynamically adjust level using variable g_debug_level,
+ * which is only declared if DEBUGLEVEL>=2,
+ * and is a global variable, not multi-thread protected (use with care)
+ */
+
+#ifndef DEBUG_H_12987983217
+#define DEBUG_H_12987983217
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+
+/* static assert is triggered at compile time, leaving no runtime artefact.
+ * static assert only works with compile-time constants.
+ * Also, this variant can only be used inside a function. */
+#define DEBUG_STATIC_ASSERT(c) (void)sizeof(char[(c) ? 1 : -1])
+
+
+/* DEBUGLEVEL is expected to be defined externally,
+ * typically through compiler command line.
+ * Value must be a number. */
+#ifndef DEBUGLEVEL
+#  define DEBUGLEVEL 0
+#endif
+
+
+/* DEBUGFILE can be defined externally,
+ * typically through compiler command line.
+ * note : currently useless.
+ * Value must be stderr or stdout */
+#ifndef DEBUGFILE
+#  define DEBUGFILE stderr
+#endif
+
+
+/* recommended values for DEBUGLEVEL :
+ * 0 : release mode, no debug, all run-time checks disabled
+ * 1 : enables assert() only, no display
+ * 2 : reserved, for currently active debug path
+ * 3 : events once per object lifetime (CCtx, CDict, etc.)
+ * 4 : events once per frame
+ * 5 : events once per block
+ * 6 : events once per sequence (verbose)
+ * 7+: events at every position (*very* verbose)
+ *
+ * It's generally inconvenient to output traces > 5.
+ * In which case, it's possible to selectively trigger high verbosity levels
+ * by modifying g_debug_level.
+ */
+
+#if (DEBUGLEVEL>=1)
+#  include <assert.h>
+#else
+#  ifndef assert   /* assert may be already defined, due to prior #include <assert.h> */
+#    define assert(condition) ((void)0)   /* disable assert (default) */
+#  endif
+#endif
+
+#if (DEBUGLEVEL>=2)
+#  include <stdio.h>
+extern int g_debuglevel; /* the variable is only declared,
+                            it actually lives in debug.c,
+                            and is shared by the whole process.
+                            It's not thread-safe.
+                            It's useful when enabling very verbose levels
+                            on selective conditions (such as position in src) */
+
+#  define RAWLOG(l, ...) {                                      \
+                if (l<=g_debuglevel) {                          \
+                    fprintf(stderr, __VA_ARGS__);               \
+            }   }
+#  define DEBUGLOG(l, ...) {                                    \
+                if (l<=g_debuglevel) {                          \
+                    fprintf(stderr, __FILE__ ": " __VA_ARGS__); \
+                    fprintf(stderr, " \n");                     \
+            }   }
+#else
+#  define RAWLOG(l, ...)      {}    /* disabled */
+#  define DEBUGLOG(l, ...)    {}    /* disabled */
+#endif
+
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DEBUG_H_12987983217 */
diff --git a/thirdparty/zstd/common/entropy_common.c b/thirdparty/zstd/common/entropy_common.c
index b37a082fee..b12944e1de 100644
--- a/thirdparty/zstd/common/entropy_common.c
+++ b/thirdparty/zstd/common/entropy_common.c
@@ -72,7 +72,21 @@ size_t FSE_readNCount (short* normalizedCounter, unsigned* maxSVPtr, unsigned* t
     unsigned charnum = 0;
     int previous0 = 0;
 
-    if (hbSize < 4) return ERROR(srcSize_wrong);
+    if (hbSize < 4) {
+        /* This function only works when hbSize >= 4 */
+        char buffer[4];
+        memset(buffer, 0, sizeof(buffer));
+        memcpy(buffer, headerBuffer, hbSize);
+        {   size_t const countSize = FSE_readNCount(normalizedCounter, maxSVPtr, tableLogPtr,
+                                                    buffer, sizeof(buffer));
+            if (FSE_isError(countSize)) return countSize;
+            if (countSize > hbSize) return ERROR(corruption_detected);
+            return countSize;
+    }   }
+    assert(hbSize >= 4);
+
+    /* init */
+    memset(normalizedCounter, 0, (*maxSVPtr+1) * sizeof(normalizedCounter[0]));   /* all symbols not present in NCount have a frequency of 0 */
     bitStream = MEM_readLE32(ip);
     nbBits = (bitStream & 0xF) + FSE_MIN_TABLELOG;   /* extract tableLog */
     if (nbBits > FSE_TABLELOG_ABSOLUTE_MAX) return ERROR(tableLog_tooLarge);
@@ -105,6 +119,7 @@ size_t FSE_readNCount (short* normalizedCounter, unsigned* maxSVPtr, unsigned* t
             if (n0 > *maxSVPtr) return ERROR(maxSymbolValue_tooSmall);
             while (charnum < n0) normalizedCounter[charnum++] = 0;
             if ((ip <= iend-7) || (ip + (bitCount>>3) <= iend-4)) {
+                assert((bitCount >> 3) <= 3); /* For first condition to work */
                 ip += bitCount>>3;
                 bitCount &= 7;
                 bitStream = MEM_readLE32(ip) >> bitCount;
diff --git a/thirdparty/zstd/common/error_private.c b/thirdparty/zstd/common/error_private.c
index d004ee636c..7c1bb67a23 100644
--- a/thirdparty/zstd/common/error_private.c
+++ b/thirdparty/zstd/common/error_private.c
@@ -14,6 +14,10 @@
 
 const char* ERR_getErrorString(ERR_enum code)
 {
+#ifdef ZSTD_STRIP_ERROR_STRINGS
+    (void)code;
+    return "Error strings stripped";
+#else
     static const char* const notErrorCode = "Unspecified error code";
     switch( code )
     {
@@ -39,10 +43,12 @@ const char* ERR_getErrorString(ERR_enum code)
     case PREFIX(dictionaryCreation_failed): return "Cannot create Dictionary from provided samples";
     case PREFIX(dstSize_tooSmall): return "Destination buffer is too small";
     case PREFIX(srcSize_wrong): return "Src size is incorrect";
+    case PREFIX(dstBuffer_null): return "Operation on NULL destination buffer";
         /* following error codes are not stable and may be removed or changed in a future version */
     case PREFIX(frameIndex_tooLarge): return "Frame index is too large";
     case PREFIX(seekableIO): return "An I/O error occurred when reading/seeking";
     case PREFIX(maxCode):
     default: return notErrorCode;
     }
+#endif
 }
diff --git a/thirdparty/zstd/common/fse.h b/thirdparty/zstd/common/fse.h
index 6a1d272be5..f72c519b25 100644
--- a/thirdparty/zstd/common/fse.h
+++ b/thirdparty/zstd/common/fse.h
@@ -72,6 +72,7 @@ extern "C" {
 #define FSE_VERSION_NUMBER  (FSE_VERSION_MAJOR *100*100 + FSE_VERSION_MINOR *100 + FSE_VERSION_RELEASE)
 FSE_PUBLIC_API unsigned FSE_versionNumber(void);   /**< library version number; to be used when checking dll version */
 
+
 /*-****************************************
 *  FSE simple functions
 ******************************************/
@@ -129,7 +130,7 @@ FSE_PUBLIC_API size_t FSE_compress2 (void* dst, size_t dstSize, const void* src,
 ******************************************/
 /*!
 FSE_compress() does the following:
-1. count symbol occurrence from source[] into table count[]
+1. count symbol occurrence from source[] into table count[] (see hist.h)
 2. normalize counters so that sum(count[]) == Power_of_2 (2^tableLog)
 3. save normalized counters to memory buffer using writeNCount()
 4. build encoding table 'CTable' from normalized counters
@@ -147,15 +148,6 @@ or to save and provide normalized distribution using external method.
 
 /* *** COMPRESSION *** */
 
-/*! FSE_count():
-    Provides the precise count of each byte within a table 'count'.
-    'count' is a table of unsigned int, of minimum size (*maxSymbolValuePtr+1).
-    *maxSymbolValuePtr will be updated if detected smaller than initial value.
-    @return : the count of the most frequent symbol (which is not identified).
-              if return == srcSize, there is only one symbol.
-              Can also return an error code, which can be tested with FSE_isError(). */
-FSE_PUBLIC_API size_t FSE_count(unsigned* count, unsigned* maxSymbolValuePtr, const void* src, size_t srcSize);
-
 /*! FSE_optimalTableLog():
     dynamically downsize 'tableLog' when conditions are met.
     It saves CPU time, by using smaller tables, while preserving or even improving compression ratio.
@@ -167,7 +159,8 @@ FSE_PUBLIC_API unsigned FSE_optimalTableLog(unsigned maxTableLog, size_t srcSize
     'normalizedCounter' is a table of short, of minimum size (maxSymbolValue+1).
     @return : tableLog,
               or an errorCode, which can be tested using FSE_isError() */
-FSE_PUBLIC_API size_t FSE_normalizeCount(short* normalizedCounter, unsigned tableLog, const unsigned* count, size_t srcSize, unsigned maxSymbolValue);
+FSE_PUBLIC_API size_t FSE_normalizeCount(short* normalizedCounter, unsigned tableLog,
+                    const unsigned* count, size_t srcSize, unsigned maxSymbolValue);
 
 /*! FSE_NCountWriteBound():
     Provides the maximum possible size of an FSE normalized table, given 'maxSymbolValue' and 'tableLog'.
@@ -178,8 +171,9 @@ FSE_PUBLIC_API size_t FSE_NCountWriteBound(unsigned maxSymbolValue, unsigned tab
     Compactly save 'normalizedCounter' into 'buffer'.
     @return : size of the compressed table,
               or an errorCode, which can be tested using FSE_isError(). */
-FSE_PUBLIC_API size_t FSE_writeNCount (void* buffer, size_t bufferSize, const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog);
-
+FSE_PUBLIC_API size_t FSE_writeNCount (void* buffer, size_t bufferSize,
+                                 const short* normalizedCounter,
+                                 unsigned maxSymbolValue, unsigned tableLog);
 
 /*! Constructor and Destructor of FSE_CTable.
     Note that FSE_CTable size depends on 'tableLog' and 'maxSymbolValue' */
@@ -250,7 +244,9 @@ If there is an error, the function will return an ErrorCode (which can be tested
     @return : size read from 'rBuffer',
               or an errorCode, which can be tested using FSE_isError().
               maxSymbolValuePtr[0] and tableLogPtr[0] will also be updated with their respective values */
-FSE_PUBLIC_API size_t FSE_readNCount (short* normalizedCounter, unsigned* maxSymbolValuePtr, unsigned* tableLogPtr, const void* rBuffer, size_t rBuffSize);
+FSE_PUBLIC_API size_t FSE_readNCount (short* normalizedCounter,
+                           unsigned* maxSymbolValuePtr, unsigned* tableLogPtr,
+                           const void* rBuffer, size_t rBuffSize);
 
 /*! Constructor and Destructor of FSE_DTable.
     Note that its size depends on 'tableLog' */
@@ -325,33 +321,8 @@ If there is an error, the function will return an error code, which can be teste
 
 
 /* *****************************************
-*  FSE advanced API
-*******************************************/
-/* FSE_count_wksp() :
- * Same as FSE_count(), but using an externally provided scratch buffer.
- * `workSpace` size must be table of >= `1024` unsigned
- */
-size_t FSE_count_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
-                 const void* source, size_t sourceSize, unsigned* workSpace);
-
-/** FSE_countFast() :
- *  same as FSE_count(), but blindly trusts that all byte values within src are <= *maxSymbolValuePtr
- */
-size_t FSE_countFast(unsigned* count, unsigned* maxSymbolValuePtr, const void* src, size_t srcSize);
-
-/* FSE_countFast_wksp() :
- * Same as FSE_countFast(), but using an externally provided scratch buffer.
- * `workSpace` must be a table of minimum `1024` unsigned
- */
-size_t FSE_countFast_wksp(unsigned* count, unsigned* maxSymbolValuePtr, const void* src, size_t srcSize, unsigned* workSpace);
-
-/*! FSE_count_simple() :
- * Same as FSE_countFast(), but does not use any additional memory (not even on stack).
- * This function is unsafe, and will segfault if any value within `src` is `> *maxSymbolValuePtr` (presuming it's also the size of `count`).
-*/
-size_t FSE_count_simple(unsigned* count, unsigned* maxSymbolValuePtr, const void* src, size_t srcSize);
-
-
+ *  FSE advanced API
+ ***************************************** */
 
 unsigned FSE_optimalTableLog_internal(unsigned maxTableLog, size_t srcSize, unsigned maxSymbolValue, unsigned minus);
 /**< same as FSE_optimalTableLog(), which used `minus==2` */
@@ -541,7 +512,7 @@ MEM_STATIC void FSE_initCState(FSE_CState_t* statePtr, const FSE_CTable* ct)
     const U32 tableLog = MEM_read16(ptr);
     statePtr->value = (ptrdiff_t)1<<tableLog;
     statePtr->stateTable = u16ptr+2;
-    statePtr->symbolTT = ((const U32*)ct + 1 + (tableLog ? (1<<(tableLog-1)) : 1));
+    statePtr->symbolTT = ct + 1 + (tableLog ? (1<<(tableLog-1)) : 1);
     statePtr->stateLog = tableLog;
 }
 
@@ -560,7 +531,7 @@ MEM_STATIC void FSE_initCState2(FSE_CState_t* statePtr, const FSE_CTable* ct, U3
     }
 }
 
-MEM_STATIC void FSE_encodeSymbol(BIT_CStream_t* bitC, FSE_CState_t* statePtr, U32 symbol)
+MEM_STATIC void FSE_encodeSymbol(BIT_CStream_t* bitC, FSE_CState_t* statePtr, unsigned symbol)
 {
     FSE_symbolCompressionTransform const symbolTT = ((const FSE_symbolCompressionTransform*)(statePtr->symbolTT))[symbol];
     const U16* const stateTable = (const U16*)(statePtr->stateTable);
@@ -576,6 +547,39 @@ MEM_STATIC void FSE_flushCState(BIT_CStream_t* bitC, const FSE_CState_t* statePt
 }
 
 
+/* FSE_getMaxNbBits() :
+ * Approximate maximum cost of a symbol, in bits.
+ * Fractional get rounded up (i.e : a symbol with a normalized frequency of 3 gives the same result as a frequency of 2)
+ * note 1 : assume symbolValue is valid (<= maxSymbolValue)
+ * note 2 : if freq[symbolValue]==0, @return a fake cost of tableLog+1 bits */
+MEM_STATIC U32 FSE_getMaxNbBits(const void* symbolTTPtr, U32 symbolValue)
+{
+    const FSE_symbolCompressionTransform* symbolTT = (const FSE_symbolCompressionTransform*) symbolTTPtr;
+    return (symbolTT[symbolValue].deltaNbBits + ((1<<16)-1)) >> 16;
+}
+
+/* FSE_bitCost() :
+ * Approximate symbol cost, as fractional value, using fixed-point format (accuracyLog fractional bits)
+ * note 1 : assume symbolValue is valid (<= maxSymbolValue)
+ * note 2 : if freq[symbolValue]==0, @return a fake cost of tableLog+1 bits */
+MEM_STATIC U32 FSE_bitCost(const void* symbolTTPtr, U32 tableLog, U32 symbolValue, U32 accuracyLog)
+{
+    const FSE_symbolCompressionTransform* symbolTT = (const FSE_symbolCompressionTransform*) symbolTTPtr;
+    U32 const minNbBits = symbolTT[symbolValue].deltaNbBits >> 16;
+    U32 const threshold = (minNbBits+1) << 16;
+    assert(tableLog < 16);
+    assert(accuracyLog < 31-tableLog);  /* ensure enough room for renormalization double shift */
+    {   U32 const tableSize = 1 << tableLog;
+        U32 const deltaFromThreshold = threshold - (symbolTT[symbolValue].deltaNbBits + tableSize);
+        U32 const normalizedDeltaFromThreshold = (deltaFromThreshold << accuracyLog) >> tableLog;   /* linear interpolation (very approximate) */
+        U32 const bitMultiplier = 1 << accuracyLog;
+        assert(symbolTT[symbolValue].deltaNbBits + tableSize <= threshold);
+        assert(normalizedDeltaFromThreshold <= bitMultiplier);
+        return (minNbBits+1)*bitMultiplier - normalizedDeltaFromThreshold;
+    }
+}
+
+
 /* ======    Decompression    ====== */
 
 typedef struct {
diff --git a/thirdparty/zstd/common/fse_decompress.c b/thirdparty/zstd/common/fse_decompress.c
index 4c66c3b774..72bbead5be 100644
--- a/thirdparty/zstd/common/fse_decompress.c
+++ b/thirdparty/zstd/common/fse_decompress.c
@@ -49,7 +49,7 @@
 *  Error Management
 ****************************************************************/
 #define FSE_isError ERR_isError
-#define FSE_STATIC_ASSERT(c) { enum { FSE_static_assert = 1/(int)(!!(c)) }; }   /* use only *after* variable declarations */
+#define FSE_STATIC_ASSERT(c) DEBUG_STATIC_ASSERT(c)   /* use only *after* variable declarations */
 
 /* check and forward error code */
 #define CHECK_F(f) { size_t const e = f; if (FSE_isError(e)) return e; }
diff --git a/thirdparty/zstd/common/huf.h b/thirdparty/zstd/common/huf.h
index b4645b4e51..6b572c448d 100644
--- a/thirdparty/zstd/common/huf.h
+++ b/thirdparty/zstd/common/huf.h
@@ -1,7 +1,7 @@
 /* ******************************************************************
-   Huffman coder, part of New Generation Entropy library
-   header file
-   Copyright (C) 2013-2016, Yann Collet.
+   huff0 huffman codec,
+   part of Finite State Entropy library
+   Copyright (C) 2013-present, Yann Collet.
 
    BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
 
@@ -163,25 +163,29 @@ HUF_PUBLIC_API size_t HUF_compress4X_wksp (void* dst, size_t dstCapacity,
 /* static allocation of HUF's DTable */
 typedef U32 HUF_DTable;
 #define HUF_DTABLE_SIZE(maxTableLog)   (1 + (1<<(maxTableLog)))
-#define HUF_CREATE_STATIC_DTABLEX2(DTable, maxTableLog) \
+#define HUF_CREATE_STATIC_DTABLEX1(DTable, maxTableLog) \
         HUF_DTable DTable[HUF_DTABLE_SIZE((maxTableLog)-1)] = { ((U32)((maxTableLog)-1) * 0x01000001) }
-#define HUF_CREATE_STATIC_DTABLEX4(DTable, maxTableLog) \
+#define HUF_CREATE_STATIC_DTABLEX2(DTable, maxTableLog) \
         HUF_DTable DTable[HUF_DTABLE_SIZE(maxTableLog)] = { ((U32)(maxTableLog) * 0x01000001) }
 
 
 /* ****************************************
 *  Advanced decompression functions
 ******************************************/
-size_t HUF_decompress4X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< single-symbol decoder */
-size_t HUF_decompress4X4 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< double-symbols decoder */
+size_t HUF_decompress4X1 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< single-symbol decoder */
+#ifndef HUF_FORCE_DECOMPRESS_X1
+size_t HUF_decompress4X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< double-symbols decoder */
+#endif
 
 size_t HUF_decompress4X_DCtx (HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< decodes RLE and uncompressed */
 size_t HUF_decompress4X_hufOnly(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize); /**< considers RLE and uncompressed as errors */
 size_t HUF_decompress4X_hufOnly_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize); /**< considers RLE and uncompressed as errors */
-size_t HUF_decompress4X2_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< single-symbol decoder */
-size_t HUF_decompress4X2_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< single-symbol decoder */
-size_t HUF_decompress4X4_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< double-symbols decoder */
-size_t HUF_decompress4X4_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< double-symbols decoder */
+size_t HUF_decompress4X1_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< single-symbol decoder */
+size_t HUF_decompress4X1_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< single-symbol decoder */
+#ifndef HUF_FORCE_DECOMPRESS_X1
+size_t HUF_decompress4X2_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< double-symbols decoder */
+size_t HUF_decompress4X2_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< double-symbols decoder */
+#endif
 
 
 /* ****************************************
@@ -208,7 +212,7 @@ size_t HUF_compress4X_usingCTable(void* dst, size_t dstSize, const void* src, si
 typedef enum {
    HUF_repeat_none,  /**< Cannot use the previous table */
    HUF_repeat_check, /**< Can use the previous table but it must be checked. Note : The previous table must have been constructed by HUF_compress{1, 4}X_repeat */
-   HUF_repeat_valid  /**< Can use the previous table and it is asumed to be valid */
+   HUF_repeat_valid  /**< Can use the previous table and it is assumed to be valid */
  } HUF_repeat;
 /** HUF_compress4X_repeat() :
  *  Same as HUF_compress4X_wksp(), but considers using hufTable if *repeat != HUF_repeat_none.
@@ -227,7 +231,9 @@ size_t HUF_compress4X_repeat(void* dst, size_t dstSize,
  */
 #define HUF_CTABLE_WORKSPACE_SIZE_U32 (2*HUF_SYMBOLVALUE_MAX +1 +1)
 #define HUF_CTABLE_WORKSPACE_SIZE (HUF_CTABLE_WORKSPACE_SIZE_U32 * sizeof(unsigned))
-size_t HUF_buildCTable_wksp (HUF_CElt* tree, const U32* count, U32 maxSymbolValue, U32 maxNbBits, void* workSpace, size_t wkspSize);
+size_t HUF_buildCTable_wksp (HUF_CElt* tree,
+                       const unsigned* count, U32 maxSymbolValue, U32 maxNbBits,
+                             void* workSpace, size_t wkspSize);
 
 /*! HUF_readStats() :
  *  Read compact Huffman tree, saved by HUF_writeCTable().
@@ -242,10 +248,15 @@ size_t HUF_readStats(BYTE* huffWeight, size_t hwSize,
  *  Loading a CTable saved with HUF_writeCTable() */
 size_t HUF_readCTable (HUF_CElt* CTable, unsigned* maxSymbolValuePtr, const void* src, size_t srcSize);
 
+/** HUF_getNbBits() :
+ *  Read nbBits from CTable symbolTable, for symbol `symbolValue` presumed <= HUF_SYMBOLVALUE_MAX
+ *  Note 1 : is not inlined, as HUF_CElt definition is private
+ *  Note 2 : const void* used, so that it can provide a statically allocated table as argument (which uses type U32) */
+U32 HUF_getNbBits(const void* symbolTable, U32 symbolValue);
 
 /*
  * HUF_decompress() does the following:
- * 1. select the decompression algorithm (X2, X4) based on pre-computed heuristics
+ * 1. select the decompression algorithm (X1, X2) based on pre-computed heuristics
  * 2. build Huffman table from save, using HUF_readDTableX?()
  * 3. decode 1 or 4 segments in parallel using HUF_decompress?X?_usingDTable()
  */
@@ -253,13 +264,13 @@ size_t HUF_readCTable (HUF_CElt* CTable, unsigned* maxSymbolValuePtr, const void
 /** HUF_selectDecoder() :
  *  Tells which decoder is likely to decode faster,
  *  based on a set of pre-computed metrics.
- * @return : 0==HUF_decompress4X2, 1==HUF_decompress4X4 .
+ * @return : 0==HUF_decompress4X1, 1==HUF_decompress4X2 .
  *  Assumption : 0 < dstSize <= 128 KB */
 U32 HUF_selectDecoder (size_t dstSize, size_t cSrcSize);
 
 /**
  *  The minimum workspace size for the `workSpace` used in
- *  HUF_readDTableX2_wksp() and HUF_readDTableX4_wksp().
+ *  HUF_readDTableX1_wksp() and HUF_readDTableX2_wksp().
  *
  *  The space used depends on HUF_TABLELOG_MAX, ranging from ~1500 bytes when
  *  HUF_TABLE_LOG_MAX=12 to ~1850 bytes when HUF_TABLE_LOG_MAX=15.
@@ -270,14 +281,22 @@ U32 HUF_selectDecoder (size_t dstSize, size_t cSrcSize);
 #define HUF_DECOMPRESS_WORKSPACE_SIZE (2 << 10)
 #define HUF_DECOMPRESS_WORKSPACE_SIZE_U32 (HUF_DECOMPRESS_WORKSPACE_SIZE / sizeof(U32))
 
+#ifndef HUF_FORCE_DECOMPRESS_X2
+size_t HUF_readDTableX1 (HUF_DTable* DTable, const void* src, size_t srcSize);
+size_t HUF_readDTableX1_wksp (HUF_DTable* DTable, const void* src, size_t srcSize, void* workSpace, size_t wkspSize);
+#endif
+#ifndef HUF_FORCE_DECOMPRESS_X1
 size_t HUF_readDTableX2 (HUF_DTable* DTable, const void* src, size_t srcSize);
 size_t HUF_readDTableX2_wksp (HUF_DTable* DTable, const void* src, size_t srcSize, void* workSpace, size_t wkspSize);
-size_t HUF_readDTableX4 (HUF_DTable* DTable, const void* src, size_t srcSize);
-size_t HUF_readDTableX4_wksp (HUF_DTable* DTable, const void* src, size_t srcSize, void* workSpace, size_t wkspSize);
+#endif
 
 size_t HUF_decompress4X_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
+#ifndef HUF_FORCE_DECOMPRESS_X2
+size_t HUF_decompress4X1_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
+#endif
+#ifndef HUF_FORCE_DECOMPRESS_X1
 size_t HUF_decompress4X2_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
-size_t HUF_decompress4X4_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
+#endif
 
 
 /* ====================== */
@@ -298,25 +317,37 @@ size_t HUF_compress1X_repeat(void* dst, size_t dstSize,
                        void* workSpace, size_t wkspSize,   /**< `workSpace` must be aligned on 4-bytes boundaries, `wkspSize` must be >= HUF_WORKSPACE_SIZE */
                        HUF_CElt* hufTable, HUF_repeat* repeat, int preferRepeat, int bmi2);
 
-size_t HUF_decompress1X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /* single-symbol decoder */
-size_t HUF_decompress1X4 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /* double-symbol decoder */
+size_t HUF_decompress1X1 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /* single-symbol decoder */
+#ifndef HUF_FORCE_DECOMPRESS_X1
+size_t HUF_decompress1X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /* double-symbol decoder */
+#endif
 
 size_t HUF_decompress1X_DCtx (HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);
 size_t HUF_decompress1X_DCtx_wksp (HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);
-size_t HUF_decompress1X2_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< single-symbol decoder */
-size_t HUF_decompress1X2_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< single-symbol decoder */
-size_t HUF_decompress1X4_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< double-symbols decoder */
-size_t HUF_decompress1X4_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< double-symbols decoder */
+#ifndef HUF_FORCE_DECOMPRESS_X2
+size_t HUF_decompress1X1_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< single-symbol decoder */
+size_t HUF_decompress1X1_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< single-symbol decoder */
+#endif
+#ifndef HUF_FORCE_DECOMPRESS_X1
+size_t HUF_decompress1X2_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);   /**< double-symbols decoder */
+size_t HUF_decompress1X2_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize);   /**< double-symbols decoder */
+#endif
 
 size_t HUF_decompress1X_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);   /**< automatic selection of sing or double symbol decoder, based on DTable */
+#ifndef HUF_FORCE_DECOMPRESS_X2
+size_t HUF_decompress1X1_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
+#endif
+#ifndef HUF_FORCE_DECOMPRESS_X1
 size_t HUF_decompress1X2_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
-size_t HUF_decompress1X4_usingDTable(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable);
+#endif
 
 /* BMI2 variants.
  * If the CPU has BMI2 support, pass bmi2=1, otherwise pass bmi2=0.
  */
 size_t HUF_decompress1X_usingDTable_bmi2(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable, int bmi2);
-size_t HUF_decompress1X2_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize, int bmi2);
+#ifndef HUF_FORCE_DECOMPRESS_X2
+size_t HUF_decompress1X1_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize, int bmi2);
+#endif
 size_t HUF_decompress4X_usingDTable_bmi2(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable, int bmi2);
 size_t HUF_decompress4X_hufOnly_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize, int bmi2);
 
diff --git a/thirdparty/zstd/common/mem.h b/thirdparty/zstd/common/mem.h
index 47d2300177..5da248756f 100644
--- a/thirdparty/zstd/common/mem.h
+++ b/thirdparty/zstd/common/mem.h
@@ -39,6 +39,10 @@ extern "C" {
 #  define MEM_STATIC static  /* this version may generate warnings for unused static functions; disable the relevant warning */
 #endif
 
+#ifndef __has_builtin
+#  define __has_builtin(x) 0  /* compat. with non-clang compilers */
+#endif
+
 /* code only tested on 32 and 64 bits systems */
 #define MEM_STATIC_ASSERT(c)   { enum { MEM_static_assert = 1/(int)(!!(c)) }; }
 MEM_STATIC void MEM_check(void) { MEM_STATIC_ASSERT((sizeof(size_t)==4) || (sizeof(size_t)==8)); }
@@ -57,11 +61,23 @@ MEM_STATIC void MEM_check(void) { MEM_STATIC_ASSERT((sizeof(size_t)==4) || (size
   typedef  uint64_t U64;
   typedef   int64_t S64;
 #else
+# include <limits.h>
+#if CHAR_BIT != 8
+#  error "this implementation requires char to be exactly 8-bit type"
+#endif
   typedef unsigned char      BYTE;
+#if USHRT_MAX != 65535
+#  error "this implementation requires short to be exactly 16-bit type"
+#endif
   typedef unsigned short      U16;
   typedef   signed short      S16;
+#if UINT_MAX != 4294967295
+#  error "this implementation requires int to be exactly 32-bit type"
+#endif
   typedef unsigned int        U32;
   typedef   signed int        S32;
+/* note : there are no limits defined for long long type in C90.
+ * limits exist in C99, however, in such case, <stdint.h> is preferred */
   typedef unsigned long long  U64;
   typedef   signed long long  S64;
 #endif
@@ -186,7 +202,8 @@ MEM_STATIC U32 MEM_swap32(U32 in)
 {
 #if defined(_MSC_VER)     /* Visual Studio */
     return _byteswap_ulong(in);
-#elif defined (__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 403)
+#elif (defined (__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 403)) \
+  || (defined(__clang__) && __has_builtin(__builtin_bswap32))
     return __builtin_bswap32(in);
 #else
     return  ((in << 24) & 0xff000000 ) |
@@ -200,7 +217,8 @@ MEM_STATIC U64 MEM_swap64(U64 in)
 {
 #if defined(_MSC_VER)     /* Visual Studio */
     return _byteswap_uint64(in);
-#elif defined (__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 403)
+#elif (defined (__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 403)) \
+  || (defined(__clang__) && __has_builtin(__builtin_bswap64))
     return __builtin_bswap64(in);
 #else
     return  ((in << 56) & 0xff00000000000000ULL) |
diff --git a/thirdparty/zstd/common/pool.c b/thirdparty/zstd/common/pool.c
index 773488b072..7a82945432 100644
--- a/thirdparty/zstd/common/pool.c
+++ b/thirdparty/zstd/common/pool.c
@@ -10,9 +10,10 @@
 
 
 /* ======   Dependencies   ======= */
-#include <stddef.h>  /* size_t */
-#include "pool.h"
+#include <stddef.h>    /* size_t */
+#include "debug.h"     /* assert */
 #include "zstd_internal.h"  /* ZSTD_malloc, ZSTD_free */
+#include "pool.h"
 
 /* ======   Compiler specifics   ====== */
 #if defined(_MSC_VER)
@@ -33,8 +34,9 @@ typedef struct POOL_job_s {
 struct POOL_ctx_s {
     ZSTD_customMem customMem;
     /* Keep track of the threads */
-    ZSTD_pthread_t *threads;
-    size_t numThreads;
+    ZSTD_pthread_t* threads;
+    size_t threadCapacity;
+    size_t threadLimit;
 
     /* The queue is a circular buffer */
     POOL_job *queue;
@@ -58,10 +60,10 @@ struct POOL_ctx_s {
 };
 
 /* POOL_thread() :
-   Work thread for the thread pool.
-   Waits for jobs and executes them.
-   @returns : NULL on failure else non-null.
-*/
+ * Work thread for the thread pool.
+ * Waits for jobs and executes them.
+ * @returns : NULL on failure else non-null.
+ */
 static void* POOL_thread(void* opaque) {
     POOL_ctx* const ctx = (POOL_ctx*)opaque;
     if (!ctx) { return NULL; }
@@ -69,50 +71,55 @@ static void* POOL_thread(void* opaque) {
         /* Lock the mutex and wait for a non-empty queue or until shutdown */
         ZSTD_pthread_mutex_lock(&ctx->queueMutex);
 
-        while (ctx->queueEmpty && !ctx->shutdown) {
+        while ( ctx->queueEmpty
+            || (ctx->numThreadsBusy >= ctx->threadLimit) ) {
+            if (ctx->shutdown) {
+                /* even if !queueEmpty, (possible if numThreadsBusy >= threadLimit),
+                 * a few threads will be shutdown while !queueEmpty,
+                 * but enough threads will remain active to finish the queue */
+                ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
+                return opaque;
+            }
             ZSTD_pthread_cond_wait(&ctx->queuePopCond, &ctx->queueMutex);
         }
-        /* empty => shutting down: so stop */
-        if (ctx->queueEmpty) {
-            ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
-            return opaque;
-        }
         /* Pop a job off the queue */
         {   POOL_job const job = ctx->queue[ctx->queueHead];
             ctx->queueHead = (ctx->queueHead + 1) % ctx->queueSize;
             ctx->numThreadsBusy++;
             ctx->queueEmpty = ctx->queueHead == ctx->queueTail;
             /* Unlock the mutex, signal a pusher, and run the job */
-            ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
             ZSTD_pthread_cond_signal(&ctx->queuePushCond);
+            ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
 
             job.function(job.opaque);
 
             /* If the intended queue size was 0, signal after finishing job */
+            ZSTD_pthread_mutex_lock(&ctx->queueMutex);
+            ctx->numThreadsBusy--;
             if (ctx->queueSize == 1) {
-                ZSTD_pthread_mutex_lock(&ctx->queueMutex);
-                ctx->numThreadsBusy--;
-                ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
                 ZSTD_pthread_cond_signal(&ctx->queuePushCond);
-        }   }
+            }
+            ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
+        }
     }  /* for (;;) */
-    /* Unreachable */
+    assert(0);  /* Unreachable */
 }
 
 POOL_ctx* POOL_create(size_t numThreads, size_t queueSize) {
     return POOL_create_advanced(numThreads, queueSize, ZSTD_defaultCMem);
 }
 
-POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize, ZSTD_customMem customMem) {
+POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize,
+                               ZSTD_customMem customMem) {
     POOL_ctx* ctx;
-    /* Check the parameters */
+    /* Check parameters */
     if (!numThreads) { return NULL; }
     /* Allocate the context and zero initialize */
     ctx = (POOL_ctx*)ZSTD_calloc(sizeof(POOL_ctx), customMem);
     if (!ctx) { return NULL; }
     /* Initialize the job queue.
-     * It needs one extra space since one space is wasted to differentiate empty
-     * and full queues.
+     * It needs one extra space since one space is wasted to differentiate
+     * empty and full queues.
      */
     ctx->queueSize = queueSize + 1;
     ctx->queue = (POOL_job*)ZSTD_malloc(ctx->queueSize * sizeof(POOL_job), customMem);
@@ -126,7 +133,7 @@ POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize, ZSTD_customM
     ctx->shutdown = 0;
     /* Allocate space for the thread handles */
     ctx->threads = (ZSTD_pthread_t*)ZSTD_malloc(numThreads * sizeof(ZSTD_pthread_t), customMem);
-    ctx->numThreads = 0;
+    ctx->threadCapacity = 0;
     ctx->customMem = customMem;
     /* Check for errors */
     if (!ctx->threads || !ctx->queue) { POOL_free(ctx); return NULL; }
@@ -134,11 +141,12 @@ POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize, ZSTD_customM
     {   size_t i;
         for (i = 0; i < numThreads; ++i) {
             if (ZSTD_pthread_create(&ctx->threads[i], NULL, &POOL_thread, ctx)) {
-                ctx->numThreads = i;
+                ctx->threadCapacity = i;
                 POOL_free(ctx);
                 return NULL;
         }   }
-        ctx->numThreads = numThreads;
+        ctx->threadCapacity = numThreads;
+        ctx->threadLimit = numThreads;
     }
     return ctx;
 }
@@ -156,8 +164,8 @@ static void POOL_join(POOL_ctx* ctx) {
     ZSTD_pthread_cond_broadcast(&ctx->queuePopCond);
     /* Join all of the threads */
     {   size_t i;
-        for (i = 0; i < ctx->numThreads; ++i) {
-            ZSTD_pthread_join(ctx->threads[i], NULL);
+        for (i = 0; i < ctx->threadCapacity; ++i) {
+            ZSTD_pthread_join(ctx->threads[i], NULL);  /* note : could fail */
     }   }
 }
 
@@ -172,24 +180,68 @@ void POOL_free(POOL_ctx *ctx) {
     ZSTD_free(ctx, ctx->customMem);
 }
 
+
+
 size_t POOL_sizeof(POOL_ctx *ctx) {
     if (ctx==NULL) return 0;  /* supports sizeof NULL */
     return sizeof(*ctx)
         + ctx->queueSize * sizeof(POOL_job)
-        + ctx->numThreads * sizeof(ZSTD_pthread_t);
+        + ctx->threadCapacity * sizeof(ZSTD_pthread_t);
+}
+
+
+/* @return : 0 on success, 1 on error */
+static int POOL_resize_internal(POOL_ctx* ctx, size_t numThreads)
+{
+    if (numThreads <= ctx->threadCapacity) {
+        if (!numThreads) return 1;
+        ctx->threadLimit = numThreads;
+        return 0;
+    }
+    /* numThreads > threadCapacity */
+    {   ZSTD_pthread_t* const threadPool = (ZSTD_pthread_t*)ZSTD_malloc(numThreads * sizeof(ZSTD_pthread_t), ctx->customMem);
+        if (!threadPool) return 1;
+        /* replace existing thread pool */
+        memcpy(threadPool, ctx->threads, ctx->threadCapacity * sizeof(*threadPool));
+        ZSTD_free(ctx->threads, ctx->customMem);
+        ctx->threads = threadPool;
+        /* Initialize additional threads */
+        {   size_t threadId;
+            for (threadId = ctx->threadCapacity; threadId < numThreads; ++threadId) {
+                if (ZSTD_pthread_create(&threadPool[threadId], NULL, &POOL_thread, ctx)) {
+                    ctx->threadCapacity = threadId;
+                    return 1;
+            }   }
+    }   }
+    /* successfully expanded */
+    ctx->threadCapacity = numThreads;
+    ctx->threadLimit = numThreads;
+    return 0;
+}
+
+/* @return : 0 on success, 1 on error */
+int POOL_resize(POOL_ctx* ctx, size_t numThreads)
+{
+    int result;
+    if (ctx==NULL) return 1;
+    ZSTD_pthread_mutex_lock(&ctx->queueMutex);
+    result = POOL_resize_internal(ctx, numThreads);
+    ZSTD_pthread_cond_broadcast(&ctx->queuePopCond);
+    ZSTD_pthread_mutex_unlock(&ctx->queueMutex);
+    return result;
 }
 
 /**
  * Returns 1 if the queue is full and 0 otherwise.
  *
- * If the queueSize is 1 (the pool was created with an intended queueSize of 0),
- * then a queue is empty if there is a thread free and no job is waiting.
+ * When queueSize is 1 (pool was created with an intended queueSize of 0),
+ * then a queue is empty if there is a thread free _and_ no job is waiting.
  */
 static int isQueueFull(POOL_ctx const* ctx) {
     if (ctx->queueSize > 1) {
         return ctx->queueHead == ((ctx->queueTail + 1) % ctx->queueSize);
     } else {
-        return ctx->numThreadsBusy == ctx->numThreads ||
+        return (ctx->numThreadsBusy == ctx->threadLimit) ||
                !ctx->queueEmpty;
     }
 }
@@ -263,6 +315,11 @@ void POOL_free(POOL_ctx* ctx) {
     (void)ctx;
 }
 
+int POOL_resize(POOL_ctx* ctx, size_t numThreads) {
+    (void)ctx; (void)numThreads;
+    return 0;
+}
+
 void POOL_add(POOL_ctx* ctx, POOL_function function, void* opaque) {
     (void)ctx;
     function(opaque);
diff --git a/thirdparty/zstd/common/pool.h b/thirdparty/zstd/common/pool.h
index a57e9b4fab..458d37f13c 100644
--- a/thirdparty/zstd/common/pool.h
+++ b/thirdparty/zstd/common/pool.h
@@ -30,40 +30,50 @@ typedef struct POOL_ctx_s POOL_ctx;
 */
 POOL_ctx* POOL_create(size_t numThreads, size_t queueSize);
 
-POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize, ZSTD_customMem customMem);
+POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize,
+                               ZSTD_customMem customMem);
 
 /*! POOL_free() :
-    Free a thread pool returned by POOL_create().
-*/
+ *  Free a thread pool returned by POOL_create().
+ */
 void POOL_free(POOL_ctx* ctx);
 
+/*! POOL_resize() :
+ *  Expands or shrinks pool's number of threads.
+ *  This is more efficient than releasing + creating a new context,
+ *  since it tries to preserve and re-use existing threads.
+ * `numThreads` must be at least 1.
+ * @return : 0 when resize was successful,
+ *           !0 (typically 1) if there is an error.
+ *    note : only numThreads can be resized, queueSize remains unchanged.
+ */
+int POOL_resize(POOL_ctx* ctx, size_t numThreads);
+
 /*! POOL_sizeof() :
-    return memory usage of pool returned by POOL_create().
-*/
+ * @return threadpool memory usage
+ *  note : compatible with NULL (returns 0 in this case)
+ */
 size_t POOL_sizeof(POOL_ctx* ctx);
 
 /*! POOL_function :
-    The function type that can be added to a thread pool.
-*/
+ *  The function type that can be added to a thread pool.
+ */
 typedef void (*POOL_function)(void*);
-/*! POOL_add_function :
-    The function type for a generic thread pool add function.
-*/
-typedef void (*POOL_add_function)(void*, POOL_function, void*);
 
 /*! POOL_add() :
-    Add the job `function(opaque)` to the thread pool. `ctx` must be valid.
-    Possibly blocks until there is room in the queue.
-    Note : The function may be executed asynchronously, so `opaque` must live until the function has been completed.
-*/
+ *  Add the job `function(opaque)` to the thread pool. `ctx` must be valid.
+ *  Possibly blocks until there is room in the queue.
+ *  Note : The function may be executed asynchronously,
+ *         therefore, `opaque` must live until function has been completed.
+ */
 void POOL_add(POOL_ctx* ctx, POOL_function function, void* opaque);
 
 
 /*! POOL_tryAdd() :
-    Add the job `function(opaque)` to the thread pool if a worker is available.
-    return immediately otherwise.
-   @return : 1 if successful, 0 if not.
-*/
+ *  Add the job `function(opaque)` to thread pool _if_ a worker is available.
+ *  Returns immediately even if not (does not block).
+ * @return : 1 if successful, 0 if not.
+ */
 int POOL_tryAdd(POOL_ctx* ctx, POOL_function function, void* opaque);
 
 
diff --git a/thirdparty/zstd/common/xxhash.c b/thirdparty/zstd/common/xxhash.c
index 9d9c0e963c..532b816192 100644
--- a/thirdparty/zstd/common/xxhash.c
+++ b/thirdparty/zstd/common/xxhash.c
@@ -98,6 +98,7 @@
 /* Modify the local functions below should you wish to use some other memory routines */
 /* for malloc(), free() */
 #include <stdlib.h>
+#include <stddef.h>     /* size_t */
 static void* XXH_malloc(size_t s) { return malloc(s); }
 static void  XXH_free  (void* p)  { free(p); }
 /* for memcpy() */
diff --git a/thirdparty/zstd/common/zstd_common.c b/thirdparty/zstd/common/zstd_common.c
index bccc948892..667f4a27fc 100644
--- a/thirdparty/zstd/common/zstd_common.c
+++ b/thirdparty/zstd/common/zstd_common.c
@@ -30,8 +30,10 @@ const char* ZSTD_versionString(void) { return ZSTD_VERSION_STRING; }
 /*-****************************************
 *  ZSTD Error Management
 ******************************************/
+#undef ZSTD_isError   /* defined within zstd_internal.h */
 /*! ZSTD_isError() :
- *  tells if a return value is an error code */
+ *  tells if a return value is an error code
+ *  symbol is required for external callers */
 unsigned ZSTD_isError(size_t code) { return ERR_isError(code); }
 
 /*! ZSTD_getErrorName() :
@@ -46,11 +48,6 @@ ZSTD_ErrorCode ZSTD_getErrorCode(size_t code) { return ERR_getErrorCode(code); }
  *  provides error code string from enum */
 const char* ZSTD_getErrorString(ZSTD_ErrorCode code) { return ERR_getErrorString(code); }
 
-/*! g_debuglog_enable :
- *  turn on/off debug traces (global switch) */
-#if defined(ZSTD_DEBUG) && (ZSTD_DEBUG >= 2)
-int g_debuglog_enable = 1;
-#endif
 
 
 /*=**************************************************************
diff --git a/thirdparty/zstd/common/zstd_errors.h b/thirdparty/zstd/common/zstd_errors.h
index 57533f2869..92a3433896 100644
--- a/thirdparty/zstd/common/zstd_errors.h
+++ b/thirdparty/zstd/common/zstd_errors.h
@@ -72,6 +72,7 @@ typedef enum {
   ZSTD_error_workSpace_tooSmall= 66,
   ZSTD_error_dstSize_tooSmall = 70,
   ZSTD_error_srcSize_wrong    = 72,
+  ZSTD_error_dstBuffer_null   = 74,
   /* following error codes are __NOT STABLE__, they can be removed or changed in future versions */
   ZSTD_error_frameIndex_tooLarge = 100,
   ZSTD_error_seekableIO          = 102,
diff --git a/thirdparty/zstd/common/zstd_internal.h b/thirdparty/zstd/common/zstd_internal.h
index 65c08a8257..edeb74b9c3 100644
--- a/thirdparty/zstd/common/zstd_internal.h
+++ b/thirdparty/zstd/common/zstd_internal.h
@@ -21,6 +21,7 @@
 ***************************************/
 #include "compiler.h"
 #include "mem.h"
+#include "debug.h"                 /* assert, DEBUGLOG, RAWLOG, g_debuglevel */
 #include "error_private.h"
 #define ZSTD_STATIC_LINKING_ONLY
 #include "zstd.h"
@@ -38,43 +39,11 @@
 extern "C" {
 #endif
 
-
-/*-*************************************
-*  Debug
-***************************************/
-#if defined(ZSTD_DEBUG) && (ZSTD_DEBUG>=1)
-#  include <assert.h>
-#else
-#  ifndef assert
-#    define assert(condition) ((void)0)
-#  endif
-#endif
-
-#define ZSTD_STATIC_ASSERT(c) { enum { ZSTD_static_assert = 1/(int)(!!(c)) }; }
-
-#if defined(ZSTD_DEBUG) && (ZSTD_DEBUG>=2)
-#  include <stdio.h>
-extern int g_debuglog_enable;
-/* recommended values for ZSTD_DEBUG display levels :
- * 1 : no display, enables assert() only
- * 2 : reserved for currently active debug path
- * 3 : events once per object lifetime (CCtx, CDict, etc.)
- * 4 : events once per frame
- * 5 : events once per block
- * 6 : events once per sequence (*very* verbose) */
-#  define RAWLOG(l, ...) {                                      \
-                if ((g_debuglog_enable) & (l<=ZSTD_DEBUG)) {    \
-                    fprintf(stderr, __VA_ARGS__);               \
-            }   }
-#  define DEBUGLOG(l, ...) {                                    \
-                if ((g_debuglog_enable) & (l<=ZSTD_DEBUG)) {    \
-                    fprintf(stderr, __FILE__ ": " __VA_ARGS__); \
-                    fprintf(stderr, " \n");                     \
-            }   }
-#else
-#  define RAWLOG(l, ...)      {}    /* disabled */
-#  define DEBUGLOG(l, ...)    {}    /* disabled */
-#endif
+/* ---- static assert (debug) --- */
+#define ZSTD_STATIC_ASSERT(c) DEBUG_STATIC_ASSERT(c)
+#define ZSTD_isError ERR_isError   /* for inlining */
+#define FSE_isError  ERR_isError
+#define HUF_isError  ERR_isError
 
 
 /*-*************************************
@@ -109,12 +78,10 @@ static const U32 repStartValue[ZSTD_REP_NUM] = { 1, 4, 8 };
 #define BIT0   1
 
 #define ZSTD_WINDOWLOG_ABSOLUTEMIN 10
-#define ZSTD_WINDOWLOG_DEFAULTMAX 27 /* Default maximum allowed window log */
 static const size_t ZSTD_fcs_fieldSize[4] = { 0, 2, 4, 8 };
 static const size_t ZSTD_did_fieldSize[4] = { 0, 1, 2, 4 };
 
-#define ZSTD_FRAMEIDSIZE 4
-static const size_t ZSTD_frameIdSize = ZSTD_FRAMEIDSIZE;  /* magic number size */
+#define ZSTD_FRAMEIDSIZE 4   /* magic number size */
 
 #define ZSTD_BLOCKHEADERSIZE 3   /* C standard doesn't allow `static const` variable to be init using another `static const` variable */
 static const size_t ZSTD_blockHeaderSize = ZSTD_BLOCKHEADERSIZE;
@@ -227,6 +194,8 @@ typedef struct {
     BYTE* llCode;
     BYTE* mlCode;
     BYTE* ofCode;
+    size_t maxNbSeq;
+    size_t maxNbLit;
     U32   longLengthID;   /* 0 == no longLength; 1 == Lit.longLength; 2 == Match.longLength; */
     U32   longLengthPos;
 } seqStore_t;
@@ -275,7 +244,7 @@ typedef struct {
     blockType_e blockType;
     U32 lastBlock;
     U32 origSize;
-} blockProperties_t;
+} blockProperties_t;   /* declared here for decompress and fullbench */
 
 /*! ZSTD_getcBlockSize() :
  *  Provides the size of compressed block from block header `src` */
@@ -283,6 +252,13 @@ typedef struct {
 size_t ZSTD_getcBlockSize(const void* src, size_t srcSize,
                           blockProperties_t* bpPtr);
 
+/*! ZSTD_decodeSeqHeaders() :
+ *  decode sequence header from src */
+/* Used by: decompress, fullbench (does not get its definition from here) */
+size_t ZSTD_decodeSeqHeaders(ZSTD_DCtx* dctx, int* nbSeqPtr,
+                       const void* src, size_t srcSize);
+
+
 #if defined (__cplusplus)
 }
 #endif
diff --git a/thirdparty/zstd/compress/fse_compress.c b/thirdparty/zstd/compress/fse_compress.c
index cb8f1fa323..60f357bbd2 100644
--- a/thirdparty/zstd/compress/fse_compress.c
+++ b/thirdparty/zstd/compress/fse_compress.c
@@ -1,6 +1,6 @@
 /* ******************************************************************
    FSE : Finite State Entropy encoder
-   Copyright (C) 2013-2015, Yann Collet.
+   Copyright (C) 2013-present, Yann Collet.
 
    BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
 
@@ -37,9 +37,11 @@
 ****************************************************************/
 #include <stdlib.h>     /* malloc, free, qsort */
 #include <string.h>     /* memcpy, memset */
-#include <stdio.h>      /* printf (debug) */
-#include "bitstream.h"
 #include "compiler.h"
+#include "mem.h"        /* U32, U16, etc. */
+#include "debug.h"      /* assert, DEBUGLOG */
+#include "hist.h"       /* HIST_count_wksp */
+#include "bitstream.h"
 #define FSE_STATIC_LINKING_ONLY
 #include "fse.h"
 #include "error_private.h"
@@ -49,7 +51,6 @@
 *  Error Management
 ****************************************************************/
 #define FSE_isError ERR_isError
-#define FSE_STATIC_ASSERT(c) { enum { FSE_static_assert = 1/(int)(!!(c)) }; }   /* use only *after* variable declarations */
 
 
 /* **************************************************************
@@ -82,7 +83,9 @@
  * wkspSize should be sized to handle worst case situation, which is `1<<max_tableLog * sizeof(FSE_FUNCTION_TYPE)`
  * workSpace must also be properly aligned with FSE_FUNCTION_TYPE requirements
  */
-size_t FSE_buildCTable_wksp(FSE_CTable* ct, const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog, void* workSpace, size_t wkspSize)
+size_t FSE_buildCTable_wksp(FSE_CTable* ct,
+                      const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog,
+                            void* workSpace, size_t wkspSize)
 {
     U32 const tableSize = 1 << tableLog;
     U32 const tableMask = tableSize - 1;
@@ -100,14 +103,19 @@ size_t FSE_buildCTable_wksp(FSE_CTable* ct, const short* normalizedCounter, unsi
     if (((size_t)1 << tableLog) * sizeof(FSE_FUNCTION_TYPE) > wkspSize) return ERROR(tableLog_tooLarge);
     tableU16[-2] = (U16) tableLog;
     tableU16[-1] = (U16) maxSymbolValue;
+    assert(tableLog < 16);   /* required for threshold strategy to work */
 
     /* For explanations on how to distribute symbol values over the table :
-    *  http://fastcompression.blogspot.fr/2014/02/fse-distributing-symbol-values.html */
+     * http://fastcompression.blogspot.fr/2014/02/fse-distributing-symbol-values.html */
+
+     #ifdef __clang_analyzer__
+     memset(tableSymbol, 0, sizeof(*tableSymbol) * tableSize);   /* useless initialization, just to keep scan-build happy */
+     #endif
 
     /* symbol start positions */
     {   U32 u;
         cumul[0] = 0;
-        for (u=1; u<=maxSymbolValue+1; u++) {
+        for (u=1; u <= maxSymbolValue+1; u++) {
             if (normalizedCounter[u-1]==-1) {  /* Low proba symbol */
                 cumul[u] = cumul[u-1] + 1;
                 tableSymbol[highThreshold--] = (FSE_FUNCTION_TYPE)(u-1);
@@ -122,13 +130,15 @@ size_t FSE_buildCTable_wksp(FSE_CTable* ct, const short* normalizedCounter, unsi
         U32 symbol;
         for (symbol=0; symbol<=maxSymbolValue; symbol++) {
             int nbOccurences;
-            for (nbOccurences=0; nbOccurences<normalizedCounter[symbol]; nbOccurences++) {
+            int const freq = normalizedCounter[symbol];
+            for (nbOccurences=0; nbOccurences<freq; nbOccurences++) {
                 tableSymbol[position] = (FSE_FUNCTION_TYPE)symbol;
                 position = (position + step) & tableMask;
-                while (position > highThreshold) position = (position + step) & tableMask;   /* Low proba area */
+                while (position > highThreshold)
+                    position = (position + step) & tableMask;   /* Low proba area */
         }   }
 
-        if (position!=0) return ERROR(GENERIC);   /* Must have gone through all positions */
+        assert(position==0);  /* Must have initialized all positions */
     }
 
     /* Build table */
@@ -143,7 +153,10 @@ size_t FSE_buildCTable_wksp(FSE_CTable* ct, const short* normalizedCounter, unsi
         for (s=0; s<=maxSymbolValue; s++) {
             switch (normalizedCounter[s])
             {
-            case  0: break;
+            case  0:
+                /* filling nonetheless, for compatibility with FSE_getMaxNbBits() */
+                symbolTT[s].deltaNbBits = ((tableLog+1) << 16) - (1<<tableLog);
+                break;
 
             case -1:
             case  1:
@@ -160,6 +173,18 @@ size_t FSE_buildCTable_wksp(FSE_CTable* ct, const short* normalizedCounter, unsi
                     total +=  normalizedCounter[s];
     }   }   }   }
 
+#if 0  /* debug : symbol costs */
+    DEBUGLOG(5, "\n --- table statistics : ");
+    {   U32 symbol;
+        for (symbol=0; symbol<=maxSymbolValue; symbol++) {
+            DEBUGLOG(5, "%3u: w=%3i,   maxBits=%u, fracBits=%.2f",
+                symbol, normalizedCounter[symbol],
+                FSE_getMaxNbBits(symbolTT, symbol),
+                (double)FSE_bitCost(symbolTT, tableLog, symbol, 8) / 256);
+        }
+    }
+#endif
+
     return 0;
 }
 
@@ -174,8 +199,9 @@ size_t FSE_buildCTable(FSE_CTable* ct, const short* normalizedCounter, unsigned
 
 #ifndef FSE_COMMONDEFS_ONLY
 
+
 /*-**************************************************************
-*  FSE NCount encoding-decoding
+*  FSE NCount encoding
 ****************************************************************/
 size_t FSE_NCountWriteBound(unsigned maxSymbolValue, unsigned tableLog)
 {
@@ -183,9 +209,10 @@ size_t FSE_NCountWriteBound(unsigned maxSymbolValue, unsigned tableLog)
     return maxSymbolValue ? maxHeaderSize : FSE_NCOUNTBOUND;  /* maxSymbolValue==0 ? use default */
 }
 
-static size_t FSE_writeNCount_generic (void* header, size_t headerBufferSize,
-                                       const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog,
-                                       unsigned writeIsSafe)
+static size_t
+FSE_writeNCount_generic (void* header, size_t headerBufferSize,
+                   const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog,
+                         unsigned writeIsSafe)
 {
     BYTE* const ostart = (BYTE*) header;
     BYTE* out = ostart;
@@ -194,13 +221,12 @@ static size_t FSE_writeNCount_generic (void* header, size_t headerBufferSize,
     const int tableSize = 1 << tableLog;
     int remaining;
     int threshold;
-    U32 bitStream;
-    int bitCount;
-    unsigned charnum = 0;
-    int previous0 = 0;
+    U32 bitStream = 0;
+    int bitCount = 0;
+    unsigned symbol = 0;
+    unsigned const alphabetSize = maxSymbolValue + 1;
+    int previousIs0 = 0;
 
-    bitStream = 0;
-    bitCount  = 0;
     /* Table Size */
     bitStream += (tableLog-FSE_MIN_TABLELOG) << bitCount;
     bitCount  += 4;
@@ -210,48 +236,53 @@ static size_t FSE_writeNCount_generic (void* header, size_t headerBufferSize,
     threshold = tableSize;
     nbBits = tableLog+1;
 
-    while (remaining>1) {  /* stops at 1 */
-        if (previous0) {
-            unsigned start = charnum;
-            while (!normalizedCounter[charnum]) charnum++;
-            while (charnum >= start+24) {
+    while ((symbol < alphabetSize) && (remaining>1)) {  /* stops at 1 */
+        if (previousIs0) {
+            unsigned start = symbol;
+            while ((symbol < alphabetSize) && !normalizedCounter[symbol]) symbol++;
+            if (symbol == alphabetSize) break;   /* incorrect distribution */
+            while (symbol >= start+24) {
                 start+=24;
                 bitStream += 0xFFFFU << bitCount;
-                if ((!writeIsSafe) && (out > oend-2)) return ERROR(dstSize_tooSmall);   /* Buffer overflow */
+                if ((!writeIsSafe) && (out > oend-2))
+                    return ERROR(dstSize_tooSmall);   /* Buffer overflow */
                 out[0] = (BYTE) bitStream;
                 out[1] = (BYTE)(bitStream>>8);
                 out+=2;
                 bitStream>>=16;
             }
-            while (charnum >= start+3) {
+            while (symbol >= start+3) {
                 start+=3;
                 bitStream += 3 << bitCount;
                 bitCount += 2;
             }
-            bitStream += (charnum-start) << bitCount;
+            bitStream += (symbol-start) << bitCount;
             bitCount += 2;
             if (bitCount>16) {
-                if ((!writeIsSafe) && (out > oend - 2)) return ERROR(dstSize_tooSmall);   /* Buffer overflow */
+                if ((!writeIsSafe) && (out > oend - 2))
+                    return ERROR(dstSize_tooSmall);   /* Buffer overflow */
                 out[0] = (BYTE)bitStream;
                 out[1] = (BYTE)(bitStream>>8);
                 out += 2;
                 bitStream >>= 16;
                 bitCount -= 16;
         }   }
-        {   int count = normalizedCounter[charnum++];
-            int const max = (2*threshold-1)-remaining;
+        {   int count = normalizedCounter[symbol++];
+            int const max = (2*threshold-1) - remaining;
             remaining -= count < 0 ? -count : count;
             count++;   /* +1 for extra accuracy */
-            if (count>=threshold) count += max;   /* [0..max[ [max..threshold[ (...) [threshold+max 2*threshold[ */
+            if (count>=threshold)
+                count += max;   /* [0..max[ [max..threshold[ (...) [threshold+max 2*threshold[ */
             bitStream += count << bitCount;
             bitCount  += nbBits;
             bitCount  -= (count<max);
-            previous0  = (count==1);
+            previousIs0  = (count==1);
             if (remaining<1) return ERROR(GENERIC);
             while (remaining<threshold) { nbBits--; threshold>>=1; }
         }
         if (bitCount>16) {
-            if ((!writeIsSafe) && (out > oend - 2)) return ERROR(dstSize_tooSmall);   /* Buffer overflow */
+            if ((!writeIsSafe) && (out > oend - 2))
+                return ERROR(dstSize_tooSmall);   /* Buffer overflow */
             out[0] = (BYTE)bitStream;
             out[1] = (BYTE)(bitStream>>8);
             out += 2;
@@ -259,19 +290,23 @@ static size_t FSE_writeNCount_generic (void* header, size_t headerBufferSize,
             bitCount -= 16;
     }   }
 
+    if (remaining != 1)
+        return ERROR(GENERIC);  /* incorrect normalized distribution */
+    assert(symbol <= alphabetSize);
+
     /* flush remaining bitStream */
-    if ((!writeIsSafe) && (out > oend - 2)) return ERROR(dstSize_tooSmall);   /* Buffer overflow */
+    if ((!writeIsSafe) && (out > oend - 2))
+        return ERROR(dstSize_tooSmall);   /* Buffer overflow */
     out[0] = (BYTE)bitStream;
     out[1] = (BYTE)(bitStream>>8);
     out+= (bitCount+7) /8;
 
-    if (charnum > maxSymbolValue + 1) return ERROR(GENERIC);
-
     return (out-ostart);
 }
 
 
-size_t FSE_writeNCount (void* buffer, size_t bufferSize, const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog)
+size_t FSE_writeNCount (void* buffer, size_t bufferSize,
+                  const short* normalizedCounter, unsigned maxSymbolValue, unsigned tableLog)
 {
     if (tableLog > FSE_MAX_TABLELOG) return ERROR(tableLog_tooLarge);   /* Unsupported */
     if (tableLog < FSE_MIN_TABLELOG) return ERROR(GENERIC);   /* Unsupported */
@@ -279,179 +314,13 @@ size_t FSE_writeNCount (void* buffer, size_t bufferSize, const short* normalized
     if (bufferSize < FSE_NCountWriteBound(maxSymbolValue, tableLog))
         return FSE_writeNCount_generic(buffer, bufferSize, normalizedCounter, maxSymbolValue, tableLog, 0);
 
-    return FSE_writeNCount_generic(buffer, bufferSize, normalizedCounter, maxSymbolValue, tableLog, 1);
-}
-
-
-
-/*-**************************************************************
-*  Counting histogram
-****************************************************************/
-/*! FSE_count_simple
-    This function counts byte values within `src`, and store the histogram into table `count`.
-    It doesn't use any additional memory.
-    But this function is unsafe : it doesn't check that all values within `src` can fit into `count`.
-    For this reason, prefer using a table `count` with 256 elements.
-    @return : count of most numerous element.
-*/
-size_t FSE_count_simple(unsigned* count, unsigned* maxSymbolValuePtr,
-                        const void* src, size_t srcSize)
-{
-    const BYTE* ip = (const BYTE*)src;
-    const BYTE* const end = ip + srcSize;
-    unsigned maxSymbolValue = *maxSymbolValuePtr;
-    unsigned max=0;
-
-    memset(count, 0, (maxSymbolValue+1)*sizeof(*count));
-    if (srcSize==0) { *maxSymbolValuePtr = 0; return 0; }
-
-    while (ip<end) {
-        assert(*ip <= maxSymbolValue);
-        count[*ip++]++;
-    }
-
-    while (!count[maxSymbolValue]) maxSymbolValue--;
-    *maxSymbolValuePtr = maxSymbolValue;
-
-    { U32 s; for (s=0; s<=maxSymbolValue; s++) if (count[s] > max) max = count[s]; }
-
-    return (size_t)max;
-}
-
-
-/* FSE_count_parallel_wksp() :
- * Same as FSE_count_parallel(), but using an externally provided scratch buffer.
- * `workSpace` size must be a minimum of `1024 * sizeof(unsigned)`.
- * @return : largest histogram frequency, or an error code (notably when histogram would be larger than *maxSymbolValuePtr). */
-static size_t FSE_count_parallel_wksp(
-                                unsigned* count, unsigned* maxSymbolValuePtr,
-                                const void* source, size_t sourceSize,
-                                unsigned checkMax, unsigned* const workSpace)
-{
-    const BYTE* ip = (const BYTE*)source;
-    const BYTE* const iend = ip+sourceSize;
-    unsigned maxSymbolValue = *maxSymbolValuePtr;
-    unsigned max=0;
-    U32* const Counting1 = workSpace;
-    U32* const Counting2 = Counting1 + 256;
-    U32* const Counting3 = Counting2 + 256;
-    U32* const Counting4 = Counting3 + 256;
-
-    memset(workSpace, 0, 4*256*sizeof(unsigned));
-
-    /* safety checks */
-    if (!sourceSize) {
-        memset(count, 0, maxSymbolValue + 1);
-        *maxSymbolValuePtr = 0;
-        return 0;
-    }
-    if (!maxSymbolValue) maxSymbolValue = 255;            /* 0 == default */
-
-    /* by stripes of 16 bytes */
-    {   U32 cached = MEM_read32(ip); ip += 4;
-        while (ip < iend-15) {
-            U32 c = cached; cached = MEM_read32(ip); ip += 4;
-            Counting1[(BYTE) c     ]++;
-            Counting2[(BYTE)(c>>8) ]++;
-            Counting3[(BYTE)(c>>16)]++;
-            Counting4[       c>>24 ]++;
-            c = cached; cached = MEM_read32(ip); ip += 4;
-            Counting1[(BYTE) c     ]++;
-            Counting2[(BYTE)(c>>8) ]++;
-            Counting3[(BYTE)(c>>16)]++;
-            Counting4[       c>>24 ]++;
-            c = cached; cached = MEM_read32(ip); ip += 4;
-            Counting1[(BYTE) c     ]++;
-            Counting2[(BYTE)(c>>8) ]++;
-            Counting3[(BYTE)(c>>16)]++;
-            Counting4[       c>>24 ]++;
-            c = cached; cached = MEM_read32(ip); ip += 4;
-            Counting1[(BYTE) c     ]++;
-            Counting2[(BYTE)(c>>8) ]++;
-            Counting3[(BYTE)(c>>16)]++;
-            Counting4[       c>>24 ]++;
-        }
-        ip-=4;
-    }
-
-    /* finish last symbols */
-    while (ip<iend) Counting1[*ip++]++;
-
-    if (checkMax) {   /* verify stats will fit into destination table */
-        U32 s; for (s=255; s>maxSymbolValue; s--) {
-            Counting1[s] += Counting2[s] + Counting3[s] + Counting4[s];
-            if (Counting1[s]) return ERROR(maxSymbolValue_tooSmall);
-    }   }
-
-    {   U32 s;
-        if (maxSymbolValue > 255) maxSymbolValue = 255;
-        for (s=0; s<=maxSymbolValue; s++) {
-            count[s] = Counting1[s] + Counting2[s] + Counting3[s] + Counting4[s];
-            if (count[s] > max) max = count[s];
-    }   }
-
-    while (!count[maxSymbolValue]) maxSymbolValue--;
-    *maxSymbolValuePtr = maxSymbolValue;
-    return (size_t)max;
-}
-
-/* FSE_countFast_wksp() :
- * Same as FSE_countFast(), but using an externally provided scratch buffer.
- * `workSpace` size must be table of >= `1024` unsigned */
-size_t FSE_countFast_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
-                          const void* source, size_t sourceSize,
-                          unsigned* workSpace)
-{
-    if (sourceSize < 1500) /* heuristic threshold */
-        return FSE_count_simple(count, maxSymbolValuePtr, source, sourceSize);
-    return FSE_count_parallel_wksp(count, maxSymbolValuePtr, source, sourceSize, 0, workSpace);
-}
-
-/* fast variant (unsafe : won't check if src contains values beyond count[] limit) */
-size_t FSE_countFast(unsigned* count, unsigned* maxSymbolValuePtr,
-                     const void* source, size_t sourceSize)
-{
-    unsigned tmpCounters[1024];
-    return FSE_countFast_wksp(count, maxSymbolValuePtr, source, sourceSize, tmpCounters);
-}
-
-/* FSE_count_wksp() :
- * Same as FSE_count(), but using an externally provided scratch buffer.
- * `workSpace` size must be table of >= `1024` unsigned */
-size_t FSE_count_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
-                 const void* source, size_t sourceSize, unsigned* workSpace)
-{
-    if (*maxSymbolValuePtr < 255)
-        return FSE_count_parallel_wksp(count, maxSymbolValuePtr, source, sourceSize, 1, workSpace);
-    *maxSymbolValuePtr = 255;
-    return FSE_countFast_wksp(count, maxSymbolValuePtr, source, sourceSize, workSpace);
-}
-
-size_t FSE_count(unsigned* count, unsigned* maxSymbolValuePtr,
-                 const void* src, size_t srcSize)
-{
-    unsigned tmpCounters[1024];
-    return FSE_count_wksp(count, maxSymbolValuePtr, src, srcSize, tmpCounters);
+    return FSE_writeNCount_generic(buffer, bufferSize, normalizedCounter, maxSymbolValue, tableLog, 1 /* write in buffer is safe */);
 }
 
 
-
 /*-**************************************************************
 *  FSE Compression Code
 ****************************************************************/
-/*! FSE_sizeof_CTable() :
-    FSE_CTable is a variable size structure which contains :
-    `U16 tableLog;`
-    `U16 maxSymbolValue;`
-    `U16 nextStateNumber[1 << tableLog];`                         // This size is variable
-    `FSE_symbolCompressionTransform symbolTT[maxSymbolValue+1];`  // This size is variable
-Allocation is manual (C standard does not support variable-size structures).
-*/
-size_t FSE_sizeof_CTable (unsigned maxSymbolValue, unsigned tableLog)
-{
-    if (tableLog > FSE_MAX_TABLELOG) return ERROR(tableLog_tooLarge);
-    return FSE_CTABLE_SIZE_U32 (tableLog, maxSymbolValue) * sizeof(U32);
-}
 
 FSE_CTable* FSE_createCTable (unsigned maxSymbolValue, unsigned tableLog)
 {
@@ -466,7 +335,7 @@ void FSE_freeCTable (FSE_CTable* ct) { free(ct); }
 /* provides the minimum logSize to safely represent a distribution */
 static unsigned FSE_minTableLog(size_t srcSize, unsigned maxSymbolValue)
 {
-    U32 minBitsSrc = BIT_highbit32((U32)(srcSize - 1)) + 1;
+    U32 minBitsSrc = BIT_highbit32((U32)(srcSize)) + 1;
     U32 minBitsSymbols = BIT_highbit32(maxSymbolValue) + 2;
     U32 minBits = minBitsSrc < minBitsSymbols ? minBitsSrc : minBitsSymbols;
     assert(srcSize > 1); /* Not supported, RLE should be used instead */
@@ -529,6 +398,9 @@ static size_t FSE_normalizeM2(short* norm, U32 tableLog, const unsigned* count,
     }
     ToDistribute = (1 << tableLog) - distributed;
 
+    if (ToDistribute == 0)
+        return 0;
+
     if ((total / ToDistribute) > lowOne) {
         /* risk of rounding to zero */
         lowOne = (U32)((total * 3) / (ToDistribute * 2));
@@ -629,11 +501,11 @@ size_t FSE_normalizeCount (short* normalizedCounter, unsigned tableLog,
         U32 s;
         U32 nTotal = 0;
         for (s=0; s<=maxSymbolValue; s++)
-            printf("%3i: %4i \n", s, normalizedCounter[s]);
+            RAWLOG(2, "%3i: %4i \n", s, normalizedCounter[s]);
         for (s=0; s<=maxSymbolValue; s++)
             nTotal += abs(normalizedCounter[s]);
         if (nTotal != (1U<<tableLog))
-            printf("Warning !!! Total == %u != %u !!!", nTotal, 1U<<tableLog);
+            RAWLOG(2, "Warning !!! Total == %u != %u !!!", nTotal, 1U<<tableLog);
         getchar();
     }
 #endif
@@ -786,7 +658,7 @@ size_t FSE_compress_wksp (void* dst, size_t dstSize, const void* src, size_t src
     BYTE* op = ostart;
     BYTE* const oend = ostart + dstSize;
 
-    U32   count[FSE_MAX_SYMBOL_VALUE+1];
+    unsigned count[FSE_MAX_SYMBOL_VALUE+1];
     S16   norm[FSE_MAX_SYMBOL_VALUE+1];
     FSE_CTable* CTable = (FSE_CTable*)workSpace;
     size_t const CTableSize = FSE_CTABLE_SIZE_U32(tableLog, maxSymbolValue);
@@ -800,7 +672,7 @@ size_t FSE_compress_wksp (void* dst, size_t dstSize, const void* src, size_t src
     if (!tableLog) tableLog = FSE_DEFAULT_TABLELOG;
 
     /* Scan input and build symbol stats */
-    {   CHECK_V_F(maxCount, FSE_count_wksp(count, &maxSymbolValue, src, srcSize, (unsigned*)scratchBuffer) );
+    {   CHECK_V_F(maxCount, HIST_count_wksp(count, &maxSymbolValue, src, srcSize, scratchBuffer, scratchBufferSize) );
         if (maxCount == srcSize) return 1;   /* only a single symbol in src : rle */
         if (maxCount == 1) return 0;         /* each symbol present maximum once => not compressible */
         if (maxCount < (srcSize >> 7)) return 0;   /* Heuristic : not compressible enough */
@@ -835,7 +707,7 @@ typedef struct {
 size_t FSE_compress2 (void* dst, size_t dstCapacity, const void* src, size_t srcSize, unsigned maxSymbolValue, unsigned tableLog)
 {
     fseWkspMax_t scratchBuffer;
-    FSE_STATIC_ASSERT(sizeof(scratchBuffer) >= FSE_WKSP_SIZE_U32(FSE_MAX_TABLELOG, FSE_MAX_SYMBOL_VALUE));   /* compilation failures here means scratchBuffer is not large enough */
+    DEBUG_STATIC_ASSERT(sizeof(scratchBuffer) >= FSE_WKSP_SIZE_U32(FSE_MAX_TABLELOG, FSE_MAX_SYMBOL_VALUE));   /* compilation failures here means scratchBuffer is not large enough */
     if (tableLog > FSE_MAX_TABLELOG) return ERROR(tableLog_tooLarge);
     return FSE_compress_wksp(dst, dstCapacity, src, srcSize, maxSymbolValue, tableLog, &scratchBuffer, sizeof(scratchBuffer));
 }
diff --git a/thirdparty/zstd/compress/hist.c b/thirdparty/zstd/compress/hist.c
new file mode 100644
index 0000000000..45b7babc1e
--- /dev/null
+++ b/thirdparty/zstd/compress/hist.c
@@ -0,0 +1,203 @@
+/* ******************************************************************
+   hist : Histogram functions
+   part of Finite State Entropy project
+   Copyright (C) 2013-present, Yann Collet.
+
+   BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
+
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are
+   met:
+
+       * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+       * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following disclaimer
+   in the documentation and/or other materials provided with the
+   distribution.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+   "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+   LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+   A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+   OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+    You can contact the author at :
+    - FSE source repository : https://github.com/Cyan4973/FiniteStateEntropy
+    - Public forum : https://groups.google.com/forum/#!forum/lz4c
+****************************************************************** */
+
+/* --- dependencies --- */
+#include "mem.h"             /* U32, BYTE, etc. */
+#include "debug.h"           /* assert, DEBUGLOG */
+#include "error_private.h"   /* ERROR */
+#include "hist.h"
+
+
+/* --- Error management --- */
+unsigned HIST_isError(size_t code) { return ERR_isError(code); }
+
+/*-**************************************************************
+ *  Histogram functions
+ ****************************************************************/
+unsigned HIST_count_simple(unsigned* count, unsigned* maxSymbolValuePtr,
+                           const void* src, size_t srcSize)
+{
+    const BYTE* ip = (const BYTE*)src;
+    const BYTE* const end = ip + srcSize;
+    unsigned maxSymbolValue = *maxSymbolValuePtr;
+    unsigned largestCount=0;
+
+    memset(count, 0, (maxSymbolValue+1) * sizeof(*count));
+    if (srcSize==0) { *maxSymbolValuePtr = 0; return 0; }
+
+    while (ip<end) {
+        assert(*ip <= maxSymbolValue);
+        count[*ip++]++;
+    }
+
+    while (!count[maxSymbolValue]) maxSymbolValue--;
+    *maxSymbolValuePtr = maxSymbolValue;
+
+    {   U32 s;
+        for (s=0; s<=maxSymbolValue; s++)
+            if (count[s] > largestCount) largestCount = count[s];
+    }
+
+    return largestCount;
+}
+
+typedef enum { trustInput, checkMaxSymbolValue } HIST_checkInput_e;
+
+/* HIST_count_parallel_wksp() :
+ * store histogram into 4 intermediate tables, recombined at the end.
+ * this design makes better use of OoO cpus,
+ * and is noticeably faster when some values are heavily repeated.
+ * But it needs some additional workspace for intermediate tables.
+ * `workSpace` size must be a table of size >= HIST_WKSP_SIZE_U32.
+ * @return : largest histogram frequency,
+ *           or an error code (notably when histogram would be larger than *maxSymbolValuePtr). */
+static size_t HIST_count_parallel_wksp(
+                                unsigned* count, unsigned* maxSymbolValuePtr,
+                                const void* source, size_t sourceSize,
+                                HIST_checkInput_e check,
+                                U32* const workSpace)
+{
+    const BYTE* ip = (const BYTE*)source;
+    const BYTE* const iend = ip+sourceSize;
+    unsigned maxSymbolValue = *maxSymbolValuePtr;
+    unsigned max=0;
+    U32* const Counting1 = workSpace;
+    U32* const Counting2 = Counting1 + 256;
+    U32* const Counting3 = Counting2 + 256;
+    U32* const Counting4 = Counting3 + 256;
+
+    memset(workSpace, 0, 4*256*sizeof(unsigned));
+
+    /* safety checks */
+    if (!sourceSize) {
+        memset(count, 0, maxSymbolValue + 1);
+        *maxSymbolValuePtr = 0;
+        return 0;
+    }
+    if (!maxSymbolValue) maxSymbolValue = 255;            /* 0 == default */
+
+    /* by stripes of 16 bytes */
+    {   U32 cached = MEM_read32(ip); ip += 4;
+        while (ip < iend-15) {
+            U32 c = cached; cached = MEM_read32(ip); ip += 4;
+            Counting1[(BYTE) c     ]++;
+            Counting2[(BYTE)(c>>8) ]++;
+            Counting3[(BYTE)(c>>16)]++;
+            Counting4[       c>>24 ]++;
+            c = cached; cached = MEM_read32(ip); ip += 4;
+            Counting1[(BYTE) c     ]++;
+            Counting2[(BYTE)(c>>8) ]++;
+            Counting3[(BYTE)(c>>16)]++;
+            Counting4[       c>>24 ]++;
+            c = cached; cached = MEM_read32(ip); ip += 4;
+            Counting1[(BYTE) c     ]++;
+            Counting2[(BYTE)(c>>8) ]++;
+            Counting3[(BYTE)(c>>16)]++;
+            Counting4[       c>>24 ]++;
+            c = cached; cached = MEM_read32(ip); ip += 4;
+            Counting1[(BYTE) c     ]++;
+            Counting2[(BYTE)(c>>8) ]++;
+            Counting3[(BYTE)(c>>16)]++;
+            Counting4[       c>>24 ]++;
+        }
+        ip-=4;
+    }
+
+    /* finish last symbols */
+    while (ip<iend) Counting1[*ip++]++;
+
+    if (check) {   /* verify stats will fit into destination table */
+        U32 s; for (s=255; s>maxSymbolValue; s--) {
+            Counting1[s] += Counting2[s] + Counting3[s] + Counting4[s];
+            if (Counting1[s]) return ERROR(maxSymbolValue_tooSmall);
+    }   }
+
+    {   U32 s;
+        if (maxSymbolValue > 255) maxSymbolValue = 255;
+        for (s=0; s<=maxSymbolValue; s++) {
+            count[s] = Counting1[s] + Counting2[s] + Counting3[s] + Counting4[s];
+            if (count[s] > max) max = count[s];
+    }   }
+
+    while (!count[maxSymbolValue]) maxSymbolValue--;
+    *maxSymbolValuePtr = maxSymbolValue;
+    return (size_t)max;
+}
+
+/* HIST_countFast_wksp() :
+ * Same as HIST_countFast(), but using an externally provided scratch buffer.
+ * `workSpace` is a writable buffer which must be 4-bytes aligned,
+ * `workSpaceSize` must be >= HIST_WKSP_SIZE
+ */
+size_t HIST_countFast_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
+                          const void* source, size_t sourceSize,
+                          void* workSpace, size_t workSpaceSize)
+{
+    if (sourceSize < 1500) /* heuristic threshold */
+        return HIST_count_simple(count, maxSymbolValuePtr, source, sourceSize);
+    if ((size_t)workSpace & 3) return ERROR(GENERIC);  /* must be aligned on 4-bytes boundaries */
+    if (workSpaceSize < HIST_WKSP_SIZE) return ERROR(workSpace_tooSmall);
+    return HIST_count_parallel_wksp(count, maxSymbolValuePtr, source, sourceSize, trustInput, (U32*)workSpace);
+}
+
+/* fast variant (unsafe : won't check if src contains values beyond count[] limit) */
+size_t HIST_countFast(unsigned* count, unsigned* maxSymbolValuePtr,
+                     const void* source, size_t sourceSize)
+{
+    unsigned tmpCounters[HIST_WKSP_SIZE_U32];
+    return HIST_countFast_wksp(count, maxSymbolValuePtr, source, sourceSize, tmpCounters, sizeof(tmpCounters));
+}
+
+/* HIST_count_wksp() :
+ * Same as HIST_count(), but using an externally provided scratch buffer.
+ * `workSpace` size must be table of >= HIST_WKSP_SIZE_U32 unsigned */
+size_t HIST_count_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
+                       const void* source, size_t sourceSize,
+                       void* workSpace, size_t workSpaceSize)
+{
+    if ((size_t)workSpace & 3) return ERROR(GENERIC);  /* must be aligned on 4-bytes boundaries */
+    if (workSpaceSize < HIST_WKSP_SIZE) return ERROR(workSpace_tooSmall);
+    if (*maxSymbolValuePtr < 255)
+        return HIST_count_parallel_wksp(count, maxSymbolValuePtr, source, sourceSize, checkMaxSymbolValue, (U32*)workSpace);
+    *maxSymbolValuePtr = 255;
+    return HIST_countFast_wksp(count, maxSymbolValuePtr, source, sourceSize, workSpace, workSpaceSize);
+}
+
+size_t HIST_count(unsigned* count, unsigned* maxSymbolValuePtr,
+                 const void* src, size_t srcSize)
+{
+    unsigned tmpCounters[HIST_WKSP_SIZE_U32];
+    return HIST_count_wksp(count, maxSymbolValuePtr, src, srcSize, tmpCounters, sizeof(tmpCounters));
+}
diff --git a/thirdparty/zstd/compress/hist.h b/thirdparty/zstd/compress/hist.h
new file mode 100644
index 0000000000..8b389358dc
--- /dev/null
+++ b/thirdparty/zstd/compress/hist.h
@@ -0,0 +1,95 @@
+/* ******************************************************************
+   hist : Histogram functions
+   part of Finite State Entropy project
+   Copyright (C) 2013-present, Yann Collet.
+
+   BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
+
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are
+   met:
+
+       * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+       * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following disclaimer
+   in the documentation and/or other materials provided with the
+   distribution.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+   "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+   LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+   A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+   OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+    You can contact the author at :
+    - FSE source repository : https://github.com/Cyan4973/FiniteStateEntropy
+    - Public forum : https://groups.google.com/forum/#!forum/lz4c
+****************************************************************** */
+
+/* --- dependencies --- */
+#include <stddef.h>   /* size_t */
+
+
+/* --- simple histogram functions --- */
+
+/*! HIST_count():
+ *  Provides the precise count of each byte within a table 'count'.
+ * 'count' is a table of unsigned int, of minimum size (*maxSymbolValuePtr+1).
+ *  Updates *maxSymbolValuePtr with actual largest symbol value detected.
+ * @return : count of the most frequent symbol (which isn't identified).
+ *           or an error code, which can be tested using HIST_isError().
+ *           note : if return == srcSize, there is only one symbol.
+ */
+size_t HIST_count(unsigned* count, unsigned* maxSymbolValuePtr,
+                  const void* src, size_t srcSize);
+
+unsigned HIST_isError(size_t code);  /**< tells if a return value is an error code */
+
+
+/* --- advanced histogram functions --- */
+
+#define HIST_WKSP_SIZE_U32 1024
+#define HIST_WKSP_SIZE    (HIST_WKSP_SIZE_U32 * sizeof(unsigned))
+/** HIST_count_wksp() :
+ *  Same as HIST_count(), but using an externally provided scratch buffer.
+ *  Benefit is this function will use very little stack space.
+ * `workSpace` is a writable buffer which must be 4-bytes aligned,
+ * `workSpaceSize` must be >= HIST_WKSP_SIZE
+ */
+size_t HIST_count_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
+                       const void* src, size_t srcSize,
+                       void* workSpace, size_t workSpaceSize);
+
+/** HIST_countFast() :
+ *  same as HIST_count(), but blindly trusts that all byte values within src are <= *maxSymbolValuePtr.
+ *  This function is unsafe, and will segfault if any value within `src` is `> *maxSymbolValuePtr`
+ */
+size_t HIST_countFast(unsigned* count, unsigned* maxSymbolValuePtr,
+                      const void* src, size_t srcSize);
+
+/** HIST_countFast_wksp() :
+ *  Same as HIST_countFast(), but using an externally provided scratch buffer.
+ * `workSpace` is a writable buffer which must be 4-bytes aligned,
+ * `workSpaceSize` must be >= HIST_WKSP_SIZE
+ */
+size_t HIST_countFast_wksp(unsigned* count, unsigned* maxSymbolValuePtr,
+                           const void* src, size_t srcSize,
+                           void* workSpace, size_t workSpaceSize);
+
+/*! HIST_count_simple() :
+ *  Same as HIST_countFast(), this function is unsafe,
+ *  and will segfault if any value within `src` is `> *maxSymbolValuePtr`.
+ *  It is also a bit slower for large inputs.
+ *  However, it does not need any additional memory (not even on stack).
+ * @return : count of the most frequent symbol.
+ *  Note this function doesn't produce any error (i.e. it must succeed).
+ */
+unsigned HIST_count_simple(unsigned* count, unsigned* maxSymbolValuePtr,
+                           const void* src, size_t srcSize);
diff --git a/thirdparty/zstd/compress/huf_compress.c b/thirdparty/zstd/compress/huf_compress.c
index 83230b415f..f074f1e0a9 100644
--- a/thirdparty/zstd/compress/huf_compress.c
+++ b/thirdparty/zstd/compress/huf_compress.c
@@ -45,8 +45,9 @@
 ****************************************************************/
 #include <string.h>     /* memcpy, memset */
 #include <stdio.h>      /* printf (debug) */
-#include "bitstream.h"
 #include "compiler.h"
+#include "bitstream.h"
+#include "hist.h"
 #define FSE_STATIC_LINKING_ONLY   /* FSE_optimalTableLog_internal */
 #include "fse.h"        /* header compression */
 #define HUF_STATIC_LINKING_ONLY
@@ -58,7 +59,7 @@
 *  Error Management
 ****************************************************************/
 #define HUF_isError ERR_isError
-#define HUF_STATIC_ASSERT(c) { enum { HUF_static_assert = 1/(int)(!!(c)) }; }   /* use only *after* variable declarations */
+#define HUF_STATIC_ASSERT(c) DEBUG_STATIC_ASSERT(c)   /* use only *after* variable declarations */
 #define CHECK_V_F(e, f) size_t const e = f; if (ERR_isError(e)) return e
 #define CHECK_F(f)   { CHECK_V_F(_var_err__, f); }
 
@@ -81,28 +82,28 @@ unsigned HUF_optimalTableLog(unsigned maxTableLog, size_t srcSize, unsigned maxS
  * Note : all elements within weightTable are supposed to be <= HUF_TABLELOG_MAX.
  */
 #define MAX_FSE_TABLELOG_FOR_HUFF_HEADER 6
-size_t HUF_compressWeights (void* dst, size_t dstSize, const void* weightTable, size_t wtSize)
+static size_t HUF_compressWeights (void* dst, size_t dstSize, const void* weightTable, size_t wtSize)
 {
     BYTE* const ostart = (BYTE*) dst;
     BYTE* op = ostart;
     BYTE* const oend = ostart + dstSize;
 
-    U32 maxSymbolValue = HUF_TABLELOG_MAX;
+    unsigned maxSymbolValue = HUF_TABLELOG_MAX;
     U32 tableLog = MAX_FSE_TABLELOG_FOR_HUFF_HEADER;
 
     FSE_CTable CTable[FSE_CTABLE_SIZE_U32(MAX_FSE_TABLELOG_FOR_HUFF_HEADER, HUF_TABLELOG_MAX)];
     BYTE scratchBuffer[1<<MAX_FSE_TABLELOG_FOR_HUFF_HEADER];
 
-    U32 count[HUF_TABLELOG_MAX+1];
+    unsigned count[HUF_TABLELOG_MAX+1];
     S16 norm[HUF_TABLELOG_MAX+1];
 
     /* init conditions */
     if (wtSize <= 1) return 0;  /* Not compressible */
 
     /* Scan input and build symbol stats */
-    {   CHECK_V_F(maxCount, FSE_count_simple(count, &maxSymbolValue, weightTable, wtSize) );
+    {   unsigned const maxCount = HIST_count_simple(count, &maxSymbolValue, weightTable, wtSize);   /* never fails */
         if (maxCount == wtSize) return 1;   /* only a single symbol in src : rle */
-        if (maxCount == 1) return 0;         /* each symbol present maximum once => not compressible */
+        if (maxCount == 1) return 0;        /* each symbol present maximum once => not compressible */
     }
 
     tableLog = FSE_optimalTableLog(tableLog, wtSize, maxSymbolValue);
@@ -133,7 +134,7 @@ struct HUF_CElt_s {
     `CTable` : Huffman tree to save, using huf representation.
     @return : size of saved CTable */
 size_t HUF_writeCTable (void* dst, size_t maxDstSize,
-                        const HUF_CElt* CTable, U32 maxSymbolValue, U32 huffLog)
+                        const HUF_CElt* CTable, unsigned maxSymbolValue, unsigned huffLog)
 {
     BYTE bitsToWeight[HUF_TABLELOG_MAX + 1];   /* precomputed conversion table */
     BYTE huffWeight[HUF_SYMBOLVALUE_MAX];
@@ -168,7 +169,7 @@ size_t HUF_writeCTable (void* dst, size_t maxDstSize,
 }
 
 
-size_t HUF_readCTable (HUF_CElt* CTable, U32* maxSymbolValuePtr, const void* src, size_t srcSize)
+size_t HUF_readCTable (HUF_CElt* CTable, unsigned* maxSymbolValuePtr, const void* src, size_t srcSize)
 {
     BYTE huffWeight[HUF_SYMBOLVALUE_MAX + 1];   /* init not required, even though some static analyzer may complain */
     U32 rankVal[HUF_TABLELOG_ABSOLUTEMAX + 1];   /* large enough for values from 0 to 16 */
@@ -216,6 +217,13 @@ size_t HUF_readCTable (HUF_CElt* CTable, U32* maxSymbolValuePtr, const void* src
     return readSize;
 }
 
+U32 HUF_getNbBits(const void* symbolTable, U32 symbolValue)
+{
+    const HUF_CElt* table = (const HUF_CElt*)symbolTable;
+    assert(symbolValue <= HUF_SYMBOLVALUE_MAX);
+    return table[symbolValue].nbBits;
+}
+
 
 typedef struct nodeElt_s {
     U32 count;
@@ -307,7 +315,7 @@ typedef struct {
     U32 current;
 } rankPos;
 
-static void HUF_sort(nodeElt* huffNode, const U32* count, U32 maxSymbolValue)
+static void HUF_sort(nodeElt* huffNode, const unsigned* count, U32 maxSymbolValue)
 {
     rankPos rank[32];
     U32 n;
@@ -339,7 +347,7 @@ static void HUF_sort(nodeElt* huffNode, const U32* count, U32 maxSymbolValue)
  */
 #define STARTNODE (HUF_SYMBOLVALUE_MAX+1)
 typedef nodeElt huffNodeTable[HUF_CTABLE_WORKSPACE_SIZE_U32];
-size_t HUF_buildCTable_wksp (HUF_CElt* tree, const U32* count, U32 maxSymbolValue, U32 maxNbBits, void* workSpace, size_t wkspSize)
+size_t HUF_buildCTable_wksp (HUF_CElt* tree, const unsigned* count, U32 maxSymbolValue, U32 maxNbBits, void* workSpace, size_t wkspSize)
 {
     nodeElt* const huffNode0 = (nodeElt*)workSpace;
     nodeElt* const huffNode = huffNode0+1;
@@ -413,7 +421,7 @@ size_t HUF_buildCTable_wksp (HUF_CElt* tree, const U32* count, U32 maxSymbolValu
  * @return : maxNbBits
  *  Note : count is used before tree is written, so they can safely overlap
  */
-size_t HUF_buildCTable (HUF_CElt* tree, const U32* count, U32 maxSymbolValue, U32 maxNbBits)
+size_t HUF_buildCTable (HUF_CElt* tree, const unsigned* count, unsigned maxSymbolValue, unsigned maxNbBits)
 {
     huffNodeTable nodeTable;
     return HUF_buildCTable_wksp(tree, count, maxSymbolValue, maxNbBits, nodeTable, sizeof(nodeTable));
@@ -602,13 +610,14 @@ size_t HUF_compress4X_usingCTable(void* dst, size_t dstSize, const void* src, si
     return HUF_compress4X_usingCTable_internal(dst, dstSize, src, srcSize, CTable, /* bmi2 */ 0);
 }
 
+typedef enum { HUF_singleStream, HUF_fourStreams } HUF_nbStreams_e;
 
 static size_t HUF_compressCTable_internal(
                 BYTE* const ostart, BYTE* op, BYTE* const oend,
                 const void* src, size_t srcSize,
-                unsigned singleStream, const HUF_CElt* CTable, const int bmi2)
+                HUF_nbStreams_e nbStreams, const HUF_CElt* CTable, const int bmi2)
 {
-    size_t const cSize = singleStream ?
+    size_t const cSize = (nbStreams==HUF_singleStream) ?
                          HUF_compress1X_usingCTable_internal(op, oend - op, src, srcSize, CTable, bmi2) :
                          HUF_compress4X_usingCTable_internal(op, oend - op, src, srcSize, CTable, bmi2);
     if (HUF_isError(cSize)) { return cSize; }
@@ -620,21 +629,21 @@ static size_t HUF_compressCTable_internal(
 }
 
 typedef struct {
-    U32 count[HUF_SYMBOLVALUE_MAX + 1];
+    unsigned count[HUF_SYMBOLVALUE_MAX + 1];
     HUF_CElt CTable[HUF_SYMBOLVALUE_MAX + 1];
     huffNodeTable nodeTable;
 } HUF_compress_tables_t;
 
 /* HUF_compress_internal() :
  * `workSpace` must a table of at least HUF_WORKSPACE_SIZE_U32 unsigned */
-static size_t HUF_compress_internal (
-                void* dst, size_t dstSize,
-                const void* src, size_t srcSize,
-                unsigned maxSymbolValue, unsigned huffLog,
-                unsigned singleStream,
-                void* workSpace, size_t wkspSize,
-                HUF_CElt* oldHufTable, HUF_repeat* repeat, int preferRepeat,
-                const int bmi2)
+static size_t
+HUF_compress_internal (void* dst, size_t dstSize,
+                 const void* src, size_t srcSize,
+                       unsigned maxSymbolValue, unsigned huffLog,
+                       HUF_nbStreams_e nbStreams,
+                       void* workSpace, size_t wkspSize,
+                       HUF_CElt* oldHufTable, HUF_repeat* repeat, int preferRepeat,
+                 const int bmi2)
 {
     HUF_compress_tables_t* const table = (HUF_compress_tables_t*)workSpace;
     BYTE* const ostart = (BYTE*)dst;
@@ -643,7 +652,7 @@ static size_t HUF_compress_internal (
 
     /* checks & inits */
     if (((size_t)workSpace & 3) != 0) return ERROR(GENERIC);  /* must be aligned on 4-bytes boundaries */
-    if (wkspSize < sizeof(*table)) return ERROR(workSpace_tooSmall);
+    if (wkspSize < HUF_WORKSPACE_SIZE) return ERROR(workSpace_tooSmall);
     if (!srcSize) return 0;  /* Uncompressed */
     if (!dstSize) return 0;  /* cannot fit anything within dst budget */
     if (srcSize > HUF_BLOCKSIZE_MAX) return ERROR(srcSize_wrong);   /* current block size limit */
@@ -656,13 +665,13 @@ static size_t HUF_compress_internal (
     if (preferRepeat && repeat && *repeat == HUF_repeat_valid) {
         return HUF_compressCTable_internal(ostart, op, oend,
                                            src, srcSize,
-                                           singleStream, oldHufTable, bmi2);
+                                           nbStreams, oldHufTable, bmi2);
     }
 
     /* Scan input and build symbol stats */
-    {   CHECK_V_F(largest, FSE_count_wksp (table->count, &maxSymbolValue, (const BYTE*)src, srcSize, table->count) );
+    {   CHECK_V_F(largest, HIST_count_wksp (table->count, &maxSymbolValue, (const BYTE*)src, srcSize, workSpace, wkspSize) );
         if (largest == srcSize) { *ostart = ((const BYTE*)src)[0]; return 1; }   /* single symbol, rle */
-        if (largest <= (srcSize >> 7)+1) return 0;   /* heuristic : probably not compressible enough */
+        if (largest <= (srcSize >> 7)+4) return 0;   /* heuristic : probably not compressible enough */
     }
 
     /* Check validity of previous table */
@@ -675,14 +684,15 @@ static size_t HUF_compress_internal (
     if (preferRepeat && repeat && *repeat != HUF_repeat_none) {
         return HUF_compressCTable_internal(ostart, op, oend,
                                            src, srcSize,
-                                           singleStream, oldHufTable, bmi2);
+                                           nbStreams, oldHufTable, bmi2);
     }
 
     /* Build Huffman Tree */
     huffLog = HUF_optimalTableLog(huffLog, srcSize, maxSymbolValue);
-    {   CHECK_V_F(maxBits, HUF_buildCTable_wksp(table->CTable, table->count,
-                                                maxSymbolValue, huffLog,
-                                                table->nodeTable, sizeof(table->nodeTable)) );
+    {   size_t const maxBits = HUF_buildCTable_wksp(table->CTable, table->count,
+                                            maxSymbolValue, huffLog,
+                                            table->nodeTable, sizeof(table->nodeTable));
+        CHECK_F(maxBits);
         huffLog = (U32)maxBits;
         /* Zero unused symbols in CTable, so we can check it for validity */
         memset(table->CTable + (maxSymbolValue + 1), 0,
@@ -698,7 +708,7 @@ static size_t HUF_compress_internal (
             if (oldSize <= hSize + newSize || hSize + 12 >= srcSize) {
                 return HUF_compressCTable_internal(ostart, op, oend,
                                                    src, srcSize,
-                                                   singleStream, oldHufTable, bmi2);
+                                                   nbStreams, oldHufTable, bmi2);
         }   }
 
         /* Use the new huffman table */
@@ -710,7 +720,7 @@ static size_t HUF_compress_internal (
     }
     return HUF_compressCTable_internal(ostart, op, oend,
                                        src, srcSize,
-                                       singleStream, table->CTable, bmi2);
+                                       nbStreams, table->CTable, bmi2);
 }
 
 
@@ -720,7 +730,7 @@ size_t HUF_compress1X_wksp (void* dst, size_t dstSize,
                       void* workSpace, size_t wkspSize)
 {
     return HUF_compress_internal(dst, dstSize, src, srcSize,
-                                 maxSymbolValue, huffLog, 1 /*single stream*/,
+                                 maxSymbolValue, huffLog, HUF_singleStream,
                                  workSpace, wkspSize,
                                  NULL, NULL, 0, 0 /*bmi2*/);
 }
@@ -732,7 +742,7 @@ size_t HUF_compress1X_repeat (void* dst, size_t dstSize,
                       HUF_CElt* hufTable, HUF_repeat* repeat, int preferRepeat, int bmi2)
 {
     return HUF_compress_internal(dst, dstSize, src, srcSize,
-                                 maxSymbolValue, huffLog, 1 /*single stream*/,
+                                 maxSymbolValue, huffLog, HUF_singleStream,
                                  workSpace, wkspSize, hufTable,
                                  repeat, preferRepeat, bmi2);
 }
@@ -754,7 +764,7 @@ size_t HUF_compress4X_wksp (void* dst, size_t dstSize,
                       void* workSpace, size_t wkspSize)
 {
     return HUF_compress_internal(dst, dstSize, src, srcSize,
-                                 maxSymbolValue, huffLog, 0 /*4 streams*/,
+                                 maxSymbolValue, huffLog, HUF_fourStreams,
                                  workSpace, wkspSize,
                                  NULL, NULL, 0, 0 /*bmi2*/);
 }
@@ -769,7 +779,7 @@ size_t HUF_compress4X_repeat (void* dst, size_t dstSize,
                       HUF_CElt* hufTable, HUF_repeat* repeat, int preferRepeat, int bmi2)
 {
     return HUF_compress_internal(dst, dstSize, src, srcSize,
-                                 maxSymbolValue, huffLog, 0 /* 4 streams */,
+                                 maxSymbolValue, huffLog, HUF_fourStreams,
                                  workSpace, wkspSize,
                                  hufTable, repeat, preferRepeat, bmi2);
 }
diff --git a/thirdparty/zstd/compress/zstd_compress.c b/thirdparty/zstd/compress/zstd_compress.c
index 2aa26da4cd..c2c9d3bc55 100644
--- a/thirdparty/zstd/compress/zstd_compress.c
+++ b/thirdparty/zstd/compress/zstd_compress.c
@@ -8,21 +8,14 @@
  * You may select, at your option, one of the above-listed licenses.
  */
 
-
-/*-*************************************
-*  Tuning parameters
-***************************************/
-#ifndef ZSTD_CLEVEL_DEFAULT
-#  define ZSTD_CLEVEL_DEFAULT 3
-#endif
-
-
 /*-*************************************
 *  Dependencies
 ***************************************/
+#include <limits.h>         /* INT_MAX */
 #include <string.h>         /* memset */
 #include "cpu.h"
 #include "mem.h"
+#include "hist.h"           /* HIST_countFast_wksp */
 #define FSE_STATIC_LINKING_ONLY   /* FSE_encodeSymbol */
 #include "fse.h"
 #define HUF_STATIC_LINKING_ONLY
@@ -54,7 +47,6 @@ struct ZSTD_CDict_s {
     size_t workspaceSize;
     ZSTD_matchState_t matchState;
     ZSTD_compressedBlockState_t cBlockState;
-    ZSTD_compressionParameters cParams;
     ZSTD_customMem customMem;
     U32 dictID;
 };  /* typedef'd to ZSTD_CDict within "zstd.h" */
@@ -64,17 +56,26 @@ ZSTD_CCtx* ZSTD_createCCtx(void)
     return ZSTD_createCCtx_advanced(ZSTD_defaultCMem);
 }
 
+static void ZSTD_initCCtx(ZSTD_CCtx* cctx, ZSTD_customMem memManager)
+{
+    assert(cctx != NULL);
+    memset(cctx, 0, sizeof(*cctx));
+    cctx->customMem = memManager;
+    cctx->bmi2 = ZSTD_cpuid_bmi2(ZSTD_cpuid());
+    {   size_t const err = ZSTD_CCtx_reset(cctx, ZSTD_reset_parameters);
+        assert(!ZSTD_isError(err));
+        (void)err;
+    }
+}
+
 ZSTD_CCtx* ZSTD_createCCtx_advanced(ZSTD_customMem customMem)
 {
     ZSTD_STATIC_ASSERT(zcss_init==0);
     ZSTD_STATIC_ASSERT(ZSTD_CONTENTSIZE_UNKNOWN==(0ULL - 1));
     if (!customMem.customAlloc ^ !customMem.customFree) return NULL;
-    {   ZSTD_CCtx* const cctx = (ZSTD_CCtx*)ZSTD_calloc(sizeof(ZSTD_CCtx), customMem);
+    {   ZSTD_CCtx* const cctx = (ZSTD_CCtx*)ZSTD_malloc(sizeof(ZSTD_CCtx), customMem);
         if (!cctx) return NULL;
-        cctx->customMem = customMem;
-        cctx->requestedParams.compressionLevel = ZSTD_CLEVEL_DEFAULT;
-        cctx->requestedParams.fParams.contentSizeFlag = 1;
-        cctx->bmi2 = ZSTD_cpuid_bmi2(ZSTD_cpuid());
+        ZSTD_initCCtx(cctx, customMem);
         return cctx;
     }
 }
@@ -102,17 +103,24 @@ ZSTD_CCtx* ZSTD_initStaticCCtx(void *workspace, size_t workspaceSize)
     return cctx;
 }
 
-size_t ZSTD_freeCCtx(ZSTD_CCtx* cctx)
+static void ZSTD_freeCCtxContent(ZSTD_CCtx* cctx)
 {
-    if (cctx==NULL) return 0;   /* support free on NULL */
-    if (cctx->staticSize) return ERROR(memory_allocation);   /* not compatible with static CCtx */
+    assert(cctx != NULL);
+    assert(cctx->staticSize == 0);
     ZSTD_free(cctx->workSpace, cctx->customMem); cctx->workSpace = NULL;
     ZSTD_freeCDict(cctx->cdictLocal); cctx->cdictLocal = NULL;
 #ifdef ZSTD_MULTITHREAD
     ZSTDMT_freeCCtx(cctx->mtctx); cctx->mtctx = NULL;
 #endif
+}
+
+size_t ZSTD_freeCCtx(ZSTD_CCtx* cctx)
+{
+    if (cctx==NULL) return 0;   /* support free on NULL */
+    if (cctx->staticSize) return ERROR(memory_allocation);   /* not compatible with static CCtx */
+    ZSTD_freeCCtxContent(cctx);
     ZSTD_free(cctx, cctx->customMem);
-    return 0;   /* reserved as a potential error code in the future */
+    return 0;
 }
 
 
@@ -121,7 +129,7 @@ static size_t ZSTD_sizeof_mtctx(const ZSTD_CCtx* cctx)
 #ifdef ZSTD_MULTITHREAD
     return ZSTDMT_sizeof_CCtx(cctx->mtctx);
 #else
-    (void) cctx;
+    (void)cctx;
     return 0;
 #endif
 }
@@ -143,21 +151,6 @@ size_t ZSTD_sizeof_CStream(const ZSTD_CStream* zcs)
 /* private API call, for dictBuilder only */
 const seqStore_t* ZSTD_getSeqStore(const ZSTD_CCtx* ctx) { return &(ctx->seqStore); }
 
-ZSTD_compressionParameters ZSTD_getCParamsFromCCtxParams(
-        const ZSTD_CCtx_params* CCtxParams, U64 srcSizeHint, size_t dictSize)
-{
-    ZSTD_compressionParameters cParams = ZSTD_getCParams(CCtxParams->compressionLevel, srcSizeHint, dictSize);
-    if (CCtxParams->ldmParams.enableLdm) cParams.windowLog = ZSTD_LDM_DEFAULT_WINDOW_LOG;
-    if (CCtxParams->cParams.windowLog) cParams.windowLog = CCtxParams->cParams.windowLog;
-    if (CCtxParams->cParams.hashLog) cParams.hashLog = CCtxParams->cParams.hashLog;
-    if (CCtxParams->cParams.chainLog) cParams.chainLog = CCtxParams->cParams.chainLog;
-    if (CCtxParams->cParams.searchLog) cParams.searchLog = CCtxParams->cParams.searchLog;
-    if (CCtxParams->cParams.searchLength) cParams.searchLength = CCtxParams->cParams.searchLength;
-    if (CCtxParams->cParams.targetLength) cParams.targetLength = CCtxParams->cParams.targetLength;
-    if (CCtxParams->cParams.strategy) cParams.strategy = CCtxParams->cParams.strategy;
-    return cParams;
-}
-
 static ZSTD_CCtx_params ZSTD_makeCCtxParamsFromCParams(
         ZSTD_compressionParameters cParams)
 {
@@ -234,9 +227,160 @@ static ZSTD_CCtx_params ZSTD_assignParamsToCCtxParams(
     return ret;
 }
 
-#define CLAMPCHECK(val,min,max) {            \
-    if (((val)<(min)) | ((val)>(max))) {     \
-        return ERROR(parameter_outOfBound);  \
+ZSTD_bounds ZSTD_cParam_getBounds(ZSTD_cParameter param)
+{
+    ZSTD_bounds bounds = { 0, 0, 0 };
+
+    switch(param)
+    {
+    case ZSTD_c_compressionLevel:
+        bounds.lowerBound = ZSTD_minCLevel();
+        bounds.upperBound = ZSTD_maxCLevel();
+        return bounds;
+
+    case ZSTD_c_windowLog:
+        bounds.lowerBound = ZSTD_WINDOWLOG_MIN;
+        bounds.upperBound = ZSTD_WINDOWLOG_MAX;
+        return bounds;
+
+    case ZSTD_c_hashLog:
+        bounds.lowerBound = ZSTD_HASHLOG_MIN;
+        bounds.upperBound = ZSTD_HASHLOG_MAX;
+        return bounds;
+
+    case ZSTD_c_chainLog:
+        bounds.lowerBound = ZSTD_CHAINLOG_MIN;
+        bounds.upperBound = ZSTD_CHAINLOG_MAX;
+        return bounds;
+
+    case ZSTD_c_searchLog:
+        bounds.lowerBound = ZSTD_SEARCHLOG_MIN;
+        bounds.upperBound = ZSTD_SEARCHLOG_MAX;
+        return bounds;
+
+    case ZSTD_c_minMatch:
+        bounds.lowerBound = ZSTD_MINMATCH_MIN;
+        bounds.upperBound = ZSTD_MINMATCH_MAX;
+        return bounds;
+
+    case ZSTD_c_targetLength:
+        bounds.lowerBound = ZSTD_TARGETLENGTH_MIN;
+        bounds.upperBound = ZSTD_TARGETLENGTH_MAX;
+        return bounds;
+
+    case ZSTD_c_strategy:
+        bounds.lowerBound = ZSTD_STRATEGY_MIN;
+        bounds.upperBound = ZSTD_STRATEGY_MAX;
+        return bounds;
+
+    case ZSTD_c_contentSizeFlag:
+        bounds.lowerBound = 0;
+        bounds.upperBound = 1;
+        return bounds;
+
+    case ZSTD_c_checksumFlag:
+        bounds.lowerBound = 0;
+        bounds.upperBound = 1;
+        return bounds;
+
+    case ZSTD_c_dictIDFlag:
+        bounds.lowerBound = 0;
+        bounds.upperBound = 1;
+        return bounds;
+
+    case ZSTD_c_nbWorkers:
+        bounds.lowerBound = 0;
+#ifdef ZSTD_MULTITHREAD
+        bounds.upperBound = ZSTDMT_NBWORKERS_MAX;
+#else
+        bounds.upperBound = 0;
+#endif
+        return bounds;
+
+    case ZSTD_c_jobSize:
+        bounds.lowerBound = 0;
+#ifdef ZSTD_MULTITHREAD
+        bounds.upperBound = ZSTDMT_JOBSIZE_MAX;
+#else
+        bounds.upperBound = 0;
+#endif
+        return bounds;
+
+    case ZSTD_c_overlapLog:
+        bounds.lowerBound = ZSTD_OVERLAPLOG_MIN;
+        bounds.upperBound = ZSTD_OVERLAPLOG_MAX;
+        return bounds;
+
+    case ZSTD_c_enableLongDistanceMatching:
+        bounds.lowerBound = 0;
+        bounds.upperBound = 1;
+        return bounds;
+
+    case ZSTD_c_ldmHashLog:
+        bounds.lowerBound = ZSTD_LDM_HASHLOG_MIN;
+        bounds.upperBound = ZSTD_LDM_HASHLOG_MAX;
+        return bounds;
+
+    case ZSTD_c_ldmMinMatch:
+        bounds.lowerBound = ZSTD_LDM_MINMATCH_MIN;
+        bounds.upperBound = ZSTD_LDM_MINMATCH_MAX;
+        return bounds;
+
+    case ZSTD_c_ldmBucketSizeLog:
+        bounds.lowerBound = ZSTD_LDM_BUCKETSIZELOG_MIN;
+        bounds.upperBound = ZSTD_LDM_BUCKETSIZELOG_MAX;
+        return bounds;
+
+    case ZSTD_c_ldmHashRateLog:
+        bounds.lowerBound = ZSTD_LDM_HASHRATELOG_MIN;
+        bounds.upperBound = ZSTD_LDM_HASHRATELOG_MAX;
+        return bounds;
+
+    /* experimental parameters */
+    case ZSTD_c_rsyncable:
+        bounds.lowerBound = 0;
+        bounds.upperBound = 1;
+        return bounds;
+
+    case ZSTD_c_forceMaxWindow :
+        bounds.lowerBound = 0;
+        bounds.upperBound = 1;
+        return bounds;
+
+    case ZSTD_c_format:
+        ZSTD_STATIC_ASSERT(ZSTD_f_zstd1 < ZSTD_f_zstd1_magicless);
+        bounds.lowerBound = ZSTD_f_zstd1;
+        bounds.upperBound = ZSTD_f_zstd1_magicless;   /* note : how to ensure at compile time that this is the highest value enum ? */
+        return bounds;
+
+    case ZSTD_c_forceAttachDict:
+        ZSTD_STATIC_ASSERT(ZSTD_dictDefaultAttach < ZSTD_dictForceCopy);
+        bounds.lowerBound = ZSTD_dictDefaultAttach;
+        bounds.upperBound = ZSTD_dictForceCopy;       /* note : how to ensure at compile time that this is the highest value enum ? */
+        return bounds;
+
+    default:
+        {   ZSTD_bounds const boundError = { ERROR(parameter_unsupported), 0, 0 };
+            return boundError;
+        }
+    }
+}
+
+/* ZSTD_cParam_withinBounds:
+ * @return 1 if value is within cParam bounds,
+ * 0 otherwise */
+static int ZSTD_cParam_withinBounds(ZSTD_cParameter cParam, int value)
+{
+    ZSTD_bounds const bounds = ZSTD_cParam_getBounds(cParam);
+    if (ZSTD_isError(bounds.error)) return 0;
+    if (value < bounds.lowerBound) return 0;
+    if (value > bounds.upperBound) return 0;
+    return 1;
+}
+
+#define BOUNDCHECK(cParam, val) {                  \
+    if (!ZSTD_cParam_withinBounds(cParam,val)) {   \
+        return ERROR(parameter_outOfBound);        \
 }   }
 
 
@@ -244,38 +388,39 @@ static int ZSTD_isUpdateAuthorized(ZSTD_cParameter param)
 {
     switch(param)
     {
-    case ZSTD_p_compressionLevel:
-    case ZSTD_p_hashLog:
-    case ZSTD_p_chainLog:
-    case ZSTD_p_searchLog:
-    case ZSTD_p_minMatch:
-    case ZSTD_p_targetLength:
-    case ZSTD_p_compressionStrategy:
-    case ZSTD_p_compressLiterals:
+    case ZSTD_c_compressionLevel:
+    case ZSTD_c_hashLog:
+    case ZSTD_c_chainLog:
+    case ZSTD_c_searchLog:
+    case ZSTD_c_minMatch:
+    case ZSTD_c_targetLength:
+    case ZSTD_c_strategy:
         return 1;
 
-    case ZSTD_p_format:
-    case ZSTD_p_windowLog:
-    case ZSTD_p_contentSizeFlag:
-    case ZSTD_p_checksumFlag:
-    case ZSTD_p_dictIDFlag:
-    case ZSTD_p_forceMaxWindow :
-    case ZSTD_p_nbWorkers:
-    case ZSTD_p_jobSize:
-    case ZSTD_p_overlapSizeLog:
-    case ZSTD_p_enableLongDistanceMatching:
-    case ZSTD_p_ldmHashLog:
-    case ZSTD_p_ldmMinMatch:
-    case ZSTD_p_ldmBucketSizeLog:
-    case ZSTD_p_ldmHashEveryLog:
+    case ZSTD_c_format:
+    case ZSTD_c_windowLog:
+    case ZSTD_c_contentSizeFlag:
+    case ZSTD_c_checksumFlag:
+    case ZSTD_c_dictIDFlag:
+    case ZSTD_c_forceMaxWindow :
+    case ZSTD_c_nbWorkers:
+    case ZSTD_c_jobSize:
+    case ZSTD_c_overlapLog:
+    case ZSTD_c_rsyncable:
+    case ZSTD_c_enableLongDistanceMatching:
+    case ZSTD_c_ldmHashLog:
+    case ZSTD_c_ldmMinMatch:
+    case ZSTD_c_ldmBucketSizeLog:
+    case ZSTD_c_ldmHashRateLog:
+    case ZSTD_c_forceAttachDict:
     default:
         return 0;
     }
 }
 
-size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, unsigned value)
+size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, int value)
 {
-    DEBUGLOG(4, "ZSTD_CCtx_setParameter (%u, %u)", (U32)param, value);
+    DEBUGLOG(4, "ZSTD_CCtx_setParameter (%i, %i)", (int)param, value);
     if (cctx->streamStage != zcss_init) {
         if (ZSTD_isUpdateAuthorized(param)) {
             cctx->cParamsChanged = 1;
@@ -285,49 +430,52 @@ size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, unsigned v
 
     switch(param)
     {
-    case ZSTD_p_format :
+    case ZSTD_c_format :
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_compressionLevel:
+    case ZSTD_c_compressionLevel:
         if (cctx->cdict) return ERROR(stage_wrong);
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_windowLog:
-    case ZSTD_p_hashLog:
-    case ZSTD_p_chainLog:
-    case ZSTD_p_searchLog:
-    case ZSTD_p_minMatch:
-    case ZSTD_p_targetLength:
-    case ZSTD_p_compressionStrategy:
+    case ZSTD_c_windowLog:
+    case ZSTD_c_hashLog:
+    case ZSTD_c_chainLog:
+    case ZSTD_c_searchLog:
+    case ZSTD_c_minMatch:
+    case ZSTD_c_targetLength:
+    case ZSTD_c_strategy:
         if (cctx->cdict) return ERROR(stage_wrong);
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_compressLiterals:
-    case ZSTD_p_contentSizeFlag:
-    case ZSTD_p_checksumFlag:
-    case ZSTD_p_dictIDFlag:
+    case ZSTD_c_contentSizeFlag:
+    case ZSTD_c_checksumFlag:
+    case ZSTD_c_dictIDFlag:
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_forceMaxWindow :  /* Force back-references to remain < windowSize,
+    case ZSTD_c_forceMaxWindow :  /* Force back-references to remain < windowSize,
                                    * even when referencing into Dictionary content.
                                    * default : 0 when using a CDict, 1 when using a Prefix */
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_nbWorkers:
-        if ((value>0) && cctx->staticSize) {
+    case ZSTD_c_forceAttachDict:
+        return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
+
+    case ZSTD_c_nbWorkers:
+        if ((value!=0) && cctx->staticSize) {
             return ERROR(parameter_unsupported);  /* MT not compatible with static alloc */
         }
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_jobSize:
-    case ZSTD_p_overlapSizeLog:
+    case ZSTD_c_jobSize:
+    case ZSTD_c_overlapLog:
+    case ZSTD_c_rsyncable:
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
-    case ZSTD_p_enableLongDistanceMatching:
-    case ZSTD_p_ldmHashLog:
-    case ZSTD_p_ldmMinMatch:
-    case ZSTD_p_ldmBucketSizeLog:
-    case ZSTD_p_ldmHashEveryLog:
+    case ZSTD_c_enableLongDistanceMatching:
+    case ZSTD_c_ldmHashLog:
+    case ZSTD_c_ldmMinMatch:
+    case ZSTD_c_ldmBucketSizeLog:
+    case ZSTD_c_ldmHashRateLog:
         if (cctx->cdict) return ERROR(stage_wrong);
         return ZSTD_CCtxParam_setParameter(&cctx->requestedParams, param, value);
 
@@ -335,148 +483,257 @@ size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, unsigned v
     }
 }
 
-size_t ZSTD_CCtxParam_setParameter(
-        ZSTD_CCtx_params* CCtxParams, ZSTD_cParameter param, unsigned value)
+size_t ZSTD_CCtxParam_setParameter(ZSTD_CCtx_params* CCtxParams,
+                                   ZSTD_cParameter param, int value)
 {
-    DEBUGLOG(4, "ZSTD_CCtxParam_setParameter (%u, %u)", (U32)param, value);
+    DEBUGLOG(4, "ZSTD_CCtxParam_setParameter (%i, %i)", (int)param, value);
     switch(param)
     {
-    case ZSTD_p_format :
-        if (value > (unsigned)ZSTD_f_zstd1_magicless)
-            return ERROR(parameter_unsupported);
+    case ZSTD_c_format :
+        BOUNDCHECK(ZSTD_c_format, value);
         CCtxParams->format = (ZSTD_format_e)value;
         return (size_t)CCtxParams->format;
 
-    case ZSTD_p_compressionLevel : {
-        int cLevel = (int)value;  /* cast expected to restore negative sign */
+    case ZSTD_c_compressionLevel : {
+        int cLevel = value;
         if (cLevel > ZSTD_maxCLevel()) cLevel = ZSTD_maxCLevel();
+        if (cLevel < ZSTD_minCLevel()) cLevel = ZSTD_minCLevel();
         if (cLevel) {  /* 0 : does not change current level */
-            CCtxParams->disableLiteralCompression = (cLevel<0);  /* negative levels disable huffman */
             CCtxParams->compressionLevel = cLevel;
         }
         if (CCtxParams->compressionLevel >= 0) return CCtxParams->compressionLevel;
         return 0;  /* return type (size_t) cannot represent negative values */
     }
 
-    case ZSTD_p_windowLog :
-        if (value>0)   /* 0 => use default */
-            CLAMPCHECK(value, ZSTD_WINDOWLOG_MIN, ZSTD_WINDOWLOG_MAX);
+    case ZSTD_c_windowLog :
+        if (value!=0)   /* 0 => use default */
+            BOUNDCHECK(ZSTD_c_windowLog, value);
         CCtxParams->cParams.windowLog = value;
         return CCtxParams->cParams.windowLog;
 
-    case ZSTD_p_hashLog :
-        if (value>0)   /* 0 => use default */
-            CLAMPCHECK(value, ZSTD_HASHLOG_MIN, ZSTD_HASHLOG_MAX);
+    case ZSTD_c_hashLog :
+        if (value!=0)   /* 0 => use default */
+            BOUNDCHECK(ZSTD_c_hashLog, value);
         CCtxParams->cParams.hashLog = value;
         return CCtxParams->cParams.hashLog;
 
-    case ZSTD_p_chainLog :
-        if (value>0)   /* 0 => use default */
-            CLAMPCHECK(value, ZSTD_CHAINLOG_MIN, ZSTD_CHAINLOG_MAX);
+    case ZSTD_c_chainLog :
+        if (value!=0)   /* 0 => use default */
+            BOUNDCHECK(ZSTD_c_chainLog, value);
         CCtxParams->cParams.chainLog = value;
         return CCtxParams->cParams.chainLog;
 
-    case ZSTD_p_searchLog :
-        if (value>0)   /* 0 => use default */
-            CLAMPCHECK(value, ZSTD_SEARCHLOG_MIN, ZSTD_SEARCHLOG_MAX);
+    case ZSTD_c_searchLog :
+        if (value!=0)   /* 0 => use default */
+            BOUNDCHECK(ZSTD_c_searchLog, value);
         CCtxParams->cParams.searchLog = value;
         return value;
 
-    case ZSTD_p_minMatch :
-        if (value>0)   /* 0 => use default */
-            CLAMPCHECK(value, ZSTD_SEARCHLENGTH_MIN, ZSTD_SEARCHLENGTH_MAX);
-        CCtxParams->cParams.searchLength = value;
-        return CCtxParams->cParams.searchLength;
+    case ZSTD_c_minMatch :
+        if (value!=0)   /* 0 => use default */
+            BOUNDCHECK(ZSTD_c_minMatch, value);
+        CCtxParams->cParams.minMatch = value;
+        return CCtxParams->cParams.minMatch;
 
-    case ZSTD_p_targetLength :
-        /* all values are valid. 0 => use default */
+    case ZSTD_c_targetLength :
+        BOUNDCHECK(ZSTD_c_targetLength, value);
         CCtxParams->cParams.targetLength = value;
         return CCtxParams->cParams.targetLength;
 
-    case ZSTD_p_compressionStrategy :
-        if (value>0)   /* 0 => use default */
-            CLAMPCHECK(value, (unsigned)ZSTD_fast, (unsigned)ZSTD_btultra);
+    case ZSTD_c_strategy :
+        if (value!=0)   /* 0 => use default */
+            BOUNDCHECK(ZSTD_c_strategy, value);
         CCtxParams->cParams.strategy = (ZSTD_strategy)value;
         return (size_t)CCtxParams->cParams.strategy;
 
-    case ZSTD_p_compressLiterals:
-        CCtxParams->disableLiteralCompression = !value;
-        return !CCtxParams->disableLiteralCompression;
-
-    case ZSTD_p_contentSizeFlag :
+    case ZSTD_c_contentSizeFlag :
         /* Content size written in frame header _when known_ (default:1) */
-        DEBUGLOG(4, "set content size flag = %u", (value>0));
-        CCtxParams->fParams.contentSizeFlag = value > 0;
+        DEBUGLOG(4, "set content size flag = %u", (value!=0));
+        CCtxParams->fParams.contentSizeFlag = value != 0;
         return CCtxParams->fParams.contentSizeFlag;
 
-    case ZSTD_p_checksumFlag :
+    case ZSTD_c_checksumFlag :
         /* A 32-bits content checksum will be calculated and written at end of frame (default:0) */
-        CCtxParams->fParams.checksumFlag = value > 0;
+        CCtxParams->fParams.checksumFlag = value != 0;
         return CCtxParams->fParams.checksumFlag;
 
-    case ZSTD_p_dictIDFlag : /* When applicable, dictionary's dictID is provided in frame header (default:1) */
-        DEBUGLOG(4, "set dictIDFlag = %u", (value>0));
+    case ZSTD_c_dictIDFlag : /* When applicable, dictionary's dictID is provided in frame header (default:1) */
+        DEBUGLOG(4, "set dictIDFlag = %u", (value!=0));
         CCtxParams->fParams.noDictIDFlag = !value;
         return !CCtxParams->fParams.noDictIDFlag;
 
-    case ZSTD_p_forceMaxWindow :
-        CCtxParams->forceWindow = (value > 0);
+    case ZSTD_c_forceMaxWindow :
+        CCtxParams->forceWindow = (value != 0);
         return CCtxParams->forceWindow;
 
-    case ZSTD_p_nbWorkers :
+    case ZSTD_c_forceAttachDict : {
+        const ZSTD_dictAttachPref_e pref = (ZSTD_dictAttachPref_e)value;
+        BOUNDCHECK(ZSTD_c_forceAttachDict, pref);
+        CCtxParams->attachDictPref = pref;
+        return CCtxParams->attachDictPref;
+    }
+
+    case ZSTD_c_nbWorkers :
 #ifndef ZSTD_MULTITHREAD
-        if (value>0) return ERROR(parameter_unsupported);
+        if (value!=0) return ERROR(parameter_unsupported);
         return 0;
 #else
         return ZSTDMT_CCtxParam_setNbWorkers(CCtxParams, value);
 #endif
 
-    case ZSTD_p_jobSize :
+    case ZSTD_c_jobSize :
 #ifndef ZSTD_MULTITHREAD
         return ERROR(parameter_unsupported);
 #else
         return ZSTDMT_CCtxParam_setMTCtxParameter(CCtxParams, ZSTDMT_p_jobSize, value);
 #endif
 
-    case ZSTD_p_overlapSizeLog :
+    case ZSTD_c_overlapLog :
 #ifndef ZSTD_MULTITHREAD
         return ERROR(parameter_unsupported);
 #else
-        return ZSTDMT_CCtxParam_setMTCtxParameter(CCtxParams, ZSTDMT_p_overlapSectionLog, value);
+        return ZSTDMT_CCtxParam_setMTCtxParameter(CCtxParams, ZSTDMT_p_overlapLog, value);
 #endif
 
-    case ZSTD_p_enableLongDistanceMatching :
-        CCtxParams->ldmParams.enableLdm = (value>0);
+    case ZSTD_c_rsyncable :
+#ifndef ZSTD_MULTITHREAD
+        return ERROR(parameter_unsupported);
+#else
+        return ZSTDMT_CCtxParam_setMTCtxParameter(CCtxParams, ZSTDMT_p_rsyncable, value);
+#endif
+
+    case ZSTD_c_enableLongDistanceMatching :
+        CCtxParams->ldmParams.enableLdm = (value!=0);
         return CCtxParams->ldmParams.enableLdm;
 
-    case ZSTD_p_ldmHashLog :
-        if (value>0)   /* 0 ==> auto */
-            CLAMPCHECK(value, ZSTD_HASHLOG_MIN, ZSTD_HASHLOG_MAX);
+    case ZSTD_c_ldmHashLog :
+        if (value!=0)   /* 0 ==> auto */
+            BOUNDCHECK(ZSTD_c_ldmHashLog, value);
         CCtxParams->ldmParams.hashLog = value;
         return CCtxParams->ldmParams.hashLog;
 
-    case ZSTD_p_ldmMinMatch :
-        if (value>0)   /* 0 ==> default */
-            CLAMPCHECK(value, ZSTD_LDM_MINMATCH_MIN, ZSTD_LDM_MINMATCH_MAX);
+    case ZSTD_c_ldmMinMatch :
+        if (value!=0)   /* 0 ==> default */
+            BOUNDCHECK(ZSTD_c_ldmMinMatch, value);
         CCtxParams->ldmParams.minMatchLength = value;
         return CCtxParams->ldmParams.minMatchLength;
 
-    case ZSTD_p_ldmBucketSizeLog :
-        if (value > ZSTD_LDM_BUCKETSIZELOG_MAX)
-            return ERROR(parameter_outOfBound);
+    case ZSTD_c_ldmBucketSizeLog :
+        if (value!=0)   /* 0 ==> default */
+            BOUNDCHECK(ZSTD_c_ldmBucketSizeLog, value);
         CCtxParams->ldmParams.bucketSizeLog = value;
         return CCtxParams->ldmParams.bucketSizeLog;
 
-    case ZSTD_p_ldmHashEveryLog :
+    case ZSTD_c_ldmHashRateLog :
         if (value > ZSTD_WINDOWLOG_MAX - ZSTD_HASHLOG_MIN)
             return ERROR(parameter_outOfBound);
-        CCtxParams->ldmParams.hashEveryLog = value;
-        return CCtxParams->ldmParams.hashEveryLog;
+        CCtxParams->ldmParams.hashRateLog = value;
+        return CCtxParams->ldmParams.hashRateLog;
 
     default: return ERROR(parameter_unsupported);
     }
 }
 
+size_t ZSTD_CCtx_getParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, int* value)
+{
+    return ZSTD_CCtxParam_getParameter(&cctx->requestedParams, param, value);
+}
+
+size_t ZSTD_CCtxParam_getParameter(
+        ZSTD_CCtx_params* CCtxParams, ZSTD_cParameter param, int* value)
+{
+    switch(param)
+    {
+    case ZSTD_c_format :
+        *value = CCtxParams->format;
+        break;
+    case ZSTD_c_compressionLevel :
+        *value = CCtxParams->compressionLevel;
+        break;
+    case ZSTD_c_windowLog :
+        *value = CCtxParams->cParams.windowLog;
+        break;
+    case ZSTD_c_hashLog :
+        *value = CCtxParams->cParams.hashLog;
+        break;
+    case ZSTD_c_chainLog :
+        *value = CCtxParams->cParams.chainLog;
+        break;
+    case ZSTD_c_searchLog :
+        *value = CCtxParams->cParams.searchLog;
+        break;
+    case ZSTD_c_minMatch :
+        *value = CCtxParams->cParams.minMatch;
+        break;
+    case ZSTD_c_targetLength :
+        *value = CCtxParams->cParams.targetLength;
+        break;
+    case ZSTD_c_strategy :
+        *value = (unsigned)CCtxParams->cParams.strategy;
+        break;
+    case ZSTD_c_contentSizeFlag :
+        *value = CCtxParams->fParams.contentSizeFlag;
+        break;
+    case ZSTD_c_checksumFlag :
+        *value = CCtxParams->fParams.checksumFlag;
+        break;
+    case ZSTD_c_dictIDFlag :
+        *value = !CCtxParams->fParams.noDictIDFlag;
+        break;
+    case ZSTD_c_forceMaxWindow :
+        *value = CCtxParams->forceWindow;
+        break;
+    case ZSTD_c_forceAttachDict :
+        *value = CCtxParams->attachDictPref;
+        break;
+    case ZSTD_c_nbWorkers :
+#ifndef ZSTD_MULTITHREAD
+        assert(CCtxParams->nbWorkers == 0);
+#endif
+        *value = CCtxParams->nbWorkers;
+        break;
+    case ZSTD_c_jobSize :
+#ifndef ZSTD_MULTITHREAD
+        return ERROR(parameter_unsupported);
+#else
+        assert(CCtxParams->jobSize <= INT_MAX);
+        *value = (int)CCtxParams->jobSize;
+        break;
+#endif
+    case ZSTD_c_overlapLog :
+#ifndef ZSTD_MULTITHREAD
+        return ERROR(parameter_unsupported);
+#else
+        *value = CCtxParams->overlapLog;
+        break;
+#endif
+    case ZSTD_c_rsyncable :
+#ifndef ZSTD_MULTITHREAD
+        return ERROR(parameter_unsupported);
+#else
+        *value = CCtxParams->rsyncable;
+        break;
+#endif
+    case ZSTD_c_enableLongDistanceMatching :
+        *value = CCtxParams->ldmParams.enableLdm;
+        break;
+    case ZSTD_c_ldmHashLog :
+        *value = CCtxParams->ldmParams.hashLog;
+        break;
+    case ZSTD_c_ldmMinMatch :
+        *value = CCtxParams->ldmParams.minMatchLength;
+        break;
+    case ZSTD_c_ldmBucketSizeLog :
+        *value = CCtxParams->ldmParams.bucketSizeLog;
+        break;
+    case ZSTD_c_ldmHashRateLog :
+        *value = CCtxParams->ldmParams.hashRateLog;
+        break;
+    default: return ERROR(parameter_unsupported);
+    }
+    return 0;
+}
+
 /** ZSTD_CCtx_setParametersUsingCCtxParams() :
  *  just applies `params` into `cctx`
  *  no action is performed, parameters are merely stored.
@@ -487,6 +744,7 @@ size_t ZSTD_CCtxParam_setParameter(
 size_t ZSTD_CCtx_setParametersUsingCCtxParams(
         ZSTD_CCtx* cctx, const ZSTD_CCtx_params* params)
 {
+    DEBUGLOG(4, "ZSTD_CCtx_setParametersUsingCCtxParams");
     if (cctx->streamStage != zcss_init) return ERROR(stage_wrong);
     if (cctx->cdict) return ERROR(stage_wrong);
 
@@ -565,53 +823,59 @@ size_t ZSTD_CCtx_refPrefix_advanced(
     return 0;
 }
 
-static void ZSTD_startNewCompression(ZSTD_CCtx* cctx)
-{
-    cctx->streamStage = zcss_init;
-    cctx->pledgedSrcSizePlusOne = 0;
-}
-
 /*! ZSTD_CCtx_reset() :
  *  Also dumps dictionary */
-void ZSTD_CCtx_reset(ZSTD_CCtx* cctx)
+size_t ZSTD_CCtx_reset(ZSTD_CCtx* cctx, ZSTD_ResetDirective reset)
 {
-    ZSTD_startNewCompression(cctx);
-    cctx->cdict = NULL;
+    if ( (reset == ZSTD_reset_session_only)
+      || (reset == ZSTD_reset_session_and_parameters) ) {
+        cctx->streamStage = zcss_init;
+        cctx->pledgedSrcSizePlusOne = 0;
+    }
+    if ( (reset == ZSTD_reset_parameters)
+      || (reset == ZSTD_reset_session_and_parameters) ) {
+        if (cctx->streamStage != zcss_init) return ERROR(stage_wrong);
+        cctx->cdict = NULL;
+        return ZSTD_CCtxParams_reset(&cctx->requestedParams);
+    }
+    return 0;
 }
 
+
 /** ZSTD_checkCParams() :
     control CParam values remain within authorized range.
     @return : 0, or an error code if one value is beyond authorized range */
 size_t ZSTD_checkCParams(ZSTD_compressionParameters cParams)
 {
-    CLAMPCHECK(cParams.windowLog, ZSTD_WINDOWLOG_MIN, ZSTD_WINDOWLOG_MAX);
-    CLAMPCHECK(cParams.chainLog, ZSTD_CHAINLOG_MIN, ZSTD_CHAINLOG_MAX);
-    CLAMPCHECK(cParams.hashLog, ZSTD_HASHLOG_MIN, ZSTD_HASHLOG_MAX);
-    CLAMPCHECK(cParams.searchLog, ZSTD_SEARCHLOG_MIN, ZSTD_SEARCHLOG_MAX);
-    CLAMPCHECK(cParams.searchLength, ZSTD_SEARCHLENGTH_MIN, ZSTD_SEARCHLENGTH_MAX);
-    if ((U32)(cParams.targetLength) < ZSTD_TARGETLENGTH_MIN)
-        return ERROR(parameter_unsupported);
-    if ((U32)(cParams.strategy) > (U32)ZSTD_btultra)
-        return ERROR(parameter_unsupported);
+    BOUNDCHECK(ZSTD_c_windowLog, cParams.windowLog);
+    BOUNDCHECK(ZSTD_c_chainLog,  cParams.chainLog);
+    BOUNDCHECK(ZSTD_c_hashLog,   cParams.hashLog);
+    BOUNDCHECK(ZSTD_c_searchLog, cParams.searchLog);
+    BOUNDCHECK(ZSTD_c_minMatch,  cParams.minMatch);
+    BOUNDCHECK(ZSTD_c_targetLength,cParams.targetLength);
+    BOUNDCHECK(ZSTD_c_strategy,  cParams.strategy);
     return 0;
 }
 
 /** ZSTD_clampCParams() :
  *  make CParam values within valid range.
  *  @return : valid CParams */
-static ZSTD_compressionParameters ZSTD_clampCParams(ZSTD_compressionParameters cParams)
-{
-#   define CLAMP(val,min,max) {      \
-        if (val<min) val=min;        \
-        else if (val>max) val=max;   \
-    }
-    CLAMP(cParams.windowLog, ZSTD_WINDOWLOG_MIN, ZSTD_WINDOWLOG_MAX);
-    CLAMP(cParams.chainLog, ZSTD_CHAINLOG_MIN, ZSTD_CHAINLOG_MAX);
-    CLAMP(cParams.hashLog, ZSTD_HASHLOG_MIN, ZSTD_HASHLOG_MAX);
-    CLAMP(cParams.searchLog, ZSTD_SEARCHLOG_MIN, ZSTD_SEARCHLOG_MAX);
-    CLAMP(cParams.searchLength, ZSTD_SEARCHLENGTH_MIN, ZSTD_SEARCHLENGTH_MAX);
-    if ((U32)(cParams.targetLength) < ZSTD_TARGETLENGTH_MIN) cParams.targetLength = ZSTD_TARGETLENGTH_MIN;
-    if ((U32)(cParams.strategy) > (U32)ZSTD_btultra) cParams.strategy = ZSTD_btultra;
+static ZSTD_compressionParameters
+ZSTD_clampCParams(ZSTD_compressionParameters cParams)
+{
+#   define CLAMP_TYPE(cParam, val, type) {                                \
+        ZSTD_bounds const bounds = ZSTD_cParam_getBounds(cParam);         \
+        if ((int)val<bounds.lowerBound) val=(type)bounds.lowerBound;      \
+        else if ((int)val>bounds.upperBound) val=(type)bounds.upperBound; \
+    }
+#   define CLAMP(cParam, val) CLAMP_TYPE(cParam, val, int)
+    CLAMP(ZSTD_c_windowLog, cParams.windowLog);
+    CLAMP(ZSTD_c_chainLog,  cParams.chainLog);
+    CLAMP(ZSTD_c_hashLog,   cParams.hashLog);
+    CLAMP(ZSTD_c_searchLog, cParams.searchLog);
+    CLAMP(ZSTD_c_minMatch,  cParams.minMatch);
+    CLAMP(ZSTD_c_targetLength,cParams.targetLength);
+    CLAMP_TYPE(ZSTD_c_strategy,cParams.strategy, ZSTD_strategy);
     return cParams;
 }
 
@@ -627,8 +891,11 @@ static U32 ZSTD_cycleLog(U32 hashLog, ZSTD_strategy strat)
     optimize `cPar` for a given input (`srcSize` and `dictSize`).
     mostly downsizing to reduce memory consumption and initialization latency.
     Both `srcSize` and `dictSize` are optional (use 0 if unknown).
-    Note : cPar is considered validated at this stage. Use ZSTD_checkCParams() to ensure that condition. */
-ZSTD_compressionParameters ZSTD_adjustCParams_internal(ZSTD_compressionParameters cPar, unsigned long long srcSize, size_t dictSize)
+    Note : cPar is assumed validated. Use ZSTD_checkCParams() to ensure this condition. */
+static ZSTD_compressionParameters
+ZSTD_adjustCParams_internal(ZSTD_compressionParameters cPar,
+                            unsigned long long srcSize,
+                            size_t dictSize)
 {
     static const U64 minSrcSize = 513; /* (1<<9) + 1 */
     static const U64 maxWindowResize = 1ULL << (ZSTD_WINDOWLOG_MAX-1);
@@ -648,7 +915,7 @@ ZSTD_compressionParameters ZSTD_adjustCParams_internal(ZSTD_compressionParameter
                             ZSTD_highbit32(tSize-1) + 1;
         if (cPar.windowLog > srcLog) cPar.windowLog = srcLog;
     }
-    if (cPar.hashLog > cPar.windowLog) cPar.hashLog = cPar.windowLog;
+    if (cPar.hashLog > cPar.windowLog+1) cPar.hashLog = cPar.windowLog+1;
     {   U32 const cycleLog = ZSTD_cycleLog(cPar.chainLog, cPar.strategy);
         if (cycleLog > cPar.windowLog)
             cPar.chainLog -= (cycleLog - cPar.windowLog);
@@ -660,23 +927,43 @@ ZSTD_compressionParameters ZSTD_adjustCParams_internal(ZSTD_compressionParameter
     return cPar;
 }
 
-ZSTD_compressionParameters ZSTD_adjustCParams(ZSTD_compressionParameters cPar, unsigned long long srcSize, size_t dictSize)
+ZSTD_compressionParameters
+ZSTD_adjustCParams(ZSTD_compressionParameters cPar,
+                   unsigned long long srcSize,
+                   size_t dictSize)
 {
     cPar = ZSTD_clampCParams(cPar);
     return ZSTD_adjustCParams_internal(cPar, srcSize, dictSize);
 }
 
-static size_t ZSTD_sizeof_matchState(ZSTD_compressionParameters const* cParams, const U32 forCCtx)
+ZSTD_compressionParameters ZSTD_getCParamsFromCCtxParams(
+        const ZSTD_CCtx_params* CCtxParams, U64 srcSizeHint, size_t dictSize)
+{
+    ZSTD_compressionParameters cParams = ZSTD_getCParams(CCtxParams->compressionLevel, srcSizeHint, dictSize);
+    if (CCtxParams->ldmParams.enableLdm) cParams.windowLog = ZSTD_LDM_DEFAULT_WINDOW_LOG;
+    if (CCtxParams->cParams.windowLog) cParams.windowLog = CCtxParams->cParams.windowLog;
+    if (CCtxParams->cParams.hashLog) cParams.hashLog = CCtxParams->cParams.hashLog;
+    if (CCtxParams->cParams.chainLog) cParams.chainLog = CCtxParams->cParams.chainLog;
+    if (CCtxParams->cParams.searchLog) cParams.searchLog = CCtxParams->cParams.searchLog;
+    if (CCtxParams->cParams.minMatch) cParams.minMatch = CCtxParams->cParams.minMatch;
+    if (CCtxParams->cParams.targetLength) cParams.targetLength = CCtxParams->cParams.targetLength;
+    if (CCtxParams->cParams.strategy) cParams.strategy = CCtxParams->cParams.strategy;
+    assert(!ZSTD_checkCParams(cParams));
+    return ZSTD_adjustCParams_internal(cParams, srcSizeHint, dictSize);
+}
+
+static size_t
+ZSTD_sizeof_matchState(const ZSTD_compressionParameters* const cParams,
+                       const U32 forCCtx)
 {
     size_t const chainSize = (cParams->strategy == ZSTD_fast) ? 0 : ((size_t)1 << cParams->chainLog);
     size_t const hSize = ((size_t)1) << cParams->hashLog;
-    U32    const hashLog3 = (forCCtx && cParams->searchLength==3) ? MIN(ZSTD_HASHLOG3_MAX, cParams->windowLog) : 0;
+    U32    const hashLog3 = (forCCtx && cParams->minMatch==3) ? MIN(ZSTD_HASHLOG3_MAX, cParams->windowLog) : 0;
     size_t const h3Size = ((size_t)1) << hashLog3;
     size_t const tableSpace = (chainSize + hSize + h3Size) * sizeof(U32);
     size_t const optPotentialSpace = ((MaxML+1) + (MaxLL+1) + (MaxOff+1) + (1<<Litbits)) * sizeof(U32)
                           + (ZSTD_OPT_NUM+1) * (sizeof(ZSTD_match_t)+sizeof(ZSTD_optimal_t));
-    size_t const optSpace = (forCCtx && ((cParams->strategy == ZSTD_btopt) ||
-                                         (cParams->strategy == ZSTD_btultra)))
+    size_t const optSpace = (forCCtx && (cParams->strategy >= ZSTD_btopt))
                                 ? optPotentialSpace
                                 : 0;
     DEBUGLOG(4, "chainSize: %u - hSize: %u - h3Size: %u",
@@ -691,9 +978,9 @@ size_t ZSTD_estimateCCtxSize_usingCCtxParams(const ZSTD_CCtx_params* params)
     {   ZSTD_compressionParameters const cParams =
                 ZSTD_getCParamsFromCCtxParams(params, 0, 0);
         size_t const blockSize = MIN(ZSTD_BLOCKSIZE_MAX, (size_t)1 << cParams.windowLog);
-        U32    const divider = (cParams.searchLength==3) ? 3 : 4;
+        U32    const divider = (cParams.minMatch==3) ? 3 : 4;
         size_t const maxNbSeq = blockSize / divider;
-        size_t const tokenSpace = blockSize + 11*maxNbSeq;
+        size_t const tokenSpace = WILDCOPY_OVERLENGTH + blockSize + 11*maxNbSeq;
         size_t const entropySpace = HUF_WORKSPACE_SIZE;
         size_t const blockStateSpace = 2 * sizeof(ZSTD_compressedBlockState_t);
         size_t const matchStateSize = ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 1);
@@ -726,7 +1013,7 @@ size_t ZSTD_estimateCCtxSize(int compressionLevel)
 {
     int level;
     size_t memBudget = 0;
-    for (level=1; level<=compressionLevel; level++) {
+    for (level=MIN(compressionLevel, 1); level<=compressionLevel; level++) {
         size_t const newMB = ZSTD_estimateCCtxSize_internal(level);
         if (newMB > memBudget) memBudget = newMB;
     }
@@ -752,15 +1039,17 @@ size_t ZSTD_estimateCStreamSize_usingCParams(ZSTD_compressionParameters cParams)
     return ZSTD_estimateCStreamSize_usingCCtxParams(&params);
 }
 
-static size_t ZSTD_estimateCStreamSize_internal(int compressionLevel) {
+static size_t ZSTD_estimateCStreamSize_internal(int compressionLevel)
+{
     ZSTD_compressionParameters const cParams = ZSTD_getCParams(compressionLevel, 0, 0);
     return ZSTD_estimateCStreamSize_usingCParams(cParams);
 }
 
-size_t ZSTD_estimateCStreamSize(int compressionLevel) {
+size_t ZSTD_estimateCStreamSize(int compressionLevel)
+{
     int level;
     size_t memBudget = 0;
-    for (level=1; level<=compressionLevel; level++) {
+    for (level=MIN(compressionLevel, 1); level<=compressionLevel; level++) {
         size_t const newMB = ZSTD_estimateCStreamSize_internal(level);
         if (newMB > memBudget) memBudget = newMB;
     }
@@ -786,9 +1075,27 @@ ZSTD_frameProgression ZSTD_getFrameProgression(const ZSTD_CCtx* cctx)
         fp.ingested = cctx->consumedSrcSize + buffered;
         fp.consumed = cctx->consumedSrcSize;
         fp.produced = cctx->producedCSize;
+        fp.flushed  = cctx->producedCSize;   /* simplified; some data might still be left within streaming output buffer */
+        fp.currentJobID = 0;
+        fp.nbActiveWorkers = 0;
         return fp;
 }   }
 
+/*! ZSTD_toFlushNow()
+ *  Only useful for multithreading scenarios currently (nbWorkers >= 1).
+ */
+size_t ZSTD_toFlushNow(ZSTD_CCtx* cctx)
+{
+#ifdef ZSTD_MULTITHREAD
+    if (cctx->appliedParams.nbWorkers > 0) {
+        return ZSTDMT_toFlushNow(cctx->mtctx);
+    }
+#endif
+    (void)cctx;
+    return 0;   /* over-simplification; could also check if context is currently running in streaming mode, and in which case, report how many bytes are left to be flushed within output buffer */
+}
+
+
 
 static U32 ZSTD_equivalentCParams(ZSTD_compressionParameters cParams1,
                                   ZSTD_compressionParameters cParams2)
@@ -796,7 +1103,21 @@ static U32 ZSTD_equivalentCParams(ZSTD_compressionParameters cParams1,
     return (cParams1.hashLog  == cParams2.hashLog)
          & (cParams1.chainLog == cParams2.chainLog)
          & (cParams1.strategy == cParams2.strategy)   /* opt parser space */
-         & ((cParams1.searchLength==3) == (cParams2.searchLength==3));  /* hashlog3 space */
+         & ((cParams1.minMatch==3) == (cParams2.minMatch==3));  /* hashlog3 space */
+}
+
+static void ZSTD_assertEqualCParams(ZSTD_compressionParameters cParams1,
+                                    ZSTD_compressionParameters cParams2)
+{
+    (void)cParams1;
+    (void)cParams2;
+    assert(cParams1.windowLog    == cParams2.windowLog);
+    assert(cParams1.chainLog     == cParams2.chainLog);
+    assert(cParams1.hashLog      == cParams2.hashLog);
+    assert(cParams1.searchLog    == cParams2.searchLog);
+    assert(cParams1.minMatch     == cParams2.minMatch);
+    assert(cParams1.targetLength == cParams2.targetLength);
+    assert(cParams1.strategy     == cParams2.strategy);
 }
 
 /** The parameters are equivalent if ldm is not enabled in both sets or
@@ -809,7 +1130,7 @@ static U32 ZSTD_equivalentLdmParams(ldmParams_t ldmParams1,
             ldmParams1.hashLog == ldmParams2.hashLog &&
             ldmParams1.bucketSizeLog == ldmParams2.bucketSizeLog &&
             ldmParams1.minMatchLength == ldmParams2.minMatchLength &&
-            ldmParams1.hashEveryLog == ldmParams2.hashEveryLog);
+            ldmParams1.hashRateLog == ldmParams2.hashRateLog);
 }
 
 typedef enum { ZSTDb_not_buffered, ZSTDb_buffered } ZSTD_buffered_policy_e;
@@ -817,33 +1138,51 @@ typedef enum { ZSTDb_not_buffered, ZSTDb_buffered } ZSTD_buffered_policy_e;
 /* ZSTD_sufficientBuff() :
  * check internal buffers exist for streaming if buffPol == ZSTDb_buffered .
  * Note : they are assumed to be correctly sized if ZSTD_equivalentCParams()==1 */
-static U32 ZSTD_sufficientBuff(size_t bufferSize1, size_t blockSize1,
+static U32 ZSTD_sufficientBuff(size_t bufferSize1, size_t maxNbSeq1,
+                            size_t maxNbLit1,
                             ZSTD_buffered_policy_e buffPol2,
                             ZSTD_compressionParameters cParams2,
                             U64 pledgedSrcSize)
 {
     size_t const windowSize2 = MAX(1, (size_t)MIN(((U64)1 << cParams2.windowLog), pledgedSrcSize));
     size_t const blockSize2 = MIN(ZSTD_BLOCKSIZE_MAX, windowSize2);
+    size_t const maxNbSeq2 = blockSize2 / ((cParams2.minMatch == 3) ? 3 : 4);
+    size_t const maxNbLit2 = blockSize2;
     size_t const neededBufferSize2 = (buffPol2==ZSTDb_buffered) ? windowSize2 + blockSize2 : 0;
-    DEBUGLOG(4, "ZSTD_sufficientBuff: is windowSize2=%u <= wlog1=%u",
-                (U32)windowSize2, cParams2.windowLog);
-    DEBUGLOG(4, "ZSTD_sufficientBuff: is blockSize2=%u <= blockSize1=%u",
-                (U32)blockSize2, (U32)blockSize1);
-    return (blockSize2 <= blockSize1) /* seqStore space depends on blockSize */
+    DEBUGLOG(4, "ZSTD_sufficientBuff: is neededBufferSize2=%u <= bufferSize1=%u",
+                (U32)neededBufferSize2, (U32)bufferSize1);
+    DEBUGLOG(4, "ZSTD_sufficientBuff: is maxNbSeq2=%u <= maxNbSeq1=%u",
+                (U32)maxNbSeq2, (U32)maxNbSeq1);
+    DEBUGLOG(4, "ZSTD_sufficientBuff: is maxNbLit2=%u <= maxNbLit1=%u",
+                (U32)maxNbLit2, (U32)maxNbLit1);
+    return (maxNbLit2 <= maxNbLit1)
+         & (maxNbSeq2 <= maxNbSeq1)
          & (neededBufferSize2 <= bufferSize1);
 }
 
 /** Equivalence for resetCCtx purposes */
 static U32 ZSTD_equivalentParams(ZSTD_CCtx_params params1,
                                  ZSTD_CCtx_params params2,
-                                 size_t buffSize1, size_t blockSize1,
+                                 size_t buffSize1,
+                                 size_t maxNbSeq1, size_t maxNbLit1,
                                  ZSTD_buffered_policy_e buffPol2,
                                  U64 pledgedSrcSize)
 {
     DEBUGLOG(4, "ZSTD_equivalentParams: pledgedSrcSize=%u", (U32)pledgedSrcSize);
-    return ZSTD_equivalentCParams(params1.cParams, params2.cParams) &&
-           ZSTD_equivalentLdmParams(params1.ldmParams, params2.ldmParams) &&
-           ZSTD_sufficientBuff(buffSize1, blockSize1, buffPol2, params2.cParams, pledgedSrcSize);
+    if (!ZSTD_equivalentCParams(params1.cParams, params2.cParams)) {
+      DEBUGLOG(4, "ZSTD_equivalentCParams() == 0");
+      return 0;
+    }
+    if (!ZSTD_equivalentLdmParams(params1.ldmParams, params2.ldmParams)) {
+      DEBUGLOG(4, "ZSTD_equivalentLdmParams() == 0");
+      return 0;
+    }
+    if (!ZSTD_sufficientBuff(buffSize1, maxNbSeq1, maxNbLit1, buffPol2,
+                             params2.cParams, pledgedSrcSize)) {
+      DEBUGLOG(4, "ZSTD_sufficientBuff() == 0");
+      return 0;
+    }
+    return 1;
 }
 
 static void ZSTD_reset_compressedBlockState(ZSTD_compressedBlockState_t* bs)
@@ -851,10 +1190,10 @@ static void ZSTD_reset_compressedBlockState(ZSTD_compressedBlockState_t* bs)
     int i;
     for (i = 0; i < ZSTD_REP_NUM; ++i)
         bs->rep[i] = repStartValue[i];
-    bs->entropy.hufCTable_repeatMode = HUF_repeat_none;
-    bs->entropy.offcode_repeatMode = FSE_repeat_none;
-    bs->entropy.matchlength_repeatMode = FSE_repeat_none;
-    bs->entropy.litlength_repeatMode = FSE_repeat_none;
+    bs->entropy.huf.repeatMode = HUF_repeat_none;
+    bs->entropy.fse.offcode_repeatMode = FSE_repeat_none;
+    bs->entropy.fse.matchlength_repeatMode = FSE_repeat_none;
+    bs->entropy.fse.litlength_repeatMode = FSE_repeat_none;
 }
 
 /*! ZSTD_invalidateMatchState()
@@ -865,9 +1204,11 @@ static void ZSTD_invalidateMatchState(ZSTD_matchState_t* ms)
 {
     ZSTD_window_clear(&ms->window);
 
-    ms->nextToUpdate = ms->window.dictLimit + 1;
+    ms->nextToUpdate = ms->window.dictLimit;
+    ms->nextToUpdate3 = ms->window.dictLimit;
     ms->loadedDictEnd = 0;
     ms->opt.litLengthSum = 0;  /* force reset of btopt stats */
+    ms->dictMatchState = NULL;
 }
 
 /*! ZSTD_continueCCtx() :
@@ -880,6 +1221,7 @@ static size_t ZSTD_continueCCtx(ZSTD_CCtx* cctx, ZSTD_CCtx_params params, U64 pl
 
     cctx->blockSize = blockSize;   /* previous block size could be different even for same windowLog, due to pledgedSrcSize */
     cctx->appliedParams = params;
+    cctx->blockState.matchState.cParams = params.cParams;
     cctx->pledgedSrcSizePlusOne = pledgedSrcSize+1;
     cctx->consumedSrcSize = 0;
     cctx->producedCSize = 0;
@@ -900,11 +1242,15 @@ static size_t ZSTD_continueCCtx(ZSTD_CCtx* cctx, ZSTD_CCtx_params params, U64 pl
 
 typedef enum { ZSTDcrp_continue, ZSTDcrp_noMemset } ZSTD_compResetPolicy_e;
 
-static void* ZSTD_reset_matchState(ZSTD_matchState_t* ms, void* ptr, ZSTD_compressionParameters const* cParams, ZSTD_compResetPolicy_e const crp, U32 const forCCtx)
+static void*
+ZSTD_reset_matchState(ZSTD_matchState_t* ms,
+                      void* ptr,
+                const ZSTD_compressionParameters* cParams,
+                      ZSTD_compResetPolicy_e const crp, U32 const forCCtx)
 {
     size_t const chainSize = (cParams->strategy == ZSTD_fast) ? 0 : ((size_t)1 << cParams->chainLog);
     size_t const hSize = ((size_t)1) << cParams->hashLog;
-    U32    const hashLog3 = (forCCtx && cParams->searchLength==3) ? MIN(ZSTD_HASHLOG3_MAX, cParams->windowLog) : 0;
+    U32    const hashLog3 = (forCCtx && cParams->minMatch==3) ? MIN(ZSTD_HASHLOG3_MAX, cParams->windowLog) : 0;
     size_t const h3Size = ((size_t)1) << hashLog3;
     size_t const tableSpace = (chainSize + hSize + h3Size) * sizeof(U32);
 
@@ -912,12 +1258,15 @@ static void* ZSTD_reset_matchState(ZSTD_matchState_t* ms, void* ptr, ZSTD_compre
 
     ms->hashLog3 = hashLog3;
     memset(&ms->window, 0, sizeof(ms->window));
+    ms->window.dictLimit = 1;    /* start from 1, so that 1st position is valid */
+    ms->window.lowLimit = 1;     /* it ensures first and later CCtx usages compress the same */
+    ms->window.nextSrc = ms->window.base + 1;   /* see issue #1241 */
     ZSTD_invalidateMatchState(ms);
 
     /* opt parser space */
-    if (forCCtx && ((cParams->strategy == ZSTD_btopt) | (cParams->strategy == ZSTD_btultra))) {
+    if (forCCtx && (cParams->strategy >= ZSTD_btopt)) {
         DEBUGLOG(4, "reserving optimal parser space");
-        ms->opt.litFreq = (U32*)ptr;
+        ms->opt.litFreq = (unsigned*)ptr;
         ms->opt.litLengthFreq = ms->opt.litFreq + (1<<Litbits);
         ms->opt.matchLengthFreq = ms->opt.litLengthFreq + (MaxLL+1);
         ms->opt.offCodeFreq = ms->opt.matchLengthFreq + (MaxML+1);
@@ -937,14 +1286,24 @@ static void* ZSTD_reset_matchState(ZSTD_matchState_t* ms, void* ptr, ZSTD_compre
     ms->hashTable3 = ms->chainTable + chainSize;
     ptr = ms->hashTable3 + h3Size;
 
+    ms->cParams = *cParams;
+
     assert(((size_t)ptr & 3) == 0);
     return ptr;
 }
 
+#define ZSTD_WORKSPACETOOLARGE_FACTOR 3 /* define "workspace is too large" as this number of times larger than needed */
+#define ZSTD_WORKSPACETOOLARGE_MAXDURATION 128  /* when workspace is continuously too large
+                                         * during at least this number of times,
+                                         * context's memory usage is considered wasteful,
+                                         * because it's sized to handle a worst case scenario which rarely happens.
+                                         * In which case, resize it down to free some memory */
+
 /*! ZSTD_resetCCtx_internal() :
     note : `params` are assumed fully validated at this stage */
 static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc,
-                                      ZSTD_CCtx_params params, U64 pledgedSrcSize,
+                                      ZSTD_CCtx_params params,
+                                      U64 pledgedSrcSize,
                                       ZSTD_compResetPolicy_e const crp,
                                       ZSTD_buffered_policy_e const zbuff)
 {
@@ -954,34 +1313,35 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc,
 
     if (crp == ZSTDcrp_continue) {
         if (ZSTD_equivalentParams(zc->appliedParams, params,
-                                zc->inBuffSize, zc->blockSize,
-                                zbuff, pledgedSrcSize)) {
-            DEBUGLOG(4, "ZSTD_equivalentParams()==1 -> continue mode (wLog1=%u, blockSize1=%u)",
-                        zc->appliedParams.cParams.windowLog, (U32)zc->blockSize);
-            return ZSTD_continueCCtx(zc, params, pledgedSrcSize);
+                                  zc->inBuffSize,
+                                  zc->seqStore.maxNbSeq, zc->seqStore.maxNbLit,
+                                  zbuff, pledgedSrcSize)) {
+            DEBUGLOG(4, "ZSTD_equivalentParams()==1 -> continue mode (wLog1=%u, blockSize1=%zu)",
+                        zc->appliedParams.cParams.windowLog, zc->blockSize);
+            zc->workSpaceOversizedDuration += (zc->workSpaceOversizedDuration > 0);   /* if it was too large, it still is */
+            if (zc->workSpaceOversizedDuration <= ZSTD_WORKSPACETOOLARGE_MAXDURATION)
+                return ZSTD_continueCCtx(zc, params, pledgedSrcSize);
     }   }
     DEBUGLOG(4, "ZSTD_equivalentParams()==0 -> reset CCtx");
 
     if (params.ldmParams.enableLdm) {
         /* Adjust long distance matching parameters */
-        params.ldmParams.windowLog = params.cParams.windowLog;
         ZSTD_ldm_adjustParameters(&params.ldmParams, &params.cParams);
         assert(params.ldmParams.hashLog >= params.ldmParams.bucketSizeLog);
-        assert(params.ldmParams.hashEveryLog < 32);
-        zc->ldmState.hashPower =
-                ZSTD_ldm_getHashPower(params.ldmParams.minMatchLength);
+        assert(params.ldmParams.hashRateLog < 32);
+        zc->ldmState.hashPower = ZSTD_rollingHash_primePower(params.ldmParams.minMatchLength);
     }
 
     {   size_t const windowSize = MAX(1, (size_t)MIN(((U64)1 << params.cParams.windowLog), pledgedSrcSize));
         size_t const blockSize = MIN(ZSTD_BLOCKSIZE_MAX, windowSize);
-        U32    const divider = (params.cParams.searchLength==3) ? 3 : 4;
+        U32    const divider = (params.cParams.minMatch==3) ? 3 : 4;
         size_t const maxNbSeq = blockSize / divider;
-        size_t const tokenSpace = blockSize + 11*maxNbSeq;
+        size_t const tokenSpace = WILDCOPY_OVERLENGTH + blockSize + 11*maxNbSeq;
         size_t const buffOutSize = (zbuff==ZSTDb_buffered) ? ZSTD_compressBound(blockSize)+1 : 0;
         size_t const buffInSize = (zbuff==ZSTDb_buffered) ? windowSize + blockSize : 0;
         size_t const matchStateSize = ZSTD_sizeof_matchState(&params.cParams, /* forCCtx */ 1);
         size_t const maxNbLdmSeq = ZSTD_ldm_getMaxNbSeq(params.ldmParams, blockSize);
-        void* ptr;
+        void* ptr;   /* used to partition workSpace */
 
         /* Check if workSpace is large enough, alloc a new one if needed */
         {   size_t const entropySpace = HUF_WORKSPACE_SIZE;
@@ -993,14 +1353,20 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc,
             size_t const neededSpace = entropySpace + blockStateSpace + ldmSpace +
                                        ldmSeqSpace + matchStateSize + tokenSpace +
                                        bufferSpace;
-            DEBUGLOG(4, "Need %uKB workspace, including %uKB for match state, and %uKB for buffers",
-                        (U32)(neededSpace>>10), (U32)(matchStateSize>>10), (U32)(bufferSpace>>10));
-            DEBUGLOG(4, "windowSize: %u - blockSize: %u", (U32)windowSize, (U32)blockSize);
-
-            if (zc->workSpaceSize < neededSpace) {  /* too small : resize */
-                DEBUGLOG(4, "Need to update workSpaceSize from %uK to %uK",
-                            (unsigned)(zc->workSpaceSize>>10),
-                            (unsigned)(neededSpace>>10));
+
+            int const workSpaceTooSmall = zc->workSpaceSize < neededSpace;
+            int const workSpaceTooLarge = zc->workSpaceSize > ZSTD_WORKSPACETOOLARGE_FACTOR * neededSpace;
+            int const workSpaceWasteful = workSpaceTooLarge && (zc->workSpaceOversizedDuration > ZSTD_WORKSPACETOOLARGE_MAXDURATION);
+            zc->workSpaceOversizedDuration = workSpaceTooLarge ? zc->workSpaceOversizedDuration+1 : 0;
+
+            DEBUGLOG(4, "Need %zuKB workspace, including %zuKB for match state, and %zuKB for buffers",
+                        neededSpace>>10, matchStateSize>>10, bufferSpace>>10);
+            DEBUGLOG(4, "windowSize: %zu - blockSize: %zu", windowSize, blockSize);
+
+            if (workSpaceTooSmall || workSpaceWasteful) {
+                DEBUGLOG(4, "Need to resize workSpaceSize from %zuKB to %zuKB",
+                            zc->workSpaceSize >> 10,
+                            neededSpace >> 10);
                 /* static cctx : no resize, error out */
                 if (zc->staticSize) return ERROR(memory_allocation);
 
@@ -1009,9 +1375,11 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc,
                 zc->workSpace = ZSTD_malloc(neededSpace, zc->customMem);
                 if (zc->workSpace == NULL) return ERROR(memory_allocation);
                 zc->workSpaceSize = neededSpace;
-                ptr = zc->workSpace;
+                zc->workSpaceOversizedDuration = 0;
 
-                /* Statically sized space. entropyWorkspace never moves (but prev/next block swap places) */
+                /* Statically sized space.
+                 * entropyWorkspace never moves,
+                 * though prev/next block swap places */
                 assert(((size_t)zc->workSpace & 3) == 0);   /* ensure correct alignment */
                 assert(zc->workSpaceSize >= 2 * sizeof(ZSTD_compressedBlockState_t));
                 zc->blockState.prevCBlock = (ZSTD_compressedBlockState_t*)zc->workSpace;
@@ -1022,13 +1390,14 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc,
 
         /* init params */
         zc->appliedParams = params;
+        zc->blockState.matchState.cParams = params.cParams;
         zc->pledgedSrcSizePlusOne = pledgedSrcSize+1;
         zc->consumedSrcSize = 0;
         zc->producedCSize = 0;
         if (pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN)
             zc->appliedParams.fParams.contentSizeFlag = 0;
         DEBUGLOG(4, "pledged content size : %u ; flag : %u",
-            (U32)pledgedSrcSize, zc->appliedParams.fParams.contentSizeFlag);
+            (unsigned)pledgedSrcSize, zc->appliedParams.fParams.contentSizeFlag);
         zc->blockSize = blockSize;
 
         XXH64_reset(&zc->xxhState, 0);
@@ -1058,13 +1427,18 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc,
         ptr = ZSTD_reset_matchState(&zc->blockState.matchState, ptr, &params.cParams, crp, /* forCCtx */ 1);
 
         /* sequences storage */
+        zc->seqStore.maxNbSeq = maxNbSeq;
         zc->seqStore.sequencesStart = (seqDef*)ptr;
         ptr = zc->seqStore.sequencesStart + maxNbSeq;
         zc->seqStore.llCode = (BYTE*) ptr;
         zc->seqStore.mlCode = zc->seqStore.llCode + maxNbSeq;
         zc->seqStore.ofCode = zc->seqStore.mlCode + maxNbSeq;
         zc->seqStore.litStart = zc->seqStore.ofCode + maxNbSeq;
-        ptr = zc->seqStore.litStart + blockSize;
+        /* ZSTD_wildcopy() is used to copy into the literals buffer,
+         * so we have to oversize the buffer by WILDCOPY_OVERLENGTH bytes.
+         */
+        zc->seqStore.maxNbLit = blockSize;
+        ptr = zc->seqStore.litStart + blockSize + WILDCOPY_OVERLENGTH;
 
         /* ldm bucketOffsets table */
         if (params.ldmParams.enableLdm) {
@@ -1098,28 +1472,111 @@ void ZSTD_invalidateRepCodes(ZSTD_CCtx* cctx) {
     assert(!ZSTD_window_hasExtDict(cctx->blockState.matchState.window));
 }
 
-static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx,
+/* These are the approximate sizes for each strategy past which copying the
+ * dictionary tables into the working context is faster than using them
+ * in-place.
+ */
+static const size_t attachDictSizeCutoffs[ZSTD_STRATEGY_MAX+1] = {
+    8 KB,  /* unused */
+    8 KB,  /* ZSTD_fast */
+    16 KB, /* ZSTD_dfast */
+    32 KB, /* ZSTD_greedy */
+    32 KB, /* ZSTD_lazy */
+    32 KB, /* ZSTD_lazy2 */
+    32 KB, /* ZSTD_btlazy2 */
+    32 KB, /* ZSTD_btopt */
+    8 KB,  /* ZSTD_btultra */
+    8 KB   /* ZSTD_btultra2 */
+};
+
+static int ZSTD_shouldAttachDict(const ZSTD_CDict* cdict,
+                                 ZSTD_CCtx_params params,
+                                 U64 pledgedSrcSize)
+{
+    size_t cutoff = attachDictSizeCutoffs[cdict->matchState.cParams.strategy];
+    return ( pledgedSrcSize <= cutoff
+          || pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN
+          || params.attachDictPref == ZSTD_dictForceAttach )
+        && params.attachDictPref != ZSTD_dictForceCopy
+        && !params.forceWindow; /* dictMatchState isn't correctly
+                                 * handled in _enforceMaxDist */
+}
+
+static size_t ZSTD_resetCCtx_byAttachingCDict(
+    ZSTD_CCtx* cctx,
+    const ZSTD_CDict* cdict,
+    ZSTD_CCtx_params params,
+    U64 pledgedSrcSize,
+    ZSTD_buffered_policy_e zbuff)
+{
+    {
+        const ZSTD_compressionParameters *cdict_cParams = &cdict->matchState.cParams;
+        unsigned const windowLog = params.cParams.windowLog;
+        assert(windowLog != 0);
+        /* Resize working context table params for input only, since the dict
+         * has its own tables. */
+        params.cParams = ZSTD_adjustCParams_internal(*cdict_cParams, pledgedSrcSize, 0);
+        params.cParams.windowLog = windowLog;
+        ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize,
+                                ZSTDcrp_continue, zbuff);
+        assert(cctx->appliedParams.cParams.strategy == cdict_cParams->strategy);
+    }
+
+    {
+        const U32 cdictEnd = (U32)( cdict->matchState.window.nextSrc
+                                  - cdict->matchState.window.base);
+        const U32 cdictLen = cdictEnd - cdict->matchState.window.dictLimit;
+        if (cdictLen == 0) {
+            /* don't even attach dictionaries with no contents */
+            DEBUGLOG(4, "skipping attaching empty dictionary");
+        } else {
+            DEBUGLOG(4, "attaching dictionary into context");
+            cctx->blockState.matchState.dictMatchState = &cdict->matchState;
+
+            /* prep working match state so dict matches never have negative indices
+             * when they are translated to the working context's index space. */
+            if (cctx->blockState.matchState.window.dictLimit < cdictEnd) {
+                cctx->blockState.matchState.window.nextSrc =
+                    cctx->blockState.matchState.window.base + cdictEnd;
+                ZSTD_window_clear(&cctx->blockState.matchState.window);
+            }
+            cctx->blockState.matchState.loadedDictEnd = cctx->blockState.matchState.window.dictLimit;
+        }
+    }
+
+    cctx->dictID = cdict->dictID;
+
+    /* copy block state */
+    memcpy(cctx->blockState.prevCBlock, &cdict->cBlockState, sizeof(cdict->cBlockState));
+
+    return 0;
+}
+
+static size_t ZSTD_resetCCtx_byCopyingCDict(ZSTD_CCtx* cctx,
                             const ZSTD_CDict* cdict,
-                            unsigned windowLog,
-                            ZSTD_frameParameters fParams,
+                            ZSTD_CCtx_params params,
                             U64 pledgedSrcSize,
                             ZSTD_buffered_policy_e zbuff)
 {
-    {   ZSTD_CCtx_params params = cctx->requestedParams;
+    const ZSTD_compressionParameters *cdict_cParams = &cdict->matchState.cParams;
+
+    DEBUGLOG(4, "copying dictionary into context");
+
+    {   unsigned const windowLog = params.cParams.windowLog;
+        assert(windowLog != 0);
         /* Copy only compression parameters related to tables. */
-        params.cParams = cdict->cParams;
-        if (windowLog) params.cParams.windowLog = windowLog;
-        params.fParams = fParams;
+        params.cParams = *cdict_cParams;
+        params.cParams.windowLog = windowLog;
         ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize,
                                 ZSTDcrp_noMemset, zbuff);
-        assert(cctx->appliedParams.cParams.strategy == cdict->cParams.strategy);
-        assert(cctx->appliedParams.cParams.hashLog == cdict->cParams.hashLog);
-        assert(cctx->appliedParams.cParams.chainLog == cdict->cParams.chainLog);
+        assert(cctx->appliedParams.cParams.strategy == cdict_cParams->strategy);
+        assert(cctx->appliedParams.cParams.hashLog == cdict_cParams->hashLog);
+        assert(cctx->appliedParams.cParams.chainLog == cdict_cParams->chainLog);
     }
 
     /* copy tables */
-    {   size_t const chainSize = (cdict->cParams.strategy == ZSTD_fast) ? 0 : ((size_t)1 << cdict->cParams.chainLog);
-        size_t const hSize =  (size_t)1 << cdict->cParams.hashLog;
+    {   size_t const chainSize = (cdict_cParams->strategy == ZSTD_fast) ? 0 : ((size_t)1 << cdict_cParams->chainLog);
+        size_t const hSize =  (size_t)1 << cdict_cParams->hashLog;
         size_t const tableSpace = (chainSize + hSize) * sizeof(U32);
         assert((U32*)cctx->blockState.matchState.chainTable == (U32*)cctx->blockState.matchState.hashTable + hSize);  /* chainTable must follow hashTable */
         assert((U32*)cctx->blockState.matchState.hashTable3 == (U32*)cctx->blockState.matchState.chainTable + chainSize);
@@ -1127,6 +1584,7 @@ static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx,
         assert((U32*)cdict->matchState.hashTable3 == (U32*)cdict->matchState.chainTable + chainSize);
         memcpy(cctx->blockState.matchState.hashTable, cdict->matchState.hashTable, tableSpace);   /* presumes all tables follow each other */
     }
+
     /* Zero the hashTable3, since the cdict never fills it */
     {   size_t const h3Size = (size_t)1 << cctx->blockState.matchState.hashLog3;
         assert(cdict->matchState.hashLog3 == 0);
@@ -1134,14 +1592,14 @@ static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx,
     }
 
     /* copy dictionary offsets */
-    {
-        ZSTD_matchState_t const* srcMatchState = &cdict->matchState;
+    {   ZSTD_matchState_t const* srcMatchState = &cdict->matchState;
         ZSTD_matchState_t* dstMatchState = &cctx->blockState.matchState;
         dstMatchState->window       = srcMatchState->window;
         dstMatchState->nextToUpdate = srcMatchState->nextToUpdate;
         dstMatchState->nextToUpdate3= srcMatchState->nextToUpdate3;
         dstMatchState->loadedDictEnd= srcMatchState->loadedDictEnd;
     }
+
     cctx->dictID = cdict->dictID;
 
     /* copy block state */
@@ -1150,6 +1608,28 @@ static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx,
     return 0;
 }
 
+/* We have a choice between copying the dictionary context into the working
+ * context, or referencing the dictionary context from the working context
+ * in-place. We decide here which strategy to use. */
+static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx,
+                            const ZSTD_CDict* cdict,
+                            ZSTD_CCtx_params params,
+                            U64 pledgedSrcSize,
+                            ZSTD_buffered_policy_e zbuff)
+{
+
+    DEBUGLOG(4, "ZSTD_resetCCtx_usingCDict (pledgedSrcSize=%u)",
+                (unsigned)pledgedSrcSize);
+
+    if (ZSTD_shouldAttachDict(cdict, params, pledgedSrcSize)) {
+        return ZSTD_resetCCtx_byAttachingCDict(
+            cctx, cdict, params, pledgedSrcSize, zbuff);
+    } else {
+        return ZSTD_resetCCtx_byCopyingCDict(
+            cctx, cdict, params, pledgedSrcSize, zbuff);
+    }
+}
+
 /*! ZSTD_copyCCtx_internal() :
  *  Duplicate an existing context `srcCCtx` into another one `dstCCtx`.
  *  Only works during stage ZSTDcs_init (i.e. after creation, but before first call to ZSTD_compressContinue()).
@@ -1192,7 +1672,7 @@ static size_t ZSTD_copyCCtx_internal(ZSTD_CCtx* dstCCtx,
 
     /* copy dictionary offsets */
     {
-        ZSTD_matchState_t const* srcMatchState = &srcCCtx->blockState.matchState;
+        const ZSTD_matchState_t* srcMatchState = &srcCCtx->blockState.matchState;
         ZSTD_matchState_t* dstMatchState = &dstCCtx->blockState.matchState;
         dstMatchState->window       = srcMatchState->window;
         dstMatchState->nextToUpdate = srcMatchState->nextToUpdate;
@@ -1294,15 +1774,15 @@ static void ZSTD_reduceIndex (ZSTD_CCtx* zc, const U32 reducerValue)
 
 /* See doc/zstd_compression_format.md for detailed format description */
 
-size_t ZSTD_noCompressBlock (void* dst, size_t dstCapacity, const void* src, size_t srcSize)
+static size_t ZSTD_noCompressBlock (void* dst, size_t dstCapacity, const void* src, size_t srcSize, U32 lastBlock)
 {
+    U32 const cBlockHeader24 = lastBlock + (((U32)bt_raw)<<1) + (U32)(srcSize << 3);
     if (srcSize + ZSTD_blockHeaderSize > dstCapacity) return ERROR(dstSize_tooSmall);
+    MEM_writeLE24(dst, cBlockHeader24);
     memcpy((BYTE*)dst + ZSTD_blockHeaderSize, src, srcSize);
-    MEM_writeLE24(dst, (U32)(srcSize << 2) + (U32)bt_raw);
-    return ZSTD_blockHeaderSize+srcSize;
+    return ZSTD_blockHeaderSize + srcSize;
 }
 
-
 static size_t ZSTD_noCompressLiterals (void* dst, size_t dstCapacity, const void* src, size_t srcSize)
 {
     BYTE* const ostart = (BYTE* const)dst;
@@ -1356,16 +1836,27 @@ static size_t ZSTD_compressRleLiteralsBlock (void* dst, size_t dstCapacity, cons
 }
 
 
-static size_t ZSTD_minGain(size_t srcSize) { return (srcSize >> 6) + 2; }
+/* ZSTD_minGain() :
+ * minimum compression required
+ * to generate a compress block or a compressed literals section.
+ * note : use same formula for both situations */
+static size_t ZSTD_minGain(size_t srcSize, ZSTD_strategy strat)
+{
+    U32 const minlog = (strat>=ZSTD_btultra) ? (U32)(strat) - 1 : 6;
+    ZSTD_STATIC_ASSERT(ZSTD_btultra == 8);
+    assert(ZSTD_cParam_withinBounds(ZSTD_c_strategy, strat));
+    return (srcSize >> minlog) + 2;
+}
 
-static size_t ZSTD_compressLiterals (ZSTD_entropyCTables_t const* prevEntropy,
-                                     ZSTD_entropyCTables_t* nextEntropy,
+static size_t ZSTD_compressLiterals (ZSTD_hufCTables_t const* prevHuf,
+                                     ZSTD_hufCTables_t* nextHuf,
                                      ZSTD_strategy strategy, int disableLiteralCompression,
                                      void* dst, size_t dstCapacity,
                                const void* src, size_t srcSize,
-                                     U32* workspace, const int bmi2)
+                                     void* workspace, size_t wkspSize,
+                               const int bmi2)
 {
-    size_t const minGain = ZSTD_minGain(srcSize);
+    size_t const minGain = ZSTD_minGain(srcSize, strategy);
     size_t const lhSize = 3 + (srcSize >= 1 KB) + (srcSize >= 16 KB);
     BYTE*  const ostart = (BYTE*)dst;
     U32 singleStream = srcSize < 256;
@@ -1376,27 +1867,25 @@ static size_t ZSTD_compressLiterals (ZSTD_entropyCTables_t const* prevEntropy,
                 disableLiteralCompression);
 
     /* Prepare nextEntropy assuming reusing the existing table */
-    nextEntropy->hufCTable_repeatMode = prevEntropy->hufCTable_repeatMode;
-    memcpy(nextEntropy->hufCTable, prevEntropy->hufCTable,
-           sizeof(prevEntropy->hufCTable));
+    memcpy(nextHuf, prevHuf, sizeof(*prevHuf));
 
     if (disableLiteralCompression)
         return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize);
 
     /* small ? don't even attempt compression (speed opt) */
 #   define COMPRESS_LITERALS_SIZE_MIN 63
-    {   size_t const minLitSize = (prevEntropy->hufCTable_repeatMode == HUF_repeat_valid) ? 6 : COMPRESS_LITERALS_SIZE_MIN;
+    {   size_t const minLitSize = (prevHuf->repeatMode == HUF_repeat_valid) ? 6 : COMPRESS_LITERALS_SIZE_MIN;
         if (srcSize <= minLitSize) return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize);
     }
 
     if (dstCapacity < lhSize+1) return ERROR(dstSize_tooSmall);   /* not enough space for compression */
-    {   HUF_repeat repeat = prevEntropy->hufCTable_repeatMode;
+    {   HUF_repeat repeat = prevHuf->repeatMode;
         int const preferRepeat = strategy < ZSTD_lazy ? srcSize <= 1024 : 0;
         if (repeat == HUF_repeat_valid && lhSize == 3) singleStream = 1;
         cLitSize = singleStream ? HUF_compress1X_repeat(ostart+lhSize, dstCapacity-lhSize, src, srcSize, 255, 11,
-                                      workspace, HUF_WORKSPACE_SIZE, (HUF_CElt*)nextEntropy->hufCTable, &repeat, preferRepeat, bmi2)
+                                      workspace, wkspSize, (HUF_CElt*)nextHuf->CTable, &repeat, preferRepeat, bmi2)
                                 : HUF_compress4X_repeat(ostart+lhSize, dstCapacity-lhSize, src, srcSize, 255, 11,
-                                      workspace, HUF_WORKSPACE_SIZE, (HUF_CElt*)nextEntropy->hufCTable, &repeat, preferRepeat, bmi2);
+                                      workspace, wkspSize, (HUF_CElt*)nextHuf->CTable, &repeat, preferRepeat, bmi2);
         if (repeat != HUF_repeat_none) {
             /* reused the existing table */
             hType = set_repeat;
@@ -1404,17 +1893,17 @@ static size_t ZSTD_compressLiterals (ZSTD_entropyCTables_t const* prevEntropy,
     }
 
     if ((cLitSize==0) | (cLitSize >= srcSize - minGain) | ERR_isError(cLitSize)) {
-        memcpy(nextEntropy->hufCTable, prevEntropy->hufCTable, sizeof(prevEntropy->hufCTable));
+        memcpy(nextHuf, prevHuf, sizeof(*prevHuf));
         return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize);
     }
     if (cLitSize==1) {
-        memcpy(nextEntropy->hufCTable, prevEntropy->hufCTable, sizeof(prevEntropy->hufCTable));
+        memcpy(nextHuf, prevHuf, sizeof(*prevHuf));
         return ZSTD_compressRleLiteralsBlock(dst, dstCapacity, src, srcSize);
     }
 
     if (hType == set_compressed) {
         /* using a newly constructed table */
-        nextEntropy->hufCTable_repeatMode = HUF_repeat_check;
+        nextHuf->repeatMode = HUF_repeat_check;
     }
 
     /* Build header */
@@ -1451,6 +1940,7 @@ void ZSTD_seqToCodes(const seqStore_t* seqStorePtr)
     BYTE* const mlCodeTable = seqStorePtr->mlCode;
     U32 const nbSeq = (U32)(seqStorePtr->sequences - seqStorePtr->sequencesStart);
     U32 u;
+    assert(nbSeq <= seqStorePtr->maxNbSeq);
     for (u=0; u<nbSeq; u++) {
         U32 const llv = sequences[u].litLength;
         U32 const mlv = sequences[u].matchLength;
@@ -1464,66 +1954,241 @@ void ZSTD_seqToCodes(const seqStore_t* seqStorePtr)
         mlCodeTable[seqStorePtr->longLengthPos] = MaxML;
 }
 
+
+/**
+ * -log2(x / 256) lookup table for x in [0, 256).
+ * If x == 0: Return 0
+ * Else: Return floor(-log2(x / 256) * 256)
+ */
+static unsigned const kInverseProbabiltyLog256[256] = {
+    0,    2048, 1792, 1642, 1536, 1453, 1386, 1329, 1280, 1236, 1197, 1162,
+    1130, 1100, 1073, 1047, 1024, 1001, 980,  960,  941,  923,  906,  889,
+    874,  859,  844,  830,  817,  804,  791,  779,  768,  756,  745,  734,
+    724,  714,  704,  694,  685,  676,  667,  658,  650,  642,  633,  626,
+    618,  610,  603,  595,  588,  581,  574,  567,  561,  554,  548,  542,
+    535,  529,  523,  517,  512,  506,  500,  495,  489,  484,  478,  473,
+    468,  463,  458,  453,  448,  443,  438,  434,  429,  424,  420,  415,
+    411,  407,  402,  398,  394,  390,  386,  382,  377,  373,  370,  366,
+    362,  358,  354,  350,  347,  343,  339,  336,  332,  329,  325,  322,
+    318,  315,  311,  308,  305,  302,  298,  295,  292,  289,  286,  282,
+    279,  276,  273,  270,  267,  264,  261,  258,  256,  253,  250,  247,
+    244,  241,  239,  236,  233,  230,  228,  225,  222,  220,  217,  215,
+    212,  209,  207,  204,  202,  199,  197,  194,  192,  190,  187,  185,
+    182,  180,  178,  175,  173,  171,  168,  166,  164,  162,  159,  157,
+    155,  153,  151,  149,  146,  144,  142,  140,  138,  136,  134,  132,
+    130,  128,  126,  123,  121,  119,  117,  115,  114,  112,  110,  108,
+    106,  104,  102,  100,  98,   96,   94,   93,   91,   89,   87,   85,
+    83,   82,   80,   78,   76,   74,   73,   71,   69,   67,   66,   64,
+    62,   61,   59,   57,   55,   54,   52,   50,   49,   47,   46,   44,
+    42,   41,   39,   37,   36,   34,   33,   31,   30,   28,   26,   25,
+    23,   22,   20,   19,   17,   16,   14,   13,   11,   10,   8,    7,
+    5,    4,    2,    1,
+};
+
+
+/**
+ * Returns the cost in bits of encoding the distribution described by count
+ * using the entropy bound.
+ */
+static size_t ZSTD_entropyCost(unsigned const* count, unsigned const max, size_t const total)
+{
+    unsigned cost = 0;
+    unsigned s;
+    for (s = 0; s <= max; ++s) {
+        unsigned norm = (unsigned)((256 * count[s]) / total);
+        if (count[s] != 0 && norm == 0)
+            norm = 1;
+        assert(count[s] < total);
+        cost += count[s] * kInverseProbabiltyLog256[norm];
+    }
+    return cost >> 8;
+}
+
+
+/**
+ * Returns the cost in bits of encoding the distribution in count using the
+ * table described by norm. The max symbol support by norm is assumed >= max.
+ * norm must be valid for every symbol with non-zero probability in count.
+ */
+static size_t ZSTD_crossEntropyCost(short const* norm, unsigned accuracyLog,
+                                    unsigned const* count, unsigned const max)
+{
+    unsigned const shift = 8 - accuracyLog;
+    size_t cost = 0;
+    unsigned s;
+    assert(accuracyLog <= 8);
+    for (s = 0; s <= max; ++s) {
+        unsigned const normAcc = norm[s] != -1 ? norm[s] : 1;
+        unsigned const norm256 = normAcc << shift;
+        assert(norm256 > 0);
+        assert(norm256 < 256);
+        cost += count[s] * kInverseProbabiltyLog256[norm256];
+    }
+    return cost >> 8;
+}
+
+
+static unsigned ZSTD_getFSEMaxSymbolValue(FSE_CTable const* ctable) {
+  void const* ptr = ctable;
+  U16 const* u16ptr = (U16 const*)ptr;
+  U32 const maxSymbolValue = MEM_read16(u16ptr + 1);
+  return maxSymbolValue;
+}
+
+
+/**
+ * Returns the cost in bits of encoding the distribution in count using ctable.
+ * Returns an error if ctable cannot represent all the symbols in count.
+ */
+static size_t ZSTD_fseBitCost(
+    FSE_CTable const* ctable,
+    unsigned const* count,
+    unsigned const max)
+{
+    unsigned const kAccuracyLog = 8;
+    size_t cost = 0;
+    unsigned s;
+    FSE_CState_t cstate;
+    FSE_initCState(&cstate, ctable);
+    if (ZSTD_getFSEMaxSymbolValue(ctable) < max) {
+        DEBUGLOG(5, "Repeat FSE_CTable has maxSymbolValue %u < %u",
+                    ZSTD_getFSEMaxSymbolValue(ctable), max);
+        return ERROR(GENERIC);
+    }
+    for (s = 0; s <= max; ++s) {
+        unsigned const tableLog = cstate.stateLog;
+        unsigned const badCost = (tableLog + 1) << kAccuracyLog;
+        unsigned const bitCost = FSE_bitCost(cstate.symbolTT, tableLog, s, kAccuracyLog);
+        if (count[s] == 0)
+            continue;
+        if (bitCost >= badCost) {
+            DEBUGLOG(5, "Repeat FSE_CTable has Prob[%u] == 0", s);
+            return ERROR(GENERIC);
+        }
+        cost += count[s] * bitCost;
+    }
+    return cost >> kAccuracyLog;
+}
+
+/**
+ * Returns the cost in bytes of encoding the normalized count header.
+ * Returns an error if any of the helper functions return an error.
+ */
+static size_t ZSTD_NCountCost(unsigned const* count, unsigned const max,
+                              size_t const nbSeq, unsigned const FSELog)
+{
+    BYTE wksp[FSE_NCOUNTBOUND];
+    S16 norm[MaxSeq + 1];
+    const U32 tableLog = FSE_optimalTableLog(FSELog, nbSeq, max);
+    CHECK_F(FSE_normalizeCount(norm, tableLog, count, nbSeq, max));
+    return FSE_writeNCount(wksp, sizeof(wksp), norm, max, tableLog);
+}
+
+
 typedef enum {
     ZSTD_defaultDisallowed = 0,
     ZSTD_defaultAllowed = 1
 } ZSTD_defaultPolicy_e;
 
-MEM_STATIC
-symbolEncodingType_e ZSTD_selectEncodingType(
-        FSE_repeat* repeatMode, size_t const mostFrequent, size_t nbSeq,
-        U32 defaultNormLog, ZSTD_defaultPolicy_e const isDefaultAllowed)
+MEM_STATIC symbolEncodingType_e
+ZSTD_selectEncodingType(
+        FSE_repeat* repeatMode, unsigned const* count, unsigned const max,
+        size_t const mostFrequent, size_t nbSeq, unsigned const FSELog,
+        FSE_CTable const* prevCTable,
+        short const* defaultNorm, U32 defaultNormLog,
+        ZSTD_defaultPolicy_e const isDefaultAllowed,
+        ZSTD_strategy const strategy)
 {
-#define MIN_SEQ_FOR_DYNAMIC_FSE   64
-#define MAX_SEQ_FOR_STATIC_FSE  1000
     ZSTD_STATIC_ASSERT(ZSTD_defaultDisallowed == 0 && ZSTD_defaultAllowed != 0);
-    if ((mostFrequent == nbSeq) && (!isDefaultAllowed || nbSeq > 2)) {
+    if (mostFrequent == nbSeq) {
+        *repeatMode = FSE_repeat_none;
+        if (isDefaultAllowed && nbSeq <= 2) {
+            /* Prefer set_basic over set_rle when there are 2 or less symbols,
+             * since RLE uses 1 byte, but set_basic uses 5-6 bits per symbol.
+             * If basic encoding isn't possible, always choose RLE.
+             */
+            DEBUGLOG(5, "Selected set_basic");
+            return set_basic;
+        }
         DEBUGLOG(5, "Selected set_rle");
-        /* Prefer set_basic over set_rle when there are 2 or less symbols,
-         * since RLE uses 1 byte, but set_basic uses 5-6 bits per symbol.
-         * If basic encoding isn't possible, always choose RLE.
-         */
-        *repeatMode = FSE_repeat_check;
         return set_rle;
     }
-    if ( isDefaultAllowed
-      && (*repeatMode == FSE_repeat_valid) && (nbSeq < MAX_SEQ_FOR_STATIC_FSE)) {
-        DEBUGLOG(5, "Selected set_repeat");
-        return set_repeat;
-    }
-    if ( isDefaultAllowed
-      && ((nbSeq < MIN_SEQ_FOR_DYNAMIC_FSE) || (mostFrequent < (nbSeq >> (defaultNormLog-1)))) ) {
-        DEBUGLOG(5, "Selected set_basic");
-        /* The format allows default tables to be repeated, but it isn't useful.
-         * When using simple heuristics to select encoding type, we don't want
-         * to confuse these tables with dictionaries. When running more careful
-         * analysis, we don't need to waste time checking both repeating tables
-         * and default tables.
-         */
-        *repeatMode = FSE_repeat_none;
-        return set_basic;
+    if (strategy < ZSTD_lazy) {
+        if (isDefaultAllowed) {
+            size_t const staticFse_nbSeq_max = 1000;
+            size_t const mult = 10 - strategy;
+            size_t const baseLog = 3;
+            size_t const dynamicFse_nbSeq_min = (((size_t)1 << defaultNormLog) * mult) >> baseLog;  /* 28-36 for offset, 56-72 for lengths */
+            assert(defaultNormLog >= 5 && defaultNormLog <= 6);  /* xx_DEFAULTNORMLOG */
+            assert(mult <= 9 && mult >= 7);
+            if ( (*repeatMode == FSE_repeat_valid)
+              && (nbSeq < staticFse_nbSeq_max) ) {
+                DEBUGLOG(5, "Selected set_repeat");
+                return set_repeat;
+            }
+            if ( (nbSeq < dynamicFse_nbSeq_min)
+              || (mostFrequent < (nbSeq >> (defaultNormLog-1))) ) {
+                DEBUGLOG(5, "Selected set_basic");
+                /* The format allows default tables to be repeated, but it isn't useful.
+                 * When using simple heuristics to select encoding type, we don't want
+                 * to confuse these tables with dictionaries. When running more careful
+                 * analysis, we don't need to waste time checking both repeating tables
+                 * and default tables.
+                 */
+                *repeatMode = FSE_repeat_none;
+                return set_basic;
+            }
+        }
+    } else {
+        size_t const basicCost = isDefaultAllowed ? ZSTD_crossEntropyCost(defaultNorm, defaultNormLog, count, max) : ERROR(GENERIC);
+        size_t const repeatCost = *repeatMode != FSE_repeat_none ? ZSTD_fseBitCost(prevCTable, count, max) : ERROR(GENERIC);
+        size_t const NCountCost = ZSTD_NCountCost(count, max, nbSeq, FSELog);
+        size_t const compressedCost = (NCountCost << 3) + ZSTD_entropyCost(count, max, nbSeq);
+
+        if (isDefaultAllowed) {
+            assert(!ZSTD_isError(basicCost));
+            assert(!(*repeatMode == FSE_repeat_valid && ZSTD_isError(repeatCost)));
+        }
+        assert(!ZSTD_isError(NCountCost));
+        assert(compressedCost < ERROR(maxCode));
+        DEBUGLOG(5, "Estimated bit costs: basic=%u\trepeat=%u\tcompressed=%u",
+                    (unsigned)basicCost, (unsigned)repeatCost, (unsigned)compressedCost);
+        if (basicCost <= repeatCost && basicCost <= compressedCost) {
+            DEBUGLOG(5, "Selected set_basic");
+            assert(isDefaultAllowed);
+            *repeatMode = FSE_repeat_none;
+            return set_basic;
+        }
+        if (repeatCost <= compressedCost) {
+            DEBUGLOG(5, "Selected set_repeat");
+            assert(!ZSTD_isError(repeatCost));
+            return set_repeat;
+        }
+        assert(compressedCost < basicCost && compressedCost < repeatCost);
     }
     DEBUGLOG(5, "Selected set_compressed");
     *repeatMode = FSE_repeat_check;
     return set_compressed;
 }
 
-MEM_STATIC
-size_t ZSTD_buildCTable(void* dst, size_t dstCapacity,
-        FSE_CTable* nextCTable, U32 FSELog, symbolEncodingType_e type,
-        U32* count, U32 max,
-        BYTE const* codeTable, size_t nbSeq,
-        S16 const* defaultNorm, U32 defaultNormLog, U32 defaultMax,
-        FSE_CTable const* prevCTable, size_t prevCTableSize,
-        void* workspace, size_t workspaceSize)
+MEM_STATIC size_t
+ZSTD_buildCTable(void* dst, size_t dstCapacity,
+                FSE_CTable* nextCTable, U32 FSELog, symbolEncodingType_e type,
+                unsigned* count, U32 max,
+                const BYTE* codeTable, size_t nbSeq,
+                const S16* defaultNorm, U32 defaultNormLog, U32 defaultMax,
+                const FSE_CTable* prevCTable, size_t prevCTableSize,
+                void* workspace, size_t workspaceSize)
 {
     BYTE* op = (BYTE*)dst;
-    BYTE const* const oend = op + dstCapacity;
+    const BYTE* const oend = op + dstCapacity;
+    DEBUGLOG(6, "ZSTD_buildCTable (dstCapacity=%u)", (unsigned)dstCapacity);
 
     switch (type) {
     case set_rle:
-        *op = codeTable[0];
         CHECK_F(FSE_buildCTable_rle(nextCTable, (BYTE)max));
+        if (dstCapacity==0) return ERROR(dstSize_tooSmall);
+        *op = codeTable[0];
         return 1;
     case set_repeat:
         memcpy(nextCTable, prevCTable, prevCTableSize);
@@ -1565,6 +2230,9 @@ ZSTD_encodeSequences_body(
     FSE_CState_t  stateLitLength;
 
     CHECK_E(BIT_initCStream(&blockStream, dst, dstCapacity), dstSize_tooSmall); /* not enough space remaining */
+    DEBUGLOG(6, "available space for bitstream : %i  (dstCapacity=%u)",
+                (int)(blockStream.endPtr - blockStream.startPtr),
+                (unsigned)dstCapacity);
 
     /* first symbols */
     FSE_initCState2(&stateMatchLength, CTable_MatchLength, mlCodeTable[nbSeq-1]);
@@ -1597,9 +2265,9 @@ ZSTD_encodeSequences_body(
             U32  const ofBits = ofCode;
             U32  const mlBits = ML_bits[mlCode];
             DEBUGLOG(6, "encoding: litlen:%2u - matchlen:%2u - offCode:%7u",
-                        sequences[n].litLength,
-                        sequences[n].matchLength + MINMATCH,
-                        sequences[n].offset);
+                        (unsigned)sequences[n].litLength,
+                        (unsigned)sequences[n].matchLength + MINMATCH,
+                        (unsigned)sequences[n].offset);
                                                                             /* 32b*/  /* 64b*/
                                                                             /* (7)*/  /* (7)*/
             FSE_encodeSymbol(&blockStream, &stateOffsetBits, ofCode);       /* 15 */  /* 15 */
@@ -1624,6 +2292,7 @@ ZSTD_encodeSequences_body(
                 BIT_addBits(&blockStream, sequences[n].offset, ofBits);     /* 31 */
             }
             BIT_flushBits(&blockStream);                                    /* (7)*/
+            DEBUGLOG(7, "remaining space : %i", (int)(blockStream.endPtr - blockStream.ptr));
     }   }
 
     DEBUGLOG(6, "ZSTD_encodeSequences: flushing ML state with %u bits", stateMatchLength.stateLog);
@@ -1674,13 +2343,14 @@ ZSTD_encodeSequences_bmi2(
 
 #endif
 
-size_t ZSTD_encodeSequences(
+static size_t ZSTD_encodeSequences(
             void* dst, size_t dstCapacity,
             FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable,
             FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable,
             FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable,
             seqDef const* sequences, size_t nbSeq, int longOffsets, int bmi2)
 {
+    DEBUGLOG(5, "ZSTD_encodeSequences: dstCapacity = %u", (unsigned)dstCapacity);
 #if DYNAMIC_BMI2
     if (bmi2) {
         return ZSTD_encodeSequences_bmi2(dst, dstCapacity,
@@ -1698,18 +2368,23 @@ size_t ZSTD_encodeSequences(
                                         sequences, nbSeq, longOffsets);
 }
 
-MEM_STATIC size_t ZSTD_compressSequences_internal(seqStore_t* seqStorePtr,
-                              ZSTD_entropyCTables_t const* prevEntropy,
-                              ZSTD_entropyCTables_t* nextEntropy,
-                              ZSTD_CCtx_params const* cctxParams,
-                              void* dst, size_t dstCapacity, U32* workspace,
-                              const int bmi2)
+/* ZSTD_compressSequences_internal():
+ * actually compresses both literals and sequences */
+MEM_STATIC size_t
+ZSTD_compressSequences_internal(seqStore_t* seqStorePtr,
+                          const ZSTD_entropyCTables_t* prevEntropy,
+                                ZSTD_entropyCTables_t* nextEntropy,
+                          const ZSTD_CCtx_params* cctxParams,
+                                void* dst, size_t dstCapacity,
+                                void* workspace, size_t wkspSize,
+                          const int bmi2)
 {
     const int longOffsets = cctxParams->cParams.windowLog > STREAM_ACCUMULATOR_MIN;
-    U32 count[MaxSeq+1];
-    FSE_CTable* CTable_LitLength = nextEntropy->litlengthCTable;
-    FSE_CTable* CTable_OffsetBits = nextEntropy->offcodeCTable;
-    FSE_CTable* CTable_MatchLength = nextEntropy->matchlengthCTable;
+    ZSTD_strategy const strategy = cctxParams->cParams.strategy;
+    unsigned count[MaxSeq+1];
+    FSE_CTable* CTable_LitLength = nextEntropy->fse.litlengthCTable;
+    FSE_CTable* CTable_OffsetBits = nextEntropy->fse.offcodeCTable;
+    FSE_CTable* CTable_MatchLength = nextEntropy->fse.matchlengthCTable;
     U32 LLtype, Offtype, MLtype;   /* compressed, raw or rle */
     const seqDef* const sequences = seqStorePtr->sequencesStart;
     const BYTE* const ofCodeTable = seqStorePtr->ofCode;
@@ -1720,18 +2395,22 @@ MEM_STATIC size_t ZSTD_compressSequences_internal(seqStore_t* seqStorePtr,
     BYTE* op = ostart;
     size_t const nbSeq = seqStorePtr->sequences - seqStorePtr->sequencesStart;
     BYTE* seqHead;
+    BYTE* lastNCount = NULL;
 
     ZSTD_STATIC_ASSERT(HUF_WORKSPACE_SIZE >= (1<<MAX(MLFSELog,LLFSELog)));
+    DEBUGLOG(5, "ZSTD_compressSequences_internal");
 
     /* Compress literals */
     {   const BYTE* const literals = seqStorePtr->litStart;
         size_t const litSize = seqStorePtr->lit - literals;
+        int const disableLiteralCompression = (cctxParams->cParams.strategy == ZSTD_fast) && (cctxParams->cParams.targetLength > 0);
         size_t const cSize = ZSTD_compressLiterals(
-                                    prevEntropy, nextEntropy,
-                                    cctxParams->cParams.strategy, cctxParams->disableLiteralCompression,
+                                    &prevEntropy->huf, &nextEntropy->huf,
+                                    cctxParams->cParams.strategy, disableLiteralCompression,
                                     op, dstCapacity,
                                     literals, litSize,
-                                    workspace, bmi2);
+                                    workspace, wkspSize,
+                                    bmi2);
         if (ZSTD_isError(cSize))
           return cSize;
         assert(cSize <= dstCapacity);
@@ -1747,13 +2426,9 @@ MEM_STATIC size_t ZSTD_compressSequences_internal(seqStore_t* seqStorePtr,
     else
         op[0]=0xFF, MEM_writeLE16(op+1, (U16)(nbSeq - LONGNBSEQ)), op+=3;
     if (nbSeq==0) {
-      memcpy(nextEntropy->litlengthCTable, prevEntropy->litlengthCTable, sizeof(prevEntropy->litlengthCTable));
-      nextEntropy->litlength_repeatMode = prevEntropy->litlength_repeatMode;
-      memcpy(nextEntropy->offcodeCTable, prevEntropy->offcodeCTable, sizeof(prevEntropy->offcodeCTable));
-      nextEntropy->offcode_repeatMode = prevEntropy->offcode_repeatMode;
-      memcpy(nextEntropy->matchlengthCTable, prevEntropy->matchlengthCTable, sizeof(prevEntropy->matchlengthCTable));
-      nextEntropy->matchlength_repeatMode = prevEntropy->matchlength_repeatMode;
-      return op - ostart;
+        /* Copy the old tables over as if we repeated them */
+        memcpy(&nextEntropy->fse, &prevEntropy->fse, sizeof(prevEntropy->fse));
+        return op - ostart;
     }
 
     /* seqHead : flags for FSE encoding type */
@@ -1762,44 +2437,66 @@ MEM_STATIC size_t ZSTD_compressSequences_internal(seqStore_t* seqStorePtr,
     /* convert length/distances into codes */
     ZSTD_seqToCodes(seqStorePtr);
     /* build CTable for Literal Lengths */
-    {   U32 max = MaxLL;
-        size_t const mostFrequent = FSE_countFast_wksp(count, &max, llCodeTable, nbSeq, workspace);
+    {   unsigned max = MaxLL;
+        size_t const mostFrequent = HIST_countFast_wksp(count, &max, llCodeTable, nbSeq, workspace, wkspSize);   /* can't fail */
         DEBUGLOG(5, "Building LL table");
-        nextEntropy->litlength_repeatMode = prevEntropy->litlength_repeatMode;
-        LLtype = ZSTD_selectEncodingType(&nextEntropy->litlength_repeatMode, mostFrequent, nbSeq, LL_defaultNormLog, ZSTD_defaultAllowed);
+        nextEntropy->fse.litlength_repeatMode = prevEntropy->fse.litlength_repeatMode;
+        LLtype = ZSTD_selectEncodingType(&nextEntropy->fse.litlength_repeatMode,
+                                        count, max, mostFrequent, nbSeq,
+                                        LLFSELog, prevEntropy->fse.litlengthCTable,
+                                        LL_defaultNorm, LL_defaultNormLog,
+                                        ZSTD_defaultAllowed, strategy);
+        assert(set_basic < set_compressed && set_rle < set_compressed);
+        assert(!(LLtype < set_compressed && nextEntropy->fse.litlength_repeatMode != FSE_repeat_none)); /* We don't copy tables */
         {   size_t const countSize = ZSTD_buildCTable(op, oend - op, CTable_LitLength, LLFSELog, (symbolEncodingType_e)LLtype,
-                    count, max, llCodeTable, nbSeq, LL_defaultNorm, LL_defaultNormLog, MaxLL,
-                    prevEntropy->litlengthCTable, sizeof(prevEntropy->litlengthCTable),
-                    workspace, HUF_WORKSPACE_SIZE);
+                                                    count, max, llCodeTable, nbSeq, LL_defaultNorm, LL_defaultNormLog, MaxLL,
+                                                    prevEntropy->fse.litlengthCTable, sizeof(prevEntropy->fse.litlengthCTable),
+                                                    workspace, wkspSize);
             if (ZSTD_isError(countSize)) return countSize;
+            if (LLtype == set_compressed)
+                lastNCount = op;
             op += countSize;
     }   }
     /* build CTable for Offsets */
-    {   U32 max = MaxOff;
-        size_t const mostFrequent = FSE_countFast_wksp(count, &max, ofCodeTable, nbSeq, workspace);
+    {   unsigned max = MaxOff;
+        size_t const mostFrequent = HIST_countFast_wksp(count, &max, ofCodeTable, nbSeq, workspace, wkspSize);  /* can't fail */
         /* We can only use the basic table if max <= DefaultMaxOff, otherwise the offsets are too large */
         ZSTD_defaultPolicy_e const defaultPolicy = (max <= DefaultMaxOff) ? ZSTD_defaultAllowed : ZSTD_defaultDisallowed;
         DEBUGLOG(5, "Building OF table");
-        nextEntropy->offcode_repeatMode = prevEntropy->offcode_repeatMode;
-        Offtype = ZSTD_selectEncodingType(&nextEntropy->offcode_repeatMode, mostFrequent, nbSeq, OF_defaultNormLog, defaultPolicy);
+        nextEntropy->fse.offcode_repeatMode = prevEntropy->fse.offcode_repeatMode;
+        Offtype = ZSTD_selectEncodingType(&nextEntropy->fse.offcode_repeatMode,
+                                        count, max, mostFrequent, nbSeq,
+                                        OffFSELog, prevEntropy->fse.offcodeCTable,
+                                        OF_defaultNorm, OF_defaultNormLog,
+                                        defaultPolicy, strategy);
+        assert(!(Offtype < set_compressed && nextEntropy->fse.offcode_repeatMode != FSE_repeat_none)); /* We don't copy tables */
         {   size_t const countSize = ZSTD_buildCTable(op, oend - op, CTable_OffsetBits, OffFSELog, (symbolEncodingType_e)Offtype,
-                    count, max, ofCodeTable, nbSeq, OF_defaultNorm, OF_defaultNormLog, DefaultMaxOff,
-                    prevEntropy->offcodeCTable, sizeof(prevEntropy->offcodeCTable),
-                    workspace, HUF_WORKSPACE_SIZE);
+                                                    count, max, ofCodeTable, nbSeq, OF_defaultNorm, OF_defaultNormLog, DefaultMaxOff,
+                                                    prevEntropy->fse.offcodeCTable, sizeof(prevEntropy->fse.offcodeCTable),
+                                                    workspace, wkspSize);
             if (ZSTD_isError(countSize)) return countSize;
+            if (Offtype == set_compressed)
+                lastNCount = op;
             op += countSize;
     }   }
     /* build CTable for MatchLengths */
-    {   U32 max = MaxML;
-        size_t const mostFrequent = FSE_countFast_wksp(count, &max, mlCodeTable, nbSeq, workspace);
-        DEBUGLOG(5, "Building ML table");
-        nextEntropy->matchlength_repeatMode = prevEntropy->matchlength_repeatMode;
-        MLtype = ZSTD_selectEncodingType(&nextEntropy->matchlength_repeatMode, mostFrequent, nbSeq, ML_defaultNormLog, ZSTD_defaultAllowed);
+    {   unsigned max = MaxML;
+        size_t const mostFrequent = HIST_countFast_wksp(count, &max, mlCodeTable, nbSeq, workspace, wkspSize);   /* can't fail */
+        DEBUGLOG(5, "Building ML table (remaining space : %i)", (int)(oend-op));
+        nextEntropy->fse.matchlength_repeatMode = prevEntropy->fse.matchlength_repeatMode;
+        MLtype = ZSTD_selectEncodingType(&nextEntropy->fse.matchlength_repeatMode,
+                                        count, max, mostFrequent, nbSeq,
+                                        MLFSELog, prevEntropy->fse.matchlengthCTable,
+                                        ML_defaultNorm, ML_defaultNormLog,
+                                        ZSTD_defaultAllowed, strategy);
+        assert(!(MLtype < set_compressed && nextEntropy->fse.matchlength_repeatMode != FSE_repeat_none)); /* We don't copy tables */
         {   size_t const countSize = ZSTD_buildCTable(op, oend - op, CTable_MatchLength, MLFSELog, (symbolEncodingType_e)MLtype,
-                    count, max, mlCodeTable, nbSeq, ML_defaultNorm, ML_defaultNormLog, MaxML,
-                    prevEntropy->matchlengthCTable, sizeof(prevEntropy->matchlengthCTable),
-                    workspace, HUF_WORKSPACE_SIZE);
+                                                    count, max, mlCodeTable, nbSeq, ML_defaultNorm, ML_defaultNormLog, MaxML,
+                                                    prevEntropy->fse.matchlengthCTable, sizeof(prevEntropy->fse.matchlengthCTable),
+                                                    workspace, wkspSize);
             if (ZSTD_isError(countSize)) return countSize;
+            if (MLtype == set_compressed)
+                lastNCount = op;
             op += countSize;
     }   }
 
@@ -1814,21 +2511,42 @@ MEM_STATIC size_t ZSTD_compressSequences_internal(seqStore_t* seqStorePtr,
                                         longOffsets, bmi2);
         if (ZSTD_isError(bitstreamSize)) return bitstreamSize;
         op += bitstreamSize;
+        /* zstd versions <= 1.3.4 mistakenly report corruption when
+         * FSE_readNCount() recieves a buffer < 4 bytes.
+         * Fixed by https://github.com/facebook/zstd/pull/1146.
+         * This can happen when the last set_compressed table present is 2
+         * bytes and the bitstream is only one byte.
+         * In this exceedingly rare case, we will simply emit an uncompressed
+         * block, since it isn't worth optimizing.
+         */
+        if (lastNCount && (op - lastNCount) < 4) {
+            /* NCountSize >= 2 && bitstreamSize > 0 ==> lastCountSize == 3 */
+            assert(op - lastNCount == 3);
+            DEBUGLOG(5, "Avoiding bug in zstd decoder in versions <= 1.3.4 by "
+                        "emitting an uncompressed block.");
+            return 0;
+        }
     }
 
+    DEBUGLOG(5, "compressed block size : %u", (unsigned)(op - ostart));
     return op - ostart;
 }
 
-MEM_STATIC size_t ZSTD_compressSequences(seqStore_t* seqStorePtr,
-                              ZSTD_entropyCTables_t const* prevEntropy,
-                              ZSTD_entropyCTables_t* nextEntropy,
-                              ZSTD_CCtx_params const* cctxParams,
-                              void* dst, size_t dstCapacity,
-                              size_t srcSize, U32* workspace, int bmi2)
+MEM_STATIC size_t
+ZSTD_compressSequences(seqStore_t* seqStorePtr,
+                       const ZSTD_entropyCTables_t* prevEntropy,
+                             ZSTD_entropyCTables_t* nextEntropy,
+                       const ZSTD_CCtx_params* cctxParams,
+                             void* dst, size_t dstCapacity,
+                             size_t srcSize,
+                             void* workspace, size_t wkspSize,
+                             int bmi2)
 {
     size_t const cSize = ZSTD_compressSequences_internal(
-            seqStorePtr, prevEntropy, nextEntropy, cctxParams, dst, dstCapacity,
-            workspace, bmi2);
+                            seqStorePtr, prevEntropy, nextEntropy, cctxParams,
+                            dst, dstCapacity,
+                            workspace, wkspSize, bmi2);
+    if (cSize == 0) return 0;
     /* When srcSize <= dstCapacity, there is enough space to write a raw uncompressed block.
      * Since we ran out of space, block must be not compressible, so fall back to raw uncompressed block.
      */
@@ -1837,40 +2555,57 @@ MEM_STATIC size_t ZSTD_compressSequences(seqStore_t* seqStorePtr,
     if (ZSTD_isError(cSize)) return cSize;
 
     /* Check compressibility */
-    {   size_t const maxCSize = srcSize - ZSTD_minGain(srcSize);  /* note : fixed formula, maybe should depend on compression level, or strategy */
+    {   size_t const maxCSize = srcSize - ZSTD_minGain(srcSize, cctxParams->cParams.strategy);
         if (cSize >= maxCSize) return 0;  /* block not compressed */
     }
 
-    /* We check that dictionaries have offset codes available for the first
-     * block. After the first block, the offcode table might not have large
-     * enough codes to represent the offsets in the data.
-     */
-    if (nextEntropy->offcode_repeatMode == FSE_repeat_valid)
-        nextEntropy->offcode_repeatMode = FSE_repeat_check;
-
     return cSize;
 }
 
 /* ZSTD_selectBlockCompressor() :
  * Not static, but internal use only (used by long distance matcher)
  * assumption : strat is a valid strategy */
-ZSTD_blockCompressor ZSTD_selectBlockCompressor(ZSTD_strategy strat, int extDict)
+ZSTD_blockCompressor ZSTD_selectBlockCompressor(ZSTD_strategy strat, ZSTD_dictMode_e dictMode)
 {
-    static const ZSTD_blockCompressor blockCompressor[2][(unsigned)ZSTD_btultra+1] = {
+    static const ZSTD_blockCompressor blockCompressor[3][ZSTD_STRATEGY_MAX+1] = {
         { ZSTD_compressBlock_fast  /* default for 0 */,
-          ZSTD_compressBlock_fast, ZSTD_compressBlock_doubleFast, ZSTD_compressBlock_greedy,
-          ZSTD_compressBlock_lazy, ZSTD_compressBlock_lazy2, ZSTD_compressBlock_btlazy2,
-          ZSTD_compressBlock_btopt, ZSTD_compressBlock_btultra },
+          ZSTD_compressBlock_fast,
+          ZSTD_compressBlock_doubleFast,
+          ZSTD_compressBlock_greedy,
+          ZSTD_compressBlock_lazy,
+          ZSTD_compressBlock_lazy2,
+          ZSTD_compressBlock_btlazy2,
+          ZSTD_compressBlock_btopt,
+          ZSTD_compressBlock_btultra,
+          ZSTD_compressBlock_btultra2 },
         { ZSTD_compressBlock_fast_extDict  /* default for 0 */,
-          ZSTD_compressBlock_fast_extDict, ZSTD_compressBlock_doubleFast_extDict, ZSTD_compressBlock_greedy_extDict,
-          ZSTD_compressBlock_lazy_extDict,ZSTD_compressBlock_lazy2_extDict, ZSTD_compressBlock_btlazy2_extDict,
-          ZSTD_compressBlock_btopt_extDict, ZSTD_compressBlock_btultra_extDict }
+          ZSTD_compressBlock_fast_extDict,
+          ZSTD_compressBlock_doubleFast_extDict,
+          ZSTD_compressBlock_greedy_extDict,
+          ZSTD_compressBlock_lazy_extDict,
+          ZSTD_compressBlock_lazy2_extDict,
+          ZSTD_compressBlock_btlazy2_extDict,
+          ZSTD_compressBlock_btopt_extDict,
+          ZSTD_compressBlock_btultra_extDict,
+          ZSTD_compressBlock_btultra_extDict },
+        { ZSTD_compressBlock_fast_dictMatchState  /* default for 0 */,
+          ZSTD_compressBlock_fast_dictMatchState,
+          ZSTD_compressBlock_doubleFast_dictMatchState,
+          ZSTD_compressBlock_greedy_dictMatchState,
+          ZSTD_compressBlock_lazy_dictMatchState,
+          ZSTD_compressBlock_lazy2_dictMatchState,
+          ZSTD_compressBlock_btlazy2_dictMatchState,
+          ZSTD_compressBlock_btopt_dictMatchState,
+          ZSTD_compressBlock_btultra_dictMatchState,
+          ZSTD_compressBlock_btultra_dictMatchState }
     };
+    ZSTD_blockCompressor selectedCompressor;
     ZSTD_STATIC_ASSERT((unsigned)ZSTD_fast == 1);
 
-    assert((U32)strat >= (U32)ZSTD_fast);
-    assert((U32)strat <= (U32)ZSTD_btultra);
-    return blockCompressor[extDict!=0][(U32)strat];
+    assert(ZSTD_cParam_withinBounds(ZSTD_c_strategy, strat));
+    selectedCompressor = blockCompressor[(int)dictMode][(int)strat];
+    assert(selectedCompressor != NULL);
+    return selectedCompressor;
 }
 
 static void ZSTD_storeLastLiterals(seqStore_t* seqStorePtr,
@@ -1880,7 +2615,7 @@ static void ZSTD_storeLastLiterals(seqStore_t* seqStorePtr,
     seqStorePtr->lit += lastLLSize;
 }
 
-static void ZSTD_resetSeqStore(seqStore_t* ssPtr)
+void ZSTD_resetSeqStore(seqStore_t* ssPtr)
 {
     ssPtr->lit = ssPtr->litStart;
     ssPtr->sequences = ssPtr->sequencesStart;
@@ -1892,24 +2627,38 @@ static size_t ZSTD_compressBlock_internal(ZSTD_CCtx* zc,
                                         const void* src, size_t srcSize)
 {
     ZSTD_matchState_t* const ms = &zc->blockState.matchState;
+    size_t cSize;
     DEBUGLOG(5, "ZSTD_compressBlock_internal (dstCapacity=%u, dictLimit=%u, nextToUpdate=%u)",
-                (U32)dstCapacity, ms->window.dictLimit, ms->nextToUpdate);
+                (unsigned)dstCapacity, (unsigned)ms->window.dictLimit, (unsigned)ms->nextToUpdate);
+    assert(srcSize <= ZSTD_BLOCKSIZE_MAX);
+
+    /* Assert that we have correctly flushed the ctx params into the ms's copy */
+    ZSTD_assertEqualCParams(zc->appliedParams.cParams, ms->cParams);
+
     if (srcSize < MIN_CBLOCK_SIZE+ZSTD_blockHeaderSize+1) {
-        ZSTD_ldm_skipSequences(&zc->externSeqStore, srcSize, zc->appliedParams.cParams.searchLength);
-        return 0;   /* don't even attempt compression below a certain srcSize */
+        ZSTD_ldm_skipSequences(&zc->externSeqStore, srcSize, zc->appliedParams.cParams.minMatch);
+        cSize = 0;
+        goto out;  /* don't even attempt compression below a certain srcSize */
     }
     ZSTD_resetSeqStore(&(zc->seqStore));
+    ms->opt.symbolCosts = &zc->blockState.prevCBlock->entropy;   /* required for optimal parser to read stats from dictionary */
+
+    /* a gap between an attached dict and the current window is not safe,
+     * they must remain adjacent,
+     * and when that stops being the case, the dict must be unset */
+    assert(ms->dictMatchState == NULL || ms->loadedDictEnd == ms->window.dictLimit);
 
     /* limited update after a very long match */
     {   const BYTE* const base = ms->window.base;
         const BYTE* const istart = (const BYTE*)src;
         const U32 current = (U32)(istart-base);
+        if (sizeof(ptrdiff_t)==8) assert(istart - base < (ptrdiff_t)(U32)(-1));   /* ensure no overflow */
         if (current > ms->nextToUpdate + 384)
             ms->nextToUpdate = current - MIN(192, (U32)(current - ms->nextToUpdate - 384));
     }
 
     /* select and store sequences */
-    {   U32 const extDict = ZSTD_window_hasExtDict(ms->window);
+    {   ZSTD_dictMode_e const dictMode = ZSTD_matchState_dictMode(ms);
         size_t lastLLSize;
         {   int i;
             for (i = 0; i < ZSTD_REP_NUM; ++i)
@@ -1922,8 +2671,7 @@ static size_t ZSTD_compressBlock_internal(ZSTD_CCtx* zc,
                 ZSTD_ldm_blockCompress(&zc->externSeqStore,
                                        ms, &zc->seqStore,
                                        zc->blockState.nextCBlock->rep,
-                                       &zc->appliedParams.cParams,
-                                       src, srcSize, extDict);
+                                       src, srcSize);
             assert(zc->externSeqStore.pos <= zc->externSeqStore.size);
         } else if (zc->appliedParams.ldmParams.enableLdm) {
             rawSeqStore_t ldmSeqStore = {NULL, 0, 0, 0};
@@ -1939,31 +2687,40 @@ static size_t ZSTD_compressBlock_internal(ZSTD_CCtx* zc,
                 ZSTD_ldm_blockCompress(&ldmSeqStore,
                                        ms, &zc->seqStore,
                                        zc->blockState.nextCBlock->rep,
-                                       &zc->appliedParams.cParams,
-                                       src, srcSize, extDict);
+                                       src, srcSize);
             assert(ldmSeqStore.pos == ldmSeqStore.size);
         } else {   /* not long range mode */
-            ZSTD_blockCompressor const blockCompressor = ZSTD_selectBlockCompressor(zc->appliedParams.cParams.strategy, extDict);
-            lastLLSize = blockCompressor(ms, &zc->seqStore, zc->blockState.nextCBlock->rep, &zc->appliedParams.cParams, src, srcSize);
+            ZSTD_blockCompressor const blockCompressor = ZSTD_selectBlockCompressor(zc->appliedParams.cParams.strategy, dictMode);
+            lastLLSize = blockCompressor(ms, &zc->seqStore, zc->blockState.nextCBlock->rep, src, srcSize);
         }
         {   const BYTE* const lastLiterals = (const BYTE*)src + srcSize - lastLLSize;
             ZSTD_storeLastLiterals(&zc->seqStore, lastLiterals, lastLLSize);
     }   }
 
     /* encode sequences and literals */
-    {   size_t const cSize = ZSTD_compressSequences(&zc->seqStore,
-                                &zc->blockState.prevCBlock->entropy, &zc->blockState.nextCBlock->entropy,
-                                &zc->appliedParams,
-                                dst, dstCapacity,
-                                srcSize, zc->entropyWorkspace, zc->bmi2);
-        if (ZSTD_isError(cSize) || cSize == 0) return cSize;
-        /* confirm repcodes and entropy tables */
-        {   ZSTD_compressedBlockState_t* const tmp = zc->blockState.prevCBlock;
-            zc->blockState.prevCBlock = zc->blockState.nextCBlock;
-            zc->blockState.nextCBlock = tmp;
-        }
-        return cSize;
+    cSize = ZSTD_compressSequences(&zc->seqStore,
+            &zc->blockState.prevCBlock->entropy, &zc->blockState.nextCBlock->entropy,
+            &zc->appliedParams,
+            dst, dstCapacity,
+            srcSize,
+            zc->entropyWorkspace, HUF_WORKSPACE_SIZE /* statically allocated in resetCCtx */,
+            zc->bmi2);
+
+out:
+    if (!ZSTD_isError(cSize) && cSize != 0) {
+        /* confirm repcodes and entropy tables when emitting a compressed block */
+        ZSTD_compressedBlockState_t* const tmp = zc->blockState.prevCBlock;
+        zc->blockState.prevCBlock = zc->blockState.nextCBlock;
+        zc->blockState.nextCBlock = tmp;
     }
+    /* We check that dictionaries have offset codes available for the first
+     * block. After the first block, the offcode table might not have large
+     * enough codes to represent the offsets in the data.
+     */
+    if (zc->blockState.prevCBlock->entropy.fse.offcode_repeatMode == FSE_repeat_valid)
+        zc->blockState.prevCBlock->entropy.fse.offcode_repeatMode = FSE_repeat_check;
+
+    return cSize;
 }
 
 
@@ -1987,7 +2744,7 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx,
     U32 const maxDist = (U32)1 << cctx->appliedParams.cParams.windowLog;
     assert(cctx->appliedParams.cParams.windowLog <= 31);
 
-    DEBUGLOG(5, "ZSTD_compress_frameChunk (blockSize=%u)", (U32)blockSize);
+    DEBUGLOG(5, "ZSTD_compress_frameChunk (blockSize=%u)", (unsigned)blockSize);
     if (cctx->appliedParams.fParams.checksumFlag && srcSize)
         XXH64_update(&cctx->xxhState, src, srcSize);
 
@@ -2005,13 +2762,13 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx,
             ZSTD_STATIC_ASSERT(ZSTD_CHAINLOG_MAX <= 30);
             ZSTD_STATIC_ASSERT(ZSTD_WINDOWLOG_MAX_32 <= 30);
             ZSTD_STATIC_ASSERT(ZSTD_WINDOWLOG_MAX <= 31);
-
             ZSTD_reduceIndex(cctx, correction);
             if (ms->nextToUpdate < correction) ms->nextToUpdate = 0;
             else ms->nextToUpdate -= correction;
             ms->loadedDictEnd = 0;
+            ms->dictMatchState = NULL;
         }
-        ZSTD_window_enforceMaxDist(&ms->window, ip + blockSize, maxDist, &ms->loadedDictEnd);
+        ZSTD_window_enforceMaxDist(&ms->window, ip + blockSize, maxDist, &ms->loadedDictEnd, &ms->dictMatchState);
         if (ms->nextToUpdate < ms->window.lowLimit) ms->nextToUpdate = ms->window.lowLimit;
 
         {   size_t cSize = ZSTD_compressBlock_internal(cctx,
@@ -2020,11 +2777,8 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx,
             if (ZSTD_isError(cSize)) return cSize;
 
             if (cSize == 0) {  /* block is not compressible */
-                U32 const cBlockHeader24 = lastBlock + (((U32)bt_raw)<<1) + (U32)(blockSize << 3);
-                if (blockSize + ZSTD_blockHeaderSize > dstCapacity) return ERROR(dstSize_tooSmall);
-                MEM_writeLE32(op, cBlockHeader24);   /* 4th byte will be overwritten */
-                memcpy(op + ZSTD_blockHeaderSize, ip, blockSize);
-                cSize = ZSTD_blockHeaderSize + blockSize;
+                cSize = ZSTD_noCompressBlock(op, dstCapacity, ip, blockSize, lastBlock);
+                if (ZSTD_isError(cSize)) return cSize;
             } else {
                 U32 const cBlockHeader24 = lastBlock + (((U32)bt_compressed)<<1) + (U32)(cSize << 3);
                 MEM_writeLE24(op, cBlockHeader24);
@@ -2038,7 +2792,7 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx,
             assert(dstCapacity >= cSize);
             dstCapacity -= cSize;
             DEBUGLOG(5, "ZSTD_compress_frameChunk: adding a block of size %u",
-                        (U32)cSize);
+                        (unsigned)cSize);
     }   }
 
     if (lastFrameChunk && (op>ostart)) cctx->stage = ZSTDcs_ending;
@@ -2060,9 +2814,10 @@ static size_t ZSTD_writeFrameHeader(void* dst, size_t dstCapacity,
     BYTE  const frameHeaderDecriptionByte = (BYTE)(dictIDSizeCode + (checksumFlag<<2) + (singleSegment<<5) + (fcsCode<<6) );
     size_t pos=0;
 
-    if (dstCapacity < ZSTD_frameHeaderSize_max) return ERROR(dstSize_tooSmall);
+    assert(!(params.fParams.contentSizeFlag && pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN));
+    if (dstCapacity < ZSTD_FRAMEHEADERSIZE_MAX) return ERROR(dstSize_tooSmall);
     DEBUGLOG(4, "ZSTD_writeFrameHeader : dictIDFlag : %u ; dictID : %u ; dictIDSizeCode : %u",
-                !params.fParams.noDictIDFlag, dictID,  dictIDSizeCode);
+                !params.fParams.noDictIDFlag, (unsigned)dictID, (unsigned)dictIDSizeCode);
 
     if (params.format == ZSTD_f_zstd1) {
         MEM_writeLE32(dst, ZSTD_MAGICNUMBER);
@@ -2122,11 +2877,11 @@ static size_t ZSTD_compressContinue_internal (ZSTD_CCtx* cctx,
                         const void* src, size_t srcSize,
                                U32 frame, U32 lastFrameChunk)
 {
-    ZSTD_matchState_t* ms = &cctx->blockState.matchState;
+    ZSTD_matchState_t* const ms = &cctx->blockState.matchState;
     size_t fhSize = 0;
 
     DEBUGLOG(5, "ZSTD_compressContinue_internal, stage: %u, srcSize: %u",
-                cctx->stage, (U32)srcSize);
+                cctx->stage, (unsigned)srcSize);
     if (cctx->stage==ZSTDcs_created) return ERROR(stage_wrong);   /* missing init (ZSTD_compressBegin) */
 
     if (frame && (cctx->stage==ZSTDcs_init)) {
@@ -2143,20 +2898,39 @@ static size_t ZSTD_compressContinue_internal (ZSTD_CCtx* cctx,
     if (!ZSTD_window_update(&ms->window, src, srcSize)) {
         ms->nextToUpdate = ms->window.dictLimit;
     }
-    if (cctx->appliedParams.ldmParams.enableLdm)
+    if (cctx->appliedParams.ldmParams.enableLdm) {
         ZSTD_window_update(&cctx->ldmState.window, src, srcSize);
+    }
+
+    if (!frame) {
+        /* overflow check and correction for block mode */
+        if (ZSTD_window_needOverflowCorrection(ms->window, (const char*)src + srcSize)) {
+            U32 const cycleLog = ZSTD_cycleLog(cctx->appliedParams.cParams.chainLog, cctx->appliedParams.cParams.strategy);
+            U32 const correction = ZSTD_window_correctOverflow(&ms->window, cycleLog, 1 << cctx->appliedParams.cParams.windowLog, src);
+            ZSTD_STATIC_ASSERT(ZSTD_CHAINLOG_MAX <= 30);
+            ZSTD_STATIC_ASSERT(ZSTD_WINDOWLOG_MAX_32 <= 30);
+            ZSTD_STATIC_ASSERT(ZSTD_WINDOWLOG_MAX <= 31);
+            ZSTD_reduceIndex(cctx, correction);
+            if (ms->nextToUpdate < correction) ms->nextToUpdate = 0;
+            else ms->nextToUpdate -= correction;
+            ms->loadedDictEnd = 0;
+            ms->dictMatchState = NULL;
+        }
+    }
 
-    DEBUGLOG(5, "ZSTD_compressContinue_internal (blockSize=%u)", (U32)cctx->blockSize);
+    DEBUGLOG(5, "ZSTD_compressContinue_internal (blockSize=%u)", (unsigned)cctx->blockSize);
     {   size_t const cSize = frame ?
                              ZSTD_compress_frameChunk (cctx, dst, dstCapacity, src, srcSize, lastFrameChunk) :
                              ZSTD_compressBlock_internal (cctx, dst, dstCapacity, src, srcSize);
         if (ZSTD_isError(cSize)) return cSize;
         cctx->consumedSrcSize += srcSize;
         cctx->producedCSize += (cSize + fhSize);
-        if (cctx->appliedParams.fParams.contentSizeFlag) {  /* control src size */
+        assert(!(cctx->appliedParams.fParams.contentSizeFlag && cctx->pledgedSrcSizePlusOne == 0));
+        if (cctx->pledgedSrcSizePlusOne != 0) {  /* control src size */
+            ZSTD_STATIC_ASSERT(ZSTD_CONTENTSIZE_UNKNOWN == (unsigned long long)-1);
             if (cctx->consumedSrcSize+1 > cctx->pledgedSrcSizePlusOne) {
                 DEBUGLOG(4, "error : pledgedSrcSize = %u, while realSrcSize >= %u",
-                    (U32)cctx->pledgedSrcSizePlusOne-1, (U32)cctx->consumedSrcSize);
+                    (unsigned)cctx->pledgedSrcSizePlusOne-1, (unsigned)cctx->consumedSrcSize);
                 return ERROR(srcSize_wrong);
             }
         }
@@ -2168,7 +2942,7 @@ size_t ZSTD_compressContinue (ZSTD_CCtx* cctx,
                               void* dst, size_t dstCapacity,
                         const void* src, size_t srcSize)
 {
-    DEBUGLOG(5, "ZSTD_compressContinue (srcSize=%u)", (U32)srcSize);
+    DEBUGLOG(5, "ZSTD_compressContinue (srcSize=%u)", (unsigned)srcSize);
     return ZSTD_compressContinue_internal(cctx, dst, dstCapacity, src, srcSize, 1 /* frame mode */, 0 /* last chunk */);
 }
 
@@ -2184,44 +2958,51 @@ size_t ZSTD_compressBlock(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const
 {
     size_t const blockSizeMax = ZSTD_getBlockSize(cctx);
     if (srcSize > blockSizeMax) return ERROR(srcSize_wrong);
+
     return ZSTD_compressContinue_internal(cctx, dst, dstCapacity, src, srcSize, 0 /* frame mode */, 0 /* last chunk */);
 }
 
 /*! ZSTD_loadDictionaryContent() :
  *  @return : 0, or an error code
  */
-static size_t ZSTD_loadDictionaryContent(ZSTD_matchState_t* ms, ZSTD_CCtx_params const* params, const void* src, size_t srcSize)
+static size_t ZSTD_loadDictionaryContent(ZSTD_matchState_t* ms,
+                                         ZSTD_CCtx_params const* params,
+                                         const void* src, size_t srcSize,
+                                         ZSTD_dictTableLoadMethod_e dtlm)
 {
     const BYTE* const ip = (const BYTE*) src;
     const BYTE* const iend = ip + srcSize;
-    ZSTD_compressionParameters const* cParams = &params->cParams;
 
     ZSTD_window_update(&ms->window, src, srcSize);
     ms->loadedDictEnd = params->forceWindow ? 0 : (U32)(iend - ms->window.base);
 
+    /* Assert that we the ms params match the params we're being given */
+    ZSTD_assertEqualCParams(params->cParams, ms->cParams);
+
     if (srcSize <= HASH_READ_SIZE) return 0;
 
     switch(params->cParams.strategy)
     {
     case ZSTD_fast:
-        ZSTD_fillHashTable(ms, cParams, iend);
+        ZSTD_fillHashTable(ms, iend, dtlm);
         break;
     case ZSTD_dfast:
-        ZSTD_fillDoubleHashTable(ms, cParams, iend);
+        ZSTD_fillDoubleHashTable(ms, iend, dtlm);
         break;
 
     case ZSTD_greedy:
     case ZSTD_lazy:
     case ZSTD_lazy2:
         if (srcSize >= HASH_READ_SIZE)
-            ZSTD_insertAndFindFirstIndex(ms, cParams, iend-HASH_READ_SIZE);
+            ZSTD_insertAndFindFirstIndex(ms, iend-HASH_READ_SIZE);
         break;
 
     case ZSTD_btlazy2:   /* we want the dictionary table fully sorted */
     case ZSTD_btopt:
     case ZSTD_btultra:
+    case ZSTD_btultra2:
         if (srcSize >= HASH_READ_SIZE)
-            ZSTD_updateTree(ms, cParams, iend-HASH_READ_SIZE, iend);
+            ZSTD_updateTree(ms, iend-HASH_READ_SIZE, iend);
         break;
 
     default:
@@ -2256,7 +3037,12 @@ static size_t ZSTD_checkDictNCount(short* normalizedCounter, unsigned dictMaxSym
  *  assumptions : magic number supposed already checked
  *                dictSize supposed > 8
  */
-static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matchState_t* ms, ZSTD_CCtx_params const* params, const void* dict, size_t dictSize, void* workspace)
+static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs,
+                                      ZSTD_matchState_t* ms,
+                                      ZSTD_CCtx_params const* params,
+                                      const void* dict, size_t dictSize,
+                                      ZSTD_dictTableLoadMethod_e dtlm,
+                                      void* workspace)
 {
     const BYTE* dictPtr = (const BYTE*)dict;
     const BYTE* const dictEnd = dictPtr + dictSize;
@@ -2265,13 +3051,15 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matc
     size_t dictID;
 
     ZSTD_STATIC_ASSERT(HUF_WORKSPACE_SIZE >= (1<<MAX(MLFSELog,LLFSELog)));
+    assert(dictSize > 8);
+    assert(MEM_readLE32(dictPtr) == ZSTD_MAGIC_DICTIONARY);
 
     dictPtr += 4;   /* skip magic number */
     dictID = params->fParams.noDictIDFlag ? 0 :  MEM_readLE32(dictPtr);
     dictPtr += 4;
 
     {   unsigned maxSymbolValue = 255;
-        size_t const hufHeaderSize = HUF_readCTable((HUF_CElt*)bs->entropy.hufCTable, &maxSymbolValue, dictPtr, dictEnd-dictPtr);
+        size_t const hufHeaderSize = HUF_readCTable((HUF_CElt*)bs->entropy.huf.CTable, &maxSymbolValue, dictPtr, dictEnd-dictPtr);
         if (HUF_isError(hufHeaderSize)) return ERROR(dictionary_corrupted);
         if (maxSymbolValue < 255) return ERROR(dictionary_corrupted);
         dictPtr += hufHeaderSize;
@@ -2282,7 +3070,10 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matc
         if (FSE_isError(offcodeHeaderSize)) return ERROR(dictionary_corrupted);
         if (offcodeLog > OffFSELog) return ERROR(dictionary_corrupted);
         /* Defer checking offcodeMaxValue because we need to know the size of the dictionary content */
-        CHECK_E( FSE_buildCTable_wksp(bs->entropy.offcodeCTable, offcodeNCount, offcodeMaxValue, offcodeLog, workspace, HUF_WORKSPACE_SIZE),
+        /* fill all offset symbols to avoid garbage at end of table */
+        CHECK_E( FSE_buildCTable_wksp(bs->entropy.fse.offcodeCTable,
+                                    offcodeNCount, MaxOff, offcodeLog,
+                                    workspace, HUF_WORKSPACE_SIZE),
                  dictionary_corrupted);
         dictPtr += offcodeHeaderSize;
     }
@@ -2294,7 +3085,9 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matc
         if (matchlengthLog > MLFSELog) return ERROR(dictionary_corrupted);
         /* Every match length code must have non-zero probability */
         CHECK_F( ZSTD_checkDictNCount(matchlengthNCount, matchlengthMaxValue, MaxML));
-        CHECK_E( FSE_buildCTable_wksp(bs->entropy.matchlengthCTable, matchlengthNCount, matchlengthMaxValue, matchlengthLog, workspace, HUF_WORKSPACE_SIZE),
+        CHECK_E( FSE_buildCTable_wksp(bs->entropy.fse.matchlengthCTable,
+                                    matchlengthNCount, matchlengthMaxValue, matchlengthLog,
+                                    workspace, HUF_WORKSPACE_SIZE),
                  dictionary_corrupted);
         dictPtr += matchlengthHeaderSize;
     }
@@ -2306,7 +3099,9 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matc
         if (litlengthLog > LLFSELog) return ERROR(dictionary_corrupted);
         /* Every literal length code must have non-zero probability */
         CHECK_F( ZSTD_checkDictNCount(litlengthNCount, litlengthMaxValue, MaxLL));
-        CHECK_E( FSE_buildCTable_wksp(bs->entropy.litlengthCTable, litlengthNCount, litlengthMaxValue, litlengthLog, workspace, HUF_WORKSPACE_SIZE),
+        CHECK_E( FSE_buildCTable_wksp(bs->entropy.fse.litlengthCTable,
+                                    litlengthNCount, litlengthMaxValue, litlengthLog,
+                                    workspace, HUF_WORKSPACE_SIZE),
                  dictionary_corrupted);
         dictPtr += litlengthHeaderSize;
     }
@@ -2332,22 +3127,25 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matc
                 if (bs->rep[u] > dictContentSize) return ERROR(dictionary_corrupted);
         }   }
 
-        bs->entropy.hufCTable_repeatMode = HUF_repeat_valid;
-        bs->entropy.offcode_repeatMode = FSE_repeat_valid;
-        bs->entropy.matchlength_repeatMode = FSE_repeat_valid;
-        bs->entropy.litlength_repeatMode = FSE_repeat_valid;
-        CHECK_F(ZSTD_loadDictionaryContent(ms, params, dictPtr, dictContentSize));
+        bs->entropy.huf.repeatMode = HUF_repeat_valid;
+        bs->entropy.fse.offcode_repeatMode = FSE_repeat_valid;
+        bs->entropy.fse.matchlength_repeatMode = FSE_repeat_valid;
+        bs->entropy.fse.litlength_repeatMode = FSE_repeat_valid;
+        CHECK_F(ZSTD_loadDictionaryContent(ms, params, dictPtr, dictContentSize, dtlm));
         return dictID;
     }
 }
 
 /** ZSTD_compress_insertDictionary() :
 *   @return : dictID, or an error code */
-static size_t ZSTD_compress_insertDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matchState_t* ms,
-                                             ZSTD_CCtx_params const* params,
-                                       const void* dict, size_t dictSize,
-                                             ZSTD_dictContentType_e dictContentType,
-                                             void* workspace)
+static size_t
+ZSTD_compress_insertDictionary(ZSTD_compressedBlockState_t* bs,
+                               ZSTD_matchState_t* ms,
+                         const ZSTD_CCtx_params* params,
+                         const void* dict, size_t dictSize,
+                               ZSTD_dictContentType_e dictContentType,
+                               ZSTD_dictTableLoadMethod_e dtlm,
+                               void* workspace)
 {
     DEBUGLOG(4, "ZSTD_compress_insertDictionary (dictSize=%u)", (U32)dictSize);
     if ((dict==NULL) || (dictSize<=8)) return 0;
@@ -2356,12 +3154,12 @@ static size_t ZSTD_compress_insertDictionary(ZSTD_compressedBlockState_t* bs, ZS
 
     /* dict restricted modes */
     if (dictContentType == ZSTD_dct_rawContent)
-        return ZSTD_loadDictionaryContent(ms, params, dict, dictSize);
+        return ZSTD_loadDictionaryContent(ms, params, dict, dictSize, dtlm);
 
     if (MEM_readLE32(dict) != ZSTD_MAGIC_DICTIONARY) {
         if (dictContentType == ZSTD_dct_auto) {
             DEBUGLOG(4, "raw content dictionary detected");
-            return ZSTD_loadDictionaryContent(ms, params, dict, dictSize);
+            return ZSTD_loadDictionaryContent(ms, params, dict, dictSize, dtlm);
         }
         if (dictContentType == ZSTD_dct_fullDict)
             return ERROR(dictionary_wrong);
@@ -2369,17 +3167,18 @@ static size_t ZSTD_compress_insertDictionary(ZSTD_compressedBlockState_t* bs, ZS
     }
 
     /* dict as full zstd dictionary */
-    return ZSTD_loadZstdDictionary(bs, ms, params, dict, dictSize, workspace);
+    return ZSTD_loadZstdDictionary(bs, ms, params, dict, dictSize, dtlm, workspace);
 }
 
 /*! ZSTD_compressBegin_internal() :
  * @return : 0, or an error code */
-size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx,
-                             const void* dict, size_t dictSize,
-                             ZSTD_dictContentType_e dictContentType,
-                             const ZSTD_CDict* cdict,
-                             ZSTD_CCtx_params params, U64 pledgedSrcSize,
-                             ZSTD_buffered_policy_e zbuff)
+static size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx,
+                                    const void* dict, size_t dictSize,
+                                    ZSTD_dictContentType_e dictContentType,
+                                    ZSTD_dictTableLoadMethod_e dtlm,
+                                    const ZSTD_CDict* cdict,
+                                    ZSTD_CCtx_params params, U64 pledgedSrcSize,
+                                    ZSTD_buffered_policy_e zbuff)
 {
     DEBUGLOG(4, "ZSTD_compressBegin_internal: wlog=%u", params.cParams.windowLog);
     /* params are supposed to be fully validated at this point */
@@ -2387,9 +3186,7 @@ size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx,
     assert(!((dict) && (cdict)));  /* either dict or cdict, not both */
 
     if (cdict && cdict->dictContentSize>0) {
-        cctx->requestedParams = params;
-        return ZSTD_resetCCtx_usingCDict(cctx, cdict, params.cParams.windowLog,
-                                         params.fParams, pledgedSrcSize, zbuff);
+        return ZSTD_resetCCtx_usingCDict(cctx, cdict, params, pledgedSrcSize, zbuff);
     }
 
     CHECK_F( ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize,
@@ -2397,7 +3194,7 @@ size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx,
     {
         size_t const dictID = ZSTD_compress_insertDictionary(
                 cctx->blockState.prevCBlock, &cctx->blockState.matchState,
-                &params, dict, dictSize, dictContentType, cctx->entropyWorkspace);
+                &params, dict, dictSize, dictContentType, dtlm, cctx->entropyWorkspace);
         if (ZSTD_isError(dictID)) return dictID;
         assert(dictID <= (size_t)(U32)-1);
         cctx->dictID = (U32)dictID;
@@ -2408,6 +3205,7 @@ size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx,
 size_t ZSTD_compressBegin_advanced_internal(ZSTD_CCtx* cctx,
                                     const void* dict, size_t dictSize,
                                     ZSTD_dictContentType_e dictContentType,
+                                    ZSTD_dictTableLoadMethod_e dtlm,
                                     const ZSTD_CDict* cdict,
                                     ZSTD_CCtx_params params,
                                     unsigned long long pledgedSrcSize)
@@ -2416,7 +3214,7 @@ size_t ZSTD_compressBegin_advanced_internal(ZSTD_CCtx* cctx,
     /* compression parameters verification and optimization */
     CHECK_F( ZSTD_checkCParams(params.cParams) );
     return ZSTD_compressBegin_internal(cctx,
-                                       dict, dictSize, dictContentType,
+                                       dict, dictSize, dictContentType, dtlm,
                                        cdict,
                                        params, pledgedSrcSize,
                                        ZSTDb_not_buffered);
@@ -2431,7 +3229,7 @@ size_t ZSTD_compressBegin_advanced(ZSTD_CCtx* cctx,
     ZSTD_CCtx_params const cctxParams =
             ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params);
     return ZSTD_compressBegin_advanced_internal(cctx,
-                                            dict, dictSize, ZSTD_dct_auto,
+                                            dict, dictSize, ZSTD_dct_auto, ZSTD_dtlm_fast,
                                             NULL /*cdict*/,
                                             cctxParams, pledgedSrcSize);
 }
@@ -2441,8 +3239,8 @@ size_t ZSTD_compressBegin_usingDict(ZSTD_CCtx* cctx, const void* dict, size_t di
     ZSTD_parameters const params = ZSTD_getParams(compressionLevel, ZSTD_CONTENTSIZE_UNKNOWN, dictSize);
     ZSTD_CCtx_params const cctxParams =
             ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params);
-    DEBUGLOG(4, "ZSTD_compressBegin_usingDict (dictSize=%u)", (U32)dictSize);
-    return ZSTD_compressBegin_internal(cctx, dict, dictSize, ZSTD_dct_auto, NULL,
+    DEBUGLOG(4, "ZSTD_compressBegin_usingDict (dictSize=%u)", (unsigned)dictSize);
+    return ZSTD_compressBegin_internal(cctx, dict, dictSize, ZSTD_dct_auto, ZSTD_dtlm_fast, NULL,
                                        cctxParams, ZSTD_CONTENTSIZE_UNKNOWN, ZSTDb_not_buffered);
 }
 
@@ -2485,7 +3283,7 @@ static size_t ZSTD_writeEpilogue(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity)
     if (cctx->appliedParams.fParams.checksumFlag) {
         U32 const checksum = (U32) XXH64_digest(&cctx->xxhState);
         if (dstCapacity<4) return ERROR(dstSize_tooSmall);
-        DEBUGLOG(4, "ZSTD_writeEpilogue: write checksum : %08X", checksum);
+        DEBUGLOG(4, "ZSTD_writeEpilogue: write checksum : %08X", (unsigned)checksum);
         MEM_writeLE32(op, checksum);
         op += 4;
     }
@@ -2505,11 +3303,13 @@ size_t ZSTD_compressEnd (ZSTD_CCtx* cctx,
     if (ZSTD_isError(cSize)) return cSize;
     endResult = ZSTD_writeEpilogue(cctx, (char*)dst + cSize, dstCapacity-cSize);
     if (ZSTD_isError(endResult)) return endResult;
-    if (cctx->appliedParams.fParams.contentSizeFlag) {  /* control src size */
+    assert(!(cctx->appliedParams.fParams.contentSizeFlag && cctx->pledgedSrcSizePlusOne == 0));
+    if (cctx->pledgedSrcSizePlusOne != 0) {  /* control src size */
+        ZSTD_STATIC_ASSERT(ZSTD_CONTENTSIZE_UNKNOWN == (unsigned long long)-1);
         DEBUGLOG(4, "end of frame : controlling src size");
         if (cctx->pledgedSrcSizePlusOne != cctx->consumedSrcSize+1) {
             DEBUGLOG(4, "error : pledgedSrcSize = %u, while realSrcSize = %u",
-                (U32)cctx->pledgedSrcSizePlusOne-1, (U32)cctx->consumedSrcSize);
+                (unsigned)cctx->pledgedSrcSizePlusOne-1, (unsigned)cctx->consumedSrcSize);
             return ERROR(srcSize_wrong);
     }   }
     return cSize + endResult;
@@ -2517,22 +3317,22 @@ size_t ZSTD_compressEnd (ZSTD_CCtx* cctx,
 
 
 static size_t ZSTD_compress_internal (ZSTD_CCtx* cctx,
-                               void* dst, size_t dstCapacity,
-                         const void* src, size_t srcSize,
-                         const void* dict,size_t dictSize,
-                               ZSTD_parameters params)
+                                      void* dst, size_t dstCapacity,
+                                const void* src, size_t srcSize,
+                                const void* dict,size_t dictSize,
+                                      ZSTD_parameters params)
 {
     ZSTD_CCtx_params const cctxParams =
             ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params);
     DEBUGLOG(4, "ZSTD_compress_internal");
     return ZSTD_compress_advanced_internal(cctx,
-                                          dst, dstCapacity,
-                                          src, srcSize,
-                                          dict, dictSize,
-                                          cctxParams);
+                                           dst, dstCapacity,
+                                           src, srcSize,
+                                           dict, dictSize,
+                                           cctxParams);
 }
 
-size_t ZSTD_compress_advanced (ZSTD_CCtx* ctx,
+size_t ZSTD_compress_advanced (ZSTD_CCtx* cctx,
                                void* dst, size_t dstCapacity,
                          const void* src, size_t srcSize,
                          const void* dict,size_t dictSize,
@@ -2540,7 +3340,11 @@ size_t ZSTD_compress_advanced (ZSTD_CCtx* ctx,
 {
     DEBUGLOG(4, "ZSTD_compress_advanced");
     CHECK_F(ZSTD_checkCParams(params.cParams));
-    return ZSTD_compress_internal(ctx, dst, dstCapacity, src, srcSize, dict, dictSize, params);
+    return ZSTD_compress_internal(cctx,
+                                  dst, dstCapacity,
+                                  src, srcSize,
+                                  dict, dictSize,
+                                  params);
 }
 
 /* Internal */
@@ -2551,37 +3355,44 @@ size_t ZSTD_compress_advanced_internal(
         const void* dict,size_t dictSize,
         ZSTD_CCtx_params params)
 {
-    DEBUGLOG(4, "ZSTD_compress_advanced_internal (srcSize:%u)",
-                (U32)srcSize);
-    CHECK_F( ZSTD_compressBegin_internal(cctx, dict, dictSize, ZSTD_dct_auto, NULL,
-                                         params, srcSize, ZSTDb_not_buffered) );
+    DEBUGLOG(4, "ZSTD_compress_advanced_internal (srcSize:%u)", (unsigned)srcSize);
+    CHECK_F( ZSTD_compressBegin_internal(cctx,
+                         dict, dictSize, ZSTD_dct_auto, ZSTD_dtlm_fast, NULL,
+                         params, srcSize, ZSTDb_not_buffered) );
     return ZSTD_compressEnd(cctx, dst, dstCapacity, src, srcSize);
 }
 
-size_t ZSTD_compress_usingDict(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize,
-                               const void* dict, size_t dictSize, int compressionLevel)
+size_t ZSTD_compress_usingDict(ZSTD_CCtx* cctx,
+                               void* dst, size_t dstCapacity,
+                         const void* src, size_t srcSize,
+                         const void* dict, size_t dictSize,
+                               int compressionLevel)
 {
-    ZSTD_parameters const params = ZSTD_getParams(compressionLevel, srcSize ? srcSize : 1, dict ? dictSize : 0);
+    ZSTD_parameters const params = ZSTD_getParams(compressionLevel, srcSize + (!srcSize), dict ? dictSize : 0);
     ZSTD_CCtx_params cctxParams = ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params);
     assert(params.fParams.contentSizeFlag == 1);
-    ZSTD_CCtxParam_setParameter(&cctxParams, ZSTD_p_compressLiterals, compressionLevel>=0);
     return ZSTD_compress_advanced_internal(cctx, dst, dstCapacity, src, srcSize, dict, dictSize, cctxParams);
 }
 
-size_t ZSTD_compressCCtx (ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize, int compressionLevel)
+size_t ZSTD_compressCCtx(ZSTD_CCtx* cctx,
+                         void* dst, size_t dstCapacity,
+                   const void* src, size_t srcSize,
+                         int compressionLevel)
 {
-    DEBUGLOG(4, "ZSTD_compressCCtx (srcSize=%u)", (U32)srcSize);
+    DEBUGLOG(4, "ZSTD_compressCCtx (srcSize=%u)", (unsigned)srcSize);
+    assert(cctx != NULL);
     return ZSTD_compress_usingDict(cctx, dst, dstCapacity, src, srcSize, NULL, 0, compressionLevel);
 }
 
-size_t ZSTD_compress(void* dst, size_t dstCapacity, const void* src, size_t srcSize, int compressionLevel)
+size_t ZSTD_compress(void* dst, size_t dstCapacity,
+               const void* src, size_t srcSize,
+                     int compressionLevel)
 {
     size_t result;
     ZSTD_CCtx ctxBody;
-    memset(&ctxBody, 0, sizeof(ctxBody));
-    ctxBody.customMem = ZSTD_defaultCMem;
+    ZSTD_initCCtx(&ctxBody, ZSTD_defaultCMem);
     result = ZSTD_compressCCtx(&ctxBody, dst, dstCapacity, src, srcSize, compressionLevel);
-    ZSTD_free(ctxBody.workSpace, ZSTD_defaultCMem);  /* can't free ctxBody itself, as it's on stack; free only heap content */
+    ZSTD_freeCCtxContent(&ctxBody);   /* can't free ctxBody itself, as it's on stack; free only heap content */
     return result;
 }
 
@@ -2594,7 +3405,7 @@ size_t ZSTD_estimateCDictSize_advanced(
         size_t dictSize, ZSTD_compressionParameters cParams,
         ZSTD_dictLoadMethod_e dictLoadMethod)
 {
-    DEBUGLOG(5, "sizeof(ZSTD_CDict) : %u", (U32)sizeof(ZSTD_CDict));
+    DEBUGLOG(5, "sizeof(ZSTD_CDict) : %u", (unsigned)sizeof(ZSTD_CDict));
     return sizeof(ZSTD_CDict) + HUF_WORKSPACE_SIZE + ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 0)
            + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize);
 }
@@ -2608,7 +3419,7 @@ size_t ZSTD_estimateCDictSize(size_t dictSize, int compressionLevel)
 size_t ZSTD_sizeof_CDict(const ZSTD_CDict* cdict)
 {
     if (cdict==NULL) return 0;   /* support sizeof on NULL */
-    DEBUGLOG(5, "sizeof(*cdict) : %u", (U32)sizeof(*cdict));
+    DEBUGLOG(5, "sizeof(*cdict) : %u", (unsigned)sizeof(*cdict));
     return cdict->workspaceSize + (cdict->dictBuffer ? cdict->dictContentSize : 0) + sizeof(*cdict);
 }
 
@@ -2619,9 +3430,9 @@ static size_t ZSTD_initCDict_internal(
                     ZSTD_dictContentType_e dictContentType,
                     ZSTD_compressionParameters cParams)
 {
-    DEBUGLOG(3, "ZSTD_initCDict_internal, dictContentType %u", (U32)dictContentType);
+    DEBUGLOG(3, "ZSTD_initCDict_internal (dictContentType:%u)", (unsigned)dictContentType);
     assert(!ZSTD_checkCParams(cParams));
-    cdict->cParams = cParams;
+    cdict->matchState.cParams = cParams;
     if ((dictLoadMethod == ZSTD_dlm_byRef) || (!dictBuffer) || (!dictSize)) {
         cdict->dictBuffer = NULL;
         cdict->dictContent = dictBuffer;
@@ -2654,7 +3465,7 @@ static size_t ZSTD_initCDict_internal(
         {   size_t const dictID = ZSTD_compress_insertDictionary(
                     &cdict->cBlockState, &cdict->matchState, &params,
                     cdict->dictContent, cdict->dictContentSize,
-                    dictContentType, cdict->workspace);
+                    dictContentType, ZSTD_dtlm_full, cdict->workspace);
             if (ZSTD_isError(dictID)) return dictID;
             assert(dictID <= (size_t)(U32)-1);
             cdict->dictID = (U32)dictID;
@@ -2669,7 +3480,7 @@ ZSTD_CDict* ZSTD_createCDict_advanced(const void* dictBuffer, size_t dictSize,
                                       ZSTD_dictContentType_e dictContentType,
                                       ZSTD_compressionParameters cParams, ZSTD_customMem customMem)
 {
-    DEBUGLOG(3, "ZSTD_createCDict_advanced, mode %u", (U32)dictContentType);
+    DEBUGLOG(3, "ZSTD_createCDict_advanced, mode %u", (unsigned)dictContentType);
     if (!customMem.customAlloc ^ !customMem.customFree) return NULL;
 
     {   ZSTD_CDict* const cdict = (ZSTD_CDict*)ZSTD_malloc(sizeof(ZSTD_CDict), customMem);
@@ -2750,7 +3561,7 @@ const ZSTD_CDict* ZSTD_initStaticCDict(
     void* ptr;
     if ((size_t)workspace & 7) return NULL;  /* 8-aligned */
     DEBUGLOG(4, "(workspaceSize < neededSize) : (%u < %u) => %u",
-        (U32)workspaceSize, (U32)neededSize, (U32)(workspaceSize < neededSize));
+        (unsigned)workspaceSize, (unsigned)neededSize, (unsigned)(workspaceSize < neededSize));
     if (workspaceSize < neededSize) return NULL;
 
     if (dictLoadMethod == ZSTD_dlm_byCopy) {
@@ -2775,7 +3586,7 @@ const ZSTD_CDict* ZSTD_initStaticCDict(
 ZSTD_compressionParameters ZSTD_getCParamsFromCDict(const ZSTD_CDict* cdict)
 {
     assert(cdict != NULL);
-    return cdict->cParams;
+    return cdict->matchState.cParams;
 }
 
 /* ZSTD_compressBegin_usingCDict_advanced() :
@@ -2799,7 +3610,7 @@ size_t ZSTD_compressBegin_usingCDict_advanced(
         }
         params.fParams = fParams;
         return ZSTD_compressBegin_internal(cctx,
-                                           NULL, 0, ZSTD_dct_auto,
+                                           NULL, 0, ZSTD_dct_auto, ZSTD_dtlm_fast,
                                            cdict,
                                            params, pledgedSrcSize,
                                            ZSTDb_not_buffered);
@@ -2813,7 +3624,7 @@ size_t ZSTD_compressBegin_usingCDict(ZSTD_CCtx* cctx, const ZSTD_CDict* cdict)
 {
     ZSTD_frameParameters const fParams = { 0 /*content*/, 0 /*checksum*/, 0 /*noDictID*/ };
     DEBUGLOG(4, "ZSTD_compressBegin_usingCDict : dictIDFlag == %u", !fParams.noDictIDFlag);
-    return ZSTD_compressBegin_usingCDict_advanced(cctx, cdict, fParams, 0);
+    return ZSTD_compressBegin_usingCDict_advanced(cctx, cdict, fParams, ZSTD_CONTENTSIZE_UNKNOWN);
 }
 
 size_t ZSTD_compress_usingCDict_advanced(ZSTD_CCtx* cctx,
@@ -2880,16 +3691,17 @@ size_t ZSTD_CStreamOutSize(void)
 static size_t ZSTD_resetCStream_internal(ZSTD_CStream* cctx,
                     const void* const dict, size_t const dictSize, ZSTD_dictContentType_e const dictContentType,
                     const ZSTD_CDict* const cdict,
-                    ZSTD_CCtx_params const params, unsigned long long const pledgedSrcSize)
+                    ZSTD_CCtx_params params, unsigned long long const pledgedSrcSize)
 {
-    DEBUGLOG(4, "ZSTD_resetCStream_internal (disableLiteralCompression=%i)",
-                params.disableLiteralCompression);
+    DEBUGLOG(4, "ZSTD_resetCStream_internal");
+    /* Finalize the compression parameters */
+    params.cParams = ZSTD_getCParamsFromCCtxParams(&params, pledgedSrcSize, dictSize);
     /* params are supposed to be fully validated at this point */
     assert(!ZSTD_isError(ZSTD_checkCParams(params.cParams)));
     assert(!((dict) && (cdict)));  /* either dict or cdict, not both */
 
     CHECK_F( ZSTD_compressBegin_internal(cctx,
-                                         dict, dictSize, dictContentType,
+                                         dict, dictSize, dictContentType, ZSTD_dtlm_fast,
                                          cdict,
                                          params, pledgedSrcSize,
                                          ZSTDb_buffered) );
@@ -2909,10 +3721,9 @@ static size_t ZSTD_resetCStream_internal(ZSTD_CStream* cctx,
 size_t ZSTD_resetCStream(ZSTD_CStream* zcs, unsigned long long pledgedSrcSize)
 {
     ZSTD_CCtx_params params = zcs->requestedParams;
-    DEBUGLOG(4, "ZSTD_resetCStream: pledgedSrcSize = %u", (U32)pledgedSrcSize);
+    DEBUGLOG(4, "ZSTD_resetCStream: pledgedSrcSize = %u", (unsigned)pledgedSrcSize);
     if (pledgedSrcSize==0) pledgedSrcSize = ZSTD_CONTENTSIZE_UNKNOWN;
     params.fParams.contentSizeFlag = 1;
-    params.cParams = ZSTD_getCParamsFromCCtxParams(&params, pledgedSrcSize, 0);
     return ZSTD_resetCStream_internal(zcs, NULL, 0, ZSTD_dct_auto, zcs->cdict, params, pledgedSrcSize);
 }
 
@@ -2925,11 +3736,12 @@ size_t ZSTD_initCStream_internal(ZSTD_CStream* zcs,
                     ZSTD_CCtx_params params, unsigned long long pledgedSrcSize)
 {
     DEBUGLOG(4, "ZSTD_initCStream_internal");
+    params.cParams = ZSTD_getCParamsFromCCtxParams(&params, pledgedSrcSize, dictSize);
     assert(!ZSTD_isError(ZSTD_checkCParams(params.cParams)));
     assert(!((dict) && (cdict)));  /* either dict or cdict, not both */
 
     if (dict && dictSize >= 8) {
-        DEBUGLOG(4, "loading dictionary of size %u", (U32)dictSize);
+        DEBUGLOG(4, "loading dictionary of size %u", (unsigned)dictSize);
         if (zcs->staticSize) {   /* static CCtx : never uses malloc */
             /* incompatible with internal cdict creation */
             return ERROR(memory_allocation);
@@ -2988,28 +3800,24 @@ size_t ZSTD_initCStream_advanced(ZSTD_CStream* zcs,
                                  ZSTD_parameters params, unsigned long long pledgedSrcSize)
 {
     DEBUGLOG(4, "ZSTD_initCStream_advanced: pledgedSrcSize=%u, flag=%u",
-                (U32)pledgedSrcSize, params.fParams.contentSizeFlag);
+                (unsigned)pledgedSrcSize, params.fParams.contentSizeFlag);
     CHECK_F( ZSTD_checkCParams(params.cParams) );
     if ((pledgedSrcSize==0) && (params.fParams.contentSizeFlag==0)) pledgedSrcSize = ZSTD_CONTENTSIZE_UNKNOWN;  /* for compatibility with older programs relying on this behavior. Users should now specify ZSTD_CONTENTSIZE_UNKNOWN. This line will be removed in the future. */
-    {   ZSTD_CCtx_params const cctxParams = ZSTD_assignParamsToCCtxParams(zcs->requestedParams, params);
-        return ZSTD_initCStream_internal(zcs, dict, dictSize, NULL /*cdict*/, cctxParams, pledgedSrcSize);
-    }
+    zcs->requestedParams = ZSTD_assignParamsToCCtxParams(zcs->requestedParams, params);
+    return ZSTD_initCStream_internal(zcs, dict, dictSize, NULL /*cdict*/, zcs->requestedParams, pledgedSrcSize);
 }
 
 size_t ZSTD_initCStream_usingDict(ZSTD_CStream* zcs, const void* dict, size_t dictSize, int compressionLevel)
 {
-    ZSTD_parameters const params = ZSTD_getParams(compressionLevel, 0, dictSize);
-    ZSTD_CCtx_params const cctxParams =
-            ZSTD_assignParamsToCCtxParams(zcs->requestedParams, params);
-    return ZSTD_initCStream_internal(zcs, dict, dictSize, NULL, cctxParams, ZSTD_CONTENTSIZE_UNKNOWN);
+    ZSTD_CCtxParams_init(&zcs->requestedParams, compressionLevel);
+    return ZSTD_initCStream_internal(zcs, dict, dictSize, NULL, zcs->requestedParams, ZSTD_CONTENTSIZE_UNKNOWN);
 }
 
 size_t ZSTD_initCStream_srcSize(ZSTD_CStream* zcs, int compressionLevel, unsigned long long pss)
 {
     U64 const pledgedSrcSize = (pss==0) ? ZSTD_CONTENTSIZE_UNKNOWN : pss;  /* temporary : 0 interpreted as "unknown" during transition period. Users willing to specify "unknown" **must** use ZSTD_CONTENTSIZE_UNKNOWN. `0` will be interpreted as "empty" in the future */
-    ZSTD_parameters const params = ZSTD_getParams(compressionLevel, pledgedSrcSize, 0);
-    ZSTD_CCtx_params const cctxParams = ZSTD_assignParamsToCCtxParams(zcs->requestedParams, params);
-    return ZSTD_initCStream_internal(zcs, NULL, 0, NULL, cctxParams, pledgedSrcSize);
+    ZSTD_CCtxParams_init(&zcs->requestedParams, compressionLevel);
+    return ZSTD_initCStream_internal(zcs, NULL, 0, NULL, zcs->requestedParams, pledgedSrcSize);
 }
 
 size_t ZSTD_initCStream(ZSTD_CStream* zcs, int compressionLevel)
@@ -3020,8 +3828,15 @@ size_t ZSTD_initCStream(ZSTD_CStream* zcs, int compressionLevel)
 
 /*======   Compression   ======*/
 
-MEM_STATIC size_t ZSTD_limitCopy(void* dst, size_t dstCapacity,
-                           const void* src, size_t srcSize)
+static size_t ZSTD_nextInputSizeHint(const ZSTD_CCtx* cctx)
+{
+    size_t hintInSize = cctx->inBuffTarget - cctx->inBuffPos;
+    if (hintInSize==0) hintInSize = cctx->blockSize;
+    return hintInSize;
+}
+
+static size_t ZSTD_limitCopy(void* dst, size_t dstCapacity,
+                       const void* src, size_t srcSize)
 {
     size_t const length = MIN(dstCapacity, srcSize);
     if (length) memcpy(dst, src, length);
@@ -3029,7 +3844,7 @@ MEM_STATIC size_t ZSTD_limitCopy(void* dst, size_t dstCapacity,
 }
 
 /** ZSTD_compressStream_generic():
- *  internal function for all *compressStream*() variants and *compress_generic()
+ *  internal function for all *compressStream*() variants
  *  non-static, because can be called from zstdmt_compress.c
  * @return : hint size for next input */
 size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
@@ -3046,7 +3861,7 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
     U32 someMoreWork = 1;
 
     /* check expectations */
-    DEBUGLOG(5, "ZSTD_compressStream_generic, flush=%u", (U32)flushMode);
+    DEBUGLOG(5, "ZSTD_compressStream_generic, flush=%u", (unsigned)flushMode);
     assert(zcs->inBuff != NULL);
     assert(zcs->inBuffSize > 0);
     assert(zcs->outBuff !=  NULL);
@@ -3068,12 +3883,12 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
                 /* shortcut to compression pass directly into output buffer */
                 size_t const cSize = ZSTD_compressEnd(zcs,
                                                 op, oend-op, ip, iend-ip);
-                DEBUGLOG(4, "ZSTD_compressEnd : %u", (U32)cSize);
+                DEBUGLOG(4, "ZSTD_compressEnd : cSize=%u", (unsigned)cSize);
                 if (ZSTD_isError(cSize)) return cSize;
                 ip = iend;
                 op += cSize;
                 zcs->frameEnded = 1;
-                ZSTD_startNewCompression(zcs);
+                ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only);
                 someMoreWork = 0; break;
             }
             /* complete loading into inBuffer */
@@ -3117,7 +3932,7 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
                 if (zcs->inBuffTarget > zcs->inBuffSize)
                     zcs->inBuffPos = 0, zcs->inBuffTarget = zcs->blockSize;
                 DEBUGLOG(5, "inBuffTarget:%u / inBuffSize:%u",
-                         (U32)zcs->inBuffTarget, (U32)zcs->inBuffSize);
+                         (unsigned)zcs->inBuffTarget, (unsigned)zcs->inBuffSize);
                 if (!lastBlock)
                     assert(zcs->inBuffTarget <= zcs->inBuffSize);
                 zcs->inToCompress = zcs->inBuffPos;
@@ -3126,7 +3941,7 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
                     if (zcs->frameEnded) {
                         DEBUGLOG(5, "Frame completed directly in outBuffer");
                         someMoreWork = 0;
-                        ZSTD_startNewCompression(zcs);
+                        ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only);
                     }
                     break;
                 }
@@ -3141,7 +3956,7 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
                 size_t const flushed = ZSTD_limitCopy(op, oend-op,
                             zcs->outBuff + zcs->outBuffFlushedSize, toFlush);
                 DEBUGLOG(5, "toFlush: %u into %u ==> flushed: %u",
-                            (U32)toFlush, (U32)(oend-op), (U32)flushed);
+                            (unsigned)toFlush, (unsigned)(oend-op), (unsigned)flushed);
                 op += flushed;
                 zcs->outBuffFlushedSize += flushed;
                 if (toFlush!=flushed) {
@@ -3154,7 +3969,7 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
                 if (zcs->frameEnded) {
                     DEBUGLOG(5, "Frame completed on flush");
                     someMoreWork = 0;
-                    ZSTD_startNewCompression(zcs);
+                    ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only);
                     break;
                 }
                 zcs->streamStage = zcss_load;
@@ -3169,28 +3984,34 @@ size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
     input->pos = ip - istart;
     output->pos = op - ostart;
     if (zcs->frameEnded) return 0;
-    {   size_t hintInSize = zcs->inBuffTarget - zcs->inBuffPos;
-        if (hintInSize==0) hintInSize = zcs->blockSize;
-        return hintInSize;
+    return ZSTD_nextInputSizeHint(zcs);
+}
+
+static size_t ZSTD_nextInputSizeHint_MTorST(const ZSTD_CCtx* cctx)
+{
+#ifdef ZSTD_MULTITHREAD
+    if (cctx->appliedParams.nbWorkers >= 1) {
+        assert(cctx->mtctx != NULL);
+        return ZSTDMT_nextInputSizeHint(cctx->mtctx);
     }
+#endif
+    return ZSTD_nextInputSizeHint(cctx);
+
 }
 
 size_t ZSTD_compressStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output, ZSTD_inBuffer* input)
 {
-    /* check conditions */
-    if (output->pos > output->size) return ERROR(GENERIC);
-    if (input->pos  > input->size)  return ERROR(GENERIC);
-
-    return ZSTD_compressStream_generic(zcs, output, input, ZSTD_e_continue);
+    CHECK_F( ZSTD_compressStream2(zcs, output, input, ZSTD_e_continue) );
+    return ZSTD_nextInputSizeHint_MTorST(zcs);
 }
 
 
-size_t ZSTD_compress_generic (ZSTD_CCtx* cctx,
-                              ZSTD_outBuffer* output,
-                              ZSTD_inBuffer* input,
-                              ZSTD_EndDirective endOp)
+size_t ZSTD_compressStream2( ZSTD_CCtx* cctx,
+                             ZSTD_outBuffer* output,
+                             ZSTD_inBuffer* input,
+                             ZSTD_EndDirective endOp)
 {
-    DEBUGLOG(5, "ZSTD_compress_generic, endOp=%u ", (U32)endOp);
+    DEBUGLOG(5, "ZSTD_compressStream2, endOp=%u ", (unsigned)endOp);
     /* check conditions */
     if (output->pos > output->size) return ERROR(GENERIC);
     if (input->pos  > input->size)  return ERROR(GENERIC);
@@ -3200,26 +4021,23 @@ size_t ZSTD_compress_generic (ZSTD_CCtx* cctx,
     if (cctx->streamStage == zcss_init) {
         ZSTD_CCtx_params params = cctx->requestedParams;
         ZSTD_prefixDict const prefixDict = cctx->prefixDict;
-        memset(&cctx->prefixDict, 0, sizeof(cctx->prefixDict));  /* single usage */
-        assert(prefixDict.dict==NULL || cctx->cdict==NULL);   /* only one can be set */
-        DEBUGLOG(4, "ZSTD_compress_generic : transparent init stage");
+        memset(&cctx->prefixDict, 0, sizeof(cctx->prefixDict));   /* single usage */
+        assert(prefixDict.dict==NULL || cctx->cdict==NULL);    /* only one can be set */
+        DEBUGLOG(4, "ZSTD_compressStream2 : transparent init stage");
         if (endOp == ZSTD_e_end) cctx->pledgedSrcSizePlusOne = input->size + 1;  /* auto-fix pledgedSrcSize */
         params.cParams = ZSTD_getCParamsFromCCtxParams(
                 &cctx->requestedParams, cctx->pledgedSrcSizePlusOne-1, 0 /*dictSize*/);
 
+
 #ifdef ZSTD_MULTITHREAD
         if ((cctx->pledgedSrcSizePlusOne-1) <= ZSTDMT_JOBSIZE_MIN) {
             params.nbWorkers = 0; /* do not invoke multi-threading when src size is too small */
         }
         if (params.nbWorkers > 0) {
             /* mt context creation */
-            if (cctx->mtctx == NULL || (params.nbWorkers != ZSTDMT_getNbWorkers(cctx->mtctx))) {
-                DEBUGLOG(4, "ZSTD_compress_generic: creating new mtctx for nbWorkers=%u",
+            if (cctx->mtctx == NULL) {
+                DEBUGLOG(4, "ZSTD_compressStream2: creating new mtctx for nbWorkers=%u",
                             params.nbWorkers);
-                if (cctx->mtctx != NULL)
-                    DEBUGLOG(4, "ZSTD_compress_generic: previous nbWorkers was %u",
-                                ZSTDMT_getNbWorkers(cctx->mtctx));
-                ZSTDMT_freeCCtx(cctx->mtctx);
                 cctx->mtctx = ZSTDMT_createCCtx_advanced(params.nbWorkers, cctx->customMem);
                 if (cctx->mtctx == NULL) return ERROR(memory_allocation);
             }
@@ -3240,6 +4058,7 @@ size_t ZSTD_compress_generic (ZSTD_CCtx* cctx,
             assert(cctx->streamStage == zcss_load);
             assert(cctx->appliedParams.nbWorkers == 0);
     }   }
+    /* end of transparent initialization stage */
 
     /* compression stage */
 #ifdef ZSTD_MULTITHREAD
@@ -3251,17 +4070,18 @@ size_t ZSTD_compress_generic (ZSTD_CCtx* cctx,
         {   size_t const flushMin = ZSTDMT_compressStream_generic(cctx->mtctx, output, input, endOp);
             if ( ZSTD_isError(flushMin)
               || (endOp == ZSTD_e_end && flushMin == 0) ) { /* compression completed */
-                ZSTD_startNewCompression(cctx);
+                ZSTD_CCtx_reset(cctx, ZSTD_reset_session_only);
             }
+            DEBUGLOG(5, "completed ZSTD_compressStream2 delegating to ZSTDMT_compressStream_generic");
             return flushMin;
     }   }
 #endif
     CHECK_F( ZSTD_compressStream_generic(cctx, output, input, endOp) );
-    DEBUGLOG(5, "completed ZSTD_compress_generic");
+    DEBUGLOG(5, "completed ZSTD_compressStream2");
     return cctx->outBuffContentSize - cctx->outBuffFlushedSize; /* remaining to flush */
 }
 
-size_t ZSTD_compress_generic_simpleArgs (
+size_t ZSTD_compressStream2_simpleArgs (
                             ZSTD_CCtx* cctx,
                             void* dst, size_t dstCapacity, size_t* dstPos,
                       const void* src, size_t srcSize, size_t* srcPos,
@@ -3269,13 +4089,33 @@ size_t ZSTD_compress_generic_simpleArgs (
 {
     ZSTD_outBuffer output = { dst, dstCapacity, *dstPos };
     ZSTD_inBuffer  input  = { src, srcSize, *srcPos };
-    /* ZSTD_compress_generic() will check validity of dstPos and srcPos */
-    size_t const cErr = ZSTD_compress_generic(cctx, &output, &input, endOp);
+    /* ZSTD_compressStream2() will check validity of dstPos and srcPos */
+    size_t const cErr = ZSTD_compressStream2(cctx, &output, &input, endOp);
     *dstPos = output.pos;
     *srcPos = input.pos;
     return cErr;
 }
 
+size_t ZSTD_compress2(ZSTD_CCtx* cctx,
+                      void* dst, size_t dstCapacity,
+                      const void* src, size_t srcSize)
+{
+    ZSTD_CCtx_reset(cctx, ZSTD_reset_session_only);
+    {   size_t oPos = 0;
+        size_t iPos = 0;
+        size_t const result = ZSTD_compressStream2_simpleArgs(cctx,
+                                        dst, dstCapacity, &oPos,
+                                        src, srcSize, &iPos,
+                                        ZSTD_e_end);
+        if (ZSTD_isError(result)) return result;
+        if (result != 0) {  /* compression not completed, due to lack of output space */
+            assert(oPos == dstCapacity);
+            return ERROR(dstSize_tooSmall);
+        }
+        assert(iPos == srcSize);   /* all input is expected consumed */
+        return oPos;
+    }
+}
 
 /*======   Finalize   ======*/
 
@@ -3284,21 +4124,21 @@ size_t ZSTD_compress_generic_simpleArgs (
 size_t ZSTD_flushStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output)
 {
     ZSTD_inBuffer input = { NULL, 0, 0 };
-    if (output->pos > output->size) return ERROR(GENERIC);
-    CHECK_F( ZSTD_compressStream_generic(zcs, output, &input, ZSTD_e_flush) );
-    return zcs->outBuffContentSize - zcs->outBuffFlushedSize;  /* remaining to flush */
+    return ZSTD_compressStream2(zcs, output, &input, ZSTD_e_flush);
 }
 
 
 size_t ZSTD_endStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output)
 {
     ZSTD_inBuffer input = { NULL, 0, 0 };
-    if (output->pos > output->size) return ERROR(GENERIC);
-    CHECK_F( ZSTD_compressStream_generic(zcs, output, &input, ZSTD_e_end) );
+    size_t const remainingToFlush = ZSTD_compressStream2(zcs, output, &input, ZSTD_e_end);
+    CHECK_F( remainingToFlush );
+    if (zcs->appliedParams.nbWorkers > 0) return remainingToFlush;   /* minimal estimation */
+    /* single thread mode : attempt to calculate remaining to flush more precisely */
     {   size_t const lastBlockSize = zcs->frameEnded ? 0 : ZSTD_BLOCKHEADERSIZE;
         size_t const checksumSize = zcs->frameEnded ? 0 : zcs->appliedParams.fParams.checksumFlag * 4;
-        size_t const toFlush = zcs->outBuffContentSize - zcs->outBuffFlushedSize + lastBlockSize + checksumSize;
-        DEBUGLOG(4, "ZSTD_endStream : remaining to flush : %u", (U32)toFlush);
+        size_t const toFlush = remainingToFlush + lastBlockSize + checksumSize;
+        DEBUGLOG(4, "ZSTD_endStream : remaining to flush : %u", (unsigned)toFlush);
         return toFlush;
     }
 }
@@ -3308,111 +4148,112 @@ size_t ZSTD_endStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output)
 
 #define ZSTD_MAX_CLEVEL     22
 int ZSTD_maxCLevel(void) { return ZSTD_MAX_CLEVEL; }
+int ZSTD_minCLevel(void) { return (int)-ZSTD_TARGETLENGTH_MAX; }
 
 static const ZSTD_compressionParameters ZSTD_defaultCParameters[4][ZSTD_MAX_CLEVEL+1] = {
 {   /* "default" - guarantees a monotonically increasing memory budget */
     /* W,  C,  H,  S,  L, TL, strat */
     { 19, 12, 13,  1,  6,  1, ZSTD_fast    },  /* base for negative levels */
-    { 19, 13, 14,  1,  7,  1, ZSTD_fast    },  /* level  1 */
-    { 19, 15, 16,  1,  6,  1, ZSTD_fast    },  /* level  2 */
-    { 20, 16, 17,  1,  5,  8, ZSTD_dfast   },  /* level  3 */
-    { 20, 17, 18,  1,  5,  8, ZSTD_dfast   },  /* level  4 */
-    { 20, 17, 18,  2,  5, 16, ZSTD_greedy  },  /* level  5 */
-    { 21, 17, 19,  2,  5, 16, ZSTD_lazy    },  /* level  6 */
-    { 21, 18, 19,  3,  5, 16, ZSTD_lazy    },  /* level  7 */
-    { 21, 18, 20,  3,  5, 16, ZSTD_lazy2   },  /* level  8 */
-    { 21, 19, 20,  3,  5, 16, ZSTD_lazy2   },  /* level  9 */
-    { 21, 19, 21,  4,  5, 16, ZSTD_lazy2   },  /* level 10 */
-    { 22, 20, 22,  4,  5, 16, ZSTD_lazy2   },  /* level 11 */
-    { 22, 20, 22,  5,  5, 16, ZSTD_lazy2   },  /* level 12 */
-    { 22, 21, 22,  4,  5, 32, ZSTD_btlazy2 },  /* level 13 */
-    { 22, 21, 22,  5,  5, 32, ZSTD_btlazy2 },  /* level 14 */
-    { 22, 22, 22,  6,  5, 32, ZSTD_btlazy2 },  /* level 15 */
-    { 22, 21, 22,  4,  5, 48, ZSTD_btopt   },  /* level 16 */
-    { 23, 22, 22,  4,  4, 48, ZSTD_btopt   },  /* level 17 */
-    { 23, 22, 22,  5,  3, 64, ZSTD_btopt   },  /* level 18 */
-    { 23, 23, 22,  7,  3,128, ZSTD_btopt   },  /* level 19 */
-    { 25, 25, 23,  7,  3,128, ZSTD_btultra },  /* level 20 */
-    { 26, 26, 24,  7,  3,256, ZSTD_btultra },  /* level 21 */
-    { 27, 27, 25,  9,  3,512, ZSTD_btultra },  /* level 22 */
+    { 19, 13, 14,  1,  7,  0, ZSTD_fast    },  /* level  1 */
+    { 20, 15, 16,  1,  6,  0, ZSTD_fast    },  /* level  2 */
+    { 21, 16, 17,  1,  5,  1, ZSTD_dfast   },  /* level  3 */
+    { 21, 18, 18,  1,  5,  1, ZSTD_dfast   },  /* level  4 */
+    { 21, 18, 19,  2,  5,  2, ZSTD_greedy  },  /* level  5 */
+    { 21, 19, 19,  3,  5,  4, ZSTD_greedy  },  /* level  6 */
+    { 21, 19, 19,  3,  5,  8, ZSTD_lazy    },  /* level  7 */
+    { 21, 19, 19,  3,  5, 16, ZSTD_lazy2   },  /* level  8 */
+    { 21, 19, 20,  4,  5, 16, ZSTD_lazy2   },  /* level  9 */
+    { 22, 20, 21,  4,  5, 16, ZSTD_lazy2   },  /* level 10 */
+    { 22, 21, 22,  4,  5, 16, ZSTD_lazy2   },  /* level 11 */
+    { 22, 21, 22,  5,  5, 16, ZSTD_lazy2   },  /* level 12 */
+    { 22, 21, 22,  5,  5, 32, ZSTD_btlazy2 },  /* level 13 */
+    { 22, 22, 23,  5,  5, 32, ZSTD_btlazy2 },  /* level 14 */
+    { 22, 23, 23,  6,  5, 32, ZSTD_btlazy2 },  /* level 15 */
+    { 22, 22, 22,  5,  5, 48, ZSTD_btopt   },  /* level 16 */
+    { 23, 23, 22,  5,  4, 64, ZSTD_btopt   },  /* level 17 */
+    { 23, 23, 22,  6,  3, 64, ZSTD_btultra },  /* level 18 */
+    { 23, 24, 22,  7,  3,256, ZSTD_btultra2},  /* level 19 */
+    { 25, 25, 23,  7,  3,256, ZSTD_btultra2},  /* level 20 */
+    { 26, 26, 24,  7,  3,512, ZSTD_btultra2},  /* level 21 */
+    { 27, 27, 25,  9,  3,999, ZSTD_btultra2},  /* level 22 */
 },
 {   /* for srcSize <= 256 KB */
     /* W,  C,  H,  S,  L,  T, strat */
     { 18, 12, 13,  1,  5,  1, ZSTD_fast    },  /* base for negative levels */
-    { 18, 13, 14,  1,  6,  1, ZSTD_fast    },  /* level  1 */
-    { 18, 14, 13,  1,  5,  8, ZSTD_dfast   },  /* level  2 */
-    { 18, 16, 15,  1,  5,  8, ZSTD_dfast   },  /* level  3 */
-    { 18, 15, 17,  1,  5,  8, ZSTD_greedy  },  /* level  4.*/
-    { 18, 16, 17,  4,  5,  8, ZSTD_greedy  },  /* level  5.*/
-    { 18, 16, 17,  3,  5,  8, ZSTD_lazy    },  /* level  6.*/
-    { 18, 17, 17,  4,  4,  8, ZSTD_lazy    },  /* level  7 */
-    { 18, 17, 17,  4,  4,  8, ZSTD_lazy2   },  /* level  8 */
-    { 18, 17, 17,  5,  4,  8, ZSTD_lazy2   },  /* level  9 */
-    { 18, 17, 17,  6,  4,  8, ZSTD_lazy2   },  /* level 10 */
-    { 18, 18, 17,  6,  4,  8, ZSTD_lazy2   },  /* level 11.*/
-    { 18, 18, 17,  5,  4,  8, ZSTD_btlazy2 },  /* level 12.*/
-    { 18, 19, 17,  7,  4,  8, ZSTD_btlazy2 },  /* level 13 */
-    { 18, 18, 18,  4,  4, 16, ZSTD_btopt   },  /* level 14.*/
-    { 18, 18, 18,  4,  3, 16, ZSTD_btopt   },  /* level 15.*/
-    { 18, 19, 18,  6,  3, 32, ZSTD_btopt   },  /* level 16.*/
-    { 18, 19, 18,  8,  3, 64, ZSTD_btopt   },  /* level 17.*/
-    { 18, 19, 18,  9,  3,128, ZSTD_btopt   },  /* level 18.*/
-    { 18, 19, 18, 10,  3,256, ZSTD_btopt   },  /* level 19.*/
-    { 18, 19, 18, 11,  3,512, ZSTD_btultra },  /* level 20.*/
-    { 18, 19, 18, 12,  3,512, ZSTD_btultra },  /* level 21.*/
-    { 18, 19, 18, 13,  3,512, ZSTD_btultra },  /* level 22.*/
+    { 18, 13, 14,  1,  6,  0, ZSTD_fast    },  /* level  1 */
+    { 18, 14, 14,  1,  5,  1, ZSTD_dfast   },  /* level  2 */
+    { 18, 16, 16,  1,  4,  1, ZSTD_dfast   },  /* level  3 */
+    { 18, 16, 17,  2,  5,  2, ZSTD_greedy  },  /* level  4.*/
+    { 18, 18, 18,  3,  5,  2, ZSTD_greedy  },  /* level  5.*/
+    { 18, 18, 19,  3,  5,  4, ZSTD_lazy    },  /* level  6.*/
+    { 18, 18, 19,  4,  4,  4, ZSTD_lazy    },  /* level  7 */
+    { 18, 18, 19,  4,  4,  8, ZSTD_lazy2   },  /* level  8 */
+    { 18, 18, 19,  5,  4,  8, ZSTD_lazy2   },  /* level  9 */
+    { 18, 18, 19,  6,  4,  8, ZSTD_lazy2   },  /* level 10 */
+    { 18, 18, 19,  5,  4, 12, ZSTD_btlazy2 },  /* level 11.*/
+    { 18, 19, 19,  7,  4, 12, ZSTD_btlazy2 },  /* level 12.*/
+    { 18, 18, 19,  4,  4, 16, ZSTD_btopt   },  /* level 13 */
+    { 18, 18, 19,  4,  3, 32, ZSTD_btopt   },  /* level 14.*/
+    { 18, 18, 19,  6,  3,128, ZSTD_btopt   },  /* level 15.*/
+    { 18, 19, 19,  6,  3,128, ZSTD_btultra },  /* level 16.*/
+    { 18, 19, 19,  8,  3,256, ZSTD_btultra },  /* level 17.*/
+    { 18, 19, 19,  6,  3,128, ZSTD_btultra2},  /* level 18.*/
+    { 18, 19, 19,  8,  3,256, ZSTD_btultra2},  /* level 19.*/
+    { 18, 19, 19, 10,  3,512, ZSTD_btultra2},  /* level 20.*/
+    { 18, 19, 19, 12,  3,512, ZSTD_btultra2},  /* level 21.*/
+    { 18, 19, 19, 13,  3,999, ZSTD_btultra2},  /* level 22.*/
 },
 {   /* for srcSize <= 128 KB */
     /* W,  C,  H,  S,  L,  T, strat */
-    { 17, 12, 12,  1,  5,  1, ZSTD_fast    },  /* level  0 - not used */
-    { 17, 12, 13,  1,  6,  1, ZSTD_fast    },  /* level  1 */
-    { 17, 13, 16,  1,  5,  1, ZSTD_fast    },  /* level  2 */
-    { 17, 16, 16,  2,  5,  8, ZSTD_dfast   },  /* level  3 */
-    { 17, 13, 15,  3,  4,  8, ZSTD_greedy  },  /* level  4 */
-    { 17, 15, 17,  4,  4,  8, ZSTD_greedy  },  /* level  5 */
-    { 17, 16, 17,  3,  4,  8, ZSTD_lazy    },  /* level  6 */
-    { 17, 15, 17,  4,  4,  8, ZSTD_lazy2   },  /* level  7 */
+    { 17, 12, 12,  1,  5,  1, ZSTD_fast    },  /* base for negative levels */
+    { 17, 12, 13,  1,  6,  0, ZSTD_fast    },  /* level  1 */
+    { 17, 13, 15,  1,  5,  0, ZSTD_fast    },  /* level  2 */
+    { 17, 15, 16,  2,  5,  1, ZSTD_dfast   },  /* level  3 */
+    { 17, 17, 17,  2,  4,  1, ZSTD_dfast   },  /* level  4 */
+    { 17, 16, 17,  3,  4,  2, ZSTD_greedy  },  /* level  5 */
+    { 17, 17, 17,  3,  4,  4, ZSTD_lazy    },  /* level  6 */
+    { 17, 17, 17,  3,  4,  8, ZSTD_lazy2   },  /* level  7 */
     { 17, 17, 17,  4,  4,  8, ZSTD_lazy2   },  /* level  8 */
     { 17, 17, 17,  5,  4,  8, ZSTD_lazy2   },  /* level  9 */
     { 17, 17, 17,  6,  4,  8, ZSTD_lazy2   },  /* level 10 */
-    { 17, 17, 17,  7,  4,  8, ZSTD_lazy2   },  /* level 11 */
-    { 17, 17, 17,  8,  4,  8, ZSTD_lazy2   },  /* level 12 */
-    { 17, 18, 17,  6,  4,  8, ZSTD_btlazy2 },  /* level 13.*/
-    { 17, 17, 17,  7,  3,  8, ZSTD_btopt   },  /* level 14.*/
-    { 17, 17, 17,  7,  3, 16, ZSTD_btopt   },  /* level 15.*/
-    { 17, 18, 17,  7,  3, 32, ZSTD_btopt   },  /* level 16.*/
-    { 17, 18, 17,  7,  3, 64, ZSTD_btopt   },  /* level 17.*/
-    { 17, 18, 17,  7,  3,256, ZSTD_btopt   },  /* level 18.*/
-    { 17, 18, 17,  8,  3,256, ZSTD_btopt   },  /* level 19.*/
-    { 17, 18, 17,  9,  3,256, ZSTD_btultra },  /* level 20.*/
-    { 17, 18, 17, 10,  3,256, ZSTD_btultra },  /* level 21.*/
-    { 17, 18, 17, 11,  3,512, ZSTD_btultra },  /* level 22.*/
+    { 17, 17, 17,  5,  4,  8, ZSTD_btlazy2 },  /* level 11 */
+    { 17, 18, 17,  7,  4, 12, ZSTD_btlazy2 },  /* level 12 */
+    { 17, 18, 17,  3,  4, 12, ZSTD_btopt   },  /* level 13.*/
+    { 17, 18, 17,  4,  3, 32, ZSTD_btopt   },  /* level 14.*/
+    { 17, 18, 17,  6,  3,256, ZSTD_btopt   },  /* level 15.*/
+    { 17, 18, 17,  6,  3,128, ZSTD_btultra },  /* level 16.*/
+    { 17, 18, 17,  8,  3,256, ZSTD_btultra },  /* level 17.*/
+    { 17, 18, 17, 10,  3,512, ZSTD_btultra },  /* level 18.*/
+    { 17, 18, 17,  5,  3,256, ZSTD_btultra2},  /* level 19.*/
+    { 17, 18, 17,  7,  3,512, ZSTD_btultra2},  /* level 20.*/
+    { 17, 18, 17,  9,  3,512, ZSTD_btultra2},  /* level 21.*/
+    { 17, 18, 17, 11,  3,999, ZSTD_btultra2},  /* level 22.*/
 },
 {   /* for srcSize <= 16 KB */
     /* W,  C,  H,  S,  L,  T, strat */
     { 14, 12, 13,  1,  5,  1, ZSTD_fast    },  /* base for negative levels */
-    { 14, 14, 14,  1,  6,  1, ZSTD_fast    },  /* level  1 */
-    { 14, 14, 14,  1,  4,  1, ZSTD_fast    },  /* level  2 */
-    { 14, 14, 14,  1,  4,  6, ZSTD_dfast   },  /* level  3.*/
-    { 14, 14, 14,  4,  4,  6, ZSTD_greedy  },  /* level  4.*/
-    { 14, 14, 14,  3,  4,  6, ZSTD_lazy    },  /* level  5.*/
-    { 14, 14, 14,  4,  4,  6, ZSTD_lazy2   },  /* level  6 */
-    { 14, 14, 14,  5,  4,  6, ZSTD_lazy2   },  /* level  7 */
-    { 14, 14, 14,  6,  4,  6, ZSTD_lazy2   },  /* level  8.*/
-    { 14, 15, 14,  6,  4,  6, ZSTD_btlazy2 },  /* level  9.*/
-    { 14, 15, 14,  3,  3,  6, ZSTD_btopt   },  /* level 10.*/
-    { 14, 15, 14,  6,  3,  8, ZSTD_btopt   },  /* level 11.*/
-    { 14, 15, 14,  6,  3, 16, ZSTD_btopt   },  /* level 12.*/
-    { 14, 15, 14,  6,  3, 24, ZSTD_btopt   },  /* level 13.*/
-    { 14, 15, 15,  6,  3, 48, ZSTD_btopt   },  /* level 14.*/
-    { 14, 15, 15,  6,  3, 64, ZSTD_btopt   },  /* level 15.*/
-    { 14, 15, 15,  6,  3, 96, ZSTD_btopt   },  /* level 16.*/
-    { 14, 15, 15,  6,  3,128, ZSTD_btopt   },  /* level 17.*/
-    { 14, 15, 15,  6,  3,256, ZSTD_btopt   },  /* level 18.*/
-    { 14, 15, 15,  7,  3,256, ZSTD_btopt   },  /* level 19.*/
-    { 14, 15, 15,  8,  3,256, ZSTD_btultra },  /* level 20.*/
-    { 14, 15, 15,  9,  3,256, ZSTD_btultra },  /* level 21.*/
-    { 14, 15, 15, 10,  3,256, ZSTD_btultra },  /* level 22.*/
+    { 14, 14, 15,  1,  5,  0, ZSTD_fast    },  /* level  1 */
+    { 14, 14, 15,  1,  4,  0, ZSTD_fast    },  /* level  2 */
+    { 14, 14, 15,  2,  4,  1, ZSTD_dfast   },  /* level  3 */
+    { 14, 14, 14,  4,  4,  2, ZSTD_greedy  },  /* level  4 */
+    { 14, 14, 14,  3,  4,  4, ZSTD_lazy    },  /* level  5.*/
+    { 14, 14, 14,  4,  4,  8, ZSTD_lazy2   },  /* level  6 */
+    { 14, 14, 14,  6,  4,  8, ZSTD_lazy2   },  /* level  7 */
+    { 14, 14, 14,  8,  4,  8, ZSTD_lazy2   },  /* level  8.*/
+    { 14, 15, 14,  5,  4,  8, ZSTD_btlazy2 },  /* level  9.*/
+    { 14, 15, 14,  9,  4,  8, ZSTD_btlazy2 },  /* level 10.*/
+    { 14, 15, 14,  3,  4, 12, ZSTD_btopt   },  /* level 11.*/
+    { 14, 15, 14,  4,  3, 24, ZSTD_btopt   },  /* level 12.*/
+    { 14, 15, 14,  5,  3, 32, ZSTD_btultra },  /* level 13.*/
+    { 14, 15, 15,  6,  3, 64, ZSTD_btultra },  /* level 14.*/
+    { 14, 15, 15,  7,  3,256, ZSTD_btultra },  /* level 15.*/
+    { 14, 15, 15,  5,  3, 48, ZSTD_btultra2},  /* level 16.*/
+    { 14, 15, 15,  6,  3,128, ZSTD_btultra2},  /* level 17.*/
+    { 14, 15, 15,  7,  3,256, ZSTD_btultra2},  /* level 18.*/
+    { 14, 15, 15,  8,  3,256, ZSTD_btultra2},  /* level 19.*/
+    { 14, 15, 15,  8,  3,512, ZSTD_btultra2},  /* level 20.*/
+    { 14, 15, 15,  9,  3,512, ZSTD_btultra2},  /* level 21.*/
+    { 14, 15, 15, 10,  3,999, ZSTD_btultra2},  /* level 22.*/
 },
 };
 
@@ -3431,8 +4272,8 @@ ZSTD_compressionParameters ZSTD_getCParams(int compressionLevel, unsigned long l
     if (compressionLevel > ZSTD_MAX_CLEVEL) row = ZSTD_MAX_CLEVEL;
     {   ZSTD_compressionParameters cp = ZSTD_defaultCParameters[tableID][row];
         if (compressionLevel < 0) cp.targetLength = (unsigned)(-compressionLevel);   /* acceleration factor */
-        return ZSTD_adjustCParams_internal(cp, srcSizeHint, dictSize); }
-
+        return ZSTD_adjustCParams_internal(cp, srcSizeHint, dictSize);
+    }
 }
 
 /*! ZSTD_getParams() :
diff --git a/thirdparty/zstd/compress/zstd_compress_internal.h b/thirdparty/zstd/compress/zstd_compress_internal.h
index 81f12ca6df..29bca59859 100644
--- a/thirdparty/zstd/compress/zstd_compress_internal.h
+++ b/thirdparty/zstd/compress/zstd_compress_internal.h
@@ -27,6 +27,7 @@
 extern "C" {
 #endif
 
+
 /*-*************************************
 *  Constants
 ***************************************/
@@ -37,7 +38,8 @@ extern "C" {
                                        It's not a big deal though : candidate will just be sorted again.
                                        Additionnally, candidate position 1 will be lost.
                                        But candidate 1 cannot hide a large tree of candidates, so it's a minimal loss.
-                                       The benefit is that ZSTD_DUBT_UNSORTED_MARK cannot be misdhandled after table re-use with a different strategy */
+                                       The benefit is that ZSTD_DUBT_UNSORTED_MARK cannot be misdhandled after table re-use with a different strategy
+                                       Constant required by ZSTD_compressBlock_btlazy2() and ZSTD_reduceTable_internal() */
 
 
 /*-*************************************
@@ -53,14 +55,22 @@ typedef struct ZSTD_prefixDict_s {
 } ZSTD_prefixDict;
 
 typedef struct {
-    U32 hufCTable[HUF_CTABLE_SIZE_U32(255)];
+    U32 CTable[HUF_CTABLE_SIZE_U32(255)];
+    HUF_repeat repeatMode;
+} ZSTD_hufCTables_t;
+
+typedef struct {
     FSE_CTable offcodeCTable[FSE_CTABLE_SIZE_U32(OffFSELog, MaxOff)];
     FSE_CTable matchlengthCTable[FSE_CTABLE_SIZE_U32(MLFSELog, MaxML)];
     FSE_CTable litlengthCTable[FSE_CTABLE_SIZE_U32(LLFSELog, MaxLL)];
-    HUF_repeat hufCTable_repeatMode;
     FSE_repeat offcode_repeatMode;
     FSE_repeat matchlength_repeatMode;
     FSE_repeat litlength_repeatMode;
+} ZSTD_fseCTables_t;
+
+typedef struct {
+    ZSTD_hufCTables_t huf;
+    ZSTD_fseCTables_t fse;
 } ZSTD_entropyCTables_t;
 
 typedef struct {
@@ -76,26 +86,27 @@ typedef struct {
     U32 rep[ZSTD_REP_NUM];
 } ZSTD_optimal_t;
 
+typedef enum { zop_dynamic=0, zop_predef } ZSTD_OptPrice_e;
+
 typedef struct {
     /* All tables are allocated inside cctx->workspace by ZSTD_resetCCtx_internal() */
-    U32* litFreq;               /* table of literals statistics, of size 256 */
-    U32* litLengthFreq;         /* table of litLength statistics, of size (MaxLL+1) */
-    U32* matchLengthFreq;       /* table of matchLength statistics, of size (MaxML+1) */
-    U32* offCodeFreq;           /* table of offCode statistics, of size (MaxOff+1) */
-    ZSTD_match_t* matchTable;   /* list of found matches, of size ZSTD_OPT_NUM+1 */
-    ZSTD_optimal_t* priceTable; /* All positions tracked by optimal parser, of size ZSTD_OPT_NUM+1 */
+    unsigned* litFreq;           /* table of literals statistics, of size 256 */
+    unsigned* litLengthFreq;     /* table of litLength statistics, of size (MaxLL+1) */
+    unsigned* matchLengthFreq;   /* table of matchLength statistics, of size (MaxML+1) */
+    unsigned* offCodeFreq;       /* table of offCode statistics, of size (MaxOff+1) */
+    ZSTD_match_t* matchTable;    /* list of found matches, of size ZSTD_OPT_NUM+1 */
+    ZSTD_optimal_t* priceTable;  /* All positions tracked by optimal parser, of size ZSTD_OPT_NUM+1 */
 
     U32  litSum;                 /* nb of literals */
     U32  litLengthSum;           /* nb of litLength codes */
     U32  matchLengthSum;         /* nb of matchLength codes */
     U32  offCodeSum;             /* nb of offset codes */
-    /* begin updated by ZSTD_setLog2Prices */
-    U32  log2litSum;             /* pow2 to compare log2(litfreq) to */
-    U32  log2litLengthSum;       /* pow2 to compare log2(llfreq) to */
-    U32  log2matchLengthSum;     /* pow2 to compare log2(mlfreq) to */
-    U32  log2offCodeSum;         /* pow2 to compare log2(offreq) to */
-    /* end : updated by ZSTD_setLog2Prices */
-    U32  staticPrices;           /* prices follow a pre-defined cost structure, statistics are irrelevant */
+    U32  litSumBasePrice;        /* to compare to log2(litfreq) */
+    U32  litLengthSumBasePrice;  /* to compare to log2(llfreq)  */
+    U32  matchLengthSumBasePrice;/* to compare to log2(mlfreq)  */
+    U32  offCodeSumBasePrice;    /* to compare to log2(offreq)  */
+    ZSTD_OptPrice_e priceType;   /* prices can be determined dynamically, or follow a pre-defined cost structure */
+    const ZSTD_entropyCTables_t* symbolCosts;  /* pre-calculated dictionary statistics */
 } optState_t;
 
 typedef struct {
@@ -111,17 +122,20 @@ typedef struct {
     U32 lowLimit;           /* below that point, no more data */
 } ZSTD_window_t;
 
-typedef struct {
-    ZSTD_window_t window;      /* State for window round buffer management */
-    U32 loadedDictEnd;         /* index of end of dictionary */
-    U32 nextToUpdate;          /* index from which to continue table update */
-    U32 nextToUpdate3;         /* index from which to continue table update */
-    U32 hashLog3;              /* dispatch table : larger == faster, more memory */
+typedef struct ZSTD_matchState_t ZSTD_matchState_t;
+struct ZSTD_matchState_t {
+    ZSTD_window_t window;   /* State for window round buffer management */
+    U32 loadedDictEnd;      /* index of end of dictionary */
+    U32 nextToUpdate;       /* index from which to continue table update */
+    U32 nextToUpdate3;      /* index from which to continue table update */
+    U32 hashLog3;           /* dispatch table : larger == faster, more memory */
     U32* hashTable;
     U32* hashTable3;
     U32* chainTable;
     optState_t opt;         /* optimal parser state */
-} ZSTD_matchState_t;
+    const ZSTD_matchState_t * dictMatchState;
+    ZSTD_compressionParameters cParams;
+};
 
 typedef struct {
     ZSTD_compressedBlockState_t* prevCBlock;
@@ -147,7 +161,7 @@ typedef struct {
     U32 hashLog;            /* Log size of hashTable */
     U32 bucketSizeLog;      /* Log bucket size for collision resolution, at most 8 */
     U32 minMatchLength;     /* Minimum match length */
-    U32 hashEveryLog;       /* Log number of entries to skip */
+    U32 hashRateLog;       /* Log number of entries to skip */
     U32 windowLog;          /* Window log for the LDM */
 } ldmParams_t;
 
@@ -161,7 +175,7 @@ typedef struct {
   rawSeq* seq;     /* The start of the sequences */
   size_t pos;      /* The position where reading stopped. <= size. */
   size_t size;     /* The number of sequences. <= capacity. */
-  size_t capacity; /* The capacity of the `seq` pointer */
+  size_t capacity; /* The capacity starting from `seq` pointer */
 } rawSeqStore_t;
 
 struct ZSTD_CCtx_params_s {
@@ -170,14 +184,16 @@ struct ZSTD_CCtx_params_s {
     ZSTD_frameParameters fParams;
 
     int compressionLevel;
-    int disableLiteralCompression;
     int forceWindow;           /* force back-references to respect limit of
                                 * 1<<wLog, even for dictionary */
 
+    ZSTD_dictAttachPref_e attachDictPref;
+
     /* Multithreading: used to pass parameters to mtctx */
-    unsigned nbWorkers;
-    unsigned jobSize;
-    unsigned overlapSizeLog;
+    int nbWorkers;
+    size_t jobSize;
+    int overlapLog;
+    int rsyncable;
 
     /* Long distance matching parameters */
     ldmParams_t ldmParams;
@@ -193,6 +209,8 @@ struct ZSTD_CCtx_s {
     ZSTD_CCtx_params requestedParams;
     ZSTD_CCtx_params appliedParams;
     U32   dictID;
+
+    int workSpaceOversizedDuration;
     void* workSpace;
     size_t workSpaceSize;
     size_t blockSize;
@@ -235,11 +253,15 @@ struct ZSTD_CCtx_s {
 #endif
 };
 
+typedef enum { ZSTD_dtlm_fast, ZSTD_dtlm_full } ZSTD_dictTableLoadMethod_e;
+
+typedef enum { ZSTD_noDict = 0, ZSTD_extDict = 1, ZSTD_dictMatchState = 2 } ZSTD_dictMode_e;
+
 
 typedef size_t (*ZSTD_blockCompressor) (
         ZSTD_matchState_t* bs, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
-ZSTD_blockCompressor ZSTD_selectBlockCompressor(ZSTD_strategy strat, int extDict);
+        void const* src, size_t srcSize);
+ZSTD_blockCompressor ZSTD_selectBlockCompressor(ZSTD_strategy strat, ZSTD_dictMode_e dictMode);
 
 
 MEM_STATIC U32 ZSTD_LLcode(U32 litLength)
@@ -280,16 +302,18 @@ MEM_STATIC U32 ZSTD_MLcode(U32 mlBase)
 */
 MEM_STATIC void ZSTD_storeSeq(seqStore_t* seqStorePtr, size_t litLength, const void* literals, U32 offsetCode, size_t mlBase)
 {
-#if defined(ZSTD_DEBUG) && (ZSTD_DEBUG >= 6)
+#if defined(DEBUGLEVEL) && (DEBUGLEVEL >= 6)
     static const BYTE* g_start = NULL;
     if (g_start==NULL) g_start = (const BYTE*)literals;  /* note : index only works for compression within a single segment */
     {   U32 const pos = (U32)((const BYTE*)literals - g_start);
-        DEBUGLOG(6, "Cpos%7u :%3u literals, match%3u bytes at dist.code%7u",
+        DEBUGLOG(6, "Cpos%7u :%3u literals, match%4u bytes at offCode%7u",
                pos, (U32)litLength, (U32)mlBase+MINMATCH, (U32)offsetCode);
     }
 #endif
+    assert((size_t)(seqStorePtr->sequences - seqStorePtr->sequencesStart) < seqStorePtr->maxNbSeq);
     /* copy Literals */
-    assert(seqStorePtr->lit + litLength <= seqStorePtr->litStart + 128 KB);
+    assert(seqStorePtr->maxNbLit <= 128 KB);
+    assert(seqStorePtr->lit + litLength <= seqStorePtr->litStart + seqStorePtr->maxNbLit);
     ZSTD_wildcopy(seqStorePtr->lit, literals, litLength);
     seqStorePtr->lit += litLength;
 
@@ -420,6 +444,11 @@ ZSTD_count_2segments(const BYTE* ip, const BYTE* match,
     const BYTE* const vEnd = MIN( ip + (mEnd - match), iEnd);
     size_t const matchLength = ZSTD_count(ip, match, vEnd);
     if (match + matchLength != mEnd) return matchLength;
+    DEBUGLOG(7, "ZSTD_count_2segments: found a 2-parts match (current length==%zu)", matchLength);
+    DEBUGLOG(7, "distance from match beginning to end dictionary = %zi", mEnd - match);
+    DEBUGLOG(7, "distance from current pos to end buffer = %zi", iEnd - ip);
+    DEBUGLOG(7, "next byte : ip==%02X, istart==%02X", ip[matchLength], *iStart);
+    DEBUGLOG(7, "final match length = %zu", matchLength + ZSTD_count(ip+matchLength, iStart, iEnd));
     return matchLength + ZSTD_count(ip+matchLength, iStart, iEnd);
 }
 
@@ -464,6 +493,64 @@ MEM_STATIC size_t ZSTD_hashPtr(const void* p, U32 hBits, U32 mls)
     }
 }
 
+/** ZSTD_ipow() :
+ * Return base^exponent.
+ */
+static U64 ZSTD_ipow(U64 base, U64 exponent)
+{
+    U64 power = 1;
+    while (exponent) {
+      if (exponent & 1) power *= base;
+      exponent >>= 1;
+      base *= base;
+    }
+    return power;
+}
+
+#define ZSTD_ROLL_HASH_CHAR_OFFSET 10
+
+/** ZSTD_rollingHash_append() :
+ * Add the buffer to the hash value.
+ */
+static U64 ZSTD_rollingHash_append(U64 hash, void const* buf, size_t size)
+{
+    BYTE const* istart = (BYTE const*)buf;
+    size_t pos;
+    for (pos = 0; pos < size; ++pos) {
+        hash *= prime8bytes;
+        hash += istart[pos] + ZSTD_ROLL_HASH_CHAR_OFFSET;
+    }
+    return hash;
+}
+
+/** ZSTD_rollingHash_compute() :
+ * Compute the rolling hash value of the buffer.
+ */
+MEM_STATIC U64 ZSTD_rollingHash_compute(void const* buf, size_t size)
+{
+    return ZSTD_rollingHash_append(0, buf, size);
+}
+
+/** ZSTD_rollingHash_primePower() :
+ * Compute the primePower to be passed to ZSTD_rollingHash_rotate() for a hash
+ * over a window of length bytes.
+ */
+MEM_STATIC U64 ZSTD_rollingHash_primePower(U32 length)
+{
+    return ZSTD_ipow(prime8bytes, length - 1);
+}
+
+/** ZSTD_rollingHash_rotate() :
+ * Rotate the rolling hash by one byte.
+ */
+MEM_STATIC U64 ZSTD_rollingHash_rotate(U64 hash, BYTE toRemove, BYTE toAdd, U64 primePower)
+{
+    hash -= (toRemove + ZSTD_ROLL_HASH_CHAR_OFFSET) * primePower;
+    hash *= prime8bytes;
+    hash += toAdd + ZSTD_ROLL_HASH_CHAR_OFFSET;
+    return hash;
+}
+
 /*-*************************************
 *  Round buffer management
 ***************************************/
@@ -497,6 +584,20 @@ MEM_STATIC U32 ZSTD_window_hasExtDict(ZSTD_window_t const window)
 }
 
 /**
+ * ZSTD_matchState_dictMode():
+ * Inspects the provided matchState and figures out what dictMode should be
+ * passed to the compressor.
+ */
+MEM_STATIC ZSTD_dictMode_e ZSTD_matchState_dictMode(const ZSTD_matchState_t *ms)
+{
+    return ZSTD_window_hasExtDict(ms->window) ?
+        ZSTD_extDict :
+        ms->dictMatchState != NULL ?
+            ZSTD_dictMatchState :
+            ZSTD_noDict;
+}
+
+/**
  * ZSTD_window_needOverflowCorrection():
  * Returns non-zero if the indices are getting too large and need overflow
  * protection.
@@ -563,31 +664,44 @@ MEM_STATIC U32 ZSTD_window_correctOverflow(ZSTD_window_t* window, U32 cycleLog,
  * ZSTD_window_enforceMaxDist():
  * Updates lowLimit so that:
  *    (srcEnd - base) - lowLimit == maxDist + loadedDictEnd
+ *
  * This allows a simple check that index >= lowLimit to see if index is valid.
  * This must be called before a block compression call, with srcEnd as the block
  * source end.
+ *
  * If loadedDictEndPtr is not NULL, we set it to zero once we update lowLimit.
  * This is because dictionaries are allowed to be referenced as long as the last
  * byte of the dictionary is in the window, but once they are out of range,
  * they cannot be referenced. If loadedDictEndPtr is NULL, we use
  * loadedDictEnd == 0.
+ *
+ * In normal dict mode, the dict is between lowLimit and dictLimit. In
+ * dictMatchState mode, lowLimit and dictLimit are the same, and the dictionary
+ * is below them. forceWindow and dictMatchState are therefore incompatible.
  */
-MEM_STATIC void ZSTD_window_enforceMaxDist(ZSTD_window_t* window,
-                                           void const* srcEnd, U32 maxDist,
-                                           U32* loadedDictEndPtr)
+MEM_STATIC void
+ZSTD_window_enforceMaxDist(ZSTD_window_t* window,
+                           void const* srcEnd,
+                           U32 maxDist,
+                           U32* loadedDictEndPtr,
+                     const ZSTD_matchState_t** dictMatchStatePtr)
 {
-    U32 const current = (U32)((BYTE const*)srcEnd - window->base);
-    U32 loadedDictEnd = loadedDictEndPtr != NULL ? *loadedDictEndPtr : 0;
-    if (current > maxDist + loadedDictEnd) {
-        U32 const newLowLimit = current - maxDist;
+    U32 const blockEndIdx = (U32)((BYTE const*)srcEnd - window->base);
+    U32 loadedDictEnd = (loadedDictEndPtr != NULL) ? *loadedDictEndPtr : 0;
+    DEBUGLOG(5, "ZSTD_window_enforceMaxDist: blockEndIdx=%u, maxDist=%u",
+                (unsigned)blockEndIdx, (unsigned)maxDist);
+    if (blockEndIdx > maxDist + loadedDictEnd) {
+        U32 const newLowLimit = blockEndIdx - maxDist;
         if (window->lowLimit < newLowLimit) window->lowLimit = newLowLimit;
         if (window->dictLimit < window->lowLimit) {
-            DEBUGLOG(5, "Update dictLimit from %u to %u", window->dictLimit,
-                     window->lowLimit);
+            DEBUGLOG(5, "Update dictLimit to match lowLimit, from %u to %u",
+                        (unsigned)window->dictLimit, (unsigned)window->lowLimit);
             window->dictLimit = window->lowLimit;
         }
         if (loadedDictEndPtr)
             *loadedDictEndPtr = 0;
+        if (dictMatchStatePtr)
+            *dictMatchStatePtr = NULL;
     }
 }
 
@@ -603,12 +717,12 @@ MEM_STATIC U32 ZSTD_window_update(ZSTD_window_t* window,
 {
     BYTE const* const ip = (BYTE const*)src;
     U32 contiguous = 1;
+    DEBUGLOG(5, "ZSTD_window_update");
     /* Check if blocks follow each other */
     if (src != window->nextSrc) {
         /* not contiguous */
         size_t const distanceFromBase = (size_t)(window->nextSrc - window->base);
-        DEBUGLOG(5, "Non contiguous blocks, new segment starts at %u",
-                 window->dictLimit);
+        DEBUGLOG(5, "Non contiguous blocks, new segment starts at %u", window->dictLimit);
         window->lowLimit = window->dictLimit;
         assert(distanceFromBase == (size_t)(U32)distanceFromBase);  /* should never overflow */
         window->dictLimit = (U32)distanceFromBase;
@@ -625,10 +739,44 @@ MEM_STATIC U32 ZSTD_window_update(ZSTD_window_t* window,
         ptrdiff_t const highInputIdx = (ip + srcSize) - window->dictBase;
         U32 const lowLimitMax = (highInputIdx > (ptrdiff_t)window->dictLimit) ? window->dictLimit : (U32)highInputIdx;
         window->lowLimit = lowLimitMax;
+        DEBUGLOG(5, "Overlapping extDict and input : new lowLimit = %u", window->lowLimit);
     }
     return contiguous;
 }
 
+
+/* debug functions */
+#if (DEBUGLEVEL>=2)
+
+MEM_STATIC double ZSTD_fWeight(U32 rawStat)
+{
+    U32 const fp_accuracy = 8;
+    U32 const fp_multiplier = (1 << fp_accuracy);
+    U32 const newStat = rawStat + 1;
+    U32 const hb = ZSTD_highbit32(newStat);
+    U32 const BWeight = hb * fp_multiplier;
+    U32 const FWeight = (newStat << fp_accuracy) >> hb;
+    U32 const weight = BWeight + FWeight;
+    assert(hb + fp_accuracy < 31);
+    return (double)weight / fp_multiplier;
+}
+
+/* display a table content,
+ * listing each element, its frequency, and its predicted bit cost */
+MEM_STATIC void ZSTD_debugTable(const U32* table, U32 max)
+{
+    unsigned u, sum;
+    for (u=0, sum=0; u<=max; u++) sum += table[u];
+    DEBUGLOG(2, "total nb elts: %u", sum);
+    for (u=0; u<=max; u++) {
+        DEBUGLOG(2, "%2u: %5u  (%.2f)",
+                u, table[u], ZSTD_fWeight(sum) - ZSTD_fWeight(table[u]) );
+    }
+}
+
+#endif
+
+
 #if defined (__cplusplus)
 }
 #endif
@@ -640,7 +788,7 @@ MEM_STATIC U32 ZSTD_window_update(ZSTD_window_t* window,
  * ============================================================== */
 
 /* ZSTD_getCParamsFromCCtxParams() :
- * cParams are built depending on compressionLevel, src size hints, 
+ * cParams are built depending on compressionLevel, src size hints,
  * LDM and manually set compression parameters.
  */
 ZSTD_compressionParameters ZSTD_getCParamsFromCCtxParams(
@@ -656,6 +804,8 @@ size_t ZSTD_initCStream_internal(ZSTD_CStream* zcs,
                      const ZSTD_CDict* cdict,
                      ZSTD_CCtx_params  params, unsigned long long pledgedSrcSize);
 
+void ZSTD_resetSeqStore(seqStore_t* ssPtr);
+
 /*! ZSTD_compressStream_generic() :
  *  Private use only. To be called from zstdmt_compress.c in single-thread mode. */
 size_t ZSTD_compressStream_generic(ZSTD_CStream* zcs,
@@ -672,6 +822,7 @@ ZSTD_compressionParameters ZSTD_getCParamsFromCDict(const ZSTD_CDict* cdict);
 size_t ZSTD_compressBegin_advanced_internal(ZSTD_CCtx* cctx,
                                     const void* dict, size_t dictSize,
                                     ZSTD_dictContentType_e dictContentType,
+                                    ZSTD_dictTableLoadMethod_e dtlm,
                                     const ZSTD_CDict* cdict,
                                     ZSTD_CCtx_params params,
                                     unsigned long long pledgedSrcSize);
diff --git a/thirdparty/zstd/compress/zstd_double_fast.c b/thirdparty/zstd/compress/zstd_double_fast.c
index 86e6b39621..47faf6d641 100644
--- a/thirdparty/zstd/compress/zstd_double_fast.c
+++ b/thirdparty/zstd/compress/zstd_double_fast.c
@@ -13,12 +13,12 @@
 
 
 void ZSTD_fillDoubleHashTable(ZSTD_matchState_t* ms,
-                              ZSTD_compressionParameters const* cParams,
-                              void const* end)
+                              void const* end, ZSTD_dictTableLoadMethod_e dtlm)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32* const hashLarge = ms->hashTable;
     U32  const hBitsL = cParams->hashLog;
-    U32  const mls = cParams->searchLength;
+    U32  const mls = cParams->minMatch;
     U32* const hashSmall = ms->chainTable;
     U32  const hBitsS = cParams->chainLog;
     const BYTE* const base = ms->window.base;
@@ -40,6 +40,9 @@ void ZSTD_fillDoubleHashTable(ZSTD_matchState_t* ms,
                 hashSmall[smHash] = current + i;
             if (i == 0 || hashLarge[lgHash] == 0)
                 hashLarge[lgHash] = current + i;
+            /* Only load extra positions for ZSTD_dtlm_full */
+            if (dtlm == ZSTD_dtlm_fast)
+                break;
         }
     }
 }
@@ -48,9 +51,10 @@ void ZSTD_fillDoubleHashTable(ZSTD_matchState_t* ms,
 FORCE_INLINE_TEMPLATE
 size_t ZSTD_compressBlock_doubleFast_generic(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize,
-        U32 const mls /* template */)
+        void const* src, size_t srcSize,
+        U32 const mls /* template */, ZSTD_dictMode_e const dictMode)
 {
+    ZSTD_compressionParameters const* cParams = &ms->cParams;
     U32* const hashLong = ms->hashTable;
     const U32 hBitsL = cParams->hashLog;
     U32* const hashSmall = ms->chainTable;
@@ -59,70 +63,188 @@ size_t ZSTD_compressBlock_doubleFast_generic(
     const BYTE* const istart = (const BYTE*)src;
     const BYTE* ip = istart;
     const BYTE* anchor = istart;
-    const U32 lowestIndex = ms->window.dictLimit;
-    const BYTE* const lowest = base + lowestIndex;
+    const U32 prefixLowestIndex = ms->window.dictLimit;
+    const BYTE* const prefixLowest = base + prefixLowestIndex;
     const BYTE* const iend = istart + srcSize;
     const BYTE* const ilimit = iend - HASH_READ_SIZE;
     U32 offset_1=rep[0], offset_2=rep[1];
     U32 offsetSaved = 0;
 
+    const ZSTD_matchState_t* const dms = ms->dictMatchState;
+    const ZSTD_compressionParameters* const dictCParams =
+                                     dictMode == ZSTD_dictMatchState ?
+                                     &dms->cParams : NULL;
+    const U32* const dictHashLong  = dictMode == ZSTD_dictMatchState ?
+                                     dms->hashTable : NULL;
+    const U32* const dictHashSmall = dictMode == ZSTD_dictMatchState ?
+                                     dms->chainTable : NULL;
+    const U32 dictStartIndex       = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.dictLimit : 0;
+    const BYTE* const dictBase     = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.base : NULL;
+    const BYTE* const dictStart    = dictMode == ZSTD_dictMatchState ?
+                                     dictBase + dictStartIndex : NULL;
+    const BYTE* const dictEnd      = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.nextSrc : NULL;
+    const U32 dictIndexDelta       = dictMode == ZSTD_dictMatchState ?
+                                     prefixLowestIndex - (U32)(dictEnd - dictBase) :
+                                     0;
+    const U32 dictHBitsL           = dictMode == ZSTD_dictMatchState ?
+                                     dictCParams->hashLog : hBitsL;
+    const U32 dictHBitsS           = dictMode == ZSTD_dictMatchState ?
+                                     dictCParams->chainLog : hBitsS;
+    const U32 dictAndPrefixLength  = (U32)(ip - prefixLowest + dictEnd - dictStart);
+
+    assert(dictMode == ZSTD_noDict || dictMode == ZSTD_dictMatchState);
+
     /* init */
-    ip += (ip==lowest);
-    {   U32 const maxRep = (U32)(ip-lowest);
+    ip += (dictAndPrefixLength == 0);
+    if (dictMode == ZSTD_noDict) {
+        U32 const maxRep = (U32)(ip - prefixLowest);
         if (offset_2 > maxRep) offsetSaved = offset_2, offset_2 = 0;
         if (offset_1 > maxRep) offsetSaved = offset_1, offset_1 = 0;
     }
+    if (dictMode == ZSTD_dictMatchState) {
+        /* dictMatchState repCode checks don't currently handle repCode == 0
+         * disabling. */
+        assert(offset_1 <= dictAndPrefixLength);
+        assert(offset_2 <= dictAndPrefixLength);
+    }
 
     /* Main Search Loop */
     while (ip < ilimit) {   /* < instead of <=, because repcode check at (ip+1) */
         size_t mLength;
+        U32 offset;
         size_t const h2 = ZSTD_hashPtr(ip, hBitsL, 8);
         size_t const h = ZSTD_hashPtr(ip, hBitsS, mls);
+        size_t const dictHL = ZSTD_hashPtr(ip, dictHBitsL, 8);
+        size_t const dictHS = ZSTD_hashPtr(ip, dictHBitsS, mls);
         U32 const current = (U32)(ip-base);
         U32 const matchIndexL = hashLong[h2];
-        U32 const matchIndexS = hashSmall[h];
+        U32 matchIndexS = hashSmall[h];
         const BYTE* matchLong = base + matchIndexL;
         const BYTE* match = base + matchIndexS;
+        const U32 repIndex = current + 1 - offset_1;
+        const BYTE* repMatch = (dictMode == ZSTD_dictMatchState
+                            && repIndex < prefixLowestIndex) ?
+                               dictBase + (repIndex - dictIndexDelta) :
+                               base + repIndex;
         hashLong[h2] = hashSmall[h] = current;   /* update hash tables */
 
-        assert(offset_1 <= current);   /* supposed guaranteed by construction */
-        if ((offset_1 > 0) & (MEM_read32(ip+1-offset_1) == MEM_read32(ip+1))) {
-            /* favor repcode */
+        /* check dictMatchState repcode */
+        if (dictMode == ZSTD_dictMatchState
+            && ((U32)((prefixLowestIndex-1) - repIndex) >= 3 /* intentional underflow */)
+            && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) {
+            const BYTE* repMatchEnd = repIndex < prefixLowestIndex ? dictEnd : iend;
+            mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixLowest) + 4;
+            ip++;
+            ZSTD_storeSeq(seqStore, ip-anchor, anchor, 0, mLength-MINMATCH);
+            goto _match_stored;
+        }
+
+        /* check noDict repcode */
+        if ( dictMode == ZSTD_noDict
+          && ((offset_1 > 0) & (MEM_read32(ip+1-offset_1) == MEM_read32(ip+1)))) {
             mLength = ZSTD_count(ip+1+4, ip+1+4-offset_1, iend) + 4;
             ip++;
             ZSTD_storeSeq(seqStore, ip-anchor, anchor, 0, mLength-MINMATCH);
-        } else {
-            U32 offset;
-            if ( (matchIndexL > lowestIndex) && (MEM_read64(matchLong) == MEM_read64(ip)) ) {
+            goto _match_stored;
+        }
+
+        if (matchIndexL > prefixLowestIndex) {
+            /* check prefix long match */
+            if (MEM_read64(matchLong) == MEM_read64(ip)) {
                 mLength = ZSTD_count(ip+8, matchLong+8, iend) + 8;
                 offset = (U32)(ip-matchLong);
-                while (((ip>anchor) & (matchLong>lowest)) && (ip[-1] == matchLong[-1])) { ip--; matchLong--; mLength++; } /* catch up */
-            } else if ( (matchIndexS > lowestIndex) && (MEM_read32(match) == MEM_read32(ip)) ) {
-                size_t const hl3 = ZSTD_hashPtr(ip+1, hBitsL, 8);
-                U32 const matchIndexL3 = hashLong[hl3];
-                const BYTE* matchL3 = base + matchIndexL3;
-                hashLong[hl3] = current + 1;
-                if ( (matchIndexL3 > lowestIndex) && (MEM_read64(matchL3) == MEM_read64(ip+1)) ) {
+                while (((ip>anchor) & (matchLong>prefixLowest)) && (ip[-1] == matchLong[-1])) { ip--; matchLong--; mLength++; } /* catch up */
+                goto _match_found;
+            }
+        } else if (dictMode == ZSTD_dictMatchState) {
+            /* check dictMatchState long match */
+            U32 const dictMatchIndexL = dictHashLong[dictHL];
+            const BYTE* dictMatchL = dictBase + dictMatchIndexL;
+            assert(dictMatchL < dictEnd);
+
+            if (dictMatchL > dictStart && MEM_read64(dictMatchL) == MEM_read64(ip)) {
+                mLength = ZSTD_count_2segments(ip+8, dictMatchL+8, iend, dictEnd, prefixLowest) + 8;
+                offset = (U32)(current - dictMatchIndexL - dictIndexDelta);
+                while (((ip>anchor) & (dictMatchL>dictStart)) && (ip[-1] == dictMatchL[-1])) { ip--; dictMatchL--; mLength++; } /* catch up */
+                goto _match_found;
+            }
+        }
+
+        if (matchIndexS > prefixLowestIndex) {
+            /* check prefix short match */
+            if (MEM_read32(match) == MEM_read32(ip)) {
+                goto _search_next_long;
+            }
+        } else if (dictMode == ZSTD_dictMatchState) {
+            /* check dictMatchState short match */
+            U32 const dictMatchIndexS = dictHashSmall[dictHS];
+            match = dictBase + dictMatchIndexS;
+            matchIndexS = dictMatchIndexS + dictIndexDelta;
+
+            if (match > dictStart && MEM_read32(match) == MEM_read32(ip)) {
+                goto _search_next_long;
+            }
+        }
+
+        ip += ((ip-anchor) >> kSearchStrength) + 1;
+        continue;
+
+_search_next_long:
+
+        {
+            size_t const hl3 = ZSTD_hashPtr(ip+1, hBitsL, 8);
+            size_t const dictHLNext = ZSTD_hashPtr(ip+1, dictHBitsL, 8);
+            U32 const matchIndexL3 = hashLong[hl3];
+            const BYTE* matchL3 = base + matchIndexL3;
+            hashLong[hl3] = current + 1;
+
+            /* check prefix long +1 match */
+            if (matchIndexL3 > prefixLowestIndex) {
+                if (MEM_read64(matchL3) == MEM_read64(ip+1)) {
                     mLength = ZSTD_count(ip+9, matchL3+8, iend) + 8;
                     ip++;
                     offset = (U32)(ip-matchL3);
-                    while (((ip>anchor) & (matchL3>lowest)) && (ip[-1] == matchL3[-1])) { ip--; matchL3--; mLength++; } /* catch up */
-                } else {
-                    mLength = ZSTD_count(ip+4, match+4, iend) + 4;
-                    offset = (U32)(ip-match);
-                    while (((ip>anchor) & (match>lowest)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */
+                    while (((ip>anchor) & (matchL3>prefixLowest)) && (ip[-1] == matchL3[-1])) { ip--; matchL3--; mLength++; } /* catch up */
+                    goto _match_found;
+                }
+            } else if (dictMode == ZSTD_dictMatchState) {
+                /* check dict long +1 match */
+                U32 const dictMatchIndexL3 = dictHashLong[dictHLNext];
+                const BYTE* dictMatchL3 = dictBase + dictMatchIndexL3;
+                assert(dictMatchL3 < dictEnd);
+                if (dictMatchL3 > dictStart && MEM_read64(dictMatchL3) == MEM_read64(ip+1)) {
+                    mLength = ZSTD_count_2segments(ip+1+8, dictMatchL3+8, iend, dictEnd, prefixLowest) + 8;
+                    ip++;
+                    offset = (U32)(current + 1 - dictMatchIndexL3 - dictIndexDelta);
+                    while (((ip>anchor) & (dictMatchL3>dictStart)) && (ip[-1] == dictMatchL3[-1])) { ip--; dictMatchL3--; mLength++; } /* catch up */
+                    goto _match_found;
                 }
-            } else {
-                ip += ((ip-anchor) >> kSearchStrength) + 1;
-                continue;
             }
+        }
 
-            offset_2 = offset_1;
-            offset_1 = offset;
-
-            ZSTD_storeSeq(seqStore, ip-anchor, anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH);
+        /* if no long +1 match, explore the short match we found */
+        if (dictMode == ZSTD_dictMatchState && matchIndexS < prefixLowestIndex) {
+            mLength = ZSTD_count_2segments(ip+4, match+4, iend, dictEnd, prefixLowest) + 4;
+            offset = (U32)(current - matchIndexS);
+            while (((ip>anchor) & (match>dictStart)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */
+        } else {
+            mLength = ZSTD_count(ip+4, match+4, iend) + 4;
+            offset = (U32)(ip - match);
+            while (((ip>anchor) & (match>prefixLowest)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */
         }
 
+        /* fall-through */
+
+_match_found:
+        offset_2 = offset_1;
+        offset_1 = offset;
+
+        ZSTD_storeSeq(seqStore, ip-anchor, anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH);
+
+_match_stored:
         /* match found */
         ip += mLength;
         anchor = ip;
@@ -135,19 +257,44 @@ size_t ZSTD_compressBlock_doubleFast_generic(
                 hashSmall[ZSTD_hashPtr(ip-2, hBitsS, mls)] = (U32)(ip-2-base);
 
             /* check immediate repcode */
-            while ( (ip <= ilimit)
-                 && ( (offset_2>0)
-                 & (MEM_read32(ip) == MEM_read32(ip - offset_2)) )) {
-                /* store sequence */
-                size_t const rLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4;
-                { U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff; } /* swap offset_2 <=> offset_1 */
-                hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = (U32)(ip-base);
-                hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = (U32)(ip-base);
-                ZSTD_storeSeq(seqStore, 0, anchor, 0, rLength-MINMATCH);
-                ip += rLength;
-                anchor = ip;
-                continue;   /* faster when present ... (?) */
-    }   }   }
+            if (dictMode == ZSTD_dictMatchState) {
+                while (ip <= ilimit) {
+                    U32 const current2 = (U32)(ip-base);
+                    U32 const repIndex2 = current2 - offset_2;
+                    const BYTE* repMatch2 = dictMode == ZSTD_dictMatchState
+                        && repIndex2 < prefixLowestIndex ?
+                            dictBase - dictIndexDelta + repIndex2 :
+                            base + repIndex2;
+                    if ( ((U32)((prefixLowestIndex-1) - (U32)repIndex2) >= 3 /* intentional overflow */)
+                       && (MEM_read32(repMatch2) == MEM_read32(ip)) ) {
+                        const BYTE* const repEnd2 = repIndex2 < prefixLowestIndex ? dictEnd : iend;
+                        size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixLowest) + 4;
+                        U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset;   /* swap offset_2 <=> offset_1 */
+                        ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH);
+                        hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = current2;
+                        hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = current2;
+                        ip += repLength2;
+                        anchor = ip;
+                        continue;
+                    }
+                    break;
+                }
+            }
+
+            if (dictMode == ZSTD_noDict) {
+                while ( (ip <= ilimit)
+                     && ( (offset_2>0)
+                        & (MEM_read32(ip) == MEM_read32(ip - offset_2)) )) {
+                    /* store sequence */
+                    size_t const rLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4;
+                    U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff;  /* swap offset_2 <=> offset_1 */
+                    hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = (U32)(ip-base);
+                    hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = (U32)(ip-base);
+                    ZSTD_storeSeq(seqStore, 0, anchor, 0, rLength-MINMATCH);
+                    ip += rLength;
+                    anchor = ip;
+                    continue;   /* faster when present ... (?) */
+    }   }   }   }
 
     /* save reps for next block */
     rep[0] = offset_1 ? offset_1 : offsetSaved;
@@ -160,102 +307,126 @@ size_t ZSTD_compressBlock_doubleFast_generic(
 
 size_t ZSTD_compressBlock_doubleFast(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
+{
+    const U32 mls = ms->cParams.minMatch;
+    switch(mls)
+    {
+    default: /* includes case 3 */
+    case 4 :
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 4, ZSTD_noDict);
+    case 5 :
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 5, ZSTD_noDict);
+    case 6 :
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 6, ZSTD_noDict);
+    case 7 :
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 7, ZSTD_noDict);
+    }
+}
+
+
+size_t ZSTD_compressBlock_doubleFast_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize)
 {
-    const U32 mls = cParams->searchLength;
+    const U32 mls = ms->cParams.minMatch;
     switch(mls)
     {
     default: /* includes case 3 */
     case 4 :
-        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, cParams, src, srcSize, 4);
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 4, ZSTD_dictMatchState);
     case 5 :
-        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, cParams, src, srcSize, 5);
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 5, ZSTD_dictMatchState);
     case 6 :
-        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, cParams, src, srcSize, 6);
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 6, ZSTD_dictMatchState);
     case 7 :
-        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, cParams, src, srcSize, 7);
+        return ZSTD_compressBlock_doubleFast_generic(ms, seqStore, rep, src, srcSize, 7, ZSTD_dictMatchState);
     }
 }
 
 
 static size_t ZSTD_compressBlock_doubleFast_extDict_generic(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize,
+        void const* src, size_t srcSize,
         U32 const mls /* template */)
 {
+    ZSTD_compressionParameters const* cParams = &ms->cParams;
     U32* const hashLong = ms->hashTable;
     U32  const hBitsL = cParams->hashLog;
     U32* const hashSmall = ms->chainTable;
     U32  const hBitsS = cParams->chainLog;
-    const BYTE* const base = ms->window.base;
-    const BYTE* const dictBase = ms->window.dictBase;
     const BYTE* const istart = (const BYTE*)src;
     const BYTE* ip = istart;
     const BYTE* anchor = istart;
-    const U32   lowestIndex = ms->window.lowLimit;
-    const BYTE* const dictStart = dictBase + lowestIndex;
-    const U32   dictLimit = ms->window.dictLimit;
-    const BYTE* const lowPrefixPtr = base + dictLimit;
-    const BYTE* const dictEnd = dictBase + dictLimit;
     const BYTE* const iend = istart + srcSize;
     const BYTE* const ilimit = iend - 8;
+    const U32   prefixStartIndex = ms->window.dictLimit;
+    const BYTE* const base = ms->window.base;
+    const BYTE* const prefixStart = base + prefixStartIndex;
+    const U32   dictStartIndex = ms->window.lowLimit;
+    const BYTE* const dictBase = ms->window.dictBase;
+    const BYTE* const dictStart = dictBase + dictStartIndex;
+    const BYTE* const dictEnd = dictBase + prefixStartIndex;
     U32 offset_1=rep[0], offset_2=rep[1];
 
+    DEBUGLOG(5, "ZSTD_compressBlock_doubleFast_extDict_generic (srcSize=%zu)", srcSize);
+
     /* Search Loop */
     while (ip < ilimit) {  /* < instead of <=, because (ip+1) */
         const size_t hSmall = ZSTD_hashPtr(ip, hBitsS, mls);
         const U32 matchIndex = hashSmall[hSmall];
-        const BYTE* matchBase = matchIndex < dictLimit ? dictBase : base;
+        const BYTE* const matchBase = matchIndex < prefixStartIndex ? dictBase : base;
         const BYTE* match = matchBase + matchIndex;
 
         const size_t hLong = ZSTD_hashPtr(ip, hBitsL, 8);
         const U32 matchLongIndex = hashLong[hLong];
-        const BYTE* matchLongBase = matchLongIndex < dictLimit ? dictBase : base;
+        const BYTE* const matchLongBase = matchLongIndex < prefixStartIndex ? dictBase : base;
         const BYTE* matchLong = matchLongBase + matchLongIndex;
 
         const U32 current = (U32)(ip-base);
         const U32 repIndex = current + 1 - offset_1;   /* offset_1 expected <= current +1 */
-        const BYTE* repBase = repIndex < dictLimit ? dictBase : base;
-        const BYTE* repMatch = repBase + repIndex;
+        const BYTE* const repBase = repIndex < prefixStartIndex ? dictBase : base;
+        const BYTE* const repMatch = repBase + repIndex;
         size_t mLength;
         hashSmall[hSmall] = hashLong[hLong] = current;   /* update hash table */
 
-        if ( (((U32)((dictLimit-1) - repIndex) >= 3) /* intentional underflow */ & (repIndex > lowestIndex))
-           && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) {
-            const BYTE* repMatchEnd = repIndex < dictLimit ? dictEnd : iend;
-            mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, lowPrefixPtr) + 4;
+        if ((((U32)((prefixStartIndex-1) - repIndex) >= 3) /* intentional underflow : ensure repIndex doesn't overlap dict + prefix */
+            & (repIndex > dictStartIndex))
+          && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) {
+            const BYTE* repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend;
+            mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixStart) + 4;
             ip++;
             ZSTD_storeSeq(seqStore, ip-anchor, anchor, 0, mLength-MINMATCH);
         } else {
-            if ((matchLongIndex > lowestIndex) && (MEM_read64(matchLong) == MEM_read64(ip))) {
-                const BYTE* matchEnd = matchLongIndex < dictLimit ? dictEnd : iend;
-                const BYTE* lowMatchPtr = matchLongIndex < dictLimit ? dictStart : lowPrefixPtr;
+            if ((matchLongIndex > dictStartIndex) && (MEM_read64(matchLong) == MEM_read64(ip))) {
+                const BYTE* const matchEnd = matchLongIndex < prefixStartIndex ? dictEnd : iend;
+                const BYTE* const lowMatchPtr = matchLongIndex < prefixStartIndex ? dictStart : prefixStart;
                 U32 offset;
-                mLength = ZSTD_count_2segments(ip+8, matchLong+8, iend, matchEnd, lowPrefixPtr) + 8;
+                mLength = ZSTD_count_2segments(ip+8, matchLong+8, iend, matchEnd, prefixStart) + 8;
                 offset = current - matchLongIndex;
                 while (((ip>anchor) & (matchLong>lowMatchPtr)) && (ip[-1] == matchLong[-1])) { ip--; matchLong--; mLength++; }   /* catch up */
                 offset_2 = offset_1;
                 offset_1 = offset;
                 ZSTD_storeSeq(seqStore, ip-anchor, anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH);
 
-            } else if ((matchIndex > lowestIndex) && (MEM_read32(match) == MEM_read32(ip))) {
+            } else if ((matchIndex > dictStartIndex) && (MEM_read32(match) == MEM_read32(ip))) {
                 size_t const h3 = ZSTD_hashPtr(ip+1, hBitsL, 8);
                 U32 const matchIndex3 = hashLong[h3];
-                const BYTE* const match3Base = matchIndex3 < dictLimit ? dictBase : base;
+                const BYTE* const match3Base = matchIndex3 < prefixStartIndex ? dictBase : base;
                 const BYTE* match3 = match3Base + matchIndex3;
                 U32 offset;
                 hashLong[h3] = current + 1;
-                if ( (matchIndex3 > lowestIndex) && (MEM_read64(match3) == MEM_read64(ip+1)) ) {
-                    const BYTE* matchEnd = matchIndex3 < dictLimit ? dictEnd : iend;
-                    const BYTE* lowMatchPtr = matchIndex3 < dictLimit ? dictStart : lowPrefixPtr;
-                    mLength = ZSTD_count_2segments(ip+9, match3+8, iend, matchEnd, lowPrefixPtr) + 8;
+                if ( (matchIndex3 > dictStartIndex) && (MEM_read64(match3) == MEM_read64(ip+1)) ) {
+                    const BYTE* const matchEnd = matchIndex3 < prefixStartIndex ? dictEnd : iend;
+                    const BYTE* const lowMatchPtr = matchIndex3 < prefixStartIndex ? dictStart : prefixStart;
+                    mLength = ZSTD_count_2segments(ip+9, match3+8, iend, matchEnd, prefixStart) + 8;
                     ip++;
                     offset = current+1 - matchIndex3;
                     while (((ip>anchor) & (match3>lowMatchPtr)) && (ip[-1] == match3[-1])) { ip--; match3--; mLength++; } /* catch up */
                 } else {
-                    const BYTE* matchEnd = matchIndex < dictLimit ? dictEnd : iend;
-                    const BYTE* lowMatchPtr = matchIndex < dictLimit ? dictStart : lowPrefixPtr;
-                    mLength = ZSTD_count_2segments(ip+4, match+4, iend, matchEnd, lowPrefixPtr) + 4;
+                    const BYTE* const matchEnd = matchIndex < prefixStartIndex ? dictEnd : iend;
+                    const BYTE* const lowMatchPtr = matchIndex < prefixStartIndex ? dictStart : prefixStart;
+                    mLength = ZSTD_count_2segments(ip+4, match+4, iend, matchEnd, prefixStart) + 4;
                     offset = current - matchIndex;
                     while (((ip>anchor) & (match>lowMatchPtr)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; }   /* catch up */
                 }
@@ -282,12 +453,13 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic(
             while (ip <= ilimit) {
                 U32 const current2 = (U32)(ip-base);
                 U32 const repIndex2 = current2 - offset_2;
-                const BYTE* repMatch2 = repIndex2 < dictLimit ? dictBase + repIndex2 : base + repIndex2;
-                if ( (((U32)((dictLimit-1) - repIndex2) >= 3) & (repIndex2 > lowestIndex))  /* intentional overflow */
-                   && (MEM_read32(repMatch2) == MEM_read32(ip)) ) {
-                    const BYTE* const repEnd2 = repIndex2 < dictLimit ? dictEnd : iend;
-                    size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, lowPrefixPtr) + 4;
-                    U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset;   /* swap offset_2 <=> offset_1 */
+                const BYTE* repMatch2 = repIndex2 < prefixStartIndex ? dictBase + repIndex2 : base + repIndex2;
+                if ( (((U32)((prefixStartIndex-1) - repIndex2) >= 3)   /* intentional overflow : ensure repIndex2 doesn't overlap dict + prefix */
+                    & (repIndex2 > dictStartIndex))
+                  && (MEM_read32(repMatch2) == MEM_read32(ip)) ) {
+                    const BYTE* const repEnd2 = repIndex2 < prefixStartIndex ? dictEnd : iend;
+                    size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixStart) + 4;
+                    U32 const tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset;   /* swap offset_2 <=> offset_1 */
                     ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH);
                     hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = current2;
                     hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = current2;
@@ -309,19 +481,19 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic(
 
 size_t ZSTD_compressBlock_doubleFast_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    U32 const mls = cParams->searchLength;
+    U32 const mls = ms->cParams.minMatch;
     switch(mls)
     {
     default: /* includes case 3 */
     case 4 :
-        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 4);
+        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, src, srcSize, 4);
     case 5 :
-        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 5);
+        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, src, srcSize, 5);
     case 6 :
-        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 6);
+        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, src, srcSize, 6);
     case 7 :
-        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 7);
+        return ZSTD_compressBlock_doubleFast_extDict_generic(ms, seqStore, rep, src, srcSize, 7);
     }
 }
diff --git a/thirdparty/zstd/compress/zstd_double_fast.h b/thirdparty/zstd/compress/zstd_double_fast.h
index 6d80b2774c..4fa31acfc0 100644
--- a/thirdparty/zstd/compress/zstd_double_fast.h
+++ b/thirdparty/zstd/compress/zstd_double_fast.h
@@ -19,14 +19,16 @@ extern "C" {
 #include "zstd_compress_internal.h"     /* ZSTD_CCtx, size_t */
 
 void ZSTD_fillDoubleHashTable(ZSTD_matchState_t* ms,
-                              ZSTD_compressionParameters const* cParams,
-                              void const* end);
+                              void const* end, ZSTD_dictTableLoadMethod_e dtlm);
 size_t ZSTD_compressBlock_doubleFast(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_doubleFast_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_doubleFast_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 
 
 #if defined (__cplusplus)
diff --git a/thirdparty/zstd/compress/zstd_fast.c b/thirdparty/zstd/compress/zstd_fast.c
index df4d28b340..40ba0f73e6 100644
--- a/thirdparty/zstd/compress/zstd_fast.c
+++ b/thirdparty/zstd/compress/zstd_fast.c
@@ -13,12 +13,12 @@
 
 
 void ZSTD_fillHashTable(ZSTD_matchState_t* ms,
-                        ZSTD_compressionParameters const* cParams,
-                        void const* end)
+                        void const* end, ZSTD_dictTableLoadMethod_e dtlm)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32* const hashTable = ms->hashTable;
     U32  const hBits = cParams->hashLog;
-    U32  const mls = cParams->searchLength;
+    U32  const mls = cParams->minMatch;
     const BYTE* const base = ms->window.base;
     const BYTE* ip = base + ms->nextToUpdate;
     const BYTE* const iend = ((const BYTE*)end) - HASH_READ_SIZE;
@@ -27,41 +27,83 @@ void ZSTD_fillHashTable(ZSTD_matchState_t* ms,
     /* Always insert every fastHashFillStep position into the hash table.
      * Insert the other positions if their hash entry is empty.
      */
-    for (; ip + fastHashFillStep - 1 <= iend; ip += fastHashFillStep) {
+    for ( ; ip + fastHashFillStep < iend + 2; ip += fastHashFillStep) {
         U32 const current = (U32)(ip - base);
-        U32 i;
-        for (i = 0; i < fastHashFillStep; ++i) {
-            size_t const hash = ZSTD_hashPtr(ip + i, hBits, mls);
-            if (i == 0 || hashTable[hash] == 0)
-                hashTable[hash] = current + i;
-        }
-    }
+        size_t const hash0 = ZSTD_hashPtr(ip, hBits, mls);
+        hashTable[hash0] = current;
+        if (dtlm == ZSTD_dtlm_fast) continue;
+        /* Only load extra positions for ZSTD_dtlm_full */
+        {   U32 p;
+            for (p = 1; p < fastHashFillStep; ++p) {
+                size_t const hash = ZSTD_hashPtr(ip + p, hBits, mls);
+                if (hashTable[hash] == 0) {  /* not yet filled */
+                    hashTable[hash] = current + p;
+    }   }   }   }
 }
 
 FORCE_INLINE_TEMPLATE
 size_t ZSTD_compressBlock_fast_generic(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
         void const* src, size_t srcSize,
-        U32 const hlog, U32 const stepSize, U32 const mls)
+        U32 const mls, ZSTD_dictMode_e const dictMode)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32* const hashTable = ms->hashTable;
+    U32 const hlog = cParams->hashLog;
+    /* support stepSize of 0 */
+    U32 const stepSize = cParams->targetLength + !(cParams->targetLength);
     const BYTE* const base = ms->window.base;
     const BYTE* const istart = (const BYTE*)src;
     const BYTE* ip = istart;
     const BYTE* anchor = istart;
-    const U32   lowestIndex = ms->window.dictLimit;
-    const BYTE* const lowest = base + lowestIndex;
+    const U32   prefixStartIndex = ms->window.dictLimit;
+    const BYTE* const prefixStart = base + prefixStartIndex;
     const BYTE* const iend = istart + srcSize;
     const BYTE* const ilimit = iend - HASH_READ_SIZE;
     U32 offset_1=rep[0], offset_2=rep[1];
     U32 offsetSaved = 0;
 
+    const ZSTD_matchState_t* const dms = ms->dictMatchState;
+    const ZSTD_compressionParameters* const dictCParams =
+                                     dictMode == ZSTD_dictMatchState ?
+                                     &dms->cParams : NULL;
+    const U32* const dictHashTable = dictMode == ZSTD_dictMatchState ?
+                                     dms->hashTable : NULL;
+    const U32 dictStartIndex       = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.dictLimit : 0;
+    const BYTE* const dictBase     = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.base : NULL;
+    const BYTE* const dictStart    = dictMode == ZSTD_dictMatchState ?
+                                     dictBase + dictStartIndex : NULL;
+    const BYTE* const dictEnd      = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.nextSrc : NULL;
+    const U32 dictIndexDelta       = dictMode == ZSTD_dictMatchState ?
+                                     prefixStartIndex - (U32)(dictEnd - dictBase) :
+                                     0;
+    const U32 dictAndPrefixLength  = (U32)(ip - prefixStart + dictEnd - dictStart);
+    const U32 dictHLog             = dictMode == ZSTD_dictMatchState ?
+                                     dictCParams->hashLog : hlog;
+
+    assert(dictMode == ZSTD_noDict || dictMode == ZSTD_dictMatchState);
+
+    /* otherwise, we would get index underflow when translating a dict index
+     * into a local index */
+    assert(dictMode != ZSTD_dictMatchState
+        || prefixStartIndex >= (U32)(dictEnd - dictBase));
+
     /* init */
-    ip += (ip==lowest);
-    {   U32 const maxRep = (U32)(ip-lowest);
+    ip += (dictAndPrefixLength == 0);
+    if (dictMode == ZSTD_noDict) {
+        U32 const maxRep = (U32)(ip - prefixStart);
         if (offset_2 > maxRep) offsetSaved = offset_2, offset_2 = 0;
         if (offset_1 > maxRep) offsetSaved = offset_1, offset_1 = 0;
     }
+    if (dictMode == ZSTD_dictMatchState) {
+        /* dictMatchState repCode checks don't currently handle repCode == 0
+         * disabling. */
+        assert(offset_1 <= dictAndPrefixLength);
+        assert(offset_2 <= dictAndPrefixLength);
+    }
 
     /* Main Search Loop */
     while (ip < ilimit) {   /* < instead of <=, because repcode check at (ip+1) */
@@ -70,26 +112,67 @@ size_t ZSTD_compressBlock_fast_generic(
         U32 const current = (U32)(ip-base);
         U32 const matchIndex = hashTable[h];
         const BYTE* match = base + matchIndex;
+        const U32 repIndex = current + 1 - offset_1;
+        const BYTE* repMatch = (dictMode == ZSTD_dictMatchState
+                            && repIndex < prefixStartIndex) ?
+                               dictBase + (repIndex - dictIndexDelta) :
+                               base + repIndex;
         hashTable[h] = current;   /* update hash table */
 
-        if ((offset_1 > 0) & (MEM_read32(ip+1-offset_1) == MEM_read32(ip+1))) {
+        if ( (dictMode == ZSTD_dictMatchState)
+          && ((U32)((prefixStartIndex-1) - repIndex) >= 3) /* intentional underflow : ensure repIndex isn't overlapping dict + prefix */
+          && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) {
+            const BYTE* const repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend;
+            mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixStart) + 4;
+            ip++;
+            ZSTD_storeSeq(seqStore, ip-anchor, anchor, 0, mLength-MINMATCH);
+        } else if ( dictMode == ZSTD_noDict
+                 && ((offset_1 > 0) & (MEM_read32(ip+1-offset_1) == MEM_read32(ip+1)))) {
             mLength = ZSTD_count(ip+1+4, ip+1+4-offset_1, iend) + 4;
             ip++;
             ZSTD_storeSeq(seqStore, ip-anchor, anchor, 0, mLength-MINMATCH);
-        } else {
-            if ( (matchIndex <= lowestIndex)
-              || (MEM_read32(match) != MEM_read32(ip)) ) {
+        } else if ( (matchIndex <= prefixStartIndex) ) {
+            if (dictMode == ZSTD_dictMatchState) {
+                size_t const dictHash = ZSTD_hashPtr(ip, dictHLog, mls);
+                U32 const dictMatchIndex = dictHashTable[dictHash];
+                const BYTE* dictMatch = dictBase + dictMatchIndex;
+                if (dictMatchIndex <= dictStartIndex ||
+                    MEM_read32(dictMatch) != MEM_read32(ip)) {
+                    assert(stepSize >= 1);
+                    ip += ((ip-anchor) >> kSearchStrength) + stepSize;
+                    continue;
+                } else {
+                    /* found a dict match */
+                    U32 const offset = (U32)(current-dictMatchIndex-dictIndexDelta);
+                    mLength = ZSTD_count_2segments(ip+4, dictMatch+4, iend, dictEnd, prefixStart) + 4;
+                    while (((ip>anchor) & (dictMatch>dictStart))
+                         && (ip[-1] == dictMatch[-1])) {
+                        ip--; dictMatch--; mLength++;
+                    } /* catch up */
+                    offset_2 = offset_1;
+                    offset_1 = offset;
+                    ZSTD_storeSeq(seqStore, ip-anchor, anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH);
+                }
+            } else {
                 assert(stepSize >= 1);
                 ip += ((ip-anchor) >> kSearchStrength) + stepSize;
                 continue;
             }
+        } else if (MEM_read32(match) != MEM_read32(ip)) {
+            /* it's not a match, and we're not going to check the dictionary */
+            assert(stepSize >= 1);
+            ip += ((ip-anchor) >> kSearchStrength) + stepSize;
+            continue;
+        } else {
+            /* found a regular match */
+            U32 const offset = (U32)(ip-match);
             mLength = ZSTD_count(ip+4, match+4, iend) + 4;
-            {   U32 const offset = (U32)(ip-match);
-                while (((ip>anchor) & (match>lowest)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */
-                offset_2 = offset_1;
-                offset_1 = offset;
-                ZSTD_storeSeq(seqStore, ip-anchor, anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH);
-        }   }
+            while (((ip>anchor) & (match>prefixStart))
+                 && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */
+            offset_2 = offset_1;
+            offset_1 = offset;
+            ZSTD_storeSeq(seqStore, ip-anchor, anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH);
+        }
 
         /* match found */
         ip += mLength;
@@ -97,21 +180,46 @@ size_t ZSTD_compressBlock_fast_generic(
 
         if (ip <= ilimit) {
             /* Fill Table */
+            assert(base+current+2 > istart);  /* check base overflow */
             hashTable[ZSTD_hashPtr(base+current+2, hlog, mls)] = current+2;  /* here because current+2 could be > iend-8 */
             hashTable[ZSTD_hashPtr(ip-2, hlog, mls)] = (U32)(ip-2-base);
+
             /* check immediate repcode */
-            while ( (ip <= ilimit)
-                 && ( (offset_2>0)
-                 & (MEM_read32(ip) == MEM_read32(ip - offset_2)) )) {
-                /* store sequence */
-                size_t const rLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4;
-                { U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff; }  /* swap offset_2 <=> offset_1 */
-                hashTable[ZSTD_hashPtr(ip, hlog, mls)] = (U32)(ip-base);
-                ZSTD_storeSeq(seqStore, 0, anchor, 0, rLength-MINMATCH);
-                ip += rLength;
-                anchor = ip;
-                continue;   /* faster when present ... (?) */
-    }   }   }
+            if (dictMode == ZSTD_dictMatchState) {
+                while (ip <= ilimit) {
+                    U32 const current2 = (U32)(ip-base);
+                    U32 const repIndex2 = current2 - offset_2;
+                    const BYTE* repMatch2 = repIndex2 < prefixStartIndex ?
+                            dictBase - dictIndexDelta + repIndex2 :
+                            base + repIndex2;
+                    if ( ((U32)((prefixStartIndex-1) - (U32)repIndex2) >= 3 /* intentional overflow */)
+                       && (MEM_read32(repMatch2) == MEM_read32(ip)) ) {
+                        const BYTE* const repEnd2 = repIndex2 < prefixStartIndex ? dictEnd : iend;
+                        size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixStart) + 4;
+                        U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset;   /* swap offset_2 <=> offset_1 */
+                        ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH);
+                        hashTable[ZSTD_hashPtr(ip, hlog, mls)] = current2;
+                        ip += repLength2;
+                        anchor = ip;
+                        continue;
+                    }
+                    break;
+                }
+            }
+
+            if (dictMode == ZSTD_noDict) {
+                while ( (ip <= ilimit)
+                     && ( (offset_2>0)
+                        & (MEM_read32(ip) == MEM_read32(ip - offset_2)) )) {
+                    /* store sequence */
+                    size_t const rLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4;
+                    U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff;  /* swap offset_2 <=> offset_1 */
+                    hashTable[ZSTD_hashPtr(ip, hlog, mls)] = (U32)(ip-base);
+                    ZSTD_storeSeq(seqStore, 0, anchor, 0, rLength-MINMATCH);
+                    ip += rLength;
+                    anchor = ip;
+                    continue;   /* faster when present ... (?) */
+    }   }   }   }
 
     /* save reps for next block */
     rep[0] = offset_1 ? offset_1 : offsetSaved;
@@ -124,42 +232,66 @@ size_t ZSTD_compressBlock_fast_generic(
 
 size_t ZSTD_compressBlock_fast(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    U32 const hlog = cParams->hashLog;
-    U32 const mls = cParams->searchLength;
-    U32 const stepSize = cParams->targetLength;
+    ZSTD_compressionParameters const* cParams = &ms->cParams;
+    U32 const mls = cParams->minMatch;
+    assert(ms->dictMatchState == NULL);
+    switch(mls)
+    {
+    default: /* includes case 3 */
+    case 4 :
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 4, ZSTD_noDict);
+    case 5 :
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 5, ZSTD_noDict);
+    case 6 :
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 6, ZSTD_noDict);
+    case 7 :
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 7, ZSTD_noDict);
+    }
+}
+
+size_t ZSTD_compressBlock_fast_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize)
+{
+    ZSTD_compressionParameters const* cParams = &ms->cParams;
+    U32 const mls = cParams->minMatch;
+    assert(ms->dictMatchState != NULL);
     switch(mls)
     {
     default: /* includes case 3 */
     case 4 :
-        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 4);
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 4, ZSTD_dictMatchState);
     case 5 :
-        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 5);
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 5, ZSTD_dictMatchState);
     case 6 :
-        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 6);
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 6, ZSTD_dictMatchState);
     case 7 :
-        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 7);
+        return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, 7, ZSTD_dictMatchState);
     }
 }
 
 
 static size_t ZSTD_compressBlock_fast_extDict_generic(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        void const* src, size_t srcSize,
-        U32 const hlog, U32 const stepSize, U32 const mls)
+        void const* src, size_t srcSize, U32 const mls)
 {
-    U32* hashTable = ms->hashTable;
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
+    U32* const hashTable = ms->hashTable;
+    U32 const hlog = cParams->hashLog;
+    /* support stepSize of 0 */
+    U32 const stepSize = cParams->targetLength + !(cParams->targetLength);
     const BYTE* const base = ms->window.base;
     const BYTE* const dictBase = ms->window.dictBase;
     const BYTE* const istart = (const BYTE*)src;
     const BYTE* ip = istart;
     const BYTE* anchor = istart;
-    const U32   lowestIndex = ms->window.lowLimit;
-    const BYTE* const dictStart = dictBase + lowestIndex;
-    const U32   dictLimit = ms->window.dictLimit;
-    const BYTE* const lowPrefixPtr = base + dictLimit;
-    const BYTE* const dictEnd = dictBase + dictLimit;
+    const U32   dictStartIndex = ms->window.lowLimit;
+    const BYTE* const dictStart = dictBase + dictStartIndex;
+    const U32   prefixStartIndex = ms->window.dictLimit;
+    const BYTE* const prefixStart = base + prefixStartIndex;
+    const BYTE* const dictEnd = dictBase + prefixStartIndex;
     const BYTE* const iend = istart + srcSize;
     const BYTE* const ilimit = iend - 8;
     U32 offset_1=rep[0], offset_2=rep[1];
@@ -167,33 +299,34 @@ static size_t ZSTD_compressBlock_fast_extDict_generic(
     /* Search Loop */
     while (ip < ilimit) {  /* < instead of <=, because (ip+1) */
         const size_t h = ZSTD_hashPtr(ip, hlog, mls);
-        const U32 matchIndex = hashTable[h];
-        const BYTE* matchBase = matchIndex < dictLimit ? dictBase : base;
-        const BYTE* match = matchBase + matchIndex;
-        const U32 current = (U32)(ip-base);
-        const U32 repIndex = current + 1 - offset_1;   /* offset_1 expected <= current +1 */
-        const BYTE* repBase = repIndex < dictLimit ? dictBase : base;
-        const BYTE* repMatch = repBase + repIndex;
+        const U32    matchIndex = hashTable[h];
+        const BYTE* const matchBase = matchIndex < prefixStartIndex ? dictBase : base;
+        const BYTE*  match = matchBase + matchIndex;
+        const U32    current = (U32)(ip-base);
+        const U32    repIndex = current + 1 - offset_1;
+        const BYTE* const repBase = repIndex < prefixStartIndex ? dictBase : base;
+        const BYTE* const repMatch = repBase + repIndex;
         size_t mLength;
         hashTable[h] = current;   /* update hash table */
+        assert(offset_1 <= current +1);   /* check repIndex */
 
-        if ( (((U32)((dictLimit-1) - repIndex) >= 3) /* intentional underflow */ & (repIndex > lowestIndex))
+        if ( (((U32)((prefixStartIndex-1) - repIndex) >= 3) /* intentional underflow */ & (repIndex > dictStartIndex))
            && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) {
-            const BYTE* repMatchEnd = repIndex < dictLimit ? dictEnd : iend;
-            mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, lowPrefixPtr) + 4;
+            const BYTE* repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend;
+            mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixStart) + 4;
             ip++;
             ZSTD_storeSeq(seqStore, ip-anchor, anchor, 0, mLength-MINMATCH);
         } else {
-            if ( (matchIndex < lowestIndex) ||
+            if ( (matchIndex < dictStartIndex) ||
                  (MEM_read32(match) != MEM_read32(ip)) ) {
                 assert(stepSize >= 1);
                 ip += ((ip-anchor) >> kSearchStrength) + stepSize;
                 continue;
             }
-            {   const BYTE* matchEnd = matchIndex < dictLimit ? dictEnd : iend;
-                const BYTE* lowMatchPtr = matchIndex < dictLimit ? dictStart : lowPrefixPtr;
+            {   const BYTE* matchEnd = matchIndex < prefixStartIndex ? dictEnd : iend;
+                const BYTE* lowMatchPtr = matchIndex < prefixStartIndex ? dictStart : prefixStart;
                 U32 offset;
-                mLength = ZSTD_count_2segments(ip+4, match+4, iend, matchEnd, lowPrefixPtr) + 4;
+                mLength = ZSTD_count_2segments(ip+4, match+4, iend, matchEnd, prefixStart) + 4;
                 while (((ip>anchor) & (match>lowMatchPtr)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; }   /* catch up */
                 offset = current - matchIndex;
                 offset_2 = offset_1;
@@ -213,11 +346,11 @@ static size_t ZSTD_compressBlock_fast_extDict_generic(
             while (ip <= ilimit) {
                 U32 const current2 = (U32)(ip-base);
                 U32 const repIndex2 = current2 - offset_2;
-                const BYTE* repMatch2 = repIndex2 < dictLimit ? dictBase + repIndex2 : base + repIndex2;
-                if ( (((U32)((dictLimit-1) - repIndex2) >= 3) & (repIndex2 > lowestIndex))  /* intentional overflow */
+                const BYTE* repMatch2 = repIndex2 < prefixStartIndex ? dictBase + repIndex2 : base + repIndex2;
+                if ( (((U32)((prefixStartIndex-1) - repIndex2) >= 3) & (repIndex2 > dictStartIndex))  /* intentional overflow */
                    && (MEM_read32(repMatch2) == MEM_read32(ip)) ) {
-                    const BYTE* const repEnd2 = repIndex2 < dictLimit ? dictEnd : iend;
-                    size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, lowPrefixPtr) + 4;
+                    const BYTE* const repEnd2 = repIndex2 < prefixStartIndex ? dictEnd : iend;
+                    size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixStart) + 4;
                     U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset;   /* swap offset_2 <=> offset_1 */
                     ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH);
                     hashTable[ZSTD_hashPtr(ip, hlog, mls)] = current2;
@@ -239,21 +372,20 @@ static size_t ZSTD_compressBlock_fast_extDict_generic(
 
 size_t ZSTD_compressBlock_fast_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    U32 const hlog = cParams->hashLog;
-    U32 const mls = cParams->searchLength;
-    U32 const stepSize = cParams->targetLength;
+    ZSTD_compressionParameters const* cParams = &ms->cParams;
+    U32 const mls = cParams->minMatch;
     switch(mls)
     {
     default: /* includes case 3 */
     case 4 :
-        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 4);
+        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, 4);
     case 5 :
-        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 5);
+        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, 5);
     case 6 :
-        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 6);
+        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, 6);
     case 7 :
-        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, hlog, stepSize, 7);
+        return ZSTD_compressBlock_fast_extDict_generic(ms, seqStore, rep, src, srcSize, 7);
     }
 }
diff --git a/thirdparty/zstd/compress/zstd_fast.h b/thirdparty/zstd/compress/zstd_fast.h
index f0438ad5b4..b74a88c57c 100644
--- a/thirdparty/zstd/compress/zstd_fast.h
+++ b/thirdparty/zstd/compress/zstd_fast.h
@@ -19,14 +19,16 @@ extern "C" {
 #include "zstd_compress_internal.h"
 
 void ZSTD_fillHashTable(ZSTD_matchState_t* ms,
-                        ZSTD_compressionParameters const* cParams,
-                        void const* end);
+                        void const* end, ZSTD_dictTableLoadMethod_e dtlm);
 size_t ZSTD_compressBlock_fast(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_fast_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_fast_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 
 #if defined (__cplusplus)
 }
diff --git a/thirdparty/zstd/compress/zstd_lazy.c b/thirdparty/zstd/compress/zstd_lazy.c
index 9f158123f0..53f998a437 100644
--- a/thirdparty/zstd/compress/zstd_lazy.c
+++ b/thirdparty/zstd/compress/zstd_lazy.c
@@ -16,11 +16,12 @@
 *  Binary Tree search
 ***************************************/
 
-void ZSTD_updateDUBT(
-                ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+static void
+ZSTD_updateDUBT(ZSTD_matchState_t* ms,
                 const BYTE* ip, const BYTE* iend,
                 U32 mls)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32* const hashTable = ms->hashTable;
     U32  const hashLog = cParams->hashLog;
 
@@ -59,14 +60,16 @@ void ZSTD_updateDUBT(
  *  sort one already inserted but unsorted position
  *  assumption : current >= btlow == (current - btmask)
  *  doesn't fail */
-static void ZSTD_insertDUBT1(
-                 ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+static void
+ZSTD_insertDUBT1(ZSTD_matchState_t* ms,
                  U32 current, const BYTE* inputEnd,
-                 U32 nbCompares, U32 btLow, int extDict)
+                 U32 nbCompares, U32 btLow,
+                 const ZSTD_dictMode_e dictMode)
 {
-    U32*   const bt = ms->chainTable;
-    U32    const btLog  = cParams->chainLog - 1;
-    U32    const btMask = (1 << btLog) - 1;
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
+    U32* const bt = ms->chainTable;
+    U32  const btLog  = cParams->chainLog - 1;
+    U32  const btMask = (1 << btLog) - 1;
     size_t commonLengthSmaller=0, commonLengthLarger=0;
     const BYTE* const base = ms->window.base;
     const BYTE* const dictBase = ms->window.dictBase;
@@ -78,7 +81,7 @@ static void ZSTD_insertDUBT1(
     const BYTE* match;
     U32* smallerPtr = bt + 2*(current&btMask);
     U32* largerPtr  = smallerPtr + 1;
-    U32 matchIndex = *smallerPtr;
+    U32 matchIndex = *smallerPtr;   /* this candidate is unsorted : next sorted candidate is reached through *smallerPtr, while *largerPtr contains previous unsorted candidate (which is already saved and can be overwritten) */
     U32 dummy32;   /* to be nullified at the end */
     U32 const windowLow = ms->window.lowLimit;
 
@@ -91,11 +94,16 @@ static void ZSTD_insertDUBT1(
         U32* const nextPtr = bt + 2*(matchIndex & btMask);
         size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger);   /* guaranteed minimum nb of common bytes */
         assert(matchIndex < current);
+        /* note : all candidates are now supposed sorted,
+         * but it's still possible to have nextPtr[1] == ZSTD_DUBT_UNSORTED_MARK
+         * when a real index has the same value as ZSTD_DUBT_UNSORTED_MARK */
 
-        if ( (!extDict)
+        if ( (dictMode != ZSTD_extDict)
           || (matchIndex+matchLength >= dictLimit)  /* both in current segment*/
           || (current < dictLimit) /* both in extDict */) {
-            const BYTE* const mBase = !extDict || ((matchIndex+matchLength) >= dictLimit) ? base : dictBase;
+            const BYTE* const mBase = ( (dictMode != ZSTD_extDict)
+                                     || (matchIndex+matchLength >= dictLimit)) ?
+                                        base : dictBase;
             assert( (matchIndex+matchLength >= dictLimit)   /* might be wrong if extDict is incorrectly set to 0 */
                  || (current < dictLimit) );
             match = mBase + matchIndex;
@@ -104,7 +112,7 @@ static void ZSTD_insertDUBT1(
             match = dictBase + matchIndex;
             matchLength += ZSTD_count_2segments(ip+matchLength, match+matchLength, iend, dictEnd, prefixStart);
             if (matchIndex+matchLength >= dictLimit)
-                match = base + matchIndex;   /* to prepare for next usage of match[matchLength] */
+                match = base + matchIndex;   /* preparation for next read of match[matchLength] */
         }
 
         DEBUGLOG(8, "ZSTD_insertDUBT1: comparing %u with %u : found %u common bytes ",
@@ -138,13 +146,92 @@ static void ZSTD_insertDUBT1(
 }
 
 
-static size_t ZSTD_DUBT_findBestMatch (
-                            ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                            const BYTE* const ip, const BYTE* const iend,
-                            size_t* offsetPtr,
-                            U32 const mls,
-                            U32 const extDict)
+static size_t
+ZSTD_DUBT_findBetterDictMatch (
+        ZSTD_matchState_t* ms,
+        const BYTE* const ip, const BYTE* const iend,
+        size_t* offsetPtr,
+        size_t bestLength,
+        U32 nbCompares,
+        U32 const mls,
+        const ZSTD_dictMode_e dictMode)
+{
+    const ZSTD_matchState_t * const dms = ms->dictMatchState;
+    const ZSTD_compressionParameters* const dmsCParams = &dms->cParams;
+    const U32 * const dictHashTable = dms->hashTable;
+    U32         const hashLog = dmsCParams->hashLog;
+    size_t      const h  = ZSTD_hashPtr(ip, hashLog, mls);
+    U32               dictMatchIndex = dictHashTable[h];
+
+    const BYTE* const base = ms->window.base;
+    const BYTE* const prefixStart = base + ms->window.dictLimit;
+    U32         const current = (U32)(ip-base);
+    const BYTE* const dictBase = dms->window.base;
+    const BYTE* const dictEnd = dms->window.nextSrc;
+    U32         const dictHighLimit = (U32)(dms->window.nextSrc - dms->window.base);
+    U32         const dictLowLimit = dms->window.lowLimit;
+    U32         const dictIndexDelta = ms->window.lowLimit - dictHighLimit;
+
+    U32*        const dictBt = dms->chainTable;
+    U32         const btLog  = dmsCParams->chainLog - 1;
+    U32         const btMask = (1 << btLog) - 1;
+    U32         const btLow = (btMask >= dictHighLimit - dictLowLimit) ? dictLowLimit : dictHighLimit - btMask;
+
+    size_t commonLengthSmaller=0, commonLengthLarger=0;
+
+    (void)dictMode;
+    assert(dictMode == ZSTD_dictMatchState);
+
+    while (nbCompares-- && (dictMatchIndex > dictLowLimit)) {
+        U32* const nextPtr = dictBt + 2*(dictMatchIndex & btMask);
+        size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger);   /* guaranteed minimum nb of common bytes */
+        const BYTE* match = dictBase + dictMatchIndex;
+        matchLength += ZSTD_count_2segments(ip+matchLength, match+matchLength, iend, dictEnd, prefixStart);
+        if (dictMatchIndex+matchLength >= dictHighLimit)
+            match = base + dictMatchIndex + dictIndexDelta;   /* to prepare for next usage of match[matchLength] */
+
+        if (matchLength > bestLength) {
+            U32 matchIndex = dictMatchIndex + dictIndexDelta;
+            if ( (4*(int)(matchLength-bestLength)) > (int)(ZSTD_highbit32(current-matchIndex+1) - ZSTD_highbit32((U32)offsetPtr[0]+1)) ) {
+                DEBUGLOG(9, "ZSTD_DUBT_findBetterDictMatch(%u) : found better match length %u -> %u and offsetCode %u -> %u (dictMatchIndex %u, matchIndex %u)",
+                    current, (U32)bestLength, (U32)matchLength, (U32)*offsetPtr, ZSTD_REP_MOVE + current - matchIndex, dictMatchIndex, matchIndex);
+                bestLength = matchLength, *offsetPtr = ZSTD_REP_MOVE + current - matchIndex;
+            }
+            if (ip+matchLength == iend) {   /* reached end of input : ip[matchLength] is not valid, no way to know if it's larger or smaller than match */
+                break;   /* drop, to guarantee consistency (miss a little bit of compression) */
+            }
+        }
+
+        if (match[matchLength] < ip[matchLength]) {
+            if (dictMatchIndex <= btLow) { break; }   /* beyond tree size, stop the search */
+            commonLengthSmaller = matchLength;    /* all smaller will now have at least this guaranteed common length */
+            dictMatchIndex = nextPtr[1];              /* new matchIndex larger than previous (closer to current) */
+        } else {
+            /* match is larger than current */
+            if (dictMatchIndex <= btLow) { break; }   /* beyond tree size, stop the search */
+            commonLengthLarger = matchLength;
+            dictMatchIndex = nextPtr[0];
+        }
+    }
+
+    if (bestLength >= MINMATCH) {
+        U32 const mIndex = current - ((U32)*offsetPtr - ZSTD_REP_MOVE); (void)mIndex;
+        DEBUGLOG(8, "ZSTD_DUBT_findBetterDictMatch(%u) : found match of length %u and offsetCode %u (pos %u)",
+                    current, (U32)bestLength, (U32)*offsetPtr, mIndex);
+    }
+    return bestLength;
+
+}
+
+
+static size_t
+ZSTD_DUBT_findBestMatch(ZSTD_matchState_t* ms,
+                        const BYTE* const ip, const BYTE* const iend,
+                        size_t* offsetPtr,
+                        U32 const mls,
+                        const ZSTD_dictMode_e dictMode)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32*   const hashTable = ms->hashTable;
     U32    const hashLog = cParams->hashLog;
     size_t const h  = ZSTD_hashPtr(ip, hashLog, mls);
@@ -175,7 +262,7 @@ static size_t ZSTD_DUBT_findBestMatch (
          && (nbCandidates > 1) ) {
         DEBUGLOG(8, "ZSTD_DUBT_findBestMatch: candidate %u is unsorted",
                     matchIndex);
-        *unsortedMark = previousCandidate;
+        *unsortedMark = previousCandidate;  /* the unsortedMark becomes a reversed chain, to move up back to original position */
         previousCandidate = matchIndex;
         matchIndex = *nextCandidate;
         nextCandidate = bt + 2*(matchIndex&btMask);
@@ -183,11 +270,13 @@ static size_t ZSTD_DUBT_findBestMatch (
         nbCandidates --;
     }
 
+    /* nullify last candidate if it's still unsorted
+     * simplification, detrimental to compression ratio, beneficial for speed */
     if ( (matchIndex > unsortLimit)
       && (*unsortedMark==ZSTD_DUBT_UNSORTED_MARK) ) {
         DEBUGLOG(7, "ZSTD_DUBT_findBestMatch: nullify last unsorted candidate %u",
                     matchIndex);
-        *nextCandidate = *unsortedMark = 0;   /* nullify next candidate if it's still unsorted (note : simplification, detrimental to compression ratio, beneficial for speed) */
+        *nextCandidate = *unsortedMark = 0;
     }
 
     /* batch sort stacked candidates */
@@ -195,21 +284,21 @@ static size_t ZSTD_DUBT_findBestMatch (
     while (matchIndex) {  /* will end on matchIndex == 0 */
         U32* const nextCandidateIdxPtr = bt + 2*(matchIndex&btMask) + 1;
         U32 const nextCandidateIdx = *nextCandidateIdxPtr;
-        ZSTD_insertDUBT1(ms, cParams, matchIndex, iend,
-                         nbCandidates, unsortLimit, extDict);
+        ZSTD_insertDUBT1(ms, matchIndex, iend,
+                         nbCandidates, unsortLimit, dictMode);
         matchIndex = nextCandidateIdx;
         nbCandidates++;
     }
 
     /* find longest match */
-    {   size_t commonLengthSmaller=0, commonLengthLarger=0;
+    {   size_t commonLengthSmaller = 0, commonLengthLarger = 0;
         const BYTE* const dictBase = ms->window.dictBase;
         const U32 dictLimit = ms->window.dictLimit;
         const BYTE* const dictEnd = dictBase + dictLimit;
         const BYTE* const prefixStart = base + dictLimit;
         U32* smallerPtr = bt + 2*(current&btMask);
         U32* largerPtr  = bt + 2*(current&btMask) + 1;
-        U32 matchEndIdx = current+8+1;
+        U32 matchEndIdx = current + 8 + 1;
         U32 dummy32;   /* to be nullified at the end */
         size_t bestLength = 0;
 
@@ -221,7 +310,7 @@ static size_t ZSTD_DUBT_findBestMatch (
             size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger);   /* guaranteed minimum nb of common bytes */
             const BYTE* match;
 
-            if ((!extDict) || (matchIndex+matchLength >= dictLimit)) {
+            if ((dictMode != ZSTD_extDict) || (matchIndex+matchLength >= dictLimit)) {
                 match = base + matchIndex;
                 matchLength += ZSTD_count(ip+matchLength, match+matchLength, iend);
             } else {
@@ -237,6 +326,11 @@ static size_t ZSTD_DUBT_findBestMatch (
                 if ( (4*(int)(matchLength-bestLength)) > (int)(ZSTD_highbit32(current-matchIndex+1) - ZSTD_highbit32((U32)offsetPtr[0]+1)) )
                     bestLength = matchLength, *offsetPtr = ZSTD_REP_MOVE + current - matchIndex;
                 if (ip+matchLength == iend) {   /* equal : no way to know if inf or sup */
+                    if (dictMode == ZSTD_dictMatchState) {
+                        nbCompares = 0; /* in addition to avoiding checking any
+                                         * further in this loop, make sure we
+                                         * skip checking in the dictionary. */
+                    }
                     break;   /* drop, to guarantee consistency (miss a little bit of compression) */
                 }
             }
@@ -259,6 +353,13 @@ static size_t ZSTD_DUBT_findBestMatch (
 
         *smallerPtr = *largerPtr = 0;
 
+        if (dictMode == ZSTD_dictMatchState && nbCompares) {
+            bestLength = ZSTD_DUBT_findBetterDictMatch(
+                    ms, ip, iend,
+                    offsetPtr, bestLength, nbCompares,
+                    mls, dictMode);
+        }
+
         assert(matchEndIdx > current+8); /* ensure nextToUpdate is increased */
         ms->nextToUpdate = matchEndIdx - 8;   /* skip repetitive patterns */
         if (bestLength >= MINMATCH) {
@@ -272,61 +373,64 @@ static size_t ZSTD_DUBT_findBestMatch (
 
 
 /** ZSTD_BtFindBestMatch() : Tree updater, providing best match */
-static size_t ZSTD_BtFindBestMatch (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                        const BYTE* const ip, const BYTE* const iLimit,
-                        size_t* offsetPtr,
-                        const U32 mls /* template */)
+FORCE_INLINE_TEMPLATE size_t
+ZSTD_BtFindBestMatch( ZSTD_matchState_t* ms,
+                const BYTE* const ip, const BYTE* const iLimit,
+                      size_t* offsetPtr,
+                const U32 mls /* template */,
+                const ZSTD_dictMode_e dictMode)
 {
     DEBUGLOG(7, "ZSTD_BtFindBestMatch");
     if (ip < ms->window.base + ms->nextToUpdate) return 0;   /* skipped area */
-    ZSTD_updateDUBT(ms, cParams, ip, iLimit, mls);
-    return ZSTD_DUBT_findBestMatch(ms, cParams, ip, iLimit, offsetPtr, mls, 0);
+    ZSTD_updateDUBT(ms, ip, iLimit, mls);
+    return ZSTD_DUBT_findBestMatch(ms, ip, iLimit, offsetPtr, mls, dictMode);
 }
 
 
-static size_t ZSTD_BtFindBestMatch_selectMLS (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                        const BYTE* ip, const BYTE* const iLimit,
-                        size_t* offsetPtr)
+static size_t
+ZSTD_BtFindBestMatch_selectMLS (  ZSTD_matchState_t* ms,
+                            const BYTE* ip, const BYTE* const iLimit,
+                                  size_t* offsetPtr)
 {
-    switch(cParams->searchLength)
+    switch(ms->cParams.minMatch)
     {
     default : /* includes case 3 */
-    case 4 : return ZSTD_BtFindBestMatch(ms, cParams, ip, iLimit, offsetPtr, 4);
-    case 5 : return ZSTD_BtFindBestMatch(ms, cParams, ip, iLimit, offsetPtr, 5);
+    case 4 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 4, ZSTD_noDict);
+    case 5 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 5, ZSTD_noDict);
     case 7 :
-    case 6 : return ZSTD_BtFindBestMatch(ms, cParams, ip, iLimit, offsetPtr, 6);
+    case 6 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 6, ZSTD_noDict);
     }
 }
 
 
-/** Tree updater, providing best match */
-static size_t ZSTD_BtFindBestMatch_extDict (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                        const BYTE* const ip, const BYTE* const iLimit,
-                        size_t* offsetPtr,
-                        const U32 mls)
+static size_t ZSTD_BtFindBestMatch_dictMatchState_selectMLS (
+                        ZSTD_matchState_t* ms,
+                        const BYTE* ip, const BYTE* const iLimit,
+                        size_t* offsetPtr)
 {
-    DEBUGLOG(7, "ZSTD_BtFindBestMatch_extDict");
-    if (ip < ms->window.base + ms->nextToUpdate) return 0;   /* skipped area */
-    ZSTD_updateDUBT(ms, cParams, ip, iLimit, mls);
-    return ZSTD_DUBT_findBestMatch(ms, cParams, ip, iLimit, offsetPtr, mls, 1);
+    switch(ms->cParams.minMatch)
+    {
+    default : /* includes case 3 */
+    case 4 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 4, ZSTD_dictMatchState);
+    case 5 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 5, ZSTD_dictMatchState);
+    case 7 :
+    case 6 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 6, ZSTD_dictMatchState);
+    }
 }
 
 
-static size_t ZSTD_BtFindBestMatch_selectMLS_extDict (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+static size_t ZSTD_BtFindBestMatch_extDict_selectMLS (
+                        ZSTD_matchState_t* ms,
                         const BYTE* ip, const BYTE* const iLimit,
                         size_t* offsetPtr)
 {
-    switch(cParams->searchLength)
+    switch(ms->cParams.minMatch)
     {
     default : /* includes case 3 */
-    case 4 : return ZSTD_BtFindBestMatch_extDict(ms, cParams, ip, iLimit, offsetPtr, 4);
-    case 5 : return ZSTD_BtFindBestMatch_extDict(ms, cParams, ip, iLimit, offsetPtr, 5);
+    case 4 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 4, ZSTD_extDict);
+    case 5 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 5, ZSTD_extDict);
     case 7 :
-    case 6 : return ZSTD_BtFindBestMatch_extDict(ms, cParams, ip, iLimit, offsetPtr, 6);
+    case 6 : return ZSTD_BtFindBestMatch(ms, ip, iLimit, offsetPtr, 6, ZSTD_extDict);
     }
 }
 
@@ -335,12 +439,13 @@ static size_t ZSTD_BtFindBestMatch_selectMLS_extDict (
 /* *********************************
 *  Hash Chain
 ***********************************/
-#define NEXT_IN_CHAIN(d, mask)   chainTable[(d) & mask]
+#define NEXT_IN_CHAIN(d, mask)   chainTable[(d) & (mask)]
 
 /* Update chains up to ip (excluded)
    Assumption : always within prefix (i.e. not within extDict) */
 static U32 ZSTD_insertAndFindFirstIndex_internal(
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                        ZSTD_matchState_t* ms,
+                        const ZSTD_compressionParameters* const cParams,
                         const BYTE* ip, U32 const mls)
 {
     U32* const hashTable  = ms->hashTable;
@@ -362,22 +467,21 @@ static U32 ZSTD_insertAndFindFirstIndex_internal(
     return hashTable[ZSTD_hashPtr(ip, hashLog, mls)];
 }
 
-U32 ZSTD_insertAndFindFirstIndex(
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                        const BYTE* ip)
-{
-    return ZSTD_insertAndFindFirstIndex_internal(ms, cParams, ip, cParams->searchLength);
+U32 ZSTD_insertAndFindFirstIndex(ZSTD_matchState_t* ms, const BYTE* ip) {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
+    return ZSTD_insertAndFindFirstIndex_internal(ms, cParams, ip, ms->cParams.minMatch);
 }
 
 
 /* inlining is important to hardwire a hot branch (template emulation) */
 FORCE_INLINE_TEMPLATE
 size_t ZSTD_HcFindBestMatch_generic (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                        ZSTD_matchState_t* ms,
                         const BYTE* const ip, const BYTE* const iLimit,
                         size_t* offsetPtr,
-                        const U32 mls, const U32 extDict)
+                        const U32 mls, const ZSTD_dictMode_e dictMode)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32* const chainTable = ms->chainTable;
     const U32 chainSize = (1 << cParams->chainLog);
     const U32 chainMask = chainSize-1;
@@ -397,8 +501,9 @@ size_t ZSTD_HcFindBestMatch_generic (
 
     for ( ; (matchIndex>lowLimit) & (nbAttempts>0) ; nbAttempts--) {
         size_t currentMl=0;
-        if ((!extDict) || matchIndex >= dictLimit) {
+        if ((dictMode != ZSTD_extDict) || matchIndex >= dictLimit) {
             const BYTE* const match = base + matchIndex;
+            assert(matchIndex >= dictLimit);   /* ensures this is true if dictMode != ZSTD_extDict */
             if (match[ml] == ip[ml])   /* potentially better */
                 currentMl = ZSTD_count(ip, match, iLimit);
         } else {
@@ -419,38 +524,87 @@ size_t ZSTD_HcFindBestMatch_generic (
         matchIndex = NEXT_IN_CHAIN(matchIndex, chainMask);
     }
 
+    if (dictMode == ZSTD_dictMatchState) {
+        const ZSTD_matchState_t* const dms = ms->dictMatchState;
+        const U32* const dmsChainTable = dms->chainTable;
+        const U32 dmsChainSize         = (1 << dms->cParams.chainLog);
+        const U32 dmsChainMask         = dmsChainSize - 1;
+        const U32 dmsLowestIndex       = dms->window.dictLimit;
+        const BYTE* const dmsBase      = dms->window.base;
+        const BYTE* const dmsEnd       = dms->window.nextSrc;
+        const U32 dmsSize              = (U32)(dmsEnd - dmsBase);
+        const U32 dmsIndexDelta        = dictLimit - dmsSize;
+        const U32 dmsMinChain = dmsSize > dmsChainSize ? dmsSize - dmsChainSize : 0;
+
+        matchIndex = dms->hashTable[ZSTD_hashPtr(ip, dms->cParams.hashLog, mls)];
+
+        for ( ; (matchIndex>dmsLowestIndex) & (nbAttempts>0) ; nbAttempts--) {
+            size_t currentMl=0;
+            const BYTE* const match = dmsBase + matchIndex;
+            assert(match+4 <= dmsEnd);
+            if (MEM_read32(match) == MEM_read32(ip))   /* assumption : matchIndex <= dictLimit-4 (by table construction) */
+                currentMl = ZSTD_count_2segments(ip+4, match+4, iLimit, dmsEnd, prefixStart) + 4;
+
+            /* save best solution */
+            if (currentMl > ml) {
+                ml = currentMl;
+                *offsetPtr = current - (matchIndex + dmsIndexDelta) + ZSTD_REP_MOVE;
+                if (ip+currentMl == iLimit) break; /* best possible, avoids read overflow on next attempt */
+            }
+
+            if (matchIndex <= dmsMinChain) break;
+            matchIndex = dmsChainTable[matchIndex & dmsChainMask];
+        }
+    }
+
     return ml;
 }
 
 
 FORCE_INLINE_TEMPLATE size_t ZSTD_HcFindBestMatch_selectMLS (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                        ZSTD_matchState_t* ms,
                         const BYTE* ip, const BYTE* const iLimit,
                         size_t* offsetPtr)
 {
-    switch(cParams->searchLength)
+    switch(ms->cParams.minMatch)
     {
     default : /* includes case 3 */
-    case 4 : return ZSTD_HcFindBestMatch_generic(ms, cParams, ip, iLimit, offsetPtr, 4, 0);
-    case 5 : return ZSTD_HcFindBestMatch_generic(ms, cParams, ip, iLimit, offsetPtr, 5, 0);
+    case 4 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 4, ZSTD_noDict);
+    case 5 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 5, ZSTD_noDict);
     case 7 :
-    case 6 : return ZSTD_HcFindBestMatch_generic(ms, cParams, ip, iLimit, offsetPtr, 6, 0);
+    case 6 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 6, ZSTD_noDict);
+    }
+}
+
+
+static size_t ZSTD_HcFindBestMatch_dictMatchState_selectMLS (
+                        ZSTD_matchState_t* ms,
+                        const BYTE* ip, const BYTE* const iLimit,
+                        size_t* offsetPtr)
+{
+    switch(ms->cParams.minMatch)
+    {
+    default : /* includes case 3 */
+    case 4 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 4, ZSTD_dictMatchState);
+    case 5 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 5, ZSTD_dictMatchState);
+    case 7 :
+    case 6 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 6, ZSTD_dictMatchState);
     }
 }
 
 
 FORCE_INLINE_TEMPLATE size_t ZSTD_HcFindBestMatch_extDict_selectMLS (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                        ZSTD_matchState_t* ms,
                         const BYTE* ip, const BYTE* const iLimit,
-                        size_t* const offsetPtr)
+                        size_t* offsetPtr)
 {
-    switch(cParams->searchLength)
+    switch(ms->cParams.minMatch)
     {
     default : /* includes case 3 */
-    case 4 : return ZSTD_HcFindBestMatch_generic(ms, cParams, ip, iLimit, offsetPtr, 4, 1);
-    case 5 : return ZSTD_HcFindBestMatch_generic(ms, cParams, ip, iLimit, offsetPtr, 5, 1);
+    case 4 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 4, ZSTD_extDict);
+    case 5 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 5, ZSTD_extDict);
     case 7 :
-    case 6 : return ZSTD_HcFindBestMatch_generic(ms, cParams, ip, iLimit, offsetPtr, 6, 1);
+    case 6 : return ZSTD_HcFindBestMatch_generic(ms, ip, iLimit, offsetPtr, 6, ZSTD_extDict);
     }
 }
 
@@ -462,30 +616,55 @@ FORCE_INLINE_TEMPLATE
 size_t ZSTD_compressBlock_lazy_generic(
                         ZSTD_matchState_t* ms, seqStore_t* seqStore,
                         U32 rep[ZSTD_REP_NUM],
-                        ZSTD_compressionParameters const* cParams,
                         const void* src, size_t srcSize,
-                        const U32 searchMethod, const U32 depth)
+                        const U32 searchMethod, const U32 depth,
+                        ZSTD_dictMode_e const dictMode)
 {
     const BYTE* const istart = (const BYTE*)src;
     const BYTE* ip = istart;
     const BYTE* anchor = istart;
     const BYTE* const iend = istart + srcSize;
     const BYTE* const ilimit = iend - 8;
-    const BYTE* const base = ms->window.base + ms->window.dictLimit;
+    const BYTE* const base = ms->window.base;
+    const U32 prefixLowestIndex = ms->window.dictLimit;
+    const BYTE* const prefixLowest = base + prefixLowestIndex;
 
     typedef size_t (*searchMax_f)(
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                        ZSTD_matchState_t* ms,
                         const BYTE* ip, const BYTE* iLimit, size_t* offsetPtr);
-    searchMax_f const searchMax = searchMethod ? ZSTD_BtFindBestMatch_selectMLS : ZSTD_HcFindBestMatch_selectMLS;
+    searchMax_f const searchMax = dictMode == ZSTD_dictMatchState ?
+        (searchMethod ? ZSTD_BtFindBestMatch_dictMatchState_selectMLS : ZSTD_HcFindBestMatch_dictMatchState_selectMLS) :
+        (searchMethod ? ZSTD_BtFindBestMatch_selectMLS : ZSTD_HcFindBestMatch_selectMLS);
     U32 offset_1 = rep[0], offset_2 = rep[1], savedOffset=0;
 
+    const ZSTD_matchState_t* const dms = ms->dictMatchState;
+    const U32 dictLowestIndex      = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.dictLimit : 0;
+    const BYTE* const dictBase     = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.base : NULL;
+    const BYTE* const dictLowest   = dictMode == ZSTD_dictMatchState ?
+                                     dictBase + dictLowestIndex : NULL;
+    const BYTE* const dictEnd      = dictMode == ZSTD_dictMatchState ?
+                                     dms->window.nextSrc : NULL;
+    const U32 dictIndexDelta       = dictMode == ZSTD_dictMatchState ?
+                                     prefixLowestIndex - (U32)(dictEnd - dictBase) :
+                                     0;
+    const U32 dictAndPrefixLength = (U32)(ip - prefixLowest + dictEnd - dictLowest);
+
     /* init */
-    ip += (ip==base);
+    ip += (dictAndPrefixLength == 0);
     ms->nextToUpdate3 = ms->nextToUpdate;
-    {   U32 const maxRep = (U32)(ip-base);
+    if (dictMode == ZSTD_noDict) {
+        U32 const maxRep = (U32)(ip - prefixLowest);
         if (offset_2 > maxRep) savedOffset = offset_2, offset_2 = 0;
         if (offset_1 > maxRep) savedOffset = offset_1, offset_1 = 0;
     }
+    if (dictMode == ZSTD_dictMatchState) {
+        /* dictMatchState repCode checks don't currently handle repCode == 0
+         * disabling. */
+        assert(offset_1 <= dictAndPrefixLength);
+        assert(offset_2 <= dictAndPrefixLength);
+    }
 
     /* Match Loop */
     while (ip < ilimit) {
@@ -494,15 +673,28 @@ size_t ZSTD_compressBlock_lazy_generic(
         const BYTE* start=ip+1;
 
         /* check repCode */
-        if ((offset_1>0) & (MEM_read32(ip+1) == MEM_read32(ip+1 - offset_1))) {
-            /* repcode : we take it */
+        if (dictMode == ZSTD_dictMatchState) {
+            const U32 repIndex = (U32)(ip - base) + 1 - offset_1;
+            const BYTE* repMatch = (dictMode == ZSTD_dictMatchState
+                                && repIndex < prefixLowestIndex) ?
+                                   dictBase + (repIndex - dictIndexDelta) :
+                                   base + repIndex;
+            if (((U32)((prefixLowestIndex-1) - repIndex) >= 3 /* intentional underflow */)
+                && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) {
+                const BYTE* repMatchEnd = repIndex < prefixLowestIndex ? dictEnd : iend;
+                matchLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixLowest) + 4;
+                if (depth==0) goto _storeSequence;
+            }
+        }
+        if ( dictMode == ZSTD_noDict
+          && ((offset_1 > 0) & (MEM_read32(ip+1-offset_1) == MEM_read32(ip+1)))) {
             matchLength = ZSTD_count(ip+1+4, ip+1+4-offset_1, iend) + 4;
             if (depth==0) goto _storeSequence;
         }
 
         /* first search (depth 0) */
-        {   size_t offsetFound = 99999999;
-            size_t const ml2 = searchMax(ms, cParams, ip, iend, &offsetFound);
+        {   size_t offsetFound = 999999999;
+            size_t const ml2 = searchMax(ms, ip, iend, &offsetFound);
             if (ml2 > matchLength)
                 matchLength = ml2, start = ip, offset=offsetFound;
         }
@@ -516,15 +708,31 @@ size_t ZSTD_compressBlock_lazy_generic(
         if (depth>=1)
         while (ip<ilimit) {
             ip ++;
-            if ((offset) && ((offset_1>0) & (MEM_read32(ip) == MEM_read32(ip - offset_1)))) {
+            if ( (dictMode == ZSTD_noDict)
+              && (offset) && ((offset_1>0) & (MEM_read32(ip) == MEM_read32(ip - offset_1)))) {
                 size_t const mlRep = ZSTD_count(ip+4, ip+4-offset_1, iend) + 4;
                 int const gain2 = (int)(mlRep * 3);
                 int const gain1 = (int)(matchLength*3 - ZSTD_highbit32((U32)offset+1) + 1);
                 if ((mlRep >= 4) && (gain2 > gain1))
                     matchLength = mlRep, offset = 0, start = ip;
             }
-            {   size_t offset2=99999999;
-                size_t const ml2 = searchMax(ms, cParams, ip, iend, &offset2);
+            if (dictMode == ZSTD_dictMatchState) {
+                const U32 repIndex = (U32)(ip - base) - offset_1;
+                const BYTE* repMatch = repIndex < prefixLowestIndex ?
+                               dictBase + (repIndex - dictIndexDelta) :
+                               base + repIndex;
+                if (((U32)((prefixLowestIndex-1) - repIndex) >= 3 /* intentional underflow */)
+                    && (MEM_read32(repMatch) == MEM_read32(ip)) ) {
+                    const BYTE* repMatchEnd = repIndex < prefixLowestIndex ? dictEnd : iend;
+                    size_t const mlRep = ZSTD_count_2segments(ip+4, repMatch+4, iend, repMatchEnd, prefixLowest) + 4;
+                    int const gain2 = (int)(mlRep * 3);
+                    int const gain1 = (int)(matchLength*3 - ZSTD_highbit32((U32)offset+1) + 1);
+                    if ((mlRep >= 4) && (gain2 > gain1))
+                        matchLength = mlRep, offset = 0, start = ip;
+                }
+            }
+            {   size_t offset2=999999999;
+                size_t const ml2 = searchMax(ms, ip, iend, &offset2);
                 int const gain2 = (int)(ml2*4 - ZSTD_highbit32((U32)offset2+1));   /* raw approx */
                 int const gain1 = (int)(matchLength*4 - ZSTD_highbit32((U32)offset+1) + 4);
                 if ((ml2 >= 4) && (gain2 > gain1)) {
@@ -535,15 +743,31 @@ size_t ZSTD_compressBlock_lazy_generic(
             /* let's find an even better one */
             if ((depth==2) && (ip<ilimit)) {
                 ip ++;
-                if ((offset) && ((offset_1>0) & (MEM_read32(ip) == MEM_read32(ip - offset_1)))) {
-                    size_t const ml2 = ZSTD_count(ip+4, ip+4-offset_1, iend) + 4;
-                    int const gain2 = (int)(ml2 * 4);
+                if ( (dictMode == ZSTD_noDict)
+                  && (offset) && ((offset_1>0) & (MEM_read32(ip) == MEM_read32(ip - offset_1)))) {
+                    size_t const mlRep = ZSTD_count(ip+4, ip+4-offset_1, iend) + 4;
+                    int const gain2 = (int)(mlRep * 4);
                     int const gain1 = (int)(matchLength*4 - ZSTD_highbit32((U32)offset+1) + 1);
-                    if ((ml2 >= 4) && (gain2 > gain1))
-                        matchLength = ml2, offset = 0, start = ip;
+                    if ((mlRep >= 4) && (gain2 > gain1))
+                        matchLength = mlRep, offset = 0, start = ip;
                 }
-                {   size_t offset2=99999999;
-                    size_t const ml2 = searchMax(ms, cParams, ip, iend, &offset2);
+                if (dictMode == ZSTD_dictMatchState) {
+                    const U32 repIndex = (U32)(ip - base) - offset_1;
+                    const BYTE* repMatch = repIndex < prefixLowestIndex ?
+                                   dictBase + (repIndex - dictIndexDelta) :
+                                   base + repIndex;
+                    if (((U32)((prefixLowestIndex-1) - repIndex) >= 3 /* intentional underflow */)
+                        && (MEM_read32(repMatch) == MEM_read32(ip)) ) {
+                        const BYTE* repMatchEnd = repIndex < prefixLowestIndex ? dictEnd : iend;
+                        size_t const mlRep = ZSTD_count_2segments(ip+4, repMatch+4, iend, repMatchEnd, prefixLowest) + 4;
+                        int const gain2 = (int)(mlRep * 4);
+                        int const gain1 = (int)(matchLength*4 - ZSTD_highbit32((U32)offset+1) + 1);
+                        if ((mlRep >= 4) && (gain2 > gain1))
+                            matchLength = mlRep, offset = 0, start = ip;
+                    }
+                }
+                {   size_t offset2=999999999;
+                    size_t const ml2 = searchMax(ms, ip, iend, &offset2);
                     int const gain2 = (int)(ml2*4 - ZSTD_highbit32((U32)offset2+1));   /* raw approx */
                     int const gain1 = (int)(matchLength*4 - ZSTD_highbit32((U32)offset+1) + 7);
                     if ((ml2 >= 4) && (gain2 > gain1)) {
@@ -560,9 +784,17 @@ size_t ZSTD_compressBlock_lazy_generic(
          */
         /* catch up */
         if (offset) {
-            while ( ((start > anchor) & (start - (offset-ZSTD_REP_MOVE) > base))
-                 && (start[-1] == (start-(offset-ZSTD_REP_MOVE))[-1]) )  /* only search for offset within prefix */
-                { start--; matchLength++; }
+            if (dictMode == ZSTD_noDict) {
+                while ( ((start > anchor) & (start - (offset-ZSTD_REP_MOVE) > prefixLowest))
+                     && (start[-1] == (start-(offset-ZSTD_REP_MOVE))[-1]) )  /* only search for offset within prefix */
+                    { start--; matchLength++; }
+            }
+            if (dictMode == ZSTD_dictMatchState) {
+                U32 const matchIndex = (U32)((start-base) - (offset - ZSTD_REP_MOVE));
+                const BYTE* match = (matchIndex < prefixLowestIndex) ? dictBase + matchIndex - dictIndexDelta : base + matchIndex;
+                const BYTE* const mStart = (matchIndex < prefixLowestIndex) ? dictLowest : prefixLowest;
+                while ((start>anchor) && (match>mStart) && (start[-1] == match[-1])) { start--; match--; matchLength++; }  /* catch up */
+            }
             offset_2 = offset_1; offset_1 = (U32)(offset - ZSTD_REP_MOVE);
         }
         /* store sequence */
@@ -573,16 +805,39 @@ _storeSequence:
         }
 
         /* check immediate repcode */
-        while ( ((ip <= ilimit) & (offset_2>0))
-             && (MEM_read32(ip) == MEM_read32(ip - offset_2)) ) {
-            /* store sequence */
-            matchLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4;
-            offset = offset_2; offset_2 = offset_1; offset_1 = (U32)offset; /* swap repcodes */
-            ZSTD_storeSeq(seqStore, 0, anchor, 0, matchLength-MINMATCH);
-            ip += matchLength;
-            anchor = ip;
-            continue;   /* faster when present ... (?) */
-    }   }
+        if (dictMode == ZSTD_dictMatchState) {
+            while (ip <= ilimit) {
+                U32 const current2 = (U32)(ip-base);
+                U32 const repIndex = current2 - offset_2;
+                const BYTE* repMatch = dictMode == ZSTD_dictMatchState
+                    && repIndex < prefixLowestIndex ?
+                        dictBase - dictIndexDelta + repIndex :
+                        base + repIndex;
+                if ( ((U32)((prefixLowestIndex-1) - (U32)repIndex) >= 3 /* intentional overflow */)
+                   && (MEM_read32(repMatch) == MEM_read32(ip)) ) {
+                    const BYTE* const repEnd2 = repIndex < prefixLowestIndex ? dictEnd : iend;
+                    matchLength = ZSTD_count_2segments(ip+4, repMatch+4, iend, repEnd2, prefixLowest) + 4;
+                    offset = offset_2; offset_2 = offset_1; offset_1 = (U32)offset;   /* swap offset_2 <=> offset_1 */
+                    ZSTD_storeSeq(seqStore, 0, anchor, 0, matchLength-MINMATCH);
+                    ip += matchLength;
+                    anchor = ip;
+                    continue;
+                }
+                break;
+            }
+        }
+
+        if (dictMode == ZSTD_noDict) {
+            while ( ((ip <= ilimit) & (offset_2>0))
+                 && (MEM_read32(ip) == MEM_read32(ip - offset_2)) ) {
+                /* store sequence */
+                matchLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4;
+                offset = offset_2; offset_2 = offset_1; offset_1 = (U32)offset; /* swap repcodes */
+                ZSTD_storeSeq(seqStore, 0, anchor, 0, matchLength-MINMATCH);
+                ip += matchLength;
+                anchor = ip;
+                continue;   /* faster when present ... (?) */
+    }   }   }
 
     /* Save reps for next block */
     rep[0] = offset_1 ? offset_1 : savedOffset;
@@ -595,30 +850,58 @@ _storeSequence:
 
 size_t ZSTD_compressBlock_btlazy2(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, cParams, src, srcSize, 1, 2);
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 1, 2, ZSTD_noDict);
 }
 
 size_t ZSTD_compressBlock_lazy2(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, cParams, src, srcSize, 0, 2);
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 2, ZSTD_noDict);
 }
 
 size_t ZSTD_compressBlock_lazy(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, cParams, src, srcSize, 0, 1);
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 1, ZSTD_noDict);
 }
 
 size_t ZSTD_compressBlock_greedy(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
+{
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 0, ZSTD_noDict);
+}
+
+size_t ZSTD_compressBlock_btlazy2_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize)
+{
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 1, 2, ZSTD_dictMatchState);
+}
+
+size_t ZSTD_compressBlock_lazy2_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize)
+{
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 2, ZSTD_dictMatchState);
+}
+
+size_t ZSTD_compressBlock_lazy_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize)
+{
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 1, ZSTD_dictMatchState);
+}
+
+size_t ZSTD_compressBlock_greedy_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, cParams, src, srcSize, 0, 0);
+    return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 0, ZSTD_dictMatchState);
 }
 
 
@@ -626,7 +909,6 @@ FORCE_INLINE_TEMPLATE
 size_t ZSTD_compressBlock_lazy_extDict_generic(
                         ZSTD_matchState_t* ms, seqStore_t* seqStore,
                         U32 rep[ZSTD_REP_NUM],
-                        ZSTD_compressionParameters const* cParams,
                         const void* src, size_t srcSize,
                         const U32 searchMethod, const U32 depth)
 {
@@ -644,9 +926,9 @@ size_t ZSTD_compressBlock_lazy_extDict_generic(
     const BYTE* const dictStart  = dictBase + lowestIndex;
 
     typedef size_t (*searchMax_f)(
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                        ZSTD_matchState_t* ms,
                         const BYTE* ip, const BYTE* iLimit, size_t* offsetPtr);
-    searchMax_f searchMax = searchMethod ? ZSTD_BtFindBestMatch_selectMLS_extDict : ZSTD_HcFindBestMatch_extDict_selectMLS;
+    searchMax_f searchMax = searchMethod ? ZSTD_BtFindBestMatch_extDict_selectMLS : ZSTD_HcFindBestMatch_extDict_selectMLS;
 
     U32 offset_1 = rep[0], offset_2 = rep[1];
 
@@ -674,8 +956,8 @@ size_t ZSTD_compressBlock_lazy_extDict_generic(
         }   }
 
         /* first search (depth 0) */
-        {   size_t offsetFound = 99999999;
-            size_t const ml2 = searchMax(ms, cParams, ip, iend, &offsetFound);
+        {   size_t offsetFound = 999999999;
+            size_t const ml2 = searchMax(ms, ip, iend, &offsetFound);
             if (ml2 > matchLength)
                 matchLength = ml2, start = ip, offset=offsetFound;
         }
@@ -707,8 +989,8 @@ size_t ZSTD_compressBlock_lazy_extDict_generic(
             }   }
 
             /* search match, depth 1 */
-            {   size_t offset2=99999999;
-                size_t const ml2 = searchMax(ms, cParams, ip, iend, &offset2);
+            {   size_t offset2=999999999;
+                size_t const ml2 = searchMax(ms, ip, iend, &offset2);
                 int const gain2 = (int)(ml2*4 - ZSTD_highbit32((U32)offset2+1));   /* raw approx */
                 int const gain1 = (int)(matchLength*4 - ZSTD_highbit32((U32)offset+1) + 4);
                 if ((ml2 >= 4) && (gain2 > gain1)) {
@@ -737,8 +1019,8 @@ size_t ZSTD_compressBlock_lazy_extDict_generic(
                 }   }
 
                 /* search match, depth 2 */
-                {   size_t offset2=99999999;
-                    size_t const ml2 = searchMax(ms, cParams, ip, iend, &offset2);
+                {   size_t offset2=999999999;
+                    size_t const ml2 = searchMax(ms, ip, iend, &offset2);
                     int const gain2 = (int)(ml2*4 - ZSTD_highbit32((U32)offset2+1));   /* raw approx */
                     int const gain1 = (int)(matchLength*4 - ZSTD_highbit32((U32)offset+1) + 7);
                     if ((ml2 >= 4) && (gain2 > gain1)) {
@@ -794,31 +1076,31 @@ _storeSequence:
 
 size_t ZSTD_compressBlock_greedy_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 0, 0);
+    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 0, 0);
 }
 
 size_t ZSTD_compressBlock_lazy_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 
 {
-    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 0, 1);
+    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 0, 1);
 }
 
 size_t ZSTD_compressBlock_lazy2_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 
 {
-    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 0, 2);
+    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 0, 2);
 }
 
 size_t ZSTD_compressBlock_btlazy2_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        void const* src, size_t srcSize)
 
 {
-    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, cParams, src, srcSize, 1, 2);
+    return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 1, 2);
 }
diff --git a/thirdparty/zstd/compress/zstd_lazy.h b/thirdparty/zstd/compress/zstd_lazy.h
index bda064f199..ef85a6df9c 100644
--- a/thirdparty/zstd/compress/zstd_lazy.h
+++ b/thirdparty/zstd/compress/zstd_lazy.h
@@ -17,37 +17,48 @@ extern "C" {
 
 #include "zstd_compress_internal.h"
 
-U32 ZSTD_insertAndFindFirstIndex(
-        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-        const BYTE* ip);
+U32 ZSTD_insertAndFindFirstIndex(ZSTD_matchState_t* ms, const BYTE* ip);
 
 void ZSTD_preserveUnsortedMark (U32* const table, U32 const size, U32 const reducerValue);  /*! used in ZSTD_reduceIndex(). pre-emptively increase value of ZSTD_DUBT_UNSORTED_MARK */
 
 size_t ZSTD_compressBlock_btlazy2(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_lazy2(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_lazy(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_greedy(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
+
+size_t ZSTD_compressBlock_btlazy2_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_lazy2_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_lazy_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_greedy_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
 
 size_t ZSTD_compressBlock_greedy_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_lazy_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_lazy2_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_btlazy2_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 
 #if defined (__cplusplus)
 }
diff --git a/thirdparty/zstd/compress/zstd_ldm.c b/thirdparty/zstd/compress/zstd_ldm.c
index bffd8a3dfa..58eb2ffe4d 100644
--- a/thirdparty/zstd/compress/zstd_ldm.c
+++ b/thirdparty/zstd/compress/zstd_ldm.c
@@ -9,6 +9,7 @@
 
 #include "zstd_ldm.h"
 
+#include "debug.h"
 #include "zstd_fast.h"          /* ZSTD_fillHashTable() */
 #include "zstd_double_fast.h"   /* ZSTD_fillDoubleHashTable() */
 
@@ -20,7 +21,7 @@
 void ZSTD_ldm_adjustParameters(ldmParams_t* params,
                                ZSTD_compressionParameters const* cParams)
 {
-    U32 const windowLog = cParams->windowLog;
+    params->windowLog = cParams->windowLog;
     ZSTD_STATIC_ASSERT(LDM_BUCKET_SIZE_LOG <= ZSTD_LDM_BUCKETSIZELOG_MAX);
     DEBUGLOG(4, "ZSTD_ldm_adjustParameters");
     if (!params->bucketSizeLog) params->bucketSizeLog = LDM_BUCKET_SIZE_LOG;
@@ -33,12 +34,13 @@ void ZSTD_ldm_adjustParameters(ldmParams_t* params,
       params->minMatchLength = minMatch;
     }
     if (params->hashLog == 0) {
-        params->hashLog = MAX(ZSTD_HASHLOG_MIN, windowLog - LDM_HASH_RLOG);
+        params->hashLog = MAX(ZSTD_HASHLOG_MIN, params->windowLog - LDM_HASH_RLOG);
         assert(params->hashLog <= ZSTD_HASHLOG_MAX);
     }
-    if (params->hashEveryLog == 0) {
-        params->hashEveryLog =
-                windowLog < params->hashLog ? 0 : windowLog - params->hashLog;
+    if (params->hashRateLog == 0) {
+        params->hashRateLog = params->windowLog < params->hashLog
+                                   ? 0
+                                   : params->windowLog - params->hashLog;
     }
     params->bucketSizeLog = MIN(params->bucketSizeLog, params->hashLog);
 }
@@ -117,20 +119,20 @@ static void ZSTD_ldm_insertEntry(ldmState_t* ldmState,
  *
  *  Gets the small hash, checksum, and tag from the rollingHash.
  *
- *  If the tag matches (1 << ldmParams.hashEveryLog)-1, then
+ *  If the tag matches (1 << ldmParams.hashRateLog)-1, then
  *  creates an ldmEntry from the offset, and inserts it into the hash table.
  *
  *  hBits is the length of the small hash, which is the most significant hBits
  *  of rollingHash. The checksum is the next 32 most significant bits, followed
- *  by ldmParams.hashEveryLog bits that make up the tag. */
+ *  by ldmParams.hashRateLog bits that make up the tag. */
 static void ZSTD_ldm_makeEntryAndInsertByTag(ldmState_t* ldmState,
                                              U64 const rollingHash,
                                              U32 const hBits,
                                              U32 const offset,
                                              ldmParams_t const ldmParams)
 {
-    U32 const tag = ZSTD_ldm_getTag(rollingHash, hBits, ldmParams.hashEveryLog);
-    U32 const tagMask = ((U32)1 << ldmParams.hashEveryLog) - 1;
+    U32 const tag = ZSTD_ldm_getTag(rollingHash, hBits, ldmParams.hashRateLog);
+    U32 const tagMask = ((U32)1 << ldmParams.hashRateLog) - 1;
     if (tag == tagMask) {
         U32 const hash = ZSTD_ldm_getSmallHash(rollingHash, hBits);
         U32 const checksum = ZSTD_ldm_getChecksum(rollingHash, hBits);
@@ -141,56 +143,6 @@ static void ZSTD_ldm_makeEntryAndInsertByTag(ldmState_t* ldmState,
     }
 }
 
-/** ZSTD_ldm_getRollingHash() :
- *  Get a 64-bit hash using the first len bytes from buf.
- *
- *  Giving bytes s = s_1, s_2, ... s_k, the hash is defined to be
- *  H(s) = s_1*(a^(k-1)) + s_2*(a^(k-2)) + ... + s_k*(a^0)
- *
- *  where the constant a is defined to be prime8bytes.
- *
- *  The implementation adds an offset to each byte, so
- *  H(s) = (s_1 + HASH_CHAR_OFFSET)*(a^(k-1)) + ... */
-static U64 ZSTD_ldm_getRollingHash(const BYTE* buf, U32 len)
-{
-    U64 ret = 0;
-    U32 i;
-    for (i = 0; i < len; i++) {
-        ret *= prime8bytes;
-        ret += buf[i] + LDM_HASH_CHAR_OFFSET;
-    }
-    return ret;
-}
-
-/** ZSTD_ldm_ipow() :
- *  Return base^exp. */
-static U64 ZSTD_ldm_ipow(U64 base, U64 exp)
-{
-    U64 ret = 1;
-    while (exp) {
-        if (exp & 1) { ret *= base; }
-        exp >>= 1;
-        base *= base;
-    }
-    return ret;
-}
-
-U64 ZSTD_ldm_getHashPower(U32 minMatchLength) {
-    DEBUGLOG(4, "ZSTD_ldm_getHashPower: mml=%u", minMatchLength);
-    assert(minMatchLength >= ZSTD_LDM_MINMATCH_MIN);
-    return ZSTD_ldm_ipow(prime8bytes, minMatchLength - 1);
-}
-
-/** ZSTD_ldm_updateHash() :
- *  Updates hash by removing toRemove and adding toAdd. */
-static U64 ZSTD_ldm_updateHash(U64 hash, BYTE toRemove, BYTE toAdd, U64 hashPower)
-{
-    hash -= ((toRemove + LDM_HASH_CHAR_OFFSET) * hashPower);
-    hash *= prime8bytes;
-    hash += toAdd + LDM_HASH_CHAR_OFFSET;
-    return hash;
-}
-
 /** ZSTD_ldm_countBackwardsMatch() :
  *  Returns the number of bytes that match backwards before pIn and pMatch.
  *
@@ -216,21 +168,18 @@ static size_t ZSTD_ldm_countBackwardsMatch(
  *  The tables for the other strategies are filled within their
  *  block compressors. */
 static size_t ZSTD_ldm_fillFastTables(ZSTD_matchState_t* ms,
-                                      ZSTD_compressionParameters const* cParams,
                                       void const* end)
 {
     const BYTE* const iend = (const BYTE*)end;
 
-    switch(cParams->strategy)
+    switch(ms->cParams.strategy)
     {
     case ZSTD_fast:
-        ZSTD_fillHashTable(ms, cParams, iend);
-        ms->nextToUpdate = (U32)(iend - ms->window.base);
+        ZSTD_fillHashTable(ms, iend, ZSTD_dtlm_fast);
         break;
 
     case ZSTD_dfast:
-        ZSTD_fillDoubleHashTable(ms, cParams, iend);
-        ms->nextToUpdate = (U32)(iend - ms->window.base);
+        ZSTD_fillDoubleHashTable(ms, iend, ZSTD_dtlm_fast);
         break;
 
     case ZSTD_greedy:
@@ -239,6 +188,7 @@ static size_t ZSTD_ldm_fillFastTables(ZSTD_matchState_t* ms,
     case ZSTD_btlazy2:
     case ZSTD_btopt:
     case ZSTD_btultra:
+    case ZSTD_btultra2:
         break;
     default:
         assert(0);  /* not possible : not a valid strategy id */
@@ -262,9 +212,9 @@ static U64 ZSTD_ldm_fillLdmHashTable(ldmState_t* state,
     const BYTE* cur = lastHashed + 1;
 
     while (cur < iend) {
-        rollingHash = ZSTD_ldm_updateHash(rollingHash, cur[-1],
-                                          cur[ldmParams.minMatchLength-1],
-                                          state->hashPower);
+        rollingHash = ZSTD_rollingHash_rotate(rollingHash, cur[-1],
+                                              cur[ldmParams.minMatchLength-1],
+                                              state->hashPower);
         ZSTD_ldm_makeEntryAndInsertByTag(state,
                                          rollingHash, hBits,
                                          (U32)(cur - base), ldmParams);
@@ -298,8 +248,8 @@ static size_t ZSTD_ldm_generateSequences_internal(
     U64 const hashPower = ldmState->hashPower;
     U32 const hBits = params->hashLog - params->bucketSizeLog;
     U32 const ldmBucketSize = 1U << params->bucketSizeLog;
-    U32 const hashEveryLog = params->hashEveryLog;
-    U32 const ldmTagMask = (1U << params->hashEveryLog) - 1;
+    U32 const hashRateLog = params->hashRateLog;
+    U32 const ldmTagMask = (1U << params->hashRateLog) - 1;
     /* Prefix and extDict parameters */
     U32 const dictLimit = ldmState->window.dictLimit;
     U32 const lowestIndex = extDict ? ldmState->window.lowLimit : dictLimit;
@@ -325,16 +275,16 @@ static size_t ZSTD_ldm_generateSequences_internal(
         size_t forwardMatchLength = 0, backwardMatchLength = 0;
         ldmEntry_t* bestEntry = NULL;
         if (ip != istart) {
-            rollingHash = ZSTD_ldm_updateHash(rollingHash, lastHashed[0],
-                                              lastHashed[minMatchLength],
-                                              hashPower);
+            rollingHash = ZSTD_rollingHash_rotate(rollingHash, lastHashed[0],
+                                                  lastHashed[minMatchLength],
+                                                  hashPower);
         } else {
-            rollingHash = ZSTD_ldm_getRollingHash(ip, minMatchLength);
+            rollingHash = ZSTD_rollingHash_compute(ip, minMatchLength);
         }
         lastHashed = ip;
 
         /* Do not insert and do not look for a match */
-        if (ZSTD_ldm_getTag(rollingHash, hBits, hashEveryLog) != ldmTagMask) {
+        if (ZSTD_ldm_getTag(rollingHash, hBits, hashRateLog) != ldmTagMask) {
            ip++;
            continue;
         }
@@ -508,7 +458,7 @@ size_t ZSTD_ldm_generateSequences(
          *       * Try invalidation after the sequence generation and test the
          *         the offset against maxDist directly.
          */
-        ZSTD_window_enforceMaxDist(&ldmState->window, chunkEnd, maxDist, NULL);
+        ZSTD_window_enforceMaxDist(&ldmState->window, chunkEnd, maxDist, NULL, NULL);
         /* 3. Generate the sequences for the chunk, and get newLeftoverSize. */
         newLeftoverSize = ZSTD_ldm_generateSequences_internal(
             ldmState, sequences, params, chunkStart, chunkSize);
@@ -591,19 +541,19 @@ static rawSeq maybeSplitSequence(rawSeqStore_t* rawSeqStore,
 
 size_t ZSTD_ldm_blockCompress(rawSeqStore_t* rawSeqStore,
     ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-    ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize,
-    int const extDict)
+    void const* src, size_t srcSize)
 {
-    unsigned const minMatch = cParams->searchLength;
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
+    unsigned const minMatch = cParams->minMatch;
     ZSTD_blockCompressor const blockCompressor =
-        ZSTD_selectBlockCompressor(cParams->strategy, extDict);
-    BYTE const* const base = ms->window.base;
+        ZSTD_selectBlockCompressor(cParams->strategy, ZSTD_matchState_dictMode(ms));
     /* Input bounds */
     BYTE const* const istart = (BYTE const*)src;
     BYTE const* const iend = istart + srcSize;
     /* Input positions */
     BYTE const* ip = istart;
 
+    DEBUGLOG(5, "ZSTD_ldm_blockCompress: srcSize=%zu", srcSize);
     assert(rawSeqStore->pos <= rawSeqStore->size);
     assert(rawSeqStore->size <= rawSeqStore->capacity);
     /* Loop through each sequence and apply the block compressor to the lits */
@@ -621,14 +571,13 @@ size_t ZSTD_ldm_blockCompress(rawSeqStore_t* rawSeqStore,
 
         /* Fill tables for block compressor */
         ZSTD_ldm_limitTableUpdate(ms, ip);
-        ZSTD_ldm_fillFastTables(ms, cParams, ip);
+        ZSTD_ldm_fillFastTables(ms, ip);
         /* Run the block compressor */
+        DEBUGLOG(5, "calling block compressor on segment of size %u", sequence.litLength);
         {
             size_t const newLitLength =
-                blockCompressor(ms, seqStore, rep, cParams, ip,
-                                sequence.litLength);
+                blockCompressor(ms, seqStore, rep, ip, sequence.litLength);
             ip += sequence.litLength;
-            ms->nextToUpdate = (U32)(ip - base);
             /* Update the repcodes */
             for (i = ZSTD_REP_NUM - 1; i > 0; i--)
                 rep[i] = rep[i-1];
@@ -642,12 +591,7 @@ size_t ZSTD_ldm_blockCompress(rawSeqStore_t* rawSeqStore,
     }
     /* Fill the tables for the block compressor */
     ZSTD_ldm_limitTableUpdate(ms, ip);
-    ZSTD_ldm_fillFastTables(ms, cParams, ip);
+    ZSTD_ldm_fillFastTables(ms, ip);
     /* Compress the last literals */
-    {
-        size_t const lastLiterals = blockCompressor(ms, seqStore, rep, cParams,
-                                                    ip, iend - ip);
-        ms->nextToUpdate = (U32)(iend - base);
-        return lastLiterals;
-    }
+    return blockCompressor(ms, seqStore, rep, ip, iend - ip);
 }
diff --git a/thirdparty/zstd/compress/zstd_ldm.h b/thirdparty/zstd/compress/zstd_ldm.h
index 0c3789ff13..a47846128b 100644
--- a/thirdparty/zstd/compress/zstd_ldm.h
+++ b/thirdparty/zstd/compress/zstd_ldm.h
@@ -21,7 +21,7 @@ extern "C" {
 *  Long distance matching
 ***************************************/
 
-#define ZSTD_LDM_DEFAULT_WINDOW_LOG ZSTD_WINDOWLOG_DEFAULTMAX
+#define ZSTD_LDM_DEFAULT_WINDOW_LOG ZSTD_WINDOWLOG_LIMIT_DEFAULT
 
 /**
  * ZSTD_ldm_generateSequences():
@@ -61,9 +61,7 @@ size_t ZSTD_ldm_generateSequences(
  */
 size_t ZSTD_ldm_blockCompress(rawSeqStore_t* rawSeqStore,
             ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-            ZSTD_compressionParameters const* cParams,
-            void const* src, size_t srcSize,
-            int const extDict);
+            void const* src, size_t srcSize);
 
 /**
  * ZSTD_ldm_skipSequences():
@@ -88,12 +86,8 @@ size_t ZSTD_ldm_getTableSize(ldmParams_t params);
  */
 size_t ZSTD_ldm_getMaxNbSeq(ldmParams_t params, size_t maxChunkSize);
 
-/** ZSTD_ldm_getTableSize() :
- *  Return prime8bytes^(minMatchLength-1) */
-U64 ZSTD_ldm_getHashPower(U32 minMatchLength);
-
 /** ZSTD_ldm_adjustParameters() :
- *  If the params->hashEveryLog is not set, set it to its default value based on
+ *  If the params->hashRateLog is not set, set it to its default value based on
  *  windowLog and params->hashLog.
  *
  *  Ensures that params->bucketSizeLog is <= params->hashLog (setting it to
diff --git a/thirdparty/zstd/compress/zstd_opt.c b/thirdparty/zstd/compress/zstd_opt.c
index f63f0c5852..44de6e97fd 100644
--- a/thirdparty/zstd/compress/zstd_opt.c
+++ b/thirdparty/zstd/compress/zstd_opt.c
@@ -9,139 +9,245 @@
  */
 
 #include "zstd_compress_internal.h"
+#include "hist.h"
 #include "zstd_opt.h"
 
 
-#define ZSTD_LITFREQ_ADD    2   /* scaling factor for litFreq, so that frequencies adapt faster to new stats. Also used for matchSum (?) */
+#define ZSTD_LITFREQ_ADD    2   /* scaling factor for litFreq, so that frequencies adapt faster to new stats */
 #define ZSTD_FREQ_DIV       4   /* log factor when using previous stats to init next stats */
 #define ZSTD_MAX_PRICE     (1<<30)
 
+#define ZSTD_PREDEF_THRESHOLD 1024   /* if srcSize < ZSTD_PREDEF_THRESHOLD, symbols' cost is assumed static, directly determined by pre-defined distributions */
+
 
 /*-*************************************
 *  Price functions for optimal parser
 ***************************************/
-static void ZSTD_setLog2Prices(optState_t* optPtr)
+
+#if 0    /* approximation at bit level */
+#  define BITCOST_ACCURACY 0
+#  define BITCOST_MULTIPLIER (1 << BITCOST_ACCURACY)
+#  define WEIGHT(stat)  ((void)opt, ZSTD_bitWeight(stat))
+#elif 0  /* fractional bit accuracy */
+#  define BITCOST_ACCURACY 8
+#  define BITCOST_MULTIPLIER (1 << BITCOST_ACCURACY)
+#  define WEIGHT(stat,opt) ((void)opt, ZSTD_fracWeight(stat))
+#else    /* opt==approx, ultra==accurate */
+#  define BITCOST_ACCURACY 8
+#  define BITCOST_MULTIPLIER (1 << BITCOST_ACCURACY)
+#  define WEIGHT(stat,opt) (opt ? ZSTD_fracWeight(stat) : ZSTD_bitWeight(stat))
+#endif
+
+MEM_STATIC U32 ZSTD_bitWeight(U32 stat)
 {
-    optPtr->log2litSum = ZSTD_highbit32(optPtr->litSum+1);
-    optPtr->log2litLengthSum = ZSTD_highbit32(optPtr->litLengthSum+1);
-    optPtr->log2matchLengthSum = ZSTD_highbit32(optPtr->matchLengthSum+1);
-    optPtr->log2offCodeSum = ZSTD_highbit32(optPtr->offCodeSum+1);
+    return (ZSTD_highbit32(stat+1) * BITCOST_MULTIPLIER);
 }
 
+MEM_STATIC U32 ZSTD_fracWeight(U32 rawStat)
+{
+    U32 const stat = rawStat + 1;
+    U32 const hb = ZSTD_highbit32(stat);
+    U32 const BWeight = hb * BITCOST_MULTIPLIER;
+    U32 const FWeight = (stat << BITCOST_ACCURACY) >> hb;
+    U32 const weight = BWeight + FWeight;
+    assert(hb + BITCOST_ACCURACY < 31);
+    return weight;
+}
 
-static void ZSTD_rescaleFreqs(optState_t* const optPtr,
-                              const BYTE* const src, size_t const srcSize)
+#if (DEBUGLEVEL>=2)
+/* debugging function,
+ * @return price in bytes as fractional value
+ * for debug messages only */
+MEM_STATIC double ZSTD_fCost(U32 price)
 {
-    optPtr->staticPrices = 0;
+    return (double)price / (BITCOST_MULTIPLIER*8);
+}
+#endif
 
-    if (optPtr->litLengthSum == 0) {  /* first init */
-        unsigned u;
-        if (srcSize <= 1024) optPtr->staticPrices = 1;
+static void ZSTD_setBasePrices(optState_t* optPtr, int optLevel)
+{
+    optPtr->litSumBasePrice = WEIGHT(optPtr->litSum, optLevel);
+    optPtr->litLengthSumBasePrice = WEIGHT(optPtr->litLengthSum, optLevel);
+    optPtr->matchLengthSumBasePrice = WEIGHT(optPtr->matchLengthSum, optLevel);
+    optPtr->offCodeSumBasePrice = WEIGHT(optPtr->offCodeSum, optLevel);
+}
 
-        assert(optPtr->litFreq!=NULL);
-        for (u=0; u<=MaxLit; u++)
-            optPtr->litFreq[u] = 0;
-        for (u=0; u<srcSize; u++)
-            optPtr->litFreq[src[u]]++;
-        optPtr->litSum = 0;
-        for (u=0; u<=MaxLit; u++) {
-            optPtr->litFreq[u] = 1 + (optPtr->litFreq[u] >> ZSTD_FREQ_DIV);
-            optPtr->litSum += optPtr->litFreq[u];
-        }
 
-        for (u=0; u<=MaxLL; u++)
-            optPtr->litLengthFreq[u] = 1;
-        optPtr->litLengthSum = MaxLL+1;
-        for (u=0; u<=MaxML; u++)
-            optPtr->matchLengthFreq[u] = 1;
-        optPtr->matchLengthSum = MaxML+1;
-        for (u=0; u<=MaxOff; u++)
-            optPtr->offCodeFreq[u] = 1;
-        optPtr->offCodeSum = (MaxOff+1);
-
-    } else {
-        unsigned u;
-
-        optPtr->litSum = 0;
-        for (u=0; u<=MaxLit; u++) {
-            optPtr->litFreq[u] = 1 + (optPtr->litFreq[u] >> (ZSTD_FREQ_DIV+1));
-            optPtr->litSum += optPtr->litFreq[u];
-        }
-        optPtr->litLengthSum = 0;
-        for (u=0; u<=MaxLL; u++) {
-            optPtr->litLengthFreq[u] = 1 + (optPtr->litLengthFreq[u]>>(ZSTD_FREQ_DIV+1));
-            optPtr->litLengthSum += optPtr->litLengthFreq[u];
-        }
-        optPtr->matchLengthSum = 0;
-        for (u=0; u<=MaxML; u++) {
-            optPtr->matchLengthFreq[u] = 1 + (optPtr->matchLengthFreq[u]>>ZSTD_FREQ_DIV);
-            optPtr->matchLengthSum += optPtr->matchLengthFreq[u];
+/* ZSTD_downscaleStat() :
+ * reduce all elements in table by a factor 2^(ZSTD_FREQ_DIV+malus)
+ * return the resulting sum of elements */
+static U32 ZSTD_downscaleStat(unsigned* table, U32 lastEltIndex, int malus)
+{
+    U32 s, sum=0;
+    DEBUGLOG(5, "ZSTD_downscaleStat (nbElts=%u)", (unsigned)lastEltIndex+1);
+    assert(ZSTD_FREQ_DIV+malus > 0 && ZSTD_FREQ_DIV+malus < 31);
+    for (s=0; s<lastEltIndex+1; s++) {
+        table[s] = 1 + (table[s] >> (ZSTD_FREQ_DIV+malus));
+        sum += table[s];
+    }
+    return sum;
+}
+
+/* ZSTD_rescaleFreqs() :
+ * if first block (detected by optPtr->litLengthSum == 0) : init statistics
+ *    take hints from dictionary if there is one
+ *    or init from zero, using src for literals stats, or flat 1 for match symbols
+ * otherwise downscale existing stats, to be used as seed for next block.
+ */
+static void
+ZSTD_rescaleFreqs(optState_t* const optPtr,
+            const BYTE* const src, size_t const srcSize,
+                  int const optLevel)
+{
+    DEBUGLOG(5, "ZSTD_rescaleFreqs (srcSize=%u)", (unsigned)srcSize);
+    optPtr->priceType = zop_dynamic;
+
+    if (optPtr->litLengthSum == 0) {  /* first block : init */
+        if (srcSize <= ZSTD_PREDEF_THRESHOLD) {  /* heuristic */
+            DEBUGLOG(5, "(srcSize <= ZSTD_PREDEF_THRESHOLD) => zop_predef");
+            optPtr->priceType = zop_predef;
         }
-        optPtr->offCodeSum = 0;
-        for (u=0; u<=MaxOff; u++) {
-            optPtr->offCodeFreq[u] = 1 + (optPtr->offCodeFreq[u]>>ZSTD_FREQ_DIV);
-            optPtr->offCodeSum += optPtr->offCodeFreq[u];
+
+        assert(optPtr->symbolCosts != NULL);
+        if (optPtr->symbolCosts->huf.repeatMode == HUF_repeat_valid) {
+            /* huffman table presumed generated by dictionary */
+            optPtr->priceType = zop_dynamic;
+
+            assert(optPtr->litFreq != NULL);
+            optPtr->litSum = 0;
+            {   unsigned lit;
+                for (lit=0; lit<=MaxLit; lit++) {
+                    U32 const scaleLog = 11;   /* scale to 2K */
+                    U32 const bitCost = HUF_getNbBits(optPtr->symbolCosts->huf.CTable, lit);
+                    assert(bitCost <= scaleLog);
+                    optPtr->litFreq[lit] = bitCost ? 1 << (scaleLog-bitCost) : 1 /*minimum to calculate cost*/;
+                    optPtr->litSum += optPtr->litFreq[lit];
+            }   }
+
+            {   unsigned ll;
+                FSE_CState_t llstate;
+                FSE_initCState(&llstate, optPtr->symbolCosts->fse.litlengthCTable);
+                optPtr->litLengthSum = 0;
+                for (ll=0; ll<=MaxLL; ll++) {
+                    U32 const scaleLog = 10;   /* scale to 1K */
+                    U32 const bitCost = FSE_getMaxNbBits(llstate.symbolTT, ll);
+                    assert(bitCost < scaleLog);
+                    optPtr->litLengthFreq[ll] = bitCost ? 1 << (scaleLog-bitCost) : 1 /*minimum to calculate cost*/;
+                    optPtr->litLengthSum += optPtr->litLengthFreq[ll];
+            }   }
+
+            {   unsigned ml;
+                FSE_CState_t mlstate;
+                FSE_initCState(&mlstate, optPtr->symbolCosts->fse.matchlengthCTable);
+                optPtr->matchLengthSum = 0;
+                for (ml=0; ml<=MaxML; ml++) {
+                    U32 const scaleLog = 10;
+                    U32 const bitCost = FSE_getMaxNbBits(mlstate.symbolTT, ml);
+                    assert(bitCost < scaleLog);
+                    optPtr->matchLengthFreq[ml] = bitCost ? 1 << (scaleLog-bitCost) : 1 /*minimum to calculate cost*/;
+                    optPtr->matchLengthSum += optPtr->matchLengthFreq[ml];
+            }   }
+
+            {   unsigned of;
+                FSE_CState_t ofstate;
+                FSE_initCState(&ofstate, optPtr->symbolCosts->fse.offcodeCTable);
+                optPtr->offCodeSum = 0;
+                for (of=0; of<=MaxOff; of++) {
+                    U32 const scaleLog = 10;
+                    U32 const bitCost = FSE_getMaxNbBits(ofstate.symbolTT, of);
+                    assert(bitCost < scaleLog);
+                    optPtr->offCodeFreq[of] = bitCost ? 1 << (scaleLog-bitCost) : 1 /*minimum to calculate cost*/;
+                    optPtr->offCodeSum += optPtr->offCodeFreq[of];
+            }   }
+
+        } else {  /* not a dictionary */
+
+            assert(optPtr->litFreq != NULL);
+            {   unsigned lit = MaxLit;
+                HIST_count_simple(optPtr->litFreq, &lit, src, srcSize);   /* use raw first block to init statistics */
+            }
+            optPtr->litSum = ZSTD_downscaleStat(optPtr->litFreq, MaxLit, 1);
+
+            {   unsigned ll;
+                for (ll=0; ll<=MaxLL; ll++)
+                    optPtr->litLengthFreq[ll] = 1;
+            }
+            optPtr->litLengthSum = MaxLL+1;
+
+            {   unsigned ml;
+                for (ml=0; ml<=MaxML; ml++)
+                    optPtr->matchLengthFreq[ml] = 1;
+            }
+            optPtr->matchLengthSum = MaxML+1;
+
+            {   unsigned of;
+                for (of=0; of<=MaxOff; of++)
+                    optPtr->offCodeFreq[of] = 1;
+            }
+            optPtr->offCodeSum = MaxOff+1;
+
         }
+
+    } else {   /* new block : re-use previous statistics, scaled down */
+
+        optPtr->litSum = ZSTD_downscaleStat(optPtr->litFreq, MaxLit, 1);
+        optPtr->litLengthSum = ZSTD_downscaleStat(optPtr->litLengthFreq, MaxLL, 0);
+        optPtr->matchLengthSum = ZSTD_downscaleStat(optPtr->matchLengthFreq, MaxML, 0);
+        optPtr->offCodeSum = ZSTD_downscaleStat(optPtr->offCodeFreq, MaxOff, 0);
     }
 
-    ZSTD_setLog2Prices(optPtr);
+    ZSTD_setBasePrices(optPtr, optLevel);
 }
 
-
 /* ZSTD_rawLiteralsCost() :
- * cost of literals (only) in given segment (which length can be null)
- * does not include cost of literalLength symbol */
+ * price of literals (only) in specified segment (which length can be 0).
+ * does not include price of literalLength symbol */
 static U32 ZSTD_rawLiteralsCost(const BYTE* const literals, U32 const litLength,
-                                const optState_t* const optPtr)
+                                const optState_t* const optPtr,
+                                int optLevel)
 {
-    if (optPtr->staticPrices) return (litLength*6);  /* 6 bit per literal - no statistic used */
     if (litLength == 0) return 0;
-
-    /* literals */
-    {   U32 u;
-        U32 cost = litLength * optPtr->log2litSum;
-        for (u=0; u < litLength; u++)
-            cost -= ZSTD_highbit32(optPtr->litFreq[literals[u]]+1);
-        return cost;
+    if (optPtr->priceType == zop_predef)
+        return (litLength*6) * BITCOST_MULTIPLIER;  /* 6 bit per literal - no statistic used */
+
+    /* dynamic statistics */
+    {   U32 price = litLength * optPtr->litSumBasePrice;
+        U32 u;
+        for (u=0; u < litLength; u++) {
+            assert(WEIGHT(optPtr->litFreq[literals[u]], optLevel) <= optPtr->litSumBasePrice);   /* literal cost should never be negative */
+            price -= WEIGHT(optPtr->litFreq[literals[u]], optLevel);
+        }
+        return price;
     }
 }
 
 /* ZSTD_litLengthPrice() :
  * cost of literalLength symbol */
-static U32 ZSTD_litLengthPrice(U32 const litLength, const optState_t* const optPtr)
+static U32 ZSTD_litLengthPrice(U32 const litLength, const optState_t* const optPtr, int optLevel)
 {
-    if (optPtr->staticPrices) return ZSTD_highbit32((U32)litLength+1);
+    if (optPtr->priceType == zop_predef) return WEIGHT(litLength, optLevel);
 
-    /* literal Length */
+    /* dynamic statistics */
     {   U32 const llCode = ZSTD_LLcode(litLength);
-        U32 const price = LL_bits[llCode] + optPtr->log2litLengthSum - ZSTD_highbit32(optPtr->litLengthFreq[llCode]+1);
-        return price;
+        return (LL_bits[llCode] * BITCOST_MULTIPLIER)
+             + optPtr->litLengthSumBasePrice
+             - WEIGHT(optPtr->litLengthFreq[llCode], optLevel);
     }
 }
 
-/* ZSTD_litLengthPrice() :
- * cost of the literal part of a sequence,
- * including literals themselves, and literalLength symbol */
-static U32 ZSTD_fullLiteralsCost(const BYTE* const literals, U32 const litLength,
-                                 const optState_t* const optPtr)
-{
-    return ZSTD_rawLiteralsCost(literals, litLength, optPtr)
-         + ZSTD_litLengthPrice(litLength, optPtr);
-}
-
 /* ZSTD_litLengthContribution() :
  * @return ( cost(litlength) - cost(0) )
  * this value can then be added to rawLiteralsCost()
  * to provide a cost which is directly comparable to a match ending at same position */
-static int ZSTD_litLengthContribution(U32 const litLength, const optState_t* const optPtr)
+static int ZSTD_litLengthContribution(U32 const litLength, const optState_t* const optPtr, int optLevel)
 {
-    if (optPtr->staticPrices) return ZSTD_highbit32(litLength+1);
+    if (optPtr->priceType >= zop_predef) return WEIGHT(litLength, optLevel);
 
-    /* literal Length */
+    /* dynamic statistics */
     {   U32 const llCode = ZSTD_LLcode(litLength);
-        int const contribution = LL_bits[llCode]
-                        + ZSTD_highbit32(optPtr->litLengthFreq[0]+1)
-                        - ZSTD_highbit32(optPtr->litLengthFreq[llCode]+1);
+        int const contribution = (LL_bits[llCode] * BITCOST_MULTIPLIER)
+                               + WEIGHT(optPtr->litLengthFreq[0], optLevel)   /* note: log2litLengthSum cancel out */
+                               - WEIGHT(optPtr->litLengthFreq[llCode], optLevel);
 #if 1
         return contribution;
 #else
@@ -155,10 +261,11 @@ static int ZSTD_litLengthContribution(U32 const litLength, const optState_t* con
  * which can be compared to the ending cost of a match
  * should a new match start at this position */
 static int ZSTD_literalsContribution(const BYTE* const literals, U32 const litLength,
-                                     const optState_t* const optPtr)
+                                     const optState_t* const optPtr,
+                                     int optLevel)
 {
-    int const contribution = ZSTD_rawLiteralsCost(literals, litLength, optPtr)
-                           + ZSTD_litLengthContribution(litLength, optPtr);
+    int const contribution = ZSTD_rawLiteralsCost(literals, litLength, optPtr, optLevel)
+                           + ZSTD_litLengthContribution(litLength, optPtr, optLevel);
     return contribution;
 }
 
@@ -166,31 +273,38 @@ static int ZSTD_literalsContribution(const BYTE* const literals, U32 const litLe
  * Provides the cost of the match part (offset + matchLength) of a sequence
  * Must be combined with ZSTD_fullLiteralsCost() to get the full cost of a sequence.
  * optLevel: when <2, favors small offset for decompression speed (improved cache efficiency) */
-FORCE_INLINE_TEMPLATE U32 ZSTD_getMatchPrice(
-                                    U32 const offset, U32 const matchLength,
-                                    const optState_t* const optPtr,
-                                    int const optLevel)
+FORCE_INLINE_TEMPLATE U32
+ZSTD_getMatchPrice(U32 const offset,
+                   U32 const matchLength,
+             const optState_t* const optPtr,
+                   int const optLevel)
 {
     U32 price;
     U32 const offCode = ZSTD_highbit32(offset+1);
     U32 const mlBase = matchLength - MINMATCH;
     assert(matchLength >= MINMATCH);
 
-    if (optPtr->staticPrices)  /* fixed scheme, do not use statistics */
-        return ZSTD_highbit32((U32)mlBase+1) + 16 + offCode;
+    if (optPtr->priceType == zop_predef)  /* fixed scheme, do not use statistics */
+        return WEIGHT(mlBase, optLevel) + ((16 + offCode) * BITCOST_MULTIPLIER);
 
-    price = offCode + optPtr->log2offCodeSum - ZSTD_highbit32(optPtr->offCodeFreq[offCode]+1);
-    if ((optLevel<2) /*static*/ && offCode >= 20) price += (offCode-19)*2; /* handicap for long distance offsets, favor decompression speed */
+    /* dynamic statistics */
+    price = (offCode * BITCOST_MULTIPLIER) + (optPtr->offCodeSumBasePrice - WEIGHT(optPtr->offCodeFreq[offCode], optLevel));
+    if ((optLevel<2) /*static*/ && offCode >= 20)
+        price += (offCode-19)*2 * BITCOST_MULTIPLIER; /* handicap for long distance offsets, favor decompression speed */
 
     /* match Length */
     {   U32 const mlCode = ZSTD_MLcode(mlBase);
-        price += ML_bits[mlCode] + optPtr->log2matchLengthSum - ZSTD_highbit32(optPtr->matchLengthFreq[mlCode]+1);
+        price += (ML_bits[mlCode] * BITCOST_MULTIPLIER) + (optPtr->matchLengthSumBasePrice - WEIGHT(optPtr->matchLengthFreq[mlCode], optLevel));
     }
 
+    price += BITCOST_MULTIPLIER / 5;   /* heuristic : make matches a bit more costly to favor less sequences -> faster decompression speed */
+
     DEBUGLOG(8, "ZSTD_getMatchPrice(ml:%u) = %u", matchLength, price);
     return price;
 }
 
+/* ZSTD_updateStats() :
+ * assumption : literals + litLengtn <= iend */
 static void ZSTD_updateStats(optState_t* const optPtr,
                              U32 litLength, const BYTE* literals,
                              U32 offsetCode, U32 matchLength)
@@ -269,10 +383,11 @@ static U32 ZSTD_insertAndFindFirstIndexHash3 (ZSTD_matchState_t* ms, const BYTE*
  *  ip : assumed <= iend-8 .
  * @return : nb of positions added */
 static U32 ZSTD_insertBt1(
-                ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                ZSTD_matchState_t* ms,
                 const BYTE* const ip, const BYTE* const iend,
-                U32 const mls, U32 const extDict)
+                U32 const mls, const int extDict)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32*   const hashTable = ms->hashTable;
     U32    const hashLog = cParams->hashLog;
     size_t const h  = ZSTD_hashPtr(ip, hashLog, mls);
@@ -308,7 +423,8 @@ static U32 ZSTD_insertBt1(
     assert(ip <= iend-8);   /* required for h calculation */
     hashTable[h] = current;   /* Update Hash Table */
 
-    while (nbCompares-- && (matchIndex > windowLow)) {
+    assert(windowLow > 0);
+    while (nbCompares-- && (matchIndex >= windowLow)) {
         U32* const nextPtr = bt + 2*(matchIndex & btMask);
         size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger);   /* guaranteed minimum nb of common bytes */
         assert(matchIndex < current);
@@ -334,8 +450,8 @@ static U32 ZSTD_insertBt1(
         }
 #endif
 
-        if ((!extDict) || (matchIndex+matchLength >= dictLimit)) {
-            assert(matchIndex+matchLength >= dictLimit);   /* might be wrong if extDict is incorrectly set to 0 */
+        if (!extDict || (matchIndex+matchLength >= dictLimit)) {
+            assert(matchIndex+matchLength >= dictLimit);   /* might be wrong if actually extDict */
             match = base + matchIndex;
             matchLength += ZSTD_count(ip+matchLength, match+matchLength, iend);
         } else {
@@ -379,35 +495,36 @@ static U32 ZSTD_insertBt1(
 
 FORCE_INLINE_TEMPLATE
 void ZSTD_updateTree_internal(
-                ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
+                ZSTD_matchState_t* ms,
                 const BYTE* const ip, const BYTE* const iend,
-                const U32 mls, const U32 extDict)
+                const U32 mls, const ZSTD_dictMode_e dictMode)
 {
     const BYTE* const base = ms->window.base;
     U32 const target = (U32)(ip - base);
     U32 idx = ms->nextToUpdate;
-    DEBUGLOG(7, "ZSTD_updateTree_internal, from %u to %u  (extDict:%u)",
-                idx, target, extDict);
+    DEBUGLOG(6, "ZSTD_updateTree_internal, from %u to %u  (dictMode:%u)",
+                idx, target, dictMode);
 
     while(idx < target)
-        idx += ZSTD_insertBt1(ms, cParams, base+idx, iend, mls, extDict);
+        idx += ZSTD_insertBt1(ms, base+idx, iend, mls, dictMode == ZSTD_extDict);
     ms->nextToUpdate = target;
 }
 
-void ZSTD_updateTree(
-                ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                const BYTE* ip, const BYTE* iend)
-{
-    ZSTD_updateTree_internal(ms, cParams, ip, iend, cParams->searchLength, 0 /*extDict*/);
+void ZSTD_updateTree(ZSTD_matchState_t* ms, const BYTE* ip, const BYTE* iend) {
+    ZSTD_updateTree_internal(ms, ip, iend, ms->cParams.minMatch, ZSTD_noDict);
 }
 
 FORCE_INLINE_TEMPLATE
 U32 ZSTD_insertBtAndGetAllMatches (
-                    ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                    const BYTE* const ip, const BYTE* const iLimit, int const extDict,
-                    U32 rep[ZSTD_REP_NUM], U32 const ll0,
-                    ZSTD_match_t* matches, const U32 lengthToBeat, U32 const mls /* template */)
+                    ZSTD_matchState_t* ms,
+                    const BYTE* const ip, const BYTE* const iLimit, const ZSTD_dictMode_e dictMode,
+                    U32 rep[ZSTD_REP_NUM],
+                    U32 const ll0,   /* tells if associated literal length is 0 or not. This value must be 0 or 1 */
+                    ZSTD_match_t* matches,
+                    const U32 lengthToBeat,
+                    U32 const mls /* template */)
 {
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
     U32 const sufficient_len = MIN(cParams->targetLength, ZSTD_OPT_NUM -1);
     const BYTE* const base = ms->window.base;
     U32 const current = (U32)(ip-base);
@@ -426,6 +543,7 @@ U32 ZSTD_insertBtAndGetAllMatches (
     const BYTE* const prefixStart = base + dictLimit;
     U32 const btLow = btMask >= current ? 0 : current - btMask;
     U32 const windowLow = ms->window.lowLimit;
+    U32 const matchLow = windowLow ? windowLow : 1;
     U32* smallerPtr = bt + 2*(current&btMask);
     U32* largerPtr  = bt + 2*(current&btMask) + 1;
     U32 matchEndIdx = current+8+1;   /* farthest referenced position of any match => detects repetitive patterns */
@@ -433,10 +551,24 @@ U32 ZSTD_insertBtAndGetAllMatches (
     U32 mnum = 0;
     U32 nbCompares = 1U << cParams->searchLog;
 
+    const ZSTD_matchState_t* dms    = dictMode == ZSTD_dictMatchState ? ms->dictMatchState : NULL;
+    const ZSTD_compressionParameters* const dmsCParams =
+                                      dictMode == ZSTD_dictMatchState ? &dms->cParams : NULL;
+    const BYTE* const dmsBase       = dictMode == ZSTD_dictMatchState ? dms->window.base : NULL;
+    const BYTE* const dmsEnd        = dictMode == ZSTD_dictMatchState ? dms->window.nextSrc : NULL;
+    U32         const dmsHighLimit  = dictMode == ZSTD_dictMatchState ? (U32)(dmsEnd - dmsBase) : 0;
+    U32         const dmsLowLimit   = dictMode == ZSTD_dictMatchState ? dms->window.lowLimit : 0;
+    U32         const dmsIndexDelta = dictMode == ZSTD_dictMatchState ? windowLow - dmsHighLimit : 0;
+    U32         const dmsHashLog    = dictMode == ZSTD_dictMatchState ? dmsCParams->hashLog : hashLog;
+    U32         const dmsBtLog      = dictMode == ZSTD_dictMatchState ? dmsCParams->chainLog - 1 : btLog;
+    U32         const dmsBtMask     = dictMode == ZSTD_dictMatchState ? (1U << dmsBtLog) - 1 : 0;
+    U32         const dmsBtLow      = dictMode == ZSTD_dictMatchState && dmsBtMask < dmsHighLimit - dmsLowLimit ? dmsHighLimit - dmsBtMask : dmsLowLimit;
+
     size_t bestLength = lengthToBeat-1;
-    DEBUGLOG(7, "ZSTD_insertBtAndGetAllMatches");
+    DEBUGLOG(8, "ZSTD_insertBtAndGetAllMatches: current=%u", current);
 
     /* check repCode */
+    assert(ll0 <= 1);   /* necessarily 1 or 0 */
     {   U32 const lastR = ZSTD_REP_NUM + ll0;
         U32 repCode;
         for (repCode = ll0; repCode < lastR; repCode++) {
@@ -449,18 +581,26 @@ U32 ZSTD_insertBtAndGetAllMatches (
                     repLen = (U32)ZSTD_count(ip+minMatch, ip+minMatch-repOffset, iLimit) + minMatch;
                 }
             } else {  /* repIndex < dictLimit || repIndex >= current */
-                const BYTE* const repMatch = dictBase + repIndex;
+                const BYTE* const repMatch = dictMode == ZSTD_dictMatchState ?
+                                             dmsBase + repIndex - dmsIndexDelta :
+                                             dictBase + repIndex;
                 assert(current >= windowLow);
-                if ( extDict /* this case only valid in extDict mode */
+                if ( dictMode == ZSTD_extDict
                   && ( ((repOffset-1) /*intentional overflow*/ < current - windowLow)  /* equivalent to `current > repIndex >= windowLow` */
                      & (((U32)((dictLimit-1) - repIndex) >= 3) ) /* intentional overflow : do not test positions overlapping 2 memory segments */)
                   && (ZSTD_readMINMATCH(ip, minMatch) == ZSTD_readMINMATCH(repMatch, minMatch)) ) {
                     repLen = (U32)ZSTD_count_2segments(ip+minMatch, repMatch+minMatch, iLimit, dictEnd, prefixStart) + minMatch;
+                }
+                if (dictMode == ZSTD_dictMatchState
+                  && ( ((repOffset-1) /*intentional overflow*/ < current - (dmsLowLimit + dmsIndexDelta))  /* equivalent to `current > repIndex >= dmsLowLimit` */
+                     & ((U32)((dictLimit-1) - repIndex) >= 3) ) /* intentional overflow : do not test positions overlapping 2 memory segments */
+                  && (ZSTD_readMINMATCH(ip, minMatch) == ZSTD_readMINMATCH(repMatch, minMatch)) ) {
+                    repLen = (U32)ZSTD_count_2segments(ip+minMatch, repMatch+minMatch, iLimit, dmsEnd, prefixStart) + minMatch;
             }   }
             /* save longer solution */
             if (repLen > bestLength) {
-                DEBUGLOG(8, "found rep-match %u of length %u",
-                            repCode - ll0, (U32)repLen);
+                DEBUGLOG(8, "found repCode %u (ll0:%u, offset:%u) of length %u",
+                            repCode, ll0, repOffset, repLen);
                 bestLength = repLen;
                 matches[mnum].off = repCode - ll0;
                 matches[mnum].len = (U32)repLen;
@@ -473,10 +613,10 @@ U32 ZSTD_insertBtAndGetAllMatches (
     /* HC3 match finder */
     if ((mls == 3) /*static*/ && (bestLength < mls)) {
         U32 const matchIndex3 = ZSTD_insertAndFindFirstIndexHash3(ms, ip);
-        if ((matchIndex3 > windowLow)
+        if ((matchIndex3 >= matchLow)
           & (current - matchIndex3 < (1<<18)) /*heuristic : longer distance likely too expensive*/ ) {
             size_t mlen;
-            if ((!extDict) /*static*/ || (matchIndex3 >= dictLimit)) {
+            if ((dictMode == ZSTD_noDict) /*static*/ || (dictMode == ZSTD_dictMatchState) /*static*/ || (matchIndex3 >= dictLimit)) {
                 const BYTE* const match = base + matchIndex3;
                 mlen = ZSTD_count(ip, match, iLimit);
             } else {
@@ -498,17 +638,21 @@ U32 ZSTD_insertBtAndGetAllMatches (
                      (ip+mlen == iLimit) ) {  /* best possible length */
                     ms->nextToUpdate = current+1;  /* skip insertion */
                     return 1;
-    }   }   }   }
+                }
+            }
+        }
+        /* no dictMatchState lookup: dicts don't have a populated HC3 table */
+    }
 
     hashTable[h] = current;   /* Update Hash Table */
 
-    while (nbCompares-- && (matchIndex > windowLow)) {
+    while (nbCompares-- && (matchIndex >= matchLow)) {
         U32* const nextPtr = bt + 2*(matchIndex & btMask);
         size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger);   /* guaranteed minimum nb of common bytes */
         const BYTE* match;
         assert(current > matchIndex);
 
-        if ((!extDict) || (matchIndex+matchLength >= dictLimit)) {
+        if ((dictMode == ZSTD_noDict) || (dictMode == ZSTD_dictMatchState) || (matchIndex+matchLength >= dictLimit)) {
             assert(matchIndex+matchLength >= dictLimit);  /* ensure the condition is correct when !extDict */
             match = base + matchIndex;
             matchLength += ZSTD_count(ip+matchLength, match+matchLength, iLimit);
@@ -520,8 +664,8 @@ U32 ZSTD_insertBtAndGetAllMatches (
         }
 
         if (matchLength > bestLength) {
-            DEBUGLOG(8, "found match of length %u at distance %u",
-                    (U32)matchLength, current - matchIndex);
+            DEBUGLOG(8, "found match of length %u at distance %u (offCode=%u)",
+                    (U32)matchLength, current - matchIndex, current - matchIndex + ZSTD_REP_MOVE);
             assert(matchEndIdx > matchIndex);
             if (matchLength > matchEndIdx - matchIndex)
                 matchEndIdx = matchIndex + (U32)matchLength;
@@ -529,9 +673,10 @@ U32 ZSTD_insertBtAndGetAllMatches (
             matches[mnum].off = (current - matchIndex) + ZSTD_REP_MOVE;
             matches[mnum].len = (U32)matchLength;
             mnum++;
-            if (matchLength > ZSTD_OPT_NUM) break;
-            if (ip+matchLength == iLimit) {  /* equal : no way to know if inf or sup */
-                break;   /* drop, to preserve bt consistency (miss a little bit of compression) */
+            if ( (matchLength > ZSTD_OPT_NUM)
+               | (ip+matchLength == iLimit) /* equal : no way to know if inf or sup */) {
+                if (dictMode == ZSTD_dictMatchState) nbCompares = 0; /* break should also skip searching dms */
+                break; /* drop, to preserve bt consistency (miss a little bit of compression) */
             }
         }
 
@@ -552,6 +697,47 @@ U32 ZSTD_insertBtAndGetAllMatches (
 
     *smallerPtr = *largerPtr = 0;
 
+    if (dictMode == ZSTD_dictMatchState && nbCompares) {
+        size_t const dmsH = ZSTD_hashPtr(ip, dmsHashLog, mls);
+        U32 dictMatchIndex = dms->hashTable[dmsH];
+        const U32* const dmsBt = dms->chainTable;
+        commonLengthSmaller = commonLengthLarger = 0;
+        while (nbCompares-- && (dictMatchIndex > dmsLowLimit)) {
+            const U32* const nextPtr = dmsBt + 2*(dictMatchIndex & dmsBtMask);
+            size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger);   /* guaranteed minimum nb of common bytes */
+            const BYTE* match = dmsBase + dictMatchIndex;
+            matchLength += ZSTD_count_2segments(ip+matchLength, match+matchLength, iLimit, dmsEnd, prefixStart);
+            if (dictMatchIndex+matchLength >= dmsHighLimit)
+                match = base + dictMatchIndex + dmsIndexDelta;   /* to prepare for next usage of match[matchLength] */
+
+            if (matchLength > bestLength) {
+                matchIndex = dictMatchIndex + dmsIndexDelta;
+                DEBUGLOG(8, "found dms match of length %u at distance %u (offCode=%u)",
+                        (U32)matchLength, current - matchIndex, current - matchIndex + ZSTD_REP_MOVE);
+                if (matchLength > matchEndIdx - matchIndex)
+                    matchEndIdx = matchIndex + (U32)matchLength;
+                bestLength = matchLength;
+                matches[mnum].off = (current - matchIndex) + ZSTD_REP_MOVE;
+                matches[mnum].len = (U32)matchLength;
+                mnum++;
+                if ( (matchLength > ZSTD_OPT_NUM)
+                   | (ip+matchLength == iLimit) /* equal : no way to know if inf or sup */) {
+                    break;   /* drop, to guarantee consistency (miss a little bit of compression) */
+                }
+            }
+
+            if (dictMatchIndex <= dmsBtLow) { break; }   /* beyond tree size, stop the search */
+            if (match[matchLength] < ip[matchLength]) {
+                commonLengthSmaller = matchLength;    /* all smaller will now have at least this guaranteed common length */
+                dictMatchIndex = nextPtr[1];              /* new matchIndex larger than previous (closer to current) */
+            } else {
+                /* match is larger than current */
+                commonLengthLarger = matchLength;
+                dictMatchIndex = nextPtr[0];
+            }
+        }
+    }
+
     assert(matchEndIdx > current+8);
     ms->nextToUpdate = matchEndIdx - 8;  /* skip repetitive patterns */
     return mnum;
@@ -559,23 +745,24 @@ U32 ZSTD_insertBtAndGetAllMatches (
 
 
 FORCE_INLINE_TEMPLATE U32 ZSTD_BtGetAllMatches (
-                        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-                        const BYTE* ip, const BYTE* const iHighLimit, int const extDict,
+                        ZSTD_matchState_t* ms,
+                        const BYTE* ip, const BYTE* const iHighLimit, const ZSTD_dictMode_e dictMode,
                         U32 rep[ZSTD_REP_NUM], U32 const ll0,
                         ZSTD_match_t* matches, U32 const lengthToBeat)
 {
-    U32 const matchLengthSearch = cParams->searchLength;
-    DEBUGLOG(7, "ZSTD_BtGetAllMatches");
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
+    U32 const matchLengthSearch = cParams->minMatch;
+    DEBUGLOG(8, "ZSTD_BtGetAllMatches");
     if (ip < ms->window.base + ms->nextToUpdate) return 0;   /* skipped area */
-    ZSTD_updateTree_internal(ms, cParams, ip, iHighLimit, matchLengthSearch, extDict);
+    ZSTD_updateTree_internal(ms, ip, iHighLimit, matchLengthSearch, dictMode);
     switch(matchLengthSearch)
     {
-    case 3 : return ZSTD_insertBtAndGetAllMatches(ms, cParams, ip, iHighLimit, extDict, rep, ll0, matches, lengthToBeat, 3);
+    case 3 : return ZSTD_insertBtAndGetAllMatches(ms, ip, iHighLimit, dictMode, rep, ll0, matches, lengthToBeat, 3);
     default :
-    case 4 : return ZSTD_insertBtAndGetAllMatches(ms, cParams, ip, iHighLimit, extDict, rep, ll0, matches, lengthToBeat, 4);
-    case 5 : return ZSTD_insertBtAndGetAllMatches(ms, cParams, ip, iHighLimit, extDict, rep, ll0, matches, lengthToBeat, 5);
+    case 4 : return ZSTD_insertBtAndGetAllMatches(ms, ip, iHighLimit, dictMode, rep, ll0, matches, lengthToBeat, 4);
+    case 5 : return ZSTD_insertBtAndGetAllMatches(ms, ip, iHighLimit, dictMode, rep, ll0, matches, lengthToBeat, 5);
     case 7 :
-    case 6 : return ZSTD_insertBtAndGetAllMatches(ms, cParams, ip, iHighLimit, extDict, rep, ll0, matches, lengthToBeat, 6);
+    case 6 : return ZSTD_insertBtAndGetAllMatches(ms, ip, iHighLimit, dictMode, rep, ll0, matches, lengthToBeat, 6);
     }
 }
 
@@ -587,7 +774,7 @@ typedef struct repcodes_s {
     U32 rep[3];
 } repcodes_t;
 
-repcodes_t ZSTD_updateRep(U32 const rep[3], U32 const offset, U32 const ll0)
+static repcodes_t ZSTD_updateRep(U32 const rep[3], U32 const offset, U32 const ll0)
 {
     repcodes_t newReps;
     if (offset >= ZSTD_REP_NUM) {  /* full offset */
@@ -609,65 +796,35 @@ repcodes_t ZSTD_updateRep(U32 const rep[3], U32 const offset, U32 const ll0)
 }
 
 
-typedef struct {
-    const BYTE* anchor;
-    U32 litlen;
-    U32 rawLitCost;
-} cachedLiteralPrice_t;
-
-static U32 ZSTD_rawLiteralsCost_cached(
-                            cachedLiteralPrice_t* const cachedLitPrice,
-                            const BYTE* const anchor, U32 const litlen,
-                            const optState_t* const optStatePtr)
+static U32 ZSTD_totalLen(ZSTD_optimal_t sol)
 {
-    U32 startCost;
-    U32 remainingLength;
-    const BYTE* startPosition;
-
-    if (anchor == cachedLitPrice->anchor) {
-        startCost = cachedLitPrice->rawLitCost;
-        startPosition = anchor + cachedLitPrice->litlen;
-        assert(litlen >= cachedLitPrice->litlen);
-        remainingLength = litlen - cachedLitPrice->litlen;
-    } else {
-        startCost = 0;
-        startPosition = anchor;
-        remainingLength = litlen;
-    }
-
-    {   U32 const rawLitCost = startCost + ZSTD_rawLiteralsCost(startPosition, remainingLength, optStatePtr);
-        cachedLitPrice->anchor = anchor;
-        cachedLitPrice->litlen = litlen;
-        cachedLitPrice->rawLitCost = rawLitCost;
-        return rawLitCost;
-    }
+    return sol.litlen + sol.mlen;
 }
 
-static U32 ZSTD_fullLiteralsCost_cached(
-                            cachedLiteralPrice_t* const cachedLitPrice,
-                            const BYTE* const anchor, U32 const litlen,
-                            const optState_t* const optStatePtr)
-{
-    return ZSTD_rawLiteralsCost_cached(cachedLitPrice, anchor, litlen, optStatePtr)
-         + ZSTD_litLengthPrice(litlen, optStatePtr);
-}
+#if 0 /* debug */
 
-static int ZSTD_literalsContribution_cached(
-                            cachedLiteralPrice_t* const cachedLitPrice,
-                            const BYTE* const anchor, U32 const litlen,
-                            const optState_t* const optStatePtr)
+static void
+listStats(const U32* table, int lastEltID)
 {
-    int const contribution = ZSTD_rawLiteralsCost_cached(cachedLitPrice, anchor, litlen, optStatePtr)
-                           + ZSTD_litLengthContribution(litlen, optStatePtr);
-    return contribution;
+    int const nbElts = lastEltID + 1;
+    int enb;
+    for (enb=0; enb < nbElts; enb++) {
+        (void)table;
+        //RAWLOG(2, "%3i:%3i,  ", enb, table[enb]);
+        RAWLOG(2, "%4i,", table[enb]);
+    }
+    RAWLOG(2, " \n");
 }
 
-FORCE_INLINE_TEMPLATE
-size_t ZSTD_compressBlock_opt_generic(ZSTD_matchState_t* ms,seqStore_t* seqStore,
-                                      U32 rep[ZSTD_REP_NUM],
-                                      ZSTD_compressionParameters const* cParams,
-                                      const void* src, size_t srcSize,
-                                      const int optLevel, const int extDict)
+#endif
+
+FORCE_INLINE_TEMPLATE size_t
+ZSTD_compressBlock_opt_generic(ZSTD_matchState_t* ms,
+                               seqStore_t* seqStore,
+                               U32 rep[ZSTD_REP_NUM],
+                         const void* src, size_t srcSize,
+                         const int optLevel,
+                         const ZSTD_dictMode_e dictMode)
 {
     optState_t* const optStatePtr = &ms->opt;
     const BYTE* const istart = (const BYTE*)src;
@@ -677,72 +834,77 @@ size_t ZSTD_compressBlock_opt_generic(ZSTD_matchState_t* ms,seqStore_t* seqStore
     const BYTE* const ilimit = iend - 8;
     const BYTE* const base = ms->window.base;
     const BYTE* const prefixStart = base + ms->window.dictLimit;
+    const ZSTD_compressionParameters* const cParams = &ms->cParams;
 
     U32 const sufficient_len = MIN(cParams->targetLength, ZSTD_OPT_NUM -1);
-    U32 const minMatch = (cParams->searchLength == 3) ? 3 : 4;
+    U32 const minMatch = (cParams->minMatch == 3) ? 3 : 4;
 
     ZSTD_optimal_t* const opt = optStatePtr->priceTable;
     ZSTD_match_t* const matches = optStatePtr->matchTable;
-    cachedLiteralPrice_t cachedLitPrice;
+    ZSTD_optimal_t lastSequence;
 
     /* init */
-    DEBUGLOG(5, "ZSTD_compressBlock_opt_generic");
+    DEBUGLOG(5, "ZSTD_compressBlock_opt_generic: current=%u, prefix=%u, nextToUpdate=%u",
+                (U32)(ip - base), ms->window.dictLimit, ms->nextToUpdate);
+    assert(optLevel <= 2);
     ms->nextToUpdate3 = ms->nextToUpdate;
-    ZSTD_rescaleFreqs(optStatePtr, (const BYTE*)src, srcSize);
+    ZSTD_rescaleFreqs(optStatePtr, (const BYTE*)src, srcSize, optLevel);
     ip += (ip==prefixStart);
-    memset(&cachedLitPrice, 0, sizeof(cachedLitPrice));
 
     /* Match Loop */
     while (ip < ilimit) {
         U32 cur, last_pos = 0;
-        U32 best_mlen, best_off;
 
         /* find first match */
         {   U32 const litlen = (U32)(ip - anchor);
             U32 const ll0 = !litlen;
-            U32 const nbMatches = ZSTD_BtGetAllMatches(ms, cParams, ip, iend, extDict, rep, ll0, matches, minMatch);
+            U32 const nbMatches = ZSTD_BtGetAllMatches(ms, ip, iend, dictMode, rep, ll0, matches, minMatch);
             if (!nbMatches) { ip++; continue; }
 
             /* initialize opt[0] */
             { U32 i ; for (i=0; i<ZSTD_REP_NUM; i++) opt[0].rep[i] = rep[i]; }
-            opt[0].mlen = 1;
+            opt[0].mlen = 0;  /* means is_a_literal */
             opt[0].litlen = litlen;
+            opt[0].price = ZSTD_literalsContribution(anchor, litlen, optStatePtr, optLevel);
 
             /* large match -> immediate encoding */
             {   U32 const maxML = matches[nbMatches-1].len;
-                DEBUGLOG(7, "found %u matches of maxLength=%u and offset=%u at cPos=%u => start new serie",
-                            nbMatches, maxML, matches[nbMatches-1].off, (U32)(ip-prefixStart));
+                U32 const maxOffset = matches[nbMatches-1].off;
+                DEBUGLOG(6, "found %u matches of maxLength=%u and maxOffCode=%u at cPos=%u => start new serie",
+                            nbMatches, maxML, maxOffset, (U32)(ip-prefixStart));
 
                 if (maxML > sufficient_len) {
-                    best_mlen = maxML;
-                    best_off = matches[nbMatches-1].off;
-                    DEBUGLOG(7, "large match (%u>%u), immediate encoding",
-                                best_mlen, sufficient_len);
+                    lastSequence.litlen = litlen;
+                    lastSequence.mlen = maxML;
+                    lastSequence.off = maxOffset;
+                    DEBUGLOG(6, "large match (%u>%u), immediate encoding",
+                                maxML, sufficient_len);
                     cur = 0;
-                    last_pos = 1;
+                    last_pos = ZSTD_totalLen(lastSequence);
                     goto _shortestPath;
             }   }
 
             /* set prices for first matches starting position == 0 */
-            {   U32 const literalsPrice = ZSTD_fullLiteralsCost_cached(&cachedLitPrice, anchor, litlen, optStatePtr);
+            {   U32 const literalsPrice = opt[0].price + ZSTD_litLengthPrice(0, optStatePtr, optLevel);
                 U32 pos;
                 U32 matchNb;
-                for (pos = 0; pos < minMatch; pos++) {
-                    opt[pos].mlen = 1;
-                    opt[pos].price = ZSTD_MAX_PRICE;
+                for (pos = 1; pos < minMatch; pos++) {
+                    opt[pos].price = ZSTD_MAX_PRICE;   /* mlen, litlen and price will be fixed during forward scanning */
                 }
                 for (matchNb = 0; matchNb < nbMatches; matchNb++) {
                     U32 const offset = matches[matchNb].off;
                     U32 const end = matches[matchNb].len;
                     repcodes_t const repHistory = ZSTD_updateRep(rep, offset, ll0);
                     for ( ; pos <= end ; pos++ ) {
-                        U32 const matchPrice = literalsPrice + ZSTD_getMatchPrice(offset, pos, optStatePtr, optLevel);
-                        DEBUGLOG(7, "rPos:%u => set initial price : %u",
-                                    pos, matchPrice);
+                        U32 const matchPrice = ZSTD_getMatchPrice(offset, pos, optStatePtr, optLevel);
+                        U32 const sequencePrice = literalsPrice + matchPrice;
+                        DEBUGLOG(7, "rPos:%u => set initial price : %.2f",
+                                    pos, ZSTD_fCost(sequencePrice));
                         opt[pos].mlen = pos;
                         opt[pos].off = offset;
                         opt[pos].litlen = litlen;
-                        opt[pos].price = matchPrice;
+                        opt[pos].price = sequencePrice;
+                        ZSTD_STATIC_ASSERT(sizeof(opt[pos].rep) == sizeof(repHistory));
                         memcpy(opt[pos].rep, &repHistory, sizeof(repHistory));
                 }   }
                 last_pos = pos-1;
@@ -753,55 +915,67 @@ size_t ZSTD_compressBlock_opt_generic(ZSTD_matchState_t* ms,seqStore_t* seqStore
         for (cur = 1; cur <= last_pos; cur++) {
             const BYTE* const inr = ip + cur;
             assert(cur < ZSTD_OPT_NUM);
+            DEBUGLOG(7, "cPos:%zi==rPos:%u", inr-istart, cur)
 
             /* Fix current position with one literal if cheaper */
-            {   U32 const litlen = (opt[cur-1].mlen == 1) ? opt[cur-1].litlen + 1 : 1;
-                int price;  /* note : contribution can be negative */
-                if (cur > litlen) {
-                    price = opt[cur - litlen].price + ZSTD_literalsContribution(inr-litlen, litlen, optStatePtr);
-                } else {
-                    price = ZSTD_literalsContribution_cached(&cachedLitPrice, anchor, litlen, optStatePtr);
-                }
+            {   U32 const litlen = (opt[cur-1].mlen == 0) ? opt[cur-1].litlen + 1 : 1;
+                int const price = opt[cur-1].price
+                                + ZSTD_rawLiteralsCost(ip+cur-1, 1, optStatePtr, optLevel)
+                                + ZSTD_litLengthPrice(litlen, optStatePtr, optLevel)
+                                - ZSTD_litLengthPrice(litlen-1, optStatePtr, optLevel);
                 assert(price < 1000000000); /* overflow check */
                 if (price <= opt[cur].price) {
-                    DEBUGLOG(7, "rPos:%u : better price (%u<%u) using literal",
-                                cur, price, opt[cur].price);
-                    opt[cur].mlen = 1;
+                    DEBUGLOG(7, "cPos:%zi==rPos:%u : better price (%.2f<=%.2f) using literal (ll==%u) (hist:%u,%u,%u)",
+                                inr-istart, cur, ZSTD_fCost(price), ZSTD_fCost(opt[cur].price), litlen,
+                                opt[cur-1].rep[0], opt[cur-1].rep[1], opt[cur-1].rep[2]);
+                    opt[cur].mlen = 0;
                     opt[cur].off = 0;
                     opt[cur].litlen = litlen;
                     opt[cur].price = price;
                     memcpy(opt[cur].rep, opt[cur-1].rep, sizeof(opt[cur].rep));
-            }   }
+                } else {
+                    DEBUGLOG(7, "cPos:%zi==rPos:%u : literal would cost more (%.2f>%.2f) (hist:%u,%u,%u)",
+                                inr-istart, cur, ZSTD_fCost(price), ZSTD_fCost(opt[cur].price),
+                                opt[cur].rep[0], opt[cur].rep[1], opt[cur].rep[2]);
+                }
+            }
 
             /* last match must start at a minimum distance of 8 from oend */
             if (inr > ilimit) continue;
 
             if (cur == last_pos) break;
 
-             if ( (optLevel==0) /*static*/
-               && (opt[cur+1].price <= opt[cur].price) )
+            if ( (optLevel==0) /*static_test*/
+              && (opt[cur+1].price <= opt[cur].price + (BITCOST_MULTIPLIER/2)) ) {
+                DEBUGLOG(7, "move to next rPos:%u : price is <=", cur+1);
                 continue;  /* skip unpromising positions; about ~+6% speed, -0.01 ratio */
+            }
 
-            {   U32 const ll0 = (opt[cur].mlen != 1);
-                U32 const litlen = (opt[cur].mlen == 1) ? opt[cur].litlen : 0;
-                U32 const previousPrice = (cur > litlen) ? opt[cur-litlen].price : 0;
-                U32 const basePrice = previousPrice + ZSTD_fullLiteralsCost(inr-litlen, litlen, optStatePtr);
-                U32 const nbMatches = ZSTD_BtGetAllMatches(ms, cParams, inr, iend, extDict, opt[cur].rep, ll0, matches, minMatch);
+            {   U32 const ll0 = (opt[cur].mlen != 0);
+                U32 const litlen = (opt[cur].mlen == 0) ? opt[cur].litlen : 0;
+                U32 const previousPrice = opt[cur].price;
+                U32 const basePrice = previousPrice + ZSTD_litLengthPrice(0, optStatePtr, optLevel);
+                U32 const nbMatches = ZSTD_BtGetAllMatches(ms, inr, iend, dictMode, opt[cur].rep, ll0, matches, minMatch);
                 U32 matchNb;
-                if (!nbMatches) continue;
+                if (!nbMatches) {
+                    DEBUGLOG(7, "rPos:%u : no match found", cur);
+                    continue;
+                }
 
                 {   U32 const maxML = matches[nbMatches-1].len;
-                    DEBUGLOG(7, "rPos:%u, found %u matches, of maxLength=%u",
-                                cur, nbMatches, maxML);
+                    DEBUGLOG(7, "cPos:%zi==rPos:%u, found %u matches, of maxLength=%u",
+                                inr-istart, cur, nbMatches, maxML);
 
                     if ( (maxML > sufficient_len)
-                       | (cur + maxML >= ZSTD_OPT_NUM) ) {
-                        best_mlen = maxML;
-                        best_off = matches[nbMatches-1].off;
-                        last_pos = cur + 1;
+                      || (cur + maxML >= ZSTD_OPT_NUM) ) {
+                        lastSequence.mlen = maxML;
+                        lastSequence.off = matches[nbMatches-1].off;
+                        lastSequence.litlen = litlen;
+                        cur -= (opt[cur].mlen==0) ? opt[cur].litlen : 0;  /* last sequence is actually only literals, fix cur to last match - note : may underflow, in which case, it's first sequence, and it's okay */
+                        last_pos = cur + ZSTD_totalLen(lastSequence);
+                        if (cur > ZSTD_OPT_NUM) cur = 0;   /* underflow => first match */
                         goto _shortestPath;
-                    }
-                }
+                }   }
 
                 /* set prices using matches found at position == cur */
                 for (matchNb = 0; matchNb < nbMatches; matchNb++) {
@@ -811,81 +985,97 @@ size_t ZSTD_compressBlock_opt_generic(ZSTD_matchState_t* ms,seqStore_t* seqStore
                     U32 const startML = (matchNb>0) ? matches[matchNb-1].len+1 : minMatch;
                     U32 mlen;
 
-                    DEBUGLOG(7, "testing match %u => offCode=%u, mlen=%u, llen=%u",
+                    DEBUGLOG(7, "testing match %u => offCode=%4u, mlen=%2u, llen=%2u",
                                 matchNb, matches[matchNb].off, lastML, litlen);
 
-                    for (mlen = lastML; mlen >= startML; mlen--) {
+                    for (mlen = lastML; mlen >= startML; mlen--) {  /* scan downward */
                         U32 const pos = cur + mlen;
                         int const price = basePrice + ZSTD_getMatchPrice(offset, mlen, optStatePtr, optLevel);
 
                         if ((pos > last_pos) || (price < opt[pos].price)) {
-                            DEBUGLOG(7, "rPos:%u => new better price (%u<%u)",
-                                        pos, price, opt[pos].price);
-                            while (last_pos < pos) { opt[last_pos+1].price = ZSTD_MAX_PRICE; last_pos++; }
+                            DEBUGLOG(7, "rPos:%u (ml=%2u) => new better price (%.2f<%.2f)",
+                                        pos, mlen, ZSTD_fCost(price), ZSTD_fCost(opt[pos].price));
+                            while (last_pos < pos) { opt[last_pos+1].price = ZSTD_MAX_PRICE; last_pos++; }   /* fill empty positions */
                             opt[pos].mlen = mlen;
                             opt[pos].off = offset;
                             opt[pos].litlen = litlen;
                             opt[pos].price = price;
+                            ZSTD_STATIC_ASSERT(sizeof(opt[pos].rep) == sizeof(repHistory));
                             memcpy(opt[pos].rep, &repHistory, sizeof(repHistory));
                         } else {
-                            if (optLevel==0) break;  /* gets ~+10% speed for about -0.01 ratio loss */
+                            DEBUGLOG(7, "rPos:%u (ml=%2u) => new price is worse (%.2f>=%.2f)",
+                                        pos, mlen, ZSTD_fCost(price), ZSTD_fCost(opt[pos].price));
+                            if (optLevel==0) break;  /* early update abort; gets ~+10% speed for about -0.01 ratio loss */
                         }
             }   }   }
         }  /* for (cur = 1; cur <= last_pos; cur++) */
 
-        best_mlen = opt[last_pos].mlen;
-        best_off = opt[last_pos].off;
-        cur = last_pos - best_mlen;
+        lastSequence = opt[last_pos];
+        cur = last_pos > ZSTD_totalLen(lastSequence) ? last_pos - ZSTD_totalLen(lastSequence) : 0;  /* single sequence, and it starts before `ip` */
+        assert(cur < ZSTD_OPT_NUM);  /* control overflow*/
 
 _shortestPath:   /* cur, last_pos, best_mlen, best_off have to be set */
-        assert(opt[0].mlen == 1);
-
-        /* reverse traversal */
-        DEBUGLOG(7, "start reverse traversal (last_pos:%u, cur:%u)",
-                    last_pos, cur);
-        {   U32 selectedMatchLength = best_mlen;
-            U32 selectedOffset = best_off;
-            U32 pos = cur;
-            while (1) {
-                U32 const mlen = opt[pos].mlen;
-                U32 const off = opt[pos].off;
-                opt[pos].mlen = selectedMatchLength;
-                opt[pos].off = selectedOffset;
-                selectedMatchLength = mlen;
-                selectedOffset = off;
-                if (mlen > pos) break;
-                pos -= mlen;
-        }   }
-
-        /* save sequences */
-        {   U32 pos;
-            for (pos=0; pos < last_pos; ) {
-                U32 const llen = (U32)(ip - anchor);
-                U32 const mlen = opt[pos].mlen;
-                U32 const offset = opt[pos].off;
-                if (mlen == 1) { ip++; pos++; continue; }  /* literal position => move on */
-                pos += mlen; ip += mlen;
-
-                /* repcodes update : like ZSTD_updateRep(), but update in place */
-                if (offset >= ZSTD_REP_NUM) {  /* full offset */
-                    rep[2] = rep[1];
-                    rep[1] = rep[0];
-                    rep[0] = offset - ZSTD_REP_MOVE;
-                } else {   /* repcode */
-                    U32 const repCode = offset + (llen==0);
-                    if (repCode) {  /* note : if repCode==0, no change */
-                        U32 const currentOffset = (repCode==ZSTD_REP_NUM) ? (rep[0] - 1) : rep[repCode];
-                        if (repCode >= 2) rep[2] = rep[1];
-                        rep[1] = rep[0];
-                        rep[0] = currentOffset;
+        assert(opt[0].mlen == 0);
+
+        {   U32 const storeEnd = cur + 1;
+            U32 storeStart = storeEnd;
+            U32 seqPos = cur;
+
+            DEBUGLOG(6, "start reverse traversal (last_pos:%u, cur:%u)",
+                        last_pos, cur); (void)last_pos;
+            assert(storeEnd < ZSTD_OPT_NUM);
+            DEBUGLOG(6, "last sequence copied into pos=%u (llen=%u,mlen=%u,ofc=%u)",
+                        storeEnd, lastSequence.litlen, lastSequence.mlen, lastSequence.off);
+            opt[storeEnd] = lastSequence;
+            while (seqPos > 0) {
+                U32 const backDist = ZSTD_totalLen(opt[seqPos]);
+                storeStart--;
+                DEBUGLOG(6, "sequence from rPos=%u copied into pos=%u (llen=%u,mlen=%u,ofc=%u)",
+                            seqPos, storeStart, opt[seqPos].litlen, opt[seqPos].mlen, opt[seqPos].off);
+                opt[storeStart] = opt[seqPos];
+                seqPos = (seqPos > backDist) ? seqPos - backDist : 0;
+            }
+
+            /* save sequences */
+            DEBUGLOG(6, "sending selected sequences into seqStore")
+            {   U32 storePos;
+                for (storePos=storeStart; storePos <= storeEnd; storePos++) {
+                    U32 const llen = opt[storePos].litlen;
+                    U32 const mlen = opt[storePos].mlen;
+                    U32 const offCode = opt[storePos].off;
+                    U32 const advance = llen + mlen;
+                    DEBUGLOG(6, "considering seq starting at %zi, llen=%u, mlen=%u",
+                                anchor - istart, (unsigned)llen, (unsigned)mlen);
+
+                    if (mlen==0) {  /* only literals => must be last "sequence", actually starting a new stream of sequences */
+                        assert(storePos == storeEnd);   /* must be last sequence */
+                        ip = anchor + llen;     /* last "sequence" is a bunch of literals => don't progress anchor */
+                        continue;   /* will finish */
                     }
-                }
 
-                ZSTD_updateStats(optStatePtr, llen, anchor, offset, mlen);
-                ZSTD_storeSeq(seqStore, llen, anchor, offset, mlen-MINMATCH);
-                anchor = ip;
-        }   }
-        ZSTD_setLog2Prices(optStatePtr);
+                    /* repcodes update : like ZSTD_updateRep(), but update in place */
+                    if (offCode >= ZSTD_REP_NUM) {  /* full offset */
+                        rep[2] = rep[1];
+                        rep[1] = rep[0];
+                        rep[0] = offCode - ZSTD_REP_MOVE;
+                    } else {   /* repcode */
+                        U32 const repCode = offCode + (llen==0);
+                        if (repCode) {  /* note : if repCode==0, no change */
+                            U32 const currentOffset = (repCode==ZSTD_REP_NUM) ? (rep[0] - 1) : rep[repCode];
+                            if (repCode >= 2) rep[2] = rep[1];
+                            rep[1] = rep[0];
+                            rep[0] = currentOffset;
+                    }   }
+
+                    assert(anchor + llen <= iend);
+                    ZSTD_updateStats(optStatePtr, llen, anchor, offCode, mlen);
+                    ZSTD_storeSeq(seqStore, llen, anchor, offCode, mlen-MINMATCH);
+                    anchor += advance;
+                    ip = anchor;
+            }   }
+            ZSTD_setBasePrices(optStatePtr, optLevel);
+        }
+
     }   /* while (ip < ilimit) */
 
     /* Return the last literals size */
@@ -895,29 +1085,133 @@ _shortestPath:   /* cur, last_pos, best_mlen, best_off have to be set */
 
 size_t ZSTD_compressBlock_btopt(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        const void* src, size_t srcSize)
 {
     DEBUGLOG(5, "ZSTD_compressBlock_btopt");
-    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, cParams, src, srcSize, 0 /*optLevel*/, 0 /*extDict*/);
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 0 /*optLevel*/, ZSTD_noDict);
+}
+
+
+/* used in 2-pass strategy */
+static U32 ZSTD_upscaleStat(unsigned* table, U32 lastEltIndex, int bonus)
+{
+    U32 s, sum=0;
+    assert(ZSTD_FREQ_DIV+bonus >= 0);
+    for (s=0; s<lastEltIndex+1; s++) {
+        table[s] <<= ZSTD_FREQ_DIV+bonus;
+        table[s]--;
+        sum += table[s];
+    }
+    return sum;
+}
+
+/* used in 2-pass strategy */
+MEM_STATIC void ZSTD_upscaleStats(optState_t* optPtr)
+{
+    optPtr->litSum = ZSTD_upscaleStat(optPtr->litFreq, MaxLit, 0);
+    optPtr->litLengthSum = ZSTD_upscaleStat(optPtr->litLengthFreq, MaxLL, 0);
+    optPtr->matchLengthSum = ZSTD_upscaleStat(optPtr->matchLengthFreq, MaxML, 0);
+    optPtr->offCodeSum = ZSTD_upscaleStat(optPtr->offCodeFreq, MaxOff, 0);
+}
+
+/* ZSTD_initStats_ultra():
+ * make a first compression pass, just to seed stats with more accurate starting values.
+ * only works on first block, with no dictionary and no ldm.
+ * this function cannot error, hence its constract must be respected.
+ */
+static void
+ZSTD_initStats_ultra(ZSTD_matchState_t* ms,
+                     seqStore_t* seqStore,
+                     U32 rep[ZSTD_REP_NUM],
+               const void* src, size_t srcSize)
+{
+    U32 tmpRep[ZSTD_REP_NUM];  /* updated rep codes will sink here */
+    memcpy(tmpRep, rep, sizeof(tmpRep));
+
+    DEBUGLOG(4, "ZSTD_initStats_ultra (srcSize=%zu)", srcSize);
+    assert(ms->opt.litLengthSum == 0);    /* first block */
+    assert(seqStore->sequences == seqStore->sequencesStart);   /* no ldm */
+    assert(ms->window.dictLimit == ms->window.lowLimit);   /* no dictionary */
+    assert(ms->window.dictLimit - ms->nextToUpdate <= 1);  /* no prefix (note: intentional overflow, defined as 2-complement) */
+
+    ZSTD_compressBlock_opt_generic(ms, seqStore, tmpRep, src, srcSize, 2 /*optLevel*/, ZSTD_noDict);   /* generate stats into ms->opt*/
+
+    /* invalidate first scan from history */
+    ZSTD_resetSeqStore(seqStore);
+    ms->window.base -= srcSize;
+    ms->window.dictLimit += (U32)srcSize;
+    ms->window.lowLimit = ms->window.dictLimit;
+    ms->nextToUpdate = ms->window.dictLimit;
+    ms->nextToUpdate3 = ms->window.dictLimit;
+
+    /* re-inforce weight of collected statistics */
+    ZSTD_upscaleStats(&ms->opt);
 }
 
 size_t ZSTD_compressBlock_btultra(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        const void* src, size_t srcSize)
+{
+    DEBUGLOG(5, "ZSTD_compressBlock_btultra (srcSize=%zu)", srcSize);
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 2 /*optLevel*/, ZSTD_noDict);
+}
+
+size_t ZSTD_compressBlock_btultra2(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        const void* src, size_t srcSize)
+{
+    U32 const current = (U32)((const BYTE*)src - ms->window.base);
+    DEBUGLOG(5, "ZSTD_compressBlock_btultra2 (srcSize=%zu)", srcSize);
+
+    /* 2-pass strategy:
+     * this strategy makes a first pass over first block to collect statistics
+     * and seed next round's statistics with it.
+     * After 1st pass, function forgets everything, and starts a new block.
+     * Consequently, this can only work if no data has been previously loaded in tables,
+     * aka, no dictionary, no prefix, no ldm preprocessing.
+     * The compression ratio gain is generally small (~0.5% on first block),
+     * the cost is 2x cpu time on first block. */
+    assert(srcSize <= ZSTD_BLOCKSIZE_MAX);
+    if ( (ms->opt.litLengthSum==0)   /* first block */
+      && (seqStore->sequences == seqStore->sequencesStart)  /* no ldm */
+      && (ms->window.dictLimit == ms->window.lowLimit)   /* no dictionary */
+      && (current == ms->window.dictLimit)   /* start of frame, nothing already loaded nor skipped */
+      && (srcSize > ZSTD_PREDEF_THRESHOLD)
+      ) {
+        ZSTD_initStats_ultra(ms, seqStore, rep, src, srcSize);
+    }
+
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 2 /*optLevel*/, ZSTD_noDict);
+}
+
+size_t ZSTD_compressBlock_btopt_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        const void* src, size_t srcSize)
+{
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 0 /*optLevel*/, ZSTD_dictMatchState);
+}
+
+size_t ZSTD_compressBlock_btultra_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        const void* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, cParams, src, srcSize, 2 /*optLevel*/, 0 /*extDict*/);
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 2 /*optLevel*/, ZSTD_dictMatchState);
 }
 
 size_t ZSTD_compressBlock_btopt_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        const void* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, cParams, src, srcSize, 0 /*optLevel*/, 1 /*extDict*/);
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 0 /*optLevel*/, ZSTD_extDict);
 }
 
 size_t ZSTD_compressBlock_btultra_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize)
+        const void* src, size_t srcSize)
 {
-    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, cParams, src, srcSize, 2 /*optLevel*/, 1 /*extDict*/);
+    return ZSTD_compressBlock_opt_generic(ms, seqStore, rep, src, srcSize, 2 /*optLevel*/, ZSTD_extDict);
 }
+
+/* note : no btultra2 variant for extDict nor dictMatchState,
+ * because btultra2 is not meant to work with dictionaries
+ * and is only specific for the first block (no prefix) */
diff --git a/thirdparty/zstd/compress/zstd_opt.h b/thirdparty/zstd/compress/zstd_opt.h
index b8dc389f31..094f747665 100644
--- a/thirdparty/zstd/compress/zstd_opt.h
+++ b/thirdparty/zstd/compress/zstd_opt.h
@@ -17,23 +17,37 @@ extern "C" {
 
 #include "zstd_compress_internal.h"
 
-void ZSTD_updateTree(
-        ZSTD_matchState_t* ms, ZSTD_compressionParameters const* cParams,
-        const BYTE* ip, const BYTE* iend);  /* used in ZSTD_loadDictionaryContent() */
+/* used in ZSTD_loadDictionaryContent() */
+void ZSTD_updateTree(ZSTD_matchState_t* ms, const BYTE* ip, const BYTE* iend);
 
 size_t ZSTD_compressBlock_btopt(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_btultra(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_btultra2(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
+
+
+size_t ZSTD_compressBlock_btopt_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
+size_t ZSTD_compressBlock_btultra_dictMatchState(
+        ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
+        void const* src, size_t srcSize);
 
 size_t ZSTD_compressBlock_btopt_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
 size_t ZSTD_compressBlock_btultra_extDict(
         ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM],
-        ZSTD_compressionParameters const* cParams, void const* src, size_t srcSize);
+        void const* src, size_t srcSize);
+
+        /* note : no btultra2 variant for extDict nor dictMatchState,
+         * because btultra2 is not meant to work with dictionaries
+         * and is only specific for the first block (no prefix) */
 
 #if defined (__cplusplus)
 }
diff --git a/thirdparty/zstd/compress/zstdmt_compress.c b/thirdparty/zstd/compress/zstdmt_compress.c
index c7a205d8c7..2cbd6ffade 100644
--- a/thirdparty/zstd/compress/zstdmt_compress.c
+++ b/thirdparty/zstd/compress/zstdmt_compress.c
@@ -9,21 +9,19 @@
  */
 
 
-/* ======   Tuning parameters   ====== */
-#define ZSTDMT_NBWORKERS_MAX 200
-#define ZSTDMT_JOBSIZE_MAX  (MEM_32bits() ? (512 MB) : (2 GB))  /* note : limited by `jobSize` type, which is `unsigned` */
-#define ZSTDMT_OVERLAPLOG_DEFAULT 6
-
-
 /* ======   Compiler specifics   ====== */
 #if defined(_MSC_VER)
 #  pragma warning(disable : 4204)   /* disable: C4204: non-constant aggregate initializer */
 #endif
 
 
+/* ======   Constants   ====== */
+#define ZSTDMT_OVERLAPLOG_DEFAULT 0
+
+
 /* ======   Dependencies   ====== */
 #include <string.h>      /* memcpy, memset */
-#include <limits.h>      /* INT_MAX */
+#include <limits.h>      /* INT_MAX, UINT_MAX */
 #include "pool.h"        /* threadpool */
 #include "threading.h"   /* mutex */
 #include "zstd_compress_internal.h"  /* MIN, ERROR, ZSTD_*, ZSTD_highbit32 */
@@ -37,18 +35,19 @@
 #define ZSTD_RESIZE_SEQPOOL 0
 
 /* ======   Debug   ====== */
-#if defined(ZSTD_DEBUG) && (ZSTD_DEBUG>=2)
+#if defined(DEBUGLEVEL) && (DEBUGLEVEL>=2) \
+    && !defined(_MSC_VER) \
+    && !defined(__MINGW32__)
 
 #  include <stdio.h>
 #  include <unistd.h>
 #  include <sys/times.h>
-#  define DEBUGLOGRAW(l, ...) if (l<=ZSTD_DEBUG) { fprintf(stderr, __VA_ARGS__); }
 
 #  define DEBUG_PRINTHEX(l,p,n) {            \
     unsigned debug_u;                        \
     for (debug_u=0; debug_u<(n); debug_u++)  \
-        DEBUGLOGRAW(l, "%02X ", ((const unsigned char*)(p))[debug_u]); \
-    DEBUGLOGRAW(l, " \n");                   \
+        RAWLOG(l, "%02X ", ((const unsigned char*)(p))[debug_u]); \
+    RAWLOG(l, " \n");                        \
 }
 
 static unsigned long long GetCurrentClockTimeMicroseconds(void)
@@ -56,13 +55,13 @@ static unsigned long long GetCurrentClockTimeMicroseconds(void)
    static clock_t _ticksPerSecond = 0;
    if (_ticksPerSecond <= 0) _ticksPerSecond = sysconf(_SC_CLK_TCK);
 
-   { struct tms junk; clock_t newTicks = (clock_t) times(&junk);
-     return ((((unsigned long long)newTicks)*(1000000))/_ticksPerSecond); }
-}
+   {   struct tms junk; clock_t newTicks = (clock_t) times(&junk);
+       return ((((unsigned long long)newTicks)*(1000000))/_ticksPerSecond);
+}  }
 
 #define MUTEX_WAIT_TIME_DLEVEL 6
 #define ZSTD_PTHREAD_MUTEX_LOCK(mutex) {          \
-    if (ZSTD_DEBUG >= MUTEX_WAIT_TIME_DLEVEL) {   \
+    if (DEBUGLEVEL >= MUTEX_WAIT_TIME_DLEVEL) {   \
         unsigned long long const beforeTime = GetCurrentClockTimeMicroseconds(); \
         ZSTD_pthread_mutex_lock(mutex);           \
         {   unsigned long long const afterTime = GetCurrentClockTimeMicroseconds(); \
@@ -160,6 +159,25 @@ static void ZSTDMT_setBufferSize(ZSTDMT_bufferPool* const bufPool, size_t const
     ZSTD_pthread_mutex_unlock(&bufPool->poolMutex);
 }
 
+
+static ZSTDMT_bufferPool* ZSTDMT_expandBufferPool(ZSTDMT_bufferPool* srcBufPool, U32 nbWorkers)
+{
+    unsigned const maxNbBuffers = 2*nbWorkers + 3;
+    if (srcBufPool==NULL) return NULL;
+    if (srcBufPool->totalBuffers >= maxNbBuffers) /* good enough */
+        return srcBufPool;
+    /* need a larger buffer pool */
+    {   ZSTD_customMem const cMem = srcBufPool->cMem;
+        size_t const bSize = srcBufPool->bufferSize;   /* forward parameters */
+        ZSTDMT_bufferPool* newBufPool;
+        ZSTDMT_freeBufferPool(srcBufPool);
+        newBufPool = ZSTDMT_createBufferPool(nbWorkers, cMem);
+        if (newBufPool==NULL) return newBufPool;
+        ZSTDMT_setBufferSize(newBufPool, bSize);
+        return newBufPool;
+    }
+}
+
 /** ZSTDMT_getBuffer() :
  *  assumption : bufPool must be valid
  * @return : a buffer, with start pointer and size
@@ -229,8 +247,8 @@ static buffer_t ZSTDMT_resizeBuffer(ZSTDMT_bufferPool* bufPool, buffer_t buffer)
 /* store buffer for later re-use, up to pool capacity */
 static void ZSTDMT_releaseBuffer(ZSTDMT_bufferPool* bufPool, buffer_t buf)
 {
-    if (buf.start == NULL) return;   /* compatible with release on NULL */
     DEBUGLOG(5, "ZSTDMT_releaseBuffer");
+    if (buf.start == NULL) return;   /* compatible with release on NULL */
     ZSTD_pthread_mutex_lock(&bufPool->poolMutex);
     if (bufPool->nbBuffers < bufPool->totalBuffers) {
         bufPool->bTable[bufPool->nbBuffers++] = buf;  /* stored for later use */
@@ -300,7 +318,8 @@ static void ZSTDMT_setNbSeq(ZSTDMT_seqPool* const seqPool, size_t const nbSeq)
 
 static ZSTDMT_seqPool* ZSTDMT_createSeqPool(unsigned nbWorkers, ZSTD_customMem cMem)
 {
-    ZSTDMT_seqPool* seqPool = ZSTDMT_createBufferPool(nbWorkers, cMem);
+    ZSTDMT_seqPool* const seqPool = ZSTDMT_createBufferPool(nbWorkers, cMem);
+    if (seqPool == NULL) return NULL;
     ZSTDMT_setNbSeq(seqPool, 0);
     return seqPool;
 }
@@ -310,6 +329,10 @@ static void ZSTDMT_freeSeqPool(ZSTDMT_seqPool* seqPool)
     ZSTDMT_freeBufferPool(seqPool);
 }
 
+static ZSTDMT_seqPool* ZSTDMT_expandSeqPool(ZSTDMT_seqPool* pool, U32 nbWorkers)
+{
+    return ZSTDMT_expandBufferPool(pool, nbWorkers);
+}
 
 
 /* =====   CCtx Pool   ===== */
@@ -317,8 +340,8 @@ static void ZSTDMT_freeSeqPool(ZSTDMT_seqPool* seqPool)
 
 typedef struct {
     ZSTD_pthread_mutex_t poolMutex;
-    unsigned totalCCtx;
-    unsigned availCCtx;
+    int totalCCtx;
+    int availCCtx;
     ZSTD_customMem cMem;
     ZSTD_CCtx* cctx[1];   /* variable size */
 } ZSTDMT_CCtxPool;
@@ -326,16 +349,16 @@ typedef struct {
 /* note : all CCtx borrowed from the pool should be released back to the pool _before_ freeing the pool */
 static void ZSTDMT_freeCCtxPool(ZSTDMT_CCtxPool* pool)
 {
-    unsigned u;
-    for (u=0; u<pool->totalCCtx; u++)
-        ZSTD_freeCCtx(pool->cctx[u]);  /* note : compatible with free on NULL */
+    int cid;
+    for (cid=0; cid<pool->totalCCtx; cid++)
+        ZSTD_freeCCtx(pool->cctx[cid]);  /* note : compatible with free on NULL */
     ZSTD_pthread_mutex_destroy(&pool->poolMutex);
     ZSTD_free(pool, pool->cMem);
 }
 
 /* ZSTDMT_createCCtxPool() :
  * implies nbWorkers >= 1 , checked by caller ZSTDMT_createCCtx() */
-static ZSTDMT_CCtxPool* ZSTDMT_createCCtxPool(unsigned nbWorkers,
+static ZSTDMT_CCtxPool* ZSTDMT_createCCtxPool(int nbWorkers,
                                               ZSTD_customMem cMem)
 {
     ZSTDMT_CCtxPool* const cctxPool = (ZSTDMT_CCtxPool*) ZSTD_calloc(
@@ -355,6 +378,18 @@ static ZSTDMT_CCtxPool* ZSTDMT_createCCtxPool(unsigned nbWorkers,
     return cctxPool;
 }
 
+static ZSTDMT_CCtxPool* ZSTDMT_expandCCtxPool(ZSTDMT_CCtxPool* srcPool,
+                                              int nbWorkers)
+{
+    if (srcPool==NULL) return NULL;
+    if (nbWorkers <= srcPool->totalCCtx) return srcPool;   /* good enough */
+    /* need a larger cctx pool */
+    {   ZSTD_customMem const cMem = srcPool->cMem;
+        ZSTDMT_freeCCtxPool(srcPool);
+        return ZSTDMT_createCCtxPool(nbWorkers, cMem);
+    }
+}
+
 /* only works during initialization phase, not during compression */
 static size_t ZSTDMT_sizeof_CCtxPool(ZSTDMT_CCtxPool* cctxPool)
 {
@@ -425,17 +460,16 @@ typedef struct {
     ZSTD_window_t ldmWindow;  /* A thread-safe copy of ldmState.window */
 } serialState_t;
 
-static int ZSTDMT_serialState_reset(serialState_t* serialState, ZSTDMT_seqPool* seqPool, ZSTD_CCtx_params params)
+static int ZSTDMT_serialState_reset(serialState_t* serialState, ZSTDMT_seqPool* seqPool, ZSTD_CCtx_params params, size_t jobSize)
 {
     /* Adjust parameters */
     if (params.ldmParams.enableLdm) {
         DEBUGLOG(4, "LDM window size = %u KB", (1U << params.cParams.windowLog) >> 10);
-        params.ldmParams.windowLog = params.cParams.windowLog;
         ZSTD_ldm_adjustParameters(&params.ldmParams, &params.cParams);
         assert(params.ldmParams.hashLog >= params.ldmParams.bucketSizeLog);
-        assert(params.ldmParams.hashEveryLog < 32);
+        assert(params.ldmParams.hashRateLog < 32);
         serialState->ldmState.hashPower =
-                ZSTD_ldm_getHashPower(params.ldmParams.minMatchLength);
+                ZSTD_rollingHash_primePower(params.ldmParams.minMatchLength);
     } else {
         memset(&params.ldmParams, 0, sizeof(params.ldmParams));
     }
@@ -453,7 +487,7 @@ static int ZSTDMT_serialState_reset(serialState_t* serialState, ZSTDMT_seqPool*
             serialState->params.ldmParams.hashLog -
             serialState->params.ldmParams.bucketSizeLog;
         /* Size the seq pool tables */
-        ZSTDMT_setNbSeq(seqPool, ZSTD_ldm_getMaxNbSeq(params.ldmParams, params.jobSize));
+        ZSTDMT_setNbSeq(seqPool, ZSTD_ldm_getMaxNbSeq(params.ldmParams, jobSize));
         /* Reset the window */
         ZSTD_window_clear(&serialState->ldmState.window);
         serialState->ldmWindow = serialState->ldmState.window;
@@ -473,6 +507,7 @@ static int ZSTDMT_serialState_reset(serialState_t* serialState, ZSTDMT_seqPool*
         memset(serialState->ldmState.bucketOffsets, 0, bucketSize);
     }
     serialState->params = params;
+    serialState->params.jobSize = (U32)jobSize;
     return 0;
 }
 
@@ -505,6 +540,7 @@ static void ZSTDMT_serialState_update(serialState_t* serialState,
     /* Wait for our turn */
     ZSTD_PTHREAD_MUTEX_LOCK(&serialState->mutex);
     while (serialState->nextJobID < jobID) {
+        DEBUGLOG(5, "wait for serialState->cond");
         ZSTD_pthread_cond_wait(&serialState->cond, &serialState->mutex);
     }
     /* A future job may error and skip our job */
@@ -514,6 +550,7 @@ static void ZSTDMT_serialState_update(serialState_t* serialState,
             size_t error;
             assert(seqStore.seq != NULL && seqStore.pos == 0 &&
                    seqStore.size == 0 && seqStore.capacity > 0);
+            assert(src.size <= serialState->params.jobSize);
             ZSTD_window_update(&serialState->ldmState.window, src.start, src.size);
             error = ZSTD_ldm_generateSequences(
                 &serialState->ldmState, &seqStore,
@@ -593,14 +630,32 @@ typedef struct {
     unsigned frameChecksumNeeded;        /* used only by mtctx */
 } ZSTDMT_jobDescription;
 
+#define JOB_ERROR(e) {                          \
+    ZSTD_PTHREAD_MUTEX_LOCK(&job->job_mutex);   \
+    job->cSize = e;                             \
+    ZSTD_pthread_mutex_unlock(&job->job_mutex); \
+    goto _endJob;                               \
+}
+
 /* ZSTDMT_compressionJob() is a POOL_function type */
-void ZSTDMT_compressionJob(void* jobDescription)
+static void ZSTDMT_compressionJob(void* jobDescription)
 {
     ZSTDMT_jobDescription* const job = (ZSTDMT_jobDescription*)jobDescription;
     ZSTD_CCtx_params jobParams = job->params;   /* do not modify job->params ! copy it, modify the copy */
     ZSTD_CCtx* const cctx = ZSTDMT_getCCtx(job->cctxPool);
     rawSeqStore_t rawSeqStore = ZSTDMT_getSeq(job->seqPool);
     buffer_t dstBuff = job->dstBuff;
+    size_t lastCBlockSize = 0;
+
+    /* ressources */
+    if (cctx==NULL) JOB_ERROR(ERROR(memory_allocation));
+    if (dstBuff.start == NULL) {   /* streaming job : doesn't provide a dstBuffer */
+        dstBuff = ZSTDMT_getBuffer(job->bufPool);
+        if (dstBuff.start==NULL) JOB_ERROR(ERROR(memory_allocation));
+        job->dstBuff = dstBuff;   /* this value can be read in ZSTDMT_flush, when it copies the whole job */
+    }
+    if (jobParams.ldmParams.enableLdm && rawSeqStore.seq == NULL)
+        JOB_ERROR(ERROR(memory_allocation));
 
     /* Don't compute the checksum for chunks, since we compute it externally,
      * but write it in the header.
@@ -609,47 +664,31 @@ void ZSTDMT_compressionJob(void* jobDescription)
     /* Don't run LDM for the chunks, since we handle it externally */
     jobParams.ldmParams.enableLdm = 0;
 
-    /* ressources */
-    if (cctx==NULL) {
-        job->cSize = ERROR(memory_allocation);
-        goto _endJob;
-    }
-    if (dstBuff.start == NULL) {   /* streaming job : doesn't provide a dstBuffer */
-        dstBuff = ZSTDMT_getBuffer(job->bufPool);
-        if (dstBuff.start==NULL) {
-            job->cSize = ERROR(memory_allocation);
-            goto _endJob;
-        }
-        job->dstBuff = dstBuff;   /* this value can be read in ZSTDMT_flush, when it copies the whole job */
-    }
 
     /* init */
     if (job->cdict) {
-        size_t const initError = ZSTD_compressBegin_advanced_internal(cctx, NULL, 0, ZSTD_dct_auto, job->cdict, jobParams, job->fullFrameSize);
+        size_t const initError = ZSTD_compressBegin_advanced_internal(cctx, NULL, 0, ZSTD_dct_auto, ZSTD_dtlm_fast, job->cdict, jobParams, job->fullFrameSize);
         assert(job->firstJob);  /* only allowed for first job */
-        if (ZSTD_isError(initError)) { job->cSize = initError; goto _endJob; }
+        if (ZSTD_isError(initError)) JOB_ERROR(initError);
     } else {  /* srcStart points at reloaded section */
         U64 const pledgedSrcSize = job->firstJob ? job->fullFrameSize : job->src.size;
-        {   size_t const forceWindowError = ZSTD_CCtxParam_setParameter(&jobParams, ZSTD_p_forceMaxWindow, !job->firstJob);
-            if (ZSTD_isError(forceWindowError)) {
-                job->cSize = forceWindowError;
-                goto _endJob;
-        }   }
+        {   size_t const forceWindowError = ZSTD_CCtxParam_setParameter(&jobParams, ZSTD_c_forceMaxWindow, !job->firstJob);
+            if (ZSTD_isError(forceWindowError)) JOB_ERROR(forceWindowError);
+        }
         {   size_t const initError = ZSTD_compressBegin_advanced_internal(cctx,
                                         job->prefix.start, job->prefix.size, ZSTD_dct_rawContent, /* load dictionary in "content-only" mode (no header analysis) */
+                                        ZSTD_dtlm_fast,
                                         NULL, /*cdict*/
                                         jobParams, pledgedSrcSize);
-            if (ZSTD_isError(initError)) {
-                job->cSize = initError;
-                goto _endJob;
-    }   }   }
+            if (ZSTD_isError(initError)) JOB_ERROR(initError);
+    }   }
 
     /* Perform serial step as early as possible, but after CCtx initialization */
     ZSTDMT_serialState_update(job->serial, cctx, rawSeqStore, job->src, job->jobID);
 
     if (!job->firstJob) {  /* flush and overwrite frame header when it's not first job */
         size_t const hSize = ZSTD_compressContinue(cctx, dstBuff.start, dstBuff.capacity, job->src.start, 0);
-        if (ZSTD_isError(hSize)) { job->cSize = hSize; /* save error code */ goto _endJob; }
+        if (ZSTD_isError(hSize)) JOB_ERROR(hSize);
         DEBUGLOG(5, "ZSTDMT_compressionJob: flush and overwrite %u bytes of frame header (not first job)", (U32)hSize);
         ZSTD_invalidateRepCodes(cctx);
     }
@@ -667,7 +706,7 @@ void ZSTDMT_compressionJob(void* jobDescription)
         assert(job->cSize == 0);
         for (chunkNb = 1; chunkNb < nbChunks; chunkNb++) {
             size_t const cSize = ZSTD_compressContinue(cctx, op, oend-op, ip, chunkSize);
-            if (ZSTD_isError(cSize)) { job->cSize = cSize; goto _endJob; }
+            if (ZSTD_isError(cSize)) JOB_ERROR(cSize);
             ip += chunkSize;
             op += cSize; assert(op < oend);
             /* stats */
@@ -680,18 +719,16 @@ void ZSTDMT_compressionJob(void* jobDescription)
             ZSTD_pthread_mutex_unlock(&job->job_mutex);
         }
         /* last block */
-        assert(chunkSize > 0); assert((chunkSize & (chunkSize - 1)) == 0);  /* chunkSize must be power of 2 for mask==(chunkSize-1) to work */
+        assert(chunkSize > 0);
+        assert((chunkSize & (chunkSize - 1)) == 0);  /* chunkSize must be power of 2 for mask==(chunkSize-1) to work */
         if ((nbChunks > 0) | job->lastJob /*must output a "last block" flag*/ ) {
             size_t const lastBlockSize1 = job->src.size & (chunkSize-1);
             size_t const lastBlockSize = ((lastBlockSize1==0) & (job->src.size>=chunkSize)) ? chunkSize : lastBlockSize1;
             size_t const cSize = (job->lastJob) ?
                  ZSTD_compressEnd     (cctx, op, oend-op, ip, lastBlockSize) :
                  ZSTD_compressContinue(cctx, op, oend-op, ip, lastBlockSize);
-            if (ZSTD_isError(cSize)) { job->cSize = cSize; goto _endJob; }
-            /* stats */
-            ZSTD_PTHREAD_MUTEX_LOCK(&job->job_mutex);
-            job->cSize += cSize;
-            ZSTD_pthread_mutex_unlock(&job->job_mutex);
+            if (ZSTD_isError(cSize)) JOB_ERROR(cSize);
+            lastCBlockSize = cSize;
     }   }
 
 _endJob:
@@ -704,7 +741,9 @@ _endJob:
     ZSTDMT_releaseCCtx(job->cctxPool, cctx);
     /* report */
     ZSTD_PTHREAD_MUTEX_LOCK(&job->job_mutex);
-    job->consumed = job->src.size;
+    if (ZSTD_isError(job->cSize)) assert(lastCBlockSize == 0);
+    job->cSize += lastCBlockSize;
+    job->consumed = job->src.size;  /* when job->consumed == job->src.size , compression job is presumed completed */
     ZSTD_pthread_cond_signal(&job->job_cond);
     ZSTD_pthread_mutex_unlock(&job->job_mutex);
 }
@@ -736,6 +775,14 @@ typedef struct {
 
 static const roundBuff_t kNullRoundBuff = {NULL, 0, 0};
 
+#define RSYNC_LENGTH 32
+
+typedef struct {
+  U64 hash;
+  U64 hitMask;
+  U64 primePower;
+} rsyncState_t;
+
 struct ZSTDMT_CCtx_s {
     POOL_ctx* factory;
     ZSTDMT_jobDescription* jobs;
@@ -745,10 +792,11 @@ struct ZSTDMT_CCtx_s {
     ZSTD_CCtx_params params;
     size_t targetSectionSize;
     size_t targetPrefixSize;
-    roundBuff_t roundBuff;
+    int jobReady;        /* 1 => one job is already prepared, but pool has shortage of workers. Don't create a new job. */
     inBuff_t inBuff;
-    int jobReady;        /* 1 => one job is already prepared, but pool has shortage of workers. Don't create another one. */
+    roundBuff_t roundBuff;
     serialState_t serial;
+    rsyncState_t rsync;
     unsigned singleBlockingThread;
     unsigned jobIDMask;
     unsigned doneJobID;
@@ -798,13 +846,27 @@ static ZSTDMT_jobDescription* ZSTDMT_createJobsTable(U32* nbJobsPtr, ZSTD_custom
     return jobTable;
 }
 
+static size_t ZSTDMT_expandJobsTable (ZSTDMT_CCtx* mtctx, U32 nbWorkers) {
+    U32 nbJobs = nbWorkers + 2;
+    if (nbJobs > mtctx->jobIDMask+1) {  /* need more job capacity */
+        ZSTDMT_freeJobsTable(mtctx->jobs, mtctx->jobIDMask+1, mtctx->cMem);
+        mtctx->jobIDMask = 0;
+        mtctx->jobs = ZSTDMT_createJobsTable(&nbJobs, mtctx->cMem);
+        if (mtctx->jobs==NULL) return ERROR(memory_allocation);
+        assert((nbJobs != 0) && ((nbJobs & (nbJobs - 1)) == 0));  /* ensure nbJobs is a power of 2 */
+        mtctx->jobIDMask = nbJobs - 1;
+    }
+    return 0;
+}
+
+
 /* ZSTDMT_CCtxParam_setNbWorkers():
  * Internal use only */
 size_t ZSTDMT_CCtxParam_setNbWorkers(ZSTD_CCtx_params* params, unsigned nbWorkers)
 {
     if (nbWorkers > ZSTDMT_NBWORKERS_MAX) nbWorkers = ZSTDMT_NBWORKERS_MAX;
     params->nbWorkers = nbWorkers;
-    params->overlapSizeLog = ZSTDMT_OVERLAPLOG_DEFAULT;
+    params->overlapLog = ZSTDMT_OVERLAPLOG_DEFAULT;
     params->jobSize = 0;
     return nbWorkers;
 }
@@ -875,7 +937,7 @@ static void ZSTDMT_waitForAllJobsCompleted(ZSTDMT_CCtx* mtctx)
         unsigned const jobID = mtctx->doneJobID & mtctx->jobIDMask;
         ZSTD_PTHREAD_MUTEX_LOCK(&mtctx->jobs[jobID].job_mutex);
         while (mtctx->jobs[jobID].consumed < mtctx->jobs[jobID].src.size) {
-            DEBUGLOG(5, "waiting for jobCompleted signal from job %u", mtctx->doneJobID);   /* we want to block when waiting for data to flush */
+            DEBUGLOG(4, "waiting for jobCompleted signal from job %u", mtctx->doneJobID);   /* we want to block when waiting for data to flush */
             ZSTD_pthread_cond_wait(&mtctx->jobs[jobID].job_cond, &mtctx->jobs[jobID].job_mutex);
         }
         ZSTD_pthread_mutex_unlock(&mtctx->jobs[jobID].job_mutex);
@@ -914,40 +976,64 @@ size_t ZSTDMT_sizeof_CCtx(ZSTDMT_CCtx* mtctx)
 }
 
 /* Internal only */
-size_t ZSTDMT_CCtxParam_setMTCtxParameter(ZSTD_CCtx_params* params,
-                                ZSTDMT_parameter parameter, unsigned value) {
+size_t
+ZSTDMT_CCtxParam_setMTCtxParameter(ZSTD_CCtx_params* params,
+                                   ZSTDMT_parameter parameter,
+                                   int value)
+{
     DEBUGLOG(4, "ZSTDMT_CCtxParam_setMTCtxParameter");
     switch(parameter)
     {
     case ZSTDMT_p_jobSize :
-        DEBUGLOG(4, "ZSTDMT_CCtxParam_setMTCtxParameter : set jobSize to %u", value);
-        if ( (value > 0)  /* value==0 => automatic job size */
-           & (value < ZSTDMT_JOBSIZE_MIN) )
+        DEBUGLOG(4, "ZSTDMT_CCtxParam_setMTCtxParameter : set jobSize to %i", value);
+        if ( value != 0  /* default */
+          && value < ZSTDMT_JOBSIZE_MIN)
             value = ZSTDMT_JOBSIZE_MIN;
+        assert(value >= 0);
+        if (value > ZSTDMT_JOBSIZE_MAX) value = ZSTDMT_JOBSIZE_MAX;
         params->jobSize = value;
         return value;
-    case ZSTDMT_p_overlapSectionLog :
-        if (value > 9) value = 9;
-        DEBUGLOG(4, "ZSTDMT_p_overlapSectionLog : %u", value);
-        params->overlapSizeLog = (value >= 9) ? 9 : value;
+
+    case ZSTDMT_p_overlapLog :
+        DEBUGLOG(4, "ZSTDMT_p_overlapLog : %i", value);
+        if (value < ZSTD_OVERLAPLOG_MIN) value = ZSTD_OVERLAPLOG_MIN;
+        if (value > ZSTD_OVERLAPLOG_MAX) value = ZSTD_OVERLAPLOG_MAX;
+        params->overlapLog = value;
+        return value;
+
+    case ZSTDMT_p_rsyncable :
+        value = (value != 0);
+        params->rsyncable = value;
         return value;
+
     default :
         return ERROR(parameter_unsupported);
     }
 }
 
-size_t ZSTDMT_setMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, unsigned value)
+size_t ZSTDMT_setMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, int value)
 {
     DEBUGLOG(4, "ZSTDMT_setMTCtxParameter");
-    switch(parameter)
-    {
-    case ZSTDMT_p_jobSize :
-        return ZSTDMT_CCtxParam_setMTCtxParameter(&mtctx->params, parameter, value);
-    case ZSTDMT_p_overlapSectionLog :
-        return ZSTDMT_CCtxParam_setMTCtxParameter(&mtctx->params, parameter, value);
-    default :
+    return ZSTDMT_CCtxParam_setMTCtxParameter(&mtctx->params, parameter, value);
+}
+
+size_t ZSTDMT_getMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, int* value)
+{
+    switch (parameter) {
+    case ZSTDMT_p_jobSize:
+        assert(mtctx->params.jobSize <= INT_MAX);
+        *value = (int)(mtctx->params.jobSize);
+        break;
+    case ZSTDMT_p_overlapLog:
+        *value = mtctx->params.overlapLog;
+        break;
+    case ZSTDMT_p_rsyncable:
+        *value = mtctx->params.rsyncable;
+        break;
+    default:
         return ERROR(parameter_unsupported);
     }
+    return 0;
 }
 
 /* Sets parameters relevant to the compression job,
@@ -960,13 +1046,30 @@ static ZSTD_CCtx_params ZSTDMT_initJobCCtxParams(ZSTD_CCtx_params const params)
     jobParams.cParams = params.cParams;
     jobParams.fParams = params.fParams;
     jobParams.compressionLevel = params.compressionLevel;
-    jobParams.disableLiteralCompression = params.disableLiteralCompression;
 
     return jobParams;
 }
 
+
+/* ZSTDMT_resize() :
+ * @return : error code if fails, 0 on success */
+static size_t ZSTDMT_resize(ZSTDMT_CCtx* mtctx, unsigned nbWorkers)
+{
+    if (POOL_resize(mtctx->factory, nbWorkers)) return ERROR(memory_allocation);
+    CHECK_F( ZSTDMT_expandJobsTable(mtctx, nbWorkers) );
+    mtctx->bufPool = ZSTDMT_expandBufferPool(mtctx->bufPool, nbWorkers);
+    if (mtctx->bufPool == NULL) return ERROR(memory_allocation);
+    mtctx->cctxPool = ZSTDMT_expandCCtxPool(mtctx->cctxPool, nbWorkers);
+    if (mtctx->cctxPool == NULL) return ERROR(memory_allocation);
+    mtctx->seqPool = ZSTDMT_expandSeqPool(mtctx->seqPool, nbWorkers);
+    if (mtctx->seqPool == NULL) return ERROR(memory_allocation);
+    ZSTDMT_CCtxParam_setNbWorkers(&mtctx->params, nbWorkers);
+    return 0;
+}
+
+
 /*! ZSTDMT_updateCParams_whileCompressing() :
- *  Updates only a selected set of compression parameters, to remain compatible with current frame.
+ *  Updates a selected set of compression parameters, remaining compatible with currently active frame.
  *  New parameters will be applied to next compression job. */
 void ZSTDMT_updateCParams_whileCompressing(ZSTDMT_CCtx* mtctx, const ZSTD_CCtx_params* cctxParams)
 {
@@ -981,38 +1084,36 @@ void ZSTDMT_updateCParams_whileCompressing(ZSTDMT_CCtx* mtctx, const ZSTD_CCtx_p
     }
 }
 
-/* ZSTDMT_getNbWorkers():
- * @return nb threads currently active in mtctx.
- * mtctx must be valid */
-unsigned ZSTDMT_getNbWorkers(const ZSTDMT_CCtx* mtctx)
-{
-    assert(mtctx != NULL);
-    return mtctx->params.nbWorkers;
-}
-
 /* ZSTDMT_getFrameProgression():
  * tells how much data has been consumed (input) and produced (output) for current frame.
  * able to count progression inside worker threads.
- * Note : mutex will be acquired during statistics collection. */
+ * Note : mutex will be acquired during statistics collection inside workers. */
 ZSTD_frameProgression ZSTDMT_getFrameProgression(ZSTDMT_CCtx* mtctx)
 {
     ZSTD_frameProgression fps;
-    DEBUGLOG(6, "ZSTDMT_getFrameProgression");
-    fps.consumed = mtctx->consumed;
-    fps.produced = mtctx->produced;
+    DEBUGLOG(5, "ZSTDMT_getFrameProgression");
     fps.ingested = mtctx->consumed + mtctx->inBuff.filled;
+    fps.consumed = mtctx->consumed;
+    fps.produced = fps.flushed = mtctx->produced;
+    fps.currentJobID = mtctx->nextJobID;
+    fps.nbActiveWorkers = 0;
     {   unsigned jobNb;
         unsigned lastJobNb = mtctx->nextJobID + mtctx->jobReady; assert(mtctx->jobReady <= 1);
         DEBUGLOG(6, "ZSTDMT_getFrameProgression: jobs: from %u to <%u (jobReady:%u)",
                     mtctx->doneJobID, lastJobNb, mtctx->jobReady)
         for (jobNb = mtctx->doneJobID ; jobNb < lastJobNb ; jobNb++) {
             unsigned const wJobID = jobNb & mtctx->jobIDMask;
-            ZSTD_pthread_mutex_lock(&mtctx->jobs[wJobID].job_mutex);
-            {   size_t const cResult = mtctx->jobs[wJobID].cSize;
+            ZSTDMT_jobDescription* jobPtr = &mtctx->jobs[wJobID];
+            ZSTD_pthread_mutex_lock(&jobPtr->job_mutex);
+            {   size_t const cResult = jobPtr->cSize;
                 size_t const produced = ZSTD_isError(cResult) ? 0 : cResult;
-                fps.consumed += mtctx->jobs[wJobID].consumed;
-                fps.ingested += mtctx->jobs[wJobID].src.size;
+                size_t const flushed = ZSTD_isError(cResult) ? 0 : jobPtr->dstFlushed;
+                assert(flushed <= produced);
+                fps.ingested += jobPtr->src.size;
+                fps.consumed += jobPtr->consumed;
                 fps.produced += produced;
+                fps.flushed  += flushed;
+                fps.nbActiveWorkers += (jobPtr->consumed < jobPtr->src.size);
             }
             ZSTD_pthread_mutex_unlock(&mtctx->jobs[wJobID].job_mutex);
         }
@@ -1021,26 +1122,98 @@ ZSTD_frameProgression ZSTDMT_getFrameProgression(ZSTDMT_CCtx* mtctx)
 }
 
 
+size_t ZSTDMT_toFlushNow(ZSTDMT_CCtx* mtctx)
+{
+    size_t toFlush;
+    unsigned const jobID = mtctx->doneJobID;
+    assert(jobID <= mtctx->nextJobID);
+    if (jobID == mtctx->nextJobID) return 0;   /* no active job => nothing to flush */
+
+    /* look into oldest non-fully-flushed job */
+    {   unsigned const wJobID = jobID & mtctx->jobIDMask;
+        ZSTDMT_jobDescription* const jobPtr = &mtctx->jobs[wJobID];
+        ZSTD_pthread_mutex_lock(&jobPtr->job_mutex);
+        {   size_t const cResult = jobPtr->cSize;
+            size_t const produced = ZSTD_isError(cResult) ? 0 : cResult;
+            size_t const flushed = ZSTD_isError(cResult) ? 0 : jobPtr->dstFlushed;
+            assert(flushed <= produced);
+            toFlush = produced - flushed;
+            if (toFlush==0 && (jobPtr->consumed >= jobPtr->src.size)) {
+                /* doneJobID is not-fully-flushed, but toFlush==0 : doneJobID should be compressing some more data */
+                assert(jobPtr->consumed < jobPtr->src.size);
+            }
+        }
+        ZSTD_pthread_mutex_unlock(&mtctx->jobs[wJobID].job_mutex);
+    }
+
+    return toFlush;
+}
+
+
 /* ------------------------------------------ */
 /* =====   Multi-threaded compression   ===== */
 /* ------------------------------------------ */
 
-static size_t ZSTDMT_computeTargetJobLog(ZSTD_CCtx_params const params)
+static unsigned ZSTDMT_computeTargetJobLog(ZSTD_CCtx_params const params)
 {
     if (params.ldmParams.enableLdm)
+        /* In Long Range Mode, the windowLog is typically oversized.
+         * In which case, it's preferable to determine the jobSize
+         * based on chainLog instead. */
         return MAX(21, params.cParams.chainLog + 4);
     return MAX(20, params.cParams.windowLog + 2);
 }
 
-static size_t ZSTDMT_computeOverlapLog(ZSTD_CCtx_params const params)
+static int ZSTDMT_overlapLog_default(ZSTD_strategy strat)
 {
-    unsigned const overlapRLog = (params.overlapSizeLog>9) ? 0 : 9-params.overlapSizeLog;
-    if (params.ldmParams.enableLdm)
-        return (MIN(params.cParams.windowLog, ZSTDMT_computeTargetJobLog(params) - 2) - overlapRLog);
-    return overlapRLog >= 9 ? 0 : (params.cParams.windowLog - overlapRLog);
+    switch(strat)
+    {
+        case ZSTD_btultra2:
+            return 9;
+        case ZSTD_btultra:
+        case ZSTD_btopt:
+            return 8;
+        case ZSTD_btlazy2:
+        case ZSTD_lazy2:
+            return 7;
+        case ZSTD_lazy:
+        case ZSTD_greedy:
+        case ZSTD_dfast:
+        case ZSTD_fast:
+        default:;
+    }
+    return 6;
+}
+
+static int ZSTDMT_overlapLog(int ovlog, ZSTD_strategy strat)
+{
+    assert(0 <= ovlog && ovlog <= 9);
+    if (ovlog == 0) return ZSTDMT_overlapLog_default(strat);
+    return ovlog;
+}
+
+static size_t ZSTDMT_computeOverlapSize(ZSTD_CCtx_params const params)
+{
+    int const overlapRLog = 9 - ZSTDMT_overlapLog(params.overlapLog, params.cParams.strategy);
+    int ovLog = (overlapRLog >= 8) ? 0 : (params.cParams.windowLog - overlapRLog);
+    assert(0 <= overlapRLog && overlapRLog <= 8);
+    if (params.ldmParams.enableLdm) {
+        /* In Long Range Mode, the windowLog is typically oversized.
+         * In which case, it's preferable to determine the jobSize
+         * based on chainLog instead.
+         * Then, ovLog becomes a fraction of the jobSize, rather than windowSize */
+        ovLog = MIN(params.cParams.windowLog, ZSTDMT_computeTargetJobLog(params) - 2)
+                - overlapRLog;
+    }
+    assert(0 <= ovLog && ovLog <= 30);
+    DEBUGLOG(4, "overlapLog : %i", params.overlapLog);
+    DEBUGLOG(4, "overlap size : %i", 1 << ovLog);
+    return (ovLog==0) ? 0 : (size_t)1 << ovLog;
 }
 
-static unsigned ZSTDMT_computeNbJobs(ZSTD_CCtx_params params, size_t srcSize, unsigned nbWorkers) {
+static unsigned
+ZSTDMT_computeNbJobs(ZSTD_CCtx_params params, size_t srcSize, unsigned nbWorkers)
+{
     assert(nbWorkers>0);
     {   size_t const jobSizeTarget = (size_t)1 << ZSTDMT_computeTargetJobLog(params);
         size_t const jobMaxSize = jobSizeTarget << 2;
@@ -1063,7 +1236,7 @@ static size_t ZSTDMT_compress_advanced_internal(
                 ZSTD_CCtx_params params)
 {
     ZSTD_CCtx_params const jobParams = ZSTDMT_initJobCCtxParams(params);
-    size_t const overlapSize = (size_t)1 << ZSTDMT_computeOverlapLog(params);
+    size_t const overlapSize = ZSTDMT_computeOverlapSize(params);
     unsigned const nbJobs = ZSTDMT_computeNbJobs(params, srcSize, params.nbWorkers);
     size_t const proposedJobSize = (srcSize + (nbJobs-1)) / nbJobs;
     size_t const avgJobSize = (((proposedJobSize-1) & 0x1FFFF) < 0x7FFF) ? proposedJobSize + 0xFFFF : proposedJobSize;   /* avoid too small last block */
@@ -1087,18 +1260,10 @@ static size_t ZSTDMT_compress_advanced_internal(
 
     assert(avgJobSize >= 256 KB);  /* condition for ZSTD_compressBound(A) + ZSTD_compressBound(B) <= ZSTD_compressBound(A+B), required to compress directly into Dst (no additional buffer) */
     ZSTDMT_setBufferSize(mtctx->bufPool, ZSTD_compressBound(avgJobSize) );
-    if (ZSTDMT_serialState_reset(&mtctx->serial, mtctx->seqPool, params))
+    if (ZSTDMT_serialState_reset(&mtctx->serial, mtctx->seqPool, params, avgJobSize))
         return ERROR(memory_allocation);
 
-    if (nbJobs > mtctx->jobIDMask+1) {  /* enlarge job table */
-        U32 jobsTableSize = nbJobs;
-        ZSTDMT_freeJobsTable(mtctx->jobs, mtctx->jobIDMask+1, mtctx->cMem);
-        mtctx->jobIDMask = 0;
-        mtctx->jobs = ZSTDMT_createJobsTable(&jobsTableSize, mtctx->cMem);
-        if (mtctx->jobs==NULL) return ERROR(memory_allocation);
-        assert((jobsTableSize != 0) && ((jobsTableSize & (jobsTableSize - 1)) == 0));  /* ensure jobsTableSize is a power of 2 */
-        mtctx->jobIDMask = jobsTableSize - 1;
-    }
+    CHECK_F( ZSTDMT_expandJobsTable(mtctx, nbJobs) );  /* only expands if necessary */
 
     {   unsigned u;
         for (u=0; u<nbJobs; u++) {
@@ -1182,16 +1347,17 @@ static size_t ZSTDMT_compress_advanced_internal(
 }
 
 size_t ZSTDMT_compress_advanced(ZSTDMT_CCtx* mtctx,
-                               void* dst, size_t dstCapacity,
-                         const void* src, size_t srcSize,
-                         const ZSTD_CDict* cdict,
-                               ZSTD_parameters params,
-                               unsigned overlapLog)
+                                void* dst, size_t dstCapacity,
+                          const void* src, size_t srcSize,
+                          const ZSTD_CDict* cdict,
+                                ZSTD_parameters params,
+                                int overlapLog)
 {
     ZSTD_CCtx_params cctxParams = mtctx->params;
     cctxParams.cParams = params.cParams;
     cctxParams.fParams = params.fParams;
-    cctxParams.overlapSizeLog = overlapLog;
+    assert(ZSTD_OVERLAPLOG_MIN <= overlapLog && overlapLog <= ZSTD_OVERLAPLOG_MAX);
+    cctxParams.overlapLog = overlapLog;
     return ZSTDMT_compress_advanced_internal(mtctx,
                                              dst, dstCapacity,
                                              src, srcSize,
@@ -1204,8 +1370,8 @@ size_t ZSTDMT_compressCCtx(ZSTDMT_CCtx* mtctx,
                      const void* src, size_t srcSize,
                            int compressionLevel)
 {
-    U32 const overlapLog = (compressionLevel >= ZSTD_maxCLevel()) ? 9 : ZSTDMT_OVERLAPLOG_DEFAULT;
     ZSTD_parameters params = ZSTD_getParams(compressionLevel, srcSize, 0);
+    int const overlapLog = ZSTDMT_overlapLog_default(params.cParams.strategy);
     params.fParams.contentSizeFlag = 1;
     return ZSTDMT_compress_advanced(mtctx, dst, dstCapacity, src, srcSize, NULL, params, overlapLog);
 }
@@ -1221,18 +1387,19 @@ size_t ZSTDMT_initCStream_internal(
         const ZSTD_CDict* cdict, ZSTD_CCtx_params params,
         unsigned long long pledgedSrcSize)
 {
-    DEBUGLOG(4, "ZSTDMT_initCStream_internal (pledgedSrcSize=%u, nbWorkers=%u, cctxPool=%u, disableLiteralCompression=%i)",
-                (U32)pledgedSrcSize, params.nbWorkers, mtctx->cctxPool->totalCCtx, params.disableLiteralCompression);
-    /* params are supposed to be fully validated at this point */
+    DEBUGLOG(4, "ZSTDMT_initCStream_internal (pledgedSrcSize=%u, nbWorkers=%u, cctxPool=%u)",
+                (U32)pledgedSrcSize, params.nbWorkers, mtctx->cctxPool->totalCCtx);
+
+    /* params supposed partially fully validated at this point */
     assert(!ZSTD_isError(ZSTD_checkCParams(params.cParams)));
     assert(!((dict) && (cdict)));  /* either dict or cdict, not both */
-    assert(mtctx->cctxPool->totalCCtx == params.nbWorkers);
 
     /* init */
-    if (params.jobSize == 0) {
-        params.jobSize = 1U << ZSTDMT_computeTargetJobLog(params);
-    }
-    if (params.jobSize > ZSTDMT_JOBSIZE_MAX) params.jobSize = ZSTDMT_JOBSIZE_MAX;
+    if (params.nbWorkers != mtctx->params.nbWorkers)
+        CHECK_F( ZSTDMT_resize(mtctx, params.nbWorkers) );
+
+    if (params.jobSize != 0 && params.jobSize < ZSTDMT_JOBSIZE_MIN) params.jobSize = ZSTDMT_JOBSIZE_MIN;
+    if (params.jobSize > (size_t)ZSTDMT_JOBSIZE_MAX) params.jobSize = ZSTDMT_JOBSIZE_MAX;
 
     mtctx->singleBlockingThread = (pledgedSrcSize <= ZSTDMT_JOBSIZE_MIN);  /* do not trigger multi-threading when srcSize is too small */
     if (mtctx->singleBlockingThread) {
@@ -1267,12 +1434,24 @@ size_t ZSTDMT_initCStream_internal(
         mtctx->cdict = cdict;
     }
 
-    mtctx->targetPrefixSize = (size_t)1 << ZSTDMT_computeOverlapLog(params);
-    DEBUGLOG(4, "overlapLog=%u => %u KB", params.overlapSizeLog, (U32)(mtctx->targetPrefixSize>>10));
+    mtctx->targetPrefixSize = ZSTDMT_computeOverlapSize(params);
+    DEBUGLOG(4, "overlapLog=%i => %u KB", params.overlapLog, (U32)(mtctx->targetPrefixSize>>10));
     mtctx->targetSectionSize = params.jobSize;
-    if (mtctx->targetSectionSize < ZSTDMT_JOBSIZE_MIN) mtctx->targetSectionSize = ZSTDMT_JOBSIZE_MIN;
+    if (mtctx->targetSectionSize == 0) {
+        mtctx->targetSectionSize = 1ULL << ZSTDMT_computeTargetJobLog(params);
+    }
+    if (params.rsyncable) {
+        /* Aim for the targetsectionSize as the average job size. */
+        U32 const jobSizeMB = (U32)(mtctx->targetSectionSize >> 20);
+        U32 const rsyncBits = ZSTD_highbit32(jobSizeMB) + 20;
+        assert(jobSizeMB >= 1);
+        DEBUGLOG(4, "rsyncLog = %u", rsyncBits);
+        mtctx->rsync.hash = 0;
+        mtctx->rsync.hitMask = (1ULL << rsyncBits) - 1;
+        mtctx->rsync.primePower = ZSTD_rollingHash_primePower(RSYNC_LENGTH);
+    }
     if (mtctx->targetSectionSize < mtctx->targetPrefixSize) mtctx->targetSectionSize = mtctx->targetPrefixSize;  /* job size must be >= overlap size */
-    DEBUGLOG(4, "Job Size : %u KB (note : set to %u)", (U32)(mtctx->targetSectionSize>>10), params.jobSize);
+    DEBUGLOG(4, "Job Size : %u KB (note : set to %u)", (U32)(mtctx->targetSectionSize>>10), (U32)params.jobSize);
     DEBUGLOG(4, "inBuff Size : %u KB", (U32)(mtctx->targetSectionSize>>10));
     ZSTDMT_setBufferSize(mtctx->bufPool, ZSTD_compressBound(mtctx->targetSectionSize));
     {
@@ -1312,7 +1491,7 @@ size_t ZSTDMT_initCStream_internal(
     mtctx->allJobsCompleted = 0;
     mtctx->consumed = 0;
     mtctx->produced = 0;
-    if (ZSTDMT_serialState_reset(&mtctx->serial, mtctx->seqPool, params))
+    if (ZSTDMT_serialState_reset(&mtctx->serial, mtctx->seqPool, params, mtctx->targetSectionSize))
         return ERROR(memory_allocation);
     return 0;
 }
@@ -1420,7 +1599,7 @@ static size_t ZSTDMT_createCompressionJob(ZSTDMT_CCtx* mtctx, size_t srcSize, ZS
         mtctx->jobs[jobID].jobID = mtctx->nextJobID;
         mtctx->jobs[jobID].firstJob = (mtctx->nextJobID==0);
         mtctx->jobs[jobID].lastJob = endFrame;
-        mtctx->jobs[jobID].frameChecksumNeeded = endFrame && (mtctx->nextJobID>0) && mtctx->params.fParams.checksumFlag;
+        mtctx->jobs[jobID].frameChecksumNeeded = mtctx->params.fParams.checksumFlag && endFrame && (mtctx->nextJobID>0);
         mtctx->jobs[jobID].dstFlushed = 0;
 
         /* Update the round buffer pos and clear the input buffer to be reset */
@@ -1468,6 +1647,8 @@ static size_t ZSTDMT_createCompressionJob(ZSTDMT_CCtx* mtctx, size_t srcSize, ZS
 
 
 /*! ZSTDMT_flushProduced() :
+ *  flush whatever data has been produced but not yet flushed in current job.
+ *  move to next job if current one is fully flushed.
  * `output` : `pos` will be updated with amount of data flushed .
  * `blockToFlush` : if >0, the function will block and wait if there is no data available to flush .
  * @return : amount of data remaining within internal buffer, 0 if no more, 1 if unknown but > 0, or an error code */
@@ -1496,7 +1677,7 @@ static size_t ZSTDMT_flushProduced(ZSTDMT_CCtx* mtctx, ZSTD_outBuffer* output, u
     /* try to flush something */
     {   size_t cSize = mtctx->jobs[wJobID].cSize;                  /* shared */
         size_t const srcConsumed = mtctx->jobs[wJobID].consumed;   /* shared */
-        size_t const srcSize = mtctx->jobs[wJobID].src.size;        /* read-only, could be done after mutex lock, but no-declaration-after-statement */
+        size_t const srcSize = mtctx->jobs[wJobID].src.size;       /* read-only, could be done after mutex lock, but no-declaration-after-statement */
         ZSTD_pthread_mutex_unlock(&mtctx->jobs[wJobID].job_mutex);
         if (ZSTD_isError(cSize)) {
             DEBUGLOG(5, "ZSTDMT_flushProduced: job %u : compression error detected : %s",
@@ -1516,6 +1697,7 @@ static size_t ZSTDMT_flushProduced(ZSTDMT_CCtx* mtctx, ZSTD_outBuffer* output, u
             mtctx->jobs[wJobID].cSize += 4;  /* can write this shared value, as worker is no longer active */
             mtctx->jobs[wJobID].frameChecksumNeeded = 0;
         }
+
         if (cSize > 0) {   /* compression is ongoing or completed */
             size_t const toFlush = MIN(cSize - mtctx->jobs[wJobID].dstFlushed, output->size - output->pos);
             DEBUGLOG(5, "ZSTDMT_flushProduced: Flushing %u bytes from job %u (completion:%u/%u, generated:%u)",
@@ -1529,11 +1711,12 @@ static size_t ZSTDMT_flushProduced(ZSTDMT_CCtx* mtctx, ZSTD_outBuffer* output, u
             output->pos += toFlush;
             mtctx->jobs[wJobID].dstFlushed += toFlush;  /* can write : this value is only used by mtctx */
 
-            if ( (srcConsumed == srcSize)    /* job completed */
+            if ( (srcConsumed == srcSize)    /* job is completed */
               && (mtctx->jobs[wJobID].dstFlushed == cSize) ) {   /* output buffer fully flushed => free this job position */
                 DEBUGLOG(5, "Job %u completed (%u bytes), moving to next one",
                         mtctx->doneJobID, (U32)mtctx->jobs[wJobID].dstFlushed);
                 ZSTDMT_releaseBuffer(mtctx->bufPool, mtctx->jobs[wJobID].dstBuff);
+                DEBUGLOG(5, "dstBuffer released");
                 mtctx->jobs[wJobID].dstBuff = g_nullBuffer;
                 mtctx->jobs[wJobID].cSize = 0;   /* ensure this job slot is considered "not started" in future check */
                 mtctx->consumed += srcSize;
@@ -1610,6 +1793,7 @@ static int ZSTDMT_doesOverlapWindow(buffer_t buffer, ZSTD_window_t window)
     range_t extDict;
     range_t prefix;
 
+    DEBUGLOG(5, "ZSTDMT_doesOverlapWindow");
     extDict.start = window.dictBase + window.lowLimit;
     extDict.size = window.dictLimit - window.lowLimit;
 
@@ -1630,12 +1814,13 @@ static void ZSTDMT_waitForLdmComplete(ZSTDMT_CCtx* mtctx, buffer_t buffer)
 {
     if (mtctx->params.ldmParams.enableLdm) {
         ZSTD_pthread_mutex_t* mutex = &mtctx->serial.ldmWindowMutex;
+        DEBUGLOG(5, "ZSTDMT_waitForLdmComplete");
         DEBUGLOG(5, "source  [0x%zx, 0x%zx)",
                     (size_t)buffer.start,
                     (size_t)buffer.start + buffer.capacity);
         ZSTD_PTHREAD_MUTEX_LOCK(mutex);
         while (ZSTDMT_doesOverlapWindow(buffer, mtctx->serial.ldmWindow)) {
-            DEBUGLOG(6, "Waiting for LDM to finish...");
+            DEBUGLOG(5, "Waiting for LDM to finish...");
             ZSTD_pthread_cond_wait(&mtctx->serial.ldmWindowCond, mutex);
         }
         DEBUGLOG(6, "Done waiting for LDM to finish");
@@ -1655,6 +1840,7 @@ static int ZSTDMT_tryGetInputRange(ZSTDMT_CCtx* mtctx)
     size_t const target = mtctx->targetSectionSize;
     buffer_t buffer;
 
+    DEBUGLOG(5, "ZSTDMT_tryGetInputRange");
     assert(mtctx->inBuff.buffer.start == NULL);
     assert(mtctx->roundBuff.capacity >= target);
 
@@ -1668,7 +1854,7 @@ static int ZSTDMT_tryGetInputRange(ZSTDMT_CCtx* mtctx)
         buffer.start = start;
         buffer.capacity = prefixSize;
         if (ZSTDMT_isOverlapped(buffer, inUse)) {
-            DEBUGLOG(6, "Waiting for buffer...");
+            DEBUGLOG(5, "Waiting for buffer...");
             return 0;
         }
         ZSTDMT_waitForLdmComplete(mtctx, buffer);
@@ -1680,7 +1866,7 @@ static int ZSTDMT_tryGetInputRange(ZSTDMT_CCtx* mtctx)
     buffer.capacity = target;
 
     if (ZSTDMT_isOverlapped(buffer, inUse)) {
-        DEBUGLOG(6, "Waiting for buffer...");
+        DEBUGLOG(5, "Waiting for buffer...");
         return 0;
     }
     assert(!ZSTDMT_isOverlapped(buffer, mtctx->inBuff.prefix));
@@ -1701,6 +1887,89 @@ static int ZSTDMT_tryGetInputRange(ZSTDMT_CCtx* mtctx)
     return 1;
 }
 
+typedef struct {
+  size_t toLoad;  /* The number of bytes to load from the input. */
+  int flush;      /* Boolean declaring if we must flush because we found a synchronization point. */
+} syncPoint_t;
+
+/**
+ * Searches through the input for a synchronization point. If one is found, we
+ * will instruct the caller to flush, and return the number of bytes to load.
+ * Otherwise, we will load as many bytes as possible and instruct the caller
+ * to continue as normal.
+ */
+static syncPoint_t
+findSynchronizationPoint(ZSTDMT_CCtx const* mtctx, ZSTD_inBuffer const input)
+{
+    BYTE const* const istart = (BYTE const*)input.src + input.pos;
+    U64 const primePower = mtctx->rsync.primePower;
+    U64 const hitMask = mtctx->rsync.hitMask;
+
+    syncPoint_t syncPoint;
+    U64 hash;
+    BYTE const* prev;
+    size_t pos;
+
+    syncPoint.toLoad = MIN(input.size - input.pos, mtctx->targetSectionSize - mtctx->inBuff.filled);
+    syncPoint.flush = 0;
+    if (!mtctx->params.rsyncable)
+        /* Rsync is disabled. */
+        return syncPoint;
+    if (mtctx->inBuff.filled + syncPoint.toLoad < RSYNC_LENGTH)
+        /* Not enough to compute the hash.
+         * We will miss any synchronization points in this RSYNC_LENGTH byte
+         * window. However, since it depends only in the internal buffers, if the
+         * state is already synchronized, we will remain synchronized.
+         * Additionally, the probability that we miss a synchronization point is
+         * low: RSYNC_LENGTH / targetSectionSize.
+         */
+        return syncPoint;
+    /* Initialize the loop variables. */
+    if (mtctx->inBuff.filled >= RSYNC_LENGTH) {
+        /* We have enough bytes buffered to initialize the hash.
+         * Start scanning at the beginning of the input.
+         */
+        pos = 0;
+        prev = (BYTE const*)mtctx->inBuff.buffer.start + mtctx->inBuff.filled - RSYNC_LENGTH;
+        hash = ZSTD_rollingHash_compute(prev, RSYNC_LENGTH);
+    } else {
+        /* We don't have enough bytes buffered to initialize the hash, but
+         * we know we have at least RSYNC_LENGTH bytes total.
+         * Start scanning after the first RSYNC_LENGTH bytes less the bytes
+         * already buffered.
+         */
+        pos = RSYNC_LENGTH - mtctx->inBuff.filled;
+        prev = (BYTE const*)mtctx->inBuff.buffer.start - pos;
+        hash = ZSTD_rollingHash_compute(mtctx->inBuff.buffer.start, mtctx->inBuff.filled);
+        hash = ZSTD_rollingHash_append(hash, istart, pos);
+    }
+    /* Starting with the hash of the previous RSYNC_LENGTH bytes, roll
+     * through the input. If we hit a synchronization point, then cut the
+     * job off, and tell the compressor to flush the job. Otherwise, load
+     * all the bytes and continue as normal.
+     * If we go too long without a synchronization point (targetSectionSize)
+     * then a block will be emitted anyways, but this is okay, since if we
+     * are already synchronized we will remain synchronized.
+     */
+    for (; pos < syncPoint.toLoad; ++pos) {
+        BYTE const toRemove = pos < RSYNC_LENGTH ? prev[pos] : istart[pos - RSYNC_LENGTH];
+        /* if (pos >= RSYNC_LENGTH) assert(ZSTD_rollingHash_compute(istart + pos - RSYNC_LENGTH, RSYNC_LENGTH) == hash); */
+        hash = ZSTD_rollingHash_rotate(hash, toRemove, istart[pos], primePower);
+        if ((hash & hitMask) == hitMask) {
+            syncPoint.toLoad = pos + 1;
+            syncPoint.flush = 1;
+            break;
+        }
+    }
+    return syncPoint;
+}
+
+size_t ZSTDMT_nextInputSizeHint(const ZSTDMT_CCtx* mtctx)
+{
+    size_t hintInSize = mtctx->targetSectionSize - mtctx->inBuff.filled;
+    if (hintInSize==0) hintInSize = mtctx->targetSectionSize;
+    return hintInSize;
+}
 
 /** ZSTDMT_compressStream_generic() :
  *  internal use only - exposed to be invoked from zstd_compress.c
@@ -1727,7 +1996,8 @@ size_t ZSTDMT_compressStream_generic(ZSTDMT_CCtx* mtctx,
     }
 
     /* single-pass shortcut (note : synchronous-mode) */
-    if ( (mtctx->nextJobID == 0)      /* just started */
+    if ( (!mtctx->params.rsyncable)   /* rsyncable mode is disabled */
+      && (mtctx->nextJobID == 0)      /* just started */
       && (mtctx->inBuff.filled == 0)  /* nothing buffered */
       && (!mtctx->jobReady)           /* no job already created */
       && (endOp == ZSTD_e_end)        /* end order */
@@ -1753,18 +2023,23 @@ size_t ZSTDMT_compressStream_generic(ZSTDMT_CCtx* mtctx,
                 /* It is only possible for this operation to fail if there are
                  * still compression jobs ongoing.
                  */
+                DEBUGLOG(5, "ZSTDMT_tryGetInputRange failed");
                 assert(mtctx->doneJobID != mtctx->nextJobID);
-            }
+            } else
+                DEBUGLOG(5, "ZSTDMT_tryGetInputRange completed successfully : mtctx->inBuff.buffer.start = %p", mtctx->inBuff.buffer.start);
         }
         if (mtctx->inBuff.buffer.start != NULL) {
-            size_t const toLoad = MIN(input->size - input->pos, mtctx->targetSectionSize - mtctx->inBuff.filled);
+            syncPoint_t const syncPoint = findSynchronizationPoint(mtctx, *input);
+            if (syncPoint.flush && endOp == ZSTD_e_continue) {
+                endOp = ZSTD_e_flush;
+            }
             assert(mtctx->inBuff.buffer.capacity >= mtctx->targetSectionSize);
             DEBUGLOG(5, "ZSTDMT_compressStream_generic: adding %u bytes on top of %u to buffer of size %u",
-                        (U32)toLoad, (U32)mtctx->inBuff.filled, (U32)mtctx->targetSectionSize);
-            memcpy((char*)mtctx->inBuff.buffer.start + mtctx->inBuff.filled, (const char*)input->src + input->pos, toLoad);
-            input->pos += toLoad;
-            mtctx->inBuff.filled += toLoad;
-            forwardInputProgress = toLoad>0;
+                        (U32)syncPoint.toLoad, (U32)mtctx->inBuff.filled, (U32)mtctx->targetSectionSize);
+            memcpy((char*)mtctx->inBuff.buffer.start + mtctx->inBuff.filled, (const char*)input->src + input->pos, syncPoint.toLoad);
+            input->pos += syncPoint.toLoad;
+            mtctx->inBuff.filled += syncPoint.toLoad;
+            forwardInputProgress = syncPoint.toLoad>0;
         }
         if ((input->pos < input->size) && (endOp == ZSTD_e_end))
             endOp = ZSTD_e_flush;   /* can't end now : not all input consumed */
@@ -1782,6 +2057,7 @@ size_t ZSTDMT_compressStream_generic(ZSTDMT_CCtx* mtctx,
     /* check for potential compressed data ready to be flushed */
     {   size_t const remainingToFlush = ZSTDMT_flushProduced(mtctx, output, !forwardInputProgress, endOp); /* block if there was no forward input progress */
         if (input->pos < input->size) return MAX(remainingToFlush, 1);  /* input not consumed : do not end flush yet */
+        DEBUGLOG(5, "end of ZSTDMT_compressStream_generic: remainingToFlush = %u", (U32)remainingToFlush);
         return remainingToFlush;
     }
 }
diff --git a/thirdparty/zstd/compress/zstdmt_compress.h b/thirdparty/zstd/compress/zstdmt_compress.h
index f79e3b4418..ee771681fa 100644
--- a/thirdparty/zstd/compress/zstdmt_compress.h
+++ b/thirdparty/zstd/compress/zstdmt_compress.h
@@ -28,6 +28,16 @@
 #include "zstd.h"            /* ZSTD_inBuffer, ZSTD_outBuffer, ZSTDLIB_API */
 
 
+/* ===   Constants   === */
+#ifndef ZSTDMT_NBWORKERS_MAX
+#  define ZSTDMT_NBWORKERS_MAX 200
+#endif
+#ifndef ZSTDMT_JOBSIZE_MIN
+#  define ZSTDMT_JOBSIZE_MIN (1 MB)
+#endif
+#define ZSTDMT_JOBSIZE_MAX  (MEM_32bits() ? (512 MB) : (1024 MB))
+
+
 /* ===   Memory management   === */
 typedef struct ZSTDMT_CCtx_s ZSTDMT_CCtx;
 ZSTDLIB_API ZSTDMT_CCtx* ZSTDMT_createCCtx(unsigned nbWorkers);
@@ -52,6 +62,7 @@ ZSTDLIB_API size_t ZSTDMT_compressCCtx(ZSTDMT_CCtx* mtctx,
 ZSTDLIB_API size_t ZSTDMT_initCStream(ZSTDMT_CCtx* mtctx, int compressionLevel);
 ZSTDLIB_API size_t ZSTDMT_resetCStream(ZSTDMT_CCtx* mtctx, unsigned long long pledgedSrcSize);  /**< if srcSize is not known at reset time, use ZSTD_CONTENTSIZE_UNKNOWN. Note: for compatibility with older programs, 0 means the same as ZSTD_CONTENTSIZE_UNKNOWN, but it will change in the future to mean "empty" */
 
+ZSTDLIB_API size_t ZSTDMT_nextInputSizeHint(const ZSTDMT_CCtx* mtctx);
 ZSTDLIB_API size_t ZSTDMT_compressStream(ZSTDMT_CCtx* mtctx, ZSTD_outBuffer* output, ZSTD_inBuffer* input);
 
 ZSTDLIB_API size_t ZSTDMT_flushStream(ZSTDMT_CCtx* mtctx, ZSTD_outBuffer* output);   /**< @return : 0 == all flushed; >0 : still some data to be flushed; or an error code (ZSTD_isError()) */
@@ -60,16 +71,12 @@ ZSTDLIB_API size_t ZSTDMT_endStream(ZSTDMT_CCtx* mtctx, ZSTD_outBuffer* output);
 
 /* ===   Advanced functions and parameters  === */
 
-#ifndef ZSTDMT_JOBSIZE_MIN
-#  define ZSTDMT_JOBSIZE_MIN (1U << 20)   /* 1 MB - Minimum size of each compression job */
-#endif
-
 ZSTDLIB_API size_t ZSTDMT_compress_advanced(ZSTDMT_CCtx* mtctx,
                                            void* dst, size_t dstCapacity,
                                      const void* src, size_t srcSize,
                                      const ZSTD_CDict* cdict,
                                            ZSTD_parameters params,
-                                           unsigned overlapLog);
+                                           int overlapLog);
 
 ZSTDLIB_API size_t ZSTDMT_initCStream_advanced(ZSTDMT_CCtx* mtctx,
                                         const void* dict, size_t dictSize,   /* dict can be released after init, a local copy is preserved within zcs */
@@ -84,8 +91,9 @@ ZSTDLIB_API size_t ZSTDMT_initCStream_usingCDict(ZSTDMT_CCtx* mtctx,
 /* ZSTDMT_parameter :
  * List of parameters that can be set using ZSTDMT_setMTCtxParameter() */
 typedef enum {
-    ZSTDMT_p_jobSize,           /* Each job is compressed in parallel. By default, this value is dynamically determined depending on compression parameters. Can be set explicitly here. */
-    ZSTDMT_p_overlapSectionLog  /* Each job may reload a part of previous job to enhance compressionr ratio; 0 == no overlap, 6(default) == use 1/8th of window, >=9 == use full window. This is a "sticky" parameter : its value will be re-used on next compression job */
+    ZSTDMT_p_jobSize,     /* Each job is compressed in parallel. By default, this value is dynamically determined depending on compression parameters. Can be set explicitly here. */
+    ZSTDMT_p_overlapLog,  /* Each job may reload a part of previous job to enhance compressionr ratio; 0 == no overlap, 6(default) == use 1/8th of window, >=9 == use full window. This is a "sticky" parameter : its value will be re-used on next compression job */
+    ZSTDMT_p_rsyncable    /* Enables rsyncable mode. */
 } ZSTDMT_parameter;
 
 /* ZSTDMT_setMTCtxParameter() :
@@ -93,7 +101,12 @@ typedef enum {
  * The function must be called typically after ZSTD_createCCtx() but __before ZSTDMT_init*() !__
  * Parameters not explicitly reset by ZSTDMT_init*() remain the same in consecutive compression sessions.
  * @return : 0, or an error code (which can be tested using ZSTD_isError()) */
-ZSTDLIB_API size_t ZSTDMT_setMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, unsigned value);
+ZSTDLIB_API size_t ZSTDMT_setMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, int value);
+
+/* ZSTDMT_getMTCtxParameter() :
+ * Query the ZSTDMT_CCtx for a parameter value.
+ * @return : 0, or an error code (which can be tested using ZSTD_isError()) */
+ZSTDLIB_API size_t ZSTDMT_getMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, int* value);
 
 
 /*! ZSTDMT_compressStream_generic() :
@@ -114,11 +127,21 @@ ZSTDLIB_API size_t ZSTDMT_compressStream_generic(ZSTDMT_CCtx* mtctx,
  * ===  Not exposed in libzstd. Never invoke directly   ===
  * ======================================================== */
 
-size_t ZSTDMT_CCtxParam_setMTCtxParameter(ZSTD_CCtx_params* params, ZSTDMT_parameter parameter, unsigned value);
-
-/* ZSTDMT_CCtxParam_setNbWorkers()
- * Set nbWorkers, and clamp it.
- * Also reset jobSize and overlapLog */
+ /*! ZSTDMT_toFlushNow()
+  *  Tell how many bytes are ready to be flushed immediately.
+  *  Probe the oldest active job (not yet entirely flushed) and check its output buffer.
+  *  If return 0, it means there is no active job,
+  *  or, it means oldest job is still active, but everything produced has been flushed so far,
+  *  therefore flushing is limited by speed of oldest job. */
+size_t ZSTDMT_toFlushNow(ZSTDMT_CCtx* mtctx);
+
+/*! ZSTDMT_CCtxParam_setMTCtxParameter()
+ *  like ZSTDMT_setMTCtxParameter(), but into a ZSTD_CCtx_Params */
+size_t ZSTDMT_CCtxParam_setMTCtxParameter(ZSTD_CCtx_params* params, ZSTDMT_parameter parameter, int value);
+
+/*! ZSTDMT_CCtxParam_setNbWorkers()
+ *  Set nbWorkers, and clamp it.
+ *  Also reset jobSize and overlapLog */
 size_t ZSTDMT_CCtxParam_setNbWorkers(ZSTD_CCtx_params* params, unsigned nbWorkers);
 
 /*! ZSTDMT_updateCParams_whileCompressing() :
@@ -126,14 +149,9 @@ size_t ZSTDMT_CCtxParam_setNbWorkers(ZSTD_CCtx_params* params, unsigned nbWorker
  *  New parameters will be applied to next compression job. */
 void ZSTDMT_updateCParams_whileCompressing(ZSTDMT_CCtx* mtctx, const ZSTD_CCtx_params* cctxParams);
 
-/* ZSTDMT_getNbWorkers():
- * @return nb threads currently active in mtctx.
- * mtctx must be valid */
-unsigned ZSTDMT_getNbWorkers(const ZSTDMT_CCtx* mtctx);
-
-/* ZSTDMT_getFrameProgression():
- * tells how much data has been consumed (input) and produced (output) for current frame.
- * able to count progression inside worker threads.
+/*! ZSTDMT_getFrameProgression():
+ *  tells how much data has been consumed (input) and produced (output) for current frame.
+ *  able to count progression inside worker threads.
  */
 ZSTD_frameProgression ZSTDMT_getFrameProgression(ZSTDMT_CCtx* mtctx);
 
diff --git a/thirdparty/zstd/decompress/huf_decompress.c b/thirdparty/zstd/decompress/huf_decompress.c
index 73f5c46c06..3f8bd29732 100644
--- a/thirdparty/zstd/decompress/huf_decompress.c
+++ b/thirdparty/zstd/decompress/huf_decompress.c
@@ -1,6 +1,7 @@
 /* ******************************************************************
-   Huffman decoder, part of New Generation Entropy library
-   Copyright (C) 2013-2016, Yann Collet.
+   huff0 huffman decoder,
+   part of Finite State Entropy library
+   Copyright (C) 2013-present, Yann Collet.
 
    BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
 
@@ -29,26 +30,37 @@
 
     You can contact the author at :
     - FSE+HUF source repository : https://github.com/Cyan4973/FiniteStateEntropy
-    - Public forum : https://groups.google.com/forum/#!forum/lz4c
 ****************************************************************** */
 
 /* **************************************************************
 *  Dependencies
 ****************************************************************/
 #include <string.h>     /* memcpy, memset */
-#include "bitstream.h"  /* BIT_* */
 #include "compiler.h"
-#include "fse.h"        /* header compression */
+#include "bitstream.h"  /* BIT_* */
+#include "fse.h"        /* to compress headers */
 #define HUF_STATIC_LINKING_ONLY
 #include "huf.h"
 #include "error_private.h"
 
+/* **************************************************************
+*  Macros
+****************************************************************/
+
+/* These two optional macros force the use one way or another of the two
+ * Huffman decompression implementations. You can't force in both directions
+ * at the same time.
+ */
+#if defined(HUF_FORCE_DECOMPRESS_X1) && \
+    defined(HUF_FORCE_DECOMPRESS_X2)
+#error "Cannot force the use of the X1 and X2 decoders at the same time!"
+#endif
+
 
 /* **************************************************************
 *  Error Management
 ****************************************************************/
 #define HUF_isError ERR_isError
-#define HUF_STATIC_ASSERT(c) { enum { HUF_static_assert = 1/(int)(!!(c)) }; }   /* use only *after* variable declarations */
 #define CHECK_F(f) { size_t const err_ = (f); if (HUF_isError(err_)) return err_; }
 
 
@@ -59,6 +71,51 @@
 #define HUF_ALIGN_MASK(x, mask) (((x) + (mask)) & ~(mask))
 
 
+/* **************************************************************
+*  BMI2 Variant Wrappers
+****************************************************************/
+#if DYNAMIC_BMI2
+
+#define HUF_DGEN(fn)                                                        \
+                                                                            \
+    static size_t fn##_default(                                             \
+                  void* dst,  size_t dstSize,                               \
+            const void* cSrc, size_t cSrcSize,                              \
+            const HUF_DTable* DTable)                                       \
+    {                                                                       \
+        return fn##_body(dst, dstSize, cSrc, cSrcSize, DTable);             \
+    }                                                                       \
+                                                                            \
+    static TARGET_ATTRIBUTE("bmi2") size_t fn##_bmi2(                       \
+                  void* dst,  size_t dstSize,                               \
+            const void* cSrc, size_t cSrcSize,                              \
+            const HUF_DTable* DTable)                                       \
+    {                                                                       \
+        return fn##_body(dst, dstSize, cSrc, cSrcSize, DTable);             \
+    }                                                                       \
+                                                                            \
+    static size_t fn(void* dst, size_t dstSize, void const* cSrc,           \
+                     size_t cSrcSize, HUF_DTable const* DTable, int bmi2)   \
+    {                                                                       \
+        if (bmi2) {                                                         \
+            return fn##_bmi2(dst, dstSize, cSrc, cSrcSize, DTable);         \
+        }                                                                   \
+        return fn##_default(dst, dstSize, cSrc, cSrcSize, DTable);          \
+    }
+
+#else
+
+#define HUF_DGEN(fn)                                                        \
+    static size_t fn(void* dst, size_t dstSize, void const* cSrc,           \
+                     size_t cSrcSize, HUF_DTable const* DTable, int bmi2)   \
+    {                                                                       \
+        (void)bmi2;                                                         \
+        return fn##_body(dst, dstSize, cSrc, cSrcSize, DTable);             \
+    }
+
+#endif
+
+
 /*-***************************/
 /*  generic DTableDesc       */
 /*-***************************/
@@ -72,18 +129,20 @@ static DTableDesc HUF_getDTableDesc(const HUF_DTable* table)
 }
 
 
+#ifndef HUF_FORCE_DECOMPRESS_X2
+
 /*-***************************/
 /*  single-symbol decoding   */
 /*-***************************/
-typedef struct { BYTE byte; BYTE nbBits; } HUF_DEltX2;   /* single-symbol decoding */
+typedef struct { BYTE byte; BYTE nbBits; } HUF_DEltX1;   /* single-symbol decoding */
 
-size_t HUF_readDTableX2_wksp(HUF_DTable* DTable, const void* src, size_t srcSize, void* workSpace, size_t wkspSize)
+size_t HUF_readDTableX1_wksp(HUF_DTable* DTable, const void* src, size_t srcSize, void* workSpace, size_t wkspSize)
 {
     U32 tableLog = 0;
     U32 nbSymbols = 0;
     size_t iSize;
     void* const dtPtr = DTable + 1;
-    HUF_DEltX2* const dt = (HUF_DEltX2*)dtPtr;
+    HUF_DEltX1* const dt = (HUF_DEltX1*)dtPtr;
 
     U32* rankVal;
     BYTE* huffWeight;
@@ -96,7 +155,7 @@ size_t HUF_readDTableX2_wksp(HUF_DTable* DTable, const void* src, size_t srcSize
 
     if ((spaceUsed32 << 2) > wkspSize) return ERROR(tableLog_tooLarge);
 
-    HUF_STATIC_ASSERT(sizeof(DTableDesc) == sizeof(HUF_DTable));
+    DEBUG_STATIC_ASSERT(sizeof(DTableDesc) == sizeof(HUF_DTable));
     /* memset(huffWeight, 0, sizeof(huffWeight)); */   /* is not necessary, even though some analyzer complain ... */
 
     iSize = HUF_readStats(huffWeight, HUF_SYMBOLVALUE_MAX + 1, rankVal, &nbSymbols, &tableLog, src, srcSize);
@@ -124,7 +183,7 @@ size_t HUF_readDTableX2_wksp(HUF_DTable* DTable, const void* src, size_t srcSize
             U32 const w = huffWeight[n];
             U32 const length = (1 << w) >> 1;
             U32 u;
-            HUF_DEltX2 D;
+            HUF_DEltX1 D;
             D.byte = (BYTE)n; D.nbBits = (BYTE)(tableLog + 1 - w);
             for (u = rankVal[w]; u < rankVal[w] + length; u++)
                 dt[u] = D;
@@ -134,17 +193,15 @@ size_t HUF_readDTableX2_wksp(HUF_DTable* DTable, const void* src, size_t srcSize
     return iSize;
 }
 
-size_t HUF_readDTableX2(HUF_DTable* DTable, const void* src, size_t srcSize)
+size_t HUF_readDTableX1(HUF_DTable* DTable, const void* src, size_t srcSize)
 {
     U32 workSpace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-    return HUF_readDTableX2_wksp(DTable, src, srcSize,
+    return HUF_readDTableX1_wksp(DTable, src, srcSize,
                                  workSpace, sizeof(workSpace));
 }
 
-typedef struct { U16 sequence; BYTE nbBits; BYTE length; } HUF_DEltX4;  /* double-symbols decoding */
-
 FORCE_INLINE_TEMPLATE BYTE
-HUF_decodeSymbolX2(BIT_DStream_t* Dstream, const HUF_DEltX2* dt, const U32 dtLog)
+HUF_decodeSymbolX1(BIT_DStream_t* Dstream, const HUF_DEltX1* dt, const U32 dtLog)
 {
     size_t const val = BIT_lookBitsFast(Dstream, dtLog); /* note : dtLog >= 1 */
     BYTE const c = dt[val].byte;
@@ -152,44 +209,44 @@ HUF_decodeSymbolX2(BIT_DStream_t* Dstream, const HUF_DEltX2* dt, const U32 dtLog
     return c;
 }
 
-#define HUF_DECODE_SYMBOLX2_0(ptr, DStreamPtr) \
-    *ptr++ = HUF_decodeSymbolX2(DStreamPtr, dt, dtLog)
+#define HUF_DECODE_SYMBOLX1_0(ptr, DStreamPtr) \
+    *ptr++ = HUF_decodeSymbolX1(DStreamPtr, dt, dtLog)
 
-#define HUF_DECODE_SYMBOLX2_1(ptr, DStreamPtr)  \
+#define HUF_DECODE_SYMBOLX1_1(ptr, DStreamPtr)  \
     if (MEM_64bits() || (HUF_TABLELOG_MAX<=12)) \
-        HUF_DECODE_SYMBOLX2_0(ptr, DStreamPtr)
+        HUF_DECODE_SYMBOLX1_0(ptr, DStreamPtr)
 
-#define HUF_DECODE_SYMBOLX2_2(ptr, DStreamPtr) \
+#define HUF_DECODE_SYMBOLX1_2(ptr, DStreamPtr) \
     if (MEM_64bits()) \
-        HUF_DECODE_SYMBOLX2_0(ptr, DStreamPtr)
+        HUF_DECODE_SYMBOLX1_0(ptr, DStreamPtr)
 
 HINT_INLINE size_t
-HUF_decodeStreamX2(BYTE* p, BIT_DStream_t* const bitDPtr, BYTE* const pEnd, const HUF_DEltX2* const dt, const U32 dtLog)
+HUF_decodeStreamX1(BYTE* p, BIT_DStream_t* const bitDPtr, BYTE* const pEnd, const HUF_DEltX1* const dt, const U32 dtLog)
 {
     BYTE* const pStart = p;
 
     /* up to 4 symbols at a time */
     while ((BIT_reloadDStream(bitDPtr) == BIT_DStream_unfinished) & (p < pEnd-3)) {
-        HUF_DECODE_SYMBOLX2_2(p, bitDPtr);
-        HUF_DECODE_SYMBOLX2_1(p, bitDPtr);
-        HUF_DECODE_SYMBOLX2_2(p, bitDPtr);
-        HUF_DECODE_SYMBOLX2_0(p, bitDPtr);
+        HUF_DECODE_SYMBOLX1_2(p, bitDPtr);
+        HUF_DECODE_SYMBOLX1_1(p, bitDPtr);
+        HUF_DECODE_SYMBOLX1_2(p, bitDPtr);
+        HUF_DECODE_SYMBOLX1_0(p, bitDPtr);
     }
 
     /* [0-3] symbols remaining */
     if (MEM_32bits())
         while ((BIT_reloadDStream(bitDPtr) == BIT_DStream_unfinished) & (p < pEnd))
-            HUF_DECODE_SYMBOLX2_0(p, bitDPtr);
+            HUF_DECODE_SYMBOLX1_0(p, bitDPtr);
 
     /* no more data to retrieve from bitstream, no need to reload */
     while (p < pEnd)
-        HUF_DECODE_SYMBOLX2_0(p, bitDPtr);
+        HUF_DECODE_SYMBOLX1_0(p, bitDPtr);
 
     return pEnd-pStart;
 }
 
 FORCE_INLINE_TEMPLATE size_t
-HUF_decompress1X2_usingDTable_internal_body(
+HUF_decompress1X1_usingDTable_internal_body(
           void* dst,  size_t dstSize,
     const void* cSrc, size_t cSrcSize,
     const HUF_DTable* DTable)
@@ -197,14 +254,14 @@ HUF_decompress1X2_usingDTable_internal_body(
     BYTE* op = (BYTE*)dst;
     BYTE* const oend = op + dstSize;
     const void* dtPtr = DTable + 1;
-    const HUF_DEltX2* const dt = (const HUF_DEltX2*)dtPtr;
+    const HUF_DEltX1* const dt = (const HUF_DEltX1*)dtPtr;
     BIT_DStream_t bitD;
     DTableDesc const dtd = HUF_getDTableDesc(DTable);
     U32 const dtLog = dtd.tableLog;
 
     CHECK_F( BIT_initDStream(&bitD, cSrc, cSrcSize) );
 
-    HUF_decodeStreamX2(op, &bitD, oend, dt, dtLog);
+    HUF_decodeStreamX1(op, &bitD, oend, dt, dtLog);
 
     if (!BIT_endOfDStream(&bitD)) return ERROR(corruption_detected);
 
@@ -212,7 +269,7 @@ HUF_decompress1X2_usingDTable_internal_body(
 }
 
 FORCE_INLINE_TEMPLATE size_t
-HUF_decompress4X2_usingDTable_internal_body(
+HUF_decompress4X1_usingDTable_internal_body(
           void* dst,  size_t dstSize,
     const void* cSrc, size_t cSrcSize,
     const HUF_DTable* DTable)
@@ -224,7 +281,7 @@ HUF_decompress4X2_usingDTable_internal_body(
         BYTE* const ostart = (BYTE*) dst;
         BYTE* const oend = ostart + dstSize;
         const void* const dtPtr = DTable + 1;
-        const HUF_DEltX2* const dt = (const HUF_DEltX2*)dtPtr;
+        const HUF_DEltX1* const dt = (const HUF_DEltX1*)dtPtr;
 
         /* Init */
         BIT_DStream_t bitD1;
@@ -260,22 +317,22 @@ HUF_decompress4X2_usingDTable_internal_body(
         /* up to 16 symbols per loop (4 symbols per stream) in 64-bit mode */
         endSignal = BIT_reloadDStream(&bitD1) | BIT_reloadDStream(&bitD2) | BIT_reloadDStream(&bitD3) | BIT_reloadDStream(&bitD4);
         while ( (endSignal==BIT_DStream_unfinished) && (op4<(oend-3)) ) {
-            HUF_DECODE_SYMBOLX2_2(op1, &bitD1);
-            HUF_DECODE_SYMBOLX2_2(op2, &bitD2);
-            HUF_DECODE_SYMBOLX2_2(op3, &bitD3);
-            HUF_DECODE_SYMBOLX2_2(op4, &bitD4);
-            HUF_DECODE_SYMBOLX2_1(op1, &bitD1);
-            HUF_DECODE_SYMBOLX2_1(op2, &bitD2);
-            HUF_DECODE_SYMBOLX2_1(op3, &bitD3);
-            HUF_DECODE_SYMBOLX2_1(op4, &bitD4);
-            HUF_DECODE_SYMBOLX2_2(op1, &bitD1);
-            HUF_DECODE_SYMBOLX2_2(op2, &bitD2);
-            HUF_DECODE_SYMBOLX2_2(op3, &bitD3);
-            HUF_DECODE_SYMBOLX2_2(op4, &bitD4);
-            HUF_DECODE_SYMBOLX2_0(op1, &bitD1);
-            HUF_DECODE_SYMBOLX2_0(op2, &bitD2);
-            HUF_DECODE_SYMBOLX2_0(op3, &bitD3);
-            HUF_DECODE_SYMBOLX2_0(op4, &bitD4);
+            HUF_DECODE_SYMBOLX1_2(op1, &bitD1);
+            HUF_DECODE_SYMBOLX1_2(op2, &bitD2);
+            HUF_DECODE_SYMBOLX1_2(op3, &bitD3);
+            HUF_DECODE_SYMBOLX1_2(op4, &bitD4);
+            HUF_DECODE_SYMBOLX1_1(op1, &bitD1);
+            HUF_DECODE_SYMBOLX1_1(op2, &bitD2);
+            HUF_DECODE_SYMBOLX1_1(op3, &bitD3);
+            HUF_DECODE_SYMBOLX1_1(op4, &bitD4);
+            HUF_DECODE_SYMBOLX1_2(op1, &bitD1);
+            HUF_DECODE_SYMBOLX1_2(op2, &bitD2);
+            HUF_DECODE_SYMBOLX1_2(op3, &bitD3);
+            HUF_DECODE_SYMBOLX1_2(op4, &bitD4);
+            HUF_DECODE_SYMBOLX1_0(op1, &bitD1);
+            HUF_DECODE_SYMBOLX1_0(op2, &bitD2);
+            HUF_DECODE_SYMBOLX1_0(op3, &bitD3);
+            HUF_DECODE_SYMBOLX1_0(op4, &bitD4);
             BIT_reloadDStream(&bitD1);
             BIT_reloadDStream(&bitD2);
             BIT_reloadDStream(&bitD3);
@@ -291,191 +348,10 @@ HUF_decompress4X2_usingDTable_internal_body(
         /* note : op4 supposed already verified within main loop */
 
         /* finish bitStreams one by one */
-        HUF_decodeStreamX2(op1, &bitD1, opStart2, dt, dtLog);
-        HUF_decodeStreamX2(op2, &bitD2, opStart3, dt, dtLog);
-        HUF_decodeStreamX2(op3, &bitD3, opStart4, dt, dtLog);
-        HUF_decodeStreamX2(op4, &bitD4, oend,     dt, dtLog);
-
-        /* check */
-        { U32 const endCheck = BIT_endOfDStream(&bitD1) & BIT_endOfDStream(&bitD2) & BIT_endOfDStream(&bitD3) & BIT_endOfDStream(&bitD4);
-          if (!endCheck) return ERROR(corruption_detected); }
-
-        /* decoded size */
-        return dstSize;
-    }
-}
-
-
-FORCE_INLINE_TEMPLATE U32
-HUF_decodeSymbolX4(void* op, BIT_DStream_t* DStream, const HUF_DEltX4* dt, const U32 dtLog)
-{
-    size_t const val = BIT_lookBitsFast(DStream, dtLog);   /* note : dtLog >= 1 */
-    memcpy(op, dt+val, 2);
-    BIT_skipBits(DStream, dt[val].nbBits);
-    return dt[val].length;
-}
-
-FORCE_INLINE_TEMPLATE U32
-HUF_decodeLastSymbolX4(void* op, BIT_DStream_t* DStream, const HUF_DEltX4* dt, const U32 dtLog)
-{
-    size_t const val = BIT_lookBitsFast(DStream, dtLog);   /* note : dtLog >= 1 */
-    memcpy(op, dt+val, 1);
-    if (dt[val].length==1) BIT_skipBits(DStream, dt[val].nbBits);
-    else {
-        if (DStream->bitsConsumed < (sizeof(DStream->bitContainer)*8)) {
-            BIT_skipBits(DStream, dt[val].nbBits);
-            if (DStream->bitsConsumed > (sizeof(DStream->bitContainer)*8))
-                /* ugly hack; works only because it's the last symbol. Note : can't easily extract nbBits from just this symbol */
-                DStream->bitsConsumed = (sizeof(DStream->bitContainer)*8);
-    }   }
-    return 1;
-}
-
-#define HUF_DECODE_SYMBOLX4_0(ptr, DStreamPtr) \
-    ptr += HUF_decodeSymbolX4(ptr, DStreamPtr, dt, dtLog)
-
-#define HUF_DECODE_SYMBOLX4_1(ptr, DStreamPtr) \
-    if (MEM_64bits() || (HUF_TABLELOG_MAX<=12)) \
-        ptr += HUF_decodeSymbolX4(ptr, DStreamPtr, dt, dtLog)
-
-#define HUF_DECODE_SYMBOLX4_2(ptr, DStreamPtr) \
-    if (MEM_64bits()) \
-        ptr += HUF_decodeSymbolX4(ptr, DStreamPtr, dt, dtLog)
-
-HINT_INLINE size_t
-HUF_decodeStreamX4(BYTE* p, BIT_DStream_t* bitDPtr, BYTE* const pEnd,
-                const HUF_DEltX4* const dt, const U32 dtLog)
-{
-    BYTE* const pStart = p;
-
-    /* up to 8 symbols at a time */
-    while ((BIT_reloadDStream(bitDPtr) == BIT_DStream_unfinished) & (p < pEnd-(sizeof(bitDPtr->bitContainer)-1))) {
-        HUF_DECODE_SYMBOLX4_2(p, bitDPtr);
-        HUF_DECODE_SYMBOLX4_1(p, bitDPtr);
-        HUF_DECODE_SYMBOLX4_2(p, bitDPtr);
-        HUF_DECODE_SYMBOLX4_0(p, bitDPtr);
-    }
-
-    /* closer to end : up to 2 symbols at a time */
-    while ((BIT_reloadDStream(bitDPtr) == BIT_DStream_unfinished) & (p <= pEnd-2))
-        HUF_DECODE_SYMBOLX4_0(p, bitDPtr);
-
-    while (p <= pEnd-2)
-        HUF_DECODE_SYMBOLX4_0(p, bitDPtr);   /* no need to reload : reached the end of DStream */
-
-    if (p < pEnd)
-        p += HUF_decodeLastSymbolX4(p, bitDPtr, dt, dtLog);
-
-    return p-pStart;
-}
-
-FORCE_INLINE_TEMPLATE size_t
-HUF_decompress1X4_usingDTable_internal_body(
-          void* dst,  size_t dstSize,
-    const void* cSrc, size_t cSrcSize,
-    const HUF_DTable* DTable)
-{
-    BIT_DStream_t bitD;
-
-    /* Init */
-    CHECK_F( BIT_initDStream(&bitD, cSrc, cSrcSize) );
-
-    /* decode */
-    {   BYTE* const ostart = (BYTE*) dst;
-        BYTE* const oend = ostart + dstSize;
-        const void* const dtPtr = DTable+1;   /* force compiler to not use strict-aliasing */
-        const HUF_DEltX4* const dt = (const HUF_DEltX4*)dtPtr;
-        DTableDesc const dtd = HUF_getDTableDesc(DTable);
-        HUF_decodeStreamX4(ostart, &bitD, oend, dt, dtd.tableLog);
-    }
-
-    /* check */
-    if (!BIT_endOfDStream(&bitD)) return ERROR(corruption_detected);
-
-    /* decoded size */
-    return dstSize;
-}
-
-
-FORCE_INLINE_TEMPLATE size_t
-HUF_decompress4X4_usingDTable_internal_body(
-          void* dst,  size_t dstSize,
-    const void* cSrc, size_t cSrcSize,
-    const HUF_DTable* DTable)
-{
-    if (cSrcSize < 10) return ERROR(corruption_detected);   /* strict minimum : jump table + 1 byte per stream */
-
-    {   const BYTE* const istart = (const BYTE*) cSrc;
-        BYTE* const ostart = (BYTE*) dst;
-        BYTE* const oend = ostart + dstSize;
-        const void* const dtPtr = DTable+1;
-        const HUF_DEltX4* const dt = (const HUF_DEltX4*)dtPtr;
-
-        /* Init */
-        BIT_DStream_t bitD1;
-        BIT_DStream_t bitD2;
-        BIT_DStream_t bitD3;
-        BIT_DStream_t bitD4;
-        size_t const length1 = MEM_readLE16(istart);
-        size_t const length2 = MEM_readLE16(istart+2);
-        size_t const length3 = MEM_readLE16(istart+4);
-        size_t const length4 = cSrcSize - (length1 + length2 + length3 + 6);
-        const BYTE* const istart1 = istart + 6;  /* jumpTable */
-        const BYTE* const istart2 = istart1 + length1;
-        const BYTE* const istart3 = istart2 + length2;
-        const BYTE* const istart4 = istart3 + length3;
-        size_t const segmentSize = (dstSize+3) / 4;
-        BYTE* const opStart2 = ostart + segmentSize;
-        BYTE* const opStart3 = opStart2 + segmentSize;
-        BYTE* const opStart4 = opStart3 + segmentSize;
-        BYTE* op1 = ostart;
-        BYTE* op2 = opStart2;
-        BYTE* op3 = opStart3;
-        BYTE* op4 = opStart4;
-        U32 endSignal;
-        DTableDesc const dtd = HUF_getDTableDesc(DTable);
-        U32 const dtLog = dtd.tableLog;
-
-        if (length4 > cSrcSize) return ERROR(corruption_detected);   /* overflow */
-        CHECK_F( BIT_initDStream(&bitD1, istart1, length1) );
-        CHECK_F( BIT_initDStream(&bitD2, istart2, length2) );
-        CHECK_F( BIT_initDStream(&bitD3, istart3, length3) );
-        CHECK_F( BIT_initDStream(&bitD4, istart4, length4) );
-
-        /* 16-32 symbols per loop (4-8 symbols per stream) */
-        endSignal = BIT_reloadDStream(&bitD1) | BIT_reloadDStream(&bitD2) | BIT_reloadDStream(&bitD3) | BIT_reloadDStream(&bitD4);
-        for ( ; (endSignal==BIT_DStream_unfinished) & (op4<(oend-(sizeof(bitD4.bitContainer)-1))) ; ) {
-            HUF_DECODE_SYMBOLX4_2(op1, &bitD1);
-            HUF_DECODE_SYMBOLX4_2(op2, &bitD2);
-            HUF_DECODE_SYMBOLX4_2(op3, &bitD3);
-            HUF_DECODE_SYMBOLX4_2(op4, &bitD4);
-            HUF_DECODE_SYMBOLX4_1(op1, &bitD1);
-            HUF_DECODE_SYMBOLX4_1(op2, &bitD2);
-            HUF_DECODE_SYMBOLX4_1(op3, &bitD3);
-            HUF_DECODE_SYMBOLX4_1(op4, &bitD4);
-            HUF_DECODE_SYMBOLX4_2(op1, &bitD1);
-            HUF_DECODE_SYMBOLX4_2(op2, &bitD2);
-            HUF_DECODE_SYMBOLX4_2(op3, &bitD3);
-            HUF_DECODE_SYMBOLX4_2(op4, &bitD4);
-            HUF_DECODE_SYMBOLX4_0(op1, &bitD1);
-            HUF_DECODE_SYMBOLX4_0(op2, &bitD2);
-            HUF_DECODE_SYMBOLX4_0(op3, &bitD3);
-            HUF_DECODE_SYMBOLX4_0(op4, &bitD4);
-
-            endSignal = BIT_reloadDStream(&bitD1) | BIT_reloadDStream(&bitD2) | BIT_reloadDStream(&bitD3) | BIT_reloadDStream(&bitD4);
-        }
-
-        /* check corruption */
-        if (op1 > opStart2) return ERROR(corruption_detected);
-        if (op2 > opStart3) return ERROR(corruption_detected);
-        if (op3 > opStart4) return ERROR(corruption_detected);
-        /* note : op4 already verified within main loop */
-
-        /* finish bitStreams one by one */
-        HUF_decodeStreamX4(op1, &bitD1, opStart2, dt, dtLog);
-        HUF_decodeStreamX4(op2, &bitD2, opStart3, dt, dtLog);
-        HUF_decodeStreamX4(op3, &bitD3, opStart4, dt, dtLog);
-        HUF_decodeStreamX4(op4, &bitD4, oend,     dt, dtLog);
+        HUF_decodeStreamX1(op1, &bitD1, opStart2, dt, dtLog);
+        HUF_decodeStreamX1(op2, &bitD2, opStart3, dt, dtLog);
+        HUF_decodeStreamX1(op3, &bitD3, opStart4, dt, dtLog);
+        HUF_decodeStreamX1(op4, &bitD4, oend,     dt, dtLog);
 
         /* check */
         { U32 const endCheck = BIT_endOfDStream(&bitD1) & BIT_endOfDStream(&bitD2) & BIT_endOfDStream(&bitD3) & BIT_endOfDStream(&bitD4);
@@ -491,153 +367,119 @@ typedef size_t (*HUF_decompress_usingDTable_t)(void *dst, size_t dstSize,
                                                const void *cSrc,
                                                size_t cSrcSize,
                                                const HUF_DTable *DTable);
-#if DYNAMIC_BMI2
-
-#define X(fn)                                                               \
-                                                                            \
-    static size_t fn##_default(                                             \
-                  void* dst,  size_t dstSize,                               \
-            const void* cSrc, size_t cSrcSize,                              \
-            const HUF_DTable* DTable)                                       \
-    {                                                                       \
-        return fn##_body(dst, dstSize, cSrc, cSrcSize, DTable);             \
-    }                                                                       \
-                                                                            \
-    static TARGET_ATTRIBUTE("bmi2") size_t fn##_bmi2(                       \
-                  void* dst,  size_t dstSize,                               \
-            const void* cSrc, size_t cSrcSize,                              \
-            const HUF_DTable* DTable)                                       \
-    {                                                                       \
-        return fn##_body(dst, dstSize, cSrc, cSrcSize, DTable);             \
-    }                                                                       \
-                                                                            \
-    static size_t fn(void* dst, size_t dstSize, void const* cSrc,           \
-                     size_t cSrcSize, HUF_DTable const* DTable, int bmi2)   \
-    {                                                                       \
-        if (bmi2) {                                                         \
-            return fn##_bmi2(dst, dstSize, cSrc, cSrcSize, DTable);         \
-        }                                                                   \
-        return fn##_default(dst, dstSize, cSrc, cSrcSize, DTable);          \
-    }
-
-#else
-
-#define X(fn)                                                               \
-    static size_t fn(void* dst, size_t dstSize, void const* cSrc,           \
-                     size_t cSrcSize, HUF_DTable const* DTable, int bmi2)   \
-    {                                                                       \
-        (void)bmi2;                                                         \
-        return fn##_body(dst, dstSize, cSrc, cSrcSize, DTable);             \
-    }
-
-#endif
 
-X(HUF_decompress1X2_usingDTable_internal)
-X(HUF_decompress4X2_usingDTable_internal)
-X(HUF_decompress1X4_usingDTable_internal)
-X(HUF_decompress4X4_usingDTable_internal)
+HUF_DGEN(HUF_decompress1X1_usingDTable_internal)
+HUF_DGEN(HUF_decompress4X1_usingDTable_internal)
 
-#undef X
 
 
-size_t HUF_decompress1X2_usingDTable(
+size_t HUF_decompress1X1_usingDTable(
           void* dst,  size_t dstSize,
     const void* cSrc, size_t cSrcSize,
     const HUF_DTable* DTable)
 {
     DTableDesc dtd = HUF_getDTableDesc(DTable);
     if (dtd.tableType != 0) return ERROR(GENERIC);
-    return HUF_decompress1X2_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+    return HUF_decompress1X1_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
 }
 
-size_t HUF_decompress1X2_DCtx_wksp(HUF_DTable* DCtx, void* dst, size_t dstSize,
+size_t HUF_decompress1X1_DCtx_wksp(HUF_DTable* DCtx, void* dst, size_t dstSize,
                                    const void* cSrc, size_t cSrcSize,
                                    void* workSpace, size_t wkspSize)
 {
     const BYTE* ip = (const BYTE*) cSrc;
 
-    size_t const hSize = HUF_readDTableX2_wksp(DCtx, cSrc, cSrcSize, workSpace, wkspSize);
+    size_t const hSize = HUF_readDTableX1_wksp(DCtx, cSrc, cSrcSize, workSpace, wkspSize);
     if (HUF_isError(hSize)) return hSize;
     if (hSize >= cSrcSize) return ERROR(srcSize_wrong);
     ip += hSize; cSrcSize -= hSize;
 
-    return HUF_decompress1X2_usingDTable_internal(dst, dstSize, ip, cSrcSize, DCtx, /* bmi2 */ 0);
+    return HUF_decompress1X1_usingDTable_internal(dst, dstSize, ip, cSrcSize, DCtx, /* bmi2 */ 0);
 }
 
 
-size_t HUF_decompress1X2_DCtx(HUF_DTable* DCtx, void* dst, size_t dstSize,
+size_t HUF_decompress1X1_DCtx(HUF_DTable* DCtx, void* dst, size_t dstSize,
                               const void* cSrc, size_t cSrcSize)
 {
     U32 workSpace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-    return HUF_decompress1X2_DCtx_wksp(DCtx, dst, dstSize, cSrc, cSrcSize,
+    return HUF_decompress1X1_DCtx_wksp(DCtx, dst, dstSize, cSrc, cSrcSize,
                                        workSpace, sizeof(workSpace));
 }
 
-size_t HUF_decompress1X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
+size_t HUF_decompress1X1 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
 {
-    HUF_CREATE_STATIC_DTABLEX2(DTable, HUF_TABLELOG_MAX);
-    return HUF_decompress1X2_DCtx (DTable, dst, dstSize, cSrc, cSrcSize);
+    HUF_CREATE_STATIC_DTABLEX1(DTable, HUF_TABLELOG_MAX);
+    return HUF_decompress1X1_DCtx (DTable, dst, dstSize, cSrc, cSrcSize);
 }
 
-size_t HUF_decompress4X2_usingDTable(
+size_t HUF_decompress4X1_usingDTable(
           void* dst,  size_t dstSize,
     const void* cSrc, size_t cSrcSize,
     const HUF_DTable* DTable)
 {
     DTableDesc dtd = HUF_getDTableDesc(DTable);
     if (dtd.tableType != 0) return ERROR(GENERIC);
-    return HUF_decompress4X2_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+    return HUF_decompress4X1_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
 }
 
-static size_t HUF_decompress4X2_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize,
+static size_t HUF_decompress4X1_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize,
                                    const void* cSrc, size_t cSrcSize,
                                    void* workSpace, size_t wkspSize, int bmi2)
 {
     const BYTE* ip = (const BYTE*) cSrc;
 
-    size_t const hSize = HUF_readDTableX2_wksp (dctx, cSrc, cSrcSize,
+    size_t const hSize = HUF_readDTableX1_wksp (dctx, cSrc, cSrcSize,
                                                 workSpace, wkspSize);
     if (HUF_isError(hSize)) return hSize;
     if (hSize >= cSrcSize) return ERROR(srcSize_wrong);
     ip += hSize; cSrcSize -= hSize;
 
-    return HUF_decompress4X2_usingDTable_internal(dst, dstSize, ip, cSrcSize, dctx, bmi2);
+    return HUF_decompress4X1_usingDTable_internal(dst, dstSize, ip, cSrcSize, dctx, bmi2);
 }
 
-size_t HUF_decompress4X2_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize,
+size_t HUF_decompress4X1_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize,
                                    const void* cSrc, size_t cSrcSize,
                                    void* workSpace, size_t wkspSize)
 {
-    return HUF_decompress4X2_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, 0);
+    return HUF_decompress4X1_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, 0);
 }
 
 
-size_t HUF_decompress4X2_DCtx (HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
+size_t HUF_decompress4X1_DCtx (HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
 {
     U32 workSpace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-    return HUF_decompress4X2_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize,
+    return HUF_decompress4X1_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize,
                                        workSpace, sizeof(workSpace));
 }
-size_t HUF_decompress4X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
+size_t HUF_decompress4X1 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
 {
-    HUF_CREATE_STATIC_DTABLEX2(DTable, HUF_TABLELOG_MAX);
-    return HUF_decompress4X2_DCtx(DTable, dst, dstSize, cSrc, cSrcSize);
+    HUF_CREATE_STATIC_DTABLEX1(DTable, HUF_TABLELOG_MAX);
+    return HUF_decompress4X1_DCtx(DTable, dst, dstSize, cSrc, cSrcSize);
 }
 
+#endif /* HUF_FORCE_DECOMPRESS_X2 */
+
+
+#ifndef HUF_FORCE_DECOMPRESS_X1
 
 /* *************************/
 /* double-symbols decoding */
 /* *************************/
+
+typedef struct { U16 sequence; BYTE nbBits; BYTE length; } HUF_DEltX2;  /* double-symbols decoding */
 typedef struct { BYTE symbol; BYTE weight; } sortedSymbol_t;
+typedef U32 rankValCol_t[HUF_TABLELOG_MAX + 1];
+typedef rankValCol_t rankVal_t[HUF_TABLELOG_MAX];
 
-/* HUF_fillDTableX4Level2() :
+
+/* HUF_fillDTableX2Level2() :
  * `rankValOrigin` must be a table of at least (HUF_TABLELOG_MAX + 1) U32 */
-static void HUF_fillDTableX4Level2(HUF_DEltX4* DTable, U32 sizeLog, const U32 consumed,
+static void HUF_fillDTableX2Level2(HUF_DEltX2* DTable, U32 sizeLog, const U32 consumed,
                            const U32* rankValOrigin, const int minWeight,
                            const sortedSymbol_t* sortedSymbols, const U32 sortedListSize,
                            U32 nbBitsBaseline, U16 baseSeq)
 {
-    HUF_DEltX4 DElt;
+    HUF_DEltX2 DElt;
     U32 rankVal[HUF_TABLELOG_MAX + 1];
 
     /* get pre-calculated rankVal */
@@ -672,10 +514,8 @@ static void HUF_fillDTableX4Level2(HUF_DEltX4* DTable, U32 sizeLog, const U32 co
     }   }
 }
 
-typedef U32 rankValCol_t[HUF_TABLELOG_MAX + 1];
-typedef rankValCol_t rankVal_t[HUF_TABLELOG_MAX];
 
-static void HUF_fillDTableX4(HUF_DEltX4* DTable, const U32 targetLog,
+static void HUF_fillDTableX2(HUF_DEltX2* DTable, const U32 targetLog,
                            const sortedSymbol_t* sortedList, const U32 sortedListSize,
                            const U32* rankStart, rankVal_t rankValOrigin, const U32 maxWeight,
                            const U32 nbBitsBaseline)
@@ -700,12 +540,12 @@ static void HUF_fillDTableX4(HUF_DEltX4* DTable, const U32 targetLog,
             int minWeight = nbBits + scaleLog;
             if (minWeight < 1) minWeight = 1;
             sortedRank = rankStart[minWeight];
-            HUF_fillDTableX4Level2(DTable+start, targetLog-nbBits, nbBits,
+            HUF_fillDTableX2Level2(DTable+start, targetLog-nbBits, nbBits,
                            rankValOrigin[nbBits], minWeight,
                            sortedList+sortedRank, sortedListSize-sortedRank,
                            nbBitsBaseline, symbol);
         } else {
-            HUF_DEltX4 DElt;
+            HUF_DEltX2 DElt;
             MEM_writeLE16(&(DElt.sequence), symbol);
             DElt.nbBits = (BYTE)(nbBits);
             DElt.length = 1;
@@ -717,16 +557,16 @@ static void HUF_fillDTableX4(HUF_DEltX4* DTable, const U32 targetLog,
     }
 }
 
-size_t HUF_readDTableX4_wksp(HUF_DTable* DTable, const void* src,
-                             size_t srcSize, void* workSpace,
-                             size_t wkspSize)
+size_t HUF_readDTableX2_wksp(HUF_DTable* DTable,
+                       const void* src, size_t srcSize,
+                             void* workSpace, size_t wkspSize)
 {
     U32 tableLog, maxW, sizeOfSort, nbSymbols;
     DTableDesc dtd = HUF_getDTableDesc(DTable);
     U32 const maxTableLog = dtd.maxTableLog;
     size_t iSize;
     void* dtPtr = DTable+1;   /* force compiler to avoid strict-aliasing */
-    HUF_DEltX4* const dt = (HUF_DEltX4*)dtPtr;
+    HUF_DEltX2* const dt = (HUF_DEltX2*)dtPtr;
     U32 *rankStart;
 
     rankValCol_t* rankVal;
@@ -752,7 +592,7 @@ size_t HUF_readDTableX4_wksp(HUF_DTable* DTable, const void* src,
     rankStart = rankStart0 + 1;
     memset(rankStats, 0, sizeof(U32) * (2 * HUF_TABLELOG_MAX + 2 + 1));
 
-    HUF_STATIC_ASSERT(sizeof(HUF_DEltX4) == sizeof(HUF_DTable));   /* if compiler fails here, assertion is wrong */
+    DEBUG_STATIC_ASSERT(sizeof(HUF_DEltX2) == sizeof(HUF_DTable));   /* if compiler fails here, assertion is wrong */
     if (maxTableLog > HUF_TABLELOG_MAX) return ERROR(tableLog_tooLarge);
     /* memset(weightList, 0, sizeof(weightList)); */  /* is not necessary, even though some analyzer complain ... */
 
@@ -806,7 +646,7 @@ size_t HUF_readDTableX4_wksp(HUF_DTable* DTable, const void* src,
                     rankValPtr[w] = rankVal0[w] >> consumed;
     }   }   }   }
 
-    HUF_fillDTableX4(dt, maxTableLog,
+    HUF_fillDTableX2(dt, maxTableLog,
                    sortedSymbol, sizeOfSort,
                    rankStart0, rankVal, maxW,
                    tableLog+1);
@@ -817,112 +657,308 @@ size_t HUF_readDTableX4_wksp(HUF_DTable* DTable, const void* src,
     return iSize;
 }
 
-size_t HUF_readDTableX4(HUF_DTable* DTable, const void* src, size_t srcSize)
+size_t HUF_readDTableX2(HUF_DTable* DTable, const void* src, size_t srcSize)
 {
   U32 workSpace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-  return HUF_readDTableX4_wksp(DTable, src, srcSize,
+  return HUF_readDTableX2_wksp(DTable, src, srcSize,
                                workSpace, sizeof(workSpace));
 }
 
-size_t HUF_decompress1X4_usingDTable(
+
+FORCE_INLINE_TEMPLATE U32
+HUF_decodeSymbolX2(void* op, BIT_DStream_t* DStream, const HUF_DEltX2* dt, const U32 dtLog)
+{
+    size_t const val = BIT_lookBitsFast(DStream, dtLog);   /* note : dtLog >= 1 */
+    memcpy(op, dt+val, 2);
+    BIT_skipBits(DStream, dt[val].nbBits);
+    return dt[val].length;
+}
+
+FORCE_INLINE_TEMPLATE U32
+HUF_decodeLastSymbolX2(void* op, BIT_DStream_t* DStream, const HUF_DEltX2* dt, const U32 dtLog)
+{
+    size_t const val = BIT_lookBitsFast(DStream, dtLog);   /* note : dtLog >= 1 */
+    memcpy(op, dt+val, 1);
+    if (dt[val].length==1) BIT_skipBits(DStream, dt[val].nbBits);
+    else {
+        if (DStream->bitsConsumed < (sizeof(DStream->bitContainer)*8)) {
+            BIT_skipBits(DStream, dt[val].nbBits);
+            if (DStream->bitsConsumed > (sizeof(DStream->bitContainer)*8))
+                /* ugly hack; works only because it's the last symbol. Note : can't easily extract nbBits from just this symbol */
+                DStream->bitsConsumed = (sizeof(DStream->bitContainer)*8);
+    }   }
+    return 1;
+}
+
+#define HUF_DECODE_SYMBOLX2_0(ptr, DStreamPtr) \
+    ptr += HUF_decodeSymbolX2(ptr, DStreamPtr, dt, dtLog)
+
+#define HUF_DECODE_SYMBOLX2_1(ptr, DStreamPtr) \
+    if (MEM_64bits() || (HUF_TABLELOG_MAX<=12)) \
+        ptr += HUF_decodeSymbolX2(ptr, DStreamPtr, dt, dtLog)
+
+#define HUF_DECODE_SYMBOLX2_2(ptr, DStreamPtr) \
+    if (MEM_64bits()) \
+        ptr += HUF_decodeSymbolX2(ptr, DStreamPtr, dt, dtLog)
+
+HINT_INLINE size_t
+HUF_decodeStreamX2(BYTE* p, BIT_DStream_t* bitDPtr, BYTE* const pEnd,
+                const HUF_DEltX2* const dt, const U32 dtLog)
+{
+    BYTE* const pStart = p;
+
+    /* up to 8 symbols at a time */
+    while ((BIT_reloadDStream(bitDPtr) == BIT_DStream_unfinished) & (p < pEnd-(sizeof(bitDPtr->bitContainer)-1))) {
+        HUF_DECODE_SYMBOLX2_2(p, bitDPtr);
+        HUF_DECODE_SYMBOLX2_1(p, bitDPtr);
+        HUF_DECODE_SYMBOLX2_2(p, bitDPtr);
+        HUF_DECODE_SYMBOLX2_0(p, bitDPtr);
+    }
+
+    /* closer to end : up to 2 symbols at a time */
+    while ((BIT_reloadDStream(bitDPtr) == BIT_DStream_unfinished) & (p <= pEnd-2))
+        HUF_DECODE_SYMBOLX2_0(p, bitDPtr);
+
+    while (p <= pEnd-2)
+        HUF_DECODE_SYMBOLX2_0(p, bitDPtr);   /* no need to reload : reached the end of DStream */
+
+    if (p < pEnd)
+        p += HUF_decodeLastSymbolX2(p, bitDPtr, dt, dtLog);
+
+    return p-pStart;
+}
+
+FORCE_INLINE_TEMPLATE size_t
+HUF_decompress1X2_usingDTable_internal_body(
+          void* dst,  size_t dstSize,
+    const void* cSrc, size_t cSrcSize,
+    const HUF_DTable* DTable)
+{
+    BIT_DStream_t bitD;
+
+    /* Init */
+    CHECK_F( BIT_initDStream(&bitD, cSrc, cSrcSize) );
+
+    /* decode */
+    {   BYTE* const ostart = (BYTE*) dst;
+        BYTE* const oend = ostart + dstSize;
+        const void* const dtPtr = DTable+1;   /* force compiler to not use strict-aliasing */
+        const HUF_DEltX2* const dt = (const HUF_DEltX2*)dtPtr;
+        DTableDesc const dtd = HUF_getDTableDesc(DTable);
+        HUF_decodeStreamX2(ostart, &bitD, oend, dt, dtd.tableLog);
+    }
+
+    /* check */
+    if (!BIT_endOfDStream(&bitD)) return ERROR(corruption_detected);
+
+    /* decoded size */
+    return dstSize;
+}
+
+
+FORCE_INLINE_TEMPLATE size_t
+HUF_decompress4X2_usingDTable_internal_body(
+          void* dst,  size_t dstSize,
+    const void* cSrc, size_t cSrcSize,
+    const HUF_DTable* DTable)
+{
+    if (cSrcSize < 10) return ERROR(corruption_detected);   /* strict minimum : jump table + 1 byte per stream */
+
+    {   const BYTE* const istart = (const BYTE*) cSrc;
+        BYTE* const ostart = (BYTE*) dst;
+        BYTE* const oend = ostart + dstSize;
+        const void* const dtPtr = DTable+1;
+        const HUF_DEltX2* const dt = (const HUF_DEltX2*)dtPtr;
+
+        /* Init */
+        BIT_DStream_t bitD1;
+        BIT_DStream_t bitD2;
+        BIT_DStream_t bitD3;
+        BIT_DStream_t bitD4;
+        size_t const length1 = MEM_readLE16(istart);
+        size_t const length2 = MEM_readLE16(istart+2);
+        size_t const length3 = MEM_readLE16(istart+4);
+        size_t const length4 = cSrcSize - (length1 + length2 + length3 + 6);
+        const BYTE* const istart1 = istart + 6;  /* jumpTable */
+        const BYTE* const istart2 = istart1 + length1;
+        const BYTE* const istart3 = istart2 + length2;
+        const BYTE* const istart4 = istart3 + length3;
+        size_t const segmentSize = (dstSize+3) / 4;
+        BYTE* const opStart2 = ostart + segmentSize;
+        BYTE* const opStart3 = opStart2 + segmentSize;
+        BYTE* const opStart4 = opStart3 + segmentSize;
+        BYTE* op1 = ostart;
+        BYTE* op2 = opStart2;
+        BYTE* op3 = opStart3;
+        BYTE* op4 = opStart4;
+        U32 endSignal;
+        DTableDesc const dtd = HUF_getDTableDesc(DTable);
+        U32 const dtLog = dtd.tableLog;
+
+        if (length4 > cSrcSize) return ERROR(corruption_detected);   /* overflow */
+        CHECK_F( BIT_initDStream(&bitD1, istart1, length1) );
+        CHECK_F( BIT_initDStream(&bitD2, istart2, length2) );
+        CHECK_F( BIT_initDStream(&bitD3, istart3, length3) );
+        CHECK_F( BIT_initDStream(&bitD4, istart4, length4) );
+
+        /* 16-32 symbols per loop (4-8 symbols per stream) */
+        endSignal = BIT_reloadDStream(&bitD1) | BIT_reloadDStream(&bitD2) | BIT_reloadDStream(&bitD3) | BIT_reloadDStream(&bitD4);
+        for ( ; (endSignal==BIT_DStream_unfinished) & (op4<(oend-(sizeof(bitD4.bitContainer)-1))) ; ) {
+            HUF_DECODE_SYMBOLX2_2(op1, &bitD1);
+            HUF_DECODE_SYMBOLX2_2(op2, &bitD2);
+            HUF_DECODE_SYMBOLX2_2(op3, &bitD3);
+            HUF_DECODE_SYMBOLX2_2(op4, &bitD4);
+            HUF_DECODE_SYMBOLX2_1(op1, &bitD1);
+            HUF_DECODE_SYMBOLX2_1(op2, &bitD2);
+            HUF_DECODE_SYMBOLX2_1(op3, &bitD3);
+            HUF_DECODE_SYMBOLX2_1(op4, &bitD4);
+            HUF_DECODE_SYMBOLX2_2(op1, &bitD1);
+            HUF_DECODE_SYMBOLX2_2(op2, &bitD2);
+            HUF_DECODE_SYMBOLX2_2(op3, &bitD3);
+            HUF_DECODE_SYMBOLX2_2(op4, &bitD4);
+            HUF_DECODE_SYMBOLX2_0(op1, &bitD1);
+            HUF_DECODE_SYMBOLX2_0(op2, &bitD2);
+            HUF_DECODE_SYMBOLX2_0(op3, &bitD3);
+            HUF_DECODE_SYMBOLX2_0(op4, &bitD4);
+
+            endSignal = BIT_reloadDStream(&bitD1) | BIT_reloadDStream(&bitD2) | BIT_reloadDStream(&bitD3) | BIT_reloadDStream(&bitD4);
+        }
+
+        /* check corruption */
+        if (op1 > opStart2) return ERROR(corruption_detected);
+        if (op2 > opStart3) return ERROR(corruption_detected);
+        if (op3 > opStart4) return ERROR(corruption_detected);
+        /* note : op4 already verified within main loop */
+
+        /* finish bitStreams one by one */
+        HUF_decodeStreamX2(op1, &bitD1, opStart2, dt, dtLog);
+        HUF_decodeStreamX2(op2, &bitD2, opStart3, dt, dtLog);
+        HUF_decodeStreamX2(op3, &bitD3, opStart4, dt, dtLog);
+        HUF_decodeStreamX2(op4, &bitD4, oend,     dt, dtLog);
+
+        /* check */
+        { U32 const endCheck = BIT_endOfDStream(&bitD1) & BIT_endOfDStream(&bitD2) & BIT_endOfDStream(&bitD3) & BIT_endOfDStream(&bitD4);
+          if (!endCheck) return ERROR(corruption_detected); }
+
+        /* decoded size */
+        return dstSize;
+    }
+}
+
+HUF_DGEN(HUF_decompress1X2_usingDTable_internal)
+HUF_DGEN(HUF_decompress4X2_usingDTable_internal)
+
+size_t HUF_decompress1X2_usingDTable(
           void* dst,  size_t dstSize,
     const void* cSrc, size_t cSrcSize,
     const HUF_DTable* DTable)
 {
     DTableDesc dtd = HUF_getDTableDesc(DTable);
     if (dtd.tableType != 1) return ERROR(GENERIC);
-    return HUF_decompress1X4_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+    return HUF_decompress1X2_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
 }
 
-size_t HUF_decompress1X4_DCtx_wksp(HUF_DTable* DCtx, void* dst, size_t dstSize,
+size_t HUF_decompress1X2_DCtx_wksp(HUF_DTable* DCtx, void* dst, size_t dstSize,
                                    const void* cSrc, size_t cSrcSize,
                                    void* workSpace, size_t wkspSize)
 {
     const BYTE* ip = (const BYTE*) cSrc;
 
-    size_t const hSize = HUF_readDTableX4_wksp(DCtx, cSrc, cSrcSize,
+    size_t const hSize = HUF_readDTableX2_wksp(DCtx, cSrc, cSrcSize,
                                                workSpace, wkspSize);
     if (HUF_isError(hSize)) return hSize;
     if (hSize >= cSrcSize) return ERROR(srcSize_wrong);
     ip += hSize; cSrcSize -= hSize;
 
-    return HUF_decompress1X4_usingDTable_internal(dst, dstSize, ip, cSrcSize, DCtx, /* bmi2 */ 0);
+    return HUF_decompress1X2_usingDTable_internal(dst, dstSize, ip, cSrcSize, DCtx, /* bmi2 */ 0);
 }
 
 
-size_t HUF_decompress1X4_DCtx(HUF_DTable* DCtx, void* dst, size_t dstSize,
+size_t HUF_decompress1X2_DCtx(HUF_DTable* DCtx, void* dst, size_t dstSize,
                               const void* cSrc, size_t cSrcSize)
 {
     U32 workSpace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-    return HUF_decompress1X4_DCtx_wksp(DCtx, dst, dstSize, cSrc, cSrcSize,
+    return HUF_decompress1X2_DCtx_wksp(DCtx, dst, dstSize, cSrc, cSrcSize,
                                        workSpace, sizeof(workSpace));
 }
 
-size_t HUF_decompress1X4 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
+size_t HUF_decompress1X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
 {
-    HUF_CREATE_STATIC_DTABLEX4(DTable, HUF_TABLELOG_MAX);
-    return HUF_decompress1X4_DCtx(DTable, dst, dstSize, cSrc, cSrcSize);
+    HUF_CREATE_STATIC_DTABLEX2(DTable, HUF_TABLELOG_MAX);
+    return HUF_decompress1X2_DCtx(DTable, dst, dstSize, cSrc, cSrcSize);
 }
 
-size_t HUF_decompress4X4_usingDTable(
+size_t HUF_decompress4X2_usingDTable(
           void* dst,  size_t dstSize,
     const void* cSrc, size_t cSrcSize,
     const HUF_DTable* DTable)
 {
     DTableDesc dtd = HUF_getDTableDesc(DTable);
     if (dtd.tableType != 1) return ERROR(GENERIC);
-    return HUF_decompress4X4_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+    return HUF_decompress4X2_usingDTable_internal(dst, dstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
 }
 
-static size_t HUF_decompress4X4_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize,
+static size_t HUF_decompress4X2_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize,
                                    const void* cSrc, size_t cSrcSize,
                                    void* workSpace, size_t wkspSize, int bmi2)
 {
     const BYTE* ip = (const BYTE*) cSrc;
 
-    size_t hSize = HUF_readDTableX4_wksp(dctx, cSrc, cSrcSize,
+    size_t hSize = HUF_readDTableX2_wksp(dctx, cSrc, cSrcSize,
                                          workSpace, wkspSize);
     if (HUF_isError(hSize)) return hSize;
     if (hSize >= cSrcSize) return ERROR(srcSize_wrong);
     ip += hSize; cSrcSize -= hSize;
 
-    return HUF_decompress4X4_usingDTable_internal(dst, dstSize, ip, cSrcSize, dctx, bmi2);
+    return HUF_decompress4X2_usingDTable_internal(dst, dstSize, ip, cSrcSize, dctx, bmi2);
 }
 
-size_t HUF_decompress4X4_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize,
+size_t HUF_decompress4X2_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize,
                                    const void* cSrc, size_t cSrcSize,
                                    void* workSpace, size_t wkspSize)
 {
-    return HUF_decompress4X4_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, /* bmi2 */ 0);
+    return HUF_decompress4X2_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, /* bmi2 */ 0);
 }
 
 
-size_t HUF_decompress4X4_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize,
+size_t HUF_decompress4X2_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize,
                               const void* cSrc, size_t cSrcSize)
 {
     U32 workSpace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-    return HUF_decompress4X4_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize,
+    return HUF_decompress4X2_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize,
                                        workSpace, sizeof(workSpace));
 }
 
-size_t HUF_decompress4X4 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
+size_t HUF_decompress4X2 (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
 {
-    HUF_CREATE_STATIC_DTABLEX4(DTable, HUF_TABLELOG_MAX);
-    return HUF_decompress4X4_DCtx(DTable, dst, dstSize, cSrc, cSrcSize);
+    HUF_CREATE_STATIC_DTABLEX2(DTable, HUF_TABLELOG_MAX);
+    return HUF_decompress4X2_DCtx(DTable, dst, dstSize, cSrc, cSrcSize);
 }
 
+#endif /* HUF_FORCE_DECOMPRESS_X1 */
 
-/* ********************************/
-/* Generic decompression selector */
-/* ********************************/
+
+/* ***********************************/
+/* Universal decompression selectors */
+/* ***********************************/
 
 size_t HUF_decompress1X_usingDTable(void* dst, size_t maxDstSize,
                                     const void* cSrc, size_t cSrcSize,
                                     const HUF_DTable* DTable)
 {
     DTableDesc const dtd = HUF_getDTableDesc(DTable);
-    return dtd.tableType ? HUF_decompress1X4_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0) :
-                           HUF_decompress1X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+    (void)dtd;
+    assert(dtd.tableType == 0);
+    return HUF_decompress1X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+    (void)dtd;
+    assert(dtd.tableType == 1);
+    return HUF_decompress1X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#else
+    return dtd.tableType ? HUF_decompress1X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0) :
+                           HUF_decompress1X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#endif
 }
 
 size_t HUF_decompress4X_usingDTable(void* dst, size_t maxDstSize,
@@ -930,11 +966,22 @@ size_t HUF_decompress4X_usingDTable(void* dst, size_t maxDstSize,
                                     const HUF_DTable* DTable)
 {
     DTableDesc const dtd = HUF_getDTableDesc(DTable);
-    return dtd.tableType ? HUF_decompress4X4_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0) :
-                           HUF_decompress4X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+    (void)dtd;
+    assert(dtd.tableType == 0);
+    return HUF_decompress4X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+    (void)dtd;
+    assert(dtd.tableType == 1);
+    return HUF_decompress4X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#else
+    return dtd.tableType ? HUF_decompress4X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0) :
+                           HUF_decompress4X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, /* bmi2 */ 0);
+#endif
 }
 
 
+#if !defined(HUF_FORCE_DECOMPRESS_X1) && !defined(HUF_FORCE_DECOMPRESS_X2)
 typedef struct { U32 tableTime; U32 decode256Time; } algo_time_t;
 static const algo_time_t algoTime[16 /* Quantization */][3 /* single, double, quad */] =
 {
@@ -956,16 +1003,26 @@ static const algo_time_t algoTime[16 /* Quantization */][3 /* single, double, qu
     {{1455,128}, {2422,124}, {4174,124}},   /* Q ==14 : 87-93% */
     {{ 722,128}, {1891,145}, {1936,146}},   /* Q ==15 : 93-99% */
 };
+#endif
 
 /** HUF_selectDecoder() :
  *  Tells which decoder is likely to decode faster,
  *  based on a set of pre-computed metrics.
- * @return : 0==HUF_decompress4X2, 1==HUF_decompress4X4 .
+ * @return : 0==HUF_decompress4X1, 1==HUF_decompress4X2 .
  *  Assumption : 0 < dstSize <= 128 KB */
 U32 HUF_selectDecoder (size_t dstSize, size_t cSrcSize)
 {
     assert(dstSize > 0);
-    assert(dstSize <= 128 KB);
+    assert(dstSize <= 128*1024);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+    (void)dstSize;
+    (void)cSrcSize;
+    return 0;
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+    (void)dstSize;
+    (void)cSrcSize;
+    return 1;
+#else
     /* decoder timing evaluation */
     {   U32 const Q = (cSrcSize >= dstSize) ? 15 : (U32)(cSrcSize * 16 / dstSize);   /* Q < 16 */
         U32 const D256 = (U32)(dstSize >> 8);
@@ -973,14 +1030,18 @@ U32 HUF_selectDecoder (size_t dstSize, size_t cSrcSize)
         U32 DTime1 = algoTime[Q][1].tableTime + (algoTime[Q][1].decode256Time * D256);
         DTime1 += DTime1 >> 3;  /* advantage to algorithm using less memory, to reduce cache eviction */
         return DTime1 < DTime0;
-}   }
+    }
+#endif
+}
 
 
 typedef size_t (*decompressionAlgo)(void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize);
 
 size_t HUF_decompress (void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize)
 {
-    static const decompressionAlgo decompress[2] = { HUF_decompress4X2, HUF_decompress4X4 };
+#if !defined(HUF_FORCE_DECOMPRESS_X1) && !defined(HUF_FORCE_DECOMPRESS_X2)
+    static const decompressionAlgo decompress[2] = { HUF_decompress4X1, HUF_decompress4X2 };
+#endif
 
     /* validation checks */
     if (dstSize == 0) return ERROR(dstSize_tooSmall);
@@ -989,7 +1050,17 @@ size_t HUF_decompress (void* dst, size_t dstSize, const void* cSrc, size_t cSrcS
     if (cSrcSize == 1) { memset(dst, *(const BYTE*)cSrc, dstSize); return dstSize; }   /* RLE */
 
     {   U32 const algoNb = HUF_selectDecoder(dstSize, cSrcSize);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+        (void)algoNb;
+        assert(algoNb == 0);
+        return HUF_decompress4X1(dst, dstSize, cSrc, cSrcSize);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+        (void)algoNb;
+        assert(algoNb == 1);
+        return HUF_decompress4X2(dst, dstSize, cSrc, cSrcSize);
+#else
         return decompress[algoNb](dst, dstSize, cSrc, cSrcSize);
+#endif
     }
 }
 
@@ -1002,8 +1073,18 @@ size_t HUF_decompress4X_DCtx (HUF_DTable* dctx, void* dst, size_t dstSize, const
     if (cSrcSize == 1) { memset(dst, *(const BYTE*)cSrc, dstSize); return dstSize; }   /* RLE */
 
     {   U32 const algoNb = HUF_selectDecoder(dstSize, cSrcSize);
-        return algoNb ? HUF_decompress4X4_DCtx(dctx, dst, dstSize, cSrc, cSrcSize) :
-                        HUF_decompress4X2_DCtx(dctx, dst, dstSize, cSrc, cSrcSize) ;
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+        (void)algoNb;
+        assert(algoNb == 0);
+        return HUF_decompress4X1_DCtx(dctx, dst, dstSize, cSrc, cSrcSize);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+        (void)algoNb;
+        assert(algoNb == 1);
+        return HUF_decompress4X2_DCtx(dctx, dst, dstSize, cSrc, cSrcSize);
+#else
+        return algoNb ? HUF_decompress4X2_DCtx(dctx, dst, dstSize, cSrc, cSrcSize) :
+                        HUF_decompress4X1_DCtx(dctx, dst, dstSize, cSrc, cSrcSize) ;
+#endif
     }
 }
 
@@ -1025,8 +1106,19 @@ size_t HUF_decompress4X_hufOnly_wksp(HUF_DTable* dctx, void* dst,
     if (cSrcSize == 0) return ERROR(corruption_detected);
 
     {   U32 const algoNb = HUF_selectDecoder(dstSize, cSrcSize);
-        return algoNb ? HUF_decompress4X4_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize):
-                        HUF_decompress4X2_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+        (void)algoNb;
+        assert(algoNb == 0);
+        return HUF_decompress4X1_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+        (void)algoNb;
+        assert(algoNb == 1);
+        return HUF_decompress4X2_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize);
+#else
+        return algoNb ? HUF_decompress4X2_DCtx_wksp(dctx, dst, dstSize, cSrc,
+                            cSrcSize, workSpace, wkspSize):
+                        HUF_decompress4X1_DCtx_wksp(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize);
+#endif
     }
 }
 
@@ -1041,10 +1133,22 @@ size_t HUF_decompress1X_DCtx_wksp(HUF_DTable* dctx, void* dst, size_t dstSize,
     if (cSrcSize == 1) { memset(dst, *(const BYTE*)cSrc, dstSize); return dstSize; }   /* RLE */
 
     {   U32 const algoNb = HUF_selectDecoder(dstSize, cSrcSize);
-        return algoNb ? HUF_decompress1X4_DCtx_wksp(dctx, dst, dstSize, cSrc,
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+        (void)algoNb;
+        assert(algoNb == 0);
+        return HUF_decompress1X1_DCtx_wksp(dctx, dst, dstSize, cSrc,
+                                cSrcSize, workSpace, wkspSize);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+        (void)algoNb;
+        assert(algoNb == 1);
+        return HUF_decompress1X2_DCtx_wksp(dctx, dst, dstSize, cSrc,
+                                cSrcSize, workSpace, wkspSize);
+#else
+        return algoNb ? HUF_decompress1X2_DCtx_wksp(dctx, dst, dstSize, cSrc,
                                 cSrcSize, workSpace, wkspSize):
-                        HUF_decompress1X2_DCtx_wksp(dctx, dst, dstSize, cSrc,
+                        HUF_decompress1X1_DCtx_wksp(dctx, dst, dstSize, cSrc,
                                 cSrcSize, workSpace, wkspSize);
+#endif
     }
 }
 
@@ -1060,27 +1164,49 @@ size_t HUF_decompress1X_DCtx(HUF_DTable* dctx, void* dst, size_t dstSize,
 size_t HUF_decompress1X_usingDTable_bmi2(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable, int bmi2)
 {
     DTableDesc const dtd = HUF_getDTableDesc(DTable);
-    return dtd.tableType ? HUF_decompress1X4_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2) :
-                           HUF_decompress1X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+    (void)dtd;
+    assert(dtd.tableType == 0);
+    return HUF_decompress1X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+    (void)dtd;
+    assert(dtd.tableType == 1);
+    return HUF_decompress1X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#else
+    return dtd.tableType ? HUF_decompress1X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2) :
+                           HUF_decompress1X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#endif
 }
 
-size_t HUF_decompress1X2_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize, int bmi2)
+#ifndef HUF_FORCE_DECOMPRESS_X2
+size_t HUF_decompress1X1_DCtx_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize, int bmi2)
 {
     const BYTE* ip = (const BYTE*) cSrc;
 
-    size_t const hSize = HUF_readDTableX2_wksp(dctx, cSrc, cSrcSize, workSpace, wkspSize);
+    size_t const hSize = HUF_readDTableX1_wksp(dctx, cSrc, cSrcSize, workSpace, wkspSize);
     if (HUF_isError(hSize)) return hSize;
     if (hSize >= cSrcSize) return ERROR(srcSize_wrong);
     ip += hSize; cSrcSize -= hSize;
 
-    return HUF_decompress1X2_usingDTable_internal(dst, dstSize, ip, cSrcSize, dctx, bmi2);
+    return HUF_decompress1X1_usingDTable_internal(dst, dstSize, ip, cSrcSize, dctx, bmi2);
 }
+#endif
 
 size_t HUF_decompress4X_usingDTable_bmi2(void* dst, size_t maxDstSize, const void* cSrc, size_t cSrcSize, const HUF_DTable* DTable, int bmi2)
 {
     DTableDesc const dtd = HUF_getDTableDesc(DTable);
-    return dtd.tableType ? HUF_decompress4X4_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2) :
-                           HUF_decompress4X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+    (void)dtd;
+    assert(dtd.tableType == 0);
+    return HUF_decompress4X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+    (void)dtd;
+    assert(dtd.tableType == 1);
+    return HUF_decompress4X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#else
+    return dtd.tableType ? HUF_decompress4X2_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2) :
+                           HUF_decompress4X1_usingDTable_internal(dst, maxDstSize, cSrc, cSrcSize, DTable, bmi2);
+#endif
 }
 
 size_t HUF_decompress4X_hufOnly_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t dstSize, const void* cSrc, size_t cSrcSize, void* workSpace, size_t wkspSize, int bmi2)
@@ -1090,7 +1216,17 @@ size_t HUF_decompress4X_hufOnly_wksp_bmi2(HUF_DTable* dctx, void* dst, size_t ds
     if (cSrcSize == 0) return ERROR(corruption_detected);
 
     {   U32 const algoNb = HUF_selectDecoder(dstSize, cSrcSize);
-        return algoNb ? HUF_decompress4X4_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, bmi2) :
-                        HUF_decompress4X2_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, bmi2);
+#if defined(HUF_FORCE_DECOMPRESS_X1)
+        (void)algoNb;
+        assert(algoNb == 0);
+        return HUF_decompress4X1_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, bmi2);
+#elif defined(HUF_FORCE_DECOMPRESS_X2)
+        (void)algoNb;
+        assert(algoNb == 1);
+        return HUF_decompress4X2_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, bmi2);
+#else
+        return algoNb ? HUF_decompress4X2_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, bmi2) :
+                        HUF_decompress4X1_DCtx_wksp_bmi2(dctx, dst, dstSize, cSrc, cSrcSize, workSpace, wkspSize, bmi2);
+#endif
     }
 }
diff --git a/thirdparty/zstd/decompress/zstd_ddict.c b/thirdparty/zstd/decompress/zstd_ddict.c
new file mode 100644
index 0000000000..2ad0440684
--- /dev/null
+++ b/thirdparty/zstd/decompress/zstd_ddict.c
@@ -0,0 +1,240 @@
+/*
+ * Copyright (c) 2016-present, Yann Collet, Facebook, Inc.
+ * All rights reserved.
+ *
+ * This source code is licensed under both the BSD-style license (found in the
+ * LICENSE file in the root directory of this source tree) and the GPLv2 (found
+ * in the COPYING file in the root directory of this source tree).
+ * You may select, at your option, one of the above-listed licenses.
+ */
+
+/* zstd_ddict.c :
+ * concentrates all logic that needs to know the internals of ZSTD_DDict object */
+
+/*-*******************************************************
+*  Dependencies
+*********************************************************/
+#include <string.h>      /* memcpy, memmove, memset */
+#include "cpu.h"         /* bmi2 */
+#include "mem.h"         /* low level memory routines */
+#define FSE_STATIC_LINKING_ONLY
+#include "fse.h"
+#define HUF_STATIC_LINKING_ONLY
+#include "huf.h"
+#include "zstd_decompress_internal.h"
+#include "zstd_ddict.h"
+
+#if defined(ZSTD_LEGACY_SUPPORT) && (ZSTD_LEGACY_SUPPORT>=1)
+#  include "zstd_legacy.h"
+#endif
+
+
+
+/*-*******************************************************
+*  Types
+*********************************************************/
+struct ZSTD_DDict_s {
+    void* dictBuffer;
+    const void* dictContent;
+    size_t dictSize;
+    ZSTD_entropyDTables_t entropy;
+    U32 dictID;
+    U32 entropyPresent;
+    ZSTD_customMem cMem;
+};  /* typedef'd to ZSTD_DDict within "zstd.h" */
+
+const void* ZSTD_DDict_dictContent(const ZSTD_DDict* ddict)
+{
+    assert(ddict != NULL);
+    return ddict->dictContent;
+}
+
+size_t ZSTD_DDict_dictSize(const ZSTD_DDict* ddict)
+{
+    assert(ddict != NULL);
+    return ddict->dictSize;
+}
+
+void ZSTD_copyDDictParameters(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict)
+{
+    DEBUGLOG(4, "ZSTD_copyDDictParameters");
+    assert(dctx != NULL);
+    assert(ddict != NULL);
+    dctx->dictID = ddict->dictID;
+    dctx->prefixStart = ddict->dictContent;
+    dctx->virtualStart = ddict->dictContent;
+    dctx->dictEnd = (const BYTE*)ddict->dictContent + ddict->dictSize;
+    dctx->previousDstEnd = dctx->dictEnd;
+    if (ddict->entropyPresent) {
+        dctx->litEntropy = 1;
+        dctx->fseEntropy = 1;
+        dctx->LLTptr = ddict->entropy.LLTable;
+        dctx->MLTptr = ddict->entropy.MLTable;
+        dctx->OFTptr = ddict->entropy.OFTable;
+        dctx->HUFptr = ddict->entropy.hufTable;
+        dctx->entropy.rep[0] = ddict->entropy.rep[0];
+        dctx->entropy.rep[1] = ddict->entropy.rep[1];
+        dctx->entropy.rep[2] = ddict->entropy.rep[2];
+    } else {
+        dctx->litEntropy = 0;
+        dctx->fseEntropy = 0;
+    }
+}
+
+
+static size_t
+ZSTD_loadEntropy_intoDDict(ZSTD_DDict* ddict,
+                           ZSTD_dictContentType_e dictContentType)
+{
+    ddict->dictID = 0;
+    ddict->entropyPresent = 0;
+    if (dictContentType == ZSTD_dct_rawContent) return 0;
+
+    if (ddict->dictSize < 8) {
+        if (dictContentType == ZSTD_dct_fullDict)
+            return ERROR(dictionary_corrupted);   /* only accept specified dictionaries */
+        return 0;   /* pure content mode */
+    }
+    {   U32 const magic = MEM_readLE32(ddict->dictContent);
+        if (magic != ZSTD_MAGIC_DICTIONARY) {
+            if (dictContentType == ZSTD_dct_fullDict)
+                return ERROR(dictionary_corrupted);   /* only accept specified dictionaries */
+            return 0;   /* pure content mode */
+        }
+    }
+    ddict->dictID = MEM_readLE32((const char*)ddict->dictContent + ZSTD_FRAMEIDSIZE);
+
+    /* load entropy tables */
+    CHECK_E( ZSTD_loadDEntropy(&ddict->entropy,
+                                ddict->dictContent, ddict->dictSize),
+             dictionary_corrupted );
+    ddict->entropyPresent = 1;
+    return 0;
+}
+
+
+static size_t ZSTD_initDDict_internal(ZSTD_DDict* ddict,
+                                      const void* dict, size_t dictSize,
+                                      ZSTD_dictLoadMethod_e dictLoadMethod,
+                                      ZSTD_dictContentType_e dictContentType)
+{
+    if ((dictLoadMethod == ZSTD_dlm_byRef) || (!dict) || (!dictSize)) {
+        ddict->dictBuffer = NULL;
+        ddict->dictContent = dict;
+        if (!dict) dictSize = 0;
+    } else {
+        void* const internalBuffer = ZSTD_malloc(dictSize, ddict->cMem);
+        ddict->dictBuffer = internalBuffer;
+        ddict->dictContent = internalBuffer;
+        if (!internalBuffer) return ERROR(memory_allocation);
+        memcpy(internalBuffer, dict, dictSize);
+    }
+    ddict->dictSize = dictSize;
+    ddict->entropy.hufTable[0] = (HUF_DTable)((HufLog)*0x1000001);  /* cover both little and big endian */
+
+    /* parse dictionary content */
+    CHECK_F( ZSTD_loadEntropy_intoDDict(ddict, dictContentType) );
+
+    return 0;
+}
+
+ZSTD_DDict* ZSTD_createDDict_advanced(const void* dict, size_t dictSize,
+                                      ZSTD_dictLoadMethod_e dictLoadMethod,
+                                      ZSTD_dictContentType_e dictContentType,
+                                      ZSTD_customMem customMem)
+{
+    if (!customMem.customAlloc ^ !customMem.customFree) return NULL;
+
+    {   ZSTD_DDict* const ddict = (ZSTD_DDict*) ZSTD_malloc(sizeof(ZSTD_DDict), customMem);
+        if (ddict == NULL) return NULL;
+        ddict->cMem = customMem;
+        {   size_t const initResult = ZSTD_initDDict_internal(ddict,
+                                            dict, dictSize,
+                                            dictLoadMethod, dictContentType);
+            if (ZSTD_isError(initResult)) {
+                ZSTD_freeDDict(ddict);
+                return NULL;
+        }   }
+        return ddict;
+    }
+}
+
+/*! ZSTD_createDDict() :
+*   Create a digested dictionary, to start decompression without startup delay.
+*   `dict` content is copied inside DDict.
+*   Consequently, `dict` can be released after `ZSTD_DDict` creation */
+ZSTD_DDict* ZSTD_createDDict(const void* dict, size_t dictSize)
+{
+    ZSTD_customMem const allocator = { NULL, NULL, NULL };
+    return ZSTD_createDDict_advanced(dict, dictSize, ZSTD_dlm_byCopy, ZSTD_dct_auto, allocator);
+}
+
+/*! ZSTD_createDDict_byReference() :
+ *  Create a digested dictionary, to start decompression without startup delay.
+ *  Dictionary content is simply referenced, it will be accessed during decompression.
+ *  Warning : dictBuffer must outlive DDict (DDict must be freed before dictBuffer) */
+ZSTD_DDict* ZSTD_createDDict_byReference(const void* dictBuffer, size_t dictSize)
+{
+    ZSTD_customMem const allocator = { NULL, NULL, NULL };
+    return ZSTD_createDDict_advanced(dictBuffer, dictSize, ZSTD_dlm_byRef, ZSTD_dct_auto, allocator);
+}
+
+
+const ZSTD_DDict* ZSTD_initStaticDDict(
+                                void* sBuffer, size_t sBufferSize,
+                                const void* dict, size_t dictSize,
+                                ZSTD_dictLoadMethod_e dictLoadMethod,
+                                ZSTD_dictContentType_e dictContentType)
+{
+    size_t const neededSpace = sizeof(ZSTD_DDict)
+                             + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize);
+    ZSTD_DDict* const ddict = (ZSTD_DDict*)sBuffer;
+    assert(sBuffer != NULL);
+    assert(dict != NULL);
+    if ((size_t)sBuffer & 7) return NULL;   /* 8-aligned */
+    if (sBufferSize < neededSpace) return NULL;
+    if (dictLoadMethod == ZSTD_dlm_byCopy) {
+        memcpy(ddict+1, dict, dictSize);  /* local copy */
+        dict = ddict+1;
+    }
+    if (ZSTD_isError( ZSTD_initDDict_internal(ddict,
+                                              dict, dictSize,
+                                              ZSTD_dlm_byRef, dictContentType) ))
+        return NULL;
+    return ddict;
+}
+
+
+size_t ZSTD_freeDDict(ZSTD_DDict* ddict)
+{
+    if (ddict==NULL) return 0;   /* support free on NULL */
+    {   ZSTD_customMem const cMem = ddict->cMem;
+        ZSTD_free(ddict->dictBuffer, cMem);
+        ZSTD_free(ddict, cMem);
+        return 0;
+    }
+}
+
+/*! ZSTD_estimateDDictSize() :
+ *  Estimate amount of memory that will be needed to create a dictionary for decompression.
+ *  Note : dictionary created by reference using ZSTD_dlm_byRef are smaller */
+size_t ZSTD_estimateDDictSize(size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod)
+{
+    return sizeof(ZSTD_DDict) + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize);
+}
+
+size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict)
+{
+    if (ddict==NULL) return 0;   /* support sizeof on NULL */
+    return sizeof(*ddict) + (ddict->dictBuffer ? ddict->dictSize : 0) ;
+}
+
+/*! ZSTD_getDictID_fromDDict() :
+ *  Provides the dictID of the dictionary loaded into `ddict`.
+ *  If @return == 0, the dictionary is not conformant to Zstandard specification, or empty.
+ *  Non-conformant dictionaries can still be loaded, but as content-only dictionaries. */
+unsigned ZSTD_getDictID_fromDDict(const ZSTD_DDict* ddict)
+{
+    if (ddict==NULL) return 0;
+    return ZSTD_getDictID_fromDict(ddict->dictContent, ddict->dictSize);
+}
diff --git a/thirdparty/zstd/decompress/zstd_ddict.h b/thirdparty/zstd/decompress/zstd_ddict.h
new file mode 100644
index 0000000000..0479d11bb0
--- /dev/null
+++ b/thirdparty/zstd/decompress/zstd_ddict.h
@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2016-present, Yann Collet, Facebook, Inc.
+ * All rights reserved.
+ *
+ * This source code is licensed under both the BSD-style license (found in the
+ * LICENSE file in the root directory of this source tree) and the GPLv2 (found
+ * in the COPYING file in the root directory of this source tree).
+ * You may select, at your option, one of the above-listed licenses.
+ */
+
+
+#ifndef ZSTD_DDICT_H
+#define ZSTD_DDICT_H
+
+/*-*******************************************************
+ *  Dependencies
+ *********************************************************/
+#include <stddef.h>   /* size_t */
+#include "zstd.h"     /* ZSTD_DDict, and several public functions */
+
+
+/*-*******************************************************
+ *  Interface
+ *********************************************************/
+
+/* note: several prototypes are already published in `zstd.h` :
+ * ZSTD_createDDict()
+ * ZSTD_createDDict_byReference()
+ * ZSTD_createDDict_advanced()
+ * ZSTD_freeDDict()
+ * ZSTD_initStaticDDict()
+ * ZSTD_sizeof_DDict()
+ * ZSTD_estimateDDictSize()
+ * ZSTD_getDictID_fromDict()
+ */
+
+const void* ZSTD_DDict_dictContent(const ZSTD_DDict* ddict);
+size_t ZSTD_DDict_dictSize(const ZSTD_DDict* ddict);
+
+void ZSTD_copyDDictParameters(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict);
+
+
+
+#endif /* ZSTD_DDICT_H */
diff --git a/thirdparty/zstd/decompress/zstd_decompress.c b/thirdparty/zstd/decompress/zstd_decompress.c
index 3ec6a1cb32..feef1ef67a 100644
--- a/thirdparty/zstd/decompress/zstd_decompress.c
+++ b/thirdparty/zstd/decompress/zstd_decompress.c
@@ -37,7 +37,18 @@
  *  It's possible to set a different limit using ZSTD_DCtx_setMaxWindowSize().
  */
 #ifndef ZSTD_MAXWINDOWSIZE_DEFAULT
-#  define ZSTD_MAXWINDOWSIZE_DEFAULT (((U32)1 << ZSTD_WINDOWLOG_DEFAULTMAX) + 1)
+#  define ZSTD_MAXWINDOWSIZE_DEFAULT (((U32)1 << ZSTD_WINDOWLOG_LIMIT_DEFAULT) + 1)
+#endif
+
+/*!
+ *  NO_FORWARD_PROGRESS_MAX :
+ *  maximum allowed nb of calls to ZSTD_decompressStream()
+ *  without any forward progress
+ *  (defined as: no byte read from input, and no byte flushed to output)
+ *  before triggering an error.
+ */
+#ifndef ZSTD_NO_FORWARD_PROGRESS_MAX
+#  define ZSTD_NO_FORWARD_PROGRESS_MAX 16
 #endif
 
 
@@ -45,120 +56,25 @@
 *  Dependencies
 *********************************************************/
 #include <string.h>      /* memcpy, memmove, memset */
-#include "cpu.h"
+#include "cpu.h"         /* bmi2 */
 #include "mem.h"         /* low level memory routines */
 #define FSE_STATIC_LINKING_ONLY
 #include "fse.h"
 #define HUF_STATIC_LINKING_ONLY
 #include "huf.h"
-#include "zstd_internal.h"
+#include "zstd_internal.h"  /* blockProperties_t */
+#include "zstd_decompress_internal.h"   /* ZSTD_DCtx */
+#include "zstd_ddict.h"  /* ZSTD_DDictDictContent */
+#include "zstd_decompress_block.h"   /* ZSTD_decompressBlock_internal */
 
 #if defined(ZSTD_LEGACY_SUPPORT) && (ZSTD_LEGACY_SUPPORT>=1)
 #  include "zstd_legacy.h"
 #endif
 
 
-/*-*************************************
-*  Errors
-***************************************/
-#define ZSTD_isError ERR_isError   /* for inlining */
-#define FSE_isError  ERR_isError
-#define HUF_isError  ERR_isError
-
-
-/*_*******************************************************
-*  Memory operations
-**********************************************************/
-static void ZSTD_copy4(void* dst, const void* src) { memcpy(dst, src, 4); }
-
-
 /*-*************************************************************
 *   Context management
 ***************************************************************/
-typedef enum { ZSTDds_getFrameHeaderSize, ZSTDds_decodeFrameHeader,
-               ZSTDds_decodeBlockHeader, ZSTDds_decompressBlock,
-               ZSTDds_decompressLastBlock, ZSTDds_checkChecksum,
-               ZSTDds_decodeSkippableHeader, ZSTDds_skipFrame } ZSTD_dStage;
-
-typedef enum { zdss_init=0, zdss_loadHeader,
-               zdss_read, zdss_load, zdss_flush } ZSTD_dStreamStage;
-
-
-typedef struct {
-    U32 fastMode;
-    U32 tableLog;
-} ZSTD_seqSymbol_header;
-
-typedef struct {
-    U16  nextState;
-    BYTE nbAdditionalBits;
-    BYTE nbBits;
-    U32  baseValue;
-} ZSTD_seqSymbol;
-
-#define SEQSYMBOL_TABLE_SIZE(log)   (1 + (1 << (log)))
-
-typedef struct {
-    ZSTD_seqSymbol LLTable[SEQSYMBOL_TABLE_SIZE(LLFSELog)];
-    ZSTD_seqSymbol OFTable[SEQSYMBOL_TABLE_SIZE(OffFSELog)];
-    ZSTD_seqSymbol MLTable[SEQSYMBOL_TABLE_SIZE(MLFSELog)];
-    HUF_DTable hufTable[HUF_DTABLE_SIZE(HufLog)];  /* can accommodate HUF_decompress4X */
-    U32 workspace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];
-    U32 rep[ZSTD_REP_NUM];
-} ZSTD_entropyDTables_t;
-
-struct ZSTD_DCtx_s
-{
-    const ZSTD_seqSymbol* LLTptr;
-    const ZSTD_seqSymbol* MLTptr;
-    const ZSTD_seqSymbol* OFTptr;
-    const HUF_DTable* HUFptr;
-    ZSTD_entropyDTables_t entropy;
-    const void* previousDstEnd;   /* detect continuity */
-    const void* base;             /* start of current segment */
-    const void* vBase;            /* virtual start of previous segment if it was just before current one */
-    const void* dictEnd;          /* end of previous segment */
-    size_t expected;
-    ZSTD_frameHeader fParams;
-    U64 decodedSize;
-    blockType_e bType;            /* used in ZSTD_decompressContinue(), store blockType between block header decoding and block decompression stages */
-    ZSTD_dStage stage;
-    U32 litEntropy;
-    U32 fseEntropy;
-    XXH64_state_t xxhState;
-    size_t headerSize;
-    U32 dictID;
-    ZSTD_format_e format;
-    const BYTE* litPtr;
-    ZSTD_customMem customMem;
-    size_t litSize;
-    size_t rleSize;
-    size_t staticSize;
-    int bmi2;                     /* == 1 if the CPU supports BMI2 and 0 otherwise. CPU support is determined dynamically once per context lifetime. */
-
-    /* streaming */
-    ZSTD_DDict* ddictLocal;
-    const ZSTD_DDict* ddict;
-    ZSTD_dStreamStage streamStage;
-    char*  inBuff;
-    size_t inBuffSize;
-    size_t inPos;
-    size_t maxWindowSize;
-    char*  outBuff;
-    size_t outBuffSize;
-    size_t outStart;
-    size_t outEnd;
-    size_t lhSize;
-    void* legacyContext;
-    U32 previousLegacyVersion;
-    U32 legacyVersion;
-    U32 hostageByte;
-
-    /* workspace */
-    BYTE litBuffer[ZSTD_BLOCKSIZE_MAX + WILDCOPY_OVERLENGTH];
-    BYTE headerBuffer[ZSTD_FRAMEHEADERSIZE_MAX];
-};  /* typedef'd to ZSTD_DCtx within "zstd.h" */
-
 size_t ZSTD_sizeof_DCtx (const ZSTD_DCtx* dctx)
 {
     if (dctx==NULL) return 0;   /* support sizeof NULL */
@@ -173,8 +89,8 @@ size_t ZSTD_estimateDCtxSize(void) { return sizeof(ZSTD_DCtx); }
 static size_t ZSTD_startingInputLength(ZSTD_format_e format)
 {
     size_t const startingInputLength = (format==ZSTD_f_zstd1_magicless) ?
-                    ZSTD_frameHeaderSize_prefix - ZSTD_frameIdSize :
-                    ZSTD_frameHeaderSize_prefix;
+                    ZSTD_FRAMEHEADERSIZE_PREFIX - ZSTD_FRAMEIDSIZE :
+                    ZSTD_FRAMEHEADERSIZE_PREFIX;
     ZSTD_STATIC_ASSERT(ZSTD_FRAMEHEADERSIZE_PREFIX >= ZSTD_FRAMEIDSIZE);
     /* only supports formats ZSTD_f_zstd1 and ZSTD_f_zstd1_magicless */
     assert( (format == ZSTD_f_zstd1) || (format == ZSTD_f_zstd1_magicless) );
@@ -188,10 +104,15 @@ static void ZSTD_initDCtx_internal(ZSTD_DCtx* dctx)
     dctx->maxWindowSize = ZSTD_MAXWINDOWSIZE_DEFAULT;
     dctx->ddict       = NULL;
     dctx->ddictLocal  = NULL;
+    dctx->dictEnd     = NULL;
+    dctx->ddictIsCold = 0;
     dctx->inBuff      = NULL;
     dctx->inBuffSize  = 0;
     dctx->outBuffSize = 0;
     dctx->streamStage = zdss_init;
+    dctx->legacyContext = NULL;
+    dctx->previousLegacyVersion = 0;
+    dctx->noForwardProgress = 0;
     dctx->bmi2 = ZSTD_cpuid_bmi2(ZSTD_cpuid());
 }
 
@@ -215,8 +136,6 @@ ZSTD_DCtx* ZSTD_createDCtx_advanced(ZSTD_customMem customMem)
     {   ZSTD_DCtx* const dctx = (ZSTD_DCtx*)ZSTD_malloc(sizeof(*dctx), customMem);
         if (!dctx) return NULL;
         dctx->customMem = customMem;
-        dctx->legacyContext = NULL;
-        dctx->previousLegacyVersion = 0;
         ZSTD_initDCtx_internal(dctx);
         return dctx;
     }
@@ -265,10 +184,10 @@ void ZSTD_copyDCtx(ZSTD_DCtx* dstDCtx, const ZSTD_DCtx* srcDCtx)
  *  Note 3 : Skippable Frame Identifiers are considered valid. */
 unsigned ZSTD_isFrame(const void* buffer, size_t size)
 {
-    if (size < ZSTD_frameIdSize) return 0;
+    if (size < ZSTD_FRAMEIDSIZE) return 0;
     {   U32 const magic = MEM_readLE32(buffer);
         if (magic == ZSTD_MAGICNUMBER) return 1;
-        if ((magic & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START) return 1;
+        if ((magic & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) return 1;
     }
 #if defined(ZSTD_LEGACY_SUPPORT) && (ZSTD_LEGACY_SUPPORT >= 1)
     if (ZSTD_isLegacy(buffer, size)) return 1;
@@ -298,34 +217,37 @@ static size_t ZSTD_frameHeaderSize_internal(const void* src, size_t srcSize, ZST
 
 /** ZSTD_frameHeaderSize() :
  *  srcSize must be >= ZSTD_frameHeaderSize_prefix.
- * @return : size of the Frame Header */
+ * @return : size of the Frame Header,
+ *           or an error code (if srcSize is too small) */
 size_t ZSTD_frameHeaderSize(const void* src, size_t srcSize)
 {
     return ZSTD_frameHeaderSize_internal(src, srcSize, ZSTD_f_zstd1);
 }
 
 
-/** ZSTD_getFrameHeader_internal() :
+/** ZSTD_getFrameHeader_advanced() :
  *  decode Frame Header, or require larger `srcSize`.
  *  note : only works for formats ZSTD_f_zstd1 and ZSTD_f_zstd1_magicless
  * @return : 0, `zfhPtr` is correctly filled,
  *          >0, `srcSize` is too small, value is wanted `srcSize` amount,
  *           or an error code, which can be tested using ZSTD_isError() */
-static size_t ZSTD_getFrameHeader_internal(ZSTD_frameHeader* zfhPtr, const void* src, size_t srcSize, ZSTD_format_e format)
+size_t ZSTD_getFrameHeader_advanced(ZSTD_frameHeader* zfhPtr, const void* src, size_t srcSize, ZSTD_format_e format)
 {
     const BYTE* ip = (const BYTE*)src;
     size_t const minInputSize = ZSTD_startingInputLength(format);
 
+    memset(zfhPtr, 0, sizeof(*zfhPtr));   /* not strictly necessary, but static analyzer do not understand that zfhPtr is only going to be read only if return value is zero, since they are 2 different signals */
     if (srcSize < minInputSize) return minInputSize;
+    if (src==NULL) return ERROR(GENERIC);   /* invalid parameter */
 
     if ( (format != ZSTD_f_zstd1_magicless)
       && (MEM_readLE32(src) != ZSTD_MAGICNUMBER) ) {
-        if ((MEM_readLE32(src) & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START) {
+        if ((MEM_readLE32(src) & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) {
             /* skippable frame */
-            if (srcSize < ZSTD_skippableHeaderSize)
-                return ZSTD_skippableHeaderSize; /* magic number + frame length */
+            if (srcSize < ZSTD_SKIPPABLEHEADERSIZE)
+                return ZSTD_SKIPPABLEHEADERSIZE; /* magic number + frame length */
             memset(zfhPtr, 0, sizeof(*zfhPtr));
-            zfhPtr->frameContentSize = MEM_readLE32((const char *)src + ZSTD_frameIdSize);
+            zfhPtr->frameContentSize = MEM_readLE32((const char *)src + ZSTD_FRAMEIDSIZE);
             zfhPtr->frameType = ZSTD_skippableFrame;
             return 0;
         }
@@ -394,7 +316,7 @@ static size_t ZSTD_getFrameHeader_internal(ZSTD_frameHeader* zfhPtr, const void*
  *           or an error code, which can be tested using ZSTD_isError() */
 size_t ZSTD_getFrameHeader(ZSTD_frameHeader* zfhPtr, const void* src, size_t srcSize)
 {
-    return ZSTD_getFrameHeader_internal(zfhPtr, src, srcSize, ZSTD_f_zstd1);
+    return ZSTD_getFrameHeader_advanced(zfhPtr, src, srcSize, ZSTD_f_zstd1);
 }
 
 
@@ -421,6 +343,21 @@ unsigned long long ZSTD_getFrameContentSize(const void *src, size_t srcSize)
     }   }
 }
 
+static size_t readSkippableFrameSize(void const* src, size_t srcSize)
+{
+    size_t const skippableHeaderSize = ZSTD_SKIPPABLEHEADERSIZE;
+    U32 sizeU32;
+
+    if (srcSize < ZSTD_SKIPPABLEHEADERSIZE)
+        return ERROR(srcSize_wrong);
+
+    sizeU32 = MEM_readLE32((BYTE const*)src + ZSTD_FRAMEIDSIZE);
+    if ((U32)(sizeU32 + ZSTD_SKIPPABLEHEADERSIZE) < sizeU32)
+        return ERROR(frameParameter_unsupported);
+
+    return skippableHeaderSize + sizeU32;
+}
+
 /** ZSTD_findDecompressedSize() :
  *  compatible with legacy mode
  *  `srcSize` must be the exact length of some number of ZSTD compressed and/or
@@ -430,15 +367,13 @@ unsigned long long ZSTD_findDecompressedSize(const void* src, size_t srcSize)
 {
     unsigned long long totalDstSize = 0;
 
-    while (srcSize >= ZSTD_frameHeaderSize_prefix) {
+    while (srcSize >= ZSTD_FRAMEHEADERSIZE_PREFIX) {
         U32 const magicNumber = MEM_readLE32(src);
 
-        if ((magicNumber & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START) {
-            size_t skippableSize;
-            if (srcSize < ZSTD_skippableHeaderSize)
-                return ERROR(srcSize_wrong);
-            skippableSize = MEM_readLE32((const BYTE *)src + ZSTD_frameIdSize)
-                          + ZSTD_skippableHeaderSize;
+        if ((magicNumber & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) {
+            size_t const skippableSize = readSkippableFrameSize(src, srcSize);
+            if (ZSTD_isError(skippableSize))
+                return skippableSize;
             if (srcSize < skippableSize) {
                 return ZSTD_CONTENTSIZE_ERROR;
             }
@@ -471,9 +406,9 @@ unsigned long long ZSTD_findDecompressedSize(const void* src, size_t srcSize)
 }
 
 /** ZSTD_getDecompressedSize() :
-*   compatible with legacy mode
-*   @return : decompressed size if known, 0 otherwise
-              note : 0 can mean any of the following :
+ *  compatible with legacy mode
+ * @return : decompressed size if known, 0 otherwise
+             note : 0 can mean any of the following :
                    - frame content is empty
                    - decompressed size field is not present in frame header
                    - frame header unknown / not supported
@@ -487,11 +422,11 @@ unsigned long long ZSTD_getDecompressedSize(const void* src, size_t srcSize)
 
 
 /** ZSTD_decodeFrameHeader() :
-*   `headerSize` must be the size provided by ZSTD_frameHeaderSize().
-*   @return : 0 if success, or an error code, which can be tested using ZSTD_isError() */
+ * `headerSize` must be the size provided by ZSTD_frameHeaderSize().
+ * @return : 0 if success, or an error code, which can be tested using ZSTD_isError() */
 static size_t ZSTD_decodeFrameHeader(ZSTD_DCtx* dctx, const void* src, size_t headerSize)
 {
-    size_t const result = ZSTD_getFrameHeader_internal(&(dctx->fParams), src, headerSize, dctx->format);
+    size_t const result = ZSTD_getFrameHeader_advanced(&(dctx->fParams), src, headerSize, dctx->format);
     if (ZSTD_isError(result)) return result;    /* invalid header */
     if (result>0) return ERROR(srcSize_wrong);  /* headerSize too small */
     if (dctx->fParams.dictID && (dctx->dictID != dctx->fParams.dictID))
@@ -501,1241 +436,6 @@ static size_t ZSTD_decodeFrameHeader(ZSTD_DCtx* dctx, const void* src, size_t he
 }
 
 
-/*-*************************************************************
- *   Block decoding
- ***************************************************************/
-
-/*! ZSTD_getcBlockSize() :
-*   Provides the size of compressed block from block header `src` */
-size_t ZSTD_getcBlockSize(const void* src, size_t srcSize,
-                          blockProperties_t* bpPtr)
-{
-    if (srcSize < ZSTD_blockHeaderSize) return ERROR(srcSize_wrong);
-    {   U32 const cBlockHeader = MEM_readLE24(src);
-        U32 const cSize = cBlockHeader >> 3;
-        bpPtr->lastBlock = cBlockHeader & 1;
-        bpPtr->blockType = (blockType_e)((cBlockHeader >> 1) & 3);
-        bpPtr->origSize = cSize;   /* only useful for RLE */
-        if (bpPtr->blockType == bt_rle) return 1;
-        if (bpPtr->blockType == bt_reserved) return ERROR(corruption_detected);
-        return cSize;
-    }
-}
-
-
-static size_t ZSTD_copyRawBlock(void* dst, size_t dstCapacity,
-                          const void* src, size_t srcSize)
-{
-    if (srcSize > dstCapacity) return ERROR(dstSize_tooSmall);
-    memcpy(dst, src, srcSize);
-    return srcSize;
-}
-
-
-static size_t ZSTD_setRleBlock(void* dst, size_t dstCapacity,
-                         const void* src, size_t srcSize,
-                               size_t regenSize)
-{
-    if (srcSize != 1) return ERROR(srcSize_wrong);
-    if (regenSize > dstCapacity) return ERROR(dstSize_tooSmall);
-    memset(dst, *(const BYTE*)src, regenSize);
-    return regenSize;
-}
-
-/*! ZSTD_decodeLiteralsBlock() :
- * @return : nb of bytes read from src (< srcSize )
- *  note : symbol not declared but exposed for fullbench */
-size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx,
-                          const void* src, size_t srcSize)   /* note : srcSize < BLOCKSIZE */
-{
-    if (srcSize < MIN_CBLOCK_SIZE) return ERROR(corruption_detected);
-
-    {   const BYTE* const istart = (const BYTE*) src;
-        symbolEncodingType_e const litEncType = (symbolEncodingType_e)(istart[0] & 3);
-
-        switch(litEncType)
-        {
-        case set_repeat:
-            if (dctx->litEntropy==0) return ERROR(dictionary_corrupted);
-            /* fall-through */
-        case set_compressed:
-            if (srcSize < 5) return ERROR(corruption_detected);   /* srcSize >= MIN_CBLOCK_SIZE == 3; here we need up to 5 for case 3 */
-            {   size_t lhSize, litSize, litCSize;
-                U32 singleStream=0;
-                U32 const lhlCode = (istart[0] >> 2) & 3;
-                U32 const lhc = MEM_readLE32(istart);
-                switch(lhlCode)
-                {
-                case 0: case 1: default:   /* note : default is impossible, since lhlCode into [0..3] */
-                    /* 2 - 2 - 10 - 10 */
-                    singleStream = !lhlCode;
-                    lhSize = 3;
-                    litSize  = (lhc >> 4) & 0x3FF;
-                    litCSize = (lhc >> 14) & 0x3FF;
-                    break;
-                case 2:
-                    /* 2 - 2 - 14 - 14 */
-                    lhSize = 4;
-                    litSize  = (lhc >> 4) & 0x3FFF;
-                    litCSize = lhc >> 18;
-                    break;
-                case 3:
-                    /* 2 - 2 - 18 - 18 */
-                    lhSize = 5;
-                    litSize  = (lhc >> 4) & 0x3FFFF;
-                    litCSize = (lhc >> 22) + (istart[4] << 10);
-                    break;
-                }
-                if (litSize > ZSTD_BLOCKSIZE_MAX) return ERROR(corruption_detected);
-                if (litCSize + lhSize > srcSize) return ERROR(corruption_detected);
-
-                if (HUF_isError((litEncType==set_repeat) ?
-                                    ( singleStream ?
-                                        HUF_decompress1X_usingDTable_bmi2(dctx->litBuffer, litSize, istart+lhSize, litCSize, dctx->HUFptr, dctx->bmi2) :
-                                        HUF_decompress4X_usingDTable_bmi2(dctx->litBuffer, litSize, istart+lhSize, litCSize, dctx->HUFptr, dctx->bmi2) ) :
-                                    ( singleStream ?
-                                        HUF_decompress1X2_DCtx_wksp_bmi2(dctx->entropy.hufTable, dctx->litBuffer, litSize, istart+lhSize, litCSize,
-                                                                         dctx->entropy.workspace, sizeof(dctx->entropy.workspace), dctx->bmi2) :
-                                        HUF_decompress4X_hufOnly_wksp_bmi2(dctx->entropy.hufTable, dctx->litBuffer, litSize, istart+lhSize, litCSize,
-                                                                           dctx->entropy.workspace, sizeof(dctx->entropy.workspace), dctx->bmi2))))
-                    return ERROR(corruption_detected);
-
-                dctx->litPtr = dctx->litBuffer;
-                dctx->litSize = litSize;
-                dctx->litEntropy = 1;
-                if (litEncType==set_compressed) dctx->HUFptr = dctx->entropy.hufTable;
-                memset(dctx->litBuffer + dctx->litSize, 0, WILDCOPY_OVERLENGTH);
-                return litCSize + lhSize;
-            }
-
-        case set_basic:
-            {   size_t litSize, lhSize;
-                U32 const lhlCode = ((istart[0]) >> 2) & 3;
-                switch(lhlCode)
-                {
-                case 0: case 2: default:   /* note : default is impossible, since lhlCode into [0..3] */
-                    lhSize = 1;
-                    litSize = istart[0] >> 3;
-                    break;
-                case 1:
-                    lhSize = 2;
-                    litSize = MEM_readLE16(istart) >> 4;
-                    break;
-                case 3:
-                    lhSize = 3;
-                    litSize = MEM_readLE24(istart) >> 4;
-                    break;
-                }
-
-                if (lhSize+litSize+WILDCOPY_OVERLENGTH > srcSize) {  /* risk reading beyond src buffer with wildcopy */
-                    if (litSize+lhSize > srcSize) return ERROR(corruption_detected);
-                    memcpy(dctx->litBuffer, istart+lhSize, litSize);
-                    dctx->litPtr = dctx->litBuffer;
-                    dctx->litSize = litSize;
-                    memset(dctx->litBuffer + dctx->litSize, 0, WILDCOPY_OVERLENGTH);
-                    return lhSize+litSize;
-                }
-                /* direct reference into compressed stream */
-                dctx->litPtr = istart+lhSize;
-                dctx->litSize = litSize;
-                return lhSize+litSize;
-            }
-
-        case set_rle:
-            {   U32 const lhlCode = ((istart[0]) >> 2) & 3;
-                size_t litSize, lhSize;
-                switch(lhlCode)
-                {
-                case 0: case 2: default:   /* note : default is impossible, since lhlCode into [0..3] */
-                    lhSize = 1;
-                    litSize = istart[0] >> 3;
-                    break;
-                case 1:
-                    lhSize = 2;
-                    litSize = MEM_readLE16(istart) >> 4;
-                    break;
-                case 3:
-                    lhSize = 3;
-                    litSize = MEM_readLE24(istart) >> 4;
-                    if (srcSize<4) return ERROR(corruption_detected);   /* srcSize >= MIN_CBLOCK_SIZE == 3; here we need lhSize+1 = 4 */
-                    break;
-                }
-                if (litSize > ZSTD_BLOCKSIZE_MAX) return ERROR(corruption_detected);
-                memset(dctx->litBuffer, istart[lhSize], litSize + WILDCOPY_OVERLENGTH);
-                dctx->litPtr = dctx->litBuffer;
-                dctx->litSize = litSize;
-                return lhSize+1;
-            }
-        default:
-            return ERROR(corruption_detected);   /* impossible */
-        }
-    }
-}
-
-/* Default FSE distribution tables.
- * These are pre-calculated FSE decoding tables using default distributions as defined in specification :
- * https://github.com/facebook/zstd/blob/master/doc/zstd_compression_format.md#default-distributions
- * They were generated programmatically with following method :
- * - start from default distributions, present in /lib/common/zstd_internal.h
- * - generate tables normally, using ZSTD_buildFSETable()
- * - printout the content of tables
- * - pretify output, report below, test with fuzzer to ensure it's correct */
-
-/* Default FSE distribution table for Literal Lengths */
-static const ZSTD_seqSymbol LL_defaultDTable[(1<<LL_DEFAULTNORMLOG)+1] = {
-     {  1,  1,  1, LL_DEFAULTNORMLOG},  /* header : fastMode, tableLog */
-     /* nextState, nbAddBits, nbBits, baseVal */
-     {  0,  0,  4,    0},  { 16,  0,  4,    0},
-     { 32,  0,  5,    1},  {  0,  0,  5,    3},
-     {  0,  0,  5,    4},  {  0,  0,  5,    6},
-     {  0,  0,  5,    7},  {  0,  0,  5,    9},
-     {  0,  0,  5,   10},  {  0,  0,  5,   12},
-     {  0,  0,  6,   14},  {  0,  1,  5,   16},
-     {  0,  1,  5,   20},  {  0,  1,  5,   22},
-     {  0,  2,  5,   28},  {  0,  3,  5,   32},
-     {  0,  4,  5,   48},  { 32,  6,  5,   64},
-     {  0,  7,  5,  128},  {  0,  8,  6,  256},
-     {  0, 10,  6, 1024},  {  0, 12,  6, 4096},
-     { 32,  0,  4,    0},  {  0,  0,  4,    1},
-     {  0,  0,  5,    2},  { 32,  0,  5,    4},
-     {  0,  0,  5,    5},  { 32,  0,  5,    7},
-     {  0,  0,  5,    8},  { 32,  0,  5,   10},
-     {  0,  0,  5,   11},  {  0,  0,  6,   13},
-     { 32,  1,  5,   16},  {  0,  1,  5,   18},
-     { 32,  1,  5,   22},  {  0,  2,  5,   24},
-     { 32,  3,  5,   32},  {  0,  3,  5,   40},
-     {  0,  6,  4,   64},  { 16,  6,  4,   64},
-     { 32,  7,  5,  128},  {  0,  9,  6,  512},
-     {  0, 11,  6, 2048},  { 48,  0,  4,    0},
-     { 16,  0,  4,    1},  { 32,  0,  5,    2},
-     { 32,  0,  5,    3},  { 32,  0,  5,    5},
-     { 32,  0,  5,    6},  { 32,  0,  5,    8},
-     { 32,  0,  5,    9},  { 32,  0,  5,   11},
-     { 32,  0,  5,   12},  {  0,  0,  6,   15},
-     { 32,  1,  5,   18},  { 32,  1,  5,   20},
-     { 32,  2,  5,   24},  { 32,  2,  5,   28},
-     { 32,  3,  5,   40},  { 32,  4,  5,   48},
-     {  0, 16,  6,65536},  {  0, 15,  6,32768},
-     {  0, 14,  6,16384},  {  0, 13,  6, 8192},
-};   /* LL_defaultDTable */
-
-/* Default FSE distribution table for Offset Codes */
-static const ZSTD_seqSymbol OF_defaultDTable[(1<<OF_DEFAULTNORMLOG)+1] = {
-    {  1,  1,  1, OF_DEFAULTNORMLOG},  /* header : fastMode, tableLog */
-    /* nextState, nbAddBits, nbBits, baseVal */
-    {  0,  0,  5,    0},     {  0,  6,  4,   61},
-    {  0,  9,  5,  509},     {  0, 15,  5,32765},
-    {  0, 21,  5,2097149},   {  0,  3,  5,    5},
-    {  0,  7,  4,  125},     {  0, 12,  5, 4093},
-    {  0, 18,  5,262141},    {  0, 23,  5,8388605},
-    {  0,  5,  5,   29},     {  0,  8,  4,  253},
-    {  0, 14,  5,16381},     {  0, 20,  5,1048573},
-    {  0,  2,  5,    1},     { 16,  7,  4,  125},
-    {  0, 11,  5, 2045},     {  0, 17,  5,131069},
-    {  0, 22,  5,4194301},   {  0,  4,  5,   13},
-    { 16,  8,  4,  253},     {  0, 13,  5, 8189},
-    {  0, 19,  5,524285},    {  0,  1,  5,    1},
-    { 16,  6,  4,   61},     {  0, 10,  5, 1021},
-    {  0, 16,  5,65533},     {  0, 28,  5,268435453},
-    {  0, 27,  5,134217725}, {  0, 26,  5,67108861},
-    {  0, 25,  5,33554429},  {  0, 24,  5,16777213},
-};   /* OF_defaultDTable */
-
-
-/* Default FSE distribution table for Match Lengths */
-static const ZSTD_seqSymbol ML_defaultDTable[(1<<ML_DEFAULTNORMLOG)+1] = {
-    {  1,  1,  1, ML_DEFAULTNORMLOG},  /* header : fastMode, tableLog */
-    /* nextState, nbAddBits, nbBits, baseVal */
-    {  0,  0,  6,    3},  {  0,  0,  4,    4},
-    { 32,  0,  5,    5},  {  0,  0,  5,    6},
-    {  0,  0,  5,    8},  {  0,  0,  5,    9},
-    {  0,  0,  5,   11},  {  0,  0,  6,   13},
-    {  0,  0,  6,   16},  {  0,  0,  6,   19},
-    {  0,  0,  6,   22},  {  0,  0,  6,   25},
-    {  0,  0,  6,   28},  {  0,  0,  6,   31},
-    {  0,  0,  6,   34},  {  0,  1,  6,   37},
-    {  0,  1,  6,   41},  {  0,  2,  6,   47},
-    {  0,  3,  6,   59},  {  0,  4,  6,   83},
-    {  0,  7,  6,  131},  {  0,  9,  6,  515},
-    { 16,  0,  4,    4},  {  0,  0,  4,    5},
-    { 32,  0,  5,    6},  {  0,  0,  5,    7},
-    { 32,  0,  5,    9},  {  0,  0,  5,   10},
-    {  0,  0,  6,   12},  {  0,  0,  6,   15},
-    {  0,  0,  6,   18},  {  0,  0,  6,   21},
-    {  0,  0,  6,   24},  {  0,  0,  6,   27},
-    {  0,  0,  6,   30},  {  0,  0,  6,   33},
-    {  0,  1,  6,   35},  {  0,  1,  6,   39},
-    {  0,  2,  6,   43},  {  0,  3,  6,   51},
-    {  0,  4,  6,   67},  {  0,  5,  6,   99},
-    {  0,  8,  6,  259},  { 32,  0,  4,    4},
-    { 48,  0,  4,    4},  { 16,  0,  4,    5},
-    { 32,  0,  5,    7},  { 32,  0,  5,    8},
-    { 32,  0,  5,   10},  { 32,  0,  5,   11},
-    {  0,  0,  6,   14},  {  0,  0,  6,   17},
-    {  0,  0,  6,   20},  {  0,  0,  6,   23},
-    {  0,  0,  6,   26},  {  0,  0,  6,   29},
-    {  0,  0,  6,   32},  {  0, 16,  6,65539},
-    {  0, 15,  6,32771},  {  0, 14,  6,16387},
-    {  0, 13,  6, 8195},  {  0, 12,  6, 4099},
-    {  0, 11,  6, 2051},  {  0, 10,  6, 1027},
-};   /* ML_defaultDTable */
-
-
-static void ZSTD_buildSeqTable_rle(ZSTD_seqSymbol* dt, U32 baseValue, U32 nbAddBits)
-{
-    void* ptr = dt;
-    ZSTD_seqSymbol_header* const DTableH = (ZSTD_seqSymbol_header*)ptr;
-    ZSTD_seqSymbol* const cell = dt + 1;
-
-    DTableH->tableLog = 0;
-    DTableH->fastMode = 0;
-
-    cell->nbBits = 0;
-    cell->nextState = 0;
-    assert(nbAddBits < 255);
-    cell->nbAdditionalBits = (BYTE)nbAddBits;
-    cell->baseValue = baseValue;
-}
-
-
-/* ZSTD_buildFSETable() :
- * generate FSE decoding table for one symbol (ll, ml or off) */
-static void
-ZSTD_buildFSETable(ZSTD_seqSymbol* dt,
-    const short* normalizedCounter, unsigned maxSymbolValue,
-    const U32* baseValue, const U32* nbAdditionalBits,
-    unsigned tableLog)
-{
-    ZSTD_seqSymbol* const tableDecode = dt+1;
-    U16 symbolNext[MaxSeq+1];
-
-    U32 const maxSV1 = maxSymbolValue + 1;
-    U32 const tableSize = 1 << tableLog;
-    U32 highThreshold = tableSize-1;
-
-    /* Sanity Checks */
-    assert(maxSymbolValue <= MaxSeq);
-    assert(tableLog <= MaxFSELog);
-
-    /* Init, lay down lowprob symbols */
-    {   ZSTD_seqSymbol_header DTableH;
-        DTableH.tableLog = tableLog;
-        DTableH.fastMode = 1;
-        {   S16 const largeLimit= (S16)(1 << (tableLog-1));
-            U32 s;
-            for (s=0; s<maxSV1; s++) {
-                if (normalizedCounter[s]==-1) {
-                    tableDecode[highThreshold--].baseValue = s;
-                    symbolNext[s] = 1;
-                } else {
-                    if (normalizedCounter[s] >= largeLimit) DTableH.fastMode=0;
-                    symbolNext[s] = normalizedCounter[s];
-        }   }   }
-        memcpy(dt, &DTableH, sizeof(DTableH));
-    }
-
-    /* Spread symbols */
-    {   U32 const tableMask = tableSize-1;
-        U32 const step = FSE_TABLESTEP(tableSize);
-        U32 s, position = 0;
-        for (s=0; s<maxSV1; s++) {
-            int i;
-            for (i=0; i<normalizedCounter[s]; i++) {
-                tableDecode[position].baseValue = s;
-                position = (position + step) & tableMask;
-                while (position > highThreshold) position = (position + step) & tableMask;   /* lowprob area */
-        }   }
-        assert(position == 0); /* position must reach all cells once, otherwise normalizedCounter is incorrect */
-    }
-
-    /* Build Decoding table */
-    {   U32 u;
-        for (u=0; u<tableSize; u++) {
-            U32 const symbol = tableDecode[u].baseValue;
-            U32 const nextState = symbolNext[symbol]++;
-            tableDecode[u].nbBits = (BYTE) (tableLog - BIT_highbit32(nextState) );
-            tableDecode[u].nextState = (U16) ( (nextState << tableDecode[u].nbBits) - tableSize);
-            assert(nbAdditionalBits[symbol] < 255);
-            tableDecode[u].nbAdditionalBits = (BYTE)nbAdditionalBits[symbol];
-            tableDecode[u].baseValue = baseValue[symbol];
-    }   }
-}
-
-
-/*! ZSTD_buildSeqTable() :
- * @return : nb bytes read from src,
- *           or an error code if it fails */
-static size_t ZSTD_buildSeqTable(ZSTD_seqSymbol* DTableSpace, const ZSTD_seqSymbol** DTablePtr,
-                                 symbolEncodingType_e type, U32 max, U32 maxLog,
-                                 const void* src, size_t srcSize,
-                                 const U32* baseValue, const U32* nbAdditionalBits,
-                                 const ZSTD_seqSymbol* defaultTable, U32 flagRepeatTable)
-{
-    switch(type)
-    {
-    case set_rle :
-        if (!srcSize) return ERROR(srcSize_wrong);
-        if ( (*(const BYTE*)src) > max) return ERROR(corruption_detected);
-        {   U32 const symbol = *(const BYTE*)src;
-            U32 const baseline = baseValue[symbol];
-            U32 const nbBits = nbAdditionalBits[symbol];
-            ZSTD_buildSeqTable_rle(DTableSpace, baseline, nbBits);
-        }
-        *DTablePtr = DTableSpace;
-        return 1;
-    case set_basic :
-        *DTablePtr = defaultTable;
-        return 0;
-    case set_repeat:
-        if (!flagRepeatTable) return ERROR(corruption_detected);
-        return 0;
-    case set_compressed :
-        {   U32 tableLog;
-            S16 norm[MaxSeq+1];
-            size_t const headerSize = FSE_readNCount(norm, &max, &tableLog, src, srcSize);
-            if (FSE_isError(headerSize)) return ERROR(corruption_detected);
-            if (tableLog > maxLog) return ERROR(corruption_detected);
-            ZSTD_buildFSETable(DTableSpace, norm, max, baseValue, nbAdditionalBits, tableLog);
-            *DTablePtr = DTableSpace;
-            return headerSize;
-        }
-    default :   /* impossible */
-        assert(0);
-        return ERROR(GENERIC);
-    }
-}
-
-static const U32 LL_base[MaxLL+1] = {
-                 0,    1,    2,     3,     4,     5,     6,      7,
-                 8,    9,   10,    11,    12,    13,    14,     15,
-                16,   18,   20,    22,    24,    28,    32,     40,
-                48,   64, 0x80, 0x100, 0x200, 0x400, 0x800, 0x1000,
-                0x2000, 0x4000, 0x8000, 0x10000 };
-
-static const U32 OF_base[MaxOff+1] = {
-                 0,        1,       1,       5,     0xD,     0x1D,     0x3D,     0x7D,
-                 0xFD,   0x1FD,   0x3FD,   0x7FD,   0xFFD,   0x1FFD,   0x3FFD,   0x7FFD,
-                 0xFFFD, 0x1FFFD, 0x3FFFD, 0x7FFFD, 0xFFFFD, 0x1FFFFD, 0x3FFFFD, 0x7FFFFD,
-                 0xFFFFFD, 0x1FFFFFD, 0x3FFFFFD, 0x7FFFFFD, 0xFFFFFFD, 0x1FFFFFFD, 0x3FFFFFFD, 0x7FFFFFFD };
-
-static const U32 OF_bits[MaxOff+1] = {
-                     0,  1,  2,  3,  4,  5,  6,  7,
-                     8,  9, 10, 11, 12, 13, 14, 15,
-                    16, 17, 18, 19, 20, 21, 22, 23,
-                    24, 25, 26, 27, 28, 29, 30, 31 };
-
-static const U32 ML_base[MaxML+1] = {
-                     3,  4,  5,    6,     7,     8,     9,    10,
-                    11, 12, 13,   14,    15,    16,    17,    18,
-                    19, 20, 21,   22,    23,    24,    25,    26,
-                    27, 28, 29,   30,    31,    32,    33,    34,
-                    35, 37, 39,   41,    43,    47,    51,    59,
-                    67, 83, 99, 0x83, 0x103, 0x203, 0x403, 0x803,
-                    0x1003, 0x2003, 0x4003, 0x8003, 0x10003 };
-
-
-size_t ZSTD_decodeSeqHeaders(ZSTD_DCtx* dctx, int* nbSeqPtr,
-                             const void* src, size_t srcSize)
-{
-    const BYTE* const istart = (const BYTE* const)src;
-    const BYTE* const iend = istart + srcSize;
-    const BYTE* ip = istart;
-    DEBUGLOG(5, "ZSTD_decodeSeqHeaders");
-
-    /* check */
-    if (srcSize < MIN_SEQUENCES_SIZE) return ERROR(srcSize_wrong);
-
-    /* SeqHead */
-    {   int nbSeq = *ip++;
-        if (!nbSeq) { *nbSeqPtr=0; return 1; }
-        if (nbSeq > 0x7F) {
-            if (nbSeq == 0xFF) {
-                if (ip+2 > iend) return ERROR(srcSize_wrong);
-                nbSeq = MEM_readLE16(ip) + LONGNBSEQ, ip+=2;
-            } else {
-                if (ip >= iend) return ERROR(srcSize_wrong);
-                nbSeq = ((nbSeq-0x80)<<8) + *ip++;
-            }
-        }
-        *nbSeqPtr = nbSeq;
-    }
-
-    /* FSE table descriptors */
-    if (ip+4 > iend) return ERROR(srcSize_wrong); /* minimum possible size */
-    {   symbolEncodingType_e const LLtype = (symbolEncodingType_e)(*ip >> 6);
-        symbolEncodingType_e const OFtype = (symbolEncodingType_e)((*ip >> 4) & 3);
-        symbolEncodingType_e const MLtype = (symbolEncodingType_e)((*ip >> 2) & 3);
-        ip++;
-
-        /* Build DTables */
-        {   size_t const llhSize = ZSTD_buildSeqTable(dctx->entropy.LLTable, &dctx->LLTptr,
-                                                      LLtype, MaxLL, LLFSELog,
-                                                      ip, iend-ip,
-                                                      LL_base, LL_bits,
-                                                      LL_defaultDTable, dctx->fseEntropy);
-            if (ZSTD_isError(llhSize)) return ERROR(corruption_detected);
-            ip += llhSize;
-        }
-
-        {   size_t const ofhSize = ZSTD_buildSeqTable(dctx->entropy.OFTable, &dctx->OFTptr,
-                                                      OFtype, MaxOff, OffFSELog,
-                                                      ip, iend-ip,
-                                                      OF_base, OF_bits,
-                                                      OF_defaultDTable, dctx->fseEntropy);
-            if (ZSTD_isError(ofhSize)) return ERROR(corruption_detected);
-            ip += ofhSize;
-        }
-
-        {   size_t const mlhSize = ZSTD_buildSeqTable(dctx->entropy.MLTable, &dctx->MLTptr,
-                                                      MLtype, MaxML, MLFSELog,
-                                                      ip, iend-ip,
-                                                      ML_base, ML_bits,
-                                                      ML_defaultDTable, dctx->fseEntropy);
-            if (ZSTD_isError(mlhSize)) return ERROR(corruption_detected);
-            ip += mlhSize;
-        }
-    }
-
-    return ip-istart;
-}
-
-
-typedef struct {
-    size_t litLength;
-    size_t matchLength;
-    size_t offset;
-    const BYTE* match;
-} seq_t;
-
-typedef struct {
-    size_t state;
-    const ZSTD_seqSymbol* table;
-} ZSTD_fseState;
-
-typedef struct {
-    BIT_DStream_t DStream;
-    ZSTD_fseState stateLL;
-    ZSTD_fseState stateOffb;
-    ZSTD_fseState stateML;
-    size_t prevOffset[ZSTD_REP_NUM];
-    const BYTE* prefixStart;
-    const BYTE* dictEnd;
-    size_t pos;
-} seqState_t;
-
-
-FORCE_NOINLINE
-size_t ZSTD_execSequenceLast7(BYTE* op,
-                              BYTE* const oend, seq_t sequence,
-                              const BYTE** litPtr, const BYTE* const litLimit,
-                              const BYTE* const base, const BYTE* const vBase, const BYTE* const dictEnd)
-{
-    BYTE* const oLitEnd = op + sequence.litLength;
-    size_t const sequenceLength = sequence.litLength + sequence.matchLength;
-    BYTE* const oMatchEnd = op + sequenceLength;   /* risk : address space overflow (32-bits) */
-    BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH;
-    const BYTE* const iLitEnd = *litPtr + sequence.litLength;
-    const BYTE* match = oLitEnd - sequence.offset;
-
-    /* check */
-    if (oMatchEnd>oend) return ERROR(dstSize_tooSmall); /* last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend */
-    if (iLitEnd > litLimit) return ERROR(corruption_detected);   /* over-read beyond lit buffer */
-    if (oLitEnd <= oend_w) return ERROR(GENERIC);   /* Precondition */
-
-    /* copy literals */
-    if (op < oend_w) {
-        ZSTD_wildcopy(op, *litPtr, oend_w - op);
-        *litPtr += oend_w - op;
-        op = oend_w;
-    }
-    while (op < oLitEnd) *op++ = *(*litPtr)++;
-
-    /* copy Match */
-    if (sequence.offset > (size_t)(oLitEnd - base)) {
-        /* offset beyond prefix */
-        if (sequence.offset > (size_t)(oLitEnd - vBase)) return ERROR(corruption_detected);
-        match = dictEnd - (base-match);
-        if (match + sequence.matchLength <= dictEnd) {
-            memmove(oLitEnd, match, sequence.matchLength);
-            return sequenceLength;
-        }
-        /* span extDict & currentPrefixSegment */
-        {   size_t const length1 = dictEnd - match;
-            memmove(oLitEnd, match, length1);
-            op = oLitEnd + length1;
-            sequence.matchLength -= length1;
-            match = base;
-    }   }
-    while (op < oMatchEnd) *op++ = *match++;
-    return sequenceLength;
-}
-
-
-HINT_INLINE
-size_t ZSTD_execSequence(BYTE* op,
-                         BYTE* const oend, seq_t sequence,
-                         const BYTE** litPtr, const BYTE* const litLimit,
-                         const BYTE* const base, const BYTE* const vBase, const BYTE* const dictEnd)
-{
-    BYTE* const oLitEnd = op + sequence.litLength;
-    size_t const sequenceLength = sequence.litLength + sequence.matchLength;
-    BYTE* const oMatchEnd = op + sequenceLength;   /* risk : address space overflow (32-bits) */
-    BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH;
-    const BYTE* const iLitEnd = *litPtr + sequence.litLength;
-    const BYTE* match = oLitEnd - sequence.offset;
-
-    /* check */
-    if (oMatchEnd>oend) return ERROR(dstSize_tooSmall); /* last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend */
-    if (iLitEnd > litLimit) return ERROR(corruption_detected);   /* over-read beyond lit buffer */
-    if (oLitEnd>oend_w) return ZSTD_execSequenceLast7(op, oend, sequence, litPtr, litLimit, base, vBase, dictEnd);
-
-    /* copy Literals */
-    ZSTD_copy8(op, *litPtr);
-    if (sequence.litLength > 8)
-        ZSTD_wildcopy(op+8, (*litPtr)+8, sequence.litLength - 8);   /* note : since oLitEnd <= oend-WILDCOPY_OVERLENGTH, no risk of overwrite beyond oend */
-    op = oLitEnd;
-    *litPtr = iLitEnd;   /* update for next sequence */
-
-    /* copy Match */
-    if (sequence.offset > (size_t)(oLitEnd - base)) {
-        /* offset beyond prefix -> go into extDict */
-        if (sequence.offset > (size_t)(oLitEnd - vBase))
-            return ERROR(corruption_detected);
-        match = dictEnd + (match - base);
-        if (match + sequence.matchLength <= dictEnd) {
-            memmove(oLitEnd, match, sequence.matchLength);
-            return sequenceLength;
-        }
-        /* span extDict & currentPrefixSegment */
-        {   size_t const length1 = dictEnd - match;
-            memmove(oLitEnd, match, length1);
-            op = oLitEnd + length1;
-            sequence.matchLength -= length1;
-            match = base;
-            if (op > oend_w || sequence.matchLength < MINMATCH) {
-              U32 i;
-              for (i = 0; i < sequence.matchLength; ++i) op[i] = match[i];
-              return sequenceLength;
-            }
-    }   }
-    /* Requirement: op <= oend_w && sequence.matchLength >= MINMATCH */
-
-    /* match within prefix */
-    if (sequence.offset < 8) {
-        /* close range match, overlap */
-        static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 };   /* added */
-        static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 };   /* subtracted */
-        int const sub2 = dec64table[sequence.offset];
-        op[0] = match[0];
-        op[1] = match[1];
-        op[2] = match[2];
-        op[3] = match[3];
-        match += dec32table[sequence.offset];
-        ZSTD_copy4(op+4, match);
-        match -= sub2;
-    } else {
-        ZSTD_copy8(op, match);
-    }
-    op += 8; match += 8;
-
-    if (oMatchEnd > oend-(16-MINMATCH)) {
-        if (op < oend_w) {
-            ZSTD_wildcopy(op, match, oend_w - op);
-            match += oend_w - op;
-            op = oend_w;
-        }
-        while (op < oMatchEnd) *op++ = *match++;
-    } else {
-        ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8);   /* works even if matchLength < 8 */
-    }
-    return sequenceLength;
-}
-
-
-HINT_INLINE
-size_t ZSTD_execSequenceLong(BYTE* op,
-                             BYTE* const oend, seq_t sequence,
-                             const BYTE** litPtr, const BYTE* const litLimit,
-                             const BYTE* const prefixStart, const BYTE* const dictStart, const BYTE* const dictEnd)
-{
-    BYTE* const oLitEnd = op + sequence.litLength;
-    size_t const sequenceLength = sequence.litLength + sequence.matchLength;
-    BYTE* const oMatchEnd = op + sequenceLength;   /* risk : address space overflow (32-bits) */
-    BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH;
-    const BYTE* const iLitEnd = *litPtr + sequence.litLength;
-    const BYTE* match = sequence.match;
-
-    /* check */
-    if (oMatchEnd > oend) return ERROR(dstSize_tooSmall); /* last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend */
-    if (iLitEnd > litLimit) return ERROR(corruption_detected);   /* over-read beyond lit buffer */
-    if (oLitEnd > oend_w) return ZSTD_execSequenceLast7(op, oend, sequence, litPtr, litLimit, prefixStart, dictStart, dictEnd);
-
-    /* copy Literals */
-    ZSTD_copy8(op, *litPtr);  /* note : op <= oLitEnd <= oend_w == oend - 8 */
-    if (sequence.litLength > 8)
-        ZSTD_wildcopy(op+8, (*litPtr)+8, sequence.litLength - 8);   /* note : since oLitEnd <= oend-WILDCOPY_OVERLENGTH, no risk of overwrite beyond oend */
-    op = oLitEnd;
-    *litPtr = iLitEnd;   /* update for next sequence */
-
-    /* copy Match */
-    if (sequence.offset > (size_t)(oLitEnd - prefixStart)) {
-        /* offset beyond prefix */
-        if (sequence.offset > (size_t)(oLitEnd - dictStart)) return ERROR(corruption_detected);
-        if (match + sequence.matchLength <= dictEnd) {
-            memmove(oLitEnd, match, sequence.matchLength);
-            return sequenceLength;
-        }
-        /* span extDict & currentPrefixSegment */
-        {   size_t const length1 = dictEnd - match;
-            memmove(oLitEnd, match, length1);
-            op = oLitEnd + length1;
-            sequence.matchLength -= length1;
-            match = prefixStart;
-            if (op > oend_w || sequence.matchLength < MINMATCH) {
-              U32 i;
-              for (i = 0; i < sequence.matchLength; ++i) op[i] = match[i];
-              return sequenceLength;
-            }
-    }   }
-    assert(op <= oend_w);
-    assert(sequence.matchLength >= MINMATCH);
-
-    /* match within prefix */
-    if (sequence.offset < 8) {
-        /* close range match, overlap */
-        static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 };   /* added */
-        static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 };   /* subtracted */
-        int const sub2 = dec64table[sequence.offset];
-        op[0] = match[0];
-        op[1] = match[1];
-        op[2] = match[2];
-        op[3] = match[3];
-        match += dec32table[sequence.offset];
-        ZSTD_copy4(op+4, match);
-        match -= sub2;
-    } else {
-        ZSTD_copy8(op, match);
-    }
-    op += 8; match += 8;
-
-    if (oMatchEnd > oend-(16-MINMATCH)) {
-        if (op < oend_w) {
-            ZSTD_wildcopy(op, match, oend_w - op);
-            match += oend_w - op;
-            op = oend_w;
-        }
-        while (op < oMatchEnd) *op++ = *match++;
-    } else {
-        ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8);   /* works even if matchLength < 8 */
-    }
-    return sequenceLength;
-}
-
-static void
-ZSTD_initFseState(ZSTD_fseState* DStatePtr, BIT_DStream_t* bitD, const ZSTD_seqSymbol* dt)
-{
-    const void* ptr = dt;
-    const ZSTD_seqSymbol_header* const DTableH = (const ZSTD_seqSymbol_header*)ptr;
-    DStatePtr->state = BIT_readBits(bitD, DTableH->tableLog);
-    DEBUGLOG(6, "ZSTD_initFseState : val=%u using %u bits",
-                (U32)DStatePtr->state, DTableH->tableLog);
-    BIT_reloadDStream(bitD);
-    DStatePtr->table = dt + 1;
-}
-
-FORCE_INLINE_TEMPLATE void
-ZSTD_updateFseState(ZSTD_fseState* DStatePtr, BIT_DStream_t* bitD)
-{
-    ZSTD_seqSymbol const DInfo = DStatePtr->table[DStatePtr->state];
-    U32 const nbBits = DInfo.nbBits;
-    size_t const lowBits = BIT_readBits(bitD, nbBits);
-    DStatePtr->state = DInfo.nextState + lowBits;
-}
-
-/* We need to add at most (ZSTD_WINDOWLOG_MAX_32 - 1) bits to read the maximum
- * offset bits. But we can only read at most (STREAM_ACCUMULATOR_MIN_32 - 1)
- * bits before reloading. This value is the maximum number of bytes we read
- * after reloading when we are decoding long offets.
- */
-#define LONG_OFFSETS_MAX_EXTRA_BITS_32                       \
-    (ZSTD_WINDOWLOG_MAX_32 > STREAM_ACCUMULATOR_MIN_32       \
-        ? ZSTD_WINDOWLOG_MAX_32 - STREAM_ACCUMULATOR_MIN_32  \
-        : 0)
-
-typedef enum { ZSTD_lo_isRegularOffset, ZSTD_lo_isLongOffset=1 } ZSTD_longOffset_e;
-
-FORCE_INLINE_TEMPLATE seq_t
-ZSTD_decodeSequence(seqState_t* seqState, const ZSTD_longOffset_e longOffsets)
-{
-    seq_t seq;
-    U32 const llBits = seqState->stateLL.table[seqState->stateLL.state].nbAdditionalBits;
-    U32 const mlBits = seqState->stateML.table[seqState->stateML.state].nbAdditionalBits;
-    U32 const ofBits = seqState->stateOffb.table[seqState->stateOffb.state].nbAdditionalBits;
-    U32 const totalBits = llBits+mlBits+ofBits;
-    U32 const llBase = seqState->stateLL.table[seqState->stateLL.state].baseValue;
-    U32 const mlBase = seqState->stateML.table[seqState->stateML.state].baseValue;
-    U32 const ofBase = seqState->stateOffb.table[seqState->stateOffb.state].baseValue;
-
-    /* sequence */
-    {   size_t offset;
-        if (!ofBits)
-            offset = 0;
-        else {
-            ZSTD_STATIC_ASSERT(ZSTD_lo_isLongOffset == 1);
-            ZSTD_STATIC_ASSERT(LONG_OFFSETS_MAX_EXTRA_BITS_32 == 5);
-            assert(ofBits <= MaxOff);
-            if (MEM_32bits() && longOffsets && (ofBits >= STREAM_ACCUMULATOR_MIN_32)) {
-                U32 const extraBits = ofBits - MIN(ofBits, 32 - seqState->DStream.bitsConsumed);
-                offset = ofBase + (BIT_readBitsFast(&seqState->DStream, ofBits - extraBits) << extraBits);
-                BIT_reloadDStream(&seqState->DStream);
-                if (extraBits) offset += BIT_readBitsFast(&seqState->DStream, extraBits);
-                assert(extraBits <= LONG_OFFSETS_MAX_EXTRA_BITS_32);   /* to avoid another reload */
-            } else {
-                offset = ofBase + BIT_readBitsFast(&seqState->DStream, ofBits/*>0*/);   /* <=  (ZSTD_WINDOWLOG_MAX-1) bits */
-                if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);
-            }
-        }
-
-        if (ofBits <= 1) {
-            offset += (llBase==0);
-            if (offset) {
-                size_t temp = (offset==3) ? seqState->prevOffset[0] - 1 : seqState->prevOffset[offset];
-                temp += !temp;   /* 0 is not valid; input is corrupted; force offset to 1 */
-                if (offset != 1) seqState->prevOffset[2] = seqState->prevOffset[1];
-                seqState->prevOffset[1] = seqState->prevOffset[0];
-                seqState->prevOffset[0] = offset = temp;
-            } else {  /* offset == 0 */
-                offset = seqState->prevOffset[0];
-            }
-        } else {
-            seqState->prevOffset[2] = seqState->prevOffset[1];
-            seqState->prevOffset[1] = seqState->prevOffset[0];
-            seqState->prevOffset[0] = offset;
-        }
-        seq.offset = offset;
-    }
-
-    seq.matchLength = mlBase
-                    + ((mlBits>0) ? BIT_readBitsFast(&seqState->DStream, mlBits/*>0*/) : 0);  /* <=  16 bits */
-    if (MEM_32bits() && (mlBits+llBits >= STREAM_ACCUMULATOR_MIN_32-LONG_OFFSETS_MAX_EXTRA_BITS_32))
-        BIT_reloadDStream(&seqState->DStream);
-    if (MEM_64bits() && (totalBits >= STREAM_ACCUMULATOR_MIN_64-(LLFSELog+MLFSELog+OffFSELog)))
-        BIT_reloadDStream(&seqState->DStream);
-    /* Ensure there are enough bits to read the rest of data in 64-bit mode. */
-    ZSTD_STATIC_ASSERT(16+LLFSELog+MLFSELog+OffFSELog < STREAM_ACCUMULATOR_MIN_64);
-
-    seq.litLength = llBase
-                  + ((llBits>0) ? BIT_readBitsFast(&seqState->DStream, llBits/*>0*/) : 0);    /* <=  16 bits */
-    if (MEM_32bits())
-        BIT_reloadDStream(&seqState->DStream);
-
-    DEBUGLOG(6, "seq: litL=%u, matchL=%u, offset=%u",
-                (U32)seq.litLength, (U32)seq.matchLength, (U32)seq.offset);
-
-    /* ANS state update */
-    ZSTD_updateFseState(&seqState->stateLL, &seqState->DStream);    /* <=  9 bits */
-    ZSTD_updateFseState(&seqState->stateML, &seqState->DStream);    /* <=  9 bits */
-    if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);    /* <= 18 bits */
-    ZSTD_updateFseState(&seqState->stateOffb, &seqState->DStream);  /* <=  8 bits */
-
-    return seq;
-}
-
-FORCE_INLINE_TEMPLATE size_t
-ZSTD_decompressSequences_body( ZSTD_DCtx* dctx,
-                               void* dst, size_t maxDstSize,
-                         const void* seqStart, size_t seqSize, int nbSeq,
-                         const ZSTD_longOffset_e isLongOffset)
-{
-    const BYTE* ip = (const BYTE*)seqStart;
-    const BYTE* const iend = ip + seqSize;
-    BYTE* const ostart = (BYTE* const)dst;
-    BYTE* const oend = ostart + maxDstSize;
-    BYTE* op = ostart;
-    const BYTE* litPtr = dctx->litPtr;
-    const BYTE* const litEnd = litPtr + dctx->litSize;
-    const BYTE* const base = (const BYTE*) (dctx->base);
-    const BYTE* const vBase = (const BYTE*) (dctx->vBase);
-    const BYTE* const dictEnd = (const BYTE*) (dctx->dictEnd);
-    DEBUGLOG(5, "ZSTD_decompressSequences");
-
-    /* Regen sequences */
-    if (nbSeq) {
-        seqState_t seqState;
-        dctx->fseEntropy = 1;
-        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) seqState.prevOffset[i] = dctx->entropy.rep[i]; }
-        CHECK_E(BIT_initDStream(&seqState.DStream, ip, iend-ip), corruption_detected);
-        ZSTD_initFseState(&seqState.stateLL, &seqState.DStream, dctx->LLTptr);
-        ZSTD_initFseState(&seqState.stateOffb, &seqState.DStream, dctx->OFTptr);
-        ZSTD_initFseState(&seqState.stateML, &seqState.DStream, dctx->MLTptr);
-
-        for ( ; (BIT_reloadDStream(&(seqState.DStream)) <= BIT_DStream_completed) && nbSeq ; ) {
-            nbSeq--;
-            {   seq_t const sequence = ZSTD_decodeSequence(&seqState, isLongOffset);
-                size_t const oneSeqSize = ZSTD_execSequence(op, oend, sequence, &litPtr, litEnd, base, vBase, dictEnd);
-                DEBUGLOG(6, "regenerated sequence size : %u", (U32)oneSeqSize);
-                if (ZSTD_isError(oneSeqSize)) return oneSeqSize;
-                op += oneSeqSize;
-        }   }
-
-        /* check if reached exact end */
-        DEBUGLOG(5, "ZSTD_decompressSequences: after decode loop, remaining nbSeq : %i", nbSeq);
-        if (nbSeq) return ERROR(corruption_detected);
-        /* save reps for next block */
-        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) dctx->entropy.rep[i] = (U32)(seqState.prevOffset[i]); }
-    }
-
-    /* last literal segment */
-    {   size_t const lastLLSize = litEnd - litPtr;
-        if (lastLLSize > (size_t)(oend-op)) return ERROR(dstSize_tooSmall);
-        memcpy(op, litPtr, lastLLSize);
-        op += lastLLSize;
-    }
-
-    return op-ostart;
-}
-
-static size_t
-ZSTD_decompressSequences_default(ZSTD_DCtx* dctx,
-                                 void* dst, size_t maxDstSize,
-                           const void* seqStart, size_t seqSize, int nbSeq,
-                           const ZSTD_longOffset_e isLongOffset)
-{
-    return ZSTD_decompressSequences_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-}
-
-
-
-FORCE_INLINE_TEMPLATE seq_t
-ZSTD_decodeSequenceLong(seqState_t* seqState, ZSTD_longOffset_e const longOffsets)
-{
-    seq_t seq;
-    U32 const llBits = seqState->stateLL.table[seqState->stateLL.state].nbAdditionalBits;
-    U32 const mlBits = seqState->stateML.table[seqState->stateML.state].nbAdditionalBits;
-    U32 const ofBits = seqState->stateOffb.table[seqState->stateOffb.state].nbAdditionalBits;
-    U32 const totalBits = llBits+mlBits+ofBits;
-    U32 const llBase = seqState->stateLL.table[seqState->stateLL.state].baseValue;
-    U32 const mlBase = seqState->stateML.table[seqState->stateML.state].baseValue;
-    U32 const ofBase = seqState->stateOffb.table[seqState->stateOffb.state].baseValue;
-
-    /* sequence */
-    {   size_t offset;
-        if (!ofBits)
-            offset = 0;
-        else {
-            ZSTD_STATIC_ASSERT(ZSTD_lo_isLongOffset == 1);
-            ZSTD_STATIC_ASSERT(LONG_OFFSETS_MAX_EXTRA_BITS_32 == 5);
-            assert(ofBits <= MaxOff);
-            if (MEM_32bits() && longOffsets) {
-                U32 const extraBits = ofBits - MIN(ofBits, STREAM_ACCUMULATOR_MIN_32-1);
-                offset = ofBase + (BIT_readBitsFast(&seqState->DStream, ofBits - extraBits) << extraBits);
-                if (MEM_32bits() || extraBits) BIT_reloadDStream(&seqState->DStream);
-                if (extraBits) offset += BIT_readBitsFast(&seqState->DStream, extraBits);
-            } else {
-                offset = ofBase + BIT_readBitsFast(&seqState->DStream, ofBits);   /* <=  (ZSTD_WINDOWLOG_MAX-1) bits */
-                if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);
-            }
-        }
-
-        if (ofBits <= 1) {
-            offset += (llBase==0);
-            if (offset) {
-                size_t temp = (offset==3) ? seqState->prevOffset[0] - 1 : seqState->prevOffset[offset];
-                temp += !temp;   /* 0 is not valid; input is corrupted; force offset to 1 */
-                if (offset != 1) seqState->prevOffset[2] = seqState->prevOffset[1];
-                seqState->prevOffset[1] = seqState->prevOffset[0];
-                seqState->prevOffset[0] = offset = temp;
-            } else {
-                offset = seqState->prevOffset[0];
-            }
-        } else {
-            seqState->prevOffset[2] = seqState->prevOffset[1];
-            seqState->prevOffset[1] = seqState->prevOffset[0];
-            seqState->prevOffset[0] = offset;
-        }
-        seq.offset = offset;
-    }
-
-    seq.matchLength = mlBase + ((mlBits>0) ? BIT_readBitsFast(&seqState->DStream, mlBits) : 0);  /* <=  16 bits */
-    if (MEM_32bits() && (mlBits+llBits >= STREAM_ACCUMULATOR_MIN_32-LONG_OFFSETS_MAX_EXTRA_BITS_32))
-        BIT_reloadDStream(&seqState->DStream);
-    if (MEM_64bits() && (totalBits >= STREAM_ACCUMULATOR_MIN_64-(LLFSELog+MLFSELog+OffFSELog)))
-        BIT_reloadDStream(&seqState->DStream);
-    /* Verify that there is enough bits to read the rest of the data in 64-bit mode. */
-    ZSTD_STATIC_ASSERT(16+LLFSELog+MLFSELog+OffFSELog < STREAM_ACCUMULATOR_MIN_64);
-
-    seq.litLength = llBase + ((llBits>0) ? BIT_readBitsFast(&seqState->DStream, llBits) : 0);    /* <=  16 bits */
-    if (MEM_32bits())
-        BIT_reloadDStream(&seqState->DStream);
-
-    {   size_t const pos = seqState->pos + seq.litLength;
-        const BYTE* const matchBase = (seq.offset > pos) ? seqState->dictEnd : seqState->prefixStart;
-        seq.match = matchBase + pos - seq.offset;  /* note : this operation can overflow when seq.offset is really too large, which can only happen when input is corrupted.
-                                                    * No consequence though : no memory access will occur, overly large offset will be detected in ZSTD_execSequenceLong() */
-        seqState->pos = pos + seq.matchLength;
-    }
-
-    /* ANS state update */
-    ZSTD_updateFseState(&seqState->stateLL, &seqState->DStream);    /* <=  9 bits */
-    ZSTD_updateFseState(&seqState->stateML, &seqState->DStream);    /* <=  9 bits */
-    if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);    /* <= 18 bits */
-    ZSTD_updateFseState(&seqState->stateOffb, &seqState->DStream);  /* <=  8 bits */
-
-    return seq;
-}
-
-FORCE_INLINE_TEMPLATE size_t
-ZSTD_decompressSequencesLong_body(
-                               ZSTD_DCtx* dctx,
-                               void* dst, size_t maxDstSize,
-                         const void* seqStart, size_t seqSize, int nbSeq,
-                         const ZSTD_longOffset_e isLongOffset)
-{
-    const BYTE* ip = (const BYTE*)seqStart;
-    const BYTE* const iend = ip + seqSize;
-    BYTE* const ostart = (BYTE* const)dst;
-    BYTE* const oend = ostart + maxDstSize;
-    BYTE* op = ostart;
-    const BYTE* litPtr = dctx->litPtr;
-    const BYTE* const litEnd = litPtr + dctx->litSize;
-    const BYTE* const prefixStart = (const BYTE*) (dctx->base);
-    const BYTE* const dictStart = (const BYTE*) (dctx->vBase);
-    const BYTE* const dictEnd = (const BYTE*) (dctx->dictEnd);
-
-    /* Regen sequences */
-    if (nbSeq) {
-#define STORED_SEQS 4
-#define STOSEQ_MASK (STORED_SEQS-1)
-#define ADVANCED_SEQS 4
-        seq_t sequences[STORED_SEQS];
-        int const seqAdvance = MIN(nbSeq, ADVANCED_SEQS);
-        seqState_t seqState;
-        int seqNb;
-        dctx->fseEntropy = 1;
-        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) seqState.prevOffset[i] = dctx->entropy.rep[i]; }
-        seqState.prefixStart = prefixStart;
-        seqState.pos = (size_t)(op-prefixStart);
-        seqState.dictEnd = dictEnd;
-        CHECK_E(BIT_initDStream(&seqState.DStream, ip, iend-ip), corruption_detected);
-        ZSTD_initFseState(&seqState.stateLL, &seqState.DStream, dctx->LLTptr);
-        ZSTD_initFseState(&seqState.stateOffb, &seqState.DStream, dctx->OFTptr);
-        ZSTD_initFseState(&seqState.stateML, &seqState.DStream, dctx->MLTptr);
-
-        /* prepare in advance */
-        for (seqNb=0; (BIT_reloadDStream(&seqState.DStream) <= BIT_DStream_completed) && (seqNb<seqAdvance); seqNb++) {
-            sequences[seqNb] = ZSTD_decodeSequenceLong(&seqState, isLongOffset);
-        }
-        if (seqNb<seqAdvance) return ERROR(corruption_detected);
-
-        /* decode and decompress */
-        for ( ; (BIT_reloadDStream(&(seqState.DStream)) <= BIT_DStream_completed) && (seqNb<nbSeq) ; seqNb++) {
-            seq_t const sequence = ZSTD_decodeSequenceLong(&seqState, isLongOffset);
-            size_t const oneSeqSize = ZSTD_execSequenceLong(op, oend, sequences[(seqNb-ADVANCED_SEQS) & STOSEQ_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd);
-            if (ZSTD_isError(oneSeqSize)) return oneSeqSize;
-            PREFETCH(sequence.match);  /* note : it's safe to invoke PREFETCH() on any memory address, including invalid ones */
-            sequences[seqNb&STOSEQ_MASK] = sequence;
-            op += oneSeqSize;
-        }
-        if (seqNb<nbSeq) return ERROR(corruption_detected);
-
-        /* finish queue */
-        seqNb -= seqAdvance;
-        for ( ; seqNb<nbSeq ; seqNb++) {
-            size_t const oneSeqSize = ZSTD_execSequenceLong(op, oend, sequences[seqNb&STOSEQ_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd);
-            if (ZSTD_isError(oneSeqSize)) return oneSeqSize;
-            op += oneSeqSize;
-        }
-
-        /* save reps for next block */
-        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) dctx->entropy.rep[i] = (U32)(seqState.prevOffset[i]); }
-#undef STORED_SEQS
-#undef STOSEQ_MASK
-#undef ADVANCED_SEQS
-    }
-
-    /* last literal segment */
-    {   size_t const lastLLSize = litEnd - litPtr;
-        if (lastLLSize > (size_t)(oend-op)) return ERROR(dstSize_tooSmall);
-        memcpy(op, litPtr, lastLLSize);
-        op += lastLLSize;
-    }
-
-    return op-ostart;
-}
-
-static size_t
-ZSTD_decompressSequencesLong_default(ZSTD_DCtx* dctx,
-                                 void* dst, size_t maxDstSize,
-                           const void* seqStart, size_t seqSize, int nbSeq,
-                           const ZSTD_longOffset_e isLongOffset)
-{
-    return ZSTD_decompressSequencesLong_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-}
-
-
-
-#if DYNAMIC_BMI2
-
-static TARGET_ATTRIBUTE("bmi2") size_t
-ZSTD_decompressSequences_bmi2(ZSTD_DCtx* dctx,
-                                 void* dst, size_t maxDstSize,
-                           const void* seqStart, size_t seqSize, int nbSeq,
-                           const ZSTD_longOffset_e isLongOffset)
-{
-    return ZSTD_decompressSequences_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-}
-
-static TARGET_ATTRIBUTE("bmi2") size_t
-ZSTD_decompressSequencesLong_bmi2(ZSTD_DCtx* dctx,
-                                 void* dst, size_t maxDstSize,
-                           const void* seqStart, size_t seqSize, int nbSeq,
-                           const ZSTD_longOffset_e isLongOffset)
-{
-    return ZSTD_decompressSequencesLong_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-}
-
-#endif
-
-typedef size_t (*ZSTD_decompressSequences_t)(
-    ZSTD_DCtx *dctx, void *dst, size_t maxDstSize,
-    const void *seqStart, size_t seqSize, int nbSeq,
-    const ZSTD_longOffset_e isLongOffset);
-
-static size_t ZSTD_decompressSequences(ZSTD_DCtx* dctx, void* dst, size_t maxDstSize,
-                                const void* seqStart, size_t seqSize, int nbSeq,
-                                const ZSTD_longOffset_e isLongOffset)
-{
-    DEBUGLOG(5, "ZSTD_decompressSequences");
-#if DYNAMIC_BMI2
-    if (dctx->bmi2) {
-        return ZSTD_decompressSequences_bmi2(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-    }
-#endif
-  return ZSTD_decompressSequences_default(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-}
-
-static size_t ZSTD_decompressSequencesLong(ZSTD_DCtx* dctx,
-                                void* dst, size_t maxDstSize,
-                                const void* seqStart, size_t seqSize, int nbSeq,
-                                const ZSTD_longOffset_e isLongOffset)
-{
-    DEBUGLOG(5, "ZSTD_decompressSequencesLong");
-#if DYNAMIC_BMI2
-    if (dctx->bmi2) {
-        return ZSTD_decompressSequencesLong_bmi2(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-    }
-#endif
-  return ZSTD_decompressSequencesLong_default(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
-}
-
-/* ZSTD_getLongOffsetsShare() :
- * condition : offTable must be valid
- * @return : "share" of long offsets (arbitrarily defined as > (1<<23))
- *           compared to maximum possible of (1<<OffFSELog) */
-static unsigned
-ZSTD_getLongOffsetsShare(const ZSTD_seqSymbol* offTable)
-{
-    const void* ptr = offTable;
-    U32 const tableLog = ((const ZSTD_seqSymbol_header*)ptr)[0].tableLog;
-    const ZSTD_seqSymbol* table = offTable + 1;
-    U32 const max = 1 << tableLog;
-    U32 u, total = 0;
-    DEBUGLOG(5, "ZSTD_getLongOffsetsShare: (tableLog=%u)", tableLog);
-
-    assert(max <= (1 << OffFSELog));  /* max not too large */
-    for (u=0; u<max; u++) {
-        if (table[u].nbAdditionalBits > 22) total += 1;
-    }
-
-    assert(tableLog <= OffFSELog);
-    total <<= (OffFSELog - tableLog);  /* scale to OffFSELog */
-
-    return total;
-}
-
-
-static size_t ZSTD_decompressBlock_internal(ZSTD_DCtx* dctx,
-                            void* dst, size_t dstCapacity,
-                      const void* src, size_t srcSize, const int frame)
-{   /* blockType == blockCompressed */
-    const BYTE* ip = (const BYTE*)src;
-    /* isLongOffset must be true if there are long offsets.
-     * Offsets are long if they are larger than 2^STREAM_ACCUMULATOR_MIN.
-     * We don't expect that to be the case in 64-bit mode.
-     * In block mode, window size is not known, so we have to be conservative. (note: but it could be evaluated from current-lowLimit)
-     */
-    ZSTD_longOffset_e const isLongOffset = (ZSTD_longOffset_e)(MEM_32bits() && (!frame || dctx->fParams.windowSize > (1ULL << STREAM_ACCUMULATOR_MIN)));
-    DEBUGLOG(5, "ZSTD_decompressBlock_internal (size : %u)", (U32)srcSize);
-
-    if (srcSize >= ZSTD_BLOCKSIZE_MAX) return ERROR(srcSize_wrong);
-
-    /* Decode literals section */
-    {   size_t const litCSize = ZSTD_decodeLiteralsBlock(dctx, src, srcSize);
-        DEBUGLOG(5, "ZSTD_decodeLiteralsBlock : %u", (U32)litCSize);
-        if (ZSTD_isError(litCSize)) return litCSize;
-        ip += litCSize;
-        srcSize -= litCSize;
-    }
-
-    /* Build Decoding Tables */
-    {   int nbSeq;
-        size_t const seqHSize = ZSTD_decodeSeqHeaders(dctx, &nbSeq, ip, srcSize);
-        if (ZSTD_isError(seqHSize)) return seqHSize;
-        ip += seqHSize;
-        srcSize -= seqHSize;
-
-        if ( (!frame || dctx->fParams.windowSize > (1<<24))
-          && (nbSeq>0) ) {  /* could probably use a larger nbSeq limit */
-            U32 const shareLongOffsets = ZSTD_getLongOffsetsShare(dctx->OFTptr);
-            U32 const minShare = MEM_64bits() ? 7 : 20; /* heuristic values, correspond to 2.73% and 7.81% */
-            if (shareLongOffsets >= minShare)
-                return ZSTD_decompressSequencesLong(dctx, dst, dstCapacity, ip, srcSize, nbSeq, isLongOffset);
-        }
-
-        return ZSTD_decompressSequences(dctx, dst, dstCapacity, ip, srcSize, nbSeq, isLongOffset);
-    }
-}
-
-
-static void ZSTD_checkContinuity(ZSTD_DCtx* dctx, const void* dst)
-{
-    if (dst != dctx->previousDstEnd) {   /* not contiguous */
-        dctx->dictEnd = dctx->previousDstEnd;
-        dctx->vBase = (const char*)dst - ((const char*)(dctx->previousDstEnd) - (const char*)(dctx->base));
-        dctx->base = dst;
-        dctx->previousDstEnd = dst;
-    }
-}
-
-size_t ZSTD_decompressBlock(ZSTD_DCtx* dctx,
-                            void* dst, size_t dstCapacity,
-                      const void* src, size_t srcSize)
-{
-    size_t dSize;
-    ZSTD_checkContinuity(dctx, dst);
-    dSize = ZSTD_decompressBlock_internal(dctx, dst, dstCapacity, src, srcSize, /* frame */ 0);
-    dctx->previousDstEnd = (char*)dst + dSize;
-    return dSize;
-}
-
-
-/** ZSTD_insertBlock() :
-    insert `src` block into `dctx` history. Useful to track uncompressed blocks. */
-ZSTDLIB_API size_t ZSTD_insertBlock(ZSTD_DCtx* dctx, const void* blockStart, size_t blockSize)
-{
-    ZSTD_checkContinuity(dctx, blockStart);
-    dctx->previousDstEnd = (const char*)blockStart + blockSize;
-    return blockSize;
-}
-
-
-static size_t ZSTD_generateNxBytes(void* dst, size_t dstCapacity, BYTE byte, size_t length)
-{
-    if (length > dstCapacity) return ERROR(dstSize_tooSmall);
-    memset(dst, byte, length);
-    return length;
-}
-
 /** ZSTD_findFrameCompressedSize() :
  *  compatible with legacy mode
  *  `src` must point to the start of a ZSTD frame, ZSTD legacy frame, or skippable frame
@@ -1747,9 +447,9 @@ size_t ZSTD_findFrameCompressedSize(const void *src, size_t srcSize)
     if (ZSTD_isLegacy(src, srcSize))
         return ZSTD_findFrameCompressedSizeLegacy(src, srcSize);
 #endif
-    if ( (srcSize >= ZSTD_skippableHeaderSize)
-      && (MEM_readLE32(src) & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START ) {
-        return ZSTD_skippableHeaderSize + MEM_readLE32((const BYTE*)src + ZSTD_frameIdSize);
+    if ( (srcSize >= ZSTD_SKIPPABLEHEADERSIZE)
+      && (MEM_readLE32(src) & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START ) {
+        return readSkippableFrameSize(src, srcSize);
     } else {
         const BYTE* ip = (const BYTE*)src;
         const BYTE* const ipstart = ip;
@@ -1783,15 +483,70 @@ size_t ZSTD_findFrameCompressedSize(const void *src, size_t srcSize)
         if (zfh.checksumFlag) {   /* Final frame content checksum */
             if (remainingSize < 4) return ERROR(srcSize_wrong);
             ip += 4;
-            remainingSize -= 4;
         }
 
         return ip - ipstart;
     }
 }
 
+
+
+/*-*************************************************************
+ *   Frame decoding
+ ***************************************************************/
+
+
+void ZSTD_checkContinuity(ZSTD_DCtx* dctx, const void* dst)
+{
+    if (dst != dctx->previousDstEnd) {   /* not contiguous */
+        dctx->dictEnd = dctx->previousDstEnd;
+        dctx->virtualStart = (const char*)dst - ((const char*)(dctx->previousDstEnd) - (const char*)(dctx->prefixStart));
+        dctx->prefixStart = dst;
+        dctx->previousDstEnd = dst;
+    }
+}
+
+/** ZSTD_insertBlock() :
+    insert `src` block into `dctx` history. Useful to track uncompressed blocks. */
+size_t ZSTD_insertBlock(ZSTD_DCtx* dctx, const void* blockStart, size_t blockSize)
+{
+    ZSTD_checkContinuity(dctx, blockStart);
+    dctx->previousDstEnd = (const char*)blockStart + blockSize;
+    return blockSize;
+}
+
+
+static size_t ZSTD_copyRawBlock(void* dst, size_t dstCapacity,
+                          const void* src, size_t srcSize)
+{
+    DEBUGLOG(5, "ZSTD_copyRawBlock");
+    if (dst == NULL) {
+        if (srcSize == 0) return 0;
+        return ERROR(dstBuffer_null);
+    }
+    if (srcSize > dstCapacity) return ERROR(dstSize_tooSmall);
+    memcpy(dst, src, srcSize);
+    return srcSize;
+}
+
+static size_t ZSTD_setRleBlock(void* dst, size_t dstCapacity,
+                               BYTE b,
+                               size_t regenSize)
+{
+    if (dst == NULL) {
+        if (regenSize == 0) return 0;
+        return ERROR(dstBuffer_null);
+    }
+    if (regenSize > dstCapacity) return ERROR(dstSize_tooSmall);
+    memset(dst, b, regenSize);
+    return regenSize;
+}
+
+
 /*! ZSTD_decompressFrame() :
-*   @dctx must be properly initialized */
+ * @dctx must be properly initialized
+ *  will update *srcPtr and *srcSizePtr,
+ *  to make *srcPtr progress by one frame. */
 static size_t ZSTD_decompressFrame(ZSTD_DCtx* dctx,
                                    void* dst, size_t dstCapacity,
                              const void** srcPtr, size_t *srcSizePtr)
@@ -1800,31 +555,33 @@ static size_t ZSTD_decompressFrame(ZSTD_DCtx* dctx,
     BYTE* const ostart = (BYTE* const)dst;
     BYTE* const oend = ostart + dstCapacity;
     BYTE* op = ostart;
-    size_t remainingSize = *srcSizePtr;
+    size_t remainingSrcSize = *srcSizePtr;
+
+    DEBUGLOG(4, "ZSTD_decompressFrame (srcSize:%i)", (int)*srcSizePtr);
 
     /* check */
-    if (remainingSize < ZSTD_frameHeaderSize_min+ZSTD_blockHeaderSize)
+    if (remainingSrcSize < ZSTD_FRAMEHEADERSIZE_MIN+ZSTD_blockHeaderSize)
         return ERROR(srcSize_wrong);
 
     /* Frame Header */
-    {   size_t const frameHeaderSize = ZSTD_frameHeaderSize(ip, ZSTD_frameHeaderSize_prefix);
+    {   size_t const frameHeaderSize = ZSTD_frameHeaderSize(ip, ZSTD_FRAMEHEADERSIZE_PREFIX);
         if (ZSTD_isError(frameHeaderSize)) return frameHeaderSize;
-        if (remainingSize < frameHeaderSize+ZSTD_blockHeaderSize)
+        if (remainingSrcSize < frameHeaderSize+ZSTD_blockHeaderSize)
             return ERROR(srcSize_wrong);
         CHECK_F( ZSTD_decodeFrameHeader(dctx, ip, frameHeaderSize) );
-        ip += frameHeaderSize; remainingSize -= frameHeaderSize;
+        ip += frameHeaderSize; remainingSrcSize -= frameHeaderSize;
     }
 
     /* Loop on each block */
     while (1) {
         size_t decodedSize;
         blockProperties_t blockProperties;
-        size_t const cBlockSize = ZSTD_getcBlockSize(ip, remainingSize, &blockProperties);
+        size_t const cBlockSize = ZSTD_getcBlockSize(ip, remainingSrcSize, &blockProperties);
         if (ZSTD_isError(cBlockSize)) return cBlockSize;
 
         ip += ZSTD_blockHeaderSize;
-        remainingSize -= ZSTD_blockHeaderSize;
-        if (cBlockSize > remainingSize) return ERROR(srcSize_wrong);
+        remainingSrcSize -= ZSTD_blockHeaderSize;
+        if (cBlockSize > remainingSrcSize) return ERROR(srcSize_wrong);
 
         switch(blockProperties.blockType)
         {
@@ -1835,7 +592,7 @@ static size_t ZSTD_decompressFrame(ZSTD_DCtx* dctx,
             decodedSize = ZSTD_copyRawBlock(op, oend-op, ip, cBlockSize);
             break;
         case bt_rle :
-            decodedSize = ZSTD_generateNxBytes(op, oend-op, *ip, blockProperties.origSize);
+            decodedSize = ZSTD_setRleBlock(op, oend-op, *ip, blockProperties.origSize);
             break;
         case bt_reserved :
         default:
@@ -1847,7 +604,7 @@ static size_t ZSTD_decompressFrame(ZSTD_DCtx* dctx,
             XXH64_update(&dctx->xxhState, op, decodedSize);
         op += decodedSize;
         ip += cBlockSize;
-        remainingSize -= cBlockSize;
+        remainingSrcSize -= cBlockSize;
         if (blockProperties.lastBlock) break;
     }
 
@@ -1858,22 +615,19 @@ static size_t ZSTD_decompressFrame(ZSTD_DCtx* dctx,
     if (dctx->fParams.checksumFlag) { /* Frame content checksum verification */
         U32 const checkCalc = (U32)XXH64_digest(&dctx->xxhState);
         U32 checkRead;
-        if (remainingSize<4) return ERROR(checksum_wrong);
+        if (remainingSrcSize<4) return ERROR(checksum_wrong);
         checkRead = MEM_readLE32(ip);
         if (checkRead != checkCalc) return ERROR(checksum_wrong);
         ip += 4;
-        remainingSize -= 4;
+        remainingSrcSize -= 4;
     }
 
     /* Allow caller to get size read */
     *srcPtr = ip;
-    *srcSizePtr = remainingSize;
+    *srcSizePtr = remainingSrcSize;
     return op-ostart;
 }
 
-static const void* ZSTD_DDictDictContent(const ZSTD_DDict* ddict);
-static size_t ZSTD_DDictDictSize(const ZSTD_DDict* ddict);
-
 static size_t ZSTD_decompressMultiFrame(ZSTD_DCtx* dctx,
                                         void* dst, size_t dstCapacity,
                                   const void* src, size_t srcSize,
@@ -1881,15 +635,17 @@ static size_t ZSTD_decompressMultiFrame(ZSTD_DCtx* dctx,
                                   const ZSTD_DDict* ddict)
 {
     void* const dststart = dst;
+    int moreThan1Frame = 0;
+
+    DEBUGLOG(5, "ZSTD_decompressMultiFrame");
     assert(dict==NULL || ddict==NULL);  /* either dict or ddict set, not both */
 
     if (ddict) {
-        dict = ZSTD_DDictDictContent(ddict);
-        dictSize = ZSTD_DDictDictSize(ddict);
+        dict = ZSTD_DDict_dictContent(ddict);
+        dictSize = ZSTD_DDict_dictSize(ddict);
     }
 
-    while (srcSize >= ZSTD_frameHeaderSize_prefix) {
-        U32 magicNumber;
+    while (srcSize >= ZSTD_FRAMEHEADERSIZE_PREFIX) {
 
 #if defined(ZSTD_LEGACY_SUPPORT) && (ZSTD_LEGACY_SUPPORT >= 1)
         if (ZSTD_isLegacy(src, srcSize)) {
@@ -1900,7 +656,9 @@ static size_t ZSTD_decompressMultiFrame(ZSTD_DCtx* dctx,
             if (dctx->staticSize) return ERROR(memory_allocation);
 
             decodedSize = ZSTD_decompressLegacy(dst, dstCapacity, src, frameSize, dict, dictSize);
+            if (ZSTD_isError(decodedSize)) return decodedSize;
 
+            assert(decodedSize <=- dstCapacity);
             dst = (BYTE*)dst + decodedSize;
             dstCapacity -= decodedSize;
 
@@ -1911,24 +669,19 @@ static size_t ZSTD_decompressMultiFrame(ZSTD_DCtx* dctx,
         }
 #endif
 
-        magicNumber = MEM_readLE32(src);
-        DEBUGLOG(4, "reading magic number %08X (expecting %08X)",
-                    (U32)magicNumber, (U32)ZSTD_MAGICNUMBER);
-        if (magicNumber != ZSTD_MAGICNUMBER) {
-            if ((magicNumber & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START) {
-                size_t skippableSize;
-                if (srcSize < ZSTD_skippableHeaderSize)
-                    return ERROR(srcSize_wrong);
-                skippableSize = MEM_readLE32((const BYTE*)src + ZSTD_frameIdSize)
-                              + ZSTD_skippableHeaderSize;
+        {   U32 const magicNumber = MEM_readLE32(src);
+            DEBUGLOG(4, "reading magic number %08X (expecting %08X)",
+                        (unsigned)magicNumber, ZSTD_MAGICNUMBER);
+            if ((magicNumber & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) {
+                size_t const skippableSize = readSkippableFrameSize(src, srcSize);
+                if (ZSTD_isError(skippableSize))
+                    return skippableSize;
                 if (srcSize < skippableSize) return ERROR(srcSize_wrong);
 
                 src = (const BYTE *)src + skippableSize;
                 srcSize -= skippableSize;
                 continue;
-            }
-            return ERROR(prefix_unknown);
-        }
+        }   }
 
         if (ddict) {
             /* we were called from ZSTD_decompress_usingDDict */
@@ -1942,11 +695,25 @@ static size_t ZSTD_decompressMultiFrame(ZSTD_DCtx* dctx,
 
         {   const size_t res = ZSTD_decompressFrame(dctx, dst, dstCapacity,
                                                     &src, &srcSize);
+            if ( (ZSTD_getErrorCode(res) == ZSTD_error_prefix_unknown)
+              && (moreThan1Frame==1) ) {
+                /* at least one frame successfully completed,
+                 * but following bytes are garbage :
+                 * it's more likely to be a srcSize error,
+                 * specifying more bytes than compressed size of frame(s).
+                 * This error message replaces ERROR(prefix_unknown),
+                 * which would be confusing, as the first header is actually correct.
+                 * Note that one could be unlucky, it might be a corruption error instead,
+                 * happening right at the place where we expect zstd magic bytes.
+                 * But this is _much_ less likely than a srcSize field error. */
+                return ERROR(srcSize_wrong);
+            }
             if (ZSTD_isError(res)) return res;
-            /* no need to bound check, ZSTD_decompressFrame already has */
+            assert(res <= dstCapacity);
             dst = (BYTE*)dst + res;
             dstCapacity -= res;
         }
+        moreThan1Frame = 1;
     }  /* while (srcSize >= ZSTD_frameHeaderSize_prefix) */
 
     if (srcSize) return ERROR(srcSize_wrong); /* input not entirely consumed */
@@ -1980,6 +747,7 @@ size_t ZSTD_decompress(void* dst, size_t dstCapacity, const void* src, size_t sr
     return regenSize;
 #else   /* stack mode */
     ZSTD_DCtx dctx;
+    ZSTD_initDCtx_internal(&dctx);
     return ZSTD_decompressDCtx(&dctx, dst, dstCapacity, src, srcSize);
 #endif
 }
@@ -2021,9 +789,10 @@ static int ZSTD_isSkipFrame(ZSTD_DCtx* dctx) { return dctx->stage == ZSTDds_skip
  *            or an error code, which can be tested using ZSTD_isError() */
 size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize)
 {
-    DEBUGLOG(5, "ZSTD_decompressContinue (srcSize:%u)", (U32)srcSize);
+    DEBUGLOG(5, "ZSTD_decompressContinue (srcSize:%u)", (unsigned)srcSize);
     /* Sanity check */
-    if (srcSize != dctx->expected) return ERROR(srcSize_wrong);  /* not allowed */
+    if (srcSize != dctx->expected)
+        return ERROR(srcSize_wrong);  /* not allowed */
     if (dstCapacity) ZSTD_checkContinuity(dctx, dst);
 
     switch (dctx->stage)
@@ -2031,10 +800,10 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c
     case ZSTDds_getFrameHeaderSize :
         assert(src != NULL);
         if (dctx->format == ZSTD_f_zstd1) {  /* allows header */
-            assert(srcSize >= ZSTD_frameIdSize);  /* to read skippable magic number */
-            if ((MEM_readLE32(src) & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START) {        /* skippable frame */
+            assert(srcSize >= ZSTD_FRAMEIDSIZE);  /* to read skippable magic number */
+            if ((MEM_readLE32(src) & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) {        /* skippable frame */
                 memcpy(dctx->headerBuffer, src, srcSize);
-                dctx->expected = ZSTD_skippableHeaderSize - srcSize;  /* remaining to load to get full skippable frame header */
+                dctx->expected = ZSTD_SKIPPABLEHEADERSIZE - srcSize;  /* remaining to load to get full skippable frame header */
                 dctx->stage = ZSTDds_decodeSkippableHeader;
                 return 0;
         }   }
@@ -2094,19 +863,19 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c
                 rSize = ZSTD_copyRawBlock(dst, dstCapacity, src, srcSize);
                 break;
             case bt_rle :
-                rSize = ZSTD_setRleBlock(dst, dstCapacity, src, srcSize, dctx->rleSize);
+                rSize = ZSTD_setRleBlock(dst, dstCapacity, *(const BYTE*)src, dctx->rleSize);
                 break;
             case bt_reserved :   /* should never happen */
             default:
                 return ERROR(corruption_detected);
             }
             if (ZSTD_isError(rSize)) return rSize;
-            DEBUGLOG(5, "ZSTD_decompressContinue: decoded size from block : %u", (U32)rSize);
+            DEBUGLOG(5, "ZSTD_decompressContinue: decoded size from block : %u", (unsigned)rSize);
             dctx->decodedSize += rSize;
             if (dctx->fParams.checksumFlag) XXH64_update(&dctx->xxhState, dst, rSize);
 
             if (dctx->stage == ZSTDds_decompressLastBlock) {   /* end of frame */
-                DEBUGLOG(4, "ZSTD_decompressContinue: decoded size from frame : %u", (U32)dctx->decodedSize);
+                DEBUGLOG(4, "ZSTD_decompressContinue: decoded size from frame : %u", (unsigned)dctx->decodedSize);
                 if (dctx->fParams.frameContentSize != ZSTD_CONTENTSIZE_UNKNOWN) {
                     if (dctx->decodedSize != dctx->fParams.frameContentSize) {
                         return ERROR(corruption_detected);
@@ -2130,7 +899,7 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c
         assert(srcSize == 4);  /* guaranteed by dctx->expected */
         {   U32 const h32 = (U32)XXH64_digest(&dctx->xxhState);
             U32 const check32 = MEM_readLE32(src);
-            DEBUGLOG(4, "ZSTD_decompressContinue: checksum : calculated %08X :: %08X read", h32, check32);
+            DEBUGLOG(4, "ZSTD_decompressContinue: checksum : calculated %08X :: %08X read", (unsigned)h32, (unsigned)check32);
             if (check32 != h32) return ERROR(checksum_wrong);
             dctx->expected = 0;
             dctx->stage = ZSTDds_getFrameHeaderSize;
@@ -2139,9 +908,9 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c
 
     case ZSTDds_decodeSkippableHeader:
         assert(src != NULL);
-        assert(srcSize <= ZSTD_skippableHeaderSize);
-        memcpy(dctx->headerBuffer + (ZSTD_skippableHeaderSize - srcSize), src, srcSize);   /* complete skippable header */
-        dctx->expected = MEM_readLE32(dctx->headerBuffer + ZSTD_frameIdSize);   /* note : dctx->expected can grow seriously large, beyond local buffer size */
+        assert(srcSize <= ZSTD_SKIPPABLEHEADERSIZE);
+        memcpy(dctx->headerBuffer + (ZSTD_SKIPPABLEHEADERSIZE - srcSize), src, srcSize);   /* complete skippable header */
+        dctx->expected = MEM_readLE32(dctx->headerBuffer + ZSTD_FRAMEIDSIZE);   /* note : dctx->expected can grow seriously large, beyond local buffer size */
         dctx->stage = ZSTDds_skipFrame;
         return 0;
 
@@ -2151,7 +920,8 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c
         return 0;
 
     default:
-        return ERROR(GENERIC);   /* impossible */
+        assert(0);   /* impossible */
+        return ERROR(GENERIC);   /* some compiler require default to do something */
     }
 }
 
@@ -2159,38 +929,52 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c
 static size_t ZSTD_refDictContent(ZSTD_DCtx* dctx, const void* dict, size_t dictSize)
 {
     dctx->dictEnd = dctx->previousDstEnd;
-    dctx->vBase = (const char*)dict - ((const char*)(dctx->previousDstEnd) - (const char*)(dctx->base));
-    dctx->base = dict;
+    dctx->virtualStart = (const char*)dict - ((const char*)(dctx->previousDstEnd) - (const char*)(dctx->prefixStart));
+    dctx->prefixStart = dict;
     dctx->previousDstEnd = (const char*)dict + dictSize;
     return 0;
 }
 
-/* ZSTD_loadEntropy() :
- * dict : must point at beginning of a valid zstd dictionary
+/*! ZSTD_loadDEntropy() :
+ *  dict : must point at beginning of a valid zstd dictionary.
  * @return : size of entropy tables read */
-static size_t ZSTD_loadEntropy(ZSTD_entropyDTables_t* entropy, const void* const dict, size_t const dictSize)
+size_t
+ZSTD_loadDEntropy(ZSTD_entropyDTables_t* entropy,
+                  const void* const dict, size_t const dictSize)
 {
     const BYTE* dictPtr = (const BYTE*)dict;
     const BYTE* const dictEnd = dictPtr + dictSize;
 
     if (dictSize <= 8) return ERROR(dictionary_corrupted);
+    assert(MEM_readLE32(dict) == ZSTD_MAGIC_DICTIONARY);   /* dict must be valid */
     dictPtr += 8;   /* skip header = magic + dictID */
 
-
-    {   size_t const hSize = HUF_readDTableX4_wksp(
-            entropy->hufTable, dictPtr, dictEnd - dictPtr,
-            entropy->workspace, sizeof(entropy->workspace));
+    ZSTD_STATIC_ASSERT(offsetof(ZSTD_entropyDTables_t, OFTable) == offsetof(ZSTD_entropyDTables_t, LLTable) + sizeof(entropy->LLTable));
+    ZSTD_STATIC_ASSERT(offsetof(ZSTD_entropyDTables_t, MLTable) == offsetof(ZSTD_entropyDTables_t, OFTable) + sizeof(entropy->OFTable));
+    ZSTD_STATIC_ASSERT(sizeof(entropy->LLTable) + sizeof(entropy->OFTable) + sizeof(entropy->MLTable) >= HUF_DECOMPRESS_WORKSPACE_SIZE);
+    {   void* const workspace = &entropy->LLTable;   /* use fse tables as temporary workspace; implies fse tables are grouped together */
+        size_t const workspaceSize = sizeof(entropy->LLTable) + sizeof(entropy->OFTable) + sizeof(entropy->MLTable);
+#ifdef HUF_FORCE_DECOMPRESS_X1
+        /* in minimal huffman, we always use X1 variants */
+        size_t const hSize = HUF_readDTableX1_wksp(entropy->hufTable,
+                                                dictPtr, dictEnd - dictPtr,
+                                                workspace, workspaceSize);
+#else
+        size_t const hSize = HUF_readDTableX2_wksp(entropy->hufTable,
+                                                dictPtr, dictEnd - dictPtr,
+                                                workspace, workspaceSize);
+#endif
         if (HUF_isError(hSize)) return ERROR(dictionary_corrupted);
         dictPtr += hSize;
     }
 
     {   short offcodeNCount[MaxOff+1];
-        U32 offcodeMaxValue = MaxOff, offcodeLog;
+        unsigned offcodeMaxValue = MaxOff, offcodeLog;
         size_t const offcodeHeaderSize = FSE_readNCount(offcodeNCount, &offcodeMaxValue, &offcodeLog, dictPtr, dictEnd-dictPtr);
         if (FSE_isError(offcodeHeaderSize)) return ERROR(dictionary_corrupted);
         if (offcodeMaxValue > MaxOff) return ERROR(dictionary_corrupted);
         if (offcodeLog > OffFSELog) return ERROR(dictionary_corrupted);
-        ZSTD_buildFSETable(entropy->OFTable,
+        ZSTD_buildFSETable( entropy->OFTable,
                             offcodeNCount, offcodeMaxValue,
                             OF_base, OF_bits,
                             offcodeLog);
@@ -2203,7 +987,7 @@ static size_t ZSTD_loadEntropy(ZSTD_entropyDTables_t* entropy, const void* const
         if (FSE_isError(matchlengthHeaderSize)) return ERROR(dictionary_corrupted);
         if (matchlengthMaxValue > MaxML) return ERROR(dictionary_corrupted);
         if (matchlengthLog > MLFSELog) return ERROR(dictionary_corrupted);
-        ZSTD_buildFSETable(entropy->MLTable,
+        ZSTD_buildFSETable( entropy->MLTable,
                             matchlengthNCount, matchlengthMaxValue,
                             ML_base, ML_bits,
                             matchlengthLog);
@@ -2216,7 +1000,7 @@ static size_t ZSTD_loadEntropy(ZSTD_entropyDTables_t* entropy, const void* const
         if (FSE_isError(litlengthHeaderSize)) return ERROR(dictionary_corrupted);
         if (litlengthMaxValue > MaxLL) return ERROR(dictionary_corrupted);
         if (litlengthLog > LLFSELog) return ERROR(dictionary_corrupted);
-        ZSTD_buildFSETable(entropy->LLTable,
+        ZSTD_buildFSETable( entropy->LLTable,
                             litlengthNCount, litlengthMaxValue,
                             LL_base, LL_bits,
                             litlengthLog);
@@ -2242,10 +1026,10 @@ static size_t ZSTD_decompress_insertDictionary(ZSTD_DCtx* dctx, const void* dict
         if (magic != ZSTD_MAGIC_DICTIONARY) {
             return ZSTD_refDictContent(dctx, dict, dictSize);   /* pure content mode */
     }   }
-    dctx->dictID = MEM_readLE32((const char*)dict + ZSTD_frameIdSize);
+    dctx->dictID = MEM_readLE32((const char*)dict + ZSTD_FRAMEIDSIZE);
 
     /* load entropy tables */
-    {   size_t const eSize = ZSTD_loadEntropy(&dctx->entropy, dict, dictSize);
+    {   size_t const eSize = ZSTD_loadDEntropy(&dctx->entropy, dict, dictSize);
         if (ZSTD_isError(eSize)) return ERROR(dictionary_corrupted);
         dict = (const char*)dict + eSize;
         dictSize -= eSize;
@@ -2256,7 +1040,6 @@ static size_t ZSTD_decompress_insertDictionary(ZSTD_DCtx* dctx, const void* dict
     return ZSTD_refDictContent(dctx, dict, dictSize);
 }
 
-/* Note : this function cannot fail */
 size_t ZSTD_decompressBegin(ZSTD_DCtx* dctx)
 {
     assert(dctx != NULL);
@@ -2264,8 +1047,8 @@ size_t ZSTD_decompressBegin(ZSTD_DCtx* dctx)
     dctx->stage = ZSTDds_getFrameHeaderSize;
     dctx->decodedSize = 0;
     dctx->previousDstEnd = NULL;
-    dctx->base = NULL;
-    dctx->vBase = NULL;
+    dctx->prefixStart = NULL;
+    dctx->virtualStart = NULL;
     dctx->dictEnd = NULL;
     dctx->entropy.hufTable[0] = (HUF_DTable)((HufLog)*0x1000001);  /* cover both little and big endian */
     dctx->litEntropy = dctx->fseEntropy = 0;
@@ -2290,192 +1073,25 @@ size_t ZSTD_decompressBegin_usingDict(ZSTD_DCtx* dctx, const void* dict, size_t
 
 /* ======   ZSTD_DDict   ====== */
 
-struct ZSTD_DDict_s {
-    void* dictBuffer;
-    const void* dictContent;
-    size_t dictSize;
-    ZSTD_entropyDTables_t entropy;
-    U32 dictID;
-    U32 entropyPresent;
-    ZSTD_customMem cMem;
-};  /* typedef'd to ZSTD_DDict within "zstd.h" */
-
-static const void* ZSTD_DDictDictContent(const ZSTD_DDict* ddict)
-{
-    return ddict->dictContent;
-}
-
-static size_t ZSTD_DDictDictSize(const ZSTD_DDict* ddict)
-{
-    return ddict->dictSize;
-}
-
-size_t ZSTD_decompressBegin_usingDDict(ZSTD_DCtx* dstDCtx, const ZSTD_DDict* ddict)
-{
-    CHECK_F( ZSTD_decompressBegin(dstDCtx) );
-    if (ddict) {   /* support begin on NULL */
-        dstDCtx->dictID = ddict->dictID;
-        dstDCtx->base = ddict->dictContent;
-        dstDCtx->vBase = ddict->dictContent;
-        dstDCtx->dictEnd = (const BYTE*)ddict->dictContent + ddict->dictSize;
-        dstDCtx->previousDstEnd = dstDCtx->dictEnd;
-        if (ddict->entropyPresent) {
-            dstDCtx->litEntropy = 1;
-            dstDCtx->fseEntropy = 1;
-            dstDCtx->LLTptr = ddict->entropy.LLTable;
-            dstDCtx->MLTptr = ddict->entropy.MLTable;
-            dstDCtx->OFTptr = ddict->entropy.OFTable;
-            dstDCtx->HUFptr = ddict->entropy.hufTable;
-            dstDCtx->entropy.rep[0] = ddict->entropy.rep[0];
-            dstDCtx->entropy.rep[1] = ddict->entropy.rep[1];
-            dstDCtx->entropy.rep[2] = ddict->entropy.rep[2];
-        } else {
-            dstDCtx->litEntropy = 0;
-            dstDCtx->fseEntropy = 0;
-        }
-    }
-    return 0;
-}
-
-static size_t ZSTD_loadEntropy_inDDict(ZSTD_DDict* ddict, ZSTD_dictContentType_e dictContentType)
+size_t ZSTD_decompressBegin_usingDDict(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict)
 {
-    ddict->dictID = 0;
-    ddict->entropyPresent = 0;
-    if (dictContentType == ZSTD_dct_rawContent) return 0;
-
-    if (ddict->dictSize < 8) {
-        if (dictContentType == ZSTD_dct_fullDict)
-            return ERROR(dictionary_corrupted);   /* only accept specified dictionaries */
-        return 0;   /* pure content mode */
+    DEBUGLOG(4, "ZSTD_decompressBegin_usingDDict");
+    assert(dctx != NULL);
+    if (ddict) {
+        const char* const dictStart = (const char*)ZSTD_DDict_dictContent(ddict);
+        size_t const dictSize = ZSTD_DDict_dictSize(ddict);
+        const void* const dictEnd = dictStart + dictSize;
+        dctx->ddictIsCold = (dctx->dictEnd != dictEnd);
+        DEBUGLOG(4, "DDict is %s",
+                    dctx->ddictIsCold ? "~cold~" : "hot!");
     }
-    {   U32 const magic = MEM_readLE32(ddict->dictContent);
-        if (magic != ZSTD_MAGIC_DICTIONARY) {
-            if (dictContentType == ZSTD_dct_fullDict)
-                return ERROR(dictionary_corrupted);   /* only accept specified dictionaries */
-            return 0;   /* pure content mode */
-        }
+    CHECK_F( ZSTD_decompressBegin(dctx) );
+    if (ddict) {   /* NULL ddict is equivalent to no dictionary */
+        ZSTD_copyDDictParameters(dctx, ddict);
     }
-    ddict->dictID = MEM_readLE32((const char*)ddict->dictContent + ZSTD_frameIdSize);
-
-    /* load entropy tables */
-    CHECK_E( ZSTD_loadEntropy(&ddict->entropy, ddict->dictContent, ddict->dictSize), dictionary_corrupted );
-    ddict->entropyPresent = 1;
     return 0;
 }
 
-
-static size_t ZSTD_initDDict_internal(ZSTD_DDict* ddict,
-                                      const void* dict, size_t dictSize,
-                                      ZSTD_dictLoadMethod_e dictLoadMethod,
-                                      ZSTD_dictContentType_e dictContentType)
-{
-    if ((dictLoadMethod == ZSTD_dlm_byRef) || (!dict) || (!dictSize)) {
-        ddict->dictBuffer = NULL;
-        ddict->dictContent = dict;
-    } else {
-        void* const internalBuffer = ZSTD_malloc(dictSize, ddict->cMem);
-        ddict->dictBuffer = internalBuffer;
-        ddict->dictContent = internalBuffer;
-        if (!internalBuffer) return ERROR(memory_allocation);
-        memcpy(internalBuffer, dict, dictSize);
-    }
-    ddict->dictSize = dictSize;
-    ddict->entropy.hufTable[0] = (HUF_DTable)((HufLog)*0x1000001);  /* cover both little and big endian */
-
-    /* parse dictionary content */
-    CHECK_F( ZSTD_loadEntropy_inDDict(ddict, dictContentType) );
-
-    return 0;
-}
-
-ZSTD_DDict* ZSTD_createDDict_advanced(const void* dict, size_t dictSize,
-                                      ZSTD_dictLoadMethod_e dictLoadMethod,
-                                      ZSTD_dictContentType_e dictContentType,
-                                      ZSTD_customMem customMem)
-{
-    if (!customMem.customAlloc ^ !customMem.customFree) return NULL;
-
-    {   ZSTD_DDict* const ddict = (ZSTD_DDict*) ZSTD_malloc(sizeof(ZSTD_DDict), customMem);
-        if (!ddict) return NULL;
-        ddict->cMem = customMem;
-
-        if (ZSTD_isError( ZSTD_initDDict_internal(ddict, dict, dictSize, dictLoadMethod, dictContentType) )) {
-            ZSTD_freeDDict(ddict);
-            return NULL;
-        }
-
-        return ddict;
-    }
-}
-
-/*! ZSTD_createDDict() :
-*   Create a digested dictionary, to start decompression without startup delay.
-*   `dict` content is copied inside DDict.
-*   Consequently, `dict` can be released after `ZSTD_DDict` creation */
-ZSTD_DDict* ZSTD_createDDict(const void* dict, size_t dictSize)
-{
-    ZSTD_customMem const allocator = { NULL, NULL, NULL };
-    return ZSTD_createDDict_advanced(dict, dictSize, ZSTD_dlm_byCopy, ZSTD_dct_auto, allocator);
-}
-
-/*! ZSTD_createDDict_byReference() :
- *  Create a digested dictionary, to start decompression without startup delay.
- *  Dictionary content is simply referenced, it will be accessed during decompression.
- *  Warning : dictBuffer must outlive DDict (DDict must be freed before dictBuffer) */
-ZSTD_DDict* ZSTD_createDDict_byReference(const void* dictBuffer, size_t dictSize)
-{
-    ZSTD_customMem const allocator = { NULL, NULL, NULL };
-    return ZSTD_createDDict_advanced(dictBuffer, dictSize, ZSTD_dlm_byRef, ZSTD_dct_auto, allocator);
-}
-
-
-const ZSTD_DDict* ZSTD_initStaticDDict(
-                                void* workspace, size_t workspaceSize,
-                                const void* dict, size_t dictSize,
-                                ZSTD_dictLoadMethod_e dictLoadMethod,
-                                ZSTD_dictContentType_e dictContentType)
-{
-    size_t const neededSpace =
-            sizeof(ZSTD_DDict) + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize);
-    ZSTD_DDict* const ddict = (ZSTD_DDict*)workspace;
-    assert(workspace != NULL);
-    assert(dict != NULL);
-    if ((size_t)workspace & 7) return NULL;  /* 8-aligned */
-    if (workspaceSize < neededSpace) return NULL;
-    if (dictLoadMethod == ZSTD_dlm_byCopy) {
-        memcpy(ddict+1, dict, dictSize);  /* local copy */
-        dict = ddict+1;
-    }
-    if (ZSTD_isError( ZSTD_initDDict_internal(ddict, dict, dictSize, ZSTD_dlm_byRef, dictContentType) ))
-        return NULL;
-    return ddict;
-}
-
-
-size_t ZSTD_freeDDict(ZSTD_DDict* ddict)
-{
-    if (ddict==NULL) return 0;   /* support free on NULL */
-    {   ZSTD_customMem const cMem = ddict->cMem;
-        ZSTD_free(ddict->dictBuffer, cMem);
-        ZSTD_free(ddict, cMem);
-        return 0;
-    }
-}
-
-/*! ZSTD_estimateDDictSize() :
- *  Estimate amount of memory that will be needed to create a dictionary for decompression.
- *  Note : dictionary created by reference using ZSTD_dlm_byRef are smaller */
-size_t ZSTD_estimateDDictSize(size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod)
-{
-    return sizeof(ZSTD_DDict) + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize);
-}
-
-size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict)
-{
-    if (ddict==NULL) return 0;   /* support sizeof on NULL */
-    return sizeof(*ddict) + (ddict->dictBuffer ? ddict->dictSize : 0) ;
-}
-
 /*! ZSTD_getDictID_fromDict() :
  *  Provides the dictID stored within dictionary.
  *  if @return == 0, the dictionary is not conformant with Zstandard specification.
@@ -2484,17 +1100,7 @@ unsigned ZSTD_getDictID_fromDict(const void* dict, size_t dictSize)
 {
     if (dictSize < 8) return 0;
     if (MEM_readLE32(dict) != ZSTD_MAGIC_DICTIONARY) return 0;
-    return MEM_readLE32((const char*)dict + ZSTD_frameIdSize);
-}
-
-/*! ZSTD_getDictID_fromDDict() :
- *  Provides the dictID of the dictionary loaded into `ddict`.
- *  If @return == 0, the dictionary is not conformant to Zstandard specification, or empty.
- *  Non-conformant dictionaries can still be loaded, but as content-only dictionaries. */
-unsigned ZSTD_getDictID_fromDDict(const ZSTD_DDict* ddict)
-{
-    if (ddict==NULL) return 0;
-    return ZSTD_getDictID_fromDict(ddict->dictContent, ddict->dictSize);
+    return MEM_readLE32((const char*)dict + ZSTD_FRAMEIDSIZE);
 }
 
 /*! ZSTD_getDictID_fromFrame() :
@@ -2560,12 +1166,15 @@ size_t ZSTD_freeDStream(ZSTD_DStream* zds)
 }
 
 
-/* *** Initialization *** */
+/* ***  Initialization  *** */
 
 size_t ZSTD_DStreamInSize(void)  { return ZSTD_BLOCKSIZE_MAX + ZSTD_blockHeaderSize; }
 size_t ZSTD_DStreamOutSize(void) { return ZSTD_BLOCKSIZE_MAX; }
 
-size_t ZSTD_DCtx_loadDictionary_advanced(ZSTD_DCtx* dctx, const void* dict, size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod, ZSTD_dictContentType_e dictContentType)
+size_t ZSTD_DCtx_loadDictionary_advanced(ZSTD_DCtx* dctx,
+                                   const void* dict, size_t dictSize,
+                                         ZSTD_dictLoadMethod_e dictLoadMethod,
+                                         ZSTD_dictContentType_e dictContentType)
 {
     if (dctx->streamStage != zdss_init) return ERROR(stage_wrong);
     ZSTD_freeDDict(dctx->ddictLocal);
@@ -2601,14 +1210,15 @@ size_t ZSTD_DCtx_refPrefix(ZSTD_DCtx* dctx, const void* prefix, size_t prefixSiz
 
 
 /* ZSTD_initDStream_usingDict() :
- * return : expected size, aka ZSTD_frameHeaderSize_prefix.
+ * return : expected size, aka ZSTD_FRAMEHEADERSIZE_PREFIX.
  * this function cannot fail */
 size_t ZSTD_initDStream_usingDict(ZSTD_DStream* zds, const void* dict, size_t dictSize)
 {
     DEBUGLOG(4, "ZSTD_initDStream_usingDict");
     zds->streamStage = zdss_init;
+    zds->noForwardProgress = 0;
     CHECK_F( ZSTD_DCtx_loadDictionary(zds, dict, dictSize) );
-    return ZSTD_frameHeaderSize_prefix;
+    return ZSTD_FRAMEHEADERSIZE_PREFIX;
 }
 
 /* note : this variant can't fail */
@@ -2618,13 +1228,6 @@ size_t ZSTD_initDStream(ZSTD_DStream* zds)
     return ZSTD_initDStream_usingDict(zds, NULL, 0);
 }
 
-size_t ZSTD_DCtx_refDDict(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict)
-{
-    if (dctx->streamStage != zdss_init) return ERROR(stage_wrong);
-    dctx->ddict = ddict;
-    return 0;
-}
-
 /* ZSTD_initDStream_usingDDict() :
  * ddict will just be referenced, and must outlive decompression session
  * this function cannot fail */
@@ -2636,7 +1239,7 @@ size_t ZSTD_initDStream_usingDDict(ZSTD_DStream* dctx, const ZSTD_DDict* ddict)
 }
 
 /* ZSTD_resetDStream() :
- * return : expected size, aka ZSTD_frameHeaderSize_prefix.
+ * return : expected size, aka ZSTD_FRAMEHEADERSIZE_PREFIX.
  * this function cannot fail */
 size_t ZSTD_resetDStream(ZSTD_DStream* dctx)
 {
@@ -2645,36 +1248,103 @@ size_t ZSTD_resetDStream(ZSTD_DStream* dctx)
     dctx->lhSize = dctx->inPos = dctx->outStart = dctx->outEnd = 0;
     dctx->legacyVersion = 0;
     dctx->hostageByte = 0;
-    return ZSTD_frameHeaderSize_prefix;
+    return ZSTD_FRAMEHEADERSIZE_PREFIX;
 }
 
-size_t ZSTD_setDStreamParameter(ZSTD_DStream* dctx,
-                                ZSTD_DStreamParameter_e paramType, unsigned paramValue)
+
+size_t ZSTD_DCtx_refDDict(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict)
 {
     if (dctx->streamStage != zdss_init) return ERROR(stage_wrong);
-    switch(paramType)
-    {
-        default : return ERROR(parameter_unsupported);
-        case DStream_p_maxWindowSize :
-            DEBUGLOG(4, "setting maxWindowSize = %u KB", paramValue >> 10);
-            dctx->maxWindowSize = paramValue ? paramValue : (U32)(-1);
-            break;
-    }
+    dctx->ddict = ddict;
     return 0;
 }
 
+/* ZSTD_DCtx_setMaxWindowSize() :
+ * note : no direct equivalence in ZSTD_DCtx_setParameter,
+ * since this version sets windowSize, and the other sets windowLog */
 size_t ZSTD_DCtx_setMaxWindowSize(ZSTD_DCtx* dctx, size_t maxWindowSize)
 {
+    ZSTD_bounds const bounds = ZSTD_dParam_getBounds(ZSTD_d_windowLogMax);
+    size_t const min = (size_t)1 << bounds.lowerBound;
+    size_t const max = (size_t)1 << bounds.upperBound;
     if (dctx->streamStage != zdss_init) return ERROR(stage_wrong);
+    if (maxWindowSize < min) return ERROR(parameter_outOfBound);
+    if (maxWindowSize > max) return ERROR(parameter_outOfBound);
     dctx->maxWindowSize = maxWindowSize;
     return 0;
 }
 
 size_t ZSTD_DCtx_setFormat(ZSTD_DCtx* dctx, ZSTD_format_e format)
 {
-    DEBUGLOG(4, "ZSTD_DCtx_setFormat : %u", (unsigned)format);
+    return ZSTD_DCtx_setParameter(dctx, ZSTD_d_format, format);
+}
+
+ZSTD_bounds ZSTD_dParam_getBounds(ZSTD_dParameter dParam)
+{
+    ZSTD_bounds bounds = { 0, 0, 0 };
+    switch(dParam) {
+        case ZSTD_d_windowLogMax:
+            bounds.lowerBound = ZSTD_WINDOWLOG_ABSOLUTEMIN;
+            bounds.upperBound = ZSTD_WINDOWLOG_MAX;
+            return bounds;
+        case ZSTD_d_format:
+            bounds.lowerBound = (int)ZSTD_f_zstd1;
+            bounds.upperBound = (int)ZSTD_f_zstd1_magicless;
+            ZSTD_STATIC_ASSERT(ZSTD_f_zstd1 < ZSTD_f_zstd1_magicless);
+            return bounds;
+        default:;
+    }
+    bounds.error = ERROR(parameter_unsupported);
+    return bounds;
+}
+
+/* ZSTD_dParam_withinBounds:
+ * @return 1 if value is within dParam bounds,
+ * 0 otherwise */
+static int ZSTD_dParam_withinBounds(ZSTD_dParameter dParam, int value)
+{
+    ZSTD_bounds const bounds = ZSTD_dParam_getBounds(dParam);
+    if (ZSTD_isError(bounds.error)) return 0;
+    if (value < bounds.lowerBound) return 0;
+    if (value > bounds.upperBound) return 0;
+    return 1;
+}
+
+#define CHECK_DBOUNDS(p,v) {                \
+    if (!ZSTD_dParam_withinBounds(p, v))    \
+        return ERROR(parameter_outOfBound); \
+}
+
+size_t ZSTD_DCtx_setParameter(ZSTD_DCtx* dctx, ZSTD_dParameter dParam, int value)
+{
     if (dctx->streamStage != zdss_init) return ERROR(stage_wrong);
-    dctx->format = format;
+    switch(dParam) {
+        case ZSTD_d_windowLogMax:
+            CHECK_DBOUNDS(ZSTD_d_windowLogMax, value);
+            dctx->maxWindowSize = ((size_t)1) << value;
+            return 0;
+        case ZSTD_d_format:
+            CHECK_DBOUNDS(ZSTD_d_format, value);
+            dctx->format = (ZSTD_format_e)value;
+            return 0;
+        default:;
+    }
+    return ERROR(parameter_unsupported);
+}
+
+size_t ZSTD_DCtx_reset(ZSTD_DCtx* dctx, ZSTD_ResetDirective reset)
+{
+    if ( (reset == ZSTD_reset_session_only)
+      || (reset == ZSTD_reset_session_and_parameters) ) {
+        (void)ZSTD_initDStream(dctx);
+    }
+    if ( (reset == ZSTD_reset_parameters)
+      || (reset == ZSTD_reset_session_and_parameters) ) {
+        if (dctx->streamStage != zdss_init)
+            return ERROR(stage_wrong);
+        dctx->format = ZSTD_f_zstd1;
+        dctx->maxWindowSize = ZSTD_MAXWINDOWSIZE_DEFAULT;
+    }
     return 0;
 }
 
@@ -2704,7 +1374,7 @@ size_t ZSTD_estimateDStreamSize(size_t windowSize)
 
 size_t ZSTD_estimateDStreamSize_fromFrame(const void* src, size_t srcSize)
 {
-    U32 const windowSizeMax = 1U << ZSTD_WINDOWLOG_MAX;   /* note : should be user-selectable */
+    U32 const windowSizeMax = 1U << ZSTD_WINDOWLOG_MAX;   /* note : should be user-selectable, but requires an additional parameter (or a dctx) */
     ZSTD_frameHeader zfh;
     size_t const err = ZSTD_getFrameHeader(&zfh, src, srcSize);
     if (ZSTD_isError(err)) return err;
@@ -2767,14 +1437,14 @@ size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inB
                     return hint;
             }   }
 #endif
-            {   size_t const hSize = ZSTD_getFrameHeader_internal(&zds->fParams, zds->headerBuffer, zds->lhSize, zds->format);
+            {   size_t const hSize = ZSTD_getFrameHeader_advanced(&zds->fParams, zds->headerBuffer, zds->lhSize, zds->format);
                 DEBUGLOG(5, "header size : %u", (U32)hSize);
                 if (ZSTD_isError(hSize)) {
 #if defined(ZSTD_LEGACY_SUPPORT) && (ZSTD_LEGACY_SUPPORT>=1)
                     U32 const legacyVersion = ZSTD_isLegacy(istart, iend-istart);
                     if (legacyVersion) {
-                        const void* const dict = zds->ddict ? zds->ddict->dictContent : NULL;
-                        size_t const dictSize = zds->ddict ? zds->ddict->dictSize : 0;
+                        const void* const dict = zds->ddict ? ZSTD_DDict_dictContent(zds->ddict) : NULL;
+                        size_t const dictSize = zds->ddict ? ZSTD_DDict_dictSize(zds->ddict) : 0;
                         DEBUGLOG(5, "ZSTD_decompressStream: detected legacy version v0.%u", legacyVersion);
                         /* legacy support is incompatible with static dctx */
                         if (zds->staticSize) return ERROR(memory_allocation);
@@ -2799,7 +1469,7 @@ size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inB
                             zds->lhSize += remainingInput;
                         }
                         input->pos = input->size;
-                        return (MAX(ZSTD_frameHeaderSize_min, hSize) - zds->lhSize) + ZSTD_blockHeaderSize;   /* remaining header bytes + next block header */
+                        return (MAX(ZSTD_FRAMEHEADERSIZE_MIN, hSize) - zds->lhSize) + ZSTD_blockHeaderSize;   /* remaining header bytes + next block header */
                     }
                     assert(ip != NULL);
                     memcpy(zds->headerBuffer + zds->lhSize, ip, toLoad); zds->lhSize = hSize; ip += toLoad;
@@ -2827,8 +1497,8 @@ size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inB
             DEBUGLOG(4, "Consume header");
             CHECK_F(ZSTD_decompressBegin_usingDDict(zds, zds->ddict));
 
-            if ((MEM_readLE32(zds->headerBuffer) & 0xFFFFFFF0U) == ZSTD_MAGIC_SKIPPABLE_START) {  /* skippable frame */
-                zds->expected = MEM_readLE32(zds->headerBuffer + ZSTD_frameIdSize);
+            if ((MEM_readLE32(zds->headerBuffer) & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) {  /* skippable frame */
+                zds->expected = MEM_readLE32(zds->headerBuffer + ZSTD_FRAMEIDSIZE);
                 zds->stage = ZSTDds_skipFrame;
             } else {
                 CHECK_F(ZSTD_decodeFrameHeader(zds, zds->headerBuffer, zds->lhSize));
@@ -2943,12 +1613,24 @@ size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inB
             someMoreWork = 0;
             break;
 
-        default: return ERROR(GENERIC);   /* impossible */
+        default:
+            assert(0);    /* impossible */
+            return ERROR(GENERIC);   /* some compiler require default to do something */
     }   }
 
     /* result */
-    input->pos += (size_t)(ip-istart);
-    output->pos += (size_t)(op-ostart);
+    input->pos = (size_t)(ip - (const char*)(input->src));
+    output->pos = (size_t)(op - (char*)(output->dst));
+    if ((ip==istart) && (op==ostart)) {  /* no forward progress */
+        zds->noForwardProgress ++;
+        if (zds->noForwardProgress >= ZSTD_NO_FORWARD_PROGRESS_MAX) {
+            if (op==oend) return ERROR(dstSize_tooSmall);
+            if (ip==iend) return ERROR(srcSize_wrong);
+            assert(0);
+        }
+    } else {
+        zds->noForwardProgress = 0;
+    }
     {   size_t nextSrcSizeHint = ZSTD_nextSrcSizeToDecompress(zds);
         if (!nextSrcSizeHint) {   /* frame fully decoded */
             if (zds->outEnd == zds->outStart) {  /* output fully flushed */
@@ -2975,13 +1657,7 @@ size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inB
     }
 }
 
-
-size_t ZSTD_decompress_generic(ZSTD_DCtx* dctx, ZSTD_outBuffer* output, ZSTD_inBuffer* input)
-{
-    return ZSTD_decompressStream(dctx, output, input);
-}
-
-size_t ZSTD_decompress_generic_simpleArgs (
+size_t ZSTD_decompressStream_simpleArgs (
                             ZSTD_DCtx* dctx,
                             void* dst, size_t dstCapacity, size_t* dstPos,
                       const void* src, size_t srcSize, size_t* srcPos)
@@ -2989,15 +1665,8 @@ size_t ZSTD_decompress_generic_simpleArgs (
     ZSTD_outBuffer output = { dst, dstCapacity, *dstPos };
     ZSTD_inBuffer  input  = { src, srcSize, *srcPos };
     /* ZSTD_compress_generic() will check validity of dstPos and srcPos */
-    size_t const cErr = ZSTD_decompress_generic(dctx, &output, &input);
+    size_t const cErr = ZSTD_decompressStream(dctx, &output, &input);
     *dstPos = output.pos;
     *srcPos = input.pos;
     return cErr;
 }
-
-void ZSTD_DCtx_reset(ZSTD_DCtx* dctx)
-{
-    (void)ZSTD_initDStream(dctx);
-    dctx->format = ZSTD_f_zstd1;
-    dctx->maxWindowSize = ZSTD_MAXWINDOWSIZE_DEFAULT;
-}
diff --git a/thirdparty/zstd/decompress/zstd_decompress_block.c b/thirdparty/zstd/decompress/zstd_decompress_block.c
new file mode 100644
index 0000000000..32baad9fbb
--- /dev/null
+++ b/thirdparty/zstd/decompress/zstd_decompress_block.c
@@ -0,0 +1,1307 @@
+/*
+ * Copyright (c) 2016-present, Yann Collet, Facebook, Inc.
+ * All rights reserved.
+ *
+ * This source code is licensed under both the BSD-style license (found in the
+ * LICENSE file in the root directory of this source tree) and the GPLv2 (found
+ * in the COPYING file in the root directory of this source tree).
+ * You may select, at your option, one of the above-listed licenses.
+ */
+
+/* zstd_decompress_block :
+ * this module takes care of decompressing _compressed_ block */
+
+/*-*******************************************************
+*  Dependencies
+*********************************************************/
+#include <string.h>      /* memcpy, memmove, memset */
+#include "compiler.h"    /* prefetch */
+#include "cpu.h"         /* bmi2 */
+#include "mem.h"         /* low level memory routines */
+#define FSE_STATIC_LINKING_ONLY
+#include "fse.h"
+#define HUF_STATIC_LINKING_ONLY
+#include "huf.h"
+#include "zstd_internal.h"
+#include "zstd_decompress_internal.h"   /* ZSTD_DCtx */
+#include "zstd_ddict.h"  /* ZSTD_DDictDictContent */
+#include "zstd_decompress_block.h"
+
+/*_*******************************************************
+*  Macros
+**********************************************************/
+
+/* These two optional macros force the use one way or another of the two
+ * ZSTD_decompressSequences implementations. You can't force in both directions
+ * at the same time.
+ */
+#if defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT) && \
+    defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG)
+#error "Cannot force the use of the short and the long ZSTD_decompressSequences variants!"
+#endif
+
+
+/*_*******************************************************
+*  Memory operations
+**********************************************************/
+static void ZSTD_copy4(void* dst, const void* src) { memcpy(dst, src, 4); }
+
+
+/*-*************************************************************
+ *   Block decoding
+ ***************************************************************/
+
+/*! ZSTD_getcBlockSize() :
+ *  Provides the size of compressed block from block header `src` */
+size_t ZSTD_getcBlockSize(const void* src, size_t srcSize,
+                          blockProperties_t* bpPtr)
+{
+    if (srcSize < ZSTD_blockHeaderSize) return ERROR(srcSize_wrong);
+    {   U32 const cBlockHeader = MEM_readLE24(src);
+        U32 const cSize = cBlockHeader >> 3;
+        bpPtr->lastBlock = cBlockHeader & 1;
+        bpPtr->blockType = (blockType_e)((cBlockHeader >> 1) & 3);
+        bpPtr->origSize = cSize;   /* only useful for RLE */
+        if (bpPtr->blockType == bt_rle) return 1;
+        if (bpPtr->blockType == bt_reserved) return ERROR(corruption_detected);
+        return cSize;
+    }
+}
+
+
+/* Hidden declaration for fullbench */
+size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx,
+                          const void* src, size_t srcSize);
+/*! ZSTD_decodeLiteralsBlock() :
+ * @return : nb of bytes read from src (< srcSize )
+ *  note : symbol not declared but exposed for fullbench */
+size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx,
+                          const void* src, size_t srcSize)   /* note : srcSize < BLOCKSIZE */
+{
+    if (srcSize < MIN_CBLOCK_SIZE) return ERROR(corruption_detected);
+
+    {   const BYTE* const istart = (const BYTE*) src;
+        symbolEncodingType_e const litEncType = (symbolEncodingType_e)(istart[0] & 3);
+
+        switch(litEncType)
+        {
+        case set_repeat:
+            if (dctx->litEntropy==0) return ERROR(dictionary_corrupted);
+            /* fall-through */
+
+        case set_compressed:
+            if (srcSize < 5) return ERROR(corruption_detected);   /* srcSize >= MIN_CBLOCK_SIZE == 3; here we need up to 5 for case 3 */
+            {   size_t lhSize, litSize, litCSize;
+                U32 singleStream=0;
+                U32 const lhlCode = (istart[0] >> 2) & 3;
+                U32 const lhc = MEM_readLE32(istart);
+                size_t hufSuccess;
+                switch(lhlCode)
+                {
+                case 0: case 1: default:   /* note : default is impossible, since lhlCode into [0..3] */
+                    /* 2 - 2 - 10 - 10 */
+                    singleStream = !lhlCode;
+                    lhSize = 3;
+                    litSize  = (lhc >> 4) & 0x3FF;
+                    litCSize = (lhc >> 14) & 0x3FF;
+                    break;
+                case 2:
+                    /* 2 - 2 - 14 - 14 */
+                    lhSize = 4;
+                    litSize  = (lhc >> 4) & 0x3FFF;
+                    litCSize = lhc >> 18;
+                    break;
+                case 3:
+                    /* 2 - 2 - 18 - 18 */
+                    lhSize = 5;
+                    litSize  = (lhc >> 4) & 0x3FFFF;
+                    litCSize = (lhc >> 22) + (istart[4] << 10);
+                    break;
+                }
+                if (litSize > ZSTD_BLOCKSIZE_MAX) return ERROR(corruption_detected);
+                if (litCSize + lhSize > srcSize) return ERROR(corruption_detected);
+
+                /* prefetch huffman table if cold */
+                if (dctx->ddictIsCold && (litSize > 768 /* heuristic */)) {
+                    PREFETCH_AREA(dctx->HUFptr, sizeof(dctx->entropy.hufTable));
+                }
+
+                if (litEncType==set_repeat) {
+                    if (singleStream) {
+                        hufSuccess = HUF_decompress1X_usingDTable_bmi2(
+                            dctx->litBuffer, litSize, istart+lhSize, litCSize,
+                            dctx->HUFptr, dctx->bmi2);
+                    } else {
+                        hufSuccess = HUF_decompress4X_usingDTable_bmi2(
+                            dctx->litBuffer, litSize, istart+lhSize, litCSize,
+                            dctx->HUFptr, dctx->bmi2);
+                    }
+                } else {
+                    if (singleStream) {
+#if defined(HUF_FORCE_DECOMPRESS_X2)
+                        hufSuccess = HUF_decompress1X_DCtx_wksp(
+                            dctx->entropy.hufTable, dctx->litBuffer, litSize,
+                            istart+lhSize, litCSize, dctx->workspace,
+                            sizeof(dctx->workspace));
+#else
+                        hufSuccess = HUF_decompress1X1_DCtx_wksp_bmi2(
+                            dctx->entropy.hufTable, dctx->litBuffer, litSize,
+                            istart+lhSize, litCSize, dctx->workspace,
+                            sizeof(dctx->workspace), dctx->bmi2);
+#endif
+                    } else {
+                        hufSuccess = HUF_decompress4X_hufOnly_wksp_bmi2(
+                            dctx->entropy.hufTable, dctx->litBuffer, litSize,
+                            istart+lhSize, litCSize, dctx->workspace,
+                            sizeof(dctx->workspace), dctx->bmi2);
+                    }
+                }
+
+                if (HUF_isError(hufSuccess)) return ERROR(corruption_detected);
+
+                dctx->litPtr = dctx->litBuffer;
+                dctx->litSize = litSize;
+                dctx->litEntropy = 1;
+                if (litEncType==set_compressed) dctx->HUFptr = dctx->entropy.hufTable;
+                memset(dctx->litBuffer + dctx->litSize, 0, WILDCOPY_OVERLENGTH);
+                return litCSize + lhSize;
+            }
+
+        case set_basic:
+            {   size_t litSize, lhSize;
+                U32 const lhlCode = ((istart[0]) >> 2) & 3;
+                switch(lhlCode)
+                {
+                case 0: case 2: default:   /* note : default is impossible, since lhlCode into [0..3] */
+                    lhSize = 1;
+                    litSize = istart[0] >> 3;
+                    break;
+                case 1:
+                    lhSize = 2;
+                    litSize = MEM_readLE16(istart) >> 4;
+                    break;
+                case 3:
+                    lhSize = 3;
+                    litSize = MEM_readLE24(istart) >> 4;
+                    break;
+                }
+
+                if (lhSize+litSize+WILDCOPY_OVERLENGTH > srcSize) {  /* risk reading beyond src buffer with wildcopy */
+                    if (litSize+lhSize > srcSize) return ERROR(corruption_detected);
+                    memcpy(dctx->litBuffer, istart+lhSize, litSize);
+                    dctx->litPtr = dctx->litBuffer;
+                    dctx->litSize = litSize;
+                    memset(dctx->litBuffer + dctx->litSize, 0, WILDCOPY_OVERLENGTH);
+                    return lhSize+litSize;
+                }
+                /* direct reference into compressed stream */
+                dctx->litPtr = istart+lhSize;
+                dctx->litSize = litSize;
+                return lhSize+litSize;
+            }
+
+        case set_rle:
+            {   U32 const lhlCode = ((istart[0]) >> 2) & 3;
+                size_t litSize, lhSize;
+                switch(lhlCode)
+                {
+                case 0: case 2: default:   /* note : default is impossible, since lhlCode into [0..3] */
+                    lhSize = 1;
+                    litSize = istart[0] >> 3;
+                    break;
+                case 1:
+                    lhSize = 2;
+                    litSize = MEM_readLE16(istart) >> 4;
+                    break;
+                case 3:
+                    lhSize = 3;
+                    litSize = MEM_readLE24(istart) >> 4;
+                    if (srcSize<4) return ERROR(corruption_detected);   /* srcSize >= MIN_CBLOCK_SIZE == 3; here we need lhSize+1 = 4 */
+                    break;
+                }
+                if (litSize > ZSTD_BLOCKSIZE_MAX) return ERROR(corruption_detected);
+                memset(dctx->litBuffer, istart[lhSize], litSize + WILDCOPY_OVERLENGTH);
+                dctx->litPtr = dctx->litBuffer;
+                dctx->litSize = litSize;
+                return lhSize+1;
+            }
+        default:
+            return ERROR(corruption_detected);   /* impossible */
+        }
+    }
+}
+
+/* Default FSE distribution tables.
+ * These are pre-calculated FSE decoding tables using default distributions as defined in specification :
+ * https://github.com/facebook/zstd/blob/master/doc/zstd_compression_format.md#default-distributions
+ * They were generated programmatically with following method :
+ * - start from default distributions, present in /lib/common/zstd_internal.h
+ * - generate tables normally, using ZSTD_buildFSETable()
+ * - printout the content of tables
+ * - pretify output, report below, test with fuzzer to ensure it's correct */
+
+/* Default FSE distribution table for Literal Lengths */
+static const ZSTD_seqSymbol LL_defaultDTable[(1<<LL_DEFAULTNORMLOG)+1] = {
+     {  1,  1,  1, LL_DEFAULTNORMLOG},  /* header : fastMode, tableLog */
+     /* nextState, nbAddBits, nbBits, baseVal */
+     {  0,  0,  4,    0},  { 16,  0,  4,    0},
+     { 32,  0,  5,    1},  {  0,  0,  5,    3},
+     {  0,  0,  5,    4},  {  0,  0,  5,    6},
+     {  0,  0,  5,    7},  {  0,  0,  5,    9},
+     {  0,  0,  5,   10},  {  0,  0,  5,   12},
+     {  0,  0,  6,   14},  {  0,  1,  5,   16},
+     {  0,  1,  5,   20},  {  0,  1,  5,   22},
+     {  0,  2,  5,   28},  {  0,  3,  5,   32},
+     {  0,  4,  5,   48},  { 32,  6,  5,   64},
+     {  0,  7,  5,  128},  {  0,  8,  6,  256},
+     {  0, 10,  6, 1024},  {  0, 12,  6, 4096},
+     { 32,  0,  4,    0},  {  0,  0,  4,    1},
+     {  0,  0,  5,    2},  { 32,  0,  5,    4},
+     {  0,  0,  5,    5},  { 32,  0,  5,    7},
+     {  0,  0,  5,    8},  { 32,  0,  5,   10},
+     {  0,  0,  5,   11},  {  0,  0,  6,   13},
+     { 32,  1,  5,   16},  {  0,  1,  5,   18},
+     { 32,  1,  5,   22},  {  0,  2,  5,   24},
+     { 32,  3,  5,   32},  {  0,  3,  5,   40},
+     {  0,  6,  4,   64},  { 16,  6,  4,   64},
+     { 32,  7,  5,  128},  {  0,  9,  6,  512},
+     {  0, 11,  6, 2048},  { 48,  0,  4,    0},
+     { 16,  0,  4,    1},  { 32,  0,  5,    2},
+     { 32,  0,  5,    3},  { 32,  0,  5,    5},
+     { 32,  0,  5,    6},  { 32,  0,  5,    8},
+     { 32,  0,  5,    9},  { 32,  0,  5,   11},
+     { 32,  0,  5,   12},  {  0,  0,  6,   15},
+     { 32,  1,  5,   18},  { 32,  1,  5,   20},
+     { 32,  2,  5,   24},  { 32,  2,  5,   28},
+     { 32,  3,  5,   40},  { 32,  4,  5,   48},
+     {  0, 16,  6,65536},  {  0, 15,  6,32768},
+     {  0, 14,  6,16384},  {  0, 13,  6, 8192},
+};   /* LL_defaultDTable */
+
+/* Default FSE distribution table for Offset Codes */
+static const ZSTD_seqSymbol OF_defaultDTable[(1<<OF_DEFAULTNORMLOG)+1] = {
+    {  1,  1,  1, OF_DEFAULTNORMLOG},  /* header : fastMode, tableLog */
+    /* nextState, nbAddBits, nbBits, baseVal */
+    {  0,  0,  5,    0},     {  0,  6,  4,   61},
+    {  0,  9,  5,  509},     {  0, 15,  5,32765},
+    {  0, 21,  5,2097149},   {  0,  3,  5,    5},
+    {  0,  7,  4,  125},     {  0, 12,  5, 4093},
+    {  0, 18,  5,262141},    {  0, 23,  5,8388605},
+    {  0,  5,  5,   29},     {  0,  8,  4,  253},
+    {  0, 14,  5,16381},     {  0, 20,  5,1048573},
+    {  0,  2,  5,    1},     { 16,  7,  4,  125},
+    {  0, 11,  5, 2045},     {  0, 17,  5,131069},
+    {  0, 22,  5,4194301},   {  0,  4,  5,   13},
+    { 16,  8,  4,  253},     {  0, 13,  5, 8189},
+    {  0, 19,  5,524285},    {  0,  1,  5,    1},
+    { 16,  6,  4,   61},     {  0, 10,  5, 1021},
+    {  0, 16,  5,65533},     {  0, 28,  5,268435453},
+    {  0, 27,  5,134217725}, {  0, 26,  5,67108861},
+    {  0, 25,  5,33554429},  {  0, 24,  5,16777213},
+};   /* OF_defaultDTable */
+
+
+/* Default FSE distribution table for Match Lengths */
+static const ZSTD_seqSymbol ML_defaultDTable[(1<<ML_DEFAULTNORMLOG)+1] = {
+    {  1,  1,  1, ML_DEFAULTNORMLOG},  /* header : fastMode, tableLog */
+    /* nextState, nbAddBits, nbBits, baseVal */
+    {  0,  0,  6,    3},  {  0,  0,  4,    4},
+    { 32,  0,  5,    5},  {  0,  0,  5,    6},
+    {  0,  0,  5,    8},  {  0,  0,  5,    9},
+    {  0,  0,  5,   11},  {  0,  0,  6,   13},
+    {  0,  0,  6,   16},  {  0,  0,  6,   19},
+    {  0,  0,  6,   22},  {  0,  0,  6,   25},
+    {  0,  0,  6,   28},  {  0,  0,  6,   31},
+    {  0,  0,  6,   34},  {  0,  1,  6,   37},
+    {  0,  1,  6,   41},  {  0,  2,  6,   47},
+    {  0,  3,  6,   59},  {  0,  4,  6,   83},
+    {  0,  7,  6,  131},  {  0,  9,  6,  515},
+    { 16,  0,  4,    4},  {  0,  0,  4,    5},
+    { 32,  0,  5,    6},  {  0,  0,  5,    7},
+    { 32,  0,  5,    9},  {  0,  0,  5,   10},
+    {  0,  0,  6,   12},  {  0,  0,  6,   15},
+    {  0,  0,  6,   18},  {  0,  0,  6,   21},
+    {  0,  0,  6,   24},  {  0,  0,  6,   27},
+    {  0,  0,  6,   30},  {  0,  0,  6,   33},
+    {  0,  1,  6,   35},  {  0,  1,  6,   39},
+    {  0,  2,  6,   43},  {  0,  3,  6,   51},
+    {  0,  4,  6,   67},  {  0,  5,  6,   99},
+    {  0,  8,  6,  259},  { 32,  0,  4,    4},
+    { 48,  0,  4,    4},  { 16,  0,  4,    5},
+    { 32,  0,  5,    7},  { 32,  0,  5,    8},
+    { 32,  0,  5,   10},  { 32,  0,  5,   11},
+    {  0,  0,  6,   14},  {  0,  0,  6,   17},
+    {  0,  0,  6,   20},  {  0,  0,  6,   23},
+    {  0,  0,  6,   26},  {  0,  0,  6,   29},
+    {  0,  0,  6,   32},  {  0, 16,  6,65539},
+    {  0, 15,  6,32771},  {  0, 14,  6,16387},
+    {  0, 13,  6, 8195},  {  0, 12,  6, 4099},
+    {  0, 11,  6, 2051},  {  0, 10,  6, 1027},
+};   /* ML_defaultDTable */
+
+
+static void ZSTD_buildSeqTable_rle(ZSTD_seqSymbol* dt, U32 baseValue, U32 nbAddBits)
+{
+    void* ptr = dt;
+    ZSTD_seqSymbol_header* const DTableH = (ZSTD_seqSymbol_header*)ptr;
+    ZSTD_seqSymbol* const cell = dt + 1;
+
+    DTableH->tableLog = 0;
+    DTableH->fastMode = 0;
+
+    cell->nbBits = 0;
+    cell->nextState = 0;
+    assert(nbAddBits < 255);
+    cell->nbAdditionalBits = (BYTE)nbAddBits;
+    cell->baseValue = baseValue;
+}
+
+
+/* ZSTD_buildFSETable() :
+ * generate FSE decoding table for one symbol (ll, ml or off)
+ * cannot fail if input is valid =>
+ * all inputs are presumed validated at this stage */
+void
+ZSTD_buildFSETable(ZSTD_seqSymbol* dt,
+            const short* normalizedCounter, unsigned maxSymbolValue,
+            const U32* baseValue, const U32* nbAdditionalBits,
+            unsigned tableLog)
+{
+    ZSTD_seqSymbol* const tableDecode = dt+1;
+    U16 symbolNext[MaxSeq+1];
+
+    U32 const maxSV1 = maxSymbolValue + 1;
+    U32 const tableSize = 1 << tableLog;
+    U32 highThreshold = tableSize-1;
+
+    /* Sanity Checks */
+    assert(maxSymbolValue <= MaxSeq);
+    assert(tableLog <= MaxFSELog);
+
+    /* Init, lay down lowprob symbols */
+    {   ZSTD_seqSymbol_header DTableH;
+        DTableH.tableLog = tableLog;
+        DTableH.fastMode = 1;
+        {   S16 const largeLimit= (S16)(1 << (tableLog-1));
+            U32 s;
+            for (s=0; s<maxSV1; s++) {
+                if (normalizedCounter[s]==-1) {
+                    tableDecode[highThreshold--].baseValue = s;
+                    symbolNext[s] = 1;
+                } else {
+                    if (normalizedCounter[s] >= largeLimit) DTableH.fastMode=0;
+                    symbolNext[s] = normalizedCounter[s];
+        }   }   }
+        memcpy(dt, &DTableH, sizeof(DTableH));
+    }
+
+    /* Spread symbols */
+    {   U32 const tableMask = tableSize-1;
+        U32 const step = FSE_TABLESTEP(tableSize);
+        U32 s, position = 0;
+        for (s=0; s<maxSV1; s++) {
+            int i;
+            for (i=0; i<normalizedCounter[s]; i++) {
+                tableDecode[position].baseValue = s;
+                position = (position + step) & tableMask;
+                while (position > highThreshold) position = (position + step) & tableMask;   /* lowprob area */
+        }   }
+        assert(position == 0); /* position must reach all cells once, otherwise normalizedCounter is incorrect */
+    }
+
+    /* Build Decoding table */
+    {   U32 u;
+        for (u=0; u<tableSize; u++) {
+            U32 const symbol = tableDecode[u].baseValue;
+            U32 const nextState = symbolNext[symbol]++;
+            tableDecode[u].nbBits = (BYTE) (tableLog - BIT_highbit32(nextState) );
+            tableDecode[u].nextState = (U16) ( (nextState << tableDecode[u].nbBits) - tableSize);
+            assert(nbAdditionalBits[symbol] < 255);
+            tableDecode[u].nbAdditionalBits = (BYTE)nbAdditionalBits[symbol];
+            tableDecode[u].baseValue = baseValue[symbol];
+    }   }
+}
+
+
+/*! ZSTD_buildSeqTable() :
+ * @return : nb bytes read from src,
+ *           or an error code if it fails */
+static size_t ZSTD_buildSeqTable(ZSTD_seqSymbol* DTableSpace, const ZSTD_seqSymbol** DTablePtr,
+                                 symbolEncodingType_e type, unsigned max, U32 maxLog,
+                                 const void* src, size_t srcSize,
+                                 const U32* baseValue, const U32* nbAdditionalBits,
+                                 const ZSTD_seqSymbol* defaultTable, U32 flagRepeatTable,
+                                 int ddictIsCold, int nbSeq)
+{
+    switch(type)
+    {
+    case set_rle :
+        if (!srcSize) return ERROR(srcSize_wrong);
+        if ( (*(const BYTE*)src) > max) return ERROR(corruption_detected);
+        {   U32 const symbol = *(const BYTE*)src;
+            U32 const baseline = baseValue[symbol];
+            U32 const nbBits = nbAdditionalBits[symbol];
+            ZSTD_buildSeqTable_rle(DTableSpace, baseline, nbBits);
+        }
+        *DTablePtr = DTableSpace;
+        return 1;
+    case set_basic :
+        *DTablePtr = defaultTable;
+        return 0;
+    case set_repeat:
+        if (!flagRepeatTable) return ERROR(corruption_detected);
+        /* prefetch FSE table if used */
+        if (ddictIsCold && (nbSeq > 24 /* heuristic */)) {
+            const void* const pStart = *DTablePtr;
+            size_t const pSize = sizeof(ZSTD_seqSymbol) * (SEQSYMBOL_TABLE_SIZE(maxLog));
+            PREFETCH_AREA(pStart, pSize);
+        }
+        return 0;
+    case set_compressed :
+        {   unsigned tableLog;
+            S16 norm[MaxSeq+1];
+            size_t const headerSize = FSE_readNCount(norm, &max, &tableLog, src, srcSize);
+            if (FSE_isError(headerSize)) return ERROR(corruption_detected);
+            if (tableLog > maxLog) return ERROR(corruption_detected);
+            ZSTD_buildFSETable(DTableSpace, norm, max, baseValue, nbAdditionalBits, tableLog);
+            *DTablePtr = DTableSpace;
+            return headerSize;
+        }
+    default :   /* impossible */
+        assert(0);
+        return ERROR(GENERIC);
+    }
+}
+
+size_t ZSTD_decodeSeqHeaders(ZSTD_DCtx* dctx, int* nbSeqPtr,
+                             const void* src, size_t srcSize)
+{
+    const BYTE* const istart = (const BYTE* const)src;
+    const BYTE* const iend = istart + srcSize;
+    const BYTE* ip = istart;
+    int nbSeq;
+    DEBUGLOG(5, "ZSTD_decodeSeqHeaders");
+
+    /* check */
+    if (srcSize < MIN_SEQUENCES_SIZE) return ERROR(srcSize_wrong);
+
+    /* SeqHead */
+    nbSeq = *ip++;
+    if (!nbSeq) {
+        *nbSeqPtr=0;
+        if (srcSize != 1) return ERROR(srcSize_wrong);
+        return 1;
+    }
+    if (nbSeq > 0x7F) {
+        if (nbSeq == 0xFF) {
+            if (ip+2 > iend) return ERROR(srcSize_wrong);
+            nbSeq = MEM_readLE16(ip) + LONGNBSEQ, ip+=2;
+        } else {
+            if (ip >= iend) return ERROR(srcSize_wrong);
+            nbSeq = ((nbSeq-0x80)<<8) + *ip++;
+        }
+    }
+    *nbSeqPtr = nbSeq;
+
+    /* FSE table descriptors */
+    if (ip+4 > iend) return ERROR(srcSize_wrong); /* minimum possible size */
+    {   symbolEncodingType_e const LLtype = (symbolEncodingType_e)(*ip >> 6);
+        symbolEncodingType_e const OFtype = (symbolEncodingType_e)((*ip >> 4) & 3);
+        symbolEncodingType_e const MLtype = (symbolEncodingType_e)((*ip >> 2) & 3);
+        ip++;
+
+        /* Build DTables */
+        {   size_t const llhSize = ZSTD_buildSeqTable(dctx->entropy.LLTable, &dctx->LLTptr,
+                                                      LLtype, MaxLL, LLFSELog,
+                                                      ip, iend-ip,
+                                                      LL_base, LL_bits,
+                                                      LL_defaultDTable, dctx->fseEntropy,
+                                                      dctx->ddictIsCold, nbSeq);
+            if (ZSTD_isError(llhSize)) return ERROR(corruption_detected);
+            ip += llhSize;
+        }
+
+        {   size_t const ofhSize = ZSTD_buildSeqTable(dctx->entropy.OFTable, &dctx->OFTptr,
+                                                      OFtype, MaxOff, OffFSELog,
+                                                      ip, iend-ip,
+                                                      OF_base, OF_bits,
+                                                      OF_defaultDTable, dctx->fseEntropy,
+                                                      dctx->ddictIsCold, nbSeq);
+            if (ZSTD_isError(ofhSize)) return ERROR(corruption_detected);
+            ip += ofhSize;
+        }
+
+        {   size_t const mlhSize = ZSTD_buildSeqTable(dctx->entropy.MLTable, &dctx->MLTptr,
+                                                      MLtype, MaxML, MLFSELog,
+                                                      ip, iend-ip,
+                                                      ML_base, ML_bits,
+                                                      ML_defaultDTable, dctx->fseEntropy,
+                                                      dctx->ddictIsCold, nbSeq);
+            if (ZSTD_isError(mlhSize)) return ERROR(corruption_detected);
+            ip += mlhSize;
+        }
+    }
+
+    return ip-istart;
+}
+
+
+typedef struct {
+    size_t litLength;
+    size_t matchLength;
+    size_t offset;
+    const BYTE* match;
+} seq_t;
+
+typedef struct {
+    size_t state;
+    const ZSTD_seqSymbol* table;
+} ZSTD_fseState;
+
+typedef struct {
+    BIT_DStream_t DStream;
+    ZSTD_fseState stateLL;
+    ZSTD_fseState stateOffb;
+    ZSTD_fseState stateML;
+    size_t prevOffset[ZSTD_REP_NUM];
+    const BYTE* prefixStart;
+    const BYTE* dictEnd;
+    size_t pos;
+} seqState_t;
+
+
+/* ZSTD_execSequenceLast7():
+ * exceptional case : decompress a match starting within last 7 bytes of output buffer.
+ * requires more careful checks, to ensure there is no overflow.
+ * performance does not matter though.
+ * note : this case is supposed to be never generated "naturally" by reference encoder,
+ *        since in most cases it needs at least 8 bytes to look for a match.
+ *        but it's allowed by the specification. */
+FORCE_NOINLINE
+size_t ZSTD_execSequenceLast7(BYTE* op,
+                              BYTE* const oend, seq_t sequence,
+                              const BYTE** litPtr, const BYTE* const litLimit,
+                              const BYTE* const base, const BYTE* const vBase, const BYTE* const dictEnd)
+{
+    BYTE* const oLitEnd = op + sequence.litLength;
+    size_t const sequenceLength = sequence.litLength + sequence.matchLength;
+    BYTE* const oMatchEnd = op + sequenceLength;   /* risk : address space overflow (32-bits) */
+    const BYTE* const iLitEnd = *litPtr + sequence.litLength;
+    const BYTE* match = oLitEnd - sequence.offset;
+
+    /* check */
+    if (oMatchEnd>oend) return ERROR(dstSize_tooSmall);   /* last match must fit within dstBuffer */
+    if (iLitEnd > litLimit) return ERROR(corruption_detected);   /* try to read beyond literal buffer */
+
+    /* copy literals */
+    while (op < oLitEnd) *op++ = *(*litPtr)++;
+
+    /* copy Match */
+    if (sequence.offset > (size_t)(oLitEnd - base)) {
+        /* offset beyond prefix */
+        if (sequence.offset > (size_t)(oLitEnd - vBase)) return ERROR(corruption_detected);
+        match = dictEnd - (base-match);
+        if (match + sequence.matchLength <= dictEnd) {
+            memmove(oLitEnd, match, sequence.matchLength);
+            return sequenceLength;
+        }
+        /* span extDict & currentPrefixSegment */
+        {   size_t const length1 = dictEnd - match;
+            memmove(oLitEnd, match, length1);
+            op = oLitEnd + length1;
+            sequence.matchLength -= length1;
+            match = base;
+    }   }
+    while (op < oMatchEnd) *op++ = *match++;
+    return sequenceLength;
+}
+
+
+HINT_INLINE
+size_t ZSTD_execSequence(BYTE* op,
+                         BYTE* const oend, seq_t sequence,
+                         const BYTE** litPtr, const BYTE* const litLimit,
+                         const BYTE* const prefixStart, const BYTE* const virtualStart, const BYTE* const dictEnd)
+{
+    BYTE* const oLitEnd = op + sequence.litLength;
+    size_t const sequenceLength = sequence.litLength + sequence.matchLength;
+    BYTE* const oMatchEnd = op + sequenceLength;   /* risk : address space overflow (32-bits) */
+    BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH;
+    const BYTE* const iLitEnd = *litPtr + sequence.litLength;
+    const BYTE* match = oLitEnd - sequence.offset;
+
+    /* check */
+    if (oMatchEnd>oend) return ERROR(dstSize_tooSmall); /* last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend */
+    if (iLitEnd > litLimit) return ERROR(corruption_detected);   /* over-read beyond lit buffer */
+    if (oLitEnd>oend_w) return ZSTD_execSequenceLast7(op, oend, sequence, litPtr, litLimit, prefixStart, virtualStart, dictEnd);
+
+    /* copy Literals */
+    ZSTD_copy8(op, *litPtr);
+    if (sequence.litLength > 8)
+        ZSTD_wildcopy(op+8, (*litPtr)+8, sequence.litLength - 8);   /* note : since oLitEnd <= oend-WILDCOPY_OVERLENGTH, no risk of overwrite beyond oend */
+    op = oLitEnd;
+    *litPtr = iLitEnd;   /* update for next sequence */
+
+    /* copy Match */
+    if (sequence.offset > (size_t)(oLitEnd - prefixStart)) {
+        /* offset beyond prefix -> go into extDict */
+        if (sequence.offset > (size_t)(oLitEnd - virtualStart))
+            return ERROR(corruption_detected);
+        match = dictEnd + (match - prefixStart);
+        if (match + sequence.matchLength <= dictEnd) {
+            memmove(oLitEnd, match, sequence.matchLength);
+            return sequenceLength;
+        }
+        /* span extDict & currentPrefixSegment */
+        {   size_t const length1 = dictEnd - match;
+            memmove(oLitEnd, match, length1);
+            op = oLitEnd + length1;
+            sequence.matchLength -= length1;
+            match = prefixStart;
+            if (op > oend_w || sequence.matchLength < MINMATCH) {
+              U32 i;
+              for (i = 0; i < sequence.matchLength; ++i) op[i] = match[i];
+              return sequenceLength;
+            }
+    }   }
+    /* Requirement: op <= oend_w && sequence.matchLength >= MINMATCH */
+
+    /* match within prefix */
+    if (sequence.offset < 8) {
+        /* close range match, overlap */
+        static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 };   /* added */
+        static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 };   /* subtracted */
+        int const sub2 = dec64table[sequence.offset];
+        op[0] = match[0];
+        op[1] = match[1];
+        op[2] = match[2];
+        op[3] = match[3];
+        match += dec32table[sequence.offset];
+        ZSTD_copy4(op+4, match);
+        match -= sub2;
+    } else {
+        ZSTD_copy8(op, match);
+    }
+    op += 8; match += 8;
+
+    if (oMatchEnd > oend-(16-MINMATCH)) {
+        if (op < oend_w) {
+            ZSTD_wildcopy(op, match, oend_w - op);
+            match += oend_w - op;
+            op = oend_w;
+        }
+        while (op < oMatchEnd) *op++ = *match++;
+    } else {
+        ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8);   /* works even if matchLength < 8 */
+    }
+    return sequenceLength;
+}
+
+
+HINT_INLINE
+size_t ZSTD_execSequenceLong(BYTE* op,
+                             BYTE* const oend, seq_t sequence,
+                             const BYTE** litPtr, const BYTE* const litLimit,
+                             const BYTE* const prefixStart, const BYTE* const dictStart, const BYTE* const dictEnd)
+{
+    BYTE* const oLitEnd = op + sequence.litLength;
+    size_t const sequenceLength = sequence.litLength + sequence.matchLength;
+    BYTE* const oMatchEnd = op + sequenceLength;   /* risk : address space overflow (32-bits) */
+    BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH;
+    const BYTE* const iLitEnd = *litPtr + sequence.litLength;
+    const BYTE* match = sequence.match;
+
+    /* check */
+    if (oMatchEnd > oend) return ERROR(dstSize_tooSmall); /* last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend */
+    if (iLitEnd > litLimit) return ERROR(corruption_detected);   /* over-read beyond lit buffer */
+    if (oLitEnd > oend_w) return ZSTD_execSequenceLast7(op, oend, sequence, litPtr, litLimit, prefixStart, dictStart, dictEnd);
+
+    /* copy Literals */
+    ZSTD_copy8(op, *litPtr);  /* note : op <= oLitEnd <= oend_w == oend - 8 */
+    if (sequence.litLength > 8)
+        ZSTD_wildcopy(op+8, (*litPtr)+8, sequence.litLength - 8);   /* note : since oLitEnd <= oend-WILDCOPY_OVERLENGTH, no risk of overwrite beyond oend */
+    op = oLitEnd;
+    *litPtr = iLitEnd;   /* update for next sequence */
+
+    /* copy Match */
+    if (sequence.offset > (size_t)(oLitEnd - prefixStart)) {
+        /* offset beyond prefix */
+        if (sequence.offset > (size_t)(oLitEnd - dictStart)) return ERROR(corruption_detected);
+        if (match + sequence.matchLength <= dictEnd) {
+            memmove(oLitEnd, match, sequence.matchLength);
+            return sequenceLength;
+        }
+        /* span extDict & currentPrefixSegment */
+        {   size_t const length1 = dictEnd - match;
+            memmove(oLitEnd, match, length1);
+            op = oLitEnd + length1;
+            sequence.matchLength -= length1;
+            match = prefixStart;
+            if (op > oend_w || sequence.matchLength < MINMATCH) {
+              U32 i;
+              for (i = 0; i < sequence.matchLength; ++i) op[i] = match[i];
+              return sequenceLength;
+            }
+    }   }
+    assert(op <= oend_w);
+    assert(sequence.matchLength >= MINMATCH);
+
+    /* match within prefix */
+    if (sequence.offset < 8) {
+        /* close range match, overlap */
+        static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 };   /* added */
+        static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 };   /* subtracted */
+        int const sub2 = dec64table[sequence.offset];
+        op[0] = match[0];
+        op[1] = match[1];
+        op[2] = match[2];
+        op[3] = match[3];
+        match += dec32table[sequence.offset];
+        ZSTD_copy4(op+4, match);
+        match -= sub2;
+    } else {
+        ZSTD_copy8(op, match);
+    }
+    op += 8; match += 8;
+
+    if (oMatchEnd > oend-(16-MINMATCH)) {
+        if (op < oend_w) {
+            ZSTD_wildcopy(op, match, oend_w - op);
+            match += oend_w - op;
+            op = oend_w;
+        }
+        while (op < oMatchEnd) *op++ = *match++;
+    } else {
+        ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8);   /* works even if matchLength < 8 */
+    }
+    return sequenceLength;
+}
+
+static void
+ZSTD_initFseState(ZSTD_fseState* DStatePtr, BIT_DStream_t* bitD, const ZSTD_seqSymbol* dt)
+{
+    const void* ptr = dt;
+    const ZSTD_seqSymbol_header* const DTableH = (const ZSTD_seqSymbol_header*)ptr;
+    DStatePtr->state = BIT_readBits(bitD, DTableH->tableLog);
+    DEBUGLOG(6, "ZSTD_initFseState : val=%u using %u bits",
+                (U32)DStatePtr->state, DTableH->tableLog);
+    BIT_reloadDStream(bitD);
+    DStatePtr->table = dt + 1;
+}
+
+FORCE_INLINE_TEMPLATE void
+ZSTD_updateFseState(ZSTD_fseState* DStatePtr, BIT_DStream_t* bitD)
+{
+    ZSTD_seqSymbol const DInfo = DStatePtr->table[DStatePtr->state];
+    U32 const nbBits = DInfo.nbBits;
+    size_t const lowBits = BIT_readBits(bitD, nbBits);
+    DStatePtr->state = DInfo.nextState + lowBits;
+}
+
+/* We need to add at most (ZSTD_WINDOWLOG_MAX_32 - 1) bits to read the maximum
+ * offset bits. But we can only read at most (STREAM_ACCUMULATOR_MIN_32 - 1)
+ * bits before reloading. This value is the maximum number of bytes we read
+ * after reloading when we are decoding long offets.
+ */
+#define LONG_OFFSETS_MAX_EXTRA_BITS_32                       \
+    (ZSTD_WINDOWLOG_MAX_32 > STREAM_ACCUMULATOR_MIN_32       \
+        ? ZSTD_WINDOWLOG_MAX_32 - STREAM_ACCUMULATOR_MIN_32  \
+        : 0)
+
+typedef enum { ZSTD_lo_isRegularOffset, ZSTD_lo_isLongOffset=1 } ZSTD_longOffset_e;
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG
+FORCE_INLINE_TEMPLATE seq_t
+ZSTD_decodeSequence(seqState_t* seqState, const ZSTD_longOffset_e longOffsets)
+{
+    seq_t seq;
+    U32 const llBits = seqState->stateLL.table[seqState->stateLL.state].nbAdditionalBits;
+    U32 const mlBits = seqState->stateML.table[seqState->stateML.state].nbAdditionalBits;
+    U32 const ofBits = seqState->stateOffb.table[seqState->stateOffb.state].nbAdditionalBits;
+    U32 const totalBits = llBits+mlBits+ofBits;
+    U32 const llBase = seqState->stateLL.table[seqState->stateLL.state].baseValue;
+    U32 const mlBase = seqState->stateML.table[seqState->stateML.state].baseValue;
+    U32 const ofBase = seqState->stateOffb.table[seqState->stateOffb.state].baseValue;
+
+    /* sequence */
+    {   size_t offset;
+        if (!ofBits)
+            offset = 0;
+        else {
+            ZSTD_STATIC_ASSERT(ZSTD_lo_isLongOffset == 1);
+            ZSTD_STATIC_ASSERT(LONG_OFFSETS_MAX_EXTRA_BITS_32 == 5);
+            assert(ofBits <= MaxOff);
+            if (MEM_32bits() && longOffsets && (ofBits >= STREAM_ACCUMULATOR_MIN_32)) {
+                U32 const extraBits = ofBits - MIN(ofBits, 32 - seqState->DStream.bitsConsumed);
+                offset = ofBase + (BIT_readBitsFast(&seqState->DStream, ofBits - extraBits) << extraBits);
+                BIT_reloadDStream(&seqState->DStream);
+                if (extraBits) offset += BIT_readBitsFast(&seqState->DStream, extraBits);
+                assert(extraBits <= LONG_OFFSETS_MAX_EXTRA_BITS_32);   /* to avoid another reload */
+            } else {
+                offset = ofBase + BIT_readBitsFast(&seqState->DStream, ofBits/*>0*/);   /* <=  (ZSTD_WINDOWLOG_MAX-1) bits */
+                if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);
+            }
+        }
+
+        if (ofBits <= 1) {
+            offset += (llBase==0);
+            if (offset) {
+                size_t temp = (offset==3) ? seqState->prevOffset[0] - 1 : seqState->prevOffset[offset];
+                temp += !temp;   /* 0 is not valid; input is corrupted; force offset to 1 */
+                if (offset != 1) seqState->prevOffset[2] = seqState->prevOffset[1];
+                seqState->prevOffset[1] = seqState->prevOffset[0];
+                seqState->prevOffset[0] = offset = temp;
+            } else {  /* offset == 0 */
+                offset = seqState->prevOffset[0];
+            }
+        } else {
+            seqState->prevOffset[2] = seqState->prevOffset[1];
+            seqState->prevOffset[1] = seqState->prevOffset[0];
+            seqState->prevOffset[0] = offset;
+        }
+        seq.offset = offset;
+    }
+
+    seq.matchLength = mlBase
+                    + ((mlBits>0) ? BIT_readBitsFast(&seqState->DStream, mlBits/*>0*/) : 0);  /* <=  16 bits */
+    if (MEM_32bits() && (mlBits+llBits >= STREAM_ACCUMULATOR_MIN_32-LONG_OFFSETS_MAX_EXTRA_BITS_32))
+        BIT_reloadDStream(&seqState->DStream);
+    if (MEM_64bits() && (totalBits >= STREAM_ACCUMULATOR_MIN_64-(LLFSELog+MLFSELog+OffFSELog)))
+        BIT_reloadDStream(&seqState->DStream);
+    /* Ensure there are enough bits to read the rest of data in 64-bit mode. */
+    ZSTD_STATIC_ASSERT(16+LLFSELog+MLFSELog+OffFSELog < STREAM_ACCUMULATOR_MIN_64);
+
+    seq.litLength = llBase
+                  + ((llBits>0) ? BIT_readBitsFast(&seqState->DStream, llBits/*>0*/) : 0);    /* <=  16 bits */
+    if (MEM_32bits())
+        BIT_reloadDStream(&seqState->DStream);
+
+    DEBUGLOG(6, "seq: litL=%u, matchL=%u, offset=%u",
+                (U32)seq.litLength, (U32)seq.matchLength, (U32)seq.offset);
+
+    /* ANS state update */
+    ZSTD_updateFseState(&seqState->stateLL, &seqState->DStream);    /* <=  9 bits */
+    ZSTD_updateFseState(&seqState->stateML, &seqState->DStream);    /* <=  9 bits */
+    if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);    /* <= 18 bits */
+    ZSTD_updateFseState(&seqState->stateOffb, &seqState->DStream);  /* <=  8 bits */
+
+    return seq;
+}
+
+FORCE_INLINE_TEMPLATE size_t
+ZSTD_decompressSequences_body( ZSTD_DCtx* dctx,
+                               void* dst, size_t maxDstSize,
+                         const void* seqStart, size_t seqSize, int nbSeq,
+                         const ZSTD_longOffset_e isLongOffset)
+{
+    const BYTE* ip = (const BYTE*)seqStart;
+    const BYTE* const iend = ip + seqSize;
+    BYTE* const ostart = (BYTE* const)dst;
+    BYTE* const oend = ostart + maxDstSize;
+    BYTE* op = ostart;
+    const BYTE* litPtr = dctx->litPtr;
+    const BYTE* const litEnd = litPtr + dctx->litSize;
+    const BYTE* const prefixStart = (const BYTE*) (dctx->prefixStart);
+    const BYTE* const vBase = (const BYTE*) (dctx->virtualStart);
+    const BYTE* const dictEnd = (const BYTE*) (dctx->dictEnd);
+    DEBUGLOG(5, "ZSTD_decompressSequences_body");
+
+    /* Regen sequences */
+    if (nbSeq) {
+        seqState_t seqState;
+        dctx->fseEntropy = 1;
+        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) seqState.prevOffset[i] = dctx->entropy.rep[i]; }
+        CHECK_E(BIT_initDStream(&seqState.DStream, ip, iend-ip), corruption_detected);
+        ZSTD_initFseState(&seqState.stateLL, &seqState.DStream, dctx->LLTptr);
+        ZSTD_initFseState(&seqState.stateOffb, &seqState.DStream, dctx->OFTptr);
+        ZSTD_initFseState(&seqState.stateML, &seqState.DStream, dctx->MLTptr);
+
+        for ( ; (BIT_reloadDStream(&(seqState.DStream)) <= BIT_DStream_completed) && nbSeq ; ) {
+            nbSeq--;
+            {   seq_t const sequence = ZSTD_decodeSequence(&seqState, isLongOffset);
+                size_t const oneSeqSize = ZSTD_execSequence(op, oend, sequence, &litPtr, litEnd, prefixStart, vBase, dictEnd);
+                DEBUGLOG(6, "regenerated sequence size : %u", (U32)oneSeqSize);
+                if (ZSTD_isError(oneSeqSize)) return oneSeqSize;
+                op += oneSeqSize;
+        }   }
+
+        /* check if reached exact end */
+        DEBUGLOG(5, "ZSTD_decompressSequences_body: after decode loop, remaining nbSeq : %i", nbSeq);
+        if (nbSeq) return ERROR(corruption_detected);
+        /* save reps for next block */
+        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) dctx->entropy.rep[i] = (U32)(seqState.prevOffset[i]); }
+    }
+
+    /* last literal segment */
+    {   size_t const lastLLSize = litEnd - litPtr;
+        if (lastLLSize > (size_t)(oend-op)) return ERROR(dstSize_tooSmall);
+        memcpy(op, litPtr, lastLLSize);
+        op += lastLLSize;
+    }
+
+    return op-ostart;
+}
+
+static size_t
+ZSTD_decompressSequences_default(ZSTD_DCtx* dctx,
+                                 void* dst, size_t maxDstSize,
+                           const void* seqStart, size_t seqSize, int nbSeq,
+                           const ZSTD_longOffset_e isLongOffset)
+{
+    return ZSTD_decompressSequences_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+}
+#endif /* ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG */
+
+
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT
+FORCE_INLINE_TEMPLATE seq_t
+ZSTD_decodeSequenceLong(seqState_t* seqState, ZSTD_longOffset_e const longOffsets)
+{
+    seq_t seq;
+    U32 const llBits = seqState->stateLL.table[seqState->stateLL.state].nbAdditionalBits;
+    U32 const mlBits = seqState->stateML.table[seqState->stateML.state].nbAdditionalBits;
+    U32 const ofBits = seqState->stateOffb.table[seqState->stateOffb.state].nbAdditionalBits;
+    U32 const totalBits = llBits+mlBits+ofBits;
+    U32 const llBase = seqState->stateLL.table[seqState->stateLL.state].baseValue;
+    U32 const mlBase = seqState->stateML.table[seqState->stateML.state].baseValue;
+    U32 const ofBase = seqState->stateOffb.table[seqState->stateOffb.state].baseValue;
+
+    /* sequence */
+    {   size_t offset;
+        if (!ofBits)
+            offset = 0;
+        else {
+            ZSTD_STATIC_ASSERT(ZSTD_lo_isLongOffset == 1);
+            ZSTD_STATIC_ASSERT(LONG_OFFSETS_MAX_EXTRA_BITS_32 == 5);
+            assert(ofBits <= MaxOff);
+            if (MEM_32bits() && longOffsets) {
+                U32 const extraBits = ofBits - MIN(ofBits, STREAM_ACCUMULATOR_MIN_32-1);
+                offset = ofBase + (BIT_readBitsFast(&seqState->DStream, ofBits - extraBits) << extraBits);
+                if (MEM_32bits() || extraBits) BIT_reloadDStream(&seqState->DStream);
+                if (extraBits) offset += BIT_readBitsFast(&seqState->DStream, extraBits);
+            } else {
+                offset = ofBase + BIT_readBitsFast(&seqState->DStream, ofBits);   /* <=  (ZSTD_WINDOWLOG_MAX-1) bits */
+                if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);
+            }
+        }
+
+        if (ofBits <= 1) {
+            offset += (llBase==0);
+            if (offset) {
+                size_t temp = (offset==3) ? seqState->prevOffset[0] - 1 : seqState->prevOffset[offset];
+                temp += !temp;   /* 0 is not valid; input is corrupted; force offset to 1 */
+                if (offset != 1) seqState->prevOffset[2] = seqState->prevOffset[1];
+                seqState->prevOffset[1] = seqState->prevOffset[0];
+                seqState->prevOffset[0] = offset = temp;
+            } else {
+                offset = seqState->prevOffset[0];
+            }
+        } else {
+            seqState->prevOffset[2] = seqState->prevOffset[1];
+            seqState->prevOffset[1] = seqState->prevOffset[0];
+            seqState->prevOffset[0] = offset;
+        }
+        seq.offset = offset;
+    }
+
+    seq.matchLength = mlBase + ((mlBits>0) ? BIT_readBitsFast(&seqState->DStream, mlBits) : 0);  /* <=  16 bits */
+    if (MEM_32bits() && (mlBits+llBits >= STREAM_ACCUMULATOR_MIN_32-LONG_OFFSETS_MAX_EXTRA_BITS_32))
+        BIT_reloadDStream(&seqState->DStream);
+    if (MEM_64bits() && (totalBits >= STREAM_ACCUMULATOR_MIN_64-(LLFSELog+MLFSELog+OffFSELog)))
+        BIT_reloadDStream(&seqState->DStream);
+    /* Verify that there is enough bits to read the rest of the data in 64-bit mode. */
+    ZSTD_STATIC_ASSERT(16+LLFSELog+MLFSELog+OffFSELog < STREAM_ACCUMULATOR_MIN_64);
+
+    seq.litLength = llBase + ((llBits>0) ? BIT_readBitsFast(&seqState->DStream, llBits) : 0);    /* <=  16 bits */
+    if (MEM_32bits())
+        BIT_reloadDStream(&seqState->DStream);
+
+    {   size_t const pos = seqState->pos + seq.litLength;
+        const BYTE* const matchBase = (seq.offset > pos) ? seqState->dictEnd : seqState->prefixStart;
+        seq.match = matchBase + pos - seq.offset;  /* note : this operation can overflow when seq.offset is really too large, which can only happen when input is corrupted.
+                                                    * No consequence though : no memory access will occur, overly large offset will be detected in ZSTD_execSequenceLong() */
+        seqState->pos = pos + seq.matchLength;
+    }
+
+    /* ANS state update */
+    ZSTD_updateFseState(&seqState->stateLL, &seqState->DStream);    /* <=  9 bits */
+    ZSTD_updateFseState(&seqState->stateML, &seqState->DStream);    /* <=  9 bits */
+    if (MEM_32bits()) BIT_reloadDStream(&seqState->DStream);    /* <= 18 bits */
+    ZSTD_updateFseState(&seqState->stateOffb, &seqState->DStream);  /* <=  8 bits */
+
+    return seq;
+}
+
+FORCE_INLINE_TEMPLATE size_t
+ZSTD_decompressSequencesLong_body(
+                               ZSTD_DCtx* dctx,
+                               void* dst, size_t maxDstSize,
+                         const void* seqStart, size_t seqSize, int nbSeq,
+                         const ZSTD_longOffset_e isLongOffset)
+{
+    const BYTE* ip = (const BYTE*)seqStart;
+    const BYTE* const iend = ip + seqSize;
+    BYTE* const ostart = (BYTE* const)dst;
+    BYTE* const oend = ostart + maxDstSize;
+    BYTE* op = ostart;
+    const BYTE* litPtr = dctx->litPtr;
+    const BYTE* const litEnd = litPtr + dctx->litSize;
+    const BYTE* const prefixStart = (const BYTE*) (dctx->prefixStart);
+    const BYTE* const dictStart = (const BYTE*) (dctx->virtualStart);
+    const BYTE* const dictEnd = (const BYTE*) (dctx->dictEnd);
+
+    /* Regen sequences */
+    if (nbSeq) {
+#define STORED_SEQS 4
+#define STORED_SEQS_MASK (STORED_SEQS-1)
+#define ADVANCED_SEQS 4
+        seq_t sequences[STORED_SEQS];
+        int const seqAdvance = MIN(nbSeq, ADVANCED_SEQS);
+        seqState_t seqState;
+        int seqNb;
+        dctx->fseEntropy = 1;
+        { int i; for (i=0; i<ZSTD_REP_NUM; i++) seqState.prevOffset[i] = dctx->entropy.rep[i]; }
+        seqState.prefixStart = prefixStart;
+        seqState.pos = (size_t)(op-prefixStart);
+        seqState.dictEnd = dictEnd;
+        assert(iend >= ip);
+        CHECK_E(BIT_initDStream(&seqState.DStream, ip, iend-ip), corruption_detected);
+        ZSTD_initFseState(&seqState.stateLL, &seqState.DStream, dctx->LLTptr);
+        ZSTD_initFseState(&seqState.stateOffb, &seqState.DStream, dctx->OFTptr);
+        ZSTD_initFseState(&seqState.stateML, &seqState.DStream, dctx->MLTptr);
+
+        /* prepare in advance */
+        for (seqNb=0; (BIT_reloadDStream(&seqState.DStream) <= BIT_DStream_completed) && (seqNb<seqAdvance); seqNb++) {
+            sequences[seqNb] = ZSTD_decodeSequenceLong(&seqState, isLongOffset);
+            PREFETCH_L1(sequences[seqNb].match); PREFETCH_L1(sequences[seqNb].match + sequences[seqNb].matchLength - 1); /* note : it's safe to invoke PREFETCH() on any memory address, including invalid ones */
+        }
+        if (seqNb<seqAdvance) return ERROR(corruption_detected);
+
+        /* decode and decompress */
+        for ( ; (BIT_reloadDStream(&(seqState.DStream)) <= BIT_DStream_completed) && (seqNb<nbSeq) ; seqNb++) {
+            seq_t const sequence = ZSTD_decodeSequenceLong(&seqState, isLongOffset);
+            size_t const oneSeqSize = ZSTD_execSequenceLong(op, oend, sequences[(seqNb-ADVANCED_SEQS) & STORED_SEQS_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd);
+            if (ZSTD_isError(oneSeqSize)) return oneSeqSize;
+            PREFETCH_L1(sequence.match); PREFETCH_L1(sequence.match + sequence.matchLength - 1); /* note : it's safe to invoke PREFETCH() on any memory address, including invalid ones */
+            sequences[seqNb & STORED_SEQS_MASK] = sequence;
+            op += oneSeqSize;
+        }
+        if (seqNb<nbSeq) return ERROR(corruption_detected);
+
+        /* finish queue */
+        seqNb -= seqAdvance;
+        for ( ; seqNb<nbSeq ; seqNb++) {
+            size_t const oneSeqSize = ZSTD_execSequenceLong(op, oend, sequences[seqNb&STORED_SEQS_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd);
+            if (ZSTD_isError(oneSeqSize)) return oneSeqSize;
+            op += oneSeqSize;
+        }
+
+        /* save reps for next block */
+        { U32 i; for (i=0; i<ZSTD_REP_NUM; i++) dctx->entropy.rep[i] = (U32)(seqState.prevOffset[i]); }
+    }
+
+    /* last literal segment */
+    {   size_t const lastLLSize = litEnd - litPtr;
+        if (lastLLSize > (size_t)(oend-op)) return ERROR(dstSize_tooSmall);
+        memcpy(op, litPtr, lastLLSize);
+        op += lastLLSize;
+    }
+
+    return op-ostart;
+}
+
+static size_t
+ZSTD_decompressSequencesLong_default(ZSTD_DCtx* dctx,
+                                 void* dst, size_t maxDstSize,
+                           const void* seqStart, size_t seqSize, int nbSeq,
+                           const ZSTD_longOffset_e isLongOffset)
+{
+    return ZSTD_decompressSequencesLong_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+}
+#endif /* ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT */
+
+
+
+#if DYNAMIC_BMI2
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG
+static TARGET_ATTRIBUTE("bmi2") size_t
+ZSTD_decompressSequences_bmi2(ZSTD_DCtx* dctx,
+                                 void* dst, size_t maxDstSize,
+                           const void* seqStart, size_t seqSize, int nbSeq,
+                           const ZSTD_longOffset_e isLongOffset)
+{
+    return ZSTD_decompressSequences_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+}
+#endif /* ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG */
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT
+static TARGET_ATTRIBUTE("bmi2") size_t
+ZSTD_decompressSequencesLong_bmi2(ZSTD_DCtx* dctx,
+                                 void* dst, size_t maxDstSize,
+                           const void* seqStart, size_t seqSize, int nbSeq,
+                           const ZSTD_longOffset_e isLongOffset)
+{
+    return ZSTD_decompressSequencesLong_body(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+}
+#endif /* ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT */
+
+#endif /* DYNAMIC_BMI2 */
+
+typedef size_t (*ZSTD_decompressSequences_t)(
+                            ZSTD_DCtx* dctx,
+                            void* dst, size_t maxDstSize,
+                            const void* seqStart, size_t seqSize, int nbSeq,
+                            const ZSTD_longOffset_e isLongOffset);
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG
+static size_t
+ZSTD_decompressSequences(ZSTD_DCtx* dctx, void* dst, size_t maxDstSize,
+                   const void* seqStart, size_t seqSize, int nbSeq,
+                   const ZSTD_longOffset_e isLongOffset)
+{
+    DEBUGLOG(5, "ZSTD_decompressSequences");
+#if DYNAMIC_BMI2
+    if (dctx->bmi2) {
+        return ZSTD_decompressSequences_bmi2(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+    }
+#endif
+  return ZSTD_decompressSequences_default(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+}
+#endif /* ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG */
+
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT
+/* ZSTD_decompressSequencesLong() :
+ * decompression function triggered when a minimum share of offsets is considered "long",
+ * aka out of cache.
+ * note : "long" definition seems overloaded here, sometimes meaning "wider than bitstream register", and sometimes mearning "farther than memory cache distance".
+ * This function will try to mitigate main memory latency through the use of prefetching */
+static size_t
+ZSTD_decompressSequencesLong(ZSTD_DCtx* dctx,
+                             void* dst, size_t maxDstSize,
+                             const void* seqStart, size_t seqSize, int nbSeq,
+                             const ZSTD_longOffset_e isLongOffset)
+{
+    DEBUGLOG(5, "ZSTD_decompressSequencesLong");
+#if DYNAMIC_BMI2
+    if (dctx->bmi2) {
+        return ZSTD_decompressSequencesLong_bmi2(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+    }
+#endif
+  return ZSTD_decompressSequencesLong_default(dctx, dst, maxDstSize, seqStart, seqSize, nbSeq, isLongOffset);
+}
+#endif /* ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT */
+
+
+
+#if !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT) && \
+    !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG)
+/* ZSTD_getLongOffsetsShare() :
+ * condition : offTable must be valid
+ * @return : "share" of long offsets (arbitrarily defined as > (1<<23))
+ *           compared to maximum possible of (1<<OffFSELog) */
+static unsigned
+ZSTD_getLongOffsetsShare(const ZSTD_seqSymbol* offTable)
+{
+    const void* ptr = offTable;
+    U32 const tableLog = ((const ZSTD_seqSymbol_header*)ptr)[0].tableLog;
+    const ZSTD_seqSymbol* table = offTable + 1;
+    U32 const max = 1 << tableLog;
+    U32 u, total = 0;
+    DEBUGLOG(5, "ZSTD_getLongOffsetsShare: (tableLog=%u)", tableLog);
+
+    assert(max <= (1 << OffFSELog));  /* max not too large */
+    for (u=0; u<max; u++) {
+        if (table[u].nbAdditionalBits > 22) total += 1;
+    }
+
+    assert(tableLog <= OffFSELog);
+    total <<= (OffFSELog - tableLog);  /* scale to OffFSELog */
+
+    return total;
+}
+#endif
+
+
+size_t
+ZSTD_decompressBlock_internal(ZSTD_DCtx* dctx,
+                              void* dst, size_t dstCapacity,
+                        const void* src, size_t srcSize, const int frame)
+{   /* blockType == blockCompressed */
+    const BYTE* ip = (const BYTE*)src;
+    /* isLongOffset must be true if there are long offsets.
+     * Offsets are long if they are larger than 2^STREAM_ACCUMULATOR_MIN.
+     * We don't expect that to be the case in 64-bit mode.
+     * In block mode, window size is not known, so we have to be conservative.
+     * (note: but it could be evaluated from current-lowLimit)
+     */
+    ZSTD_longOffset_e const isLongOffset = (ZSTD_longOffset_e)(MEM_32bits() && (!frame || (dctx->fParams.windowSize > (1ULL << STREAM_ACCUMULATOR_MIN))));
+    DEBUGLOG(5, "ZSTD_decompressBlock_internal (size : %u)", (U32)srcSize);
+
+    if (srcSize >= ZSTD_BLOCKSIZE_MAX) return ERROR(srcSize_wrong);
+
+    /* Decode literals section */
+    {   size_t const litCSize = ZSTD_decodeLiteralsBlock(dctx, src, srcSize);
+        DEBUGLOG(5, "ZSTD_decodeLiteralsBlock : %u", (U32)litCSize);
+        if (ZSTD_isError(litCSize)) return litCSize;
+        ip += litCSize;
+        srcSize -= litCSize;
+    }
+
+    /* Build Decoding Tables */
+    {
+        /* These macros control at build-time which decompressor implementation
+         * we use. If neither is defined, we do some inspection and dispatch at
+         * runtime.
+         */
+#if !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT) && \
+    !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG)
+        int usePrefetchDecoder = dctx->ddictIsCold;
+#endif
+        int nbSeq;
+        size_t const seqHSize = ZSTD_decodeSeqHeaders(dctx, &nbSeq, ip, srcSize);
+        if (ZSTD_isError(seqHSize)) return seqHSize;
+        ip += seqHSize;
+        srcSize -= seqHSize;
+
+#if !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT) && \
+    !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG)
+        if ( !usePrefetchDecoder
+          && (!frame || (dctx->fParams.windowSize > (1<<24)))
+          && (nbSeq>ADVANCED_SEQS) ) {  /* could probably use a larger nbSeq limit */
+            U32 const shareLongOffsets = ZSTD_getLongOffsetsShare(dctx->OFTptr);
+            U32 const minShare = MEM_64bits() ? 7 : 20; /* heuristic values, correspond to 2.73% and 7.81% */
+            usePrefetchDecoder = (shareLongOffsets >= minShare);
+        }
+#endif
+
+        dctx->ddictIsCold = 0;
+
+#if !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT) && \
+    !defined(ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG)
+        if (usePrefetchDecoder)
+#endif
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_SHORT
+            return ZSTD_decompressSequencesLong(dctx, dst, dstCapacity, ip, srcSize, nbSeq, isLongOffset);
+#endif
+
+#ifndef ZSTD_FORCE_DECOMPRESS_SEQUENCES_LONG
+        /* else */
+        return ZSTD_decompressSequences(dctx, dst, dstCapacity, ip, srcSize, nbSeq, isLongOffset);
+#endif
+    }
+}
+
+
+size_t ZSTD_decompressBlock(ZSTD_DCtx* dctx,
+                            void* dst, size_t dstCapacity,
+                      const void* src, size_t srcSize)
+{
+    size_t dSize;
+    ZSTD_checkContinuity(dctx, dst);
+    dSize = ZSTD_decompressBlock_internal(dctx, dst, dstCapacity, src, srcSize, /* frame */ 0);
+    dctx->previousDstEnd = (char*)dst + dSize;
+    return dSize;
+}
diff --git a/thirdparty/zstd/decompress/zstd_decompress_block.h b/thirdparty/zstd/decompress/zstd_decompress_block.h
new file mode 100644
index 0000000000..7e92960410
--- /dev/null
+++ b/thirdparty/zstd/decompress/zstd_decompress_block.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2016-present, Yann Collet, Facebook, Inc.
+ * All rights reserved.
+ *
+ * This source code is licensed under both the BSD-style license (found in the
+ * LICENSE file in the root directory of this source tree) and the GPLv2 (found
+ * in the COPYING file in the root directory of this source tree).
+ * You may select, at your option, one of the above-listed licenses.
+ */
+
+
+#ifndef ZSTD_DEC_BLOCK_H
+#define ZSTD_DEC_BLOCK_H
+
+/*-*******************************************************
+ *  Dependencies
+ *********************************************************/
+#include <stddef.h>   /* size_t */
+#include "zstd.h"    /* DCtx, and some public functions */
+#include "zstd_internal.h"  /* blockProperties_t, and some public functions */
+#include "zstd_decompress_internal.h"  /* ZSTD_seqSymbol */
+
+
+/* ===   Prototypes   === */
+
+/* note: prototypes already published within `zstd.h` :
+ * ZSTD_decompressBlock()
+ */
+
+/* note: prototypes already published within `zstd_internal.h` :
+ * ZSTD_getcBlockSize()
+ * ZSTD_decodeSeqHeaders()
+ */
+
+
+/* ZSTD_decompressBlock_internal() :
+ * decompress block, starting at `src`,
+ * into destination buffer `dst`.
+ * @return : decompressed block size,
+ *           or an error code (which can be tested using ZSTD_isError())
+ */
+size_t ZSTD_decompressBlock_internal(ZSTD_DCtx* dctx,
+                               void* dst, size_t dstCapacity,
+                         const void* src, size_t srcSize, const int frame);
+
+/* ZSTD_buildFSETable() :
+ * generate FSE decoding table for one symbol (ll, ml or off)
+ * this function must be called with valid parameters only
+ * (dt is large enough, normalizedCounter distribution total is a power of 2, max is within range, etc.)
+ * in which case it cannot fail.
+ * Internal use only.
+ */
+void ZSTD_buildFSETable(ZSTD_seqSymbol* dt,
+             const short* normalizedCounter, unsigned maxSymbolValue,
+             const U32* baseValue, const U32* nbAdditionalBits,
+                   unsigned tableLog);
+
+
+#endif /* ZSTD_DEC_BLOCK_H */
diff --git a/thirdparty/zstd/decompress/zstd_decompress_internal.h b/thirdparty/zstd/decompress/zstd_decompress_internal.h
new file mode 100644
index 0000000000..abd0030519
--- /dev/null
+++ b/thirdparty/zstd/decompress/zstd_decompress_internal.h
@@ -0,0 +1,168 @@
+/*
+ * Copyright (c) 2016-present, Yann Collet, Facebook, Inc.
+ * All rights reserved.
+ *
+ * This source code is licensed under both the BSD-style license (found in the
+ * LICENSE file in the root directory of this source tree) and the GPLv2 (found
+ * in the COPYING file in the root directory of this source tree).
+ * You may select, at your option, one of the above-listed licenses.
+ */
+
+
+/* zstd_decompress_internal:
+ * objects and definitions shared within lib/decompress modules */
+
+ #ifndef ZSTD_DECOMPRESS_INTERNAL_H
+ #define ZSTD_DECOMPRESS_INTERNAL_H
+
+
+/*-*******************************************************
+ *  Dependencies
+ *********************************************************/
+#include "mem.h"             /* BYTE, U16, U32 */
+#include "zstd_internal.h"   /* ZSTD_seqSymbol */
+
+
+
+/*-*******************************************************
+ *  Constants
+ *********************************************************/
+static const U32 LL_base[MaxLL+1] = {
+                 0,    1,    2,     3,     4,     5,     6,      7,
+                 8,    9,   10,    11,    12,    13,    14,     15,
+                16,   18,   20,    22,    24,    28,    32,     40,
+                48,   64, 0x80, 0x100, 0x200, 0x400, 0x800, 0x1000,
+                0x2000, 0x4000, 0x8000, 0x10000 };
+
+static const U32 OF_base[MaxOff+1] = {
+                 0,        1,       1,       5,     0xD,     0x1D,     0x3D,     0x7D,
+                 0xFD,   0x1FD,   0x3FD,   0x7FD,   0xFFD,   0x1FFD,   0x3FFD,   0x7FFD,
+                 0xFFFD, 0x1FFFD, 0x3FFFD, 0x7FFFD, 0xFFFFD, 0x1FFFFD, 0x3FFFFD, 0x7FFFFD,
+                 0xFFFFFD, 0x1FFFFFD, 0x3FFFFFD, 0x7FFFFFD, 0xFFFFFFD, 0x1FFFFFFD, 0x3FFFFFFD, 0x7FFFFFFD };
+
+static const U32 OF_bits[MaxOff+1] = {
+                     0,  1,  2,  3,  4,  5,  6,  7,
+                     8,  9, 10, 11, 12, 13, 14, 15,
+                    16, 17, 18, 19, 20, 21, 22, 23,
+                    24, 25, 26, 27, 28, 29, 30, 31 };
+
+static const U32 ML_base[MaxML+1] = {
+                     3,  4,  5,    6,     7,     8,     9,    10,
+                    11, 12, 13,   14,    15,    16,    17,    18,
+                    19, 20, 21,   22,    23,    24,    25,    26,
+                    27, 28, 29,   30,    31,    32,    33,    34,
+                    35, 37, 39,   41,    43,    47,    51,    59,
+                    67, 83, 99, 0x83, 0x103, 0x203, 0x403, 0x803,
+                    0x1003, 0x2003, 0x4003, 0x8003, 0x10003 };
+
+
+/*-*******************************************************
+ *  Decompression types
+ *********************************************************/
+ typedef struct {
+     U32 fastMode;
+     U32 tableLog;
+ } ZSTD_seqSymbol_header;
+
+ typedef struct {
+     U16  nextState;
+     BYTE nbAdditionalBits;
+     BYTE nbBits;
+     U32  baseValue;
+ } ZSTD_seqSymbol;
+
+ #define SEQSYMBOL_TABLE_SIZE(log)   (1 + (1 << (log)))
+
+typedef struct {
+    ZSTD_seqSymbol LLTable[SEQSYMBOL_TABLE_SIZE(LLFSELog)];    /* Note : Space reserved for FSE Tables */
+    ZSTD_seqSymbol OFTable[SEQSYMBOL_TABLE_SIZE(OffFSELog)];   /* is also used as temporary workspace while building hufTable during DDict creation */
+    ZSTD_seqSymbol MLTable[SEQSYMBOL_TABLE_SIZE(MLFSELog)];    /* and therefore must be at least HUF_DECOMPRESS_WORKSPACE_SIZE large */
+    HUF_DTable hufTable[HUF_DTABLE_SIZE(HufLog)];  /* can accommodate HUF_decompress4X */
+    U32 rep[ZSTD_REP_NUM];
+} ZSTD_entropyDTables_t;
+
+typedef enum { ZSTDds_getFrameHeaderSize, ZSTDds_decodeFrameHeader,
+               ZSTDds_decodeBlockHeader, ZSTDds_decompressBlock,
+               ZSTDds_decompressLastBlock, ZSTDds_checkChecksum,
+               ZSTDds_decodeSkippableHeader, ZSTDds_skipFrame } ZSTD_dStage;
+
+typedef enum { zdss_init=0, zdss_loadHeader,
+               zdss_read, zdss_load, zdss_flush } ZSTD_dStreamStage;
+
+struct ZSTD_DCtx_s
+{
+    const ZSTD_seqSymbol* LLTptr;
+    const ZSTD_seqSymbol* MLTptr;
+    const ZSTD_seqSymbol* OFTptr;
+    const HUF_DTable* HUFptr;
+    ZSTD_entropyDTables_t entropy;
+    U32 workspace[HUF_DECOMPRESS_WORKSPACE_SIZE_U32];   /* space needed when building huffman tables */
+    const void* previousDstEnd;   /* detect continuity */
+    const void* prefixStart;      /* start of current segment */
+    const void* virtualStart;     /* virtual start of previous segment if it was just before current one */
+    const void* dictEnd;          /* end of previous segment */
+    size_t expected;
+    ZSTD_frameHeader fParams;
+    U64 decodedSize;
+    blockType_e bType;            /* used in ZSTD_decompressContinue(), store blockType between block header decoding and block decompression stages */
+    ZSTD_dStage stage;
+    U32 litEntropy;
+    U32 fseEntropy;
+    XXH64_state_t xxhState;
+    size_t headerSize;
+    ZSTD_format_e format;
+    const BYTE* litPtr;
+    ZSTD_customMem customMem;
+    size_t litSize;
+    size_t rleSize;
+    size_t staticSize;
+    int bmi2;                     /* == 1 if the CPU supports BMI2 and 0 otherwise. CPU support is determined dynamically once per context lifetime. */
+
+    /* dictionary */
+    ZSTD_DDict* ddictLocal;
+    const ZSTD_DDict* ddict;     /* set by ZSTD_initDStream_usingDDict(), or ZSTD_DCtx_refDDict() */
+    U32 dictID;
+    int ddictIsCold;             /* if == 1 : dictionary is "new" for working context, and presumed "cold" (not in cpu cache) */
+
+    /* streaming */
+    ZSTD_dStreamStage streamStage;
+    char*  inBuff;
+    size_t inBuffSize;
+    size_t inPos;
+    size_t maxWindowSize;
+    char*  outBuff;
+    size_t outBuffSize;
+    size_t outStart;
+    size_t outEnd;
+    size_t lhSize;
+    void* legacyContext;
+    U32 previousLegacyVersion;
+    U32 legacyVersion;
+    U32 hostageByte;
+    int noForwardProgress;
+
+    /* workspace */
+    BYTE litBuffer[ZSTD_BLOCKSIZE_MAX + WILDCOPY_OVERLENGTH];
+    BYTE headerBuffer[ZSTD_FRAMEHEADERSIZE_MAX];
+};  /* typedef'd to ZSTD_DCtx within "zstd.h" */
+
+
+/*-*******************************************************
+ *  Shared internal functions
+ *********************************************************/
+
+/*! ZSTD_loadDEntropy() :
+ *  dict : must point at beginning of a valid zstd dictionary.
+ * @return : size of entropy tables read */
+size_t ZSTD_loadDEntropy(ZSTD_entropyDTables_t* entropy,
+                   const void* const dict, size_t const dictSize);
+
+/*! ZSTD_checkContinuity() :
+ *  check if next `dst` follows previous position, where decompression ended.
+ *  If yes, do nothing (continue on current segment).
+ *  If not, classify previous segment as "external dictionary", and start a new segment.
+ *  This function cannot fail. */
+void ZSTD_checkContinuity(ZSTD_DCtx* dctx, const void* dst);
+
+
+#endif /* ZSTD_DECOMPRESS_INTERNAL_H */
diff --git a/thirdparty/zstd/zstd.h b/thirdparty/zstd/zstd.h
index 6405da602e..b18fc8a44b 100644
--- a/thirdparty/zstd/zstd.h
+++ b/thirdparty/zstd/zstd.h
@@ -35,41 +35,59 @@ extern "C" {
 #endif
 
 
-/*******************************************************************************************************
+/*******************************************************************************
   Introduction
 
-  zstd, short for Zstandard, is a fast lossless compression algorithm,
-  targeting real-time compression scenarios at zlib-level and better compression ratios.
-  The zstd compression library provides in-memory compression and decompression functions.
-  The library supports compression levels from 1 up to ZSTD_maxCLevel() which is currently 22.
-  Levels >= 20, labeled `--ultra`, should be used with caution, as they require more memory.
+  zstd, short for Zstandard, is a fast lossless compression algorithm, targeting
+  real-time compression scenarios at zlib-level and better compression ratios.
+  The zstd compression library provides in-memory compression and decompression
+  functions.
+
+  The library supports regular compression levels from 1 up to ZSTD_maxCLevel(),
+  which is currently 22. Levels >= 20, labeled `--ultra`, should be used with
+  caution, as they require more memory. The library also offers negative
+  compression levels, which extend the range of speed vs. ratio preferences.
+  The lower the level, the faster the speed (at the cost of compression).
+
   Compression can be done in:
     - a single step (described as Simple API)
     - a single step, reusing a context (described as Explicit context)
     - unbounded multiple steps (described as Streaming compression)
-  The compression ratio achievable on small data can be highly improved using a dictionary in:
+
+  The compression ratio achievable on small data can be highly improved using
+  a dictionary. Dictionary compression can be performed in:
     - a single step (described as Simple dictionary API)
-    - a single step, reusing a dictionary (described as Bulk-processing dictionary API)
+    - a single step, reusing a dictionary (described as Bulk-processing
+      dictionary API)
 
-  Advanced experimental functions can be accessed using #define ZSTD_STATIC_LINKING_ONLY before including zstd.h.
-  Advanced experimental APIs shall never be used with a dynamic library.
-  They are not "stable", their definition may change in the future. Only static linking is allowed.
-*********************************************************************************************************/
+  Advanced experimental functions can be accessed using
+  `#define ZSTD_STATIC_LINKING_ONLY` before including zstd.h.
+
+  Advanced experimental APIs should never be used with a dynamically-linked
+  library. They are not "stable"; their definitions or signatures may change in
+  the future. Only static linking is allowed.
+*******************************************************************************/
 
 /*------   Version   ------*/
 #define ZSTD_VERSION_MAJOR    1
 #define ZSTD_VERSION_MINOR    3
-#define ZSTD_VERSION_RELEASE  4
+#define ZSTD_VERSION_RELEASE  8
 
 #define ZSTD_VERSION_NUMBER  (ZSTD_VERSION_MAJOR *100*100 + ZSTD_VERSION_MINOR *100 + ZSTD_VERSION_RELEASE)
-ZSTDLIB_API unsigned ZSTD_versionNumber(void);   /**< useful to check dll version */
+ZSTDLIB_API unsigned ZSTD_versionNumber(void);   /**< to check runtime library version */
 
 #define ZSTD_LIB_VERSION ZSTD_VERSION_MAJOR.ZSTD_VERSION_MINOR.ZSTD_VERSION_RELEASE
 #define ZSTD_QUOTE(str) #str
 #define ZSTD_EXPAND_AND_QUOTE(str) ZSTD_QUOTE(str)
 #define ZSTD_VERSION_STRING ZSTD_EXPAND_AND_QUOTE(ZSTD_LIB_VERSION)
-ZSTDLIB_API const char* ZSTD_versionString(void);   /* added in v1.3.0 */
+ZSTDLIB_API const char* ZSTD_versionString(void);   /* requires v1.3.0+ */
 
+/***************************************
+*  Default constant
+***************************************/
+#ifndef ZSTD_CLEVEL_DEFAULT
+#  define ZSTD_CLEVEL_DEFAULT 3
+#endif
 
 /***************************************
 *  Simple API
@@ -92,11 +110,11 @@ ZSTDLIB_API size_t ZSTD_compress( void* dst, size_t dstCapacity,
 ZSTDLIB_API size_t ZSTD_decompress( void* dst, size_t dstCapacity,
                               const void* src, size_t compressedSize);
 
-/*! ZSTD_getFrameContentSize() : added in v1.3.0
+/*! ZSTD_getFrameContentSize() : requires v1.3.0+
  *  `src` should point to the start of a ZSTD encoded frame.
  *  `srcSize` must be at least as large as the frame header.
  *            hint : any size >= `ZSTD_frameHeaderSize_max` is large enough.
- *  @return : - decompressed size of the frame in `src`, if known
+ *  @return : - decompressed size of `src` frame content, if known
  *            - ZSTD_CONTENTSIZE_UNKNOWN if the size cannot be determined
  *            - ZSTD_CONTENTSIZE_ERROR if an error occurred (e.g. invalid magic number, srcSize too small)
  *   note 1 : a 0 return value means the frame is valid but "empty".
@@ -106,7 +124,8 @@ ZSTDLIB_API size_t ZSTD_decompress( void* dst, size_t dstCapacity,
  *            Optionally, application can rely on some implicit limit,
  *            as ZSTD_decompress() only needs an upper bound of decompressed size.
  *            (For example, data could be necessarily cut into blocks <= 16 KB).
- *   note 3 : decompressed size is always present when compression is done with ZSTD_compress()
+ *   note 3 : decompressed size is always present when compression is completed using single-pass functions,
+ *            such as ZSTD_compress(), ZSTD_compressCCtx() ZSTD_compress_usingDict() or ZSTD_compress_usingCDict().
  *   note 4 : decompressed size can be very large (64-bits value),
  *            potentially larger than what local system can handle as a single memory segment.
  *            In which case, it's necessary to use streaming mode to decompress data.
@@ -123,8 +142,7 @@ ZSTDLIB_API unsigned long long ZSTD_getFrameContentSize(const void *src, size_t
  *  Both functions work the same way, but ZSTD_getDecompressedSize() blends
  *  "empty", "unknown" and "error" results to the same return value (0),
  *  while ZSTD_getFrameContentSize() gives them separate return values.
- * `src` is the start of a zstd compressed frame.
- * @return : content size to be decompressed, as a 64-bits value _if known and not empty_, 0 otherwise. */
+ * @return : decompressed size of `src` frame content _if known and not empty_, 0 otherwise. */
 ZSTDLIB_API unsigned long long ZSTD_getDecompressedSize(const void* src, size_t srcSize);
 
 
@@ -149,8 +167,10 @@ ZSTDLIB_API ZSTD_CCtx* ZSTD_createCCtx(void);
 ZSTDLIB_API size_t     ZSTD_freeCCtx(ZSTD_CCtx* cctx);
 
 /*! ZSTD_compressCCtx() :
- *  Same as ZSTD_compress(), requires an allocated ZSTD_CCtx (see ZSTD_createCCtx()). */
-ZSTDLIB_API size_t ZSTD_compressCCtx(ZSTD_CCtx* ctx,
+ *  Same as ZSTD_compress(), using an explicit ZSTD_CCtx
+ *  The function will compress at requested compression level,
+ *  ignoring any other parameter */
+ZSTDLIB_API size_t ZSTD_compressCCtx(ZSTD_CCtx* cctx,
                                      void* dst, size_t dstCapacity,
                                const void* src, size_t srcSize,
                                      int compressionLevel);
@@ -166,8 +186,11 @@ ZSTDLIB_API ZSTD_DCtx* ZSTD_createDCtx(void);
 ZSTDLIB_API size_t     ZSTD_freeDCtx(ZSTD_DCtx* dctx);
 
 /*! ZSTD_decompressDCtx() :
- *  Same as ZSTD_decompress(), requires an allocated ZSTD_DCtx (see ZSTD_createDCtx()) */
-ZSTDLIB_API size_t ZSTD_decompressDCtx(ZSTD_DCtx* ctx,
+ *  Same as ZSTD_decompress(),
+ *  requires an allocated ZSTD_DCtx.
+ *  Compatible with sticky parameters.
+ */
+ZSTDLIB_API size_t ZSTD_decompressDCtx(ZSTD_DCtx* dctx,
                                        void* dst, size_t dstCapacity,
                                  const void* src, size_t srcSize);
 
@@ -176,9 +199,12 @@ ZSTDLIB_API size_t ZSTD_decompressDCtx(ZSTD_DCtx* ctx,
 *  Simple dictionary API
 ***************************/
 /*! ZSTD_compress_usingDict() :
- *  Compression using a predefined Dictionary (see dictBuilder/zdict.h).
+ *  Compression at an explicit compression level using a Dictionary.
+ *  A dictionary can be any arbitrary data segment (also called a prefix),
+ *  or a buffer with specified information (see dictBuilder/zdict.h).
  *  Note : This function loads the dictionary, resulting in significant startup delay.
- *  Note : When `dict == NULL || dictSize < 8` no dictionary is used. */
+ *         It's intended for a dictionary used only once.
+ *  Note 2 : When `dict == NULL || dictSize < 8` no dictionary is used. */
 ZSTDLIB_API size_t ZSTD_compress_usingDict(ZSTD_CCtx* ctx,
                                            void* dst, size_t dstCapacity,
                                      const void* src, size_t srcSize,
@@ -186,9 +212,10 @@ ZSTDLIB_API size_t ZSTD_compress_usingDict(ZSTD_CCtx* ctx,
                                            int compressionLevel);
 
 /*! ZSTD_decompress_usingDict() :
- *  Decompression using a predefined Dictionary (see dictBuilder/zdict.h).
+ *  Decompression using a known Dictionary.
  *  Dictionary must be identical to the one used during compression.
  *  Note : This function loads the dictionary, resulting in significant startup delay.
+ *         It's intended for a dictionary used only once.
  *  Note : When `dict == NULL || dictSize < 8` no dictionary is used. */
 ZSTDLIB_API size_t ZSTD_decompress_usingDict(ZSTD_DCtx* dctx,
                                              void* dst, size_t dstCapacity,
@@ -196,16 +223,18 @@ ZSTDLIB_API size_t ZSTD_decompress_usingDict(ZSTD_DCtx* dctx,
                                        const void* dict,size_t dictSize);
 
 
-/**********************************
+/***********************************
  *  Bulk processing dictionary API
- *********************************/
+ **********************************/
 typedef struct ZSTD_CDict_s ZSTD_CDict;
 
 /*! ZSTD_createCDict() :
- *  When compressing multiple messages / blocks with the same dictionary, it's recommended to load it just once.
- *  ZSTD_createCDict() will create a digested dictionary, ready to start future compression operations without startup delay.
+ *  When compressing multiple messages / blocks using the same dictionary, it's recommended to load it only once.
+ *  ZSTD_createCDict() will create a digested dictionary, ready to start future compression operations without startup cost.
  *  ZSTD_CDict can be created once and shared by multiple threads concurrently, since its usage is read-only.
- *  `dictBuffer` can be released after ZSTD_CDict creation, since its content is copied within CDict */
+ * `dictBuffer` can be released after ZSTD_CDict creation, because its content is copied within CDict.
+ *  Consider experimental function `ZSTD_createCDict_byReference()` if you prefer to not duplicate `dictBuffer` content.
+ *  Note : A ZSTD_CDict can be created from an empty dictBuffer, but it is inefficient when used to compress small data. */
 ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict(const void* dictBuffer, size_t dictSize,
                                          int compressionLevel);
 
@@ -215,9 +244,9 @@ ZSTDLIB_API size_t      ZSTD_freeCDict(ZSTD_CDict* CDict);
 
 /*! ZSTD_compress_usingCDict() :
  *  Compression using a digested Dictionary.
- *  Faster startup than ZSTD_compress_usingDict(), recommended when same dictionary is used multiple times.
- *  Note that compression level is decided during dictionary creation.
- *  Frame parameters are hardcoded (dictID=yes, contentSize=yes, checksum=no) */
+ *  Recommended when same dictionary is used multiple times.
+ *  Note : compression level is _decided at dictionary creation time_,
+ *     and frame parameters are hardcoded (dictID=yes, contentSize=yes, checksum=no) */
 ZSTDLIB_API size_t ZSTD_compress_usingCDict(ZSTD_CCtx* cctx,
                                             void* dst, size_t dstCapacity,
                                       const void* src, size_t srcSize,
@@ -228,7 +257,7 @@ typedef struct ZSTD_DDict_s ZSTD_DDict;
 
 /*! ZSTD_createDDict() :
  *  Create a digested dictionary, ready to start decompression operation without startup delay.
- *  dictBuffer can be released after DDict creation, as its content is copied inside DDict */
+ *  dictBuffer can be released after DDict creation, as its content is copied inside DDict. */
 ZSTDLIB_API ZSTD_DDict* ZSTD_createDDict(const void* dictBuffer, size_t dictSize);
 
 /*! ZSTD_freeDDict() :
@@ -237,7 +266,7 @@ ZSTDLIB_API size_t      ZSTD_freeDDict(ZSTD_DDict* ddict);
 
 /*! ZSTD_decompress_usingDDict() :
  *  Decompression using a digested Dictionary.
- *  Faster startup than ZSTD_decompress_usingDict(), recommended when same dictionary is used multiple times. */
+ *  Recommended when same dictionary is used multiple times. */
 ZSTDLIB_API size_t ZSTD_decompress_usingDDict(ZSTD_DCtx* dctx,
                                               void* dst, size_t dstCapacity,
                                         const void* src, size_t srcSize,
@@ -268,43 +297,51 @@ typedef struct ZSTD_outBuffer_s {
 *  A ZSTD_CStream object is required to track streaming operation.
 *  Use ZSTD_createCStream() and ZSTD_freeCStream() to create/release resources.
 *  ZSTD_CStream objects can be reused multiple times on consecutive compression operations.
-*  It is recommended to re-use ZSTD_CStream in situations where many streaming operations will be achieved consecutively,
-*  since it will play nicer with system's memory, by re-using already allocated memory.
-*  Use one separate ZSTD_CStream per thread for parallel execution.
+*  It is recommended to re-use ZSTD_CStream since it will play nicer with system's memory, by re-using already allocated memory.
 *
-*  Start a new compression by initializing ZSTD_CStream.
-*  Use ZSTD_initCStream() to start a new compression operation.
-*  Use ZSTD_initCStream_usingDict() or ZSTD_initCStream_usingCDict() for a compression which requires a dictionary (experimental section)
+*  For parallel execution, use one separate ZSTD_CStream per thread.
 *
-*  Use ZSTD_compressStream() repetitively to consume input stream.
-*  The function will automatically update both `pos` fields.
-*  Note that it may not consume the entire input, in which case `pos < size`,
-*  and it's up to the caller to present again remaining data.
-*  @return : a size hint, preferred nb of bytes to use as input for next function call
-*            or an error code, which can be tested using ZSTD_isError().
-*            Note 1 : it's just a hint, to help latency a little, any other value will work fine.
-*            Note 2 : size hint is guaranteed to be <= ZSTD_CStreamInSize()
+*  note : since v1.3.0, ZSTD_CStream and ZSTD_CCtx are the same thing.
 *
-*  At any moment, it's possible to flush whatever data remains within internal buffer, using ZSTD_flushStream().
-*  `output->pos` will be updated.
-*  Note that some content might still be left within internal buffer if `output->size` is too small.
-*  @return : nb of bytes still present within internal buffer (0 if it's empty)
+*  Parameters are sticky : when starting a new compression on the same context,
+*  it will re-use the same sticky parameters as previous compression session.
+*  When in doubt, it's recommended to fully initialize the context before usage.
+*  Use ZSTD_initCStream() to set the parameter to a selected compression level.
+*  Use advanced API (ZSTD_CCtx_setParameter(), etc.) to set more specific parameters.
+*
+*  Use ZSTD_compressStream() as many times as necessary to consume input stream.
+*  The function will automatically update both `pos` fields within `input` and `output`.
+*  Note that the function may not consume the entire input,
+*  for example, because the output buffer is already full,
+*  in which case `input.pos < input.size`.
+*  The caller must check if input has been entirely consumed.
+*  If not, the caller must make some room to receive more compressed data,
+*  and then present again remaining input data.
+* @return : a size hint, preferred nb of bytes to use as input for next function call
+*           or an error code, which can be tested using ZSTD_isError().
+*           Note 1 : it's just a hint, to help latency a little, any value will work fine.
+*           Note 2 : size hint is guaranteed to be <= ZSTD_CStreamInSize()
+*
+*  At any moment, it's possible to flush whatever data might remain stuck within internal buffer,
+*  using ZSTD_flushStream(). `output->pos` will be updated.
+*  Note that, if `output->size` is too small, a single invocation of ZSTD_flushStream() might not be enough (return code > 0).
+*  In which case, make some room to receive more compressed data, and call again ZSTD_flushStream().
+*  @return : 0 if internal buffers are entirely flushed,
+*            >0 if some data still present within internal buffer (the value is minimal estimation of remaining size),
 *            or an error code, which can be tested using ZSTD_isError().
 *
 *  ZSTD_endStream() instructs to finish a frame.
 *  It will perform a flush and write frame epilogue.
 *  The epilogue is required for decoders to consider a frame completed.
-*  ZSTD_endStream() may not be able to flush full data if `output->size` is too small.
-*  In which case, call again ZSTD_endStream() to complete the flush.
+*  flush() operation is the same, and follows same rules as ZSTD_flushStream().
 *  @return : 0 if frame fully completed and fully flushed,
-             or >0 if some data is still present within internal buffer
-                  (value is minimum size estimation for remaining data to flush, but it could be more)
+*            >0 if some data still present within internal buffer (the value is minimal estimation of remaining size),
 *            or an error code, which can be tested using ZSTD_isError().
 *
 * *******************************************************************/
 
 typedef ZSTD_CCtx ZSTD_CStream;  /**< CCtx and CStream are now effectively same object (>= v1.3.0) */
-                                 /* Continue to distinguish them for compatibility with versions <= v1.2.0 */
+                                 /* Continue to distinguish them for compatibility with older versions <= v1.2.0 */
 /*===== ZSTD_CStream management functions =====*/
 ZSTDLIB_API ZSTD_CStream* ZSTD_createCStream(void);
 ZSTDLIB_API size_t ZSTD_freeCStream(ZSTD_CStream* zcs);
@@ -327,23 +364,28 @@ ZSTDLIB_API size_t ZSTD_CStreamOutSize(void);   /**< recommended size for output
 *  Use ZSTD_createDStream() and ZSTD_freeDStream() to create/release resources.
 *  ZSTD_DStream objects can be re-used multiple times.
 *
-*  Use ZSTD_initDStream() to start a new decompression operation,
-*   or ZSTD_initDStream_usingDict() if decompression requires a dictionary.
-*   @return : recommended first input size
+*  Use ZSTD_initDStream() to start a new decompression operation.
+* @return : recommended first input size
+*  Alternatively, use advanced API to set specific properties.
 *
 *  Use ZSTD_decompressStream() repetitively to consume your input.
 *  The function will update both `pos` fields.
 *  If `input.pos < input.size`, some input has not been consumed.
 *  It's up to the caller to present again remaining data.
+*  The function tries to flush all data decoded immediately, respecting output buffer size.
 *  If `output.pos < output.size`, decoder has flushed everything it could.
-*  @return : 0 when a frame is completely decoded and fully flushed,
-*            an error code, which can be tested using ZSTD_isError(),
-*            any other value > 0, which means there is still some decoding to do to complete current frame.
-*            The return value is a suggested next input size (a hint to improve latency) that will never load more than the current frame.
+*  But if `output.pos == output.size`, there might be some data left within internal buffers.,
+*  In which case, call ZSTD_decompressStream() again to flush whatever remains in the buffer.
+*  Note : with no additional input provided, amount of data flushed is necessarily <= ZSTD_BLOCKSIZE_MAX.
+* @return : 0 when a frame is completely decoded and fully flushed,
+*        or an error code, which can be tested using ZSTD_isError(),
+*        or any other value > 0, which means there is still some decoding or flushing to do to complete current frame :
+*                                the return value is a suggested next input size (just a hint for better latency)
+*                                that will never request more than the remaining frame size.
 * *******************************************************************************/
 
 typedef ZSTD_DCtx ZSTD_DStream;  /**< DCtx and DStream are now effectively same object (>= v1.3.0) */
-                                 /* For compatibility with versions <= v1.2.0, continue to consider them separated. */
+                                 /* For compatibility with versions <= v1.2.0, prefer differentiating them. */
 /*===== ZSTD_DStream management functions =====*/
 ZSTDLIB_API ZSTD_DStream* ZSTD_createDStream(void);
 ZSTDLIB_API size_t ZSTD_freeDStream(ZSTD_DStream* zds);
@@ -359,69 +401,603 @@ ZSTDLIB_API size_t ZSTD_DStreamOutSize(void);   /*!< recommended size for output
 
 
 
+
 /****************************************************************************************
- * START OF ADVANCED AND EXPERIMENTAL FUNCTIONS
- * The definitions in this section are considered experimental.
- * They should never be used with a dynamic library, as prototypes may change in the future.
+ *   ADVANCED AND EXPERIMENTAL FUNCTIONS
+ ****************************************************************************************
+ * The definitions in the following section are considered experimental.
  * They are provided for advanced scenarios.
+ * They should never be used with a dynamic library, as prototypes may change in the future.
  * Use them only in association with static linking.
  * ***************************************************************************************/
 
 #if defined(ZSTD_STATIC_LINKING_ONLY) && !defined(ZSTD_H_ZSTD_STATIC_LINKING_ONLY)
 #define ZSTD_H_ZSTD_STATIC_LINKING_ONLY
 
-/* --- Constants ---*/
-#define ZSTD_MAGICNUMBER            0xFD2FB528   /* >= v0.8.0 */
-#define ZSTD_MAGIC_SKIPPABLE_START  0x184D2A50U
-#define ZSTD_MAGIC_DICTIONARY       0xEC30A437   /* >= v0.7.0 */
-
-#define ZSTD_WINDOWLOG_MAX_32   30
-#define ZSTD_WINDOWLOG_MAX_64   31
-#define ZSTD_WINDOWLOG_MAX    ((unsigned)(sizeof(size_t) == 4 ? ZSTD_WINDOWLOG_MAX_32 : ZSTD_WINDOWLOG_MAX_64))
-#define ZSTD_WINDOWLOG_MIN      10
-#define ZSTD_HASHLOG_MAX      ((ZSTD_WINDOWLOG_MAX < 30) ? ZSTD_WINDOWLOG_MAX : 30)
-#define ZSTD_HASHLOG_MIN         6
-#define ZSTD_CHAINLOG_MAX_32    29
-#define ZSTD_CHAINLOG_MAX_64    30
-#define ZSTD_CHAINLOG_MAX     ((unsigned)(sizeof(size_t) == 4 ? ZSTD_CHAINLOG_MAX_32 : ZSTD_CHAINLOG_MAX_64))
-#define ZSTD_CHAINLOG_MIN       ZSTD_HASHLOG_MIN
-#define ZSTD_HASHLOG3_MAX       17
-#define ZSTD_SEARCHLOG_MAX     (ZSTD_WINDOWLOG_MAX-1)
-#define ZSTD_SEARCHLOG_MIN       1
-#define ZSTD_SEARCHLENGTH_MAX    7   /* only for ZSTD_fast, other strategies are limited to 6 */
-#define ZSTD_SEARCHLENGTH_MIN    3   /* only for ZSTD_btopt, other strategies are limited to 4 */
-#define ZSTD_TARGETLENGTH_MIN    1   /* only used by btopt, btultra and btfast */
-#define ZSTD_LDM_MINMATCH_MIN    4
-#define ZSTD_LDM_MINMATCH_MAX 4096
-#define ZSTD_LDM_BUCKETSIZELOG_MAX 8
-
-#define ZSTD_FRAMEHEADERSIZE_PREFIX 5   /* minimum input size to know frame header size */
-#define ZSTD_FRAMEHEADERSIZE_MIN    6
-#define ZSTD_FRAMEHEADERSIZE_MAX   18   /* for static allocation */
-static const size_t ZSTD_frameHeaderSize_prefix = ZSTD_FRAMEHEADERSIZE_PREFIX;
-static const size_t ZSTD_frameHeaderSize_min = ZSTD_FRAMEHEADERSIZE_MIN;
-static const size_t ZSTD_frameHeaderSize_max = ZSTD_FRAMEHEADERSIZE_MAX;
-static const size_t ZSTD_skippableHeaderSize = 8;  /* magic number + skippable frame length */
 
+/****************************************************************************************
+ *   Candidate API for promotion to stable status
+ ****************************************************************************************
+ * The following symbols and constants form the "staging area" :
+ * they are considered to join "stable API" by v1.4.0.
+ * The proposal is written so that it can be made stable "as is",
+ * though it's still possible to suggest improvements.
+ * Staging is in fact last chance for changes,
+ * the API is locked once reaching "stable" status.
+ * ***************************************************************************************/
+
+
+/* ===  Constants   === */
+
+/* all magic numbers are supposed read/written to/from files/memory using little-endian convention */
+#define ZSTD_MAGICNUMBER            0xFD2FB528    /* valid since v0.8.0 */
+#define ZSTD_MAGIC_DICTIONARY       0xEC30A437    /* valid since v0.7.0 */
+#define ZSTD_MAGIC_SKIPPABLE_START  0x184D2A50    /* all 16 values, from 0x184D2A50 to 0x184D2A5F, signal the beginning of a skippable frame */
+#define ZSTD_MAGIC_SKIPPABLE_MASK   0xFFFFFFF0
+
+#define ZSTD_BLOCKSIZELOG_MAX  17
+#define ZSTD_BLOCKSIZE_MAX     (1<<ZSTD_BLOCKSIZELOG_MAX)
+
+
+/* ===   query limits   === */
+
+ZSTDLIB_API int ZSTD_minCLevel(void);  /*!< minimum negative compression level allowed */
+
+
+/* ===   frame size   === */
+
+/*! ZSTD_findFrameCompressedSize() :
+ * `src` should point to the start of a ZSTD frame or skippable frame.
+ * `srcSize` must be >= first frame size
+ * @return : the compressed size of the first frame starting at `src`,
+ *           suitable to pass as `srcSize` to `ZSTD_decompress` or similar,
+ *        or an error code if input is invalid */
+ZSTDLIB_API size_t ZSTD_findFrameCompressedSize(const void* src, size_t srcSize);
+
+
+/* ===   Memory management   === */
+
+/*! ZSTD_sizeof_*() :
+ *  These functions give the _current_ memory usage of selected object.
+ *  Note that object memory usage can evolve (increase or decrease) over time. */
+ZSTDLIB_API size_t ZSTD_sizeof_CCtx(const ZSTD_CCtx* cctx);
+ZSTDLIB_API size_t ZSTD_sizeof_DCtx(const ZSTD_DCtx* dctx);
+ZSTDLIB_API size_t ZSTD_sizeof_CStream(const ZSTD_CStream* zcs);
+ZSTDLIB_API size_t ZSTD_sizeof_DStream(const ZSTD_DStream* zds);
+ZSTDLIB_API size_t ZSTD_sizeof_CDict(const ZSTD_CDict* cdict);
+ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict);
+
+
+/***************************************
+*  Advanced compression API
+***************************************/
+
+/* API design :
+ *   Parameters are pushed one by one into an existing context,
+ *   using ZSTD_CCtx_set*() functions.
+ *   Pushed parameters are sticky : they are valid for next compressed frame, and any subsequent frame.
+ *   "sticky" parameters are applicable to `ZSTD_compress2()` and `ZSTD_compressStream*()` !
+ *   They do not apply to "simple" one-shot variants such as ZSTD_compressCCtx()
+ *
+ *   It's possible to reset all parameters to "default" using ZSTD_CCtx_reset().
+ *
+ *   This API supercedes all other "advanced" API entry points in the experimental section.
+ *   In the future, we expect to remove from experimental API entry points which are redundant with this API.
+ */
+
+
+/* Compression strategies, listed from fastest to strongest */
+typedef enum { ZSTD_fast=1,
+               ZSTD_dfast=2,
+               ZSTD_greedy=3,
+               ZSTD_lazy=4,
+               ZSTD_lazy2=5,
+               ZSTD_btlazy2=6,
+               ZSTD_btopt=7,
+               ZSTD_btultra=8,
+               ZSTD_btultra2=9
+               /* note : new strategies _might_ be added in the future.
+                         Only the order (from fast to strong) is guaranteed */
+} ZSTD_strategy;
+
+
+typedef enum {
+
+    /* compression parameters */
+    ZSTD_c_compressionLevel=100, /* Update all compression parameters according to pre-defined cLevel table
+                              * Default level is ZSTD_CLEVEL_DEFAULT==3.
+                              * Special: value 0 means default, which is controlled by ZSTD_CLEVEL_DEFAULT.
+                              * Note 1 : it's possible to pass a negative compression level.
+                              * Note 2 : setting a level sets all default values of other compression parameters */
+    ZSTD_c_windowLog=101,    /* Maximum allowed back-reference distance, expressed as power of 2.
+                              * Must be clamped between ZSTD_WINDOWLOG_MIN and ZSTD_WINDOWLOG_MAX.
+                              * Special: value 0 means "use default windowLog".
+                              * Note: Using a windowLog greater than ZSTD_WINDOWLOG_LIMIT_DEFAULT
+                              *       requires explicitly allowing such window size at decompression stage if using streaming. */
+    ZSTD_c_hashLog=102,      /* Size of the initial probe table, as a power of 2.
+                              * Resulting memory usage is (1 << (hashLog+2)).
+                              * Must be clamped between ZSTD_HASHLOG_MIN and ZSTD_HASHLOG_MAX.
+                              * Larger tables improve compression ratio of strategies <= dFast,
+                              * and improve speed of strategies > dFast.
+                              * Special: value 0 means "use default hashLog". */
+    ZSTD_c_chainLog=103,     /* Size of the multi-probe search table, as a power of 2.
+                              * Resulting memory usage is (1 << (chainLog+2)).
+                              * Must be clamped between ZSTD_CHAINLOG_MIN and ZSTD_CHAINLOG_MAX.
+                              * Larger tables result in better and slower compression.
+                              * This parameter is useless when using "fast" strategy.
+                              * It's still useful when using "dfast" strategy,
+                              * in which case it defines a secondary probe table.
+                              * Special: value 0 means "use default chainLog". */
+    ZSTD_c_searchLog=104,    /* Number of search attempts, as a power of 2.
+                              * More attempts result in better and slower compression.
+                              * This parameter is useless when using "fast" and "dFast" strategies.
+                              * Special: value 0 means "use default searchLog". */
+    ZSTD_c_minMatch=105,     /* Minimum size of searched matches.
+                              * Note that Zstandard can still find matches of smaller size,
+                              * it just tweaks its search algorithm to look for this size and larger.
+                              * Larger values increase compression and decompression speed, but decrease ratio.
+                              * Must be clamped between ZSTD_MINMATCH_MIN and ZSTD_MINMATCH_MAX.
+                              * Note that currently, for all strategies < btopt, effective minimum is 4.
+                              *                    , for all strategies > fast, effective maximum is 6.
+                              * Special: value 0 means "use default minMatchLength". */
+    ZSTD_c_targetLength=106, /* Impact of this field depends on strategy.
+                              * For strategies btopt, btultra & btultra2:
+                              *     Length of Match considered "good enough" to stop search.
+                              *     Larger values make compression stronger, and slower.
+                              * For strategy fast:
+                              *     Distance between match sampling.
+                              *     Larger values make compression faster, and weaker.
+                              * Special: value 0 means "use default targetLength". */
+    ZSTD_c_strategy=107,     /* See ZSTD_strategy enum definition.
+                              * The higher the value of selected strategy, the more complex it is,
+                              * resulting in stronger and slower compression.
+                              * Special: value 0 means "use default strategy". */
+
+    /* LDM mode parameters */
+    ZSTD_c_enableLongDistanceMatching=160, /* Enable long distance matching.
+                                     * This parameter is designed to improve compression ratio
+                                     * for large inputs, by finding large matches at long distance.
+                                     * It increases memory usage and window size.
+                                     * Note: enabling this parameter increases default ZSTD_c_windowLog to 128 MB
+                                     * except when expressly set to a different value. */
+    ZSTD_c_ldmHashLog=161,   /* Size of the table for long distance matching, as a power of 2.
+                              * Larger values increase memory usage and compression ratio,
+                              * but decrease compression speed.
+                              * Must be clamped between ZSTD_HASHLOG_MIN and ZSTD_HASHLOG_MAX
+                              * default: windowlog - 7.
+                              * Special: value 0 means "automatically determine hashlog". */
+    ZSTD_c_ldmMinMatch=162,  /* Minimum match size for long distance matcher.
+                              * Larger/too small values usually decrease compression ratio.
+                              * Must be clamped between ZSTD_LDM_MINMATCH_MIN and ZSTD_LDM_MINMATCH_MAX.
+                              * Special: value 0 means "use default value" (default: 64). */
+    ZSTD_c_ldmBucketSizeLog=163, /* Log size of each bucket in the LDM hash table for collision resolution.
+                              * Larger values improve collision resolution but decrease compression speed.
+                              * The maximum value is ZSTD_LDM_BUCKETSIZELOG_MAX.
+                              * Special: value 0 means "use default value" (default: 3). */
+    ZSTD_c_ldmHashRateLog=164, /* Frequency of inserting/looking up entries into the LDM hash table.
+                              * Must be clamped between 0 and (ZSTD_WINDOWLOG_MAX - ZSTD_HASHLOG_MIN).
+                              * Default is MAX(0, (windowLog - ldmHashLog)), optimizing hash table usage.
+                              * Larger values improve compression speed.
+                              * Deviating far from default value will likely result in a compression ratio decrease.
+                              * Special: value 0 means "automatically determine hashRateLog". */
+
+    /* frame parameters */
+    ZSTD_c_contentSizeFlag=200, /* Content size will be written into frame header _whenever known_ (default:1)
+                              * Content size must be known at the beginning of compression.
+                              * This is automatically the case when using ZSTD_compress2(),
+                              * For streaming variants, content size must be provided with ZSTD_CCtx_setPledgedSrcSize() */
+    ZSTD_c_checksumFlag=201, /* A 32-bits checksum of content is written at end of frame (default:0) */
+    ZSTD_c_dictIDFlag=202,   /* When applicable, dictionary's ID is written into frame header (default:1) */
+
+    /* multi-threading parameters */
+    /* These parameters are only useful if multi-threading is enabled (compiled with build macro ZSTD_MULTITHREAD).
+     * They return an error otherwise. */
+    ZSTD_c_nbWorkers=400,    /* Select how many threads will be spawned to compress in parallel.
+                              * When nbWorkers >= 1, triggers asynchronous mode when used with ZSTD_compressStream*() :
+                              * ZSTD_compressStream*() consumes input and flush output if possible, but immediately gives back control to caller,
+                              * while compression work is performed in parallel, within worker threads.
+                              * (note : a strong exception to this rule is when first invocation of ZSTD_compressStream2() sets ZSTD_e_end :
+                              *  in which case, ZSTD_compressStream2() delegates to ZSTD_compress2(), which is always a blocking call).
+                              * More workers improve speed, but also increase memory usage.
+                              * Default value is `0`, aka "single-threaded mode" : no worker is spawned, compression is performed inside Caller's thread, all invocations are blocking */
+    ZSTD_c_jobSize=401,      /* Size of a compression job. This value is enforced only when nbWorkers >= 1.
+                              * Each compression job is completed in parallel, so this value can indirectly impact the nb of active threads.
+                              * 0 means default, which is dynamically determined based on compression parameters.
+                              * Job size must be a minimum of overlap size, or 1 MB, whichever is largest.
+                              * The minimum size is automatically and transparently enforced */
+    ZSTD_c_overlapLog=402,   /* Control the overlap size, as a fraction of window size.
+                              * The overlap size is an amount of data reloaded from previous job at the beginning of a new job.
+                              * It helps preserve compression ratio, while each job is compressed in parallel.
+                              * This value is enforced only when nbWorkers >= 1.
+                              * Larger values increase compression ratio, but decrease speed.
+                              * Possible values range from 0 to 9 :
+                              * - 0 means "default" : value will be determined by the library, depending on strategy
+                              * - 1 means "no overlap"
+                              * - 9 means "full overlap", using a full window size.
+                              * Each intermediate rank increases/decreases load size by a factor 2 :
+                              * 9: full window;  8: w/2;  7: w/4;  6: w/8;  5:w/16;  4: w/32;  3:w/64;  2:w/128;  1:no overlap;  0:default
+                              * default value varies between 6 and 9, depending on strategy */
+
+    /* note : additional experimental parameters are also available
+     * within the experimental section of the API.
+     * At the time of this writing, they include :
+     * ZSTD_c_rsyncable
+     * ZSTD_c_format
+     * ZSTD_c_forceMaxWindow
+     * ZSTD_c_forceAttachDict
+     * Because they are not stable, it's necessary to define ZSTD_STATIC_LINKING_ONLY to access them.
+     * note : never ever use experimentalParam? names directly;
+     *        also, the enums values themselves are unstable and can still change.
+     */
+     ZSTD_c_experimentalParam1=500,
+     ZSTD_c_experimentalParam2=10,
+     ZSTD_c_experimentalParam3=1000,
+     ZSTD_c_experimentalParam4=1001
+} ZSTD_cParameter;
+
+
+typedef struct {
+    size_t error;
+    int lowerBound;
+    int upperBound;
+} ZSTD_bounds;
+
+/*! ZSTD_cParam_getBounds() :
+ *  All parameters must belong to an interval with lower and upper bounds,
+ *  otherwise they will either trigger an error or be automatically clamped.
+ * @return : a structure, ZSTD_bounds, which contains
+ *         - an error status field, which must be tested using ZSTD_isError()
+ *         - lower and upper bounds, both inclusive
+ */
+ZSTDLIB_API ZSTD_bounds ZSTD_cParam_getBounds(ZSTD_cParameter cParam);
+
+/*! ZSTD_CCtx_setParameter() :
+ *  Set one compression parameter, selected by enum ZSTD_cParameter.
+ *  All parameters have valid bounds. Bounds can be queried using ZSTD_cParam_getBounds().
+ *  Providing a value beyond bound will either clamp it, or trigger an error (depending on parameter).
+ *  Setting a parameter is generally only possible during frame initialization (before starting compression).
+ *  Exception : when using multi-threading mode (nbWorkers >= 1),
+ *              the following parameters can be updated _during_ compression (within same frame):
+ *              => compressionLevel, hashLog, chainLog, searchLog, minMatch, targetLength and strategy.
+ *              new parameters will be active for next job only (after a flush()).
+ * @return : an error code (which can be tested using ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, int value);
+
+/*! ZSTD_CCtx_setPledgedSrcSize() :
+ *  Total input data size to be compressed as a single frame.
+ *  Value will be written in frame header, unless if explicitly forbidden using ZSTD_c_contentSizeFlag.
+ *  This value will also be controlled at end of frame, and trigger an error if not respected.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Note 1 : pledgedSrcSize==0 actually means zero, aka an empty frame.
+ *           In order to mean "unknown content size", pass constant ZSTD_CONTENTSIZE_UNKNOWN.
+ *           ZSTD_CONTENTSIZE_UNKNOWN is default value for any new frame.
+ *  Note 2 : pledgedSrcSize is only valid once, for the next frame.
+ *           It's discarded at the end of the frame, and replaced by ZSTD_CONTENTSIZE_UNKNOWN.
+ *  Note 3 : Whenever all input data is provided and consumed in a single round,
+ *           for example with ZSTD_compress2(),
+ *           or invoking immediately ZSTD_compressStream2(,,,ZSTD_e_end),
+ *           this value is automatically overriden by srcSize instead.
+ */
+ZSTDLIB_API size_t ZSTD_CCtx_setPledgedSrcSize(ZSTD_CCtx* cctx, unsigned long long pledgedSrcSize);
+
+/*! ZSTD_CCtx_loadDictionary() :
+ *  Create an internal CDict from `dict` buffer.
+ *  Decompression will have to use same dictionary.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Special: Loading a NULL (or 0-size) dictionary invalidates previous dictionary,
+ *           meaning "return to no-dictionary mode".
+ *  Note 1 : Dictionary is sticky, it will be used for all future compressed frames.
+ *           To return to "no-dictionary" situation, load a NULL dictionary (or reset parameters).
+ *  Note 2 : Loading a dictionary involves building tables.
+ *           It's also a CPU consuming operation, with non-negligible impact on latency.
+ *           Tables are dependent on compression parameters, and for this reason,
+ *           compression parameters can no longer be changed after loading a dictionary.
+ *  Note 3 :`dict` content will be copied internally.
+ *           Use experimental ZSTD_CCtx_loadDictionary_byReference() to reference content instead.
+ *           In such a case, dictionary buffer must outlive its users.
+ *  Note 4 : Use ZSTD_CCtx_loadDictionary_advanced()
+ *           to precisely select how dictionary content must be interpreted. */
+ZSTDLIB_API size_t ZSTD_CCtx_loadDictionary(ZSTD_CCtx* cctx, const void* dict, size_t dictSize);
+
+/*! ZSTD_CCtx_refCDict() :
+ *  Reference a prepared dictionary, to be used for all next compressed frames.
+ *  Note that compression parameters are enforced from within CDict,
+ *  and supercede any compression parameter previously set within CCtx.
+ *  The dictionary will remain valid for future compressed frames using same CCtx.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Special : Referencing a NULL CDict means "return to no-dictionary mode".
+ *  Note 1 : Currently, only one dictionary can be managed.
+ *           Referencing a new dictionary effectively "discards" any previous one.
+ *  Note 2 : CDict is just referenced, its lifetime must outlive its usage within CCtx. */
+ZSTDLIB_API size_t ZSTD_CCtx_refCDict(ZSTD_CCtx* cctx, const ZSTD_CDict* cdict);
+
+/*! ZSTD_CCtx_refPrefix() :
+ *  Reference a prefix (single-usage dictionary) for next compressed frame.
+ *  A prefix is **only used once**. Tables are discarded at end of frame (ZSTD_e_end).
+ *  Decompression will need same prefix to properly regenerate data.
+ *  Compressing with a prefix is similar in outcome as performing a diff and compressing it,
+ *  but performs much faster, especially during decompression (compression speed is tunable with compression level).
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Special: Adding any prefix (including NULL) invalidates any previous prefix or dictionary
+ *  Note 1 : Prefix buffer is referenced. It **must** outlive compression.
+ *           Its content must remain unmodified during compression.
+ *  Note 2 : If the intention is to diff some large src data blob with some prior version of itself,
+ *           ensure that the window size is large enough to contain the entire source.
+ *           See ZSTD_c_windowLog.
+ *  Note 3 : Referencing a prefix involves building tables, which are dependent on compression parameters.
+ *           It's a CPU consuming operation, with non-negligible impact on latency.
+ *           If there is a need to use the same prefix multiple times, consider loadDictionary instead.
+ *  Note 4 : By default, the prefix is interpreted as raw content (ZSTD_dm_rawContent).
+ *           Use experimental ZSTD_CCtx_refPrefix_advanced() to alter dictionary interpretation. */
+ZSTDLIB_API size_t ZSTD_CCtx_refPrefix(ZSTD_CCtx* cctx,
+                                 const void* prefix, size_t prefixSize);
+
+
+typedef enum {
+    ZSTD_reset_session_only = 1,
+    ZSTD_reset_parameters = 2,
+    ZSTD_reset_session_and_parameters = 3
+} ZSTD_ResetDirective;
+
+/*! ZSTD_CCtx_reset() :
+ *  There are 2 different things that can be reset, independently or jointly :
+ *  - The session : will stop compressing current frame, and make CCtx ready to start a new one.
+ *                  Useful after an error, or to interrupt any ongoing compression.
+ *                  Any internal data not yet flushed is cancelled.
+ *                  Compression parameters and dictionary remain unchanged.
+ *                  They will be used to compress next frame.
+ *                  Resetting session never fails.
+ *  - The parameters : changes all parameters back to "default".
+ *                  This removes any reference to any dictionary too.
+ *                  Parameters can only be changed between 2 sessions (i.e. no compression is currently ongoing)
+ *                  otherwise the reset fails, and function returns an error value (which can be tested using ZSTD_isError())
+ *  - Both : similar to resetting the session, followed by resetting parameters.
+ */
+ZSTDLIB_API size_t ZSTD_CCtx_reset(ZSTD_CCtx* cctx, ZSTD_ResetDirective reset);
+
+
+
+/*! ZSTD_compress2() :
+ *  Behave the same as ZSTD_compressCCtx(), but compression parameters are set using the advanced API.
+ *  ZSTD_compress2() always starts a new frame.
+ *  Should cctx hold data from a previously unfinished frame, everything about it is forgotten.
+ *  - Compression parameters are pushed into CCtx before starting compression, using ZSTD_CCtx_set*()
+ *  - The function is always blocking, returns when compression is completed.
+ *  Hint : compression runs faster if `dstCapacity` >=  `ZSTD_compressBound(srcSize)`.
+ * @return : compressed size written into `dst` (<= `dstCapacity),
+ *           or an error code if it fails (which can be tested using ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_compress2( ZSTD_CCtx* cctx,
+                                   void* dst, size_t dstCapacity,
+                             const void* src, size_t srcSize);
+
+typedef enum {
+    ZSTD_e_continue=0, /* collect more data, encoder decides when to output compressed result, for optimal compression ratio */
+    ZSTD_e_flush=1,    /* flush any data provided so far,
+                        * it creates (at least) one new block, that can be decoded immediately on reception;
+                        * frame will continue: any future data can still reference previously compressed data, improving compression. */
+    ZSTD_e_end=2       /* flush any remaining data _and_ close current frame.
+                        * note that frame is only closed after compressed data is fully flushed (return value == 0).
+                        * After that point, any additional data starts a new frame.
+                        * note : each frame is independent (does not reference any content from previous frame). */
+} ZSTD_EndDirective;
+
+/*! ZSTD_compressStream2() :
+ *  Behaves about the same as ZSTD_compressStream, with additional control on end directive.
+ *  - Compression parameters are pushed into CCtx before starting compression, using ZSTD_CCtx_set*()
+ *  - Compression parameters cannot be changed once compression is started (save a list of exceptions in multi-threading mode)
+ *  - outpot->pos must be <= dstCapacity, input->pos must be <= srcSize
+ *  - outpot->pos and input->pos will be updated. They are guaranteed to remain below their respective limit.
+ *  - When nbWorkers==0 (default), function is blocking : it completes its job before returning to caller.
+ *  - When nbWorkers>=1, function is non-blocking : it just acquires a copy of input, and distributes jobs to internal worker threads, flush whatever is available,
+ *                                                  and then immediately returns, just indicating that there is some data remaining to be flushed.
+ *                                                  The function nonetheless guarantees forward progress : it will return only after it reads or write at least 1+ byte.
+ *  - Exception : if the first call requests a ZSTD_e_end directive and provides enough dstCapacity, the function delegates to ZSTD_compress2() which is always blocking.
+ *  - @return provides a minimum amount of data remaining to be flushed from internal buffers
+ *            or an error code, which can be tested using ZSTD_isError().
+ *            if @return != 0, flush is not fully completed, there is still some data left within internal buffers.
+ *            This is useful for ZSTD_e_flush, since in this case more flushes are necessary to empty all buffers.
+ *            For ZSTD_e_end, @return == 0 when internal buffers are fully flushed and frame is completed.
+ *  - after a ZSTD_e_end directive, if internal buffer is not fully flushed (@return != 0),
+ *            only ZSTD_e_end or ZSTD_e_flush operations are allowed.
+ *            Before starting a new compression job, or changing compression parameters,
+ *            it is required to fully flush internal buffers.
+ */
+ZSTDLIB_API size_t ZSTD_compressStream2( ZSTD_CCtx* cctx,
+                                         ZSTD_outBuffer* output,
+                                         ZSTD_inBuffer* input,
+                                         ZSTD_EndDirective endOp);
+
+
+
+/* ============================== */
+/*   Advanced decompression API   */
+/* ============================== */
+
+/* The advanced API pushes parameters one by one into an existing DCtx context.
+ * Parameters are sticky, and remain valid for all following frames
+ * using the same DCtx context.
+ * It's possible to reset parameters to default values using ZSTD_DCtx_reset().
+ * Note : This API is compatible with existing ZSTD_decompressDCtx() and ZSTD_decompressStream().
+ *        Therefore, no new decompression function is necessary.
+ */
 
-/*--- Advanced types ---*/
-typedef enum { ZSTD_fast=1, ZSTD_dfast, ZSTD_greedy, ZSTD_lazy, ZSTD_lazy2,
-               ZSTD_btlazy2, ZSTD_btopt, ZSTD_btultra } ZSTD_strategy;   /* from faster to stronger */
+
+typedef enum {
+
+    ZSTD_d_windowLogMax=100, /* Select a size limit (in power of 2) beyond which
+                              * the streaming API will refuse to allocate memory buffer
+                              * in order to protect the host from unreasonable memory requirements.
+                              * This parameter is only useful in streaming mode, since no internal buffer is allocated in single-pass mode.
+                              * By default, a decompression context accepts window sizes <= (1 << ZSTD_WINDOWLOG_LIMIT_DEFAULT) */
+
+    /* note : additional experimental parameters are also available
+     * within the experimental section of the API.
+     * At the time of this writing, they include :
+     * ZSTD_c_format
+     * Because they are not stable, it's necessary to define ZSTD_STATIC_LINKING_ONLY to access them.
+     * note : never ever use experimentalParam? names directly
+     */
+     ZSTD_d_experimentalParam1=1000
+
+} ZSTD_dParameter;
+
+
+/*! ZSTD_dParam_getBounds() :
+ *  All parameters must belong to an interval with lower and upper bounds,
+ *  otherwise they will either trigger an error or be automatically clamped.
+ * @return : a structure, ZSTD_bounds, which contains
+ *         - an error status field, which must be tested using ZSTD_isError()
+ *         - both lower and upper bounds, inclusive
+ */
+ZSTDLIB_API ZSTD_bounds ZSTD_dParam_getBounds(ZSTD_dParameter dParam);
+
+/*! ZSTD_DCtx_setParameter() :
+ *  Set one compression parameter, selected by enum ZSTD_dParameter.
+ *  All parameters have valid bounds. Bounds can be queried using ZSTD_dParam_getBounds().
+ *  Providing a value beyond bound will either clamp it, or trigger an error (depending on parameter).
+ *  Setting a parameter is only possible during frame initialization (before starting decompression).
+ * @return : 0, or an error code (which can be tested using ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_DCtx_setParameter(ZSTD_DCtx* dctx, ZSTD_dParameter param, int value);
+
+
+/*! ZSTD_DCtx_loadDictionary() :
+ *  Create an internal DDict from dict buffer,
+ *  to be used to decompress next frames.
+ *  The dictionary remains valid for all future frames, until explicitly invalidated.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Special : Adding a NULL (or 0-size) dictionary invalidates any previous dictionary,
+ *            meaning "return to no-dictionary mode".
+ *  Note 1 : Loading a dictionary involves building tables,
+ *           which has a non-negligible impact on CPU usage and latency.
+ *           It's recommended to "load once, use many times", to amortize the cost
+ *  Note 2 :`dict` content will be copied internally, so `dict` can be released after loading.
+ *           Use ZSTD_DCtx_loadDictionary_byReference() to reference dictionary content instead.
+ *  Note 3 : Use ZSTD_DCtx_loadDictionary_advanced() to take control of
+ *           how dictionary content is loaded and interpreted.
+ */
+ZSTDLIB_API size_t ZSTD_DCtx_loadDictionary(ZSTD_DCtx* dctx, const void* dict, size_t dictSize);
+
+/*! ZSTD_DCtx_refDDict() :
+ *  Reference a prepared dictionary, to be used to decompress next frames.
+ *  The dictionary remains active for decompression of future frames using same DCtx.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Note 1 : Currently, only one dictionary can be managed.
+ *           Referencing a new dictionary effectively "discards" any previous one.
+ *  Special: referencing a NULL DDict means "return to no-dictionary mode".
+ *  Note 2 : DDict is just referenced, its lifetime must outlive its usage from DCtx.
+ */
+ZSTDLIB_API size_t ZSTD_DCtx_refDDict(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict);
+
+/*! ZSTD_DCtx_refPrefix() :
+ *  Reference a prefix (single-usage dictionary) to decompress next frame.
+ *  This is the reverse operation of ZSTD_CCtx_refPrefix(),
+ *  and must use the same prefix as the one used during compression.
+ *  Prefix is **only used once**. Reference is discarded at end of frame.
+ *  End of frame is reached when ZSTD_decompressStream() returns 0.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ *  Note 1 : Adding any prefix (including NULL) invalidates any previously set prefix or dictionary
+ *  Note 2 : Prefix buffer is referenced. It **must** outlive decompression.
+ *           Prefix buffer must remain unmodified up to the end of frame,
+ *           reached when ZSTD_decompressStream() returns 0.
+ *  Note 3 : By default, the prefix is treated as raw content (ZSTD_dm_rawContent).
+ *           Use ZSTD_CCtx_refPrefix_advanced() to alter dictMode (Experimental section)
+ *  Note 4 : Referencing a raw content prefix has almost no cpu nor memory cost.
+ *           A full dictionary is more costly, as it requires building tables.
+ */
+ZSTDLIB_API size_t ZSTD_DCtx_refPrefix(ZSTD_DCtx* dctx,
+                                 const void* prefix, size_t prefixSize);
+
+/*! ZSTD_DCtx_reset() :
+ *  Return a DCtx to clean state.
+ *  Session and parameters can be reset jointly or separately.
+ *  Parameters can only be reset when no active frame is being decompressed.
+ * @return : 0, or an error code, which can be tested with ZSTD_isError()
+ */
+ZSTDLIB_API size_t ZSTD_DCtx_reset(ZSTD_DCtx* dctx, ZSTD_ResetDirective reset);
+
+
+
+/****************************************************************************************
+ *   experimental API (static linking only)
+ ****************************************************************************************
+ * The following symbols and constants
+ * are not planned to join "stable API" status in the near future.
+ * They can still change in future versions.
+ * Some of them are planned to remain in the static_only section indefinitely.
+ * Some of them might be removed in the future (especially when redundant with existing stable functions)
+ * ***************************************************************************************/
+
+#define ZSTD_FRAMEHEADERSIZE_PREFIX 5   /* minimum input size required to query frame header size */
+#define ZSTD_FRAMEHEADERSIZE_MIN    6
+#define ZSTD_FRAMEHEADERSIZE_MAX   18   /* can be useful for static allocation */
+#define ZSTD_SKIPPABLEHEADERSIZE    8
+
+/* compression parameter bounds */
+#define ZSTD_WINDOWLOG_MAX_32    30
+#define ZSTD_WINDOWLOG_MAX_64    31
+#define ZSTD_WINDOWLOG_MAX     ((int)(sizeof(size_t) == 4 ? ZSTD_WINDOWLOG_MAX_32 : ZSTD_WINDOWLOG_MAX_64))
+#define ZSTD_WINDOWLOG_MIN       10
+#define ZSTD_HASHLOG_MAX       ((ZSTD_WINDOWLOG_MAX < 30) ? ZSTD_WINDOWLOG_MAX : 30)
+#define ZSTD_HASHLOG_MIN          6
+#define ZSTD_CHAINLOG_MAX_32     29
+#define ZSTD_CHAINLOG_MAX_64     30
+#define ZSTD_CHAINLOG_MAX      ((int)(sizeof(size_t) == 4 ? ZSTD_CHAINLOG_MAX_32 : ZSTD_CHAINLOG_MAX_64))
+#define ZSTD_CHAINLOG_MIN        ZSTD_HASHLOG_MIN
+#define ZSTD_SEARCHLOG_MAX      (ZSTD_WINDOWLOG_MAX-1)
+#define ZSTD_SEARCHLOG_MIN        1
+#define ZSTD_MINMATCH_MAX         7   /* only for ZSTD_fast, other strategies are limited to 6 */
+#define ZSTD_MINMATCH_MIN         3   /* only for ZSTD_btopt+, faster strategies are limited to 4 */
+#define ZSTD_TARGETLENGTH_MAX    ZSTD_BLOCKSIZE_MAX
+#define ZSTD_TARGETLENGTH_MIN     0   /* note : comparing this constant to an unsigned results in a tautological test */
+#define ZSTD_STRATEGY_MIN        ZSTD_fast
+#define ZSTD_STRATEGY_MAX        ZSTD_btultra2
+
+
+#define ZSTD_OVERLAPLOG_MIN       0
+#define ZSTD_OVERLAPLOG_MAX       9
+
+#define ZSTD_WINDOWLOG_LIMIT_DEFAULT 27   /* by default, the streaming decoder will refuse any frame
+                                           * requiring larger than (1<<ZSTD_WINDOWLOG_LIMIT_DEFAULT) window size,
+                                           * to preserve host's memory from unreasonable requirements.
+                                           * This limit can be overriden using ZSTD_DCtx_setParameter(,ZSTD_d_windowLogMax,).
+                                           * The limit does not apply for one-pass decoders (such as ZSTD_decompress()), since no additional memory is allocated */
+
+
+/* LDM parameter bounds */
+#define ZSTD_LDM_HASHLOG_MIN      ZSTD_HASHLOG_MIN
+#define ZSTD_LDM_HASHLOG_MAX      ZSTD_HASHLOG_MAX
+#define ZSTD_LDM_MINMATCH_MIN        4
+#define ZSTD_LDM_MINMATCH_MAX     4096
+#define ZSTD_LDM_BUCKETSIZELOG_MIN   1
+#define ZSTD_LDM_BUCKETSIZELOG_MAX   8
+#define ZSTD_LDM_HASHRATELOG_MIN     0
+#define ZSTD_LDM_HASHRATELOG_MAX (ZSTD_WINDOWLOG_MAX - ZSTD_HASHLOG_MIN)
+
+/* internal */
+#define ZSTD_HASHLOG3_MAX           17
+
+
+/* ---  Advanced types  --- */
+
+typedef struct ZSTD_CCtx_params_s ZSTD_CCtx_params;
 
 typedef struct {
-    unsigned windowLog;      /**< largest match distance : larger == more compression, more memory needed during decompression */
-    unsigned chainLog;       /**< fully searched segment : larger == more compression, slower, more memory (useless for fast) */
-    unsigned hashLog;        /**< dispatch table : larger == faster, more memory */
-    unsigned searchLog;      /**< nb of searches : larger == more compression, slower */
-    unsigned searchLength;   /**< match length searched : larger == faster decompression, sometimes less compression */
-    unsigned targetLength;   /**< acceptable match size for optimal parser (only) : larger == more compression, slower */
-    ZSTD_strategy strategy;
+    unsigned windowLog;       /**< largest match distance : larger == more compression, more memory needed during decompression */
+    unsigned chainLog;        /**< fully searched segment : larger == more compression, slower, more memory (useless for fast) */
+    unsigned hashLog;         /**< dispatch table : larger == faster, more memory */
+    unsigned searchLog;       /**< nb of searches : larger == more compression, slower */
+    unsigned minMatch;        /**< match length searched : larger == faster decompression, sometimes less compression */
+    unsigned targetLength;    /**< acceptable match size for optimal parser (only) : larger == more compression, slower */
+    ZSTD_strategy strategy;   /**< see ZSTD_strategy definition above */
 } ZSTD_compressionParameters;
 
 typedef struct {
-    unsigned contentSizeFlag; /**< 1: content size will be in frame header (when known) */
-    unsigned checksumFlag;    /**< 1: generate a 32-bits checksum at end of frame, for error detection */
-    unsigned noDictIDFlag;    /**< 1: no dictID will be saved into frame header (if dictionary compression) */
+    int contentSizeFlag; /**< 1: content size will be in frame header (when known) */
+    int checksumFlag;    /**< 1: generate a 32-bits checksum using XXH64 algorithm at end of frame, for error detection */
+    int noDictIDFlag;    /**< 1: no dictID will be saved into frame header (dictID is only useful for dictionary compression) */
 } ZSTD_frameParameters;
 
 typedef struct {
@@ -429,33 +1005,70 @@ typedef struct {
     ZSTD_frameParameters fParams;
 } ZSTD_parameters;
 
-typedef struct ZSTD_CCtx_params_s ZSTD_CCtx_params;
-
 typedef enum {
-    ZSTD_dct_auto=0,      /* dictionary is "full" when starting with ZSTD_MAGIC_DICTIONARY, otherwise it is "rawContent" */
-    ZSTD_dct_rawContent,  /* ensures dictionary is always loaded as rawContent, even if it starts with ZSTD_MAGIC_DICTIONARY */
-    ZSTD_dct_fullDict     /* refuses to load a dictionary if it does not respect Zstandard's specification */
+    ZSTD_dct_auto = 0,       /* dictionary is "full" when starting with ZSTD_MAGIC_DICTIONARY, otherwise it is "rawContent" */
+    ZSTD_dct_rawContent = 1, /* ensures dictionary is always loaded as rawContent, even if it starts with ZSTD_MAGIC_DICTIONARY */
+    ZSTD_dct_fullDict = 2    /* refuses to load a dictionary if it does not respect Zstandard's specification, starting with ZSTD_MAGIC_DICTIONARY */
 } ZSTD_dictContentType_e;
 
 typedef enum {
-    ZSTD_dlm_byCopy = 0, /**< Copy dictionary content internally */
-    ZSTD_dlm_byRef,      /**< Reference dictionary content -- the dictionary buffer must outlive its users. */
+    ZSTD_dlm_byCopy = 0,  /**< Copy dictionary content internally */
+    ZSTD_dlm_byRef = 1,   /**< Reference dictionary content -- the dictionary buffer must outlive its users. */
 } ZSTD_dictLoadMethod_e;
 
+typedef enum {
+    /* Opened question : should we have a format ZSTD_f_auto ?
+     * Today, it would mean exactly the same as ZSTD_f_zstd1.
+     * But, in the future, should several formats become supported,
+     * on the compression side, it would mean "default format".
+     * On the decompression side, it would mean "automatic format detection",
+     * so that ZSTD_f_zstd1 would mean "accept *only* zstd frames".
+     * Since meaning is a little different, another option could be to define different enums for compression and decompression.
+     * This question could be kept for later, when there are actually multiple formats to support,
+     * but there is also the question of pinning enum values, and pinning value `0` is especially important */
+    ZSTD_f_zstd1 = 0,           /* zstd frame format, specified in zstd_compression_format.md (default) */
+    ZSTD_f_zstd1_magicless = 1, /* Variant of zstd frame format, without initial 4-bytes magic number.
+                                 * Useful to save 4 bytes per generated frame.
+                                 * Decoder cannot recognise automatically this format, requiring this instruction. */
+} ZSTD_format_e;
+
+typedef enum {
+    /* Note: this enum and the behavior it controls are effectively internal
+     * implementation details of the compressor. They are expected to continue
+     * to evolve and should be considered only in the context of extremely
+     * advanced performance tuning.
+     *
+     * Zstd currently supports the use of a CDict in two ways:
+     *
+     * - The contents of the CDict can be copied into the working context. This
+     *   means that the compression can search both the dictionary and input
+     *   while operating on a single set of internal tables. This makes
+     *   the compression faster per-byte of input. However, the initial copy of
+     *   the CDict's tables incurs a fixed cost at the beginning of the
+     *   compression. For small compressions (< 8 KB), that copy can dominate
+     *   the cost of the compression.
+     *
+     * - The CDict's tables can be used in-place. In this model, compression is
+     *   slower per input byte, because the compressor has to search two sets of
+     *   tables. However, this model incurs no start-up cost (as long as the
+     *   working context's tables can be reused). For small inputs, this can be
+     *   faster than copying the CDict's tables.
+     *
+     * Zstd has a simple internal heuristic that selects which strategy to use
+     * at the beginning of a compression. However, if experimentation shows that
+     * Zstd is making poor choices, it is possible to override that choice with
+     * this enum.
+     */
+    ZSTD_dictDefaultAttach = 0, /* Use the default heuristic. */
+    ZSTD_dictForceAttach   = 1, /* Never copy the dictionary. */
+    ZSTD_dictForceCopy     = 2, /* Always copy the dictionary. */
+} ZSTD_dictAttachPref_e;
 
 
 /***************************************
 *  Frame size functions
 ***************************************/
 
-/*! ZSTD_findFrameCompressedSize() :
- *  `src` should point to the start of a ZSTD encoded frame or skippable frame
- *  `srcSize` must be >= first frame size
- *  @return : the compressed size of the first frame starting at `src`,
- *            suitable to pass to `ZSTD_decompress` or similar,
- *            or an error code if input is invalid */
-ZSTDLIB_API size_t ZSTD_findFrameCompressedSize(const void* src, size_t srcSize);
-
 /*! ZSTD_findDecompressedSize() :
  *  `src` should point the start of a series of ZSTD encoded and/or skippable frames
  *  `srcSize` must be the _exact_ size of this series
@@ -480,9 +1093,9 @@ ZSTDLIB_API size_t ZSTD_findFrameCompressedSize(const void* src, size_t srcSize)
 ZSTDLIB_API unsigned long long ZSTD_findDecompressedSize(const void* src, size_t srcSize);
 
 /*! ZSTD_frameHeaderSize() :
-*   `src` should point to the start of a ZSTD frame
-*   `srcSize` must be >= ZSTD_frameHeaderSize_prefix.
-*   @return : size of the Frame Header */
+ *  srcSize must be >= ZSTD_FRAMEHEADERSIZE_PREFIX.
+ * @return : size of the Frame Header,
+ *           or an error code (if srcSize is too small) */
 ZSTDLIB_API size_t ZSTD_frameHeaderSize(const void* src, size_t srcSize);
 
 
@@ -490,16 +1103,6 @@ ZSTDLIB_API size_t ZSTD_frameHeaderSize(const void* src, size_t srcSize);
 *  Memory management
 ***************************************/
 
-/*! ZSTD_sizeof_*() :
- *  These functions give the current memory usage of selected object.
- *  Object memory usage can evolve when re-used. */
-ZSTDLIB_API size_t ZSTD_sizeof_CCtx(const ZSTD_CCtx* cctx);
-ZSTDLIB_API size_t ZSTD_sizeof_DCtx(const ZSTD_DCtx* dctx);
-ZSTDLIB_API size_t ZSTD_sizeof_CStream(const ZSTD_CStream* zcs);
-ZSTDLIB_API size_t ZSTD_sizeof_DStream(const ZSTD_DStream* zds);
-ZSTDLIB_API size_t ZSTD_sizeof_CDict(const ZSTD_CDict* cdict);
-ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict);
-
 /*! ZSTD_estimate*() :
  *  These functions make it possible to estimate memory usage
  *  of a future {D,C}Ctx, before its creation.
@@ -507,7 +1110,7 @@ ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict);
  *  It will also consider src size to be arbitrarily "large", which is worst case.
  *  If srcSize is known to always be small, ZSTD_estimateCCtxSize_usingCParams() can provide a tighter estimation.
  *  ZSTD_estimateCCtxSize_usingCParams() can be used in tandem with ZSTD_getCParams() to create cParams from compressionLevel.
- *  ZSTD_estimateCCtxSize_usingCCtxParams() can be used in tandem with ZSTD_CCtxParam_setParameter(). Only single-threaded compression is supported. This function will return an error code if ZSTD_p_nbWorkers is >= 1.
+ *  ZSTD_estimateCCtxSize_usingCCtxParams() can be used in tandem with ZSTD_CCtxParam_setParameter(). Only single-threaded compression is supported. This function will return an error code if ZSTD_c_nbWorkers is >= 1.
  *  Note : CCtx size estimation is only correct for single-threaded compression. */
 ZSTDLIB_API size_t ZSTD_estimateCCtxSize(int compressionLevel);
 ZSTDLIB_API size_t ZSTD_estimateCCtxSize_usingCParams(ZSTD_compressionParameters cParams);
@@ -519,7 +1122,7 @@ ZSTDLIB_API size_t ZSTD_estimateDCtxSize(void);
  *  It will also consider src size to be arbitrarily "large", which is worst case.
  *  If srcSize is known to always be small, ZSTD_estimateCStreamSize_usingCParams() can provide a tighter estimation.
  *  ZSTD_estimateCStreamSize_usingCParams() can be used in tandem with ZSTD_getCParams() to create cParams from compressionLevel.
- *  ZSTD_estimateCStreamSize_usingCCtxParams() can be used in tandem with ZSTD_CCtxParam_setParameter(). Only single-threaded compression is supported. This function will return an error code if ZSTD_p_nbWorkers is >= 1.
+ *  ZSTD_estimateCStreamSize_usingCCtxParams() can be used in tandem with ZSTD_CCtxParam_setParameter(). Only single-threaded compression is supported. This function will return an error code if ZSTD_c_nbWorkers is >= 1.
  *  Note : CStream size estimation is only correct for single-threaded compression.
  *  ZSTD_DStream memory budget depends on window Size.
  *  This information can be passed manually, using ZSTD_estimateDStreamSize,
@@ -582,6 +1185,7 @@ ZSTDLIB_API const ZSTD_DDict* ZSTD_initStaticDDict(
                                         ZSTD_dictLoadMethod_e dictLoadMethod,
                                         ZSTD_dictContentType_e dictContentType);
 
+
 /*! Custom memory allocation :
  *  These prototypes make it possible to pass your own allocation/free functions.
  *  ZSTD_customMem is provided at creation time, using ZSTD_create*_advanced() variants listed below.
@@ -616,8 +1220,9 @@ ZSTDLIB_API ZSTD_DDict* ZSTD_createDDict_advanced(const void* dict, size_t dictS
 
 /*! ZSTD_createCDict_byReference() :
  *  Create a digested dictionary for compression
- *  Dictionary content is simply referenced, and therefore stays in dictBuffer.
- *  It is important that dictBuffer outlives CDict, it must remain read accessible throughout the lifetime of CDict */
+ *  Dictionary content is just referenced, not duplicated.
+ *  As a consequence, `dictBuffer` **must** outlive CDict,
+ *  and its content must remain unmodified throughout the lifetime of CDict. */
 ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict_byReference(const void* dictBuffer, size_t dictSize, int compressionLevel);
 
 /*! ZSTD_getCParams() :
@@ -640,22 +1245,161 @@ ZSTDLIB_API size_t ZSTD_checkCParams(ZSTD_compressionParameters params);
 ZSTDLIB_API ZSTD_compressionParameters ZSTD_adjustCParams(ZSTD_compressionParameters cPar, unsigned long long srcSize, size_t dictSize);
 
 /*! ZSTD_compress_advanced() :
-*   Same as ZSTD_compress_usingDict(), with fine-tune control over each compression parameter */
-ZSTDLIB_API size_t ZSTD_compress_advanced (ZSTD_CCtx* cctx,
-                                  void* dst, size_t dstCapacity,
-                            const void* src, size_t srcSize,
-                            const void* dict,size_t dictSize,
-                                  ZSTD_parameters params);
+ *  Same as ZSTD_compress_usingDict(), with fine-tune control over compression parameters (by structure) */
+ZSTDLIB_API size_t ZSTD_compress_advanced(ZSTD_CCtx* cctx,
+                                          void* dst, size_t dstCapacity,
+                                    const void* src, size_t srcSize,
+                                    const void* dict,size_t dictSize,
+                                          ZSTD_parameters params);
 
 /*! ZSTD_compress_usingCDict_advanced() :
-*   Same as ZSTD_compress_usingCDict(), with fine-tune control over frame parameters */
+ *  Same as ZSTD_compress_usingCDict(), with fine-tune control over frame parameters */
 ZSTDLIB_API size_t ZSTD_compress_usingCDict_advanced(ZSTD_CCtx* cctx,
-                                  void* dst, size_t dstCapacity,
-                            const void* src, size_t srcSize,
-                            const ZSTD_CDict* cdict, ZSTD_frameParameters fParams);
+                                              void* dst, size_t dstCapacity,
+                                        const void* src, size_t srcSize,
+                                        const ZSTD_CDict* cdict,
+                                              ZSTD_frameParameters fParams);
+
+
+/*! ZSTD_CCtx_loadDictionary_byReference() :
+ *  Same as ZSTD_CCtx_loadDictionary(), but dictionary content is referenced, instead of being copied into CCtx.
+ *  It saves some memory, but also requires that `dict` outlives its usage within `cctx` */
+ZSTDLIB_API size_t ZSTD_CCtx_loadDictionary_byReference(ZSTD_CCtx* cctx, const void* dict, size_t dictSize);
+
+/*! ZSTD_CCtx_loadDictionary_advanced() :
+ *  Same as ZSTD_CCtx_loadDictionary(), but gives finer control over
+ *  how to load the dictionary (by copy ? by reference ?)
+ *  and how to interpret it (automatic ? force raw mode ? full mode only ?) */
+ZSTDLIB_API size_t ZSTD_CCtx_loadDictionary_advanced(ZSTD_CCtx* cctx, const void* dict, size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod, ZSTD_dictContentType_e dictContentType);
+
+/*! ZSTD_CCtx_refPrefix_advanced() :
+ *  Same as ZSTD_CCtx_refPrefix(), but gives finer control over
+ *  how to interpret prefix content (automatic ? force raw mode (default) ? full mode only ?) */
+ZSTDLIB_API size_t ZSTD_CCtx_refPrefix_advanced(ZSTD_CCtx* cctx, const void* prefix, size_t prefixSize, ZSTD_dictContentType_e dictContentType);
+
+/* ===   experimental parameters   === */
+/* these parameters can be used with ZSTD_setParameter()
+ * they are not guaranteed to remain supported in the future */
+
+ /* Enables rsyncable mode,
+  * which makes compressed files more rsync friendly
+  * by adding periodic synchronization points to the compressed data.
+  * The target average block size is ZSTD_c_jobSize / 2.
+  * It's possible to modify the job size to increase or decrease
+  * the granularity of the synchronization point.
+  * Once the jobSize is smaller than the window size,
+  * it will result in compression ratio degradation.
+  * NOTE 1: rsyncable mode only works when multithreading is enabled.
+  * NOTE 2: rsyncable performs poorly in combination with long range mode,
+  * since it will decrease the effectiveness of synchronization points,
+  * though mileage may vary.
+  * NOTE 3: Rsyncable mode limits maximum compression speed to ~400 MB/s.
+  * If the selected compression level is already running significantly slower,
+  * the overall speed won't be significantly impacted.
+  */
+ #define ZSTD_c_rsyncable ZSTD_c_experimentalParam1
+
+/* Select a compression format.
+ * The value must be of type ZSTD_format_e.
+ * See ZSTD_format_e enum definition for details */
+#define ZSTD_c_format ZSTD_c_experimentalParam2
+
+/* Force back-reference distances to remain < windowSize,
+ * even when referencing into Dictionary content (default:0) */
+#define ZSTD_c_forceMaxWindow ZSTD_c_experimentalParam3
+
+/* Controls whether the contents of a CDict
+ * are used in place, or copied into the working context.
+ * Accepts values from the ZSTD_dictAttachPref_e enum.
+ * See the comments on that enum for an explanation of the feature. */
+#define ZSTD_c_forceAttachDict ZSTD_c_experimentalParam4
+
+/*! ZSTD_CCtx_getParameter() :
+ *  Get the requested compression parameter value, selected by enum ZSTD_cParameter,
+ *  and store it into int* value.
+ * @return : 0, or an error code (which can be tested with ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_CCtx_getParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, int* value);
+
+
+/*! ZSTD_CCtx_params :
+ *  Quick howto :
+ *  - ZSTD_createCCtxParams() : Create a ZSTD_CCtx_params structure
+ *  - ZSTD_CCtxParam_setParameter() : Push parameters one by one into
+ *                                    an existing ZSTD_CCtx_params structure.
+ *                                    This is similar to
+ *                                    ZSTD_CCtx_setParameter().
+ *  - ZSTD_CCtx_setParametersUsingCCtxParams() : Apply parameters to
+ *                                    an existing CCtx.
+ *                                    These parameters will be applied to
+ *                                    all subsequent frames.
+ *  - ZSTD_compressStream2() : Do compression using the CCtx.
+ *  - ZSTD_freeCCtxParams() : Free the memory.
+ *
+ *  This can be used with ZSTD_estimateCCtxSize_advanced_usingCCtxParams()
+ *  for static allocation of CCtx for single-threaded compression.
+ */
+ZSTDLIB_API ZSTD_CCtx_params* ZSTD_createCCtxParams(void);
+ZSTDLIB_API size_t ZSTD_freeCCtxParams(ZSTD_CCtx_params* params);
+
+/*! ZSTD_CCtxParams_reset() :
+ *  Reset params to default values.
+ */
+ZSTDLIB_API size_t ZSTD_CCtxParams_reset(ZSTD_CCtx_params* params);
+
+/*! ZSTD_CCtxParams_init() :
+ *  Initializes the compression parameters of cctxParams according to
+ *  compression level. All other parameters are reset to their default values.
+ */
+ZSTDLIB_API size_t ZSTD_CCtxParams_init(ZSTD_CCtx_params* cctxParams, int compressionLevel);
+
+/*! ZSTD_CCtxParams_init_advanced() :
+ *  Initializes the compression and frame parameters of cctxParams according to
+ *  params. All other parameters are reset to their default values.
+ */
+ZSTDLIB_API size_t ZSTD_CCtxParams_init_advanced(ZSTD_CCtx_params* cctxParams, ZSTD_parameters params);
+
+/*! ZSTD_CCtxParam_setParameter() :
+ *  Similar to ZSTD_CCtx_setParameter.
+ *  Set one compression parameter, selected by enum ZSTD_cParameter.
+ *  Parameters must be applied to a ZSTD_CCtx using ZSTD_CCtx_setParametersUsingCCtxParams().
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_CCtxParam_setParameter(ZSTD_CCtx_params* params, ZSTD_cParameter param, int value);
+
+/*! ZSTD_CCtxParam_getParameter() :
+ * Similar to ZSTD_CCtx_getParameter.
+ * Get the requested value of one compression parameter, selected by enum ZSTD_cParameter.
+ * @result : 0, or an error code (which can be tested with ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_CCtxParam_getParameter(ZSTD_CCtx_params* params, ZSTD_cParameter param, int* value);
+
+/*! ZSTD_CCtx_setParametersUsingCCtxParams() :
+ *  Apply a set of ZSTD_CCtx_params to the compression context.
+ *  This can be done even after compression is started,
+ *    if nbWorkers==0, this will have no impact until a new compression is started.
+ *    if nbWorkers>=1, new parameters will be picked up at next job,
+ *       with a few restrictions (windowLog, pledgedSrcSize, nbWorkers, jobSize, and overlapLog are not updated).
+ */
+ZSTDLIB_API size_t ZSTD_CCtx_setParametersUsingCCtxParams(
+        ZSTD_CCtx* cctx, const ZSTD_CCtx_params* params);
+
+/*! ZSTD_compressStream2_simpleArgs() :
+ *  Same as ZSTD_compressStream2(),
+ *  but using only integral types as arguments.
+ *  This variant might be helpful for binders from dynamic languages
+ *  which have troubles handling structures containing memory pointers.
+ */
+ZSTDLIB_API size_t ZSTD_compressStream2_simpleArgs (
+                            ZSTD_CCtx* cctx,
+                            void* dst, size_t dstCapacity, size_t* dstPos,
+                      const void* src, size_t srcSize, size_t* srcPos,
+                            ZSTD_EndDirective endOp);
 
 
-/*--- Advanced decompression functions ---*/
+/***************************************
+*  Advanced decompression functions
+***************************************/
 
 /*! ZSTD_isFrame() :
  *  Tells if the content of `buffer` starts with a valid Frame Identifier.
@@ -696,9 +1440,64 @@ ZSTDLIB_API unsigned ZSTD_getDictID_fromDDict(const ZSTD_DDict* ddict);
  *  When identifying the exact failure cause, it's possible to use ZSTD_getFrameHeader(), which will provide a more precise error code. */
 ZSTDLIB_API unsigned ZSTD_getDictID_fromFrame(const void* src, size_t srcSize);
 
+/*! ZSTD_DCtx_loadDictionary_byReference() :
+ *  Same as ZSTD_DCtx_loadDictionary(),
+ *  but references `dict` content instead of copying it into `dctx`.
+ *  This saves memory if `dict` remains around.,
+ *  However, it's imperative that `dict` remains accessible (and unmodified) while being used, so it must outlive decompression. */
+ZSTDLIB_API size_t ZSTD_DCtx_loadDictionary_byReference(ZSTD_DCtx* dctx, const void* dict, size_t dictSize);
+
+/*! ZSTD_DCtx_loadDictionary_advanced() :
+ *  Same as ZSTD_DCtx_loadDictionary(),
+ *  but gives direct control over
+ *  how to load the dictionary (by copy ? by reference ?)
+ *  and how to interpret it (automatic ? force raw mode ? full mode only ?). */
+ZSTDLIB_API size_t ZSTD_DCtx_loadDictionary_advanced(ZSTD_DCtx* dctx, const void* dict, size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod, ZSTD_dictContentType_e dictContentType);
+
+/*! ZSTD_DCtx_refPrefix_advanced() :
+ *  Same as ZSTD_DCtx_refPrefix(), but gives finer control over
+ *  how to interpret prefix content (automatic ? force raw mode (default) ? full mode only ?) */
+ZSTDLIB_API size_t ZSTD_DCtx_refPrefix_advanced(ZSTD_DCtx* dctx, const void* prefix, size_t prefixSize, ZSTD_dictContentType_e dictContentType);
+
+/*! ZSTD_DCtx_setMaxWindowSize() :
+ *  Refuses allocating internal buffers for frames requiring a window size larger than provided limit.
+ *  This protects a decoder context from reserving too much memory for itself (potential attack scenario).
+ *  This parameter is only useful in streaming mode, since no internal buffer is allocated in single-pass mode.
+ *  By default, a decompression context accepts all window sizes <= (1 << ZSTD_WINDOWLOG_LIMIT_DEFAULT)
+ * @return : 0, or an error code (which can be tested using ZSTD_isError()).
+ */
+ZSTDLIB_API size_t ZSTD_DCtx_setMaxWindowSize(ZSTD_DCtx* dctx, size_t maxWindowSize);
+
+/* ZSTD_d_format
+ * experimental parameter,
+ * allowing selection between ZSTD_format_e input compression formats
+ */
+#define ZSTD_d_format ZSTD_d_experimentalParam1
+
+/*! ZSTD_DCtx_setFormat() :
+ *  Instruct the decoder context about what kind of data to decode next.
+ *  This instruction is mandatory to decode data without a fully-formed header,
+ *  such ZSTD_f_zstd1_magicless for example.
+ * @return : 0, or an error code (which can be tested using ZSTD_isError()). */
+ZSTDLIB_API size_t ZSTD_DCtx_setFormat(ZSTD_DCtx* dctx, ZSTD_format_e format);
+
+/*! ZSTD_decompressStream_simpleArgs() :
+ *  Same as ZSTD_decompressStream(),
+ *  but using only integral types as arguments.
+ *  This can be helpful for binders from dynamic languages
+ *  which have troubles handling structures containing memory pointers.
+ */
+ZSTDLIB_API size_t ZSTD_decompressStream_simpleArgs (
+                            ZSTD_DCtx* dctx,
+                            void* dst, size_t dstCapacity, size_t* dstPos,
+                      const void* src, size_t srcSize, size_t* srcPos);
+
 
 /********************************************************************
 *  Advanced streaming functions
+*  Warning : most of these functions are now redundant with the Advanced API.
+*  Once Advanced API reaches "stable" status,
+*  redundant functions will be deprecated, and then at some point removed.
 ********************************************************************/
 
 /*=====   Advanced Streaming compression functions  =====*/
@@ -710,36 +1509,52 @@ ZSTDLIB_API size_t ZSTD_initCStream_usingCDict(ZSTD_CStream* zcs, const ZSTD_CDi
 ZSTDLIB_API size_t ZSTD_initCStream_usingCDict_advanced(ZSTD_CStream* zcs, const ZSTD_CDict* cdict, ZSTD_frameParameters fParams, unsigned long long pledgedSrcSize);  /**< same as ZSTD_initCStream_usingCDict(), with control over frame parameters. pledgedSrcSize must be correct. If srcSize is not known at init time, use value ZSTD_CONTENTSIZE_UNKNOWN. */
 
 /*! ZSTD_resetCStream() :
- *  start a new compression job, using same parameters from previous job.
- *  This is typically useful to skip dictionary loading stage, since it will re-use it in-place..
+ *  start a new frame, using same parameters from previous frame.
+ *  This is typically useful to skip dictionary loading stage, since it will re-use it in-place.
  *  Note that zcs must be init at least once before using ZSTD_resetCStream().
  *  If pledgedSrcSize is not known at reset time, use macro ZSTD_CONTENTSIZE_UNKNOWN.
  *  If pledgedSrcSize > 0, its value must be correct, as it will be written in header, and controlled at the end.
  *  For the time being, pledgedSrcSize==0 is interpreted as "srcSize unknown" for compatibility with older programs,
  *  but it will change to mean "empty" in future version, so use macro ZSTD_CONTENTSIZE_UNKNOWN instead.
- * @return : 0, or an error code (which can be tested using ZSTD_isError()) */
+ * @return : 0, or an error code (which can be tested using ZSTD_isError())
+ */
 ZSTDLIB_API size_t ZSTD_resetCStream(ZSTD_CStream* zcs, unsigned long long pledgedSrcSize);
 
 
 typedef struct {
-    unsigned long long ingested;
-    unsigned long long consumed;
-    unsigned long long produced;
+    unsigned long long ingested;   /* nb input bytes read and buffered */
+    unsigned long long consumed;   /* nb input bytes actually compressed */
+    unsigned long long produced;   /* nb of compressed bytes generated and buffered */
+    unsigned long long flushed;    /* nb of compressed bytes flushed : not provided; can be tracked from caller side */
+    unsigned currentJobID;         /* MT only : latest started job nb */
+    unsigned nbActiveWorkers;      /* MT only : nb of workers actively compressing at probe time */
 } ZSTD_frameProgression;
 
-/* ZSTD_getFrameProgression():
+/* ZSTD_getFrameProgression() :
  * tells how much data has been ingested (read from input)
  * consumed (input actually compressed) and produced (output) for current frame.
- * Therefore, (ingested - consumed) is amount of input data buffered internally, not yet compressed.
- * Can report progression inside worker threads (multi-threading and non-blocking mode).
+ * Note : (ingested - consumed) is amount of input data buffered internally, not yet compressed.
+ * Aggregates progression inside active worker threads.
  */
-ZSTD_frameProgression ZSTD_getFrameProgression(const ZSTD_CCtx* cctx);
-
+ZSTDLIB_API ZSTD_frameProgression ZSTD_getFrameProgression(const ZSTD_CCtx* cctx);
+
+/*! ZSTD_toFlushNow() :
+ *  Tell how many bytes are ready to be flushed immediately.
+ *  Useful for multithreading scenarios (nbWorkers >= 1).
+ *  Probe the oldest active job, defined as oldest job not yet entirely flushed,
+ *  and check its output buffer.
+ * @return : amount of data stored in oldest job and ready to be flushed immediately.
+ *  if @return == 0, it means either :
+ *  + there is no active job (could be checked with ZSTD_frameProgression()), or
+ *  + oldest job is still actively compressing data,
+ *    but everything it has produced has also been flushed so far,
+ *    therefore flush speed is limited by production speed of oldest job
+ *    irrespective of the speed of concurrent (and newer) jobs.
+ */
+ZSTDLIB_API size_t ZSTD_toFlushNow(ZSTD_CCtx* cctx);
 
 
 /*=====   Advanced Streaming decompression functions  =====*/
-typedef enum { DStream_p_maxWindowSize } ZSTD_DStreamParameter_e;
-ZSTDLIB_API size_t ZSTD_setDStreamParameter(ZSTD_DStream* zds, ZSTD_DStreamParameter_e paramType, unsigned paramValue);   /* obsolete : this API will be removed in a future version */
 ZSTDLIB_API size_t ZSTD_initDStream_usingDict(ZSTD_DStream* zds, const void* dict, size_t dictSize); /**< note: no dictionary will be used if dict == NULL or dictSize < 8 */
 ZSTDLIB_API size_t ZSTD_initDStream_usingDDict(ZSTD_DStream* zds, const ZSTD_DDict* ddict);  /**< note : ddict is referenced, it must outlive decompression session */
 ZSTDLIB_API size_t ZSTD_resetDStream(ZSTD_DStream* zds);  /**< re-use decompression parameters from previous init; saves dictionary loading */
@@ -880,7 +1695,17 @@ typedef struct {
     unsigned dictID;
     unsigned checksumFlag;
 } ZSTD_frameHeader;
+
+/** ZSTD_getFrameHeader() :
+ *  decode Frame Header, or requires larger `srcSize`.
+ * @return : 0, `zfhPtr` is correctly filled,
+ *          >0, `srcSize` is too small, value is wanted `srcSize` amount,
+ *           or an error code, which can be tested using ZSTD_isError() */
 ZSTDLIB_API size_t ZSTD_getFrameHeader(ZSTD_frameHeader* zfhPtr, const void* src, size_t srcSize);   /**< doesn't consume input */
+/*! ZSTD_getFrameHeader_advanced() :
+ *  same as ZSTD_getFrameHeader(),
+ *  with added capability to select a format (like ZSTD_f_zstd1_magicless) */
+ZSTDLIB_API size_t ZSTD_getFrameHeader_advanced(ZSTD_frameHeader* zfhPtr, const void* src, size_t srcSize, ZSTD_format_e format);
 ZSTDLIB_API size_t ZSTD_decodingBufferSize_min(unsigned long long windowSize, unsigned long long frameContentSize);  /**< when frame content size is not known, pass in frameContentSize == ZSTD_CONTENTSIZE_UNKNOWN */
 
 ZSTDLIB_API size_t ZSTD_decompressBegin(ZSTD_DCtx* dctx);
@@ -897,462 +1722,6 @@ ZSTDLIB_API ZSTD_nextInputType_e ZSTD_nextInputType(ZSTD_DCtx* dctx);
 
 
 
-/* ============================================ */
-/**       New advanced API (experimental)       */
-/* ============================================ */
-
-/* notes on API design :
- *   In this proposal, parameters are pushed one by one into an existing context,
- *   and then applied on all subsequent compression jobs.
- *   When no parameter is ever provided, CCtx is created with compression level ZSTD_CLEVEL_DEFAULT.
- *
- *   This API is intended to replace all others advanced / experimental API entry points.
- *   But it stands a reasonable chance to become "stable", after a reasonable testing period.
- */
-
-/* note on naming convention :
- *   Initially, the API favored names like ZSTD_setCCtxParameter() .
- *   In this proposal, convention is changed towards ZSTD_CCtx_setParameter() .
- *   The main driver is that it identifies more clearly the target object type.
- *   It feels clearer when considering multiple targets :
- *   ZSTD_CDict_setParameter() (rather than ZSTD_setCDictParameter())
- *   ZSTD_CCtxParams_setParameter()  (rather than ZSTD_setCCtxParamsParameter() )
- *   etc...
- */
-
-/* note on enum design :
- * All enum will be pinned to explicit values before reaching "stable API" status */
-
-typedef enum {
-    /* Opened question : should we have a format ZSTD_f_auto ?
-     * Today, it would mean exactly the same as ZSTD_f_zstd1.
-     * But, in the future, should several formats become supported,
-     * on the compression side, it would mean "default format".
-     * On the decompression side, it would mean "automatic format detection",
-     * so that ZSTD_f_zstd1 would mean "accept *only* zstd frames".
-     * Since meaning is a little different, another option could be to define different enums for compression and decompression.
-     * This question could be kept for later, when there are actually multiple formats to support,
-     * but there is also the question of pinning enum values, and pinning value `0` is especially important */
-    ZSTD_f_zstd1 = 0,        /* zstd frame format, specified in zstd_compression_format.md (default) */
-    ZSTD_f_zstd1_magicless,  /* Variant of zstd frame format, without initial 4-bytes magic number.
-                              * Useful to save 4 bytes per generated frame.
-                              * Decoder cannot recognise automatically this format, requiring instructions. */
-} ZSTD_format_e;
-
-typedef enum {
-    /* compression format */
-    ZSTD_p_format = 10,      /* See ZSTD_format_e enum definition.
-                              * Cast selected format as unsigned for ZSTD_CCtx_setParameter() compatibility. */
-
-    /* compression parameters */
-    ZSTD_p_compressionLevel=100, /* Update all compression parameters according to pre-defined cLevel table
-                              * Default level is ZSTD_CLEVEL_DEFAULT==3.
-                              * Special: value 0 means "do not change cLevel".
-                              * Note 1 : it's possible to pass a negative compression level by casting it to unsigned type.
-                              * Note 2 : setting a level sets all default values of other compression parameters.
-                              * Note 3 : setting compressionLevel automatically updates ZSTD_p_compressLiterals. */
-    ZSTD_p_windowLog,        /* Maximum allowed back-reference distance, expressed as power of 2.
-                              * Must be clamped between ZSTD_WINDOWLOG_MIN and ZSTD_WINDOWLOG_MAX.
-                              * Special: value 0 means "use default windowLog".
-                              * Note: Using a window size greater than ZSTD_MAXWINDOWSIZE_DEFAULT (default: 2^27)
-                              *       requires explicitly allowing such window size during decompression stage. */
-    ZSTD_p_hashLog,          /* Size of the probe table, as a power of 2.
-                              * Resulting table size is (1 << (hashLog+2)).
-                              * Must be clamped between ZSTD_HASHLOG_MIN and ZSTD_HASHLOG_MAX.
-                              * Larger tables improve compression ratio of strategies <= dFast,
-                              * and improve speed of strategies > dFast.
-                              * Special: value 0 means "use default hashLog". */
-    ZSTD_p_chainLog,         /* Size of the full-search table, as a power of 2.
-                              * Resulting table size is (1 << (chainLog+2)).
-                              * Larger tables result in better and slower compression.
-                              * This parameter is useless when using "fast" strategy.
-                              * Special: value 0 means "use default chainLog". */
-    ZSTD_p_searchLog,        /* Number of search attempts, as a power of 2.
-                              * More attempts result in better and slower compression.
-                              * This parameter is useless when using "fast" and "dFast" strategies.
-                              * Special: value 0 means "use default searchLog". */
-    ZSTD_p_minMatch,         /* Minimum size of searched matches (note : repCode matches can be smaller).
-                              * Larger values make faster compression and decompression, but decrease ratio.
-                              * Must be clamped between ZSTD_SEARCHLENGTH_MIN and ZSTD_SEARCHLENGTH_MAX.
-                              * Note that currently, for all strategies < btopt, effective minimum is 4.
-                              *                    , for all strategies > fast, effective maximum is 6.
-                              * Special: value 0 means "use default minMatchLength". */
-    ZSTD_p_targetLength,     /* Impact of this field depends on strategy.
-                              * For strategies btopt & btultra:
-                              *     Length of Match considered "good enough" to stop search.
-                              *     Larger values make compression stronger, and slower.
-                              * For strategy fast:
-                              *     Distance between match sampling.
-                              *     Larger values make compression faster, and weaker.
-                              * Special: value 0 means "use default targetLength". */
-    ZSTD_p_compressionStrategy, /* See ZSTD_strategy enum definition.
-                              * Cast selected strategy as unsigned for ZSTD_CCtx_setParameter() compatibility.
-                              * The higher the value of selected strategy, the more complex it is,
-                              * resulting in stronger and slower compression.
-                              * Special: value 0 means "use default strategy". */
-
-    ZSTD_p_enableLongDistanceMatching=160, /* Enable long distance matching.
-                                         * This parameter is designed to improve compression ratio
-                                         * for large inputs, by finding large matches at long distance.
-                                         * It increases memory usage and window size.
-                                         * Note: enabling this parameter increases ZSTD_p_windowLog to 128 MB
-                                         * except when expressly set to a different value. */
-    ZSTD_p_ldmHashLog,       /* Size of the table for long distance matching, as a power of 2.
-                              * Larger values increase memory usage and compression ratio,
-                              * but decrease compression speed.
-                              * Must be clamped between ZSTD_HASHLOG_MIN and ZSTD_HASHLOG_MAX
-                              * default: windowlog - 7.
-                              * Special: value 0 means "automatically determine hashlog". */
-    ZSTD_p_ldmMinMatch,      /* Minimum match size for long distance matcher.
-                              * Larger/too small values usually decrease compression ratio.
-                              * Must be clamped between ZSTD_LDM_MINMATCH_MIN and ZSTD_LDM_MINMATCH_MAX.
-                              * Special: value 0 means "use default value" (default: 64). */
-    ZSTD_p_ldmBucketSizeLog, /* Log size of each bucket in the LDM hash table for collision resolution.
-                              * Larger values improve collision resolution but decrease compression speed.
-                              * The maximum value is ZSTD_LDM_BUCKETSIZELOG_MAX .
-                              * Special: value 0 means "use default value" (default: 3). */
-    ZSTD_p_ldmHashEveryLog,  /* Frequency of inserting/looking up entries in the LDM hash table.
-                              * Must be clamped between 0 and (ZSTD_WINDOWLOG_MAX - ZSTD_HASHLOG_MIN).
-                              * Default is MAX(0, (windowLog - ldmHashLog)), optimizing hash table usage.
-                              * Larger values improve compression speed.
-                              * Deviating far from default value will likely result in a compression ratio decrease.
-                              * Special: value 0 means "automatically determine hashEveryLog". */
-
-    /* frame parameters */
-    ZSTD_p_contentSizeFlag=200, /* Content size will be written into frame header _whenever known_ (default:1)
-                              * Content size must be known at the beginning of compression,
-                              * it is provided using ZSTD_CCtx_setPledgedSrcSize() */
-    ZSTD_p_checksumFlag,     /* A 32-bits checksum of content is written at end of frame (default:0) */
-    ZSTD_p_dictIDFlag,       /* When applicable, dictionary's ID is written into frame header (default:1) */
-
-    /* multi-threading parameters */
-    /* These parameters are only useful if multi-threading is enabled (ZSTD_MULTITHREAD).
-     * They return an error otherwise. */
-    ZSTD_p_nbWorkers=400,    /* Select how many threads will be spawned to compress in parallel.
-                              * When nbWorkers >= 1, triggers asynchronous mode :
-                              * ZSTD_compress_generic() consumes some input, flush some output if possible, and immediately gives back control to caller,
-                              * while compression work is performed in parallel, within worker threads.
-                              * (note : a strong exception to this rule is when first invocation sets ZSTD_e_end : it becomes a blocking call).
-                              * More workers improve speed, but also increase memory usage.
-                              * Default value is `0`, aka "single-threaded mode" : no worker is spawned, compression is performed inside Caller's thread, all invocations are blocking */
-    ZSTD_p_jobSize,          /* Size of a compression job. This value is enforced only in non-blocking mode.
-                              * Each compression job is completed in parallel, so this value indirectly controls the nb of active threads.
-                              * 0 means default, which is dynamically determined based on compression parameters.
-                              * Job size must be a minimum of overlapSize, or 1 MB, whichever is largest.
-                              * The minimum size is automatically and transparently enforced */
-    ZSTD_p_overlapSizeLog,   /* Size of previous input reloaded at the beginning of each job.
-                              * 0 => no overlap, 6(default) => use 1/8th of windowSize, >=9 => use full windowSize */
-
-    /* =================================================================== */
-    /* experimental parameters - no stability guaranteed                   */
-    /* =================================================================== */
-
-    ZSTD_p_compressLiterals=1000, /* control huffman compression of literals (enabled) by default.
-                              * disabling it improves speed and decreases compression ratio by a large amount.
-                              * note : this setting is automatically updated when changing compression level.
-                              *        positive compression levels set ZSTD_p_compressLiterals to 1.
-                              *        negative compression levels set ZSTD_p_compressLiterals to 0. */
-
-    ZSTD_p_forceMaxWindow=1100, /* Force back-reference distances to remain < windowSize,
-                              * even when referencing into Dictionary content (default:0) */
-
-} ZSTD_cParameter;
-
-
-/*! ZSTD_CCtx_setParameter() :
- *  Set one compression parameter, selected by enum ZSTD_cParameter.
- *  Setting a parameter is generally only possible during frame initialization (before starting compression),
- *  except for a few exceptions which can be updated during compression: compressionLevel, hashLog, chainLog, searchLog, minMatch, targetLength and strategy.
- *  Note : when `value` is an enum, cast it to unsigned for proper type checking.
- *  @result : informational value (typically, value being set clamped correctly),
- *            or an error code (which can be tested with ZSTD_isError()). */
-ZSTDLIB_API size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, unsigned value);
-
-/*! ZSTD_CCtx_setPledgedSrcSize() :
- *  Total input data size to be compressed as a single frame.
- *  This value will be controlled at the end, and result in error if not respected.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Note 1 : 0 means zero, empty.
- *           In order to mean "unknown content size", pass constant ZSTD_CONTENTSIZE_UNKNOWN.
- *           ZSTD_CONTENTSIZE_UNKNOWN is default value for any new compression job.
- *  Note 2 : If all data is provided and consumed in a single round,
- *           this value is overriden by srcSize instead. */
-ZSTDLIB_API size_t ZSTD_CCtx_setPledgedSrcSize(ZSTD_CCtx* cctx, unsigned long long pledgedSrcSize);
-
-/*! ZSTD_CCtx_loadDictionary() :
- *  Create an internal CDict from `dict` buffer.
- *  Decompression will have to use same dictionary.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Special: Adding a NULL (or 0-size) dictionary invalidates previous dictionary,
- *           meaning "return to no-dictionary mode".
- *  Note 1 : Dictionary will be used for all future compression jobs.
- *           To return to "no-dictionary" situation, load a NULL dictionary
- *  Note 2 : Loading a dictionary involves building tables, which are dependent on compression parameters.
- *           For this reason, compression parameters cannot be changed anymore after loading a dictionary.
- *           It's also a CPU consuming operation, with non-negligible impact on latency.
- *  Note 3 :`dict` content will be copied internally.
- *           Use ZSTD_CCtx_loadDictionary_byReference() to reference dictionary content instead.
- *           In such a case, dictionary buffer must outlive its users.
- *  Note 4 : Use ZSTD_CCtx_loadDictionary_advanced()
- *           to precisely select how dictionary content must be interpreted. */
-ZSTDLIB_API size_t ZSTD_CCtx_loadDictionary(ZSTD_CCtx* cctx, const void* dict, size_t dictSize);
-ZSTDLIB_API size_t ZSTD_CCtx_loadDictionary_byReference(ZSTD_CCtx* cctx, const void* dict, size_t dictSize);
-ZSTDLIB_API size_t ZSTD_CCtx_loadDictionary_advanced(ZSTD_CCtx* cctx, const void* dict, size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod, ZSTD_dictContentType_e dictContentType);
-
-
-/*! ZSTD_CCtx_refCDict() :
- *  Reference a prepared dictionary, to be used for all next compression jobs.
- *  Note that compression parameters are enforced from within CDict,
- *  and supercede any compression parameter previously set within CCtx.
- *  The dictionary will remain valid for future compression jobs using same CCtx.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Special : adding a NULL CDict means "return to no-dictionary mode".
- *  Note 1 : Currently, only one dictionary can be managed.
- *           Adding a new dictionary effectively "discards" any previous one.
- *  Note 2 : CDict is just referenced, its lifetime must outlive CCtx. */
-ZSTDLIB_API size_t ZSTD_CCtx_refCDict(ZSTD_CCtx* cctx, const ZSTD_CDict* cdict);
-
-/*! ZSTD_CCtx_refPrefix() :
- *  Reference a prefix (single-usage dictionary) for next compression job.
- *  Decompression need same prefix to properly regenerate data.
- *  Prefix is **only used once**. Tables are discarded at end of compression job.
- *  Subsequent compression jobs will be done without prefix (if none is explicitly referenced).
- *  If there is a need to use same prefix multiple times, consider embedding it into a ZSTD_CDict instead.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Special: Adding any prefix (including NULL) invalidates any previous prefix or dictionary
- *  Note 1 : Prefix buffer is referenced. It must outlive compression job.
- *  Note 2 : Referencing a prefix involves building tables, which are dependent on compression parameters.
- *           It's a CPU consuming operation, with non-negligible impact on latency.
- *  Note 3 : By default, the prefix is treated as raw content (ZSTD_dm_rawContent).
- *           Use ZSTD_CCtx_refPrefix_advanced() to alter dictMode. */
-ZSTDLIB_API size_t ZSTD_CCtx_refPrefix(ZSTD_CCtx* cctx, const void* prefix, size_t prefixSize);
-ZSTDLIB_API size_t ZSTD_CCtx_refPrefix_advanced(ZSTD_CCtx* cctx, const void* prefix, size_t prefixSize, ZSTD_dictContentType_e dictContentType);
-
-/*! ZSTD_CCtx_reset() :
- *  Return a CCtx to clean state.
- *  Useful after an error, or to interrupt an ongoing compression job and start a new one.
- *  Any internal data not yet flushed is cancelled.
- *  Dictionary (if any) is dropped.
- *  All parameters are back to default values.
- *  It's possible to modify compression parameters after a reset.
- */
-ZSTDLIB_API void ZSTD_CCtx_reset(ZSTD_CCtx* cctx);
-
-
-
-typedef enum {
-    ZSTD_e_continue=0, /* collect more data, encoder decides when to output compressed result, for optimal conditions */
-    ZSTD_e_flush,      /* flush any data provided so far - frame will continue, future data can still reference previous data for better compression */
-    ZSTD_e_end         /* flush any remaining data and close current frame. Any additional data starts a new frame. */
-} ZSTD_EndDirective;
-
-/*! ZSTD_compress_generic() :
- *  Behave about the same as ZSTD_compressStream. To note :
- *  - Compression parameters are pushed into CCtx before starting compression, using ZSTD_CCtx_setParameter()
- *  - Compression parameters cannot be changed once compression is started.
- *  - outpot->pos must be <= dstCapacity, input->pos must be <= srcSize
- *  - outpot->pos and input->pos will be updated. They are guaranteed to remain below their respective limit.
- *  - In single-thread mode (default), function is blocking : it completed its job before returning to caller.
- *  - In multi-thread mode, function is non-blocking : it just acquires a copy of input, and distribute job to internal worker threads,
- *                                                     and then immediately returns, just indicating that there is some data remaining to be flushed.
- *                                                     The function nonetheless guarantees forward progress : it will return only after it reads or write at least 1+ byte.
- *  - Exception : in multi-threading mode, if the first call requests a ZSTD_e_end directive, it is blocking : it will complete compression before giving back control to caller.
- *  - @return provides a minimum amount of data remaining to be flushed from internal buffers
- *            or an error code, which can be tested using ZSTD_isError().
- *            if @return != 0, flush is not fully completed, there is still some data left within internal buffers.
- *            This is useful for ZSTD_e_flush, since in this case more flushes are necessary to empty all buffers.
- *            For ZSTD_e_end, @return == 0 when internal buffers are fully flushed and frame is completed.
- *  - after a ZSTD_e_end directive, if internal buffer is not fully flushed (@return != 0),
- *            only ZSTD_e_end or ZSTD_e_flush operations are allowed.
- *            Before starting a new compression job, or changing compression parameters,
- *            it is required to fully flush internal buffers.
- */
-ZSTDLIB_API size_t ZSTD_compress_generic (ZSTD_CCtx* cctx,
-                                          ZSTD_outBuffer* output,
-                                          ZSTD_inBuffer* input,
-                                          ZSTD_EndDirective endOp);
-
-
-/*! ZSTD_compress_generic_simpleArgs() :
- *  Same as ZSTD_compress_generic(),
- *  but using only integral types as arguments.
- *  Argument list is larger than ZSTD_{in,out}Buffer,
- *  but can be helpful for binders from dynamic languages
- *  which have troubles handling structures containing memory pointers.
- */
-ZSTDLIB_API size_t ZSTD_compress_generic_simpleArgs (
-                            ZSTD_CCtx* cctx,
-                            void* dst, size_t dstCapacity, size_t* dstPos,
-                      const void* src, size_t srcSize, size_t* srcPos,
-                            ZSTD_EndDirective endOp);
-
-
-/*! ZSTD_CCtx_params :
- *  Quick howto :
- *  - ZSTD_createCCtxParams() : Create a ZSTD_CCtx_params structure
- *  - ZSTD_CCtxParam_setParameter() : Push parameters one by one into
- *                                    an existing ZSTD_CCtx_params structure.
- *                                    This is similar to
- *                                    ZSTD_CCtx_setParameter().
- *  - ZSTD_CCtx_setParametersUsingCCtxParams() : Apply parameters to
- *                                    an existing CCtx.
- *                                    These parameters will be applied to
- *                                    all subsequent compression jobs.
- *  - ZSTD_compress_generic() : Do compression using the CCtx.
- *  - ZSTD_freeCCtxParams() : Free the memory.
- *
- *  This can be used with ZSTD_estimateCCtxSize_advanced_usingCCtxParams()
- *  for static allocation for single-threaded compression.
- */
-ZSTDLIB_API ZSTD_CCtx_params* ZSTD_createCCtxParams(void);
-ZSTDLIB_API size_t ZSTD_freeCCtxParams(ZSTD_CCtx_params* params);
-
-
-/*! ZSTD_CCtxParams_reset() :
- *  Reset params to default values.
- */
-ZSTDLIB_API size_t ZSTD_CCtxParams_reset(ZSTD_CCtx_params* params);
-
-/*! ZSTD_CCtxParams_init() :
- *  Initializes the compression parameters of cctxParams according to
- *  compression level. All other parameters are reset to their default values.
- */
-ZSTDLIB_API size_t ZSTD_CCtxParams_init(ZSTD_CCtx_params* cctxParams, int compressionLevel);
-
-/*! ZSTD_CCtxParams_init_advanced() :
- *  Initializes the compression and frame parameters of cctxParams according to
- *  params. All other parameters are reset to their default values.
- */
-ZSTDLIB_API size_t ZSTD_CCtxParams_init_advanced(ZSTD_CCtx_params* cctxParams, ZSTD_parameters params);
-
-
-/*! ZSTD_CCtxParam_setParameter() :
- *  Similar to ZSTD_CCtx_setParameter.
- *  Set one compression parameter, selected by enum ZSTD_cParameter.
- *  Parameters must be applied to a ZSTD_CCtx using ZSTD_CCtx_setParametersUsingCCtxParams().
- *  Note : when `value` is an enum, cast it to unsigned for proper type checking.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- */
-ZSTDLIB_API size_t ZSTD_CCtxParam_setParameter(ZSTD_CCtx_params* params, ZSTD_cParameter param, unsigned value);
-
-/*! ZSTD_CCtx_setParametersUsingCCtxParams() :
- *  Apply a set of ZSTD_CCtx_params to the compression context.
- *  This can be done even after compression is started,
- *    if nbWorkers==0, this will have no impact until a new compression is started.
- *    if nbWorkers>=1, new parameters will be picked up at next job,
- *       with a few restrictions (windowLog, pledgedSrcSize, nbWorkers, jobSize, and overlapLog are not updated).
- */
-ZSTDLIB_API size_t ZSTD_CCtx_setParametersUsingCCtxParams(
-        ZSTD_CCtx* cctx, const ZSTD_CCtx_params* params);
-
-
-/*===   Advanced parameters for decompression API  ===*/
-
-/* The following parameters must be set after creating a ZSTD_DCtx* (or ZSTD_DStream*) object,
- * but before starting decompression of a frame.
- */
-
-/*! ZSTD_DCtx_loadDictionary() :
- *  Create an internal DDict from dict buffer,
- *  to be used to decompress next frames.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Special : Adding a NULL (or 0-size) dictionary invalidates any previous dictionary,
- *            meaning "return to no-dictionary mode".
- *  Note 1 : `dict` content will be copied internally.
- *            Use ZSTD_DCtx_loadDictionary_byReference()
- *            to reference dictionary content instead.
- *            In which case, the dictionary buffer must outlive its users.
- *  Note 2 : Loading a dictionary involves building tables,
- *           which has a non-negligible impact on CPU usage and latency.
- *  Note 3 : Use ZSTD_DCtx_loadDictionary_advanced() to select
- *           how dictionary content will be interpreted and loaded.
- */
-ZSTDLIB_API size_t ZSTD_DCtx_loadDictionary(ZSTD_DCtx* dctx, const void* dict, size_t dictSize);
-ZSTDLIB_API size_t ZSTD_DCtx_loadDictionary_byReference(ZSTD_DCtx* dctx, const void* dict, size_t dictSize);
-ZSTDLIB_API size_t ZSTD_DCtx_loadDictionary_advanced(ZSTD_DCtx* dctx, const void* dict, size_t dictSize, ZSTD_dictLoadMethod_e dictLoadMethod, ZSTD_dictContentType_e dictContentType);
-
-
-/*! ZSTD_DCtx_refDDict() :
- *  Reference a prepared dictionary, to be used to decompress next frames.
- *  The dictionary remains active for decompression of future frames using same DCtx.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Note 1 : Currently, only one dictionary can be managed.
- *           Referencing a new dictionary effectively "discards" any previous one.
- *  Special : adding a NULL DDict means "return to no-dictionary mode".
- *  Note 2 : DDict is just referenced, its lifetime must outlive its usage from DCtx.
- */
-ZSTDLIB_API size_t ZSTD_DCtx_refDDict(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict);
-
-
-/*! ZSTD_DCtx_refPrefix() :
- *  Reference a prefix (single-usage dictionary) for next compression job.
- *  Prefix is **only used once**. It must be explicitly referenced before each frame.
- *  If there is a need to use same prefix multiple times, consider embedding it into a ZSTD_DDict instead.
- * @result : 0, or an error code (which can be tested with ZSTD_isError()).
- *  Note 1 : Adding any prefix (including NULL) invalidates any previously set prefix or dictionary
- *  Note 2 : Prefix buffer is referenced. It must outlive compression job.
- *  Note 3 : By default, the prefix is treated as raw content (ZSTD_dm_rawContent).
- *           Use ZSTD_CCtx_refPrefix_advanced() to alter dictMode.
- *  Note 4 : Referencing a raw content prefix has almost no cpu nor memory cost.
- */
-ZSTDLIB_API size_t ZSTD_DCtx_refPrefix(ZSTD_DCtx* dctx, const void* prefix, size_t prefixSize);
-ZSTDLIB_API size_t ZSTD_DCtx_refPrefix_advanced(ZSTD_DCtx* dctx, const void* prefix, size_t prefixSize, ZSTD_dictContentType_e dictContentType);
-
-
-/*! ZSTD_DCtx_setMaxWindowSize() :
- *  Refuses allocating internal buffers for frames requiring a window size larger than provided limit.
- *  This is useful to prevent a decoder context from reserving too much memory for itself (potential attack scenario).
- *  This parameter is only useful in streaming mode, since no internal buffer is allocated in direct mode.
- *  By default, a decompression context accepts all window sizes <= (1 << ZSTD_WINDOWLOG_MAX)
- * @return : 0, or an error code (which can be tested using ZSTD_isError()).
- */
-ZSTDLIB_API size_t ZSTD_DCtx_setMaxWindowSize(ZSTD_DCtx* dctx, size_t maxWindowSize);
-
-
-/*! ZSTD_DCtx_setFormat() :
- *  Instruct the decoder context about what kind of data to decode next.
- *  This instruction is mandatory to decode data without a fully-formed header,
- *  such ZSTD_f_zstd1_magicless for example.
- * @return : 0, or an error code (which can be tested using ZSTD_isError()).
- */
-ZSTDLIB_API size_t ZSTD_DCtx_setFormat(ZSTD_DCtx* dctx, ZSTD_format_e format);
-
-
-/*! ZSTD_decompress_generic() :
- *  Behave the same as ZSTD_decompressStream.
- *  Decompression parameters cannot be changed once decompression is started.
- * @return : an error code, which can be tested using ZSTD_isError()
- *           if >0, a hint, nb of expected input bytes for next invocation.
- *           `0` means : a frame has just been fully decoded and flushed.
- */
-ZSTDLIB_API size_t ZSTD_decompress_generic(ZSTD_DCtx* dctx,
-                                           ZSTD_outBuffer* output,
-                                           ZSTD_inBuffer* input);
-
-
-/*! ZSTD_decompress_generic_simpleArgs() :
- *  Same as ZSTD_decompress_generic(),
- *  but using only integral types as arguments.
- *  Argument list is larger than ZSTD_{in,out}Buffer,
- *  but can be helpful for binders from dynamic languages
- *  which have troubles handling structures containing memory pointers.
- */
-ZSTDLIB_API size_t ZSTD_decompress_generic_simpleArgs (
-                            ZSTD_DCtx* dctx,
-                            void* dst, size_t dstCapacity, size_t* dstPos,
-                      const void* src, size_t srcSize, size_t* srcPos);
-
-
-/*! ZSTD_DCtx_reset() :
- *  Return a DCtx to clean state.
- *  If a decompression was ongoing, any internal data not yet flushed is cancelled.
- *  All parameters are back to default values, including sticky ones.
- *  Dictionary (if any) is dropped.
- *  Parameters can be modified again after a reset.
- */
-ZSTDLIB_API void ZSTD_DCtx_reset(ZSTD_DCtx* dctx);
-
-
 
 /* ============================ */
 /**       Block level API       */
@@ -1372,10 +1741,10 @@ ZSTDLIB_API void ZSTD_DCtx_reset(ZSTD_DCtx* dctx);
       + copyCCtx() and copyDCtx() can be used too
     - Block size is limited, it must be <= ZSTD_getBlockSize() <= ZSTD_BLOCKSIZE_MAX == 128 KB
       + If input is larger than a block size, it's necessary to split input data into multiple blocks
-      + For inputs larger than a single block size, consider using the regular ZSTD_compress() instead.
+      + For inputs larger than a single block, really consider using regular ZSTD_compress() instead.
         Frame metadata is not that costly, and quickly becomes negligible as source size grows larger.
     - When a block is considered not compressible enough, ZSTD_compressBlock() result will be zero.
-      In which case, nothing is produced into `dst`.
+      In which case, nothing is produced into `dst` !
       + User must test for such outcome and deal directly with uncompressed data
       + ZSTD_decompressBlock() doesn't accept uncompressed data as input !!!
       + In case of multiple successive blocks, should some of them be uncompressed,
@@ -1383,8 +1752,6 @@ ZSTDLIB_API void ZSTD_DCtx_reset(ZSTD_DCtx* dctx);
         Use ZSTD_insertBlock() for such a case.
 */
 
-#define ZSTD_BLOCKSIZELOG_MAX 17
-#define ZSTD_BLOCKSIZE_MAX   (1<<ZSTD_BLOCKSIZELOG_MAX)   /* define, for static allocation */
 /*=====   Raw zstd block functions  =====*/
 ZSTDLIB_API size_t ZSTD_getBlockSize   (const ZSTD_CCtx* cctx);
 ZSTDLIB_API size_t ZSTD_compressBlock  (ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);